+ python -m lidar_slam --no-model /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 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 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters Centerline goodness : 0.326446 Centerline is valid? [0, False] SLAMing on 0.036559995 meters Centerline goodness : 0.332332 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99997271e-01 -2.12512942e-03 -9.70749718e-04 5.27982155e-03] [ 2.12424654e-03 9.99997330e-01 -9.09612280e-04 1.72017530e-03] [ 9.72680170e-04 9.07547686e-04 9.99999115e-01 -1.66924526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.066559995 meters Centerline goodness : 0.338409 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99999134 -0.00385403 -0.00157075 0.00934248] [ 0.00385112 0.99999087 -0.0018501 0.00404779] [ 0.00157787 0.00184404 0.99999705 -0.00299458] [ 0. 0. 0. 1. ]] SLAMing on 0.096559995 meters Centerline goodness : 0.344893 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998178 -0.00560097 -0.002252 0.01371228] [ 0.00559499 0.99998082 -0.00265559 0.00506514] [ 0.00226683 0.00264294 0.99999394 -0.00457152] [ 0. 0. 0. 1. ]] SLAMing on 0.126559995 meters Centerline goodness : 0.344893 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998178 -0.00560097 -0.002252 0.01371228] [ 0.00559499 0.99998082 -0.00265559 0.00506514] [ 0.00226683 0.00264294 0.99999394 -0.00457152] [ 0. 0. 0. 1. ]] SLAMing on 0.156559995 meters Centerline goodness : 0.352680 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99969987e-01 -6.62499102e-03 -4.01688836e-03 2.41034750e-02] [ 6.62300359e-03 9.99977939e-01 -5.07869186e-04 1.11742146e-02] [ 4.02016438e-03 4.81250077e-04 9.99991803e-01 -5.90470602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186559995 meters Centerline goodness : 0.358152 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.01 [[ 9.99925377e-01 -1.08067166e-02 -5.69698954e-03 3.76801559e-02] [ 1.08093359e-02 9.99941485e-01 4.29187041e-04 1.46775204e-02] [ 5.69201808e-03 -4.90735687e-04 9.99983680e-01 -8.61210945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.216559995 meters Centerline goodness : 0.098713 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 9.99898670e-01 -1.28468338e-02 -6.13265056e-03 4.17941251e-02] [ 1.28437620e-02 9.99917370e-01 -5.40022531e-04 1.71764701e-02] [ 6.13908140e-03 4.61201506e-04 9.99981049e-01 -9.84396979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246559995 meters Centerline goodness : 0.097230 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 9.99722432e-01 -2.20762812e-02 -8.22775115e-03 5.82523270e-02] [ 2.20673663e-02 9.99755798e-01 -1.17273375e-03 1.91940534e-02] [ 8.25163152e-03 9.90843438e-04 9.99965464e-01 -9.67048435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.276559995 meters Centerline goodness : 0.084052 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99966104 -0.02446854 -0.00889409 0.06315169] [ 0.02445662 0.99969985 -0.00144621 0.01843762] [ 0.00892681 0.0012282 0.9999594 -0.01028984] [ 0. 0. 0. 1. ]] SLAMing on 0.306559995 meters Centerline goodness : 0.084052 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99966104 -0.02446854 -0.00889409 0.06315169] [ 0.02445662 0.99969985 -0.00144621 0.01843762] [ 0.00892681 0.0012282 0.9999594 -0.01028984] [ 0. 0. 0. 1. ]] SLAMing on 0.33655999499999995 meters Centerline goodness : 0.111297 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 9.99567371e-01 -2.83420131e-02 -7.86142447e-03 9.65377858e-02] [ 2.83454746e-02 9.99598132e-01 3.29232857e-04 1.81148117e-02] [ 7.84893410e-03 -5.51926229e-04 9.99969044e-01 -9.11330971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36655999499999997 meters Centerline goodness : 0.111297 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 9.99567371e-01 -2.83420131e-02 -7.86142447e-03 9.65377858e-02] [ 2.83454746e-02 9.99598132e-01 3.29232857e-04 1.81148117e-02] [ 7.84893410e-03 -5.51926229e-04 9.99969044e-01 -9.11330971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.396559995 meters Centerline goodness : 0.122611 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.01 [[ 0.99947426 -0.03144552 -0.00789833 0.13034179] [ 0.03145761 0.99950409 0.00141159 0.01989956] [ 0.00785002 -0.00165931 0.99996781 -0.00939849] [ 0. 0. 0. 1. ]] SLAMing on 0.42655999499999997 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.45655999499999994 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.516559995 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.5465599950000001 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.576559995 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.606559995 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.636559995 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.666559995 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.696559995 meters Centerline goodness : 0.271664 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.02 [[ 0.999545 -0.02856829 0.00967703 0.25051537] [ 0.02854859 0.99959005 0.00216851 0.03072675] [-0.00973501 -0.00189126 0.99995083 -0.02170375] [ 0. 0. 0. 1. ]] SLAMing on 0.726559995 meters SLAMing on 0.756559995 meters SLAMing on 0.7865599950000001 meters Centerline goodness : 0.555256 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.03 [[ 0.99932964 -0.03280085 0.0162597 0.2985011 ] [ 0.03267088 0.99943256 0.00819574 0.03051726] [-0.01651931 -0.00765903 0.99983421 -0.0270196 ] [ 0. 0. 0. 1. ]] SLAMing on 0.816559995 meters Centerline goodness : 0.768455 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.03 [[ 0.99922555 -0.03266494 0.02193874 0.32800918] [ 0.03245529 0.9994247 0.00984529 0.03468912] [-0.02224771 -0.00912564 0.99971084 -0.0310796 ] [ 0. 0. 0. 1. ]] SLAMing on 0.846559995 meters Centerline goodness : 0.756985 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.04 [[ 9.99186173e-01 -2.98572445e-02 2.71207865e-02 3.41490878e-01] [ 2.98250901e-02 9.99553869e-01 1.58943360e-03 3.96855502e-02] [-2.71561432e-02 -7.79260173e-04 9.99630900e-01 -3.67131367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.876559995 meters Centerline goodness : 0.144623 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.04 [[ 0.9991009 -0.02891424 0.03100587 0.37110152] [ 0.02883554 0.99957972 0.00298227 0.04320511] [-0.03107907 -0.00208552 0.99951475 -0.04073118] [ 0. 0. 0. 1. ]] SLAMing on 0.906559995 meters Centerline goodness : 0.862122 Centerline is valid? [False, False] Translation: X:0.38, Y:0.04, Z:-0.04 [[ 0.99915956 -0.02781574 0.03010736 0.3765928 ] [ 0.02768107 0.99960489 0.00488062 0.04413833] [-0.03023122 -0.00404311 0.99953475 -0.04367229] [ 0. 0. 0. 1. ]] SLAMing on 0.936559995 meters Centerline goodness : 0.926441 Centerline is valid? [False, False] Translation: X:0.38, Y:0.05, Z:-0.05 [[ 0.99918859 -0.02747796 0.02944701 0.3817287 ] [ 0.02732451 0.99961093 0.00560076 0.04536096] [-0.02958945 -0.00479159 0.99955065 -0.04712886] [ 0. 0. 0. 1. ]] SLAMing on 0.966559995 meters SLAMing on 0.996559995 meters Centerline goodness : 0.885595 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:-0.05 [[ 0.99907632 -0.02745965 0.03305274 0.41052144] [ 0.02731557 0.99961532 0.00480287 0.05070705] [-0.03317191 -0.00389558 0.99944207 -0.05150935] [ 0. 0. 0. 1. ]] SLAMing on 1.026559995 meters Centerline goodness : 0.885595 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:-0.05 [[ 0.99907632 -0.02745965 0.03305274 0.41052144] [ 0.02731557 0.99961532 0.00480287 0.05070705] [-0.03317191 -0.00389558 0.99944207 -0.05150935] [ 0. 0. 0. 1. ]] SLAMing on 1.056559995 meters Centerline goodness : 0.173563 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.06 [[ 0.9990505 -0.02797603 0.0333982 0.41589177] [ 0.02780677 0.99959807 0.00552164 0.05371657] [-0.03353925 -0.00458771 0.99942687 -0.05529393] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters Centerline goodness : 0.176106 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:-0.06 [[ 0.99902326 -0.02927776 0.03309598 0.41869548] [ 0.02916467 0.99956703 0.00389501 0.05649759] [-0.03319569 -0.00292597 0.99944459 -0.05728883] [ 0. 0. 0. 1. ]] SLAMing on 1.1165599949999998 meters Centerline goodness : 0.939721 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:-0.06 [[ 0.99900253 -0.03073847 0.03238972 0.42228058] [ 0.03067837 0.99952654 0.00235096 0.05803508] [-0.03244665 -0.00135495 0.99947255 -0.05952821] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters Centerline goodness : 0.183794 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:-0.06 [[ 9.98980138e-01 -3.22160860e-02 3.16355471e-02 4.26035211e-01] [ 3.22080409e-02 9.99480894e-01 7.63994609e-04 5.99277120e-02] [-3.16437378e-02 2.55703553e-04 9.99499179e-01 -6.18523182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1765599949999999 meters Centerline goodness : 0.617154 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:-0.06 [[ 0.99882786 -0.03761944 0.030458 0.44078143] [ 0.03748668 0.99928502 0.00491841 0.05941835] [-0.03062125 -0.00377088 0.99952395 -0.06233676] [ 0. 0. 0. 1. ]] SLAMing on 1.2065599949999999 meters Centerline goodness : 0.846402 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.07 [[ 0.99877891 -0.03992627 0.02909605 0.44630295] [ 0.0398641 0.99920142 0.0027142 0.05967855] [-0.02918118 -0.00155099 0.99957294 -0.06579752] [ 0. 0. 0. 1. ]] SLAMing on 1.236559995 meters Centerline goodness : 0.950706 Centerline is valid? [False, True] Translation: X:0.45, Y:0.06, Z:-0.07 [[ 9.98731814e-01 -4.19218080e-02 2.78805649e-02 4.51212528e-01] [ 4.19055094e-02 9.99120895e-01 1.16887547e-03 5.96667359e-02] [-2.79050563e-02 9.56155128e-07 9.99610578e-01 -6.84845192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266559995 meters Centerline goodness : 0.939428 Centerline is valid? [True, False] Translation: X:0.45, Y:0.06, Z:-0.07 [[ 9.98689409e-01 -4.32771311e-02 2.73231600e-02 4.54356584e-01] [ 4.32908895e-02 9.99062506e-01 8.80657332e-05 6.09447963e-02] [-2.73013559e-02 1.09489359e-03 9.99626649e-01 -7.00642407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.296559995 meters Centerline goodness : 0.159969 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.07 [[ 0.99861559 -0.04279753 0.03058226 0.47575641] [ 0.04292252 0.99907247 -0.00344205 0.06484761] [-0.03040659 0.00474995 0.99952633 -0.07227626] [ 0. 0. 0. 1. ]] SLAMing on 1.3265599949999998 meters Centerline goodness : 0.154901 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:-0.07 [[ 9.98380709e-01 -4.86891834e-02 2.94163816e-02 4.90872822e-01] [ 4.86441989e-02 9.98813651e-01 2.24335074e-03 6.19312377e-02] [-2.94907104e-02 -8.08781785e-04 9.99564727e-01 -7.09044647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3565599949999998 meters Centerline goodness : 0.949502 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:-0.07 [[ 0.99842384 -0.04904368 0.02728632 0.49938192] [ 0.04887478 0.99878161 0.00682327 0.06412272] [-0.02758771 -0.0054789 0.99960437 -0.06939836] [ 0. 0. 0. 1. ]] SLAMing on 1.3865599949999998 meters Centerline goodness : 0.947687 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:-0.07 [[ 0.99840075 -0.05009235 0.02620481 0.50271361] [ 0.04996261 0.99873548 0.00558305 0.06525467] [-0.02645134 -0.00426486 0.999641 -0.0709726 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4165599949999998 meters Centerline goodness : 0.947687 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:-0.07 [[ 0.99840075 -0.05009235 0.02620481 0.50271361] [ 0.04996261 0.99873548 0.00558305 0.06525467] [-0.02645134 -0.00426486 0.999641 -0.0709726 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4465599949999999 meters Centerline goodness : 0.950188 Centerline is valid? [False, True] Translation: X:0.51, Y:0.07, Z:-0.07 [[ 0.99838777 -0.05074911 0.02542416 0.50508007] [ 0.05065168 0.99870641 0.00446212 0.06731878] [-0.02561772 -0.00316715 0.9996668 -0.07223291] [ 0. 0. 0. 1. ]] SLAMing on 1.476559995 meters Centerline goodness : 0.950951 Centerline is valid? [True, True] Translation: X:0.53, Y:0.06, Z:-0.07 [[ 0.99846518 -0.05060602 0.02250146 0.53242745] [ 0.05013054 0.99851731 0.02121592 0.06068827] [-0.02354175 -0.02005535 0.99952167 -0.06736237] [ 0. 0. 0. 1. ]] SLAMing on 1.506559995 meters Centerline goodness : 0.950386 Centerline is valid? [True, True] Translation: X:0.56, Y:0.08, Z:-0.08 [[ 0.99888146 -0.04391224 0.01753693 0.55629895] [ 0.04431948 0.99873978 -0.02355081 0.07932609] [-0.01648066 0.0243017 0.99956881 -0.07948043] [ 0. 0. 0. 1. ]] SLAMing on 1.536559995 meters Centerline goodness : 0.957556 Centerline is valid? [True, True] Translation: X:0.58, Y:0.10, Z:-0.11 [[ 0.99812274 -0.05068819 0.03437595 0.57956067] [ 0.05230045 0.99748931 -0.04774662 0.10319009] [-0.03186945 0.04945486 0.99826778 -0.11308626] [ 0. 0. 0. 1. ]] SLAMing on 1.566559995 meters Centerline goodness : 0.958816 Centerline is valid? [True, True] Translation: X:0.63, Y:0.05, Z:-0.06 [[ 0.9985699 -0.05219048 0.01158899 0.63153919] [ 0.05167002 0.99780556 0.0414038 0.0490985 ] [-0.01372444 -0.04074578 0.99907528 -0.05739057] [ 0. 0. 0. 1. ]] SLAMing on 1.5965599949999998 meters Centerline goodness : 0.962276 Centerline is valid? [True, True] Translation: X:0.66, Y:0.07, Z:-0.08 [[ 0.99838909 -0.05242799 0.02169185 0.65856265] [ 0.05225973 0.99859943 0.00825265 0.06884885] [-0.02209414 -0.00710574 0.99973064 -0.08245989] [ 0. 0. 0. 1. ]] SLAMing on 1.6265599949999998 meters Centerline goodness : 0.965267 Centerline is valid? [True, True] Translation: X:0.68, Y:0.10, Z:-0.11 [[ 0.99792362 -0.05603632 0.03175495 0.6788836 ] [ 0.05694441 0.99797184 -0.02845239 0.09543729] [-0.03009618 0.03020158 0.99909063 -0.10882175] [ 0. 0. 0. 1. ]] SLAMing on 1.6565599949999998 meters Centerline goodness : 0.966443 Centerline is valid? [True, True] Translation: X:0.71, Y:0.04, Z:-0.06 [[ 0.99850994 -0.05140508 0.01831427 0.71029231] [ 0.0501314 0.99667175 0.06428267 0.04373223] [-0.02155777 -0.06326877 0.99776366 -0.05834878] [ 0. 0. 0. 1. ]] SLAMing on 1.6865599949999999 meters Centerline goodness : 0.970083 Centerline is valid? [True, True] Translation: X:0.75, Y:0.07, Z:-0.08 [[ 0.99853446 -0.05083733 0.01856071 0.74840996] [ 0.05073163 0.99869356 0.00612199 0.07232575] [-0.01884768 -0.0051714 0.99980899 -0.08093637] [ 0. 0. 0. 1. ]] SLAMing on 1.716559995 meters Centerline goodness : 0.969835 Centerline is valid? [True, True] Translation: X:0.77, Y:0.09, Z:-0.10 [[ 0.99842153 -0.05129761 0.02286913 0.77458051] [ 0.05197958 0.99818849 -0.03029634 0.09387905] [-0.02127358 0.03143725 0.99927931 -0.10426961] [ 0. 0. 0. 1. ]] SLAMing on 1.746559995 meters Centerline goodness : 0.970619 Centerline is valid? [True, True] Translation: X:0.80, Y:0.07, Z:-0.08 [[ 0.99867701 -0.04784853 0.01883461 0.79731502] [ 0.04741633 0.99861585 0.02276125 0.06674539] [-0.01989763 -0.02183807 0.9995635 -0.0792223 ] [ 0. 0. 0. 1. ]] SLAMing on 1.776559995 meters Centerline goodness : 0.972480 Centerline is valid? [True, True] Translation: X:0.83, Y:0.09, Z:-0.10 [[ 0.99862901 -0.04782358 0.02128392 0.82739961] [ 0.04810813 0.99875669 -0.01306424 0.08691597] [-0.02063268 0.01407025 0.99968811 -0.09872503] [ 0. 0. 0. 1. ]] SLAMing on 1.8065599949999998 meters Centerline goodness : 0.971946 Centerline is valid? [True, True] Translation: X:0.85, Y:0.09, Z:-0.10 [[ 0.99884018 -0.04444606 0.01851606 0.85362708] [ 0.04465548 0.99894128 -0.01105452 0.08584669] [-0.01800512 0.01186855 0.99976745 -0.09806743] [ 0. 0. 0. 1. ]] SLAMing on 1.8365599949999998 meters Centerline goodness : 0.975246 Centerline is valid? [True, True] Translation: X:0.89, Y:0.07, Z:-0.09 [[ 0.99860337 -0.05047557 0.01560564 0.89144439] [ 0.05031528 0.9986782 0.01049899 0.07221362] [-0.01611495 -0.00969913 0.9998231 -0.08647626] [ 0. 0. 0. 1. ]] SLAMing on 1.8665599949999998 meters Centerline goodness : 0.979390 Centerline is valid? [True, True] Translation: X:0.91, Y:0.11, Z:-0.12 [[ 0.99803977 -0.05659966 0.02670401 0.90688188] [ 0.0577233 0.99739002 -0.0433725 0.10805879] [-0.02417944 0.04482892 0.99870202 -0.1207071 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8965599949999998 meters Centerline goodness : 0.978076 Centerline is valid? [True, True] Translation: X:0.96, Y:0.06, Z:-0.08 [[ 0.99828813 -0.05755463 0.0104051 0.9635802 ] [ 0.05712061 0.99764139 0.03806422 0.06435357] [-0.01257133 -0.03740472 0.99922112 -0.07988563] [ 0. 0. 0. 1. ]] SLAMing on 1.9265599949999999 meters Centerline goodness : 0.980076 Centerline is valid? [True, True] Translation: X:0.98, Y:0.10, Z:-0.12 [[ 0.99809506 -0.0567069 0.02430198 0.9751262 ] [ 0.05729455 0.99806378 -0.02420784 0.10351297] [-0.02288217 0.02555409 0.99941152 -0.11680904] [ 0. 0. 0. 1. ]] SLAMing on 1.9565599949999999 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:1.05, Y:0.01, Z:-0.03 [[ 0.997299 -0.0679488 0.02788651 1.05428 ] [ 0.0611297 0.97835334 0.19770659 0.00847554] [-0.04071679 -0.19546789 0.9798645 -0.03303641] [ 0. 0. 0. 1. ]] SLAMing on 1.986559995 meters Centerline goodness : 0.987957 Centerline is valid? [True, True] Translation: X:1.07, Y:0.10, Z:-0.11 [[ 9.97534064e-01 -5.77535122e-02 3.98788502e-02 1.07473560e+00] [ 5.77205860e-02 9.98330819e-01 1.97749998e-03 9.74453242e-02] [-3.99264927e-02 3.29207012e-04 9.99202565e-01 -1.14822194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0165599949999997 meters Centerline goodness : 0.985718 Centerline is valid? [True, True] Translation: X:1.07, Y:0.17, Z:-0.16 [[ 0.9985166 -0.04601331 0.02910955 1.06842358] [ 0.04981775 0.98782052 -0.14740696 0.16744214] [-0.02197233 0.14863847 0.98864747 -0.16177833] [ 0. 0. 0. 1. ]] SLAMing on 2.046559995 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:1.15, Y:0.03, Z:-0.07 [[ 0.99727636 -0.06545851 0.03398599 1.1462562 ] [ 0.06014405 0.98846723 0.13897926 0.03271759] [-0.04269141 -0.13655667 0.98971194 -0.06695289] [ 0. 0. 0. 1. ]] SLAMing on 2.0765599949999998 meters Centerline goodness : 0.989381 Centerline is valid? [True, True] Translation: X:1.17, Y:0.10, Z:-0.12 [[ 9.97589581e-01 -5.55504188e-02 4.15833960e-02 1.16955191e+00] [ 5.56133933e-02 9.98452313e-01 -3.58256811e-04 9.80768204e-02] [-4.14991366e-02 2.66998701e-03 9.99134972e-01 -1.23450234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters Centerline goodness : 0.991534 Centerline is valid? [True, True] Translation: X:1.20, Y:0.10, Z:-0.12 [[ 0.99748239 -0.05520748 0.04450854 1.19805803] [ 0.05505331 0.99847243 0.00468314 0.09747632] [-0.0446991 -0.002221 0.99899803 -0.12304912] [ 0. 0. 0. 1. ]] SLAMing on 2.136559995 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:1.23, Y:0.10, Z:-0.13 [[ 9.97563599e-01 -5.26424751e-02 4.57781201e-02 1.22720124e+00] [ 5.26152609e-02 9.98613235e-01 1.80005952e-03 9.87160924e-02] [-4.58093962e-02 6.12953880e-04 9.98950011e-01 -1.25781134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:1.26, Y:0.10, Z:-0.13 [[ 9.97397251e-01 -5.40639227e-02 4.77055183e-02 1.25580130e+00] [ 5.39447975e-02 9.98536757e-01 3.78197971e-03 1.01100846e-01] [-4.78401822e-02 -1.19867164e-03 9.98854284e-01 -1.27192779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.196559995 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:1.29, Y:0.10, Z:-0.13 [[ 9.97340739e-01 -5.42008721e-02 4.87208040e-02 1.28628257e+00] [ 5.41441841e-02 9.98530039e-01 2.48350534e-03 1.03017931e-01] [-4.87837945e-02 1.61047132e-04 9.98809349e-01 -1.29861857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:1.32, Y:0.10, Z:-0.13 [[ 0.99741239 -0.05205083 0.04959065 1.31652429] [ 0.05180509 0.99863779 0.00622876 0.10035607] [-0.04984731 -0.0036436 0.9987502 -0.12876696] [ 0. 0. 0. 1. ]] SLAMing on 2.256559995 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:1.35, Y:0.10, Z:-0.13 [[ 0.9974629 -0.05098177 0.04968531 1.34720231] [ 0.0507486 0.99869377 0.00594397 0.10344784] [-0.04992344 -0.00340743 0.99874723 -0.12961968] [ 0. 0. 0. 1. ]] SLAMing on 2.2865599949999997 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:1.38, Y:0.11, Z:-0.13 [[ 9.97359558e-01 -5.14667048e-02 5.12356268e-02 1.37825571e+00] [ 5.14906255e-02 9.98673113e-01 8.53836239e-04 1.06985464e-01] [-5.12115870e-02 1.78657274e-03 9.98686228e-01 -1.34439803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.316559995 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:1.41, Y:0.10, Z:-0.13 [[ 0.99743763 -0.05059857 0.05057628 1.4106868 ] [ 0.05041758 0.99871645 0.00484876 0.10467863] [-0.05075671 -0.0022864 0.99870843 -0.13378586] [ 0. 0. 0. 1. ]] SLAMing on 2.346559995 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:1.44, Y:0.11, Z:-0.14 [[ 0.99751823 -0.04698946 0.05243452 1.4412325 ] [ 0.04732653 0.99886591 -0.00520466 0.11322267] [-0.05213049 0.00767329 0.9986108 -0.14229904] [ 0. 0. 0. 1. ]] SLAMing on 2.376559995 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:1.47, Y:0.11, Z:-0.14 [[ 9.97584571e-01 -4.60905523e-02 5.19681040e-02 1.47367896e+00] [ 4.60217600e-02 9.98937258e-01 2.52024168e-03 1.11059681e-01] [-5.20290346e-02 -1.22490606e-04 9.98645565e-01 -1.41395420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:1.51, Y:0.11, Z:-0.14 [[ 9.97658880e-01 -4.49618451e-02 5.15285549e-02 1.50539555e+00] [ 4.48999600e-02 9.98988704e-01 2.35852925e-03 1.12341199e-01] [-5.15824881e-02 -3.93775942e-05 9.98668737e-01 -1.43180402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4365599949999996 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:1.54, Y:0.11, Z:-0.15 [[ 9.97816743e-01 -4.39870435e-02 4.92634473e-02 1.53581951e+00] [ 4.39307665e-02 9.99032100e-01 2.22505742e-03 1.13658356e-01] [-4.93136389e-02 -5.60185405e-05 9.98783341e-01 -1.45225371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:1.57, Y:0.11, Z:-0.15 [[ 9.97800145e-01 -4.51855631e-02 4.85091343e-02 1.56811980e+00] [ 4.50630276e-02 9.98977597e-01 3.61725380e-03 1.14365312e-01] [-4.86229860e-02 -1.42332791e-03 9.98816189e-01 -1.47903684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4965599949999997 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:1.60, Y:0.12, Z:-0.15 [[ 9.97751825e-01 -4.63808879e-02 4.83746645e-02 1.60009541e+00] [ 4.63261949e-02 9.98923828e-01 2.25176825e-03 1.16346862e-01] [-4.84270440e-02 -5.69174382e-06 9.98826722e-01 -1.50968471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:1.63, Y:0.11, Z:-0.15 [[ 0.99784417 -0.04532962 0.04745768 1.63300821] [ 0.04499147 0.99895396 0.00816999 0.11134156] [-0.04777838 -0.00601719 0.99883984 -0.14624238] [ 0. 0. 0. 1. ]] SLAMing on 2.5565599949999998 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:1.66, Y:0.12, Z:-0.16 [[ 0.99753331 -0.04731816 0.05184868 1.66062091] [ 0.04782249 0.99881943 -0.00852915 0.12477943] [-0.05138389 0.01098764 0.99861853 -0.16070655] [ 0. 0. 0. 1. ]] SLAMing on 2.586559995 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:1.69, Y:0.12, Z:-0.15 [[ 0.99760359 -0.04762428 0.05018978 1.69411752] [ 0.0472323 0.99884367 0.00896797 0.11712056] [-0.05055884 -0.0065759 0.99869944 -0.15303836] [ 0. 0. 0. 1. ]] SLAMing on 2.616559995 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:1.72, Y:0.12, Z:-0.16 [[ 9.97390736e-01 -4.85696772e-02 5.34107329e-02 1.72325051e+00] [ 4.87249091e-02 9.98810943e-01 -1.60731615e-03 1.24811898e-01] [-5.32691576e-02 4.20555535e-03 9.98571335e-01 -1.60087935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:1.76, Y:0.12, Z:-0.16 [[ 0.99748155 -0.04868477 0.0515785 1.75695167] [ 0.04852267 0.99881243 0.0043911 0.12374599] [-0.05173103 -0.00187731 0.99865929 -0.15636629] [ 0. 0. 0. 1. ]] SLAMing on 2.676559995 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:1.79, Y:0.13, Z:-0.16 [[ 9.97268731e-01 -4.92562858e-02 5.50354134e-02 1.78796989e+00] [ 4.92449570e-02 9.98785508e-01 1.56278810e-03 1.27860906e-01] [-5.50455505e-02 1.15169686e-03 9.98483180e-01 -1.62303981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:1.82, Y:0.13, Z:-0.17 [[ 9.97206977e-01 -4.95297065e-02 5.59021817e-02 1.82000828e+00] [ 4.96185648e-02 9.98768220e-01 -2.01820485e-04 1.30415008e-01] [-5.58233264e-02 2.97504282e-03 9.98436230e-01 -1.66025833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.736559995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:1.85, Y:0.13, Z:-0.17 [[ 0.99710512 -0.05148674 0.0559509 1.85114739] [ 0.05126555 0.99867055 0.00538231 0.12780206] [-0.05615363 -0.00249838 0.99841901 -0.16565055] [ 0. 0. 0. 1. ]] SLAMing on 2.7665599949999997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:1.89, Y:0.12, Z:-0.16 [[ 0.99747964 -0.04815295 0.05211206 1.88768034] [ 0.04737973 0.99874923 0.01597323 0.11585916] [-0.05281603 -0.01346391 0.99851349 -0.15515874] [ 0. 0. 0. 1. ]] SLAMing on 2.796559995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:1.91, Y:0.13, Z:-0.17 [[ 0.99722342 -0.05052132 0.05470883 1.91261809] [ 0.05089993 0.99868834 -0.00554856 0.13470776] [-0.05435675 0.00831783 0.99848693 -0.17001632] [ 0. 0. 0. 1. ]] SLAMing on 2.8265599949999998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:1.95, Y:0.12, Z:-0.16 [[ 0.99764853 -0.04606388 0.05074972 1.94957457] [ 0.04556377 0.99890122 0.01096817 0.12055888] [-0.05119919 -0.00863003 0.99865117 -0.16049001] [ 0. 0. 0. 1. ]] SLAMing on 2.856559995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:1.97, Y:0.14, Z:-0.17 [[ 0.99734791 -0.0487642 0.05402953 1.97246138] [ 0.04895756 0.9987983 -0.00226021 0.13728544] [-0.05385438 0.00489937 0.99853678 -0.17372424] [ 0. 0. 0. 1. ]] SLAMing on 2.886559995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:2.00, Y:0.14, Z:-0.17 [[ 9.97369015e-01 -4.87166080e-02 5.36818339e-02 2.00422701e+00] [ 4.85996842e-02 9.98812267e-01 3.48211895e-03 1.35637725e-01] [-5.37877113e-02 -8.64037377e-04 9.98552019e-01 -1.73336774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9165599949999996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:2.04, Y:0.13, Z:-0.17 [[ 0.99776429 -0.043676 0.05058477 2.04154786] [ 0.0433035 0.99902634 0.00843699 0.12631732] [-0.05090401 -0.00622763 0.99868413 -0.16900474] [ 0. 0. 0. 1. ]] SLAMing on 2.946559995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:2.07, Y:0.13, Z:-0.17 [[ 9.97796570e-01 -4.36388123e-02 4.99765779e-02 2.07355474e+00] [ 4.35737295e-02 9.99047351e-01 2.39156209e-03 1.29794522e-01] [-5.00333327e-02 -2.08626566e-04 9.98747527e-01 -1.73303870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9765599949999997 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:2.11, Y:0.13, Z:-0.17 [[ 9.97894245e-01 -4.27416344e-02 4.87875763e-02 2.10588993e+00] [ 4.26786822e-02 9.99086129e-01 2.33179468e-03 1.31136834e-01] [-4.88426555e-02 -2.44695022e-04 9.98806455e-01 -1.72655572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:2.14, Y:0.13, Z:-0.18 [[ 9.97975396e-01 -3.84509372e-02 5.06619635e-02 2.13722876e+00] [ 3.83776904e-02 9.99260379e-01 2.41813254e-03 1.34469092e-01] [-5.07174723e-02 -4.68947632e-04 9.98712931e-01 -1.76104860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0365599949999997 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:2.17, Y:0.14, Z:-0.18 [[ 9.98041847e-01 -3.79305234e-02 4.97367792e-02 2.16981611e+00] [ 3.78593807e-02 9.99280261e-01 2.37202934e-03 1.35476005e-01] [-4.97909541e-02 -4.84380882e-04 9.98759544e-01 -1.77127759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:2.20, Y:0.14, Z:-0.18 [[ 9.98061350e-01 -3.81410797e-02 4.91812900e-02 2.20128213e+00] [ 3.80719714e-02 9.99272256e-01 2.34153274e-03 1.36249591e-01] [-4.92348073e-02 -4.64564667e-04 9.98787123e-01 -1.78575448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.096559995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:2.23, Y:0.14, Z:-0.18 [[ 9.98015939e-01 -3.94537930e-02 4.90671397e-02 2.23311793e+00] [ 3.93869493e-02 9.99221319e-01 2.32880695e-03 1.36668545e-01] [-4.91208123e-02 -3.91581505e-04 9.98792768e-01 -1.81192874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:2.27, Y:0.14, Z:-0.18 [[ 9.97939679e-01 -4.10826484e-02 4.92809665e-02 2.26563637e+00] [ 4.10173477e-02 9.99155704e-01 2.33606860e-03 1.36895410e-01] [-4.93353306e-02 -3.09881010e-04 9.98782223e-01 -1.83311043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.156559995 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:2.30, Y:0.14, Z:-0.18 [[ 9.97905366e-01 -4.11499424e-02 4.99155494e-02 2.29834020e+00] [ 4.10831784e-02 9.99152935e-01 2.36322153e-03 1.38262255e-01] [-4.99705141e-02 -3.07582027e-04 9.98750646e-01 -1.82259703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:2.33, Y:0.14, Z:-0.18 [[ 9.97893008e-01 -4.16066470e-02 4.97838558e-02 2.32992288e+00] [ 4.15409525e-02 9.99134029e-01 2.35399327e-03 1.40043163e-01] [-4.98386862e-02 -2.80964630e-04 9.98757241e-01 -1.84966820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.216559995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:2.36, Y:0.14, Z:-0.19 [[ 9.97898428e-01 -4.16083844e-02 4.96736418e-02 2.36190095e+00] [ 4.15431308e-02 9.99133958e-01 2.34580841e-03 1.41893048e-01] [-4.97282276e-02 -2.77279925e-04 9.98762748e-01 -1.86521296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:2.39, Y:0.14, Z:-0.19 [[ 9.97990567e-01 -4.13622990e-02 4.79998749e-02 2.39311434e+00] [ 4.13012252e-02 9.99144176e-01 2.26389936e-03 1.43712026e-01] [-4.80524355e-02 -2.76896561e-04 9.98844776e-01 -1.87504528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.276559995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:2.41, Y:0.15, Z:-0.18 [[ 0.99784728 -0.04546469 0.04726271 2.4122918 ] [ 0.04480329 0.99888379 0.01496094 0.15078028] [-0.04789015 -0.0128112 0.99877045 -0.18080201] [ 0. 0. 0. 1. ]] SLAMing on 3.3065599949999998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:2.44, Y:0.16, Z:-0.19 [[ 9.97922530e-01 -4.36413514e-02 4.73925795e-02 2.44409854e+00] [ 4.35601732e-02 9.99047035e-01 2.74482773e-03 1.58155918e-01] [-4.74672040e-02 -6.74696459e-04 9.98872569e-01 -1.87675562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.336559995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:2.48, Y:0.16, Z:-0.19 [[ 0.99808526 -0.04232935 0.04510027 2.47544955] [ 0.0421132 0.9990964 0.00573249 0.15957292] [-0.04530217 -0.00382219 0.99896602 -0.18777249] [ 0. 0. 0. 1. ]] SLAMing on 3.366559995 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:2.51, Y:0.16, Z:-0.19 [[ 9.98169349e-01 -4.14533241e-02 4.40405887e-02 2.50677732e+00] [ 4.14299954e-02 9.99140368e-01 1.44271438e-03 1.62946849e-01] [-4.40625353e-02 3.84528111e-04 9.99028701e-01 -1.91492420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3965599949999996 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:2.54, Y:0.17, Z:-0.19 [[ 9.98159905e-01 -4.24324402e-02 4.33161903e-02 2.53727606e+00] [ 4.23693613e-02 9.99099196e-01 2.37368869e-03 1.65509392e-01] [-4.33778923e-02 -5.34041561e-04 9.99058594e-01 -1.94622430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:2.57, Y:0.17, Z:-0.20 [[ 9.98140420e-01 -4.31822746e-02 4.30231795e-02 2.56801738e+00] [ 4.30764277e-02 9.99066046e-01 3.38470490e-03 1.67221362e-01] [-4.31291571e-02 -1.52512589e-03 9.99068341e-01 -1.96344810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4565599949999997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:2.60, Y:0.17, Z:-0.20 [[ 9.98108461e-01 -4.39733336e-02 4.29632993e-02 2.59947943e+00] [ 4.38856492e-02 9.99032109e-01 2.98241587e-03 1.69055744e-01] [-4.30528623e-02 -1.09130223e-03 9.99072200e-01 -1.98624573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:2.63, Y:0.17, Z:-0.20 [[ 9.97940256e-01 -4.67338050e-02 4.39453802e-02 2.63045173e+00] [ 4.67143125e-02 9.98907208e-01 1.47095321e-03 1.71854576e-01] [-4.39661002e-02 5.84954799e-04 9.99032852e-01 -2.00175281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5165599949999997 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:2.66, Y:0.17, Z:-0.20 [[ 9.97847761e-01 -4.79631383e-02 4.47144560e-02 2.66120555e+00] [ 4.79130467e-02 9.98849105e-01 2.19194127e-03 1.74399970e-01] [-4.47681268e-02 -4.48178652e-05 9.98997404e-01 -2.02168703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:2.69, Y:0.17, Z:-0.20 [[ 9.97862024e-01 -4.76048969e-02 4.47789485e-02 2.69181936e+00] [ 4.75013611e-02 9.98865475e-01 3.37398759e-03 1.74726940e-01] [-4.48887640e-02 -1.23971308e-03 9.98991222e-01 -2.03610473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5765599949999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:2.72, Y:0.18, Z:-0.20 [[ 9.97816667e-01 -4.83741302e-02 4.49649145e-02 2.72302962e+00] [ 4.82261717e-02 9.98826881e-01 4.37015686e-03 1.76060182e-01] [-4.51235678e-02 -2.19212966e-03 9.98979008e-01 -2.04529089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:2.75, Y:0.18, Z:-0.21 [[ 9.97675161e-01 -5.06803180e-02 4.55607151e-02 2.75267215e+00] [ 5.06561859e-02 9.98714730e-01 1.68482293e-03 1.80213157e-01] [-4.55875446e-02 6.27026063e-04 9.98960151e-01 -2.07716272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.636559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:2.78, Y:0.18, Z:-0.21 [[ 9.97668955e-01 -5.10130851e-02 4.53246112e-02 2.78010252e+00] [ 5.08421146e-02 9.98694596e-01 4.91770548e-03 1.78914408e-01] [-4.55163116e-02 -2.60184301e-03 9.98960207e-01 -2.08680230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:2.81, Y:0.17, Z:-0.20 [[ 0.99763834 -0.05423311 0.04214878 2.81244949] [ 0.05376606 0.99847979 0.01213754 0.17368043] [-0.04274296 -0.00984271 0.99903762 -0.20467984] [ 0. 0. 0. 1. ]] SLAMing on 3.696559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:2.84, Y:0.18, Z:-0.21 [[ 9.97411014e-01 -5.89712833e-02 4.11540581e-02 2.84458285e+00] [ 5.90356903e-02 9.98255811e-01 -3.50426341e-04 1.79539588e-01] [-4.10616126e-02 2.77907732e-03 9.99152751e-01 -2.11251590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:2.87, Y:0.18, Z:-0.21 [[ 0.99693416 -0.06600875 0.04201333 2.87031623] [ 0.06581551 0.99781396 0.00596755 0.17627201] [-0.0423154 -0.00318413 0.99909923 -0.21063977] [ 0. 0. 0. 1. ]] SLAMing on 3.756559995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:2.90, Y:0.18, Z:-0.21 [[ 9.96700318e-01 -6.92013423e-02 4.24222763e-02 2.89956176e+00] [ 6.90268240e-02 9.97599273e-01 5.56668044e-03 1.76890418e-01] [-4.27056538e-02 -2.62003717e-03 9.99084262e-01 -2.11528041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:2.92, Y:0.17, Z:-0.21 [[ 0.99655985 -0.0708856 0.04293833 2.92281512] [ 0.07020133 0.99738383 0.01724179 0.17074343] [-0.04404819 -0.01416815 0.99892894 -0.20717077] [ 0. 0. 0. 1. ]] SLAMing on 3.816559995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:2.95, Y:0.18, Z:-0.22 [[ 9.96300453e-01 -7.21850588e-02 4.66339348e-02 2.94908123e+00] [ 7.22037262e-02 9.97389075e-01 1.28626959e-03 1.79606354e-01] [-4.66050265e-02 2.08563289e-03 9.98911218e-01 -2.15753982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:2.98, Y:0.17, Z:-0.21 [[ 0.99610326 -0.07522169 0.0460434 2.97886286] [ 0.07488442 0.99715152 0.00900903 0.17246509] [-0.04658992 -0.005526 0.99889882 -0.21302499] [ 0. 0. 0. 1. ]] SLAMing on 3.8765599949999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:3.01, Y:0.18, Z:-0.22 [[ 0.99605113 -0.07347642 0.04983326 3.00519171] [ 0.07391066 0.99724082 -0.00692528 0.18170798] [-0.04918692 0.01058114 0.99873354 -0.22346717] [ 0. 0. 0. 1. ]] SLAMing on 3.906559995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:3.04, Y:0.17, Z:-0.22 [[ 0.9961795 -0.07353134 0.04711205 3.03567881] [ 0.07313966 0.9972717 0.0099869 0.17254301] [-0.04771786 -0.00650298 0.99883969 -0.21743209] [ 0. 0. 0. 1. ]] SLAMing on 3.9365599949999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:3.07, Y:0.17, Z:-0.22 [[ 0.99631872 -0.07274437 0.04535709 3.06565863] [ 0.07237305 0.9973297 0.0097778 0.17210484] [-0.04594725 -0.00645917 0.99892298 -0.2179363 ] [ 0. 0. 0. 1. ]] SLAMing on 3.966559995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:3.09, Y:0.18, Z:-0.23 [[ 0.99623133 -0.07156029 0.04901288 3.09338379] [ 0.07197763 0.99738306 -0.0068012 0.18218259] [-0.04839792 0.0103034 0.99877499 -0.23055366] [ 0. 0. 0. 1. ]] SLAMing on 3.9965599949999997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:3.13, Y:0.18, Z:-0.25 [[ 0.99617749 -0.06759148 0.05533357 3.13099341] [ 0.06903124 0.99731279 -0.02453336 0.18416449] [-0.05352663 0.02825933 0.99816647 -0.2501844 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0265599949999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:3.16, Y:0.17, Z:-0.24 [[ 9.96074860e-01 -6.94112069e-02 5.49268302e-02 3.16152917e+00] [ 6.94147542e-02 9.97586180e-01 1.84552975e-03 1.70899726e-01] [-5.49223471e-02 1.97444662e-03 9.98488677e-01 -2.42911717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.056559995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:3.19, Y:0.17, Z:-0.24 [[ 9.96120495e-01 -6.76706955e-02 5.62551084e-02 3.19013757e+00] [ 6.76715500e-02 9.97705859e-01 1.89194460e-03 1.72026297e-01] [-5.62540805e-02 1.92226559e-03 9.98414635e-01 -2.44150145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:3.22, Y:0.17, Z:-0.25 [[ 9.96163538e-01 -6.60351331e-02 5.74244519e-02 3.22047345e+00] [ 6.60330599e-02 9.97815558e-01 1.93570244e-03 1.72985161e-01] [-5.74268359e-02 1.86363608e-03 9.98347978e-01 -2.45947868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.116559994999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:3.25, Y:0.17, Z:-0.25 [[ 9.96383515e-01 -6.20063936e-02 5.80956019e-02 3.25060847e+00] [ 6.19974304e-02 9.98074388e-01 1.95842196e-03 1.72681866e-01] [-5.81051669e-02 1.65043868e-03 9.98309103e-01 -2.47095555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:3.28, Y:0.17, Z:-0.25 [[ 9.96431890e-01 -6.11558645e-02 5.81674256e-02 3.28231119e+00] [ 6.11454749e-02 9.98126940e-01 1.96011504e-03 1.72904002e-01] [-5.81783471e-02 1.60355373e-03 9.98304918e-01 -2.49962680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.176559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:3.31, Y:0.17, Z:-0.25 [[ 9.96493013e-01 -5.94716050e-02 5.88625776e-02 3.31439528e+00] [ 5.94582777e-02 9.98228829e-01 1.97939614e-03 1.73907367e-01] [-5.88760398e-02 1.52741306e-03 9.98264133e-01 -2.52424360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:3.35, Y:0.18, Z:-0.26 [[ 9.96751181e-01 -5.43109527e-02 5.94760816e-02 3.34537172e+00] [ 5.42884154e-02 9.98523302e-01 1.99592297e-03 1.76311749e-01] [-5.94966538e-02 1.23942364e-03 9.98227736e-01 -2.55263626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2365599949999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:3.38, Y:0.18, Z:-0.26 [[ 9.96833800e-01 -5.25858711e-02 5.96414425e-02 3.37779769e+00] [ 5.25605688e-02 9.98615747e-01 1.99403990e-03 1.77945320e-01] [-5.96637420e-02 1.14706177e-03 9.98217873e-01 -2.58014305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:3.41, Y:0.18, Z:-0.26 [[ 9.96928593e-01 -5.07952888e-02 5.96088873e-02 3.41053130e+00] [ 5.07670581e-02 9.98708541e-01 1.98891549e-03 1.79689367e-01] [-5.96329324e-02 1.04336112e-03 9.98219828e-01 -2.61236959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.296559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.44, Y:0.18, Z:-0.26 [[ 9.96978395e-01 -5.05711259e-02 5.89630522e-02 3.44378877e+00] [ 5.05434746e-02 9.98719936e-01 1.96121812e-03 1.80336241e-01] [-5.89867567e-02 1.02490544e-03 9.98258239e-01 -2.64404672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.48, Y:0.18, Z:-0.27 [[ 9.97023967e-01 -5.05127536e-02 5.82380558e-02 3.47566489e+00] [ 5.04860364e-02 9.98722900e-01 1.93096161e-03 1.80538914e-01] [-5.82612182e-02 1.01499360e-03 9.98300857e-01 -2.66684747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.356559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:3.51, Y:0.18, Z:-0.27 [[ 9.97080965e-01 -4.92699615e-02 5.83268430e-02 3.50727572e+00] [ 4.92413367e-02 9.98785047e-01 1.92880805e-03 1.82296845e-01] [-5.83510110e-02 9.48913930e-04 9.98295677e-01 -2.69577543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:3.54, Y:0.18, Z:-0.27 [[ 9.97139898e-01 -4.82993502e-02 5.81308559e-02 3.53981714e+00] [ 4.82695529e-02 9.98832505e-01 1.91746543e-03 1.83287223e-01] [-5.81556008e-02 8.93969142e-04 9.98307131e-01 -2.71414774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.416559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:3.57, Y:0.18, Z:-0.27 [[ 9.97231050e-01 -4.69331936e-02 5.76845653e-02 3.57258390e+00] [ 4.69019083e-02 9.98897699e-01 1.89686395e-03 1.84543625e-01] [-5.77100054e-02 8.13904568e-04 9.98333057e-01 -2.73602294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.60, Y:0.18, Z:-0.28 [[ 9.97271224e-01 -4.66079589e-02 5.72521163e-02 3.60487906e+00] [ 4.65769586e-02 9.98912942e-01 1.87648741e-03 1.84842699e-01] [-5.72773392e-02 7.95262552e-04 9.98357989e-01 -2.75711562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.476559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.64, Y:0.18, Z:-0.27 [[ 0.99738706 -0.04942348 0.05269123 3.63546737] [ 0.04855928 0.99866597 0.01755803 0.17890333] [-0.05348872 -0.01495351 0.99845648 -0.2660047 ] [ 0. 0. 0. 1. ]] SLAMing on 4.506559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:3.67, Y:0.20, Z:-0.29 [[ 0.99726336 -0.04479375 0.05881592 3.66791223] [ 0.04567325 0.99886256 -0.01369446 0.19647184] [-0.0581356 0.0163433 0.99817491 -0.28585121] [ 0. 0. 0. 1. ]] SLAMing on 4.536559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.70, Y:0.19, Z:-0.28 [[ 9.97278018e-01 -4.63113771e-02 5.73743079e-02 3.70170083e+00] [ 4.62807071e-02 9.98926735e-01 1.86391671e-03 1.88066317e-01] [-5.73990506e-02 7.96480372e-04 9.98350998e-01 -2.82123878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:3.74, Y:0.19, Z:-0.28 [[ 9.97298451e-01 -4.48877773e-02 5.81453922e-02 3.73502769e+00] [ 4.48542188e-02 9.98991769e-01 1.88281626e-03 1.90289411e-01] [-5.81712836e-02 7.30336404e-04 9.98306350e-01 -2.83716495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.596559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:3.77, Y:0.19, Z:-0.29 [[ 9.97315807e-01 -4.38994975e-02 5.86004660e-02 3.76766071e+00] [ 4.38640702e-02 9.99035718e-01 1.89137480e-03 1.91955627e-01] [-5.86269891e-02 6.84156963e-04 9.98279724e-01 -2.86282019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.80, Y:0.19, Z:-0.29 [[ 9.97293511e-01 -4.64174260e-02 5.70182065e-02 3.80016671e+00] [ 4.63883388e-02 9.98921797e-01 1.83431502e-03 1.88886903e-01] [-5.70418735e-02 8.15629414e-04 9.98371454e-01 -2.87897732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.656559994999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:3.83, Y:0.19, Z:-0.29 [[ 9.97229486e-01 -4.73695702e-02 5.73539506e-02 3.83275212e+00] [ 4.73419978e-02 9.98877044e-01 1.84015370e-03 1.89030303e-01] [-5.73767119e-02 8.80195077e-04 9.98352211e-01 -2.89220531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.86, Y:0.19, Z:-0.29 [[ 9.97180344e-01 -4.80659117e-02 5.76283728e-02 3.86480151e+00] [ 4.80395945e-02 9.98843732e-01 1.84275941e-03 1.89671249e-01] [-5.76503129e-02 9.30880198e-04 9.98336404e-01 -2.91084803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.716559995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:3.90, Y:0.19, Z:-0.29 [[ 9.97186837e-01 -4.86117537e-02 5.70553212e-02 3.89729526e+00] [ 4.85871243e-02 9.98817291e-01 1.81962645e-03 1.89654669e-01] [-5.70762966e-02 9.57646442e-04 9.98369360e-01 -2.92482122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:3.93, Y:0.19, Z:-0.29 [[ 9.97206561e-01 -4.73076759e-02 5.78018921e-02 3.93065226e+00] [ 4.72805558e-02 9.98879959e-01 1.83746419e-03 1.91305071e-01] [-5.78240778e-02 9.00574242e-04 9.98326382e-01 -2.94656436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7765599949999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:3.96, Y:0.19, Z:-0.30 [[ 9.97221329e-01 -4.70300817e-02 5.77736317e-02 3.96266618e+00] [ 4.70028474e-02 9.98893077e-01 1.83095750e-03 1.92555722e-01] [-5.77957908e-02 8.89655326e-04 9.98328030e-01 -2.97206846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:4.00, Y:0.19, Z:-0.30 [[ 9.97226957e-01 -4.69102038e-02 5.77739542e-02 3.99604651e+00] [ 4.68833615e-02 9.98898711e-01 1.82072050e-03 1.93522154e-01] [-5.77957388e-02 8.92965613e-04 9.98328030e-01 -2.99348142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.836559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:4.03, Y:0.20, Z:-0.30 [[ 9.97270249e-01 -4.56973031e-02 5.79983398e-02 4.02839902e+00] [ 4.56686144e-02 9.98954985e-01 1.82071238e-03 1.96107527e-01] [-5.80209323e-02 8.32961526e-04 9.98315019e-01 -3.01859944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:4.06, Y:0.20, Z:-0.30 [[ 9.97393384e-01 -4.38846021e-02 5.72763405e-02 4.06086481e+00] [ 4.38539726e-02 9.99036344e-01 1.79219338e-03 1.96682084e-01] [-5.72997955e-02 7.24273246e-04 9.98356754e-01 -3.04608577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.896559995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:4.09, Y:0.20, Z:-0.31 [[ 9.97438445e-01 -4.28289817e-02 5.72907296e-02 4.09366658e+00] [ 4.27969394e-02 9.99082194e-01 1.78668257e-03 1.98682845e-01] [-5.73146696e-02 6.69761994e-04 9.98355939e-01 -3.06510902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:4.13, Y:0.20, Z:-0.31 [[ 9.97490901e-01 -4.08798457e-02 5.77991397e-02 4.12644347e+00] [ 4.08443117e-02 9.99163908e-01 1.79651634e-03 2.01177771e-01] [-5.78242557e-02 5.68757371e-04 9.98326616e-01 -3.09124701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.956559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:4.16, Y:0.20, Z:-0.31 [[ 9.97541858e-01 -4.00972345e-02 5.74669687e-02 4.15863593e+00] [ 4.00611278e-02 9.99195644e-01 1.78067830e-03 2.01775861e-01] [-5.74921451e-02 5.25890444e-04 9.98345820e-01 -3.11308692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.19, Y:0.20, Z:-0.31 [[ 9.97578138e-01 -4.05319499e-02 5.65244962e-02 4.19127414e+00] [ 4.04982844e-02 9.99178090e-01 1.74142431e-03 2.01235530e-01] [-5.65486215e-02 5.51938295e-04 9.98399694e-01 -3.12639163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.016559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:4.22, Y:0.20, Z:-0.31 [[ 9.97575997e-01 -4.03740383e-02 5.66751039e-02 4.22387649e+00] [ 4.03402657e-02 9.99184485e-01 1.74030248e-03 2.01649022e-01] [-5.66991475e-02 5.50204774e-04 9.98391158e-01 -3.14255915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:4.26, Y:0.20, Z:-0.32 [[ 9.97569134e-01 -4.07860815e-02 5.65006047e-02 4.25600589e+00] [ 4.07535163e-02 9.99167734e-01 1.72895021e-03 2.02158867e-01] [-5.65240983e-02 5.77850954e-04 9.98401068e-01 -3.15656321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.076559994999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:4.29, Y:0.20, Z:-0.32 [[ 9.97574110e-01 -4.15935093e-02 5.58200308e-02 4.28898349e+00] [ 4.15632438e-02 9.99134423e-01 1.70352716e-03 2.02307474e-01] [-5.58425700e-02 6.20666965e-04 9.98439393e-01 -3.16932647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:4.32, Y:0.20, Z:-0.32 [[ 9.97589752e-01 -4.00829210e-02 5.66396230e-02 4.32118601e+00] [ 4.00496788e-02 9.99196205e-01 1.72235325e-03 2.04758213e-01] [-5.66631333e-02 5.50196757e-04 9.98393202e-01 -3.19582134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.136559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.35, Y:0.21, Z:-0.32 [[ 9.97626605e-01 -4.07923351e-02 5.54720043e-02 4.35366836e+00] [ 4.07618000e-02 9.99167476e-01 1.68226050e-03 2.05734434e-01] [-5.54944459e-02 5.82870917e-04 9.98458826e-01 -3.22388350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.39, Y:0.21, Z:-0.33 [[ 9.97577798e-01 -4.27950409e-02 5.48372194e-02 4.38536703e+00] [ 4.27684981e-02 9.99083633e-01 1.65801288e-03 2.05493738e-01] [-5.48579231e-02 6.91308675e-04 9.98493931e-01 -3.25058547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.196559994999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:4.42, Y:0.20, Z:-0.33 [[ 9.97490067e-01 -4.50510057e-02 5.46257464e-02 4.41760449e+00] [ 4.50285562e-02 9.98984350e-01 1.64230401e-03 2.04913487e-01] [-5.46442533e-02 8.21536562e-04 9.98505549e-01 -3.27718267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:4.45, Y:0.21, Z:-0.33 [[ 9.97390931e-01 -4.58787032e-02 5.57357620e-02 4.45069614e+00] [ 4.58571882e-02 9.98946617e-01 1.66556875e-03 2.06004129e-01] [-5.57534651e-02 8.94662164e-04 9.98444165e-01 -3.29594716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.256559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.48, Y:0.21, Z:-0.33 [[ 9.97294557e-01 -4.66119083e-02 5.68409734e-02 4.48412439e+00] [ 4.65910553e-02 9.98912613e-01 1.69274533e-03 2.06369502e-01] [-5.68580673e-02 9.60115226e-04 9.98381810e-01 -3.31021667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.52, Y:0.21, Z:-0.33 [[ 9.97221464e-01 -4.78566282e-02 5.70884871e-02 4.51735355e+00] [ 4.78379652e-02 9.98853672e-01 1.69426674e-03 2.06405728e-01] [-5.71041269e-02 1.04143790e-03 9.98367685e-01 -3.33093913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3165599949999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.55, Y:0.21, Z:-0.34 [[ 9.97146377e-01 -4.90382805e-02 5.73964272e-02 4.54998483e+00] [ 4.90217111e-02 9.98796271e-01 1.69749499e-03 2.07097183e-01] [-5.74105796e-02 1.12102009e-03 9.98350023e-01 -3.35082497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:4.58, Y:0.21, Z:-0.34 [[ 9.97064148e-01 -4.96267760e-02 5.83118208e-02 4.58298771e+00] [ 4.96110334e-02 9.98767136e-01 1.71852241e-03 2.08296341e-01] [-5.83252150e-02 1.17943261e-03 9.98296939e-01 -3.37504167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.376559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:4.62, Y:0.21, Z:-0.34 [[ 9.97027861e-01 -4.93123189e-02 5.91923907e-02 4.61510504e+00] [ 4.92958940e-02 9.98782705e-01 1.73859293e-03 2.09500037e-01] [-5.92060701e-02 1.18451623e-03 9.98245079e-01 -3.39204737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:4.65, Y:0.21, Z:-0.34 [[ 9.97056255e-01 -4.81276615e-02 5.96871278e-02 4.64793472e+00] [ 4.81094345e-02 9.98840550e-01 1.74321268e-03 2.10889827e-01] [-5.97018203e-02 1.13343286e-03 9.98215612e-01 -3.41641708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.436559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.68, Y:0.21, Z:-0.34 [[ 9.97048598e-01 -4.88086662e-02 5.92605071e-02 4.68085070e+00] [ 4.87922590e-02 9.98807459e-01 1.72469713e-03 2.10859784e-01] [-5.92740167e-02 1.17184716e-03 9.98241062e-01 -3.43898792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:4.71, Y:0.21, Z:-0.35 [[ 9.97038590e-01 -4.86852057e-02 5.95298380e-02 4.71404343e+00] [ 4.86687966e-02 9.98813480e-01 1.72638507e-03 2.12092736e-01] [-5.95432541e-02 1.17597304e-03 9.98225034e-01 -3.46553066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.496559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:4.75, Y:0.21, Z:-0.35 [[ 9.97025847e-01 -4.82433423e-02 6.01002487e-02 4.74532928e+00] [ 4.82261835e-02 9.98834931e-01 1.73683172e-03 2.14927737e-01] [-6.01140183e-02 1.16673950e-03 9.98190835e-01 -3.49890137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.78, Y:0.22, Z:-0.35 [[ 9.97050754e-01 -4.70749265e-02 6.06114221e-02 4.77704034e+00] [ 4.70559762e-02 9.98890737e-01 1.74078461e-03 2.17720696e-01] [-6.06261355e-02 1.11647903e-03 9.98159920e-01 -3.52995536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.556559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.81, Y:0.22, Z:-0.36 [[ 9.97068363e-01 -4.75823343e-02 5.99216279e-02 4.81040911e+00] [ 4.75650269e-02 9.98866670e-01 1.71597978e-03 2.18301982e-01] [-5.99353672e-02 1.13922469e-03 9.98201610e-01 -3.55313468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:4.84, Y:0.22, Z:-0.36 [[ 9.97068114e-01 -4.83019438e-02 5.93472635e-02 4.84324321e+00] [ 4.82865978e-02 9.98832086e-01 1.69349443e-03 2.18023894e-01] [-5.93597501e-02 1.17714815e-03 9.98235961e-01 -3.57286878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.616559994999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:4.88, Y:0.22, Z:-0.36 [[ 9.97191354e-01 -4.73919585e-02 5.79948761e-02 4.87573758e+00] [ 4.73761065e-02 9.98875761e-01 1.64902104e-03 2.16906323e-01] [-5.80078263e-02 1.10318190e-03 9.98315519e-01 -3.57513391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:4.91, Y:0.22, Z:-0.36 [[ 9.97232424e-01 -4.87140767e-02 5.61643264e-02 4.90723215e+00] [ 4.87015242e-02 9.98812106e-01 1.59301368e-03 2.16092548e-01] [-5.61752113e-02 1.14668340e-03 9.98420268e-01 -3.60424939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.676559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:4.94, Y:0.22, Z:-0.36 [[ 9.97236536e-01 -4.86295035e-02 5.61646069e-02 4.93979405e+00] [ 4.86173775e-02 9.98816222e-01 1.58305795e-03 2.16951476e-01] [-5.61751038e-02 1.15189268e-03 9.98420268e-01 -3.62513578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.97, Y:0.22, Z:-0.36 [[ 9.97240938e-01 -4.76443896e-02 5.69255900e-02 4.97273597e+00] [ 4.76306018e-02 9.98863738e-01 1.59975730e-03 2.19915836e-01] [-5.69371271e-02 1.11605663e-03 9.98377142e-01 -3.64892675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7365599949999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.01, Y:0.22, Z:-0.37 [[ 9.97195447e-01 -4.77708544e-02 5.76123703e-02 5.00519017e+00] [ 4.77572903e-02 9.98857667e-01 1.61305135e-03 2.21874805e-01] [-5.76236146e-02 1.14288324e-03 9.98337725e-01 -3.68006745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.04, Y:0.22, Z:-0.37 [[ 9.97119172e-01 -4.84481648e-02 5.83620765e-02 5.03742945e+00] [ 4.84357688e-02 9.98824973e-01 1.62782332e-03 2.22254945e-01] [-5.83723645e-02 1.20367820e-03 9.98294154e-01 -3.70516019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.796559995 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:5.07, Y:0.22, Z:-0.37 [[ 9.97096881e-01 -4.72645059e-02 5.96982178e-02 5.07071390e+00] [ 4.72497284e-02 9.98881729e-01 1.65992414e-03 2.24464803e-01] [-5.97099145e-02 1.16561940e-03 9.98215091e-01 -3.73119020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:5.10, Y:0.23, Z:-0.38 [[ 9.97073600e-01 -4.66635044e-02 6.05537325e-02 5.10270513e+00] [ 4.66475867e-02 9.98910001e-01 1.67725604e-03 2.25565330e-01] [-6.05659956e-02 1.15233776e-03 9.98163530e-01 -3.75485991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.856559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:5.14, Y:0.23, Z:-0.38 [[ 9.97113112e-01 -4.59898910e-02 6.04183124e-02 5.13534050e+00] [ 4.59731194e-02 9.98941284e-01 1.66837870e-03 2.26469802e-01] [-6.04310751e-02 1.11405601e-03 9.98171751e-01 -3.77307993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.17, Y:0.23, Z:-0.38 [[ 9.97166595e-01 -4.40512703e-02 6.09775983e-02 5.16682768e+00] [ 4.40309687e-02 9.99028759e-01 1.67725136e-03 2.29077587e-01] [-6.09922594e-02 1.01240369e-03 9.98137726e-01 -3.80138296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.916559995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:5.20, Y:0.23, Z:-0.38 [[ 9.97238398e-01 -4.30027826e-02 6.05502934e-02 5.19982120e+00] [ 4.29811500e-02 9.99074504e-01 1.66028163e-03 2.30368579e-01] [-6.05656511e-02 9.46824649e-04 9.98163767e-01 -3.82904538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.23, Y:0.23, Z:-0.38 [[ 9.97327164e-01 -4.21849396e-02 5.96570089e-02 5.23213870e+00] [ 4.21628519e-02 9.99109423e-01 1.62953439e-03 2.30474918e-01] [-5.96726215e-02 8.90130717e-04 9.98217604e-01 -3.84534871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.976559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:5.27, Y:0.23, Z:-0.39 [[ 9.97343763e-01 -4.20293976e-02 5.94890570e-02 5.26507415e+00] [ 4.20074618e-02 9.99115984e-01 1.61984388e-03 2.29853196e-01] [-5.95045487e-02 8.83443095e-04 9.98227643e-01 -3.87219338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:5.30, Y:0.23, Z:-0.39 [[ 9.97353935e-01 -4.17666680e-02 5.95035529e-02 5.29775809e+00] [ 4.17446213e-02 9.99127010e-01 1.61408370e-03 2.28471506e-01] [-5.95190218e-02 8.74140555e-04 9.98226789e-01 -3.89933020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.036559994999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:5.33, Y:0.23, Z:-0.39 [[ 9.97364326e-01 -4.13715761e-02 5.96053238e-02 5.33073591e+00] [ 4.13491230e-02 9.99143461e-01 1.61058688e-03 2.29203100e-01] [-5.96209021e-02 8.58285972e-04 9.98220723e-01 -3.92475572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:5.36, Y:0.23, Z:-0.40 [[ 9.97397565e-01 -4.08652725e-02 5.93980343e-02 5.36346581e+00] [ 4.08424497e-02 9.99164320e-01 1.59874437e-03 2.30157518e-01] [-5.94137297e-02 8.31377491e-04 9.98233098e-01 -3.95582050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.096559995 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:5.40, Y:0.23, Z:-0.40 [[ 9.97373536e-01 -4.06639579e-02 5.99372322e-02 5.39672162e+00] [ 4.06407465e-02 9.99172532e-01 1.60675965e-03 2.31406052e-01] [-5.99529733e-02 8.33354301e-04 9.98200855e-01 -3.98343351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.43, Y:0.23, Z:-0.40 [[ 9.97356202e-01 -3.82631491e-02 6.17781274e-02 5.42882627e+00] [ 3.82342907e-02 9.99267441e-01 1.64964708e-03 2.33677993e-01] [-6.17959919e-02 7.16757136e-04 9.98088544e-01 -4.00788844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.156559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.46, Y:0.23, Z:-0.40 [[ 9.97393618e-01 -3.71700416e-02 6.18413965e-02 5.46190079e+00] [ 3.71400525e-02 9.99308733e-01 1.63475990e-03 2.33478590e-01] [-6.18594117e-02 6.66293617e-04 9.98084650e-01 -4.02864505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:5.49, Y:0.23, Z:-0.40 [[ 9.97452221e-01 -3.52127749e-02 6.20413372e-02 5.49339293e+00] [ 3.51792071e-02 9.99379685e-01 1.63364749e-03 2.33188819e-01] [-6.20603773e-02 5.53079728e-04 9.98072244e-01 -4.04619346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.216559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.53, Y:0.23, Z:-0.41 [[ 9.97505269e-01 -3.34794786e-02 6.21479100e-02 5.52623176e+00] [ 3.34434795e-02 9.99439298e-01 1.61967884e-03 2.33322565e-01] [-6.21672895e-02 4.62804175e-04 9.98065636e-01 -4.06175484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:5.56, Y:0.23, Z:-0.41 [[ 9.97594563e-01 -2.94153885e-02 6.27680032e-02 5.55775808e+00] [ 2.93710486e-02 9.99567250e-01 1.62918392e-03 2.34982010e-01] [-6.27887634e-02 2.18297048e-04 9.98026815e-01 -4.09271464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2765599949999995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:5.59, Y:0.24, Z:-0.41 [[ 9.97634825e-01 -2.70092818e-02 6.32080245e-02 5.59075676e+00] [ 2.69605637e-02 9.99635179e-01 1.62370180e-03 2.36937965e-01] [-6.32288199e-02 8.42625073e-05 9.97999053e-01 -4.11623721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:5.62, Y:0.24, Z:-0.42 [[ 9.97717309e-01 -2.43423353e-02 6.29890626e-02 5.62350112e+00] [ 2.42897543e-02 9.99703679e-01 1.60049779e-03 2.38931749e-01] [-6.30093575e-02 -6.68554935e-05 9.98012934e-01 -4.15064840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.336559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:5.66, Y:0.24, Z:-0.42 [[ 9.97757994e-01 -2.21513376e-02 6.31530197e-02 5.65613580e+00] [ 2.20952157e-02 9.99754611e-01 1.58700004e-03 2.40184647e-01] [-6.31726769e-02 -1.88062385e-04 9.98002594e-01 -4.16959372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.69, Y:0.24, Z:-0.42 [[ 9.97772663e-01 -1.96664289e-02 6.37412363e-02 5.68759334e+00] [ 1.96053508e-02 9.99806542e-01 1.58360821e-03 2.41335963e-01] [-6.37600490e-02 -3.30411682e-04 9.97965203e-01 -4.20449962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.396559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:5.72, Y:0.24, Z:-0.42 [[ 9.97793860e-01 -1.86174943e-02 6.37244273e-02 5.72022539e+00] [ 1.85553815e-02 9.99826607e-01 1.56643821e-03 2.42003213e-01] [-6.37425410e-02 -3.80551366e-04 9.97966304e-01 -4.22950124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:5.75, Y:0.24, Z:-0.43 [[ 9.97772477e-01 -1.77908012e-02 6.42928533e-02 5.75341471e+00] [ 1.77270482e-02 9.99841643e-01 1.56196377e-03 2.42685769e-01] [-6.43104607e-02 -4.18761956e-04 9.97929852e-01 -4.26133559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.456559995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:5.79, Y:0.24, Z:-0.43 [[ 9.97780679e-01 -1.67601003e-02 6.44423441e-02 5.78507549e+00] [ 1.66950797e-02 9.99859430e-01 1.54737356e-03 2.42777022e-01] [-6.44592196e-02 -4.68069364e-04 9.97920232e-01 -4.28374082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:5.82, Y:0.24, Z:-0.43 [[ 9.97803068e-01 -1.65294814e-02 6.41546126e-02 5.81807013e+00] [ 1.64656446e-02 9.99863271e-01 1.52367226e-03 2.43651817e-01] [-6.41710264e-02 -4.63977806e-04 9.97938808e-01 -4.30904287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.516559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:5.85, Y:0.25, Z:-0.43 [[ 9.97781311e-01 -1.42005129e-02 6.50446034e-02 5.85081881e+00] [ 1.41311617e-02 9.99898985e-01 1.52617409e-03 2.46446204e-01] [-6.50597054e-02 -6.03632173e-04 9.97881191e-01 -4.33349287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.88, Y:0.25, Z:-0.44 [[ 9.97855759e-01 -1.37389623e-02 6.39931644e-02 5.88225502e+00] [ 1.36720291e-02 9.99905433e-01 1.48375322e-03 2.46429866e-01] [-6.40074980e-02 -6.05655287e-04 9.97949234e-01 -4.36687133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.576559994999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:5.91, Y:0.25, Z:-0.44 [[ 9.97965188e-01 -1.17221520e-02 6.26743541e-02 5.91437792e+00] [ 1.16549965e-02 9.99931046e-01 1.43699849e-03 2.47493234e-01] [-6.26868771e-02 -7.03605089e-04 9.98032996e-01 -4.39318793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.95, Y:0.25, Z:-0.44 [[ 9.98010808e-01 -9.50679694e-03 6.23221245e-02 5.94754954e+00] [ 9.43673855e-03 9.99954467e-01 1.41838877e-03 2.48707431e-01] [-6.23327711e-02 -8.27449731e-04 9.98055079e-01 -4.41466240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.636559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:5.98, Y:0.25, Z:-0.44 [[ 9.98040000e-01 -8.82251675e-03 6.19541905e-02 5.97890746e+00] [ 8.75305339e-03 9.99960722e-01 1.39252586e-03 2.49095437e-01] [-6.19640426e-02 -8.47508172e-04 9.98078023e-01 -4.43808884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.01, Y:0.25, Z:-0.45 [[ 9.98041677e-01 -8.62805733e-03 6.19545563e-02 6.01227251e+00] [ 8.55924201e-03 9.99962422e-01 1.37605452e-03 2.49764371e-01] [-6.19641008e-02 -8.43075719e-04 9.98078023e-01 -4.45950829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.696559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.05, Y:0.25, Z:-0.45 [[ 9.98043321e-01 -8.43388118e-03 6.19548211e-02 6.04563784e+00] [ 8.36543885e-03 9.99964079e-01 1.36402393e-03 2.50424535e-01] [-6.19640996e-02 -8.43075702e-04 9.98078023e-01 -4.48091154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:6.08, Y:0.25, Z:-0.45 [[ 9.98095688e-01 -8.38676804e-03 6.11118679e-02 6.07832595e+00] [ 8.32079101e-03 9.99964492e-01 1.33402263e-03 2.50635803e-01] [-6.11208860e-02 -8.22983155e-04 9.98130032e-01 -4.50456667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.756559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:6.11, Y:0.25, Z:-0.45 [[ 9.98099748e-01 -8.59419280e-03 6.10166541e-02 6.10976126e+00] [ 8.52989069e-03 9.99962756e-01 1.31424725e-03 2.51409499e-01] [-6.10256765e-02 -7.91284461e-04 9.98135883e-01 -4.52109955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.14, Y:0.25, Z:-0.45 [[ 9.98039092e-01 -8.08994051e-03 6.20686972e-02 6.14296360e+00] [ 8.02348247e-03 9.99966940e-01 1.31989072e-03 2.52592927e-01] [-6.20773231e-02 -8.19295436e-04 9.98071007e-01 -4.53808756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8165599949999995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:6.18, Y:0.25, Z:-0.46 [[ 9.97991954e-01 -8.74385214e-03 6.27344038e-02 6.17578081e+00] [ 8.67838494e-03 9.99961476e-01 1.31597569e-03 2.52494548e-01] [-6.27434937e-02 -7.68899841e-04 9.98029390e-01 -4.55827456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:6.21, Y:0.25, Z:-0.46 [[ 9.97972311e-01 -8.58738620e-03 6.30676084e-02 6.20881347e+00] [ 8.52204722e-03 9.99962835e-01 1.30494705e-03 2.53001661e-01] [-6.30764706e-02 -7.64835891e-04 9.98008404e-01 -4.57726624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.876559995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:6.24, Y:0.25, Z:-0.46 [[ 9.97945972e-01 -9.23422761e-03 6.33921623e-02 6.24144605e+00] [ 9.17066459e-03 9.99957112e-01 1.29359506e-03 2.52647614e-01] [-6.34013889e-02 -7.09589722e-04 9.97987856e-01 -4.59535068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:6.27, Y:0.25, Z:-0.46 [[ 9.97921733e-01 -7.77917777e-03 6.39663958e-02 6.27464820e+00] [ 7.71263802e-03 9.99969429e-01 1.28709539e-03 2.53459358e-01] [-6.39744528e-02 -7.91070805e-04 9.97951223e-01 -4.61359822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.936559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.31, Y:0.25, Z:-0.46 [[ 9.97925817e-01 -7.30582622e-03 6.39584896e-02 6.30774362e+00] [ 7.23949536e-03 9.99972990e-01 1.26878483e-03 2.53533120e-01] [-6.39660316e-02 -8.03125944e-04 9.97951753e-01 -4.63438712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:6.34, Y:0.25, Z:-0.47 [[ 9.98035197e-01 -7.77189073e-03 6.21718801e-02 6.33961127e+00] [ 7.71118904e-03 9.99969529e-01 1.21623843e-03 2.54229033e-01] [-6.21794381e-02 -7.34429643e-04 9.98064716e-01 -4.65981551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.996559994999999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:6.37, Y:0.25, Z:-0.47 [[ 9.98056036e-01 -8.28097880e-03 6.17703388e-02 6.37116046e+00] [ 8.22304416e-03 9.99965480e-01 1.19206209e-03 2.54901667e-01] [-6.17780779e-02 -6.81804541e-04 9.98089677e-01 -4.68754798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:6.40, Y:0.25, Z:-0.47 [[ 9.98062472e-01 -8.81942912e-03 6.15915623e-02 6.40379599e+00] [ 8.76349423e-03 9.99960906e-01 1.17823969e-03 2.54661426e-01] [-6.15995458e-02 -6.36199514e-04 9.98100742e-01 -4.70402285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.056559995 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:6.44, Y:0.26, Z:-0.47 [[ 9.98057523e-01 -9.64607549e-03 6.15478131e-02 6.43608141e+00] [ 9.59286271e-03 9.99953315e-01 1.16001446e-03 2.55760770e-01] [-6.15561293e-02 -5.67341434e-04 9.98103462e-01 -4.72630436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.47, Y:0.26, Z:-0.47 [[ 9.98015632e-01 -1.00362734e-02 6.21616605e-02 6.46888332e+00] [ 9.98377346e-03 9.99949494e-01 1.15512621e-03 2.56233551e-01] [-6.21701141e-02 -5.32226083e-04 9.98065426e-01 -4.74267048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.116559994999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.50, Y:0.26, Z:-0.48 [[ 9.98011464e-01 -9.05454043e-03 6.23789451e-02 6.50204531e+00] [ 9.00083263e-03 9.99958840e-01 1.14194927e-03 2.57629896e-01] [-6.23867174e-02 -5.78216014e-04 9.98051884e-01 -4.76414836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:6.53, Y:0.26, Z:-0.48 [[ 9.98008374e-01 -8.87592550e-03 6.24540122e-02 6.53339261e+00] [ 8.82284102e-03 9.99960444e-01 1.12571125e-03 2.58414467e-01] [-6.24615335e-02 -5.72447429e-04 9.98047208e-01 -4.79233148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.176559995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:6.57, Y:0.26, Z:-0.48 [[ 9.97988734e-01 -8.38678061e-03 6.28342923e-02 6.56672897e+00] [ 8.33312040e-03 9.99964656e-01 1.11601321e-03 2.59251667e-01] [-6.28414313e-02 -5.90162892e-04 9.98023350e-01 -4.81041424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:6.60, Y:0.26, Z:-0.48 [[ 9.97958080e-01 -8.57498138e-03 6.32940792e-02 6.59924106e+00] [ 8.52203125e-03 9.99963075e-01 1.10649848e-03 2.59163550e-01] [-6.33012303e-02 -5.64844980e-04 9.97994306e-01 -4.82704661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2365599949999995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:6.63, Y:0.26, Z:-0.48 [[ 9.98000593e-01 -9.17878859e-03 6.25345197e-02 6.63174273e+00] [ 9.12936083e-03 9.99957748e-01 1.07609751e-03 2.58637118e-01] [-6.25417548e-02 -5.03045761e-04 9.98042221e-01 -4.84951878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:6.66, Y:0.26, Z:-0.49 [[ 9.97969963e-01 -8.97504920e-03 6.30507896e-02 6.66347052e+00] [ 8.92553986e-03 9.99959597e-01 1.06685273e-03 2.60577414e-01] [-6.30578172e-02 -5.01924644e-04 9.98009749e-01 -4.86515805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.296559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.70, Y:0.26, Z:-0.49 [[ 9.97981218e-01 -8.27024708e-03 6.29689790e-02 6.69559621e+00] [ 8.22051761e-03 9.99965661e-01 1.04878500e-03 2.62192509e-01] [-6.29754904e-02 -5.29030135e-04 9.98014934e-01 -4.88765473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.73, Y:0.26, Z:-0.49 [[ 9.97998565e-01 -7.15131257e-03 6.28309038e-02 6.72861412e+00] [ 7.10061235e-03 9.99974260e-01 1.03018667e-03 2.63335825e-01] [-6.28366537e-02 -5.81986924e-04 9.98023655e-01 -4.91439335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.356559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:6.76, Y:0.26, Z:-0.49 [[ 9.98035284e-01 -6.56470159e-03 6.23095236e-02 6.76187830e+00] [ 6.51476475e-03 9.99978274e-01 1.00456367e-03 2.64440628e-01] [-6.23147645e-02 -5.96658105e-04 9.98056368e-01 -4.93622493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:6.78, Y:0.27, Z:-0.49 [[ 0.99813832 -0.01639987 0.05874469 6.78155517] [ 0.01538812 0.99972609 0.01763398 0.26767883] [-0.0590178 -0.01669718 0.99811728 -0.48560636] [ 0. 0. 0. 1. ]] SLAMing on 7.416559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:6.81, Y:0.27, Z:-0.49 [[ 9.98230593e-01 -1.39611218e-02 5.77994008e-02 6.81427675e+00] [ 1.35753610e-02 9.99882916e-01 7.06143167e-03 2.72770017e-01] [-5.78912189e-02 -6.26428939e-03 9.98303243e-01 -4.89371359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:6.86, Y:0.28, Z:-0.51 [[ 9.98046042e-01 -2.13055992e-03 6.24464427e-02 6.85629539e+00] [ 3.26069638e-03 9.99832645e-01 -1.80013738e-02 2.75481047e-01] [-6.23976390e-02 1.81698187e-02 9.97885962e-01 -5.06937751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.476559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:6.89, Y:0.27, Z:-0.50 [[ 9.98071367e-01 -2.47994772e-03 6.20273803e-02 6.88927895e+00] [ 2.43013806e-03 9.99996661e-01 8.78454360e-04 2.66243867e-01] [-6.20293517e-02 -7.26025046e-04 9.98074062e-01 -5.01741054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:6.92, Y:0.27, Z:-0.50 [[ 9.98078697e-01 -1.88029375e-03 6.19304408e-02 6.92079774e+00] [ 1.83057171e-03 9.99997955e-01 8.59597942e-04 2.66543830e-01] [-6.19319305e-02 -7.44578281e-04 9.98080098e-01 -5.04240913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.536559994999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:6.95, Y:0.27, Z:-0.51 [[ 9.98082487e-01 -1.38372055e-03 6.18824273e-02 6.95391831e+00] [ 1.33412491e-03 9.99998755e-01 8.42761369e-04 2.67280450e-01] [-6.18835164e-02 -7.58586476e-04 9.98083090e-01 -5.07329979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:6.99, Y:0.27, Z:-0.51 [[ 9.98093521e-01 -8.44391214e-04 6.17139343e-02 6.98594303e+00] [ 7.95115727e-04 9.99999345e-01 8.23003856e-04 2.68169862e-01] [-6.17145889e-02 -7.72365097e-04 9.98093539e-01 -5.09248864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.596559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:7.02, Y:0.27, Z:-0.51 [[ 9.98124048e-01 -6.44953127e-04 6.12206544e-02 7.01879974e+00] [ 5.97065541e-04 9.99999501e-01 8.00503207e-04 2.68871014e-01] [-6.12211402e-02 -7.62448758e-04 9.98123936e-01 -5.10514102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:7.05, Y:0.27, Z:-0.51 [[ 9.98144940e-01 -6.53077947e-05 6.08824661e-02 7.05157068e+00] [ 1.79092075e-05 9.99999696e-01 7.79071432e-04 2.69749121e-01] [-6.08824985e-02 -7.76535851e-04 9.98144638e-01 -5.13541917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.656559994999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:7.08, Y:0.27, Z:-0.52 [[ 9.98171568e-01 5.46510324e-04 6.04418961e-02 7.08470988e+00] [-5.93326565e-04 9.99999538e-01 7.56621470e-04 2.70742377e-01] [-6.04414547e-02 -7.91099821e-04 9.98171431e-01 -5.15562813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:7.12, Y:0.27, Z:-0.52 [[ 9.98183597e-01 1.23744893e-03 6.02326831e-02 7.11659713e+00] [-1.28418250e-03 9.99998904e-01 7.37180022e-04 2.71788989e-01] [-6.02317048e-02 -8.13190763e-04 9.98184091e-01 -5.17520116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.716559995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:7.15, Y:0.27, Z:-0.52 [[ 9.98214380e-01 2.36564288e-03 5.96863047e-02 7.14967799e+00] [-2.41263492e-03 9.99996834e-01 7.15264257e-04 2.72549880e-01] [-5.96844236e-02 -8.57988330e-04 9.98216927e-01 -5.19364686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:7.18, Y:0.27, Z:-0.52 [[ 9.98262563e-01 3.83849144e-03 5.87972935e-02 7.18244067e+00] [-3.88568358e-03 9.99992214e-01 6.88312154e-04 2.73507820e-01] [-5.87941936e-02 -9.15583933e-04 9.98269705e-01 -5.21512563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7765599949999995 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:7.22, Y:0.27, Z:-0.52 [[ 9.98250694e-01 4.69053603e-03 5.89368372e-02 7.21502576e+00] [-4.73845523e-03 9.99988547e-01 6.73329536e-04 2.74116347e-01] [-5.89330039e-02 -9.51421241e-04 9.98261487e-01 -5.23313774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:7.25, Y:0.27, Z:-0.53 [[ 9.98260149e-01 5.43528679e-03 5.87122949e-02 7.24737555e+00] [-5.48316670e-03 9.99984753e-01 6.54426569e-04 2.74638865e-01] [-5.87078427e-02 -9.75217265e-04 9.98274731e-01 -5.25631919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.836559995 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:7.28, Y:0.28, Z:-0.53 [[ 9.98299865e-01 5.99056299e-03 5.79783757e-02 7.28063305e+00] [-6.03726168e-03 9.99981577e-01 6.30319347e-04 2.75164672e-01] [-5.79735316e-02 -9.79278344e-04 9.98317640e-01 -5.27219720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:7.29, Y:0.28, Z:-0.50 [[ 9.98738671e-01 -8.62912734e-03 4.94631718e-02 7.29246709e+00] [ 6.77239696e-03 9.99270557e-01 3.75830761e-02 2.76387488e-01] [-4.97514004e-02 -3.72006873e-02 9.98068588e-01 -5.02353794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.896559995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:7.32, Y:0.29, Z:-0.52 [[ 9.98759937e-01 -6.41074178e-03 4.93709551e-02 7.32402541e+00] [ 6.28947530e-03 9.99976812e-01 2.61119471e-03 2.94701146e-01] [-4.93865500e-02 -2.29743926e-03 9.98777097e-01 -5.17319503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:7.35, Y:0.29, Z:-0.51 [[ 9.98833831e-01 -5.25894292e-03 4.79929421e-02 7.35347507e+00] [ 4.77849896e-03 9.99937374e-01 1.01199703e-02 2.90377165e-01] [-4.80431568e-02 -9.87883450e-03 9.98796408e-01 -5.14149417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.956559994999999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:7.38, Y:0.30, Z:-0.52 [[ 9.98760118e-01 4.61326289e-04 4.97796457e-02 7.38309597e+00] [-4.10705343e-04 9.99999388e-01 -1.02712443e-03 3.00755655e-01] [-4.97800891e-02 1.00540615e-03 9.98759697e-01 -5.21355583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:7.43, Y:0.30, Z:-0.55 [[ 0.99824569 0.01818592 0.0563455 7.43358404] [-0.01616751 0.99921836 -0.03607315 0.29667629] [-0.05695748 0.0350989 0.99775945 -0.54920152] [ 0. 0. 0. 1. ]] SLAMing on 8.016559995 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:7.47, Y:0.28, Z:-0.54 [[ 9.98399195e-01 1.51417052e-02 5.44956550e-02 7.46713509e+00] [-1.51792910e-02 9.99884750e-01 2.75834142e-04 2.77976733e-01] [-5.44851978e-02 -1.10259799e-03 9.98513970e-01 -5.38004545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:7.47, Y:0.29, Z:-0.52 [[ 9.98745109e-01 -1.37255750e-03 5.00632018e-02 7.47498344e+00] [ 5.88140381e-05 9.99655835e-01 2.62337371e-02 2.86723615e-01] [-5.00819791e-02 -2.61978722e-02 9.98401456e-01 -5.23001815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.076559995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:7.51, Y:0.30, Z:-0.53 [[ 9.98683926e-01 5.43749038e-04 5.12846887e-02 7.50525809e+00] [-6.19594954e-04 9.99998738e-01 1.46303257e-03 2.99095873e-01] [-5.12838284e-02 -1.49288284e-03 9.98683003e-01 -5.34515219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:7.54, Y:0.30, Z:-0.54 [[ 9.98634223e-01 1.02605562e-03 5.22363442e-02 7.53631879e+00] [-1.02911252e-03 9.99999470e-01 3.16237237e-05 2.99527819e-01] [-5.22362841e-02 -8.53376085e-05 9.98634750e-01 -5.37898762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.136559994999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:7.57, Y:0.30, Z:-0.54 [[ 9.98637097e-01 2.01993606e-03 5.21523496e-02 7.56739450e+00] [-2.13277957e-03 9.99995503e-01 2.10816617e-03 2.98629096e-01] [-5.21478567e-02 -2.21652241e-03 9.98636915e-01 -5.39861582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:7.60, Y:0.30, Z:-0.54 [[ 9.98662080e-01 1.09830105e-03 5.16995442e-02 7.59852729e+00] [-1.14860375e-03 9.99998895e-01 9.43280459e-04 2.98490967e-01] [-5.16984511e-02 -1.00140072e-03 9.98662239e-01 -5.42976432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.196559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:7.63, Y:0.29, Z:-0.54 [[ 9.98824267e-01 -9.37651860e-04 4.84685901e-02 7.63267297e+00] [ 4.65139907e-04 9.99952270e-01 9.75918793e-03 2.89082969e-01] [-4.84754274e-02 -9.72516905e-03 9.98777029e-01 -5.39540501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.66, Y:0.29, Z:-0.54 [[ 9.98796037e-01 -3.20445221e-03 4.89510827e-02 7.65995267e+00] [ 3.16548124e-03 9.99994608e-01 8.73623476e-04 2.88843083e-01] [-4.89536182e-02 -7.17617932e-04 9.98800795e-01 -5.44031894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.256559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:7.70, Y:0.28, Z:-0.54 [[ 9.98803830e-01 -6.49634539e-03 4.84634475e-02 7.69555881e+00] [ 6.31674779e-03 9.99972607e-01 3.85807351e-03 2.83656837e-01] [-4.84871833e-02 -3.54732723e-03 9.98817506e-01 -5.44941605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:7.72, Y:0.29, Z:-0.55 [[ 9.98546915e-01 -8.16614243e-03 5.32670024e-02 7.72160070e+00] [ 8.57389940e-03 9.99935633e-01 -7.43094180e-03 2.90873569e-01] [-5.32028916e-02 7.87684992e-03 9.98552656e-01 -5.54452380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.316559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.75, Y:0.29, Z:-0.56 [[ 9.98392782e-01 -1.17378190e-02 5.54443548e-02 7.75215177e+00] [ 1.18479751e-02 9.99928435e-01 -1.65848858e-03 2.86771541e-01] [-5.54209199e-02 2.31272636e-03 9.98460401e-01 -5.55291724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.78, Y:0.28, Z:-0.56 [[ 9.98391637e-01 -1.07706244e-02 5.56608781e-02 7.78330135e+00] [ 1.06067805e-02 9.99938503e-01 3.23820040e-03 2.83308293e-01] [-5.56923325e-02 -2.64260949e-03 9.98444481e-01 -5.56001406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.376559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:7.82, Y:0.28, Z:-0.56 [[ 9.98357445e-01 -1.14467300e-02 5.61371955e-02 7.81554022e+00] [ 1.12983995e-02 9.99931793e-01 2.95896645e-03 2.81183754e-01] [-5.61672370e-02 -2.31984573e-03 9.98418680e-01 -5.57679236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:7.85, Y:0.28, Z:-0.56 [[ 9.98264676e-01 -1.47502658e-02 5.70093550e-02 7.85194350e+00] [ 1.47243929e-02 9.99891208e-01 8.73888161e-04 2.79413782e-01] [-5.70160430e-02 -3.29435408e-05 9.98373262e-01 -5.60678104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.436559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.88, Y:0.28, Z:-0.56 [[ 9.98239707e-01 -1.28048642e-02 5.79096059e-02 7.87685592e+00] [ 1.26191852e-02 9.99913999e-01 3.57093085e-03 2.76643806e-01] [-5.79503509e-02 -2.83387292e-03 9.98315444e-01 -5.61940958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:7.91, Y:0.28, Z:-0.56 [[ 9.98204964e-01 -1.68354669e-02 5.74753540e-02 7.91470504e+00] [ 1.69206020e-02 9.99856341e-01 -9.94872093e-04 2.76366496e-01] [-5.74503480e-02 1.96560385e-03 9.98346430e-01 -5.64366768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.496559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:7.95, Y:0.27, Z:-0.57 [[ 9.98197800e-01 -1.96398813e-02 5.67047398e-02 7.94696841e+00] [ 1.95538285e-02 9.99806658e-01 2.07205859e-03 2.72265432e-01] [-5.67344714e-02 -9.59529569e-04 9.98388842e-01 -5.65855932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:7.98, Y:0.27, Z:-0.57 [[ 9.98120562e-01 -2.11848778e-02 5.75025602e-02 7.98050637e+00] [ 2.12315253e-02 9.99774566e-01 -2.00338573e-04 2.73183800e-01] [-5.74853530e-02 1.42082911e-03 9.98345339e-01 -5.69728099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.556559994999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.01, Y:0.27, Z:-0.57 [[ 9.98009869e-01 -2.40022668e-02 5.83111693e-02 8.01126464e+00] [ 2.39624510e-02 9.99711904e-01 1.38205533e-03 2.69770326e-01] [-5.83275425e-02 1.79736752e-05 9.98297499e-01 -5.71090500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:8.03, Y:0.27, Z:-0.57 [[ 9.98111749e-01 -1.89594612e-02 5.84249614e-02 8.03400653e+00] [ 1.87028037e-02 9.99812900e-01 4.93668713e-03 2.66068233e-01] [-5.85076270e-02 -3.83465483e-03 9.98279597e-01 -5.71309371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.616559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:8.07, Y:0.27, Z:-0.57 [[ 9.98133487e-01 -1.75909974e-02 5.84816191e-02 8.06508676e+00] [ 1.74104269e-02 9.99841961e-01 3.59578448e-03 2.65434671e-01] [-5.85356302e-02 -2.57088294e-03 9.98282010e-01 -5.74104233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:8.12, Y:0.25, Z:-0.58 [[ 9.98202231e-01 -1.86241554e-02 5.69688167e-02 8.12251714e+00] [ 1.86969043e-02 9.99824921e-01 -7.44211463e-04 2.50093543e-01] [-5.69449823e-02 1.80801406e-03 9.98375681e-01 -5.75145383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.676559995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:8.14, Y:0.26, Z:-0.58 [[ 9.97841164e-01 -2.65906036e-02 6.00495798e-02 8.13779122e+00] [ 2.67809375e-02 9.99638524e-01 -2.36687937e-03 2.63681833e-01] [-5.99649366e-02 3.96995371e-03 9.98192590e-01 -5.81420234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:8.17, Y:0.26, Z:-0.59 [[ 9.97730032e-01 -2.78637430e-02 6.13057528e-02 8.16928772e+00] [ 2.83421843e-02 9.99574130e-01 -6.94831740e-03 2.63807749e-01] [-6.10860383e-02 8.67008389e-03 9.98094848e-01 -5.86544489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.736559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:8.19, Y:0.26, Z:-0.59 [[ 9.97931898e-01 -2.22973773e-02 6.02889202e-02 8.18803936e+00] [ 2.25225232e-02 9.99741661e-01 -3.05739931e-03 2.63081074e-01] [-6.02051732e-02 4.40893490e-03 9.98176286e-01 -5.89621763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:8.22, Y:0.25, Z:-0.58 [[ 0.99805889 -0.02361436 0.05762643 8.22071179] [ 0.02305646 0.99968082 0.01032706 0.25211908] [-0.05785191 -0.00897835 0.9982848 -0.58396887] [ 0. 0. 0. 1. ]] SLAMing on 8.796559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.25, Y:0.25, Z:-0.59 [[ 9.98103776e-01 -2.43731790e-02 5.65225626e-02 8.25247776e+00] [ 2.43501212e-02 9.99702890e-01 1.09672115e-03 2.53764957e-01] [-5.65324998e-02 2.81689730e-04 9.98400720e-01 -5.89664034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:8.28, Y:0.25, Z:-0.59 [[ 9.98051130e-01 -2.36458542e-02 5.77478675e-02 8.28457544e+00] [ 2.34725669e-02 9.99717718e-01 3.67732179e-03 2.51310652e-01] [-5.78185197e-02 -2.31466449e-03 9.98324427e-01 -5.90364884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.856559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:8.32, Y:0.25, Z:-0.59 [[ 9.98051940e-01 -2.41697231e-02 5.75165158e-02 8.31660297e+00] [ 2.41347405e-02 9.99707866e-01 1.30288957e-03 2.50079884e-01] [-5.75312037e-02 8.77947207e-05 9.98343705e-01 -5.93242813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.37, Y:0.23, Z:-0.59 [[ 9.97649198e-01 -3.37360830e-02 5.96485911e-02 8.36939556e+00] [ 3.31883125e-02 9.99397570e-01 1.01505501e-02 2.31445500e-01] [-5.99550968e-02 -8.14705213e-03 9.98167828e-01 -5.88716775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.916559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.39, Y:0.23, Z:-0.58 [[ 0.99772105 -0.03601778 0.05705626 8.39444966] [ 0.03500466 0.99921297 0.01865782 0.23248551] [-0.05768337 -0.01661807 0.99819661 -0.58262322] [ 0. 0. 0. 1. ]] SLAMing on 8.946559995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:8.43, Y:0.25, Z:-0.60 [[ 0.99752092 -0.0376013 0.05948246 8.42726101] [ 0.03818594 0.99923258 -0.00872244 0.2456045 ] [-0.05910884 0.01097221 0.99819124 -0.59927792] [ 0. 0. 0. 1. ]] SLAMing on 8.976559994999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:8.46, Y:0.24, Z:-0.60 [[ 9.97514484e-01 -3.84517068e-02 5.90450667e-02 8.45934673e+00] [ 3.84436310e-02 9.99259959e-01 1.27313273e-03 2.37874783e-01] [-5.90503251e-02 9.99938423e-04 9.98254506e-01 -5.96395430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.49, Y:0.24, Z:-0.61 [[ 0.99738457 -0.03832942 0.061277 8.49091697] [ 0.03910517 0.9991688 -0.01151045 0.24399654] [-0.06078488 0.01387659 0.99805443 -0.60712352] [ 0. 0. 0. 1. ]] SLAMing on 9.036559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:8.53, Y:0.23, Z:-0.61 [[ 9.97383255e-01 -3.79137138e-02 6.15564143e-02 8.52942695e+00] [ 3.83041059e-02 9.99252733e-01 -5.17398108e-03 2.32837567e-01] [-6.13142504e-02 7.51830550e-03 9.98090195e-01 -6.07626586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:8.56, Y:0.23, Z:-0.61 [[ 9.97385059e-01 -3.60785274e-02 6.26209571e-02 8.56264006e+00] [ 3.62644667e-02 9.99340543e-01 -1.83488264e-03 2.30346746e-01] [-6.25134614e-02 4.10100014e-03 9.98035695e-01 -6.08585070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.096559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:8.60, Y:0.23, Z:-0.61 [[ 9.97393759e-01 -3.54536924e-02 6.28388906e-02 8.59533545e+00] [ 3.56400998e-02 9.99362982e-01 -1.84766696e-03 2.29174670e-01] [-6.27333545e-02 4.08243582e-03 9.98021974e-01 -6.11083534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:8.63, Y:0.23, Z:-0.61 [[ 9.97418579e-01 -3.35998186e-02 6.34604663e-02 8.62734703e+00] [ 3.37865290e-02 9.99427321e-01 -1.87100888e-03 2.29343349e-01] [-6.33612583e-02 4.01028791e-03 9.97982599e-01 -6.14382152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.156559995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:8.66, Y:0.23, Z:-0.62 [[ 9.97511841e-01 -3.14973903e-02 6.30717090e-02 8.66026758e+00] [ 3.16787165e-02 9.99496342e-01 -1.87672849e-03 2.27720871e-01] [-6.29808303e-02 3.87008968e-03 9.98007233e-01 -6.17518754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:8.69, Y:0.23, Z:-0.62 [[ 9.97531499e-01 -3.04388623e-02 6.32801989e-02 8.69303148e+00] [ 3.06195785e-02 9.99529328e-01 -1.88776889e-03 2.26728021e-01] [-6.31929531e-02 3.82072195e-03 9.97994014e-01 -6.19979907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.216559994999999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:8.72, Y:0.23, Z:-0.62 [[ 9.97547090e-01 -2.89386163e-02 6.37366359e-02 8.72476098e+00] [ 2.91200389e-02 9.99574079e-01 -1.91913571e-03 2.26370485e-01] [-6.36539520e-02 3.77044156e-03 9.97964908e-01 -6.22888719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:8.76, Y:0.23, Z:-0.63 [[ 9.97603092e-01 -2.65801332e-02 6.38871453e-02 8.75739691e+00] [ 2.67586322e-02 9.99640042e-01 -1.93980756e-03 2.25623322e-01] [-6.38125882e-02 3.64469065e-03 9.97955244e-01 -6.25447564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.276559995 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:8.79, Y:0.23, Z:-0.63 [[ 9.97626212e-01 -2.23565369e-02 6.51316140e-02 8.78956524e+00] [ 2.26141153e-02 9.99739082e-01 -3.22010240e-03 2.25673173e-01] [-6.50426297e-02 4.68535239e-03 9.97871487e-01 -6.29265400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:8.82, Y:0.22, Z:-0.63 [[ 9.97749469e-01 -1.70675772e-02 6.48436243e-02 8.82177977e+00] [ 1.71561699e-02 9.99852494e-01 -8.09636372e-04 2.24652193e-01] [-6.48202410e-02 1.92028250e-03 9.97895109e-01 -6.30440343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.336559995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:8.85, Y:0.22, Z:-0.63 [[ 9.97831928e-01 -1.32618508e-02 6.44636930e-02 8.85318995e+00] [ 1.34185202e-02 9.99907971e-01 -1.99798454e-03 2.24093790e-01] [-6.44312635e-02 2.85866013e-03 9.97918053e-01 -6.32490790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.89, Y:0.22, Z:-0.63 [[ 9.97888216e-01 -1.01447424e-02 6.41575656e-02 8.88621159e+00] [ 1.02945289e-02 9.99945001e-01 -2.00451185e-03 2.22817307e-01] [-6.41337018e-02 2.66075067e-03 9.97937768e-01 -6.34996830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.396559994999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:8.92, Y:0.23, Z:-0.65 [[ 9.97870904e-01 -7.54966480e-03 6.47816509e-02 8.91992603e+00] [ 8.56879653e-03 9.99843640e-01 -1.54683986e-02 2.26110457e-01] [-6.46547404e-02 1.59905657e-02 9.97779568e-01 -6.48365320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:8.95, Y:0.21, Z:-0.64 [[ 9.97883129e-01 -6.59849081e-03 6.46971534e-02 8.95007342e+00] [ 5.89832281e-03 9.99922022e-01 1.10072765e-02 2.14517141e-01] [-6.47647398e-02 -1.06023708e-02 9.97844235e-01 -6.35475379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.456559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:8.98, Y:0.22, Z:-0.64 [[ 9.97936063e-01 -3.37628673e-03 6.41265568e-02 8.98299222e+00] [ 3.51419257e-03 9.99991749e-01 -2.03785500e-03 2.18461014e-01] [-6.41191473e-02 2.25900206e-03 9.97939693e-01 -6.43295475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:9.02, Y:0.22, Z:-0.65 [[ 9.97958414e-01 -1.76616491e-03 6.38426625e-02 9.01539767e+00] [ 1.90066366e-03 9.99996101e-01 -2.04604978e-03 2.17263315e-01] [-6.38387999e-02 2.16321602e-03 9.97957879e-01 -6.46197546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.516559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:9.05, Y:0.22, Z:-0.65 [[ 9.97902400e-01 5.93108948e-04 6.47336657e-02 9.04762044e+00] [-4.58612528e-04 9.99997705e-01 -2.09252857e-03 2.16209362e-01] [-6.47347582e-02 2.05845161e-03 9.97900383e-01 -6.47501223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:9.08, Y:0.21, Z:-0.65 [[ 9.97863983e-01 1.79186165e-03 6.53013104e-02 9.08053803e+00] [-1.65647397e-03 9.99996365e-01 -2.12736046e-03 2.14675838e-01] [-6.53048849e-02 2.01464646e-03 9.97863324e-01 -6.50783355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.576559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:9.11, Y:0.21, Z:-0.65 [[ 9.97785276e-01 4.69546687e-03 6.63513077e-02 9.11301568e+00] [-4.56089905e-03 9.99987224e-01 -2.17944400e-03 2.13343633e-01] [-6.63606935e-02 1.87199552e-03 9.97793944e-01 -6.52763585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:9.15, Y:0.21, Z:-0.66 [[ 9.97791132e-01 5.68093886e-03 6.61859800e-02 9.14550466e+00] [-5.54801155e-03 9.99982207e-01 -2.19202098e-03 2.13307640e-01] [-6.61972551e-02 1.81997851e-03 9.97804896e-01 -6.56172211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.636559994999999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:9.18, Y:0.21, Z:-0.66 [[ 9.97842822e-01 5.50429016e-03 6.54171683e-02 9.17866716e+00] [-5.37290096e-03 9.99983180e-01 -2.18424202e-03 2.11746192e-01] [-6.54280907e-02 1.82805025e-03 9.97855612e-01 -6.58968540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:9.21, Y:0.21, Z:-0.66 [[ 9.97788479e-01 6.75160655e-03 6.61253881e-02 9.21112472e+00] [-6.61887275e-03 9.99975617e-01 -2.22617893e-03 2.10460509e-01] [-6.61388060e-02 1.78358016e-03 9.97808838e-01 -6.60879905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.696559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:9.24, Y:0.21, Z:-0.66 [[ 9.97787645e-01 6.49598124e-03 6.61635681e-02 9.24334578e+00] [-6.36133270e-03 9.99977245e-01 -2.24555990e-03 2.07685868e-01] [-6.61766497e-02 1.81970346e-03 9.97806264e-01 -6.63165114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:9.28, Y:0.22, Z:-0.68 [[ 9.97615476e-01 7.22058669e-03 6.86383615e-02 9.27616658e+00] [-5.54481476e-03 9.99682642e-01 -2.45737533e-02 2.18756952e-01] [-6.87940155e-02 2.41345696e-02 9.97338912e-01 -6.83138154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.756559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:9.31, Y:0.20, Z:-0.66 [[ 9.97858085e-01 4.65165748e-03 6.52503156e-02 9.30882255e+00] [-5.85725838e-03 9.99815431e-01 1.82974396e-02 1.95229860e-01] [-6.51531590e-02 -1.86404360e-02 9.97701158e-01 -6.59971509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:9.34, Y:0.20, Z:-0.67 [[ 9.97955291e-01 4.70711506e-03 6.37423021e-02 9.34185629e+00] [-4.57623801e-03 9.99987111e-01 -2.19906484e-03 2.03397070e-01] [-6.37518318e-02 1.90286844e-03 9.97963969e-01 -6.70728125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.816559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:9.37, Y:0.20, Z:-0.67 [[ 9.97954613e-01 4.78185355e-03 6.37473508e-02 9.37464909e+00] [-4.64999038e-03 9.99986732e-01 -2.21673135e-03 2.01852358e-01] [-6.37571051e-02 1.91577271e-03 9.97963607e-01 -6.72206104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:9.41, Y:0.20, Z:-0.68 [[ 9.97921833e-01 6.02540239e-03 6.41538020e-02 9.40786411e+00] [-5.89327891e-03 9.99980107e-01 -2.24851564e-03 2.01020870e-01] [-6.41660740e-02 1.86576660e-03 9.97937490e-01 -6.75004713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.876559995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:9.44, Y:0.20, Z:-0.68 [[ 9.97958669e-01 6.96379051e-03 6.34822812e-02 9.44000513e+00] [-6.83521209e-03 9.99974125e-01 -2.24237624e-03 2.00146154e-01] [-6.34962541e-02 1.80388395e-03 9.97980447e-01 -6.77562889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:9.47, Y:0.20, Z:-0.68 [[ 9.97889383e-01 8.57569875e-03 6.43679835e-02 9.47324070e+00] [-8.44577408e-03 9.99961711e-01 -2.29030195e-03 1.99502302e-01] [-6.43851599e-02 1.74183056e-03 9.97923603e-01 -6.79962492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.936559995 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:9.51, Y:0.20, Z:-0.68 [[ 9.97891038e-01 8.74480060e-03 6.43195518e-02 9.50579385e+00] [-8.61430997e-03 9.99960238e-01 -2.30583336e-03 1.98739149e-01] [-6.43371583e-02 1.74690189e-03 9.97926690e-01 -6.83403992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:9.54, Y:0.20, Z:-0.69 [[ 9.97851650e-01 8.75827991e-03 6.49259407e-02 9.53854587e+00] [-8.62420065e-03 9.99960061e-01 -2.34509148e-03 1.97763506e-01] [-6.49438866e-02 1.78011906e-03 9.97887330e-01 -6.85864802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.996559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:9.57, Y:0.20, Z:-0.69 [[ 9.97787383e-01 1.01574723e-02 6.57051273e-02 9.57001412e+00] [-1.00219733e-02 9.99946919e-01 -2.39151169e-03 1.98675623e-01] [-6.57259314e-02 1.72772516e-03 9.97836217e-01 -6.88833178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:9.60, Y:0.20, Z:-0.69 [[ 9.97861706e-01 9.25182488e-03 6.47025420e-02 9.60306978e+00] [-9.11749172e-03 9.99955624e-01 -2.37113518e-03 1.96305190e-01] [-6.47216081e-02 1.77614011e-03 9.97901778e-01 -6.91344954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.056559994999999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:9.64, Y:0.19, Z:-0.69 [[ 9.97914017e-01 7.33239165e-03 6.41393104e-02 9.63501009e+00] [-7.19533784e-03 9.99971311e-01 -2.36754650e-03 1.93951485e-01] [-6.41548300e-02 1.90110383e-03 9.97938146e-01 -6.93364633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:9.67, Y:0.19, Z:-0.70 [[ 9.97921408e-01 4.84794535e-03 6.42601046e-02 9.66791955e+00] [-4.70421420e-03 9.99986084e-01 -2.38782425e-03 1.92353934e-01] [-6.42707865e-02 2.08056764e-03 9.97930327e-01 -6.95687320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.116559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:9.70, Y:0.19, Z:-0.70 [[ 9.97849934e-01 4.02584428e-03 6.54163684e-02 9.70090090e+00] [-3.87394471e-03 9.99989498e-01 -2.44872232e-03 1.92109915e-01] [-6.54255396e-02 2.19003801e-03 9.97855051e-01 -6.98057585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:9.73, Y:0.19, Z:-0.70 [[ 9.97784077e-01 -1.50805135e-05 6.65352162e-02 9.73266129e+00] [ 1.82419239e-04 9.99996836e-01 -2.50896526e-03 1.90562424e-01] [-6.65349679e-02 2.51554289e-03 9.97780923e-01 -7.00115452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.176559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:9.77, Y:0.19, Z:-0.70 [[ 9.97734382e-01 -2.03846900e-03 6.72454216e-02 9.76535813e+00] [ 2.21513752e-03 9.99994288e-01 -2.55276128e-03 1.89714838e-01] [-6.72398338e-02 2.69593556e-03 9.97733199e-01 -7.02901870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:9.80, Y:0.19, Z:-0.71 [[ 9.97715653e-01 -3.76363031e-03 6.74485862e-02 9.79797047e+00] [ 3.94650511e-03 9.99988889e-01 -2.57828119e-03 1.89101559e-01] [-6.74381331e-02 2.83857769e-03 9.97719420e-01 -7.05825501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.236559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:9.83, Y:0.19, Z:-0.71 [[ 9.97715477e-01 -5.26323240e-03 6.73507584e-02 9.83084159e+00] [ 5.45021386e-03 9.99981786e-01 -2.59278721e-03 1.87421083e-01] [-6.73358852e-02 2.95393996e-03 9.97725991e-01 -7.08704946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:9.86, Y:0.19, Z:-0.71 [[ 9.97668615e-01 -4.05845830e-03 6.81238811e-02 9.86245128e+00] [ 4.24827183e-03 9.99987487e-01 -2.64165746e-03 1.86921871e-01] [-6.81123076e-02 2.92490751e-03 9.97673373e-01 -7.10589191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.296559994999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:9.89, Y:0.19, Z:-0.71 [[ 9.97679472e-01 -2.86724359e-03 6.80253681e-02 9.89480952e+00] [ 3.05450619e-03 9.99991826e-01 -2.64898196e-03 1.86227985e-01] [-6.80172169e-02 2.85061883e-03 9.97680075e-01 -7.14365536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:9.93, Y:0.18, Z:-0.72 [[ 9.97717875e-01 -3.12075168e-03 6.74485175e-02 9.92654812e+00] [ 3.30667674e-03 9.99991035e-01 -2.64508093e-03 1.84745013e-01] [-6.74396581e-02 2.86207497e-03 9.97719250e-01 -7.17459840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.356559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:9.96, Y:0.18, Z:-0.72 [[ 9.97737789e-01 -2.80122846e-03 6.71673859e-02 9.95937006e+00] [ 2.98603502e-03 9.99992027e-01 -2.65119519e-03 1.83659298e-01] [-6.71594238e-02 2.84576179e-03 9.97738199e-01 -7.20568292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:9.99, Y:0.18, Z:-0.72 [[ 9.97624677e-01 9.45894970e-04 6.88774903e-02 9.99129935e+00] [-7.59086992e-04 9.99995963e-01 -2.73830005e-03 1.84322590e-01] [-6.88798024e-02 2.67951169e-03 9.97621368e-01 -7.24694614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.416559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:10.02, Y:0.18, Z:-0.73 [[ 9.97628397e-01 1.86707119e-03 6.88047577e-02 1.00238784e+01] [-1.68205477e-03 9.99994813e-01 -2.74684337e-03 1.82897216e-01] [-6.88095294e-02 2.62459558e-03 9.97626363e-01 -7.27209605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:10.06, Y:0.18, Z:-0.73 [[ 9.97656709e-01 2.33813978e-03 6.83785374e-02 1.00570299e+01] [-2.15524162e-03 9.99993900e-01 -2.74843919e-03 1.81584208e-01] [-6.83845465e-02 2.59462653e-03 9.97655663e-01 -7.30273734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.476559994999999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:10.09, Y:0.18, Z:-0.73 [[ 9.97633663e-01 2.70797571e-03 6.87003665e-02 1.00901220e+01] [-2.52291938e-03 9.99992952e-01 -2.78029559e-03 1.80444183e-01] [-6.87074113e-02 2.60039098e-03 9.97633465e-01 -7.32704433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:10.12, Y:0.18, Z:-0.74 [[ 9.97633184e-01 2.89759574e-03 6.86995896e-02 1.01234495e+01] [-2.71167704e-03 9.99992405e-01 -2.79935793e-03 1.79015616e-01] [-6.87071793e-02 2.60644127e-03 9.97633465e-01 -7.35096770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.536559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:10.16, Y:0.18, Z:-0.74 [[ 9.97617792e-01 3.07844745e-03 6.89149042e-02 1.01563583e+01] [-2.89089823e-03 9.99991842e-01 -2.82102722e-03 1.76566929e-01] [-6.89230264e-02 2.61508097e-03 9.97618553e-01 -7.38452473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.19, Y:0.17, Z:-0.74 [[ 9.97604479e-01 2.82743127e-03 6.91180850e-02 1.01877609e+01] [-2.63683578e-03 9.99992466e-01 -2.84861461e-03 1.74794847e-01] [-6.91256186e-02 2.65953765e-03 9.97604418e-01 -7.41419823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.596559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:10.22, Y:0.17, Z:-0.74 [[ 9.97597320e-01 3.09665707e-03 6.92098117e-02 1.02198409e+01] [-2.90495813e-03 9.99991661e-01 -2.87029832e-03 1.73916183e-01] [-6.92181229e-02 2.66235030e-03 9.97597997e-01 -7.44015165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.25, Y:0.17, Z:-0.75 [[ 9.97586646e-01 3.00757396e-03 6.93674083e-02 1.02525927e+01] [-2.81355166e-03 9.99991853e-01 -2.89455656e-03 1.73010428e-01] [-6.93755487e-02 2.69240218e-03 9.97586981e-01 -7.47381505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.656559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:10.28, Y:0.17, Z:-0.75 [[ 9.97609122e-01 1.02015986e-03 6.91013677e-02 1.02844714e+01] [-8.21506289e-04 9.99995448e-01 -2.90317048e-03 1.69684436e-01] [-6.91040148e-02 2.83946215e-03 9.97605419e-01 -7.50495128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:10.32, Y:0.17, Z:-0.75 [[ 9.97591556e-01 7.96683757e-04 6.93574220e-02 1.03176421e+01] [-5.95173821e-04 9.99995542e-01 -2.92600015e-03 1.67650680e-01] [-6.93594439e-02 2.87767333e-03 9.97587583e-01 -7.52852488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.716559994999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:10.35, Y:0.17, Z:-0.76 [[ 9.97523215e-01 1.64015965e-03 7.03188834e-02 1.03504795e+01] [-1.43372642e-03 9.99994514e-01 -2.98604387e-03 1.66798434e-01] [-7.03233952e-02 2.87783004e-03 9.97520094e-01 -7.55587858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.38, Y:0.17, Z:-0.76 [[ 9.97517151e-01 1.80857101e-03 7.04007307e-02 1.03834406e+01] [-1.60070977e-03 9.99994192e-01 -3.00884746e-03 1.65359759e-01] [-7.04057635e-02 2.88868581e-03 9.97514253e-01 -7.58025159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.776559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:10.41, Y:0.16, Z:-0.76 [[ 9.97512070e-01 1.88276782e-03 7.04707443e-02 1.04148700e+01] [-1.67329965e-03 9.99994006e-01 -3.03132783e-03 1.63375186e-01] [-7.04760291e-02 2.90586743e-03 9.97509241e-01 -7.60480784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.45, Y:0.16, Z:-0.76 [[ 9.97528933e-01 2.11921263e-03 7.02248963e-02 1.04475994e+01] [-1.91052795e-03 9.99993558e-01 -3.03869552e-03 1.61578466e-01] [-7.02308835e-02 2.89702008e-03 9.97526556e-01 -7.62647850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.836559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:10.48, Y:0.16, Z:-0.77 [[ 9.97546263e-01 2.67609007e-03 6.99592138e-02 1.04790082e+01] [-2.46899072e-03 9.99992311e-01 -3.04658980e-03 1.60847721e-01] [-6.99668289e-02 2.86638562e-03 9.97545200e-01 -7.65661009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.51, Y:0.16, Z:-0.77 [[ 9.97554210e-01 3.33397799e-03 6.98174958e-02 1.05119292e+01] [-3.12806592e-03 9.99990431e-01 -3.05841333e-03 1.59836651e-01] [-6.98270244e-02 2.83253937e-03 9.97555093e-01 -7.68417057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.896559994999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:10.54, Y:0.16, Z:-0.77 [[ 9.97536748e-01 5.37364555e-03 6.99396916e-02 1.05442716e+01] [-5.17065230e-03 9.99981879e-01 -3.08312041e-03 1.60157935e-01] [-6.99549918e-02 2.71389208e-03 9.97546457e-01 -7.71406010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:10.58, Y:0.16, Z:-0.77 [[ 9.97492395e-01 8.86303640e-03 7.02165864e-02 1.05774584e+01] [-8.66568792e-03 9.99957601e-01 -3.11468906e-03 1.60826837e-01] [-7.02412150e-02 2.49840363e-03 9.97526907e-01 -7.74616484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.956559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.61, Y:0.16, Z:-0.78 [[ 9.97507485e-01 9.21312771e-03 6.99566661e-02 1.06099213e+01] [-9.01673846e-03 9.99954473e-01 -3.12256379e-03 1.58794972e-01] [-6.99822498e-02 2.48399979e-03 9.97545144e-01 -7.77313781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.64, Y:0.16, Z:-0.78 [[ 9.97562296e-01 9.33568372e-03 6.91542516e-02 1.06421828e+01] [-9.14276160e-03 9.99953381e-01 -3.10572731e-03 1.56192325e-01] [-6.91800218e-02 2.46589563e-03 9.97601145e-01 -7.79601041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.016559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.67, Y:0.15, Z:-0.78 [[ 9.97594154e-01 8.98848661e-03 6.87394453e-02 1.06735433e+01] [-8.79575238e-03 9.99956493e-01 -3.10599532e-03 1.53753108e-01] [-6.87643729e-02 2.49390764e-03 9.97629812e-01 -7.81663129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:10.71, Y:0.15, Z:-0.78 [[ 9.97647713e-01 8.52155316e-03 6.80178274e-02 1.07062908e+01] [-8.33059491e-03 9.99960524e-01 -3.09062808e-03 1.50635737e-01] [-6.80414793e-02 2.51672906e-03 9.97679319e-01 -7.83828851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.076559995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:10.74, Y:0.15, Z:-0.79 [[ 9.97619639e-01 9.65907285e-03 6.82770673e-02 1.07377156e+01] [-9.46801141e-03 9.99950306e-01 -3.12138072e-03 1.50708727e-01] [-6.83038240e-02 2.46750266e-03 9.97661515e-01 -7.86654849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:10.77, Y:0.15, Z:-0.79 [[ 9.97595897e-01 1.10108499e-02 6.84191973e-02 1.07703778e+01] [-1.08209573e-02 9.99936505e-01 -3.14543461e-03 1.50580828e-01] [-6.84494869e-02 2.39751145e-03 9.97651703e-01 -7.88887915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.136559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.80, Y:0.15, Z:-0.79 [[ 9.97601519e-01 1.16431190e-02 6.82323025e-02 1.08033393e+01] [-1.14544671e-02 9.99929417e-01 -3.15544643e-03 1.49244698e-01] [-6.82642257e-02 2.36631348e-03 9.97664471e-01 -7.91283882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.84, Y:0.15, Z:-0.79 [[ 9.97618093e-01 1.23204534e-02 6.78700729e-02 1.08366088e+01] [-1.21341164e-02 9.99921395e-01 -3.15707358e-03 1.46688651e-01] [-6.79036346e-02 2.32601036e-03 9.97689173e-01 -7.93180559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.196559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:10.87, Y:0.15, Z:-0.80 [[ 9.97582197e-01 1.37955736e-02 6.81134517e-02 1.08694783e+01] [-1.36100527e-02 9.99902300e-01 -3.18702773e-03 1.45004538e-01] [-6.81507639e-02 2.25229446e-03 9.97672492e-01 -7.95156740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:10.90, Y:0.15, Z:-0.80 [[ 9.97441765e-01 1.63540614e-02 6.95878568e-02 1.09012682e+01] [-1.61652285e-02 9.99863968e-01 -3.27589768e-03 1.45374656e-01] [-6.96319648e-02 2.14261356e-03 9.97570448e-01 -7.98203381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.256559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:10.93, Y:0.14, Z:-0.80 [[ 9.97405750e-01 1.75424285e-02 6.98142698e-02 1.09331711e+01] [-1.73539915e-02 9.99843947e-01 -3.30476887e-03 1.44208898e-01] [-6.98613487e-02 2.08463922e-03 9.97554533e-01 -7.99956017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:10.97, Y:0.14, Z:-0.80 [[ 9.97410900e-01 1.77831417e-02 6.96796755e-02 1.09656814e+01] [-1.75947771e-02 9.99839701e-01 -3.31615491e-03 1.42566337e-01] [-6.97274776e-02 2.08157070e-03 9.97563906e-01 -8.02904900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.316559994999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.00, Y:0.14, Z:-0.81 [[ 9.97426939e-01 1.72469257e-02 6.95848070e-02 1.09985952e+01] [-1.70564278e-02 9.99848980e-01 -3.33090699e-03 1.41355526e-01] [-6.96317462e-02 2.13546812e-03 9.97570479e-01 -8.05980495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:11.03, Y:0.14, Z:-0.81 [[ 9.97475586e-01 1.68453344e-02 6.89832612e-02 1.10303169e+01] [-1.66558249e-02 9.99855765e-01 -3.32147222e-03 1.39209512e-01] [-6.90292627e-02 2.16411433e-03 9.97612288e-01 -8.08290345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.376559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:11.06, Y:0.14, Z:-0.81 [[ 9.97520423e-01 1.65193707e-02 6.84113746e-02 1.10635300e+01] [-1.63314423e-02 9.99861169e-01 -3.30544569e-03 1.36319231e-01] [-6.84564809e-02 2.17999317e-03 9.97651722e-01 -8.10862850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:11.10, Y:0.13, Z:-0.81 [[ 9.97557506e-01 1.60098536e-02 6.79904915e-02 1.10957861e+01] [-1.58217994e-02 9.99869370e-01 -3.30351366e-03 1.33484894e-01] [-6.80344987e-02 2.21971293e-03 9.97680500e-01 -8.13133193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.436559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.13, Y:0.13, Z:-0.82 [[ 9.97565879e-01 1.59417793e-02 6.78835533e-02 1.11282287e+01] [-1.57528862e-02 9.99870414e-01 -3.31702917e-03 1.31951054e-01] [-6.79276359e-02 2.23959323e-03 9.97687737e-01 -8.15833132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.16, Y:0.13, Z:-0.82 [[ 9.97580683e-01 1.61053665e-02 6.76268980e-02 1.11597557e+01] [-1.59170011e-02 9.99867794e-01 -3.32329860e-03 1.29557329e-01] [-6.76714803e-02 2.23884108e-03 9.97705146e-01 -8.18052166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.496559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:11.19, Y:0.13, Z:-0.82 [[ 9.97551329e-01 1.79824392e-02 6.75868177e-02 1.11927287e+01] [-1.77974153e-02 9.99836039e-01 -3.33874980e-03 1.27046858e-01] [-6.76357750e-02 2.12770363e-03 9.97707810e-01 -8.19900242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:11.23, Y:0.13, Z:-0.82 [[ 9.97436620e-01 2.07703976e-02 6.84746695e-02 1.12258941e+01] [-2.05856999e-02 9.99782304e-01 -3.40191527e-03 1.26903328e-01] [-6.85304220e-02 1.98359587e-03 9.97647055e-01 -8.22589787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.556559994999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:11.26, Y:0.13, Z:-0.83 [[ 9.97440157e-01 2.24429928e-02 6.78928913e-02 1.12579011e+01] [-2.22640106e-02 9.99746372e-01 -3.39184918e-03 1.25170851e-01] [-6.79517950e-02 1.87159852e-03 9.97686850e-01 -8.25409455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:11.29, Y:0.12, Z:-0.83 [[ 9.97415865e-01 2.38450827e-02 6.77717068e-02 1.12893011e+01] [-2.36687760e-02 9.99714062e-01 -3.40336442e-03 1.23070649e-01] [-6.78334818e-02 1.79049632e-03 9.97695050e-01 -8.27469369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.616559995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:11.32, Y:0.12, Z:-0.83 [[ 9.97280838e-01 2.81894608e-02 6.80902681e-02 1.13220668e+01] [-2.80203987e-02 9.99601443e-01 -3.43689347e-03 1.22880653e-01] [-6.81600144e-02 1.51963154e-03 9.97673245e-01 -8.31446387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:11.35, Y:0.12, Z:-0.83 [[ 9.97285283e-01 2.95416150e-02 6.74489184e-02 1.13549820e+01] [-2.93775835e-02 9.99562526e-01 -3.42273266e-03 1.21532371e-01] [-6.75205243e-02 1.43195468e-03 9.97716858e-01 -8.33372428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.676559995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:11.39, Y:0.12, Z:-0.84 [[ 9.97245515e-01 3.19119339e-02 6.69552966e-02 1.13867791e+01] [-3.17543738e-02 9.99489864e-01 -3.41642210e-03 1.20685555e-01] [-6.70301649e-02 1.28088810e-03 9.97750127e-01 -8.36026307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:11.42, Y:0.12, Z:-0.84 [[ 9.97203105e-01 3.30790404e-02 6.70204837e-02 1.14192625e+01] [-3.29226300e-02 9.99451993e-01 -3.43721846e-03 1.18952473e-01] [-6.70974559e-02 1.22111433e-03 9.97745679e-01 -8.38538000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.736559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.45, Y:0.12, Z:-0.84 [[ 9.97202984e-01 3.26476906e-02 6.72334482e-02 1.14508613e+01] [-3.24880360e-02 9.99466111e-01 -3.46693378e-03 1.15576987e-01] [-6.73107404e-02 1.27295403e-03 9.97731248e-01 -8.40988737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:11.48, Y:0.11, Z:-0.84 [[ 9.97186022e-01 3.25675752e-02 6.75232557e-02 1.14829092e+01] [-3.24051694e-02 9.99468689e-01 -3.49938264e-03 1.13015645e-01] [-6.76013463e-02 1.30143291e-03 9.97711564e-01 -8.43034638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.796559994999999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:11.52, Y:0.11, Z:-0.85 [[ 9.97235942e-01 3.25119807e-02 6.68090378e-02 1.15159538e+01] [-3.23517467e-02 9.99470490e-01 -3.47918041e-03 1.10603893e-01] [-6.68867768e-02 1.30817469e-03 9.97759714e-01 -8.46352211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.55, Y:0.11, Z:-0.85 [[ 9.97107887e-01 3.49817020e-02 6.74695684e-02 1.15478742e+01] [-3.48226585e-02 9.99387265e-01 -3.53225926e-03 1.10041158e-01] [-6.75517918e-02 1.17257383e-03 9.97715080e-01 -8.48616710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.856559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:11.58, Y:0.11, Z:-0.85 [[ 9.97051741e-01 3.65188026e-02 6.74848345e-02 1.15805342e+01] [-3.63620462e-02 9.99332376e-01 -3.55013434e-03 1.09089923e-01] [-6.75694267e-02 1.08578095e-03 9.97713984e-01 -8.51413142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:11.61, Y:0.11, Z:-0.85 [[ 9.97082258e-01 3.72435485e-02 6.66324925e-02 1.16122573e+01] [-3.70911424e-02 9.99305676e-01 -3.52334671e-03 1.07196523e-01] [-6.67174499e-02 1.04159122e-03 9.97771365e-01 -8.54318774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.916559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.64, Y:0.10, Z:-0.86 [[ 9.97088230e-01 3.77083297e-02 6.62807995e-02 1.16446983e+01] [-3.75574509e-02 9.99288266e-01 -3.52136967e-03 1.04504660e-01] [-6.63664102e-02 1.02177838e-03 9.97794796e-01 -8.56659184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:11.68, Y:0.10, Z:-0.86 [[ 9.97121510e-01 3.90321882e-02 6.50013998e-02 1.16773384e+01] [-3.88887290e-02 9.99237518e-01 -3.47128954e-03 1.01655829e-01] [-6.50873294e-02 9.33475643e-04 9.97879135e-01 -8.60009327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.976559994999999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:11.71, Y:0.10, Z:-0.86 [[ 9.97000531e-01 4.17354460e-02 6.51774076e-02 1.17088527e+01] [-4.15957601e-02 9.99128394e-01 -3.49928352e-03 1.00747099e-01] [-6.52666428e-02 7.77683707e-04 9.97867557e-01 -8.61962931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:11.74, Y:0.10, Z:-0.86 [[ 9.96931823e-01 4.30149023e-02 6.53961648e-02 1.17413410e+01] [-4.28758984e-02 9.99074176e-01 -3.52819604e-03 9.92468003e-02] [-6.54873845e-02 7.13451591e-04 9.97853142e-01 -8.64793741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.036559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:11.78, Y:0.09, Z:-0.86 [[ 9.96970394e-01 4.65796836e-02 6.22925882e-02 1.17760882e+01] [-4.73578811e-02 9.98816596e-01 1.10742600e-02 8.87749732e-02] [-6.17030354e-02 -1.39907543e-02 9.97996490e-01 -8.57063353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.81, Y:0.11, Z:-0.88 [[ 0.99685655 0.04751613 0.06339744 11.8054423 ] [-0.04644096 0.9987529 -0.0183272 0.10533128] [-0.06418921 0.01532535 0.99782006 -0.87508841] [ 0. 0. 0. 1. ]] SLAMing on 12.096559995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:11.84, Y:0.10, Z:-0.87 [[ 9.96840054e-01 4.73934012e-02 6.37477171e-02 1.18373171e+01] [-4.72676055e-02 9.98876197e-01 -3.48087607e-03 9.56562119e-02] [-6.38410477e-02 4.56674750e-04 9.97959975e-01 -8.72335716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:11.87, Y:0.09, Z:-0.87 [[ 9.96758314e-01 4.84271963e-02 6.42469488e-02 1.18701531e+01] [-4.83008802e-02 9.98826633e-01 -3.51875833e-03 9.35552828e-02] [-6.43419671e-02 4.04167442e-04 9.97927827e-01 -8.74582192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.156559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:11.90, Y:0.09, Z:-0.88 [[ 9.96762241e-01 4.92189098e-02 6.35809213e-02 1.19031742e+01] [-4.90957026e-02 9.98787948e-01 -3.49965621e-03 9.09215440e-02] [-6.36761072e-02 3.66775163e-04 9.97970550e-01 -8.76692775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:11.93, Y:0.09, Z:-0.88 [[ 9.96732930e-01 4.99628237e-02 6.34600816e-02 1.19344968e+01] [-4.98404613e-02 9.98751022e-01 -3.51074475e-03 8.91630595e-02] [-6.35562281e-02 3.36395161e-04 9.97978203e-01 -8.79679274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.216559994999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:11.97, Y:0.09, Z:-0.88 [[ 9.96662540e-01 5.04138489e-02 6.42045535e-02 1.19673292e+01] [-5.02884524e-02 9.98728360e-01 -3.56865439e-03 8.76294449e-02] [-6.43028180e-02 3.27996516e-04 9.97930378e-01 -8.82566122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:12.00, Y:0.09, Z:-0.89 [[ 9.96653308e-01 5.06992672e-02 6.41230683e-02 1.20000028e+01] [-5.05736381e-02 9.98713912e-01 -3.58185865e-03 8.55575447e-02] [-6.42221980e-02 3.26934420e-04 9.97935570e-01 -8.85080379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.276559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:12.03, Y:0.08, Z:-0.89 [[ 9.96606865e-01 5.14548005e-02 6.42429847e-02 1.20328270e+01] [-5.13291193e-02 9.98675280e-01 -3.60638108e-03 8.41250143e-02] [-6.43434464e-02 2.96608317e-04 9.97927769e-01 -8.87479029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.06, Y:0.08, Z:-0.89 [[ 9.96451301e-01 5.32474420e-02 6.51883056e-02 1.20648338e+01] [-5.31206426e-02 9.98581328e-01 -3.67808233e-03 8.38181999e-02] [-6.52916733e-02 2.02185240e-04 9.97866202e-01 -8.90180344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.336559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.10, Y:0.08, Z:-0.89 [[ 9.96275708e-01 5.50766791e-02 6.63420904e-02 1.20976523e+01] [-5.49482308e-02 9.98482123e-01 -3.76068798e-03 8.23351173e-02] [-6.64485175e-02 1.01301586e-04 9.97789850e-01 -8.93075780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.13, Y:0.08, Z:-0.90 [[ 9.96330784e-01 5.56471059e-02 6.50259111e-02 1.21308964e+01] [-5.55237833e-02 9.98450496e-01 -3.70353884e-03 7.98695167e-02] [-6.51312444e-02 7.94651617e-05 9.97876703e-01 -8.95260894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.396559994999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.16, Y:0.08, Z:-0.90 [[ 9.96280373e-01 5.56944540e-02 6.57536800e-02 1.21624106e+01] [-5.55672463e-02 9.98447855e-01 -3.76330685e-03 7.79015763e-02] [-6.58612161e-02 9.55578160e-05 9.97828788e-01 -8.97793500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.20, Y:0.08, Z:-0.90 [[ 9.96273801e-01 5.58130645e-02 6.57526772e-02 1.21957302e+01] [-5.56849639e-02 9.98441230e-01 -3.78074473e-03 7.59013188e-02] [-6.58611989e-02 1.05221467e-04 9.97828789e-01 -9.00186895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.456559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.23, Y:0.07, Z:-0.90 [[ 9.96315107e-01 5.53585350e-02 6.55106162e-02 1.22284079e+01] [-5.52299435e-02 9.98466531e-01 -3.77369923e-03 7.40202557e-02] [-6.56190642e-02 1.41645918e-04 9.97844737e-01 -9.03532028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.26, Y:0.07, Z:-0.91 [[ 9.96340570e-01 5.56035697e-02 6.49131148e-02 1.22615246e+01] [-5.54767130e-02 9.98452915e-01 -3.75650329e-03 7.21070280e-02] [-6.50215637e-02 1.41590384e-04 9.97883849e-01 -9.06231535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.516559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.29, Y:0.07, Z:-0.91 [[ 9.96411102e-01 5.56902623e-02 6.37456629e-02 1.22934160e+01] [-5.55669740e-02 9.98448082e-01 -3.70669600e-03 7.02662391e-02] [-6.38531617e-02 1.51239458e-04 9.97959293e-01 -9.08625939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.33, Y:0.07, Z:-0.91 [[ 9.96258333e-01 5.59318517e-02 6.58859748e-02 1.23264902e+01] [-5.57994858e-02 9.98434576e-01 -3.84895291e-03 6.96982175e-02] [-6.59981144e-02 1.58147895e-04 9.97819735e-01 -9.12089367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.576559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.36, Y:0.07, Z:-0.91 [[ 9.96207886e-01 5.67430342e-02 6.59551094e-02 1.23593217e+01] [-5.66109375e-02 9.98388808e-01 -3.87154172e-03 6.81680908e-02] [-6.60685261e-02 1.23079818e-04 9.97815080e-01 -9.14498489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.39, Y:0.07, Z:-0.92 [[ 9.96198287e-01 5.73147022e-02 6.56048638e-02 1.23921612e+01] [-5.71840454e-02 9.98356156e-01 -3.86918996e-03 6.64966156e-02] [-6.57187811e-02 1.02928897e-04 9.97838179e-01 -9.16461771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.636559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:0.07, Z:-0.92 [[ 9.96149364e-01 5.71965322e-02 6.64454775e-02 1.24241302e+01] [-5.70609441e-02 9.98362930e-01 -3.93818000e-03 6.51118001e-02] [-6.65619518e-02 1.31573825e-04 9.97782285e-01 -9.19135238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.06, Z:-0.92 [[ 9.96166819e-01 5.73028271e-02 6.60912585e-02 1.24573982e+01] [-5.71681931e-02 9.98356834e-01 -3.92808275e-03 6.30881075e-02] [-6.62077499e-02 1.34707870e-04 9.97805851e-01 -9.21404520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.06, Z:-0.92 [[ 9.96182270e-01 5.71660336e-02 6.59767305e-02 1.24901707e+01] [-5.70303330e-02 9.98364672e-01 -3.93990140e-03 6.11991343e-02] [-6.60940655e-02 1.62185007e-04 9.97813383e-01 -9.23936043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.52, Y:0.06, Z:-0.93 [[ 9.96345731e-01 5.71927070e-02 6.34364136e-02 1.25219181e+01] [-5.70662265e-02 9.98363143e-01 -3.80537850e-03 5.87470079e-02] [-6.35502172e-02 1.71395878e-04 9.97978627e-01 -9.25511841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.756559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.55, Y:0.06, Z:-0.93 [[ 9.96326787e-01 5.77580199e-02 6.32213952e-02 1.25542613e+01] [-5.76325001e-02 9.98330601e-01 -3.80875860e-03 5.69540558e-02] [-6.33358398e-02 1.51161154e-04 9.97992259e-01 -9.27427146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.59, Y:0.06, Z:-0.93 [[ 9.96310244e-01 5.86287628e-02 6.26782789e-02 1.25860510e+01] [-5.85060093e-02 9.98279848e-01 -3.79359632e-03 5.55357922e-02] [-6.27928766e-02 1.12542905e-04 9.98026574e-01 -9.29693095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.816559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:0.05, Z:-0.93 [[ 9.96188624e-01 5.93963163e-02 6.38772550e-02 1.26189140e+01] [-5.92693110e-02 9.98234477e-01 -3.88303037e-03 5.46954132e-02] [-6.39951159e-02 8.22697823e-05 9.97950208e-01 -9.32530400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.05, Z:-0.94 [[ 9.96132698e-01 6.05612783e-02 6.36551555e-02 1.26510506e+01] [-6.04363386e-02 9.98164481e-01 -3.88819850e-03 5.42048515e-02] [-6.37737895e-02 2.60771361e-05 9.97964380e-01 -9.35181961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.876559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.68, Y:0.05, Z:-0.94 [[ 9.96113400e-01 6.15828596e-02 6.29733764e-02 1.26831067e+01] [-6.14619741e-02 9.98101974e-01 -3.85683182e-03 5.25545684e-02] [-6.30913660e-02 -2.86261671e-05 9.98007755e-01 -9.37488634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:12.71, Y:0.04, Z:-0.94 [[ 9.95736585e-01 6.19723655e-02 6.83233363e-02 1.27132710e+01] [-6.28698075e-02 9.97960429e-01 1.10620918e-02 4.32522957e-02] [-6.74984420e-02 -1.53104045e-02 9.97601900e-01 -9.35506399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.936559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.75, Y:0.06, Z:-0.95 [[ 0.99591113 0.0641777 0.06357857 12.74734714] [-0.06316333 0.99784374 -0.01784015 0.0568689 ] [-0.06458642 0.01375137 0.99781737 -0.94737469] [ 0. 0. 0. 1. ]] SLAMing on 12.966559994999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.78, Y:0.05, Z:-0.94 [[ 9.95844847e-01 6.45832081e-02 6.42031970e-02 1.27789454e+01] [-6.44592619e-02 9.97912314e-01 -4.00221260e-03 4.80381245e-02] [-6.43276366e-02 -1.52907902e-04 9.97928821e-01 -9.44484738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:0.05, Z:-0.95 [[ 9.95743873e-01 6.55678602e-02 6.47687879e-02 1.28117544e+01] [-6.54426918e-02 9.97848092e-01 -4.05449623e-03 4.69445977e-02] [-6.48952561e-02 -2.01404054e-04 9.97892061e-01 -9.46891072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.84, Y:0.05, Z:-0.95 [[ 9.95774206e-01 6.62888638e-02 6.35571999e-02 1.28439332e+01] [-6.61686220e-02 9.97800449e-01 -3.99720268e-03 4.52118329e-02] [-6.36823726e-02 -2.25181007e-04 9.97970192e-01 -9.49302483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.056559994999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:12.88, Y:0.04, Z:-0.95 [[ 9.95748088e-01 6.66175353e-02 6.36227026e-02 1.28764176e+01] [-6.64970587e-02 9.97778557e-01 -4.01160484e-03 4.47105908e-02] [-6.37486116e-02 -2.36174738e-04 9.97965961e-01 -9.52112029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.91, Y:0.04, Z:-0.95 [[ 9.95758229e-01 6.65070404e-02 6.35795805e-02 1.29088131e+01] [-6.63853669e-02 9.97785933e-01 -4.02666994e-03 4.34084982e-02] [-6.37066129e-02 -2.11164045e-04 9.97968648e-01 -9.54651956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.04, Z:-0.96 [[ 9.95691196e-01 6.64764230e-02 6.46523552e-02 1.29419301e+01] [-6.63493414e-02 9.97787977e-01 -4.11308393e-03 4.24143802e-02] [-6.47827658e-02 -1.94279728e-04 9.97899371e-01 -9.57104519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.98, Y:0.04, Z:-0.96 [[ 9.95717408e-01 6.67641823e-02 6.39483188e-02 1.29750600e+01] [-6.66392957e-02 9.97768764e-01 -4.08625066e-03 4.03142755e-02] [-6.40784502e-02 -1.92720009e-04 9.97944846e-01 -9.59553549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.176559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.01, Y:0.04, Z:-0.96 [[ 9.95737437e-01 6.69802445e-02 6.34082294e-02 1.30072475e+01] [-6.68567373e-02 9.97754284e-01 -4.06997108e-03 3.85610510e-02] [-6.35384402e-02 -1.86644761e-04 9.97979374e-01 -9.61707033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:13.04, Y:0.04, Z:-0.96 [[ 9.95803948e-01 6.72514329e-02 6.20624094e-02 1.30401463e+01] [-6.71326476e-02 9.97736043e-01 -3.99957093e-03 3.60403420e-02] [-6.21908797e-02 -1.83625338e-04 9.98064257e-01 -9.64336454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.236559994999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:13.07, Y:0.03, Z:-0.97 [[ 9.95791273e-01 6.73375384e-02 6.21723152e-02 1.30720753e+01] [-6.72173697e-02 9.97730237e-01 -4.02474909e-03 3.47142826e-02] [-6.23022155e-02 -1.71249485e-04 9.98057315e-01 -9.66694631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.10, Y:0.03, Z:-0.97 [[ 9.95789389e-01 6.82993284e-02 6.11448717e-02 1.31042322e+01] [-6.81838673e-02 9.97664852e-01 -3.97527795e-03 3.36136311e-02] [-6.12735982e-02 -2.10554221e-04 9.98120986e-01 -9.70093994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.296559994999999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:13.14, Y:0.03, Z:-0.97 [[ 9.95730054e-01 6.96360913e-02 6.06009407e-02 1.31373788e+01] [-6.95245876e-02 9.97572421e-01 -3.94915990e-03 3.17497332e-02] [-6.07288312e-02 -2.80958204e-04 9.98154262e-01 -9.72619753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:13.17, Y:0.03, Z:-0.97 [[ 9.95661200e-01 7.06542108e-02 6.05537542e-02 1.31694247e+01] [-7.05437064e-02 9.97500815e-01 -3.96344525e-03 3.06384652e-02] [-6.06824533e-02 -3.25437612e-04 9.98157069e-01 -9.74966059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.356559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:13.20, Y:0.03, Z:-0.98 [[ 9.95584635e-01 7.20867865e-02 6.01226186e-02 1.32007778e+01] [-7.19795103e-02 9.97398286e-01 -3.95097103e-03 2.88495166e-02] [-6.02510095e-02 -3.94070594e-04 9.98183180e-01 -9.77380304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.23, Y:0.03, Z:-0.98 [[ 9.95504064e-01 7.34483803e-02 5.98079821e-02 1.32336977e+01] [-7.33437681e-02 9.97298915e-01 -3.94547400e-03 2.76969852e-02] [-5.99362243e-02 -4.58807368e-04 9.98202103e-01 -9.79746940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.416559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:13.27, Y:0.03, Z:-0.98 [[ 9.95444463e-01 7.38339998e-02 6.03229696e-02 1.32663291e+01] [-7.37272364e-02 9.97270435e-01 -3.99674952e-03 2.61475887e-02] [-6.04534102e-02 -4.68903657e-04 9.98170910e-01 -9.82447408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:13.30, Y:0.02, Z:-0.98 [[ 9.95455846e-01 7.37513621e-02 6.02361704e-02 1.32994961e+01] [-7.36437291e-02 9.97276560e-01 -4.00795821e-03 2.44797683e-02] [-6.03677132e-02 -4.46270791e-04 9.98176107e-01 -9.84489496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.476559994999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.33, Y:0.02, Z:-0.99 [[ 9.95423354e-01 7.37257221e-02 6.08018377e-02 1.33315315e+01] [-7.36149435e-02 9.97278462e-01 -4.06304876e-03 2.26525508e-02] [-6.09359144e-02 -4.31470219e-04 9.98141587e-01 -9.87191345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:13.36, Y:0.02, Z:-0.99 [[ 9.95414202e-01 7.36341866e-02 6.10620460e-02 1.33641291e+01] [-7.35213210e-02 9.97285233e-01 -4.09615976e-03 2.04066386e-02] [-6.11978942e-02 -4.11986682e-04 9.98125567e-01 -9.89807615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.536559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:13.40, Y:0.02, Z:-0.99 [[ 9.95395392e-01 7.36347118e-02 6.13672760e-02 1.33967877e+01] [-7.35196368e-02 9.97285201e-01 -4.13413513e-03 1.79750624e-02] [-6.15050920e-02 -3.96600780e-04 9.98106691e-01 -9.92099084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.00, Z:-0.98 [[ 9.95641167e-01 7.33089703e-02 5.76581401e-02 1.34314752e+01] [-7.46322495e-02 9.96987042e-01 2.11391921e-02 -9.47437073e-04] [-5.59347262e-02 -2.53502066e-02 9.98112555e-01 -9.77034883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.596559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:13.46, Y:0.01, Z:-0.99 [[ 9.95633061e-01 7.33716283e-02 5.77183928e-02 1.34644878e+01] [-7.26127623e-02 9.97245293e-01 -1.51397869e-02 1.46403752e-02] [-5.86702263e-02 1.08825804e-02 9.98218099e-01 -9.94285162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:13.50, Y:0.00, Z:-0.99 [[ 9.95856571e-01 7.03246097e-02 5.76553481e-02 1.34955136e+01] [-7.07549211e-02 9.97478820e-01 5.45386330e-03 7.17326546e-04] [-5.71264478e-02 -9.51066521e-03 9.98321650e-01 -9.87008686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.656559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.52, Y:0.02, Z:-1.01 [[ 0.99582302 0.06848723 0.06038221 13.52400995] [-0.06689551 0.99736698 -0.02800184 0.01972196] [-0.06214099 0.02384558 0.99778248 -1.0089401 ] [ 0. 0. 0. 1. ]] SLAMing on 13.686559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.01, Z:-0.99 [[ 9.96026128e-01 6.64073893e-02 5.93465265e-02 1.35600080e+01] [-6.76920447e-02 9.97507727e-01 1.99027865e-02 -1.34542785e-02] [-5.78769267e-02 -2.38409831e-02 9.98039012e-01 -9.88466450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.716559994999999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:13.59, Y:0.01, Z:-1.01 [[ 9.96185519e-01 6.37083976e-02 5.96292914e-02 1.35869795e+01] [-6.20737443e-02 9.97653713e-01 -2.88776576e-02 1.32487011e-02] [-6.13291333e-02 2.50660909e-02 9.97802800e-01 -1.01360526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.00, Z:-1.01 [[ 9.96253357e-01 6.09142114e-02 6.13897940e-02 1.36195364e+01] [-6.07700946e-02 9.98142896e-01 -4.21367495e-03 -3.03718001e-03] [-6.15324594e-02 4.67224229e-04 9.98104974e-01 -1.00719463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.776559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.01, Z:-1.01 [[ 9.96337189e-01 5.99340717e-02 6.09927288e-02 1.36517055e+01] [-5.97889526e-02 9.98202191e-01 -4.20320220e-03 -5.95210722e-03] [-6.11349906e-02 5.41115294e-04 9.98129360e-01 -1.00932884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.01, Z:-1.01 [[ 9.96377826e-01 5.90009194e-02 6.12382137e-02 1.36847243e+01] [-5.88519126e-02 9.98257738e-01 -4.23565069e-03 -8.84270330e-03] [-6.13814280e-02 6.16322427e-04 9.98114192e-01 -1.01161113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.836559995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.01, Z:-1.01 [[ 9.96436529e-01 5.78037747e-02 6.14244904e-02 1.37164988e+01] [-5.76505508e-02 9.98327712e-01 -4.26532511e-03 -1.13690101e-02] [-6.15683229e-02 7.08970045e-04 9.98102619e-01 -1.01406344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.04, Z:-0.99 [[ 0.99690375 0.05583576 0.05536492 13.75247442] [-0.05790894 0.99765163 0.0365756 -0.04130651] [-0.05319267 -0.03966848 0.99779605 -0.98703929] [ 0. 0. 0. 1. ]] SLAMing on 13.896559994999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.03, Z:-1.00 [[ 9.96999879e-01 5.75987878e-02 5.17070773e-02 1.37854766e+01] [-5.77431370e-02 9.98330625e-01 1.30091807e-03 -2.75748801e-02] [-5.15458275e-02 -4.28274400e-03 9.98661447e-01 -1.00027343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:13.81, Y:0.00, Z:-1.04 [[ 9.96610843e-01 5.60135783e-02 6.02437354e-02 1.38107535e+01] [-5.29359062e-02 9.97267767e-01 -5.15246609e-02 3.84887957e-03] [-6.29652161e-02 4.81609790e-02 9.96852999e-01 -1.03707424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.956559995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.02, Z:-1.02 [[ 9.96640469e-01 5.12561280e-02 6.38794509e-02 1.38429814e+01] [-5.10756357e-02 9.98684845e-01 -4.45640535e-03 -2.49844944e-02] [-6.40238576e-02 1.17875036e-03 9.97947672e-01 -1.02354981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.03, Z:-1.03 [[ 9.96698922e-01 5.07631199e-02 6.33590098e-02 1.38749033e+01] [-5.05833753e-02 9.98709977e-01 -4.43881110e-03 -2.75603872e-02] [-6.35026031e-02 1.21924567e-03 9.97980928e-01 -1.02604177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.016559995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.03, Z:-1.03 [[ 9.96691350e-01 5.07522253e-02 6.34867292e-02 1.39065644e+01] [-5.05710544e-02 9.98710514e-01 -4.45838879e-03 -2.95918611e-02] [-6.36311371e-02 1.23304670e-03 9.97972724e-01 -1.02865455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.03, Z:-1.03 [[ 9.96727240e-01 4.93618973e-02 6.40172807e-02 1.39394941e+01] [-4.91738471e-02 9.98780049e-01 -4.51074041e-03 -3.21152939e-02] [-6.41618415e-02 1.34800187e-03 9.97938596e-01 -1.03182927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.076559995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.04, Z:-1.03 [[ 9.96774159e-01 4.79878425e-02 6.43307251e-02 1.39717807e+01] [-4.77939355e-02 9.98846851e-01 -4.55063185e-03 -3.52473636e-02] [-6.44749172e-02 1.46133371e-03 9.97918258e-01 -1.03465032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.04, Z:-1.04 [[ 9.96817503e-01 4.63609994e-02 6.48500144e-02 1.40033562e+01] [-4.61593158e-02 9.98923473e-01 -4.60565294e-03 -3.84621687e-02] [-6.49937243e-02 1.59756317e-03 9.97884394e-01 -1.03735027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.136559994999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.04, Z:-1.04 [[ 9.96921166e-01 4.20004385e-02 6.62129216e-02 1.40355842e+01] [-4.17794164e-02 9.99115711e-01 -4.71982527e-03 -4.28842524e-02] [-6.63526050e-02 1.93895649e-03 9.97794354e-01 -1.04024861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.05, Z:-1.04 [[ 9.96954867e-01 4.02464892e-02 6.67923094e-02 1.40683441e+01] [-4.00164025e-02 9.99187591e-01 -4.77967256e-03 -4.63207800e-02] [-6.69304118e-02 2.09232988e-03 9.97755452e-01 -1.04306854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.196559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.05, Z:-1.05 [[ 9.97019661e-01 3.84364197e-02 6.68912342e-02 1.40998724e+01] [-3.82003185e-02 9.99258546e-01 -4.80559733e-03 -4.93370288e-02] [-6.70263474e-02 2.23600857e-03 9.97748700e-01 -1.04564518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.05, Z:-1.05 [[ 9.97026249e-01 3.70715726e-02 6.75600274e-02 1.41328669e+01] [-3.68263898e-02 9.99309805e-01 -4.87135323e-03 -5.24534574e-02] [-6.76939865e-02 2.36887514e-03 9.97703319e-01 -1.04866334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.06, Z:-1.05 [[ 9.96988830e-01 3.46719953e-02 6.93622840e-02 1.41654130e+01] [-3.44063524e-02 9.99395313e-01 -5.02118066e-03 -5.61806276e-02] [-6.94944358e-02 2.61955784e-03 9.97578900e-01 -1.05222291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.06, Z:-1.05 [[ 9.97053998e-01 3.34574900e-02 6.90211611e-02 1.41984648e+01] [-3.31902292e-02 9.99436467e-01 -5.01563502e-03 -5.96562426e-02] [-6.91500760e-02 2.71003080e-03 9.97602588e-01 -1.05461330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.316559994999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.06, Z:-1.06 [[ 9.97049941e-01 3.35811578e-02 6.90197144e-02 1.42317462e+01] [-3.33128219e-02 9.99432289e-01 -5.03546443e-03 -6.21578991e-02] [-6.91496278e-02 2.72136806e-03 9.97602588e-01 -1.05704439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.07, Z:-1.06 [[ 9.97066642e-01 3.27589787e-02 6.91734151e-02 1.42640597e+01] [-3.24869093e-02 9.99459379e-01 -5.05475937e-03 -6.53598469e-02] [-6.93016072e-02 2.79270148e-03 9.97591844e-01 -1.05950915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.07, Z:-1.06 [[ 9.96983616e-01 3.08979117e-02 7.11968282e-02 1.42962416e+01] [-3.06034470e-02 9.99517957e-01 -5.22329908e-03 -6.90690063e-02] [-7.13238973e-02 3.02867525e-03 9.97448610e-01 -1.06304966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.07, Z:-1.07 [[ 9.97113401e-01 2.93375460e-02 7.00298086e-02 1.43275348e+01] [-2.90474644e-02 9.99564729e-01 -5.15723432e-03 -7.24841425e-02] [-7.01506273e-02 3.10815908e-03 9.97531568e-01 -1.06534996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.436559995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.08, Z:-1.07 [[ 9.97091269e-01 2.85681259e-02 7.06601958e-02 1.43601393e+01] [-2.82695284e-02 9.99586695e-01 -5.22243900e-03 -7.55956758e-02] [-7.07801869e-02 3.20971792e-03 9.97486773e-01 -1.06866590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.08, Z:-1.07 [[ 9.96994132e-01 3.00845641e-02 7.13976231e-02 1.43914573e+01] [-2.97821132e-02 9.99542378e-01 -5.29716151e-03 -7.61197231e-02] [-7.15243128e-02 3.15486685e-03 9.97433867e-01 -1.07201956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.496559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.08, Z:-1.08 [[ 9.97009361e-01 3.05065312e-02 7.10048296e-02 1.44231125e+01] [-3.02071604e-02 9.99529680e-01 -5.28642434e-03 -7.90714181e-02] [-7.11327051e-02 3.12576027e-03 9.97461963e-01 -1.07515707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.08, Z:-1.08 [[ 9.96998696e-01 3.12941912e-02 7.08115325e-02 1.44561122e+01] [-3.09971382e-02 9.99505473e-01 -5.29022596e-03 -8.21010824e-02] [-7.09420676e-02 3.07939352e-03 9.97475684e-01 -1.07785868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.556559994999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.09, Z:-1.08 [[ 9.97123984e-01 3.13677932e-02 6.89914591e-02 1.44889152e+01] [-3.10847286e-02 9.99503367e-01 -5.17290891e-03 -8.55871894e-02] [-6.91194584e-02 3.01345077e-03 9.97603839e-01 -1.07985993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.09, Z:-1.08 [[ 9.97090911e-01 3.12197158e-02 6.95344868e-02 1.45215971e+01] [-3.09304580e-02 9.99507840e-01 -5.23297353e-03 -8.86961849e-02] [-6.96636367e-02 3.06701682e-03 9.97565823e-01 -1.08320777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.616559995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.09, Z:-1.09 [[ 9.97010077e-01 3.11451604e-02 7.07169403e-02 1.45529248e+01] [-3.08443290e-02 9.99509924e-01 -5.34228567e-03 -9.10051546e-02] [-7.08486700e-02 3.14509608e-03 9.97482117e-01 -1.08609175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.09, Z:-1.09 [[ 9.96898371e-01 3.13258465e-02 7.21964563e-02 1.45861131e+01] [-3.10113359e-02 9.99504046e-01 -5.47340026e-03 -9.34191452e-02] [-7.23321091e-02 3.21751525e-03 9.97375413e-01 -1.08911360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.10, Z:-1.09 [[ 9.96734544e-01 3.16730791e-02 7.42769525e-02 1.46186165e+01] [-3.15616397e-02 9.99498231e-01 -2.67391101e-03 -9.75539571e-02] [-7.43243736e-02 3.20877054e-04 9.97234067e-01 -1.09055503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.10, Z:-1.10 [[ 9.96786945e-01 3.22176688e-02 7.33335403e-02 1.46500241e+01] [-3.16713817e-02 9.99461334e-01 -8.60035519e-03 -9.74331363e-02] [-7.35711214e-02 6.25014723e-03 9.97270387e-01 -1.09555064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.736559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.10, Z:-1.10 [[ 9.96823084e-01 3.31076134e-02 7.24404954e-02 1.46830924e+01] [-3.27913719e-02 9.99446804e-01 -5.55079056e-03 -1.02288608e-01] [-7.25841950e-02 3.15773294e-03 9.97357290e-01 -1.09736895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.10, Z:-1.10 [[ 9.96813770e-01 3.53219376e-02 7.15169129e-02 1.47151256e+01] [-3.50179794e-02 9.99371549e-01 -5.49989440e-03 -1.04513306e-01] [-7.16662350e-02 2.97799269e-03 9.97424224e-01 -1.10031302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.796559994999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.11, Z:-1.10 [[ 9.96666436e-01 4.10096253e-02 7.05281987e-02 1.47477373e+01] [-4.07269391e-02 9.99155494e-01 -5.44206749e-03 -1.05580883e-01] [-7.06918143e-02 2.55152836e-03 9.97494941e-01 -1.10348293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.11, Z:-1.11 [[ 9.96669137e-01 4.35055308e-02 6.89775364e-02 1.47807921e+01] [-4.32398354e-02 9.99050444e-01 -5.34102043e-03 -1.08545367e-01] [-6.91444023e-02 2.34065290e-03 9.97603916e-01 -1.10608025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.856559995 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.11, Z:-1.11 [[ 9.96604386e-01 4.59853114e-02 6.83011612e-02 1.48127947e+01] [-4.57293031e-02 9.98939767e-01 -5.30784899e-03 -1.11511003e-01] [-6.84728291e-02 2.16646108e-03 9.97650629e-01 -1.10843533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.11, Z:-1.11 [[ 9.96475825e-01 4.83437393e-02 6.85478938e-02 1.48452187e+01] [-4.80901974e-02 9.98828695e-01 -5.34509408e-03 -1.13625308e-01] [-6.87260052e-02 2.02977529e-03 9.97633508e-01 -1.11035104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.916559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.15, Z:-1.07 [[ 0.99724339 0.04805048 0.05653992 14.87988128] [-0.05129991 0.99702678 0.05749706 -0.15316759] [-0.05360905 -0.06023906 0.99674336 -1.0664981 ] [ 0. 0. 0. 1. ]] SLAMing on 14.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.09, Z:-1.14 [[ 0.99640611 0.05628904 0.06329613 14.90958478] [-0.05201545 0.9963793 -0.06725093 -0.08535838] [-0.06685244 0.06371686 0.99572632 -1.13512269] [ 0. 0. 0. 1. ]] SLAMing on 14.976559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.12, Z:-1.12 [[ 9.96215652e-01 5.36138315e-02 6.84100218e-02 1.49412754e+01] [-5.33716746e-02 9.98560310e-01 -5.36393008e-03 -1.22860912e-01] [-6.85991134e-02 1.69247368e-03 9.97642871e-01 -1.11589760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.13, Z:-1.12 [[ 9.96156618e-01 5.50178311e-02 6.81544634e-02 1.49734280e+01] [-5.47794041e-02 9.98484075e-01 -5.36373136e-03 -1.25891086e-01] [-6.83462472e-02 1.60965560e-03 9.97660363e-01 -1.11820807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.036559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.13, Z:-1.12 [[ 9.96071348e-01 5.67779883e-02 6.79568200e-02 1.50061142e+01] [-5.65442407e-02 9.98385708e-01 -5.35978404e-03 -1.28251010e-01] [-6.81514356e-02 1.49616053e-03 9.97673866e-01 -1.12036985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.13, Z:-1.12 [[ 9.95903778e-01 5.99273637e-02 6.77080222e-02 1.50387289e+01] [-5.97013233e-02 9.98201901e-01 -5.35881687e-03 -1.30503841e-01] [-6.79074162e-02 1.29460744e-03 9.97690787e-01 -1.12147648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.096559995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.13, Z:-1.12 [[ 9.95840025e-01 6.13539275e-02 6.73672089e-02 1.50710564e+01] [-6.11321373e-02 9.98115340e-01 -5.35077912e-03 -1.33822521e-01] [-6.75685359e-02 1.21021854e-03 9.97713901e-01 -1.12445623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.14, Z:-1.13 [[ 9.95692744e-01 6.35165345e-02 6.75396947e-02 1.51033659e+01] [-6.32972616e-02 9.97980196e-01 -5.38379033e-03 -1.35863362e-01] [-6.77452375e-02 1.08552324e-03 9.97702062e-01 -1.12539093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.156559994999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.14, Z:-1.13 [[ 9.95626902e-01 6.49842286e-02 6.71127553e-02 1.51350510e+01] [-6.47698294e-02 9.97885793e-01 -5.36788963e-03 -1.38827395e-01] [-6.73196932e-02 9.97533606e-04 9.97730958e-01 -1.12798607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.17, Z:-1.09 [[ 0.99611854 0.06505694 0.05929121 15.16752884] [-0.06776384 0.99669294 0.04484687 -0.16871725] [-0.05617753 -0.04869059 0.99723283 -1.09291842] [ 0. 0. 0. 1. ]] SLAMing on 15.216559994999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.12, Z:-1.15 [[ 0.99530459 0.07220005 0.06446653 15.1996455 ] [-0.06869089 0.99611595 -0.05508695 -0.11611965] [-0.06819342 0.05040003 0.99639826 -1.14958564] [ 0. 0. 0. 1. ]] SLAMing on 15.246559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.15, Z:-1.13 [[ 9.95194223e-01 7.02293505e-02 6.82370681e-02 1.52300424e+01] [-7.00184253e-02 9.97530641e-01 -5.48084401e-03 -1.45886938e-01] [-6.84534824e-02 6.76652236e-04 9.97654080e-01 -1.13375830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.276559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.15, Z:-1.14 [[ 9.95185666e-01 7.03519654e-02 6.82355631e-02 1.52633007e+01] [-7.01400478e-02 9.97521994e-01 -5.49951650e-03 -1.48644858e-01] [-6.84533767e-02 6.86994327e-04 9.97654080e-01 -1.13622284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.17, Z:-1.11 [[ 0.99574009 0.07004677 0.05995941 15.29507132] [-0.0721716 0.99681134 0.0340355 -0.17179736] [-0.05738414 -0.03821788 0.9976204 -1.10962446] [ 0. 0. 0. 1. ]] SLAMing on 15.336559995 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.13, Z:-1.15 [[ 0.99502607 0.07674133 0.06351291 15.32720403] [-0.07400023 0.99626741 -0.04444329 -0.13249637] [-0.06668648 0.03952227 0.99699092 -1.15486319] [ 0. 0. 0. 1. ]] SLAMing on 15.366559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.18, Z:-1.11 [[ 0.99575585 0.07117614 0.05834586 15.35777175] [-0.07330741 0.99668667 0.03523775 -0.17722117] [-0.05564446 -0.03936538 0.99767433 -1.11390657] [ 0. 0. 0. 1. ]] SLAMing on 15.396559994999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.14, Z:-1.16 [[ 0.99503273 0.07751318 0.06246254 15.38964917] [-0.0747447 0.99616387 -0.04550568 -0.13676415] [-0.06575022 0.0406109 0.99700936 -1.16065433] [ 0. 0. 0. 1. ]] SLAMing on 15.426559995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.18, Z:-1.13 [[ 0.99565677 0.07056527 0.06073004 15.41800439] [-0.07222316 0.99706122 0.02554891 -0.17576056] [-0.0587487 -0.02982406 0.9978272 -1.12689469] [ 0. 0. 0. 1. ]] SLAMing on 15.456559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.17, Z:-1.13 [[ 9.95702363e-01 7.28223683e-02 5.72163140e-02 1.54514401e+01] [-7.31508652e-02 9.97314152e-01 3.66522935e-03 -1.68858641e-01] [-5.67957290e-02 -7.83490040e-03 9.98355077e-01 -1.13430632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.17, Z:-1.14 [[ 9.95708146e-01 7.15897179e-02 5.86532209e-02 1.54821644e+01] [-7.14247589e-02 9.97433921e-01 -4.90678478e-03 -1.67564450e-01] [-5.88539875e-02 6.96433414e-04 9.98266359e-01 -1.13952289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.516559995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.17, Z:-1.14 [[ 9.95644545e-01 7.09398207e-02 6.04936553e-02 1.55127314e+01] [-7.04690045e-02 9.97465002e-01 -9.88382039e-03 -1.67374106e-01] [-6.10414604e-02 5.57784418e-03 9.98119646e-01 -1.14494955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.16, Z:-1.17 [[ 0.99500609 0.07455575 0.06636512 15.54567126] [-0.07208871 0.99664223 -0.0388262 -0.15688482] [-0.069037 0.03384813 0.99703972 -1.16802579] [ 0. 0. 0. 1. ]] SLAMing on 15.576559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.18, Z:-1.16 [[ 9.95215505e-01 6.92122153e-02 6.89620698e-02 1.55771148e+01] [-6.89853342e-02 9.97601567e-01 -5.66891649e-03 -1.78882913e-01] [-6.91890272e-02 8.84422152e-04 9.97603176e-01 -1.15944561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.20, Z:-1.13 [[ 0.99600899 0.06337034 0.06285127 15.60561369] [-0.06557174 0.99728192 0.03360229 -0.19955749] [-0.06055105 -0.03758945 0.99745707 -1.13358457] [ 0. 0. 0. 1. ]] SLAMing on 15.636559994999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.17, Z:-1.18 [[ 0.99564418 0.06660189 0.06524462 15.64005309] [-0.06379152 0.99698165 -0.04425192 -0.16507169] [-0.06799495 0.03989711 0.99688761 -1.17841795] [ 0. 0. 0. 1. ]] SLAMing on 15.666559995 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.19, Z:-1.17 [[ 9.95854763e-01 5.90330873e-02 6.91981551e-02 1.56717044e+01] [-5.87773361e-02 9.98254684e-01 -5.72798219e-03 -1.91026264e-01] [-6.94155229e-02 1.63695513e-03 9.97586490e-01 -1.16875585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.696559995 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.20, Z:-1.17 [[ 9.96169140e-01 5.44972816e-02 6.83892582e-02 1.57041203e+01] [-5.42355179e-02 9.98512017e-01 -5.67985881e-03 -1.95282772e-01] [-6.85970330e-02 1.94897324e-03 9.97642545e-01 -1.17014234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.20, Z:-1.17 [[ 9.96310098e-01 5.16866527e-02 6.85177279e-02 1.57365972e+01] [-5.14159175e-02 9.98661002e-01 -5.71015193e-03 -1.99334032e-01] [-6.87211215e-02 2.16618019e-03 9.97633558e-01 -1.17306821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.756559995 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.20, Z:-1.18 [[ 9.96303735e-01 5.18114436e-02 6.85159929e-02 1.57698351e+01] [-5.15395779e-02 9.98654509e-01 -5.73089259e-03 -2.02186254e-01] [-6.87207310e-02 2.17842434e-03 9.97633558e-01 -1.17566861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.21, Z:-1.18 [[ 9.96468557e-01 4.92323831e-02 6.80190178e-02 1.58028168e+01] [-4.89579824e-02 9.98784596e-01 -5.69628634e-03 -2.06239937e-01] [-6.82167889e-02 2.34609636e-03 9.97667763e-01 -1.17808537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.816559994999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.25, Z:-1.12 [[ 0.99765441 0.04251369 0.05364953 15.8349974 ] [-0.04669972 0.99575237 0.07934961 -0.25350817] [-0.0500482 -0.0816689 0.99540211 -1.11569575] [ 0. 0. 0. 1. ]] SLAMing on 15.846559995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.21, Z:-1.16 [[ 0.9975383 0.04877547 0.05038148 15.86796565] [-0.04787871 0.99867516 -0.01885619 -0.20705518] [-0.05123446 0.01639757 0.99855203 -1.16177027] [ 0. 0. 0. 1. ]] SLAMing on 15.876559995 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.22, Z:-1.15 [[ 9.97473750e-01 4.74124316e-02 5.28978158e-02 1.58983634e+01] [-4.79342636e-02 9.98813128e-01 8.63949681e-03 -2.24797641e-01] [-5.24254133e-02 -1.11532891e-02 9.98562557e-01 -1.15179427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.22, Z:-1.17 [[ 9.97310922e-01 4.95451179e-02 5.40019167e-02 1.59293604e+01] [-4.87056188e-02 9.98672664e-01 -1.67532816e-02 -2.15222093e-01] [-5.47602814e-02 1.40780340e-02 9.98400281e-01 -1.16788049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.936559995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.22, Z:-1.17 [[ 9.97034417e-01 4.96706414e-02 5.87809319e-02 1.59584846e+01] [-4.90116385e-02 9.98718714e-01 -1.26011736e-02 -2.18674538e-01] [-5.93315251e-02 9.68285397e-03 9.98191371e-01 -1.17167514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.19, Z:-1.22 [[ 0.99606533 0.05404344 0.07023645 15.98813944] [-0.04916092 0.99637145 -0.06947756 -0.18899676] [-0.0737364 0.0657513 0.99510789 -1.21693745] [ 0. 0. 0. 1. ]] SLAMing on 15.996559995 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.25, Z:-1.17 [[ 0.99659078 0.0446663 0.06936665 16.01680791] [-0.04712251 0.99830398 0.03418516 -0.24581967] [-0.06772208 -0.03733734 0.99700534 -1.16761462] [ 0. 0. 0. 1. ]] SLAMing on 16.026559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.21, Z:-1.21 [[ 0.99578457 0.05551802 0.07301255 16.05024436] [-0.05222452 0.99756284 -0.04627071 -0.2055057 ] [-0.07540347 0.04226261 0.99625709 -1.21459909] [ 0. 0. 0. 1. ]] SLAMing on 16.056559995 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.23, Z:-1.20 [[ 9.95573940e-01 5.48007240e-02 7.63505760e-02 1.60820256e+01] [-5.44660697e-02 9.98494724e-01 -6.46012442e-03 -2.28207609e-01] [-7.65896668e-02 2.27301573e-03 9.97060107e-01 -1.20278081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.24, Z:-1.19 [[ 0.99604567 0.05434389 0.0702835 16.11224836] [-0.05570933 0.99829165 0.01761423 -0.24025665] [-0.0692062 -0.02146003 0.99737153 -1.18665567] [ 0. 0. 0. 1. ]] SLAMing on 16.116559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.22, Z:-1.22 [[ 0.99560006 0.06013563 0.07186256 16.14580518] [-0.05814762 0.99787366 -0.02944492 -0.22045196] [-0.07348045 0.02513673 0.99697982 -1.21643085] [ 0. 0. 0. 1. ]] SLAMing on 16.146559995 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.24, Z:-1.21 [[ 9.95570737e-01 5.83168770e-02 7.37431267e-02 1.61779277e+01] [-5.80112076e-02 9.98296167e-01 -6.28199572e-03 -2.35740826e-01] [-7.39838271e-02 1.97624327e-03 9.97257483e-01 -1.21101363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.176559994999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.24, Z:-1.21 [[ 9.95556475e-01 5.88892343e-02 7.34803587e-02 1.62110450e+01] [-5.85857575e-02 9.98262623e-01 -6.28047139e-03 -2.38662458e-01] [-7.37225478e-02 1.94766148e-03 9.97276889e-01 -1.21377946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.26, Z:-1.20 [[ 0.99602051 0.05610783 0.06924635 16.24192791] [-0.0578921 0.99803352 0.02403334 -0.25613291] [-0.06776172 -0.02794651 0.99731005 -1.19537672] [ 0. 0. 0. 1. ]] SLAMing on 16.236559995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.24, Z:-1.21 [[ 9.95996660e-01 5.88855367e-02 6.72543475e-02 1.62742480e+01] [-5.86482799e-02 9.98263566e-01 -5.49845475e-03 -2.43575423e-01] [-6.74613442e-02 1.53209077e-03 9.97720712e-01 -1.20949217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.23, Z:-1.23 [[ 0.99548616 0.06171261 0.07210307 16.30681813] [-0.0592003 0.99757942 -0.03647761 -0.22985742] [-0.07417967 0.03204443 0.99672992 -1.23312542] [ 0. 0. 0. 1. ]] SLAMing on 16.296559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.26, Z:-1.21 [[ 9.95819129e-01 5.67911524e-02 7.15473828e-02 1.63373912e+01] [-5.80347676e-02 9.98195423e-01 1.54228337e-02 -2.59429831e-01] [-7.05423895e-02 -1.95105886e-02 9.97317957e-01 -1.20900059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.26, Z:-1.22 [[ 9.95973375e-01 5.81709937e-02 6.82141556e-02 1.63701299e+01] [-5.82254848e-02 9.98302747e-01 -1.19081072e-03 -2.56181193e-01] [-6.81676495e-02 -2.78578651e-03 9.97669991e-01 -1.21667895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.356559994999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.25, Z:-1.23 [[ 9.95809657e-01 6.01543876e-02 6.88808870e-02 1.64020947e+01] [-5.95044140e-02 9.98162358e-01 -1.14512932e-02 -2.52973552e-01] [-6.94431541e-02 7.30459157e-03 9.97559167e-01 -1.22500551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.26, Z:-1.22 [[ 9.95663115e-01 6.20492518e-02 6.93170418e-02 1.64343819e+01] [-6.19700170e-02 9.98072573e-01 -3.29495116e-03 -2.60314455e-01] [-6.93878875e-02 -1.01491692e-03 9.97589240e-01 -1.22392405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.26, Z:-1.23 [[ 9.95383047e-01 6.62860342e-02 6.94172209e-02 1.64652291e+01] [-6.53427700e-02 9.97738186e-01 -1.57745000e-02 -2.56361467e-01] [-7.03058411e-02 1.11657563e-02 9.97462989e-01 -1.23286445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.26, Z:-1.23 [[ 9.95315470e-01 6.65836895e-02 7.00979817e-02 1.64961958e+01] [-6.62805202e-02 9.97778904e-01 -6.64460808e-03 -2.64658643e-01] [-7.03847099e-02 1.96735052e-03 9.97517981e-01 -1.23389547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.27, Z:-1.24 [[ 9.95165926e-01 6.85420347e-02 7.03332696e-02 1.65268741e+01] [-6.80426524e-02 9.97637425e-01 -9.47446026e-03 -2.65164007e-01] [-7.08165008e-02 4.64299780e-03 9.97478554e-01 -1.23721580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.27, Z:-1.24 [[ 9.95036610e-01 6.87631259e-02 7.19289773e-02 1.65575462e+01] [-6.82023463e-02 9.97619096e-01 -1.02264223e-02 -2.66872245e-01] [-7.24609221e-02 5.26993958e-03 9.97357329e-01 -1.24426716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.536559995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.27, Z:-1.25 [[ 9.94901447e-01 6.99678094e-02 7.26334455e-02 1.65885909e+01] [-6.94919956e-02 9.97541362e-01 -9.06052254e-03 -2.69850473e-01] [-7.30888111e-02 3.96688391e-03 9.97317547e-01 -1.24773143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.28, Z:-1.25 [[ 9.94548761e-01 7.40981829e-02 7.33636219e-02 1.66225277e+01] [-7.36242560e-02 9.97244102e-01 -9.14708537e-03 -2.76185659e-01] [-7.38392216e-02 3.69588035e-03 9.97263310e-01 -1.25031192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.596559995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.28, Z:-1.24 [[ 9.94710873e-01 7.34845499e-02 7.17655944e-02 1.66535755e+01] [-7.39401443e-02 9.97255784e-01 3.70892315e-03 -2.84657177e-01] [-7.12961056e-02 -8.99566459e-03 9.97414630e-01 -1.24434335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.28, Z:-1.26 [[ 9.94174434e-01 7.98510293e-02 7.23948066e-02 1.66875398e+01] [-7.88749048e-02 9.96752102e-01 -1.62479542e-02 -2.79716473e-01] [-7.34570916e-02 1.04431672e-02 9.97243699e-01 -1.25785165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.29, Z:-1.26 [[ 9.94056486e-01 8.09674473e-02 7.27734499e-02 1.67205470e+01] [-8.07135698e-02 9.96716613e-01 -6.42751257e-03 -2.88394829e-01] [-7.30549258e-02 5.15505631e-04 9.97327786e-01 -1.25587367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.29, Z:-1.26 [[ 9.93918084e-01 8.25071765e-02 7.29342719e-02 1.67530075e+01] [-8.22548864e-02 9.96590381e-01 -6.46115148e-03 -2.91692302e-01] [-7.32186851e-02 4.22655048e-04 9.97315820e-01 -1.25871713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.716559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.29, Z:-1.26 [[ 9.93823649e-01 8.37266395e-02 7.28313386e-02 1.67851616e+01] [-8.34769162e-02 9.96488698e-01 -6.47134257e-03 -2.94682212e-01] [-7.31174296e-02 3.51637736e-04 9.97323276e-01 -1.26208322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.29, Z:-1.26 [[ 9.93180565e-01 9.02042276e-02 7.38617744e-02 1.68178479e+01] [-8.99637853e-02 9.95923283e-01 -6.58266490e-03 -2.94589905e-01] [-7.41544451e-02 -1.07109969e-04 9.97246763e-01 -1.26271135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.776559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.30, Z:-1.27 [[ 9.93042383e-01 9.15088134e-02 7.41145198e-02 1.68502395e+01] [-9.12687884e-02 9.95804249e-01 -6.62609899e-03 -2.97432173e-01] [-7.44099002e-02 -1.84345290e-04 9.97227724e-01 -1.26687645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.30, Z:-1.26 [[ 9.93370696e-01 8.97898425e-02 7.17805367e-02 1.68811795e+01] [-9.03148777e-02 9.95904838e-01 4.09601738e-03 -3.04213232e-01] [-7.11188030e-02 -1.05517140e-02 9.97412040e-01 -1.26289905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.29, Z:-1.28 [[ 9.93126921e-01 9.20866848e-02 7.22423782e-02 1.69121496e+01] [-9.10917549e-02 9.95698157e-01 -1.69549834e-02 -2.94649454e-01] [-7.34929311e-02 1.02577655e-02 9.97242983e-01 -1.27578644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.31, Z:-1.27 [[ 9.92972221e-01 9.38011149e-02 7.21631430e-02 1.69451886e+01] [-9.36141250e-02 9.95590617e-01 -5.97651714e-03 -3.08229485e-01] [-7.24055520e-02 -8.20973979e-04 9.97374936e-01 -1.27300481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.896559995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.32, Z:-1.27 [[ 9.93396437e-01 9.06316084e-02 7.03521828e-02 1.69760980e+01] [-9.11954803e-02 9.95821257e-01 4.83827270e-03 -3.15487823e-01] [-6.96196987e-02 -1.12221240e-02 9.97510482e-01 -1.26990103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.31, Z:-1.28 [[ 9.93063969e-01 9.39932651e-02 7.06344072e-02 1.70091744e+01] [-9.38577590e-02 9.95571815e-01 -5.24230207e-03 -3.11577601e-01] [-7.08143660e-02 -1.42364586e-03 9.97488496e-01 -1.27619514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.956559995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.31, Z:-1.29 [[ 9.92644867e-01 9.66931346e-02 7.28464549e-02 1.70412079e+01] [-9.55851611e-02 9.95248332e-01 -1.85535654e-02 -3.08874743e-01] [-7.42943152e-02 1.14540613e-02 9.97170577e-01 -1.28817089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.33, Z:-1.27 [[ 9.93006867e-01 9.40768101e-02 7.13226129e-02 1.70715173e+01] [-9.49838140e-02 9.95434187e-01 9.42627569e-03 -3.25396799e-01] [-7.01101732e-02 -1.61348503e-02 9.97408758e-01 -1.27322777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.016559994999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.31, Z:-1.29 [[ 9.92598056e-01 9.74136872e-02 7.25236063e-02 1.71043227e+01] [-9.60171081e-02 9.95125154e-01 -2.25087480e-02 -3.13707204e-01] [-7.43627250e-02 1.53786326e-02 9.97112673e-01 -1.29305132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.33, Z:-1.28 [[ 9.93083274e-01 9.31356553e-02 7.14937864e-02 1.71351904e+01] [-9.40060913e-02 9.95531831e-01 8.90101677e-03 -3.31712270e-01] [-7.03453380e-02 -1.55603023e-02 9.97401329e-01 -1.27904708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.32, Z:-1.30 [[ 9.92763318e-01 9.62373440e-02 7.18287441e-02 1.71687118e+01] [-9.48947449e-02 9.95246748e-01 -2.18837446e-02 -3.21711247e-01] [-7.35933574e-02 1.49092085e-02 9.97176882e-01 -1.29699710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.33, Z:-1.29 [[ 9.92967126e-01 9.35386702e-02 7.25727462e-02 1.72004404e+01] [-9.33014281e-02 9.95615635e-01 -6.65968413e-03 -3.33344838e-01] [-7.28774988e-02 -1.58293444e-04 9.97340887e-01 -1.29413698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.136559995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.34, Z:-1.30 [[ 9.93093109e-01 9.23434555e-02 7.23792987e-02 1.72332226e+01] [-9.21029238e-02 9.95727213e-01 -6.66091895e-03 -3.36628445e-01] [-7.26851297e-02 -5.14323233e-05 9.97354936e-01 -1.29893202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.34, Z:-1.30 [[ 9.93042149e-01 9.25538519e-02 7.28084832e-02 1.72650291e+01] [-9.23094780e-02 9.95707679e-01 -6.72145152e-03 -3.39436900e-01] [-7.31180620e-02 -4.62284139e-05 9.97323291e-01 -1.30078996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.196559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.34, Z:-1.30 [[ 9.92884814e-01 9.38248889e-02 7.33255526e-02 1.72976306e+01] [-9.35790685e-02 9.95588708e-01 -6.78841029e-03 -3.42456411e-01] [-7.36390140e-02 -1.21627413e-04 9.97284955e-01 -1.30117946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.35, Z:-1.30 [[ 9.92873391e-01 9.39473231e-02 7.33234550e-02 1.73308114e+01] [-9.37001689e-02 9.95577164e-01 -6.81098654e-03 -3.45615801e-01] [-7.36390314e-02 -1.07972818e-04 9.97284955e-01 -1.30413837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.256559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.35, Z:-1.31 [[ 9.92890315e-01 9.35763276e-02 7.35682954e-02 1.73620050e+01] [-9.33259734e-02 9.95612106e-01 -6.84084735e-03 -3.49789002e-01] [-7.38856269e-02 -7.36217053e-05 9.97266719e-01 -1.30696325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.35, Z:-1.31 [[ 9.92845771e-01 9.41558122e-02 7.34299579e-02 1.73948421e+01] [-9.39065861e-02 9.95557469e-01 -6.84686750e-03 -3.53398012e-01] [-7.37484154e-02 -9.76732218e-05 9.97276873e-01 -1.30812604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.36, Z:-1.31 [[ 9.92805265e-01 9.41036994e-02 7.40418758e-02 1.74273981e+01] [-9.38486284e-02 9.95562398e-01 -6.92435509e-03 -3.56886662e-01] [-7.43649149e-02 -7.41922960e-05 9.97231094e-01 -1.31084271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.36, Z:-1.31 [[ 9.92737831e-01 9.45306663e-02 7.44012924e-02 1.74589867e+01] [-9.42727145e-02 9.95521946e-01 -6.97921733e-03 -3.59669396e-01] [-7.47278695e-02 -8.54787295e-05 9.97203960e-01 -1.31461604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.376559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.36, Z:-1.32 [[ 9.92638153e-01 9.54713427e-02 7.45299956e-02 1.74915148e+01] [-9.52136939e-02 9.95432169e-01 -7.01060743e-03 -3.61986483e-01] [-7.48588673e-02 -1.37279770e-04 9.97194129e-01 -1.31754067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.36, Z:-1.32 [[ 9.92441062e-01 9.70242256e-02 7.51467733e-02 1.75243566e+01] [-9.67651526e-02 9.95281992e-01 -7.08950776e-03 -3.63766905e-01] [-7.54800842e-02 -2.35670375e-04 9.97147282e-01 -1.31927254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.37, Z:-1.31 [[ 9.92856020e-01 9.49267359e-02 7.22899541e-02 1.75555583e+01] [-9.57862323e-02 9.95365556e-01 8.50926175e-03 -3.74142240e-01] [-7.11471739e-02 -1.53728541e-02 9.97347359e-01 -1.31179186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.37, Z:-1.32 [[ 9.92882890e-01 9.56528451e-02 7.09513895e-02 1.75870717e+01] [-9.53290420e-02 9.95414120e-01 -7.94371942e-03 -3.69115157e-01] [-7.13858543e-02 1.12345511e-03 9.97448143e-01 -1.32112653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.496559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.37, Z:-1.33 [[ 9.92686636e-01 9.72490991e-02 7.15252094e-02 1.76196849e+01] [-9.59902100e-02 9.95164086e-01 -2.08403751e-02 -3.67800072e-01] [-7.32060274e-02 1.38222419e-02 9.97221050e-01 -1.33383297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.38, Z:-1.33 [[ 9.92691499e-01 9.55626394e-02 7.36978327e-02 1.76517455e+01] [-9.53039934e-02 9.95423417e-01 -7.02632632e-03 -3.78485476e-01] [-7.40320027e-02 -4.87233563e-05 9.97255865e-01 -1.32978738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.556559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.38, Z:-1.33 [[ 9.92599965e-01 9.57820997e-02 7.46398008e-02 1.76845580e+01] [-9.55157995e-02 9.95402324e-01 -7.13755244e-03 -3.81094360e-01] [-7.49802809e-02 -4.45459466e-05 9.97185016e-01 -1.33192317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.38, Z:-1.33 [[ 9.92642089e-01 9.52282486e-02 7.47881318e-02 1.77165565e+01] [-9.49576237e-02 9.95455464e-01 -7.17421921e-03 -3.84009224e-01] [-7.51314428e-02 1.97286617e-05 9.97173639e-01 -1.33436198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.616559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.39, Z:-1.34 [[ 9.92661840e-01 9.46524174e-02 7.52555045e-02 1.77496426e+01] [-9.43758462e-02 9.95510379e-01 -7.23086937e-03 -3.87050794e-01] [-7.56020551e-02 7.55061819e-05 9.97138066e-01 -1.33658483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.39, Z:-1.34 [[ 9.92844014e-01 9.23198099e-02 7.57483739e-02 1.77810391e+01] [-9.20311528e-02 9.95729369e-01 -7.30004913e-03 -3.91058889e-01] [-7.60988197e-02 2.76599910e-04 9.97100242e-01 -1.33754062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.676559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.40, Z:-1.34 [[ 9.92981671e-01 9.09049086e-02 7.56551361e-02 1.78131970e+01] [-9.06113660e-02 9.95859495e-01 -7.31068429e-03 -3.95201043e-01] [-7.60064627e-02 4.04160276e-04 9.97107243e-01 -1.34017690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.40, Z:-1.34 [[ 9.93160138e-01 8.93732425e-02 7.51356303e-02 1.78457853e+01] [-8.90777707e-02 9.95998059e-01 -7.28129912e-03 -3.99339207e-01] [-7.54856952e-02 5.38581591e-04 9.97146739e-01 -1.34266260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.40, Z:-1.35 [[ 9.93423540e-01 8.68292132e-02 7.46348311e-02 1.78782672e+01] [-8.65289577e-02 9.96222931e-01 -7.25331321e-03 -4.02732218e-01] [-7.49827297e-02 7.47537934e-04 9.97184552e-01 -1.34574962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.41, Z:-1.35 [[ 9.93489928e-01 8.61051756e-02 7.45899633e-02 1.79111756e+01] [-8.58016553e-02 9.96285713e-01 -7.27009289e-03 -4.05559544e-01] [-7.49389074e-02 8.22821742e-04 9.97187787e-01 -1.34875720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.41, Z:-1.35 [[ 9.93403151e-01 8.64288852e-02 7.53672869e-02 1.79444688e+01] [-8.61182940e-02 9.96257678e-01 -7.36733392e-03 -4.07067233e-01] [-7.57219887e-02 8.28230563e-04 9.97128625e-01 -1.35150560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.41, Z:-1.36 [[ 9.93507399e-01 8.59471780e-02 7.45394641e-02 1.79767342e+01] [-8.56404792e-02 9.96299310e-01 -7.30706151e-03 -4.10159354e-01] [-7.48916380e-02 8.76024248e-04 9.97191293e-01 -1.35608458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.856559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.41, Z:-1.36 [[ 9.93358694e-01 8.69153202e-02 7.53938497e-02 1.80098313e+01] [-8.66026932e-02 9.96215354e-01 -7.41225273e-03 -4.14339862e-01] [-7.57527490e-02 8.33715259e-04 9.97126284e-01 -1.35652865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.42, Z:-1.36 [[ 9.93412965e-01 8.66666578e-02 7.49637943e-02 1.80414009e+01] [-8.63552798e-02 9.96236987e-01 -7.39124217e-03 -4.18457524e-01] [-7.53222789e-02 8.69036367e-04 9.97158864e-01 -1.35886703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.42, Z:-1.36 [[ 9.93454173e-01 8.63097681e-02 7.48293374e-02 1.80743115e+01] [-8.59970294e-02 9.96267930e-01 -7.39744949e-03 -4.22176629e-01] [-7.51885412e-02 9.13926336e-04 9.97168916e-01 -1.36180935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.43, Z:-1.36 [[ 9.93472700e-01 8.62412190e-02 7.46622096e-02 1.81057152e+01] [-8.59281260e-02 9.96273844e-01 -7.40164840e-03 -4.25325148e-01] [-7.50223337e-02 9.37751866e-04 9.97181413e-01 -1.36484193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.43, Z:-1.37 [[ 9.93412170e-01 8.68526856e-02 7.47587581e-02 1.81382291e+01] [-8.65390893e-02 9.96220749e-01 -7.43007266e-03 -4.27893330e-01] [-7.51215477e-02 9.11569762e-04 9.97173968e-01 -1.36788308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.43, Z:-1.37 [[ 9.93301294e-01 8.78137284e-02 7.51085091e-02 1.81697468e+01] [-8.74983067e-02 9.96136538e-01 -7.48626405e-03 -4.30677193e-01] [-7.54757270e-02 8.64248408e-04 9.97147265e-01 -1.37081544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.036559994999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.43, Z:-1.37 [[ 9.93200237e-01 8.91543931e-02 7.48651066e-02 1.82020644e+01] [-8.88433705e-02 9.96017514e-01 -7.48119303e-03 -4.33786510e-01] [-7.52339385e-02 7.79054290e-04 9.97165607e-01 -1.37489007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.44, Z:-1.38 [[ 9.93017057e-01 9.04747466e-02 7.57063106e-02 1.82351772e+01] [-9.01588726e-02 9.95898498e-01 -7.58676515e-03 -4.37592909e-01] [-7.60822117e-02 7.08191577e-04 9.97101297e-01 -1.37609342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.096559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.44, Z:-1.38 [[ 9.92997119e-01 9.07910355e-02 7.55890829e-02 1.82667166e+01] [-9.04753913e-02 9.95869716e-01 -7.59686143e-03 -4.41113999e-01] [-7.59666054e-02 7.04709658e-04 9.97110113e-01 -1.37920539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.44, Z:-1.38 [[ 9.92986214e-01 9.09120459e-02 7.55868912e-02 1.82998702e+01] [-9.05950969e-02 9.95858667e-01 -7.61860315e-03 -4.44534584e-01] [-7.59664835e-02 7.17366171e-04 9.97110114e-01 -1.38217874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.45, Z:-1.38 [[ 9.92881268e-01 9.16612062e-02 7.60592555e-02 1.83319323e+01] [-9.13418992e-02 9.95790024e-01 -7.67367527e-03 -4.48744778e-01] [-7.64424262e-02 6.71651591e-04 9.97073771e-01 -1.38485378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.45, Z:-1.39 [[ 9.92805117e-01 9.27451748e-02 7.57385821e-02 1.83642348e+01] [-9.24301234e-02 9.95689693e-01 -7.66208103e-03 -4.52338677e-01] [-7.61227466e-02 6.06426763e-04 9.97098270e-01 -1.38753760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.46, Z:-1.39 [[ 9.92764329e-01 9.33120758e-02 7.55767405e-02 1.83967317e+01] [-9.29984479e-02 9.95636740e-01 -7.66623713e-03 -4.55692842e-01] [-7.59623320e-02 5.82247200e-04 9.97110518e-01 -1.39042050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.46, Z:-1.39 [[ 9.92678744e-01 9.38868904e-02 7.59879112e-02 1.84280087e+01] [-9.35698419e-02 9.95582711e-01 -7.72980558e-03 -4.59094847e-01] [-7.63779781e-02 5.63036859e-04 9.97078777e-01 -1.39410314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.46, Z:-1.40 [[ 9.92718637e-01 9.33616546e-02 7.61137867e-02 1.84603181e+01] [-9.30404882e-02 9.95632066e-01 -7.76246342e-03 -4.62712936e-01] [-7.65060431e-02 6.24278242e-04 9.97068922e-01 -1.39686778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.47, Z:-1.40 [[ 9.92768831e-01 9.21123238e-02 7.69764061e-02 1.84919409e+01] [-9.17782834e-02 9.95748339e-01 -7.87350709e-03 -4.67176971e-01] [-7.73743755e-02 7.51810025e-04 9.97001826e-01 -1.39922676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.47, Z:-1.40 [[ 9.92685116e-01 9.21327773e-02 7.80244361e-02 1.85242570e+01] [-9.17886196e-02 9.95746430e-01 -7.99349178e-03 -4.71149263e-01] [-7.84290163e-02 7.73265028e-04 9.96919401e-01 -1.40206277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.47, Z:-1.41 [[ 9.92729141e-01 9.18772055e-02 7.77652403e-02 1.85572058e+01] [-9.15328823e-02 9.95770013e-01 -7.98823048e-03 -4.74276671e-01] [-7.81702307e-02 8.12072595e-04 9.96939695e-01 -1.40606918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.48, Z:-1.41 [[ 9.92529296e-01 9.28987494e-02 7.90912114e-02 1.85896916e+01] [-9.25439894e-02 9.95675265e-01 -8.14713060e-03 -4.77982634e-01] [-7.95060211e-02 7.66849572e-04 9.96834091e-01 -1.40789690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.48, Z:-1.41 [[ 9.92506361e-01 9.37348499e-02 7.83894205e-02 1.86226915e+01] [-9.33872397e-02 9.95596940e-01 -8.09675959e-03 -4.81337696e-01] [-7.88032157e-02 7.15513792e-04 9.96889934e-01 -1.41149498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.48, Z:-1.41 [[ 9.92382495e-01 9.49234580e-02 7.85272020e-02 1.86554518e+01] [-9.45765941e-02 9.95484366e-01 -8.13300363e-03 -4.84702602e-01] [-7.89446147e-02 6.44215122e-04 9.96878795e-01 -1.41337620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.49, Z:-1.42 [[ 9.92286458e-01 9.59937850e-02 7.84396524e-02 1.86869174e+01] [-9.56492571e-02 9.95381764e-01 -8.14639675e-03 -4.87761489e-01] [-7.88594031e-02 5.80864694e-04 9.96885579e-01 -1.41667221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.516559994999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.49, Z:-1.42 [[ 9.92315340e-01 9.66136146e-02 7.73050750e-02 1.87195753e+01] [-9.62793238e-02 9.95321814e-01 -8.04847743e-03 -4.90924547e-01] [-7.77210200e-02 5.43747274e-04 9.96974998e-01 -1.42030050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.49, Z:-1.42 [[ 9.92185871e-01 9.74766049e-02 7.78813751e-02 1.87519483e+01] [-9.71382136e-02 9.95237690e-01 -8.13067334e-03 -4.94923507e-01] [-7.83030303e-02 5.01881555e-04 9.96929478e-01 -1.42200290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.50, Z:-1.42 [[ 9.92185087e-01 9.75980911e-02 7.77390889e-02 1.87842219e+01] [-9.72595870e-02 9.95225778e-01 -8.13778944e-03 -4.98316419e-01] [-7.81621779e-02 5.13321646e-04 9.96940525e-01 -1.42496156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.50, Z:-1.43 [[ 9.92386265e-01 9.64494976e-02 7.65963093e-02 1.88157437e+01] [-9.61157154e-02 9.95337688e-01 -8.04091084e-03 -5.01009502e-01] [-7.70147352e-02 6.17580416e-04 9.97029763e-01 -1.42825393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.50, Z:-1.43 [[ 9.92441773e-01 9.59806038e-02 7.64660124e-02 1.88482815e+01] [-9.56456182e-02 9.95382982e-01 -8.03955501e-03 -5.04556628e-01] [-7.68846088e-02 6.65151202e-04 9.97039776e-01 -1.43069953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.51, Z:-1.43 [[ 9.92539709e-01 9.52808092e-02 7.60690038e-02 1.88797716e+01] [-9.49456020e-02 9.95450162e-01 -8.01925426e-03 -5.08195827e-01] [-7.64869832e-02 7.37010923e-04 9.97070308e-01 -1.43313375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.696559994999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.51, Z:-1.44 [[ 9.92766497e-01 9.37760376e-02 7.49715751e-02 1.89127771e+01] [-9.34447292e-02 9.95592947e-01 -7.92253739e-03 -5.12359228e-01] [-7.53841156e-02 8.59531159e-04 9.97154199e-01 -1.43538578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.52, Z:-1.44 [[ 9.92791947e-01 9.34685248e-02 7.50185690e-02 1.89447761e+01] [-9.31342891e-02 9.95621824e-01 -7.94911105e-03 -5.16156745e-01] [-7.54331162e-02 9.05012337e-04 9.97150453e-01 -1.43759714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.52, Z:-1.44 [[ 9.92656150e-01 9.33932672e-02 7.68860567e-02 1.89773733e+01] [-9.30403251e-02 9.95628840e-01 -8.16766239e-03 -5.19913226e-01] [-7.73127801e-02 9.54176591e-04 9.97006431e-01 -1.43829528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.52, Z:-1.44 [[ 9.92783883e-01 9.32877288e-02 7.53495958e-02 1.90104124e+01] [-9.29468828e-02 9.95638725e-01 -8.02536670e-03 -5.22955386e-01] [-7.57696437e-02 9.63944663e-04 9.97124883e-01 -1.44115690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.53, Z:-1.44 [[ 9.92495663e-01 9.41904875e-02 7.79776260e-02 1.90433500e+01] [-9.38263838e-02 9.95553741e-01 -8.32819890e-03 -5.26117323e-01] [-7.84153543e-02 9.49342629e-04 9.96920323e-01 -1.44295821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.53, Z:-1.45 [[ 9.92512470e-01 9.47986857e-02 7.70208146e-02 1.90754896e+01] [-9.44436373e-02 9.95496046e-01 -8.24749929e-03 -5.29065246e-01] [-7.74557686e-02 9.11620013e-04 9.96995373e-01 -1.44654161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.55, Z:-1.42 [[ 0.99276099 0.09618999 0.07192433 19.10702652] [-0.09851003 0.99470082 0.0294289 -0.55149286] [-0.06871243 -0.03630113 0.99697584 -1.41981193] [ 0. 0. 0. 1. ]] SLAMing on 18.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.51, Z:-1.47 [[ 0.99193639 0.105165 0.07072852 19.13876328] [-0.10216579 0.99375929 -0.0447731 -0.51479892] [-0.07499569 0.03718603 0.99649026 -1.46503596] [ 0. 0. 0. 1. ]] SLAMing on 18.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.54, Z:-1.45 [[ 9.91827752e-01 1.03984352e-01 7.39253950e-02 1.91693243e+01] [-1.03679763e-01 9.94578907e-01 -7.95635309e-03 -5.36309120e-01] [-7.43519748e-02 2.26764331e-04 9.97232035e-01 -1.45401290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.54, Z:-1.46 [[ 9.91721389e-01 1.05938131e-01 7.25658244e-02 1.92016489e+01] [-1.05648535e-01 9.94372718e-01 -7.82841105e-03 -5.38889642e-01] [-7.29868033e-02 9.71296502e-05 9.97332902e-01 -1.45645910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.54, Z:-1.46 [[ 9.91561560e-01 1.07821306e-01 7.19738765e-02 1.92336552e+01] [-1.07539908e-01 9.94170290e-01 -7.78476281e-03 -5.41376296e-01] [-7.23936530e-02 -2.09925251e-05 9.97376137e-01 -1.45886496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.54, Z:-1.46 [[ 9.91442693e-01 1.10443960e-01 6.95953838e-02 1.92667849e+01] [-1.10186139e-01 9.93882335e-01 -7.54444950e-03 -5.43448389e-01] [-7.00028615e-02 -1.88557289e-04 9.97546773e-01 -1.45985200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.57, Z:-1.43 [[ 0.99144993 0.11159131 0.06763447 19.30061804] [-0.11397393 0.99295379 0.03244549 -0.57035967] [-0.06353727 -0.03987665 0.99718247 -1.43255278] [ 0. 0. 0. 1. ]] SLAMing on 19.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.55, Z:-1.45 [[ 9.91038939e-01 1.16735526e-01 6.49202519e-02 1.93329584e+01] [-1.16062351e-01 9.93142429e-01 -1.40586978e-02 -5.49951601e-01] [-6.61162061e-02 6.39791986e-03 9.97791418e-01 -1.45459309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.56, Z:-1.46 [[ 9.90848314e-01 1.17520750e-01 6.63964716e-02 1.93672216e+01] [-1.17180425e-01 9.93069764e-01 -9.01066025e-03 -5.57414315e-01] [-6.69952679e-02 1.14783072e-03 9.97752633e-01 -1.45556704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.54, Z:-1.48 [[ 0.99076592 0.11698001 0.06854605 19.39398892] [-0.11454075 0.99267186 -0.03850975 -0.53907286] [-0.0725486 0.03030283 0.99690443 -1.47749554] [ 0. 0. 0. 1. ]] SLAMing on 19.176559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.56, Z:-1.47 [[ 9.90630848e-01 1.15610819e-01 7.26956813e-02 1.94251153e+01] [-1.15337550e-01 9.93294463e-01 -7.95991085e-03 -5.57367333e-01] [-7.31284695e-02 -4.99208555e-04 9.97322404e-01 -1.46878160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.56, Z:-1.47 [[ 9.90489141e-01 1.17026358e-01 7.23608599e-02 1.94578949e+01] [-1.16758002e-01 9.93128639e-01 -7.94206105e-03 -5.60094163e-01] [-7.27930727e-02 -5.82184199e-04 9.97346895e-01 -1.47138161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.56, Z:-1.47 [[ 9.90365256e-01 1.18599924e-01 7.14892794e-02 1.94902228e+01] [-1.18340666e-01 9.92941896e-01 -7.86620399e-03 -5.62651429e-01] [-7.19176319e-02 -6.69673819e-04 9.97410350e-01 -1.47341084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.57, Z:-1.48 [[ 9.90388046e-01 1.20070659e-01 6.86626198e-02 1.95226585e+01] [-1.19833750e-01 9.92765082e-01 -7.57390641e-03 -5.65107320e-01] [-6.90752553e-02 -7.26992869e-04 9.97611187e-01 -1.47559368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.57, Z:-1.48 [[ 9.90063222e-01 1.22677541e-01 6.87389122e-02 1.95550106e+01] [-1.22444986e-01 9.92446184e-01 -7.60239375e-03 -5.66260984e-01] [-6.91523141e-02 -8.89884707e-04 9.97605716e-01 -1.47836809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.57, Z:-1.48 [[ 9.90109609e-01 1.23514304e-01 6.65370523e-02 1.95881722e+01] [-1.23297190e-01 9.92342383e-01 -7.37553953e-03 -5.68655839e-01] [-6.69385216e-02 -9.01238997e-04 9.97756695e-01 -1.48086673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.356559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.57, Z:-1.48 [[ 9.90020404e-01 1.24735593e-01 6.55792039e-02 1.96209812e+01] [-1.24526180e-01 9.92189562e-01 -7.28728362e-03 -5.70118019e-01] [-6.59759852e-02 -9.51768268e-04 9.97820757e-01 -1.48296655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.57, Z:-1.49 [[ 9.90009924e-01 1.25070524e-01 6.50977313e-02 1.96526497e+01] [-1.24863663e-01 9.92147401e-01 -7.25262288e-03 -5.72663817e-01] [-6.54936342e-02 -9.48172561e-04 9.97852537e-01 -1.48549156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.416559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.58, Z:-1.49 [[ 9.90133588e-01 1.25021344e-01 6.32861821e-02 1.96847819e+01] [-1.24824708e-01 9.92153642e-01 -7.06703667e-03 -5.75542399e-01] [-6.36731465e-02 -9.02368832e-04 9.97970398e-01 -1.48752925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.58, Z:-1.49 [[ 9.90124401e-01 1.24447946e-01 6.45474924e-02 1.97176486e+01] [-1.24241083e-01 9.92225760e-01 -7.22460912e-03 -5.77614623e-01] [-6.49447724e-02 -8.66188567e-04 9.97888484e-01 -1.48888153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.476559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.58, Z:-1.49 [[ 9.90278959e-01 1.23733266e-01 6.35425956e-02 1.97490060e+01] [-1.23530157e-01 9.92315201e-01 -7.13042648e-03 -5.80212492e-01] [-6.39365545e-02 -7.88315475e-04 9.97953654e-01 -1.49114093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.58, Z:-1.49 [[ 9.90442377e-01 1.22469355e-01 6.34441110e-02 1.97819469e+01] [-1.22263237e-01 9.92472056e-01 -7.13575366e-03 -5.82915783e-01] [-6.38404185e-02 -6.89329559e-04 9.97959882e-01 -1.49365737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.536559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.59, Z:-1.50 [[ 9.90638078e-01 1.19837972e-01 6.53839401e-02 1.98150587e+01] [-1.19612032e-01 9.92793329e-01 -7.37346012e-03 -5.86067296e-01] [-6.57963601e-02 -5.16275561e-04 9.97832938e-01 -1.49527727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.59, Z:-1.50 [[ 9.90733784e-01 1.18649104e-01 6.60980981e-02 1.98485262e+01] [-1.18221912e-01 9.92933246e-01 -1.03512513e-02 -5.89003550e-01] [-6.68591658e-02 2.44109080e-03 9.97759436e-01 -1.50025383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.596559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.59, Z:-1.50 [[ 9.91168193e-01 1.15143354e-01 6.57846563e-02 1.98780996e+01] [-1.15078734e-01 9.93344856e-01 -4.78345115e-03 -5.93883272e-01] [-6.58976325e-02 -2.82921033e-03 9.97822378e-01 -1.49931943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.60, Z:-1.50 [[ 9.91351985e-01 1.12395972e-01 6.77376330e-02 1.99102504e+01] [-1.12132819e-01 9.93663497e-01 -7.68674889e-03 -5.96057993e-01] [-6.81723729e-02 2.46620379e-05 9.97673557e-01 -1.50236194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.656559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.60, Z:-1.51 [[ 9.91523572e-01 1.11569468e-01 6.65827358e-02 1.99427851e+01] [-1.11312244e-01 9.93756632e-01 -7.57230101e-03 -5.99007535e-01] [-6.70118729e-02 9.66411887e-05 9.97752173e-01 -1.50500091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.60, Z:-1.51 [[ 9.91407732e-01 1.12005956e-01 6.75675619e-02 1.99753220e+01] [-1.11203901e-01 9.93676277e-01 -1.55289620e-02 -5.98205857e-01] [-6.88796196e-02 7.88175649e-03 9.97593843e-01 -1.51391393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.716559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.61, Z:-1.51 [[ 9.91953446e-01 1.08147256e-01 6.58219740e-02 2.00056178e+01] [-1.08394815e-01 9.94107905e-01 1.90939253e-04 -6.06705809e-01] [-6.54134951e-02 -7.32416356e-03 9.97831364e-01 -1.50908964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.61, Z:-1.51 [[ 9.91942483e-01 1.08290325e-01 6.57519350e-02 2.00382196e+01] [-1.08029377e-01 9.94119247e-01 -7.52172297e-03 -6.06471297e-01] [-6.61797939e-02 3.57976005e-04 9.97807650e-01 -1.51472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.61, Z:-1.52 [[ 9.92089133e-01 1.07417556e-01 6.49663004e-02 2.00707623e+01] [-1.07159751e-01 9.94213903e-01 -7.45006000e-03 -6.09834672e-01] [-6.53906663e-02 4.29350974e-04 9.97859648e-01 -1.51765179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.61, Z:-1.52 [[ 9.92411189e-01 1.04776759e-01 6.43573102e-02 2.01030941e+01] [-1.04517052e-01 9.94495577e-01 -7.39824844e-03 -6.12403540e-01] [-6.47782248e-02 6.15668205e-04 9.97899495e-01 -1.52056060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.62, Z:-1.52 [[ 9.92418081e-01 1.03616836e-01 6.61052459e-02 2.01352251e+01] [-1.03338950e-01 9.94617021e-01 -7.61855044e-03 -6.16016167e-01] [-6.65388128e-02 7.29540531e-04 9.97783571e-01 -1.52332182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.62, Z:-1.53 [[ 9.92685555e-01 1.01372132e-01 6.55673683e-02 2.01669960e+01] [-1.01092484e-01 9.94848176e-01 -7.57742515e-03 -6.19700226e-01] [-6.59977165e-02 8.93632373e-04 9.97819374e-01 -1.52610796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.896559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.62, Z:-1.53 [[ 9.93022155e-01 9.67344722e-02 6.74495454e-02 2.01996737e+01] [-9.64271388e-02 9.95309443e-01 -7.80507110e-03 -6.23563987e-01] [-6.78881889e-02 1.24664185e-03 9.97692157e-01 -1.52909031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.63, Z:-1.53 [[ 9.92995255e-01 9.53528139e-02 6.97729449e-02 2.02319416e+01] [-9.50190314e-02 9.95442543e-01 -8.09483177e-03 -6.28060082e-01] [-7.02268228e-02 1.40837190e-03 9.97530055e-01 -1.53179526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.956559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.63, Z:-1.53 [[ 9.93245159e-01 9.31646200e-02 6.91694160e-02 2.02633582e+01] [-9.28297918e-02 9.95649479e-01 -8.04638960e-03 -6.32019397e-01] [-6.96181318e-02 1.57105503e-03 9.97572477e-01 -1.53433722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.64, Z:-1.54 [[ 9.93272265e-01 9.12481027e-02 7.13021127e-02 2.02959538e+01] [-9.08865315e-02 9.95826618e-01 -8.30576374e-03 -6.35893229e-01] [-7.17624269e-02 1.76948306e-03 9.97420184e-01 -1.53732527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.016559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.64, Z:-1.54 [[ 9.93187375e-01 9.13096074e-02 7.23974757e-02 2.03276112e+01] [-9.09354060e-02 9.95820900e-01 -8.45496704e-03 -6.39152273e-01] [-7.28669391e-02 1.81387267e-03 9.97340022e-01 -1.54039272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.64, Z:-1.54 [[ 9.93176309e-01 9.14318763e-02 7.23949673e-02 2.03607091e+01] [-9.10564388e-02 9.95809658e-01 -8.47638648e-03 -6.43104234e-01] [-7.28666196e-02 1.82651832e-03 9.97340022e-01 -1.54336350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.076559995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.65, Z:-1.55 [[ 9.93353277e-01 9.03203546e-02 7.13547508e-02 2.03928672e+01] [-8.99523519e-02 9.95910977e-01 -8.36060819e-03 -6.45895561e-01] [-7.18181127e-02 1.88650989e-03 9.97415961e-01 -1.54731638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.65, Z:-1.55 [[ 9.93340307e-01 9.02000735e-02 7.16866947e-02 2.04244865e+01] [-8.98268260e-02 9.95921805e-01 -8.42015609e-03 -6.49058878e-01] [-7.21538411e-02 1.92469218e-03 9.97391658e-01 -1.55078095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.136559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.65, Z:-1.55 [[ 9.93411010e-01 8.93263680e-02 7.18008722e-02 2.04569189e+01] [-8.89483043e-02 9.96000382e-01 -8.45215015e-03 -6.52407815e-01] [-7.22686960e-02 2.00989319e-03 9.97383174e-01 -1.55459663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.66, Z:-1.56 [[ 9.93442025e-01 8.90462337e-02 7.17196685e-02 2.04896926e+01] [-8.86668400e-02 9.96025388e-01 -8.46273334e-03 -6.56623422e-01] [-7.21881851e-02 2.04807858e-03 9.97388927e-01 -1.55745521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.196559994999998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.66, Z:-1.56 [[ 9.93582725e-01 8.79292816e-02 7.11463941e-02 2.05217791e+01] [-8.75516515e-02 9.96124438e-01 -8.41501180e-03 -6.61462917e-01] [-7.16105878e-02 2.13202606e-03 9.97430388e-01 -1.55944215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.67, Z:-1.56 [[ 9.93562101e-01 8.77289207e-02 7.16797656e-02 2.05540690e+01] [-8.73436020e-02 9.96141993e-01 -8.49848409e-03 -6.65824260e-01] [-7.21487875e-02 2.18300278e-03 9.97391491e-01 -1.56229454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.256559995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.67, Z:-1.57 [[ 9.93595864e-01 8.73334354e-02 7.16947036e-02 2.05870503e+01] [-8.69454479e-02 9.96176634e-01 -8.52071856e-03 -6.70032285e-01] [-7.21647321e-02 2.23262260e-03 9.97390228e-01 -1.56526295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.67, Z:-1.57 [[ 9.93569203e-01 8.74591933e-02 7.19105622e-02 2.06185722e+01] [-8.70676729e-02 9.96165560e-01 -8.56727960e-03 -6.74170446e-01] [-7.23841128e-02 2.25109986e-03 9.97374289e-01 -1.56770348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.316559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.68, Z:-1.57 [[ 9.93397752e-01 8.81339571e-02 7.34391716e-02 2.06506601e+01] [-8.77259590e-02 9.96106048e-01 -8.76912396e-03 -6.78490474e-01] [-7.39260606e-02 2.26870627e-03 9.97261145e-01 -1.57041720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.68, Z:-1.57 [[ 9.93194601e-01 8.96283045e-02 7.43723894e-02 2.06835564e+01] [-8.92124231e-02 9.95972840e-01 -8.90196057e-03 -6.82748481e-01] [-7.48707475e-02 2.20643811e-03 9.97190806e-01 -1.57340772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.376559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.69, Z:-1.58 [[ 9.93068775e-01 9.11248396e-02 7.42339015e-02 2.07159681e+01] [-9.07130933e-02 9.95837240e-01 -8.90655513e-03 -6.87005075e-01] [-7.47364920e-02 2.11083496e-03 9.97201084e-01 -1.57608891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.69, Z:-1.58 [[ 9.92707560e-01 9.49376308e-02 7.42869153e-02 2.07488035e+01] [-9.45343549e-02 9.95481510e-01 -8.93410613e-03 -6.92112571e-01] [-7.47994335e-02 1.84628908e-03 9.97196889e-01 -1.57793080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.436559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.70, Z:-1.58 [[ 9.92534795e-01 9.70471167e-02 7.38683844e-02 2.07815558e+01] [-9.66526454e-02 9.95278339e-01 -8.90474938e-03 -6.96549872e-01] [-7.43837832e-02 1.69869883e-03 9.97228242e-01 -1.58063595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.72, Z:-1.56 [[ 0.992575 0.1004871 0.06853625 20.81928617] [-0.10215008 0.9945431 0.02119847 -0.72166543] [-0.06603208 -0.02804205 0.99742338 -1.56261213] [ 0. 0. 0. 1. ]] SLAMing on 20.496559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.69, Z:-1.60 [[ 0.99215978 0.10511401 0.06760191 20.84599606] [-0.10265184 0.99395534 -0.03892803 -0.69061215] [-0.07128516 0.03168337 0.99695265 -1.59650786] [ 0. 0. 0. 1. ]] SLAMing on 20.526559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.71, Z:-1.59 [[ 9.92018448e-01 1.04241775e-01 7.09439960e-02 2.08774136e+01] [-1.03893301e-01 9.94551315e-01 -8.59442636e-03 -7.10636279e-01] [-7.14533428e-02 1.15522353e-03 9.97443274e-01 -1.58875110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.556559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.72, Z:-1.59 [[ 9.91878685e-01 1.05870376e-01 7.04850195e-02 2.09085278e+01] [-1.05528971e-01 9.94379382e-01 -8.56043043e-03 -7.15364068e-01] [-7.09951461e-02 1.05269692e-03 9.97476106e-01 -1.59151172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.72, Z:-1.59 [[ 9.91457087e-01 1.09457879e-01 7.09352981e-02 2.09405891e+01] [-1.09120490e-01 9.93991104e-01 -8.62580279e-03 -7.21269425e-01] [-7.14532173e-02 8.11618796e-04 9.97443622e-01 -1.59476594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.616559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.75, Z:-1.58 [[ 9.91196823e-01 1.13825499e-01 6.76211073e-02 2.09778012e+01] [-1.15206072e-01 9.93198396e-01 1.68673499e-02 -7.45969960e-01] [-6.52412408e-02 -2.45092258e-02 9.97568483e-01 -1.58078401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.72, Z:-1.61 [[ 0.99100468 0.11578841 0.06710269 21.00390869] [-0.11367103 0.99291682 -0.03457006 -0.72031486] [-0.0706302 0.02663146 0.997147 -1.6090771 ] [ 0. 0. 0. 1. ]] SLAMing on 20.676559994999998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.74, Z:-1.60 [[ 9.90976282e-01 1.14231804e-01 7.01220578e-02 2.10351675e+01] [-1.13910899e-01 9.93453994e-01 -8.57137717e-03 -7.40595115e-01] [-7.06421623e-02 5.06364798e-04 9.97501593e-01 -1.60330992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.74, Z:-1.61 [[ 9.90962063e-01 1.14356801e-01 7.01192727e-02 2.10682414e+01] [-1.14034601e-01 9.93439606e-01 -8.59409681e-03 -7.44722480e-01] [-7.06420561e-02 5.20400602e-04 9.97501594e-01 -1.60627895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.736559995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.75, Z:-1.61 [[ 9.90878034e-01 1.14890483e-01 7.04336423e-02 2.10992540e+01] [-1.14566267e-01 9.93378043e-01 -8.63912569e-03 -7.52691962e-01] [-7.09597870e-02 4.91000408e-04 9.97479056e-01 -1.60919440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.76, Z:-1.61 [[ 9.90801972e-01 1.15199188e-01 7.09971741e-02 2.11306580e+01] [-1.14869060e-01 9.93342289e-01 -8.72899813e-03 -7.59008266e-01] [-7.15300690e-02 4.93329918e-04 9.97438322e-01 -1.61183277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.796559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.77, Z:-1.61 [[ 9.90683447e-01 1.15820597e-01 7.16372607e-02 2.11625701e+01] [-1.15485307e-01 9.93270041e-01 -8.81869431e-03 -7.65388035e-01] [-7.21765313e-02 4.63483439e-04 9.97391765e-01 -1.61418836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.77, Z:-1.62 [[ 9.90599044e-01 1.16082212e-01 7.23771594e-02 2.11939695e+01] [-1.15738971e-01 9.93239496e-01 -8.93270521e-03 -7.71829285e-01] [-7.29247815e-02 4.71871276e-04 9.97337332e-01 -1.61673027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.856559994999998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.78, Z:-1.62 [[ 9.90178565e-01 1.19127282e-01 7.31785484e-02 2.12260207e+01] [-1.18783811e-01 9.92878956e-01 -9.04347064e-03 -7.78822273e-01] [-7.37347648e-02 2.62223918e-04 9.97277853e-01 -1.61852027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.78, Z:-1.62 [[ 9.89675906e-01 1.23399417e-01 7.28984631e-02 2.12588702e+01] [-1.23068641e-01 9.92357084e-01 -9.02922699e-03 -7.82411361e-01] [-7.34555077e-02 -3.55063797e-05 9.97298495e-01 -1.62204210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.916559995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.79, Z:-1.63 [[ 9.89230166e-01 1.27544009e-01 7.18067180e-02 2.12910434e+01] [-1.27232531e-01 9.91832861e-01 -8.91395228e-03 -7.86532153e-01] [-7.23571837e-02 -3.18199963e-04 9.97378733e-01 -1.62501669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.79, Z:-1.63 [[ 9.88361305e-01 1.34293879e-01 7.14638698e-02 2.13232338e+01] [-1.34001512e-01 9.90941236e-01 -8.89167158e-03 -7.90613467e-01] [-7.20105926e-02 -7.88082488e-04 9.97403556e-01 -1.62896287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.976559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.80, Z:-1.63 [[ 9.87859651e-01 1.37841870e-01 7.16444610e-02 2.13555604e+01] [-1.37555869e-01 9.90453714e-01 -8.93439176e-03 -7.95630270e-01] [-7.21920558e-02 -1.02919095e-03 9.97390218e-01 -1.63053428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.80, Z:-1.63 [[ 9.87447728e-01 1.40395097e-01 7.23615929e-02 2.13876581e+01] [-1.40108637e-01 9.90094823e-01 -9.04490227e-03 -8.00347767e-01] [-7.29146985e-02 -1.20711598e-03 9.97337450e-01 -1.63359301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.036559994999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.80, Z:-1.64 [[ 9.87001871e-01 1.43080227e-01 7.31802929e-02 2.14202932e+01] [-1.42793049e-01 9.89710103e-01 -9.16831912e-03 -8.01397154e-01] [-7.37390803e-02 -1.40048901e-03 9.97276585e-01 -1.63654434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.81, Z:-1.64 [[ 9.86758786e-01 1.45195750e-01 7.22861916e-02 2.14567386e+01] [-1.44777234e-01 9.89402862e-01 -1.10239884e-02 -8.07730491e-01] [-7.31208011e-02 4.12622545e-04 9.97323006e-01 -1.64040047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.096559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.81, Z:-1.64 [[ 9.87087499e-01 1.42616689e-01 7.29297515e-02 2.14835047e+01] [-1.42398855e-01 9.89775354e-01 -8.20452002e-03 -8.08053021e-01] [-7.33541721e-02 -2.28653396e-03 9.97303333e-01 -1.64229161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.81, Z:-1.65 [[ 9.87071635e-01 1.42777904e-01 7.28289647e-02 2.15159140e+01] [-1.42488824e-01 9.89753873e-01 -9.17639645e-03 -8.11227308e-01] [-7.33929365e-02 -1.31955286e-03 9.97302229e-01 -1.64545193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.156559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.82, Z:-1.65 [[ 9.86917135e-01 1.43553934e-01 7.33950754e-02 2.15475089e+01] [-1.43260865e-01 9.89641552e-01 -9.26949632e-03 -8.15357497e-01] [-7.39654890e-02 -1.36641723e-03 9.97259866e-01 -1.64746718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.82, Z:-1.65 [[ 9.86747732e-01 1.44393471e-01 7.40232333e-02 2.15798948e+01] [-1.44096223e-01 9.89519330e-01 -9.36880793e-03 -8.19436671e-01] [-7.46002149e-02 -1.42181832e-03 9.97212508e-01 -1.65000611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.216559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.82, Z:-1.65 [[ 9.86511435e-01 1.45932295e-01 7.41549255e-02 2.16127737e+01] [-1.45636748e-01 9.89293412e-01 -9.40654128e-03 -8.23179221e-01] [-7.47336974e-02 -1.52002163e-03 9.97202369e-01 -1.65225514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.82, Z:-1.66 [[ 9.86314138e-01 1.47014151e-01 7.46408815e-02 2.16451118e+01] [-1.46716177e-01 9.89133109e-01 -9.48977617e-03 -8.24050154e-01] [-7.52248986e-02 -1.59112436e-03 9.97165324e-01 -1.65692121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.276559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.83, Z:-1.66 [[ 9.86154844e-01 1.47420319e-01 7.59333425e-02 2.16763834e+01] [-1.47416696e-01 9.89058145e-01 -5.68363680e-03 -8.28612452e-01] [-7.59403744e-02 -5.58889652e-03 9.97096697e-01 -1.65826843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.83, Z:-1.66 [[ 9.86094647e-01 1.48651644e-01 7.42969390e-02 2.17096879e+01] [-1.48061312e-01 9.88887098e-01 -1.34221654e-02 -8.28296080e-01] [-7.54665114e-02 2.23502321e-03 9.97145832e-01 -1.66383975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.336559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.83, Z:-1.66 [[ 9.86016006e-01 1.48946487e-01 7.47487845e-02 2.17418936e+01] [-1.48649197e-01 9.88843816e-01 -9.55633936e-03 -8.34275787e-01] [-7.53382565e-02 -1.68864326e-03 9.97156605e-01 -1.66475709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.84, Z:-1.67 [[ 9.85812004e-01 1.50254361e-01 7.48219233e-02 2.17749936e+01] [-1.49958651e-01 9.88645789e-01 -9.58680249e-03 -8.38784267e-01] [-7.54128383e-02 -1.76940970e-03 9.97150828e-01 -1.66548695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.396559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.84, Z:-1.67 [[ 9.85521113e-01 1.51949572e-01 7.52294066e-02 2.18081430e+01] [-1.51653932e-01 9.88386444e-01 -9.66038467e-03 -8.40936892e-01] [-7.58236170e-02 -1.88832224e-03 9.97119458e-01 -1.66920445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.84, Z:-1.67 [[ 9.85316965e-01 1.53319940e-01 7.51230636e-02 2.18401139e+01] [-1.53027441e-01 9.88174640e-01 -9.66870957e-03 -8.43111430e-01] [-7.57171123e-02 -1.96914661e-03 9.97127395e-01 -1.67241426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.456559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.85, Z:-1.68 [[ 9.85022538e-01 1.55034740e-01 7.54640976e-02 2.18732118e+01] [-1.54743053e-01 9.87906807e-01 -9.73283429e-03 -8.45371415e-01] [-7.60604231e-02 -2.09048374e-03 9.97101019e-01 -1.67520389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.85, Z:-1.68 [[ 9.84845342e-01 1.56004931e-01 7.57767431e-02 2.19052942e+01] [-1.55886852e-01 9.87746391e-01 -7.50715743e-03 -8.48739256e-01] [-7.60193581e-02 -4.41920888e-03 9.97096549e-01 -1.67862328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.516559994999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.85, Z:-1.68 [[ 9.84712936e-01 1.57764335e-01 7.38298653e-02 2.19386781e+01] [-1.57321277e-01 9.87476792e-01 -1.18153130e-02 -8.48594728e-01] [-7.47693135e-02 1.96828814e-05 9.97200857e-01 -1.68400839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.85, Z:-1.69 [[ 9.84624002e-01 1.58278425e-01 7.39155932e-02 2.19707745e+01] [-1.58003857e-01 9.87391976e-01 -9.58466860e-03 -8.53748070e-01] [-7.45007099e-02 -2.24165410e-03 9.97218441e-01 -1.68519713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.576559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.86, Z:-1.69 [[ 9.84683599e-01 1.58062637e-01 7.35826861e-02 2.20037748e+01] [-1.57788378e-01 9.87426649e-01 -9.56246227e-03 -8.57682023e-01] [-7.41689731e-02 -2.19449294e-03 9.97243274e-01 -1.68876649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.86, Z:-1.69 [[ 9.84726889e-01 1.57719389e-01 7.37397359e-02 2.20357889e+01] [-1.57441387e-01 9.87481627e-01 -9.60447814e-03 -8.60709655e-01] [-7.43314468e-02 -2.15189844e-03 9.97231270e-01 -1.69076434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.636559995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.86, Z:-1.69 [[ 9.84689410e-01 1.57811301e-01 7.40429510e-02 2.20680317e+01] [-1.57529790e-01 9.87466950e-01 -9.66369626e-03 -8.63890948e-01] [-7.46400075e-02 -2.14823113e-03 9.97208230e-01 -1.69381945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.87, Z:-1.70 [[ 9.84440486e-01 1.58946859e-01 7.49187952e-02 2.21014647e+01] [-1.58660282e-01 9.87284600e-01 -9.79969697e-03 -8.65834951e-01] [-7.55238038e-02 -2.23941873e-03 9.97141484e-01 -1.69513950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.696559994999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.87, Z:-1.70 [[ 9.84369138e-01 1.59346115e-01 7.50081091e-02 2.21333575e+01] [-1.59058357e-01 9.87220212e-01 -9.83316448e-03 -8.68943396e-01] [-7.56163979e-02 -2.25120297e-03 9.97134441e-01 -1.69933974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.87, Z:-1.70 [[ 9.84184137e-01 1.60811356e-01 7.43053984e-02 2.21663242e+01] [-1.60531683e-01 9.86982429e-01 -9.76035153e-03 -8.72052680e-01] [-7.49076979e-02 -2.32238752e-03 9.97187767e-01 -1.70207324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.756559995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.87, Z:-1.71 [[ 9.83894038e-01 1.63248363e-01 7.28182206e-02 2.21989046e+01] [-1.62984915e-01 9.86581995e-01 -9.58563329e-03 -8.73191989e-01] [-7.34059843e-02 -2.43702407e-03 9.97299164e-01 -1.70548183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.87, Z:-1.71 [[ 9.83805640e-01 1.63984844e-01 7.23563014e-02 2.22306107e+01] [-1.63725183e-01 9.86459803e-01 -9.54578882e-03 -8.74649904e-01] [-7.29419474e-02 -2.45534781e-03 9.97333166e-01 -1.70938981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.816559995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.88, Z:-1.71 [[ 9.83668738e-01 1.64858569e-01 7.22320331e-02 2.22629959e+01] [-1.64600763e-01 9.86314056e-01 -9.54838633e-03 -8.78072088e-01] [-7.28176028e-02 -2.49699859e-03 9.97342149e-01 -1.71223535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.88, Z:-1.72 [[ 9.83648292e-01 1.64981840e-01 7.22290075e-02 2.22960300e+01] [-1.64722691e-01 9.86293479e-01 -9.57121562e-03 -8.82527782e-01] [-7.28180758e-02 -2.48304657e-03 9.97342149e-01 -1.71520523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.876559994999997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.89, Z:-1.72 [[ 9.83627902e-01 1.65103881e-01 7.22278219e-02 2.23290630e+01] [-1.64844405e-01 9.86273057e-01 -9.58015295e-03 -8.86994434e-01] [-7.28180752e-02 -2.48304655e-03 9.97342149e-01 -1.71817036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.89, Z:-1.72 [[ 9.83513686e-01 1.65726756e-01 7.23565570e-02 2.23608217e+01] [-1.65467525e-01 9.86168473e-01 -9.60419286e-03 -8.90331562e-01] [-7.29474271e-02 -2.52680532e-03 9.97332587e-01 -1.72115081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.936559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.89, Z:-1.72 [[ 9.83493501e-01 1.65847727e-01 7.23537439e-02 2.23938541e+01] [-1.65587269e-01 9.86148168e-01 -9.62533642e-03 -8.94807569e-01] [-7.29478521e-02 -2.51440306e-03 9.97332587e-01 -1.72412016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.90, Z:-1.73 [[ 9.83408968e-01 1.66406952e-01 7.22186124e-02 2.24264669e+01] [-1.66148504e-01 9.86053878e-01 -9.61375026e-03 -8.98609796e-01] [-7.28112377e-02 -2.54476617e-03 9.97342493e-01 -1.72672513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.996559995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.90, Z:-1.73 [[ 9.83313871e-01 1.66776826e-01 7.26589382e-02 2.24594911e+01] [-1.66514679e-01 9.85991329e-01 -9.69337256e-03 -9.02321420e-01] [-7.32577129e-02 -2.56715209e-03 9.97309740e-01 -1.72925191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.90, Z:-1.73 [[ 9.83308338e-01 1.66806299e-01 7.26661590e-02 2.24920151e+01] [-1.66542656e-01 9.85986390e-01 -9.71509034e-03 -9.04663417e-01] [-7.32683820e-02 -2.54908578e-03 9.97309002e-01 -1.73257164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.056559995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.91, Z:-1.73 [[ 9.83247309e-01 1.67153565e-01 7.26939775e-02 2.25244949e+01] [-1.66889158e-01 9.85927560e-01 -9.73933658e-03 -9.07773360e-01] [-7.32989607e-02 -2.55566023e-03 9.97306739e-01 -1.73472176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.91, Z:-1.74 [[ 9.83307755e-01 1.66726073e-01 7.28579096e-02 2.25561100e+01] [-1.66457632e-01 9.86000066e-01 -9.78396514e-03 -9.10389179e-01] [-7.34691458e-02 -2.50710628e-03 9.97294339e-01 -1.73858551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.116559995 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.91, Z:-1.74 [[ 9.83411108e-01 1.65713223e-01 7.37680122e-02 2.25884431e+01] [-1.65434304e-01 9.86170941e-01 -9.91802646e-03 -9.12157727e-01] [-7.43914181e-02 -2.45026233e-03 9.97226109e-01 -1.74234642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.92, Z:-1.75 [[ 9.83415908e-01 1.65658983e-01 7.38258317e-02 2.26206615e+01] [-1.65377870e-01 9.86180111e-01 -9.94727024e-03 -9.15493612e-01] [-7.44534216e-02 -2.42685503e-03 9.97221539e-01 -1.74556774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.176559994999998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.92, Z:-1.75 [[ 9.83499863e-01 1.65187903e-01 7.37629744e-02 2.26523526e+01] [-1.64904249e-01 9.86259274e-01 -9.96157511e-03 -9.18357604e-01] [-7.43949493e-02 -2.36662011e-03 9.97226048e-01 -1.74897892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.92, Z:-1.75 [[ 9.83512250e-01 1.64813965e-01 7.44312499e-02 2.26855377e+01] [-1.64523169e-01 9.86321877e-01 -1.00638785e-02 -9.20012512e-01] [-7.50718378e-02 -2.34771734e-03 9.97175364e-01 -1.75117170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.236559995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.92, Z:-1.75 [[ 9.83529110e-01 1.64431584e-01 7.50516082e-02 2.27168050e+01] [-1.64133138e-01 9.86385771e-01 -1.01697460e-02 -9.23006347e-01] [-7.57020659e-02 -2.31621469e-03 9.97127791e-01 -1.75489470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.93, Z:-1.76 [[ 9.83679564e-01 1.63326527e-01 7.54914582e-02 2.27498468e+01] [-1.63019790e-01 9.86569560e-01 -1.02494184e-02 -9.26047321e-01] [-7.61515766e-02 -2.22445823e-03 9.97093772e-01 -1.75849553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.296559995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.94, Z:-1.75 [[ 9.83885139e-01 1.62058594e-01 7.55449840e-02 2.27856292e+01] [-1.63297573e-01 9.86521182e-01 1.04814365e-02 -9.43566929e-01] [-7.28281201e-02 -2.26488422e-02 9.97087306e-01 -1.74812917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.92, Z:-1.77 [[ 9.84144759e-01 1.61225402e-01 7.39287759e-02 2.28145314e+01] [-1.59257403e-01 9.86724059e-01 -3.18231290e-02 -9.21759412e-01] [-7.80779986e-02 1.95448607e-02 9.96755649e-01 -1.76990960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.356559994999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.93, Z:-1.77 [[ 9.84498062e-01 1.57700419e-01 7.67733224e-02 2.28462070e+01] [-1.57362112e-01 9.87485417e-01 -1.04746044e-02 -9.34507897e-01] [-7.74643858e-02 -1.76898447e-03 9.96993550e-01 -1.76539586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.94, Z:-1.77 [[ 9.84525430e-01 1.57484556e-01 7.68654161e-02 2.28777081e+01] [-1.57143030e-01 9.87519932e-01 -1.05096573e-02 -9.36932354e-01] [-7.75612391e-02 -1.73183950e-03 9.96986086e-01 -1.76845472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.416559995 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.94, Z:-1.77 [[ 9.84507471e-01 1.57533344e-01 7.69953620e-02 2.29100297e+01] [-1.57189201e-01 9.87512174e-01 -1.05480678e-02 -9.39182127e-01] [-7.76955297e-02 -1.71818788e-03 9.96975653e-01 -1.77189904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.94, Z:-1.77 [[ 9.84451872e-01 1.57949001e-01 7.68545711e-02 2.29432738e+01] [-1.57605715e-01 9.87445762e-01 -1.05501933e-02 -9.41326182e-01] [-7.75561130e-02 -1.72656209e-03 9.96986494e-01 -1.77458431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.476559995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.94, Z:-1.78 [[ 9.84396101e-01 1.58122632e-01 7.72110731e-02 2.29759949e+01] [-1.57774938e-01 9.87417973e-01 -1.06214623e-02 -9.43450827e-01] [-7.79190948e-02 -1.72624625e-03 9.96958191e-01 -1.77822095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.94, Z:-1.78 [[ 9.84359465e-01 1.57945084e-01 7.80371386e-02 2.30093328e+01] [-1.57587567e-01 9.87446420e-01 -1.07576219e-02 -9.43732121e-01] [-7.87566066e-02 -1.70831591e-03 9.96892411e-01 -1.78094148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.536559994999998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.95, Z:-1.78 [[ 9.84251927e-01 1.58317037e-01 7.86375165e-02 2.30418869e+01] [-1.57953349e-01 9.87386817e-01 -1.08633541e-02 -9.46659644e-01] [-7.93655011e-02 -1.72878184e-03 9.96844084e-01 -1.78376494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.95, Z:-1.79 [[ 9.84212707e-01 1.58470019e-01 7.88200494e-02 2.30744987e+01] [-1.58103306e-01 9.87362287e-01 -1.09114135e-02 -9.49139201e-01] [-7.95530761e-02 -1.72255850e-03 9.96829143e-01 -1.78599498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.596559995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.95, Z:-1.79 [[ 9.84122685e-01 1.59102579e-01 7.86696228e-02 2.31068214e+01] [-1.58737460e-01 9.87260510e-01 -1.09134646e-02 -9.51618034e-01] [-7.94037723e-02 -1.74762799e-03 9.96841004e-01 -1.78770402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.95, Z:-1.79 [[ 9.84080964e-01 1.60060680e-01 7.72349366e-02 2.31389410e+01] [-1.59710119e-01 9.87105588e-01 -1.07348232e-02 -9.51025006e-01] [-7.79572605e-02 -1.77126576e-03 9.96955128e-01 -1.79220722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.656559995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.95, Z:-1.80 [[ 9.84019719e-01 1.60621078e-01 7.68509056e-02 2.31714191e+01] [-1.60274143e-01 9.87014527e-01 -1.07015053e-02 -9.53091538e-01] [-7.75718476e-02 -1.78672082e-03 9.96985163e-01 -1.79542017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.96, Z:-1.80 [[ 9.84031560e-01 1.60720949e-01 7.64896449e-02 2.32045304e+01] [-1.60375907e-01 9.86998309e-01 -1.06726980e-02 -9.55571236e-01] [-7.72104763e-02 -1.76482460e-03 9.97013254e-01 -1.79804832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.716559995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.96, Z:-1.80 [[ 9.84124503e-01 1.60229954e-01 7.63238117e-02 2.32372454e+01] [-1.59883253e-01 9.87078248e-01 -1.06713074e-02 -9.56516036e-01] [-7.70474375e-02 -1.70100420e-03 9.97025977e-01 -1.80109276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.96, Z:-1.80 [[ 9.84142743e-01 1.59992778e-01 7.65857236e-02 2.32697913e+01] [-1.59641243e-01 9.87116779e-01 -1.07302618e-02 -9.59766142e-01] [-7.73158172e-02 -1.66613084e-03 9.97005260e-01 -1.80437413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.776559995 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.96, Z:-1.81 [[ 9.84113328e-01 1.59977329e-01 7.69948818e-02 2.33028038e+01] [-1.59620229e-01 9.87119307e-01 -1.08100132e-02 -9.62959798e-01] [-7.77324914e-02 -1.65166258e-03 9.96972884e-01 -1.80706445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.96, Z:-1.81 [[ 9.84076394e-01 1.59962711e-01 7.74956907e-02 2.33363018e+01] [-1.59599120e-01 9.87121697e-01 -1.09030107e-02 -9.63954194e-01] [-7.82417529e-02 -1.63884861e-03 9.96933068e-01 -1.80996039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.836559995 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.97, Z:-1.81 [[ 9.84015329e-01 1.60061538e-01 7.80649424e-02 2.33689497e+01] [-1.59691086e-01 9.87105682e-01 -1.10059289e-02 -9.66383043e-01] [-7.88199741e-02 -1.63627266e-03 9.96887523e-01 -1.81305976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.97, Z:-1.82 [[ 9.83986255e-01 1.60202726e-01 7.81417770e-02 2.34021738e+01] [-1.59830185e-01 9.87082793e-01 -1.10395417e-02 -9.68839698e-01] [-7.89009682e-02 -1.62665738e-03 9.96881132e-01 -1.81635642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.896559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.97, Z:-1.82 [[ 9.83922305e-01 1.60533826e-01 7.82674204e-02 2.34352141e+01] [-1.60159325e-01 9.87028988e-01 -1.10800637e-02 -9.71669505e-01] [-7.90309378e-02 -1.63333537e-03 9.96870826e-01 -1.81969447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.97, Z:-1.82 [[ 9.83901747e-01 1.60838559e-01 7.78993642e-02 2.34672302e+01] [-1.60466736e-01 9.86979386e-01 -1.10506623e-02 -9.73675343e-01] [-7.86624393e-02 -1.62749078e-03 9.96899981e-01 -1.82282519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.956559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.98, Z:-1.83 [[ 9.83836757e-01 1.61267828e-01 7.78326652e-02 2.34996899e+01] [-1.60896338e-01 9.86909317e-01 -1.10620601e-02 -9.77012213e-01] [-7.85977368e-02 -1.63972952e-03 9.96905064e-01 -1.82600282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.98, Z:-1.83 [[ 9.83716761e-01 1.61967723e-01 7.78960312e-02 2.35321729e+01] [-1.61596069e-01 9.86794635e-01 -1.10932314e-02 -9.80284988e-01] [-7.86641311e-02 -1.67509476e-03 9.96899769e-01 -1.82891953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.016559994999998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.98, Z:-1.83 [[ 9.83657797e-01 1.62379277e-01 7.77837262e-02 2.35639983e+01] [-1.62008166e-01 9.86726983e-01 -1.11002444e-02 -9.81580219e-01] [-7.85537511e-02 -1.68275682e-03 9.96908459e-01 -1.83180438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.98, Z:-1.83 [[ 9.83647870e-01 1.62452136e-01 7.77571341e-02 2.35966719e+01] [-1.62079846e-01 9.86715017e-01 -1.11175178e-02 -9.84872027e-01] [-7.85301964e-02 -1.66714165e-03 9.96910341e-01 -1.83482001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.076559995 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.99, Z:-1.84 [[ 9.83655537e-01 1.62437380e-01 7.76909385e-02 2.36290476e+01] [-1.62063895e-01 9.86717488e-01 -1.11307137e-02 -9.88864560e-01] [-7.84670516e-02 -1.64210793e-03 9.96915355e-01 -1.83803937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.99, Z:-1.84 [[ 9.83699739e-01 1.62112224e-01 7.78103467e-02 2.36605368e+01] [-1.61734727e-01 9.86771038e-01 -1.11712408e-02 -9.92721414e-01] [-7.85919913e-02 -1.59548854e-03 9.96905589e-01 -1.84083115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.136559995 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.00, Z:-1.84 [[ 9.83977241e-01 1.60695632e-01 7.72379625e-02 2.36917159e+01] [-1.60317653e-01 9.87002943e-01 -1.11103407e-02 -9.96794293e-01] [-7.80194796e-02 -1.45028652e-03 9.96950780e-01 -1.84306978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.00, Z:-1.85 [[ 9.84009032e-01 1.60358058e-01 7.75339748e-02 2.37244988e+01] [-1.59974480e-01 9.87057906e-01 -1.11738869e-02 -1.00143981e+00] [-7.83223456e-02 -1.40825167e-03 9.96927092e-01 -1.84554612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.196559994999998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.01, Z:-1.85 [[ 9.84091306e-01 1.60050440e-01 7.71243088e-02 2.37569885e+01] [-1.59668254e-01 9.87107908e-01 -1.11367572e-02 -1.00582360e+00] [-7.79124580e-02 -1.35471782e-03 9.96959284e-01 -1.84883904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.01, Z:-1.85 [[ 9.84090432e-01 1.59822279e-01 7.76070972e-02 2.37891812e+01] [-1.59432836e-01 9.87144918e-01 -1.12286478e-02 -1.00943103e+00] [-7.84040397e-02 -1.32311471e-03 9.96920787e-01 -1.85176518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.256559995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.01, Z:-1.86 [[ 9.84029929e-01 1.59975457e-01 7.80573612e-02 2.38222947e+01] [-1.59580189e-01 9.87120108e-01 -1.13161434e-02 -1.01251152e+00] [-7.88622961e-02 -1.32098462e-03 9.96884644e-01 -1.85536959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.02, Z:-1.86 [[ 9.84006396e-01 1.60215717e-01 7.78610022e-02 2.38547267e+01] [-1.59821446e-01 9.87081149e-01 -1.13097645e-02 -1.01666890e+00] [-7.86671295e-02 -1.31497729e-03 9.96900072e-01 -1.85819345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.316559995 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.02, Z:-1.86 [[ 9.83978399e-01 1.60227662e-01 7.81895567e-02 2.38861615e+01] [-1.59828265e-01 9.87079232e-01 -1.13805175e-02 -1.02114693e+00] [-7.90027612e-02 -1.29871778e-03 9.96873551e-01 -1.86119994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.03, Z:-1.86 [[ 9.84048697e-01 1.59674293e-01 7.84364863e-02 2.39183283e+01] [-1.59268931e-01 9.87168977e-01 -1.14375940e-02 -1.02624638e+00] [-7.92563557e-02 -1.23734585e-03 9.96853499e-01 -1.86343244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.376559994999997 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.03, Z:-1.87 [[ 9.84082957e-01 1.59702194e-01 7.79483397e-02 2.39497236e+01] [-1.59300166e-01 9.87164498e-01 -1.13890545e-02 -1.03098802e+00] [-7.87666906e-02 -1.20940904e-03 9.96892344e-01 -1.86602161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.04, Z:-1.87 [[ 9.83987727e-01 1.60006947e-01 7.85234375e-02 2.39810568e+01] [-1.59598223e-01 9.87115132e-01 -1.14944821e-02 -1.03504978e+00] [-7.93508704e-02 -1.22177172e-03 9.96845999e-01 -1.86860876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.436559995 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.04, Z:-1.87 [[ 9.84008337e-01 1.59871676e-01 7.85406863e-02 2.40140825e+01] [-1.59460702e-01 9.87137087e-01 -1.15176069e-02 -1.03909374e+00] [-7.93717635e-02 -1.19073172e-03 9.96844374e-01 -1.87203511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.04, Z:-1.88 [[ 9.83979560e-01 1.60151960e-01 7.83299182e-02 2.40464809e+01] [-1.59742243e-01 9.87091658e-01 -1.15097949e-02 -1.04344723e+00] [-7.91621250e-02 -1.18719394e-03 9.96861048e-01 -1.87510120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.496559995 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.05, Z:-1.88 [[ 9.83937502e-01 1.60287641e-01 7.85803077e-02 2.40781705e+01] [-1.59873805e-01 9.87069645e-01 -1.15707417e-02 -1.04794072e+00] [-7.94188834e-02 -1.17804615e-03 9.96840636e-01 -1.87839362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.05, Z:-1.88 [[ 9.83859621e-01 1.60733629e-01 7.86444370e-02 2.41098208e+01] [-1.60319455e-01 9.86997090e-01 -1.15937827e-02 -1.05303965e+00] [-7.94853413e-02 -1.20157864e-03 9.96835311e-01 -1.88155993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.556559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.06, Z:-1.88 [[ 9.83868039e-01 1.61016287e-01 7.79579149e-02 2.41418394e+01] [-1.60608585e-01 9.86951028e-01 -1.15130918e-02 -1.05895797e+00] [-7.87944395e-02 -1.19334736e-03 9.96890171e-01 -1.88437026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.06, Z:-1.89 [[ 9.83911894e-01 1.60779355e-01 7.78934107e-02 2.41744707e+01] [-1.60369781e-01 9.86989703e-01 -1.15264328e-02 -1.06455424e+00] [-7.87332068e-02 -1.15075488e-03 9.96895059e-01 -1.88738525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.616559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.07, Z:-1.89 [[ 9.83987985e-01 1.60260751e-01 7.80008780e-02 2.42068818e+01] [-1.59846614e-01 9.87074114e-01 -1.15651510e-02 -1.07003809e+00] [-7.88460874e-02 -1.08820655e-03 9.96886207e-01 -1.89027211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.08, Z:-1.89 [[ 9.84205906e-01 1.58443405e-01 7.89583602e-02 2.42384738e+01] [-1.58011288e-01 9.87367622e-01 -1.17308042e-02 -1.07613747e+00] [-7.98195969e-02 -9.30785388e-04 9.96808891e-01 -1.89293831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.676559994999998 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.08, Z:-1.90 [[ 9.84290599e-01 1.57494494e-01 7.97966170e-02 2.42710763e+01] [-1.57048251e-01 9.87519507e-01 -1.18773029e-02 -1.08200508e+00] [-8.06713257e-02 -8.41201529e-04 9.96740402e-01 -1.89542272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.09, Z:-1.90 [[ 9.84469990e-01 1.56284547e-01 7.99623586e-02 2.43037296e+01] [-1.55830596e-01 9.87711811e-01 -1.19249600e-02 -1.08848474e+00] [-8.08434530e-02 -7.20816725e-04 9.96726551e-01 -1.89854993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.736559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.10, Z:-1.90 [[ 9.85020428e-01 1.53060538e-01 7.94180635e-02 2.43356529e+01] [-1.52600465e-01 9.88216720e-01 -1.18664182e-02 -1.09679012e+00] [-8.02985386e-02 -4.30569057e-04 9.96770766e-01 -1.90100708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.10, Z:-1.90 [[ 9.85254510e-01 1.51483147e-01 7.95387081e-02 2.43670727e+01] [-1.51014680e-01 9.88459801e-01 -1.19074934e-02 -1.10309430e+00] [-8.04246001e-02 -2.79600991e-04 9.96760656e-01 -1.90367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.796559995 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.11, Z:-1.91 [[ 9.85472900e-01 1.49960319e-01 7.97186735e-02 2.43992124e+01] [-1.49483039e-01 9.88692007e-01 -1.19556002e-02 -1.10928473e+00] [-8.06100809e-02 -1.34669638e-04 9.96745703e-01 -1.90718028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.12, Z:-1.91 [[ 9.85645147e-01 1.48667611e-01 8.00099061e-02 2.44301174e+01] [-1.48180617e-01 9.88887224e-01 -1.20234462e-02 -1.11512271e+00] [-8.09082710e-02 -5.06585379e-06 9.96721552e-01 -1.91058887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.856559994999998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.12, Z:-1.91 [[ 9.85616685e-01 1.48857321e-01 8.00077994e-02 2.44630637e+01] [-1.48369814e-01 9.88858685e-01 -1.20374478e-02 -1.12015502e+00] [-8.09082695e-02 -6.43296340e-06 9.96721552e-01 -1.91355358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.13, Z:-1.92 [[ 9.85892400e-01 1.46727073e-01 8.05440367e-02 2.44951845e+01] [-1.46224648e-01 9.89176997e-01 -1.21334444e-02 -1.12737936e+00] [-8.14526132e-02 1.84747221e-04 9.96677198e-01 -1.91672407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.916559995 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.13, Z:-1.92 [[ 9.85959566e-01 1.46192623e-01 8.06935656e-02 2.45277708e+01] [-1.45684661e-01 9.89256111e-01 -1.21789292e-02 -1.13394352e+00] [-8.16070725e-02 2.52116990e-04 9.96664548e-01 -1.91956628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.14, Z:-1.92 [[ 9.86008198e-01 1.45814994e-01 8.07825484e-02 2.45593976e+01] [-1.45302685e-01 9.89311828e-01 -1.22162469e-02 -1.14072690e+00] [-8.17004426e-02 3.07398393e-04 9.96656883e-01 -1.92231361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.976559995 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.15, Z:-1.92 [[ 9.86025399e-01 1.45854885e-01 8.05000990e-02 2.45917907e+01] [-1.45345190e-01 9.89305945e-01 -1.21870164e-02 -1.14788165e+00] [-8.14167624e-02 3.16405593e-04 9.96680094e-01 -1.92478431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.16, Z:-1.93 [[ 9.86036991e-01 1.46224158e-01 7.96840564e-02 2.46236868e+01] [-1.45724122e-01 9.89251435e-01 -1.20862774e-02 -1.15633215e+00] [-8.05948729e-02 3.05627394e-04 9.96746895e-01 -1.92761152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.036559994999998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.16, Z:-1.93 [[ 9.86067776e-01 1.46597113e-01 7.86106031e-02 2.46557706e+01] [-1.46109845e-01 9.89196239e-01 -1.19462631e-02 -1.16256534e+00] [-7.95126006e-02 2.94042040e-04 9.96833818e-01 -1.93036583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.17, Z:-1.93 [[ 9.86014125e-01 1.47130394e-01 7.82866049e-02 2.46872724e+01] [-1.46646958e-01 9.89117067e-01 -1.19204578e-02 -1.16884658e+00] [-7.91884786e-02 2.73247379e-04 9.96859624e-01 -1.93330507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.096559995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.18, Z:-1.94 [[ 9.86023560e-01 1.47442397e-01 7.75775647e-02 2.47196206e+01] [-1.46966991e-01 9.89070608e-01 -1.18336484e-02 -1.17506809e+00] [-7.84744706e-02 2.66914814e-04 9.96916088e-01 -1.93658336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.18, Z:-1.94 [[ 9.85965089e-01 1.48079569e-01 7.71056714e-02 2.47514036e+01] [-1.47610120e-01 9.88975422e-01 -1.17842089e-02 -1.18312273e+00] [-7.80006145e-02 2.37241205e-04 9.96953283e-01 -1.93936916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.156559995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.19, Z:-1.94 [[ 9.85901011e-01 1.48565544e-01 7.69901045e-02 2.47830818e+01] [-1.48097223e-01 9.88902538e-01 -1.17890736e-02 -1.19021243e+00] [-7.78871599e-02 2.20838905e-04 9.96962157e-01 -1.94216955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.20, Z:-1.94 [[ 9.85751968e-01 1.49273044e-01 7.75281610e-02 2.48144120e+01] [-1.48798512e-01 9.88795996e-01 -1.18945456e-02 -1.19717511e+00] [-7.84350702e-02 1.88996739e-04 9.96919206e-01 -1.94459878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.216559995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.23, Z:-1.92 [[ 0.98578356 0.15098637 0.07371488 24.84925058] [-0.15349953 0.98770298 0.02967697 -1.23150544] [-0.06832759 -0.04057027 0.9968377 -1.91957393] [ 0. 0. 0. 1. ]] SLAMing on 24.246559995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.19, Z:-1.96 [[ 0.98548724 0.15371343 0.07202141 24.8779865 ] [-0.15009254 0.98723544 -0.05327669 -1.19101307] [-0.07929143 0.04169362 0.99597917 -1.96164143] [ 0. 0. 0. 1. ]] SLAMing on 24.276559995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.22, Z:-1.95 [[ 9.85465926e-01 1.50772371e-01 7.82598235e-02 2.49077570e+01] [-1.50290585e-01 9.88568501e-01 -1.20440648e-02 -1.21855084e+00] [-7.91811086e-02 1.07300830e-04 9.96860241e-01 -1.95224865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.23, Z:-1.96 [[ 9.85436880e-01 1.51028832e-01 7.81309579e-02 2.49399438e+01] [-1.50547672e-01 9.88529352e-01 -1.20465097e-02 -1.22567485e+00] [-7.90541155e-02 1.08641111e-04 9.96870320e-01 -1.95547611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.336559995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.24, Z:-1.96 [[ 9.85469807e-01 1.51337299e-01 7.71121362e-02 2.49716416e+01] [-1.50867855e-01 9.88482175e-01 -1.19113112e-02 -1.23544869e+00] [-7.80265978e-02 1.04494943e-04 9.96951272e-01 -1.95793759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.27, Z:-1.94 [[ 9.85539086e-01 1.52958730e-01 7.29132113e-02 2.50066022e+01] [-1.55005852e-01 9.87639605e-01 2.32636304e-02 -1.26569285e+00] [-6.84535998e-02 -3.42291915e-02 9.97066932e-01 -1.93728269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.396559995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.26, Z:-1.95 [[ 9.85420543e-01 1.56495026e-01 6.67507286e-02 2.50396566e+01] [-1.55989702e-01 9.87676406e-01 -1.27487367e-02 -1.25566176e+00] [-6.79232336e-02 2.15044071e-03 9.97688233e-01 -1.95222056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.24, Z:-1.98 [[ 0.98543004 0.15513744 0.06971384 25.0647138 ] [-0.15212445 0.98725931 -0.04666051 -1.24051069] [-0.07606443 0.03537549 0.99647518 -1.97884559] [ 0. 0. 0. 1. ]] SLAMing on 24.456559995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.27, Z:-1.97 [[ 9.85427494e-01 1.52504029e-01 7.53337562e-02 2.50952318e+01] [-1.52053913e-01 9.88302845e-01 -1.17086859e-02 -1.26531255e+00] [-7.62381874e-02 8.32686153e-05 9.97089631e-01 -1.97154645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.30, Z:-1.95 [[ 9.85379292e-01 1.54605400e-01 7.15878627e-02 2.51310572e+01] [-1.56489121e-01 9.87446421e-01 2.14643961e-02 -1.29560850e+00] [-6.73706673e-02 -3.23532931e-02 9.97203318e-01 -1.95242338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.516559994999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.26, Z:-1.99 [[ 0.98520535 0.15591755 0.07113461 25.15816939] [-0.15296693 0.98719578 -0.04522852 -1.26323809] [-0.07727571 0.03367814 0.99644079 -1.98808685] [ 0. 0. 0. 1. ]] SLAMing on 24.546559995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.29, Z:-1.98 [[ 9.85201958e-01 1.53611820e-01 7.60296732e-02 2.51886865e+01] [-1.53153580e-01 9.88131270e-01 -1.18563660e-02 -1.28813843e+00] [-7.69485755e-02 3.66983477e-05 9.97035062e-01 -1.98079812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.576559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.32, Z:-1.97 [[ 9.84941228e-01 1.56229914e-01 7.40472254e-02 2.52233966e+01] [-1.57561327e-01 9.87430625e-01 1.24575218e-02 -1.31626761e+00] [-7.11702605e-02 -2.39369059e-02 9.97176924e-01 -1.96755915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.29, Z:-2.00 [[ 9.84833884e-01 1.57382161e-01 7.30279111e-02 2.52510594e+01] [-1.55037390e-01 9.87224005e-01 -3.67718753e-02 -1.29373463e+00] [-7.78821441e-02 2.48921321e-02 9.96651771e-01 -1.99583461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.636559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.31, Z:-1.99 [[ 9.84783107e-01 1.55903629e-01 7.67873023e-02 2.52818608e+01] [-1.55439482e-01 9.87772266e-01 -1.20215804e-02 -1.31422780e+00] [-7.77225756e-02 -9.71292313e-05 9.96975021e-01 -1.99116803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.34, Z:-1.97 [[ 9.84692290e-01 1.57804171e-01 7.40198445e-02 2.53177641e+01] [-1.59583438e-01 9.87006635e-01 1.87357497e-02 -1.34345907e+00] [-7.01014982e-02 -3.02612896e-02 9.97080756e-01 -1.97241508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.696559994999998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.34, Z:-1.99 [[ 9.84294509e-01 1.61655320e-01 7.09357294e-02 2.53504638e+01] [-1.61147719e-01 9.86846520e-01 -1.28591767e-02 -1.33915902e+00] [-7.20814320e-02 1.22608604e-03 9.97397997e-01 -1.98762085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.33, Z:-2.01 [[ 0.98410918 0.16081361 0.07528677 25.37588418] [-0.15798797 0.98654181 -0.04213139 -1.32583103] [-0.08104885 0.02956749 0.99627147 -2.01045229] [ 0. 0. 0. 1. ]] SLAMing on 24.756559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.38, Z:-1.98 [[ 0.98405856 0.16122201 0.07507475 25.41137675] [-0.16362519 0.98615296 0.02700239 -1.37618348] [-0.06968181 -0.03885606 0.99681225 -1.97588642] [ 0. 0. 0. 1. ]] SLAMing on 24.786559994999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.36, Z:-2.00 [[ 9.83739911e-01 1.65467204e-01 6.98311708e-02 2.54429681e+01] [-1.64651592e-01 9.86199738e-01 -1.73184984e-02 -1.36145694e+00] [-7.17331258e-02 5.53908466e-03 9.97408481e-01 -1.99630650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.816559995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.38, Z:-2.00 [[ 9.83389986e-01 1.67781457e-01 6.92352369e-02 2.54739269e+01] [-1.67374801e-01 9.85824209e-01 -1.16749562e-02 -1.37581651e+00] [-7.02126138e-02 -1.07198975e-04 9.97532043e-01 -1.99883702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.38, Z:-2.01 [[ 9.83113679e-01 1.69087813e-01 6.99771858e-02 2.55040777e+01] [-1.68180769e-01 9.85578791e-01 -1.86996250e-02 -1.37904008e+00] [-7.21299088e-02 6.61504017e-03 9.97373309e-01 -2.00648499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.876559994999997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.39, Z:-2.01 [[ 9.82903157e-01 1.70127316e-01 7.04136394e-02 2.55355277e+01] [-1.69905361e-01 9.85417684e-01 -9.17365187e-03 -1.39221943e+00] [-7.09475342e-02 -2.94684343e-03 9.97475696e-01 -2.00531599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.40, Z:-2.01 [[ 9.82530447e-01 1.71977374e-01 7.11175399e-02 2.55664806e+01] [-1.71343786e-01 9.85097690e-01 -1.49615245e-02 -1.39635106e+00] [-7.26307679e-02 2.51460480e-03 9.97355728e-01 -2.01182212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.936559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.41, Z:-2.02 [[ 9.81684525e-01 1.76431279e-01 7.18853003e-02 2.55971538e+01] [-1.75830660e-01 9.84311420e-01 -1.46495110e-02 -1.40617783e+00] [-7.33421540e-02 1.74155842e-03 9.97305317e-01 -2.01505668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.41, Z:-2.02 [[ 9.81314926e-01 1.77836384e-01 7.34522732e-02 2.56282266e+01] [-1.76979080e-01 9.84048678e-01 -1.80722287e-02 -1.40683460e+00] [-7.54945121e-02 4.73503205e-03 9.97134975e-01 -2.02135328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.996559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.41, Z:-2.02 [[ 9.80995997e-01 1.78407925e-01 7.62723227e-02 2.56594198e+01] [-1.77948594e-01 9.83956118e-01 -1.28317908e-02 -1.41133545e+00] [-7.73379117e-02 -9.84617188e-04 9.97004452e-01 -2.02415484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.42, Z:-2.03 [[ 9.80968036e-01 1.78093887e-01 7.73581300e-02 2.56922173e+01] [-1.77774326e-01 9.84009200e-01 -1.10536798e-02 -1.41684897e+00] [-7.80897044e-02 -2.90898280e-03 9.96942093e-01 -2.02621762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.056559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.42, Z:-2.03 [[ 9.80675273e-01 1.78441001e-01 8.02173145e-02 2.57250918e+01] [-1.77978643e-01 9.83949326e-01 -1.29354587e-02 -1.42074813e+00] [-8.12379887e-02 -1.59148433e-03 9.96693462e-01 -2.02895447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.43, Z:-2.03 [[ 9.80737008e-01 1.78437491e-01 7.94668719e-02 2.57561127e+01] [-1.78089959e-01 9.83947044e-01 -1.14969656e-02 -1.42696563e+00] [-8.02426835e-02 -2.87675233e-03 9.96771205e-01 -2.03055804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.116559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.41, Z:-2.05 [[ 0.98111605 0.17463021 0.08315999 25.78183587] [-0.171552 0.98424146 -0.04287962 -1.40989749] [-0.08933759 0.02780362 0.99561326 -2.05468501] [ 0. 0. 0. 1. ]] SLAMing on 25.146559995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.43, Z:-2.05 [[ 9.81140407e-01 1.72159612e-01 8.78895342e-02 2.58131325e+01] [-1.71630520e-01 9.85067527e-01 -1.35989401e-02 -1.43025556e+00] [-8.89183144e-02 -1.74205684e-03 9.96037398e-01 -2.04745650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.176559994999998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.43, Z:-2.05 [[ 9.81066534e-01 1.72851694e-01 8.73541530e-02 2.58450533e+01] [-1.72329499e-01 9.84946275e-01 -1.35417497e-02 -1.43447394e+00] [-8.83798620e-02 -1.76834001e-03 9.96085274e-01 -2.05115663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.46, Z:-2.03 [[ 9.80838302e-01 1.76004913e-01 8.35373986e-02 2.58830237e+01] [-1.78120406e-01 9.83834281e-01 1.85264291e-02 -1.46132586e+00] [-7.89262139e-02 -3.30511466e-02 9.96332412e-01 -2.03210178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.44, Z:-2.06 [[ 9.80144792e-01 1.81294538e-01 8.03024127e-02 2.59154355e+01] [-1.79848108e-01 9.83377837e-01 -2.49537235e-02 -1.44083196e+00] [-8.34915866e-02 1.00160251e-02 9.96458145e-01 -2.05521070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.43, Z:-2.07 [[ 9.80425458e-01 1.78715145e-01 8.26245596e-02 2.59405922e+01] [-1.76329960e-01 9.83695249e-01 -3.53751631e-02 -1.43347902e+00] [-8.75994641e-02 2.01135252e-02 9.95952700e-01 -2.07091735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.296559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.47, Z:-2.05 [[ 9.80385784e-01 1.77866056e-01 8.48962889e-02 2.59757524e+01] [-1.79219939e-01 9.83771964e-01 8.54032417e-03 -1.46540912e+00] [-8.19995550e-02 -2.35879201e-02 9.96353192e-01 -2.05139871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.44, Z:-2.08 [[ 9.80356888e-01 1.77926339e-01 8.51034115e-02 2.60033832e+01] [-1.75387893e-01 9.83822991e-01 -3.64884811e-02 -1.44148894e+00] [-9.02189547e-02 2.08456257e-02 9.95703771e-01 -2.07636120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.356559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.47, Z:-2.05 [[ 9.80303520e-01 1.76851621e-01 8.79119650e-02 2.60384319e+01] [-1.78137836e-01 9.83981039e-01 6.94451078e-03 -1.47414904e+00] [-8.52755587e-02 -2.24681756e-02 9.96104041e-01 -2.05489994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.47, Z:-2.06 [[ 9.80223387e-01 1.78875358e-01 8.46505639e-02 2.60716182e+01] [-1.78959532e-01 9.83833929e-01 -6.65475020e-03 -1.47378563e+00] [-8.44724677e-02 -8.62588349e-03 9.96388477e-01 -2.06016164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.416559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.47, Z:-2.07 [[ 9.80264623e-01 1.79134917e-01 8.36178827e-02 2.61037580e+01] [-1.78207038e-01 9.83819227e-01 -1.84927042e-02 -1.47234628e+00] [-8.55775697e-02 3.22644852e-03 9.96326287e-01 -2.06984265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.46, Z:-2.09 [[ 9.80070973e-01 1.77923607e-01 8.83406903e-02 2.61297599e+01] [-1.75032171e-01 9.83768985e-01 -3.95262398e-02 -1.45932076e+00] [-9.39394824e-02 2.32760574e-02 9.95305782e-01 -2.08875241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.48, Z:-2.08 [[ 9.79937520e-01 1.76089187e-01 9.33544643e-02 2.61600029e+01] [-1.75500741e-01 9.84371903e-01 -1.45412093e-02 -1.47564606e+00] [-9.44560614e-02 -2.13430112e-03 9.95526744e-01 -2.08275901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.48, Z:-2.09 [[ 9.79970288e-01 1.77201684e-01 9.08724265e-02 2.61935818e+01] [-1.76873163e-01 9.84163868e-01 -1.17202783e-02 -1.48371591e+00] [-9.15102119e-02 -4.58736897e-03 9.95793572e-01 -2.08512104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.536559994999998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.48, Z:-2.09 [[ 9.80148086e-01 1.76859218e-01 8.96133203e-02 2.62222410e+01] [-1.76040123e-01 9.84235736e-01 -1.70261779e-02 -1.48252646e+00] [-9.12118688e-02 9.12635749e-04 9.95831091e-01 -2.09217095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.49, Z:-2.09 [[ 9.80050666e-01 1.77181396e-01 9.00413517e-02 2.62551009e+01] [-1.76634812e-01 9.84175933e-01 -1.40668728e-02 -1.48694334e+00] [-9.11089195e-02 -2.11818922e-03 9.95838681e-01 -2.09427821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.596559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.49, Z:-2.10 [[ 9.80219090e-01 1.76959342e-01 8.86336707e-02 2.62866904e+01] [-1.76426539e-01 9.84216050e-01 -1.38724174e-02 -1.49217488e+00] [-8.96895351e-02 -2.03932337e-03 9.95967684e-01 -2.09837272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.49, Z:-2.11 [[ 9.79918315e-01 1.77330950e-01 9.11802111e-02 2.63189231e+01] [-1.75804407e-01 9.84118346e-01 -2.45742258e-02 -1.49135626e+00] [-9.40898893e-02 8.05085100e-03 9.95531153e-01 -2.10606271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.656559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.51, Z:-2.10 [[ 9.80013860e-01 1.77071483e-01 9.06560763e-02 2.63491959e+01] [-1.77471249e-01 9.84119042e-01 -3.69676153e-03 -1.50722967e+00] [-8.98709620e-02 -1.24659696e-02 9.95875399e-01 -2.09942786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.51, Z:-2.11 [[ 9.79702681e-01 1.79508010e-01 8.92162014e-02 2.63813625e+01] [-1.78973548e-01 9.83753981e-01 -1.40204930e-02 -1.50636348e+00] [-9.02835841e-02 -2.23142545e-03 9.95913598e-01 -2.10588046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.716559994999997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.51, Z:-2.11 [[ 9.79434788e-01 1.80835105e-01 8.94771571e-02 2.64124494e+01] [-1.80301614e-01 9.83510632e-01 -1.40770640e-02 -1.51066806e+00] [-9.05473627e-02 -2.34530962e-03 9.95889389e-01 -2.10921162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.52, Z:-2.11 [[ 9.79412945e-01 1.80955233e-01 8.94733853e-02 2.64453381e+01] [-1.80420057e-01 9.83488569e-01 -1.41009955e-02 -1.51593252e+00] [-9.05477006e-02 -2.33209579e-03 9.95889389e-01 -2.11245249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.776559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.52, Z:-2.12 [[ 9.79218038e-01 1.81371035e-01 9.07556158e-02 2.64780685e+01] [-1.80657354e-01 9.83414528e-01 -1.60868466e-02 -1.51903332e+00] [-9.21680791e-02 -6.43139007e-04 9.95743256e-01 -2.11833110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.52, Z:-2.12 [[ 9.79115490e-01 1.81432213e-01 9.17344521e-02 2.65098176e+01] [-1.80848111e-01 9.83401022e-01 -1.47102513e-02 -1.52391320e+00] [-9.28806673e-02 -2.18696742e-03 9.95674846e-01 -2.12058579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.836559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.53, Z:-2.12 [[ 9.79049502e-01 1.81813625e-01 9.16835773e-02 2.65422793e+01] [-1.81360159e-01 9.83326481e-01 -1.33238537e-02 -1.52984497e+00] [-9.25773475e-02 -3.58303588e-03 9.95699049e-01 -2.12343196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.53, Z:-2.13 [[ 9.79102132e-01 1.81935415e-01 9.08764000e-02 2.65729327e+01] [-1.81444627e-01 9.83305683e-01 -1.37032914e-02 -1.53315323e+00] [-9.18523946e-02 -3.07211267e-03 9.95767895e-01 -2.12651223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.896559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.54, Z:-2.13 [[ 9.79074759e-01 1.82217240e-01 9.06062602e-02 2.66053504e+01] [-1.81666653e-01 9.83255359e-01 -1.43570919e-02 -1.53691358e+00] [-9.17052006e-02 -2.40346974e-03 9.95783299e-01 -2.12968627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.54, Z:-2.13 [[ 9.79157284e-01 1.81859225e-01 9.04335922e-02 2.66380194e+01] [-1.81306896e-01 9.83321791e-01 -1.43549635e-02 -1.54186085e+00] [-9.15359043e-02 -2.34046682e-03 9.95799026e-01 -2.13320661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.956559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.55, Z:-2.14 [[ 9.79256684e-01 1.81494296e-01 9.00897797e-02 2.66699661e+01] [-1.80942312e-01 9.83389372e-01 -1.43256286e-02 -1.54697031e+00] [-9.11933517e-02 -2.27258554e-03 9.95830612e-01 -2.13701329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.55, Z:-2.14 [[ 9.79303018e-01 1.81405018e-01 8.97653562e-02 2.67027454e+01] [-1.80854270e-01 9.83405941e-01 -1.42999495e-02 -1.55227832e+00] [-9.08698671e-02 -2.23046424e-03 9.95860277e-01 -2.13962564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.016559994999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.57, Z:-2.13 [[ 9.79403618e-01 1.81423838e-01 8.86224792e-02 2.67373008e+01] [-1.82541929e-01 9.83187258e-01 4.61079690e-03 -1.57063285e+00] [-8.62959839e-02 -2.06931495e-02 9.96054615e-01 -2.13009961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.57, Z:-2.14 [[ 9.79479204e-01 1.82622533e-01 8.52613546e-02 2.67701625e+01] [-1.81985747e-01 9.83182930e-01 -1.52484373e-02 -1.56543400e+00] [-8.66122166e-02 -5.80824027e-04 9.96241932e-01 -2.14077287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.076559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.57, Z:-2.15 [[ 9.79480014e-01 1.81774996e-01 8.70445497e-02 2.68014034e+01] [-1.80805745e-01 9.83336072e-01 -1.89592225e-02 -1.56745487e+00] [-8.90403582e-02 2.83202480e-03 9.96023993e-01 -2.14588296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.58, Z:-2.15 [[ 9.79784947e-01 1.79508654e-01 8.83068598e-02 2.68337635e+01] [-1.79008810e-01 9.83753293e-01 -1.36126650e-02 -1.57522701e+00] [-8.93157552e-02 -2.47022169e-03 9.96000298e-01 -2.14739688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.57, Z:-2.16 [[ 9.80133490e-01 1.77051171e-01 8.93936452e-02 2.68646886e+01] [-1.75773764e-01 9.84184097e-01 -2.20283407e-02 -1.57444467e+00] [-9.18799475e-02 5.87765695e-03 9.95752745e-01 -2.15622670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.58, Z:-2.16 [[ 9.80930833e-01 1.71231968e-01 9.19473443e-02 2.68954033e+01] [-1.69803124e-01 9.85204815e-01 -2.32028413e-02 -1.57765053e+00] [-9.45600345e-02 7.14743615e-03 9.95493503e-01 -2.16385223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.196559994999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.59, Z:-2.16 [[ 9.81344152e-01 1.68826407e-01 9.19853228e-02 2.69274162e+01] [-1.69093185e-01 9.85587677e-01 -4.94229375e-03 -1.59394365e+00] [-9.14939902e-02 -1.07040001e-02 9.95748098e-01 -2.15800588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.59, Z:-2.17 [[ 9.81689614e-01 1.66891675e-01 9.18295689e-02 2.69586628e+01] [-1.65252674e-01 9.85928613e-01 -2.52254601e-02 -1.58716971e+00] [-9.47473188e-02 9.58849032e-03 9.95455176e-01 -2.17174835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.256559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.60, Z:-2.17 [[ 9.82546954e-01 1.61418463e-01 9.24422191e-02 2.69890960e+01] [-1.60727238e-01 9.86886033e-01 -1.49235687e-02 -1.59763257e+00] [-9.36388744e-02 -1.94875653e-04 9.95606209e-01 -2.17189693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.02, Y:-1.60, Z:-2.17 [[ 9.82968206e-01 1.59065315e-01 9.20420054e-02 2.70208813e+01] [-1.58510623e-01 9.87266976e-01 -1.33529181e-02 -1.60405081e+00] [-9.29940184e-02 -1.46414161e-03 9.95665591e-01 -2.17437051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.316559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.62, Z:-2.17 [[ 9.83426018e-01 1.57440003e-01 8.99217061e-02 2.70535794e+01] [-1.58045278e-01 9.87431787e-01 -3.93961048e-04 -1.61734157e+00] [-8.88535762e-02 -1.38242695e-02 9.95948760e-01 -2.16868906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.62, Z:-2.17 [[ 9.83703290e-01 1.57268465e-01 8.71462353e-02 2.70866074e+01] [-1.57426865e-01 9.87517504e-01 -5.09531188e-03 -1.62133211e+00] [-8.68597646e-02 -8.70688355e-03 9.96182499e-01 -2.17045331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.376559994999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.62, Z:-2.18 [[ 9.84307125e-01 1.54000170e-01 8.61593360e-02 2.71184143e+01] [-1.53056520e-01 9.88062598e-01 -1.74930013e-02 -1.61875899e+00] [-8.78247425e-02 4.03123773e-03 9.96127785e-01 -2.17928594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.62, Z:-2.18 [[ 9.84583791e-01 1.51807423e-01 8.68865118e-02 2.71496213e+01] [-1.50983360e-01 9.88406533e-01 -1.60172059e-02 -1.62422036e+00] [-8.83107266e-02 2.65186378e-03 9.96089445e-01 -2.18315548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.63, Z:-2.19 [[ 9.85063499e-01 1.48209785e-01 8.76570778e-02 2.71826660e+01] [-1.46994902e-01 9.88931134e-01 -2.01918446e-02 -1.62712571e+00] [-8.96794423e-02 7.00510548e-03 9.95946046e-01 -2.18981214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.63, Z:-2.19 [[ 9.85404300e-01 1.44918513e-01 8.93139931e-02 2.72132033e+01] [-1.44278780e-01 9.89443453e-01 -1.36120084e-02 -1.63450421e+00] [-9.03437778e-02 5.27217599e-04 9.95910500e-01 -2.19089368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.496559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.63, Z:-2.21 [[ 9.85657408e-01 1.43165294e-01 8.93485998e-02 2.72427859e+01] [-1.40856357e-01 9.89523498e-01 -3.16659763e-02 -1.62821669e+00] [-9.29460078e-02 1.86264858e-02 9.95496908e-01 -2.20804173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.64, Z:-2.20 [[ 9.85710262e-01 1.40094333e-01 9.35353303e-02 2.72740865e+01] [-1.39285275e-01 9.90136317e-01 -1.51553661e-02 -1.64238605e+00] [-9.47359084e-02 1.91070562e-03 9.95500606e-01 -2.20380303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.556559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.31, Y:-1.67, Z:-2.19 [[ 9.86359762e-01 1.36169591e-01 9.24784431e-02 2.73070753e+01] [-1.37850551e-01 9.90380236e-01 1.20089025e-02 -1.66552653e+00] [-8.99535750e-02 -2.45933025e-02 9.95642267e-01 -2.18988958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.34, Y:-1.64, Z:-2.22 [[ 0.98650938 0.13677273 0.08995814 27.33769677] [-0.13340733 0.99015199 -0.04244424 -1.63962484] [-0.09487744 0.02987056 0.99504071 -2.21975169] [ 0. 0. 0. 1. ]] SLAMing on 26.616559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.66, Z:-2.22 [[ 9.86629804e-01 1.33516880e-01 9.34605435e-02 2.73689453e+01] [-1.32673999e-01 9.91043129e-01 -1.52028267e-02 -1.65914875e+00] [-9.46532635e-02 2.59977788e-03 9.95506906e-01 -2.21536145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.70, Z:-2.18 [[ 0.98704057 0.13239251 0.09068151 27.40357188] [-0.13654304 0.98977782 0.04118097 -1.69584863] [-0.08430249 -0.05302922 0.99502814 -2.18278335] [ 0. 0. 0. 1. ]] SLAMing on 26.676559994999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.64, Z:-2.24 [[ 0.98667334 0.13959021 0.08360797 27.4337015 ] [-0.13384047 0.9884671 -0.07084864 -1.63691823] [-0.0925335 0.05871434 0.99397695 -2.24273176] [ 0. 0. 0. 1. ]] SLAMing on 26.706559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.67, Z:-2.23 [[ 9.86562837e-01 1.34430207e-01 9.28562808e-02 2.74636259e+01] [-1.33598017e-01 9.90919808e-01 -1.51493877e-02 -1.67186755e+00] [-9.40496632e-02 2.54040789e-03 9.95564266e-01 -2.22740997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.736559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.68, Z:-2.23 [[ 9.86424360e-01 1.35431405e-01 9.28725849e-02 2.74960235e+01] [-1.34602314e-01 9.90783680e-01 -1.51629692e-02 -1.67687914e+00] [-9.40701837e-02 2.45625731e-03 9.95562538e-01 -2.23098594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:27.53, Y:-1.68, Z:-2.23 [[ 9.86292078e-01 1.36508877e-01 9.26998559e-02 2.75270054e+01] [-1.35685075e-01 9.90635998e-01 -1.51617553e-02 -1.68204708e+00] [-9.39015285e-02 2.37593224e-03 9.95578655e-01 -2.23448813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.796559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.69, Z:-2.24 [[ 9.86113116e-01 1.37750502e-01 9.27670326e-02 2.75588226e+01] [-1.36928565e-01 9.90464325e-01 -1.51983383e-02 -1.68747364e+00] [-9.39760151e-02 2.28482410e-03 9.95571840e-01 -2.23757668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.69, Z:-2.24 [[ 9.85965203e-01 1.38942400e-01 9.25614799e-02 2.75907685e+01] [-1.38127849e-01 9.90298060e-01 -1.51805749e-02 -1.69289819e+00] [-9.37726795e-02 2.18220050e-03 9.95591243e-01 -2.24080995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.856559994999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.70, Z:-2.24 [[ 9.85485792e-01 1.41753120e-01 9.34013190e-02 2.76225978e+01] [-1.40933648e-01 9.89900102e-01 -1.53458146e-02 -1.69776562e+00] [-9.46332924e-02 1.95969356e-03 9.95510271e-01 -2.24358038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.70, Z:-2.25 [[ 9.85108261e-01 1.43781690e-01 9.42790525e-02 2.76554001e+01] [-1.42954378e-01 9.89607797e-01 -1.55065493e-02 -1.70274788e+00] [-9.55288434e-02 1.79802658e-03 9.95425038e-01 -2.24706825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.916559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.69, Y:-1.71, Z:-2.25 [[ 9.84751110e-01 1.45904997e-01 9.47469451e-02 2.76875263e+01] [-1.45076612e-01 9.89297268e-01 -1.56106324e-02 -1.70735654e+00] [-9.60105632e-02 1.62702181e-03 9.95378985e-01 -2.25042515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.71, Z:-2.25 [[ 9.84374324e-01 1.48298731e-01 9.49456559e-02 2.77193136e+01] [-1.47475275e-01 9.88941585e-01 -1.56711559e-02 -1.71197843e+00] [-9.62197200e-02 1.42414684e-03 9.95359100e-01 -2.25409183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.976559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.72, Z:-2.26 [[ 9.83632293e-01 1.53099257e-01 9.50164741e-02 2.77518470e+01] [-1.52295276e-01 9.88210338e-01 -1.56995594e-02 -1.71567676e+00] [-9.62998529e-02 9.72033450e-04 9.95351894e-01 -2.25838654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:-1.72, Z:-2.26 [[ 9.82808401e-01 1.58034637e-01 9.54604698e-02 2.77835894e+01] [-1.57243683e-01 9.87433433e-01 -1.57999611e-02 -1.71926704e+00] [-9.67578005e-02 5.17778702e-04 9.95307822e-01 -2.26128321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.036559994999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.72, Z:-2.27 [[ 9.82692137e-01 1.59692091e-01 9.38860963e-02 2.78158550e+01] [-1.58932316e-01 9.87166803e-01 -1.55634724e-02 -1.72410404e+00] [-9.51666010e-02 3.72567203e-04 9.95461290e-01 -2.26616824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.73, Z:-2.27 [[ 9.82449055e-01 1.61333192e-01 9.36240088e-02 2.78481796e+01] [-1.60582554e-01 9.86899966e-01 -1.55466879e-02 -1.72901619e+00] [-9.49057279e-02 2.39446371e-04 9.95486236e-01 -2.27024121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.096559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.73, Z:-2.27 [[ 9.82140290e-01 1.62872326e-01 9.41969022e-02 2.78803339e+01] [-1.62116872e-01 9.86647146e-01 -1.56693468e-02 -1.73409954e+00] [-9.54912077e-02 1.18589667e-04 9.95430266e-01 -2.27346192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.74, Z:-2.27 [[ 9.81436240e-01 1.64886800e-01 9.79553492e-02 2.79093463e+01] [-1.64908596e-01 9.86276975e-01 -7.92995517e-03 -1.74335410e+00] [-9.79186504e-02 -8.37093373e-03 9.95159216e-01 -2.27378674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.156559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.77, Z:-2.25 [[ 9.81821037e-01 1.65290127e-01 9.33092952e-02 2.79453349e+01] [-1.68405454e-01 9.85361296e-01 2.65088604e-02 -1.77026293e+00] [-8.75617152e-02 -4.17407510e-02 9.95284209e-01 -2.25124570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.72, Z:-2.30 [[ 0.98106522 0.1728314 0.08740907 27.97727112] [-0.1675581 0.98375026 -0.06449578 -1.72358502] [-0.09713559 0.04862847 0.99408247 -2.29928968] [ 0. 0. 0. 1. ]] SLAMing on 27.216559994999997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:28.01, Y:-1.75, Z:-2.29 [[ 9.80922450e-01 1.69164249e-01 9.57841546e-02 2.80061635e+01] [-1.68405318e-01 9.85587782e-01 -1.60116258e-02 -1.75474666e+00] [-9.71122872e-02 -4.24397832e-04 9.95273341e-01 -2.28638204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.76, Z:-2.29 [[ 9.80726787e-01 1.70350119e-01 9.56859793e-02 2.80386272e+01] [-1.69596710e-01 9.85383459e-01 -1.60123064e-02 -1.76001696e+00] [-9.70150796e-02 -5.24329433e-04 9.95282774e-01 -2.29031567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.276559995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:28.07, Y:-1.77, Z:-2.29 [[ 9.80513845e-01 1.71532959e-01 9.57551273e-02 2.80706634e+01] [-1.70781355e-01 9.85178190e-01 -1.60518549e-02 -1.76518146e+00] [-9.70892852e-02 -6.14124460e-04 9.95275486e-01 -2.29409760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.77, Z:-2.30 [[ 9.80124039e-01 1.73675739e-01 9.58832929e-02 2.81017727e+01] [-1.72929617e-01 9.84802568e-01 -1.61012266e-02 -1.77020015e+00] [-9.72225055e-02 -7.99861909e-04 9.95262350e-01 -2.29768078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.336559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.13, Y:-1.78, Z:-2.30 [[ 9.79985420e-01 1.74748408e-01 9.53497331e-02 2.81336409e+01] [-1.74013168e-01 9.84612729e-01 -1.60371656e-02 -1.77558108e+00] [-9.66850301e-02 -8.75920636e-04 9.95314643e-01 -2.30152000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.78, Z:-2.31 [[ 9.79820403e-01 1.75758265e-01 9.51893374e-02 2.81663026e+01] [-1.75027624e-01 9.84432900e-01 -1.60373068e-02 -1.78118654e+00] [-9.65262047e-02 -9.47083149e-04 9.95329993e-01 -2.30511662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.396559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.79, Z:-2.31 [[ 9.79531296e-01 1.77306733e-01 9.52930366e-02 2.81981558e+01] [-1.76579145e-01 9.84155054e-01 -1.60821727e-02 -1.78664210e+00] [-9.66346011e-02 -1.07377142e-03 9.95319346e-01 -2.30850817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.79, Z:-2.31 [[ 9.79411432e-01 1.77968261e-01 9.52918920e-02 2.82293632e+01] [-1.77241058e-01 9.84035601e-01 -1.61103558e-02 -1.79226256e+00] [-9.66377463e-02 -1.11096910e-03 9.95319000e-01 -2.31145319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.456559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.80, Z:-2.32 [[ 9.79248732e-01 1.78885213e-01 9.52470571e-02 2.82619845e+01] [-1.78161364e-01 9.83869239e-01 -1.61198570e-02 -1.79784662e+00] [-9.65942536e-02 -1.18399613e-03 9.95323138e-01 -2.31517519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.80, Z:-2.32 [[ 9.78996490e-01 1.80055310e-01 9.56345001e-02 2.82938502e+01] [-1.79328373e-01 9.83655659e-01 -1.62135705e-02 -1.80303017e+00] [-9.69907567e-02 -1.27695071e-03 9.95284463e-01 -2.31823707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.516559994999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.81, Z:-2.32 [[ 9.78709792e-01 1.81669494e-01 9.55161677e-02 2.83250111e+01] [-1.80949290e-01 9.83358640e-01 -1.62215952e-02 -1.80817668e+00] [-9.68736177e-02 -1.40734872e-03 9.95295696e-01 -2.32173128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.85, Z:-2.28 [[ 0.97877814 0.18289736 0.09242238 28.35826381] [-0.18834406 0.98061481 0.05404737 -1.85322382] [-0.08074564 -0.07030759 0.99425197 -2.27731322] [ 0. 0. 0. 1. ]] SLAMing on 27.576559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.78, Z:-2.35 [[ 0.97774896 0.19283818 0.0825857 28.39178654] [-0.18590486 0.9789033 -0.08478035 -1.78031986] [-0.0971923 0.06754082 0.99297125 -2.3508274 ] [ 0. 0. 0. 1. ]] SLAMing on 27.606559994999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.86, Z:-2.29 [[ 0.97811032 0.1865103 0.09227191 28.42029456] [-0.19126937 0.98047458 0.04566862 -1.85777756] [-0.08195259 -0.06231773 0.99468602 -2.29208625] [ 0. 0. 0. 1. ]] SLAMing on 27.636559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.79, Z:-2.36 [[ 0.97711628 0.19582151 0.08305244 28.45334809] [-0.18968824 0.97887486 -0.07630454 -1.79386131] [-0.09624001 0.05880433 0.9936196 -2.35583387] [ 0. 0. 0. 1. ]] SLAMing on 27.666559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.83, Z:-2.34 [[ 9.77255534e-01 1.90326447e-01 9.35278849e-02 2.84825603e+01] [-1.89670571e-01 9.81718467e-01 -1.59350618e-02 -1.83211121e+00] [-9.48509155e-02 -2.16685999e-03 9.95489130e-01 -2.33972211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.696559994999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.86, Z:-2.31 [[ 0.97713238 0.19208123 0.09119821 28.51337379] [-0.19554449 0.98021701 0.03060993 -1.86343239] [-0.08351445 -0.04774327 0.9953622 -2.31288202] [ 0. 0. 0. 1. ]] SLAMing on 27.726559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.82, Z:-2.36 [[ 0.97619393 0.19974086 0.08455177 28.54680423] [-0.19500273 0.97889817 -0.06109255 -1.81704757] [-0.09497025 0.04315035 0.99454447 -2.36067238] [ 0. 0. 0. 1. ]] SLAMing on 27.756559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.85, Z:-2.35 [[ 9.76042831e-01 1.97185017e-01 9.19698936e-02 2.85757863e+01] [-1.96577584e-01 9.80362443e-01 -1.57077806e-02 -1.84684010e+00] [-9.32611686e-02 -2.74775290e-03 9.95637888e-01 -2.34962774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.85, Z:-2.35 [[ 9.75748509e-01 1.98723782e-01 9.17807471e-02 2.86070905e+01] [-1.98124106e-01 9.80051328e-01 -1.56917987e-02 -1.85209126e+00] [-9.30681767e-02 -2.87272934e-03 9.95655594e-01 -2.35253458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.816559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.87, Z:-2.34 [[ 9.75590269e-01 1.99388054e-01 9.20219020e-02 2.86371461e+01] [-2.01372477e-01 9.79432227e-01 1.27137426e-02 -1.87303584e+00] [-8.75942480e-02 -3.09340819e-02 9.95675816e-01 -2.33728483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.85, Z:-2.37 [[ 9.75016566e-01 2.04367793e-01 8.70431029e-02 2.86712045e+01] [-2.01244672e-01 9.78581164e-01 -4.33530465e-02 -1.84813508e+00] [-9.40387074e-02 2.47529778e-02 9.95260776e-01 -2.36783427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.876559994999997 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.87, Z:-2.36 [[ 9.74967227e-01 2.02421678e-01 9.20020111e-02 2.87020116e+01] [-2.01830054e-01 9.79293304e-01 -1.57877517e-02 -1.86870037e+00] [-9.32927366e-02 -3.17623045e-03 9.95633656e-01 -2.36211873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.89, Z:-2.35 [[ 9.75258238e-01 2.00685571e-01 9.27182375e-02 2.87309724e+01] [-2.02161795e-01 9.79329106e-01 6.71642977e-03 -1.88503332e+00] [-8.94537781e-02 -2.52943388e-02 9.95669733e-01 -2.35074365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.936559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.88, Z:-2.36 [[ 9.74887308e-01 2.03902234e-01 8.95467225e-02 2.87640941e+01] [-2.03118089e-01 9.78990964e-01 -1.78811313e-02 -1.87797882e+00] [-9.13114348e-02 -7.56471257e-04 9.95822097e-01 -2.36334334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.87, Z:-2.38 [[ 9.74461798e-01 2.05924740e-01 8.95500166e-02 2.87959892e+01] [-2.03480638e-01 9.78427341e-01 -3.57151004e-02 -1.87459835e+00] [-9.49728074e-02 1.65813064e-02 9.95341763e-01 -2.37886601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.996559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.83, Y:-1.89, Z:-2.38 [[ 9.74372553e-01 2.04572425e-01 9.35320904e-02 2.88274517e+01] [-2.03963159e-01 9.78845664e-01 -1.61305844e-02 -1.89083728e+00] [-9.48533539e-02 -3.35990195e-03 9.95485586e-01 -2.37579336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.86, Y:-1.90, Z:-2.38 [[ 9.74099262e-01 2.05766363e-01 9.37594306e-02 2.88593532e+01] [-2.05157012e-01 9.78595038e-01 -1.61972792e-02 -1.89658259e+00] [-9.50853688e-02 -3.45764695e-03 9.95463117e-01 -2.37866912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.056559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.89, Y:-1.90, Z:-2.38 [[ 9.73878991e-01 2.07300468e-01 9.26618935e-02 2.88916445e+01] [-2.06709709e-01 9.78270921e-01 -1.60343851e-02 -1.90197709e+00] [-9.39723714e-02 -3.53856227e-03 9.95568517e-01 -2.38247517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.92, Y:-1.91, Z:-2.39 [[ 9.73758327e-01 2.08265684e-01 9.17612456e-02 2.89243570e+01] [-2.07688149e-01 9.78065775e-01 -1.59051117e-02 -1.90771540e+00] [-9.30610227e-02 -3.56998838e-03 9.95654007e-01 -2.38581694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.116559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.96, Y:-1.91, Z:-2.39 [[ 9.73569684e-01 2.09294557e-01 9.14213243e-02 2.89564788e+01] [-2.08723345e-01 9.77845909e-01 -1.58727232e-02 -1.91307955e+00] [-9.27180425e-02 -3.62856251e-03 9.95685793e-01 -2.38980571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.92, Z:-2.39 [[ 9.73440574e-01 2.10187689e-01 9.07446100e-02 2.89889764e+01] [-2.09626364e-01 9.77654202e-01 -1.57813109e-02 -1.91877789e+00] [-9.20338865e-02 -3.66029426e-03 9.95749148e-01 -2.39345237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.176559994999998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:29.02, Y:-1.92, Z:-2.40 [[ 9.73265409e-01 2.11135050e-01 9.04236351e-02 2.90208679e+01] [-2.10579369e-01 9.77449855e-01 -1.57515051e-02 -1.92416482e+00] [-9.17102638e-02 -3.71095700e-03 9.95778819e-01 -2.39713753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.93, Z:-2.40 [[ 9.73060191e-01 2.12108429e-01 9.03541891e-02 2.90534064e+01] [-2.11555385e-01 9.77238850e-01 -1.57654380e-02 -1.92991433e+00] [-9.16416061e-02 -3.77419520e-03 9.95784902e-01 -2.40046969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.236559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.94, Z:-2.40 [[ 9.72776048e-01 2.13127055e-01 9.10143827e-02 2.90858738e+01] [-2.12567892e-01 9.77016816e-01 -1.59069704e-02 -1.93571856e+00] [-9.23127882e-02 -3.87281564e-03 9.95722527e-01 -2.40386468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.94, Z:-2.41 [[ 9.72666331e-01 2.13630285e-01 9.10071959e-02 2.91177897e+01] [-2.13070992e-01 9.76906819e-01 -1.59317317e-02 -1.94126662e+00] [-9.23090506e-02 -3.89473440e-03 9.95722788e-01 -2.40724834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.296559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.95, Z:-2.41 [[ 9.72368858e-01 2.15052083e-01 9.08372522e-02 2.91494473e+01] [-2.14498649e-01 9.76594403e-01 -1.59279887e-02 -1.94666593e+00] [-9.21364993e-02 -3.99658767e-03 9.95738366e-01 -2.41055584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.95, Z:-2.41 [[ 9.72147246e-01 2.15995218e-01 9.09714136e-02 2.91815350e+01] [-2.15442029e-01 9.76385945e-01 -1.59755666e-02 -1.95211838e+00] [-9.22738556e-02 -4.06846283e-03 9.95725355e-01 -2.41397075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.356559994999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.96, Z:-2.42 [[ 9.71742152e-01 2.17359322e-01 9.20440945e-02 2.92129505e+01] [-2.16796548e-01 9.76082530e-01 -1.61910771e-02 -1.95762633e+00] [-9.33619142e-02 -4.22128984e-03 9.95623289e-01 -2.41736170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.96, Z:-2.42 [[ 9.71492790e-01 2.18863240e-01 9.11078561e-02 2.92449739e+01] [-2.18316202e-01 9.75746081e-01 -1.60505679e-02 -1.96285512e+00] [-9.24110128e-02 -4.29731008e-03 9.95711674e-01 -2.42090785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.416559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.97, Z:-2.42 [[ 9.71074407e-01 2.20660603e-01 9.12326416e-02 2.92758770e+01] [-2.20117452e-01 9.75340511e-01 -1.60995159e-02 -1.96784578e+00] [-9.25354202e-02 -4.44806880e-03 9.95699458e-01 -2.42407190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.97, Z:-2.43 [[ 9.70208238e-01 2.24455358e-01 9.11908246e-02 2.93073860e+01] [-2.23927064e-01 9.74472633e-01 -1.61169876e-02 -1.97210287e+00] [-9.24805072e-02 -4.78325943e-03 9.95703006e-01 -2.42739312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.476559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.98, Z:-2.43 [[ 9.69651545e-01 2.26402328e-01 9.22922862e-02 2.93394135e+01] [-2.25867607e-01 9.74021014e-01 -1.63366978e-02 -1.97668717e+00] [-9.35932927e-02 -5.00493359e-03 9.95597934e-01 -2.43071456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.98, Z:-2.43 [[ 9.69010633e-01 2.29520156e-01 9.13175326e-02 2.93716546e+01] [-2.29008008e-01 9.73289889e-01 -1.61902385e-02 -1.97986653e+00] [-9.25944172e-02 -5.22393299e-03 9.95690205e-01 -2.43465602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.536559994999998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.98, Z:-2.44 [[ 9.68720140e-01 2.30905449e-01 9.09063481e-02 2.94042500e+01] [-2.30401564e-01 9.72961723e-01 -1.61432957e-02 -1.98496931e+00] [-9.21759720e-02 -5.30662905e-03 9.95728592e-01 -2.43812471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.99, Z:-2.44 [[ 9.68370738e-01 2.31847122e-01 9.22226927e-02 2.94367929e+01] [-2.31330150e-01 9.72736981e-01 -1.64050908e-02 -1.99044116e+00] [-9.35118967e-02 -5.44767942e-03 9.95603258e-01 -2.44175254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.596559995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.00, Z:-2.45 [[ 9.68323627e-01 2.32454028e-01 9.11837589e-02 2.94678089e+01] [-2.31948800e-01 9.72592298e-01 -1.62473429e-02 -1.99570722e+00] [-9.24613819e-02 -5.41727747e-03 9.95701535e-01 -2.44502877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.00, Z:-2.45 [[ 9.68355186e-01 2.32195209e-01 9.15074744e-02 2.94993992e+01] [-2.31682850e-01 9.72654290e-01 -1.63306546e-02 -2.00061018e+00] [-9.27970372e-02 -5.38683835e-03 9.95670474e-01 -2.44897574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.656559995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:29.53, Y:-2.01, Z:-2.45 [[ 9.68544576e-01 2.31671795e-01 9.08272226e-02 2.95315395e+01] [-2.31162468e-01 9.72779717e-01 -1.62337780e-02 -2.00623006e+00] [-9.21157884e-02 -5.27270724e-03 9.95734342e-01 -2.45215110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.01, Z:-2.46 [[ 9.68849611e-01 2.30272507e-01 9.11317929e-02 2.95623926e+01] [-2.29751006e-01 9.73112665e-01 -1.63161560e-02 -2.01184592e+00] [-9.24386640e-02 -5.12971969e-03 9.95705167e-01 -2.45530357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.716559994999997 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.02, Z:-2.46 [[ 9.69266639e-01 2.28614858e-01 9.08703983e-02 2.95944096e+01] [-2.28087616e-01 9.73504405e-01 -1.62853321e-02 -2.01787189e+00] [-9.21858020e-02 -4.94158340e-03 9.95729561e-01 -2.45875614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.02, Z:-2.46 [[ 9.70389275e-01 2.23636049e-01 9.12774506e-02 2.96261789e+01] [-2.23079685e-01 9.74662506e-01 -1.63845337e-02 -2.02436416e+00] [-9.26288811e-02 -4.46276918e-03 9.95690702e-01 -2.46257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.776559995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.03, Z:-2.47 [[ 9.70946785e-01 2.21367672e-01 9.08773644e-02 2.96572179e+01] [-2.20803821e-01 9.75181368e-01 -1.63392652e-02 -2.03062623e+00] [-9.22388976e-02 -4.20151229e-03 9.95728042e-01 -2.46562693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:29.69, Y:-2.04, Z:-2.47 [[ 9.71378631e-01 2.19444871e-01 9.09258116e-02 2.96894882e+01] [-2.18869753e-01 9.75616714e-01 -1.63724975e-02 -2.03681176e+00] [-9.23016022e-02 -3.99701567e-03 9.95723073e-01 -2.46921021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.836559995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.04, Z:-2.47 [[ 9.72236165e-01 2.15607447e-01 9.09410196e-02 2.97208379e+01] [-2.15012881e-01 9.76473462e-01 -1.64024142e-02 -2.04258889e+00] [-9.23379749e-02 -3.60647028e-03 9.95721192e-01 -2.47321199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.05, Z:-2.48 [[ 9.72585547e-01 2.14099721e-01 9.07670780e-02 2.97526282e+01] [-2.13498582e-01 9.76805779e-01 -1.63959168e-02 -2.04832086e+00] [-9.21721675e-02 -3.43221068e-03 9.95737170e-01 -2.47704452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.896559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.05, Z:-2.48 [[ 9.72919643e-01 2.12737771e-01 9.03880982e-02 2.97848752e+01] [-2.12133366e-01 9.77103879e-01 -1.63537297e-02 -2.05422926e+00] [-9.17976174e-02 -3.26346666e-03 9.95772337e-01 -2.48061600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.82, Y:-2.06, Z:-2.48 [[ 9.73344330e-01 2.11160497e-01 8.95101100e-02 2.98171851e+01] [-2.10558755e-01 9.77446617e-01 -1.62210033e-02 -2.06021837e+00] [-9.09165893e-02 -3.05851566e-03 9.95853814e-01 -2.48402971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.956559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.07, Z:-2.49 [[ 9.74308306e-01 2.06611433e-01 8.96383855e-02 2.98482384e+01] [-2.05986280e-01 9.78419592e-01 -1.62712706e-02 -2.06621599e+00] [-9.10657831e-02 -2.61104350e-03 9.95841456e-01 -2.48826565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:29.88, Y:-2.07, Z:-2.49 [[ 9.74728200e-01 2.04552062e-01 8.97963788e-02 2.98804217e+01] [-2.03913704e-01 9.78852748e-01 -1.63248279e-02 -2.07229211e+00] [-9.12367093e-02 -2.39844203e-03 9.95826345e-01 -2.49200786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.016559994999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.08, Z:-2.50 [[ 9.75114238e-01 2.02690721e-01 8.98259117e-02 2.99119961e+01] [-2.02041627e-01 9.79240336e-01 -1.63567822e-02 -2.07822980e+00] [-9.12765240e-02 -2.19884216e-03 9.95823158e-01 -2.49556448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:29.94, Y:-2.08, Z:-2.50 [[ 9.75841539e-01 1.98586092e-01 9.10870781e-02 2.99438098e+01] [-1.97898422e-01 9.80081766e-01 -1.66116516e-02 -2.08449399e+00] [-9.25716273e-02 -1.81564931e-03 9.95704372e-01 -2.49980721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.076559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.09, Z:-2.50 [[ 9.76276660e-01 1.96763892e-01 9.03761814e-02 2.99752218e+01] [-1.96076653e-01 9.80449591e-01 -1.65089692e-02 -2.09025699e+00] [-9.18576591e-02 -1.60333789e-03 9.95770857e-01 -2.50225600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.10, Z:-2.51 [[ 9.76476156e-01 1.95509980e-01 9.09404391e-02 3.00074007e+01] [-1.94807219e-01 9.80700596e-01 -1.66279100e-02 -2.09590882e+00] [-9.24362652e-02 -1.47909640e-03 9.95717505e-01 -2.50568578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.136559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.10, Z:-2.51 [[ 9.76554733e-01 1.94813998e-01 9.15879894e-02 3.00397342e+01] [-1.94095677e-01 9.80839209e-01 -1.67724505e-02 -2.10134082e+00] [-9.31005992e-02 -1.39761687e-03 9.95655726e-01 -2.50896310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:30.07, Y:-2.11, Z:-2.51 [[ 9.76564833e-01 1.94344281e-01 9.24739251e-02 3.00723569e+01] [-1.93607251e-01 9.80932469e-01 -1.69624283e-02 -2.10556400e+00] [-9.40072266e-02 -1.33871148e-03 9.95570615e-01 -2.51286757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.196559994999998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.11, Z:-2.52 [[ 9.76498870e-01 1.94538473e-01 9.27617377e-02 3.01040668e+01] [-1.93795092e-01 9.80893981e-01 -1.70428982e-02 -2.11049462e+00] [-9.43049296e-02 -1.33439860e-03 9.95542465e-01 -2.51648472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.12, Z:-2.52 [[ 9.76464821e-01 1.94776419e-01 9.26207353e-02 3.01356275e+01] [-1.94033912e-01 9.80846766e-01 -1.70429606e-02 -2.11545542e+00] [-9.41663155e-02 -1.32971209e-03 9.95555592e-01 -2.51987154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.256559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.16, Z:-2.48 [[ 0.97725196 0.19212715 0.0898096 30.16679908] [-0.19743028 0.97880764 0.05437734 -2.16166849] [-0.07745896 -0.07087149 0.9944734 -2.47612184] [ 0. 0. 0. 1. ]] SLAMing on 29.286559994999998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.12, Z:-2.51 [[ 9.76604749e-01 1.99809206e-01 7.94949462e-02 3.02028209e+01] [-1.98041698e-01 9.79746255e-01 -2.96101618e-02 -2.12239821e+00] [-8.38012587e-02 1.31741104e-02 9.96395399e-01 -2.51309795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.316559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.10, Z:-2.55 [[ 0.9760505 0.20118174 0.08277273 30.23257781] [-0.19562934 0.97813726 -0.07054552 -2.10002907] [-0.09515556 0.05266321 0.99406841 -2.54588387] [ 0. 0. 0. 1. ]] SLAMing on 29.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.13, Z:-2.53 [[ 9.75791118e-01 1.97223849e-01 9.45222044e-02 3.02610808e+01] [-1.96457229e-01 9.80357256e-01 -1.74415339e-02 -2.13421630e+00] [-9.61054154e-02 -1.55027654e-03 9.95369954e-01 -2.53396685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.376559994999997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.14, Z:-2.54 [[ 9.75875130e-01 1.97909150e-01 9.21938145e-02 3.02935687e+01] [-1.97180451e-01 9.80219140e-01 -1.70384322e-02 -2.13925289e+00] [-9.37422031e-02 -1.55143574e-03 9.95595295e-01 -2.53614878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.14, Z:-2.54 [[ 9.75749101e-01 1.98671140e-01 9.18883575e-02 3.03255046e+01] [-1.97948105e-01 9.80064917e-01 -1.70090028e-02 -2.14402833e+00] [-9.34357535e-02 -1.59260700e-03 9.95624037e-01 -2.53965591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.436559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.15, Z:-2.54 [[ 9.75312057e-01 2.00125007e-01 9.33615137e-02 3.03574408e+01] [-1.99382478e-01 9.79768841e-01 -1.73102447e-02 -2.14788719e+00] [-9.49369149e-02 -1.73175961e-03 9.95481784e-01 -2.54363495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.15, Z:-2.55 [[ 9.75123029e-01 2.01289041e-01 9.28321062e-02 3.03897871e+01] [-2.00558621e-01 9.79530202e-01 -1.72285725e-02 -2.15269195e+00] [-9.43997746e-02 -1.81830142e-03 9.95532710e-01 -2.54666408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.16, Z:-2.55 [[ 9.74647150e-01 2.02594586e-01 9.49650802e-02 3.04213106e+01] [-2.01833526e-01 9.79260735e-01 -1.76533510e-02 -2.15727295e+00] [-9.65720475e-02 -1.96134875e-03 9.95324064e-01 -2.55122586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.16, Z:-2.55 [[ 9.74507638e-01 2.04192739e-01 9.29526163e-02 3.04538085e+01] [-2.03468516e-01 9.78928559e-01 -1.73043086e-02 -2.16108734e+00] [-9.45273849e-02 -2.04975002e-03 9.95520151e-01 -2.55376786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.556559994999997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.17, Z:-2.56 [[ 9.74482784e-01 2.04313563e-01 9.29476792e-02 3.04865346e+01] [-2.03587364e-01 9.78903381e-01 -1.73307863e-02 -2.16726664e+00] [-9.45277121e-02 -2.03442008e-03 9.95520152e-01 -2.55709100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.17, Z:-2.56 [[ 9.74405700e-01 2.04668582e-01 9.29747423e-02 3.05186497e+01] [-2.03942529e-01 9.78829165e-01 -1.73467979e-02 -2.17233183e+00] [-9.45567339e-02 -2.05868535e-03 9.95517346e-01 -2.56085433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.616559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.18, Z:-2.57 [[ 9.74301950e-01 2.04704832e-01 9.39768153e-02 3.05502252e+01] [-2.03960433e-01 9.78821589e-01 -1.75624331e-02 -2.17718865e+00] [-9.55816506e-02 -2.05643906e-03 9.95419469e-01 -2.56530618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.18, Z:-2.57 [[ 9.74191125e-01 2.04755804e-01 9.50090106e-02 3.05820513e+01] [-2.03992565e-01 9.78810925e-01 -1.77822188e-02 -2.18252961e+00] [-9.66368700e-02 -2.05785204e-03 9.95317578e-01 -2.56932087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.676559994999998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.19, Z:-2.57 [[ 9.74502052e-01 2.04053485e-01 9.33162723e-02 3.06140952e+01] [-2.03311540e-01 9.78957845e-01 -1.74915693e-02 -2.18736084e+00] [-9.49219126e-02 -1.92670477e-03 9.95482857e-01 -2.57201352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.19, Z:-2.58 [[ 9.74403286e-01 2.04351966e-01 9.36937032e-02 3.06459736e+01] [-2.03602735e-01 9.78895563e-01 -1.75898580e-02 -2.19292816e+00] [-9.53108724e-02 -1.93667878e-03 9.95445672e-01 -2.57551819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.736559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.20, Z:-2.58 [[ 9.74351969e-01 2.04534306e-01 9.38294128e-02 3.06776962e+01] [-2.03781080e-01 9.78857494e-01 -1.76430968e-02 -2.19814812e+00] [-9.54542423e-02 -1.93007297e-03 9.95431948e-01 -2.57897113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.20, Z:-2.58 [[ 9.74283346e-01 2.05318883e-01 9.28230491e-02 3.07103991e+01] [-2.04583782e-01 9.78693148e-01 -1.74699269e-02 -2.20343682e+00] [-9.44321880e-02 -1.96943166e-03 9.95529348e-01 -2.58164680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.21, Z:-2.59 [[ 9.73796493e-01 2.06560530e-01 9.51479815e-02 3.07433145e+01] [-2.05791118e-01 9.78431541e-01 -1.79370030e-02 -2.20691464e+00] [-9.68008630e-02 -2.11361884e-03 9.95301525e-01 -2.58683453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.21, Z:-2.59 [[ 9.73775003e-01 2.07452682e-01 9.34110689e-02 3.07747543e+01] [-2.06712568e-01 9.78242725e-01 -1.76375804e-02 -2.21206909e+00] [-9.50376619e-02 -2.13420710e-03 9.95471390e-01 -2.58971393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.856559994999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.22, Z:-2.59 [[ 9.73507887e-01 2.08352805e-01 9.41886514e-02 3.08071103e+01] [-2.07602820e-01 9.78051207e-01 -1.78018305e-02 -2.21728964e+00] [-9.58303855e-02 -2.22360725e-03 9.95395194e-01 -2.59398441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.22, Z:-2.60 [[ 9.73189716e-01 2.10209957e-01 9.33464015e-02 3.08394694e+01] [-2.09479275e-01 9.77653422e-01 -1.76697494e-02 -2.22220483e+00] [-9.49747861e-02 -2.35811811e-03 9.95476885e-01 -2.59754004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.916559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.23, Z:-2.60 [[ 9.72966201e-01 2.11506457e-01 9.27458414e-02 3.08705386e+01] [-2.10788485e-01 9.77373549e-01 -1.75829454e-02 -2.22738660e+00] [-9.43662387e-02 -2.44214381e-03 9.95534554e-01 -2.60068713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.23, Z:-2.61 [[ 9.72651589e-01 2.12118360e-01 9.46292104e-02 3.09030076e+01] [-2.11371249e-01 9.77240715e-01 -1.79660879e-02 -2.23199947e+00] [-9.62864543e-02 -2.52715043e-03 9.95350457e-01 -2.60551570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.24, Z:-2.61 [[ 9.72442834e-01 2.13083769e-01 9.46057237e-02 3.09344073e+01] [-2.12338892e-01 9.77030488e-01 -1.79894498e-02 -2.23697817e+00] [-9.62659362e-02 -2.59476299e-03 9.95352268e-01 -2.60912839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.24, Z:-2.61 [[ 9.72219795e-01 2.14651487e-01 9.33456464e-02 3.09671659e+01] [-2.13931157e-01 9.76687008e-01 -1.77749377e-02 -2.24202624e+00] [-9.49848969e-02 -2.68839587e-03 9.95475084e-01 -2.61249225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.036559994999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.25, Z:-2.62 [[ 9.72131559e-01 2.15102460e-01 9.32264150e-02 3.09999091e+01] [-2.14383473e-01 9.76587747e-01 -1.77791562e-02 -2.24782076e+00] [-9.48681149e-02 -2.70252380e-03 9.95486181e-01 -2.61565229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.25, Z:-2.62 [[ 9.72032903e-01 2.15214214e-01 9.39940283e-02 3.10319614e+01] [-2.14481221e-01 9.76563107e-01 -1.79528113e-02 -2.25308956e+00] [-9.56548005e-02 -2.70923071e-03 9.95410880e-01 -2.61966104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.096559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.26, Z:-2.62 [[ 9.71991186e-01 2.15100743e-01 9.46826546e-02 3.10641824e+01] [-2.14353784e-01 9.76588156e-01 -1.81115474e-02 -2.25786205e+00] [-9.63617664e-02 -2.69132086e-03 9.95342738e-01 -2.62346965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.26, Z:-2.63 [[ 9.71978966e-01 2.15308560e-01 9.43351183e-02 3.10956115e+01] [-2.14565354e-01 9.76542407e-01 -1.80731023e-02 -2.26391142e+00] [-9.60135371e-02 -2.67437284e-03 9.95376436e-01 -2.62655129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.27, Z:-2.63 [[ 9.71911087e-01 2.15127812e-01 9.54403689e-02 3.11265022e+01] [-2.14363581e-01 9.76582275e-01 -1.83116162e-02 -2.26895015e+00] [-9.71447105e-02 -2.66167643e-03 9.95266708e-01 -2.63005302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.28, Z:-2.63 [[ 9.71876970e-01 2.15717421e-01 9.44518370e-02 3.11575851e+01] [-2.14969243e-01 9.76452191e-01 -1.81477910e-02 -2.27506277e+00] [-9.61424980e-02 -2.66681978e-03 9.95364008e-01 -2.63289851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.216559994999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.28, Z:-2.64 [[ 9.71664225e-01 2.16745165e-01 9.42876850e-02 3.11898350e+01] [-2.16002811e-01 9.76224352e-01 -1.81328522e-02 -2.27973205e+00] [-9.59761422e-02 -2.74736115e-03 9.95379843e-01 -2.63631968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.29, Z:-2.64 [[ 9.71510448e-01 2.17713804e-01 9.36383974e-02 3.12220475e+01] [-2.16983581e-01 9.76008645e-01 -1.80346797e-02 -2.28519461e+00] [-9.53182841e-02 -2.79711504e-03 9.95442917e-01 -2.63935705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.29, Z:-2.64 [[ 9.71230455e-01 2.18941725e-01 9.36799062e-02 3.12536068e+01] [-2.18213822e-01 9.75733654e-01 -1.80711046e-02 -2.29074940e+00] [-9.53631559e-02 -2.89104321e-03 9.95438351e-01 -2.64278159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.30, Z:-2.64 [[ 9.70980408e-01 2.21016175e-01 9.13722994e-02 3.12845004e+01] [-2.20330541e-01 9.75265549e-01 -1.76511101e-02 -2.29693450e+00] [-9.30134366e-02 -2.99322603e-03 9.95660354e-01 -2.64440802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.30, Z:-2.65 [[ 9.70434094e-01 2.23006002e-01 9.23363047e-02 3.13168076e+01] [-2.22312339e-01 9.74811844e-01 -1.78631650e-02 -2.30101361e+00] [-9.39941165e-02 -3.19247555e-03 9.95567634e-01 -2.64802540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.31, Z:-2.65 [[ 9.70049578e-01 2.24686076e-01 9.23037560e-02 3.13489955e+01] [-2.23997961e-01 9.74425519e-01 -1.78835430e-02 -2.30656958e+00] [-9.39613184e-02 -3.32792981e-03 9.95570287e-01 -2.65099827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.31, Z:-2.65 [[ 9.69654601e-01 2.26407139e-01 9.22483742e-02 3.13803270e+01] [-2.25724996e-01 9.74026590e-01 -1.79005008e-02 -2.31187752e+00] [-9.39051706e-02 -3.46546093e-03 9.95575115e-01 -2.65402104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.32, Z:-2.66 [[ 9.69310739e-01 2.28022126e-01 9.18836251e-02 3.14131781e+01] [-2.27351081e-01 9.73649326e-01 -1.78458870e-02 -2.31699421e+00] [-9.35316867e-02 -3.59163151e-03 9.95609825e-01 -2.65739578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.456559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.32, Z:-2.66 [[ 9.68760417e-01 2.31541006e-01 8.88370230e-02 3.14456698e+01] [-2.30926257e-01 9.72817818e-01 -1.72788233e-02 -2.32241856e+00] [-9.04229950e-02 -3.77576114e-03 9.95896293e-01 -2.65921639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.37, Z:-2.61 [[ 0.96991729 0.22828508 0.08453622 31.47449553] [-0.23340258 0.9707373 0.05650078 -2.36723478] [-0.06916417 -0.07453205 0.99481721 -2.61441139] [ 0. 0. 0. 1. ]] SLAMing on 30.516559994999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.29, Z:-2.68 [[ 0.96779912 0.24049116 0.07435631 31.51308932] [-0.23382477 0.9682636 -0.08826989 -2.29328253] [-0.09322464 0.06804117 0.99331745 -2.68436581] [ 0. 0. 0. 1. ]] SLAMing on 30.546559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.34, Z:-2.67 [[ 9.67977117e-01 2.34847664e-01 8.86954078e-02 3.15392940e+01] [-2.34245467e-01 9.72023779e-01 -1.72868182e-02 -2.33865025e+00] [-9.02738144e-02 -4.04325280e-03 9.95908776e-01 -2.66922658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.576559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.34, Z:-2.67 [[ 9.67676432e-01 2.36339492e-01 8.80111834e-02 3.15707571e+01] [-2.35750257e-01 9.71661794e-01 -1.71806296e-02 -2.34450842e+00] [-8.95775656e-02 -4.12336873e-03 9.95971314e-01 -2.67070112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:31.60, Y:-2.35, Z:-2.67 [[ 9.67467049e-01 2.37287903e-01 8.77608120e-02 3.16030013e+01] [-2.36704544e-01 9.71430359e-01 -1.71469071e-02 -2.35056865e+00] [-8.93222707e-02 -4.18431539e-03 9.95993988e-01 -2.67355273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.636559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.36, Z:-2.68 [[ 9.67296111e-01 2.38060370e-01 8.75528006e-02 3.16352631e+01] [-2.37480638e-01 9.71241189e-01 -1.71318256e-02 -2.35645499e+00] [-8.91132949e-02 -4.22054666e-03 9.96012554e-01 -2.67687109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.36, Z:-2.68 [[ 9.67111191e-01 2.38378717e-01 8.87216557e-02 3.16678690e+01] [-2.37782254e-01 9.71162841e-01 -1.73877822e-02 -2.36198987e+00] [-9.03080525e-02 -4.28051651e-03 9.95904681e-01 -2.68119722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.696559994999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.37, Z:-2.68 [[ 9.67061350e-01 2.39314043e-01 8.67244726e-02 3.17000842e+01] [-2.38745643e-01 9.70932942e-01 -1.70217610e-02 -2.36893688e+00] [-8.82771937e-02 -4.24400286e-03 9.96086907e-01 -2.68340189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.38, Z:-2.69 [[ 9.67028083e-01 2.40024237e-01 8.51178778e-02 3.17315513e+01] [-2.39477269e-01 9.70757793e-01 -1.67315499e-02 -2.37545218e+00] [-8.66448207e-02 -4.20391834e-03 9.96230396e-01 -2.68557963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.756559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.38, Z:-2.69 [[ 9.66845518e-01 2.40801532e-01 8.49962735e-02 3.17633863e+01] [-2.40257096e-01 9.70565095e-01 -1.67309140e-02 -2.38169945e+00] [-8.65232460e-02 -4.24474868e-03 9.96240789e-01 -2.68888549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:31.79, Y:-2.42, Z:-2.65 [[ 0.96778755 0.23800779 0.08209476 31.79299105] [-0.24203289 0.96931358 0.04302625 -2.42020646] [-0.06933499 -0.0615099 0.99569533 -2.65410457] [ 0. 0. 0. 1. ]] SLAMing on 30.816559995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.36, Z:-2.71 [[ 0.96590579 0.24882852 0.07148687 31.83030716] [-0.24363457 0.96703227 -0.07409985 -2.36077226] [-0.08756827 0.0541568 0.9946853 -2.70950705] [ 0. 0. 0. 1. ]] SLAMing on 30.846559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.43, Z:-2.66 [[ 0.96699252 0.24158 0.08102197 31.855551 ] [-0.24546634 0.96849964 0.0418895 -2.42994039] [-0.06835009 -0.060395 0.99583167 -2.66122428] [ 0. 0. 0. 1. ]] SLAMing on 30.876559994999997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.37, Z:-2.72 [[ 0.96530338 0.25107052 0.07178423 31.89173918] [-0.24597503 0.966536 -0.07283166 -2.37197447] [-0.08766792 0.05264752 0.99475755 -2.71552904] [ 0. 0. 0. 1. ]] SLAMing on 30.906559995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.41, Z:-2.70 [[ 9.65258497e-01 2.47766287e-01 8.29933768e-02 3.19195867e+01] [-2.47268956e-01 9.68808389e-01 -1.63819872e-02 -2.40889225e+00] [-8.44635838e-02 -4.70883332e-03 9.96415440e-01 -2.70308161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.936559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.41, Z:-2.71 [[ 9.65132624e-01 2.48432987e-01 8.24625374e-02 3.19521580e+01] [-2.47942463e-01 9.68637616e-01 -1.63004433e-02 -2.41485953e+00] [-8.39258835e-02 -4.71387503e-03 9.96460850e-01 -2.70550084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.42, Z:-2.71 [[ 9.64939896e-01 2.49229873e-01 8.23132319e-02 3.19845431e+01] [-2.48741914e-01 9.68432706e-01 -1.62958404e-02 -2.42084223e+00] [-8.37762361e-02 -4.75024435e-03 9.96473270e-01 -2.70827113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.996559995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.43, Z:-2.71 [[ 9.64893994e-01 2.49528603e-01 8.19454461e-02 3.20161700e+01] [-2.49043852e-01 9.68355882e-01 -1.62495070e-02 -2.42651407e+00] [-8.34070714e-02 -4.72895780e-03 9.96504339e-01 -2.71113808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.43, Z:-2.71 [[ 9.64849642e-01 2.49764329e-01 8.17492978e-02 3.20488375e+01] [-2.49281620e-01 9.68295128e-01 -1.62240102e-02 -2.43234598e+00] [-8.32096258e-02 -4.72486694e-03 9.96520865e-01 -2.71419648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.056559994999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.44, Z:-2.72 [[ 9.64886646e-01 2.49602099e-01 8.18080242e-02 3.20798765e+01] [-2.49115936e-01 9.68337135e-01 -1.62617456e-02 -2.43782058e+00] [-8.32767136e-02 -4.68894140e-03 9.96515430e-01 -2.71666346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.44, Z:-2.72 [[ 9.64933070e-01 2.49369671e-01 8.19691291e-02 3.21117055e+01] [-2.48879656e-01 9.68397130e-01 -1.63069200e-02 -2.44374773e+00] [-8.34451207e-02 -4.66536227e-03 9.96501453e-01 -2.71963088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.116559995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.45, Z:-2.72 [[ 9.64955513e-01 2.49268861e-01 8.20115408e-02 3.21433731e+01] [-2.48775873e-01 9.68423231e-01 -1.63404483e-02 -2.44971900e+00] [-8.34950462e-02 -4.63468696e-03 9.96497414e-01 -2.72255910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.46, Z:-2.73 [[ 9.64878303e-01 2.49574697e-01 8.19898228e-02 3.21757088e+01] [-2.49081160e-01 9.68344444e-01 -1.63589132e-02 -2.45587263e+00] [-8.34771602e-02 -4.63775981e-03 9.96498899e-01 -2.72571580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.176559994999998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:32.21, Y:-2.46, Z:-2.73 [[ 9.64664626e-01 2.50920336e-01 8.03812484e-02 3.22081294e+01] [-2.50448726e-01 9.67996630e-01 -1.60611241e-02 -2.46102851e+00] [-8.18388403e-02 -4.63778304e-03 9.96634785e-01 -2.72794019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.47, Z:-2.73 [[ 9.64334902e-01 2.52200792e-01 8.03303035e-02 3.22391415e+01] [-2.51732195e-01 9.67663415e-01 -1.60753645e-02 -2.46598181e+00] [-8.17869155e-02 -4.71968853e-03 9.96638663e-01 -2.73132721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.236559995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.47, Z:-2.73 [[ 9.63951372e-01 2.53863435e-01 7.96938514e-02 3.22715232e+01] [-2.53406130e-01 9.67228156e-01 -1.59695573e-02 -2.47102921e+00] [-8.11362236e-02 -4.80103377e-03 9.96691458e-01 -2.73436825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.47, Z:-2.74 [[ 9.63003445e-01 2.57442479e-01 7.96726758e-02 3.23033811e+01] [-2.56995585e-01 9.66280286e-01 -1.59899068e-02 -2.47426755e+00] [-8.11026172e-02 -5.07719061e-03 9.96692825e-01 -2.73773567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.296559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.48, Z:-2.74 [[ 9.62690758e-01 2.58857311e-01 7.88631477e-02 3.23357140e+01] [-2.58422425e-01 9.65901991e-01 -1.58491298e-02 -2.47949645e+00] [-8.02767345e-02 -5.12219505e-03 9.96759454e-01 -2.74051895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.48, Z:-2.74 [[ 9.62166462e-01 2.60501535e-01 7.98414062e-02 3.23674393e+01] [-2.60059404e-01 9.65458880e-01 -1.60704022e-02 -2.48478754e+00] [-8.12699591e-02 -5.30110649e-03 9.96678028e-01 -2.74407531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.356559994999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.50, Z:-2.73 [[ 9.62332237e-01 2.59717917e-01 8.03944568e-02 3.23972258e+01] [-2.61186771e-01 9.65253931e-01 8.14370959e-03 -2.50218871e+00] [-7.54859981e-02 -2.88349228e-02 9.96729859e-01 -2.73287431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.50, Z:-2.74 [[ 9.61905380e-01 2.62694284e-01 7.56951305e-02 3.24305765e+01] [-2.63133717e-01 9.64749846e-01 -4.28736439e-03 -2.50264327e+00] [-7.41531316e-02 -1.57939021e-02 9.97121791e-01 -2.73618925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.416559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.48, Z:-2.76 [[ 9.60837418e-01 2.67013080e-01 7.41314433e-02 3.24637358e+01] [-2.63832810e-01 9.63272158e-01 -4.99899824e-02 -2.48113288e+00] [-8.47567345e-02 2.84739386e-02 9.95994744e-01 -2.76155623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.50, Z:-2.76 [[ 9.60995454e-01 2.64537784e-01 8.06690672e-02 3.24923919e+01] [-2.64095077e-01 9.64358848e-01 -1.63034476e-02 -2.50480752e+00] [-8.21068066e-02 -5.63676452e-03 9.96607595e-01 -2.75579152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.476559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.51, Z:-2.76 [[ 9.60962824e-01 2.64657764e-01 8.06642398e-02 3.25250155e+01] [-2.64213485e-01 9.64326010e-01 -1.63272942e-02 -2.51149381e+00] [-8.21077697e-02 -5.62265714e-03 9.96607596e-01 -2.75920367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.52, Z:-2.76 [[ 9.60547057e-01 2.65825438e-01 8.17691161e-02 3.25575236e+01] [-2.65372470e-01 9.64003769e-01 -1.65585653e-02 -2.51671392e+00] [-8.32274240e-02 -5.79399110e-03 9.96513736e-01 -2.76301769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.536559994999998 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.52, Z:-2.77 [[ 9.60422528e-01 2.66591689e-01 8.07306558e-02 3.25903178e+01] [-2.66150897e-01 9.63792334e-01 -1.63718335e-02 -2.52203963e+00] [-8.21721819e-02 -5.76265866e-03 9.96601487e-01 -2.76506468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.53, Z:-2.77 [[ 9.60265700e-01 2.67103407e-01 8.09046035e-02 3.26223382e+01] [-2.66660546e-01 9.63650443e-01 -1.64309615e-02 -2.52770271e+00] [-8.23525228e-02 -5.79597692e-03 9.96586408e-01 -2.76793247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.596559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.53, Z:-2.77 [[ 9.60197987e-01 2.67387775e-01 8.07688309e-02 3.26538808e+01] [-2.66945283e-01 9.63571639e-01 -1.64290207e-02 -2.53312808e+00] [-8.22194741e-02 -5.78574583e-03 9.96597453e-01 -2.77056316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.54, Z:-2.77 [[ 9.59788392e-01 2.68620284e-01 8.15437644e-02 3.26865503e+01] [-2.68172595e-01 9.63227860e-01 -1.65996366e-02 -2.53733290e+00] [-8.30042248e-02 -5.93566439e-03 9.96531518e-01 -2.77346046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.54, Z:-2.78 [[ 9.59487884e-01 2.69462180e-01 8.22990553e-02 3.27188224e+01] [-2.69007226e-01 9.62992022e-01 -1.67772962e-02 -2.54285590e+00] [-8.37741805e-02 -6.04142813e-03 9.96466451e-01 -2.77681634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.55, Z:-2.78 [[ 9.59555378e-01 2.69291953e-01 8.20689979e-02 3.27506534e+01] [-2.68836806e-01 9.63039989e-01 -1.67556090e-02 -2.54840315e+00] [-8.35478776e-02 -5.98523253e-03 9.96485790e-01 -2.77974814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.716559994999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.55, Z:-2.78 [[ 9.59544388e-01 2.69321185e-01 8.21015681e-02 3.27831524e+01] [-2.68863865e-01 9.63031921e-01 -1.67851345e-02 -2.55407008e+00] [-8.35870232e-02 -5.96806327e-03 9.96482610e-01 -2.78324627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:-2.56, Z:-2.79 [[ 9.59637264e-01 2.69106984e-01 8.17175227e-02 3.28152307e+01] [-2.68651111e-01 9.63092233e-01 -1.67311593e-02 -2.55974676e+00] [-8.32039832e-02 -5.89765931e-03 9.96515085e-01 -2.78653216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.776559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.57, Z:-2.79 [[ 9.60319127e-01 2.67324400e-01 7.95288585e-02 3.28463962e+01] [-2.66884594e-01 9.63590522e-01 -1.63070108e-02 -2.56503259e+00] [-8.09925162e-02 -5.56509273e-03 9.96699173e-01 -2.78871626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.57, Z:-2.79 [[ 9.60362383e-01 2.66894747e-01 8.04443106e-02 3.28779985e+01] [-2.66441346e-01 9.63709585e-01 -1.65180036e-02 -2.57088055e+00] [-8.19335216e-02 -5.57042117e-03 9.96622230e-01 -2.79212920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.58, Z:-2.80 [[ 9.60616749e-01 2.65829256e-01 8.09337224e-02 3.29104675e+01] [-2.65364689e-01 9.64004488e-01 -1.66411572e-02 -2.57722000e+00] [-8.24441781e-02 -5.49117772e-03 9.96580556e-01 -2.79543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.58, Z:-2.80 [[ 9.60955054e-01 2.64703639e-01 8.06062575e-02 3.29415022e+01] [-2.64236723e-01 9.64314985e-01 -1.66000909e-02 -2.58330402e+00] [-8.21239265e-02 -5.34719206e-03 9.96607781e-01 -2.79786365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.59, Z:-2.80 [[ 9.61221482e-01 2.63607127e-01 8.10218757e-02 3.29740726e+01] [-2.63130418e-01 9.64615742e-01 -1.66988795e-02 -2.58970377e+00] [-8.25569204e-02 -5.26799836e-03 9.96572427e-01 -2.80117117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.60, Z:-2.80 [[ 9.61940818e-01 2.61331270e-01 7.98487915e-02 3.30058461e+01] [-2.60858540e-01 9.65236349e-01 -1.64806919e-02 -2.59533866e+00] [-8.13798761e-02 -4.97578894e-03 9.96670737e-01 -2.80364930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.956559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.60, Z:-2.81 [[ 9.62225419e-01 2.60399073e-01 7.94642385e-02 3.30372742e+01] [-2.59925803e-01 9.65488890e-01 -1.64249634e-02 -2.60115326e+00] [-8.09988847e-02 -4.85028870e-03 9.96702391e-01 -2.80704178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.61, Z:-2.81 [[ 9.62078577e-01 2.60656862e-01 8.03916204e-02 3.30698616e+01] [-2.60172329e-01 9.65418989e-01 -1.66293460e-02 -2.60741808e+00] [-8.19461500e-02 -4.91693757e-03 9.96624630e-01 -2.81089867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.016559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.61, Z:-2.81 [[ 9.62320512e-01 2.60137465e-01 7.91690057e-02 3.31008127e+01] [-2.59663963e-01 9.65559780e-01 -1.63992910e-02 -2.61356766e+00] [-8.07084778e-02 -4.77596366e-03 9.96726307e-01 -2.81343792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.62, Z:-2.82 [[ 9.62360835e-01 2.59802868e-01 7.97752592e-02 3.31325182e+01] [-2.59319169e-01 9.65649926e-01 -1.65465813e-02 -2.61938449e+00] [-8.13338224e-02 -4.76347215e-03 9.96675533e-01 -2.81645721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.076559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.63, Z:-2.82 [[ 9.62371125e-01 2.59570380e-01 8.04054427e-02 3.31647071e+01] [-2.59076478e-01 9.65712456e-01 -1.66982155e-02 -2.62566424e+00] [-8.19828997e-02 -4.76127850e-03 9.96622363e-01 -2.81960403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:33.20, Y:-2.63, Z:-2.82 [[ 9.62525885e-01 2.59091938e-01 8.00954990e-02 3.31959180e+01] [-2.58598168e-01 9.65841333e-01 -1.66585207e-02 -2.63184952e+00] [-8.16756319e-02 -4.67829193e-03 9.96647984e-01 -2.82232917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.136559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.64, Z:-2.82 [[ 9.62606494e-01 2.58653587e-01 8.05422836e-02 3.32284480e+01] [-2.58150889e-01 9.65958977e-01 -1.67741907e-02 -2.63761650e+00] [-8.21392465e-02 -4.64511724e-03 9.96610038e-01 -2.82465996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.64, Z:-2.83 [[ 9.62432615e-01 2.59041070e-01 8.13706645e-02 3.32604037e+01] [-2.58527327e-01 9.65854857e-01 -1.69710329e-02 -2.64376593e+00] [-8.29884461e-02 -4.70306480e-03 9.96539412e-01 -2.82805602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.196559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.65, Z:-2.83 [[ 9.62335041e-01 2.59494265e-01 8.10801748e-02 3.32924049e+01] [-2.58983837e-01 9.65733200e-01 -1.69339213e-02 -2.65012817e+00] [-8.26960721e-02 -4.70234898e-03 9.96563720e-01 -2.83072504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:33.33, Y:-2.66, Z:-2.83 [[ 9.62205477e-01 2.60170385e-01 8.04486845e-02 3.33251073e+01] [-2.59668243e-01 9.65551285e-01 -1.68261731e-02 -2.65651945e+00] [-8.20550025e-02 -4.69973270e-03 9.96616721e-01 -2.83362322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.256559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:33.36, Y:-2.66, Z:-2.84 [[ 9.61726868e-01 2.61885749e-01 8.06057428e-02 3.33566587e+01] [-2.61385445e-01 9.65086798e-01 -1.68855614e-02 -2.66112099e+00] [-8.22136261e-02 -4.82986988e-03 9.96603026e-01 -2.83677085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:33.39, Y:-2.67, Z:-2.84 [[ 9.61502111e-01 2.62694815e-01 8.06543494e-02 3.33884924e+01] [-2.62195670e-01 9.64866585e-01 -1.69086808e-02 -2.66685058e+00] [-8.22625095e-02 -4.88948897e-03 9.96598702e-01 -2.84004681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.316559995000006 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.67, Z:-2.84 [[ 9.61276698e-01 2.63406135e-01 8.10204780e-02 3.34208842e+01] [-2.62902907e-01 9.64672336e-01 -1.70101747e-02 -2.67281897e+00] [-8.26387982e-02 -4.94903462e-03 9.96567276e-01 -2.84339822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:-2.68, Z:-2.85 [[ 9.61027680e-01 2.64056954e-01 8.18518397e-02 3.34525945e+01] [-2.63543409e-01 9.64493971e-01 -1.72119386e-02 -2.67883813e+00] [-8.34905380e-02 -5.03036347e-03 9.96495873e-01 -2.84686054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.376559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.68, Z:-2.85 [[ 9.61169119e-01 2.64038851e-01 8.02334697e-02 3.34846479e+01] [-2.63544314e-01 9.64499515e-01 -1.68843174e-02 -2.68490697e+00] [-8.18432584e-02 -4.91639028e-03 9.96633087e-01 -2.84937562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.69, Z:-2.85 [[ 9.61169158e-01 2.64070064e-01 8.01302183e-02 3.35162247e+01] [-2.63574935e-01 9.64491107e-01 -1.68866425e-02 -2.69050900e+00] [-8.17441397e-02 -4.88939707e-03 9.96641354e-01 -2.85209363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.436559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:33.55, Y:-2.70, Z:-2.86 [[ 9.61063382e-01 2.64067095e-01 8.13986799e-02 3.35479738e+01] [-2.63554284e-01 9.64491634e-01 -1.71763460e-02 -2.69680731e+00] [-8.30440535e-02 -4.94541362e-03 9.96533606e-01 -2.85556492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.70, Z:-2.86 [[ 9.61098266e-01 2.63962998e-01 8.13244087e-02 3.35803333e+01] [-2.63448728e-01 9.64520318e-01 -1.71850006e-02 -2.70333630e+00] [-8.29752488e-02 -4.90833772e-03 9.96539521e-01 -2.85884818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.496559995000005 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.71, Z:-2.86 [[ 9.61209506e-01 2.63847369e-01 8.03794147e-02 3.36122453e+01] [-2.63342633e-01 9.64552410e-01 -1.70090028e-02 -2.70973500e+00] [-8.20179388e-02 -4.81811155e-03 9.96619207e-01 -2.86153314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.72, Z:-2.86 [[ 9.61492305e-01 2.62795284e-01 8.04436894e-02 3.36440095e+01] [-2.62284095e-01 9.64840124e-01 -1.70466500e-02 -2.71590345e+00] [-8.20950785e-02 -4.70887747e-03 9.96613378e-01 -2.86466969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.556559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:33.68, Y:-2.72, Z:-2.87 [[ 9.61580750e-01 2.62229298e-01 8.12296499e-02 3.36758149e+01] [-2.61704022e-01 9.64994232e-01 -1.72376670e-02 -2.72254767e+00] [-8.29063649e-02 -4.68271738e-03 9.96546340e-01 -2.86809274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:33.71, Y:-2.73, Z:-2.87 [[ 9.61769087e-01 2.61668069e-01 8.08086961e-02 3.37079746e+01] [-2.61144288e-01 9.65147025e-01 -1.71721004e-02 -2.72938011e+00] [-8.24856630e-02 -4.58713408e-03 9.96581694e-01 -2.87115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:-2.74, Z:-2.87 [[ 9.61822130e-01 2.61153539e-01 8.18353184e-02 3.37396667e+01] [-2.60612447e-01 9.65286422e-01 -1.74148034e-02 -2.73606906e+00] [-8.35424592e-02 -4.57735929e-03 9.96493706e-01 -2.87409571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:-2.74, Z:-2.88 [[ 9.62284781e-01 2.59425708e-01 8.18920136e-02 3.37719382e+01] [-2.58875617e-01 9.65753012e-01 -1.74509366e-02 -2.74297786e+00] [-8.36146804e-02 -4.40707494e-03 9.96488416e-01 -2.87688057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.676559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:33.80, Y:-2.75, Z:-2.88 [[ 9.62598866e-01 2.58581026e-01 8.08657962e-02 3.38044471e+01] [-2.58039702e-01 9.65980197e-01 -1.72560660e-02 -2.74994468e+00] [-8.25768489e-02 -4.25591641e-03 9.96575612e-01 -2.88008091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.76, Z:-2.88 [[ 9.62804465e-01 2.57815367e-01 8.08628448e-02 3.38354683e+01] [-2.57269377e-01 9.66185219e-01 -1.72797821e-02 -2.75659568e+00] [-8.25834788e-02 -4.16648235e-03 9.96575441e-01 -2.88342052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.736559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.76, Z:-2.89 [[ 9.62977872e-01 2.57179412e-01 8.08230694e-02 3.38676270e+01] [-2.56629914e-01 9.66355024e-01 -1.72931907e-02 -2.76360877e+00] [-8.25512318e-02 -4.08865735e-03 9.96578435e-01 -2.88653707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.77, Z:-2.89 [[ 9.63251720e-01 2.56296881e-01 8.03618825e-02 3.38983442e+01] [-2.55748620e-01 9.66589971e-01 -1.72183222e-02 -2.77073555e+00] [-8.20899919e-02 -3.96686202e-03 9.96617026e-01 -2.88934811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.796559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.78, Z:-2.89 [[ 9.63231422e-01 2.56384833e-01 8.03246184e-02 3.39300459e+01] [-2.55835613e-01 9.66566709e-01 -1.72318633e-02 -2.77772551e+00] [-8.20570904e-02 -3.95162572e-03 9.96619796e-01 -2.89225335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.78, Z:-2.90 [[ 9.63250286e-01 2.56314020e-01 8.03244018e-02 3.39623879e+01] [-2.55762627e-01 9.66585606e-01 -1.72552670e-02 -2.78463693e+00] [-8.20631775e-02 -3.92283920e-03 9.96619409e-01 -2.89525914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.856559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:-2.79, Z:-2.90 [[ 9.63165634e-01 2.56238228e-01 8.15716330e-02 3.39945495e+01] [-2.55667291e-01 9.66605573e-01 -1.75471725e-02 -2.79159454e+00] [-8.33438514e-02 -3.95436488e-03 9.96513003e-01 -2.89767493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.80, Z:-2.90 [[ 9.63681462e-01 2.54467046e-01 8.10219894e-02 3.40252249e+01] [-2.53895500e-01 9.67074169e-01 -1.74535317e-02 -2.79813800e+00] [-8.27956218e-02 -3.75147363e-03 9.96559487e-01 -2.90045941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.916559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.81, Z:-2.90 [[ 9.63816988e-01 2.53845277e-01 8.13596297e-02 3.40557847e+01] [-2.53264828e-01 9.67237794e-01 -1.75492772e-02 -2.80525208e+00] [-8.31489099e-02 -3.69124115e-03 9.96530297e-01 -2.90298555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.81, Z:-2.91 [[ 9.64130822e-01 2.52814770e-01 8.08483143e-02 3.40872137e+01] [-2.52236155e-01 9.67508156e-01 -1.74611007e-02 -2.81235215e+00] [-8.26358276e-02 -3.55808254e-03 9.96573459e-01 -2.90572925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.976559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:34.12, Y:-2.82, Z:-2.91 [[ 9.64399720e-01 2.51587751e-01 8.14664544e-02 3.41184594e+01] [-2.50994025e-01 9.67828315e-01 -1.76168350e-02 -2.81990426e+00] [-8.32777211e-02 -3.45792250e-03 9.96520378e-01 -2.90822142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:34.15, Y:-2.83, Z:-2.91 [[ 9.64442933e-01 2.51570756e-01 8.10060764e-02 3.41501631e+01] [-2.50981973e-01 9.67832878e-01 -1.75376806e-02 -2.82676017e+00] [-8.28123116e-02 -3.41697284e-03 9.96559303e-01 -2.91133896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.036559995000005 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.83, Z:-2.91 [[ 9.64205539e-01 2.52199167e-01 8.18734316e-02 3.41824611e+01] [-2.51597917e-01 9.67669074e-01 -1.77497050e-02 -2.83337480e+00] [-8.37028485e-02 -3.48482098e-03 9.96484666e-01 -2.91349461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.84, Z:-2.92 [[ 9.64107178e-01 2.52701635e-01 8.14814914e-02 3.42144482e+01] [-2.52105964e-01 9.67537964e-01 -1.76881342e-02 -2.84012193e+00] [-8.33062568e-02 -3.48871278e-03 9.96517886e-01 -2.91707069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.096559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.85, Z:-2.92 [[ 9.63955360e-01 2.53441840e-01 8.09771408e-02 3.42462895e+01] [-2.52854104e-01 9.67344269e-01 -1.76030241e-02 -2.84703116e+00] [-8.27941159e-02 -3.50687297e-03 9.96560503e-01 -2.91981618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:34.28, Y:-2.85, Z:-2.92 [[ 9.63767384e-01 2.54081390e-01 8.12100824e-02 3.42770201e+01] [-2.53490446e-01 9.67176333e-01 -1.76786314e-02 -2.85365650e+00] [-8.30362810e-02 -3.54789166e-03 9.96540209e-01 -2.92305718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.156559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.86, Z:-2.93 [[ 9.63711176e-01 2.54437935e-01 8.07595560e-02 3.43094158e+01] [-2.53852955e-01 9.67082636e-01 -1.76026095e-02 -2.86078480e+00] [-8.25799359e-02 -3.53722037e-03 9.96578167e-01 -2.92607610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.87, Z:-2.93 [[ 9.64036939e-01 2.53249225e-01 8.06077628e-02 3.43399274e+01] [-2.52660251e-01 9.67395078e-01 -1.75943240e-02 -2.86880192e+00] [-8.24353019e-02 -3.40479927e-03 9.96590602e-01 -2.92915754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.216559995000004 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.88, Z:-2.93 [[ 9.64332189e-01 2.52184756e-01 8.04131729e-02 3.43714628e+01] [-2.51593090e-01 9.67673532e-01 -1.75742170e-02 -2.87689264e+00] [-8.22456487e-02 -3.28401548e-03 9.96606677e-01 -2.93200210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.88, Z:-2.93 [[ 9.64668814e-01 2.50971105e-01 8.01722162e-02 3.44026022e+01] [-2.50376807e-01 9.67989462e-01 -1.75458270e-02 -2.88477780e+00] [-8.20093560e-02 -3.14735136e-03 9.96626590e-01 -2.93477884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.276559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.89, Z:-2.94 [[ 9.64807766e-01 2.49977622e-01 8.15914385e-02 3.44334058e+01] [-2.49356591e-01 9.68246668e-01 -1.78796214e-02 -2.89287611e+00] [-8.34701437e-02 -3.09496538e-03 9.96505472e-01 -2.93723931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.90, Z:-2.94 [[ 9.65581728e-01 2.47191389e-01 8.09218424e-02 3.44650718e+01] [-2.46568950e-01 9.68962603e-01 -1.77546459e-02 -2.90259894e+00] [-8.27990346e-02 -2.80925209e-03 9.96562305e-01 -2.93785132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.336559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.91, Z:-2.94 [[ 9.65763847e-01 2.46399923e-01 8.11619940e-02 3.44969995e+01] [-2.45769008e-01 9.69164405e-01 -1.78311630e-02 -2.91075883e+00] [-8.30529129e-02 -2.72641012e-03 9.96541409e-01 -2.94099350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.92, Z:-2.94 [[ 9.65945940e-01 2.45564242e-01 8.15269510e-02 3.45276018e+01] [-2.44922599e-01 9.69376717e-01 -1.79360131e-02 -2.91866659e+00] [-8.34347715e-02 -2.64257376e-03 9.96509737e-01 -2.94378466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.396559995000004 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:34.56, Y:-2.93, Z:-2.95 [[ 9.65915783e-01 2.45684586e-01 8.15216823e-02 3.45601093e+01] [-2.45041354e-01 9.69346262e-01 -1.79599258e-02 -2.92590864e+00] [-8.34352149e-02 -2.62840761e-03 9.96509737e-01 -2.94719655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.93, Z:-2.95 [[ 9.66085454e-01 2.45112130e-01 8.12338571e-02 3.45916999e+01] [-2.44470797e-01 9.69491350e-01 -1.79039789e-02 -2.93397341e+00] [-8.31440042e-02 -2.56253218e-03 9.96534248e-01 -2.95061674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.456559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.94, Z:-2.95 [[ 9.66186102e-01 2.44708007e-01 8.12552059e-02 3.46233978e+01] [-2.44062944e-01 9.69593582e-01 -1.79322489e-02 -2.94230762e+00] [-8.31726910e-02 -2.50549510e-03 9.96531999e-01 -2.95338420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:34.65, Y:-2.95, Z:-2.96 [[ 9.66376722e-01 2.43853088e-01 8.15579707e-02 3.46543036e+01] [-2.43198091e-01 9.69809172e-01 -1.80238303e-02 -2.95168702e+00] [-8.34908347e-02 -2.41693279e-03 9.96505614e-01 -2.95545545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.96, Z:-2.96 [[ 9.66335637e-01 2.44002630e-01 8.15975049e-02 3.46864800e+01] [-2.43345667e-01 9.69771577e-01 -1.80547875e-02 -2.96007900e+00] [-8.35363567e-02 -2.40941462e-03 9.96501817e-01 -2.95728526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.97, Z:-2.96 [[ 9.66395419e-01 2.44194899e-01 8.03040792e-02 3.47173854e+01] [-2.43557171e-01 9.69723296e-01 -1.77942099e-02 -2.96779081e+00] [-8.22179917e-02 -2.36239143e-03 9.96611570e-01 -2.96162183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.576559995000004 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.98, Z:-2.96 [[ 9.66096844e-01 2.45494028e-01 7.99347910e-02 3.47494595e+01] [-2.44865559e-01 9.69395009e-01 -1.77249756e-02 -2.97620109e+00] [-8.18397631e-02 -2.44923427e-03 9.96642491e-01 -2.96395009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.98, Z:-2.97 [[ 9.65877969e-01 2.46473543e-01 7.95646955e-02 3.47809485e+01] [-2.45852288e-01 9.69146302e-01 -1.76663059e-02 -2.98377646e+00] [-8.14641074e-02 -2.49766670e-03 9.96673146e-01 -2.96730635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.636559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.99, Z:-2.97 [[ 9.65577830e-01 2.47452925e-01 8.01654855e-02 3.48131342e+01] [-2.46823638e-01 9.68896491e-01 -1.78236058e-02 -2.99190706e+00] [-8.20825611e-02 -2.57665816e-03 9.96622202e-01 -2.96925962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:34.84, Y:-3.00, Z:-2.97 [[ 9.65432280e-01 2.48356059e-01 7.91187723e-02 3.48447738e+01] [-2.47744240e-01 9.68665334e-01 -1.76142512e-02 -2.99954318e+00] [-8.10142180e-02 -2.59585346e-03 9.96709566e-01 -2.97340619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.696559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.01, Z:-2.98 [[ 9.65129780e-01 2.49438208e-01 7.94045848e-02 3.48757676e+01] [-2.48823625e-01 9.68387028e-01 -1.77021894e-02 -3.00805057e+00] [-8.13099723e-02 -2.67282648e-03 9.96685279e-01 -2.97602539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.02, Z:-2.98 [[ 9.64745478e-01 2.50471877e-01 8.08084300e-02 3.49080794e+01] [-2.49837074e-01 9.68119864e-01 -1.80378681e-02 -3.01671723e+00] [-8.27502249e-02 -2.78699003e-03 9.96566422e-01 -2.97773625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.756559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.02, Z:-2.98 [[ 9.64795714e-01 2.50484914e-01 8.01656877e-02 3.49391010e+01] [-2.49858258e-01 9.68116618e-01 -1.79182796e-02 -3.02415944e+00] [-8.20979932e-02 -2.74257969e-03 9.96620488e-01 -2.98216948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:34.97, Y:-3.03, Z:-2.98 [[ 9.64586954e-01 2.51121572e-01 8.06843531e-02 3.49705615e+01] [-2.50487160e-01 9.67951524e-01 -1.80563117e-02 -3.03224520e+00] [-8.26328719e-02 -2.79351179e-03 9.96576141e-01 -2.98459573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.816559995000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.04, Z:-2.99 [[ 9.64092267e-01 2.52658107e-01 8.17923150e-02 3.50024767e+01] [-2.52009610e-01 9.67551148e-01 -1.83284352e-02 -3.04090055e+00] [-8.37690761e-02 -2.94214678e-03 9.96480851e-01 -2.98643275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:35.03, Y:-3.05, Z:-2.99 [[ 9.63978410e-01 2.53414374e-01 8.07884932e-02 3.50339984e+01] [-2.52782478e-01 9.67353328e-01 -1.81261827e-02 -3.04806814e+00] [-8.27444530e-02 -2.94866674e-03 9.96566436e-01 -2.99103111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.876559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.06, Z:-2.99 [[ 9.63656681e-01 2.54563178e-01 8.10147472e-02 3.50652419e+01] [-2.53929674e-01 9.67051394e-01 -1.82022332e-02 -3.05566760e+00] [-8.29790426e-02 -3.03134475e-03 9.96546682e-01 -2.99399139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:35.10, Y:-3.06, Z:-3.00 [[ 9.63408184e-01 2.55649292e-01 8.05488130e-02 3.50970274e+01] [-2.55024986e-01 9.66764667e-01 -1.81200068e-02 -3.06320801e+00] [-8.25041133e-02 -3.08499708e-03 9.96585949e-01 -2.99720639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.936559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.07, Z:-3.00 [[ 9.62969185e-01 2.57182694e-01 8.09160747e-02 3.51280288e+01] [-2.56555983e-01 9.66357480e-01 -1.82277006e-02 -3.07082530e+00] [-8.28817032e-02 -3.20678904e-03 9.96554233e-01 -2.99919021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.08, Z:-3.00 [[ 9.62571849e-01 2.58872276e-01 8.02532244e-02 3.51595635e+01] [-2.58259828e-01 9.65905914e-01 -1.81004832e-02 -3.07804399e+00] [-8.22027774e-02 -3.30316831e-03 9.96610151e-01 -3.00369692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.996559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.09, Z:-3.01 [[ 9.62261952e-01 2.60142439e-01 7.98614205e-02 3.51915229e+01] [-2.59538369e-01 9.65564365e-01 -1.80358793e-02 -3.08564123e+00] [-8.18032393e-02 -3.37186240e-03 9.96642795e-01 -3.00631047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:35.22, Y:-3.09, Z:-3.01 [[ 9.61903247e-01 2.61492372e-01 7.97739468e-02 3.52220998e+01] [-2.60892244e-01 9.65199344e-01 -1.80405944e-02 -3.09300061e+00] [-8.17152389e-02 -3.45909761e-03 9.96649715e-01 -3.00912597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.10, Z:-3.01 [[ 9.61267098e-01 2.63635357e-01 8.03863475e-02 3.52538890e+01] [-2.63031580e-01 9.64615516e-01 -1.82014933e-02 -3.10134495e+00] [-8.23404752e-02 -3.64765141e-03 9.96597582e-01 -3.01026357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:35.28, Y:-3.11, Z:-3.01 [[ 9.60900070e-01 2.65002507e-01 8.02790498e-02 3.52846272e+01] [-2.64402930e-01 9.64240492e-01 -1.82034311e-02 -3.10798742e+00] [-8.22322653e-02 -3.73433770e-03 9.96606196e-01 -3.01471697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.116559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.12, Z:-3.02 [[ 9.60578423e-01 2.65940438e-01 8.10233105e-02 3.53169388e+01] [-2.65331887e-01 9.63981825e-01 -1.83856169e-02 -3.11572113e+00] [-8.29944777e-02 -3.83724100e-03 9.96542619e-01 -3.01755301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.12, Z:-3.02 [[ 9.60294955e-01 2.66821903e-01 8.14841730e-02 3.53484059e+01] [-2.66207537e-01 9.63737913e-01 -1.85143844e-02 -3.12297954e+00] [-8.34694301e-02 -3.91243108e-03 9.96502658e-01 -3.02032342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.176559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.13, Z:-3.02 [[ 9.60107255e-01 2.67313347e-01 8.20830883e-02 3.53790186e+01] [-2.66689804e-01 9.63601511e-01 -1.86728972e-02 -3.13017718e+00] [-8.40869025e-02 -3.96273865e-03 9.96450545e-01 -3.02298124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.14, Z:-3.03 [[ 9.60030067e-01 2.67516580e-01 8.23234443e-02 3.54111094e+01] [-2.66888306e-01 9.63545072e-01 -1.87490225e-02 -3.13782710e+00] [-8.43380235e-02 -3.97153923e-03 9.96429287e-01 -3.02662961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.236559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.15, Z:-3.03 [[ 9.59842571e-01 2.68172285e-01 8.23763625e-02 3.54428875e+01] [-2.67543516e-01 9.63362633e-01 -1.87857551e-02 -3.14556901e+00] [-8.43961284e-02 -4.00789417e-03 9.96424222e-01 -3.02910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:35.47, Y:-3.15, Z:-3.03 [[ 9.59766557e-01 2.68390100e-01 8.25524634e-02 3.54735984e+01] [-2.67757282e-01 9.63301959e-01 -1.88513401e-02 -3.15273437e+00] [-8.45824628e-02 -4.01113745e-03 9.96408409e-01 -3.03214292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.296559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.16, Z:-3.04 [[ 9.59564998e-01 2.68998656e-01 8.29140370e-02 3.55052439e+01] [-2.68360557e-01 9.63131994e-01 -1.89571624e-02 -3.15939274e+00] [-8.49566130e-02 -4.06022764e-03 9.96376379e-01 -3.03549871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.17, Z:-3.04 [[ 9.59314229e-01 2.69790171e-01 8.32434563e-02 3.55370444e+01] [-2.69147834e-01 9.62910310e-01 -1.90572463e-02 -3.16638635e+00] [-8.52974400e-02 -4.12290832e-03 9.96347002e-01 -3.03841198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.356559995000005 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.17, Z:-3.04 [[ 9.59137360e-01 2.70407026e-01 8.32800367e-02 3.55677055e+01] [-2.69764208e-01 9.62737130e-01 -1.90916601e-02 -3.17290823e+00] [-8.53393026e-02 -4.15444866e-03 9.96343286e-01 -3.04126248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.18, Z:-3.04 [[ 9.59068798e-01 2.70677839e-01 8.31898297e-02 3.55995066e+01] [-2.70035408e-01 9.62661039e-01 -1.90945818e-02 -3.17961838e+00] [-8.52520880e-02 -4.15118204e-03 9.96350766e-01 -3.04451472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:-3.19, Z:-3.05 [[ 9.58865122e-01 2.71379927e-01 8.32503020e-02 3.56316477e+01] [-2.70737041e-01 9.62463173e-01 -1.91336192e-02 -3.18754277e+00] [-8.53178300e-02 -4.19238034e-03 9.96344966e-01 -3.04586327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:35.66, Y:-3.19, Z:-3.05 [[ 9.59168153e-01 2.70321788e-01 8.32020769e-02 3.56628017e+01] [-2.69673497e-01 9.62761422e-01 -1.91480759e-02 -3.19409240e+00] [-8.52798920e-02 -4.07117047e-03 9.96348717e-01 -3.05043620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.69, Y:-3.20, Z:-3.05 [[ 9.59024377e-01 2.70911086e-01 8.29423099e-02 3.56945890e+01] [-2.70267078e-01 9.62595693e-01 -1.91112158e-02 -3.20232071e+00] [-8.50173505e-02 -4.08845389e-03 9.96371083e-01 -3.05097858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.21, Z:-3.06 [[ 9.59355201e-01 2.69656131e-01 8.32055814e-02 3.57265437e+01] [-2.69001134e-01 9.62948518e-01 -1.91974403e-02 -3.20871488e+00] [-8.52993988e-02 -3.96523152e-03 9.96347474e-01 -3.05688823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.536559995000005 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.22, Z:-3.06 [[ 9.59420796e-01 2.69387133e-01 8.33205136e-02 3.57584536e+01] [-2.68727147e-01 9.63023981e-01 -1.92492299e-02 -3.21624336e+00] [-8.54251476e-02 -3.92237242e-03 9.96336870e-01 -3.05912938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.22, Z:-3.06 [[ 9.59586125e-01 2.68800650e-01 8.33107436e-02 3.57894917e+01] [-2.68136398e-01 9.63188159e-01 -1.92728551e-02 -3.22323536e+00] [-8.54244777e-02 -3.84467834e-03 9.96337231e-01 -3.06286131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.596559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.23, Z:-3.07 [[ 9.59851824e-01 2.67409047e-01 8.47164565e-02 3.58215777e+01] [-2.66714635e-01 9.63575768e-01 -1.96225108e-02 -3.22995958e+00] [-8.68779616e-02 -3.76041598e-03 9.96211865e-01 -3.06608661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.24, Z:-3.07 [[ 9.59658719e-01 2.68016135e-01 8.49852613e-02 3.58532013e+01] [-2.67317420e-01 9.63406919e-01 -1.97105453e-02 -3.23796077e+00] [-8.71581329e-02 -3.80264416e-03 9.96187231e-01 -3.06617508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.656559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.24, Z:-3.07 [[ 9.59896542e-01 2.66932263e-01 8.57076130e-02 3.58847516e+01] [-2.66214983e-01 9.63708150e-01 -1.99043660e-02 -3.24392906e+00] [-8.79102427e-02 -3.71051864e-03 9.96121489e-01 -3.07162311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.25, Z:-3.07 [[ 9.59814085e-01 2.67202318e-01 8.57895317e-02 3.59153878e+01] [-2.66482397e-01 9.63633298e-01 -1.99499047e-02 -3.25073791e+00] [-8.80003102e-02 -3.71320057e-03 9.96113526e-01 -3.07452898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.716559995000004 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.26, Z:-3.08 [[ 9.59589131e-01 2.67923684e-01 8.60557929e-02 3.59469900e+01] [-2.67200018e-01 9.63432771e-01 -2.00361175e-02 -3.25807163e+00] [-8.82771214e-02 -3.76766885e-03 9.96088829e-01 -3.07694121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.27, Z:-3.08 [[ 9.59583070e-01 2.67924599e-01 8.61204968e-02 3.59793853e+01] [-2.67197548e-01 9.63432603e-01 -2.00771043e-02 -3.26500291e+00] [-8.83504445e-02 -3.74553622e-03 9.96082411e-01 -3.08067077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.776559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.27, Z:-3.08 [[ 9.59565161e-01 2.67901002e-01 8.63930239e-02 3.60117139e+01] [-2.67166919e-01 9.63439225e-01 -2.01667415e-02 -3.27144941e+00] [-8.86371182e-02 -3.73005546e-03 9.96057000e-01 -3.08447285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.28, Z:-3.09 [[ 9.59525144e-01 2.67919619e-01 8.67788913e-02 3.60429183e+01] [-2.67176567e-01 9.63434079e-01 -2.02843973e-02 -3.27823448e+00] [-8.90403293e-02 -3.72189697e-03 9.96021068e-01 -3.08740626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.836559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.29, Z:-3.09 [[ 9.59537991e-01 2.67790748e-01 8.70342433e-02 3.60744554e+01] [-2.67041446e-01 9.63469967e-01 -2.03590019e-02 -3.28516254e+00] [-8.93068318e-02 -3.70651439e-03 9.95997265e-01 -3.09124237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.29, Z:-3.09 [[ 9.59444923e-01 2.67982557e-01 8.74687918e-02 3.61052678e+01] [-2.67224129e-01 9.63416593e-01 -2.04874045e-02 -3.29235989e+00] [-8.97591525e-02 -3.71723551e-03 9.95956564e-01 -3.09429612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.896559995000004 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.30, Z:-3.10 [[ 9.59250309e-01 2.68384407e-01 8.83665907e-02 3.61372420e+01] [-2.67609747e-01 9.63304521e-01 -2.07225417e-02 -3.29892688e+00] [-9.06855434e-02 -3.76965642e-03 9.95872443e-01 -3.09760129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.31, Z:-3.10 [[ 9.59100572e-01 2.68742681e-01 8.89014341e-02 3.61692564e+01] [-2.67957669e-01 9.63204509e-01 -2.08749041e-02 -3.30574550e+00] [-9.12402399e-02 -3.80068859e-03 9.95821657e-01 -3.10145653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.956559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.31, Z:-3.10 [[ 9.58802259e-01 2.69677210e-01 8.92884671e-02 3.61999040e+01] [-2.68886852e-01 9.62942961e-01 -2.09931913e-02 -3.31220356e+00] [-9.16410862e-02 -3.88017557e-03 9.95784543e-01 -3.10466363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.32, Z:-3.11 [[ 9.58173477e-01 2.71869106e-01 8.93911489e-02 3.62324629e+01] [-2.71084095e-01 9.62325633e-01 -2.10425677e-02 -3.31834959e+00] [-9.17442180e-02 -4.07008846e-03 9.95774288e-01 -3.10868784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.016559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.33, Z:-3.11 [[ 9.57700238e-01 2.73528183e-01 8.94012746e-02 3.62647728e+01] [-2.72747829e-01 9.61854798e-01 -2.10705579e-02 -3.32543347e+00] [-9.17544363e-02 -4.20472530e-03 9.95772787e-01 -3.11239989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:36.30, Y:-3.33, Z:-3.12 [[ 9.57172870e-01 2.75222693e-01 8.98474655e-02 3.62965386e+01] [-2.74439487e-01 9.61370600e-01 -2.12023105e-02 -3.33233699e+00] [-9.22120688e-02 -4.36341592e-03 9.95729830e-01 -3.11584027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.076559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.34, Z:-3.12 [[ 9.56422006e-01 2.77980157e-01 8.93531117e-02 3.63286911e+01] [-2.77215107e-01 9.60575907e-01 -2.11118796e-02 -3.34024507e+00] [-9.16991299e-02 -4.57816626e-03 9.95776235e-01 -3.11551675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.36, Y:-3.35, Z:-3.12 [[ 9.55938978e-01 2.79488418e-01 8.98158889e-02 3.63607046e+01] [-2.78719574e-01 9.60137453e-01 -2.12478260e-02 -3.34682532e+00] [-9.21741201e-02 -4.72182124e-03 9.95731709e-01 -3.11934209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.136559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.35, Z:-3.13 [[ 9.55693926e-01 2.80147393e-01 9.03690073e-02 3.63923435e+01] [-2.79369467e-01 9.59945052e-01 -2.14055797e-02 -3.35237279e+00] [-9.27459987e-02 -4.78915890e-03 9.95678283e-01 -3.12609307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.36, Z:-3.13 [[ 9.55150665e-01 2.81905330e-01 9.06454129e-02 3.64247482e+01] [-2.81127972e-01 9.59429462e-01 -2.14981598e-02 -3.35877767e+00] [-9.30283255e-02 -4.94897953e-03 9.95651163e-01 -3.12995136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.37, Z:-3.13 [[ 9.54893185e-01 2.82958946e-01 9.00735263e-02 3.64562627e+01] [-2.82193514e-01 9.59119024e-01 -2.13896914e-02 -3.36724806e+00] [-9.24436371e-02 -4.99329430e-03 9.95705399e-01 -3.13020782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.37, Z:-3.14 [[ 9.55016697e-01 2.82382611e-01 9.05713483e-02 3.64879973e+01] [-2.81603515e-01 9.59289151e-01 -2.15356818e-02 -3.37466058e+00] [-9.29654138e-02 -4.93827439e-03 9.95657092e-01 -3.13542285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.38, Z:-3.14 [[ 9.54994426e-01 2.82622605e-01 9.00561436e-02 3.65192229e+01] [-2.81850837e-01 9.59218635e-01 -2.14409688e-02 -3.38334336e+00] [-9.24432336e-02 -4.90639376e-03 9.95705868e-01 -3.13673138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.39, Z:-3.14 [[ 9.55220427e-01 2.81744062e-01 9.04113914e-02 3.65513057e+01] [-2.80959857e-01 9.59477511e-01 -2.15514606e-02 -3.39201610e+00] [-9.28196928e-02 -4.81557618e-03 9.95671289e-01 -3.13989395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.40, Z:-3.14 [[ 9.55184529e-01 2.81867860e-01 9.04047912e-02 3.65836814e+01] [-2.81081596e-01 9.59441232e-01 -2.15791105e-02 -3.39981804e+00] [-9.28205420e-02 -4.79909046e-03 9.95671289e-01 -3.14330645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:36.62, Y:-3.41, Z:-3.15 [[ 9.55335698e-01 2.81259541e-01 9.07015713e-02 3.66156620e+01] [-2.80464359e-01 9.59620005e-01 -2.16607879e-02 -3.40770809e+00] [-9.31313455e-02 -4.74523421e-03 9.95642524e-01 -3.14782800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.376559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.42, Z:-3.15 [[ 9.55528547e-01 2.80699294e-01 9.04052145e-02 3.66467600e+01] [-2.79904222e-01 9.59784506e-01 -2.16177715e-02 -3.41533263e+00] [-9.28376173e-02 -4.64840342e-03 9.95670412e-01 -3.15165058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.42, Z:-3.15 [[ 9.55517130e-01 2.80844947e-01 9.00729193e-02 3.66782253e+01] [-2.80053998e-01 9.59742030e-01 -2.15637129e-02 -3.42413316e+00] [-9.25028262e-02 -4.62078416e-03 9.95701700e-01 -3.15250068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.43, Z:-3.16 [[ 9.55885066e-01 2.79761818e-01 8.95380679e-02 3.67095974e+01] [-2.78973029e-01 9.60059064e-01 -2.14625762e-02 -3.43343376e+00] [-9.19662430e-02 -4.46294993e-03 9.95752124e-01 -3.15551774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.44, Z:-3.16 [[ 9.56059646e-01 2.79130158e-01 8.96454550e-02 3.67406916e+01] [-2.78334127e-01 9.60243285e-01 -2.15162332e-02 -3.44173012e+00] [-9.20872757e-02 -4.38058716e-03 9.95741304e-01 -3.16056236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.496559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.45, Z:-3.16 [[ 9.56134303e-01 2.79034687e-01 8.91450347e-02 3.67713318e+01] [-2.78244582e-01 9.60271305e-01 -2.14236697e-02 -3.45108163e+00] [-9.15813658e-02 -4.32021739e-03 9.95788225e-01 -3.16146765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.46, Z:-3.17 [[ 9.56718439e-01 2.77050267e-01 8.90672703e-02 3.68023464e+01] [-2.76250637e-01 9.60846670e-01 -2.14304108e-02 -3.46017837e+00] [-9.15172911e-02 -4.10202103e-03 9.95795039e-01 -3.16744237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.47, Z:-3.17 [[ 9.56621332e-01 2.77466722e-01 8.88135412e-02 3.68338588e+01] [-2.76670983e-01 9.60726482e-01 -2.13960986e-02 -3.46987840e+00] [-9.12622264e-02 -4.10416536e-03 9.95818438e-01 -3.16714284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.48, Z:-3.17 [[ 9.56684962e-01 2.77334701e-01 8.85400889e-02 3.68643076e+01] [-2.76540764e-01 9.60764822e-01 -2.13579454e-02 -3.47820995e+00] [-9.09895022e-02 -4.05211861e-03 9.95843608e-01 -3.17076451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:-3.49, Z:-3.17 [[ 9.56595641e-01 2.77724869e-01 8.82818012e-02 3.68959089e+01] [-2.76935824e-01 9.60652067e-01 -2.13109265e-02 -3.48703604e+00] [-9.07266690e-02 -4.06245392e-03 9.95867545e-01 -3.17289349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.50, Z:-3.18 [[ 9.56383538e-01 2.78481240e-01 8.81970886e-02 3.69272139e+01] [-2.77694530e-01 9.60432896e-01 -2.13166548e-02 -3.49561118e+00] [-9.06436737e-02 -4.10495131e-03 9.95874929e-01 -3.17604368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.676559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.51, Z:-3.18 [[ 9.55903443e-01 2.80073098e-01 8.83610069e-02 3.69583829e+01] [-2.79287830e-01 9.59969320e-01 -2.13825435e-02 -3.50508524e+00] [-9.08125309e-02 -4.23850700e-03 9.95858986e-01 -3.17876176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.51, Z:-3.18 [[ 9.55571136e-01 2.81287888e-01 8.80961332e-02 3.69892371e+01] [-2.80510066e-01 9.59613725e-01 -2.13448150e-02 -3.51351023e+00] [-9.05422965e-02 -4.31536300e-03 9.95883261e-01 -3.18173139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.52, Z:-3.18 [[ 9.55163949e-01 2.82763316e-01 8.77880332e-02 3.70211308e+01] [-2.81994956e-01 9.59179547e-01 -2.12941722e-02 -3.52223578e+00] [-9.02256966e-02 -4.41635694e-03 9.95911552e-01 -3.18485463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.53, Z:-3.19 [[ 9.54713862e-01 2.84341484e-01 8.75863139e-02 3.70515638e+01] [-2.83580893e-01 9.58712367e-01 -2.12714483e-02 -3.53018932e+00] [-9.00184375e-02 -4.52965856e-03 9.95929798e-01 -3.18785581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.54, Z:-3.19 [[ 9.53581283e-01 2.88260892e-01 8.71113964e-02 3.70835027e+01] [-2.87522658e-01 9.57539627e-01 -2.11798014e-02 -3.53884887e+00] [-8.95179225e-02 -4.84983806e-03 9.95973404e-01 -3.19041956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.55, Z:-3.19 [[ 9.52920837e-01 2.90485301e-01 8.69492322e-02 3.71154539e+01] [-2.89756689e-01 9.56866264e-01 -2.11663515e-02 -3.54730833e+00] [-8.93473009e-02 -5.02426424e-03 9.95987860e-01 -3.19328253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.856559995000005 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:37.15, Y:-3.56, Z:-3.20 [[ 9.52359790e-01 2.92279945e-01 8.70819410e-02 3.71462521e+01] [-2.91554190e-01 9.56318802e-01 -2.12250661e-02 -3.55509238e+00] [-8.94817586e-02 -5.17520528e-03 9.95975016e-01 -3.19799300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.56, Z:-3.20 [[ 9.51686235e-01 2.94367138e-01 8.74145165e-02 3.71774423e+01] [-2.93642261e-01 9.55677340e-01 -2.13317610e-02 -3.56371868e+00] [-8.98194421e-02 -5.36745293e-03 9.95943602e-01 -3.19935725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.57, Z:-3.20 [[ 9.50602093e-01 2.97774734e-01 8.76690893e-02 3.72092749e+01] [-2.97058676e-01 9.54619197e-01 -2.14086733e-02 -3.57246863e+00] [-9.00655577e-02 -5.69173400e-03 9.95919575e-01 -3.20219341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.58, Z:-3.21 [[ 9.50093647e-01 2.99357406e-01 8.77906844e-02 3.72401672e+01] [-2.98643585e-01 9.54123278e-01 -2.14657914e-02 -3.58050981e+00] [-9.01890792e-02 -5.82361268e-03 9.95907634e-01 -3.20528028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.59, Z:-3.21 [[ 9.49543432e-01 3.01084150e-01 8.78385188e-02 3.72717184e+01] [-3.00374611e-01 9.53578907e-01 -2.15025913e-02 -3.58870217e+00] [-9.02350481e-02 -5.96681663e-03 9.95902622e-01 -3.20860122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.60, Z:-3.21 [[ 9.49072206e-01 3.02525636e-01 8.79783321e-02 3.73035368e+01] [-3.01817521e-01 9.53121807e-01 -2.15639494e-02 -3.59671927e+00] [-9.03777144e-02 -6.08765706e-03 9.95888954e-01 -3.21206974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.036559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.60, Z:-3.22 [[ 9.48402570e-01 3.04498130e-01 8.83937434e-02 3.73340227e+01] [-3.03789208e-01 9.52492243e-01 -2.16943143e-02 -3.60494640e+00] [-9.08002331e-02 -6.27812188e-03 9.95849337e-01 -3.21561299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:-3.61, Z:-3.22 [[ 9.48096544e-01 3.05555638e-01 8.80266699e-02 3.73660389e+01] [-3.04855708e-01 9.52153130e-01 -2.16197483e-02 -3.61354387e+00] [-9.04209053e-02 -6.33782411e-03 9.95883473e-01 -3.21877522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:-3.62, Z:-3.22 [[ 9.47797160e-01 3.06352584e-01 8.84795890e-02 3.73976125e+01] [-3.05646416e-01 9.51896455e-01 -2.17579422e-02 -3.62199825e+00] [-9.08890089e-02 -6.42135342e-03 9.95840326e-01 -3.22182987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.63, Z:-3.23 [[ 9.47579839e-01 3.06851423e-01 8.90766733e-02 3.74290770e+01] [-3.06135378e-01 9.51735320e-01 -2.19319537e-02 -3.63067256e+00] [-9.15072674e-02 -6.48724388e-03 9.95783277e-01 -3.22511165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.64, Z:-3.23 [[ 9.47456809e-01 3.07166980e-01 8.92974891e-02 3.74612271e+01] [-3.06446261e-01 9.51633381e-01 -2.20135608e-02 -3.63913523e+00] [-9.17403105e-02 -6.50798357e-03 9.95761699e-01 -3.22855451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.65, Z:-3.23 [[ 9.47365560e-01 3.07559236e-01 8.89146343e-02 3.74923131e+01] [-3.06843920e-01 9.51506791e-01 -2.19462098e-02 -3.64687026e+00] [-9.13526378e-02 -6.49183159e-03 9.95797445e-01 -3.23480016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.216559995000004 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.66, Z:-3.24 [[ 9.47120737e-01 3.08222964e-01 8.92239596e-02 3.75236068e+01] [-3.07503066e-01 9.51291578e-01 -2.20498971e-02 -3.65508597e+00] [-9.16742860e-02 -6.55272632e-03 9.95767486e-01 -3.23768082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.66, Z:-3.24 [[ 9.46756613e-01 3.09104055e-01 9.00366494e-02 3.75556914e+01] [-3.08372357e-01 9.51004816e-01 -2.22784444e-02 -3.66360151e+00] [-9.25116447e-02 -6.67254924e-03 9.95689245e-01 -3.23916098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.276559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:37.59, Y:-3.67, Z:-3.24 [[ 9.46723748e-01 3.09497404e-01 8.90252856e-02 3.75867130e+01] [-3.08781319e-01 9.50877318e-01 -2.20550173e-02 -3.67142489e+00] [-9.14780954e-02 -6.60933643e-03 9.95785155e-01 -3.24467145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.68, Z:-3.25 [[ 9.46738744e-01 3.09621839e-01 8.84311448e-02 3.76184104e+01] [-3.08913580e-01 9.50837194e-01 -2.19323945e-02 -3.67982811e+00] [-9.08743699e-02 -6.55333384e-03 9.95840802e-01 -3.24914442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.69, Z:-3.25 [[ 9.46493175e-01 3.09812587e-01 9.03705170e-02 3.76504984e+01] [-3.09071206e-01 9.50774103e-01 -2.24409127e-02 -3.68867275e+00] [-9.28744244e-02 -6.69075401e-03 9.95655350e-01 -3.25017053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:37.68, Y:-3.70, Z:-3.26 [[ 9.46285633e-01 3.10610379e-01 8.98036346e-02 3.76811320e+01] [-3.09879336e-01 9.50513701e-01 -2.23271320e-02 -3.69643686e+00] [-9.22946241e-02 -6.70044638e-03 9.95709198e-01 -3.25565131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.396559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:-3.70, Z:-3.26 [[ 9.45937825e-01 3.11127531e-01 9.16585570e-02 3.77131117e+01] [-3.10365903e-01 9.50343363e-01 -2.28144227e-02 -3.70444832e+00] [-9.42052964e-02 -6.86666548e-03 9.95529111e-01 -3.25773206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.71, Z:-3.26 [[ 9.45734954e-01 3.12095804e-01 9.04522299e-02 3.77446260e+01] [-3.11356076e-01 9.50025969e-01 -2.25400038e-02 -3.71137181e+00] [-9.29666080e-02 -6.84598198e-03 9.95645691e-01 -3.26332323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.456559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:37.78, Y:-3.72, Z:-3.27 [[ 9.45371283e-01 3.12838504e-01 9.16799189e-02 3.77753075e+01] [-3.12079274e-01 9.49780640e-01 -2.28749249e-02 -3.71893303e+00] [-9.42319693e-02 -6.98610540e-03 9.95525756e-01 -3.26630833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.73, Z:-3.27 [[ 9.45038599e-01 3.13784390e-01 9.18771064e-02 3.78071294e+01] [-3.13023814e-01 9.49467937e-01 -2.29505661e-02 -3.72691330e+00] [-9.44358961e-02 -7.07055137e-03 9.95505836e-01 -3.26946589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.73, Z:-3.27 [[ 9.44641092e-01 3.14319930e-01 9.41073271e-02 3.78378909e+01] [-3.13521701e-01 9.49289274e-01 -2.35375544e-02 -3.73468273e+00] [-9.67333987e-02 -7.27014816e-03 9.95283776e-01 -3.27144437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.74, Z:-3.27 [[ 9.44257330e-01 3.15433572e-01 9.42324618e-02 3.78694040e+01] [-3.14636085e-01 9.48919053e-01 -2.35958713e-02 -3.74196508e+00] [-9.68619083e-02 -7.36835844e-03 9.95270555e-01 -3.27491598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.576559995000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.75, Z:-3.28 [[ 9.44144966e-01 3.15955505e-01 9.36076971e-02 3.79005293e+01] [-3.15168335e-01 9.48745577e-01 -2.34680588e-02 -3.74907424e+00] [-9.62247510e-02 -7.34493251e-03 9.95332532e-01 -3.27922871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.76, Z:-3.28 [[ 9.44001967e-01 3.16303599e-01 9.38739563e-02 3.79328137e+01] [-3.15511055e-01 9.48629341e-01 -2.35615819e-02 -3.75653047e+00] [-9.65042024e-02 -7.37609128e-03 9.95305246e-01 -3.28267538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:-3.76, Z:-3.28 [[ 9.44370107e-01 3.15510379e-01 9.28348028e-02 3.79634236e+01] [-3.14997290e-01 9.48870811e-01 -2.05156384e-02 -3.76369829e+00] [-9.45611315e-02 -9.86835558e-03 9.95470144e-01 -3.28280755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.77, Z:-3.29 [[ 9.44233933e-01 3.16293261e-01 9.15469948e-02 3.79945397e+01] [-3.15594608e-01 9.48629833e-01 -2.23937991e-02 -3.76974818e+00] [-9.39272182e-02 -7.74675293e-03 9.95548927e-01 -3.28662181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.696559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:38.03, Y:-3.78, Z:-3.29 [[ 9.44234784e-01 3.16906378e-01 8.93925044e-02 3.80251901e+01] [-3.16316845e-01 9.48419735e-01 -2.10632338e-02 -3.77751424e+00] [-9.14566884e-02 -8.38771694e-03 9.95773729e-01 -3.29280472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.79, Z:-3.30 [[ 9.43592013e-01 3.18089675e-01 9.19405886e-02 3.80581753e+01] [-3.16997100e-01 9.48052176e-01 -2.66441379e-02 -3.78503946e+00] [-9.56397003e-02 -4.00370425e-03 9.95407966e-01 -3.29899442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.79, Z:-3.30 [[ 9.43903127e-01 3.16415744e-01 9.44878996e-02 3.80901393e+01] [-3.15599385e-01 9.48592530e-01 -2.38587600e-02 -3.79427399e+00] [-9.71798031e-02 -7.29996483e-03 9.95240070e-01 -3.30184577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.80, Z:-3.31 [[ 9.44126689e-01 3.15705193e-01 9.46310033e-02 3.81215148e+01] [-3.14880012e-01 9.48829932e-01 -2.39235878e-02 -3.80212664e+00] [-9.73415294e-02 -7.21051377e-03 9.95224917e-01 -3.30534973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.81, Z:-3.31 [[ 9.44315528e-01 3.15060191e-01 9.48960488e-02 3.81530301e+01] [-3.14224338e-01 9.49044857e-01 -2.40192594e-02 -3.81014375e+00] [-9.76281195e-02 -7.13688845e-03 9.95197375e-01 -3.30882899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.82, Z:-3.31 [[ 9.44460838e-01 3.14443325e-01 9.54940853e-02 3.81833760e+01] [-3.13590897e-01 9.49249768e-01 -2.41997405e-02 -3.81786199e+00] [-9.82571851e-02 -7.09036862e-03 9.95135796e-01 -3.31254927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:-3.83, Z:-3.32 [[ 9.44487372e-01 3.14099538e-01 9.63591396e-02 3.82153732e+01] [-3.13227096e-01 9.49363559e-01 -2.44462376e-02 -3.82572289e+00] [-9.91584077e-02 -7.09313075e-03 9.95046380e-01 -3.31624653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:-3.83, Z:-3.32 [[ 9.44388329e-01 3.14465206e-01 9.61369732e-02 3.82470212e+01] [-3.13595774e-01 9.49242543e-01 -2.44189405e-02 -3.83324045e+00] [-9.89362121e-02 -7.08718608e-03 9.95068539e-01 -3.31989308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:-3.84, Z:-3.32 [[ 9.44740000e-01 3.12982709e-01 9.75097784e-02 3.82751110e+01] [-3.12912835e-01 9.49640155e-01 -1.64052884e-02 -3.84077638e+00] [-9.77337726e-02 -1.50133290e-02 9.95099347e-01 -3.31833099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:-3.84, Z:-3.33 [[ 9.43935307e-01 3.16285086e-01 9.46038117e-02 3.83100113e+01] [-3.14721115e-01 9.48664182e-01 -3.14147996e-02 -3.84405813e+00] [-9.96832802e-02 -1.20278628e-04 9.95019210e-01 -3.32918288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.996559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:-3.85, Z:-3.33 [[ 9.43837460e-01 3.15614166e-01 9.77678251e-02 3.83375666e+01] [-3.15501953e-01 9.48772383e-01 -1.70142084e-02 -3.85383068e+00] [-9.81293376e-02 -1.47872925e-02 9.95063802e-01 -3.32646544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:-3.86, Z:-3.34 [[ 9.43165470e-01 3.18543111e-01 9.47057689e-02 3.83725268e+01] [-3.17034688e-01 9.47908027e-01 -3.09738456e-02 -3.85691979e+00] [-9.96388637e-02 -8.11552244e-04 9.95023336e-01 -3.33714071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:-3.87, Z:-3.34 [[ 9.42606768e-01 3.19783930e-01 9.60766266e-02 3.84044850e+01] [-3.18931570e-01 9.47460564e-01 -2.45179966e-02 -3.86643112e+00] [-9.88692762e-02 -7.53103991e-03 9.95071932e-01 -3.33961008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.87, Z:-3.34 [[ 9.42243817e-01 3.20918490e-01 9.58535988e-02 3.84363056e+01] [-3.20073041e-01 9.47076286e-01 -2.44899288e-02 -3.87340921e+00] [-9.86399413e-02 -7.60466884e-03 9.95094132e-01 -3.34300765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.88, Z:-3.35 [[ 9.41746624e-01 3.22507217e-01 9.54064502e-02 3.84685851e+01] [-3.21674872e-01 9.46535629e-01 -2.44045073e-02 -3.88049930e+00] [-9.81762341e-02 -7.70699527e-03 9.95139201e-01 -3.34636514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:-3.89, Z:-3.34 [[ 9.41557586e-01 3.22512117e-01 9.72380936e-02 3.84954826e+01] [-3.23059487e-01 9.46320444e-01 -1.04969077e-02 -3.89040726e+00] [-9.54037758e-02 -2.15302455e-02 9.95205792e-01 -3.34031697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.176559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.89, Z:-3.36 [[ 9.40211026e-01 3.27889886e-01 9.21490556e-02 3.85323238e+01] [-3.25833005e-01 9.44704066e-01 -3.69740595e-02 -3.88530671e+00] [-9.91770076e-02 4.73821477e-03 9.95058526e-01 -3.35616643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:-3.90, Z:-3.36 [[ 9.40284975e-01 3.26755800e-01 9.53667311e-02 3.85632802e+01] [-3.25938638e-01 9.45074278e-01 -2.44665794e-02 -3.89993027e+00] [-9.81232412e-02 -8.07814539e-03 9.95141484e-01 -3.35648748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:-3.91, Z:-3.36 [[ 9.39656999e-01 3.28483439e-01 9.56208864e-02 3.85949876e+01] [-3.27669558e-01 9.44473532e-01 -2.45440095e-02 -3.90635217e+00] [-9.83736969e-02 -8.26910328e-03 9.95115188e-01 -3.35972130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-3.91, Z:-3.36 [[ 9.39062661e-01 3.30103048e-01 9.58816774e-02 3.86258633e+01] [-3.29290153e-01 9.43907223e-01 -2.46404022e-02 -3.91240036e+00] [-9.86372797e-02 -8.43401054e-03 9.95087712e-01 -3.36299855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:-3.92, Z:-3.37 [[ 9.38555445e-01 3.31541422e-01 9.58851454e-02 3.86577811e+01] [-3.30734138e-01 9.43401751e-01 -2.46590009e-02 -3.91861543e+00] [-9.86336943e-02 -8.56865141e-03 9.95086917e-01 -3.36627325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:-3.93, Z:-3.36 [[ 9.37915940e-01 3.32143074e-01 9.99733302e-02 3.86854922e+01] [-3.32989029e-01 9.42891536e-01 -8.59404602e-03 -3.92855598e+00] [-9.71184597e-02 -2.52295294e-02 9.94953002e-01 -3.36083025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.356559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:-3.92, Z:-3.38 [[ 9.37332852e-01 3.35988542e-01 9.22974748e-02 3.87221810e+01] [-3.33684460e-01 9.41843467e-01 -3.98191471e-02 -3.92177130e+00] [-1.00308551e-01 6.52556163e-03 9.94934979e-01 -3.37664477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.75, Y:-3.93, Z:-3.38 [[ 9.37193515e-01 3.35278815e-01 9.62103492e-02 3.87534605e+01] [-3.34478630e-01 9.42076656e-01 -2.48116927e-02 -3.93459063e+00] [-9.89563590e-02 -8.92694836e-03 9.95051732e-01 -3.37674884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.94, Z:-3.38 [[ 9.37077478e-01 3.35706286e-01 9.58493056e-02 3.87858968e+01] [-3.34911442e-01 9.41924566e-01 -2.47474783e-02 -3.94132695e+00] [-9.85906997e-02 -8.91072460e-03 9.95088173e-01 -3.38024204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.95, Z:-3.38 [[ 9.37041514e-01 3.35803210e-01 9.58613875e-02 3.88179127e+01] [-3.35005743e-01 9.41890173e-01 -2.47801047e-02 -3.94790887e+00] [-9.86121376e-02 -8.89412855e-03 9.95086198e-01 -3.38380768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.95, Z:-3.39 [[ 9.37118570e-01 3.35786857e-01 9.51628680e-02 3.88495536e+01] [-3.34998031e-01 9.41896892e-01 -2.46285239e-02 -3.95471950e+00] [-9.79035442e-02 -8.79952631e-03 9.95157005e-01 -3.38718168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.96, Z:-3.39 [[ 9.37311748e-01 3.35310599e-01 9.49393969e-02 3.88813203e+01] [-3.34520214e-01 9.42067452e-01 -2.45996393e-02 -3.96165179e+00] [-9.76878355e-02 -8.70161644e-03 9.95179064e-01 -3.39068221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.536559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:-3.97, Z:-3.39 [[ 9.37856942e-01 3.33721858e-01 9.51529214e-02 3.89124421e+01] [-3.32916949e-01 9.42633013e-01 -2.46841429e-02 -3.96757460e+00] [-9.79319231e-02 -8.52782558e-03 9.95156578e-01 -3.39428870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:-3.98, Z:-3.40 [[ 9.38216078e-01 3.32839806e-01 9.47008638e-02 3.89448423e+01] [-3.32035465e-01 9.42946238e-01 -2.45935577e-02 -3.97502164e+00] [-9.74835382e-02 -8.36997413e-03 9.95201941e-01 -3.39755935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.596559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.98, Z:-3.40 [[ 9.38811505e-01 3.31917867e-01 9.19972116e-02 3.89769241e+01] [-3.31151853e-01 9.43274279e-01 -2.39182965e-02 -3.98230862e+00] [-9.47175134e-02 -8.01027515e-03 9.95471963e-01 -3.40127728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.99, Z:-3.40 [[ 9.39535055e-01 3.29821104e-01 9.21516133e-02 3.90087507e+01] [-3.29039894e-01 9.44011345e-01 -2.39859996e-02 -3.98871841e+00] [-9.49032573e-02 -7.78586964e-03 9.95456052e-01 -3.40461677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:-4.00, Z:-3.41 [[ 9.39563506e-01 3.29118142e-01 9.43486489e-02 3.90403588e+01] [-3.28292920e-01 9.44255929e-01 -2.45865711e-02 -3.99605416e+00] [-9.71811577e-02 -7.87334859e-03 9.95235567e-01 -3.40781808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:39.07, Y:-4.00, Z:-3.41 [[ 9.39918237e-01 3.28533299e-01 9.28416899e-02 3.90729348e+01] [-3.27728817e-01 9.44461315e-01 -2.42207961e-02 -4.00286169e+00] [-9.56427226e-02 -7.66132924e-03 9.95386243e-01 -3.41132308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.716559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:-4.01, Z:-3.41 [[ 9.40051997e-01 3.27793774e-01 9.40929550e-02 3.91041110e+01] [-3.26960905e-01 9.44718237e-01 -2.45768108e-02 -4.00949773e+00] [-9.69474562e-02 -7.66123761e-03 9.95260014e-01 -3.41499019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:-4.02, Z:-3.42 [[ 9.40336499e-01 3.26993059e-01 9.40362108e-02 3.91362751e+01] [-3.26155552e-01 9.44996518e-01 -2.45791721e-02 -4.01542892e+00] [-9.69011104e-02 -7.55773964e-03 9.95265319e-01 -3.41857712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.776559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:39.17, Y:-4.02, Z:-3.42 [[ 9.40527135e-01 3.26772317e-01 9.28900486e-02 3.91687622e+01] [-3.25951297e-01 9.45074001e-01 -2.43081183e-02 -4.02257233e+00] [-9.57311901e-02 -7.41518697e-03 9.95379603e-01 -3.42214429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:39.20, Y:-4.03, Z:-3.43 [[ 9.40746241e-01 3.26740940e-01 9.07571943e-02 3.92009813e+01] [-3.25954492e-01 9.45086404e-01 -2.37772625e-02 -4.02827089e+00] [-9.35423955e-02 -7.21434479e-03 9.95589159e-01 -3.42536064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.836559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:39.23, Y:-4.03, Z:-3.43 [[ 9.40620793e-01 3.27274042e-01 9.01344843e-02 3.92317572e+01] [-3.26498158e-01 9.44902111e-01 -2.36421928e-02 -4.03472583e+00] [-9.29057405e-02 -7.19040498e-03 9.95648945e-01 -3.42846453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:-4.04, Z:-3.43 [[ 9.39932834e-01 3.28456993e-01 9.29638204e-02 3.92634741e+01] [-3.27634673e-01 9.44489051e-01 -2.44121481e-02 -4.04164862e+00] [-9.58216513e-02 -7.51239136e-03 9.95370170e-01 -3.43174138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.896559995000004 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.05, Z:-3.44 [[ 9.39830099e-01 3.29367984e-01 9.07530492e-02 3.92956976e+01] [-3.28586049e-01 9.44172656e-01 -2.38579985e-02 -4.04801488e+00] [-9.35446084e-02 -7.39772078e-03 9.95587605e-01 -3.43560730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.05, Z:-3.44 [[ 9.39626763e-01 3.30224511e-01 8.97402821e-02 3.93274589e+01] [-3.29461224e-01 9.43873625e-01 -2.36195268e-02 -4.05425742e+00] [-9.25032321e-02 -7.37240364e-03 9.95685091e-01 -3.43925104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.956559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.06, Z:-3.44 [[ 9.39078722e-01 3.31506284e-01 9.07454588e-02 3.93601906e+01] [-3.30729039e-01 9.43422751e-01 -2.39126866e-02 -4.06012956e+00] [-9.35385363e-02 -7.55626319e-03 9.95586985e-01 -3.44265325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.07, Z:-3.45 [[ 9.38978025e-01 3.31722425e-01 9.09972609e-02 3.93910956e+01] [-3.30939149e-01 9.43346650e-01 -2.40078640e-02 -4.06719685e+00] [-9.38059081e-02 -7.57169932e-03 9.95561711e-01 -3.44548910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.016559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.07, Z:-3.45 [[ 9.38989514e-01 3.31832569e-01 9.04756293e-02 3.94228652e+01] [-3.31056312e-01 9.43308372e-01 -2.38963223e-02 -4.07442846e+00] [-9.32759965e-02 -7.51413215e-03 9.95611936e-01 -3.44868131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.08, Z:-3.45 [[ 9.39045276e-01 3.31580206e-01 9.08214601e-02 3.94549730e+01] [-3.30794150e-01 9.43397293e-01 -2.40161854e-02 -4.08153986e+00] [-9.36440114e-02 -7.49092226e-03 9.95577564e-01 -3.45178778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.076559995000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.49, Y:-4.09, Z:-3.45 [[ 9.38781613e-01 3.31646475e-01 9.32721773e-02 3.94859502e+01] [-3.30814791e-01 9.43372537e-01 -2.46947588e-02 -4.08763570e+00] [-9.61803402e-02 -7.67283037e-03 9.95334351e-01 -3.45442324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:39.52, Y:-4.09, Z:-3.46 [[ 9.38960594e-01 3.31708307e-01 9.12283014e-02 3.95175702e+01] [-3.30911421e-01 9.43352237e-01 -2.41700076e-02 -4.09446442e+00] [-9.40778145e-02 -7.49380213e-03 9.95536643e-01 -3.45792201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.136559995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.10, Z:-3.46 [[ 9.38841434e-01 3.32198049e-01 9.06709272e-02 3.95497572e+01] [-3.31410537e-01 9.43180075e-01 -2.40500158e-02 -4.10207401e+00] [-9.35083803e-02 -7.47014927e-03 9.95590468e-01 -3.46090627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.11, Z:-3.46 [[ 9.38793357e-01 3.32360942e-01 9.05717178e-02 3.95812625e+01] [-3.31573223e-01 9.43122837e-01 -2.40522718e-02 -4.10859395e+00] [-9.34142912e-02 -7.45104337e-03 9.95599444e-01 -3.46426081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.196559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.12, Z:-3.47 [[ 9.38806650e-01 3.32376708e-01 9.03758667e-02 3.96132405e+01] [-3.31590949e-01 9.43117518e-01 -2.40164554e-02 -4.11606944e+00] [-9.32175734e-02 -7.42101132e-03 9.95618106e-01 -3.46751735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:39.65, Y:-4.12, Z:-3.47 [[ 9.38951360e-01 3.32226535e-01 8.94196509e-02 3.96451459e+01] [-3.31454174e-01 9.43171360e-01 -2.37890124e-02 -4.12232460e+00] [-9.22413948e-02 -7.30179101e-03 9.95709902e-01 -3.47141326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.256559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:39.68, Y:-4.13, Z:-3.47 [[ 9.38831518e-01 3.32606053e-01 8.92669795e-02 3.96770172e+01] [-3.31835514e-01 9.43037599e-01 -2.37755816e-02 -4.12986574e+00] [-9.20900204e-02 -7.30068866e-03 9.95723922e-01 -3.47466503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:39.71, Y:-4.14, Z:-3.48 [[ 9.38835663e-01 3.32639693e-01 8.90978769e-02 3.97077414e+01] [-3.31869701e-01 9.43026016e-01 -2.37578492e-02 -4.13717609e+00] [-9.19244195e-02 -7.26416960e-03 9.95739490e-01 -3.47779696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.316559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:39.74, Y:-4.15, Z:-3.48 [[ 9.38716395e-01 3.32833552e-01 8.96289908e-02 3.97396344e+01] [-3.32052863e-01 9.42957313e-01 -2.39249174e-02 -4.14504896e+00] [-9.24793276e-02 -7.30285073e-03 9.95687824e-01 -3.48114708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.77, Y:-4.15, Z:-3.48 [[ 9.38772563e-01 3.32981518e-01 8.84838079e-02 3.97717205e+01] [-3.32218889e-01 9.42905878e-01 -2.36455989e-02 -4.15273323e+00] [-9.13054501e-02 -7.19815284e-03 9.95796918e-01 -3.48447509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.376559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.16, Z:-3.49 [[ 9.38890333e-01 3.32534814e-01 8.89131044e-02 3.98023214e+01] [-3.31760195e-01 9.43063777e-01 -2.37883684e-02 -4.15982306e+00] [-9.17611887e-02 -7.16315971e-03 9.95755278e-01 -3.48775270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.17, Z:-3.49 [[ 9.39183134e-01 3.31834115e-01 8.84373288e-02 3.98337706e+01] [-3.31062376e-01 9.43311541e-01 -2.36862735e-02 -4.16762466e+00] [-9.12838666e-02 -7.03252362e-03 9.95800080e-01 -3.49108281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.436559995 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.18, Z:-3.49 [[ 9.40034637e-01 3.29405546e-01 8.84695850e-02 3.98649270e+01] [-3.28619979e-01 9.44164245e-01 -2.37231331e-02 -4.17567927e+00] [-9.13443506e-02 -6.77230630e-03 9.95796337e-01 -3.49432588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:39.90, Y:-4.18, Z:-3.50 [[ 9.40487867e-01 3.27859734e-01 8.93899658e-02 3.98953161e+01] [-3.27048248e-01 9.44702898e-01 -2.39974572e-02 -4.18394469e+00] [-9.23147597e-02 -6.66551434e-03 9.95707566e-01 -3.49720191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.496559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.19, Z:-3.50 [[ 9.40914905e-01 3.26270013e-01 9.07029239e-02 3.99270390e+01] [-3.25425581e-01 9.45253644e-01 -2.43667865e-02 -4.19283455e+00] [-9.36874211e-02 -6.58997909e-03 9.95579851e-01 -3.50015075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.20, Z:-3.50 [[ 9.41611830e-01 3.24635484e-01 8.93250466e-02 3.99579315e+01] [-3.23806614e-01 9.45818210e-01 -2.40247762e-02 -4.20095552e+00] [-9.22845506e-02 -6.30202735e-03 9.95712733e-01 -3.50357031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.556559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.21, Z:-3.51 [[ 9.43043974e-01 3.20561095e-01 8.89305749e-02 3.99892205e+01] [-3.19720055e-01 9.47209705e-01 -2.39345014e-02 -4.21029067e+00] [-9.19083736e-02 -5.86160097e-03 9.95750216e-01 -3.50676497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.22, Z:-3.51 [[ 9.43592046e-01 3.18883311e-01 8.91486651e-02 4.00195735e+01] [-3.18028146e-01 9.47776927e-01 -2.40207302e-02 -4.21904900e+00] [-9.21528578e-02 -5.68601469e-03 9.95728638e-01 -3.51002750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.616559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.23, Z:-3.51 [[ 9.44934011e-01 3.15175349e-01 8.81147816e-02 4.00511202e+01] [-3.14321627e-01 9.49018998e-01 -2.37667021e-02 -4.22859647e+00] [-9.11132803e-02 -5.23841639e-03 9.95826757e-01 -3.51362728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.24, Z:-3.52 [[ 9.45775645e-01 3.12951341e-01 8.70050985e-02 4.00814538e+01] [-3.12107298e-01 9.49756337e-01 -2.34933083e-02 -4.23736151e+00] [-8.99859060e-02 -4.93552741e-03 9.95930809e-01 -3.51689103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.676559995000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.25, Z:-3.52 [[ 9.46480353e-01 3.10615732e-01 8.77086607e-02 4.01124805e+01] [-3.09745759e-01 9.50523807e-01 -2.37077289e-02 -4.24690686e+00] [-9.07331636e-02 -4.72848602e-03 9.95864014e-01 -3.51992293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.26, Z:-3.52 [[ 9.47421228e-01 3.08031595e-01 8.66576802e-02 4.01434852e+01] [-3.07169324e-01 9.51365941e-01 -2.34489269e-02 -4.25640763e+00] [-8.96661759e-02 -4.40256997e-03 9.95962145e-01 -3.52337516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.736559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.27, Z:-3.53 [[ 9.49071743e-01 3.02975186e-01 8.64225874e-02 4.01743369e+01] [-3.02094412e-01 9.52990509e-01 -2.34106121e-02 -4.26739083e+00] [-8.94527400e-02 -3.88943036e-03 9.95983474e-01 -3.52669860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.28, Z:-3.53 [[ 9.50520272e-01 2.98065029e-01 8.75696967e-02 4.02047114e+01] [-2.97137361e-01 9.54539346e-01 -2.37492252e-02 -4.27872798e+00] [-9.06675345e-02 -3.44610861e-03 9.95875255e-01 -3.52896179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.29, Z:-3.53 [[ 9.51097752e-01 2.95696581e-01 8.93117999e-02 4.02362360e+01] [-2.94718741e-01 9.55276351e-01 -2.42478377e-02 -4.28897373e+00] [-9.24874530e-02 -3.25979729e-03 9.95708514e-01 -3.53153795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.30, Z:-3.53 [[ 9.52272065e-01 2.92497837e-01 8.73093902e-02 4.02669441e+01] [-2.91547573e-01 9.56261918e-01 -2.37309325e-02 -4.30023485e+00] [-9.04318914e-02 -2.85653672e-03 9.95898546e-01 -3.53430688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.856559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.31, Z:-3.54 [[ 9.52653535e-01 2.91474160e-01 8.65682178e-02 4.02972841e+01] [-2.90533201e-01 9.56574869e-01 -2.35580094e-02 -4.30973437e+00] [-8.96755326e-02 -2.70832052e-03 9.95967351e-01 -3.53747375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.32, Z:-3.54 [[ 9.52985580e-01 2.90609075e-01 8.58187031e-02 4.03285662e+01] [-2.89679506e-01 9.56838367e-01 -2.33692715e-02 -4.31933274e+00] [-8.89059502e-02 -2.58934073e-03 9.96036660e-01 -3.54074343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.916559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.33, Z:-3.54 [[ 9.52948888e-01 2.90731522e-01 8.58114137e-02 4.03606813e+01] [-2.89800043e-01 9.56801214e-01 -2.33960063e-02 -4.32816368e+00] [-8.89064213e-02 -2.57295317e-03 9.96036660e-01 -3.54416809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.34, Z:-3.55 [[ 9.53468551e-01 2.88804526e-01 8.65428650e-02 4.03920287e+01] [-2.87848272e-01 9.57385066e-01 -2.36052377e-02 -4.33918808e+00] [-8.96721460e-02 -2.40436238e-03 9.95968436e-01 -3.54667512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.976559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.36, Z:-3.53 [[ 9.54718377e-01 2.84633187e-01 8.65838859e-02 4.04197629e+01] [-2.86459827e-01 9.58048127e-01 9.19535388e-03 -4.36287193e+00] [-8.03342268e-02 -3.35817783e-02 9.96202126e-01 -3.53157287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.34, Z:-3.56 [[ 9.53357904e-01 2.91578635e-01 7.80423330e-02 4.04565320e+01] [-2.87959052e-01 9.56094106e-01 -5.44393766e-02 -4.34240759e+00] [-9.04891737e-02 2.94272138e-02 9.95462580e-01 -3.55877844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.036559995000005 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.37, Z:-3.56 [[ 9.53378286e-01 2.89133708e-01 8.64380865e-02 4.04849210e+01] [-2.88175547e-01 9.57285782e-01 -2.36386436e-02 -4.36689153e+00] [-8.95806799e-02 -2.37277336e-03 9.95976743e-01 -3.55580135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.38, Z:-3.56 [[ 9.52689079e-01 2.91122128e-01 8.73580256e-02 4.05157622e+01] [-2.90149226e-01 9.56682472e-01 -2.39181009e-02 -4.37584772e+00] [-9.05369803e-02 -2.56035000e-03 9.95889803e-01 -3.55807961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.096559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.38, Z:-3.56 [[ 9.52631507e-01 2.91312476e-01 8.73513239e-02 4.05478554e+01] [-2.90338132e-01 9.56624547e-01 -2.39425497e-02 -4.38471246e+00] [-9.05371841e-02 -2.55299304e-03 9.95889803e-01 -3.56151631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.39, Z:-3.56 [[ 9.52166269e-01 2.92531658e-01 8.83437922e-02 4.05788511e+01] [-2.91538467e-01 9.56252081e-01 -2.42338717e-02 -4.39352442e+00] [-9.15681097e-02 -2.68093851e-03 9.95795207e-01 -3.56352305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.156559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.40, Z:-3.57 [[ 9.51758194e-01 2.94216096e-01 8.71391302e-02 4.06099302e+01] [-2.93255513e-01 9.55734852e-01 -2.39185283e-02 -4.40195527e+00] [-9.03191198e-02 -2.78937501e-03 9.95908970e-01 -3.56778829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.41, Z:-3.57 [[ 9.50707648e-01 2.97409390e-01 8.77645907e-02 4.06416752e+01] [-2.96446018e-01 9.54745051e-01 -2.41173176e-02 -4.41087901e+00] [-9.09655254e-02 -3.08894522e-03 9.95849251e-01 -3.56967631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.216559995000004 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.42, Z:-3.57 [[ 9.50094299e-01 2.99900486e-01 8.59099650e-02 4.06729485e+01] [-2.98985279e-01 9.53965018e-01 -2.36336143e-02 -4.41945515e+00] [-8.90428337e-02 -3.23165270e-03 9.96022555e-01 -3.57427132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.43, Z:-3.58 [[ 9.49478187e-01 3.01530078e-01 8.70102570e-02 4.07039755e+01] [-3.00595579e-01 9.53450596e-01 -2.39637006e-02 -4.42789626e+00] [-9.01857579e-02 -3.40188761e-03 9.95919151e-01 -3.57643196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.276559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:40.74, Y:-4.44, Z:-3.58 [[ 9.48438265e-01 3.05269796e-01 8.52948372e-02 4.07358191e+01] [-3.04384790e-01 9.52258870e-01 -2.35147746e-02 -4.43600966e+00] [-8.84011158e-02 -3.66013908e-03 9.96078233e-01 -3.58130378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.77, Y:-4.44, Z:-3.58 [[ 9.47977341e-01 3.06598209e-01 8.56533649e-02 4.07669933e+01] [-3.05708731e-01 9.51831547e-01 -2.36406056e-02 -4.44479746e+00] [-8.87757421e-02 -3.77422304e-03 9.96044488e-01 -3.58449832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.336559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:40.80, Y:-4.45, Z:-3.59 [[ 9.47891891e-01 3.06631561e-01 8.64757144e-02 4.07984371e+01] [-3.05722580e-01 9.51820749e-01 -2.38948943e-02 -4.45429458e+00] [-8.96363080e-02 -3.78780195e-03 9.95967361e-01 -3.58763278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.46, Z:-3.59 [[ 9.47908784e-01 3.06348432e-01 8.72901773e-02 4.08292009e+01] [-3.05418524e-01 9.51911983e-01 -2.41475227e-02 -4.46377945e+00] [-9.04901214e-02 -3.77038824e-03 9.95890216e-01 -3.59028934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.396559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:40.86, Y:-4.47, Z:-3.59 [[ 9.47928304e-01 3.06366095e-01 8.70157789e-02 4.08608765e+01] [-3.05439855e-01 9.51906432e-01 -2.40964654e-02 -4.47378429e+00] [-9.02132197e-02 -3.73636527e-03 9.95915466e-01 -3.59347445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.48, Z:-3.60 [[ 9.48029154e-01 3.05897738e-01 8.75631026e-02 4.08925029e+01] [-3.04955395e-01 9.52057224e-01 -2.42744495e-02 -4.48358634e+00] [-9.07905836e-02 -3.68995466e-03 9.95863170e-01 -3.59688758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.456559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:40.92, Y:-4.49, Z:-3.60 [[ 9.48673992e-01 3.03880692e-01 8.76024125e-02 4.09226723e+01] [-3.02926434e-01 9.52703767e-01 -2.43126991e-02 -4.49298243e+00] [-9.08473083e-02 -3.47226118e-03 9.95858780e-01 -3.59995971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:40.95, Y:-4.50, Z:-3.60 [[ 9.49058655e-01 3.02511283e-01 8.81736569e-02 4.09546518e+01] [-3.01536310e-01 9.53139956e-01 -2.44965031e-02 -4.50222212e+00] [-9.14523040e-02 -3.33894083e-03 9.95803860e-01 -3.60265111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.516559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.51, Z:-3.61 [[ 9.49587976e-01 3.00880038e-01 8.80561155e-02 4.09846819e+01] [-2.99897990e-01 9.53656795e-01 -2.44931091e-02 -4.51126510e+00] [-9.13448005e-02 -3.14949019e-03 9.95814344e-01 -3.60647280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:41.02, Y:-4.52, Z:-3.61 [[ 9.50589316e-01 2.97566876e-01 8.85093564e-02 4.10154858e+01] [-2.96558834e-01 9.54696782e-01 -2.46355877e-02 -4.52167617e+00] [-9.18303326e-02 -2.82990508e-03 9.95770647e-01 -3.60981301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.576559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:41.05, Y:-4.53, Z:-3.61 [[ 9.50976757e-01 2.96240994e-01 8.87946061e-02 4.10466235e+01] [-2.95218092e-01 9.55109455e-01 -2.47428359e-02 -4.53149273e+00] [-9.21384101e-02 -2.68391237e-03 9.95742592e-01 -3.61309667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:41.08, Y:-4.54, Z:-3.61 [[ 9.51767535e-01 2.93581333e-01 8.91547008e-02 4.10782715e+01] [-2.92535860e-01 9.55931062e-01 -2.48711609e-02 -4.54207945e+00] [-9.25274564e-02 -2.40938360e-03 9.95707218e-01 -3.61488967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.636559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.55, Z:-3.62 [[ 9.52345290e-01 2.91756094e-01 8.89765700e-02 4.11082910e+01] [-2.90704283e-01 9.56490218e-01 -2.48491813e-02 -4.55177398e+00] [-9.23551190e-02 -2.20086921e-03 9.95723701e-01 -3.61784594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.14, Y:-4.56, Z:-3.62 [[ 9.52568698e-01 2.91154892e-01 8.85533975e-02 4.11384225e+01] [-2.90108138e-01 9.56673605e-01 -2.47564587e-02 -4.56155996e+00] [-9.19246620e-02 -2.10783358e-03 9.95763734e-01 -3.61998815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.696559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.57, Z:-3.62 [[ 9.52510214e-01 2.91508128e-01 8.80187648e-02 4.11695687e+01] [-2.90473267e-01 9.56566034e-01 -2.46313459e-02 -4.57234675e+00] [-9.13759983e-02 -2.10548961e-03 9.95814237e-01 -3.62280094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.58, Z:-3.63 [[ 9.51823777e-01 2.93360395e-01 8.92814387e-02 4.12001793e+01] [-2.92301124e-01 9.55999182e-01 -2.50123354e-02 -4.58193665e+00] [-9.26906110e-02 -2.28972934e-03 9.95692326e-01 -3.62523269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.59, Z:-3.63 [[ 9.51304252e-01 2.94925503e-01 8.96614095e-02 4.12321585e+01] [-2.93861750e-01 9.55517164e-01 -2.51440128e-02 -4.59145491e+00] [-9.30886263e-02 -2.42845247e-03 9.95654865e-01 -3.62762910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.60, Z:-3.63 [[ 9.51268800e-01 2.95042047e-01 8.96541174e-02 4.12642016e+01] [-2.93976364e-01 9.55481224e-01 -2.51699860e-02 -4.60053412e+00] [-9.30890300e-02 -2.41276913e-03 9.95654865e-01 -3.63106728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:-4.61, Z:-3.63 [[ 9.51233415e-01 2.95157031e-01 8.96510870e-02 4.12962420e+01] [-2.94090842e-01 9.55445710e-01 -2.51807749e-02 -4.60962455e+00] [-9.30890293e-02 -2.41276911e-03 9.95654865e-01 -3.63450210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.33, Y:-4.62, Z:-3.64 [[ 9.50978755e-01 2.96023378e-01 8.94961855e-02 4.13279417e+01] [-2.94963758e-01 9.55177466e-01 -2.51473602e-02 -4.61867018e+00] [-9.29289462e-02 -2.48352587e-03 9.95669646e-01 -3.63818502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.876559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.36, Y:-4.63, Z:-3.64 [[ 9.50923265e-01 2.96203718e-01 8.94891154e-02 4.13599707e+01] [-2.95142531e-01 9.55121580e-01 -2.51724935e-02 -4.62776141e+00] [-9.29291715e-02 -2.47493429e-03 9.95669646e-01 -3.64162210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.39, Y:-4.64, Z:-3.65 [[ 9.50867786e-01 2.96383196e-01 8.94843818e-02 4.13919971e+01] [-2.95321219e-01 9.55065901e-01 -2.51893090e-02 -4.63686270e+00] [-9.29291697e-02 -2.47493424e-03 9.95669646e-01 -3.64505734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:-4.65, Z:-3.65 [[ 9.50067066e-01 2.98953094e-01 8.94405864e-02 4.14230259e+01] [-2.97901892e-01 9.54263964e-01 -2.51942375e-02 -4.64703759e+00] [-9.28818238e-02 -2.70830466e-03 9.95673456e-01 -3.64759733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:-4.66, Z:-3.65 [[ 9.49816406e-01 2.99818888e-01 8.92044310e-02 4.14540971e+01] [-2.98774586e-01 9.53992147e-01 -2.51541445e-02 -4.65652826e+00] [-9.26420142e-02 -2.76019776e-03 9.95695656e-01 -3.65078925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.996559995000005 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.67, Z:-3.65 [[ 9.49681475e-01 3.00251227e-01 8.91868602e-02 4.14854193e+01] [-2.99206728e-01 9.53856118e-01 -2.51761667e-02 -4.66605772e+00] [-9.26306073e-02 -2.77596949e-03 9.95696673e-01 -3.65498069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.68, Z:-3.66 [[ 9.49457146e-01 3.00954967e-01 8.92033374e-02 4.15160656e+01] [-2.99910608e-01 9.53634187e-01 -2.52084221e-02 -4.67592701e+00] [-9.26539520e-02 -2.81871069e-03 9.95694381e-01 -3.65744449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.69, Z:-3.66 [[ 9.49429289e-01 3.01089353e-01 8.90462044e-02 4.15477506e+01] [-3.00046906e-01 9.53591814e-01 -2.51894121e-02 -4.68587589e+00] [-9.24979954e-02 -2.80247248e-03 9.95708927e-01 -3.66085141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.70, Z:-3.66 [[ 9.49370845e-01 3.01262686e-01 8.90830707e-02 4.15791518e+01] [-3.00217800e-01 9.53537086e-01 -2.52249659e-02 -4.69578923e+00] [-9.25433526e-02 -2.79647632e-03 9.95704729e-01 -3.66421595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.71, Z:-3.67 [[ 9.49352018e-01 3.01553236e-01 8.82971821e-02 4.16100181e+01] [-3.00525437e-01 9.53445308e-01 -2.50301032e-02 -4.70722465e+00] [-9.17344426e-02 -2.77317026e-03 9.95779645e-01 -3.66744592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.72, Z:-3.67 [[ 9.49478169e-01 3.01302768e-01 8.77943571e-02 4.16409426e+01] [-3.00283067e-01 9.53524680e-01 -2.49151373e-02 -4.71726894e+00] [-9.12210860e-02 -2.70677990e-03 9.95826986e-01 -3.67169485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.176559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:41.67, Y:-4.73, Z:-3.68 [[ 9.49621555e-01 3.00946113e-01 8.74662129e-02 4.16721416e+01] [-2.99930027e-01 9.53637503e-01 -2.48493854e-02 -4.72757862e+00] [-9.08893868e-02 -2.63623153e-03 9.95857505e-01 -3.67535217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:-4.74, Z:-3.68 [[ 9.49561978e-01 3.00866577e-01 8.83818624e-02 4.17031428e+01] [-2.99826152e-01 9.53662618e-01 -2.51374300e-02 -4.74005737e+00] [-9.18494908e-02 -2.62964595e-03 9.95769429e-01 -3.67624073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.236559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:41.73, Y:-4.75, Z:-3.68 [[ 9.49858428e-01 3.00196752e-01 8.74692928e-02 4.17344298e+01] [-2.99172459e-01 9.53873994e-01 -2.49046721e-02 -4.74994649e+00] [-9.09109854e-02 -2.51249072e-03 9.95855853e-01 -3.68104218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:41.76, Y:-4.76, Z:-3.68 [[ 9.50203280e-01 2.99036162e-01 8.76989136e-02 4.17641672e+01] [-2.97999015e-01 9.54238808e-01 -2.49976807e-02 -4.76218259e+00] [-9.11609173e-02 -2.38131167e-03 9.95833328e-01 -3.68411007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.296559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:41.79, Y:-4.77, Z:-3.69 [[ 9.50500532e-01 2.98269911e-01 8.70850123e-02 4.17949525e+01] [-2.97241791e-01 9.54478872e-01 -2.48475404e-02 -4.77300344e+00] [-9.05320780e-02 -2.26770460e-03 9.95890958e-01 -3.68733524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:-4.79, Z:-3.69 [[ 9.50684924e-01 2.97520521e-01 8.76339870e-02 4.18257030e+01] [-2.96473754e-01 9.54712924e-01 -2.50309094e-02 -4.78681932e+00] [-9.11125092e-02 -2.18466892e-03 9.95838209e-01 -3.68846040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.356559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:-4.80, Z:-3.69 [[ 9.50726708e-01 2.97301778e-01 8.79225819e-02 4.18566667e+01] [-2.96244638e-01 9.54781155e-01 -2.51408075e-02 -4.79749074e+00] [-9.14212310e-02 -2.14455629e-03 9.95810002e-01 -3.69192091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:-4.81, Z:-3.69 [[ 9.50702626e-01 2.97397333e-01 8.78597888e-02 4.18865408e+01] [-2.96339570e-01 9.54751438e-01 -2.51505748e-02 -4.80925025e+00] [-9.13639736e-02 -2.12561447e-03 9.95815297e-01 -3.69413979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:-4.82, Z:-3.70 [[ 9.50665235e-01 2.97518968e-01 8.78525702e-02 4.19185318e+01] [-2.96459396e-01 9.54713574e-01 -2.51757637e-02 -4.81849371e+00] [-9.13643085e-02 -2.11099656e-03 9.95815298e-01 -3.69757818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.95, Y:-4.83, Z:-3.70 [[ 9.50475278e-01 2.98014731e-01 8.82267847e-02 4.19482673e+01] [-2.96947259e-01 9.54558832e-01 -2.52935052e-02 -4.82870685e+00] [-9.17554937e-02 -2.15785054e-03 9.95779229e-01 -3.70136810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:-4.84, Z:-3.70 [[ 9.50363099e-01 2.98392100e-01 8.81597132e-02 4.19793195e+01] [-2.97325546e-01 9.54440911e-01 -2.52995505e-02 -4.83956321e+00] [-9.16924230e-02 -2.16837564e-03 9.95785016e-01 -3.70373986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.01, Y:-4.85, Z:-3.71 [[ 9.49923645e-01 2.99637172e-01 8.86714942e-02 4.20095416e+01] [-2.98561057e-01 9.54050516e-01 -2.54736883e-02 -4.85201386e+00] [-9.22299487e-02 -2.27579623e-03 9.95735134e-01 -3.70734451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.536559995000005 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.04, Y:-4.86, Z:-3.71 [[ 9.49645267e-01 3.00496419e-01 8.87455303e-02 4.20408878e+01] [-2.99419727e-01 9.53780084e-01 -2.55221180e-02 -4.86226196e+00] [-9.23130245e-02 -2.33520385e-03 9.95727298e-01 -3.71162907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:42.07, Y:-4.87, Z:-3.71 [[ 9.49176128e-01 3.01936107e-01 8.88778079e-02 4.20712782e+01] [-3.00859853e-01 9.53325011e-01 -2.55885191e-02 -4.87289722e+00] [-9.24555350e-02 -2.45175279e-03 9.95713796e-01 -3.71431558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.596559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:42.10, Y:-4.88, Z:-3.72 [[ 9.48695977e-01 3.03383023e-01 8.90768471e-02 4.21019349e+01] [-3.02306812e-01 9.52865189e-01 -2.56617151e-02 -4.88302269e+00] [-9.26635554e-02 -2.58337178e-03 9.95694126e-01 -3.71778409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:-4.89, Z:-3.72 [[ 9.47578698e-01 3.06621372e-01 8.98773882e-02 4.21321889e+01] [-3.05537585e-01 9.51827152e-01 -2.59202053e-02 -4.89406778e+00] [-9.34954274e-02 -2.89948571e-03 9.95615487e-01 -3.72066763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.656559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:42.16, Y:-4.90, Z:-3.73 [[ 9.47255666e-01 3.07846155e-01 8.90923529e-02 4.21638115e+01] [-3.06784328e-01 9.51431513e-01 -2.57187121e-02 -4.90325454e+00] [-9.26826788e-02 -2.96994176e-03 9.95691268e-01 -3.72626706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:-4.91, Z:-3.73 [[ 9.46229717e-01 3.10696285e-01 9.00951765e-02 4.21946460e+01] [-3.09620677e-01 9.50503652e-01 -2.60354436e-02 -4.91453994e+00] [-9.37249099e-02 -3.25981911e-03 9.95592796e-01 -3.72754372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.716559995000004 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.93, Z:-3.73 [[ 9.45058527e-01 3.14279887e-01 8.99585113e-02 4.22254774e+01] [-3.13221064e-01 9.49323610e-01 -2.60239966e-02 -4.92529079e+00] [-9.35785574e-02 -3.58270073e-03 9.95605453e-01 -3.73163327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.94, Z:-3.74 [[ 9.44281812e-01 3.16537820e-01 9.01979371e-02 4.22559773e+01] [-3.15480918e-01 9.48572321e-01 -2.61216797e-02 -4.93502704e+00] [-9.38277661e-02 -3.78950102e-03 9.95581232e-01 -3.73500415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.95, Z:-3.74 [[ 9.43265303e-01 3.19327936e-01 9.09958126e-02 4.22867210e+01] [-3.18262619e-01 9.47635499e-01 -2.63792627e-02 -4.94551004e+00] [-9.46544978e-02 -4.07792247e-03 9.95501832e-01 -3.73712238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.96, Z:-3.74 [[ 9.41917261e-01 3.23259569e-01 9.10775786e-02 4.23179355e+01] [-3.22207912e-01 9.46299873e-01 -2.64312606e-02 -4.95579799e+00] [-9.47308589e-02 -4.44985577e-03 9.95492975e-01 -3.74102859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.97, Z:-3.74 [[ 9.41202498e-01 3.25303188e-01 9.11904247e-02 4.23484313e+01] [-3.24255741e-01 9.45598414e-01 -2.64925279e-02 -4.96554642e+00] [-9.48476247e-02 -4.63418523e-03 9.95481016e-01 -3.74435300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.98, Z:-3.75 [[ 9.40323078e-01 3.28059182e-01 9.03862919e-02 4.23795086e+01] [-3.27040375e-01 9.44644753e-01 -2.62846509e-02 -4.97560245e+00] [-9.40058574e-02 -4.84390301e-03 9.95559860e-01 -3.74850182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.896559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.99, Z:-3.75 [[ 9.39536937e-01 3.29900179e-01 9.18488755e-02 4.24106454e+01] [-3.28854073e-01 9.44002138e-01 -2.67387766e-02 -4.98607687e+00] [-9.55266620e-02 -5.08280854e-03 9.95413895e-01 -3.75127325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:-5.00, Z:-3.75 [[ 9.39164077e-01 3.30992561e-01 9.17320021e-02 4.24416113e+01] [-3.29951594e-01 9.43619253e-01 -2.67329650e-02 -4.99581709e+00] [-9.54084958e-02 -5.16047989e-03 9.95424828e-01 -3.75455584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:-5.01, Z:-3.76 [[ 9.38714196e-01 3.32255645e-01 9.17706115e-02 4.24730126e+01] [-3.31217108e-01 9.43174677e-01 -2.67722890e-02 -5.00575007e+00] [-9.54509610e-02 -5.26446877e-03 9.95420212e-01 -3.75786532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:-5.02, Z:-3.76 [[ 9.38672564e-01 3.32375442e-01 9.17626409e-02 4.25049526e+01] [-3.31334815e-01 9.43132558e-01 -2.67995801e-02 -5.01515685e+00] [-9.54518565e-02 -5.24812709e-03 9.95420213e-01 -3.76130452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:-5.03, Z:-3.76 [[ 9.38073970e-01 3.34171980e-01 9.13581657e-02 4.25361541e+01] [-3.33147921e-01 9.42496668e-01 -2.66925804e-02 -5.02524074e+00] [-9.50246792e-02 -5.39616812e-03 9.95460291e-01 -3.76469172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:-5.03, Z:-3.77 [[ 9.37789089e-01 3.34911357e-01 9.15751428e-02 4.25672897e+01] [-3.33883184e-01 9.42233837e-01 -2.67846195e-02 -5.03467724e+00] [-9.52556714e-02 -5.45707635e-03 9.95437882e-01 -3.76835294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.076559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:-5.04, Z:-3.77 [[ 9.37566719e-01 3.35610101e-01 9.12935258e-02 4.25977141e+01] [-3.34588824e-01 9.41985025e-01 -2.67307413e-02 -5.04414400e+00] [-9.49682410e-02 -5.48393997e-03 9.95465198e-01 -3.77152557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:-5.05, Z:-3.77 [[ 9.37462430e-01 3.35989737e-01 9.09675154e-02 4.26289450e+01] [-3.34975046e-01 9.41849717e-01 -2.66613600e-02 -5.05383622e+00] [-9.46356720e-02 -5.47782437e-03 9.95496903e-01 -3.77473034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.136559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.66, Y:-5.06, Z:-3.78 [[ 9.37564334e-01 3.36201109e-01 8.91175277e-02 4.26594566e+01] [-3.35225622e-01 9.41774968e-01 -2.61475127e-02 -5.06331235e+00] [-9.27194795e-02 -5.35950332e-03 9.95677846e-01 -3.77822896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:-5.07, Z:-3.78 [[ 9.37189538e-01 3.36955983e-01 9.02021961e-02 4.26899668e+01] [-3.35958450e-01 9.41504425e-01 -2.64827714e-02 -5.07341521e+00] [-9.38492951e-02 -5.48481370e-03 9.95571307e-01 -3.78064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.196559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.72, Y:-5.08, Z:-3.78 [[ 9.37136292e-01 3.37535596e-01 8.85736479e-02 4.27213651e+01] [-3.36574063e-01 9.41297170e-01 -2.60295545e-02 -5.08248395e+00] [-9.21600253e-02 -5.41835230e-03 9.95729467e-01 -3.78444004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:-5.09, Z:-3.79 [[ 9.36438406e-01 3.39149391e-01 8.97819711e-02 4.27529968e+01] [-3.38166173e-01 9.40715696e-01 -2.64124654e-02 -5.09269827e+00] [-9.34170810e-02 -5.62757858e-03 9.95611159e-01 -3.78698184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:-5.10, Z:-3.79 [[ 9.36003679e-01 3.40348865e-01 8.97761813e-02 4.27840543e+01] [-3.39368701e-01 9.40281829e-01 -2.64379693e-02 -5.10162597e+00] [-9.34130448e-02 -5.72118956e-03 9.95611004e-01 -3.79015713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:-5.11, Z:-3.79 [[ 9.35550035e-01 3.41609673e-01 8.97160169e-02 4.28154509e+01] [-3.40634011e-01 9.39823915e-01 -2.64476693e-02 -5.11078719e+00] [-9.33520379e-02 -5.81720879e-03 9.95616170e-01 -3.79353206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.316559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:42.85, Y:-5.12, Z:-3.80 [[ 9.35389784e-01 3.42390757e-01 8.83997817e-02 4.28471913e+01] [-3.41444524e-01 9.39539851e-01 -2.60865019e-02 -5.11934775e+00] [-9.19868948e-02 -5.78257399e-03 9.95743427e-01 -3.79761259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:-5.13, Z:-3.80 [[ 9.34549223e-01 3.44490172e-01 8.91306378e-02 4.28780055e+01] [-3.43535092e-01 9.38770669e-01 -2.63300723e-02 -5.12902429e+00] [-9.27436795e-02 -6.01275323e-03 9.95671862e-01 -3.79934787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:-5.14, Z:-3.80 [[ 9.34330314e-01 3.45150840e-01 8.88693512e-02 4.29090231e+01] [-3.44201979e-01 9.38527814e-01 -2.62781232e-02 -5.13809606e+00] [-9.24762742e-02 -6.03655949e-03 9.95696590e-01 -3.80245621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:-5.15, Z:-3.81 [[ 9.34169637e-01 3.45499562e-01 8.92028152e-02 4.29400047e+01] [-3.44542616e-01 9.38399289e-01 -2.64038015e-02 -5.14727205e+00] [-9.28303602e-02 -6.06854164e-03 9.95663446e-01 -3.80587249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.436559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:42.97, Y:-5.16, Z:-3.81 [[ 9.34333414e-01 3.45325134e-01 8.81568079e-02 4.29701523e+01] [-3.44387220e-01 9.38464226e-01 -2.61216104e-02 -5.15618194e+00] [-9.17524591e-02 -5.95378455e-03 9.95764048e-01 -3.80907441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:43.00, Y:-5.17, Z:-3.81 [[ 9.34472079e-01 3.45159370e-01 8.73323725e-02 4.30010323e+01] [-3.44236825e-01 9.38525751e-01 -2.58925324e-02 -5.16540553e+00] [-9.09007307e-02 -5.86716999e-03 9.95842675e-01 -3.81192888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.496559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:-5.18, Z:-3.81 [[ 9.34209538e-01 3.45449884e-01 8.89770553e-02 4.30326532e+01] [-3.44491208e-01 9.38418122e-01 -2.64052171e-02 -5.17573334e+00] [-9.26193603e-02 -5.98380761e-03 9.95683608e-01 -3.81475135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:-5.19, Z:-3.82 [[ 9.34344113e-01 3.45029047e-01 8.91966156e-02 4.30644172e+01] [-3.44061267e-01 9.38573262e-01 -2.64967314e-02 -5.18566168e+00] [-9.28597004e-02 -5.93203559e-03 9.95661532e-01 -3.81739224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.556559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:43.09, Y:-5.19, Z:-3.82 [[ 9.34623479e-01 3.44560472e-01 8.80740209e-02 4.30944852e+01] [-3.43612349e-01 9.38746299e-01 -2.61904538e-02 -5.19422635e+00] [-9.17033563e-02 -5.78510817e-03 9.95769565e-01 -3.82092027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.20, Z:-3.82 [[ 9.34682240e-01 3.44435234e-01 8.79402040e-02 4.31263396e+01] [-3.43487129e-01 9.38792532e-01 -2.61758104e-02 -5.20376057e+00] [-9.15734782e-02 -5.74026312e-03 9.95781777e-01 -3.82406758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:-5.21, Z:-3.83 [[ 9.34388132e-01 3.44992236e-01 8.88773046e-02 4.31564047e+01] [-3.44023701e-01 9.38587428e-01 -2.64827067e-02 -5.21329654e+00] [-9.25554489e-02 -5.83077238e-03 9.95690459e-01 -3.82679459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:-5.22, Z:-3.83 [[ 9.34278425e-01 3.45413673e-01 8.83924188e-02 4.31883601e+01] [-3.44455253e-01 9.38432502e-01 -2.63631955e-02 -5.22260948e+00] [-9.20565269e-02 -5.81666820e-03 9.95736794e-01 -3.82996772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.676559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:-5.23, Z:-3.83 [[ 9.34080289e-01 3.46019767e-01 8.81154620e-02 4.32199448e+01] [-3.45067474e-01 9.38209098e-01 -2.63082980e-02 -5.23196104e+00] [-9.17739193e-02 -5.83171730e-03 9.95762792e-01 -3.83334553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:-5.24, Z:-3.84 [[ 9.33939856e-01 3.46494093e-01 8.77393202e-02 4.32503735e+01] [-3.45549452e-01 9.38034056e-01 -2.62237548e-02 -5.24066392e+00] [-9.13888466e-02 -5.82686426e-03 9.95798236e-01 -3.83677561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.736559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:43.28, Y:-5.25, Z:-3.84 [[ 9.33995330e-01 3.46794593e-01 8.59432060e-02 4.32819534e+01] [-3.45887330e-01 9.37923707e-01 -2.57113831e-02 -5.24914665e+00] [-8.95247390e-02 -5.71235430e-03 9.95968217e-01 -3.84050745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.26, Z:-3.84 [[ 9.33016603e-01 3.49334735e-01 8.62859330e-02 4.33136651e+01] [-3.48428593e-01 9.36979073e-01 -2.58405269e-02 -5.25799479e+00] [-8.98751072e-02 -5.95484560e-03 9.95935241e-01 -3.84370931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.796559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:43.35, Y:-5.27, Z:-3.85 [[ 9.32476588e-01 3.50677202e-01 8.66770618e-02 4.33455458e+01] [-3.49766170e-01 9.36476614e-01 -2.59841964e-02 -5.26699637e+00] [-9.02831066e-02 -6.08704913e-03 9.95897539e-01 -3.84696897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:-5.28, Z:-3.85 [[ 9.31684954e-01 3.52654426e-01 8.71665229e-02 4.33773081e+01] [-3.51739224e-01 9.35732494e-01 -2.61575562e-02 -5.27632676e+00] [-9.07891259e-02 -6.28928353e-03 9.95850280e-01 -3.84969305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.856559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:43.41, Y:-5.28, Z:-3.85 [[ 9.31408553e-01 3.53782060e-01 8.55357281e-02 4.34076917e+01] [-3.52903181e-01 9.35306978e-01 -2.56943878e-02 -5.28399615e+00] [-8.90923768e-02 -6.25385798e-03 9.96003734e-01 -3.85337986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.29, Z:-3.86 [[ 9.30144256e-01 3.56804807e-01 8.67294243e-02 4.34382642e+01] [-3.55911920e-01 9.34155565e-01 -2.60784384e-02 -5.29212482e+00] [-9.03236866e-02 -6.61132625e-03 9.95890517e-01 -3.85587080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:-5.30, Z:-3.86 [[ 9.29537370e-01 3.58178662e-01 8.75689653e-02 4.34695963e+01] [-3.57272162e-01 9.33628394e-01 -2.63557137e-02 -5.30150750e+00] [-9.11969267e-02 -6.78733282e-03 9.95809747e-01 -3.85842001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.31, Z:-3.86 [[ 9.29129947e-01 3.59203508e-01 8.76948253e-02 4.35008760e+01] [-3.58296467e-01 9.33233950e-01 -2.64203911e-02 -5.31044552e+00] [-9.13300853e-02 -6.87276943e-03 9.95796957e-01 -3.86170896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:-5.32, Z:-3.86 [[ 9.28808179e-01 3.60035288e-01 8.76924099e-02 4.35322695e+01] [-3.59129529e-01 9.32912951e-01 -2.64463011e-02 -5.31924496e+00] [-9.13309866e-02 -6.92939311e-03 9.95796482e-01 -3.86483028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.33, Z:-3.87 [[ 9.28444328e-01 3.61355733e-01 8.60997372e-02 4.35634554e+01] [-3.60485868e-01 9.32402461e-01 -2.59921269e-02 -5.32641262e+00] [-8.96720109e-02 -6.90549572e-03 9.95947411e-01 -3.86873826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.036559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:-5.34, Z:-3.87 [[ 9.28022436e-01 3.62270123e-01 8.68027451e-02 4.35941076e+01] [-3.61387578e-01 9.32046662e-01 -2.62304930e-02 -5.33552300e+00] [-9.04067328e-02 -7.02694778e-03 9.95880136e-01 -3.87106666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:-5.34, Z:-3.87 [[ 9.27706379e-01 3.63134958e-01 8.65671809e-02 4.36258423e+01] [-3.62259585e-01 9.31709669e-01 -2.61741628e-02 -5.34417918e+00] [-9.01602329e-02 -7.07785324e-03 9.95902122e-01 -3.87428926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:-5.35, Z:-3.88 [[ 9.27634614e-01 3.63389998e-01 8.62654749e-02 4.36577054e+01] [-3.62519518e-01 9.31610408e-01 -2.61083765e-02 -5.35161042e+00] [-8.98533372e-02 -7.05388459e-03 9.95930028e-01 -3.87741281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:43.69, Y:-5.36, Z:-3.88 [[ 9.27830562e-01 3.63042274e-01 8.56198365e-02 4.36897348e+01] [-3.62181012e-01 9.31746800e-01 -2.59386758e-02 -5.35992998e+00] [-8.91928446e-02 -6.94318288e-03 9.95990175e-01 -3.88163820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:-5.37, Z:-3.88 [[ 9.28159567e-01 3.62117403e-01 8.59697911e-02 4.37212821e+01] [-3.61242806e-01 9.32107264e-01 -2.60707356e-02 -5.36926545e+00] [-8.95737339e-02 -6.85816585e-03 9.95956581e-01 -3.88412658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:-5.38, Z:-3.89 [[ 9.28758119e-01 3.60571420e-01 8.60035329e-02 4.37530381e+01] [-3.59687234e-01 9.32707633e-01 -2.61067987e-02 -5.37870688e+00] [-8.96295171e-02 -6.68747162e-03 9.95952723e-01 -3.88735116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.216559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:-5.39, Z:-3.89 [[ 9.30810695e-01 3.55285391e-01 8.58122459e-02 4.37834553e+01] [-3.54380376e-01 9.34737722e-01 -2.60756770e-02 -5.38838809e+00] [-8.94762503e-02 -6.13865695e-03 9.95970038e-01 -3.89071079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.81, Y:-5.40, Z:-3.89 [[ 9.32042057e-01 3.52122922e-01 8.54812940e-02 4.38141815e+01] [-3.51210384e-01 9.35935800e-01 -2.59893143e-02 -5.39823167e+00] [-8.91564366e-02 -5.79878419e-03 9.96000755e-01 -3.89452987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:-5.41, Z:-3.90 [[ 9.33358134e-01 3.48669525e-01 8.52769399e-02 4.38441041e+01] [-3.47744628e-01 9.37230000e-01 -2.59538169e-02 -5.40811061e+00] [-8.89734114e-02 -5.43039162e-03 9.96019198e-01 -3.89724701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:-5.42, Z:-3.90 [[ 9.35915170e-01 3.41584422e-01 8.59236734e-02 4.38753188e+01] [-3.40613434e-01 9.39838997e-01 -2.61753399e-02 -5.41931978e+00] [-8.96955074e-02 -4.76885969e-03 9.95957817e-01 -3.90014448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:-5.43, Z:-3.90 [[ 9.36967613e-01 3.38688404e-01 8.59177331e-02 4.39058652e+01] [-3.37702982e-01 9.40887998e-01 -2.62006150e-02 -5.42936062e+00] [-8.97128083e-02 -4.46554694e-03 9.95957665e-01 -3.90304405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:-5.44, Z:-3.91 [[ 9.37764229e-01 3.36451304e-01 8.60161044e-02 4.39358904e+01] [-3.35451970e-01 9.41691354e-01 -2.62558523e-02 -5.43907076e+00] [-8.98344376e-02 -4.23247258e-03 9.95947720e-01 -3.90625615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.396559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:-5.45, Z:-3.91 [[ 9.38735141e-01 3.33664229e-01 8.62816182e-02 4.39672780e+01] [-3.32644931e-01 9.42683684e-01 -2.63594724e-02 -5.44860228e+00] [-9.01314867e-02 -3.95657987e-03 9.95922015e-01 -3.90939562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.00, Y:-5.46, Z:-3.91 [[ 9.38955566e-01 3.33043784e-01 8.62802561e-02 4.39976140e+01] [-3.32019420e-01 9.42903417e-01 -2.63865681e-02 -5.45759849e+00] [-9.01418308e-02 -3.87090552e-03 9.95921416e-01 -3.91255673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.03, Y:-5.47, Z:-3.92 [[ 9.39052640e-01 3.32763262e-01 8.63061454e-02 4.40290653e+01] [-3.31734825e-01 9.43002656e-01 -2.64196250e-02 -5.46689345e+00] [-9.01784050e-02 -3.82133553e-03 9.95918296e-01 -3.91578430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:-5.48, Z:-3.92 [[ 9.39003247e-01 3.32711058e-01 8.70416739e-02 4.40599401e+01] [-3.31662121e-01 9.43021074e-01 -2.66737920e-02 -5.47590280e+00] [-9.09567984e-02 -3.82164881e-03 9.95847506e-01 -3.91949901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:-5.48, Z:-3.92 [[ 9.39004745e-01 3.32799589e-01 8.66863397e-02 4.40912160e+01] [-3.31758145e-01 9.42989924e-01 -2.65807364e-02 -5.48394107e+00] [-9.05904031e-02 -3.79946163e-03 9.95880988e-01 -3.92297739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-5.49, Z:-3.93 [[ 9.38953176e-01 3.33022114e-01 8.63898385e-02 4.41223335e+01] [-3.31986504e-01 9.42911422e-01 -2.65143727e-02 -5.49282629e+00] [-9.02878378e-02 -3.78450599e-03 9.95908522e-01 -3.92666648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.576559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:-5.50, Z:-3.93 [[ 9.38952387e-01 3.33061908e-01 8.62448917e-02 4.41525299e+01] [-3.32027497e-01 9.42897479e-01 -2.64969034e-02 -5.50129432e+00] [-9.01452002e-02 -3.75634483e-03 9.95921550e-01 -3.92990124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:-5.51, Z:-3.93 [[ 9.38871637e-01 3.33289167e-01 8.62460428e-02 4.41842413e+01] [-3.32253446e-01 9.42817179e-01 -2.65219758e-02 -5.51076881e+00] [-9.01537380e-02 -3.75481404e-03 9.95920782e-01 -3.93256321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:-5.52, Z:-3.94 [[ 9.38715893e-01 3.33609799e-01 8.67004868e-02 4.42157082e+01] [-3.32562008e-01 9.42703672e-01 -2.66888875e-02 -5.52008427e+00] [-9.06365417e-02 -3.78000513e-03 9.95876864e-01 -3.93566538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:-5.53, Z:-3.94 [[ 9.38499685e-01 3.34108808e-01 8.71185742e-02 4.42462365e+01] [-3.33050474e-01 9.42526768e-01 -2.68453594e-02 -5.52901498e+00] [-9.10808592e-02 -3.82052105e-03 9.95836172e-01 -3.93878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:-5.54, Z:-3.94 [[ 9.37735479e-01 3.36221626e-01 8.72192050e-02 4.42776839e+01] [-3.35167612e-01 9.41774372e-01 -2.69017556e-02 -5.53679889e+00] [-9.11857640e-02 -4.00632198e-03 9.95825841e-01 -3.94177410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:-5.55, Z:-3.95 [[ 9.37198042e-01 3.37796802e-01 8.69088588e-02 4.43086251e+01] [-3.36754564e-01 9.41210047e-01 -2.68330158e-02 -5.54509554e+00] [-9.08635981e-02 -4.11910493e-03 9.95854829e-01 -3.94522124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:-5.55, Z:-3.95 [[ 9.36591049e-01 3.39477863e-01 8.69021779e-02 4.43399864e+01] [-3.38440719e-01 9.40604405e-01 -2.68557721e-02 -5.55352549e+00] [-9.08575114e-02 -4.25835985e-03 9.95854798e-01 -3.94890610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:-5.56, Z:-3.95 [[ 9.36080586e-01 3.40965389e-01 8.65779451e-02 4.43720849e+01] [-3.39939924e-01 9.40065733e-01 -2.67818202e-02 -5.56225226e+00] [-9.05206332e-02 -4.36135818e-03 9.95885030e-01 -3.95231676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:-5.57, Z:-3.96 [[ 9.35313655e-01 3.43147428e-01 8.62450573e-02 4.44036031e+01] [-3.42136544e-01 9.39270640e-01 -2.67067304e-02 -5.56956766e+00] [-9.01717961e-02 -4.52841624e-03 9.95915931e-01 -3.95545162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.58, Z:-3.96 [[ 9.34979441e-01 3.44116435e-01 8.60076944e-02 4.44342644e+01] [-3.43113801e-01 9.38915742e-01 -2.66486394e-02 -5.57793634e+00] [-8.99242130e-02 -4.59449698e-03 9.95938013e-01 -3.95994828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:-5.59, Z:-3.96 [[ 9.34572913e-01 3.45180499e-01 8.61620153e-02 4.44655748e+01] [-3.44176578e-01 9.38524638e-01 -2.67205436e-02 -5.58657021e+00] [-9.00885848e-02 -4.68265129e-03 9.95922748e-01 -3.96160094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:-5.59, Z:-3.96 [[ 9.33928398e-01 3.46945111e-01 8.60629869e-02 4.44978185e+01] [-3.45948634e-01 9.37873034e-01 -2.67154302e-02 -5.59418576e+00] [-8.99849425e-02 -4.82307388e-03 9.95931447e-01 -3.96458126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:-5.60, Z:-3.97 [[ 9.33887231e-01 3.47057835e-01 8.60552107e-02 4.45295943e+01] [-3.46059536e-01 9.37831406e-01 -2.67404542e-02 -5.60414920e+00] [-8.99857634e-02 -4.80765759e-03 9.95931448e-01 -3.96801981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:-5.61, Z:-3.97 [[ 9.33545815e-01 3.48020484e-01 8.58717329e-02 4.45613117e+01] [-3.47029667e-01 9.37474221e-01 -2.66925874e-02 -5.61277981e+00] [-8.97921031e-02 -4.88128567e-03 9.95948569e-01 -3.97092592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:-5.62, Z:-3.97 [[ 9.33043202e-01 3.49416567e-01 8.56647253e-02 4.45927835e+01] [-3.48434079e-01 9.36954251e-01 -2.66537799e-02 -5.62027645e+00] [-8.95772008e-02 -4.97938148e-03 9.95967435e-01 -3.97362891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:44.62, Y:-5.63, Z:-3.98 [[ 9.32948438e-01 3.49719551e-01 8.54602136e-02 4.46241013e+01] [-3.48740940e-01 9.36841229e-01 -2.66133100e-02 -5.62900442e+00] [-8.93698463e-02 -4.97462923e-03 9.95986086e-01 -3.97854031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:-5.64, Z:-3.98 [[ 9.32758786e-01 3.50149732e-01 8.57683581e-02 4.46555875e+01] [-3.49163503e-01 9.36680345e-01 -2.67353453e-02 -5.63814979e+00] [-8.96989093e-02 -5.00955214e-03 9.95956329e-01 -3.97984972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:44.69, Y:-5.65, Z:-3.98 [[ 9.33044326e-01 3.49469887e-01 8.54346781e-02 4.46877724e+01] [-3.48486150e-01 9.36934782e-01 -2.66574094e-02 -5.64644533e+00] [-8.93626834e-02 -4.90025749e-03 9.95987097e-01 -3.98343517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.116559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:44.72, Y:-5.66, Z:-3.99 [[ 9.33128541e-01 3.49338599e-01 8.50509781e-02 4.47187746e+01] [-3.48360806e-01 9.36984049e-01 -2.65638923e-02 -5.65531872e+00] [-8.89712028e-02 -4.84090117e-03 9.96022435e-01 -3.98807860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:44.75, Y:-5.66, Z:-3.99 [[ 9.33052590e-01 3.49601771e-01 8.48025079e-02 4.47503102e+01] [-3.48628456e-01 9.36885959e-01 -2.65122629e-02 -5.66457864e+00] [-8.87190130e-02 -4.82723187e-03 9.96044996e-01 -3.99033370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.176559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.67, Z:-3.99 [[ 9.32935057e-01 3.49945180e-01 8.46791012e-02 4.47821894e+01] [-3.48973723e-01 9.36757741e-01 -2.65004651e-02 -5.67388416e+00] [-8.85975136e-02 -4.82756828e-03 9.96055809e-01 -3.99124235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:44.81, Y:-5.68, Z:-4.00 [[ 9.32963079e-01 3.50024940e-01 8.40382905e-02 4.48133073e+01] [-3.49066117e-01 9.36728220e-01 -2.63265645e-02 -5.68207406e+00] [-8.79359924e-02 -4.77320710e-03 9.96114691e-01 -3.99673875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.236559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:44.85, Y:-5.69, Z:-4.00 [[ 9.32717587e-01 3.50652139e-01 8.41485632e-02 4.48455626e+01] [-3.49690977e-01 9.36493410e-01 -2.63877627e-02 -5.69057202e+00] [-8.80575003e-02 -4.81366292e-03 9.96103762e-01 -3.99854769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:-5.70, Z:-4.00 [[ 9.32378557e-01 3.51529664e-01 8.42444160e-02 4.48770310e+01] [-3.50567447e-01 9.36164043e-01 -2.64452074e-02 -5.69802833e+00] [-8.81628680e-02 -4.87640551e-03 9.96094137e-01 -3.99920852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.296559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:44.91, Y:-5.71, Z:-4.00 [[ 9.32051977e-01 3.52439929e-01 8.40547953e-02 4.49089830e+01] [-3.51483524e-01 9.35821464e-01 -2.64105866e-02 -5.70600360e+00] [-8.79684269e-02 -4.92783619e-03 9.96111074e-01 -4.00340465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:-5.72, Z:-4.01 [[ 9.31920480e-01 3.52783117e-01 8.40731336e-02 4.49410882e+01] [-3.51825370e-01 9.35692097e-01 -2.64425407e-02 -5.71525221e+00] [-8.79950486e-02 -4.93671615e-03 9.96108679e-01 -4.00531053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.356559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:-5.73, Z:-4.01 [[ 9.31851666e-01 3.52966719e-01 8.40652651e-02 4.49728198e+01] [-3.52007468e-01 9.35622901e-01 -2.64675304e-02 -5.72531971e+00] [-8.79955446e-02 -4.92778879e-03 9.96108679e-01 -4.00874777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:-5.73, Z:-4.01 [[ 9.31868178e-01 3.52972876e-01 8.38561119e-02 4.50041354e+01] [-3.52016957e-01 9.35620722e-01 -2.64183123e-02 -5.73445301e+00] [-8.77824636e-02 -4.90038881e-03 9.96127615e-01 -4.01194638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.416559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.74, Z:-4.02 [[ 9.31951051e-01 3.52924400e-01 8.31360716e-02 4.50357029e+01] [-3.51982436e-01 9.35639376e-01 -2.62168325e-02 -5.74373901e+00] [-8.70379420e-02 -4.82963239e-03 9.96193290e-01 -4.01579871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.75, Z:-4.02 [[ 9.31952987e-01 3.53060932e-01 8.25324699e-02 4.50655387e+01] [-3.52130867e-01 9.35588108e-01 -2.60527298e-02 -5.75249375e+00] [-8.64145984e-02 -4.78231091e-03 9.96247784e-01 -4.02105056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.76, Z:-4.02 [[ 9.31438612e-01 3.54550060e-01 8.19534429e-02 4.50957218e+01] [-3.53545605e-01 9.35029013e-01 -2.69490233e-02 -5.76098299e+00] [-8.61836247e-02 -3.87291867e-03 9.96271742e-01 -4.02100985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.77, Z:-4.02 [[ 9.31312326e-01 3.54608286e-01 8.31283001e-02 4.51277994e+01] [-3.53786604e-01 9.34994341e-01 -2.49122723e-02 -5.77078648e+00] [-8.65585883e-02 -6.20857280e-03 9.96227416e-01 -4.02455795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.536559995000005 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.78, Z:-4.03 [[ 9.30851251e-01 3.55818239e-01 8.31223810e-02 4.51591387e+01] [-3.54879901e-01 9.34541740e-01 -2.63057503e-02 -5.77918711e+00] [-8.70414003e-02 -5.01172172e-03 9.96192089e-01 -4.02838842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:45.19, Y:-5.79, Z:-4.03 [[ 9.30500756e-01 3.56774725e-01 8.29466054e-02 4.51898394e+01] [-3.55841871e-01 9.34176713e-01 -2.62760629e-02 -5.78763775e+00] [-8.68614223e-02 -5.06597883e-03 9.96207523e-01 -4.03250688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.596559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:45.22, Y:-5.80, Z:-4.04 [[ 9.30164616e-01 3.57639098e-01 8.29943544e-02 4.52214367e+01] [-3.56706526e-01 9.33845803e-01 -2.63148273e-02 -5.79652581e+00] [-8.69151406e-02 -5.12750655e-03 9.96202523e-01 -4.03628150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:45.25, Y:-5.81, Z:-4.04 [[ 9.29988974e-01 3.58050541e-01 8.31884505e-02 4.52526281e+01] [-3.57112982e-01 9.33687981e-01 -2.64021137e-02 -5.80509950e+00] [-8.71253475e-02 -5.15400105e-03 9.96184024e-01 -4.03981931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.656559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:45.28, Y:-5.81, Z:-4.04 [[ 9.30603737e-01 3.56515152e-01 8.29073642e-02 4.52829941e+01] [-3.55575423e-01 9.34276338e-01 -2.63408761e-02 -5.81460986e+00] [-8.68493101e-02 -4.96690338e-03 9.96209078e-01 -4.04216254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:45.31, Y:-5.82, Z:-4.05 [[ 9.30997257e-01 3.55525286e-01 8.27398266e-02 4.53138561e+01] [-3.54584206e-01 9.34654074e-01 -2.63021338e-02 -5.82483634e+00] [-8.66841896e-02 -4.85102133e-03 9.96224030e-01 -4.04538717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.716559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:45.34, Y:-5.83, Z:-4.05 [[ 9.31351349e-01 3.54516671e-01 8.30818568e-02 4.53447203e+01] [-3.53561490e-01 9.35037618e-01 -2.64372221e-02 -5.83488949e+00] [-8.70570974e-02 -4.75220257e-03 9.96191989e-01 -4.04732558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:45.37, Y:-5.84, Z:-4.05 [[ 9.31879049e-01 3.53231916e-01 8.26356605e-02 4.53746151e+01] [-3.52279678e-01 9.35524566e-01 -2.63213728e-02 -5.84444437e+00] [-8.66052393e-02 -4.58252803e-03 9.96232168e-01 -4.05211091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.776559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:45.41, Y:-5.85, Z:-4.05 [[ 9.32274794e-01 3.52180310e-01 8.26603779e-02 4.54053963e+01] [-3.51221278e-01 9.35921528e-01 -2.63534867e-02 -5.85424171e+00] [-8.66448064e-02 -4.46339224e-03 9.96229269e-01 -4.05457423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.86, Z:-4.06 [[ 9.32701295e-01 3.51075202e-01 8.25499622e-02 4.54363693e+01] [-3.50112374e-01 9.36337242e-01 -2.63418821e-02 -5.86413213e+00] [-8.65425855e-02 -4.33265574e-03 9.96238731e-01 -4.05848482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.836559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.87, Z:-4.06 [[ 9.33515864e-01 3.48655678e-01 8.35903749e-02 4.54672616e+01] [-3.47656426e-01 9.37241759e-01 -2.67001044e-02 -5.87432641e+00] [-8.76535330e-02 -4.13575996e-03 9.96142436e-01 -4.05985295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:-5.88, Z:-4.06 [[ 9.33801852e-01 3.47746899e-01 8.41795432e-02 4.54981492e+01] [-3.46727417e-01 9.37579683e-01 -2.69153698e-02 -5.88437201e+00] [-8.82847658e-02 -4.05373338e-03 9.96087028e-01 -4.06020899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.896559995000004 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:45.53, Y:-5.89, Z:-4.07 [[ 9.34235875e-01 3.46787156e-01 8.33186602e-02 4.55288409e+01] [-3.45782549e-01 9.37935745e-01 -2.66639774e-02 -5.89452880e+00] [-8.73942745e-02 -3.89969454e-03 9.96166167e-01 -4.06631266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.56, Y:-5.90, Z:-4.07 [[ 9.34430771e-01 3.46305468e-01 8.31363798e-02 4.55599666e+01] [-3.45301080e-01 9.38114022e-01 -2.66316762e-02 -5.90453645e+00] [-8.72140987e-02 -3.82162403e-03 9.96182261e-01 -4.06987570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.956559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:45.59, Y:-5.91, Z:-4.07 [[ 9.35194988e-01 3.44331342e-01 8.27421369e-02 4.55902515e+01] [-3.43326484e-01 9.38841307e-01 -2.65315888e-02 -5.91354386e+00] [-8.68173935e-02 -3.59535811e-03 9.96217754e-01 -4.07274380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.62, Y:-5.92, Z:-4.08 [[ 9.35817337e-01 3.42776664e-01 8.21588123e-02 4.56217234e+01] [-3.41777929e-01 9.39410756e-01 -2.63681220e-02 -5.92311518e+00] [-8.62192489e-02 -3.40432298e-03 9.96270371e-01 -4.07678805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.016559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.93, Z:-4.08 [[ 9.36422155e-01 3.41069880e-01 8.23704073e-02 4.56521441e+01] [-3.40057158e-01 9.40032391e-01 -2.64619147e-02 -5.93271481e+00] [-8.64562130e-02 -3.23112343e-03 9.96250412e-01 -4.08005764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:45.68, Y:-5.94, Z:-4.08 [[ 9.37115661e-01 3.39190126e-01 8.22453409e-02 4.56830521e+01] [-3.38171250e-01 9.40712959e-01 -2.64449316e-02 -5.94258954e+00] [-8.63391177e-02 -3.03105018e-03 9.96261195e-01 -4.08294401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.076559995000004 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.95, Z:-4.09 [[ 9.38412815e-01 3.35311109e-01 8.33537559e-02 4.57137944e+01] [-3.34246901e-01 9.42103632e-01 -2.68282810e-02 -5.95242408e+00] [-8.75236968e-02 -2.68473194e-03 9.96158820e-01 -4.08592857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:45.74, Y:-5.96, Z:-4.09 [[ 9.39116445e-01 3.33224471e-01 8.37959040e-02 4.57438871e+01] [-3.32138451e-01 9.42844261e-01 -2.69953399e-02 -5.96210999e+00] [-8.80019951e-02 -2.48007415e-03 9.96117211e-01 -4.08819672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.136559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.97, Z:-4.09 [[ 9.39900464e-01 3.31653470e-01 8.11978636e-02 4.57751349e+01] [-3.30052835e-01 9.43392708e-01 -3.27921464e-02 -5.96942313e+00] [-8.74771016e-02 4.02176861e-03 9.96158412e-01 -4.09279305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:45.80, Y:-5.99, Z:-4.09 [[ 9.42346896e-01 3.23136008e-01 8.69795871e-02 4.58049945e+01] [-3.22538497e-01 9.46318292e-01 -2.12275493e-02 -5.98509728e+00] [-8.91697598e-02 -8.05055015e-03 9.95983907e-01 -4.09374068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.196559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.99, Z:-4.10 [[ 9.43304138e-01 3.20677965e-01 8.56909901e-02 4.58359168e+01] [-3.19484685e-01 9.47187421e-01 -2.76681343e-02 -5.99240234e+00] [-9.00379889e-02 -1.27749336e-03 9.95937512e-01 -4.09696974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:45.87, Y:-6.00, Z:-4.10 [[ 9.44500306e-01 3.17227312e-01 8.53580963e-02 4.58655180e+01] [-3.16026879e-01 9.48349085e-01 -2.75866806e-02 -6.00266799e+00] [-8.97005210e-02 -9.19824562e-04 9.95968358e-01 -4.10039240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.256559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:45.90, Y:-6.01, Z:-4.11 [[ 9.47187869e-01 3.10583004e-01 7.98331922e-02 4.58973729e+01] [-3.08554989e-01 9.50490167e-01 -3.69088160e-02 -6.00932259e+00] [-8.73439152e-02 1.03266530e-02 9.96124691e-01 -4.10515513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:45.93, Y:-6.03, Z:-4.10 [[ 9.48396595e-01 3.04631905e-01 8.79960319e-02 4.59250776e+01] [-3.04255572e-01 9.52420614e-01 -1.79866923e-02 -6.02842431e+00] [-8.92885551e-02 -9.71476527e-03 9.95958421e-01 -4.10474441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.316559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:45.96, Y:-6.03, Z:-4.11 [[ 9.49384247e-01 3.02105474e-01 8.60339102e-02 4.59576193e+01] [-3.00819470e-01 9.53274341e-01 -2.78509987e-02 -6.03465104e+00] [-9.04278581e-02 5.60624165e-04 9.95902851e-01 -4.10814769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:45.99, Y:-6.04, Z:-4.11 [[ 9.50597735e-01 2.98341399e-01 8.57692052e-02 4.59874929e+01] [-2.97045527e-01 9.54458759e-01 -2.77926825e-02 -6.04489305e+00] [-9.01548769e-02 9.42302257e-04 9.95927312e-01 -4.11268164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.376559995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:46.02, Y:-6.06, Z:-4.12 [[ 9.51658302e-01 2.95101505e-01 8.52148891e-02 4.60185535e+01] [-2.93807167e-01 9.55465071e-01 -2.76377813e-02 -6.05571126e+00] [-8.95758009e-02 1.26497886e-03 9.95979204e-01 -4.11658111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:46.05, Y:-6.07, Z:-4.12 [[ 9.53458742e-01 2.89205062e-01 8.53045160e-02 4.60487913e+01] [-2.87881956e-01 9.57265386e-01 -2.76940455e-02 -6.06703385e+00] [-8.96683186e-02 1.84749877e-03 9.95969969e-01 -4.11951258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.436559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:46.08, Y:-6.08, Z:-4.12 [[ 9.54164394e-01 2.86804895e-01 8.55176080e-02 4.60799581e+01] [-2.85463287e-01 9.57986708e-01 -2.77881085e-02 -6.07765166e+00] [-8.98944973e-02 2.10228617e-03 9.95949075e-01 -4.12197684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:46.11, Y:-6.09, Z:-4.12 [[ 9.55093944e-01 2.83348708e-01 8.66548765e-02 4.61102880e+01] [-2.81954331e-01 9.59013724e-01 -2.81856654e-02 -6.08819897e+00] [-9.10895877e-02 2.48724059e-03 9.95839596e-01 -4.12414725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.496559995 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:46.14, Y:-6.10, Z:-4.13 [[ 9.55458661e-01 2.82229890e-01 8.62846246e-02 4.61410656e+01] [-2.80840602e-01 9.59343261e-01 -2.80902692e-02 -6.09820752e+00] [-9.07044868e-02 2.60686506e-03 9.95874440e-01 -4.12921188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:46.17, Y:-6.11, Z:-4.13 [[ 9.55686195e-01 2.81129899e-01 8.73491603e-02 4.61727605e+01] [-2.79698912e-01 9.59665722e-01 -2.84643770e-02 -6.10815374e+00] [-9.18281824e-02 2.77154707e-03 9.95771010e-01 -4.13166737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:-6.12, Z:-4.13 [[ 9.55411445e-01 2.81734485e-01 8.84005130e-02 4.62030210e+01] [-2.80268717e-01 9.59488399e-01 -2.88350143e-02 -6.11751633e+00] [-9.29430846e-02 2.77340434e-03 9.95667561e-01 -4.13136686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:46.23, Y:-6.13, Z:-4.14 [[ 9.55153621e-01 2.82685572e-01 8.81500308e-02 4.62335460e+01] [-2.81229808e-01 9.59208836e-01 -2.87785445e-02 -6.12783622e+00] [-9.26895677e-02 2.69751473e-03 9.95691402e-01 -4.13757938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.616559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.26, Y:-6.14, Z:-4.14 [[ 9.54410593e-01 2.84829279e-01 8.92899930e-02 4.62638790e+01] [-2.83342180e-01 9.58574871e-01 -2.91792046e-02 -6.13742781e+00] [-9.39022353e-02 2.54932065e-03 9.95578159e-01 -4.13818827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:46.29, Y:-6.15, Z:-4.14 [[ 9.53638393e-01 2.87511692e-01 8.89429178e-02 4.62948968e+01] [-2.86045380e-01 9.57774364e-01 -2.90913707e-02 -6.14710433e+00] [-9.35513558e-02 2.30093723e-03 9.95611797e-01 -4.14316489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.676559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:46.33, Y:-6.16, Z:-4.15 [[ 9.52761033e-01 2.90594810e-01 8.83236641e-02 4.63258123e+01] [-2.89159472e-01 9.56844089e-01 -2.89169291e-02 -6.15629246e+00] [-9.29150855e-02 2.01129920e-03 9.95672005e-01 -4.14638429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:46.36, Y:-6.16, Z:-4.15 [[ 9.50884676e-01 2.96623940e-01 8.85018148e-02 4.63576676e+01] [-2.95206342e-01 9.54993264e-01 -2.90014145e-02 -6.16382552e+00] [-9.31211508e-02 1.45070363e-03 9.95653728e-01 -4.14907961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:-6.17, Z:-4.15 [[ 9.49821929e-01 2.99773319e-01 8.92987102e-02 4.63897207e+01] [-2.98341216e-01 9.54009731e-01 -2.92908362e-02 -6.17293378e+00] [-9.39724496e-02 1.17959280e-03 9.95574099e-01 -4.15057766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:46.42, Y:-6.18, Z:-4.16 [[ 9.48335204e-01 3.04904645e-01 8.77125860e-02 4.64199527e+01] [-3.03542383e-01 9.52382637e-01 -2.87981701e-02 -6.18200144e+00] [-9.23166398e-02 6.85831218e-04 9.95729465e-01 -4.15632481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.796559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:46.45, Y:-6.19, Z:-4.16 [[ 9.47581153e-01 3.07150878e-01 8.80244110e-02 4.64499180e+01] [-3.05786027e-01 9.51660703e-01 -2.89277050e-02 -6.19180621e+00] [-9.26545428e-02 4.94713142e-04 9.95698193e-01 -4.15946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:46.48, Y:-6.20, Z:-4.16 [[ 9.47544750e-01 3.07264610e-01 8.80193492e-02 4.64815319e+01] [-3.05898819e-01 9.51623986e-01 -2.89430983e-02 -6.20229107e+00] [-9.26545136e-02 4.99865906e-04 9.95698193e-01 -4.16287673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.856559995000005 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:46.51, Y:-6.21, Z:-4.17 [[ 9.46933637e-01 3.09205590e-01 8.77985742e-02 4.65122969e+01] [-3.07854061e-01 9.50995164e-01 -2.88803635e-02 -6.21233065e+00] [-9.24259893e-02 3.18639990e-04 9.95719506e-01 -4.16579791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:46.54, Y:-6.22, Z:-4.17 [[ 9.46292453e-01 3.10955267e-01 8.85291777e-02 4.65439610e+01] [-3.09586059e-01 9.50424532e-01 -2.91492901e-02 -6.22274631e+00] [-9.32044276e-02 1.76354029e-04 9.95646977e-01 -4.16814795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.916559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:46.58, Y:-6.23, Z:-4.17 [[ 9.45962076e-01 3.12328510e-01 8.72161290e-02 4.65752046e+01] [-3.11003015e-01 9.49974156e-01 -2.87441689e-02 -6.23320917e+00] [-9.18306920e-02 6.64146001e-05 9.95774633e-01 -4.17300252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.24, Z:-4.18 [[ 9.45434923e-01 3.14078333e-01 8.66464485e-02 4.66052637e+01] [-3.12774808e-01 9.49397069e-01 -2.85853815e-02 -6.24270488e+00] [-9.12399332e-02 -7.52083690e-05 9.95828936e-01 -4.17632237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.976559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:46.64, Y:-6.25, Z:-4.18 [[ 9.44870382e-01 3.15323277e-01 8.82677352e-02 4.66355746e+01] [-3.13974218e-01 9.48984298e-01 -2.91374812e-02 -6.25275152e+00] [-9.29524208e-02 -1.82650162e-04 9.95670535e-01 -4.17784296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:46.67, Y:-6.26, Z:-4.18 [[ 9.44697038e-01 3.16145840e-01 8.71740453e-02 4.66668203e+01] [-3.14831237e-01 9.48710573e-01 -2.88017438e-02 -6.26346760e+00] [-9.18084900e-02 -2.36190410e-04 9.95776654e-01 -4.18270484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.036559995000005 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:46.70, Y:-6.27, Z:-4.19 [[ 9.44499000e-01 3.16713624e-01 8.72589234e-02 4.66973248e+01] [-3.15396295e-01 9.48521170e-01 -2.88577118e-02 -6.27409612e+00] [-9.19065666e-02 -2.65061139e-04 9.95767600e-01 -4.18577945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.29, Z:-4.19 [[ 9.43914737e-01 3.18214397e-01 8.81167825e-02 4.67269507e+01] [-3.16875048e-01 9.48018695e-01 -2.91677651e-02 -6.28521805e+00] [-9.28179599e-02 -3.90126390e-04 9.95683019e-01 -4.18798446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.096559995 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:46.76, Y:-6.30, Z:-4.19 [[ 9.43765863e-01 3.18855666e-01 8.73902735e-02 4.67581726e+01] [-3.17538775e-01 9.47803188e-01 -2.89524243e-02 -6.29592808e+00] [-9.20604244e-02 -4.25490685e-04 9.95753332e-01 -4.19236220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.31, Z:-4.20 [[ 9.43506382e-01 3.19576254e-01 8.75598392e-02 4.67889692e+01] [-3.18254774e-01 9.47560445e-01 -2.90362188e-02 -6.30663373e+00] [-9.22475262e-02 -4.70479118e-04 9.95735995e-01 -4.19555102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.156559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:46.82, Y:-6.32, Z:-4.20 [[ 9.43222036e-01 3.20389038e-01 8.76530406e-02 4.68194834e+01] [-3.19065697e-01 9.47285907e-01 -2.90945298e-02 -6.31757423e+00] [-9.23540584e-02 -5.24476898e-04 9.95726093e-01 -4.19884419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:46.85, Y:-6.33, Z:-4.20 [[ 9.42919973e-01 3.21278508e-01 8.76472814e-02 4.68504851e+01] [-3.19956644e-01 9.46984571e-01 -2.91198980e-02 -6.32890364e+00] [-9.23562206e-02 -5.85596566e-04 9.95725859e-01 -4.20171897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.216559995000004 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:46.88, Y:-6.34, Z:-4.20 [[ 9.42662632e-01 3.22011243e-01 8.77263963e-02 4.68804356e+01] [-3.20687427e-01 9.46735635e-01 -2.91755325e-02 -6.33980022e+00] [-9.24485550e-02 -6.30068084e-04 9.95717263e-01 -4.20331866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:46.91, Y:-6.35, Z:-4.21 [[ 9.42038545e-01 3.24108993e-01 8.66991350e-02 4.69107751e+01] [-3.22823460e-01 9.46019399e-01 -2.88497948e-02 -6.35151708e+00] [-9.13695416e-02 -8.10895981e-04 9.95816725e-01 -4.20731986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.276559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:46.94, Y:-6.36, Z:-4.21 [[ 9.41358400e-01 3.25817404e-01 8.76777147e-02 4.69408113e+01] [-3.24507346e-01 9.45432227e-01 -2.92042042e-02 -6.36194081e+00] [-9.24085751e-02 -9.60439617e-04 9.95720710e-01 -4.20936325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:46.97, Y:-6.37, Z:-4.21 [[ 9.40769168e-01 3.27790922e-01 8.66399717e-02 4.69717837e+01] [-3.26517761e-01 9.44749631e-01 -2.88840069e-02 -6.37237040e+00] [-9.13209966e-02 -1.11630647e-03 9.95820882e-01 -4.21354994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.336559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:47.00, Y:-6.38, Z:-4.22 [[ 9.39846663e-01 3.30225744e-01 8.74025658e-02 4.70029739e+01] [-3.28937957e-01 9.43901036e-01 -2.91659750e-02 -6.38294948e+00] [-9.21307282e-02 -1.33847718e-03 9.95746021e-01 -4.21586150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:-6.39, Z:-4.22 [[ 9.37984050e-01 3.35173654e-01 8.85694227e-02 4.70339374e+01] [-3.33870476e-01 9.42154607e-01 -2.95838061e-02 -6.39348298e+00] [-9.33618021e-02 -1.82157708e-03 9.95630582e-01 -4.21673092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.396559995000004 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:47.06, Y:-6.40, Z:-4.22 [[ 9.37423034e-01 3.37054405e-01 8.73635115e-02 4.70649124e+01] [-3.35792181e-01 9.41483140e-01 -2.92080085e-02 -6.40444105e+00] [-9.20959611e-02 -1.95572414e-03 9.95748216e-01 -4.22274836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:47.10, Y:-6.42, Z:-4.23 [[ 9.36657099e-01 3.39352376e-01 8.66801254e-02 4.70956755e+01] [-3.38117142e-01 9.40656894e-01 -2.90070030e-02 -6.41501443e+00] [-9.13798529e-02 -2.13842091e-03 9.95813813e-01 -4.22691451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.456559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:47.13, Y:-6.43, Z:-4.23 [[ 9.35029604e-01 3.43827276e-01 8.66166468e-02 4.71251794e+01] [-3.42610415e-01 9.39029454e-01 -2.90135841e-02 -6.42625998e+00] [-9.13112442e-02 -2.54720523e-03 9.95819144e-01 -4.22955121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:47.16, Y:-6.44, Z:-4.23 [[ 9.34061371e-01 3.46147841e-01 8.78124531e-02 4.71562740e+01] [-3.44904856e-01 9.38175837e-01 -2.94404461e-02 -6.43728284e+00] [-9.25742685e-02 -2.78775804e-03 9.95701880e-01 -4.23084510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:-6.45, Z:-4.23 [[ 9.33267027e-01 3.48186649e-01 8.81970164e-02 4.71866593e+01] [-3.46939057e-01 9.37420505e-01 -2.95987688e-02 -6.44793882e+00] [-9.29835879e-02 -2.97543470e-03 9.95663196e-01 -4.23256978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:47.22, Y:-6.46, Z:-4.24 [[ 9.32417202e-01 3.50754702e-01 8.70017259e-02 4.72166180e+01] [-3.49550414e-01 9.36461999e-01 -2.92135660e-02 -6.45965996e+00] [-9.17206058e-02 -3.17225779e-03 9.95779728e-01 -4.23933617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.576559995000004 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:47.25, Y:-6.47, Z:-4.24 [[ 9.31690794e-01 3.52392566e-01 8.81574969e-02 4.72476113e+01] [-3.51160680e-01 9.35846273e-01 -2.96298912e-02 -6.47127245e+00] [-9.29432183e-02 -3.35154968e-03 9.95665770e-01 -4.23990966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:47.28, Y:-6.48, Z:-4.24 [[ 9.31273477e-01 3.53423167e-01 8.84408042e-02 4.72778575e+01] [-3.52185290e-01 9.35457236e-01 -2.97536755e-02 -6.48269480e+00] [-9.32482284e-02 -3.43874146e-03 9.95636953e-01 -4.24349929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.636559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:47.31, Y:-6.49, Z:-4.25 [[ 9.30681290e-01 3.55080154e-01 8.80364764e-02 4.73072299e+01] [-3.53858292e-01 9.34829077e-01 -2.96463567e-02 -6.49491697e+00] [-9.28258909e-02 -3.56112772e-03 9.95675988e-01 -4.24785618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:47.34, Y:-6.51, Z:-4.25 [[ 9.30155090e-01 3.56606435e-01 8.74263072e-02 4.73376299e+01] [-3.55405770e-01 9.34247523e-01 -2.94670184e-02 -6.50632562e+00] [-9.21859393e-02 -3.66291690e-03 9.95735073e-01 -4.25085063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:-6.52, Z:-4.25 [[ 9.29179616e-01 3.58865571e-01 8.85479758e-02 4.73688846e+01] [-3.57641350e-01 9.33381065e-01 -2.98739280e-02 -6.51790055e+00] [-9.33697282e-02 -3.91017267e-03 9.95623827e-01 -4.25068417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.40, Y:-6.53, Z:-4.25 [[ 9.28615789e-01 3.60440165e-01 8.80659018e-02 4.73991541e+01] [-3.59233661e-01 9.32773676e-01 -2.97396457e-02 -6.52887494e+00] [-9.28649178e-02 -4.01953173e-03 9.95670603e-01 -4.25485380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.756559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:47.43, Y:-6.54, Z:-4.26 [[ 9.27774811e-01 3.62833379e-01 8.70967228e-02 4.74283537e+01] [-3.61661431e-01 9.31844624e-01 -2.94381679e-02 -6.54066204e+00] [-9.18417628e-02 -4.18753473e-03 9.95764809e-01 -4.26011164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:47.46, Y:-6.55, Z:-4.26 [[ 9.27513056e-01 3.63689964e-01 8.63084053e-02 4.74591736e+01] [-3.62540560e-01 9.31510541e-01 -2.91968345e-02 -6.55258951e+00] [-9.10157850e-02 -4.20985239e-03 9.95840552e-01 -4.26453720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.816559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:47.49, Y:-6.56, Z:-4.27 [[ 9.27192607e-01 3.64472232e-01 8.64514999e-02 4.74893860e+01] [-3.63319912e-01 9.31204474e-01 -2.92723245e-02 -6.56451197e+00] [-9.11729730e-02 -4.26846852e-03 9.95825923e-01 -4.26736708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:47.52, Y:-6.58, Z:-4.27 [[ 9.26945214e-01 3.65181703e-01 8.61097779e-02 4.75192966e+01] [-3.64038991e-01 9.30926355e-01 -2.91845000e-02 -6.57630123e+00] [-9.08195070e-02 -4.29488407e-03 9.95858108e-01 -4.27118909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.876559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:47.55, Y:-6.59, Z:-4.27 [[ 9.26694583e-01 3.65697783e-01 8.66157177e-02 4.75497554e+01] [-3.64541438e-01 9.30723502e-01 -2.93820224e-02 -6.58963184e+00] [-9.13602245e-02 -4.34685728e-03 9.95808422e-01 -4.27378917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.60, Z:-4.28 [[ 9.26676791e-01 3.65615900e-01 8.71500894e-02 4.75806207e+01] [-3.64442310e-01 9.30755703e-01 -2.95909465e-02 -6.60167136e+00] [-9.19343633e-02 -4.33993654e-03 9.95755611e-01 -4.27679866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.936559995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:47.61, Y:-6.61, Z:-4.28 [[ 9.26744310e-01 3.65471422e-01 8.70380578e-02 4.76109250e+01] [-3.64297683e-01 9.30812655e-01 -2.95803845e-02 -6.61349448e+00] [-9.18269109e-02 -4.29430980e-03 9.95765724e-01 -4.28058420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.63, Z:-4.28 [[ 9.26758321e-01 3.65340517e-01 8.74375272e-02 4.76417964e+01] [-3.64152814e-01 9.30864130e-01 -2.97438894e-02 -6.62589762e+00] [-9.22591057e-02 -4.27522464e-03 9.95725856e-01 -4.28336338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.996559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:47.67, Y:-6.64, Z:-4.29 [[ 9.26894497e-01 3.64958202e-01 8.75905383e-02 4.76711838e+01] [-3.63762066e-01 9.31014346e-01 -2.98235985e-02 -6.63946835e+00] [-9.24324146e-02 -4.21878583e-03 9.95710023e-01 -4.28614946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:47.70, Y:-6.65, Z:-4.29 [[ 9.26892637e-01 3.64935373e-01 8.77052665e-02 4.77018988e+01] [-3.63733632e-01 9.31023387e-01 -2.98880833e-02 -6.65165857e+00] [-9.25628731e-02 -4.19831075e-03 9.95697991e-01 -4.29001024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.056559995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:47.73, Y:-6.66, Z:-4.29 [[ 9.26982212e-01 3.64951868e-01 8.66839777e-02 4.77321226e+01] [-3.63775641e-01 9.31017245e-01 -2.95664067e-02 -6.66343382e+00] [-9.14945934e-02 -4.12598648e-03 9.95797025e-01 -4.29366966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:47.76, Y:-6.68, Z:-4.30 [[ 9.26915468e-01 3.65056933e-01 8.69548817e-02 4.77630398e+01] [-3.63871248e-01 9.30976064e-01 -2.96864163e-02 -6.67525166e+00] [-9.17901456e-02 -4.12358285e-03 9.95769835e-01 -4.29699394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.116559995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:47.79, Y:-6.69, Z:-4.30 [[ 9.26639311e-01 3.65812487e-01 8.67226098e-02 4.77932593e+01] [-3.64633846e-01 9.30679275e-01 -2.96352225e-02 -6.68791931e+00] [-9.15518700e-02 -4.16083658e-03 9.95791616e-01 -4.30075822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:47.82, Y:-6.70, Z:-4.30 [[ 9.26338136e-01 3.66497351e-01 8.70479719e-02 4.78240847e+01] [-3.65310252e-01 9.30409533e-01 -2.97745159e-02 -6.69968236e+00] [-9.19025441e-02 -4.21824692e-03 9.95759072e-01 -4.30342428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.176559995000005 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:47.85, Y:-6.71, Z:-4.31 [[ 9.25806773e-01 3.67562010e-01 8.82042443e-02 4.78540341e+01] [-3.66345168e-01 9.29988822e-01 -3.01994889e-02 -6.71125005e+00] [-9.31291460e-02 -4.35430736e-03 9.95644516e-01 -4.30519821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.88, Y:-6.72, Z:-4.31 [[ 9.24937767e-01 3.69500350e-01 8.92166981e-02 4.78845783e+01] [-3.68261749e-01 9.29219321e-01 -3.05734763e-02 -6.72391734e+00] [-9.41987899e-02 -4.57653438e-03 9.95542889e-01 -4.30665063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.236559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:47.91, Y:-6.74, Z:-4.31 [[ 9.24669547e-01 3.70429122e-01 8.81390584e-02 4.79147364e+01] [-3.69221844e-01 9.28849406e-01 -3.02326159e-02 -6.73531494e+00] [-9.30669534e-02 -4.58768639e-03 9.95649283e-01 -4.31302914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.75, Z:-4.32 [[ 9.24040489e-01 3.71930092e-01 8.84148215e-02 4.79453804e+01] [-3.70719361e-01 9.28248708e-01 -3.03560830e-02 -6.74677530e+00] [-9.33612845e-02 -4.72683634e-03 9.95621076e-01 -4.31576767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.296559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:47.97, Y:-6.76, Z:-4.32 [[ 9.23502553e-01 3.73230547e-01 8.85550232e-02 4.79748616e+01] [-3.72019175e-01 9.27726007e-01 -3.04333643e-02 -6.75773152e+00] [-9.35134592e-02 -4.83887701e-03 9.95606257e-01 -4.31900912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:48.00, Y:-6.77, Z:-4.32 [[ 9.22633629e-01 3.75286163e-01 8.89240298e-02 4.80048199e+01] [-3.74071516e-01 9.26895286e-01 -3.05880797e-02 -6.76977022e+00] [-9.39025470e-02 -5.04235566e-03 9.95568625e-01 -4.32082904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.356559995000005 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:48.04, Y:-6.78, Z:-4.33 [[ 9.22397719e-01 3.75998538e-01 8.83603267e-02 4.80353742e+01] [-3.74800954e-01 9.26606404e-01 -3.04108048e-02 -6.78122610e+00] [-9.33096627e-02 -5.06667767e-03 9.95624244e-01 -4.32588554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:48.07, Y:-6.79, Z:-4.33 [[ 9.22137883e-01 3.76777716e-01 8.77512277e-02 4.80652258e+01] [-3.75597478e-01 9.26289756e-01 -3.02295000e-02 -6.79245935e+00] [-9.26728652e-02 -5.08337273e-03 9.95683634e-01 -4.33028240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.416559995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.80, Z:-4.33 [[ 9.21834913e-01 3.77537132e-01 8.76704506e-02 4.80954340e+01] [-3.76360050e-01 9.25980233e-01 -3.02278276e-02 -6.80393979e+00] [-9.25932316e-02 -5.13058837e-03 9.95690801e-01 -4.33382127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.82, Z:-4.34 [[ 9.21181192e-01 3.78998729e-01 8.82336359e-02 4.81254462e+01] [-3.77810463e-01 9.25382099e-01 -3.04503639e-02 -6.81633552e+00] [-9.31904764e-02 -5.28528838e-03 9.95634271e-01 -4.33636293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.476559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:48.16, Y:-6.83, Z:-4.34 [[ 9.20643326e-01 3.80093975e-01 8.91315695e-02 4.81561089e+01] [-3.78883761e-01 9.24931965e-01 -3.07888788e-02 -6.82769462e+00] [-9.41433051e-02 -5.42492851e-03 9.95543876e-01 -4.33809262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:48.19, Y:-6.84, Z:-4.34 [[ 9.19834499e-01 3.81974014e-01 8.94446560e-02 4.81860242e+01] [-3.80761342e-01 9.24156036e-01 -3.09260793e-02 -6.83848640e+00] [-9.44737774e-02 -5.61019253e-03 9.95511542e-01 -4.34285207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.536559995000005 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.85, Z:-4.35 [[ 9.19360451e-01 3.82959272e-01 9.01030383e-02 4.82165900e+01] [-3.81730769e-01 9.23747464e-01 -3.11808027e-02 -6.84930914e+00] [-9.51734307e-02 -5.72870529e-03 9.95444222e-01 -4.34625115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.86, Z:-4.35 [[ 9.18788693e-01 3.84180512e-01 9.07340697e-02 4.82473533e+01] [-3.82937840e-01 9.23239341e-01 -3.14281655e-02 -6.86061679e+00] [-9.58433514e-02 -5.86966558e-03 9.95379123e-01 -4.34917373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.596559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.87, Z:-4.35 [[ 9.18077680e-01 3.85747839e-01 9.12796757e-02 4.82778013e+01] [-3.84494935e-01 9.22584467e-01 -3.16472055e-02 -6.87194249e+00] [-9.64210521e-02 -6.04198001e-03 9.95322297e-01 -4.34967048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:48.31, Y:-6.88, Z:-4.35 [[ 9.17458201e-01 3.87282436e-01 9.10096955e-02 4.83070152e+01] [-3.86041774e-01 9.21940551e-01 -3.15811585e-02 -6.88283532e+00] [-9.61363568e-02 -6.15915146e-03 9.95349118e-01 -4.35491128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.656559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.89, Z:-4.36 [[ 9.16945927e-01 3.88617108e-01 9.04815425e-02 4.83375376e+01] [-3.87394687e-01 9.21378228e-01 -3.14247724e-02 -6.89362019e+00] [-9.55799275e-02 -6.23725184e-03 9.95402217e-01 -4.35900548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:48.37, Y:-6.90, Z:-4.36 [[ 9.16378623e-01 3.90023617e-01 9.01764793e-02 4.83688170e+01] [-3.88813465e-01 9.20783056e-01 -3.13473064e-02 -6.90439859e+00] [-9.52591640e-02 -6.33582794e-03 9.95432343e-01 -4.36266758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.716559995000004 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:48.40, Y:-6.91, Z:-4.37 [[ 9.15784957e-01 3.91442791e-01 9.00580599e-02 4.83997382e+01] [-3.90239853e-01 9.20179855e-01 -3.13351595e-02 -6.91488458e+00] [-9.51355348e-02 -6.44797628e-03 9.95443446e-01 -4.36674949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:48.43, Y:-6.93, Z:-4.37 [[ 9.15734591e-01 3.91562794e-01 9.00485299e-02 4.84311589e+01] [-3.90357754e-01 9.20128913e-01 -3.13625219e-02 -6.92590515e+00] [-9.51366526e-02 -6.43139575e-03 9.95443446e-01 -4.37016680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.776559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:48.46, Y:-6.94, Z:-4.37 [[ 9.14952438e-01 3.93308798e-01 9.03893060e-02 4.84613153e+01] [-3.92101892e-01 9.19382550e-01 -3.14933697e-02 -6.93640933e+00] [-9.54889700e-02 -6.62688256e-03 9.95408429e-01 -4.37273438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:48.49, Y:-6.95, Z:-4.38 [[ 9.14726532e-01 3.93820269e-01 9.04487024e-02 4.84914892e+01] [-3.92611540e-01 9.19163347e-01 -3.15423476e-02 -6.94743155e+00] [-9.55591479e-02 -6.65858206e-03 9.95401483e-01 -4.37626356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.836559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:48.52, Y:-6.96, Z:-4.38 [[ 9.14528436e-01 3.94241241e-01 9.06177907e-02 4.85221303e+01] [-3.93028353e-01 9.18982571e-01 -3.16187772e-02 -6.95879517e+00] [-9.57415963e-02 -6.69909024e-03 9.95383679e-01 -4.37893903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:48.55, Y:-6.97, Z:-4.38 [[ 9.14617843e-01 3.93771300e-01 9.17516492e-02 4.85525865e+01] [-3.92522617e-01 9.19183977e-01 -3.20438934e-02 -6.97036506e+00] [-9.69546114e-02 -6.70668084e-03 9.95266207e-01 -4.37942875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.896559995000004 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:48.58, Y:-6.98, Z:-4.38 [[ 9.14876580e-01 3.93164416e-01 9.17746426e-02 4.85831250e+01] [-3.91909184e-01 9.19444377e-01 -3.20816004e-02 -6.98142875e+00] [-9.69950228e-02 -6.61662042e-03 9.95262873e-01 -4.38483765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:48.61, Y:-6.99, Z:-4.39 [[ 9.15008676e-01 3.92843567e-01 9.18316623e-02 4.86138821e+01] [-3.91582276e-01 9.19581920e-01 -3.21312007e-02 -6.99252302e+00] [-9.70692718e-02 -6.55932384e-03 9.95256013e-01 -4.38747659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.956559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:48.64, Y:-7.00, Z:-4.39 [[ 9.15183068e-01 3.92519674e-01 9.14781807e-02 4.86440211e+01] [-3.91263544e-01 9.19720840e-01 -3.20377340e-02 -7.00354214e+00] [-9.67098300e-02 -6.47168547e-03 9.95291578e-01 -4.39107696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:48.67, Y:-7.01, Z:-4.39 [[ 9.15219951e-01 3.92564549e-01 9.09148814e-02 4.86748841e+01] [-3.91322375e-01 9.19702050e-01 -3.18580949e-02 -7.01481315e+00] [-9.61209615e-02 -6.41986331e-03 9.95348957e-01 -4.39417369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.016559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:48.70, Y:-7.03, Z:-4.40 [[ 9.14975992e-01 3.93211143e-01 9.05755555e-02 4.87049065e+01] [-3.91978524e-01 9.19425677e-01 -3.17688583e-02 -7.02558423e+00] [-9.57693605e-02 -6.43592997e-03 9.95382745e-01 -4.39606893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:48.73, Y:-7.04, Z:-4.40 [[ 9.14825301e-01 3.93648147e-01 9.01986958e-02 4.87345496e+01] [-3.92426166e-01 9.19238647e-01 -3.16546134e-02 -7.03590220e+00] [-9.53749070e-02 -6.43788714e-03 9.95420605e-01 -4.39920123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.076559995000004 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:48.77, Y:-7.05, Z:-4.40 [[ 9.14373620e-01 3.94825872e-01 8.96293160e-02 4.87654313e+01] [-3.93623312e-01 9.18732951e-01 -3.14714618e-02 -7.04624199e+00] [-9.47711533e-02 -6.50351383e-03 9.95477841e-01 -4.40156694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:48.80, Y:-7.06, Z:-4.40 [[ 9.14265247e-01 3.95115830e-01 8.94569159e-02 4.87964847e+01] [-3.93916576e-01 9.18608350e-01 -3.14393253e-02 -7.05699930e+00] [-9.45980450e-02 -6.49467947e-03 9.95494364e-01 -4.40490495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.136559995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:48.83, Y:-7.07, Z:-4.41 [[ 9.14288263e-01 3.95151090e-01 8.90650803e-02 4.88278201e+01] [-3.93959836e-01 9.18593542e-01 -3.13297393e-02 -7.06791687e+00] [-9.41945882e-02 -6.44365147e-03 9.95532952e-01 -4.40888154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:48.86, Y:-7.08, Z:-4.41 [[ 9.14260825e-01 3.95241679e-01 8.89446981e-02 4.88584956e+01] [-3.94051376e-01 9.18554749e-01 -3.13159210e-02 -7.07902531e+00] [-9.40779320e-02 -6.41786090e-03 9.95544150e-01 -4.41135649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.196559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:48.89, Y:-7.09, Z:-4.41 [[ 9.14327587e-01 3.95159677e-01 8.86221987e-02 4.88886360e+01] [-3.93974949e-01 9.18590432e-01 -3.12307109e-02 -7.09079051e+00] [-9.37486215e-02 -6.35982571e-03 9.95575587e-01 -4.41416686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:48.92, Y:-7.10, Z:-4.42 [[ 9.14508095e-01 3.94853308e-01 8.81238297e-02 4.89196730e+01] [-3.93677795e-01 9.18722809e-01 -3.10836485e-02 -7.10201445e+00] [-9.32348538e-02 -6.26614682e-03 9.95624426e-01 -4.41784551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.256559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:48.95, Y:-7.11, Z:-4.42 [[ 9.14615787e-01 3.94581705e-01 8.82226792e-02 4.89497116e+01] [-3.93399524e-01 9.18839818e-01 -3.11480797e-02 -7.11285579e+00] [-9.33529729e-02 -6.21823457e-03 9.95613658e-01 -4.41974818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:48.98, Y:-7.12, Z:-4.42 [[ 9.14954047e-01 3.93879723e-01 8.78513344e-02 4.89797404e+01] [-3.92701742e-01 9.19141779e-01 -3.10440434e-02 -7.12352993e+00] [-9.29754510e-02 -6.09549891e-03 9.95649743e-01 -4.42387266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.316559995 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:49.01, Y:-7.13, Z:-4.43 [[ 9.15083724e-01 3.93586710e-01 8.78138971e-02 4.90106076e+01] [-3.92405920e-01 9.19267663e-01 -3.10573238e-02 -7.13476721e+00] [-9.29482259e-02 -6.03864153e-03 9.95652631e-01 -4.42805593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:49.04, Y:-7.15, Z:-4.43 [[ 9.15377203e-01 3.92999141e-01 8.73856428e-02 4.90405955e+01] [-3.91824499e-01 9.19519764e-01 -3.09348676e-02 -7.14599094e+00] [-9.25102020e-02 -5.92276307e-03 9.95694121e-01 -4.43034482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.376559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:49.07, Y:-7.14, Z:-4.45 [[ 9.17026536e-01 3.90233444e-01 8.23419159e-02 4.90738639e+01] [-3.86370596e-01 9.20441541e-01 -5.92041493e-02 -7.14227600e+00] [-9.88943590e-02 2.24772808e-02 9.94844047e-01 -4.44819075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:49.10, Y:-7.18, Z:-4.43 [[ 9.17499218e-01 3.85904393e-01 9.62963410e-02 4.90970790e+01] [-3.87402832e-01 9.21904358e-01 -3.37652088e-03 -7.18226443e+00] [-9.00790306e-02 -3.42075199e-02 9.95346982e-01 -4.42867492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.436559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:49.13, Y:-7.18, Z:-4.44 [[ 9.17818860e-01 3.87379399e-01 8.68662290e-02 4.91312905e+01] [-3.86188282e-01 9.21905326e-01 -3.08087756e-02 -7.18257982e+00] [-9.20171241e-02 -5.26984443e-03 9.95743480e-01 -4.43842064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:49.16, Y:-7.20, Z:-4.44 [[ 9.18761587e-01 3.85062383e-01 8.72015355e-02 4.91604600e+01] [-3.83849025e-01 9.22876834e-01 -3.09560327e-02 -7.19564154e+00] [-9.23962807e-02 -5.03101069e-03 9.95709604e-01 -4.44071103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.496559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:49.19, Y:-7.21, Z:-4.44 [[ 9.18826055e-01 3.84931173e-01 8.71015045e-02 4.91914965e+01] [-3.83717623e-01 9.22931802e-01 -3.09463242e-02 -7.20765503e+00] [-9.23009534e-02 -4.98809323e-03 9.95718662e-01 -4.44386168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:49.22, Y:-7.22, Z:-4.44 [[ 9.18534735e-01 3.85680158e-01 8.68605557e-02 4.92222007e+01] [-3.84474103e-01 9.22618869e-01 -3.08882751e-02 -7.21908331e+00] [-9.20521825e-02 -5.02368070e-03 9.95741512e-01 -4.44459702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.556559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:49.25, Y:-7.23, Z:-4.45 [[ 9.17400483e-01 3.88894263e-01 8.44843553e-02 4.92522571e+01] [-3.87764511e-01 9.21267867e-01 -3.00699305e-02 -7.22993760e+00] [-8.95267453e-02 -5.17386593e-03 9.95970980e-01 -4.44988814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:49.28, Y:-7.24, Z:-4.45 [[ 9.16474228e-01 3.91219852e-01 8.37974709e-02 4.92834469e+01] [-3.90115868e-01 9.20281792e-01 -2.98501580e-02 -7.24074596e+00] [-8.87952611e-02 -5.33382257e-03 9.96035618e-01 -4.45335113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.616559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:49.32, Y:-7.24, Z:-4.47 [[ 9.15612635e-01 3.93785254e-01 8.11583399e-02 4.93161937e+01] [-3.90470944e-01 9.19031377e-01 -5.39793525e-02 -7.23850865e+00] [-9.58433339e-02 1.77342036e-02 9.95238440e-01 -4.46741709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:49.34, Y:-7.27, Z:-4.45 [[ 9.14680223e-01 3.93700616e-01 9.14325671e-02 4.93396983e+01] [-3.94768064e-01 9.18755142e-01 -6.86761986e-03 -7.27104147e+00] [-8.67079274e-02 -2.98129815e-02 9.95787589e-01 -4.45180864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.676559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:49.38, Y:-7.27, Z:-4.47 [[ 9.12466982e-01 4.01266833e-01 7.99308190e-02 4.93771968e+01] [-3.98596732e-01 9.15887479e-01 -4.76526044e-02 -7.26607433e+00] [-9.23290460e-02 1.16212649e-02 9.95660732e-01 -4.47118699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:49.40, Y:-7.29, Z:-4.46 [[ 9.11159603e-01 4.02276679e-01 8.92280891e-02 4.94012692e+01] [-4.02762943e-01 9.15207899e-01 -1.32858542e-02 -7.28841657e+00] [-8.70068412e-02 -2.38322341e-02 9.95922605e-01 -4.45856347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.736559995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:49.43, Y:-7.29, Z:-4.47 [[ 9.10002815e-01 4.06198075e-01 8.30541995e-02 4.94338670e+01] [-4.05166996e-01 9.13760895e-01 -2.96771201e-02 -7.29153335e+00] [-8.79464687e-02 -6.64455769e-03 9.96103041e-01 -4.46704079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:49.46, Y:-7.30, Z:-4.47 [[ 9.08933690e-01 4.08562731e-01 8.31627432e-02 4.94647039e+01] [-4.07536450e-01 9.12704474e-01 -2.97419615e-02 -7.30213750e+00] [-8.80544648e-02 -6.85837828e-03 9.96092051e-01 -4.46995363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.796559995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:49.49, Y:-7.31, Z:-4.47 [[ 9.08017219e-01 4.10616406e-01 8.30596028e-02 4.94945227e+01] [-4.09598756e-01 9.11781135e-01 -2.97325041e-02 -7.31237208e+00] [-8.79408329e-02 -7.02348429e-03 9.96100939e-01 -4.47268589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:49.52, Y:-7.32, Z:-4.47 [[ 9.07015010e-01 4.12716794e-01 8.35979629e-02 4.95243481e+01] [-4.11692434e-01 9.10830542e-01 -2.99510175e-02 -7.32260244e+00] [-8.85048658e-02 -7.25062638e-03 9.96049355e-01 -4.47487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.856559995000005 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:49.56, Y:-7.33, Z:-4.48 [[ 9.05241698e-01 4.16395752e-01 8.45697659e-02 4.95562028e+01] [-4.15361046e-01 9.09151061e-01 -3.03240834e-02 -7.33242677e+00] [-8.95135119e-02 -7.67636165e-03 9.95956025e-01 -4.47592381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:49.59, Y:-7.34, Z:-4.48 [[ 9.04588734e-01 4.17931102e-01 8.39810486e-02 4.95859640e+01] [-4.16914863e-01 9.08445682e-01 -3.01403373e-02 -7.34185572e+00] [-8.88888054e-02 -7.74833782e-03 9.96011417e-01 -4.47997057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.916559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:49.62, Y:-7.35, Z:-4.48 [[ 9.03921242e-01 4.19336397e-01 8.41627781e-02 4.96166708e+01] [-4.18319511e-01 9.07796718e-01 -3.02308607e-02 -7.35192780e+00] [-8.90795940e-02 -7.88061506e-03 9.95993334e-01 -4.48335615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:49.65, Y:-7.36, Z:-4.49 [[ 9.03315962e-01 4.20657939e-01 8.40664693e-02 4.96469190e+01] [-4.19646463e-01 9.07184265e-01 -3.02250766e-02 -7.36096385e+00] [-8.89781967e-02 -7.97540231e-03 9.96001643e-01 -4.48845725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.976559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:49.68, Y:-7.37, Z:-4.49 [[ 9.02968714e-01 4.21221811e-01 8.49687493e-02 4.96784494e+01] [-4.20189499e-01 9.06921455e-01 -3.05656555e-02 -7.37173761e+00] [-8.99349025e-02 -8.10314564e-03 9.95914681e-01 -4.48985009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:49.71, Y:-7.38, Z:-4.49 [[ 9.02880355e-01 4.21377247e-01 8.51368349e-02 4.97090184e+01] [-4.20339044e-01 9.06849186e-01 -3.06535721e-02 -7.38224018e+00] [-9.01229873e-02 -8.10982777e-03 9.95897624e-01 -4.49425454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.036559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:49.74, Y:-7.39, Z:-4.50 [[ 9.03011115e-01 4.20870556e-01 8.62490627e-02 4.97389369e+01] [-4.19800135e-01 9.07084188e-01 -3.10825198e-02 -7.39191830e+00] [-9.13168783e-02 -8.13950725e-03 9.95788620e-01 -4.49736198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:49.77, Y:-7.40, Z:-4.50 [[ 9.02918509e-01 4.20839310e-01 8.73638429e-02 4.97699668e+01] [-4.19738426e-01 9.07097973e-01 -3.15106418e-02 -7.40272521e+00] [-9.25084815e-02 -8.21842021e-03 9.95677979e-01 -4.49942699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.096559995 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:49.80, Y:-7.41, Z:-4.50 [[ 9.03072704e-01 4.20395926e-01 8.79031046e-02 4.98006705e+01] [-4.19276576e-01 9.07303738e-01 -3.17345332e-02 -7.41219761e+00] [-9.30958838e-02 -8.19712203e-03 9.95623405e-01 -4.50359649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:49.83, Y:-7.42, Z:-4.51 [[ 9.03904776e-01 4.18839115e-01 8.67752968e-02 4.98314410e+01] [-4.17154339e-01 9.08057753e-01 -3.75948781e-02 -7.41730841e+00] [-9.45431866e-02 -2.21650169e-03 9.95518294e-01 -4.51121309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.156559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:49.86, Y:-7.43, Z:-4.51 [[ 9.03222146e-01 4.19695591e-01 8.96959579e-02 4.98608612e+01] [-4.19157180e-01 9.07550583e-01 -2.56748518e-02 -7.43478289e+00] [-9.21792410e-02 -1.44066101e-02 9.95638206e-01 -4.50921285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:49.89, Y:-7.44, Z:-4.51 [[ 9.02844080e-01 4.20415651e-01 9.01290574e-02 4.98935609e+01] [-4.19232302e-01 9.07293245e-01 -3.26074478e-02 -7.44171279e+00] [-9.54821663e-02 -8.34557099e-03 9.95396156e-01 -4.51322277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.216559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.92, Y:-7.45, Z:-4.52 [[ 9.02721707e-01 4.20385533e-01 9.14851024e-02 4.99249386e+01] [-4.19163233e-01 9.07306308e-01 -3.31277615e-02 -7.45075109e+00] [-9.69314421e-02 -8.44204182e-03 9.95255257e-01 -4.51548708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:49.96, Y:-7.46, Z:-4.52 [[ 9.02846610e-01 4.20213924e-01 9.10398661e-02 4.99564555e+01] [-4.18999835e-01 9.07386598e-01 -3.29954602e-02 -7.46077584e+00] [-9.64735062e-02 -8.35584949e-03 9.95300478e-01 -4.52026280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.276559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:49.99, Y:-7.47, Z:-4.53 [[ 9.03044004e-01 4.19764747e-01 9.11541741e-02 4.99890181e+01] [-4.18542482e-01 9.07595068e-01 -3.30663397e-02 -7.46750451e+00] [-9.66111626e-02 -8.29153452e-03 9.95287664e-01 -4.52614884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:50.02, Y:-7.47, Z:-4.53 [[ 9.03288709e-01 4.18752726e-01 9.33577147e-02 5.00207069e+01] [-4.17462136e-01 9.08061868e-01 -3.38970233e-02 -7.47218154e+00] [-9.89690517e-02 -8.35451262e-03 9.95055440e-01 -4.52871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.336559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:50.05, Y:-7.48, Z:-4.53 [[ 9.03127484e-01 4.19052639e-01 9.35715365e-02 5.00509323e+01] [-4.17754869e-01 9.07923262e-01 -3.40032337e-02 -7.48171050e+00] [-9.92049194e-02 -8.38071007e-03 9.95031732e-01 -4.53200493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:-7.49, Z:-4.53 [[ 9.02612476e-01 4.20775857e-01 9.07656051e-02 5.00812832e+01] [-4.18960999e-01 9.07160600e-01 -3.91321671e-02 -7.48871383e+00] [-9.88048520e-02 -2.70606633e-03 9.95103150e-01 -4.53472518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.396559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:-7.50, Z:-4.54 [[ 9.02594676e-01 4.20375395e-01 9.27759503e-02 5.01118058e+01] [-4.19145388e-01 9.07307490e-01 -3.33205845e-02 -7.50277454e+00] [-9.81834685e-02 -8.81162955e-03 9.95129319e-01 -4.53655545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:-7.51, Z:-4.54 [[ 9.02520429e-01 4.20554989e-01 9.26842876e-02 5.01430790e+01] [-4.19328986e-01 9.07224098e-01 -3.32811941e-02 -7.51431834e+00] [-9.80819914e-02 -8.82825083e-03 9.95139179e-01 -4.53988272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:-7.53, Z:-4.54 [[ 9.02648139e-01 4.19352107e-01 9.67995214e-02 5.01742774e+01] [-4.18631309e-01 9.07704935e-01 -2.86282893e-02 -7.52698152e+00] [-9.98707367e-02 -1.46820383e-02 9.94892091e-01 -4.54142048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:-7.54, Z:-4.55 [[ 9.02515711e-01 4.20125531e-01 9.46569083e-02 5.02062904e+01] [-4.18791866e-01 9.07426236e-01 -3.45108578e-02 -7.53591242e+00] [-1.00393055e-01 -8.49495184e-03 9.94911589e-01 -4.54634655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:-7.55, Z:-4.55 [[ 9.02434909e-01 4.20300567e-01 9.46502476e-02 5.02375369e+01] [-4.18965954e-01 9.07345177e-01 -3.45291160e-02 -7.54740102e+00] [-1.00393053e-01 -8.49495168e-03 9.94911589e-01 -4.54974065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:-7.55, Z:-4.55 [[ 9.01742770e-01 4.22600009e-01 9.09351926e-02 5.02671242e+01] [-4.20655286e-01 9.06314697e-01 -4.05314728e-02 -7.55346133e+00] [-9.95445023e-02 -1.70340684e-03 9.95031653e-01 -4.55473904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.576559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:-7.57, Z:-4.55 [[ 9.02345358e-01 4.19811060e-01 9.76295537e-02 5.02970324e+01] [-4.19224791e-01 9.07467566e-01 -2.74443163e-02 -7.57001333e+00] [-1.00117081e-01 -1.61644779e-02 9.94844350e-01 -4.55415173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:-7.57, Z:-4.56 [[ 9.02397785e-01 4.22281383e-01 8.57710399e-02 5.03306998e+01] [-4.19700531e-01 9.06441701e-01 -4.70628084e-02 -7.57064490e+00] [-9.76201951e-02 6.47122307e-03 9.95202703e-01 -4.56279322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:-7.59, Z:-4.56 [[ 9.02430603e-01 4.21181435e-01 9.06929203e-02 5.03601737e+01] [-4.19979451e-01 9.06937430e-01 -3.28900969e-02 -7.58838203e+00] [-9.61055023e-02 -8.40813293e-03 9.95335640e-01 -4.56245472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.39, Y:-7.60, Z:-4.56 [[ 9.02307706e-01 4.19387285e-01 9.97752973e-02 5.03882568e+01] [-4.19544404e-01 9.07504994e-01 -2.04249603e-02 -7.60383750e+00] [-9.91125492e-02 -2.34305686e-02 9.94800337e-01 -4.56251912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:-7.61, Z:-4.57 [[ 9.02073434e-01 4.21188921e-01 9.41457001e-02 5.04219614e+01] [-4.19859701e-01 9.06933806e-01 -3.44804750e-02 -7.60636893e+00] [-9.99067122e-02 -8.42406506e-03 9.94961147e-01 -4.56854181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.45, Y:-7.62, Z:-4.57 [[ 9.01946719e-01 4.21578219e-01 9.36158183e-02 5.04528956e+01] [-4.20263067e-01 9.06753206e-01 -3.43158524e-02 -7.61621914e+00] [-9.93532593e-02 -8.39220046e-03 9.95016834e-01 -4.57219347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:-7.63, Z:-4.57 [[ 9.01653448e-01 4.22241560e-01 9.34511949e-02 5.04841112e+01] [-4.20931599e-01 9.06444215e-01 -3.42851848e-02 -7.62609570e+00] [-9.91849249e-02 -8.42320579e-03 9.95033366e-01 -4.57439314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.63, Z:-4.58 [[ 9.00924919e-01 4.25545965e-01 8.51171049e-02 5.05167288e+01] [-4.23133974e-01 9.04923037e-01 -4.55185339e-02 -7.62859174e+00] [-9.63946576e-02 4.99284262e-03 9.95330669e-01 -4.58026148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:-7.65, Z:-4.58 [[ 9.00302981e-01 4.24272053e-01 9.71996327e-02 5.05458047e+01] [-4.24274447e-01 9.05274163e-01 -2.16768099e-02 -7.64748724e+00] [-9.71891807e-02 -2.17236239e-02 9.95028817e-01 -4.57690928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:-7.65, Z:-4.58 [[ 8.99684720e-01 4.26793637e-01 9.17311056e-02 5.05798621e+01] [-4.25547042e-01 9.04307328e-01 -3.37338401e-02 -7.65012895e+00] [-9.73504993e-02 -8.68608008e-03 9.95212255e-01 -4.58287100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.876559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:50.61, Y:-7.66, Z:-4.59 [[ 8.99990937e-01 4.26334719e-01 9.08571426e-02 5.06108525e+01] [-4.25106593e-01 9.04525295e-01 -3.34421230e-02 -7.65748488e+00] [-9.64401218e-02 -8.52636276e-03 9.95302268e-01 -4.58903285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:-7.67, Z:-4.59 [[ 8.99770542e-01 4.26682752e-01 9.14045961e-02 5.06426032e+01] [-4.25438803e-01 9.04360568e-01 -3.36717611e-02 -7.66790330e+00] [-9.70298721e-02 -8.59020320e-03 9.95244398e-01 -4.58881423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:-7.68, Z:-4.59 [[ 8.99687275e-01 4.26860362e-01 9.13949580e-02 5.06738194e+01] [-4.25614687e-01 9.04276832e-01 -3.36979011e-02 -7.67949614e+00] [-9.70306414e-02 -8.58146361e-03 9.95244399e-01 -4.59217884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:50.70, Y:-7.69, Z:-4.60 [[ 9.00112782e-01 4.26104151e-01 9.07316491e-02 5.07047980e+01] [-4.24870803e-01 9.04634932e-01 -3.34729856e-02 -7.68904191e+00] [-9.63419974e-02 -8.41976642e-03 9.95312678e-01 -4.59918101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.996559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:50.74, Y:-7.70, Z:-4.60 [[ 9.00028801e-01 4.26283570e-01 9.07219742e-02 5.07360090e+01] [-4.25048505e-01 9.04550481e-01 -3.34991867e-02 -7.70064834e+00] [-9.63427584e-02 -8.41100663e-03 9.95312678e-01 -4.60254560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:50.77, Y:-7.71, Z:-4.60 [[ 9.00556405e-01 4.24995284e-01 9.15268821e-02 5.07674865e+01] [-4.23729574e-01 9.05157250e-01 -3.38171824e-02 -7.70934542e+00] [-9.72183639e-02 -8.32836653e-03 9.95228229e-01 -4.60324699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.056559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:50.80, Y:-7.72, Z:-4.61 [[ 9.01204829e-01 4.23674086e-01 9.12695155e-02 5.07981623e+01] [-4.22407025e-01 9.05778068e-01 -3.37401211e-02 -7.71894935e+00] [-9.69647404e-02 -8.14612445e-03 9.95254480e-01 -4.60843956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:50.83, Y:-7.73, Z:-4.61 [[ 9.01565634e-01 4.22765399e-01 9.19174925e-02 5.08298522e+01] [-4.21472668e-01 9.06203149e-01 -3.40094459e-02 -7.72910705e+00] [-9.76739382e-02 -8.07896320e-03 9.95185677e-01 -4.61119971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.116559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:50.86, Y:-7.74, Z:-4.61 [[ 9.02504269e-01 4.20735946e-01 9.20179780e-02 5.08604104e+01] [-4.19426884e-01 9.07149274e-01 -3.40776304e-02 -7.73751753e+00] [-9.78117260e-02 -7.83960682e-03 9.95174059e-01 -4.61305574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:-7.75, Z:-4.61 [[ 9.02722752e-01 4.20294790e-01 9.18908161e-02 5.08917895e+01] [-4.18985246e-01 9.07354402e-01 -3.40492581e-02 -7.74771340e+00] [-9.76882623e-02 -7.76385616e-03 9.95186779e-01 -4.61379575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.176559995000005 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:50.92, Y:-7.76, Z:-4.62 [[ 9.03274247e-01 4.19103752e-01 9.19112615e-02 5.09232397e+01] [-4.17784511e-01 9.07906466e-01 -3.40874100e-02 -7.75743084e+00] [-9.77329900e-02 -7.60882190e-03 9.95183585e-01 -4.62077204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:50.95, Y:-7.77, Z:-4.62 [[ 9.03522587e-01 4.18567045e-01 9.19160646e-02 5.09538887e+01] [-4.17241920e-01 9.08154738e-01 -3.41196708e-02 -7.76730019e+00] [-9.77553794e-02 -7.52334209e-03 9.95182036e-01 -4.62337689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.236559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:50.98, Y:-7.78, Z:-4.63 [[ 9.03957344e-01 4.17715223e-01 9.15156444e-02 5.09844433e+01] [-4.16394558e-01 9.08548091e-01 -3.39991010e-02 -7.77680571e+00] [-9.73483061e-02 -7.37287921e-03 9.95223064e-01 -4.62804729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:51.02, Y:-7.79, Z:-4.63 [[ 9.04625328e-01 4.16395078e-01 9.09293979e-02 5.10162000e+01] [-4.15082015e-01 9.09155591e-01 -3.38087520e-02 -7.78550990e+00] [-9.67467684e-02 -7.15890433e-03 9.95283283e-01 -4.63071446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.296559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:51.05, Y:-7.80, Z:-4.63 [[ 9.05051940e-01 4.15454881e-01 9.09847634e-02 5.10471123e+01] [-4.14132634e-01 9.09586576e-01 -3.38588468e-02 -7.79527838e+00] [-9.68253426e-02 -7.03574468e-03 9.95276520e-01 -4.63346043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:51.08, Y:-7.80, Z:-4.64 [[ 9.05940317e-01 4.13705706e-01 9.01095506e-02 5.10778583e+01] [-4.12397360e-01 9.10385609e-01 -3.35627789e-02 -7.80375824e+00] [-9.59195513e-02 -6.75506626e-03 9.95366168e-01 -4.63731504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.356559995000005 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:51.11, Y:-7.81, Z:-4.64 [[ 9.06086741e-01 4.13290046e-01 9.05436672e-02 5.11094252e+01] [-4.11964284e-01 9.10574656e-01 -3.37524056e-02 -7.81404150e+00] [-9.63963019e-02 -6.71814980e-03 9.95320360e-01 -4.63785667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:51.14, Y:-7.82, Z:-4.64 [[ 9.06833404e-01 4.11690751e-01 9.03543163e-02 5.11414535e+01] [-4.10359756e-01 9.11300383e-01 -3.37117668e-02 -7.82282794e+00] [-9.62187456e-02 -6.50681893e-03 9.95338944e-01 -4.64045722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:-7.83, Z:-4.64 [[ 9.06879314e-01 4.11571446e-01 9.04370226e-02 5.11717575e+01] [-4.10234512e-01 9.11354514e-01 -3.37726967e-02 -7.83279380e+00] [-9.63200664e-02 -6.47262783e-03 9.95329368e-01 -4.64078560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:51.20, Y:-7.84, Z:-4.65 [[ 9.07355935e-01 4.10644863e-01 8.98665915e-02 5.12023294e+01] [-4.09317615e-01 9.11773546e-01 -3.35870683e-02 -7.84240680e+00] [-9.57303378e-02 -6.30855315e-03 9.95387314e-01 -4.64739839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.476559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:51.23, Y:-7.85, Z:-4.65 [[ 9.07586411e-01 4.10143356e-01 8.98294724e-02 5.12344294e+01] [-4.08811917e-01 9.11999817e-01 -3.36028316e-02 -7.85087026e+00] [-9.57064405e-02 -6.22588549e-03 9.95390132e-01 -4.64987250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:51.26, Y:-7.86, Z:-4.65 [[ 9.07559841e-01 4.10267733e-01 8.95294476e-02 5.12643971e+01] [-4.08942940e-01 9.11944111e-01 -3.35202915e-02 -7.86012027e+00] [-9.53981465e-02 -6.19076515e-03 9.95419946e-01 -4.65463456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.536559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:51.30, Y:-7.87, Z:-4.66 [[ 9.07396032e-01 4.10715576e-01 8.91356113e-02 5.12953183e+01] [-4.09401969e-01 9.11742540e-01 -3.34001257e-02 -7.86975615e+00] [-9.49866805e-02 -6.18515328e-03 9.95459328e-01 -4.65774275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:51.33, Y:-7.88, Z:-4.66 [[ 9.07173472e-01 4.11258361e-01 8.88979823e-02 5.13258447e+01] [-4.09951565e-01 9.11497745e-01 -3.33402917e-02 -7.87899756e+00] [-9.47417841e-02 -6.19843880e-03 9.95482583e-01 -4.66009063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.596559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.36, Y:-7.89, Z:-4.66 [[ 9.06461044e-01 4.12867257e-01 8.87074089e-02 5.13584644e+01] [-4.11571154e-01 9.10769226e-01 -3.32956858e-02 -7.88739101e+00] [-9.45386766e-02 -6.32816862e-03 9.95501076e-01 -4.65984179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:51.39, Y:-7.90, Z:-4.67 [[ 9.06492978e-01 4.12926062e-01 8.81053271e-02 5.13884020e+01] [-4.11645060e-01 9.10743007e-01 -3.30986420e-02 -7.89658690e+00] [-9.39086024e-02 -6.26443611e-03 9.95561114e-01 -4.66574910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.656559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:51.42, Y:-7.91, Z:-4.67 [[ 9.06430478e-01 4.13269349e-01 8.71334259e-02 5.14191680e+01] [-4.12015612e-01 9.10587685e-01 -3.27597796e-02 -7.90689322e+00] [-9.28812374e-02 -6.20586919e-03 9.95657854e-01 -4.66820587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:51.45, Y:-7.92, Z:-4.67 [[ 9.06434465e-01 4.13340000e-01 8.67560135e-02 5.14500378e+01] [-4.12094831e-01 9.10555926e-01 -3.26459066e-02 -7.91710576e+00] [-9.24900612e-02 -6.16032990e-03 9.95694551e-01 -4.67142511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.716559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:-7.93, Z:-4.67 [[ 9.06090771e-01 4.13928079e-01 8.75389100e-02 5.14812482e+01] [-4.12660316e-01 9.10288128e-01 -3.29694821e-02 -7.92777650e+00] [-9.33326250e-02 -6.25049090e-03 9.95615364e-01 -4.67015051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:51.51, Y:-7.94, Z:-4.68 [[ 9.06454244e-01 4.13551129e-01 8.55345957e-02 5.15116397e+01] [-4.12336607e-01 9.10460844e-01 -3.22424310e-02 -7.93598387e+00] [-9.12097939e-02 -6.04275657e-03 9.95813365e-01 -4.67736459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.776559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:51.54, Y:-7.95, Z:-4.68 [[ 9.06755237e-01 4.13074380e-01 8.46433462e-02 5.15435972e+01] [-4.11880682e-01 9.10678125e-01 -3.19320526e-02 -7.94546826e+00] [-9.02731566e-02 -5.90840330e-03 9.95899517e-01 -4.67993043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:51.57, Y:-7.96, Z:-4.68 [[ 9.06700828e-01 4.13038284e-01 8.53989702e-02 5.15740766e+01] [-4.11820373e-01 9.10694345e-01 -3.22457818e-02 -7.95580201e+00] [-9.10911016e-02 -5.93175869e-03 9.95824897e-01 -4.68244146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.836559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:51.60, Y:-7.97, Z:-4.68 [[ 9.07242067e-01 4.11796692e-01 8.56464581e-02 5.16042471e+01] [-4.10563781e-01 9.11257289e-01 -3.23656491e-02 -7.96521930e+00] [-9.13740264e-02 -5.79985524e-03 9.95799753e-01 -4.68460404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:51.63, Y:-7.98, Z:-4.69 [[ 9.07790277e-01 4.10816013e-01 8.45400266e-02 5.16349418e+01] [-4.09608299e-01 9.11701047e-01 -3.19725247e-02 -7.97619220e+00] [-9.02100559e-02 -5.60394947e-03 9.95906994e-01 -4.68940422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.896559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:51.67, Y:-7.99, Z:-4.69 [[ 9.07737857e-01 4.10933859e-01 8.45301549e-02 5.16660744e+01] [-4.09724235e-01 9.11648036e-01 -3.19986020e-02 -7.98805866e+00] [-9.02110586e-02 -5.58771062e-03 9.95906995e-01 -4.69276905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:51.70, Y:-8.00, Z:-4.70 [[ 9.08691194e-01 4.08848877e-01 8.43973330e-02 5.16972673e+01] [-4.07633159e-01 9.12586347e-01 -3.19588406e-02 -7.99850888e+00] [-9.00861899e-02 -5.36243441e-03 9.95919536e-01 -4.69570110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.956559995 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:51.73, Y:-8.01, Z:-4.70 [[ 9.08908565e-01 4.08230064e-01 8.50496050e-02 5.17269796e+01] [-4.06990136e-01 9.12863602e-01 -3.22346700e-02 -8.00910663e+00] [-9.07978501e-02 -5.31598259e-03 9.95855156e-01 -4.69826157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:51.76, Y:-8.02, Z:-4.70 [[ 9.09184594e-01 4.07519828e-01 8.55041755e-02 5.17591086e+01] [-4.05408683e-01 9.13191075e-01 -4.15434851e-02 -8.01679708e+00] [-9.50114438e-02 3.10656148e-03 9.95471333e-01 -4.70482307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.016559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:51.79, Y:-8.03, Z:-4.70 [[ 9.10028066e-01 4.05119047e-01 8.79060692e-02 5.17863112e+01] [-4.04610500e-01 9.14165367e-01 -2.43315559e-02 -8.03372584e+00] [-9.02178608e-02 -1.34253198e-02 9.95831561e-01 -4.70310511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:51.82, Y:-8.04, Z:-4.71 [[ 9.10053124e-01 4.05665640e-01 8.50805473e-02 5.18187279e+01] [-4.04407923e-01 9.14007849e-01 -3.23092001e-02 -8.04185407e+00] [-9.08710203e-02 -5.00415891e-03 9.95850097e-01 -4.70688052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.076559995000004 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:51.85, Y:-8.05, Z:-4.71 [[ 9.10454154e-01 4.04923835e-01 8.43203459e-02 5.18491375e+01] [-4.03682753e-01 9.14337506e-01 -3.20493268e-02 -8.05211790e+00] [-9.00747911e-02 -4.85922662e-03 9.95923150e-01 -4.71153700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:51.88, Y:-8.06, Z:-4.71 [[ 9.10276685e-01 4.05191765e-01 8.49469882e-02 5.18802044e+01] [-4.03931802e-01 9.14218548e-01 -3.23039745e-02 -8.06363132e+00] [-9.07494166e-02 -4.90723512e-03 9.95861668e-01 -4.71393271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:-8.07, Z:-4.71 [[ 9.10358592e-01 4.04824723e-01 8.58147838e-02 5.19115737e+01] [-4.03534561e-01 9.14381206e-01 -3.26629513e-02 -8.07490774e+00] [-9.16901957e-02 -4.89423276e-03 9.95775554e-01 -4.71415785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:51.94, Y:-8.09, Z:-4.72 [[ 9.10415211e-01 4.05000859e-01 8.43708963e-02 5.19407846e+01] [-4.03752025e-01 9.14303689e-01 -3.21413403e-02 -8.08571632e+00] [-9.01578922e-02 -4.80295517e-03 9.95915903e-01 -4.72154800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:-8.10, Z:-4.72 [[ 9.10187456e-01 4.05243406e-01 8.56538168e-02 5.19708127e+01] [-4.03954818e-01 9.14195825e-01 -3.26572946e-02 -8.09702159e+00] [-9.15385150e-02 -4.87601206e-03 9.95789599e-01 -4.72057518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:-8.11, Z:-4.72 [[ 9.09941328e-01 4.05829492e-01 8.54938776e-02 5.20016891e+01] [-4.04545921e-01 9.13935662e-01 -3.26221326e-02 -8.10863114e+00] [-9.13749271e-02 -4.90197284e-03 9.95804496e-01 -4.72370506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:-8.12, Z:-4.73 [[ 9.09598305e-01 4.06570327e-01 8.56241360e-02 5.20319689e+01] [-4.05283481e-01 9.13606036e-01 -3.27003292e-02 -8.11975387e+00] [-9.15217110e-02 -4.95788388e-03 9.95790739e-01 -4.72641740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:52.06, Y:-8.13, Z:-4.73 [[ 9.09364824e-01 4.07393250e-01 8.41805008e-02 5.20616031e+01] [-4.06150700e-01 9.13239518e-01 -3.21743775e-02 -8.13082793e+00] [-8.99845842e-02 -4.93172219e-03 9.95930948e-01 -4.73310200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.316559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:52.09, Y:-8.14, Z:-4.74 [[ 9.09076194e-01 4.08101997e-01 8.38643802e-02 5.20925405e+01] [-4.06869510e-01 9.12922866e-01 -3.20786943e-02 -8.14244019e+00] [-8.96530896e-02 -4.95988191e-03 9.95960704e-01 -4.73643453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.12, Y:-8.15, Z:-4.74 [[ 9.08646456e-01 4.08684095e-01 8.56675486e-02 5.21225661e+01] [-4.07397898e-01 9.12661658e-01 -3.27971105e-02 -8.15350611e+00] [-9.15891444e-02 -5.09980105e-03 9.95783822e-01 -4.73685885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.376559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:52.15, Y:-8.16, Z:-4.74 [[ 9.08253974e-01 4.09817802e-01 8.44043078e-02 5.21523994e+01] [-4.08571811e-01 9.12153073e-01 -3.23395418e-02 -8.16463572e+00] [-9.02429688e-02 -5.11270351e-03 9.95906656e-01 -4.74156272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:52.18, Y:-8.18, Z:-4.74 [[ 9.07851870e-01 4.10640683e-01 8.47302345e-02 5.21821695e+01] [-4.09387130e-01 9.11782425e-01 -3.24805672e-02 -8.17655378e+00] [-9.05933809e-02 -5.19992386e-03 9.95874390e-01 -4.74416092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.436559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:52.21, Y:-8.19, Z:-4.75 [[ 9.07728398e-01 4.11001967e-01 8.43002871e-02 5.22119871e+01] [-4.09760415e-01 9.11619704e-01 -3.23406448e-02 -8.18854076e+00] [-9.01418714e-02 -5.18639898e-03 9.95915430e-01 -4.74769336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:-8.20, Z:-4.75 [[ 9.07333406e-01 4.11595728e-01 8.56448854e-02 5.22422392e+01] [-4.10314489e-01 9.11351084e-01 -3.28819380e-02 -8.20076654e+00] [-9.15866243e-02 -5.30645662e-03 9.95782974e-01 -4.74804966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:-8.21, Z:-4.75 [[ 9.07187925e-01 4.11955673e-01 8.54552049e-02 5.22731008e+01] [-4.10679210e-01 9.11188438e-01 -3.28362251e-02 -8.21302507e+00] [-9.13928639e-02 -5.30604909e-03 9.95800778e-01 -4.75087630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:-8.23, Z:-4.75 [[ 9.07109571e-01 4.12130115e-01 8.54458633e-02 5.23041645e+01] [-4.10852141e-01 9.11109601e-01 -3.28605148e-02 -8.22505954e+00] [-9.13933542e-02 -5.29752839e-03 9.95800779e-01 -4.75423998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.556559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:52.33, Y:-8.24, Z:-4.76 [[ 9.07027031e-01 4.12537883e-01 8.43472638e-02 5.23333397e+01] [-4.11292688e-01 9.10925302e-01 -3.24564127e-02 -8.23654399e+00] [-9.02235565e-02 -5.25256925e-03 9.95907687e-01 -4.76045109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:52.36, Y:-8.25, Z:-4.76 [[ 9.06867282e-01 4.12900936e-01 8.42884876e-02 5.23634951e+01] [-4.11657628e-01 9.10760691e-01 -3.24493558e-02 -8.24837524e+00] [-9.01650105e-02 -5.27073981e-03 9.95912893e-01 -4.76409257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:-8.26, Z:-4.76 [[ 9.06557681e-01 4.13163560e-01 8.63078379e-02 5.23938172e+01] [-4.11858563e-01 9.10640824e-01 -3.32537719e-02 -8.26114674e+00] [-9.23346875e-02 -5.40015974e-03 9.95713384e-01 -4.76410243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:-8.27, Z:-4.77 [[ 9.06610179e-01 4.13071527e-01 8.61968499e-02 5.24232302e+01] [-4.11766744e-01 9.10682831e-01 -3.32404867e-02 -8.27438011e+00] [-9.22286898e-02 -5.35683267e-03 9.95723442e-01 -4.76696537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.676559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:52.45, Y:-8.29, Z:-4.77 [[ 9.06683950e-01 4.13124987e-01 8.51584358e-02 5.24516679e+01] [-4.11849287e-01 9.10659071e-01 -3.28667198e-02 -8.28739924e+00] [-9.11283653e-02 -5.27271379e-03 9.95825195e-01 -4.77357066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:-8.30, Z:-4.77 [[ 9.06390129e-01 4.13496413e-01 8.64734073e-02 5.24825714e+01] [-4.12180110e-01 9.10489924e-01 -3.34014158e-02 -8.30054019e+00] [-9.25445316e-02 -5.36790497e-03 9.95694077e-01 -4.77398835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:-8.31, Z:-4.78 [[ 9.06338376e-01 4.13611921e-01 8.64634417e-02 5.25136195e+01] [-4.12293691e-01 9.10437551e-01 -3.34271924e-02 -8.31262852e+00] [-9.25454494e-02 -5.35198422e-03 9.95694078e-01 -4.77735283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:52.54, Y:-8.33, Z:-4.78 [[ 9.05982336e-01 4.14470719e-01 8.60815330e-02 5.25435311e+01] [-4.13166962e-01 9.10046594e-01 -3.32905003e-02 -8.32582666e+00] [-9.21361435e-02 -5.40544028e-03 9.95731747e-01 -4.78342319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.796559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:52.57, Y:-8.34, Z:-4.79 [[ 9.05780456e-01 4.15070526e-01 8.53125065e-02 5.25737848e+01] [-4.13790093e-01 9.09773261e-01 -3.30207906e-02 -8.33858884e+00] [-9.13209942e-02 -5.39188322e-03 9.95806911e-01 -4.78779834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:52.60, Y:-8.35, Z:-4.79 [[ 9.05422537e-01 4.15583123e-01 8.66065708e-02 5.26039331e+01] [-4.14263162e-01 9.09538570e-01 -3.35503030e-02 -8.35131068e+00] [-9.27149563e-02 -5.50071141e-03 9.95677498e-01 -4.78987086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.856559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:-8.36, Z:-4.79 [[ 9.05132249e-01 4.17043847e-01 8.25229741e-02 5.26344682e+01] [-4.15003509e-01 9.08880890e-01 -4.13233078e-02 -8.36236044e+00] [-9.22371854e-02 3.15573469e-03 9.95732064e-01 -4.79275800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:52.66, Y:-8.38, Z:-4.80 [[ 9.04691514e-01 4.16465754e-01 8.99418687e-02 5.26611119e+01] [-4.15899177e-01 9.09043280e-01 -2.58493564e-02 -8.38163981e+00] [-9.25264231e-02 -1.40210558e-02 9.95611506e-01 -4.79564212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.916559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:52.69, Y:-8.39, Z:-4.80 [[ 9.04158562e-01 4.18294558e-01 8.67580449e-02 5.26919587e+01] [-4.16976339e-01 9.08293362e-01 -3.36734598e-02 -8.39140579e+00] [-9.28871813e-02 -5.72990492e-03 9.95660153e-01 -4.80053215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:-8.41, Z:-4.80 [[ 9.02739250e-01 4.20920934e-01 8.88111186e-02 5.27215770e+01] [-4.19549214e-01 9.07076715e-01 -3.45005779e-02 -8.40552948e+00] [-9.50805132e-02 -6.11560921e-03 9.95450800e-01 -4.80103342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.976559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:52.75, Y:-8.42, Z:-4.81 [[ 9.02371740e-01 4.22122170e-01 8.68223242e-02 5.27508436e+01] [-4.20814156e-01 9.06518595e-01 -3.37562226e-02 -8.41764406e+00] [-9.29553013e-02 -6.07540179e-03 9.95651747e-01 -4.80774618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.78, Y:-8.43, Z:-4.81 [[ 9.01494471e-01 4.23706140e-01 8.82089881e-02 5.27816483e+01] [-4.22360862e-01 9.05777699e-01 -3.43229215e-02 -8.43106651e+00] [-9.44405669e-02 -6.31410029e-03 9.95510478e-01 -4.80801631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.036559995000005 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:52.81, Y:-8.44, Z:-4.81 [[ 9.01093018e-01 4.24819996e-01 8.69444852e-02 5.28116024e+01] [-4.23515552e-01 9.05255837e-01 -3.38592379e-02 -8.44379604e+00] [-9.30910840e-02 -6.31201868e-03 9.95637589e-01 -4.81485589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:52.84, Y:-8.46, Z:-4.82 [[ 9.00096420e-01 4.26816355e-01 8.74884796e-02 5.28411424e+01] [-4.25502076e-01 9.04314726e-01 -3.41007264e-02 -8.45830709e+00] [-9.36718683e-02 -6.53258799e-03 9.95581692e-01 -4.81778709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.096559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:52.87, Y:-8.47, Z:-4.82 [[ 8.99540718e-01 4.28045733e-01 8.71971771e-02 5.28700990e+01] [-4.26743158e-01 9.03732892e-01 -3.40167203e-02 -8.47112916e+00] [-9.33636690e-02 -6.61137367e-03 9.95610122e-01 -4.82066595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:52.90, Y:-8.49, Z:-4.82 [[ 8.98641448e-01 4.29739934e-01 8.81313605e-02 5.29001617e+01] [-4.28414684e-01 9.02926835e-01 -3.44091591e-02 -8.48554392e+00] [-9.43631601e-02 -6.83527236e-03 9.95514376e-01 -4.82439372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.156559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:52.93, Y:-8.50, Z:-4.83 [[ 8.98159203e-01 4.30449304e-01 8.95736687e-02 5.29304042e+01] [-4.29080844e-01 9.02587639e-01 -3.50026138e-02 -8.49846052e+00] [-9.59149369e-02 -6.99642566e-03 9.95364946e-01 -4.82623928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:-8.51, Z:-4.83 [[ 8.97648304e-01 4.31383939e-01 9.01965597e-02 5.29600371e+01] [-4.29998095e-01 9.02140356e-01 -3.52762910e-02 -8.51267182e+00] [-9.65875819e-02 -7.11864601e-03 9.95299032e-01 -4.82779121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.216559995000004 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:52.99, Y:-8.53, Z:-4.83 [[ 8.97451627e-01 4.32106417e-01 8.86827018e-02 5.29892245e+01] [-4.30767467e-01 9.01795082e-01 -3.47133886e-02 -8.52556302e+00] [-9.49735023e-02 -7.04803573e-03 9.95454850e-01 -4.83444772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:53.02, Y:-8.54, Z:-4.84 [[ 8.97194414e-01 4.32399037e-01 8.98513034e-02 5.30183878e+01] [-4.31023212e-01 9.01654030e-01 -3.51994537e-02 -8.53834973e+00] [-9.62349997e-02 -7.14724414e-03 9.95332980e-01 -4.83538827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:-8.55, Z:-4.84 [[ 8.97005332e-01 4.32717483e-01 9.02054012e-02 5.30483910e+01] [-4.31330612e-01 9.01500878e-01 -3.53563340e-02 -8.55181330e+00] [-9.66195523e-02 -7.19353083e-03 9.95295391e-01 -4.83773902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:-8.56, Z:-4.84 [[ 8.97069680e-01 4.32580323e-01 9.02233522e-02 5.30770125e+01] [-4.31189214e-01 9.01567030e-01 -3.53942387e-02 -8.56457930e+00] [-9.66532508e-02 -7.15223800e-03 9.95292417e-01 -4.84114335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:-8.58, Z:-4.84 [[ 8.97221903e-01 4.32247613e-01 9.03042554e-02 5.31068058e+01] [-4.30850525e-01 9.01726958e-01 -3.54445838e-02 -8.57779336e+00] [-9.67506182e-02 -7.10597896e-03 9.95283288e-01 -4.84442347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:53.14, Y:-8.59, Z:-4.85 [[ 8.97778461e-01 4.31167584e-01 8.99352481e-02 5.31352325e+01] [-4.29773628e-01 9.02245222e-01 -3.53297106e-02 -8.59194498e+00] [-9.63766739e-02 -6.93354460e-03 9.95320784e-01 -4.84918080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.396559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:-8.61, Z:-4.85 [[ 8.97859080e-01 4.30845605e-01 9.06704904e-02 5.31651738e+01] [-4.29424339e-01 9.02399045e-01 -3.56468825e-02 -8.60557161e+00] [-9.71792666e-02 -6.93023831e-03 9.95242765e-01 -4.85104086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:53.19, Y:-8.62, Z:-4.86 [[ 8.98314815e-01 4.30292081e-01 8.87649533e-02 5.31947597e+01] [-4.28924552e-01 9.02664864e-01 -3.49266625e-02 -8.61865795e+00] [-9.51536708e-02 -6.69832948e-03 9.95440059e-01 -4.85747006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.456559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:53.22, Y:-8.63, Z:-4.86 [[ 8.98499215e-01 4.29771779e-01 8.94168785e-02 5.32245203e+01] [-4.28378635e-01 9.02912947e-01 -3.52129982e-02 -8.63404430e+00] [-9.58692102e-02 -6.66542903e-03 9.95371622e-01 -4.85998025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:53.25, Y:-8.65, Z:-4.86 [[ 8.98483075e-01 4.29832039e-01 8.92893151e-02 5.32538720e+01] [-4.28440343e-01 9.02884481e-01 -3.51921315e-02 -8.64713033e+00] [-9.57446426e-02 -6.63561021e-03 9.95383811e-01 -4.86345857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.516559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:53.28, Y:-8.66, Z:-4.87 [[ 8.98266337e-01 4.30130262e-01 9.00307999e-02 5.32825302e+01] [-4.28714119e-01 9.02741986e-01 -3.55121297e-02 -8.66053409e+00] [-9.65494247e-02 -6.69812438e-03 9.95305653e-01 -4.86590629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:-8.67, Z:-4.87 [[ 8.97912592e-01 4.30711090e-01 9.07795945e-02 5.33124220e+01] [-4.29271500e-01 9.02464305e-01 -3.58351394e-02 -8.67355150e+00] [-9.73599356e-02 -6.79226987e-03 9.95226059e-01 -4.86740531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.576559995000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:53.34, Y:-8.69, Z:-4.87 [[ 8.98000301e-01 4.30851537e-01 8.92323486e-02 5.33416975e+01] [-4.29458558e-01 9.02398218e-01 -3.52534117e-02 -8.68692396e+00] [-9.57120990e-02 -6.66402152e-03 9.95386751e-01 -4.87366420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:-8.70, Z:-4.87 [[ 8.97616056e-01 4.31329793e-01 9.07745877e-02 5.33712355e+01] [-4.29887563e-01 9.02168674e-01 -3.58938370e-02 -8.70014938e+00] [-9.73760707e-02 -6.80398183e-03 9.95224400e-01 -4.87409994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:-8.71, Z:-4.88 [[ 8.97522885e-01 4.31574486e-01 9.05325033e-02 5.34011883e+01] [-4.30138428e-01 9.02051776e-01 -3.58263441e-02 -8.71338490e+00] [-9.71267414e-02 -6.78654492e-03 9.95248883e-01 -4.87716962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:-8.73, Z:-4.88 [[ 8.97437921e-01 4.31585455e-01 9.13190730e-02 5.34306412e+01] [-4.30121395e-01 9.02046275e-01 -3.61677055e-02 -8.72750608e+00] [-9.79834853e-02 -6.82001658e-03 9.95164672e-01 -4.88049072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:-8.74, Z:-4.88 [[ 8.97381991e-01 4.31704022e-01 9.13082659e-02 5.34615813e+01] [-4.30237812e-01 9.01989661e-01 -3.61949682e-02 -8.73984993e+00] [-9.79846252e-02 -6.80355596e-03 9.95164672e-01 -4.88384764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:-8.75, Z:-4.89 [[ 8.97171710e-01 4.32151027e-01 9.12601349e-02 5.34907173e+01] [-4.30687340e-01 9.01775333e-01 -3.61892853e-02 -8.75271800e+00] [-9.79353754e-02 -6.83658176e-03 9.95169294e-01 -4.88652351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:-8.77, Z:-4.89 [[ 8.96709730e-01 4.33024463e-01 9.16595565e-02 5.35209824e+01] [-4.31549549e-01 9.01355482e-01 -3.63769383e-02 -8.76662704e+00] [-9.83699479e-02 -6.93608571e-03 9.95125743e-01 -4.88998118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:-8.78, Z:-4.89 [[ 8.96471466e-01 4.33537108e-01 9.15668389e-02 5.35508102e+01] [-4.32064781e-01 9.01108857e-01 -3.63710325e-02 -8.77941434e+00] [-9.82798818e-02 -6.95721336e-03 9.95134494e-01 -4.89343427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:-8.79, Z:-4.90 [[ 8.96392304e-01 4.33739564e-01 9.13828636e-02 5.35799707e+01] [-4.32271166e-01 9.01011578e-01 -3.63287127e-02 -8.79216767e+00] [-9.80942181e-02 -6.93739857e-03 9.95152952e-01 -4.89656763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:-8.81, Z:-4.90 [[ 8.96510482e-01 4.33502845e-01 9.13468046e-02 5.36089795e+01] [-4.32031573e-01 9.01125912e-01 -3.63429556e-02 -8.80677908e+00] [-9.80697473e-02 -6.88286307e-03 9.95155742e-01 -4.90004342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:-8.82, Z:-4.90 [[ 8.96647865e-01 4.33206270e-01 9.14053322e-02 5.36389222e+01] [-4.31728587e-01 9.01268947e-01 -3.63965937e-02 -8.82032543e+00] [-9.81480201e-02 -6.82736693e-03 9.95148408e-01 -4.90329444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.67, Y:-8.84, Z:-4.91 [[ 8.96874952e-01 4.32630871e-01 9.19013064e-02 5.36677679e+01] [-4.31130995e-01 9.01545702e-01 -3.66252847e-02 -8.83515392e+00] [-9.86984567e-02 -6.77320127e-03 9.95094336e-01 -4.90615927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.936559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:53.70, Y:-8.85, Z:-4.91 [[ 8.97077720e-01 4.32392104e-01 9.10419256e-02 5.36981406e+01] [-4.30916191e-01 9.01661103e-01 -3.63110478e-02 -8.84811977e+00] [-9.77895734e-02 -6.65760778e-03 9.95184845e-01 -4.91115309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:-8.86, Z:-4.91 [[ 8.96447842e-01 4.33390009e-01 9.24898178e-02 5.37279161e+01] [-4.31868867e-01 9.01180459e-01 -3.69196682e-02 -8.86190413e+00] [-9.93506318e-02 -6.84691595e-03 9.95028930e-01 -4.91250680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.996559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.76, Y:-8.87, Z:-4.92 [[ 8.96178904e-01 4.33997582e-01 9.22467977e-02 5.37565182e+01] [-4.32484610e-01 9.00887853e-01 -3.68529402e-02 -8.87476689e+00] [-9.90981064e-02 -6.86849280e-03 9.95053963e-01 -4.91642120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:53.79, Y:-8.89, Z:-4.92 [[ 8.95973531e-01 4.34542555e-01 9.16744232e-02 5.37868602e+01] [-4.33048398e-01 9.00625176e-01 -3.66521222e-02 -8.88781940e+00] [-9.84912003e-02 -6.86013077e-03 9.95114276e-01 -4.92032557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:-8.90, Z:-4.92 [[ 8.95610319e-01 4.35170614e-01 9.22425813e-02 5.38168427e+01] [-4.33658181e-01 9.00321218e-01 -3.69091573e-02 -8.90121156e+00] [-9.91097338e-02 -6.94552785e-03 9.95052270e-01 -4.92266123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.85, Y:-8.91, Z:-4.93 [[ 8.95513533e-01 4.35396296e-01 9.21171957e-02 5.38465097e+01] [-4.33886197e-01 9.00212189e-01 -3.68887857e-02 -8.91440614e+00] [-9.89862630e-02 -6.93397288e-03 9.95064641e-01 -4.92660709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:-8.93, Z:-4.93 [[ 8.95237829e-01 4.35916307e-01 9.23374387e-02 5.38754625e+01] [-4.34398560e-01 8.99960141e-01 -3.70085806e-02 -8.92910682e+00] [-9.92326582e-02 -6.97976912e-03 9.95039779e-01 -4.92913801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:53.91, Y:-8.94, Z:-4.93 [[ 8.95394922e-01 4.35789550e-01 9.14078927e-02 5.39053071e+01] [-4.34299721e-01 9.00022314e-01 -3.66549771e-02 -8.94189968e+00] [-9.82429990e-02 -6.87774196e-03 9.95138689e-01 -4.93304860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.96, Z:-4.94 [[ 8.95116325e-01 4.36228053e-01 9.20426573e-02 5.39345493e+01] [-4.34716617e-01 8.99809334e-01 -3.69408428e-02 -8.95505089e+00] [-9.89354740e-02 -6.94612112e-03 9.95069607e-01 -4.93536726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:-8.97, Z:-4.94 [[ 8.95105158e-01 4.36185303e-01 9.23533266e-02 5.39641414e+01] [-4.34660503e-01 8.99830115e-01 -3.70946427e-02 -8.96805415e+00] [-9.92824424e-02 -6.93873735e-03 9.95035100e-01 -4.93858195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.98, Z:-4.94 [[ 8.95226862e-01 4.35957600e-01 9.22487798e-02 5.39933060e+01] [-4.34432003e-01 8.99940924e-01 -3.70832686e-02 -8.98238608e+00] [-9.91851849e-02 -6.87788398e-03 9.95045222e-01 -4.94162555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:-9.00, Z:-4.94 [[ 8.94993406e-01 4.36407841e-01 9.23850661e-02 5.40229098e+01] [-4.34877050e-01 8.99722425e-01 -3.71686598e-02 -8.99608320e+00] [-9.93416103e-02 -6.91043960e-03 9.95029392e-01 -4.94488840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:-9.01, Z:-4.95 [[ 8.95075710e-01 4.36512600e-01 9.10836089e-02 5.40518871e+01] [-4.35022276e-01 8.99672473e-01 -3.66750754e-02 -9.01035510e+00] [-9.79545482e-02 -6.79642970e-03 9.95167682e-01 -4.94787967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:54.08, Y:-9.02, Z:-4.95 [[ 8.95436331e-01 4.36166738e-01 8.91759699e-02 5.40814585e+01] [-4.34733961e-01 8.99841726e-01 -3.59339748e-02 -9.02293611e+00] [-9.59174633e-02 -6.59123608e-03 9.95367468e-01 -4.95281190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.356559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:-9.04, Z:-4.95 [[ 8.95056177e-01 4.36676702e-01 9.04870038e-02 5.41109759e+01] [-4.35200984e-01 8.99593434e-01 -3.64932500e-02 -9.03675373e+00] [-9.73372665e-02 -6.71652436e-03 9.95228790e-01 -4.95472940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:54.14, Y:-9.05, Z:-4.96 [[ 8.95635282e-01 4.35811614e-01 8.89138844e-02 5.41392008e+01] [-4.34379764e-01 9.00014585e-01 -3.58882792e-02 -9.05046677e+00] [-9.56643216e-02 -6.47958300e-03 9.95392562e-01 -4.95965222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.416559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:54.17, Y:-9.06, Z:-4.96 [[ 8.95581135e-01 4.35924893e-01 8.89039818e-02 5.41700546e+01] [-4.34491176e-01 8.99959826e-01 -3.59127934e-02 -9.06301697e+00] [-9.56652927e-02 -6.46517534e-03 9.95392562e-01 -4.96300925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:-9.08, Z:-4.96 [[ 8.95370474e-01 4.36151877e-01 8.99069161e-02 5.41999415e+01] [-4.34685494e-01 8.99849216e-01 -3.63305516e-02 -9.07728025e+00] [-9.67483063e-02 -6.55192907e-03 9.95287314e-01 -4.96452130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.476559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:54.23, Y:-9.09, Z:-4.97 [[ 8.95900350e-01 4.35344082e-01 8.85330010e-02 5.42283174e+01] [-4.33915548e-01 9.00241829e-01 -3.58042831e-02 -9.09146192e+00] [-9.52882935e-02 -6.33877586e-03 9.95429536e-01 -4.96853380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:-9.10, Z:-4.97 [[ 8.95575741e-01 4.36989594e-01 8.35714548e-02 5.42589495e+01] [-4.34813494e-01 8.99462366e-01 -4.36426110e-02 -9.10224250e+00] [-9.42407453e-02 2.74726733e-03 9.95545647e-01 -4.97234852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.536559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:-9.12, Z:-4.97 [[ 8.95586376e-01 4.35131583e-01 9.26582330e-02 5.42864584e+01] [-4.34545681e-01 9.00230681e-01 -2.74731033e-02 -9.12309728e+00] [-9.53681992e-02 -1.56596980e-02 9.95318884e-01 -4.97067713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:-9.13, Z:-4.98 [[ 8.95277849e-01 4.36492813e-01 8.91717256e-02 5.43178138e+01] [-4.35042840e-01 8.99684636e-01 -3.61287153e-02 -9.13297742e+00] [-9.59963561e-02 -6.44828218e-03 9.95360799e-01 -4.97583167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:-9.15, Z:-4.98 [[ 8.94772825e-01 4.37568122e-01 8.89703911e-02 5.43466331e+01] [-4.36127014e-01 8.99161618e-01 -3.60778550e-02 -9.14647980e+00] [-9.57852801e-02 -6.52090680e-03 9.95380660e-01 -4.97887023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:-9.16, Z:-4.98 [[ 8.94427996e-01 4.38315798e-01 8.87570894e-02 5.43753478e+01] [-4.36882523e-01 8.98797105e-01 -3.60197817e-02 -9.15905790e+00] [-9.55626544e-02 -6.55931995e-03 9.95401806e-01 -4.98213092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:-9.17, Z:-4.99 [[ 8.94188413e-01 4.38842496e-01 8.85683098e-02 5.44049796e+01] [-4.37415208e-01 8.98539936e-01 -3.59710896e-02 -9.17198507e+00] [-9.53678062e-02 -6.57619406e-03 9.95420381e-01 -4.98552374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:-9.19, Z:-4.99 [[ 8.93954453e-01 4.39352792e-01 8.84000036e-02 5.44335717e+01] [-4.37930555e-01 8.98290422e-01 -3.59325233e-02 -9.18598813e+00] [-9.51959310e-02 -6.59102340e-03 9.95436735e-01 -4.98865080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.716559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:-9.20, Z:-4.99 [[ 8.93916377e-01 4.39475372e-01 8.81754354e-02 5.44634896e+01] [-4.38058336e-01 8.98230668e-01 -3.58686808e-02 -9.19945700e+00] [-9.49652821e-02 -6.56238327e-03 9.95458955e-01 -4.99159046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:-9.21, Z:-4.99 [[ 8.93799859e-01 4.39701646e-01 8.82285338e-02 5.44923655e+01] [-4.38281152e-01 8.98119915e-01 -3.59200410e-02 -9.21254963e+00] [-9.50339045e-02 -6.56357585e-03 9.95452398e-01 -4.99488230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:-9.23, Z:-5.00 [[ 8.93753990e-01 4.39822779e-01 8.80893257e-02 5.45223598e+01] [-4.38404739e-01 8.98060764e-01 -3.58907905e-02 -9.22611489e+00] [-9.48951544e-02 -6.54124067e-03 9.95465781e-01 -4.99789072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:-9.24, Z:-5.00 [[ 8.93682351e-01 4.39998669e-01 8.79376326e-02 5.45518346e+01] [-4.38583635e-01 8.97974736e-01 -3.58576245e-02 -9.24065162e+00] [-9.47430794e-02 -6.52268043e-03 9.95480388e-01 -5.00079976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.836559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:54.58, Y:-9.25, Z:-5.01 [[ 8.93926883e-01 4.39677661e-01 8.70533269e-02 5.45809417e+01] [-4.38286825e-01 8.98132856e-01 -3.55250888e-02 -9.25329187e+00] [-9.38050410e-02 -6.39749434e-03 9.95570031e-01 -5.00713939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:-9.27, Z:-5.01 [[ 8.93885065e-01 4.39627861e-01 8.77316103e-02 5.46099955e+01] [-4.38212477e-01 8.98157083e-01 -3.58284593e-02 -9.26856426e+00] [-9.45479561e-02 -6.41856169e-03 9.95499616e-01 -5.00725764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.896559995000004 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:54.64, Y:-9.28, Z:-5.01 [[ 8.94100305e-01 4.39318863e-01 8.70837629e-02 5.46398918e+01] [-4.37920235e-01 8.98309013e-01 -3.55919175e-02 -9.28129700e+00] [-9.38643298e-02 -6.31299764e-03 9.95564982e-01 -5.01316204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:54.67, Y:-9.29, Z:-5.02 [[ 8.93713906e-01 4.40220337e-01 8.64957151e-02 5.46692781e+01] [-4.38842116e-01 8.97867405e-01 -3.53796619e-02 -9.29489943e+00] [-9.32365299e-02 -6.33866683e-03 9.95623810e-01 -5.01763271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:-9.31, Z:-5.02 [[ 8.93257031e-01 4.41074414e-01 8.68633295e-02 5.46995742e+01] [-4.39685781e-01 8.97447502e-01 -3.55583418e-02 -9.30837787e+00] [-9.36391528e-02 -6.42983203e-03 9.95585439e-01 -5.01768654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:-9.32, Z:-5.02 [[ 8.92959876e-01 4.41714456e-01 8.66660152e-02 5.47293788e+01] [-4.40332482e-01 8.97132460e-01 -3.55057094e-02 -9.32110482e+00] [-9.34342805e-02 -6.45668764e-03 9.95604513e-01 -5.02105491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:-9.33, Z:-5.02 [[ 8.92480270e-01 4.42726994e-01 8.64394415e-02 5.47596116e+01] [-4.41354348e-01 8.96632754e-01 -3.54407194e-02 -9.33416366e+00] [-9.31949976e-02 -6.52028052e-03 9.95626526e-01 -5.02450564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:-9.35, Z:-5.03 [[ 8.92087797e-01 4.43537833e-01 8.63339589e-02 5.47897182e+01] [-4.42169728e-01 8.96231554e-01 -3.54250249e-02 -9.34675399e+00] [-9.30875570e-02 -6.57203076e-03 9.95636236e-01 -5.02794567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.076559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:-9.36, Z:-5.03 [[ 8.91483865e-01 4.44719706e-01 8.64922028e-02 5.48190291e+01] [-4.43349317e-01 8.95644877e-01 -3.55195340e-02 -9.36011774e+00] [-9.32625351e-02 -6.68116758e-03 9.95619135e-01 -5.03110384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:-9.37, Z:-5.03 [[ 8.91162395e-01 4.45371541e-01 8.64509978e-02 5.48492462e+01] [-4.44003905e-01 8.95320550e-01 -3.55196594e-02 -9.37313759e+00] [-9.32208004e-02 -6.73079581e-03 9.95622709e-01 -5.03423888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:-9.39, Z:-5.04 [[ 8.91136819e-01 4.45441104e-01 8.63561905e-02 5.48782659e+01] [-4.44074030e-01 8.95286143e-01 -3.55102410e-02 -9.38616435e+00] [-9.31312217e-02 -6.70405839e-03 9.95631273e-01 -5.03739503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.91, Y:-9.40, Z:-5.04 [[ 8.91551173e-01 4.44545284e-01 8.66948397e-02 5.49083031e+01] [-4.43160677e-01 8.95731976e-01 -3.56769153e-02 -9.39975987e+00] [-9.35153445e-02 -6.61194817e-03 9.95595883e-01 -5.04208037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:-9.41, Z:-5.04 [[ 8.92690375e-01 4.42237530e-01 8.67747769e-02 5.49368472e+01] [-4.40836696e-01 8.96875499e-01 -3.57399852e-02 -9.41373046e+00] [-9.36317340e-02 -6.34876520e-03 9.95586657e-01 -5.04427792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:-9.43, Z:-5.05 [[ 8.92635186e-01 4.42350912e-01 8.67645945e-02 5.49676078e+01] [-4.40948222e-01 8.96819688e-01 -3.57646872e-02 -9.42649621e+00] [-9.36327385e-02 -6.33387551e-03 9.95586657e-01 -5.04763502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.256559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:55.00, Y:-9.44, Z:-5.06 [[ 8.93432823e-01 4.40778728e-01 8.65557826e-02 5.49969992e+01] [-4.39374383e-01 8.97594768e-01 -3.56900983e-02 -9.43922446e+00] [-9.34234538e-02 -6.14368830e-03 9.95607510e-01 -5.05507638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:55.03, Y:-9.45, Z:-5.06 [[ 8.94218638e-01 4.39173882e-01 8.65986697e-02 5.50267052e+01] [-4.37757933e-01 8.98382361e-01 -3.57368859e-02 -9.45280497e+00] [-9.34934243e-02 -5.95266524e-03 9.95602102e-01 -5.05766126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.316559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:55.06, Y:-9.47, Z:-5.06 [[ 8.94828766e-01 4.37960276e-01 8.64423302e-02 5.50562632e+01] [-4.36541076e-01 8.98975687e-01 -3.57015794e-02 -9.46634198e+00] [-9.33454268e-02 -5.78882753e-03 9.95616955e-01 -5.06062977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.09, Y:-9.48, Z:-5.06 [[ 8.95382865e-01 4.36816222e-01 8.64934291e-02 5.50860896e+01] [-4.35387301e-01 8.99533048e-01 -3.57518263e-02 -9.48033605e+00] [-9.34206757e-02 -5.64656803e-03 9.95610714e-01 -5.06028705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.376559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:55.11, Y:-9.49, Z:-5.07 [[ 8.96680003e-01 4.34240097e-01 8.60262228e-02 5.51145481e+01] [-4.32812099e-01 9.00781444e-01 -3.55876043e-02 -9.49360209e+00] [-9.29443899e-02 -5.32249691e-03 9.95657075e-01 -5.06765143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:55.14, Y:-9.51, Z:-5.07 [[ 8.96972853e-01 4.33598511e-01 8.62092359e-02 5.51442652e+01] [-4.32158959e-01 9.01090918e-01 -3.56902138e-02 -9.50690607e+00] [-9.31575831e-02 -5.24294078e-03 9.95637573e-01 -5.06936850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:-9.52, Z:-5.07 [[ 8.97373193e-01 4.32748415e-01 8.63143203e-02 5.51731157e+01] [-4.31298750e-01 9.01500106e-01 -3.57623750e-02 -9.52031464e+00] [-9.32884799e-02 -5.13506182e-03 9.95625879e-01 -5.07013522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:55.20, Y:-9.53, Z:-5.08 [[ 8.97768173e-01 4.31916181e-01 8.63754598e-02 5.52035563e+01] [-4.30458148e-01 9.01899734e-01 -3.58141456e-02 -9.53301804e+00] [-9.33707132e-02 -5.02822042e-03 9.95618716e-01 -5.07562605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.496559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:55.23, Y:-9.55, Z:-5.08 [[ 8.97715872e-01 4.32026934e-01 8.63651628e-02 5.52342856e+01] [-4.30567031e-01 9.01846772e-01 -3.58389592e-02 -9.54585953e+00] [-9.33715389e-02 -5.01278927e-03 9.95618716e-01 -5.07898342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:-9.56, Z:-5.08 [[ 8.97693329e-01 4.31959872e-01 8.69330540e-02 5.52640376e+01] [-4.30479291e-01 9.01878806e-01 -3.60859951e-02 -9.55898875e+00] [-9.39907808e-02 -5.02872240e-03 9.95560367e-01 -5.08015169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.556559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:55.29, Y:-9.57, Z:-5.09 [[ 8.97782418e-01 4.31849695e-01 8.65596417e-02 5.52943506e+01] [-4.30378600e-01 9.01931897e-01 -3.59598818e-02 -9.57153861e+00] [-9.36001659e-02 -4.96926778e-03 9.95597467e-01 -5.08629385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:55.32, Y:-9.58, Z:-5.09 [[ 8.97946069e-01 4.31608067e-01 8.60658717e-02 5.53237085e+01] [-4.30149886e-01 9.02047989e-01 -3.57840928e-02 -9.58391297e+00] [-9.30802496e-02 -4.88903949e-03 9.95646606e-01 -5.08923424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.616559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:55.35, Y:-9.60, Z:-5.09 [[ 8.98152271e-01 4.31193975e-01 8.59898417e-02 5.53535751e+01] [-4.29733946e-01 9.02246391e-01 -3.57796759e-02 -9.59640387e+00] [-9.30120050e-02 -4.81715676e-03 9.95653334e-01 -5.09490050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:55.38, Y:-9.61, Z:-5.10 [[ 8.97944051e-01 4.31543599e-01 8.64095064e-02 5.53839608e+01] [-4.30068181e-01 9.02079036e-01 -3.59829581e-02 -9.60960926e+00] [-9.34764195e-02 -4.85129600e-03 9.95609674e-01 -5.09677427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.676559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:55.41, Y:-9.62, Z:-5.10 [[ 8.97756807e-01 4.32086816e-01 8.56370169e-02 5.54136695e+01] [-4.30637557e-01 9.01819036e-01 -3.56892129e-02 -9.62180052e+00] [-9.26499305e-02 -4.83828198e-03 9.95686990e-01 -5.10188259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:-9.63, Z:-5.10 [[ 8.97248260e-01 4.33030352e-01 8.61990405e-02 5.54436739e+01] [-4.31563556e-01 9.01365793e-01 -3.59528017e-02 -9.63497430e+00] [-9.32655208e-02 -4.94177572e-03 9.95629008e-01 -5.10130348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:-9.65, Z:-5.10 [[ 8.96838013e-01 4.33846154e-01 8.63660464e-02 5.54727183e+01] [-4.32374633e-01 9.00973040e-01 -3.60521462e-02 -9.64701607e+00] [-9.34545644e-02 -5.00955246e-03 9.95610942e-01 -5.10483277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:55.50, Y:-9.66, Z:-5.11 [[ 8.96190470e-01 4.35173293e-01 8.64109155e-02 5.55027962e+01] [-4.33703804e-01 9.00332122e-01 -3.60981973e-02 -9.65877840e+00] [-9.35074944e-02 -5.12588233e-03 9.95605381e-01 -5.11000279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.796559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:55.53, Y:-9.67, Z:-5.11 [[ 8.95786634e-01 4.35972386e-01 8.65701199e-02 5.55327675e+01] [-4.34498407e-01 8.99945064e-01 -3.61941462e-02 -9.67114958e+00] [-9.36880004e-02 -5.19234677e-03 9.95588066e-01 -5.11374887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:55.56, Y:-9.68, Z:-5.12 [[ 8.95114584e-01 4.37199492e-01 8.73297560e-02 5.55620459e+01] [-4.35702448e-01 8.99348698e-01 -3.65417117e-02 -9.68347267e+00] [-9.45159201e-02 -5.34076943e-03 9.95509024e-01 -5.11810804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.856559995000005 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:55.59, Y:-9.70, Z:-5.12 [[ 8.94675287e-01 4.38110981e-01 8.72633893e-02 5.55920402e+01] [-4.36617923e-01 8.98904623e-01 -3.65413272e-02 -9.69630222e+00] [-9.44506207e-02 -5.40813743e-03 9.95514858e-01 -5.12075311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:-9.71, Z:-5.12 [[ 8.94216020e-01 4.39018551e-01 8.74095052e-02 5.56221560e+01] [-4.37521983e-01 8.98461245e-01 -3.66320307e-02 -9.70950673e+00] [-9.46161939e-02 -5.48663139e-03 9.95498706e-01 -5.12184503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.916559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:55.65, Y:-9.72, Z:-5.13 [[ 8.94289215e-01 4.39205664e-01 8.57040493e-02 5.56514200e+01] [-4.37765208e-01 8.98370482e-01 -3.59457895e-02 -9.72204815e+00] [-9.27815824e-02 -5.37231909e-03 9.95671992e-01 -5.12860693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:55.68, Y:-9.74, Z:-5.13 [[ 8.94363404e-01 4.38880363e-01 8.65917294e-02 5.56799319e+01] [-4.37405766e-01 8.98529462e-01 -3.63455784e-02 -9.73519120e+00] [-9.37565807e-02 -5.36956653e-03 9.95580670e-01 -5.13136858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.976559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:55.71, Y:-9.75, Z:-5.14 [[ 8.95608552e-01 4.36414930e-01 8.61819661e-02 5.57084828e+01] [-4.34940363e-01 8.99731284e-01 -3.62008002e-02 -9.74994250e+00] [-9.33391807e-02 -5.06226937e-03 9.95621500e-01 -5.13602471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:55.74, Y:-9.76, Z:-5.14 [[ 8.96320751e-01 4.35092951e-01 8.54589647e-02 5.57383391e+01] [-4.33635539e-01 9.00372383e-01 -3.59136652e-02 -9.76463751e+00] [-9.25706743e-02 -4.86788088e-03 9.95694217e-01 -5.13959487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.036559995000005 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:55.77, Y:-9.78, Z:-5.14 [[ 8.96670611e-01 4.34316465e-01 8.57381111e-02 5.57677233e+01] [-4.32843370e-01 9.00747676e-01 -3.60588436e-02 -9.77916239e+00] [-9.28893538e-02 -4.77826770e-03 9.95664972e-01 -5.14290767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:-9.79, Z:-5.14 [[ 8.96919832e-01 4.33515346e-01 8.71737296e-02 5.57971259e+01] [-4.31985937e-01 9.01133672e-01 -3.66913454e-02 -9.79384788e+00] [-9.44614443e-02 -4.74862990e-03 9.95517195e-01 -5.14388457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.096559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:55.83, Y:-9.81, Z:-5.15 [[ 8.97407439e-01 4.32713210e-01 8.61345828e-02 5.58254038e+01] [-4.31213843e-01 9.01519979e-01 -3.62815180e-02 -9.80874556e+00] [-9.33515394e-02 -4.58312040e-03 9.95622662e-01 -5.14929368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:55.86, Y:-9.82, Z:-5.15 [[ 8.97356602e-01 4.32820535e-01 8.61249876e-02 5.58560586e+01] [-4.31319482e-01 9.01468526e-01 -3.63042804e-02 -9.82176261e+00] [-9.33522038e-02 -4.56949930e-03 9.95622662e-01 -5.15265071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.156559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:55.89, Y:-9.84, Z:-5.16 [[ 8.97092400e-01 4.33136509e-01 8.72811053e-02 5.58854044e+01] [-4.31595232e-01 9.01316316e-01 -3.68029268e-02 -9.83599696e+00] [-9.46085754e-02 -4.65448295e-03 9.95503668e-01 -5.15573429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:55.91, Y:-9.85, Z:-5.16 [[ 8.96663239e-01 4.34092986e-01 8.69385693e-02 5.59146166e+01] [-4.32565530e-01 9.00855755e-01 -3.66874688e-02 -9.84899841e+00] [-9.42448834e-02 -4.71032364e-03 9.95537902e-01 -5.15986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.216559995000004 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:55.94, Y:-9.86, Z:-5.16 [[ 8.95072238e-01 4.36961103e-01 8.89420231e-02 5.59442509e+01] [-4.35373645e-01 8.99465926e-01 -3.75610989e-02 -9.86248751e+00] [-9.64130584e-02 -5.10311596e-03 9.95328328e-01 -5.16208573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:-9.88, Z:-5.16 [[ 8.94000638e-01 4.39022706e-01 8.95651863e-02 5.59740769e+01] [-4.37420218e-01 8.98460124e-01 -3.78544448e-02 -9.87537383e+00] [-9.70897092e-02 -5.33572543e-03 9.95261332e-01 -5.16470660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.276559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:56.00, Y:-9.89, Z:-5.17 [[ 8.93147812e-01 4.41052185e-01 8.80906145e-02 5.60031132e+01] [-4.39509130e-01 8.97464986e-01 -3.72602182e-02 -9.88730492e+00] [-9.54919428e-02 -5.43774696e-03 9.95415350e-01 -5.16963094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.03, Y:-9.90, Z:-5.17 [[ 8.91107174e-01 4.44725554e-01 9.02617634e-02 5.60323442e+01] [-4.43121226e-01 8.95647128e-01 -3.82073322e-02 -9.89883154e+00] [-9.78344662e-02 -5.95007542e-03 9.95184914e-01 -5.17235622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:-9.91, Z:-5.18 [[ 8.90009685e-01 4.46777470e-01 9.09541260e-02 5.60628920e+01] [-4.45156227e-01 8.94623651e-01 -3.85286351e-02 -9.91153351e+00] [-9.85834385e-02 -6.19793720e-03 9.95109487e-01 -5.17586248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:-9.92, Z:-5.18 [[ 8.89923544e-01 4.46951234e-01 9.09432741e-02 5.60935076e+01] [-4.45328288e-01 8.94536912e-01 -3.85542332e-02 -9.92459511e+00] [-9.85839776e-02 -6.18929276e-03 9.95109487e-01 -5.17921846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.396559995000004 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:56.12, Y:-9.94, Z:-5.18 [[ 8.89200091e-01 4.48803239e-01 8.88754749e-02 5.61237474e+01] [-4.47260657e-01 8.93608883e-01 -3.76970646e-02 -9.93698478e+00] [-9.63384786e-02 -6.23027003e-03 9.95329132e-01 -5.18415396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:56.15, Y:-9.95, Z:-5.19 [[ 8.87529183e-01 4.51926736e-01 8.97450503e-02 5.61541545e+01] [-4.50366618e-01 8.92030593e-01 -3.80963341e-02 -9.95010415e+00] [-9.72720824e-02 -6.60656657e-03 9.95235899e-01 -5.18686562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.456559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:56.18, Y:-9.96, Z:-5.19 [[ 8.87009609e-01 4.53038092e-01 8.92773262e-02 5.61836290e+01] [-4.51496882e-01 8.91466236e-01 -3.79277700e-02 -9.96265683e+00] [-9.67704465e-02 -6.66613789e-03 9.95284403e-01 -5.19053783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:56.21, Y:-9.98, Z:-5.20 [[ 8.86314005e-01 4.54540212e-01 8.85476189e-02 5.62141896e+01] [-4.53028900e-01 8.90700649e-01 -3.76453104e-02 -9.97540237e+00] [-9.59807290e-02 -6.74906453e-03 9.95360312e-01 -5.19502508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:-9.99, Z:-5.20 [[ 8.85728541e-01 4.55207467e-01 9.09456685e-02 5.62447320e+01] [-4.53613497e-01 8.90358039e-01 -3.86957033e-02 -9.98859898e+00] [-9.85887801e-02 -6.98029393e-03 9.95103777e-01 -5.19710856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:56.27, Y:-10.00, Z:-5.20 [[ 8.85882971e-01 4.55218420e-01 8.93731004e-02 5.62743277e+01] [-4.53676347e-01 8.90353581e-01 -3.80561918e-02 -1.00007434e+01] [-9.68975395e-02 -6.83312947e-03 9.95270905e-01 -5.20230518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.576559995000004 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:56.30, Y:-10.01, Z:-5.21 [[ 8.85568801e-01 4.55617812e-01 9.04450519e-02 5.63043933e+01] [-4.54037717e-01 8.90148483e-01 -3.85412743e-02 -1.00140417e+01] [-9.80696168e-02 -6.93451479e-03 9.95155396e-01 -5.20505424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:56.33, Y:-10.03, Z:-5.21 [[ 8.85708412e-01 4.55563754e-01 8.93435750e-02 5.63338901e+01] [-4.54018761e-01 8.90177063e-01 -3.81019929e-02 -1.00269284e+01] [-9.68894881e-02 -6.81640360e-03 9.95271804e-01 -5.20899814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:-10.04, Z:-5.21 [[ 8.85241916e-01 4.56063000e-01 9.13963334e-02 5.63643176e+01] [-4.54446785e-01 8.89919860e-01 -3.89969494e-02 -1.00407457e+01] [-9.91204779e-02 -7.01303571e-03 9.95050726e-01 -5.21058939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:-10.05, Z:-5.21 [[ 8.85137161e-01 4.56313803e-01 9.11587635e-02 5.63939755e+01] [-4.54704292e-01 8.89791423e-01 -3.89259632e-02 -1.00533371e+01] [-9.88747402e-02 -6.99546442e-03 9.95075298e-01 -5.21400039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:-10.06, Z:-5.22 [[ 8.84965009e-01 4.57541029e-01 8.65629259e-02 5.64246841e+01] [-4.55322750e-01 8.89188415e-01 -4.50017328e-02 -1.00625248e+01] [-9.75608901e-02 4.10889398e-04 9.95229473e-01 -5.21975503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:-10.08, Z:-5.22 [[ 8.84603744e-01 4.56732690e-01 9.41884644e-02 5.64527490e+01] [-4.55822690e-01 8.89487013e-01 -3.22262134e-02 -1.00805848e+01] [-9.84981810e-02 -1.44258102e-02 9.95032665e-01 -5.21867737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.756559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:56.48, Y:-10.09, Z:-5.23 [[ 8.84709067e-01 4.57476606e-01 8.94707877e-02 5.64839638e+01] [-4.55925638e-01 8.89194631e-01 -3.82716580e-02 -1.00900239e+01] [-9.70653323e-02 -6.93274315e-03 9.95253866e-01 -5.22637897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:-10.10, Z:-5.23 [[ 8.84213959e-01 4.58159006e-01 9.08625321e-02 5.65142478e+01] [-4.56559832e-01 8.88841976e-01 -3.88980941e-02 -1.01035738e+01] [-9.85839447e-02 -7.08994462e-03 9.95103481e-01 -5.22785556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:-10.12, Z:-5.23 [[ 8.84235716e-01 4.58200868e-01 9.04387288e-02 5.65446517e+01] [-4.56613809e-01 8.88820841e-01 -3.87471469e-02 -1.01164171e+01] [-9.81378034e-02 -7.03396130e-03 9.95147976e-01 -5.23182440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:56.57, Y:-10.13, Z:-5.24 [[ 8.84251277e-01 4.58364637e-01 8.94513208e-02 5.65745220e+01] [-4.56810008e-01 8.88737075e-01 -3.83539753e-02 -1.01284842e+01] [-9.70788112e-02 -6.94770694e-03 9.95252447e-01 -5.23689046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.876559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:56.61, Y:-10.14, Z:-5.24 [[ 8.84193738e-01 4.58477794e-01 8.94401843e-02 5.66050947e+01] [-4.56921130e-01 8.88678830e-01 -3.83799275e-02 -1.01416883e+01] [-9.70799428e-02 -6.93181847e-03 9.95252448e-01 -5.24024155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:-10.15, Z:-5.24 [[ 8.83776313e-01 4.59110037e-01 9.03183412e-02 5.66348100e+01] [-4.57524570e-01 8.88351365e-01 -3.87700903e-02 -1.01545771e+01] [-9.80341593e-02 -7.05877277e-03 9.95158016e-01 -5.24205197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:-10.17, Z:-5.25 [[ 8.83558542e-01 4.59504797e-01 9.04413851e-02 5.66652421e+01] [-4.57914233e-01 8.88147014e-01 -3.88514724e-02 -1.01672147e+01] [-9.81776840e-02 -7.08684721e-03 9.95143667e-01 -5.24542540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:-10.18, Z:-5.25 [[ 8.83094755e-01 4.60378568e-01 9.05274975e-02 5.66952901e+01] [-4.58786540e-01 8.87693783e-01 -3.89186173e-02 -1.01792157e+01] [-9.82779940e-02 -7.16397053e-03 9.95133214e-01 -5.24881403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.996559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:56.72, Y:-10.19, Z:-5.25 [[ 8.82972014e-01 4.60718287e-01 8.99949038e-02 5.67248524e+01] [-4.59143720e-01 8.87517773e-01 -3.87201092e-02 -1.01911654e+01] [-9.77111390e-02 -7.13182217e-03 9.95189264e-01 -5.25306723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:-10.20, Z:-5.26 [[ 8.82692486e-01 4.61171618e-01 9.04141279e-02 5.67538630e+01] [-4.59582815e-01 8.87281756e-01 -3.89194159e-02 -1.02032740e+01] [-9.81713362e-02 -7.19890343e-03 9.95143489e-01 -5.25534866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.78, Y:-10.21, Z:-5.26 [[ 8.82028807e-01 4.62385790e-01 9.06893811e-02 5.67844057e+01] [-4.60790834e-01 8.86648540e-01 -3.90662706e-02 -1.02145643e+01] [-9.84732957e-02 -7.33125951e-03 9.95112688e-01 -5.25917764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:56.82, Y:-10.23, Z:-5.26 [[ 8.81729013e-01 4.63143323e-01 8.97341045e-02 5.68151343e+01] [-4.61582753e-01 8.86253252e-01 -3.86850820e-02 -1.02260719e+01] [-9.74438794e-02 -7.30995583e-03 9.95214175e-01 -5.26460787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.116559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:56.85, Y:-10.24, Z:-5.27 [[ 8.81447967e-01 4.64365392e-01 8.61061247e-02 5.68455032e+01] [-4.62309451e-01 8.85642733e-01 -4.36683110e-02 -1.02350541e+01] [-9.65373159e-02 -1.31633127e-03 9.95328495e-01 -5.26983383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:56.87, Y:-10.25, Z:-5.27 [[ 8.81071191e-01 4.64116523e-01 9.11559684e-02 5.68740484e+01] [-4.63128684e-01 8.85676615e-01 -3.29963039e-02 -1.02500760e+01] [-9.60488394e-02 -1.31448509e-02 9.95289824e-01 -5.27091499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:-10.26, Z:-5.27 [[ 8.80757614e-01 4.64914152e-01 9.01157941e-02 5.69043345e+01] [-4.63343063e-01 8.85324164e-01 -3.89144013e-02 -1.02598461e+01] [-9.78735459e-02 -7.48037286e-03 9.95170746e-01 -5.27347276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:56.93, Y:-10.27, Z:-5.28 [[ 8.80830820e-01 4.64901665e-01 8.94623311e-02 5.69348225e+01] [-4.63350456e-01 8.85331407e-01 -3.86607768e-02 -1.02717956e+01] [-9.71772709e-02 -7.39880813e-03 9.95239587e-01 -5.27875764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.236559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:56.96, Y:-10.28, Z:-5.28 [[ 8.80883250e-01 4.64766263e-01 8.96494301e-02 5.69647361e+01] [-4.63204828e-01 8.85402719e-01 -3.87725749e-02 -1.02840243e+01] [-9.73960340e-02 -7.37193701e-03 9.95218402e-01 -5.28211687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:56.99, Y:-10.30, Z:-5.29 [[ 8.81435029e-01 4.63757925e-01 8.94476171e-02 5.69941051e+01] [-4.62195362e-01 8.85932564e-01 -3.87161351e-02 -1.02952936e+01] [-9.71994713e-02 -7.21651606e-03 9.95238758e-01 -5.28542174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.296559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.02, Y:-10.31, Z:-5.29 [[ 8.81739989e-01 4.62950135e-01 9.06187852e-02 5.70246170e+01] [-4.61340175e-01 8.86355047e-01 -3.92425008e-02 -1.03072497e+01] [-9.84877386e-02 -7.20440399e-03 9.95112186e-01 -5.28657540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:-10.32, Z:-5.29 [[ 8.82011231e-01 4.62408225e-01 9.07459166e-02 5.70537376e+01] [-4.60787823e-01 8.86638510e-01 -3.93285473e-02 -1.03190470e+01] [-9.86446680e-02 -7.12639292e-03 9.95097203e-01 -5.28959469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.356559995000005 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:57.08, Y:-10.33, Z:-5.29 [[ 8.82471867e-01 4.61793846e-01 8.93859513e-02 5.70840443e+01] [-4.60215867e-01 8.86960244e-01 -3.87670165e-02 -1.03311325e+01] [-9.71841548e-02 -6.92603173e-03 9.95242317e-01 -5.29464049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:-10.34, Z:-5.30 [[ 8.83386442e-01 4.59967324e-01 8.97689000e-02 5.71130523e+01] [-4.58363425e-01 8.87910362e-01 -3.89635827e-02 -1.03435586e+01] [-9.76287113e-02 -6.72687976e-03 9.95200173e-01 -5.29611060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.416559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:57.14, Y:-10.36, Z:-5.30 [[ 8.84006328e-01 4.58974027e-01 8.87448878e-02 5.71426437e+01] [-4.57398926e-01 8.88425788e-01 -3.85466314e-02 -1.03562107e+01] [-9.65351494e-02 -6.51635028e-03 9.95308245e-01 -5.30080821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:57.17, Y:-10.37, Z:-5.30 [[ 8.84546173e-01 4.57920882e-01 8.88061564e-02 5.71732154e+01] [-4.56335467e-01 8.88970060e-01 -3.86027634e-02 -1.03694662e+01] [-9.66230256e-02 -6.37947222e-03 9.95300604e-01 -5.30363743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.476559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:57.20, Y:-10.38, Z:-5.31 [[ 8.85132348e-01 4.56836444e-01 8.85504903e-02 5.72033308e+01] [-4.55251916e-01 8.89528987e-01 -3.85210887e-02 -1.03824268e+01] [-9.63660651e-02 -6.21651873e-03 9.95326548e-01 -5.30791041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:-10.40, Z:-5.31 [[ 8.85510478e-01 4.55913339e-01 8.95221828e-02 5.72336610e+01] [-4.54286166e-01 8.90002876e-01 -3.89738360e-02 -1.03957598e+01] [-9.74436919e-02 -6.15694904e-03 9.95221995e-01 -5.30887549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.536559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:-10.41, Z:-5.31 [[ 8.85955247e-01 4.55039692e-01 8.95666134e-02 5.72635839e+01] [-4.53403564e-01 8.90450689e-01 -3.90228031e-02 -1.04086330e+01] [-9.75115769e-02 -6.03736455e-03 9.95216078e-01 -5.31187439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:-10.42, Z:-5.32 [[ 8.86194170e-01 4.54574988e-01 8.95626814e-02 5.72932913e+01] [-4.52933767e-01 8.90688533e-01 -3.90504779e-02 -1.04216301e+01] [-9.75238238e-02 -5.95965683e-03 9.95215347e-01 -5.31503864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.596559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:57.32, Y:-10.43, Z:-5.32 [[ 8.86726638e-01 4.53675730e-01 8.88493139e-02 5.73235467e+01] [-4.52053193e-01 8.91148049e-01 -3.87693889e-02 -1.04342671e+01] [-9.67666235e-02 -5.78676614e-03 9.95290276e-01 -5.32022949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:57.35, Y:-10.45, Z:-5.32 [[ 8.86908020e-01 4.53254777e-01 8.91867240e-02 5.73537417e+01] [-4.51614794e-01 8.91362558e-01 -3.89469966e-02 -1.04471609e+01] [-9.71506187e-02 -5.73564027e-03 9.95253164e-01 -5.32288860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.656559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:57.38, Y:-10.46, Z:-5.33 [[ 8.87062124e-01 4.52889579e-01 8.95087541e-02 5.73835527e+01] [-4.51232883e-01 8.91548464e-01 -3.91180589e-02 -1.04599819e+01] [-9.75175534e-02 -5.68914478e-03 9.95217544e-01 -5.32585584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:-10.47, Z:-5.33 [[ 8.87584053e-01 4.51925209e-01 8.92084832e-02 5.74138615e+01] [-4.50271817e-01 8.92038647e-01 -3.90172284e-02 -1.04727922e+01] [-9.72102837e-02 -5.53699603e-03 9.95248463e-01 -5.32784084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.716559995000004 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:57.44, Y:-10.49, Z:-5.33 [[ 8.87749419e-01 4.51743143e-01 8.84822133e-02 5.74439056e+01] [-4.50112823e-01 8.92131428e-01 -3.87293428e-02 -1.04854102e+01] [-9.64334783e-02 -5.44502726e-03 9.95324538e-01 -5.33311501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:-10.50, Z:-5.33 [[ 8.87900145e-01 4.51342211e-01 8.90142769e-02 5.74736337e+01] [-4.49687164e-01 8.92334567e-01 -3.89932784e-02 -1.04984450e+01] [-9.70298287e-02 -5.40644019e-03 9.95266790e-01 -5.33495714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:-10.51, Z:-5.34 [[ 8.88333736e-01 4.50515650e-01 8.88753262e-02 5.75036011e+01] [-4.48858690e-01 8.92752915e-01 -3.89629263e-02 -1.05118170e+01] [-9.68971146e-02 -5.28038062e-03 9.95280396e-01 -5.33781570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:-10.52, Z:-5.34 [[ 8.88485933e-01 4.50224455e-01 8.88295373e-02 5.75328204e+01] [-4.48564756e-01 8.92900168e-01 -3.89736947e-02 -1.05247596e+01] [-9.68628193e-02 -5.21822025e-03 9.95284062e-01 -5.34041922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:-10.54, Z:-5.34 [[ 8.88622599e-01 4.49876548e-01 8.92242617e-02 5.75630390e+01] [-4.48198454e-01 8.93075691e-01 -3.91657438e-02 -1.05384234e+01] [-9.73037689e-02 -5.18661110e-03 9.95241215e-01 -5.34304162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:57.59, Y:-10.55, Z:-5.35 [[ 8.88579317e-01 4.50188438e-01 8.80747870e-02 5.75917650e+01] [-4.48551962e-01 8.92918864e-01 -3.86915859e-02 -1.05506778e+01] [-9.60621434e-02 -5.12557555e-03 9.95362142e-01 -5.34821568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.896559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:-10.56, Z:-5.35 [[ 8.88306333e-01 4.50595436e-01 8.87446441e-02 5.76216971e+01] [-4.48933130e-01 8.92713216e-01 -3.90148447e-02 -1.05637770e+01] [-9.68034276e-02 -5.18327722e-03 9.95290023e-01 -5.34958923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:-10.58, Z:-5.35 [[ 8.88080691e-01 4.51165114e-01 8.81063348e-02 5.76515249e+01] [-4.49526540e-01 8.92425462e-01 -3.87644649e-02 -1.05765852e+01] [-9.61175108e-02 -5.18016309e-03 9.95356514e-01 -5.35287907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.956559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:57.68, Y:-10.59, Z:-5.36 [[ 8.87767903e-01 4.51970795e-01 8.71237644e-02 5.76812549e+01] [-4.50369631e-01 8.92017687e-01 -3.83619778e-02 -1.05889466e+01] [-9.50544324e-02 -5.18136497e-03 9.95458592e-01 -5.35901293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:57.71, Y:-10.60, Z:-5.36 [[ 8.87532223e-01 4.52339291e-01 8.76111855e-02 5.77108060e+01] [-4.50718977e-01 8.91830638e-01 -3.86072067e-02 -1.06017450e+01] [-9.55978960e-02 -5.22288396e-03 9.95406331e-01 -5.36175734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:-10.62, Z:-5.36 [[ 8.87168843e-01 4.52952060e-01 8.81242082e-02 5.77409051e+01] [-4.51312932e-01 8.91519152e-01 -3.88617912e-02 -1.06151128e+01] [-9.61669478e-02 -5.29462453e-03 9.95351137e-01 -5.36289418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:-10.63, Z:-5.37 [[ 8.86383231e-01 4.54473800e-01 8.81948555e-02 5.77704740e+01] [-4.52836555e-01 8.90743514e-01 -3.89235924e-02 -1.06274086e+01] [-9.62487484e-02 -5.43663500e-03 9.95342464e-01 -5.36579347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.076559995000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.80, Y:-10.64, Z:-5.37 [[ 8.85902601e-01 4.55415639e-01 8.81656266e-02 5.78004675e+01] [-4.53781376e-01 8.90261881e-01 -3.89390127e-02 -1.06400072e+01] [-9.62239319e-02 -5.51174663e-03 9.95344451e-01 -5.36965520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:-10.65, Z:-5.37 [[ 8.85461357e-01 4.56257601e-01 8.82450385e-02 5.78296805e+01] [-4.54621591e-01 8.89830239e-01 -3.90045559e-02 -1.06524460e+01] [-9.63192288e-02 -5.58107281e-03 9.95334847e-01 -5.37184853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.136559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:57.86, Y:-10.66, Z:-5.38 [[ 8.84703595e-01 4.57799480e-01 8.78588923e-02 5.78601115e+01] [-4.56182637e-01 8.89037211e-01 -3.88617839e-02 -1.06646902e+01] [-9.59007290e-02 -5.69854127e-03 9.95374591e-01 -5.37704606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:-10.68, Z:-5.38 [[ 8.84167693e-01 4.58765131e-01 8.82159012e-02 5.78903843e+01] [-4.57136888e-01 8.88538643e-01 -3.90505546e-02 -1.06778917e+01] [-9.62982700e-02 -5.79950375e-03 9.95335626e-01 -5.37792683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:-10.69, Z:-5.38 [[ 8.83198012e-01 4.60632939e-01 8.81961813e-02 5.79200080e+01] [-4.59011687e-01 8.87570619e-01 -3.90725907e-02 -1.06897583e+01] [-9.62784615e-02 -5.97424346e-03 9.95336509e-01 -5.38149104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:-10.70, Z:-5.38 [[ 8.82212955e-01 4.62519047e-01 8.81840856e-02 5.79510707e+01] [-4.60904824e-01 8.86587990e-01 -3.90957700e-02 -1.07016883e+01] [-9.62654894e-02 -6.15367565e-03 9.95336671e-01 -5.38472914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-10.72, Z:-5.39 [[ 8.82154917e-01 4.62631903e-01 8.81727001e-02 5.79814831e+01] [-4.61015688e-01 8.86529215e-01 -3.91214307e-02 -1.07152674e+01] [-9.62664966e-02 -6.13783556e-03 9.95336671e-01 -5.38807267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:58.01, Y:-10.73, Z:-5.39 [[ 8.81702948e-01 4.63595079e-01 8.76328402e-02 5.80114323e+01] [-4.62002148e-01 8.86025533e-01 -3.88943401e-02 -1.07275787e+01] [-9.56761587e-02 -6.19330608e-03 9.95393247e-01 -5.39302632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:-10.74, Z:-5.39 [[ 8.80795097e-01 4.65182510e-01 8.83472073e-02 5.80414808e+01] [-4.63568433e-01 8.85191724e-01 -3.92418114e-02 -1.07394522e+01] [-9.64588211e-02 -6.39098138e-03 9.95316458e-01 -5.39390859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:-10.75, Z:-5.40 [[ 8.80401315e-01 4.65877907e-01 8.86075592e-02 5.80714643e+01] [-4.64255052e-01 8.84825421e-01 -3.93855514e-02 -1.07520102e+01] [-9.67510792e-02 -6.46141570e-03 9.95287636e-01 -5.39699684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.376559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:58.10, Y:-10.76, Z:-5.40 [[ 8.80181944e-01 4.66375074e-01 8.81704987e-02 5.81010459e+01] [-4.64767854e-01 8.84563503e-01 -3.92205499e-02 -1.07644366e+01] [-9.62838921e-02 -6.45759360e-03 9.95332965e-01 -5.40240928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:-10.78, Z:-5.40 [[ 8.79765700e-01 4.67164980e-01 8.81430401e-02 5.81308271e+01] [-4.65559741e-01 8.84146164e-01 -3.92388706e-02 -1.07773717e+01] [-9.62623569e-02 -6.51483852e-03 9.95334675e-01 -5.40287945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:-10.79, Z:-5.41 [[ 8.79455203e-01 4.67790833e-01 8.79220222e-02 5.81606820e+01] [-4.66194988e-01 8.83814929e-01 -3.91587200e-02 -1.07901043e+01] [-9.60248860e-02 -6.55046604e-03 9.95357379e-01 -5.40574066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.19, Y:-10.80, Z:-5.41 [[ 8.78994984e-01 4.68642965e-01 8.79862969e-02 5.81900335e+01] [-4.67046116e-01 8.83362849e-01 -3.92173795e-02 -1.08016062e+01] [-9.61027749e-02 -6.62177825e-03 9.95349390e-01 -5.40889111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.496559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:58.22, Y:-10.81, Z:-5.41 [[ 8.78810415e-01 4.69076274e-01 8.75197356e-02 5.82203773e+01] [-4.67495829e-01 8.83132929e-01 -3.90369125e-02 -1.08137184e+01] [-9.56028499e-02 -6.60906610e-03 9.95397617e-01 -5.41416226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:-10.83, Z:-5.42 [[ 8.78395965e-01 4.69853805e-01 8.75096051e-02 5.82496234e+01] [-4.68274663e-01 8.82719074e-01 -3.90624692e-02 -1.08261062e+01] [-9.56000474e-02 -6.66621547e-03 9.95397505e-01 -5.41525967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.556559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:58.28, Y:-10.84, Z:-5.42 [[ 8.78267255e-01 4.70135037e-01 8.72907550e-02 5.82797538e+01] [-4.68563462e-01 8.82569338e-01 -3.89826277e-02 -1.08380477e+01] [-9.53672430e-02 -6.66409288e-03 9.95419851e-01 -5.42134100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:-10.85, Z:-5.42 [[ 8.77995041e-01 4.70691601e-01 8.70294495e-02 5.83108752e+01] [-4.69129346e-01 8.82272530e-01 -3.88952320e-02 -1.08505432e+01] [-9.50913517e-02 -6.67824792e-03 9.95446149e-01 -5.42176889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:-10.86, Z:-5.42 [[ 8.77857771e-01 4.70980267e-01 8.68523026e-02 5.83396885e+01] [-4.69422810e-01 8.82118543e-01 -3.88471519e-02 -1.08630076e+01] [-9.49102686e-02 -6.66817785e-03 9.95463498e-01 -5.42444548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:58.37, Y:-10.87, Z:-5.43 [[ 8.78251899e-01 4.70325964e-01 8.64123234e-02 5.83700540e+01] [-4.68778420e-01 8.82468547e-01 -3.86788848e-02 -1.08749916e+01] [-9.44478412e-02 -6.53842838e-03 9.95508340e-01 -5.43114289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.676559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:58.40, Y:-10.89, Z:-5.43 [[ 8.78446920e-01 4.69874118e-01 8.68868381e-02 5.84004823e+01] [-4.68304460e-01 8.82709506e-01 -3.89212010e-02 -1.08878877e+01] [-9.49839030e-02 -6.49928468e-03 9.95457592e-01 -5.43173867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:58.43, Y:-10.90, Z:-5.44 [[ 8.79366380e-01 4.68214557e-01 8.65441966e-02 5.84291003e+01] [-4.66646419e-01 8.83592577e-01 -3.87979139e-02 -1.09001481e+01] [-9.46355577e-02 -6.26795832e-03 9.95492252e-01 -5.43667191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:-10.91, Z:-5.44 [[ 8.80421613e-01 4.66168241e-01 8.68616901e-02 5.84584910e+01] [-4.64575963e-01 8.84675436e-01 -3.89685397e-02 -1.09142094e+01] [-9.50102992e-02 -6.04510872e-03 9.95457935e-01 -5.43545406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:58.49, Y:-10.93, Z:-5.44 [[ 8.82028962e-01 4.63177759e-01 8.65521478e-02 5.84869721e+01] [-4.61579877e-01 8.86247217e-01 -3.88572646e-02 -1.09271562e+01] [-9.47044209e-02 -5.67749704e-03 9.95489246e-01 -5.44165953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.796559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:58.52, Y:-10.94, Z:-5.45 [[ 8.81972487e-01 4.63287250e-01 8.65416469e-02 5.85173215e+01] [-4.61687608e-01 8.86190075e-01 -3.88806376e-02 -1.09408822e+01] [-9.47052522e-02 -5.66355334e-03 9.95489246e-01 -5.44500237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:-10.95, Z:-5.44 [[ 8.82360031e-01 4.62540836e-01 8.65837728e-02 5.85469151e+01] [-4.60934929e-01 8.86580446e-01 -3.89114769e-02 -1.09546766e+01] [-9.47616270e-02 -5.57555317e-03 9.95484378e-01 -5.44464481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.856559995000005 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:58.58, Y:-10.97, Z:-5.45 [[ 8.83293511e-01 4.60836231e-01 8.61541786e-02 5.85763711e+01] [-4.59235479e-01 8.87469127e-01 -3.87469194e-02 -1.09675948e+01] [-9.43151580e-02 -5.34015297e-03 9.95528068e-01 -5.45201700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:58.61, Y:-10.98, Z:-5.46 [[ 8.83237953e-01 4.60944759e-01 8.61431797e-02 5.86067111e+01] [-4.59342145e-01 8.87412855e-01 -3.87713569e-02 -1.09813421e+01] [-9.43160187e-02 -5.32485909e-03 9.95528068e-01 -5.45536017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.916559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:58.64, Y:-11.00, Z:-5.46 [[ 8.83681555e-01 4.60086443e-01 8.61822140e-02 5.86368130e+01] [-4.58477210e-01 8.87858751e-01 -3.88005841e-02 -1.09953821e+01] [-9.43692556e-02 -5.22522052e-03 9.95523551e-01 -5.45779875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:58.67, Y:-11.01, Z:-5.46 [[ 8.84238447e-01 4.59056626e-01 8.59615171e-02 5.86655627e+01] [-4.57448123e-01 8.88392504e-01 -3.87295084e-02 -1.10085471e+01] [-9.41466048e-02 -5.07681425e-03 9.95545400e-01 -5.46193498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.976559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:58.70, Y:-11.02, Z:-5.46 [[ 8.84814664e-01 4.57911441e-01 8.61401321e-02 5.86952571e+01] [-4.56288347e-01 8.88984077e-01 -3.88362473e-02 -1.10228703e+01] [-9.43607678e-02 -4.94185741e-03 9.95525803e-01 -5.46268818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:58.73, Y:-11.04, Z:-5.47 [[ 8.85258068e-01 4.57090458e-01 8.59445544e-02 5.87252556e+01] [-4.55468161e-01 8.89407165e-01 -3.87769078e-02 -1.10363150e+01] [-9.41642571e-02 -4.81743762e-03 9.95545019e-01 -5.46819344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.036559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:-11.05, Z:-5.46 [[ 8.85127564e-01 4.57497923e-01 8.51166600e-02 5.87564291e+01] [-4.56269185e-01 8.89172098e-01 -3.45168097e-02 -1.10547287e+01] [-9.14747279e-02 -8.28432946e-03 9.95772938e-01 -5.46435968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:58.78, Y:-11.06, Z:-5.47 [[ 8.85356683e-01 4.57147378e-01 8.46157123e-02 5.87846164e+01] [-4.55137267e-01 8.89390758e-01 -4.28269448e-02 -1.10617265e+01] [-9.48346580e-02 -5.94642291e-04 9.95492860e-01 -5.47380509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.096559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:58.81, Y:-11.08, Z:-5.48 [[ 8.85157034e-01 4.57298176e-01 8.58801689e-02 5.88141261e+01] [-4.55672966e-01 8.89300605e-01 -3.88147099e-02 -1.10766947e+01] [-9.41231822e-02 -4.77615786e-03 9.95549102e-01 -5.47677469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:58.84, Y:-11.09, Z:-5.48 [[ 8.84490794e-01 4.58493671e-01 8.63689127e-02 5.88444954e+01] [-4.56852806e-01 8.88684132e-01 -3.90643873e-02 -1.10905937e+01] [-9.46654566e-02 -4.90578921e-03 9.95497054e-01 -5.47817073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.156559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:58.87, Y:-11.10, Z:-5.48 [[ 8.84363879e-01 4.58768778e-01 8.62075302e-02 5.88742622e+01] [-4.57132650e-01 8.88542173e-01 -3.90198343e-02 -1.11032545e+01] [-9.45001079e-02 -4.90054468e-03 9.95512790e-01 -5.48357772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.90, Y:-11.12, Z:-5.48 [[ 8.83688048e-01 4.60067096e-01 8.62189164e-02 5.89029472e+01] [-4.58433752e-01 8.87870003e-01 -3.90557671e-02 -1.11169584e+01] [-9.45194629e-02 -5.01254678e-03 9.95510394e-01 -5.48221600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.216559995000004 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:58.93, Y:-11.13, Z:-5.49 [[ 8.83765378e-01 4.59871658e-01 8.64685741e-02 5.89323466e+01] [-4.58225172e-01 8.87971424e-01 -3.91974646e-02 -1.11299682e+01] [-9.48074259e-02 -4.98071515e-03 9.95483171e-01 -5.48968008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:58.96, Y:-11.14, Z:-5.49 [[ 8.83279206e-01 4.60696656e-01 8.70427262e-02 5.89624212e+01] [-4.59029184e-01 8.87543143e-01 -3.94889413e-02 -1.11440379e+01] [-9.54465980e-02 -5.07539087e-03 9.95421613e-01 -5.49208788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.276559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:58.99, Y:-11.16, Z:-5.49 [[ 8.82969370e-01 4.61626326e-01 8.52421685e-02 5.89909487e+01] [-4.60527458e-01 8.87019932e-01 -3.33181700e-02 -1.11609859e+01] [-9.09920469e-02 -9.83743563e-03 9.95803029e-01 -5.49134958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:59.02, Y:-11.17, Z:-5.50 [[ 8.82736417e-01 4.62252294e-01 8.42569580e-02 5.90205234e+01] [-4.60131205e-01 8.86748409e-01 -4.42327271e-02 -1.11681406e+01] [-9.51614030e-02 2.76583425e-04 9.95461818e-01 -5.50093908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.336559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:59.05, Y:-11.18, Z:-5.50 [[ 8.81876601e-01 4.63434347e-01 8.67309964e-02 5.90494757e+01] [-4.61784655e-01 8.86115503e-01 -3.94239450e-02 -1.11837132e+01] [-9.51240908e-02 -5.28398857e-03 9.95451399e-01 -5.50160476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.08, Y:-11.20, Z:-5.51 [[ 8.81460472e-01 4.64256575e-01 8.65636649e-02 5.90795616e+01] [-4.62614336e-01 8.85684686e-01 -3.93778114e-02 -1.11974729e+01] [-9.49495202e-02 -5.33560811e-03 9.95467789e-01 -5.50548354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.396559995000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.11, Y:-11.21, Z:-5.51 [[ 8.81170809e-01 4.64842794e-01 8.63665528e-02 5.91095970e+01] [-4.63208009e-01 8.85377009e-01 -3.93178415e-02 -1.12112568e+01] [-9.47435755e-02 -5.35994473e-03 9.95487281e-01 -5.50937865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.14, Y:-11.23, Z:-5.51 [[ 8.80455350e-01 4.66223330e-01 8.62217113e-02 5.91381672e+01] [-4.64597779e-01 8.84650132e-01 -3.92816419e-02 -1.12254936e+01] [-9.45900662e-02 -5.47268385e-03 9.95501265e-01 -5.51251753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.456559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.17, Y:-11.24, Z:-5.52 [[ 8.79993177e-01 4.67145614e-01 8.59475592e-02 5.91681813e+01] [-4.65532183e-01 8.84163106e-01 -3.91840356e-02 -1.12397976e+01] [-9.42963113e-02 -5.52967086e-03 9.95528818e-01 -5.51595607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:-11.25, Z:-5.52 [[ 8.79207505e-01 4.68669063e-01 8.56940610e-02 5.91976287e+01] [-4.67069562e-01 8.83355753e-01 -3.90977867e-02 -1.12544920e+01] [-9.40222648e-02 -5.65002008e-03 9.95554062e-01 -5.51510010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.516559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:59.23, Y:-11.27, Z:-5.52 [[ 8.79358792e-01 4.68444617e-01 8.53683457e-02 5.92259183e+01] [-4.66853437e-01 8.83475254e-01 -3.89787704e-02 -1.12673537e+01] [-9.36802161e-02 -5.57818112e-03 9.95586712e-01 -5.52251959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:59.26, Y:-11.28, Z:-5.53 [[ 8.79151639e-01 4.68798434e-01 8.55594804e-02 5.92553508e+01] [-4.67199180e-01 8.83287395e-01 -3.90935340e-02 -1.12817190e+01] [-9.39005981e-02 -5.60417461e-03 9.95565804e-01 -5.52579853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.576559995000004 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.28, Y:-11.30, Z:-5.53 [[ 8.79474139e-01 4.68076573e-01 8.61949008e-02 5.92837572e+01] [-4.66447086e-01 8.83670536e-01 -3.94144663e-02 -1.12969468e+01] [-9.46168824e-02 -5.54135651e-03 9.95498337e-01 -5.52903348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:59.31, Y:-11.31, Z:-5.53 [[ 8.79804606e-01 4.67492508e-01 8.59919130e-02 5.93128885e+01] [-4.65865276e-01 8.83980290e-01 -3.93495984e-02 -1.13121314e+01] [-9.44107987e-02 -5.44068840e-03 9.95518458e-01 -5.53259797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.636559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:59.34, Y:-11.33, Z:-5.53 [[ 8.80334974e-01 4.66485482e-01 8.60327159e-02 5.93422589e+01] [-4.64849135e-01 8.84512921e-01 -3.93976369e-02 -1.13276955e+01] [-9.44754745e-02 -5.30911594e-03 9.95513033e-01 -5.53495442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:59.37, Y:-11.34, Z:-5.54 [[ 8.81984023e-01 4.63338208e-01 8.61503810e-02 5.93697567e+01] [-4.61679503e-01 8.86167699e-01 -3.94822207e-02 -1.13446654e+01] [-9.46373063e-02 -4.95117728e-03 9.95499506e-01 -5.53818738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:-11.36, Z:-5.54 [[ 8.82643914e-01 4.62027853e-01 8.64290700e-02 5.93989715e+01] [-4.60349413e-01 8.86852419e-01 -3.96384207e-02 -1.13610352e+01] [-9.49638842e-02 -4.80096088e-03 9.95469141e-01 -5.53943588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:59.43, Y:-11.38, Z:-5.55 [[ 8.84588997e-01 4.58206209e-01 8.68871443e-02 5.94260503e+01] [-4.56488526e-01 8.88835100e-01 -3.98797024e-02 -1.13781035e+01] [-9.55014708e-02 -4.38583849e-03 9.95419627e-01 -5.54537170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.756559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:59.46, Y:-11.39, Z:-5.55 [[ 8.85028649e-01 4.57177206e-01 8.78253556e-02 5.94550558e+01] [-4.55414264e-01 8.89365254e-01 -4.03397286e-02 -1.13947318e+01] [-9.65512241e-02 -4.29510420e-03 9.95318750e-01 -5.54683949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.48, Y:-11.41, Z:-5.55 [[ 8.85618524e-01 4.55839143e-01 8.88285245e-02 5.94824139e+01] [-4.54025905e-01 8.90052409e-01 -4.08312002e-02 -1.14133310e+01] [-9.76745015e-02 -4.16958405e-03 9.95209680e-01 -5.54844596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.816559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.51, Y:-11.43, Z:-5.55 [[ 8.85881640e-01 4.55512194e-01 8.78769613e-02 5.95100532e+01] [-4.53733091e-01 8.90220279e-01 -4.04244529e-02 -1.14281168e+01] [-9.66436843e-02 -4.06140459e-03 9.95310757e-01 -5.55417672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:59.54, Y:-11.44, Z:-5.56 [[ 8.84286920e-01 4.58829373e-01 8.66732389e-02 5.95379307e+01] [-4.57112855e-01 8.88513768e-01 -3.98888639e-02 -1.14448107e+01] [-9.53125485e-02 -4.34625105e-03 9.95437908e-01 -5.55630320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.876559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:59.57, Y:-11.46, Z:-5.56 [[ 8.83058880e-01 4.61317618e-01 8.59829609e-02 5.95673172e+01] [-4.59637562e-01 8.87223376e-01 -3.95978947e-02 -1.14594111e+01] [-9.45532993e-02 -4.55372593e-03 9.95509386e-01 -5.56027955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:59.60, Y:-11.47, Z:-5.56 [[ 8.81791800e-01 4.63820592e-01 8.55200545e-02 5.95954293e+01] [-4.62167449e-01 8.85916315e-01 -3.94148815e-02 -1.14732413e+01] [-9.40450451e-02 -4.76886610e-03 9.95556521e-01 -5.56419929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.936559995 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:59.63, Y:-11.49, Z:-5.57 [[ 8.80396792e-01 4.66489707e-01 8.53747104e-02 5.96251995e+01] [-4.64852976e-01 8.84512328e-01 -3.93656136e-02 -1.14877244e+01] [-9.38786375e-02 -5.02932827e-03 9.95570945e-01 -5.56798589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.65, Y:-11.50, Z:-5.57 [[ 8.77346097e-01 4.72027470e-01 8.63359342e-02 5.96546226e+01] [-4.70377251e-01 8.81565687e-01 -3.98394487e-02 -1.15028959e+01] [-9.49161113e-02 -5.65747459e-03 9.95469198e-01 -5.56974391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.996559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.68, Y:-11.52, Z:-5.57 [[ 8.75879817e-01 4.74829487e-01 8.58574657e-02 5.96833389e+01] [-4.73207996e-01 8.80058033e-01 -3.96490965e-02 -1.15166986e+01] [-9.43861125e-02 -5.90059587e-03 9.95518179e-01 -5.57256237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.71, Y:-11.53, Z:-5.58 [[ 8.72956311e-01 4.80263935e-01 8.54039334e-02 5.97128079e+01] [-4.78682640e-01 8.77100471e-01 -3.94676357e-02 -1.15312353e+01] [-9.38627122e-02 -6.42785861e-03 9.95564400e-01 -5.57584336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.056559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.74, Y:-11.55, Z:-5.58 [[ 8.70341814e-01 4.85029545e-01 8.51555505e-02 5.97412645e+01] [-4.83477195e-01 8.74470587e-01 -3.93826639e-02 -1.15451532e+01] [-9.35677798e-02 -6.89438755e-03 9.95589041e-01 -5.57886094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:59.77, Y:-11.56, Z:-5.58 [[ 8.70281684e-01 4.85139341e-01 8.51446387e-02 5.97714540e+01] [-4.83585220e-01 8.74409791e-01 -3.94062405e-02 -1.15592149e+01] [-9.35688233e-02 -6.88015950e-03 9.95589041e-01 -5.58220243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.116559995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:59.80, Y:-11.59, Z:-5.56 [[ 8.68115485e-01 4.87711897e-01 9.22638051e-02 5.97978372e+01] [-4.89615818e-01 8.71935297e-01 -2.27764383e-03 -1.15927896e+01] [-8.15589024e-02 -4.31965606e-02 9.95731993e-01 -5.56403704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.83, Y:-11.57, Z:-5.60 [[ 8.67057820e-01 4.93441791e-01 6.87454396e-02 5.98340418e+01] [-4.88876141e-01 8.69260308e-01 -7.33937067e-02 -1.15731080e+01] [-9.59732041e-02 3.00285821e-02 9.94930866e-01 -5.59960874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.176559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.86, Y:-11.60, Z:-5.59 [[ 8.67343539e-01 4.90457463e-01 8.46561396e-02 5.98584889e+01] [-4.88942678e-01 8.71433908e-01 -3.92173639e-02 -1.16021321e+01] [-9.30066794e-02 -7.37707242e-03 9.95638155e-01 -5.59217437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:59.89, Y:-11.62, Z:-5.60 [[ 8.67205822e-01 4.90716065e-01 8.45683546e-02 5.98869645e+01] [-4.89204562e-01 8.71288228e-01 -3.91882582e-02 -1.16165551e+01] [-9.29137197e-02 -7.38693920e-03 9.95646762e-01 -5.59591782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.236559995 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:59.92, Y:-11.63, Z:-5.60 [[ 8.67428817e-01 4.90366216e-01 8.43102725e-02 5.99158596e+01] [-4.88859860e-01 8.71485874e-01 -3.90948769e-02 -1.16313243e+01] [-9.26460183e-02 -7.30388515e-03 9.95672320e-01 -5.59932967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:59.94, Y:-11.65, Z:-5.60 [[ 8.68042665e-01 4.89242244e-01 8.45219364e-02 5.99443655e+01] [-4.87720191e-01 8.72118420e-01 -3.92234092e-02 -1.16460943e+01] [-9.29028864e-02 -7.17546236e-03 9.95649319e-01 -5.60227791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.296559995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:59.97, Y:-11.66, Z:-5.61 [[ 8.69023993e-01 4.87446680e-01 8.48117569e-02 5.99731655e+01] [-4.85904010e-01 8.73124760e-01 -3.93757043e-02 -1.16611178e+01] [-9.32448013e-02 -6.99194097e-03 9.95618662e-01 -5.60595470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:-11.68, Z:-5.61 [[ 8.71759543e-01 4.82119881e-01 8.71534272e-02 6.00013220e+01] [-4.80461319e-01 8.76080596e-01 -4.04933292e-02 -1.16786216e+01] [-9.58760656e-02 -6.57340446e-03 9.95371574e-01 -5.60718524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.356559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:60.03, Y:-11.70, Z:-5.61 [[ 8.75508811e-01 4.75507894e-01 8.58869282e-02 6.00289998e+01] [-4.73862783e-01 8.79692753e-01 -3.99339771e-02 -1.16965107e+01] [-9.45430297e-02 -5.73607004e-03 9.95504251e-01 -5.61279394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:60.06, Y:-11.71, Z:-5.62 [[ 8.77117772e-01 4.72425731e-01 8.64774136e-02 6.00577652e+01] [-4.70740115e-01 8.81353851e-01 -4.02384506e-02 -1.17132891e+01] [-9.52268810e-02 -5.41452745e-03 9.95440869e-01 -5.61538038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.416559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:60.09, Y:-11.73, Z:-5.62 [[ 8.78564693e-01 4.69809520e-01 8.60412405e-02 6.00865850e+01] [-4.68125618e-01 8.82753206e-01 -4.00647424e-02 -1.17300240e+01] [-9.47759783e-02 -5.07864072e-03 9.95485671e-01 -5.61852227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:60.11, Y:-11.75, Z:-5.62 [[ 8.80082141e-01 4.66857578e-01 8.65992389e-02 6.01139074e+01] [-4.65134572e-01 8.84319683e-01 -4.03550291e-02 -1.17482020e+01] [-9.54214626e-02 -4.76455958e-03 9.95425559e-01 -5.61981723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.476559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:60.14, Y:-11.76, Z:-5.62 [[ 8.79844655e-01 4.67562136e-01 8.51999592e-02 6.01419449e+01] [-4.65895169e-01 8.83947511e-01 -3.97302117e-02 -1.17640467e+01] [-9.38886345e-02 -4.73783495e-03 9.95571433e-01 -5.62337158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:-11.78, Z:-5.63 [[ 8.77855759e-01 4.71372162e-01 8.47204296e-02 6.01713602e+01] [-4.69739150e-01 8.81919693e-01 -3.95320785e-02 -1.17792776e+01] [-9.33509366e-02 -5.09303985e-03 9.95620241e-01 -5.62561909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.536559995000005 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:60.20, Y:-11.79, Z:-5.63 [[ 8.74021545e-01 4.78736874e-01 8.30502453e-02 6.01991975e+01] [-4.77197954e-01 8.77939695e-01 -3.87814963e-02 -1.17933022e+01] [-9.14792394e-02 -5.73554374e-03 9.95790466e-01 -5.63140685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:60.23, Y:-11.81, Z:-5.63 [[ 8.64896419e-01 4.94604973e-01 8.55576065e-02 6.02280361e+01] [-4.93044981e-01 8.69084636e-01 -3.99817764e-02 -1.18062426e+01] [-9.41319868e-02 -7.60365316e-03 9.95530689e-01 -5.63417509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.596559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:60.26, Y:-11.82, Z:-5.64 [[ 8.63982146e-01 4.96076116e-01 8.62747809e-02 6.02576318e+01] [-4.94495357e-01 8.68243878e-01 -4.03349780e-02 -1.18200035e+01] [-9.49167695e-02 -7.81377772e-03 9.95454545e-01 -5.63759149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:60.29, Y:-11.83, Z:-5.64 [[ 8.63886794e-01 4.96244135e-01 8.62633503e-02 6.02877437e+01] [-4.94661784e-01 8.68147935e-01 -4.03594092e-02 -1.18341804e+01] [-9.49174695e-02 -7.80522215e-03 9.95454546e-01 -5.64093104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.656559995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:60.32, Y:-11.85, Z:-5.65 [[ 8.63467047e-01 4.97025872e-01 8.59647712e-02 6.03165438e+01] [-4.95456380e-01 8.67700250e-01 -4.02399291e-02 -1.18473430e+01] [-9.45919393e-02 -7.84594158e-03 9.95485211e-01 -5.64502655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:60.35, Y:-11.86, Z:-5.65 [[ 8.63407095e-01 4.97131235e-01 8.59576881e-02 6.03466642e+01] [-4.95560766e-01 8.67639936e-01 -4.02550538e-02 -1.18615474e+01] [-9.45923676e-02 -7.84075874e-03 9.95485212e-01 -5.64836462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.716559995000004 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:60.38, Y:-11.88, Z:-5.65 [[ 8.63347179e-01 4.97236122e-01 8.59528203e-02 6.03767820e+01] [-4.95665141e-01 8.67579830e-01 -4.02654447e-02 -1.18757576e+01] [-9.45923668e-02 -7.84075868e-03 9.95485212e-01 -5.65170101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.41, Y:-11.89, Z:-5.65 [[ 8.63026117e-01 4.97715195e-01 8.64031585e-02 6.04067251e+01] [-4.96128913e-01 8.67304322e-01 -4.04884504e-02 -1.18896491e+01] [-9.50895498e-02 -7.92451493e-03 9.95437180e-01 -5.65479611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.776559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.44, Y:-11.90, Z:-5.66 [[ 8.62927096e-01 4.97888911e-01 8.63913147e-02 6.04368260e+01] [-4.96300983e-01 8.67204689e-01 -4.05137058e-02 -1.19038442e+01] [-9.50902781e-02 -7.91571999e-03 9.95437181e-01 -5.65813574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.47, Y:-11.92, Z:-5.66 [[ 8.62828122e-01 4.98061812e-01 8.63832333e-02 6.04669227e+01] [-4.96473032e-01 8.67105399e-01 -4.05309296e-02 -1.19180489e+01] [-9.50902762e-02 -7.91571983e-03 9.95437181e-01 -5.66147252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.836559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:60.50, Y:-11.93, Z:-5.67 [[ 8.63088612e-01 4.98951793e-01 7.82633748e-02 6.04962687e+01] [-4.96489505e-01 8.66620449e-01 -4.96706015e-02 -1.19262984e+01] [-9.26078767e-02 4.01318632e-03 9.95694569e-01 -5.66951727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:60.52, Y:-11.95, Z:-5.67 [[ 8.63622273e-01 4.95831359e-01 9.11473120e-02 6.05228877e+01] [-4.95305683e-01 8.68203899e-01 -2.99043347e-02 -1.19498697e+01] [-9.39619587e-02 -1.93197321e-02 9.95388315e-01 -5.66503175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.896559995000004 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.55, Y:-11.96, Z:-5.67 [[ 8.63480833e-01 4.96699828e-01 8.76933961e-02 6.05535446e+01] [-4.95525833e-01 8.67837108e-01 -3.62340029e-02 -1.19644783e+01] [-9.41010062e-02 -1.21669761e-02 9.95488305e-01 -5.66936309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:60.58, Y:-11.97, Z:-5.68 [[ 8.64855653e-01 4.95018797e-01 8.35529155e-02 6.05839441e+01] [-4.92994893e-01 8.68878787e-01 -4.47849257e-02 -1.19719887e+01] [-9.47667359e-02 -2.45866450e-03 9.95496469e-01 -5.67802468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.956559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:60.61, Y:-11.99, Z:-5.68 [[ 8.66352344e-01 4.91866888e-01 8.66058901e-02 6.06117717e+01] [-4.90230187e-01 8.70640876e-01 -4.07287212e-02 -1.19884710e+01] [-9.54357374e-02 -7.17139861e-03 9.95409760e-01 -5.67866171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:60.64, Y:-12.00, Z:-5.68 [[ 8.67319128e-01 4.90264378e-01 8.60137720e-02 6.06412479e+01] [-4.88640452e-01 8.71546215e-01 -4.04685474e-02 -1.20025608e+01] [-9.48052647e-02 -6.93066314e-03 9.95471711e-01 -5.68264178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.016559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:60.67, Y:-12.02, Z:-5.69 [[ 8.69543478e-01 4.86182769e-01 8.67205563e-02 6.06708020e+01] [-4.84508934e-01 8.73832881e-01 -4.08312235e-02 -1.20171397e+01] [-9.56307109e-02 -6.51236024e-03 9.95395578e-01 -5.68611931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.70, Y:-12.05, Z:-5.67 [[ 8.69838224e-01 4.84643333e-01 9.22079381e-02 6.06990100e+01] [-4.85050763e-01 8.74269707e-01 -1.94483370e-02 -1.20460148e+01] [-9.00401138e-02 -2.78086238e-02 9.95549827e-01 -5.67475011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.076559995000004 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.73, Y:-12.03, Z:-5.70 [[ 8.72920035e-01 4.82455618e-01 7.24374789e-02 6.07304240e+01] [-4.78395309e-01 8.75601196e-01 -6.67867801e-02 -1.20327524e+01] [-9.56480005e-02 2.36457683e-02 9.95134331e-01 -5.70252704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:60.75, Y:-12.06, Z:-5.70 [[ 8.74868995e-01 4.76470149e-01 8.70657172e-02 6.07547117e+01] [-4.75165256e-01 8.79139844e-01 -3.64844362e-02 -1.20599953e+01] [-9.39266859e-02 -9.45150174e-03 9.95534252e-01 -5.69650316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:-12.07, Z:-5.70 [[ 8.75714167e-01 4.74486025e-01 8.93739846e-02 6.07852387e+01] [-4.72998069e-01 8.80221502e-01 -3.85088771e-02 -1.20720094e+01] [-9.69408270e-02 -8.55095289e-03 9.95253414e-01 -5.69878096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:60.82, Y:-12.08, Z:-5.71 [[ 8.75744028e-01 4.75107205e-01 8.57061315e-02 6.08151953e+01] [-4.73409983e-01 8.79912856e-01 -4.04518578e-02 -1.20817817e+01] [-9.46328961e-02 -5.14866538e-03 9.95498923e-01 -5.70552790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.196559995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:60.85, Y:-12.09, Z:-5.71 [[ 8.75621087e-01 4.75002938e-01 8.75209727e-02 6.08462449e+01] [-4.73229696e-01 8.79968713e-01 -4.13366455e-02 -1.20926698e+01] [-9.66507458e-02 -5.22228489e-03 9.95304657e-01 -5.70893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.88, Y:-12.11, Z:-5.71 [[ 8.75459043e-01 4.75115580e-01 8.85248572e-02 6.08753648e+01] [-4.73298891e-01 8.79907628e-01 -4.18416776e-02 -1.21056350e+01] [-9.77733300e-02 -5.26804171e-03 9.95194767e-01 -5.71160083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.256559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.91, Y:-12.12, Z:-5.71 [[ 8.75401338e-01 4.75223955e-01 8.85137836e-02 6.09054334e+01] [-4.73405458e-01 8.79849184e-01 -4.18650901e-02 -1.21199473e+01] [-9.77740739e-02 -5.25415238e-03 9.95194767e-01 -5.71494641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.93, Y:-12.13, Z:-5.72 [[ 8.75363606e-01 4.75234006e-01 8.88324044e-02 6.09345273e+01] [-4.73401133e-01 8.79843703e-01 -4.20288569e-02 -1.21329586e+01] [-9.81321737e-02 -5.26282915e-03 9.95159474e-01 -5.71848894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.316559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:60.96, Y:-12.15, Z:-5.72 [[ 8.75306370e-01 4.75341463e-01 8.88214634e-02 6.09645903e+01] [-4.73506804e-01 8.79785735e-01 -4.20519662e-02 -1.21472840e+01] [-9.81328996e-02 -5.24921339e-03 9.95159475e-01 -5.72183444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:60.99, Y:-12.16, Z:-5.73 [[ 8.75305733e-01 4.76423116e-01 8.28304826e-02 6.09948283e+01] [-4.73961296e-01 8.79210418e-01 -4.84740210e-02 -1.21569884e+01] [-9.59195673e-02 3.17114562e-03 9.95384037e-01 -5.72815239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.376559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.02, Y:-12.17, Z:-5.73 [[ 8.75298461e-01 4.75805232e-01 8.63827889e-02 6.10236047e+01] [-4.74095818e-01 8.79534273e-01 -4.06524107e-02 -1.21748046e+01] [-9.53192531e-02 -5.37072651e-03 9.95432266e-01 -5.72871086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.05, Y:-12.19, Z:-5.73 [[ 8.75233138e-01 4.75948470e-01 8.62554820e-02 6.10536967e+01] [-4.74245150e-01 8.79456703e-01 -4.05887475e-02 -1.21892048e+01] [-9.51761141e-02 -5.38162719e-03 9.95445903e-01 -5.73194688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.436559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.08, Y:-12.20, Z:-5.74 [[ 8.75167642e-01 4.76093406e-01 8.61200728e-02 6.10837896e+01] [-4.74394498e-01 8.79378299e-01 -4.05421682e-02 -1.22036027e+01] [-9.50339821e-02 -5.37369492e-03 9.95459525e-01 -5.73518408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:61.11, Y:-12.22, Z:-5.74 [[ 8.75396966e-01 4.75471171e-01 8.72199386e-02 6.11137373e+01] [-4.73961129e-01 8.79698976e-01 -3.86077773e-02 -1.22181156e+01] [-9.50841757e-02 -7.54172942e-03 9.95440667e-01 -5.73866069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.496559995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:61.14, Y:-12.23, Z:-5.74 [[ 8.75035027e-01 4.75480051e-01 9.07326967e-02 6.11415598e+01] [-4.74305519e-01 8.79644868e-01 -3.54849353e-02 -1.22328170e+01] [-9.66849298e-02 -1.19844575e-02 9.95242883e-01 -5.74006965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.17, Y:-12.24, Z:-5.75 [[ 8.75566587e-01 4.75204021e-01 8.69729258e-02 6.11729687e+01] [-4.73379581e-01 8.79863970e-01 -4.18469509e-02 -1.22436185e+01] [-9.64101831e-02 -4.53141521e-03 9.95331373e-01 -5.74622631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.556559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.20, Y:-12.26, Z:-5.75 [[ 8.76792935e-01 4.72946057e-01 8.69262709e-02 6.12025651e+01] [-4.71162093e-01 8.81078664e-01 -4.13118551e-02 -1.22572371e+01] [-9.61271617e-02 -4.73442109e-03 9.95357802e-01 -5.75024120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:61.23, Y:-12.27, Z:-5.75 [[ 8.78919984e-01 4.69021120e-01 8.67113038e-02 6.12323402e+01] [-4.67224007e-01 8.83176643e-01 -4.12400811e-02 -1.22713725e+01] [-9.59238673e-02 -4.26687140e-03 9.95379528e-01 -5.75408907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.616559995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:61.26, Y:-12.29, Z:-5.76 [[ 8.79948028e-01 4.67012693e-01 8.71241186e-02 6.12620563e+01] [-4.65185633e-01 8.84241382e-01 -4.14669252e-02 -1.22859005e+01] [-9.64043315e-02 -4.04014914e-03 9.95334056e-01 -5.75798314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:-12.30, Z:-5.76 [[ 8.80797874e-01 4.64920139e-01 8.96904101e-02 6.12906676e+01] [-4.62969571e-01 8.85344052e-01 -4.27210252e-02 -1.22999738e+01] [-9.92687362e-02 -3.89534248e-03 9.95053036e-01 -5.75960282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.676559995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:61.32, Y:-12.31, Z:-5.76 [[ 8.82202018e-01 4.62673653e-01 8.74796520e-02 6.13197500e+01] [-4.60805424e-01 8.86521626e-01 -4.16865369e-02 -1.23147335e+01] [-9.68398657e-02 -3.53515117e-03 9.95293697e-01 -5.76455767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:61.35, Y:-12.33, Z:-5.77 [[ 8.84523273e-01 4.58116294e-01 8.80229592e-02 6.13486941e+01] [-4.56199187e-01 8.88887112e-01 -4.19762237e-02 -1.23300155e+01] [-9.74724660e-02 -3.02705565e-03 9.95233618e-01 -5.76800917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.736559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:61.38, Y:-12.35, Z:-5.77 [[ 8.86849612e-01 4.53463139e-01 8.87070898e-02 6.13769126e+01] [-4.51489735e-01 8.91271506e-01 -4.23334674e-02 -1.23462462e+01] [-9.82587685e-02 -2.50692128e-03 9.95157741e-01 -5.77078471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.41, Y:-12.36, Z:-5.77 [[ 8.86624418e-01 4.54172590e-01 8.73178070e-02 6.14063157e+01] [-4.52261194e-01 8.90910162e-01 -4.17000674e-02 -1.23608175e+01] [-9.67313492e-02 -2.51815764e-03 9.95307342e-01 -5.77453941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.796559995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:61.44, Y:-12.37, Z:-5.78 [[ 8.86084451e-01 4.55532017e-01 8.57025474e-02 6.14356147e+01] [-4.53541605e-01 8.90218640e-01 -4.25533281e-02 -1.23739321e+01] [-9.56784085e-02 -1.16382849e-03 9.95411617e-01 -5.77823287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:61.46, Y:-12.39, Z:-5.78 [[ 8.85359159e-01 4.56588242e-01 8.75576192e-02 6.14638934e+01] [-4.54821010e-01 8.89668659e-01 -4.03426031e-02 -1.23880903e+01] [-9.63172279e-02 -4.10535169e-03 9.95342221e-01 -5.78059081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.856559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:61.49, Y:-12.40, Z:-5.78 [[ 8.84516301e-01 4.58313906e-01 8.70590402e-02 6.14941967e+01] [-4.56427581e-01 8.88785648e-01 -4.16405444e-02 -1.24014272e+01] [-9.64612660e-02 -2.90440680e-03 9.95332502e-01 -5.78479091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.52, Y:-12.41, Z:-5.79 [[ 8.83711509e-01 4.59921946e-01 8.67512090e-02 6.15233990e+01] [-4.58053753e-01 8.87954138e-01 -4.15235883e-02 -1.24147738e+01] [-9.61287046e-02 -3.04184403e-03 9.95364265e-01 -5.78827219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.916559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.55, Y:-12.43, Z:-5.79 [[ 8.83654819e-01 4.60032961e-01 8.67400486e-02 6.15534008e+01] [-4.58163016e-01 8.87896676e-01 -4.15468886e-02 -1.24292309e+01] [-9.61291389e-02 -3.02797402e-03 9.95364265e-01 -5.79158836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.58, Y:-12.44, Z:-5.79 [[ 8.81488056e-01 4.64257765e-01 8.62759256e-02 6.15834341e+01] [-4.62426726e-01 8.85693383e-01 -4.13370768e-02 -1.24420099e+01] [-9.56050753e-02 -3.45815434e-03 9.95413337e-01 -5.79477959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.976559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:61.61, Y:-12.46, Z:-5.80 [[ 8.80176273e-01 4.66768640e-01 8.61206404e-02 6.16130624e+01] [-4.64953321e-01 8.84371734e-01 -4.12921986e-02 -1.24552598e+01] [-9.54365635e-02 -3.69766428e-03 9.95428646e-01 -5.79810164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:61.64, Y:-12.47, Z:-5.80 [[ 8.77749150e-01 4.70919108e-01 8.82701675e-02 6.16427633e+01] [-4.69029585e-01 8.82166280e-01 -4.23544915e-02 -1.24676768e+01] [-9.78145046e-02 -4.22470112e-03 9.95195697e-01 -5.80084764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.036559995000005 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.67, Y:-12.48, Z:-5.80 [[ 8.76794091e-01 4.72781664e-01 8.78044413e-02 6.16723064e+01] [-4.70919516e-01 8.81168660e-01 -4.21497554e-02 -1.24806959e+01] [-9.72981534e-02 -4.39216853e-03 9.95245587e-01 -5.80449635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.70, Y:-12.50, Z:-5.81 [[ 8.76735400e-01 4.72892731e-01 8.77923901e-02 6.17022924e+01] [-4.71028632e-01 8.81109137e-01 -4.21748414e-02 -1.24951865e+01] [-9.72988530e-02 -4.37655301e-03 9.95245587e-01 -5.80781299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.096559995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:61.73, Y:-12.51, Z:-5.81 [[ 8.74839231e-01 4.76276291e-01 8.84150162e-02 6.17329546e+01] [-4.74401431e-01 8.79282718e-01 -4.24874563e-02 -1.25076456e+01] [-9.79775639e-02 -4.77451657e-03 9.95177171e-01 -5.81127584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:61.76, Y:-12.52, Z:-5.81 [[ 8.73694515e-01 4.78365582e-01 8.84548737e-02 6.17632094e+01] [-4.76496602e-01 8.78146648e-01 -4.25376707e-02 -1.25213477e+01] [-9.80249084e-02 -4.98351725e-03 9.95171484e-01 -5.81487725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.156559995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:61.79, Y:-12.53, Z:-5.82 [[ 8.72760630e-01 4.80082589e-01 8.83718893e-02 6.17932900e+01] [-4.78222811e-01 8.77208212e-01 -4.25287735e-02 -1.25344446e+01] [-9.79378707e-02 -5.14401418e-03 9.95179236e-01 -5.81816377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:61.82, Y:-12.55, Z:-5.82 [[ 8.71980155e-01 4.81407635e-01 8.88667456e-02 6.18229090e+01] [-4.79530678e-01 8.76480832e-01 -4.27981209e-02 -1.25473533e+01] [-9.84933413e-02 -5.29521874e-03 9.95123622e-01 -5.82165639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.216559995000004 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:61.85, Y:-12.56, Z:-5.83 [[ 8.71165055e-01 4.82979584e-01 8.83298893e-02 6.18531067e+01] [-4.81130267e-01 8.75614886e-01 -4.25703888e-02 -1.25596174e+01] [-9.79035946e-02 -5.41234816e-03 9.95181186e-01 -5.82573771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:61.88, Y:-12.57, Z:-5.83 [[ 8.71043524e-01 4.83263984e-01 8.79721664e-02 6.18827821e+01] [-4.81428076e-01 8.75458060e-01 -4.24286716e-02 -1.25722595e+01] [-9.75201911e-02 -5.39505123e-03 9.95218924e-01 -5.83033633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.276559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:61.91, Y:-12.59, Z:-5.83 [[ 8.71092918e-01 4.83024788e-01 8.87929213e-02 6.19122272e+01] [-4.81150063e-01 8.75590080e-01 -4.28559026e-02 -1.25858470e+01] [-9.84466643e-02 -5.39124642e-03 9.95127725e-01 -5.83328668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:61.94, Y:-12.60, Z:-5.84 [[ 8.72205342e-01 4.81173387e-01 8.79204940e-02 6.19418957e+01] [-4.79323029e-01 8.76610588e-01 -4.24654076e-02 -1.25988477e+01] [-9.75052600e-02 -5.10376208e-03 9.95221923e-01 -5.83711784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.336559995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:61.97, Y:-12.61, Z:-5.84 [[ 8.72720015e-01 4.80191946e-01 8.81786278e-02 6.19719478e+01] [-4.78322666e-01 8.77149291e-01 -4.26209929e-02 -1.26129541e+01] [-9.78120784e-02 -4.98164279e-03 9.95192434e-01 -5.84052114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:62.00, Y:-12.63, Z:-5.84 [[ 8.73630152e-01 4.78538038e-01 8.81572736e-02 6.20010852e+01] [-4.76658213e-01 8.78053880e-01 -4.26418982e-02 -1.26266834e+01] [-9.78126064e-02 -4.76764052e-03 9.95193430e-01 -5.84389842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.396559995000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.03, Y:-12.64, Z:-5.85 [[ 8.75272815e-01 4.74970457e-01 9.11074297e-02 6.20305692e+01] [-4.72940039e-01 8.79990293e-01 -4.40999333e-02 -1.26407001e+01] [-1.01119819e-01 -4.48887856e-03 9.94864127e-01 -5.84692202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:62.06, Y:-12.65, Z:-5.85 [[ 8.76167635e-01 4.73697712e-01 8.91109048e-02 6.20591609e+01] [-4.71745882e-01 8.80677399e-01 -4.31641299e-02 -1.26542453e+01] [-9.89247094e-02 -4.21868881e-03 9.95085978e-01 -5.85028125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.456559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:62.09, Y:-12.67, Z:-5.85 [[ 8.76977462e-01 4.72189116e-01 8.91513865e-02 6.20881060e+01] [-4.70224847e-01 8.81488084e-01 -4.32128567e-02 -1.26667186e+01] [-9.89905255e-02 -4.02449565e-03 9.95080238e-01 -5.85396791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:62.12, Y:-12.68, Z:-5.86 [[ 8.77907006e-01 4.70772559e-01 8.74784847e-02 6.21179532e+01] [-4.68871750e-01 8.82246569e-01 -4.24296431e-02 -1.26790205e+01] [-9.71523047e-02 -3.76690925e-03 9.95262398e-01 -5.85860328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.516559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:62.15, Y:-12.69, Z:-5.86 [[ 8.78711600e-01 4.69088248e-01 8.84428596e-02 6.21471297e+01] [-4.67133527e-01 8.83143994e-01 -4.29296371e-02 -1.26920247e+01] [-9.82455685e-02 -3.59185483e-03 9.95155720e-01 -5.86217170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:62.18, Y:-12.70, Z:-5.87 [[ 8.79879738e-01 4.67064182e-01 8.75368320e-02 6.21763365e+01] [-4.65136542e-01 8.84217240e-01 -4.25190541e-02 -1.27046356e+01] [-9.72607032e-02 -3.30492522e-03 9.95253452e-01 -5.86622649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.576559995000004 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:62.21, Y:-12.72, Z:-5.87 [[ 8.81592377e-01 4.63848230e-01 8.74053788e-02 6.22061622e+01] [-4.61908776e-01 8.85909839e-01 -4.24739909e-02 -1.27183796e+01] [-9.71347706e-02 -2.92856497e-03 9.95266929e-01 -5.87037429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:62.24, Y:-12.73, Z:-5.87 [[ 8.82719285e-01 4.61727899e-01 8.72582976e-02 6.22354468e+01] [-4.59781712e-01 8.87017616e-01 -4.24325975e-02 -1.27331632e+01] [-9.69919613e-02 -2.66369739e-03 9.95281600e-01 -5.87369003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.636559995 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:62.26, Y:-12.75, Z:-5.88 [[ 8.82931180e-01 4.61347734e-01 8.71251931e-02 6.22637590e+01] [-4.59402650e-01 8.87215621e-01 -4.23986682e-02 -1.27472452e+01] [-9.68593618e-02 -2.59043843e-03 9.95294707e-01 -5.87695823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:62.29, Y:-12.76, Z:-5.88 [[ 8.82874781e-01 4.61457805e-01 8.71138061e-02 6.22936697e+01] [-4.59510950e-01 8.87158417e-01 -4.24220515e-02 -1.27618981e+01] [-9.68597331e-02 -2.57638835e-03 9.95294707e-01 -5.88027415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.696559995 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:62.32, Y:-12.78, Z:-5.88 [[ 8.82818414e-01 4.61566615e-01 8.71086015e-02 6.23235762e+01] [-4.59619234e-01 8.87101811e-01 -4.24327357e-02 -1.27765603e+01] [-9.68597323e-02 -2.57638833e-03 9.95294707e-01 -5.88358595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:62.35, Y:-12.79, Z:-5.89 [[ 8.82828590e-01 4.61534718e-01 8.71744524e-02 6.23521668e+01] [-4.59582969e-01 8.87118444e-01 -4.24777692e-02 -1.27905369e+01] [-9.69390298e-02 -2.56330455e-03 9.95287021e-01 -5.88664978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.756559995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:62.38, Y:-12.81, Z:-5.89 [[ 8.82741710e-01 4.61702964e-01 8.71633389e-02 6.23820565e+01] [-4.59749784e-01 8.87030912e-01 -4.25005614e-02 -1.28051981e+01] [-9.69392112e-02 -2.55630796e-03 9.95287021e-01 -5.88996403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:62.41, Y:-12.82, Z:-5.89 [[ 8.82789246e-01 4.61537059e-01 8.75596388e-02 6.24118727e+01] [-4.59563227e-01 8.87117317e-01 -4.27142374e-02 -1.28194564e+01] [-9.73898753e-02 -2.53152071e-03 9.95243088e-01 -5.89384025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.816559995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:62.44, Y:-12.83, Z:-5.90 [[ 8.82701952e-01 4.61706229e-01 8.75478282e-02 6.24417562e+01] [-4.59730828e-01 8.87029307e-01 -4.27384307e-02 -1.28341296e+01] [-9.73900891e-02 -2.52313941e-03 9.95243088e-01 -5.89715490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:62.47, Y:-12.85, Z:-5.90 [[ 8.82712911e-01 4.61679407e-01 8.75787819e-02 6.24716537e+01] [-4.59700472e-01 8.87043325e-01 -4.27739981e-02 -1.28480538e+01] [-9.74340480e-02 -2.50284700e-03 9.95238837e-01 -5.90154489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.876559995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:62.50, Y:-12.86, Z:-5.90 [[ 8.82534721e-01 4.62024244e-01 8.75560651e-02 6.25007358e+01] [-4.60045006e-01 8.86863735e-01 -4.27937857e-02 -1.28623165e+01] [-9.74220654e-02 -2.51272883e-03 9.95239985e-01 -5.90482383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:62.53, Y:-12.88, Z:-5.91 [[ 8.81842862e-01 4.63466685e-01 8.69010874e-02 6.25295021e+01] [-4.61520968e-01 8.86110459e-01 -4.25047100e-02 -1.28766237e+01] [-9.67034795e-02 -2.62419879e-03 9.95309776e-01 -5.90886215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.936559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:62.56, Y:-12.89, Z:-5.91 [[ 8.81065107e-01 4.64759801e-01 8.78783486e-02 6.25585718e+01] [-4.62773470e-01 8.85432464e-01 -4.30124018e-02 -1.28910526e+01] [-9.78007780e-02 -2.77104192e-03 9.95202155e-01 -5.91225431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:62.59, Y:-12.91, Z:-5.92 [[ 8.80546646e-01 4.65987851e-01 8.65616972e-02 6.25880714e+01] [-4.64063710e-01 8.84786571e-01 -4.23980856e-02 -1.29052407e+01] [-9.63456200e-02 -2.83665032e-03 9.95343898e-01 -5.91595065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.996559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:62.62, Y:-12.92, Z:-5.92 [[ 8.79840613e-01 4.67343573e-01 8.64319442e-02 6.26171772e+01] [-4.65428764e-01 8.84070847e-01 -4.23651166e-02 -1.29193528e+01] [-9.62110271e-02 -2.95336284e-03 9.95356577e-01 -5.91978626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:62.65, Y:-12.93, Z:-5.92 [[ 8.78353555e-01 4.70129976e-01 8.64455745e-02 6.26468784e+01] [-4.68225012e-01 8.82591277e-01 -4.24025415e-02 -1.29341008e+01] [-9.62308159e-02 -3.23155712e-03 9.95353800e-01 -5.92390562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.056559995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:62.68, Y:-12.95, Z:-5.93 [[ 8.77766900e-01 4.71194560e-01 8.66080621e-02 6.26756962e+01] [-4.69284584e-01 8.82023025e-01 -4.25130956e-02 -1.29486157e+01] [-9.64222443e-02 -3.32724030e-03 9.95334959e-01 -5.92742541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:62.70, Y:-12.97, Z:-5.92 [[ 8.76075820e-01 4.73497013e-01 9.10589735e-02 6.27029150e+01] [-4.72907166e-01 8.80624111e-01 -2.93255376e-02 -1.29737378e+01] [-9.40742821e-02 -1.73710467e-02 9.95413621e-01 -5.92098423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.116559995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:62.73, Y:-12.98, Z:-5.93 [[ 8.75596517e-01 4.75646264e-01 8.42102812e-02 6.27336151e+01] [-4.73580352e-01 8.79635967e-01 -4.42969108e-02 -1.29819418e+01] [-9.51440523e-02 -1.09411379e-03 9.95462914e-01 -5.93123509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:62.76, Y:-12.99, Z:-5.94 [[ 8.76157752e-01 4.74839476e-01 8.29160107e-02 6.27610107e+01] [-4.71782504e-01 8.80030265e-01 -5.44793662e-02 -1.29885454e+01] [-9.88375526e-02 8.61419592e-03 9.95066296e-01 -5.94106462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.79, Y:-13.01, Z:-5.94 [[ 8.75764534e-01 4.74229888e-01 9.02357643e-02 6.27881225e+01] [-4.72167670e-01 8.80392955e-01 -4.43388797e-02 -1.30088471e+01] [-1.00469753e-01 -3.77599228e-03 9.94932948e-01 -5.94068048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:62.82, Y:-13.03, Z:-5.94 [[ 8.74843570e-01 4.75560394e-01 9.21468389e-02 6.28162942e+01] [-4.74765339e-01 8.79538518e-01 -3.17784160e-02 -1.30327746e+01] [-9.61592502e-02 -1.59469823e-02 9.95238209e-01 -5.93618007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.236559995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:62.85, Y:-13.03, Z:-5.95 [[ 8.75084990e-01 4.76784497e-01 8.30831194e-02 6.28465263e+01] [-4.73646624e-01 8.78973162e-01 -5.53629430e-02 -1.30344875e+01] [-9.94240251e-02 9.09524137e-03 9.95003588e-01 -5.95185403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:62.87, Y:-13.06, Z:-5.95 [[ 8.74607969e-01 4.76590007e-01 8.90104833e-02 6.28723038e+01] [-4.74587009e-01 8.79116967e-01 -4.38238410e-02 -1.30558040e+01] [-9.91366307e-02 -3.91453851e-03 9.95066131e-01 -5.95148579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.296559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:62.90, Y:-13.07, Z:-5.95 [[ 8.73588760e-01 4.78290435e-01 8.98940435e-02 6.29005145e+01] [-4.76253282e-01 8.78192047e-01 -4.42892799e-02 -1.30715682e+01] [-1.00127373e-01 -4.12171615e-03 9.94966090e-01 -5.95484920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:62.93, Y:-13.09, Z:-5.96 [[ 8.72512403e-01 4.80494652e-01 8.85832678e-02 6.29284163e+01] [-4.78524794e-01 8.76987200e-01 -4.36746291e-02 -1.30869125e+01] [-9.86718177e-02 -4.28263437e-03 9.95110814e-01 -5.95829315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.356559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:62.96, Y:-13.10, Z:-5.96 [[ 8.71902456e-01 4.81561697e-01 8.87943638e-02 6.29571121e+01] [-4.79584986e-01 8.76401209e-01 -4.38082472e-02 -1.31016418e+01] [-9.89158616e-02 -4.38792540e-03 9.95086126e-01 -5.96185789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:62.99, Y:-13.12, Z:-5.97 [[ 8.71842977e-01 4.81671659e-01 8.87819565e-02 6.29869389e+01] [-4.79692963e-01 8.76340856e-01 -4.38333776e-02 -1.31164542e+01] [-9.89165515e-02 -4.37225741e-03 9.95086127e-01 -5.96520176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.416559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:63.02, Y:-13.13, Z:-5.97 [[ 8.71173630e-01 4.82929947e-01 8.85165069e-02 6.30163949e+01] [-4.80968215e-01 8.75647480e-01 -4.37157479e-02 -1.31318139e+01] [-9.86209000e-02 -4.48961951e-03 9.95114949e-01 -5.96844422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.04, Y:-13.15, Z:-5.97 [[ 8.70629668e-01 4.83823207e-01 8.89892433e-02 6.30449285e+01] [-4.81841870e-01 8.75153735e-01 -4.39812622e-02 -1.31464841e+01] [-9.91584240e-02 -4.58735172e-03 9.95061085e-01 -5.97206037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.476559995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:63.07, Y:-13.16, Z:-5.98 [[ 8.70249422e-01 4.84805281e-01 8.73486323e-02 6.30726204e+01] [-4.82899539e-01 8.74610041e-01 -4.31892517e-02 -1.31612849e+01] [-9.73343682e-02 -4.59519299e-03 9.95241129e-01 -5.97586101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:63.10, Y:-13.19, Z:-5.97 [[ 8.68836206e-01 4.86733263e-01 9.06332039e-02 6.30996844e+01] [-4.86380067e-01 8.73316207e-01 -2.74450751e-02 -1.31880220e+01] [-9.25098769e-02 -2.02369089e-02 9.95506098e-01 -5.96882683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.536559995000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.13, Y:-13.20, Z:-5.98 [[ 8.68508095e-01 4.88469372e-01 8.42102214e-02 6.31311524e+01] [-4.86577657e-01 8.72573830e-01 -4.30940193e-02 -1.31966150e+01] [-9.45297440e-02 -3.54730758e-03 9.95515718e-01 -5.97701167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:63.16, Y:-13.21, Z:-5.98 [[ 8.68349167e-01 4.88912741e-01 8.32709803e-02 6.31592801e+01] [-4.86811963e-01 8.72331857e-01 -4.52906539e-02 -1.32107664e+01] [-9.47831066e-02 -1.20920779e-03 9.95497213e-01 -5.98234763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:-13.22, Z:-5.99 [[ 8.68694472e-01 4.88312554e-01 8.31911272e-02 6.31870399e+01] [-4.85133057e-01 8.72627070e-01 -5.62842223e-02 -1.32170417e+01] [-1.00079122e-01 8.53502697e-03 9.94942874e-01 -5.99298210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:63.21, Y:-13.24, Z:-5.99 [[ 8.67707753e-01 4.89316604e-01 8.74786656e-02 6.32132783e+01] [-4.87419408e-01 8.72091704e-01 -4.33402978e-02 -1.32393607e+01] [-9.74965459e-02 -5.03208696e-03 9.95223142e-01 -5.99252056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.656559995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:63.24, Y:-13.25, Z:-6.00 [[ 8.66856520e-01 4.90843593e-01 8.73632659e-02 6.32425879e+01] [-4.88956093e-01 8.71232369e-01 -4.33139609e-02 -1.32547029e+01] [-9.73740852e-02 -5.16981169e-03 9.95234425e-01 -5.99588957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:63.27, Y:-13.27, Z:-6.00 [[ 8.64644501e-01 4.94709100e-01 8.74802459e-02 6.32715269e+01] [-4.92833096e-01 8.69040686e-01 -4.34030473e-02 -1.32700566e+01] [-9.74957754e-02 -5.58495431e-03 9.95220268e-01 -5.99956899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.716559995000004 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:63.30, Y:-13.28, Z:-6.00 [[ 8.62726787e-01 4.97977329e-01 8.78696297e-02 6.32993309e+01] [-4.96098193e-01 8.67169618e-01 -4.36283816e-02 -1.32847735e+01] [-9.79238182e-02 -5.95259103e-03 9.95176111e-01 -6.00349482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:63.33, Y:-13.30, Z:-6.01 [[ 8.62628780e-01 4.98149185e-01 8.78577120e-02 6.33291031e+01] [-4.96268503e-01 8.67070957e-01 -4.36523678e-02 -1.32996449e+01] [-9.79242619e-02 -5.94522640e-03 9.95176112e-01 -6.00685760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.776559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:63.36, Y:-13.31, Z:-6.01 [[ 8.61120626e-01 5.01247568e-01 8.49831884e-02 6.33609285e+01] [-4.98656814e-01 8.65302673e-01 -5.09182188e-02 -1.33135402e+01] [-9.90588135e-02 1.46928251e-03 9.95080496e-01 -6.01382447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.38, Y:-13.33, Z:-6.01 [[ 8.60362550e-01 5.01100776e-01 9.31358970e-02 6.33847021e+01] [-4.99826100e-01 8.65281244e-01 -3.82392312e-02 -1.33311650e+01] [-9.97504532e-02 -1.36521497e-02 9.94918824e-01 -6.01123054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.836559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:63.41, Y:-13.34, Z:-6.02 [[ 8.59597630e-01 5.03077027e-01 8.94730052e-02 6.34147647e+01] [-5.01146750e-01 8.64216577e-01 -4.45156390e-02 -1.33429059e+01] [-9.97188497e-02 -6.57356796e-03 9.94993939e-01 -6.01655986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:63.45, Y:-13.35, Z:-6.03 [[ 8.57379565e-01 5.07762831e-01 8.41260284e-02 6.34481278e+01] [-5.04248683e-01 8.61446357e-01 -6.03609189e-02 -1.33529672e+01] [-1.03119092e-01 9.33177934e-03 9.94625241e-01 -6.02919577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.896559995000004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:63.47, Y:-13.38, Z:-6.02 [[ 8.57303028e-01 5.05702296e-01 9.64194240e-02 6.34687585e+01] [-5.05328589e-01 8.62402905e-01 -3.00706949e-02 -1.33784632e+01] [-9.83592108e-02 -2.29437937e-02 9.94886450e-01 -6.01839496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:63.51, Y:-13.38, Z:-6.04 [[ 8.55012922e-01 5.11821416e-01 8.36166314e-02 6.35054642e+01] [-5.08293946e-01 8.59040268e-01 -6.07213451e-02 -1.33810704e+01] [-1.02908538e-01 9.41570718e-03 9.94646257e-01 -6.03719854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.956559995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:63.53, Y:-13.40, Z:-6.04 [[ 8.55039547e-01 5.10552648e-01 9.07929900e-02 6.35324969e+01] [-5.08554848e-01 8.59817052e-01 -4.56793629e-02 -1.34030212e+01] [-1.01387081e-01 -7.11555348e-03 9.94821607e-01 -6.03517808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.56, Y:-13.42, Z:-6.03 [[ 8.53959269e-01 5.11191048e-01 9.71456623e-02 6.35566769e+01] [-5.10863837e-01 8.59134255e-01 -3.01076855e-02 -1.34214885e+01] [-9.88519455e-02 -2.39174686e-02 9.94814680e-01 -6.02859448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.016559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:63.59, Y:-13.43, Z:-6.04 [[ 8.52718941e-01 5.15270891e-01 8.58272519e-02 6.35917048e+01] [-5.12405465e-01 8.57024179e-01 -5.43156995e-02 -1.34269175e+01] [-1.01543329e-01 2.33767276e-03 9.94828371e-01 -6.04374050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:63.61, Y:-13.45, Z:-6.04 [[ 8.53038639e-01 5.13541582e-01 9.27368593e-02 6.36147069e+01] [-5.12584553e-01 8.57894549e-01 -3.56934023e-02 -1.34464122e+01] [-9.78884923e-02 -1.70876303e-02 9.95050680e-01 -6.03935522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.076559995000004 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:63.64, Y:-13.46, Z:-6.05 [[ 8.52904784e-01 5.14574246e-01 8.81293022e-02 6.36442688e+01] [-5.12743385e-01 8.57411878e-01 -4.40351288e-02 -1.34569104e+01] [-9.82224537e-02 -7.62994468e-03 9.95135234e-01 -6.04576657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:63.68, Y:-13.47, Z:-6.06 [[ 8.52449881e-01 5.16005416e-01 8.40690835e-02 6.36765076e+01] [-5.13022971e-01 8.56574861e-01 -5.55602189e-02 -1.34688314e+01] [-1.00680837e-01 4.23293100e-03 9.94909770e-01 -6.05552941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.136559995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:63.70, Y:-13.49, Z:-6.05 [[ 8.53194583e-01 5.13279747e-01 9.27518457e-02 6.36983958e+01] [-5.12546061e-01 8.58010008e-01 -3.33970376e-02 -1.34910436e+01] [-9.67240348e-02 -1.90454216e-02 9.95129003e-01 -6.04863155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:63.73, Y:-13.50, Z:-6.06 [[ 8.53147020e-01 5.14269880e-01 8.75594214e-02 6.37297782e+01] [-5.12454601e-01 8.57595717e-01 -4.38163048e-02 -1.35011956e+01] [-9.76239905e-02 -7.48847851e-03 9.95195197e-01 -6.05578791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.196559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:63.76, Y:-13.52, Z:-6.06 [[ 8.53510898e-01 5.13642846e-01 8.76936351e-02 6.37590526e+01] [-5.11815639e-01 8.57972172e-01 -4.39147333e-02 -1.35161599e+01] [-9.77951871e-02 -7.40127039e-03 9.95179040e-01 -6.05942511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:63.79, Y:-13.53, Z:-6.06 [[ 8.53845467e-01 5.12842002e-01 8.91122920e-02 6.37886221e+01] [-5.10947586e-01 8.58451106e-01 -4.46571770e-02 -1.35312644e+01] [-9.94006217e-02 -7.40138234e-03 9.95019968e-01 -6.06262250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.256559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:63.82, Y:-13.55, Z:-6.06 [[ 8.53600094e-01 5.13350138e-01 8.85353885e-02 6.38190307e+01] [-5.11772735e-01 8.58121577e-01 -4.14249548e-02 -1.35513486e+01] [-9.72396334e-02 -9.94965258e-03 9.95211263e-01 -6.06359123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:63.85, Y:-13.57, Z:-6.07 [[ 8.53299938e-01 5.13943130e-01 8.79867870e-02 6.38467779e+01] [-5.12180927e-01 8.57785791e-01 -4.32924207e-02 -1.35659356e+01] [-9.77236579e-02 -8.12373425e-03 9.95180432e-01 -6.06770120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:-13.58, Z:-6.07 [[ 8.54138299e-01 5.12634211e-01 8.74867525e-02 6.38775392e+01] [-5.10443714e-01 8.58597447e-01 -4.75146138e-02 -1.35775047e+01] [-9.94735190e-02 -4.07301148e-03 9.95031874e-01 -6.07208672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:63.90, Y:-13.59, Z:-6.08 [[ 8.55765377e-01 5.09617873e-01 8.91921709e-02 6.39028629e+01] [-5.07304938e-01 8.60393199e-01 -4.86337668e-02 -1.35879907e+01] [-1.01524974e-01 -3.62853490e-03 9.94826373e-01 -6.07889383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.376559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:63.93, Y:-13.61, Z:-6.08 [[ 8.56045564e-01 5.08924700e-01 9.04524325e-02 6.39325947e+01] [-5.07407588e-01 8.60740882e-01 -4.07759080e-02 -1.36098080e+01] [-9.86079732e-02 -1.09902154e-02 9.95065668e-01 -6.07761925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.96, Y:-13.62, Z:-6.09 [[ 8.56369824e-01 5.08702399e-01 8.86148637e-02 6.39599427e+01] [-5.06221678e-01 8.60940424e-01 -5.02115512e-02 -1.36164650e+01] [-1.01834855e-01 -1.85910767e-03 9.94799581e-01 -6.08575834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:-13.63, Z:-6.09 [[ 8.56323506e-01 5.08417988e-01 9.06708511e-02 6.39871645e+01] [-5.06420329e-01 8.61082694e-01 -4.55526650e-02 -1.36327787e+01] [-1.01234895e-01 -6.90974445e-03 9.94838555e-01 -6.08789501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:64.02, Y:-13.65, Z:-6.09 [[ 8.56231648e-01 5.08787898e-01 8.94552411e-02 6.40161454e+01] [-5.06842607e-01 8.60864781e-01 -4.49711175e-02 -1.36475544e+01] [-9.98896269e-02 -6.83403354e-03 9.94975054e-01 -6.09232396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.496559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:64.05, Y:-13.66, Z:-6.10 [[ 8.56235633e-01 5.08825001e-01 8.92057151e-02 6.40458713e+01] [-5.06887626e-01 8.60843184e-01 -4.48770226e-02 -1.36618544e+01] [-9.96266829e-02 -6.79196734e-03 9.95001705e-01 -6.09667343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:64.07, Y:-13.68, Z:-6.10 [[ 8.56076908e-01 5.09068780e-01 8.93381463e-02 6.40739213e+01] [-5.07123759e-01 8.60698958e-01 -4.49755130e-02 -1.36765103e+01] [-9.97888790e-02 -6.80299841e-03 9.94985376e-01 -6.10065799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.556559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:64.10, Y:-13.69, Z:-6.10 [[ 8.55844727e-01 5.09516558e-01 8.90094445e-02 6.41017970e+01] [-5.07586285e-01 8.60433881e-01 -4.48296679e-02 -1.36907194e+01] [-9.94281999e-02 -6.81273844e-03 9.95021417e-01 -6.10397411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:-13.71, Z:-6.11 [[ 8.55155499e-01 5.10640718e-01 8.91915375e-02 6.41310572e+01] [-5.08705637e-01 8.59766248e-01 -4.49508048e-02 -1.37057220e+01] [-9.96375847e-02 -6.93230998e-03 9.94999646e-01 -6.10718308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.616559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:64.16, Y:-13.72, Z:-6.11 [[ 8.54999696e-01 5.11036897e-01 8.84127216e-02 6.41598003e+01] [-5.09134567e-01 8.59531159e-01 -4.45890139e-02 -1.37205637e+01] [-9.87801203e-02 -6.89037936e-03 9.95085429e-01 -6.11112442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.19, Y:-13.74, Z:-6.11 [[ 8.54180033e-01 5.11912668e-01 9.12244056e-02 6.41881277e+01] [-5.11164010e-01 8.58842697e-01 -3.31749601e-02 -1.37425805e+01] [-9.53300968e-02 -1.82932445e-02 9.95277614e-01 -6.10664629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.676559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:64.22, Y:-13.74, Z:-6.12 [[ 8.54241495e-01 5.12969040e-01 8.44643845e-02 6.42186298e+01] [-5.09893775e-01 8.58392340e-01 -5.63109975e-02 -1.37435697e+01] [-1.01389379e-01 5.03532678e-03 9.94834076e-01 -6.12259941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:64.25, Y:-13.76, Z:-6.12 [[ 8.53946417e-01 5.12471579e-01 9.02684802e-02 6.42454798e+01] [-5.10489326e-01 8.58674452e-01 -4.55942284e-02 -1.37634153e+01] [-1.00876984e-01 -7.14606767e-03 9.94873242e-01 -6.12187799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:-13.78, Z:-6.12 [[ 8.52738614e-01 5.14236011e-01 9.16415906e-02 6.42740110e+01] [-5.12199510e-01 8.57616459e-01 -4.63213952e-02 -1.37775553e+01] [-1.02413466e-01 -7.43873540e-03 9.94714103e-01 -6.12481360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.30, Y:-13.80, Z:-6.12 [[ 8.52173414e-01 5.14832089e-01 9.35328476e-02 6.43023844e+01] [-5.13913093e-01 8.57106347e-01 -3.55252337e-02 -1.37982788e+01] [-9.84571276e-02 -1.77940954e-02 9.94982193e-01 -6.12039041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:-13.80, Z:-6.14 [[ 8.51818256e-01 5.16510654e-01 8.73063731e-02 6.43332025e+01] [-5.13427320e-01 8.56274568e-01 -5.64468884e-02 -1.38010709e+01] [-1.03913646e-01 3.25701293e-03 9.94580990e-01 -6.13502495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:-13.82, Z:-6.13 [[ 8.52191607e-01 5.14863163e-01 9.31954313e-02 6.43588056e+01] [-5.13736457e-01 8.57125478e-01 -3.75601893e-02 -1.38240909e+01] [-9.92185365e-02 -1.58694126e-02 9.94939116e-01 -6.12843510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:-13.83, Z:-6.14 [[ 8.52080218e-01 5.15969465e-01 8.79477890e-02 6.43895369e+01] [-5.13098065e-01 8.56606131e-01 -5.43719804e-02 -1.38303332e+01] [-1.03390897e-01 1.20344858e-03 9.94640073e-01 -6.14144773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:-13.85, Z:-6.14 [[ 8.52538765e-01 5.14595141e-01 9.14849421e-02 6.44161527e+01] [-5.12556441e-01 8.57401570e-01 -4.63512997e-02 -1.38482876e+01] [-1.02291487e-01 -7.37491656e-03 9.94727130e-01 -6.14230961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:-13.86, Z:-6.15 [[ 8.53118355e-01 5.13725416e-01 9.09685067e-02 6.44449980e+01] [-5.11702706e-01 8.57924352e-01 -4.61101660e-02 -1.38634074e+01] [-1.01732061e-01 -7.21140206e-03 9.94785697e-01 -6.14583568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:64.47, Y:-13.88, Z:-6.15 [[ 8.55525635e-01 5.09933670e-01 8.96857816e-02 6.44723101e+01] [-5.07943730e-01 8.60188131e-01 -4.54922561e-02 -1.38792758e+01] [-1.00344678e-01 -6.63553915e-03 9.94930608e-01 -6.14961713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:-13.90, Z:-6.15 [[ 8.58444827e-01 5.04927420e-01 9.01153707e-02 6.45006842e+01] [-5.02887750e-01 8.63140589e-01 -4.57409572e-02 -1.38957609e+01] [-1.00878098e-01 -6.05182788e-03 9.94880387e-01 -6.15297232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:64.53, Y:-13.91, Z:-6.16 [[ 8.60172069e-01 5.02061634e-01 8.96556044e-02 6.45289400e+01] [-5.00024032e-01 8.64813334e-01 -4.55397038e-02 -1.39116243e+01] [-1.00399100e-01 -5.65797551e-03 9.94931157e-01 -6.15690443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.036559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:-13.93, Z:-6.16 [[ 8.63600275e-01 4.96066148e-01 9.00718748e-02 6.45560673e+01] [-4.93973697e-01 8.68270599e-01 -4.57837794e-02 -1.39279448e+01] [-1.00918544e-01 -4.95425250e-03 9.94882356e-01 -6.15961049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:-13.94, Z:-6.16 [[ 8.65291400e-01 4.93194773e-01 8.96086413e-02 6.45849839e+01] [-4.91106465e-01 8.69906870e-01 -4.55683843e-02 -1.39441273e+01] [-1.00425262e-01 -4.57745197e-03 9.94934075e-01 -6.16297520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:-13.96, Z:-6.17 [[ 8.66993170e-01 4.90225969e-01 8.94502268e-02 6.46131136e+01] [-4.88126086e-01 8.71585268e-01 -4.55197290e-02 -1.39598867e+01] [-1.00278453e-01 -4.19769495e-03 9.94950557e-01 -6.16644619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-13.98, Z:-6.17 [[ 8.68701652e-01 4.87316776e-01 8.87682329e-02 6.46409921e+01] [-4.85230782e-01 8.73216968e-01 -4.52019335e-02 -1.39756978e+01] [-9.95415877e-02 -3.80608468e-03 9.95026123e-01 -6.16967397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:-13.99, Z:-6.17 [[ 8.70367286e-01 4.84431600e-01 8.82429170e-02 6.46698803e+01] [-4.82352613e-01 8.74822418e-01 -4.49632561e-02 -1.39920821e+01] [-9.89785040e-02 -3.42965443e-03 9.95083661e-01 -6.17311508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:-14.01, Z:-6.18 [[ 8.73615455e-01 4.78620439e-01 8.78550606e-02 6.46976935e+01] [-4.76527337e-01 8.78017664e-01 -4.47959738e-02 -1.40089797e+01] [-9.85785637e-02 -2.73088297e-03 9.95125524e-01 -6.17686811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.216559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:-14.02, Z:-6.18 [[ 8.74944509e-01 4.76213808e-01 8.77069802e-02 6.47253775e+01] [-4.74112558e-01 8.79326172e-01 -4.47522588e-02 -1.40244388e+01] [-9.84346868e-02 -2.42723769e-03 9.95140553e-01 -6.18022909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:-14.04, Z:-6.18 [[ 8.77479780e-01 4.71490342e-01 8.78981935e-02 6.47538010e+01] [-4.69353269e-01 8.81869233e-01 -4.48794608e-02 -1.40415857e+01] [-9.86749448e-02 -1.87448499e-03 9.95117954e-01 -6.18366563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.78, Y:-14.06, Z:-6.18 [[ 8.77897495e-01 4.70196021e-01 9.06183728e-02 6.47804565e+01] [-4.69107566e-01 8.82474872e-01 -3.42956596e-02 -1.40647732e+01] [-9.60941196e-02 -1.24016906e-02 9.95294991e-01 -6.17853375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.81, Y:-14.08, Z:-6.19 [[ 8.79196850e-01 4.68659828e-01 8.58537387e-02 6.48095936e+01] [-4.66590845e-01 8.83377667e-01 -4.40100101e-02 -1.40751494e+01] [-9.64669991e-02 -1.36510624e-03 9.95335247e-01 -6.18558699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:-14.08, Z:-6.20 [[ 8.80944440e-01 4.65842345e-01 8.32334248e-02 6.48374361e+01] [-4.62637541e-01 8.84806429e-01 -5.55345713e-02 -1.40849819e+01] [-9.95158243e-02 1.04159648e-02 9.94981461e-01 -6.19690035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:-14.11, Z:-6.20 [[ 8.81355729e-01 4.64112324e-01 8.83845501e-02 6.48628011e+01] [-4.61907058e-01 8.85775804e-01 -4.52006028e-02 -1.41070435e+01] [-9.92670527e-02 -9.87637264e-04 9.95060338e-01 -6.19615151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.396559995000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.89, Y:-14.12, Z:-6.20 [[ 8.80948937e-01 4.64886357e-01 8.83722034e-02 6.48903928e+01] [-4.62682713e-01 8.85369739e-01 -4.52231355e-02 -1.41240571e+01] [-9.92656934e-02 -1.04901772e-03 9.95060411e-01 -6.19936841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.92, Y:-14.14, Z:-6.20 [[ 8.78085344e-01 4.70672926e-01 8.62155735e-02 6.49168599e+01] [-4.68600565e-01 8.82306255e-01 -4.41495469e-02 -1.41410211e+01] [-9.68485362e-02 -1.63359630e-03 9.95297791e-01 -6.20297964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:-14.16, Z:-6.21 [[ 8.78028035e-01 4.70782003e-01 8.62036911e-02 6.49464530e+01] [-4.68707890e-01 8.82248085e-01 -4.41727355e-02 -1.41562726e+01] [-9.68487702e-02 -1.61945005e-03 9.95297791e-01 -6.20637350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.98, Y:-14.17, Z:-6.21 [[ 8.76379987e-01 4.74046909e-01 8.50743624e-02 6.49754044e+01] [-4.72041065e-01 8.80497446e-01 -4.36059687e-02 -1.41719740e+01] [-9.55790335e-02 -1.94319437e-03 9.95419948e-01 -6.20997212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.00, Y:-14.19, Z:-6.21 [[ 8.74781733e-01 4.77127452e-01 8.42989600e-02 6.50044661e+01] [-4.75169453e-01 8.78831277e-01 -4.32386122e-02 -1.41877179e+01] [-9.47148915e-02 -2.23194267e-03 9.95501938e-01 -6.21381764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.03, Y:-14.20, Z:-6.22 [[ 8.74721842e-01 4.77239519e-01 8.42860640e-02 6.50340494e+01] [-4.75279620e-01 8.78770466e-01 -4.32637358e-02 -1.42029848e+01] [-9.47152682e-02 -2.21571380e-03 9.95501938e-01 -6.21721226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.576559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:-14.22, Z:-6.22 [[ 8.73344406e-01 4.79738599e-01 8.43826112e-02 6.50621575e+01] [-4.77784624e-01 8.77407963e-01 -4.33257343e-02 -1.42181191e+01] [-9.48230022e-02 -2.47842645e-03 9.95491063e-01 -6.22065551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.09, Y:-14.23, Z:-6.22 [[ 8.70928883e-01 4.84090638e-01 8.44933991e-02 6.50905426e+01] [-4.82149164e-01 8.75012952e-01 -4.34110209e-02 -1.42345461e+01] [-9.49476874e-02 -2.93050982e-03 9.95477950e-01 -6.22382883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.636559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.12, Y:-14.26, Z:-6.21 [[ 8.68416690e-01 4.87855318e-01 8.85982018e-02 6.51171249e+01] [-4.87736903e-01 8.72647949e-01 -2.44595850e-02 -1.42635666e+01] [-8.92477776e-02 -2.19715007e-02 9.95767085e-01 -6.21235345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:-14.26, Z:-6.24 [[ 8.67041148e-01 4.92379428e-01 7.61718198e-02 6.51490515e+01] [-4.88799919e-01 8.70233810e-01 -6.13820393e-02 -1.42573230e+01] [-9.65105464e-02 1.59879744e-02 9.95203547e-01 -6.23526642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.17, Y:-14.28, Z:-6.23 [[ 8.65888217e-01 4.92869116e-01 8.55431527e-02 6.51743051e+01] [-4.90915152e-01 8.70094802e-01 -4.40153312e-02 -1.42817769e+01] [-9.61244499e-02 -3.88207314e-03 9.95361753e-01 -6.23153957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:-14.30, Z:-6.23 [[ 8.64928857e-01 4.94456558e-01 8.60859152e-02 6.52023892e+01] [-4.92482374e-01 8.69192877e-01 -4.43266599e-02 -1.42972999e+01] [-9.67428720e-02 -4.05638864e-03 9.95301142e-01 -6.23466495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:-14.32, Z:-6.23 [[ 8.62946780e-01 4.97410146e-01 8.89157004e-02 6.52307191e+01] [-4.96555469e-01 8.67374926e-01 -3.30666707e-02 -1.43232085e+01] [-9.35709465e-02 -1.56168003e-02 9.95490127e-01 -6.22882451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:-14.33, Z:-6.24 [[ 8.62011417e-01 4.99911481e-01 8.38142421e-02 6.52614489e+01] [-4.97993101e-01 8.66067834e-01 -4.39246914e-02 -1.43345872e+01] [-9.45472766e-02 -3.87532885e-03 9.95512830e-01 -6.23586858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:-14.35, Z:-6.24 [[ 8.60894350e-01 5.02127430e-01 8.20302488e-02 6.52898444e+01] [-4.99488741e-01 8.64787034e-01 -5.15207054e-02 -1.43457251e+01] [-9.68086550e-02 3.38069853e-03 9.95297270e-01 -6.24315546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:-14.36, Z:-6.24 [[ 8.60902638e-01 5.01550460e-01 8.54036583e-02 6.53173052e+01] [-4.99524921e-01 8.65120223e-01 -4.51868681e-02 -1.43634763e+01] [-9.65479264e-02 -3.75976173e-03 9.95321236e-01 -6.24392141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.876559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.35, Y:-14.38, Z:-6.24 [[ 8.60083502e-01 5.02639889e-01 8.72325186e-02 6.53450594e+01] [-5.01314356e-01 8.64426312e-01 -3.80928851e-02 -1.43831569e+01] [-9.45530879e-02 -1.09678518e-02 9.95459401e-01 -6.24394811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.37, Y:-14.38, Z:-6.26 [[ 8.60803737e-01 5.02567361e-01 8.02681385e-02 6.53730528e+01] [-4.99436796e-01 8.64494269e-01 -5.66793190e-02 -1.43835344e+01] [-9.78765215e-02 8.70090774e-03 9.95160530e-01 -6.25823855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:-14.42, Z:-6.25 [[ 8.59440475e-01 5.03488215e-01 8.86661525e-02 6.53995245e+01] [-5.02470786e-01 8.63882085e-01 -3.50834896e-02 -1.44154455e+01] [-9.42612243e-02 -1.43999804e-02 9.95443350e-01 -6.24906487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:-14.42, Z:-6.26 [[ 8.60495227e-01 5.02940404e-01 8.12337047e-02 6.54285191e+01] [-5.00050391e-01 8.64300311e-01 -5.41717612e-02 -1.44155657e+01] [-9.74554836e-02 5.99359615e-03 9.95221837e-01 -6.26330948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:-14.45, Z:-6.26 [[ 8.58784443e-01 5.05156078e-01 8.54787479e-02 6.54558066e+01] [-5.03974324e-01 8.62947984e-01 -3.64781851e-02 -1.44467992e+01] [-9.21908901e-02 -1.17521963e-02 9.95671997e-01 -6.25602744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:-14.45, Z:-6.27 [[ 8.60227926e-01 5.03446316e-01 8.09303530e-02 6.54823891e+01] [-5.00842886e-01 8.64019178e-01 -5.12568431e-02 -1.44489980e+01] [-9.57304458e-02 3.55917630e-03 9.95400931e-01 -6.26790623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:-14.47, Z:-6.27 [[ 8.60637584e-01 5.02195416e-01 8.42775979e-02 6.55098166e+01] [-5.00326749e-01 8.64741408e-01 -4.35366721e-02 -1.44684409e+01] [-9.47422458e-02 -4.69704027e-03 9.95490756e-01 -6.26831268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:-14.49, Z:-6.27 [[ 8.62209516e-01 4.99548453e-01 8.39410100e-02 6.55379750e+01] [-4.97679385e-01 8.66274964e-01 -4.33925736e-02 -1.44850161e+01] [-9.43926884e-02 -4.36222038e-03 9.95525485e-01 -6.27153170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:-14.50, Z:-6.27 [[ 8.63003361e-01 4.98145480e-01 8.41206275e-02 6.55661027e+01] [-4.96258928e-01 8.67083334e-01 -4.35151492e-02 -1.45010530e+01] [-9.46164690e-02 -4.19189239e-03 9.95504973e-01 -6.27449675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:-14.52, Z:-6.28 [[ 8.64938367e-01 4.94591007e-01 8.52136007e-02 6.55936312e+01] [-4.92634811e-01 8.69117428e-01 -4.41116722e-02 -1.45187360e+01] [-9.58778618e-02 -3.82530836e-03 9.95385756e-01 -6.27725810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:-14.54, Z:-6.28 [[ 8.65782147e-01 4.93053804e-01 8.55524473e-02 6.56220497e+01] [-4.91071528e-01 8.69991194e-01 -4.43179087e-02 -1.45351511e+01] [-9.62809892e-02 -3.64271686e-03 9.95347528e-01 -6.28008904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.65, Y:-14.55, Z:-6.28 [[ 8.67709164e-01 4.89698276e-01 8.53018449e-02 6.56491469e+01] [-4.87708405e-01 8.71885972e-01 -4.42194937e-02 -1.45521109e+01] [-9.60276918e-02 -3.23276676e-03 9.95373413e-01 -6.28317993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:-14.57, Z:-6.29 [[ 8.68116262e-01 4.89607238e-01 8.16021286e-02 6.56806894e+01] [-4.87011029e-01 8.71933367e-01 -5.05218884e-02 -1.45724583e+01] [-9.58875010e-02 4.11773638e-03 9.95383660e-01 -6.29050372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.70, Y:-14.59, Z:-6.29 [[ 8.70091085e-01 4.85336095e-01 8.59673086e-02 6.57018997e+01] [-4.83931841e-01 8.74285033e-01 -3.78900163e-02 -1.45888988e+01] [-9.35493238e-02 -8.63455251e-03 9.95577204e-01 -6.28722415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.296559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.73, Y:-14.60, Z:-6.29 [[ 8.69774698e-01 4.86375531e-01 8.32515367e-02 6.57305145e+01] [-4.84459854e-01 8.73745558e-01 -4.32128556e-02 -1.46016805e+01] [-9.37583360e-02 -2.74657887e-03 9.95591197e-01 -6.29235102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:-14.62, Z:-6.30 [[ 8.69195796e-01 4.87765623e-01 8.11379361e-02 6.57623418e+01] [-4.85659175e-01 8.72974625e-01 -4.52821208e-02 -1.46204986e+01] [-9.29184212e-02 -4.63540904e-05 9.95673724e-01 -6.29722234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.356559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.79, Y:-14.63, Z:-6.30 [[ 8.69851638e-01 4.86191710e-01 8.35209542e-02 6.57866673e+01] [-4.84418233e-01 8.73842146e-01 -4.16998759e-02 -1.46323266e+01] [-9.32582638e-02 -4.18636768e-03 9.95633151e-01 -6.29855825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.82, Y:-14.65, Z:-6.30 [[ 8.69781478e-01 4.86437939e-01 8.28149234e-02 6.58164271e+01] [-4.84535895e-01 8.73711035e-01 -4.30580299e-02 -1.46471150e+01] [-9.33013717e-02 -2.67572611e-03 9.95634318e-01 -6.30254630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.416559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.85, Y:-14.66, Z:-6.31 [[ 8.69721091e-01 4.86546814e-01 8.28095563e-02 6.58459196e+01] [-4.84644281e-01 8.73650410e-01 -4.30683493e-02 -1.46625462e+01] [-9.33013710e-02 -2.67572609e-03 9.95634318e-01 -6.30595283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:65.88, Y:-14.68, Z:-6.31 [[ 8.69068248e-01 4.87853439e-01 8.19719597e-02 6.58769778e+01] [-4.86222389e-01 8.72911519e-01 -4.01655246e-02 -1.46845528e+01] [-9.11491571e-02 -4.95001993e-03 9.95824949e-01 -6.30798557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.476559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:65.91, Y:-14.70, Z:-6.31 [[ 8.69032708e-01 4.88188424e-01 8.03381248e-02 6.59063125e+01] [-4.86258839e-01 8.72737190e-01 -4.33836110e-02 -1.46979020e+01] [-9.12934461e-02 -1.36334640e-03 9.95823101e-01 -6.31271569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.93, Y:-14.71, Z:-6.32 [[ 8.69516951e-01 4.87244430e-01 8.08278309e-02 6.59317905e+01] [-4.85070665e-01 8.73265290e-01 -4.59802366e-02 -1.47062944e+01] [-9.29877534e-02 7.73385437e-04 9.95666952e-01 -6.31723524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.536559995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.96, Y:-14.73, Z:-6.32 [[ 8.69006058e-01 4.88022246e-01 8.16257264e-02 6.59606967e+01] [-4.86423353e-01 8.72816195e-01 -3.98021528e-02 -1.47285578e+01] [-9.06685920e-02 -5.11634760e-03 9.95867978e-01 -6.31751794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:-14.74, Z:-6.32 [[ 8.68587505e-01 4.88929892e-01 8.06430804e-02 6.59908111e+01] [-4.86995652e-01 8.72321772e-01 -4.34736735e-02 -1.47422975e+01] [-9.16022932e-02 -1.51213994e-03 9.95794524e-01 -6.32070048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.596559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:66.02, Y:-14.76, Z:-6.32 [[ 8.68898576e-01 4.88438423e-01 8.02693699e-02 6.60200653e+01] [-4.86730872e-01 8.72591409e-01 -4.09547404e-02 -1.47561273e+01] [-9.00462314e-02 -3.48406473e-03 9.95931492e-01 -6.32478937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.05, Y:-14.76, Z:-6.33 [[ 8.69406447e-01 4.87658352e-01 7.95095084e-02 6.60478137e+01] [-4.85316145e-01 8.73029406e-01 -4.78319616e-02 -1.47624032e+01] [-9.27397944e-02 2.99816769e-03 9.95685865e-01 -6.33176894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.656559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.08, Y:-14.78, Z:-6.33 [[ 8.69130990e-01 4.87665370e-01 8.24245618e-02 6.60756053e+01] [-4.85787572e-01 8.73026137e-01 -4.28462246e-02 -1.47786989e+01] [-9.28534168e-02 -2.80184608e-03 9.95675847e-01 -6.33317451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.10, Y:-14.79, Z:-6.34 [[ 8.68885784e-01 4.88078314e-01 8.25654480e-02 6.61047830e+01] [-4.86193374e-01 8.72795261e-01 -4.29468871e-02 -1.47935209e+01] [-9.30241760e-02 -2.82683404e-03 9.95659837e-01 -6.33694118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.716559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:66.13, Y:-14.81, Z:-6.34 [[ 8.68611618e-01 4.88585938e-01 8.24477906e-02 6.61334917e+01] [-4.86705946e-01 8.72511117e-01 -4.29147140e-02 -1.48081453e+01] [-9.29041397e-02 -2.85161082e-03 9.95670974e-01 -6.34051612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.16, Y:-14.83, Z:-6.34 [[ 8.67244393e-01 4.90949527e-01 8.27993076e-02 6.61641159e+01] [-4.89531264e-01 8.71155400e-01 -3.80448604e-02 -1.48286616e+01] [-9.08091701e-02 -7.53865781e-03 9.95839778e-01 -6.33961288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:-14.83, Z:-6.35 [[ 8.67679953e-01 4.90675645e-01 7.98054609e-02 6.61918366e+01] [-4.88356885e-01 8.71338940e-01 -4.77074841e-02 -1.48338630e+01] [-9.29465063e-02 2.42128125e-03 9.95668160e-01 -6.34891687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.22, Y:-14.86, Z:-6.35 [[ 8.67250073e-01 4.90762393e-01 8.38426187e-02 6.62199975e+01] [-4.89525413e-01 8.71239510e-01 -3.61467385e-02 -1.48568180e+01] [-9.07864619e-02 -9.69483098e-03 9.95823191e-01 -6.34573126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.836559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:66.25, Y:-14.87, Z:-6.35 [[ 8.67105832e-01 4.91620690e-01 8.02282593e-02 6.62488005e+01] [-4.89893014e-01 8.70802536e-01 -4.13252610e-02 -1.48685483e+01] [-9.01793250e-02 -3.46988902e-03 9.95919499e-01 -6.35202402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:-14.88, Z:-6.36 [[ 8.67158893e-01 4.91343958e-01 8.13422932e-02 6.62780641e+01] [-4.89307038e-01 8.70965007e-01 -4.47054669e-02 -1.48811513e+01] [-9.28120521e-02 -1.03461329e-03 9.95683109e-01 -6.35588608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.896559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.31, Y:-14.90, Z:-6.36 [[ 8.66878190e-01 4.91837216e-01 8.13532831e-02 6.63068218e+01] [-4.89867640e-01 8.70685503e-01 -4.40051201e-02 -1.48962730e+01] [-9.24764800e-02 -1.70526193e-03 9.95713409e-01 -6.35925164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:-14.90, Z:-6.37 [[ 8.67250860e-01 4.91160959e-01 8.14669095e-02 6.63339552e+01] [-4.88464395e-01 8.71054542e-01 -5.16383579e-02 -1.49027999e+01] [-9.63248670e-02 4.98972559e-03 9.95337442e-01 -6.36741395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.956559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.36, Y:-14.92, Z:-6.37 [[ 8.67288300e-01 4.90506519e-01 8.49373857e-02 6.63614171e+01] [-4.88519075e-01 8.71431865e-01 -4.42223683e-02 -1.49206640e+01] [-9.57085044e-02 -3.13999050e-03 9.95404452e-01 -6.36864554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.39, Y:-14.94, Z:-6.37 [[ 8.66202345e-01 4.92378157e-01 8.51894836e-02 6.63917792e+01] [-4.91082406e-01 8.70326487e-01 -3.70118418e-02 -1.49428633e+01] [-9.23664864e-02 -9.77531241e-03 9.95677094e-01 -6.36747402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.016559995 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:66.42, Y:-14.95, Z:-6.38 [[ 8.67081981e-01 4.91689266e-01 8.00656218e-02 6.64196775e+01] [-4.89126410e-01 8.70759186e-01 -5.03368232e-02 -1.49455771e+01] [-9.44679513e-02 4.48394222e-03 9.95517805e-01 -6.37921359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:66.45, Y:-14.96, Z:-6.38 [[ 8.67089674e-01 4.91097599e-01 8.35382855e-02 6.64462372e+01] [-4.89171761e-01 8.71099059e-01 -4.35593562e-02 -1.49630239e+01] [-9.41620171e-02 -3.09470225e-03 9.95552077e-01 -6.37952809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.076559995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:66.48, Y:-14.98, Z:-6.38 [[ 8.67131974e-01 4.91096162e-01 8.31065578e-02 6.64751683e+01] [-4.89187626e-01 8.71100012e-01 -4.33616875e-02 -1.49780382e+01] [-9.36888818e-02 -3.05439406e-03 9.95596838e-01 -6.38275589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:66.50, Y:-15.00, Z:-6.38 [[ 8.66561066e-01 4.91620396e-01 8.59145239e-02 6.65035971e+01] [-4.91011388e-01 8.70651809e-01 -2.95507222e-02 -1.50041917e+01] [-8.93293734e-02 -1.65775043e-02 9.95864172e-01 -6.37598680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.136559995 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:66.53, Y:-15.01, Z:-6.38 [[ 8.66799187e-01 4.92275402e-01 7.95241995e-02 6.65344134e+01] [-4.90427428e-01 8.70437157e-01 -4.26625596e-02 -1.50128448e+01] [-9.02225468e-02 -2.02097673e-03 9.95919579e-01 -6.38434762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:66.56, Y:-15.02, Z:-6.40 [[ 8.67087915e-01 4.92378085e-01 7.56463451e-02 6.65619579e+01] [-4.89446662e-01 8.70319873e-01 -5.46377581e-02 -1.50184427e+01] [-9.27389521e-02 1.03508887e-02 9.95636654e-01 -6.39607925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.196559995 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:66.59, Y:-15.04, Z:-6.39 [[ 8.66872330e-01 4.91788261e-01 8.17108905e-02 6.65887143e+01] [-4.89926032e-01 8.70710051e-01 -4.28542796e-02 -1.50392386e+01] [-9.22217254e-02 -2.88310318e-03 9.95734323e-01 -6.39444414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:66.62, Y:-15.07, Z:-6.39 [[ 8.66252831e-01 4.91878266e-01 8.75317298e-02 6.66168736e+01] [-4.91827349e-01 8.70371530e-01 -2.36486299e-02 -1.50683388e+01] [-8.78173727e-02 -2.25648060e-02 9.95880986e-01 -6.38523686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.256559995 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:66.65, Y:-15.06, Z:-6.41 [[ 8.66986880e-01 4.93137697e-01 7.17562602e-02 6.66488558e+01] [-4.89613984e-01 8.69758871e-01 -6.16250921e-02 -1.50591104e+01] [-9.28002999e-02 1.82952779e-02 9.95516643e-01 -6.41048654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:66.67, Y:-15.08, Z:-6.41 [[ 8.66958797e-01 4.91575823e-01 8.20710298e-02 6.66738518e+01] [-4.89689890e-01 8.70830230e-01 -4.31105783e-02 -1.50834542e+01] [-9.26620518e-02 -2.81425845e-03 9.95693640e-01 -6.40570567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.316559995 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:66.70, Y:-15.10, Z:-6.41 [[ 8.66771007e-01 4.91881628e-01 8.22221688e-02 6.67014436e+01] [-4.89987270e-01 8.70657498e-01 -4.32203155e-02 -1.50982766e+01] [-9.28466270e-02 -2.82569959e-03 9.95676413e-01 -6.40930240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters Centerline goodness : 0.997042 Centerline is valid? [True, True] Translation: X:66.73, Y:-15.11, Z:-6.41 [[ 8.66617489e-01 4.92186910e-01 8.20132482e-02 6.67306935e+01] [-4.90300977e-01 8.70484953e-01 -4.31381275e-02 -1.51137359e+01] [-9.26233202e-02 -2.82691996e-03 9.95697208e-01 -6.41268341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37655999500001 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:66.76, Y:-15.13, Z:-6.42 [[ 8.66527741e-01 4.92323353e-01 8.21424962e-02 6.67598141e+01] [-4.90429296e-01 8.70407815e-01 -4.32358848e-02 -1.51290562e+01] [-9.27835064e-02 -2.81999297e-03 9.95682313e-01 -6.41614895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:66.79, Y:-15.14, Z:-6.42 [[ 8.66929607e-01 4.91590386e-01 8.22918537e-02 6.67873158e+01] [-4.89683349e-01 8.70822308e-01 -4.33442760e-02 -1.51441761e+01] [-9.29692113e-02 -2.72051434e-03 9.95665267e-01 -6.41972235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.436559995 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:66.82, Y:-15.16, Z:-6.42 [[ 8.67081897e-01 4.91310532e-01 8.23586340e-02 6.68159858e+01] [-4.89396585e-01 8.70980389e-01 -4.34067304e-02 -1.51597446e+01] [-9.30589389e-02 -2.66884406e-03 9.95657025e-01 -6.42325539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:66.84, Y:-15.18, Z:-6.43 [[ 8.67574198e-01 4.90431237e-01 8.24148804e-02 6.68438076e+01] [-4.88507807e-01 8.71476164e-01 -4.34674420e-02 -1.51754641e+01] [-9.31403952e-02 -2.54908135e-03 9.95649722e-01 -6.42666469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.496559995 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:66.87, Y:-15.19, Z:-6.43 [[ 8.68098053e-01 4.89522894e-01 8.22988834e-02 6.68727071e+01] [-4.87599187e-01 8.71987051e-01 -4.34236786e-02 -1.51914558e+01] [-9.30204454e-02 -2.43285780e-03 9.95661226e-01 -6.43063435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:66.90, Y:-15.21, Z:-6.43 [[ 8.68546323e-01 4.88712074e-01 8.23880705e-02 6.69002191e+01] [-4.86777689e-01 8.72442043e-01 -4.35013013e-02 -1.52071716e+01] [-9.31384277e-02 -2.32177928e-03 9.95650462e-01 -6.43392624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.556559995 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:66.93, Y:-15.22, Z:-6.44 [[ 8.68957130e-01 4.88008671e-01 8.22255619e-02 6.69287909e+01] [-4.86076172e-01 8.72835964e-01 -4.34434620e-02 -1.52236251e+01] [-9.29702137e-02 -2.21738034e-03 9.95666421e-01 -6.43744848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:66.96, Y:-15.24, Z:-6.44 [[ 8.70176853e-01 4.85844787e-01 8.21406603e-02 6.69558961e+01] [-4.83903891e-01 8.74042910e-01 -4.34282791e-02 -1.52405703e+01] [-9.28938649e-02 -1.95790185e-03 9.95674092e-01 -6.44133156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.616559995 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:66.98, Y:-15.25, Z:-6.45 [[ 8.71234925e-01 4.84222094e-01 8.04901811e-02 6.69848323e+01] [-4.81176516e-01 8.74896914e-01 -5.49959056e-02 -1.52517557e+01] [-9.70508437e-02 9.18436879e-03 9.95237048e-01 -6.45261846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:67.01, Y:-15.28, Z:-6.44 [[ 8.71632377e-01 4.82036915e-01 8.88673842e-02 6.70083925e+01] [-4.80986998e-01 8.76056665e-01 -3.42961814e-02 -1.52779828e+01] [-9.43848897e-02 -1.28503942e-02 9.95452842e-01 -6.44374028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.676559995 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:67.04, Y:-15.29, Z:-6.46 [[ 8.71750235e-01 4.83020149e-01 8.21161544e-02 6.70396938e+01] [-4.80284671e-01 8.75591497e-01 -5.16349182e-02 -1.52868091e+01] [-9.68409125e-02 5.57362185e-03 9.95284267e-01 -6.45684815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:67.06, Y:-15.31, Z:-6.45 [[ 8.72381750e-01 4.80699388e-01 8.87591105e-02 6.70635085e+01] [-4.79186203e-01 8.76844520e-01 -3.90419172e-02 -1.53094131e+01] [-9.65953653e-02 -8.47268500e-03 9.95287671e-01 -6.45172974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73655999500001 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:67.09, Y:-15.32, Z:-6.46 [[ 8.72295099e-01 4.81457205e-01 8.54413250e-02 6.70941499e+01] [-4.79323074e-01 8.76468425e-01 -4.53044243e-02 -1.53220760e+01] [-9.66987650e-02 -1.43517128e-03 9.95312659e-01 -6.45788909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:67.12, Y:-15.34, Z:-6.46 [[ 8.72235888e-01 4.81565460e-01 8.54357278e-02 6.71235155e+01] [-4.79430814e-01 8.76408950e-01 -4.53149770e-02 -1.53377448e+01] [-9.66987642e-02 -1.43517127e-03 9.95312659e-01 -6.46130970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.796559995 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:67.15, Y:-15.35, Z:-6.47 [[ 8.72348473e-01 4.81575920e-01 8.42186133e-02 6.71524231e+01] [-4.78688201e-01 8.76384443e-01 -5.29897547e-02 -1.53522888e+01] [-9.93264725e-02 5.91107515e-03 9.95037342e-01 -6.46968269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:67.18, Y:-15.38, Z:-6.47 [[ 8.73304862e-01 4.79209523e-01 8.77316983e-02 6.71774535e+01] [-4.77739004e-01 8.77660810e-01 -3.84310745e-02 -1.53750752e+01] [-9.54152103e-02 -8.35080988e-03 9.95402532e-01 -6.46516569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.856559995 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:67.21, Y:-15.39, Z:-6.47 [[ 8.72917978e-01 4.80723318e-01 8.31823001e-02 6.72077489e+01] [-4.78691426e-01 8.76871427e-01 -4.41703415e-02 -1.53874099e+01] [-9.41738953e-02 -1.26156866e-03 9.95554964e-01 -6.47227861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:67.24, Y:-15.40, Z:-6.48 [[ 8.72493133e-01 4.81669018e-01 8.21625808e-02 6.72363864e+01] [-4.79688183e-01 8.76352219e-01 -4.36581533e-02 -1.54021967e+01] [-9.30321398e-02 -1.32098014e-03 9.95662230e-01 -6.47635296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.916559995 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:67.27, Y:-15.42, Z:-6.48 [[ 8.72112410e-01 4.82444251e-01 8.16546999e-02 6.72656662e+01] [-4.80488556e-01 8.75925608e-01 -4.34174760e-02 -1.54173651e+01] [-9.24699544e-02 -1.36922923e-03 9.95714534e-01 -6.48039542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:67.29, Y:-15.43, Z:-6.48 [[ 8.71956531e-01 4.82774821e-01 8.13651099e-02 6.72942745e+01] [-4.80831732e-01 8.75743447e-01 -4.32927233e-02 -1.54321390e+01] [-9.21555986e-02 -1.37355391e-03 9.95743671e-01 -6.48400925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.976559995 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:67.32, Y:-15.45, Z:-6.49 [[ 8.71473337e-01 4.83576841e-01 8.17781260e-02 6.73232070e+01] [-4.81614929e-01 8.75300726e-01 -4.35396351e-02 -1.54466299e+01] [-9.26352122e-02 -1.44193525e-03 9.95699070e-01 -6.48712561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:67.35, Y:-15.46, Z:-6.49 [[ 8.71074196e-01 4.84199307e-01 8.23454677e-02 6.73511937e+01] [-4.82209982e-01 8.74956458e-01 -4.38717321e-02 -1.54608041e+01] [-9.32913610e-02 -1.49227273e-03 9.95637733e-01 -6.49036610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.036559995 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:67.38, Y:-15.47, Z:-6.49 [[ 8.70755824e-01 4.84769872e-01 8.23557357e-02 6.73809090e+01] [-4.82780025e-01 8.74640402e-01 -4.39046176e-02 -1.54749286e+01] [-9.33152896e-02 -1.52950267e-03 9.95635434e-01 -6.49434417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:67.41, Y:-15.49, Z:-6.50 [[ 8.71042473e-01 4.84241974e-01 8.24300945e-02 6.74091264e+01] [-4.82243356e-01 8.74932919e-01 -4.39742210e-02 -1.54893790e+01] [-9.34149669e-02 -1.44795117e-03 9.95626209e-01 -6.49811426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.096559995 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:67.44, Y:-15.50, Z:-6.50 [[ 8.71513555e-01 4.83205855e-01 8.35238055e-02 6.74388365e+01] [-4.81146299e-01 8.75505759e-01 -4.45859337e-02 -1.55042304e+01] [-9.46697569e-02 -1.32992432e-03 9.95507844e-01 -6.50158350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:67.47, Y:-15.52, Z:-6.50 [[ 8.71462158e-01 4.82868097e-01 8.59773644e-02 6.74674989e+01] [-4.80680636e-01 8.75692128e-01 -4.59284508e-02 -1.55183353e+01] [-9.74670848e-02 -1.30274733e-03 9.95237896e-01 -6.50473394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.156559995 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:67.50, Y:-15.54, Z:-6.51 [[ 8.69982962e-01 4.85637953e-01 8.53546966e-02 6.74989691e+01] [-4.83357542e-01 8.74159968e-01 -4.70089093e-02 -1.55381645e+01] [-9.74429693e-02 -3.59886222e-04 9.95241045e-01 -6.50909670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:67.52, Y:-15.55, Z:-6.51 [[ 8.71193510e-01 4.82962879e-01 8.81403756e-02 6.75237258e+01] [-4.80641283e-01 8.75640077e-01 -4.73118769e-02 -1.55466219e+01] [-1.00029126e-01 -1.14610311e-03 9.94983849e-01 -6.51218772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.216559995 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:67.55, Y:-15.56, Z:-6.52 [[ 8.71288490e-01 4.82558807e-01 8.94056239e-02 6.75531049e+01] [-4.80183827e-01 8.75862675e-01 -4.78337428e-02 -1.55612376e+01] [-1.01389643e-01 -1.25414514e-03 9.94846002e-01 -6.51641462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:67.58, Y:-15.58, Z:-6.52 [[ 8.70863525e-01 4.83097651e-01 9.06276959e-02 6.75826245e+01] [-4.80656588e-01 8.75565506e-01 -4.85210231e-02 -1.55763867e+01] [-1.02790877e-01 -1.30560986e-03 9.94702132e-01 -6.52038619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.276559995 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:67.61, Y:-15.59, Z:-6.53 [[ 8.70540621e-01 4.83421127e-01 9.19947921e-02 6.76119121e+01] [-4.80903926e-01 8.75386905e-01 -4.92867260e-02 -1.55909657e+01] [-1.04357281e-01 -1.33455954e-03 9.94538977e-01 -6.52513516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:67.64, Y:-15.61, Z:-6.53 [[ 8.70161428e-01 4.83735553e-01 9.39095550e-02 6.76403077e+01] [-4.81110281e-01 8.75213138e-01 -5.03474049e-02 -1.56051659e+01] [-1.06545706e-01 -1.37048265e-03 9.94306861e-01 -6.53061561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.336559995 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:67.67, Y:-15.62, Z:-6.54 [[ 8.69983801e-01 4.83985250e-01 9.42680398e-02 6.76694895e+01] [-4.81337842e-01 8.75075070e-01 -5.05717689e-02 -1.56201683e+01] [-1.06967602e-01 -1.37815517e-03 9.94261552e-01 -6.53500088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters Centerline goodness : 0.986669 Centerline is valid? [True, True] Translation: X:67.70, Y:-15.64, Z:-6.54 [[ 8.69645475e-01 4.84428398e-01 9.51098099e-02 6.76984722e+01] [-4.81732262e-01 8.74829769e-01 -5.10578400e-02 -1.56350405e+01] [-1.07938761e-01 -1.41524433e-03 9.94156537e-01 -6.53948074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.396559995 meters Centerline goodness : 0.983402 Centerline is valid? [True, True] Translation: X:67.73, Y:-15.66, Z:-6.54 [[ 8.68482013e-01 4.86199186e-01 9.66920130e-02 6.77285065e+01] [-4.84774394e-01 8.73755269e-01 -3.93130562e-02 -1.56611996e+01] [-1.03599132e-01 -1.27311299e-02 9.94537650e-01 -6.53505178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters Centerline goodness : 0.981913 Centerline is valid? [True, True] Translation: X:67.76, Y:-15.66, Z:-6.55 [[ 8.69253052e-01 4.85937731e-01 9.09046411e-02 6.77580301e+01] [-4.81931813e-01 8.73921899e-01 -6.32632767e-02 -1.56588820e+01] [-1.10185570e-01 1.11819579e-02 9.93848129e-01 -6.55364961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.456559995 meters Centerline goodness : 0.978326 Centerline is valid? [True, True] Translation: X:67.78, Y:-15.68, Z:-6.55 [[ 8.68892267e-01 4.85064145e-01 9.86863904e-02 6.77845972e+01] [-4.82154511e-01 8.74477338e-01 -5.30698923e-02 -1.56795994e+01] [-1.12041314e-01 -1.47006934e-03 9.93702462e-01 -6.55438048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters Centerline goodness : 0.975191 Centerline is valid? [True, True] Translation: X:67.81, Y:-15.69, Z:-6.56 [[ 8.68366463e-01 4.85773978e-01 9.98164753e-02 6.78135597e+01] [-4.82797566e-01 8.74083090e-01 -5.37146315e-02 -1.56946049e+01] [-1.13341063e-01 -1.54716672e-03 9.93554935e-01 -6.56028465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.516559995 meters Centerline goodness : 0.972118 Centerline is valid? [True, True] Translation: X:67.84, Y:-15.71, Z:-6.57 [[ 8.68662320e-01 4.85203020e-01 1.00019013e-01 6.78416671e+01] [-4.82206543e-01 8.74400335e-01 -5.38600450e-02 -1.57093979e+01] [-1.13589715e-01 -1.44363077e-03 9.93526694e-01 -6.56578761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters Centerline goodness : 0.968914 Centerline is valid? [True, True] Translation: X:67.87, Y:-15.72, Z:-6.57 [[ 8.67905178e-01 4.86672639e-01 9.94502159e-02 6.78705867e+01] [-4.83716001e-01 8.73582963e-01 -5.35876622e-02 -1.57241391e+01] [-1.12957663e-01 -1.59665122e-03 9.93598519e-01 -6.57177214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.576559995 meters Centerline goodness : 0.963196 Centerline is valid? [True, True] Translation: X:67.90, Y:-15.74, Z:-6.58 [[ 8.65898127e-01 4.90665609e-01 9.73020747e-02 6.78990078e+01] [-4.87856926e-01 8.71345566e-01 -5.24645017e-02 -1.57371929e+01] [-1.10526258e-01 -2.04057727e-03 9.93871110e-01 -6.57804552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters Centerline goodness : 0.961236 Centerline is valid? [True, True] Translation: X:67.93, Y:-15.75, Z:-6.58 [[ 8.64949000e-01 4.92523882e-01 9.63506755e-02 6.79277605e+01] [-4.89777923e-01 8.70296080e-01 -5.19838482e-02 -1.57518434e+01] [-1.09456902e-01 -2.22705614e-03 9.93989048e-01 -6.58214449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.636559995 meters Centerline goodness : 0.960820 Centerline is valid? [True, True] Translation: X:67.96, Y:-15.77, Z:-6.59 [[ 8.64412788e-01 4.93516540e-01 9.60830697e-02 6.79564120e+01] [-4.90788213e-01 8.69733327e-01 -5.18735942e-02 -1.57668007e+01] [-1.09167125e-01 -2.31623990e-03 9.94020711e-01 -6.58594785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters Centerline goodness : 0.960820 Centerline is valid? [True, True] Translation: X:67.99, Y:-15.78, Z:-6.59 [[ 8.64351810e-01 4.93626087e-01 9.60689063e-02 6.79856628e+01] [-4.90895522e-01 8.69671200e-01 -5.18998119e-02 -1.57826854e+01] [-1.09167462e-01 -2.30009959e-03 9.94020711e-01 -6.58937103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.696559995 meters Centerline goodness : 0.960290 Centerline is valid? [True, True] Translation: X:68.01, Y:-15.80, Z:-6.59 [[ 8.63982363e-01 4.94415442e-01 9.53302037e-02 6.80146256e+01] [-4.91729826e-01 8.69222508e-01 -5.15170752e-02 -1.57984440e+01] [-1.08333996e-01 -2.36686021e-03 9.94111736e-01 -6.59296019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters Centerline goodness : 0.960290 Centerline is valid? [True, True] Translation: X:68.04, Y:-15.81, Z:-6.60 [[ 8.63921638e-01 4.94524246e-01 9.53161764e-02 6.80438699e+01] [-4.91836430e-01 8.69160654e-01 -5.15430158e-02 -1.58143419e+01] [-1.08334341e-01 -2.35084135e-03 9.94111736e-01 -6.59638335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.756559995 meters Centerline goodness : 0.960290 Centerline is valid? [True, True] Translation: X:68.07, Y:-15.83, Z:-6.60 [[ 8.63860882e-01 4.94631598e-01 9.53098086e-02 6.80731090e+01] [-4.91943135e-01 8.69099566e-01 -5.15547881e-02 -1.58302505e+01] [-1.08334341e-01 -2.35084133e-03 9.94111736e-01 -6.59980056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters Centerline goodness : 0.960290 Centerline is valid? [True, True] Translation: X:68.10, Y:-15.85, Z:-6.60 [[ 8.63800113e-01 4.94738941e-01 9.53034394e-02 6.81023461e+01] [-4.92049831e-01 8.69038465e-01 -5.15665595e-02 -1.58461628e+01] [-1.08334340e-01 -2.35084131e-03 9.94111736e-01 -6.60321777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.816559995 meters Centerline goodness : 0.960153 Centerline is valid? [True, True] Translation: X:68.13, Y:-15.86, Z:-6.61 [[ 8.63488242e-01 4.95420081e-01 9.45885765e-02 6.81311909e+01] [-4.92773608e-01 8.68650197e-01 -5.11957589e-02 -1.58619000e+01] [-1.07527793e-01 -2.40381824e-03 9.94199173e-01 -6.60624747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters Centerline goodness : 0.960153 Centerline is valid? [True, True] Translation: X:68.16, Y:-15.88, Z:-6.61 [[ 8.63392356e-01 4.95589870e-01 9.45744141e-02 6.81604077e+01] [-4.92941550e-01 8.68553363e-01 -5.12219084e-02 -1.58778019e+01] [-1.07527984e-01 -2.39505410e-03 9.94199173e-01 -6.60966834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87655999500001 meters Centerline goodness : 0.959943 Centerline is valid? [True, True] Translation: X:68.18, Y:-15.92, Z:-6.58 [[ 8.61682098e-01 4.96307770e-01 1.05747622e-01 6.81833270e+01] [-4.98759670e-01 8.66732329e-01 -3.72311746e-03 -1.59235685e+01] [-9.35026952e-02 -4.95345056e-02 9.94386031e-01 -6.57752182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters Centerline goodness : 0.960170 Centerline is valid? [True, True] Translation: X:68.23, Y:-15.89, Z:-6.63 [[ 8.62824245e-01 5.00645564e-01 6.99166815e-02 6.82257896e+01] [-4.93971791e-01 8.64411579e-01 -9.37256199e-02 -1.58858344e+01] [-1.07360105e-01 4.63318688e-02 9.93140053e-01 -6.63364271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.936559995 meters Centerline goodness : 0.960593 Centerline is valid? [True, True] Translation: X:68.24, Y:-15.95, Z:-6.59 [[ 8.61437441e-01 4.97046855e-01 1.04259100e-01 6.82385163e+01] [-4.99212183e-01 8.66458670e-01 -6.04735176e-03 -1.59520511e+01] [-9.33420186e-02 -4.68379978e-02 9.94531784e-01 -6.58533926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters Centerline goodness : 0.961580 Centerline is valid? [True, True] Translation: X:68.28, Y:-15.94, Z:-6.61 [[ 8.61318721e-01 5.01886464e-01 7.89939148e-02 6.82754244e+01] [-4.98917733e-01 8.64896086e-01 -5.50986010e-02 -1.59426630e+01] [-9.59747698e-02 8.04599156e-03 9.95351247e-01 -6.61040392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.996559995 meters Centerline goodness : 0.962449 Centerline is valid? [True, True] Translation: X:68.30, Y:-15.94, Z:-6.64 [[ 8.62619486e-01 5.00502388e-01 7.33824425e-02 6.83049720e+01] [-4.94861680e-01 8.65025725e-01 -8.27188759e-02 -1.59373733e+01] [-1.04878695e-01 3.50407554e-02 9.93867499e-01 -6.63585181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters Centerline goodness : 0.964097 Centerline is valid? [True, True] Translation: X:68.32, Y:-15.97, Z:-6.62 [[ 8.63165579e-01 4.96809255e-01 9.01429270e-02 6.83249560e+01] [-4.94401074e-01 8.67856589e-01 -4.89133886e-02 -1.59711577e+01] [-1.02531757e-01 -2.34640648e-03 9.94726964e-01 -6.62260287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.056559995 meters Centerline goodness : 0.964548 Centerline is valid? [True, True] Translation: X:68.35, Y:-15.99, Z:-6.62 [[ 8.63577840e-01 4.96218630e-01 8.94448709e-02 6.83536557e+01] [-4.93841499e-01 8.68194729e-01 -4.85642518e-02 -1.59878612e+01] [-1.01754052e-01 -2.23257743e-03 9.94807081e-01 -6.62482300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters Centerline goodness : 0.965263 Centerline is valid? [True, True] Translation: X:68.38, Y:-16.00, Z:-6.63 [[ 8.63977880e-01 4.95649824e-01 8.87326047e-02 6.83813019e+01] [-4.93304248e-01 8.68519865e-01 -4.82095632e-02 -1.60040262e+01] [-1.00961091e-01 -2.12017465e-03 9.94888116e-01 -6.62726363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.116559995 meters Centerline goodness : 0.967263 Centerline is valid? [True, True] Translation: X:68.41, Y:-16.03, Z:-6.62 [[ 8.64706037e-01 4.94121956e-01 9.01496652e-02 6.84071743e+01] [-4.92874158e-01 8.69305842e-01 -3.71808710e-02 -1.60274943e+01] [-9.67395153e-02 -1.22819167e-02 9.95233953e-01 -6.62143844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters Centerline goodness : 0.967355 Centerline is valid? [True, True] Translation: X:68.44, Y:-16.04, Z:-6.63 [[ 8.64659670e-01 4.95363313e-01 8.35394652e-02 6.84386646e+01] [-4.93031860e-01 8.68685838e-01 -4.80052045e-02 -1.60380716e+01] [-9.63495675e-02 3.20546411e-04 9.95347506e-01 -6.62937710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.176559995 meters Centerline goodness : 0.969022 Centerline is valid? [True, True] Translation: X:68.47, Y:-16.05, Z:-6.63 [[ 8.64626979e-01 4.95597804e-01 8.24803244e-02 6.84660875e+01] [-4.93158549e-01 8.68550241e-01 -4.91439098e-02 -1.60530813e+01] [-9.59939194e-02 1.81527316e-03 9.95380265e-01 -6.63468167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters Centerline goodness : 0.969475 Centerline is valid? [True, True] Translation: X:68.49, Y:-16.07, Z:-6.64 [[ 8.64337704e-01 4.96373733e-01 8.08297663e-02 6.84935758e+01] [-4.93892560e-01 8.68103744e-01 -4.96591264e-02 -1.60663278e+01] [-9.48181087e-02 3.00103514e-03 9.95490090e-01 -6.63842484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23655999500001 meters Centerline goodness : 0.970579 Centerline is valid? [True, True] Translation: X:68.52, Y:-16.08, Z:-6.64 [[ 8.63225977e-01 4.98014851e-01 8.25961382e-02 6.85209749e+01] [-4.95983550e-01 8.67165875e-01 -4.49851467e-02 -1.60840608e+01] [-9.40278236e-02 -2.13397870e-03 9.95567283e-01 -6.63977482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters Centerline goodness : 0.971600 Centerline is valid? [True, True] Translation: X:68.55, Y:-16.10, Z:-6.64 [[ 8.62456001e-01 4.99493734e-01 8.17046869e-02 6.85485322e+01] [-4.97511615e-01 8.66314553e-01 -4.45116673e-02 -1.60994614e+01] [-9.30152582e-02 -2.25967612e-03 9.95662119e-01 -6.64294394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.296559995 meters Centerline goodness : 0.972434 Centerline is valid? [True, True] Translation: X:68.58, Y:-16.11, Z:-6.65 [[ 8.61752988e-01 5.00953826e-01 8.01688985e-02 6.85771142e+01] [-4.98955748e-01 8.65472777e-01 -4.47217283e-02 -1.61144885e+01] [-9.17875201e-02 -1.46164974e-03 9.95777543e-01 -6.64672895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters Centerline goodness : 0.973087 Centerline is valid? [True, True] Translation: X:68.61, Y:-16.13, Z:-6.65 [[ 8.61185533e-01 5.02222974e-01 7.83042938e-02 6.86055253e+01] [-5.00512571e-01 8.64731447e-01 -4.15534585e-02 -1.61318808e+01] [-8.85812869e-02 -3.40704613e-03 9.96063124e-01 -6.64781671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.356559995 meters Centerline goodness : 0.974179 Centerline is valid? [True, True] Translation: X:68.63, Y:-16.14, Z:-6.66 [[ 8.60932611e-01 5.02847987e-01 7.70645314e-02 6.86347747e+01] [-5.00726506e-01 8.64374098e-01 -4.61560830e-02 -1.61449056e+01] [-8.98220783e-02 1.14902347e-03 9.95957165e-01 -6.65522973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters Centerline goodness : 0.975838 Centerline is valid? [True, True] Translation: X:68.66, Y:-16.17, Z:-6.65 [[ 8.60969914e-01 5.02744058e-01 7.73254096e-02 6.86610191e+01] [-5.01357899e-01 8.64413038e-01 -3.78200501e-02 -1.61651009e+01] [-8.58548977e-02 -6.20577959e-03 9.96288324e-01 -6.65300396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.416559995 meters Centerline goodness : 0.977561 Centerline is valid? [True, True] Translation: X:68.69, Y:-16.18, Z:-6.66 [[ 8.61497197e-01 5.02169877e-01 7.51531400e-02 6.86889569e+01] [-5.00495921e-01 8.64766027e-01 -4.10311048e-02 -1.61790692e+01] [-8.55944671e-02 -2.26565823e-03 9.96327483e-01 -6.65750490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters Centerline goodness : 0.977995 Centerline is valid? [True, True] Translation: X:68.72, Y:-16.20, Z:-6.66 [[ 8.61806793e-01 5.01715174e-01 7.46387019e-02 6.87178697e+01] [-5.00061157e-01 8.65030102e-01 -4.07647201e-02 -1.61954023e+01] [-8.50170025e-02 -2.19260290e-03 9.96377088e-01 -6.66087075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.476559995 meters Centerline goodness : 0.978222 Centerline is valid? [True, True] Translation: X:68.75, Y:-16.21, Z:-6.66 [[ 8.62211453e-01 5.01039971e-01 7.45007212e-02 6.87461193e+01] [-4.99387336e-01 8.65421597e-01 -4.07154527e-02 -1.62117069e+01] [-8.48746023e-02 -2.09938712e-03 9.96389429e-01 -6.66365804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters Centerline goodness : 0.978969 Centerline is valid? [True, True] Translation: X:68.78, Y:-16.22, Z:-6.67 [[ 8.62828798e-01 5.00253939e-01 7.26117184e-02 6.87750372e+01] [-4.97720418e-01 8.65843980e-01 -5.08781742e-02 -1.62209131e+01] [-8.83224263e-02 7.75881910e-03 9.96061720e-01 -6.67493786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.536559995 meters Centerline goodness : 0.979777 Centerline is valid? [True, True] Translation: X:68.80, Y:-16.25, Z:-6.67 [[ 8.63424291e-01 4.98095350e-01 7.99969756e-02 6.87994301e+01] [-4.97200132e-01 8.67039261e-01 -3.21706275e-02 -1.62472341e+01] [-8.53845585e-02 -1.19976057e-02 9.96275833e-01 -6.66540733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters Centerline goodness : 0.980279 Centerline is valid? [True, True] Translation: X:68.83, Y:-16.26, Z:-6.67 [[ 8.63617822e-01 4.98449907e-01 7.55774347e-02 6.88299454e+01] [-4.96734006e-01 8.66916593e-01 -4.13636069e-02 -1.62583986e+01] [-8.61370183e-02 -1.81953382e-03 9.96281639e-01 -6.67256044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.596559995 meters Centerline goodness : 0.981481 Centerline is valid? [True, True] Translation: X:68.86, Y:-16.27, Z:-6.67 [[ 8.64709276e-01 4.96504555e-01 7.59018794e-02 6.88570493e+01] [-4.94764057e-01 8.68032624e-01 -4.15679106e-02 -1.62742454e+01] [-8.65239646e-02 -1.60936396e-03 9.96248470e-01 -6.67492867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters Centerline goodness : 0.981889 Centerline is valid? [True, True] Translation: X:68.89, Y:-16.29, Z:-6.68 [[ 8.65240557e-01 4.95551330e-01 7.60766619e-02 6.88850878e+01] [-4.93797004e-01 8.68577366e-01 -4.16878799e-02 -1.62907358e+01] [-8.67369509e-02 -1.49638333e-03 9.96230125e-01 -6.67803858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.656559995 meters Centerline goodness : 0.981889 Centerline is valid? [True, True] Translation: X:68.91, Y:-16.31, Z:-6.68 [[ 8.65183971e-01 4.95651951e-01 7.60647135e-02 6.89142336e+01] [-4.93896097e-01 8.68519976e-01 -4.17096692e-02 -1.63068182e+01] [-8.67372020e-02 -1.48152788e-03 9.96230125e-01 -6.68145633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters Centerline goodness : 0.982405 Centerline is valid? [True, True] Translation: X:68.94, Y:-16.32, Z:-6.68 [[ 8.65797475e-01 4.94619131e-01 7.58066419e-02 6.89421171e+01] [-4.92870489e-01 8.69108768e-01 -4.15768082e-02 -1.63233251e+01] [-8.64489019e-02 -1.36576110e-03 9.96255350e-01 -6.68439673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.716559995 meters Centerline goodness : 0.983253 Centerline is valid? [True, True] Translation: X:68.97, Y:-16.34, Z:-6.69 [[ 8.66421599e-01 4.93371102e-01 7.68021406e-02 6.89705191e+01] [-4.91568894e-01 8.69818045e-01 -4.21496162e-02 -1.63386461e+01] [-8.75992904e-02 -1.23420552e-03 9.96155029e-01 -6.68751369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters Centerline goodness : 0.983579 Centerline is valid? [True, True] Translation: X:69.00, Y:-16.35, Z:-6.69 [[ 8.66375630e-01 4.93384749e-01 7.72318387e-02 6.89990213e+01] [-4.91560175e-01 8.69810323e-01 -4.24098656e-02 -1.63539674e+01] [-8.81014315e-02 -1.22122210e-03 9.96110760e-01 -6.69093364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.776559995 meters Centerline goodness : 0.984019 Centerline is valid? [True, True] Translation: X:69.03, Y:-16.37, Z:-6.70 [[ 8.66426481e-01 4.93319785e-01 7.70762134e-02 6.90276987e+01] [-4.91500057e-01 8.69847213e-01 -4.23499667e-02 -1.63702849e+01] [-8.79366059e-02 -1.18983062e-03 9.96125362e-01 -6.69511214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters Centerline goodness : 0.984031 Centerline is valid? [True, True] Translation: X:69.06, Y:-16.39, Z:-6.70 [[ 8.66114172e-01 4.93967357e-01 7.64361927e-02 6.90564422e+01] [-4.92178088e-01 8.69479588e-01 -4.20235120e-02 -1.63860466e+01] [-8.72179525e-02 -1.22305989e-03 9.96188503e-01 -6.69847185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.836559995 meters Centerline goodness : 0.984016 Centerline is valid? [True, True] Translation: X:69.09, Y:-16.40, Z:-6.70 [[ 8.65666574e-01 4.94749663e-01 7.64470701e-02 6.90852540e+01] [-4.92960700e-01 8.69034598e-01 -4.20549098e-02 -1.64019664e+01] [-8.72418013e-02 -1.27987147e-03 9.96186343e-01 -6.70251513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters Centerline goodness : 0.984674 Centerline is valid? [True, True] Translation: X:69.11, Y:-16.42, Z:-6.71 [[ 8.65112323e-01 4.95757472e-01 7.61918422e-02 6.91139317e+01] [-4.93982144e-01 8.68459955e-01 -4.19398138e-02 -1.64180504e+01] [-8.69615399e-02 -1.35475976e-03 9.96210748e-01 -6.70601535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.896559995 meters Centerline goodness : 0.985081 Centerline is valid? [True, True] Translation: X:69.14, Y:-16.43, Z:-6.71 [[ 8.64409226e-01 4.97071320e-01 7.56094811e-02 6.91421607e+01] [-4.95325923e-01 8.67708471e-01 -4.16442054e-02 -1.64340537e+01] [-8.63071274e-02 -1.45370066e-03 9.96267518e-01 -6.70975186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters Centerline goodness : 0.984924 Centerline is valid? [True, True] Translation: X:69.17, Y:-16.45, Z:-6.71 [[ 8.63599649e-01 4.98569282e-01 7.49954558e-02 6.91705443e+01] [-4.96855675e-01 8.66848436e-01 -4.13307089e-02 -1.64497868e+01] [-8.56159154e-02 -1.56873211e-03 9.96326982e-01 -6.71347134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.956559995 meters Centerline goodness : 0.985315 Centerline is valid? [True, True] Translation: X:69.20, Y:-16.47, Z:-6.72 [[ 8.62043855e-01 5.01381273e-01 7.41431755e-02 6.91984958e+01] [-4.99714783e-01 8.65224571e-01 -4.08849380e-02 -1.64662853e+01] [-8.46494395e-02 -1.80583133e-03 9.96409159e-01 -6.71653743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters Centerline goodness : 0.986217 Centerline is valid? [True, True] Translation: X:69.23, Y:-16.48, Z:-6.72 [[ 8.61121260e-01 5.03049787e-01 7.35600877e-02 6.92267275e+01] [-5.01413361e-01 8.64255274e-01 -4.05889470e-02 -1.64830156e+01] [-8.39929550e-02 -1.93200565e-03 9.96464475e-01 -6.71897113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.016559995 meters Centerline goodness : 0.986293 Centerline is valid? [True, True] Translation: X:69.25, Y:-16.50, Z:-6.72 [[ 8.59231072e-01 5.06496238e-01 7.19967028e-02 6.92545081e+01] [-5.04938560e-01 8.62239372e-01 -3.97531822e-02 -1.64992095e+01] [-8.22132290e-02 -2.19674208e-03 9.96612342e-01 -6.72204849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters Centerline goodness : 0.986744 Centerline is valid? [True, True] Translation: X:69.28, Y:-16.51, Z:-6.73 [[ 8.58538963e-01 5.07884589e-01 7.04563220e-02 6.92831653e+01] [-5.06396595e-01 8.61422137e-01 -3.89151697e-02 -1.65144256e+01] [-8.04570504e-02 -2.26865211e-03 9.96755495e-01 -6.72586833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.076559995 meters Centerline goodness : 0.987311 Centerline is valid? [True, True] Translation: X:69.31, Y:-16.53, Z:-6.73 [[ 8.57578126e-01 5.09623719e-01 6.95947010e-02 6.93108958e+01] [-5.08175712e-01 8.60394094e-01 -3.84636013e-02 -1.65290867e+01] [-7.94808332e-02 -2.38079357e-03 9.96833551e-01 -6.72985038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters Centerline goodness : 0.987918 Centerline is valid? [True, True] Translation: X:69.34, Y:-16.54, Z:-6.73 [[ 8.56381605e-01 5.11698703e-01 6.91012517e-02 6.93396590e+01] [-5.10276180e-01 8.59161222e-01 -3.82127512e-02 -1.65446163e+01] [-7.89225311e-02 -2.53602550e-03 9.96877526e-01 -6.73346858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.136559995 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:69.37, Y:-16.56, Z:-6.74 [[ 8.55442053e-01 5.13318109e-01 6.87270846e-02 6.93672323e+01] [-5.11914292e-01 8.58194323e-01 -3.80297528e-02 -1.65595633e+01] [-7.85025546e-02 -2.65012704e-03 9.96910390e-01 -6.73669393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters Centerline goodness : 0.989192 Centerline is valid? [True, True] Translation: X:69.39, Y:-16.58, Z:-6.74 [[ 8.54204248e-01 5.15189166e-01 7.01086683e-02 6.93949827e+01] [-5.13732681e-01 8.57071729e-01 -3.88173156e-02 -1.65755003e+01] [-8.00864180e-02 -2.85919825e-03 9.96783823e-01 -6.73912975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.196559995 meters Centerline goodness : 0.989674 Centerline is valid? [True, True] Translation: X:69.42, Y:-16.59, Z:-6.74 [[ 8.54021567e-01 5.15268833e-01 7.17300040e-02 6.94237196e+01] [-5.13742492e-01 8.57023652e-01 -3.97380343e-02 -1.65919986e+01] [-8.19500806e-02 -2.91361268e-03 9.96632176e-01 -6.74151079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:69.45, Y:-16.61, Z:-6.74 [[ 8.53746122e-01 5.15531567e-01 7.31078837e-02 6.94522798e+01] [-5.13944801e-01 8.56865426e-01 -4.05263370e-02 -1.66084790e+01] [-8.35362239e-02 -2.97421372e-03 9.96500303e-01 -6.74372409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.256559995 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:69.48, Y:-16.62, Z:-6.75 [[ 8.53513508e-01 5.15493747e-01 7.60321565e-02 6.94808885e+01] [-5.13774813e-01 8.56887851e-01 -4.21740780e-02 -1.66232430e+01] [-8.68915046e-02 -3.06726174e-03 9.96213059e-01 -6.74622743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:69.51, Y:-16.64, Z:-6.75 [[ 8.53450113e-01 5.15327924e-01 7.78462327e-02 6.95097291e+01] [-5.13522968e-01 8.56987459e-01 -4.32048225e-02 -1.66382773e+01] [-8.89778967e-02 -3.10266785e-03 9.96028768e-01 -6.74941468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.316559995 meters Centerline goodness : 0.992180 Centerline is valid? [True, True] Translation: X:69.54, Y:-16.65, Z:-6.75 [[ 8.53848140e-01 5.14202299e-01 8.08662446e-02 6.95387198e+01] [-5.12246715e-01 8.57663407e-01 -4.49086070e-02 -1.66525895e+01] [-9.24481279e-02 -3.07833763e-03 9.95712743e-01 -6.75232465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:69.57, Y:-16.67, Z:-6.76 [[ 8.54117683e-01 5.13461970e-01 8.27030154e-02 6.95667078e+01] [-5.11410414e-01 8.58106950e-01 -4.59548812e-02 -1.66671044e+01] [-9.45641161e-02 -3.04430669e-03 9.95514119e-01 -6.75549321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37655999500001 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:69.60, Y:-16.68, Z:-6.76 [[ 8.54460215e-01 5.12787669e-01 8.33459569e-02 6.95954790e+01] [-5.10699290e-01 8.58510298e-01 -4.63282152e-02 -1.66823546e+01] [-9.53098998e-02 -2.97910437e-03 9.95443192e-01 -6.75880258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:69.62, Y:-16.70, Z:-6.76 [[ 8.55446395e-01 5.10996640e-01 8.42252918e-02 6.96247820e+01] [-5.08852628e-01 8.59578195e-01 -4.68436788e-02 -1.66975418e+01] [-9.63351867e-02 -2.78600494e-03 9.95345051e-01 -6.76318955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.436559995 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:69.65, Y:-16.71, Z:-6.77 [[ 8.56228079e-01 5.09657283e-01 8.43974520e-02 6.96528098e+01] [-5.07494932e-01 8.60373537e-01 -4.69709571e-02 -1.67129323e+01] [-9.65524247e-02 -2.61342677e-03 9.95324469e-01 -6.76712315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:69.68, Y:-16.73, Z:-6.77 [[ 8.58562014e-01 5.05849867e-01 8.35893530e-02 6.96810313e+01] [-5.03708036e-01 8.62618883e-01 -4.65497213e-02 -1.67287370e+01] [-9.56529247e-02 -2.13880635e-03 9.95412449e-01 -6.77117968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.496559995 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:69.71, Y:-16.74, Z:-6.77 [[ 8.59456564e-01 5.04376541e-01 8.32989783e-02 6.97093715e+01] [-5.02239773e-01 8.63481636e-01 -4.64184735e-02 -1.67445690e+01] [-9.53395272e-02 -1.94139826e-03 9.95442919e-01 -6.77499880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:69.74, Y:-16.76, Z:-6.78 [[ 8.61985894e-01 5.00036124e-01 8.33318240e-02 6.97372085e+01] [-4.97874377e-01 8.66003360e-01 -4.64681192e-02 -1.67604250e+01] [-9.54013777e-02 -1.43391670e-03 9.95437854e-01 -6.77932534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.556559995 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:69.76, Y:-16.78, Z:-6.78 [[ 8.65033853e-01 4.94772605e-01 8.31655081e-02 6.97641391e+01] [-4.92593340e-01 8.69022079e-01 -4.63942680e-02 -1.67763002e+01] [-9.52272756e-02 -8.34163011e-04 9.95455208e-01 -6.78331948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:69.79, Y:-16.79, Z:-6.79 [[ 8.69653567e-01 4.86469408e-01 8.39653986e-02 6.97909004e+01] [-4.84207323e-01 8.73697605e-01 -4.68589633e-02 -1.67928127e+01] [-9.61558198e-02 9.44036619e-05 9.95366289e-01 -6.78784138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.616559995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:69.82, Y:-16.80, Z:-6.80 [[ 8.67637033e-01 4.91024020e-01 7.81113982e-02 6.98209632e+01] [-4.89083112e-01 8.71145959e-01 -4.36168284e-02 -1.68036079e+01] [-8.94633393e-02 -3.59390164e-04 9.95990051e-01 -6.79809372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:69.85, Y:-16.82, Z:-6.80 [[ 8.66635488e-01 4.92838378e-01 7.78027279e-02 6.98492816e+01] [-4.90918701e-01 8.70120711e-01 -4.34600685e-02 -1.68189533e+01] [-8.91165546e-02 -5.30776413e-04 9.96021063e-01 -6.80233376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.676559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:69.88, Y:-16.84, Z:-6.81 [[ 8.66581927e-01 4.92934389e-01 7.77910762e-02 6.98782951e+01] [-4.91013227e-01 8.70066331e-01 -4.34809138e-02 -1.68352789e+01] [-8.91166340e-02 -5.16673300e-04 9.96021063e-01 -6.80575107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:69.91, Y:-16.85, Z:-6.81 [[ 8.66528451e-01 4.93029135e-01 7.77863402e-02 6.99073039e+01] [-4.91107594e-01 8.70012646e-01 -4.34893846e-02 -1.68516140e+01] [-8.91166334e-02 -5.16673296e-04 9.96021063e-01 -6.80916306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73655999500001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:69.94, Y:-16.87, Z:-6.81 [[ 8.66474965e-01 4.93123875e-01 7.77816033e-02 6.99363110e+01] [-4.91201954e-01 8.69958951e-01 -4.34978548e-02 -1.68679522e+01] [-8.91166328e-02 -5.16673293e-04 9.96021063e-01 -6.81257504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:69.96, Y:-16.88, Z:-6.82 [[ 8.65672988e-01 4.94571900e-01 7.75171816e-02 6.99644558e+01] [-4.92668035e-01 8.69136472e-01 -4.33589730e-02 -1.68838239e+01] [-8.88171394e-02 -6.55545865e-04 9.96047733e-01 -6.81615155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.796559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:69.99, Y:-16.90, Z:-6.82 [[ 8.65589147e-01 4.94720373e-01 7.75060063e-02 6.99934411e+01] [-4.92815315e-01 8.69051974e-01 -4.33789395e-02 -1.69001617e+01] [-8.88171929e-02 -6.47807666e-04 9.96047733e-01 -6.81956689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.02, Y:-16.92, Z:-6.82 [[ 8.65505336e-01 4.94868141e-01 7.74986277e-02 7.00224220e+01] [-4.92962494e-01 8.68967838e-01 -4.33921174e-02 -1.69165080e+01] [-8.88171914e-02 -6.47807655e-04 9.96047733e-01 -6.82297931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.856559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.05, Y:-16.93, Z:-6.83 [[ 8.65421499e-01 4.95015894e-01 7.74912468e-02 7.00514001e+01] [-4.93109659e-01 8.68883677e-01 -4.34052941e-02 -1.69328592e+01] [-8.88171900e-02 -6.47807645e-04 9.96047733e-01 -6.82639173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.08, Y:-16.95, Z:-6.83 [[ 8.64785181e-01 4.96119450e-01 7.75376244e-02 7.00794980e+01] [-4.94213904e-01 8.68253957e-01 -4.34474895e-02 -1.69493407e+01] [-8.88774937e-02 -7.47427033e-04 9.96042284e-01 -6.82980916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.916559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.11, Y:-16.97, Z:-6.83 [[ 8.64701433e-01 4.96267143e-01 7.75264725e-02 7.01084705e+01] [-4.94360407e-01 8.68169555e-01 -4.34673788e-02 -1.69657016e+01] [-8.88775550e-02 -7.39713743e-04 9.96042285e-01 -6.83322450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.14, Y:-16.98, Z:-6.84 [[ 8.64617716e-01 4.96414134e-01 7.75191103e-02 7.01374386e+01] [-4.94506811e-01 8.68085514e-01 -4.34805042e-02 -1.69820709e+01] [-8.88775536e-02 -7.39713731e-04 9.96042285e-01 -6.83663691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.976559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:70.17, Y:-17.00, Z:-6.84 [[ 8.64152604e-01 4.97190964e-01 7.77265869e-02 7.01652876e+01] [-4.95275075e-01 8.67640763e-01 -4.36131491e-02 -1.69989209e+01] [-8.91228188e-02 -8.07624779e-04 9.96020317e-01 -6.83948426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:70.19, Y:-17.02, Z:-6.84 [[ 8.64099525e-01 4.97285004e-01 7.77150914e-02 7.01942691e+01] [-4.95367654e-01 8.67586880e-01 -4.36336229e-02 -1.70153046e+01] [-8.91229401e-02 -7.93749649e-04 9.96020317e-01 -6.84290152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.036559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:70.22, Y:-17.03, Z:-6.85 [[ 8.64046534e-01 4.97377801e-01 7.77104233e-02 7.02232460e+01] [-4.95460077e-01 8.67533684e-01 -4.36419350e-02 -1.70316976e+01] [-8.91229395e-02 -7.93749644e-04 9.96020317e-01 -6.84631351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:70.25, Y:-17.05, Z:-6.85 [[ 8.63993534e-01 4.97470592e-01 7.77057543e-02 7.02522211e+01] [-4.95552495e-01 8.67480478e-01 -4.36502466e-02 -1.70480937e+01] [-8.91229389e-02 -7.93749639e-04 9.96020317e-01 -6.84972551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.096559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:70.28, Y:-17.07, Z:-6.85 [[ 8.63390344e-01 4.98320464e-01 7.89546001e-02 7.02789442e+01] [-4.96342752e-01 8.66992461e-01 -4.43615311e-02 -1.70654764e+01] [-9.05593018e-02 -8.87225900e-04 9.95890670e-01 -6.85168335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:70.31, Y:-17.08, Z:-6.86 [[ 8.63116374e-01 4.98634201e-01 7.99628551e-02 7.03066399e+01] [-4.96604660e-01 8.66812035e-01 -4.49522865e-02 -1.70812715e+01] [-9.17275126e-02 -9.10871968e-04 9.95783728e-01 -6.85559562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:-17.10, Z:-6.86 [[ 8.62329249e-01 4.99747307e-01 8.14916875e-02 7.03348495e+01] [-4.97641926e-01 8.66170637e-01 -4.58360248e-02 -1.70974161e+01] [-9.34921368e-02 -1.02793549e-03 9.95619487e-01 -6.85748994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.36, Y:-17.11, Z:-6.86 [[ 8.61722751e-01 5.00644228e-01 8.23969571e-02 7.03636250e+01] [-4.98493042e-01 8.65652424e-01 -4.63742095e-02 -1.71133859e+01] [-9.45441059e-02 -1.11259844e-03 9.95520052e-01 -6.86171032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:-17.13, Z:-6.86 [[ 8.59763261e-01 5.03835443e-01 8.34085274e-02 7.03918987e+01] [-5.01643005e-01 8.63798432e-01 -4.69740877e-02 -1.71291520e+01] [-9.57153654e-02 -1.45470951e-03 9.95407682e-01 -6.86406885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:-17.14, Z:-6.87 [[ 8.58446776e-01 5.06047847e-01 8.35745730e-02 7.04203035e+01] [-5.03854104e-01 8.62503775e-01 -4.70986220e-02 -1.71447989e+01] [-9.59175410e-02 -1.67773141e-03 9.95387869e-01 -6.86788108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:-17.16, Z:-6.87 [[ 8.56981700e-01 5.08569287e-01 8.33045379e-02 7.04483449e+01] [-5.06398614e-01 8.61018913e-01 -4.69773920e-02 -1.71602354e+01] [-9.56180415e-02 -1.92653726e-03 9.95416234e-01 -6.87155385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.48, Y:-17.18, Z:-6.88 [[ 8.55999841e-01 5.10435678e-01 8.19737177e-02 7.04774507e+01] [-5.08339856e-01 8.59913429e-01 -4.62545668e-02 -1.71752254e+01] [-9.41002819e-02 -2.07660599e-03 9.95560558e-01 -6.87801390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:-17.19, Z:-6.88 [[ 8.52968809e-01 5.15658292e-01 8.08748264e-02 7.05064630e+01] [-5.13638941e-01 8.56790416e-01 -4.56642363e-02 -1.71916511e+01] [-9.28399183e-02 -2.59029094e-03 9.95677679e-01 -6.88021409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-17.21, Z:-6.88 [[ 8.51874170e-01 5.17646352e-01 7.97035348e-02 7.05348583e+01] [-5.15691170e-01 8.55590289e-01 -4.50319309e-02 -1.72074865e+01] [-9.15041851e-02 -2.74087038e-03 9.95800920e-01 -6.88417158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-17.22, Z:-6.89 [[ 8.50601465e-01 5.20002543e-01 7.79390959e-02 7.05632096e+01] [-5.18140424e-01 8.54159778e-01 -4.40632991e-02 -1.72236911e+01] [-8.94854685e-02 -2.90308939e-03 9.95983897e-01 -6.88838020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.59, Y:-17.24, Z:-6.89 [[ 8.50520140e-01 5.20265911e-01 7.70640834e-02 7.05906920e+01] [-5.18443965e-01 8.53999490e-01 -4.35973248e-02 -1.72397703e+01] [-8.84948898e-02 -2.87300619e-03 9.96072487e-01 -6.89272682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-17.26, Z:-6.89 [[ 8.50233421e-01 5.20737976e-01 7.70395351e-02 7.06176978e+01] [-5.18916741e-01 8.53711638e-01 -4.36102708e-02 -1.72573345e+01] [-8.84790719e-02 -2.89819471e-03 9.96073820e-01 -6.89494225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:-17.28, Z:-6.90 [[ 8.51062411e-01 5.19687457e-01 7.49514561e-02 7.06466269e+01] [-5.17499526e-01 8.54354591e-01 -4.76704586e-02 -1.72764901e+01] [-8.88088600e-02 1.78319237e-03 9.96047091e-01 -6.90243239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:-17.29, Z:-6.90 [[ 8.52332134e-01 5.17046164e-01 7.86968733e-02 7.06707557e+01] [-5.15533611e-01 8.55933270e-01 -4.00416400e-02 -1.72944674e+01] [-8.80626484e-02 -6.44210679e-03 9.96094107e-01 -6.89900924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:-17.31, Z:-6.90 [[ 8.53207687e-01 5.15829453e-01 7.71791337e-02 7.06985830e+01] [-5.13976051e-01 8.56688100e-01 -4.37506351e-02 -1.73092885e+01] [-8.86863116e-02 -2.33984818e-03 9.96056857e-01 -6.90391734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:-17.33, Z:-6.91 [[ 8.53112377e-01 5.15988841e-01 7.71672770e-02 7.07274771e+01] [-5.14134201e-01 8.56592129e-01 -4.37715372e-02 -1.73257721e+01] [-8.86865069e-02 -2.33229621e-03 9.96056858e-01 -6.90733260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:-17.34, Z:-6.91 [[ 8.54364885e-01 5.13675072e-01 7.87309543e-02 7.07546774e+01] [-5.11732872e-01 8.57982186e-01 -4.46770277e-02 -1.73449033e+01] [-9.04992317e-02 -2.11873377e-03 9.95894272e-01 -6.90960164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:-17.36, Z:-6.91 [[ 8.55133788e-01 5.12248474e-01 7.96724916e-02 7.07820733e+01] [-5.10250527e-01 8.58835046e-01 -4.52411581e-02 -1.73619648e+01] [-9.16002422e-02 -1.96568793e-03 9.95793920e-01 -6.91240767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:-17.38, Z:-6.92 [[ 8.55951338e-01 5.10723020e-01 8.06802535e-02 7.08100431e+01] [-5.08664744e-01 8.59743422e-01 -4.58413196e-02 -1.73794451e+01] [-9.27765344e-02 -1.80126166e-03 9.95685327e-01 -6.91541274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:-17.40, Z:-6.92 [[ 8.56595542e-01 5.09547257e-01 8.12752707e-02 7.08384545e+01] [-5.07450487e-01 8.60441068e-01 -4.62079128e-02 -1.73968841e+01] [-9.34776960e-02 -1.66168356e-03 9.95619987e-01 -6.91790994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.87, Y:-17.41, Z:-6.92 [[ 8.57668673e-01 5.07659091e-01 8.17722090e-02 7.08671568e+01] [-5.05525161e-01 8.61556833e-01 -4.65202688e-02 -1.74134435e+01] [-9.40678428e-02 -1.43893191e-03 9.95564749e-01 -6.92140293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.756559995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:70.90, Y:-17.43, Z:-6.93 [[ 8.57871382e-01 5.07255122e-01 8.21518866e-02 7.08959861e+01] [-5.05096524e-01 8.61794843e-01 -4.67669791e-02 -1.74291844e+01] [-9.45208619e-02 -1.37457927e-03 9.95521932e-01 -6.92517068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:-17.45, Z:-6.93 [[ 8.57459563e-01 5.07748314e-01 8.33951331e-02 7.09244048e+01] [-5.05523034e-01 8.61504279e-01 -4.75061988e-02 -1.74451279e+01] [-9.59664564e-02 -1.42351619e-03 9.95383551e-01 -6.92670595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:-17.46, Z:-6.93 [[ 8.56846039e-01 5.08727019e-01 8.37358098e-02 7.09538642e+01] [-5.06485107e-01 8.60926555e-01 -4.77315689e-02 -1.74598092e+01] [-9.63727210e-02 -1.51233490e-03 9.95344167e-01 -6.92923095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:-17.47, Z:-6.93 [[ 8.56141362e-01 5.09895681e-01 8.38353273e-02 7.09826401e+01] [-5.07650938e-01 8.60234721e-01 -4.78199751e-02 -1.74746776e+01] [-9.65012581e-02 -1.61842390e-03 9.95331547e-01 -6.93274395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:-17.49, Z:-6.94 [[ 8.55205363e-01 5.11544992e-01 8.33397144e-02 7.10121260e+01] [-5.09331570e-01 8.59254677e-01 -4.75683904e-02 -1.74896700e+01] [-9.59434112e-02 -1.76680492e-03 9.95385222e-01 -6.93614931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.04, Y:-17.50, Z:-6.94 [[ 8.53018827e-01 5.15483651e-01 8.14584899e-02 7.10407250e+01] [-5.13384189e-01 8.56896761e-01 -4.65254307e-02 -1.75024032e+01] [-9.37846150e-02 -2.13243246e-03 9.95590226e-01 -6.94089873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:-17.52, Z:-6.94 [[ 8.51432514e-01 5.18390460e-01 7.95864615e-02 7.10706049e+01] [-5.16396672e-01 8.55140752e-01 -4.54837530e-02 -1.75165490e+01] [-9.16359701e-02 -2.37183774e-03 9.95789749e-01 -6.94499530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.10, Y:-17.53, Z:-6.95 [[ 8.50758347e-01 5.19632063e-01 7.86940556e-02 7.10991693e+01] [-5.17685381e-01 8.54386627e-01 -4.50037472e-02 -1.75313191e+01] [-9.06205388e-02 -2.45144861e-03 9.95882477e-01 -6.94941262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.996559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.13, Y:-17.55, Z:-6.95 [[ 8.50179407e-01 5.20671258e-01 7.80795599e-02 7.11281420e+01] [-5.18756803e-01 8.53753535e-01 -4.46797572e-02 -1.75468796e+01] [-8.99241657e-02 -2.51849338e-03 9.95945431e-01 -6.95305526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.16, Y:-17.56, Z:-6.96 [[ 8.50114819e-01 5.20778743e-01 7.80659644e-02 7.11569894e+01] [-5.18862563e-01 8.53688022e-01 -4.47034984e-02 -1.75634851e+01] [-8.99246105e-02 -2.50239989e-03 9.95945431e-01 -6.95647328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-17.58, Z:-6.96 [[ 8.49369895e-01 5.21960005e-01 7.82849524e-02 7.11860439e+01] [-5.20037054e-01 8.52965919e-01 -4.48397463e-02 -1.75784732e+01] [-9.01789506e-02 -2.62554537e-03 9.95922117e-01 -6.95862935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:-17.59, Z:-6.96 [[ 8.49197919e-01 5.22182057e-01 7.86688895e-02 7.12145476e+01] [-5.20238413e-01 8.52829964e-01 -4.50893175e-02 -1.75945755e+01] [-9.06360187e-02 -2.63682365e-03 9.95880595e-01 -6.96137648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.116559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:71.24, Y:-17.61, Z:-6.97 [[ 8.49666668e-01 5.21530381e-01 7.79269813e-02 7.12422473e+01] [-5.19617945e-01 8.53228997e-01 -4.46930621e-02 -1.76100026e+01] [-8.97983498e-02 -2.51805275e-03 9.95956784e-01 -6.96619491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:71.27, Y:-17.63, Z:-6.97 [[ 8.50314883e-01 5.20162598e-01 7.99716889e-02 7.12705182e+01] [-5.18139638e-01 8.54063846e-01 -4.58940315e-02 -1.76260092e+01] [-9.21732869e-02 -2.41212390e-03 9.95740060e-01 -6.96791742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.176559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:71.30, Y:-17.64, Z:-6.97 [[ 8.50628318e-01 5.19625446e-01 8.01302678e-02 7.12990096e+01] [-5.17589204e-01 8.54390986e-01 -4.60158583e-02 -1.76420274e+01] [-9.23735894e-02 -2.33216933e-03 9.95721689e-01 -6.97135602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:71.33, Y:-17.66, Z:-6.97 [[ 8.50696169e-01 5.19376479e-01 8.10191394e-02 7.13276721e+01] [-5.17290635e-01 8.54542431e-01 -4.65578507e-02 -1.76581298e+01] [-9.34153449e-02 -2.30385689e-03 9.95624561e-01 -6.97429761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23655999500001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.36, Y:-17.67, Z:-6.98 [[ 8.51145551e-01 5.18537190e-01 8.16727208e-02 7.13570865e+01] [-5.16410639e-01 8.55052239e-01 -4.69650953e-02 -1.76728242e+01] [-9.41875913e-02 -2.20253002e-03 9.95552031e-01 -6.97776968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:71.38, Y:-17.69, Z:-6.98 [[ 8.51536605e-01 5.17468769e-01 8.43296116e-02 7.13834476e+01] [-5.16242637e-01 8.55622929e-01 -3.74558869e-02 -1.76927654e+01] [-9.15366009e-02 -1.16394823e-02 9.95733686e-01 -6.97588533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.296559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:71.41, Y:-17.70, Z:-6.99 [[ 8.51842955e-01 5.18146894e-01 7.67292350e-02 7.14149218e+01] [-5.15220644e-01 8.55256292e-01 -5.55370443e-02 -1.76986729e+01] [-9.43995080e-02 7.77635406e-03 9.95504024e-01 -6.98885458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:-17.72, Z:-6.98 [[ 8.51839155e-01 5.17440113e-01 8.13989125e-02 7.14416997e+01] [-5.15316351e-01 8.55717049e-01 -4.68763239e-02 -1.77192630e+01] [-9.39101276e-02 -2.01510237e-03 9.95578639e-01 -6.98497336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:-17.73, Z:-6.99 [[ 8.51902557e-01 5.17216876e-01 8.21506941e-02 7.14692081e+01] [-5.15051271e-01 8.55852040e-01 -4.73230755e-02 -1.77341545e+01] [-9.47851324e-02 -1.99717044e-03 9.95495751e-01 -6.98895047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:71.50, Y:-17.75, Z:-6.99 [[ 8.51995066e-01 5.17206767e-01 8.12500275e-02 7.14979483e+01] [-5.15085499e-01 8.55858264e-01 -4.68354606e-02 -1.77496991e+01] [-9.37621246e-02 -1.94712963e-03 9.95592724e-01 -6.99371513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.416559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:71.53, Y:-17.76, Z:-7.00 [[ 8.52146633e-01 5.16979741e-01 8.11052638e-02 7.15270403e+01] [-5.14862093e-01 8.55995542e-01 -4.67830858e-02 -1.77646081e+01] [-9.36116518e-02 -1.89197685e-03 9.95606990e-01 -6.99706094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-17.78, Z:-7.00 [[ 8.52080399e-01 5.17027548e-01 8.14954481e-02 7.15548717e+01] [-5.14886666e-01 8.55966695e-01 -4.70397493e-02 -1.77800767e+01] [-9.40782356e-02 -1.87927116e-03 9.95563034e-01 -6.99872911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.476559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.58, Y:-17.80, Z:-7.00 [[ 8.52180354e-01 5.17000985e-01 8.06140545e-02 7.15839787e+01] [-5.14903495e-01 8.55982843e-01 -4.65592507e-02 -1.77952469e+01] [-9.30754260e-02 -1.83157968e-03 9.95657376e-01 -7.00309133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-17.81, Z:-7.01 [[ 8.52113719e-01 5.17104454e-01 8.06547721e-02 7.16125870e+01] [-5.15002425e-01 8.55920370e-01 -4.66135416e-02 -1.78116197e+01] [-9.31381323e-02 -1.81736489e-03 9.95651538e-01 -7.00547528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-17.83, Z:-7.01 [[ 8.52152311e-01 5.17083440e-01 8.03813062e-02 7.16404182e+01] [-5.14992671e-01 8.55933140e-01 -4.64866512e-02 -1.78271986e+01] [-9.28385013e-02 -1.78207634e-03 9.95679585e-01 -7.00898594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:-17.84, Z:-7.01 [[ 8.52288774e-01 5.16913522e-01 8.00266018e-02 7.16686571e+01] [-5.14837806e-01 8.56035872e-01 -4.63100379e-02 -1.78430370e+01] [-9.24439266e-02 -1.73119469e-03 9.95716387e-01 -7.01223054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.596559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:71.70, Y:-17.86, Z:-7.02 [[ 8.52833329e-01 5.16136770e-01 7.92347611e-02 7.16975740e+01] [-5.14095966e-01 8.56504674e-01 -4.58811497e-02 -1.78585943e+01] [-9.15458917e-02 -1.60529746e-03 9.95799565e-01 -7.01827687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:-17.88, Z:-7.01 [[ 8.52469140e-01 5.16007507e-01 8.38607080e-02 7.17238924e+01] [-5.15213423e-01 8.56444285e-01 -3.25317610e-02 -1.78838303e+01] [-8.86086570e-02 -1.54738401e-02 9.95946317e-01 -7.01021686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:-17.88, Z:-7.03 [[ 8.52857685e-01 5.17045040e-01 7.27887055e-02 7.17555919e+01] [-5.13825183e-01 8.55860020e-01 -5.90534293e-02 -1.78835237e+01] [-9.28302257e-02 1.29635011e-02 9.95597558e-01 -7.02748989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.78, Y:-17.90, Z:-7.03 [[ 8.52703768e-01 5.16179299e-01 8.03443550e-02 7.17812630e+01] [-5.14074372e-01 8.56479108e-01 -4.65948326e-02 -1.79047599e+01] [-9.28645495e-02 -1.57138447e-03 9.95677511e-01 -7.02653374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-17.92, Z:-7.03 [[ 8.52357573e-01 5.16719591e-01 8.05445909e-02 7.18103940e+01] [-5.14603641e-01 8.56153187e-01 -4.67419810e-02 -1.79208227e+01] [-9.31110055e-02 -1.60765825e-03 9.95654436e-01 -7.02894489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:71.84, Y:-17.93, Z:-7.03 [[ 8.51983004e-01 5.17436960e-01 7.98996455e-02 7.18402237e+01] [-5.15355160e-01 8.55719745e-01 -4.63980251e-02 -1.79349995e+01] [-9.23797573e-02 -1.64636579e-03 9.95722486e-01 -7.03498579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:-17.95, Z:-7.04 [[ 8.51580432e-01 5.18090128e-01 7.99586520e-02 7.18685147e+01] [-5.16005232e-01 8.55324358e-01 -4.64633587e-02 -1.79506464e+01] [-9.24627901e-02 -1.69179569e-03 9.95714703e-01 -7.03638489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.90, Y:-17.97, Z:-7.04 [[ 8.51490598e-01 5.18288889e-01 7.96265633e-02 7.18965123e+01] [-5.16219541e-01 8.55203952e-01 -4.62988804e-02 -1.79655361e+01] [-9.20931469e-02 -1.68172666e-03 9.95748976e-01 -7.04158776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:-17.98, Z:-7.04 [[ 8.51078961e-01 5.18945408e-01 7.97512709e-02 7.19254271e+01] [-5.16869822e-01 8.54805631e-01 -4.63995749e-02 -1.79806804e+01] [-9.22506817e-02 -1.73132322e-03 9.95734309e-01 -7.04346861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-18.00, Z:-7.05 [[ 8.50907402e-01 5.19264856e-01 7.95022141e-02 7.19539469e+01] [-5.17200892e-01 8.54611607e-01 -4.62843209e-02 -1.79964869e+01] [-9.19773362e-02 -1.73494482e-03 9.95759589e-01 -7.04668094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-18.01, Z:-7.05 [[ 8.50691580e-01 5.19672010e-01 7.91507262e-02 7.19817209e+01] [-5.17625218e-01 8.54364067e-01 -4.61104718e-02 -1.80117272e+01] [-9.15858578e-02 -1.74462176e-03 9.95795655e-01 -7.05032496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:-18.03, Z:-7.05 [[ 8.50531302e-01 5.19959735e-01 7.89834041e-02 7.20102746e+01] [-5.17920246e-01 8.54188984e-01 -4.60412667e-02 -1.80272288e+01] [-9.14063585e-02 -1.74756555e-03 9.95812143e-01 -7.05408879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:-18.04, Z:-7.06 [[ 8.50679796e-01 5.19787977e-01 7.85133309e-02 7.20390066e+01] [-5.17769326e-01 8.54293621e-01 -4.57966624e-02 -1.80430450e+01] [-9.08779923e-02 -1.69349892e-03 9.95860594e-01 -7.05774362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:-18.06, Z:-7.06 [[ 8.50662695e-01 5.19795102e-01 7.86513221e-02 7.20674743e+01] [-5.17766635e-01 8.54289329e-01 -4.59070152e-02 -1.80596291e+01] [-9.10532268e-02 -1.67164508e-03 9.95844624e-01 -7.06133161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:-18.08, Z:-7.06 [[ 8.50692337e-01 5.19667974e-01 7.91690927e-02 7.20954095e+01] [-5.17609336e-01 8.54366723e-01 -4.62393625e-02 -1.80761438e+01] [-9.16685541e-02 -1.64319012e-03 9.95788219e-01 -7.06438450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:-18.09, Z:-7.07 [[ 8.50627903e-01 5.19696828e-01 7.96704330e-02 7.21224319e+01] [-5.17609252e-01 8.54349196e-01 -4.65630045e-02 -1.80922350e+01] [-9.22650161e-02 -1.63036233e-03 9.95733151e-01 -7.06752903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:-18.11, Z:-7.07 [[ 8.50894841e-01 5.19087548e-01 8.07842040e-02 7.21499706e+01] [-5.16935613e-01 8.54719650e-01 -4.72429129e-02 -1.81094118e+01] [-9.35710544e-02 -1.56148115e-03 9.95611380e-01 -7.07027697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:-18.13, Z:-7.07 [[ 8.50989731e-01 5.18905393e-01 8.09547450e-02 7.21770107e+01] [-5.16740631e-01 8.54830327e-01 -4.73733319e-02 -1.81260876e+01] [-9.37848485e-02 -1.51838702e-03 9.95591330e-01 -7.07310352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:-18.14, Z:-7.08 [[ 8.50940325e-01 5.18841616e-01 8.18775921e-02 7.22043848e+01] [-5.16624072e-01 8.54869063e-01 -4.79421863e-02 -1.81436949e+01] [-9.48690219e-02 -1.50399548e-03 9.95488627e-01 -7.07574244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:-18.16, Z:-7.08 [[ 8.50574196e-01 5.19384243e-01 8.22407741e-02 7.22324917e+01] [-5.17146496e-01 8.54539421e-01 -4.81858877e-02 -1.81613432e+01] [-9.53049743e-02 -1.54485545e-03 9.95446922e-01 -7.07895271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-18.18, Z:-7.08 [[ 8.49775079e-01 5.20790863e-01 8.16038775e-02 7.22606408e+01] [-5.18591247e-01 8.53682677e-01 -4.78435617e-02 -1.81785317e+01] [-9.45803063e-02 -1.66279018e-03 9.95515847e-01 -7.08195314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-18.19, Z:-7.09 [[ 8.47917213e-01 5.23977294e-01 8.05245049e-02 7.22876925e+01] [-5.21846958e-01 8.51729968e-01 -4.72420769e-02 -1.81948482e+01] [-9.33389096e-02 -1.96409780e-03 9.95632457e-01 -7.08556009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-18.21, Z:-7.09 [[ 8.47077294e-01 5.25439271e-01 7.98350220e-02 7.23150075e+01] [-5.23350058e-01 8.50828538e-01 -4.68563247e-02 -1.82106174e+01] [-9.25460682e-02 -2.09073468e-03 9.95706209e-01 -7.08921114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:-18.23, Z:-7.09 [[ 8.45586665e-01 5.27981500e-01 7.88589034e-02 7.23442518e+01] [-5.25975713e-01 8.49252074e-01 -4.60485095e-02 -1.82304647e+01] [-9.12838484e-02 -2.53986231e-03 9.95821675e-01 -7.09293713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.316559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.37, Y:-18.24, Z:-7.10 [[ 8.45078761e-01 5.28842732e-01 7.85318595e-02 7.23713128e+01] [-5.26910193e-01 8.48714116e-01 -4.52769004e-02 -1.82449079e+01] [-9.05954574e-02 -3.11669033e-03 9.95882899e-01 -7.09702816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:-18.26, Z:-7.10 [[ 8.42579665e-01 5.32970989e-01 7.74689142e-02 7.23997920e+01] [-5.31035183e-01 8.46128798e-01 -4.54718653e-02 -1.82607773e+01] [-8.97838644e-02 -2.82504999e-03 9.95957267e-01 -7.09883163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:-18.27, Z:-7.11 [[ 8.41032450e-01 5.35810155e-01 7.46451384e-02 7.24299938e+01] [-5.33258961e-01 8.44327721e-01 -5.23982844e-02 -1.82745638e+01] [-9.11004925e-02 4.26346857e-03 9.95832578e-01 -7.10651777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.45, Y:-18.29, Z:-7.11 [[ 8.40833796e-01 5.35417371e-01 7.95409758e-02 7.24526302e+01] [-5.33756304e-01 8.44561903e-01 -4.26544239e-02 -1.82908831e+01] [-9.00151974e-02 -6.59021614e-03 9.95918588e-01 -7.10640082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:-18.31, Z:-7.11 [[ 8.39239001e-01 5.38220616e-01 7.74368584e-02 7.24823112e+01] [-5.36298529e-01 8.42797572e-01 -4.55646859e-02 -1.83053465e+01] [-8.97874495e-02 -3.28961178e-03 9.95955517e-01 -7.10891521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:-18.32, Z:-7.11 [[ 8.39172577e-01 5.38326161e-01 7.74230599e-02 7.25109579e+01] [-5.36402363e-01 8.42730223e-01 -4.55881194e-02 -1.83223025e+01] [-8.97880299e-02 -3.27361263e-03 9.95955518e-01 -7.11233490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:-18.34, Z:-7.12 [[ 8.38470167e-01 5.39426363e-01 7.73755623e-02 7.25395719e+01] [-5.37508637e-01 8.42025993e-01 -4.55707389e-02 -1.83386124e+01] [-8.97342926e-02 -3.38032794e-03 9.95960004e-01 -7.11564152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-18.35, Z:-7.12 [[ 8.37973121e-01 5.40242241e-01 7.70673105e-02 7.25673823e+01] [-5.38340545e-01 8.41502565e-01 -4.54190643e-02 -1.83547826e+01] [-8.93896365e-02 -3.42850285e-03 9.95990832e-01 -7.11877261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.556559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.60, Y:-18.37, Z:-7.12 [[ 8.38249627e-01 5.39784860e-01 7.72649209e-02 7.25954587e+01] [-5.37868964e-01 8.41796282e-01 -4.55631061e-02 -1.83711823e+01] [-8.96355980e-02 -3.36514632e-03 9.95968943e-01 -7.12346495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:-18.39, Z:-7.13 [[ 8.38554275e-01 5.39277282e-01 7.75031701e-02 7.26226099e+01] [-5.37344648e-01 8.42121815e-01 -4.57337671e-02 -1.83875627e+01] [-8.99302919e-02 -3.29566775e-03 9.95942609e-01 -7.12521596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.616559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.65, Y:-18.40, Z:-7.13 [[ 8.39297418e-01 5.38179054e-01 7.70918294e-02 7.26499424e+01] [-5.36259831e-01 8.42824692e-01 -4.55184927e-02 -1.84039766e+01] [-8.94719966e-02 -3.13769800e-03 9.95984396e-01 -7.13080767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:-18.42, Z:-7.13 [[ 8.39880717e-01 5.37098730e-01 7.82645183e-02 7.26780927e+01] [-5.35113387e-01 8.43513887e-01 -4.62383564e-02 -1.84221090e+01] [-9.08517705e-02 -3.04568751e-03 9.95859769e-01 -7.13074956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:-18.44, Z:-7.13 [[ 8.40117009e-01 5.36678983e-01 7.86071243e-02 7.27063775e+01] [-5.34671629e-01 8.43781215e-01 -4.64705335e-02 -1.84391166e+01] [-9.12669735e-02 -2.98831356e-03 9.95821977e-01 -7.13412500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:-18.46, Z:-7.14 [[ 8.40590595e-01 5.35877055e-01 7.90141364e-02 7.27341063e+01] [-5.33842563e-01 8.44291077e-01 -4.67407211e-02 -1.84558206e+01] [-9.17582103e-02 -2.89129853e-03 9.95777119e-01 -7.13774741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:-18.47, Z:-7.14 [[ 8.41099914e-01 5.34994582e-01 7.95721786e-02 7.27614563e+01] [-5.32924305e-01 8.44850889e-01 -4.71026625e-02 -1.84722866e+01] [-9.24262951e-02 -2.78790256e-03 9.95715626e-01 -7.14161686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:-18.49, Z:-7.15 [[ 8.41610975e-01 5.34133209e-01 7.99542491e-02 7.27887751e+01] [-5.32036321e-01 8.45396077e-01 -4.73584866e-02 -1.84887448e+01] [-9.28887489e-02 -2.68114247e-03 9.95672884e-01 -7.14526201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:-18.51, Z:-7.15 [[ 8.42242146e-01 5.33000019e-01 8.08649869e-02 7.28167461e+01] [-5.30847022e-01 8.46111354e-01 -4.79272051e-02 -1.85062210e+01] [-9.39659848e-02 -2.56062535e-03 9.95572115e-01 -7.14953799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:-18.52, Z:-7.15 [[ 8.42533684e-01 5.32447012e-01 8.14688375e-02 7.28443916e+01] [-5.30256087e-01 8.46459672e-01 -4.83167388e-02 -1.85229961e+01] [-9.46861886e-02 -2.49086704e-03 9.95504054e-01 -7.15339249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:-18.54, Z:-7.16 [[ 8.43086015e-01 5.31412560e-01 8.25024984e-02 7.28711500e+01] [-5.29157515e-01 8.47109815e-01 -4.89620904e-02 -1.85397779e+01] [-9.59077459e-02 -2.37756339e-03 9.95387388e-01 -7.15678013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:-18.56, Z:-7.16 [[ 8.43269077e-01 5.30997717e-01 8.32987838e-02 7.28990042e+01] [-5.28693887e-01 8.47370053e-01 -4.94648016e-02 -1.85564191e+01] [-9.68505916e-02 -2.32742018e-03 9.95296210e-01 -7.16053181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:-18.57, Z:-7.16 [[ 8.43159323e-01 5.31018194e-01 8.42735674e-02 7.29273194e+01] [-5.28657128e-01 8.47357210e-01 -5.00739430e-02 -1.85730445e+01] [-9.79999898e-02 -2.33151021e-03 9.95183685e-01 -7.16450549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:-18.59, Z:-7.17 [[ 8.43027830e-01 5.30971462e-01 8.58684091e-02 7.29552234e+01] [-5.28516288e-01 8.47386467e-01 -5.10559311e-02 -1.85890343e+01] [-9.98729703e-02 -2.34128205e-03 9.94997441e-01 -7.16850957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:-18.61, Z:-7.17 [[ 8.42797117e-01 5.31221601e-01 8.65830849e-02 7.29836606e+01] [-5.28723381e-01 8.47229617e-01 -5.15127451e-02 -1.86057109e+01] [-1.00720437e-01 -2.36370833e-03 9.94911959e-01 -7.17232941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:-18.62, Z:-7.18 [[ 8.42449739e-01 5.31701795e-01 8.70151618e-02 7.30106462e+01] [-5.29177604e-01 8.46928226e-01 -5.18038897e-02 -1.86214644e+01] [-1.01239818e-01 -2.40430146e-03 9.94859145e-01 -7.17602448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:-18.64, Z:-7.18 [[ 8.42094036e-01 5.32254592e-01 8.70786149e-02 7.30379328e+01] [-5.29726435e-01 8.46580810e-01 -5.18732632e-02 -1.86375670e+01] [-1.01328867e-01 -2.44567864e-03 9.94849978e-01 -7.17960917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:-18.65, Z:-7.18 [[ 8.41113373e-01 5.33797554e-01 8.71117992e-02 7.30666071e+01] [-5.31272512e-01 8.45608291e-01 -5.19243332e-02 -1.86534856e+01] [-1.01379542e-01 -2.60585340e-03 9.94844409e-01 -7.18410885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:-18.67, Z:-7.19 [[ 8.39248920e-01 5.36715674e-01 8.71638473e-02 7.30945998e+01] [-5.34199890e-01 8.43758076e-01 -5.19883366e-02 -1.86685972e+01] [-1.01448155e-01 -2.93176235e-03 9.94836507e-01 -7.18829340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:-18.68, Z:-7.19 [[ 8.35838303e-01 5.42158861e-01 8.62444256e-02 7.31235889e+01] [-5.39721704e-01 8.40268604e-01 -5.14699464e-02 -1.86840033e+01] [-1.00373371e-01 -3.52743567e-03 9.94943588e-01 -7.19294759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:-18.70, Z:-7.20 [[ 8.35733754e-01 5.42322314e-01 8.62299224e-02 7.31521164e+01] [-5.39883522e-01 8.40163155e-01 -5.14942327e-02 -1.87011205e+01] [-1.00373675e-01 -3.51864585e-03 9.94943589e-01 -7.19636513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:-18.72, Z:-7.20 [[ 8.34832744e-01 5.43820786e-01 8.55174997e-02 7.31793284e+01] [-5.41427797e-01 8.39193445e-01 -5.10911215e-02 -1.87169394e+01] [-9.95501390e-02 -3.64901029e-03 9.95025856e-01 -7.20002281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-18.73, Z:-7.20 [[ 8.34766699e-01 5.43923570e-01 8.55085287e-02 7.32078612e+01] [-5.41529584e-01 8.39126852e-01 -5.11061314e-02 -1.87340892e+01] [-9.95503319e-02 -3.64370138e-03 9.95025856e-01 -7.20343871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:-18.75, Z:-7.21 [[ 8.33922846e-01 5.45261935e-01 8.52180115e-02 7.32357621e+01] [-5.42889812e-01 8.38257206e-01 -5.09461377e-02 -1.87500801e+01] [-9.92136018e-02 -3.77884211e-03 9.95058984e-01 -7.20706048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:-18.77, Z:-7.21 [[ 8.33032807e-01 5.46560354e-01 8.56044539e-02 7.32641114e+01] [-5.44170419e-01 8.37410512e-01 -5.12073183e-02 -1.87659800e+01] [-9.96739596e-02 -3.92603548e-03 9.95012406e-01 -7.21213710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:-18.78, Z:-7.22 [[ 8.32757792e-01 5.46992414e-01 8.55205149e-02 7.32911877e+01] [-5.44606245e-01 8.37128258e-01 -5.11890306e-02 -1.87821579e+01] [-9.95916511e-02 -3.94694234e-03 9.95020565e-01 -7.21551604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:-18.80, Z:-7.22 [[ 8.32715069e-01 5.47013535e-01 8.58009686e-02 7.33191026e+01] [-5.44608770e-01 8.37114502e-01 -5.13867464e-02 -1.87989187e+01] [-9.99344808e-02 -3.93744192e-03 9.94986229e-01 -7.21890968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:-18.82, Z:-7.22 [[ 8.32722102e-01 5.46896063e-01 8.64788837e-02 7.33470267e+01] [-5.44449178e-01 8.37191298e-01 -5.18249268e-02 -1.88159681e+01] [-1.00742217e-01 -3.92759517e-03 9.94904809e-01 -7.22237329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:-18.83, Z:-7.23 [[ 8.33138773e-01 5.46101770e-01 8.74793765e-02 7.33748231e+01] [-5.43590007e-01 8.37710003e-01 -5.24581244e-02 -1.88328872e+01] [-1.01929823e-01 -3.84801746e-03 9.94784149e-01 -7.22556270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:-18.85, Z:-7.23 [[ 8.33603382e-01 5.45274389e-01 8.82113477e-02 7.34027285e+01] [-5.42712231e-01 8.38249233e-01 -5.29306823e-02 -1.88499429e+01] [-1.02804840e-01 -3.75018158e-03 9.94694476e-01 -7.22845864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:-18.87, Z:-7.23 [[ 8.34450765e-01 5.43728584e-01 8.97281852e-02 7.34295340e+01] [-5.41064705e-01 8.39253434e-01 -5.38763164e-02 -1.88665059e+01] [-1.04598781e-01 -3.59162065e-03 9.94508017e-01 -7.23161891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:-18.88, Z:-7.23 [[ 8.34803369e-01 5.43165165e-01 8.98606611e-02 7.34572163e+01] [-5.40486711e-01 8.39618582e-01 -5.39884510e-02 -1.88829710e+01] [-1.04773327e-01 -3.49875235e-03 9.94489974e-01 -7.23499379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:-18.90, Z:-7.24 [[ 8.34976348e-01 5.43056655e-01 8.89042584e-02 7.34862051e+01] [-5.40401398e-01 8.39690035e-01 -5.37305690e-02 -1.89024588e+01] [-1.03830763e-01 -3.18023122e-03 9.94589895e-01 -7.23865786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:-18.92, Z:-7.24 [[ 8.35319082e-01 5.42314266e-01 9.02068078e-02 7.35118180e+01] [-5.39540954e-01 8.40170873e-01 -5.48494698e-02 -1.89151887e+01] [-1.05534782e-01 -2.85345830e-03 9.94411518e-01 -7.24270586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-18.93, Z:-7.25 [[ 8.35280468e-01 5.42451315e-01 8.97391275e-02 7.35405957e+01] [-5.39765873e-01 8.40080667e-01 -5.40118045e-02 -1.89313347e+01] [-1.04686881e-01 -3.32311321e-03 9.94499680e-01 -7.24691151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:-18.95, Z:-7.25 [[ 8.35290814e-01 5.42504161e-01 8.93224011e-02 7.35679637e+01] [-5.39840343e-01 8.40046692e-01 -5.37955316e-02 -1.89471487e+01] [-1.04219287e-01 -3.28492230e-03 9.94548918e-01 -7.25072587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:-18.96, Z:-7.25 [[ 8.35499158e-01 5.42302506e-01 8.85954233e-02 7.35952168e+01] [-5.39678623e-01 8.40177158e-01 -5.33790883e-02 -1.89632220e+01] [-1.03383464e-01 -3.21487265e-03 9.94636378e-01 -7.25442230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:-18.98, Z:-7.26 [[ 8.35526113e-01 5.42378113e-01 8.78754692e-02 7.36232298e+01] [-5.39795061e-01 8.40128484e-01 -5.29662342e-02 -1.89800571e+01] [-1.02554411e-01 -3.18007256e-03 9.94722313e-01 -7.25797183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:-19.00, Z:-7.26 [[ 8.35495986e-01 5.42548343e-01 8.71077104e-02 7.36507710e+01] [-5.40007802e-01 8.40018696e-01 -5.25372681e-02 -1.89966441e+01] [-1.01676113e-01 -3.14416662e-03 9.94812586e-01 -7.26150309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:-19.01, Z:-7.27 [[ 8.35507700e-01 5.42559439e-01 8.69260494e-02 7.36780991e+01] [-5.40026350e-01 8.40011648e-01 -5.24592443e-02 -1.90128683e+01] [-1.01481152e-01 -3.11225461e-03 9.94832594e-01 -7.26511095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:-19.03, Z:-7.27 [[ 8.35796438e-01 5.42256770e-01 8.60343543e-02 7.37057003e+01] [-5.39770827e-01 8.40207408e-01 -5.19515758e-02 -1.90296624e+01] [-1.00457796e-01 -3.01789261e-03 9.94936744e-01 -7.26861296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:-19.05, Z:-7.27 [[ 8.35877019e-01 5.42218576e-01 8.54904978e-02 7.37337834e+01] [-5.39760562e-01 8.40232239e-01 -5.16557899e-02 -1.90468195e+01] [-9.98406012e-02 -2.96651148e-03 9.94999022e-01 -7.27203458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:-19.06, Z:-7.28 [[ 8.36403970e-01 5.41441522e-01 8.52612239e-02 7.37619430e+01] [-5.38989401e-01 8.40733621e-01 -5.15500103e-02 -1.90644513e+01] [-9.95932936e-02 -2.83826271e-03 9.95024181e-01 -7.27539362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:-19.08, Z:-7.28 [[ 8.36515854e-01 5.41230515e-01 8.55029554e-02 7.37893751e+01] [-5.38760021e-01 8.40869625e-01 -5.17292219e-02 -1.90819572e+01] [-9.98942715e-02 -2.79325986e-03 9.94994137e-01 -7.27847518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:-19.10, Z:-7.28 [[ 8.36387511e-01 5.41527578e-01 8.48752866e-02 7.38171542e+01] [-5.39091597e-01 8.40678388e-01 -5.13818775e-02 -1.90994384e+01] [-9.91775227e-02 -2.78039323e-03 9.95065871e-01 -7.28128267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:-19.12, Z:-7.28 [[ 8.35709988e-01 5.42576703e-01 8.48489082e-02 7.38439561e+01] [-5.40144359e-01 8.40001338e-01 -5.13986630e-02 -1.91159456e+01] [-9.91609135e-02 -2.87628312e-03 9.95067254e-01 -7.28420631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-19.13, Z:-7.29 [[ 8.35644013e-01 5.42680447e-01 8.48352263e-02 7.38723841e+01] [-5.40246347e-01 8.39934367e-01 -5.14212354e-02 -1.91332677e+01] [-9.91613211e-02 -2.86207358e-03 9.95067254e-01 -7.28762526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:-19.15, Z:-7.29 [[ 8.34765629e-01 5.43963742e-01 8.52630791e-02 7.39010922e+01] [-5.41510244e-01 8.39103295e-01 -5.16944575e-02 -1.91501497e+01] [-9.96644411e-02 -3.01807444e-03 9.95016528e-01 -7.29041243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:-19.17, Z:-7.29 [[ 8.34093363e-01 5.44932478e-01 8.56554483e-02 7.39281364e+01] [-5.42457983e-01 8.38474127e-01 -5.19661019e-02 -1.91662518e+01] [-1.00137894e-01 -3.11990104e-03 9.94968677e-01 -7.29326301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:-19.18, Z:-7.30 [[ 8.32336409e-01 5.47558750e-01 8.59971900e-02 7.39556450e+01] [-5.45076245e-01 8.36760203e-01 -5.21943377e-02 -1.91816916e+01] [-1.00538492e-01 -3.43177781e-03 9.94927251e-01 -7.29596036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:-19.20, Z:-7.30 [[ 8.31171192e-01 5.49352433e-01 8.58274683e-02 7.39834736e+01] [-5.46887190e-01 8.35582892e-01 -5.21117214e-02 -1.91981234e+01] [-1.00343665e-01 -3.62418130e-03 9.94946237e-01 -7.29869888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:-19.21, Z:-7.30 [[ 8.29938855e-01 5.51270298e-01 8.54549945e-02 7.40115284e+01] [-5.48833278e-01 8.34318003e-01 -5.19182314e-02 -1.92145758e+01] [-9.99176193e-02 -3.81158724e-03 9.94988413e-01 -7.30161287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:-19.23, Z:-7.30 [[ 8.28781335e-01 5.53077840e-01 8.50082457e-02 7.40396089e+01] [-5.50672516e-01 8.33120072e-01 -5.16790596e-02 -1.92308559e+01] [-9.94046184e-02 -3.98106452e-03 9.95039131e-01 -7.30472066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:-19.25, Z:-7.31 [[ 8.27451961e-01 5.55235936e-01 8.38827001e-02 7.40673190e+01] [-5.52901891e-01 8.31682497e-01 -5.10266801e-02 -1.92459287e+01] [-9.80956199e-02 -4.15677702e-03 9.95168313e-01 -7.30779562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:-19.26, Z:-7.31 [[ 8.26744214e-01 5.56330390e-01 8.36092176e-02 7.40957218e+01] [-5.54015247e-01 8.30950287e-01 -5.08795239e-02 -1.92624963e+01] [-9.77809287e-02 -4.25642933e-03 9.95198861e-01 -7.31119854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-19.28, Z:-7.31 [[ 8.26157415e-01 5.57264077e-01 8.31905832e-02 7.41243001e+01] [-5.54973738e-01 8.30324092e-01 -5.06562185e-02 -1.92793788e+01] [-9.73040363e-02 -4.31857837e-03 9.95245334e-01 -7.31416701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-19.30, Z:-7.32 [[ 8.26181821e-01 5.57262555e-01 8.29580893e-02 7.41519730e+01] [-5.54981904e-01 8.30325316e-01 -5.05465741e-02 -1.92950931e+01] [-9.70499147e-02 -4.27957765e-03 9.95270315e-01 -7.31663682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-19.31, Z:-7.32 [[ 8.26631102e-01 5.56587839e-01 8.30120367e-02 7.41797468e+01] [-5.54298974e-01 8.30778216e-01 -5.05984460e-02 -1.93120203e+01] [-9.71270715e-02 -4.18723768e-03 9.95263181e-01 -7.32008847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:-19.33, Z:-7.32 [[ 8.27525355e-01 5.55304382e-01 8.26972192e-02 7.42076434e+01] [-5.53023503e-01 8.31637590e-01 -5.04373275e-02 -1.93291408e+01] [-9.67821851e-02 -3.99533854e-03 9.95297567e-01 -7.32307793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:-19.35, Z:-7.33 [[ 8.29996439e-01 5.51570029e-01 8.29241447e-02 7.42357313e+01] [-5.49254964e-01 8.34121064e-01 -5.06066762e-02 -1.93470422e+01] [-9.70819017e-02 -3.54313704e-03 9.95270089e-01 -7.32599691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:-19.36, Z:-7.33 [[ 8.31512390e-01 5.49321562e-01 8.26617633e-02 7.42631630e+01] [-5.47007087e-01 8.35604749e-01 -5.04772192e-02 -1.93646442e+01] [-9.68007869e-02 -3.24413716e-03 9.95298490e-01 -7.32867432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:-19.38, Z:-7.33 [[ 8.31447297e-01 5.49422200e-01 8.26476781e-02 7.42915283e+01] [-5.47105932e-01 8.35538642e-01 -5.05002706e-02 -1.93820727e+01] [-9.68012985e-02 -3.22872144e-03 9.95298490e-01 -7.33209360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:-19.40, Z:-7.33 [[ 8.34694886e-01 5.44543742e-01 8.21983005e-02 7.43184789e+01] [-5.42227781e-01 8.38728300e-01 -5.02381597e-02 -1.93999819e+01] [-9.62989163e-02 -2.63666706e-03 9.95348967e-01 -7.33447966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:-19.42, Z:-7.34 [[ 8.36307873e-01 5.42106882e-01 8.19101327e-02 7.43457136e+01] [-5.39792782e-01 8.40306330e-01 -5.00901566e-02 -1.94174014e+01] [-9.59838216e-02 -2.32370610e-03 9.95380182e-01 -7.33754506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:-19.43, Z:-7.34 [[ 8.39828165e-01 5.36772286e-01 8.10195393e-02 7.43734196e+01] [-5.34480635e-01 8.43725506e-01 -4.95754179e-02 -1.94348364e+01] [-9.49689622e-02 -1.66854254e-03 9.95478836e-01 -7.34059435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:-19.45, Z:-7.34 [[ 8.41631233e-01 5.33962686e-01 8.08747029e-02 7.44007763e+01] [-5.31663357e-01 8.45507008e-01 -4.95174164e-02 -1.94521952e+01] [-9.48205807e-02 -1.32271191e-03 9.95493500e-01 -7.34399214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:-19.47, Z:-7.35 [[ 8.43199135e-01 5.31506443e-01 8.07224905e-02 7.44272527e+01] [-5.29201571e-01 8.47053638e-01 -4.94553509e-02 -1.94695717e+01] [-9.46621169e-02 -1.01775974e-03 9.95508939e-01 -7.34710345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:-19.49, Z:-7.35 [[ 8.44876573e-01 5.28918913e-01 8.01770601e-02 7.44544409e+01] [-5.26630829e-01 8.48672078e-01 -4.91495030e-02 -1.94872681e+01] [-9.40401339e-02 -6.98448001e-04 9.95568162e-01 -7.35004058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:-19.51, Z:-7.35 [[ 8.46411342e-01 5.26563721e-01 7.94889188e-02 7.44821152e+01] [-5.24301633e-01 8.50135567e-01 -4.87577291e-02 -1.95056736e+01] [-9.32504083e-02 -4.07075009e-04 9.95642604e-01 -7.35286305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-19.52, Z:-7.36 [[ 8.49227877e-01 5.22135931e-01 7.86516547e-02 7.45085733e+01] [-5.19899570e-01 8.52862274e-01 -4.82739965e-02 -1.95241562e+01] [-9.22846172e-02 1.04662147e-04 9.95732664e-01 -7.35548705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:-19.54, Z:-7.36 [[ 8.50462285e-01 5.20162924e-01 7.83864414e-02 7.45363619e+01] [-5.17930730e-01 8.54066985e-01 -4.81387906e-02 -1.95424107e+01] [-9.19872858e-02 3.41479026e-04 9.95760123e-01 -7.35874409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:-19.56, Z:-7.36 [[ 8.52353900e-01 5.17374317e-01 7.62669306e-02 7.45622255e+01] [-5.15247799e-01 8.55758959e-01 -4.68648072e-02 -1.95600889e+01] [-8.95127567e-02 6.49033022e-04 9.95985464e-01 -7.36191542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:-19.58, Z:-7.37 [[ 8.52993153e-01 5.16415834e-01 7.56132729e-02 7.45898183e+01] [-5.14319652e-01 8.56337609e-01 -4.64886444e-02 -1.95780851e+01] [-8.87579614e-02 7.65103151e-04 9.96052930e-01 -7.36538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:-19.60, Z:-7.37 [[ 8.54224282e-01 5.14428711e-01 7.52594034e-02 7.46165610e+01] [-5.12341981e-01 8.57532576e-01 -4.62987608e-02 -1.95971190e+01] [-8.83548019e-02 9.90973875e-04 9.96088574e-01 -7.36772771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:-19.62, Z:-7.37 [[ 8.55177014e-01 5.12711817e-01 7.61502910e-02 7.46436185e+01] [-5.10565844e-01 8.58559919e-01 -4.68762700e-02 -1.96161074e+01] [-8.94136052e-02 1.20777105e-03 9.95993850e-01 -7.37014895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-19.63, Z:-7.37 [[ 8.55962578e-01 5.11293250e-01 7.68588227e-02 7.46711597e+01] [-5.09098682e-01 8.59405183e-01 -4.73419854e-02 -1.96348742e+01] [-9.02585082e-02 1.39424253e-03 9.95917395e-01 -7.37258065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:-19.65, Z:-7.38 [[ 8.56132728e-01 5.10926967e-01 7.73975926e-02 7.46982975e+01] [-5.08697216e-01 8.59622869e-01 -4.77039376e-02 -1.96524825e+01] [-9.09059688e-02 1.46896230e-03 9.95858397e-01 -7.37547454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:-19.67, Z:-7.38 [[ 8.56210369e-01 5.10720521e-01 7.78996318e-02 7.47257884e+01] [-5.08458040e-01 8.59745438e-01 -4.80437644e-02 -1.96701970e+01] [-9.15107895e-02 1.52687510e-03 9.95802914e-01 -7.37884780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:-19.69, Z:-7.38 [[ 8.56148196e-01 5.10826907e-01 7.78854121e-02 7.47540775e+01] [-5.08562770e-01 8.59682204e-01 -4.80668050e-02 -1.96877428e+01] [-9.15105200e-02 1.54268749e-03 9.95802915e-01 -7.38226748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-19.71, Z:-7.38 [[ 8.56196947e-01 5.10745863e-01 7.78810055e-02 7.47805023e+01] [-5.08480594e-01 8.59730322e-01 -4.80755563e-02 -1.97051810e+01] [-9.15110534e-02 1.56116458e-03 9.95802837e-01 -7.38491994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:-19.72, Z:-7.39 [[ 8.56020028e-01 5.10976509e-01 7.83116847e-02 7.48082126e+01] [-5.08684434e-01 8.59593244e-01 -4.83694270e-02 -1.97231296e+01] [-9.20318360e-02 1.56926326e-03 9.95754829e-01 -7.38798762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:-19.74, Z:-7.39 [[ 8.55684867e-01 5.11531017e-01 7.83544971e-02 7.48359160e+01] [-5.09236001e-01 8.59263440e-01 -4.84255681e-02 -1.97407919e+01] [-9.20983348e-02 1.53609502e-03 9.95748732e-01 -7.39118276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-19.76, Z:-7.39 [[ 8.55163374e-01 5.12396338e-01 7.83938501e-02 7.48633588e+01] [-5.10099905e-01 8.58747829e-01 -4.84794001e-02 -1.97579453e+01] [-9.21612157e-02 1.46911182e-03 9.95743015e-01 -7.39433305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.89, Y:-19.77, Z:-7.40 [[ 8.53995070e-01 5.14358693e-01 7.82787048e-02 7.48913747e+01] [-5.12074527e-01 8.57574192e-01 -4.84374335e-02 -1.97748817e+01] [-9.20440120e-02 1.28079868e-03 9.95754116e-01 -7.39775023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-19.79, Z:-7.40 [[ 8.53366014e-01 5.15363053e-01 7.85326054e-02 7.49184831e+01] [-5.13065501e-01 8.56971108e-01 -4.86241896e-02 -1.97913130e+01] [-9.23592847e-02 1.20186028e-03 9.95725021e-01 -7.40146234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-19.81, Z:-7.40 [[ 8.52862587e-01 5.16218581e-01 7.83822929e-02 7.49456901e+01] [-5.13930914e-01 8.56456127e-01 -4.85583905e-02 -1.98079148e+01] [-9.21977385e-02 1.13055113e-03 9.95740076e-01 -7.40496872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-19.83, Z:-7.41 [[ 8.52231452e-01 5.17217892e-01 7.86587892e-02 7.49725188e+01] [-5.14915741e-01 8.55853113e-01 -4.87568339e-02 -1.98250383e+01] [-9.25382764e-02 1.04945859e-03 9.95708575e-01 -7.40849145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:-19.84, Z:-7.41 [[ 8.52092424e-01 5.17431782e-01 7.87581897e-02 7.50005649e+01] [-5.15122229e-01 8.55723815e-01 -4.88450804e-02 -1.98426847e+01] [-9.26692555e-02 1.05042866e-03 9.95696392e-01 -7.41211335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:-19.86, Z:-7.42 [[ 8.51969687e-01 5.17674524e-01 7.84903809e-02 7.50286062e+01] [-5.15379009e-01 8.55576995e-01 -4.87081443e-02 -1.98604046e+01] [-9.23695296e-02 1.04556774e-03 9.95724247e-01 -7.41565034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-19.88, Z:-7.42 [[ 8.51657098e-01 5.18189011e-01 7.84878055e-02 7.50566666e+01] [-5.15893020e-01 8.55265524e-01 -4.87367930e-02 -1.98776139e+01] [-9.23827847e-02 1.01572478e-03 9.95723049e-01 -7.41939525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:-19.89, Z:-7.42 [[ 8.51535676e-01 5.18387768e-01 7.84927621e-02 7.50837784e+01] [-5.16089416e-01 8.55145063e-01 -4.87712632e-02 -1.98940972e+01] [-9.24051243e-02 1.02118691e-03 9.95720970e-01 -7.42327938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:-19.91, Z:-7.43 [[ 8.51327426e-01 5.18767275e-01 7.82440353e-02 7.51112854e+01] [-5.16483485e-01 8.54914926e-01 -4.86341371e-02 -1.99111343e+01] [-9.21217924e-02 9.91822788e-04 9.95747253e-01 -7.42697119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:-19.93, Z:-7.43 [[ 8.51182805e-01 5.19045787e-01 7.79698884e-02 7.51393063e+01] [-5.16776399e-01 8.54745870e-01 -4.84938156e-02 -1.99283934e+01] [-9.18149508e-02 9.84103793e-04 9.95775600e-01 -7.43089857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:-19.95, Z:-7.43 [[ 8.50912767e-01 5.19499985e-01 7.78924131e-02 7.51658488e+01] [-5.17234201e-01 8.54469919e-01 -4.84761679e-02 -1.99450154e+01] [-9.17400924e-02 9.60370135e-04 9.95782523e-01 -7.43410247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:-19.96, Z:-7.44 [[ 8.50442913e-01 5.20197329e-01 7.83682970e-02 7.51927029e+01] [-5.17904007e-01 8.54045608e-01 -4.88010074e-02 -1.99625278e+01] [-9.23162536e-02 9.15215785e-04 9.95729316e-01 -7.43735468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:-19.98, Z:-7.44 [[ 8.50075685e-01 5.20832120e-01 7.81359895e-02 7.52200204e+01] [-5.18552535e-01 8.53658685e-01 -4.86838538e-02 -1.99799309e+01] [-9.20575809e-02 8.67344963e-04 9.95753308e-01 -7.44043305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:-20.00, Z:-7.44 [[ 8.49792111e-01 5.21303271e-01 7.80785997e-02 7.52474264e+01] [-5.19026304e-01 8.53371075e-01 -4.86775485e-02 -1.99971919e+01] [-9.20057838e-02 8.40949750e-04 9.95758117e-01 -7.44329107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-20.01, Z:-7.45 [[ 8.48980628e-01 5.22513141e-01 7.88156770e-02 7.52747515e+01] [-5.20195171e-01 8.52630908e-01 -4.91682665e-02 -2.00145485e+01] [-9.28917476e-02 7.43371193e-04 9.95675937e-01 -7.44635276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:-20.03, Z:-7.45 [[ 8.48482355e-01 5.23254598e-01 7.92610784e-02 7.53019239e+01] [-5.20910582e-01 8.52176123e-01 -4.94774707e-02 -2.00318102e+01] [-9.34337126e-02 6.92826427e-04 9.95625262e-01 -7.44987043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:-20.05, Z:-7.45 [[ 8.47672738e-01 5.24501333e-01 7.96823776e-02 7.53290440e+01] [-5.22135035e-01 8.51409426e-01 -4.97694091e-02 -2.00494436e+01] [-9.39464489e-02 5.83210221e-04 9.95577081e-01 -7.45341556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:-20.07, Z:-7.46 [[ 8.47237703e-01 5.25194380e-01 7.97442024e-02 7.53556350e+01] [-5.22824508e-01 8.50982126e-01 -4.98392883e-02 -2.00665509e+01] [-9.40362050e-02 5.33500742e-04 9.95568635e-01 -7.45645739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:-20.09, Z:-7.46 [[ 8.46455498e-01 5.26274091e-01 8.09238570e-02 7.53827066e+01] [-5.23835494e-01 8.50314873e-01 -5.06062474e-02 -2.00850581e+01] [-9.54435160e-02 4.45147673e-04 9.95434748e-01 -7.46004173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:-20.10, Z:-7.46 [[ 8.45944765e-01 5.27071468e-01 8.10747881e-02 7.54102724e+01] [-5.24624359e-01 8.49820876e-01 -5.07322516e-02 -2.01031305e+01] [-9.56385698e-02 3.82873936e-04 9.95416052e-01 -7.46307473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-20.12, Z:-7.47 [[ 8.45248830e-01 5.28211600e-01 8.09130415e-02 7.54368605e+01] [-5.25776402e-01 8.49112729e-01 -5.06630889e-02 -2.01205447e+01] [-9.54651248e-02 2.80748736e-04 9.95432736e-01 -7.46600131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:-20.14, Z:-7.47 [[ 8.43728234e-01 5.30759297e-01 8.01076443e-02 7.54639042e+01] [-5.28381129e-01 8.47522606e-01 -5.01877947e-02 -2.01381489e+01] [-9.45306781e-02 1.74918571e-05 9.95521949e-01 -7.46962752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:-20.16, Z:-7.47 [[ 8.43664334e-01 5.30863040e-01 8.00932286e-02 7.54920676e+01] [-5.28483155e-01 8.47457628e-01 -5.02107894e-02 -2.01558955e+01] [-9.45306698e-02 3.31300595e-05 9.95521949e-01 -7.47304724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-20.17, Z:-7.48 [[ 8.42934594e-01 5.32135325e-01 7.93301069e-02 7.55198427e+01] [-5.29805189e-01 8.46659310e-01 -4.97441015e-02 -2.01736568e+01] [-9.36361671e-02 -9.84782294e-05 9.95606478e-01 -7.47672696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-20.19, Z:-7.48 [[ 8.42434012e-01 5.33038808e-01 7.85783997e-02 7.55472950e+01] [-5.30753869e-01 8.46090775e-01 -4.93024378e-02 -2.01916255e+01] [-9.27645718e-02 -1.71739218e-04 9.95688056e-01 -7.48045142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:-20.21, Z:-7.48 [[ 8.42001040e-01 5.33760866e-01 7.83172228e-02 7.55741548e+01] [-5.31491402e-01 8.45635434e-01 -4.91691153e-02 -2.02098715e+01] [-9.24723683e-02 -2.24484363e-04 9.95715226e-01 -7.48407926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:-20.23, Z:-7.49 [[ 8.42272273e-01 5.33359974e-01 7.81316587e-02 7.55995279e+01] [-5.31096727e-01 8.45888358e-01 -4.90831104e-02 -2.02286676e+01] [-9.22696270e-02 -1.54125207e-04 9.95734047e-01 -7.48681966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:-20.25, Z:-7.49 [[ 8.42633524e-01 5.32783668e-01 7.81684544e-02 7.56268750e+01] [-5.30513207e-01 8.46251475e-01 -4.91342972e-02 -2.02473925e+01] [-9.23281209e-02 -6.71914400e-05 9.95728635e-01 -7.49002128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:-20.27, Z:-7.49 [[ 8.43810170e-01 5.30805025e-01 7.89330183e-02 7.56525066e+01] [-5.28478233e-01 8.47493949e-01 -4.96463876e-02 -2.02657958e+01] [-9.32478073e-02 1.77744734e-04 9.95642915e-01 -7.49324785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-20.28, Z:-7.50 [[ 8.44310385e-01 5.29927471e-01 7.94786063e-02 7.56800694e+01] [-5.27561704e-01 8.48042915e-01 -5.00186291e-02 -2.02839217e+01] [-9.39075145e-02 3.01378999e-04 9.95580880e-01 -7.49676759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-20.30, Z:-7.50 [[ 8.44684608e-01 5.29266094e-01 7.99081653e-02 7.57075542e+01] [-5.26868709e-01 8.48455797e-01 -5.03202231e-02 -2.03020005e+01] [-9.44313340e-02 4.03606025e-04 9.95531295e-01 -7.50030310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-20.32, Z:-7.50 [[ 8.44796857e-01 5.29000334e-01 8.04792894e-02 7.57351339e+01] [-5.26564277e-01 8.48621489e-01 -5.07112486e-02 -2.03201545e+01] [-9.51227219e-02 4.63184610e-04 9.95465446e-01 -7.50402774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:-20.34, Z:-7.51 [[ 8.44698064e-01 5.29132438e-01 8.06476466e-02 7.57617507e+01] [-5.26683721e-01 8.48539119e-01 -5.08490125e-02 -2.03379923e+01] [-9.53385450e-02 4.76259824e-04 9.95444793e-01 -7.50686560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:-20.36, Z:-7.51 [[ 8.44071832e-01 5.30162324e-01 8.04403653e-02 7.57893240e+01] [-5.27728100e-01 8.47896081e-01 -5.07473078e-02 -2.03558101e+01] [-9.51093810e-02 3.83731956e-04 9.95466754e-01 -7.51008397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:-20.37, Z:-7.51 [[ 8.43349457e-01 5.31391214e-01 7.99066367e-02 7.58166915e+01] [-5.28991861e-01 8.47126499e-01 -5.04411094e-02 -2.03732219e+01] [-9.44949918e-02 2.69521812e-04 9.95525300e-01 -7.51336940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-20.39, Z:-7.52 [[ 8.42334741e-01 5.33038936e-01 7.96346464e-02 7.58441586e+01] [-5.30660404e-01 8.46090705e-01 -5.02996439e-02 -2.03907183e+01] [-9.41898027e-02 1.10183829e-04 9.95554252e-01 -7.51681778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-20.41, Z:-7.52 [[ 8.40078605e-01 5.36580059e-01 7.96854911e-02 7.58714653e+01] [-5.34211314e-01 8.43849378e-01 -5.03636635e-02 -2.04073306e+01] [-9.42666896e-02 -2.59454711e-04 9.95546947e-01 -7.52004266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:-20.42, Z:-7.52 [[ 8.38606960e-01 5.38836271e-01 7.99614900e-02 7.58998092e+01] [-5.36458453e-01 8.42410371e-01 -5.05677308e-02 -2.04247273e+01] [-9.46081160e-02 -4.89566256e-04 9.95514472e-01 -7.52324048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:-20.44, Z:-7.53 [[ 8.37107746e-01 5.41100994e-01 8.03762079e-02 7.59280603e+01] [-5.38705777e-01 8.40957307e-01 -5.08615155e-02 -2.04418417e+01] [-9.51141760e-02 -7.22558937e-04 9.95466108e-01 -7.52623368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:-20.46, Z:-7.53 [[ 8.34308096e-01 5.45339896e-01 8.08356219e-02 7.59558155e+01] [-5.42933813e-01 8.38214170e-01 -5.11847632e-02 -2.04577476e+01] [-9.56706572e-02 -1.18453009e-03 9.95412338e-01 -7.52977799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:-20.47, Z:-7.53 [[ 8.32952493e-01 5.47415343e-01 8.07872929e-02 7.59839645e+01] [-5.45020057e-01 8.36859884e-01 -5.11729616e-02 -2.04745546e+01] [-9.56205089e-02 -1.40604907e-03 9.95416868e-01 -7.53349193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:-20.49, Z:-7.54 [[ 8.32885248e-01 5.47519845e-01 8.07724152e-02 7.60120391e+01] [-5.45122774e-01 8.36791543e-01 -5.11964338e-02 -2.04924382e+01] [-9.56207375e-02 -1.39012856e-03 9.95416869e-01 -7.53691185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:-20.51, Z:-7.54 [[ 8.30968171e-01 5.50572111e-01 7.97637144e-02 7.60392262e+01] [-5.48247479e-01 8.34785860e-01 -5.05694617e-02 -2.05082084e+01] [-9.44277561e-02 -1.70864223e-03 9.95530250e-01 -7.54040200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:-20.53, Z:-7.54 [[ 8.30368761e-01 5.51550411e-01 7.92456034e-02 7.60670912e+01] [-5.49257682e-01 8.34139654e-01 -5.02696432e-02 -2.05257750e+01] [-9.38281425e-02 -1.78391503e-03 9.95586811e-01 -7.54381492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-20.54, Z:-7.55 [[ 8.30072834e-01 5.52025750e-01 7.90358234e-02 7.60947835e+01] [-5.49744414e-01 8.33825105e-01 -5.01674484e-02 -2.05436440e+01] [-9.35957771e-02 -1.80686631e-03 9.95608641e-01 -7.54720556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:-20.56, Z:-7.55 [[ 8.30109828e-01 5.52033665e-01 7.85907496e-02 7.61216852e+01] [-5.49775105e-01 8.33819942e-01 -4.99163206e-02 -2.05611346e+01] [-9.30860237e-02 -1.77120933e-03 9.95656494e-01 -7.55040957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:-20.58, Z:-7.55 [[ 8.31063005e-01 5.50744936e-01 7.75518961e-02 7.61488540e+01] [-5.48537601e-01 8.34672100e-01 -4.92847399e-02 -2.05790101e+01] [-9.18737249e-02 -1.58140698e-03 9.95769410e-01 -7.55359151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:-20.60, Z:-7.56 [[ 8.31724696e-01 5.49810956e-01 7.70839938e-02 7.61753594e+01] [-5.47623474e-01 8.35287871e-01 -4.90173775e-02 -2.05966355e+01] [-9.13376162e-02 -1.44404107e-03 9.95818937e-01 -7.55667348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:-20.61, Z:-7.56 [[ 8.32419386e-01 5.48732425e-01 7.72702512e-02 7.62022810e+01] [-5.46527135e-01 8.35997022e-01 -4.91636961e-02 -2.06145474e+01] [-9.15754142e-02 -1.30547534e-03 9.95797288e-01 -7.55999129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:-20.63, Z:-7.56 [[ 8.32881460e-01 5.48113509e-01 7.66815172e-02 7.62304349e+01] [-5.45762712e-01 8.36403869e-01 -5.07112520e-02 -2.06345591e+01] [-9.19322400e-02 3.86548781e-04 9.95765190e-01 -7.56453808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:-20.65, Z:-7.57 [[ 8.35624919e-01 5.43686020e-01 7.83358617e-02 7.62547375e+01] [-5.41505087e-01 8.39286888e-01 -4.86801775e-02 -2.06507984e+01] [-9.22129935e-02 -1.74089827e-03 9.95737783e-01 -7.56597849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-20.67, Z:-7.57 [[ 8.36908402e-01 5.41730820e-01 7.81795745e-02 7.62823639e+01] [-5.39435989e-01 8.40551893e-01 -4.98129432e-02 -2.06687108e+01] [-9.26991959e-02 -4.84005387e-04 9.95694042e-01 -7.57025482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:-20.69, Z:-7.57 [[ 8.38457472e-01 5.39344971e-01 7.80773267e-02 7.63088970e+01] [-5.37042974e-01 8.42084891e-01 -4.97783042e-02 -2.06867499e+01] [-9.25954152e-02 -1.93888689e-04 9.95703797e-01 -7.57380650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-20.71, Z:-7.58 [[ 8.41309015e-01 5.34816500e-01 7.85522306e-02 7.63359171e+01] [-5.32463933e-01 8.44968166e-01 -5.01094666e-02 -2.07050364e+01] [-9.31735038e-02 3.31316339e-04 9.95649832e-01 -7.57700695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-20.72, Z:-7.58 [[ 8.41950401e-01 5.33740677e-01 7.89962762e-02 7.63639292e+01] [-5.31353751e-01 8.45648071e-01 -5.04235144e-02 -2.07227013e+01] [-9.37161293e-02 4.79130504e-04 9.95598844e-01 -7.58033625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-20.74, Z:-7.58 [[ 8.42602561e-01 5.32692080e-01 7.91206171e-02 7.63913532e+01] [-5.30290083e-01 8.46308903e-01 -5.05338355e-02 -2.07406956e+01] [-9.38794566e-02 6.23060692e-04 9.95583376e-01 -7.58338503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-20.76, Z:-7.59 [[ 8.42804378e-01 5.32377829e-01 7.90861995e-02 7.64186603e+01] [-5.29973612e-01 8.46506574e-01 -5.05429618e-02 -2.07582477e+01] [-9.38549401e-02 6.84230702e-04 9.95585648e-01 -7.58623941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-20.78, Z:-7.59 [[ 8.42157956e-01 5.33391925e-01 7.91393214e-02 7.64472195e+01] [-5.30985971e-01 8.45868014e-01 -5.06083199e-02 -2.07750461e+01] [-9.39354898e-02 5.98329829e-04 9.95578106e-01 -7.58961734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:-20.79, Z:-7.59 [[ 8.41513079e-01 5.34419257e-01 7.90682982e-02 7.64747503e+01] [-5.32019189e-01 8.45219378e-01 -5.05943147e-02 -2.07921604e+01] [-9.38686340e-02 5.09925623e-04 9.95584461e-01 -7.59273487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:-20.81, Z:-7.60 [[ 8.40481910e-01 5.36091753e-01 7.87133495e-02 7.65028571e+01] [-5.33717644e-01 8.44159648e-01 -5.03980702e-02 -2.08081123e+01] [-9.34646232e-02 3.47962890e-04 9.95622540e-01 -7.59637412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:-20.82, Z:-7.60 [[ 8.39824083e-01 5.37160789e-01 7.84461392e-02 7.65306078e+01] [-5.34804553e-01 8.43479829e-01 -5.02580173e-02 -2.08246315e+01] [-9.31643723e-02 2.54540831e-04 9.95650709e-01 -7.59989786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:-20.84, Z:-7.60 [[ 8.38562985e-01 5.39098931e-01 7.86413564e-02 7.65592547e+01] [-5.36736465e-01 8.42242447e-01 -5.04145682e-02 -2.08407421e+01] [-9.34135282e-02 6.61072534e-05 9.95627394e-01 -7.60283718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:-20.86, Z:-7.61 [[ 8.37760611e-01 5.40282518e-01 7.90693314e-02 7.65863915e+01] [-5.37896451e-01 8.41483689e-01 -5.07208953e-02 -2.08575690e+01] [-9.39391657e-02 -3.91445013e-05 9.95577939e-01 -7.60609051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-20.87, Z:-7.61 [[ 8.36854670e-01 5.41704322e-01 7.89347179e-02 7.66130092e+01] [-5.39329928e-01 8.40569092e-01 -5.06639015e-02 -2.08741608e+01] [-9.37949385e-02 -1.73533218e-04 9.95591522e-01 -7.60904570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-20.89, Z:-7.61 [[ 8.36119738e-01 5.42869032e-01 7.87210183e-02 7.66413025e+01] [-5.40509948e-01 8.39817323e-01 -5.05555050e-02 -2.08915599e+01] [-9.35562929e-02 -2.79038008e-04 9.95613952e-01 -7.61228655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-20.91, Z:-7.62 [[ 8.35222243e-01 5.44290980e-01 7.84291704e-02 7.66687601e+01] [-5.41952636e-01 8.38896395e-01 -5.04001801e-02 -2.09083260e+01] [-9.32263117e-02 -4.09544199e-04 9.95644860e-01 -7.61553345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:-20.93, Z:-7.62 [[ 8.34226725e-01 5.45839982e-01 7.82590944e-02 7.66965353e+01] [-5.43516881e-01 8.37889249e-01 -5.03091001e-02 -2.09252362e+01] [-9.30331722e-02 -5.65943086e-04 9.95662849e-01 -7.61905724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:-20.94, Z:-7.62 [[ 8.32290032e-01 5.48810198e-01 7.81067820e-02 7.67240211e+01] [-5.46506220e-01 8.35946536e-01 -5.02428136e-02 -2.09410197e+01] [-9.28668623e-02 -8.69249237e-04 9.95678156e-01 -7.62235229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-20.96, Z:-7.63 [[ 8.30757233e-01 5.51125847e-01 7.81199155e-02 7.67527873e+01] [-5.48829618e-01 8.34421394e-01 -5.02691621e-02 -2.09571566e+01] [-9.28895633e-02 -1.11305338e-03 9.95675796e-01 -7.62574008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-20.98, Z:-7.63 [[ 8.30690602e-01 5.51228345e-01 7.81052828e-02 7.67807333e+01] [-5.48930432e-01 8.34353706e-01 -5.02918869e-02 -2.09752435e+01] [-9.28897458e-02 -1.09736886e-03 9.95675796e-01 -7.62915973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:-20.99, Z:-7.63 [[ 8.29866505e-01 5.52531748e-01 7.76546885e-02 7.68089817e+01] [-5.50264948e-01 8.33490950e-01 -5.00132351e-02 -2.09925916e+01] [-9.23583803e-02 -1.22634447e-03 9.95725075e-01 -7.63218504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:-21.01, Z:-7.64 [[ 8.29063972e-01 5.53816590e-01 7.70721409e-02 7.68370785e+01] [-5.51586532e-01 8.32637619e-01 -4.96678262e-02 -2.10091098e+01] [-9.16800300e-02 -1.33414966e-03 9.95787624e-01 -7.63535264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:-21.03, Z:-7.64 [[ 8.29254120e-01 5.53650596e-01 7.62143132e-02 7.68645671e+01] [-5.51466569e-01 8.32748095e-01 -4.91450232e-02 -2.10252775e+01] [-9.06764955e-02 -1.27593284e-03 9.95879584e-01 -7.63876615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:-21.04, Z:-7.64 [[ 8.29726325e-01 5.53003627e-01 7.57708029e-02 7.68914197e+01] [-5.50839788e-01 8.33178017e-01 -4.88868086e-02 -2.10417691e+01] [-9.01651498e-02 -1.17490096e-03 9.95926134e-01 -7.64202741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:-21.06, Z:-7.65 [[ 8.30412993e-01 5.51935515e-01 7.60358307e-02 7.69191792e+01] [-5.49749538e-01 8.33886147e-01 -4.90850225e-02 -2.10592633e+01] [-9.04969930e-02 -1.03982236e-03 9.95896186e-01 -7.64542426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:-21.08, Z:-7.65 [[ 8.31185625e-01 5.50743604e-01 7.62360701e-02 7.69456209e+01] [-5.48538277e-01 8.34674006e-01 -4.92449290e-02 -2.10762436e+01] [-9.07535957e-02 -8.86725437e-04 9.95872983e-01 -7.64823566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.97, Y:-21.09, Z:-7.65 [[ 8.32002245e-01 5.49420760e-01 7.68706290e-02 7.69732421e+01] [-5.47170237e-01 8.35545512e-01 -4.96832797e-02 -2.10940736e+01] [-9.15259344e-02 -7.24720012e-04 9.95802429e-01 -7.65131996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:-21.11, Z:-7.65 [[ 8.33937400e-01 5.46425276e-01 7.72517306e-02 7.69995919e+01] [-5.44136595e-01 8.37507779e-01 -4.99608494e-02 -2.11110879e+01] [-9.19987963e-02 -3.71272762e-04 9.95759049e-01 -7.65375919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:-21.13, Z:-7.66 [[ 8.34805355e-01 5.45037400e-01 7.76804446e-02 7.70261560e+01] [-5.42714400e-01 8.38411710e-01 -5.02681308e-02 -2.11283345e+01] [-9.25262057e-02 -1.94191078e-04 9.95710231e-01 -7.65677166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-21.15, Z:-7.66 [[ 8.35656839e-01 5.43738291e-01 7.76293631e-02 7.70543298e+01] [-5.41411105e-01 8.39254830e-01 -5.02528118e-02 -2.11461312e+01] [-9.24751959e-02 -3.52933608e-05 9.95714988e-01 -7.65918058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-21.16, Z:-7.66 [[ 8.35590939e-01 5.43841660e-01 7.76146376e-02 7.70822280e+01] [-5.41512808e-01 8.39187850e-01 -5.02755443e-02 -2.11642932e+01] [-9.24751964e-02 -1.95311121e-05 9.95714988e-01 -7.66260020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:-21.18, Z:-7.67 [[ 8.35088486e-01 5.44573178e-01 7.78927093e-02 7.71106127e+01] [-5.42229650e-01 8.38713327e-01 -5.04674315e-02 -2.11807879e+01] [-9.28128630e-02 -9.09655393e-05 9.95683566e-01 -7.66567966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:-21.20, Z:-7.67 [[ 8.34511312e-01 5.45403866e-01 7.82655253e-02 7.71375985e+01] [-5.43038475e-01 8.38173370e-01 -5.07406749e-02 -2.11970858e+01] [-9.32742394e-02 -1.57524294e-04 9.95640443e-01 -7.66899310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:-21.21, Z:-7.67 [[ 8.33798710e-01 5.46484232e-01 7.83243038e-02 7.71654811e+01] [-5.44117308e-01 8.37469355e-01 -5.08078225e-02 -2.12136836e+01] [-9.33598780e-02 -2.54112447e-04 9.95632396e-01 -7.67224054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:-21.23, Z:-7.68 [[ 8.33005654e-01 5.47716435e-01 7.81555327e-02 7.71931962e+01] [-5.45362236e-01 8.36663955e-01 -5.07292563e-02 -2.12302641e+01] [-9.31751645e-02 -3.65318725e-04 9.95649665e-01 -7.67581192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:-21.25, Z:-7.68 [[ 8.31732644e-01 5.49779213e-01 7.72245147e-02 7.72205358e+01] [-5.47486917e-01 8.35309822e-01 -5.01555267e-02 -2.12459333e+01] [-9.20808616e-02 -5.63422642e-04 9.95751373e-01 -7.67944103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-21.26, Z:-7.68 [[ 8.31159450e-01 5.50762865e-01 7.63821709e-02 7.72481126e+01] [-5.48522018e-01 8.34661521e-01 -4.96360837e-02 -2.12631478e+01] [-9.10909706e-02 -6.41802556e-04 9.95842369e-01 -7.68279723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-21.28, Z:-7.69 [[ 8.30463891e-01 5.51968457e-01 7.52366159e-02 7.72757134e+01] [-5.49796648e-01 8.33864665e-01 -4.89220428e-02 -2.12797318e+01] [-8.97405800e-02 -7.36849217e-04 9.95964902e-01 -7.68652216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:-21.30, Z:-7.69 [[ 8.30334142e-01 5.52200208e-01 7.49676120e-02 7.73025608e+01] [-5.50042323e-01 8.33711215e-01 -4.87755438e-02 -2.12964234e+01] [-8.94352042e-02 -7.35360145e-04 9.95992371e-01 -7.68988741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-21.31, Z:-7.69 [[ 8.30317691e-01 5.52234034e-01 7.49006275e-02 7.73301397e+01] [-5.50077712e-01 8.33688826e-01 -4.87591219e-02 -2.13136732e+01] [-8.93702628e-02 -7.15604232e-04 9.95998215e-01 -7.69341636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:-21.33, Z:-7.70 [[ 8.30611044e-01 5.51704232e-01 7.55495430e-02 7.73574240e+01] [-5.49505327e-01 8.34039587e-01 -4.92124334e-02 -2.13302395e+01] [-9.01620174e-02 -6.38485580e-04 9.95926906e-01 -7.69680494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:-21.34, Z:-7.72 [[ 8.31381567e-01 5.51534870e-01 6.79262619e-02 7.73899035e+01] [-5.47312980e-01 8.33849800e-01 -7.17147990e-02 -2.13350801e+01] [-9.61935122e-02 2.24454372e-02 9.95109547e-01 -7.71555130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:-21.37, Z:-7.69 [[ 8.30916128e-01 5.49176462e-01 8.93510055e-02 7.74054847e+01] [-5.48890824e-01 8.35357233e-01 -2.99525662e-02 -2.13742557e+01] [-9.10892531e-02 -2.41558767e-02 9.95549718e-01 -7.69467215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-21.38, Z:-7.71 [[ 8.30630043e-01 5.51501879e-01 7.68076065e-02 7.74382627e+01] [-5.49220740e-01 8.34173462e-01 -5.01120179e-02 -2.13824767e+01] [-9.17077391e-02 -5.59782858e-04 9.95785809e-01 -7.70599496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:-21.40, Z:-7.71 [[ 8.30563012e-01 5.51604880e-01 7.67928349e-02 7.74660968e+01] [-5.49322089e-01 8.34105365e-01 -5.01346436e-02 -2.14007397e+01] [-9.17078297e-02 -5.44019909e-04 9.95785809e-01 -7.70940891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:-21.40, Z:-7.73 [[ 8.30767480e-01 5.52717357e-01 6.57945078e-02 7.74997492e+01] [-5.47676202e-01 8.32792712e-01 -8.06664520e-02 -2.14002400e+01] [-9.93789347e-02 3.09809789e-02 9.94567246e-01 -7.73349897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:-21.45, Z:-7.70 [[ 8.29562381e-01 5.50338305e-01 9.46256096e-02 7.75114057e+01] [-5.50830468e-01 8.34294455e-01 -2.32068517e-02 -2.14469491e+01] [-9.17172408e-02 -3.28711377e-02 9.95242401e-01 -7.70438247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:-21.45, Z:-7.72 [[ 8.27824130e-01 5.55672506e-01 7.70407411e-02 7.75469915e+01] [-5.53388150e-01 8.31400714e-01 -5.03429016e-02 -2.14504486e+01] [-9.20258935e-02 -9.58364429e-04 9.95756153e-01 -7.71976969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:-21.47, Z:-7.72 [[ 8.26760708e-01 5.57286059e-01 7.68048112e-02 7.75738476e+01] [-5.55019653e-01 8.30319831e-01 -5.02211438e-02 -2.14675539e+01] [-9.17601012e-02 -1.10731122e-03 9.95780527e-01 -7.72279049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-21.49, Z:-7.73 [[ 8.25591371e-01 5.59021492e-01 7.67714774e-02 7.76015833e+01] [-5.56762855e-01 8.29152170e-01 -5.02175449e-02 -2.14850409e+01] [-9.17279240e-02 -1.28433522e-03 9.95783279e-01 -7.72622628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:-21.50, Z:-7.73 [[ 8.24242450e-01 5.61045735e-01 7.64988027e-02 7.76291629e+01] [-5.58809039e-01 8.27783484e-01 -5.00695632e-02 -2.15025777e+01] [-9.14157603e-02 -1.47876301e-03 9.95811715e-01 -7.72971713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:-21.52, Z:-7.73 [[ 8.22491332e-01 5.63687256e-01 7.59255318e-02 7.76573388e+01] [-5.61492474e-01 8.25986484e-01 -4.97245432e-02 -2.15200607e+01] [-9.07425544e-02 -1.73360888e-03 9.95872875e-01 -7.73345593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:-21.54, Z:-7.74 [[ 8.21790541e-01 5.64674840e-01 7.61750065e-02 7.76850918e+01] [-5.62467011e-01 8.25311456e-01 -4.99185462e-02 -2.15378135e+01] [-9.10558526e-02 -1.82333913e-03 9.95844118e-01 -7.73757675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-21.56, Z:-7.74 [[ 8.21279748e-01 5.65368704e-01 7.65362940e-02 7.77130841e+01] [-5.63140026e-01 8.24836153e-01 -5.01859629e-02 -2.15555396e+01] [-9.15034751e-02 -1.88393562e-03 9.95802975e-01 -7.74150041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-21.57, Z:-7.74 [[ 8.20897433e-01 5.65778680e-01 7.76008355e-02 7.77402139e+01] [-5.63486329e-01 8.24554885e-01 -5.09156013e-02 -2.15728625e+01] [-9.27931097e-02 -1.93052356e-03 9.95683540e-01 -7.74495003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:-21.59, Z:-7.75 [[ 8.20829438e-01 5.65879225e-01 7.75869559e-02 7.77680006e+01] [-5.63585325e-01 8.24485918e-01 -5.09367424e-02 -2.15912007e+01] [-9.27933969e-02 -1.91649208e-03 9.95683540e-01 -7.74836191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:-21.61, Z:-7.75 [[ 8.20955747e-01 5.65622315e-01 7.81220752e-02 7.77951382e+01] [-5.63294314e-01 8.24662247e-01 -5.13000336e-02 -2.16094741e+01] [-9.34407699e-02 -1.89066341e-03 9.95623045e-01 -7.75148791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-21.63, Z:-7.75 [[ 8.21289037e-01 5.65040553e-01 7.88257012e-02 7.78215655e+01] [-5.62664528e-01 8.25061140e-01 -5.17952241e-02 -2.16269656e+01] [-9.43024249e-02 -1.81357627e-03 9.95541945e-01 -7.75450711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-21.65, Z:-7.76 [[ 8.21666683e-01 5.64418768e-01 7.93430247e-02 7.78490047e+01] [-5.62006659e-01 8.25486786e-01 -5.21543953e-02 -2.16454321e+01] [-9.49335380e-02 -1.73777926e-03 9.95482096e-01 -7.75760948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:-21.66, Z:-7.76 [[ 8.22776972e-01 5.62744943e-01 7.97256747e-02 7.78758521e+01] [-5.60298548e-01 8.26629181e-01 -5.24379204e-02 -2.16638155e+01] [-9.54127437e-02 -1.52546637e-03 9.95436628e-01 -7.76105127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:-21.68, Z:-7.76 [[ 8.23297507e-01 5.61970387e-01 7.98154032e-02 7.79024471e+01] [-5.59511662e-01 8.27156150e-01 -5.25300220e-02 -2.16816347e+01] [-9.55401185e-02 -1.40981275e-03 9.95424582e-01 -7.76466611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:-21.70, Z:-7.77 [[ 8.23708052e-01 5.61421465e-01 7.94417074e-02 7.79288641e+01] [-5.58980312e-01 8.27528979e-01 -5.23144273e-02 -2.16993809e+01] [-9.51107574e-02 -1.31453545e-03 9.95465829e-01 -7.76804812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:-21.72, Z:-7.77 [[ 8.24203871e-01 5.60746787e-01 7.90633890e-02 7.79556845e+01] [-5.58322986e-01 8.27986464e-01 -5.20946968e-02 -2.17171741e+01] [-9.46753498e-02 -1.20625677e-03 9.95507470e-01 -7.77224307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.436559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:77.98, Y:-21.74, Z:-7.78 [[ 8.25627995e-01 5.58768034e-01 7.82093239e-02 7.79827326e+01] [-5.56384669e-01 8.29323456e-01 -5.15626366e-02 -2.17353131e+01] [-9.36723799e-02 -9.42912546e-04 9.95602630e-01 -7.77703776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:-21.75, Z:-7.78 [[ 8.26164273e-01 5.58025016e-01 7.78503404e-02 7.80094789e+01] [-5.55657323e-01 8.29823713e-01 -5.13570311e-02 -2.17537654e+01] [-9.32605666e-02 -8.28767428e-04 9.95641391e-01 -7.78069586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:-21.77, Z:-7.78 [[ 8.27604824e-01 5.55970971e-01 7.72433416e-02 7.80351721e+01] [-5.53628346e-01 8.31201515e-01 -5.09872232e-02 -2.17735897e+01] [-9.25521985e-02 -5.66831551e-04 9.95707673e-01 -7.78364330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:-21.79, Z:-7.79 [[ 8.28340016e-01 5.54890614e-01 7.71312203e-02 7.80608436e+01] [-5.52547217e-01 8.31923212e-01 -5.09445066e-02 -2.17921813e+01] [-9.24358811e-02 -4.19267700e-04 9.95718551e-01 -7.78683009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-21.81, Z:-7.79 [[ 8.29004389e-01 5.53898590e-01 7.71237650e-02 7.80871584e+01] [-5.51548689e-01 8.32584092e-01 -5.09683467e-02 -2.18110839e+01] [-9.24433153e-02 -2.84528388e-04 9.95717908e-01 -7.79018448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:-21.83, Z:-7.79 [[ 8.29644322e-01 5.52931907e-01 7.71790499e-02 7.81137070e+01] [-5.50571576e-01 8.33226430e-01 -5.10358344e-02 -2.18297052e+01] [-9.25269654e-02 -1.51000981e-04 9.95710168e-01 -7.79356019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-21.85, Z:-7.80 [[ 8.30305705e-01 5.51894260e-01 7.74929802e-02 7.81406429e+01] [-5.49507234e-01 8.33914100e-01 -5.12744949e-02 -2.18484101e+01] [-9.29205883e-02 -9.44756075e-06 9.95673523e-01 -7.79705513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-21.87, Z:-7.80 [[ 8.31938397e-01 5.49237840e-01 7.88435151e-02 7.81670669e+01] [-5.46751675e-01 8.35666018e-01 -5.22006998e-02 -2.18681492e+01] [-9.45574458e-02 3.19942579e-04 9.95519355e-01 -7.80080976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:-21.89, Z:-7.80 [[ 8.32706726e-01 5.47980825e-01 7.94765556e-02 7.81927058e+01] [-5.45445651e-01 8.36490748e-01 -5.26523560e-02 -2.18865077e+01] [-9.53338849e-02 4.93829384e-04 9.95445230e-01 -7.80400494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:-21.91, Z:-7.81 [[ 8.33541882e-01 5.46589500e-01 8.02985049e-02 7.82195394e+01] [-5.43992103e-01 8.37400411e-01 -5.32272815e-02 -2.19057485e+01] [-9.63354742e-02 6.85415858e-04 9.95348686e-01 -7.80753150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:-21.93, Z:-7.81 [[ 8.34035019e-01 5.45739070e-01 8.09595908e-02 7.82463313e+01] [-5.43091460e-01 8.37954772e-01 -5.36979158e-02 -2.19253734e+01] [-9.71455261e-02 8.17479859e-04 9.95269852e-01 -7.81087574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-21.94, Z:-7.81 [[ 8.34812000e-01 5.44416751e-01 8.18494085e-02 7.82711925e+01] [-5.41700780e-01 8.38814270e-01 -5.43220478e-02 -2.19449376e+01] [-9.82302846e-02 1.01080893e-03 9.95163197e-01 -7.81353714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-21.96, Z:-7.82 [[ 8.34616808e-01 5.44638957e-01 8.23601248e-02 7.82978796e+01] [-5.41887946e-01 8.38670012e-01 -5.46814804e-02 -2.19635344e+01] [-9.88546313e-02 1.00812376e-03 9.95101375e-01 -7.81674185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:-21.98, Z:-7.82 [[ 8.33071670e-01 5.46905789e-01 8.29798206e-02 7.83250751e+01] [-5.44120994e-01 8.37193801e-01 -5.51260677e-02 -2.19816335e+01] [-9.96189570e-02 7.72902813e-04 9.95025359e-01 -7.82092805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:-22.00, Z:-7.82 [[ 8.31727935e-01 5.48957410e-01 8.29120286e-02 7.83512746e+01] [-5.46184024e-01 8.35850139e-01 -5.51140363e-02 -2.19986671e+01] [-9.95572892e-02 5.54658124e-04 9.95031677e-01 -7.82466227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:-22.02, Z:-7.83 [[ 8.30056738e-01 5.51450061e-01 8.31182420e-02 7.83785607e+01] [-5.48672175e-01 8.34207858e-01 -5.52819565e-02 -2.20164797e+01] [-9.98231288e-02 2.82493861e-04 9.95005157e-01 -7.82866911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:-22.03, Z:-7.83 [[ 8.26248205e-01 5.57204925e-01 8.26835834e-02 7.84056032e+01] [-5.54481428e-01 8.30374931e-01 -5.50256341e-02 -2.20342502e+01] [-9.93189292e-02 -3.81679976e-04 9.95055579e-01 -7.83239715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:-22.05, Z:-7.84 [[ 8.24164630e-01 5.60355161e-01 8.21873254e-02 7.84317394e+01] [-5.57676673e-01 8.28252113e-01 -5.47281155e-02 -2.20515452e+01] [-9.87390079e-02 -7.28977124e-04 9.95113098e-01 -7.83582917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:-22.07, Z:-7.84 [[ 8.22236094e-01 5.63192692e-01 8.21084500e-02 7.84591625e+01] [-5.60530408e-01 8.26324938e-01 -5.47061077e-02 -2.20694379e+01] [-9.86583399e-02 -1.04294666e-03 9.95120819e-01 -7.83945199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-22.09, Z:-7.84 [[ 8.20617404e-01 5.65566154e-01 8.19878129e-02 7.84865480e+01] [-5.62920207e-01 8.24701909e-01 -5.46589530e-02 -2.20873584e+01] [-9.85287597e-02 -1.29850857e-03 9.95133357e-01 -7.84296401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:-22.10, Z:-7.85 [[ 8.18218114e-01 5.68984381e-01 8.23158006e-02 7.85140657e+01] [-5.66331056e-01 8.22346595e-01 -5.49109608e-02 -2.21049336e+01] [-9.89355974e-02 -1.68885149e-03 9.95092405e-01 -7.84677006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:-22.12, Z:-7.85 [[ 8.17333415e-01 5.70233043e-01 8.24643335e-02 7.85411623e+01] [-5.67573127e-01 8.21480968e-01 -5.50433066e-02 -2.21227900e+01] [-9.91303927e-02 -1.81580587e-03 9.95072795e-01 -7.85015842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:-22.14, Z:-7.85 [[ 8.16616178e-01 5.71185719e-01 8.29752549e-02 7.85685409e+01] [-5.68494090e-01 8.20818620e-01 -5.54189714e-02 -2.21415704e+01] [-9.97621592e-02 -1.91491337e-03 9.95009470e-01 -7.85370167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:-22.16, Z:-7.86 [[ 8.16195516e-01 5.71779711e-01 8.30231359e-02 7.85952950e+01] [-5.69084591e-01 8.20404850e-01 -5.54852218e-02 -2.21601192e+01] [-9.98379075e-02 -1.96039808e-03 9.95001783e-01 -7.85688931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-22.18, Z:-7.86 [[ 8.16204056e-01 5.71765798e-01 8.30349957e-02 7.86212829e+01] [-5.69066406e-01 8.20414617e-01 -5.55273048e-02 -2.21790414e+01] [-9.98717379e-02 -1.93081511e-03 9.94998446e-01 -7.86029641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:-22.20, Z:-7.86 [[ 8.16324210e-01 5.71622196e-01 8.28423124e-02 7.86476928e+01] [-5.68931440e-01 8.20514790e-01 -5.54300986e-02 -2.21973533e+01] [-9.96584173e-02 -1.88266467e-03 9.95019927e-01 -7.86386339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:-22.22, Z:-7.87 [[ 8.16572351e-01 5.71278260e-01 8.27692324e-02 7.86745462e+01] [-5.68587362e-01 8.20754447e-01 -5.54125386e-02 -2.22158736e+01] [-9.95891941e-02 -1.81319262e-03 9.95026987e-01 -7.86734314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:-22.23, Z:-7.87 [[ 8.17660175e-01 5.69777794e-01 8.23717402e-02 7.87011424e+01] [-5.67101831e-01 8.21797251e-01 -5.51796322e-02 -2.22349042e+01] [-9.91329988e-02 -1.59497702e-03 9.95072914e-01 -7.87095521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-22.25, Z:-7.87 [[ 8.18132710e-01 5.69054510e-01 8.26791070e-02 7.87280325e+01] [-5.66351447e-01 8.22298461e-01 -5.54191276e-02 -2.22539944e+01] [-9.95234069e-02 -1.48523088e-03 9.95034113e-01 -7.87462948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-22.27, Z:-7.88 [[ 8.18722365e-01 5.68193110e-01 8.27664078e-02 7.87544363e+01] [-5.65476550e-01 8.22894134e-01 -5.55113980e-02 -2.22729192e+01] [-9.96491853e-02 -1.35403969e-03 9.95021712e-01 -7.87799625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-22.29, Z:-7.88 [[ 8.19222447e-01 5.67437027e-01 8.30048399e-02 7.87801771e+01] [-5.64697420e-01 8.23415867e-01 -5.57057847e-02 -2.22923052e+01] [-9.99570270e-02 -1.23718966e-03 9.94990986e-01 -7.88093405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:-22.31, Z:-7.88 [[ 8.20585523e-01 5.65647415e-01 8.17459625e-02 7.88051644e+01] [-5.62978540e-01 8.24646619e-01 -5.48918696e-02 -2.23133182e+01] [-9.84609758e-02 -9.77749116e-04 9.95140432e-01 -7.88354045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-22.33, Z:-7.89 [[ 8.21046287e-01 5.65164324e-01 8.04504912e-02 7.88316041e+01] [-5.62574101e-01 8.24977888e-01 -5.40542796e-02 -2.23328592e+01] [-9.69194267e-02 -8.78297243e-04 9.95291843e-01 -7.88761701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:-22.35, Z:-7.89 [[ 8.21385373e-01 5.64805763e-01 7.95016987e-02 7.88577150e+01] [-5.62271658e-01 8.25223492e-01 -5.34487755e-02 -2.23519540e+01] [-9.57948458e-02 -7.99509524e-04 9.95400778e-01 -7.89154527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-22.37, Z:-7.90 [[ 8.21614145e-01 5.64613413e-01 7.84977120e-02 7.88826526e+01] [-5.62139157e-01 8.25355163e-01 -5.28055222e-02 -2.23719701e+01] [-9.46031980e-02 -7.40873677e-04 9.95514784e-01 -7.89508549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:-22.39, Z:-7.90 [[ 8.21605316e-01 5.64622758e-01 7.85228972e-02 7.89090141e+01] [-5.62144140e-01 8.25348790e-01 -5.28520584e-02 -2.23916956e+01] [-9.46502532e-02 -7.17654418e-04 9.95510329e-01 -7.89857220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:-22.41, Z:-7.90 [[ 8.20914370e-01 5.65657120e-01 7.83046624e-02 7.89353553e+01] [-5.63193871e-01 8.24640146e-01 -5.27379631e-02 -2.24100848e+01] [-9.44047726e-02 -8.07354192e-04 9.95533569e-01 -7.90100797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:-22.43, Z:-7.90 [[ 8.19941791e-01 5.66966494e-01 7.90218606e-02 7.89628598e+01] [-5.64460911e-01 8.23740316e-01 -5.32519622e-02 -2.24285345e+01] [-9.52855707e-02 -9.41242179e-04 9.95449534e-01 -7.90419712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:-22.45, Z:-7.91 [[ 8.18273504e-01 5.69302969e-01 7.95147864e-02 7.89894703e+01] [-5.66773891e-01 8.22126938e-01 -5.36158047e-02 -2.24481846e+01] [-9.58948847e-02 -1.19451244e-03 9.95390750e-01 -7.90583987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:-22.47, Z:-7.91 [[ 8.17222557e-01 5.70853495e-01 7.92059371e-02 7.90161378e+01] [-5.68348231e-01 8.21050839e-01 -5.34397669e-02 -2.24666483e+01] [-9.55383788e-02 -1.34437130e-03 9.95424839e-01 -7.90886831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:-22.48, Z:-7.91 [[ 8.15865654e-01 5.72857626e-01 7.87234086e-02 7.90432252e+01] [-5.70389056e-01 8.19653440e-01 -5.31466216e-02 -2.24846394e+01] [-9.49713601e-02 -1.54246755e-03 9.95478810e-01 -7.91184799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:-22.50, Z:-7.92 [[ 8.14296036e-01 5.75010572e-01 7.92767741e-02 7.90704595e+01] [-5.72514086e-01 8.18144044e-01 -5.35531879e-02 -2.25024275e+01] [-9.56534698e-02 -1.77892121e-03 9.95413105e-01 -7.91553399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-22.52, Z:-7.92 [[ 8.13894665e-01 5.75539898e-01 7.95569044e-02 7.90962793e+01] [-5.73025000e-01 8.17771675e-01 -5.37757973e-02 -2.25202306e+01] [-9.60094999e-02 -1.82026063e-03 9.95378753e-01 -7.91881408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:-22.54, Z:-7.92 [[ 8.13456840e-01 5.76140291e-01 7.96889840e-02 7.91231778e+01] [-5.73616910e-01 8.17348684e-01 -5.38959019e-02 -2.25385758e+01] [-9.61852868e-02 -1.86895873e-03 9.95361692e-01 -7.92180979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:-22.56, Z:-7.92 [[ 8.12357790e-01 5.77699134e-01 7.96148907e-02 7.91506566e+01] [-5.75184755e-01 8.16247273e-01 -5.38784426e-02 -2.25571083e+01] [-9.61109670e-02 -2.02469884e-03 9.95368566e-01 -7.92467292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:-22.58, Z:-7.93 [[ 8.11794298e-01 5.78594712e-01 7.88554204e-02 7.91779370e+01] [-5.76129271e-01 8.15612542e-01 -5.33970535e-02 -2.25752207e+01] [-9.52107227e-02 -2.08349234e-03 9.95454960e-01 -7.92805897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:-22.59, Z:-7.93 [[ 8.11743215e-01 5.78779729e-01 7.80190919e-02 7.92042067e+01] [-5.76364218e-01 8.15481329e-01 -5.28629407e-02 -2.25925758e+01] [-9.42191112e-02 -2.05627952e-03 9.95549361e-01 -7.93164940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:-22.61, Z:-7.94 [[ 8.12106083e-01 5.78392062e-01 7.71124724e-02 7.92317105e+01] [-5.76027995e-01 8.15756561e-01 -5.22779390e-02 -2.26107909e+01] [-9.31421502e-02 -1.96371059e-03 9.95650884e-01 -7.93559138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:-22.63, Z:-7.94 [[ 8.12253959e-01 5.78260654e-01 7.65383733e-02 7.92591246e+01] [-5.75928277e-01 8.15849847e-01 -5.19196158e-02 -2.26295961e+01] [-9.24668911e-02 -1.90870001e-03 9.95713930e-01 -7.93854118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:-22.65, Z:-7.94 [[ 8.12290288e-01 5.78202946e-01 7.65887767e-02 7.92861620e+01] [-5.75864329e-01 8.15890818e-01 -5.19850732e-02 -2.26485903e+01] [-9.25460021e-02 -1.87777446e-03 9.95706639e-01 -7.94165025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:-22.67, Z:-7.94 [[ 8.13455983e-01 5.76487822e-01 7.71437218e-02 7.93127423e+01] [-5.74104473e-01 8.17104036e-01 -5.23932133e-02 -2.26677512e+01] [-9.32384958e-02 -1.66898289e-03 9.95642404e-01 -7.94404064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.34, Y:-22.69, Z:-7.95 [[ 8.14369019e-01 5.75137836e-01 7.75858902e-02 7.93389051e+01] [-5.72717865e-01 8.18055151e-01 -5.27258679e-02 -2.26860232e+01] [-9.37941787e-02 -1.49651196e-03 9.95590484e-01 -7.94733124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:-22.70, Z:-7.95 [[ 8.15649792e-01 5.73293083e-01 7.77846852e-02 7.93656651e+01] [-5.70849485e-01 8.19349404e-01 -5.28906435e-02 -2.27047347e+01] [-9.40546755e-02 -1.26310506e-03 9.95566232e-01 -7.95065955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:-22.72, Z:-7.95 [[ 8.17253974e-01 5.70950803e-01 7.81736725e-02 7.93923851e+01] [-5.68468827e-01 8.20983701e-01 -5.31879275e-02 -2.27237830e+01] [-9.45470009e-02 -9.71250769e-04 9.95519925e-01 -7.95402028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.056559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.42, Y:-22.74, Z:-7.96 [[ 8.21045975e-01 5.65363458e-01 7.90421890e-02 7.94177291e+01] [-5.62796755e-01 8.24841845e-01 -5.38121143e-02 -2.27430061e+01] [-9.56207080e-02 -3.02467700e-04 9.95417796e-01 -7.95688715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.45, Y:-22.76, Z:-7.96 [[ 8.20980333e-01 5.65460823e-01 7.90275291e-02 7.94451943e+01] [-5.62892499e-01 8.24775106e-01 -5.38336347e-02 -2.27618170e+01] [-9.56207501e-02 -2.87648002e-04 9.95417796e-01 -7.96029984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:-22.78, Z:-7.96 [[ 8.22712675e-01 5.62874524e-01 7.94740490e-02 7.94714833e+01] [-5.60263748e-01 8.26542358e-01 -5.41503714e-02 -2.27807532e+01] [-9.61685324e-02 2.37683531e-05 9.95365065e-01 -7.96319500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:-22.80, Z:-7.97 [[ 8.24319037e-01 5.60526497e-01 7.94239929e-02 7.94981514e+01] [-5.57905006e-01 8.28136426e-01 -5.41485356e-02 -2.27999232e+01] [-9.61255906e-02 3.24625514e-04 9.95369160e-01 -7.96628479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:-22.82, Z:-7.97 [[ 8.26391642e-01 5.57374265e-01 8.00673640e-02 7.95246066e+01] [-5.54692022e-01 8.30261045e-01 -5.46201194e-02 -2.28171449e+01] [-9.69206622e-02 7.24882138e-04 9.95291847e-01 -7.96977359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:-22.84, Z:-7.97 [[ 8.27734432e-01 5.55407294e-01 7.98651866e-02 7.95524418e+01] [-5.52726551e-01 8.31577886e-01 -5.45121954e-02 -2.28351178e+01] [-9.66905941e-02 9.78012007e-04 9.95314007e-01 -7.97316097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-22.85, Z:-7.98 [[ 8.27678127e-01 5.55537866e-01 7.95399101e-02 7.95798349e+01] [-5.52876356e-01 8.31490653e-01 -5.43233749e-02 -2.28530904e+01] [-9.63153835e-02 9.86533558e-04 9.95350377e-01 -7.97676187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:-22.87, Z:-7.98 [[ 8.28187863e-01 5.55112363e-01 7.71694800e-02 7.96072352e+01] [-5.52604389e-01 8.31774749e-01 -5.27177087e-02 -2.28695370e+01] [-9.34518767e-02 1.01597314e-03 9.95623279e-01 -7.98152822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-22.89, Z:-7.99 [[ 8.29458960e-01 5.53411266e-01 7.57218872e-02 7.96356324e+01] [-5.50986719e-01 8.32907260e-01 -5.17603307e-02 -2.28867014e+01] [-9.17140597e-02 1.21131583e-03 9.95784647e-01 -7.98546967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:-22.90, Z:-7.99 [[ 8.29318440e-01 5.53548767e-01 7.62541005e-02 7.96629453e+01] [-5.51087583e-01 8.32815854e-01 -5.21558097e-02 -2.29028489e+01] [-9.23764080e-02 1.23108676e-03 9.95723397e-01 -7.98855080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:-22.92, Z:-7.99 [[ 8.29215211e-01 5.53705305e-01 7.62402001e-02 7.96903581e+01] [-5.51242915e-01 8.32711776e-01 -5.21761205e-02 -2.29216995e+01] [-9.23763072e-02 1.23836264e-03 9.95723398e-01 -7.99196104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:-22.94, Z:-8.00 [[ 8.29111984e-01 5.53861210e-01 7.62304281e-02 7.97177656e+01] [-5.51398165e-01 8.32608087e-01 -5.21903935e-02 -2.29405584e+01] [-9.23763054e-02 1.23836261e-03 9.95723398e-01 -7.99536861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:-22.96, Z:-8.00 [[ 8.29094287e-01 5.53861078e-01 7.64236163e-02 7.97455223e+01] [-5.51383636e-01 8.32608145e-01 -5.23427435e-02 -2.29583544e+01] [-9.26215338e-02 1.25833822e-03 9.95700592e-01 -7.99834439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:-22.98, Z:-8.00 [[ 8.29260503e-01 5.53537306e-01 7.69640796e-02 7.97724806e+01] [-5.51020241e-01 8.32823319e-01 -5.27447837e-02 -2.29754726e+01] [-9.32936857e-02 1.33040018e-03 9.95637744e-01 -8.00162249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-22.99, Z:-8.00 [[ 8.29195915e-01 5.53459801e-01 7.82073145e-02 7.98006380e+01] [-5.50857360e-01 8.32874737e-01 -5.36268692e-02 -2.29929949e+01] [-9.48172129e-02 1.38610605e-03 9.95493734e-01 -8.00471897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:-23.01, Z:-8.01 [[ 8.28116502e-01 5.54845996e-01 7.98058872e-02 7.98286854e+01] [-5.52138958e-01 8.31952090e-01 -5.47566482e-02 -2.30082913e+01] [-9.67761817e-02 1.28094457e-03 9.95305345e-01 -8.00730086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:-23.02, Z:-8.01 [[ 8.27120800e-01 5.56352585e-01 7.96428479e-02 7.98569094e+01] [-5.53660645e-01 8.30945563e-01 -5.46750510e-02 -2.30249677e+01] [-9.65974771e-02 1.12776137e-03 9.95322890e-01 -8.01090893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:-23.04, Z:-8.01 [[ 8.26546248e-01 5.57240729e-01 7.93981696e-02 7.98841386e+01] [-5.54566234e-01 8.30350330e-01 -5.45400848e-02 -2.30420447e+01] [-9.63202529e-02 1.04835858e-03 9.95349843e-01 -8.01455554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:-23.06, Z:-8.02 [[ 8.26478685e-01 5.57343034e-01 7.93834062e-02 7.99115299e+01] [-5.54666948e-01 8.30281647e-01 -5.45615644e-02 -2.30609635e+01] [-9.63200930e-02 1.06261836e-03 9.95349843e-01 -8.01796776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-23.08, Z:-8.02 [[ 8.26070316e-01 5.57997607e-01 7.90348267e-02 7.99392748e+01] [-5.55346761e-01 8.29841964e-01 -5.43349746e-02 -2.30781427e+01] [-9.59052016e-02 9.92774592e-04 9.95389977e-01 -8.02171883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:-23.10, Z:-8.03 [[ 8.26001954e-01 5.58101029e-01 7.90190668e-02 7.99666599e+01] [-5.55448464e-01 8.29772393e-01 -5.43578843e-02 -2.30970701e+01] [-9.59050313e-02 1.00869933e-03 9.95389978e-01 -8.02513163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-23.11, Z:-8.03 [[ 8.25499559e-01 5.58886386e-01 7.87177565e-02 7.99936077e+01] [-5.56256354e-01 8.29243723e-01 -5.41637950e-02 -2.31141633e+01] [-9.55476131e-02 9.24936706e-04 9.95424431e-01 -8.02903018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:-23.13, Z:-8.03 [[ 8.24787550e-01 5.60032807e-01 7.80304658e-02 8.00217232e+01] [-5.57450905e-01 8.28470035e-01 -5.37204719e-02 -2.31316897e+01] [-9.47311294e-02 8.09822661e-04 9.95502565e-01 -8.03260917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:-23.15, Z:-8.04 [[ 8.24384899e-01 5.60671181e-01 7.77004811e-02 8.00479921e+01] [-5.58110933e-01 8.28038193e-01 -5.35251044e-02 -2.31486863e+01] [-9.43489495e-02 7.59799759e-04 9.95538899e-01 -8.03588909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:-23.17, Z:-8.04 [[ 8.24030193e-01 5.61251965e-01 7.72688375e-02 8.00754701e+01] [-5.58719951e-01 8.27644684e-01 -5.32568624e-02 -2.31666112e+01] [-9.38416613e-02 7.13621484e-04 9.95586879e-01 -8.03931804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:-23.18, Z:-8.04 [[ 8.23699133e-01 5.61783660e-01 7.69341149e-02 8.01023831e+01] [-5.59272991e-01 8.27283907e-01 -5.30571329e-02 -2.31844811e+01] [-9.34529855e-02 6.75941771e-04 9.95623464e-01 -8.04277363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:-23.20, Z:-8.05 [[ 8.23479106e-01 5.62155312e-01 7.65739346e-02 8.01295177e+01] [-5.59666880e-01 8.27031423e-01 -5.28394691e-02 -2.32027234e+01] [-9.30330384e-02 6.56303745e-04 9.95662806e-01 -8.04645400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:-23.22, Z:-8.05 [[ 8.23292370e-01 5.62440245e-01 7.64895011e-02 8.01568996e+01] [-5.59955593e-01 8.26837680e-01 -5.28127424e-02 -2.32209326e+01] [-9.29484134e-02 6.49603981e-04 9.95670714e-01 -8.04983677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:-23.24, Z:-8.05 [[ 8.23105492e-01 5.62695961e-01 7.66198718e-02 8.01839760e+01] [-5.60200939e-01 8.26663677e-01 -5.29346122e-02 -2.32391981e+01] [-9.31249574e-02 6.48245932e-04 9.95654218e-01 -8.05352768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:-23.26, Z:-8.06 [[ 8.23148165e-01 5.62584845e-01 7.69765529e-02 8.02101175e+01] [-5.60062894e-01 8.26739266e-01 -5.32141014e-02 -2.32567061e+01] [-9.35769858e-02 6.91378902e-04 9.95611807e-01 -8.05703820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:-23.28, Z:-8.06 [[ 8.22971318e-01 5.62860202e-01 7.68544244e-02 8.02367102e+01] [-5.60345716e-01 8.26551836e-01 -5.31482919e-02 -2.32752387e+01] [-9.34392239e-02 6.74472415e-04 9.95624757e-01 -8.06026870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-23.29, Z:-8.06 [[ 8.23047921e-01 5.62812109e-01 7.63848798e-02 8.02628950e+01] [-5.60325094e-01 8.26584561e-01 -5.28559626e-02 -2.32934081e+01] [-9.28865381e-02 7.02625147e-04 9.95676452e-01 -8.06359577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:-23.31, Z:-8.07 [[ 8.22936690e-01 5.63040756e-01 7.58967129e-02 8.02895146e+01] [-5.60583726e-01 8.26428836e-01 -5.25477398e-02 -2.33119852e+01] [-9.23097513e-02 6.97000929e-04 9.95730096e-01 -8.06691803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:-23.33, Z:-8.07 [[ 8.22740820e-01 5.63340281e-01 7.57975598e-02 8.03156099e+01] [-5.60887995e-01 8.26224699e-01 -5.25109932e-02 -2.33299473e+01] [-9.22073737e-02 6.88996352e-04 9.95739587e-01 -8.07029045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:-23.35, Z:-8.07 [[ 8.22466384e-01 5.63761147e-01 7.56466564e-02 8.03415051e+01] [-5.61317689e-01 8.25937605e-01 -5.24359106e-02 -2.33475408e+01] [-9.20407473e-02 6.64967422e-04 9.95755019e-01 -8.07359482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:-23.37, Z:-8.08 [[ 8.22464039e-01 5.63728710e-01 7.59134159e-02 8.03686531e+01] [-5.61265131e-01 8.25959720e-01 -5.26497305e-02 -2.33661294e+01] [-9.23815884e-02 6.94956669e-04 9.95723435e-01 -8.07719441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:-23.38, Z:-8.08 [[ 8.22643262e-01 5.63511864e-01 7.55807024e-02 8.03958213e+01] [-5.61066120e-01 8.26107638e-01 -5.24497847e-02 -2.33848077e+01] [-9.19938715e-02 7.41690544e-04 9.95759297e-01 -8.08054339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:-23.40, Z:-8.08 [[ 8.23740969e-01 5.61884408e-01 7.57411965e-02 8.04224525e+01] [-5.59418497e-01 8.27215212e-01 -5.25921801e-02 -2.34036678e+01] [-9.22049959e-02 9.51307087e-04 9.95739591e-01 -8.08380425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-23.42, Z:-8.09 [[ 8.24531829e-01 5.60698875e-01 7.59212380e-02 8.04491108e+01] [-5.58213266e-01 8.28019042e-01 -5.27486098e-02 -2.34226148e+01] [-9.24403169e-02 1.11266552e-03 9.95717605e-01 -8.08704822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:80.47, Y:-23.46, Z:-8.07 [[ 8.25681285e-01 5.57121095e-01 8.86932980e-02 8.04690804e+01] [-5.57336367e-01 8.29921405e-01 -2.46299814e-02 -2.34597926e+01] [-8.73303487e-02 -2.90954859e-02 9.95754419e-01 -8.06970799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:-23.45, Z:-8.10 [[ 8.27785734e-01 5.57962221e-01 5.87276574e-02 8.05080340e+01] [-5.53317130e-01 8.29212852e-01 -7.90329062e-02 -2.34466154e+01] [-9.27951042e-02 3.29272935e-02 9.95140624e-01 -8.10400559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:-23.48, Z:-8.10 [[ 8.28941390e-01 5.54013710e-01 7.69739017e-02 8.05266290e+01] [-5.51423867e-01 8.32505289e-01 -5.35412308e-02 -2.34787257e+01] [-9.37437561e-02 1.93729573e-03 9.95594473e-01 -8.09636996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:-23.50, Z:-8.10 [[ 8.30024275e-01 5.52365860e-01 7.71470005e-02 8.05521955e+01] [-5.49754200e-01 8.33599011e-01 -5.36936448e-02 -2.34967279e+01] [-9.39681996e-02 2.15514100e-03 9.95572867e-01 -8.09972885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:-23.52, Z:-8.10 [[ 8.30710912e-01 5.51327504e-01 7.71839641e-02 8.05792298e+01] [-5.48706088e-01 8.34285743e-01 -5.37487466e-02 -2.35159390e+01] [-9.40266431e-02 2.29835937e-03 9.95567028e-01 -8.10307028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:-23.53, Z:-8.11 [[ 8.31301615e-01 5.50428958e-01 7.72372100e-02 8.06060190e+01] [-5.47797029e-01 8.34878473e-01 -5.38177510e-02 -2.35347800e+01] [-9.41065326e-02 2.42846917e-03 9.95559171e-01 -8.10659656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:-23.55, Z:-8.11 [[ 8.32229230e-01 5.49083710e-01 7.68217916e-02 8.06322124e+01] [-5.46471352e-01 8.35763335e-01 -5.35603309e-02 -2.35533159e+01] [-9.36139420e-02 2.59356464e-03 9.95605194e-01 -8.11022893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:-23.58, Z:-8.11 [[ 8.31546353e-01 5.49705116e-01 7.97179306e-02 8.06572926e+01] [-5.47848766e-01 8.35338450e-01 -4.55126757e-02 -2.35789240e+01] [-9.16100033e-02 -5.82747040e-03 9.95777911e-01 -8.10705658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:-23.59, Z:-8.12 [[ 8.32110029e-01 5.49982909e-01 7.14961462e-02 8.06865550e+01] [-5.46728138e-01 8.35096099e-01 -6.08510370e-02 -2.35857333e+01] [-9.31731831e-02 1.15458032e-02 9.95582971e-01 -8.12025951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:-23.61, Z:-8.12 [[ 8.31757548e-01 5.49791730e-01 7.68663489e-02 8.07113122e+01] [-5.47172818e-01 8.35297809e-01 -5.36607551e-02 -2.36079628e+01] [-9.37085322e-02 2.57356135e-03 9.95596348e-01 -8.12095188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:-23.63, Z:-8.12 [[ 8.30496925e-01 5.51663431e-01 7.70864189e-02 8.07386959e+01] [-5.49034450e-01 8.34063377e-01 -5.38465998e-02 -2.36257778e+01] [-9.40001588e-02 2.39633596e-03 9.95569298e-01 -8.12480206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-23.65, Z:-8.12 [[ 8.29290153e-01 5.53323853e-01 7.81700435e-02 8.07653712e+01] [-5.51050011e-01 8.32964863e-01 -5.01340383e-02 -2.36477416e+01] [-9.28532588e-02 -1.49993904e-03 9.95678674e-01 -8.12497410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:-23.66, Z:-8.13 [[ 8.28623131e-01 5.54741193e-01 7.51393083e-02 8.07929285e+01] [-5.51783098e-01 8.31999663e-01 -5.75497443e-02 -2.36599439e+01] [-9.44410931e-02 6.22644898e-03 9.95510980e-01 -8.13320687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:-23.68, Z:-8.14 [[ 8.27600837e-01 5.55918805e-01 7.76603930e-02 8.08192558e+01] [-5.53262387e-01 8.31234224e-01 -5.43175481e-02 -2.36800715e+01] [-9.47501230e-02 1.98667390e-03 9.95499105e-01 -8.13514204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-23.70, Z:-8.14 [[ 8.26361519e-01 5.57654176e-01 7.84121187e-02 8.08456092e+01] [-5.54950514e-01 8.30071358e-01 -5.48768412e-02 -2.36983367e+01] [-9.56899535e-02 1.83326426e-03 9.95409500e-01 -8.13857786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:-23.72, Z:-8.14 [[ 8.23803266e-01 5.61404715e-01 7.85679624e-02 8.08728268e+01] [-5.58809754e-01 8.27541227e-01 -5.39182408e-02 -2.37183572e+01] [-9.52881826e-02 5.13479096e-04 9.95449596e-01 -8.14092147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:-23.74, Z:-8.15 [[ 8.22496094e-01 5.63464336e-01 7.75120406e-02 8.09000686e+01] [-5.60775288e-01 8.26138471e-01 -5.50118561e-02 -2.37363265e+01] [-9.50328976e-02 1.78019997e-03 9.95472541e-01 -8.14524983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:-23.75, Z:-8.15 [[ 8.21919769e-01 5.64319757e-01 7.74022247e-02 8.09270980e+01] [-5.61688252e-01 8.25555317e-01 -5.44493016e-02 -2.37535070e+01] [-9.46266347e-02 1.27703712e-03 9.95512014e-01 -8.14855606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-23.76, Z:-8.16 [[ 8.20470577e-01 5.66943948e-01 7.35023268e-02 8.09552764e+01] [-5.63415848e-01 8.23680077e-01 -6.41382310e-02 -2.37641040e+01] [-9.69051841e-02 1.12111557e-02 9.95230473e-01 -8.15913995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:-23.79, Z:-8.15 [[ 8.19596806e-01 5.66840913e-01 8.33813882e-02 8.09762439e+01] [-5.64917052e-01 8.23785822e-01 -4.73882201e-02 -2.37901880e+01] [-9.55499874e-02 -8.26433421e-03 9.95390326e-01 -8.15329986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-23.80, Z:-8.16 [[ 8.18777894e-01 5.69146940e-01 7.53294151e-02 8.10076603e+01] [-5.65835723e-01 8.22196956e-01 -6.18231330e-02 -2.38031824e+01] [-9.71220628e-02 7.99534058e-03 9.95240363e-01 -8.16453018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:-23.82, Z:-8.16 [[ 8.19068824e-01 5.68039182e-01 8.03601203e-02 8.10312928e+01] [-5.65549664e-01 8.22999300e-01 -5.31575978e-02 -2.38243922e+01] [-9.63319211e-02 -1.90790784e-03 9.95347437e-01 -8.16308618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:-23.84, Z:-8.17 [[ 8.19531962e-01 5.67981978e-01 7.59199328e-02 8.10592800e+01] [-5.64426900e-01 8.22983133e-01 -6.41953061e-02 -2.38350848e+01] [-9.89426011e-02 9.75885284e-03 9.95045289e-01 -8.17348682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-23.86, Z:-8.17 [[ 8.20254388e-01 5.65998383e-01 8.26351617e-02 8.10822791e+01] [-5.63645552e-01 8.24395894e-01 -5.17213983e-02 -2.38604481e+01] [-9.73983157e-02 -4.15223743e-03 9.95236820e-01 -8.17045319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-23.88, Z:-8.17 [[ 8.20824134e-01 5.65328150e-01 8.15587112e-02 8.11087113e+01] [-5.63045981e-01 8.24855760e-01 -5.09136431e-02 -2.38803278e+01] [-9.60570884e-02 -4.13015747e-03 9.95367258e-01 -8.17179871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:-23.90, Z:-8.17 [[ 8.21402463e-01 5.64653273e-01 8.04032046e-02 8.11343153e+01] [-5.62230841e-01 8.25325162e-01 -5.22958769e-02 -2.38974009e+01] [-9.58878258e-02 -2.24919922e-03 9.95389605e-01 -8.17479918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:-23.91, Z:-8.19 [[ 8.22955653e-01 5.63257787e-01 7.40584831e-02 8.11644371e+01] [-5.59502520e-01 8.26177800e-01 -6.62357346e-02 -2.39085464e+01] [-9.84932679e-02 1.30731643e-02 9.95051842e-01 -8.18735043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:-23.93, Z:-8.19 [[ 8.22788959e-01 5.62586009e-01 8.07174799e-02 8.11886401e+01] [-5.59752728e-01 8.26737853e-01 -5.64039480e-02 -2.39328256e+01] [-9.84642680e-02 1.22671611e-03 9.95139831e-01 -8.18664280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:-23.96, Z:-8.18 [[ 8.24520874e-01 5.59261837e-01 8.59739851e-02 8.12110143e+01] [-5.57475727e-01 8.28928773e-01 -4.58028736e-02 -2.39569750e+01] [-9.68821093e-02 -1.01629845e-02 9.95243975e-01 -8.18191334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:-23.97, Z:-8.19 [[ 8.25614164e-01 5.58594139e-01 7.95854267e-02 8.12405439e+01] [-5.55784343e-01 8.29438728e-01 -5.59924976e-02 -2.39707931e+01] [-9.72883162e-02 1.99586501e-03 9.95254239e-01 -8.18949425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:-23.99, Z:-8.19 [[ 8.26678676e-01 5.56971526e-01 7.99067368e-02 8.12671131e+01] [-5.54128099e-01 8.30528612e-01 -5.62518905e-02 -2.39894703e+01] [-9.76955324e-02 2.22367022e-03 9.95213866e-01 -8.19280679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-24.01, Z:-8.19 [[ 8.28768638e-01 5.53322913e-01 8.35242369e-02 8.12921341e+01] [-5.51303609e-01 8.32941222e-01 -4.76786362e-02 -2.40135455e+01] [-9.59524618e-02 -6.53265484e-03 9.95364481e-01 -8.19099712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:-24.02, Z:-8.20 [[ 8.29831273e-01 5.53052151e-01 7.42521183e-02 8.13230436e+01] [-5.49385873e-01 8.33044165e-01 -6.49044007e-02 -2.40226571e+01] [-9.77508123e-02 1.30666365e-02 9.95125139e-01 -8.20422123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:-24.04, Z:-8.20 [[ 8.30228883e-01 5.51602831e-01 8.03387744e-02 8.13456946e+01] [-5.48781505e-01 8.34103979e-01 -5.57621119e-02 -2.40445715e+01] [-9.77694302e-02 2.20688237e-03 9.95206646e-01 -8.20305144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:-24.07, Z:-8.20 [[ 8.30986878e-01 5.50173995e-01 8.22762719e-02 8.13708857e+01] [-5.48026842e-01 8.35037594e-01 -4.87729249e-02 -2.40662346e+01] [-9.55373750e-02 -4.55994488e-03 9.95415399e-01 -8.20239745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:-24.08, Z:-8.20 [[ 8.30991638e-01 5.50645254e-01 7.90107699e-02 8.13977014e+01] [-5.48542778e-01 8.34732846e-01 -4.81860717e-02 -2.40849403e+01] [-9.24863165e-02 -3.29856453e-03 9.95708492e-01 -8.20353847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:-24.09, Z:-8.22 [[ 8.31426648e-01 5.51248879e-01 6.96735386e-02 8.14280979e+01] [-5.47351371e-01 8.34138547e-01 -6.79658839e-02 -2.40898145e+01] [-9.55835016e-02 1.83727401e-02 9.95251846e-01 -8.21939263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:-24.11, Z:-8.22 [[ 8.31357312e-01 5.50142060e-01 7.86685111e-02 8.14517220e+01] [-5.47337189e-01 8.35065175e-01 -5.55711752e-02 -2.41146611e+01] [-9.62653748e-02 3.14130112e-03 9.95350747e-01 -8.21787964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:-24.13, Z:-8.22 [[ 8.31943969e-01 5.49271266e-01 7.85513135e-02 8.14797705e+01] [-5.46467657e-01 8.35637728e-01 -5.55219513e-02 -2.41321750e+01] [-9.61370537e-02 3.26540031e-03 9.95362750e-01 -8.22143103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:-24.15, Z:-8.22 [[ 8.30871862e-01 5.50713472e-01 7.97911102e-02 8.15062757e+01] [-5.47824707e-01 8.34688346e-01 -5.64221178e-02 -2.41499010e+01] [-9.76731302e-02 3.16800858e-03 9.95213506e-01 -8.22398310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-24.17, Z:-8.23 [[ 8.30329790e-01 5.51460985e-01 8.02696829e-02 8.15334439e+01] [-5.48538743e-01 8.34194862e-01 -5.67818619e-02 -2.41679093e+01] [-9.82735386e-02 3.11664051e-03 9.95154560e-01 -8.22726543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:-24.19, Z:-8.23 [[ 8.29733609e-01 5.52345411e-01 8.03535067e-02 8.15601416e+01] [-5.49417820e-01 8.33609791e-01 -5.68750814e-02 -2.41851791e+01] [-9.83981601e-02 3.04351804e-03 9.95142472e-01 -8.23045123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:-24.20, Z:-8.23 [[ 8.28923470e-01 5.53543407e-01 8.04709756e-02 8.15879010e+01] [-5.50609717e-01 8.32815165e-01 -5.69898189e-02 -2.42030032e+01] [-9.85637873e-02 2.93209729e-03 9.95126415e-01 -8.23407777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:-24.22, Z:-8.24 [[ 8.27892043e-01 5.55095606e-01 8.03967244e-02 8.16142411e+01] [-5.52171271e-01 8.31781929e-01 -5.69711322e-02 -2.42201501e+01] [-9.84969677e-02 2.77318552e-03 9.95133487e-01 -8.23768982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:-24.24, Z:-8.24 [[ 8.25446823e-01 5.58749689e-01 8.02267252e-02 8.16423686e+01] [-5.55851789e-01 8.29332997e-01 -5.68820575e-02 -2.42373569e+01] [-9.83175024e-02 2.35894493e-03 9.95152302e-01 -8.24168542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:-24.25, Z:-8.25 [[ 8.24093890e-01 5.60797989e-01 7.98428270e-02 8.16691779e+01] [-5.57934134e-01 8.27949920e-01 -5.66430220e-02 -2.42546314e+01] [-9.78711550e-02 2.13212969e-03 9.95196810e-01 -8.24503694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:-24.27, Z:-8.25 [[ 8.21151895e-01 5.65139199e-01 7.95440173e-02 8.16976518e+01] [-5.62314020e-01 8.24993947e-01 -5.64617567e-02 -2.42717418e+01] [-9.75320848e-02 1.63496245e-03 9.95231038e-01 -8.24930179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:-24.29, Z:-8.25 [[ 8.19738858e-01 5.67285084e-01 7.88405825e-02 8.17244952e+01] [-5.64516458e-01 8.23520302e-01 -5.59953632e-02 -2.42893390e+01] [-9.66921546e-02 1.39476869e-03 9.95313359e-01 -8.25266161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:-24.31, Z:-8.26 [[ 8.18361229e-01 5.69352315e-01 7.82485720e-02 8.17521145e+01] [-5.66632730e-01 8.22092817e-01 -5.55945131e-02 -2.43075987e+01] [-9.59804537e-02 1.15819218e-03 9.95382545e-01 -8.25614045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:-24.32, Z:-8.26 [[ 8.16232399e-01 5.72412550e-01 7.81571700e-02 8.17789853e+01] [-5.69710098e-01 8.19965360e-01 -5.55626889e-02 -2.43243557e+01] [-9.58909524e-02 8.25137902e-04 9.95391503e-01 -8.25961604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:-24.34, Z:-8.26 [[ 8.15509109e-01 5.73433015e-01 7.82270357e-02 8.18051918e+01] [-5.70727417e-01 8.19252124e-01 -5.56432690e-02 -2.43422426e+01] [-9.59953526e-02 7.31278777e-04 9.95381514e-01 -8.26262256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:-24.36, Z:-8.27 [[ 8.14952480e-01 5.74203251e-01 7.83778139e-02 8.18319167e+01] [-5.71487922e-01 8.18712515e-01 -5.57796755e-02 -2.43608609e+01] [-9.61977682e-02 6.65810854e-04 9.95362018e-01 -8.26571530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:-24.38, Z:-8.27 [[ 8.14714009e-01 5.74558834e-01 7.82510750e-02 8.18583731e+01] [-5.71850881e-01 8.18463027e-01 -5.57211292e-02 -2.43793304e+01] [-9.60606787e-02 6.48838371e-04 9.95375268e-01 -8.26878826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-24.40, Z:-8.27 [[ 8.14791256e-01 5.74439764e-01 7.83209242e-02 8.18848574e+01] [-5.71723579e-01 8.18546568e-01 -5.58002262e-02 -2.43977757e+01] [-9.61631925e-02 6.87617347e-04 9.95365344e-01 -8.27214324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:-24.42, Z:-8.28 [[ 8.16013355e-01 5.72748784e-01 7.79809875e-02 8.19107941e+01] [-5.70045269e-01 8.19730444e-01 -5.55912803e-02 -2.44157944e+01] [-9.57632277e-02 9.10534242e-04 9.95403725e-01 -8.27542042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:-24.43, Z:-8.28 [[ 8.16831287e-01 5.71592820e-01 7.78992661e-02 8.19373248e+01] [-5.68886771e-01 8.20536716e-01 -5.55638398e-02 -2.44347356e+01] [-9.56790998e-02 1.07042089e-03 9.95411656e-01 -8.27854492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:-24.45, Z:-8.28 [[ 8.17796857e-01 5.70254430e-01 7.75769642e-02 8.19629707e+01] [-5.67561613e-01 8.21467178e-01 -5.53668697e-02 -2.44531305e+01] [-9.53001326e-02 1.24914507e-03 9.95447801e-01 -8.28127708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:-24.48, Z:-8.27 [[ 8.20103652e-01 5.65815311e-01 8.53406954e-02 8.19838669e+01] [-5.65234764e-01 8.24263415e-01 -3.31584658e-02 -2.44832091e+01] [-8.91047807e-02 -2.10441489e-02 9.95799921e-01 -8.26752296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:-24.49, Z:-8.28 [[ 8.21372554e-01 5.66312953e-01 6.80938135e-02 8.20184040e+01] [-5.63030842e-01 8.24091616e-01 -6.22035334e-02 -2.44859421e+01] [-9.13422075e-02 1.27533580e-02 9.95737894e-01 -8.28493985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:-24.51, Z:-8.28 [[ 8.21934237e-01 5.64446452e-01 7.63171873e-02 8.20398843e+01] [-5.62447820e-01 8.25460972e-01 -4.76091614e-02 -2.45120076e+01] [-8.98696819e-02 -3.79283587e-03 9.95946311e-01 -8.28104000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:-24.52, Z:-8.30 [[ 8.22306932e-01 5.65212045e-01 6.59291482e-02 8.20719966e+01] [-5.61275686e-01 8.24697759e-01 -6.95931881e-02 -2.45191862e+01] [-9.37065289e-02 2.02225332e-02 9.95394462e-01 -8.29987655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:-24.54, Z:-8.30 [[ 8.22909638e-01 5.63116491e-01 7.56276746e-02 8.20941566e+01] [-5.60517938e-01 8.26374835e-01 -5.40765605e-02 -2.45447453e+01] [-9.29482101e-02 2.10945461e-03 9.95668710e-01 -8.29800956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:-24.56, Z:-8.30 [[ 8.22856738e-01 5.63200379e-01 7.55785832e-02 8.21199741e+01] [-5.60602527e-01 8.26317623e-01 -5.40739459e-02 -2.45626831e+01] [-9.29063821e-02 2.12556597e-03 9.95672580e-01 -8.30134429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:-24.59, Z:-8.29 [[ 8.23092947e-01 5.62186009e-01 8.04045439e-02 8.21427140e+01] [-5.60989680e-01 8.26907482e-01 -3.89178040e-02 -2.45879507e+01] [-8.83661639e-02 -1.30731493e-02 9.96002266e-01 -8.29324543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:-24.59, Z:-8.31 [[ 8.22469735e-01 5.64974944e-01 6.59306188e-02 8.21765873e+01] [-5.61360006e-01 8.24924932e-01 -6.61347114e-02 -2.45921532e+01] [-9.17522661e-02 1.73829861e-02 9.95630129e-01 -8.31254132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:-24.62, Z:-8.30 [[ 8.22484755e-01 5.63094143e-01 8.02733663e-02 8.21955230e+01] [-5.61973595e-01 8.26277781e-01 -3.80881519e-02 -2.46244375e+01] [-8.77753142e-02 -1.37845880e-02 9.96044918e-01 -8.29995614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:-24.63, Z:-8.32 [[ 8.21890480e-01 5.65846890e-01 6.56759897e-02 8.22293310e+01] [-5.62182200e-01 8.24315134e-01 -6.67512859e-02 -2.46289686e+01] [-9.19087197e-02 1.79403741e-02 9.95605811e-01 -8.31917563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:-24.66, Z:-8.31 [[ 8.21746894e-01 5.64085687e-01 8.08664304e-02 8.22474796e+01] [-5.63022151e-01 8.25586467e-01 -3.75904490e-02 -2.46624884e+01] [-8.79664649e-02 -1.46397570e-02 9.96015853e-01 -8.30535581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:-24.67, Z:-8.33 [[ 8.20664246e-01 5.67534344e-01 6.64451933e-02 8.22816416e+01] [-5.63707716e-01 8.23137994e-01 -6.83919219e-02 -2.46658669e+01] [-9.35083277e-02 1.86711369e-02 9.95443409e-01 -8.32543272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:-24.69, Z:-8.32 [[ 8.19852525e-01 5.67412172e-01 7.67154771e-02 8.23038089e+01] [-5.64736198e-01 8.23431897e-01 -5.50721128e-02 -2.46918357e+01] [-9.44185579e-02 1.82700389e-03 9.95530913e-01 -8.32361203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:-24.71, Z:-8.33 [[ 8.18846821e-01 5.68826703e-01 7.69809464e-02 8.23304588e+01] [-5.66135241e-01 8.22455654e-01 -5.52954484e-02 -2.47106597e+01] [-9.47669422e-02 1.69687552e-03 9.95498040e-01 -8.32685682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:-24.73, Z:-8.33 [[ 8.17640543e-01 5.70535756e-01 7.71549930e-02 8.23574464e+01] [-5.67836548e-01 8.21271339e-01 -5.54530588e-02 -2.47297069e+01] [-9.50031372e-02 1.52924421e-03 9.95475798e-01 -8.33031169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:-24.75, Z:-8.33 [[ 8.15072284e-01 5.74156702e-01 7.74677622e-02 8.23839645e+01] [-5.71448617e-01 8.18744639e-01 -5.57108108e-02 -2.47472752e+01] [-9.54130503e-02 1.13949219e-03 9.95437116e-01 -8.33380574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:-24.77, Z:-8.34 [[ 8.13486962e-01 5.76392908e-01 7.75253331e-02 8.24107214e+01] [-5.73687987e-01 8.17172197e-01 -5.57825535e-02 -2.47656103e+01] [-9.55042150e-02 9.03027702e-04 9.95428616e-01 -8.33712452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:-24.78, Z:-8.34 [[ 8.10404349e-01 5.80676335e-01 7.78446258e-02 8.24382994e+01] [-5.77965438e-01 8.14134394e-01 -5.60458931e-02 -2.47836406e+01] [-9.59205110e-02 4.28332249e-04 9.95388905e-01 -8.34076859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:-24.80, Z:-8.34 [[ 8.08803682e-01 5.82908134e-01 7.78120306e-02 8.24653333e+01] [-5.80206580e-01 8.12538043e-01 -5.60558030e-02 -2.48024604e+01] [-9.59006186e-02 1.91087667e-04 9.95390896e-01 -8.34409946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:-24.82, Z:-8.35 [[ 8.07393397e-01 5.84913976e-01 7.74050615e-02 8.24910568e+01] [-5.82246693e-01 8.11095334e-01 -5.57955911e-02 -2.48204989e+01] [-9.54185053e-02 -1.98492725e-05 9.95437245e-01 -8.34715089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:-24.84, Z:-8.35 [[ 8.06179596e-01 5.86614017e-01 7.71910220e-02 8.25178953e+01] [-5.83966354e-01 8.09866629e-01 -5.56717261e-02 -2.48392917e+01] [-9.51722477e-02 -1.95550022e-04 9.95460800e-01 -8.35078066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:-24.86, Z:-8.35 [[ 8.04621387e-01 5.88834558e-01 7.65394536e-02 8.25445672e+01] [-5.86238392e-01 8.08253476e-01 -5.52346503e-02 -2.48584931e+01] [-9.43873503e-02 -4.27385329e-04 9.95535457e-01 -8.35440485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:-24.88, Z:-8.36 [[ 8.04223973e-01 5.89374651e-01 7.65592695e-02 8.25698133e+01] [-5.86776424e-01 8.07859706e-01 -5.52822184e-02 -2.48771204e+01] [-9.44310872e-02 -4.63889028e-04 9.95531293e-01 -8.35780491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:-24.90, Z:-8.36 [[ 8.04210132e-01 5.89356473e-01 7.68440737e-02 8.25957736e+01] [-5.86735802e-01 8.07872982e-01 -5.55188548e-02 -2.48962495e+01] [-9.48006475e-02 -4.38343667e-04 9.95496180e-01 -8.36141763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-24.92, Z:-8.36 [[ 8.04403859e-01 5.89096895e-01 7.68067722e-02 8.26221966e+01] [-5.86474501e-01 8.08062314e-01 -5.55243801e-02 -2.49163377e+01] [-9.47738980e-02 -3.81187824e-04 9.95498751e-01 -8.36450813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:-24.94, Z:-8.37 [[ 8.05810255e-01 5.87124760e-01 7.71644253e-02 8.26465397e+01] [-5.84465469e-01 8.09496449e-01 -5.58176904e-02 -2.49362854e+01] [-9.52362764e-02 -1.21474641e-04 9.95454689e-01 -8.36729671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:-24.97, Z:-8.36 [[ 8.06516316e-01 5.85272465e-01 8.35917086e-02 8.26678082e+01] [-5.84335556e-01 8.10629517e-01 -3.78383897e-02 -2.49661377e+01] [-8.99076740e-02 -1.83283289e-02 9.95781443e-01 -8.35753969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:-24.97, Z:-8.38 [[ 8.07314850e-01 5.86406943e-01 6.61031803e-02 8.27014393e+01] [-5.82395579e-01 8.09797624e-01 -7.10154822e-02 -2.49673652e+01] [-9.51741701e-02 1.88336534e-02 9.95282458e-01 -8.37903673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:-25.00, Z:-8.38 [[ 8.08861992e-01 5.82924846e-01 7.70772424e-02 8.27222603e+01] [-5.80247379e-01 8.12525969e-01 -5.58079700e-02 -2.49960359e+01] [-9.51591134e-02 4.17077960e-04 9.95461988e-01 -8.37714186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:-25.03, Z:-8.36 [[ 8.09082644e-01 5.81515829e-01 8.49977389e-02 8.27424114e+01] [-5.81082993e-01 8.13202767e-01 -3.23081087e-02 -2.50293506e+01] [-8.79080731e-02 -2.32508106e-02 9.95857204e-01 -8.36354289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:-25.04, Z:-8.37 [[ 8.09289961e-01 5.83043505e-01 7.14844731e-02 8.27736261e+01] [-5.80862368e-01 8.12440595e-01 -5.03903738e-02 -2.50400727e+01] [-8.74566680e-02 -7.42216633e-04 9.96168048e-01 -8.37359570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:-25.04, Z:-8.40 [[ 8.09993312e-01 5.83236712e-01 6.12027215e-02 8.28039901e+01] [-5.78766963e-01 8.11857330e-01 -7.69186425e-02 -2.50431925e+01] [-9.45496542e-02 2.68814727e-02 9.95157148e-01 -8.39512895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:-25.07, Z:-8.39 [[ 8.10051850e-01 5.81366962e-01 7.63443222e-02 8.28225233e+01] [-5.78726937e-01 8.13641219e-01 -5.53452708e-02 -2.50742548e+01] [-9.42927993e-02 6.50023271e-04 9.95544296e-01 -8.39042623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:-25.09, Z:-8.39 [[ 8.09980189e-01 5.81468930e-01 7.63280892e-02 8.28494328e+01] [-5.78827248e-01 8.13568338e-01 -5.53676488e-02 -2.50938637e+01] [-9.42926842e-02 6.65920782e-04 9.95544296e-01 -8.39381842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:-25.11, Z:-8.40 [[ 8.09778299e-01 5.81863588e-01 7.54577466e-02 8.28749500e+01] [-5.79282477e-01 8.13286160e-01 -5.47488358e-02 -2.51149499e+01] [-9.32250949e-02 6.23068830e-04 9.95644863e-01 -8.39647779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:-25.13, Z:-8.40 [[ 8.09303909e-01 5.82565769e-01 7.51286063e-02 8.29007767e+01] [-5.80007177e-01 8.12783369e-01 -5.45423730e-02 -2.51348863e+01] [-9.28378012e-02 5.66224911e-04 9.95681085e-01 -8.39958926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:-25.16, Z:-8.40 [[ 8.08260633e-01 5.84085760e-01 7.45558430e-02 8.29266279e+01] [-5.81569594e-01 8.11691846e-01 -5.41586058e-02 -2.51554600e+01] [-9.21496403e-02 4.14857726e-04 9.95745084e-01 -8.40309461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:-25.17, Z:-8.41 [[ 8.07540317e-01 5.85148196e-01 7.40285416e-02 8.29520976e+01] [-5.82669093e-01 8.10926315e-01 -5.38074290e-02 -2.51747421e+01] [-9.15170124e-02 3.17525026e-04 9.95803462e-01 -8.40619457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:-25.19, Z:-8.41 [[ 8.06836296e-01 5.86120303e-01 7.40147421e-02 8.29784099e+01] [-5.83643497e-01 8.10224004e-01 -5.38268641e-02 -2.51946782e+01] [-9.15175386e-02 2.31244722e-04 9.95803438e-01 -8.40994268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:-25.21, Z:-8.41 [[ 8.06051274e-01 5.87200912e-01 7.40029195e-02 8.30046062e+01] [-5.84726519e-01 8.09441209e-01 -5.38500419e-02 -2.52146571e+01] [-9.15218063e-02 1.34425403e-04 9.95803063e-01 -8.41361402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:-25.23, Z:-8.42 [[ 8.04484685e-01 5.89305568e-01 7.43191682e-02 8.30289372e+01] [-5.86815880e-01 8.07910231e-01 -5.41126733e-02 -2.52347888e+01] [-9.19321160e-02 -7.88510770e-05 9.95765273e-01 -8.41661680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:-25.26, Z:-8.42 [[ 8.02771025e-01 5.91607137e-01 7.45632471e-02 8.30544415e+01] [-5.89108148e-01 8.06226329e-01 -5.43203070e-02 -2.52554692e+01] [-9.22511343e-02 -3.19047951e-04 9.95735721e-01 -8.41951502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:-25.28, Z:-8.42 [[ 8.02207037e-01 5.92239912e-01 7.56026206e-02 8.30797816e+01] [-5.90061188e-01 8.05752803e-01 -5.08941509e-02 -2.52768906e+01] [-9.10585709e-02 -3.78252611e-03 9.95838355e-01 -8.42033457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:-25.29, Z:-8.42 [[ 8.02020717e-01 5.92746416e-01 7.35829878e-02 8.31067030e+01] [-5.90302769e-01 8.05389091e-01 -5.37685104e-02 -2.52944782e+01] [-9.11340275e-02 -3.12782210e-04 9.95838587e-01 -8.42478832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:-25.31, Z:-8.43 [[ 8.00375084e-01 5.95020444e-01 7.31463989e-02 8.31313489e+01] [-5.92224576e-01 8.03705511e-01 -5.76845190e-02 -2.53126204e+01] [-9.31116320e-02 2.85015665e-03 9.95651596e-01 -8.43046197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:-25.33, Z:-8.43 [[ 7.99626207e-01 5.95733104e-01 7.54983370e-02 8.31560119e+01] [-5.93179088e-01 8.03182143e-01 -5.51091229e-02 -2.53342094e+01] [-9.34692449e-02 -7.17335799e-04 9.95621909e-01 -8.43249144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:-25.35, Z:-8.43 [[ 7.99591932e-01 5.95666482e-01 7.63818326e-02 8.31808332e+01] [-5.93298619e-01 8.03226884e-01 -5.31349329e-02 -2.53542311e+01] [-9.30026400e-02 -2.83097216e-03 9.95661837e-01 -8.43416878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:-25.37, Z:-8.44 [[ 7.97996125e-01 5.97962944e-01 7.51165903e-02 8.32055905e+01] [-5.95208469e-01 8.01523066e-01 -5.73380615e-02 -2.53741599e+01] [-9.44937157e-02 1.04552016e-03 9.95524909e-01 -8.43966329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:-25.39, Z:-8.44 [[ 7.97400864e-01 5.98638570e-01 7.60507990e-02 8.32298236e+01] [-5.96052900e-01 8.01018635e-01 -5.55885422e-02 -2.53947277e+01] [-9.41955527e-02 -1.00394767e-03 9.95553208e-01 -8.44221413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:-25.41, Z:-8.45 [[ 7.96824370e-01 5.99451412e-01 7.56896835e-02 8.32550273e+01] [-5.96891027e-01 8.00410432e-01 -5.53555954e-02 -2.54149089e+01] [-9.37658022e-02 -1.06980547e-03 9.95593707e-01 -8.44565481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:-25.44, Z:-8.45 [[ 7.96116486e-01 6.00442381e-01 7.52827243e-02 8.32811271e+01] [-5.97910929e-01 7.99667190e-01 -5.50899837e-02 -2.54354655e+01] [-9.32794856e-02 -1.15431940e-03 9.95639295e-01 -8.44948037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:-25.46, Z:-8.45 [[ 7.94604801e-01 6.02535986e-01 7.45224516e-02 8.33064144e+01] [-6.00061714e-01 7.98090556e-01 -5.45655901e-02 -2.54565979e+01] [-9.23533965e-02 -1.35999011e-03 9.95725364e-01 -8.45356710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:-25.48, Z:-8.46 [[ 7.93622772e-01 6.03859424e-01 7.42744310e-02 8.33319001e+01] [-6.01404433e-01 7.97089453e-01 -5.44161011e-02 -2.54769378e+01] [-9.20630410e-02 -1.48311507e-03 9.95752076e-01 -8.45697209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:-25.50, Z:-8.46 [[ 7.92830078e-01 6.04883713e-01 7.44053812e-02 8.33575130e+01] [-6.02421560e-01 7.96312250e-01 -5.45441561e-02 -2.54971026e+01] [-9.22427882e-02 -1.57915824e-03 9.95735293e-01 -8.46064572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:-25.52, Z:-8.46 [[ 7.91553572e-01 6.06504887e-01 7.47981615e-02 8.33823792e+01] [-6.04020792e-01 7.95077829e-01 -5.48646299e-02 -2.55187304e+01] [-9.27460260e-02 -1.75135102e-03 9.95688258e-01 -8.46459469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:-25.54, Z:-8.47 [[ 7.90989062e-01 6.07240083e-01 7.48049784e-02 8.34075956e+01] [-6.04755804e-01 7.94516330e-01 -5.49019084e-02 -2.55392570e+01] [-9.27724164e-02 -1.81193576e-03 9.95685691e-01 -8.46796927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:-25.56, Z:-8.47 [[ 7.90510527e-01 6.07867190e-01 7.47702242e-02 8.34318538e+01] [-6.05384951e-01 7.94036540e-01 -5.49093295e-02 -2.55594352e+01] [-9.27478699e-02 -1.85836550e-03 9.95687892e-01 -8.47129195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:-25.58, Z:-8.47 [[ 7.90257652e-01 6.08210146e-01 7.46542755e-02 8.34570990e+01] [-6.05734330e-01 7.93773844e-01 -5.48544067e-02 -2.55801551e+01] [-9.26216180e-02 -1.87154290e-03 9.95699620e-01 -8.47460181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:-25.60, Z:-8.48 [[ 7.89814819e-01 6.08764230e-01 7.48242238e-02 8.34802104e+01] [-6.06276448e-01 7.93348882e-01 -5.50129068e-02 -2.56016125e+01] [-9.28516041e-02 -1.91415564e-03 9.95678118e-01 -8.47791641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:-25.62, Z:-8.48 [[ 7.89485841e-01 6.09112913e-01 7.54557242e-02 8.35056937e+01] [-6.06582624e-01 7.93081100e-01 -5.54967428e-02 -2.56224410e+01] [-9.36462914e-02 -1.95623853e-03 9.95603608e-01 -8.48158970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73655999500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:-25.64, Z:-8.48 [[ 7.89164547e-01 6.09514800e-01 7.55713349e-02 8.35306942e+01] [-6.06975473e-01 7.92772215e-01 -5.56146625e-02 -2.56428829e+01] [-9.38088145e-02 -1.98082685e-03 9.95588260e-01 -8.48489125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:-25.66, Z:-8.49 [[ 7.89071968e-01 6.09594690e-01 7.58929728e-02 8.35555965e+01] [-6.07030836e-01 7.92710808e-01 -5.58850529e-02 -2.56631353e+01] [-9.42284113e-02 -1.97204601e-03 9.95548652e-01 -8.48810091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:-25.68, Z:-8.49 [[ 7.89240881e-01 6.09310336e-01 7.64182268e-02 8.35800396e+01] [-6.06706478e-01 7.92929506e-01 -5.63031765e-02 -2.56848849e+01] [-9.49003742e-02 -1.92666459e-03 9.95484910e-01 -8.49128040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-25.71, Z:-8.49 [[ 7.89389291e-01 6.09123122e-01 7.63778134e-02 8.36058657e+01] [-6.06517972e-01 7.93073453e-01 -5.63067306e-02 -2.57057498e+01] [-9.48709477e-02 -1.87658637e-03 9.95487811e-01 -8.49440838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:-25.73, Z:-8.50 [[ 7.89945197e-01 6.08389131e-01 7.64803920e-02 8.36297829e+01] [-6.05770302e-01 7.93636916e-01 -5.64161995e-02 -2.57276088e+01] [-9.50206650e-02 -1.76384428e-03 9.95473738e-01 -8.49695859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:-25.75, Z:-8.50 [[ 7.90276117e-01 6.07969143e-01 7.64014435e-02 8.36555908e+01] [-6.05350799e-01 7.93958863e-01 -5.63891272e-02 -2.57481817e+01] [-9.49424526e-02 -1.68669436e-03 9.95481334e-01 -8.50007765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:-25.77, Z:-8.50 [[ 7.90547786e-01 6.07619097e-01 7.63755895e-02 8.36816377e+01] [-6.04997758e-01 7.94226930e-01 -5.64029951e-02 -2.57685943e+01] [-9.49310869e-02 -1.61779748e-03 9.95482532e-01 -8.50319662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:-25.79, Z:-8.51 [[ 7.90674872e-01 6.07441436e-01 7.64731860e-02 8.37077124e+01] [-6.04809405e-01 7.94362908e-01 -5.65079914e-02 -2.57878684e+01] [-9.50727579e-02 -1.57225327e-03 9.95469085e-01 -8.50649704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:-25.81, Z:-8.51 [[ 7.90610301e-01 6.07509720e-01 7.65982529e-02 8.37351033e+01] [-6.04866235e-01 7.94310718e-01 -5.66332206e-02 -2.58060740e+01] [-9.52480452e-02 -1.55688929e-03 9.95452352e-01 -8.51043069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:-25.82, Z:-8.51 [[ 7.90580698e-01 6.07589854e-01 7.62674842e-02 8.37620176e+01] [-6.04966489e-01 7.94249467e-01 -5.64210170e-02 -2.58249692e+01] [-9.48562462e-02 -1.53390519e-03 9.95489799e-01 -8.51364128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:-25.84, Z:-8.52 [[ 7.90708909e-01 6.07428356e-01 7.62247552e-02 8.37888831e+01] [-6.04804039e-01 7.94373074e-01 -5.64224643e-02 -2.58437015e+01] [-9.48234978e-02 -1.48729457e-03 9.95492990e-01 -8.51728419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:-25.86, Z:-8.52 [[ 7.90831072e-01 6.07291625e-01 7.60466800e-02 8.38156570e+01] [-6.04675803e-01 7.94477694e-01 -5.63237685e-02 -2.58629118e+01] [-9.46223439e-02 -1.44100106e-03 9.95512198e-01 -8.52046412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-25.88, Z:-8.52 [[ 7.92252220e-01 6.05404504e-01 7.63007558e-02 8.38412711e+01] [-6.02759184e-01 7.95917058e-01 -5.65455735e-02 -2.58819246e+01] [-9.49620181e-02 -1.19262516e-03 9.95480182e-01 -8.52354839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:-25.90, Z:-8.53 [[ 7.92179370e-01 6.05501765e-01 7.62853697e-02 8.38679652e+01] [-6.02854897e-01 7.95843090e-01 -5.65663231e-02 -2.59018170e+01] [-9.49621928e-02 -1.17833446e-03 9.95480182e-01 -8.52694361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:-25.92, Z:-8.53 [[ 7.94292119e-01 6.02723359e-01 7.63189520e-02 8.38937553e+01] [-6.00060084e-01 7.97949782e-01 -5.66042456e-02 -2.59221877e+01] [-9.50153921e-02 -8.35650596e-04 9.95475453e-01 -8.52974503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:-25.94, Z:-8.53 [[ 7.95509509e-01 6.01124803e-01 7.62469151e-02 8.39192061e+01] [-5.98455987e-01 7.99154923e-01 -5.65848132e-02 -2.59413368e+01] [-9.49476323e-02 -6.16665847e-04 9.95482078e-01 -8.53300785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-25.96, Z:-8.54 [[ 7.96729232e-01 5.99527818e-01 7.60849966e-02 8.39454016e+01] [-5.96860100e-01 8.00353819e-01 -5.64958960e-02 -2.59609109e+01] [-9.47657788e-02 -4.00166879e-04 9.95499516e-01 -8.53657825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:-25.98, Z:-8.54 [[ 7.99454666e-01 5.95944839e-01 7.56438006e-02 8.39711386e+01] [-5.93288881e-01 8.03025370e-01 -5.62010476e-02 -2.59794919e+01] [-9.42366153e-02 5.15638953e-05 9.95549827e-01 -8.54037926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:-26.00, Z:-8.54 [[ 8.00935225e-01 5.94002852e-01 7.52554091e-02 8.39972170e+01] [-5.91362767e-01 8.04462876e-01 -5.59424513e-02 -2.59986012e+01] [-9.37701585e-02 3.03032891e-04 9.95593826e-01 -8.54425471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:-26.02, Z:-8.55 [[ 8.02210085e-01 5.92364123e-01 7.45903821e-02 8.40222990e+01] [-5.89760434e-01 8.05670204e-01 -5.54811038e-02 -2.60173828e+01] [-9.29602638e-02 5.17044937e-04 9.95669685e-01 -8.54714961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:-26.04, Z:-8.55 [[ 8.03706220e-01 5.90356062e-01 7.44045142e-02 8.40484193e+01] [-5.87753911e-01 8.07142567e-01 -5.53734285e-02 -2.60369409e+01] [-9.27450898e-02 7.72424688e-04 9.95689586e-01 -8.55026620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:-26.06, Z:-8.55 [[ 8.06579715e-01 5.86398649e-01 7.46042141e-02 8.40743719e+01] [-5.83762567e-01 8.10021632e-01 -5.55537688e-02 -2.60574174e+01] [-9.30076822e-02 1.25739546e-03 9.95664597e-01 -8.55223721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:-26.08, Z:-8.56 [[ 8.07673632e-01 5.84853906e-01 7.48946761e-02 8.41002894e+01] [-5.82187508e-01 8.11137321e-01 -5.58027912e-02 -2.60768939e+01] [-9.33863474e-02 1.46769826e-03 9.95628865e-01 -8.55502836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-26.10, Z:-8.56 [[ 8.08484244e-01 5.83695499e-01 7.51850553e-02 8.41259776e+01] [-5.81000209e-01 8.11970992e-01 -5.60523428e-02 -2.60960715e+01] [-9.37655841e-02 1.63490319e-03 9.95592960e-01 -8.55744057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:-26.12, Z:-8.56 [[ 8.09091946e-01 5.82759963e-01 7.59015654e-02 8.41528232e+01] [-5.80005877e-01 8.12642380e-01 -5.66175331e-02 -2.61157070e+01] [-9.46752602e-02 1.78543606e-03 9.95506608e-01 -8.56058544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:-26.13, Z:-8.56 [[ 8.09908370e-01 5.81583172e-01 7.62197192e-02 8.41793518e+01] [-5.78797472e-01 8.13484589e-01 -5.68885697e-02 -2.61345806e+01] [-9.50890018e-02 1.95874794e-03 9.95466848e-01 -8.56331271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:-26.15, Z:-8.57 [[ 8.11601317e-01 5.79535628e-01 7.37682686e-02 8.42076089e+01] [-5.75970330e-01 8.14882233e-01 -6.50009662e-02 -2.61457971e+01] [-9.77828272e-02 1.02665358e-02 9.95154821e-01 -8.57435006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:-26.18, Z:-8.57 [[ 8.10250073e-01 5.80473968e-01 8.08998925e-02 8.42292359e+01] [-5.78413585e-01 8.14250265e-01 -4.93379239e-02 -2.61760792e+01] [-9.45121394e-02 -6.81754043e-03 9.95500365e-01 -8.56594782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:-26.19, Z:-8.57 [[ 8.10067893e-01 5.81499504e-01 7.51554150e-02 8.42580230e+01] [-5.78781965e-01 8.13544254e-01 -5.61888163e-02 -2.61913389e+01] [-9.38160248e-02 2.01815727e-03 9.95587505e-01 -8.57255431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:-26.21, Z:-8.58 [[ 8.09543654e-01 5.82296311e-01 7.46329571e-02 8.42848449e+01] [-5.79616883e-01 8.12974322e-01 -5.58302789e-02 -2.62093977e+01] [-9.31844432e-02 1.93852606e-03 9.95646976e-01 -8.57561834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:-26.23, Z:-8.58 [[ 8.08987235e-01 5.83065776e-01 7.46589179e-02 8.43116651e+01] [-5.80384724e-01 8.12422783e-01 -5.58819690e-02 -2.62288656e+01] [-9.32374695e-02 1.87690419e-03 9.95642130e-01 -8.57871657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:-26.25, Z:-8.58 [[ 8.08311224e-01 5.83987456e-01 7.47771149e-02 8.43384542e+01] [-5.81298808e-01 8.11760687e-01 -5.60025335e-02 -2.62482875e+01] [-9.34058992e-02 1.79962866e-03 9.95626486e-01 -8.58189230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:-26.27, Z:-8.58 [[ 8.06948606e-01 5.85842920e-01 7.49801362e-02 8.43644721e+01] [-5.83144512e-01 8.10423014e-01 -5.61873278e-02 -2.62664735e+01] [-9.36825762e-02 1.61603087e-03 9.95600805e-01 -8.58470972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:-26.29, Z:-8.59 [[ 8.06115140e-01 5.86997165e-01 7.49180118e-02 8.43905645e+01] [-5.84305377e-01 8.09587588e-01 -5.61708392e-02 -2.62856926e+01] [-9.36248158e-02 1.50516682e-03 9.95606412e-01 -8.58779025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:-26.30, Z:-8.59 [[ 8.05067223e-01 5.88457324e-01 7.47311452e-02 8.44171320e+01] [-5.85782317e-01 8.08527139e-01 -5.60619520e-02 -2.63049383e+01] [-9.34122253e-02 1.35745666e-03 9.95626593e-01 -8.59128944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:-26.32, Z:-8.59 [[ 8.04009584e-01 5.89922253e-01 7.45675790e-02 8.44437387e+01] [-5.87262222e-01 8.07459144e-01 -5.59715390e-02 -2.63241241e+01] [-9.32291298e-02 1.21093161e-03 9.95643944e-01 -8.59491737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:-26.34, Z:-8.60 [[ 8.02068198e-01 5.92620713e-01 7.40762904e-02 8.44707497e+01] [-5.90004198e-01 8.05481129e-01 -5.56345011e-02 -2.63429993e+01] [-9.26372117e-02 9.17341763e-04 9.95699506e-01 -8.59916968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:-26.36, Z:-8.60 [[ 8.01953221e-01 5.92778311e-01 7.40601392e-02 8.44973087e+01] [-5.90160482e-01 8.05365144e-01 -5.56559926e-02 -2.63630380e+01] [-9.26371200e-02 9.26135099e-04 9.95699506e-01 -8.60255955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:-26.38, Z:-8.61 [[ 8.00829673e-01 5.94353743e-01 7.35898320e-02 8.45230570e+01] [-5.91773676e-01 8.04203366e-01 -5.53250576e-02 -2.63822613e+01] [-9.20638457e-02 7.57422422e-04 9.95752818e-01 -8.60579306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:-26.40, Z:-8.61 [[ 7.99685811e-01 5.95947668e-01 7.31367253e-02 8.45491562e+01] [-5.93404264e-01 8.03023060e-01 -5.50031408e-02 -2.64015602e+01] [-9.15094704e-02 5.85586643e-04 9.95804034e-01 -8.60909467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:-26.42, Z:-8.61 [[ 7.97231641e-01 5.99234742e-01 7.30714271e-02 8.45747323e+01] [-5.96706707e-01 8.00573338e-01 -5.49857938e-02 -2.64199427e+01] [-9.14484342e-02 2.34204016e-04 9.95809786e-01 -8.61306229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:-26.44, Z:-8.62 [[ 7.96055587e-01 6.00823732e-01 7.28446727e-02 8.46012807e+01] [-5.98315372e-01 7.99381535e-01 -5.48441243e-02 -2.64397577e+01] [-9.11823377e-02 7.48841410e-05 9.95834211e-01 -8.61647113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-26.46, Z:-8.62 [[ 7.94731838e-01 6.02591663e-01 7.26952055e-02 8.46273240e+01] [-6.00098096e-01 7.98049671e-01 -5.47631119e-02 -2.64598554e+01] [-9.10141795e-02 -1.02265838e-04 9.95849591e-01 -8.61991545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:-26.48, Z:-8.62 [[ 7.93741320e-01 6.03937127e-01 7.23509683e-02 8.46523483e+01] [-6.01469749e-01 7.97031928e-01 -5.45366568e-02 -2.64789607e+01] [-9.06027436e-02 -2.28920749e-04 9.95887087e-01 -8.62296891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:-26.50, Z:-8.63 [[ 7.92016758e-01 6.06226346e-01 7.21045879e-02 8.46786471e+01] [-6.03783577e-01 7.95292017e-01 -5.43691074e-02 -2.64992135e+01] [-9.03041885e-02 -4.74321750e-04 9.95914117e-01 -8.62633226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:-26.52, Z:-8.63 [[ 7.91217728e-01 6.07253836e-01 7.22307738e-02 8.47041279e+01] [-6.04803921e-01 7.94507682e-01 -5.44955197e-02 -2.65187325e+01] [-9.04805180e-02 -5.67633829e-04 9.95898064e-01 -8.63015805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:-26.54, Z:-8.63 [[ 7.90642407e-01 6.08008312e-01 7.21836393e-02 8.47304089e+01] [-6.05562149e-01 7.93930409e-01 -5.44884232e-02 -2.65387843e+01] [-9.04382005e-02 -6.30821709e-04 9.95901870e-01 -8.63369497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:-26.56, Z:-8.64 [[ 7.90163304e-01 6.08632081e-01 7.21730098e-02 8.47562110e+01] [-6.06186365e-01 7.93452287e-01 -5.45120042e-02 -2.65593558e+01] [-9.04435942e-02 -6.76909109e-04 9.95901350e-01 -8.63726760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:-26.58, Z:-8.64 [[ 7.90295349e-01 6.08454390e-01 7.22254516e-02 8.47811589e+01] [-6.06001372e-01 7.93588595e-01 -5.45846074e-02 -2.65791551e+01] [-9.05295386e-02 -6.30761418e-04 9.95893571e-01 -8.64038194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:-26.60, Z:-8.64 [[ 7.90596532e-01 6.08029883e-01 7.25036888e-02 8.48062387e+01] [-6.05554400e-01 7.93913935e-01 -5.48136088e-02 -2.65994282e+01] [-9.08900011e-02 -5.69478762e-04 9.95860775e-01 -8.64335806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:-26.62, Z:-8.65 [[ 7.91269045e-01 6.07113799e-01 7.28432116e-02 8.48318399e+01] [-6.04608471e-01 7.94614774e-01 -5.50995262e-02 -2.66203451e+01] [-9.13339747e-02 -4.43073273e-04 9.95820219e-01 -8.64689800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:-26.64, Z:-8.65 [[ 7.94082182e-01 6.03419517e-01 7.29271850e-02 8.48563346e+01] [-6.00889804e-01 7.97423906e-01 -5.51956259e-02 -2.66426752e+01] [-9.14599987e-02 8.66110585e-06 9.95808751e-01 -8.64967682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-26.66, Z:-8.65 [[ 7.96013426e-01 6.00925287e-01 7.24667193e-02 8.48804718e+01] [-5.98414099e-01 7.99305134e-01 -5.48805051e-02 -2.66629614e+01] [-9.09021040e-02 3.20512352e-04 9.95859782e-01 -8.65253533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:-26.68, Z:-8.66 [[ 7.97823439e-01 5.98564456e-01 7.20995977e-02 8.49059276e+01] [-5.96067388e-01 8.01074422e-01 -5.46208688e-02 -2.66842484e+01] [-9.04512542e-02 6.01590465e-04 9.95900702e-01 -8.65556709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:-26.70, Z:-8.66 [[ 7.98144470e-01 5.98043012e-01 7.28694871e-02 8.49329067e+01] [-5.95487069e-01 8.01463708e-01 -5.52365394e-02 -2.67029316e+01] [-9.14360757e-02 6.93901106e-04 9.95810706e-01 -8.65856665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:-26.72, Z:-8.66 [[ 7.99770775e-01 5.95898905e-01 7.26030495e-02 8.49584363e+01] [-5.93349896e-01 8.03058883e-01 -5.50666033e-02 -2.67220017e+01] [-9.11186525e-02 9.61648084e-04 9.95839579e-01 -8.66213745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:-26.74, Z:-8.67 [[ 8.00107971e-01 5.95436430e-01 7.26821325e-02 8.49836432e+01] [-5.92877214e-01 8.03401754e-01 -5.51564234e-02 -2.67406789e+01] [-9.12350966e-02 1.03951381e-03 9.95828839e-01 -8.66523361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:-26.76, Z:-8.67 [[ 8.01740610e-01 5.93269449e-01 7.24110181e-02 8.50098752e+01] [-5.90717850e-01 8.05002893e-01 -5.49796679e-02 -2.67609285e+01] [-9.09088363e-02 1.30495157e-03 9.95858364e-01 -8.66861595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:-26.78, Z:-8.67 [[ 8.02486451e-01 5.92289189e-01 7.21734869e-02 8.50353746e+01] [-5.89747532e-01 8.05724179e-01 -5.48306138e-02 -2.67812307e+01] [-9.06275033e-02 1.43668885e-03 9.95883824e-01 -8.67183117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:-26.80, Z:-8.68 [[ 8.03399987e-01 5.91099885e-01 7.17592301e-02 8.50607481e+01] [-5.88579785e-01 8.06596805e-01 -5.45475029e-02 -2.68011985e+01] [-9.01237884e-02 1.58743095e-03 9.95929306e-01 -8.67500972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:-26.82, Z:-8.68 [[ 8.04377470e-01 5.89792665e-01 7.15646447e-02 8.50861137e+01] [-5.87278097e-01 8.07552802e-01 -5.44326008e-02 -2.68203008e+01] [-8.98961780e-02 1.75600936e-03 9.95949594e-01 -8.67833961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:-26.84, Z:-8.68 [[ 8.05249872e-01 5.88624844e-01 7.13683114e-02 8.51129145e+01] [-5.86117874e-01 8.08404106e-01 -5.43013734e-02 -2.68395917e+01] [-8.96575735e-02 1.89593107e-03 9.95970845e-01 -8.68160638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:-26.86, Z:-8.69 [[ 8.06503220e-01 5.86891739e-01 7.14887632e-02 8.51401098e+01] [-5.84366696e-01 8.09662648e-01 -5.44239008e-02 -2.68578053e+01] [-8.98227191e-02 2.11739887e-03 9.95955519e-01 -8.68523063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:-26.88, Z:-8.69 [[ 8.06847375e-01 5.86409115e-01 7.15657962e-02 8.51663410e+01] [-5.83873865e-01 8.10012045e-01 -5.45141847e-02 -2.68773425e+01] [-8.99367718e-02 2.19922878e-03 9.95945049e-01 -8.68843830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:-26.90, Z:-8.69 [[ 8.07178237e-01 5.85916927e-01 7.18654882e-02 8.51912814e+01] [-5.83355507e-01 8.10367887e-01 -5.47744447e-02 -2.68962420e+01] [-9.03307581e-02 2.28961138e-03 9.95909189e-01 -8.69144834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:-26.92, Z:-8.69 [[ 8.07587917e-01 5.85340798e-01 7.19576704e-02 8.52175641e+01] [-5.82767855e-01 8.10783868e-01 -5.48739072e-02 -2.69164586e+01] [-9.04620550e-02 2.38088710e-03 9.95897057e-01 -8.69412861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:-26.94, Z:-8.70 [[ 8.08242398e-01 5.84364502e-01 7.25420933e-02 8.52420156e+01] [-5.81742599e-01 8.11487333e-01 -5.53521147e-02 -2.69362914e+01] [-9.12128008e-02 2.53710007e-03 9.95828192e-01 -8.69633705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:-26.96, Z:-8.70 [[ 8.08260886e-01 5.84312560e-01 7.27541907e-02 8.52682309e+01] [-5.81672334e-01 8.11524617e-01 -5.55436106e-02 -2.69562148e+01] [-9.14966460e-02 2.57462797e-03 9.95802056e-01 -8.69941827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:-26.97, Z:-8.70 [[ 8.08430606e-01 5.84055186e-01 7.29348657e-02 8.52935797e+01] [-5.81397744e-01 8.11709669e-01 -5.57142429e-02 -2.69745617e+01] [-9.17421282e-02 2.63693272e-03 9.95779307e-01 -8.70277597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:-26.99, Z:-8.71 [[ 8.08328410e-01 5.84176410e-01 7.30965376e-02 8.53199525e+01] [-5.81504863e-01 8.11622376e-01 -5.58678212e-02 -2.69934536e+01] [-9.19634487e-02 2.65355503e-03 9.95758848e-01 -8.70620168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:-27.01, Z:-8.71 [[ 8.08111112e-01 5.84394877e-01 7.37499673e-02 8.53463665e+01] [-5.81673083e-01 8.11465002e-01 -5.64001298e-02 -2.70121375e+01] [-9.28054643e-02 2.67920077e-03 9.95680655e-01 -8.70966830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:-27.03, Z:-8.71 [[ 8.07844443e-01 5.84684104e-01 7.43764408e-02 8.53722385e+01] [-5.81913875e-01 8.11256576e-01 -5.69123038e-02 -2.70316589e+01] [-9.36140961e-02 2.69560543e-03 9.95604909e-01 -8.71296381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:-27.05, Z:-8.72 [[ 8.07497216e-01 5.85149159e-01 7.44896487e-02 8.53971138e+01] [-5.82369225e-01 8.10921274e-01 -5.70330876e-02 -2.70509095e+01] [-9.37781042e-02 2.67358048e-03 9.95589533e-01 -8.71543339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:-27.07, Z:-8.72 [[ 8.07169840e-01 5.85526257e-01 7.50723080e-02 8.54231731e+01] [-5.82702277e-01 8.10649055e-01 -5.74992745e-02 -2.70705877e+01] [-9.45246305e-02 2.66687534e-03 9.95518951e-01 -8.71892603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:-27.09, Z:-8.72 [[ 8.06394324e-01 5.86628332e-01 7.48023702e-02 8.54485901e+01] [-5.83826174e-01 8.09852249e-01 -5.73265531e-02 -2.70894026e+01] [-9.42082480e-02 2.55622541e-03 9.95549231e-01 -8.72191856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:-27.11, Z:-8.73 [[ 8.05796463e-01 5.87451962e-01 7.47813628e-02 8.54750720e+01] [-5.84653044e-01 8.09255253e-01 -5.73302136e-02 -2.71091890e+01] [-9.41959572e-02 2.47533198e-03 9.95550599e-01 -8.72533329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-27.13, Z:-8.73 [[ 8.05239084e-01 5.88195031e-01 7.49441323e-02 8.55015323e+01] [-5.85383971e-01 8.08715492e-01 -5.74879100e-02 -2.71290806e+01] [-9.44225839e-02 2.42041825e-03 9.95529265e-01 -8.72904616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-27.15, Z:-8.73 [[ 8.04750256e-01 5.88845170e-01 7.50892245e-02 8.55279360e+01] [-5.86022879e-01 8.08242367e-01 -5.76321214e-02 -2.71487016e+01] [-9.46266888e-02 2.37546088e-03 9.95509993e-01 -8.73273960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:-27.17, Z:-8.74 [[ 8.04200470e-01 5.89571802e-01 7.52774481e-02 8.55540763e+01] [-5.86735316e-01 8.07712632e-01 -5.78098016e-02 -2.71679989e+01] [-9.48855746e-02 2.32273235e-03 9.95485476e-01 -8.73643660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:-27.19, Z:-8.74 [[ 8.04247035e-01 5.89511954e-01 7.52486695e-02 8.55799119e+01] [-5.86674237e-01 8.07756217e-01 -5.78206968e-02 -2.71877033e+01] [-9.48685727e-02 2.35566820e-03 9.95487019e-01 -8.73971894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:-27.21, Z:-8.74 [[ 8.04505891e-01 5.89245221e-01 7.45676959e-02 8.56057072e+01] [-5.86454565e-01 8.07950710e-01 -5.73296860e-02 -2.72075767e+01] [-9.40282664e-02 2.39150446e-03 9.95566656e-01 -8.74229917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:-27.23, Z:-8.75 [[ 8.05084988e-01 5.88514999e-01 7.40827759e-02 8.56316914e+01] [-5.85754521e-01 8.08482475e-01 -5.69888501e-02 -2.72271900e+01] [-9.34334191e-02 2.48654677e-03 9.95622425e-01 -8.74592966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:-27.25, Z:-8.75 [[ 8.06970809e-01 5.85933773e-01 7.40251837e-02 8.56575091e+01] [-5.83163745e-01 8.10354071e-01 -5.69765462e-02 -2.72468981e+01] [-9.33710917e-02 2.80960623e-03 9.95627413e-01 -8.74931466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:-27.27, Z:-8.75 [[ 8.08019659e-01 5.84441626e-01 7.43788740e-02 8.56827786e+01] [-5.81635515e-01 8.11430121e-01 -5.72825194e-02 -2.72664136e+01] [-9.38315475e-02 3.02400708e-03 9.95583495e-01 -8.75257256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:-27.29, Z:-8.76 [[ 8.08827195e-01 5.83316111e-01 7.44371034e-02 8.57075907e+01] [-5.80497901e-01 8.12238995e-01 -5.73585308e-02 -2.72859058e+01] [-9.39188732e-02 3.18255726e-03 9.95574767e-01 -8.75513485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:-27.31, Z:-8.76 [[ 8.10478532e-01 5.80970635e-01 7.48175859e-02 8.57335954e+01] [-5.78110570e-01 8.13917003e-01 -5.76825951e-02 -2.73055932e+01] [-9.44071992e-02 3.49766780e-03 9.95527522e-01 -8.75839286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:-27.32, Z:-8.76 [[ 8.11074814e-01 5.80135640e-01 7.48350518e-02 8.57593826e+01] [-5.77267454e-01 8.14511822e-01 -5.77302226e-02 -2.73245776e+01] [-9.44453940e-02 3.62368971e-03 9.95523448e-01 -8.76181784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:-27.34, Z:-8.76 [[ 8.11357855e-01 5.79780633e-01 7.45174394e-02 8.57852088e+01] [-5.76932340e-01 8.14764329e-01 -5.75166406e-02 -2.73436887e+01] [-9.40611858e-02 3.67505750e-03 9.95559635e-01 -8.76499432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:-27.36, Z:-8.77 [[ 8.11557496e-01 5.79509399e-01 7.44532503e-02 8.58120295e+01] [-5.76662008e-01 8.14957027e-01 -5.74975822e-02 -2.73631694e+01] [-9.39965889e-02 3.72823305e-03 9.95565539e-01 -8.76853796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:-27.38, Z:-8.77 [[ 8.11116365e-01 5.80154841e-01 7.42334389e-02 8.58385093e+01] [-5.77323831e-01 8.14497939e-01 -5.73611502e-02 -2.73830855e+01] [-9.37413320e-02 3.66983429e-03 9.95589823e-01 -8.77161310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:-27.40, Z:-8.78 [[ 8.10549575e-01 5.80935745e-01 7.43172023e-02 8.58644811e+01] [-5.78098342e-01 8.13941408e-01 -5.74603480e-02 -2.74021031e+01] [-9.38706183e-02 3.61180922e-03 9.95577853e-01 -8.77519938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:-27.42, Z:-8.78 [[ 8.09828107e-01 5.81985554e-01 7.39679101e-02 8.58912313e+01] [-5.79177342e-01 8.13191636e-01 -5.72098749e-02 -2.74216502e+01] [-9.34454066e-02 3.48962711e-03 9.95618290e-01 -8.77851882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:-27.44, Z:-8.78 [[ 8.08402336e-01 5.84023122e-01 7.35027596e-02 8.59187192e+01] [-5.81255534e-01 8.11730475e-01 -5.68826948e-02 -2.74401497e+01] [-9.28852390e-02 3.26021757e-03 9.95671484e-01 -8.78168065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:-27.46, Z:-8.78 [[ 8.07366649e-01 5.85461905e-01 7.34401250e-02 8.59444892e+01] [-5.82701890e-01 8.10693919e-01 -5.68671897e-02 -2.74585905e+01] [-9.28310360e-02 3.11897276e-03 9.95676991e-01 -8.78461911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:-27.48, Z:-8.79 [[ 8.06332244e-01 5.86876173e-01 7.35164635e-02 8.59715850e+01] [-5.84113410e-01 8.09671200e-01 -5.69567552e-02 -2.74775190e+01] [-9.29507258e-02 2.98411605e-03 9.95666238e-01 -8.78788286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:-27.50, Z:-8.79 [[ 8.04379422e-01 5.89493374e-01 7.39682944e-02 8.59992803e+01] [-5.86704392e-01 8.07768615e-01 -5.73395236e-02 -2.74953900e+01] [-9.35505359e-02 2.72520968e-03 9.95610803e-01 -8.79059456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:-27.51, Z:-8.79 [[ 8.03478519e-01 5.90683859e-01 7.42620241e-02 8.60259430e+01] [-5.87874595e-01 8.06898813e-01 -5.76000452e-02 -2.75144049e+01] [-9.39453561e-02 2.62364167e-03 9.95573898e-01 -8.79325809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:-27.53, Z:-8.80 [[ 8.02471292e-01 5.92023401e-01 7.44856871e-02 8.60523321e+01] [-5.89199799e-01 8.05916893e-01 -5.78062166e-02 -2.75332747e+01] [-9.42519065e-02 2.50087740e-03 9.95545239e-01 -8.79624036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-27.55, Z:-8.80 [[ 8.01576322e-01 5.93220574e-01 7.45972531e-02 8.60794899e+01] [-5.90390477e-01 8.05036418e-01 -5.79262464e-02 -2.75523373e+01] [-9.44165466e-02 2.39079970e-03 9.95529909e-01 -8.79952485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:-27.57, Z:-8.80 [[ 8.00283669e-01 5.95006148e-01 7.42545194e-02 8.61076293e+01] [-5.92206584e-01 8.03718145e-01 -5.76931982e-02 -2.75702652e+01] [-9.40075123e-02 2.19690903e-03 9.95569064e-01 -8.80285784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-27.59, Z:-8.81 [[ 8.00211298e-01 5.95105561e-01 7.42377976e-02 8.61338699e+01] [-5.92304429e-01 8.03644496e-01 -5.77147070e-02 -2.75907581e+01] [-9.40071405e-02 2.21258425e-03 9.95569064e-01 -8.80624937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:-27.61, Z:-8.81 [[ 7.99667098e-01 5.95912321e-01 7.36276938e-02 8.61604531e+01] [-5.93159357e-01 8.03046730e-01 -5.72531754e-02 -2.76094332e+01] [-9.32443514e-02 2.11052517e-03 9.95641018e-01 -8.80926057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-27.63, Z:-8.81 [[ 7.99161562e-01 5.96637272e-01 7.32445525e-02 8.61872877e+01] [-5.93912977e-01 8.02508442e-01 -5.69875158e-02 -2.76282470e+01] [-9.27802477e-02 2.04134186e-03 9.95684518e-01 -8.81311649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:-27.65, Z:-8.82 [[ 7.98905139e-01 5.97031446e-01 7.28287721e-02 8.62131947e+01] [-5.94336694e-01 8.02215315e-01 -5.66964105e-02 -2.76463773e+01] [-9.22738963e-02 2.01024202e-03 9.95731634e-01 -8.81656380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:-27.66, Z:-8.82 [[ 7.99356067e-01 5.96622285e-01 7.12160600e-02 8.62403631e+01] [-5.94041617e-01 8.02519601e-01 -5.54693397e-02 -2.76647544e+01] [-9.02465283e-02 2.03444978e-03 9.95917379e-01 -8.82003696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:-27.68, Z:-8.82 [[ 7.99855550e-01 5.96022939e-01 7.06240469e-02 8.62664490e+01] [-5.93479902e-01 8.02964634e-01 -5.50399999e-02 -2.76838178e+01] [-8.95137145e-02 2.11009690e-03 9.95983354e-01 -8.82323182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-27.70, Z:-8.83 [[ 8.00732909e-01 5.94915472e-01 7.00170643e-02 8.62924501e+01] [-5.92408982e-01 8.03785147e-01 -5.45988610e-02 -2.77027769e+01] [-8.87603835e-02 2.24036703e-03 9.96050488e-01 -8.82625350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-27.72, Z:-8.83 [[ 8.01887403e-01 5.93407653e-01 6.95984942e-02 8.63186732e+01] [-5.90922832e-01 8.04898452e-01 -5.43018271e-02 -2.77216765e+01] [-8.82428400e-02 2.41661181e-03 9.96096060e-01 -8.82921781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-27.74, Z:-8.83 [[ 8.03137795e-01 5.91696250e-01 6.97512091e-02 8.63449979e+01] [-5.89191479e-01 8.06156691e-01 -5.44498954e-02 -2.77410062e+01] [-8.84482029e-02 2.63395087e-03 9.96077295e-01 -8.83270695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-27.76, Z:-8.84 [[ 8.06511766e-01 5.87127499e-01 6.94267364e-02 8.63719519e+01] [-5.84626358e-01 8.09488357e-01 -5.42274992e-02 -2.77603858e+01] [-8.80385908e-02 3.14641612e-03 9.96112095e-01 -8.83532278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:-27.78, Z:-8.84 [[ 8.08275240e-01 5.84637958e-01 6.99256343e-02 8.63972100e+01] [-5.82088526e-01 8.11286896e-01 -5.46490670e-02 -2.77793445e+01] [-8.86796697e-02 3.46857838e-03 9.96054158e-01 -8.83866378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-27.80, Z:-8.84 [[ 8.10342328e-01 5.81799518e-01 6.96751820e-02 8.64230177e+01] [-5.79077261e-01 8.13314188e-01 -5.64761652e-02 -2.77964195e+01] [-8.95256198e-02 5.41771363e-03 9.95969785e-01 -8.84330096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:-27.82, Z:-8.84 [[ 8.11343083e-01 5.80139210e-01 7.18393901e-02 8.64474625e+01] [-5.77642618e-01 8.14514480e-01 -5.38067588e-02 -2.78188654e+01] [-8.97296341e-02 2.15824827e-03 9.95963822e-01 -8.84416227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:-27.84, Z:-8.85 [[ 8.13278308e-01 5.77552718e-01 7.07901989e-02 8.64747751e+01] [-5.74905457e-01 8.16341729e-01 -5.54066419e-02 -2.78376181e+01] [-8.97892500e-02 4.36334824e-03 9.95951230e-01 -8.84756776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:-27.86, Z:-8.85 [[ 8.13515803e-01 5.77227228e-01 7.07160910e-02 8.65010123e+01] [-5.74581485e-01 8.16571607e-01 -5.53798527e-02 -2.78570156e+01] [-8.97115109e-02 4.42022878e-03 9.95957984e-01 -8.85095976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:-27.88, Z:-8.85 [[ 8.12906834e-01 5.78147931e-01 7.01957960e-02 8.65284440e+01] [-5.75541698e-01 8.15920570e-01 -5.50034295e-02 -2.78755224e+01] [-8.90743128e-02 4.31205608e-03 9.96015649e-01 -8.85438719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:-27.89, Z:-8.86 [[ 8.11987949e-01 5.79482415e-01 6.98262298e-02 8.65542508e+01] [-5.76905646e-01 8.14974074e-01 -5.47460858e-02 -2.78938712e+01] [-8.86309610e-02 4.17001569e-03 9.96055804e-01 -8.85740806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-27.91, Z:-8.86 [[ 8.10499372e-01 5.81564889e-01 6.98072221e-02 8.65812273e+01] [-5.78994558e-01 8.13490353e-01 -5.47608252e-02 -2.79129772e+01] [-8.86344749e-02 3.96561280e-03 9.96056326e-01 -8.86074768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-27.93, Z:-8.86 [[ 8.08827920e-01 5.83881300e-01 6.98571585e-02 8.66071870e+01] [-5.81313033e-01 8.11830423e-01 -5.48317673e-02 -2.79311082e+01] [-8.87274101e-02 3.74058765e-03 9.96048922e-01 -8.86382745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:-27.95, Z:-8.87 [[ 8.06822554e-01 5.86645169e-01 6.98914322e-02 8.66343307e+01] [-5.84082079e-01 8.09836686e-01 -5.48877670e-02 -2.79502564e+01] [-8.88002892e-02 3.46235540e-03 9.96043433e-01 -8.86700542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:-27.97, Z:-8.87 [[ 8.02625167e-01 5.92323479e-01 7.03259324e-02 8.66623718e+01] [-5.89747146e-01 8.05695109e-01 -5.52602471e-02 -2.79674362e+01] [-8.93932016e-02 2.87874714e-03 9.95992253e-01 -8.87018183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:-27.99, Z:-8.87 [[ 8.00328914e-01 5.95468905e-01 6.99314877e-02 8.66892087e+01] [-5.92930660e-01 8.03374346e-01 -5.49808365e-02 -2.79859510e+01] [-8.89205417e-02 2.53823006e-03 9.96035489e-01 -8.87362144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:-28.00, Z:-8.88 [[ 7.98142345e-01 5.98446384e-01 6.95034030e-02 8.67161147e+01] [-5.95947696e-01 8.01159788e-01 -5.46748364e-02 -2.80045311e+01] [-8.84032898e-02 2.21790929e-03 9.96082295e-01 -8.87720757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-28.02, Z:-8.88 [[ 7.95920851e-01 6.01430958e-01 6.92156111e-02 8.67421105e+01] [-5.98961407e-01 7.98922510e-01 -5.44798758e-02 -2.80227463e+01] [-8.80637936e-02 1.90418927e-03 9.96113017e-01 -8.88043236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:-28.04, Z:-8.88 [[ 7.92130393e-01 6.06414583e-01 6.92155587e-02 8.67697277e+01] [-6.03961368e-01 7.95147448e-01 -5.45087374e-02 -2.80408889e+01] [-8.80914681e-02 1.37450406e-03 9.96111442e-01 -8.88320406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:-28.06, Z:-8.89 [[ 7.90163541e-01 6.08935938e-01 6.95600677e-02 8.67957410e+01] [-6.06465170e-01 7.93218608e-01 -5.48109237e-02 -2.80601876e+01] [-8.85526813e-02 1.12383528e-03 9.96070861e-01 -8.88581428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:-28.08, Z:-8.89 [[ 7.88410795e-01 6.11176022e-01 6.98017774e-02 8.68219081e+01] [-6.08693954e-01 7.91494194e-01 -5.50328266e-02 -2.80796036e+01] [-8.88824456e-02 9.00554703e-04 9.96041716e-01 -8.88852223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:-28.10, Z:-8.89 [[ 7.85271367e-01 6.15062834e-01 7.10393554e-02 8.68489304e+01] [-6.12504588e-01 7.88477941e-01 -5.60416435e-02 -2.80983931e+01] [-9.04820968e-02 4.95966853e-04 9.95897959e-01 -8.89154224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-28.12, Z:-8.89 [[ 7.83870646e-01 6.16813627e-01 7.13285406e-02 8.68745896e+01] [-6.14238621e-01 7.87109171e-01 -5.63033731e-02 -2.81176783e+01] [-9.08720362e-02 3.21816963e-04 9.95862525e-01 -8.89496632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:-28.14, Z:-8.90 [[ 7.82580453e-01 6.18411986e-01 7.16550758e-02 8.69005431e+01] [-6.15817133e-01 7.85854051e-01 -5.65921344e-02 -2.81379567e+01] [-9.13076858e-02 1.61474784e-04 9.95822715e-01 -8.89831639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:-28.16, Z:-8.90 [[ 7.81615587e-01 6.19586722e-01 7.20372645e-02 8.69255804e+01] [-6.16965930e-01 7.84928208e-01 -5.69275784e-02 -2.81576646e+01] [-9.18156526e-02 5.09446924e-05 9.95776021e-01 -8.90164814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:-28.18, Z:-8.91 [[ 7.80045295e-01 6.21583174e-01 7.18588544e-02 8.69506983e+01] [-6.18981004e-01 7.83348155e-01 -5.68171174e-02 -2.81781435e+01] [-9.16070652e-02 -1.59340683e-04 9.95795220e-01 -8.90515845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:-28.20, Z:-8.91 [[ 7.79488597e-01 6.22287275e-01 7.18058095e-02 8.69761422e+01] [-6.19688924e-01 7.82788925e-01 -5.68078929e-02 -2.81982657e+01] [-9.15596212e-02 -2.16160085e-04 9.95799573e-01 -8.90890749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:-28.22, Z:-8.91 [[ 7.79019410e-01 6.22872821e-01 7.18206556e-02 8.70018203e+01] [-6.20272856e-01 7.82323067e-01 -5.68524602e-02 -2.82190823e+01] [-9.15988078e-02 -2.59233227e-04 9.95795959e-01 -8.91251177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-28.24, Z:-8.92 [[ 7.78656228e-01 6.23322453e-01 7.18581853e-02 8.70271831e+01] [-6.20718643e-01 7.81964857e-01 -5.69150975e-02 -2.82397537e+01] [-9.16670338e-02 -2.86420181e-04 9.95789673e-01 -8.91610853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:-28.26, Z:-8.92 [[ 7.78820970e-01 6.23131259e-01 7.17309692e-02 8.70514394e+01] [-6.20532818e-01 7.82117241e-01 -5.68475417e-02 -2.82606756e+01] [-9.15255080e-02 -2.37362964e-04 9.95802704e-01 -8.91994481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:-28.28, Z:-8.92 [[ 7.79192045e-01 6.22670838e-01 7.16992637e-02 8.70767367e+01] [-6.20069947e-01 7.82483867e-01 -5.68529601e-02 -2.82819668e+01] [-9.15041974e-02 -1.59184434e-04 9.95804678e-01 -8.92382560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.10, Y:-28.30, Z:-8.93 [[ 7.80768578e-01 6.20690479e-01 7.17199884e-02 8.71008239e+01] [-6.18076748e-01 7.84055686e-01 -5.69017981e-02 -2.83045381e+01] [-9.15508691e-02 9.86787313e-05 9.95800396e-01 -8.92753822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:-28.33, Z:-8.93 [[ 7.81811796e-01 6.19365320e-01 7.18116716e-02 8.71250653e+01] [-6.16736332e-01 7.85102874e-01 -5.70067904e-02 -2.83259214e+01] [-9.16875787e-02 2.79714258e-04 9.95787783e-01 -8.93071808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-28.35, Z:-8.93 [[ 7.83151573e-01 6.17621895e-01 7.22274808e-02 8.71485390e+01] [-6.14951790e-01 7.86475004e-01 -5.73704136e-02 -2.83468570e+01] [-9.22383318e-02 5.13311023e-04 9.95736826e-01 -8.93430929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:-28.37, Z:-8.94 [[ 7.84416554e-01 6.16036461e-01 7.20399122e-02 8.71728091e+01] [-6.13370741e-01 7.87717308e-01 -5.72518714e-02 -2.83686012e+01] [-9.20163260e-02 7.22141330e-04 9.95757237e-01 -8.93738845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:-28.39, Z:-8.94 [[ 7.86071997e-01 6.13941189e-01 7.18820691e-02 8.71977340e+01] [-6.11275408e-01 7.89351148e-01 -5.71589150e-02 -2.83902904e+01] [-9.18324059e-02 9.91281369e-04 9.95773984e-01 -8.94122995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-28.41, Z:-8.95 [[ 7.89683408e-01 6.09337492e-01 7.14698259e-02 8.72210054e+01] [-6.06680424e-01 7.92909475e-01 -5.68632313e-02 -2.84128487e+01] [-9.13180009e-02 1.54460594e-03 9.95820585e-01 -8.94520374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-28.44, Z:-8.95 [[ 7.91370839e-01 6.07160892e-01 7.13291435e-02 8.72456239e+01] [-6.04502519e-01 7.94576834e-01 -5.67834360e-02 -2.84351922e+01] [-9.11531667e-02 1.81810843e-03 9.95835225e-01 -8.94869919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-28.46, Z:-8.95 [[ 7.93136675e-01 6.04863192e-01 7.12371718e-02 8.72701634e+01] [-6.02199421e-01 7.96326619e-01 -5.67430445e-02 -2.84574299e+01] [-9.10498351e-02 2.10600602e-03 9.95844110e-01 -8.95243091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:-28.48, Z:-8.96 [[ 7.94792588e-01 6.02701220e-01 7.11054289e-02 8.72938258e+01] [-6.00035616e-01 7.97963403e-01 -5.66715762e-02 -2.84790383e+01] [-9.08955582e-02 2.37635890e-03 9.95857595e-01 -8.95577032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:-28.50, Z:-8.96 [[ 7.97816750e-01 5.98725974e-01 7.08211925e-02 8.73168681e+01] [-5.96063248e-01 8.00948890e-01 -5.64754795e-02 -2.85027682e+01] [-9.05374920e-02 2.84317346e-03 9.95888989e-01 -8.95866189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:-28.52, Z:-8.96 [[ 7.98925094e-01 5.97232532e-01 7.09365682e-02 8.73406748e+01] [-5.94552239e-01 8.02062365e-01 -5.66003356e-02 -2.85242505e+01] [-9.06991134e-02 3.04393293e-03 9.95873689e-01 -8.96200996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:-28.55, Z:-8.97 [[ 8.00387937e-01 5.95220597e-01 7.13553941e-02 8.73641750e+01] [-5.92497722e-01 8.03555502e-01 -5.69649454e-02 -2.85475048e+01] [-9.12447283e-02 3.31614670e-03 9.95822978e-01 -8.96525527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:-28.57, Z:-8.97 [[ 8.00644963e-01 5.94816767e-01 7.18377129e-02 8.73877659e+01] [-5.92052219e-01 8.03854075e-01 -5.73828858e-02 -2.85684819e+01] [-9.18793408e-02 3.41164113e-03 9.95764303e-01 -8.96849872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:-28.59, Z:-8.97 [[ 8.00515803e-01 5.94926433e-01 7.23670457e-02 8.74121773e+01] [-5.92118519e-01 8.03772757e-01 -5.78360961e-02 -2.85904757e+01] [-9.25748822e-02 3.44884097e-03 9.95699752e-01 -8.97148162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:-28.61, Z:-8.97 [[ 8.00159499e-01 5.95310615e-01 7.31440187e-02 8.74362685e+01] [-5.92440401e-01 8.03488173e-01 -5.84904064e-02 -2.86120707e+01] [-9.35903137e-02 3.46818249e-03 9.95604753e-01 -8.97442275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:-28.63, Z:-8.98 [[ 7.98436327e-01 5.97781734e-01 7.18082868e-02 8.74602484e+01] [-5.94697378e-01 8.01636816e-01 -6.09380308e-02 -2.86332944e+01] [-9.39918081e-02 5.95093765e-03 9.95555185e-01 -8.97797667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-28.66, Z:-8.98 [[ 7.96961813e-01 5.99251239e-01 7.58275774e-02 8.74831935e+01] [-5.96523187e-01 8.00560972e-01 -5.71158195e-02 -2.86564346e+01] [-9.49313247e-02 2.86218953e-04 9.95483783e-01 -8.97938179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:-28.68, Z:-8.98 [[ 7.93228186e-01 6.04434033e-01 7.38142578e-02 8.75089130e+01] [-6.01542856e-01 7.96651343e-01 -5.91001780e-02 -2.86771359e+01] [-9.45263865e-02 2.47748759e-03 9.95519274e-01 -8.98382755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:-28.70, Z:-8.99 [[ 7.90813883e-01 6.07597741e-01 7.37454207e-02 8.75334986e+01] [-6.04722450e-01 7.94242073e-01 -5.90786574e-02 -2.86974746e+01] [-9.44677746e-02 2.12471096e-03 9.95525653e-01 -8.98729996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:-28.72, Z:-8.99 [[ 7.88405186e-01 6.10748778e-01 7.35064165e-02 8.75589619e+01] [-6.07902830e-01 7.91822461e-01 -5.89180720e-02 -2.87182773e+01] [-9.41881721e-02 1.76655483e-03 9.95552845e-01 -8.99095180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:-28.74, Z:-8.99 [[ 7.85821435e-01 6.14066027e-01 7.35362974e-02 8.75842643e+01] [-6.11229075e-01 7.89253422e-01 -5.89750204e-02 -2.87391943e+01] [-9.42533309e-02 1.39631212e-03 9.95547267e-01 -8.99447355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:-28.76, Z:-9.00 [[ 7.83425742e-01 6.17116136e-01 7.35648058e-02 8.76088516e+01] [-6.14287225e-01 7.86871373e-01 -5.90308938e-02 -2.87596050e+01] [-9.43149569e-02 1.05640142e-03 9.95541849e-01 -8.99797710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:-28.78, Z:-9.00 [[ 7.79048544e-01 6.22647604e-01 7.34392745e-02 8.76328444e+01] [-6.19849858e-01 7.82502263e-01 -5.89606793e-02 -2.87807537e+01] [-9.41781242e-02 4.11907523e-04 9.95555278e-01 -9.00099753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:-28.80, Z:-9.00 [[ 7.77053652e-01 6.25131226e-01 7.34749827e-02 8.76582632e+01] [-6.22338956e-01 7.80519655e-01 -5.90194211e-02 -2.88018643e+01] [-9.42435512e-02 1.34912709e-04 9.95549162e-01 -9.00456469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:-28.82, Z:-9.01 [[ 7.75232489e-01 6.27368032e-01 7.36474048e-02 8.76838090e+01] [-6.24569452e-01 7.78722891e-01 -5.91917188e-02 -2.88229724e+01] [-9.44859121e-02 -1.10575746e-04 9.95526193e-01 -9.00841840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:-28.84, Z:-9.01 [[ 7.73624333e-01 6.29366758e-01 7.35042521e-02 8.77082019e+01] [-6.26584797e-01 7.77108343e-01 -5.91110418e-02 -2.88434921e+01] [-9.43232923e-02 -3.26906548e-04 9.95541566e-01 -9.01194895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:-28.86, Z:-9.02 [[ 7.73509799e-01 6.29509379e-01 7.34883171e-02 8.77340779e+01] [-6.26726178e-01 7.76992819e-01 -5.91308456e-02 -2.88644181e+01] [-9.43233165e-02 -3.18763612e-04 9.95541566e-01 -9.01533777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:-28.89, Z:-9.02 [[ 7.71294110e-01 6.32202108e-01 7.36606474e-02 8.77585111e+01] [-6.29415992e-01 7.74803262e-01 -5.92909312e-02 -2.88863672e+01] [-9.45563616e-02 -6.32443415e-04 9.95519309e-01 -9.01934991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:-28.91, Z:-9.02 [[ 7.70482035e-01 6.33213158e-01 7.34746916e-02 8.77833916e+01] [-6.30442497e-01 7.73977109e-01 -5.91751009e-02 -2.89083109e+01] [-9.43381820e-02 -7.28215866e-04 9.95539943e-01 -9.02288220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:-28.93, Z:-9.03 [[ 7.70001025e-01 6.33771523e-01 7.37026370e-02 8.78070581e+01] [-6.30982902e-01 7.73519916e-01 -5.93928996e-02 -2.89297255e+01] [-9.46519860e-02 -7.72510235e-04 9.95510123e-01 -9.02652026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:-28.95, Z:-9.03 [[ 7.69979683e-01 6.33814584e-01 7.35551574e-02 8.78314862e+01] [-6.31034361e-01 7.73484653e-01 -5.93053748e-02 -2.89519433e+01] [-9.44823968e-02 -7.51898072e-04 9.95526248e-01 -9.02992059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:-28.97, Z:-9.03 [[ 7.70391474e-01 6.33298799e-01 7.36858758e-02 8.78535537e+01] [-6.30503016e-01 7.73907095e-01 -5.94453930e-02 -2.89749961e+01] [-9.46727181e-02 -6.62943066e-04 9.95508230e-01 -9.03346007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-29.00, Z:-9.04 [[ 7.70759243e-01 6.32883117e-01 7.34108289e-02 8.78769270e+01] [-6.30103319e-01 7.74247130e-01 -5.92552888e-02 -2.89964805e+01] [-9.43397954e-02 -5.84845326e-04 9.95539884e-01 -9.03664169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:-29.02, Z:-9.04 [[ 7.71211030e-01 6.32340845e-01 7.33389554e-02 8.79014420e+01] [-6.29561100e-01 7.74690139e-01 -5.92284469e-02 -2.90189396e+01] [-9.42675318e-02 -4.93721907e-04 9.95546779e-01 -9.03998597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-29.04, Z:-9.04 [[ 7.72211477e-01 6.31171457e-01 7.28836500e-02 8.79235664e+01] [-6.28417828e-01 7.75643274e-01 -5.88943594e-02 -2.90423915e+01] [-9.37041515e-02 -3.22484712e-04 9.95600034e-01 -9.04342366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:-29.07, Z:-9.05 [[ 7.72817064e-01 6.30454678e-01 7.26683165e-02 8.79478586e+01] [-6.27711261e-01 7.76226033e-01 -5.87513227e-02 -2.90652086e+01] [-9.34470853e-02 -2.10695890e-04 9.95624225e-01 -9.04680964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:-29.09, Z:-9.05 [[ 7.73401976e-01 6.29781965e-01 7.22776616e-02 8.79715554e+01] [-6.27062007e-01 7.76771953e-01 -5.84685650e-02 -2.90880241e+01] [-9.29657081e-02 -1.02871810e-04 9.95669306e-01 -9.04999490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:-29.11, Z:-9.05 [[ 7.74109121e-01 6.28947653e-01 7.19716515e-02 8.79953314e+01] [-6.26244027e-01 7.77447650e-01 -5.82543540e-02 -2.91106366e+01] [-9.25931306e-02 2.34098716e-05 9.95704028e-01 -9.05362786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:-29.13, Z:-9.06 [[ 7.75926887e-01 6.26867532e-01 7.05305812e-02 8.80168667e+01] [-6.24259761e-01 7.79125800e-01 -5.71203864e-02 -2.91348352e+01] [-9.07591112e-02 2.91839835e-04 9.95872833e-01 -9.05718639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-29.16, Z:-9.06 [[ 7.76874756e-01 6.25743140e-01 7.00794973e-02 8.80408247e+01] [-6.23161396e-01 7.80029055e-01 -5.67851122e-02 -2.91577068e+01] [-9.01969384e-02 4.44082854e-04 9.95923850e-01 -9.06022950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-29.18, Z:-9.06 [[ 7.76516327e-01 6.26084986e-01 7.09928416e-02 8.80665277e+01] [-6.23433763e-01 7.79754705e-01 -5.75581664e-02 -2.91787586e+01] [-9.13933061e-02 4.35521580e-04 9.95814779e-01 -9.06327924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:-29.20, Z:-9.07 [[ 7.76223830e-01 6.26401898e-01 7.13948720e-02 8.80912014e+01] [-6.23718737e-01 7.79500148e-01 -5.79176736e-02 -2.91995310e+01] [-9.19320539e-02 4.26759060e-04 9.95765191e-01 -9.06649101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:-29.22, Z:-9.07 [[ 7.75919115e-01 6.26733978e-01 7.17916970e-02 8.81157356e+01] [-6.24019377e-01 7.79233180e-01 -5.82706364e-02 -2.92217139e+01] [-9.24626601e-02 4.13890545e-04 9.95716067e-01 -9.06856439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:-29.24, Z:-9.07 [[ 7.75865823e-01 6.26774189e-01 7.20162598e-02 8.81405667e+01] [-6.24039620e-01 7.79200825e-01 -5.84861245e-02 -2.92427631e+01] [-9.27727223e-02 4.36385696e-04 9.95687216e-01 -9.07127373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:-29.26, Z:-9.07 [[ 7.76157717e-01 6.26396049e-01 7.21608477e-02 8.81651310e+01] [-6.23645694e-01 7.79504799e-01 -5.86371701e-02 -2.92634892e+01] [-9.29798188e-02 5.08890173e-04 9.95667863e-01 -9.07429513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:-29.28, Z:-9.08 [[ 7.76235396e-01 6.26254547e-01 7.25524159e-02 8.81906453e+01] [-6.23470649e-01 7.79618456e-01 -5.89865508e-02 -2.92842681e+01] [-9.35037981e-02 5.53146737e-04 9.95618769e-01 -9.07715128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:-29.30, Z:-9.08 [[ 7.76874128e-01 6.25417884e-01 7.29318865e-02 8.82159315e+01] [-6.22597825e-01 7.80289692e-01 -5.93291315e-02 -2.93049285e+01] [-9.40134990e-02 6.84033384e-04 9.95570688e-01 -9.08058650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-29.32, Z:-9.08 [[ 7.77532511e-01 6.24666664e-01 7.23515952e-02 8.82406057e+01] [-6.21885031e-01 7.80891111e-01 -5.88904144e-02 -2.93248448e+01] [-9.32855963e-02 7.94837737e-04 9.95639074e-01 -9.08393577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:-29.34, Z:-9.09 [[ 7.77777634e-01 6.24368771e-01 7.22882436e-02 8.82671354e+01] [-6.21587842e-01 7.81129252e-01 -5.88697404e-02 -2.93446904e+01] [-9.32228891e-02 8.54074046e-04 9.95644898e-01 -9.08787411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:-29.36, Z:-9.09 [[ 7.79013987e-01 6.22907756e-01 7.15760787e-02 8.82931909e+01] [-6.20172290e-01 7.82294597e-01 -5.83223280e-02 -2.93648330e+01] [-9.23230101e-02 1.04440858e-03 9.95728563e-01 -9.09196002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-29.38, Z:-9.10 [[ 7.79920993e-01 6.21838164e-01 7.09967718e-02 8.83182750e+01] [-6.19139376e-01 7.83144869e-01 -5.78839121e-02 -2.93849297e+01] [-9.15951832e-02 1.18798130e-03 9.95795617e-01 -9.09509148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:-29.41, Z:-9.10 [[ 7.80657518e-01 6.20974843e-01 7.04562554e-02 8.83442650e+01] [-6.18311872e-01 7.83829426e-01 -5.74618083e-02 -2.94054289e+01] [-9.09080236e-02 1.29405346e-03 9.95858452e-01 -9.09848977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:-29.42, Z:-9.10 [[ 7.82049093e-01 6.19198148e-01 7.06602402e-02 8.83701009e+01] [-6.16509456e-01 7.85233284e-01 -5.76609120e-02 -2.94247528e+01] [-9.11883023e-02 1.53095768e-03 9.95832491e-01 -9.10203257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:-29.45, Z:-9.10 [[ 7.82832973e-01 6.18194064e-01 7.07717173e-02 8.83949842e+01] [-6.15489747e-01 7.86023720e-01 -5.77847895e-02 -2.94453709e+01] [-9.13504624e-02 1.67657214e-03 9.95817394e-01 -9.10490248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.42, Y:-29.47, Z:-9.11 [[ 7.83762149e-01 6.16997363e-01 7.09305926e-02 8.84207093e+01] [-6.14272958e-01 7.86963053e-01 -5.79472729e-02 -2.94663310e+01] [-9.15730702e-02 1.84613418e-03 9.95796648e-01 -9.10818584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-29.49, Z:-9.11 [[ 7.84617203e-01 6.15901939e-01 7.09975102e-02 8.84464711e+01] [-6.13164916e-01 7.87820281e-01 -5.80343945e-02 -2.94871497e+01] [-9.16767745e-02 2.00160192e-03 9.95786806e-01 -9.11138261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:-29.51, Z:-9.11 [[ 7.86306456e-01 6.13702953e-01 7.13501390e-02 8.84717042e+01] [-6.10926526e-01 7.89533669e-01 -5.83555077e-02 -2.95076412e+01] [-9.21462845e-02 2.29561993e-03 9.95742834e-01 -9.11460291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:-29.53, Z:-9.12 [[ 7.86749487e-01 6.13123059e-01 7.14517945e-02 8.84967977e+01] [-6.10333265e-01 7.89983790e-01 -5.84715154e-02 -2.95287777e+01] [-9.22959938e-02 2.39302773e-03 9.95728740e-01 -9.11785257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:-29.55, Z:-9.12 [[ 7.87026131e-01 6.12739268e-01 7.16969922e-02 8.85211099e+01] [-6.09925479e-01 7.90281260e-01 -5.87063832e-02 -2.95486622e+01] [-9.26324956e-02 2.47363526e-03 9.95697294e-01 -9.12096226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:-29.57, Z:-9.12 [[ 7.86591067e-01 6.13306946e-01 7.16176245e-02 8.85466808e+01] [-6.10499948e-01 7.89840957e-01 -5.86606883e-02 -2.95686743e+01] [-9.25435407e-02 2.41941733e-03 9.95705699e-01 -9.12466469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:-29.59, Z:-9.13 [[ 7.86123279e-01 6.13938847e-01 7.13391998e-02 8.85721578e+01] [-6.11214540e-01 7.89351456e-01 -5.78019407e-02 -2.95888920e+01] [-9.17985580e-02 1.83589494e-03 9.95775906e-01 -9.12789060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:-29.61, Z:-9.13 [[ 7.84852301e-01 6.15604867e-01 7.09754395e-02 8.85973898e+01] [-6.12789970e-01 7.88050326e-01 -5.88654054e-02 -2.96084573e+01] [-9.21700483e-02 2.70761148e-03 9.95739600e-01 -9.13184853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:-29.63, Z:-9.14 [[ 7.83862172e-01 6.17062416e-01 6.92392278e-02 8.86242780e+01] [-6.13977345e-01 7.86891139e-01 -6.19205602e-02 -2.96275149e+01] [-9.26925853e-02 6.02586755e-03 9.95676541e-01 -9.13834068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:-29.65, Z:-9.14 [[ 7.80897401e-01 6.20278836e-01 7.38472416e-02 8.86466218e+01] [-6.17794591e-01 7.84378082e-01 -5.55055672e-02 -2.96495587e+01] [-9.23530863e-02 -2.27827331e-03 9.95723715e-01 -9.13777223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-29.67, Z:-9.14 [[ 7.79396444e-01 6.22520178e-01 7.07800180e-02 8.86729184e+01] [-6.19761381e-01 7.82601720e-01 -5.85694292e-02 -2.96682233e+01] [-9.18532154e-02 1.78208317e-03 9.95770963e-01 -9.14320812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:-29.69, Z:-9.15 [[ 7.77960825e-01 6.24257356e-01 7.12720681e-02 8.86982617e+01] [-6.21537709e-01 7.81218132e-01 -5.82160303e-02 -2.96882183e+01] [-9.20208171e-02 9.91513004e-04 9.95756590e-01 -9.14685418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-29.71, Z:-9.15 [[ 7.74185058e-01 6.28955993e-01 7.10764026e-02 8.87236792e+01] [-6.26240081e-01 7.77440594e-01 -5.83907791e-02 -2.97080442e+01] [-9.19829111e-02 6.94376598e-04 9.95760344e-01 -9.15036498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:-29.73, Z:-9.15 [[ 7.72605040e-01 6.30934827e-01 7.07297398e-02 8.87494490e+01] [-6.28250725e-01 7.75835686e-01 -5.81378889e-02 -2.97286081e+01] [-9.15558751e-02 4.81615685e-04 9.95799824e-01 -9.15403785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:-29.75, Z:-9.16 [[ 7.71244553e-01 6.32595609e-01 7.07434482e-02 8.87741103e+01] [-6.29914352e-01 7.74482214e-01 -5.81825621e-02 -2.97480726e+01] [-9.15955756e-02 3.10670796e-04 9.95796241e-01 -9.15777446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:-29.77, Z:-9.16 [[ 7.68992099e-01 6.35333007e-01 7.07327488e-02 8.87991993e+01] [-6.32661266e-01 7.72238286e-01 -5.82044008e-02 -2.97683137e+01] [-9.16017137e-02 8.85395054e-06 9.95795725e-01 -9.16175290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:-29.79, Z:-9.17 [[ 7.68167129e-01 6.36305114e-01 7.09581851e-02 8.88236452e+01] [-6.33617315e-01 7.71437487e-01 -5.84234729e-02 -2.97887398e+01] [-9.19149586e-02 -8.13432741e-05 9.95766857e-01 -9.16521644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:-29.81, Z:-9.17 [[ 7.67511951e-01 6.37079847e-01 7.10962283e-02 8.88479116e+01] [-6.34381997e-01 7.70797798e-01 -5.85682117e-02 -2.98092558e+01] [-9.21134436e-02 -1.50364932e-04 9.95748508e-01 -9.16887221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:-29.83, Z:-9.17 [[ 7.67063183e-01 6.37599805e-01 7.12780568e-02 8.88726873e+01] [-6.34887515e-01 7.70367738e-01 -5.87485360e-02 -2.98308314e+01] [-9.23683705e-02 -1.89709297e-04 9.95724886e-01 -9.17223228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:-29.85, Z:-9.18 [[ 7.66868892e-01 6.37840994e-01 7.12107347e-02 8.88970164e+01] [-6.35131814e-01 7.70168053e-01 -5.87260554e-02 -2.98521612e+01] [-9.23021184e-02 -1.93018038e-04 9.95731029e-01 -9.17570149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-29.87, Z:-9.18 [[ 7.66826917e-01 6.37900804e-01 7.11269575e-02 8.89202119e+01] [-6.35195202e-01 7.70118519e-01 -5.86900465e-02 -2.98738396e+01] [-9.22146150e-02 -1.74394740e-04 9.95739140e-01 -9.17896720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:-29.90, Z:-9.18 [[ 7.66685213e-01 6.38068063e-01 7.11542843e-02 8.89449974e+01] [-6.35358277e-01 7.69979947e-01 -5.87430110e-02 -2.98953507e+01] [-9.22694112e-02 -1.71065608e-04 9.95734064e-01 -9.18268636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:-29.92, Z:-9.19 [[ 7.66496224e-01 6.38283103e-01 7.12616240e-02 8.89695036e+01] [-6.35562946e-01 7.69801696e-01 -5.88650250e-02 -2.99168234e+01] [-9.24298698e-02 -1.71428275e-04 9.95719182e-01 -9.18626760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:-29.94, Z:-9.19 [[ 7.66284915e-01 6.38515575e-01 7.14513127e-02 8.89930761e+01] [-6.35778730e-01 7.69608882e-01 -5.90557047e-02 -2.99378456e+01] [-9.26975521e-02 -1.73729142e-04 9.95694297e-01 -9.18949836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:-29.96, Z:-9.19 [[ 7.66120709e-01 6.38708311e-01 7.14895210e-02 8.90172878e+01] [-6.35966467e-01 7.69448935e-01 -5.91184380e-02 -2.99597437e+01] [-9.27669735e-02 -1.73078459e-04 9.95687832e-01 -9.19261250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-29.98, Z:-9.20 [[ 7.66148126e-01 6.38615082e-01 7.20265580e-02 8.90403748e+01] [-6.35828135e-01 7.69526321e-01 -5.95971902e-02 -2.99821442e+01] [-9.34859967e-02 -1.36236399e-04 9.95620585e-01 -9.19573429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-30.00, Z:-9.20 [[ 7.66069933e-01 6.38704252e-01 7.20675757e-02 8.90644222e+01] [-6.35911517e-01 7.69452314e-01 -5.96630515e-02 -3.00031182e+01] [-9.35596076e-02 -1.22531524e-04 9.95613672e-01 -9.19898800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:-30.02, Z:-9.20 [[ 7.65457377e-01 6.39384616e-01 7.25418263e-02 8.90893349e+01] [-6.36554987e-01 7.68887040e-01 -6.00871730e-02 -3.00243040e+01] [-9.41952841e-02 -1.82691502e-04 9.95553723e-01 -9.20288580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:-30.04, Z:-9.21 [[ 7.63978262e-01 6.41105804e-01 7.29421895e-02 8.91135045e+01] [-6.38249306e-01 7.67452416e-01 -6.04533954e-02 -3.00443227e+01] [-9.47366822e-02 -3.70221783e-04 9.95502297e-01 -9.20666153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:-30.07, Z:-9.21 [[ 7.63232365e-01 6.42006703e-01 7.28268519e-02 8.91390217e+01] [-6.39160331e-01 7.66698888e-01 -6.03894613e-02 -3.00654703e+01] [-9.46067053e-02 -4.56843383e-04 9.95514622e-01 -9.21023971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:-30.09, Z:-9.21 [[ 7.62371710e-01 6.43029419e-01 7.28185523e-02 8.91639481e+01] [-6.40185108e-01 7.65841273e-01 -6.04166574e-02 -3.00862118e+01] [-9.46171409e-02 -5.57402357e-04 9.95513579e-01 -9.21375392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:-30.11, Z:-9.22 [[ 7.61475508e-01 6.44096727e-01 7.27630147e-02 8.91889307e+01] [-6.41258402e-01 7.64943767e-01 -6.04044293e-02 -3.01069606e+01] [-9.45659097e-02 -6.63401028e-04 9.95518382e-01 -9.21713614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-30.13, Z:-9.22 [[ 7.61059457e-01 6.44606270e-01 7.26034414e-02 8.92137336e+01] [-6.41779528e-01 7.64514400e-01 -6.03056266e-02 -3.01279437e+01] [-9.43797614e-02 -6.99234893e-04 9.95536022e-01 -9.22102195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:-30.15, Z:-9.22 [[ 7.60917845e-01 6.44766931e-01 7.26611155e-02 8.92388620e+01] [-6.41933229e-01 7.64378914e-01 -6.03871333e-02 -3.01491431e+01] [-9.44762511e-02 -6.93937126e-04 9.95526874e-01 -9.22463667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-30.17, Z:-9.23 [[ 7.61457887e-01 6.44098880e-01 7.29281729e-02 8.92643362e+01] [-6.41237952e-01 7.64942016e-01 -6.06432259e-02 -3.01703719e+01] [-9.48460575e-02 -5.87049574e-04 9.95491778e-01 -9.22821269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:-30.19, Z:-9.23 [[ 7.61380188e-01 6.44192687e-01 7.29108459e-02 8.92898772e+01] [-6.41330194e-01 7.64863031e-01 -6.06640506e-02 -3.01917233e+01] [-9.48461483e-02 -5.71520739e-04 9.95491779e-01 -9.23160281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:-30.21, Z:-9.24 [[ 7.63373114e-01 6.41708324e-01 7.39723921e-02 8.93152087e+01] [-6.38748616e-01 7.66948734e-01 -6.15617147e-02 -3.02127611e+01] [-9.62376973e-02 -2.55205118e-04 9.95358348e-01 -9.23537670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:-30.23, Z:-9.24 [[ 7.64683154e-01 6.40093902e-01 7.44276191e-02 8.93407868e+01] [-6.37086518e-01 7.68296685e-01 -6.19755827e-02 -3.02339230e+01] [-9.68526855e-02 -2.51486048e-05 9.95298727e-01 -9.23866221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-30.25, Z:-9.24 [[ 7.66179556e-01 6.38271066e-01 7.46922640e-02 8.93650716e+01] [-6.35230015e-01 7.69811660e-01 -6.22321176e-02 -3.02540968e+01] [-9.72199358e-02 2.34208223e-04 9.95262895e-01 -9.24179610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:-30.27, Z:-9.25 [[ 7.69523166e-01 6.34174957e-01 7.52078561e-02 8.93898988e+01] [-6.31068745e-01 7.73189180e-01 -6.26955350e-02 -3.02748321e+01] [-9.79098389e-02 7.84339164e-04 9.95194980e-01 -9.24565194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:-30.30, Z:-9.25 [[ 7.71246899e-01 6.32082734e-01 7.51640763e-02 8.94142291e+01] [-6.28966696e-01 7.74900159e-01 -6.26948109e-02 -3.02953681e+01] [-9.78729621e-02 1.07747777e-03 9.95198333e-01 -9.24925452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:-30.32, Z:-9.25 [[ 7.74209549e-01 6.28404714e-01 7.55452830e-02 8.94389214e+01] [-6.25236066e-01 7.77884970e-01 -6.30462857e-02 -3.03161312e+01] [-9.83841233e-02 1.57740085e-03 9.95147264e-01 -9.25287821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-30.34, Z:-9.26 [[ 7.74090227e-01 6.28553806e-01 7.55277006e-02 8.94644140e+01] [-6.25383813e-01 7.77764487e-01 -6.30673417e-02 -3.03375072e+01] [-9.83839810e-02 1.58601142e-03 9.95147264e-01 -9.25626619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-30.36, Z:-9.26 [[ 7.76204542e-01 6.25857011e-01 7.62201434e-02 8.94896569e+01] [-6.22613007e-01 7.79935342e-01 -6.36702845e-02 -3.03578827e+01] [-9.92952776e-02 1.96551137e-03 9.95056071e-01 -9.25977503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:-30.38, Z:-9.26 [[ 7.76909193e-01 6.24980225e-01 7.62353190e-02 8.95145273e+01] [-6.21727152e-01 7.80637741e-01 -6.37186425e-02 -3.03784372e+01] [-9.93350588e-02 2.10603130e-03 9.95051813e-01 -9.26293430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:-30.40, Z:-9.27 [[ 7.77459050e-01 6.24246294e-01 7.66419598e-02 8.95399424e+01] [-6.20951418e-01 7.81224396e-01 -6.40919660e-02 -3.03991046e+01] [-9.98837410e-02 2.23794534e-03 9.94996598e-01 -9.26651193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:-30.42, Z:-9.27 [[ 7.77704682e-01 6.23940426e-01 7.66405401e-02 8.95651421e+01] [-6.20640606e-01 7.81468509e-01 -6.41264933e-02 -3.04194928e+01] [-9.99032802e-02 2.30524282e-03 9.94994483e-01 -9.26985474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-30.44, Z:-9.27 [[ 7.77536752e-01 6.24102517e-01 7.70236889e-02 8.95901596e+01] [-6.20766703e-01 7.81339009e-01 -6.44829749e-02 -3.04386007e+01] [-1.00425600e-01 2.32414146e-03 9.94941856e-01 -9.27311051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:-30.46, Z:-9.28 [[ 7.77064339e-01 6.24717484e-01 7.68054610e-02 8.96155106e+01] [-6.21400264e-01 7.80847577e-01 -6.43332996e-02 -3.04586676e+01] [-1.00163495e-01 2.26417920e-03 9.94968415e-01 -9.27615716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-30.48, Z:-9.28 [[ 7.76407636e-01 6.25559600e-01 7.65922233e-02 8.96409042e+01] [-6.22261244e-01 7.80173341e-01 -6.41911393e-02 -3.04785193e+01] [-9.99105943e-02 2.17811862e-03 9.94994035e-01 -9.27915028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:-30.50, Z:-9.28 [[ 7.74942907e-01 6.27296480e-01 7.72179789e-02 8.96670897e+01] [-6.23948943e-01 7.78777976e-01 -6.47501408e-02 -3.04974046e+01] [-1.00753197e-01 1.99758606e-03 9.94909445e-01 -9.28307754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:-30.52, Z:-9.29 [[ 7.74131541e-01 6.28327287e-01 7.69751743e-02 8.96929313e+01] [-6.25002280e-01 7.77946826e-01 -6.45823924e-02 -3.05176112e+01] [-1.00461472e-01 1.88560747e-03 9.94939163e-01 -9.28633573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:-30.54, Z:-9.29 [[ 7.73247084e-01 6.29397783e-01 7.71192470e-02 8.97180544e+01] [-6.26061908e-01 7.77081250e-01 -6.47396205e-02 -3.05370965e+01] [-1.00674894e-01 1.77829981e-03 9.94917787e-01 -9.28974491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:-30.56, Z:-9.29 [[ 7.72368652e-01 6.30480303e-01 7.70795210e-02 8.97440690e+01] [-6.27150973e-01 7.76203486e-01 -6.47287049e-02 -3.05575072e+01] [-1.00639566e-01 1.65392592e-03 9.94921576e-01 -9.29357991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-30.58, Z:-9.30 [[ 7.71458980e-01 6.31614074e-01 7.69071054e-02 8.97702138e+01] [-6.28301561e-01 7.75281443e-01 -6.46206847e-02 -3.05780067e+01] [-1.00439986e-01 1.53135322e-03 9.94941940e-01 -9.29677702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:-30.60, Z:-9.30 [[ 7.70172248e-01 6.33173286e-01 7.69824584e-02 8.97967864e+01] [-6.29858270e-01 7.74008879e-01 -6.47210493e-02 -3.05976456e+01] [-1.00564746e-01 1.35831792e-03 9.94929589e-01 -9.30027728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-30.62, Z:-9.30 [[ 7.69673307e-01 6.33748480e-01 7.72390176e-02 8.98219267e+01] [-6.30410376e-01 7.73538061e-01 -6.49740475e-02 -3.06173189e+01] [-1.00924524e-01 1.31651189e-03 9.94893214e-01 -9.30353053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:-30.64, Z:-9.31 [[ 7.68750697e-01 6.34898906e-01 7.69788647e-02 8.98479529e+01] [-6.31585580e-01 7.72594310e-01 -6.47895691e-02 -3.06365001e+01] [-1.00608259e-01 1.18828542e-03 9.94925407e-01 -9.30684535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-30.66, Z:-9.31 [[ 7.68217291e-01 6.35556332e-01 7.68787503e-02 8.98740614e+01] [-6.32251244e-01 7.72053673e-01 -6.47417283e-02 -3.06568991e+01] [-1.00501537e-01 1.12902961e-03 9.94936262e-01 -9.31019551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-30.68, Z:-9.31 [[ 7.67636860e-01 6.36238740e-01 7.70319273e-02 8.99001093e+01] [-6.32920143e-01 7.71491491e-01 -6.49074109e-02 -3.06773923e+01] [-1.00726086e-01 1.07026264e-03 9.94913619e-01 -9.31382381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-30.70, Z:-9.32 [[ 7.67003916e-01 6.37010615e-01 7.69575803e-02 8.99251552e+01] [-6.33698576e-01 7.70854385e-01 -6.48816778e-02 -3.06973281e+01] [-1.00653406e-01 9.96591966e-04 9.94921052e-01 -9.31695191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:-30.72, Z:-9.32 [[ 7.66410008e-01 6.37789771e-01 7.64192896e-02 8.99502280e+01] [-6.34524469e-01 7.70209953e-01 -6.44618257e-02 -3.07163026e+01] [-9.99719906e-02 9.14279173e-04 9.94989832e-01 -9.32002682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:-30.74, Z:-9.32 [[ 7.66064383e-01 6.38247751e-01 7.60602931e-02 8.99749462e+01] [-6.35012026e-01 7.69830527e-01 -6.41925761e-02 -3.07359800e+01] [-9.95243028e-02 8.76445440e-04 9.95034746e-01 -9.32326593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-30.76, Z:-9.33 [[ 7.65908424e-01 6.38495293e-01 7.55516123e-02 9.00005725e+01] [-6.35300741e-01 7.69625242e-01 -6.37961939e-02 -3.07566680e+01] [-9.88799975e-02 8.64047012e-04 9.95098990e-01 -9.32666735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-30.78, Z:-9.33 [[ 7.65681909e-01 6.38808043e-01 7.52030494e-02 9.00257564e+01] [-6.35641028e-01 7.69365691e-01 -6.35367327e-02 -3.07768264e+01] [-9.84464220e-02 8.46783110e-04 9.95141992e-01 -9.33022393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:-30.80, Z:-9.33 [[ 7.65753072e-01 6.38798093e-01 7.45602397e-02 9.00517208e+01] [-6.35681559e-01 7.69373928e-01 -6.30294710e-02 -3.07971180e+01] [-9.76278104e-02 8.68441665e-04 9.95222617e-01 -9.33377001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-30.82, Z:-9.34 [[ 7.65950674e-01 6.38586969e-01 7.43387419e-02 9.00764261e+01] [-6.35484474e-01 7.69549112e-01 -6.28780378e-02 -3.08173001e+01] [-9.73604084e-02 9.20359098e-04 9.95248765e-01 -9.33647932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:-30.85, Z:-9.32 [[ 7.66711452e-01 6.36409061e-01 8.44811019e-02 9.00945230e+01] [-6.35339255e-01 7.71063223e-01 -4.24916174e-02 -3.08462663e+01] [-9.21823210e-02 -2.10953506e-02 9.95518662e-01 -9.32464350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-30.85, Z:-9.35 [[ 7.67180231e-01 6.38608192e-01 6.01171359e-02 9.01313608e+01] [-6.33985267e-01 7.69175884e-01 -8.01943897e-02 -3.08480177e+01] [-9.74534454e-02 2.34101719e-02 9.94964718e-01 -9.34940756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:-30.88, Z:-9.34 [[ 7.67682419e-01 6.36524174e-01 7.41665692e-02 9.01502044e+01] [-6.33419808e-01 7.71255767e-01 -6.28003921e-02 -3.08782376e+01] [-9.71753619e-02 1.23218291e-03 9.95266512e-01 -9.34478536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-30.91, Z:-9.33 [[ 7.68333417e-01 6.33939741e-01 8.82279196e-02 9.01669069e+01] [-6.33684331e-01 7.72822853e-01 -3.44819650e-02 -3.09122321e+01] [-9.00440406e-02 -2.94150042e-02 9.95503304e-01 -9.32773008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-30.91, Z:-9.36 [[ 7.68554317e-01 6.37520655e-01 5.37742975e-02 9.02087890e+01] [-6.32463836e-01 7.69750299e-01 -8.64521400e-02 -3.09058875e+01] [-9.65078065e-02 3.24328670e-02 9.94803675e-01 -9.36227965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-30.94, Z:-9.36 [[ 7.69500047e-01 6.34372312e-01 7.37661708e-02 9.02245604e+01] [-6.31285470e-01 7.73026121e-01 -6.25241727e-02 -3.09391385e+01] [-9.66867808e-02 1.54484207e-03 9.95313659e-01 -9.35531846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-30.96, Z:-9.36 [[ 7.70227967e-01 6.33548046e-01 7.32512982e-02 9.02499143e+01] [-6.30497179e-01 7.73701561e-01 -6.21224729e-02 -3.09599899e+01] [-9.60322151e-02 1.66372908e-03 9.95376836e-01 -9.35863272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-30.98, Z:-9.36 [[ 7.70830501e-01 6.32880298e-01 7.26833347e-02 9.02744620e+01] [-6.29870347e-01 7.74247654e-01 -6.16759003e-02 -3.09803964e+01] [-9.53083635e-02 1.76058786e-03 9.95446240e-01 -9.36196333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-31.00, Z:-9.37 [[ 7.72736732e-01 6.30673212e-01 7.16187291e-02 9.02999824e+01] [-6.27738541e-01 7.76045867e-01 -6.08040785e-02 -3.10016511e+01] [-9.39269222e-02 2.02770836e-03 9.95577030e-01 -9.36551076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-31.02, Z:-9.37 [[ 7.73740926e-01 6.29447016e-01 7.15641906e-02 9.03239814e+01] [-6.26508169e-01 7.77040282e-01 -6.07940369e-02 -3.10225505e+01] [-9.38748840e-02 2.20328432e-03 9.95581565e-01 -9.36839463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-31.04, Z:-9.37 [[ 7.74485083e-01 6.28511020e-01 7.17408806e-02 9.03487468e+01] [-6.25551626e-01 7.77797164e-01 -6.09650404e-02 -3.10443076e+01] [-9.41170532e-02 2.33888994e-03 9.95558391e-01 -9.37124485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-31.07, Z:-9.37 [[ 7.75237672e-01 6.27560984e-01 7.19288777e-02 9.03725860e+01] [-6.24578574e-01 7.78563433e-01 -6.11603285e-02 -3.10650010e+01] [-9.43830298e-02 2.48855486e-03 9.95532848e-01 -9.37394160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-31.09, Z:-9.38 [[ 7.76467425e-01 6.26015421e-01 7.21320323e-02 9.03965424e+01] [-6.23006305e-01 7.79805968e-01 -6.13660854e-02 -3.10854621e+01] [-9.46651051e-02 2.71005546e-03 9.95505486e-01 -9.37694588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-31.11, Z:-9.38 [[ 7.76690557e-01 6.25709908e-01 7.23801767e-02 9.04218073e+01] [-6.22675569e-01 7.80050876e-01 -6.16097941e-02 -3.11070701e+01] [-9.50100788e-02 2.78237760e-03 9.95472422e-01 -9.38008294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-31.13, Z:-9.38 [[ 7.76798015e-01 6.25570746e-01 7.24298665e-02 9.04471404e+01] [-6.22528330e-01 7.80162318e-01 -6.16865961e-02 -3.11283263e+01] [-9.50963825e-02 2.82838152e-03 9.95464052e-01 -9.38325303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-31.15, Z:-9.39 [[ 7.76167454e-01 6.26389056e-01 7.21168038e-02 9.04705699e+01] [-6.23305191e-01 7.79503592e-01 -6.21674284e-02 -3.11475483e+01] [-9.51563044e-02 3.30155646e-03 9.95456869e-01 -9.38671950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-31.18, Z:-9.38 [[ 7.75782071e-01 6.25609275e-01 8.23116871e-02 9.04904759e+01] [-6.24353575e-01 7.79935234e-01 -4.34009727e-02 -3.11811728e+01] [-9.13498360e-02 -1.77218996e-02 9.95661158e-01 -9.37688412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-31.19, Z:-9.40 [[ 7.76000589e-01 6.27597598e-01 6.28039848e-02 9.05248521e+01] [-6.23727163e-01 7.78367418e-01 -7.14743840e-02 -3.11864597e+01] [-9.37417272e-02 1.62916128e-02 9.95463245e-01 -9.39639727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-31.21, Z:-9.40 [[ 7.75331897e-01 6.27841241e-01 6.83799995e-02 9.05465503e+01] [-6.24383359e-01 7.78291953e-01 -6.63856644e-02 -3.12094047e+01] [-9.48992613e-02 8.77558936e-03 9.95448200e-01 -9.39873918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-31.23, Z:-9.40 [[ 7.74821961e-01 6.28064743e-01 7.20111575e-02 9.05692014e+01] [-6.25056583e-01 7.78156733e-01 -6.14521495e-02 -3.12329738e+01] [-9.46318955e-02 2.60342695e-03 9.95508928e-01 -9.40006265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-31.25, Z:-9.40 [[ 7.74295021e-01 6.28750741e-01 7.16918867e-02 9.05939201e+01] [-6.25769018e-01 7.77602779e-01 -6.12131855e-02 -3.12544431e+01] [-9.42356461e-02 2.53450315e-03 9.95546694e-01 -9.40349420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:-31.28, Z:-9.41 [[ 7.73881331e-01 6.29264032e-01 7.16551710e-02 9.06188302e+01] [-6.26284338e-01 7.77187585e-01 -6.12159017e-02 -3.12759327e+01] [-9.42104744e-02 2.49733223e-03 9.95549170e-01 -9.40695353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-31.30, Z:-9.41 [[ 7.73394304e-01 6.29875020e-01 7.15451632e-02 9.06427997e+01] [-6.26903819e-01 7.76692652e-01 -6.11565773e-02 -3.12967420e+01] [-9.40896029e-02 2.44621251e-03 9.95560728e-01 -9.41027945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-31.32, Z:-9.41 [[ 7.72533402e-01 6.30987658e-01 7.10402558e-02 9.06665664e+01] [-6.28059964e-01 7.75789401e-01 -6.07576160e-02 -3.13174223e+01] [-9.34495833e-02 2.31974729e-03 9.95621311e-01 -9.41333981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:-31.34, Z:-9.42 [[ 7.72031317e-01 6.31600893e-01 7.10489731e-02 9.06916838e+01] [-6.28673190e-01 7.75290396e-01 -6.07850523e-02 -3.13388903e+01] [-9.34754798e-02 2.26137949e-03 9.95619014e-01 -9.41691186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-31.36, Z:-9.42 [[ 7.71667950e-01 6.32077877e-01 7.07540309e-02 9.07169871e+01] [-6.29173329e-01 7.74901688e-01 -6.05664600e-02 -3.13604226e+01] [-9.31101374e-02 2.22064683e-03 9.95653339e-01 -9.42009371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-31.38, Z:-9.42 [[ 7.71428940e-01 6.32375042e-01 7.07049989e-02 9.07421456e+01] [-6.29472546e-01 7.74659229e-01 -6.05590002e-02 -3.13814801e+01] [-9.30682803e-02 2.21010961e-03 9.95657276e-01 -9.42340523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-31.40, Z:-9.43 [[ 7.71269857e-01 6.32551566e-01 7.08613010e-02 9.07669105e+01] [-6.29633717e-01 7.74515065e-01 -6.07272260e-02 -3.14029295e+01] [-9.32962470e-02 2.22041458e-03 9.95635917e-01 -9.42673294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-31.42, Z:-9.43 [[ 7.71508242e-01 6.32210431e-01 7.13092149e-02 9.07917596e+01] [-6.29250761e-01 7.74793306e-01 -6.11458276e-02 -3.14248311e+01] [-9.39069324e-02 2.30313216e-03 9.95578316e-01 -9.42953364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-31.45, Z:-9.43 [[ 7.71904432e-01 6.31725638e-01 7.13180656e-02 9.08166076e+01] [-6.28759904e-01 7.75188370e-01 -6.11880198e-02 -3.14465811e+01] [-9.39389759e-02 2.38936362e-03 9.95575090e-01 -9.43263032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-31.47, Z:-9.44 [[ 7.72485153e-01 6.31033548e-01 7.11572215e-02 9.08410868e+01] [-6.28075057e-01 7.75751532e-01 -6.10842321e-02 -3.14679394e+01] [-9.37465233e-02 2.49458639e-03 9.95592972e-01 -9.43538743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-31.49, Z:-9.44 [[ 7.74097430e-01 6.29054423e-01 7.11596871e-02 9.08654137e+01] [-6.26084150e-01 7.77356358e-01 -6.11206170e-02 -3.14896706e+01] [-9.37646297e-02 2.76136036e-03 9.95590563e-01 -9.43812526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-31.51, Z:-9.44 [[ 7.74021340e-01 6.29150052e-01 7.11419495e-02 9.08906131e+01] [-6.26178287e-01 7.77278907e-01 -6.11412556e-02 -3.15114250e+01] [-9.37641609e-02 2.77709256e-03 9.95590563e-01 -9.44154667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-31.53, Z:-9.45 [[ 7.74842020e-01 6.28105314e-01 7.14391903e-02 9.09148443e+01] [-6.25102874e-01 7.78122837e-01 -6.14104788e-02 -3.15324290e+01] [-9.41607135e-02 2.92657623e-03 9.95552708e-01 -9.44501188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:-31.55, Z:-9.45 [[ 7.75668864e-01 6.27093529e-01 7.13548863e-02 9.09395973e+01] [-6.24090927e-01 7.78937916e-01 -6.13696864e-02 -3.15535302e+01] [-9.40655597e-02 3.07061778e-03 9.95561270e-01 -9.44818895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-31.57, Z:-9.45 [[ 7.76421501e-01 6.26175386e-01 7.12322954e-02 9.09646086e+01] [-6.23175969e-01 7.79675652e-01 -6.12991783e-02 -3.15749904e+01] [-9.39221230e-02 3.20374531e-03 9.95574392e-01 -9.45170113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:-31.60, Z:-9.46 [[ 7.78010930e-01 6.24266121e-01 7.06456170e-02 9.09887205e+01] [-6.21304855e-01 7.81204211e-01 -6.08297362e-02 -3.15956018e+01] [-9.31625969e-02 3.43373477e-03 9.95644987e-01 -9.45511214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:-31.62, Z:-9.46 [[ 7.78596658e-01 6.23572374e-01 7.03188314e-02 9.10134817e+01] [-6.20633827e-01 7.81757719e-01 -6.05683191e-02 -3.16169648e+01] [-9.27410198e-02 3.51604538e-03 9.95684057e-01 -9.45834991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:-31.64, Z:-9.46 [[ 7.79176176e-01 6.22875791e-01 7.00730739e-02 9.10374578e+01] [-6.19951825e-01 7.82312402e-01 -6.03907282e-02 -3.16374811e+01] [-9.24349574e-02 3.61308664e-03 9.95712169e-01 -9.46164123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:-31.66, Z:-9.46 [[ 7.80046664e-01 6.21779312e-01 7.01262334e-02 9.10626395e+01] [-6.18843563e-01 7.83183420e-01 -6.04679772e-02 -3.16589037e+01] [-9.25194406e-02 3.77067575e-03 9.95703739e-01 -9.46454838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-31.68, Z:-9.47 [[ 7.80160300e-01 6.21602074e-01 7.04327193e-02 9.10871084e+01] [-6.18636600e-01 7.83323783e-01 -6.07668279e-02 -3.16798075e+01] [-9.29444104e-02 3.83560867e-03 9.95663912e-01 -9.46753988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:-31.70, Z:-9.47 [[ 7.80131229e-01 6.21580367e-01 7.09444383e-02 9.11121948e+01] [-6.18568438e-01 7.83340733e-01 -6.12403717e-02 -3.17007239e+01] [-9.36394810e-02 3.89153606e-03 9.95598565e-01 -9.47104471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.14, Y:-31.72, Z:-9.47 [[ 7.79442799e-01 6.22467651e-01 7.07315146e-02 9.11366005e+01] [-6.19474168e-01 7.82636299e-01 -6.10915631e-02 -3.17205898e+01] [-9.33845726e-02 3.80103272e-03 9.95622857e-01 -9.47413916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:-31.74, Z:-9.48 [[ 7.78633974e-01 6.23509319e-01 7.04646311e-02 9.11611765e+01] [-6.20539566e-01 7.81807218e-01 -6.08943430e-02 -3.17411462e+01] [-9.30579475e-02 3.68831262e-03 9.95653863e-01 -9.47743865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-31.76, Z:-9.48 [[ 7.77249402e-01 6.25238621e-01 7.04275038e-02 9.11860980e+01] [-6.22277189e-01 7.80425813e-01 -6.08822686e-02 -3.17617173e+01] [-9.30293876e-02 3.49527777e-03 9.95657228e-01 -9.48113614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:-31.78, Z:-9.48 [[ 7.75380382e-01 6.27550335e-01 7.04687176e-02 9.12116160e+01] [-6.24591740e-01 7.78569224e-01 -6.09517970e-02 -3.17828039e+01] [-9.31150954e-02 3.24664875e-03 9.95650058e-01 -9.48462614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:-31.80, Z:-9.49 [[ 7.71369015e-01 6.32482577e-01 7.03962563e-02 9.12362103e+01] [-6.29547160e-01 7.74569960e-01 -6.09241382e-02 -3.18022755e+01] [-9.30602813e-02 2.67722918e-03 9.95656877e-01 -9.48794716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-31.82, Z:-9.49 [[ 7.69111481e-01 6.35248174e-01 7.01946350e-02 9.12612801e+01] [-6.32338051e-01 7.72304463e-01 -6.07816290e-02 -3.18227066e+01] [-9.28230486e-02 2.36111005e-03 9.95679821e-01 -9.49109471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:-31.84, Z:-9.49 [[ 7.66734702e-01 6.38101881e-01 7.03127713e-02 9.12861468e+01] [-6.35190555e-01 7.69949219e-01 -6.09192874e-02 -3.18429405e+01] [-9.30099752e-02 2.04692347e-03 9.95663073e-01 -9.49471930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-31.86, Z:-9.50 [[ 7.62483960e-01 6.43156810e-01 7.04806961e-02 9.13119905e+01] [-6.40249888e-01 7.65733102e-01 -6.10974351e-02 -3.18634954e+01] [-9.32646335e-02 1.46055650e-03 9.95640284e-01 -9.49813621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-31.88, Z:-9.50 [[ 7.60381885e-01 6.45630500e-01 7.05736985e-02 9.13367050e+01] [-6.42723239e-01 7.63649037e-01 -6.12126309e-02 -3.18846437e+01] [-9.34142784e-02 1.18561954e-03 9.95626620e-01 -9.50145933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:-31.91, Z:-9.50 [[ 7.58285997e-01 6.48062860e-01 7.08299061e-02 9.13607984e+01] [-6.45141659e-01 7.61586298e-01 -6.14699165e-02 -3.19055567e+01] [-9.37794558e-02 9.16453823e-04 9.95592574e-01 -9.50483337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:-31.93, Z:-9.51 [[ 7.56433223e-01 6.50214905e-01 7.09179649e-02 9.13852458e+01] [-6.47292793e-01 7.59750039e-01 -6.15785570e-02 -3.19267155e+01] [-9.39192222e-02 6.75378692e-04 9.95579592e-01 -9.50827005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:-31.95, Z:-9.51 [[ 7.54644860e-01 6.52281214e-01 7.09954505e-02 9.14091585e+01] [-6.49358476e-01 7.57976925e-01 -6.16810343e-02 -3.19474089e+01] [-9.40462932e-02 4.45777926e-04 9.95567725e-01 -9.51139912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:-31.97, Z:-9.51 [[ 7.51589324e-01 6.55757054e-01 7.13874904e-02 9.14339340e+01] [-6.52814346e-01 7.54971976e-01 -6.20543685e-02 -3.19692162e+01] [-9.45881446e-02 3.66230393e-05 9.95516490e-01 -9.51496182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:-31.99, Z:-9.52 [[ 7.50198513e-01 6.57357018e-01 7.13017638e-02 9.14583536e+01] [-6.54425282e-01 7.53579280e-01 -6.20146687e-02 -3.19905758e+01] [-9.44973096e-02 -1.38364595e-04 9.95525107e-01 -9.51859396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:-32.01, Z:-9.52 [[ 7.48105204e-01 6.59705871e-01 7.16014442e-02 9.14814086e+01] [-6.56756700e-01 7.51523783e-01 -6.23108419e-02 -3.20117524e+01] [-9.49170164e-02 -4.09663069e-04 9.95485104e-01 -9.52250154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-32.03, Z:-9.53 [[ 7.47046230e-01 6.60927555e-01 7.13911605e-02 9.15046198e+01] [-6.57998179e-01 7.50449517e-01 -6.21604346e-02 -3.20333798e+01] [-9.46590060e-02 -5.38535257e-04 9.95509609e-01 -9.52599047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-32.06, Z:-9.53 [[ 7.46171578e-01 6.61926125e-01 7.12866110e-02 9.15283888e+01] [-6.59006822e-01 7.49568807e-01 -6.21016321e-02 -3.20555847e+01] [-9.45409126e-02 -6.39890152e-04 9.95520771e-01 -9.52935067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-32.08, Z:-9.53 [[ 7.45466486e-01 6.62725378e-01 7.12375742e-02 9.15519392e+01] [-6.59810542e-01 7.48862178e-01 -6.20925683e-02 -3.20779023e+01] [-9.44974457e-02 -7.15373779e-04 9.95524847e-01 -9.53278827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:-32.10, Z:-9.54 [[ 7.44748293e-01 6.63518342e-01 7.13679890e-02 9.15755971e+01] [-6.60593157e-01 7.48159598e-01 -6.22406398e-02 -3.21007837e+01] [-9.46924521e-02 -7.91594930e-04 9.95506260e-01 -9.53652960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:-32.12, Z:-9.54 [[ 7.44113416e-01 6.64268131e-01 7.10146091e-02 9.15977803e+01] [-6.61372081e-01 7.47493890e-01 -6.19665592e-02 -3.21234388e+01] [-9.42453969e-02 -8.56931730e-04 9.95548628e-01 -9.54032860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-32.15, Z:-9.54 [[ 7.43853001e-01 6.64597146e-01 7.06636166e-02 9.16216571e+01] [-6.61728245e-01 7.47201363e-01 -6.16915988e-02 -3.21463661e+01] [-9.38000111e-02 -8.70630161e-04 9.95590679e-01 -9.54387517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-32.17, Z:-9.55 [[ 7.43740070e-01 6.64760453e-01 7.03153458e-02 9.16440699e+01] [-6.61917412e-01 7.47056087e-01 -6.14210290e-02 -3.21686411e+01] [-9.33597782e-02 -8.61671291e-04 9.95632065e-01 -9.54742302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:-32.19, Z:-9.55 [[ 7.43923111e-01 6.64575741e-01 7.01248168e-02 9.16670131e+01] [-6.61744422e-01 7.47220465e-01 -6.12853686e-02 -3.21918231e+01] [-9.31274675e-02 -8.13104320e-04 9.95653862e-01 -9.55107960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-32.22, Z:-9.55 [[ 7.44928143e-01 6.63425453e-01 7.03472120e-02 9.16879883e+01] [-6.60567839e-01 7.48242107e-01 -6.15132515e-02 -3.22167957e+01] [-9.34462029e-02 -6.46153566e-04 9.95624121e-01 -9.55460287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-32.24, Z:-9.56 [[ 7.45641450e-01 6.62615289e-01 7.04259017e-02 9.17107702e+01] [-6.59744762e-01 7.48959750e-01 -6.16128419e-02 -3.22400692e+01] [-9.35717767e-02 -5.22030961e-04 9.95612400e-01 -9.55784058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:-32.26, Z:-9.56 [[ 7.46469749e-01 6.61645900e-01 7.07645112e-02 9.17328575e+01] [-6.58740131e-01 7.49816351e-01 -6.19425480e-02 -3.22629006e+01] [-9.40444205e-02 -3.77185151e-04 9.95567931e-01 -9.56116233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:-32.29, Z:-9.56 [[ 7.47487463e-01 6.60492397e-01 7.07975029e-02 9.17559335e+01] [-6.57575840e-01 7.50832704e-01 -6.20021397e-02 -3.22865084e+01] [-9.41090224e-02 -2.08905339e-04 9.95561876e-01 -9.56450307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-32.31, Z:-9.57 [[ 7.49888377e-01 6.57747857e-01 7.09589915e-02 9.17771163e+01] [-6.54802559e-01 7.53238163e-01 -6.21761844e-02 -3.23116480e+01] [-9.43452725e-02 1.61068741e-04 9.95539524e-01 -9.56793412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:-32.33, Z:-9.57 [[ 7.50964140e-01 6.56520083e-01 7.09523895e-02 9.17992687e+01] [-6.53566570e-01 7.54308468e-01 -6.22050975e-02 -3.23349595e+01] [-9.43588840e-02 3.41687705e-04 9.95538188e-01 -9.57093107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:-32.36, Z:-9.57 [[ 7.51749830e-01 6.55583549e-01 7.12909757e-02 9.18226205e+01] [-6.52594436e-01 7.55122490e-01 -6.25342109e-02 -3.23582301e+01] [-9.48298190e-02 4.85988347e-04 9.95493380e-01 -9.57405891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:-32.38, Z:-9.58 [[ 7.51069461e-01 6.56257071e-01 7.22587109e-02 9.18469281e+01] [-6.53185805e-01 7.54537255e-01 -6.34179467e-02 -3.23796661e+01] [-9.61403653e-02 4.32918792e-04 9.95367692e-01 -9.57722466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:-32.40, Z:-9.59 [[ 7.50038742e-01 6.57903483e-01 6.78593597e-02 9.18742401e+01] [-6.53953393e-01 7.53033863e-01 -7.26977383e-02 -3.23985413e+01] [-9.89284911e-02 1.01492616e-02 9.95042786e-01 -9.58764786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:-32.43, Z:-9.58 [[ 7.49824088e-01 6.56910210e-01 7.89481697e-02 9.18914094e+01] [-6.54530343e-01 7.53912469e-01 -5.66217150e-02 -3.24264914e+01] [-9.67153922e-02 -9.21764681e-03 9.95269395e-01 -9.57950808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:-32.44, Z:-9.59 [[ 7.49721263e-01 6.57794478e-01 7.22803777e-02 9.19184293e+01] [-6.54721055e-01 7.53197410e-01 -6.35137858e-02 -3.24446841e+01] [-9.62204108e-02 2.94150552e-04 9.95360008e-01 -9.58659330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:-32.46, Z:-9.60 [[ 7.49993660e-01 6.58163727e-01 6.58028701e-02 9.19466287e+01] [-6.54121434e-01 7.52773324e-01 -7.38747139e-02 -3.24618086e+01] [-9.81563023e-02 1.23624993e-02 9.95094221e-01 -9.59902349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-32.62, Z:-8.64 [[ 7.61700129e-01 -1.52612040e-01 6.29700309e-01 9.20523908e+01] [-6.46586551e-01 -1.16491867e-01 7.53893545e-01 -3.26240673e+01] [-4.16982666e-02 -9.81396561e-01 -1.87408763e-01 -8.64382277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:-32.59, Z:-9.60 [[ 7.62317267e-01 6.46809067e-01 2.25923919e-02 9.20825304e+01] [-6.46518941e-01 7.62651956e-01 -1.93714576e-02 -3.25857568e+01] [-2.97597663e-02 1.60787320e-04 9.99557067e-01 -9.59514209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:-32.61, Z:-9.60 [[ 7.62977304e-01 6.46038141e-01 2.23685824e-02 9.21070893e+01] [-6.45753111e-01 7.63305104e-01 -1.91895457e-02 -3.26063364e+01] [-2.94712315e-02 1.96606111e-04 9.99565610e-01 -9.59654679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-32.63, Z:-9.60 [[ 7.63900631e-01 6.44946907e-01 2.23453422e-02 9.21312998e+01] [-6.44661708e-01 7.64227340e-01 -1.91795382e-02 -3.26268137e+01] [-2.94467052e-02 2.46074882e-04 9.99566321e-01 -9.59786913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-32.65, Z:-9.60 [[ 7.66475440e-01 6.41868272e-01 2.28149313e-02 9.21561637e+01] [-6.41569285e-01 7.66814825e-01 -1.95927525e-02 -3.26478788e+01] [-3.00707938e-02 3.80004402e-04 9.99547699e-01 -9.59860585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-32.67, Z:-9.60 [[ 7.67549541e-01 6.40567529e-01 2.32581716e-02 9.21810902e+01] [-6.40255869e-01 7.67901712e-01 -1.99845604e-02 -3.26686272e+01] [-3.06614503e-02 4.47959299e-04 9.99529727e-01 -9.59977422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:-32.69, Z:-9.60 [[ 7.68471889e-01 6.39444238e-01 2.37070319e-02 9.22064151e+01] [-6.39119536e-01 7.68837308e-01 -2.03816887e-02 -3.26902600e+01] [-3.12598040e-02 5.11127581e-04 9.99511162e-01 -9.60094259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:-32.71, Z:-9.60 [[ 7.69353730e-01 6.38371647e-01 2.40099833e-02 9.22317102e+01] [-6.38037695e-01 7.69728078e-01 -2.06539438e-02 -3.27114817e+01] [-3.16660504e-02 5.70914294e-04 9.99498342e-01 -9.60210279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:-32.73, Z:-9.60 [[ 7.70754754e-01 6.36663190e-01 2.44354570e-02 9.22569841e+01] [-6.36316045e-01 7.71141715e-01 -2.10320450e-02 -3.27316658e+01] [-3.22335291e-02 6.61875356e-04 9.99480146e-01 -9.60368592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-32.75, Z:-9.61 [[ 7.70951512e-01 6.36431339e-01 2.42675953e-02 9.22813134e+01] [-6.36088487e-01 7.71333063e-01 -2.08983747e-02 -3.27520096e+01] [-3.20187792e-02 6.75295540e-04 9.99487039e-01 -9.60514323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:-32.77, Z:-9.61 [[ 7.71002982e-01 6.36375693e-01 2.40910426e-02 9.23069261e+01] [-6.36037451e-01 7.71378969e-01 -2.07568766e-02 -3.27733362e+01] [-3.17924954e-02 6.80808427e-04 9.99494259e-01 -9.60719888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:-32.79, Z:-9.61 [[ 7.70908957e-01 6.36511821e-01 2.34964152e-02 9.23325486e+01] [-6.36189804e-01 7.71266657e-01 -2.02552938e-02 -3.27945295e+01] [-3.10147356e-02 6.66807712e-04 9.99518705e-01 -9.60890140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:-32.82, Z:-9.61 [[ 7.70699278e-01 6.36782013e-01 2.30497494e-02 9.23581173e+01] [-6.36471921e-01 7.71043607e-01 -1.98809034e-02 -3.28156684e+01] [-3.04321636e-02 6.51679620e-04 9.99536622e-01 -9.61056711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:-32.84, Z:-9.61 [[ 7.69899342e-01 6.37774305e-01 2.23369393e-02 9.23824473e+01] [-6.37483195e-01 7.70223067e-01 -1.92770274e-02 -3.28360123e+01] [-2.94988186e-02 6.01947262e-04 9.99564634e-01 -9.61170907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-32.86, Z:-9.61 [[ 7.69401981e-01 6.38370940e-01 2.24306442e-02 9.24075858e+01] [-6.38077466e-01 7.69728653e-01 -1.93635791e-02 -3.28570869e+01] [-2.96266557e-02 5.85887531e-04 9.99560863e-01 -9.61305417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:-32.88, Z:-9.61 [[ 7.68851708e-01 6.39044613e-01 2.21140842e-02 9.24320294e+01] [-6.38759309e-01 7.69169466e-01 -1.91017588e-02 -3.28775529e+01] [-2.92163544e-02 5.60842715e-04 9.99572954e-01 -9.61402037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:-32.90, Z:-9.62 [[ 7.68186201e-01 6.39852486e-01 2.18805057e-02 9.24570362e+01] [-6.39573341e-01 7.68497571e-01 -1.89056913e-02 -3.28986004e+01] [-2.89119690e-02 5.28903053e-04 9.99581822e-01 -9.61520079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-32.92, Z:-9.62 [[ 7.67058669e-01 6.41191553e-01 2.22348909e-02 9.24827759e+01] [-6.40903551e-01 7.67380706e-01 -1.92221222e-02 -3.29196890e+01] [-2.93876887e-02 4.94074939e-04 9.99567967e-01 -9.61642069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-32.94, Z:-9.62 [[ 7.66936751e-01 6.41337572e-01 2.22292317e-02 9.25080019e+01] [-6.41049442e-01 7.67258673e-01 -1.92286641e-02 -3.29416126e+01] [-2.93876356e-02 4.97132586e-04 9.99567967e-01 -9.61762187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:-32.96, Z:-9.62 [[ 7.67051451e-01 6.41196046e-01 2.23540059e-02 9.25327536e+01] [-6.40905210e-01 7.67376955e-01 -1.93163430e-02 -3.29613137e+01] [-2.95395117e-02 4.89830042e-04 9.99563493e-01 -9.61915565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:-32.98, Z:-9.62 [[ 7.66099231e-01 6.42321227e-01 2.27026219e-02 9.25566162e+01] [-6.42022644e-01 7.66435422e-01 -1.95874600e-02 -3.29834080e+01] [-2.99815349e-02 4.30340703e-04 9.99550360e-01 -9.61965009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:-33.01, Z:-9.62 [[ 7.65975743e-01 6.42461309e-01 2.29047363e-02 9.25816862e+01] [-6.42155241e-01 7.66317970e-01 -1.98346888e-02 -3.30050525e+01] [-3.02953311e-02 4.84494074e-04 9.99540874e-01 -9.62115788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:-33.03, Z:-9.62 [[ 7.66374809e-01 6.41978260e-01 2.30990431e-02 9.26061273e+01] [-6.41666414e-01 7.66722666e-01 -2.00141537e-02 -3.30273488e+01] [-3.05592115e-02 5.16463111e-04 9.99532825e-01 -9.62232421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:-33.05, Z:-9.62 [[ 7.66674624e-01 6.41625899e-01 2.29396290e-02 9.26297174e+01] [-6.41317842e-01 7.67017548e-01 -1.98873237e-02 -3.30486755e+01] [-3.03553199e-02 5.35513006e-04 9.99539028e-01 -9.62337288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:-33.07, Z:-9.62 [[ 7.67205846e-01 6.41012077e-01 2.23317515e-02 9.26535039e+01] [-6.40719582e-01 7.67530593e-01 -1.93702361e-02 -3.30700742e+01] [-2.95568577e-02 5.52567908e-04 9.99562948e-01 -9.62451732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:-33.09, Z:-9.63 [[ 7.67811927e-01 6.40297369e-01 2.20027967e-02 9.26782194e+01] [-6.40012860e-01 7.68126906e-01 -1.90943834e-02 -3.30923829e+01] [-2.91270236e-02 5.78822495e-04 9.99575551e-01 -9.62593983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-33.11, Z:-9.63 [[ 7.69865980e-01 6.37861231e-01 2.09624302e-02 9.27031962e+01] [-6.37601781e-01 7.70151044e-01 -1.82027177e-02 -3.31145595e+01] [-2.77550454e-02 6.47970300e-04 9.99614545e-01 -9.62779624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-33.14, Z:-9.63 [[ 7.69433265e-01 6.38396579e-01 2.05489345e-02 9.27262138e+01] [-6.38147383e-01 7.69707364e-01 -1.78463370e-02 -3.31368950e+01] [-2.72097066e-02 6.18316575e-04 9.99629556e-01 -9.62853969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:-33.16, Z:-9.63 [[ 7.69423937e-01 6.38423277e-01 2.00629910e-02 9.27505290e+01] [-6.38185504e-01 7.69685226e-01 -1.74331726e-02 -3.31580510e+01] [-2.65719309e-02 6.09590284e-04 9.99646718e-01 -9.62953937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:-33.18, Z:-9.63 [[ 7.70157586e-01 6.37563750e-01 1.92290658e-02 9.27761314e+01] [-6.37344816e-01 7.70397352e-01 -1.67184153e-02 -3.31786700e+01] [-2.54730769e-02 6.20269000e-04 9.99675316e-01 -9.63084448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:-33.20, Z:-9.63 [[ 7.69148535e-01 6.38780594e-01 1.92323616e-02 9.27997465e+01] [-6.38561910e-01 7.69388728e-01 -1.67234467e-02 -3.32007950e+01] [-2.54797754e-02 5.81761008e-04 9.99675169e-01 -9.63202315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-33.22, Z:-9.63 [[ 7.68840771e-01 6.39164368e-01 1.87824215e-02 9.28251640e+01] [-6.38955716e-01 7.69069955e-01 -1.63400842e-02 -3.32222032e+01] [-2.48889956e-02 5.61787357e-04 9.99690063e-01 -9.63327294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:-33.24, Z:-9.63 [[ 7.68650928e-01 6.39393383e-01 1.87577099e-02 9.28499452e+01] [-6.39185128e-01 7.68879566e-01 -1.63274352e-02 -3.32437895e+01] [-2.48620739e-02 5.60449067e-04 9.99690734e-01 -9.63421957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-33.26, Z:-9.64 [[ 7.68556098e-01 6.39500853e-01 1.89784763e-02 9.28746470e+01] [-6.39287468e-01 7.68790175e-01 -1.65287398e-02 -3.32648100e+01] [-2.51606093e-02 5.70561684e-04 9.99683259e-01 -9.63547993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:-33.29, Z:-9.64 [[ 7.68776772e-01 6.39241145e-01 1.87891527e-02 9.28994671e+01] [-6.39031699e-01 7.69006126e-01 -1.63727395e-02 -3.32864613e+01] [-2.49151023e-02 5.80117687e-04 9.99689402e-01 -9.63597646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:-33.31, Z:-9.64 [[ 7.69769104e-01 6.38030319e-01 1.93090606e-02 9.29232585e+01] [-6.37808487e-01 7.70010973e-01 -1.68355774e-02 -3.33073614e+01] [-2.56097973e-02 6.44024600e-04 9.99671808e-01 -9.63648644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-33.33, Z:-9.63 [[ 7.70615723e-01 6.36767528e-01 2.60484685e-02 9.29431016e+01] [-6.36894514e-01 7.70939715e-01 -4.16340277e-03 -3.33343277e+01] [-2.27329186e-02 -1.33817430e-02 9.99652011e-01 -9.62735512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:-33.34, Z:-9.64 [[ 7.70904780e-01 6.36860345e-01 1.07107988e-02 9.29766381e+01] [-6.36411049e-01 7.70834953e-01 -2.81860388e-02 -3.33443480e+01] [-2.62068284e-02 1.49122813e-02 9.99545310e-01 -9.64347317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:-33.37, Z:-9.63 [[ 7.71764526e-01 6.35377466e-01 2.59806200e-02 9.29940472e+01] [-6.35450746e-01 7.72114940e-01 -6.39287039e-03 -3.33748917e+01] [-2.41219107e-02 -1.15756138e-02 9.99642005e-01 -9.63096914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:-33.39, Z:-9.64 [[ 7.71746018e-01 6.35818051e-01 1.19787105e-02 9.30256405e+01] [-6.35384698e-01 7.71726903e-01 -2.69048794e-02 -3.33853256e+01] [-2.63509012e-02 1.31526441e-02 9.99566225e-01 -9.64498391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:-33.41, Z:-9.64 [[ 7.71621081e-01 6.35768700e-01 1.99766718e-02 9.30466556e+01] [-6.35529672e-01 7.71879246e-01 -1.74489687e-02 -3.34112171e+01] [-2.65130865e-02 7.68224423e-04 9.99648171e-01 -9.64164376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-33.43, Z:-9.64 [[ 7.71292079e-01 6.36168616e-01 1.99504501e-02 9.30715136e+01] [-6.35930091e-01 7.71549682e-01 -1.74357918e-02 -3.34326547e+01] [-2.64848669e-02 7.60996555e-04 9.99648925e-01 -9.64301400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:-33.45, Z:-9.64 [[ 7.72019341e-01 6.35288904e-01 1.98531042e-02 9.30963121e+01] [-6.35065791e-01 7.72274468e-01 -1.68400412e-02 -3.34518865e+01] [-2.60303368e-02 3.92810163e-04 9.99661076e-01 -9.64436265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:-33.47, Z:-9.65 [[ 7.70857658e-01 6.36714543e-01 1.93147964e-02 9.31211886e+01] [-6.36480500e-01 7.71098901e-01 -1.72933049e-02 -3.34738848e+01] [-2.59045171e-02 1.03718526e-03 9.99663884e-01 -9.64548820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:-33.49, Z:-9.65 [[ 7.70718489e-01 6.36875312e-01 1.95665080e-02 9.31452610e+01] [-6.36645607e-01 7.70966467e-01 -1.71195179e-02 -3.34944597e+01] [-2.59881199e-02 7.37397582e-04 9.99661980e-01 -9.64684553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:-33.52, Z:-9.65 [[ 7.70645698e-01 6.36973249e-01 1.92428849e-02 9.31706665e+01] [-6.36750899e-01 7.70885562e-01 -1.68446864e-02 -3.35157967e+01] [-2.55636767e-02 7.28360802e-04 9.99672930e-01 -9.64805514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:-33.54, Z:-9.65 [[ 7.71156028e-01 6.36364104e-01 1.89501491e-02 9.31962823e+01] [-6.36148061e-01 7.71388471e-01 -1.65973064e-02 -3.35365072e+01] [-2.51798565e-02 7.44012275e-04 9.99682660e-01 -9.64946195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:-33.56, Z:-9.65 [[ 7.71078948e-01 6.36457669e-01 1.89444565e-02 9.32213772e+01] [-6.36241495e-01 7.71311269e-01 -1.66038009e-02 -3.35586124e+01] [-2.51796892e-02 7.49591985e-04 9.99682660e-01 -9.65067220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:-33.58, Z:-9.65 [[ 7.72282521e-01 6.34997273e-01 1.89253986e-02 9.32466416e+01] [-6.34781050e-01 7.72513965e-01 -1.65889095e-02 -3.35796577e+01] [-2.51540470e-02 7.97840414e-04 9.99683269e-01 -9.65189724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:-33.60, Z:-9.65 [[ 7.72953229e-01 6.34183305e-01 1.88372670e-02 9.32709369e+01] [-6.33968583e-01 7.73182287e-01 -1.65223054e-02 -3.36005911e+01] [-2.50428114e-02 8.28733898e-04 9.99686036e-01 -9.65296859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:-33.62, Z:-9.65 [[ 7.73688355e-01 6.33285278e-01 1.88702233e-02 9.32959107e+01] [-6.33069430e-01 7.73917962e-01 -1.65554951e-02 -3.36217518e+01] [-2.50883560e-02 8.62632241e-04 9.99684865e-01 -9.65424655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:-33.64, Z:-9.66 [[ 7.74468897e-01 6.32322337e-01 1.91412893e-02 9.33198770e+01] [-6.32099674e-01 7.74704863e-01 -1.68040946e-02 -3.36423302e+01] [-2.54544543e-02 9.15045869e-04 9.99675564e-01 -9.65533637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:-33.66, Z:-9.66 [[ 7.75665094e-01 6.30822527e-01 2.01643589e-02 9.33448019e+01] [-6.30574776e-01 7.75926478e-01 -1.77074001e-02 -3.36637605e+01] [-2.68162868e-02 1.01987604e-03 9.99639858e-01 -9.65581954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:-33.69, Z:-9.66 [[ 7.75990646e-01 6.30403010e-01 2.07499735e-02 9.33694950e+01] [-6.30140223e-01 7.76267283e-01 -1.82319812e-02 -3.36851668e+01] [-2.76010214e-02 1.07245395e-03 9.99618444e-01 -9.65684814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:-33.71, Z:-9.66 [[ 7.75979113e-01 6.30408309e-01 2.10185558e-02 9.33949976e+01] [-6.30138387e-01 7.76262950e-01 -1.84782654e-02 -3.37067000e+01] [-2.79647782e-02 1.09414913e-03 9.99608310e-01 -9.65749843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:-33.73, Z:-9.66 [[ 7.75566728e-01 6.30915105e-01 2.10328363e-02 9.34196449e+01] [-6.30644707e-01 7.75851115e-01 -1.85013790e-02 -3.37276621e+01] [-2.79911490e-02 1.08480707e-03 9.99607582e-01 -9.65881764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:-33.75, Z:-9.66 [[ 7.74982658e-01 6.31638306e-01 2.08549562e-02 9.34447041e+01] [-6.31372466e-01 7.75262493e-01 -1.83541762e-02 -3.37487659e+01] [-2.77612661e-02 1.05692319e-03 9.99614023e-01 -9.66038121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:-33.77, Z:-9.66 [[ 7.74243770e-01 6.32561278e-01 2.03178238e-02 9.34694661e+01] [-6.32309016e-01 7.74509664e-01 -1.78910297e-02 -3.37698962e+01] [-2.70535235e-02 1.00487512e-03 9.99633481e-01 -9.66168017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:-33.79, Z:-9.66 [[ 7.73449510e-01 6.33550287e-01 1.97456128e-02 9.34943238e+01] [-6.33312116e-01 7.73700931e-01 -1.73963457e-02 -3.37913395e+01] [-2.62986588e-02 9.50059209e-04 9.99653679e-01 -9.66284341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:-33.81, Z:-9.66 [[ 7.71342538e-01 6.36135919e-01 1.90205546e-02 9.35186869e+01] [-6.35915472e-01 7.71576563e-01 -1.67666397e-02 -3.38120434e+01] [-2.53416759e-02 8.37357483e-04 9.99678497e-01 -9.66342475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-33.83, Z:-9.66 [[ 7.70200329e-01 6.37512309e-01 1.92226234e-02 9.35428613e+01] [-6.37287321e-01 7.70439746e-01 -1.69548815e-02 -3.38326401e+01] [-2.56188187e-02 8.08321208e-04 9.99671457e-01 -9.66433385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:-33.85, Z:-9.67 [[ 7.68684390e-01 6.39328727e-01 1.95726176e-02 9.35681229e+01] [-6.39095937e-01 7.68933153e-01 -1.72681602e-02 -3.38541230e+01] [-2.60900654e-02 7.64984782e-04 9.99659304e-01 -9.66528090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:-33.88, Z:-9.67 [[ 7.67096910e-01 6.41225909e-01 1.97905014e-02 9.35934115e+01] [-6.40988281e-01 7.67351823e-01 -1.74700398e-02 -3.38757957e+01] [-2.63885195e-02 7.15734061e-04 9.99651506e-01 -9.66594372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:-33.90, Z:-9.67 [[ 7.63879793e-01 6.45039392e-01 2.02939569e-02 9.36182037e+01] [-6.44790567e-01 7.64149078e-01 -1.79251567e-02 -3.38962682e+01] [-2.70700406e-02 6.07313006e-04 9.99633355e-01 -9.66677007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:-33.92, Z:-9.67 [[ 7.62199986e-01 6.47007402e-01 2.07990828e-02 9.36431216e+01] [-6.46746492e-01 7.62483514e-01 -1.83811194e-02 -3.39179192e+01] [-2.77516781e-02 5.58355106e-04 9.99614692e-01 -9.66789912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:-33.94, Z:-9.67 [[ 7.60390067e-01 6.49119800e-01 2.12233704e-02 9.36674905e+01] [-6.48848652e-01 7.60686030e-01 -1.87667511e-02 -3.39395817e+01] [-2.83261911e-02 4.99295848e-04 9.99598608e-01 -9.66861528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:-33.96, Z:-9.67 [[ 7.58580341e-01 6.51217825e-01 2.17073917e-02 9.36916655e+01] [-6.50934697e-01 7.58890737e-01 -1.92059621e-02 -3.39608584e+01] [-2.89808034e-02 4.39170883e-04 9.99579872e-01 -9.66972134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:-33.98, Z:-9.67 [[ 7.56650635e-01 6.53461185e-01 2.16401692e-02 9.37164190e+01] [-6.53180441e-01 7.56959940e-01 -1.91562354e-02 -3.39824465e+01] [-2.88985974e-02 3.59642448e-04 9.99582284e-01 -9.67037305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:-34.00, Z:-9.67 [[ 7.52340941e-01 6.58414466e-01 2.17600648e-02 9.37415908e+01] [-6.58132347e-01 7.52655538e-01 -1.92731566e-02 -3.40032988e+01] [-2.90675584e-02 1.78982197e-04 9.99577433e-01 -9.67170554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:-34.02, Z:-9.67 [[ 7.49987864e-01 6.61099621e-01 2.15753500e-02 9.37655861e+01] [-6.60823066e-01 7.50298131e-01 -1.91204207e-02 -3.40237168e+01] [-2.88284477e-02 8.25945686e-05 9.99584371e-01 -9.67294688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:-34.04, Z:-9.67 [[ 7.44882144e-01 6.66869375e-01 2.08765070e-02 9.37907685e+01] [-6.66612444e-01 7.45174624e-01 -1.85102748e-02 -3.40444360e+01] [-2.79005787e-02 -1.28566145e-04 9.99610695e-01 -9.67402747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:-34.07, Z:-9.68 [[ 7.42185924e-01 6.69883639e-01 2.03952149e-02 9.38160656e+01] [-6.69639293e-01 7.42466065e-01 -1.80931009e-02 -3.40660313e+01] [-2.72630273e-02 -2.28992490e-04 9.99628268e-01 -9.67543742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:-34.09, Z:-9.68 [[ 7.39601921e-01 6.72746726e-01 2.00210267e-02 9.38411046e+01] [-6.72512047e-01 7.39872786e-01 -1.77709722e-02 -3.40879138e+01] [-2.67683762e-02 -3.20936478e-04 9.99641611e-01 -9.67698046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:-34.11, Z:-9.68 [[ 7.37424467e-01 6.75140743e-01 1.97517826e-02 9.38654625e+01] [-6.74912924e-01 7.37688838e-01 -1.75420560e-02 -3.41092116e+01] [-2.64140263e-02 -3.94792051e-04 9.99651011e-01 -9.67841438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:-34.13, Z:-9.68 [[ 7.35483168e-01 6.77276886e-01 1.89876321e-02 9.38901071e+01] [-6.77066858e-01 7.35728089e-01 -1.68715758e-02 -3.41312666e+01] [-2.53964626e-02 -4.47136412e-04 9.99677358e-01 -9.67952719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:-34.15, Z:-9.68 [[ 7.32971742e-01 6.79999636e-01 1.87861792e-02 9.39136036e+01] [-6.79794689e-01 7.33212258e-01 -1.67022710e-02 -3.41531499e+01] [-2.51317951e-02 -5.28452196e-04 9.99684007e-01 -9.68095335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:-34.18, Z:-9.68 [[ 7.32442891e-01 6.80566189e-01 1.88963683e-02 9.39380239e+01] [-6.80358793e-01 7.32686403e-01 -1.68091309e-02 -3.41757417e+01] [-2.52848383e-02 -5.44581876e-04 9.99680139e-01 -9.68202382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:-34.20, Z:-9.68 [[ 7.32334717e-01 6.80674460e-01 1.91870226e-02 9.39615366e+01] [-6.80460428e-01 7.32585816e-01 -1.70771372e-02 -3.41981327e+01] [-2.56801118e-02 -5.49829120e-04 9.99670060e-01 -9.68318407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:-34.22, Z:-9.68 [[ 7.32473697e-01 6.80520216e-01 1.93524644e-02 9.39844329e+01] [-6.80302161e-01 7.32729105e-01 -1.72345050e-02 -3.42205219e+01] [-2.59085430e-02 -5.41701783e-04 9.99664171e-01 -9.68397286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:-34.25, Z:-9.68 [[ 7.32721566e-01 6.80161366e-01 2.23522481e-02 9.40061917e+01] [-6.80085625e-01 7.33034428e-01 -1.20029442e-02 -3.42481031e+01] [-2.45489063e-02 -6.40662655e-03 9.99678101e-01 -9.68173144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:-34.26, Z:-9.69 [[ 7.35001097e-01 6.77875441e-01 1.60709057e-02 9.40303464e+01] [-6.77525595e-01 7.35155092e-01 -2.24957643e-02 -3.42638463e+01] [-2.70639343e-02 5.64596151e-03 9.99617760e-01 -9.68802244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-34.29, Z:-9.69 [[ 7.35915488e-01 6.76769633e-01 2.02794952e-02 9.40517665e+01] [-6.76528192e-01 7.36194738e-01 -1.80807526e-02 -3.42896452e+01] [-2.71661620e-02 -4.13744345e-04 9.99630846e-01 -9.68684817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:-34.31, Z:-9.69 [[ 7.35832344e-01 6.76860213e-01 2.02735003e-02 9.40766649e+01] [-6.76618620e-01 7.36111463e-01 -1.80874715e-02 -3.43119716e+01] [-2.71662458e-02 -4.08081253e-04 9.99630846e-01 -9.68805849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:-34.34, Z:-9.69 [[ 7.36635261e-01 6.75976670e-01 2.05920930e-02 9.40997282e+01] [-6.75726999e-01 7.36922926e-01 -1.83745778e-02 -3.43354742e+01] [-2.75955714e-02 -3.79271304e-04 9.99619098e-01 -9.68898675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:-34.36, Z:-9.69 [[ 7.37534340e-01 6.75004044e-01 2.03135105e-02 9.41219203e+01] [-6.74760408e-01 7.37813955e-01 -1.81372471e-02 -3.43579864e+01] [-2.72303067e-02 -3.29910090e-04 9.99629132e-01 -9.68979838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:-34.38, Z:-9.69 [[ 7.38793381e-01 6.73633819e-01 2.00454329e-02 9.41437617e+01] [-6.73395937e-01 7.39065223e-01 -1.79027403e-02 -3.43823021e+01] [-2.68747736e-02 -2.72087024e-04 9.99638771e-01 -9.69117863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:-34.40, Z:-9.69 [[ 7.39214235e-01 6.73176611e-01 1.98888289e-02 9.41662774e+01] [-6.72941998e-01 7.39481704e-01 -1.77729481e-02 -3.44047087e+01] [-2.66717580e-02 -2.46012001e-04 9.99644215e-01 -9.69250551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:-34.43, Z:-9.69 [[ 7.39459300e-01 6.72912837e-01 1.97042331e-02 9.41894472e+01] [-6.72682233e-01 7.39721746e-01 -1.76167879e-02 -3.44281246e+01] [-2.64302124e-02 -2.27789853e-04 9.99650635e-01 -9.69351782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-34.45, Z:-9.69 [[ 7.39486903e-01 6.72876072e-01 1.99226547e-02 9.42118475e+01] [-6.72640043e-01 7.39755191e-01 -1.78221656e-02 -3.44527876e+01] [-2.67299960e-02 -2.21517249e-04 9.99642665e-01 -9.69481479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:-34.48, Z:-9.70 [[ 7.39222039e-01 6.73178027e-01 1.95478996e-02 9.42355539e+01] [-6.72950653e-01 7.39480422e-01 -1.74963784e-02 -3.44760929e+01] [-2.62334666e-02 -2.21063260e-04 9.99655819e-01 -9.69569099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:-34.50, Z:-9.70 [[ 7.38901415e-01 6.73541761e-01 1.91362249e-02 9.42591444e+01] [-6.73323751e-01 7.39149137e-01 -1.71370827e-02 -3.44991339e+01] [-2.56870650e-02 -2.22260133e-04 9.99670008e-01 -9.69695536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:-34.52, Z:-9.70 [[ 7.38391293e-01 6.74106790e-01 1.89297232e-02 9.42826332e+01] [-6.73893411e-01 7.38633862e-01 -1.69614021e-02 -3.45220460e+01] [-2.54159309e-02 -2.32464050e-04 9.99676936e-01 -9.69835380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:-34.55, Z:-9.70 [[ 7.37647381e-01 6.74932508e-01 1.85054640e-02 9.43051473e+01] [-6.74728616e-01 7.37879427e-01 -1.65905650e-02 -3.45454129e+01] [-2.48523128e-02 -2.48179347e-04 9.99691103e-01 -9.69963439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:-34.57, Z:-9.70 [[ 7.37295548e-01 6.75324842e-01 1.82107696e-02 9.43291673e+01] [-6.75127316e-01 7.37520369e-01 -1.63344279e-02 -3.45683507e+01] [-2.44618585e-02 -2.51287019e-04 9.99700732e-01 -9.70069367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:-34.59, Z:-9.70 [[ 7.36927379e-01 6.75729927e-01 1.80859880e-02 9.43533220e+01] [-6.75535002e-01 7.37149239e-01 -1.62314693e-02 -3.45913697e+01] [-2.43001619e-02 -2.56303870e-04 9.99704675e-01 -9.70177129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:-34.61, Z:-9.70 [[ 7.36733110e-01 6.75942198e-01 1.80684765e-02 9.43773920e+01] [-6.75747494e-01 7.36954598e-01 -1.62248384e-02 -3.46139110e+01] [-2.42826998e-02 -2.56352063e-04 9.99705099e-01 -9.70291944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:-34.64, Z:-9.70 [[ 7.36660277e-01 6.76017056e-01 1.82366440e-02 9.44015118e+01] [-6.75818506e-01 7.36885931e-01 -1.63851212e-02 -3.46370180e+01] [-2.45149478e-02 -2.54393558e-04 9.99699431e-01 -9.70393454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:-34.66, Z:-9.70 [[ 7.36862991e-01 6.75792256e-01 1.83782319e-02 9.44247342e+01] [-6.75590303e-01 7.37092103e-01 -1.65219667e-02 -3.46584155e+01] [-2.47118668e-02 -2.41729450e-04 9.99694586e-01 -9.70496296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:-34.68, Z:-9.71 [[ 7.37032513e-01 6.75600995e-01 1.86110303e-02 9.44489798e+01] [-6.75393616e-01 7.37267415e-01 -1.67398443e-02 -3.46808442e+01] [-2.50307617e-02 -2.31961582e-04 9.99686654e-01 -9.70570009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:-34.70, Z:-9.71 [[ 7.37400687e-01 6.75189518e-01 1.89563143e-02 9.44730030e+01] [-6.74973989e-01 7.37644270e-01 -1.70600521e-02 -3.47028141e+01] [-2.55017849e-02 -2.14924941e-04 9.99674754e-01 -9.70668960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:-34.72, Z:-9.71 [[ 7.38855373e-01 6.73578406e-01 1.96180876e-02 9.44965733e+01] [-6.73346710e-01 7.39115760e-01 -1.76663840e-02 -3.47243978e+01] [-2.63997325e-02 -1.56872015e-04 9.99651454e-01 -9.70745983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-34.75, Z:-9.71 [[ 7.39861700e-01 6.72473389e-01 1.96011543e-02 9.45205604e+01] [-6.72241464e-01 7.40121293e-01 -1.76602743e-02 -3.47466887e+01] [-2.63832962e-02 -1.10548104e-04 9.99651894e-01 -9.70836185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:-34.77, Z:-9.71 [[ 7.41326438e-01 6.70858551e-01 1.95938126e-02 9.45446754e+01] [-6.70625977e-01 7.41585331e-01 -1.76634120e-02 -3.47688830e+01] [-2.63801350e-02 -4.57654282e-05 9.99651983e-01 -9.70940806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:-34.79, Z:-9.71 [[ 7.42828065e-01 6.69188757e-01 1.98210379e-02 9.45686424e+01] [-6.68949886e-01 7.43092462e-01 -1.78785376e-02 -3.47907733e+01] [-2.66929802e-02 2.13984035e-05 9.99643679e-01 -9.71085017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:-34.81, Z:-9.71 [[ 7.44704753e-01 6.67088533e-01 2.01920900e-02 9.45920759e+01] [-6.66839569e-01 7.44978441e-01 -1.82239202e-02 -3.48119067e+01] [-2.71996399e-02 1.06555364e-04 9.99630016e-01 -9.71224170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:-34.83, Z:-9.71 [[ 7.48854493e-01 6.62410575e-01 2.07166106e-02 9.46171613e+01] [-6.62146432e-01 7.49140938e-01 -1.87071490e-02 -3.48334483e+01] [-2.79114744e-02 2.91502777e-04 9.99610356e-01 -9.71360684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:-34.85, Z:-9.71 [[ 7.51107082e-01 6.59852417e-01 2.08071651e-02 9.46409050e+01] [-6.59584671e-01 7.51395122e-01 -1.87997902e-02 -3.48541567e+01] [-2.80394893e-02 3.96568418e-04 9.99606738e-01 -9.71480239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:-34.88, Z:-9.72 [[ 7.53442141e-01 6.57184715e-01 2.08132301e-02 9.46653461e+01] [-6.56915519e-01 7.53729392e-01 -1.88149941e-02 -3.48762703e+01] [-2.80524698e-02 5.03475619e-04 9.99606325e-01 -9.71616597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:-34.90, Z:-9.72 [[ 7.58742361e-01 6.51064179e-01 2.06267825e-02 9.46896428e+01] [-6.50797230e-01 7.59022331e-01 -1.86565172e-02 -3.48981758e+01] [-2.78027786e-02 7.31636999e-04 9.99613160e-01 -9.71774474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:-34.92, Z:-9.72 [[ 7.61362127e-01 6.48000639e-01 2.05641050e-02 9.47136413e+01] [-6.47733898e-01 7.61639318e-01 -1.86104080e-02 -3.49194651e+01] [-2.77219872e-02 8.49191907e-04 9.99615311e-01 -9.71871831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:-34.94, Z:-9.72 [[ 7.63528648e-01 6.45434005e-01 2.09511233e-02 9.47384373e+01] [-6.45155880e-01 7.63815428e-01 -1.89705544e-02 -3.49414422e+01] [-2.82470321e-02 9.67821367e-04 9.99600504e-01 -9.72019704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:-34.96, Z:-9.72 [[ 7.65253249e-01 6.43381626e-01 2.11553449e-02 9.47637333e+01] [-6.43096961e-01 7.65544875e-01 -1.91662220e-02 -3.49631304e+01] [-2.85265609e-02 1.06207567e-03 9.99592471e-01 -9.72134890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:-34.98, Z:-9.72 [[ 7.67779257e-01 6.40354514e-01 2.14734535e-02 9.47899199e+01] [-6.40059719e-01 7.68078547e-01 -1.94653882e-02 -3.49838094e+01] [-2.89580482e-02 1.20082865e-03 9.99579906e-01 -9.72259198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:-35.00, Z:-9.72 [[ 7.68533943e-01 6.39449936e-01 2.14326249e-02 9.48142533e+01] [-6.39155594e-01 7.68831737e-01 -1.94393255e-02 -3.50044536e+01] [-2.89085577e-02 1.24099939e-03 9.99581290e-01 -9.72354154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-35.03, Z:-9.72 [[ 7.68776082e-01 6.39152793e-01 2.16111833e-02 9.48389755e+01] [-6.38853116e-01 7.69078730e-01 -1.96112970e-02 -3.50255275e+01] [-2.91553166e-02 1.27032426e-03 9.99574086e-01 -9.72466356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:-35.05, Z:-9.73 [[ 7.68305319e-01 6.39713599e-01 2.17588803e-02 9.48632433e+01] [-6.39409702e-01 7.68612326e-01 -1.97566265e-02 -3.50457696e+01] [-2.93627263e-02 1.26628208e-03 9.99568020e-01 -9.72581360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:-35.07, Z:-9.73 [[ 7.65715987e-01 6.42814235e-01 2.16538050e-02 9.48899490e+01] [-6.42514205e-01 7.66021238e-01 -1.96712775e-02 -3.50651578e+01] [-2.92322517e-02 1.14973435e-03 9.99571985e-01 -9.72709775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:-35.09, Z:-9.73 [[ 7.63442905e-01 6.45515394e-01 2.15593977e-02 9.49157925e+01] [-6.45218733e-01 7.63746538e-01 -1.95962468e-02 -3.50857168e+01] [-2.91155943e-02 1.05008827e-03 9.99575500e-01 -9.72850391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:-35.11, Z:-9.73 [[ 7.60667188e-01 6.48790951e-01 2.13478550e-02 9.49415092e+01] [-6.48501064e-01 7.60966128e-01 -1.94144638e-02 -3.51060041e+01] [-2.88409230e-02 9.23838950e-04 9.99583587e-01 -9.72975062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:-35.12, Z:-9.73 [[ 7.54629998e-01 6.55808403e-01 2.11873817e-02 9.49693852e+01] [-6.55525297e-01 7.54927085e-01 -1.92790510e-02 -3.51241954e+01] [-2.86382919e-02 6.59685469e-04 9.99589622e-01 -9.73183400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:-35.15, Z:-9.73 [[ 7.51401167e-01 6.59507859e-01 2.11108996e-02 9.49953664e+01] [-6.59227945e-01 7.51697484e-01 -1.92199923e-02 -3.51451268e+01] [-2.85447461e-02 5.25029637e-04 9.99592378e-01 -9.73300267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:-35.17, Z:-9.73 [[ 7.48135359e-01 6.63212271e-01 2.10468140e-02 9.50204160e+01] [-6.62935204e-01 7.48431247e-01 -1.91725103e-02 -3.51655467e+01] [-2.84675374e-02 3.90958940e-04 9.99594641e-01 -9.73417697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:-35.19, Z:-9.74 [[ 7.44841877e-01 6.66910132e-01 2.10108050e-02 9.50457165e+01] [-6.66635198e-01 7.45138115e-01 -1.91494772e-02 -3.51860276e+01] [-2.84269320e-02 2.56790394e-04 9.99595840e-01 -9.73517417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:-35.21, Z:-9.74 [[ 7.41781195e-01 6.70307892e-01 2.11657489e-02 9.50710638e+01] [-6.70029957e-01 7.42083090e-01 -1.93014166e-02 -3.52064424e+01] [-2.86446362e-02 1.35742052e-04 9.99589649e-01 -9.73692189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:-35.22, Z:-9.74 [[ 7.35929205e-01 6.76724542e-01 2.12626317e-02 9.50972764e+01] [-6.76446362e-01 7.36236296e-01 -1.94019462e-02 -3.52249900e+01] [-2.87840943e-02 -1.04571063e-04 9.99585647e-01 -9.73912015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:-35.25, Z:-9.74 [[ 7.33115078e-01 6.79770166e-01 2.13261259e-02 9.51224093e+01] [-6.79491435e-01 7.33425165e-01 -1.94657964e-02 -3.52456499e+01] [-2.88733850e-02 -2.20251032e-04 9.99583053e-01 -9.74060856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-35.27, Z:-9.74 [[ 7.30415486e-01 6.82671124e-01 2.12921256e-02 9.51475819e+01] [-6.82394194e-01 7.30725688e-01 -1.94456638e-02 -3.52665787e+01] [-2.88336963e-02 -3.26208934e-04 9.99584169e-01 -9.74212356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:-35.29, Z:-9.74 [[ 7.28285533e-01 6.84943934e-01 2.12600233e-02 9.51725067e+01] [-6.84668484e-01 7.28595664e-01 -1.94274708e-02 -3.52873212e+01] [-2.87966890e-02 -4.07321991e-04 9.99585206e-01 -9.74359341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:-35.31, Z:-9.75 [[ 7.24924982e-01 6.88496420e-01 2.13646966e-02 9.51975786e+01] [-6.88219490e-01 7.25239536e-01 -1.95332953e-02 -3.53082558e+01] [-2.89431265e-02 -5.43426878e-04 9.99580912e-01 -9.74517556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:-35.33, Z:-9.75 [[ 7.23630888e-01 6.89861954e-01 2.11854339e-02 9.52218616e+01] [-6.89589933e-01 7.23940704e-01 -1.93799529e-02 -3.53299571e+01] [-2.87064901e-02 -5.85329432e-04 9.99587712e-01 -9.74615114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:-35.35, Z:-9.75 [[ 7.22601981e-01 6.90941795e-01 2.11142850e-02 9.52455799e+01] [-6.90671735e-01 7.22910129e-01 -1.93261456e-02 -3.53511382e+01] [-2.86169722e-02 -6.17928788e-04 9.99590260e-01 -9.74767895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:-35.37, Z:-9.75 [[ 7.21984346e-01 6.91589677e-01 2.10314741e-02 9.52696954e+01] [-6.91321711e-01 7.22290328e-01 -1.92606861e-02 -3.53727528e+01] [-2.85113220e-02 -6.33600830e-04 9.99593269e-01 -9.74924898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:-35.39, Z:-9.75 [[ 7.21601595e-01 6.92003298e-01 2.05565970e-02 9.52939633e+01] [-6.91747203e-01 7.21894065e-01 -1.88352367e-02 -3.53948483e+01] [-2.78737312e-02 -6.28431605e-04 9.99611255e-01 -9.75072765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:-35.42, Z:-9.75 [[ 7.21790181e-01 6.91814748e-01 2.02802665e-02 9.53187669e+01] [-6.91565152e-01 7.22074780e-01 -1.85917510e-02 -3.54170816e+01] [-2.75059165e-02 -6.05782285e-04 9.99621457e-01 -9.75290069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:-35.44, Z:-9.75 [[ 7.21946763e-01 6.91662303e-01 1.99030174e-02 9.53420476e+01] [-6.91421572e-01 7.22220825e-01 -1.82561944e-02 -3.54385669e+01] [-2.70014951e-02 -5.81375102e-04 9.99635224e-01 -9.75409172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:-35.46, Z:-9.76 [[ 7.22952234e-01 6.90626859e-01 1.93548177e-02 9.53657446e+01] [-6.90398607e-01 7.23211083e-01 -1.77621296e-02 -3.54617346e+01] [-2.62646225e-02 -5.21367869e-04 9.99654889e-01 -9.75566206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:-35.48, Z:-9.76 [[ 7.23859889e-01 6.89695007e-01 1.86456322e-02 9.53891278e+01] [-6.89482643e-01 7.24099843e-01 -1.71201993e-02 -3.54842604e+01] [-2.53090154e-02 -4.63214252e-04 9.99679568e-01 -9.75674899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:-35.51, Z:-9.76 [[ 7.24651833e-01 6.88873425e-01 1.82517213e-02 9.54118380e+01] [-6.88669448e-01 7.24881527e-01 -1.67679221e-02 -3.55066645e+01] [-2.47813116e-02 -4.18497301e-04 9.99692809e-01 -9.75800768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:-35.53, Z:-9.76 [[ 7.25713311e-01 6.87758518e-01 1.81221364e-02 9.54355811e+01] [-6.87556874e-01 7.25939449e-01 -1.66571931e-02 -3.55300799e+01] [-2.46117002e-02 -3.71652677e-04 9.99697017e-01 -9.75919559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:-35.55, Z:-9.76 [[ 7.28393168e-01 6.84909098e-01 1.85180868e-02 9.54576921e+01] [-6.84697375e-01 7.28628473e-01 -1.70309198e-02 -3.55540102e+01] [-2.51574372e-02 -2.74079784e-04 9.99683464e-01 -9.76035443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:-35.58, Z:-9.76 [[ 7.29810228e-01 6.83390870e-01 1.88135517e-02 9.54797832e+01] [-6.83171570e-01 7.30052650e-01 -1.73128212e-02 -3.55764972e+01] [-2.55663072e-02 -2.17809671e-04 9.99673105e-01 -9.76114733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:-35.60, Z:-9.76 [[ 7.31283248e-01 6.81809868e-01 1.89766936e-02 9.55027873e+01] [-6.81585986e-01 7.31529411e-01 -1.74718441e-02 -3.55997228e+01] [-2.57944852e-02 -1.57381554e-04 9.99667255e-01 -9.76183143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:-35.62, Z:-9.76 [[ 7.32607404e-01 6.80380222e-01 1.92131754e-02 9.55251277e+01] [-6.80149959e-01 7.32859293e-01 -1.76999846e-02 -3.56229225e+01] [-2.61232736e-02 -1.00700747e-04 9.99658724e-01 -9.76262812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:-35.65, Z:-9.76 [[ 7.35514277e-01 6.77231430e-01 1.93994643e-02 9.55468637e+01] [-6.76995337e-01 7.35770066e-01 -1.78808406e-02 -3.56482717e+01] [-2.63830124e-02 1.82667395e-05 9.99651908e-01 -9.76318858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:-35.68, Z:-9.76 [[ 7.36661060e-01 6.75874151e-01 2.29044440e-02 9.55676725e+01] [-6.75817309e-01 7.36982391e-01 -1.13101587e-02 -3.56750722e+01] [-2.45244158e-02 -7.14746621e-03 9.99673680e-01 -9.75979434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:-35.70, Z:-9.76 [[ 7.36479643e-01 6.76218766e-01 1.80531225e-02 9.55945228e+01] [-6.76011025e-01 7.36700862e-01 -1.67610851e-02 -3.56950339e+01] [-2.46339112e-02 1.40088146e-04 9.99696529e-01 -9.76362869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:-35.71, Z:-9.77 [[ 7.37321508e-01 6.75384934e-01 1.45665554e-02 9.56184433e+01] [-6.75019615e-01 7.37427875e-01 -2.34232515e-02 -3.57141442e+01] [-2.65614951e-02 7.43775654e-03 9.99619511e-01 -9.76925440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-35.74, Z:-9.77 [[ 7.38262995e-01 6.74225729e-01 1.96829062e-02 9.56384127e+01] [-6.73980849e-01 7.38525317e-01 -1.81706107e-02 -3.57392121e+01] [-2.67874178e-02 1.48787611e-04 9.99641142e-01 -9.76809812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:-35.76, Z:-9.77 [[ 7.39118905e-01 6.73281963e-01 1.98656080e-02 9.56620726e+01] [-6.73032033e-01 7.39385801e-01 -1.83444699e-02 -3.57626779e+01] [-2.70393492e-02 1.88553987e-04 9.99634352e-01 -9.76941265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:-35.79, Z:-9.77 [[ 7.40428841e-01 6.71831489e-01 2.01886589e-02 9.56836501e+01] [-6.71572527e-01 7.40703980e-01 -1.86535623e-02 -3.57858598e+01] [-2.74858706e-02 2.53486866e-04 9.99622160e-01 -9.77018079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-35.81, Z:-9.77 [[ 7.40900060e-01 6.71298679e-01 2.06200090e-02 9.57071883e+01] [-6.71028047e-01 7.41186887e-01 -1.90619863e-02 -3.58090213e+01] [-2.80795665e-02 2.86422471e-04 9.99605650e-01 -9.77109194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-35.83, Z:-9.77 [[ 7.41240081e-01 6.70915230e-01 2.08781279e-02 9.57309820e+01] [-6.70637318e-01 7.41533989e-01 -1.93114336e-02 -3.58323815e+01] [-2.84381763e-02 3.12756903e-04 9.99595504e-01 -9.77189641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:-35.86, Z:-9.77 [[ 7.41579926e-01 6.70531808e-01 2.11260154e-02 9.57540602e+01] [-6.70246786e-01 7.41880704e-01 -1.95516303e-02 -3.58553052e+01] [-2.87829732e-02 3.39452622e-04 9.99585627e-01 -9.77267171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:-35.88, Z:-9.77 [[ 7.42690545e-01 6.69302482e-01 2.10936492e-02 9.57767595e+01] [-6.69017525e-01 7.42989927e-01 -1.95325410e-02 -3.58793720e+01] [-2.87455470e-02 3.94612572e-04 9.99586683e-01 -9.77342246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-35.90, Z:-9.77 [[ 7.43390844e-01 6.68529853e-01 2.09257924e-02 9.58004005e+01] [-6.68248805e-01 7.43685183e-01 -1.93876966e-02 -3.59025333e+01] [-2.85234557e-02 4.29000371e-04 9.99593031e-01 -9.77458618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:-35.93, Z:-9.78 [[ 7.43956683e-01 6.67903035e-01 2.08323954e-02 9.58242174e+01] [-6.67623943e-01 7.44248161e-01 -1.93117946e-02 -3.59257233e+01] [-2.84028782e-02 4.58932744e-04 9.99596452e-01 -9.77555891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-35.95, Z:-9.78 [[ 7.44760841e-01 6.66999457e-01 2.10479275e-02 9.58480850e+01] [-6.66713886e-01 7.45058030e-01 -1.95224400e-02 -3.59485652e+01] [-2.87033843e-02 5.06603291e-04 9.99587845e-01 -9.77690924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:-35.97, Z:-9.78 [[ 7.46944884e-01 6.64540062e-01 2.14440115e-02 9.58707027e+01] [-6.64242268e-01 7.47252380e-01 -1.99019933e-02 -3.59714458e+01] [-2.92497605e-02 6.21673237e-04 9.99571941e-01 -9.77789737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-35.99, Z:-9.78 [[ 7.47991132e-01 6.63360347e-01 2.15015247e-02 9.58940424e+01] [-6.63060294e-01 7.48299803e-01 -1.99612376e-02 -3.59941375e+01] [-2.93310802e-02 6.74021465e-04 9.99569524e-01 -9.77898694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-36.02, Z:-9.78 [[ 7.49028133e-01 6.62184574e-01 2.16436318e-02 9.59177189e+01] [-6.61879722e-01 7.49340412e-01 -2.01042311e-02 -3.60169309e+01] [-2.95311597e-02 7.33153704e-04 9.99563591e-01 -9.78053646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-36.04, Z:-9.78 [[ 7.50847585e-01 6.60137146e-01 2.11388858e-02 9.59407832e+01] [-6.59845235e-01 7.51144663e-01 -1.96459101e-02 -3.60400913e+01] [-2.88473562e-02 8.02691125e-04 9.99583506e-01 -9.78198370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:-36.06, Z:-9.78 [[ 7.51602441e-01 6.59286536e-01 2.08574678e-02 9.59643124e+01] [-6.59001723e-01 7.51891329e-01 -1.93947978e-02 -3.60626698e+01] [-2.84692782e-02 8.32070158e-04 9.99594322e-01 -9.78330212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-36.09, Z:-9.78 [[ 7.52184574e-01 6.58619117e-01 2.09577118e-02 9.59881174e+01] [-6.58330991e-01 7.52475982e-01 -1.94987864e-02 -3.60853200e+01] [-2.86124483e-02 8.69575105e-04 9.99590202e-01 -9.78492547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-36.11, Z:-9.79 [[ 7.52614308e-01 6.58144619e-01 2.04295043e-02 9.60110696e+01] [-6.57870377e-01 7.52891027e-01 -1.90175968e-02 -3.61070535e+01] [-2.78975195e-02 8.72949734e-04 9.99610407e-01 -9.78606426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:-36.13, Z:-9.79 [[ 7.53335378e-01 6.57313763e-01 2.06016000e-02 9.60343873e+01] [-6.57034291e-01 7.53616463e-01 -1.91876690e-02 -3.61286872e+01] [-2.81380239e-02 9.18792219e-04 9.99603625e-01 -9.78743854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-36.15, Z:-9.79 [[ 7.53376277e-01 6.57270466e-01 2.04870791e-02 9.60584396e+01] [-6.56993816e-01 7.53654220e-01 -1.90903636e-02 -3.61509921e+01] [-2.79877058e-02 9.22342718e-04 9.99607842e-01 -9.78835945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:-36.17, Z:-9.79 [[ 7.53343193e-01 6.57285617e-01 2.12049719e-02 9.60826154e+01] [-6.56988919e-01 7.53640957e-01 -1.97703955e-02 -3.61734972e+01] [-2.89757320e-02 9.62461304e-04 9.99579652e-01 -9.79003011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-36.20, Z:-9.79 [[ 7.53192439e-01 6.57428513e-01 2.21111078e-02 9.61065884e+01] [-6.57105625e-01 7.53516249e-01 -2.06267021e-02 -3.61955925e+01] [-3.02216612e-02 1.00654275e-03 9.99542714e-01 -9.79092649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-36.22, Z:-9.79 [[ 7.52652052e-01 6.58035941e-01 2.24407940e-02 9.61302151e+01] [-6.57703248e-01 7.52985848e-01 -2.09463490e-02 -3.62173298e+01] [-3.06810508e-02 1.00592943e-03 9.99528720e-01 -9.79199496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-36.24, Z:-9.79 [[ 7.51713607e-01 6.59110799e-01 2.23519097e-02 9.61546628e+01] [-6.58780883e-01 7.52045225e-01 -2.08740868e-02 -3.62395123e+01] [-3.05679830e-02 9.66324297e-04 9.99532223e-01 -9.79317525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:-36.26, Z:-9.79 [[ 7.50537669e-01 6.60454030e-01 2.22189561e-02 9.61795485e+01] [-6.60128266e-01 7.50865925e-01 -2.07613757e-02 -3.62616835e+01] [-3.03953912e-02 9.14833551e-04 9.99537535e-01 -9.79432918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:-36.28, Z:-9.80 [[ 7.47610260e-01 6.63778165e-01 2.18505540e-02 9.62049614e+01] [-6.63464195e-01 7.47929105e-01 -2.04283074e-02 -3.62825926e+01] [-2.99025297e-02 7.75351980e-04 9.99552519e-01 -9.79597098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:-36.30, Z:-9.80 [[ 7.45694766e-01 6.65941181e-01 2.14862597e-02 9.62296484e+01] [-6.65638165e-01 7.46003937e-01 -2.00987597e-02 -3.63041382e+01] [-2.94134261e-02 6.85465449e-04 9.99567097e-01 -9.79701842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-36.33, Z:-9.80 [[ 7.43547478e-01 6.68346758e-01 2.12075118e-02 9.62545336e+01] [-6.68052214e-01 7.43849623e-01 -1.98488608e-02 -3.63260857e+01] [-2.90411214e-02 5.90845179e-04 9.99578043e-01 -9.79856111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.28, Y:-36.35, Z:-9.80 [[ 7.41517395e-01 6.70614710e-01 2.06848467e-02 9.62784406e+01] [-6.70335084e-01 7.41805677e-01 -1.93704018e-02 -3.63470359e+01] [-2.83342131e-02 4.97711425e-04 9.99598382e-01 -9.79987391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:-36.37, Z:-9.80 [[ 7.39596595e-01 6.72743809e-01 2.03136408e-02 9.63030864e+01] [-6.72474665e-01 7.39875391e-01 -1.90323535e-02 -3.63688379e+01] [-2.78334609e-02 4.15855086e-04 9.99612488e-01 -9.80110069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-36.39, Z:-9.80 [[ 7.37657330e-01 6.74879818e-01 1.99723603e-02 9.63272424e+01] [-6.74620153e-01 7.37927583e-01 -1.87224738e-02 -3.63905437e+01] [-2.73735753e-02 3.37013309e-04 9.99625217e-01 -9.80241390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:-36.41, Z:-9.80 [[ 7.34368996e-01 6.78469834e-01 1.95157114e-02 9.63517773e+01] [-6.78222871e-01 7.34628234e-01 -1.83056291e-02 -3.64115210e+01] [-2.67566098e-02 2.07084622e-04 9.99641956e-01 -9.80422794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:-36.43, Z:-9.81 [[ 7.32515241e-01 6.80477686e-01 1.92753580e-02 9.63763102e+01] [-6.80237338e-01 7.32768790e-01 -1.80849134e-02 -3.64338865e+01] [-2.64307608e-02 1.35656502e-04 9.99650637e-01 -9.80564086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-36.46, Z:-9.81 [[ 7.30810630e-01 6.82315396e-01 1.90137527e-02 9.64005989e+01] [-6.82081896e-01 7.31057928e-01 -1.78491892e-02 -3.64556241e+01] [-2.60789312e-02 7.54407323e-05 9.99659884e-01 -9.80725256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:-36.49, Z:-9.80 [[ 7.28687349e-01 6.84239451e-01 2.88291771e-02 9.64185183e+01] [-6.84502635e-01 7.29009702e-01 -9.98593748e-04 -3.64869530e+01] [-2.17000271e-02 -1.90059850e-02 9.99583854e-01 -9.79621605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:-36.49, Z:-9.82 [[ 7.27839130e-01 6.85722724e-01 5.87767097e-03 9.64540024e+01] [-6.85249578e-01 7.27610194e-01 -3.18813633e-02 -3.64913133e+01] [-2.61384286e-02 1.91768322e-02 9.99474378e-01 -9.81662888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-36.52, Z:-9.81 [[ 7.26745876e-01 6.86639736e-01 1.91390944e-02 9.64708142e+01] [-6.86404046e-01 7.26997847e-01 -1.79893393e-02 -3.65203538e+01] [-2.62662756e-02 -6.34737006e-05 9.99654980e-01 -9.81094889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-36.54, Z:-9.81 [[ 7.25101550e-01 6.88372394e-01 1.92662705e-02 9.64944641e+01] [-6.88133930e-01 7.25357452e-01 -1.81179737e-02 -3.65429026e+01] [-2.64468458e-02 -1.20403647e-04 9.99650214e-01 -9.81159595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:-36.56, Z:-9.81 [[ 7.24445730e-01 6.89055654e-01 1.95112711e-02 9.65176879e+01] [-6.88811045e-01 7.24708415e-01 -1.83591449e-02 -3.65647100e+01] [-2.67904549e-02 -1.39374909e-04 9.99641062e-01 -9.81310713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:-36.59, Z:-9.81 [[ 7.23858318e-01 6.89664747e-01 1.97907037e-02 9.65418022e+01] [-6.89413042e-01 7.24128795e-01 -1.86318379e-02 -3.65873168e+01] [-2.71807402e-02 -1.57158394e-04 9.99630523e-01 -9.81403554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:-36.61, Z:-9.82 [[ 7.23183475e-01 6.90359142e-01 2.02463908e-02 9.65652894e+01] [-6.90095677e-01 7.23466808e-01 -1.90718179e-02 -3.66097394e+01] [-2.78139956e-02 -1.79523241e-04 9.99613100e-01 -9.81546736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:-36.63, Z:-9.82 [[ 7.22149920e-01 6.91434602e-01 2.04373227e-02 9.65885684e+01] [-6.91166235e-01 7.22439026e-01 -1.92636865e-02 -3.66315775e+01] [-2.80842989e-02 -2.14317703e-04 9.99605535e-01 -9.81639715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:-36.65, Z:-9.82 [[ 7.21578713e-01 6.92021888e-01 2.07332385e-02 9.66122425e+01] [-6.91745772e-01 7.21876479e-01 -1.95483076e-02 -3.66537684e+01] [-2.84946940e-02 -2.36487461e-04 9.99593916e-01 -9.81783964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-36.68, Z:-9.82 [[ 7.21234567e-01 6.92375574e-01 2.08988789e-02 9.66351560e+01] [-6.92094820e-01 7.21537251e-01 -1.97168727e-02 -3.66754966e+01] [-2.87308007e-02 -2.43515675e-04 9.99587156e-01 -9.81908306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-36.70, Z:-9.82 [[ 7.20707118e-01 6.92933422e-01 2.06039327e-02 9.66579266e+01] [-6.92660575e-01 7.21001530e-01 -1.94453591e-02 -3.66975500e+01] [-2.83298063e-02 -2.57123120e-04 9.99598597e-01 -9.81995293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-36.72, Z:-9.82 [[ 7.20685184e-01 6.92968737e-01 2.01790716e-02 9.66818728e+01] [-6.92706896e-01 7.20967591e-01 -1.90496504e-02 -3.67207402e+01] [-2.77492688e-02 -2.49381266e-04 9.99614884e-01 -9.82132521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-36.74, Z:-9.82 [[ 7.20780999e-01 6.92874363e-01 1.99966930e-02 9.67045791e+01] [-6.92616880e-01 7.21058293e-01 -1.88890395e-02 -3.67427653e+01] [-2.75065125e-02 -2.35186377e-04 9.99621597e-01 -9.82256441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:-36.77, Z:-9.82 [[ 7.20740790e-01 6.92921781e-01 1.98019862e-02 9.67276203e+01] [-6.92669169e-01 7.21012727e-01 -1.87101830e-02 -3.67655975e+01] [-2.72421774e-02 -2.31033225e-04 9.99628836e-01 -9.82384340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:-36.79, Z:-9.82 [[ 7.21030503e-01 6.92632049e-01 1.93870496e-02 9.67508941e+01] [-6.92389552e-01 7.21291065e-01 -1.83277886e-02 -3.67883113e+01] [-2.66781194e-02 -2.08495956e-04 9.99644054e-01 -9.82485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:-36.81, Z:-9.83 [[ 7.21978296e-01 6.91658416e-01 1.88673208e-02 9.67729467e+01] [-6.91428125e-01 7.22224764e-01 -1.78476503e-02 -3.68107722e+01] [-2.59709239e-02 -1.59780050e-04 9.99662686e-01 -9.82575799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-36.83, Z:-9.83 [[ 7.22379912e-01 6.91242733e-01 1.87282733e-02 9.67963073e+01] [-6.91015563e-01 7.22622630e-01 -1.77208023e-02 -3.68341423e+01] [-2.57828499e-02 -1.40376756e-04 9.99667557e-01 -9.82684949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:-36.86, Z:-9.83 [[ 7.23026018e-01 6.90569832e-01 1.86194606e-02 9.68194793e+01] [-6.90344822e-01 7.23265716e-01 -1.76275588e-02 -3.68574492e+01] [-2.56398778e-02 -1.08664521e-04 9.99671238e-01 -9.82775946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:-36.88, Z:-9.83 [[ 7.23884265e-01 6.89668854e-01 1.86666134e-02 9.68416041e+01] [-6.89442144e-01 7.24124897e-01 -1.76822961e-02 -3.68800064e+01] [-2.57118884e-02 -6.96140405e-05 9.99669392e-01 -9.82886439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:-36.90, Z:-9.83 [[ 7.26528588e-01 6.86876235e-01 1.89009944e-02 9.68633308e+01] [-6.86642602e-01 7.26774405e-01 -1.79137190e-02 -3.69038837e+01] [-2.60412668e-02 3.66010397e-05 9.99660868e-01 -9.82930616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:-36.93, Z:-9.82 [[ 7.28271566e-01 6.84882696e-01 2.35842685e-02 9.68829867e+01] [-6.84855650e-01 7.28603482e-01 -1.04739579e-02 -3.69307699e+01] [-2.43570127e-02 -8.52393379e-03 9.99666984e-01 -9.82465527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:-36.95, Z:-9.83 [[ 7.29956503e-01 6.83359989e-01 1.35140577e-02 9.69106164e+01] [-6.82964294e-01 7.30026609e-01 -2.49183586e-02 -3.69467724e+01] [-2.68938310e-02 8.95969896e-03 9.99598142e-01 -9.83423611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:-36.97, Z:-9.83 [[ 7.32174904e-01 6.80819184e-01 2.01282869e-02 9.69297917e+01] [-6.80551269e-01 7.32451471e-01 -1.91000887e-02 -3.69724856e+01] [-2.77467001e-02 2.86274420e-04 9.99614945e-01 -9.83211550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:-37.00, Z:-9.83 [[ 7.34313582e-01 6.78505866e-01 2.03310933e-02 9.69529987e+01] [-6.78231369e-01 7.34594883e-01 -1.93020227e-02 -3.69960830e+01] [-2.80316527e-02 3.84552210e-04 9.99606962e-01 -9.83280782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:-37.02, Z:-9.83 [[ 7.39172430e-01 6.73182051e-01 2.12142500e-02 9.69753059e+01] [-6.72880632e-01 7.39476531e-01 -2.01522952e-02 -3.70209994e+01] [-2.92536034e-02 6.21363031e-04 9.99571829e-01 -9.83288271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-37.04, Z:-9.83 [[ 7.41550387e-01 6.70555781e-01 2.14002191e-02 9.69981160e+01] [-6.70247622e-01 7.41858745e-01 -2.03402875e-02 -3.70446443e+01] [-2.95152370e-02 7.39902055e-04 9.99564057e-01 -9.83379799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-37.07, Z:-9.83 [[ 7.43541838e-01 6.68367302e-01 2.07529685e-02 9.70207701e+01] [-6.68076349e-01 7.43830958e-01 -1.97357025e-02 -3.70678586e+01] [-2.86273987e-02 8.09753051e-04 9.99589824e-01 -9.83464183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:-37.09, Z:-9.84 [[ 7.45245293e-01 6.66482847e-01 2.02501632e-02 9.70433619e+01] [-6.66204829e-01 7.45519859e-01 -1.92682560e-02 -3.70903584e+01] [-2.79388609e-02 8.68820565e-04 9.99609256e-01 -9.83618581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:-37.11, Z:-9.84 [[ 7.49409042e-01 6.61815980e-01 1.96391564e-02 9.70661874e+01] [-6.61552633e-01 7.49665640e-01 -1.86960594e-02 -3.71142886e+01] [-2.70961516e-02 1.01866032e-03 9.99632313e-01 -9.83716083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:-37.14, Z:-9.84 [[ 7.49328996e-01 6.61906792e-01 1.96330156e-02 9.70903424e+01] [-6.61643307e-01 7.49585452e-01 -1.87025053e-02 -3.71374133e+01] [-2.70959381e-02 1.02427618e-03 9.99632313e-01 -9.83838096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:-37.16, Z:-9.84 [[ 7.51191597e-01 6.59798369e-01 1.94241523e-02 9.71138472e+01] [-6.59539694e-01 7.51441896e-01 -1.85059153e-02 -3.71609179e+01] [-2.68062946e-02 1.09048857e-03 9.99640052e-01 -9.83888706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:-37.18, Z:-9.84 [[ 7.52379490e-01 6.58429743e-01 1.98840810e-02 9.71377776e+01] [-6.58157896e-01 7.52641279e-01 -1.89549186e-02 -3.71830696e+01] [-2.74460624e-02 1.17442711e-03 9.99622596e-01 -9.83978386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:-37.20, Z:-9.84 [[ 7.52884713e-01 6.57842017e-01 2.02111454e-02 9.71615441e+01] [-6.57560631e-01 7.53154953e-01 -1.92778112e-02 -3.72045435e+01] [-2.79038784e-02 1.22391584e-03 9.99609862e-01 -9.84062907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-37.23, Z:-9.84 [[ 7.53788911e-01 6.56808677e-01 2.01156678e-02 9.71861031e+01] [-6.56529309e-01 7.54056209e-01 -1.91963739e-02 -3.72261123e+01] [-2.77766891e-02 1.26348827e-03 9.99613355e-01 -9.84083457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-37.25, Z:-9.84 [[ 7.53714771e-01 6.56896826e-01 2.00150694e-02 9.72102494e+01] [-6.56619989e-01 7.53979421e-01 -1.91107990e-02 -3.72482991e+01] [-2.76447737e-02 1.26179688e-03 9.99617014e-01 -9.84197069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:-37.27, Z:-9.84 [[ 7.53425137e-01 6.57229707e-01 1.99918773e-02 9.72348738e+01] [-6.56953338e-01 7.53689283e-01 -1.90991315e-02 -3.72704817e+01] [-2.76201802e-02 1.25603525e-03 9.99617701e-01 -9.84340546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:-37.29, Z:-9.84 [[ 7.52765802e-01 6.57994947e-01 1.96544165e-02 9.72589003e+01] [-6.57727814e-01 7.53021363e-01 -1.87869627e-02 -3.72918656e+01] [-2.71619221e-02 1.21492668e-03 9.99630309e-01 -9.84435591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:-37.31, Z:-9.85 [[ 7.50226540e-01 6.60897297e-01 1.93623694e-02 9.72849694e+01] [-6.60638767e-01 7.50475550e-01 -1.85166893e-02 -3.73122775e+01] [-2.67686147e-02 1.10017989e-03 9.99641051e-01 -9.84519234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:-37.33, Z:-9.85 [[ 7.48227523e-01 6.63155055e-01 1.95178692e-02 9.73107809e+01] [-6.62892838e-01 7.48481330e-01 -1.86757658e-02 -3.73333942e+01] [-2.69936892e-02 1.03546628e-03 9.99635068e-01 -9.84655479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-37.35, Z:-9.85 [[ 7.43021828e-01 6.68960179e-01 2.02692084e-02 9.73378898e+01] [-6.68679195e-01 7.43297739e-01 -1.94063093e-02 -3.73517272e+01] [-2.80481049e-02 8.65713483e-04 9.99606200e-01 -9.84736007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:-37.37, Z:-9.85 [[ 7.39973779e-01 6.72319168e-01 2.06335447e-02 9.73632321e+01] [-6.72028992e-01 7.40261008e-01 -1.97654882e-02 -3.73723034e+01] [-2.85629252e-02 7.59602773e-04 9.99591708e-01 -9.84813638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:-37.39, Z:-9.85 [[ 7.36728141e-01 6.75864079e-01 2.09616870e-02 9.73876198e+01] [-6.75565664e-01 7.37026007e-01 -2.00922459e-02 -3.73926901e+01] [-2.90289358e-02 6.41526981e-04 9.99578366e-01 -9.84886131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:-37.41, Z:-9.85 [[ 7.33924012e-01 6.78925403e-01 2.03922192e-02 9.74135199e+01] [-6.78549625e-01 7.34201639e-01 -2.27675063e-02 -3.74120866e+01] [-3.04294392e-02 2.87248685e-03 9.99532790e-01 -9.85216612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-37.43, Z:-9.85 [[ 7.30776834e-01 6.82250887e-01 2.23370903e-02 9.74377483e+01] [-6.81934410e-01 7.31118133e-01 -2.07782500e-02 -3.74344590e+01] [-3.05070313e-02 -4.81667297e-05 9.99534551e-01 -9.85181002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:-37.45, Z:-9.85 [[ 7.24313499e-01 6.89092873e-01 2.28246993e-02 9.74635266e+01] [-6.88827547e-01 7.24670775e-01 -1.92062090e-02 -3.74532223e+01] [-2.97752543e-02 -1.81096513e-03 9.99554978e-01 -9.85140159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-37.47, Z:-9.86 [[ 7.21368179e-01 6.92252344e-01 2.03627845e-02 9.74912433e+01] [-6.91853262e-01 7.21649270e-01 -2.36937714e-02 -3.74722133e+01] [-3.10968573e-02 3.00387387e-03 9.99511862e-01 -9.85611838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-37.49, Z:-9.85 [[ 7.18324017e-01 6.95313766e-01 2.34387121e-02 9.75139283e+01] [-6.95079887e-01 7.18699442e-01 -1.83047355e-02 -3.74940721e+01] [-2.95729239e-02 -3.14304620e-03 9.99557684e-01 -9.85423209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:-37.51, Z:-9.86 [[ 7.15455397e-01 6.98335011e-01 2.12552841e-02 9.75395836e+01] [-6.98036153e-01 7.15771027e-01 -2.04295407e-02 -3.75129879e+01] [-2.94805801e-02 -2.20531619e-04 9.99565329e-01 -9.85686586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:-37.53, Z:-9.86 [[ 7.13047646e-01 7.00831767e-01 1.99471739e-02 9.75662323e+01] [-7.00428634e-01 7.13319769e-01 -2.39715707e-02 -3.75329358e+01] [-3.10287517e-02 3.12130030e-03 9.99513619e-01 -9.86159145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:-37.55, Z:-9.86 [[ 7.09340678e-01 7.04470653e-01 2.35987776e-02 9.75884168e+01] [-7.04254872e-01 7.09722180e-01 -1.78746356e-02 -3.75547540e+01] [-2.93407321e-02 -3.94034799e-03 9.99561702e-01 -9.85881101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:-37.58, Z:-9.86 [[ 7.07954288e-01 7.05942817e-01 2.11060598e-02 9.76139659e+01] [-7.05650707e-01 7.08268647e-01 -2.03126493e-02 -3.75756450e+01] [-2.92883293e-02 -5.13078914e-04 9.99570873e-01 -9.86099590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.716559995 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:97.64, Y:-37.60, Z:-9.86 [[ 7.06659276e-01 7.07188193e-01 2.27492274e-02 9.76378229e+01] [-7.06974726e-01 7.07016441e-01 -1.77338363e-02 -3.76003167e+01] [-2.86252374e-02 -3.55134889e-03 9.99583905e-01 -9.86072297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-37.13, Z:-8.89 [[ 7.83215226e-01 -6.19205521e-01 -5.61999357e-02 9.81449189e+01] [-6.20043115e-01 -7.84561378e-01 3.15887530e-03 -3.71308431e+01] [-4.60482920e-02 3.23723040e-02 -9.98414538e-01 -8.89388687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:-37.15, Z:-8.88 [[ 8.30148243e-01 -5.56405371e-01 -3.55943404e-02 9.81340227e+01] [-5.55685721e-01 -8.30901684e-01 2.85617058e-02 -3.71549849e+01] [-4.54672839e-02 -3.93118325e-03 -9.98958093e-01 -8.88254226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-37.16, Z:-8.88 [[ 8.71257960e-01 -4.89335283e-01 -3.82171068e-02 9.81357229e+01] [-4.88661546e-01 -8.72086782e-01 2.59718758e-02 -3.71634613e+01] [-4.60375889e-02 -3.95297307e-03 -9.98931887e-01 -8.88356009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-37.17, Z:-8.88 [[ 9.06482502e-01 -4.20238096e-01 -4.11025069e-02 9.81372274e+01] [-4.19606395e-01 -9.07405345e-01 2.33669377e-02 -3.71735107e+01] [-4.71163119e-02 -3.93484547e-03 -9.98881660e-01 -8.88438566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-37.18, Z:-8.89 [[ 9.35833559e-01 -3.49759776e-01 -4.34010158e-02 9.81395484e+01] [-3.49191088e-01 -9.36831523e-01 2.03047217e-02 -3.71819176e+01] [-4.77612147e-02 -3.84659203e-03 -9.98851375e-01 -8.88506142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-37.19, Z:-8.89 [[ 9.59448417e-01 -2.78163816e-01 -4.56467586e-02 9.81430218e+01] [-2.77663842e-01 -9.60526479e-01 1.70784885e-02 -3.71886258e+01] [-4.85955379e-02 -3.71147437e-03 -9.98811643e-01 -8.88592006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-37.20, Z:-8.89 [[ 9.77594383e-01 -2.05070251e-01 -4.74912035e-02 9.81480618e+01] [-2.04650510e-01 -9.78740757e-01 1.35903774e-02 -3.71955700e+01] [-4.92685586e-02 -3.56677756e-03 -9.98779198e-01 -8.88702317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-37.20, Z:-8.89 [[ 9.90400521e-01 -1.29352737e-01 -4.87306577e-02 9.81536399e+01] [-1.29022873e-01 -9.91592515e-01 9.86821481e-03 -3.72023693e+01] [-4.95974360e-02 -3.48611561e-03 -9.98763206e-01 -8.88816227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:-37.21, Z:-8.89 [[ 9.97384665e-01 -5.22541508e-02 -4.99332988e-02 9.81577751e+01] [-5.20163522e-02 -9.98627902e-01 6.05089195e-03 -3.72091931e+01] [-5.01809696e-02 -3.43771879e-03 -9.98734225e-01 -8.88961463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:-37.22, Z:-8.89 [[ 9.98399659e-01 2.61572290e-02 -5.01390075e-02 9.81607766e+01] [ 2.62961374e-02 -9.99651964e-01 2.11271199e-03 -3.72168658e+01] [-5.00662947e-02 -3.42779316e-03 -9.98740014e-01 -8.89070067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:-37.22, Z:-8.89 [[ 9.93328243e-01 1.03894071e-01 -5.00502046e-02 9.81634141e+01] [ 1.03933476e-01 -9.94582583e-01 -1.82171144e-03 -3.72229013e+01] [-4.99683268e-02 -3.39233429e-03 -9.98745042e-01 -8.89185004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-37.23, Z:-8.89 [[ 9.82152310e-01 1.81421929e-01 -4.96278526e-02 9.81658643e+01] [ 1.81363087e-01 -9.83399546e-01 -5.72396227e-03 -3.72281262e+01] [-4.98424600e-02 -3.37885775e-03 -9.98751377e-01 -8.89364355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-37.23, Z:-8.89 [[ 9.65009180e-01 2.57635877e-01 -4.87958779e-02 9.81688022e+01] [ 2.57480849e-01 -9.66236260e-01 -9.54473592e-03 -3.72313456e+01] [-4.96074130e-02 -3.35324626e-03 -9.98763165e-01 -8.89496071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-37.23, Z:-8.90 [[ 9.41884856e-01 3.32565743e-01 -4.74652001e-02 9.81706717e+01] [ 3.32320515e-01 -9.43074154e-01 -1.31990757e-02 -3.72341275e+01] [-4.91527639e-02 -3.34165020e-03 -9.98785682e-01 -8.89623092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-37.24, Z:-8.90 [[ 9.12880071e-01 4.05640602e-01 -4.58876701e-02 9.81747760e+01] [ 4.05309888e-01 -9.14026553e-01 -1.67139091e-02 -3.72396595e+01] [-4.87223891e-02 -3.34093189e-03 -9.98806772e-01 -8.89746454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:-37.24, Z:-8.90 [[ 8.78212446e-01 4.76180733e-01 -4.46632826e-02 9.81787942e+01] [ 4.75755852e-01 -8.79341074e-01 -2.03873750e-02 -3.72431311e+01] [-4.89823340e-02 -3.34437161e-03 -9.98794046e-01 -8.89907605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:-37.25, Z:-8.90 [[ 8.38397407e-01 5.43348697e-01 -4.31506819e-02 9.81835711e+01] [ 5.42829789e-01 -8.39500529e-01 -2.39725288e-02 -3.72476099e+01] [-4.92504626e-02 -3.32496958e-03 -9.98780925e-01 -8.90035753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:-37.25, Z:-8.90 [[ 7.93884561e-01 6.06690789e-01 -4.09095412e-02 9.81881617e+01] [ 6.06093340e-01 -7.94931195e-01 -2.71156379e-02 -3.72513190e+01] [-4.89710782e-02 -3.26831419e-03 -9.98794850e-01 -8.90139419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:-37.25, Z:-8.90 [[ 7.44880359e-01 6.66082354e-01 -3.85687400e-02 9.81914915e+01] [ 6.65406495e-01 -7.45871373e-01 -3.01677300e-02 -3.72545704e+01] [-4.88615117e-02 -3.19254052e-03 -9.98800461e-01 -8.90267457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:-37.26, Z:-8.90 [[ 6.92428896e-01 7.20598358e-01 -3.57803078e-02 9.81937524e+01] [ 7.19858273e-01 -6.93346019e-01 -3.27927522e-02 -3.72553564e+01] [-4.84385374e-02 -3.05010142e-03 -9.98821508e-01 -8.90380837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:-37.26, Z:-8.91 [[ 6.34892786e-01 7.71887978e-01 -3.31677528e-02 9.81981607e+01] [ 7.71072838e-01 -6.35751581e-01 -3.55893911e-02 -3.72577768e+01] [-4.85574745e-02 -2.97930563e-03 -9.98815947e-01 -8.90528619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:-37.26, Z:-8.91 [[ 5.73588692e-01 8.18581334e-01 -3.03415941e-02 9.82015861e+01] [ 8.17695425e-01 -5.74383272e-01 -3.81844168e-02 -3.72604825e+01] [-4.86847549e-02 -2.90803300e-03 -9.98809961e-01 -8.90664215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:-37.26, Z:-8.91 [[ 5.08796260e-01 8.60458606e-01 -2.71542328e-02 9.82089494e+01] [ 8.59519643e-01 -5.09512426e-01 -4.02873455e-02 -3.72640102e+01] [-4.85010121e-02 -2.84154576e-03 -9.98819091e-01 -8.90778830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:-37.27, Z:-8.91 [[ 4.40863721e-01 8.97253159e-01 -2.39989181e-02 9.82154104e+01] [ 8.96251097e-01 -4.41507694e-01 -4.24844373e-02 -3.72674486e+01] [-4.87150026e-02 -2.77920955e-03 -9.98808853e-01 -8.90912678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:-37.27, Z:-8.91 [[ 3.71311358e-01 9.28279238e-01 -2.06284341e-02 9.82210467e+01] [ 9.27223333e-01 -3.71874401e-01 -4.43432077e-02 -3.72691300e+01] [-4.88340656e-02 -2.66202882e-03 -9.98803358e-01 -8.91019224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-37.27, Z:-8.91 [[ 2.98446028e-01 9.54274373e-01 -1.70408345e-02 9.82268044e+01] [ 9.53183419e-01 -2.98920772e-01 -4.56918154e-02 -3.72720267e+01] [-4.86963879e-02 -2.60650008e-03 -9.98810226e-01 -8.91092858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-37.27, Z:-8.91 [[ 2.24215933e-01 9.74445960e-01 -1.35013338e-02 9.82307880e+01] [ 9.73298616e-01 -2.24607855e-01 -4.73404220e-02 -3.72733397e+01] [-4.91631886e-02 -2.52635258e-03 -9.98787564e-01 -8.91235971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:-37.27, Z:-8.91 [[ 1.48287215e-01 9.88896723e-01 -9.70423737e-03 9.82360902e+01] [ 9.87734791e-01 -1.48583893e-01 -4.79876048e-02 -3.72745398e+01] [-4.88966785e-02 -2.46926459e-03 -9.98800790e-01 -8.91347110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:-37.28, Z:-8.91 [[ 7.27492018e-02 9.97332838e-01 -5.89617440e-03 9.82408393e+01] [ 9.96157061e-01 -7.29499922e-02 -4.84706943e-02 -3.72753759e+01] [-4.87715409e-02 -2.34731145e-03 -9.98807202e-01 -8.91472845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:-37.28, Z:-8.92 [[-4.38861257e-03 9.99988233e-01 -2.06754905e-03 9.82461898e+01] [ 9.98792091e-01 4.28215710e-03 -4.89491705e-02 -3.72761804e+01] [-4.89397409e-02 -2.27987059e-03 -9.98799131e-01 -8.91581691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:-37.30, Z:-8.92 [[-8.16582821e-02 9.96658876e-01 1.73466254e-03 9.82808045e+01] [ 9.95483120e-01 8.16462733e-02 -4.84483566e-02 -3.73024320e+01] [-4.84281134e-02 -2.22938229e-03 -9.98824183e-01 -8.91585943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-37.33, Z:-8.92 [[-1.58769177e-01 9.87300673e-01 5.45248091e-03 9.83174983e+01] [ 9.86150495e-01 1.58847606e-01 -4.76931729e-02 -3.73299912e+01] [-4.79536152e-02 -2.19523905e-03 -9.98847151e-01 -8.91615783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:-37.35, Z:-8.92 [[-2.35015635e-01 9.71949354e-01 9.06119917e-03 9.83545413e+01] [ 9.70831564e-01 2.35180269e-01 -4.66510016e-02 -3.73519077e+01] [-4.74734261e-02 -2.16681663e-03 -9.98870151e-01 -8.91738237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-37.37, Z:-8.92 [[-3.10298460e-01 9.50556157e-01 1.25641379e-02 9.83953959e+01] [ 9.49473444e-01 3.10545203e-01 -4.54076625e-02 -3.73715002e+01] [-4.70642659e-02 -2.16061245e-03 -9.98889527e-01 -8.91720870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:-37.39, Z:-8.92 [[-3.84144792e-01 9.23129330e-01 1.62793918e-02 9.84361462e+01] [ 9.22048074e-01 3.84483469e-01 -4.47192363e-02 -3.73865950e+01] [-4.75407957e-02 -2.16827985e-03 -9.98866944e-01 -8.91751022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:-37.40, Z:-8.92 [[-4.55827280e-01 8.89847858e-01 1.98060587e-02 9.84779674e+01] [ 8.88790308e-01 4.56252110e-01 -4.34258107e-02 -3.73966377e+01] [-4.76789207e-02 -2.19123615e-03 -9.98860310e-01 -8.91807123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:-37.41, Z:-8.92 [[-5.24640718e-01 8.51012137e-01 2.30316966e-02 9.85229316e+01] [ 8.50000621e-01 5.25141343e-01 -4.15393105e-02 -3.74068773e+01] [-4.74453536e-02 -2.21625727e-03 -9.98871376e-01 -8.91824570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:-37.41, Z:-8.92 [[-5.90218875e-01 8.06822308e-01 2.60661418e-02 9.85668296e+01] [ 8.05863303e-01 5.90789922e-01 -3.93904170e-02 -3.74112199e+01] [-4.71806810e-02 -2.24322051e-03 -9.98883853e-01 -8.91840452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-37.42, Z:-8.92 [[-6.52115355e-01 7.57578298e-01 2.86476436e-02 9.86144100e+01] [ 7.56690815e-01 6.52740339e-01 -3.67295558e-02 -3.74162623e+01] [-4.65249869e-02 -2.27449848e-03 -9.98914537e-01 -8.91836404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:-37.41, Z:-8.92 [[-7.10088125e-01 7.03428300e-01 3.10400008e-02 9.86563820e+01] [ 7.02611307e-01 7.10762459e-01 -3.39717149e-02 -3.74128392e+01] [-4.59587330e-02 -2.31385584e-03 -9.98940659e-01 -8.91903261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-37.41, Z:-8.92 [[-7.62986699e-01 6.45543867e-01 3.35322566e-02 9.87019251e+01] [ 6.44785769e-01 7.63719709e-01 -3.13611024e-02 -3.74076522e+01] [-4.58542126e-02 -2.30698210e-03 -9.98945479e-01 -8.91901509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-37.40, Z:-8.92 [[-8.11617363e-01 5.83101023e-01 3.56434211e-02 9.87466321e+01] [ 5.82411075e-01 8.12396300e-01 -2.84533227e-02 -3.73997603e+01] [-4.55477450e-02 -2.33408758e-03 -9.98959436e-01 -8.91934259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:-37.39, Z:-8.92 [[-8.55120445e-01 5.17042014e-01 3.79022538e-02 9.87904487e+01] [ 5.16411046e-01 8.55956778e-01 -2.56442014e-02 -3.73876932e+01] [-4.57018206e-02 -2.35573836e-03 -9.98952348e-01 -8.91962994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:-37.38, Z:-8.92 [[-8.94196811e-01 4.45648524e-01 4.25377059e-02 9.88307267e+01] [ 4.45454282e-01 8.95187819e-01 -1.44655643e-02 -3.73760611e+01] [-4.45257935e-02 6.01354173e-03 -9.98990136e-01 -8.91993343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:-37.38, Z:-8.94 [[-9.26233698e-01 3.71226093e-01 6.54394728e-02 9.88628733e+01] [ 3.73570144e-01 9.27185990e-01 2.77756480e-02 -3.73758329e+01] [-5.03635171e-02 5.01729744e-02 -9.97469894e-01 -8.93756734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:-37.33, Z:-8.92 [[-9.53315289e-01 2.98211775e-01 4.75362668e-02 9.89102215e+01] [ 2.97689796e-01 9.54495369e-01 -1.78710717e-02 -3.73297748e+01] [-5.07025106e-02 -2.88570431e-03 -9.98709632e-01 -8.91731452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-37.30, Z:-8.92 [[-9.74015601e-01 2.21024931e-01 4.94124443e-02 9.89462306e+01] [ 2.20586626e-01 9.75263686e-01 -1.42226185e-02 -3.73040197e+01] [-5.13337159e-02 -2.95332792e-03 -9.98677189e-01 -8.91721884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:-37.28, Z:-8.92 [[-9.88727627e-01 1.40817431e-01 5.08736778e-02 9.89822937e+01] [ 1.40469381e-01 9.90030702e-01 -1.03712212e-02 -3.72764939e+01] [-5.18269516e-02 -3.10811888e-03 -9.98651244e-01 -8.91669805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:-37.25, Z:-8.92 [[-9.96776705e-01 6.15493963e-02 5.14574831e-02 9.90175764e+01] [ 6.13037709e-02 9.98099022e-01 -6.33963149e-03 -3.72464697e+01] [-5.17498640e-02 -3.16465923e-03 -9.98655064e-01 -8.91689438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:-37.21, Z:-8.92 [[-9.98510377e-01 -1.78401185e-02 5.15631392e-02 9.90443498e+01] [-1.79816218e-02 9.99835714e-01 -2.28163732e-03 -3.72137739e+01] [-5.15139634e-02 -3.20542741e-03 -9.98667130e-01 -8.91722303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:-37.18, Z:-8.92 [[-9.94006494e-01 -9.66031545e-02 5.11753973e-02 9.90731264e+01] [-9.66412579e-02 9.95317767e-01 1.73517149e-03 -3.71789459e+01] [-5.11034052e-02 -3.22088304e-03 -9.98688174e-01 -8.91735405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:-37.14, Z:-8.92 [[-9.83313982e-01 -1.74682907e-01 5.07887234e-02 9.90935844e+01] [-1.74619123e-01 9.84619413e-01 5.72481869e-03 -3.71427811e+01] [-5.10075910e-02 -3.23938807e-03 -9.98693012e-01 -8.91758521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:-37.11, Z:-8.92 [[-9.66597045e-01 -2.51408393e-01 4.98394599e-02 9.91087105e+01] [-2.51245788e-01 9.67875678e-01 9.60348707e-03 -3.71063381e+01] [-5.06527983e-02 -3.23925215e-03 -9.98711070e-01 -8.91823588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:-36.38, Z:-9.89 [[-9.71261152e-01 2.37002983e-01 -2.19399315e-02 9.89663978e+01] [-2.36938352e-01 -9.71508906e-01 -5.53746392e-03 -3.63817165e+01] [-2.26272343e-02 -1.79912364e-04 9.99743955e-01 -9.88604767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-37.07, Z:-8.92 [[-9.44074652e-01 -3.26083965e-01 4.89111418e-02 9.91275789e+01] [-3.25822421e-01 9.45335272e-01 1.34526690e-02 -3.70667964e+01] [-5.06241272e-02 -3.23602279e-03 -9.98712534e-01 -8.91798626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:-36.36, Z:-9.89 [[-9.49972380e-01 3.11636191e-01 -2.08653170e-02 9.89229038e+01] [-3.11556875e-01 -9.50201480e-01 -7.03292865e-03 -3.63552932e+01] [-2.20179702e-02 -1.80355010e-04 9.99757559e-01 -9.88666445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:-36.36, Z:-9.89 [[-9.49129611e-01 3.13626361e-01 -2.81333777e-02 9.89213402e+01] [-3.13693741e-01 -9.49521894e-01 -2.09992185e-03 -3.63601050e+01] [-2.73718489e-02 6.83216649e-03 9.99601972e-01 -9.89464301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:-36.35, Z:-9.89 [[-9.49000345e-01 3.14277994e-01 -2.50536944e-02 9.89268270e+01] [-3.14138577e-01 -9.49330394e-01 -9.42111689e-03 -3.63534995e+01] [-2.67450833e-02 -1.07031127e-03 9.99641713e-01 -9.89094549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:-36.36, Z:-9.89 [[-9.49701390e-01 3.12586151e-01 -1.88988913e-02 9.89046405e+01] [-3.12382545e-01 -9.49867682e-01 -1.29819945e-02 -3.63558105e+01] [-2.20094377e-02 -6.42533449e-03 9.99737115e-01 -9.88548809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:-37.04, Z:-8.92 [[-9.18095357e-01 -3.93499878e-01 4.75264335e-02 9.91065667e+01] [-3.93141571e-01 9.19319698e-01 1.70586764e-02 -3.70425147e+01] [-5.04045735e-02 -3.02312508e-03 -9.98724306e-01 -8.91866850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-36.34, Z:-9.89 [[-9.21846107e-01 3.86981964e-01 -2.10882684e-02 9.88411814e+01] [-3.86879256e-01 -9.22087282e-01 -8.91545065e-03 -3.63417921e+01] [-2.28953427e-02 -6.00599010e-05 9.99737865e-01 -9.88851055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-36.34, Z:-9.89 [[-9.21453514e-01 3.87913327e-01 -2.11346207e-02 9.88425366e+01] [-3.87810631e-01 -9.21695855e-01 -8.92553541e-03 -3.63405386e+01] [-2.29420264e-02 -2.82353855e-05 9.99736797e-01 -9.88836543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:-36.34, Z:-9.89 [[-9.19976112e-01 3.91010422e-01 -2.74736929e-02 9.88525831e+01] [-3.91019446e-01 -9.20367352e-01 -5.26602050e-03 -3.63403909e+01] [-2.73449589e-02 5.89813511e-03 9.99608656e-01 -9.89435419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:-36.38, Z:-9.90 [[-9.19786550e-01 3.91459419e-01 -2.74267297e-02 9.87438298e+01] [-3.91358422e-01 -9.20192526e-01 -9.18151433e-03 -3.63839957e+01] [-2.88320619e-02 2.28864827e-03 9.99581650e-01 -9.89809776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-36.35, Z:-9.89 [[-9.21636204e-01 3.87641631e-01 -1.79073348e-02 9.88189051e+01] [-3.87370964e-01 -9.21770258e-01 -1.68323276e-02 -3.63458726e+01] [-2.30313595e-02 -8.57650097e-03 9.99697954e-01 -9.88577702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-36.35, Z:-9.89 [[-9.21607400e-01 3.87516866e-01 -2.16905089e-02 9.88195295e+01] [-3.87410917e-01 -9.21862612e-01 -9.06124217e-03 -3.63510271e+01] [-2.35070534e-02 5.22321185e-05 9.99723670e-01 -9.88938499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-36.35, Z:-9.89 [[-9.21388465e-01 3.88031356e-01 -2.17936320e-02 9.88193394e+01] [-3.87924771e-01 -9.21646169e-01 -9.09454342e-03 -3.63514665e+01] [-2.36149854e-02 7.46822982e-05 9.99721125e-01 -9.88958061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.35, Z:-9.89 [[-9.20595669e-01 3.89881902e-01 -2.22646938e-02 9.88145412e+01] [-3.89771446e-01 -9.20864857e-01 -9.28090233e-03 -3.63535329e+01] [-2.41212299e-02 1.34183414e-04 9.99709032e-01 -9.88971202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.35, Z:-9.89 [[-9.20188462e-01 3.90822497e-01 -2.26046324e-02 9.88148247e+01] [-3.90709178e-01 -9.20466049e-01 -9.41233519e-03 -3.63538384e+01] [-2.44853490e-02 1.70715099e-04 9.99700174e-01 -9.88956329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-36.35, Z:-9.89 [[-9.19721627e-01 3.91894718e-01 -2.30360287e-02 9.88153002e+01] [-3.91777630e-01 -9.20010046e-01 -9.58143543e-03 -3.63540090e+01] [-2.49482918e-02 2.12747357e-04 9.99688720e-01 -9.88974021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.36, Z:-9.89 [[-9.18683483e-01 3.94323184e-01 -2.30192193e-02 9.88141957e+01] [-3.94207283e-01 -9.18971786e-01 -9.56423808e-03 -3.63553241e+01] [-2.49254139e-02 2.87836348e-04 9.99689272e-01 -9.88980296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.36, Z:-9.89 [[-9.18163920e-01 3.95524891e-01 -2.31317299e-02 9.88093172e+01] [-3.95408493e-01 -9.18455198e-01 -9.60067466e-03 -3.63584276e+01] [-2.50427633e-02 3.31489371e-04 9.99686326e-01 -9.88983105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.36, Z:-9.89 [[-9.17683259e-01 3.96639700e-01 -2.31167630e-02 9.88143487e+01] [-3.96524062e-01 -9.17974298e-01 -9.58422734e-03 -3.63574857e+01] [-2.50220794e-02 3.71067792e-04 9.99686830e-01 -9.88975491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.36, Z:-9.89 [[-9.17230284e-01 3.97715577e-01 -2.26036679e-02 9.88122555e+01] [-3.97605579e-01 -9.17508670e-01 -9.36181876e-03 -3.63593331e+01] [-2.44624024e-02 4.00400768e-04 9.99700670e-01 -9.88954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.36, Z:-9.89 [[-9.16060622e-01 4.00419006e-01 -2.23059708e-02 9.88144518e+01] [-4.00312920e-01 -9.16332033e-01 -9.22887375e-03 -3.63607334e+01] [-2.41350920e-02 4.75160483e-04 9.99708593e-01 -9.88941453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.36, Z:-9.89 [[-9.15734170e-01 4.01159113e-01 -2.24119618e-02 9.88090704e+01] [-4.01052479e-01 -9.16008248e-01 -9.26279011e-03 -3.63642164e+01] [-2.42453945e-02 5.06119433e-04 9.99705909e-01 -9.88950121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.37, Z:-9.89 [[-9.15334552e-01 4.02073065e-01 -2.23586462e-02 9.88093569e+01] [-4.01967447e-01 -9.15607427e-01 -9.23095169e-03 -3.63655795e+01] [-2.41832596e-02 5.38038910e-04 9.99707397e-01 -9.88929689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.37, Z:-9.89 [[-9.14943113e-01 4.02934971e-01 -2.28584458e-02 9.88100345e+01] [-4.02825103e-01 -9.15228425e-01 -9.42690244e-03 -3.63667213e+01] [-2.47191280e-02 5.82876337e-04 9.99694266e-01 -9.88937721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.37, Z:-9.89 [[-9.14525486e-01 4.03870844e-01 -2.30537873e-02 9.88071827e+01] [-4.03759644e-01 -9.14815803e-01 -9.49720359e-03 -3.63693237e+01] [-2.49256126e-02 6.22754241e-04 9.99689115e-01 -9.88931336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.37, Z:-9.89 [[-9.13765829e-01 4.05565041e-01 -2.34308880e-02 9.88105057e+01] [-4.05450995e-01 -9.14065929e-01 -9.64202642e-03 -3.63708463e+01] [-2.53278453e-02 6.89522596e-04 9.99678961e-01 -9.88939783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.37, Z:-9.89 [[-9.13738136e-01 4.05626807e-01 -2.34417019e-02 9.88096107e+01] [-4.05512936e-01 -9.14038513e-01 -9.63618502e-03 -3.63727609e+01] [-2.53353133e-02 7.00963625e-04 9.99678764e-01 -9.88947045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-36.38, Z:-9.89 [[-9.13831970e-01 4.05405709e-01 -2.36080848e-02 9.88080427e+01] [-4.05290409e-01 -9.14136591e-01 -9.69415140e-03 -3.63751241e+01] [-2.55110785e-02 7.09304883e-04 9.99674288e-01 -9.88959532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-36.38, Z:-9.89 [[-9.14044143e-01 4.04918766e-01 -2.37507520e-02 9.88024256e+01] [-4.04802172e-01 -9.14352388e-01 -9.74227516e-03 -3.63789609e+01] [-2.56613868e-02 7.09486442e-04 9.99670441e-01 -9.88994884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-36.38, Z:-9.89 [[-9.14919668e-01 4.02899517e-01 -2.43717326e-02 9.88046884e+01] [-4.02776320e-01 -9.15243966e-01 -9.98595360e-03 -3.63809982e+01] [-2.63294170e-02 6.80011402e-04 9.99653090e-01 -9.88989623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-36.38, Z:-9.89 [[-9.15645515e-01 4.01240024e-01 -2.44894600e-02 9.88020184e+01] [-4.01115326e-01 -9.15972722e-01 -1.00234049e-02 -3.63841057e+01] [-2.64534685e-02 6.45211982e-04 9.99649838e-01 -9.88991616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-36.39, Z:-9.89 [[-9.16595649e-01 3.99049743e-01 -2.47329691e-02 9.87996691e+01] [-3.98922047e-01 -9.16929084e-01 -1.01121207e-02 -3.63870537e+01] [-2.67136179e-02 5.97800845e-04 9.99642949e-01 -9.88997211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-36.39, Z:-9.89 [[-9.17612848e-01 3.96671523e-01 -2.52658627e-02 9.87951762e+01] [-3.96537673e-01 -9.17960457e-01 -1.03186411e-02 -3.63906981e+01] [-2.72861739e-02 5.50348715e-04 9.99627512e-01 -9.89037464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:-36.40, Z:-9.89 [[-9.19726284e-01 3.91727202e-01 -2.55609297e-02 9.87893194e+01] [-3.91588607e-01 -9.20081314e-01 -1.04277994e-02 -3.63969917e+01] [-2.76029865e-02 4.18647671e-04 9.99618877e-01 -9.89115508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:-36.40, Z:-9.89 [[-9.20859576e-01 3.89064570e-01 -2.54244391e-02 9.87893134e+01] [-3.88926740e-01 -9.21210421e-01 -1.03610428e-02 -3.63988747e+01] [-2.74523729e-02 3.47178694e-04 9.99623052e-01 -9.89148379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-37.02, Z:-8.92 [[-8.98212908e-01 -4.37604526e-01 4.14228265e-02 9.90004788e+01] [-4.37255955e-01 8.99164625e-01 1.76126850e-02 -3.70197009e+01] [-4.49533310e-02 -2.29243658e-03 -9.98986458e-01 -8.92295024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-36.39, Z:-9.89 [[-8.90548690e-01 4.54270675e-01 -2.36893260e-02 9.87231736e+01] [-4.54116148e-01 -8.90863689e-01 -1.18495913e-02 -3.63919517e+01] [-2.64868822e-02 2.05067440e-04 9.99649140e-01 -9.89314358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-36.40, Z:-9.89 [[-8.92731383e-01 4.50000647e-01 -2.30238046e-02 9.87188949e+01] [-4.49853528e-01 -8.93028225e-01 -1.15062444e-02 -3.63975600e+01] [-2.57387248e-02 8.53542160e-05 9.99668701e-01 -9.89386750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-36.40, Z:-9.89 [[-8.93657780e-01 4.48136448e-01 -2.34413638e-02 9.87176789e+01] [-4.47983598e-01 -8.93965169e-01 -1.17035686e-02 -3.63996887e+01] [-2.62005584e-02 4.23613900e-05 9.99656706e-01 -9.89413741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-36.40, Z:-9.89 [[-8.95018943e-01 4.45379116e-01 -2.40527517e-02 9.87126181e+01] [-4.45217482e-01 -8.95342081e-01 -1.19980141e-02 -3.64045993e+01] [-2.68791057e-02 -2.97444045e-05 9.99638691e-01 -9.89399750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-36.41, Z:-9.89 [[-8.95600802e-01 4.44184720e-01 -2.44773029e-02 9.87100556e+01] [-4.44017314e-01 -8.95935228e-01 -1.21939654e-02 -3.64069174e+01] [-2.73464510e-02 -5.25788920e-05 9.99626014e-01 -9.89394058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-36.41, Z:-9.89 [[-8.96038895e-01 4.43265891e-01 -2.50927777e-02 9.87081076e+01] [-4.43089943e-01 -8.96390174e-01 -1.24883050e-02 -3.64090127e+01] [-2.80285590e-02 -7.16495348e-05 9.99607120e-01 -9.89422124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-36.41, Z:-9.89 [[-8.96505579e-01 4.42307353e-01 -2.53367657e-02 9.87076278e+01] [-4.42127927e-01 -8.96863533e-01 -1.25975772e-02 -3.64101845e+01] [-2.82956222e-02 -9.17066045e-05 9.99599595e-01 -9.89395861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-36.41, Z:-9.89 [[-8.96798389e-01 4.41704218e-01 -2.54957473e-02 9.87051294e+01] [-4.41522636e-01 -8.97160729e-01 -1.26644526e-02 -3.64122426e+01] [-2.84677253e-02 -1.00511153e-04 9.99594707e-01 -9.89396579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-36.41, Z:-9.89 [[-8.97156490e-01 4.40952388e-01 -2.59079989e-02 9.87032908e+01] [-4.40764933e-01 -8.97530489e-01 -1.28567236e-02 -3.64145176e+01] [-2.89224218e-02 -1.15155617e-04 9.99581653e-01 -9.89444206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-36.42, Z:-9.89 [[-8.97431241e-01 4.40426112e-01 -2.53378511e-02 9.87016083e+01] [-4.40246939e-01 -8.97788854e-01 -1.25621339e-02 -3.64162125e+01] [-2.82807321e-02 -1.18740056e-04 9.99600013e-01 -9.89460906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-36.42, Z:-9.90 [[-8.97602972e-01 4.40101424e-01 -2.48925911e-02 9.86970963e+01] [-4.39928688e-01 -8.97948063e-01 -1.23298757e-02 -3.64192915e+01] [-2.77786498e-02 -1.16368100e-04 9.99614092e-01 -9.89504438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-36.42, Z:-9.90 [[-8.97780438e-01 4.39773247e-01 -2.42852990e-02 9.86968625e+01] [-4.39609020e-01 -8.98108834e-01 -1.20179446e-02 -3.64200212e+01] [-2.70960122e-02 -1.13439091e-04 9.99632829e-01 -9.89527519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-36.42, Z:-9.90 [[-8.97829968e-01 4.39683847e-01 -2.40720529e-02 9.86977235e+01] [-4.39522763e-01 -8.98152606e-01 -1.19011484e-02 -3.64202508e+01] [-2.68531198e-02 -1.04992525e-04 9.99639384e-01 -9.89528562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-36.42, Z:-9.90 [[-8.97976233e-01 4.39385328e-01 -2.40669818e-02 9.86933964e+01] [-4.39224509e-01 -8.98298683e-01 -1.18872707e-02 -3.64229576e+01] [-2.68424304e-02 -1.03678299e-04 9.99639672e-01 -9.89525311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-36.42, Z:-9.90 [[-8.98143134e-01 4.39043817e-01 -2.40714906e-02 9.86912874e+01] [-4.38883121e-01 -8.98465645e-01 -1.18781320e-02 -3.64240884e+01] [-2.68424277e-02 -1.03691836e-04 9.99639672e-01 -9.89534339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-36.43, Z:-9.90 [[-8.98214315e-01 4.38896934e-01 -2.40941131e-02 9.86893203e+01] [-4.38736189e-01 -8.98537407e-01 -1.18778966e-02 -3.64253573e+01] [-2.68626343e-02 -9.79373526e-05 9.99639130e-01 -9.89511720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-36.43, Z:-9.90 [[-8.98243165e-01 4.38815977e-01 -2.44898686e-02 9.86863966e+01] [-4.38650200e-01 -8.98576947e-01 -1.20611811e-02 -3.64270474e+01] [-2.72986704e-02 -9.13877585e-05 9.99627318e-01 -9.89519496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:-37.01, Z:-8.93 [[-8.59694398e-01 -5.09292945e-01 3.93222462e-02 9.89076997e+01] [-5.08906266e-01 8.60588715e-01 2.00368756e-02 -3.70131735e+01] [-4.40449206e-02 -2.78574780e-03 -9.99025668e-01 -8.92650124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-36.43, Z:-9.90 [[-8.62326173e-01 5.05795685e-01 -2.37549255e-02 9.86084182e+01] [-5.05601988e-01 -8.62653303e-01 -1.39966963e-02 -3.64281733e+01] [-2.75717335e-02 -5.91799391e-05 9.99619826e-01 -9.89610383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-36.43, Z:-9.90 [[-8.61521325e-01 5.07156433e-01 -2.39449189e-02 9.86065822e+01] [-5.06960495e-01 -8.61854020e-01 -1.40962375e-02 -3.64292362e+01] [-2.77860222e-02 -5.08128424e-06 9.99613894e-01 -9.89621519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-36.43, Z:-9.90 [[-8.61033916e-01 5.07984931e-01 -2.39145478e-02 9.86057602e+01] [-5.07790148e-01 -8.61365955e-01 -1.40661564e-02 -3.64295188e+01] [-2.77445729e-02 3.21340506e-05 9.99615045e-01 -9.89601825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.90 [[-8.60472586e-01 5.08935004e-01 -2.39184158e-02 9.86046772e+01] [-5.08740864e-01 -8.60804947e-01 -1.40562200e-02 -3.64298639e+01] [-2.77427930e-02 7.32835335e-05 9.99615092e-01 -9.89591461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.90 [[-8.59835206e-01 5.10024702e-01 -2.36267059e-02 9.86036692e+01] [-5.09836005e-01 -8.60159747e-01 -1.38729390e-02 -3.64301431e+01] [-2.73982829e-02 1.17303940e-04 9.99624590e-01 -9.89584458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.90 [[-8.59030071e-01 5.11365876e-01 -2.39223359e-02 9.86019735e+01] [-5.11173289e-01 -8.59363085e-01 -1.40341515e-02 -3.64306880e+01] [-2.77345585e-02 1.72700962e-04 9.99615308e-01 -9.89590669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.90 [[-8.58263937e-01 5.12664860e-01 -2.36168720e-02 9.86007651e+01] [-5.12477975e-01 -8.58588780e-01 -1.38431409e-02 -3.64311269e+01] [-2.73740732e-02 2.22058115e-04 9.99625235e-01 -9.89553208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.89 [[-8.56136390e-01 5.16219353e-01 -2.34106924e-02 9.86027927e+01] [-5.16037363e-01 -8.56456340e-01 -1.37105303e-02 -3.64297333e+01] [-2.71278770e-02 3.42708052e-04 9.99631913e-01 -9.89493870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.90 [[-8.55201112e-01 5.17773456e-01 -2.32745849e-02 9.86012593e+01] [-5.17594466e-01 -8.55517673e-01 -1.36191145e-02 -3.64307045e+01] [-2.69634347e-02 3.99714429e-04 9.99636341e-01 -9.89501065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.89 [[-8.54280457e-01 5.19303889e-01 -2.29863181e-02 9.86013043e+01] [-5.19130163e-01 -8.54589531e-01 -1.34390130e-02 -3.64308291e+01] [-2.66227985e-02 4.52204930e-04 9.99645448e-01 -9.89491134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.89 [[-8.52256840e-01 5.22617171e-01 -2.30123974e-02 9.86026153e+01] [-5.22444565e-01 -8.52567283e-01 -1.34426285e-02 -3.64304746e+01] [-2.66449656e-02 5.66129857e-04 9.99644800e-01 -9.89458905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:-36.43, Z:-9.89 [[-8.51432089e-01 5.23958644e-01 -2.30377175e-02 9.86011149e+01] [-5.23786458e-01 -8.51743480e-01 -1.34458075e-02 -3.64315317e+01] [-2.66672728e-02 6.18652464e-04 9.99644174e-01 -9.89455999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-37.01, Z:-8.93 [[-8.35078280e-01 -5.47736901e-01 5.12694216e-02 9.88370513e+01] [-5.47946118e-01 8.36439515e-01 1.11350296e-02 -3.70113021e+01] [-4.89828368e-02 -1.87942592e-02 -9.98622780e-01 -8.92998192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:-36.43, Z:-9.89 [[-8.07882928e-01 5.89138158e-01 -1.55372524e-02 9.85244412e+01] [-5.88802597e-01 -8.07990330e-01 -2.15204133e-02 -3.64317458e+01] [-2.52324463e-02 -8.23759993e-03 9.99647671e-01 -9.89340659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-36.43, Z:-9.89 [[-8.06762156e-01 5.90747614e-01 -1.23320492e-02 9.85276150e+01] [-5.90527993e-01 -8.06827470e-01 -1.74963788e-02 -3.64313826e+01] [-2.02857800e-02 -6.83299601e-03 9.99770872e-01 -9.89138589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:-37.18, Z:-9.66 [[-8.26984936e-01 -1.21976425e-01 -5.48833005e-01 9.89288744e+01] [-5.57552117e-01 5.23415926e-02 8.28490190e-01 -3.71784528e+01] [-7.23294782e-02 9.91151910e-01 -1.11293923e-01 -9.65913885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:-37.04, Z:-8.88 [[-7.92103596e-01 -5.89797643e-01 1.57196162e-01 9.86399144e+01] [-6.01189669e-01 7.98390578e-01 -3.38151865e-02 -3.70418297e+01] [-1.05559818e-01 -1.21289840e-01 -9.86988298e-01 -8.88485038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:-36.52, Z:-9.88 [[-7.55862461e-01 6.52111243e-01 -5.85052732e-02 9.83391679e+01] [-6.49920244e-01 -7.58119532e-01 -5.34644923e-02 -3.65232684e+01] [-7.92187868e-02 -2.38804132e-03 9.96854393e-01 -9.87949643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-37.25, Z:-9.64 [[-7.76174161e-01 -1.84014314e-01 -6.03069154e-01 9.87779875e+01] [-6.16682081e-01 2.22774834e-02 7.86897023e-01 -3.72534568e+01] [-1.31365453e-01 9.82671077e-01 -1.30769537e-01 -9.63773941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-37.06, Z:-8.85 [[ -0.7374176 -0.5682562 0.36510296 98.32281516] [ -0.65784861 0.72679834 -0.19748259 -37.06312408] [ -0.15313552 -0.38580962 -0.90978044 -8.84977174] [ 0. 0. 0. 1. ]] SLAMing on 104.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:-36.66, Z:-9.89 [[-7.06353233e-01 7.02065916e-01 -9.03800802e-02 9.81296811e+01] [-6.96973366e-01 -7.12104203e-01 -8.44732515e-02 -3.66581213e+01] [-1.23665826e-01 3.32455445e-03 9.92318352e-01 -9.89367857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:-36.66, Z:-9.89 [[-7.09646040e-01 6.98713620e-01 -9.05636527e-02 9.81285495e+01] [-6.93581025e-01 -7.15396036e-01 -8.45805748e-02 -3.66640978e+01] [-1.23886478e-01 2.79096108e-03 9.92292473e-01 -9.89440899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:-36.67, Z:-9.90 [[-7.11957921e-01 6.96347315e-01 -9.06439987e-02 9.81255911e+01] [-6.91194430e-01 -7.17700861e-01 -8.45915742e-02 -3.66694273e+01] [-1.23960392e-01 2.42698563e-03 9.92284199e-01 -9.89502945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-36.67, Z:-9.90 [[-7.14307819e-01 6.93905530e-01 -9.08815481e-02 9.81234749e+01] [-6.88713829e-01 -7.20063118e-01 -8.47488460e-02 -3.66742959e+01] [-1.24248144e-01 2.05461565e-03 9.92249050e-01 -9.89583390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-36.68, Z:-9.90 [[-7.16741028e-01 6.91406000e-01 -9.07746711e-02 9.81222574e+01] [-6.86214549e-01 -7.22464511e-01 -8.45850079e-02 -3.66783638e+01] [-1.24064060e-01 1.66535445e-03 9.92272813e-01 -9.89651548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-36.68, Z:-9.90 [[-7.21348420e-01 6.86588605e-01 -9.08435110e-02 9.81210466e+01] [-6.81359018e-01 -7.27045603e-01 -8.45847513e-02 -3.66849028e+01] [-1.24122302e-01 8.81968618e-04 9.92266535e-01 -9.89762050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-36.69, Z:-9.90 [[-7.23760136e-01 6.84070048e-01 -9.06610977e-02 9.81172776e+01] [-6.78849706e-01 -7.29416153e-01 -8.43513626e-02 -3.66909583e+01] [-1.23831910e-01 4.95105904e-04 9.92303085e-01 -9.89845756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-36.70, Z:-9.90 [[-7.25802207e-01 6.81857545e-01 -9.10024416e-02 9.81145302e+01] [-6.76589530e-01 -7.31484968e-01 -8.45952111e-02 -3.66959949e+01] [-1.24248801e-01 1.71908199e-04 9.92251080e-01 -9.89934158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-36.70, Z:-9.90 [[-7.27836008e-01 6.79679072e-01 -9.10555065e-02 9.81119364e+01] [-6.74395934e-01 -7.33509602e-01 -8.45800678e-02 -3.67002047e+01] [-1.24277390e-01 -1.52955561e-04 9.92247503e-01 -9.89968283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-36.71, Z:-9.90 [[-7.29776376e-01 6.77573899e-01 -9.12143271e-02 9.81073613e+01] [-6.72265097e-01 -7.35454555e-01 -8.46536299e-02 -3.67061981e+01] [-1.24443082e-01 -4.58010683e-04 9.92226642e-01 -9.90046786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-36.71, Z:-9.90 [[-7.33142291e-01 6.73860332e-01 -9.17313183e-02 9.81075385e+01] [-6.68470151e-01 -7.38858008e-01 -8.50676209e-02 -3.67097931e+01] [-1.25100114e-01 -1.04702222e-03 9.92143571e-01 -9.90113941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-36.71, Z:-9.90 [[-7.34865519e-01 6.71971813e-01 -9.17962556e-02 9.81059826e+01] [-6.66567531e-01 -7.40575545e-01 -8.50622615e-02 -3.67131543e+01] [-1.25141504e-01 -1.32091945e-03 9.92138024e-01 -9.90192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-36.72, Z:-9.90 [[-7.36531190e-01 6.70147549e-01 -9.17827273e-02 9.81047545e+01] [-6.64739021e-01 -7.42226220e-01 -8.49839579e-02 -3.67158372e+01] [-1.25075338e-01 -1.58177545e-03 9.92145986e-01 -9.90281639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-36.72, Z:-9.90 [[-7.39426338e-01 6.67017355e-01 -9.13046458e-02 9.81007231e+01] [-6.61649520e-01 -7.45039351e-01 -8.44764923e-02 -3.67213158e+01] [-1.24372841e-01 -2.05246830e-03 9.92233432e-01 -9.90402187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-36.72, Z:-9.90 [[-7.40683447e-01 6.65627347e-01 -9.12593366e-02 9.80978553e+01] [-6.60262498e-01 -7.46280937e-01 -8.43694075e-02 -3.67248321e+01] [-1.24263688e-01 -2.23590597e-03 9.92246712e-01 -9.90498846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-36.72, Z:-9.91 [[-7.41930907e-01 6.64249350e-01 -9.11664959e-02 9.80979627e+01] [-6.58893232e-01 -7.47507169e-01 -8.42184107e-02 -3.67248877e+01] [-1.24089634e-01 -2.41525470e-03 9.92268073e-01 -9.90505166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:-36.73, Z:-9.91 [[-7.43004843e-01 6.63084339e-01 -9.09008415e-02 9.80925735e+01] [-6.57758901e-01 -7.48540339e-01 -8.39082115e-02 -3.67297824e+01] [-1.23681168e-01 -2.55336991e-03 9.92318724e-01 -9.90620491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:-36.73, Z:-9.91 [[-7.44301540e-01 6.61604158e-01 -9.10777458e-02 9.80917187e+01] [-6.56254987e-01 -7.49848214e-01 -8.40062383e-02 -3.67295040e+01] [-1.23873362e-01 -2.75574769e-03 9.92294208e-01 -9.90664197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:-36.73, Z:-9.91 [[-7.44973984e-01 6.60894015e-01 -9.07351371e-02 9.80880685e+01] [-6.55587997e-01 -7.50473973e-01 -8.36253251e-02 -3.67321156e+01] [-1.23361836e-01 -2.81382482e-03 9.92357768e-01 -9.90682674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:-36.73, Z:-9.91 [[-7.45407894e-01 6.60344379e-01 -9.11722138e-02 9.80871849e+01] [-6.54991033e-01 -7.50957434e-01 -8.39623625e-02 -3.67314543e+01] [-1.23910526e-01 -2.86922526e-03 9.92289247e-01 -9.90669811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-36.73, Z:-9.91 [[-7.45933753e-01 6.59767634e-01 -9.10467225e-02 9.80848177e+01] [-6.54432896e-01 -7.51464032e-01 -8.37818161e-02 -3.67319944e+01] [-1.23694868e-01 -2.91171418e-03 9.92316029e-01 -9.90653303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-36.73, Z:-9.91 [[-7.46498385e-01 6.59084646e-01 -9.13651487e-02 9.80808114e+01] [-6.53715461e-01 -7.52062839e-01 -8.40094185e-02 -3.67341436e+01] [-1.24081651e-01 -2.98608493e-03 9.92267518e-01 -9.90707480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-36.73, Z:-9.91 [[-7.47154475e-01 6.58242775e-01 -9.20686682e-02 9.80789150e+01] [-6.52792215e-01 -7.52799335e-01 -8.45901020e-02 -3.67331492e+01] [-1.24990056e-01 -3.10016340e-03 9.92153151e-01 -9.90746271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-36.73, Z:-9.91 [[-7.47649518e-01 6.57665045e-01 -9.21785581e-02 9.80754872e+01] [-6.52205367e-01 -7.53303898e-01 -8.46250303e-02 -3.67346689e+01] [-1.25093391e-01 -3.15051281e-03 9.92139969e-01 -9.90807473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:-36.73, Z:-9.91 [[-7.48313058e-01 6.56882180e-01 -9.23762379e-02 9.80709726e+01] [-6.51401353e-01 -7.53986282e-01 -8.47405658e-02 -3.67347172e+01] [-1.25314984e-01 -3.23846559e-03 9.92111721e-01 -9.90808781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:-36.74, Z:-9.91 [[-7.48827369e-01 6.56244399e-01 -9.27408273e-02 9.80645495e+01] [-6.50723579e-01 -7.54541149e-01 -8.50086984e-02 -3.67385644e+01] [-1.25763253e-01 -3.30819689e-03 9.92054767e-01 -9.90914995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:-36.74, Z:-9.91 [[-7.49265765e-01 6.55704186e-01 -9.30206122e-02 9.80604737e+01] [-6.50154213e-01 -7.55010424e-01 -8.51983436e-02 -3.67404847e+01] [-1.26096442e-01 -3.35845907e-03 9.92012302e-01 -9.90951634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:-36.74, Z:-9.91 [[-7.49799974e-01 6.55034596e-01 -9.34327423e-02 9.80607365e+01] [-6.49438459e-01 -7.55591075e-01 -8.55091522e-02 -3.67382880e+01] [-1.26608399e-01 -3.43594394e-03 9.91946827e-01 -9.90915933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:-36.74, Z:-9.91 [[-7.50542663e-01 6.54187412e-01 -9.34052517e-02 9.80583831e+01] [-6.48597689e-01 -7.56324294e-01 -8.54084278e-02 -3.67362477e+01] [-1.26517779e-01 -3.52023839e-03 9.91958094e-01 -9.90888970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-36.74, Z:-9.91 [[-7.51071960e-01 6.53611784e-01 -9.31801868e-02 9.80524487e+01] [-6.48053108e-01 -7.56821629e-01 -8.51363048e-02 -3.67396287e+01] [-1.26166873e-01 -3.55778162e-03 9.92002652e-01 -9.90963113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-36.74, Z:-9.91 [[-7.51400897e-01 6.53208275e-01 -9.33575982e-02 9.80517795e+01] [-6.47633697e-01 -7.57169809e-01 -8.52318839e-02 -3.67383537e+01] [-1.26361727e-01 -3.58178755e-03 9.91977764e-01 -9.90999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-36.74, Z:-9.91 [[-7.51661372e-01 6.52897290e-01 -9.34361337e-02 9.80483313e+01] [-6.47319370e-01 -7.57437962e-01 -8.52371183e-02 -3.67388307e+01] [-1.26423158e-01 -3.58643009e-03 9.91969920e-01 -9.91047274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-36.74, Z:-9.91 [[-7.51424511e-01 6.53181440e-01 -9.33552950e-02 9.80463627e+01] [-6.47623851e-01 -7.57193412e-01 -8.50969159e-02 -3.67355189e+01] [-1.26271740e-01 -3.48479280e-03 9.91989568e-01 -9.91024225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-36.74, Z:-9.91 [[-7.51041928e-01 6.53598647e-01 -9.35137978e-02 9.80432149e+01] [-6.48033771e-01 -7.56833834e-01 -8.51749974e-02 -3.67360930e+01] [-1.26444669e-01 -3.36989529e-03 9.91967938e-01 -9.91092918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-36.74, Z:-9.91 [[-7.50388119e-01 6.54343600e-01 -9.35527848e-02 9.80399342e+01] [-6.48788261e-01 -7.56190613e-01 -8.51442874e-02 -3.67368683e+01] [-1.26457357e-01 -3.19531317e-03 9.91966898e-01 -9.91137044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-36.73, Z:-9.91 [[-7.47885802e-01 6.57181328e-01 -9.36991397e-02 9.80391762e+01] [-6.51639082e-01 -7.53727784e-01 -8.52111144e-02 -3.67325524e+01] [-1.26622798e-01 -2.67016118e-03 9.91947346e-01 -9.91131810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-36.73, Z:-9.91 [[-7.46548863e-01 6.58680550e-01 -9.38335152e-02 9.80356423e+01] [-6.53142603e-01 -7.52418980e-01 -8.52667576e-02 -3.67329839e+01] [-1.26765672e-01 -2.36913461e-03 9.91929862e-01 -9.91206818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.73, Z:-9.91 [[-7.44976446e-01 6.60462316e-01 -9.38063102e-02 9.80325985e+01] [-6.54949986e-01 -7.50856487e-01 -8.51765917e-02 -3.67324724e+01] [-1.26691006e-01 -2.01611295e-03 9.91940182e-01 -9.91238988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.73, Z:-9.91 [[-7.42955241e-01 6.62720483e-01 -9.39099114e-02 9.80307041e+01] [-6.57224558e-01 -7.48865206e-01 -8.51867560e-02 -3.67311622e+01] [-1.26780873e-01 -1.57004686e-03 9.91929506e-01 -9.91265303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.73, Z:-9.91 [[-7.38261876e-01 6.67885696e-01 -9.43297391e-02 9.80297593e+01] [-6.62390606e-01 -7.44263588e-01 -8.55008597e-02 -3.67255860e+01] [-1.27310991e-01 -6.38891962e-04 9.91862643e-01 -9.91205059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.73, Z:-9.91 [[-7.38516605e-01 6.67599361e-01 -9.43626918e-02 9.80280734e+01] [-6.62106591e-01 -7.44520440e-01 -8.54644758e-02 -3.67272476e+01] [-1.27310982e-01 -6.38774313e-04 9.91862645e-01 -9.91238564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.72, Z:-9.91 [[-7.36001100e-01 6.70314553e-01 -9.47669843e-02 9.80277755e+01] [-6.64805300e-01 -7.42077075e-01 -8.57643704e-02 -3.67243850e+01] [-1.27813512e-01 -1.21077487e-04 9.91798211e-01 -9.91197932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.72, Z:-9.91 [[-7.33409479e-01 6.73084075e-01 -9.52279589e-02 9.80254832e+01] [-6.67553760e-01 -7.39565854e-01 -8.61064742e-02 -3.67230505e+01] [-1.28384243e-01 4.18477655e-04 9.91724413e-01 -9.91211363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-36.72, Z:-9.91 [[-7.30730406e-01 6.76012330e-01 -9.50810358e-02 9.80241193e+01] [-6.70533361e-01 -7.36889651e-01 -8.58990939e-02 -3.67212544e+01] [-1.28133078e-01 9.85926691e-04 9.91756493e-01 -9.91199724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-36.72, Z:-9.91 [[-7.25212530e-01 6.81928344e-01 -9.50816536e-02 9.80229093e+01] [-6.76507979e-01 -7.31416042e-01 -8.58343040e-02 -3.67164990e+01] [-1.28077092e-01 2.07538456e-03 9.91762044e-01 -9.91231283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:-36.72, Z:-9.91 [[-7.24526717e-01 6.84039087e-01 -8.45669153e-02 9.80121559e+01] [-6.78310509e-01 -7.29413334e-01 -8.86061021e-02 -3.67153859e+01] [-1.22294273e-01 -6.83486086e-03 9.92470350e-01 -9.90675473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-37.50, Z:-9.57 [[ -0.72375625 -0.36942892 -0.58283717 98.5335568 ] [ -0.66756722 0.16097401 0.72693974 -37.50393146] [ -0.17473093 0.91521016 -0.36312458 -9.57263026] [ 0. 0. 0. 1. ]] SLAMing on 105.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-36.79, Z:-9.90 [[-6.94927156e-01 7.05698293e-01 -1.38080294e-01 9.79105031e+01] [-6.93455848e-01 -7.08496599e-01 -1.30963947e-01 -3.67927602e+01] [-1.90250453e-01 4.74218472e-03 9.81724135e-01 -9.90259986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-36.79, Z:-9.90 [[-6.90697434e-01 7.09743490e-01 -1.38568513e-01 9.79103086e+01] [-6.97660097e-01 -7.04430308e-01 -1.30569252e-01 -3.67882005e+01] [-1.90282537e-01 6.48987538e-03 9.81707919e-01 -9.90287575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-36.79, Z:-9.90 [[-6.89117806e-01 7.11310888e-01 -1.38396064e-01 9.79072153e+01] [-6.99313112e-01 -7.02842646e-01 -1.30281951e-01 -3.67888827e+01] [-1.89941626e-01 7.00257028e-03 9.81770412e-01 -9.90352811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:-36.79, Z:-9.90 [[-6.87713856e-01 7.12566981e-01 -1.38917058e-01 9.79048508e+01] [-7.00527544e-01 -7.01564347e-01 -1.30646956e-01 -3.67888167e+01] [-1.90553962e-01 7.46750360e-03 9.81648320e-01 -9.90411352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:-36.79, Z:-9.90 [[-6.86699305e-01 7.13528072e-01 -1.39002717e-01 9.79009536e+01] [-7.01517310e-01 -7.00582909e-01 -1.30602648e-01 -3.67905566e+01] [-1.90571584e-01 7.82806452e-03 9.81642090e-01 -9.90436864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:-36.79, Z:-9.90 [[-6.85484412e-01 7.14577914e-01 -1.39604891e-01 9.78982887e+01] [-7.02507917e-01 -6.99507264e-01 -1.31042795e-01 -3.67901112e+01] [-1.91294922e-01 8.24574748e-03 9.81497968e-01 -9.90477724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-37.67, Z:-9.02 [[-6.90279012e-01 -7.08931648e-01 1.44674823e-01 9.80211654e+01] [-6.95566487e-01 7.05251949e-01 1.37138433e-01 -3.76730168e+01] [-1.99253976e-01 -5.96717659e-03 -9.79929715e-01 -9.01782721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:-36.79, Z:-9.91 [[-6.28612715e-01 7.67004661e-01 -1.28646431e-01 9.78290282e+01] [-7.53849383e-01 -6.41592582e-01 -1.41668861e-01 -3.67852619e+01] [-1.91199273e-01 7.92518484e-03 9.81519246e-01 -9.90853678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-36.79, Z:-9.91 [[-6.29319048e-01 7.66316691e-01 -1.29291398e-01 9.78241782e+01] [-7.53150029e-01 -6.42410523e-01 -1.41681876e-01 -3.67912196e+01] [-1.91631341e-01 8.21271690e-03 9.81432616e-01 -9.91034014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-36.79, Z:-9.91 [[-6.31194636e-01 7.64697439e-01 -1.29734952e-01 9.78230840e+01] [-7.51432367e-01 -6.44341836e-01 -1.42031676e-01 -3.67931651e+01] [-1.92204916e-01 7.83741030e-03 9.81323517e-01 -9.91166323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.296559995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:97.51, Y:-37.13, Z:-10.00 [[-6.37332209e-01 7.61286250e-01 -1.19377136e-01 9.75068278e+01] [-7.47653509e-01 -6.48412328e-01 -1.43442267e-01 -3.71277781e+01] [-1.86606232e-01 -2.16764182e-03 9.82432397e-01 -9.99639983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:-37.61, Z:-9.31 [[ -0.64136255 -0.66894063 -0.37572932 98.34786022] [ -0.7349152 0.39498851 0.5512565 -37.61480086] [ -0.2203491 0.62968446 -0.74494547 -9.30916157] [ 0. 0. 0. 1. ]] SLAMing on 106.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-36.90, Z:-9.91 [[-5.90777712e-01 7.93872834e-01 -1.44040334e-01 9.76744768e+01] [-7.71674942e-01 -6.08082959e-01 -1.86421292e-01 -3.69014818e+01] [-2.35583272e-01 1.01877213e-03 9.71853633e-01 -9.91490943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-36.91, Z:-9.92 [[-5.94897992e-01 7.89753890e-01 -1.49616750e-01 9.76733847e+01] [-7.68750538e-01 -6.13380407e-01 -1.81072048e-01 -3.69104690e+01] [-2.34774337e-01 7.29855926e-03 9.72022501e-01 -9.91995462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-36.92, Z:-9.92 [[-5.97308901e-01 7.87924784e-01 -1.49654973e-01 9.76694938e+01] [-7.66901249e-01 -6.15735000e-01 -1.80922315e-01 -3.69163427e+01] [-2.34700981e-01 6.70407647e-03 9.72044497e-01 -9.92195325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:-36.92, Z:-9.93 [[-6.01293485e-01 7.84309423e-01 -1.52659340e-01 9.76648509e+01] [-7.63530160e-01 -6.20310221e-01 -1.79546439e-01 -3.69237101e+01] [-2.35516113e-01 8.59990620e-03 9.71832394e-01 -9.92633638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:-37.44, Z:-8.90 [[ -0.59044054 -0.57119745 0.5701872 97.70952142] [ -0.77795162 0.59088318 -0.21365475 -37.44194688] [ -0.21487498 -0.56972848 -0.79324536 -8.9036031 ] [ 0. 0. 0. 1. ]] SLAMing on 106.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-37.05, Z:-9.98 [[-5.69199381e-01 8.13989151e-01 -1.15903952e-01 9.75270595e+01] [-7.98688048e-01 -5.80871586e-01 -1.57116526e-01 -3.70485282e+01] [-1.95216460e-01 3.14047128e-03 9.80755154e-01 -9.98077180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-37.05, Z:-9.98 [[-5.72089232e-01 8.11966759e-01 -1.15861527e-01 9.75260826e+01] [-7.96670455e-01 -5.83698100e-01 -1.56884395e-01 -3.70513550e+01] [-1.95013067e-01 2.55158230e-03 9.80797325e-01 -9.98159231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:-37.06, Z:-9.98 [[-5.74829600e-01 8.10048493e-01 -1.15725407e-01 9.75219623e+01] [-7.94784410e-01 -5.86359476e-01 -1.56525738e-01 -3.70582066e+01] [-1.94650127e-01 2.00112228e-03 9.80870697e-01 -9.98348762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:-37.06, Z:-9.98 [[-5.77108108e-01 8.08419130e-01 -1.15778850e-01 9.75182225e+01] [-7.93142862e-01 -5.88605207e-01 -1.56423498e-01 -3.70638888e+01] [-1.94603782e-01 1.55589993e-03 9.80880700e-01 -9.98491350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-37.07, Z:-9.99 [[-5.79939557e-01 8.06400979e-01 -1.15704672e-01 9.75132444e+01] [-7.91139047e-01 -5.91368327e-01 -1.56149000e-01 -3.70700829e+01] [-1.94342784e-01 9.81501912e-04 9.80933188e-01 -9.98655920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-37.07, Z:-9.99 [[-5.81118530e-01 8.05524110e-01 -1.15897208e-01 9.75107415e+01] [-7.90228290e-01 -5.92562466e-01 -1.56233714e-01 -3.70728219e+01] [-1.94526359e-01 7.94946459e-04 9.80896969e-01 -9.98750663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-37.08, Z:-9.99 [[-5.82064368e-01 8.04834042e-01 -1.15944970e-01 9.75075603e+01] [-7.89546591e-01 -5.93499549e-01 -1.56123238e-01 -3.70764232e+01] [-1.94466584e-01 6.70181554e-04 9.80908914e-01 -9.98844860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-37.08, Z:-9.99 [[-5.82972824e-01 8.04175382e-01 -1.15951027e-01 9.75038474e+01] [-7.88907977e-01 -5.94391828e-01 -1.55956914e-01 -3.70810812e+01] [-1.94337054e-01 5.56047623e-04 9.80934656e-01 -9.98978027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-37.08, Z:-9.99 [[-5.84498442e-01 8.03074155e-01 -1.15902856e-01 9.75005666e+01] [-7.87832530e-01 -5.95879026e-01 -1.55717983e-01 -3.70847633e+01] [-1.94117169e-01 2.95122091e-04 9.80978306e-01 -9.99111910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-37.09, Z:-9.99 [[-5.85552968e-01 8.02311544e-01 -1.15861593e-01 9.74935261e+01] [-7.87100457e-01 -5.96905491e-01 -1.55488602e-01 -3.70932412e+01] [-1.93908721e-01 1.47900740e-04 9.81019565e-01 -9.99334439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-37.09, Z:-9.99 [[-5.86206872e-01 8.01802939e-01 -1.16075625e-01 9.74932620e+01] [-7.86559774e-01 -5.97588521e-01 -1.55601034e-01 -3.70927953e+01] [-1.94126827e-01 8.60220849e-05 9.80976436e-01 -9.99367998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:-37.18, Z:-10.01 [[-5.90122693e-01 7.99622222e-01 -1.11173330e-01 9.74203202e+01] [-7.84471061e-01 -6.00488369e-01 -1.54980231e-01 -3.71829830e+01] [-1.90683929e-01 -4.24509122e-03 9.81642307e-01 -1.00145173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-37.84, Z:-9.25 [[ -0.53495672 -0.81159151 -0.2348202 98.03681391] [ -0.81182064 0.41678633 0.40894548 -37.84418766] [ -0.23402684 0.40940002 -0.88182939 -9.25237667] [ 0. 0. 0. 1. ]] SLAMing on 106.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:-37.20, Z:-10.01 [[-5.33134107e-01 8.37301660e-01 -1.21218622e-01 9.73658978e+01] [-8.16515270e-01 -5.46741176e-01 -1.85410086e-01 -3.72009027e+01] [-2.21519384e-01 1.28414869e-04 9.75155960e-01 -1.00079101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:-37.21, Z:-10.01 [[-5.33142374e-01 8.37320589e-01 -1.21051398e-01 9.73619013e+01] [-8.16646858e-01 -5.46712135e-01 -1.84915525e-01 -3.72054900e+01] [-2.21013844e-01 2.69941834e-04 9.75270633e-01 -1.00091596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:-37.21, Z:-10.01 [[-5.33035336e-01 8.37386445e-01 -1.21067225e-01 9.73595589e+01] [-8.16758083e-01 -5.46611166e-01 -1.84722676e-01 -3.72071044e+01] [-2.20860962e-01 4.18921267e-04 9.75305214e-01 -1.00097229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-37.22, Z:-10.01 [[-5.32273630e-01 8.37873111e-01 -1.21051359e-01 9.73514561e+01] [-8.17314651e-01 -5.45864532e-01 -1.84468627e-01 -3.72151892e+01] [-2.20638946e-01 7.49263847e-04 9.75355266e-01 -1.00117861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-37.22, Z:-10.01 [[-5.31568624e-01 8.38282861e-01 -1.21312174e-01 9.73480161e+01] [-8.17751405e-01 -5.45234303e-01 -1.84396843e-01 -3.72182908e+01] [-2.20720271e-01 1.18362440e-03 9.75336435e-01 -1.00125747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-37.22, Z:-10.01 [[-5.31011986e-01 8.38645908e-01 -1.21240718e-01 9.73454931e+01] [-8.18201711e-01 -5.44675034e-01 -1.84051805e-01 -3.72199270e+01] [-2.20391085e-01 1.46564811e-03 9.75410489e-01 -1.00126411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-37.22, Z:-10.01 [[-5.29588315e-01 8.39556096e-01 -1.21168389e-01 9.73409468e+01] [-8.19213197e-01 -5.43269422e-01 -1.83706486e-01 -3.72238376e+01] [-2.20058981e-01 1.97393514e-03 9.75484571e-01 -1.00131730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-37.23, Z:-10.01 [[-5.29818466e-01 8.39367131e-01 -1.21471033e-01 9.73393996e+01] [-8.18969709e-01 -5.43561119e-01 -1.83929135e-01 -3.72267618e+01] [-2.20411001e-01 2.03204424e-03 9.75404973e-01 -1.00136882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.136559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.34, Y:-37.23, Z:-10.02 [[-5.30078555e-01 8.39177452e-01 -1.21646742e-01 9.73357018e+01] [-8.18768617e-01 -5.43853699e-01 -1.83959522e-01 -3.72324371e+01] [-2.20532714e-01 2.08753734e-03 9.75377345e-01 -1.00153039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:-37.24, Z:-10.02 [[-5.30071773e-01 8.39196728e-01 -1.21543275e-01 9.73321570e+01] [-8.18876450e-01 -5.43823413e-01 -1.83568666e-01 -3.72378878e+01] [-2.20148302e-01 2.22435737e-03 9.75463878e-01 -1.00168888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:-37.25, Z:-10.02 [[-5.30024437e-01 8.39227674e-01 -1.21536029e-01 9.73280946e+01] [-8.18963510e-01 -5.43775049e-01 -1.83323390e-01 -3.72453643e+01] [-2.19938323e-01 2.36769649e-03 9.75510906e-01 -1.00185309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:-37.25, Z:-10.02 [[-5.30038901e-01 8.39231806e-01 -1.21444383e-01 9.73284128e+01] [-8.19051350e-01 -5.43768090e-01 -1.82951226e-01 -3.72451320e+01] [-2.19576068e-01 2.49791947e-03 9.75592185e-01 -1.00181666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:-37.25, Z:-10.02 [[-5.29644621e-01 8.39468084e-01 -1.21531524e-01 9.73256398e+01] [-8.19317072e-01 -5.43402147e-01 -1.82848687e-01 -3.72489774e+01] [-2.19536128e-01 2.72802908e-03 9.75600557e-01 -1.00192720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:-37.26, Z:-10.02 [[-5.28947128e-01 8.39891134e-01 -1.21646281e-01 9.73175626e+01] [-8.19765064e-01 -5.42746409e-01 -1.82788332e-01 -3.72608471e+01] [-2.19545382e-01 3.03600787e-03 9.75597565e-01 -1.00222483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.316559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.32, Y:-37.26, Z:-10.02 [[-5.26336011e-01 8.41494855e-01 -1.21888526e-01 9.73215916e+01] [-8.21382521e-01 -5.40251478e-01 -1.82918275e-01 -3.72564695e+01] [-2.19775244e-01 3.84062978e-03 9.75542973e-01 -1.00203413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:-37.26, Z:-10.02 [[-5.27602496e-01 8.41746923e-01 -1.14445290e-01 9.73156140e+01] [-8.21506850e-01 -5.39865069e-01 -1.83499872e-01 -3.72591174e+01] [-2.16245467e-01 -2.79740051e-03 9.76335021e-01 -1.00173974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:-37.98, Z:-9.64 [[-5.21270206e-01 -5.44925583e-01 -6.56759835e-01 9.80098587e+01] [-8.09069722e-01 7.07745124e-02 5.83435646e-01 -3.79755726e+01] [-2.71447153e-01 8.35492117e-01 -4.77775435e-01 -9.64093018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:-37.37, Z:-10.03 [[-4.86693452e-01 8.61226443e-01 -1.46350602e-01 9.72265125e+01] [-8.28141065e-01 -5.08184841e-01 -2.36496393e-01 -3.73724955e+01] [-2.78050104e-01 6.09769772e-03 9.60547218e-01 -1.00259516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-37.38, Z:-10.03 [[-4.86430204e-01 8.61293111e-01 -1.46832674e-01 9.72245053e+01] [-8.28276795e-01 -5.08064459e-01 -2.36279616e-01 -3.73777160e+01] [-2.78106468e-01 6.68455453e-03 9.60526995e-01 -1.00274789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-37.38, Z:-10.03 [[-4.86407310e-01 8.61266550e-01 -1.47064129e-01 9.72215784e+01] [-8.28241521e-01 -5.08107131e-01 -2.36311502e-01 -3.73837773e+01] [-2.78251525e-01 6.86097622e-03 9.60483741e-01 -1.00292225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-37.39, Z:-10.03 [[-4.86420333e-01 8.61241364e-01 -1.47168518e-01 9.72216603e+01] [-8.28266041e-01 -5.08147483e-01 -2.36138733e-01 -3.73870905e+01] [-2.78155756e-01 7.03200450e-03 9.60510243e-01 -1.00289949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-37.39, Z:-10.03 [[-4.86983748e-01 8.60881331e-01 -1.47411544e-01 9.72190004e+01] [-8.27869333e-01 -5.08757582e-01 -2.36216192e-01 -3.73942109e+01] [-2.78350850e-01 7.00404992e-03 9.60453928e-01 -1.00314691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-37.40, Z:-10.03 [[-4.87892998e-01 8.60368597e-01 -1.47398443e-01 9.72180935e+01] [-8.27429833e-01 -5.09625944e-01 -2.35884017e-01 -3.73985616e+01] [-2.78065271e-01 6.87570912e-03 9.60537573e-01 -1.00324635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-37.41, Z:-10.03 [[-4.88965666e-01 8.59739467e-01 -1.47514837e-01 9.72154465e+01] [-8.26809546e-01 -5.10689061e-01 -2.35759746e-01 -3.74057832e+01] [-2.78026172e-01 6.68825379e-03 9.60550215e-01 -1.00348201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-37.41, Z:-10.04 [[-4.89945479e-01 8.59134691e-01 -1.47787043e-01 9.72143192e+01] [-8.26152147e-01 -5.11707762e-01 -2.35855458e-01 -3.74105135e+01] [-2.78255383e-01 6.53826742e-03 9.60484874e-01 -1.00365626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-37.42, Z:-10.04 [[-4.92126225e-01 8.57909976e-01 -1.47655853e-01 9.72121265e+01] [-8.25022472e-01 -5.13764952e-01 -2.35336983e-01 -3.74198663e+01] [-2.77758347e-01 6.00389556e-03 9.60632216e-01 -1.00384089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-37.43, Z:-10.04 [[-4.93689497e-01 8.57007153e-01 -1.47680127e-01 9.72101345e+01] [-8.24166599e-01 -5.15273237e-01 -2.35038099e-01 -3.74262455e+01] [-2.77524949e-01 5.67718691e-03 9.60701656e-01 -1.00405817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-37.43, Z:-10.04 [[-4.94222201e-01 8.56676027e-01 -1.47819488e-01 9.72069239e+01] [-8.23847184e-01 -5.15823726e-01 -2.34950423e-01 -3.74315421e+01] [-2.77525194e-01 5.66295357e-03 9.60701669e-01 -1.00424900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-37.44, Z:-10.04 [[-4.97743365e-01 8.54704708e-01 -1.47415756e-01 9.72060116e+01] [-8.22069923e-01 -5.19092973e-01 -2.33973349e-01 -3.74390107e+01] [-2.76500606e-01 4.72737708e-03 9.61002116e-01 -1.00440869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-37.45, Z:-10.05 [[-5.00701042e-01 8.53002939e-01 -1.47256417e-01 9.72035704e+01] [-8.20454191e-01 -5.21891206e-01 -2.33419126e-01 -3.74463844e+01] [-2.75959030e-01 3.94394467e-03 9.61161308e-01 -1.00463741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-37.45, Z:-10.05 [[-5.03191602e-01 8.51534957e-01 -1.47263125e-01 9.72012739e+01] [-8.19062735e-01 -5.24286770e-01 -2.32936943e-01 -3.74541493e+01] [-2.75562058e-01 3.40582483e-03 9.61277251e-01 -1.00489557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-37.47, Z:-10.05 [[-5.05797766e-01 8.50018247e-01 -1.47097247e-01 9.71970202e+01] [-8.17645062e-01 -5.26746108e-01 -2.32368437e-01 -3.74650848e+01] [-2.75000314e-01 2.74190137e-03 9.61440227e-01 -1.00527751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-37.47, Z:-10.05 [[-5.09490346e-01 8.47873984e-01 -1.46728645e-01 9.71981274e+01] [-8.15665353e-01 -5.30194932e-01 -2.31480813e-01 -3.74701680e+01] [-2.74061343e-01 1.74423226e-03 9.61710631e-01 -1.00543991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-37.48, Z:-10.06 [[-5.11121460e-01 8.46898913e-01 -1.46687029e-01 9.71951214e+01] [-8.14756552e-01 -5.31752105e-01 -2.31109195e-01 -3.74779334e+01] [-2.73727263e-01 1.38934861e-03 9.61806350e-01 -1.00569910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-37.48, Z:-10.06 [[-5.12391584e-01 8.46192768e-01 -1.46330664e-01 9.71940533e+01] [-8.14267085e-01 -5.32875609e-01 -2.30244868e-01 -3.74826876e+01] [-2.72807584e-01 1.17671014e-03 9.62067896e-01 -1.00579098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-37.49, Z:-10.06 [[-5.13379957e-01 8.45572150e-01 -1.46453952e-01 9.71921994e+01] [-8.13660808e-01 -5.33860166e-01 -2.30107394e-01 -3.74889507e+01] [-2.72758335e-01 1.03131668e-03 9.62082027e-01 -1.00601551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.976559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.38, Y:-38.42, Z:-9.26 [[-4.42517312e-01 -8.76311252e-01 1.90412759e-01 9.73841087e+01] [-8.43298896e-01 4.78865005e-01 2.43998520e-01 -3.84239610e+01] [-3.05000656e-01 -5.26013003e-02 -9.50898366e-01 -9.25878703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-37.52, Z:-10.07 [[-4.51200566e-01 8.85871959e-01 -1.07930166e-01 9.71048620e+01] [-8.51204663e-01 -4.63532726e-01 -2.46146368e-01 -3.75202901e+01] [-2.68083330e-01 -1.91907203e-02 9.63204570e-01 -1.00676199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:-37.53, Z:-10.08 [[-4.51283357e-01 8.83340479e-01 -1.26700162e-01 9.71132754e+01] [-8.51229095e-01 -4.68729981e-01 -2.36011084e-01 -3.75281354e+01] [-2.67866308e-01 1.34298983e-03 9.63455156e-01 -1.00759141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-37.54, Z:-10.07 [[-4.54644711e-01 8.83683356e-01 -1.11363876e-01 9.70972014e+01] [-8.52328748e-01 -4.67949313e-01 -2.33578991e-01 -3.75424020e+01] [-2.58522516e-01 -1.12768201e-02 9.65939409e-01 -1.00700282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:-38.18, Z:-9.69 [[-4.32710326e-01 -5.68396129e-01 -6.99776832e-01 9.77976299e+01] [-8.36835939e-01 -3.55057637e-02 5.46301154e-01 -3.81768181e+01] [-3.35361572e-01 8.21988553e-01 -4.60290598e-01 -9.68714035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:-37.65, Z:-10.09 [[-4.09424251e-01 9.00944778e-01 -1.43771662e-01 9.70281957e+01] [-8.52686904e-01 -4.33919809e-01 -2.90927212e-01 -3.76510549e+01] [-3.24494724e-01 3.47955720e-03 9.45881106e-01 -1.00886472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:-37.66, Z:-10.09 [[-4.07912491e-01 9.01559135e-01 -1.44216941e-01 9.70264833e+01] [-8.53519348e-01 -4.32631101e-01 -2.90404981e-01 -3.76555495e+01] [-3.24209997e-01 4.63212977e-03 9.45973795e-01 -1.00901330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-37.67, Z:-10.09 [[-4.06464245e-01 9.02806943e-01 -1.40450849e-01 9.70174986e+01] [-8.55402889e-01 -4.30037012e-01 -2.88711043e-01 -3.76692065e+01] [-3.21049398e-01 2.79134576e-03 9.47058336e-01 -1.00919085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:-38.42, Z:-9.56 [[ -0.39082724 -0.80269802 -0.45047747 97.63369743] [ -0.83704731 0.10635695 0.53669359 -38.41600787] [ -0.38289147 0.58682543 -0.71346341 -9.55679382] [ 0. 0. 0. 1. ]] SLAMing on 108.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.12, Z:-9.39 [[-3.52425264e-01 2.90332571e-02 9.35389493e-01 9.66691006e+01] [-8.72542706e-01 3.51155015e-01 -3.39645966e-01 -3.81218528e+01] [-3.38327740e-01 -9.35867098e-01 -9.84231424e-02 -9.38539551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:-38.23, Z:-9.45 [[-3.47758409e-01 -6.67682454e-04 9.37583939e-01 9.66292171e+01] [-8.96498335e-01 2.93019322e-01 -3.32310716e-01 -3.82252886e+01] [-2.74508333e-01 -9.56106286e-01 -1.02498509e-01 -9.45008270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-38.06, Z:-10.29 [[-3.44257861e-01 9.34544672e-01 -9.00709792e-02 9.68011376e+01] [-9.09563768e-01 -3.55756233e-01 -2.14781879e-01 -3.80616212e+01] [-2.32766572e-01 7.98494900e-03 9.72499853e-01 -1.02901591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.336559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.80, Y:-38.07, Z:-10.29 [[-3.41665103e-01 9.35615768e-01 -8.88149325e-02 9.67992718e+01] [-9.10576068e-01 -3.52943098e-01 -2.15133432e-01 -3.80654679e+01] [-2.32628849e-01 7.36916579e-03 9.72537667e-01 -1.02897485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-38.07, Z:-10.29 [[-3.40773512e-01 9.35897747e-01 -8.92682499e-02 9.67974425e+01] [-9.10694066e-01 -3.52186901e-01 -2.15871964e-01 -3.80715920e+01] [-2.33473193e-01 7.73261837e-03 9.72332492e-01 -1.02914493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-38.07, Z:-10.29 [[-3.39956403e-01 9.36155824e-01 -8.96767416e-02 9.67976560e+01] [-9.10813270e-01 -3.51492554e-01 -2.16499821e-01 -3.80733929e+01] [-2.34198275e-01 8.07826580e-03 9.72155291e-01 -1.02919075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-38.08, Z:-10.29 [[-3.39332606e-01 9.36389107e-01 -8.96036955e-02 9.67960000e+01] [-9.11081797e-01 -3.50867541e-01 -2.16383750e-01 -3.80790225e+01] [-2.34058415e-01 8.21023410e-03 9.72187868e-01 -1.02930046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-38.68, Z:-9.70 [[ -0.35542375 -0.7835273 -0.50966551 97.4923699 ] [ -0.89233092 0.12211525 0.43454964 -38.67595626] [ -0.27824357 0.60923956 -0.7425683 -9.69501199] [ 0. 0. 0. 1. ]] SLAMing on 108.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.20, Z:-10.31 [[-2.84276814e-01 9.54358484e-01 -9.15782532e-02 9.67131616e+01] [-9.18166755e-01 -2.98495215e-01 -2.60519513e-01 -3.82038447e+01] [-2.75964678e-01 1.00244506e-02 9.61115501e-01 -1.03058422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.26, Z:-10.32 [[-2.84449420e-01 9.54213386e-01 -9.25491296e-02 9.66958049e+01] [-9.18169426e-01 -2.98923920e-01 -2.60018066e-01 -3.82554619e+01] [-2.75777867e-01 1.10137933e-02 9.61158293e-01 -1.03226640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.22, Z:-10.31 [[-2.85716776e-01 9.53961029e-01 -9.12374861e-02 9.67094190e+01] [-9.17718287e-01 -2.99787358e-01 -2.60615974e-01 -3.82200602e+01] [-2.75969327e-01 9.26795366e-03 9.61121759e-01 -1.03105911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.23, Z:-10.31 [[-2.87303035e-01 9.53361682e-01 -9.25119979e-02 9.67089891e+01] [-9.17160634e-01 -3.01663539e-01 -2.60414057e-01 -3.82256685e+01] [-2.76176280e-01 1.00306137e-02 9.61054655e-01 -1.03126296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.23, Z:-10.31 [[-2.89131547e-01 9.52784480e-01 -9.27614367e-02 9.67089683e+01] [-9.16508507e-01 -3.03493257e-01 -2.60583960e-01 -3.82292663e+01] [-2.76432823e-01 9.67360244e-03 9.60984555e-01 -1.03136372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.24, Z:-10.32 [[-2.91103234e-01 9.52161167e-01 -9.29947294e-02 9.67078735e+01] [-9.15821471e-01 -3.05455569e-01 -2.60706594e-01 -3.82366954e+01] [-2.76640453e-01 9.27403737e-03 9.60928745e-01 -1.03157359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.25, Z:-10.32 [[-2.95363856e-01 9.50842167e-01 -9.30557187e-02 9.67071475e+01] [-9.14529411e-01 -3.09567549e-01 -2.60391798e-01 -3.82454894e+01] [-2.76398532e-01 8.19186616e-03 9.61008192e-01 -1.03186350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.25, Z:-10.32 [[-2.97728058e-01 9.50097045e-01 -9.31322109e-02 9.67061127e+01] [-9.13827403e-01 -3.11860392e-01 -2.60120304e-01 -3.82514943e+01] [-2.76183780e-01 7.66165355e-03 9.61074305e-01 -1.03203680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.26, Z:-10.32 [[-2.99973240e-01 9.49374901e-01 -9.32917591e-02 9.67050296e+01] [-9.13084030e-01 -3.14063597e-01 -2.60080008e-01 -3.82578447e+01] [-2.76212978e-01 7.16617270e-03 9.61069736e-01 -1.03228555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.27, Z:-10.33 [[-3.03226954e-01 9.48316610e-01 -9.35362000e-02 9.67045055e+01] [-9.11922083e-01 -3.17261662e-01 -2.60275148e-01 -3.82660074e+01] [-2.76498697e-01 6.37528591e-03 9.60993146e-01 -1.03263460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.27, Z:-10.33 [[-3.04502102e-01 9.47887531e-01 -9.37427263e-02 9.67021237e+01] [-9.11448564e-01 -3.18545578e-01 -2.60365570e-01 -3.82748875e+01] [-2.76658608e-01 6.15980991e-03 9.60948527e-01 -1.03292730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.28, Z:-10.33 [[-3.05512980e-01 9.47529727e-01 -9.40703738e-02 9.67022027e+01] [-9.10967630e-01 -3.19610700e-01 -2.60743124e-01 -3.82766847e+01] [-2.77127760e-01 6.03465649e-03 9.60814128e-01 -1.03302001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.29, Z:-10.33 [[-3.06503592e-01 9.47185972e-01 -9.43095033e-02 9.66998529e+01] [-9.10558281e-01 -3.20630491e-01 -2.60920879e-01 -3.82855177e+01] [-2.77379099e-01 5.90111241e-03 9.60742428e-01 -1.03327610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.29, Z:-10.33 [[-3.06980882e-01 9.46994775e-01 -9.46764690e-02 9.66995067e+01] [-9.10220928e-01 -3.21194218e-01 -2.61404165e-01 -3.82903797e+01] [-2.77957913e-01 5.93042232e-03 9.60574947e-01 -1.03343689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.30, Z:-10.34 [[-3.07223001e-01 9.46899454e-01 -9.48443533e-02 9.66980438e+01] [-9.10128825e-01 -3.21473491e-01 -2.61381555e-01 -3.82953248e+01] [-2.77991997e-01 6.01815414e-03 9.60564538e-01 -1.03357463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-38.30, Z:-10.34 [[-3.07435775e-01 9.46806168e-01 -9.50858783e-02 9.66962700e+01] [-9.09980286e-01 -3.21746356e-01 -2.61562919e-01 -3.83007145e+01] [-2.78242920e-01 6.11247594e-03 9.60491288e-01 -1.03374316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.31, Z:-10.34 [[-3.07626712e-01 9.46717594e-01 -9.53498941e-02 9.66943889e+01] [-9.09832378e-01 -3.22004668e-01 -2.61759506e-01 -3.83068879e+01] [-2.78515440e-01 6.22820476e-03 9.60411557e-01 -1.03394512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.31, Z:-10.34 [[-3.07067451e-01 9.46884724e-01 -9.54929278e-02 9.66940883e+01] [-9.10034916e-01 -3.21506434e-01 -2.61667851e-01 -3.83100517e+01] [-2.78470882e-01 6.55221826e-03 9.60422322e-01 -1.03403393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.32, Z:-10.34 [[-3.07291820e-01 9.46801540e-01 -9.55959313e-02 9.66915240e+01] [-9.10006646e-01 -3.21749396e-01 -2.61467456e-01 -3.83178189e+01] [-2.78315723e-01 6.64612249e-03 9.60466651e-01 -1.03431778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.32, Z:-10.34 [[-3.07274783e-01 9.46808940e-01 -9.55773960e-02 9.66912003e+01] [-9.10168046e-01 -3.21724140e-01 -2.60936210e-01 -3.83206234e+01] [-2.77806292e-01 6.81237457e-03 9.60612958e-01 -1.03443201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.32, Z:-10.35 [[-3.07370506e-01 9.46766041e-01 -9.56944863e-02 9.66902973e+01] [-9.10170456e-01 -3.21847556e-01 -2.60775559e-01 -3.83245452e+01] [-2.77692481e-01 6.94357845e-03 9.60644926e-01 -1.03459624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.33, Z:-10.35 [[-3.07282252e-01 9.46782643e-01 -9.58135887e-02 9.66889496e+01] [-9.10233299e-01 -3.21794674e-01 -2.60621430e-01 -3.83285792e+01] [-2.77584149e-01 7.12837888e-03 9.60674881e-01 -1.03470442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.34, Z:-10.35 [[-3.07325626e-01 9.46740270e-01 -9.60927744e-02 9.66855481e+01] [-9.10109426e-01 -3.21916096e-01 -2.60903930e-01 -3.83376497e+01] [-2.77942067e-01 7.27247624e-03 9.60570309e-01 -1.03499112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-38.34, Z:-10.35 [[-3.07754953e-01 9.46573881e-01 -9.63575427e-02 9.66842563e+01] [-9.09880355e-01 -3.22403972e-01 -2.61100401e-01 -3.83408360e+01] [-2.78216874e-01 7.31889360e-03 9.60490398e-01 -1.03509286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-38.35, Z:-10.35 [[-3.08291248e-01 9.46370137e-01 -9.66440358e-02 9.66824481e+01] [-9.09579647e-01 -3.23001626e-01 -2.61409286e-01 -3.83455445e+01] [-2.78606123e-01 7.31525300e-03 9.60377590e-01 -1.03523416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-38.35, Z:-10.35 [[-3.08870609e-01 9.46163017e-01 -9.68219571e-02 9.66797063e+01] [-9.09446683e-01 -3.23605892e-01 -2.61124409e-01 -3.83529560e+01] [-2.78398415e-01 7.40075248e-03 9.60437167e-01 -1.03546825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-38.36, Z:-10.36 [[-3.09547283e-01 9.45919972e-01 -9.70354941e-02 9.66780292e+01] [-9.09164267e-01 -3.24316584e-01 -2.61226125e-01 -3.83573111e+01] [-2.78569229e-01 7.35936666e-03 9.60387955e-01 -1.03562068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-38.36, Z:-10.36 [[-3.10785401e-01 9.45488056e-01 -9.72870553e-02 9.66763364e+01] [-9.08667852e-01 -3.25577898e-01 -2.61384326e-01 -3.83627113e+01] [-2.78810274e-01 7.16718694e-03 9.60319459e-01 -1.03578522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.37, Z:-10.36 [[-3.11632702e-01 9.45184506e-01 -9.75259333e-02 9.66732918e+01] [-9.08303334e-01 -3.26460087e-01 -2.61550884e-01 -3.83714883e+01] [-2.79052168e-01 7.07532161e-03 9.60249878e-01 -1.03605262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.38, Z:-10.36 [[-3.12837563e-01 9.44756827e-01 -9.78120470e-02 9.66716803e+01] [-9.07767777e-01 -3.27700052e-01 -2.61859387e-01 -3.83774736e+01] [-2.79446457e-01 6.87117198e-03 9.60136691e-01 -1.03625237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.38, Z:-10.36 [[-3.13872524e-01 9.44368596e-01 -9.82445630e-02 9.66700650e+01] [-9.07301132e-01 -3.28817026e-01 -2.62076363e-01 -3.83829049e+01] [-2.79801172e-01 6.87883390e-03 9.60033325e-01 -1.03642497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.39, Z:-10.37 [[-3.14664685e-01 9.44073812e-01 -9.85432566e-02 9.66681383e+01] [-9.06900105e-01 -3.29664050e-01 -2.62400101e-01 -3.83897263e+01] [-2.80211233e-01 6.80084467e-03 9.59914274e-01 -1.03662255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.40, Z:-10.37 [[-3.15256501e-01 9.43863867e-01 -9.86627572e-02 9.66665412e+01] [-9.06738604e-01 -3.30264679e-01 -2.62202870e-01 -3.83951748e+01] [-2.80068638e-01 6.80017170e-03 9.59955893e-01 -1.03677994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.40, Z:-10.37 [[-3.15942660e-01 9.43613432e-01 -9.88631756e-02 9.66654368e+01] [-9.06460284e-01 -3.30980443e-01 -2.62262654e-01 -3.83993442e+01] [-2.80196340e-01 6.75558181e-03 9.59918941e-01 -1.03693981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-38.41, Z:-10.37 [[-3.17332894e-01 9.43137477e-01 -9.89521815e-02 9.66638789e+01] [-9.06030941e-01 -3.32339287e-01 -2.62027731e-01 -3.84054243e+01] [-2.80013870e-01 6.50371997e-03 9.59973924e-01 -1.03714520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-38.41, Z:-10.37 [[-3.18510547e-01 9.42723991e-01 -9.91085710e-02 9.66616168e+01] [-9.05615511e-01 -3.33514041e-01 -2.61971240e-01 -3.84128019e+01] [-2.80020672e-01 6.31365634e-03 9.59973208e-01 -1.03737799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-38.42, Z:-10.38 [[-3.19802269e-01 9.42274773e-01 -9.92207731e-02 9.66606203e+01] [-9.05196504e-01 -3.34785238e-01 -2.61797888e-01 -3.84173263e+01] [-2.79903195e-01 6.09073855e-03 9.60008908e-01 -1.03750072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-38.42, Z:-10.38 [[-3.20390214e-01 9.42058672e-01 -9.93758940e-02 9.66585123e+01] [-9.04988482e-01 -3.35393123e-01 -2.61738994e-01 -3.84231750e+01] [-2.79903481e-01 6.07542687e-03 9.60008922e-01 -1.03769499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-38.43, Z:-10.38 [[-3.21767822e-01 9.41571788e-01 -9.95391229e-02 9.66572569e+01] [-9.04504452e-01 -3.36761704e-01 -2.61654831e-01 -3.84288319e+01] [-2.79887771e-01 5.84147495e-03 9.60014954e-01 -1.03786872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-38.44, Z:-10.38 [[-3.24144807e-01 9.40737054e-01 -9.97193007e-02 9.66548486e+01] [-9.03626734e-01 -3.39095594e-01 -2.61673277e-01 -3.84383357e+01] [-2.79980123e-01 5.28899216e-03 9.59991228e-01 -1.03815624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-38.44, Z:-10.38 [[-3.25159252e-01 9.40349925e-01 -1.00067370e-01 9.66530047e+01] [-9.03201787e-01 -3.40167949e-01 -2.61748540e-01 -3.84442116e+01] [-2.80174932e-01 5.27106815e-03 9.59934489e-01 -1.03835168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-38.45, Z:-10.38 [[-3.25983732e-01 9.40035874e-01 -1.00335253e-01 9.66515341e+01] [-9.02806861e-01 -3.41036223e-01 -2.61981041e-01 -3.84488956e+01] [-2.80489533e-01 5.18179697e-03 9.59843097e-01 -1.03846609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-38.46, Z:-10.39 [[-3.26344122e-01 9.39862135e-01 -1.00790282e-01 9.66489148e+01] [-9.02417395e-01 -3.41514087e-01 -2.62699398e-01 -3.84559477e+01] [-2.81322519e-01 5.22449981e-03 9.59599054e-01 -1.03869131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.776559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.65, Y:-38.46, Z:-10.39 [[-3.26793749e-01 9.39683070e-01 -1.01002842e-01 9.66473313e+01] [-9.02206081e-01 -3.42006108e-01 -2.62785101e-01 -3.84587512e+01] [-2.81478299e-01 5.24884974e-03 9.59553238e-01 -1.03885290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-38.46, Z:-10.39 [[-3.27179660e-01 9.39555053e-01 -1.00944398e-01 9.66453625e+01] [-9.02252673e-01 -3.42356827e-01 -2.62167727e-01 -3.84636831e+01] [-2.80880016e-01 5.30140463e-03 9.59728249e-01 -1.03908107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-38.47, Z:-10.39 [[-3.27552935e-01 9.39417066e-01 -1.01018069e-01 9.66436390e+01] [-9.02188642e-01 -3.42734475e-01 -2.61894511e-01 -3.84681509e+01] [-2.80650548e-01 5.35303886e-03 9.59795090e-01 -1.03926831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-38.47, Z:-10.39 [[-3.26690138e-01 9.39641705e-01 -1.01720300e-01 9.66414838e+01] [-9.02031776e-01 -3.42111596e-01 -2.63245760e-01 -3.84718483e+01] [-2.82156389e-01 5.75514913e-03 9.59351161e-01 -1.03947903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-38.48, Z:-10.40 [[-3.26375919e-01 9.39696632e-01 -1.02220343e-01 9.66378439e+01] [-9.01849355e-01 -3.41956471e-01 -2.64071039e-01 -3.84796220e+01] [-2.83101573e-01 6.00092202e-03 9.59071159e-01 -1.03972570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:-38.69, Z:-10.47 [[-3.29750524e-01 9.37594082e-01 -1.10371775e-01 9.65549749e+01] [-8.99345563e-01 -3.47532436e-01 -2.65327655e-01 -3.86929665e+01] [-2.87127410e-01 1.17704326e-02 9.57820081e-01 -1.04717144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:-39.03, Z:-9.48 [[-3.17880455e-01 -6.25396574e-01 7.12622721e-01 9.66342648e+01] [-9.11951643e-01 4.07321342e-01 -4.93307753e-02 -3.90259678e+01] [-2.59415145e-01 -6.65558750e-01 -6.99810926e-01 -9.48131289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:-39.09, Z:-10.15 [[ -0.2941 -0.37776509 -0.87795144 97.29730326] [ -0.91261137 -0.16193719 0.3753889 -39.08532111] [ -0.28398181 0.91163034 -0.29712699 -10.15447708] [ 0. 0. 0. 1. ]] SLAMing on 110.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-38.74, Z:-10.47 [[-2.51684307e-01 9.63784376e-01 -8.81741827e-02 9.64915975e+01] [-9.19677892e-01 -2.66546633e-01 -2.88349557e-01 -3.87391420e+01] [-3.01409329e-01 8.51878796e-03 9.53456788e-01 -1.04694752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-38.74, Z:-10.47 [[-2.50607446e-01 9.64035639e-01 -8.84940367e-02 9.64903415e+01] [-9.19811494e-01 -2.65619626e-01 -2.88778512e-01 -3.87402826e+01] [-3.01898531e-01 9.02778676e-03 9.53297318e-01 -1.04704552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:-38.94, Z:-10.55 [[-2.48560320e-01 9.63492340e-01 -9.95001429e-02 9.64317276e+01] [-9.18389806e-01 -2.67074037e-01 -2.91944556e-01 -3.89398021e+01] [-3.07860248e-01 1.88140846e-02 9.51245551e-01 -1.05467760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.13, Z:-9.64 [[ -0.27973558 -0.25843202 0.92464096 96.32849486] [ -0.91922713 0.3500376 -0.18026415 -39.13169148] [ -0.27707307 -0.90038135 -0.33547569 -9.64254741] [ 0. 0. 0. 1. ]] SLAMing on 110.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-39.41, Z:-9.73 [[ -0.23246853 -0.96203425 -0.1429982 97.01616625] [ -0.93874493 0.18348116 0.2917064 -39.41196233] [ -0.25439407 0.2020514 -0.94575837 -9.72670218] [ 0. 0. 0. 1. ]] SLAMing on 110.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.04, Z:-10.59 [[-1.60167603e-01 9.85703901e-01 -5.22891822e-02 9.63449484e+01] [-9.53146093e-01 -1.68214930e-01 -2.51428446e-01 -3.90409276e+01] [-2.56629822e-01 9.56853823e-03 9.66462404e-01 -1.05867436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.05, Z:-10.59 [[-1.59670115e-01 9.85769042e-01 -5.25818426e-02 9.63424807e+01] [-9.53039673e-01 -1.67815892e-01 -2.52097618e-01 -3.90493064e+01] [-2.57334096e-01 9.86012643e-03 9.66272188e-01 -1.05902340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.05, Z:-10.59 [[-1.60324404e-01 9.85644429e-01 -5.29258490e-02 9.63415469e+01] [-9.52785326e-01 -1.68541960e-01 -2.52574206e-01 -3.90514163e+01] [-2.57868586e-01 9.93316335e-03 9.66128938e-01 -1.05913971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.06, Z:-10.59 [[-1.61275246e-01 9.85474904e-01 -5.31931272e-02 9.63399618e+01] [-9.52483292e-01 -1.69534924e-01 -2.53048391e-01 -3.90592316e+01] [-2.58390932e-01 9.85512330e-03 9.65990167e-01 -1.05940426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.07, Z:-10.60 [[-1.62895719e-01 9.85192877e-01 -5.34787818e-02 9.63385562e+01] [-9.52023306e-01 -1.71181201e-01 -2.53670300e-01 -3.90670575e+01] [-2.59068734e-01 9.59124092e-03 9.65811265e-01 -1.05967543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.07, Z:-10.60 [[-1.66336485e-01 9.84600132e-01 -5.38029098e-02 9.63385607e+01] [-9.51189576e-01 -1.74597444e-01 -2.54468316e-01 -3.90712342e+01] [-2.59943388e-01 8.84940171e-03 9.65583307e-01 -1.05993992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.08, Z:-10.60 [[-1.68698558e-01 9.84185857e-01 -5.40277335e-02 9.63367898e+01] [-9.50686257e-01 -1.76940092e-01 -2.54730928e-01 -3.90818909e+01] [-2.60262248e-01 8.39068352e-03 9.65501506e-01 -1.06028680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.09, Z:-10.60 [[-1.71032599e-01 9.83765471e-01 -5.43447137e-02 9.63365747e+01] [-9.50061419e-01 -1.79282939e-01 -2.55423038e-01 -3.90868086e+01] [-2.61019445e-01 7.94514981e-03 9.65300846e-01 -1.06049143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.09, Z:-10.61 [[-1.75547915e-01 9.82947881e-01 -5.47393242e-02 9.63362683e+01] [-9.48906546e-01 -1.83754568e-01 -2.56535816e-01 -3.90948829e+01] [-2.62219938e-01 6.90817543e-03 9.64983410e-01 -1.06081953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.10, Z:-10.61 [[-1.78093883e-01 9.82474322e-01 -5.50161377e-02 9.63353347e+01] [-9.48261591e-01 -1.86288654e-01 -2.57092381e-01 -3.91028835e+01] [-2.62835545e-01 6.38310978e-03 9.64819533e-01 -1.06105891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-39.11, Z:-10.61 [[-1.80488685e-01 9.82018000e-01 -5.53577634e-02 9.63350558e+01] [-9.47554172e-01 -1.88695139e-01 -2.57944247e-01 -3.91080321e+01] [-2.63751635e-01 5.89846168e-03 9.64572591e-01 -1.06124561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.11, Z:-10.61 [[-1.82878699e-01 9.81555726e-01 -5.57111971e-02 9.63347625e+01] [-9.46843318e-01 -1.91099289e-01 -2.58783292e-01 -3.91130677e+01] [-2.64656593e-01 5.42382293e-03 9.64327470e-01 -1.06141991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.12, Z:-10.62 [[-1.86866500e-01 9.80781428e-01 -5.61132961e-02 9.63346979e+01] [-9.45728108e-01 -1.95057781e-01 -2.59905382e-01 -3.91228511e+01] [-2.65855707e-01 4.50031235e-03 9.64002329e-01 -1.06176977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.13, Z:-10.62 [[-1.89049369e-01 9.80352687e-01 -5.62933817e-02 9.63342861e+01] [-9.45256231e-01 -1.97210878e-01 -2.59997170e-01 -3.91301566e+01] [-2.65990591e-01 4.05936895e-03 9.63967078e-01 -1.06200610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.14, Z:-10.62 [[-1.91239344e-01 9.79922908e-01 -5.63791413e-02 9.63337740e+01] [-9.44903257e-01 -1.99343955e-01 -2.59653272e-01 -3.91367005e+01] [-2.65679031e-01 3.61691274e-03 9.64054755e-01 -1.06222952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.14, Z:-10.63 [[-1.95539177e-01 9.79068994e-01 -5.64653488e-02 9.63339366e+01] [-9.44108045e-01 -2.03511981e-01 -2.59312310e-01 -3.91437533e+01] [-2.65376017e-01 2.60367440e-03 9.64141478e-01 -1.06254545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.15, Z:-10.63 [[-1.98029506e-01 9.78562166e-01 -5.65720997e-02 9.63325516e+01] [-9.43648759e-01 -2.05941145e-01 -2.59066138e-01 -3.91536458e+01] [-2.65162844e-01 2.08145258e-03 9.64201397e-01 -1.06286971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.16, Z:-10.63 [[-2.00037125e-01 9.78148052e-01 -5.66704212e-02 9.63325280e+01] [-9.43296760e-01 -2.07902688e-01 -2.58781172e-01 -3.91578655e+01] [-2.64908232e-01 1.69118311e-03 9.64272144e-01 -1.06302967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.16, Z:-10.63 [[-2.02637673e-01 9.77599850e-01 -5.68903102e-02 9.63329470e+01] [-9.42653993e-01 -2.10469109e-01 -2.59048650e-01 -3.91625342e+01] [-2.65219575e-01 1.13486248e-03 9.64187373e-01 -1.06324060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.17, Z:-10.64 [[-2.03595266e-01 9.77391356e-01 -5.70535357e-02 9.63315174e+01] [-9.42434960e-01 -2.11435771e-01 -2.59058411e-01 -3.91714496e+01] [-2.65264610e-01 1.02618058e-03 9.64175105e-01 -1.06352568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.18, Z:-10.64 [[-2.03839507e-01 9.77337359e-01 -5.71064042e-02 9.63300338e+01] [-9.42516012e-01 -2.11684751e-01 -2.58559728e-01 -3.91793868e+01] [-2.64788637e-01 1.11901291e-03 9.64305826e-01 -1.06382364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.18, Z:-10.64 [[-2.03241591e-01 9.77452037e-01 -5.72745316e-02 9.63296203e+01] [-9.42740676e-01 -2.11152071e-01 -2.58175951e-01 -3.91806039e+01] [-2.64448245e-01 1.52293957e-03 9.64398676e-01 -1.06392387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.18, Z:-10.64 [[-2.02002574e-01 9.77704885e-01 -5.73421166e-02 9.63283284e+01] [-9.43118250e-01 -2.09974063e-01 -2.57757364e-01 -3.91847752e+01] [-2.64050991e-01 2.01274564e-03 9.64506622e-01 -1.06409182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.19, Z:-10.64 [[-2.00271240e-01 9.78050603e-01 -5.75191092e-02 9.63268563e+01] [-9.43457922e-01 -2.08350899e-01 -2.57831442e-01 -3.91894967e+01] [-2.64156356e-01 2.63063664e-03 9.64476282e-01 -1.06428917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.19, Z:-10.64 [[-1.98172866e-01 9.78476074e-01 -5.75507417e-02 9.63254148e+01] [-9.44057931e-01 -2.06333107e-01 -2.57257208e-01 -3.91938012e+01] [-2.63594646e-01 3.34983611e-03 9.64627722e-01 -1.06441668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-39.19, Z:-10.64 [[-1.92714161e-01 9.79556932e-01 -5.77015566e-02 9.63249808e+01] [-9.45196463e-01 -2.01105732e-01 -2.57216119e-01 -3.91902449e+01] [-2.63561946e-01 4.97011867e-03 9.64629669e-01 -1.06441498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-39.20, Z:-10.65 [[-1.90084924e-01 9.80064928e-01 -5.77967079e-02 9.63223532e+01] [-9.45805339e-01 -1.98592040e-01 -2.56930851e-01 -3.91977096e+01] [-2.63286882e-01 5.82575366e-03 9.64699994e-01 -1.06463261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-39.20, Z:-10.65 [[-1.87610107e-01 9.80536927e-01 -5.78772995e-02 9.63203197e+01] [-9.46393771e-01 -1.96222541e-01 -2.56584381e-01 -3.92020721e+01] [-2.62947292e-01 6.63689259e-03 9.64787372e-01 -1.06476264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-39.20, Z:-10.65 [[-1.85351897e-01 9.80958580e-01 -5.80080998e-02 9.63194245e+01] [-9.46869781e-01 -1.94076385e-01 -2.56460475e-01 -3.92016320e+01] [-2.62835106e-01 7.39068119e-03 9.64812461e-01 -1.06478205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-39.20, Z:-10.65 [[-1.81215979e-01 9.81734881e-01 -5.79430117e-02 9.63180236e+01] [-9.47949949e-01 -1.90058250e-01 -2.55477505e-01 -3.92013901e+01] [-2.61823726e-01 8.63046880e-03 9.65077122e-01 -1.06476536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-39.21, Z:-10.65 [[-1.80097504e-01 9.81932782e-01 -5.80766782e-02 9.63164341e+01] [-9.48187140e-01 -1.89012294e-01 -2.55373258e-01 -3.92057915e+01] [-2.61736580e-01 9.07547301e-03 9.65096678e-01 -1.06491491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-39.21, Z:-10.65 [[-1.79242022e-01 9.82085615e-01 -5.81389924e-02 9.63143676e+01] [-9.48476141e-01 -1.88197923e-01 -2.54901062e-01 -3.92127448e+01] [-2.61276304e-01 9.45446535e-03 9.65217751e-01 -1.06510139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-39.22, Z:-10.65 [[-1.78619106e-01 9.82194006e-01 -5.82249966e-02 9.63131337e+01] [-9.48674105e-01 -1.87615703e-01 -2.54593382e-01 -3.92170641e+01] [-2.60984017e-01 9.76130444e-03 9.65293769e-01 -1.06522525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-39.22, Z:-10.65 [[-1.78834756e-01 9.82157169e-01 -5.81844043e-02 9.63120774e+01] [-9.48866389e-01 -1.87804735e-01 -2.53735998e-01 -3.92212680e+01] [-2.60135936e-01 9.83241039e-03 9.65521941e-01 -1.06530907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-39.23, Z:-10.65 [[-1.79723198e-01 9.81986181e-01 -5.83327746e-02 9.63113426e+01] [-9.48712912e-01 -1.88700762e-01 -2.53645095e-01 -3.92268919e+01] [-2.60083417e-01 9.75514885e-03 9.65536873e-01 -1.06546818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-39.24, Z:-10.66 [[-1.81377547e-01 9.81460461e-01 -6.19479467e-02 9.63113448e+01] [-9.48502357e-01 -1.91226524e-01 -2.52538504e-01 -3.92367891e+01] [-2.59702647e-01 1.29529591e-02 9.65601758e-01 -1.06581240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-39.49, Z:-9.97 [[-2.22384481e-01 1.26644218e-01 9.66698704e-01 9.60462267e+01] [-9.47970965e-01 2.03591277e-01 -2.44748119e-01 -3.94939769e+01] [-2.27807357e-01 -9.70830487e-01 7.47795012e-02 -9.96967079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:-39.61, Z:-10.03 [[-2.27720259e-01 1.11395991e-01 9.67333664e-01 9.60231846e+01] [-9.60608359e-01 1.36819008e-01 -2.41892825e-01 -3.96135997e+01] [-1.59295523e-01 -9.84312700e-01 7.58514601e-02 -1.00276481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:-39.56, Z:-10.79 [[-2.05693175e-01 9.78261395e-01 -2.63621152e-02 9.62404677e+01] [-9.70379624e-01 -2.07375590e-01 -1.23930422e-01 -3.95635214e+01] [-1.26703207e-01 8.96174332e-05 9.91940668e-01 -1.07923868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:-39.58, Z:-10.78 [[-2.10107762e-01 9.77644914e-01 -8.07163483e-03 9.62295119e+01] [-9.70983467e-01 -2.09626420e-01 -1.15099398e-01 -3.95762395e+01] [-1.14218369e-01 -1.63458530e-02 9.93321185e-01 -1.07803879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:-39.91, Z:-10.61 [[-2.44709750e-01 -2.72347933e-02 -9.69213807e-01 9.69806755e+01] [-9.54652691e-01 -1.68054770e-01 2.45755638e-01 -3.99067468e+01] [-1.69574108e-01 9.85401370e-01 1.51248721e-02 -1.06076041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:-39.67, Z:-10.78 [[-2.11082874e-01 9.76262707e-01 -4.85298498e-02 9.62199989e+01] [-9.58147694e-01 -2.16477976e-01 -1.87324004e-01 -3.96747410e+01] [-1.93383083e-01 6.95787453e-03 9.81098655e-01 -1.07768437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:-39.74, Z:-10.79 [[-2.13414188e-01 9.75823468e-01 -4.71481028e-02 9.62052945e+01] [-9.57621828e-01 -2.18500689e-01 -1.87664285e-01 -3.97370775e+01] [-1.93429106e-01 5.09983145e-03 9.81101000e-01 -1.07888962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-39.95, Z:-9.92 [[ -0.22120801 -0.23894157 0.94550195 96.06448567] [ -0.96417476 0.19913129 -0.17525341 -39.94598704] [ -0.1464037 -0.95039658 -0.27443087 -9.91828458] [ 0. 0. 0. 1. ]] SLAMing on 111.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.92, Z:-10.85 [[-2.09062959e-01 9.77492245e-01 -2.83123666e-02 9.61553437e+01] [-9.69275130e-01 -2.10968983e-01 -1.26482453e-01 -3.99174941e+01] [-1.29608648e-01 9.99676896e-04 9.91564723e-01 -1.08487609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.92, Z:-10.85 [[-2.11060408e-01 9.77021605e-01 -2.97033199e-02 9.61558403e+01] [-9.68799839e-01 -2.13130166e-01 -1.26500606e-01 -3.99231433e+01] [-1.29924499e-01 2.07730197e-03 9.91521714e-01 -1.08495213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.93, Z:-10.85 [[-2.12620567e-01 9.76678986e-01 -2.98437977e-02 9.61554303e+01] [-9.68411323e-01 -2.14696096e-01 -1.26827031e-01 -3.99305200e+01] [-1.30276643e-01 1.93503636e-03 9.91475795e-01 -1.08501375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.93, Z:-10.85 [[-2.14278243e-01 9.76314662e-01 -2.99084367e-02 9.61569349e+01] [-9.68043115e-01 -2.16348162e-01 -1.26830597e-01 -3.99341389e+01] [-1.30297206e-01 1.77561885e-03 9.91473391e-01 -1.08506175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.94, Z:-10.85 [[-2.14950463e-01 9.76167672e-01 -2.98826640e-02 9.61563056e+01] [-9.67944350e-01 -2.17010678e-01 -1.26451975e-01 -3.99391508e+01] [-1.29923187e-01 1.74384510e-03 9.91522528e-01 -1.08512726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.94, Z:-10.85 [[-2.14947569e-01 9.76172075e-01 -2.97594006e-02 9.61563730e+01] [-9.68055047e-01 -2.16990385e-01 -1.25636777e-01 -3.99409185e+01] [-1.29100617e-01 1.80341808e-03 9.91629860e-01 -1.08510931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.95, Z:-10.85 [[-2.14687074e-01 9.76230135e-01 -2.97352432e-02 9.61560982e+01] [-9.68161377e-01 -2.16728250e-01 -1.25269362e-01 -3.99452300e+01] [-1.28736193e-01 1.89480119e-03 9.91677066e-01 -1.08516755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.95, Z:-10.85 [[-2.12541230e-01 9.76705381e-01 -2.95436063e-02 9.61565356e+01] [-9.68778830e-01 -2.14573194e-01 -1.24201142e-01 -3.99498155e+01] [-1.27647190e-01 2.22335682e-03 9.91817146e-01 -1.08523391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.95, Z:-10.85 [[-2.11389752e-01 9.76954888e-01 -2.95553661e-02 9.61567641e+01] [-9.69058079e-01 -2.13432044e-01 -1.23988714e-01 -3.99504084e+01] [-1.27439443e-01 2.43092285e-03 9.91843374e-01 -1.08524144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.95, Z:-10.85 [[-2.08701421e-01 9.77540096e-01 -2.93100133e-02 9.61569454e+01] [-9.69812592e-01 -2.10730694e-01 -1.22703343e-01 -3.99529569e+01] [-1.26123957e-01 2.81685787e-03 9.92010490e-01 -1.08523496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.96, Z:-10.85 [[-2.07676688e-01 9.77758400e-01 -2.93070857e-02 9.61568290e+01] [-9.70067182e-01 -2.09712884e-01 -1.22434346e-01 -3.99553679e+01] [-1.25857284e-01 3.00308251e-03 9.92043812e-01 -1.08528321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.96, Z:-10.85 [[-2.06931544e-01 9.77917966e-01 -2.92538552e-02 9.61562764e+01] [-9.70288524e-01 -2.08965411e-01 -1.21957520e-01 -3.99579931e+01] [-1.25377494e-01 3.14782203e-03 9.92104115e-01 -1.08528242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-39.97, Z:-10.85 [[-2.06128249e-01 9.78089512e-01 -2.91899166e-02 9.61546547e+01] [-9.70527007e-01 -2.08158669e-01 -1.21438449e-01 -3.99650445e+01] [-1.24853808e-01 3.29770747e-03 9.92169669e-01 -1.08535514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-39.97, Z:-10.85 [[-2.05573960e-01 9.78206953e-01 -2.91634103e-02 9.61543923e+01] [-9.70691012e-01 -2.07604122e-01 -1.21076373e-01 -3.99665742e+01] [-1.24492194e-01 3.41851074e-03 9.92214698e-01 -1.08538893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-39.97, Z:-10.85 [[-2.04794157e-01 9.78373223e-01 -2.90721490e-02 9.61539863e+01] [-9.70936811e-01 -2.06816746e-01 -1.20451413e-01 -3.99724290e+01] [-1.23859044e-01 3.55947419e-03 9.92293438e-01 -1.08549334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-39.98, Z:-10.86 [[-2.05607555e-01 9.78205156e-01 -2.89863186e-02 9.61523509e+01] [-9.70849960e-01 -2.07611011e-01 -1.19783230e-01 -3.99813971e+01] [-1.23190453e-01 3.51302911e-03 9.92376829e-01 -1.08559771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-40.07, Z:-10.87 [[-2.04806575e-01 9.78449501e-01 -2.62838695e-02 9.61294034e+01] [-9.71328695e-01 -2.06481538e-01 -1.17838621e-01 -4.00746108e+01] [-1.20726273e-01 1.39615233e-03 9.92684853e-01 -1.08666511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.03, Z:-10.86 [[-2.12316101e-01 9.76696188e-01 -3.14074819e-02 9.61434248e+01] [-9.69545111e-01 -2.14559178e-01 -1.18095878e-01 -4.00333187e+01] [-1.22082557e-01 5.37731421e-03 9.92505382e-01 -1.08634714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.04, Z:-10.86 [[-2.13034585e-01 9.76591797e-01 -2.97443796e-02 9.61415982e+01] [-9.69370897e-01 -2.15071443e-01 -1.18593165e-01 -4.00398521e+01] [-1.22214279e-01 3.56889026e-03 9.92497321e-01 -1.08638093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.04, Z:-10.86 [[-2.14307835e-01 9.76316320e-01 -2.96410944e-02 9.61413948e+01] [-9.69171884e-01 -2.16320449e-01 -1.17946271e-01 -4.00425317e+01] [-1.21564845e-01 3.45050520e-03 9.92577495e-01 -1.08640820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.05, Z:-10.86 [[-2.17655472e-01 9.75578170e-01 -2.95521555e-02 9.61401328e+01] [-9.68498413e-01 -2.19630971e-01 -1.17358686e-01 -4.00499697e+01] [-1.20983140e-01 3.07745563e-03 9.92649792e-01 -1.08645753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.06, Z:-10.87 [[-2.20146696e-01 9.75014709e-01 -2.96942812e-02 9.61393811e+01] [-9.67890211e-01 -2.22122254e-01 -1.17687061e-01 -4.00557637e+01] [-1.21342376e-01 2.83238654e-03 9.92606672e-01 -1.08654915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.07, Z:-10.87 [[-2.23494862e-01 9.74248776e-01 -2.98222821e-02 9.61371361e+01] [-9.67082181e-01 -2.25462205e-01 -1.17978171e-01 -4.00685480e+01] [-1.21663886e-01 2.47308263e-03 9.92568276e-01 -1.08671397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.08, Z:-10.87 [[-2.26270084e-01 9.73602999e-01 -2.99841604e-02 9.61364496e+01] [-9.66423389e-01 -2.28236843e-01 -1.18041422e-01 -4.00750538e+01] [-1.21768973e-01 2.26815142e-03 9.92555879e-01 -1.08679009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.08, Z:-10.87 [[-2.30506321e-01 9.72602843e-01 -3.01752637e-02 9.61367802e+01] [-9.65351742e-01 -2.32466049e-01 -1.18556109e-01 -4.00790228e+01] [-1.22322733e-01 1.80181097e-03 9.92488742e-01 -1.08682498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-40.08, Z:-10.87 [[-2.32454102e-01 9.72139445e-01 -3.01660496e-02 9.61357876e+01] [-9.64917836e-01 -2.34397742e-01 -1.18284693e-01 -4.00838201e+01] [-1.22060070e-01 1.61199725e-03 9.92521406e-01 -1.08687314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-40.08, Z:-10.86 [[-2.34080625e-01 9.71930376e-01 -2.36136454e-02 9.61326110e+01] [-9.65082841e-01 -2.35231395e-01 -1.15244525e-01 -4.00845619e+01] [-1.17564325e-01 -4.18738643e-03 9.93056441e-01 -1.08647850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:-40.43, Z:-10.63 [[-2.47965505e-01 -1.02205319e-01 -9.63362435e-01 9.68723791e+01] [-9.50870534e-01 -1.64590764e-01 2.62211952e-01 -4.04312723e+01] [-1.85360016e-01 9.81052472e-01 -5.63711945e-02 -1.06294728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-40.19, Z:-10.85 [[-2.30697772e-01 9.71938851e-01 -4.59718138e-02 9.61036928e+01] [-9.54628429e-01 -2.35227108e-01 -1.82627411e-01 -4.01941695e+01] [-1.88316493e-01 1.75426362e-03 9.82106828e-01 -1.08528975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-40.19, Z:-10.85 [[-2.30773783e-01 9.71875744e-01 -4.69148018e-02 9.61047042e+01] [-9.54509931e-01 -2.35480245e-01 -1.82920327e-01 -4.01920588e+01] [-1.88823338e-01 2.56742847e-03 9.82007717e-01 -1.08533752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-40.21, Z:-10.85 [[-2.33731049e-01 9.71261099e-01 -4.49630279e-02 9.60994639e+01] [-9.54008196e-01 -2.38016364e-01 -1.82254145e-01 -4.02052753e+01] [-1.87718298e-01 2.96644548e-04 9.82222863e-01 -1.08548498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-40.21, Z:-10.86 [[-2.36987890e-01 9.70421421e-01 -4.60326567e-02 9.60981153e+01] [-9.53241669e-01 -2.41415885e-01 -1.81792989e-01 -4.02081072e+01] [-1.87528825e-01 7.97509567e-04 9.82258776e-01 -1.08564182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-40.21, Z:-10.86 [[-2.38990971e-01 9.69925950e-01 -4.61190577e-02 9.60954835e+01] [-9.52750258e-01 -2.43399655e-01 -1.81723838e-01 -4.02149581e+01] [-1.87484029e-01 5.09587710e-04 9.82267519e-01 -1.08579639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-40.22, Z:-10.86 [[-2.40871053e-01 9.69461762e-01 -4.60980238e-02 9.60934595e+01] [-9.52363143e-01 -2.45242401e-01 -1.81274952e-01 -4.02195124e+01] [-1.87044325e-01 2.38170243e-04 9.82351446e-01 -1.08588920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-40.22, Z:-10.86 [[-2.44018537e-01 9.68671196e-01 -4.61634812e-02 9.60896139e+01] [-9.51586723e-01 -2.48346614e-01 -1.81126111e-01 -4.02247017e+01] [-1.86916191e-01 -2.69572908e-04 9.82375827e-01 -1.08602342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-40.23, Z:-10.86 [[-2.45655081e-01 9.68255832e-01 -4.61976669e-02 9.60868796e+01] [-9.51215468e-01 -2.49960815e-01 -1.80855535e-01 -4.02298654e+01] [-1.86662033e-01 -4.84145743e-04 9.82424069e-01 -1.08612248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:-40.24, Z:-10.86 [[-2.46996791e-01 9.67906035e-01 -4.63733995e-02 9.60839396e+01] [-9.50805845e-01 -2.51311533e-01 -1.81137400e-01 -4.02358537e+01] [-1.86978153e-01 -6.48257365e-04 9.82363858e-01 -1.08625436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:-40.24, Z:-10.86 [[-2.48330946e-01 9.67562780e-01 -4.64112918e-02 9.60818967e+01] [-9.50504907e-01 -2.52629410e-01 -1.80883397e-01 -4.02394546e+01] [-1.86740899e-01 -8.04784352e-04 9.82408871e-01 -1.08632587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:-40.25, Z:-10.87 [[-2.49516304e-01 9.67244628e-01 -4.66845221e-02 9.60771173e+01] [-9.50063306e-01 -2.53844357e-01 -1.81501397e-01 -4.02472333e+01] [-1.87406853e-01 -9.34306155e-04 9.82281934e-01 -1.08654508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:-40.25, Z:-10.87 [[-2.50263150e-01 9.67047198e-01 -4.67768405e-02 9.60744929e+01] [-9.49871059e-01 -2.54595281e-01 -1.81455816e-01 -4.02484565e+01] [-1.87385502e-01 -9.79737106e-04 9.82285963e-01 -1.08654252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:-40.25, Z:-10.87 [[-2.50379355e-01 9.67011489e-01 -4.68930500e-02 9.60711854e+01] [-9.49825730e-01 -2.54731156e-01 -1.81502399e-01 -4.02529994e+01] [-1.87460026e-01 -9.04228142e-04 9.82271816e-01 -1.08661138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:-40.26, Z:-10.87 [[-2.50228899e-01 9.67042462e-01 -4.70571331e-02 9.60678970e+01] [-9.49812949e-01 -2.54613959e-01 -1.81733577e-01 -4.02582261e+01] [-1.87725489e-01 -7.79518640e-04 9.82221224e-01 -1.08673079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-40.26, Z:-10.87 [[-2.49181697e-01 9.67316246e-01 -4.69868260e-02 9.60631935e+01] [-9.50219311e-01 -2.53572591e-01 -1.81064081e-01 -4.02609517e+01] [-1.87060798e-01 -4.70065415e-04 9.82348226e-01 -1.08675118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-40.26, Z:-10.87 [[-2.48550285e-01 9.67473649e-01 -4.70902705e-02 9.60605976e+01] [-9.50386640e-01 -2.52971698e-01 -1.81026392e-01 -4.02638954e+01] [-1.87050769e-01 -2.40197201e-04 9.82350219e-01 -1.08679678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-40.27, Z:-10.87 [[-2.47539210e-01 9.67720327e-01 -4.73466882e-02 9.60579172e+01] [-9.50541104e-01 -2.52026515e-01 -1.81533041e-01 -4.02686213e+01] [-1.87605835e-01 6.84276772e-05 9.82244392e-01 -1.08696142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-40.28, Z:-10.87 [[-2.43600636e-01 9.68715046e-01 -4.74330062e-02 9.60521798e+01] [-9.51574569e-01 -2.48173882e-01 -1.81426473e-01 -4.02754796e+01] [-1.87522187e-01 9.40438251e-04 9.82259917e-01 -1.08713294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-40.27, Z:-10.87 [[-2.41296051e-01 9.69282565e-01 -4.76185476e-02 9.60504043e+01] [-9.52093494e-01 -2.45945332e-01 -1.81738472e-01 -4.02719911e+01] [-1.87867492e-01 1.48453389e-03 9.82193261e-01 -1.08704925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-40.27, Z:-10.87 [[-2.38666709e-01 9.69927245e-01 -4.77424457e-02 9.60469424e+01] [-9.52744054e-01 -2.43385944e-01 -1.81774723e-01 -4.02746330e+01] [-1.87928097e-01 2.10275624e-03 9.82180538e-01 -1.08704513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-40.28, Z:-10.87 [[-2.35995064e-01 9.70575327e-01 -4.78525265e-02 9.60438072e+01] [-9.53400476e-01 -2.40782357e-01 -1.81800411e-01 -4.02773242e+01] [-1.87973038e-01 2.71862183e-03 9.82170426e-01 -1.08707635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-40.28, Z:-10.87 [[-2.33386696e-01 9.71198244e-01 -4.80064691e-02 9.60410543e+01] [-9.54007359e-01 -2.38249580e-01 -1.81953554e-01 -4.02789384e+01] [-1.88150493e-01 3.33298603e-03 9.82134554e-01 -1.08709567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-40.28, Z:-10.87 [[-2.28065568e-01 9.72463616e-01 -4.79646919e-02 9.60364106e+01] [-9.55400872e-01 -2.33012275e-01 -1.81423410e-01 -4.02808478e+01] [-1.87604028e-01 4.44907537e-03 9.82234664e-01 -1.08709476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:-40.75, Z:-9.94 [[-2.10952194e-01 -9.76809373e-01 3.66417960e-02 9.65958187e+01] [-9.55671554e-01 2.13974179e-01 2.02254621e-01 -4.07470488e+01] [-2.05404608e-01 7.64853377e-03 -9.78647254e-01 -9.94122282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:-40.43, Z:-10.90 [[-1.57605247e-01 9.86866421e-01 -3.54295540e-02 9.59565458e+01] [-9.69507142e-01 -1.61451705e-01 -1.84361735e-01 -4.04309651e+01] [-1.87660568e-01 5.29282882e-03 9.82219679e-01 -1.08986683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-40.44, Z:-10.90 [[-1.56579984e-01 9.87026896e-01 -3.55051382e-02 9.59540350e+01] [-9.69706669e-01 -1.60457630e-01 -1.84180144e-01 -4.04364612e+01] [-1.87487826e-01 5.59064522e-03 9.82251017e-01 -1.08999907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-40.44, Z:-10.90 [[-1.56152152e-01 9.87094708e-01 -3.55041173e-02 9.59510360e+01] [-9.69885208e-01 -1.60033783e-01 -1.83607929e-01 -4.04444379e+01] [-1.86920273e-01 5.76414496e-03 9.82358176e-01 -1.09015525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-40.45, Z:-10.90 [[-1.56116933e-01 9.87101349e-01 -3.54743504e-02 9.59480226e+01] [-9.70038296e-01 -1.59989055e-01 -1.82836556e-01 -4.04474869e+01] [-1.86153719e-01 5.86759619e-03 9.82503112e-01 -1.09022580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-40.45, Z:-10.90 [[-1.57119505e-01 9.86940929e-01 -3.55114616e-02 9.59464991e+01] [-9.69944648e-01 -1.60979025e-01 -1.82464061e-01 -4.04519764e+01] [-1.85797850e-01 5.77548923e-03 9.82571017e-01 -1.09032143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-40.46, Z:-10.90 [[-1.58509245e-01 9.86715940e-01 -3.55875462e-02 9.59446167e+01] [-9.69746867e-01 -1.62357993e-01 -1.82293433e-01 -4.04593497e+01] [-1.85649759e-01 5.61571693e-03 9.82599934e-01 -1.09049639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-40.47, Z:-10.91 [[-1.61960755e-01 9.86149713e-01 -3.57415469e-02 9.59424113e+01] [-9.69124547e-01 -1.65779896e-01 -1.82522980e-01 -4.04662072e+01] [-1.85920214e-01 5.07645081e-03 9.82551731e-01 -1.09059278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-40.48, Z:-10.91 [[-1.64744467e-01 9.85682412e-01 -3.59088290e-02 9.59400492e+01] [-9.68598096e-01 -1.68547872e-01 -1.82782229e-01 -4.04773392e+01] [-1.86217585e-01 4.66886248e-03 9.82497436e-01 -1.09076317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-40.48, Z:-10.91 [[-1.67916952e-01 9.85135762e-01 -3.62136430e-02 9.59385175e+01] [-9.67914092e-01 -1.71725033e-01 -1.83447060e-01 -4.04847106e+01] [-1.86939048e-01 4.24782415e-03 9.82362330e-01 -1.09090849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-40.49, Z:-10.91 [[-1.73325926e-01 9.84184089e-01 -3.66033059e-02 9.59367687e+01] [-9.66770563e-01 -1.77115452e-01 -1.84349653e-01 -4.04925411e+01] [-1.87917007e-01 3.43442429e-03 9.82178906e-01 -1.09102730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-40.50, Z:-10.91 [[-1.76279907e-01 9.83653719e-01 -3.67526243e-02 9.59352579e+01] [-9.66192352e-01 -1.80045790e-01 -1.84542279e-01 -4.05004821e+01] [-1.88142855e-01 2.97900864e-03 9.82137155e-01 -1.09115081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:-40.51, Z:-10.91 [[-1.76842252e-01 9.83548394e-01 -3.68696951e-02 9.59342616e+01] [-9.66089621e-01 -1.80620110e-01 -1.84518887e-01 -4.05059381e+01] [-1.88142663e-01 2.98869431e-03 9.82137163e-01 -1.09126666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-40.89, Z:-10.99 [[-1.83017346e-01 9.82501856e-01 -3.45652153e-02 9.58546948e+01] [-9.65218991e-01 -1.86252669e-01 -1.83472731e-01 -4.08862691e+01] [-1.86700163e-01 -2.15690064e-04 9.82416919e-01 -1.09881512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-41.30, Z:-10.22 [[-1.40234344e-01 -9.32524752e-01 -3.32764054e-01 9.66357026e+01] [-9.62811448e-01 5.00479581e-02 2.65498245e-01 -4.12980010e+01] [-2.30929524e-01 3.57621013e-01 -9.04863949e-01 -1.02163630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-40.66, Z:-10.92 [[-1.25209212e-01 9.91947453e-01 -1.90500405e-02 9.58520586e+01] [-9.68772025e-01 -1.26380769e-01 -2.13327602e-01 -4.06622031e+01] [-2.14017330e-01 -8.25543463e-03 9.76794979e-01 -1.09211454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-40.73, Z:-10.94 [[-1.29950336e-01 9.91164696e-01 -2.65604120e-02 9.58457092e+01] [-9.68562101e-01 -1.32626936e-01 -2.10469838e-01 -4.07276671e+01] [-2.12132899e-01 -1.62521774e-03 9.77239475e-01 -1.09371835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-41.07, Z:-10.26 [[-8.58191716e-02 -8.48247711e-01 -5.22600125e-01 9.66957418e+01] [-9.60825811e-01 -6.82802598e-02 2.68610439e-01 -4.10684188e+01] [-2.63531462e-01 5.25179614e-01 -8.09158539e-01 -1.02565152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-40.82, Z:-10.94 [[-7.41500713e-02 9.97051274e-01 -1.97616833e-02 9.58036229e+01] [-9.65621712e-01 -7.67353494e-02 -2.48367463e-01 -4.08215317e+01] [-2.49151515e-01 6.65845437e-04 9.68464289e-01 -1.09408553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-40.83, Z:-10.94 [[-7.49468276e-02 9.96990083e-01 -1.98430572e-02 9.58029154e+01] [-9.65770472e-01 -7.75267704e-02 -2.47541908e-01 -4.08272916e+01] [-2.48335195e-01 6.11358063e-04 9.68673968e-01 -1.09424528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-40.83, Z:-10.94 [[-7.49807421e-02 9.96985356e-01 -1.99521516e-02 9.58021048e+01] [-9.65929046e-01 -7.75862323e-02 -2.46903736e-01 -4.08343766e+01] [-2.47707422e-01 7.59337348e-04 9.68834587e-01 -1.09443869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-40.84, Z:-10.95 [[-7.42225500e-02 9.97039234e-01 -2.00942416e-02 9.58014632e+01] [-9.66043090e-01 -7.68865980e-02 -2.46676304e-01 -4.08393075e+01] [-2.47490931e-01 1.10295895e-03 9.68889582e-01 -1.09458808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-40.84, Z:-10.95 [[-6.99844040e-02 9.97342790e-01 -2.02371648e-02 9.57998896e+01] [-9.66412940e-01 -7.28150304e-02 -2.46462980e-01 -4.08419920e+01] [-2.47281646e-01 2.30889316e-03 9.68940894e-01 -1.09464667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:-41.16, Z:-11.02 [[-7.29043870e-02 9.97301430e-01 -8.64915139e-03 9.57633645e+01] [-9.68156536e-01 -7.28510216e-02 -2.39511275e-01 -4.11586478e+01] [-2.39495036e-01 -9.08769021e-03 9.70855057e-01 -1.10211205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-41.53, Z:-10.58 [[-5.71562295e-02 -6.22706812e-01 -7.80364909e-01 9.66886088e+01] [-9.48406282e-01 -2.10298879e-01 2.37276010e-01 -4.15327127e+01] [-3.11863253e-01 7.53664785e-01 -5.78559162e-01 -1.05832851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:-41.52, Z:-10.24 [[-2.02723221e-02 -2.05200879e-02 9.99583893e-01 9.56136210e+01] [-9.63019028e-01 2.69069046e-01 -1.40071399e-02 -4.15152641e+01] [-2.68669657e-01 -9.62902266e-01 -2.52158894e-02 -1.02437561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:-41.11, Z:-11.03 [[-6.69570996e-03 9.99883037e-01 -1.37506321e-02 9.57456256e+01] [-9.71950123e-01 -9.74023162e-03 -2.34985289e-01 -4.11053643e+01] [-2.35091739e-01 1.17915352e-02 9.71901659e-01 -1.10285693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:-41.41, Z:-11.09 [[-1.01705384e-02 9.99942534e-01 3.38938431e-03 9.57204806e+01] [-9.73756032e-01 -9.13336459e-03 -2.27411020e-01 -4.14122381e+01] [-2.27366995e-01 -5.61332593e-03 9.73792966e-01 -1.10941664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-41.40, Z:-10.50 [[-2.53352724e-02 -6.81075064e-01 -7.31775157e-01 9.66681270e+01] [-9.60836551e-01 -1.85476729e-01 2.05891973e-01 -4.14034319e+01] [-2.75955151e-01 7.08332648e-01 -6.49702712e-01 -1.04989201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:-41.53, Z:-10.10 [[ 4.87876833e-02 -9.98805201e-01 2.81642655e-03 9.64166458e+01] [-9.50582014e-01 -4.55661793e-02 3.07111639e-01 -4.15337378e+01] [-3.06616369e-01 -1.76605098e-02 -9.51669327e-01 -1.01017787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:-41.35, Z:-11.04 [[ 1.22915750e-01 9.91606438e-01 4.01047441e-02 9.56819902e+01] [-9.52347188e-01 1.29223650e-01 -2.76289850e-01 -4.13471991e+01] [-2.79153276e-01 -4.23326608e-03 9.60237225e-01 -1.10422542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:-41.55, Z:-10.16 [[ 1.23700267e-01 -9.83989267e-01 -1.28309648e-01 9.64773526e+01] [-9.43386978e-01 -1.56716054e-01 2.92337284e-01 -4.15475324e+01] [-3.07764932e-01 8.48834512e-02 -9.47668479e-01 -1.01568495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:-41.43, Z:-11.07 [[ 1.99589985e-01 9.78680102e-01 4.84674661e-02 9.56941896e+01] [-9.37832567e-01 2.05125578e-01 -2.79988524e-01 -4.14288891e+01] [-2.83961114e-01 1.04285370e-02 9.58779084e-01 -1.10686471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:-41.45, Z:-11.08 [[ 1.96917936e-01 9.79225715e-01 4.83769087e-02 9.56995785e+01] [-9.38402582e-01 2.02539576e-01 -2.79961274e-01 -4.14548932e+01] [-2.83943518e-01 9.73238043e-03 9.58791614e-01 -1.10767316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:-41.62, Z:-10.15 [[ 2.06653558e-01 -9.76906136e-01 -5.43020047e-02 9.64424178e+01] [-9.27399417e-01 -2.13263857e-01 3.07325316e-01 -4.16249416e+01] [-3.11808642e-01 -1.31502225e-02 -9.50053916e-01 -1.01493711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:-41.55, Z:-11.10 [[ 2.69812125e-01 9.60292040e-01 7.09972913e-02 9.57013497e+01] [-9.20276796e-01 2.78860622e-01 -2.74458326e-01 -4.15471820e+01] [-2.83358494e-01 8.71502438e-03 9.58974458e-01 -1.10958192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-41.58, Z:-11.11 [[ 2.66822253e-01 9.61118326e-01 7.11157392e-02 9.57126155e+01] [-9.20904124e-01 2.76022547e-01 -2.75221998e-01 -4.15769701e+01] [-2.84150453e-01 7.94457601e-03 9.58746788e-01 -1.11055025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:-41.61, Z:-11.11 [[ 2.65676679e-01 9.61433185e-01 7.11486634e-02 9.57214479e+01] [-9.21092604e-01 2.74930560e-01 -2.75683880e-01 -4.16057993e+01] [-2.84612573e-01 7.70827018e-03 9.58611635e-01 -1.11149500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:-41.72, Z:-10.19 [[ 2.87017625e-01 -9.54731029e-01 -7.81635801e-02 9.64630487e+01] [-9.06749011e-01 -2.97091424e-01 2.99237226e-01 -4.17181235e+01] [-3.08912794e-01 -1.50116090e-02 -9.50971891e-01 -1.01884219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-41.71, Z:-11.13 [[ 3.36863622e-01 9.36812515e-01 9.43674277e-02 9.57279871e+01] [-8.97851144e-01 3.49790863e-01 -2.67412929e-01 -4.17050475e+01] [-2.83524642e-01 5.35378466e-03 9.58950006e-01 -1.11338311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:-41.75, Z:-10.21 [[ 3.58466788e-01 -9.25889360e-01 -1.19291470e-01 9.65039737e+01] [-8.81816164e-01 -3.77773582e-01 2.82289522e-01 -4.17468297e+01] [-3.06434031e-01 4.00172814e-03 -9.51883486e-01 -1.02147694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:-41.79, Z:-11.16 [[ 4.09850228e-01 9.05968099e-01 1.06040532e-01 9.57701880e+01] [-8.65609527e-01 4.22960980e-01 -2.68000292e-01 -4.17858506e+01] [-2.87650722e-01 1.80502862e-02 9.57565271e-01 -1.11599745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:-41.82, Z:-11.17 [[ 4.10342217e-01 9.04509671e-01 1.16109947e-01 9.57792525e+01] [-8.65006866e-01 4.26376092e-01 -2.64511907e-01 -4.18160063e+01] [-2.88760084e-01 8.10450070e-03 9.57367187e-01 -1.11664738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:-41.84, Z:-11.18 [[ 4.10896268e-01 9.04258420e-01 1.16107565e-01 9.57933563e+01] [-8.64689258e-01 4.26903622e-01 -2.64699423e-01 -4.18444556e+01] [-2.88923422e-01 8.36704038e-03 9.57315647e-01 -1.11769477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:-41.87, Z:-11.19 [[ 4.12008393e-01 9.03754747e-01 1.16088072e-01 9.58073716e+01] [-8.64116774e-01 4.27959930e-01 -2.64863171e-01 -4.18712438e+01] [-2.89052392e-01 8.81219896e-03 9.57272720e-01 -1.11873959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:-41.90, Z:-11.20 [[ 4.12514222e-01 9.03553402e-01 1.15858820e-01 9.58203798e+01] [-8.64008875e-01 4.28380512e-01 -2.64535065e-01 -4.18989352e+01] [-2.88653219e-01 9.02142775e-03 9.57391212e-01 -1.11969977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:-41.93, Z:-11.21 [[ 4.12913159e-01 9.03374415e-01 1.15833453e-01 9.58337352e+01] [-8.63803008e-01 4.28754029e-01 -2.64602242e-01 -4.19275412e+01] [-2.88698955e-01 9.20046210e-03 9.57375718e-01 -1.12073963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:-41.93, Z:-10.28 [[ 4.21814184e-01 -8.98162479e-01 -1.24003854e-01 9.65656149e+01] [-8.53003481e-01 -4.39472340e-01 2.81512209e-01 -4.19324453e+01] [-3.07339967e-01 -1.29701239e-02 -9.51511387e-01 -1.02780542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:-42.00, Z:-11.25 [[ 4.84460598e-01 8.67592679e-01 1.12164486e-01 9.58694220e+01] [-8.25547594e-01 4.95824214e-01 -2.69498643e-01 -4.20040199e+01] [-2.89428918e-01 3.79643523e-02 9.56446344e-01 -1.12458196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:-42.05, Z:-11.23 [[ 4.84796278e-01 8.59487355e-01 1.62031033e-01 9.58629165e+01] [-8.26083594e-01 5.10823271e-01 -2.38003111e-01 -4.20521660e+01] [-2.87329887e-01 -1.84681555e-02 9.57653624e-01 -1.12281904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-42.07, Z:-11.25 [[ 4.84917971e-01 8.63959133e-01 1.35754106e-01 9.58900673e+01] [-8.26408868e-01 5.03461040e-01 -2.52141555e-01 -4.20698867e+01] [-2.86186903e-01 1.00795743e-02 9.58120796e-01 -1.12481289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:-42.10, Z:-11.26 [[ 4.85608450e-01 8.63598019e-01 1.35583534e-01 9.59063907e+01] [-8.26078994e-01 5.04074340e-01 -2.51997134e-01 -4.20973669e+01] [-2.85968407e-01 1.03692283e-02 9.58182942e-01 -1.12579796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-42.12, Z:-11.27 [[ 4.85041123e-01 8.63892613e-01 1.35737477e-01 9.59214486e+01] [-8.26246107e-01 5.03570737e-01 -2.52455705e-01 -4.21245557e+01] [-2.86448040e-01 1.02988366e-02 9.58040424e-01 -1.12676821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-42.15, Z:-11.28 [[ 4.84354501e-01 8.64287281e-01 1.35676871e-01 9.59364179e+01] [-8.26638964e-01 5.02896071e-01 -2.52514484e-01 -4.21509029e+01] [-2.86476422e-01 1.01507389e-02 9.58033518e-01 -1.12772888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-42.18, Z:-11.29 [[ 4.83280849e-01 8.64900699e-01 1.35596466e-01 9.59520140e+01] [-8.27274036e-01 5.01846066e-01 -2.52523655e-01 -4.21786736e+01] [-2.86456438e-01 9.86441088e-03 9.58042485e-01 -1.12871641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:-42.21, Z:-11.30 [[ 4.80782665e-01 8.66336907e-01 1.35308511e-01 9.59681292e+01] [-8.28877228e-01 4.99377531e-01 -2.52159916e-01 -4.22056933e+01] [-2.86025471e-01 9.07997313e-03 9.58178994e-01 -1.12974190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:-42.23, Z:-11.31 [[ 4.79014002e-01 8.67326547e-01 1.35241443e-01 9.59834654e+01] [-8.29891925e-01 4.97665685e-01 -2.52206776e-01 -4.22328311e+01] [-2.86050658e-01 8.57479599e-03 9.58176129e-01 -1.13074350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:-42.26, Z:-11.32 [[ 4.74923642e-01 8.69557886e-01 1.35338896e-01 9.59990881e+01] [-8.32103442e-01 4.93776585e-01 -2.52563944e-01 -4.22590276e+01] [-2.86446147e-01 7.33262700e-03 9.58068284e-01 -1.13168706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-42.29, Z:-11.33 [[ 4.72460095e-01 8.70878186e-01 1.35471932e-01 9.60144350e+01] [-8.33352437e-01 4.91454269e-01 -2.52975134e-01 -4.22865769e+01] [-2.86888784e-01 6.62479128e-03 9.57940989e-01 -1.13266707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:-42.31, Z:-11.34 [[ 4.69822757e-01 8.72256967e-01 1.35773191e-01 9.60295472e+01] [-8.34563561e-01 4.89012374e-01 -2.53713540e-01 -4.23139117e+01] [-2.87698173e-01 5.88903664e-03 9.57703023e-01 -1.13364492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:-42.28, Z:-10.40 [[ 5.00791127e-01 -8.53396688e-01 -1.44645564e-01 9.67387236e+01] [-8.10086443e-01 -5.20967166e-01 2.68985441e-01 -4.22778908e+01] [-3.04906874e-01 -1.75301114e-02 -9.52220822e-01 -1.04042887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:-42.29, Z:-10.42 [[ 5.68515299e-01 -8.05910609e-01 -1.65222414e-01 9.67501820e+01] [-7.64728022e-01 -5.91744149e-01 2.55009636e-01 -4.22906795e+01] [-3.03284368e-01 -1.86266702e-02 -9.52718027e-01 -1.04177459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-42.47, Z:-11.37 [[ 5.92770857e-01 7.86126691e-01 1.75007246e-01 9.60867919e+01] [-7.52278133e-01 6.18054728e-01 -2.28223494e-01 -4.24725487e+01] [-2.87576636e-01 3.63011172e-03 9.57750751e-01 -1.13708475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-42.50, Z:-11.38 [[ 5.91889780e-01 7.86778399e-01 1.75060674e-01 9.61060118e+01] [-7.52895059e-01 6.17226187e-01 -2.28431314e-01 -4.24973301e+01] [-2.87776856e-01 3.40384403e-03 9.57691441e-01 -1.13801813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:-42.52, Z:-11.39 [[ 5.91030418e-01 7.87379877e-01 1.75259736e-01 9.61246118e+01] [-7.53401690e-01 6.16459780e-01 -2.28830142e-01 -4.25221024e+01] [-2.88216827e-01 3.20459342e-03 9.57559811e-01 -1.13901319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:-42.55, Z:-11.40 [[ 5.90912710e-01 7.87420511e-01 1.75473953e-01 9.61426158e+01] [-7.53316485e-01 6.16407480e-01 -2.29251157e-01 -4.25473400e+01] [-2.88680520e-01 3.28000107e-03 9.57419866e-01 -1.13995604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-42.57, Z:-11.41 [[ 5.91162774e-01 7.87284331e-01 1.75242566e-01 9.61608211e+01] [-7.53240525e-01 6.16580768e-01 -2.29034645e-01 -4.25721493e+01] [-2.88366583e-01 3.39695332e-03 9.57514060e-01 -1.14088003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:-42.60, Z:-11.42 [[ 5.92759441e-01 7.86140093e-01 1.74985712e-01 9.61785397e+01] [-7.52111136e-01 6.18035204e-01 -2.28825974e-01 -4.25975300e+01] [-2.88036603e-01 4.03005412e-03 9.57610920e-01 -1.14185778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:-42.62, Z:-11.43 [[ 5.93614233e-01 7.85503186e-01 1.74948242e-01 9.61970461e+01] [-7.51420282e-01 6.18841771e-01 -2.28915752e-01 -4.26234225e+01] [-2.88079332e-01 4.42799132e-03 9.57596309e-01 -1.14284527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:-42.65, Z:-11.44 [[ 5.94869030e-01 7.84592657e-01 1.74771849e-01 9.62155553e+01] [-7.50499945e-01 6.19991794e-01 -2.28823093e-01 -4.26493116e+01] [-2.87890031e-01 4.95350803e-03 9.57650663e-01 -1.14380441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:-42.67, Z:-11.45 [[ 5.97678606e-01 7.82452103e-01 1.74782696e-01 9.62324228e+01] [-7.48223364e-01 6.22681114e-01 -2.28976041e-01 -4.26748954e+01] [-2.87996669e-01 6.07758466e-03 9.57612125e-01 -1.14468193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-42.70, Z:-11.46 [[ 5.99091354e-01 7.81417237e-01 1.74575635e-01 9.62502833e+01] [-7.47189741e-01 6.23973452e-01 -2.28833177e-01 -4.27003849e+01] [-2.87744751e-01 6.65085413e-03 9.57684042e-01 -1.14561644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:-42.73, Z:-11.47 [[ 6.00348966e-01 7.80432407e-01 1.74660750e-01 9.62683214e+01] [-7.46088742e-01 6.25198512e-01 -2.29081666e-01 -4.27260819e+01] [-2.87980397e-01 7.21652204e-03 9.57609113e-01 -1.14658594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:-42.75, Z:-11.48 [[ 6.01701290e-01 7.79443386e-01 1.74423524e-01 9.62867845e+01] [-7.45113487e-01 6.26424509e-01 -2.28906588e-01 -4.27518063e+01] [-2.87682897e-01 7.76806916e-03 9.57694214e-01 -1.14756808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:-42.78, Z:-11.49 [[ 6.04256052e-01 7.77607967e-01 1.73782836e-01 9.63045440e+01] [-7.43420527e-01 6.28689265e-01 -2.28201067e-01 -4.27773716e+01] [-2.86706371e-01 8.69814796e-03 9.57979018e-01 -1.14855994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-42.80, Z:-11.50 [[ 6.05284249e-01 7.76875029e-01 1.73482470e-01 9.63228171e+01] [-7.42737508e-01 6.29588771e-01 -2.27945111e-01 -4.28025468e+01] [-2.86307480e-01 9.11964843e-03 9.58094389e-01 -1.14952908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-42.83, Z:-11.51 [[ 6.05189052e-01 7.76964299e-01 1.73414790e-01 9.63421367e+01] [-7.42815650e-01 6.29477931e-01 -2.27996590e-01 -4.28280173e+01] [-2.86305994e-01 9.16582006e-03 9.58094393e-01 -1.15051895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:-42.85, Z:-11.51 [[ 6.05760670e-01 7.76604044e-01 1.73032280e-01 9.63604328e+01] [-7.42577656e-01 6.29919599e-01 -2.27551586e-01 -4.28534111e+01] [-2.85713906e-01 9.35189619e-03 9.58269328e-01 -1.15147775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:-42.88, Z:-11.52 [[ 6.05827143e-01 7.76618604e-01 1.72733950e-01 9.63784653e+01] [-7.42671709e-01 6.29900663e-01 -2.27296916e-01 -4.28776485e+01] [-2.85328243e-01 9.41802324e-03 9.58383584e-01 -1.15240705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-42.90, Z:-11.53 [[ 6.05264540e-01 7.77154778e-01 1.72294190e-01 9.63976842e+01] [-7.43367840e-01 6.29241906e-01 -2.26845493e-01 -4.29031017e+01] [-2.84708783e-01 9.22357361e-03 9.58569682e-01 -1.15337169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:-42.93, Z:-11.54 [[ 6.04062778e-01 7.78067274e-01 1.72393376e-01 9.64164739e+01] [-7.44236823e-01 6.28118084e-01 -2.27110599e-01 -4.29281861e+01] [-2.84990722e-01 8.88756074e-03 9.58489071e-01 -1.15434141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:-42.95, Z:-11.55 [[ 6.02620586e-01 7.79140136e-01 1.72595124e-01 9.64352135e+01] [-7.45231651e-01 6.26792431e-01 -2.27510517e-01 -4.29531897e+01] [-2.85443893e-01 8.47917194e-03 9.58357912e-01 -1.15529117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:-42.98, Z:-11.56 [[ 5.98900021e-01 7.81880223e-01 1.73153350e-01 9.64549242e+01] [-7.47818064e-01 6.23386051e-01 -2.28381203e-01 -4.29780198e+01] [-2.86508129e-01 7.29030472e-03 9.58050074e-01 -1.15626923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-43.00, Z:-11.57 [[ 5.96601155e-01 7.83603805e-01 1.73297832e-01 9.64741568e+01] [-7.49513735e-01 6.21226262e-01 -2.28707439e-01 -4.30030170e+01] [-2.86873184e-01 6.55801711e-03 9.57946120e-01 -1.15722109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-43.03, Z:-11.58 [[ 5.94012993e-01 7.85569688e-01 1.73288285e-01 9.64936255e+01] [-7.51524389e-01 6.18746961e-01 -2.28830268e-01 -4.30280565e+01] [-2.86983722e-01 5.69777966e-03 9.57918514e-01 -1.15818040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:-43.06, Z:-11.59 [[ 5.90421570e-01 7.86627737e-01 1.80607786e-01 9.65095627e+01] [-7.55148648e-01 6.17395822e-01 -2.20392647e-01 -4.30607838e+01] [-2.84873462e-01 -6.26115312e-03 9.58544683e-01 -1.15859704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:-42.69, Z:-11.14 [[ 0.58731641 -0.29221291 -0.75476556 97.4046768 ] [ -0.73391372 -0.58543592 -0.34443495 -42.69065972] [ -0.34121853 0.7562251 -0.55829519 -11.1446331 ] [ 0. 0. 0. 1. ]] SLAMing on 115.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:-43.00, Z:-10.72 [[ 6.50007415e-01 -7.25744673e-01 -2.25355342e-01 9.73178825e+01] [-6.73190860e-01 -6.87498612e-01 2.72322832e-01 -4.30028259e+01] [-3.52568330e-01 -2.53047030e-02 -9.35443876e-01 -1.07176985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:-43.24, Z:-11.65 [[ 6.56324113e-01 7.16508902e-01 2.36333772e-01 9.66338131e+01] [-6.74187573e-01 6.97577939e-01 -2.42602833e-01 -4.32364926e+01] [-3.38688315e-01 -1.07203089e-04 9.40898620e-01 -1.16534102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-43.26, Z:-11.66 [[ 6.53054067e-01 7.19557722e-01 2.36129351e-01 9.66549017e+01] [-6.77455717e-01 6.94430830e-01 -2.42527471e-01 -4.32574578e+01] [-3.38488016e-01 -1.58362730e-03 9.40969370e-01 -1.16640238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:-43.28, Z:-11.68 [[ 6.46857252e-01 7.25179061e-01 2.35989461e-01 9.66775464e+01] [-6.83456287e-01 6.88545986e-01 -2.42470470e-01 -4.32788536e+01] [-3.38324104e-01 -4.44469899e-03 9.41019152e-01 -1.16758274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-43.30, Z:-11.69 [[ 6.43748048e-01 7.28042037e-01 2.35676143e-01 9.66990740e+01] [-6.86566461e-01 6.85507682e-01 -2.42292619e-01 -4.33000770e+01] [-3.37957018e-01 -5.83193489e-03 9.41143476e-01 -1.16868606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:-43.32, Z:-11.70 [[ 6.40820746e-01 7.30686485e-01 2.35469811e-01 9.67203143e+01] [-6.89409471e-01 6.82676045e-01 -2.42214778e-01 -4.33211338e+01] [-3.37732665e-01 -7.11886309e-03 9.41215156e-01 -1.16982929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:-43.34, Z:-11.71 [[ 6.38216272e-01 7.33087483e-01 2.35080267e-01 9.67424442e+01] [-6.92062771e-01 6.80083950e-01 -2.41939955e-01 -4.33429492e+01] [-3.37237469e-01 -8.28028512e-03 9.41383198e-01 -1.17097640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:-43.36, Z:-11.72 [[ 6.33854637e-01 7.36871581e-01 2.35050147e-01 9.67636515e+01] [-6.96054830e-01 6.75956100e-01 -2.42055829e-01 -4.33641883e+01] [-3.37247642e-01 -1.01795808e-02 9.41360932e-01 -1.17212260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:-43.39, Z:-11.73 [[ 6.31993446e-01 7.38461706e-01 2.35071463e-01 9.67850526e+01] [-6.97694350e-01 6.74206822e-01 -2.42214276e-01 -4.33865491e+01] [-3.37352752e-01 -1.09301966e-02 9.41314853e-01 -1.17326375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:-43.41, Z:-11.74 [[ 6.30676455e-01 7.39699153e-01 2.34717643e-01 9.68056649e+01] [-6.99088632e-01 6.72839985e-01 -2.41994709e-01 -4.34087271e+01] [-3.36930697e-01 -1.14680707e-02 9.41459605e-01 -1.17437925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-43.43, Z:-11.75 [[ 6.29818308e-01 7.40469988e-01 2.34591335e-01 9.68264492e+01] [-6.99924474e-01 6.71985653e-01 -2.41952502e-01 -4.34311552e+01] [-3.36800578e-01 -1.18101016e-02 9.41501934e-01 -1.17548332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:-43.45, Z:-11.77 [[ 6.29333595e-01 7.41088386e-01 2.33938517e-01 9.68462748e+01] [-7.00763960e-01 6.71300250e-01 -2.41424618e-01 -4.34543783e+01] [-3.35959966e-01 -1.19990582e-02 9.41799832e-01 -1.17655129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:-43.48, Z:-11.78 [[ 6.29059692e-01 7.41325217e-01 2.33924833e-01 9.68667956e+01] [-7.00973095e-01 6.71038186e-01 -2.41546007e-01 -4.34771379e+01] [-3.36036641e-01 -1.20281575e-02 9.41772106e-01 -1.17767441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:-43.50, Z:-11.79 [[ 6.29033425e-01 7.41434510e-01 2.33648920e-01 9.68877949e+01] [-7.01136745e-01 6.70918484e-01 -2.41403508e-01 -4.35003813e+01] [-3.35744271e-01 -1.19689681e-02 9.41877130e-01 -1.17883277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:-43.52, Z:-11.80 [[ 6.29535256e-01 7.41308177e-01 2.32696256e-01 9.69071332e+01] [-7.01289442e-01 6.71061995e-01 -2.40559590e-01 -4.35245037e+01] [-3.34482405e-01 -1.17466840e-02 9.42328784e-01 -1.17998304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:-43.55, Z:-11.81 [[ 6.29742059e-01 7.41297787e-01 2.32169186e-01 9.69268092e+01] [-7.01414033e-01 6.71075860e-01 -2.40157334e-01 -4.35472738e+01] [-3.33831236e-01 -1.16095511e-02 9.42561364e-01 -1.18109334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:-43.57, Z:-11.82 [[ 6.30142229e-01 7.41124180e-01 2.31637045e-01 9.69471745e+01] [-7.01370220e-01 6.71271280e-01 -2.39738783e-01 -4.35708572e+01] [-3.33167505e-01 -1.13937942e-02 9.42798810e-01 -1.18225149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:-43.59, Z:-11.83 [[ 6.30685737e-01 7.40812958e-01 2.31152898e-01 9.69672068e+01] [-7.01160069e-01 6.71619596e-01 -2.39377683e-01 -4.35941508e+01] [-3.32580906e-01 -1.11030918e-02 9.43009365e-01 -1.18340774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:-43.62, Z:-11.85 [[ 6.32122913e-01 7.39722494e-01 2.30718994e-01 9.69849822e+01] [-7.00100716e-01 6.72831648e-01 -2.39074384e-01 -4.36182298e+01] [-3.32083741e-01 -1.04021367e-02 9.43192549e-01 -1.18451256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-43.64, Z:-11.86 [[ 6.32853162e-01 7.39128853e-01 2.30619630e-01 9.70047435e+01] [-6.99473237e-01 6.73489477e-01 -2.39058813e-01 -4.36422322e+01] [-3.32015161e-01 -1.00231333e-02 9.43220796e-01 -1.18562062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-43.67, Z:-11.87 [[ 6.33827511e-01 7.38346486e-01 2.30449893e-01 9.70241934e+01] [-6.98649315e-01 6.74354661e-01 -2.39029131e-01 -4.36658840e+01] [-3.31891279e-01 -9.50042082e-03 9.43269803e-01 -1.18670182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:-43.69, Z:-11.88 [[ 6.35814301e-01 7.36680725e-01 2.30307803e-01 9.70415184e+01] [-6.96896938e-01 6.76186532e-01 -2.38969520e-01 -4.36906119e+01] [-3.31775274e-01 -8.56056369e-03 9.43319609e-01 -1.18773331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:-43.71, Z:-11.89 [[ 6.36700859e-01 7.35878282e-01 2.30423893e-01 9.70614128e+01] [-6.95955705e-01 6.77065967e-01 -2.39222350e-01 -4.37143652e+01] [-3.32050708e-01 -8.05174673e-03 9.43227171e-01 -1.18883146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:-43.74, Z:-11.90 [[ 6.37693748e-01 7.35018155e-01 2.30423514e-01 9.70814536e+01] [-6.94991216e-01 6.78005930e-01 -2.39364093e-01 -4.37383704e+01] [-3.32165463e-01 -7.50133309e-03 9.43191304e-01 -1.18990912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-43.76, Z:-11.91 [[ 6.38641234e-01 7.34122046e-01 2.30656010e-01 9.71013470e+01] [-6.93905150e-01 6.78982069e-01 -2.39747770e-01 -4.37624138e+01] [-3.32615419e-01 -6.94058174e-03 9.43037015e-01 -1.19099992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:-43.79, Z:-11.92 [[ 6.41258947e-01 7.31819918e-01 2.30708844e-01 9.71195944e+01] [-6.91388621e-01 6.81474706e-01 -2.39945825e-01 -4.37867397e+01] [-3.32819375e-01 -5.64206271e-03 9.42973717e-01 -1.19201717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:-43.81, Z:-11.93 [[ 6.42391747e-01 7.30822084e-01 2.30720447e-01 9.71388044e+01] [-6.90293747e-01 6.82549230e-01 -2.40043938e-01 -4.38093298e+01] [-3.32907474e-01 -5.06263741e-03 9.42945907e-01 -1.19310287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:-43.83, Z:-11.94 [[ 6.45487105e-01 7.28151164e-01 2.30526093e-01 9.71574229e+01] [-6.87481368e-01 6.85407206e-01 -2.39971522e-01 -4.38342530e+01] [-3.32739788e-01 -3.58387055e-03 9.43011871e-01 -1.19415975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:-43.86, Z:-11.95 [[ 6.47163254e-01 7.26701782e-01 2.30400182e-01 9.71776802e+01] [-6.85940026e-01 6.86947622e-01 -2.39977594e-01 -4.38579998e+01] [-3.32665002e-01 -2.73602671e-03 9.43041097e-01 -1.19527722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:-43.88, Z:-11.96 [[ 6.48433093e-01 7.25571701e-01 2.30391473e-01 9.71988807e+01] [-6.84694685e-01 6.88143508e-01 -2.40107685e-01 -4.38811592e+01] [-3.32757737e-01 -2.05404818e-03 9.43010111e-01 -1.19638367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-43.90, Z:-11.97 [[ 6.49957607e-01 7.24103561e-01 2.30714416e-01 9.72207941e+01] [-6.82968685e-01 6.89690214e-01 -2.40585087e-01 -4.39031264e+01] [-3.33329993e-01 -1.20061382e-03 9.42809458e-01 -1.19749551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:-43.92, Z:-11.99 [[ 6.50385470e-01 7.23710562e-01 2.30741765e-01 9.72425768e+01] [-6.82490798e-01 6.90103052e-01 -2.40757321e-01 -4.39246936e+01] [-3.33474212e-01 -8.94068123e-04 9.42758798e-01 -1.19859097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:-43.95, Z:-12.00 [[ 6.51068464e-01 7.23146465e-01 2.30584137e-01 9.72643277e+01] [-6.81899158e-01 6.90694535e-01 -2.40737610e-01 -4.39467461e+01] [-3.33351755e-01 -4.98463016e-04 9.42802397e-01 -1.19969067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:-43.97, Z:-12.01 [[ 6.53755292e-01 7.20833970e-01 2.30222513e-01 9.72852916e+01] [-6.79528433e-01 6.93107325e-01 -2.40506435e-01 -4.39678861e+01] [-3.32934119e-01 7.89610895e-04 9.42949760e-01 -1.20071893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:-43.99, Z:-12.02 [[ 6.55538332e-01 7.19299800e-01 2.29950632e-01 9.73070253e+01] [-6.77971927e-01 6.94697872e-01 -2.40310077e-01 -4.39902439e+01] [-3.32601205e-01 1.63239378e-03 9.43066156e-01 -1.20183384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:-44.01, Z:-12.03 [[ 6.57467732e-01 7.17623869e-01 2.29678392e-01 9.73279523e+01] [-6.76246388e-01 6.96426092e-01 -2.40169777e-01 -4.40122464e+01] [-3.32305589e-01 2.58469596e-03 9.43168232e-01 -1.20290938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-44.03, Z:-12.04 [[ 6.59611071e-01 7.15729584e-01 2.29443668e-01 9.73493954e+01] [-6.74280685e-01 6.98368060e-01 -2.40057513e-01 -4.40344036e+01] [-3.32052393e-01 3.63515979e-03 9.43253939e-01 -1.20400959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:-44.06, Z:-12.05 [[ 6.65169533e-01 7.10772957e-01 2.28804056e-01 9.73713174e+01] [-6.69225168e-01 7.03394118e-01 -2.39529517e-01 -4.40561779e+01] [-3.31190530e-01 6.20630361e-03 9.43543488e-01 -1.20511476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:-44.08, Z:-12.06 [[ 6.67852508e-01 7.08253136e-01 2.28802367e-01 9.73935392e+01] [-6.66512445e-01 7.05918047e-01 -2.39668252e-01 -4.40779604e+01] [-3.31261511e-01 7.56341813e-03 9.43508668e-01 -1.20626720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.796559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.42, Y:-44.10, Z:-12.07 [[ 6.70245470e-01 7.06079390e-01 2.28523313e-01 9.74153051e+01] [-6.64271478e-01 7.08078832e-01 -2.39515699e-01 -4.40995653e+01] [-3.30929620e-01 8.73279322e-03 9.43615030e-01 -1.20739434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-44.12, Z:-12.08 [[ 6.72638034e-01 7.03757837e-01 2.28654723e-01 9.74368570e+01] [-6.61720545e-01 7.10369718e-01 -2.39793212e-01 -4.41207419e+01] [-3.31185743e-01 9.98850638e-03 9.43512710e-01 -1.20848141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:-44.14, Z:-12.10 [[ 6.76526545e-01 6.99958824e-01 2.28843786e-01 9.74591933e+01] [-6.57592134e-01 7.14083012e-01 -2.40120881e-01 -4.41421162e+01] [-3.31488189e-01 1.19622769e-02 9.43383530e-01 -1.20951381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:-44.16, Z:-12.11 [[ 6.77841021e-01 6.98594730e-01 2.29122138e-01 9.74807100e+01] [-6.55996038e-01 7.15403891e-01 -2.40554508e-01 -4.41633148e+01] [-3.31964981e-01 1.27544984e-02 9.43205478e-01 -1.21057354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-44.18, Z:-12.12 [[ 6.79231265e-01 6.96964027e-01 2.29969635e-01 9.75039088e+01] [-6.53901963e-01 7.16975051e-01 -2.41576073e-01 -4.41839873e+01] [-3.33252324e-01 1.37084261e-02 9.42738016e-01 -1.21170166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-44.21, Z:-12.13 [[ 6.79007007e-01 6.97109351e-01 2.30191305e-01 9.75266405e+01] [-6.53919937e-01 7.16832794e-01 -2.41949294e-01 -4.42053891e+01] [-3.33673792e-01 1.37585822e-02 9.42588193e-01 -1.21285110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:-44.23, Z:-12.14 [[ 6.78319022e-01 6.97652268e-01 2.30574537e-01 9.75489780e+01] [-6.54294044e-01 7.16306965e-01 -2.42494610e-01 -4.42255654e+01] [-3.34339062e-01 1.36251601e-02 9.42354364e-01 -1.21401069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:-44.25, Z:-12.15 [[ 6.76996113e-01 6.98853967e-01 2.30823300e-01 9.75719862e+01] [-6.55419735e-01 7.15143521e-01 -2.42888278e-01 -4.42462009e+01] [-3.34815224e-01 1.31482736e-02 9.42192066e-01 -1.21522078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-44.26, Z:-12.16 [[ 6.72864227e-01 7.02746322e-01 2.31087296e-01 9.75961001e+01] [-6.59378698e-01 7.11350101e-01 -2.43312076e-01 -4.42647739e+01] [-3.35370638e-01 1.13419517e-02 9.42017991e-01 -1.21645636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:-44.28, Z:-12.18 [[ 6.70346160e-01 7.05252984e-01 2.30768831e-01 9.76184665e+01] [-6.62100271e-01 7.08882576e-01 -2.43122859e-01 -4.42845375e+01] [-3.35051125e-01 1.01843695e-02 9.42144905e-01 -1.21759285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:-44.30, Z:-12.19 [[ 6.63581262e-01 7.11638145e-01 2.30718573e-01 9.76430245e+01] [-6.68844108e-01 7.02510912e-01 -2.43158339e-01 -4.43032440e+01] [-3.35123064e-01 7.04055959e-03 9.42148058e-01 -1.21880337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-44.32, Z:-12.20 [[ 6.59818188e-01 7.15199746e-01 2.30497901e-01 9.76663580e+01] [-6.72649895e-01 6.98899749e-01 -2.43066369e-01 -4.43239963e+01] [-3.34935931e-01 5.33522204e-03 9.42225800e-01 -1.21995745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:-44.33, Z:-12.23 [[ 6.56016919e-01 7.23235440e-01 2.15806164e-01 9.76948245e+01] [-6.73172054e-01 6.89982465e-01 -2.66014254e-01 -4.43270663e+01] [-3.41293405e-01 2.92351725e-02 9.39502058e-01 -1.22301942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:-44.36, Z:-12.23 [[ 6.55902341e-01 7.16949330e-01 2.36168959e-01 9.77078750e+01] [-6.73317372e-01 6.97120670e-01 -2.46305681e-01 -4.43615141e+01] [-3.41226956e-01 2.53581061e-03 9.39977518e-01 -1.22324690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-44.40, Z:-12.22 [[ 6.51836394e-01 7.15801948e-01 2.50473325e-01 9.77249547e+01] [-6.80619400e-01 6.97853021e-01 -2.23065893e-01 -4.43978357e+01] [-3.34464567e-01 -2.50745375e-02 9.42074690e-01 -1.22242923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:-44.40, Z:-12.25 [[ 6.43800806e-01 7.29947367e-01 2.29559064e-01 9.77562889e+01] [-6.88472159e-01 6.83500751e-01 -2.42554754e-01 -4.44038809e+01] [-3.33955997e-01 -1.88807820e-03 9.42586774e-01 -1.22450267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:-44.42, Z:-12.26 [[ 6.40348936e-01 7.33100276e-01 2.29166371e-01 9.77793820e+01] [-6.91918792e-01 6.80111941e-01 -2.42272848e-01 -4.44249765e+01] [-3.33469077e-01 -3.42535802e-03 9.42754815e-01 -1.22568092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:-44.45, Z:-12.27 [[ 6.37334984e-01 7.35851661e-01 2.28749757e-01 9.78013551e+01] [-6.94943544e-01 6.77126134e-01 -2.41978653e-01 -4.44454029e+01] [-3.32952833e-01 -4.74670627e-03 9.42931535e-01 -1.22683776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-44.47, Z:-12.28 [[ 6.33107186e-01 7.39705927e-01 2.28057959e-01 9.78235154e+01] [-6.99245131e-01 6.72897429e-01 -2.41382058e-01 -4.44653761e+01] [-3.32011353e-01 -6.64770185e-03 9.43251965e-01 -1.22796569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:-44.49, Z:-12.29 [[ 6.31599940e-01 7.40986851e-01 2.28078939e-01 9.78452279e+01] [-7.00552200e-01 6.71480654e-01 -2.41537463e-01 -4.44870232e+01] [-3.32126680e-01 -7.22615570e-03 9.43207109e-01 -1.22908921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:-44.51, Z:-12.30 [[ 6.30591385e-01 7.41887124e-01 2.27942975e-01 9.78660801e+01] [-7.01507225e-01 6.70481827e-01 -2.41540334e-01 -4.45082066e+01] [-3.32027286e-01 -7.59039059e-03 9.43239242e-01 -1.23015809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:-44.53, Z:-12.31 [[ 6.29436196e-01 7.42796355e-01 2.28174605e-01 9.78874388e+01] [-7.02358604e-01 6.69469430e-01 -2.41874087e-01 -4.45301808e+01] [-3.32419113e-01 -8.01609229e-03 9.43097702e-01 -1.23125858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-44.55, Z:-12.32 [[ 6.29256190e-01 7.42911490e-01 2.28296224e-01 9.79082910e+01] [-7.02386695e-01 6.69342080e-01 -2.42144812e-01 -4.45525539e+01] [-3.32700433e-01 -7.98110895e-03 9.42998793e-01 -1.23235980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:-44.58, Z:-12.33 [[ 6.29120177e-01 7.42998689e-01 2.28387281e-01 9.79287460e+01] [-7.02393991e-01 6.69245940e-01 -2.42389259e-01 -4.45750165e+01] [-3.32942163e-01 -7.92588037e-03 9.42913939e-01 -1.23345741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:-44.60, Z:-12.35 [[ 6.29152243e-01 7.42896441e-01 2.28631436e-01 9.79489365e+01] [-7.02164268e-01 6.69360709e-01 -2.42737681e-01 -4.45972008e+01] [-3.33365860e-01 -7.81786847e-03 9.42765127e-01 -1.23458953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:-44.40, Z:-11.45 [[ 7.09481102e-01 -6.58748552e-01 -2.50373543e-01 9.86642837e+01] [-6.08083698e-01 -7.51817837e-01 2.54959125e-01 -4.43993011e+01] [-3.56189250e-01 -2.86406115e-02 -9.33974804e-01 -1.14463246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-44.67, Z:-12.37 [[ 6.85964784e-01 6.84954128e-01 2.45540541e-01 9.80157382e+01] [-6.46978018e-01 7.28571975e-01 -2.24949596e-01 -4.46725141e+01] [-3.32974112e-01 -4.55183200e-03 9.42924982e-01 -1.23748218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:-44.70, Z:-12.39 [[ 6.86074883e-01 6.84295552e-01 2.47064470e-01 9.80375669e+01] [-6.47117026e-01 7.29169631e-01 -2.22600995e-01 -4.46954734e+01] [-3.32476779e-01 -7.15867290e-03 9.43084272e-01 -1.23857659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:-44.72, Z:-12.40 [[ 6.85990809e-01 6.84582218e-01 2.46503139e-01 9.80588977e+01] [-6.47549945e-01 7.28900295e-01 -2.22223824e-01 -4.47178133e+01] [-3.31806689e-01 -7.17959329e-03 9.43320081e-01 -1.23976995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-44.74, Z:-12.41 [[ 6.85310430e-01 6.85276927e-01 2.46465307e-01 9.80803323e+01] [-6.48251741e-01 7.28244904e-01 -2.22326428e-01 -4.47391610e+01] [-3.31842275e-01 -7.40894393e-03 9.43305789e-01 -1.24089800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-44.76, Z:-12.42 [[ 6.84602559e-01 6.85931240e-01 2.46612388e-01 9.81023336e+01] [-6.48857062e-01 7.27626323e-01 -2.22585820e-01 -4.47609987e+01] [-3.32120233e-01 -7.63336765e-03 9.43206172e-01 -1.24205828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:-44.78, Z:-12.43 [[ 6.84030822e-01 6.86551708e-01 2.46472283e-01 9.81234770e+01] [-6.49511659e-01 7.27038883e-01 -2.22596198e-01 -4.47820258e+01] [-3.32018733e-01 -7.82396127e-03 9.43240344e-01 -1.24313647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-44.81, Z:-12.44 [[ 6.82751017e-01 6.87630359e-01 2.47013236e-01 9.81441639e+01] [-6.50462031e-01 7.26013441e-01 -2.23167269e-01 -4.48050230e+01] [-3.32791519e-01 -8.30505171e-03 9.42963855e-01 -1.24433498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-44.83, Z:-12.45 [[ 6.82353993e-01 6.87969637e-01 2.47165546e-01 9.81658187e+01] [-6.50727856e-01 7.25691178e-01 -2.23440308e-01 -4.48272184e+01] [-3.33086004e-01 -8.37212000e-03 9.42859280e-01 -1.24545723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:-44.85, Z:-12.47 [[ 6.82068592e-01 6.88053228e-01 2.47719988e-01 9.81874720e+01] [-6.50596800e-01 7.25612408e-01 -2.24076856e-01 -4.48494598e+01] [-3.33925501e-01 -8.33004530e-03 9.42562661e-01 -1.24659547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:-44.87, Z:-12.48 [[ 6.82075435e-01 6.87970996e-01 2.47929444e-01 9.82091479e+01] [-6.50396265e-01 7.25691925e-01 -2.24401265e-01 -4.48720801e+01] [-3.34301958e-01 -8.19379397e-03 9.42430402e-01 -1.24772404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-44.90, Z:-12.49 [[ 6.83167011e-01 6.86604054e-01 2.48712099e-01 9.82283298e+01] [-6.48648937e-01 7.26993407e-01 -2.25244630e-01 -4.48953881e+01] [-3.35465932e-01 -7.44713797e-03 9.42022902e-01 -1.24888602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:-44.92, Z:-12.50 [[ 6.83957824e-01 6.85792431e-01 2.48777886e-01 9.82495725e+01] [-6.47720176e-01 7.27763956e-01 -2.25428921e-01 -4.49180143e+01] [-3.35649027e-01 -6.95458155e-03 9.41961445e-01 -1.25005660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:-44.94, Z:-12.51 [[ 6.86423967e-01 6.83198644e-01 2.49121960e-01 9.82680009e+01] [-6.44803755e-01 7.30211190e-01 -2.25875485e-01 -4.49420605e+01] [-3.36229468e-01 -5.58842867e-03 9.41763513e-01 -1.25114565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:-44.97, Z:-12.52 [[ 6.87747620e-01 6.81859502e-01 2.49140183e-01 9.82892281e+01] [-6.43328934e-01 7.31467175e-01 -2.26016934e-01 -4.49651512e+01] [-3.36349659e-01 -4.83648000e-03 9.41724755e-01 -1.25230813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:-44.99, Z:-12.53 [[ 6.89244364e-01 6.80511860e-01 2.48688188e-01 9.83101026e+01] [-6.41992448e-01 7.32725786e-01 -2.25740160e-01 -4.49877490e+01] [-3.35839104e-01 -4.06580564e-03 9.41910593e-01 -1.25342553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:-45.01, Z:-12.55 [[ 6.91802798e-01 6.77975864e-01 2.48510798e-01 9.83292126e+01] [-6.39306634e-01 7.35079107e-01 -2.25711617e-01 -4.50122852e+01] [-3.35702124e-01 -2.72667391e-03 9.41964250e-01 -1.25454860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:-45.03, Z:-12.56 [[ 6.92755103e-01 6.76880899e-01 2.48842552e-01 9.83499455e+01] [-6.37988299e-01 7.36089578e-01 -2.26148321e-01 -4.50344750e+01] [-3.36245888e-01 -2.09323309e-03 9.41771905e-01 -1.25569120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:-45.06, Z:-12.57 [[ 6.93690830e-01 6.75833670e-01 2.49082082e-01 9.83709289e+01] [-6.36753452e-01 7.37052667e-01 -2.26491516e-01 -4.50568486e+01] [-3.36657205e-01 -1.48878793e-03 9.41626099e-01 -1.25677934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:-45.08, Z:-12.58 [[ 6.95887646e-01 6.73571437e-01 2.49082121e-01 9.83897519e+01] [-6.34301106e-01 7.39122073e-01 -2.26628921e-01 -4.50805248e+01] [-3.36752862e-01 -2.84798524e-04 9.41593027e-01 -1.25777818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:-45.10, Z:-12.59 [[ 6.96615309e-01 6.72794248e-01 2.49148574e-01 9.84109735e+01] [-6.33424166e-01 7.39829626e-01 -2.26772907e-01 -4.51025980e+01] [-3.36899003e-01 1.56751012e-04 9.41540778e-01 -1.25888514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:-45.12, Z:-12.60 [[ 6.96680866e-01 6.72592400e-01 2.49509989e-01 9.84332850e+01] [-6.33043791e-01 7.40013063e-01 -2.27236055e-01 -4.51240577e+01] [-3.37477895e-01 3.60262257e-04 9.41333384e-01 -1.26000174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:-45.14, Z:-12.61 [[ 6.96009512e-01 6.73015317e-01 2.50242168e-01 9.84559725e+01] [-6.33205081e-01 7.39628498e-01 -2.28037303e-01 -4.51447152e+01] [-3.38558836e-01 2.61519814e-04 9.40945188e-01 -1.26113888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:-45.17, Z:-12.62 [[ 6.94841040e-01 6.73942024e-01 2.50994178e-01 9.84784968e+01] [-6.33893997e-01 7.38784232e-01 -2.28858599e-01 -4.51662327e+01] [-3.39667969e-01 -8.33560760e-05 9.40545408e-01 -1.26224697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:-45.19, Z:-12.63 [[ 6.94502431e-01 6.74265593e-01 2.51062309e-01 9.85012302e+01] [-6.34166790e-01 7.38488925e-01 -2.29055867e-01 -4.51873294e+01] [-3.39851225e-01 -1.35522477e-04 9.40479201e-01 -1.26334385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:-45.21, Z:-12.64 [[ 6.94337708e-01 6.74414384e-01 2.51118273e-01 9.85235495e+01] [-6.34257874e-01 7.38353052e-01 -2.29241622e-01 -4.52084733e+01] [-3.40017790e-01 -1.02639697e-04 9.40418998e-01 -1.26449785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:-45.23, Z:-12.66 [[ 6.94534759e-01 6.74133025e-01 2.51328734e-01 9.85453960e+01] [-6.33840189e-01 7.38609941e-01 -2.29569098e-01 -4.52299500e+01] [-3.40394012e-01 1.41465838e-04 9.40282881e-01 -1.26556848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:-45.25, Z:-12.67 [[ 6.94509281e-01 6.74196393e-01 2.51229143e-01 9.85682374e+01] [-6.33891329e-01 7.38552081e-01 -2.29614038e-01 -4.52512560e+01] [-3.40350762e-01 2.17105120e-04 9.40298523e-01 -1.26670073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-45.27, Z:-12.68 [[ 6.94730565e-01 6.73981534e-01 2.51193816e-01 9.85906315e+01] [-6.33624827e-01 7.38748067e-01 -2.29719116e-01 -4.52711084e+01] [-3.40395388e-01 4.30253087e-04 9.40282295e-01 -1.26781303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-45.29, Z:-12.69 [[ 6.94977979e-01 6.73945964e-01 2.50604164e-01 9.86133782e+01] [-6.33736302e-01 7.38780441e-01 -2.29307131e-01 -4.52897793e+01] [-3.39682070e-01 5.46450730e-04 9.40540160e-01 -1.26895949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:-45.31, Z:-12.70 [[ 6.95002582e-01 6.74127599e-01 2.50046779e-01 9.86369179e+01] [-6.34068326e-01 7.38614698e-01 -2.28922881e-01 -4.53100041e+01] [-3.39011458e-01 5.55250733e-04 9.40782080e-01 -1.27014274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:-45.33, Z:-12.71 [[ 6.95341169e-01 6.74022848e-01 2.49386966e-01 9.86601360e+01] [-6.34127435e-01 7.38710159e-01 -2.28450644e-01 -4.53293699e+01] [-3.38205639e-01 7.08020752e-04 9.41071965e-01 -1.27132389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:-45.35, Z:-12.72 [[ 6.95519001e-01 6.73937328e-01 2.49122053e-01 9.86830121e+01] [-6.34075263e-01 7.38788025e-01 -2.28343634e-01 -4.53497714e+01] [-3.37937688e-01 8.55204544e-04 9.41168097e-01 -1.27242985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-45.37, Z:-12.74 [[ 6.95616106e-01 6.73852901e-01 2.49079308e-01 9.87054693e+01] [-6.33949902e-01 7.38864844e-01 -2.28443131e-01 -4.53699842e+01] [-3.37973010e-01 1.00491808e-03 9.41155266e-01 -1.27351865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:-45.39, Z:-12.75 [[ 6.95745587e-01 6.73665729e-01 2.49223921e-01 9.87285049e+01] [-6.33672826e-01 7.39035271e-01 -2.28660486e-01 -4.53904912e+01] [-3.38226001e-01 1.16309814e-03 9.41064195e-01 -1.27466145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-45.41, Z:-12.76 [[ 6.96759635e-01 6.72535586e-01 2.49443174e-01 9.87519511e+01] [-6.32350898e-01 7.40062546e-01 -2.28997315e-01 -4.54099426e+01] [-3.38612394e-01 1.82047056e-03 9.40924191e-01 -1.27577246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-45.43, Z:-12.77 [[ 6.97212216e-01 6.71994777e-01 2.49636026e-01 9.87751545e+01] [-6.31666894e-01 7.40552664e-01 -2.29300429e-01 -4.54302058e+01] [-3.38957315e-01 2.18424750e-03 9.40799218e-01 -1.27694062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-45.45, Z:-12.78 [[ 6.97956531e-01 6.71225451e-01 2.49625870e-01 9.87981806e+01] [-6.30804162e-01 7.41248468e-01 -2.29427153e-01 -4.54503847e+01] [-3.39032138e-01 2.66514205e-03 9.40771017e-01 -1.27808523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-45.47, Z:-12.79 [[ 6.99794058e-01 6.69272939e-01 2.49723866e-01 9.88206319e+01] [-6.28648470e-01 7.43007320e-01 -2.29654576e-01 -4.54701898e+01] [-3.39248253e-01 3.72238212e-03 9.40689517e-01 -1.27921260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-45.49, Z:-12.80 [[ 7.00914401e-01 6.68179058e-01 2.49511021e-01 9.88425847e+01] [-6.27528437e-01 7.43987991e-01 -2.29542871e-01 -4.54903109e+01] [-3.39008943e-01 4.31464242e-03 9.40773257e-01 -1.28030672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:-45.51, Z:-12.82 [[ 7.02764365e-01 6.66841492e-01 2.47880357e-01 9.88652905e+01] [-6.25252560e-01 7.45156442e-01 -2.31950669e-01 -4.55072837e+01] [-3.39383975e-01 8.01883649e-03 9.40613744e-01 -1.28168690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:-45.53, Z:-12.82 [[ 7.04529355e-01 6.63778849e-01 2.51069764e-01 9.88857773e+01] [-6.24307008e-01 7.47925888e-01 -2.25494182e-01 -4.55336542e+01] [-3.37459845e-01 2.12265736e-03 9.41337531e-01 -1.28239502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:-45.56, Z:-12.83 [[ 7.06125353e-01 6.61948801e-01 2.51417521e-01 9.89074454e+01] [-6.23371622e-01 7.49548880e-01 -2.22675317e-01 -4.55552127e+01] [-3.35849380e-01 5.10139214e-04 9.41915566e-01 -1.28327642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:-45.57, Z:-12.85 [[ 7.07619986e-01 6.63408132e-01 2.43235700e-01 9.89327320e+01] [-6.21319406e-01 7.48132225e-01 -2.32938553e-01 -4.55697841e+01] [-3.36505796e-01 1.37049149e-02 9.41581661e-01 -1.28505927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-45.59, Z:-12.86 [[ 7.08257763e-01 6.61116887e-01 2.47579083e-01 9.89543699e+01] [-6.20524712e-01 7.50240091e-01 -2.28229901e-01 -4.55935385e+01] [-3.36630396e-01 8.01665983e-03 9.41602735e-01 -1.28598851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:-45.61, Z:-12.87 [[ 7.08904203e-01 6.60512737e-01 2.47341374e-01 9.89773213e+01] [-6.19916624e-01 7.50767813e-01 -2.28147039e-01 -4.56146699e+01] [-3.36389968e-01 8.40336509e-03 9.41685283e-01 -1.28713701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-45.64, Z:-12.88 [[ 7.10215191e-01 6.59342139e-01 2.46702908e-01 9.90002091e+01] [-6.18845413e-01 7.51788680e-01 -2.27693073e-01 -4.56356981e+01] [-3.35596092e-01 9.04011654e-03 9.41962600e-01 -1.28826800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:-45.66, Z:-12.89 [[ 7.10646320e-01 6.59069276e-01 2.46189961e-01 9.90232073e+01] [-6.18681852e-01 7.52025271e-01 -2.27356018e-01 -4.56566656e+01] [-3.34984439e-01 9.25645668e-03 9.42178191e-01 -1.28941531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:-45.68, Z:-12.91 [[ 7.10950584e-01 6.58871516e-01 2.45840582e-01 9.90455362e+01] [-6.18542740e-01 7.52196221e-01 -2.27168933e-01 -4.56768559e+01] [-3.34595496e-01 9.44297858e-03 9.42314536e-01 -1.29055198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:-45.70, Z:-12.92 [[ 7.11074553e-01 6.58892091e-01 2.45426550e-01 9.90682038e+01] [-6.18660154e-01 7.52177284e-01 -2.26911761e-01 -4.56973885e+01] [-3.34114641e-01 9.51555182e-03 9.42484409e-01 -1.29169175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:-45.72, Z:-12.93 [[ 7.11294533e-01 6.58832648e-01 2.44948217e-01 9.90915649e+01] [-6.18711766e-01 7.52227905e-01 -2.26603020e-01 -4.57178203e+01] [-3.33550352e-01 9.62914504e-03 9.42683108e-01 -1.29275777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:-45.74, Z:-12.94 [[ 7.11216198e-01 6.58925648e-01 2.44925519e-01 9.91147369e+01] [-6.18770262e-01 7.52145638e-01 -2.26716345e-01 -4.57381745e+01] [-3.33608876e-01 9.69170949e-03 9.42661757e-01 -1.29387568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:-45.76, Z:-12.95 [[ 7.11114987e-01 6.59059917e-01 2.44858124e-01 9.91377439e+01] [-6.18887240e-01 7.52027448e-01 -2.26789112e-01 -4.57595313e+01] [-3.33607643e-01 9.73356849e-03 9.42661762e-01 -1.29503195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:-45.78, Z:-12.96 [[ 7.10697799e-01 6.59484547e-01 2.44926051e-01 9.91603978e+01] [-6.19287520e-01 7.51656877e-01 -2.26924892e-01 -4.57796433e+01] [-3.33753811e-01 9.59537467e-03 9.42611438e-01 -1.29610952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:-45.80, Z:-12.97 [[ 7.10113450e-01 6.60099017e-01 2.44965662e-01 9.91841839e+01] [-6.19880154e-01 7.51119694e-01 -2.27085446e-01 -4.57995937e+01] [-3.33897412e-01 9.40707719e-03 9.42562478e-01 -1.29716475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:-45.82, Z:-12.98 [[ 7.09672697e-01 6.60626003e-01 2.44822277e-01 9.92066964e+01] [-6.20438260e-01 7.50658058e-01 -2.27087748e-01 -4.58197462e+01] [-3.33797887e-01 9.26086727e-03 9.42599176e-01 -1.29825334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:-45.84, Z:-12.99 [[ 7.08575562e-01 6.61747341e-01 2.44971691e-01 9.92298895e+01] [-6.21529386e-01 7.49674817e-01 -2.27351912e-01 -4.58400154e+01] [-3.34098631e-01 8.83890448e-03 9.42496673e-01 -1.29936986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:-45.86, Z:-13.00 [[ 7.07950334e-01 6.62396976e-01 2.45023612e-01 9.92523742e+01] [-6.22150611e-01 7.49103157e-01 -2.27536982e-01 -4.58604688e+01] [-3.34267771e-01 8.64329252e-03 9.42438513e-01 -1.30045870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:-45.88, Z:-13.02 [[ 7.07171405e-01 6.63163087e-01 2.45200577e-01 9.92752318e+01] [-6.22871960e-01 7.48428309e-01 -2.27784081e-01 -4.58808200e+01] [-3.34573048e-01 8.35382433e-03 9.42332791e-01 -1.30157791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:-45.90, Z:-13.03 [[ 7.06498352e-01 6.63915528e-01 2.45104569e-01 9.92977092e+01] [-6.23653247e-01 7.47763701e-01 -2.27829049e-01 -4.59003941e+01] [-3.34539543e-01 8.10058712e-03 9.42346897e-01 -1.30264817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-45.92, Z:-13.04 [[ 7.05655134e-01 6.64794258e-01 2.45151845e-01 9.93207811e+01] [-6.24523109e-01 7.46985939e-01 -2.27997572e-01 -4.59207516e+01] [-3.34696458e-01 7.78466518e-03 9.42293840e-01 -1.30376692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:-45.94, Z:-13.05 [[ 7.04425404e-01 6.66234943e-01 2.44777145e-01 9.93443284e+01] [-6.26128546e-01 7.45707231e-01 -2.27780089e-01 -4.59407387e+01] [-3.34287142e-01 7.19212335e-03 9.42443834e-01 -1.30488175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:-45.96, Z:-13.06 [[ 7.03905765e-01 6.66895694e-01 2.44472507e-01 9.93675606e+01] [-6.26883824e-01 7.45118446e-01 -2.27629462e-01 -4.59617024e+01] [-3.33966083e-01 6.97383019e-03 9.42559293e-01 -1.30602894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:-45.98, Z:-13.07 [[ 7.03346365e-01 6.67517272e-01 2.44386136e-01 9.93898206e+01] [-6.27522875e-01 7.44563414e-01 -2.27684790e-01 -4.59819969e+01] [-3.33944505e-01 6.78337863e-03 9.42568328e-01 -1.30711618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:-46.00, Z:-13.08 [[ 7.02910051e-01 6.67955314e-01 2.44444591e-01 9.94125328e+01] [-6.27921716e-01 7.44171423e-01 -2.27866654e-01 -4.60021288e+01] [-3.34113422e-01 6.67769426e-03 9.42509220e-01 -1.30815947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:-46.02, Z:-13.09 [[ 7.02673922e-01 6.68138175e-01 2.44623668e-01 9.94352784e+01] [-6.28025885e-01 7.44007404e-01 -2.28115037e-01 -4.60228659e+01] [-3.34414184e-01 6.66049211e-03 9.42402669e-01 -1.30929473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:-46.04, Z:-13.10 [[ 7.02800359e-01 6.68040290e-01 2.44527762e-01 9.94573382e+01] [-6.27906759e-01 7.44093935e-01 -2.28160728e-01 -4.60427647e+01] [-3.34372183e-01 6.81080679e-03 9.42416498e-01 -1.31036671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:-46.06, Z:-13.12 [[ 7.03946166e-01 6.66875868e-01 2.44410253e-01 9.94805752e+01] [-6.26669425e-01 7.45131486e-01 -2.28176467e-01 -4.60632844e+01] [-3.34283154e-01 7.45951637e-03 9.42443170e-01 -1.31150798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:-46.08, Z:-13.13 [[ 7.04612583e-01 6.66116486e-01 2.44560698e-01 9.95035577e+01] [-6.25766586e-01 7.45805543e-01 -2.28451904e-01 -4.60842885e+01] [-3.34570303e-01 7.93217293e-03 9.42337409e-01 -1.31265081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:-46.11, Z:-13.14 [[ 7.06572159e-01 6.63666534e-01 2.45565706e-01 9.95266631e+01] [-6.22781188e-01 7.47971454e-01 -2.29526244e-01 -4.61050372e+01] [-3.36005025e-01 9.24315150e-03 9.41814837e-01 -1.31379328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:-46.13, Z:-13.15 [[ 7.07848707e-01 6.62340074e-01 2.45470640e-01 9.95489900e+01] [-6.21361581e-01 7.49136896e-01 -2.29572857e-01 -4.61259876e+01] [-3.35946416e-01 9.97682539e-03 9.41828258e-01 -1.31489539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:-46.15, Z:-13.16 [[ 7.09350979e-01 6.60706354e-01 2.45536763e-01 9.95704829e+01] [-6.19560795e-01 7.50565840e-01 -2.29772366e-01 -4.61460684e+01] [-3.36103569e-01 1.08643007e-02 9.41762368e-01 -1.31602099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:-46.17, Z:-13.17 [[ 7.10724042e-01 6.59195776e-01 2.45626273e-01 9.95918432e+01] [-6.17885489e-01 7.51880537e-01 -2.29985175e-01 -4.61663963e+01] [-3.36286870e-01 1.16870835e-02 9.41687078e-01 -1.31712258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:-46.19, Z:-13.18 [[ 7.13696503e-01 6.55978173e-01 2.45621534e-01 9.96141204e+01] [-6.14454367e-01 7.54663155e-01 -2.30063802e-01 -4.61873185e+01] [-3.36278354e-01 1.32725073e-02 9.41669108e-01 -1.31822451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-46.21, Z:-13.19 [[ 7.14774867e-01 6.54859368e-01 2.45471174e-01 9.96366372e+01] [-6.13275618e-01 7.55622946e-01 -2.30058645e-01 -4.62081118e+01] [-3.36139710e-01 1.38986516e-02 9.41709574e-01 -1.31934680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:-46.23, Z:-13.20 [[ 7.15631780e-01 6.54031331e-01 2.45181918e-01 9.96585844e+01] [-6.12452665e-01 7.56330784e-01 -2.29924942e-01 -4.62281121e+01] [-3.35816748e-01 1.43792768e-02 9.41817577e-01 -1.32043119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:-46.25, Z:-13.22 [[ 7.16979828e-01 6.52620947e-01 2.45001684e-01 9.96821885e+01] [-6.10980088e-01 7.57533474e-01 -2.29883379e-01 -4.62476832e+01] [-3.35623685e-01 1.51305947e-02 9.41874624e-01 -1.32158045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:-46.27, Z:-13.23 [[ 7.17204838e-01 6.52418125e-01 2.44883258e-01 9.97050242e+01] [-6.10759384e-01 7.57704238e-01 -2.29907074e-01 -4.62680105e+01] [-3.35544625e-01 1.53257180e-02 9.41899637e-01 -1.32271369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:-46.29, Z:-13.24 [[ 7.17198836e-01 6.52451755e-01 2.44811229e-01 9.97272058e+01] [-6.10771549e-01 7.57673471e-01 -2.29976144e-01 -4.62877309e+01] [-3.35535312e-01 1.54148888e-02 9.41901500e-01 -1.32382632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:-46.31, Z:-13.25 [[ 7.16598290e-01 6.53018563e-01 2.45058456e-01 9.97508534e+01] [-6.11238071e-01 7.57187967e-01 -2.30335416e-01 -4.63070720e+01] [-3.35968617e-01 1.52689073e-02 9.41749409e-01 -1.32497503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:-46.33, Z:-13.26 [[ 7.16037475e-01 6.53630033e-01 2.45067569e-01 9.97734663e+01] [-6.11832131e-01 7.56663722e-01 -2.30480922e-01 -4.63264363e+01] [-3.36082991e-01 1.50927646e-02 9.41711437e-01 -1.32605870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:-46.35, Z:-13.27 [[ 7.15048420e-01 6.54632106e-01 2.45280580e-01 9.97975015e+01] [-6.12770543e-01 7.55803926e-01 -2.30808766e-01 -4.63465851e+01] [-3.36478854e-01 1.47387293e-02 9.41575674e-01 -1.32721001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:-46.36, Z:-13.28 [[ 7.12875067e-01 6.56736418e-01 2.45980521e-01 9.98225527e+01] [-6.14699137e-01 7.53992059e-01 -2.31605152e-01 -4.63641385e+01] [-3.37570897e-01 1.39015242e-02 9.41197449e-01 -1.32830426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:-46.38, Z:-13.29 [[ 7.11156684e-01 6.58355038e-01 2.46626872e-01 9.98466742e+01] [-6.16137058e-01 7.52590463e-01 -2.32341817e-01 -4.63838806e+01] [-3.38572438e-01 1.32754804e-02 9.40846675e-01 -1.32944430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-46.40, Z:-13.31 [[ 7.09608748e-01 6.59892136e-01 2.46977314e-01 9.98700276e+01] [-6.17589558e-01 7.51253432e-01 -2.32811983e-01 -4.64026682e+01] [-3.39173351e-01 1.26748097e-02 9.40638500e-01 -1.33050569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-46.42, Z:-13.32 [[ 7.06364032e-01 6.63115964e-01 2.47643036e-01 9.98958513e+01] [-6.20721116e-01 7.48431856e-01 -2.33570233e-01 -4.64204938e+01] [-3.40228087e-01 1.12683498e-02 9.40275424e-01 -1.33161625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:-46.44, Z:-13.33 [[ 7.04560364e-01 6.65010196e-01 2.47701701e-01 9.99202191e+01] [-6.22659078e-01 7.46760964e-01 -2.33759994e-01 -4.64399959e+01] [-3.40426740e-01 1.04643137e-02 9.40212812e-01 -1.33274579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:-46.46, Z:-13.34 [[ 7.02884706e-01 6.66750931e-01 2.47782739e-01 9.99444433e+01] [-6.24426578e-01 7.45217054e-01 -2.33972202e-01 -4.64588885e+01] [-3.40653107e-01 9.73335438e-03 9.40138672e-01 -1.33388651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:-46.47, Z:-13.35 [[ 6.99812411e-01 6.70028665e-01 2.47637189e-01 9.99702616e+01] [-6.27902434e-01 7.42289408e-01 -2.33976427e-01 -4.64742210e+01] [-3.40589375e-01 8.24761390e-03 9.40175970e-01 -1.33503953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-46.49, Z:-13.36 [[ 6.98218756e-01 6.71709703e-01 2.47581592e-01 9.99949610e+01] [-6.29657543e-01 7.40776193e-01 -2.34055569e-01 -4.64931608e+01] [-3.40619946e-01 7.53037137e-03 9.40170913e-01 -1.33618926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:-46.51, Z:-13.37 [[ 6.96587827e-01 6.73421788e-01 2.47524736e-01 1.00018587e+02] [-6.31444153e-01 7.39227194e-01 -2.34139781e-01 -4.65119038e+01] [-3.40651846e-01 6.80087425e-03 9.40164915e-01 -1.33731515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:-46.53, Z:-13.38 [[ 6.95321216e-01 6.74680846e-01 2.47657349e-01 1.00042624e+02] [-6.32687465e-01 7.38082788e-01 -2.34393621e-01 -4.65308859e+01] [-3.40932513e-01 6.28915779e-03 9.40066736e-01 -1.33844008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:-46.55, Z:-13.40 [[ 6.93677309e-01 6.76611043e-01 2.47000580e-01 1.00068253e+02] [-6.34914690e-01 7.36320546e-01 -2.33913211e-01 -4.65487288e+01] [-3.40139863e-01 5.43599010e-03 9.40359146e-01 -1.33968241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:-46.57, Z:-13.41 [[ 6.93279277e-01 6.77231169e-01 2.46417915e-01 1.00091381e+02] [-6.35724365e-01 7.35751723e-01 -2.33503605e-01 -4.65681927e+01] [-3.39438325e-01 5.22933786e-03 9.40613777e-01 -1.34085205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:-46.59, Z:-13.42 [[ 6.93571910e-01 6.77151093e-01 2.45813756e-01 1.00115466e+02] [-6.35801908e-01 7.35824504e-01 -2.33062723e-01 -4.65866880e+01] [-3.38694463e-01 5.35690320e-03 9.40881164e-01 -1.34203615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:-46.61, Z:-13.43 [[ 6.94095026e-01 6.76686279e-01 2.45617129e-01 1.00139022e+02] [-6.35326163e-01 7.36249487e-01 -2.33017938e-01 -4.66070499e+01] [-3.38515527e-01 5.68960412e-03 9.40943604e-01 -1.34320771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:-46.63, Z:-13.44 [[ 6.94734027e-01 6.76058072e-01 2.45540456e-01 1.00161323e+02] [-6.34635527e-01 7.36823056e-01 -2.33086963e-01 -4.66265396e+01] [-3.38500192e-01 6.10474776e-03 9.40946519e-01 -1.34433295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:-46.65, Z:-13.45 [[ 6.96875454e-01 6.74143801e-01 2.44734015e-01 1.00184797e+02] [-6.32839948e-01 7.38565869e-01 -2.32452267e-01 -4.66465988e+01] [-3.37458445e-01 7.11281768e-03 9.41313553e-01 -1.34544846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:-46.67, Z:-13.47 [[ 6.97819074e-01 6.73256995e-01 2.44486317e-01 1.00207301e+02] [-6.31935731e-01 7.39369039e-01 -2.32358897e-01 -4.66667002e+01] [-3.37202866e-01 7.64483055e-03 9.41400969e-01 -1.34658669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:-46.69, Z:-13.48 [[ 6.98831990e-01 6.72257013e-01 2.44344755e-01 1.00230552e+02] [-6.30894898e-01 7.40272537e-01 -2.32310565e-01 -4.66875927e+01] [-3.37054118e-01 8.19019569e-03 9.41449649e-01 -1.34772249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:-46.71, Z:-13.49 [[ 6.99806168e-01 6.71174965e-01 2.44531170e-01 1.00252813e+02] [-6.29632211e-01 7.41246360e-01 -2.32630852e-01 -4.67077221e+01] [-3.37393844e-01 8.83180379e-03 9.41322152e-01 -1.34882412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:-46.73, Z:-13.50 [[ 7.01909937e-01 6.68884015e-01 2.44778708e-01 1.00275260e+02] [-6.27087446e-01 7.43299318e-01 -2.32953768e-01 -4.67273399e+01] [-3.37762899e-01 1.00149097e-02 9.41177946e-01 -1.34989450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:-46.75, Z:-13.51 [[ 7.03052536e-01 6.67571575e-01 2.45082280e-01 1.00298047e+02] [-6.25543420e-01 7.44467815e-01 -2.33373313e-01 -4.67478426e+01] [-3.38249259e-01 1.07640924e-02 9.40994991e-01 -1.35102260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:-46.77, Z:-13.52 [[ 7.03978753e-01 6.66641380e-01 2.44955478e-01 1.00320249e+02] [-6.24553943e-01 7.45292737e-01 -2.33390464e-01 -4.67680595e+01] [-3.38151279e-01 1.13140179e-02 9.41023754e-01 -1.35209741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:-46.79, Z:-13.53 [[ 7.05874696e-01 6.64549288e-01 2.45183924e-01 1.00342738e+02] [-6.22211524e-01 7.47140993e-01 -2.33737365e-01 -4.67873016e+01] [-3.38516960e-01 1.24330286e-02 9.40878147e-01 -1.35322187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:-46.81, Z:-13.54 [[ 7.06423810e-01 6.64124161e-01 2.44753956e-01 1.00365935e+02] [-6.21884955e-01 7.47514788e-01 -2.33411107e-01 -4.68083197e+01] [-3.37971157e-01 1.26783612e-02 9.41071069e-01 -1.35434567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:-46.83, Z:-13.56 [[ 7.06508743e-01 6.64058303e-01 2.44687488e-01 1.00388887e+02] [-6.21789843e-01 7.47570970e-01 -2.33484554e-01 -4.68291263e+01] [-3.37968619e-01 1.28146846e-02 9.41070134e-01 -1.35550401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-46.85, Z:-13.57 [[ 7.06478567e-01 6.64206115e-01 2.44373220e-01 1.00412426e+02] [-6.22009533e-01 7.47439317e-01 -2.33320826e-01 -4.68487703e+01] [-3.37627272e-01 1.28336905e-02 9.41192393e-01 -1.35661078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:-46.87, Z:-13.58 [[ 7.06203885e-01 6.64628983e-01 2.44017189e-01 1.00435516e+02] [-6.22535186e-01 7.47065293e-01 -2.33116687e-01 -4.68689191e+01] [-3.37232880e-01 1.27186235e-02 9.41335340e-01 -1.35773530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.816559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:100.46, Y:-46.89, Z:-13.59 [[ 7.05529508e-01 6.65410347e-01 2.43838437e-01 1.00458595e+02] [-6.23375644e-01 7.46374023e-01 -2.33085017e-01 -4.68894542e+01] [-3.37091857e-01 1.24454144e-02 9.41389500e-01 -1.35889623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:-46.91, Z:-13.60 [[ 7.04523938e-01 6.66671669e-01 2.43300034e-01 1.00482436e+02] [-6.24851635e-01 7.45256149e-01 -2.32709488e-01 -4.69095260e+01] [-3.36461670e-01 1.19229805e-02 9.41621680e-01 -1.36008890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:-46.93, Z:-13.61 [[ 7.04104355e-01 6.67218618e-01 2.43015170e-01 1.00504865e+02] [-6.25481819e-01 7.44769169e-01 -2.32575535e-01 -4.69300770e+01] [-3.36168933e-01 1.17558766e-02 9.41728330e-01 -1.36121153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:-46.95, Z:-13.62 [[ 7.03547839e-01 6.67727737e-01 2.43228510e-01 1.00527866e+02] [-6.25898578e-01 7.44314789e-01 -2.32908707e-01 -4.69512291e+01] [-3.36558181e-01 1.16260389e-02 9.41590901e-01 -1.36239571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:-46.97, Z:-13.64 [[ 7.02527696e-01 6.68632787e-01 2.43690444e-01 1.00551045e+02] [-6.26642137e-01 7.43506491e-01 -2.33490323e-01 -4.69716946e+01] [-3.37304712e-01 1.13267182e-02 9.41327380e-01 -1.36353763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:-46.99, Z:-13.65 [[ 7.01894488e-01 6.69156304e-01 2.44077792e-01 1.00573949e+02] [-6.27007825e-01 7.43037191e-01 -2.34001968e-01 -4.69924048e+01] [-3.37942769e-01 1.12060060e-02 9.41099947e-01 -1.36467487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:-47.01, Z:-13.66 [[ 7.01765784e-01 6.69316841e-01 2.44007686e-01 1.00596590e+02] [-6.27152413e-01 7.42892133e-01 -2.34075051e-01 -4.70141586e+01] [-3.37941764e-01 1.12358521e-02 9.41099952e-01 -1.36583048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:-47.03, Z:-13.67 [[ 7.01204846e-01 6.69796899e-01 2.44302839e-01 1.00619289e+02] [-6.27520790e-01 7.42461455e-01 -2.34453933e-01 -4.70348087e+01] [-3.38421959e-01 1.10951238e-02 9.40929049e-01 -1.36698509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:-47.06, Z:-13.68 [[ 7.00734442e-01 6.70306406e-01 2.44255121e-01 1.00642239e+02] [-6.28026742e-01 7.42003539e-01 -2.34548843e-01 -4.70562666e+01] [-3.38457756e-01 1.09577045e-02 9.40917784e-01 -1.36812294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:-47.08, Z:-13.69 [[ 6.99440635e-01 6.71448415e-01 2.44826109e-01 1.00665004e+02] [-6.28981030e-01 7.40976279e-01 -2.35238215e-01 -4.70773047e+01] [-3.39360666e-01 1.05441883e-02 9.40597235e-01 -1.36928853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:-47.10, Z:-13.70 [[ 6.98525168e-01 6.72341964e-01 2.44987497e-01 1.00687355e+02] [-6.29818547e-01 7.40170004e-01 -2.35535483e-01 -4.70980017e+01] [-3.39692785e-01 1.02297933e-02 9.40480815e-01 -1.37040553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-47.12, Z:-13.72 [[ 6.95605204e-01 6.75060272e-01 2.45819100e-01 1.00710332e+02] [-6.32353564e-01 7.37707150e-01 -2.36468033e-01 -4.71184059e+01] [-3.40972682e-01 9.04381023e-03 9.40029701e-01 -1.37154692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:-47.14, Z:-13.73 [[ 6.93884341e-01 6.76725590e-01 2.46103630e-01 1.00733460e+02] [-6.33966551e-01 7.36188010e-01 -2.36883149e-01 -4.71392618e+01] [-3.41483431e-01 8.34803861e-03 9.39850721e-01 -1.37273564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:-47.16, Z:-13.74 [[ 6.91852487e-01 6.78741439e-01 2.46272604e-01 1.00755734e+02] [-6.35993366e-01 7.34339320e-01 -2.37188115e-01 -4.71595198e+01] [-3.41837059e-01 7.47144543e-03 9.39729537e-01 -1.37384563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:-47.18, Z:-13.75 [[ 6.87744422e-01 6.82867235e-01 2.46373597e-01 1.00779073e+02] [-6.40306024e-01 7.30521810e-01 -2.37373294e-01 -4.71792736e+01] [-3.42075731e-01 5.49766063e-03 9.39656304e-01 -1.37503804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:-47.20, Z:-13.76 [[ 6.83376426e-01 6.87155166e-01 2.46605838e-01 1.00801204e+02] [-6.44729319e-01 7.26502405e-01 -2.37735907e-01 -4.71990456e+01] [-3.42521191e-01 3.46910109e-03 9.39503698e-01 -1.37616817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:-47.22, Z:-13.77 [[ 6.81496768e-01 6.89090666e-01 2.46406593e-01 1.00823843e+02] [-6.46810889e-01 7.24670491e-01 -2.37672784e-01 -4.72201616e+01] [-3.42341684e-01 2.59476721e-03 9.39571944e-01 -1.37733230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:-47.24, Z:-13.78 [[ 6.79664143e-01 6.90965847e-01 2.46217079e-01 1.00845786e+02] [-6.48820619e-01 7.22885263e-01 -2.37631438e-01 -4.72407540e+01] [-3.42181906e-01 1.75885025e-03 9.39632082e-01 -1.37846074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:-47.26, Z:-13.80 [[ 6.78133457e-01 6.92603685e-01 2.45835617e-01 1.00867759e+02] [-6.50649399e-01 7.21317593e-01 -2.37394799e-01 -4.72616130e+01] [-3.41746068e-01 1.03255993e-03 9.39791764e-01 -1.37961531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:-47.28, Z:-13.81 [[ 6.76799409e-01 6.93997737e-01 2.45580334e-01 1.00889854e+02] [-6.52175997e-01 7.19977055e-01 -2.37275176e-01 -4.72829699e+01] [-3.41480641e-01 4.26099810e-04 9.39888712e-01 -1.38078498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:-47.30, Z:-13.82 [[ 6.75001243e-01 6.95739214e-01 2.45601848e-01 1.00911810e+02] [-6.53969782e-01 7.18294387e-01 -2.37437776e-01 -4.73045405e+01] [-3.41609201e-01 -3.45393259e-04 9.39842026e-01 -1.38200611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:-47.33, Z:-13.83 [[ 6.74223668e-01 6.96482070e-01 2.45632189e-01 1.00932900e+02] [-6.54697447e-01 7.17573935e-01 -2.37610819e-01 -4.73257521e+01] [-3.41750931e-01 -6.11929170e-04 9.39790363e-01 -1.38314242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:-47.35, Z:-13.84 [[ 6.74004335e-01 6.96699387e-01 2.45617835e-01 1.00954747e+02] [-6.54885171e-01 7.17362935e-01 -2.37730589e-01 -4.73473044e+01] [-3.41823886e-01 -6.20030099e-04 9.39763825e-01 -1.38426801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:-47.37, Z:-13.85 [[ 6.74024883e-01 6.96692122e-01 2.45582051e-01 1.00975454e+02] [-6.54838114e-01 7.17370078e-01 -2.37838634e-01 -4.73684834e+01] [-3.41873518e-01 -5.07329690e-04 9.39745838e-01 -1.38537477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:-47.39, Z:-13.87 [[ 6.75298792e-01 6.95567415e-01 2.45270287e-01 1.00995827e+02] [-6.53719117e-01 7.18460824e-01 -2.37624411e-01 -4.73914624e+01] [-3.41500889e-01 1.29602084e-04 9.39881443e-01 -1.38651726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:-47.41, Z:-13.88 [[ 6.76022671e-01 6.94936357e-01 2.45064905e-01 1.01016608e+02] [-6.53068435e-01 7.19071032e-01 -2.37567824e-01 -4.74132739e+01] [-3.41313592e-01 5.57081136e-04 9.39949319e-01 -1.38762834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:-47.44, Z:-13.89 [[ 6.78420854e-01 6.92664070e-01 2.44870642e-01 1.01037003e+02] [-6.50672676e-01 7.21258094e-01 -2.37511748e-01 -4.74364857e+01] [-3.41130787e-01 1.80228651e-03 9.40014116e-01 -1.38878652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:-47.46, Z:-13.90 [[ 6.79333569e-01 6.91790411e-01 2.44809985e-01 1.01058197e+02] [-6.49714166e-01 7.22094529e-01 -2.37594178e-01 -4.74590273e+01] [-3.41141325e-01 2.34918598e-03 9.40009084e-01 -1.38992568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:-47.48, Z:-13.91 [[ 6.80257949e-01 6.90902408e-01 2.44750866e-01 1.01079429e+02] [-6.48740464e-01 7.22942212e-01 -2.37677025e-01 -4.74813533e+01] [-3.41152361e-01 2.90189474e-03 9.40003535e-01 -1.39106154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:-47.50, Z:-13.92 [[ 6.81273511e-01 6.89938642e-01 2.44644791e-01 1.01100012e+02] [-6.47702032e-01 7.23859423e-01 -2.37717508e-01 -4.75031190e+01] [-3.41098932e-01 3.49371288e-03 9.40020911e-01 -1.39215715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:-47.53, Z:-13.93 [[ 6.82984032e-01 6.88225736e-01 2.44700119e-01 1.01120284e+02] [-6.45830468e-01 7.25483152e-01 -2.37859628e-01 -4.75264634e+01] [-3.41226932e-01 4.41953565e-03 9.39970557e-01 -1.39333531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:-47.55, Z:-13.94 [[ 6.83722898e-01 6.87475056e-01 2.44746901e-01 1.01140922e+02] [-6.44964420e-01 7.26191421e-01 -2.38048141e-01 -4.75486189e+01] [-3.41385259e-01 4.90592176e-03 9.39910654e-01 -1.39445737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:-47.57, Z:-13.96 [[ 6.84549898e-01 6.86713623e-01 2.44572764e-01 1.01161587e+02] [-6.44170052e-01 7.26908115e-01 -2.38011630e-01 -4.75710550e+01] [-3.41227755e-01 5.38438684e-03 9.39965227e-01 -1.39554979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-47.59, Z:-13.97 [[ 6.86345105e-01 6.84836065e-01 2.44805966e-01 1.01181132e+02] [-6.42044398e-01 7.28668813e-01 -2.38371038e-01 -4.75944030e+01] [-3.41627557e-01 6.42849633e-03 9.39813432e-01 -1.39666319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:-47.62, Z:-13.98 [[ 6.87045605e-01 6.84148175e-01 2.44764399e-01 1.01202168e+02] [-6.41298306e-01 7.29311013e-01 -2.38415455e-01 -4.76169466e+01] [-3.41620870e-01 6.83529605e-03 9.39812992e-01 -1.39775361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:-47.64, Z:-13.99 [[ 6.88037984e-01 6.83136594e-01 2.44802220e-01 1.01221400e+02] [-6.40158220e-01 7.30252604e-01 -2.38597124e-01 -4.76397857e+01] [-3.41761885e-01 7.45173140e-03 9.39757035e-01 -1.39885266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:-47.66, Z:-14.00 [[ 6.88096400e-01 6.83067665e-01 2.44830369e-01 1.01242519e+02] [-6.40025849e-01 7.30315639e-01 -2.38759249e-01 -4.76620962e+01] [-3.41892170e-01 7.59161468e-03 9.39708525e-01 -1.40001036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:-47.68, Z:-14.01 [[ 6.87994966e-01 6.83289655e-01 2.44495754e-01 1.01263391e+02] [-6.40331386e-01 7.30108068e-01 -2.38574777e-01 -4.76845795e+01] [-3.41524000e-01 7.57994086e-03 9.39842488e-01 -1.40110803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:-47.71, Z:-14.02 [[ 6.87704232e-01 6.83627658e-01 2.44368808e-01 1.01284666e+02] [-6.40684606e-01 7.29792234e-01 -2.38592813e-01 -4.77074791e+01] [-3.41447104e-01 7.51795373e-03 9.39870925e-01 -1.40224708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:-47.73, Z:-14.03 [[ 6.87051268e-01 6.84397904e-01 2.44049309e-01 1.01304429e+02] [-6.41566487e-01 7.29072815e-01 -2.38422468e-01 -4.77310206e+01] [-3.41105554e-01 7.23460089e-03 9.39997160e-01 -1.40335952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:-47.75, Z:-14.04 [[ 6.86460150e-01 6.85091037e-01 2.43767785e-01 1.01325223e+02] [-6.42352575e-01 7.28423911e-01 -2.38289268e-01 -4.77535334e+01] [-3.40816125e-01 6.99122206e-03 9.40103979e-01 -1.40446387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:-47.78, Z:-14.06 [[ 6.85802914e-01 6.85789450e-01 2.43653840e-01 1.01345363e+02] [-6.43082560e-01 7.27768666e-01 -2.38322450e-01 -4.77751411e+01] [-3.40762652e-01 6.75269587e-03 9.40125107e-01 -1.40556202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:-47.80, Z:-14.07 [[ 6.84864893e-01 6.86745871e-01 2.43598412e-01 1.01366100e+02] [-6.44085447e-01 7.26869906e-01 -2.38357036e-01 -4.77977899e+01] [-3.40755065e-01 6.34417337e-03 9.40130702e-01 -1.40666462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:-47.82, Z:-14.08 [[ 6.83409171e-01 6.88245218e-01 2.43455181e-01 1.01386227e+02] [-6.45677464e-01 7.25455719e-01 -2.38358161e-01 -4.78219370e+01] [-3.40664817e-01 5.70262955e-03 9.40167518e-01 -1.40775755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:-47.84, Z:-14.09 [[ 6.82578564e-01 6.89143658e-01 2.43243751e-01 1.01406461e+02] [-6.46655767e-01 7.24604923e-01 -2.38293987e-01 -4.78439793e+01] [-3.40474410e-01 5.35939315e-03 9.40238509e-01 -1.40880926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:-47.87, Z:-14.10 [[ 6.81041701e-01 6.90717440e-01 2.43087679e-01 1.01426034e+02] [-6.48350808e-01 7.23109885e-01 -2.38229562e-01 -4.78668018e+01] [-3.40328417e-01 4.63817304e-03 9.40295196e-01 -1.40992016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:-47.89, Z:-14.11 [[ 6.79969371e-01 6.91811619e-01 2.42978061e-01 1.01446903e+02] [-6.49520761e-01 7.22066075e-01 -2.38208657e-01 -4.78893064e+01] [-3.40241731e-01 4.15529601e-03 9.40328824e-01 -1.41101830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:-47.91, Z:-14.12 [[ 6.78819273e-01 6.93002978e-01 2.42798821e-01 1.01468191e+02] [-6.50799919e-01 7.20925418e-01 -2.38172222e-01 -4.79121608e+01] [-3.40093900e-01 3.66244171e-03 9.40384350e-01 -1.41215479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:-47.93, Z:-14.13 [[ 6.76181103e-01 6.95665903e-01 2.42544981e-01 1.01487475e+02] [-6.53667762e-01 7.18361356e-01 -2.38065998e-01 -4.79347588e+01] [-3.39849339e-01 2.43189441e-03 9.40476748e-01 -1.41324640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:-47.96, Z:-14.14 [[ 6.74841303e-01 6.97079825e-01 2.42216706e-01 1.01507910e+02] [-6.55238914e-01 7.16991218e-01 -2.37877193e-01 -4.79563230e+01] [-3.39486643e-01 1.81954347e-03 9.40609116e-01 -1.41431817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.316559995 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:101.53, Y:-47.98, Z:-14.16 [[ 6.72110893e-01 6.99502022e-01 2.42824771e-01 1.01527971e+02] [-6.57565670e-01 7.14630309e-01 -2.38560078e-01 -4.79789133e+01] [-3.40403198e-01 6.65593317e-04 9.40279331e-01 -1.41553712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:-47.74, Z:-13.24 [[ 7.19388264e-01 -6.48067778e-01 -2.49977362e-01 1.02242318e+02] [-6.00531875e-01 -7.61133638e-01 2.45024596e-01 -4.77409354e+01] [-3.49058724e-01 -2.61484443e-02 -9.36735964e-01 -1.32405212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:-48.03, Z:-14.18 [[ 7.24843752e-01 6.38060383e-01 2.59770058e-01 1.01601217e+02] [-6.00428101e-01 7.69986160e-01 -2.15887491e-01 -4.80290953e+01] [-3.37768604e-01 5.11455915e-04 9.41229041e-01 -1.41766271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:-48.05, Z:-14.19 [[ 7.24617991e-01 6.38394143e-01 2.59579823e-01 1.01623523e+02] [-6.00795525e-01 7.69709497e-01 -2.15851863e-01 -4.80499371e+01] [-3.37599621e-01 4.55747133e-04 9.41289694e-01 -1.41879851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:-48.07, Z:-14.20 [[ 7.24705129e-01 6.38392586e-01 2.59340280e-01 1.01645974e+02] [-6.00819467e-01 7.69710719e-01 -2.15780854e-01 -4.80713413e+01] [-3.37369891e-01 5.60802643e-04 9.41372000e-01 -1.41992630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:-48.09, Z:-14.21 [[ 7.25863367e-01 6.37179510e-01 2.59084243e-01 1.01665936e+02] [-5.99561294e-01 7.70714447e-01 -2.15697696e-01 -4.80940366e+01] [-3.37118121e-01 1.23017175e-03 9.41461555e-01 -1.42098869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:-48.11, Z:-14.22 [[ 7.26872227e-01 6.36171638e-01 2.58732321e-01 1.01687315e+02] [-5.98553388e-01 7.71545479e-01 -2.15525904e-01 -4.81148455e+01] [-3.36735220e-01 1.79468689e-03 9.41597669e-01 -1.42205212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:-48.14, Z:-14.23 [[ 7.27740289e-01 6.35242944e-01 2.58573924e-01 1.01709089e+02] [-5.97587299e-01 7.72308986e-01 -2.15472156e-01 -4.81364055e+01] [-3.36576132e-01 2.28727672e-03 9.41653480e-01 -1.42317342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:-48.16, Z:-14.24 [[ 7.30242714e-01 6.32323890e-01 2.58673688e-01 1.01728533e+02] [-5.94412632e-01 7.74695082e-01 -2.15687627e-01 -4.81592298e+01] [-3.36777673e-01 3.74540987e-03 9.41576747e-01 -1.42427823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:-48.18, Z:-14.25 [[ 7.31559463e-01 6.30759254e-01 2.58773097e-01 1.01750336e+02] [-5.92678781e-01 7.75965130e-01 -2.15893447e-01 -4.81811379e+01] [-3.36975690e-01 4.56957022e-03 9.41502259e-01 -1.42537228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:-48.21, Z:-14.26 [[ 7.34174422e-01 6.27488895e-01 2.59317576e-01 1.01770932e+02] [-5.88997673e-01 7.78600869e-01 -2.16477315e-01 -4.82057890e+01] [-3.37742002e-01 6.19465884e-03 9.41218342e-01 -1.42645702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:-48.23, Z:-14.28 [[ 7.35289452e-01 6.26439058e-01 2.58695821e-01 1.01793111e+02] [-5.88028726e-01 7.79441032e-01 -2.16087703e-01 -4.82278048e+01] [-3.37003915e-01 6.76643484e-03 9.41478930e-01 -1.42761791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:-48.25, Z:-14.29 [[ 7.36461287e-01 6.25489563e-01 2.57657873e-01 1.01814873e+02] [-5.87294859e-01 7.80198621e-01 -2.15348230e-01 -4.82493904e+01] [-3.35722388e-01 7.27449082e-03 9.41932885e-01 -1.42875332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:-48.27, Z:-14.30 [[ 7.37237210e-01 6.24719194e-01 2.57307647e-01 1.01836274e+02] [-5.86539520e-01 7.80811307e-01 -2.15186185e-01 -4.82705573e+01] [-3.35339660e-01 7.72215880e-03 9.42065646e-01 -1.42991803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:-48.29, Z:-14.31 [[ 7.38219993e-01 6.23720175e-01 2.56913186e-01 1.01855688e+02] [-5.85559372e-01 7.81604036e-01 -2.14977563e-01 -4.82932831e+01] [-3.34890227e-01 8.26281089e-03 9.42220920e-01 -1.43101474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:-48.31, Z:-14.32 [[ 7.38371080e-01 6.23541414e-01 2.56912930e-01 1.01877705e+02] [-5.85328184e-01 7.81744740e-01 -2.15095508e-01 -4.83145480e+01] [-3.34961289e-01 8.44192343e-03 9.42194072e-01 -1.43211912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:-48.34, Z:-14.33 [[ 7.38368453e-01 6.23451881e-01 2.57137666e-01 1.01897957e+02] [-5.85117238e-01 7.81814416e-01 -2.15415962e-01 -4.83365515e+01] [-3.35335421e-01 8.60066970e-03 9.42059544e-01 -1.43323244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:-48.36, Z:-14.34 [[ 7.37839619e-01 6.24084667e-01 2.57120643e-01 1.01920563e+02] [-5.85763965e-01 7.81311794e-01 -2.15481921e-01 -4.83577239e+01] [-3.35370353e-01 8.37909107e-03 9.42049105e-01 -1.43434916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:-48.36, Z:-14.37 [[ 7.36022502e-01 6.29935399e-01 2.47895682e-01 1.01946141e+02] [-5.84272235e-01 7.76073382e-01 -2.37352189e-01 -4.83617157e+01] [-3.41901786e-01 2.98579882e-02 9.39261236e-01 -1.43714197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:-48.40, Z:-14.37 [[ 7.34476249e-01 6.24218471e-01 2.66262916e-01 1.01963037e+02] [-5.86411276e-01 7.81249197e-01 -2.13942766e-01 -4.83960648e+01] [-3.41564716e-01 9.96304236e-04 9.39857730e-01 -1.43707701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:-48.41, Z:-14.38 [[ 7.34392625e-01 6.25757486e-01 2.62859357e-01 1.01988229e+02] [-5.86758233e-01 7.79998177e-01 -2.17526133e-01 -4.84141898e+01] [-3.41148426e-01 5.51469604e-03 9.39993266e-01 -1.43838461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:-48.44, Z:-14.39 [[ 7.33048006e-01 6.26314327e-01 2.65275300e-01 1.02010397e+02] [-5.89018561e-01 7.79570606e-01 -2.12900929e-01 -4.84373502e+01] [-3.40143729e-01 -1.85473945e-04 9.40373441e-01 -1.43914580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:-48.46, Z:-14.40 [[ 7.30488109e-01 6.28616169e-01 2.66887307e-01 1.02031604e+02] [-5.92255630e-01 7.77704750e-01 -2.10733458e-01 -4.84592011e+01] [-3.40029985e-01 -4.12722539e-03 9.40405538e-01 -1.43985166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:-48.48, Z:-14.41 [[ 7.29296227e-01 6.31654541e-01 2.62944016e-01 1.02056546e+02] [-5.95456526e-01 7.75244738e-01 -2.10777422e-01 -4.84827676e+01] [-3.36984480e-01 -2.85255149e-03 9.41505880e-01 -1.44053701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:-48.50, Z:-14.42 [[ 7.28511945e-01 6.34703918e-01 2.57723266e-01 1.02082171e+02] [-5.96589657e-01 7.72744579e-01 -2.16671632e-01 -4.84996632e+01] [-3.36676591e-01 4.09283698e-03 9.41611450e-01 -1.44190097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:-48.52, Z:-14.43 [[ 7.26616376e-01 6.36934372e-01 2.57571832e-01 1.02106350e+02] [-5.98955854e-01 7.70911535e-01 -2.16673235e-01 -4.85183166e+01] [-3.36571726e-01 3.16416421e-03 9.41652516e-01 -1.44301942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:-48.54, Z:-14.44 [[ 7.25501346e-01 6.38306248e-01 2.57318734e-01 1.02130346e+02] [-6.00441897e-01 7.69778026e-01 -2.16590211e-01 -4.85378356e+01] [-3.36329192e-01 2.63154054e-03 9.41740808e-01 -1.44416154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:-48.56, Z:-14.45 [[ 7.23928183e-01 6.40359917e-01 2.56645987e-01 1.02154733e+02] [-6.02778485e-01 7.68072922e-01 -2.16152919e-01 -4.85574310e+01] [-3.35538498e-01 1.77851112e-03 9.42024816e-01 -1.44520882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:-48.57, Z:-14.47 [[ 7.24272650e-01 6.40250856e-01 2.55945249e-01 1.02178114e+02] [-6.01690273e-01 7.68152523e-01 -2.18884710e-01 -4.85712454e+01] [-3.36746112e-01 4.53244222e-03 9.41584576e-01 -1.44653324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:-48.60, Z:-14.47 [[ 7.22473151e-01 6.40978433e-01 2.59189495e-01 1.02200214e+02] [-6.05060872e-01 7.67548688e-01 -2.11590059e-01 -4.85982178e+01] [-3.34565221e-01 -3.95728573e-03 9.42364289e-01 -1.44719472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:-48.62, Z:-14.49 [[ 7.21731930e-01 6.43352983e-01 2.55342831e-01 1.02225495e+02] [-6.06201018e-01 7.65569347e-01 -2.15462062e-01 -4.86157743e+01] [-3.34100804e-01 7.16765648e-04 9.42537076e-01 -1.44850740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:-48.64, Z:-14.50 [[ 7.21284241e-01 6.44026156e-01 2.54910483e-01 1.02249385e+02] [-6.06998468e-01 7.65003301e-01 -2.15227343e-01 -4.86352566e+01] [-3.33619399e-01 5.09818277e-04 9.42707715e-01 -1.44966279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:-48.68, Z:-14.48 [[ 7.22838065e-01 6.35126659e-01 2.72248524e-01 1.02267723e+02] [-6.09748799e-01 7.71612345e-01 -1.81165091e-01 -4.86755523e+01] [-3.25133101e-01 -3.50501863e-02 9.45018492e-01 -1.44838035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-48.66, Z:-14.53 [[ 7.21279019e-01 6.53716320e-01 2.28935689e-01 1.02304381e+02] [-6.07535052e-01 7.55833376e-01 -2.44166068e-01 -4.86568318e+01] [-3.32652579e-01 3.70254061e-02 9.42322334e-01 -1.45320442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:-48.70, Z:-14.52 [[ 7.22744259e-01 6.40470850e-01 2.59687941e-01 1.02317077e+02] [-6.06921526e-01 7.67922535e-01 -2.04795608e-01 -4.86983929e+01] [-3.30585839e-01 -9.59535200e-03 9.43727149e-01 -1.45230167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:-48.71, Z:-14.54 [[ 7.22228536e-01 6.45987612e-01 2.47155714e-01 1.02343761e+02] [-6.06668411e-01 7.63275350e-01 -2.22180509e-01 -4.87099052e+01] [-3.32173720e-01 1.05235398e-02 9.43159517e-01 -1.45438605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:-48.73, Z:-14.55 [[ 7.22490379e-01 6.43160955e-01 2.53676247e-01 1.02365188e+02] [-6.06300612e-01 7.65729995e-01 -2.14609279e-01 -4.87345370e+01] [-3.32275821e-01 1.24907504e-03 9.43181435e-01 -1.45517470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:-48.76, Z:-14.56 [[ 7.23137008e-01 6.42570184e-01 2.53330664e-01 1.02388811e+02] [-6.05733140e-01 7.66225116e-01 -2.14444480e-01 -4.87550022e+01] [-3.31903947e-01 1.62196124e-03 9.43311793e-01 -1.45624278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:-48.77, Z:-14.57 [[ 7.23372497e-01 6.42375473e-01 2.53152093e-01 1.02411529e+02] [-6.05535036e-01 7.66387930e-01 -2.14422156e-01 -4.87746561e+01] [-3.31752243e-01 1.81462842e-03 9.43364806e-01 -1.45734554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:-48.79, Z:-14.58 [[ 7.23862379e-01 6.41947533e-01 2.52837144e-01 1.02434724e+02] [-6.05134282e-01 7.66745678e-01 -2.14274510e-01 -4.87949386e+01] [-3.31414781e-01 2.10483291e-03 9.43482810e-01 -1.45847203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:-48.82, Z:-14.59 [[ 7.25102408e-01 6.40647260e-01 2.52581840e-01 1.02456911e+02] [-6.03788389e-01 7.67830213e-01 -2.14187639e-01 -4.88158718e+01] [-3.31158692e-01 2.80199074e-03 9.43570914e-01 -1.45949273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:-48.84, Z:-14.61 [[ 7.26494842e-01 6.38986336e-01 2.52787869e-01 1.02479270e+02] [-6.01925084e-01 7.69209370e-01 -2.14483422e-01 -4.88363045e+01] [-3.31498773e-01 3.66174008e-03 9.43448544e-01 -1.46059157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:-48.86, Z:-14.62 [[ 7.28410118e-01 6.37016823e-01 2.52246442e-01 1.02502477e+02] [-5.99963416e-01 7.70835916e-01 -2.14139884e-01 -4.88571453e+01] [-3.30851326e-01 4.64302113e-03 9.43671470e-01 -1.46170657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:-48.88, Z:-14.63 [[ 7.29466340e-01 6.35934230e-01 2.51925614e-01 1.02526782e+02] [-5.98871282e-01 7.71725539e-01 -2.13992709e-01 -4.88767801e+01] [-3.30502718e-01 5.22946281e-03 9.43790552e-01 -1.46284319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-48.90, Z:-14.64 [[ 7.29368282e-01 6.36071970e-01 2.51861783e-01 1.02550691e+02] [-5.98991077e-01 7.71611730e-01 -2.14067811e-01 -4.88971490e+01] [-3.30502040e-01 5.27131053e-03 9.43790557e-01 -1.46399448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:-48.92, Z:-14.65 [[ 7.29270402e-01 6.36198038e-01 2.51826799e-01 1.02574586e+02] [-5.99110244e-01 7.71507790e-01 -2.14108958e-01 -4.89175418e+01] [-3.30502036e-01 5.27131046e-03 9.43790558e-01 -1.46514419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:-48.94, Z:-14.66 [[ 7.29444909e-01 6.36019986e-01 2.51771130e-01 1.02598569e+02] [-5.98914709e-01 7.71653642e-01 -2.14130399e-01 -4.89367801e+01] [-3.30471323e-01 5.40689675e-03 9.43800546e-01 -1.46624759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:-48.94, Z:-14.69 [[ 7.29450540e-01 6.39138994e-01 2.43727831e-01 1.02624642e+02] [-5.96832066e-01 7.68773152e-01 -2.29737514e-01 -4.89445343e+01] [-3.34205616e-01 2.21175689e-02 9.42240638e-01 -1.46853673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:-48.97, Z:-14.69 [[ 7.29483519e-01 6.34344536e-01 2.55853092e-01 1.02644266e+02] [-5.96838963e-01 7.73039683e-01 -2.14925339e-01 -4.89739861e+01] [-3.34121308e-01 4.08139830e-03 9.42521243e-01 -1.46900406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-49.00, Z:-14.70 [[ 7.29935586e-01 6.34431406e-01 2.54343924e-01 1.02668555e+02] [-5.97105459e-01 7.72965079e-01 -2.14452926e-01 -4.89960149e+01] [-3.32654643e-01 4.66667729e-03 9.43037174e-01 -1.47023220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:-49.33, Z:-13.91 [[ 7.38040236e-01 -2.64332116e-01 6.20826177e-01 1.02936784e+02] [-6.04875973e-01 1.48572591e-01 7.82337039e-01 -4.93348753e+01] [-2.99034558e-01 -9.52919051e-01 -5.02355959e-02 -1.39089773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.03, Y:-49.43, Z:-13.96 [[ 7.51208508e-01 -2.17115092e-01 6.23335235e-01 1.03028608e+02] [-6.16002098e-01 1.08651270e-01 7.80215558e-01 -4.94267838e+01] [-2.37122738e-01 -9.70080377e-01 -5.21235937e-02 -1.39607367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:-48.90, Z:-13.87 [[ 0.77968707 -0.61551038 -0.11504364 103.62650643] [ -0.58443797 -0.7812863 0.21914375 -48.90385579] [ -0.22476727 -0.10362768 -0.96888646 -13.86562336] [ 0. 0. 0. 1. ]] SLAMing on 123.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:-48.88, Z:-13.91 [[ 8.22218480e-01 -5.39543336e-01 -1.81245027e-01 1.03684528e+02] [-5.24121292e-01 -8.41890107e-01 1.28522058e-01 -4.88846310e+01] [-2.21931614e-01 -1.06788334e-02 -9.75003754e-01 -1.39119773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-48.89, Z:-13.94 [[ 8.59833622e-01 -4.64835515e-01 -2.11220468e-01 1.03726263e+02] [-4.61310823e-01 -8.84568425e-01 6.87824624e-02 -4.88892082e+01] [-2.18811488e-01 3.82968139e-02 -9.75015326e-01 -1.39359576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-48.73, Z:-14.70 [[ 0.86034809 0.15786203 -0.48464497 103.73333134] [ -0.44161016 -0.24393702 -0.86340906 -48.72906207] [ -0.25452235 0.95685647 -0.14015727 -14.70470576] [ 0. 0. 0. 1. ]] SLAMing on 123.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:-49.52, Z:-14.91 [[ 8.76258706e-01 4.23066710e-01 2.30619251e-01 1.03319770e+02] [-4.02911375e-01 9.05837830e-01 -1.30844370e-01 -4.95198806e+01] [-2.64259539e-01 2.17343982e-02 9.64206675e-01 -1.49069807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:-49.55, Z:-14.90 [[ 8.76178880e-01 4.17021603e-01 2.41668270e-01 1.03343824e+02] [-4.04873697e-01 9.08842983e-01 -1.00407781e-01 -4.95493448e+01] [-2.61510725e-01 -9.86994826e-03 9.65150105e-01 -1.48975640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:-49.55, Z:-14.91 [[ 8.74317092e-01 4.24640346e-01 2.35053608e-01 1.03374693e+02] [-4.08744098e-01 9.05350247e-01 -1.15191982e-01 -4.95545053e+01] [-2.61721006e-01 4.63754364e-03 9.65132431e-01 -1.49131661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:-49.57, Z:-14.93 [[ 8.72863725e-01 4.28652118e-01 2.33165779e-01 1.03405069e+02] [-4.11549720e-01 9.03425139e-01 -1.20207510e-01 -4.95673333e+01] [-2.62175030e-01 8.96546428e-03 9.64978691e-01 -1.49271033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:-49.58, Z:-14.93 [[ 8.72293388e-01 4.27764661e-01 2.36900063e-01 1.03430383e+02] [-4.12815083e-01 9.03890145e-01 -1.12099564e-01 -4.95824917e+01] [-2.62083865e-01 -1.22104481e-05 9.65045101e-01 -1.49301358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:-49.59, Z:-14.94 [[ 8.70583709e-01 4.31979641e-01 2.35536825e-01 1.03458800e+02] [-4.16225284e-01 9.01879530e-01 -1.15627967e-01 -4.95939139e+01] [-2.62374768e-01 2.62744202e-03 9.64962475e-01 -1.49406525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:-49.61, Z:-14.95 [[ 8.69882647e-01 4.33228559e-01 2.35832986e-01 1.03486561e+02] [-4.17456728e-01 9.01281081e-01 -1.15854619e-01 -4.96078800e+01] [-2.62743338e-01 2.32985583e-03 9.64862949e-01 -1.49492808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:-49.62, Z:-14.96 [[ 8.69232124e-01 4.34396936e-01 2.36082225e-01 1.03514915e+02] [-4.18619473e-01 9.00719265e-01 -1.16028198e-01 -4.96224459e+01] [-2.63046102e-01 2.02682071e-03 9.64781136e-01 -1.49581377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:-49.63, Z:-14.98 [[ 8.67773344e-01 4.39016757e-01 2.32881321e-01 1.03542372e+02] [-4.19807608e-01 8.98363626e-01 -1.29245376e-01 -4.96296112e+01] [-2.65952994e-01 1.43903415e-02 9.63878583e-01 -1.49769317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:-49.66, Z:-14.97 [[ 8.67307860e-01 4.34422327e-01 2.43010940e-01 1.03566365e+02] [-4.21662516e-01 9.00638491e-01 -1.05123887e-01 -4.96565535e+01] [-2.64533170e-01 -1.12938307e-02 9.64310454e-01 -1.49713075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:-49.66, Z:-15.00 [[ 8.65710422e-01 4.42543448e-01 2.33881942e-01 1.03596082e+02] [-4.23063951e-01 8.96635717e-01 -1.30618852e-01 -4.96574686e+01] [-2.67511419e-01 1.41310828e-02 9.63451064e-01 -1.49957948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:-49.69, Z:-14.99 [[ 8.65435132e-01 4.37604023e-01 2.43976947e-01 1.03619465e+02] [-4.25103118e-01 8.99071985e-01 -1.04675234e-01 -4.96860029e+01] [-2.65159142e-01 -1.31257362e-02 9.64115317e-01 -1.49890085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:-49.69, Z:-15.00 [[ 8.64904145e-01 4.41960131e-01 2.37932893e-01 1.03649130e+02] [-4.26119117e-01 8.97034693e-01 -1.17265753e-01 -4.96939964e+01] [-2.65260847e-01 3.58812231e-05 9.64176686e-01 -1.50035498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:-49.71, Z:-15.01 [[ 8.64222289e-01 4.43237461e-01 2.38034426e-01 1.03675919e+02] [-4.27406220e-01 8.96404193e-01 -1.17402923e-01 -4.97085308e+01] [-2.65412431e-01 -2.75171118e-04 9.64134931e-01 -1.50127074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:-49.72, Z:-15.02 [[ 8.63396250e-01 4.44678801e-01 2.38343616e-01 1.03703497e+02] [-4.28837160e-01 8.95689874e-01 -1.17636474e-01 -4.97245958e+01] [-2.65792409e-01 -6.43708832e-04 9.64030073e-01 -1.50227152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-49.74, Z:-15.03 [[ 8.62828292e-01 4.45563002e-01 2.38748719e-01 1.03731585e+02] [-4.29675764e-01 8.95250194e-01 -1.17922972e-01 -4.97396344e+01] [-2.66281951e-01 -8.37261492e-04 9.63894819e-01 -1.50320005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:-49.75, Z:-15.04 [[ 8.61788302e-01 4.47320442e-01 2.39218196e-01 1.03758520e+02] [-4.31411717e-01 8.94372812e-01 -1.18242138e-01 -4.97545486e+01] [-2.66842376e-01 -1.30184133e-03 9.63739307e-01 -1.50410007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:-49.77, Z:-15.05 [[ 8.61039370e-01 4.48579710e-01 2.39556773e-01 1.03786647e+02] [-4.32650458e-01 8.93741361e-01 -1.18490339e-01 -4.97687562e+01] [-2.67254158e-01 -1.61950091e-03 9.63624715e-01 -1.50501959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:-49.78, Z:-15.06 [[ 8.60471390e-01 4.49642599e-01 2.39604927e-01 1.03815338e+02] [-4.33723497e-01 8.93206602e-01 -1.18599721e-01 -4.97831224e+01] [-2.67344190e-01 -1.87061971e-03 9.63599287e-01 -1.50591104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:-49.80, Z:-15.07 [[ 8.59531318e-01 4.51105551e-01 2.40228421e-01 1.03843697e+02] [-4.35134113e-01 8.92467763e-01 -1.18994098e-01 -4.97965264e+01] [-2.68075020e-01 -2.25242706e-03 9.63395407e-01 -1.50689218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:-49.81, Z:-15.08 [[ 8.59441871e-01 4.51503757e-01 2.39799976e-01 1.03871077e+02] [-4.35581187e-01 8.92266277e-01 -1.18869343e-01 -4.98100676e+01] [-2.67635386e-01 -2.29106777e-03 9.63517541e-01 -1.50778972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:-49.82, Z:-15.09 [[ 8.59522530e-01 4.51458885e-01 2.39595275e-01 1.03899615e+02] [-4.35539789e-01 8.92289211e-01 -1.18848884e-01 -4.98241251e+01] [-2.67443664e-01 -2.19998227e-03 9.63570987e-01 -1.50874042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:-49.83, Z:-15.11 [[ 8.59274137e-01 4.53420751e-01 2.36764821e-01 1.03927079e+02] [-4.34162632e-01 8.91241975e-01 -1.31112740e-01 -4.98303787e+01] [-2.70463983e-01 9.86734855e-03 9.62679526e-01 -1.51065708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-49.85, Z:-15.11 [[ 8.60920960e-01 4.47551585e-01 2.41893945e-01 1.03953858e+02] [-4.31266871e-01 8.94257138e-01 -1.19637188e-01 -4.98501906e+01] [-2.69859200e-01 -1.32268203e-03 9.62898885e-01 -1.51102850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:-49.87, Z:-15.11 [[ 8.61890962e-01 4.43837089e-01 2.45260286e-01 1.03981248e+02] [-4.30696936e-01 8.96018861e-01 -1.07936784e-01 -4.98721296e+01] [-2.67664190e-01 -1.26031145e-02 9.63429833e-01 -1.51090011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:-49.88, Z:-15.12 [[ 8.63741373e-01 4.42679017e-01 2.40803090e-01 1.04009907e+02] [-4.26172286e-01 8.96679775e-01 -1.19760445e-01 -4.98797929e+01] [-2.68938696e-01 8.18447658e-04 9.63156949e-01 -1.51217796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-49.89, Z:-15.13 [[ 8.64721011e-01 4.40549580e-01 2.41192123e-01 1.04037886e+02] [-4.23892043e-01 8.97726971e-01 -1.20007585e-01 -4.98931994e+01] [-2.69393965e-01 1.53365800e-03 9.63028836e-01 -1.51308919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:-49.91, Z:-15.14 [[ 8.64668154e-01 4.40671003e-01 2.41159802e-01 1.04066660e+02] [-4.23999995e-01 8.97667310e-01 -1.20072501e-01 -4.99075869e+01] [-2.69393740e-01 1.57111279e-03 9.63028839e-01 -1.51401003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:-49.91, Z:-15.16 [[ 8.65971164e-01 4.39656058e-01 2.38320148e-01 1.04094882e+02] [-4.19405134e-01 8.98040906e-01 -1.32747371e-01 -4.99116120e+01] [-2.72384427e-01 1.50027021e-02 9.62071537e-01 -1.51593688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:-49.94, Z:-15.15 [[ 8.67940668e-01 4.29887518e-01 2.48748305e-01 1.04120306e+02] [-4.16160728e-01 9.02831272e-01 -1.08194001e-01 -4.99411250e+01] [-2.71088999e-01 -9.61330195e-03 9.62506280e-01 -1.51534362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:-49.94, Z:-15.18 [[ 8.69497866e-01 4.31903301e-01 2.39651828e-01 1.04149582e+02] [-4.11424031e-01 9.01767612e-01 -1.32459205e-01 -4.99380075e+01] [-2.73319825e-01 1.65744744e-02 9.61780412e-01 -1.51766773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-49.97, Z:-15.17 [[ 8.69985442e-01 4.25962133e-01 2.48357791e-01 1.04176764e+02] [-4.11894752e-01 9.04708945e-01 -1.08832160e-01 -4.99681825e+01] [-2.71049894e-01 -7.61487555e-03 9.62535178e-01 -1.51719095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:-49.97, Z:-15.19 [[ 8.71286482e-01 4.26654562e-01 2.42540207e-01 1.04207371e+02] [-4.09152550e-01 9.04392817e-01 -1.21110789e-01 -4.99747713e+01] [-2.71024091e-01 6.28624908e-03 9.62552038e-01 -1.51861825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:-49.99, Z:-15.20 [[ 8.71596561e-01 4.25989772e-01 2.42594620e-01 1.04235486e+02] [-4.08430134e-01 9.04704081e-01 -1.21224387e-01 -4.99879192e+01] [-2.71116692e-01 6.57580523e-03 9.62524025e-01 -1.51951249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-50.00, Z:-15.21 [[ 8.72291508e-01 4.24952671e-01 2.41914764e-01 1.04263928e+02] [-4.05928932e-01 9.05136517e-01 -1.26291676e-01 -4.99956199e+01] [-2.72633872e-01 1.19629552e-02 9.62043481e-01 -1.52087492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:-50.01, Z:-15.21 [[ 8.71911550e-01 4.23698426e-01 2.45458538e-01 1.04291895e+02] [-4.07482722e-01 9.05802505e-01 -1.16101905e-01 -5.00147876e+01] [-2.71529153e-01 1.21047891e-03 9.62429454e-01 -1.52108260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:-50.02, Z:-15.22 [[ 8.72074961e-01 4.25038582e-01 2.42543739e-01 1.04320415e+02] [-4.07395755e-01 9.05147760e-01 -1.21392881e-01 -5.00241687e+01] [-2.71134580e-01 7.05240251e-03 9.62515612e-01 -1.52219275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:-50.04, Z:-15.23 [[ 8.72016718e-01 4.25426439e-01 2.42072691e-01 1.04348814e+02] [-4.07845668e-01 9.04965993e-01 -1.21237215e-01 -5.00377479e+01] [-2.70645070e-01 6.99257996e-03 9.62653806e-01 -1.52311503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:-50.05, Z:-15.24 [[ 8.71956323e-01 4.25744408e-01 2.41730987e-01 1.04377455e+02] [-4.08201917e-01 9.04816660e-01 -1.21152820e-01 -5.00512987e+01] [-2.70302360e-01 6.96491553e-03 9.62750292e-01 -1.52403831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:-50.06, Z:-15.25 [[ 8.71789263e-01 4.26278245e-01 2.41392502e-01 1.04405893e+02] [-4.08781766e-01 9.04566006e-01 -1.21069440e-01 -5.00641821e+01] [-2.69964719e-01 6.87018512e-03 9.62845705e-01 -1.52493080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:-50.08, Z:-15.26 [[ 8.71505617e-01 4.27018185e-01 2.41108750e-01 1.04434837e+02] [-4.09567053e-01 9.04218108e-01 -1.21014224e-01 -5.00775234e+01] [-2.69690172e-01 6.71437566e-03 9.62923740e-01 -1.52584984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:-50.08, Z:-15.28 [[ 8.71323940e-01 4.28930858e-01 2.38354588e-01 1.04462690e+02] [-4.07310370e-01 9.03079669e-01 -1.36181397e-01 -5.00783953e+01] [-2.73665586e-01 2.15738157e-02 9.61582923e-01 -1.52784614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:-50.10, Z:-15.28 [[ 8.70273613e-01 4.25981076e-01 2.47313489e-01 1.04488842e+02] [-4.10028816e-01 9.04731624e-01 -1.15486184e-01 -5.01028836e+01] [-2.72947263e-01 -9.01078709e-04 9.62028575e-01 -1.52786672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:-50.12, Z:-15.28 [[ 8.69701574e-01 4.27642020e-01 2.46457857e-01 1.04517279e+02] [-4.12959320e-01 9.03934031e-01 -1.11210917e-01 -5.01208990e+01] [-2.70340106e-01 -5.05675990e-03 9.62751607e-01 -1.52818303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:-50.13, Z:-15.29 [[ 8.69200003e-01 4.31674662e-01 2.41139670e-01 1.04547405e+02] [-4.14335792e-01 9.02012800e-01 -1.21238447e-01 -5.01297635e+01] [-2.69846635e-01 5.46766269e-03 9.62887791e-01 -1.52948360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:-50.14, Z:-15.30 [[ 8.68006639e-01 4.34063567e-01 2.41149942e-01 1.04576116e+02] [-4.16789478e-01 9.00869426e-01 -1.21329338e-01 -5.01441490e+01] [-2.69909255e-01 4.80591237e-03 9.62873770e-01 -1.53037922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:-50.16, Z:-15.31 [[ 8.67218067e-01 4.35575318e-01 2.41261198e-01 1.04604378e+02] [-4.18318002e-01 9.00141443e-01 -1.21471941e-01 -5.01582037e+01] [-2.70079383e-01 4.41875928e-03 9.62827919e-01 -1.53124918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:-50.17, Z:-15.33 [[ 8.66596305e-01 4.37213211e-01 2.40531603e-01 1.04632348e+02] [-4.18752536e-01 8.99318110e-01 -1.25989088e-01 -5.01680441e+01] [-2.71398520e-01 8.45845952e-03 9.62429892e-01 -1.53252681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:-50.18, Z:-15.33 [[ 8.64881846e-01 4.39588467e-01 2.42366194e-01 1.04659508e+02] [-4.22468341e-01 8.98195229e-01 -1.21514740e-01 -5.01825990e+01] [-2.71108638e-01 2.70384872e-03 9.62544958e-01 -1.53329239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:-50.20, Z:-15.34 [[ 8.63878433e-01 4.41240655e-01 2.42941840e-01 1.04687785e+02] [-4.25449026e-01 8.97385929e-01 -1.17011203e-01 -5.01998530e+01] [-2.69642688e-01 -2.27591392e-03 9.62957757e-01 -1.53378599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:-50.21, Z:-15.35 [[ 8.63030102e-01 4.44265097e-01 2.40432043e-01 1.04715975e+02] [-4.27364058e-01 8.95893118e-01 -1.21389795e-01 -5.02111647e+01] [-2.69330661e-01 2.01103325e-03 9.63045664e-01 -1.53483745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:-50.23, Z:-15.36 [[ 8.61577145e-01 4.46936358e-01 2.40692157e-01 1.04743826e+02] [-4.30077124e-01 8.94564877e-01 -1.21603245e-01 -5.02258098e+01] [-2.69663661e-01 1.25438583e-03 9.62953756e-01 -1.53572185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:-50.24, Z:-15.37 [[ 8.61171875e-01 4.47756202e-01 2.40618755e-01 1.04771651e+02] [-4.30914423e-01 8.94155032e-01 -1.21653357e-01 -5.02403104e+01] [-2.69621515e-01 1.07835751e-03 9.62965771e-01 -1.53659628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:-50.25, Z:-15.37 [[ 8.60841799e-01 4.48326225e-01 2.40738434e-01 1.04799781e+02] [-4.31464576e-01 8.93869471e-01 -1.21801840e-01 -5.02548917e+01] [-2.69795696e-01 9.82008463e-04 9.62917088e-01 -1.53748760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:-50.27, Z:-15.38 [[ 8.60516936e-01 4.48726809e-01 2.41153174e-01 1.04828142e+02] [-4.31796367e-01 8.93668488e-01 -1.22100498e-01 -5.02695985e+01] [-2.70300759e-01 9.40482465e-04 9.62775475e-01 -1.53841052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:-50.28, Z:-15.39 [[ 8.60523969e-01 4.48650130e-01 2.41270720e-01 1.04855609e+02] [-4.31675119e-01 8.93706867e-01 -1.22248217e-01 -5.02839810e+01] [-2.70471978e-01 1.04695397e-03 9.62727279e-01 -1.53930198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-50.30, Z:-15.40 [[ 8.61063360e-01 4.47868989e-01 2.40797132e-01 1.04883342e+02] [-4.30909036e-01 8.94098151e-01 -1.22089714e-01 -5.02991138e+01] [-2.69976468e-01 1.36531918e-03 9.62865953e-01 -1.54016460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:-50.31, Z:-15.41 [[ 8.61320508e-01 4.47286824e-01 2.40959499e-01 1.04911335e+02] [-4.30256922e-01 8.94389089e-01 -1.22258492e-01 -5.03139096e+01] [-2.70196160e-01 1.62925378e-03 9.62803916e-01 -1.54108288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:-50.33, Z:-15.42 [[ 8.61860155e-01 4.46320180e-01 2.40822280e-01 1.04938360e+02] [-4.29248070e-01 8.94871075e-01 -1.22277770e-01 -5.03282763e+01] [-2.70079929e-01 2.01383904e-03 9.62835799e-01 -1.54197165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:-50.35, Z:-15.42 [[ 8.64038510e-01 4.41422389e-01 2.42040758e-01 1.04965124e+02] [-4.26652405e-01 8.97283648e-01 -1.13356872e-01 -5.03484055e+01] [-2.67217475e-01 -5.32256814e-03 9.63621550e-01 -1.54235696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:-50.35, Z:-15.44 [[ 8.64793777e-01 4.43575968e-01 2.35312739e-01 1.04993791e+02] [-4.24315008e-01 8.96149823e-01 -1.29893295e-01 -5.03530765e+01] [-2.68493013e-01 1.24841868e-02 9.63200730e-01 -1.54409967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-50.37, Z:-15.45 [[ 8.66010805e-01 4.39356016e-01 2.38729087e-01 1.05020038e+02] [-4.22258510e-01 8.98302380e-01 -1.21451988e-01 -5.03722178e+01] [-2.67811569e-01 4.37334527e-03 9.63461384e-01 -1.54469128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:-50.39, Z:-15.46 [[ 8.68416491e-01 4.34881750e-01 2.38181992e-01 1.05047176e+02] [-4.17674366e-01 9.00468747e-01 -1.21260710e-01 -5.03884567e+01] [-2.67209510e-01 5.82228772e-03 9.63620869e-01 -1.54556836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:-50.41, Z:-15.46 [[ 8.69854343e-01 4.30344384e-01 2.41157901e-01 1.05074795e+02] [-4.16579766e-01 9.02642241e-01 -1.08158600e-01 -5.04127722e+01] [-2.64224755e-01 -6.37927430e-03 9.64440036e-01 -1.54556240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:-50.41, Z:-15.48 [[ 8.71649702e-01 4.31547639e-01 2.32364869e-01 1.05103139e+02] [-4.10627246e-01 9.01825762e-01 -1.34519737e-01 -5.04119899e+01] [-2.67604300e-01 2.18387419e-02 9.63281375e-01 -1.54781152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:-50.43, Z:-15.48 [[ 8.73429355e-01 4.23986972e-01 2.39491565e-01 1.05129402e+02] [-4.06127481e-01 9.05619496e-01 -1.22122062e-01 -5.04343290e+01] [-2.68666394e-01 9.40088776e-03 9.63187413e-01 -1.54822860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:-50.45, Z:-15.49 [[ 8.74185610e-01 4.22285155e-01 2.39738958e-01 1.05157556e+02] [-4.04301007e-01 9.06407699e-01 -1.22334700e-01 -5.04487960e+01] [-2.68961365e-01 1.00165318e-02 9.63098880e-01 -1.54914191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:-50.46, Z:-15.50 [[ 8.74827000e-01 4.20807263e-01 2.39997848e-01 1.05184797e+02] [-4.02704058e-01 9.07088525e-01 -1.22555498e-01 -5.04628132e+01] [-2.69271538e-01 1.05667513e-02 9.63006325e-01 -1.55002564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.21, Y:-50.48, Z:-15.51 [[ 8.75318384e-01 4.19770878e-01 2.40021116e-01 1.05213150e+02] [-4.01610773e-01 9.07564200e-01 -1.22621414e-01 -5.04776604e+01] [-2.69307471e-01 1.09377116e-02 9.62992135e-01 -1.55096328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:-50.50, Z:-15.51 [[ 8.75999744e-01 4.16920392e-01 2.42490896e-01 1.05241308e+02] [-4.02572058e-01 9.08939278e-01 -1.08467166e-01 -5.05021375e+01] [-2.65631673e-01 -2.60284922e-03 9.64071076e-01 -1.55086768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:-50.50, Z:-15.53 [[ 8.76095246e-01 4.22530694e-01 2.32217425e-01 1.05269957e+02] [-4.00876907e-01 9.05972496e-01 -1.36057128e-01 -5.04981053e+01] [-2.67870913e-01 2.61083997e-02 9.63100994e-01 -1.55325461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:-50.53, Z:-15.53 [[ 8.75950875e-01 4.18037034e-01 2.40738662e-01 1.05296964e+02] [-4.02900471e-01 9.08429751e-01 -1.11474653e-01 -5.05271493e+01] [-2.65294696e-01 6.52599701e-04 9.64167153e-01 -1.55290259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:-50.53, Z:-15.55 [[ 8.75378845e-01 4.23480245e-01 2.33187390e-01 1.05325378e+02] [-4.02692465e-01 9.05626031e-01 -1.32967176e-01 -5.05254525e+01] [-2.67489543e-01 2.24938477e-02 9.63298174e-01 -1.55496428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:-50.54, Z:-15.55 [[ 8.74475720e-01 4.22278705e-01 2.38689987e-01 1.05352347e+02] [-4.04339062e-01 9.06406812e-01 -1.22215444e-01 -5.05445651e+01] [-2.67959210e-01 1.03627534e-02 9.63374525e-01 -1.55542860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:-50.56, Z:-15.56 [[ 8.73379406e-01 4.24431697e-01 2.38885220e-01 1.05381158e+02] [-4.06516761e-01 9.05407001e-01 -1.22402145e-01 -5.05576942e+01] [-2.68239701e-01 9.79266716e-03 9.63302427e-01 -1.55632042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:105.41, Y:-50.57, Z:-15.57 [[ 8.70292695e-01 4.29958307e-01 2.40263354e-01 1.05411119e+02] [-4.13001735e-01 9.02835407e-01 -1.19656989e-01 -5.05743748e+01] [-2.68365779e-01 4.90742157e-03 9.63304586e-01 -1.55705107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:-50.58, Z:-15.58 [[ 8.69372318e-01 4.33539583e-01 2.37139625e-01 1.05438767e+02] [-4.14335493e-01 9.01036684e-01 -1.28292604e-01 -5.05783176e+01] [-2.69291423e-01 1.32786747e-02 9.62967188e-01 -1.55829816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:-50.60, Z:-15.59 [[ 8.67462656e-01 4.36063152e-01 2.39494193e-01 1.05467682e+02] [-4.18086115e-01 8.99884287e-01 -1.24146168e-01 -5.05963260e+01] [-2.69652630e-01 7.56296763e-03 9.62927962e-01 -1.55913777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:-50.60, Z:-15.60 [[ 8.65103658e-01 4.40316217e-01 2.40244231e-01 1.05495415e+02] [-4.22517517e-01 8.97823911e-01 -1.24061163e-01 -5.06043617e+01] [-2.70323157e-01 5.81836998e-03 9.62752064e-01 -1.55996684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:-50.62, Z:-15.61 [[ 8.63759750e-01 4.42727028e-01 2.40648858e-01 1.05524262e+02] [-4.25140988e-01 8.96645303e-01 -1.23621765e-01 -5.06172802e+01] [-2.70507365e-01 4.46981128e-03 9.62707529e-01 -1.56087583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:-50.63, Z:-15.62 [[ 8.62693005e-01 4.44742957e-01 2.40758140e-01 1.05553345e+02] [-4.27193364e-01 8.95649673e-01 -1.23763864e-01 -5.06300842e+01] [-2.70678056e-01 3.91993991e-03 9.62661947e-01 -1.56182855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:-50.64, Z:-15.63 [[ 8.60998485e-01 4.48110683e-01 2.40579352e-01 1.05581723e+02] [-4.30692101e-01 8.93973250e-01 -1.23758406e-01 -5.06415224e+01] [-2.70528969e-01 2.94017316e-03 9.62707345e-01 -1.56269190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:-50.65, Z:-15.64 [[ 8.60401790e-01 4.49600455e-01 2.39933721e-01 1.05610717e+02] [-4.31744471e-01 8.93218875e-01 -1.25525904e-01 -5.06547839e+01] [-2.70749832e-01 4.41265506e-03 9.62639630e-01 -1.56375322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:-50.67, Z:-15.64 [[ 8.60051823e-01 4.49764786e-01 2.40878596e-01 1.05637931e+02] [-4.32757516e-01 8.93146327e-01 -1.22517635e-01 -5.06686273e+01] [-2.70243952e-01 1.12949228e-03 9.62791219e-01 -1.56445594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:-50.68, Z:-15.65 [[ 8.60230449e-01 4.49885139e-01 2.40014452e-01 1.05665858e+02] [-4.32549914e-01 8.93082639e-01 -1.23709221e-01 -5.06816199e+01] [-2.70007681e-01 2.60020808e-03 9.62854657e-01 -1.56543125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:-50.70, Z:-15.66 [[ 8.60471743e-01 4.49533033e-01 2.39809157e-01 1.05694299e+02] [-4.32191680e-01 8.93259369e-01 -1.23685292e-01 -5.06959672e+01] [-2.69812401e-01 2.78417651e-03 9.62908883e-01 -1.56639396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:-50.71, Z:-15.67 [[ 8.61453931e-01 4.48097199e-01 2.38968669e-01 1.05721881e+02] [-4.30800431e-01 8.93978735e-01 -1.23341032e-01 -5.07096845e+01] [-2.68901680e-01 3.30481138e-03 9.63161962e-01 -1.56736802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-50.72, Z:-15.68 [[ 8.62091443e-01 4.47314907e-01 2.38133823e-01 1.05749825e+02] [-4.30088900e-01 8.94369233e-01 -1.22992736e-01 -5.07243268e+01] [-2.67996049e-01 3.61227118e-03 9.63413239e-01 -1.56830543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:-50.74, Z:-15.69 [[ 8.62700464e-01 4.46663203e-01 2.37149513e-01 1.05777925e+02] [-4.29534314e-01 8.94693775e-01 -1.22569660e-01 -5.07395599e+01] [-2.66923550e-01 3.87704894e-03 9.63709908e-01 -1.56923034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:-50.75, Z:-15.70 [[ 8.63468068e-01 4.45750767e-01 2.36070222e-01 1.05805101e+02] [-4.28723224e-01 8.95147169e-01 -1.22098092e-01 -5.07549365e+01] [-2.65742909e-01 4.21901724e-03 9.64034702e-01 -1.57008544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:-50.77, Z:-15.71 [[ 8.65914477e-01 4.42651038e-01 2.32920969e-01 1.05832135e+02] [-4.25951918e-01 8.96679053e-01 -1.20547246e-01 -5.07722205e+01] [-2.62215718e-01 5.17047211e-03 9.64995432e-01 -1.57098549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:-50.79, Z:-15.72 [[ 8.65860103e-01 4.42776318e-01 2.32884980e-01 1.05860682e+02] [-4.26062967e-01 8.96616948e-01 -1.20616736e-01 -5.07870577e+01] [-2.62214854e-01 5.21355355e-03 9.64995435e-01 -1.57190643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:-50.80, Z:-15.73 [[ 8.67149145e-01 4.41230592e-01 2.31014987e-01 1.05887835e+02] [-4.24726478e-01 8.97375884e-01 -1.19682668e-01 -5.08022744e+01] [-2.60114933e-01 5.66454093e-03 9.65561047e-01 -1.57283294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:-50.82, Z:-15.74 [[ 8.68266969e-01 4.40523363e-01 2.28148278e-01 1.05914481e+02] [-4.23931872e-01 8.97710095e-01 -1.19993139e-01 -5.08163393e+01] [-2.57670793e-01 7.46675255e-03 9.66203917e-01 -1.57378191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:-50.83, Z:-15.75 [[ 8.69328192e-01 4.37961511e-01 2.29037572e-01 1.05940737e+02] [-4.21920052e-01 8.98976409e-01 -1.17579270e-01 -5.08331953e+01] [-2.57394568e-01 5.57942992e-03 9.66290280e-01 -1.57453049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:-50.85, Z:-15.75 [[ 8.70103613e-01 4.36539747e-01 2.28807238e-01 1.05968788e+02] [-4.20129593e-01 8.99655935e-01 -1.18786879e-01 -5.08483578e+01] [-2.57702984e-01 7.22820079e-03 9.66197146e-01 -1.57541539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:-50.86, Z:-15.76 [[ 8.70753439e-01 4.34666784e-01 2.29898317e-01 1.05996672e+02] [-4.18009950e-01 9.00556697e-01 -1.19437507e-01 -5.08641632e+01] [-2.58951986e-01 7.90083636e-03 9.65857881e-01 -1.57627997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:-50.88, Z:-15.77 [[ 8.71496450e-01 4.32361620e-01 2.31424647e-01 1.06023808e+02] [-4.15375676e-01 9.01658075e-01 -1.20315269e-01 -5.08792811e+01] [-2.60685606e-01 8.72616086e-03 9.65384312e-01 -1.57697317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-50.89, Z:-15.78 [[ 8.71254670e-01 4.32376834e-01 2.32304914e-01 1.06050957e+02] [-4.15237992e-01 9.01649761e-01 -1.20851636e-01 -5.08936762e+01] [-2.61711118e-01 8.83072640e-03 9.65105854e-01 -1.57777351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:-50.91, Z:-15.79 [[ 8.71030446e-01 4.32407826e-01 2.33086753e-01 1.06079420e+02] [-4.15130969e-01 9.01633960e-01 -1.21336228e-01 -5.09084886e+01] [-2.62625667e-01 8.92601911e-03 9.64856510e-01 -1.57863040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:-50.92, Z:-15.79 [[ 8.69926742e-01 4.33349320e-01 2.35448148e-01 1.06107831e+02] [-4.15723916e-01 9.01182925e-01 -1.22649748e-01 -5.09227588e+01] [-2.65332035e-01 8.81486957e-03 9.64116803e-01 -1.57937287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:-50.94, Z:-15.80 [[ 8.68752138e-01 4.34965451e-01 2.36801139e-01 1.06135441e+02] [-4.17167617e-01 9.00407460e-01 -1.23440612e-01 -5.09363138e+01] [-2.66909913e-01 8.45352884e-03 9.63684407e-01 -1.58019348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:-50.95, Z:-15.81 [[ 8.67429737e-01 4.37131439e-01 2.37658908e-01 1.06164435e+02] [-4.19259113e-01 8.99363003e-01 -1.23967677e-01 -5.09504339e+01] [-2.67931798e-01 7.89258617e-03 9.63405553e-01 -1.58104446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:-50.96, Z:-15.82 [[ 8.64828546e-01 4.41653580e-01 2.38775422e-01 1.06193819e+02] [-4.23753376e-01 8.97161324e-01 -1.24638014e-01 -5.09634374e+01] [-2.69266899e-01 6.60862073e-03 9.63042919e-01 -1.58188463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:-50.98, Z:-15.83 [[ 8.63418111e-01 4.44433905e-01 2.38720904e-01 1.06221268e+02] [-4.26621227e-01 8.95792716e-01 -1.24698595e-01 -5.09762681e+01] [-2.69264730e-01 5.82362054e-03 9.63048592e-01 -1.58273656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:-50.99, Z:-15.84 [[ 8.61961883e-01 4.47441153e-01 2.38365532e-01 1.06249978e+02] [-4.29772140e-01 8.94299656e-01 -1.24595475e-01 -5.09901555e+01] [-2.68919356e-01 4.95368524e-03 9.63149958e-01 -1.58365518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:-51.00, Z:-15.85 [[ 8.60685999e-01 4.50065621e-01 2.38034761e-01 1.06277321e+02] [-4.32519845e-01 8.92985554e-01 -1.24512582e-01 -5.10033405e+01] [-2.68600436e-01 4.21147772e-03 9.63242477e-01 -1.58454371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:-51.02, Z:-15.86 [[ 8.58753912e-01 4.54242803e-01 2.37076348e-01 1.06306011e+02] [-4.36973648e-01 8.90872972e-01 -1.24094231e-01 -5.10161147e+01] [-2.67573822e-01 2.97028979e-03 9.63532785e-01 -1.58550362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:-51.03, Z:-15.86 [[ 8.57472566e-01 4.56544369e-01 2.37293145e-01 1.06333506e+02] [-4.39304724e-01 8.89697577e-01 -1.24296342e-01 -5.10282393e+01] [-2.67865931e-01 2.33670395e-03 9.63453363e-01 -1.58649314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:-51.04, Z:-15.87 [[ 8.57290645e-01 4.56546837e-01 2.37944816e-01 1.06361721e+02] [-4.39187542e-01 8.89696090e-01 -1.24720367e-01 -5.10426065e+01] [-2.68639261e-01 2.41920522e-03 9.63237818e-01 -1.58744642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:-51.06, Z:-15.88 [[ 8.58157356e-01 4.54239404e-01 2.39233183e-01 1.06388973e+02] [-4.36918473e-01 8.90877164e-01 -1.24258308e-01 -5.10572310e+01] [-2.69570399e-01 2.10778375e-03 9.62978378e-01 -1.58827942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:-51.07, Z:-15.90 [[ 8.58769820e-01 4.53017880e-01 2.39351617e-01 1.06416860e+02] [-4.35025249e-01 8.91490086e-01 -1.26485017e-01 -5.10673462e+01] [-2.70679568e-01 4.49751877e-03 9.62658997e-01 -1.58950902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:-51.08, Z:-15.91 [[ 8.58829679e-01 4.56410959e-01 2.32595400e-01 1.06446076e+02] [-4.39780596e-01 8.89765351e-01 -1.22109160e-01 -5.10783016e+01] [-2.62687287e-01 2.58002681e-03 9.64877574e-01 -1.59080198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:-51.09, Z:-15.92 [[ 8.60589389e-01 4.53331114e-01 2.32113776e-01 1.06472982e+02] [-4.36637377e-01 8.91334952e-01 -1.21941806e-01 -5.10932782e+01] [-2.62171136e-01 3.59227356e-03 9.65014710e-01 -1.59171250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:-51.11, Z:-15.93 [[ 8.60535160e-01 4.53451242e-01 2.32080178e-01 1.06501437e+02] [-4.36744564e-01 8.91273690e-01 -1.22005717e-01 -5.11082982e+01] [-2.62170601e-01 3.63045334e-03 9.65014713e-01 -1.59263324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-51.12, Z:-15.94 [[ 8.61681851e-01 4.51020659e-01 2.32561289e-01 1.06528681e+02] [-4.34146800e-01 8.92502603e-01 -1.22293331e-01 -5.11242696e+01] [-2.62718374e-01 4.41220449e-03 9.64862471e-01 -1.59354765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:-51.14, Z:-15.94 [[ 8.61626481e-01 4.51145191e-01 2.32524888e-01 1.06557132e+02] [-4.34257124e-01 8.92439448e-01 -1.22362505e-01 -5.11392939e+01] [-2.62717638e-01 4.45518554e-03 9.64862474e-01 -1.59446854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:-51.15, Z:-15.95 [[ 8.61571164e-01 4.51258857e-01 2.32509299e-01 1.06585574e+02] [-4.34366865e-01 8.92381979e-01 -1.22392119e-01 -5.11543433e+01] [-2.62717636e-01 4.45518550e-03 9.64862475e-01 -1.59538801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:-51.17, Z:-15.96 [[ 8.63636621e-01 4.47161171e-01 2.32763128e-01 1.06612509e+02] [-4.30401023e-01 8.94441397e-01 -1.21365346e-01 -5.11701981e+01] [-2.62462848e-01 4.63406869e-03 9.64930971e-01 -1.59612677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:-51.19, Z:-15.97 [[ 8.63561127e-01 4.47436533e-01 2.32513933e-01 1.06640998e+02] [-4.30548075e-01 8.94300913e-01 -1.21877939e-01 -5.11850027e+01] [-2.62470065e-01 5.14062464e-03 9.64926442e-01 -1.59706408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:-51.20, Z:-15.98 [[ 8.63485852e-01 4.47584145e-01 2.32509391e-01 1.06669405e+02] [-4.30687957e-01 8.94227036e-01 -1.21925766e-01 -5.12000646e+01] [-2.62488223e-01 5.14217922e-03 9.64921495e-01 -1.59798452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:-51.22, Z:-15.99 [[ 8.63410554e-01 4.47731443e-01 2.32505420e-01 1.06697810e+02] [-4.30827810e-01 8.94153292e-01 -1.21972494e-01 -5.12151317e+01] [-2.62506407e-01 5.14253800e-03 9.64916546e-01 -1.59890497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:-51.23, Z:-16.00 [[ 8.64672158e-01 4.45036004e-01 2.32991446e-01 1.06724119e+02] [-4.27622376e-01 8.95484241e-01 -1.23479061e-01 -5.12314514e+01] [-2.63592796e-01 7.13655075e-03 9.64607644e-01 -1.59983474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:-51.25, Z:-16.01 [[ 8.64618195e-01 4.45024043e-01 2.33214447e-01 1.06752468e+02] [-4.27723810e-01 8.95493963e-01 -1.23056506e-01 -5.12467770e+01] [-2.63605233e-01 6.64552238e-03 9.64607753e-01 -1.60073784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:-51.26, Z:-16.02 [[ 8.64564688e-01 4.45136049e-01 2.33199051e-01 1.06780892e+02] [-4.27831955e-01 8.95438292e-01 -1.23085675e-01 -5.12618601e+01] [-2.63605231e-01 6.64552233e-03 9.64607754e-01 -1.60165752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:-51.28, Z:-16.03 [[ 8.66460788e-01 4.41306517e-01 2.33440059e-01 1.06807962e+02] [-4.23819499e-01 8.97322061e-01 -1.23248328e-01 -5.12781396e+01] [-2.63861206e-01 7.85339469e-03 9.64528687e-01 -1.60253625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:-51.29, Z:-16.03 [[ 8.66407326e-01 4.41430677e-01 2.33403734e-01 1.06836387e+02] [-4.23929579e-01 8.97260614e-01 -1.23317083e-01 -5.12932108e+01] [-2.63859921e-01 7.89607786e-03 9.64528690e-01 -1.60345737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:-51.31, Z:-16.04 [[ 8.68675624e-01 4.36597072e-01 2.34063363e-01 1.06863100e+02] [-4.19556113e-01 8.99630746e-01 -1.20984253e-01 -5.13101049e+01] [-2.63391968e-01 6.89335647e-03 9.64664270e-01 -1.60414612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:-51.32, Z:-16.05 [[ 8.70080667e-01 4.34460942e-01 2.32816072e-01 1.06889464e+02] [-4.16148835e-01 9.00607712e-01 -1.25402935e-01 -5.13238227e+01] [-2.64158627e-01 1.22245316e-02 9.64401773e-01 -1.60526135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:-51.34, Z:-16.06 [[ 8.72563765e-01 4.28598717e-01 2.34383481e-01 1.06914887e+02] [-4.10434687e-01 9.03414861e-01 -1.24036107e-01 -5.13412245e+01] [-2.64907237e-01 1.20303012e-02 9.64198853e-01 -1.60604065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:-51.36, Z:-16.07 [[ 8.73107086e-01 4.27367926e-01 2.34607487e-01 1.06942111e+02] [-4.09102616e-01 9.03991481e-01 -1.24235468e-01 -5.13567733e+01] [-2.65177424e-01 1.24923310e-02 9.64118704e-01 -1.60690462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:-51.37, Z:-16.08 [[ 8.73066637e-01 4.27387673e-01 2.34722016e-01 1.06969675e+02] [-4.09081231e-01 9.03981022e-01 -1.24381905e-01 -5.13724188e+01] [-2.65343540e-01 1.25733203e-02 9.64071946e-01 -1.60773799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:-51.39, Z:-16.09 [[ 8.72325908e-01 4.28911884e-01 2.34695774e-01 1.06997391e+02] [-4.10640055e-01 9.03264099e-01 -1.24453658e-01 -5.13870611e+01] [-2.65371920e-01 1.21886646e-02 9.64069075e-01 -1.60864135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:-51.40, Z:-16.10 [[ 8.70104054e-01 4.33695746e-01 2.34151523e-01 1.07024811e+02] [-4.15656250e-01 9.00994838e-01 -1.24250487e-01 -5.14005162e+01] [-2.64856221e-01 1.07843086e-02 9.64227608e-01 -1.60950914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:-51.41, Z:-16.10 [[ 8.68705479e-01 4.36718903e-01 2.33725034e-01 1.07053435e+02] [-4.18831855e-01 8.99543350e-01 -1.24103339e-01 -5.14146091e+01] [-2.64444074e-01 9.91776105e-03 9.64350024e-01 -1.61045151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:-51.43, Z:-16.11 [[ 8.66984733e-01 4.40118407e-01 2.33737590e-01 1.07080807e+02] [-4.22326817e-01 8.97895020e-01 -1.24195783e-01 -5.14278377e+01] [-2.64532668e-01 8.96219548e-03 9.64335080e-01 -1.61138534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:-51.44, Z:-16.12 [[ 8.65448301e-01 4.43056710e-01 2.33880292e-01 1.07109691e+02] [-4.26214211e-01 8.96478915e-01 -1.21107400e-01 -5.14448544e+01] [-2.63326197e-01 5.12908921e-03 9.64693219e-01 -1.61208492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:-51.46, Z:-16.13 [[ 8.62917571e-01 4.49127417e-01 2.31641595e-01 1.07138010e+02] [-4.31558361e-01 8.93435650e-01 -1.24619902e-01 -5.14558126e+01] [-2.62927073e-01 7.56983601e-03 9.64786013e-01 -1.61313716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:-51.48, Z:-16.14 [[ 8.61960064e-01 4.50239242e-01 2.33043929e-01 1.07165019e+02] [-4.34603708e-01 8.92907954e-01 -1.17622288e-01 -5.14751288e+01] [-2.61044948e-01 1.03958923e-04 9.65326641e-01 -1.61354124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:-51.49, Z:-16.15 [[ 8.61186184e-01 4.53143324e-01 2.30259600e-01 1.07193312e+02] [-4.36356685e-01 8.91424534e-01 -1.22291222e-01 -5.14868877e+01] [-2.60674508e-01 4.84019481e-03 9.65414612e-01 -1.61453954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:-51.50, Z:-16.15 [[ 8.60419289e-01 4.54408440e-01 2.30633077e-01 1.07220784e+02] [-4.37822684e-01 8.90785591e-01 -1.21705907e-01 -5.15020353e+01] [-2.60748813e-01 3.74171697e-03 9.65399428e-01 -1.61535430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:-51.52, Z:-16.16 [[ 8.59476445e-01 4.56063737e-01 2.30881157e-01 1.07248430e+02] [-4.39715501e-01 8.89943578e-01 -1.21040100e-01 -5.15176094e+01] [-2.60673203e-01 2.50909158e-03 9.65423837e-01 -1.61604443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:-51.54, Z:-16.17 [[ 8.58613360e-01 4.57665524e-01 2.30922857e-01 1.07277624e+02] [-4.41533853e-01 8.89123244e-01 -1.20447971e-01 -5.15359856e+01] [-2.60443764e-01 1.45797812e-03 9.65487918e-01 -1.61687838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:-51.53, Z:-16.19 [[ 8.58431384e-01 4.61463037e-01 2.23936206e-01 1.07303787e+02] [-4.38709718e-01 8.86756447e-01 -1.45591164e-01 -5.15315693e+01] [-2.65761815e-01 2.67370344e-02 9.63667883e-01 -1.61910091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:-51.58, Z:-16.17 [[ 8.58980115e-01 4.51595183e-01 2.41277750e-01 1.07327367e+02] [-4.41298578e-01 8.91952238e-01 -9.83705741e-02 -5.15768335e+01] [-2.59631907e-01 -2.19771612e-02 9.65457548e-01 -1.61744686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:-51.56, Z:-16.21 [[ 8.58749487e-01 4.62446852e-01 2.20663154e-01 1.07358096e+02] [-4.38223695e-01 8.86020239e-01 -1.51420373e-01 -5.15578134e+01] [-2.65535895e-01 3.33323447e-02 9.63524594e-01 -1.62101394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:-51.60, Z:-16.20 [[ 8.59388335e-01 4.52452028e-01 2.38199185e-01 1.07380864e+02] [-4.38765291e-01 8.91740605e-01 -1.10831915e-01 -5.15979560e+01] [-2.62558010e-01 -9.26587966e-03 9.64871719e-01 -1.61998428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:-51.59, Z:-16.22 [[ 8.59508571e-01 4.57769129e-01 2.27359717e-01 1.07409977e+02] [-4.36435720e-01 8.88827117e-01 -1.39678980e-01 -5.15944404e+01] [-2.66024207e-01 2.08273789e-02 9.63741325e-01 -1.62236355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:-51.62, Z:-16.23 [[ 8.60826989e-01 4.51577353e-01 2.34637570e-01 1.07433944e+02] [-4.33867835e-01 8.92210967e-01 -1.25372611e-01 -5.16172601e+01] [-2.65961645e-01 6.12243259e-03 9.63964169e-01 -1.62269935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:-51.63, Z:-16.24 [[ 8.61635237e-01 4.50029967e-01 2.34643873e-01 1.07461754e+02] [-4.32240736e-01 8.92988502e-01 -1.25457090e-01 -5.16326597e+01] [-2.65993731e-01 6.67560910e-03 9.63951644e-01 -1.62360220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:-51.65, Z:-16.24 [[ 8.62358469e-01 4.48586651e-01 2.34750692e-01 1.07489544e+02] [-4.30704442e-01 8.93710304e-01 -1.25600860e-01 -5.16481259e+01] [-2.66141982e-01 7.20479939e-03 9.63906913e-01 -1.62448858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:-51.66, Z:-16.25 [[ 8.63889971e-01 4.45546320e-01 2.34909758e-01 1.07516751e+02] [-4.27504634e-01 8.95221062e-01 -1.25773759e-01 -5.16635875e+01] [-2.66334199e-01 8.22967877e-03 9.63845614e-01 -1.62535711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:-51.68, Z:-16.26 [[ 8.64509429e-01 4.44344234e-01 2.34907744e-01 1.07543689e+02] [-4.26235094e-01 8.95814062e-01 -1.25860286e-01 -5.16781618e+01] [-2.66358952e-01 8.68147952e-03 9.63834810e-01 -1.62625237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:-51.69, Z:-16.27 [[ 8.65824050e-01 4.42176124e-01 2.34155910e-01 1.07571159e+02] [-4.24085050e-01 8.96879071e-01 -1.25538048e-01 -5.16935506e+01] [-2.65519462e-01 9.39184001e-03 9.64059754e-01 -1.62716217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:-51.71, Z:-16.28 [[ 8.65770286e-01 4.42301024e-01 2.34118808e-01 1.07599485e+02] [-4.24195759e-01 8.96817032e-01 -1.25607203e-01 -5.17087995e+01] [-2.65517929e-01 9.43477868e-03 9.64059757e-01 -1.62808388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:-51.72, Z:-16.30 [[ 8.66301873e-01 4.43590432e-01 2.29670620e-01 1.07628244e+02] [-4.22225775e-01 8.95948555e-01 -1.37846223e-01 -5.17162283e+01] [-2.66920326e-01 2.24435851e-02 9.63457225e-01 -1.62988431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.676559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.65, Y:-51.75, Z:-16.29 [[ 8.66594245e-01 4.37798793e-01 2.39471567e-01 1.07652065e+02] [-4.22935327e-01 8.99067202e-01 -1.13154208e-01 -5.17451809e+01] [-2.64839807e-01 -3.22220019e-03 9.64287039e-01 -1.62945176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:-51.75, Z:-16.31 [[ 8.66717140e-01 4.41192776e-01 2.32702244e-01 1.07681991e+02] [-4.23233289e-01 8.97358405e-01 -1.24985903e-01 -5.17540340e+01] [-2.63960192e-01 9.84008861e-03 9.64483380e-01 -1.63082945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:-51.77, Z:-16.32 [[ 8.66366361e-01 4.41957899e-01 2.32556540e-01 1.07709278e+02] [-4.24024874e-01 8.96983558e-01 -1.24993612e-01 -5.17685714e+01] [-2.63841307e-01 9.68050310e-03 9.64517523e-01 -1.63168896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:-51.78, Z:-16.33 [[ 8.65926230e-01 4.42708388e-01 2.32768229e-01 1.07737347e+02] [-4.24746802e-01 8.96614947e-01 -1.25187023e-01 -5.17832139e+01] [-2.64124818e-01 9.53516641e-03 9.64441373e-01 -1.63259751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:-51.80, Z:-16.33 [[ 8.64988989e-01 4.44533607e-01 2.32774401e-01 1.07765899e+02] [-4.26611835e-01 8.95716358e-01 -1.25277879e-01 -5.17982298e+01] [-2.64190066e-01 9.05967188e-03 9.64428085e-01 -1.63344627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:-51.81, Z:-16.35 [[ 8.63915975e-01 4.47247632e-01 2.31557214e-01 1.07794536e+02] [-4.28896512e-01 8.94347197e-01 -1.27243357e-01 -5.18148696e+01] [-2.64001835e-01 1.06134877e-02 9.64463781e-01 -1.63454454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:-51.83, Z:-16.35 [[ 8.63448338e-01 4.48181070e-01 2.31496642e-01 1.07820984e+02] [-4.29959140e-01 8.93886505e-01 -1.26893873e-01 -5.18290128e+01] [-2.63803156e-01 1.00322068e-02 9.64524364e-01 -1.63534518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-51.84, Z:-16.36 [[ 8.62911481e-01 4.48213092e-01 2.33428362e-01 1.07846317e+02] [-4.30306549e-01 8.93890907e-01 -1.25679438e-01 -5.18413714e+01] [-2.64990660e-01 8.00447660e-03 9.64217755e-01 -1.63601170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:-51.85, Z:-16.37 [[ 8.60903834e-01 4.51275262e-01 2.34936643e-01 1.07874178e+02] [-4.33208780e-01 8.92355531e-01 -1.26616585e-01 -5.18547533e+01] [-2.66785945e-01 7.22808677e-03 9.63728704e-01 -1.63688396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:-51.87, Z:-16.38 [[ 8.59567006e-01 4.53463988e-01 2.35616157e-01 1.07902688e+02] [-4.35348463e-01 8.91249823e-01 -1.27064818e-01 -5.18692156e+01] [-2.67612177e-01 6.64559334e-03 9.63503793e-01 -1.63778409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.976559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.93, Y:-51.88, Z:-16.39 [[ 8.57079542e-01 4.57434383e-01 2.36998828e-01 1.07931454e+02] [-4.39225044e-01 8.89226223e-01 -1.27898730e-01 -5.18822776e+01] [-2.69250849e-01 5.52356428e-03 9.63054241e-01 -1.63868270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:-51.90, Z:-16.40 [[ 8.55848826e-01 4.59485405e-01 2.37478316e-01 1.07958940e+02] [-4.41253336e-01 8.88171409e-01 -1.28246022e-01 -5.18961369e+01] [-2.69848626e-01 4.97110825e-03 9.62889925e-01 -1.63955109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:-51.91, Z:-16.40 [[ 8.54735264e-01 4.61445418e-01 2.37688357e-01 1.07986749e+02] [-4.43231600e-01 8.87157527e-01 -1.28441704e-01 -5.19102998e+01] [-2.70135851e-01 4.43266308e-03 9.62812014e-01 -1.64044084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:-51.92, Z:-16.42 [[ 8.53390922e-01 4.64988649e-01 2.35604523e-01 1.08016309e+02] [-4.45910038e-01 8.85283754e-01 -1.32048903e-01 -5.19227906e+01] [-2.69978097e-01 7.63091333e-03 9.62836225e-01 -1.64174621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:-51.94, Z:-16.42 [[ 8.52819018e-01 4.64606864e-01 2.38411797e-01 1.08042370e+02] [-4.47423289e-01 8.85517055e-01 -1.25187644e-01 -5.19399640e+01] [-2.69280751e-01 9.14130719e-05 9.63061716e-01 -1.64216473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:-51.95, Z:-16.43 [[ 8.52471187e-01 4.66411420e-01 2.36121287e-01 1.08070597e+02] [-4.48568104e-01 8.84562692e-01 -1.27810404e-01 -5.19525804e+01] [-2.68476314e-01 3.03820914e-03 9.63281495e-01 -1.64317472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:-51.97, Z:-16.44 [[ 8.52145249e-01 4.67039510e-01 2.36056287e-01 1.08098264e+02] [-4.49206746e-01 8.84231641e-01 -1.27858142e-01 -5.19668435e+01] [-2.68443242e-01 2.91563180e-03 9.63291090e-01 -1.64410580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:-51.98, Z:-16.45 [[ 8.52509045e-01 4.66687845e-01 2.35437429e-01 1.08126904e+02] [-4.48912736e-01 8.84416675e-01 -1.27610738e-01 -5.19815400e+01] [-2.67779168e-01 3.09844765e-03 9.63475333e-01 -1.64497222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:-52.00, Z:-16.46 [[ 8.53069219e-01 4.65851619e-01 2.35064197e-01 1.08154949e+02] [-4.48078455e-01 8.84856183e-01 -1.27496013e-01 -5.19966232e+01] [-2.67392232e-01 3.43572197e-03 9.63581647e-01 -1.64585872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:-52.01, Z:-16.47 [[ 8.53714800e-01 4.64850949e-01 2.34701162e-01 1.08183107e+02] [-4.47072487e-01 8.85380698e-01 -1.27386068e-01 -5.20118572e+01] [-2.67015413e-01 3.82293877e-03 9.63684676e-01 -1.64677113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:-52.03, Z:-16.48 [[ 8.55615304e-01 4.61470515e-01 2.34451307e-01 1.08210749e+02] [-4.43581599e-01 8.87141715e-01 -1.27337909e-01 -5.20277021e+01] [-2.66754226e-01 4.95397822e-03 9.63751857e-01 -1.64762733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:-52.04, Z:-16.49 [[ 8.56748445e-01 4.59457244e-01 2.34267248e-01 1.08238382e+02] [-4.41498808e-01 8.88181872e-01 -1.27325427e-01 -5.20438483e+01] [-2.66572512e-01 5.65715074e-03 9.63798263e-01 -1.64850809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:-52.06, Z:-16.49 [[ 8.58088458e-01 4.57138452e-01 2.33898768e-01 1.08264913e+02] [-4.39128740e-01 8.89372170e-01 -1.27212787e-01 -5.20591934e+01] [-2.66176911e-01 6.44815310e-03 9.63902627e-01 -1.64935321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:-52.07, Z:-16.50 [[ 8.59381896e-01 4.54782534e-01 2.33742601e-01 1.08293056e+02] [-4.36689283e-01 8.90573023e-01 -1.27209125e-01 -5.20748434e+01] [-2.66017343e-01 7.24832979e-03 9.63940991e-01 -1.65023856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:-52.09, Z:-16.51 [[ 8.61364168e-01 4.50942504e-01 2.33885931e-01 1.08319466e+02] [-4.32662558e-01 8.92512293e-01 -1.27377070e-01 -5.20900264e+01] [-2.66185804e-01 8.52435910e-03 9.63884046e-01 -1.65106400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:-52.10, Z:-16.52 [[ 8.62128133e-01 4.49465553e-01 2.33914084e-01 1.08345997e+02] [-4.31112478e-01 8.93251993e-01 -1.27447668e-01 -5.21049245e+01] [-2.66227558e-01 9.03293934e-03 9.63867882e-01 -1.65190254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:-52.12, Z:-16.53 [[ 8.62486010e-01 4.48633412e-01 2.34192111e-01 1.08374104e+02] [-4.30190930e-01 8.93666951e-01 -1.27652437e-01 -5.21204549e+01] [-2.66558898e-01 9.35111906e-03 9.63773267e-01 -1.65279882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:-52.14, Z:-16.54 [[ 8.62882083e-01 4.47851673e-01 2.34229355e-01 1.08401178e+02] [-4.29350401e-01 8.94055503e-01 -1.27761460e-01 -5.21350698e+01] [-2.66632227e-01 9.67660751e-03 9.63749770e-01 -1.65358612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-52.15, Z:-16.54 [[ 8.62638083e-01 4.48348890e-01 2.34176877e-01 1.08429067e+02] [-4.29851294e-01 8.93807122e-01 -1.27815075e-01 -5.21500780e+01] [-2.66614708e-01 9.59691737e-03 9.63755413e-01 -1.65445669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:-52.16, Z:-16.55 [[ 8.62086279e-01 4.49357613e-01 2.34275443e-01 1.08457159e+02] [-4.30856250e-01 8.93302817e-01 -1.27956904e-01 -5.21649856e+01] [-2.66777322e-01 9.37085283e-03 9.63712637e-01 -1.65534883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:-52.18, Z:-16.56 [[ 8.61479191e-01 4.50676520e-01 2.33974950e-01 1.08484355e+02] [-4.32246930e-01 8.92641644e-01 -1.27880756e-01 -5.21788022e+01] [-2.66488638e-01 9.03165606e-03 9.63795743e-01 -1.65622453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:-52.19, Z:-16.57 [[ 8.59628119e-01 4.54488931e-01 2.33408030e-01 1.08513158e+02] [-4.36265551e-01 8.90717304e-01 -1.27652080e-01 -5.21918647e+01] [-2.65917028e-01 7.90543482e-03 9.63963505e-01 -1.65715500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:-52.21, Z:-16.58 [[ 8.58267408e-01 4.57087895e-01 2.33340337e-01 1.08541113e+02] [-4.38945594e-01 8.89392562e-01 -1.27701354e-01 -5.22056660e+01] [-2.65901903e-01 7.17819771e-03 9.63973367e-01 -1.65808443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:-52.22, Z:-16.59 [[ 8.56705118e-01 4.60019346e-01 2.33320687e-01 1.08569431e+02] [-4.41962796e-01 8.87886199e-01 -1.27777093e-01 -5.22198680e+01] [-2.65942152e-01 6.34822634e-03 9.63968086e-01 -1.65902551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:-52.23, Z:-16.60 [[ 8.53406307e-01 4.66126985e-01 2.33288040e-01 1.08598192e+02] [-4.48274846e-01 8.84706244e-01 -1.27845703e-01 -5.22333737e+01] [-2.65983718e-01 4.52716905e-03 9.63966891e-01 -1.65991478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:-52.25, Z:-16.61 [[ 8.51748141e-01 4.69169800e-01 2.33248370e-01 1.08625982e+02] [-4.51411451e-01 8.83100403e-01 -1.27911612e-01 -5.22475775e+01] [-2.65993995e-01 3.65749265e-03 9.63967747e-01 -1.66081112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:-52.26, Z:-16.62 [[ 8.50003063e-01 4.72154913e-01 2.33590521e-01 1.08653048e+02] [-4.54429558e-01 8.81511116e-01 -1.28187085e-01 -5.22616523e+01] [-2.66436802e-01 2.80897779e-03 9.63848297e-01 -1.66171117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:-52.28, Z:-16.63 [[ 8.48523134e-01 4.74654492e-01 2.33905119e-01 1.08681659e+02] [-4.56950923e-01 8.80169696e-01 -1.28441271e-01 -5.22762744e+01] [-2.66841424e-01 2.10222940e-03 9.63738157e-01 -1.66262822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:-52.29, Z:-16.64 [[ 8.45949872e-01 4.78914969e-01 2.34540544e-01 1.08709930e+02] [-4.61248763e-01 8.77860889e-01 -1.28879160e-01 -5.22903126e+01] [-2.67616130e-01 8.43773390e-04 9.63525244e-01 -1.66353439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:-52.30, Z:-16.64 [[ 8.44947360e-01 4.80470643e-01 2.34972166e-01 1.08737317e+02] [-4.62772058e-01 8.77010703e-01 -1.29206228e-01 -5.23049393e+01] [-2.68152904e-01 4.33908601e-04 9.63376267e-01 -1.66441113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:-52.32, Z:-16.65 [[ 8.44207781e-01 4.81754986e-01 2.35000758e-01 1.08765087e+02] [-4.64077606e-01 8.76305953e-01 -1.29305268e-01 -5.23202267e+01] [-2.68226021e-01 1.01923955e-04 9.63356005e-01 -1.66528940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:-52.34, Z:-16.66 [[ 8.43524572e-01 4.82935239e-01 2.35031596e-01 1.08792353e+02] [-4.65272984e-01 8.75656050e-01 -1.29412257e-01 -5.23355253e+01] [-2.68304578e-01 -1.91432834e-04 9.63334115e-01 -1.66617932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:-52.35, Z:-16.67 [[ 8.43418370e-01 4.83053702e-01 2.35169247e-01 1.08819265e+02] [-4.65349561e-01 8.75590715e-01 -1.29578881e-01 -5.23507277e+01] [-2.68505567e-01 -1.46696903e-04 9.63278121e-01 -1.66707748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-52.37, Z:-16.68 [[ 8.43482930e-01 4.82956923e-01 2.35136464e-01 1.08846213e+02] [-4.65230601e-01 8.75644111e-01 -1.29645205e-01 -5.23663590e+01] [-2.68508909e-01 -3.91616422e-05 9.63277200e-01 -1.66797524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:-52.38, Z:-16.69 [[ 8.43963982e-01 4.81983153e-01 2.35408237e-01 1.08873174e+02] [-4.64154586e-01 8.76180415e-01 -1.29878405e-01 -5.23822037e+01] [-2.68859290e-01 3.46882980e-04 9.63179403e-01 -1.66886357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:-52.40, Z:-16.70 [[ 8.44352837e-01 4.81371325e-01 2.35265666e-01 1.08899771e+02] [-4.63515882e-01 8.76516547e-01 -1.29891378e-01 -5.23973268e+01] [-2.68740234e-01 6.24780698e-04 9.63212488e-01 -1.66972818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:-52.41, Z:-16.71 [[ 8.44927831e-01 4.80500860e-01 2.34980604e-01 1.08926751e+02] [-4.62632808e-01 8.76993710e-01 -1.29818790e-01 -5.24129926e+01] [-2.68454552e-01 9.77772049e-04 9.63291855e-01 -1.67066942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:-52.43, Z:-16.72 [[ 8.46573367e-01 4.77974086e-01 2.34209964e-01 1.08952321e+02] [-4.60105181e-01 8.78371976e-01 -1.29483181e-01 -5.24291808e+01] [-2.67613074e-01 1.85579486e-03 9.63524675e-01 -1.67154422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:-52.45, Z:-16.72 [[ 8.47403989e-01 4.76794029e-01 2.33610643e-01 1.08979015e+02] [-4.58950993e-01 8.79012041e-01 -1.29235508e-01 -5.24453204e+01] [-2.66965287e-01 2.29884894e-03 9.63703404e-01 -1.67243242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:-52.46, Z:-16.73 [[ 8.48302242e-01 4.75445733e-01 2.33097965e-01 1.09006047e+02] [-4.57609764e-01 8.79740621e-01 -1.29033883e-01 -5.24612520e+01] [-2.66414357e-01 2.79182724e-03 9.63854551e-01 -1.67334845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:-52.48, Z:-16.74 [[ 8.50255950e-01 4.72481543e-01 2.32004335e-01 1.09032285e+02] [-4.54683092e-01 8.81332445e-01 -1.28516172e-01 -5.24774092e+01] [-2.65194467e-01 3.78319102e-03 9.64187524e-01 -1.67428105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:-52.49, Z:-16.75 [[ 8.50996186e-01 4.71476102e-01 2.31334773e-01 1.09059392e+02] [-4.53723470e-01 8.81869035e-01 -1.28226434e-01 -5.24934818e+01] [-2.64462672e-01 4.15819027e-03 9.64386958e-01 -1.67518467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:-52.51, Z:-16.76 [[ 8.51821023e-01 4.70147788e-01 2.31002170e-01 1.09086746e+02] [-4.52375146e-01 8.82575487e-01 -1.28129764e-01 -5.25095700e+01] [-2.64116778e-01 4.64398634e-03 9.64479529e-01 -1.67610988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-52.53, Z:-16.77 [[ 8.52638669e-01 4.68763449e-01 2.30798894e-01 1.09114026e+02] [-4.50948961e-01 8.83308737e-01 -1.28104290e-01 -5.25258826e+01] [-2.63917288e-01 5.14815017e-03 9.64531576e-01 -1.67705612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:-52.54, Z:-16.78 [[ 8.54711790e-01 4.65257443e-01 2.30224387e-01 1.09140292e+02] [-4.47384488e-01 8.85153030e-01 -1.27871941e-01 -5.25437934e+01] [-2.63277186e-01 6.29483577e-03 9.64699693e-01 -1.67793881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:-52.56, Z:-16.79 [[ 8.55659459e-01 4.63576662e-01 2.30094695e-01 1.09167626e+02] [-4.45641017e-01 8.86030047e-01 -1.27886040e-01 -5.25603968e+01] [-2.63155797e-01 6.88726617e-03 9.64728766e-01 -1.67882981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:-52.58, Z:-16.80 [[ 8.56373298e-01 4.62075908e-01 2.30457434e-01 1.09193491e+02] [-4.44005251e-01 8.86809157e-01 -1.28175102e-01 -5.25761119e+01] [-2.63598389e-01 7.44142410e-03 9.64603812e-01 -1.67970754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:-52.59, Z:-16.81 [[ 8.57168323e-01 4.60816698e-01 2.30022689e-01 1.09220572e+02] [-4.42749021e-01 8.87460289e-01 -1.28013828e-01 -5.25926147e+01] [-2.63126912e-01 7.88707816e-03 9.64728989e-01 -1.68054816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:-52.61, Z:-16.81 [[ 8.58212986e-01 4.58829052e-01 2.30100788e-01 1.09247099e+02] [-4.40655273e-01 8.88483148e-01 -1.28142990e-01 -5.26103761e+01] [-2.63236399e-01 8.57885211e-03 9.64693216e-01 -1.68139685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:-52.63, Z:-16.82 [[ 8.58563604e-01 4.58304602e-01 2.29837832e-01 1.09273093e+02] [-4.40131050e-01 8.88751536e-01 -1.28083430e-01 -5.26262869e+01] [-2.62969952e-01 8.80900526e-03 9.64763808e-01 -1.68220537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:-52.64, Z:-16.83 [[ 8.58206171e-01 4.58954081e-01 2.29876751e-01 1.09299510e+02] [-4.40775160e-01 8.88417532e-01 -1.28185600e-01 -5.26441252e+01] [-2.63057840e-01 8.68571136e-03 9.64740966e-01 -1.68303574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:-52.66, Z:-16.84 [[ 8.57477745e-01 4.60321793e-01 2.29860314e-01 1.09327172e+02] [-4.42170239e-01 8.87712910e-01 -1.28262502e-01 -5.26607278e+01] [-2.63091993e-01 8.34485123e-03 9.64734661e-01 -1.68389911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:-52.68, Z:-16.85 [[ 8.56402097e-01 4.62151911e-01 2.30197868e-01 1.09354250e+02] [-4.43987231e-01 8.86765812e-01 -1.28536894e-01 -5.26765073e+01] [-2.63535170e-01 7.87435126e-03 9.64617649e-01 -1.68477497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:-52.69, Z:-16.86 [[ 8.56346823e-01 4.62272918e-01 2.30160527e-01 1.09382311e+02] [-4.44094586e-01 8.86702363e-01 -1.28603724e-01 -5.26922444e+01] [-2.63533902e-01 7.91634679e-03 9.64617652e-01 -1.68569607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:-52.71, Z:-16.87 [[ 8.55140057e-01 4.64277055e-01 2.30612876e-01 1.09409820e+02] [-4.46087361e-01 8.85659545e-01 -1.28892345e-01 -5.27078829e+01] [-2.64086253e-01 7.34751833e-03 9.64471080e-01 -1.68657744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:-52.72, Z:-16.87 [[ 8.52891994e-01 4.68617931e-01 2.30157515e-01 1.09436536e+02] [-4.50632246e-01 8.83380077e-01 -1.28725359e-01 -5.27231079e+01] [-2.63639575e-01 6.07243020e-03 9.64602146e-01 -1.68740900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:-52.74, Z:-16.88 [[ 8.51716353e-01 4.70923759e-01 2.29804411e-01 1.09462813e+02] [-4.53054410e-01 8.82157235e-01 -1.28609153e-01 -5.27380013e+01] [-2.63288729e-01 5.42461672e-03 9.64701829e-01 -1.68833287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:-52.75, Z:-16.89 [[ 8.50570649e-01 4.73223436e-01 2.29323244e-01 1.09489934e+02] [-4.55490695e-01 8.80929498e-01 -1.28419026e-01 -5.27537177e+01] [-2.62788503e-01 4.77485083e-03 9.64841647e-01 -1.68926282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:-52.77, Z:-16.90 [[ 8.49487574e-01 4.75216353e-01 2.29216664e-01 1.09517176e+02] [-4.57548693e-01 8.79858794e-01 -1.28443357e-01 -5.27700561e+01] [-2.62716681e-01 4.23325118e-03 9.64863734e-01 -1.69016390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:-52.79, Z:-16.91 [[ 8.48212746e-01 4.77570968e-01 2.29043901e-01 1.09543940e+02] [-4.59991265e-01 8.78585884e-01 -1.28432396e-01 -5.27879779e+01] [-2.62570322e-01 3.57980149e-03 9.64906219e-01 -1.69101355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:-52.81, Z:-16.92 [[ 8.47465643e-01 4.78047431e-01 2.30808661e-01 1.09571663e+02] [-4.62497057e-01 8.78323997e-01 -1.21010037e-01 -5.28122233e+01] [-2.60573323e-01 -4.19647722e-03 9.65444940e-01 -1.69151628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:-52.82, Z:-16.93 [[ 8.47673103e-01 4.80718915e-01 2.24409528e-01 1.09598637e+02] [-4.60791704e-01 8.76774727e-01 -1.37612078e-01 -5.28153274e+01] [-2.62909332e-01 1.32440083e-02 9.64729641e-01 -1.69312250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-52.84, Z:-16.94 [[ 8.48140257e-01 4.77369144e-01 2.29732030e-01 1.09624190e+02] [-4.59622660e-01 8.78694519e-01 -1.29007565e-01 -5.28369251e+01] [-2.63448507e-01 3.82646310e-03 9.64665871e-01 -1.69371293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:-52.85, Z:-16.95 [[ 8.48399621e-01 4.76660861e-01 2.30244450e-01 1.09651071e+02] [-4.58784532e-01 8.79077546e-01 -1.29380914e-01 -5.28533034e+01] [-2.64073544e-01 4.13412614e-03 9.64493687e-01 -1.69459781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:-52.87, Z:-16.95 [[ 8.48415971e-01 4.76304683e-01 2.30920307e-01 1.09678511e+02] [-4.58283853e-01 8.79269594e-01 -1.29849494e-01 -5.28689926e+01] [-2.64889127e-01 4.33933632e-03 9.64269112e-01 -1.69545810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:-52.88, Z:-16.96 [[ 8.47988930e-01 4.76554812e-01 2.31970442e-01 1.09705341e+02] [-4.58350836e-01 8.79133930e-01 -1.30529862e-01 -5.28836818e+01] [-2.66137720e-01 4.36403177e-03 9.63925137e-01 -1.69631618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:-52.90, Z:-16.97 [[ 8.48129300e-01 4.76234361e-01 2.32115325e-01 1.09731866e+02] [-4.57972189e-01 8.79306649e-01 -1.30695412e-01 -5.28991222e+01] [-2.66342194e-01 4.54424486e-03 9.63867826e-01 -1.69716662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:-52.92, Z:-16.98 [[ 8.48444878e-01 4.75702383e-01 2.32052865e-01 1.09759313e+02] [-4.57415841e-01 8.79593426e-01 -1.30714012e-01 -5.29153373e+01] [-2.66293142e-01 4.75897727e-03 9.63880343e-01 -1.69812794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:-52.93, Z:-16.99 [[ 8.48798726e-01 4.75209003e-01 2.31769554e-01 1.09786117e+02] [-4.56925185e-01 8.79858802e-01 -1.30644032e-01 -5.29306562e+01] [-2.66007702e-01 4.98914159e-03 9.63957992e-01 -1.69903437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:-52.95, Z:-17.00 [[ 8.48940914e-01 4.75106678e-01 2.31458351e-01 1.09813625e+02] [-4.56846321e-01 8.79913484e-01 -1.30551517e-01 -5.29459534e+01] [-2.65689222e-01 5.08962761e-03 9.64045296e-01 -1.69993485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:-52.96, Z:-17.01 [[ 8.49295448e-01 4.74637817e-01 2.31119415e-01 1.09841276e+02] [-4.56390808e-01 8.80165193e-01 -1.30447934e-01 -5.29606022e+01] [-2.65338787e-01 5.30805990e-03 9.64140629e-01 -1.70086207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:-52.97, Z:-17.02 [[ 8.49391747e-01 4.74620522e-01 2.30800826e-01 1.09868172e+02] [-4.56400085e-01 8.80174049e-01 -1.30355688e-01 -5.29747423e+01] [-2.65014382e-01 5.38552910e-03 9.64229419e-01 -1.70172075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:-52.99, Z:-17.03 [[ 8.49641925e-01 4.74418776e-01 2.30294211e-01 1.09896332e+02] [-4.56250295e-01 8.80282039e-01 -1.30150681e-01 -5.29891596e+01] [-2.64469785e-01 5.50967336e-03 9.64378233e-01 -1.70262202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:-53.00, Z:-17.04 [[ 8.50134174e-01 4.73790281e-01 2.29770875e-01 1.09924922e+02] [-4.55660041e-01 8.80618809e-01 -1.29940144e-01 -5.30034639e+01] [-2.63904932e-01 5.76915096e-03 9.64531443e-01 -1.70351231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:-53.02, Z:-17.04 [[ 8.50306911e-01 4.73541701e-01 2.29644104e-01 1.09952854e+02] [-4.55399226e-01 8.80751490e-01 -1.29955216e-01 -5.30186901e+01] [-2.63798601e-01 5.92207096e-03 9.64559603e-01 -1.70444317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:-53.03, Z:-17.05 [[ 8.50608665e-01 4.73234004e-01 2.29160374e-01 1.09981027e+02] [-4.55134851e-01 8.80915761e-01 -1.29767830e-01 -5.30337688e+01] [-2.63281535e-01 6.08276839e-03 9.64699867e-01 -1.70532358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:-53.05, Z:-17.06 [[ 8.50653285e-01 4.73129190e-01 2.29211166e-01 1.10007913e+02] [-4.54993845e-01 8.80971257e-01 -1.29885505e-01 -5.30482734e+01] [-2.63381072e-01 6.19786159e-03 9.64671964e-01 -1.70621152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:-53.06, Z:-17.07 [[ 8.50816906e-01 4.72915733e-01 2.29044325e-01 1.10035638e+02] [-4.54785277e-01 8.81085085e-01 -1.29843849e-01 -5.30628682e+01] [-2.63212738e-01 6.30735470e-03 9.64717198e-01 -1.70709534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:-53.08, Z:-17.08 [[ 8.50797966e-01 4.72782505e-01 2.29389460e-01 1.10063506e+02] [-4.54567752e-01 8.81155634e-01 -1.30126505e-01 -5.30770891e+01] [-2.63649350e-01 6.43831436e-03 9.64597102e-01 -1.70797461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:-53.09, Z:-17.09 [[ 8.50793746e-01 4.72644509e-01 2.29689289e-01 1.10091344e+02] [-4.54352604e-01 8.81228697e-01 -1.30382880e-01 -5.30920791e+01] [-2.64033545e-01 6.56901242e-03 9.64491128e-01 -1.70886975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:-53.10, Z:-17.10 [[ 8.51333007e-01 4.73894291e-01 2.25069570e-01 1.10118891e+02] [-4.54336843e-01 8.80486087e-01 -1.35359831e-01 -5.31034684e+01] [-2.62316876e-01 1.29788942e-02 9.64894504e-01 -1.70990804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:-53.12, Z:-17.10 [[ 8.51129452e-01 4.70428658e-01 2.32971100e-01 1.10144550e+02] [-4.53597862e-01 8.82437906e-01 -1.24708945e-01 -5.31249585e+01] [-2.64249192e-01 4.68262865e-04 9.64454325e-01 -1.71037465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:-53.14, Z:-17.12 [[ 8.51782079e-01 4.70684623e-01 2.30050592e-01 1.10173261e+02] [-4.52207520e-01 8.82270692e-01 -1.30792909e-01 -5.31372224e+01] [-2.64529106e-01 7.37644836e-03 9.64349491e-01 -1.71153349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:-53.15, Z:-17.12 [[ 8.52166637e-01 4.69895491e-01 2.30239552e-01 1.10201110e+02] [-4.51334771e-01 8.82688390e-01 -1.30989050e-01 -5.31529624e+01] [-2.64780943e-01 7.70938249e-03 9.64277770e-01 -1.71246145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:-53.17, Z:-17.13 [[ 8.52505476e-01 4.69197494e-01 2.30408607e-01 1.10228083e+02] [-4.50559607e-01 8.83056904e-01 -1.31173719e-01 -5.31682586e+01] [-2.65010291e-01 8.01350206e-03 9.64212284e-01 -1.71332370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:-53.18, Z:-17.14 [[ 8.53091983e-01 4.67856364e-01 2.30964263e-01 1.10255552e+02] [-4.49055684e-01 8.83763375e-01 -1.31572373e-01 -5.31837667e+01] [-2.65674729e-01 8.52752165e-03 9.64025010e-01 -1.71420260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:-53.20, Z:-17.15 [[ 8.53269263e-01 4.67521948e-01 2.30986565e-01 1.10281942e+02] [-4.48681206e-01 8.83938518e-01 -1.31673353e-01 -5.31985896e+01] [-2.65738104e-01 8.71349439e-03 9.64005879e-01 -1.71507299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:-53.21, Z:-17.16 [[ 8.53132585e-01 4.67798567e-01 2.30931361e-01 1.10309866e+02] [-4.48954414e-01 8.83792288e-01 -1.31723671e-01 -5.32136581e+01] [-2.65715501e-01 8.70010209e-03 9.64012231e-01 -1.71604196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:-53.23, Z:-17.17 [[ 8.52567672e-01 4.69184717e-01 2.30204398e-01 1.10337563e+02] [-4.50487348e-01 8.83060867e-01 -1.31395030e-01 -5.32289567e+01] [-2.64933036e-01 8.31898612e-03 9.64230927e-01 -1.71703810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:-53.24, Z:-17.18 [[ 8.52201565e-01 4.69985233e-01 2.29926887e-01 1.10364708e+02] [-4.51338586e-01 8.82636751e-01 -1.31323441e-01 -5.32444452e+01] [-2.64661998e-01 8.13916638e-03 9.64306891e-01 -1.71794888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:-53.26, Z:-17.19 [[ 8.52113353e-01 4.70163534e-01 2.29889290e-01 1.10392603e+02] [-4.51505528e-01 8.82541574e-01 -1.31389225e-01 -5.32604392e+01] [-2.64661278e-01 8.16222767e-03 9.64306894e-01 -1.71886931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:-53.28, Z:-17.20 [[ 8.51690992e-01 4.71092137e-01 2.29553158e-01 1.10420299e+02] [-4.52506823e-01 8.82048499e-01 -1.31255554e-01 -5.32762703e+01] [-2.64310477e-01 7.91480253e-03 9.64405168e-01 -1.71978604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:-53.29, Z:-17.21 [[ 8.51370899e-01 4.71757295e-01 2.29374467e-01 1.10446683e+02] [-4.53201327e-01 8.81694110e-01 -1.31240447e-01 -5.32912202e+01] [-2.64151754e-01 7.78148444e-03 9.64449739e-01 -1.72068300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:-53.31, Z:-17.22 [[ 8.51300655e-01 4.72046962e-01 2.29038995e-01 1.10473863e+02] [-4.53534617e-01 8.81539311e-01 -1.31128922e-01 -5.33071006e+01] [-2.63805887e-01 7.75302382e-03 9.64544631e-01 -1.72153067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:-53.32, Z:-17.22 [[ 8.51252739e-01 4.72116028e-01 2.29074727e-01 1.10500241e+02] [-4.53576318e-01 8.81501796e-01 -1.31236840e-01 -5.33224343e+01] [-2.63888799e-01 7.81284840e-03 9.64521467e-01 -1.72238778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:-53.34, Z:-17.23 [[ 8.51374486e-01 4.71912459e-01 2.29041733e-01 1.10527318e+02] [-4.53348821e-01 8.81609579e-01 -1.31298884e-01 -5.33380388e+01] [-2.63886965e-01 7.94871997e-03 9.64520859e-01 -1.72329565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:-53.35, Z:-17.24 [[ 8.52113302e-01 4.70587632e-01 2.29020089e-01 1.10555081e+02] [-4.51956522e-01 8.82312908e-01 -1.31374404e-01 -5.33540685e+01] [-2.63890551e-01 8.43875435e-03 9.64515715e-01 -1.72418075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:-53.37, Z:-17.25 [[ 8.52371494e-01 4.69979642e-01 2.29307595e-01 1.10581227e+02] [-4.51255082e-01 8.82634190e-01 -1.31627268e-01 -5.33697082e+01] [-2.64256860e-01 8.71911303e-03 9.64412925e-01 -1.72504361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.61, Y:-53.39, Z:-17.26 [[ 8.52942125e-01 4.69008005e-01 2.29175093e-01 1.10608830e+02] [-4.50248861e-01 8.83147146e-01 -1.31632372e-01 -5.33857148e+01] [-2.64131966e-01 9.08897077e-03 9.64443723e-01 -1.72592715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:-53.40, Z:-17.27 [[ 8.53426792e-01 4.68068370e-01 2.29291761e-01 1.10636384e+02] [-4.49232495e-01 8.83641564e-01 -1.31786765e-01 -5.34012823e+01] [-2.64296946e-01 9.46504616e-03 9.64394907e-01 -1.72686344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:-53.41, Z:-17.28 [[ 8.53784947e-01 4.68229415e-01 2.27623547e-01 1.10664115e+02] [-4.48016191e-01 8.83481183e-01 -1.36903222e-01 -5.34139434e+01] [-2.65203236e-01 1.49068757e-02 9.64077294e-01 -1.72817095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:-53.43, Z:-17.28 [[ 8.54379667e-01 4.64985236e-01 2.32000250e-01 1.10688652e+02] [-4.47097323e-01 8.85301316e-01 -1.27849771e-01 -5.34334807e+01] [-2.64838382e-01 5.50555424e-03 9.64277097e-01 -1.72846992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:-53.45, Z:-17.30 [[ 8.54416015e-01 4.66025695e-01 2.29767982e-01 1.10716866e+02] [-4.46987021e-01 8.84711372e-01 -1.32243677e-01 -5.34468067e+01] [-2.64907299e-01 1.02878099e-02 9.64219002e-01 -1.72950763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:-53.46, Z:-17.30 [[ 8.54202745e-01 4.66472301e-01 2.29654659e-01 1.10744140e+02] [-4.47444868e-01 8.84476725e-01 -1.32264936e-01 -5.34617689e+01] [-2.64822130e-01 1.02232732e-02 9.64243084e-01 -1.73040595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:-53.48, Z:-17.31 [[ 8.53929216e-01 4.66945051e-01 2.29711151e-01 1.10771777e+02] [-4.47902744e-01 8.84228045e-01 -1.32377858e-01 -5.34772271e+01] [-2.64930228e-01 1.01530657e-02 9.64214131e-01 -1.73136032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:-53.49, Z:-17.32 [[ 8.53518806e-01 4.67802655e-01 2.29491446e-01 1.10799233e+02] [-4.48805009e-01 8.83776900e-01 -1.32334629e-01 -5.34926540e+01] [-2.64725730e-01 9.95318419e-03 9.64272380e-01 -1.73224088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:-53.51, Z:-17.33 [[ 8.52946031e-01 4.68697502e-01 2.29794949e-01 1.10825829e+02] [-4.49656047e-01 8.83304700e-01 -1.32598064e-01 -5.35072282e+01] [-2.65127340e-01 9.77030345e-03 9.64163904e-01 -1.73314865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:-53.52, Z:-17.34 [[ 8.51675728e-01 4.70883464e-01 2.30037428e-01 1.10853842e+02] [-4.51856479e-01 8.82147703e-01 -1.32819999e-01 -5.35221150e+01] [-2.65469730e-01 9.17566745e-03 9.64075531e-01 -1.73407320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:-53.54, Z:-17.35 [[ 8.50812547e-01 4.72428414e-01 2.30063911e-01 1.10881715e+02] [-4.53427986e-01 8.81325355e-01 -1.32923587e-01 -5.35377292e+01] [-2.65558037e-01 8.77563964e-03 9.64054935e-01 -1.73500289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:-53.55, Z:-17.36 [[ 8.49862444e-01 4.74143728e-01 2.30046848e-01 1.10909221e+02] [-4.55183460e-01 8.80408147e-01 -1.33001923e-01 -5.35530938e+01] [-2.65597147e-01 8.31981879e-03 9.64048202e-01 -1.73591171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:-53.56, Z:-17.38 [[ 8.48404608e-01 4.79510132e-01 2.24231255e-01 1.10938710e+02] [-4.55429193e-01 8.77112717e-01 -1.52504203e-01 -5.35570915e+01] [-2.69803395e-01 2.72638087e-02 9.62529383e-01 -1.73820190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:-53.58, Z:-17.38 [[ 8.46243930e-01 4.77586734e-01 2.36182391e-01 1.10962014e+02] [-4.58898206e-01 8.78577188e-01 -1.32342589e-01 -5.35826348e+01] [-2.70709526e-01 3.61043715e-03 9.62654308e-01 -1.73825160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:-53.61, Z:-17.38 [[ 8.45459970e-01 4.77182676e-01 2.39779344e-01 1.10987128e+02] [-4.62407632e-01 8.78737273e-01 -1.18321537e-01 -5.36052931e+01] [-2.67164034e-01 -1.08396756e-02 9.63590100e-01 -1.73795120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:-53.61, Z:-17.39 [[ 8.44195768e-01 4.83511242e-01 2.31409559e-01 1.11017935e+02] [-4.64602079e-01 8.75320108e-01 -1.34013495e-01 -5.36122110e+01] [-2.67354471e-01 5.62026315e-03 9.63581859e-01 -1.73944706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:-53.63, Z:-17.40 [[ 8.41701988e-01 4.87490340e-01 2.32144205e-01 1.11045693e+02] [-4.68581859e-01 8.73117022e-01 -1.34527721e-01 -5.36262910e+01] [-2.68270021e-01 4.45368665e-03 9.63333463e-01 -1.74041824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:-53.64, Z:-17.41 [[ 8.41642243e-01 4.87612297e-01 2.32104680e-01 1.11073506e+02] [-4.68689577e-01 8.73048698e-01 -1.34595881e-01 -5.36424737e+01] [-2.68269295e-01 4.49653479e-03 9.63333466e-01 -1.74133765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:-53.66, Z:-17.42 [[ 8.40636950e-01 4.89429408e-01 2.31923206e-01 1.11100230e+02] [-4.70593914e-01 8.72033981e-01 -1.34529196e-01 -5.36571716e+01] [-2.68087461e-01 3.94856407e-03 9.63386486e-01 -1.74220062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:-53.67, Z:-17.43 [[ 8.39477030e-01 4.91313768e-01 2.32140255e-01 1.11127316e+02] [-4.72489524e-01 8.70975913e-01 -1.34739042e-01 -5.36722081e+01] [-2.68387717e-01 3.42649186e-03 9.63304880e-01 -1.74317344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:-53.69, Z:-17.44 [[ 8.38529611e-01 4.93036088e-01 2.31912714e-01 1.11154781e+02] [-4.74289272e-01 8.70003849e-01 -1.34695916e-01 -5.36876656e+01] [-2.68174901e-01 2.95280180e-03 9.63365716e-01 -1.74410728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:-53.70, Z:-17.46 [[ 8.36458708e-01 4.97641081e-01 2.29543427e-01 1.11183176e+02] [-4.76484179e-01 8.67312479e-01 -1.43985732e-01 -5.36971830e+01] [-2.70739094e-01 1.10643085e-02 9.62589177e-01 -1.74573321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:-53.72, Z:-17.46 [[ 8.35806645e-01 4.95297015e-01 2.36871526e-01 1.11207581e+02] [-4.78847501e-01 8.68691835e-01 -1.26805234e-01 -5.37225435e+01] [-2.68574615e-01 -7.44068158e-03 9.63230145e-01 -1.74561865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:-53.73, Z:-17.47 [[ 8.34999922e-01 4.98840675e-01 2.32235035e-01 1.11236587e+02] [-4.80201729e-01 8.66692757e-01 -1.35092428e-01 -5.37337977e+01] [-2.68666021e-01 1.28250161e-03 9.63232539e-01 -1.74681847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:-53.75, Z:-17.48 [[ 8.34483282e-01 4.99798161e-01 2.32033295e-01 1.11264475e+02] [-4.81203662e-01 8.66141263e-01 -1.35064235e-01 -5.37493388e+01] [-2.68478467e-01 1.05357523e-03 9.63285110e-01 -1.74775000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:-53.76, Z:-17.49 [[ 8.33948937e-01 5.00997188e-01 2.31367647e-01 1.11291195e+02] [-4.82531288e-01 8.65448588e-01 -1.34767567e-01 -5.37645786e+01] [-2.67754975e-01 7.47140781e-04 9.63486749e-01 -1.74871015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-53.78, Z:-17.50 [[ 8.33853280e-01 5.01322155e-01 2.31008232e-01 1.11317978e+02] [-4.82911618e-01 8.65260434e-01 -1.34613338e-01 -5.37807743e+01] [-2.67366932e-01 6.91213951e-04 9.63594544e-01 -1.74961958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:-53.80, Z:-17.50 [[ 8.33811840e-01 5.01478855e-01 2.30817619e-01 1.11343985e+02] [-4.83080425e-01 8.65169601e-01 -1.34591474e-01 -5.37966504e+01] [-2.67191166e-01 7.20491049e-04 9.63643275e-01 -1.75049253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:-53.81, Z:-17.51 [[ 8.34317688e-01 5.00728525e-01 2.30618601e-01 1.11370656e+02] [-4.82311317e-01 8.65603763e-01 -1.34558237e-01 -5.38138589e+01] [-2.67001476e-01 1.03435607e-03 9.63695565e-01 -1.75140640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:-53.83, Z:-17.52 [[ 8.34700967e-01 5.00121120e-01 2.30549694e-01 1.11397093e+02] [-4.81667715e-01 8.65954475e-01 -1.34607053e-01 -5.38301824e+01] [-2.66965369e-01 1.30829299e-03 9.63705235e-01 -1.75228837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:-53.85, Z:-17.53 [[ 8.35096544e-01 4.99421728e-01 2.30633260e-01 1.11424310e+02] [-4.80913540e-01 8.66357570e-01 -1.34709796e-01 -5.38471914e+01] [-2.67087870e-01 1.58102776e-03 9.63670883e-01 -1.75319972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:-53.86, Z:-17.54 [[ 8.35934036e-01 4.97985817e-01 2.30704171e-01 1.11451084e+02] [-4.79388116e-01 8.67182585e-01 -1.34838418e-01 -5.38646036e+01] [-2.67210259e-01 2.11918490e-03 9.63635920e-01 -1.75410224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:-53.88, Z:-17.55 [[ 8.36317673e-01 4.97395561e-01 2.30587090e-01 1.11476810e+02] [-4.78769816e-01 8.67520576e-01 -1.34861089e-01 -5.38807273e+01] [-2.67118352e-01 2.38857359e-03 9.63660771e-01 -1.75497886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:-53.90, Z:-17.56 [[ 8.36616219e-01 4.96967896e-01 2.30426155e-01 1.11503411e+02] [-4.78337432e-01 8.67765112e-01 -1.34822146e-01 -5.38975537e+01] [-2.66958057e-01 2.57293912e-03 9.63704714e-01 -1.75587178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:-53.91, Z:-17.57 [[ 8.36902433e-01 4.96694448e-01 2.29975961e-01 1.11530124e+02] [-4.78103531e-01 8.67921166e-01 -1.34647183e-01 -5.39143741e+01] [-2.66479513e-01 2.73423633e-03 9.63836705e-01 -1.75676170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:-53.93, Z:-17.58 [[ 8.37306926e-01 4.96369946e-01 2.29202942e-01 1.11556260e+02] [-4.77869612e-01 8.68106227e-01 -1.34284073e-01 -5.39322496e+01] [-2.65627079e-01 2.90786379e-03 9.64071470e-01 -1.75763950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:-53.95, Z:-17.59 [[ 8.37439842e-01 4.96281539e-01 2.28908595e-01 1.11582971e+02] [-4.77801894e-01 8.68156416e-01 -1.34200553e-01 -5.39491544e+01] [-2.65329722e-01 3.01192939e-03 9.64153031e-01 -1.75854798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:-53.97, Z:-17.59 [[ 8.37528992e-01 4.96177876e-01 2.28807129e-01 1.11609973e+02] [-4.77686748e-01 8.68215274e-01 -1.34229689e-01 -5.39664291e+01] [-2.65255646e-01 3.12312275e-03 9.64173059e-01 -1.75946288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:-53.98, Z:-17.60 [[ 8.37663563e-01 4.96025948e-01 2.28643859e-01 1.11636422e+02] [-4.77531712e-01 8.68301620e-01 -1.34222803e-01 -5.39833011e+01] [-2.65109826e-01 3.24885828e-03 9.64212749e-01 -1.76034586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:-54.00, Z:-17.61 [[ 8.38518195e-01 4.94547889e-01 2.28712968e-01 1.11661592e+02] [-4.75963774e-01 8.69142085e-01 -1.34352233e-01 -5.40007177e+01] [-2.65227679e-01 3.79770430e-03 9.64178332e-01 -1.76120948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:-54.02, Z:-17.62 [[ 8.38926111e-01 4.93862737e-01 2.28697568e-01 1.11688230e+02] [-4.75233509e-01 8.69530265e-01 -1.34425555e-01 -5.40179640e+01] [-2.65247229e-01 4.08836073e-03 9.64171765e-01 -1.76208834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:-54.04, Z:-17.63 [[ 8.39446389e-01 4.93063441e-01 2.28513026e-01 1.11715252e+02] [-4.74411792e-01 8.69982151e-01 -1.34404273e-01 -5.40352627e+01] [-2.65072087e-01 4.41590744e-03 9.64218486e-01 -1.76298645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:-54.05, Z:-17.64 [[ 8.40356493e-01 4.91509656e-01 2.28515255e-01 1.11740471e+02] [-4.72776996e-01 8.70857853e-01 -1.34493540e-01 -5.40527424e+01] [-2.65109178e-01 4.98576395e-03 9.64205510e-01 -1.76387544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:-54.07, Z:-17.65 [[ 8.40391002e-01 4.91467533e-01 2.28478944e-01 1.11767144e+02] [-4.72724887e-01 8.70881279e-01 -1.34525010e-01 -5.40703714e+01] [-2.65092710e-01 5.04592473e-03 9.64209725e-01 -1.76473828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:-54.09, Z:-17.66 [[ 8.40393940e-01 4.91291493e-01 2.28846445e-01 1.11793111e+02] [-4.72456476e-01 8.70979752e-01 -1.34830078e-01 -5.40870134e+01] [-2.65561490e-01 5.19039577e-03 9.64079952e-01 -1.76559364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:-54.10, Z:-17.66 [[ 8.40301680e-01 4.91350376e-01 2.29058715e-01 1.11820096e+02] [-4.72459162e-01 8.70946171e-01 -1.35037431e-01 -5.41040931e+01] [-2.65848503e-01 5.25129201e-03 9.64000517e-01 -1.76646404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:-54.12, Z:-17.67 [[ 8.40120767e-01 4.91714954e-01 2.28939949e-01 1.11847061e+02] [-4.72833204e-01 8.70740632e-01 -1.35053738e-01 -5.41216388e+01] [-2.65755259e-01 5.21103988e-03 9.64026445e-01 -1.76732579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:-54.14, Z:-17.68 [[ 8.39739049e-01 4.92374775e-01 2.28922280e-01 1.11874193e+02] [-4.73495775e-01 8.70368462e-01 -1.35131384e-01 -5.41385389e+01] [-2.65782018e-01 5.08136796e-03 9.64019761e-01 -1.76824415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:-54.15, Z:-17.69 [[ 8.39268810e-01 4.93252529e-01 2.28757090e-01 1.11901030e+02] [-4.74409154e-01 8.69872485e-01 -1.35121482e-01 -5.41548105e+01] [-2.65638512e-01 4.87878809e-03 9.64060360e-01 -1.76914645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:-54.17, Z:-17.70 [[ 8.38448769e-01 4.94622120e-01 2.28806948e-01 1.11928294e+02] [-4.75795773e-01 8.69096351e-01 -1.35240210e-01 -5.41714314e+01] [-2.65748083e-01 4.52660932e-03 9.64031880e-01 -1.77004767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:-54.19, Z:-17.71 [[ 8.36783310e-01 4.97574535e-01 2.28502241e-01 1.11954652e+02] [-4.78882614e-01 8.67413484e-01 -1.35149141e-01 -5.41870157e+01] [-2.65452696e-01 3.66479518e-03 9.64116920e-01 -1.77091709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:-54.20, Z:-17.72 [[ 8.35568334e-01 4.99608394e-01 2.28510421e-01 1.11981688e+02] [-4.80966903e-01 8.66245856e-01 -1.35236663e-01 -5.42026175e+01] [-2.65511578e-01 3.09352322e-03 9.64102708e-01 -1.77182229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:-54.22, Z:-17.73 [[ 8.34322530e-01 5.01681008e-01 2.28521514e-01 1.12008766e+02] [-4.83089636e-01 8.65049044e-01 -1.35331283e-01 -5.42181006e+01] [-2.65575452e-01 2.51356290e-03 9.64086802e-01 -1.77273877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:-54.23, Z:-17.74 [[ 8.32145569e-01 5.05568901e-01 2.27889971e-01 1.12036274e+02] [-4.87200906e-01 8.62785181e-01 -1.35044473e-01 -5.42333202e+01] [-2.64894376e-01 1.34845914e-03 9.64276491e-01 -1.77366678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:-54.25, Z:-17.75 [[ 8.31145149e-01 5.07296396e-01 2.27701795e-01 1.12063640e+02] [-4.88998562e-01 8.61771198e-01 -1.35021509e-01 -5.42492080e+01] [-2.64722774e-01 8.76621874e-04 9.64324160e-01 -1.77457416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:-54.27, Z:-17.76 [[ 8.30308825e-01 5.08680332e-01 2.27665490e-01 1.12091281e+02] [-4.90415193e-01 8.60955315e-01 -1.35088428e-01 -5.42651180e+01] [-2.64726640e-01 5.14498669e-04 9.64323359e-01 -1.77552582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:-54.28, Z:-17.76 [[ 8.29506520e-01 5.10094019e-01 2.27426967e-01 1.12117752e+02] [-4.91895591e-01 8.60118638e-01 -1.35035760e-01 -5.42800218e+01] [-2.64495106e-01 1.42720795e-04 9.64387017e-01 -1.77642392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:-54.31, Z:-17.77 [[ 8.29512931e-01 5.08881458e-01 2.30104236e-01 1.12144472e+02] [-4.93867163e-01 8.60760866e-01 -1.23231314e-01 -5.43050274e+01] [-2.60774852e-01 -1.14189578e-02 9.65332111e-01 -1.77652334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:-54.31, Z:-17.79 [[ 8.29185300e-01 5.13820643e-01 2.20091084e-01 1.12172825e+02] [-4.92693371e-01 8.57799816e-01 -1.46399172e-01 -5.43053390e+01] [-2.64017008e-01 1.29546230e-02 9.64431023e-01 -1.77860363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:-54.33, Z:-17.79 [[ 8.29238441e-01 5.10752494e-01 2.26926194e-01 1.12197911e+02] [-4.92606162e-01 8.59727793e-01 -1.34934393e-01 -5.43284366e+01] [-2.64012834e-01 1.07544075e-04 9.64519161e-01 -1.77905503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-54.34, Z:-17.80 [[ 8.29303245e-01 5.10707481e-01 2.26790644e-01 1.12224009e+02] [-4.92557102e-01 8.59754516e-01 -1.34943220e-01 -5.43443834e+01] [-2.63900793e-01 2.01507629e-04 9.64549807e-01 -1.77993415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:-54.36, Z:-17.81 [[ 8.29910034e-01 5.09813033e-01 2.26583331e-01 1.12251265e+02] [-4.91641058e-01 8.60285045e-01 -1.34902601e-01 -5.43613334e+01] [-2.63701356e-01 5.59353408e-04 9.64604210e-01 -1.78084986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:-54.38, Z:-17.82 [[ 8.30355846e-01 5.09230707e-01 2.26259269e-01 1.12278194e+02] [-4.91066583e-01 8.60629661e-01 -1.34796876e-01 -5.43777679e+01] [-2.63368147e-01 8.21007684e-04 9.64695053e-01 -1.78173350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-54.39, Z:-17.83 [[ 8.30846661e-01 5.08545392e-01 2.25998696e-01 1.12305554e+02] [-4.90375144e-01 8.61034460e-01 -1.34728900e-01 -5.43943686e+01] [-2.63108427e-01 1.11491318e-03 9.64765626e-01 -1.78265593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:-54.41, Z:-17.84 [[ 8.32126188e-01 5.06539935e-01 2.25794823e-01 1.12332151e+02] [-4.88306669e-01 8.62214568e-01 -1.34694603e-01 -5.44112251e+01] [-2.62911781e-01 1.82578828e-03 9.64818150e-01 -1.78358136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:-54.43, Z:-17.84 [[ 8.32781319e-01 5.05469160e-01 2.25779101e-01 1.12359051e+02] [-4.87175674e-01 8.62841757e-01 -1.34773754e-01 -5.44278709e+01] [-2.62935613e-01 2.24297892e-03 9.64810776e-01 -1.78447827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:-54.44, Z:-17.85 [[ 8.33365908e-01 5.04437251e-01 2.25929907e-01 1.12386308e+02] [-4.86057254e-01 8.63444286e-01 -1.34952996e-01 -5.44447701e+01] [-2.63153205e-01 2.65035589e-03 9.64750416e-01 -1.78539220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:-54.46, Z:-17.86 [[ 8.33978465e-01 5.03429816e-01 2.25916667e-01 1.12412222e+02] [-4.84991411e-01 8.64030747e-01 -1.35034070e-01 -5.44610440e+01] [-2.63179124e-01 3.04786362e-03 9.64742173e-01 -1.78621222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:-54.48, Z:-17.87 [[ 8.34637865e-01 5.02248173e-01 2.26111490e-01 1.12439439e+02] [-4.83712186e-01 8.64716450e-01 -1.35233070e-01 -5.44780125e+01] [-2.63442887e-01 3.49775739e-03 9.64668653e-01 -1.78711607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:-54.50, Z:-17.88 [[ 8.35886298e-01 5.00274230e-01 2.25875611e-01 1.12466206e+02] [-4.81682830e-01 8.65856860e-01 -1.35179694e-01 -5.44954385e+01] [-2.63202865e-01 4.19445050e-03 9.64731392e-01 -1.78799864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:-54.51, Z:-17.89 [[ 8.36543311e-01 4.99214181e-01 2.25788597e-01 1.12493068e+02] [-4.81125507e-01 8.66474128e-01 -1.33194715e-01 -5.45134139e+01] [-2.62132669e-01 2.79049492e-03 9.65027812e-01 -1.78877695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:-54.53, Z:-17.90 [[ 8.36578071e-01 4.99665869e-01 2.24657852e-01 1.12519450e+02] [-4.80585071e-01 8.66193256e-01 -1.36920536e-01 -5.45271739e+01] [-2.63011635e-01 6.57750807e-03 9.64770240e-01 -1.78986169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:-54.54, Z:-17.91 [[ 8.36511522e-01 4.99128508e-01 2.26095568e-01 1.12546295e+02] [-4.80405679e-01 8.66515037e-01 -1.35506730e-01 -5.45448820e+01] [-2.63550481e-01 4.73534636e-03 9.64633983e-01 -1.79067295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:-54.56, Z:-17.92 [[ 8.36145013e-01 4.99351134e-01 2.26958065e-01 1.12573692e+02] [-4.80466067e-01 8.66386604e-01 -1.36112489e-01 -5.45613364e+01] [-2.64601353e-01 4.76413022e-03 9.64346114e-01 -1.79157352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:-54.58, Z:-17.92 [[ 8.35673677e-01 4.99940882e-01 2.27395298e-01 1.12600674e+02] [-4.80978149e-01 8.66046953e-01 -1.36464997e-01 -5.45772496e+01] [-2.65159436e-01 4.66803675e-03 9.64193281e-01 -1.79247227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:-54.59, Z:-17.93 [[ 8.35487323e-01 5.00212393e-01 2.27482957e-01 1.12627932e+02] [-4.81220025e-01 8.65890183e-01 -1.36607024e-01 -5.45927949e+01] [-2.65307785e-01 4.66408204e-03 9.64152491e-01 -1.79336737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:-54.61, Z:-17.94 [[ 8.34993261e-01 5.00872287e-01 2.27844696e-01 1.12653909e+02] [-4.81817554e-01 8.65509280e-01 -1.36914319e-01 -5.46081836e+01] [-2.65778287e-01 4.54295982e-03 9.64023477e-01 -1.79424868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:-54.62, Z:-17.95 [[ 8.34133224e-01 5.02057733e-01 2.28385194e-01 1.12680781e+02] [-4.82931144e-01 8.64823659e-01 -1.37322794e-01 -5.46240146e+01] [-2.66456890e-01 4.25118225e-03 9.63837462e-01 -1.79519492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:-54.64, Z:-17.96 [[ 8.33777272e-01 5.02613786e-01 2.28461906e-01 1.12707607e+02] [-4.83470042e-01 8.64501082e-01 -1.37457620e-01 -5.46398982e+01] [-2.66593660e-01 4.15455223e-03 9.63800062e-01 -1.79613221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:-54.66, Z:-17.97 [[ 8.33482036e-01 5.03106947e-01 2.28453704e-01 1.12734771e+02] [-4.83958376e-01 8.64214549e-01 -1.37540914e-01 -5.46557002e+01] [-2.66630804e-01 4.07579733e-03 9.63790124e-01 -1.79709816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:-54.67, Z:-17.98 [[ 8.32962448e-01 5.03939107e-01 2.28514633e-01 1.12762494e+02] [-4.84786165e-01 8.63730421e-01 -1.37666747e-01 -5.46711629e+01] [-2.66750698e-01 3.89049770e-03 9.63757713e-01 -1.79811431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:-54.69, Z:-17.99 [[ 8.32692867e-01 5.04129013e-01 2.29077557e-01 1.12789079e+02] [-4.84861926e-01 8.63619460e-01 -1.38095408e-01 -5.46864384e+01] [-2.67453738e-01 3.92007555e-03 9.63562728e-01 -1.79909404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:-54.70, Z:-18.00 [[ 8.32633874e-01 5.04243332e-01 2.29040376e-01 1.12816602e+02] [-4.84963539e-01 8.63552544e-01 -1.38157049e-01 -5.47031075e+01] [-2.67453170e-01 3.95800742e-03 9.63562731e-01 -1.80001337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:-54.72, Z:-18.01 [[ 8.32434261e-01 5.04302921e-01 2.29633981e-01 1.12843814e+02] [-4.84912962e-01 8.63517631e-01 -1.38552231e-01 -5.47189751e+01] [-2.68165286e-01 3.98313034e-03 9.63364684e-01 -1.80099041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:-54.73, Z:-18.02 [[ 8.32426563e-01 5.04094192e-01 2.30119669e-01 1.12869941e+02] [-4.84587741e-01 8.63638760e-01 -1.38934565e-01 -5.47348219e+01] [-2.68776373e-01 4.13965196e-03 9.63193711e-01 -1.80186491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:-54.75, Z:-18.03 [[ 8.32436312e-01 5.03740298e-01 2.30858179e-01 1.12896466e+02] [-4.84069241e-01 8.63844226e-01 -1.39463697e-01 -5.47511197e+01] [-2.69678989e-01 4.34330217e-03 9.62940486e-01 -1.80280324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:-54.77, Z:-18.04 [[ 8.32782564e-01 5.02555869e-01 2.32186994e-01 1.12922550e+02] [-4.82581751e-01 8.64531190e-01 -1.40359090e-01 -5.47676153e+01] [-2.71271183e-01 4.83939674e-03 9.62490792e-01 -1.80370600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:-54.78, Z:-18.05 [[ 8.32728431e-01 5.02345700e-01 2.32835043e-01 1.12949333e+02] [-4.82233408e-01 8.64652564e-01 -1.40807966e-01 -5.47841950e+01] [-2.72055693e-01 4.97396029e-03 9.62268653e-01 -1.80461457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:-54.80, Z:-18.06 [[ 8.32536328e-01 5.02537410e-01 2.33108158e-01 1.12975989e+02] [-4.82358569e-01 8.64541011e-01 -1.41063998e-01 -5.48003628e+01] [-2.72421499e-01 4.99918524e-03 9.62165025e-01 -1.80552034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:-54.82, Z:-18.06 [[ 8.32067099e-01 5.02948249e-01 2.33896133e-01 1.13002110e+02] [-4.82619085e-01 8.64302255e-01 -1.41634852e-01 -5.48158584e+01] [-2.73391956e-01 4.96696246e-03 9.61889894e-01 -1.80644168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:-54.83, Z:-18.07 [[ 8.31132985e-01 5.03970962e-01 2.35013259e-01 1.13029213e+02] [-4.83457931e-01 8.63707625e-01 -1.42399326e-01 -5.48312948e+01] [-2.74747869e-01 4.73375327e-03 9.61504654e-01 -1.80744696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:-54.85, Z:-18.08 [[ 8.30342875e-01 5.05225802e-01 2.35111888e-01 1.13056202e+02] [-4.84718199e-01 8.62975957e-01 -1.42550923e-01 -5.48478414e+01] [-2.74916310e-01 4.40313246e-03 9.61458077e-01 -1.80838286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:-54.86, Z:-18.09 [[ 8.29554316e-01 5.06288358e-01 2.35609287e-01 1.13082632e+02] [-4.85706911e-01 8.62354286e-01 -1.42947131e-01 -5.48637227e+01] [-2.75551146e-01 4.14535045e-03 9.61277474e-01 -1.80932144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:-54.88, Z:-18.10 [[ 8.28249208e-01 5.08231234e-01 2.36017503e-01 1.13109438e+02] [-4.87628767e-01 8.61213191e-01 -1.43283026e-01 -5.48800612e+01] [-2.76082296e-01 3.58512878e-03 9.61127313e-01 -1.81026816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:-54.90, Z:-18.11 [[ 8.27748536e-01 5.09259584e-01 2.35556866e-01 1.13135506e+02] [-4.88752789e-01 8.60606561e-01 -1.43098076e-01 -5.48959718e+01] [-2.75595851e-01 3.32014756e-03 9.61267863e-01 -1.81114930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:-54.91, Z:-18.12 [[ 8.27382393e-01 5.09927418e-01 2.35398395e-01 1.13162291e+02] [-4.89449977e-01 8.60211573e-01 -1.43090073e-01 -5.49120808e+01] [-2.75457975e-01 3.17446798e-03 9.61307873e-01 -1.81212402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:-54.93, Z:-18.13 [[ 8.27347988e-01 5.10126200e-01 2.35088423e-01 1.13189229e+02] [-4.89685068e-01 8.60093660e-01 -1.42994512e-01 -5.49278448e+01] [-2.75143309e-01 3.18693132e-03 9.61397942e-01 -1.81308615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:-54.94, Z:-18.14 [[ 8.27201809e-01 5.10464286e-01 2.34868857e-01 1.13215870e+02] [-4.90048840e-01 8.59893168e-01 -1.42954098e-01 -5.49440341e+01] [-2.74935088e-01 3.15467774e-03 9.61457615e-01 -1.81403326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:-54.96, Z:-18.15 [[ 8.27747280e-01 5.09535317e-01 2.34964255e-01 1.13241263e+02] [-4.89039774e-01 8.60442430e-01 -1.43104591e-01 -5.49604036e+01] [-2.75090057e-01 3.54757028e-03 9.61411917e-01 -1.81500460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:-54.98, Z:-18.16 [[ 8.28469241e-01 5.08465106e-01 2.34738051e-01 1.13268024e+02] [-4.87951243e-01 8.61073533e-01 -1.43024316e-01 -5.49773030e+01] [-2.74849597e-01 3.95052279e-03 9.61479117e-01 -1.81594474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:-54.99, Z:-18.17 [[ 8.29255302e-01 5.07231605e-01 2.34631078e-01 1.13294383e+02] [-4.86662387e-01 8.61798349e-01 -1.43050083e-01 -5.49943699e+01] [-2.74764199e-01 4.43891913e-03 9.61501394e-01 -1.81688207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:-55.01, Z:-18.18 [[ 8.31365532e-01 5.03865610e-01 2.34415868e-01 1.13319800e+02] [-4.83177520e-01 8.63763721e-01 -1.43009506e-01 -5.50116892e+01] [-2.74537494e-01 5.62869599e-03 9.61559921e-01 -1.81784559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:-55.03, Z:-18.19 [[ 8.32439641e-01 5.02178717e-01 2.34223783e-01 1.13346506e+02] [-4.81435663e-01 8.64741235e-01 -1.42976569e-01 -5.50289473e+01] [-2.74342753e-01 6.25568183e-03 9.61611627e-01 -1.81877033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:-55.05, Z:-18.20 [[ 8.32966312e-01 5.01075037e-01 2.34714572e-01 1.13373324e+02] [-4.80174016e-01 8.65377777e-01 -1.43367421e-01 -5.50451062e+01] [-2.74954610e-01 6.71639343e-03 9.61433748e-01 -1.81969408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:-55.06, Z:-18.21 [[ 8.33374949e-01 5.00033966e-01 2.35482968e-01 1.13400865e+02] [-4.78925581e-01 8.65976125e-01 -1.43929282e-01 -5.50605366e+01] [-2.75892158e-01 7.16824060e-03 9.61161867e-01 -1.82064048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:-55.08, Z:-18.22 [[ 8.33614805e-01 4.99672287e-01 2.35401706e-01 1.13427993e+02] [-4.78538233e-01 8.66183188e-01 -1.43971679e-01 -5.50775179e+01] [-2.75839658e-01 7.36820654e-03 9.61175422e-01 -1.82153170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:-55.09, Z:-18.22 [[ 8.33703336e-01 4.99550630e-01 2.35346376e-01 1.13454872e+02] [-4.78395401e-01 8.66252312e-01 -1.44030457e-01 -5.50946750e+01] [-2.75819848e-01 7.49004883e-03 9.61180166e-01 -1.82242465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:-55.11, Z:-18.23 [[ 8.33715911e-01 4.99569392e-01 2.35261986e-01 1.13482019e+02] [-4.78403527e-01 8.66240838e-01 -1.44072470e-01 -5.51114827e+01] [-2.75767736e-01 7.56534651e-03 9.61194528e-01 -1.82332162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:-55.13, Z:-18.24 [[ 8.34224066e-01 4.98626470e-01 2.35460936e-01 1.13508087e+02] [-4.77914146e-01 8.66794597e-01 -1.42355878e-01 -5.51275162e+01] [-2.75078676e-01 6.22658756e-03 9.61401556e-01 -1.82413554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:-55.14, Z:-18.25 [[ 8.33486440e-01 5.00536514e-01 2.34016138e-01 1.13535663e+02] [-4.79118100e-01 8.65670323e-01 -1.45123183e-01 -5.51413245e+01] [-2.75220278e-01 8.83683776e-03 9.61340579e-01 -1.82528926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:-55.16, Z:-18.26 [[ 8.32901093e-01 5.01372661e-01 2.34310102e-01 1.13562181e+02] [-4.80391133e-01 8.65202089e-01 -1.43700052e-01 -5.51570220e+01] [-2.74772867e-01 7.12743525e-03 9.61482746e-01 -1.82616136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:-55.17, Z:-18.27 [[ 8.31413962e-01 5.04051864e-01 2.33842986e-01 1.13591124e+02] [-4.83778881e-01 8.63661187e-01 -1.41588661e-01 -5.51735677e+01] [-2.73329139e-01 4.59049094e-03 9.61909616e-01 -1.82701632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:-55.19, Z:-18.28 [[ 8.30134718e-01 5.06960202e-01 2.32094169e-01 1.13617091e+02] [-4.85682572e-01 8.61931330e-01 -1.45556936e-01 -5.51853073e+01] [-2.73840809e-01 8.10777290e-03 9.61740857e-01 -1.82806296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:-55.20, Z:-18.29 [[ 8.28777839e-01 5.08553453e-01 2.33453807e-01 1.13644191e+02] [-4.87949457e-01 8.61016413e-01 -1.43373860e-01 -5.52028581e+01] [-2.73920831e-01 4.91141987e-03 9.61739703e-01 -1.82887076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:-55.22, Z:-18.30 [[ 8.27472958e-01 5.10630466e-01 2.33548777e-01 1.13671989e+02] [-4.90064326e-01 8.59789491e-01 -1.43523472e-01 -5.52190912e+01] [-2.74090241e-01 4.30786817e-03 9.61694329e-01 -1.82976654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:-55.23, Z:-18.31 [[ 8.25307288e-01 5.14094887e-01 2.33611486e-01 1.13698677e+02] [-4.93627300e-01 8.57727197e-01 -1.43652860e-01 -5.52337168e+01] [-2.74226126e-01 3.24074527e-03 9.61659778e-01 -1.83061898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:-55.25, Z:-18.31 [[ 8.24404012e-01 5.15715140e-01 2.33229328e-01 1.13725616e+02] [-4.95355337e-01 8.56755629e-01 -1.43502200e-01 -5.52496740e+01] [-2.73826797e-01 2.77239631e-03 9.61775025e-01 -1.83148953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:-55.27, Z:-18.32 [[ 8.23664362e-01 5.16963694e-01 2.33078438e-01 1.13752941e+02] [-4.96653529e-01 8.56003853e-01 -1.43501485e-01 -5.52658800e+01] [-2.73701099e-01 2.43782987e-03 9.61811710e-01 -1.83243674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:-55.28, Z:-18.33 [[ 8.23052447e-01 5.18063925e-01 2.32796993e-01 1.13779351e+02] [-4.97820562e-01 8.55339196e-01 -1.43420880e-01 -5.52815042e+01] [-2.73421577e-01 2.15177684e-03 9.61891892e-01 -1.83335647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:-55.30, Z:-18.34 [[ 8.22119661e-01 5.19852864e-01 2.32103991e-01 1.13806170e+02] [-4.99785921e-01 8.54254313e-01 -1.43051046e-01 -5.52976670e+01] [-2.72641331e-01 1.60276990e-03 9.62114409e-01 -1.83431543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:-55.31, Z:-18.35 [[ 8.21709778e-01 5.20672134e-01 2.31718730e-01 1.13832813e+02] [-5.00678885e-01 8.53755550e-01 -1.42905964e-01 -5.53142677e+01] [-2.72238305e-01 1.41055235e-03 9.62228827e-01 -1.83523100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:-55.33, Z:-18.36 [[ 8.21358700e-01 5.21410008e-01 2.31303890e-01 1.13859263e+02] [-5.01492293e-01 8.53305368e-01 -1.42742525e-01 -5.53311010e+01] [-2.71800232e-01 1.24569634e-03 9.62352889e-01 -1.83613428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:-55.35, Z:-18.37 [[ 8.21047221e-01 5.22076997e-01 2.30904892e-01 1.13884988e+02] [-5.02228824e-01 8.52897641e-01 -1.42589697e-01 -5.53474541e+01] [-2.71381039e-01 1.10578249e-03 9.62471355e-01 -1.83701084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:-55.36, Z:-18.38 [[ 8.20549243e-01 5.22849611e-01 2.30926880e-01 1.13911955e+02] [-5.03003063e-01 8.52424439e-01 -1.42690204e-01 -5.53649152e+01] [-2.71453234e-01 9.27411351e-04 9.62451184e-01 -1.83792723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:-55.38, Z:-18.39 [[ 8.19557074e-01 5.24456713e-01 2.30805889e-01 1.13937882e+02] [-5.04667643e-01 8.51436979e-01 -1.42708239e-01 -5.53827436e+01] [-2.71360963e-01 4.77282557e-04 9.62477532e-01 -1.83873738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:-55.40, Z:-18.40 [[ 8.18831282e-01 5.25519984e-01 2.30963371e-01 1.13963235e+02] [-5.05718413e-01 8.50781231e-01 -1.42899209e-01 -5.53994708e+01] [-2.71595691e-01 2.07913568e-04 9.62411418e-01 -1.83959499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:-55.42, Z:-18.40 [[ 8.18406641e-01 5.26378554e-01 2.30512882e-01 1.13989539e+02] [-5.06672879e-01 8.50250326e-01 -1.42677877e-01 -5.54165658e+01] [-2.71096228e-01 -2.61032224e-05 9.62552250e-01 -1.84045401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:-55.43, Z:-18.41 [[ 8.17775317e-01 5.27691862e-01 2.29749494e-01 1.14014576e+02] [-5.08143794e-01 8.49435787e-01 -1.42298030e-01 -5.54343803e+01] [-2.70246955e-01 -3.77962607e-04 9.62790964e-01 -1.84131371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:-55.45, Z:-18.42 [[ 8.17440225e-01 5.28407519e-01 2.29296691e-01 1.14040921e+02] [-5.08941396e-01 8.48990698e-01 -1.42103660e-01 -5.54516870e+01] [-2.69759400e-01 -5.37330080e-04 9.62927608e-01 -1.84222041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:-55.47, Z:-18.43 [[ 8.17358158e-01 5.28892950e-01 2.28468572e-01 1.14067271e+02] [-5.09563174e-01 8.48688323e-01 -1.41680990e-01 -5.54688905e+01] [-2.68832686e-01 -6.15057421e-04 9.63186695e-01 -1.84310222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:-55.49, Z:-18.43 [[ 8.18256282e-01 5.26230053e-01 2.31384070e-01 1.14092058e+02] [-5.09425333e-01 8.50287625e-01 -1.32275412e-01 -5.54898196e+01] [-2.66350308e-01 -9.63771963e-03 9.63828111e-01 -1.84347057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:-55.50, Z:-18.45 [[ 8.17765594e-01 5.30961649e-01 2.22124200e-01 1.14120664e+02] [-5.09732884e-01 8.47352966e-01 -1.48880282e-01 -5.54978790e+01] [-2.67267320e-01 8.52516360e-03 9.63584714e-01 -1.84527770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-55.52, Z:-18.46 [[ 8.19406810e-01 5.26703984e-01 2.26175581e-01 1.14145093e+02] [-5.07614507e-01 8.50048707e-01 -1.40515864e-01 -5.55209424e+01] [-2.66270526e-01 3.29649991e-04 9.63898282e-01 -1.84589895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:-55.54, Z:-18.47 [[ 8.20673533e-01 5.24836561e-01 2.25923742e-01 1.14170521e+02] [-5.05695340e-01 8.51202415e-01 -1.40451673e-01 -5.55386546e+01] [-2.66021008e-01 1.01638702e-03 9.63966696e-01 -1.84674613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:-55.56, Z:-18.48 [[ 8.21861607e-01 5.22954963e-01 2.25968152e-01 1.14196897e+02] [-5.03712522e-01 8.52358616e-01 -1.40564877e-01 -5.55564793e+01] [-2.66115001e-01 1.70188748e-03 9.63939785e-01 -1.84757232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:-55.57, Z:-18.48 [[ 8.23875395e-01 5.19496441e-01 2.26611520e-01 1.14222914e+02] [-4.99987647e-01 8.54467654e-01 -1.41058079e-01 -5.55726417e+01] [-2.66911384e-01 2.91132040e-03 9.63716679e-01 -1.84838083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:-55.59, Z:-18.49 [[ 8.25212723e-01 5.17656899e-01 2.25954191e-01 1.14249475e+02] [-4.98171931e-01 8.55580842e-01 -1.40734321e-01 -5.55899169e+01] [-2.66174169e-01 3.57171688e-03 9.63918334e-01 -1.84923038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:-55.60, Z:-18.50 [[ 8.27152785e-01 5.14239559e-01 2.26662625e-01 1.14274805e+02] [-4.95008582e-01 8.57641121e-01 -1.39349241e-01 -5.56038555e+01] [-2.66054080e-01 3.06316815e-03 9.63953237e-01 -1.84995247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:-55.62, Z:-18.51 [[ 8.27099968e-01 5.14693839e-01 2.25822707e-01 1.14301865e+02] [-4.95110140e-01 8.57361886e-01 -1.40700197e-01 -5.56227296e+01] [-2.66029306e-01 4.56601694e-03 9.63954127e-01 -1.85094183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:-55.64, Z:-18.52 [[ 8.29120712e-01 5.11179042e-01 2.26395302e-01 1.14327428e+02] [-4.91658306e-01 8.59461045e-01 -1.39995792e-01 -5.56363724e+01] [-2.66140858e-01 4.76428045e-03 9.63922375e-01 -1.85173082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:-55.66, Z:-18.53 [[ 8.29924161e-01 5.10134772e-01 2.25806114e-01 1.14354429e+02] [-4.90569160e-01 8.60077260e-01 -1.40032161e-01 -5.56555251e+01] [-2.65645979e-01 5.44255807e-03 9.64055285e-01 -1.85258413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:-55.67, Z:-18.54 [[ 8.30982402e-01 5.08628862e-01 2.25310739e-01 1.14381968e+02] [-4.88816270e-01 8.60958873e-01 -1.40742576e-01 -5.56714041e+01] [-2.65569016e-01 6.81904865e-03 9.64067735e-01 -1.85355009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:-55.68, Z:-18.55 [[ 8.33038816e-01 5.05305354e-01 2.25195092e-01 1.14408437e+02] [-4.84966389e-01 8.62890885e-01 -1.42221383e-01 -5.56830102e+01] [-2.66184019e-01 9.26388195e-03 9.63877715e-01 -1.85454646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:-55.70, Z:-18.55 [[ 8.34021873e-01 5.02855843e-01 2.27031972e-01 1.14435121e+02] [-4.83483361e-01 8.64352043e-01 -1.38345172e-01 -5.57015304e+01] [-2.65803227e-01 5.61671902e-03 9.64010942e-01 -1.85527805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:-55.72, Z:-18.56 [[ 8.33895037e-01 5.03353286e-01 2.26394648e-01 1.14462498e+02] [-4.83723283e-01 8.64054738e-01 -1.39359949e-01 -5.57181382e+01] [-2.65764657e-01 6.69920735e-03 9.64014662e-01 -1.85623543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:-55.73, Z:-18.57 [[ 8.35662252e-01 5.00428540e-01 2.26362269e-01 1.14490129e+02] [-4.80335857e-01 8.65733018e-01 -1.40654917e-01 -5.57322300e+01] [-2.66357025e-01 8.81009021e-03 9.63834175e-01 -1.85717825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:-55.75, Z:-18.58 [[ 8.35191314e-01 5.00935027e-01 2.26979223e-01 1.14517266e+02] [-4.81515748e-01 8.65462813e-01 -1.38263170e-01 -5.57528664e+01] [-2.65702942e-01 6.18212843e-03 9.64035128e-01 -1.85784299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:-55.77, Z:-18.59 [[ 8.35328635e-01 5.01313095e-01 2.25635218e-01 1.14544193e+02] [-4.81009842e-01 8.65211420e-01 -1.41558221e-01 -5.57665934e+01] [-2.66187157e-01 9.71487465e-03 9.63872408e-01 -1.85877930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:-55.78, Z:-18.60 [[ 8.35343409e-01 5.01310265e-01 2.25586806e-01 1.14571789e+02] [-4.80992387e-01 8.65212217e-01 -1.41612650e-01 -5.57826012e+01] [-2.66172336e-01 9.78965731e-03 9.63875744e-01 -1.85961471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:-55.79, Z:-18.61 [[ 8.35416632e-01 5.01038443e-01 2.25919298e-01 1.14598681e+02] [-4.79745329e-01 8.65330087e-01 -1.45080180e-01 -5.57915363e+01] [-2.68185513e-01 1.28186678e-02 9.63282000e-01 -1.86069433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:-55.81, Z:-18.61 [[ 8.34458347e-01 5.01677824e-01 2.28032077e-01 1.14625598e+02] [-4.81479462e-01 8.65017669e-01 -1.41145171e-01 -5.58101206e+01] [-2.68061178e-01 7.98700457e-03 9.63368783e-01 -1.86139422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:-55.82, Z:-18.62 [[ 8.33547793e-01 5.03146101e-01 2.28127330e-01 1.14652609e+02] [-4.83015153e-01 8.64169518e-01 -1.41093610e-01 -5.58243017e+01] [-2.68131384e-01 7.41930977e-03 9.63353785e-01 -1.86223315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:-55.84, Z:-18.63 [[ 8.31282259e-01 5.06561437e-01 2.28834693e-01 1.14682406e+02] [-4.86468416e-01 8.62181465e-01 -1.41391662e-01 -5.58369964e+01] [-2.68920594e-01 6.21552995e-03 9.63142295e-01 -1.86317638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-55.85, Z:-18.64 [[ 8.30173986e-01 5.08668120e-01 2.28183911e-01 1.14710513e+02] [-4.87818724e-01 8.60920139e-01 -1.44393239e-01 -5.58486990e+01] [-2.69896362e-01 8.55912657e-03 9.62851336e-01 -1.86434498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:-55.87, Z:-18.65 [[ 8.28276134e-01 5.11334477e-01 2.29119397e-01 1.14737711e+02] [-4.92103599e-01 8.59378641e-01 -1.38933071e-01 -5.58690135e+01] [-2.67941586e-01 2.32446720e-03 9.63432355e-01 -1.86485368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:-55.88, Z:-18.66 [[ 8.27184594e-01 5.14199690e-01 2.26636992e-01 1.14766245e+02] [-4.93965295e-01 8.57647292e-01 -1.42966465e-01 -5.58814011e+01] [-2.67887915e-01 6.30884825e-03 9.63429428e-01 -1.86591325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:-55.89, Z:-18.67 [[ 8.25808721e-01 5.16572021e-01 2.26259370e-01 1.14794330e+02] [-4.96468843e-01 8.56225370e-01 -1.42817379e-01 -5.58947287e+01] [-2.67504475e-01 5.60910984e-03 9.63540292e-01 -1.86674000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:-55.91, Z:-18.68 [[ 8.25429403e-01 5.17281002e-01 2.26023596e-01 1.14821984e+02] [-4.97223704e-01 8.55798281e-01 -1.42751146e-01 -5.59103325e+01] [-2.67273061e-01 5.44670418e-03 9.63605440e-01 -1.86764235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:-55.93, Z:-18.69 [[ 8.25296881e-01 5.17534303e-01 2.25927651e-01 1.14848630e+02] [-4.97478043e-01 8.55645139e-01 -1.42783026e-01 -5.59251080e+01] [-2.67209010e-01 5.44434074e-03 9.63623217e-01 -1.86855003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:-55.94, Z:-18.69 [[ 8.26516528e-01 5.13762039e-01 2.30041291e-01 1.14873459e+02] [-4.97070100e-01 8.57905482e-01 -1.30074979e-01 -5.59445402e+01] [-2.64181272e-01 -6.83752738e-03 9.64448808e-01 -1.86859530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:-55.95, Z:-18.71 [[ 8.26372276e-01 5.18950949e-01 2.18629305e-01 1.14905572e+02] [-4.96347542e-01 8.54624787e-01 -1.52497841e-01 -5.59472599e+01] [-2.65984922e-01 1.75038697e-02 9.63818259e-01 -1.87076999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:-55.97, Z:-18.71 [[ 8.26989335e-01 5.15330169e-01 2.24774235e-01 1.14930914e+02] [-4.95344917e-01 8.56968508e-01 -1.42261693e-01 -5.59685574e+01] [-2.65936183e-01 6.30812863e-03 9.63969996e-01 -1.87129937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:-55.98, Z:-18.72 [[ 8.27554076e-01 5.14363098e-01 2.24910769e-01 1.14957683e+02] [-4.94292704e-01 8.57546295e-01 -1.42439723e-01 -5.59840383e+01] [-2.66137133e-01 6.70482123e-03 9.63911859e-01 -1.87221101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:-56.02, Z:-18.71 [[ 8.30287536e-01 5.04529583e-01 2.36796341e-01 1.14980846e+02] [-4.93863372e-01 8.62935829e-01 -1.06961329e-01 -5.60199703e+01] [-2.58305201e-01 -2.81363816e-02 9.65653544e-01 -1.87059992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:-56.00, Z:-18.75 [[ 8.30206525e-01 5.18555819e-01 2.04589805e-01 1.15018626e+02] [-4.90362409e-01 8.53885802e-01 -1.74424036e-01 -5.59965947e+01] [-2.65144928e-01 4.44848230e-02 9.63181846e-01 -1.87515268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:-56.03, Z:-18.75 [[ 8.30977083e-01 5.08923693e-01 2.24663665e-01 1.15038202e+02] [-4.88655037e-01 8.60768739e-01 -1.42455024e-01 -5.60310377e+01] [-2.65882196e-01 8.59382831e-03 9.63967221e-01 -1.87492474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:-56.05, Z:-18.76 [[ 8.31818211e-01 5.07753636e-01 2.24197925e-01 1.15065038e+02] [-4.87504427e-01 8.61455018e-01 -1.42248672e-01 -5.60472035e+01] [-2.65363708e-01 9.02755493e-03 9.64106117e-01 -1.87583314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:-56.06, Z:-18.77 [[ 8.32383663e-01 5.06811704e-01 2.24230537e-01 1.15092689e+02] [-4.86498510e-01 8.62005437e-01 -1.42358095e-01 -5.60635180e+01] [-2.65436691e-01 9.40873061e-03 9.64082382e-01 -1.87676974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:-56.08, Z:-18.78 [[ 8.33117855e-01 5.05896715e-01 2.23569125e-01 1.15119756e+02] [-4.85649149e-01 8.62538975e-01 -1.42026126e-01 -5.60783951e+01] [-2.64687635e-01 9.74834592e-03 9.64284930e-01 -1.87767270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:-56.09, Z:-18.79 [[ 8.32998913e-01 5.06367064e-01 2.22946650e-01 1.15146357e+02] [-4.86228573e-01 8.62264117e-01 -1.41712271e-01 -5.60945721e+01] [-2.63997323e-01 9.64313606e-03 9.64475206e-01 -1.87855355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:-56.11, Z:-18.79 [[ 8.32471851e-01 5.07443583e-01 2.22467139e-01 1.15173658e+02] [-4.87409143e-01 8.61634232e-01 -1.41487728e-01 -5.61112172e+01] [-2.63482342e-01 9.35203313e-03 9.64618886e-01 -1.87941266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:-56.13, Z:-18.80 [[ 8.31733297e-01 5.08944421e-01 2.21800133e-01 1.15200063e+02] [-4.89061389e-01 8.60753119e-01 -1.41148953e-01 -5.61266818e+01] [-2.62752128e-01 8.92440257e-03 9.64822095e-01 -1.88026646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:-56.17, Z:-18.79 [[ 8.31287072e-01 5.04517092e-01 2.33290180e-01 1.15224052e+02] [-4.94269859e-01 8.62946300e-01 -1.04980902e-01 -5.61669516e+01] [-2.54281557e-01 -2.80390383e-02 9.66723695e-01 -1.87850463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:-56.16, Z:-18.81 [[ 8.28260161e-01 5.17764390e-01 2.14254854e-01 1.15258226e+02] [-4.98557917e-01 8.55474334e-01 -1.40013097e-01 -5.61620585e+01] [-2.55783325e-01 9.14881681e-03 9.66690845e-01 -1.88081966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:-56.18, Z:-18.81 [[ 8.26350605e-01 5.19794282e-01 2.16699290e-01 1.15285213e+02] [-5.02292728e-01 8.54289804e-01 -1.33757041e-01 -5.61835367e+01] [-2.54650139e-01 1.68373426e-03 9.67031784e-01 -1.88138065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:-56.17, Z:-18.85 [[ 8.24824844e-01 5.28910566e-01 1.99793868e-01 1.15316557e+02] [-5.00951445e-01 8.47502864e-01 -1.75460948e-01 -5.61691318e+01] [-2.62129025e-01 4.46375220e-02 9.63999930e-01 -1.88475445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.196559995 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:115.33, Y:-56.22, Z:-18.83 [[ 8.22837629e-01 5.18604678e-01 2.32351941e-01 1.15332662e+02] [-5.06581008e-01 8.54671488e-01 -1.13632435e-01 -5.62224878e+01] [-2.57514891e-01 -2.42040372e-02 9.65971141e-01 -1.88269749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:-56.20, Z:-18.86 [[ 8.21210741e-01 5.32596311e-01 2.04826970e-01 1.15367036e+02] [-5.06656168e-01 8.45690145e-01 -1.67653529e-01 -5.62049306e+01] [-2.62511801e-01 3.39020313e-02 9.64333037e-01 -1.88617784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:-56.27, Z:-18.83 [[ 8.20679841e-01 5.20177800e-01 2.36431077e-01 1.15383707e+02] [-5.11924211e-01 8.53173830e-01 -1.00139991e-01 -5.62651360e+01] [-2.53807408e-01 -3.88519206e-02 9.66474173e-01 -1.88343204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:-56.23, Z:-18.88 [[ 8.19298447e-01 5.38536725e-01 1.96794948e-01 1.15422107e+02] [-5.09524910e-01 8.41240577e-01 -1.80827701e-01 -5.62301817e+01] [-2.62934253e-01 4.78799260e-02 9.63624974e-01 -1.88824695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.316559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.44, Y:-56.30, Z:-18.85 [[ 8.18650999e-01 5.24300202e-01 2.34349824e-01 1.15436508e+02] [-5.15597773e-01 8.50720228e-01 -1.02147101e-01 -5.62956522e+01] [-2.52921881e-01 -3.72074213e-02 9.66770981e-01 -1.88511372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.47, Y:-56.29, Z:-18.87 [[ 8.17170188e-01 5.35934516e-01 2.12148721e-01 1.15471498e+02] [-5.17886937e-01 8.44254743e-01 -1.37938572e-01 -5.62940410e+01] [-2.53033605e-01 2.85023762e-03 9.67453291e-01 -1.88730596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.376559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.50, Y:-56.31, Z:-18.88 [[ 8.16111084e-01 5.37721061e-01 2.11704414e-01 1.15497766e+02] [-5.19547709e-01 8.43116865e-01 -1.38651108e-01 -5.63108147e+01] [-2.53047183e-01 3.16416271e-03 9.67448764e-01 -1.88812398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.52, Y:-56.33, Z:-18.89 [[ 8.15351076e-01 5.38335765e-01 2.13066251e-01 1.15523675e+02] [-5.20708903e-01 8.42730322e-01 -1.36630312e-01 -5.63291928e+01] [-2.53110374e-01 4.56178411e-04 9.67437301e-01 -1.88885552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:-56.31, Z:-18.93 [[ 8.13771988e-01 5.47329040e-01 1.95463742e-01 1.15553611e+02] [-5.17802054e-01 8.35518120e-01 -1.83821935e-01 -5.63100194e+01] [-2.63924581e-01 4.83776143e-02 9.63329342e-01 -1.89258905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.57, Y:-56.38, Z:-18.90 [[ 8.13739091e-01 5.30855535e-01 2.36687753e-01 1.15566146e+02] [-5.21887473e-01 8.46588171e-01 -1.04508062e-01 -5.63770375e+01] [-2.55855735e-01 -3.84820783e-02 9.65948742e-01 -1.88979151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.60, Y:-56.37, Z:-18.92 [[ 8.13527666e-01 5.41739668e-01 2.11402151e-01 1.15599708e+02] [-5.21294113e-01 8.40486745e-01 -1.47764945e-01 -5.63674364e+01] [-2.57730838e-01 1.00081738e-02 9.66164920e-01 -1.89234547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:-56.36, Z:-18.95 [[ 8.13695336e-01 5.44469717e-01 2.03599182e-01 1.15625754e+02] [-5.16116260e-01 8.37842013e-01 -1.77889762e-01 -5.63594581e+01] [-2.67439537e-01 3.96672211e-02 9.62757813e-01 -1.89541450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:-56.40, Z:-18.95 [[ 8.15405277e-01 5.33547282e-01 2.24591921e-01 1.15643989e+02] [-5.14036458e-01 8.45769484e-01 -1.42970276e-01 -5.63962905e+01] [-2.66234396e-01 1.13028224e-03 9.63907656e-01 -1.89519009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:-56.41, Z:-18.96 [[ 8.16353921e-01 5.32247125e-01 2.24230404e-01 1.15669240e+02] [-5.12726853e-01 8.46587464e-01 -1.42831508e-01 -5.64131260e+01] [-2.65852308e-01 1.63211239e-03 9.64012389e-01 -1.89608924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.70, Y:-56.43, Z:-18.97 [[ 8.17403070e-01 5.30783036e-01 2.23878515e-01 1.15695356e+02] [-5.11247957e-01 8.47504938e-01 -1.42691646e-01 -5.64309322e+01] [-2.65476453e-01 2.17915639e-03 9.64114881e-01 -1.89695415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:-56.45, Z:-18.98 [[ 8.20027930e-01 5.26834672e-01 2.23605506e-01 1.15720631e+02] [-5.07178973e-01 8.49960435e-01 -1.42606972e-01 -5.64490820e+01] [-2.65186130e-01 3.53368908e-03 9.64190764e-01 -1.89776361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:-56.47, Z:-18.99 [[ 8.21369637e-01 5.24850832e-01 2.23346196e-01 1.15746035e+02] [-5.05146681e-01 8.51183649e-01 -1.42524477e-01 -5.64662419e+01] [-2.64912720e-01 4.24268876e-03 9.64263061e-01 -1.89862164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:-56.48, Z:-18.99 [[ 8.22792003e-01 5.22678112e-01 2.23205984e-01 1.15771398e+02] [-5.02898499e-01 8.52515387e-01 -1.42515312e-01 -5.64831179e+01] [-2.64776170e-01 5.01050454e-03 9.64296881e-01 -1.89945796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:-56.50, Z:-19.00 [[ 8.24037063e-01 5.20730282e-01 2.23165616e-01 1.15797339e+02] [-5.00866180e-01 8.53702187e-01 -1.42568040e-01 -5.65006468e+01] [-2.64756470e-01 5.70523958e-03 9.64298430e-01 -1.90033027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:-56.52, Z:-19.01 [[ 8.25198172e-01 5.18981155e-01 2.22949632e-01 1.15823764e+02] [-4.99069014e-01 8.54762173e-01 -1.42519283e-01 -5.65184539e+01] [-2.64533734e-01 6.33939843e-03 9.64355596e-01 -1.90120289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:-56.54, Z:-19.02 [[ 8.26295669e-01 5.17365045e-01 2.22640692e-01 1.15848770e+02] [-4.97426727e-01 8.55736773e-01 -1.42412170e-01 -5.65355957e+01] [-2.64200906e-01 6.92712828e-03 9.64442791e-01 -1.90204542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:-56.55, Z:-19.03 [[ 8.28102341e-01 5.14733395e-01 2.22027128e-01 1.15873929e+02] [-4.94791153e-01 8.57314643e-01 -1.42103195e-01 -5.65537275e+01] [-2.63492368e-01 7.81892986e-03 9.64629792e-01 -1.90288103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:-56.57, Z:-19.04 [[ 8.28654461e-01 5.13997533e-01 2.21671648e-01 1.15900218e+02] [-4.94072284e-01 8.57753308e-01 -1.41957181e-01 -5.65713570e+01] [-2.63105230e-01 8.11163415e-03 9.64733040e-01 -1.90374496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:-56.59, Z:-19.05 [[ 8.28996649e-01 5.13555549e-01 2.21416472e-01 1.15926369e+02] [-4.93637963e-01 8.58016022e-01 -1.41880469e-01 -5.65891760e+01] [-2.62842382e-01 8.31885725e-03 9.64802922e-01 -1.90457139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:-56.61, Z:-19.05 [[ 8.28556223e-01 5.14209117e-01 2.21548119e-01 1.15953342e+02] [-4.94265713e-01 8.57625673e-01 -1.42054952e-01 -5.66065698e+01] [-2.63051306e-01 8.19687511e-03 9.64747025e-01 -1.90548750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:-56.62, Z:-19.06 [[ 8.28022599e-01 5.15189191e-01 2.21266067e-01 1.15980315e+02] [-4.95307336e-01 8.57039566e-01 -1.41964170e-01 -5.66234525e+01] [-2.62772180e-01 7.95483450e-03 9.64825115e-01 -1.90637593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.976559995 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:116.01, Y:-56.64, Z:-19.07 [[ 8.27669216e-01 5.16858008e-01 2.18681203e-01 1.16008165e+02] [-4.96533483e-01 8.56006507e-01 -1.43900525e-01 -5.66393904e+01] [-2.61568671e-01 1.05194951e-02 9.65127541e-01 -1.90737571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.03, Y:-56.66, Z:-19.08 [[ 8.25335678e-01 5.19233581e-01 2.21850192e-01 1.16031960e+02] [-5.00133191e-01 8.54621737e-01 -1.39601135e-01 -5.66579875e+01] [-2.62083594e-01 4.26315300e-03 9.65035758e-01 -1.90806196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:-56.67, Z:-19.09 [[ 8.24013760e-01 5.21968493e-01 2.20341137e-01 1.16058794e+02] [-5.02433141e-01 8.52943908e-01 -1.41589649e-01 -5.66735617e+01] [-2.61843966e-01 5.96512956e-03 9.65091786e-01 -1.90903053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:-56.69, Z:-19.10 [[ 8.22539199e-01 5.24227129e-01 2.20488512e-01 1.16085336e+02] [-5.04720187e-01 8.51561804e-01 -1.41774563e-01 -5.66899588e+01] [-2.62081667e-01 5.33013248e-03 9.65030979e-01 -1.90995652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.11, Y:-56.71, Z:-19.11 [[ 8.20917797e-01 5.26661833e-01 2.20728983e-01 1.16111048e+02] [-5.07172812e-01 8.50062225e-01 -1.42020960e-01 -5.67057367e+01] [-2.62430390e-01 4.63979455e-03 9.64939772e-01 -1.91085131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:-56.72, Z:-19.12 [[ 8.18044466e-01 5.30808703e-01 2.21461900e-01 1.16137990e+02] [-5.11313017e-01 8.47484850e-01 -1.42577798e-01 -5.67224205e+01] [-2.63367141e-01 3.39862611e-03 9.64689690e-01 -1.91175128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:-56.74, Z:-19.13 [[ 8.16568727e-01 5.32892157e-01 2.21904177e-01 1.16164641e+02] [-5.13367659e-01 8.46178491e-01 -1.42953168e-01 -5.67394670e+01] [-2.63949163e-01 2.81265876e-03 9.64532492e-01 -1.91271937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:-56.76, Z:-19.14 [[ 8.16503534e-01 5.33009767e-01 2.21861594e-01 1.16191609e+02] [-5.13471587e-01 8.46104267e-01 -1.43019226e-01 -5.67569096e+01] [-2.63948686e-01 2.85607889e-03 9.64532495e-01 -1.91366126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:-56.77, Z:-19.15 [[ 8.15079436e-01 5.35117667e-01 2.22023862e-01 1.16217171e+02] [-5.15616889e-01 8.44774648e-01 -1.43160808e-01 -5.67733086e+01] [-2.64168007e-01 2.20817717e-03 9.64474151e-01 -1.91456419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:-56.79, Z:-19.16 [[ 8.13717750e-01 5.37120623e-01 2.22182042e-01 1.16243410e+02] [-5.17641666e-01 8.43503864e-01 -1.43346910e-01 -5.67902159e+01] [-2.64405992e-01 1.63324283e-03 9.64410081e-01 -1.91551900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:-56.81, Z:-19.16 [[ 8.12449813e-01 5.39160243e-01 2.21881803e-01 1.16269983e+02] [-5.19785178e-01 8.42202552e-01 -1.43241857e-01 -5.68078063e+01] [-2.64099735e-01 1.04594733e-03 9.64494809e-01 -1.91646979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:-56.82, Z:-19.17 [[ 8.11297817e-01 5.40874632e-01 2.21924500e-01 1.16295883e+02] [-5.21530248e-01 8.41103032e-01 -1.43359301e-01 -5.68245156e+01] [-2.64200779e-01 5.66748480e-04 9.64467535e-01 -1.91739648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:-56.84, Z:-19.18 [[ 8.09344395e-01 5.43769941e-01 2.21981758e-01 1.16322141e+02] [-5.24499328e-01 8.39234269e-01 -1.43479257e-01 -5.68413746e+01] [-2.64314405e-01 -3.05150757e-04 9.64436521e-01 -1.91835911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:-56.86, Z:-19.19 [[ 8.08564542e-01 5.44859495e-01 2.22152004e-01 1.16348146e+02] [-5.25574188e-01 8.38527156e-01 -1.43680136e-01 -5.68585678e+01] [-2.64565974e-01 -5.82695493e-04 9.64367412e-01 -1.91926056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:-56.88, Z:-19.20 [[ 8.08321302e-01 5.45082403e-01 2.22490104e-01 1.16374497e+02] [-5.25720422e-01 8.38382276e-01 -1.43990267e-01 -5.68767270e+01] [-2.65018320e-01 -5.77190920e-04 9.64243204e-01 -1.92016669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:-56.89, Z:-19.21 [[ 8.08827893e-01 5.44333729e-01 2.22481981e-01 1.16400476e+02] [-5.24920322e-01 8.38868719e-01 -1.44076115e-01 -5.68941495e+01] [-2.65058663e-01 -2.52532477e-04 9.64232255e-01 -1.92108299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:-56.91, Z:-19.22 [[ 8.09764909e-01 5.43011602e-01 2.22304280e-01 1.16425451e+02] [-5.23555798e-01 8.39725153e-01 -1.44052052e-01 -5.69113314e+01] [-2.64896431e-01 2.59601772e-04 9.64276835e-01 -1.92198439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:-56.93, Z:-19.23 [[ 8.11145919e-01 5.41150591e-01 2.21806980e-01 1.16450835e+02] [-5.21691881e-01 8.40925178e-01 -1.43813859e-01 -5.69290371e+01] [-2.64348029e-01 9.39123939e-04 9.64426896e-01 -1.92290201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:-56.95, Z:-19.24 [[ 8.12708419e-01 5.38898300e-01 2.21570864e-01 1.16476507e+02] [-5.19376725e-01 8.42369031e-01 -1.43743638e-01 -5.69473157e+01] [-2.64107637e-01 1.74291518e-03 9.64491637e-01 -1.92385718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:-56.97, Z:-19.25 [[ 8.16528519e-01 5.33206352e-01 2.21296552e-01 1.16501194e+02] [-5.13503009e-01 8.45977287e-01 -1.43656155e-01 -5.69667752e+01] [-2.63810230e-01 3.66290211e-03 9.64567647e-01 -1.92479172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:-56.99, Z:-19.26 [[ 8.18446989e-01 5.30353041e-01 2.21066005e-01 1.16527226e+02] [-5.10564023e-01 8.47764086e-01 -1.43598167e-01 -5.69855663e+01] [-2.63569544e-01 4.65913792e-03 9.64629145e-01 -1.92570436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:-57.00, Z:-19.27 [[ 8.20270826e-01 5.27527579e-01 2.21066564e-01 1.16552169e+02] [-5.07612424e-01 8.49519126e-01 -1.43690229e-01 -5.70035821e+01] [-2.63600833e-01 5.64876848e-03 9.64615308e-01 -1.92659562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:-57.02, Z:-19.28 [[ 8.21904663e-01 5.24876527e-01 2.21308283e-01 1.16578069e+02] [-5.04799207e-01 8.51152927e-01 -1.43932118e-01 -5.70220058e+01] [-2.63913783e-01 6.58223358e-03 9.64523815e-01 -1.92751776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:-57.04, Z:-19.28 [[ 8.25018314e-01 5.19851502e-01 2.21583388e-01 1.16602695e+02] [-4.99519140e-01 8.54216459e-01 -1.44204265e-01 -5.70412325e+01] [-2.64244980e-01 8.28601633e-03 9.64419998e-01 -1.92836691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:-57.06, Z:-19.29 [[ 8.25983889e-01 5.18224831e-01 2.21796394e-01 1.16628515e+02] [-4.97780014e-01 8.55198487e-01 -1.44397386e-01 -5.70596060e+01] [-2.64510252e-01 8.86410218e-03 9.64342136e-01 -1.92927273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:-57.08, Z:-19.30 [[ 8.26809727e-01 5.16914492e-01 2.21777104e-01 1.16653571e+02] [-4.96401035e-01 8.55985790e-01 -1.44479549e-01 -5.70771993e+01] [-2.64521622e-01 9.36671231e-03 9.64334266e-01 -1.93015459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:-57.09, Z:-19.31 [[ 8.27059981e-01 5.16519303e-01 2.21764734e-01 1.16679208e+02] [-4.95979007e-01 8.56222379e-01 -1.44527028e-01 -5.70949226e+01] [-2.64530928e-01 9.54186878e-03 9.64329996e-01 -1.93106476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:-57.11, Z:-19.32 [[ 8.27041753e-01 5.16494751e-01 2.21889860e-01 1.16705539e+02] [-4.95904945e-01 8.56236132e-01 -1.44699594e-01 -5.71126814e+01] [-2.64726696e-01 9.63632737e-03 9.64275333e-01 -1.93200287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:-57.13, Z:-19.33 [[ 8.26221008e-01 5.17991094e-01 2.21458964e-01 1.16731494e+02] [-4.97510682e-01 8.55336338e-01 -1.44509067e-01 -5.71308511e+01] [-2.64276309e-01 9.21822649e-03 9.64402954e-01 -1.93289787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:-57.15, Z:-19.34 [[ 8.25331388e-01 5.19528960e-01 2.21173595e-01 1.16758155e+02] [-4.99131303e-01 8.54407572e-01 -1.44414829e-01 -5.71484307e+01] [-2.64000081e-01 8.79542662e-03 9.64482554e-01 -1.93382126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:-57.17, Z:-19.35 [[ 8.23930873e-01 5.21690658e-01 2.21306966e-01 1.16783240e+02] [-5.01319039e-01 8.53095410e-01 -1.44594059e-01 -5.71651931e+01] [-2.64229327e-01 8.19011324e-03 9.64425106e-01 -1.93475986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:-57.18, Z:-19.36 [[ 8.20890029e-01 5.26423044e-01 2.21400856e-01 1.16808444e+02] [-5.06178657e-01 8.50196003e-01 -1.44740882e-01 -5.71825428e+01] [-2.64429058e-01 6.74795919e-03 9.64381531e-01 -1.93565109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:-57.20, Z:-19.37 [[ 8.18846778e-01 5.29462716e-01 2.21718710e-01 1.16834369e+02] [-5.09244957e-01 8.48313033e-01 -1.45033005e-01 -5.71999435e+01] [-2.64876440e-01 5.85067381e-03 9.64264612e-01 -1.93654863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:-57.22, Z:-19.37 [[ 8.16572350e-01 5.32720453e-01 2.22302760e-01 1.16861026e+02] [-5.12487053e-01 8.46277152e-01 -1.45506023e-01 -5.72177151e+01] [-2.65643781e-01 4.88890879e-03 9.64058857e-01 -1.93749956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:-57.24, Z:-19.38 [[ 8.14285099e-01 5.35850418e-01 2.23168338e-01 1.16887642e+02] [-5.15545720e-01 8.44303619e-01 -1.46164324e-01 -5.72351883e+01] [-2.66744050e-01 3.96594948e-03 9.63759245e-01 -1.93844912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:-57.25, Z:-19.39 [[ 8.10128110e-01 5.41753090e-01 2.24044715e-01 1.16913823e+02] [-5.21480518e-01 8.40535016e-01 -1.46829687e-01 -5.72528527e+01] [-2.67862865e-01 2.11590325e-03 9.63454726e-01 -1.93936065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:-57.27, Z:-19.40 [[ 8.08275821e-01 5.44437061e-01 2.24228644e-01 1.16938999e+02] [-5.24205765e-01 8.38800675e-01 -1.47043340e-01 -5.72698401e+01] [-2.68138982e-01 1.30962865e-03 9.63379350e-01 -1.94025265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:-57.29, Z:-19.41 [[ 8.06683924e-01 5.46571160e-01 2.24768801e-01 1.16964172e+02] [-5.26297274e-01 8.37412388e-01 -1.47484479e-01 -5.72867700e+01] [-2.68834941e-01 6.78150685e-04 9.63186023e-01 -1.94114689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:-57.30, Z:-19.42 [[ 8.05460879e-01 5.48254150e-01 2.25055903e-01 1.16990024e+02] [-5.27967839e-01 8.36311754e-01 -1.47758621e-01 -5.73039349e+01] [-2.69226174e-01 1.91509858e-04 9.63076960e-01 -1.94209402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:-57.32, Z:-19.43 [[ 8.04507971e-01 5.49491613e-01 2.25445982e-01 1.17015550e+02] [-5.29154901e-01 8.35499220e-01 -1.48108554e-01 -5.73213591e+01] [-2.69744350e-01 -1.41334199e-04 9.62931963e-01 -1.94299639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:-57.34, Z:-19.44 [[ 8.03550138e-01 5.50637201e-01 2.26066027e-01 1.17040806e+02] [-5.30206220e-01 8.34744553e-01 -1.48603146e-01 -5.73397371e+01] [-2.70533806e-01 -4.51534892e-04 9.62710370e-01 -1.94393327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:-57.36, Z:-19.45 [[ 8.03570892e-01 5.50624424e-01 2.26023375e-01 1.17066568e+02] [-5.30174846e-01 8.34753023e-01 -1.48667495e-01 -5.73577376e+01] [-2.70533649e-01 -3.67036505e-04 9.62710450e-01 -1.94483338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:-57.38, Z:-19.46 [[ 8.03955736e-01 5.49911348e-01 2.26390556e-01 1.17092530e+02] [-5.29339776e-01 8.35223028e-01 -1.49003001e-01 -5.73759228e+01] [-2.71025047e-01 -4.57089713e-05 9.62572294e-01 -1.94580278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:-57.39, Z:-19.47 [[ 8.04648209e-01 5.48864156e-01 2.26471626e-01 1.17117793e+02] [-5.28210527e-01 8.35911471e-01 -1.49149765e-01 -5.73941958e+01] [-2.71173190e-01 3.88394515e-04 9.62530493e-01 -1.94675734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:-57.41, Z:-19.48 [[ 8.05743715e-01 5.47268784e-01 2.26437506e-01 1.17143148e+02] [-5.26533357e-01 8.36956310e-01 -1.49220504e-01 -5.74128377e+01] [-2.71182023e-01 1.00658323e-03 9.62527556e-01 -1.94771703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:-57.43, Z:-19.49 [[ 8.08842185e-01 5.42879471e-01 2.25956189e-01 1.17167666e+02] [-5.22038729e-01 8.39806727e-01 -1.48997406e-01 -5.74332295e+01] [-2.70647160e-01 2.55750559e-03 9.62675217e-01 -1.94867155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:-57.45, Z:-19.50 [[ 8.10449640e-01 5.40335281e-01 2.26294422e-01 1.17192046e+02] [-5.19306675e-01 8.41442548e-01 -1.49315159e-01 -5.74514713e+01] [-2.71094004e-01 3.49621259e-03 9.62546528e-01 -1.94963114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:-57.47, Z:-19.51 [[ 8.12114054e-01 5.37760466e-01 2.26460689e-01 1.17217204e+02] [-5.16577191e-01 8.43085995e-01 -1.49512577e-01 -5.74702466e+01] [-2.71327789e-01 4.43683842e-03 9.62476777e-01 -1.95056259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.49, Z:-19.51 [[ 8.15582559e-01 5.32418883e-01 2.26616909e-01 1.17240356e+02] [-5.10975965e-01 8.46457545e-01 -1.49710346e-01 -5.74902620e+01] [-2.71530207e-01 6.30535343e-03 9.62409263e-01 -1.95148121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:-57.51, Z:-19.52 [[ 8.17147942e-01 5.30018390e-01 2.26604825e-01 1.17266108e+02] [-5.08471088e-01 8.47955974e-01 -1.49759201e-01 -5.75095266e+01] [-2.71526046e-01 7.15342084e-03 9.62404507e-01 -1.95240888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:-57.53, Z:-19.53 [[ 8.18561382e-01 5.27965372e-01 2.26295890e-01 1.17291506e+02] [-5.06375032e-01 8.49229110e-01 -1.49647067e-01 -5.75284100e+01] [-2.71185527e-01 7.90472186e-03 9.62494637e-01 -1.95331269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-57.55, Z:-19.54 [[ 8.20626627e-01 5.24964928e-01 2.25795843e-01 1.17315090e+02] [-5.03333732e-01 8.51076697e-01 -1.49410877e-01 -5.75477891e+01] [-2.70605050e-01 8.95987995e-03 9.62648756e-01 -1.95420761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:-57.57, Z:-19.55 [[ 8.21145652e-01 5.24176263e-01 2.25741143e-01 1.17340318e+02] [-5.02510596e-01 8.51559368e-01 -1.49431404e-01 -5.75658888e+01] [-2.70560380e-01 9.26763147e-03 9.62658398e-01 -1.95517967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:-57.58, Z:-19.56 [[ 8.21373188e-01 5.23977256e-01 2.25375069e-01 1.17365916e+02] [-5.02349740e-01 8.51680389e-01 -1.49282464e-01 -5.75844057e+01] [-2.70168142e-01 9.39950567e-03 9.62767274e-01 -1.95609753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:-57.60, Z:-19.57 [[ 8.21099428e-01 5.24389731e-01 2.25413264e-01 1.17391261e+02] [-5.02743097e-01 8.51427029e-01 -1.49403457e-01 -5.76016025e+01] [-2.70268584e-01 9.35013110e-03 9.62739564e-01 -1.95697814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:-57.62, Z:-19.58 [[ 8.20222017e-01 5.25566611e-01 2.25866288e-01 1.17418084e+02] [-5.03849642e-01 8.50704203e-01 -1.49792851e-01 -5.76190209e+01] [-2.70871522e-01 9.06074632e-03 9.62572866e-01 -1.95794368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:-57.64, Z:-19.59 [[ 8.18183236e-01 5.28514770e-01 2.26380940e-01 1.17444496e+02] [-5.06780348e-01 8.48884608e-01 -1.50228496e-01 -5.76364448e+01] [-2.71569274e-01 8.18902551e-03 9.62384055e-01 -1.95889981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:-57.65, Z:-19.60 [[ 8.17095159e-01 5.30368262e-01 2.25975681e-01 1.17470011e+02] [-5.08755630e-01 8.47732912e-01 -1.50055388e-01 -5.76538578e+01] [-2.71151638e-01 7.64313132e-03 9.62506297e-01 -1.95978159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:-57.67, Z:-19.61 [[ 8.15861783e-01 5.32139333e-01 2.26268162e-01 1.17495943e+02] [-5.10519857e-01 8.46626893e-01 -1.50307618e-01 -5.76711210e+01] [-2.71549307e-01 7.11585164e-03 9.62398223e-01 -1.96072476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:-57.69, Z:-19.62 [[ 8.12871654e-01 5.36475582e-01 2.26789825e-01 1.17522267e+02] [-5.14893183e-01 8.43896155e-01 -1.50745777e-01 -5.76878739e+01] [-2.72258490e-01 5.76443476e-03 9.62206883e-01 -1.96161705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:-57.71, Z:-19.63 [[ 8.12806903e-01 5.36592239e-01 2.26745912e-01 1.17548977e+02] [-5.14995883e-01 8.43821688e-01 -1.50811802e-01 -5.77056971e+01] [-2.72257560e-01 5.80766247e-03 9.62206886e-01 -1.96255913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:-57.72, Z:-19.64 [[ 8.09218793e-01 5.41394103e-01 2.28160842e-01 1.17576294e+02] [-5.19696576e-01 8.40758159e-01 -1.51793239e-01 -5.77221945e+01] [-2.74008054e-01 4.25953381e-03 9.61717964e-01 -1.96350776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:-57.74, Z:-19.64 [[ 8.07307449e-01 5.43961189e-01 2.28825060e-01 1.17603013e+02] [-5.22207956e-01 8.39103146e-01 -1.52331092e-01 -5.77386469e+01] [-2.74870029e-01 3.48375879e-03 9.61475080e-01 -1.96442280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:-57.75, Z:-19.65 [[ 8.05547924e-01 5.46279075e-01 2.29503193e-01 1.17629890e+02] [-5.24458623e-01 8.37598598e-01 -1.52878188e-01 -5.77549173e+01] [-2.75745708e-01 2.78577857e-03 9.61226583e-01 -1.96535505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:-57.77, Z:-19.66 [[ 8.03975085e-01 5.48563939e-01 2.29568437e-01 1.17656997e+02] [-5.26794394e-01 8.36106003e-01 -1.53017705e-01 -5.77718775e+01] [-2.75883543e-01 2.08705664e-03 9.61188803e-01 -1.96628210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:-57.79, Z:-19.67 [[ 8.01547197e-01 5.52020938e-01 2.29771574e-01 1.17683445e+02] [-5.30322935e-01 8.33829668e-01 -1.53250347e-01 -5.77881076e+01] [-2.76187756e-01 9.84250161e-04 9.61103197e-01 -1.96717959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:-57.81, Z:-19.68 [[ 8.00708379e-01 5.53378133e-01 2.29431329e-01 1.17709873e+02] [-5.31774412e-01 8.32929943e-01 -1.53113307e-01 -5.78050058e+01] [-2.75829779e-01 5.93397684e-04 9.61206315e-01 -1.96810343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:-57.82, Z:-19.69 [[ 7.99588643e-01 5.55426477e-01 2.28384392e-01 1.17736211e+02] [-5.34077803e-01 8.31565649e-01 -1.52510564e-01 -5.78212513e+01] [-2.74625021e-01 -2.93196335e-05 9.61551401e-01 -1.96908099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:-57.84, Z:-19.70 [[ 7.99210495e-01 5.56104547e-01 2.28057706e-01 1.17762968e+02] [-5.34817916e-01 8.31112328e-01 -1.52387978e-01 -5.78383580e+01] [-2.74285219e-01 -1.79275425e-04 9.61648370e-01 -1.97006635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:-57.86, Z:-19.71 [[ 7.99141198e-01 5.56222771e-01 2.28012226e-01 1.17789638e+02] [-5.34921450e-01 8.31033219e-01 -1.52456000e-01 -5.78562427e+01] [-2.74285233e-01 -1.34759501e-04 9.61648373e-01 -1.97100844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:-57.87, Z:-19.72 [[ 7.99070327e-01 5.56520835e-01 2.27532794e-01 1.17815307e+02] [-5.35310877e-01 8.30833629e-01 -1.52176691e-01 -5.78725807e+01] [-2.73731396e-01 -2.00901269e-04 9.61806157e-01 -1.97193846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:-57.89, Z:-19.73 [[ 7.99171370e-01 5.56575575e-01 2.27043500e-01 1.17841989e+02] [-5.35435227e-01 8.30796972e-01 -1.51939163e-01 -5.78896260e+01] [-2.73192679e-01 -1.41658627e-04 9.61959324e-01 -1.97289909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:-57.91, Z:-19.74 [[ 8.00468991e-01 5.55106102e-01 2.26067712e-01 1.17868913e+02] [-5.34066165e-01 8.31779431e-01 -1.51381340e-01 -5.79068292e+01] [-2.72071178e-01 4.40952830e-04 9.62277028e-01 -1.97380332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:-57.92, Z:-19.75 [[ 8.01422298e-01 5.53730557e-01 2.26063643e-01 1.17893926e+02] [-5.32610714e-01 8.32695316e-01 -1.51473888e-01 -5.79238470e+01] [-2.72117857e-01 9.90633430e-04 9.62263421e-01 -1.97471121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:-57.94, Z:-19.76 [[ 8.02492768e-01 5.52284993e-01 2.25802222e-01 1.17920180e+02] [-5.31133837e-01 8.33653925e-01 -1.51386856e-01 -5.79420804e+01] [-2.71849598e-01 1.55565675e-03 9.62338494e-01 -1.97559338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:-57.96, Z:-19.76 [[ 8.03821526e-01 5.50367416e-01 2.25757971e-01 1.17946149e+02] [-5.29123976e-01 8.34919448e-01 -1.51450763e-01 -5.79600601e+01] [-2.71843285e-01 2.28542807e-03 9.62338820e-01 -1.97649543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:-57.98, Z:-19.77 [[ 8.05170211e-01 5.48322811e-01 2.25927036e-01 1.17972158e+02] [-5.26941379e-01 8.36261162e-01 -1.51657679e-01 -5.79781303e+01] [-2.72091370e-01 3.05994152e-03 9.62266555e-01 -1.97738423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:-58.00, Z:-19.78 [[ 8.07896491e-01 5.44332913e-01 2.25842733e-01 1.17997897e+02] [-5.22788211e-01 8.38857298e-01 -1.51693505e-01 -5.79965169e+01] [-2.72021592e-01 4.48473160e-03 9.62280697e-01 -1.97827438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:-58.01, Z:-19.79 [[ 8.08856697e-01 5.43044314e-01 2.25507687e-01 1.18023096e+02] [-5.21488108e-01 8.39689179e-01 -1.51565947e-01 -5.80141715e+01] [-2.71663390e-01 4.99555420e-03 9.62379368e-01 -1.97918949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:-58.03, Z:-19.80 [[ 8.09801587e-01 5.41663159e-01 2.25438266e-01 1.18048156e+02] [-5.20051319e-01 8.40577584e-01 -1.51578197e-01 -5.80311347e+01] [-2.71602678e-01 5.50879700e-03 9.62393702e-01 -1.98012592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:-58.05, Z:-19.81 [[ 8.10448786e-01 5.40786598e-01 2.25216830e-01 1.18073591e+02] [-5.19160120e-01 8.41139323e-01 -1.51517024e-01 -5.80488464e+01] [-2.71377108e-01 5.87319134e-03 9.62455179e-01 -1.98109464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:-58.07, Z:-19.82 [[ 8.10996237e-01 5.40131242e-01 2.24818472e-01 1.18099500e+02] [-5.18531255e-01 8.41558224e-01 -1.51344288e-01 -5.80671969e+01] [-2.70943612e-01 6.16424385e-03 9.62575483e-01 -1.98203277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:-58.09, Z:-19.83 [[ 8.11938120e-01 5.39006234e-01 2.24117757e-01 1.18124121e+02] [-5.17474757e-01 8.42275909e-01 -1.50967441e-01 -5.80857395e+01] [-2.70141379e-01 6.60093890e-03 9.62798038e-01 -1.98295224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:-58.10, Z:-19.84 [[ 8.11960991e-01 5.38986003e-01 2.24083552e-01 1.18149790e+02] [-5.17435760e-01 8.42288203e-01 -1.51032502e-01 -5.81039966e+01] [-2.70147337e-01 6.68365741e-03 9.62795796e-01 -1.98386368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:-58.12, Z:-19.85 [[ 8.11599282e-01 5.39450343e-01 2.24276465e-01 1.18174829e+02] [-5.17852930e-01 8.41991405e-01 -1.51257451e-01 -5.81215524e+01] [-2.70434740e-01 6.61821459e-03 9.62715561e-01 -1.98476100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:-58.14, Z:-19.86 [[ 8.10578632e-01 5.40709143e-01 2.24935332e-01 1.18200724e+02] [-5.19004568e-01 8.41186061e-01 -1.51790212e-01 -5.81400026e+01] [-2.71286822e-01 6.29543746e-03 9.62477962e-01 -1.98567549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:-58.16, Z:-19.87 [[ 8.09670256e-01 5.42078913e-01 2.24910047e-01 1.18225847e+02] [-5.20404381e-01 8.40306742e-01 -1.51867900e-01 -5.81574436e+01] [-2.71317815e-01 5.91874736e-03 9.62471616e-01 -1.98655155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-58.18, Z:-19.87 [[ 8.08491700e-01 5.43663818e-01 2.25323820e-01 1.18251164e+02] [-5.21943143e-01 8.39285218e-01 -1.52235599e-01 -5.81750716e+01] [-2.71875938e-01 5.47499519e-03 9.62316735e-01 -1.98748077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:-58.19, Z:-19.88 [[ 8.07280246e-01 5.45386799e-01 2.25503534e-01 1.18277389e+02] [-5.23671973e-01 8.38169725e-01 -1.52444015e-01 -5.81933610e+01] [-2.72151188e-01 4.97516168e-03 9.62241643e-01 -1.98843191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:-58.21, Z:-19.89 [[ 8.04454786e-01 5.49478728e-01 2.25667066e-01 1.18303622e+02] [-5.27862290e-01 8.35499610e-01 -1.52649286e-01 -5.82117954e+01] [-2.72422281e-01 3.67831465e-03 9.62170760e-01 -1.98933611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:-58.23, Z:-19.90 [[ 8.02794706e-01 5.51896376e-01 2.25679087e-01 1.18329239e+02] [-5.30344211e-01 8.33907513e-01 -1.52752345e-01 -5.82291305e+01] [-2.72498951e-01 2.94117664e-03 9.62151584e-01 -1.99026331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:-58.25, Z:-19.91 [[ 8.01139234e-01 5.54292957e-01 2.25688382e-01 1.18355711e+02] [-5.32807114e-01 8.32318728e-01 -1.52846704e-01 -5.82468931e+01] [-2.72566518e-01 2.20311623e-03 9.62134419e-01 -1.99123344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:-58.26, Z:-19.92 [[ 7.99576845e-01 5.56608037e-01 2.25531286e-01 1.18381672e+02] [-5.35216202e-01 8.30773891e-01 -1.52834418e-01 -5.82644929e+01] [-2.72434370e-01 1.49486323e-03 9.62173207e-01 -1.99214990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:-58.28, Z:-19.93 [[ 7.97365609e-01 5.59966303e-01 2.25046272e-01 1.18407318e+02] [-5.38772370e-01 8.28515271e-01 -1.52600061e-01 -5.82820200e+01] [-2.71905165e-01 4.29327275e-04 9.62323956e-01 -1.99306254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:-58.30, Z:-19.94 [[ 7.96269314e-01 5.61479681e-01 2.25157162e-01 1.18433435e+02] [-5.40298888e-01 8.27490524e-01 -1.52763031e-01 -5.83001516e+01] [-2.72088756e-01 -1.16501449e-05 9.62272159e-01 -1.99399999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:-58.32, Z:-19.95 [[ 7.95351365e-01 5.62787911e-01 2.25135457e-01 1.18459204e+02] [-5.41636070e-01 8.26601249e-01 -1.52842217e-01 -5.83183190e+01] [-2.72115001e-01 -3.78217968e-04 9.62264664e-01 -1.99490762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:-58.34, Z:-19.96 [[ 7.94897447e-01 5.63523032e-01 2.24899626e-01 1.18484381e+02] [-5.42417626e-01 8.26100173e-01 -1.52779657e-01 -5.83360769e+01] [-2.71884476e-01 -5.45361804e-04 9.62329743e-01 -1.99576839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:-58.35, Z:-19.97 [[ 7.94253281e-01 5.64339242e-01 2.25128732e-01 1.18509531e+02] [-5.43205338e-01 8.25542622e-01 -1.52994576e-01 -5.83539069e+01] [-2.72194207e-01 -7.74685510e-04 9.62242024e-01 -1.99665609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:-58.37, Z:-19.98 [[ 7.94272046e-01 5.64293918e-01 2.25176133e-01 1.18535685e+02] [-5.43124114e-01 8.25573684e-01 -1.53115284e-01 -5.83715402e+01] [-2.72301513e-01 -6.83398125e-04 9.62211733e-01 -1.99758771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:-58.39, Z:-19.99 [[ 7.94267876e-01 5.64258543e-01 2.25279467e-01 1.18561555e+02] [-5.43041351e-01 8.25597932e-01 -1.53277999e-01 -5.83893102e+01] [-2.72478683e-01 -5.92275332e-04 9.62161637e-01 -1.99853699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:-58.41, Z:-19.99 [[ 7.94517122e-01 5.63898976e-01 2.25300883e-01 1.18587142e+02] [-5.42636439e-01 8.25843687e-01 -1.53388070e-01 -5.84071057e+01] [-2.72558688e-01 -3.87020754e-04 9.62139081e-01 -1.99946349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:-58.42, Z:-20.01 [[ 7.96088332e-01 5.62093659e-01 2.24263430e-01 1.18612485e+02] [-5.39344826e-01 8.27057706e-01 -1.58375217e-01 -5.84184845e+01] [-2.74500503e-01 5.12534234e-03 9.61573297e-01 -2.00082725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:-58.45, Z:-20.01 [[ 7.97310825e-01 5.58440028e-01 2.28998216e-01 1.18634944e+02] [-5.38561698e-01 8.29526607e-01 -1.47773157e-01 -5.84463027e+01] [-2.72482559e-01 -5.50853082e-03 9.62144953e-01 -2.00108163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:-58.45, Z:-20.03 [[ 7.99628669e-01 5.57845189e-01 2.22267263e-01 1.18661768e+02] [-5.33979642e-01 8.29876394e-01 -1.61774265e-01 -5.84524810e+01] [-2.74699350e-01 1.06731465e-02 9.61470931e-01 -2.00289839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:-58.48, Z:-20.03 [[ 7.99991252e-01 5.53655034e-01 2.31257649e-01 1.18683246e+02] [-5.34540934e-01 8.32707110e-01 -1.44446735e-01 -5.84844617e+01] [-2.72543550e-01 -8.06055544e-03 9.62109682e-01 -2.00276864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:-58.50, Z:-20.04 [[ 8.03018080e-01 5.51802390e-01 2.25113495e-01 1.18710361e+02] [-5.29980293e-01 8.33964725e-01 -1.53700117e-01 -5.84986969e+01] [-2.72548806e-01 4.11825662e-03 9.62133145e-01 -2.00408569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:-58.52, Z:-20.05 [[ 8.04462552e-01 5.49753726e-01 2.24968538e-01 1.18735246e+02] [-5.27854187e-01 8.35312452e-01 -1.53697967e-01 -5.85166177e+01] [-2.72415051e-01 4.89367426e-03 9.62167393e-01 -2.00500049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:-58.53, Z:-20.06 [[ 8.06937345e-01 5.46202993e-01 2.24754117e-01 1.18759651e+02] [-5.25312835e-01 8.37648554e-01 -1.49637314e-01 -5.85339491e+01] [-2.69997309e-01 2.68171420e-03 9.62857342e-01 -2.00560503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:-58.55, Z:-20.07 [[ 8.06631917e-01 5.46986651e-01 2.23943194e-01 1.18785298e+02] [-5.24487363e-01 8.37103570e-01 -1.55469034e-01 -5.85514439e+01] [-2.72503133e-01 7.95090909e-03 9.62122043e-01 -2.00685359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:-58.57, Z:-20.07 [[ 8.08904882e-01 5.42156397e-01 2.27462817e-01 1.18809349e+02] [-5.21470354e-01 8.40276471e-01 -1.48337867e-01 -5.85709590e+01] [-2.71553977e-01 1.37610916e-03 9.62422228e-01 -2.00731762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:-58.58, Z:-20.09 [[ 8.08066840e-01 5.45393684e-01 2.22651548e-01 1.18836771e+02] [-5.22003742e-01 8.38096777e-01 -1.58448372e-01 -5.85848053e+01] [-2.73020286e-01 1.18119337e-02 9.61935758e-01 -2.00875534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:-58.61, Z:-20.09 [[ 8.09126425e-01 5.41348979e-01 2.28595083e-01 1.18860002e+02] [-5.20989681e-01 8.40797998e-01 -1.47066239e-01 -5.86062218e+01] [-2.71816446e-01 -1.00498983e-04 9.62349110e-01 -2.00901392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:-58.62, Z:-20.11 [[ 8.07813479e-01 5.45914415e-01 2.22294478e-01 1.18888368e+02] [-5.21935094e-01 8.37728655e-01 -1.60606529e-01 -5.86174500e+01] [-2.73899873e-01 1.37168300e-02 9.61660391e-01 -2.01063173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:-58.64, Z:-20.11 [[ 8.07143801e-01 5.45189096e-01 2.26467953e-01 1.18914063e+02] [-5.22685176e-01 8.38284903e-01 -1.55172896e-01 -5.86371269e+01] [-2.74443237e-01 6.87539926e-03 9.61578722e-01 -2.01133586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:-58.65, Z:-20.12 [[ 8.06627324e-01 5.45905894e-01 2.26581366e-01 1.18940421e+02] [-5.23379592e-01 8.37819567e-01 -1.55345341e-01 -5.86539633e+01] [-2.74638239e-01 6.71773385e-03 9.61524160e-01 -2.01225641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:-58.67, Z:-20.13 [[ 8.06164683e-01 5.46722045e-01 2.26259828e-01 1.18966798e+02] [-5.24265033e-01 8.37288826e-01 -1.55221125e-01 -5.86708719e+01] [-2.74307636e-01 6.51367224e-03 9.61619932e-01 -2.01313804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:-58.69, Z:-20.13 [[ 8.05919329e-01 5.45282209e-01 2.30567446e-01 1.18991838e+02] [-5.26157371e-01 8.38232099e-01 -1.43266779e-01 -5.86924661e+01] [-2.71389860e-01 -5.85329530e-03 9.62451704e-01 -2.01323262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:-58.71, Z:-20.14 [[ 8.05386489e-01 5.48527706e-01 2.24655201e-01 1.19020336e+02] [-5.27262156e-01 8.36125487e-01 -1.51290416e-01 -5.87050148e+01] [-2.70826924e-01 3.39507113e-03 9.62622071e-01 -2.01440536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:-58.72, Z:-20.16 [[ 8.04732648e-01 5.50770099e-01 2.21489645e-01 1.19048189e+02] [-5.28126861e-01 8.34608317e-01 -1.56559815e-01 -5.87189498e+01] [-2.71085565e-01 9.01416331e-03 9.62513045e-01 -2.01562973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:-58.73, Z:-20.17 [[ 8.03967011e-01 5.52768882e-01 2.19279748e-01 1.19075850e+02] [-5.28527919e-01 8.33202985e-01 -1.62576212e-01 -5.87285424e+01] [-2.72571612e-01 1.48104429e-02 9.62021500e-01 -2.01712730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:-58.76, Z:-20.17 [[ 8.03325889e-01 5.50206187e-01 2.27904954e-01 1.19099593e+02] [-5.30801467e-01 8.35016348e-01 -1.44905143e-01 -5.87563394e+01] [-2.70032068e-01 -4.56623108e-03 9.62840502e-01 -2.01710751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:-58.76, Z:-20.19 [[ 8.02678169e-01 5.54493871e-01 2.19645859e-01 1.19128894e+02] [-5.30795637e-01 8.32093423e-01 -1.60861825e-01 -5.87625908e+01] [-2.71962771e-01 1.25332121e-02 9.62226153e-01 -2.01892297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:-58.78, Z:-20.20 [[ 8.01123939e-01 5.54824924e-01 2.24432032e-01 1.19152983e+02] [-5.32580277e-01 8.31951269e-01 -1.55612770e-01 -5.87841001e+01] [-2.73054358e-01 5.13704164e-03 9.61984890e-01 -2.01966840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:-58.80, Z:-20.20 [[ 8.01562256e-01 5.53652677e-01 2.25757975e-01 1.19178477e+02] [-5.32188368e-01 8.32744680e-01 -1.52682149e-01 -5.88005899e+01] [-2.72531633e-01 2.23847973e-03 9.62144219e-01 -2.02037267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:-58.82, Z:-20.22 [[ 7.99956875e-01 5.56304730e-01 2.24931201e-01 1.19206731e+02] [-5.33740377e-01 8.30960296e-01 -1.56927360e-01 -5.88167030e+01] [-2.74208330e-01 5.48025639e-03 9.61654698e-01 -2.02155108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:-58.83, Z:-20.22 [[ 7.99692613e-01 5.56186282e-01 2.26160438e-01 1.19233055e+02] [-5.33885264e-01 8.31048113e-01 -1.55966528e-01 -5.88348864e+01] [-2.74696649e-01 3.98155527e-03 9.61522698e-01 -2.02240113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:-58.85, Z:-20.23 [[ 8.00212060e-01 5.55273955e-01 2.26564547e-01 1.19259385e+02] [-5.33151756e-01 8.31660523e-01 -1.55209469e-01 -5.88497619e+01] [-2.74608565e-01 3.40720299e-03 9.61550065e-01 -2.02326619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:-58.87, Z:-20.24 [[ 7.99209371e-01 5.56685929e-01 2.26638825e-01 1.19284575e+02] [-5.34400524e-01 8.30715502e-01 -1.55973825e-01 -5.88685835e+01] [-2.75100819e-01 3.53983510e-03 9.61408867e-01 -2.02417537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:-58.89, Z:-20.25 [[ 7.98913579e-01 5.57278428e-01 2.26225214e-01 1.19310095e+02] [-5.34930629e-01 8.30316817e-01 -1.56279254e-01 -5.88856806e+01] [-2.74929657e-01 3.83882212e-03 9.61456680e-01 -2.02505751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-58.90, Z:-20.26 [[ 7.98925321e-01 5.57260262e-01 2.26228495e-01 1.19336548e+02] [-5.34884721e-01 8.30328607e-01 -1.56373718e-01 -5.89030305e+01] [-2.74984850e-01 3.92475747e-03 9.61440549e-01 -2.02597421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:-58.92, Z:-20.27 [[ 7.98842486e-01 5.57431879e-01 2.26098169e-01 1.19363170e+02] [-5.35061533e-01 8.30213297e-01 -1.56381066e-01 -5.89206444e+01] [-2.74881498e-01 3.94740652e-03 9.61470010e-01 -2.02691716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:-58.94, Z:-20.28 [[ 7.99328928e-01 5.57103515e-01 2.25186452e-01 1.19389313e+02] [-5.34876435e-01 8.30432805e-01 -1.55847862e-01 -5.89371532e+01] [-2.73825609e-01 4.12677775e-03 9.61770506e-01 -2.02784561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:-58.95, Z:-20.29 [[ 7.99782086e-01 5.56759106e-01 2.24427969e-01 1.19415828e+02] [-5.34645729e-01 8.30662836e-01 -1.55412990e-01 -5.89547885e+01] [-2.72951571e-01 4.30707011e-03 9.62018134e-01 -2.02878115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:-58.97, Z:-20.30 [[ 8.00452616e-01 5.56052153e-01 2.23789216e-01 1.19442041e+02] [-5.34013074e-01 8.31134582e-01 -1.55065610e-01 -5.89721308e+01] [-2.72223523e-01 4.61630580e-03 9.62222970e-01 -2.02972313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:-58.99, Z:-20.31 [[ 8.00385361e-01 5.56167204e-01 2.23743862e-01 1.19468397e+02] [-5.34114256e-01 8.31057355e-01 -1.55131024e-01 -5.89904624e+01] [-2.72222770e-01 4.65981454e-03 9.62222973e-01 -2.03066837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:-59.01, Z:-20.32 [[ 8.01617111e-01 5.54755994e-01 2.22835802e-01 1.19493852e+02] [-5.32680767e-01 8.31994381e-01 -1.55037258e-01 -5.90064291e+01] [-2.71405983e-01 5.58017260e-03 9.62448780e-01 -2.03164595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:-59.02, Z:-20.33 [[ 8.03373468e-01 5.52322425e-01 2.22555633e-01 1.19518433e+02] [-5.30234737e-01 8.33606584e-01 -1.54761709e-01 -5.90244951e+01] [-2.71002203e-01 6.32472334e-03 9.62557948e-01 -2.03255941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:-59.04, Z:-20.33 [[ 8.04259701e-01 5.50548965e-01 2.23745772e-01 1.19544081e+02] [-5.28731160e-01 8.34786775e-01 -1.53539574e-01 -5.90437660e+01] [-2.71311065e-01 5.18433051e-03 9.62477755e-01 -2.03335012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:-59.06, Z:-20.34 [[ 8.05435436e-01 5.49244145e-01 2.22720965e-01 1.19569695e+02] [-5.27066428e-01 8.35631045e-01 -1.54666538e-01 -5.90606619e+01] [-2.71062243e-01 7.18516701e-03 9.62535004e-01 -2.03425411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:-59.08, Z:-20.35 [[ 8.06652743e-01 5.47410375e-01 2.22830057e-01 1.19595391e+02] [-5.25116438e-01 8.36827176e-01 -1.54832180e-01 -5.90784658e+01] [-2.71226989e-01 7.88407688e-03 9.62483123e-01 -2.03514240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:-59.10, Z:-20.36 [[ 8.09338372e-01 5.43386138e-01 2.22941482e-01 1.19621791e+02] [-5.20892597e-01 8.39431117e-01 -1.55004201e-01 -5.90963460e+01] [-2.71371151e-01 9.32227976e-03 9.62429630e-01 -2.03608146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.65, Y:-59.11, Z:-20.37 [[ 8.10489712e-01 5.41724011e-01 2.22803778e-01 1.19647927e+02] [-5.19170418e-01 8.40497461e-01 -1.55003533e-01 -5.91142439e+01] [-2.71235146e-01 9.95563789e-03 9.62461626e-01 -2.03700913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:-59.13, Z:-20.38 [[ 8.11654639e-01 5.40015918e-01 2.22709575e-01 1.19674017e+02] [-5.17391797e-01 8.41587981e-01 -1.55033542e-01 -5.91324268e+01] [-2.71150282e-01 1.06055864e-02 9.62478595e-01 -2.03792409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:-59.15, Z:-20.39 [[ 8.13862164e-01 5.37015263e-01 2.21907605e-01 1.19700361e+02] [-5.13912795e-01 8.43468793e-01 -1.56377858e-01 -5.91493232e+01] [-2.71149436e-01 1.32288643e-02 9.62446352e-01 -2.03895648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:-59.17, Z:-20.40 [[ 8.14553900e-01 5.35681466e-01 2.22592251e-01 1.19726350e+02] [-5.13044933e-01 8.44339593e-01 -1.54517148e-01 -5.91683580e+01] [-2.70715423e-01 1.16627189e-02 9.62588770e-01 -2.03976020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:-59.18, Z:-20.41 [[ 8.14971690e-01 5.34908543e-01 2.22921498e-01 1.19751880e+02] [-5.12238936e-01 8.44828400e-01 -1.54519406e-01 -5.91847975e+01] [-2.70984163e-01 1.17398708e-02 9.62512212e-01 -2.04057406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:-59.20, Z:-20.42 [[ 8.15116578e-01 5.34864103e-01 2.22497989e-01 1.19778185e+02] [-5.12014339e-01 8.44844710e-01 -1.55173231e-01 -5.92017198e+01] [-2.70972840e-01 1.25621124e-02 9.62505020e-01 -2.04150399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:-59.22, Z:-20.42 [[ 8.15122066e-01 5.34694339e-01 2.22885579e-01 1.19804420e+02] [-5.11729573e-01 8.44949689e-01 -1.55540563e-01 -5.92184517e+01] [-2.71493759e-01 1.27274029e-02 9.62356042e-01 -2.04228674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:-59.23, Z:-20.43 [[ 8.15035417e-01 5.36387058e-01 2.19103155e-01 1.19831439e+02] [-5.12537735e-01 8.43792972e-01 -1.59117850e-01 -5.92333145e+01] [-2.70226458e-01 1.73880482e-02 9.62639765e-01 -2.04330819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:-59.25, Z:-20.44 [[ 8.14540771e-01 5.34574341e-01 2.25285612e-01 1.19854853e+02] [-5.12615880e-01 8.45081547e-01 -1.51862234e-01 -5.92544026e+01] [-2.71566367e-01 8.21299940e-03 9.62384671e-01 -2.04383778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:-59.26, Z:-20.46 [[ 8.13978911e-01 5.38691583e-01 2.17369986e-01 1.19885314e+02] [-5.11228474e-01 8.42000029e-01 -1.72282904e-01 -5.92570470e+01] [-2.75832885e-01 2.91089244e-02 9.60764742e-01 -2.04600140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:-59.29, Z:-20.45 [[ 8.13068988e-01 5.32798640e-01 2.34615492e-01 1.19905215e+02] [-5.14133024e-01 8.46214504e-01 -1.39958017e-01 -5.92941449e+01] [-2.73104473e-01 -6.82804891e-03 9.61960147e-01 -2.04502013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:-59.30, Z:-20.47 [[ 8.12460353e-01 5.38382791e-01 2.23723368e-01 1.19936413e+02] [-5.15276851e-01 8.42617009e-01 -1.56481129e-01 -5.93021209e+01] [-2.72759862e-01 1.18552406e-02 9.62009101e-01 -2.04656797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:-59.32, Z:-20.47 [[ 8.11220407e-01 5.40032298e-01 2.24246670e-01 1.19964902e+02] [-5.16849640e-01 8.41566882e-01 -1.56944682e-01 -5.93174300e+01] [-2.73473768e-01 1.14149184e-02 9.61811727e-01 -2.04748194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:-59.33, Z:-20.48 [[ 8.10854875e-01 5.40720085e-01 2.23911057e-01 1.19991076e+02] [-5.17606249e-01 8.41127351e-01 -1.56807366e-01 -5.93330401e+01] [-2.73126607e-01 1.12502550e-02 9.61912308e-01 -2.04834391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:-59.35, Z:-20.49 [[ 8.10464616e-01 5.41374645e-01 2.23742264e-01 1.20017776e+02] [-5.18295151e-01 8.40708206e-01 -1.56779617e-01 -5.93494091e+01] [-2.72978467e-01 1.10998018e-02 9.61956106e-01 -2.04926260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:-59.36, Z:-20.50 [[ 8.10246293e-01 5.41841063e-01 2.23403688e-01 1.20045868e+02] [-5.18822954e-01 8.40408868e-01 -1.56638682e-01 -5.93642580e+01] [-2.72623711e-01 1.10089502e-02 9.62057751e-01 -2.05013818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-59.38, Z:-20.51 [[ 8.10027016e-01 5.42229779e-01 2.23255684e-01 1.20072066e+02] [-5.19229792e-01 8.40158825e-01 -1.56631961e-01 -5.93804225e+01] [-2.72500746e-01 1.09551176e-02 9.62093202e-01 -2.05103302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-59.40, Z:-20.52 [[ 8.10104531e-01 5.42342024e-01 2.22701095e-01 1.20099576e+02] [-5.19437463e-01 8.40086226e-01 -1.56332514e-01 -5.93972775e+01] [-2.71873815e-01 1.09663859e-02 9.62270423e-01 -2.05192817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:-59.41, Z:-20.53 [[ 8.10043223e-01 5.42769345e-01 2.21881531e-01 1.20128138e+02] [-5.20025906e-01 8.39811558e-01 -1.55851227e-01 -5.94116783e+01] [-2.70929942e-01 1.08620858e-02 9.62537782e-01 -2.05283051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:-59.43, Z:-20.54 [[ 8.09825569e-01 5.43305063e-01 2.21364307e-01 1.20155690e+02] [-5.20663157e-01 8.39466684e-01 -1.55581371e-01 -5.94278426e+01] [-2.70356107e-01 1.07375332e-02 9.62700515e-01 -2.05372774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-59.44, Z:-20.55 [[ 8.09584754e-01 5.43716001e-01 2.21236155e-01 1.20183034e+02] [-5.21089743e-01 8.39201380e-01 -1.55584456e-01 -5.94437674e+01] [-2.70255445e-01 1.06749121e-02 9.62729474e-01 -2.05465974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-59.46, Z:-20.56 [[ 8.09356694e-01 5.44041334e-01 2.21270804e-01 1.20210109e+02] [-5.21393429e-01 8.38990828e-01 -1.55702543e-01 -5.94595224e+01] [-2.70352794e-01 1.06497527e-02 9.62702420e-01 -2.05557736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:-59.47, Z:-20.56 [[ 8.09096968e-01 5.44531633e-01 2.21014471e-01 1.20238723e+02] [-5.21928017e-01 8.38673860e-01 -1.55619091e-01 -5.94736530e+01] [-2.70098577e-01 1.05572898e-02 9.62774793e-01 -2.05646599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:-59.51, Z:-20.56 [[ 8.09488898e-01 5.40471756e-01 2.29386150e-01 1.20262307e+02] [-5.24311213e-01 8.41253513e-01 -1.31872206e-01 -5.95052407e+01] [-2.64245108e-01 -1.35206439e-02 9.64360781e-01 -2.05581434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:-59.49, Z:-20.59 [[ 8.08836787e-01 5.51034146e-01 2.05291065e-01 1.20296057e+02] [-5.23098012e-01 8.33720321e-01 -1.76858405e-01 -5.94929565e+01] [-2.68610353e-01 3.56622359e-02 9.62588533e-01 -2.05890859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:-59.52, Z:-20.59 [[ 8.08453493e-01 5.46011392e-01 2.19714608e-01 1.20319099e+02] [-5.23673001e-01 8.37715861e-01 -1.54915219e-01 -5.95193896e+01] [-2.68643887e-01 1.01831417e-02 9.63185738e-01 -2.05912752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:-59.53, Z:-20.60 [[ 8.08007530e-01 5.46882717e-01 2.19187420e-01 1.20345480e+02] [-5.24658066e-01 8.37150075e-01 -1.54640441e-01 -5.95347781e+01] [-2.68062949e-01 9.95219275e-03 9.63349993e-01 -2.06001892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:-59.55, Z:-20.61 [[ 8.07246698e-01 5.48132071e-01 2.18869829e-01 1.20372571e+02] [-5.25993190e-01 8.36336694e-01 -1.54505981e-01 -5.95505958e+01] [-2.67738553e-01 9.60040327e-03 9.63443771e-01 -2.06092265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:-59.57, Z:-20.62 [[ 8.06223294e-01 5.49642809e-01 2.18853335e-01 1.20399057e+02] [-5.27535287e-01 8.35349322e-01 -1.54589882e-01 -5.95659891e+01] [-2.67788202e-01 9.18110730e-03 9.63434059e-01 -2.06182511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:-59.58, Z:-20.63 [[ 8.04957329e-01 5.51430854e-01 2.19015323e-01 1.20426424e+02] [-5.29330058e-01 8.34175544e-01 -1.54792928e-01 -5.95820393e+01] [-2.68054823e-01 8.67030807e-03 9.63364644e-01 -2.06273009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.45, Y:-59.60, Z:-20.64 [[ 8.02330516e-01 5.54850126e-01 2.20016091e-01 1.20454378e+02] [-5.32641660e-01 8.31915154e-01 -1.55595753e-01 -5.95958023e+01] [-2.69367044e-01 7.64948500e-03 9.63007207e-01 -2.06356342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:-59.61, Z:-20.64 [[ 8.00842923e-01 5.56977800e-01 2.20059863e-01 1.20481389e+02] [-5.34814321e-01 8.30497781e-01 -1.55714732e-01 -5.96124340e+01] [-2.69488876e-01 7.01187528e-03 9.62977974e-01 -2.06443964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:-59.63, Z:-20.65 [[ 7.99464981e-01 5.58943379e-01 2.20086447e-01 1.20508200e+02] [-5.36820255e-01 8.29180862e-01 -1.55830393e-01 -5.96284480e+01] [-2.69591836e-01 6.43407972e-03 9.62953189e-01 -2.06535022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:-59.64, Z:-20.66 [[ 7.96545108e-01 5.63168707e-01 2.19902021e-01 1.20535731e+02] [-5.41224581e-01 8.26326502e-01 -1.55757714e-01 -5.96416804e+01] [-2.69428738e-01 5.05166651e-03 9.63007080e-01 -2.06626612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:-59.66, Z:-20.67 [[ 7.94937252e-01 5.65552604e-01 2.19601955e-01 1.20562888e+02] [-5.43734166e-01 8.24700946e-01 -1.55632602e-01 -5.96576942e+01] [-2.69124363e-01 4.31306665e-03 9.63095777e-01 -2.06721707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-59.67, Z:-20.68 [[ 7.91490809e-01 5.70342018e-01 2.19664017e-01 1.20591539e+02] [-5.48665311e-01 8.21402655e-01 -1.55769240e-01 -5.96719327e+01] [-2.69274350e-01 2.76789533e-03 9.63059533e-01 -2.06821063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:-59.69, Z:-20.69 [[ 7.89822824e-01 5.72719919e-01 2.19480753e-01 1.20617477e+02] [-5.51142251e-01 8.19748577e-01 -1.55738528e-01 -5.96875914e+01] [-2.69113592e-01 2.04072838e-03 9.63106282e-01 -2.06909821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:-59.71, Z:-20.70 [[ 7.88161056e-01 5.73866257e-01 2.22440259e-01 1.20643055e+02] [-5.54570157e-01 8.18919726e-01 -1.47724147e-01 -5.97101182e+01] [-2.66934620e-01 -6.92830966e-03 9.63689736e-01 -2.06956435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:-59.72, Z:-20.71 [[ 7.86672147e-01 5.79171450e-01 2.13792809e-01 1.20672132e+02] [-5.55760785e-01 8.15148820e-01 -1.63286102e-01 -5.97163066e+01] [-2.68843604e-01 9.63496900e-03 9.63135652e-01 -2.07116282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:-59.74, Z:-20.71 [[ 7.85333844e-01 5.77795014e-01 2.22269373e-01 1.20695169e+02] [-5.58402996e-01 8.16148374e-01 -1.48620071e-01 -5.97425721e+01] [-2.67276723e-01 -7.39951164e-03 9.63591407e-01 -2.07148760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:-59.75, Z:-20.73 [[ 7.84482121e-01 5.82153465e-01 2.13740836e-01 1.20724088e+02] [-5.58988562e-01 8.13037265e-01 -1.62794944e-01 -5.97495143e+01] [-2.68550905e-01 8.23103995e-03 9.63230326e-01 -2.07294734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:-59.77, Z:-20.74 [[ 7.83128471e-01 5.82007254e-01 2.19037337e-01 1.20749045e+02] [-5.60772420e-01 8.13183165e-01 -1.55780079e-01 -5.97700929e+01] [-2.68782611e-01 -8.34282246e-04 9.63200505e-01 -2.07369460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:-59.79, Z:-20.75 [[ 7.82874608e-01 5.82318300e-01 2.19118111e-01 1.20775430e+02] [-5.61053104e-01 8.12960427e-01 -1.55931904e-01 -5.97878155e+01] [-2.68936354e-01 -8.61768122e-04 9.63157565e-01 -2.07463849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:-59.81, Z:-20.76 [[ 7.83077555e-01 5.81777569e-01 2.19828121e-01 1.20800831e+02] [-5.60324273e-01 8.13347713e-01 -1.56531810e-01 -5.98050201e+01] [-2.69863396e-01 -5.98484959e-04 9.62898432e-01 -2.07555504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:-59.82, Z:-20.76 [[ 7.83540680e-01 5.81118974e-01 2.19919853e-01 1.20826225e+02] [-5.59597501e-01 8.13818561e-01 -1.56684354e-01 -5.98234901e+01] [-2.70027109e-01 -2.98034796e-04 9.62852674e-01 -2.07645814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:-59.84, Z:-20.77 [[ 7.84391342e-01 5.79987479e-01 2.19874389e-01 1.20850545e+02] [-5.58404616e-01 8.14625370e-01 -1.56747539e-01 -5.98415392e+01] [-2.70026866e-01 1.72539004e-04 9.62852773e-01 -2.07733937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:-59.87, Z:-20.78 [[ 7.85908878e-01 5.76059617e-01 2.24727729e-01 1.20874022e+02] [-5.57261048e-01 8.17343568e-01 -1.46320251e-01 -5.98664352e+01] [-2.67968952e-01 -1.02376260e-02 9.63373153e-01 -2.07772888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:-59.87, Z:-20.79 [[ 7.88316556e-01 5.77163406e-01 2.13165219e-01 1.20902313e+02] [-5.52671457e-01 8.16512514e-01 -1.66917868e-01 -5.98735198e+01] [-2.70390955e-01 1.37737867e-02 9.62652073e-01 -2.07943970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:-59.90, Z:-20.80 [[ 7.89753134e-01 5.72576925e-01 2.20103732e-01 1.20924291e+02] [-5.50608091e-01 8.19845919e-01 -1.57109513e-01 -5.98978862e+01] [-2.70408429e-01 2.88683459e-03 9.62741371e-01 -2.08010650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:-59.92, Z:-20.81 [[ 7.90997716e-01 5.70888846e-01 2.20019405e-01 1.20949098e+02] [-5.48846710e-01 8.21019716e-01 -1.57142976e-01 -5.99169054e+01] [-2.70351442e-01 3.54280817e-03 9.62755185e-01 -2.08101819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:-59.94, Z:-20.82 [[ 7.92193110e-01 5.69248969e-01 2.19967471e-01 1.20974099e+02] [-5.47128954e-01 8.22154561e-01 -1.57199827e-01 -5.99360547e+01] [-2.70333099e-01 4.18204768e-03 9.62757771e-01 -2.08195701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.00, Y:-59.96, Z:-20.83 [[ 7.94124050e-01 5.66521847e-01 2.20045427e-01 1.20998171e+02] [-5.44255503e-01 8.24030333e-01 -1.57352972e-01 -5.99557268e+01] [-2.70468003e-01 5.19684465e-03 9.62714938e-01 -2.08283865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:-59.97, Z:-20.84 [[ 7.94812024e-01 5.65582369e-01 2.19978248e-01 1.21023094e+02] [-5.43269251e-01 8.24672852e-01 -1.57395071e-01 -5.99746332e+01] [-2.70429966e-01 5.59207694e-03 9.62723409e-01 -2.08373289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:-59.99, Z:-20.85 [[ 7.95398900e-01 5.64737195e-01 2.20028385e-01 1.21048407e+02] [-5.42355124e-01 8.25249262e-01 -1.57526426e-01 -5.99935697e+01] [-2.70539294e-01 5.96282393e-03 9.62690467e-01 -2.08466151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:-60.01, Z:-20.86 [[ 7.96211136e-01 5.63294286e-01 2.20788076e-01 1.21072357e+02] [-5.40671523e-01 8.26230278e-01 -1.58170260e-01 -6.00123111e+01] [-2.71518197e-01 6.56309681e-03 9.62410928e-01 -2.08555975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:-60.03, Z:-20.87 [[ 7.96141979e-01 5.63409495e-01 2.20743494e-01 1.21098435e+02] [-5.40773844e-01 8.26151402e-01 -1.58232455e-01 -6.00310618e+01] [-2.71517214e-01 6.60319258e-03 9.62410931e-01 -2.08650345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:-60.05, Z:-20.87 [[ 7.96545152e-01 5.62818700e-01 2.20796130e-01 1.21123312e+02] [-5.40138174e-01 8.26552057e-01 -1.58311244e-01 -6.00498585e+01] [-2.71600024e-01 6.84163559e-03 9.62385899e-01 -2.08739436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:-60.07, Z:-20.88 [[ 7.96637281e-01 5.62621713e-01 2.20965723e-01 1.21148709e+02] [-5.39872574e-01 8.26684894e-01 -1.58523467e-01 -6.00695115e+01] [-2.71857770e-01 6.99237018e-03 9.62312039e-01 -2.08832290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:-60.09, Z:-20.89 [[ 7.96771630e-01 5.62348126e-01 2.21177656e-01 1.21174128e+02] [-5.39516645e-01 8.26869448e-01 -1.58772495e-01 -6.00891046e+01] [-2.72170462e-01 7.17639281e-03 9.62222292e-01 -2.08925160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:-60.11, Z:-20.90 [[ 7.96568603e-01 5.62447263e-01 2.21656348e-01 1.21199069e+02] [-5.39490789e-01 8.26801434e-01 -1.59213935e-01 -6.01085404e+01] [-2.72815228e-01 7.24326339e-03 9.62039181e-01 -2.09014127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:-60.13, Z:-20.91 [[ 7.96248343e-01 5.62868746e-01 2.21737120e-01 1.21224327e+02] [-5.39883518e-01 8.26515059e-01 -1.59369519e-01 -6.01270466e+01] [-2.72973190e-01 7.18549873e-03 9.61994806e-01 -2.09106433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:-60.15, Z:-20.92 [[ 7.95703227e-01 5.63609088e-01 2.21813366e-01 1.21249170e+02] [-5.40608066e-01 8.26011827e-01 -1.59522353e-01 -6.01452856e+01] [-2.73128712e-01 7.01835629e-03 9.61951896e-01 -2.09196440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:-60.16, Z:-20.93 [[ 7.94305937e-01 5.65542645e-01 2.21899968e-01 1.21274583e+02] [-5.42571304e-01 8.24693951e-01 -1.59675508e-01 -6.01642584e+01] [-2.73302870e-01 6.43464918e-03 9.61906511e-01 -2.09286131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:-60.18, Z:-20.94 [[ 7.93164915e-01 5.67067784e-01 2.22089049e-01 1.21300107e+02] [-5.44086336e-01 8.23649266e-01 -1.59912305e-01 -6.01835196e+01] [-2.73604598e-01 6.00121286e-03 9.61823533e-01 -2.09379356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:-60.20, Z:-20.95 [[ 7.91957934e-01 5.68645740e-01 2.22361538e-01 1.21324888e+02] [-5.45638807e-01 8.22563809e-01 -1.60209468e-01 -6.02020268e+01] [-2.74008985e-01 5.55007473e-03 9.61711117e-01 -2.09470133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:-60.22, Z:-20.96 [[ 7.89401655e-01 5.72300901e-01 2.22073650e-01 1.21350266e+02] [-5.49469539e-01 8.20032131e-01 -1.60095377e-01 -6.02215241e+01] [-2.73730257e-01 4.35684942e-03 9.61796633e-01 -2.09564412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:-60.24, Z:-20.97 [[ 7.88168956e-01 5.74111685e-01 2.21777975e-01 1.21375900e+02] [-5.51384822e-01 8.18768153e-01 -1.59979656e-01 -6.02402322e+01] [-2.73430933e-01 3.80598918e-03 9.61884109e-01 -2.09659956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:-60.26, Z:-20.98 [[ 7.86944397e-01 5.75891200e-01 2.21512622e-01 1.21401664e+02] [-5.53261283e-01 8.17519820e-01 -1.59885264e-01 -6.02590743e+01] [-2.73167476e-01 3.26645546e-03 9.61960945e-01 -2.09752375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:-60.28, Z:-20.98 [[ 7.85902944e-01 5.77283422e-01 2.21586132e-01 1.21426293e+02] [-5.54663586e-01 8.16538802e-01 -1.60039659e-01 -6.02771434e+01] [-2.73321917e-01 2.86988005e-03 9.61918340e-01 -2.09841831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:-60.30, Z:-20.99 [[ 7.84240984e-01 5.79439594e-01 2.21846423e-01 1.21450521e+02] [-5.56832407e-01 8.15012288e-01 -1.60289240e-01 -6.02959789e+01] [-2.73685493e-01 2.17411317e-03 9.61816783e-01 -2.09933489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:-60.31, Z:-21.00 [[ 7.83701826e-01 5.80082790e-01 2.22070722e-01 1.21474458e+02] [-5.57427645e-01 8.14554991e-01 -1.60544660e-01 -6.03145987e+01] [-2.74018009e-01 2.03078407e-03 9.61722417e-01 -2.10022707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:-60.33, Z:-21.01 [[ 7.83534347e-01 5.80318216e-01 2.22046605e-01 1.21499713e+02] [-5.57660205e-01 8.14387359e-01 -1.60587435e-01 -6.03340083e+01] [-2.74023762e-01 1.99921564e-03 9.61720844e-01 -2.10113046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:-60.35, Z:-21.02 [[ 7.84019526e-01 5.79504639e-01 2.22458435e-01 1.21523626e+02] [-5.56701402e-01 8.14965497e-01 -1.60980707e-01 -6.03540395e+01] [-2.74585016e-01 2.36909497e-03 9.61559908e-01 -2.10207007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:-60.37, Z:-21.03 [[ 7.84379776e-01 5.78866730e-01 2.22849000e-01 1.21548311e+02] [-5.55928563e-01 8.15417762e-01 -1.61360793e-01 -6.03733461e+01] [-2.75121427e-01 2.68001866e-03 9.61405751e-01 -2.10298383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:-60.39, Z:-21.04 [[ 7.85016573e-01 5.77938700e-01 2.23015333e-01 1.21573317e+02] [-5.54900820e-01 8.16074326e-01 -1.61579004e-01 -6.03927208e+01] [-2.75379847e-01 3.09080504e-03 9.61330529e-01 -2.10391767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:-60.41, Z:-21.05 [[ 7.85661070e-01 5.77001050e-01 2.23173636e-01 1.21598484e+02] [-5.53864827e-01 8.16735885e-01 -1.61790751e-01 -6.04124686e+01] [-2.75627350e-01 3.50466764e-03 9.61258176e-01 -2.10483434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:-60.43, Z:-21.06 [[ 7.86221077e-01 5.76139942e-01 2.23426017e-01 1.21623185e+02] [-5.52887314e-01 8.17341779e-01 -1.62074164e-01 -6.04323445e+01] [-2.75992817e-01 3.89671308e-03 9.61151799e-01 -2.10579145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-60.46, Z:-21.06 [[ 7.88287095e-01 5.70519409e-01 2.30458370e-01 1.21643956e+02] [-5.52499840e-01 8.21154306e-01 -1.43001858e-01 -6.04648687e+01] [-2.70827218e-01 -1.46016932e-02 9.62517225e-01 -2.10550346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:-60.46, Z:-21.08 [[ 7.88455219e-01 5.78047722e-01 2.10236056e-01 1.21675124e+02] [-5.50391133e-01 8.15621136e-01 -1.78414583e-01 -6.04630312e+01] [-2.74605114e-01 2.49598483e-02 9.61233082e-01 -2.10813934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:-60.49, Z:-21.09 [[ 7.88918963e-01 5.73141712e-01 2.21620051e-01 1.21694669e+02] [-5.50093808e-01 8.19440479e-01 -1.60978583e-01 -6.04916702e+01] [-2.73867981e-01 5.08723855e-03 9.61753840e-01 -2.10854670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:-60.51, Z:-21.10 [[ 7.89746581e-01 5.72690570e-01 2.19831408e-01 1.21718938e+02] [-5.49976297e-01 8.19754613e-01 -1.59776242e-01 -6.05112228e+01] [-2.71710158e-01 5.28067704e-03 9.62364642e-01 -2.10953199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:-60.53, Z:-21.10 [[ 7.89777380e-01 5.72903453e-01 2.19165061e-01 1.21742959e+02] [-5.50310042e-01 8.19605895e-01 -1.59389568e-01 -6.05300045e+01] [-2.70943810e-01 5.27354189e-03 9.62580720e-01 -2.11043325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:-60.55, Z:-21.11 [[ 7.90015146e-01 5.72754927e-01 2.18695822e-01 1.21767779e+02] [-5.50229158e-01 8.19708943e-01 -1.59138690e-01 -6.05492925e+01] [-2.70414390e-01 5.38915769e-03 9.62728941e-01 -2.11132492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:-60.57, Z:-21.12 [[ 7.90616897e-01 5.71896938e-01 2.18766577e-01 1.21792135e+02] [-5.49297353e-01 8.20305217e-01 -1.59285179e-01 -6.05705245e+01] [-2.70550070e-01 5.76565230e-03 9.62688640e-01 -2.11218102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:-60.59, Z:-21.13 [[ 7.91165278e-01 5.71187044e-01 2.18638660e-01 1.21816729e+02] [-5.48560955e-01 8.20797368e-01 -1.59287664e-01 -6.05901773e+01] [-2.70441086e-01 6.08623732e-03 9.62717288e-01 -2.11304929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:-60.61, Z:-21.14 [[ 7.91949914e-01 5.70124864e-01 2.18570294e-01 1.21840483e+02] [-5.47446184e-01 8.21532105e-01 -1.59335109e-01 -6.06092303e+01] [-2.70403420e-01 6.52995234e-03 9.62724961e-01 -2.11391511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:-60.63, Z:-21.15 [[ 7.92832452e-01 5.68903513e-01 2.18553187e-01 1.21865258e+02] [-5.46157594e-01 8.22374288e-01 -1.59412715e-01 -6.06289081e+01] [-2.70422975e-01 7.02309078e-03 9.62715997e-01 -2.11483621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:-60.65, Z:-21.16 [[ 7.93958132e-01 5.67452330e-01 2.18239175e-01 1.21889397e+02] [-5.44692252e-01 8.23371283e-01 -1.59279882e-01 -6.06481248e+01] [-2.70075610e-01 7.58837008e-03 9.62809213e-01 -2.11568805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:-60.67, Z:-21.16 [[ 7.95897958e-01 5.64857264e-01 2.17905282e-01 1.21912746e+02] [-5.42047631e-01 8.25144513e-01 -1.59125419e-01 -6.06680422e+01] [-2.69686497e-01 8.53255362e-03 9.62910374e-01 -2.11647164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:-60.69, Z:-21.17 [[ 7.96268381e-01 5.64238351e-01 2.18155332e-01 1.21937418e+02] [-5.41327891e-01 8.25564744e-01 -1.59395631e-01 -6.06873003e+01] [-2.70038479e-01 8.82813484e-03 9.62809059e-01 -2.11734933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:-60.71, Z:-21.18 [[ 7.96234865e-01 5.64316863e-01 2.18074570e-01 1.21962388e+02] [-5.41399690e-01 8.25510520e-01 -1.59432608e-01 -6.07063977e+01] [-2.69993361e-01 8.88029655e-03 9.62821232e-01 -2.11820859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:-60.73, Z:-21.19 [[ 7.95269725e-01 5.65735870e-01 2.17919687e-01 1.21986405e+02] [-5.42876460e-01 8.24542946e-01 -1.59417942e-01 -6.07252953e+01] [-2.69872589e-01 8.47679422e-03 9.62858728e-01 -2.11899159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:-60.74, Z:-21.20 [[ 7.94104710e-01 5.67392441e-01 2.17861259e-01 1.22011600e+02] [-5.44580939e-01 8.23408753e-01 -1.59466692e-01 -6.07440622e+01] [-2.69869064e-01 7.99016238e-03 9.62863877e-01 -2.11987721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:-60.76, Z:-21.21 [[ 7.92856008e-01 5.69046580e-01 2.18094798e-01 1.22037041e+02] [-5.46616744e-01 8.22281099e-01 -1.58315916e-01 -6.07638872e+01] [-2.69424360e-01 6.30745708e-03 9.63000898e-01 -2.12069711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:-60.78, Z:-21.22 [[ 7.91345587e-01 5.71786636e-01 2.16407496e-01 1.22062092e+02] [-5.48813259e-01 8.20359603e-01 -1.60667759e-01 -6.07792375e+01] [-2.69399645e-01 8.37641870e-03 9.62992039e-01 -2.12168472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:-60.80, Z:-21.23 [[ 7.88423150e-01 5.75622973e-01 2.16903502e-01 1.22087476e+02] [-5.53258976e-01 8.17697790e-01 -1.58980594e-01 -6.07975902e+01] [-2.68874396e-01 5.34017169e-03 9.63160444e-01 -2.12254511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:-60.82, Z:-21.23 [[ 7.87330387e-01 5.77253284e-01 2.16539855e-01 1.22112354e+02] [-5.54998558e-01 8.16550695e-01 -1.58812984e-01 -6.08153266e+01] [-2.68491086e-01 4.85898083e-03 9.63269914e-01 -2.12343647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:-60.83, Z:-21.24 [[ 7.86419763e-01 5.78671646e-01 2.16062680e-01 1.22138190e+02] [-5.56543925e-01 8.15548525e-01 -1.58554294e-01 -6.08341062e+01] [-2.67960474e-01 4.44185818e-03 9.63419667e-01 -2.12439633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:-60.85, Z:-21.25 [[ 7.85726545e-01 5.79775454e-01 2.15625183e-01 1.22163667e+02] [-5.57752977e-01 8.14765793e-01 -1.58329780e-01 -6.08527256e+01] [-2.67479743e-01 4.13832399e-03 9.63554597e-01 -2.12534063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:-60.87, Z:-21.26 [[ 7.85519424e-01 5.80003884e-01 2.15765450e-01 1.22189485e+02] [-5.57933530e-01 8.14603159e-01 -1.58530346e-01 -6.08718407e+01] [-2.67711434e-01 4.14588710e-03 9.63490218e-01 -2.12626904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:-60.89, Z:-21.27 [[ 7.85639371e-01 5.79761234e-01 2.15980765e-01 1.22214883e+02] [-5.57609721e-01 8.14774991e-01 -1.58786376e-01 -6.08907737e+01] [-2.68033911e-01 4.31585401e-03 9.63399811e-01 -2.12717553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:-60.91, Z:-21.28 [[ 7.85732587e-01 5.79508917e-01 2.16318554e-01 1.22239799e+02] [-5.57249858e-01 8.14953515e-01 -1.59133165e-01 -6.09094740e+01] [-2.68508654e-01 4.49263067e-03 9.63266795e-01 -2.12805265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:-60.93, Z:-21.29 [[ 7.86375762e-01 5.78340740e-01 2.17106311e-01 1.22264859e+02] [-5.55846594e-01 8.15780058e-01 -1.59804443e-01 -6.09288706e+01] [-2.69532419e-01 4.98853668e-03 9.62978395e-01 -2.12896992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:-60.95, Z:-21.30 [[ 7.86687175e-01 5.77799430e-01 2.17419199e-01 1.22289903e+02] [-5.55191442e-01 8.16161811e-01 -1.60132324e-01 -6.09477782e+01] [-2.69973613e-01 5.26476679e-03 9.62853328e-01 -2.12986892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:-60.97, Z:-21.31 [[ 7.86731710e-01 5.77680437e-01 2.17574192e-01 1.22314717e+02] [-5.55007907e-01 8.16245209e-01 -1.60343325e-01 -6.09669246e+01] [-2.70221094e-01 5.39178184e-03 9.62783199e-01 -2.13078576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:-60.99, Z:-21.32 [[ 7.86743101e-01 5.77649275e-01 2.17615737e-01 1.22340106e+02] [-5.54939659e-01 8.16266639e-01 -1.60470400e-01 -6.09864476e+01] [-2.70328076e-01 5.48537710e-03 9.62752638e-01 -2.13173380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:-61.01, Z:-21.33 [[ 7.86136913e-01 5.78431155e-01 2.17729541e-01 1.22365567e+02] [-5.55699556e-01 8.15713978e-01 -1.60650894e-01 -6.10056388e+01] [-2.70530512e-01 5.30138845e-03 9.62696805e-01 -2.13269484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:-61.02, Z:-21.34 [[ 7.85523049e-01 5.79371716e-01 2.17444143e-01 1.22391469e+02] [-5.56709311e-01 8.15047788e-01 -1.60536125e-01 -6.10243372e+01] [-2.70237458e-01 5.05164726e-03 9.62780451e-01 -2.13368173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:-61.04, Z:-21.35 [[ 7.84709321e-01 5.80619216e-01 2.17054387e-01 1.22415955e+02] [-5.58059135e-01 8.14161703e-01 -1.60345639e-01 -6.10419684e+01] [-2.69817129e-01 4.69553369e-03 9.62900135e-01 -2.13460015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:-61.06, Z:-21.36 [[ 7.82942020e-01 5.83204289e-01 2.16505312e-01 1.22442043e+02] [-5.60832187e-01 8.12316302e-01 -1.60029632e-01 -6.10603539e+01] [-2.69200762e-01 3.87077583e-03 9.63076304e-01 -2.13557709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:-61.08, Z:-21.37 [[ 7.81972528e-01 5.84528213e-01 2.16438752e-01 1.22467235e+02] [-5.62192405e-01 8.11365849e-01 -1.60078602e-01 -6.10787034e+01] [-2.69181471e-01 3.49684670e-03 9.63083126e-01 -2.13651335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:-61.10, Z:-21.37 [[ 7.81193199e-01 5.85460793e-01 2.16732199e-01 1.22491639e+02] [-5.63070798e-01 8.10694154e-01 -1.60394093e-01 -6.10966239e+01] [-2.69607979e-01 3.26320220e-03 9.62964635e-01 -2.13744021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:-61.12, Z:-21.38 [[ 7.81118761e-01 5.85691058e-01 2.16378061e-01 1.22516706e+02] [-5.63358934e-01 8.10527849e-01 -1.60222714e-01 -6.11155433e+01] [-2.69221455e-01 3.25445370e-03 9.63072799e-01 -2.13838576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:-61.13, Z:-21.39 [[ 7.81523948e-01 5.85106029e-01 2.16497701e-01 1.22541906e+02] [-5.62699427e-01 8.10949075e-01 -1.60408703e-01 -6.11348950e+01] [-2.69424709e-01 3.54011050e-03 9.63014950e-01 -2.13933906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:-61.15, Z:-21.40 [[ 7.82442401e-01 5.83855746e-01 2.16555666e-01 1.22567219e+02] [-5.61362557e-01 8.11847295e-01 -1.60549208e-01 -6.11543850e+01] [-2.69547710e-01 4.05426516e-03 9.62978502e-01 -2.14028866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:-61.17, Z:-21.41 [[ 7.83531438e-01 5.82331286e-01 2.16722770e-01 1.22591894e+02] [-5.59718082e-01 8.12938196e-01 -1.60770515e-01 -6.11739313e+01] [-2.69803918e-01 4.66509965e-03 9.62903984e-01 -2.14122490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-61.19, Z:-21.42 [[ 7.86596728e-01 5.77782679e-01 2.17790641e-01 1.22614965e+02] [-5.54741253e-01 8.16165971e-01 -1.61664002e-01 -6.11943483e+01] [-2.71159970e-01 6.34692169e-03 9.62513370e-01 -2.14208091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:-61.21, Z:-21.43 [[ 7.88158046e-01 5.75551188e-01 2.18054406e-01 1.22639688e+02] [-5.52342459e-01 8.17734022e-01 -1.61953320e-01 -6.12140190e+01] [-2.71522932e-01 7.20410593e-03 9.62405007e-01 -2.14295778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:-61.23, Z:-21.44 [[ 7.89431345e-01 5.73541162e-01 2.18743427e-01 1.22663242e+02] [-5.50078145e-01 8.19137595e-01 -1.62565790e-01 -6.12328594e+01] [-2.72419137e-01 8.00855171e-03 9.62145351e-01 -2.14388282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:-61.25, Z:-21.45 [[ 7.89361057e-01 5.73655206e-01 2.18698025e-01 1.22688982e+02] [-5.50179585e-01 8.19057344e-01 -1.62626848e-01 -6.12520593e+01] [-2.72417961e-01 8.04811207e-03 9.62145354e-01 -2.14482672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-61.27, Z:-21.46 [[ 7.91661415e-01 5.70193704e-01 2.19434143e-01 1.22712641e+02] [-5.46413670e-01 8.21457519e-01 -1.63216561e-01 -6.12717731e+01] [-2.73320882e-01 9.31043819e-03 9.61877857e-01 -2.14572852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:-61.29, Z:-21.47 [[ 7.92378907e-01 5.69222293e-01 2.19366470e-01 1.22737205e+02] [-5.45394563e-01 8.22126194e-01 -1.63258358e-01 -6.12910269e+01] [-2.73277218e-01 9.72119958e-03 9.61886199e-01 -2.14664718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:-61.31, Z:-21.48 [[ 7.92764436e-01 5.68790915e-01 2.19092319e-01 1.22761081e+02] [-5.44979523e-01 8.22422064e-01 -1.63154122e-01 -6.13094758e+01] [-2.72986940e-01 9.94195768e-03 9.61966365e-01 -2.14756172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:-61.33, Z:-21.49 [[ 7.92818286e-01 5.68793306e-01 2.18891160e-01 1.22786464e+02] [-5.45000439e-01 8.22419582e-01 -1.63096760e-01 -6.13288064e+01] [-2.72788722e-01 1.00103158e-02 9.62021885e-01 -2.14853676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:-61.35, Z:-21.49 [[ 7.92242024e-01 5.69933791e-01 2.18009287e-01 1.22811161e+02] [-5.46350952e-01 8.21633840e-01 -1.62537597e-01 -6.13476892e+01] [-2.71759477e-01 9.65953265e-03 9.62316726e-01 -2.14945606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:-61.37, Z:-21.50 [[ 7.91180693e-01 5.71337283e-01 2.18189874e-01 1.22836384e+02] [-5.47740951e-01 8.20663080e-01 -1.62763508e-01 -6.13664649e+01] [-2.72053234e-01 9.26381632e-03 9.62237611e-01 -2.15043083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:-61.38, Z:-21.51 [[ 7.90607042e-01 5.72071103e-01 2.18346419e-01 1.22861936e+02] [-5.48269230e-01 8.20147668e-01 -1.63580727e-01 -6.13832025e+01] [-2.72656114e-01 9.61545178e-03 9.62063505e-01 -2.15144887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:-61.40, Z:-21.52 [[ 7.88791647e-01 5.74404708e-01 2.18785213e-01 1.22886491e+02] [-5.51146885e-01 8.18540095e-01 -1.61954388e-01 -6.14030083e+01] [-2.72111832e-01 7.16547964e-03 9.62238955e-01 -2.15221696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:-61.42, Z:-21.53 [[ 7.86045285e-01 5.78115894e-01 2.18894548e-01 1.22911841e+02] [-5.54554373e-01 8.15923385e-01 -1.63519042e-01 -6.14209611e+01] [-2.73134138e-01 7.14444290e-03 9.61949427e-01 -2.15317695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:-61.44, Z:-21.54 [[ 7.84937955e-01 5.79696105e-01 2.18688896e-01 1.22936850e+02] [-5.56211871e-01 8.14805446e-01 -1.63463879e-01 -6.14397367e+01] [-2.72948277e-01 6.67164316e-03 9.62005575e-01 -2.15405475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.96, Y:-61.46, Z:-21.55 [[ 7.84004757e-01 5.80923238e-01 2.18780102e-01 1.22962015e+02] [-5.57437334e-01 8.13933716e-01 -1.63632287e-01 -6.14585531e+01] [-2.73130300e-01 6.33229473e-03 9.61956206e-01 -2.15501360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:-61.48, Z:-21.56 [[ 7.83277615e-01 5.81824075e-01 2.18990693e-01 1.22986772e+02] [-5.58297669e-01 8.13291713e-01 -1.63891129e-01 -6.14774364e+01] [-2.73459120e-01 6.11025883e-03 9.61864218e-01 -2.15588012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:-61.50, Z:-21.57 [[ 7.82146345e-01 5.82845207e-01 2.20314682e-01 1.23012414e+02] [-5.59039896e-01 8.12561992e-01 -1.64976979e-01 -6.14963908e+01] [-2.75175378e-01 5.87144421e-03 9.61376116e-01 -2.15680284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:-61.52, Z:-21.58 [[ 7.81669578e-01 5.83363778e-01 2.20634026e-01 1.23037790e+02] [-5.59478899e-01 8.12190400e-01 -1.65318224e-01 -6.15151581e+01] [-2.75637502e-01 5.78414478e-03 9.61244252e-01 -2.15770666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:-61.53, Z:-21.59 [[ 7.81108136e-01 5.83944609e-01 2.21085445e-01 1.23062047e+02] [-5.59952886e-01 8.11773640e-01 -1.65759832e-01 -6.15332140e+01] [-2.76265896e-01 5.67892021e-03 9.61064464e-01 -2.15862479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:-61.55, Z:-21.60 [[ 7.80726698e-01 5.84512336e-01 2.20932460e-01 1.23087267e+02] [-5.60549298e-01 8.11365808e-01 -1.65740794e-01 -6.15521611e+01] [-2.76134582e-01 5.55472738e-03 9.61102928e-01 -2.15954738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-61.57, Z:-21.60 [[ 7.80012943e-01 5.85554456e-01 2.20693879e-01 1.23111526e+02] [-5.61656041e-01 8.10615973e-01 -1.65663017e-01 -6.15704011e+01] [-2.75902701e-01 5.26524679e-03 9.61171149e-01 -2.16044797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:-61.59, Z:-21.61 [[ 7.79362035e-01 5.86542537e-01 2.20369398e-01 1.23137087e+02] [-5.62727606e-01 8.09903071e-01 -1.65513315e-01 -6.15896026e+01] [-2.75558452e-01 4.98685039e-03 9.61271382e-01 -2.16140397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:-61.61, Z:-21.62 [[ 7.78529610e-01 5.87705286e-01 2.20213858e-01 1.23161971e+02] [-5.63941544e-01 8.09061689e-01 -1.65496582e-01 -6.16083746e+01] [-2.75429812e-01 4.65624670e-03 9.61309907e-01 -2.16236428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:-61.63, Z:-21.63 [[ 7.77645243e-01 5.89038715e-01 2.19775496e-01 1.23187285e+02] [-5.65395066e-01 8.08093591e-01 -1.65266958e-01 -6.16272585e+01] [-2.74947807e-01 4.25908300e-03 9.61449720e-01 -2.16331529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:-61.65, Z:-21.64 [[ 7.75952127e-01 5.91542332e-01 2.19034166e-01 1.23212746e+02] [-5.68129709e-01 8.06266577e-01 -1.64811529e-01 -6.16458636e+01] [-2.74092924e-01 3.44603941e-03 9.61697039e-01 -2.16431975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:-61.66, Z:-21.65 [[ 7.75388377e-01 5.92442584e-01 2.18597001e-01 1.23237040e+02] [-5.69131327e-01 8.05606295e-01 -1.64584416e-01 -6.16641936e+01] [-2.73609937e-01 3.20644177e-03 9.61835392e-01 -2.16526978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:-61.68, Z:-21.66 [[ 7.74972866e-01 5.93217048e-01 2.17969241e-01 1.23261602e+02] [-5.70045503e-01 8.05036966e-01 -1.64205992e-01 -6.16836505e+01] [-2.72883090e-01 3.00280245e-03 9.62042516e-01 -2.16619622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:-61.70, Z:-21.67 [[ 7.74689486e-01 5.93503729e-01 2.18196068e-01 1.23286088e+02] [-5.70266300e-01 8.04825696e-01 -1.64474756e-01 -6.17030831e+01] [-2.73226183e-01 2.98699981e-03 9.61945181e-01 -2.16712777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:-61.72, Z:-21.68 [[ 7.74896870e-01 5.93243302e-01 2.18167884e-01 1.23309939e+02] [-5.69973204e-01 8.05017006e-01 -1.64554448e-01 -6.17217824e+01] [-2.73249681e-01 3.16287843e-03 9.61937944e-01 -2.16799690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:-61.74, Z:-21.69 [[ 7.75613068e-01 5.91954285e-01 2.19122098e-01 1.23334398e+02] [-5.68407891e-01 8.05963112e-01 -1.65335812e-01 -6.17425258e+01] [-2.74475570e-01 3.68588676e-03 9.61587009e-01 -2.16889805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:-61.76, Z:-21.70 [[ 7.76134073e-01 5.91112385e-01 2.19549650e-01 1.23358277e+02] [-5.67410151e-01 8.06578903e-01 -1.65759445e-01 -6.17617959e+01] [-2.75066576e-01 4.07685300e-03 9.61416537e-01 -2.16976454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:-61.78, Z:-21.71 [[ 7.76661534e-01 5.90293417e-01 2.19887569e-01 1.23382967e+02] [-5.66457525e-01 8.07176469e-01 -1.66108459e-01 -6.17815419e+01] [-2.75540801e-01 4.45308219e-03 9.61279063e-01 -2.17068599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:-61.80, Z:-21.72 [[ 7.77028919e-01 5.89792426e-01 2.19933976e-01 1.23407655e+02] [-5.65897358e-01 8.07541107e-01 -1.66245423e-01 -6.18011069e+01] [-2.75656017e-01 4.71744540e-03 9.61244769e-01 -2.17160547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:-61.82, Z:-21.73 [[ 7.77695040e-01 5.89039302e-01 2.19597644e-01 1.23430926e+02] [-5.65159975e-01 8.08088530e-01 -1.66093743e-01 -6.18207632e+01] [-2.75290079e-01 5.06248138e-03 9.61347878e-01 -2.17250835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:-61.84, Z:-21.73 [[ 7.77504914e-01 5.89425273e-01 2.19234933e-01 1.23455690e+02] [-5.65623682e-01 8.07807622e-01 -1.65881575e-01 -6.18400910e+01] [-2.74874442e-01 4.96927002e-03 9.61467289e-01 -2.17340365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:-61.86, Z:-21.74 [[ 7.77081149e-01 5.89963980e-01 2.19288373e-01 1.23480541e+02] [-5.66142873e-01 8.07414912e-01 -1.66022306e-01 -6.18589826e+01] [-2.75003883e-01 4.86425501e-03 9.61430811e-01 -2.17434354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:-61.88, Z:-21.75 [[ 7.76225646e-01 5.91219605e-01 2.18936348e-01 1.23504452e+02] [-5.67496431e-01 8.06498081e-01 -1.65857308e-01 -6.18775731e+01] [-2.74629836e-01 4.49709982e-03 9.61539510e-01 -2.17520344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:-61.90, Z:-21.76 [[ 7.74444144e-01 5.93933818e-01 2.17896509e-01 1.23529464e+02] [-5.70518624e-01 8.04505869e-01 -1.65162973e-01 -6.18971268e+01] [-2.73394895e-01 3.59548109e-03 9.61895163e-01 -2.17615646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:-61.92, Z:-21.77 [[ 7.73444103e-01 5.95418889e-01 2.17394954e-01 1.23554451e+02] [-5.72142599e-01 8.03409263e-01 -1.64882995e-01 -6.19161999e+01] [-2.72831570e-01 3.14686599e-03 9.62056668e-01 -2.17709814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:-61.93, Z:-21.78 [[ 7.72482039e-01 5.96884652e-01 2.16795322e-01 1.23578742e+02] [-5.73766967e-01 8.02322496e-01 -1.64529877e-01 -6.19348651e+01] [-2.72145123e-01 2.70638050e-03 9.62252414e-01 -2.17801736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:-61.96, Z:-21.79 [[ 7.70830198e-01 5.99031758e-01 2.16752759e-01 1.23603467e+02] [-5.75979687e-01 8.00722700e-01 -1.64592096e-01 -6.19553145e+01] [-2.72154747e-01 2.02737162e-03 9.62251362e-01 -2.17895411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:-61.97, Z:-21.80 [[ 7.70243833e-01 5.99822279e-01 2.16651034e-01 1.23628339e+02] [-5.76794427e-01 8.00131165e-01 -1.64615639e-01 -6.19749458e+01] [-2.72089372e-01 1.83107191e-03 9.62270243e-01 -2.17984888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:-61.99, Z:-21.81 [[ 7.69845801e-01 6.00278873e-01 2.16801100e-01 1.23652054e+02] [-5.77207599e-01 7.99788843e-01 -1.64830804e-01 -6.19937457e+01] [-2.72339551e-01 1.75505971e-03 9.62199610e-01 -2.18073017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:-62.01, Z:-21.82 [[ 7.69698957e-01 6.00353916e-01 2.17114464e-01 1.23676770e+02] [-5.77190852e-01 7.99732394e-01 -1.65163006e-01 -6.20135290e+01] [-2.72789727e-01 1.80931157e-03 9.62071978e-01 -2.18167223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-62.04, Z:-21.83 [[ 7.70386477e-01 5.99389531e-01 2.17340440e-01 1.23700510e+02] [-5.76111281e-01 8.00454365e-01 -1.65434586e-01 -6.20356101e+01] [-2.73130863e-01 2.23628868e-03 9.61974288e-01 -2.18254607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:-62.06, Z:-21.83 [[ 7.70919123e-01 5.98657280e-01 2.17469923e-01 1.23724765e+02] [-5.75293868e-01 8.01001126e-01 -1.65632613e-01 -6.20560301e+01] [-2.73350823e-01 2.58023585e-03 9.61910947e-01 -2.18346043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:-62.08, Z:-21.84 [[ 7.71487574e-01 5.97845325e-01 2.17687596e-01 1.23748773e+02] [-5.74373909e-01 8.01606036e-01 -1.65898690e-01 -6.20764162e+01] [-2.73681447e-01 2.95470218e-03 9.61815853e-01 -2.18437542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:-62.10, Z:-21.85 [[ 7.72382597e-01 5.96860618e-01 2.17215394e-01 1.23773002e+02] [-5.73426471e-01 8.02337824e-01 -1.65638455e-01 -6.20967559e+01] [-2.73143197e-01 3.37920309e-03 9.61967450e-01 -2.18529916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:-62.12, Z:-21.86 [[ 7.73947157e-01 5.95080178e-01 2.16530322e-01 1.23795666e+02] [-5.71699246e-01 8.03655981e-01 -1.65218146e-01 -6.21179329e+01] [-2.72333932e-01 4.07989232e-03 9.62194151e-01 -2.18623248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:-62.14, Z:-21.87 [[ 7.74303673e-01 5.94670851e-01 2.16380222e-01 1.23818848e+02] [-5.71280621e-01 8.03957768e-01 -1.65197940e-01 -6.21374009e+01] [-2.72198960e-01 4.29954380e-03 9.62231386e-01 -2.18716269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:-62.16, Z:-21.88 [[ 7.74768398e-01 5.94107621e-01 2.16263876e-01 1.23843490e+02] [-5.70695554e-01 8.04372572e-01 -1.65200937e-01 -6.21576869e+01] [-2.72103866e-01 4.57163264e-03 9.62257027e-01 -2.18811448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:-62.18, Z:-21.89 [[ 7.75026587e-01 5.93829927e-01 2.16101383e-01 1.23866753e+02] [-5.70414915e-01 8.04576575e-01 -1.65176750e-01 -6.21774601e+01] [-2.71957008e-01 4.74892088e-03 9.62297685e-01 -2.18897819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:-62.20, Z:-21.90 [[ 7.76105685e-01 5.92651120e-01 2.15463723e-01 1.23890204e+02] [-5.69306339e-01 8.05442345e-01 -1.64781438e-01 -6.21992461e+01] [-2.71201510e-01 5.22294695e-03 9.62508422e-01 -2.18984952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:-62.22, Z:-21.91 [[ 7.76772019e-01 5.92015399e-01 2.14809214e-01 1.23914794e+02] [-5.68763433e-01 8.05907815e-01 -1.64379899e-01 -6.22196162e+01] [-2.70431856e-01 5.51008021e-03 9.62723351e-01 -2.19076944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:-62.24, Z:-21.92 [[ 7.78249049e-01 5.90039029e-01 2.14900817e-01 1.23938316e+02] [-5.66664730e-01 8.07350268e-01 -1.64549777e-01 -6.22412207e+01] [-2.70591023e-01 6.28399392e-03 9.62673885e-01 -2.19169087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:-62.26, Z:-21.93 [[ 7.79142637e-01 5.88840378e-01 2.14950599e-01 1.23962188e+02] [-5.65381950e-01 8.08220855e-01 -1.64688492e-01 -6.22611772e+01] [-2.70702790e-01 6.78663688e-03 9.62639050e-01 -2.19255635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:-62.28, Z:-21.93 [[ 7.79950459e-01 5.87694433e-01 2.15157001e-01 1.23986206e+02] [-5.64120944e-01 8.09050304e-01 -1.64939885e-01 -6.22812049e+01] [-2.71007089e-01 7.27036851e-03 9.62549895e-01 -2.19344819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:-62.30, Z:-21.94 [[ 7.80666367e-01 5.86605646e-01 2.15531526e-01 1.24009779e+02] [-5.62879114e-01 8.09835655e-01 -1.65327901e-01 -6.23010325e+01] [-2.71527395e-01 7.74773787e-03 9.62399525e-01 -2.19430875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:-62.32, Z:-21.95 [[ 7.81417893e-01 5.85644227e-01 2.15422647e-01 1.24033952e+02] [-5.61880032e-01 8.10527186e-01 -1.65337567e-01 -6.23214241e+01] [-2.71434903e-01 8.15604912e-03 9.62422242e-01 -2.19520258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:-62.34, Z:-21.96 [[ 7.82374264e-01 5.84390065e-01 2.15357290e-01 1.24057141e+02] [-5.60565923e-01 8.11426547e-01 -1.65386836e-01 -6.23429605e+01] [-2.71397046e-01 8.67244647e-03 9.62428404e-01 -2.19603985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:-62.36, Z:-21.97 [[ 7.82305689e-01 5.84526453e-01 2.15236233e-01 1.24081735e+02] [-5.60706729e-01 8.11327969e-01 -1.65393137e-01 -6.23631209e+01] [-2.71303839e-01 8.70358818e-03 9.62454401e-01 -2.19691724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-62.38, Z:-21.98 [[ 7.81859342e-01 5.85223589e-01 2.14963532e-01 1.24106075e+02] [-5.61463382e-01 8.10827065e-01 -1.65282613e-01 -6.23825228e+01] [-2.71025533e-01 8.53360339e-03 9.62534331e-01 -2.19782538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:-62.40, Z:-21.99 [[ 7.80298760e-01 5.87693089e-01 2.13894081e-01 1.24130752e+02] [-5.64238908e-01 8.09047194e-01 -1.64551185e-01 -6.24027080e+01] [-2.69756000e-01 7.71172345e-03 9.62897829e-01 -2.19877155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:-62.42, Z:-22.00 [[ 7.78997759e-01 5.89600877e-01 2.13385326e-01 1.24154816e+02] [-5.66303152e-01 8.07663405e-01 -1.64257618e-01 -6.24218369e+01] [-2.69189954e-01 7.11553378e-03 9.63060817e-01 -2.19965812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:-62.44, Z:-22.01 [[ 7.77598971e-01 5.91540406e-01 2.13119190e-01 1.24179446e+02] [-5.68348032e-01 8.06249060e-01 -1.64143132e-01 -6.24410192e+01] [-2.68924441e-01 6.51165811e-03 9.63139265e-01 -2.20058290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:-62.46, Z:-22.01 [[ 7.74736545e-01 5.95612071e-01 2.12201666e-01 1.24203882e+02] [-5.72744835e-01 8.03255653e-01 -1.63535044e-01 -6.24603475e+01] [-2.67855634e-01 5.15916696e-03 9.63445246e-01 -2.20145885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:-62.48, Z:-22.02 [[ 7.74665259e-01 5.95721036e-01 2.12156037e-01 1.24229276e+02] [-5.72841613e-01 8.03174588e-01 -1.63594219e-01 -6.24799960e+01] [-2.67854854e-01 5.19895147e-03 9.63445249e-01 -2.20240295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:-62.50, Z:-22.03 [[ 7.73233230e-01 5.97737793e-01 2.11707117e-01 1.24253673e+02] [-5.75020126e-01 8.01678907e-01 -1.63287428e-01 -6.24993152e+01] [-2.67324197e-01 4.52341232e-03 9.63596032e-01 -2.20330464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:-62.52, Z:-22.04 [[ 7.71946039e-01 5.99373842e-01 2.11778918e-01 1.24278203e+02] [-5.76676196e-01 8.00459079e-01 -1.63431414e-01 -6.25184939e+01] [-2.67476872e-01 4.03237134e-03 9.63555843e-01 -2.20421166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:-62.54, Z:-22.05 [[ 7.70582572e-01 6.00987902e-01 2.12169840e-01 1.24302692e+02] [-5.78237740e-01 7.99250191e-01 -1.63829933e-01 -6.25378017e+01] [-2.68036593e-01 3.55988213e-03 9.63402155e-01 -2.20511428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:-62.56, Z:-22.06 [[ 7.69584724e-01 6.02142966e-01 2.12516355e-01 1.24327085e+02] [-5.79333168e-01 7.98381693e-01 -1.64194256e-01 -6.25573287e+01] [-2.68537583e-01 3.24361799e-03 9.63263747e-01 -2.20603098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:-62.58, Z:-22.07 [[ 7.67943408e-01 6.03910714e-01 2.13435638e-01 1.24351221e+02] [-5.80938970e-01 7.97047338e-01 -1.65001380e-01 -6.25776699e+01] [-2.69764408e-01 2.71864222e-03 9.62922517e-01 -2.20692351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:-62.60, Z:-22.08 [[ 7.67283974e-01 6.04643684e-01 2.13731885e-01 1.24375570e+02] [-5.81607224e-01 7.96492017e-01 -1.65328472e-01 -6.25972348e+01] [-2.70200557e-01 2.54587873e-03 9.62800695e-01 -2.20780843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:-62.62, Z:-22.09 [[ 7.66586156e-01 6.05426739e-01 2.14018993e-01 1.24399974e+02] [-5.82329125e-01 7.95897553e-01 -1.65649855e-01 -6.26171635e+01] [-2.70626045e-01 2.35539264e-03 9.62681669e-01 -2.20874311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:-62.64, Z:-22.10 [[ 7.66086232e-01 6.06008206e-01 2.14163346e-01 1.24423867e+02] [-5.82873335e-01 7.95455258e-01 -1.65860205e-01 -6.26375091e+01] [-2.70870005e-01 2.23311580e-03 9.62613346e-01 -2.20967441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:-62.66, Z:-22.11 [[ 7.65880915e-01 6.06265738e-01 2.14168809e-01 1.24448038e+02] [-5.83111899e-01 7.95259022e-01 -1.65962648e-01 -6.26573879e+01] [-2.70937145e-01 2.22324399e-03 9.62594474e-01 -2.21061210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:-62.68, Z:-22.12 [[ 7.65673472e-01 6.06518871e-01 2.14193823e-01 1.24471769e+02] [-5.83341222e-01 7.95066002e-01 -1.66081518e-01 -6.26767861e+01] [-2.71029801e-01 2.21612635e-03 9.62568406e-01 -2.21152793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:-62.70, Z:-22.12 [[ 7.65207044e-01 6.06997547e-01 2.14504448e-01 1.24495309e+02] [-5.83743682e-01 7.94700861e-01 -1.66414713e-01 -6.26972646e+01] [-2.71480192e-01 2.12609402e-03 9.62441679e-01 -2.21244333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:-62.72, Z:-22.13 [[ 7.65076707e-01 6.07344019e-01 2.13988027e-01 1.24519906e+02] [-5.84189397e-01 7.94436225e-01 -1.66113918e-01 -6.27172643e+01] [-2.70888135e-01 2.08035288e-03 9.62608586e-01 -2.21336642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:-62.74, Z:-22.14 [[ 7.65027368e-01 6.07546644e-01 2.13588860e-01 1.24544163e+02] [-5.84459875e-01 7.94281261e-01 -1.65903385e-01 -6.27370172e+01] [-2.70443674e-01 2.08651149e-03 9.62733538e-01 -2.21434114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-62.76, Z:-22.15 [[ 7.65285911e-01 6.07512300e-01 2.12758736e-01 1.24568779e+02] [-5.84579261e-01 7.94307302e-01 -1.65357179e-01 -6.27572776e+01] [-2.69452337e-01 2.17117454e-03 9.63011279e-01 -2.21531763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:-62.78, Z:-22.16 [[ 7.66396947e-01 6.06331279e-01 2.12127556e-01 1.24591055e+02] [-5.83464376e-01 7.95207708e-01 -1.64966733e-01 -6.27780572e+01] [-2.68709958e-01 2.66112822e-03 9.63217461e-01 -2.21627826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-62.80, Z:-22.17 [[ 7.67212371e-01 6.05374562e-01 2.11912288e-01 1.24615140e+02] [-5.82493272e-01 7.95934806e-01 -1.64892002e-01 -6.27990113e+01] [-2.68489789e-01 3.06970180e-03 9.63277639e-01 -2.21720168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:-62.82, Z:-22.18 [[ 7.68103824e-01 6.04232859e-01 2.11941425e-01 1.24638615e+02] [-5.81275071e-01 7.96799877e-01 -1.65012870e-01 -6.28194692e+01] [-2.68581099e-01 3.55074983e-03 9.63250531e-01 -2.21813505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:-62.84, Z:-22.19 [[ 7.70391092e-01 6.01254215e-01 2.12110667e-01 1.24662030e+02] [-5.78120550e-01 7.99044120e-01 -1.65242624e-01 -6.28415420e+01] [-2.68838606e-01 4.67591016e-03 9.63173889e-01 -2.21905808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:-62.86, Z:-22.20 [[ 7.71859977e-01 5.99431928e-01 2.11928145e-01 1.24685441e+02] [-5.76243293e-01 8.00407592e-01 -1.65200952e-01 -6.28618291e+01] [-2.68655622e-01 5.38983129e-03 9.63221214e-01 -2.21991664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:-62.88, Z:-22.21 [[ 7.73031475e-01 5.97830105e-01 2.12182715e-01 1.24709455e+02] [-5.74508616e-01 8.01600345e-01 -1.65459169e-01 -6.28828976e+01] [-2.69002210e-01 6.00434759e-03 9.63120843e-01 -2.22085478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:-62.91, Z:-22.22 [[ 7.76014393e-01 5.94008098e-01 2.12028396e-01 1.24732661e+02] [-5.70553592e-01 8.04424958e-01 -1.65436046e-01 -6.29052413e+01] [-2.68831285e-01 7.40718978e-03 9.63158800e-01 -2.22179396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-62.93, Z:-22.23 [[ 7.77345661e-01 5.92232603e-01 2.12118520e-01 1.24756875e+02] [-5.68665007e-01 8.05726252e-01 -1.65605908e-01 -6.29261288e+01] [-2.68986678e-01 8.10865434e-03 9.63109764e-01 -2.22273464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:-62.95, Z:-22.24 [[ 7.78266082e-01 5.90883806e-01 2.12504666e-01 1.24779792e+02] [-5.67150786e-01 8.06710010e-01 -1.66008874e-01 -6.29460181e+01] [-2.69521597e-01 8.67688763e-03 9.62955254e-01 -2.22364315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:-62.97, Z:-22.25 [[ 7.78878660e-01 5.89963974e-01 2.12815745e-01 1.24803852e+02] [-5.66099946e-01 8.07378420e-01 -1.66345840e-01 -6.29666416e+01] [-2.69960893e-01 9.08824275e-03 9.62828396e-01 -2.22456654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:-62.99, Z:-22.25 [[ 7.79596658e-01 5.89026671e-01 2.12783062e-01 1.24827228e+02] [-5.65107488e-01 8.08057795e-01 -1.66421536e-01 -6.29868136e+01] [-2.69967735e-01 9.49637121e-03 9.62822539e-01 -2.22543454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:-63.01, Z:-22.26 [[ 7.79350218e-01 5.89391341e-01 2.12676007e-01 1.24851016e+02] [-5.65483325e-01 8.07792449e-01 -1.66433075e-01 -6.30060611e+01] [-2.69892286e-01 9.44491765e-03 9.62844197e-01 -2.22635766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:-63.03, Z:-22.27 [[ 7.78842746e-01 5.90072163e-01 2.12647171e-01 1.24875643e+02] [-5.66178643e-01 8.07297419e-01 -1.66471086e-01 -6.30257145e+01] [-2.69899466e-01 9.25851114e-03 9.62843995e-01 -2.22731726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:-63.04, Z:-22.28 [[ 7.77322522e-01 5.92145788e-01 2.12445435e-01 1.24899062e+02] [-5.68346347e-01 8.05784813e-01 -1.66412933e-01 -6.30448357e+01] [-2.69726022e-01 8.61393400e-03 9.62898579e-01 -2.22824714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:-63.06, Z:-22.29 [[ 7.76163753e-01 5.93657684e-01 2.12462662e-01 1.24923751e+02] [-5.69883838e-01 8.04676243e-01 -1.66518935e-01 -6.30645901e+01] [-2.69818902e-01 8.16692447e-03 9.62876452e-01 -2.22922932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-63.08, Z:-22.30 [[ 7.75009147e-01 5.95275452e-01 2.12150791e-01 1.24948391e+02] [-5.71604379e-01 8.03485055e-01 -1.66373674e-01 -6.30843721e+01] [-2.69498154e-01 7.67479843e-03 9.62970323e-01 -2.23013997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:-63.10, Z:-22.31 [[ 7.73845052e-01 5.96759499e-01 2.12230855e-01 1.24973415e+02] [-5.73096800e-01 8.02387447e-01 -1.66536609e-01 -6.31038743e+01] [-2.69673678e-01 7.24470708e-03 9.62924515e-01 -2.23108506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:-63.12, Z:-22.32 [[ 7.72622662e-01 5.98353173e-01 2.12197320e-01 1.24997752e+02] [-5.74728722e-01 8.01203860e-01 -1.66611136e-01 -6.31228216e+01] [-2.69705614e-01 6.77164484e-03 9.62919014e-01 -2.23198405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:-63.14, Z:-22.33 [[ 7.71349432e-01 5.99892628e-01 2.12482679e-01 1.25022815e+02] [-5.76234232e-01 8.00055551e-01 -1.66928806e-01 -6.31421946e+01] [-2.70137306e-01 6.32064611e-03 9.62801062e-01 -2.23292588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:-63.16, Z:-22.34 [[ 7.68918345e-01 6.02614738e-01 2.13588523e-01 1.25047695e+02] [-5.78778662e-01 7.98013442e-01 -1.67898205e-01 -6.31610505e+01] [-2.71624445e-01 5.47953038e-03 9.62387726e-01 -2.23387354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:-63.18, Z:-22.35 [[ 7.67660816e-01 6.04058578e-01 2.14032956e-01 1.25072507e+02] [-5.80147670e-01 7.96923833e-01 -1.68348108e-01 -6.31801302e+01] [-2.72260082e-01 5.06352523e-03 9.62210376e-01 -2.23478473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:-63.20, Z:-22.36 [[ 7.66381072e-01 6.05370471e-01 2.14910784e-01 1.25097720e+02] [-5.81280703e-01 7.95929949e-01 -1.69139766e-01 -6.31997712e+01] [-2.73446149e-01 4.70202409e-03 9.61875821e-01 -2.23573693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:-63.22, Z:-22.37 [[ 7.65239243e-01 6.06481202e-01 2.15845899e-01 1.25122167e+02] [-5.82191050e-01 7.95085594e-01 -1.69977881e-01 -6.32189376e+01] [-2.74704354e-01 4.41019433e-03 9.61518626e-01 -2.23664467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:-63.24, Z:-22.38 [[ 7.63519054e-01 6.08188265e-01 2.17130577e-01 1.25147598e+02] [-5.83642030e-01 7.93783233e-01 -1.71085240e-01 -6.32385197e+01] [-2.76406647e-01 3.90030999e-03 9.61032857e-01 -2.23754691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:-63.24, Z:-22.40 [[ 7.63876460e-01 6.10502120e-01 2.09236506e-01 1.25175233e+02] [-5.79989442e-01 7.91602913e-01 -1.92294239e-01 -6.32396257e+01] [-2.83028268e-01 2.55340778e-02 9.58771615e-01 -2.24010966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:-63.27, Z:-22.40 [[ 7.63176877e-01 6.05862801e-01 2.24702738e-01 1.25194224e+02] [-5.79644607e-01 7.95557300e-01 -1.76353939e-01 -6.32675281e+01] [-2.85610195e-01 4.34151789e-03 9.58336041e-01 -2.24041338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:-63.31, Z:-22.39 [[ 7.61629477e-01 6.02607737e-01 2.38294892e-01 1.25214066e+02] [-5.84573126e-01 7.97610678e-01 -1.48631981e-01 -6.33090155e+01] [-2.79633332e-01 -2.60982920e-02 9.59752092e-01 -2.23913030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:-63.31, Z:-22.41 [[ 7.60920386e-01 6.10575683e-01 2.19539294e-01 1.25245488e+02] [-5.85538729e-01 7.91951640e-01 -1.73080895e-01 -6.33142737e+01] [-2.79543490e-01 3.15202194e-03 9.60127857e-01 -2.24122942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:-63.33, Z:-22.43 [[ 7.61336759e-01 6.11020485e-01 2.16841663e-01 1.25270497e+02] [-5.83811240e-01 7.91539304e-01 -1.80637665e-01 -6.33254305e+01] [-2.82012012e-01 1.09314941e-02 9.59348595e-01 -2.24280174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:-63.36, Z:-22.43 [[ 7.60316378e-01 6.09315082e-01 2.25064739e-01 1.25291800e+02] [-5.86442081e-01 7.92904279e-01 -1.65494682e-01 -6.33560910e+01] [-2.79293201e-01 -6.15911665e-03 9.60186114e-01 -2.24271883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:-63.37, Z:-22.44 [[ 7.59746522e-01 6.12293402e-01 2.18819589e-01 1.25318602e+02] [-5.87413476e-01 7.90625885e-01 -1.72789230e-01 -6.33710767e+01] [-2.78802137e-01 2.73844117e-03 9.60344662e-01 -2.24408385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:-63.38, Z:-22.46 [[ 7.59913088e-01 6.13623670e-01 2.14471654e-01 1.25344389e+02] [-5.86301530e-01 7.89505012e-01 -1.81472731e-01 -6.33825465e+01] [-2.80682409e-01 1.21584439e-02 9.59723688e-01 -2.24574125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:-63.41, Z:-22.46 [[ 7.58847238e-01 6.11153732e-01 2.25037743e-01 1.25364010e+02] [-5.88827538e-01 7.91469990e-01 -1.63882230e-01 -6.34135371e+01] [-2.78267856e-01 -8.14684241e-03 9.60468963e-01 -2.24553191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:-63.43, Z:-22.47 [[ 7.58626035e-01 6.13868161e-01 2.18294344e-01 1.25390672e+02] [-5.89084990e-01 7.89404896e-01 -1.72681164e-01 -6.34282860e+01] [-2.78326092e-01 2.40650546e-03 9.60483626e-01 -2.24687311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:-63.45, Z:-22.48 [[ 7.58732709e-01 6.13751242e-01 2.18252351e-01 1.25415128e+02] [-5.88943500e-01 7.89495407e-01 -1.72749981e-01 -6.34480940e+01] [-2.78334744e-01 2.53275768e-03 9.60480794e-01 -2.24779836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:-63.47, Z:-22.49 [[ 7.58849344e-01 6.13640910e-01 2.18157070e-01 1.25439201e+02] [-5.88820303e-01 7.89580753e-01 -1.72779875e-01 -6.34677509e+01] [-2.78277424e-01 2.65858280e-03 9.60497063e-01 -2.24869638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:-63.49, Z:-22.50 [[ 7.58873642e-01 6.13439185e-01 2.18639343e-01 1.25463871e+02] [-5.88469604e-01 7.89736927e-01 -1.73260239e-01 -6.34878812e+01] [-2.78952183e-01 2.82002113e-03 9.60300852e-01 -2.24963575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:-63.51, Z:-22.51 [[ 7.59355442e-01 6.12478995e-01 2.19656079e-01 1.25488412e+02] [-5.87201951e-01 7.90480082e-01 -1.74169772e-01 -6.35083794e+01] [-2.80309082e-01 3.27428650e-03 9.59904213e-01 -2.25056467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:-63.53, Z:-22.51 [[ 7.59738286e-01 6.11924425e-01 2.19877773e-01 1.25512577e+02] [-5.86541461e-01 7.90908182e-01 -1.74451604e-01 -6.35280537e+01] [-2.80654327e-01 3.57013203e-03 9.59802273e-01 -2.25144958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:-63.55, Z:-22.52 [[ 7.59995505e-01 6.11576368e-01 2.19957221e-01 1.25536214e+02] [-5.86141198e-01 7.91176499e-01 -1.74580193e-01 -6.35472807e+01] [-2.80794105e-01 3.75417268e-03 9.59760687e-01 -2.25232372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-63.57, Z:-22.53 [[ 7.60845841e-01 6.10592147e-01 2.19751760e-01 1.25560661e+02] [-5.85137004e-01 7.91934118e-01 -1.74513720e-01 -6.35675274e+01] [-2.80585623e-01 4.19315117e-03 9.59819840e-01 -2.25322296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:-63.59, Z:-22.54 [[ 7.61086734e-01 6.10365084e-01 2.19548281e-01 1.25585230e+02] [-5.84918683e-01 7.92108247e-01 -1.74455323e-01 -6.35874449e+01] [-2.80387442e-01 4.35774104e-03 9.59877020e-01 -2.25415109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:-63.61, Z:-22.55 [[ 7.61380158e-01 6.10163591e-01 2.19090502e-01 1.25609546e+02] [-5.84787492e-01 7.92262637e-01 -1.74193869e-01 -6.36069803e+01] [-2.79863975e-01 4.50637088e-03 9.60029087e-01 -2.25505843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-63.65, Z:-22.54 [[ 7.61141662e-01 6.04781042e-01 2.34314452e-01 1.25629390e+02] [-5.88787154e-01 7.95815232e-01 -1.41448943e-01 -6.36518180e+01] [-2.72016649e-01 -3.02986555e-02 9.61815437e-01 -2.25357800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:-63.00, Z:-22.27 [[ 7.49716778e-01 -2.16717156e-02 -6.61403877e-01 1.26404939e+02] [-5.75842758e-01 -5.13851739e-01 -6.35894259e-01 -6.29991269e+01] [-3.26082613e-01 8.57605228e-01 -3.97722771e-01 -2.22718028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:-63.75, Z:-22.59 [[ 7.65240352e-01 5.77809316e-01 2.83802040e-01 1.25749670e+02] [-5.53866880e-01 8.15647421e-01 -1.67184816e-01 -6.37486657e+01] [-3.28083346e-01 -2.92519830e-02 9.44195763e-01 -2.25880346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:-63.72, Z:-22.64 [[ 7.65772723e-01 5.95178189e-01 2.43628939e-01 1.25783807e+02] [-5.48777131e-01 8.02261707e-01 -2.34988966e-01 -6.37205752e+01] [-3.35314476e-01 4.62501502e-02 9.40970311e-01 -2.26380421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:-63.78, Z:-22.62 [[ 7.65675149e-01 5.78487126e-01 2.81236931e-01 1.25797977e+02] [-5.52690524e-01 8.15355269e-01 -1.72420909e-01 -6.37830968e+01] [-3.29051290e-01 -2.34185818e-02 9.44021620e-01 -2.26153577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:-63.13, Z:-22.30 [[ 7.50532270e-01 -3.56157495e-02 -6.59873344e-01 1.26599732e+02] [-5.40413189e-01 -6.07780976e-01 -5.81855541e-01 -6.31254585e+01] [-3.80335244e-01 7.93305618e-01 -4.75406456e-01 -2.23023168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:-63.86, Z:-22.70 [[ 7.69047416e-01 5.53372079e-01 3.19914697e-01 1.25928690e+02] [-5.07013825e-01 8.32891500e-01 -2.21875486e-01 -6.38586980e+01] [-3.89233931e-01 8.43159541e-03 9.21100350e-01 -2.26979110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-63.88, Z:-22.71 [[ 7.68961231e-01 5.53554170e-01 3.19806826e-01 1.25953086e+02] [-5.07217704e-01 8.32770892e-01 -2.21862213e-01 -6.38764082e+01] [-3.89138569e-01 8.39175663e-03 9.21141006e-01 -2.27109874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:-63.89, Z:-22.72 [[ 7.68708955e-01 5.54253958e-01 3.19200708e-01 1.25977495e+02] [-5.08099151e-01 8.32307738e-01 -2.21583126e-01 -6.38943392e+01] [-3.88486544e-01 8.14732484e-03 9.21418377e-01 -2.27235098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:-63.91, Z:-22.74 [[ 7.67654120e-01 5.55975034e-01 3.18745845e-01 1.26001072e+02] [-5.10040036e-01 8.31166116e-01 -2.21409236e-01 -6.39123600e+01] [-3.88028753e-01 7.39257041e-03 9.21617620e-01 -2.27361623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:-63.93, Z:-22.75 [[ 7.66678939e-01 5.57343335e-01 3.18703329e-01 1.26026068e+02] [-5.11478828e-01 8.30254127e-01 -2.21511836e-01 -6.39300195e+01] [-3.88062899e-01 6.81845416e-03 9.21607669e-01 -2.27493036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:-63.95, Z:-22.76 [[ 7.65623187e-01 5.58867799e-01 3.18571686e-01 1.26050852e+02] [-5.13109488e-01 8.29233802e-01 -2.21562530e-01 -6.39474849e+01] [-3.87994574e-01 6.17125588e-03 9.21640996e-01 -2.27619759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:-63.96, Z:-22.77 [[ 7.63218627e-01 5.62125378e-01 3.18610086e-01 1.26075038e+02] [-5.16567478e-01 8.27038983e-01 -2.21730832e-01 -6.39647002e+01] [-3.88143489e-01 4.64549202e-03 9.21587246e-01 -2.27740269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:-63.98, Z:-22.79 [[ 7.61864848e-01 5.63832781e-01 3.18833105e-01 1.26100010e+02] [-5.18295962e-01 8.25879775e-01 -2.22017776e-01 -6.39821694e+01] [-3.88498713e-01 3.89762809e-03 9.21441023e-01 -2.27871449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:-64.00, Z:-22.80 [[ 7.60625254e-01 5.65521089e-01 3.18802635e-01 1.26125178e+02] [-5.20075367e-01 8.24727769e-01 -2.22138965e-01 -6.39995899e+01] [-3.88549656e-01 3.16310930e-03 9.21422357e-01 -2.28001212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:-64.01, Z:-22.82 [[ 7.57415139e-01 5.72315571e-01 3.14288392e-01 1.26151866e+02] [-5.23343707e-01 8.19957393e-01 -2.31907823e-01 -6.40139746e+01] [-3.90427549e-01 1.11696438e-02 9.20565895e-01 -2.28197813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:-64.16, Z:-21.88 [[ 0.79210565 -0.54322969 0.27833461 126.71258252] [ -0.50107317 -0.31831187 0.80473799 -64.15959903] [ -0.34856036 -0.77690351 -0.52433445 -21.87547515] [ 0. 0. 0. 1. ]] SLAMing on 149.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.33, Y:-64.13, Z:-22.90 [[ 7.93181539e-01 5.42003534e-01 2.77660253e-01 1.26329607e+02] [-5.05845097e-01 8.40253524e-01 -1.95178774e-01 -6.41335463e+01] [-3.39092591e-01 1.43591227e-02 9.40643413e-01 -2.28982804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:126.71, Y:-64.38, Z:-22.00 [[ 8.20229786e-01 -3.59851289e-01 4.44668582e-01 1.26708828e+02] [-4.97839156e-01 -6.61939627e-02 8.64739576e-01 -6.43778649e+01] [-2.81743275e-01 -9.30658589e-01 -2.33442322e-01 -2.20049886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:-63.66, Z:-22.14 [[ 8.45969954e-01 -3.87180467e-01 -3.66641683e-01 1.27228305e+02] [-4.39907135e-01 -8.95348844e-01 -6.95137415e-02 -6.36613546e+01] [-3.01357844e-01 2.20094829e-01 -9.27761670e-01 -2.21433240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:-64.31, Z:-22.99 [[ 8.48660488e-01 4.65899622e-01 2.50425475e-01 1.26634039e+02] [-4.41949219e-01 8.84708365e-01 -1.48229539e-01 -6.43098194e+01] [-2.90613598e-01 1.51212098e-02 9.56721007e-01 -2.29905239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:-64.33, Z:-22.99 [[ 8.49411094e-01 4.61248555e-01 2.56418726e-01 1.26659129e+02] [-4.41603231e-01 8.87270961e-01 -1.33179684e-01 -6.43319640e+01] [-2.88941826e-01 -1.11036678e-04 9.57346650e-01 -2.29945712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:-64.33, Z:-23.02 [[ 8.49462774e-01 4.65083437e-01 2.49219568e-01 1.26687824e+02] [-4.39233558e-01 8.85000475e-01 -1.54428110e-01 -6.43336790e+01] [-2.92381392e-01 2.17153330e-02 9.56055211e-01 -2.30191628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:-64.37, Z:-23.00 [[ 8.50687365e-01 4.53904384e-01 2.65144898e-01 1.26709892e+02] [-4.40231288e-01 8.90803235e-01 -1.12543364e-01 -6.43711849e+01] [-2.87275860e-01 -2.09858621e-02 9.57617969e-01 -2.30049978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:-64.37, Z:-23.03 [[ 8.50594512e-01 4.62041394e-01 2.51011408e-01 1.26742357e+02] [-4.39064203e-01 8.86768050e-01 -1.44447396e-01 -6.43707282e+01] [-2.89329573e-01 1.26560382e-02 9.57145873e-01 -2.30324167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:-64.39, Z:-23.03 [[ 8.52327265e-01 4.53859130e-01 2.59904065e-01 1.26766201e+02] [-4.36886281e-01 8.91032919e-01 -1.23250617e-01 -6.43943080e+01] [-2.87521495e-01 -8.49865884e-03 9.57736479e-01 -2.30282260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:-64.40, Z:-23.04 [[ 8.52592827e-01 4.55756553e-01 2.55678382e-01 1.26795559e+02] [-4.35874457e-01 8.90102018e-01 -1.33161011e-01 -6.44029404e+01] [-2.88268847e-01 2.08844678e-03 9.57547237e-01 -2.30420482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:-64.42, Z:-23.05 [[ 8.53319555e-01 4.54458250e-01 2.55564936e-01 1.26823599e+02] [-4.34509206e-01 8.90764208e-01 -1.33194880e-01 -6.44171648e+01] [-2.88179610e-01 2.61247828e-03 9.57572810e-01 -2.30514200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:-64.43, Z:-23.06 [[ 8.55136310e-01 4.50916737e-01 2.55765492e-01 1.26850724e+02] [-4.30752282e-01 8.92557509e-01 -1.33392520e-01 -6.44306481e+01] [-2.88434330e-01 3.89721776e-03 9.57491749e-01 -2.30609468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:-64.45, Z:-23.07 [[ 8.56254304e-01 4.48801134e-01 2.55746181e-01 1.26878234e+02] [-4.28521397e-01 8.93619350e-01 -1.33468610e-01 -6.44453196e+01] [-2.88440600e-01 4.69036050e-03 9.57486303e-01 -2.30704734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:-64.46, Z:-23.08 [[ 8.57355360e-01 4.46767224e-01 2.55618532e-01 1.26904950e+02] [-4.26391142e-01 8.94633573e-01 -1.33496683e-01 -6.44597133e+01] [-2.88326863e-01 5.46061916e-03 9.57516476e-01 -2.30794225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:-64.47, Z:-23.09 [[ 8.58210135e-01 4.44940267e-01 2.55936561e-01 1.26933076e+02] [-4.24406199e-01 8.95539028e-01 -1.33750619e-01 -6.44741734e+01] [-2.88712215e-01 6.16507409e-03 9.57396077e-01 -2.30889699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:-64.49, Z:-23.10 [[ 8.60304393e-01 4.41054460e-01 2.55631208e-01 1.26961130e+02] [-4.20374047e-01 8.97448592e-01 -1.33685025e-01 -6.44879088e+01] [-2.88378244e-01 7.54908875e-03 9.57486814e-01 -2.30988904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:-64.50, Z:-23.11 [[ 8.61127910e-01 4.39750576e-01 2.55104201e-01 1.26988635e+02] [-4.19072656e-01 8.98083795e-01 -1.33505080e-01 -6.45008910e+01] [-2.87813884e-01 8.05775547e-03 9.57652463e-01 -2.31084443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:-64.51, Z:-23.12 [[ 8.62429268e-01 4.37318794e-01 2.54888271e-01 1.27017353e+02] [-4.16546054e-01 8.99262063e-01 -1.33480809e-01 -6.45128121e+01] [-2.87585019e-01 8.94505319e-03 9.57713341e-01 -2.31189893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:-64.53, Z:-23.13 [[ 8.62803068e-01 4.36761752e-01 2.54578157e-01 1.27045186e+02] [-4.15989560e-01 8.99530124e-01 -1.33410050e-01 -6.45263946e+01] [-2.87269128e-01 9.20474539e-03 9.57805680e-01 -2.31288853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:-64.54, Z:-23.14 [[ 8.63129015e-01 4.36174317e-01 2.54480389e-01 1.27073550e+02] [-4.15365473e-01 8.99812212e-01 -1.33452266e-01 -6.45388269e+01] [-2.87193013e-01 9.48415549e-03 9.57825780e-01 -2.31378001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:-64.55, Z:-23.15 [[ 8.63078908e-01 4.36294746e-01 2.54443889e-01 1.27101800e+02] [-4.15470542e-01 8.99753384e-01 -1.33521824e-01 -6.45537145e+01] [-2.87191620e-01 9.52592957e-03 9.57825783e-01 -2.31478072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:-64.57, Z:-23.16 [[ 8.62760179e-01 4.36750355e-01 2.54743010e-01 1.27130236e+02] [-4.15884138e-01 8.99533415e-01 -1.33716188e-01 -6.45671981e+01] [-2.87550442e-01 9.42142504e-03 9.57719155e-01 -2.31575018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:-64.58, Z:-23.17 [[ 8.61898139e-01 4.38172574e-01 2.55218325e-01 1.27159568e+02] [-4.17259238e-01 8.98845278e-01 -1.34059294e-01 -6.45795288e+01] [-2.88142892e-01 9.05325243e-03 9.57544627e-01 -2.31666693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:-64.59, Z:-23.18 [[ 8.61127988e-01 4.39420140e-01 2.55672698e-01 1.27187681e+02] [-4.18455595e-01 8.98239124e-01 -1.34392674e-01 -6.45929522e+01] [-2.88710068e-01 8.74162180e-03 9.57376666e-01 -2.31761777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:-64.61, Z:-23.19 [[ 8.60213058e-01 4.40908423e-01 2.56189885e-01 1.27215260e+02] [-4.19892175e-01 8.97513243e-01 -1.34761047e-01 -6.46058129e+01] [-2.89351095e-01 8.35108428e-03 9.57186608e-01 -2.31855972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:-64.62, Z:-23.20 [[ 8.58237872e-01 4.44387925e-01 2.56801727e-01 1.27244429e+02] [-4.23393463e-01 8.95804858e-01 -1.35172601e-01 -6.46178992e+01] [-2.90113307e-01 7.28207314e-03 9.56964597e-01 -2.31950004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:-64.63, Z:-23.20 [[ 8.56913176e-01 4.46747383e-01 2.57131455e-01 1.27272704e+02] [-4.25772387e-01 8.94635932e-01 -1.35441591e-01 -6.46310794e+01] [-2.90547215e-01 6.58221040e-03 9.56838017e-01 -2.32047119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:-64.64, Z:-23.21 [[ 8.55610765e-01 4.49173844e-01 2.57241280e-01 1.27301054e+02] [-4.28258691e-01 8.93425225e-01 -1.35594476e-01 -6.46444745e+01] [-2.90731340e-01 5.85028005e-03 9.56786843e-01 -2.32142740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:-64.66, Z:-23.22 [[ 8.54189577e-01 4.51880238e-01 2.57224449e-01 1.27328928e+02] [-4.31058418e-01 8.92064492e-01 -1.35681918e-01 -6.46571705e+01] [-2.90772775e-01 5.01931635e-03 9.56778971e-01 -2.32238461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:-64.67, Z:-23.23 [[ 8.51479371e-01 4.56819014e-01 2.57486443e-01 1.27358074e+02] [-4.36146625e-01 8.89553076e-01 -1.35909699e-01 -6.46678564e+01] [-2.91133993e-01 3.42246187e-03 9.56676165e-01 -2.32345801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:-64.68, Z:-23.24 [[ 8.50082121e-01 4.59274044e-01 2.57735795e-01 1.27385827e+02] [-4.38641088e-01 8.88290602e-01 -1.36138910e-01 -6.46805796e+01] [-2.91469353e-01 2.67574390e-03 9.56576425e-01 -2.32448173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:-64.69, Z:-23.25 [[ 8.48899842e-01 4.61767898e-01 2.57175945e-01 1.27414696e+02] [-4.41320398e-01 8.86998822e-01 -1.35902157e-01 -6.46940691e+01] [-2.90870014e-01 1.87032944e-03 9.56760752e-01 -2.32547000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:-64.71, Z:-23.27 [[ 8.46823225e-01 4.65594396e-01 2.57123093e-01 1.27443839e+02] [-4.45298241e-01 8.84997989e-01 -1.35970718e-01 -6.47063112e+01] [-2.90860625e-01 6.46700931e-04 9.56765216e-01 -2.32653118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:-64.72, Z:-23.28 [[ 8.46119309e-01 4.67146784e-01 2.56624232e-01 1.27471148e+02] [-4.46971605e-01 8.84179756e-01 -1.35803326e-01 -6.47195304e+01] [-2.90342038e-01 2.02071216e-04 9.56922912e-01 -2.32751011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:-64.73, Z:-23.29 [[ 8.45613503e-01 4.68378338e-01 2.56045965e-01 1.27499306e+02] [-4.48324194e-01 8.83527992e-01 -1.35586518e-01 -6.47333385e+01] [-2.89729565e-01 -1.37810133e-04 9.57108541e-01 -2.32850807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:-64.75, Z:-23.30 [[ 8.45159676e-01 4.69358192e-01 2.55749895e-01 1.27527585e+02] [-4.49366160e-01 8.83007780e-01 -1.35526068e-01 -6.47471231e+01] [-2.89439417e-01 -3.84180583e-04 9.57196258e-01 -2.32953438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:-64.76, Z:-23.31 [[ 8.44892971e-01 4.69734707e-01 2.55939784e-01 1.27554850e+02] [-4.49699993e-01 8.82807524e-01 -1.35723217e-01 -6.47593883e+01] [-2.89699473e-01 -4.24527556e-04 9.57117566e-01 -2.33058571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:-64.77, Z:-23.32 [[ 8.44829717e-01 4.69661626e-01 2.56282476e-01 1.27582811e+02] [-4.49541524e-01 8.82846451e-01 -1.35994710e-01 -6.47739323e+01] [-2.90129571e-01 -3.17242679e-04 9.56987321e-01 -2.33161290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:-64.79, Z:-23.33 [[ 8.45123505e-01 4.69113595e-01 2.56317569e-01 1.27610604e+02] [-4.48934465e-01 8.83137833e-01 -1.36108092e-01 -6.47885209e+01] [-2.90213899e-01 -4.16426935e-05 9.56961802e-01 -2.33257463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:-64.80, Z:-23.34 [[ 8.45793584e-01 4.67516986e-01 2.57023505e-01 1.27638094e+02] [-4.47122725e-01 8.83983887e-01 -1.36578754e-01 -6.48037923e+01] [-2.91057524e-01 5.96384031e-04 9.56705368e-01 -2.33357992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:-64.82, Z:-23.35 [[ 8.46286327e-01 4.66466181e-01 2.57310620e-01 1.27665076e+02] [-4.45948251e-01 8.84538412e-01 -1.36828196e-01 -6.48184238e+01] [-2.91426853e-01 1.04861006e-03 9.56592541e-01 -2.33456431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:-64.83, Z:-23.36 [[ 8.47276601e-01 4.64489559e-01 2.57627271e-01 1.27692426e+02] [-4.43803008e-01 8.85576737e-01 -1.37086591e-01 -6.48336674e+01] [-2.91824008e-01 1.81450299e-03 9.56470311e-01 -2.33556688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:-64.85, Z:-23.37 [[ 8.47470669e-01 4.63912508e-01 2.58028390e-01 1.27719285e+02] [-4.43103824e-01 8.85878515e-01 -1.37398171e-01 -6.48481020e+01] [-2.92322537e-01 2.10755391e-03 9.56317464e-01 -2.33653747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:-64.86, Z:-23.38 [[ 8.47687066e-01 4.63408815e-01 2.58222597e-01 1.27747077e+02] [-4.42517329e-01 8.86141448e-01 -1.37592691e-01 -6.48629177e+01] [-2.92583411e-01 2.36757036e-03 9.56237074e-01 -2.33754109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:-64.88, Z:-23.39 [[ 8.48157171e-01 4.62532573e-01 2.58249941e-01 1.27773710e+02] [-4.41567017e-01 8.86597991e-01 -1.37704652e-01 -6.48773922e+01] [-2.92656766e-01 2.76053175e-03 9.56213573e-01 -2.33852266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:-64.89, Z:-23.40 [[ 8.48307291e-01 4.62403673e-01 2.57987563e-01 1.27801277e+02] [-4.41448255e-01 8.86664828e-01 -1.37655083e-01 -6.48923868e+01] [-2.92400714e-01 2.88565090e-03 9.56291533e-01 -2.33951763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:-64.91, Z:-23.41 [[ 8.48553800e-01 4.62128490e-01 2.57669765e-01 1.27828531e+02] [-4.41184538e-01 8.86807684e-01 -1.37580285e-01 -6.49069775e+01] [-2.92083297e-01 3.06435734e-03 9.56387974e-01 -2.34050592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:-64.92, Z:-23.42 [[ 8.48798452e-01 4.61948167e-01 2.57186856e-01 1.27856068e+02] [-4.41047209e-01 8.86901119e-01 -1.37418212e-01 -6.49218612e+01] [-2.91579401e-01 3.20882031e-03 9.56541246e-01 -2.34150830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:-64.94, Z:-23.42 [[ 8.48955841e-01 4.61762905e-01 2.57000001e-01 1.27882968e+02] [-4.40855327e-01 8.86997032e-01 -1.37414869e-01 -6.49364124e+01] [-2.91411327e-01 3.35933601e-03 9.56591947e-01 -2.34248733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:-64.95, Z:-23.43 [[ 8.49670316e-01 4.60790298e-01 2.56383807e-01 1.27910577e+02] [-4.39924173e-01 8.87501173e-01 -1.37143683e-01 -6.49515450e+01] [-2.90735408e-01 3.73748221e-03 9.56796193e-01 -2.34349558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:-64.97, Z:-23.44 [[ 8.49997567e-01 4.60245039e-01 2.56278443e-01 1.27937342e+02] [-4.39343058e-01 8.87782864e-01 -1.37183320e-01 -6.49666646e+01] [-2.90657553e-01 4.01133328e-03 9.56818737e-01 -2.34443539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:-64.98, Z:-23.45 [[ 8.50616354e-01 4.59344213e-01 2.55841186e-01 1.27964625e+02] [-4.38448439e-01 8.88247483e-01 -1.37037857e-01 -6.49821032e+01] [-2.90197836e-01 4.39347369e-03 9.56956589e-01 -2.34538881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:-65.00, Z:-23.46 [[ 8.50560512e-01 4.59470109e-01 2.55800772e-01 1.27992750e+02] [-4.38557235e-01 8.88182136e-01 -1.37113257e-01 -6.49972296e+01] [-2.90197119e-01 4.43984261e-03 9.56956593e-01 -2.34638957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:-65.01, Z:-23.47 [[ 8.51103916e-01 4.58376229e-01 2.55955773e-01 1.28019933e+02] [-4.37376678e-01 8.88744999e-01 -1.37236903e-01 -6.50125159e+01] [-2.90385547e-01 4.85377930e-03 9.56897421e-01 -2.34738581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:-65.03, Z:-23.48 [[ 8.51825655e-01 4.57018963e-01 2.55981879e-01 1.28046480e+02] [-4.35925704e-01 8.89440516e-01 -1.37347548e-01 -6.50277974e+01] [-2.90451088e-01 5.40708392e-03 9.56874563e-01 -2.34833614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:-65.04, Z:-23.49 [[ 8.53468433e-01 4.53660189e-01 2.56484049e-01 1.28072965e+02] [-4.32315587e-01 8.91150161e-01 -1.37675792e-01 -6.50439993e+01] [-2.91023827e-01 6.61989067e-03 9.56692902e-01 -2.34931956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:-65.06, Z:-23.50 [[ 8.54210882e-01 4.51982854e-01 2.56973283e-01 1.28099895e+02] [-4.30451258e-01 8.91996788e-01 -1.38034214e-01 -6.50596172e+01] [-2.91608441e-01 7.29585431e-03 9.56509952e-01 -2.35029534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:-65.08, Z:-23.51 [[ 8.55259166e-01 4.49043628e-01 2.58634065e-01 1.28126267e+02] [-4.27064624e-01 8.93469903e-01 -1.39022804e-01 -6.50762857e+01] [-2.93509057e-01 8.44706807e-03 9.55918972e-01 -2.35123242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:-65.09, Z:-23.52 [[ 8.55701931e-01 4.47759700e-01 2.59394404e-01 1.28153536e+02] [-4.25560228e-01 8.94108561e-01 -1.39529118e-01 -6.50921985e+01] [-2.94402273e-01 9.00739384e-03 9.55639141e-01 -2.35217445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:-65.11, Z:-23.53 [[ 8.56112685e-01 4.46945542e-01 2.59443160e-01 1.28180510e+02] [-4.24670962e-01 8.94511983e-01 -1.39652732e-01 -6.51077892e+01] [-2.94492182e-01 9.38049897e-03 9.55607849e-01 -2.35313694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:-65.12, Z:-23.54 [[ 8.56615958e-01 4.46453856e-01 2.58627250e-01 1.28207506e+02] [-4.24271107e-01 8.94755080e-01 -1.39310357e-01 -6.51237426e+01] [-2.93603692e-01 9.60740552e-03 9.55878951e-01 -2.35421362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:-65.14, Z:-23.55 [[ 8.56257790e-01 4.47109568e-01 2.58680558e-01 1.28234108e+02] [-4.24916845e-01 8.94429007e-01 -1.39436101e-01 -6.51384970e+01] [-2.93714610e-01 9.47552139e-03 9.55846192e-01 -2.35519727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:-65.15, Z:-23.56 [[ 8.55675206e-01 4.48196180e-01 2.58727902e-01 1.28261636e+02] [-4.26015884e-01 8.93887996e-01 -1.39551843e-01 -6.51536894e+01] [-2.93820369e-01 9.18885635e-03 9.55816487e-01 -2.35616609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:-65.17, Z:-23.57 [[ 8.53785773e-01 4.51164789e-01 2.59807980e-01 1.28289269e+02] [-4.28898390e-01 8.92402103e-01 -1.40230730e-01 -6.51695597e+01] [-2.95120356e-01 8.29577825e-03 9.55424071e-01 -2.35712206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-65.18, Z:-23.58 [[ 8.53732143e-01 4.51289528e-01 2.59767567e-01 1.28317344e+02] [-4.29006026e-01 8.92338602e-01 -1.40305555e-01 -6.51847764e+01] [-2.95119056e-01 8.34151047e-03 9.55424075e-01 -2.35812285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:-65.20, Z:-23.59 [[ 8.52513368e-01 4.53544477e-01 2.59842964e-01 1.28344227e+02] [-4.31336987e-01 8.91201215e-01 -1.40388028e-01 -6.51992443e+01] [-2.95244580e-01 7.60278950e-03 9.55391457e-01 -2.35906678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:-65.21, Z:-23.60 [[ 8.49945038e-01 4.58998925e-01 2.58676281e-01 1.28371897e+02] [-4.37214201e-01 8.88418119e-01 -1.39846300e-01 -6.52129072e+01] [-2.94001997e-01 5.76472465e-03 9.55787421e-01 -2.36011551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:-65.23, Z:-23.61 [[ 8.48325496e-01 4.62287867e-01 2.58135200e-01 1.28399799e+02] [-4.40715270e-01 8.86717425e-01 -1.39650491e-01 -6.52275013e+01] [-2.93451707e-01 4.70494728e-03 9.55962321e-01 -2.36117984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-65.24, Z:-23.62 [[ 8.45033674e-01 4.68700574e-01 2.57367173e-01 1.28427456e+02] [-4.47519442e-01 8.83353386e-01 -1.39331059e-01 -6.52424055e+01] [-2.92650711e-01 2.56262275e-03 9.56215977e-01 -2.36220510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:-65.26, Z:-23.63 [[ 8.43339499e-01 4.71821242e-01 2.57222094e-01 1.28454234e+02] [-4.50776423e-01 8.81692833e-01 -1.39349794e-01 -6.52566715e+01] [-2.92539069e-01 1.56953022e-03 9.56252283e-01 -2.36316461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:-65.27, Z:-23.64 [[ 8.41843855e-01 4.74515174e-01 2.57165850e-01 1.28482382e+02] [-4.53574809e-01 8.80247031e-01 -1.39409673e-01 -6.52714439e+01] [-2.92521481e-01 7.17225124e-04 9.56258683e-01 -2.36415054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:-65.29, Z:-23.65 [[ 8.39292191e-01 4.78740588e-01 2.57674343e-01 1.28509626e+02] [-4.57878968e-01 8.77956155e-01 -1.39784980e-01 -6.52858954e+01] [-2.93147519e-01 -6.63219891e-04 9.56066991e-01 -2.36513136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:-65.30, Z:-23.66 [[ 8.38343541e-01 4.80313418e-01 2.57835468e-01 1.28536810e+02] [-4.59469346e-01 8.77096202e-01 -1.39964901e-01 -6.53007463e+01] [-2.93373530e-01 -1.12882281e-03 9.55997227e-01 -2.36610294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:-65.32, Z:-23.67 [[ 8.37521060e-01 4.81633847e-01 2.58045174e-01 1.28563226e+02] [-4.60786132e-01 8.76371257e-01 -1.40176892e-01 -6.53155666e+01] [-2.93657309e-01 -1.50253864e-03 9.55909581e-01 -2.36706417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:-65.33, Z:-23.68 [[ 8.36337300e-01 4.83224121e-01 2.58909964e-01 1.28590422e+02] [-4.62279313e-01 8.75494439e-01 -1.40738496e-01 -6.53321686e+01] [-2.94682470e-01 -1.98386619e-03 9.55593170e-01 -2.36803211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:-65.35, Z:-23.69 [[ 8.35810002e-01 4.83842936e-01 2.59456460e-01 1.28617783e+02] [-4.62806004e-01 8.75152293e-01 -1.41134926e-01 -6.53480814e+01] [-2.95351053e-01 -2.11602478e-03 9.55386455e-01 -2.36900878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:-65.36, Z:-23.70 [[ 8.35403611e-01 4.84443514e-01 2.59644542e-01 1.28643986e+02] [-4.63372918e-01 8.74819678e-01 -1.41336725e-01 -6.53631442e+01] [-2.95611814e-01 -2.23903894e-03 9.55305523e-01 -2.36994814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:-65.38, Z:-23.71 [[ 8.34774696e-01 4.85522518e-01 2.59651865e-01 1.28670885e+02] [-4.64473050e-01 8.74220482e-01 -1.41433148e-01 -6.53789925e+01] [-2.95661956e-01 -2.53647993e-03 9.55289262e-01 -2.37098728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:-65.39, Z:-23.72 [[ 8.34570990e-01 4.86211414e-01 2.59016841e-01 1.28698114e+02] [-4.65269951e-01 8.73837084e-01 -1.41182946e-01 -6.53944433e+01] [-2.94983281e-01 -2.68556182e-03 9.55498640e-01 -2.37197401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:-65.41, Z:-23.73 [[ 8.34169335e-01 4.87030089e-01 2.58772514e-01 1.28725344e+02] [-4.66138144e-01 8.73380426e-01 -1.41144824e-01 -6.54098855e+01] [-2.94748624e-01 -2.88505550e-03 9.55570471e-01 -2.37300707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:-65.43, Z:-23.74 [[ 8.33332554e-01 4.88987094e-01 2.57776021e-01 1.28751209e+02] [-4.68320730e-01 8.72284105e-01 -1.40698732e-01 -6.54263176e+01] [-2.93653790e-01 -3.47302076e-03 9.55905534e-01 -2.37401833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:-65.44, Z:-23.75 [[ 8.32784605e-01 4.90011234e-01 2.57602004e-01 1.28778172e+02] [-4.69393365e-01 8.71708059e-01 -1.40694454e-01 -6.54425161e+01] [-2.93495606e-01 -3.74849653e-03 9.55953073e-01 -2.37503749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:-65.46, Z:-23.76 [[ 8.32518770e-01 4.90823907e-01 2.56913196e-01 1.28805484e+02] [-4.70326885e-01 8.71249909e-01 -1.40414449e-01 -6.54589909e+01] [-2.92754367e-01 -3.93551900e-03 9.56179582e-01 -2.37601849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:-65.48, Z:-23.77 [[ 8.32219851e-01 4.91953981e-01 2.55717424e-01 1.28831972e+02] [-4.71674605e-01 8.70610954e-01 -1.39855763e-01 -6.54758853e+01] [-2.91432989e-01 -4.22467297e-03 9.56581918e-01 -2.37704571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:-65.49, Z:-23.78 [[ 8.32187382e-01 4.92280685e-01 2.55193824e-01 1.28858457e+02] [-4.72071361e-01 8.70426186e-01 -1.39667053e-01 -6.54916260e+01] [-2.90882780e-01 -4.24053678e-03 9.56749302e-01 -2.37807940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:-65.51, Z:-23.79 [[ 8.32644952e-01 4.91809088e-01 2.54609907e-01 1.28883091e+02] [-4.71642835e-01 8.70693981e-01 -1.39445429e-01 -6.55089655e+01] [-2.90267843e-01 -3.97640565e-03 9.56937181e-01 -2.37904941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:-65.53, Z:-23.80 [[ 8.33063396e-01 4.91070476e-01 2.54666774e-01 1.28909491e+02] [-4.70843242e-01 8.71112134e-01 -1.39535989e-01 -6.55255076e+01] [-2.90365321e-01 -3.66580480e-03 9.56908847e-01 -2.38000256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:-65.54, Z:-23.81 [[ 8.33757166e-01 4.89826084e-01 2.54792847e-01 1.28936083e+02] [-4.69491809e-01 8.71814497e-01 -1.39702986e-01 -6.55421612e+01] [-2.90562265e-01 -3.14478881e-03 9.56850919e-01 -2.38097786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:-65.56, Z:-23.82 [[ 8.34607278e-01 4.88300801e-01 2.54937286e-01 1.28961766e+02] [-4.67843326e-01 8.72671732e-01 -1.39880915e-01 -6.55585458e+01] [-2.90780526e-01 -2.52507810e-03 9.56786449e-01 -2.38191340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:-65.58, Z:-23.83 [[ 8.36523516e-01 4.84372608e-01 2.56147582e-01 1.28988627e+02] [-4.63507378e-01 8.74861138e-01 -1.40637476e-01 -6.55760219e+01] [-2.92214506e-01 -1.07973819e-03 9.56352193e-01 -2.38284813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:-65.59, Z:-23.84 [[ 8.37285191e-01 4.82093290e-01 2.57952650e-01 1.29016558e+02] [-4.60790282e-01 8.76119867e-01 -1.41726128e-01 -6.55900164e+01] [-2.94322657e-01 -1.96886085e-04 9.55706092e-01 -2.38381153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:-65.60, Z:-23.85 [[ 8.38202445e-01 4.80553008e-01 2.57847761e-01 1.29043334e+02] [-4.59165870e-01 8.76965573e-01 -1.41767721e-01 -6.56046986e+01] [-2.94250514e-01 4.35158379e-04 9.55728228e-01 -2.38479205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:-65.62, Z:-23.86 [[ 8.40505017e-01 4.77053963e-01 2.56847878e-01 1.29071317e+02] [-4.55657628e-01 8.78872341e-01 -1.41278218e-01 -6.56199878e+01] [-2.93133829e-01 1.71035610e-03 9.56069889e-01 -2.38577576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:-65.64, Z:-23.87 [[ 8.40446884e-01 4.77178766e-01 2.56806272e-01 1.29099267e+02] [-4.55765030e-01 8.78804494e-01 -1.41353808e-01 -6.56354243e+01] [-2.93133541e-01 1.75704962e-03 9.56069893e-01 -2.38677667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:-65.65, Z:-23.88 [[ 8.40927694e-01 4.76280792e-01 2.56899243e-01 1.29126579e+02] [-4.54797346e-01 8.79290713e-01 -1.41446868e-01 -6.56497180e+01] [-2.93257545e-01 2.10949462e-03 9.56031151e-01 -2.38776549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:-65.66, Z:-23.89 [[ 8.41678351e-01 4.75151755e-01 2.56531409e-01 1.29154243e+02] [-4.53652315e-01 8.79900075e-01 -1.41334476e-01 -6.56646382e+01] [-2.92877330e-01 2.58210119e-03 9.56146538e-01 -2.38873161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:-65.68, Z:-23.90 [[ 8.42286033e-01 4.74241383e-01 2.56221288e-01 1.29182247e+02] [-4.52724610e-01 8.80389807e-01 -1.41259393e-01 -6.56797639e+01] [-2.92565660e-01 2.98313113e-03 9.56240783e-01 -2.38973069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:-65.69, Z:-23.91 [[ 8.43906721e-01 4.71526298e-01 2.55899191e-01 1.29210533e+02] [-4.49913406e-01 8.81842892e-01 -1.41177340e-01 -6.56932646e+01] [-2.92231711e-01 4.00802953e-03 9.56339146e-01 -2.39071753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:-65.71, Z:-23.92 [[ 8.45059571e-01 4.69645826e-01 2.55552577e-01 1.29238310e+02] [-4.47979465e-01 8.82842188e-01 -1.41081789e-01 -6.57081702e+01] [-2.91871069e-01 4.74020929e-03 9.56445926e-01 -2.39169406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:-65.72, Z:-23.93 [[ 8.46230836e-01 4.67812247e-01 2.55039355e-01 1.29266483e+02] [-4.46124000e-01 8.83811062e-01 -1.40894937e-01 -6.57228642e+01] [-2.91318980e-01 5.45046320e-03 9.56610445e-01 -2.39267749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:-65.74, Z:-23.94 [[ 8.47192226e-01 4.66205539e-01 2.54789575e-01 1.29294157e+02] [-4.44460288e-01 8.84655500e-01 -1.40853462e-01 -6.57366711e+01] [-2.91067664e-01 6.08611026e-03 9.56683111e-01 -2.39370048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:-65.75, Z:-23.95 [[ 8.49566300e-01 4.62289563e-01 2.54018624e-01 1.29322610e+02] [-4.40478422e-01 8.86697360e-01 -1.40522423e-01 -6.57498581e+01] [-2.90199693e-01 7.49339197e-03 9.56936773e-01 -2.39470660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:-65.76, Z:-23.96 [[ 8.50631360e-01 4.60371543e-01 2.53937652e-01 1.29349733e+02] [-4.38461589e-01 8.87688134e-01 -1.40574579e-01 -6.57637861e+01] [-2.90133976e-01 8.23523879e-03 9.56950603e-01 -2.39567624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:-65.78, Z:-23.97 [[ 8.52638680e-01 4.56755938e-01 2.53734692e-01 1.29377326e+02] [-4.34697833e-01 8.89540872e-01 -1.40551881e-01 -6.57781509e+01] [-2.89905286e-01 9.54204939e-03 9.57007771e-01 -2.39661784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:-65.79, Z:-23.98 [[ 8.53474039e-01 4.55297376e-01 2.53547560e-01 1.29405125e+02] [-4.33180142e-01 8.90281910e-01 -1.40545671e-01 -6.57929014e+01] [-2.89718881e-01 1.01203138e-02 9.57058279e-01 -2.39756961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:-65.81, Z:-23.98 [[ 8.54081495e-01 4.54206423e-01 2.53458725e-01 1.29431971e+02] [-4.32028687e-01 8.90833684e-01 -1.40593601e-01 -6.58068765e+01] [-2.89648086e-01 1.05769527e-02 9.57074769e-01 -2.39849391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:-65.82, Z:-23.99 [[ 8.54428434e-01 4.53465119e-01 2.53616711e-01 1.29458852e+02] [-4.31199740e-01 8.91207127e-01 -1.40771589e-01 -6.58205299e+01] [-2.89860026e-01 1.09197885e-02 9.57006752e-01 -2.39943992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-65.83, Z:-24.00 [[ 8.54420754e-01 4.53142259e-01 2.54218936e-01 1.29486613e+02] [-4.30727351e-01 8.91368598e-01 -1.41194802e-01 -6.58327089e+01] [-2.90584108e-01 1.11407205e-02 9.56784595e-01 -2.40042957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:-65.85, Z:-24.01 [[ 8.54144992e-01 4.53694148e-01 2.54161272e-01 1.29515078e+02] [-4.31286884e-01 8.91089173e-01 -1.41250517e-01 -6.58469503e+01] [-2.90564891e-01 1.10319990e-02 9.56791691e-01 -2.40142460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:-65.86, Z:-24.02 [[ 8.53686458e-01 4.54667166e-01 2.53962989e-01 1.29541944e+02] [-4.32309947e-01 8.90596217e-01 -1.41232040e-01 -6.58606118e+01] [-2.90392049e-01 1.07771537e-02 9.56847068e-01 -2.40235509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:-65.88, Z:-24.03 [[ 8.53051436e-01 4.55929817e-01 2.53833113e-01 1.29570036e+02] [-4.33633792e-01 8.89955045e-01 -1.41215272e-01 -6.58750715e+01] [-2.90284313e-01 1.03932753e-02 9.56884004e-01 -2.40331662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:-65.89, Z:-24.04 [[ 8.51452826e-01 4.58939243e-01 2.53777180e-01 1.29598094e+02] [-4.36754939e-01 8.88417354e-01 -1.41278901e-01 -6.58883975e+01] [-2.90298483e-01 9.45388313e-03 9.56889448e-01 -2.40432204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:-65.90, Z:-24.05 [[ 8.50612337e-01 4.60640315e-01 2.53513613e-01 1.29626345e+02] [-4.38548326e-01 8.87541760e-01 -1.41226731e-01 -6.59029718e+01] [-2.90058644e-01 8.95122949e-03 9.56967010e-01 -2.40532030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:-65.92, Z:-24.06 [[ 8.49631712e-01 4.62515235e-01 2.53388263e-01 1.29653067e+02] [-4.40497614e-01 8.86571570e-01 -1.41254040e-01 -6.59167238e+01] [-2.89978976e-01 8.39698650e-03 9.56996178e-01 -2.40624673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:-65.93, Z:-24.07 [[ 8.47579553e-01 4.65724314e-01 2.54381141e-01 1.29681150e+02] [-4.43642586e-01 8.84898784e-01 -1.41899257e-01 -6.59297393e+01] [-2.91187496e-01 7.41660211e-03 9.56637254e-01 -2.40723425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:-65.94, Z:-24.08 [[ 8.46542836e-01 4.67438902e-01 2.54688240e-01 1.29709010e+02] [-4.45360281e-01 8.83998524e-01 -1.42129624e-01 -6.59438706e+01] [-2.91580944e-01 6.89078872e-03 9.56521338e-01 -2.40821188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:-65.96, Z:-24.09 [[ 8.46486248e-01 4.67564130e-01 2.54646452e-01 1.29736870e+02] [-4.45468554e-01 8.83931932e-01 -1.42204456e-01 -6.59594790e+01] [-2.91579833e-01 6.93712976e-03 9.56521342e-01 -2.40921266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:-65.97, Z:-24.10 [[ 8.45406420e-01 4.69259202e-01 2.55115240e-01 1.29763350e+02] [-4.47142806e-01 8.83037251e-01 -1.42507980e-01 -6.59734453e+01] [-2.92149442e-01 6.40421703e-03 9.56351238e-01 -2.41019510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-65.99, Z:-24.11 [[ 8.44746576e-01 4.70601724e-01 2.54827865e-01 1.29790515e+02] [-4.48568470e-01 8.82325238e-01 -1.42437714e-01 -6.59879614e+01] [-2.91872490e-01 6.01602540e-03 9.56438318e-01 -2.41113391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:-66.00, Z:-24.12 [[ 8.43544984e-01 4.72841244e-01 2.54662558e-01 1.29818610e+02] [-4.50909803e-01 8.81131578e-01 -1.42434167e-01 -6.60027357e+01] [-2.91739970e-01 5.31978314e-03 9.56482875e-01 -2.41217825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:-66.02, Z:-24.13 [[ 8.42962531e-01 4.74052753e-01 2.54338670e-01 1.29846370e+02] [-4.52203425e-01 8.80482355e-01 -1.42347760e-01 -6.60178489e+01] [-2.91421059e-01 4.98101022e-03 9.56581913e-01 -2.41318383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:-66.03, Z:-24.14 [[ 8.42450849e-01 4.75017681e-01 2.54233690e-01 1.29874249e+02] [-4.53200833e-01 8.79963525e-01 -1.42383987e-01 -6.60328416e+01] [-2.91351285e-01 4.73259115e-03 9.56604428e-01 -2.41421274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:-66.05, Z:-24.15 [[ 8.41846905e-01 4.76227351e-01 2.53971058e-01 1.29902111e+02] [-4.54481773e-01 8.79311200e-01 -1.42331059e-01 -6.60478905e+01] [-2.91101539e-01 4.39574521e-03 9.56682064e-01 -2.41518565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:-66.06, Z:-24.16 [[ 8.41658247e-01 4.76619921e-01 2.53859894e-01 1.29929767e+02] [-4.54881742e-01 8.79098716e-01 -1.42365893e-01 -6.60630739e+01] [-2.91022328e-01 4.34719726e-03 9.56706385e-01 -2.41620718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:-66.08, Z:-24.17 [[ 8.41757449e-01 4.76676528e-01 2.53424316e-01 1.29957625e+02] [-4.54987465e-01 8.79067714e-01 -1.42219413e-01 -6.60782682e+01] [-2.90569790e-01 4.40936302e-03 9.56843642e-01 -2.41723131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-66.09, Z:-24.18 [[ 8.42452009e-01 4.75796556e-01 2.52769163e-01 1.29983798e+02] [-4.54153695e-01 8.79542321e-01 -1.41949732e-01 -6.60929508e+01] [-2.89860370e-01 4.78978758e-03 9.57056960e-01 -2.41820279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-66.11, Z:-24.19 [[ 8.42894269e-01 4.75111896e-01 2.52582535e-01 1.30010087e+02] [-4.53444058e-01 8.79910577e-01 -1.41936120e-01 -6.61079331e+01] [-2.89685583e-01 5.10509260e-03 9.57108249e-01 -2.41913734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:-66.12, Z:-24.20 [[ 8.43393175e-01 4.74252230e-01 2.52532719e-01 1.30037433e+02] [-4.52528459e-01 8.80371954e-01 -1.41997238e-01 -6.61237515e+01] [-2.89665230e-01 5.48125963e-03 9.57112329e-01 -2.42010938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:-66.14, Z:-24.21 [[ 8.45086138e-01 4.71061342e-01 2.52845075e-01 1.30064313e+02] [-4.49113294e-01 8.82075208e-01 -1.42269379e-01 -6.61394312e+01] [-2.90045976e-01 6.67379537e-03 9.56989442e-01 -2.42107514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:-66.15, Z:-24.22 [[ 8.46131532e-01 4.69063546e-01 2.53062878e-01 1.30091564e+02] [-4.46959981e-01 8.83132953e-01 -1.42488465e-01 -6.61549577e+01] [-2.90324311e-01 7.45500381e-03 9.56899272e-01 -2.42203512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:-66.17, Z:-24.23 [[ 8.48567112e-01 4.64580190e-01 2.53178009e-01 1.30118331e+02] [-4.42230765e-01 8.85484442e-01 -1.42650808e-01 -6.61706886e+01] [-2.90457928e-01 9.08567917e-03 9.56844628e-01 -2.42299896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-66.19, Z:-24.24 [[ 8.50169437e-01 4.61420124e-01 2.53581145e-01 1.30145307e+02] [-4.40292795e-01 8.87162812e-01 -1.38146302e-01 -6.61892170e+01] [-2.88711245e-01 5.79781254e-03 9.57398664e-01 -2.42365248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:-66.20, Z:-24.25 [[ 8.52103223e-01 4.58996593e-01 2.51480071e-01 1.30171955e+02] [-4.35036106e-01 8.88292858e-01 -1.47239210e-01 -6.61990982e+01] [-2.90970246e-01 1.60600943e-02 9.56597297e-01 -2.42508784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-66.22, Z:-24.26 [[ 8.52830971e-01 4.56157921e-01 2.54163896e-01 1.30198733e+02] [-4.33199343e-01 8.89815164e-01 -1.43413048e-01 -6.62166456e+01] [-2.91577886e-01 1.22034561e-02 9.56469243e-01 -2.42589248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.22, Y:-66.23, Z:-24.26 [[ 8.54068667e-01 4.54209435e-01 2.53496549e-01 1.30224969e+02] [-4.32452047e-01 8.90846779e-01 -1.39202168e-01 -6.62338512e+01] [-2.89053523e-01 9.26310902e-03 9.57268121e-01 -2.42646113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:-66.24, Z:-24.28 [[ 8.53898991e-01 4.54737655e-01 2.53120877e-01 1.30252206e+02] [-4.30416720e-01 8.90459387e-01 -1.47727879e-01 -6.62433890e+01] [-2.92571290e-01 1.71972297e-02 9.56089063e-01 -2.42793173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:-66.26, Z:-24.29 [[ 8.54152634e-01 4.53089816e-01 2.55211475e-01 1.30279316e+02] [-4.29746542e-01 8.91362920e-01 -1.44187565e-01 -6.62602376e+01] [-2.92815963e-01 1.34819400e-02 9.56073768e-01 -2.42876931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-66.28, Z:-24.29 [[ 8.54023383e-01 4.52596381e-01 2.56516231e-01 1.30307591e+02] [-4.30340767e-01 8.91663726e-01 -1.40508448e-01 -6.62760106e+01] [-2.92319834e-01 9.60810854e-03 9.56272346e-01 -2.42946522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:-66.28, Z:-24.31 [[ 8.53287035e-01 4.55278329e-01 2.54210305e-01 1.30335288e+02] [-4.30636598e-01 8.90177533e-01 -1.48781988e-01 -6.62846162e+01] [-2.94029517e-01 1.74814804e-02 9.55636459e-01 -2.43085745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:-66.30, Z:-24.31 [[ 8.52904508e-01 4.54557025e-01 2.56771903e-01 1.30362607e+02] [-4.32316165e-01 8.90671897e-01 -1.40734875e-01 -6.63034482e+01] [-2.92671544e-01 9.02676475e-03 9.56170427e-01 -2.43140502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:-66.31, Z:-24.33 [[ 8.51836882e-01 4.57875019e-01 2.54409895e-01 1.30389792e+02] [-4.33303743e-01 8.88861440e-01 -1.48906705e-01 -6.63119247e+01] [-2.94315806e-01 1.66074630e-02 9.55563917e-01 -2.43277968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:-66.33, Z:-24.34 [[ 8.49976185e-01 4.59761391e-01 2.57215764e-01 1.30417442e+02] [-4.36231198e-01 8.87966672e-01 -1.45662390e-01 -6.63250282e+01] [-2.95368969e-01 1.16040213e-02 9.55312786e-01 -2.43363132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:-66.34, Z:-24.35 [[ 8.49108686e-01 4.61196513e-01 2.57511586e-01 1.30446030e+02] [-4.37646495e-01 8.87227270e-01 -1.45922300e-01 -6.63388400e+01] [-2.95770157e-01 1.12048494e-02 9.55193418e-01 -2.43462378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:-66.35, Z:-24.36 [[ 8.48425841e-01 4.62459518e-01 2.57497157e-01 1.30474545e+02] [-4.38938580e-01 8.86573946e-01 -1.46012195e-01 -6.63525765e+01] [-2.95815000e-01 1.08550831e-02 9.55183570e-01 -2.43561920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:-66.36, Z:-24.37 [[ 8.47557810e-01 4.64243714e-01 2.57144965e-01 1.30502645e+02] [-4.40838542e-01 8.85647512e-01 -1.45910467e-01 -6.63638355e+01] [-2.95477816e-01 1.03081446e-02 9.55293987e-01 -2.43665118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:-66.39, Z:-24.37 [[ 8.47758112e-01 4.61761962e-01 2.60925419e-01 1.30530375e+02] [-4.42823542e-01 8.86992382e-01 -1.30964979e-01 -6.63870534e+01] [-2.91913505e-01 -4.51729546e-03 9.56434054e-01 -2.43664994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:-66.38, Z:-24.39 [[ 8.46883905e-01 4.69391535e-01 2.49918462e-01 1.30560334e+02] [-4.41872021e-01 8.82624945e-01 -1.60381808e-01 -6.63828229e+01] [-2.95866131e-01 2.53927962e-02 9.54891846e-01 -2.43912748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:-66.40, Z:-24.40 [[ 8.46398687e-01 4.65534328e-01 2.58625311e-01 1.30586081e+02] [-4.41857455e-01 8.84972440e-01 -1.46920965e-01 -6.64027669e+01] [-2.97273026e-01 1.00781901e-02 9.54739325e-01 -2.43964090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:-66.42, Z:-24.41 [[ 8.46357343e-01 4.65763716e-01 2.58347456e-01 1.30613006e+02] [-4.42120413e-01 8.84851800e-01 -1.46856506e-01 -6.64161352e+01] [-2.96999643e-01 1.00723987e-02 9.54824465e-01 -2.44058670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:-66.43, Z:-24.41 [[ 8.47021857e-01 4.63679719e-01 2.59913625e-01 1.30640002e+02] [-4.42615054e-01 8.86000624e-01 -1.38183967e-01 -6.64340919e+01] [-2.94356737e-01 2.00315757e-03 9.55693517e-01 -2.44092553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:-66.44, Z:-24.43 [[ 8.46237623e-01 4.68735131e-01 2.53316524e-01 1.30669905e+02] [-4.43169949e-01 8.83158927e-01 -1.53722821e-01 -6.64368146e+01] [-2.95774036e-01 1.78237636e-02 9.55091636e-01 -2.44290361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-66.45, Z:-24.44 [[ 8.46051570e-01 4.66969330e-01 2.57169957e-01 1.30695824e+02] [-4.43544792e-01 8.84219548e-01 -1.46368740e-01 -6.64543136e+01] [-2.95744416e-01 9.76910744e-03 9.55217151e-01 -2.44363183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:-66.48, Z:-24.44 [[ 8.46437546e-01 4.63981225e-01 2.61275533e-01 1.30722624e+02] [-4.45191012e-01 8.85827435e-01 -1.30823237e-01 -6.64780762e+01] [-2.92144561e-01 -5.58381959e-03 9.56357871e-01 -2.44354815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:-66.47, Z:-24.46 [[ 8.45472834e-01 4.72231590e-01 2.49345168e-01 1.30752714e+02] [-4.44619078e-01 8.81109671e-01 -1.61119902e-01 -6.64737397e+01] [-2.95786346e-01 2.53588816e-02 9.54917465e-01 -2.44603626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:-66.51, Z:-24.45 [[ 8.45450353e-01 4.65045963e-01 2.62575615e-01 1.30777203e+02] [-4.47209154e-01 8.85237748e-01 -1.27898795e-01 -6.65053890e+01] [-2.91920664e-01 -9.29413669e-03 9.56397378e-01 -2.44521559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:-66.51, Z:-24.47 [[ 8.45071032e-01 4.70918024e-01 2.53162331e-01 1.30808566e+02] [-4.48327643e-01 8.82136120e-01 -1.44354391e-01 -6.65107581e+01] [-2.91302720e-01 8.49004273e-03 9.56593249e-01 -2.44673262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-66.51, Z:-24.49 [[ 8.43819853e-01 4.76039950e-01 2.47697438e-01 1.30836750e+02] [-4.47447027e-01 8.78966288e-01 -1.64952788e-01 -6.65116941e+01] [-2.96241815e-01 2.83589555e-02 9.54691865e-01 -2.44903947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:-66.53, Z:-24.49 [[ 8.42912130e-01 4.72322787e-01 2.57702010e-01 1.30860760e+02] [-4.48919485e-01 8.81386793e-01 -1.47066712e-01 -6.65339612e+01] [-2.96598108e-01 8.27686171e-03 9.54966521e-01 -2.44944397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:-66.55, Z:-24.50 [[ 8.42513517e-01 4.73047472e-01 2.57676274e-01 1.30888949e+02] [-4.49652794e-01 8.80999632e-01 -1.47146230e-01 -6.65486170e+01] [-2.96619855e-01 8.10783104e-03 9.54961216e-01 -2.45047028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:-66.59, Z:-24.49 [[ 8.43542456e-01 4.64173192e-01 2.70146948e-01 1.30914880e+02] [-4.53790875e-01 8.85049380e-01 -1.03737344e-01 -6.65889974e+01] [-2.87245483e-01 -3.50833654e-02 9.57214286e-01 -2.44882377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:-66.55, Z:-24.54 [[ 8.42478074e-01 4.85318279e-01 2.33873605e-01 1.30951805e+02] [-4.50771146e-01 8.72767450e-01 -1.87302838e-01 -6.65528686e+01] [-2.95018761e-01 5.23750612e-02 9.54054916e-01 -2.45369127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:-66.59, Z:-24.53 [[ 8.42319571e-01 4.73770861e-01 2.56980373e-01 1.30971024e+02] [-4.50479471e-01 8.80611766e-01 -1.46939318e-01 -6.65893739e+01] [-2.95915507e-01 8.00548116e-03 9.55180572e-01 -2.45348900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:-66.60, Z:-24.55 [[ 8.42876727e-01 4.75566159e-01 2.51784929e-01 1.30998025e+02] [-4.50933360e-01 8.79562574e-01 -1.51752373e-01 -6.65996428e+01] [-2.93628894e-01 1.43703190e-02 9.55811470e-01 -2.45463400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:-66.62, Z:-24.55 [[ 8.42923772e-01 4.71127222e-01 2.59843521e-01 1.31023429e+02] [-4.49701542e-01 8.82063902e-01 -1.40469912e-01 -6.66199637e+01] [-2.95377789e-01 1.55339566e-03 9.55379269e-01 -2.45526916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:-66.63, Z:-24.56 [[ 8.43069614e-01 4.72904002e-01 2.56116051e-01 1.31051339e+02] [-4.49660014e-01 8.81072956e-01 -1.46684413e-01 -6.66309852e+01] [-2.95024572e-01 8.50002376e-03 9.55451857e-01 -2.45644030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:-66.65, Z:-24.57 [[ 8.43257554e-01 4.72487595e-01 2.56265820e-01 1.31078902e+02] [-4.49168314e-01 8.81294016e-01 -1.46862803e-01 -6.66455210e+01] [-2.95236386e-01 8.73668144e-03 9.55384293e-01 -2.45744106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:-66.66, Z:-24.58 [[ 8.43538625e-01 4.71944067e-01 2.56342323e-01 1.31106685e+02] [-4.48555567e-01 8.81582342e-01 -1.47005026e-01 -6.66602023e+01] [-2.95365016e-01 9.02064138e-03 9.55341895e-01 -2.45841857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:-66.68, Z:-24.59 [[ 8.44371311e-01 4.70094202e-01 2.56999085e-01 1.31133281e+02] [-4.47756425e-01 8.82596297e-01 -1.43310714e-01 -6.66761232e+01] [-2.94195976e-01 5.93446391e-03 9.55726692e-01 -2.45911566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:-66.69, Z:-24.60 [[ 8.44714493e-01 4.70899663e-01 2.54383437e-01 1.31161722e+02] [-4.46549040e-01 8.82088760e-01 -1.50044575e-01 -6.66854117e+01] [-2.95044711e-01 1.31501472e-02 9.55392952e-01 -2.46046444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:-66.70, Z:-24.61 [[ 8.45134328e-01 4.69386678e-01 2.55781378e-01 1.31188189e+02] [-4.45926342e-01 8.82935212e-01 -1.46884683e-01 -6.67014571e+01] [-2.94784099e-01 1.00776335e-02 9.55510741e-01 -2.46134468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:-66.72, Z:-24.62 [[ 8.45665216e-01 4.68398955e-01 2.55837372e-01 1.31215932e+02] [-4.44855239e-01 8.83454555e-01 -1.47009747e-01 -6.67164657e+01] [-2.94879904e-01 1.05104340e-02 9.55476516e-01 -2.46235866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:-66.73, Z:-24.63 [[ 8.46937132e-01 4.66375907e-01 2.55325299e-01 1.31243689e+02] [-4.42808073e-01 8.84514668e-01 -1.46815577e-01 -6.67312609e+01] [-2.94310220e-01 1.12834606e-02 9.55643332e-01 -2.46335656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:-66.75, Z:-24.64 [[ 8.48130981e-01 4.64539028e-01 2.54710286e-01 1.31270843e+02] [-4.40975603e-01 8.85471564e-01 -1.46562706e-01 -6.67457021e+01] [-2.93622812e-01 1.19833494e-02 9.55846245e-01 -2.46430694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:-66.76, Z:-24.65 [[ 8.48075188e-01 4.64655736e-01 2.54683179e-01 1.31298495e+02] [-4.41083339e-01 8.85410106e-01 -1.46609795e-01 -6.67616875e+01] [-2.93622143e-01 1.19996225e-02 9.55846246e-01 -2.46530866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:-66.78, Z:-24.66 [[ 8.48535754e-01 4.63189671e-01 2.55817128e-01 1.31326945e+02] [-4.39323086e-01 8.86169499e-01 -1.47305278e-01 -6.67759756e+01] [-2.94927619e-01 1.26074253e-02 9.55436420e-01 -2.46627064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:-66.79, Z:-24.67 [[ 8.48575780e-01 4.62547496e-01 2.56844232e-01 1.31354803e+02] [-4.38424358e-01 8.86499501e-01 -1.47995666e-01 -6.67898160e+01] [-2.96147308e-01 1.29787703e-02 9.55054094e-01 -2.46723278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:-66.81, Z:-24.68 [[ 8.48294756e-01 4.63039002e-01 2.56886920e-01 1.31382463e+02] [-4.38899287e-01 8.86244022e-01 -1.48118027e-01 -6.68051538e+01] [-2.96248921e-01 1.29002593e-02 9.55023644e-01 -2.46815142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:-66.82, Z:-24.69 [[ 8.47797637e-01 4.63696825e-01 2.57341060e-01 1.31409879e+02] [-4.39468312e-01 8.85901666e-01 -1.48478417e-01 -6.68199029e+01] [-2.96827845e-01 1.27864100e-02 9.54845400e-01 -2.46913743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:-66.83, Z:-24.70 [[ 8.47189858e-01 4.64649088e-01 2.57624862e-01 1.31437654e+02] [-4.40377927e-01 8.85405833e-01 -1.48740687e-01 -6.68344620e+01] [-2.97214780e-01 1.25592991e-02 9.54728044e-01 -2.47011986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:-66.85, Z:-24.71 [[ 8.46305258e-01 4.66158687e-01 2.57805139e-01 1.31465750e+02] [-4.41888952e-01 8.84617914e-01 -1.48947309e-01 -6.68492551e+01] [-2.97492126e-01 1.21336480e-02 9.54647165e-01 -2.47114413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:-66.87, Z:-24.72 [[ 8.46214786e-01 4.66347447e-01 2.57760732e-01 1.31493375e+02] [-4.42062911e-01 8.84518058e-01 -1.49024120e-01 -6.68652545e+01] [-2.97491040e-01 1.21599545e-02 9.54647169e-01 -2.47214622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:-66.88, Z:-24.73 [[ 8.45343798e-01 4.67600080e-01 2.58348656e-01 1.31520356e+02] [-4.43236503e-01 8.83861180e-01 -1.49434992e-01 -6.68792108e+01] [-2.98220162e-01 1.18143895e-02 9.54423991e-01 -2.47308784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:-66.89, Z:-24.74 [[ 8.43567632e-01 4.71005536e-01 2.57967897e-01 1.31548552e+02] [-4.46850851e-01 8.82065924e-01 -1.49278339e-01 -6.68914770e+01] [-2.97855615e-01 1.06532003e-02 9.54551487e-01 -2.47407100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:-66.90, Z:-24.75 [[ 8.42096447e-01 4.74387245e-01 2.56574191e-01 1.31577487e+02] [-4.50633378e-01 8.80265455e-01 -1.48533793e-01 -6.69044153e+01] [-2.96315934e-01 9.45888508e-03 9.55043139e-01 -2.47516656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:-66.92, Z:-24.76 [[ 8.42039029e-01 4.74512708e-01 2.56530631e-01 1.31605104e+02] [-4.50741648e-01 8.80197327e-01 -1.48608989e-01 -6.69204609e+01] [-2.96314429e-01 9.50552954e-03 9.55043142e-01 -2.47616902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:-66.93, Z:-24.77 [[ 8.40611637e-01 4.77529500e-01 2.55612310e-01 1.31633675e+02] [-4.54055387e-01 8.78575089e-01 -1.48119945e-01 -6.69345883e+01] [-2.95306251e-01 8.44920266e-03 9.55365286e-01 -2.47719160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:-66.95, Z:-24.78 [[ 8.39962393e-01 4.78740375e-01 2.55481571e-01 1.31660487e+02] [-4.55314178e-01 8.77919041e-01 -1.48145731e-01 -6.69488642e+01] [-2.95215478e-01 8.11246104e-03 9.55396258e-01 -2.47817411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:-66.96, Z:-24.79 [[ 8.39219845e-01 4.80474287e-01 2.54665491e-01 1.31689089e+02] [-4.57250305e-01 8.76976207e-01 -1.47766338e-01 -6.69630910e+01] [-2.94333502e-01 7.56256946e-03 9.55672850e-01 -2.47915002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:-66.98, Z:-24.80 [[ 8.38736895e-01 4.81252361e-01 2.54787334e-01 1.31716509e+02] [-4.58009813e-01 8.76550982e-01 -1.47937105e-01 -6.69779382e+01] [-2.94529169e-01 7.38520864e-03 9.55613953e-01 -2.48015577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:-66.99, Z:-24.81 [[ 8.38497725e-01 4.81660967e-01 2.54802431e-01 1.31743042e+02] [-4.58403045e-01 8.76326949e-01 -1.48046371e-01 -6.69922173e+01] [-2.94598395e-01 7.33433470e-03 9.55593006e-01 -2.48110648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:-67.01, Z:-24.82 [[ 8.38402168e-01 4.81844988e-01 2.54768937e-01 1.31770705e+02] [-4.58572894e-01 8.76225613e-01 -1.48120142e-01 -6.70075808e+01] [-2.94606016e-01 7.35411948e-03 9.55590505e-01 -2.48209193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:-67.02, Z:-24.83 [[ 8.38662987e-01 4.81113355e-01 2.55292644e-01 1.31798506e+02] [-4.57679244e-01 8.76624407e-01 -1.48523935e-01 -6.70234040e+01] [-2.95252611e-01 7.71938222e-03 9.55388040e-01 -2.48306738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:-67.04, Z:-24.84 [[ 8.38917603e-01 4.80577253e-01 2.55465770e-01 1.31825931e+02] [-4.57054955e-01 8.76915843e-01 -1.48725832e-01 -6.70393332e+01] [-2.95496232e-01 8.00682229e-03 9.55310351e-01 -2.48401360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:-67.05, Z:-24.85 [[ 8.39330112e-01 4.79839987e-01 2.55496675e-01 1.31853017e+02] [-4.56247296e-01 8.77316190e-01 -1.48844578e-01 -6.70548352e+01] [-2.95572950e-01 8.36006865e-03 9.55283592e-01 -2.48498647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:-67.07, Z:-24.86 [[ 8.40255143e-01 4.78402058e-01 2.55152437e-01 1.31879598e+02] [-4.54778574e-01 8.78095351e-01 -1.48744757e-01 -6.70692415e+01] [-2.95207967e-01 8.94568535e-03 9.55391140e-01 -2.48597229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:-67.09, Z:-24.87 [[ 8.40375036e-01 4.78166186e-01 2.55199721e-01 1.31907234e+02] [-4.54494123e-01 8.78222060e-01 -1.48866066e-01 -6.70851145e+01] [-2.95304744e-01 9.11655256e-03 9.55359616e-01 -2.48694528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:-67.10, Z:-24.88 [[ 8.40484925e-01 4.78157198e-01 2.54854438e-01 1.31935023e+02] [-4.54519340e-01 8.78226097e-01 -1.48765222e-01 -6.71004497e+01] [-2.94952980e-01 9.19865584e-03 9.55467490e-01 -2.48792913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:-67.11, Z:-24.89 [[ 8.40508357e-01 4.78295566e-01 2.54517295e-01 1.31961763e+02] [-4.54697179e-01 8.78150433e-01 -1.48668401e-01 -6.71142828e+01] [-2.94611910e-01 9.22873781e-03 9.55572422e-01 -2.48890493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:-67.13, Z:-24.90 [[ 8.40314473e-01 4.78894896e-01 2.54030047e-01 1.31989366e+02] [-4.55387326e-01 8.77825236e-01 -1.48476389e-01 -6.71297981e+01] [-2.94098570e-01 9.08479464e-03 9.55731917e-01 -2.48990633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:-67.15, Z:-24.91 [[ 8.39910643e-01 4.79664761e-01 2.53913034e-01 1.32016520e+02] [-4.56183323e-01 8.77406678e-01 -1.48506895e-01 -6.71450052e+01] [-2.94018516e-01 8.90162991e-03 9.55758271e-01 -2.49084661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:-67.16, Z:-24.92 [[ 8.39594170e-01 4.80266445e-01 2.53822325e-01 1.32043146e+02] [-4.56798474e-01 8.77078716e-01 -1.48553289e-01 -6.71595769e+01] [-2.93967319e-01 8.77882505e-03 9.55775155e-01 -2.49180307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:-67.20, Z:-24.90 [[ 8.41317619e-01 4.69970426e-01 2.67043934e-01 1.32067371e+02] [-4.60636545e-01 8.81852915e-01 -1.00744278e-01 -6.72012450e+01] [-2.82840302e-01 -3.82522592e-02 9.58403948e-01 -2.48993299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:-67.16, Z:-24.95 [[ 8.39286561e-01 4.93513456e-01 2.28128333e-01 1.32107301e+02] [-4.58193631e-01 8.67901899e-01 -1.91846005e-01 -6.71640735e+01] [-2.92671599e-01 5.64868245e-02 9.54543123e-01 -2.49486200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:-67.20, Z:-24.95 [[ 8.39268072e-01 4.81306720e-01 2.52928734e-01 1.32125446e+02] [-4.58016802e-01 8.76511098e-01 -1.48151624e-01 -6.72027565e+01] [-2.93001214e-01 8.49331802e-03 9.56074344e-01 -2.49481041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:-67.22, Z:-24.96 [[ 8.39278741e-01 4.81449089e-01 2.52622187e-01 1.32153006e+02] [-4.58192661e-01 8.76432606e-01 -1.48072188e-01 -6.72182004e+01] [-2.92695542e-01 8.52420732e-03 9.56167693e-01 -2.49579892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:-67.23, Z:-24.97 [[ 8.39165640e-01 4.81654761e-01 2.52605860e-01 1.32179970e+02] [-4.58380061e-01 8.76319409e-01 -1.48162114e-01 -6.72334353e+01] [-2.92726406e-01 8.54306595e-03 9.56158077e-01 -2.49677880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:-67.25, Z:-24.98 [[ 8.38533661e-01 4.82783503e-01 2.52549776e-01 1.32207322e+02] [-4.59538870e-01 8.75700986e-01 -1.48228912e-01 -6.72478415e+01] [-2.92720561e-01 8.23849321e-03 9.56162539e-01 -2.49771092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-67.26, Z:-24.99 [[ 8.37691325e-01 4.84354239e-01 2.52337503e-01 1.32234077e+02] [-4.61200646e-01 8.74837750e-01 -1.48165026e-01 -6.72623906e+01] [-2.92518732e-01 7.73833726e-03 9.56228482e-01 -2.49866383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:-67.28, Z:-25.00 [[ 8.36615099e-01 4.86338229e-01 2.52091855e-01 1.32261262e+02] [-4.63290932e-01 8.73741623e-01 -1.48111745e-01 -6.72772284e+01] [-2.92295550e-01 7.12065137e-03 9.56301526e-01 -2.49966146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:-67.29, Z:-25.01 [[ 8.35153775e-01 4.88953974e-01 2.51877320e-01 1.32289062e+02] [-4.66033471e-01 8.72286920e-01 -1.48082183e-01 -6.72927105e+01] [-2.92114663e-01 6.28813249e-03 9.56362631e-01 -2.50069454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:-67.31, Z:-25.02 [[ 8.32036536e-01 4.94301123e-01 2.51757031e-01 1.32316495e+02] [-4.71612140e-01 8.69279102e-01 -1.48107501e-01 -6.73078384e+01] [-2.92056829e-01 4.49918017e-03 9.56390384e-01 -2.50165150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:-67.32, Z:-25.03 [[ 8.28721576e-01 4.99455289e-01 2.52517255e-01 1.32344386e+02] [-4.76829441e-01 8.66335197e-01 -1.48650632e-01 -6.73230495e+01] [-2.93008930e-01 2.78232446e-03 9.56105656e-01 -2.50261196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:-67.34, Z:-25.04 [[ 8.27307504e-01 5.01749933e-01 2.52605024e-01 1.32371113e+02] [-4.79181814e-01 8.65010263e-01 -1.48801995e-01 -6.73382960e+01] [-2.93167330e-01 2.06127323e-03 9.56058925e-01 -2.50355975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:-67.35, Z:-25.05 [[ 8.24864745e-01 5.05781895e-01 2.52552623e-01 1.32398701e+02] [-4.83379169e-01 8.62661095e-01 -1.48863741e-01 -6.73546671e+01] [-2.93159907e-01 7.13775017e-04 9.56063157e-01 -2.50450921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:-67.37, Z:-25.05 [[ 8.23732595e-01 5.07592818e-01 2.52614612e-01 1.32424877e+02] [-4.85232751e-01 8.61597067e-01 -1.48995542e-01 -6.73709210e+01] [-2.93281075e-01 1.55601350e-04 9.56026248e-01 -2.50546722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:-67.39, Z:-25.06 [[ 8.22775234e-01 5.09056839e-01 2.52788547e-01 1.32451860e+02] [-4.86705515e-01 8.60732858e-01 -1.49186760e-01 -6.73876504e+01] [-2.93527949e-01 -2.86408207e-04 9.55950449e-01 -2.50646351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:-67.40, Z:-25.07 [[ 8.21823489e-01 5.10486221e-01 2.53001920e-01 1.32478351e+02] [-4.88133900e-01 8.59885637e-01 -1.49405448e-01 -6.74043093e+01] [-2.93822139e-01 -7.13907645e-04 9.55859844e-01 -2.50744233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:132.50, Y:-67.44, Z:-25.07 [[ 8.22858092e-01 5.04461604e-01 2.61578000e-01 1.32502064e+02] [-4.91124242e-01 8.62898699e-01 -1.19175561e-01 -6.74380710e+01] [-2.85834810e-01 -3.04027225e-02 9.57796500e-01 -2.50660414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:-67.42, Z:-25.10 [[ 8.20015302e-01 5.21093962e-01 2.36719219e-01 1.32535686e+02] [-4.91076282e-01 8.53020055e-01 -1.76637683e-01 -6.74222495e+01] [-2.93971071e-01 2.85984090e-02 9.55386383e-01 -2.51008134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:-67.45, Z:-25.10 [[ 8.19824537e-01 5.13973176e-01 2.52426827e-01 1.32556297e+02] [-4.91829428e-01 8.57804384e-01 -1.49249630e-01 -6.74538724e+01] [-2.93243146e-01 -1.79243349e-03 9.56036215e-01 -2.51039008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:-67.47, Z:-25.12 [[ 8.19927233e-01 5.16159972e-01 2.47584764e-01 1.32583841e+02] [-4.92637743e-01 8.56480970e-01 -1.54105169e-01 -6.74677337e+01] [-2.91594559e-01 4.38542533e-03 9.56531955e-01 -2.51151576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:-67.49, Z:-25.12 [[ 8.19075903e-01 5.13527952e-01 2.55741487e-01 1.32606414e+02] [-4.92928199e-01 8.58036082e-01 -1.44207742e-01 -6.74917731e+01] [-2.93490130e-01 -7.94510390e-03 9.55929087e-01 -2.51215708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:-67.51, Z:-25.13 [[ 8.19391159e-01 5.14974606e-01 2.51792145e-01 1.32632601e+02] [-4.92906812e-01 8.57203330e-01 -1.49148669e-01 -6.75071156e+01] [-2.92644842e-01 -1.89896274e-03 9.56219321e-01 -2.51324783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:-67.52, Z:-25.14 [[ 8.19828382e-01 5.14722286e-01 2.50883224e-01 1.32658672e+02] [-4.92787735e-01 8.57355182e-01 -1.48668559e-01 -6.75246700e+01] [-2.91619053e-01 -1.74947108e-03 9.56532941e-01 -2.51424375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:-67.54, Z:-25.15 [[ 8.20361833e-01 5.14183686e-01 2.50243083e-01 1.32684151e+02] [-4.92308687e-01 8.57678840e-01 -1.48388558e-01 -6.75420271e+01] [-2.90927172e-01 -1.46453429e-03 9.56744081e-01 -2.51522880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:-67.56, Z:-25.16 [[ 8.21701440e-01 5.12062577e-01 2.50197246e-01 1.32709598e+02] [-4.90081185e-01 8.58947893e-01 -1.48421522e-01 -6.75611151e+01] [-2.90907504e-01 -6.58784491e-04 9.56750955e-01 -2.51625238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:-67.60, Z:-25.16 [[ 8.25333278e-01 5.02103326e-01 2.58296786e-01 1.32731810e+02] [-4.87877746e-01 8.64423076e-01 -1.21441553e-01 -6.75952603e+01] [-2.84253909e-01 -2.57874987e-02 9.58402170e-01 -2.51556588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:-67.59, Z:-25.19 [[ 8.24838285e-01 5.13919916e-01 2.35644062e-01 1.32764517e+02] [-4.84966792e-01 8.57385512e-01 -1.72329030e-01 -6.75850390e+01] [-2.90601125e-01 2.78640364e-02 9.56438488e-01 -2.51880932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:-67.62, Z:-25.19 [[ 8.26353782e-01 5.04733778e-01 2.49766371e-01 1.32785089e+02] [-4.82443753e-01 8.63272512e-01 -1.48352941e-01 -6.76161369e+01] [-2.90495183e-01 2.09378795e-03 9.56874164e-01 -2.51910653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:-67.63, Z:-25.20 [[ 8.27897904e-01 5.02356341e-01 2.49445720e-01 1.32810003e+02] [-4.79988943e-01 8.64655434e-01 -1.48261915e-01 -6.76335860e+01] [-2.90164910e-01 3.01454191e-03 9.56971910e-01 -2.52004445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:-67.65, Z:-25.21 [[ 8.29382310e-01 5.00048271e-01 2.49151984e-01 1.32835647e+02] [-4.77604811e-01 8.65988746e-01 -1.48179407e-01 -6.76519158e+01] [-2.89859670e-01 3.90119317e-03 9.57061206e-01 -2.52100999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:-67.68, Z:-25.21 [[ 8.33223079e-01 4.91047383e-01 2.54188450e-01 1.32858546e+02] [-4.72802189e-01 8.71082053e-01 -1.32944146e-01 -6.76803238e+01] [-2.86700872e-01 -9.40872483e-03 9.57973948e-01 -2.52102701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:-67.68, Z:-25.23 [[ 8.33576907e-01 4.97066224e-01 2.40986949e-01 1.32887659e+02] [-4.70410306e-01 8.67440731e-01 -1.62051601e-01 -6.76816674e+01] [-2.89592272e-01 2.17197282e-02 9.56903636e-01 -2.52326417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:-67.71, Z:-25.24 [[ 8.35254881e-01 4.89888889e-01 2.49716161e-01 1.32909991e+02] [-4.66811157e-01 8.71750825e-01 -1.48787909e-01 -6.77080107e+01] [-2.90579813e-01 7.70553660e-03 9.56819731e-01 -2.52380328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:-67.73, Z:-25.25 [[ 8.35779543e-01 4.88955906e-01 2.49789265e-01 1.32936444e+02] [-4.65793990e-01 8.72270696e-01 -1.48928817e-01 -6.77252033e+01] [-2.90703481e-01 8.12132025e-03 9.56778726e-01 -2.52477382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:-67.74, Z:-25.26 [[ 8.35844371e-01 4.88585192e-01 2.50297218e-01 1.32962923e+02] [-4.65279667e-01 8.72476138e-01 -1.49332586e-01 -6.77424427e+01] [-2.91340040e-01 8.36059507e-03 9.56583024e-01 -2.52576638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:-67.76, Z:-25.27 [[ 8.35577428e-01 4.88804717e-01 2.50759467e-01 1.32988509e+02] [-4.65389614e-01 8.72352854e-01 -1.49709733e-01 -6.77597451e+01] [-2.91929561e-01 8.39322221e-03 9.56402993e-01 -2.52667971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:-67.78, Z:-25.28 [[ 8.35066448e-01 4.89526848e-01 2.51052768e-01 1.33015431e+02] [-4.66058693e-01 8.71949320e-01 -1.49978930e-01 -6.77763427e+01] [-2.92324003e-01 8.23704695e-03 9.56283864e-01 -2.52765643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:-67.79, Z:-25.29 [[ 8.34304605e-01 4.90739637e-01 2.51217905e-01 1.33042190e+02] [-4.67263078e-01 8.71270373e-01 -1.50177070e-01 -6.77929408e+01] [-2.92576559e-01 7.90856925e-03 9.56209398e-01 -2.52859212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:-67.81, Z:-25.30 [[ 8.34176315e-01 4.91339735e-01 2.50469840e-01 1.33069174e+02] [-4.68002308e-01 8.70933401e-01 -1.49829404e-01 -6.78086140e+01] [-2.91759689e-01 7.76367720e-03 9.56460145e-01 -2.52963827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:-67.82, Z:-25.31 [[ 8.34057029e-01 4.91928541e-01 2.49710199e-01 1.33095133e+02] [-4.68731362e-01 8.70602201e-01 -1.49474804e-01 -6.78237764e+01] [-2.90929171e-01 7.62350950e-03 9.56714220e-01 -2.53063725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:-67.84, Z:-25.32 [[ 8.33790685e-01 4.92552618e-01 2.49369230e-01 1.33120947e+02] [-4.69419410e-01 8.70250528e-01 -1.49363432e-01 -6.78391611e+01] [-2.90583054e-01 7.47908156e-03 9.56820543e-01 -2.53163292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-67.86, Z:-25.33 [[ 8.33380686e-01 4.93112146e-01 2.49633819e-01 1.33147734e+02] [-4.69925153e-01 8.69934482e-01 -1.49613997e-01 -6.78554235e+01] [-2.90941546e-01 7.37620486e-03 9.56712396e-01 -2.53263568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:-67.87, Z:-25.34 [[ 8.33284910e-01 4.93296572e-01 2.49589166e-01 1.33175085e+02] [-4.70095384e-01 8.69829694e-01 -1.49688454e-01 -6.78718615e+01] [-2.90940869e-01 7.40241509e-03 9.56712399e-01 -2.53364133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:-67.89, Z:-25.35 [[ 8.32263856e-01 4.94641546e-01 2.50333009e-01 1.33201295e+02] [-4.71336572e-01 8.69068743e-01 -1.50204381e-01 -6.78878574e+01] [-2.91853921e-01 7.01857518e-03 9.56437153e-01 -2.53457604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:-67.91, Z:-25.35 [[ 8.32702407e-01 4.91797178e-01 2.54444957e-01 1.33226416e+02] [-4.72348836e-01 8.70688770e-01 -1.37068024e-01 -6.79109060e+01] [-2.88952034e-01 -6.04990598e-03 9.57324459e-01 -2.53479032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:-67.91, Z:-25.37 [[ 8.30919349e-01 5.00459364e-01 2.43132600e-01 1.33256712e+02] [-4.73823703e-01 8.65537136e-01 -1.62285441e-01 -6.79112643e+01] [-2.91657563e-01 1.96441243e-02 9.56321062e-01 -2.53690756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:-67.93, Z:-25.38 [[ 8.30177319e-01 4.98073446e-01 2.50456507e-01 1.33281187e+02] [-4.74843622e-01 8.67114255e-01 -1.50453988e-01 -6.79333789e+01] [-2.92111544e-01 5.97581343e-03 9.56365587e-01 -2.53757608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:-67.95, Z:-25.39 [[ 8.29131702e-01 5.00051158e-01 2.49978917e-01 1.33307572e+02] [-4.76969377e-01 8.65979286e-01 -1.50266728e-01 -6.79491128e+01] [-2.91617616e-01 5.35861979e-03 9.56519969e-01 -2.53852871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:-67.97, Z:-25.40 [[ 8.28653928e-01 5.00866630e-01 2.49930564e-01 1.33334578e+02] [-4.77802028e-01 8.65509128e-01 -1.50330207e-01 -6.79654476e+01] [-2.91612569e-01 5.15438594e-03 9.56522630e-01 -2.53954219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:-67.98, Z:-25.41 [[ 8.28438817e-01 5.01350765e-01 2.49672860e-01 1.33360507e+02] [-4.78325431e-01 8.65229278e-01 -1.50276671e-01 -6.79811575e+01] [-2.91365593e-01 5.07014941e-03 9.56598340e-01 -2.54050726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:-68.00, Z:-25.41 [[ 8.28381157e-01 5.01499512e-01 2.49565420e-01 1.33386486e+02] [-4.78482335e-01 8.65143065e-01 -1.50273521e-01 -6.79965796e+01] [-2.91271890e-01 5.07110772e-03 9.56626871e-01 -2.54143676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:-68.01, Z:-25.42 [[ 8.29192933e-01 5.00102564e-01 2.49672798e-01 1.33413206e+02] [-4.76975314e-01 8.65947766e-01 -1.50429438e-01 -6.80128126e+01] [-2.91433749e-01 5.64726572e-03 9.56574345e-01 -2.54239750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:-68.03, Z:-25.43 [[ 8.29935904e-01 4.98990238e-01 2.49429625e-01 1.33438996e+02] [-4.75830256e-01 8.66585996e-01 -1.50380446e-01 -6.80285973e+01] [-2.91190595e-01 6.11996900e-03 9.56645485e-01 -2.54332131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:-68.04, Z:-25.44 [[ 8.30583194e-01 4.97995631e-01 2.49262734e-01 1.33465383e+02] [-4.74796118e-01 8.67154833e-01 -1.50370020e-01 -6.80447534e+01] [-2.91032997e-01 6.54583273e-03 9.56690622e-01 -2.54432694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:-68.06, Z:-25.45 [[ 8.32161289e-01 4.95598588e-01 2.48776262e-01 1.33491633e+02] [-4.72356689e-01 8.68519659e-01 -1.50175763e-01 -6.80610567e+01] [-2.90493970e-01 7.45932561e-03 9.56847747e-01 -2.54531203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:-68.08, Z:-25.46 [[ 8.32828480e-01 4.94414674e-01 2.48899283e-01 1.33518648e+02] [-4.71069467e-01 8.69189715e-01 -1.50342263e-01 -6.80774001e+01] [-2.90672118e-01 7.96046588e-03 9.56789606e-01 -2.54634343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:-68.09, Z:-25.47 [[ 8.33344160e-01 4.93399631e-01 2.49187311e-01 1.33545321e+02] [-4.69925020e-01 8.69762045e-01 -1.50613612e-01 -6.80936427e+01] [-2.91046366e-01 8.41362160e-03 9.56671952e-01 -2.54732880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:-68.11, Z:-25.48 [[ 8.33854875e-01 4.92552202e-01 2.49155325e-01 1.33571853e+02] [-4.69016475e-01 8.70238420e-01 -1.50693853e-01 -6.81097860e+01] [-2.91049126e-01 8.79885154e-03 9.56667647e-01 -2.54830590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:-68.13, Z:-25.49 [[ 8.34932557e-01 4.90853152e-01 2.48899195e-01 1.33597988e+02] [-4.67262962e-01 8.71190839e-01 -1.50638132e-01 -6.81250615e+01] [-2.90779901e-01 9.47130585e-03 9.56743092e-01 -2.54928122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:-68.14, Z:-25.50 [[ 8.35308535e-01 4.90677917e-01 2.47981518e-01 1.33624684e+02] [-4.67230387e-01 8.71288389e-01 -1.50174264e-01 -6.81405914e+01] [-2.89750612e-01 9.57734426e-03 9.57054260e-01 -2.55030418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:-68.16, Z:-25.51 [[ 8.35464620e-01 4.90976177e-01 2.46862839e-01 1.33651935e+02] [-4.67728814e-01 8.71121043e-01 -1.49592396e-01 -6.81565232e+01] [-2.88493717e-01 9.51429080e-03 9.57434517e-01 -2.55135219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:-68.17, Z:-25.52 [[ 8.35132421e-01 4.91453410e-01 2.47037216e-01 1.33678633e+02] [-4.68163865e-01 8.70852662e-01 -1.49793981e-01 -6.81722961e+01] [-2.88749780e-01 9.44391168e-03 9.57358019e-01 -2.55231044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:-68.19, Z:-25.53 [[ 8.34683592e-01 4.92038002e-01 2.47390190e-01 1.33704649e+02] [-4.68676313e-01 8.70523581e-01 -1.50103993e-01 -6.81875429e+01] [-2.89215863e-01 9.34341816e-03 9.57218306e-01 -2.55323359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:-68.20, Z:-25.54 [[ 8.33785116e-01 4.93587666e-01 2.47332965e-01 1.33731406e+02] [-4.70276755e-01 8.69650664e-01 -1.50158241e-01 -6.82020627e+01] [-2.89209532e-01 8.88476239e-03 9.57224586e-01 -2.55414831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:-68.22, Z:-25.55 [[ 8.33292128e-01 4.94691110e-01 2.46789253e-01 1.33758703e+02] [-4.71506072e-01 8.69026709e-01 -1.49915318e-01 -6.82179778e+01] [-2.88628228e-01 8.56062255e-03 9.57402978e-01 -2.55513800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:-68.23, Z:-25.56 [[ 8.31845293e-01 4.97231084e-01 2.46565728e-01 1.33785210e+02] [-4.74167386e-01 8.67583404e-01 -1.49881042e-01 -6.82330780e+01] [-2.88441847e-01 7.76441258e-03 9.57465934e-01 -2.55609342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:-68.25, Z:-25.57 [[ 8.31043028e-01 4.98479796e-01 2.46749627e-01 1.33812528e+02] [-4.75406226e-01 8.66869540e-01 -1.50087041e-01 -6.82489018e+01] [-2.88715094e-01 7.42247987e-03 9.57386286e-01 -2.55707552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:-68.26, Z:-25.58 [[ 8.29126512e-01 5.01402024e-01 2.47275631e-01 1.33840221e+02] [-4.78324042e-01 8.65189925e-01 -1.50507494e-01 -6.82642532e+01] [-2.89405147e-01 6.51187386e-03 9.57184547e-01 -2.55802725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:-68.28, Z:-25.59 [[ 8.27747951e-01 5.03152684e-01 2.48335873e-01 1.33866711e+02] [-4.79916939e-01 8.64176552e-01 -1.51256797e-01 -6.82792871e+01] [-2.90711302e-01 6.02191200e-03 9.56791866e-01 -2.55896000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:-68.30, Z:-25.60 [[ 8.27377687e-01 5.03720944e-01 2.48417741e-01 1.33893021e+02] [-4.80475192e-01 8.63846407e-01 -1.51370326e-01 -6.82953895e+01] [-2.90843177e-01 5.88186825e-03 9.56752659e-01 -2.55987232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:-68.31, Z:-25.61 [[ 8.27435845e-01 5.03676128e-01 2.48314881e-01 1.33919578e+02] [-4.80429384e-01 8.63872067e-01 -1.51369280e-01 -6.83117918e+01] [-2.90753382e-01 5.95060282e-03 9.56779526e-01 -2.56081512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:-68.33, Z:-25.62 [[ 8.27486180e-01 5.03424173e-01 2.48657846e-01 1.33946331e+02] [-4.80069853e-01 8.64017600e-01 -1.51679015e-01 -6.83283674e+01] [-2.91203638e-01 6.13915371e-03 9.56641392e-01 -2.56178887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:-68.35, Z:-25.63 [[ 8.27423796e-01 5.03549241e-01 2.48612196e-01 1.33973560e+02] [-4.80177983e-01 8.63944378e-01 -1.51753803e-01 -6.83450348e+01] [-2.91202621e-01 6.18660454e-03 9.56641395e-01 -2.56279524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:-68.36, Z:-25.64 [[ 8.27579217e-01 5.03225000e-01 2.48751358e-01 1.34000494e+02] [-4.79799584e-01 8.64132144e-01 -1.51881521e-01 -6.83616248e+01] [-2.91384623e-01 6.34319217e-03 9.56584949e-01 -2.56380056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:-68.38, Z:-25.65 [[ 8.27873440e-01 5.02956572e-01 2.48314829e-01 1.34026803e+02] [-4.79572537e-01 8.64287112e-01 -1.51716743e-01 -6.83778116e+01] [-2.90922239e-01 6.51728936e-03 9.56724504e-01 -2.56478198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:-68.39, Z:-25.66 [[ 8.28024775e-01 5.02574710e-01 2.48583251e-01 1.34053411e+02] [-4.79103292e-01 8.64507704e-01 -1.51942307e-01 -6.83940487e+01] [-2.91264496e-01 6.71494044e-03 9.56618996e-01 -2.56580950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:-68.41, Z:-25.67 [[ 8.27997977e-01 5.02242496e-01 2.49342786e-01 1.34080276e+02] [-4.78578673e-01 8.64698933e-01 -1.52506427e-01 -6.84109097e+01] [-2.92201650e-01 6.94487307e-03 9.56331514e-01 -2.56684381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:-68.43, Z:-25.68 [[ 8.28075253e-01 5.02210834e-01 2.49149863e-01 1.34107024e+02] [-4.78552639e-01 8.64716549e-01 -1.52488233e-01 -6.84278411e+01] [-2.92025252e-01 7.04040768e-03 9.56384695e-01 -2.56783114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:-68.44, Z:-25.69 [[ 8.28253046e-01 5.01910892e-01 2.49163298e-01 1.34132565e+02] [-4.78205511e-01 8.64889039e-01 -1.52598949e-01 -6.84437641e+01] [-2.92089680e-01 7.23928236e-03 9.56363535e-01 -2.56880965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:-68.46, Z:-25.70 [[ 8.28651048e-01 5.01351732e-01 2.48965624e-01 1.34158690e+02] [-4.77631220e-01 8.65210929e-01 -1.52572822e-01 -6.84601941e+01] [-2.91900427e-01 7.51587473e-03 9.56419182e-01 -2.56984992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:-68.48, Z:-25.71 [[ 8.29287721e-01 5.00293954e-01 2.48973562e-01 1.34184713e+02] [-4.76494286e-01 8.65818845e-01 -1.52679152e-01 -6.84773136e+01] [-2.91950459e-01 7.98046610e-03 9.56400147e-01 -2.57083926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:-68.49, Z:-25.72 [[ 8.29386457e-01 5.00166166e-01 2.48901410e-01 1.34211126e+02] [-4.76344278e-01 8.65891430e-01 -1.52735589e-01 -6.84941719e+01] [-2.91914772e-01 8.11406674e-03 9.56409916e-01 -2.57184415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:-68.51, Z:-25.73 [[ 8.29501466e-01 5.00051531e-01 2.48748435e-01 1.34238466e+02] [-4.76224140e-01 8.65956454e-01 -1.52741577e-01 -6.85108044e+01] [-2.91783972e-01 8.23935217e-03 9.56448758e-01 -2.57280138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:-68.53, Z:-25.74 [[ 8.29085226e-01 5.00544557e-01 2.49144206e-01 1.34264398e+02] [-4.76629718e-01 8.65672195e-01 -1.53087437e-01 -6.85268794e+01] [-2.92304295e-01 8.17300009e-03 9.56290438e-01 -2.57372425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:-68.57, Z:-25.73 [[ 8.29368430e-01 4.94651675e-01 2.59745507e-01 1.34288194e+02] [-4.80856589e-01 8.68694628e-01 -1.18939415e-01 -6.85657913e+01] [-2.84473107e-01 -2.62557426e-02 9.58324416e-01 -2.57254733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:-68.54, Z:-25.77 [[ 8.27898516e-01 5.11747998e-01 2.29560523e-01 1.34323426e+02] [-4.78991494e-01 8.58035351e-01 -1.85317255e-01 -6.85410103e+01] [-2.91806778e-01 4.34663425e-02 9.55489132e-01 -2.57653159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:-68.57, Z:-25.77 [[ 8.27037696e-01 5.03801996e-01 2.49383635e-01 1.34342585e+02] [-4.79940947e-01 8.63789500e-01 -1.53376619e-01 -6.85748729e+01] [-2.92686413e-01 7.15882768e-03 9.56181685e-01 -2.57657222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:-68.62, Z:-25.75 [[ 8.27257091e-01 4.97933731e-01 2.60207041e-01 1.34366477e+02] [-4.85126409e-01 8.66691768e-01 -1.16179805e-01 -6.86159236e+01] [-2.83369144e-01 -3.01227405e-02 9.58537714e-01 -2.57523567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:-68.61, Z:-25.78 [[ 8.25892553e-01 5.11430094e-01 2.37362062e-01 1.34400769e+02] [-4.86338720e-01 8.59177830e-01 -1.59022344e-01 -6.86085784e+01] [-2.85265034e-01 1.58970082e-02 9.58316829e-01 -2.57778913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:-68.62, Z:-25.79 [[ 8.22947040e-01 5.14907590e-01 2.40059041e-01 1.34424961e+02] [-4.90424086e-01 8.57165278e-01 -1.57327372e-01 -6.86244862e+01] [-2.86779332e-01 1.17413600e-02 9.57924713e-01 -2.57888615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:-68.63, Z:-25.81 [[ 8.19094014e-01 5.22954663e-01 2.35803766e-01 1.34450139e+02] [-4.93439783e-01 8.51924486e-01 -1.75333542e-01 -6.86267109e+01] [-2.92578496e-01 2.72596950e-02 9.55852883e-01 -2.58110593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:-68.66, Z:-25.81 [[ 8.17337435e-01 5.19293083e-01 2.49588083e-01 1.34471222e+02] [-4.95999212e-01 8.54594084e-01 -1.53797702e-01 -6.86550789e+01] [-2.93162582e-01 1.90912626e-03 9.56060697e-01 -2.58147042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:-68.67, Z:-25.82 [[ 8.15528406e-01 5.21996174e-01 2.49866791e-01 1.34497515e+02] [-4.98753694e-01 8.52947246e-01 -1.54031649e-01 -6.86715405e+01] [-2.93527123e-01 9.95200015e-04 9.55950228e-01 -2.58247700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:-68.69, Z:-25.83 [[ 8.14538398e-01 5.23011283e-01 2.50970907e-01 1.34524391e+02] [-5.01165016e-01 8.52316848e-01 -1.49631603e-01 -6.86918377e+01] [-2.92165749e-01 -3.89715284e-03 9.56359758e-01 -2.58319920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:-68.71, Z:-25.84 [[ 8.13123346e-01 5.26624208e-01 2.47986627e-01 1.34551349e+02] [-5.03202454e-01 8.50096869e-01 -1.55314533e-01 -6.87054123e+01] [-2.92605049e-01 1.50239330e-03 9.56232204e-01 -2.58437146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:-68.72, Z:-25.85 [[ 8.11346672e-01 5.29244706e-01 2.48226950e-01 1.34575695e+02] [-5.05209201e-01 8.48465418e-01 -1.57702561e-01 -6.87209243e+01] [-2.94075229e-01 2.54490892e-03 9.55778888e-01 -2.58548134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:-68.74, Z:-25.86 [[ 8.10204433e-01 5.29349781e-01 2.51709326e-01 1.34599855e+02] [-5.06890919e-01 8.48394498e-01 -1.52605279e-01 -6.87424624e+01] [-2.94330379e-01 -3.94769782e-03 9.55695581e-01 -2.58617568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:-68.76, Z:-25.87 [[ 8.09003000e-01 5.31987108e-01 2.50007727e-01 1.34625641e+02] [-5.08380277e-01 8.46752394e-01 -1.56715912e-01 -6.87585868e+01] [-2.95065486e-01 -3.15354214e-04 9.55476980e-01 -2.58733659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:-68.78, Z:-25.88 [[ 8.08285222e-01 5.32606236e-01 2.51009156e-01 1.34648722e+02] [-5.09523302e-01 8.46359422e-01 -1.55118447e-01 -6.87790156e+01] [-2.95061017e-01 -2.51506561e-03 9.55475102e-01 -2.58824126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:-68.80, Z:-25.89 [[ 8.08108426e-01 5.32977630e-01 2.50789988e-01 1.34673263e+02] [-5.09923612e-01 8.46125450e-01 -1.55079439e-01 -6.87966303e+01] [-2.94853663e-01 -2.56273538e-03 9.55538984e-01 -2.58919082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:-68.81, Z:-25.91 [[ 8.08438480e-01 5.33555319e-01 2.48487315e-01 1.34699143e+02] [-5.08350077e-01 8.45751840e-01 -1.62123484e-01 -6.88088547e+01] [-2.96660451e-01 4.74831784e-03 9.54971220e-01 -2.59063708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-68.84, Z:-25.91 [[ 8.08152774e-01 5.31301597e-01 2.54180461e-01 1.34719976e+02] [-5.10583731e-01 8.47114798e-01 -1.47311818e-01 -6.88394437e+01] [-2.93587035e-01 -1.07299538e-02 9.55872126e-01 -2.59093334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:-68.85, Z:-25.92 [[ 8.07955177e-01 5.33778313e-01 2.49577932e-01 1.34746265e+02] [-5.10936060e-01 8.45620180e-01 -1.54501953e-01 -6.88541229e+01] [-2.93517928e-01 -2.68771236e-03 9.55949791e-01 -2.59215960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:-68.87, Z:-25.93 [[ 8.08021668e-01 5.33734777e-01 2.49455750e-01 1.34771251e+02] [-5.10884677e-01 8.45647971e-01 -1.54519760e-01 -6.88726515e+01] [-2.93424319e-01 -2.58780551e-03 9.55978803e-01 -2.59312802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:-68.89, Z:-25.94 [[ 8.08415248e-01 5.33207931e-01 2.49307219e-01 1.34795203e+02] [-5.10331011e-01 8.45981073e-01 -1.54525996e-01 -6.88937127e+01] [-2.93303675e-01 -2.30803394e-03 9.56016541e-01 -2.59415049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:-68.92, Z:-25.95 [[ 8.09834671e-01 5.31695502e-01 2.47926800e-01 1.34818337e+02] [-5.08977265e-01 8.46933960e-01 -1.53769342e-01 -6.89150242e+01] [-2.91736094e-01 -1.66136007e-03 9.56497408e-01 -2.59513778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:-68.93, Z:-25.96 [[ 8.09768073e-01 5.31818582e-01 2.47880341e-01 1.34845425e+02] [-5.09083068e-01 8.46856772e-01 -1.53844201e-01 -6.89318846e+01] [-2.91736350e-01 -1.61356176e-03 9.56497412e-01 -2.59614848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:-68.95, Z:-25.97 [[ 8.10570807e-01 5.30791581e-01 2.47457601e-01 1.34869480e+02] [-5.08075395e-01 8.47501534e-01 -1.53624684e-01 -6.89505060e+01] [-2.91263385e-01 -1.20343411e-03 9.56642144e-01 -2.59709756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:-68.97, Z:-25.98 [[ 8.11646504e-01 5.29332599e-01 2.47056578e-01 1.34894279e+02] [-5.06596845e-01 8.48414195e-01 -1.53469838e-01 -6.89696052e+01] [-2.90842896e-01 -5.94825974e-04 9.56770639e-01 -2.59807017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:-68.99, Z:-25.99 [[ 8.12800808e-01 5.27660534e-01 2.46838423e-01 1.34918749e+02] [-5.04859783e-01 8.49455327e-01 -1.53434831e-01 -6.89887279e+01] [-2.90639719e-01 9.31620226e-05 9.56832559e-01 -2.59902979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:-69.01, Z:-26.00 [[ 8.14036471e-01 5.25880420e-01 2.46565220e-01 1.34943973e+02] [-5.03023120e-01 8.50558126e-01 -1.53357801e-01 -6.90086111e+01] [-2.90365917e-01 8.10836893e-04 9.56915345e-01 -2.60001231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:-69.03, Z:-26.01 [[ 8.15293019e-01 5.23901069e-01 2.46627175e-01 1.34968521e+02] [-5.00912343e-01 8.51777604e-01 -1.53498335e-01 -6.90276986e+01] [-2.90489446e-01 1.60752513e-03 9.56876846e-01 -2.60097202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:-69.05, Z:-26.02 [[ 8.17796379e-01 5.19725764e-01 2.47172434e-01 1.34991539e+02] [-4.96416854e-01 8.54327212e-01 -1.53932850e-01 -6.90489471e+01] [-2.91169004e-01 3.18516585e-03 9.56666329e-01 -2.60189091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:-69.07, Z:-26.03 [[ 8.19741789e-01 5.16477167e-01 2.47537340e-01 1.35015676e+02] [-4.92923976e-01 8.56289495e-01 -1.54253864e-01 -6.90707346e+01] [-2.91632223e-01 4.43124839e-03 9.56520261e-01 -2.60283638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:-69.09, Z:-26.04 [[ 8.20397616e-01 5.15447759e-01 2.47510322e-01 1.35040734e+02] [-4.91823651e-01 8.56907075e-01 -1.54336517e-01 -6.90892314e+01] [-2.91645757e-01 4.88588027e-03 9.56513921e-01 -2.60378193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:-69.11, Z:-26.05 [[ 8.20541854e-01 5.15217077e-01 2.47512484e-01 1.35065031e+02] [-4.91550912e-01 8.57044783e-01 -1.54440738e-01 -6.91073063e+01] [-2.91699789e-01 5.06010198e-03 9.56496539e-01 -2.60473572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:-69.13, Z:-26.06 [[ 8.20293833e-01 5.15403701e-01 2.47945666e-01 1.35090160e+02] [-4.91631713e-01 8.56932393e-01 -1.54806758e-01 -6.91255979e+01] [-2.92260649e-01 5.08907577e-03 9.56325161e-01 -2.60570561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:-69.15, Z:-26.07 [[ 8.19142520e-01 5.17176958e-01 2.48059521e-01 1.35115305e+02] [-4.93431352e-01 8.55866405e-01 -1.54978058e-01 -6.91451055e+01] [-2.92456891e-01 4.54877210e-03 9.56267889e-01 -2.60664482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:-69.16, Z:-26.08 [[ 8.18280385e-01 5.18510498e-01 2.48121090e-01 1.35141256e+02] [-4.94782151e-01 8.55061129e-01 -1.55116373e-01 -6.91627552e+01] [-2.92588167e-01 4.16279877e-03 9.56229489e-01 -2.60767754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-69.18, Z:-26.09 [[ 8.16702047e-01 5.21127278e-01 2.47838913e-01 1.35166421e+02] [-4.97540917e-01 8.53472548e-01 -1.55040785e-01 -6.91814942e+01] [-2.92319691e-01 3.31212625e-03 9.56314921e-01 -2.60868458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:-69.20, Z:-26.10 [[ 8.15951702e-01 5.22409788e-01 2.47610244e-01 1.35192306e+02] [-4.98895089e-01 8.52689495e-01 -1.54997793e-01 -6.91991865e+01] [-2.92107018e-01 2.93917818e-03 9.56381122e-01 -2.60967848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:-69.22, Z:-26.11 [[ 8.15138746e-01 5.23694897e-01 2.47573180e-01 1.35217468e+02] [-5.00214231e-01 8.51902022e-01 -1.55076328e-01 -6.92168178e+01] [-2.92120775e-01 2.56909595e-03 9.56377986e-01 -2.61063064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:-69.23, Z:-26.12 [[ 8.14260140e-01 5.24958748e-01 2.47787687e-01 1.35242682e+02] [-5.01464685e-01 8.51124823e-01 -1.55305202e-01 -6.92347641e+01] [-2.92427076e-01 2.20206124e-03 9.56285290e-01 -2.61163392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:-69.25, Z:-26.13 [[ 8.12897124e-01 5.27093063e-01 2.47732049e-01 1.35267653e+02] [-5.03675804e-01 8.49806202e-01 -1.55370861e-01 -6.92538497e+01] [-2.92419135e-01 1.52388665e-03 9.56289040e-01 -2.61260313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:-69.27, Z:-26.14 [[ 8.12133246e-01 5.28353263e-01 2.47552865e-01 1.35293539e+02] [-5.04997252e-01 8.49023844e-01 -1.55358577e-01 -6.92713258e+01] [-2.92262496e-01 1.15834884e-03 9.56337436e-01 -2.61357339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:-69.29, Z:-26.15 [[ 8.11328413e-01 5.29633527e-01 2.47456127e-01 1.35319140e+02] [-5.06323917e-01 8.48226214e-01 -1.55397491e-01 -6.92887158e+01] [-2.92202495e-01 7.85444298e-04 9.56356150e-01 -2.61458586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:-69.31, Z:-26.16 [[ 8.10625076e-01 5.31150291e-01 2.46508325e-01 1.35343842e+02] [-5.08060828e-01 8.47277559e-01 -1.54902983e-01 -6.93068317e+01] [-2.91137736e-01 3.27018552e-04 9.56681092e-01 -2.61559144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:-69.32, Z:-26.17 [[ 8.10206868e-01 5.31901867e-01 2.46262533e-01 1.35369515e+02] [-5.08864967e-01 8.46805990e-01 -1.54842052e-01 -6.93241626e+01] [-2.90897365e-01 1.39718256e-04 9.56754255e-01 -2.61657992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:-69.34, Z:-26.18 [[ 8.09599119e-01 5.32894500e-01 2.46115253e-01 1.35395400e+02] [-5.09900627e-01 8.46181679e-01 -1.54848041e-01 -6.93428213e+01] [-2.90775887e-01 -1.29484062e-04 9.56791182e-01 -2.61755257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:-69.36, Z:-26.19 [[ 8.09076250e-01 5.33523506e-01 2.46471682e-01 1.35422030e+02] [-5.10459276e-01 8.45785196e-01 -1.55173227e-01 -6.93603349e+01] [-2.91250664e-01 -2.66783595e-04 9.56646737e-01 -2.61854464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:-69.38, Z:-26.19 [[ 8.08846805e-01 5.33951803e-01 2.46297217e-01 1.35448285e+02] [-5.10909721e-01 8.45514850e-01 -1.55164089e-01 -6.93769423e+01] [-2.91098099e-01 -3.31664823e-04 9.56693152e-01 -2.61949622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:-69.39, Z:-26.20 [[ 8.09133390e-01 5.33743104e-01 2.45807762e-01 1.35473652e+02] [-5.10754021e-01 8.45646659e-01 -1.54958245e-01 -6.93931164e+01] [-2.90574407e-01 -1.65413373e-04 9.56852385e-01 -2.62048365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:-69.41, Z:-26.21 [[ 8.09597887e-01 5.33261809e-01 2.45322451e-01 1.35499949e+02] [-5.10325281e-01 8.45950258e-01 -1.54713501e-01 -6.94094374e+01] [-2.90033392e-01 6.14751494e-05 9.57016524e-01 -2.62147202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:-69.43, Z:-26.22 [[ 8.10634087e-01 5.31643457e-01 2.45413146e-01 1.35525599e+02] [-5.08585975e-01 8.46967945e-01 -1.54872873e-01 -6.94250520e+01] [-2.90194217e-01 7.31546042e-04 9.56967492e-01 -2.62243984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:-69.44, Z:-26.23 [[ 8.11352027e-01 5.30516000e-01 2.45480473e-01 1.35552428e+02] [-5.07376479e-01 8.47674088e-01 -1.54976611e-01 -6.94420790e+01] [-2.90305007e-01 1.18956926e-03 9.56933429e-01 -2.62341042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:-69.46, Z:-26.24 [[ 8.11250623e-01 5.30692053e-01 2.45435065e-01 1.35579358e+02] [-5.07538667e-01 8.47563843e-01 -1.55048491e-01 -6.94591388e+01] [-2.90304889e-01 1.21539954e-03 9.56933433e-01 -2.62442071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:-69.48, Z:-26.25 [[ 8.13708600e-01 5.26922881e-01 2.45419216e-01 1.35605755e+02] [-5.03583939e-01 8.49909056e-01 -1.55105810e-01 -6.94755490e+01] [-2.90312815e-01 2.62175587e-03 9.56928208e-01 -2.62537622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:-69.49, Z:-26.26 [[ 8.14858236e-01 5.25147741e-01 2.45409668e-01 1.35631441e+02] [-5.01701144e-01 8.51004504e-01 -1.55200826e-01 -6.94910255e+01] [-2.90348096e-01 3.34435959e-03 9.56915251e-01 -2.62634587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:-69.51, Z:-26.27 [[ 8.17296331e-01 5.21248391e-01 2.45615192e-01 1.35658420e+02] [-4.97560361e-01 8.53391403e-01 -1.55424579e-01 -6.95066297e+01] [-2.90620705e-01 4.81955467e-03 9.56826200e-01 -2.62731061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:-69.52, Z:-26.28 [[ 8.18545941e-01 5.19675212e-01 2.44786062e-01 1.35685542e+02] [-4.95685858e-01 8.54338983e-01 -1.56206379e-01 -6.95222726e+01] [-2.90306858e-01 6.52510860e-03 9.56911360e-01 -2.62843724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:-69.54, Z:-26.29 [[ 8.21150179e-01 5.15763141e-01 2.44337401e-01 1.35711047e+02] [-4.92331691e-01 8.56710173e-01 -1.53808927e-01 -6.95375642e+01] [-2.88655312e-01 6.00518285e-03 9.57414251e-01 -2.62927955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:-69.55, Z:-26.30 [[ 8.21087724e-01 5.16084589e-01 2.43868092e-01 1.35738104e+02] [-4.92446986e-01 8.56510575e-01 -1.54549670e-01 -6.95543045e+01] [-2.88636303e-01 6.80673020e-03 9.57414619e-01 -2.63031762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:-69.57, Z:-26.31 [[ 8.23172337e-01 5.12772064e-01 2.43828041e-01 1.35765223e+02] [-4.88987750e-01 8.58487472e-01 -1.54564684e-01 -6.95703041e+01] [-2.88579770e-01 8.00444679e-03 9.57422396e-01 -2.63126010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:-69.59, Z:-26.32 [[ 8.24094966e-01 5.11346349e-01 2.43705556e-01 1.35791919e+02] [-4.87495898e-01 8.59331815e-01 -1.54585192e-01 -6.95871061e+01] [-2.88470511e-01 8.58741956e-03 9.57450271e-01 -2.63223487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:-69.60, Z:-26.33 [[ 8.24932873e-01 5.10080396e-01 2.43523602e-01 1.35818289e+02] [-4.86182742e-01 8.60078467e-01 -1.54568340e-01 -6.96031865e+01] [-2.88291686e-01 9.11153273e-03 9.57499286e-01 -2.63318627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:-69.62, Z:-26.34 [[ 8.26109099e-01 5.08097545e-01 2.43681433e-01 1.35845563e+02] [-4.84056221e-01 8.61242716e-01 -1.54759681e-01 -6.96187987e+01] [-2.88501873e-01 9.89286654e-03 9.57428222e-01 -2.63419569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:135.87, Y:-69.63, Z:-26.36 [[ 8.25633611e-01 5.10388790e-01 2.40483728e-01 1.35873923e+02] [-4.84103933e-01 8.59757813e-01 -1.62664946e-01 -6.96324602e+01] [-2.89780130e-01 1.78825283e-02 9.56926168e-01 -2.63578372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:-69.65, Z:-26.36 [[ 8.26063581e-01 5.06131718e-01 2.47890388e-01 1.35896641e+02] [-4.83598881e-01 8.62449025e-01 -1.49378052e-01 -6.96540338e+01] [-2.89397793e-01 3.51625422e-03 9.57202462e-01 -2.63589049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:-69.67, Z:-26.37 [[ 8.24889523e-01 5.09329435e-01 2.45236215e-01 1.35924929e+02] [-4.84950600e-01 8.60516379e-01 -1.55995119e-01 -6.96664971e+01] [-2.90482686e-01 9.75128959e-03 9.56830561e-01 -2.63704181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:-69.68, Z:-26.38 [[ 8.24827986e-01 5.09451292e-01 2.45190077e-01 1.35951817e+02] [-4.85056205e-01 8.60443712e-01 -1.56067605e-01 -6.96836634e+01] [-2.90481103e-01 9.79795974e-03 9.56830564e-01 -2.63805267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:-69.70, Z:-26.39 [[ 8.23224628e-01 5.11780206e-01 2.45727964e-01 1.35978264e+02] [-4.87363632e-01 8.59068892e-01 -1.56452320e-01 -6.96988564e+01] [-2.91166450e-01 9.03653050e-03 9.56629730e-01 -2.63891636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:-69.71, Z:-26.40 [[ 8.22411926e-01 5.12924411e-01 2.46063353e-01 1.36004655e+02] [-4.88461008e-01 8.58389402e-01 -1.56759302e-01 -6.97148292e+01] [-2.91623847e-01 8.72836618e-03 9.56493255e-01 -2.63984373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:-69.73, Z:-26.41 [[ 8.21038265e-01 5.15151706e-01 2.45997737e-01 1.36031985e+02] [-4.90771094e-01 8.57061507e-01 -1.56809776e-01 -6.97305526e+01] [-2.91616015e-01 8.01824773e-03 9.56501860e-01 -2.64086962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-69.75, Z:-26.42 [[ 8.20148163e-01 5.16588535e-01 2.45953809e-01 1.36058169e+02] [-4.92249200e-01 8.56200082e-01 -1.56882586e-01 -6.97469367e+01] [-2.91629416e-01 7.59639890e-03 9.56501217e-01 -2.64186787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:-69.76, Z:-26.43 [[ 8.19423666e-01 5.17702829e-01 2.46025680e-01 1.36084495e+02] [-4.93367044e-01 8.55529422e-01 -1.57029831e-01 -6.97632482e+01] [-2.91776996e-01 7.29299725e-03 9.56458570e-01 -2.64282792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:-69.78, Z:-26.44 [[ 8.18819766e-01 5.18592794e-01 2.46161947e-01 1.36111186e+02] [-4.94239938e-01 8.54992169e-01 -1.57210924e-01 -6.97797182e+01] [-2.91994990e-01 7.06434651e-03 9.56393758e-01 -2.64379724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:-69.79, Z:-26.45 [[ 8.18206217e-01 5.20984645e-01 2.43132856e-01 1.36138766e+02] [-4.94750935e-01 8.53455383e-01 -1.63815206e-01 -6.97918578e+01] [-2.92848252e-01 1.37444123e-02 9.56060141e-01 -2.64525228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:-69.81, Z:-26.46 [[ 8.18737478e-01 5.17356385e-01 2.49020707e-01 1.36162848e+02] [-4.94739405e-01 8.55769781e-01 -1.51297729e-01 -6.98129572e+01] [-2.91379242e-01 6.72764877e-04 9.56607383e-01 -2.64554845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:-69.83, Z:-26.47 [[ 8.19140033e-01 5.18544295e-01 2.45196698e-01 1.36191019e+02] [-4.94313668e-01 8.55019948e-01 -1.56827568e-01 -6.98265521e+01] [-2.90970108e-01 7.25965979e-03 9.56704601e-01 -2.64679868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:-69.84, Z:-26.48 [[ 8.19651480e-01 5.17743607e-01 2.45179543e-01 1.36216729e+02] [-4.93450451e-01 8.55501767e-01 -1.56918384e-01 -6.98426954e+01] [-2.90995023e-01 7.63442990e-03 9.56694106e-01 -2.64779309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:-69.86, Z:-26.49 [[ 8.20326020e-01 5.16842675e-01 2.44824163e-01 1.36243002e+02] [-4.92553795e-01 8.56042778e-01 -1.56784951e-01 -6.98598316e+01] [-2.90613110e-01 8.02570415e-03 9.56806986e-01 -2.64878508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:-69.88, Z:-26.50 [[ 8.21938603e-01 5.14086281e-01 2.45218737e-01 1.36268613e+02] [-4.89566479e-01 8.57690132e-01 -1.57137840e-01 -6.98775073e+01] [-2.91104099e-01 9.10678326e-03 9.56648039e-01 -2.64971785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:-69.89, Z:-26.51 [[ 8.22699331e-01 5.12922998e-01 2.45103671e-01 1.36293997e+02] [-4.88344826e-01 8.58380868e-01 -1.57167479e-01 -6.98944354e+01] [-2.91007117e-01 9.60647008e-03 9.56672658e-01 -2.65062488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:-69.91, Z:-26.52 [[ 8.24199677e-01 5.10600376e-01 2.44912533e-01 1.36320431e+02] [-4.85932005e-01 8.59753985e-01 -1.57140614e-01 -6.99110504e+01] [-2.90800583e-01 1.05044050e-02 9.56726021e-01 -2.65162555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:-69.93, Z:-26.53 [[ 8.24678158e-01 5.10007023e-01 2.44537874e-01 1.36347161e+02] [-4.85360380e-01 8.60102623e-01 -1.56999298e-01 -6.99279848e+01] [-2.90398412e-01 1.07848961e-02 9.56845049e-01 -2.65264188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:-69.95, Z:-26.54 [[ 8.24857365e-01 5.09814274e-01 2.44335291e-01 1.36373644e+02] [-4.85171093e-01 8.60215027e-01 -1.56968526e-01 -6.99451062e+01] [-2.90205684e-01 1.09322250e-02 9.56901848e-01 -2.65363705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.40, Y:-69.96, Z:-26.55 [[ 8.24960496e-01 5.09657544e-01 2.44314078e-01 1.36399655e+02] [-4.84998162e-01 8.60306680e-01 -1.57000635e-01 -6.99621569e+01] [-2.90201591e-01 1.10274429e-02 9.56901997e-01 -2.65462137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:-69.98, Z:-26.56 [[ 8.24565074e-01 5.10388117e-01 2.44123759e-01 1.36425268e+02] [-4.85656334e-01 8.59871422e-01 -1.57350128e-01 -6.99780623e+01] [-2.90224679e-01 1.11851696e-02 9.56893164e-01 -2.65555610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:-70.00, Z:-26.57 [[ 8.23625610e-01 5.11860364e-01 2.44212658e-01 1.36451519e+02] [-4.87263048e-01 8.59005646e-01 -1.57111499e-01 -6.99950661e+01] [-2.90199201e-01 1.04052503e-02 9.56909690e-01 -2.65651383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:-70.01, Z:-26.58 [[ 8.23563475e-01 5.11982593e-01 2.44165984e-01 1.36478320e+02] [-4.87369070e-01 8.58932232e-01 -1.57184004e-01 -7.00123700e+01] [-2.90197507e-01 1.04520559e-02 9.56909693e-01 -2.65752463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:-70.03, Z:-26.59 [[ 8.22931908e-01 5.12980574e-01 2.44200750e-01 1.36504829e+02] [-4.88390013e-01 8.58340329e-01 -1.57248450e-01 -7.00289948e+01] [-2.90272752e-01 1.01395596e-02 9.56890233e-01 -2.65853409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:-70.06, Z:-26.58 [[ 8.21855019e-01 5.10557456e-01 2.52755638e-01 1.36530156e+02] [-4.93318730e-01 8.59698518e-01 -1.32495617e-01 -7.00624425e+01] [-2.84940273e-01 -1.57969021e-02 9.58415097e-01 -2.65796936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-70.05, Z:-26.61 [[ 8.20770600e-01 5.23546259e-01 2.28549639e-01 1.36562582e+02] [-4.92528797e-01 8.51230878e-01 -1.81166710e-01 -7.00469607e+01] [-2.89397663e-01 3.61290303e-02 9.56526887e-01 -2.66144390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:-70.08, Z:-26.61 [[ 8.19759143e-01 5.18149708e-01 2.43958662e-01 1.36583803e+02] [-4.93764462e-01 8.55247677e-01 -1.57315184e-01 -7.00767517e+01] [-2.90157895e-01 8.50244322e-03 9.56941014e-01 -2.66149738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:-70.09, Z:-26.63 [[ 8.19696912e-01 5.18269883e-01 2.43912484e-01 1.36610585e+02] [-4.93868569e-01 8.55174396e-01 -1.57386750e-01 -7.00940871e+01] [-2.90156524e-01 8.54872329e-03 9.56941018e-01 -2.66250813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:-70.11, Z:-26.63 [[ 8.17719805e-01 5.21068845e-01 2.44584502e-01 1.36636655e+02] [-4.96638892e-01 8.53480660e-01 -1.57862514e-01 -7.01097009e+01] [-2.91005381e-01 7.61712802e-03 9.56691093e-01 -2.66345343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:-70.13, Z:-26.64 [[ 8.16547702e-01 5.22664442e-01 2.45095352e-01 1.36662658e+02] [-4.98171603e-01 8.52508526e-01 -1.58285395e-01 -7.01261553e+01] [-2.91676025e-01 7.14803135e-03 9.56490461e-01 -2.66441014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:-70.14, Z:-26.65 [[ 8.15480057e-01 5.24163017e-01 2.45449402e-01 1.36689411e+02] [-4.99635779e-01 8.51591555e-01 -1.58606154e-01 -7.01429958e+01] [-2.92158118e-01 6.70485180e-03 9.56346527e-01 -2.66540104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:-70.16, Z:-26.66 [[ 8.13377737e-01 5.27210460e-01 2.45897923e-01 1.36716229e+02] [-5.02697113e-01 8.49715556e-01 -1.58993981e-01 -7.01587802e+01] [-2.92766580e-01 5.70998857e-03 9.56166892e-01 -2.66645500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:-70.17, Z:-26.67 [[ 8.12506341e-01 5.28862300e-01 2.45230736e-01 1.36741996e+02] [-5.04528033e-01 8.48691787e-01 -1.58662266e-01 -7.01748852e+01] [-2.92035802e-01 5.18831665e-03 9.56393314e-01 -2.66741221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:-70.19, Z:-26.68 [[ 8.10818245e-01 5.31539729e-01 2.45029161e-01 1.36768538e+02] [-5.07337469e-01 8.47022432e-01 -1.58624376e-01 -7.01914519e+01] [-2.91860354e-01 4.30306418e-03 9.56451262e-01 -2.66849111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:-70.21, Z:-26.69 [[ 8.10066047e-01 5.32841737e-01 2.44688951e-01 1.36794816e+02] [-5.08735787e-01 8.46205851e-01 -1.58504122e-01 -7.02083989e+01] [-2.91514834e-01 3.91678149e-03 9.56558289e-01 -2.66949978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:-70.23, Z:-26.70 [[ 8.09580607e-01 5.33890938e-01 2.44007596e-01 1.36821100e+02] [-5.09938657e-01 8.45545618e-01 -1.58161861e-01 -7.02254350e+01] [-2.90760738e-01 3.61586991e-03 9.56788962e-01 -2.67049331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:-70.24, Z:-26.72 [[ 8.09122184e-01 5.34744096e-01 2.43659688e-01 1.36847225e+02] [-5.10868579e-01 8.45007238e-01 -1.58038170e-01 -7.02423776e+01] [-2.90404178e-01 3.39411047e-03 9.56898058e-01 -2.67152063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:-70.26, Z:-26.73 [[ 8.08679381e-01 5.35689244e-01 2.43052858e-01 1.36873056e+02] [-5.11946326e-01 8.44409380e-01 -1.57745869e-01 -7.02595765e+01] [-2.89738879e-01 3.13581439e-03 9.57100595e-01 -2.67255341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:-70.28, Z:-26.74 [[ 8.08683801e-01 5.35881031e-01 2.42614984e-01 1.36897978e+02] [-5.12203068e-01 8.44287623e-01 -1.57564042e-01 -7.02762220e+01] [-2.89272410e-01 3.15134905e-03 9.57241632e-01 -2.67354352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:-70.29, Z:-26.75 [[ 8.08801235e-01 5.35743069e-01 2.42528198e-01 1.36923601e+02] [-5.12047668e-01 8.44374671e-01 -1.57602667e-01 -7.02937325e+01] [-2.89219204e-01 3.28323298e-03 9.57257266e-01 -2.67454048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:-70.31, Z:-26.76 [[ 8.08952056e-01 5.35393305e-01 2.42797408e-01 1.36949102e+02] [-5.11598401e-01 8.44595616e-01 -1.57877551e-01 -7.03114029e+01] [-2.89592210e-01 3.50060378e-03 9.57143718e-01 -2.67550505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:-70.33, Z:-26.76 [[ 8.09305872e-01 5.34671724e-01 2.43208047e-01 1.36975196e+02] [-5.10731946e-01 8.45051057e-01 -1.58245352e-01 -7.03295375e+01] [-2.90132532e-01 3.85477318e-03 9.56978712e-01 -2.67646471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:-70.34, Z:-26.78 [[ 8.10650265e-01 5.32915283e-01 2.42584931e-01 1.37000340e+02] [-5.06525483e-01 8.46087406e-01 -1.66036252e-01 -7.03427183e+01] [-2.93731311e-01 1.17218825e-02 9.55816151e-01 -2.67797802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:-70.37, Z:-26.78 [[ 8.11317285e-01 5.29127897e-01 2.48571785e-01 1.37023013e+02] [-5.06732063e-01 8.48538772e-01 -1.52330459e-01 -7.03695965e+01] [-2.91525092e-01 -2.37095919e-03 9.56560243e-01 -2.67808450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:-70.38, Z:-26.79 [[ 8.12117167e-01 5.29890160e-01 2.44299254e-01 1.37050297e+02] [-5.05453696e-01 8.48046593e-01 -1.59165126e-01 -7.03840300e+01] [-2.91517184e-01 5.77877009e-03 9.56548136e-01 -2.67938881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:-70.40, Z:-26.81 [[ 8.14068759e-01 5.28002848e-01 2.41878166e-01 1.37075573e+02] [-5.01292272e-01 8.49123452e-01 -1.66419416e-01 -7.03984318e+01] [-2.93254349e-01 1.42251922e-02 9.55928622e-01 -2.68100685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:-70.42, Z:-26.81 [[ 8.15042429e-01 5.23679402e-01 2.47922816e-01 1.37097945e+02] [-5.00943886e-01 8.51915396e-01 -1.52628242e-01 -7.04244516e+01] [-2.91137531e-01 2.03073572e-04 9.56681189e-01 -2.68110810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:-70.44, Z:-26.82 [[ 8.16436151e-01 5.23491267e-01 2.43698390e-01 1.37123530e+02] [-4.98834354e-01 8.51991260e-01 -1.58981701e-01 -7.04403046e+01] [-2.90854430e-01 8.23327894e-03 9.56731892e-01 -2.68232550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:-70.46, Z:-26.83 [[ 8.16960502e-01 5.22830595e-01 2.43359214e-01 1.37148940e+02] [-4.98186394e-01 8.52393823e-01 -1.58855555e-01 -7.04588318e+01] [-2.90492435e-01 8.54046400e-03 9.56839174e-01 -2.68328825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:-70.48, Z:-26.84 [[ 8.17374817e-01 5.22280192e-01 2.43149769e-01 1.37173830e+02] [-4.97624691e-01 8.52728345e-01 -1.58820768e-01 -7.04768218e+01] [-2.90289642e-01 8.81876774e-03 9.56898194e-01 -2.68425969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:-70.50, Z:-26.85 [[ 8.17756888e-01 5.21652010e-01 2.43213595e-01 1.37198737e+02] [-4.96927380e-01 8.53109517e-01 -1.58957012e-01 -7.04963256e+01] [-2.90408077e-01 9.12869669e-03 9.56859350e-01 -2.68525680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:-70.51, Z:-26.86 [[ 8.17864154e-01 5.21543237e-01 2.43086152e-01 1.37223720e+02] [-4.96809526e-01 8.53174680e-01 -1.58975661e-01 -7.05143495e+01] [-2.90307631e-01 9.25297876e-03 9.56888636e-01 -2.68619580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:-70.53, Z:-26.87 [[ 8.17570195e-01 5.21841838e-01 2.43433918e-01 1.37248875e+02] [-4.97029874e-01 8.52992476e-01 -1.59264371e-01 -7.05324666e+01] [-2.90758113e-01 9.21587332e-03 9.56752208e-01 -2.68715567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:-70.55, Z:-26.88 [[ 8.17185688e-01 5.22418192e-01 2.43488778e-01 1.37273773e+02] [-4.97588653e-01 8.52640807e-01 -1.59402596e-01 -7.05504814e+01] [-2.90883284e-01 9.10426760e-03 9.56715228e-01 -2.68811288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:-70.57, Z:-26.89 [[ 8.16924018e-01 5.22693861e-01 2.43775052e-01 1.37299609e+02] [-4.97787494e-01 8.52471861e-01 -1.59685121e-01 -7.05686483e+01] [-2.91277804e-01 9.10243858e-03 9.56595205e-01 -2.68914502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:-70.59, Z:-26.90 [[ 8.16204210e-01 5.23652970e-01 2.44127537e-01 1.37324404e+02] [-4.98683689e-01 8.51885548e-01 -1.60017471e-01 -7.05878953e+01] [-2.91762345e-01 8.86451244e-03 9.56449766e-01 -2.69011145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:-70.61, Z:-26.91 [[ 8.15711214e-01 5.24229828e-01 2.44536917e-01 1.37349482e+02] [-4.99169076e-01 8.51531724e-01 -1.60386895e-01 -7.06058850e+01] [-2.92310537e-01 8.76412201e-03 9.56283295e-01 -2.69106710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:-70.62, Z:-26.92 [[ 8.15179223e-01 5.25134568e-01 2.44369637e-01 1.37375423e+02] [-5.00120060e-01 8.50976586e-01 -1.60370742e-01 -7.06242010e+01] [-2.92169060e-01 8.51673894e-03 9.56328764e-01 -2.69205835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:-70.64, Z:-26.93 [[ 8.13687005e-01 5.27324781e-01 2.44626311e-01 1.37400563e+02] [-5.02322366e-01 8.49627733e-01 -1.60639209e-01 -7.06428160e+01] [-2.92550334e-01 7.82876967e-03 9.56218078e-01 -2.69306187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-70.66, Z:-26.94 [[ 8.12325508e-01 5.29211908e-01 2.45075551e-01 1.37425493e+02] [-5.04167478e-01 8.48458669e-01 -1.61037393e-01 -7.06598495e+01] [-2.93159382e-01 7.25566010e-03 9.56036052e-01 -2.69401607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:-70.68, Z:-26.95 [[ 8.10903085e-01 5.31171572e-01 2.45546223e-01 1.37451255e+02] [-5.06086633e-01 8.47238209e-01 -1.61442676e-01 -7.06771511e+01] [-2.93789902e-01 6.64670241e-03 9.55846910e-01 -2.69499725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:-70.69, Z:-26.96 [[ 8.07842983e-01 5.35893561e-01 2.45372791e-01 1.37477372e+02] [-5.11025658e-01 8.44270633e-01 -1.61430714e-01 -7.06940762e+01] [-2.93670722e-01 5.01887760e-03 9.55893466e-01 -2.69597679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:-70.71, Z:-26.97 [[ 8.06485532e-01 5.38149085e-01 2.44901306e-01 1.37503431e+02] [-5.13449328e-01 8.42838807e-01 -1.61222001e-01 -7.07108937e+01] [-2.93173797e-01 4.27880017e-03 9.56049589e-01 -2.69698504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:-70.73, Z:-26.98 [[ 8.03955953e-01 5.42232871e-01 2.44209620e-01 1.37528517e+02] [-5.17828445e-01 8.40223343e-01 -1.60867759e-01 -7.07269819e+01] [-2.92418410e-01 2.87190440e-03 9.56286163e-01 -2.69801712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:-70.74, Z:-26.99 [[ 8.02770197e-01 5.44073506e-01 2.44016455e-01 1.37554758e+02] [-5.19762935e-01 8.39034452e-01 -1.60834327e-01 -7.07440577e+01] [-2.92243909e-01 2.28229558e-03 9.56341094e-01 -2.69905001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:-70.76, Z:-27.00 [[ 8.01580357e-01 5.45979579e-01 2.43670332e-01 1.37580613e+02] [-5.21793994e-01 8.37796808e-01 -1.60709478e-01 -7.07608349e+01] [-2.91890319e-01 1.67584532e-03 9.56450330e-01 -2.70001798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:-70.78, Z:-27.01 [[ 7.99825524e-01 5.48517743e-01 2.43736367e-01 1.37607421e+02] [-5.24404397e-01 8.36138498e-01 -1.60849123e-01 -7.07769371e+01] [-2.92025958e-01 8.34811126e-04 9.56410029e-01 -2.70106690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:-70.79, Z:-27.02 [[ 7.99070590e-01 5.49508992e-01 2.43979632e-01 1.37634194e+02] [-5.25360022e-01 8.35487613e-01 -1.61112683e-01 -7.07941002e+01] [-2.92374828e-01 5.63261471e-04 9.56303635e-01 -2.70207303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:-70.81, Z:-27.03 [[ 7.98552069e-01 5.50230484e-01 2.44051239e-01 1.37660185e+02] [-5.26068640e-01 8.35012732e-01 -1.61262281e-01 -7.08109586e+01] [-2.92517315e-01 3.88624866e-04 9.56260147e-01 -2.70304963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:-70.83, Z:-27.04 [[ 7.98304929e-01 5.50569244e-01 2.44095774e-01 1.37686644e+02] [-5.26382521e-01 8.34789424e-01 -1.61394112e-01 -7.08284709e+01] [-2.92627205e-01 3.53966220e-04 9.56226539e-01 -2.70401805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:-70.85, Z:-27.04 [[ 7.99190306e-01 5.47570257e-01 2.47914640e-01 1.37711796e+02] [-5.25984677e-01 8.36716042e-01 -1.52467653e-01 -7.08523396e+01] [-2.90920908e-01 -8.54863131e-03 9.56708914e-01 -2.70443522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:-70.86, Z:-27.06 [[ 7.99276536e-01 5.51449099e-01 2.38874257e-01 1.37739664e+02] [-5.24447312e-01 8.34132662e-01 -1.70814867e-01 -7.08581259e+01] [-2.93448525e-01 1.12513536e-02 9.55908662e-01 -2.70627348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:-70.88, Z:-27.07 [[ 7.99969770e-01 5.47836270e-01 2.44793359e-01 1.37764194e+02] [-5.23311741e-01 8.36584118e-01 -1.62085889e-01 -7.08809022e+01] [-2.93586765e-01 1.56057276e-03 9.55931157e-01 -2.70689524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:-70.90, Z:-27.08 [[ 8.00743574e-01 5.46805310e-01 2.44568358e-01 1.37789832e+02] [-5.22248036e-01 8.37257333e-01 -1.62040569e-01 -7.08978361e+01] [-2.93371295e-01 2.02760006e-03 9.55996429e-01 -2.70790257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:-70.91, Z:-27.09 [[ 8.02511111e-01 5.44459071e-01 2.44008681e-01 1.37815970e+02] [-5.19881118e-01 8.38782177e-01 -1.61765521e-01 -7.09145136e+01] [-2.92744838e-01 2.96312250e-03 9.56186007e-01 -2.70898300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-70.93, Z:-27.10 [[ 8.03268849e-01 5.43480022e-01 2.43697810e-01 1.37842376e+02] [-5.18890799e-01 8.39415196e-01 -1.61661584e-01 -7.09314867e+01] [-2.92423486e-01 3.40516280e-03 9.56282861e-01 -2.70998796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:-70.95, Z:-27.11 [[ 8.04615481e-01 5.41680490e-01 2.43261534e-01 1.37867971e+02] [-5.17069520e-01 8.40574264e-01 -1.61474515e-01 -7.09481789e+01] [-2.91946980e-01 4.14177043e-03 9.56425537e-01 -2.71098885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-70.97, Z:-27.12 [[ 8.05290958e-01 5.41026243e-01 2.42481085e-01 1.37894142e+02] [-5.16518921e-01 8.40993954e-01 -1.61050843e-01 -7.09654490e+01] [-2.91057859e-01 4.44671896e-03 9.56695118e-01 -2.71195998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-70.99, Z:-27.13 [[ 8.06435892e-01 5.38734652e-01 2.43774747e-01 1.37920157e+02] [-5.16050831e-01 8.42474842e-01 -1.54685748e-01 -7.09889554e+01] [-2.88708664e-01 -1.05602177e-03 9.57416415e-01 -2.71267525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:-71.00, Z:-27.14 [[ 8.06295610e-01 5.40929187e-01 2.39338682e-01 1.37947307e+02] [-5.16282346e-01 8.41041459e-01 -1.61560526e-01 -7.10022340e+01] [-2.88686558e-01 6.69920620e-03 9.57400226e-01 -2.71394855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-71.01, Z:-27.15 [[ 8.08344379e-01 5.39270954e-01 2.36148689e-01 1.37973344e+02] [-5.12136181e-01 8.41976033e-01 -1.69684685e-01 -7.10111968e+01] [-2.90337558e-01 1.62233738e-02 9.56786760e-01 -2.71548788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:-71.04, Z:-27.16 [[ 8.08621220e-01 5.35899450e-01 2.42782827e-01 1.37996328e+02] [-5.12390226e-01 8.44277934e-01 -1.57006455e-01 -7.10362625e+01] [-2.89115857e-01 2.55920369e-03 9.57290694e-01 -2.71572475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:-71.05, Z:-27.17 [[ 8.08854153e-01 5.36455450e-01 2.40770657e-01 1.38023105e+02] [-5.11998145e-01 8.43904740e-01 -1.60258194e-01 -7.10518233e+01] [-2.89158881e-01 6.35137610e-03 9.57260049e-01 -2.71683654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.05, Y:-71.07, Z:-27.18 [[ 8.09133341e-01 5.35895711e-01 2.41078874e-01 1.38048304e+02] [-5.11319046e-01 8.44257991e-01 -1.60565493e-01 -7.10683012e+01] [-2.89579125e-01 6.65067374e-03 9.57130973e-01 -2.71775691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:-71.08, Z:-27.19 [[ 8.09725208e-01 5.35049281e-01 2.40971688e-01 1.38075105e+02] [-5.08880226e-01 8.44742111e-01 -1.65685489e-01 -7.10816925e+01] [-2.92208834e-01 1.15339901e-02 9.56284981e-01 -2.71904483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:-71.10, Z:-27.20 [[ 8.09547267e-01 5.34051402e-01 2.43766943e-01 1.38099627e+02] [-5.08794596e-01 8.45418773e-01 -1.62465863e-01 -7.11007883e+01] [-2.92850272e-01 7.49649266e-03 9.56128925e-01 -2.71984439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:-71.12, Z:-27.21 [[ 8.09405561e-01 5.34196668e-01 2.43919163e-01 1.38125255e+02] [-5.09061051e-01 8.45331045e-01 -1.62087234e-01 -7.11182396e+01] [-2.92778901e-01 7.02456330e-03 9.56154365e-01 -2.72080266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:-71.14, Z:-27.21 [[ 8.09072876e-01 5.33815579e-01 2.45849566e-01 1.38150023e+02] [-5.10026128e-01 8.45598274e-01 -1.57597295e-01 -7.11385276e+01] [-2.92017860e-01 2.11799440e-03 9.56410520e-01 -2.72129238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:-71.15, Z:-27.22 [[ 8.08673043e-01 5.35566104e-01 2.43345142e-01 1.38177366e+02] [-5.10383453e-01 8.44462848e-01 -1.62453776e-01 -7.11531120e+01] [-2.92500668e-01 7.17265517e-03 9.56238418e-01 -2.72245859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:-71.17, Z:-27.23 [[ 8.08324183e-01 5.36043138e-01 2.43453834e-01 1.38202791e+02] [-5.10827138e-01 8.44160782e-01 -1.62629053e-01 -7.11695691e+01] [-2.92690367e-01 7.09417175e-03 9.56180957e-01 -2.72337021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:-71.19, Z:-27.24 [[ 8.07046533e-01 5.37715584e-01 2.44003779e-01 1.38229654e+02] [-5.12427971e-01 8.43100552e-01 -1.63092100e-01 -7.11865735e+01] [-2.93416885e-01 6.58855231e-03 9.55961883e-01 -2.72430273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:-71.20, Z:-27.25 [[ 8.06213448e-01 5.38883738e-01 2.44180656e-01 1.38256515e+02] [-5.13579285e-01 8.42356896e-01 -1.63313130e-01 -7.12037365e+01] [-2.93694050e-01 6.25911470e-03 9.55878982e-01 -2.72528472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:-71.22, Z:-27.26 [[ 8.05331063e-01 5.40173742e-01 2.44242108e-01 1.38282624e+02] [-5.14882677e-01 8.41532974e-01 -1.63456670e-01 -7.12201070e+01] [-2.93832788e-01 5.88070360e-03 9.55838747e-01 -2.72623525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:-71.24, Z:-27.27 [[ 8.04212103e-01 5.41749652e-01 2.44438555e-01 1.38308955e+02] [-5.16458660e-01 8.40522589e-01 -1.63683323e-01 -7.12366401e+01] [-2.94131510e-01 5.39370110e-03 9.55749738e-01 -2.72722987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:-71.25, Z:-27.28 [[ 8.03310728e-01 5.43050352e-01 2.44516237e-01 1.38335731e+02] [-5.17770205e-01 8.39685192e-01 -1.63837704e-01 -7.12532152e+01] [-2.94288786e-01 5.00936285e-03 9.55703415e-01 -2.72826464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:-71.27, Z:-27.29 [[ 8.01923512e-01 5.44906519e-01 2.44939923e-01 1.38362723e+02] [-5.19589452e-01 8.38485115e-01 -1.64223971e-01 -7.12689672e+01] [-2.94865192e-01 4.42686340e-03 9.55528608e-01 -2.72925203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:-71.29, Z:-27.30 [[ 8.01452977e-01 5.45517832e-01 2.45119198e-01 1.38389695e+02] [-5.20159119e-01 8.38088210e-01 -1.64446478e-01 -7.12858142e+01] [-2.95139996e-01 4.29513305e-03 9.55444365e-01 -2.73025349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:-71.30, Z:-27.31 [[ 8.01155069e-01 5.45937824e-01 2.45158004e-01 1.38416258e+02] [-5.20558606e-01 8.37815012e-01 -1.64574431e-01 -7.13023599e+01] [-2.95244463e-01 4.23053069e-03 9.55412377e-01 -2.73125093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:-71.32, Z:-27.32 [[ 8.01152818e-01 5.45965160e-01 2.45104480e-01 1.38443186e+02] [-5.20567019e-01 8.37796800e-01 -1.64640522e-01 -7.13178962e+01] [-2.95235738e-01 4.30891002e-03 9.55414723e-01 -2.73227458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:-71.33, Z:-27.34 [[ 8.01786130e-01 5.45814944e-01 2.43361971e-01 1.38469150e+02] [-5.18780352e-01 8.37845986e-01 -1.69944257e-01 -7.13291875e+01] [-2.96657965e-01 1.00075394e-02 9.54931359e-01 -2.73374661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:-71.35, Z:-27.34 [[ 8.01645382e-01 5.43737772e-01 2.48422861e-01 1.38493595e+02] [-5.19814084e-01 8.39254225e-01 -1.59516971e-01 -7.13537024e+01] [-2.95225338e-01 -1.25765835e-03 9.55426825e-01 -2.73404556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:-71.37, Z:-27.35 [[ 8.03096681e-01 5.43173385e-01 2.44945698e-01 1.38521720e+02] [-5.17602174e-01 8.39602150e-01 -1.64791442e-01 -7.13677447e+01] [-2.95167260e-01 5.55903427e-03 9.55429425e-01 -2.73526511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-71.38, Z:-27.36 [[ 8.04065457e-01 5.41671276e-01 2.45093799e-01 1.38548440e+02] [-5.15968132e-01 8.40567498e-01 -1.64994450e-01 -7.13849567e+01] [-2.95390636e-01 6.20574830e-03 9.55356405e-01 -2.73625520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:-71.40, Z:-27.37 [[ 8.04865218e-01 5.40200233e-01 2.45714650e-01 1.38573944e+02] [-5.14263788e-01 8.41508578e-01 -1.65517580e-01 -7.14014317e+01] [-2.96183621e-01 6.85719650e-03 9.55106403e-01 -2.73720580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:-71.42, Z:-27.38 [[ 8.06961723e-01 5.36562999e-01 2.46805440e-01 1.38600975e+02] [-5.10192669e-01 8.43819247e-01 -1.66350589e-01 -7.14176444e+01] [-2.97516751e-01 8.32023213e-03 9.54680343e-01 -2.73820492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:-71.43, Z:-27.39 [[ 8.07840875e-01 5.35105037e-01 2.47094556e-01 1.38626111e+02] [-5.08571611e-01 8.44737992e-01 -1.66651260e-01 -7.14342421e+01] [-2.97906088e-01 8.96242305e-03 9.54553109e-01 -2.73915078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:-71.45, Z:-27.40 [[ 8.10172310e-01 5.31982981e-01 2.46201009e-01 1.38652959e+02] [-5.05474613e-01 8.46694108e-01 -1.66146032e-01 -7.14505827e+01] [-2.96843804e-01 1.01585546e-02 9.54872012e-01 -2.74017478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:-71.47, Z:-27.41 [[ 8.11027952e-01 5.30721494e-01 2.46106394e-01 1.38679727e+02] [-5.04145267e-01 8.47478641e-01 -1.66185149e-01 -7.14671698e+01] [-2.96767943e-01 1.07074268e-02 9.54889595e-01 -2.74124085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:-71.48, Z:-27.42 [[ 8.11691236e-01 5.29903953e-01 2.45680970e-01 1.38705824e+02] [-5.03353511e-01 8.47985323e-01 -1.66000407e-01 -7.14833208e+01] [-2.96298128e-01 1.10766964e-02 9.55031270e-01 -2.74223494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:-71.50, Z:-27.43 [[ 8.12087576e-01 5.29257357e-01 2.45764968e-01 1.38732199e+02] [-5.02629788e-01 8.48384732e-01 -1.66152467e-01 -7.14995961e+01] [-2.96440662e-01 1.14015609e-02 9.54983214e-01 -2.74324101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:-71.52, Z:-27.44 [[ 8.12409143e-01 5.28984905e-01 2.45288310e-01 1.38759221e+02] [-5.02419813e-01 8.48552410e-01 -1.65931130e-01 -7.15159595e+01] [-2.95915050e-01 1.15662601e-02 9.55144233e-01 -2.74419628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-71.53, Z:-27.46 [[ 8.12658584e-01 5.28940626e-01 2.44556415e-01 1.38787077e+02] [-5.01004382e-01 8.48509304e-01 -1.70371861e-01 -7.15266614e+01] [-2.97624992e-01 1.59303193e-02 9.54549941e-01 -2.74552027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:-71.55, Z:-27.46 [[ 8.12106383e-01 5.27817726e-01 2.48780367e-01 1.38812207e+02] [-5.02210279e-01 8.49328177e-01 -1.62562242e-01 -7.15484514e+01] [-2.97099409e-01 7.07777718e-03 9.54820322e-01 -2.74596787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:-71.56, Z:-27.47 [[ 8.11098225e-01 5.30596881e-01 2.46143494e-01 1.38840460e+02] [-5.03833282e-01 8.47549636e-01 -1.66768219e-01 -7.15605713e+01] [-2.97105525e-01 1.12501218e-02 9.54778373e-01 -2.74704244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:-71.58, Z:-27.48 [[ 8.10137674e-01 5.31883498e-01 2.46529700e-01 1.38867947e+02] [-5.05061361e-01 8.46747598e-01 -1.67127279e-01 -7.15764879e+01] [-2.97640673e-01 1.08834790e-02 9.54615933e-01 -2.74807885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:-71.59, Z:-27.49 [[ 8.09148117e-01 5.33350174e-01 2.46610860e-01 1.38894623e+02] [-5.06543297e-01 8.45830101e-01 -1.67288160e-01 -7.15917405e+01] [-2.97814058e-01 1.04418221e-02 9.54566789e-01 -2.74904880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:-71.61, Z:-27.50 [[ 8.08043931e-01 5.34963258e-01 2.46737346e-01 1.38921571e+02] [-5.08170725e-01 8.44816845e-01 -1.67472424e-01 -7.16072840e+01] [-2.98039460e-01 9.94037941e-03 9.54501791e-01 -2.75002572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:-71.62, Z:-27.51 [[ 8.06931774e-01 5.36678111e-01 2.46653029e-01 1.38949066e+02] [-5.09949504e-01 8.43734731e-01 -1.67520766e-01 -7.16227941e+01] [-2.98014456e-01 9.39723896e-03 9.54515100e-01 -2.75100971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:-71.64, Z:-27.52 [[ 8.04961386e-01 5.39617886e-01 2.46677329e-01 1.38976574e+02] [-5.12984963e-01 8.41868095e-01 -1.67644083e-01 -7.16357976e+01] [-2.98133519e-01 8.40525300e-03 9.54487169e-01 -2.75202577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:-71.65, Z:-27.53 [[ 8.04083568e-01 5.41015925e-01 2.46477961e-01 1.39003813e+02] [-5.14460238e-01 8.40974605e-01 -1.67607805e-01 -7.16521156e+01] [-2.97960197e-01 7.96757158e-03 9.54545043e-01 -2.75302170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:-71.67, Z:-27.54 [[ 8.03520657e-01 5.41854688e-01 2.46471196e-01 1.39030498e+02] [-5.15306246e-01 8.40436466e-01 -1.67708137e-01 -7.16679545e+01] [-2.98016822e-01 7.74880597e-03 9.54529167e-01 -2.75401608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:-71.68, Z:-27.55 [[ 8.03232606e-01 5.42551909e-01 2.45875593e-01 1.39057572e+02] [-5.16134073e-01 8.39988233e-01 -1.67407844e-01 -7.16825476e+01] [-2.97360050e-01 7.56266769e-03 9.54735464e-01 -2.75499585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:-71.70, Z:-27.56 [[ 8.03411433e-01 5.42457094e-01 2.45500245e-01 1.39084572e+02] [-5.16087262e-01 8.40048487e-01 -1.67249748e-01 -7.16990718e+01] [-2.96957921e-01 7.67081092e-03 9.54859755e-01 -2.75603169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:-71.72, Z:-27.57 [[ 8.03746117e-01 5.42123249e-01 2.45141924e-01 1.39110567e+02] [-5.15783934e-01 8.40262076e-01 -1.67112469e-01 -7.17152037e+01] [-2.96579017e-01 7.87573246e-03 9.54975843e-01 -2.75702267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:-71.73, Z:-27.58 [[ 8.04248380e-01 5.41363785e-01 2.45172989e-01 1.39136494e+02] [-5.14952245e-01 8.40748047e-01 -1.67233090e-01 -7.17314991e+01] [-2.96662651e-01 8.24456081e-03 9.54946752e-01 -2.75801413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:-71.75, Z:-27.59 [[ 8.05779247e-01 5.39203752e-01 2.44906348e-01 1.39162420e+02] [-5.12723450e-01 8.42126017e-01 -1.67147946e-01 -7.17472621e+01] [-2.96368807e-01 9.11511821e-03 9.55030075e-01 -2.75902110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:-71.76, Z:-27.60 [[ 8.06644936e-01 5.38006856e-01 2.44688720e-01 1.39188497e+02] [-5.11491722e-01 8.42885463e-01 -1.67093731e-01 -7.17639081e+01] [-2.96142138e-01 9.62905701e-03 9.55095344e-01 -2.76000873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:-71.78, Z:-27.61 [[ 8.07211552e-01 5.36905672e-01 2.45238270e-01 1.39213842e+02] [-5.10185342e-01 8.43581194e-01 -1.67575909e-01 -7.17796673e+01] [-2.96850849e-01 1.01522389e-02 9.54869889e-01 -2.76103085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:-71.80, Z:-27.62 [[ 8.08036559e-01 5.35245962e-01 2.46147678e-01 1.39240991e+02] [-5.08215485e-01 8.44625998e-01 -1.68297190e-01 -7.17953853e+01] [-2.97983120e-01 1.08942205e-02 9.54508971e-01 -2.76205655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:-71.81, Z:-27.63 [[ 8.08159929e-01 5.34845267e-01 2.46613198e-01 1.39267780e+02] [-5.07658792e-01 8.44876352e-01 -1.68720185e-01 -7.18126483e+01] [-2.98596852e-01 1.11575346e-02 9.54314115e-01 -2.76306050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:-71.83, Z:-27.64 [[ 8.08159980e-01 5.34740080e-01 2.46841030e-01 1.39294437e+02] [-5.07464518e-01 8.44941035e-01 -1.68980502e-01 -7.18284526e+01] [-2.98926763e-01 1.13002148e-02 9.54209147e-01 -2.76413739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:-71.85, Z:-27.65 [[ 8.07925162e-01 5.35404551e-01 2.46168437e-01 1.39320098e+02] [-5.08277842e-01 8.44522582e-01 -1.68627530e-01 -7.18450715e+01] [-2.98178751e-01 1.11164622e-02 9.54445314e-01 -2.76511001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:-71.86, Z:-27.66 [[ 8.07568130e-01 5.36220116e-01 2.45564050e-01 1.39346030e+02] [-5.09246020e-01 8.44008515e-01 -1.68279877e-01 -7.18618723e+01] [-2.97493205e-01 1.08449501e-02 9.54662338e-01 -2.76609915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:-71.88, Z:-27.67 [[ 8.06849401e-01 5.37610685e-01 2.44885271e-01 1.39371855e+02] [-5.10831422e-01 8.43129552e-01 -1.67880366e-01 -7.18788643e+01] [-2.96724287e-01 1.03590820e-02 9.54907004e-01 -2.76706965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:-71.89, Z:-27.68 [[ 8.04425174e-01 5.41430527e-01 2.44444523e-01 1.39399063e+02] [-5.14901759e-01 8.40697417e-01 -1.67642571e-01 -7.18941721e+01] [-2.96270684e-01 8.99098938e-03 9.55061696e-01 -2.76812422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:-71.91, Z:-27.69 [[ 8.02749288e-01 5.44004132e-01 2.44239809e-01 1.39426015e+02] [-5.17604447e-01 8.39043179e-01 -1.67607221e-01 -7.19109521e+01] [-2.96106766e-01 8.12696599e-03 9.55120273e-01 -2.76913855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:-71.93, Z:-27.70 [[ 7.99575808e-01 5.48798674e-01 2.43923232e-01 1.39453283e+02] [-5.22653665e-01 8.35929766e-01 -1.67494996e-01 -7.19274743e+01] [-2.95823722e-01 6.43757545e-03 9.55220856e-01 -2.77012348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:-71.94, Z:-27.71 [[ 7.97966215e-01 5.51151472e-01 2.43889268e-01 1.39479695e+02] [-5.25088616e-01 8.34386034e-01 -1.67576525e-01 -7.19446288e+01] [-2.95857847e-01 5.65692711e-03 9.55215229e-01 -2.77111261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-71.96, Z:-27.72 [[ 7.96230544e-01 5.53696732e-01 2.43796738e-01 1.39504857e+02] [-5.27737571e-01 8.32704547e-01 -1.67619196e-01 -7.19615402e+01] [-2.95820853e-01 4.80282502e-03 9.55231362e-01 -2.77204316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-71.98, Z:-27.73 [[ 7.92940461e-01 5.58292520e-01 2.44038699e-01 1.39530565e+02] [-5.32472134e-01 8.29638191e-01 -1.67850823e-01 -7.19784196e+01] [-2.96173684e-01 3.15190204e-03 9.55128899e-01 -2.77298886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:-72.00, Z:-27.74 [[ 7.91022364e-01 5.60887937e-01 2.44311974e-01 1.39556309e+02] [-5.35098653e-01 8.27888625e-01 -1.68136423e-01 -7.19958446e+01] [-2.96568796e-01 2.26866239e-03 9.55008797e-01 -2.77398086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:-72.01, Z:-27.75 [[ 7.89299389e-01 5.63321734e-01 2.44284871e-01 1.39581704e+02] [-5.37618818e-01 8.26236364e-01 -1.68224487e-01 -7.20126741e+01] [-2.96601553e-01 1.44734136e-03 9.55000222e-01 -2.77495076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:-72.03, Z:-27.76 [[ 7.87561590e-01 5.65770743e-01 2.44233922e-01 1.39607861e+02] [-5.40162806e-01 8.24562364e-01 -1.68288593e-01 -7.20305587e+01] [-2.96598863e-01 6.11551300e-04 9.55001958e-01 -2.77596685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:139.63, Y:-72.05, Z:-27.77 [[ 7.86054634e-01 5.68091508e-01 2.43700945e-01 1.39633811e+02] [-5.42674583e-01 8.22965375e-01 -1.68024665e-01 -7.20487468e+01] [-2.96010825e-01 -1.73742715e-04 9.55184569e-01 -2.77696293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:-72.07, Z:-27.78 [[ 7.83377204e-01 5.71742723e-01 2.43783543e-01 1.39658269e+02] [-5.46447628e-01 8.20431669e-01 -1.68186995e-01 -7.20664126e+01] [-2.96167429e-01 -1.46108141e-03 9.55134922e-01 -2.77790521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:-72.08, Z:-27.79 [[ 7.81076647e-01 5.74888679e-01 2.43766853e-01 1.39683302e+02] [-5.49726337e-01 8.18227513e-01 -1.68239978e-01 -7.20845389e+01] [-2.96176005e-01 -2.59674161e-03 9.55129850e-01 -2.77891393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:-72.10, Z:-27.80 [[ 7.79855968e-01 5.76421185e-01 2.44055910e-01 1.39708079e+02] [-5.51237589e-01 8.17146906e-01 -1.68546889e-01 -7.21026782e+01] [-2.96583530e-01 -3.09049420e-03 9.55001916e-01 -2.77989913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:-72.12, Z:-27.81 [[ 7.78816800e-01 5.77633714e-01 2.44507023e-01 1.39733679e+02] [-5.52381894e-01 8.16288691e-01 -1.68958620e-01 -7.21214218e+01] [-2.97184513e-01 -3.47344134e-03 9.54813752e-01 -2.78090960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:-72.15, Z:-27.81 [[ 7.78187612e-01 5.76598714e-01 2.48913567e-01 1.39757854e+02] [-5.55061667e-01 8.16870131e-01 -1.56938633e-01 -7.21501914e+01] [-2.93820672e-01 -1.60346794e-02 9.55726060e-01 -2.78118119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:-72.16, Z:-27.83 [[ 7.77956450e-01 5.80549558e-01 2.40303918e-01 1.39786406e+02] [-5.55165916e-01 8.14223852e-01 -1.69794950e-01 -7.21607119e+01] [-2.94235565e-01 -1.31546784e-03 9.55732024e-01 -2.78260625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:-72.17, Z:-27.84 [[ 7.77857776e-01 5.82520867e-01 2.35810770e-01 1.39809706e+02] [-5.53567428e-01 8.12744136e-01 -1.81686740e-01 -7.21693316e+01] [-2.97490138e-01 1.07892820e-02 9.54663925e-01 -2.78428904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:-72.20, Z:-27.85 [[ 7.78331156e-01 5.78492233e-01 2.44023254e-01 1.39830357e+02] [-5.53295058e-01 8.15680170e-01 -1.68909561e-01 -7.21953343e+01] [-2.96757798e-01 -3.54928709e-03 9.54946183e-01 -2.78485715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:-72.22, Z:-27.86 [[ 7.78945810e-01 5.77883233e-01 2.43504405e-01 1.39855227e+02] [-5.52746301e-01 8.16112971e-01 -1.68615378e-01 -7.22151741e+01] [-2.96167103e-01 -3.25391695e-03 9.55130598e-01 -2.78585622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:-72.23, Z:-27.87 [[ 7.79760689e-01 5.76851604e-01 2.43342339e-01 1.39879135e+02] [-5.51667017e-01 8.16844267e-01 -1.68608855e-01 -7.22346797e+01] [-2.96035083e-01 -2.76938512e-03 9.55173053e-01 -2.78687710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:-72.26, Z:-27.88 [[ 7.82294799e-01 5.73519233e-01 2.43085452e-01 1.39902023e+02] [-5.48576211e-01 8.19188400e-01 -1.67315590e-01 -7.22571844e+01] [-2.95091492e-01 -2.46078020e-03 9.55465832e-01 -2.78779141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-72.28, Z:-27.89 [[ 7.83559874e-01 5.72376833e-01 2.41699577e-01 1.39926748e+02] [-5.46578573e-01 8.19990069e-01 -1.69906300e-01 -7.22752705e+01] [-2.95441683e-01 1.02394927e-03 9.55360227e-01 -2.78889865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:-72.29, Z:-27.90 [[ 7.84294472e-01 5.70796695e-01 2.43050023e-01 1.39948969e+02] [-5.45209993e-01 8.21091428e-01 -1.68982043e-01 -7.22947612e+01] [-2.96020683e-01 1.83807763e-05 9.55181530e-01 -2.78977610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:-72.32, Z:-27.91 [[ 7.87215530e-01 5.66980874e-01 2.42537417e-01 1.39970550e+02] [-5.41402937e-01 8.23730022e-01 -1.68379662e-01 -7.23167059e+01] [-2.95253400e-01 1.24061470e-03 9.55418176e-01 -2.79074951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:-72.34, Z:-27.92 [[ 7.88480141e-01 5.65273137e-01 2.42415650e-01 1.39994426e+02] [-5.39612559e-01 8.24901465e-01 -1.68391981e-01 -7.23367029e+01] [-2.95156488e-01 1.96320349e-03 9.55446908e-01 -2.79174457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:-72.36, Z:-27.93 [[ 7.91005886e-01 5.61920378e-01 2.41981769e-01 1.40017341e+02] [-5.36167641e-01 8.27184740e-01 -1.68195320e-01 -7.23590938e+01] [-2.94676005e-01 3.30069390e-03 9.55591522e-01 -2.79275597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-72.38, Z:-27.94 [[ 7.90897800e-01 5.62093811e-01 2.41932259e-01 1.40043498e+02] [-5.36327234e-01 8.27066793e-01 -1.68266507e-01 -7.23773292e+01] [-2.94675700e-01 3.32675050e-03 9.55591526e-01 -2.79376653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:-72.40, Z:-27.95 [[ 7.91861921e-01 5.60916559e-01 2.41510480e-01 1.40067461e+02] [-5.35166354e-01 8.27863530e-01 -1.68044488e-01 -7.23970715e+01] [-2.94196654e-01 3.81974795e-03 9.55737275e-01 -2.79474376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:-72.42, Z:-27.96 [[ 7.93768161e-01 5.58380966e-01 2.41128187e-01 1.40090593e+02] [-5.32567590e-01 8.29570518e-01 -1.67882450e-01 -7.24177314e+01] [-2.93775200e-01 4.84268613e-03 9.55862271e-01 -2.79573745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:-72.44, Z:-27.97 [[ 7.94335252e-01 5.57418381e-01 2.41487588e-01 1.40114737e+02] [-5.31452724e-01 8.30214880e-01 -1.68229768e-01 -7.24367551e+01] [-2.94260954e-01 5.29159864e-03 9.55710463e-01 -2.79672357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:-72.46, Z:-27.98 [[ 7.94772688e-01 5.56571291e-01 2.42001595e-01 1.40139598e+02] [-5.30424366e-01 8.30780291e-01 -1.68683432e-01 -7.24563834e+01] [-2.94934511e-01 5.70144215e-03 9.55500459e-01 -2.79772164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-72.48, Z:-27.99 [[ 7.95542746e-01 5.54921567e-01 2.43256644e-01 1.40163319e+02] [-5.28388880e-01 8.31877761e-01 -1.69660195e-01 -7.24775975e+01] [-2.96507893e-01 6.43783160e-03 9.55008703e-01 -2.79862929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-72.50, Z:-28.00 [[ 7.95800852e-01 5.54374631e-01 2.43659131e-01 1.40187284e+02] [-5.27694952e-01 8.32239930e-01 -1.70043338e-01 -7.24968091e+01] [-2.97050571e-01 6.74293959e-03 9.54837940e-01 -2.79958183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:-72.52, Z:-28.01 [[ 7.96095260e-01 5.53712352e-01 2.44202721e-01 1.40211538e+02] [-5.26850294e-01 8.32677824e-01 -1.70518062e-01 -7.25176042e+01] [-2.97760147e-01 7.09034546e-03 9.54614384e-01 -2.80054875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:-72.54, Z:-28.02 [[ 7.95903613e-01 5.54074326e-01 2.44006313e-01 1.40236225e+02] [-5.27239839e-01 8.32437416e-01 -1.70487832e-01 -7.25357563e+01] [-2.97582916e-01 7.04203209e-03 9.54670005e-01 -2.80152215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:-72.55, Z:-28.03 [[ 7.95366956e-01 5.54829941e-01 2.44039222e-01 1.40261307e+02] [-5.27991756e-01 8.31935607e-01 -1.70610231e-01 -7.25539423e+01] [-2.97684582e-01 6.84704263e-03 9.54639727e-01 -2.80257320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:-72.57, Z:-28.04 [[ 7.94657542e-01 5.55960957e-01 2.43776138e-01 1.40286553e+02] [-5.29201938e-01 8.31182948e-01 -1.70529224e-01 -7.25719407e+01] [-2.97430160e-01 6.50552889e-03 9.54721414e-01 -2.80357877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:-72.59, Z:-28.05 [[ 7.93738325e-01 5.57266591e-01 2.43789702e-01 1.40311737e+02] [-5.30532002e-01 8.30311171e-01 -1.70643356e-01 -7.25901057e+01] [-2.97515154e-01 6.10793267e-03 9.54697558e-01 -2.80458799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:-72.61, Z:-28.06 [[ 7.92441984e-01 5.58992078e-01 2.44056466e-01 1.40336687e+02] [-5.32244641e-01 8.29154367e-01 -1.70934718e-01 -7.26083656e+01] [-2.97911638e-01 5.55810143e-03 9.54577270e-01 -2.80556579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:-72.63, Z:-28.07 [[ 7.89954894e-01 5.62485805e-01 2.44092164e-01 1.40362345e+02] [-5.35862444e-01 8.26795617e-01 -1.71056857e-01 -7.26270635e+01] [-2.98031386e-01 4.32737743e-03 9.54546262e-01 -2.80655323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:-72.65, Z:-28.08 [[ 7.88643992e-01 5.64407076e-01 2.43896100e-01 1.40387473e+02] [-5.37885092e-01 8.25488374e-01 -1.71022140e-01 -7.26452460e+01] [-2.97859501e-01 3.68750664e-03 9.54602598e-01 -2.80756296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-72.66, Z:-28.09 [[ 7.87452666e-01 5.66128001e-01 2.43756815e-01 1.40412838e+02] [-5.39685067e-01 8.24311423e-01 -1.71028381e-01 -7.26633978e+01] [-2.97755483e-01 3.12484128e-03 9.54637056e-01 -2.80855778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:-72.68, Z:-28.10 [[ 7.85957892e-01 5.68347743e-01 2.43415353e-01 1.40438526e+02] [-5.42051560e-01 8.22785036e-01 -1.70894384e-01 -7.26815601e+01] [-2.97405948e-01 2.37211739e-03 9.54748174e-01 -2.80957617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:-72.70, Z:-28.11 [[ 7.85490433e-01 5.69033412e-01 2.43322328e-01 1.40464431e+02] [-5.42756913e-01 8.22311451e-01 -1.70935109e-01 -7.26997499e+01] [-2.97354525e-01 2.20301724e-03 9.54764596e-01 -2.81062732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:-72.73, Z:-28.11 [[ 7.86126343e-01 5.65748400e-01 2.48865670e-01 1.40487598e+02] [-5.43830535e-01 8.24485254e-01 -1.56436617e-01 -7.27279669e+01] [-2.93689841e-01 -1.23618050e-02 9.55820832e-01 -2.81063444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:-72.73, Z:-28.13 [[ 7.86180202e-01 5.71890680e-01 2.34225830e-01 1.40516597e+02] [-5.41548416e-01 8.20123912e-01 -1.84721634e-01 -7.27279642e+01] [-2.97734785e-01 1.83798643e-02 9.54471675e-01 -2.81315626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.756559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.54, Y:-72.75, Z:-28.14 [[ 7.86755480e-01 5.66977476e-01 2.44033515e-01 1.40538511e+02] [-5.40367973e-01 8.23727051e-01 -1.71686338e-01 -7.27540523e+01] [-2.98359294e-01 3.20727143e-03 9.54448241e-01 -2.81362190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:-72.77, Z:-28.15 [[ 7.87561815e-01 5.66031030e-01 2.43629351e-01 1.40564077e+02] [-5.39434607e-01 8.24375853e-01 -1.71507312e-01 -7.27728585e+01] [-2.97920615e-01 3.65050632e-03 9.54583669e-01 -2.81462955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:-72.79, Z:-28.16 [[ 7.88278152e-01 5.65098215e-01 2.43478054e-01 1.40589202e+02] [-5.38459407e-01 8.25013497e-01 -1.71505676e-01 -7.27914205e+01] [-2.97790232e-01 4.09112890e-03 9.54622564e-01 -2.81567797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:-72.81, Z:-28.17 [[ 7.89956508e-01 5.62945579e-01 2.43024671e-01 1.40614360e+02] [-5.36276091e-01 8.26478939e-01 -1.71290742e-01 -7.28104701e+01] [-2.97282138e-01 4.98391543e-03 9.54776671e-01 -2.81672088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:-72.83, Z:-28.18 [[ 7.90716453e-01 5.62034988e-01 2.42660592e-01 1.40639695e+02] [-5.35373021e-01 8.27095779e-01 -1.71138252e-01 -7.28290955e+01] [-2.96889237e-01 5.40789779e-03 9.54896610e-01 -2.81772672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:-72.85, Z:-28.19 [[ 7.91423131e-01 5.61167770e-01 2.42363696e-01 1.40664657e+02] [-5.34500517e-01 8.27681647e-01 -1.71033003e-01 -7.28477225e+01] [-2.96578192e-01 5.81595430e-03 9.54990864e-01 -2.81873557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:-72.87, Z:-28.20 [[ 7.92901834e-01 5.59482877e-01 2.41424091e-01 1.40689343e+02] [-5.32917813e-01 8.28816331e-01 -1.70476081e-01 -7.28673797e+01] [-2.95474677e-01 6.51159878e-03 9.55328380e-01 -2.81970779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:-72.89, Z:-28.21 [[ 7.93363472e-01 5.58991718e-01 2.41044934e-01 1.40714570e+02] [-5.32457010e-01 8.29145554e-01 -1.70314951e-01 -7.28859955e+01] [-2.95065982e-01 6.77559595e-03 9.55452855e-01 -2.82072405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:-72.90, Z:-28.22 [[ 7.94118320e-01 5.58136862e-01 2.40539678e-01 1.40738537e+02] [-5.31644617e-01 8.29717922e-01 -1.70065197e-01 -7.29047072e+01] [-2.94499737e-01 7.17026394e-03 9.55624661e-01 -2.82173582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:-72.92, Z:-28.23 [[ 7.94390665e-01 5.57905133e-01 2.40177714e-01 1.40764030e+02] [-5.31453565e-01 8.29872355e-01 -1.69908750e-01 -7.29236820e+01] [-2.94109809e-01 7.33062262e-03 9.55743523e-01 -2.82274360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:-72.94, Z:-28.24 [[ 7.94545049e-01 5.57783003e-01 2.39950593e-01 1.40789216e+02] [-5.31345096e-01 8.29953303e-01 -1.69852591e-01 -7.29423700e+01] [-2.93888676e-01 7.45896472e-03 9.55810551e-01 -2.82376887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:-72.96, Z:-28.25 [[ 7.94611323e-01 5.57834548e-01 2.39611067e-01 1.40814676e+02] [-5.31443635e-01 8.29918121e-01 -1.69716159e-01 -7.29613573e+01] [-2.93531103e-01 7.51860518e-03 9.55919956e-01 -2.82478943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:-72.98, Z:-28.26 [[ 7.94559669e-01 5.58020563e-01 2.39349085e-01 1.40839678e+02] [-5.31665089e-01 8.29792945e-01 -1.69634613e-01 -7.29799057e+01] [-2.93269784e-01 7.53126965e-03 9.56000060e-01 -2.82578973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:-73.00, Z:-28.27 [[ 7.94675605e-01 5.58004788e-01 2.39000709e-01 1.40864685e+02] [-5.31695413e-01 8.29802788e-01 -1.69491361e-01 -7.29996263e+01] [-2.92900446e-01 7.61506891e-03 9.56112619e-01 -2.82679915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:-73.02, Z:-28.28 [[ 7.94422745e-01 5.58331509e-01 2.39078290e-01 1.40889189e+02] [-5.31987203e-01 8.29583242e-01 -1.69650408e-01 -7.30178902e+01] [-2.93056511e-01 7.58755253e-03 9.56065014e-01 -2.82774206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:-73.04, Z:-28.29 [[ 7.94015598e-01 5.58765215e-01 2.39417345e-01 1.40914178e+02] [-5.32333838e-01 8.29291770e-01 -1.69987780e-01 -7.30365400e+01] [-2.93530093e-01 7.52299487e-03 9.55920232e-01 -2.82870376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:-73.06, Z:-28.30 [[ 7.93375350e-01 5.59350919e-01 2.40170986e-01 1.40939439e+02] [-5.32743528e-01 8.28897757e-01 -1.70624855e-01 -7.30555292e+01] [-2.94516361e-01 7.42001558e-03 9.55617631e-01 -2.82960905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:-73.07, Z:-28.31 [[ 7.92954608e-01 5.59939634e-01 2.40188666e-01 1.40964960e+02] [-5.33321830e-01 8.28501298e-01 -1.70743742e-01 -7.30742130e+01] [-2.94602810e-01 7.29417784e-03 9.55591952e-01 -2.83057709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:-73.09, Z:-28.32 [[ 7.92610582e-01 5.60378958e-01 2.40299580e-01 1.40990130e+02] [-5.33722981e-01 8.28204807e-01 -1.70928571e-01 -7.30926793e+01] [-2.94802042e-01 7.22638623e-03 9.55531023e-01 -2.83151842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:-73.11, Z:-28.33 [[ 7.92347700e-01 5.60668325e-01 2.40491481e-01 1.41014625e+02] [-5.33948834e-01 8.28009022e-01 -1.71171557e-01 -7.31111971e+01] [-2.95099586e-01 7.21724417e-03 9.55439242e-01 -2.83250822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:-73.13, Z:-28.33 [[ 7.92329247e-01 5.60847280e-01 2.40134739e-01 1.41039536e+02] [-5.34186613e-01 8.27887756e-01 -1.71016157e-01 -7.31298110e+01] [-2.94718557e-01 7.22434005e-03 9.55556791e-01 -2.83346794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:-73.15, Z:-28.35 [[ 7.92278421e-01 5.60985894e-01 2.39978606e-01 1.41064482e+02] [-5.34334367e-01 8.27793531e-01 -1.71010682e-01 -7.31480544e+01] [-2.94587318e-01 7.25925642e-03 9.55596994e-01 -2.83451794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:-73.17, Z:-28.35 [[ 7.92274414e-01 5.61199307e-01 2.39492360e-01 1.41088708e+02] [-5.34635428e-01 8.27648898e-01 -1.70769614e-01 -7.31655613e+01] [-2.94051377e-01 7.25529557e-03 9.55762077e-01 -2.83549751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:-73.18, Z:-28.37 [[ 7.92332330e-01 5.61358494e-01 2.38927017e-01 1.41113874e+02] [-5.34900102e-01 8.27540878e-01 -1.70464006e-01 -7.31838049e+01] [-2.93413291e-01 7.26205699e-03 9.55958107e-01 -2.83652899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:-73.20, Z:-28.38 [[ 7.92038939e-01 5.61779847e-01 2.38909446e-01 1.41138390e+02] [-5.35312020e-01 8.27255475e-01 -1.70556209e-01 -7.32017297e+01] [-2.93454188e-01 7.19606087e-03 9.55946053e-01 -2.83750529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:-73.22, Z:-28.38 [[ 7.91843205e-01 5.62209291e-01 2.38547799e-01 1.41163891e+02] [-5.35812849e-01 8.26964434e-01 -1.70394883e-01 -7.32202970e+01] [-2.93068131e-01 7.10905419e-03 9.56065129e-01 -2.83849275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:-73.24, Z:-28.39 [[ 7.91355139e-01 5.62985680e-01 2.38336250e-01 1.41189053e+02] [-5.36639901e-01 8.26437810e-01 -1.70347185e-01 -7.32386558e+01] [-2.92873115e-01 6.90437896e-03 9.56126387e-01 -2.83948956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:-73.26, Z:-28.40 [[ 7.90972227e-01 5.63794598e-01 2.37694315e-01 1.41213807e+02] [-5.37598013e-01 8.25888065e-01 -1.69991999e-01 -7.32563624e+01] [-2.92149469e-01 6.67495884e-03 9.56349378e-01 -2.84049473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:-73.27, Z:-28.41 [[ 7.90659987e-01 5.64304080e-01 2.37524084e-01 1.41239312e+02] [-5.38139030e-01 8.25540920e-01 -1.69966389e-01 -7.32749779e+01] [-2.91998577e-01 6.56464263e-03 9.56396223e-01 -2.84148074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:-73.29, Z:-28.42 [[ 7.90252600e-01 5.64896448e-01 2.37471748e-01 1.41264068e+02] [-5.38737992e-01 8.25136729e-01 -1.70031628e-01 -7.32929017e+01] [-2.91996924e-01 6.43288391e-03 9.56397624e-01 -2.84243815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:-73.31, Z:-28.43 [[ 7.90200108e-01 5.64900395e-01 2.37636978e-01 1.41289768e+02] [-5.38675695e-01 8.25133355e-01 -1.70245243e-01 -7.33111712e+01] [-2.92253801e-01 6.51854557e-03 9.56318579e-01 -2.84343024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:-73.33, Z:-28.44 [[ 7.90088795e-01 5.64931787e-01 2.37932282e-01 1.41315118e+02] [-5.38610629e-01 8.25111188e-01 -1.70558255e-01 -7.33293322e+01] [-2.92674368e-01 6.60330961e-03 9.56189370e-01 -2.84443669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:-73.35, Z:-28.45 [[ 7.90178313e-01 5.64898763e-01 2.37713320e-01 1.41339859e+02] [-5.38593388e-01 8.25133017e-01 -1.70507087e-01 -7.33471858e+01] [-2.92464351e-01 6.70018048e-03 9.56252953e-01 -2.84537790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:-73.37, Z:-28.46 [[ 7.90110375e-01 5.65013693e-01 2.37665987e-01 1.41365746e+02] [-5.38693579e-01 8.25053978e-01 -1.70573039e-01 -7.33658234e+01] [-2.92463371e-01 6.74238626e-03 9.56252957e-01 -2.84638908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:-73.38, Z:-28.47 [[ 7.89935474e-01 5.65136643e-01 2.37954872e-01 1.41390271e+02] [-5.38742897e-01 8.24969754e-01 -1.70824458e-01 -7.33833551e+01] [-2.92844734e-01 6.74380244e-03 9.56136226e-01 -2.84730981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:-73.40, Z:-28.48 [[ 7.89437975e-01 5.65705321e-01 2.38254431e-01 1.41415655e+02] [-5.39239141e-01 8.24580861e-01 -1.71136063e-01 -7.34015106e+01] [-2.93272626e-01 6.62519235e-03 9.56005896e-01 -2.84830336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:-73.42, Z:-28.49 [[ 7.89008020e-01 5.66252347e-01 2.38379160e-01 1.41441862e+02] [-5.39750023e-01 8.24206177e-01 -1.71330353e-01 -7.34197844e+01] [-2.93489791e-01 6.51586563e-03 9.55940001e-01 -2.84927402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:-73.44, Z:-28.50 [[ 7.88422536e-01 5.67063979e-01 2.38386972e-01 1.41466879e+02] [-5.40563381e-01 8.23649609e-01 -1.71442564e-01 -7.34371052e+01] [-2.93566239e-01 6.30591344e-03 9.55917935e-01 -2.85020382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.896559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.49, Y:-73.45, Z:-28.52 [[ 7.88289844e-01 5.68418598e-01 2.35583145e-01 1.41493109e+02] [-5.38756059e-01 8.22573498e-01 -1.81974585e-01 -7.34451056e+01] [-2.97222190e-01 1.65268701e-02 9.54665299e-01 -2.85202260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:-73.48, Z:-28.52 [[ 7.86824215e-01 5.66049175e-01 2.45959320e-01 1.41514958e+02] [-5.42536888e-01 8.24347298e-01 -1.61571219e-01 -7.34776816e+01] [-2.94213156e-01 -6.31385651e-03 9.55718972e-01 -2.85171230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-73.48, Z:-28.54 [[ 7.85886763e-01 5.72231954e-01 2.34377016e-01 1.41544108e+02] [-5.42496048e-01 8.19925385e-01 -1.82812474e-01 -7.34788610e+01] [-2.96782804e-01 1.65212984e-02 9.54802081e-01 -2.85408527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:-73.51, Z:-28.54 [[ 7.84387672e-01 5.69535185e-01 2.45694226e-01 1.41565403e+02] [-5.46688923e-01 8.21919148e-01 -1.59937914e-01 -7.35126690e+01] [-2.93031058e-01 -8.86498410e-03 9.56061824e-01 -2.85366774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:-73.52, Z:-28.55 [[ 7.82540484e-01 5.75589504e-01 2.37333340e-01 1.41594722e+02] [-5.49602597e-01 8.17731718e-01 -1.71031643e-01 -7.35236523e+01] [-2.92519018e-01 3.40016515e-03 9.56253660e-01 -2.85516864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:-73.54, Z:-28.56 [[ 7.81722245e-01 5.76568888e-01 2.37652369e-01 1.41620052e+02] [-5.50521588e-01 8.17042543e-01 -1.71369379e-01 -7.35411934e+01] [-2.92978349e-01 3.13049627e-03 9.56113951e-01 -2.85614734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:-73.56, Z:-28.57 [[ 7.81298428e-01 5.77114680e-01 2.37721291e-01 1.41646179e+02] [-5.51056648e-01 8.16657671e-01 -1.71484167e-01 -7.35591869e+01] [-2.93102946e-01 2.98241247e-03 9.56076236e-01 -2.85715358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:-73.58, Z:-28.58 [[ 7.81310495e-01 5.77023235e-01 2.37903545e-01 1.41671972e+02] [-5.50887547e-01 8.16721809e-01 -1.71721859e-01 -7.35766784e+01] [-2.93388516e-01 3.10999021e-03 9.55988235e-01 -2.85815148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:-73.59, Z:-28.59 [[ 7.81740259e-01 5.76539676e-01 2.37663984e-01 1.41696736e+02] [-5.50403190e-01 8.17062166e-01 -1.71655894e-01 -7.35946422e+01] [-2.93152682e-01 3.37930798e-03 9.56059666e-01 -2.85911556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:-73.61, Z:-28.60 [[ 7.82275924e-01 5.75951589e-01 2.37327088e-01 1.41720749e+02] [-5.49844592e-01 8.17475656e-01 -1.71477337e-01 -7.36126756e+01] [-2.92771761e-01 3.64957662e-03 9.56175390e-01 -2.86005207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:-73.63, Z:-28.62 [[ 7.83236849e-01 5.75985483e-01 2.34052904e-01 1.41746900e+02] [-5.47557347e-01 8.17369710e-01 -1.79130424e-01 -7.36253804e+01] [-2.94484278e-01 1.21441613e-02 9.55579159e-01 -2.86170524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:-73.65, Z:-28.62 [[ 7.84625388e-01 5.70515619e-01 2.42641565e-01 1.41768111e+02] [-5.46255922e-01 8.21279840e-01 -1.64632599e-01 -7.36528503e+01] [-2.93202094e-01 -3.36947494e-03 9.56044548e-01 -2.86168806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:-73.66, Z:-28.64 [[ 7.87012737e-01 5.71508097e-01 2.32356292e-01 1.41796965e+02] [-5.41794860e-01 8.20400158e-01 -1.82761896e-01 -7.36596037e+01] [-2.95075043e-01 1.79464955e-02 9.55305523e-01 -2.86385642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:-73.69, Z:-28.64 [[ 7.88052359e-01 5.65094898e-01 2.44215552e-01 1.41817217e+02] [-5.41560315e-01 8.25010656e-01 -1.61461582e-01 -7.36907724e+01] [-2.92721549e-01 -5.01727039e-03 9.56184565e-01 -2.86352674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:-73.70, Z:-28.65 [[ 7.90455257e-01 5.64943513e-01 2.36683994e-01 1.41845310e+02] [-5.38390294e-01 8.25090631e-01 -1.71351517e-01 -7.37041616e+01] [-2.92089674e-01 8.01734273e-03 9.56357331e-01 -2.86492362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:-73.72, Z:-28.66 [[ 7.91247386e-01 5.63742787e-01 2.36900074e-01 1.41869354e+02] [-5.37054719e-01 8.25906035e-01 -1.71614246e-01 -7.37222425e+01] [-2.92403494e-01 8.56102135e-03 9.56256715e-01 -2.86584980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:-73.74, Z:-28.67 [[ 7.92099505e-01 5.62519778e-01 2.36959645e-01 1.41895069e+02] [-5.35734302e-01 8.26733744e-01 -1.71755859e-01 -7.37411672e+01] [-2.92518602e-01 9.10032086e-03 9.56216530e-01 -2.86681818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-73.76, Z:-28.68 [[ 7.92750799e-01 5.61521269e-01 2.37149815e-01 1.41920285e+02] [-5.34616507e-01 8.27407005e-01 -1.71996624e-01 -7.37596869e+01] [-2.92799181e-01 9.56625532e-03 9.56126104e-01 -2.86775485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:-73.78, Z:-28.69 [[ 7.93336971e-01 5.60650312e-01 2.37250244e-01 1.41945958e+02] [-5.33652482e-01 8.27992507e-01 -1.72172694e-01 -7.37785357e+01] [-2.92970099e-01 9.98178221e-03 9.56069498e-01 -2.86871031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:-73.80, Z:-28.70 [[ 7.93865342e-01 5.60243902e-01 2.36441512e-01 1.41971373e+02] [-5.33385031e-01 8.28265086e-01 -1.71689708e-01 -7.37965457e+01] [-2.92024361e-01 1.01841459e-02 9.56356657e-01 -2.86970969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:-73.81, Z:-28.71 [[ 7.94435599e-01 5.59874943e-01 2.35397805e-01 1.41996448e+02] [-5.33210900e-01 8.28512344e-01 -1.71036346e-01 -7.38144277e+01] [-2.90788952e-01 1.03606869e-02 9.56731123e-01 -2.87073031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:-73.83, Z:-28.72 [[ 7.94862902e-01 5.59583755e-01 2.34646516e-01 1.42022173e+02] [-5.33062472e-01 8.28707479e-01 -1.70552967e-01 -7.38326977e+01] [-2.89891992e-01 1.04849740e-02 9.57001932e-01 -2.87176527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:-73.85, Z:-28.73 [[ 7.95482353e-01 5.58775695e-01 2.34472917e-01 1.42047846e+02] [-5.32229065e-01 8.29247719e-01 -1.70529891e-01 -7.38502948e+01] [-2.89724090e-01 1.08602180e-02 9.57048592e-01 -2.87270637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:-73.87, Z:-28.74 [[ 7.95592252e-01 5.58458702e-01 2.34854950e-01 1.42073458e+02] [-5.31778665e-01 8.29458267e-01 -1.70910603e-01 -7.38689111e+01] [-2.90248893e-01 1.10842999e-02 9.56886994e-01 -2.87366308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:-73.89, Z:-28.75 [[ 7.95730086e-01 5.58243091e-01 2.34900579e-01 1.42098110e+02] [-5.31512149e-01 8.29601106e-01 -1.71046313e-01 -7.38869652e+01] [-2.90359203e-01 1.12541861e-02 9.56851544e-01 -2.87456652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-73.90, Z:-28.76 [[ 7.96832006e-01 5.56521853e-01 2.35249188e-01 1.42123022e+02] [-5.29207680e-01 8.30729318e-01 -1.72707939e-01 -7.39021576e+01] [-2.91544140e-01 1.31235362e-02 9.56467348e-01 -2.87557639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:-73.92, Z:-28.76 [[ 7.96331118e-01 5.56514113e-01 2.36957363e-01 1.42147670e+02] [-5.30010271e-01 8.30780724e-01 -1.69977945e-01 -7.39230028e+01] [-2.91454735e-01 9.76889032e-03 9.56534739e-01 -2.87632928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:-73.93, Z:-28.78 [[ 7.96484293e-01 5.58682572e-01 2.31271606e-01 1.42175199e+02] [-5.28001255e-01 8.29015459e-01 -1.84249950e-01 -7.39299156e+01] [-2.94664973e-01 2.46404929e-02 9.55282890e-01 -2.87824099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:-73.96, Z:-28.78 [[ 7.95706359e-01 5.54020199e-01 2.44771340e-01 1.42195359e+02] [-5.30257412e-01 8.32500682e-01 -1.60529411e-01 -7.39634295e+01] [-2.92708844e-01 -2.05754390e-03 9.56199404e-01 -2.87776162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:-73.97, Z:-28.79 [[ 7.95081378e-01 5.58601643e-01 2.36240992e-01 1.42224196e+02] [-5.31455817e-01 8.29356017e-01 -1.72404500e-01 -7.39746241e+01] [-2.92233325e-01 1.15239581e-02 9.56277618e-01 -2.87919660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:-73.99, Z:-28.80 [[ 7.94185517e-01 5.59761514e-01 2.36508799e-01 1.42250500e+02] [-5.32570525e-01 8.28578032e-01 -1.72705183e-01 -7.39924353e+01] [-2.92639710e-01 1.12023398e-02 9.56157156e-01 -2.88018497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:-74.01, Z:-28.81 [[ 7.93237837e-01 5.61167855e-01 2.36356451e-01 1.42276150e+02] [-5.34041245e-01 8.27631976e-01 -1.72699914e-01 -7.40096078e+01] [-2.92529797e-01 1.07680129e-02 9.56195779e-01 -2.88114135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:-74.03, Z:-28.82 [[ 7.91376408e-01 5.63829557e-01 2.36261746e-01 1.42302577e+02] [-5.36810681e-01 8.25832242e-01 -1.72729270e-01 -7.40254577e+01] [-2.92502435e-01 9.86604074e-03 9.56213881e-01 -2.88206188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:-74.04, Z:-28.83 [[ 7.90236270e-01 5.65340723e-01 2.36466710e-01 1.42328967e+02] [-5.38309955e-01 8.24803921e-01 -1.72976542e-01 -7.40431094e+01] [-2.92829353e-01 9.39995287e-03 9.56118513e-01 -2.88306262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:-74.06, Z:-28.84 [[ 7.89285907e-01 5.66553653e-01 2.36737653e-01 1.42354581e+02] [-5.39480176e-01 8.23975127e-01 -1.73280496e-01 -7.40600750e+01] [-2.93238635e-01 9.05258277e-03 9.55996419e-01 -2.88402063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:-74.08, Z:-28.85 [[ 7.88354226e-01 5.67681002e-01 2.37141084e-01 1.42380717e+02] [-5.40532466e-01 8.23202280e-01 -1.73674003e-01 -7.40774930e+01] [-2.93806513e-01 8.73417910e-03 9.55825009e-01 -2.88501736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:-74.08, Z:-28.87 [[ 7.87156243e-01 5.72343229e-01 2.29800516e-01 1.42410111e+02] [-5.39787832e-01 8.19560761e-01 -1.92221894e-01 -7.40815878e+01] [-2.98352385e-01 2.72651416e-02 9.54066280e-01 -2.88735694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:-74.11, Z:-28.88 [[ 7.86617594e-01 5.69255591e-01 2.39125140e-01 1.42431822e+02] [-5.40143431e-01 8.22064847e-01 -1.80151218e-01 -7.41050940e+01] [-2.99128460e-01 1.25482440e-02 9.54130340e-01 -2.88801020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-74.14, Z:-28.87 [[ 7.86521276e-01 5.64266936e-01 2.50972322e-01 1.42451985e+02] [-5.43114179e-01 8.25450111e-01 -1.53815158e-01 -7.41379954e+01] [-2.93957940e-01 -1.53277323e-02 9.55695449e-01 -2.88713491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:-74.14, Z:-28.89 [[ 7.86213750e-01 5.70806967e-01 2.36743207e-01 1.42483480e+02] [-5.43801243e-01 8.21047224e-01 -1.73671138e-01 -7.41433918e+01] [-2.93510048e-01 7.80138658e-03 9.55924155e-01 -2.88894462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-74.16, Z:-28.90 [[ 7.85992558e-01 5.71182257e-01 2.36572458e-01 1.42509419e+02] [-5.44201144e-01 8.20786728e-01 -1.73649828e-01 -7.41613089e+01] [-2.93361234e-01 7.74447021e-03 9.55970297e-01 -2.88991683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:-74.18, Z:-28.91 [[ 7.85767810e-01 5.71605570e-01 2.36296468e-01 1.42535207e+02] [-5.44676093e-01 8.20492730e-01 -1.73550092e-01 -7.41788835e+01] [-2.93081733e-01 7.66503866e-03 9.56056664e-01 -2.89089059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:-74.20, Z:-28.92 [[ 7.85428023e-01 5.72053388e-01 2.36342426e-01 1.42561176e+02] [-5.45100587e-01 8.20181267e-01 -1.73689494e-01 -7.41966378e+01] [-2.93203293e-01 7.59020073e-03 9.56019988e-01 -2.89189033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:-74.21, Z:-28.94 [[ 7.85037457e-01 5.74001594e-01 2.32891307e-01 1.42588698e+02] [-5.43848209e-01 8.18652439e-01 -1.84492031e-01 -7.42058556e+01] [-2.96555756e-01 1.81756344e-02 9.54842568e-01 -2.89369802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:-74.23, Z:-28.93 [[ 7.84669336e-01 5.70097588e-01 2.43480538e-01 1.42609754e+02] [-5.45578951e-01 8.21571370e-01 -1.65420953e-01 -7.42343594e+01] [-2.94342726e-01 -3.03710745e-03 9.55695106e-01 -2.89345432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:-74.24, Z:-28.96 [[ 7.84778679e-01 5.73954025e-01 2.33878605e-01 1.42638993e+02] [-5.44328471e-01 8.18729387e-01 -1.82725770e-01 -7.42410509e+01] [-2.96359478e-01 1.60925044e-02 9.54940884e-01 -2.89552035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:-74.27, Z:-28.96 [[ 7.84005670e-01 5.71432636e-01 2.42486809e-01 1.42661273e+02] [-5.46643271e-01 8.20646488e-01 -1.66494672e-01 -7.42701797e+01] [-2.94136438e-01 -2.02101569e-03 9.55761305e-01 -2.89563637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:-74.28, Z:-28.97 [[ 7.83055995e-01 5.75821443e-01 2.35059511e-01 1.42688384e+02] [-5.48426176e-01 8.17529415e-01 -1.75711087e-01 -7.42793193e+01] [-2.93346277e-01 8.67883145e-03 9.55966861e-01 -2.89682999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:-74.30, Z:-28.98 [[ 7.81144531e-01 5.78043474e-01 2.35963904e-01 1.42714119e+02] [-5.51316658e-01 8.15986096e-01 -1.73829321e-01 -7.42967687e+01] [-2.93024169e-01 5.69499205e-03 9.56088073e-01 -2.89778129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:-74.31, Z:-28.99 [[ 7.79895833e-01 5.79760537e-01 2.35881768e-01 1.42740061e+02] [-5.53097099e-01 8.14770714e-01 -1.73874329e-01 -7.43146125e+01] [-2.92995031e-01 5.13834286e-03 9.56100156e-01 -2.89877690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:-74.33, Z:-29.00 [[ 7.77388476e-01 5.82902500e-01 2.36414535e-01 1.42766691e+02] [-5.56224374e-01 8.12531980e-01 -1.74373814e-01 -7.43309891e+01] [-2.93737303e-01 4.05666635e-03 9.55877576e-01 -2.89980686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:-74.35, Z:-29.01 [[ 7.75776419e-01 5.85141681e-01 2.36178238e-01 1.42793310e+02] [-5.58586921e-01 8.10924380e-01 -1.74305193e-01 -7.43484284e+01] [-2.93515926e-01 3.29578366e-03 9.55948502e-01 -2.90084025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:-74.37, Z:-29.02 [[ 7.75074106e-01 5.86035422e-01 2.36268098e-01 1.42818657e+02] [-5.59468083e-01 8.10279700e-01 -1.74477138e-01 -7.43661963e+01] [-2.93693026e-01 3.04825188e-03 9.55894929e-01 -2.90185296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:-74.39, Z:-29.03 [[ 7.75002567e-01 5.86150777e-01 2.36216612e-01 1.42844294e+02] [-5.59567442e-01 8.10196079e-01 -1.74546816e-01 -7.43851950e+01] [-2.93692525e-01 3.09510535e-03 9.55894932e-01 -2.90286254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:-74.40, Z:-29.04 [[ 7.74250563e-01 5.87051652e-01 2.36445394e-01 1.42869521e+02] [-5.60442654e-01 8.09544654e-01 -1.74761223e-01 -7.44030339e+01] [-2.94006969e-01 2.79489063e-03 9.55799189e-01 -2.90388080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:-74.42, Z:-29.05 [[ 7.73440451e-01 5.88102081e-01 2.36486389e-01 1.42895548e+02] [-5.61498931e-01 8.08782890e-01 -1.74897651e-01 -7.44213887e+01] [-2.94123818e-01 2.48606334e-03 9.55764092e-01 -2.90487863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:-74.44, Z:-29.06 [[ 7.72986034e-01 5.88724534e-01 2.36423378e-01 1.42920522e+02] [-5.62131057e-01 8.08330345e-01 -1.74959218e-01 -7.44390524e+01] [-2.94110975e-01 2.34010857e-03 9.55768413e-01 -2.90586166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-74.46, Z:-29.07 [[ 7.72687751e-01 5.88911777e-01 2.36931547e-01 1.42945802e+02] [-5.62178634e-01 8.08193882e-01 -1.75436121e-01 -7.44567971e+01] [-2.94803025e-01 2.35948796e-03 9.55555132e-01 -2.90690398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-74.48, Z:-29.08 [[ 7.72614508e-01 5.89029016e-01 2.36878957e-01 1.42971417e+02] [-5.62279497e-01 8.08108300e-01 -1.75507103e-01 -7.44758253e+01] [-2.94802627e-01 2.40715335e-03 9.55555135e-01 -2.90791358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:-74.49, Z:-29.09 [[ 7.73102648e-01 5.88251114e-01 2.37219145e-01 1.42996315e+02] [-5.61372571e-01 8.08673653e-01 -1.75806028e-01 -7.44938895e+01] [-2.95250965e-01 2.74778458e-03 9.55415783e-01 -2.90891926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:-74.51, Z:-29.10 [[ 7.73989225e-01 5.87156587e-01 2.37039706e-01 1.43020767e+02] [-5.60238160e-01 8.09466854e-01 -1.75774334e-01 -7.45123062e+01] [-2.95082843e-01 3.24875159e-03 9.55466149e-01 -2.90985237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:-74.53, Z:-29.11 [[ 7.76835112e-01 5.83334467e-01 2.37166836e-01 1.43045037e+02] [-5.56180788e-01 8.12217918e-01 -1.75968706e-01 -7.45320229e+01] [-2.95279765e-01 4.79103153e-03 9.55398821e-01 -2.91080023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:-74.55, Z:-29.12 [[ 7.78337813e-01 5.81379611e-01 2.37040075e-01 1.43069896e+02] [-5.54134360e-01 8.13613032e-01 -1.75979956e-01 -7.45511713e+01] [-2.95170052e-01 5.61980423e-03 9.55428207e-01 -2.91178551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:-74.57, Z:-29.13 [[ 7.79871456e-01 5.79306535e-01 2.37074778e-01 1.43094916e+02] [-5.51926947e-01 8.15083889e-01 -1.76110476e-01 -7.45703897e+01] [-2.95257781e-01 6.49557478e-03 9.55395546e-01 -2.91277226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:-74.59, Z:-29.14 [[ 7.81333770e-01 5.77238111e-01 2.37305085e-01 1.43119032e+02] [-5.49676852e-01 8.16542538e-01 -1.76390595e-01 -7.45887059e+01] [-2.95589070e-01 7.37881635e-03 9.55286687e-01 -2.91376857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:-74.61, Z:-29.15 [[ 7.83797011e-01 5.73898423e-01 2.37282208e-01 1.43144193e+02] [-5.46161342e-01 8.18880002e-01 -1.76474730e-01 -7.46076277e+01] [-2.95584224e-01 8.72599706e-03 9.55276831e-01 -2.91484255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:-74.63, Z:-29.16 [[ 7.84677306e-01 5.72912034e-01 2.36755837e-01 1.43168472e+02] [-5.45224066e-01 8.19565592e-01 -1.76190117e-01 -7.46256862e+01] [-2.94978376e-01 9.16740664e-03 9.55459950e-01 -2.91579869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:-74.64, Z:-29.17 [[ 7.85291301e-01 5.72154286e-01 2.36552415e-01 1.43193860e+02] [-5.44450867e-01 8.20090655e-01 -1.76137934e-01 -7.46443731e+01] [-2.94772499e-01 9.52841990e-03 9.55519954e-01 -2.91680838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-74.66, Z:-29.18 [[ 7.85548025e-01 5.71771999e-01 2.36624346e-01 1.43218934e+02] [-5.44001762e-01 8.20354442e-01 -1.76297117e-01 -7.46625951e+01] [-2.94917588e-01 9.76579080e-03 9.55472786e-01 -2.91783027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:-74.68, Z:-29.19 [[ 7.85589227e-01 5.71860647e-01 2.36273077e-01 1.43244027e+02] [-5.44145628e-01 8.20292132e-01 -1.76142989e-01 -7.46803163e+01] [-2.94542190e-01 9.80907277e-03 9.55588133e-01 -2.91878058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:-74.70, Z:-29.20 [[ 7.85106787e-01 5.72493654e-01 2.36343712e-01 1.43269549e+02] [-5.44758789e-01 8.19852236e-01 -1.76295699e-01 -7.46982139e+01] [-2.94695090e-01 9.66063497e-03 9.55542504e-01 -2.91976691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:-74.72, Z:-29.21 [[ 7.84538459e-01 5.73289591e-01 2.36301610e-01 1.43295698e+02] [-5.45567191e-01 8.19298307e-01 -1.76370987e-01 -7.47163249e+01] [-2.94713160e-01 9.45141638e-03 9.55539023e-01 -2.92076252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:-74.73, Z:-29.22 [[ 7.82779393e-01 5.75657750e-01 2.36378040e-01 1.43322024e+02] [-5.47989447e-01 8.17644943e-01 -1.76534170e-01 -7.47329630e+01] [-2.94896572e-01 8.65463911e-03 9.55489984e-01 -2.92175608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:-74.75, Z:-29.23 [[ 7.81856438e-01 5.77135486e-01 2.35828625e-01 1.43347175e+02] [-5.49631238e-01 8.16607554e-01 -1.76231684e-01 -7.47500933e+01] [-2.94288995e-01 8.16909725e-03 9.55681565e-01 -2.92268832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:-74.77, Z:-29.24 [[ 7.80465395e-01 5.79072525e-01 2.35687883e-01 1.43372961e+02] [-5.51657191e-01 8.15241351e-01 -1.76226794e-01 -7.47677300e+01] [-2.94190602e-01 7.51999875e-03 9.55717186e-01 -2.92368513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:-74.78, Z:-29.25 [[ 7.77585378e-01 5.82937444e-01 2.35679688e-01 1.43399556e+02] [-5.55664301e-01 8.12493761e-01 -1.76326612e-01 -7.47836351e+01] [-2.94275661e-01 6.15020605e-03 9.55700795e-01 -2.92470362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:-74.80, Z:-29.26 [[ 7.76128682e-01 5.84881598e-01 2.35664561e-01 1.43425307e+02] [-5.57666997e-01 8.11100015e-01 -1.76420762e-01 -7.48008716e+01] [-2.94332787e-01 5.50286526e-03 9.55687150e-01 -2.92569898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:-74.82, Z:-29.27 [[ 7.75030302e-01 5.86354769e-01 2.35618581e-01 1.43450772e+02] [-5.59184378e-01 8.10038731e-01 -1.76493871e-01 -7.48181111e+01] [-2.94348199e-01 5.03386904e-03 9.55684989e-01 -2.92664785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:-74.84, Z:-29.28 [[ 7.74285006e-01 5.87341959e-01 2.35610172e-01 1.43476734e+02] [-5.60198026e-01 8.09325152e-01 -1.76553024e-01 -7.48356674e+01] [-2.94382237e-01 4.71400585e-03 9.55676136e-01 -2.92765650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:-74.85, Z:-29.29 [[ 7.74202799e-01 5.87514112e-01 2.35451044e-01 1.43502631e+02] [-5.60383293e-01 8.09200075e-01 -1.76538392e-01 -7.48529380e+01] [-2.94245799e-01 4.73368594e-03 9.55718056e-01 -2.92865710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:-74.87, Z:-29.30 [[ 7.74836722e-01 5.86884810e-01 2.34934615e-01 1.43527929e+02] [-5.59815464e-01 8.09654696e-01 -1.76255268e-01 -7.48713214e+01] [-2.93657454e-01 5.04902393e-03 9.55897383e-01 -2.92962062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:-74.89, Z:-29.31 [[ 7.76782914e-01 5.84444282e-01 2.34591530e-01 1.43553648e+02] [-5.57315070e-01 8.11411280e-01 -1.76101241e-01 -7.48893921e+01] [-2.93271577e-01 6.05104031e-03 9.56010025e-01 -2.93058784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:-74.91, Z:-29.32 [[ 7.76711756e-01 5.84559730e-01 2.34539483e-01 1.43579139e+02] [-5.57414753e-01 8.11327762e-01 -1.76170533e-01 -7.49085920e+01] [-2.93270594e-01 6.09795628e-03 9.56010028e-01 -2.93159733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:-74.93, Z:-29.33 [[ 7.79165202e-01 5.81368249e-01 2.34334262e-01 1.43605336e+02] [-5.54116524e-01 8.13607517e-01 -1.76061596e-01 -7.49269165e+01] [-2.93012739e-01 7.33258259e-03 9.56080419e-01 -2.93257170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:-74.95, Z:-29.34 [[ 7.80235040e-01 5.79989267e-01 2.34191656e-01 1.43630810e+02] [-5.52678303e-01 8.14585461e-01 -1.76060272e-01 -7.49453259e+01] [-2.92882187e-01 7.93574640e-03 9.56115604e-01 -2.93354214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.66, Y:-74.96, Z:-29.35 [[ 7.82613917e-01 5.77151239e-01 2.33263593e-01 1.43657122e+02] [-5.49906071e-01 8.16587132e-01 -1.75467289e-01 -7.49630796e+01] [-2.91751212e-01 9.05007705e-03 9.56451424e-01 -2.93455664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.68, Y:-74.98, Z:-29.36 [[ 7.83553477e-01 5.75962966e-01 2.33046372e-01 1.43681924e+02] [-5.48685948e-01 8.17419722e-01 -1.75410175e-01 -7.49807902e+01] [-2.91526465e-01 9.57398318e-03 9.56514850e-01 -2.93551133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:-75.00, Z:-29.36 [[ 7.84264894e-01 5.74970179e-01 2.33104846e-01 1.43706788e+02] [-5.47606156e-01 8.18112881e-01 -1.75552875e-01 -7.49986119e+01] [-2.91643745e-01 1.00303082e-02 9.56474421e-01 -2.93645679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:-75.02, Z:-29.37 [[ 7.84783672e-01 5.74253333e-01 2.33125926e-01 1.43732134e+02] [-5.46823537e-01 8.18611835e-01 -1.75666396e-01 -7.50168648e+01] [-2.91716655e-01 1.03813761e-02 9.56448441e-01 -2.93739563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:-75.03, Z:-29.38 [[ 7.85404827e-01 5.73469813e-01 2.32962726e-01 1.43758741e+02] [-5.46014176e-01 8.19156121e-01 -1.75646716e-01 -7.50339699e+01] [-2.91560932e-01 1.07528280e-02 9.56491819e-01 -2.93839742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:-75.05, Z:-29.39 [[ 7.85309400e-01 5.73894171e-01 2.32238299e-01 1.43784592e+02] [-5.46600188e-01 8.18860256e-01 -1.75203068e-01 -7.50519104e+01] [-2.90718732e-01 1.06471179e-02 9.56749318e-01 -2.93933511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:-75.07, Z:-29.40 [[ 7.84808699e-01 5.74847560e-01 2.31571994e-01 1.43809672e+02] [-5.47721955e-01 8.18195023e-01 -1.74807223e-01 -7.50690512e+01] [-2.89958558e-01 1.03531647e-02 9.56983201e-01 -2.94024890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:-75.09, Z:-29.41 [[ 7.83846035e-01 5.76311758e-01 2.31192890e-01 1.43835501e+02] [-5.49309275e-01 8.17170219e-01 -1.74620026e-01 -7.50863262e+01] [-2.89559519e-01 9.87881650e-03 9.57109029e-01 -2.94123215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-75.10, Z:-29.42 [[ 7.82480378e-01 5.78365817e-01 2.30689055e-01 1.43861495e+02] [-5.51539125e-01 8.15725798e-01 -1.74344533e-01 -7.51040862e+01] [-2.89013931e-01 9.18713684e-03 9.57280807e-01 -2.94215294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:-75.12, Z:-29.43 [[ 7.79484102e-01 5.82862545e-01 2.29512067e-01 1.43888454e+02] [-5.56473486e-01 8.12535502e-01 -1.73560701e-01 -7.51200277e+01] [-2.87648735e-01 7.57042744e-03 9.57706058e-01 -2.94302148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:-75.14, Z:-29.44 [[ 7.77499675e-01 5.85541916e-01 2.29423015e-01 1.43914978e+02] [-5.59258111e-01 8.10614766e-01 -1.73591668e-01 -7.51374123e+01] [-2.87618882e-01 6.66078379e-03 9.57721783e-01 -2.94400802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77655999499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.94, Y:-75.15, Z:-29.45 [[ 7.75397244e-01 5.88400902e-01 2.29223674e-01 1.43941358e+02] [-5.62254392e-01 8.08549359e-01 -1.73545190e-01 -7.51549117e+01] [-2.87452801e-01 5.68444440e-03 9.57777936e-01 -2.94494661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:-75.17, Z:-29.46 [[ 7.71176497e-01 5.93917066e-01 2.29236406e-01 1.43968144e+02] [-5.67973347e-01 8.04517661e-01 -1.73659468e-01 -7.51702613e+01] [-2.87564058e-01 3.72193135e-03 9.57754175e-01 -2.94585791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:-75.19, Z:-29.47 [[ 7.69058854e-01 5.96592219e-01 2.29404019e-01 1.43994445e+02] [-5.70696700e-01 8.02539624e-01 -1.73883376e-01 -7.51883062e+01] [-2.87843284e-01 2.80643370e-03 9.57673414e-01 -2.94679163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:-75.21, Z:-29.48 [[ 7.66926657e-01 5.99157931e-01 2.29854905e-01 1.44019697e+02] [-5.73238791e-01 8.00628516e-01 -1.74330913e-01 -7.52055905e+01] [-2.88480141e-01 1.93727656e-03 9.57483919e-01 -2.94774745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:-75.22, Z:-29.49 [[ 7.63438024e-01 6.03566637e-01 2.29934117e-01 1.44045739e+02] [-5.77794487e-01 7.97312478e-01 -1.74488805e-01 -7.52227396e+01] [-2.88644962e-01 3.56723287e-04 9.57436138e-01 -2.94870583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:-75.24, Z:-29.50 [[ 7.61734399e-01 6.05736932e-01 2.29877086e-01 1.44070105e+02] [-5.80042257e-01 7.95664897e-01 -1.74551860e-01 -7.52404230e+01] [-2.88637636e-01 -3.76267467e-04 9.57438339e-01 -2.94964064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.10, Y:-75.26, Z:-29.51 [[ 7.58173315e-01 6.10255250e-01 2.29699271e-01 1.44095616e+02] [-5.84773422e-01 7.92202306e-01 -1.74515192e-01 -7.52580734e+01] [-2.88467104e-01 -2.00926699e-03 9.57487699e-01 -2.95063672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:-75.28, Z:-29.52 [[ 7.58097973e-01 6.10368443e-01 2.29647178e-01 1.44120996e+02] [-5.84870938e-01 7.92115214e-01 -1.74583716e-01 -7.52774256e+01] [-2.88467414e-01 -1.96239880e-03 9.57487702e-01 -2.95164606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:-75.30, Z:-29.53 [[ 7.54238596e-01 6.15053680e-01 2.29854545e-01 1.44146719e+02] [-5.89707519e-01 7.88476476e-01 -1.74785262e-01 -7.52956137e+01] [-2.88737220e-01 -3.71716267e-03 9.57401170e-01 -2.95265864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:-75.31, Z:-29.54 [[ 7.52239096e-01 6.17485104e-01 2.29887990e-01 1.44171904e+02] [-5.92209373e-01 7.86569352e-01 -1.74919163e-01 -7.53145566e+01] [-2.88832825e-01 -4.56078900e-03 9.57368685e-01 -2.95364538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:-75.33, Z:-29.55 [[ 7.48868469e-01 6.21392287e-01 2.30364152e-01 1.44196265e+02] [-5.96156311e-01 7.83476715e-01 -1.75390678e-01 -7.53329464e+01] [-2.89471363e-01 -5.98849403e-03 9.57167941e-01 -2.95466802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:-75.35, Z:-29.56 [[ 7.47471592e-01 6.23083899e-01 2.30331659e-01 1.44221466e+02] [-5.97902917e-01 7.82127502e-01 -1.75467012e-01 -7.53525047e+01] [-2.89479395e-01 -6.55936373e-03 9.57161770e-01 -2.95565743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-75.37, Z:-29.57 [[ 7.46148813e-01 6.24512787e-01 2.30750357e-01 1.44245732e+02] [-5.99272593e-01 7.80982849e-01 -1.75892435e-01 -7.53717558e+01] [-2.90059146e-01 -7.04043319e-03 9.56982823e-01 -2.95665167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:-75.39, Z:-29.58 [[ 7.45446033e-01 6.25321235e-01 2.30832330e-01 1.44270561e+02] [-6.00068323e-01 7.80333572e-01 -1.76061138e-01 -7.53913527e+01] [-2.90220985e-01 -7.27109238e-03 9.56932031e-01 -2.95767642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:-75.41, Z:-29.59 [[ 7.45200476e-01 6.25769742e-01 2.30409376e-01 1.44294260e+02] [-6.00599468e-01 7.79973276e-01 -1.75846433e-01 -7.54117819e+01] [-2.89752533e-01 -7.34290266e-03 9.57073431e-01 -2.95877163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:-75.43, Z:-29.60 [[ 7.45315175e-01 6.25740137e-01 2.30118603e-01 1.44317889e+02] [-6.00600808e-01 7.79998048e-01 -1.75731941e-01 -7.54317232e+01] [-2.89454590e-01 -7.23373689e-03 9.57164413e-01 -2.95979359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:-75.45, Z:-29.61 [[ 7.45538538e-01 6.25513139e-01 2.30012176e-01 1.44340418e+02] [-6.00354003e-01 7.80181753e-01 -1.75759791e-01 -7.54514632e+01] [-2.89391362e-01 -7.05303260e-03 9.57184880e-01 -2.96077356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:-75.47, Z:-29.62 [[ 7.47040261e-01 6.24027684e-01 2.29173075e-01 1.44361907e+02] [-5.98956882e-01 7.81376277e-01 -1.75219201e-01 -7.54733921e+01] [-2.88412036e-01 -6.36899286e-03 9.57485213e-01 -2.96174164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:-75.49, Z:-29.63 [[ 7.47741108e-01 6.23295771e-01 2.28879045e-01 1.44385372e+02] [-5.98227444e-01 7.81963177e-01 -1.75092873e-01 -7.54945128e+01] [-2.88109632e-01 -5.99758711e-03 9.57578649e-01 -2.96275730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:-75.52, Z:-29.64 [[ 7.48545832e-01 6.22534731e-01 2.28319174e-01 1.44408729e+02] [-5.97525015e-01 7.82572117e-01 -1.74770529e-01 -7.55158063e+01] [-2.87476944e-01 -5.60266668e-03 9.57771172e-01 -2.96372383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:-75.54, Z:-29.65 [[ 7.50120583e-01 6.20734407e-01 2.28052421e-01 1.44430548e+02] [-5.95671312e-01 7.84006101e-01 -1.74671468e-01 -7.55386409e+01] [-2.87219079e-01 -4.81962110e-03 9.57852792e-01 -2.96474302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:-75.56, Z:-29.66 [[ 7.50910354e-01 6.19917970e-01 2.27673782e-01 1.44453041e+02] [-5.94871267e-01 7.84654220e-01 -1.74487624e-01 -7.55592539e+01] [-2.86813208e-01 -4.41202750e-03 9.57976366e-01 -2.96573566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:-75.58, Z:-29.67 [[ 7.51648892e-01 6.19192166e-01 2.27211368e-01 1.44476345e+02] [-5.94187564e-01 7.85229072e-01 -1.74231007e-01 -7.55810099e+01] [-2.86295446e-01 -4.04562576e-03 9.58132846e-01 -2.96674913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:-75.61, Z:-29.68 [[ 7.53496808e-01 6.17187165e-01 2.26544840e-01 1.44497542e+02] [-5.92211893e-01 7.86809923e-01 -1.73825256e-01 -7.56053628e+01] [-2.85530445e-01 -3.18577295e-03 9.58364344e-01 -2.96774469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:-75.63, Z:-29.69 [[ 7.54373622e-01 6.16122648e-01 2.26524436e-01 1.44520548e+02] [-5.91073253e-01 7.87645618e-01 -1.73916044e-01 -7.56271037e+01] [-2.85574593e-01 -2.69485934e-03 9.58352696e-01 -2.96874768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.55, Y:-75.65, Z:-29.70 [[ 7.54253612e-01 6.16288646e-01 2.26472499e-01 1.44545819e+02] [-5.91226274e-01 7.87515830e-01 -1.73983650e-01 -7.56465641e+01] [-2.85574826e-01 -2.66869516e-03 9.58352700e-01 -2.96975668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:-75.67, Z:-29.71 [[ 7.55236893e-01 6.15207374e-01 2.26135185e-01 1.44568246e+02] [-5.90151947e-01 7.88362268e-01 -1.73797624e-01 -7.56682668e+01] [-2.85198028e-01 -2.19574203e-03 9.58466099e-01 -2.97068913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:-75.69, Z:-29.72 [[ 7.56322307e-01 6.13889833e-01 2.26088126e-01 1.44590420e+02] [-5.88768377e-01 7.89389995e-01 -1.73825295e-01 -7.56895245e+01] [-2.85181286e-01 -1.64559121e-03 9.58472183e-01 -2.97166421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:-75.71, Z:-29.73 [[ 7.58404108e-01 6.11194066e-01 2.26417808e-01 1.44610854e+02] [-5.85850820e-01 7.91480581e-01 -1.74176080e-01 -7.57140128e+01] [-2.85660685e-01 -5.51203686e-04 9.58330668e-01 -2.97260025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:-75.74, Z:-29.74 [[ 7.59373112e-01 6.09838672e-01 2.26824319e-01 1.44632766e+02] [-5.84310968e-01 7.92525578e-01 -1.74596394e-01 -7.57352762e+01] [-2.86239708e-01 4.78699343e-05 9.58158039e-01 -2.97353987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-75.76, Z:-29.74 [[ 7.60155106e-01 6.08802976e-01 2.26987118e-01 1.44655437e+02] [-5.83173530e-01 7.93321306e-01 -1.74785407e-01 -7.57570831e+01] [-2.86483593e-01 4.91139990e-04 9.58085022e-01 -2.97445582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-75.78, Z:-29.75 [[ 7.60672355e-01 6.08011228e-01 2.27376152e-01 1.44678588e+02] [-5.82225965e-01 7.93927942e-01 -1.75189467e-01 -7.57793034e+01] [-2.87037443e-01 8.77484807e-04 9.57918961e-01 -2.97540830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-75.80, Z:-29.76 [[ 7.61177424e-01 6.07348925e-01 2.27455959e-01 1.44701452e+02] [-5.81484106e-01 7.94434267e-01 -1.75358008e-01 -7.58014565e+01] [-2.87202306e-01 1.21653130e-03 9.57869175e-01 -2.97637527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:-75.83, Z:-29.77 [[ 7.61945230e-01 6.06242372e-01 2.27836901e-01 1.44721305e+02] [-5.80208134e-01 7.95278069e-01 -1.75759250e-01 -7.58254122e+01] [-2.87746396e-01 1.72609882e-03 9.57705086e-01 -2.97728135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-75.85, Z:-29.78 [[ 7.61864497e-01 6.06458835e-01 2.27530589e-01 1.44744080e+02] [-5.80475815e-01 7.95113016e-01 -1.75622095e-01 -7.58467433e+01] [-2.87420104e-01 1.72423497e-03 9.57803065e-01 -2.97823620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:-75.87, Z:-29.79 [[ 7.61233705e-01 6.07154395e-01 2.27786714e-01 1.44765170e+02] [-5.81109927e-01 7.94582363e-01 -1.75926465e-01 -7.58700364e+01] [-2.87809832e-01 1.55203415e-03 9.57686322e-01 -2.97928642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:-75.89, Z:-29.80 [[ 7.60775661e-01 6.07821194e-01 2.27538547e-01 1.44787900e+02] [-5.81831355e-01 7.94072710e-01 -1.75843125e-01 -7.58908146e+01] [-2.87563329e-01 1.38810814e-03 9.57760620e-01 -2.98027638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:-75.91, Z:-29.81 [[ 7.60121673e-01 6.08618286e-01 2.27593552e-01 1.44811311e+02] [-5.82620359e-01 7.93462295e-01 -1.75986089e-01 -7.59123014e+01] [-2.87695254e-01 1.17020335e-03 9.57721291e-01 -2.98129959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:-75.93, Z:-29.82 [[ 7.59528757e-01 6.09368506e-01 2.27565577e-01 1.44834918e+02] [-5.83378000e-01 7.92886546e-01 -1.76071106e-01 -7.59337291e+01] [-2.87725871e-01 9.74316798e-04 9.57712313e-01 -2.98228689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:-75.95, Z:-29.83 [[ 7.58942616e-01 6.10045816e-01 2.27706407e-01 1.44858121e+02] [-5.84020107e-01 7.92365731e-01 -1.76286876e-01 -7.59546660e+01] [-2.87969825e-01 8.06503111e-04 9.57639144e-01 -2.98329046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:-75.98, Z:-29.84 [[ 7.58438268e-01 6.10688992e-01 2.27662795e-01 1.44879803e+02] [-5.84669466e-01 7.91870274e-01 -1.76360666e-01 -7.59771663e+01] [-2.87980917e-01 6.51193315e-04 9.57635926e-01 -2.98432234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:-76.00, Z:-29.85 [[ 7.57894284e-01 6.11278873e-01 2.27891189e-01 1.44902108e+02] [-5.85199072e-01 7.91415107e-01 -1.76647034e-01 -7.59975978e+01] [-2.88337130e-01 5.18064821e-04 9.57528815e-01 -2.98529273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-76.02, Z:-29.86 [[ 7.57459571e-01 6.11744189e-01 2.28087803e-01 1.44925836e+02] [-5.85608425e-01 7.91055540e-01 -1.76900837e-01 -7.60187399e+01] [-2.88648179e-01 4.25092717e-04 9.57435140e-01 -2.98631625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:-76.04, Z:-29.87 [[ 7.56291447e-01 6.12990714e-01 2.28616781e-01 1.44948720e+02] [-5.86753835e-01 7.90090111e-01 -1.77419149e-01 -7.60402679e+01] [-2.89384148e-01 3.88122117e-05 9.57213045e-01 -2.98729852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:-76.06, Z:-29.88 [[ 7.54313202e-01 6.15025513e-01 2.29685027e-01 1.44973884e+02] [-5.88596468e-01 7.88506937e-01 -1.78356409e-01 -7.60586821e+01] [-2.90801978e-01 -6.55201486e-04 9.56783037e-01 -2.98829914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:-76.08, Z:-29.89 [[ 7.52225892e-01 6.17367978e-01 2.30245493e-01 1.44998963e+02] [-5.90880974e-01 7.86673124e-01 -1.78899608e-01 -7.60773629e+01] [-2.91574831e-01 -1.47476369e-03 9.56546885e-01 -2.98936722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:-76.10, Z:-29.90 [[ 7.51504183e-01 6.18262426e-01 2.30202165e-01 1.45023585e+02] [-5.91793509e-01 7.85969830e-01 -1.78974495e-01 -7.60960593e+01] [-2.91585162e-01 -1.73206492e-03 9.56543305e-01 -2.99038000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:-76.12, Z:-29.91 [[ 7.51215052e-01 6.18597909e-01 2.30244595e-01 1.45048421e+02] [-5.92101228e-01 7.85705723e-01 -1.79116312e-01 -7.61154368e+01] [-2.91705472e-01 -1.77323828e-03 9.56506546e-01 -2.99140561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:-76.13, Z:-29.92 [[ 7.51363701e-01 6.18508353e-01 2.30000013e-01 1.45072339e+02] [-5.92031170e-01 7.85776502e-01 -1.79037378e-01 -7.61344526e+01] [-2.91464719e-01 -1.64499009e-03 9.56580165e-01 -2.99240829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:-76.15, Z:-29.93 [[ 7.51174667e-01 6.18767452e-01 2.29920554e-01 1.45096770e+02] [-5.92300409e-01 7.85572394e-01 -1.79042564e-01 -7.61538444e+01] [-2.91404951e-01 -1.68979966e-03 9.56598296e-01 -2.99334814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-76.17, Z:-29.94 [[ 7.50737914e-01 6.19191166e-01 2.30206176e-01 1.45121329e+02] [-5.92643210e-01 7.85238292e-01 -1.79373496e-01 -7.61722278e+01] [-2.91833189e-01 -1.76764272e-03 9.56467598e-01 -2.99434979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-76.19, Z:-29.95 [[ 7.51046088e-01 6.19090751e-01 2.29469857e-01 1.45146981e+02] [-5.92681176e-01 7.85317739e-01 -1.78899617e-01 -7.61904615e+01] [-2.90961847e-01 -1.64060758e-03 9.56733250e-01 -2.99532991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:-76.21, Z:-29.96 [[ 7.51512704e-01 6.18684630e-01 2.29037081e-01 1.45172105e+02] [-5.92325977e-01 7.85638205e-01 -1.78668820e-01 -7.62096513e+01] [-2.90479934e-01 -1.39272502e-03 9.56880070e-01 -2.99636029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:-76.23, Z:-29.97 [[ 7.52200698e-01 6.17988501e-01 2.28657655e-01 1.45197332e+02] [-5.91655076e-01 7.86186457e-01 -1.78480047e-01 -7.62288746e+01] [-2.90066168e-01 -1.03364590e-03 9.57006034e-01 -2.99738430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:-76.25, Z:-29.98 [[ 7.53203565e-01 6.16978939e-01 2.28081955e-01 1.45222425e+02] [-5.90703299e-01 7.86979466e-01 -1.78137396e-01 -7.62481358e+01] [-2.89402837e-01 -5.55041442e-04 9.57207235e-01 -2.99838033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:-76.27, Z:-29.99 [[ 7.53846620e-01 6.16189232e-01 2.28092317e-01 1.45247898e+02] [-5.89843114e-01 7.87598124e-01 -1.78253463e-01 -7.62670280e+01] [-2.89482945e-01 -1.62911486e-04 9.57183158e-01 -2.99940400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:-76.28, Z:-30.00 [[ 7.56375919e-01 6.13246036e-01 2.27650541e-01 1.45273575e+02] [-5.86841068e-01 7.89891254e-01 -1.78015079e-01 -7.62847393e+01] [-2.88986213e-01 1.05163210e-03 9.57332681e-01 -3.00042674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:-76.30, Z:-30.01 [[ 7.58085703e-01 6.11254169e-01 2.27320055e-01 1.45298770e+02] [-5.84807640e-01 7.91432083e-01 -1.77863098e-01 -7.63037459e+01] [-2.88627945e-01 1.89696700e-03 9.57439455e-01 -3.00142432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-76.32, Z:-30.03 [[ 7.60139600e-01 6.09162681e-01 2.26072149e-01 1.45323080e+02] [-5.82211970e-01 7.93031763e-01 -1.79247998e-01 -7.63215155e+01] [-2.88473586e-01 4.63158980e-03 9.57476652e-01 -3.00251760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-76.33, Z:-30.05 [[ 7.65512853e-01 6.04673041e-01 2.19910404e-01 1.45349376e+02] [-5.72473690e-01 7.96103038e-01 -1.96198437e-01 -7.63254814e+01] [-2.93707247e-01 2.42995048e-02 9.55586515e-01 -3.00478306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:-76.36, Z:-30.05 [[ 7.69568000e-01 5.93893071e-01 2.34640390e-01 1.45368323e+02] [-5.66636846e-01 8.04534297e-01 -1.77896737e-01 -7.63571983e+01] [-2.94427881e-01 3.94774570e-03 9.55665547e-01 -3.00488330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-76.37, Z:-30.06 [[ 7.71898273e-01 5.93000280e-01 2.29180548e-01 1.45394165e+02] [-5.64140049e-01 8.05111670e-01 -1.83142579e-01 -7.63728417e+01] [-2.93119534e-01 1.20775144e-02 9.55999515e-01 -3.00610637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:-76.41, Z:-30.05 [[ 7.71785319e-01 5.87472424e-01 2.43358939e-01 1.45413781e+02] [-5.65357285e-01 8.09125016e-01 -1.60274293e-01 -7.64109142e+01] [-2.91064532e-01 -1.38874027e-02 9.56602623e-01 -3.00542206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-76.42, Z:-30.07 [[ 7.72853267e-01 5.89862974e-01 2.34007476e-01 1.45442236e+02] [-5.63205599e-01 8.07494721e-01 -1.75361708e-01 -7.64215871e+01] [-2.92399180e-01 3.73454801e-03 9.56289063e-01 -3.00704201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:-76.44, Z:-30.08 [[ 7.73894982e-01 5.90124111e-01 2.29869725e-01 1.45467405e+02] [-5.61969707e-01 8.07245116e-01 -1.80403357e-01 -7.64373265e+01] [-2.92021584e-01 1.04334305e-02 9.56354818e-01 -3.00818406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:-76.46, Z:-30.09 [[ 7.74734395e-01 5.88980363e-01 2.29975540e-01 1.45492089e+02] [-5.60720466e-01 8.08073128e-01 -1.80583440e-01 -7.64563409e+01] [-2.92197154e-01 1.09522101e-02 9.56295390e-01 -3.00920535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:-76.48, Z:-30.10 [[ 7.75373225e-01 5.87988243e-01 2.30360995e-01 1.45517759e+02] [-5.59555898e-01 8.08788618e-01 -1.80992175e-01 -7.64752088e+01] [-2.92734621e-01 1.14366331e-02 9.56125329e-01 -3.01019148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:-76.49, Z:-30.11 [[ 7.75327268e-01 5.89927520e-01 2.25506426e-01 1.45544250e+02] [-5.60250532e-01 8.07265479e-01 -1.85584990e-01 -7.64916044e+01] [-2.91525246e-01 1.75490088e-02 9.56402145e-01 -3.01144349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:-76.52, Z:-30.12 [[ 7.74700956e-01 5.87078369e-01 2.34898738e-01 1.45565741e+02] [-5.59922460e-01 8.09513010e-01 -1.76565924e-01 -7.65158342e+01] [-2.93811619e-01 5.26071053e-03 9.55848867e-01 -3.01191804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:-76.53, Z:-30.13 [[ 7.73946930e-01 5.91562381e-01 2.25964820e-01 1.45593292e+02] [-5.61576002e-01 8.06065593e-01 -1.86790400e-01 -7.65271177e+01] [-2.92640640e-01 1.76694368e-02 9.56059228e-01 -3.01334725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:-76.55, Z:-30.14 [[ 7.73785816e-01 5.90047550e-01 2.30433069e-01 1.45615938e+02] [-5.61719189e-01 8.07299297e-01 -1.80940314e-01 -7.65497126e+01] [-2.92791844e-01 1.05703723e-02 9.56117777e-01 -3.01407396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:-76.57, Z:-30.15 [[ 7.72858300e-01 5.89036795e-01 2.36062920e-01 1.45640252e+02] [-5.61966337e-01 8.08097305e-01 -1.76557588e-01 -7.65711286e+01] [-2.94760725e-01 3.79458286e-03 9.55563560e-01 -3.01486515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:-76.59, Z:-30.16 [[ 7.72605747e-01 5.91250812e-01 2.31306803e-01 1.45667079e+02] [-5.62552476e-01 8.06416620e-01 -1.82282599e-01 -7.65868530e+01] [-2.94304385e-01 1.07103684e-02 9.55651724e-01 -3.01611226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-76.60, Z:-30.17 [[ 7.72508029e-01 5.91481951e-01 2.31042090e-01 1.45691295e+02] [-5.62827131e-01 8.06247214e-01 -1.82184110e-01 -7.66045009e+01] [-2.94035654e-01 1.07019313e-02 9.55734536e-01 -3.01707936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-76.64, Z:-30.16 [[ 7.73914723e-01 5.84662268e-01 2.43363995e-01 1.45711632e+02] [-5.63158676e-01 8.11139604e-01 -1.57812700e-01 -7.66356821e+01] [-2.89669306e-01 -1.49189732e-02 9.57010511e-01 -3.01642956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-76.65, Z:-30.17 [[ 7.74062336e-01 5.87382793e-01 2.36239190e-01 1.45738549e+02] [-5.64786852e-01 8.09266056e-01 -1.61568136e-01 -7.66537273e+01] [-2.86082700e-01 -8.36097991e-03 9.58168452e-01 -3.01713991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-76.64, Z:-30.22 [[ 7.72684052e-01 6.01323383e-01 2.03395048e-01 1.45774442e+02] [-5.62627496e-01 7.97113457e-01 -2.19226908e-01 -7.66386475e+01] [-2.93955196e-01 5.49574886e-02 9.54237925e-01 -3.02156454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:-76.68, Z:-30.21 [[ 7.72921524e-01 5.90435586e-01 2.32331952e-01 1.45787813e+02] [-5.61301444e-01 8.07003516e-01 -1.83537501e-01 -7.66777502e+01] [-2.95859774e-01 1.14518249e-02 9.55162735e-01 -3.02110390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:-76.70, Z:-30.22 [[ 7.73025161e-01 5.90298005e-01 2.32336750e-01 1.45812629e+02] [-5.61124450e-01 8.07102151e-01 -1.83644953e-01 -7.66968139e+01] [-2.95924741e-01 1.15923381e-02 9.55140914e-01 -3.02212599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:-76.72, Z:-30.23 [[ 7.73730460e-01 5.89450919e-01 2.32139589e-01 1.45836324e+02] [-5.60256724e-01 8.07715076e-01 -1.83599452e-01 -7.67150241e+01] [-2.95725511e-01 1.19987226e-02 9.55197599e-01 -3.02310201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:-76.73, Z:-30.24 [[ 7.73833179e-01 5.89309806e-01 2.32155475e-01 1.45860813e+02] [-5.60073568e-01 8.07815924e-01 -1.83714538e-01 -7.67347724e+01] [-2.95803668e-01 1.21402597e-02 9.55171610e-01 -3.02409599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:-76.75, Z:-30.25 [[ 7.73862967e-01 5.89249148e-01 2.32210142e-01 1.45885536e+02] [-5.59961802e-01 8.07858359e-01 -1.83868574e-01 -7.67542843e+01] [-2.95937305e-01 1.22602707e-02 9.55128681e-01 -3.02508522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:-76.82, Z:-30.21 [[ 7.74826338e-01 5.74943498e-01 2.62838580e-01 1.45900706e+02] [-5.66244795e-01 8.16057283e-01 -1.15833255e-01 -7.68155021e+01] [-2.81088914e-01 -5.90803213e-02 9.57861440e-01 -3.02103678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:-76.76, Z:-30.29 [[ 7.72455513e-01 6.07470379e-01 1.85181586e-01 1.45951613e+02] [-5.62957553e-01 7.89942487e-01 -2.43042506e-01 -7.67567200e+01] [-2.93923926e-01 8.34901515e-02 9.52175467e-01 -3.02937747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:-76.86, Z:-30.23 [[ 7.72734320e-01 5.76284789e-01 2.66040435e-01 1.45948922e+02] [-5.69687785e-01 8.14512504e-01 -1.09659508e-01 -7.68569085e+01] [-2.79888367e-01 -6.68223209e-02 9.57704171e-01 -3.02252156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-76.79, Z:-30.32 [[ 7.69568708e-01 6.12418174e-01 1.80853484e-01 1.46002563e+02] [-5.66524129e-01 7.85475905e-01 -2.49154601e-01 -7.67896437e+01] [-2.94642860e-01 8.92837215e-02 9.51427350e-01 -3.03159742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:-76.85, Z:-30.30 [[ 7.65769614e-01 5.99579408e-01 2.32597145e-01 1.46007118e+02] [-5.70582120e-01 8.00270209e-01 -1.84400752e-01 -7.68454604e+01] [-2.96703460e-01 8.49272093e-03 9.54931898e-01 -3.03004367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-76.86, Z:-30.31 [[ 7.63925406e-01 6.01950877e-01 2.32536269e-01 1.46032097e+02] [-5.73044412e-01 7.98496416e-01 -1.84454807e-01 -7.68644991e+01] [-2.96712111e-01 7.65610379e-03 9.54936285e-01 -3.03109391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:-76.88, Z:-30.32 [[ 7.62336210e-01 6.04181160e-01 2.31966872e-01 1.46056856e+02] [-5.75486293e-01 7.96817444e-01 -1.84112702e-01 -7.68836908e+01] [-2.96072676e-01 6.86202413e-03 9.55140766e-01 -3.03209354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-76.90, Z:-30.33 [[ 7.62220870e-01 6.04347343e-01 2.31912989e-01 1.46081783e+02] [-5.75639366e-01 7.96691185e-01 -1.84180552e-01 -7.69035324e+01] [-2.96072061e-01 6.88801447e-03 9.55140770e-01 -3.03311138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:-76.92, Z:-30.34 [[ 7.60698992e-01 6.06368342e-01 2.31634361e-01 1.46106614e+02] [-5.77799217e-01 7.95160067e-01 -1.84034052e-01 -7.69229450e+01] [-2.95778817e-01 6.15636572e-03 9.55236615e-01 -3.03410860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:-76.94, Z:-30.35 [[ 7.59656748e-01 6.07797803e-01 2.31308142e-01 1.46130628e+02] [-5.79341992e-01 7.94071498e-01 -1.83883966e-01 -7.69416887e+01] [-2.95439473e-01 5.68217619e-03 9.55344561e-01 -3.03511217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:-76.96, Z:-30.36 [[ 7.58590178e-01 6.09309288e-01 2.30831396e-01 1.46155296e+02] [-5.81010615e-01 7.92915823e-01 -1.83606002e-01 -7.69604504e+01] [-2.94902708e-01 5.16621816e-03 9.55513319e-01 -3.03607507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:-76.98, Z:-30.37 [[ 7.58646768e-01 6.09299063e-01 2.30672351e-01 1.46180300e+02] [-5.81006537e-01 7.92923090e-01 -1.83587520e-01 -7.69800894e+01] [-2.94765137e-01 5.25593464e-03 9.55555278e-01 -3.03708128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:-77.00, Z:-30.38 [[ 7.59276350e-01 6.08501907e-01 2.30705123e-01 1.46204674e+02] [-5.80131092e-01 7.93532240e-01 -1.83723978e-01 -7.69996915e+01] [-2.94868344e-01 5.65805612e-03 9.55521138e-01 -3.03807654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-77.02, Z:-30.39 [[ 7.59750927e-01 6.06941766e-01 2.33238550e-01 1.46226751e+02] [-5.79249512e-01 7.94742025e-01 -1.81259806e-01 -7.70201320e+01] [-2.95378625e-01 2.60898965e-03 9.55376712e-01 -3.03887309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:-77.04, Z:-30.40 [[ 7.63661833e-01 6.03562756e-01 2.29199921e-01 1.46252797e+02] [-5.74219476e-01 7.97245216e-01 -1.86204351e-01 -7.70386824e+01] [-2.95114552e-01 1.05860971e-02 9.55403232e-01 -3.04006552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:-77.06, Z:-30.41 [[ 7.65357199e-01 6.00702818e-01 2.31050821e-01 1.46275673e+02] [-5.71815096e-01 7.99422818e-01 -1.84257035e-01 -7.70596130e+01] [-2.95391018e-01 8.90410111e-03 9.55334948e-01 -3.04092278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:-77.08, Z:-30.42 [[ 7.67269762e-01 5.98152086e-01 2.31324865e-01 1.46299738e+02] [-5.69049150e-01 8.01320397e-01 -1.84577048e-01 -7.70795285e+01] [-2.95770479e-01 9.98516979e-03 9.55206847e-01 -3.04193066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:-77.10, Z:-30.43 [[ 7.71008929e-01 5.93371707e-01 2.31203911e-01 1.46323308e+02] [-5.64055111e-01 8.04840474e-01 -1.84590472e-01 -7.70996753e+01] [-2.95613029e-01 1.19091548e-02 9.55233537e-01 -3.04288074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:-77.12, Z:-30.44 [[ 7.72282526e-01 5.91583328e-01 2.31535886e-01 1.46347590e+02] [-5.62081021e-01 8.06144296e-01 -1.84922413e-01 -7.71196953e+01] [-2.96048351e-01 1.26704207e-02 9.55088914e-01 -3.04390584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:-77.14, Z:-30.45 [[ 7.73433654e-01 5.90056662e-01 2.31589114e-01 1.46371176e+02] [-5.60439666e-01 8.07251440e-01 -1.85074291e-01 -7.71388023e+01] [-2.96154964e-01 1.33509591e-02 9.55046590e-01 -3.04487075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:-77.16, Z:-30.46 [[ 7.74152792e-01 5.89104407e-01 2.31610562e-01 1.46395255e+02] [-5.59419591e-01 8.07939542e-01 -1.85157819e-01 -7.71583127e+01] [-2.96204619e-01 1.37729565e-02 9.55025198e-01 -3.04583139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:-77.18, Z:-30.47 [[ 7.74595690e-01 5.88743649e-01 2.31046388e-01 1.46419583e+02] [-5.59158276e-01 8.08199178e-01 -1.84813721e-01 -7.71778641e+01] [-2.95539405e-01 1.39644119e-02 9.55228483e-01 -3.04682813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-77.20, Z:-30.48 [[ 7.74820314e-01 5.89034836e-01 2.29546169e-01 1.46444083e+02] [-5.59822382e-01 8.07989051e-01 -1.83718791e-01 -7.71969401e+01] [-2.93687559e-01 1.38439686e-02 9.55801215e-01 -3.04784279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-77.23, Z:-30.48 [[ 7.74595163e-01 5.87667568e-01 2.33771604e-01 1.46466632e+02] [-5.62607888e-01 8.09102484e-01 -1.69780843e-01 -7.72259187e+01] [-2.88919880e-01 -1.03289012e-05 9.57353280e-01 -3.04769009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:-77.23, Z:-30.50 [[ 7.73891878e-01 5.94026984e-01 2.19598050e-01 1.46495194e+02] [-5.61619903e-01 8.03957882e-01 -1.95537232e-01 -7.72265489e+01] [-2.92701975e-01 2.79940403e-02 9.55793852e-01 -3.05030806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:-77.26, Z:-30.50 [[ 7.72618656e-01 5.92010263e-01 2.29312583e-01 1.46516295e+02] [-5.64568551e-01 8.05887352e-01 -1.78347772e-01 -7.72568219e+01] [-2.90383822e-01 8.33214358e-03 9.56873979e-01 -3.05033455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:-77.26, Z:-30.53 [[ 7.71955617e-01 5.97614004e-01 2.16661090e-01 1.46545001e+02] [-5.63113575e-01 8.01028742e-01 -2.03115870e-01 -7.72579211e+01] [-2.94936648e-01 3.47916356e-02 9.54883195e-01 -3.05298084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:-77.29, Z:-30.53 [[ 7.71018053e-01 5.93310639e-01 2.31330168e-01 1.46564585e+02] [-5.63680919e-01 8.04873491e-01 -1.85586865e-01 -7.72879021e+01] [-2.96302182e-01 1.26944218e-02 9.55009879e-01 -3.05335265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:-77.31, Z:-30.54 [[ 7.70300393e-01 5.92634040e-01 2.35419198e-01 1.46588357e+02] [-5.64972685e-01 8.05457023e-01 -1.79010754e-01 -7.73133207e+01] [-2.95707913e-01 4.88663765e-03 9.55265906e-01 -3.05389191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:-77.34, Z:-30.54 [[ 7.69684202e-01 5.92420806e-01 2.37957597e-01 1.46610688e+02] [-5.66494495e-01 8.05627507e-01 -1.73344474e-01 -7.73356781e+01] [-2.94398059e-01 -1.38116562e-03 9.55681890e-01 -3.05425415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:-77.35, Z:-30.56 [[ 7.69211999e-01 5.97790899e-01 2.25740873e-01 1.46639868e+02] [-5.66652736e-01 8.01419584e-01 -1.91393122e-01 -7.73453995e+01] [-2.95326223e-01 1.93052027e-02 9.55201409e-01 -3.05616071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:-77.37, Z:-30.56 [[ 7.68234308e-01 5.95334027e-01 2.35358118e-01 1.46660272e+02] [-5.67668141e-01 8.03467148e-01 -1.79425259e-01 -7.73703629e+01] [-2.95920478e-01 4.23533418e-03 9.55203189e-01 -3.05634852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.69, Y:-77.39, Z:-30.58 [[ 7.67837915e-01 5.97622219e-01 2.30808621e-01 1.46686258e+02] [-5.68197568e-01 8.01697704e-01 -1.85559466e-01 -7.73862636e+01] [-2.95933201e-01 1.13346963e-02 9.55141385e-01 -3.05757688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-77.40, Z:-30.59 [[ 7.67290008e-01 5.98219365e-01 2.31083608e-01 1.46709825e+02] [-5.68715095e-01 8.01253956e-01 -1.85890394e-01 -7.74047757e+01] [-2.96359889e-01 1.12111059e-02 9.55010538e-01 -3.05853218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:-77.42, Z:-30.59 [[ 7.65964295e-01 5.99769008e-01 2.31464545e-01 1.46734650e+02] [-5.70201983e-01 8.00101420e-01 -1.86299266e-01 -7.74229572e+01] [-2.96931637e-01 1.07170432e-02 9.54838598e-01 -3.05949789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:-77.44, Z:-30.60 [[ 7.65385539e-01 6.00666409e-01 2.31051599e-01 1.46760236e+02] [-5.71625200e-01 7.99445336e-01 -1.84747899e-01 -7.74449808e+01] [-2.95684980e-01 9.32845331e-03 9.55239955e-01 -3.06045026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:-77.46, Z:-30.62 [[ 7.64098427e-01 6.02719913e-01 2.29961518e-01 1.46785484e+02] [-5.72616153e-01 7.97857122e-01 -1.88506642e-01 -7.74599904e+01] [-2.97093142e-01 1.23579492e-02 9.54768530e-01 -3.06157328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:-77.48, Z:-30.62 [[ 7.63049151e-01 6.03831392e-01 2.30529049e-01 1.46809983e+02] [-5.74685768e-01 7.97060035e-01 -1.85557453e-01 -7.74800664e+01] [-2.95790907e-01 9.10769347e-03 9.55209291e-01 -3.06244645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:-77.50, Z:-30.63 [[ 7.61741290e-01 6.05636856e-01 2.30117809e-01 1.46834696e+02] [-5.76015716e-01 7.95676151e-01 -1.87364238e-01 -7.74965475e+01] [-2.96573940e-01 1.01716017e-02 9.54955725e-01 -3.06344846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:-77.52, Z:-30.64 [[ 7.61271727e-01 6.06208563e-01 2.30166322e-01 1.46859697e+02] [-5.77384136e-01 7.95267031e-01 -1.84872684e-01 -7.75183448e+01] [-2.95115092e-01 7.84396488e-03 9.55429513e-01 -3.06439638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:-77.54, Z:-30.65 [[ 7.60802401e-01 6.07319160e-01 2.28786241e-01 1.46884341e+02] [-5.78194053e-01 7.94403947e-01 -1.86048397e-01 -7.75359403e+01] [-2.94739449e-01 9.26322293e-03 9.55532757e-01 -3.06540933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:-77.56, Z:-30.66 [[ 7.59699038e-01 6.08645518e-01 2.28927948e-01 1.46909462e+02] [-5.79892909e-01 7.93403827e-01 -1.85025893e-01 -7.75553321e+01] [-2.94247491e-01 7.81029943e-03 9.55697344e-01 -3.06634488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:-77.57, Z:-30.67 [[ 7.59384093e-01 6.09306559e-01 2.28213315e-01 1.46934192e+02] [-5.79982958e-01 7.92876133e-01 -1.86995203e-01 -7.75720737e+01] [-2.94882294e-01 9.64134915e-03 9.55484943e-01 -3.06746921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:-77.59, Z:-30.68 [[ 7.59657094e-01 6.08689199e-01 2.28950997e-01 1.46958426e+02] [-5.79739570e-01 7.93365194e-01 -1.85670944e-01 -7.75908613e+01] [-2.94657650e-01 8.31429693e-03 9.55566712e-01 -3.06837862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:-77.61, Z:-30.69 [[ 7.59793307e-01 6.08174936e-01 2.29863823e-01 1.46983049e+02] [-5.79191671e-01 7.93763289e-01 -1.85679425e-01 -7.76100125e+01] [-2.95383037e-01 7.94277286e-03 9.55345892e-01 -3.06941499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:-77.63, Z:-30.70 [[ 7.59489538e-01 6.08494442e-01 2.30022078e-01 1.47006857e+02] [-5.79448942e-01 7.93518611e-01 -1.85922396e-01 -7.76295796e+01] [-2.95659544e-01 7.92006484e-03 9.55260544e-01 -3.07029220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:-77.65, Z:-30.71 [[ 7.60984321e-01 6.06458105e-01 2.30459173e-01 1.47031638e+02] [-5.77174725e-01 7.95066531e-01 -1.86382798e-01 -7.76488862e+01] [-2.96263734e-01 8.81917738e-03 9.55065454e-01 -3.07126174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-77.67, Z:-30.72 [[ 7.62861506e-01 6.04141465e-01 2.30337606e-01 1.47057126e+02] [-5.74752228e-01 7.96816747e-01 -1.86394602e-01 -7.76673979e+01] [-2.96145570e-01 9.80621435e-03 9.55092477e-01 -3.07229892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:-77.69, Z:-30.73 [[ 7.63728592e-01 6.03012381e-01 2.30422887e-01 1.47081673e+02] [-5.73515478e-01 7.97664774e-01 -1.86576807e-01 -7.76865081e+01] [-2.96308345e-01 1.03429498e-02 9.55036328e-01 -3.07331937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-77.71, Z:-30.74 [[ 7.63596955e-01 6.03170070e-01 2.30446428e-01 1.47104526e+02] [-5.73638160e-01 7.97545068e-01 -1.86711343e-01 -7.77061728e+01] [-2.96410106e-01 1.03793479e-02 9.55004355e-01 -3.07421706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:-77.72, Z:-30.75 [[ 7.65890369e-01 6.00494821e-01 2.29821479e-01 1.47129137e+02] [-5.70803021e-01 7.99539506e-01 -1.86870245e-01 -7.77217387e+01] [-2.95965967e-01 1.19393266e-02 9.55123866e-01 -3.07524381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:-77.74, Z:-30.76 [[ 7.65932839e-01 5.99997217e-01 2.30976676e-01 1.47153779e+02] [-5.70842577e-01 7.99941296e-01 -1.85020742e-01 -7.77428205e+01] [-2.95779712e-01 9.86214178e-03 9.55205266e-01 -3.07618249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-77.76, Z:-30.77 [[ 7.65004735e-01 6.01897490e-01 2.29100778e-01 1.47178830e+02] [-5.72552394e-01 7.98496193e-01 -1.85977379e-01 -7.77606534e+01] [-2.94875417e-01 1.11013770e-02 9.55471218e-01 -3.07718930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-77.78, Z:-30.78 [[ 7.65631201e-01 6.01305861e-01 2.28560989e-01 1.47203347e+02] [-5.71992995e-01 7.98935783e-01 -1.85810733e-01 -7.77763470e+01] [-2.94334635e-01 1.15272101e-02 9.55632903e-01 -3.07820518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:-77.80, Z:-30.79 [[ 7.64003386e-01 6.03078729e-01 2.29335719e-01 1.47226828e+02] [-5.74300428e-01 7.97629800e-01 -1.84297912e-01 -7.77974397e+01] [-2.94071154e-01 9.09662728e-03 9.55740241e-01 -3.07911474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:-77.81, Z:-30.80 [[ 7.64394875e-01 6.02922564e-01 2.28440049e-01 1.47251803e+02] [-5.73771713e-01 7.97727465e-01 -1.85517959e-01 -7.78124742e+01] [-2.94085865e-01 1.07365391e-02 9.55718699e-01 -3.08014880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:-77.83, Z:-30.81 [[ 7.62076792e-01 6.05632115e-01 2.29016823e-01 1.47277507e+02] [-5.76921208e-01 7.95699970e-01 -1.84454540e-01 -7.78331890e+01] [-2.93940272e-01 8.44386227e-03 9.55786492e-01 -3.08110148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:-77.85, Z:-30.82 [[ 7.62011480e-01 6.06072931e-01 2.28066016e-01 1.47302546e+02] [-5.77031484e-01 7.95348140e-01 -1.85623285e-01 -7.78527304e+01] [-2.93893130e-01 9.84580224e-03 9.55787575e-01 -3.08216077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:-77.87, Z:-30.83 [[ 7.60770216e-01 6.07715427e-01 2.27839062e-01 1.47328143e+02] [-5.78791893e-01 7.94101148e-01 -1.85481298e-01 -7.78707147e+01] [-2.93647106e-01 9.23724505e-03 9.55869264e-01 -3.08312833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:-77.89, Z:-30.84 [[ 7.60184627e-01 6.08387813e-01 2.27999126e-01 1.47352717e+02] [-5.79417948e-01 7.93587979e-01 -1.85722809e-01 -7.78889586e+01] [-2.93928859e-01 9.07683848e-03 9.55784200e-01 -3.08410749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:-77.91, Z:-30.84 [[ 7.60494437e-01 6.06007983e-01 2.33243511e-01 1.47375572e+02] [-5.80117066e-01 7.95455975e-01 -1.75254050e-01 -7.79125114e+01] [-2.91740298e-01 -2.02881107e-03 9.56495417e-01 -3.08434986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:-77.92, Z:-30.86 [[ 7.58785876e-01 6.12525199e-01 2.21487867e-01 1.47405327e+02] [-5.81062638e-01 7.90221392e-01 -1.94721243e-01 -7.79201703e+01] [-2.94296118e-01 1.90534047e-02 9.55524339e-01 -3.08639303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-77.94, Z:-30.87 [[ 7.58441087e-01 6.10339951e-01 2.28587538e-01 1.47427642e+02] [-5.81233080e-01 7.92093641e-01 -1.86428997e-01 -7.79439232e+01] [-2.94847800e-01 8.53277294e-03 9.55506131e-01 -3.08704096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:-77.96, Z:-30.88 [[ 7.58453882e-01 6.10346932e-01 2.28526437e-01 1.47452724e+02] [-5.81222392e-01 7.92087331e-01 -1.86489115e-01 -7.79626568e+01] [-2.94835955e-01 8.61871100e-03 9.55509015e-01 -3.08802610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:-77.98, Z:-30.89 [[ 7.58674823e-01 6.10159395e-01 2.28293728e-01 1.47478778e+02] [-5.81053625e-01 7.92230115e-01 -1.86408499e-01 -7.79810507e+01] [-2.94600063e-01 8.77253708e-03 9.55580371e-01 -3.08904017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-78.00, Z:-30.90 [[ 7.59084165e-01 6.09787400e-01 2.27926649e-01 1.47503107e+02] [-5.80725669e-01 7.92513966e-01 -1.86223817e-01 -7.79994353e+01] [-2.94191990e-01 8.99669526e-03 9.55703998e-01 -3.08999917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:-78.02, Z:-30.91 [[ 7.59541870e-01 6.09274433e-01 2.27773601e-01 1.47527940e+02] [-5.80208747e-01 7.92905524e-01 -1.86168313e-01 -7.80181795e+01] [-2.94030540e-01 9.24639343e-03 9.55751299e-01 -3.09097081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-78.03, Z:-30.92 [[ 7.61251643e-01 6.06670241e-01 2.29013440e-01 1.47551551e+02] [-5.78061815e-01 7.94914417e-01 -1.84270471e-01 -7.80342334e+01] [-2.93837496e-01 7.89227360e-03 9.55822807e-01 -3.09176961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:-78.05, Z:-30.93 [[ 7.61529607e-01 6.06738959e-01 2.27904571e-01 1.47577574e+02] [-5.77339452e-01 7.94828569e-01 -1.86886873e-01 -7.80531574e+01] [-2.94536611e-01 1.07415867e-02 9.55579826e-01 -3.09295874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:-78.07, Z:-30.94 [[ 7.62441745e-01 6.05585878e-01 2.27921762e-01 1.47602314e+02] [-5.76215838e-01 7.95704479e-01 -1.86627140e-01 -7.80717454e+01] [-2.94377128e-01 1.09601932e-02 9.55626486e-01 -3.09391755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:-78.09, Z:-30.95 [[ 7.62369625e-01 6.05696083e-01 2.27870158e-01 1.47626952e+02] [-5.76312066e-01 7.95620009e-01 -1.86690128e-01 -7.80919923e+01] [-2.94375537e-01 1.10025615e-02 9.55626489e-01 -3.09493445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:-78.11, Z:-30.96 [[ 7.63179191e-01 6.04736623e-01 2.27708452e-01 1.47652369e+02] [-5.75339475e-01 7.96343899e-01 -1.86603545e-01 -7.81110058e+01] [-2.94180234e-01 1.14022813e-02 9.55681944e-01 -3.09595273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:-78.13, Z:-30.97 [[ 7.63896127e-01 6.03892511e-01 2.27544594e-01 1.47677262e+02] [-5.74468849e-01 7.96978290e-01 -1.86577457e-01 -7.81300442e+01] [-2.94020830e-01 1.18085163e-02 9.55726064e-01 -3.09697435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-78.15, Z:-30.98 [[ 7.64646138e-01 6.03036458e-01 2.27295655e-01 1.47702418e+02] [-5.73607488e-01 7.97620076e-01 -1.86485022e-01 -7.81494931e+01] [-2.93752845e-01 1.22165625e-02 9.55803338e-01 -3.09800507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-78.17, Z:-30.99 [[ 7.65478112e-01 6.02145767e-01 2.26856198e-01 1.47726693e+02] [-5.72760481e-01 7.98286320e-01 -1.86237436e-01 -7.81683623e+01] [-2.93238283e-01 1.26264156e-02 9.55956005e-01 -3.09894869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:-78.20, Z:-30.98 [[ 7.67061471e-01 5.95620982e-01 2.38437299e-01 1.47747817e+02] [-5.73583429e-01 8.03156839e-01 -1.61062540e-01 -7.82020135e+01] [-2.87434776e-01 -1.32188146e-02 9.57708992e-01 -3.09820199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:-78.19, Z:-31.02 [[ 7.66829617e-01 6.06817861e-01 2.09151672e-01 1.47782858e+02] [-5.71387092e-01 7.93825335e-01 -2.08226148e-01 -7.81913132e+01] [-2.92385242e-01 4.01674117e-02 9.55456671e-01 -3.10158423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:-78.22, Z:-31.02 [[ 7.66682761e-01 6.00502370e-01 2.27144113e-01 1.47800847e+02] [-5.70917200e-01 7.99510394e-01 -1.86645871e-01 -7.82221940e+01] [-2.93685367e-01 1.34176905e-02 9.55807968e-01 -3.10182898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:-78.24, Z:-31.03 [[ 7.66508032e-01 6.00621845e-01 2.27417757e-01 1.47825017e+02] [-5.70934025e-01 7.99419533e-01 -1.86983283e-01 -7.82401950e+01] [-2.94108442e-01 1.34836527e-02 9.55676941e-01 -3.10278921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:-78.26, Z:-31.04 [[ 7.65811474e-01 6.01362735e-01 2.27806164e-01 1.47851791e+02] [-5.71581783e-01 7.98865747e-01 -1.87370712e-01 -7.82576970e+01] [-2.94664305e-01 1.32807877e-02 9.55508539e-01 -3.10377610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:-78.28, Z:-31.05 [[ 7.64927343e-01 6.02363619e-01 2.28132046e-01 1.47876922e+02] [-5.72503882e-01 7.98115796e-01 -1.87751113e-01 -7.82763133e+01] [-2.95170230e-01 1.30094783e-02 9.55356106e-01 -3.10478235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:-78.29, Z:-31.06 [[ 7.63271486e-01 6.04658925e-01 2.27605411e-01 1.47902909e+02] [-5.75005486e-01 7.96391308e-01 -1.87428853e-01 -7.82931373e+01] [-2.94593500e-01 1.21847389e-02 9.55544976e-01 -3.10575010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:-78.31, Z:-31.07 [[ 7.61911758e-01 6.06474738e-01 2.27329859e-01 1.47928207e+02] [-5.76941872e-01 7.95018806e-01 -1.87305029e-01 -7.83114375e+01] [-2.94327282e-01 1.15537895e-02 9.55634847e-01 -3.10676123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:-78.33, Z:-31.08 [[ 7.60596047e-01 6.08313425e-01 2.26822464e-01 1.47953805e+02] [-5.78960922e-01 7.93621931e-01 -1.86998613e-01 -7.83293906e+01] [-2.93765048e-01 1.09090633e-02 9.55815405e-01 -3.10776116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:-78.35, Z:-31.09 [[ 7.59218826e-01 6.10022163e-01 2.26847384e-01 1.47978624e+02] [-5.80702957e-01 7.92316851e-01 -1.87131195e-01 -7.83469053e+01] [-2.93889181e-01 1.03425796e-02 9.55783543e-01 -3.10875541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:-78.36, Z:-31.10 [[ 7.57793826e-01 6.11898048e-01 2.26559697e-01 1.48004139e+02] [-5.82704913e-01 7.90877310e-01 -1.86997498e-01 -7.83649984e+01] [-2.93604327e-01 9.68810124e-03 9.55877942e-01 -3.10973113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:-78.38, Z:-31.11 [[ 7.55383233e-01 6.14826210e-01 2.26682383e-01 1.48030923e+02] [-5.85695242e-01 7.88615211e-01 -1.87208794e-01 -7.83812162e+01] [-2.93866049e-01 8.64759064e-03 9.55807493e-01 -3.11070382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:-78.40, Z:-31.12 [[ 7.54337157e-01 6.15988371e-01 2.27010528e-01 1.48056491e+02] [-5.86788070e-01 7.87711522e-01 -1.87590830e-01 -7.83997808e+01] [-2.94372578e-01 8.29966424e-03 9.55654697e-01 -3.11169915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:-78.42, Z:-31.13 [[ 7.53719690e-01 6.16881188e-01 2.26636780e-01 1.48082516e+02] [-5.87784324e-01 7.87015335e-01 -1.87393839e-01 -7.84171044e+01] [-2.93966355e-01 8.02887986e-03 9.55782046e-01 -3.11267085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:-78.44, Z:-31.14 [[ 7.53643405e-01 6.16995098e-01 2.26580378e-01 1.48107065e+02] [-5.87882794e-01 7.86925546e-01 -1.87462012e-01 -7.84374652e+01] [-2.93965030e-01 8.07680371e-03 9.55782050e-01 -3.11368774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:-78.45, Z:-31.15 [[ 7.53970405e-01 6.16744797e-01 2.26173570e-01 1.48132878e+02] [-5.87713882e-01 7.87120483e-01 -1.87173015e-01 -7.84545043e+01] [-2.93463833e-01 8.19756725e-03 9.55935028e-01 -3.11465552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:-78.47, Z:-31.16 [[ 7.54380736e-01 6.16204331e-01 2.26278431e-01 1.48158240e+02] [-5.87089854e-01 7.87540474e-01 -1.87364632e-01 -7.84733619e+01] [-2.93658321e-01 8.49849807e-03 9.55872673e-01 -3.11565439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:-78.49, Z:-31.17 [[ 7.54853691e-01 6.15598375e-01 2.26350493e-01 1.48182803e+02] [-5.86403931e-01 7.88010585e-01 -1.87535991e-01 -7.84919514e+01] [-2.93813436e-01 8.82941597e-03 9.55822006e-01 -3.11663225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:-78.51, Z:-31.18 [[ 7.56380366e-01 6.13800898e-01 2.26135358e-01 1.48208808e+02] [-5.84552980e-01 7.89402450e-01 -1.87460893e-01 -7.85099383e+01] [-2.93575470e-01 9.60364165e-03 9.55887657e-01 -3.11759494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.23, Y:-78.53, Z:-31.19 [[ 7.56852898e-01 6.13193369e-01 2.26202529e-01 1.48233928e+02] [-5.83866621e-01 7.89870358e-01 -1.87628855e-01 -7.85294546e+01] [-2.93723442e-01 9.93533671e-03 9.55838809e-01 -3.11859634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:-78.55, Z:-31.20 [[ 7.57408164e-01 6.12604985e-01 2.25938055e-01 1.48259013e+02] [-5.83288552e-01 7.90322852e-01 -1.87521346e-01 -7.85489280e+01] [-2.93440520e-01 1.02431173e-02 9.55922455e-01 -3.11958178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:-78.57, Z:-31.21 [[ 7.58019702e-01 6.11795107e-01 2.26081576e-01 1.48284621e+02] [-5.82370665e-01 7.90944479e-01 -1.87753134e-01 -7.85673201e+01] [-2.93684423e-01 1.06572963e-02 9.55843022e-01 -3.12060927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:-78.59, Z:-31.22 [[ 7.58244068e-01 6.11631395e-01 2.25771944e-01 1.48308734e+02] [-5.82247920e-01 7.91069179e-01 -1.87608403e-01 -7.85857506e+01] [-2.93348416e-01 1.07977138e-02 9.55944620e-01 -3.12154052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:-78.60, Z:-31.23 [[ 7.58258515e-01 6.11694222e-01 2.25553105e-01 1.48333218e+02] [-5.82339872e-01 7.91019908e-01 -1.87530740e-01 -7.86047481e+01] [-2.93128467e-01 1.08482137e-02 9.56011516e-01 -3.12251131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:-78.62, Z:-31.24 [[ 7.58092842e-01 6.12002286e-01 2.25274155e-01 1.48358138e+02] [-5.82701998e-01 7.90782174e-01 -1.87408469e-01 -7.86240099e+01] [-2.92837197e-01 1.08053184e-02 9.56101261e-01 -3.12352061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:-78.64, Z:-31.24 [[ 7.57627246e-01 6.12804566e-01 2.24658672e-01 1.48383537e+02] [-5.83669126e-01 7.90164014e-01 -1.87005836e-01 -7.86414780e+01] [-2.92115229e-01 1.05543858e-02 9.56324891e-01 -3.12447277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:-78.66, Z:-31.25 [[ 7.57373100e-01 6.13126270e-01 2.24637849e-01 1.48408475e+02] [-5.83979117e-01 7.89914962e-01 -1.87090202e-01 -7.86601605e+01] [-2.92154716e-01 1.05132736e-02 9.56313282e-01 -3.12544945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:-78.68, Z:-31.26 [[ 7.56906127e-01 6.13680280e-01 2.24698971e-01 1.48433869e+02] [-5.84507678e-01 7.89486241e-01 -1.87249166e-01 -7.86794296e+01] [-2.92307867e-01 1.03917671e-02 9.56267809e-01 -3.12645628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:-78.70, Z:-31.27 [[ 7.56430211e-01 6.14237283e-01 2.24779662e-01 1.48458100e+02] [-5.85032545e-01 7.89054499e-01 -1.87429769e-01 -7.86977903e+01] [-2.92489756e-01 1.02741216e-02 9.56213462e-01 -3.12740482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:-78.72, Z:-31.28 [[ 7.55788400e-01 6.15100953e-01 2.24576740e-01 1.48484713e+02] [-5.85966717e-01 7.88385119e-01 -1.87328351e-01 -7.87157098e+01] [-2.92278807e-01 9.98609988e-03 9.56281013e-01 -3.12840132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:-78.73, Z:-31.29 [[ 7.55363491e-01 6.15732940e-01 2.24274260e-01 1.48509192e+02] [-5.86672054e-01 7.87893725e-01 -1.87188082e-01 -7.87343739e+01] [-2.91962151e-01 9.81960254e-03 9.56379463e-01 -3.12936243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:-78.75, Z:-31.30 [[ 7.55076178e-01 6.16248954e-01 2.23824023e-01 1.48534242e+02] [-5.87298089e-01 7.87491868e-01 -1.86915790e-01 -7.87534608e+01] [-2.91446258e-01 9.68423939e-03 9.56538182e-01 -3.13035405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:-78.77, Z:-31.31 [[ 7.54473483e-01 6.17138074e-01 2.23406270e-01 1.48559395e+02] [-5.88302462e-01 7.86798582e-01 -1.86676739e-01 -7.87727097e+01] [-2.90981060e-01 9.41219081e-03 9.56682514e-01 -3.13134537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:-78.79, Z:-31.32 [[ 7.53373447e-01 6.18414824e-01 2.23587915e-01 1.48585634e+02] [-5.89552737e-01 7.85800100e-01 -1.86937887e-01 -7.87900208e+01] [-2.91300566e-01 9.01717290e-03 9.56589081e-01 -3.13230534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:-78.81, Z:-31.33 [[ 7.52757457e-01 6.19028988e-01 2.23962774e-01 1.48609986e+02] [-5.90059433e-01 7.85317829e-01 -1.87365346e-01 -7.88084673e+01] [-2.91866539e-01 8.88931380e-03 9.56417745e-01 -3.13324721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:-78.83, Z:-31.34 [[ 7.52249893e-01 6.19487038e-01 2.24401223e-01 1.48635080e+02] [-5.90400099e-01 7.84957710e-01 -1.87800739e-01 -7.88277883e+01] [-2.92485594e-01 8.78658171e-03 9.56229561e-01 -3.13423699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:-78.85, Z:-31.35 [[ 7.51638280e-01 6.20036667e-01 2.24932052e-01 1.48659821e+02] [-5.90798490e-01 7.84524749e-01 -1.88356215e-01 -7.88473373e+01] [-2.93252521e-01 8.68622454e-03 9.55995559e-01 -3.13518886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:-78.87, Z:-31.36 [[ 7.51237967e-01 6.20473156e-01 2.25065723e-01 1.48685232e+02] [-5.91184483e-01 7.84180394e-01 -1.88578941e-01 -7.88663334e+01] [-2.93500298e-01 8.61229723e-03 9.55920187e-01 -3.13611198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-78.89, Z:-31.37 [[ 7.50904055e-01 6.20836297e-01 2.25178577e-01 1.48709547e+02] [-5.91499576e-01 7.83893439e-01 -1.88783811e-01 -7.88857213e+01] [-2.93719852e-01 8.56549661e-03 9.55853169e-01 -3.13713475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:-78.91, Z:-31.38 [[ 7.50586126e-01 6.21361707e-01 2.24789004e-01 1.48734451e+02] [-5.92118117e-01 7.83478456e-01 -1.88567350e-01 -7.89054331e+01] [-2.93285872e-01 8.43439474e-03 9.55987583e-01 -3.13812958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-78.92, Z:-31.39 [[ 7.50200150e-01 6.21956802e-01 2.24431439e-01 1.48758813e+02] [-5.92800855e-01 7.83007804e-01 -1.88377081e-01 -7.89247118e+01] [-2.92893975e-01 8.27736500e-03 9.56109097e-01 -3.13912899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:-78.94, Z:-31.40 [[ 7.49463231e-01 6.22982640e-01 2.24047976e-01 1.48783169e+02] [-5.93939252e-01 7.82195228e-01 -1.88166920e-01 -7.89427700e+01] [-2.92473982e-01 7.95330038e-03 9.56240406e-01 -3.14009826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:-78.96, Z:-31.41 [[ 7.48937875e-01 6.23671386e-01 2.23888503e-01 1.48807760e+02] [-5.94668713e-01 7.81648090e-01 -1.88136614e-01 -7.89623212e+01] [-2.92337444e-01 7.76314803e-03 9.56283720e-01 -3.14108461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:-78.98, Z:-31.42 [[ 7.48642664e-01 6.24043204e-01 2.23839770e-01 1.48831487e+02] [-5.95036265e-01 7.81351844e-01 -1.88205043e-01 -7.89808978e+01] [-2.92345695e-01 7.70554427e-03 9.56281663e-01 -3.14206826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:-79.00, Z:-31.43 [[ 7.48442570e-01 6.24451732e-01 2.23369097e-01 1.48856109e+02] [-5.95556591e-01 7.81026316e-01 -1.87910194e-01 -7.90010960e+01] [-2.91797989e-01 7.61104996e-03 9.56449688e-01 -3.14304731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:-79.02, Z:-31.44 [[ 7.48232026e-01 6.24843147e-01 2.22979545e-01 1.48880946e+02] [-5.96035351e-01 7.80713975e-01 -1.87690035e-01 -7.90208081e+01] [-2.91360079e-01 7.53200378e-03 9.56583804e-01 -3.14408584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-79.04, Z:-31.45 [[ 7.48233206e-01 6.24974872e-01 2.22606109e-01 1.48904572e+02] [-5.96238708e-01 7.80608309e-01 -1.87483523e-01 -7.90396468e+01] [-2.90940669e-01 7.55501894e-03 9.56711267e-01 -3.14507276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-79.06, Z:-31.46 [[ 7.48360073e-01 6.24882929e-01 2.22437689e-01 1.48928688e+02] [-5.96156959e-01 7.80680829e-01 -1.87441519e-01 -7.90590565e+01] [-2.90781845e-01 7.66597263e-03 9.56758669e-01 -3.14608295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:-79.08, Z:-31.47 [[ 7.48743748e-01 6.24403700e-01 2.22492291e-01 1.48952425e+02] [-5.95609907e-01 7.81061422e-01 -1.87595027e-01 -7.90782535e+01] [-2.90915174e-01 7.94199059e-03 9.56715886e-01 -3.14705581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:-79.10, Z:-31.48 [[ 7.48679295e-01 6.24330251e-01 2.22914896e-01 1.48976153e+02] [-5.95401552e-01 7.81119135e-01 -1.88015662e-01 -7.90981109e+01] [-2.91506956e-01 8.03955864e-03 9.56534924e-01 -3.14804041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:-79.12, Z:-31.49 [[ 7.48513630e-01 6.24419768e-01 2.23220294e-01 1.48999758e+02] [-5.95379814e-01 7.81046877e-01 -1.88384323e-01 -7.91178277e+01] [-2.91976409e-01 8.10737656e-03 9.56391158e-01 -3.14901439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-79.14, Z:-31.50 [[ 7.48445083e-01 6.24569870e-01 2.23030123e-01 1.49022815e+02] [-5.95555671e-01 7.80926664e-01 -1.88326813e-01 -7.91373087e+01] [-2.91793423e-01 8.12542243e-03 9.56446849e-01 -3.14993123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:-79.16, Z:-31.51 [[ 7.47659728e-01 6.25513242e-01 2.23020435e-01 1.49046796e+02] [-5.96513133e-01 7.80174201e-01 -1.88415229e-01 -7.91570429e+01] [-2.91851011e-01 7.83586032e-03 9.56431695e-01 -3.15091743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:-79.18, Z:-31.52 [[ 7.46818955e-01 6.26514026e-01 2.23028303e-01 1.49070648e+02] [-5.97521677e-01 7.79373720e-01 -1.88532360e-01 -7.91762298e+01] [-2.91940566e-01 7.53529449e-03 9.56406778e-01 -3.15191339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:-79.20, Z:-31.53 [[ 7.45733068e-01 6.27800432e-01 2.23044409e-01 1.49094405e+02] [-5.98828501e-01 7.78341810e-01 -1.88649021e-01 -7.91955663e+01] [-2.92038726e-01 7.11646396e-03 9.56380018e-01 -3.15286840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:-79.22, Z:-31.54 [[ 7.44328204e-01 6.29464623e-01 2.23046660e-01 1.49118639e+02] [-6.00536283e-01 7.77001615e-01 -1.88744969e-01 -7.92155157e+01] [-2.92115895e-01 6.54059184e-03 9.56360562e-01 -3.15385556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:-79.24, Z:-31.55 [[ 7.40736020e-01 6.33741722e-01 2.22893648e-01 1.49143178e+02] [-6.05009409e-01 7.73528933e-01 -1.88723623e-01 -7.92352362e+01] [-2.92016720e-01 4.94163105e-03 9.56400447e-01 -3.15482414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-79.25, Z:-31.56 [[ 7.38586489e-01 6.36198639e-01 2.23027553e-01 1.49166425e+02] [-6.07505582e-01 7.71514590e-01 -1.88950272e-01 -7.92544300e+01] [-2.92278917e-01 4.06563452e-03 9.56324477e-01 -3.15576056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:-79.27, Z:-31.57 [[ 7.36274499e-01 6.38877597e-01 2.23014076e-01 1.49190739e+02] [-6.10275805e-01 7.69302203e-01 -1.89043810e-01 -7.92747766e+01] [-2.92341076e-01 3.08804193e-03 9.56309134e-01 -3.15674980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-79.30, Z:-31.58 [[ 7.36195851e-01 6.38987916e-01 2.22957646e-01 1.49215040e+02] [-6.10370925e-01 7.69210382e-01 -1.89110343e-01 -7.92954451e+01] [-2.92340560e-01 3.13538533e-03 9.56309138e-01 -3.15776641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:-79.32, Z:-31.59 [[ 7.34049665e-01 6.41402934e-01 2.23099455e-01 1.49238699e+02] [-6.12843026e-01 7.67201000e-01 -1.89277712e-01 -7.93158217e+01] [-2.92565404e-01 2.21429591e-03 9.56242951e-01 -3.15873233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-79.34, Z:-31.60 [[ 7.30534857e-01 6.45364330e-01 2.23212242e-01 1.49261657e+02] [-6.16920536e-01 7.63874572e-01 -1.89485332e-01 -7.93355407e+01] [-2.92793230e-01 7.21423802e-04 9.56175509e-01 -3.15962198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:-79.36, Z:-31.61 [[ 7.28913454e-01 6.47126804e-01 2.23410109e-01 1.49285076e+02] [-6.18680302e-01 7.62382378e-01 -1.89757198e-01 -7.93557450e+01] [-2.93120899e-01 9.71406063e-05 9.56075378e-01 -3.16061697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-79.38, Z:-31.62 [[ 7.27727048e-01 6.48498852e-01 2.23299312e-01 1.49307819e+02] [-6.20108753e-01 7.61215546e-01 -1.89778888e-01 -7.93756517e+01] [-2.93050299e-01 -3.62628477e-04 9.56096957e-01 -3.16155120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-79.40, Z:-31.63 [[ 7.26075605e-01 6.50368796e-01 2.23236747e-01 1.49330021e+02] [-6.22048197e-01 7.59617908e-01 -1.89833279e-01 -7.93964980e+01] [-2.93036272e-01 -1.03070277e-03 9.56100769e-01 -3.16252444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:-79.42, Z:-31.64 [[ 7.25506373e-01 6.50894434e-01 2.23555224e-01 1.49352280e+02] [-6.22482542e-01 7.59167367e-01 -1.90211446e-01 -7.94167600e+01] [-2.93523402e-01 -1.15960742e-03 9.55951185e-01 -3.16351733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:-79.44, Z:-31.64 [[ 7.25244501e-01 6.51198634e-01 2.23519023e-01 1.49375301e+02] [-6.22789202e-01 7.58906339e-01 -1.90249252e-01 -7.94378467e+01] [-2.93520056e-01 -1.22801049e-03 9.55952127e-01 -3.16448447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:-79.46, Z:-31.65 [[ 7.25257405e-01 6.51190066e-01 2.23502113e-01 1.49397560e+02] [-6.22749135e-01 7.58913839e-01 -1.90350466e-01 -7.94589335e+01] [-2.93573179e-01 -1.13266200e-03 9.55935932e-01 -3.16544469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:-79.48, Z:-31.66 [[ 7.25372214e-01 6.51156937e-01 2.23225882e-01 1.49420438e+02] [-6.22765061e-01 7.58942365e-01 -1.90184553e-01 -7.94805221e+01] [-2.93255570e-01 -1.06268934e-03 9.56033494e-01 -3.16642492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:-79.50, Z:-31.67 [[ 7.25838605e-01 6.50692998e-01 2.23062644e-01 1.49441559e+02] [-6.22287303e-01 7.59340509e-01 -1.90159155e-01 -7.95028021e+01] [-2.93115732e-01 -7.84195372e-04 9.56076646e-01 -3.16744255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:-79.52, Z:-31.68 [[ 7.26322683e-01 6.50329950e-01 2.22545088e-01 1.49463816e+02] [-6.22010134e-01 7.59651664e-01 -1.89822925e-01 -7.95245771e+01] [-2.92504279e-01 -5.52603646e-04 9.56264054e-01 -3.16842761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:-79.55, Z:-31.69 [[ 7.26864308e-01 6.49777403e-01 2.22390659e-01 1.49486330e+02] [-6.21438225e-01 7.60124509e-01 -1.89803224e-01 -7.95471698e+01] [-2.92374436e-01 -2.40867082e-04 9.56303890e-01 -3.16943982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:-79.57, Z:-31.70 [[ 7.27674925e-01 6.48977548e-01 2.22075092e-01 1.49508822e+02] [-6.20650120e-01 7.60807540e-01 -1.89645236e-01 -7.95698520e+01] [-2.92031905e-01 1.69150635e-04 9.56408562e-01 -3.17043997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:-79.59, Z:-31.71 [[ 7.29647014e-01 6.46716887e-01 2.22199242e-01 1.49528624e+02] [-6.18218944e-01 7.62729247e-01 -1.89866883e-01 -7.95937856e+01] [-2.92267980e-01 1.16802401e-03 9.56335748e-01 -3.17140610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:-79.62, Z:-31.72 [[ 7.30735740e-01 6.45500468e-01 2.22158557e-01 1.49550293e+02] [-6.16925360e-01 7.63757892e-01 -1.89939420e-01 -7.96159133e+01] [-2.92281336e-01 1.74027441e-03 9.56330796e-01 -3.17237243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.57, Y:-79.64, Z:-31.73 [[ 7.31776895e-01 6.44307265e-01 2.22195238e-01 1.49572684e+02] [-6.15636774e-01 7.64763267e-01 -1.90075006e-01 -7.96386225e+01] [-2.92393463e-01 2.30093752e-03 9.56295335e-01 -3.17337519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:-79.66, Z:-31.74 [[ 7.34228306e-01 6.41471896e-01 2.22311945e-01 1.49592820e+02] [-6.12609380e-01 7.67138450e-01 -1.90284909e-01 -7.96630887e+01] [-2.92606463e-01 3.52218356e-03 9.56226465e-01 -3.17436407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:-79.69, Z:-31.75 [[ 7.35358248e-01 6.40230011e-01 2.22157105e-01 1.49615218e+02] [-6.11319717e-01 7.68172318e-01 -1.90261642e-01 -7.96858902e+01] [-2.92466151e-01 4.10144918e-03 9.56267080e-01 -3.17536746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:-79.71, Z:-31.76 [[ 7.36407982e-01 6.38990341e-01 2.22249022e-01 1.49637217e+02] [-6.09966339e-01 7.69200488e-01 -1.90451237e-01 -7.97083367e+01] [-2.92650557e-01 4.68538856e-03 9.56207979e-01 -3.17634005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:-79.73, Z:-31.77 [[ 7.37355855e-01 6.37895655e-01 2.22250932e-01 1.49658605e+02] [-6.08787758e-01 7.70105171e-01 -1.90566240e-01 -7.97304704e+01] [-2.92717968e-01 5.21148655e-03 9.56184622e-01 -3.17729139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-79.77, Z:-31.77 [[ 7.39908202e-01 6.30192292e-01 2.35358295e-01 1.49673650e+02] [-6.09155396e-01 7.76106585e-01 -1.63059108e-01 -7.97725471e+01] [-2.85421716e-01 -2.27210037e-02 9.58132663e-01 -3.17651510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-79.79, Z:-31.78 [[ 7.40064611e-01 6.35790741e-01 2.19258991e-01 1.49702151e+02] [-6.09800576e-01 7.71861279e-01 -1.79926162e-01 -7.97870437e+01] [-2.83632913e-01 -5.47273611e-04 9.58932777e-01 -3.17785752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:-79.78, Z:-31.81 [[ 7.40361117e-01 6.43072124e-01 1.95764298e-01 1.49732336e+02] [-6.05651052e-01 7.64488677e-01 -2.20780131e-01 -7.97801874e+01] [-2.91637137e-01 4.48921713e-02 9.55474999e-01 -3.18106343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:-79.82, Z:-31.81 [[ 7.40679740e-01 6.34215653e-01 2.21729630e-01 1.49743247e+02] [-6.05027077e-01 7.73126235e-01 -1.90310435e-01 -7.98181757e+01] [-2.92122851e-01 6.80665367e-03 9.56356581e-01 -3.18107795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:-79.84, Z:-31.82 [[ 7.40791672e-01 6.34217294e-01 2.21350676e-01 1.49764587e+02] [-6.05099034e-01 7.73124260e-01 -1.90089553e-01 -7.98410642e+01] [-2.91689660e-01 6.87767813e-03 9.56488285e-01 -3.18203405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-79.86, Z:-31.83 [[ 7.40669023e-01 6.34397680e-01 2.21244167e-01 1.49787146e+02] [-6.05280884e-01 7.72976085e-01 -1.90113188e-01 -7.98623811e+01] [-2.91623815e-01 6.89608404e-03 9.56508230e-01 -3.18297790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:-79.88, Z:-31.84 [[ 7.40453487e-01 6.34581188e-01 2.21439266e-01 1.49810277e+02] [-6.05398836e-01 7.72825530e-01 -1.90349548e-01 -7.98841851e+01] [-2.91926160e-01 6.88591265e-03 9.56416071e-01 -3.18394659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-79.91, Z:-31.85 [[ 7.40486446e-01 6.34557286e-01 2.21397548e-01 1.49831790e+02] [-6.05350015e-01 7.72844249e-01 -1.90428793e-01 -7.99056311e+01] [-2.91943800e-01 6.98693125e-03 9.56409954e-01 -3.18481125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:-79.93, Z:-31.86 [[ 7.40246483e-01 6.34750795e-01 2.21645151e-01 1.49855057e+02] [-6.05452393e-01 7.72685158e-01 -1.90748649e-01 -7.99271399e+01] [-2.92339775e-01 7.00542891e-03 9.56288858e-01 -3.18580984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:-79.95, Z:-31.87 [[ 7.40020095e-01 6.35024684e-01 2.21616585e-01 1.49878691e+02] [-6.05711949e-01 7.72460253e-01 -1.90835510e-01 -7.99486540e+01] [-2.92375263e-01 6.98629838e-03 9.56278148e-01 -3.18678308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:-79.97, Z:-31.88 [[ 7.39787575e-01 6.35298969e-01 2.21606776e-01 1.49901471e+02] [-6.05966044e-01 7.72234837e-01 -1.90941116e-01 -7.99690911e+01] [-2.92437167e-01 6.96968401e-03 9.56259341e-01 -3.18777217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:-79.99, Z:-31.89 [[ 7.39359741e-01 6.35955844e-01 2.21150035e-01 1.49923809e+02] [-6.06743118e-01 7.71695664e-01 -1.90653066e-01 -7.99900192e+01] [-2.91907455e-01 6.77993956e-03 9.56422538e-01 -3.18871374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:-80.01, Z:-31.90 [[ 7.39043361e-01 6.36412893e-01 2.20892598e-01 1.49947410e+02] [-6.07258044e-01 7.71319698e-01 -1.90535012e-01 -8.00113008e+01] [-2.91637750e-01 6.67482873e-03 9.56505551e-01 -3.18969095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:-80.03, Z:-31.91 [[ 7.38819579e-01 6.36644445e-01 2.20973936e-01 1.49969990e+02] [-6.07443508e-01 7.71128572e-01 -1.90717354e-01 -8.00314485e+01] [-2.91818460e-01 6.67653206e-03 9.56450422e-01 -3.19064380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:-80.05, Z:-31.92 [[ 7.38328404e-01 6.37147873e-01 2.21164545e-01 1.49993130e+02] [-6.07896909e-01 7.70713854e-01 -1.90948954e-01 -8.00525320e+01] [-2.92117299e-01 6.53779270e-03 9.56360152e-01 -3.19154661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:-80.07, Z:-31.93 [[ 7.38144871e-01 6.37243435e-01 2.21501590e-01 1.50016797e+02] [-6.07872037e-01 7.70634327e-01 -1.91348688e-01 -8.00731913e+01] [-2.92632424e-01 6.59842979e-03 9.56202241e-01 -3.19257927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:-80.09, Z:-31.94 [[ 7.37996044e-01 6.37495407e-01 2.21272334e-01 1.50040251e+02] [-6.08164182e-01 7.70426071e-01 -1.91258981e-01 -8.00937823e+01] [-2.92400697e-01 6.57846379e-03 9.56273264e-01 -3.19356861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:-80.11, Z:-31.95 [[ 7.37845948e-01 6.37829541e-01 2.20809495e-01 1.50063614e+02] [-6.08605813e-01 7.70149985e-01 -1.90965874e-01 -8.01140778e+01] [-2.91860105e-01 6.51745385e-03 9.56438812e-01 -3.19454417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:-80.13, Z:-31.96 [[ 7.37673756e-01 6.38212767e-01 2.20276856e-01 1.50087107e+02] [-6.09114609e-01 7.69833072e-01 -1.90621178e-01 -8.01337803e+01] [-2.91233278e-01 6.44238906e-03 9.56630374e-01 -3.19554341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:-80.15, Z:-31.97 [[ 7.37351861e-01 6.38701901e-01 2.19936617e-01 1.50110858e+02] [-6.09695997e-01 7.69428532e-01 -1.90395707e-01 -8.01541878e+01] [-2.90831608e-01 6.29415418e-03 9.56753552e-01 -3.19651123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:-80.17, Z:-31.98 [[ 7.37123843e-01 6.39035177e-01 2.19732755e-01 1.50134893e+02] [-6.10064429e-01 7.69152140e-01 -1.90332285e-01 -8.01748445e+01] [-2.90636944e-01 6.24732746e-03 9.56813011e-01 -3.19752864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-80.19, Z:-31.99 [[ 7.37137255e-01 6.39000734e-01 2.19787920e-01 1.50158106e+02] [-6.09978743e-01 7.69179874e-01 -1.90494763e-01 -8.01944632e+01] [-2.90782738e-01 6.35482779e-03 9.56768005e-01 -3.19853121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:-80.21, Z:-32.00 [[ 7.37324512e-01 6.39564126e-01 2.17509291e-01 1.50182705e+02] [-6.10116550e-01 7.68686353e-01 -1.92039281e-01 -8.02135585e+01] [-2.90017859e-01 8.88925108e-03 9.56979949e-01 -3.19961914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:-80.24, Z:-32.00 [[ 7.37876343e-01 6.37428387e-01 2.21863817e-01 1.50205880e+02] [-6.08767569e-01 7.70496895e-01 -1.89041215e-01 -8.02361300e+01] [-2.91445619e-01 4.42554352e-03 9.56577161e-01 -3.20048158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:-80.25, Z:-32.02 [[ 7.38257106e-01 6.37562352e-01 2.20206025e-01 1.50229524e+02] [-6.08263077e-01 7.70365073e-01 -1.91190176e-01 -8.02549228e+01] [-2.91534689e-01 7.20431195e-03 9.56533127e-01 -3.20150413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:-80.28, Z:-32.02 [[ 7.38533879e-01 6.37140403e-01 2.20499018e-01 1.50253515e+02] [-6.07722115e-01 7.70711884e-01 -1.91512460e-01 -8.02755366e+01] [-2.91961540e-01 7.43631082e-03 9.56401150e-01 -3.20248652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:-80.30, Z:-32.03 [[ 7.38873173e-01 6.36707732e-01 2.20612097e-01 1.50276881e+02] [-6.07204907e-01 7.71066743e-01 -1.91724487e-01 -8.02951328e+01] [-2.92179115e-01 7.70333224e-03 9.56332591e-01 -3.20345753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:-80.31, Z:-32.04 [[ 7.39345606e-01 6.36011915e-01 2.21036011e-01 1.50301218e+02] [-6.06330051e-01 7.71636929e-01 -1.92198646e-01 -8.03146567e+01] [-2.92800178e-01 8.08044831e-03 9.56139510e-01 -3.20441679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:-80.33, Z:-32.05 [[ 7.39853938e-01 6.35444116e-01 2.20968157e-01 1.50324630e+02] [-6.05721228e-01 7.72101228e-01 -1.92253706e-01 -8.03339102e+01] [-2.92776272e-01 8.39455777e-03 9.56144124e-01 -3.20535906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:-80.38, Z:-32.03 [[ 7.41385827e-01 6.25452288e-01 2.43221073e-01 1.50340012e+02] [-6.09190839e-01 7.79278256e-01 -1.47009935e-01 -8.03810028e+01] [-2.81484594e-01 -3.91769679e-02 9.58765659e-01 -3.20324695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:-80.35, Z:-32.09 [[ 7.40409512e-01 6.45317055e-01 1.88041626e-01 1.50384933e+02] [-6.05262098e-01 7.61768090e-01 -2.31013353e-01 -8.03508833e+01] [-2.92320967e-01 5.72300149e-02 9.54606295e-01 -3.20852011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:-80.39, Z:-32.08 [[ 7.40338482e-01 6.34549925e-01 2.21912877e-01 1.50395681e+02] [-6.04484090e-01 7.72830615e-01 -1.93214455e-01 -8.03923127e+01] [-2.94105283e-01 8.90129229e-03 9.55731578e-01 -3.20830650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:-80.41, Z:-32.09 [[ 7.40080050e-01 6.34760630e-01 2.22172145e-01 1.50419331e+02] [-6.04595613e-01 7.72657297e-01 -1.93558382e-01 -8.04120337e+01] [-2.94526170e-01 8.92439248e-03 9.55601743e-01 -3.20928689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:-80.43, Z:-32.10 [[ 7.39858340e-01 6.34956072e-01 2.22352026e-01 1.50444237e+02] [-6.04715795e-01 7.72496479e-01 -1.93824658e-01 -8.04312100e+01] [-2.94836301e-01 8.94300778e-03 9.55505928e-01 -3.21030638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:-80.45, Z:-32.11 [[ 7.39810805e-01 6.34991456e-01 2.22409134e-01 1.50467774e+02] [-6.04700181e-01 7.72466412e-01 -1.93993128e-01 -8.04505411e+01] [-2.94987564e-01 9.02736892e-03 9.55458447e-01 -3.21129887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:-80.47, Z:-32.12 [[ 7.39876488e-01 6.34904702e-01 2.22438310e-01 1.50491238e+02] [-6.04579271e-01 7.72536615e-01 -1.94090402e-01 -8.04696781e+01] [-2.95070648e-01 9.12133344e-03 9.55431899e-01 -3.21227549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:-80.49, Z:-32.13 [[ 7.39967847e-01 6.34876524e-01 2.22214725e-01 1.50515125e+02] [-6.04579156e-01 7.72558727e-01 -1.94002726e-01 -8.04893371e+01] [-2.94841701e-01 9.20938848e-03 9.55501731e-01 -3.21326792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:-80.51, Z:-32.14 [[ 7.40309268e-01 6.34510795e-01 2.22122124e-01 1.50539540e+02] [-6.04187628e-01 7.72856299e-01 -1.94037243e-01 -8.05078569e+01] [-2.94787208e-01 9.44412999e-03 9.55516253e-01 -3.21428296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:-80.53, Z:-32.15 [[ 7.40307259e-01 6.34440035e-01 2.22330845e-01 1.50564003e+02] [-6.04022208e-01 7.72912855e-01 -1.94326764e-01 -8.05281836e+01] [-2.95131047e-01 9.56874643e-03 9.55408868e-01 -3.21529100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:-80.55, Z:-32.16 [[ 7.40408345e-01 6.34183980e-01 2.22724409e-01 1.50588847e+02] [-6.03609136e-01 7.73120301e-01 -1.94784524e-01 -8.05480977e+01] [-2.95721987e-01 9.78159920e-03 9.55223967e-01 -3.21632240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:-80.57, Z:-32.17 [[ 7.40831000e-01 6.33461094e-01 2.23375182e-01 1.50613979e+02] [-6.02633957e-01 7.73707334e-01 -1.95471930e-01 -8.05658437e+01] [-2.96650879e-01 1.01981956e-02 9.54931543e-01 -3.21728620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:-80.59, Z:-32.18 [[ 7.41264994e-01 6.32748599e-01 2.23954055e-01 1.50639019e+02] [-6.01691346e-01 7.74284702e-01 -1.96088562e-01 -8.05850842e+01] [-2.97478961e-01 1.06023700e-02 9.54669502e-01 -3.21831715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:-80.61, Z:-32.19 [[ 7.41188962e-01 6.32857939e-01 2.23896741e-01 1.50662973e+02] [-6.01785837e-01 7.74194692e-01 -1.96153983e-01 -8.06061282e+01] [-2.97477274e-01 1.06492797e-02 9.54669505e-01 -3.21933755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:-80.63, Z:-32.20 [[ 7.41584424e-01 6.32168266e-01 2.24534685e-01 1.50687502e+02] [-6.00868031e-01 7.74753047e-01 -1.96762107e-01 -8.06251955e+01] [-2.98345691e-01 1.09999996e-02 9.54394493e-01 -3.22037907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-80.64, Z:-32.21 [[ 7.42139706e-01 6.31454212e-01 2.24709224e-01 1.50712503e+02] [-6.00036426e-01 7.75329518e-01 -1.97028996e-01 -8.06448855e+01] [-2.98638484e-01 1.13893214e-02 9.54298349e-01 -3.22138971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:-80.66, Z:-32.22 [[ 7.42950789e-01 6.30545354e-01 2.24581123e-01 1.50738128e+02] [-5.99087522e-01 7.76062066e-01 -1.97032512e-01 -8.06625227e+01] [-2.98526825e-01 1.18417117e-02 9.54327778e-01 -3.22239243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:-80.68, Z:-32.23 [[ 7.43001525e-01 6.30489677e-01 2.24569591e-01 1.50762752e+02] [-5.98995741e-01 7.76105495e-01 -1.97140465e-01 -8.06811298e+01] [-2.98584722e-01 1.19594371e-02 9.54308198e-01 -3.22341731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:-80.70, Z:-32.24 [[ 7.42700516e-01 6.30851089e-01 2.24550322e-01 1.50789538e+02] [-5.99344504e-01 7.75812633e-01 -1.97233169e-01 -8.06976779e+01] [-2.98633736e-01 1.19021746e-02 9.54293576e-01 -3.22446227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:-80.72, Z:-32.25 [[ 7.42157110e-01 6.31412605e-01 2.24768652e-01 1.50815107e+02] [-5.99831508e-01 7.75357504e-01 -1.97542153e-01 -8.07166172e+01] [-2.99006666e-01 1.17839942e-02 9.54178260e-01 -3.22549403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:-80.74, Z:-32.27 [[ 7.41687077e-01 6.31942477e-01 2.24831016e-01 1.50839535e+02] [-6.00330568e-01 7.74927447e-01 -1.97713585e-01 -8.07351133e+01] [-2.99171338e-01 1.16686792e-02 9.54128059e-01 -3.22650358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:-80.75, Z:-32.28 [[ 7.41530022e-01 6.32053379e-01 2.25037225e-01 1.50864352e+02] [-6.00352848e-01 7.74836162e-01 -1.98003484e-01 -8.07539082e+01] [-2.99515751e-01 1.17237895e-02 9.54019323e-01 -3.22752767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:-80.77, Z:-32.29 [[ 7.41650229e-01 6.31854077e-01 2.25200717e-01 1.50890577e+02] [-6.00061534e-01 7.74995916e-01 -1.98261156e-01 -8.07720984e+01] [-2.99801755e-01 1.19061443e-02 9.53927225e-01 -3.22853627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:-80.79, Z:-32.30 [[ 7.41861243e-01 6.31675443e-01 2.25006736e-01 1.50914857e+02] [-5.99895241e-01 7.75139147e-01 -1.98204446e-01 -8.07913330e+01] [-2.99612411e-01 1.20597272e-02 9.53984783e-01 -3.22955003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:-80.81, Z:-32.31 [[ 7.42137445e-01 6.31443276e-01 2.24747419e-01 1.50939730e+02] [-5.99691931e-01 7.75325603e-01 -1.98090377e-01 -8.08107472e+01] [-2.99335264e-01 1.22310722e-02 9.54069599e-01 -3.23059897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:-80.83, Z:-32.32 [[ 7.42569676e-01 6.31067763e-01 2.24374141e-01 1.50964913e+02] [-5.99371290e-01 7.75627718e-01 -1.97877992e-01 -8.08276767e+01] [-2.98905225e-01 1.24547782e-02 9.54201522e-01 -3.23163124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:-80.85, Z:-32.33 [[ 7.42486994e-01 6.31164502e-01 2.24375654e-01 1.50990051e+02] [-5.99449479e-01 7.75548689e-01 -1.97950887e-01 -8.08468936e+01] [-2.98953818e-01 1.24740903e-02 9.54186047e-01 -3.23269182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:-80.87, Z:-32.34 [[ 7.41889380e-01 6.31834074e-01 2.24467930e-01 1.51014872e+02] [-6.00086197e-01 7.75006025e-01 -1.98146958e-01 -8.08659316e+01] [-2.99159998e-01 1.23030176e-02 9.54123646e-01 -3.23373852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:-80.89, Z:-32.35 [[ 7.40987660e-01 6.32909194e-01 2.24417558e-01 1.51039397e+02] [-6.01187873e-01 7.74133656e-01 -1.98217617e-01 -8.08850607e+01] [-2.99182937e-01 1.19596941e-02 9.54120818e-01 -3.23473286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:-80.90, Z:-32.36 [[ 7.39794098e-01 6.34167679e-01 2.24802243e-01 1.51063979e+02] [-6.02354716e-01 7.73109023e-01 -1.98673690e-01 -8.09039352e+01] [-2.99789075e-01 1.15669321e-02 9.53935384e-01 -3.23575421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:-80.92, Z:-32.37 [[ 7.36668981e-01 6.37662048e-01 2.25179762e-01 1.51089199e+02] [-6.05860588e-01 7.70247880e-01 -1.99125968e-01 -8.09211474e+01] [-3.00419306e-01 1.02623812e-02 9.53752024e-01 -3.23670461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:-80.94, Z:-32.38 [[ 7.34826687e-01 6.39785906e-01 2.25174899e-01 1.51113981e+02] [-6.08048234e-01 7.68494668e-01 -1.99231750e-01 -8.09402383e+01] [-3.00511375e-01 9.48360761e-03 9.53731081e-01 -3.23768771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:-80.96, Z:-32.39 [[ 7.33070866e-01 6.41762750e-01 2.25272455e-01 1.51138880e+02] [-6.10050473e-01 7.66853051e-01 -1.99436252e-01 -8.09590118e+01] [-3.00741627e-01 8.77333796e-03 9.53665299e-01 -3.23869163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:-80.98, Z:-32.40 [[ 7.31255714e-01 6.43745617e-01 2.25514215e-01 1.51163362e+02] [-6.12017898e-01 7.65197076e-01 -1.99768684e-01 -8.09774801e+01] [-3.01163033e-01 8.06325551e-03 9.53538574e-01 -3.23970162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:-81.00, Z:-32.41 [[ 7.29752901e-01 6.45423638e-01 2.25585971e-01 1.51188118e+02] [-6.13718545e-01 7.63788350e-01 -1.99942251e-01 -8.09962989e+01] [-3.01347391e-01 7.46214398e-03 9.53485221e-01 -3.24070150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:-81.01, Z:-32.42 [[ 7.27773886e-01 6.47415152e-01 2.26271501e-01 1.51214541e+02] [-6.15568505e-01 7.62107599e-01 -2.00667447e-01 -8.10141550e+01] [-3.02358376e-01 6.75491783e-03 9.53170385e-01 -3.24175644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-81.03, Z:-32.43 [[ 7.27229660e-01 6.47942377e-01 2.26512024e-01 1.51238643e+02] [-6.16013620e-01 7.61660432e-01 -2.00999022e-01 -8.10335788e+01] [-3.02761030e-01 6.63795804e-03 9.53043386e-01 -3.24273986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.26, Y:-81.05, Z:-32.44 [[ 7.27287072e-01 6.47921121e-01 2.26388464e-01 1.51262735e+02] [-6.15992228e-01 7.61677702e-01 -2.00999140e-01 -8.10533826e+01] [-3.02666633e-01 6.73054197e-03 9.53072720e-01 -3.24373024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.29, Y:-81.07, Z:-32.45 [[ 7.28688877e-01 6.46451392e-01 2.26082107e-01 1.51287205e+02] [-6.14504569e-01 7.62919045e-01 -2.00844880e-01 -8.10731620e+01] [-3.02318797e-01 7.42494202e-03 9.53177956e-01 -3.24479007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:-81.09, Z:-32.46 [[ 7.29939202e-01 6.45200652e-01 2.25621098e-01 1.51311320e+02] [-6.13291699e-01 7.63971072e-01 -2.00552966e-01 -8.10935280e+01] [-3.01764897e-01 8.01992582e-03 9.53348639e-01 -3.24580597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:-81.11, Z:-32.47 [[ 7.31061184e-01 6.43989339e-01 2.25449055e-01 1.51334776e+02] [-6.12036690e-01 7.64986037e-01 -2.00517964e-01 -8.11134781e+01] [-3.01596811e-01 8.60780649e-03 9.53396701e-01 -3.24683905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:-81.13, Z:-32.48 [[ 7.33241221e-01 6.41683674e-01 2.24943048e-01 1.51359053e+02] [-6.09737377e-01 7.66909045e-01 -2.00177044e-01 -8.11340773e+01] [-3.00961199e-01 9.62187639e-03 9.53587844e-01 -3.24787098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:-81.15, Z:-32.49 [[ 7.34237454e-01 6.40646367e-01 2.24649936e-01 1.51382258e+02] [-6.08701117e-01 7.67769283e-01 -2.00033193e-01 -8.11541290e+01] [-3.00629859e-01 1.01271957e-02 9.53687123e-01 -3.24886811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-81.17, Z:-32.50 [[ 7.34837222e-01 6.39972475e-01 2.24609634e-01 1.51405590e+02] [-6.07973903e-01 7.68326244e-01 -2.00106262e-01 -8.11743707e+01] [-3.00635977e-01 1.04887341e-02 9.53681286e-01 -3.24988623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:-81.20, Z:-32.51 [[ 7.35287149e-01 6.39525032e-01 2.24411547e-01 1.51429496e+02] [-6.07527801e-01 7.68695053e-01 -2.00044714e-01 -8.11952610e+01] [-3.00437649e-01 1.07540537e-02 9.53740829e-01 -3.25090394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:-81.22, Z:-32.52 [[ 7.36253572e-01 6.38396701e-01 2.24455630e-01 1.51453818e+02] [-6.06298843e-01 7.69624402e-01 -2.00199884e-01 -8.12155794e+01] [-3.00553475e-01 1.13106909e-02 9.53697896e-01 -3.25197115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:-81.24, Z:-32.53 [[ 7.36500486e-01 6.38005495e-01 2.24757698e-01 1.51477707e+02] [-6.05763783e-01 7.69944691e-01 -2.00587668e-01 -8.12363132e+01] [-3.01027030e-01 1.15828414e-02 9.53545261e-01 -3.25301187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:-81.26, Z:-32.54 [[ 7.36876014e-01 6.37631410e-01 2.24588345e-01 1.51500810e+02] [-6.05385186e-01 7.70250888e-01 -2.00555096e-01 -8.12565489e+01] [-3.00869600e-01 1.18217830e-02 9.53592014e-01 -3.25397781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:-81.28, Z:-32.55 [[ 7.36793398e-01 6.37638450e-01 2.24839267e-01 1.51523936e+02] [-6.05295399e-01 7.70243970e-01 -2.00852448e-01 -8.12760596e+01] [-3.01252333e-01 1.18925844e-02 9.53470292e-01 -3.25492973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.55, Y:-81.30, Z:-32.56 [[ 7.36265601e-01 6.38183787e-01 2.25020930e-01 1.51548392e+02] [-6.05777845e-01 7.69794127e-01 -2.01122364e-01 -8.12965489e+01] [-3.01572822e-01 1.17667839e-02 9.53370534e-01 -3.25593076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:-81.32, Z:-32.57 [[ 7.35320343e-01 6.39196840e-01 2.25236306e-01 1.51571528e+02] [-6.06736021e-01 7.68957797e-01 -2.01433132e-01 -8.13160205e+01] [-3.01952635e-01 1.14588991e-02 9.53254058e-01 -3.25690961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:-81.34, Z:-32.58 [[ 7.34336927e-01 6.40285669e-01 2.25352036e-01 1.51595702e+02] [-6.07805650e-01 7.68056580e-01 -2.01646673e-01 -8.13359737e+01] [-3.02194589e-01 1.11063575e-02 9.53181556e-01 -3.25793506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:-81.36, Z:-32.59 [[ 7.33285285e-01 6.41592895e-01 2.25058320e-01 1.51619275e+02] [-6.09222846e-01 7.66971453e-01 -2.01500158e-01 -8.13555595e+01] [-3.01894377e-01 1.06464302e-02 9.53281930e-01 -3.25889514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:-81.37, Z:-32.60 [[ 7.30708629e-01 6.44519909e-01 2.25075514e-01 1.51644008e+02] [-6.12256971e-01 7.64528536e-01 -2.01587498e-01 -8.13748387e+01] [-3.02003809e-01 9.49767192e-03 9.53259405e-01 -3.25992556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:-81.40, Z:-32.61 [[ 7.29224732e-01 6.46105951e-01 2.25340610e-01 1.51668044e+02] [-6.13802462e-01 7.63195320e-01 -2.01939201e-01 -8.13953951e+01] [-3.02453019e-01 8.94443873e-03 9.53122326e-01 -3.26095038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:-81.42, Z:-32.62 [[ 7.28074509e-01 6.47369816e-01 2.25432542e-01 1.51691502e+02] [-6.15060590e-01 7.62128438e-01 -2.02140336e-01 -8.14155465e+01] [-3.02668103e-01 8.51855368e-03 9.53057949e-01 -3.26193893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:-81.44, Z:-32.63 [[ 7.27129363e-01 6.48442113e-01 2.25401234e-01 1.51714507e+02] [-6.16157173e-01 7.61220236e-01 -2.02222873e-01 -8.14357353e+01] [-3.02709808e-01 8.15960205e-03 9.53047844e-01 -3.26289545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:-81.46, Z:-32.64 [[ 7.26178118e-01 6.49554743e-01 2.25264238e-01 1.51738500e+02] [-6.17327491e-01 7.60275039e-01 -2.02209379e-01 -8.14555670e+01] [-3.02608839e-01 7.77821898e-03 9.53083097e-01 -3.26394720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:-81.48, Z:-32.65 [[ 7.25834687e-01 6.50033744e-01 2.24989198e-01 1.51762016e+02] [-6.17872362e-01 7.59866715e-01 -2.02079983e-01 -8.14760338e+01] [-3.02320610e-01 7.66205429e-03 9.53175504e-01 -3.26492752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.79, Y:-81.50, Z:-32.66 [[ 7.25620453e-01 6.50185452e-01 2.25241727e-01 1.51785608e+02] [-6.17919532e-01 7.59736500e-01 -2.02425055e-01 -8.14966976e+01] [-3.02738187e-01 7.70249763e-03 9.53042634e-01 -3.26596586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:-81.52, Z:-32.67 [[ 7.25642783e-01 6.50126071e-01 2.25341173e-01 1.51809433e+02] [-6.17790874e-01 7.59786069e-01 -2.02631602e-01 -8.15179940e+01] [-3.02947171e-01 7.82443942e-03 9.52975231e-01 -3.26694997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:-81.54, Z:-32.68 [[ 7.25708551e-01 6.49963542e-01 2.25598079e-01 1.51833090e+02] [-6.17507784e-01 7.59923330e-01 -2.02979480e-01 -8.15393982e+01] [-3.03366505e-01 7.99537434e-03 9.52840405e-01 -3.26795221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:-81.56, Z:-32.69 [[ 7.26613569e-01 6.48843064e-01 2.25910158e-01 1.51855691e+02] [-6.16204385e-01 7.60873982e-01 -2.03378808e-01 -8.15603577e+01] [-3.03850090e-01 8.57097139e-03 9.52681301e-01 -3.26895157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-81.58, Z:-32.70 [[ 7.27056781e-01 6.48389045e-01 2.25787696e-01 1.51877829e+02] [-6.15730136e-01 7.61257798e-01 -2.03378871e-01 -8.15808344e+01] [-3.03751276e-01 8.84369851e-03 9.52710319e-01 -3.26994477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:-81.60, Z:-32.71 [[ 7.27439600e-01 6.48004944e-01 2.25657309e-01 1.51900255e+02] [-6.15343512e-01 7.61582281e-01 -2.03334185e-01 -8.16010401e+01] [-3.03618165e-01 9.05657670e-03 9.52750748e-01 -3.27092485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:-81.62, Z:-32.72 [[ 7.27657877e-01 6.47684315e-01 2.25873953e-01 1.51924058e+02] [-6.14920435e-01 7.61852561e-01 -2.03601412e-01 -8.16213013e+01] [-3.03952090e-01 9.25766211e-03 9.52642337e-01 -3.27197880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.736559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:151.95, Y:-81.64, Z:-32.73 [[ 7.27554213e-01 6.47806696e-01 2.25856929e-01 1.51947860e+02] [-6.15015496e-01 7.61747970e-01 -2.03705596e-01 -8.16423720e+01] [-3.04007906e-01 9.30135337e-03 9.52624101e-01 -3.27299163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-81.66, Z:-32.74 [[ 7.27498888e-01 6.47640179e-01 2.26511737e-01 1.51971181e+02] [-6.14607273e-01 7.61887139e-01 -2.04415969e-01 -8.16630151e+01] [-3.04964374e-01 9.49662898e-03 9.52316410e-01 -3.27398333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-81.68, Z:-32.75 [[ 7.27580058e-01 6.47536690e-01 2.26546890e-01 1.51994575e+02] [-6.14450272e-01 7.61973338e-01 -2.04566607e-01 -8.16843101e+01] [-3.05087074e-01 9.63678534e-03 9.52275701e-01 -3.27495954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-81.70, Z:-32.76 [[ 7.28480802e-01 6.47216182e-01 2.24559425e-01 1.52018114e+02] [-6.14670922e-01 7.62243892e-01 -2.02888901e-01 -8.17047016e+01] [-3.02482030e-01 9.77052032e-03 9.53105009e-01 -3.27611473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:-81.72, Z:-32.77 [[ 7.28817309e-01 6.47111798e-01 2.23766957e-01 1.52040627e+02] [-6.14759103e-01 7.62331207e-01 -2.02292798e-01 -8.17246197e+01] [-3.01490591e-01 9.87171874e-03 9.53418047e-01 -3.27710875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:-81.75, Z:-32.78 [[ 7.28790255e-01 6.47042328e-01 2.24055775e-01 1.52063883e+02] [-6.14565101e-01 7.62388444e-01 -2.02666221e-01 -8.17454704e+01] [-3.01951157e-01 1.00043068e-02 9.53270902e-01 -3.27815153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:-81.77, Z:-32.79 [[ 7.29547101e-01 6.45847668e-01 2.25037370e-01 1.52087022e+02] [-6.12985141e-01 7.63392116e-01 -2.03670553e-01 -8.17664196e+01] [-3.03331906e-01 1.06426974e-02 9.52825529e-01 -3.27908994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:-81.79, Z:-32.80 [[ 7.30240160e-01 6.45087352e-01 2.24970259e-01 1.52109464e+02] [-6.12172919e-01 7.64028962e-01 -2.03725460e-01 -8.17868752e+01] [-3.03304511e-01 1.10478123e-02 9.52829638e-01 -3.28003659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-81.81, Z:-32.81 [[ 7.30940981e-01 6.44307590e-01 2.24928903e-01 1.52132694e+02] [-6.11335292e-01 7.64680651e-01 -2.03795642e-01 -8.18080478e+01] [-3.03305859e-01 1.14556096e-02 9.52824394e-01 -3.28104471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-81.83, Z:-32.82 [[ 7.31886729e-01 6.43282711e-01 2.24786942e-01 1.52155476e+02] [-6.10268375e-01 7.65535197e-01 -2.03785113e-01 -8.18287068e+01] [-3.03173756e-01 1.19672585e-02 9.52860146e-01 -3.28203683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:-81.85, Z:-32.83 [[ 7.34285721e-01 6.40566069e-01 2.24721142e-01 1.52178999e+02] [-6.07423918e-01 7.67790538e-01 -2.03798613e-01 -8.18495060e+01] [-3.03085243e-01 1.31454147e-02 9.52872779e-01 -3.28308456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:152.20, Y:-81.87, Z:-32.84 [[ 7.35422847e-01 6.39240203e-01 2.24778111e-01 1.52201909e+02] [-6.05982017e-01 7.68883416e-01 -2.03970802e-01 -8.18703628e+01] [-3.03214498e-01 1.37932950e-02 9.52822498e-01 -3.28409395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.096559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:152.23, Y:-81.89, Z:-32.85 [[ 7.35300877e-01 6.39401483e-01 2.24718408e-01 1.52225499e+02] [-6.06130613e-01 7.68748830e-01 -2.04036558e-01 -8.18918206e+01] [-3.03213291e-01 1.38195540e-02 9.52822502e-01 -3.28511374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-81.91, Z:-32.86 [[ 7.36603132e-01 6.37828125e-01 2.24924674e-01 1.52247632e+02] [-6.04396526e-01 7.70041298e-01 -2.04306724e-01 -8.19122766e+01] [-3.03513863e-01 1.45492815e-02 9.52715935e-01 -3.28606487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:-81.93, Z:-32.87 [[ 7.39693235e-01 6.34123261e-01 2.25258981e-01 1.52270604e+02] [-6.00397704e-01 7.73063107e-01 -2.04685195e-01 -8.19333466e+01] [-3.03935051e-01 1.61592790e-02 9.52555701e-01 -3.28706163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:-81.95, Z:-32.88 [[ 7.41160053e-01 6.32370791e-01 2.25364058e-01 1.52294423e+02] [-5.98497521e-01 7.74479737e-01 -2.04894738e-01 -8.19545354e+01] [-3.04109344e-01 1.69799647e-02 9.52485794e-01 -3.28804162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:-81.98, Z:-32.89 [[ 7.42381902e-01 6.30822356e-01 2.25681782e-01 1.52317905e+02] [-5.96743092e-01 7.75724490e-01 -2.05302697e-01 -8.19754129e+01] [-3.04576416e-01 1.77389619e-02 9.52322706e-01 -3.28905932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.34, Y:-82.00, Z:-32.90 [[ 7.43309713e-01 6.29677679e-01 2.25824472e-01 1.52340950e+02] [-5.95464338e-01 7.76640488e-01 -2.05552363e-01 -8.19953971e+01] [-3.04816163e-01 1.83186481e-02 9.52235020e-01 -3.29003864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:-82.02, Z:-32.91 [[ 7.43928997e-01 6.28717523e-01 2.26459541e-01 1.52365841e+02] [-5.94226795e-01 7.77404991e-01 -2.06242565e-01 -8.20152704e+01] [-3.05719092e-01 1.88614967e-02 9.51934914e-01 -3.29102910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:-82.03, Z:-32.92 [[ 7.43473113e-01 6.29133479e-01 2.26801227e-01 1.52388847e+02] [-5.94515344e-01 7.77069397e-01 -2.06675247e-01 -8.20346128e+01] [-3.06266610e-01 1.88206793e-02 9.51759710e-01 -3.29200376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:-82.05, Z:-32.93 [[ 7.42718396e-01 6.30026942e-01 2.26793819e-01 1.52413040e+02] [-5.95415197e-01 7.76351838e-01 -2.06781448e-01 -8.20548405e+01] [-3.06349682e-01 1.85438994e-02 9.51738408e-01 -3.29301523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:-82.07, Z:-32.94 [[ 7.41662710e-01 6.31373202e-01 2.26504534e-01 1.52437108e+02] [-5.96875029e-01 7.75268818e-01 -2.06636059e-01 -8.20746665e+01] [-3.06066372e-01 1.80593588e-02 9.51838870e-01 -3.29402229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:-82.09, Z:-32.95 [[ 7.38848686e-01 6.34837408e-01 2.26017885e-01 1.52463323e+02] [-6.00609401e-01 7.72465559e-01 -2.06313614e-01 -8.20925723e+01] [-3.05566632e-01 1.66860759e-02 9.52024479e-01 -3.29511394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:-82.11, Z:-32.96 [[ 7.37077279e-01 6.37025602e-01 2.25644560e-01 1.52487825e+02] [-6.02974404e-01 7.70679690e-01 -2.06093871e-01 -8.21112640e+01] [-3.05186751e-01 1.58492157e-02 9.52160622e-01 -3.29610470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-82.13, Z:-32.97 [[ 7.34716893e-01 6.39771332e-01 2.25574223e-01 1.52512855e+02] [-6.05831360e-01 7.68422873e-01 -2.06142309e-01 -8.21305371e+01] [-3.05220332e-01 1.47962985e-02 9.52166802e-01 -3.29715825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:-82.15, Z:-32.98 [[ 7.32190756e-01 6.42720019e-01 2.25405577e-01 1.52537442e+02] [-6.08929319e-01 7.65979461e-01 -2.06108102e-01 -8.21491406e+01] [-3.05125846e-01 1.36543828e-02 9.52214144e-01 -3.29816237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-82.17, Z:-32.99 [[ 7.27113185e-01 6.48636794e-01 2.24892700e-01 1.52564515e+02] [-6.15242053e-01 7.61015087e-01 -2.05750466e-01 -8.21654679e+01] [-3.04604060e-01 1.12404301e-02 9.52412736e-01 -3.29920986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-82.18, Z:-33.00 [[ 7.24567402e-01 6.51459853e-01 2.24949194e-01 1.52589648e+02] [-6.18142298e-01 7.58615178e-01 -2.05920158e-01 -8.21844714e+01] [-3.04798589e-01 1.01524228e-02 9.52362719e-01 -3.30025409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:-82.20, Z:-33.01 [[ 7.22397885e-01 6.53940458e-01 2.24729110e-01 1.52614214e+02] [-6.20768484e-01 7.56490176e-01 -2.05837564e-01 -8.22033299e+01] [-3.04610874e-01 9.19187202e-03 9.52432530e-01 -3.30123489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.64, Y:-82.22, Z:-33.02 [[ 7.20776092e-01 6.55681225e-01 2.24864305e-01 1.52639017e+02] [-6.22515160e-01 7.54989415e-01 -2.06072459e-01 -8.22231273e+01] [-3.04888012e-01 8.55066264e-03 9.52349824e-01 -3.30227712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:-82.24, Z:-33.03 [[ 7.19550357e-01 6.57004821e-01 2.24926539e-01 1.52663921e+02] [-6.23844940e-01 7.53843003e-01 -2.06247951e-01 -8.22414995e+01] [-3.05065196e-01 8.08650357e-03 9.52297136e-01 -3.30327761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:-82.26, Z:-33.04 [[ 7.19700138e-01 6.56855892e-01 2.24882298e-01 1.52688378e+02] [-6.23666983e-01 7.53971166e-01 -2.06317656e-01 -8.22618156e+01] [-3.05075737e-01 8.23518125e-03 9.52292485e-01 -3.30432580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:-82.28, Z:-33.05 [[ 7.21409158e-01 6.54983862e-01 2.24866552e-01 1.52712368e+02] [-6.21672581e-01 7.55587807e-01 -2.06422549e-01 -8.22806095e+01] [-3.05109863e-01 9.12174695e-03 9.52273472e-01 -3.30537840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:-82.30, Z:-33.06 [[ 7.24028818e-01 6.52225833e-01 2.24463211e-01 1.52736319e+02] [-6.18883719e-01 7.57954393e-01 -2.06126372e-01 -8.22990888e+01] [-3.04573821e-01 1.03248064e-02 9.52432772e-01 -3.30638362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:-82.32, Z:-33.07 [[ 7.28636707e-01 6.46994528e-01 2.24692299e-01 1.52761859e+02] [-6.13303255e-01 7.62390195e-01 -2.06446865e-01 -8.23177024e+01] [-3.04873198e-01 1.26202453e-02 9.52309331e-01 -3.30742147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:-82.34, Z:-33.08 [[ 7.30916955e-01 6.44411971e-01 2.24707847e-01 1.52786062e+02] [-6.10559083e-01 7.64554072e-01 -2.06578503e-01 -8.23378089e+01] [-3.04922960e-01 1.37943131e-02 9.52277116e-01 -3.30842113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:-82.36, Z:-33.09 [[ 7.30796433e-01 6.44569275e-01 2.24648668e-01 1.52809516e+02] [-6.10703921e-01 7.64420995e-01 -2.06642841e-01 -8.23594306e+01] [-3.04921784e-01 1.38200288e-02 9.52277120e-01 -3.30944079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:-82.38, Z:-33.10 [[ 7.30675587e-01 6.44720509e-01 2.24607773e-01 1.52832958e+02] [-6.10848505e-01 7.64293446e-01 -2.06687282e-01 -8.23810674e+01] [-3.04921779e-01 1.38200286e-02 9.52277121e-01 -3.31046016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:-82.40, Z:-33.11 [[ 7.30554712e-01 6.44871719e-01 2.24566870e-01 1.52856396e+02] [-6.10993064e-01 7.64165868e-01 -2.06731715e-01 -8.24027088e+01] [-3.04921773e-01 1.38200283e-02 9.52277123e-01 -3.31147953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:-82.42, Z:-33.13 [[ 7.31335132e-01 6.43873937e-01 2.24889479e-01 1.52880170e+02] [-6.09822745e-01 7.64997482e-01 -2.07111256e-01 -8.24230810e+01] [-3.05393425e-01 1.43250181e-02 9.52118506e-01 -3.31252175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:-82.44, Z:-33.13 [[ 7.31916734e-01 6.43200994e-01 2.24923044e-01 1.52903653e+02] [-6.09069232e-01 7.65556139e-01 -2.07264248e-01 -8.24426509e+01] [-3.05503788e-01 1.47064658e-02 9.52077285e-01 -3.31347379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:-82.46, Z:-33.15 [[ 7.32704735e-01 6.42233612e-01 2.25121652e-01 1.52928733e+02] [-6.07958695e-01 7.66357907e-01 -2.07561518e-01 -8.24610529e+01] [-3.05826742e-01 1.52166409e-02 9.51965576e-01 -3.31450026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-82.48, Z:-33.15 [[ 7.32963902e-01 6.41921672e-01 2.25167682e-01 1.52952080e+02] [-6.07578656e-01 7.66614570e-01 -2.07726452e-01 -8.24803472e+01] [-3.05960937e-01 1.54489136e-02 9.51918713e-01 -3.31548183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:-82.50, Z:-33.16 [[ 7.33392333e-01 6.41581150e-01 2.24742771e-01 1.52976217e+02] [-6.07319213e-01 7.66895495e-01 -2.07448002e-01 -8.25004598e+01] [-3.05448946e-01 1.56501719e-02 9.52079836e-01 -3.31649448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-82.52, Z:-33.18 [[ 7.33917147e-01 6.41031339e-01 2.24598407e-01 1.53000261e+02] [-6.06750891e-01 7.67348642e-01 -2.07435333e-01 -8.25204784e+01] [-3.05317831e-01 1.59650641e-02 9.52116662e-01 -3.31751156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:-82.54, Z:-33.19 [[ 7.34450355e-01 6.40385938e-01 2.24696519e-01 1.53023257e+02] [-6.06006586e-01 7.67879484e-01 -2.07646615e-01 -8.25399906e+01] [-3.05513819e-01 1.63385595e-02 9.52047456e-01 -3.31853340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:-82.56, Z:-33.20 [[ 7.36323052e-01 6.38360029e-01 2.24331978e-01 1.53047274e+02] [-6.03967729e-01 7.69544836e-01 -2.07421619e-01 -8.25598494e+01] [-3.05043186e-01 1.72400441e-02 9.52182459e-01 -3.31959087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:-82.58, Z:-33.21 [[ 7.37372349e-01 6.37185906e-01 2.24223416e-01 1.53071132e+02] [-6.02736885e-01 7.70504264e-01 -2.07440177e-01 -8.25808728e+01] [-3.04943055e-01 1.78129274e-02 9.52203987e-01 -3.32064507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:-82.60, Z:-33.22 [[ 7.38629880e-01 6.35780161e-01 2.24074738e-01 1.53095160e+02] [-6.01277039e-01 7.71649010e-01 -2.07421617e-01 -8.26017511e+01] [-3.04781599e-01 1.84768093e-02 9.52243028e-01 -3.32168005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:-82.62, Z:-33.23 [[ 7.39601519e-01 6.34627081e-01 2.24138488e-01 1.53118344e+02] [-6.00013688e-01 7.72583548e-01 -2.07601144e-01 -8.26216698e+01] [-3.04915016e-01 1.90559606e-02 9.52188901e-01 -3.32265063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-82.64, Z:-33.24 [[ 7.41507072e-01 6.32444243e-01 2.24012369e-01 1.53142647e+02] [-5.97738021e-01 7.74346780e-01 -2.07596541e-01 -8.26399858e+01] [-3.04756494e-01 2.00335935e-02 9.52219583e-01 -3.32361167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:-82.66, Z:-33.25 [[ 7.41913323e-01 6.31914618e-01 2.24161855e-01 1.53166511e+02] [-5.97113513e-01 7.74771420e-01 -2.07809286e-01 -8.26597978e+01] [-3.04991925e-01 2.03264050e-02 9.52137996e-01 -3.32460293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:-82.68, Z:-33.26 [[ 7.42053431e-01 6.31742255e-01 2.24183918e-01 1.53191089e+02] [-5.96887014e-01 7.74907405e-01 -2.07952896e-01 -8.26802844e+01] [-3.05094409e-01 2.04996906e-02 9.52101446e-01 -3.32560165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:-82.70, Z:-33.27 [[ 7.41694882e-01 6.32016547e-01 2.24596944e-01 1.53215125e+02] [-5.97001148e-01 7.74682909e-01 -2.08461077e-01 -8.27007469e+01] [-3.05742263e-01 2.05298805e-02 9.51892952e-01 -3.32659844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:-82.72, Z:-33.28 [[ 7.40478395e-01 6.33409673e-01 2.24686301e-01 1.53239135e+02] [-5.98387822e-01 7.73556457e-01 -2.08668212e-01 -8.27191418e+01] [-3.05980002e-01 2.00647565e-02 9.51826478e-01 -3.32753234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:-82.74, Z:-33.29 [[ 7.39554206e-01 6.34490119e-01 2.24681697e-01 1.53263107e+02] [-5.99480841e-01 7.72679586e-01 -2.08779735e-01 -8.27391561e+01] [-3.06075639e-01 1.97115584e-02 9.51803109e-01 -3.32855456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:-82.76, Z:-33.30 [[ 7.38578169e-01 6.35796164e-01 2.24199748e-01 1.53287329e+02] [-6.00960476e-01 7.71617572e-01 -2.08453423e-01 -8.27594445e+01] [-3.05530351e-01 1.92239602e-02 9.51988258e-01 -3.32955996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:-82.78, Z:-33.31 [[ 7.37130686e-01 6.37456254e-01 2.24249585e-01 1.53311296e+02] [-6.02639467e-01 7.70261021e-01 -2.08623183e-01 -8.27795781e+01] [-3.05718867e-01 1.86408999e-02 9.51939332e-01 -3.33062384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:-82.80, Z:-33.32 [[ 7.35294021e-01 6.39747994e-01 2.23752557e-01 1.53337428e+02] [-6.05153398e-01 7.68379879e-01 -2.08282804e-01 -8.27974789e+01] [-3.05175469e-01 1.77444808e-02 9.52130803e-01 -3.33168190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:-82.82, Z:-33.33 [[ 7.34671652e-01 6.40612476e-01 2.23323129e-01 1.53362375e+02] [-6.06154056e-01 7.67666111e-01 -2.08004815e-01 -8.28173465e+01] [-3.04688077e-01 1.74470204e-02 9.52292380e-01 -3.33269907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-82.84, Z:-33.34 [[ 7.33997308e-01 6.41389851e-01 2.23309227e-01 1.53386298e+02] [-6.06932024e-01 7.67021838e-01 -2.08112991e-01 -8.28370754e+01] [-3.04764614e-01 1.72208542e-02 9.52272005e-01 -3.33369476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-82.86, Z:-33.35 [[ 7.33109652e-01 6.42320660e-01 2.23549565e-01 1.53411656e+02] [-6.07789867e-01 7.66248540e-01 -2.08457796e-01 -8.28556450e+01] [-3.05191277e-01 1.69512617e-02 9.52140189e-01 -3.33468591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:-82.88, Z:-33.36 [[ 7.32665617e-01 6.42862475e-01 2.23447831e-01 1.53435917e+02] [-6.08349880e-01 7.65797052e-01 -2.08483331e-01 -8.28758471e+01] [-3.05141800e-01 1.68141076e-02 9.52158478e-01 -3.33567412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:-82.90, Z:-33.37 [[ 7.32238276e-01 6.43267817e-01 2.23681967e-01 1.53460152e+02] [-6.08660569e-01 7.65457756e-01 -2.08822260e-01 -8.28956822e+01] [-3.05547736e-01 1.67612590e-02 9.52029223e-01 -3.33668001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:-82.92, Z:-33.38 [[ 7.31898486e-01 6.43772659e-01 2.23341376e-01 1.53483913e+02] [-6.09257247e-01 7.65036273e-01 -2.08626722e-01 -8.29150794e+01] [-3.05172433e-01 1.66212299e-02 9.52152047e-01 -3.33765467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:-82.93, Z:-33.39 [[ 7.31606394e-01 6.44319204e-01 2.22721457e-01 1.53509805e+02] [-6.09988660e-01 7.64580059e-01 -2.08161399e-01 -8.29334712e+01] [-3.04410772e-01 1.64346475e-02 9.52399068e-01 -3.33865225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:-82.95, Z:-33.40 [[ 7.31106283e-01 6.44942149e-01 2.22560614e-01 1.53533976e+02] [-6.10653268e-01 7.64058478e-01 -2.08127914e-01 -8.29533894e+01] [-3.04279788e-01 1.62562590e-02 9.52443985e-01 -3.33965356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:-82.97, Z:-33.41 [[ 7.30716505e-01 6.45521300e-01 2.22161292e-01 1.53557136e+02] [-6.11345995e-01 7.63572952e-01 -2.07875976e-01 -8.29726301e+01] [-3.03824724e-01 1.60809902e-02 9.52592221e-01 -3.34066986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:-82.99, Z:-33.42 [[ 7.30408187e-01 6.46057672e-01 2.21615353e-01 1.53581418e+02] [-6.12042828e-01 7.63122861e-01 -2.07477894e-01 -8.29927763e+01] [-3.03162427e-01 1.59054648e-02 9.52806150e-01 -3.34167857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:-83.01, Z:-33.43 [[ 7.29007881e-01 6.47873195e-01 2.20924948e-01 1.53606560e+02] [-6.14117851e-01 7.61596595e-01 -2.06953839e-01 -8.30113638e+01] [-3.02335533e-01 1.51970252e-02 9.53080414e-01 -3.34273186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:-83.03, Z:-33.44 [[ 7.29137486e-01 6.48254314e-01 2.19373815e-01 1.53631320e+02] [-6.13948659e-01 7.61220891e-01 -2.08829597e-01 -8.30264891e+01] [-3.02366618e-01 1.75812274e-02 9.53029553e-01 -3.34374262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:-83.05, Z:-33.45 [[ 7.26648462e-01 6.49594273e-01 2.23627579e-01 1.53652250e+02] [-6.17058148e-01 7.60219279e-01 -2.03238507e-01 -8.30515741e+01] [-3.02028567e-01 9.69172815e-03 9.53249608e-01 -3.34462436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:-83.07, Z:-33.46 [[ 7.25271820e-01 6.52290449e-01 2.20222516e-01 1.53678244e+02] [-6.18881957e-01 7.57849048e-01 -2.06518628e-01 -8.30697551e+01] [-3.01605553e-01 1.34903997e-02 9.53337348e-01 -3.34564002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:-83.09, Z:-33.47 [[ 7.23961518e-01 6.53973200e-01 2.19542193e-01 1.53702437e+02] [-6.20813385e-01 7.56408703e-01 -2.06001490e-01 -8.30899530e+01] [-3.00783079e-01 1.28424193e-02 9.53606109e-01 -3.34661025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:-83.11, Z:-33.48 [[ 7.23881263e-01 6.54082551e-01 2.19481055e-01 1.53725678e+02] [-6.20907959e-01 7.56313333e-01 -2.06066610e-01 -8.31118245e+01] [-3.00781022e-01 1.28902245e-02 9.53606113e-01 -3.34762967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-83.13, Z:-33.49 [[ 7.21451740e-01 6.57002023e-01 2.18759524e-01 1.53750345e+02] [-6.24164816e-01 7.53798419e-01 -2.05441541e-01 -8.31301789e+01] [-2.99876091e-01 1.16741592e-02 9.53906727e-01 -3.34852948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:-83.15, Z:-33.49 [[ 7.20489987e-01 6.58142959e-01 2.18499484e-01 1.53774273e+02] [-6.25398904e-01 7.52808473e-01 -2.05318324e-01 -8.31504113e+01] [-2.99617073e-01 1.12804590e-02 9.53992852e-01 -3.34947898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:-83.17, Z:-33.50 [[ 7.19793668e-01 6.58927330e-01 2.18430422e-01 1.53797611e+02] [-6.26200835e-01 7.52125467e-01 -2.05377205e-01 -8.31702793e+01] [-2.99615737e-01 1.10478989e-02 9.53995993e-01 -3.35041239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:-83.19, Z:-33.51 [[ 7.19805201e-01 6.58921249e-01 2.18410759e-01 1.53821979e+02] [-6.26164416e-01 7.52129436e-01 -2.05473685e-01 -8.31901047e+01] [-2.99664138e-01 1.11399815e-02 9.53979719e-01 -3.35135366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.85, Y:-83.21, Z:-33.52 [[ 7.20023540e-01 6.58711129e-01 2.18324875e-01 1.53845099e+02] [-6.25933227e-01 7.52310805e-01 -2.05514105e-01 -8.32106829e+01] [-2.99622591e-01 1.13182001e-02 9.53990672e-01 -3.35233268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:-83.23, Z:-33.53 [[ 7.20241266e-01 6.58524678e-01 2.18169126e-01 1.53868403e+02] [-6.25763200e-01 7.52472098e-01 -2.05441380e-01 -8.32316214e+01] [-2.99454399e-01 1.14451489e-02 9.54041965e-01 -3.35332931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:-83.25, Z:-33.54 [[ 7.20595643e-01 6.58107841e-01 2.18256706e-01 1.53891716e+02] [-6.25262156e-01 7.52832453e-01 -2.05646626e-01 -8.32525623e+01] [-2.99648388e-01 1.17204039e-02 9.53977712e-01 -3.35435476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:-83.27, Z:-33.55 [[ 7.20821407e-01 6.57904566e-01 2.18124003e-01 1.53915198e+02] [-6.25074311e-01 7.53008256e-01 -2.05574006e-01 -8.32736276e+01] [-2.99497253e-01 1.18384335e-02 9.54023714e-01 -3.35534643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:-83.29, Z:-33.56 [[ 7.21308813e-01 6.57292340e-01 2.18358368e-01 1.53939274e+02] [-6.24323580e-01 7.53536885e-01 -2.05918018e-01 -8.32936708e+01] [-2.99889420e-01 1.22042031e-02 9.53895903e-01 -3.35634138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-83.31, Z:-33.57 [[ 7.21444588e-01 6.57236271e-01 2.18078406e-01 1.53962598e+02] [-6.24313461e-01 7.53584125e-01 -2.05775774e-01 -8.33144236e+01] [-2.99583727e-01 1.23065342e-02 9.53990639e-01 -3.35732369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:-83.34, Z:-33.58 [[ 7.21464284e-01 6.57338622e-01 2.17704441e-01 1.53985883e+02] [-6.24497829e-01 7.53494343e-01 -2.05544976e-01 -8.33352871e+01] [-2.99151715e-01 1.23374080e-02 9.54125799e-01 -3.35829619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:-83.36, Z:-33.59 [[ 7.21439087e-01 6.57530412e-01 2.17208198e-01 1.54009688e+02] [-6.24813322e-01 7.53327210e-01 -2.05198507e-01 -8.33564068e+01] [-2.98553105e-01 1.23236478e-02 9.54313455e-01 -3.35929898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:-83.38, Z:-33.60 [[ 7.21083180e-01 6.57983102e-01 2.17019089e-01 1.54033408e+02] [-6.25306653e-01 7.52933536e-01 -2.05140636e-01 -8.33776214e+01] [-2.98380022e-01 1.22199822e-02 9.54368920e-01 -3.36033823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:-83.40, Z:-33.61 [[ 7.20604014e-01 6.58630919e-01 2.16645260e-01 1.54057192e+02] [-6.26060652e-01 7.52370071e-01 -2.04908117e-01 -8.33977596e+01] [-2.97956231e-01 1.20245390e-02 9.54503795e-01 -3.36131168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:-83.42, Z:-33.62 [[ 7.19950984e-01 6.59407167e-01 2.16455004e-01 1.54080305e+02] [-6.26892241e-01 7.51693594e-01 -2.04848381e-01 -8.34186625e+01] [-2.97786330e-01 1.17868311e-02 9.54559779e-01 -3.36227526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:-83.44, Z:-33.63 [[ 7.19381157e-01 6.60072100e-01 2.16322845e-01 1.54103436e+02] [-6.27588982e-01 7.51112677e-01 -2.04845836e-01 -8.34389376e+01] [-2.97695853e-01 1.16004001e-02 9.54590284e-01 -3.36325041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:-83.46, Z:-33.64 [[ 7.18354504e-01 6.61165275e-01 2.16396132e-01 1.54126685e+02] [-6.28672403e-01 7.50156059e-01 -2.05029013e-01 -8.34597845e+01] [-2.97888933e-01 1.12412385e-02 9.54534346e-01 -3.36426090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-83.48, Z:-33.65 [[ 7.16420092e-01 6.63387317e-01 2.16008145e-01 1.54150260e+02] [-6.31074897e-01 7.48204035e-01 -2.04780848e-01 -8.34811926e+01] [-2.97467183e-01 1.03917964e-02 9.54675487e-01 -3.36527963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:-83.50, Z:-33.66 [[ 7.15440624e-01 6.64453547e-01 2.15977309e-01 1.54172453e+02] [-6.32159368e-01 7.47262069e-01 -2.04875410e-01 -8.35015497e+01] [-2.97521844e-01 1.00441121e-02 9.54662175e-01 -3.36626358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:-83.52, Z:-33.67 [[ 7.14292198e-01 6.65761221e-01 2.15751370e-01 1.54194883e+02] [-6.33558546e-01 7.46103371e-01 -2.04776288e-01 -8.35224641e+01] [-2.97304936e-01 9.57898009e-03 9.54734528e-01 -3.36721545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:-83.54, Z:-33.68 [[ 7.12412709e-01 6.67885411e-01 2.15400115e-01 1.54218493e+02] [-6.35849497e-01 7.44212489e-01 -2.04556075e-01 -8.35434985e+01] [-2.96923474e-01 8.76629246e-03 9.54861038e-01 -3.36819161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:-83.56, Z:-33.69 [[ 7.11446217e-01 6.69003661e-01 2.15124111e-01 1.54241377e+02] [-6.37063592e-01 7.43211824e-01 -2.04416642e-01 -8.35645499e+01] [-2.96638265e-01 8.38370776e-03 9.54953116e-01 -3.36916824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:-83.58, Z:-33.70 [[ 7.11568031e-01 6.68554549e-01 2.16115137e-01 1.54263306e+02] [-6.37568776e-01 7.43643406e-01 -2.01247462e-01 -8.35849465e+01] [-2.95257503e-01 5.41299686e-03 9.55402379e-01 -3.37001469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:-83.61, Z:-33.71 [[ 7.10146532e-01 6.71060000e-01 2.13003240e-01 1.54286910e+02] [-6.38958521e-01 7.41339697e-01 -2.05298468e-01 -8.36056056e+01] [-2.95675348e-01 9.69176001e-03 9.55239320e-01 -3.37109056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:-83.63, Z:-33.72 [[ 7.09934680e-01 6.70878075e-01 2.14278696e-01 1.54308699e+02] [-6.39192714e-01 7.41526833e-01 -2.03888768e-01 -8.36283807e+01] [-2.95677907e-01 7.78232601e-03 9.55255992e-01 -3.37204324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-83.65, Z:-33.73 [[ 7.10308067e-01 6.71633003e-01 2.10645576e-01 1.54331786e+02] [-6.39228185e-01 7.40786926e-01 -2.06451104e-01 -8.36480315e+01] [-2.94702864e-01 1.19932949e-02 9.55513675e-01 -3.37298123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:-83.67, Z:-33.74 [[ 7.11381251e-01 6.68397092e-01 2.17214279e-01 1.54351597e+02] [-6.36598598e-01 7.43774324e-01 -2.03818500e-01 -8.36707779e+01] [-2.97790097e-01 6.71435419e-03 9.54607760e-01 -3.37398321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:-83.69, Z:-33.75 [[ 7.10900320e-01 6.68565620e-01 2.18267604e-01 1.54372772e+02] [-6.37112977e-01 7.43636022e-01 -2.02712903e-01 -8.36946755e+01] [-2.97838530e-01 5.04754454e-03 9.54602919e-01 -3.37480989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:-83.72, Z:-33.76 [[ 7.10765833e-01 6.69521867e-01 2.15760054e-01 1.54396420e+02] [-6.37202599e-01 7.42741226e-01 -2.05689863e-01 -8.37151538e+01] [-2.97967748e-01 8.71445929e-03 9.54536159e-01 -3.37578092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:-83.74, Z:-33.77 [[ 7.10342625e-01 6.69914012e-01 2.15936501e-01 1.54418374e+02] [-6.37519384e-01 7.42388254e-01 -2.05982319e-01 -8.37364057e+01] [-2.98299163e-01 8.65431576e-03 9.54433189e-01 -3.37675750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-83.76, Z:-33.78 [[ 7.08678750e-01 6.71668215e-01 2.15954251e-01 1.54440881e+02] [-6.39323814e-01 7.40809145e-01 -2.06074919e-01 -8.37580756e+01] [-2.98394857e-01 7.97622024e-03 9.54409183e-01 -3.37773329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:-83.78, Z:-33.79 [[ 7.07360314e-01 6.73173728e-01 2.15588772e-01 1.54463348e+02] [-6.40970949e-01 7.39447102e-01 -2.05850007e-01 -8.37800269e+01] [-2.97989309e-01 7.42398540e-03 9.54540338e-01 -3.37873207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-83.80, Z:-33.80 [[ 7.05804859e-01 6.74853855e-01 2.15433924e-01 1.54486153e+02] [-6.42736530e-01 7.37920029e-01 -2.05824644e-01 -8.38024285e+01] [-2.97874562e-01 6.80478163e-03 9.54580767e-01 -3.37973928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:-83.82, Z:-33.81 [[ 7.03913936e-01 6.76889866e-01 2.15233081e-01 1.54507475e+02] [-6.44888400e-01 7.36059587e-01 -2.05755281e-01 -8.38236453e+01] [-2.97698038e-01 6.03269249e-03 9.54641024e-01 -3.38070112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:-83.85, Z:-33.82 [[ 6.99436970e-01 6.81589428e-01 2.14997155e-01 1.54529245e+02] [-6.49839931e-01 7.31723220e-01 -2.05643366e-01 -8.38463768e+01] [-2.97482755e-01 4.12083655e-03 9.54718298e-01 -3.38167784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-83.87, Z:-33.83 [[ 6.96695127e-01 6.84384149e-01 2.15021479e-01 1.54551626e+02] [-6.52719314e-01 7.29115357e-01 -2.05787012e-01 -8.38689044e+01] [-2.97612832e-01 3.02213618e-03 9.54681868e-01 -3.38266309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:-83.89, Z:-33.84 [[ 6.93836923e-01 6.87201179e-01 2.15278574e-01 1.54573547e+02] [-6.55551994e-01 7.26464645e-01 -2.06156986e-01 -8.38904977e+01] [-2.98063597e-01 1.91303024e-03 9.54544097e-01 -3.38361492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:-83.91, Z:-33.84 [[ 6.88460786e-01 6.92431591e-01 2.15778215e-01 1.54592757e+02] [-6.60843838e-01 7.21483491e-01 -2.06753462e-01 -8.39100550e+01] [-2.98843049e-01 -2.54052937e-04 9.54302241e-01 -3.38448937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:-83.93, Z:-33.86 [[ 6.85751456e-01 6.95120445e-01 2.15760302e-01 1.54614905e+02] [-6.63675381e-01 7.18891847e-01 -2.06711155e-01 -8.39330706e+01] [-2.98797472e-01 -1.44232472e-03 9.54315456e-01 -3.38550997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-83.95, Z:-33.86 [[ 6.83572934e-01 6.97325704e-01 2.15557198e-01 1.54634826e+02] [-6.66009006e-01 7.16750676e-01 -2.06640927e-01 -8.39542960e+01] [-2.98596797e-01 -2.30889055e-03 9.54376562e-01 -3.38645177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-83.98, Z:-33.87 [[ 6.81444383e-01 6.99402331e-01 2.15568857e-01 1.54655281e+02] [-6.68181450e-01 7.14720963e-01 -2.06657918e-01 -8.39765246e+01] [-2.98608610e-01 -3.21323386e-03 9.54370249e-01 -3.38743987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-84.00, Z:-33.88 [[ 6.79651156e-01 7.01215225e-01 2.15340463e-01 1.54675920e+02] [-6.70116901e-01 7.12938857e-01 -2.06546666e-01 -8.39985950e+01] [-2.98358250e-01 -3.92360320e-03 9.54445892e-01 -3.38845156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:-84.02, Z:-33.89 [[ 6.78199659e-01 7.02681249e-01 2.15137829e-01 1.54696809e+02] [-6.71710428e-01 7.11490218e-01 -2.06365623e-01 -8.40214093e+01] [-2.98077715e-01 -4.55322821e-03 9.54530745e-01 -3.38949145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:-84.05, Z:-33.91 [[ 6.76085771e-01 7.04819726e-01 2.14795681e-01 1.54715881e+02] [-6.74021763e-01 7.09365857e-01 -2.06142534e-01 -8.40462650e+01] [-2.97662046e-01 -5.40692940e-03 9.54655996e-01 -3.39053871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-84.07, Z:-33.92 [[ 6.75502045e-01 7.05405859e-01 2.14708084e-01 1.54736984e+02] [-6.74624766e-01 7.08781713e-01 -2.06179311e-01 -8.40702369e+01] [-2.97621257e-01 -5.57284483e-03 9.54667759e-01 -3.39154229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:-84.09, Z:-33.93 [[ 6.75513146e-01 7.05517231e-01 2.14306852e-01 1.54757627e+02] [-6.74821715e-01 7.08671260e-01 -2.05914299e-01 -8.40941776e+01] [-2.97149193e-01 -5.52110174e-03 9.54815100e-01 -3.39250733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:-84.12, Z:-33.93 [[ 6.76666569e-01 7.04341317e-01 2.14535926e-01 1.54775418e+02] [-6.73483230e-01 7.09844420e-01 -2.06255278e-01 -8.41209741e+01] [-2.97561244e-01 -4.92029685e-03 9.54690053e-01 -3.39348704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-84.15, Z:-33.94 [[ 6.77403288e-01 7.03503613e-01 2.14959187e-01 1.54794950e+02] [-6.72441351e-01 7.10677619e-01 -2.06784793e-01 -8.41451149e+01] [-2.98240532e-01 -4.47074724e-03 9.54480276e-01 -3.39447043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:-84.17, Z:-33.95 [[ 6.78648382e-01 7.02312987e-01 2.14925201e-01 1.54814578e+02] [-6.71166908e-01 7.11857820e-01 -2.06865719e-01 -8.41694732e+01] [-2.98280666e-01 -3.86159696e-03 9.54470394e-01 -3.39545047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:-84.19, Z:-33.96 [[ 6.79980494e-01 7.01066497e-01 2.14784297e-01 1.54834582e+02] [-6.69864553e-01 7.13088616e-01 -2.06848026e-01 -8.41946604e+01] [-2.98174458e-01 -3.22376459e-03 9.54505946e-01 -3.39646167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:154.85, Y:-84.22, Z:-33.97 [[ 6.82043848e-01 6.98876681e-01 2.15377748e-01 1.54849692e+02] [-6.67352881e-01 7.15238863e-01 -2.07541567e-01 -8.42223055e+01] [-2.99092497e-01 -2.18051124e-03 9.54221632e-01 -3.39742857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-84.25, Z:-33.98 [[ 6.82764560e-01 6.98118311e-01 2.15553658e-01 1.54868944e+02] [-6.66469283e-01 7.15980244e-01 -2.07824408e-01 -8.42468194e+01] [-2.99418186e-01 -1.76475141e-03 9.54120347e-01 -3.39842210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:-84.27, Z:-33.99 [[ 6.83019479e-01 6.97811310e-01 2.15740045e-01 1.54888886e+02] [-6.66056235e-01 7.16279959e-01 -2.08115621e-01 -8.42719945e+01] [-2.99755705e-01 -1.54797956e-03 9.54014738e-01 -3.39945082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:-84.30, Z:-34.00 [[ 6.83048191e-01 6.97704850e-01 2.15993313e-01 1.54907730e+02] [-6.65829324e-01 7.16383943e-01 -2.08483469e-01 -8.42963105e+01] [-3.00194069e-01 -1.41042513e-03 9.53877105e-01 -3.40044285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:-84.32, Z:-34.01 [[ 6.82749520e-01 6.97970601e-01 2.16078996e-01 1.54927324e+02] [-6.66046041e-01 7.16124962e-01 -2.08680882e-01 -8.43212071e+01] [-3.00392683e-01 -1.44178850e-03 9.53814530e-01 -3.40146639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:-84.35, Z:-34.02 [[ 6.82117005e-01 6.98818498e-01 2.15334850e-01 1.54943075e+02] [-6.67121545e-01 7.15296973e-01 -2.08084320e-01 -8.43487098e+01] [-2.99441538e-01 -1.71666480e-03 9.54113106e-01 -3.40244933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-84.37, Z:-34.03 [[ 6.81322941e-01 6.99657081e-01 2.15125590e-01 1.54962015e+02] [-6.68028220e-01 7.14476017e-01 -2.07995957e-01 -8.43735451e+01] [-2.99227919e-01 -1.99754709e-03 9.54179576e-01 -3.40346754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:-84.40, Z:-34.04 [[ 6.80517037e-01 7.00508924e-01 2.14904186e-01 1.54981585e+02] [-6.68951356e-01 7.13639994e-01 -2.07899116e-01 -8.43990730e+01] [-2.98999409e-01 -2.28155611e-03 9.54250569e-01 -3.40446426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:-84.42, Z:-34.05 [[ 6.79620458e-01 7.01387889e-01 2.14874524e-01 1.55000824e+02] [-6.69844277e-01 7.12775129e-01 -2.07991007e-01 -8.44241484e+01] [-2.99039590e-01 -2.57752674e-03 9.54237224e-01 -3.40544340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:-84.45, Z:-34.06 [[ 6.78855783e-01 7.01993979e-01 2.15312054e-01 1.55019981e+02] [-6.70310439e-01 7.12177530e-01 -2.08535564e-01 -8.44489894e+01] [-2.99731117e-01 -2.76034406e-03 9.54019726e-01 -3.40642281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:-84.48, Z:-34.07 [[ 6.78188810e-01 7.02478672e-01 2.15832465e-01 1.55036412e+02] [-6.70622372e-01 7.11698934e-01 -2.09165631e-01 -8.44769434e+01] [-3.00542130e-01 -2.88828914e-03 9.53764167e-01 -3.40739691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:-84.50, Z:-34.08 [[ 6.77698571e-01 7.02857987e-01 2.16137219e-01 1.55055142e+02] [-6.70888645e-01 7.11324008e-01 -2.09586693e-01 -8.45015135e+01] [-3.01053274e-01 -2.96740356e-03 9.53602706e-01 -3.40838684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:-84.53, Z:-34.09 [[ 6.77585097e-01 7.02815038e-01 2.16632081e-01 1.55071498e+02] [-6.70656360e-01 7.11366850e-01 -2.10183852e-01 -8.45300286e+01] [-3.01825253e-01 -2.86823678e-03 9.53358951e-01 -3.40944190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.876559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:155.09, Y:-84.56, Z:-34.10 [[ 6.77799908e-01 7.02685615e-01 2.16379787e-01 1.55091021e+02] [-6.70558096e-01 7.11495296e-01 -2.10062571e-01 -8.45554072e+01] [-3.01561147e-01 -2.71482682e-03 9.53442974e-01 -3.41048688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:155.11, Y:-84.58, Z:-34.12 [[ 6.77713511e-01 7.02787990e-01 2.16317910e-01 1.55113874e+02] [-6.70645228e-01 7.11394354e-01 -2.10126273e-01 -8.45776666e+01] [-3.01561561e-01 -2.66716000e-03 9.53442978e-01 -3.41150604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:-84.60, Z:-34.13 [[ 6.77857626e-01 7.02715204e-01 2.16102711e-01 1.55132926e+02] [-6.70617429e-01 7.11466530e-01 -2.09970569e-01 -8.46026328e+01] [-3.01299357e-01 -2.59209334e-03 9.53526076e-01 -3.41255016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:-84.63, Z:-34.14 [[ 6.78144295e-01 7.02619929e-01 2.15512296e-01 1.55151729e+02] [-6.70657680e-01 7.11561125e-01 -2.09520980e-01 -8.46274401e+01] [-3.00563788e-01 -2.44951931e-03 9.53758570e-01 -3.41357355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:-84.66, Z:-34.15 [[ 6.79025767e-01 7.02057479e-01 2.14567714e-01 1.55167851e+02] [-6.70317990e-01 7.12117173e-01 -2.08717331e-01 -8.46556164e+01] [-2.99328918e-01 -2.10415316e-03 9.54147668e-01 -3.41467165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:-84.68, Z:-34.16 [[ 6.78995230e-01 7.02166342e-01 2.14307970e-01 1.55187241e+02] [-6.70472675e-01 7.12009965e-01 -2.08586198e-01 -8.46810129e+01] [-2.99051618e-01 -2.05860462e-03 9.54234715e-01 -3.41568404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:-84.71, Z:-34.17 [[ 6.78783952e-01 7.02446478e-01 2.14059087e-01 1.55206438e+02] [-6.70803835e-01 7.11733505e-01 -2.08464945e-01 -8.47063929e+01] [-2.98788490e-01 -2.08899695e-03 9.54317072e-01 -3.41666389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:-84.73, Z:-34.18 [[ 6.78202932e-01 7.03006549e-01 2.14062082e-01 1.55225691e+02] [-6.71352496e-01 7.11179828e-01 -2.08588299e-01 -8.47319392e+01] [-2.98875575e-01 -2.24591697e-03 9.54289446e-01 -3.41768355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.116559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.25, Y:-84.75, Z:-34.19 [[ 6.78347730e-01 7.03671854e-01 2.11400754e-01 1.55246326e+02] [-6.70269127e-01 7.10515746e-01 -2.14258422e-01 -8.47515136e+01] [-3.00971185e-01 3.64631495e-03 9.53626263e-01 -3.41904434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:-84.79, Z:-34.19 [[ 6.76315471e-01 7.03101794e-01 2.19648015e-01 1.55257942e+02] [-6.72949369e-01 7.11020456e-01 -2.03933954e-01 -8.47872859e+01] [-2.99560560e-01 -9.88830474e-03 9.54026044e-01 -3.41948092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:-84.81, Z:-34.21 [[ 6.75289246e-01 7.05558511e-01 2.14875828e-01 1.55279287e+02] [-6.73691934e-01 7.08644572e-01 -2.09671286e-01 -8.48094018e+01] [-3.00205950e-01 -3.17134694e-03 9.53869137e-01 -3.42060747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:-84.83, Z:-34.22 [[ 6.74525757e-01 7.06256390e-01 2.14981196e-01 1.55297824e+02] [-6.74354179e-01 7.07948017e-01 -2.09895324e-01 -8.48334826e+01] [-3.00435425e-01 -3.39366510e-03 9.53796120e-01 -3.42157342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:-84.86, Z:-34.23 [[ 6.73523424e-01 7.07089877e-01 2.15383617e-01 1.55317033e+02] [-6.75071113e-01 7.07114062e-01 -2.10401274e-01 -8.48586113e+01] [-3.01073395e-01 -3.68907154e-03 9.53593835e-01 -3.42262155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:-84.89, Z:-34.24 [[ 6.72601199e-01 7.07932678e-01 2.15496984e-01 1.55332901e+02] [-6.75882737e-01 7.06268718e-01 -2.10634808e-01 -8.48872765e+01] [-3.01314043e-01 -3.97746696e-03 9.53516663e-01 -3.42369408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:-84.91, Z:-34.25 [[ 6.72541882e-01 7.08001299e-01 2.15456672e-01 1.55352306e+02] [-6.75928562e-01 7.06200266e-01 -2.10717258e-01 -8.49128169e+01] [-3.01343651e-01 -3.91713765e-03 9.53507556e-01 -3.42470516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:-84.94, Z:-34.26 [[ 6.72885293e-01 7.07708465e-01 2.15346489e-01 1.55371258e+02] [-6.75615866e-01 7.06494934e-01 -2.10732319e-01 -8.49377693e+01] [-3.01278250e-01 -3.69282640e-03 9.53529118e-01 -3.42571455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:-84.96, Z:-34.27 [[ 6.73489888e-01 7.07235272e-01 2.15010790e-01 1.55389969e+02] [-6.75182058e-01 7.06970175e-01 -2.10528764e-01 -8.49621647e+01] [-3.00899584e-01 -3.38243376e-03 9.53649831e-01 -3.42668646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:-84.99, Z:-34.28 [[ 6.74968485e-01 7.05919781e-01 2.14697012e-01 1.55406299e+02] [-6.73860660e-01 7.08286628e-01 -2.10337500e-01 -8.49901311e+01] [-3.00548425e-01 -2.70468676e-03 9.53762722e-01 -3.42762102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:-85.02, Z:-34.29 [[ 6.75385091e-01 7.05491853e-01 2.14793448e-01 1.55425893e+02] [-6.73343452e-01 7.08713883e-01 -2.10554571e-01 -8.50153020e+01] [-3.00771633e-01 -2.42434345e-03 9.53693110e-01 -3.42861606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:-85.04, Z:-34.30 [[ 6.75657227e-01 7.05116160e-01 2.15170891e-01 1.55445299e+02] [-6.72794746e-01 7.09088492e-01 -2.11046771e-01 -8.50405647e+01] [-3.01387692e-01 -2.17056890e-03 9.53499212e-01 -3.42959946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:-85.06, Z:-34.31 [[ 6.76304173e-01 7.04351010e-01 2.15643969e-01 1.55463717e+02] [-6.71806305e-01 7.09849720e-01 -2.11635688e-01 -8.50649430e+01] [-3.02140621e-01 -1.74087925e-03 9.53261776e-01 -3.43054384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:-85.09, Z:-34.31 [[ 6.79611735e-01 7.01094384e-01 2.15857719e-01 1.55479951e+02] [-6.68285624e-01 7.13068456e-01 -2.11961556e-01 -8.50929715e+01] [-3.02526387e-01 -2.03049422e-04 9.53140988e-01 -3.43149346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:-85.12, Z:-34.32 [[ 6.82307790e-01 6.98647121e-01 2.15286506e-01 1.55498914e+02] [-6.65857319e-01 7.15465757e-01 -2.11524895e-01 -8.51172401e+01] [-3.01811382e-01 9.74987850e-04 9.53367159e-01 -3.43246256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:-85.14, Z:-34.34 [[ 6.85598828e-01 6.95511661e-01 2.14983200e-01 1.55518634e+02] [-6.62628749e-01 7.18510658e-01 -2.11342318e-01 -8.51420832e+01] [-3.01458767e-01 2.44199691e-03 9.53476087e-01 -3.43353312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-85.17, Z:-34.35 [[ 6.89273413e-01 6.91982369e-01 2.14621908e-01 1.55538086e+02] [-6.59006161e-01 7.21902900e-01 -2.11109173e-01 -8.51667777e+01] [-3.01020003e-01 4.07477990e-03 9.53609120e-01 -3.43455244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:-85.19, Z:-34.36 [[ 6.93075322e-01 6.88364108e-01 2.14012740e-01 1.55556969e+02] [-6.55372041e-01 7.25342731e-01 -2.10630983e-01 -8.51913129e+01] [-3.00223394e-01 5.72516992e-03 9.53851737e-01 -3.43553925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:-85.22, Z:-34.36 [[ 7.00123160e-01 6.81246645e-01 2.13847072e-01 1.55573521e+02] [-6.47944120e-01 7.32000211e-01 -2.10580407e-01 -8.52199420e+01] [-2.99993298e-01 8.87126710e-03 9.53900059e-01 -3.43647299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:-85.25, Z:-34.37 [[ 7.02931038e-01 6.78225837e-01 2.14237415e-01 1.55593677e+02] [-6.44622296e-01 7.34781654e-01 -2.11087699e-01 -8.52450368e+01] [-3.00582853e-01 1.02778812e-02 9.53700327e-01 -3.43741074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:-85.27, Z:-34.38 [[ 7.05032897e-01 6.75868315e-01 2.14780436e-01 1.55613578e+02] [-6.41943407e-01 7.36934048e-01 -2.11747187e-01 -8.52693849e+01] [-3.01392231e-01 1.14118478e-02 9.53431955e-01 -3.43831130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:-85.29, Z:-34.39 [[ 7.06674332e-01 6.73976678e-01 2.15329573e-01 1.55633958e+02] [-6.39747934e-01 7.38649371e-01 -2.12413951e-01 -8.52930441e+01] [-3.02215103e-01 1.23508375e-02 9.53159739e-01 -3.43926252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:-85.32, Z:-34.40 [[ 7.08638262e-01 6.71655109e-01 2.16127803e-01 1.55653771e+02] [-6.37019897e-01 7.40741069e-01 -2.13326792e-01 -8.53181774e+01] [-3.03376770e-01 1.34938168e-02 9.52775132e-01 -3.44019779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:-85.34, Z:-34.41 [[ 7.08740165e-01 6.71502418e-01 2.16268076e-01 1.55674365e+02] [-6.36774344e-01 7.40876337e-01 -2.13589998e-01 -8.53406746e+01] [-3.03654100e-01 1.36658486e-02 9.52684330e-01 -3.44116515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:-85.36, Z:-34.42 [[ 7.08435247e-01 6.71901363e-01 2.16027914e-01 1.55695788e+02] [-6.37233742e-01 7.40516349e-01 -2.13468252e-01 -8.53635405e+01] [-3.03401811e-01 1.35681578e-02 9.52766102e-01 -3.44215209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:-85.39, Z:-34.43 [[ 7.07510923e-01 6.72842387e-01 2.16128240e-01 1.55717480e+02] [-6.38145059e-01 7.39666883e-01 -2.13690865e-01 -8.53857559e+01] [-3.03643173e-01 1.32674526e-02 9.52693444e-01 -3.44316601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:-85.41, Z:-34.44 [[ 7.04144313e-01 6.76563783e-01 2.15504602e-01 1.55739818e+02] [-6.42201684e-01 7.36290699e-01 -2.13197103e-01 -8.54075833e+01] [-3.02915473e-01 1.17241091e-02 9.52945309e-01 -3.44422311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:-85.43, Z:-34.45 [[ 7.01385014e-01 6.79529746e-01 2.15170599e-01 1.55761665e+02] [-6.45372567e-01 7.33572466e-01 -2.12992222e-01 -8.54281504e+01] [-3.02577778e-01 1.05243511e-02 9.53066591e-01 -3.44523211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-85.45, Z:-34.46 [[ 6.98271132e-01 6.82877665e-01 2.14698674e-01 1.55784376e+02] [-6.49003179e-01 7.30475891e-01 -2.12602555e-01 -8.54490584e+01] [-3.02013742e-01 9.11410497e-03 9.53260003e-01 -3.44626251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:-85.47, Z:-34.47 [[ 6.91837977e-01 6.89802133e-01 2.13385171e-01 1.55807660e+02] [-6.56630929e-01 7.23971761e-01 -2.11425430e-01 -8.54695336e+01] [-3.00326550e-01 6.15683891e-03 9.53816574e-01 -3.44728442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:-85.49, Z:-34.48 [[ 6.88466389e-01 6.93339758e-01 2.12823897e-01 1.55829993e+02] [-6.60472274e-01 7.20595524e-01 -2.10993997e-01 -8.54911061e+01] [-2.99650474e-01 4.69799235e-03 9.54037485e-01 -3.44831717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:-85.51, Z:-34.49 [[ 6.85814489e-01 6.96147484e-01 2.12219621e-01 1.55852063e+02] [-6.63562501e-01 7.17889984e-01 -2.10520255e-01 -8.55120421e+01] [-2.98903486e-01 3.55685849e-03 9.54276718e-01 -3.44932304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:-85.53, Z:-34.50 [[ 6.83621351e-01 6.98531963e-01 2.11459087e-01 1.55874420e+02] [-6.66273090e-01 7.15574265e-01 -2.09841943e-01 -8.55335997e+01] [-2.97895985e-01 2.56293296e-03 9.54594895e-01 -3.45032654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:-85.56, Z:-34.51 [[ 6.81996482e-01 7.00232495e-01 2.11081147e-01 1.55896950e+02] [-6.68132910e-01 7.13912326e-01 -2.09589133e-01 -8.55552494e+01] [-2.97454555e-01 1.90879057e-03 9.54734070e-01 -3.45136038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:-85.58, Z:-34.52 [[ 6.80332848e-01 7.01975211e-01 2.10660911e-01 1.55919106e+02] [-6.70049501e-01 7.12200304e-01 -2.09294993e-01 -8.55758062e+01] [-2.96952661e-01 1.23702027e-03 9.54891401e-01 -3.45239324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:-85.60, Z:-34.53 [[ 6.80027792e-01 7.02390207e-01 2.10262215e-01 1.55940879e+02] [-6.70584240e-01 7.11791238e-01 -2.08973710e-01 -8.55976816e+01] [-2.96443890e-01 1.10940341e-03 9.55049627e-01 -3.45336874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:-85.62, Z:-34.54 [[ 6.80163543e-01 7.02343538e-01 2.09978830e-01 1.55962688e+02] [-6.70588506e-01 7.11837121e-01 -2.08803661e-01 -8.56200711e+01] [-2.96122628e-01 1.21124822e-03 9.55149162e-01 -3.45438119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:-85.64, Z:-34.55 [[ 6.80479342e-01 7.02111651e-01 2.09731006e-01 1.55984221e+02] [-6.70385142e-01 7.12065494e-01 -2.08677967e-01 -8.56431809e+01] [-2.95857444e-01 1.40049544e-03 9.55231077e-01 -3.45540585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:-85.67, Z:-34.56 [[ 6.80991852e-01 7.01668550e-01 2.09550337e-01 1.56004903e+02] [-6.69940144e-01 7.12501522e-01 -2.08618756e-01 -8.56659010e+01] [-2.95686155e-01 1.68149001e-03 9.55283660e-01 -3.45640436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:-85.69, Z:-34.57 [[ 6.83148377e-01 6.99944717e-01 2.08292316e-01 1.56024301e+02] [-6.68492475e-01 7.14192667e-01 -2.07476856e-01 -8.56902153e+01] [-2.93983174e-01 2.49563095e-03 9.55807337e-01 -3.45739380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:-85.71, Z:-34.58 [[ 6.84041210e-01 6.99205524e-01 2.07844314e-01 1.56045242e+02] [-6.67822059e-01 7.14914858e-01 -2.07148360e-01 -8.57137788e+01] [-2.93430266e-01 2.89499674e-03 9.55976097e-01 -3.45843052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:-85.74, Z:-34.59 [[ 6.84965442e-01 6.98522384e-01 2.07096167e-01 1.56066492e+02] [-6.67302695e-01 7.15580758e-01 -2.06521892e-01 -8.57374269e+01] [-2.92454196e-01 3.26452892e-03 9.56273960e-01 -3.45943621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:-85.76, Z:-34.60 [[ 6.85342577e-01 6.98192113e-01 2.06962135e-01 1.56086566e+02] [-6.66962335e-01 7.15901929e-01 -2.06508284e-01 -8.57598645e+01] [-2.92347047e-01 3.49297015e-03 9.56305915e-01 -3.46041666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:-85.78, Z:-34.61 [[ 6.85383927e-01 6.98238037e-01 2.06670069e-01 1.56106753e+02] [-6.67066561e-01 7.15856853e-01 -2.06327818e-01 -8.57848037e+01] [-2.92012116e-01 3.55107777e-03 9.56408027e-01 -3.46133897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:-85.81, Z:-34.62 [[ 6.84789832e-01 6.98817206e-01 2.06681876e-01 1.56127498e+02] [-6.67631251e-01 7.15292243e-01 -2.06459489e-01 -8.58080350e+01] [-2.92115386e-01 3.39407906e-03 9.56377060e-01 -3.46227742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:-85.83, Z:-34.63 [[ 6.83789027e-01 6.99976694e-01 2.06070847e-01 1.56146719e+02] [-6.68774640e-01 7.14157029e-01 -2.06688701e-01 -8.58316996e+01] [-2.91844218e-01 3.51650937e-03 9.56459402e-01 -3.46318508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:-85.86, Z:-34.64 [[ 6.83306071e-01 7.00112323e-01 2.07208951e-01 1.56167383e+02] [-6.69074114e-01 7.14029237e-01 -2.06160321e-01 -8.58562492e+01] [-2.92288631e-01 2.23245399e-03 9.56327545e-01 -3.46415477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:-85.88, Z:-34.65 [[ 6.82687922e-01 7.00738797e-01 2.07128801e-01 1.56187501e+02] [-6.69415586e-01 7.13412483e-01 -2.07184463e-01 -8.58788970e+01] [-2.92950463e-01 2.78708264e-03 9.56123558e-01 -3.46510141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-85.90, Z:-34.66 [[ 6.81792911e-01 7.01378973e-01 2.07908545e-01 1.56207219e+02] [-6.69808665e-01 7.12783800e-01 -2.08075964e-01 -8.59020786e+01] [-2.94133948e-01 2.60577241e-03 9.55760655e-01 -3.46604561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-85.93, Z:-34.67 [[ 6.81107142e-01 7.01870078e-01 2.08498094e-01 1.56227646e+02] [-6.70104748e-01 7.12300658e-01 -2.08775954e-01 -8.59255743e+01] [-2.95046924e-01 2.48323012e-03 9.55479537e-01 -3.46700992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-85.95, Z:-34.68 [[ 6.79321785e-01 7.03256000e-01 2.09649497e-01 1.56246826e+02] [-6.71156559e-01 7.10933933e-01 -2.10051936e-01 -8.59512776e+01] [-2.96767226e-01 1.98522097e-03 9.54947785e-01 -3.46798857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:-85.97, Z:-34.69 [[ 6.78377941e-01 7.04002062e-01 2.10201013e-01 1.56266912e+02] [-6.71725448e-01 7.10195755e-01 -2.10729476e-01 -8.59740253e+01] [-2.97637853e-01 1.75685887e-03 9.54677234e-01 -3.46898778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:-86.00, Z:-34.70 [[ 6.77301410e-01 7.04972091e-01 2.10421365e-01 1.56287734e+02] [-6.72648039e-01 7.09233686e-01 -2.11026525e-01 -8.59976673e+01] [-2.98005731e-01 1.38904467e-03 9.54563070e-01 -3.46997506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-86.02, Z:-34.72 [[ 6.75953292e-01 7.07554747e-01 2.06042295e-01 1.56310425e+02] [-6.72722040e-01 7.06591228e-01 -2.19485520e-01 -8.60161013e+01] [-3.00885700e-01 9.75276687e-03 9.53610339e-01 -3.47164952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:-86.05, Z:-34.72 [[ 6.74553658e-01 7.05387132e-01 2.17730009e-01 1.56325134e+02] [-6.74729956e-01 7.08776542e-01 -2.05852617e-01 -8.60470421e+01] [-2.99527710e-01 -8.05032378e-03 9.54053638e-01 -3.47160669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:-86.07, Z:-34.73 [[ 6.74441249e-01 7.07443753e-01 2.11310996e-01 1.56350095e+02] [-6.74849937e-01 7.06769431e-01 -2.12260532e-01 -8.60659074e+01] [-2.99510540e-01 5.54045763e-04 9.54092831e-01 -3.47290724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:-86.09, Z:-34.74 [[ 6.70862022e-01 7.10699018e-01 2.11780672e-01 1.56369993e+02] [-6.78097184e-01 7.03495679e-01 -2.12786370e-01 -8.60911420e+01] [-3.00213852e-01 -8.57583303e-04 9.53871536e-01 -3.47388050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:-86.11, Z:-34.75 [[ 6.69087883e-01 7.12442978e-01 2.11533470e-01 1.56390375e+02] [-6.79964715e-01 7.01728306e-01 -2.12662577e-01 -8.61137594e+01] [-2.99948983e-01 -1.54534227e-03 9.53953992e-01 -3.47487180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-86.14, Z:-34.76 [[ 6.67410077e-01 7.14121515e-01 2.11173508e-01 1.56410904e+02] [-6.81801815e-01 7.00018270e-01 -2.12416353e-01 -8.61369042e+01] [-2.99516401e-01 -2.20966637e-03 9.54088593e-01 -3.47588128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-86.16, Z:-34.77 [[ 6.66199192e-01 7.15435118e-01 2.10549825e-01 1.56431312e+02] [-6.83335793e-01 6.98673958e-01 -2.11912468e-01 -8.61598115e+01] [-2.98715301e-01 -2.70031667e-03 9.54338450e-01 -3.47692985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:-86.19, Z:-34.78 [[ 6.64914695e-01 7.17240711e-01 2.08456737e-01 1.56450447e+02] [-6.85854577e-01 6.96817101e-01 -2.09879553e-01 -8.61850914e+01] [-2.95790379e-01 -3.41900804e-03 9.55246755e-01 -3.47807075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:-86.21, Z:-34.79 [[ 6.64655688e-01 7.17748825e-01 2.07531779e-01 1.56470922e+02] [-6.86634266e-01 6.96293106e-01 -2.09067682e-01 -8.62090116e+01] [-2.94561030e-01 -3.54040696e-03 9.55626111e-01 -3.47912908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-86.23, Z:-34.80 [[ 6.64807253e-01 7.17870692e-01 2.06622808e-01 1.56490242e+02] [-6.87001860e-01 6.96167732e-01 -2.08276098e-01 -8.62319703e+01] [-2.93359438e-01 -3.48679274e-03 9.55995859e-01 -3.48012430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-86.26, Z:-34.81 [[ 6.67044397e-01 7.16134058e-01 2.05435595e-01 1.56508355e+02] [-6.85523668e-01 6.97957724e-01 -2.07152881e-01 -8.62572947e+01] [-2.91734594e-01 -2.65079444e-03 9.56495635e-01 -3.48120912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:-86.28, Z:-34.82 [[ 6.67520747e-01 7.15603798e-01 2.05735891e-01 1.56527810e+02] [-6.84837967e-01 6.98502527e-01 -2.07584150e-01 -8.62817949e+01] [-2.92255046e-01 -2.32902217e-03 9.56337578e-01 -3.48211141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:-86.31, Z:-34.83 [[ 6.68441236e-01 7.14724624e-01 2.05803369e-01 1.56547899e+02] [-6.83873939e-01 6.99403420e-01 -2.07728888e-01 -8.63066738e+01] [-2.92408531e-01 -1.88900546e-03 9.56291630e-01 -3.48310084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:-86.33, Z:-34.84 [[ 6.69339936e-01 7.13789329e-01 2.06128222e-01 1.56567526e+02] [-6.82757989e-01 7.00359089e-01 -2.08179428e-01 -8.63308623e+01] [-2.92960028e-01 -1.39288559e-03 9.56123675e-01 -3.48403704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:-86.36, Z:-34.85 [[ 6.70106674e-01 7.12608198e-01 2.07717600e-01 1.56585726e+02] [-6.80994198e-01 7.01561770e-01 -2.09899941e-01 -8.63578988e+01] [-2.95303146e-01 -7.99128669e-04 9.55403273e-01 -3.48494462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:-86.38, Z:-34.86 [[ 6.70059590e-01 7.12469933e-01 2.08342845e-01 1.56605593e+02] [-6.80617204e-01 7.01702336e-01 -2.10651498e-01 -8.63820791e+01] [-2.96277520e-01 -6.52668000e-04 9.55101673e-01 -3.48584699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:-86.41, Z:-34.87 [[ 6.69693608e-01 7.12669092e-01 2.08837824e-01 1.56625941e+02] [-6.80632265e-01 7.01500064e-01 -2.11275601e-01 -8.64065398e+01] [-2.97069338e-01 -6.51841442e-04 9.54855687e-01 -3.48682410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:-86.43, Z:-34.88 [[ 6.68525378e-01 7.13601593e-01 2.09395763e-01 1.56646566e+02] [-6.81394801e-01 7.00551078e-01 -2.11965357e-01 -8.64292939e+01] [-2.97951244e-01 -9.76964011e-04 9.54580590e-01 -3.48775544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-86.45, Z:-34.89 [[ 6.66089724e-01 7.15666714e-01 2.10108627e-01 1.56668332e+02] [-6.83298383e-01 6.98439576e-01 -2.12803852e-01 -8.64513922e+01] [-2.99044813e-01 -1.82042643e-03 9.54237332e-01 -3.48874663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:-86.47, Z:-34.90 [[ 6.61485522e-01 7.19986185e-01 2.09897112e-01 1.56690544e+02] [-6.87856362e-01 6.93978682e-01 -2.12713924e-01 -8.64722150e+01] [-2.98815208e-01 -3.67188257e-03 9.54303929e-01 -3.48974771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:-86.49, Z:-34.91 [[ 6.59318997e-01 7.22074923e-01 2.09538221e-01 1.56712597e+02] [-6.90136272e-01 6.91799879e-01 -2.12426116e-01 -8.64938716e+01] [-2.98346087e-01 -4.55335318e-03 9.54446897e-01 -3.49075439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:-86.52, Z:-34.92 [[ 6.57620639e-01 7.23800556e-01 2.08920679e-01 1.56734889e+02] [-6.92099801e-01 6.89989442e-01 -2.11925540e-01 -8.65155724e+01] [-2.97544887e-01 -5.22735150e-03 9.54693519e-01 -3.49181600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:-86.54, Z:-34.93 [[ 6.56481485e-01 7.25049291e-01 2.08172009e-01 1.56757462e+02] [-6.93602928e-01 6.88673551e-01 -2.11290604e-01 -8.65376359e+01] [-2.96558659e-01 -5.68034542e-03 9.54997746e-01 -3.49286179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-86.56, Z:-34.94 [[ 6.55957134e-01 7.25827186e-01 2.07111407e-01 1.56778599e+02] [-6.94707025e-01 6.87851715e-01 -2.10338222e-01 -8.65588436e+01] [-2.95131136e-01 -5.90889271e-03 9.55438484e-01 -3.49383629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:-86.58, Z:-34.95 [[ 6.56043511e-01 7.26029158e-01 2.06127565e-01 1.56800899e+02] [-6.95184869e-01 6.87638726e-01 -2.09454003e-01 -8.65798085e+01] [-2.93811010e-01 -5.88582506e-03 9.55845410e-01 -3.49487241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:-86.60, Z:-34.96 [[ 6.56197346e-01 7.25979648e-01 2.05812036e-01 1.56823912e+02] [-6.95194938e-01 6.87691954e-01 -2.09245727e-01 -8.66014801e+01] [-2.93443420e-01 -5.77299463e-03 9.55959012e-01 -3.49589885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:-86.62, Z:-34.97 [[ 6.56541140e-01 7.25699022e-01 2.05705275e-01 1.56847285e+02] [-6.94896055e-01 6.87989865e-01 -2.09259213e-01 -8.66227809e+01] [-2.93382351e-01 -5.55650195e-03 9.55979038e-01 -3.49690159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.87, Y:-86.64, Z:-34.98 [[ 6.56680104e-01 7.25532336e-01 2.05849630e-01 1.56869476e+02] [-6.94639045e-01 6.88166915e-01 -2.09530176e-01 -8.66445487e+01] [-2.93679823e-01 -5.39689207e-03 9.55888610e-01 -3.49784711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:-86.67, Z:-34.99 [[ 6.56915609e-01 7.25242669e-01 2.06118786e-01 1.56891158e+02] [-6.94214651e-01 6.88473806e-01 -2.09928170e-01 -8.66663167e+01] [-2.94156252e-01 -5.18558954e-03 9.55743276e-01 -3.49878464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:-86.69, Z:-35.00 [[ 6.57492280e-01 7.24718312e-01 2.06124407e-01 1.56912928e+02] [-6.93628073e-01 6.89028061e-01 -2.10048632e-01 -8.66883864e+01] [-2.94251590e-01 -4.86832099e-03 9.55715596e-01 -3.49973817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-86.71, Z:-35.01 [[ 6.58540906e-01 7.23757520e-01 2.06152681e-01 1.56935002e+02] [-6.92574612e-01 6.90040670e-01 -2.10200572e-01 -8.67112734e+01] [-2.94387979e-01 -4.35043767e-03 9.55676091e-01 -3.50076052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:-86.73, Z:-35.02 [[ 6.59990015e-01 7.22478127e-01 2.06006155e-01 1.56955938e+02] [-6.91241017e-01 6.91383954e-01 -2.10176317e-01 -8.67333321e+01] [-2.94277142e-01 -3.68563319e-03 9.55713022e-01 -3.50174435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.98, Y:-86.76, Z:-35.03 [[ 6.63730573e-01 7.19081556e-01 2.05872396e-01 1.56976419e+02] [-6.87689665e-01 6.94922551e-01 -2.10156070e-01 -8.67558019e+01] [-2.94184724e-01 -2.08931068e-03 9.55746296e-01 -3.50279958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-86.78, Z:-35.04 [[ 6.65325027e-01 7.17606827e-01 2.05871442e-01 1.56997783e+02] [-6.86110873e-01 6.96447135e-01 -2.10269488e-01 -8.67787407e+01] [-2.94269396e-01 -1.35308173e-03 9.55721556e-01 -3.50385475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:-86.80, Z:-35.05 [[ 6.66445464e-01 7.16651918e-01 2.05573521e-01 1.57018801e+02] [-6.85167102e-01 6.97430515e-01 -2.10087410e-01 -8.68013862e+01] [-2.93932792e-01 -8.40411797e-04 9.55825720e-01 -3.50483899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:-86.82, Z:-35.06 [[ 6.67107928e-01 7.16800260e-01 2.02890114e-01 1.57040952e+02] [-6.84881487e-01 6.97275221e-01 -2.11529230e-01 -8.68227013e+01] [-2.93094456e-01 2.15714306e-03 9.56081056e-01 -3.50593364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-87.14, Z:-34.18 [[ 6.97159081e-01 -3.12952848e-01 6.45003667e-01 1.57295688e+02] [-6.75467927e-01 1.47470258e-02 7.37241891e-01 -8.71401300e+01] [-2.40233835e-01 -9.49654169e-01 -2.01108588e-01 -3.41770735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:-86.97, Z:-35.11 [[ 6.87731995e-01 7.07562121e-01 1.62420895e-01 1.57186560e+02] [-6.88943271e-01 7.06650440e-01 -1.61252365e-01 -8.69744838e+01] [-2.28870863e-01 -1.00037175e-03 9.73456279e-01 -3.51147857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:-87.00, Z:-35.12 [[ 6.86278276e-01 7.09065479e-01 1.62013191e-01 1.57209141e+02] [-6.90545753e-01 7.05141284e-01 -1.61004138e-01 -8.69963558e+01] [-2.28404666e-01 -1.38387838e-03 9.73565300e-01 -3.51230711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:-87.02, Z:-35.13 [[ 6.84757153e-01 7.10578722e-01 1.61819412e-01 1.57231542e+02] [-6.92123331e-01 7.03615362e-01 -1.60905928e-01 -8.70179399e+01] [-2.28194953e-01 -1.81750552e-03 9.73613763e-01 -3.51309188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:-87.04, Z:-35.14 [[ 6.82077944e-01 7.13129847e-01 1.61912009e-01 1.57253393e+02] [-6.94710468e-01 7.01027034e-01 -1.61054228e-01 -8.70394379e+01] [-2.28357273e-01 -2.63043083e-03 9.73573848e-01 -3.51390958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:-87.06, Z:-35.15 [[ 6.81054015e-01 7.14097544e-01 1.61957176e-01 1.57276012e+02] [-6.95674761e-01 7.00040227e-01 -1.61184076e-01 -8.70624412e+01] [-2.28477691e-01 -2.89445726e-03 9.73544846e-01 -3.51467950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-87.08, Z:-35.15 [[ 6.80302740e-01 7.14680252e-01 1.62543285e-01 1.57297854e+02] [-6.96116606e-01 6.99444726e-01 -1.61860268e-01 -8.70843568e+01] [-2.29368381e-01 -3.03509634e-03 9.73334955e-01 -3.51544618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:-87.11, Z:-35.16 [[ 6.79745554e-01 7.15101956e-01 1.63018937e-01 1.57319892e+02] [-6.96419596e-01 6.99013180e-01 -1.62420200e-01 -8.71069760e+01] [-2.30099389e-01 -3.12517364e-03 9.73162116e-01 -3.51622273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:-87.13, Z:-35.17 [[ 6.80258198e-01 7.14491912e-01 1.63554550e-01 1.57341703e+02] [-6.95645916e-01 6.99637841e-01 -1.63044935e-01 -8.71297807e+01] [-2.30923240e-01 -2.86340141e-03 9.72967758e-01 -3.51699908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-87.15, Z:-35.18 [[ 6.80722423e-01 7.14032135e-01 1.63630968e-01 1.57363636e+02] [-6.95132735e-01 7.00107947e-01 -1.63215636e-01 -8.71523481e+01] [-2.31100550e-01 -2.64069865e-03 9.72926288e-01 -3.51781000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:-87.17, Z:-35.19 [[ 6.81183117e-01 7.13605099e-01 1.63576661e-01 1.57385715e+02] [-6.94683986e-01 7.00543982e-01 -1.63255288e-01 -8.71749309e+01] [-2.31092452e-01 -2.42734109e-03 9.72928768e-01 -3.51861761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-87.20, Z:-35.19 [[ 6.81655388e-01 7.13092062e-01 1.63846401e-01 1.57407448e+02] [-6.94070288e-01 7.01066988e-01 -1.63620028e-01 -8.71973728e+01] [-2.31543446e-01 -2.18844465e-03 9.72822103e-01 -3.51942793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:-87.22, Z:-35.20 [[ 6.82163840e-01 7.12471123e-01 1.64430515e-01 1.57428725e+02] [-6.93272547e-01 7.01698802e-01 -1.64292322e-01 -8.72206348e+01] [-2.32434230e-01 -1.92088037e-03 9.72610219e-01 -3.52020374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:-87.24, Z:-35.21 [[ 6.82107141e-01 7.12499696e-01 1.64541885e-01 1.57450431e+02] [-6.93253147e-01 7.01669942e-01 -1.64497316e-01 -8.72431485e+01] [-2.32658382e-01 -1.86438569e-03 9.72556734e-01 -3.52095380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-87.27, Z:-35.22 [[ 6.81899596e-01 7.12615537e-01 1.64900086e-01 1.57472709e+02] [-6.93266346e-01 7.01552344e-01 -1.64942664e-01 -8.72655347e+01] [-2.33226747e-01 -1.84534362e-03 9.72420629e-01 -3.52177327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:-87.29, Z:-35.23 [[ 6.81813130e-01 7.12682260e-01 1.64969244e-01 1.57495655e+02] [-6.93296190e-01 7.01484675e-01 -1.65104947e-01 -8.72883114e+01] [-2.33390763e-01 -1.80182777e-03 9.72381358e-01 -3.52259091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-87.31, Z:-35.23 [[ 6.81566323e-01 7.12901902e-01 1.65040072e-01 1.57518614e+02] [-6.93482798e-01 7.01261436e-01 -1.65269501e-01 -8.73090782e+01] [-2.33557179e-01 -1.81032481e-03 9.72341384e-01 -3.52344030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:-87.33, Z:-35.24 [[ 6.81429886e-01 7.13052910e-01 1.64951076e-01 1.57541833e+02] [-6.93645859e-01 7.01107861e-01 -1.65236768e-01 -8.73306095e+01] [-2.33471054e-01 -1.82035918e-03 9.72362048e-01 -3.52431921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:-87.35, Z:-35.25 [[ 6.81223508e-01 7.13279049e-01 1.64825758e-01 1.57564706e+02] [-6.93885584e-01 7.00877776e-01 -1.65206355e-01 -8.73521635e+01] [-2.33360943e-01 -1.82776485e-03 9.72388467e-01 -3.52517622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:-87.37, Z:-35.26 [[ 6.81531643e-01 7.13087619e-01 1.64379644e-01 1.57587236e+02] [-6.93771601e-01 7.01072893e-01 -1.64856797e-01 -8.73736523e+01] [-2.32799454e-01 -1.68680519e-03 9.72523300e-01 -3.52598294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:-87.40, Z:-35.27 [[ 6.82283122e-01 7.12460346e-01 1.63981694e-01 1.57609235e+02] [-6.93207160e-01 7.01710923e-01 -1.64516303e-01 -8.73962811e+01] [-2.32279088e-01 -1.42658724e-03 9.72648133e-01 -3.52678274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-87.42, Z:-35.28 [[ 6.82817911e-01 7.11950526e-01 1.63969962e-01 1.57631199e+02] [-6.92663434e-01 7.02228625e-01 -1.64597464e-01 -8.74192603e+01] [-2.32329652e-01 -1.18590076e-03 9.72636379e-01 -3.52754802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:-87.44, Z:-35.28 [[ 6.83453170e-01 7.11399653e-01 1.63714074e-01 1.57653077e+02] [-6.92135911e-01 7.02787072e-01 -1.64433005e-01 -8.74421228e+01] [-2.32033717e-01 -9.30131640e-04 9.72707299e-01 -3.52828190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:-87.46, Z:-35.29 [[ 6.84300756e-01 7.10573506e-01 1.63761315e-01 1.57675223e+02] [-6.91252367e-01 7.03622737e-01 -1.64575848e-01 -8.74646855e+01] [-2.32169422e-01 -5.81019678e-04 9.72675188e-01 -3.52901634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:-87.49, Z:-35.30 [[ 6.86053644e-01 7.08804367e-01 1.64093778e-01 1.57698556e+02] [-6.89330780e-01 7.05405105e-01 -1.65005192e-01 -8.74872492e+01] [-2.32708989e-01 8.75212582e-05 9.72546410e-01 -3.52978406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:-87.51, Z:-35.31 [[ 6.87009101e-01 7.07795973e-01 1.64448643e-01 1.57721613e+02] [-6.88185630e-01 7.06416740e-01 -1.65456725e-01 -8.75092682e+01] [-2.33278878e-01 4.99082832e-04 9.72409747e-01 -3.53060163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:-87.53, Z:-35.31 [[ 6.88236297e-01 7.06491086e-01 1.64927693e-01 1.57744793e+02] [-6.86704801e-01 7.07721214e-01 -1.66033728e-01 -8.75315095e+01] [-2.34024176e-01 1.01379972e-03 9.72230249e-01 -3.53142240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-87.55, Z:-35.32 [[ 6.90918535e-01 7.03666131e-01 1.65787679e-01 1.57767280e+02] [-6.83566243e-01 7.10527804e-01 -1.66995303e-01 -8.75537094e+01] [-2.35305694e-01 2.05328924e-03 9.71919243e-01 -3.53215265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:-87.59, Z:-35.31 [[ 6.92314512e-01 6.99192581e-01 1.78410627e-01 1.57783573e+02] [-6.83925769e-01 7.14641464e-01 -1.46741679e-01 -8.75902643e+01] [-2.30100325e-01 -2.04282309e-02 9.72952480e-01 -3.53122809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:-87.59, Z:-35.34 [[ 6.93528688e-01 7.04936255e-01 1.48602945e-01 1.57818215e+02] [-6.80826930e-01 7.08757915e-01 -1.84761767e-01 -8.75886982e+01] [-2.35568781e-01 2.69646990e-02 9.71483533e-01 -3.53449428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:-87.62, Z:-35.34 [[ 6.94444517e-01 7.00032198e-01 1.66438382e-01 1.57833217e+02] [-6.79626981e-01 7.14103060e-01 -1.67821293e-01 -8.76224046e+01] [-2.36334466e-01 3.42656179e-03 9.71665724e-01 -3.53442375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:-87.65, Z:-35.35 [[ 6.94360562e-01 7.00126816e-01 1.66390657e-01 1.57856039e+02] [-6.79712945e-01 7.14010116e-01 -1.67868598e-01 -8.76455084e+01] [-2.36333920e-01 3.46345010e-03 9.71665726e-01 -3.53523108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:-87.68, Z:-35.35 [[ 6.95016348e-01 6.97137286e-01 1.75931464e-01 1.57873735e+02] [-6.80485582e-01 7.16800883e-01 -1.52104790e-01 -8.76792303e+01] [-2.32145749e-01 -1.40035091e-02 9.72580204e-01 -3.53467604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:-87.68, Z:-35.37 [[ 6.94820142e-01 7.02815694e-01 1.52561695e-01 1.57905847e+02] [-6.79426169e-01 7.11024589e-01 -1.81174267e-01 -8.76815080e+01] [-2.35807235e-01 2.22291217e-02 9.71545580e-01 -3.53744257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:-87.71, Z:-35.38 [[ 6.93848749e-01 7.00773659e-01 1.65801665e-01 1.57923500e+02] [-6.80475724e-01 7.13375683e-01 -1.67475145e-01 -8.77110600e+01] [-2.35641047e-01 3.37841148e-03 9.71834288e-01 -3.53763126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:-87.73, Z:-35.38 [[ 6.92266886e-01 7.02503486e-01 1.65092128e-01 1.57947042e+02] [-6.82406875e-01 7.11674607e-01 -1.66853562e-01 -8.77327503e+01] [-2.34707084e-01 2.84719323e-03 9.72061972e-01 -3.53843488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:-87.75, Z:-35.39 [[ 6.90199706e-01 7.04615058e-01 1.64748254e-01 1.57970368e+02] [-6.84639613e-01 7.09586362e-01 -1.66600709e-01 -8.77546711e+01] [-2.34292482e-01 2.19457941e-03 9.72163678e-01 -3.53926446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:-87.78, Z:-35.40 [[ 6.88134532e-01 7.06814784e-01 1.63962578e-01 1.57992786e+02] [-6.87070859e-01 7.07397051e-01 -1.65900717e-01 -8.77757489e+01] [-2.33247724e-01 1.50810278e-03 9.72416179e-01 -3.54001236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:-87.80, Z:-35.41 [[ 6.83769856e-01 7.11284466e-01 1.62890126e-01 1.58017037e+02] [-6.91912494e-01 7.02904267e-01 -1.64871746e-01 -8.77972753e+01] [-2.31766877e-01 2.86165602e-05 9.72771358e-01 -3.54081834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-87.82, Z:-35.42 [[ 6.81482246e-01 7.13528834e-01 1.62660850e-01 1.58039687e+02] [-6.94252573e-01 7.00625551e-01 -1.64733732e-01 -8.78189777e+01] [-2.31506616e-01 -6.64599852e-04 9.72833102e-01 -3.54164422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:-87.84, Z:-35.42 [[ 6.79475712e-01 7.15519342e-01 1.62310897e-01 1.58062796e+02] [-6.96362252e-01 6.98591756e-01 -1.64466323e-01 -8.78411436e+01] [-2.31067890e-01 -1.27631010e-03 9.72936792e-01 -3.54244443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-87.86, Z:-35.43 [[ 6.77647300e-01 7.17270229e-01 1.62226862e-01 1.58085796e+02] [-6.98160660e-01 6.96792766e-01 -1.64473504e-01 -8.78634271e+01] [-2.31010452e-01 -1.80538735e-03 9.72949594e-01 -3.54325717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:-87.89, Z:-35.44 [[ 6.74874738e-01 7.19775764e-01 1.62686626e-01 1.58108611e+02] [-7.00605577e-01 6.94201754e-01 -1.65032574e-01 -8.78850121e+01] [-2.31723788e-01 -2.60284273e-03 9.72778141e-01 -3.54402182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:-87.91, Z:-35.45 [[ 6.73679241e-01 7.20823427e-01 1.63002659e-01 1.58130893e+02] [-7.01587201e-01 6.93112642e-01 -1.65439612e-01 -8.79073748e+01] [-2.32231952e-01 -2.90734732e-03 9.72656089e-01 -3.54476452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:-87.93, Z:-35.46 [[ 6.72667431e-01 7.21635627e-01 1.63586518e-01 1.58153422e+02] [-7.02262544e-01 6.92265969e-01 -1.66117873e-01 -8.79300176e+01] [-2.33121954e-01 -3.13860157e-03 9.72442442e-01 -3.54555622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:-87.95, Z:-35.46 [[ 6.71702956e-01 7.22383648e-01 1.64246779e-01 1.58174943e+02] [-7.02849922e-01 6.91484414e-01 -1.66887067e-01 -8.79527145e+01] [-2.34130576e-01 -3.34230005e-03 9.72199415e-01 -3.54627143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-87.98, Z:-35.47 [[ 6.71599280e-01 7.22521418e-01 1.64064643e-01 1.58197300e+02] [-7.03021368e-01 6.91340450e-01 -1.66761323e-01 -8.79758150e+01] [-2.33913151e-01 -3.34416555e-03 9.72251744e-01 -3.54701114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:-88.00, Z:-35.48 [[ 6.71332452e-01 7.22757830e-01 1.64115381e-01 1.58218862e+02] [-7.03229330e-01 6.91093217e-01 -1.66909182e-01 -8.79979624e+01] [-2.34053945e-01 -3.35919893e-03 9.72217808e-01 -3.54778540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:-88.02, Z:-35.49 [[ 6.71317959e-01 7.22795853e-01 1.64007173e-01 1.58241358e+02] [-7.03273061e-01 6.91053704e-01 -1.66888526e-01 -8.80207760e+01] [-2.33964099e-01 -3.30656204e-03 9.72239614e-01 -3.54860111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:-88.04, Z:-35.49 [[ 6.71266244e-01 7.22890298e-01 1.63802466e-01 1.58263876e+02] [-7.03398353e-01 6.90955072e-01 -1.66768839e-01 -8.80435485e+01] [-2.33735720e-01 -3.27209239e-03 9.72294660e-01 -3.54944562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:-88.07, Z:-35.50 [[ 6.71691405e-01 7.22651266e-01 1.63112858e-01 1.58285629e+02] [-7.03295588e-01 6.91205827e-01 -1.66162032e-01 -8.80671042e+01] [-2.32821761e-01 -3.10694500e-03 9.72514460e-01 -3.55027436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:-88.09, Z:-35.51 [[ 6.72149265e-01 7.22288008e-01 1.62835496e-01 1.58306852e+02] [-7.02964866e-01 6.91586286e-01 -1.65978331e-01 -8.80900039e+01] [-2.32498954e-01 -2.90541969e-03 9.72592307e-01 -3.55103677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:-88.11, Z:-35.52 [[ 6.72749926e-01 7.21864097e-01 1.62233666e-01 1.58328216e+02] [-7.02659271e-01 6.92029553e-01 -1.65423841e-01 -8.81137961e+01] [-2.31684023e-01 -2.70611250e-03 9.72787331e-01 -3.55178602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:-88.14, Z:-35.53 [[ 6.73718624e-01 7.21117548e-01 1.61532344e-01 1.58348743e+02] [-7.02036378e-01 6.92808683e-01 -1.64806106e-01 -8.81364992e+01] [-2.30755586e-01 -2.36863888e-03 9.73008864e-01 -3.55253609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:-88.16, Z:-35.53 [[ 6.75905437e-01 7.19519287e-01 1.59511242e-01 1.58369930e+02] [-7.00861698e-01 6.94470234e-01 -1.62800413e-01 -8.81605346e+01] [-2.27913847e-01 -1.75763592e-03 9.73679716e-01 -3.55332811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:-88.18, Z:-35.54 [[ 6.76717110e-01 7.18943582e-01 1.58663416e-01 1.58392081e+02] [-7.00449270e-01 6.95066838e-01 -1.62027500e-01 -8.81829806e+01] [-2.26770310e-01 -1.48889215e-03 9.73947129e-01 -3.55414022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:-88.21, Z:-35.55 [[ 6.76808853e-01 7.19010785e-01 1.57966034e-01 1.58414608e+02] [-7.00661455e-01 6.94997425e-01 -1.61406645e-01 -8.82050134e+01] [-2.25839105e-01 -1.43926500e-03 9.74163553e-01 -3.55491371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:-88.23, Z:-35.56 [[ 6.77001311e-01 7.18979076e-01 1.57284182e-01 1.58437538e+02] [-7.00767567e-01 6.95030395e-01 -1.60802880e-01 -8.82262677e+01] [-2.24931193e-01 -1.35589321e-03 9.74373707e-01 -3.55564127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.46, Y:-88.25, Z:-35.56 [[ 6.76883916e-01 7.19113915e-01 1.57172966e-01 1.58460729e+02] [-7.00912236e-01 6.94890917e-01 -1.60775158e-01 -8.82489801e+01] [-2.24833720e-01 -1.33833625e-03 9.74396227e-01 -3.55639052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:-88.27, Z:-35.57 [[ 6.76659530e-01 7.19336728e-01 1.57119544e-01 1.58483047e+02] [-7.01132108e-01 6.94660248e-01 -1.60813266e-01 -8.82713551e+01] [-2.24823590e-01 -1.34572855e-03 9.74398554e-01 -3.55707991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:-88.29, Z:-35.58 [[ 6.76766689e-01 7.19191607e-01 1.57322217e-01 1.58505450e+02] [-7.00915605e-01 6.94810693e-01 -1.61106843e-01 -8.82937400e+01] [-2.25175848e-01 -1.23785236e-03 9.74317354e-01 -3.55779705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:-88.32, Z:-35.58 [[ 6.78082282e-01 7.17808611e-01 1.57972203e-01 1.58528110e+02] [-6.99320955e-01 6.96240106e-01 -1.61863886e-01 -8.83162784e+01] [-2.26173874e-01 -7.16238343e-04 9.74086683e-01 -3.55847282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-88.34, Z:-35.59 [[ 6.78945871e-01 7.16955500e-01 1.58137017e-01 1.58550737e+02] [-6.98384570e-01 6.97118840e-01 -1.62124382e-01 -8.83392415e+01] [-2.26476261e-01 -3.66772777e-04 9.74016616e-01 -3.55923022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:-88.36, Z:-35.60 [[ 6.80084272e-01 7.15937727e-01 1.57856116e-01 1.58572707e+02] [-6.97385281e-01 6.98164142e-01 -1.61927762e-01 -8.83616997e+01] [-2.26139674e-01 3.79920675e-05 9.74094886e-01 -3.55995613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:-88.38, Z:-35.61 [[ 6.81300977e-01 7.14792134e-01 1.57801092e-01 1.58595555e+02] [-6.96202822e-01 6.99336812e-01 -1.61955718e-01 -8.83846641e+01] [-2.26120786e-01 4.79023693e-04 9.74099153e-01 -3.56076854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.62, Y:-88.41, Z:-35.61 [[ 6.84314161e-01 7.12027390e-01 1.57261327e-01 1.58617384e+02] [-6.93472672e-01 7.02150178e-01 -1.61495449e-01 -8.84068761e+01] [-2.25410252e-01 1.45718969e-03 9.74262847e-01 -3.56148101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:-88.42, Z:-35.63 [[ 6.85588010e-01 7.12253717e-01 1.50544752e-01 1.58642281e+02] [-6.91798925e-01 7.01813506e-01 -1.69917775e-01 -8.84248802e+01] [-2.26678907e-01 1.23468912e-02 9.73891281e-01 -3.56291259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:-88.46, Z:-35.63 [[ 6.87362199e-01 7.07544872e-01 1.64053224e-01 1.58657906e+02] [-6.90800002e-01 7.06623088e-01 -1.53229136e-01 -8.84557071e+01] [-2.24340285e-01 -8.00405182e-03 9.74478000e-01 -3.56258711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:-88.47, Z:-35.65 [[ 6.88391736e-01 7.09892187e-01 1.48895605e-01 1.58687160e+02] [-6.89331721e-01 7.04160036e-01 -1.70236372e-01 -8.84690176e+01] [-2.25695805e-01 1.45508481e-02 9.74089152e-01 -3.56450869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:-88.50, Z:-35.65 [[ 6.89143928e-01 7.07178546e-01 1.58047938e-01 1.58705454e+02] [-6.88607480e-01 7.07031803e-01 -1.61014810e-01 -8.84972697e+01] [-2.25611138e-01 2.12938617e-03 9.74215110e-01 -3.56484742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:-88.52, Z:-35.65 [[ 6.90083649e-01 7.05032030e-01 1.63445388e-01 1.58725720e+02] [-6.88263719e-01 7.09141833e-01 -1.53006255e-01 -8.85207448e+01] [-2.23780273e-01 -6.90641610e-03 9.74615150e-01 -3.56484332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:-88.53, Z:-35.67 [[ 6.89893164e-01 7.08708670e-01 1.47578601e-01 1.58755041e+02] [-6.87495996e-01 7.05273892e-01 -1.73025991e-01 -8.85321099e+01] [-2.26708354e-01 1.79097513e-02 9.73798009e-01 -3.56702044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:-88.57, Z:-35.66 [[ 6.90345991e-01 7.04141578e-01 1.66153697e-01 1.58768040e+02] [-6.88103184e-01 7.09975960e-01 -1.49827047e-01 -8.85665936e+01] [-2.23464584e-01 -1.08983868e-02 9.74651120e-01 -3.56617244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:-88.58, Z:-35.67 [[ 6.90585530e-01 7.06337972e-01 1.55493716e-01 1.58794506e+02] [-6.87953261e-01 7.07865488e-01 -1.60146063e-01 -8.85834545e+01] [-2.23185880e-01 3.62214466e-03 9.74769174e-01 -3.56740566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:-88.61, Z:-35.68 [[ 6.90641929e-01 7.06179024e-01 1.55964457e-01 1.58816987e+02] [-6.87656042e-01 7.08023379e-01 -1.60723562e-01 -8.86062762e+01] [-2.23926090e-01 3.75252990e-03 9.74598905e-01 -3.56820214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:-88.63, Z:-35.69 [[ 6.90874183e-01 7.05893503e-01 1.56228121e-01 1.58839270e+02] [-6.87278489e-01 7.08307138e-01 -1.61087792e-01 -8.86284519e+01] [-2.24368319e-01 3.91916990e-03 9.74496535e-01 -3.56897768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:-88.65, Z:-35.70 [[ 6.91137393e-01 7.05554201e-01 1.56596210e-01 1.58862636e+02] [-6.86821850e-01 7.08644090e-01 -1.61552776e-01 -8.86507173e+01] [-2.24955219e-01 4.10146614e-03 9.74360471e-01 -3.56978729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:-88.67, Z:-35.71 [[ 6.91350682e-01 7.05242149e-01 1.57059692e-01 1.58885798e+02] [-6.86367487e-01 7.08953563e-01 -1.62125008e-01 -8.86723705e+01] [-2.25685417e-01 4.28456902e-03 9.74190810e-01 -3.57058773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:-88.69, Z:-35.71 [[ 6.91843816e-01 7.04460864e-01 1.58388842e-01 1.58909803e+02] [-6.85218480e-01 7.09727607e-01 -1.63592049e-01 -8.86941678e+01] [-2.27657130e-01 4.64918612e-03 9.73730259e-01 -3.57137612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:-88.72, Z:-35.72 [[ 6.92017642e-01 7.04175360e-01 1.58898226e-01 1.58931592e+02] [-6.84777171e-01 7.10009674e-01 -1.64214767e-01 -8.87159995e+01] [-2.28455270e-01 4.82963792e-03 9.73542431e-01 -3.57210639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:-88.74, Z:-35.73 [[ 6.92110395e-01 7.03989327e-01 1.59318011e-01 1.58954149e+02] [-6.84461129e-01 7.10193161e-01 -1.64738083e-01 -8.87389671e+01] [-2.29120414e-01 4.96995440e-03 9.73385399e-01 -3.57285626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:-88.76, Z:-35.74 [[ 6.92822782e-01 7.03221899e-01 1.59610630e-01 1.58976836e+02] [-6.83578490e-01 7.10950658e-01 -1.65135124e-01 -8.87611371e+01] [-2.29601918e-01 5.30298232e-03 9.73270177e-01 -3.57359333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.00, Y:-88.78, Z:-35.74 [[ 6.93227064e-01 7.02836307e-01 1.59553637e-01 1.58999041e+02] [-6.83174822e-01 7.11330375e-01 -1.65170400e-01 -8.87830677e+01] [-2.29583103e-01 5.49756362e-03 9.73273536e-01 -3.57438606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:-88.81, Z:-35.75 [[ 6.93808366e-01 7.02282954e-01 1.59463486e-01 1.59022373e+02] [-6.82609057e-01 7.11874773e-01 -1.65164109e-01 -8.88055041e+01] [-2.29509972e-01 5.74102083e-03 9.73289378e-01 -3.57522737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:-88.83, Z:-35.76 [[ 6.95177877e-01 7.01072966e-01 1.58821964e-01 1.59045352e+02] [-6.81506114e-01 7.13062733e-01 -1.64593303e-01 -8.88263741e+01] [-2.28641938e-01 6.18348335e-03 9.73490949e-01 -3.57612033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-88.85, Z:-35.77 [[ 6.95668541e-01 7.00665100e-01 1.58473022e-01 1.59067839e+02] [-6.81154637e-01 7.13461903e-01 -1.64318209e-01 -8.88486781e+01] [-2.28196498e-01 6.36637440e-03 9.73594283e-01 -3.57692325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:-88.87, Z:-35.78 [[ 6.96122299e-01 7.00305820e-01 1.58068033e-01 1.59089454e+02] [-6.80865392e-01 7.13813036e-01 -1.63991671e-01 -8.88705040e+01] [-2.27675345e-01 6.53520578e-03 9.73715168e-01 -3.57772006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:-88.89, Z:-35.79 [[ 6.96559063e-01 6.99982420e-01 1.57575642e-01 1.59111763e+02] [-6.80636412e-01 7.14128811e-01 -1.63566855e-01 -8.88931502e+01] [-2.27023229e-01 6.68225567e-03 9.73866418e-01 -3.57850381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:-88.92, Z:-35.79 [[ 6.96972633e-01 6.99587246e-01 1.57501855e-01 1.59133939e+02] [-6.80227728e-01 7.14514098e-01 -1.63584358e-01 -8.89153783e+01] [-2.26978827e-01 6.87669218e-03 9.73875415e-01 -3.57932148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:-88.94, Z:-35.80 [[ 6.97381153e-01 6.99241407e-01 1.57229077e-01 1.59156843e+02] [-6.79928360e-01 7.14851185e-01 -1.63356076e-01 -8.89369607e+01] [-2.26620725e-01 7.01694030e-03 9.73957807e-01 -3.58017560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:-88.96, Z:-35.81 [[ 6.96615282e-01 7.00482029e-01 1.55087319e-01 1.59180035e+02] [-6.80563806e-01 7.13597015e-01 -1.66169213e-01 -8.89590914e+01] [-2.27068395e-01 1.02091972e-02 9.73825301e-01 -3.58128693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-88.98, Z:-35.82 [[ 6.96588889e-01 6.99735945e-01 1.58535568e-01 1.59199930e+02] [-6.80937639e-01 7.14388570e-01 -1.61161108e-01 -8.89815705e+01] [-2.26026218e-01 4.31020146e-03 9.74111683e-01 -3.58167749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.22, Y:-89.01, Z:-35.83 [[ 6.94473285e-01 7.02033061e-01 1.57659246e-01 1.59222965e+02] [-6.83387444e-01 7.12133627e-01 -1.60770950e-01 -8.90081899e+01] [-2.25140973e-01 3.90878108e-03 9.74318359e-01 -3.58253224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:-88.71, Z:-34.88 [[ 7.04407144e-01 -6.83938971e-01 -1.89836927e-01 1.59893459e+02] [-6.62378195e-01 -7.29517238e-01 1.70469136e-01 -8.87109594e+01] [-2.55079796e-01 5.66416359e-03 -9.66903416e-01 -3.48807181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:-89.07, Z:-35.84 [[ 7.44759894e-01 6.44766098e-01 1.72073760e-01 1.59299421e+02] [-6.27845174e-01 7.64378897e-01 -1.46749241e-01 -8.90745211e+01] [-2.26148487e-01 1.25726947e-03 9.74092029e-01 -3.58438059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:-89.10, Z:-35.85 [[ 7.42667973e-01 6.47371271e-01 1.71332189e-01 1.59323462e+02] [-6.30731065e-01 7.62174769e-01 -1.45835337e-01 -8.90984525e+01] [-2.24994679e-01 2.42699929e-04 9.74359962e-01 -3.58507450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:-89.11, Z:-35.86 [[ 7.41841232e-01 6.49996378e-01 1.64852345e-01 1.59349022e+02] [-6.31226257e-01 7.59853477e-01 -1.55486677e-01 -8.91094588e+01] [-2.26329404e-01 1.12872989e-02 9.73985420e-01 -3.58624312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-89.13, Z:-35.87 [[ 7.40258407e-01 6.50571134e-01 1.69631043e-01 1.59371959e+02] [-6.32843559e-01 7.59432836e-01 -1.50899954e-01 -8.91332951e+01] [-2.26994538e-01 4.35504683e-03 9.73886294e-01 -3.58682365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:-89.15, Z:-35.88 [[ 7.37546058e-01 6.53414360e-01 1.70515355e-01 1.59396932e+02] [-6.35552971e-01 7.56992031e-01 -1.51774458e-01 -8.91539135e+01] [-2.28250375e-01 3.56911265e-03 9.73595926e-01 -3.58757932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-89.17, Z:-35.88 [[ 7.36242298e-01 6.54774572e-01 1.70931386e-01 1.59420391e+02] [-6.36839820e-01 7.55817345e-01 -1.52233982e-01 -8.91741468e+01] [-2.28871847e-01 3.22518350e-03 9.73451219e-01 -3.58831683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:-89.20, Z:-35.89 [[ 7.34958552e-01 6.56109750e-01 1.71335702e-01 1.59444541e+02] [-6.38105065e-01 7.54659987e-01 -1.52676882e-01 -8.91950454e+01] [-2.29472990e-01 2.88100076e-03 9.73310766e-01 -3.58906808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.47, Y:-89.22, Z:-35.90 [[ 7.33752426e-01 6.57305283e-01 1.71921911e-01 1.59467950e+02] [-6.39187027e-01 7.53619988e-01 -1.53286849e-01 -8.92151581e+01] [-2.30320044e-01 2.58434188e-03 9.73111504e-01 -3.58983790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:-89.24, Z:-35.91 [[ 7.31717064e-01 6.59518151e-01 1.72121895e-01 1.59492278e+02] [-6.41398147e-01 7.51686099e-01 -1.53546166e-01 -8.92362993e+01] [-2.30648119e-01 1.95368519e-03 9.73035266e-01 -3.59062092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-89.26, Z:-35.91 [[ 7.30421601e-01 6.60883253e-01 1.72387966e-01 1.59514894e+02] [-6.42723127e-01 7.50487035e-01 -1.53870702e-01 -8.92567897e+01] [-2.31065504e-01 1.59275217e-03 9.72936892e-01 -3.59140370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-89.28, Z:-35.92 [[ 7.29175443e-01 6.62321806e-01 1.72142379e-01 1.59538736e+02] [-6.44234553e-01 7.49218521e-01 -1.53731742e-01 -8.92782446e+01] [-2.30792143e-01 1.19734247e-03 9.73002340e-01 -3.59221105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:-89.30, Z:-35.93 [[ 7.26685249e-01 6.65112201e-01 1.71913667e-01 1.59562111e+02] [-6.47129275e-01 7.46743339e-01 -1.53616687e-01 -8.92995410e+01] [-2.30547719e-01 3.80614234e-04 9.73060946e-01 -3.59306102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.58, Y:-89.32, Z:-35.94 [[ 7.25572313e-01 6.66352191e-01 1.71812622e-01 1.59584911e+02] [-6.48403483e-01 7.45637147e-01 -1.53616952e-01 -8.93200201e+01] [-2.30472866e-01 5.63040845e-05 9.73078751e-01 -3.59384742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:-89.34, Z:-35.95 [[ 7.24380529e-01 6.67645818e-01 1.71819414e-01 1.59608015e+02] [-6.49711598e-01 7.44478997e-01 -1.53707067e-01 -8.93415332e+01] [-2.30537826e-01 -2.90659427e-04 9.73063321e-01 -3.59465567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:-89.36, Z:-35.95 [[ 7.23628148e-01 6.68629794e-01 1.71162211e-01 1.59631536e+02] [-6.50841067e-01 7.43595261e-01 -1.53205723e-01 -8.93635215e+01] [-2.29713320e-01 -5.35422529e-04 9.73258190e-01 -3.59545741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:-89.39, Z:-35.96 [[ 7.22520202e-01 6.70052100e-01 1.70278418e-01 1.59654076e+02] [-6.52467864e-01 7.42313507e-01 -1.52500307e-01 -8.93855943e+01] [-2.28583121e-01 -9.16643646e-04 9.73523968e-01 -3.59628946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:-89.41, Z:-35.97 [[ 7.22011520e-01 6.70721353e-01 1.69800568e-01 1.59676620e+02] [-6.53234432e-01 7.41708669e-01 -1.52161191e-01 -8.94070148e+01] [-2.28000313e-01 -1.05744446e-03 9.73660484e-01 -3.59707804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:-89.43, Z:-35.98 [[ 7.21537895e-01 6.71312531e-01 1.69477290e-01 1.59699926e+02] [-6.53889899e-01 7.41173458e-01 -1.51953629e-01 -8.94296700e+01] [-2.27620444e-01 -1.17918641e-03 9.73749220e-01 -3.59783290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:-89.45, Z:-35.99 [[ 7.21278650e-01 6.71618596e-01 1.69368151e-01 1.59723061e+02] [-6.54206726e-01 7.40896079e-01 -1.51942617e-01 -8.94517197e+01] [-2.27531687e-01 -1.20881791e-03 9.73769927e-01 -3.59863739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:-89.47, Z:-35.99 [[ 7.21366544e-01 6.71504775e-01 1.69445113e-01 1.59745578e+02] [-6.54053395e-01 7.40999401e-01 -1.52098799e-01 -8.94745443e+01] [-2.27693797e-01 -1.10716631e-03 9.73732155e-01 -3.59948104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:-89.50, Z:-36.00 [[ 7.21958095e-01 6.70967481e-01 1.69053684e-01 1.59767723e+02] [-6.53562607e-01 7.41486268e-01 -1.51835548e-01 -8.94961630e+01] [-2.27227700e-01 -8.68263196e-04 9.73841270e-01 -3.60023788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:-89.52, Z:-36.01 [[ 7.22649073e-01 6.70249608e-01 1.68949046e-01 1.59790130e+02] [-6.52828176e-01 7.42135518e-01 -1.51823076e-01 -8.95183959e+01] [-2.27142445e-01 -5.79892135e-04 9.73861373e-01 -3.60102680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:-89.54, Z:-36.02 [[ 7.23603990e-01 6.69222230e-01 1.68934521e-01 1.59812182e+02] [-6.51755515e-01 7.43062293e-01 -1.51898577e-01 -8.95405261e+01] [-2.27182777e-01 -1.89589368e-04 9.73852119e-01 -3.60177740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:-89.56, Z:-36.03 [[ 7.24595548e-01 6.68020712e-01 1.69439132e-01 1.59834620e+02] [-6.50396384e-01 7.44142638e-01 -1.52434506e-01 -8.95629777e+01] [-2.27916289e-01 2.50765622e-04 9.73680698e-01 -3.60254821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:-89.59, Z:-36.03 [[ 7.26718701e-01 6.65425737e-01 1.70553565e-01 1.59855354e+02] [-6.47473603e-01 7.46463183e-01 -1.53527359e-01 -8.95869748e+01] [-2.29473013e-01 1.14227121e-03 9.73314354e-01 -3.60325999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:-89.61, Z:-36.04 [[ 7.27648314e-01 6.64372595e-01 1.70695595e-01 1.59877349e+02] [-6.46341823e-01 7.47399949e-01 -1.53738624e-01 -8.96097834e+01] [-2.29717608e-01 1.53994816e-03 9.73256107e-01 -3.60398291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.90, Y:-89.63, Z:-36.05 [[ 7.28654537e-01 6.63214623e-01 1.70906201e-01 1.59899669e+02] [-6.45087965e-01 7.48426671e-01 -1.54009855e-01 -8.96324064e+01] [-2.30052347e-01 1.97044661e-03 9.73176261e-01 -3.60475094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:-89.66, Z:-36.05 [[ 7.30453377e-01 6.61428708e-01 1.70146782e-01 1.59920976e+02] [-6.43396376e-01 7.50003572e-01 -1.53413642e-01 -8.96573913e+01] [-2.29082881e-01 2.58968993e-03 9.73403476e-01 -3.60549241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:-89.69, Z:-36.06 [[ 7.30785569e-01 6.60684858e-01 1.71604111e-01 1.59942056e+02] [-6.43838130e-01 7.50660342e-01 -1.48261642e-01 -8.96854406e+01] [-2.26770622e-01 -2.13780119e-03 9.73945848e-01 -3.60588388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:-89.70, Z:-36.07 [[ 7.31915467e-01 6.61142107e-01 1.64896522e-01 1.59965498e+02] [-6.42240577e-01 7.50204619e-01 -1.57226179e-01 -8.96993130e+01] [-2.27654980e-01 9.17303446e-03 9.73698652e-01 -3.60720147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:-89.73, Z:-36.07 [[ 7.31652303e-01 6.59873531e-01 1.71031665e-01 1.59984881e+02] [-6.43186647e-01 7.51373734e-01 -1.47473552e-01 -8.97307260e+01] [-2.25822594e-01 -2.10591889e-03 9.74166167e-01 -3.60738625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:-89.36, Z:-35.18 [[ 7.53628982e-01 -6.06755677e-01 -2.52766505e-01 1.60726901e+02] [-6.04651312e-01 -7.90756649e-01 9.53976607e-02 -8.93571094e+01] [-2.57759866e-01 8.09411569e-02 -9.62812744e-01 -3.51817165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:-89.83, Z:-36.11 [[ 7.78572754e-01 6.00028022e-01 1.83822849e-01 1.60102862e+02] [-5.82880331e-01 7.99970059e-01 -1.42472538e-01 -8.98328289e+01] [-2.32540290e-01 3.77851314e-03 9.72579424e-01 -3.61110303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:-89.85, Z:-36.12 [[ 7.77923974e-01 6.00680489e-01 1.84437633e-01 1.60128545e+02] [-5.83413968e-01 7.99480776e-01 -1.43033667e-01 -8.98524285e+01] [-2.33371875e-01 3.66582764e-03 9.72380651e-01 -3.61188774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:-89.87, Z:-36.13 [[ 7.77228834e-01 6.01402537e-01 1.85014402e-01 1.60152975e+02] [-5.84025551e-01 7.98938368e-01 -1.43567542e-01 -8.98708507e+01] [-2.34156989e-01 3.53169541e-03 9.72192384e-01 -3.61264480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:-89.89, Z:-36.13 [[ 7.76668756e-01 6.01963246e-01 1.85542163e-01 1.60177202e+02] [-5.84481489e-01 7.98516384e-01 -1.44058923e-01 -8.98909658e+01] [-2.34876634e-01 3.44010485e-03 9.72019101e-01 -3.61338893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:-89.91, Z:-36.14 [[ 7.76196075e-01 6.02442313e-01 1.85964816e-01 1.60202620e+02] [-5.84880847e-01 7.98155418e-01 -1.44437957e-01 -8.99110338e+01] [-2.35444362e-01 3.34491650e-03 9.71882073e-01 -3.61418218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:-89.93, Z:-36.15 [[ 7.75782779e-01 6.02930705e-01 1.86106541e-01 1.60227602e+02] [-5.85335382e-01 7.97786864e-01 -1.44632674e-01 -8.99303626e+01] [-2.35676833e-01 3.26879464e-03 9.71825985e-01 -3.61493775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-89.95, Z:-36.16 [[ 7.75196264e-01 6.03663637e-01 1.86174559e-01 1.60251898e+02] [-5.86055261e-01 7.97233024e-01 -1.44771328e-01 -8.99499534e+01] [-2.35817693e-01 3.11761307e-03 9.71792311e-01 -3.61567935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:-89.97, Z:-36.16 [[ 7.74789786e-01 6.04238408e-01 1.86001975e-01 1.60277515e+02] [-5.86660253e-01 7.96797915e-01 -1.44716378e-01 -8.99689093e+01] [-2.35649179e-01 3.00480615e-03 9.71833543e-01 -3.61649797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:-89.99, Z:-36.17 [[ 7.73791023e-01 6.05599077e-01 1.85734249e-01 1.60303496e+02] [-5.88093022e-01 7.95765513e-01 -1.44581624e-01 -8.99902127e+01] [-2.35359408e-01 2.64694716e-03 9.71904801e-01 -3.61736094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:-89.60, Z:-35.24 [[ 7.99018931e-01 -5.65109394e-01 -2.05475354e-01 1.60997275e+02] [-5.44262103e-01 -8.24956112e-01 1.52401370e-01 -8.96001346e+01] [-2.55631595e-01 -9.93913177e-03 -9.66723177e-01 -3.52447710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-90.07, Z:-36.21 [[ 8.16450552e-01 5.44335931e-01 1.92631489e-01 1.60430413e+02] [-5.27661877e-01 8.38832060e-01 -1.33916837e-01 -9.00747371e+01] [-2.34481215e-01 7.69218302e-03 9.72090217e-01 -3.62077178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-90.09, Z:-36.22 [[ 8.16248667e-01 5.44858124e-01 1.92009735e-01 1.60458139e+02] [-5.27515979e-01 8.38464434e-01 -1.36763609e-01 -9.00888406e+01] [-2.35510097e-01 1.03449105e-02 9.71816843e-01 -3.62193845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.48, Y:-90.11, Z:-36.22 [[ 8.16182515e-01 5.42597013e-01 1.98581428e-01 1.60481322e+02] [-5.28581146e-01 8.39978965e-01 -1.22626713e-01 -9.01121420e+01] [-2.33341111e-01 -4.88061961e-03 9.72382695e-01 -3.62190131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.51, Y:-90.13, Z:-36.23 [[ 8.16013097e-01 5.44585508e-01 1.93776288e-01 1.60509629e+02] [-5.29143515e-01 8.38701421e-01 -1.28790788e-01 -9.01254498e+01] [-2.32658045e-01 2.55950319e-03 9.72555234e-01 -3.62292606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:-90.14, Z:-36.24 [[ 8.16030073e-01 5.44669381e-01 1.93468821e-01 1.60537004e+02] [-5.29260316e-01 8.38646829e-01 -1.28666288e-01 -9.01417828e+01] [-2.32332601e-01 2.60019093e-03 9.72632922e-01 -3.62373098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:-90.16, Z:-36.25 [[ 8.16183255e-01 5.44505208e-01 1.93284695e-01 1.60563668e+02] [-5.29102331e-01 8.38753074e-01 -1.28623502e-01 -9.01586708e+01] [-2.32154298e-01 2.71296570e-03 9.72675188e-01 -3.62457381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-90.18, Z:-36.25 [[ 8.16589060e-01 5.43926113e-01 1.93201167e-01 1.60590163e+02] [-5.28501599e-01 8.39127944e-01 -1.28648176e-01 -9.01751817e+01] [-2.32095601e-01 2.94556779e-03 9.72688519e-01 -3.62539734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-90.19, Z:-36.26 [[ 8.18018705e-01 5.41767242e-01 1.93219188e-01 1.60617532e+02] [-5.26262612e-01 8.40520749e-01 -1.28734354e-01 -9.01918572e+01] [-2.32148792e-01 3.62307514e-03 9.72673538e-01 -3.62622733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:-90.21, Z:-36.27 [[ 8.18863708e-01 5.40427292e-01 1.93392268e-01 1.60644594e+02] [-5.24838654e-01 8.41380849e-01 -1.28928873e-01 -9.02094317e+01] [-2.32393233e-01 4.07543749e-03 9.72613374e-01 -3.62700674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:-90.23, Z:-36.28 [[ 8.19671442e-01 5.38955485e-01 1.94076564e-01 1.60670442e+02] [-5.23194885e-01 8.42321804e-01 -1.29464633e-01 -9.02262589e+01] [-2.33250596e-01 4.57859707e-03 9.72405880e-01 -3.62779980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-90.24, Z:-36.29 [[ 8.20634690e-01 5.37506576e-01 1.94024191e-01 1.60697385e+02] [-5.21697085e-01 8.43244419e-01 -1.29502897e-01 -9.02441254e+01] [-2.33218475e-01 5.05271500e-03 9.72411237e-01 -3.62855004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:-90.26, Z:-36.29 [[ 8.21705236e-01 5.35683239e-01 1.94535274e-01 1.60723813e+02] [-5.19719809e-01 8.44400082e-01 -1.29922368e-01 -9.02614253e+01] [-2.33862836e-01 5.65405441e-03 9.72253159e-01 -3.62933434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:-90.28, Z:-36.30 [[ 8.23913131e-01 5.32122640e-01 1.94968330e-01 1.60750445e+02] [-5.15969581e-01 8.46640382e-01 -1.30289891e-01 -9.02786046e+01] [-2.34398262e-01 6.74982444e-03 9.72117223e-01 -3.63008334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:-90.30, Z:-36.31 [[ 8.25025086e-01 5.30361983e-01 1.95063514e-01 1.60777417e+02] [-5.14125203e-01 8.47739662e-01 -1.30432897e-01 -9.02957553e+01] [-2.34539728e-01 7.32334339e-03 9.72078950e-01 -3.63089081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:-90.31, Z:-36.32 [[ 8.25855614e-01 5.28975776e-01 1.95312913e-01 1.60803808e+02] [-5.12638851e-01 8.48601088e-01 -1.30681301e-01 -9.03126936e+01] [-2.34869993e-01 7.79889843e-03 9.71995506e-01 -3.63172794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:-90.33, Z:-36.33 [[ 8.26754372e-01 5.27610198e-01 1.95204221e-01 1.60829917e+02] [-5.11234450e-01 8.49446499e-01 -1.30690407e-01 -9.03292496e+01] [-2.34769133e-01 8.25374303e-03 9.72016116e-01 -3.63250730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:-90.35, Z:-36.33 [[ 8.28110810e-01 5.25530999e-01 1.95063208e-01 1.60857555e+02] [-5.09104170e-01 8.50727869e-01 -1.30671487e-01 -9.03457892e+01] [-2.34617624e-01 8.90297831e-03 9.72046968e-01 -3.63332651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:-90.36, Z:-36.34 [[ 8.28554568e-01 5.24969646e-01 1.94690008e-01 1.60884827e+02] [-5.08571950e-01 8.51072149e-01 -1.30501985e-01 -9.03626346e+01] [-2.34204824e-01 9.11413860e-03 9.72144554e-01 -3.63415417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:-90.38, Z:-36.35 [[ 8.28913474e-01 5.24571732e-01 1.94234266e-01 1.60911250e+02] [-5.08221512e-01 8.51315726e-01 -1.30278279e-01 -9.03792608e+01] [-2.33694987e-01 9.27538879e-03 9.72265715e-01 -3.63493354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:-90.40, Z:-36.36 [[ 8.29144474e-01 5.24361660e-01 1.93815093e-01 1.60938016e+02] [-5.08059281e-01 8.51443994e-01 -1.30072642e-01 -9.03961529e+01] [-2.33227803e-01 9.37945600e-03 9.72376891e-01 -3.63572282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:-90.41, Z:-36.36 [[ 8.29264160e-01 5.24333939e-01 1.93377539e-01 1.60964575e+02] [-5.08086440e-01 8.51460457e-01 -1.29858616e-01 -9.04117335e+01] [-2.32742608e-01 9.43459032e-03 9.72492605e-01 -3.63648467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.99, Y:-90.43, Z:-36.37 [[ 8.29165598e-01 5.24502613e-01 1.93342752e-01 1.60991453e+02] [-5.08247585e-01 8.51356378e-01 -1.29910390e-01 -9.04298532e+01] [-2.32741924e-01 9.45123964e-03 9.72492607e-01 -3.63730913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:-90.45, Z:-36.38 [[ 8.28707896e-01 5.25098965e-01 1.93686087e-01 1.61018689e+02] [-5.08788505e-01 8.50989833e-01 -1.30194321e-01 -9.04468340e+01] [-2.33189794e-01 9.34780772e-03 9.72386311e-01 -3.63814944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:-90.46, Z:-36.39 [[ 8.28201047e-01 5.25998470e-01 1.93413121e-01 1.61044939e+02] [-5.09739374e-01 8.50436271e-01 -1.30091969e-01 -9.04630901e+01] [-2.32913710e-01 9.15202168e-03 9.72454340e-01 -3.63889712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:-90.48, Z:-36.40 [[ 8.27332237e-01 5.27335621e-01 1.93490345e-01 1.61071805e+02] [-5.11081294e-01 8.49611033e-01 -1.30219061e-01 -9.04796972e+01] [-2.33060681e-01 8.84513069e-03 9.72421967e-01 -3.63967917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.10, Y:-90.50, Z:-36.40 [[ 8.25439275e-01 5.30156710e-01 1.93865588e-01 1.61100061e+02] [-5.15253465e-01 8.47893734e-01 -1.24860252e-01 -9.05004242e+01] [-2.30572918e-01 3.17463998e-03 9.73049871e-01 -3.64005218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:-90.51, Z:-36.41 [[ 8.24655927e-01 5.32960843e-01 1.89460660e-01 1.61127531e+02] [-5.15726579e-01 8.46028481e-01 -1.35136619e-01 -9.05079557e+01] [-2.32311640e-01 1.37313161e-02 9.72544473e-01 -3.64139450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:-90.53, Z:-36.42 [[ 8.23630069e-01 5.33414930e-01 1.92618850e-01 1.61153517e+02] [-5.17428396e-01 8.45822620e-01 -1.29815064e-01 -9.05275045e+01] [-2.32166674e-01 7.25312796e-03 9.72648975e-01 -3.64197801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:-90.54, Z:-36.43 [[ 8.21874596e-01 5.36129803e-01 1.92579809e-01 1.61181250e+02] [-5.20204281e-01 8.44110110e-01 -1.29867736e-01 -9.05427926e+01] [-2.32184527e-01 6.55415209e-03 9.72649674e-01 -3.64270283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.21, Y:-90.56, Z:-36.43 [[ 8.21066122e-01 5.37342832e-01 1.92647619e-01 1.61208373e+02] [-5.21421330e-01 8.43340548e-01 -1.29986602e-01 -9.05593352e+01] [-2.32314918e-01 6.27701785e-03 9.72620367e-01 -3.64348621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:-90.58, Z:-36.44 [[ 8.20264578e-01 5.38312611e-01 1.93353446e-01 1.61235999e+02] [-5.22280270e-01 8.42723207e-01 -1.30540861e-01 -9.05758688e+01] [-2.33215228e-01 6.09335371e-03 9.72406051e-01 -3.64432254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:-90.59, Z:-36.45 [[ 8.19811386e-01 5.38994410e-01 1.93376104e-01 1.61263738e+02] [-5.22957531e-01 8.42288182e-01 -1.30637048e-01 -9.05926429e+01] [-2.33291046e-01 5.97024973e-03 9.72388628e-01 -3.64509942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:-90.61, Z:-36.46 [[ 8.19194970e-01 5.39640913e-01 1.94183640e-01 1.61291560e+02] [-5.23465445e-01 8.41874729e-01 -1.31266401e-01 -9.06073215e+01] [-2.34315020e-01 5.88435008e-03 9.72142914e-01 -3.64588249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:-90.62, Z:-36.47 [[ 8.19025383e-01 5.39809938e-01 1.94429044e-01 1.61318065e+02] [-5.23585590e-01 8.41766342e-01 -1.31482150e-01 -9.06236008e+01] [-2.34639196e-01 5.88697297e-03 9.72064705e-01 -3.64668238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:-90.64, Z:-36.47 [[ 8.19061052e-01 5.39659631e-01 1.94695852e-01 1.61345390e+02] [-5.23367522e-01 8.41861883e-01 -1.31738401e-01 -9.06403980e+01] [-2.35000914e-01 6.00430816e-03 9.71976604e-01 -3.64748086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:-90.66, Z:-36.48 [[ 8.19230014e-01 5.39585410e-01 1.94190036e-01 1.61372271e+02] [-5.23409178e-01 8.41910238e-01 -1.31263033e-01 -9.06578970e+01] [-2.34318197e-01 5.89376976e-03 9.72142092e-01 -3.64826536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-90.67, Z:-36.49 [[ 8.19911269e-01 5.38479288e-01 1.94385100e-01 1.61399017e+02] [-5.21979465e-01 8.42608418e-01 -1.32470723e-01 -9.06712927e+01] [-2.35123263e-01 7.14920822e-03 9.71939268e-01 -3.64909451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:-90.69, Z:-36.50 [[ 8.20401533e-01 5.37562008e-01 1.94854849e-01 1.61425826e+02] [-5.21140978e-01 8.43197066e-01 -1.32025714e-01 -9.06881429e+01] [-2.35273045e-01 6.76725197e-03 9.71905756e-01 -3.64986532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:-90.70, Z:-36.51 [[ 8.20972506e-01 5.36738921e-01 1.94718963e-01 1.61451901e+02] [-5.20298384e-01 8.43718763e-01 -1.32016060e-01 -9.07042561e+01] [-2.35146201e-01 7.06959353e-03 9.71934301e-01 -3.65066319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:-90.72, Z:-36.51 [[ 8.22664114e-01 5.34584562e-01 1.93502199e-01 1.61478798e+02] [-5.18281516e-01 8.45080115e-01 -1.31239740e-01 -9.07188557e+01] [-2.33683600e-01 7.67761131e-03 9.72282382e-01 -3.65148713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:-90.74, Z:-36.52 [[ 8.23360156e-01 5.33573858e-01 1.93331300e-01 1.61505377e+02] [-5.17255349e-01 8.45715451e-01 -1.31195578e-01 -9.07356747e+01] [-2.33505799e-01 8.01956216e-03 9.72322338e-01 -3.65230654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:-90.75, Z:-36.53 [[ 8.24105531e-01 5.32520449e-01 1.93059691e-01 1.61532340e+02] [-5.16201733e-01 8.46375732e-01 -1.31087341e-01 -9.07528802e+01] [-2.33207727e-01 8.37205603e-03 9.72390901e-01 -3.65311743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:-90.77, Z:-36.54 [[ 8.25930240e-01 5.29632537e-01 1.93206146e-01 1.61560090e+02] [-5.13192458e-01 8.48176628e-01 -1.31262749e-01 -9.07690558e+01] [-2.33393960e-01 9.26193682e-03 9.72338149e-01 -3.65397431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:-90.79, Z:-36.55 [[ 8.26882335e-01 5.28186499e-01 1.93092273e-01 1.61587089e+02] [-5.11708482e-01 8.49072611e-01 -1.31263592e-01 -9.07861490e+01] [-2.33281018e-01 9.73259121e-03 9.72360655e-01 -3.65478084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:-90.80, Z:-36.56 [[ 8.27597555e-01 5.27012512e-01 1.93235865e-01 1.61613332e+02] [-5.10458279e-01 8.49796988e-01 -1.31443620e-01 -9.08027876e+01] [-2.33483688e-01 1.01435715e-02 9.72307809e-01 -3.65558555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:-90.82, Z:-36.56 [[ 8.28187374e-01 5.26115199e-01 1.93154010e-01 1.61640641e+02] [-5.09532955e-01 8.50348999e-01 -1.31463865e-01 -9.08198971e+01] [-2.33413457e-01 1.04583799e-02 9.72321336e-01 -3.65639023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-90.84, Z:-36.57 [[ 8.28564562e-01 5.25535204e-01 1.93115290e-01 1.61667425e+02] [-5.08924351e-01 8.50704668e-01 -1.31520239e-01 -9.08364475e+01] [-2.33402594e-01 1.06919352e-02 9.72321403e-01 -3.65717998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:-90.85, Z:-36.58 [[ 8.28629206e-01 5.25360747e-01 1.93312506e-01 1.61695069e+02] [-5.08692300e-01 8.50810800e-01 -1.31731263e-01 -9.08521812e+01] [-2.33678803e-01 1.08197880e-02 9.72253645e-01 -3.65798333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:-90.87, Z:-36.59 [[ 8.28165637e-01 5.26078923e-01 1.93345917e-01 1.61721919e+02] [-5.09404436e-01 8.50368564e-01 -1.31834847e-01 -9.08691964e+01] [-2.33770824e-01 1.06898222e-02 9.72232960e-01 -3.65870348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:-90.89, Z:-36.59 [[ 8.27311465e-01 5.27170968e-01 1.94027090e-01 1.61748772e+02] [-5.10386740e-01 8.49694477e-01 -1.32380783e-01 -9.08854383e+01] [-2.34651052e-01 1.04912854e-02 9.72023054e-01 -3.65949496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:-90.90, Z:-36.60 [[ 8.26216487e-01 5.28759099e-01 1.94371121e-01 1.61776567e+02] [-5.11939266e-01 8.48711550e-01 -1.32690970e-01 -9.09020357e+01] [-2.35126573e-01 1.01252582e-02 9.71912020e-01 -3.66026954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:-90.92, Z:-36.61 [[ 8.23502377e-01 5.32701567e-01 1.95122720e-01 1.61805084e+02] [-5.15838296e-01 8.46254145e-01 -1.33284561e-01 -9.09163865e+01] [-2.36124305e-01 9.10838189e-03 9.71680169e-01 -3.66102795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:-90.93, Z:-36.62 [[ 8.21888704e-01 5.35030110e-01 1.95554952e-01 1.61832787e+02] [-5.18135878e-01 8.44789925e-01 -1.33660746e-01 -9.09327421e+01] [-2.36715377e-01 8.53022003e-03 9.71541592e-01 -3.66185403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:-90.95, Z:-36.63 [[ 8.19987278e-01 5.37877226e-01 1.95726734e-01 1.61859986e+02] [-5.21012460e-01 8.42987213e-01 -1.33860279e-01 -9.09489226e+01] [-2.36995529e-01 7.78765862e-03 9.71479527e-01 -3.66262067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:-90.96, Z:-36.63 [[ 8.18159718e-01 5.40546032e-01 1.96022099e-01 1.61887176e+02] [-5.23684573e-01 8.41284495e-01 -1.34144944e-01 -9.09646554e+01] [-2.37421870e-01 7.09824028e-03 9.71380703e-01 -3.66340273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:-90.98, Z:-36.64 [[ 8.14454988e-01 5.45966213e-01 1.96428019e-01 1.61916148e+02] [-5.29169448e-01 8.37788477e-01 -1.34499675e-01 -9.09788242e+01] [-2.37997409e-01 5.60022470e-03 9.71249644e-01 -3.66421167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:-91.00, Z:-36.65 [[ 8.12570558e-01 5.48762230e-01 1.96441095e-01 1.61944138e+02] [-5.32023407e-01 8.35964391e-01 -1.34590611e-01 -9.09952887e+01] [-2.38076004e-01 4.85310740e-03 9.71234402e-01 -3.66501426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:-91.01, Z:-36.66 [[ 8.10823790e-01 5.51278937e-01 1.96612093e-01 1.61971150e+02] [-5.34562385e-01 8.34310471e-01 -1.34792781e-01 -9.10110512e+01] [-2.38343949e-01 4.19176382e-03 9.71171762e-01 -3.66582412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:-91.03, Z:-36.67 [[ 8.09393330e-01 5.53280915e-01 1.96882367e-01 1.61998359e+02] [-5.36556495e-01 8.32986625e-01 -1.35057062e-01 -9.10270707e+01] [-2.38724873e-01 3.67577232e-03 9.71080287e-01 -3.66663668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.03, Y:-91.04, Z:-36.67 [[ 8.07606090e-01 5.55867670e-01 1.96935360e-01 1.62025042e+02] [-5.39189189e-01 8.31265438e-01 -1.35176886e-01 -9.10420822e+01] [-2.38846019e-01 2.98425936e-03 9.71052868e-01 -3.66742586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:-91.06, Z:-36.68 [[ 8.07208302e-01 5.56488145e-01 1.96813876e-01 1.62051929e+02] [-5.39829723e-01 8.30850610e-01 -1.35170759e-01 -9.10592193e+01] [-2.38743854e-01 2.86497897e-03 9.71078351e-01 -3.66821551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:-91.08, Z:-36.69 [[ 8.07214996e-01 5.56493901e-01 1.96770143e-01 1.62079355e+02] [-5.39822495e-01 8.30846512e-01 -1.35224802e-01 -9.10765882e+01] [-2.38737565e-01 2.93453818e-03 9.71079690e-01 -3.66902382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:-91.09, Z:-36.70 [[ 8.07501797e-01 5.56093189e-01 1.96726237e-01 1.62105839e+02] [-5.39396931e-01 8.31114074e-01 -1.35278779e-01 -9.10936613e+01] [-2.38729552e-01 3.12432837e-03 9.71081067e-01 -3.66981321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:-91.11, Z:-36.71 [[ 8.09105181e-01 5.53600889e-01 1.97167091e-01 1.62131684e+02] [-5.36734648e-01 8.32772788e-01 -1.35666509e-01 -9.11099068e+01] [-2.39300488e-01 3.94206576e-03 9.70937556e-01 -3.67058238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:-91.13, Z:-36.71 [[ 8.10235743e-01 5.51793929e-01 1.97589222e-01 1.62158007e+02] [-5.34781830e-01 8.33968059e-01 -1.36035547e-01 -9.11277858e+01] [-2.39846688e-01 4.55373694e-03 9.70800098e-01 -3.67136504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:-91.15, Z:-36.72 [[ 8.11715961e-01 5.49542098e-01 1.97789486e-01 1.62184609e+02] [-5.32408405e-01 8.35449236e-01 -1.36256611e-01 -9.11459402e+01] [-2.40121819e-01 5.29688130e-03 9.70728312e-01 -3.67215763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-91.16, Z:-36.73 [[ 8.15348699e-01 5.44058807e-01 1.98006344e-01 1.62211001e+02] [-5.26706339e-01 8.39017926e-01 -1.36489384e-01 -9.11644364e+01] [-2.40389124e-01 6.99524527e-03 9.70651398e-01 -3.67293828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:-91.18, Z:-36.74 [[ 8.17036379e-01 5.41535717e-01 1.97966214e-01 1.62236029e+02] [-5.24096114e-01 8.40641455e-01 -1.36547453e-01 -9.11820214e+01] [-2.40363929e-01 7.81091314e-03 9.70651416e-01 -3.67372219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:-91.20, Z:-36.75 [[ 8.18724691e-01 5.39248398e-01 1.97233480e-01 1.62262182e+02] [-5.21854842e-01 8.42103677e-01 -1.36120981e-01 -9.12004221e+01] [-2.39494060e-01 8.51836149e-03 9.70860460e-01 -3.67453292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:-91.22, Z:-36.75 [[ 8.21499817e-01 5.35376391e-01 1.96240085e-01 1.62288201e+02] [-5.18031070e-01 8.44558237e-01 -1.35518246e-01 -9.12183438e+01] [-2.38289450e-01 9.66975304e-03 9.71146041e-01 -3.67536161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-91.24, Z:-36.76 [[ 8.22240828e-01 5.34350816e-01 1.95931687e-01 1.62314335e+02] [-5.17012025e-01 8.45203385e-01 -1.35387610e-01 -9.12363489e+01] [-2.37946605e-01 1.00221824e-02 9.71226528e-01 -3.67615885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:-91.25, Z:-36.77 [[ 8.22964869e-01 5.33393556e-01 1.95499717e-01 1.62339780e+02] [-5.16085170e-01 8.45803891e-01 -1.35173501e-01 -9.12531384e+01] [-2.37455095e-01 1.03485376e-02 9.71343392e-01 -3.67696365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:-91.27, Z:-36.78 [[ 8.22801032e-01 5.33644921e-01 1.95503351e-01 1.62365081e+02] [-5.16323663e-01 8.45645368e-01 -1.35254529e-01 -9.12701257e+01] [-2.37504396e-01 1.03445594e-02 9.71331381e-01 -3.67774423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:-91.29, Z:-36.79 [[ 8.22242378e-01 5.34529030e-01 1.95438452e-01 1.62391624e+02] [-5.17225021e-01 8.45089124e-01 -1.35287289e-01 -9.12880967e+01] [-2.37477893e-01 1.01532845e-02 9.71339879e-01 -3.67854452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:-91.31, Z:-36.79 [[ 8.21473193e-01 5.35531799e-01 1.95927245e-01 1.62417738e+02] [-5.18147217e-01 8.44456300e-01 -1.35709317e-01 -9.13059767e+01] [-2.38128651e-01 9.96240883e-03 9.71182524e-01 -3.67936555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:-91.32, Z:-36.80 [[ 8.20633355e-01 5.36726990e-01 1.96176032e-01 1.62444281e+02] [-5.19310572e-01 8.43700199e-01 -1.35965087e-01 -9.13241122e+01] [-2.38489889e-01 9.70119870e-03 9.71096524e-01 -3.68020351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:-91.34, Z:-36.81 [[ 8.19611873e-01 5.38206622e-01 1.96392488e-01 1.62470278e+02] [-5.20772197e-01 8.42761011e-01 -1.36199107e-01 -9.13417225e+01] [-2.38815193e-01 9.35465730e-03 9.71019976e-01 -3.68102093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:-91.36, Z:-36.82 [[ 8.17581636e-01 5.41261701e-01 1.96458747e-01 1.62496725e+02] [-5.23882735e-01 8.40810886e-01 -1.36322905e-01 -9.13592506e+01] [-2.38971021e-01 8.53375827e-03 9.70989200e-01 -3.68190544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:-91.38, Z:-36.83 [[ 8.16496477e-01 5.42888738e-01 1.96482368e-01 1.62523187e+02] [-5.25531360e-01 8.39765270e-01 -1.36422438e-01 -9.13770736e+01] [-2.39061274e-01 8.13079422e-03 9.70970441e-01 -3.68276946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:-91.41, Z:-36.83 [[ 8.15448544e-01 5.42075859e-01 2.02971513e-01 1.62546764e+02] [-5.28769614e-01 8.40273947e-01 -1.19759715e-01 -9.14063512e+01] [-2.35470524e-01 -9.66728340e-03 9.71833410e-01 -3.68257068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:-91.40, Z:-36.85 [[ 8.13209826e-01 5.51527853e-01 1.85760077e-01 1.62578542e+02] [-5.30627601e-01 8.33767496e-01 -1.52532331e-01 -9.14032095e+01] [-2.39006544e-01 2.54713664e-02 9.70683822e-01 -3.68487407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.60, Y:-91.43, Z:-36.85 [[ 8.11794715e-01 5.49646301e-01 1.97175772e-01 1.62599394e+02] [-5.32312189e-01 8.35373468e-01 -1.37094506e-01 -9.14287435e+01] [-2.40068896e-01 6.33352831e-03 9.70735191e-01 -3.68519666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:-91.45, Z:-36.86 [[ 8.10200333e-01 5.51710019e-01 1.97968370e-01 1.62626058e+02] [-5.34274385e-01 8.34015719e-01 -1.37726768e-01 -9.14470436e+01] [-2.41093970e-01 5.81684429e-03 9.70484344e-01 -3.68603644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:-91.46, Z:-36.87 [[ 8.08779883e-01 5.53620071e-01 1.98443737e-01 1.62651660e+02] [-5.36134682e-01 8.32752283e-01 -1.38142093e-01 -9.14647776e+01] [-2.41732710e-01 5.33397573e-03 9.70328215e-01 -3.68679861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-91.48, Z:-36.88 [[ 8.08713851e-01 5.53729837e-01 1.98406589e-01 1.62678251e+02] [-5.36234624e-01 8.32679081e-01 -1.38195427e-01 -9.14833686e+01] [-2.41731947e-01 5.36807286e-03 9.70328217e-01 -3.68762329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-91.52, Z:-36.87 [[ 8.07471077e-01 5.52171244e-01 2.07599080e-01 1.62700578e+02] [-5.40146518e-01 8.33527525e-01 -1.16075851e-01 -9.15155719e+01] [-2.37133294e-01 -1.84060275e-02 9.71302743e-01 -3.68705895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-91.51, Z:-36.90 [[ 8.06145821e-01 5.61889465e-01 1.85497021e-01 1.62733819e+02] [-5.39378397e-01 8.26703418e-01 -1.60101229e-01 -9.15065116e+01] [-2.43310215e-01 2.90118506e-02 9.69514544e-01 -3.68982598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:-91.54, Z:-36.90 [[ 8.04040918e-01 5.59800951e-01 2.00352434e-01 1.62754054e+02] [-5.42109669e-01 8.28618909e-01 -1.39670364e-01 -9.15354500e+01] [-2.44203417e-01 3.68769600e-03 9.69717016e-01 -3.69009467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:-91.57, Z:-36.90 [[ 8.03773112e-01 5.57127113e-01 2.08705928e-01 1.62776688e+02] [-5.45057104e-01 8.30193385e-01 -1.17011526e-01 -9.15671192e+01] [-2.38456574e-01 -1.97059303e-02 9.70953211e-01 -3.68952566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:-91.58, Z:-36.91 [[ 8.03240118e-01 5.62486612e-01 1.95995216e-01 1.62807437e+02] [-5.45989851e-01 8.26804814e-01 -1.35236397e-01 -9.15757571e+01] [-2.38118451e-01 1.61590096e-03 9.71234777e-01 -3.69090089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:-91.58, Z:-36.93 [[ 8.02550678e-01 5.67194559e-01 1.84939834e-01 1.62836258e+02] [-5.44515890e-01 8.23079794e-01 -1.61375643e-01 -9.15764313e+01] [-2.43751627e-01 2.88094530e-02 9.69409697e-01 -3.69326651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.86, Y:-91.61, Z:-36.94 [[ 8.02676087e-01 5.62185146e-01 1.99145576e-01 1.62855329e+02] [-5.44735426e-01 8.27005586e-01 -1.39014664e-01 -9.16067565e+01] [-2.42846483e-01 3.10209572e-03 9.70059773e-01 -3.69354238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:-91.62, Z:-36.94 [[ 8.02877911e-01 5.61905272e-01 1.99121887e-01 1.62879716e+02] [-5.44430061e-01 8.27195168e-01 -1.39082932e-01 -9.16249709e+01] [-2.42864096e-01 3.25867268e-03 9.70054850e-01 -3.69434990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:-91.64, Z:-36.95 [[ 8.03296277e-01 5.61227956e-01 1.99344609e-01 1.62905443e+02] [-5.43679396e-01 8.27653821e-01 -1.39290586e-01 -9.16441332e+01] [-2.43162098e-01 3.51205229e-03 9.69979309e-01 -3.69516386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:-91.66, Z:-36.96 [[ 8.03715342e-01 5.60648789e-01 1.99285182e-01 1.62931320e+02] [-5.43072377e-01 8.28045178e-01 -1.39332612e-01 -9.16636336e+01] [-2.43133794e-01 3.75748015e-03 9.69985484e-01 -3.69598707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71655999499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.96, Y:-91.68, Z:-36.97 [[ 8.05133604e-01 5.58480996e-01 1.99646829e-01 1.62956911e+02] [-5.40752523e-01 8.29505142e-01 -1.39670788e-01 -9.16833540e+01] [-2.43611552e-01 4.49411812e-03 9.69862472e-01 -3.69685623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:-91.71, Z:-36.97 [[ 8.06205995e-01 5.54585195e-01 2.06075606e-01 1.62979711e+02] [-5.41204061e-01 8.32020391e-01 -1.21820498e-01 -9.17129062e+01] [-2.39018951e-01 -1.33165395e-02 9.70923587e-01 -3.69653212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-91.72, Z:-36.98 [[ 8.06773363e-01 5.57750361e-01 1.95016092e-01 1.63009278e+02] [-5.39760669e-01 8.29967280e-01 -1.40757716e-01 -9.17214395e+01] [-2.40364642e-01 8.29755950e-03 9.70647201e-01 -3.69805783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:-91.73, Z:-37.00 [[ 8.07771764e-01 5.57507588e-01 1.91546514e-01 1.63034517e+02] [-5.36464644e-01 8.29907063e-01 -1.53166418e-01 -9.17330272e+01] [-2.44357245e-01 2.09655754e-02 9.69458602e-01 -3.69969526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-91.76, Z:-37.00 [[ 8.08284289e-01 5.53516670e-01 2.00738146e-01 1.63055207e+02] [-5.35400021e-01 8.32815306e-01 -1.40589768e-01 -9.17583796e+01] [-2.44996581e-01 6.16129346e-03 9.69504365e-01 -3.70011585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:-91.78, Z:-37.01 [[ 8.09120146e-01 5.52216569e-01 2.00951363e-01 1.63080528e+02] [-5.34000781e-01 8.33674322e-01 -1.40820066e-01 -9.17772927e+01] [-2.45291165e-01 6.63216709e-03 9.69426768e-01 -3.70093510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.11, Y:-91.80, Z:-37.02 [[ 8.09934714e-01 5.51050892e-01 2.00869793e-01 1.63105577e+02] [-5.32792679e-01 8.34441791e-01 -1.40850486e-01 -9.17963732e+01] [-2.45229936e-01 7.05774270e-03 9.69439254e-01 -3.70174147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:-91.83, Z:-37.01 [[ 8.12804549e-01 5.44730250e-01 2.06440594e-01 1.63127363e+02] [-5.31026504e-01 8.38544774e-01 -1.21874996e-01 -9.18277030e+01] [-2.39498679e-01 -1.05648760e-02 9.70839207e-01 -3.70124171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:-91.84, Z:-37.02 [[ 8.13463089e-01 5.47188172e-01 1.97136775e-01 1.63155676e+02] [-5.30272036e-01 8.36992377e-01 -1.35112286e-01 -9.18401149e+01] [-2.38933822e-01 5.37273864e-03 9.71020990e-01 -3.70242967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:-91.84, Z:-37.05 [[ 8.13772324e-01 5.50047973e-01 1.87674806e-01 1.63183664e+02] [-5.27247793e-01 8.34554949e-01 -1.59774221e-01 -9.18433666e+01] [-2.44508424e-01 3.10687121e-02 9.69149300e-01 -3.70470612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-91.87, Z:-37.05 [[ 8.13859005e-01 5.45179373e-01 2.01029779e-01 1.63203993e+02] [-5.26671423e-01 8.38271262e-01 -1.41132928e-01 -9.18724974e+01] [-2.45460248e-01 8.98566423e-03 9.69365011e-01 -3.70495630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:-91.91, Z:-37.04 [[ 8.14609063e-01 5.40072911e-01 2.11502545e-01 1.63225306e+02] [-5.28800801e-01 8.41360403e-01 -1.11724598e-01 -9.19092571e+01] [-2.38289295e-01 -2.08308449e-02 9.70970797e-01 -3.70380837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:-91.89, Z:-37.07 [[ 8.14090990e-01 5.51142752e-01 1.83023296e-01 1.63261014e+02] [-5.26605465e-01 8.33454523e-01 -1.67452212e-01 -9.18944254e+01] [-2.44831666e-01 3.99402692e-02 9.68742603e-01 -3.70736972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:-91.93, Z:-37.07 [[ 8.13492963e-01 5.45687877e-01 2.01131646e-01 1.63278784e+02] [-5.27128158e-01 8.37940171e-01 -1.41393691e-01 -9.19266792e+01] [-2.45693109e-01 9.00061860e-03 9.69305878e-01 -3.70736138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-91.95, Z:-37.08 [[ 8.12940401e-01 5.46672824e-01 2.00690627e-01 1.63304560e+02] [-5.28204637e-01 8.37300545e-01 -1.41165357e-01 -9.19455873e+01] [-2.45209636e-01 8.75330266e-03 9.69430562e-01 -3.70817852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:-91.98, Z:-37.07 [[ 8.12382830e-01 5.44494573e-01 2.08709840e-01 1.63325641e+02] [-5.32540769e-01 8.38574700e-01 -1.14859924e-01 -9.19793253e+01] [-2.37559397e-01 -1.78362687e-02 9.71209247e-01 -3.70724625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:-91.97, Z:-37.11 [[ 8.10974863e-01 5.55450573e-01 1.83832624e-01 1.63360015e+02] [-5.32135394e-01 8.30842973e-01 -1.62886089e-01 -9.19699550e+01] [-2.43211216e-01 3.42726778e-02 9.69367674e-01 -3.71051745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:-92.00, Z:-37.11 [[ 8.09792352e-01 5.51713476e-01 1.99621111e-01 1.63379274e+02] [-5.33540538e-01 8.34001112e-01 -1.40629441e-01 -9.20006659e+01] [-2.44071386e-01 7.37469113e-03 9.69729226e-01 -3.71063939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:-92.03, Z:-37.10 [[ 8.08073506e-01 5.51301804e-01 2.07565723e-01 1.63401224e+02] [-5.39176561e-01 8.34114296e-01 -1.16369996e-01 -9.20332150e+01] [-2.37288526e-01 -1.78790616e-02 9.71274675e-01 -3.70976476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:-92.04, Z:-37.12 [[ 8.06558172e-01 5.58884946e-01 1.92643535e-01 1.63433030e+02] [-5.40903129e-01 8.29191014e-01 -1.40947037e-01 -9.20380809e+01] [-2.38511466e-01 9.48049346e-03 9.71093405e-01 -3.71152911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:-92.04, Z:-37.14 [[ 8.04524631e-01 5.63630218e-01 1.87246083e-01 1.63459861e+02] [-5.41198598e-01 8.25579551e-01 -1.59757575e-01 -9.20445964e+01] [-2.44630734e-01 2.71915859e-02 9.69234967e-01 -3.71360678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:-92.07, Z:-37.14 [[ 8.02933030e-01 5.61236625e-01 2.00778483e-01 1.63480242e+02] [-5.43081044e-01 8.27641955e-01 -1.41674891e-01 -9.20735659e+01] [-2.45685834e-01 4.71646127e-03 9.69338035e-01 -3.71383054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:-92.09, Z:-37.15 [[ 8.01514718e-01 5.63168148e-01 2.01036798e-01 1.63505909e+02] [-5.45002793e-01 8.26331629e-01 -1.41943632e-01 -9.20924204e+01] [-2.46061197e-01 4.20429371e-03 9.69245176e-01 -3.71461115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:-92.11, Z:-37.15 [[ 7.98936675e-01 5.66583826e-01 2.01700168e-01 1.63530811e+02] [-5.48380586e-01 8.23997734e-01 -1.42500760e-01 -9.21103163e+01] [-2.46939107e-01 3.24062652e-03 9.69025580e-01 -3.71542649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:-92.13, Z:-37.16 [[ 7.97701111e-01 5.68216652e-01 2.01996964e-01 1.63557123e+02] [-5.49989296e-01 8.22874195e-01 -1.42792975e-01 -9.21289289e+01] [-2.47355435e-01 2.80994697e-03 9.68920736e-01 -3.71625900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:-92.15, Z:-37.17 [[ 7.96474219e-01 5.69884459e-01 2.02139856e-01 1.63582120e+02] [-5.51661421e-01 8.21721422e-01 -1.42981052e-01 -9.21466576e+01] [-2.47585329e-01 2.36796124e-03 9.68863199e-01 -3.71705578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:-92.17, Z:-37.18 [[ 7.94655792e-01 5.72450475e-01 2.02046100e-01 1.63608275e+02] [-5.54305412e-01 8.19937664e-01 -1.42995585e-01 -9.21651714e+01] [-2.47523097e-01 1.63702301e-03 9.68880610e-01 -3.71791400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.63, Y:-92.18, Z:-37.19 [[ 7.94020021e-01 5.73399001e-01 2.01855869e-01 1.63634388e+02] [-5.55296131e-01 8.19275035e-01 -1.42949723e-01 -9.21837749e+01] [-2.47342703e-01 1.41515854e-03 9.68927028e-01 -3.71872341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:-92.20, Z:-37.20 [[ 7.93651816e-01 5.74041998e-01 2.01476004e-01 1.63659320e+02] [-5.56005900e-01 8.18824844e-01 -1.42770144e-01 -9.22022536e+01] [-2.46929616e-01 1.28793669e-03 9.69032562e-01 -3.71954142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:-92.22, Z:-37.20 [[ 7.93801269e-01 5.73970891e-01 2.01089438e-01 1.63684023e+02] [-5.55981696e-01 8.18874544e-01 -1.42579222e-01 -9.22219292e+01] [-2.46503345e-01 1.37752074e-03 9.69140962e-01 -3.72039517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:-92.24, Z:-37.21 [[ 7.94271603e-01 5.73418247e-01 2.00808703e-01 1.63709463e+02] [-5.55440395e-01 8.19261183e-01 -1.42467825e-01 -9.22410624e+01] [-2.46208426e-01 1.62088280e-03 9.69215551e-01 -3.72120658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:-92.26, Z:-37.22 [[ 7.95089726e-01 5.72386957e-01 2.00513089e-01 1.63734324e+02] [-5.54407555e-01 8.19981168e-01 -1.42348683e-01 -9.22598502e+01] [-2.45895487e-01 2.01400388e-03 9.69294255e-01 -3.72202476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:-92.28, Z:-37.23 [[ 7.96270785e-01 5.70746786e-01 2.00501730e-01 1.63759315e+02] [-5.52696786e-01 8.21122029e-01 -1.42424983e-01 -9.22787485e+01] [-2.45924988e-01 2.59219173e-03 9.69285397e-01 -3.72285721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:-92.30, Z:-37.24 [[ 7.99485410e-01 5.66375675e-01 2.00104159e-01 1.63783527e+02] [-5.48242541e-01 8.24137485e-01 -1.42223492e-01 -9.22989781e+01] [-2.45465264e-01 3.99999443e-03 9.69397134e-01 -3.72368587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:-92.32, Z:-37.25 [[ 8.01304592e-01 5.63790070e-01 2.00129226e-01 1.63808996e+02] [-5.45550271e-01 8.25903776e-01 -1.42330088e-01 -9.23187493e+01] [-2.45531774e-01 4.86919911e-03 9.69376314e-01 -3.72454158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:-92.34, Z:-37.25 [[ 8.03267235e-01 5.61022941e-01 2.00037519e-01 1.63833136e+02] [-5.42693018e-01 8.27780011e-01 -1.42353581e-01 -9.23377640e+01] [-2.45450685e-01 5.78900256e-03 9.69391793e-01 -3.72533818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:-92.36, Z:-37.26 [[ 8.05072167e-01 5.58536378e-01 1.99739629e-01 1.63858120e+02] [-5.40172810e-01 8.29453898e-01 -1.42195522e-01 -9.23572902e+01] [-2.45096186e-01 6.58374039e-03 9.69476412e-01 -3.72612170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:-92.38, Z:-37.27 [[ 8.08515242e-01 5.53584576e-01 1.99617687e-01 1.63881642e+02] [-5.35072112e-01 8.32752989e-01 -1.42198082e-01 -9.23770591e+01] [-2.44950890e-01 8.15945977e-03 9.69501152e-01 -3.72691753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:-92.40, Z:-37.28 [[ 8.09983534e-01 5.51518206e-01 1.99384912e-01 1.63906380e+02] [-5.32967011e-01 8.34115955e-01 -1.42115228e-01 -9.23956184e+01] [-2.44689272e-01 8.84541418e-03 9.69561199e-01 -3.72773353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:-92.41, Z:-37.29 [[ 8.11104336e-01 5.49959633e-01 1.99133516e-01 1.63931864e+02] [-5.31389206e-01 8.35138633e-01 -1.42017515e-01 -9.24144303e+01] [-2.44407993e-01 9.37362123e-03 9.69627180e-01 -3.72854655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:-92.43, Z:-37.29 [[ 8.11962935e-01 5.48789290e-01 1.98863035e-01 1.63957011e+02] [-5.30213262e-01 8.35903403e-01 -1.41913344e-01 -9.24325756e+01] [-2.44110810e-01 9.78855661e-03 9.69697941e-01 -3.72934800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:-92.45, Z:-37.30 [[ 8.12544107e-01 5.48122984e-01 1.98326170e-01 1.63983017e+02] [-5.29608744e-01 8.36337597e-01 -1.41612150e-01 -9.24511225e+01] [-2.43488507e-01 1.00308439e-02 9.69851911e-01 -3.73013740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:-92.47, Z:-37.31 [[ 8.12163024e-01 5.48706731e-01 1.98272907e-01 1.64007891e+02] [-5.30197854e-01 8.35955954e-01 -1.41661144e-01 -9.24688739e+01] [-2.43477840e-01 9.92807288e-03 9.69855646e-01 -3.73088755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:-92.50, Z:-37.31 [[ 8.11927951e-01 5.46942605e-01 2.04026442e-01 1.64031289e+02] [-5.32141723e-01 8.37149658e-01 -1.26513386e-01 -9.24961313e+01] [-2.39996227e-01 -5.85122798e-03 9.70756187e-01 -3.73064350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:-92.50, Z:-37.33 [[ 8.10659002e-01 5.54233794e-01 1.88830306e-01 1.64062450e+02] [-5.32649181e-01 8.31977572e-01 -1.55235850e-01 -9.24968173e+01] [-2.43139533e-01 2.52630313e-02 9.69662285e-01 -3.73289862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:-92.54, Z:-37.31 [[ 8.09237208e-01 5.47190670e-01 2.13816538e-01 1.64079443e+02] [-5.38492722e-01 8.36385458e-01 -1.02396064e-01 -9.25444461e+01] [-2.34863214e-01 -3.22759445e-02 9.71492426e-01 -3.73070693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:-92.52, Z:-37.35 [[ 8.07211583e-01 5.64184922e-01 1.73507446e-01 1.64120438e+02] [-5.37967622e-01 8.24157604e-01 -1.77073659e-01 -9.25182584e+01] [-2.42899770e-01 4.95945200e-02 9.68782786e-01 -3.73523344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:-92.57, Z:-37.33 [[ 8.06709506e-01 5.53219725e-01 2.07768403e-01 1.64132937e+02] [-5.40786816e-01 8.32856729e-01 -1.17895240e-01 -9.25688331e+01] [-2.38263285e-01 -1.72512021e-02 9.71047374e-01 -3.73334336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:-92.58, Z:-37.35 [[ 8.05411094e-01 5.59671416e-01 1.95143218e-01 1.64164120e+02] [-5.43198916e-01 8.28710608e-01 -1.34809739e-01 -9.25777767e+01] [-2.37166412e-01 2.57567524e-03 9.71465624e-01 -3.73467179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:-92.57, Z:-37.37 [[ 8.02295497e-01 5.68889888e-01 1.80793337e-01 1.64195420e+02] [-5.44684636e-01 8.21605505e-01 -1.68175624e-01 -9.25745542e+01] [-2.44214213e-01 3.64511932e-02 9.69035979e-01 -3.73740417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:-92.61, Z:-37.37 [[ 8.01123280e-01 5.64386778e-01 1.99170919e-01 1.64213539e+02] [-5.46084276e-01 8.25491945e-01 -1.42670993e-01 -9.26056012e+01] [-2.44935612e-01 5.53294700e-03 9.69523560e-01 -3.73734668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:-92.62, Z:-37.38 [[ 8.00128427e-01 5.65790010e-01 1.99188768e-01 1.64239688e+02] [-5.47506212e-01 8.24533139e-01 -1.42765721e-01 -9.26230442e+01] [-2.45013159e-01 5.17382369e-03 9.69505948e-01 -3.73817530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.27, Y:-92.64, Z:-37.39 [[ 7.99143361e-01 5.67246705e-01 1.99000163e-01 1.64265462e+02] [-5.49020781e-01 8.23533956e-01 -1.42716521e-01 -9.26404327e+01] [-2.44838867e-01 4.79573537e-03 9.69551922e-01 -3.73898272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:-92.66, Z:-37.40 [[ 7.99076282e-01 5.67354649e-01 1.98961800e-01 1.64291754e+02] [-5.49118715e-01 8.23459391e-01 -1.42769983e-01 -9.26593708e+01] [-2.44838176e-01 4.83045888e-03 9.69551924e-01 -3.73982288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:-92.68, Z:-37.41 [[ 7.98363875e-01 5.68394278e-01 1.98854391e-01 1.64317841e+02] [-5.50201074e-01 8.22743787e-01 -1.42728551e-01 -9.26770303e+01] [-2.44732307e-01 4.53941955e-03 9.69580060e-01 -3.74063672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:-92.69, Z:-37.41 [[ 7.97550247e-01 5.69502738e-01 1.98947820e-01 1.64344378e+02] [-5.51304093e-01 8.21978317e-01 -1.42882622e-01 -9.26946545e+01] [-2.44902838e-01 4.27532301e-03 9.69538200e-01 -3.74145085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:-92.71, Z:-37.42 [[ 7.97361349e-01 5.69694784e-01 1.99155046e-01 1.64370304e+02] [-5.51441321e-01 8.21845122e-01 -1.43119058e-01 -9.27129881e+01] [-2.45208784e-01 4.29528370e-03 9.69460779e-01 -3.74227329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:-92.73, Z:-37.43 [[ 7.97393397e-01 5.69701787e-01 1.99006644e-01 1.64396488e+02] [-5.51454022e-01 8.21839905e-01 -1.43100079e-01 -9.27319070e+01] [-2.45075972e-01 4.36404405e-03 9.69494055e-01 -3.74309241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:-92.75, Z:-37.44 [[ 7.98219269e-01 5.68547893e-01 1.98995710e-01 1.64422224e+02] [-5.50244742e-01 8.22636205e-01 -1.43179597e-01 -9.27501736e+01] [-2.45105534e-01 4.79236950e-03 9.69484559e-01 -3.74397672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.45, Y:-92.77, Z:-37.45 [[ 7.98703621e-01 5.67934029e-01 1.98805092e-01 1.64448483e+02] [-5.49625222e-01 8.23058576e-01 -1.43131740e-01 -9.27689108e+01] [-2.44917622e-01 5.05154631e-03 9.69530732e-01 -3.74483132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:-92.79, Z:-37.46 [[ 7.99235892e-01 5.67269961e-01 1.98561779e-01 1.64473315e+02] [-5.48963839e-01 8.23514687e-01 -1.43046369e-01 -9.27866337e+01] [-2.44664449e-01 5.32455535e-03 9.69593191e-01 -3.74568678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:-92.80, Z:-37.47 [[ 8.00800696e-01 5.65403538e-01 1.97578047e-01 1.64498831e+02] [-5.47204598e-01 8.24793077e-01 -1.42420182e-01 -9.28049871e+01] [-2.43485880e-01 5.93456531e-03 9.69886286e-01 -3.74657782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:-92.82, Z:-37.47 [[ 8.01188432e-01 5.64913509e-01 1.97407760e-01 1.64523634e+02] [-5.46709693e-01 8.25127183e-01 -1.42385544e-01 -9.28234215e+01] [-2.43322026e-01 6.15291491e-03 9.69926045e-01 -3.74736151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:-92.84, Z:-37.48 [[ 8.01737998e-01 5.64166306e-01 1.97313362e-01 1.64549450e+02] [-5.45937411e-01 8.25636014e-01 -1.42399143e-01 -9.28425748e+01] [-2.43245816e-01 6.44605769e-03 9.69943257e-01 -3.74819931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:-92.86, Z:-37.49 [[ 8.02047560e-01 5.63778961e-01 1.97162356e-01 1.64575100e+02] [-5.45545170e-01 8.25899085e-01 -1.42376854e-01 -9.28616959e+01] [-2.43105284e-01 6.63203666e-03 9.69977235e-01 -3.74901262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:-92.88, Z:-37.50 [[ 8.02627306e-01 5.62945630e-01 1.97184242e-01 1.64599834e+02] [-5.44661010e-01 8.26464625e-01 -1.42480199e-01 -9.28802629e+01] [-2.43174406e-01 6.95993003e-03 9.69957611e-01 -3.74979420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:-92.90, Z:-37.51 [[ 8.02918005e-01 5.62573113e-01 1.97063871e-01 1.64625367e+02] [-5.44279836e-01 8.26716730e-01 -1.42474237e-01 -9.28989104e+01] [-2.43068174e-01 7.13723830e-03 9.69982950e-01 -3.75064086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:-92.92, Z:-37.51 [[ 8.03161712e-01 5.62316012e-01 1.96804388e-01 1.64651123e+02] [-5.44042418e-01 8.26890393e-01 -1.42373189e-01 -9.29179088e+01] [-2.42794381e-01 7.27875882e-03 9.70050467e-01 -3.75144424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:-92.94, Z:-37.52 [[ 8.03428477e-01 5.61893565e-01 1.96922074e-01 1.64675908e+02] [-5.43563216e-01 8.27175664e-01 -1.42546316e-01 -9.29363589e+01] [-2.42985006e-01 7.48617403e-03 9.70001157e-01 -3.75225229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:-92.96, Z:-37.53 [[ 8.03696962e-01 5.61440623e-01 1.97118293e-01 1.64700925e+02] [-5.43039229e-01 8.27481193e-01 -1.42769995e-01 -9.29563937e+01] [-2.43268555e-01 7.70084582e-03 9.69928403e-01 -3.75302084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:-92.98, Z:-37.54 [[ 8.03547817e-01 5.61636777e-01 1.97167536e-01 1.64725897e+02] [-5.43210055e-01 8.27347914e-01 -1.42892497e-01 -9.29751602e+01] [-2.43379831e-01 7.71756632e-03 9.69900354e-01 -3.75380487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:-92.99, Z:-37.55 [[ 8.03002127e-01 5.62460046e-01 1.97043854e-01 1.64751390e+02] [-5.44061020e-01 8.26790161e-01 -1.42883298e-01 -9.29939192e+01] [-2.43280066e-01 7.53171223e-03 9.69926844e-01 -3.75456772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:-93.01, Z:-37.55 [[ 8.01168086e-01 5.65147447e-01 1.96819871e-01 1.64776367e+02] [-5.46849062e-01 8.24962046e-01 -1.42806605e-01 -9.30115680e+01] [-2.43075711e-01 6.78133283e-03 9.69983614e-01 -3.75532252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:-93.03, Z:-37.56 [[ 7.99609502e-01 5.67322746e-01 1.96899835e-01 1.64802357e+02] [-5.49054061e-01 8.23472267e-01 -1.42944269e-01 -9.30300760e+01] [-2.43237089e-01 6.19094127e-03 9.69947107e-01 -3.75615434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:-93.05, Z:-37.57 [[ 7.97877440e-01 5.69792097e-01 1.96795723e-01 1.64828563e+02] [-5.51595579e-01 8.21770425e-01 -1.42953436e-01 -9.30486223e+01] [-2.43174643e-01 5.50767120e-03 9.69966885e-01 -3.75695413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:-93.07, Z:-37.58 [[ 7.95917789e-01 5.72450327e-01 1.97016489e-01 1.64853987e+02] [-5.54270223e-01 8.19925490e-01 -1.43201644e-01 -9.30666894e+01] [-2.43514669e-01 4.77636251e-03 9.69885453e-01 -3.75777711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-93.09, Z:-37.59 [[ 7.92512353e-01 5.77360206e-01 1.96416301e-01 1.64880034e+02] [-5.59427128e-01 8.16482868e-01 -1.42818119e-01 -9.30850130e+01] [-2.42828043e-01 3.30451619e-03 9.70063720e-01 -3.75853181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:-93.10, Z:-37.59 [[ 7.90833126e-01 5.79684386e-01 1.96338942e-01 1.64905496e+02] [-5.61814765e-01 8.14836748e-01 -1.42846923e-01 -9.31033239e+01] [-2.42790316e-01 2.66196186e-03 9.70075140e-01 -3.75932027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:-93.12, Z:-37.60 [[ 7.89608897e-01 5.81427067e-01 1.96113120e-01 1.64931639e+02] [-5.63632304e-01 8.13595581e-01 -1.42761535e-01 -9.31220022e+01] [-2.42562188e-01 2.19008858e-03 9.70133387e-01 -3.76014410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:-93.14, Z:-37.61 [[ 7.88657086e-01 5.82806250e-01 1.95849116e-01 1.64957134e+02] [-5.65081379e-01 8.12609080e-01 -1.42651739e-01 -9.31402796e+01] [-2.42287095e-01 1.83261610e-03 9.70202868e-01 -3.76093733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:-93.16, Z:-37.62 [[ 7.88491936e-01 5.83098728e-01 1.95643400e-01 1.64982774e+02] [-5.65401565e-01 8.12399297e-01 -1.42577883e-01 -9.31584163e+01] [-2.42077542e-01 1.80442652e-03 9.70255228e-01 -3.76179292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:-93.18, Z:-37.63 [[ 7.89095102e-01 5.82443762e-01 1.95161943e-01 1.65007545e+02] [-5.64793240e-01 8.12868355e-01 -1.42315261e-01 -9.31771779e+01] [-2.41531603e-01 2.07412919e-03 9.70390737e-01 -3.76255099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:-93.20, Z:-37.63 [[ 7.91575063e-01 5.79227604e-01 1.94690270e-01 1.65032640e+02] [-5.61547245e-01 8.15159900e-01 -1.42052912e-01 -9.31975973e+01] [-2.40984669e-01 3.11775791e-03 9.70523915e-01 -3.76334318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:-93.22, Z:-37.64 [[ 7.93052590e-01 5.77247086e-01 1.94559481e-01 1.65057857e+02] [-5.59510984e-01 8.16560743e-01 -1.42042293e-01 -9.32171877e+01] [-2.40863134e-01 3.78884176e-03 9.70551696e-01 -3.76415005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:-93.24, Z:-37.65 [[ 7.94487213e-01 5.75305156e-01 1.94458338e-01 1.65082689e+02] [-5.57508908e-01 8.17926761e-01 -1.42055029e-01 -9.32367062e+01] [-2.40777669e-01 4.44864870e-03 9.70570102e-01 -3.76493669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.11, Y:-93.26, Z:-37.66 [[ 7.95806213e-01 5.73348940e-01 1.94842153e-01 1.65107111e+02] [-5.55401762e-01 8.19295263e-01 -1.42422451e-01 -9.32559250e+01] [-2.41291014e-01 5.12499658e-03 9.70439272e-01 -3.76573479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.13, Y:-93.28, Z:-37.67 [[ 7.98314454e-01 5.69748908e-01 1.95141523e-01 1.65132411e+02] [-5.51619314e-01 8.21794730e-01 -1.42721949e-01 -9.32759859e+01] [-2.41681950e-01 6.29316145e-03 9.70335113e-01 -3.76654457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:-93.29, Z:-37.67 [[ 7.99233111e-01 5.68462694e-01 1.95132263e-01 1.65156710e+02] [-5.50275367e-01 8.22681302e-01 -1.42802295e-01 -9.32947139e+01] [-2.41709441e-01 6.75584525e-03 9.70325154e-01 -3.76734199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-93.31, Z:-37.68 [[ 7.99924669e-01 5.67516940e-01 1.95051393e-01 1.65181610e+02] [-5.49297151e-01 8.23331046e-01 -1.42823764e-01 -9.33143683e+01] [-2.41646773e-01 7.10707712e-03 9.70338254e-01 -3.76816500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:-93.33, Z:-37.69 [[ 8.00656900e-01 5.66696360e-01 1.94431898e-01 1.65207142e+02] [-5.48548904e-01 8.23893460e-01 -1.42455842e-01 -9.33343626e+01] [-2.40920376e-01 7.40284837e-03 9.70516651e-01 -3.76897670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-93.35, Z:-37.70 [[ 8.01922437e-01 5.65171331e-01 1.93653740e-01 1.65231192e+02] [-5.47105817e-01 8.24935708e-01 -1.41972895e-01 -9.33544632e+01] [-2.39990895e-01 7.90216258e-03 9.70742976e-01 -3.76974767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-93.37, Z:-37.70 [[ 8.02342064e-01 5.64724133e-01 1.93219737e-01 1.65255513e+02] [-5.46714903e-01 8.25240362e-01 -1.41708012e-01 -9.33730687e+01] [-2.39478660e-01 8.06218899e-03 9.70868154e-01 -3.77048918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:-93.39, Z:-37.71 [[ 8.02461760e-01 5.64596174e-01 1.93096564e-01 1.65280024e+02] [-5.46594023e-01 8.25327164e-01 -1.41668793e-01 -9.33914443e+01] [-2.39353498e-01 8.13836112e-03 9.70898383e-01 -3.77125831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:-93.41, Z:-37.72 [[ 8.02300036e-01 5.64787778e-01 1.93208226e-01 1.65306010e+02] [-5.46750818e-01 8.25195923e-01 -1.41828180e-01 -9.34104199e+01] [-2.39537463e-01 8.15199823e-03 9.70852898e-01 -3.77205459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:-93.43, Z:-37.73 [[ 8.01571842e-01 5.65668563e-01 1.93653452e-01 1.65331467e+02] [-5.47550945e-01 8.24594065e-01 -1.42241309e-01 -9.34285412e+01] [-2.40146924e-01 7.98149737e-03 9.70703740e-01 -3.77279607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-93.45, Z:-37.74 [[ 8.00966521e-01 5.66536006e-01 1.93622276e-01 1.65357639e+02] [-5.48429517e-01 8.24000184e-01 -1.42298147e-01 -9.34476793e+01] [-2.40161815e-01 7.78788038e-03 9.70701628e-01 -3.77360735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:-93.47, Z:-37.74 [[ 8.00306920e-01 5.67495472e-01 1.93539979e-01 1.65383520e+02] [-5.49411644e-01 8.23341743e-01 -1.42320834e-01 -9.34668003e+01] [-2.40115972e-01 7.56723001e-03 9.70714715e-01 -3.77441408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:-93.49, Z:-37.75 [[ 7.99671186e-01 5.68445248e-01 1.93380436e-01 1.65409015e+02] [-5.50398517e-01 8.22688297e-01 -1.42286463e-01 -9.34856264e+01] [-2.39973886e-01 7.34607946e-03 9.70751549e-01 -3.77519120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:-93.50, Z:-37.76 [[ 7.98499974e-01 5.70172423e-01 1.93135185e-01 1.65435504e+02] [-5.52200622e-01 8.21496150e-01 -1.42191944e-01 -9.35042561e+01] [-2.39733736e-01 6.89089461e-03 9.70814221e-01 -3.77601098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:-93.52, Z:-37.77 [[ 7.97729428e-01 5.71239267e-01 1.93166920e-01 1.65460697e+02] [-5.53270714e-01 8.20756688e-01 -1.42302412e-01 -9.35218461e+01] [-2.39831767e-01 6.64522243e-03 9.70791721e-01 -3.77680347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:-93.54, Z:-37.78 [[ 7.97029932e-01 5.72164439e-01 1.93316172e-01 1.65487182e+02] [-5.54174436e-01 8.20113635e-01 -1.42493229e-01 -9.35400946e+01] [-2.40070787e-01 6.44048833e-03 9.70734020e-01 -3.77764705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:-93.56, Z:-37.78 [[ 7.96213206e-01 5.73232456e-01 1.93517651e-01 1.65512903e+02] [-5.55214773e-01 8.19369371e-01 -1.42724876e-01 -9.35582778e+01] [-2.40376967e-01 6.19557264e-03 9.70659842e-01 -3.77846159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.54, Y:-93.58, Z:-37.79 [[ 7.95102485e-01 5.74803495e-01 1.93424355e-01 1.65539631e+02] [-5.56828103e-01 8.18270995e-01 -1.42741171e-01 -9.35760939e+01] [-2.40321663e-01 5.78974327e-03 9.70676041e-01 -3.77926351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:-93.59, Z:-37.80 [[ 7.94544818e-01 5.75572098e-01 1.93430328e-01 1.65565557e+02] [-5.57596370e-01 8.17731649e-01 -1.42832903e-01 -9.35942083e+01] [-2.40384735e-01 5.63109432e-03 9.70661357e-01 -3.78008613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:-93.61, Z:-37.81 [[ 7.93696625e-01 5.76655880e-01 1.93684444e-01 1.65591401e+02] [-5.58642135e-01 8.16969404e-01 -1.43108204e-01 -9.36128043e+01] [-2.40758452e-01 5.38420747e-03 9.70570130e-01 -3.78091722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:-93.63, Z:-37.82 [[ 7.92941115e-01 5.77658513e-01 1.93791202e-01 1.65616784e+02] [-5.59632279e-01 8.16262244e-01 -1.43274774e-01 -9.36308564e+01] [-2.40948335e-01 5.15664677e-03 9.70524244e-01 -3.78172442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:-93.65, Z:-37.83 [[ 7.91899014e-01 5.79107362e-01 1.93728197e-01 1.65643237e+02] [-5.61115570e-01 8.15237260e-01 -1.43309199e-01 -9.36482533e+01] [-2.40925857e-01 4.78250571e-03 9.70531741e-01 -3.78254105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:-93.67, Z:-37.83 [[ 7.91478042e-01 5.79616696e-01 1.93925232e-01 1.65668619e+02] [-5.61580611e-01 8.14875651e-01 -1.43544035e-01 -9.36657390e+01] [-2.41225469e-01 4.70730132e-03 9.70457683e-01 -3.78337515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-93.68, Z:-37.84 [[ 7.91098451e-01 5.80007427e-01 1.94305498e-01 1.65693508e+02] [-5.61890312e-01 8.14597815e-01 -1.43908572e-01 -9.36833017e+01] [-2.41748875e-01 4.66747131e-03 9.70327623e-01 -3.78418511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-93.70, Z:-37.85 [[ 7.91132322e-01 5.79989652e-01 1.94220628e-01 1.65718847e+02] [-5.61868051e-01 8.14610062e-01 -1.43926164e-01 -9.37014515e+01] [-2.41689764e-01 4.73827467e-03 9.70342005e-01 -3.78501381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:-93.72, Z:-37.86 [[ 7.92003926e-01 5.78669594e-01 1.94605452e-01 1.65744811e+02] [-5.60422874e-01 8.15545530e-01 -1.44262574e-01 -9.37200555e+01] [-2.42189972e-01 5.19517793e-03 9.70214939e-01 -3.78586111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:-93.74, Z:-37.87 [[ 7.92659247e-01 5.77715032e-01 1.94773357e-01 1.65770183e+02] [-5.59386236e-01 8.16219562e-01 -1.44473754e-01 -9.37392376e+01] [-2.42442483e-01 5.56492194e-03 9.70149820e-01 -3.78668476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:-93.76, Z:-37.88 [[ 7.93569124e-01 5.76363353e-01 1.95072629e-01 1.65795750e+02] [-5.57915321e-01 8.17171066e-01 -1.44782399e-01 -9.37583611e+01] [-2.42854977e-01 6.06083353e-03 9.70043672e-01 -3.78750896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:-93.78, Z:-37.88 [[ 7.95744088e-01 5.73135778e-01 1.95721041e-01 1.65820587e+02] [-5.54444644e-01 8.19429266e-01 -1.45350659e-01 -9.37768011e+01] [-2.43685212e-01 7.14544471e-03 9.69828057e-01 -3.78831026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:-93.80, Z:-37.89 [[ 7.96681375e-01 5.71717716e-01 1.96055196e-01 1.65846646e+02] [-5.52899046e-01 8.20414626e-01 -1.45679399e-01 -9.37957502e+01] [-2.44134044e-01 7.66133322e-03 9.69711232e-01 -3.78913470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:-93.81, Z:-37.90 [[ 7.97666794e-01 5.70197811e-01 1.96474280e-01 1.65872959e+02] [-5.51230339e-01 8.21466330e-01 -1.46075945e-01 -9.38144452e+01] [-2.44689190e-01 8.21734627e-03 9.69566746e-01 -3.78998124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:-93.83, Z:-37.91 [[ 7.97598972e-01 5.70307005e-01 1.96432688e-01 1.65898924e+02] [-5.51329044e-01 8.21390142e-01 -1.46131854e-01 -9.38338286e+01] [-2.44687894e-01 8.25556973e-03 9.69566749e-01 -3.79082148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:165.92, Y:-93.85, Z:-37.92 [[ 7.98431114e-01 5.69163800e-01 1.96367832e-01 1.65924853e+02] [-5.50155338e-01 8.22178826e-01 -1.46120094e-01 -9.38517618e+01] [-2.44615742e-01 8.63401849e-03 9.69581658e-01 -3.79161760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-93.87, Z:-37.92 [[ 7.99237553e-01 5.67997004e-01 1.96465615e-01 1.65950340e+02] [-5.48912976e-01 8.22980657e-01 -1.46278441e-01 -9.38690718e+01] [-2.44773117e-01 9.06869754e-03 9.69537972e-01 -3.79243371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:-93.89, Z:-37.93 [[ 7.99341554e-01 5.67739339e-01 1.96786999e-01 1.65976411e+02] [-5.48563918e-01 8.23156625e-01 -1.46597404e-01 -9.38876894e+01] [-2.45215635e-01 9.23114918e-03 9.69424612e-01 -3.79329800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:-93.91, Z:-37.94 [[ 7.99363375e-01 5.67730898e-01 1.96722704e-01 1.66002334e+02] [-5.48546603e-01 8.23161646e-01 -1.46633998e-01 -9.39061567e+01] [-2.45183237e-01 9.30227656e-03 9.69432127e-01 -3.79412341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:-93.92, Z:-37.95 [[ 7.99080353e-01 5.68185481e-01 1.96560039e-01 1.66028475e+02] [-5.49024791e-01 8.22848760e-01 -1.46600471e-01 -9.39230035e+01] [-2.45035443e-01 9.22922241e-03 9.69470192e-01 -3.79498662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:-93.94, Z:-37.96 [[ 7.98551302e-01 5.68953257e-01 1.96489209e-01 1.66054943e+02] [-5.49808851e-01 8.22319961e-01 -1.46629154e-01 -9.39413251e+01] [-2.45002134e-01 9.05939553e-03 9.69480212e-01 -3.79584593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:-93.96, Z:-37.97 [[ 7.97867513e-01 5.69962934e-01 1.96340738e-01 1.66080247e+02] [-5.50856265e-01 8.21623115e-01 -1.46604336e-01 -9.39587343e+01] [-2.44877126e-01 8.81531128e-03 9.69514045e-01 -3.79669689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-93.98, Z:-37.98 [[ 7.95746683e-01 5.72950058e-01 1.96253526e-01 1.66106499e+02] [-5.53929557e-01 8.19551616e-01 -1.46619217e-01 -9.39753210e+01] [-2.44845384e-01 7.96112693e-03 9.69529452e-01 -3.79756055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:-93.99, Z:-37.98 [[ 7.94519430e-01 5.74624280e-01 1.96330875e-01 1.66132406e+02] [-5.55619942e-01 8.18382866e-01 -1.46751371e-01 -9.39933193e+01] [-2.45000725e-01 7.51146593e-03 9.69493797e-01 -3.79838910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:-94.01, Z:-37.99 [[ 7.92965527e-01 5.76646804e-01 1.96682832e-01 1.66157237e+02] [-5.57611677e-01 8.16963774e-01 -1.47103396e-01 -9.40109364e+01] [-2.45509452e-01 6.97527784e-03 9.69369101e-01 -3.79918678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:-94.03, Z:-38.00 [[ 7.91683425e-01 5.78225334e-01 1.97212623e-01 1.66183334e+02] [-5.59112806e-01 8.15850622e-01 -1.47582629e-01 -9.40295049e+01] [-2.46232056e-01 6.57461863e-03 9.69188603e-01 -3.80003513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:-94.05, Z:-38.01 [[ 7.89505654e-01 5.80950306e-01 1.97933233e-01 1.66208580e+02] [-5.61756709e-01 8.13918197e-01 -1.48211228e-01 -9.40470970e+01] [-2.47204818e-01 5.82328074e-03 9.68945751e-01 -3.80080284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:-94.07, Z:-38.02 [[ 7.88362594e-01 5.82249855e-01 1.98669392e-01 1.66234001e+02] [-5.62929976e-01 8.12991251e-01 -1.48845785e-01 -9.40654016e+01] [-2.48181915e-01 5.50749315e-03 9.68697788e-01 -3.80166350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:-94.08, Z:-38.02 [[ 7.87106982e-01 5.83842093e-01 1.98974896e-01 1.66259731e+02] [-5.64488920e-01 8.11851291e-01 -1.49163471e-01 -9.40839823e+01] [-2.48625939e-01 5.08848507e-03 9.68586212e-01 -3.80249494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:-94.10, Z:-38.03 [[ 7.85780615e-01 5.85562532e-01 1.99161610e-01 1.66285744e+02] [-5.66203704e-01 8.10614052e-01 -1.49392856e-01 -9.41026423e+01] [-2.48922059e-01 4.62396889e-03 9.68512482e-01 -3.80338577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:-94.12, Z:-38.04 [[ 7.82899626e-01 5.89282415e-01 1.99535489e-01 1.66311692e+02] [-5.69944809e-01 8.07919430e-01 -1.49763511e-01 -9.41208388e+01] [-2.49461602e-01 3.52558084e-03 9.68378273e-01 -3.80426428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:-94.14, Z:-38.05 [[ 7.81331156e-01 5.91324120e-01 1.99643206e-01 1.66337143e+02] [-5.72007339e-01 8.06428591e-01 -1.49935092e-01 -9.41394060e+01] [-2.49658226e-01 2.95157995e-03 9.68329520e-01 -3.80509759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:-94.16, Z:-38.06 [[ 7.79704099e-01 5.93464543e-01 1.99653083e-01 1.66362954e+02] [-5.74191076e-01 8.04856723e-01 -1.50034208e-01 -9.41583341e+01] [-2.49732109e-01 2.34326831e-03 9.68312131e-01 -3.80597742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:-94.18, Z:-38.07 [[ 7.76371165e-01 5.97734210e-01 1.99904048e-01 1.66388467e+02] [-5.78526344e-01 8.01693651e-01 -1.50314867e-01 -9.41758739e+01] [-2.50110144e-01 1.05037002e-03 9.68216821e-01 -3.80686134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:-94.19, Z:-38.08 [[ 7.74749095e-01 5.99789769e-01 2.00040177e-01 1.66414227e+02] [-5.80600394e-01 8.00157498e-01 -1.50503022e-01 -9.41946209e+01] [-2.50333821e-01 4.58674429e-04 9.68159474e-01 -3.80774057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:-94.21, Z:-38.09 [[ 7.73421986e-01 6.01606263e-01 1.99720643e-01 1.66438950e+02] [-5.82514881e-01 7.98792777e-01 -1.50354620e-01 -9.42128055e+01] [-2.49989689e-01 -5.26778928e-05 9.68248497e-01 -3.80851641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:-94.23, Z:-38.09 [[ 7.72181361e-01 6.03224932e-01 1.99638741e-01 1.66463410e+02] [-5.84180478e-01 7.97570953e-01 -1.50378666e-01 -9.42310875e+01] [-2.49938221e-01 -5.05452255e-04 9.68261654e-01 -3.80931181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:-94.25, Z:-38.10 [[ 7.70772962e-01 6.05156193e-01 1.99236100e-01 1.66487964e+02] [-5.86231367e-01 7.96106061e-01 -1.50159662e-01 -9.42499666e+01] [-2.49483116e-01 -1.05944374e-03 9.68378569e-01 -3.81019047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:-94.27, Z:-38.10 [[ 7.71132204e-01 6.03507555e-01 2.02814583e-01 1.66510668e+02] [-5.87052917e-01 7.97284001e-01 -1.40381962e-01 -9.42746064e+01] [-2.46422397e-01 -1.08098410e-02 9.69102239e-01 -3.81042287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:-94.28, Z:-38.12 [[ 7.71165614e-01 6.06751475e-01 1.92759549e-01 1.66539613e+02] [-5.85832836e-01 7.94839739e-01 -1.58207705e-01 -9.42843874e+01] [-2.49205708e-01 9.07946899e-03 9.68408012e-01 -3.81217589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-94.31, Z:-38.13 [[ 7.72024589e-01 6.03737009e-01 1.98694885e-01 1.66561325e+02] [-5.84833784e-01 7.97183411e-01 -1.49893476e-01 -9.43087882e+01] [-2.48892506e-01 -4.82031988e-04 9.68530995e-01 -3.81273671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:-94.33, Z:-38.14 [[ 7.75301688e-01 5.99645173e-01 1.98325388e-01 1.66584781e+02] [-5.80658987e-01 8.00265487e-01 -1.49700674e-01 -9.43306953e+01] [-2.48480250e-01 9.03766181e-04 9.68636541e-01 -3.81365054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:-94.35, Z:-38.14 [[ 7.77351276e-01 5.97080657e-01 1.98039598e-01 1.66608343e+02] [-5.78045379e-01 8.02179199e-01 -1.49572967e-01 -9.43516676e+01] [-2.48170371e-01 1.79486211e-03 9.68714739e-01 -3.81447068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:-94.37, Z:-38.15 [[ 7.79682723e-01 5.94119831e-01 1.97778861e-01 1.66632291e+02] [-5.75018703e-01 8.04371642e-01 -1.49464890e-01 -9.43729888e+01] [-2.47887762e-01 2.80864799e-03 9.68784687e-01 -3.81529385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:-94.40, Z:-38.16 [[ 7.84463918e-01 5.87875626e-01 1.97531290e-01 1.66654898e+02] [-5.68604485e-01 8.08936756e-01 -1.49366211e-01 -9.43967034e+01] [-2.47599076e-01 4.85522549e-03 9.68850414e-01 -3.81614172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:-94.42, Z:-38.17 [[ 7.86611404e-01 5.85064492e-01 1.97337375e-01 1.66679068e+02] [-5.65721729e-01 8.10965957e-01 -1.49308878e-01 -9.44182848e+01] [-2.47389216e-01 5.81002473e-03 9.68898766e-01 -3.81698089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:-94.44, Z:-38.18 [[ 7.88372052e-01 5.82634315e-01 1.97501296e-01 1.66702344e+02] [-5.63160194e-01 8.12707173e-01 -1.49524739e-01 -9.44392017e+01] [-2.47628963e-01 6.65625737e-03 9.68832076e-01 -3.81779677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:-94.47, Z:-38.17 [[ 7.89961300e-01 5.77901778e-01 2.04916275e-01 1.66722895e+02] [-5.62629907e-01 8.16036267e-01 -1.32409966e-01 -9.44708375e+01] [-2.43739067e-01 -1.06932760e-02 9.69781894e-01 -3.81745493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:-94.47, Z:-38.20 [[ 7.91553022e-01 5.82078726e-01 1.86086460e-01 1.66752301e+02] [-5.58787602e-01 8.12691422e-01 -1.65194034e-01 -9.44726158e+01] [-2.47386803e-01 2.67770300e-02 9.68546726e-01 -3.81989655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:-94.50, Z:-38.20 [[ 7.91682038e-01 5.78074218e-01 1.97660692e-01 1.66771436e+02] [-5.58390358e-01 8.15942832e-01 -1.49791530e-01 -9.45011324e+01] [-2.47870446e-01 8.21543940e-03 9.68758354e-01 -3.82018462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.80, Y:-94.52, Z:-38.21 [[ 7.91293813e-01 5.78667394e-01 1.97479489e-01 1.66795562e+02] [-5.59016960e-01 8.15523489e-01 -1.49738033e-01 -9.45216703e+01] [-2.47697679e-01 8.09239563e-03 9.68803578e-01 -3.82099375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-94.54, Z:-38.22 [[ 7.89710951e-01 5.81181128e-01 1.96430931e-01 1.66818679e+02] [-5.61795912e-01 8.13741139e-01 -1.49032587e-01 -9.45425641e+01] [-2.46458856e-01 7.33857223e-03 9.69125470e-01 -3.82181096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:-94.56, Z:-38.23 [[ 7.88189416e-01 5.83433899e-01 1.95863038e-01 1.66842487e+02] [-5.64209652e-01 8.12133121e-01 -1.48685110e-01 -9.45622295e+01] [-2.45814794e-01 6.68421358e-03 9.69293768e-01 -3.82263383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:-94.58, Z:-38.23 [[ 7.86075440e-01 5.86351739e-01 1.95645192e-01 1.66867167e+02] [-5.67238869e-01 8.10035552e-01 -1.48601715e-01 -9.45822645e+01] [-2.45612435e-01 5.83460094e-03 9.69350550e-01 -3.82348245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:-94.60, Z:-38.24 [[ 7.83526575e-01 5.89807978e-01 1.95480575e-01 1.66891820e+02] [-5.70810870e-01 8.07529128e-01 -1.48565330e-01 -9.46021373e+01] [-2.45481276e-01 4.82244684e-03 9.69389337e-01 -3.82430524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:-94.62, Z:-38.25 [[ 7.78141423e-01 5.96905791e-01 1.95446672e-01 1.66915931e+02] [-5.78111819e-01 8.02306912e-01 -1.48628208e-01 -9.46210764e+01] [-2.45525254e-01 2.66373433e-03 9.69386535e-01 -3.82513799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:-94.64, Z:-38.26 [[ 7.75501924e-01 6.00326707e-01 1.95459996e-01 1.66941265e+02] [-5.81615863e-01 7.99753162e-01 -1.48720773e-01 -9.46409273e+01] [-2.45600802e-01 1.65061194e-03 9.69369652e-01 -3.82597089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:-94.66, Z:-38.27 [[ 7.72917588e-01 6.03619538e-01 1.95555248e-01 1.66966369e+02] [-5.84971492e-01 7.97272221e-01 -1.48880354e-01 -9.46610512e+01] [-2.45777858e-01 6.77999134e-04 9.69325944e-01 -3.82680217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:-94.68, Z:-38.28 [[ 7.70645361e-01 6.06565369e-01 1.95407729e-01 1.66990550e+02] [-5.88016313e-01 7.95033596e-01 -1.48856967e-01 -9.46804165e+01] [-2.45647190e-01 -1.87000940e-04 9.69359285e-01 -3.82758593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:-94.70, Z:-38.28 [[ 7.68211000e-01 6.09561193e-01 1.95670672e-01 1.67014237e+02] [-5.91035693e-01 7.92738287e-01 -1.49140262e-01 -9.46997150e+01] [-2.46025749e-01 -1.07716162e-03 9.69262694e-01 -3.82839067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:-94.72, Z:-38.29 [[ 7.64248915e-01 6.14412789e-01 1.96011530e-01 1.67038101e+02] [-5.95957179e-01 7.88980546e-01 -1.49481568e-01 -9.47201554e+01] [-2.46492671e-01 -2.57335195e-03 9.69141239e-01 -3.82924817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:-94.74, Z:-38.30 [[ 7.62311737e-01 6.16778811e-01 1.96124230e-01 1.67063095e+02] [-5.98356744e-01 7.87129726e-01 -1.49652940e-01 -9.47404684e+01] [-2.46677973e-01 -3.27006298e-03 9.69091990e-01 -3.83008894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:-94.76, Z:-38.31 [[ 7.60737222e-01 6.18682365e-01 1.96242223e-01 1.67087674e+02] [-6.00276963e-01 7.85631956e-01 -1.49833235e-01 -9.47604603e+01] [-2.46873341e-01 -3.81596688e-03 9.69040243e-01 -3.83096020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:-94.78, Z:-38.32 [[ 7.58538762e-01 6.21274251e-01 1.96563605e-01 1.67111248e+02] [-6.02869772e-01 7.83579740e-01 -1.50169335e-01 -9.47825451e+01] [-2.47319599e-01 -4.59299431e-03 9.68923072e-01 -3.83180862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:-94.80, Z:-38.33 [[ 7.57957449e-01 6.21913255e-01 1.96785184e-01 1.67135107e+02] [-6.03464331e-01 7.83071837e-01 -1.50430379e-01 -9.48030185e+01] [-2.47651582e-01 -4.73301341e-03 9.68837599e-01 -3.83264663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:-94.82, Z:-38.33 [[ 7.57647256e-01 6.22235807e-01 1.96959986e-01 1.67158588e+02] [-6.03740583e-01 7.82815346e-01 -1.50656707e-01 -9.48233134e+01] [-2.47927297e-01 -4.76809666e-03 9.68766907e-01 -3.83344911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:-94.85, Z:-38.34 [[ 7.58220980e-01 6.21331467e-01 1.97606056e-01 1.67181395e+02] [-6.02660332e-01 7.83535380e-01 -1.51237670e-01 -9.48459230e+01] [-2.48800060e-01 -4.41775665e-03 9.68544792e-01 -3.83428577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:-94.87, Z:-38.35 [[ 7.59454826e-01 6.20815579e-01 1.94464352e-01 1.67207206e+02] [-6.01555436e-01 7.83956512e-01 -1.53438081e-01 -9.48664147e+01] [-2.47708346e-01 -4.51796881e-04 9.68834543e-01 -3.83527084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-94.89, Z:-38.36 [[ 7.60033051e-01 6.18605965e-01 1.99189412e-01 1.67228161e+02] [-6.00447067e-01 7.85675177e-01 -1.48922251e-01 -9.48896426e+01] [-2.48622369e-01 -6.41686576e-03 9.68579239e-01 -3.83587094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:-94.91, Z:-38.37 [[ 7.61391723e-01 6.17666955e-01 1.96901440e-01 1.67252772e+02] [-5.98953401e-01 7.86433959e-01 -1.50918691e-01 -9.49095569e+01] [-2.48067467e-01 -3.02654479e-03 9.68738031e-01 -3.83677606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:-94.93, Z:-38.38 [[ 7.64586220e-01 6.13899789e-01 1.96303236e-01 1.67273817e+02] [-5.95156046e-01 7.89382088e-01 -1.50549660e-01 -9.49330375e+01] [-2.47380663e-01 -1.72286241e-03 9.68916838e-01 -3.83765824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:-94.96, Z:-38.38 [[ 7.66311106e-01 6.11949997e-01 1.95664228e-01 1.67297657e+02] [-5.93246299e-01 7.90895795e-01 -1.50142169e-01 -9.49551056e+01] [-2.46629515e-01 -1.02146757e-03 9.69109302e-01 -3.83849048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:-94.98, Z:-38.39 [[ 7.67905209e-01 6.10124929e-01 1.95113201e-01 1.67321038e+02] [-5.91447672e-01 7.92305143e-01 -1.49807249e-01 -9.49768408e+01] [-2.45990330e-01 -3.61481784e-04 9.69272215e-01 -3.83931140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-95.00, Z:-38.40 [[ 7.69391003e-01 6.08499280e-01 1.94335050e-01 1.67343635e+02] [-5.89899505e-01 7.93554392e-01 -1.49298363e-01 -9.49980349e+01] [-2.45063378e-01 2.30667610e-04 9.69507033e-01 -3.84015658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:-95.02, Z:-38.41 [[ 7.72154972e-01 6.05539101e-01 1.92611260e-01 1.67365235e+02] [-5.87168760e-01 7.95814644e-01 -1.48026688e-01 -9.50214255e+01] [-2.42918809e-01 1.20422822e-03 9.70045876e-01 -3.84104093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:-95.04, Z:-38.42 [[ 7.73314207e-01 6.04325402e-01 1.91770555e-01 1.67387776e+02] [-5.86058791e-01 7.96735893e-01 -1.47468677e-01 -9.50419955e+01] [-2.41909552e-01 1.65080366e-03 9.70297400e-01 -3.84187737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:-95.06, Z:-38.43 [[ 7.74122318e-01 6.03523636e-01 1.91033653e-01 1.67410865e+02] [-5.85355033e-01 7.97342697e-01 -1.46983364e-01 -9.50635941e+01] [-2.41027223e-01 1.96059196e-03 9.70516375e-01 -3.84267295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:-95.08, Z:-38.43 [[ 7.75043256e-01 6.02533033e-01 1.90425562e-01 1.67433367e+02] [-5.84431222e-01 7.98090541e-01 -1.46600260e-01 -9.50846097e+01] [-2.40308339e-01 2.33089853e-03 9.70693808e-01 -3.84344279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:-95.10, Z:-38.44 [[ 7.74972656e-01 6.02636177e-01 1.90386502e-01 1.67458990e+02] [-5.84524976e-01 7.98012560e-01 -1.46650969e-01 -9.51044248e+01] [-2.40307999e-01 2.36482588e-03 9.70693810e-01 -3.84428443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:-95.13, Z:-38.45 [[ 7.76589190e-01 6.00783598e-01 1.89653100e-01 1.67480604e+02] [-5.82750890e-01 7.99406241e-01 -1.46120026e-01 -9.51288716e+01] [-2.39396386e-01 2.95471983e-03 9.70917422e-01 -3.84504910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:-95.15, Z:-38.46 [[ 7.77125674e-01 6.00105371e-01 1.89602822e-01 1.67504195e+02] [-5.82041631e-01 7.99914429e-01 -1.46165814e-01 -9.51506447e+01] [-2.39380924e-01 3.23247108e-03 9.70920349e-01 -3.84583792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:-95.17, Z:-38.47 [[ 7.77586544e-01 5.99447157e-01 1.89795343e-01 1.67527229e+02] [-5.81305210e-01 8.00406633e-01 -1.46401758e-01 -9.51715736e+01] [-2.39673569e-01 3.51101508e-03 9.70847183e-01 -3.84665824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:-95.20, Z:-38.47 [[ 7.78442635e-01 5.96868495e-01 1.94358079e-01 1.67548805e+02] [-5.80952203e-01 8.02314970e-01 -1.37059209e-01 -9.51984291e+01] [-2.37742720e-01 -6.22002229e-03 9.71308247e-01 -3.84684331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:-95.21, Z:-38.49 [[ 7.78344621e-01 6.00069721e-01 1.84650971e-01 1.67575002e+02] [-5.79534659e-01 7.99813269e-01 -1.56327583e-01 -9.52102497e+01] [-2.41493746e-01 1.46650956e-02 9.70291557e-01 -3.84860239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:-95.24, Z:-38.49 [[ 7.77977858e-01 5.98138933e-01 1.92302546e-01 1.67597398e+02] [-5.79416742e-01 8.01381751e-01 -1.48537969e-01 -9.52355017e+01] [-2.42954093e-01 4.13593680e-03 9.70028970e-01 -3.84902163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-95.26, Z:-38.50 [[ 7.76730766e-01 5.98561558e-01 1.95993312e-01 1.67619910e+02] [-5.80202447e-01 8.01076625e-01 -1.47110030e-01 -9.52557856e+01] [-2.45060069e-01 5.49086806e-04 9.69507742e-01 -3.84962558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:-95.27, Z:-38.51 [[ 7.75676078e-01 6.01137236e-01 1.92251516e-01 1.67646208e+02] [-5.81497756e-01 7.99119136e-01 -1.52541687e-01 -9.52737889e+01] [-2.45330354e-01 6.52911207e-03 9.69417551e-01 -3.85065439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:-95.29, Z:-38.51 [[ 7.74969094e-01 6.01440428e-01 1.94145088e-01 1.67669460e+02] [-5.82398471e-01 7.98910777e-01 -1.50178531e-01 -9.52942776e+01] [-2.45428044e-01 3.31391786e-03 9.69409147e-01 -3.85131152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:-95.31, Z:-38.52 [[ 7.74385174e-01 6.02267129e-01 1.93912114e-01 1.67693621e+02] [-5.83276020e-01 7.98288539e-01 -1.50081619e-01 -9.53132550e+01] [-2.45187044e-01 3.11669431e-03 9.69470783e-01 -3.85210849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:-95.33, Z:-38.53 [[ 7.73884138e-01 6.02978719e-01 1.93700814e-01 1.67718144e+02] [-5.84030902e-01 7.97751798e-01 -1.49999915e-01 -9.53328965e+01] [-2.44971929e-01 2.95529427e-03 9.69525668e-01 -3.85290955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-95.35, Z:-38.54 [[ 7.72809628e-01 6.04576880e-01 1.93007967e-01 1.67743493e+02] [-5.85793246e-01 7.96542832e-01 -1.49551963e-01 -9.53526657e+01] [-2.44154772e-01 2.51243352e-03 9.69733022e-01 -3.85379026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:-95.37, Z:-38.55 [[ 7.72202950e-01 6.05494346e-01 1.92559604e-01 1.67768285e+02] [-5.86805000e-01 7.95846313e-01 -1.49293464e-01 -9.53706649e+01] [-2.43644199e-01 2.28991454e-03 9.69861980e-01 -3.85462728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:-95.39, Z:-38.55 [[ 7.71744551e-01 6.06252812e-01 1.92010094e-01 1.67793302e+02] [-5.87681332e-01 7.95269242e-01 -1.48921069e-01 -9.53883125e+01] [-2.42983539e-01 2.08827575e-03 9.70028164e-01 -3.85549207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:-95.41, Z:-38.56 [[ 7.71140037e-01 6.07168386e-01 1.91545280e-01 1.67818930e+02] [-5.88695921e-01 7.94571009e-01 -1.48640584e-01 -9.54068305e+01] [-2.42446190e-01 1.86078019e-03 9.70163070e-01 -3.85634301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:-95.43, Z:-38.57 [[ 7.70651413e-01 6.07932224e-01 1.91088489e-01 1.67845096e+02] [-5.89551261e-01 7.93987135e-01 -1.48370279e-01 -9.54251804e+01] [-2.41920876e-01 1.68530546e-03 9.70294517e-01 -3.85719887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.87, Y:-95.44, Z:-38.58 [[ 7.70288716e-01 6.08415423e-01 1.91013001e-01 1.67871076e+02] [-5.90042262e-01 7.93617100e-01 -1.48398207e-01 -9.54444390e+01] [-2.41878942e-01 1.60372122e-03 9.70305110e-01 -3.85802898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:-95.46, Z:-38.59 [[ 7.69921330e-01 6.08729880e-01 1.91491720e-01 1.67896557e+02] [-5.90250891e-01 7.93375974e-01 -1.48857142e-01 -9.54634709e+01] [-2.42538720e-01 1.58013034e-03 9.70140440e-01 -3.85883651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:-95.48, Z:-38.60 [[ 7.70182618e-01 6.08339633e-01 1.91681051e-01 1.67921993e+02] [-5.89789386e-01 7.93674827e-01 -1.49093089e-01 -9.54821203e+01] [-2.42831660e-01 1.77745685e-03 9.70066815e-01 -3.85959873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:-95.50, Z:-38.60 [[ 7.70133029e-01 6.08259453e-01 1.92134211e-01 1.67946978e+02] [-5.89595006e-01 7.93736039e-01 -1.49535376e-01 -9.55008853e+01] [-2.43460154e-01 1.88076094e-03 9.69909076e-01 -3.86044708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:-95.52, Z:-38.61 [[ 7.70225140e-01 6.08170442e-01 1.92046734e-01 1.67972217e+02] [-5.89499696e-01 7.93804012e-01 -1.49550322e-01 -9.55196651e+01] [-2.43399553e-01 1.97592628e-03 9.69924097e-01 -3.86126955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:-95.54, Z:-38.62 [[ 7.70305952e-01 6.08147961e-01 1.91793635e-01 1.67997945e+02] [-5.89504833e-01 7.93821045e-01 -1.49439619e-01 -9.55384886e+01] [-2.43131224e-01 2.05095302e-03 9.69991238e-01 -3.86212530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:-95.56, Z:-38.63 [[ 7.70314246e-01 6.08351451e-01 1.91113771e-01 1.68023170e+02] [-5.89826813e-01 7.93665111e-01 -1.48996722e-01 -9.55569153e+01] [-2.42322704e-01 2.05027120e-03 9.70193539e-01 -3.86302667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-95.58, Z:-38.64 [[ 7.70091323e-01 6.08689804e-01 1.90934742e-01 1.68048234e+02] [-5.90188940e-01 7.93405741e-01 -1.48944100e-01 -9.55762181e+01] [-2.42149475e-01 2.01298590e-03 9.70236868e-01 -3.86389760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:-95.60, Z:-38.65 [[ 7.70114560e-01 6.08822935e-01 1.90415857e-01 1.68073580e+02] [-5.90406025e-01 7.93303524e-01 -1.48627870e-01 -9.55955993e+01] [-2.41545627e-01 2.03781747e-03 9.70387323e-01 -3.86474816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.10, Y:-95.61, Z:-38.66 [[ 7.70276973e-01 6.08685537e-01 1.90198061e-01 1.68098275e+02] [-5.90284857e-01 7.93408650e-01 -1.48547976e-01 -9.56147310e+01] [-2.41323792e-01 2.15205035e-03 9.70442268e-01 -3.86559757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:-95.63, Z:-38.66 [[ 7.70248013e-01 6.08714871e-01 1.90221463e-01 1.68122542e+02] [-5.90289633e-01 7.93385981e-01 -1.48650040e-01 -9.56341955e+01] [-2.41404532e-01 2.21164054e-03 9.70422053e-01 -3.86641885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:-95.65, Z:-38.67 [[ 7.70152489e-01 6.08776764e-01 1.90410070e-01 1.68147275e+02] [-5.90295660e-01 7.93338348e-01 -1.48880153e-01 -9.56540002e+01] [-2.41694388e-01 2.26218265e-03 9.70349785e-01 -3.86724657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-95.67, Z:-38.68 [[ 7.70345265e-01 6.08535915e-01 1.90400138e-01 1.68172190e+02] [-5.90027528e-01 7.93522673e-01 -1.48960681e-01 -9.56735284e+01] [-2.41734751e-01 2.40983259e-03 9.70339375e-01 -3.86807692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-95.69, Z:-38.69 [[ 7.70535599e-01 6.08337316e-01 1.90264554e-01 1.68196682e+02] [-5.89827559e-01 7.93674519e-01 -1.48943644e-01 -9.56934908e+01] [-2.41616104e-01 2.54310239e-03 9.70368585e-01 -3.86889452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:-95.71, Z:-38.70 [[ 7.71440467e-01 6.07086122e-01 1.90593932e-01 1.68221293e+02] [-5.88451008e-01 7.94630325e-01 -1.49291854e-01 -9.57136458e+01] [-2.42084731e-01 3.01458588e-03 9.70250429e-01 -3.86970468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:-95.73, Z:-38.71 [[ 7.71887112e-01 6.06410877e-01 1.90934899e-01 1.68246015e+02] [-5.87664916e-01 7.95144586e-01 -1.49649704e-01 -9.57329569e+01] [-2.42570060e-01 3.30693663e-03 9.70128255e-01 -3.87050460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:-95.75, Z:-38.71 [[ 7.72589863e-01 6.05589240e-01 1.90700227e-01 1.68270091e+02] [-5.86844198e-01 7.95769122e-01 -1.49550633e-01 -9.57522797e+01] [-2.42319607e-01 3.62998144e-03 9.70189688e-01 -3.87127741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:-95.77, Z:-38.72 [[ 7.73361886e-01 6.04574806e-01 1.90789668e-01 1.68294689e+02] [-5.85767876e-01 7.96538353e-01 -1.49675141e-01 -9.57720111e+01] [-2.42461107e-01 3.99459055e-03 9.70152903e-01 -3.87210795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:-95.79, Z:-38.73 [[ 7.74361021e-01 6.03307525e-01 1.90748631e-01 1.68319644e+02] [-5.84448673e-01 7.97496148e-01 -1.49731905e-01 -9.57922426e+01] [-2.42455683e-01 4.46376624e-03 9.70152213e-01 -3.87291058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:-95.81, Z:-38.74 [[ 7.76139925e-01 6.00861871e-01 1.91237624e-01 1.68344525e+02] [-5.81808789e-01 7.99335187e-01 -1.50205830e-01 -9.58119809e+01] [-2.43115918e-01 5.31701106e-03 9.69982670e-01 -3.87372524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:-95.83, Z:-38.75 [[ 7.76789382e-01 5.99936887e-01 1.91504537e-01 1.68368864e+02] [-5.80779308e-01 8.00027100e-01 -1.50505928e-01 -9.58305737e+01] [-2.43502878e-01 5.68953402e-03 9.69883487e-01 -3.87459416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:-95.85, Z:-38.75 [[ 7.77221459e-01 5.99340109e-01 1.91620035e-01 1.68394176e+02] [-5.80127465e-01 8.00472563e-01 -1.50651254e-01 -9.58493577e+01] [-2.43677920e-01 5.92534217e-03 9.69838111e-01 -3.87540771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:-95.87, Z:-38.76 [[ 7.77596905e-01 5.98896502e-01 1.91483766e-01 1.68420430e+02] [-5.79675758e-01 8.00802941e-01 -1.50634207e-01 -9.58682306e+01] [-2.43555063e-01 6.13419623e-03 9.69867673e-01 -3.87622441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:-95.89, Z:-38.77 [[ 7.77676734e-01 5.98859691e-01 1.91274585e-01 1.68445018e+02] [-5.79657981e-01 8.00829864e-01 -1.50559467e-01 -9.58870544e+01] [-2.43342396e-01 6.21275460e-03 9.69920553e-01 -3.87703833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-95.91, Z:-38.78 [[ 7.77833062e-01 5.98824206e-01 1.90749306e-01 1.68469456e+02] [-5.79707681e-01 8.00855919e-01 -1.50229163e-01 -9.59060886e+01] [-2.42723570e-01 6.27437200e-03 9.70075204e-01 -3.87781755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-95.92, Z:-38.79 [[ 7.78114428e-01 5.98601827e-01 1.90299210e-01 1.68493811e+02] [-5.79549862e-01 8.01021191e-01 -1.49956687e-01 -9.59247180e+01] [-2.42198047e-01 6.39558066e-03 9.70205753e-01 -3.87858164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:-95.94, Z:-38.79 [[ 7.78009023e-01 5.98808217e-01 1.90080717e-01 1.68519575e+02] [-5.79786548e-01 8.00866956e-01 -1.49865533e-01 -9.59443519e+01] [-2.41970078e-01 6.39049388e-03 9.70262667e-01 -3.87938478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:-95.96, Z:-38.80 [[ 7.77913619e-01 5.98977321e-01 1.89938335e-01 1.68545629e+02] [-5.79967595e-01 8.00740368e-01 -1.49841419e-01 -9.59634389e+01] [-2.41842904e-01 6.40560091e-03 9.70294274e-01 -3.88024799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:-95.98, Z:-38.81 [[ 7.77441877e-01 5.99605089e-01 1.89889088e-01 1.68570749e+02] [-5.80601354e-01 8.00271368e-01 -1.49892649e-01 -9.59815724e+01] [-2.41839195e-01 6.28296122e-03 9.70296000e-01 -3.88108901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:-96.00, Z:-38.82 [[ 7.76478308e-01 6.00863069e-01 1.89855233e-01 1.68596873e+02] [-5.81882349e-01 7.99329757e-01 -1.49949563e-01 -9.59988231e+01] [-2.41856092e-01 5.95917453e-03 9.70293831e-01 -3.88192227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-96.02, Z:-38.83 [[ 7.75840848e-01 6.01644847e-01 1.89985413e-01 1.68622529e+02] [-5.82640237e-01 7.98742753e-01 -1.50134504e-01 -9.60177805e+01] [-2.42077122e-01 5.78733482e-03 9.70239751e-01 -3.88276833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-96.04, Z:-38.84 [[ 7.75060509e-01 6.02490140e-01 1.90491045e-01 1.68647857e+02] [-5.83385768e-01 7.98106601e-01 -1.50621710e-01 -9.60370901e+01] [-2.42780256e-01 5.61117454e-03 9.70065081e-01 -3.88356939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:-96.06, Z:-38.84 [[ 7.74368743e-01 6.03267031e-01 1.90845330e-01 1.68673473e+02] [-5.84091591e-01 7.97520647e-01 -1.50989506e-01 -9.60568675e+01] [-2.43290082e-01 5.45040108e-03 9.69938260e-01 -3.88438019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:-96.08, Z:-38.85 [[ 7.73851364e-01 6.03623997e-01 1.91812767e-01 1.68698864e+02] [-5.84238886e-01 7.97250575e-01 -1.51843488e-01 -9.60757330e+01] [-2.44579212e-01 5.43981299e-03 9.69614056e-01 -3.88514540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:-96.11, Z:-38.85 [[ 7.73812608e-01 6.01405910e-01 1.98808904e-01 1.68721411e+02] [-5.85708942e-01 7.98874617e-01 -1.36910125e-01 -9.61053292e+01] [-2.41161945e-01 -1.05013719e-02 9.70428069e-01 -3.88489365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:-96.11, Z:-38.87 [[ 7.73735130e-01 6.07027408e-01 1.81250311e-01 1.68752422e+02] [-5.84360974e-01 7.94364866e-01 -1.65851477e-01 -9.61055057e+01] [-2.44655271e-01 2.24095056e-02 9.69351130e-01 -3.88730770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:-96.13, Z:-38.88 [[ 7.73827509e-01 6.03577870e-01 1.92054006e-01 1.68774308e+02] [-5.84098839e-01 7.97284378e-01 -1.52204360e-01 -9.61322595e+01] [-2.44988842e-01 5.60139845e-03 9.69509717e-01 -3.88755666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-96.17, Z:-38.87 [[ 7.73633528e-01 6.00617026e-01 2.01867164e-01 1.68795774e+02] [-5.86530983e-01 7.99346359e-01 -1.30486794e-01 -9.61666556e+01] [-2.39734373e-01 -1.74523872e-02 9.70681639e-01 -3.88683434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-96.16, Z:-38.90 [[ 7.73655699e-01 6.08652899e-01 1.76063929e-01 1.68829981e+02] [-5.84705890e-01 7.92874350e-01 -1.71666209e-01 -9.61585569e+01] [-2.44081709e-01 2.98649246e-02 9.69294695e-01 -3.89000714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:-96.19, Z:-38.90 [[ 7.73697393e-01 6.03918322e-01 1.91507194e-01 1.68849052e+02] [-5.84517150e-01 7.97026370e-01 -1.51949552e-01 -9.61886959e+01] [-2.44401402e-01 5.62373327e-03 9.69657841e-01 -3.89001254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:-96.21, Z:-38.91 [[ 7.73494415e-01 6.04178343e-01 1.91506972e-01 1.68873710e+02] [-5.84762135e-01 7.96829334e-01 -1.52040317e-01 -9.62066671e+01] [-2.44457840e-01 5.61631034e-03 9.69643657e-01 -3.89079536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:-96.23, Z:-38.92 [[ 7.73315779e-01 6.04444999e-01 1.91386907e-01 1.68898929e+02] [-5.85047707e-01 7.96627377e-01 -1.52000005e-01 -9.62256309e+01] [-2.44339693e-01 5.57353099e-03 9.69673682e-01 -3.89161226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-96.25, Z:-38.92 [[ 7.73189978e-01 6.04567322e-01 1.91508775e-01 1.68924729e+02] [-5.85126320e-01 7.96534285e-01 -1.52185157e-01 -9.62450273e+01] [-2.44549478e-01 5.61121362e-03 9.69620579e-01 -3.89247378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:-96.26, Z:-38.93 [[ 7.72942991e-01 6.04778918e-01 1.91837414e-01 1.68950459e+02] [-5.85254198e-01 7.96373531e-01 -1.52534336e-01 -9.62637025e+01] [-2.45023789e-01 5.62669401e-03 9.69500739e-01 -3.89333678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:-96.28, Z:-38.94 [[ 7.73131325e-01 6.04656165e-01 1.91465078e-01 1.68974623e+02] [-5.85182363e-01 7.96466024e-01 -1.52326870e-01 -9.62821810e+01] [-2.44600811e-01 5.72668821e-03 9.69606956e-01 -3.89414022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:-96.30, Z:-38.95 [[ 7.73412088e-01 6.04453633e-01 1.90970017e-01 1.68999028e+02] [-5.85055332e-01 7.96618901e-01 -1.52015082e-01 -9.63011610e+01] [-2.44016394e-01 5.84227483e-03 9.69753509e-01 -3.89498084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:-96.32, Z:-38.96 [[ 7.73341157e-01 6.04557117e-01 1.90929691e-01 1.69024327e+02] [-5.85149431e-01 7.96540119e-01 -1.52065715e-01 -9.63213868e+01] [-2.44015569e-01 5.87627647e-03 9.69753511e-01 -3.89582315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:-96.34, Z:-38.97 [[ 7.73899077e-01 6.04082219e-01 1.90170690e-01 1.69048904e+02] [-5.84807931e-01 7.96899184e-01 -1.51497110e-01 -9.63412095e+01] [-2.43063578e-01 6.03014538e-03 9.69991616e-01 -3.89663753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:-96.36, Z:-38.97 [[ 7.75818338e-01 6.02094853e-01 1.88647009e-01 1.69073787e+02] [-5.83053640e-01 7.98396718e-01 -1.50369987e-01 -9.63618783e+01] [-2.41152148e-01 6.66846814e-03 9.70464411e-01 -3.89747709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:-96.38, Z:-38.98 [[ 7.76892868e-01 6.00711133e-01 1.88636175e-01 1.69097877e+02] [-5.81609998e-01 7.99433998e-01 -1.50449634e-01 -9.63815172e+01] [-2.41178941e-01 7.17056217e-03 9.70454173e-01 -3.89833015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:-96.40, Z:-38.99 [[ 7.78057461e-01 5.99267136e-01 1.88428998e-01 1.69122568e+02] [-5.80146629e-01 8.00512314e-01 -1.50365968e-01 -9.64017616e+01] [-2.40949116e-01 7.67691527e-03 9.70507387e-01 -3.89912686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:-96.42, Z:-39.00 [[ 7.80069183e-01 5.96496904e-01 1.88900804e-01 1.69147506e+02] [-5.77177378e-01 8.02569007e-01 -1.50828592e-01 -9.64222717e+01] [-2.41574718e-01 8.62746567e-03 9.70343868e-01 -3.89992028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:-96.44, Z:-39.01 [[ 7.80827640e-01 5.95281327e-01 1.89600469e-01 1.69172403e+02] [-5.75758135e-01 8.03465666e-01 -1.51477698e-01 -9.64419970e+01] [-2.42509312e-01 9.11396123e-03 9.70106267e-01 -3.90080991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:-96.48, Z:-39.00 [[ 7.81979957e-01 5.90501465e-01 1.99537881e-01 1.69193437e+02] [-5.76487186e-01 8.06908156e-01 -1.28692470e-01 -9.64771673e+01] [-2.37001836e-01 -1.43960992e-02 9.71402533e-01 -3.89993607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-96.47, Z:-39.03 [[ 7.82635889e-01 5.97702345e-01 1.73876312e-01 1.69227060e+02] [-5.73429397e-01 8.00950533e-01 -1.72211993e-01 -9.64690327e+01] [-2.42197837e-01 3.50734978e-02 9.69592728e-01 -3.90324652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:-96.50, Z:-39.03 [[ 7.84083645e-01 5.90678613e-01 1.90556064e-01 1.69244326e+02] [-5.70778098e-01 8.06835479e-01 -1.52410212e-01 -9.64999293e+01] [-2.43772846e-01 1.07371269e-02 9.69772919e-01 -3.90318721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:-96.53, Z:-39.02 [[ 7.84750095e-01 5.86720184e-01 1.99816700e-01 1.69265283e+02] [-5.72008075e-01 8.09708891e-01 -1.31065912e-01 -9.65338425e+01] [-2.38692374e-01 -1.14427794e-02 9.71027813e-01 -3.90240294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:-96.53, Z:-39.06 [[ 7.85054716e-01 5.94091476e-01 1.75340842e-01 1.69299098e+02] [-5.69907581e-01 8.03655063e-01 -1.71300582e-01 -9.65276801e+01] [-2.42681771e-01 3.45522552e-02 9.69490433e-01 -3.90559461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:-96.56, Z:-39.06 [[ 7.84967624e-01 5.89440101e-01 1.90751662e-01 1.69318377e+02] [-5.69419954e-01 8.07733421e-01 -1.52733875e-01 -9.65575387e+01] [-2.44103963e-01 1.12733444e-02 9.69683540e-01 -3.90567079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:-96.58, Z:-39.06 [[ 7.84463791e-01 5.89374502e-01 1.93013618e-01 1.69343860e+02] [-5.71304956e-01 8.07852930e-01 -1.44859554e-01 -9.65814432e+01] [-2.41303144e-01 3.36743869e-03 9.70443946e-01 -3.90585906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:-96.61, Z:-39.06 [[ 7.83565360e-01 5.90648050e-01 1.92769832e-01 1.69368283e+02] [-5.74289843e-01 8.06925354e-01 -1.38067555e-01 -9.66055533e+01] [-2.37100197e-01 -2.52080281e-03 9.71481931e-01 -3.90599395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:-96.61, Z:-39.08 [[ 7.82058450e-01 5.96176426e-01 1.81544072e-01 1.69398298e+02] [-5.76279512e-01 8.02705036e-01 -1.53514003e-01 -9.66131256e+01] [-2.37247770e-01 1.54367947e-02 9.71326516e-01 -3.90763953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:-96.62, Z:-39.10 [[ 7.81557698e-01 5.98284691e-01 1.76700294e-01 1.69424511e+02] [-5.75258054e-01 8.00766471e-01 -1.66886878e-01 -9.66191844e+01] [-2.41341535e-01 2.87834570e-02 9.70013286e-01 -3.90955364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:-96.65, Z:-39.10 [[ 7.80505087e-01 5.95997247e-01 1.88677210e-01 1.69444494e+02] [-5.76542014e-01 8.02932282e-01 -1.51324342e-01 -9.66462312e+01] [-2.41683914e-01 9.32907964e-03 9.70310184e-01 -3.90976506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:-96.66, Z:-39.11 [[ 7.79370335e-01 5.97672481e-01 1.88067772e-01 1.69469822e+02] [-5.78372325e-01 8.01691541e-01 -1.50917614e-01 -9.66648862e+01] [-2.40971647e-01 8.84751640e-03 9.70491827e-01 -3.91055758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-96.68, Z:-39.11 [[ 7.78069540e-01 5.99390977e-01 1.87984702e-01 1.69495278e+02] [-5.80137228e-01 8.00412551e-01 -1.50932253e-01 -9.66832074e+01] [-2.40932745e-01 8.37886520e-03 9.70505645e-01 -3.91141188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:-96.70, Z:-39.13 [[ 7.75368120e-01 6.03989443e-01 1.84393682e-01 1.69523377e+02] [-5.83643938e-01 7.96880496e-01 -1.56016758e-01 -9.66982604e+01] [-2.41172204e-01 1.33501653e-02 9.70390510e-01 -3.91259645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:-96.73, Z:-39.13 [[ 7.73835701e-01 6.03713691e-01 1.91593544e-01 1.69546274e+02] [-5.86242157e-01 7.97200872e-01 -1.44190509e-01 -9.67251832e+01] [-2.39788325e-01 -7.40448581e-04 9.70824913e-01 -3.91279060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:-96.73, Z:-39.14 [[ 7.72851333e-01 6.07927010e-01 1.82004307e-01 1.69575514e+02] [-5.87094607e-01 7.93837882e-01 -1.58560205e-01 -9.67343211e+01] [-2.40874944e-01 1.56897187e-02 9.70429335e-01 -3.91432623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:-96.76, Z:-39.14 [[ 7.71642496e-01 6.06802261e-01 1.90680029e-01 1.69596514e+02] [-5.89018385e-01 7.94852798e-01 -1.45829943e-01 -9.67586817e+01] [-2.40052494e-01 2.14538321e-04 9.70759885e-01 -3.91445958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:-96.78, Z:-39.16 [[ 7.68126517e-01 6.12372367e-01 1.87034057e-01 1.69624349e+02] [-5.93550716e-01 7.90555095e-01 -1.50732179e-01 -9.67767111e+01] [-2.40164947e-01 4.76718524e-03 9.70720388e-01 -3.91550112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:-96.82, Z:-39.15 [[ 7.65972122e-01 6.10918168e-01 2.00164181e-01 1.69644488e+02] [-5.98617294e-01 7.91313897e-01 -1.24417250e-01 -9.68150151e+01] [-2.34401457e-01 -2.45215952e-02 9.71830566e-01 -3.91454175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:-96.81, Z:-39.17 [[ 7.63656602e-01 6.21053717e-01 1.76411098e-01 1.69679305e+02] [-6.00646594e-01 7.83621108e-01 -1.58624175e-01 -9.68104347e+01] [-2.36753593e-01 1.51736735e-02 9.71451232e-01 -3.91696771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:-96.81, Z:-39.19 [[ 7.63313045e-01 6.22596914e-01 1.72413104e-01 1.69704811e+02] [-5.98675734e-01 7.82000398e-01 -1.73386109e-01 -9.68142563e+01] [-2.42776772e-01 2.91283370e-02 9.69644770e-01 -3.91893181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:-96.85, Z:-39.19 [[ 7.62283353e-01 6.18907679e-01 1.89413235e-01 1.69723258e+02] [-5.99906173e-01 7.85460103e-01 -1.52200558e-01 -9.68455124e+01] [-2.42974633e-01 2.38978258e-03 9.70029699e-01 -3.91899753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:-96.86, Z:-39.20 [[ 7.61303112e-01 6.20171960e-01 1.89220273e-01 1.69747956e+02] [-6.01226062e-01 7.84463201e-01 -1.52133849e-01 -9.68642616e+01] [-2.42785488e-01 2.05581364e-03 9.70077822e-01 -3.91981171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:-96.88, Z:-39.21 [[ 7.59669333e-01 6.21898518e-01 1.90117692e-01 1.69773619e+02] [-6.02801959e-01 7.83096252e-01 -1.52938089e-01 -9.68830112e+01] [-2.43992423e-01 1.57905860e-03 9.69775852e-01 -3.92067414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:-96.90, Z:-39.21 [[ 7.59254487e-01 6.22372714e-01 1.90223104e-01 1.69797803e+02] [-6.03246920e-01 7.82719590e-01 -1.53111713e-01 -9.69025263e+01] [-2.44183902e-01 1.49925319e-03 9.69727783e-01 -3.92147253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:-96.92, Z:-39.22 [[ 7.59062925e-01 6.22592546e-01 1.90268225e-01 1.69822411e+02] [-6.03451008e-01 7.82544795e-01 -1.53200929e-01 -9.69227957e+01] [-2.44275165e-01 1.47159320e-03 9.69704841e-01 -3.92229766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:-96.94, Z:-39.23 [[ 7.59046619e-01 6.22641841e-01 1.90171943e-01 1.69846653e+02] [-6.03498275e-01 7.82505462e-01 -1.53215642e-01 -9.69426186e+01] [-2.44209054e-01 1.52937491e-03 9.69721403e-01 -3.92310444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:-96.96, Z:-39.24 [[ 7.59174470e-01 6.22462332e-01 1.90249229e-01 1.69871476e+02] [-6.03283507e-01 7.82648056e-01 -1.53333069e-01 -9.69632856e+01] [-2.44342249e-01 1.63232933e-03 9.69687682e-01 -3.92395701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:-96.98, Z:-39.25 [[ 7.59235433e-01 6.22357547e-01 1.90348736e-01 1.69895199e+02] [-6.03132207e-01 7.82731151e-01 -1.53504025e-01 -9.69829918e+01] [-2.44526274e-01 1.74024148e-03 9.69641105e-01 -3.92476702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:-97.00, Z:-39.26 [[ 7.59180711e-01 6.22434397e-01 1.90315711e-01 1.69919652e+02] [-6.03197052e-01 7.82669945e-01 -1.53561301e-01 -9.70032106e+01] [-2.44536223e-01 1.78290137e-03 9.69638519e-01 -3.92559930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-97.02, Z:-39.26 [[ 7.59143412e-01 6.22417708e-01 1.90518966e-01 1.69943296e+02] [-6.03115346e-01 7.82683030e-01 -1.53815325e-01 -9.70232304e+01] [-2.44853344e-01 1.86297815e-03 9.69558337e-01 -3.92644600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:-97.04, Z:-39.27 [[ 7.59112572e-01 6.22576836e-01 1.90121506e-01 1.69968030e+02] [-6.03340218e-01 7.82556432e-01 -1.53577383e-01 -9.70436938e+01] [-2.44394529e-01 1.87457081e-03 9.69674069e-01 -3.92731898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-97.06, Z:-39.28 [[ 7.59939927e-01 6.21878602e-01 1.89098680e-01 1.69991412e+02] [-6.02808268e-01 7.83110685e-01 -1.52839285e-01 -9.70646881e+01] [-2.43132678e-01 2.15842766e-03 9.69990640e-01 -3.92816973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:-97.09, Z:-39.29 [[ 7.60387714e-01 6.21444382e-01 1.88725741e-01 1.70015803e+02] [-6.02415073e-01 7.83454716e-01 -1.52626301e-01 -9.70856376e+01] [-2.42706829e-01 2.36393330e-03 9.70096803e-01 -3.92902543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:-97.11, Z:-39.30 [[ 7.60988391e-01 6.20755323e-01 1.88572260e-01 1.70039167e+02] [-6.01714348e-01 7.83999865e-01 -1.52591140e-01 -9.71054479e+01] [-2.42562389e-01 2.65345158e-03 9.70132180e-01 -3.92985460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:-97.13, Z:-39.31 [[ 7.61326706e-01 6.20351566e-01 1.88535361e-01 1.70063361e+02] [-6.01285400e-01 7.84318700e-01 -1.52643519e-01 -9.71264785e+01] [-2.42564455e-01 2.84802712e-03 9.70131112e-01 -3.93065452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:-97.15, Z:-39.31 [[ 7.61823694e-01 6.19451149e-01 1.89485969e-01 1.70087006e+02] [-6.00139113e-01 7.85028584e-01 -1.53502985e-01 -9.71486436e+01] [-2.43839503e-01 3.22426986e-03 9.69810240e-01 -3.93146013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:-97.17, Z:-39.32 [[ 7.61792091e-01 6.19406258e-01 1.89759579e-01 1.70111203e+02] [-6.00013530e-01 7.85063621e-01 -1.53814417e-01 -9.71699445e+01] [-2.44246955e-01 3.31629101e-03 9.69707393e-01 -3.93226704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-97.19, Z:-39.33 [[ 7.61705538e-01 6.19369286e-01 1.90227132e-01 1.70134736e+02] [-5.99854948e-01 7.85092383e-01 -1.54285420e-01 -9.71904103e+01] [-2.44905523e-01 3.41137193e-03 9.69540947e-01 -3.93307080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-97.21, Z:-39.34 [[ 7.61324259e-01 6.19775252e-01 1.90431118e-01 1.70158781e+02] [-6.00209316e-01 7.84772191e-01 -1.54536032e-01 -9.72112739e+01] [-2.45222654e-01 3.35349887e-03 9.69460986e-01 -3.93390373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:-97.23, Z:-39.35 [[ 7.60258569e-01 6.20906740e-01 1.91001908e-01 1.70182757e+02] [-6.01233566e-01 7.83878426e-01 -1.55089691e-01 -9.72328388e+01] [-2.46018510e-01 3.07150797e-03 9.69260264e-01 -3.93477773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:-97.25, Z:-39.36 [[ 7.59154250e-01 6.22191503e-01 1.91213383e-01 1.70205776e+02] [-6.02490527e-01 7.82860308e-01 -1.55354125e-01 -9.72526894e+01] [-2.46353385e-01 2.73349262e-03 9.69176216e-01 -3.93559590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:-97.27, Z:-39.36 [[ 7.57877187e-01 6.23745879e-01 1.91215186e-01 1.70229887e+02] [-6.04071325e-01 7.81623821e-01 -1.55441424e-01 -9.72733416e+01] [-2.46414292e-01 2.29789892e-03 9.69161863e-01 -3.93644101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:-97.30, Z:-39.37 [[ 7.54485715e-01 6.27927595e-01 1.90940414e-01 1.70253183e+02] [-6.08418432e-01 7.78271110e-01 -1.55309661e-01 -9.72954530e+01] [-2.46126629e-01 1.00725304e-03 9.69237158e-01 -3.93726359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:-97.32, Z:-39.38 [[ 7.52097048e-01 6.30436913e-01 1.92091980e-01 1.70276967e+02] [-6.11817832e-01 7.76234224e-01 -1.52116306e-01 -9.73199760e+01] [-2.45008103e-01 -3.11907412e-03 9.69516014e-01 -3.93784233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:-97.34, Z:-39.39 [[ 7.49695003e-01 6.34266219e-01 1.88848527e-01 1.70302347e+02] [-6.14651827e-01 7.73113679e-01 -1.56519554e-01 -9.73383556e+01] [-2.45276445e-01 1.26583506e-03 9.69452352e-01 -3.93891827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:-97.36, Z:-39.40 [[ 7.47436574e-01 6.36904034e-01 1.88922785e-01 1.70325086e+02] [-6.17072106e-01 7.70942005e-01 -1.57703647e-01 -9.73559343e+01] [-2.46090600e-01 1.29449315e-03 9.69245965e-01 -3.93986033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:-97.38, Z:-39.40 [[ 7.42854452e-01 6.41547729e-01 1.91268857e-01 1.70347081e+02] [-6.23072474e-01 7.67063030e-01 -1.52954243e-01 -9.73818080e+01] [-2.44842716e-01 -5.55162010e-03 9.69546917e-01 -3.94042282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:-97.40, Z:-39.41 [[ 7.41061949e-01 6.44232928e-01 1.89185418e-01 1.70371866e+02] [-6.25289715e-01 7.64822025e-01 -1.55113003e-01 -9.74019519e+01] [-2.44622078e-01 -3.34735170e-03 9.69612724e-01 -3.94135940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:-97.42, Z:-39.42 [[ 7.39624300e-01 6.46044717e-01 1.88632229e-01 1.70394398e+02] [-6.26489732e-01 7.63298096e-01 -1.57754977e-01 -9.74194184e+01] [-2.45899390e-01 -1.49674034e-03 9.69294202e-01 -3.94237002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:-97.44, Z:-39.43 [[ 7.38472213e-01 6.46719659e-01 1.90820525e-01 1.70416683e+02] [-6.27999935e-01 7.62706619e-01 -1.54579090e-01 -9.74432854e+01] [-2.45509414e-01 -5.68291437e-03 9.69377549e-01 -3.94300397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:-97.47, Z:-39.44 [[ 7.37221336e-01 6.48269180e-01 1.90398981e-01 1.70438990e+02] [-6.29025960e-01 7.61399951e-01 -1.56832576e-01 -9.74652830e+01] [-2.46639500e-01 -4.14558086e-03 9.69098432e-01 -3.94395561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:-97.49, Z:-39.45 [[ 7.36567611e-01 6.48933546e-01 1.90665694e-01 1.70462199e+02] [-6.29681010e-01 7.60832095e-01 -1.56959706e-01 -9.74873897e+01] [-2.46920998e-01 -4.44713101e-03 9.69025409e-01 -3.94481208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:-97.51, Z:-39.46 [[ 7.36478933e-01 6.48943091e-01 1.90975511e-01 1.70484188e+02] [-6.29865713e-01 7.60819232e-01 -1.56279493e-01 -9.75079911e+01] [-2.46714339e-01 -5.19237202e-03 9.69074339e-01 -3.94554481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:-97.53, Z:-39.46 [[ 7.36754912e-01 6.48575497e-01 1.91159683e-01 1.70504932e+02] [-6.29512332e-01 7.61132078e-01 -1.56179971e-01 -9.75311019e+01] [-2.46792269e-01 -5.27101757e-03 9.69054071e-01 -3.94642213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:-97.55, Z:-39.47 [[ 7.37088125e-01 6.48301053e-01 1.90805766e-01 1.70527732e+02] [-6.29278538e-01 7.61367009e-01 -1.55976919e-01 -9.75531201e+01] [-2.46393216e-01 -5.10123853e-03 9.69156520e-01 -3.94726359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-97.58, Z:-39.48 [[ 7.37722920e-01 6.47779357e-01 1.90123111e-01 1.70550184e+02] [-6.28853975e-01 7.61812662e-01 -1.55512527e-01 -9.75750126e+01] [-2.45575998e-01 -4.83451842e-03 9.69365286e-01 -3.94809496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-97.60, Z:-39.49 [[ 7.37643506e-01 6.47882580e-01 1.90079514e-01 1.70575189e+02] [-6.28946849e-01 7.61725111e-01 -1.55565797e-01 -9.75955494e+01] [-2.45576708e-01 -4.79781134e-03 9.69365288e-01 -3.94894847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:-97.62, Z:-39.50 [[ 7.38378041e-01 6.47166750e-01 1.89665670e-01 1.70597773e+02] [-6.28281834e-01 7.62335080e-01 -1.55264819e-01 -9.76179173e+01] [-2.45071022e-01 -4.51936237e-03 9.69494595e-01 -3.94977255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.62, Y:-97.64, Z:-39.51 [[ 7.38351062e-01 6.47156759e-01 1.89804738e-01 1.70619493e+02] [-6.28219704e-01 7.62343993e-01 -1.55472312e-01 -9.76409418e+01] [-2.45311459e-01 -4.44592945e-03 9.69434125e-01 -3.95052423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:-97.66, Z:-39.51 [[ 7.36877132e-01 6.48656353e-01 1.90412783e-01 1.70644411e+02] [-6.29622945e-01 7.61065696e-01 -1.56057531e-01 -9.76605689e+01] [-2.46144346e-01 -4.89303178e-03 9.69220831e-01 -3.95137627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:-97.68, Z:-39.52 [[ 7.35817007e-01 6.49836627e-01 1.90488033e-01 1.70669717e+02] [-6.30803221e-01 7.60056011e-01 -1.56211897e-01 -9.76804956e+01] [-2.46293787e-01 -5.21709394e-03 9.69181176e-01 -3.95223641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:-97.70, Z:-39.53 [[ 7.34723500e-01 6.51388689e-01 1.89404740e-01 1.70695369e+02] [-6.32601861e-01 7.58723316e-01 -1.55414975e-01 -9.76991424e+01] [-2.44941349e-01 -5.63075668e-03 9.69521547e-01 -3.95315256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:-97.72, Z:-39.54 [[ 7.35219085e-01 6.51071388e-01 1.88570795e-01 1.70720708e+02] [-6.32418990e-01 7.58997090e-01 -1.54821311e-01 -9.77185594e+01] [-2.43924411e-01 -5.42816863e-03 9.69779056e-01 -3.95405186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:-97.74, Z:-39.55 [[ 7.36152656e-01 6.50077157e-01 1.88358588e-01 1.70745697e+02] [-6.31412412e-01 7.59851617e-01 -1.54738124e-01 -9.77379704e+01] [-2.43716297e-01 -5.02106869e-03 9.69833571e-01 -3.95494718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-97.76, Z:-39.56 [[ 7.39254360e-01 6.46716920e-01 1.87777039e-01 1.70770097e+02] [-6.28039267e-01 7.62720512e-01 -1.54350573e-01 -9.77587473e+01] [-2.43042527e-01 -3.82702010e-03 9.70008085e-01 -3.95582036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:-97.78, Z:-39.57 [[ 7.40855580e-01 6.44903659e-01 1.87702635e-01 1.70794098e+02] [-6.26160596e-01 7.64257352e-01 -1.54381376e-01 -9.77795582e+01] [-2.43014233e-01 -3.15768976e-03 9.70017583e-01 -3.95663244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:-97.80, Z:-39.57 [[ 7.42389660e-01 6.43092014e-01 1.87857006e-01 1.70817657e+02] [-6.24237213e-01 7.65784856e-01 -1.54600957e-01 -9.78003583e+01] [-2.43280691e-01 -2.49318183e-03 9.69952725e-01 -3.95740308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:-97.82, Z:-39.58 [[ 7.43867040e-01 6.41238302e-01 1.88348792e-01 1.70841488e+02] [-6.22202841e-01 7.67339635e-01 -1.55091939e-01 -9.78216960e+01] [-2.43978385e-01 -1.82337193e-03 9.69778956e-01 -3.95821133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:-97.84, Z:-39.59 [[ 7.47043966e-01 6.37533988e-01 1.88350013e-01 1.70863720e+02] [-6.18358768e-01 7.70422043e-01 -1.55184759e-01 -9.78430382e+01] [-2.44044561e-01 -5.38044444e-04 9.69763870e-01 -3.95897402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:-97.86, Z:-39.60 [[ 7.48158770e-01 6.36296056e-01 1.88111096e-01 1.70888530e+02] [-6.17110333e-01 7.71444959e-01 -1.55072604e-01 -9.78631473e+01] [-2.43789443e-01 -6.63722177e-05 9.69828182e-01 -3.95981183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:-97.88, Z:-39.61 [[ 7.50360108e-01 6.33811116e-01 1.87731665e-01 1.70914021e+02] [-6.14604419e-01 7.73487433e-01 -1.54850246e-01 -9.78824237e+01] [-2.43353891e-01 8.12736380e-04 9.69937226e-01 -3.96072738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:-97.90, Z:-39.62 [[ 7.50997072e-01 6.33040308e-01 1.87785425e-01 1.70938805e+02] [-6.13776043e-01 7.74118001e-01 -1.54984801e-01 -9.79021900e+01] [-2.43479704e-01 1.13493676e-03 9.69905328e-01 -3.96155812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:-97.92, Z:-39.62 [[ 7.51525190e-01 6.32399926e-01 1.87830304e-01 1.70963957e+02] [-6.13084087e-01 7.74640777e-01 -1.55111471e-01 -9.79225585e+01] [-2.43593496e-01 1.41440737e-03 9.69876388e-01 -3.96237972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:-97.94, Z:-39.63 [[ 7.51652158e-01 6.32220986e-01 1.87924608e-01 1.70988990e+02] [-6.12857239e-01 7.74786575e-01 -1.55279645e-01 -9.79430867e+01] [-2.43772513e-01 1.54532377e-03 9.69831209e-01 -3.96317636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:-97.96, Z:-39.64 [[ 7.52035941e-01 6.31809054e-01 1.87774501e-01 1.71013890e+02] [-6.12441446e-01 7.75122093e-01 -1.55245663e-01 -9.79632553e+01] [-2.43633780e-01 1.74943113e-03 9.69865723e-01 -3.96395536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:-97.98, Z:-39.65 [[ 7.51926682e-01 6.32027211e-01 1.87477651e-01 1.71038109e+02] [-6.12706063e-01 7.74944225e-01 -1.55089418e-01 -9.79833585e+01] [-2.43305455e-01 1.74717806e-03 9.69948144e-01 -3.96476847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:-98.00, Z:-39.66 [[ 7.51638677e-01 6.32452783e-01 1.87197158e-01 1.71062986e+02] [-6.13180857e-01 7.74597095e-01 -1.54947011e-01 -9.80035943e+01] [-2.42999043e-01 1.67845278e-03 9.70025076e-01 -3.96559180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:-98.03, Z:-39.66 [[ 7.51304642e-01 6.31588208e-01 1.91409695e-01 1.71085979e+02] [-6.14890340e-01 7.75250726e-01 -1.44555112e-01 -9.80309371e+01] [-2.39689809e-01 -9.09104556e-03 9.70806957e-01 -3.96570732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:-98.04, Z:-39.68 [[ 7.50216765e-01 6.36752244e-01 1.78104984e-01 1.71115419e+02] [-6.15635199e-01 7.70963391e-01 -1.63121894e-01 -9.80361474e+01] [-2.41180654e-01 1.27290824e-02 9.70396755e-01 -3.96769129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-98.06, Z:-39.68 [[ 7.49336554e-01 6.35564554e-01 1.85882832e-01 1.71137219e+02] [-6.16608703e-01 7.72047283e-01 -1.54067194e-01 -9.80614286e+01] [-2.41429983e-01 8.31208632e-04 9.70417886e-01 -3.96814543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-98.08, Z:-39.69 [[ 7.48158724e-01 6.37037430e-01 1.85585118e-01 1.71161771e+02] [-6.18165624e-01 7.70832751e-01 -1.53909486e-01 -9.80819005e+01] [-2.41101191e-01 4.26384952e-04 9.70499889e-01 -3.96893056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:-98.10, Z:-39.70 [[ 7.46176584e-01 6.39343886e-01 1.85633780e-01 1.71185852e+02] [-6.20509796e-01 7.68920890e-01 -1.54039797e-01 -9.81009339e+01] [-2.41222094e-01 -2.46689404e-04 9.70469907e-01 -3.96967945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:-98.12, Z:-39.71 [[ 7.45090973e-01 6.40521356e-01 1.85935028e-01 1.71210874e+02] [-6.21640458e-01 7.67940151e-01 -1.54373139e-01 -9.81212259e+01] [-2.41666266e-01 -5.62703077e-04 9.70359263e-01 -3.97052029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:-98.14, Z:-39.71 [[ 7.44160734e-01 6.41699797e-01 1.85596803e-01 1.71235711e+02] [-6.22525451e-01 7.66955844e-01 -1.55694562e-01 -9.81415951e+01] [-2.42253721e-01 3.23045746e-04 9.70212879e-01 -3.97144450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:-97.83, Z:-38.77 [[ 7.88492337e-01 -5.86877334e-01 -1.83996820e-01 1.71945509e+02] [-5.55885293e-01 -8.08031243e-01 1.95133417e-01 -9.78276319e+01] [-2.63194559e-01 -5.15800780e-02 -9.63362922e-01 -3.87660244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-98.25, Z:-39.75 [[ 7.87839400e-01 5.83862544e-01 1.95993901e-01 1.71371045e+02] [-5.66946544e-01 8.11851656e-01 -1.39529587e-01 -9.82517369e+01] [-2.40584073e-01 -1.19115907e-03 9.70627573e-01 -3.97509298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:-98.27, Z:-39.76 [[ 7.87393314e-01 5.84331227e-01 1.96389375e-01 1.71395807e+02] [-5.67339270e-01 8.11514271e-01 -1.39895463e-01 -9.82695337e+01] [-2.41118068e-01 -1.26665237e-03 9.70494963e-01 -3.97589003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:-98.29, Z:-39.77 [[ 7.87242862e-01 5.84588418e-01 1.96227058e-01 1.71421833e+02] [-5.67613523e-01 8.11329000e-01 -1.39857581e-01 -9.82884127e+01] [-2.40963825e-01 -1.27924934e-03 9.70533255e-01 -3.97666303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:-98.31, Z:-39.77 [[ 7.86995895e-01 5.84855229e-01 1.96422561e-01 1.71448029e+02] [-5.67833624e-01 8.11136665e-01 -1.40079572e-01 -9.83074279e+01] [-2.41251811e-01 -1.29328636e-03 9.70461690e-01 -3.97748828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:-98.33, Z:-39.78 [[ 7.86683739e-01 5.85258504e-01 1.96471827e-01 1.71473666e+02] [-5.68219431e-01 8.10845652e-01 -1.40199880e-01 -9.83260806e+01] [-2.41361499e-01 -1.34614433e-03 9.70434343e-01 -3.97824835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:-98.34, Z:-39.79 [[ 7.86127729e-01 5.86087769e-01 1.96225180e-01 1.71499302e+02] [-5.69096505e-01 8.10246131e-01 -1.40108444e-01 -9.83446018e+01] [-2.41106538e-01 -1.52793137e-03 9.70497451e-01 -3.97902349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:-98.36, Z:-39.80 [[ 7.85233269e-01 5.87405346e-01 1.95866468e-01 1.71525219e+02] [-5.70496303e-01 8.09290744e-01 -1.39937343e-01 -9.83621500e+01] [-2.40712863e-01 -1.85763834e-03 9.70594595e-01 -3.97988550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:-98.38, Z:-39.81 [[ 7.84797361e-01 5.88275559e-01 1.94999920e-01 1.71550508e+02] [-5.71523385e-01 8.08657957e-01 -1.39403478e-01 -9.83795610e+01] [-2.39695896e-01 -2.04353263e-03 9.70845869e-01 -3.98071763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-98.40, Z:-39.82 [[ 7.84378327e-01 5.89227022e-01 1.93809589e-01 1.71576621e+02] [-5.72691049e-01 8.07964378e-01 -1.38630900e-01 -9.83976816e+01] [-2.38276316e-01 -2.25394361e-03 9.71194788e-01 -3.98161772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:-98.42, Z:-39.83 [[ 7.83753213e-01 5.90443560e-01 1.92632559e-01 1.71602210e+02] [-5.74126688e-01 8.07074941e-01 -1.37871631e-01 -9.84158929e+01] [-2.36874328e-01 -2.53815906e-03 9.71536984e-01 -3.98250652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:-98.43, Z:-39.83 [[ 7.83062869e-01 5.92089211e-01 1.90375708e-01 1.71627633e+02] [-5.76185771e-01 8.05867099e-01 -1.36338462e-01 -9.84348116e+01] [-2.34142052e-01 -2.93018640e-03 9.72197981e-01 -3.98342097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:-98.45, Z:-39.84 [[ 7.82675038e-01 5.92751519e-01 1.89908982e-01 1.71652338e+02] [-5.76926373e-01 8.05379614e-01 -1.36086873e-01 -9.84535444e+01] [-2.33614524e-01 -3.05170124e-03 9.72324504e-01 -3.98425029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.156559995 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:171.68, Y:-98.47, Z:-39.86 [[ 7.81972333e-01 5.95226827e-01 1.84998093e-01 1.71679661e+02] [-5.77085846e-01 8.03523431e-01 -1.46020624e-01 -9.84678038e+01] [-2.35565695e-01 7.42430659e-03 9.71830069e-01 -3.98577740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:-98.77, Z:-39.02 [[ 8.12073071e-01 -1.55111682e-01 5.62563501e-01 1.71857768e+02] [-5.57206507e-01 8.03040509e-02 8.26481801e-01 -9.87662769e+01] [-1.73373111e-01 -9.84627658e-01 -2.12164814e-02 -3.90193004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-97.96, Z:-39.76 [[ 7.73358958e-01 2.28269764e-01 -5.91446394e-01 1.72409517e+02] [-5.77170283e-01 -1.32449709e-01 -8.05811106e-01 -9.79633755e+01] [-2.62279214e-01 9.64546520e-01 2.93193550e-02 -3.97603691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:-98.65, Z:-39.89 [[ 7.83459167e-01 5.91425014e-01 1.90809290e-01 1.71916793e+02] [-5.75364632e-01 8.06356069e-01 -1.36913951e-01 -9.86498267e+01] [-2.34834565e-01 -2.51842715e-03 9.72032090e-01 -3.98897464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:-98.67, Z:-39.90 [[ 7.83857841e-01 5.90596483e-01 1.91735963e-01 1.71941947e+02] [-5.74333233e-01 8.06963997e-01 -1.37660612e-01 -9.86696687e+01] [-2.36025893e-01 -2.21398512e-03 9.71744244e-01 -3.98977701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:-98.69, Z:-39.90 [[ 7.85172579e-01 5.88299716e-01 1.93410099e-01 1.71965276e+02] [-5.71656800e-01 8.08641639e-01 -1.38950358e-01 -9.86900783e+01] [-2.38143915e-01 -1.46418725e-03 9.71228774e-01 -3.99047834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-98.71, Z:-39.91 [[ 7.85930254e-01 5.87037074e-01 1.94167739e-01 1.71990594e+02] [-5.70210853e-01 8.09559378e-01 -1.39546396e-01 -9.87099025e+01] [-2.39109222e-01 -1.04281723e-03 9.70992118e-01 -3.99126962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:-98.73, Z:-39.92 [[ 7.86088249e-01 5.86474146e-01 1.95226384e-01 1.72016509e+02] [-5.69423055e-01 8.09967547e-01 -1.40392155e-01 -9.87289725e+01] [-2.40463405e-01 -8.05780648e-04 9.70657871e-01 -3.99204330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:-98.75, Z:-39.93 [[ 7.86009919e-01 5.86394517e-01 1.95780179e-01 1.72041834e+02] [-5.69221253e-01 8.10025286e-01 -1.40876548e-01 -9.87470392e+01] [-2.41196131e-01 -7.11874705e-04 9.70476130e-01 -3.99282343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.07, Y:-98.77, Z:-39.94 [[ 7.86275094e-01 5.86056754e-01 1.95726742e-01 1.72066960e+02] [-5.68862871e-01 8.10269824e-01 -1.40917869e-01 -9.87651386e+01] [-2.41177341e-01 -5.41465682e-04 9.70480910e-01 -3.99366989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:-98.78, Z:-39.94 [[ 7.86404340e-01 5.86077908e-01 1.95143281e-01 1.72093020e+02] [-5.68969393e-01 8.10254561e-01 -1.40575160e-01 -9.87840094e+01] [-2.40503729e-01 -4.81638441e-04 9.70648095e-01 -3.99448978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:-98.80, Z:-39.95 [[ 7.86494577e-01 5.86156151e-01 1.94543688e-01 1.72118094e+02] [-5.69135363e-01 8.10197988e-01 -1.40228952e-01 -9.88022881e+01] [-2.39814967e-01 -4.32382635e-04 9.70818518e-01 -3.99531001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:-98.82, Z:-39.96 [[ 7.86404861e-01 5.86470023e-01 1.93959549e-01 1.72144197e+02] [-5.69542794e-01 8.09970802e-01 -1.39886759e-01 -9.88212028e+01] [-2.39140963e-01 -4.60636324e-04 9.70984752e-01 -3.99615115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:-98.84, Z:-39.97 [[ 7.86032247e-01 5.87130785e-01 1.93470277e-01 1.72170240e+02] [-5.70289139e-01 8.09491873e-01 -1.39618068e-01 -9.88392773e+01] [-2.38586683e-01 -5.89693549e-04 9.71121026e-01 -3.99705495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:-98.86, Z:-39.98 [[ 7.85764607e-01 5.87637206e-01 1.93019419e-01 1.72195626e+02] [-5.70869106e-01 8.09124258e-01 -1.39378616e-01 -9.88566146e+01] [-2.38080754e-01 -6.70039966e-04 9.71245131e-01 -3.99788878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:-98.87, Z:-39.99 [[ 7.85370916e-01 5.88283954e-01 1.92651275e-01 1.72221954e+02] [-5.71587508e-01 8.08654013e-01 -1.39163241e-01 -9.88742876e+01] [-2.37655728e-01 -8.22300268e-04 9.71349102e-01 -3.99873361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:-98.89, Z:-40.00 [[ 7.84330233e-01 5.90202110e-01 1.91017158e-01 1.72249017e+02] [-5.73827774e-01 8.07254434e-01 -1.38065077e-01 -9.88909515e+01] [-2.35685748e-01 -1.32233707e-03 9.71828421e-01 -3.99960488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:-98.91, Z:-40.00 [[ 7.83931306e-01 5.90955890e-01 1.90322998e-01 1.72274741e+02] [-5.74703535e-01 8.06702527e-01 -1.37647667e-01 -9.89084380e+01] [-2.34877743e-01 -1.47298413e-03 9.72023804e-01 -4.00045587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:-98.93, Z:-40.01 [[ 7.83624612e-01 5.91596745e-01 1.89593665e-01 1.72300045e+02] [-5.75470166e-01 8.06232442e-01 -1.37198169e-01 -9.89261304e+01] [-2.34022554e-01 -1.59363615e-03 9.72229862e-01 -4.00127363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:-98.94, Z:-40.02 [[ 7.82886780e-01 5.92692295e-01 1.89219798e-01 1.72325959e+02] [-5.76643573e-01 8.05426845e-01 -1.37002871e-01 -9.89442798e+01] [-2.33603252e-01 -1.85464362e-03 9.72330233e-01 -4.00208802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:-98.96, Z:-40.03 [[ 7.82575411e-01 5.93143879e-01 1.89092738e-01 1.72351371e+02] [-5.77110346e-01 8.05094188e-01 -1.36992693e-01 -9.89627835e+01] [-2.33493842e-01 -1.92026218e-03 9.72356384e-01 -4.00290193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:-98.98, Z:-40.04 [[ 7.81910935e-01 5.93826148e-01 1.89699223e-01 1.72376609e+02] [-5.77688054e-01 8.04590735e-01 -1.37514588e-01 -9.89814665e+01] [-2.34289995e-01 -2.06281460e-03 9.72164566e-01 -4.00372715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:-99.00, Z:-40.05 [[ 7.81446563e-01 5.94292991e-01 1.90150231e-01 1.72402675e+02] [-5.78070688e-01 8.04245772e-01 -1.37923960e-01 -9.90005578e+01] [-2.34894762e-01 -2.14007036e-03 9.72018452e-01 -4.00452323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:-99.02, Z:-40.05 [[ 7.81373861e-01 5.94401640e-01 1.90109387e-01 1.72428849e+02] [-5.78168816e-01 8.04165577e-01 -1.37980236e-01 -9.90196224e+01] [-2.34895103e-01 -2.10116900e-03 9.72018454e-01 -4.00536752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:-99.04, Z:-40.06 [[ 7.80589246e-01 5.94932279e-01 1.91666409e-01 1.72453340e+02] [-5.78436040e-01 8.03772674e-01 -1.39144657e-01 -9.90385111e+01] [-2.36837870e-01 -2.25193564e-03 9.71546577e-01 -4.00607728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:-99.06, Z:-40.07 [[ 7.80215248e-01 5.95184113e-01 1.92405921e-01 1.72478602e+02] [-5.78547037e-01 8.03586151e-01 -1.39759165e-01 -9.90576246e+01] [-2.37797168e-01 -2.27364434e-03 9.71312173e-01 -4.00684150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:-99.08, Z:-40.08 [[ 7.79556686e-01 5.95773413e-01 1.93249616e-01 1.72503361e+02] [-5.78984181e-01 8.03149002e-01 -1.40459957e-01 -9.90766414e+01] [-2.38890544e-01 -2.39197235e-03 9.71043555e-01 -4.00759392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:-99.10, Z:-40.08 [[ 7.78729209e-01 5.96408807e-01 1.94621055e-01 1.72528913e+02] [-5.79376060e-01 8.02676830e-01 -1.41539000e-01 -9.90962197e+01] [-2.40632918e-01 -2.53822693e-03 9.70612877e-01 -4.00837196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99655999499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.55, Y:-99.12, Z:-40.09 [[ 7.78400922e-01 5.96722120e-01 1.94973628e-01 1.72554685e+02] [-5.79615209e-01 8.02443835e-01 -1.41880590e-01 -9.91153326e+01] [-2.41118672e-01 -2.56969804e-03 9.70492237e-01 -4.00920206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:-99.13, Z:-40.10 [[ 7.77959891e-01 5.97248586e-01 1.95121844e-01 1.72579822e+02] [-5.80109882e-01 8.02051766e-01 -1.42075647e-01 -9.91342279e+01] [-2.41352299e-01 -2.66295502e-03 9.70433911e-01 -4.01001933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:-99.15, Z:-40.11 [[ 7.77482585e-01 5.97826259e-01 1.95255204e-01 1.72605546e+02] [-5.80660107e-01 8.01620906e-01 -1.42259496e-01 -9.91529615e+01] [-2.41567115e-01 -2.77262669e-03 9.70380153e-01 -4.01090075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:-99.17, Z:-40.12 [[ 7.77057424e-01 5.98513515e-01 1.94841814e-01 1.72630639e+02] [-5.81420276e-01 8.01107437e-01 -1.42046955e-01 -9.91710117e+01] [-2.41106249e-01 -2.90634039e-03 9.70494374e-01 -4.01171911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:-99.19, Z:-40.13 [[ 7.76419465e-01 5.99398355e-01 1.94664908e-01 1.72656114e+02] [-5.82343606e-01 8.00444837e-01 -1.41999955e-01 -9.91897549e+01] [-2.40933060e-01 -3.11033515e-03 9.70536752e-01 -4.01258548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:-99.21, Z:-40.13 [[ 7.75549184e-01 6.00961576e-01 1.93309718e-01 1.72680781e+02] [-5.84173258e-01 7.99270260e-01 -1.41098035e-01 -9.92086667e+01] [-2.39301206e-01 -3.49790249e-03 9.70939080e-01 -4.01337908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:-99.23, Z:-40.14 [[ 7.75158908e-01 6.01732719e-01 1.92474418e-01 1.72706222e+02] [-5.85094986e-01 7.98689170e-01 -1.40568374e-01 -9.92277892e+01] [-2.38311823e-01 -3.65298970e-03 9.71181822e-01 -4.01420619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:-99.25, Z:-40.15 [[ 7.74775495e-01 6.02390765e-01 1.91959105e-01 1.72731713e+02] [-5.85842361e-01 7.98192406e-01 -1.40276904e-01 -9.92466321e+01] [-2.37721812e-01 -3.77466739e-03 9.71325945e-01 -4.01507321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:-99.27, Z:-40.16 [[ 7.74301771e-01 6.03375761e-01 1.90773319e-01 1.72758119e+02] [-5.87043075e-01 7.97447075e-01 -1.39494053e-01 -9.92652472e+01] [-2.36298956e-01 -3.98166400e-03 9.71672244e-01 -4.01591484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:-99.28, Z:-40.17 [[ 7.73913392e-01 6.03871251e-01 1.90781483e-01 1.72784604e+02] [-5.87531529e-01 7.97071511e-01 -1.39584055e-01 -9.92836843e+01] [-2.36357283e-01 -4.06416662e-03 9.71657716e-01 -4.01677350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:-99.30, Z:-40.18 [[ 7.73659537e-01 6.04173116e-01 1.90855356e-01 1.72811025e+02] [-5.87809217e-01 7.96842596e-01 -1.39721875e-01 -9.93019563e+01] [-2.36497877e-01 -4.08937636e-03 9.71623400e-01 -4.01759536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:-99.32, Z:-40.18 [[ 7.73917421e-01 6.03650392e-01 1.91462870e-01 1.72836108e+02] [-5.87144135e-01 7.97239741e-01 -1.40251777e-01 -9.93194512e+01] [-2.37304849e-01 -3.87300743e-03 9.71427511e-01 -4.01833943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:-99.34, Z:-40.19 [[ 7.74489459e-01 6.02835561e-01 1.91716888e-01 1.72860699e+02] [-5.86240936e-01 7.97857499e-01 -1.40516821e-01 -9.93375685e+01] [-2.37671293e-01 -3.56349119e-03 9.71339106e-01 -4.01908581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:-99.36, Z:-40.20 [[ 7.76738665e-01 5.99592630e-01 1.92784141e-01 1.72886190e+02] [-5.82692535e-01 8.00301392e-01 -1.41375713e-01 -9.93569248e+01] [-2.39053252e-01 -2.52189754e-03 9.71003184e-01 -4.01983838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-99.38, Z:-40.21 [[ 7.78232394e-01 5.97519815e-01 1.93195267e-01 1.72910933e+02] [-5.80461678e-01 8.01852089e-01 -1.41765539e-01 -9.93759345e+01] [-2.39621747e-01 -1.81591416e-03 9.70864625e-01 -4.02063849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:-99.40, Z:-40.21 [[ 7.80057947e-01 5.95093268e-01 1.93322531e-01 1.72936414e+02] [-5.77925863e-01 8.03655988e-01 -1.41911064e-01 -9.93956510e+01] [-2.39815129e-01 -1.02723790e-03 9.70818031e-01 -4.02144670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:-99.41, Z:-40.22 [[ 7.82067182e-01 5.92535731e-01 1.93060430e-01 1.72961016e+02] [-5.75317035e-01 8.05544151e-01 -1.41805961e-01 -9.94148009e+01] [-2.39543799e-01 -1.69166170e-04 9.70885544e-01 -4.02222373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:-99.43, Z:-40.23 [[ 7.86044888e-01 5.87245297e-01 1.93070957e-01 1.72985945e+02] [-5.69846701e-01 8.09407603e-01 -1.41894575e-01 -9.94338547e+01] [-2.39600023e-01 1.51465716e-03 9.70870504e-01 -4.02304958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:-99.45, Z:-40.24 [[ 7.87443080e-01 5.85334400e-01 1.93176176e-01 1.73011976e+02] [-5.67838821e-01 8.10789083e-01 -1.42056811e-01 -9.94525056e+01] [-2.39775873e-01 2.16872022e-03 9.70825848e-01 -4.02389811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:-99.47, Z:-40.25 [[ 7.90096643e-01 5.81993936e-01 1.92432724e-01 1.73038656e+02] [-5.64516336e-01 8.13186665e-01 -1.41593624e-01 -9.94704140e+01] [-2.38890356e-01 3.24123039e-03 9.71041138e-01 -4.02472454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:-99.49, Z:-40.26 [[ 7.91112303e-01 5.80754125e-01 1.92005132e-01 1.73064554e+02] [-5.63298764e-01 8.14070711e-01 -1.41362583e-01 -9.94888665e+01] [-2.38402658e-01 3.67742493e-03 9.71159436e-01 -4.02555439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:-99.51, Z:-40.26 [[ 7.92863272e-01 5.78538320e-01 1.91471261e-01 1.73090114e+02] [-5.61097066e-01 8.15643325e-01 -1.41053356e-01 -9.95063984e+01] [-2.37777028e-01 4.40206231e-03 9.71309789e-01 -4.02634988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:-99.53, Z:-40.27 [[ 7.93316170e-01 5.78009245e-01 1.91193011e-01 1.73115752e+02] [-5.60585388e-01 8.16017146e-01 -1.40925657e-01 -9.95251899e+01] [-2.37473107e-01 4.61859442e-03 9.71383133e-01 -4.02713636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:-99.54, Z:-40.28 [[ 7.93636056e-01 5.77578193e-01 1.91168098e-01 1.73141710e+02] [-5.60125849e-01 8.16321147e-01 -1.40992263e-01 -9.95439058e+01] [-2.37488617e-01 4.81835025e-03 9.71378371e-01 -4.02795722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-99.56, Z:-40.29 [[ 7.93795128e-01 5.77336437e-01 1.91237897e-01 1.73167954e+02] [-5.59843464e-01 8.16491272e-01 -1.41128655e-01 -9.95623755e+01] [-2.37622789e-01 4.96395186e-03 9.71344825e-01 -4.02873749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:-99.58, Z:-40.30 [[ 7.93572012e-01 5.77541155e-01 1.91545495e-01 1.73194093e+02] [-5.59975994e-01 8.16346366e-01 -1.41440793e-01 -9.95804818e+01] [-2.38055348e-01 4.98257560e-03 9.71238810e-01 -4.02953664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:-99.60, Z:-40.30 [[ 7.93254939e-01 5.77856820e-01 1.91906479e-01 1.73219739e+02] [-5.60211827e-01 8.16123017e-01 -1.41795381e-01 -9.95979806e+01] [-2.38556723e-01 4.97160698e-03 9.71115839e-01 -4.03033167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:-99.61, Z:-40.31 [[ 7.92415022e-01 5.79003665e-01 1.91919745e-01 1.73245748e+02] [-5.61369270e-01 8.15311419e-01 -1.41886688e-01 -9.96149801e+01] [-2.38627272e-01 4.69529558e-03 9.71099881e-01 -4.03110887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:-99.63, Z:-40.32 [[ 7.91627093e-01 5.80091100e-01 1.91887625e-01 1.73271518e+02] [-5.62474350e-01 8.14539533e-01 -1.41943489e-01 -9.96333502e+01] [-2.38640211e-01 4.43444492e-03 9.71097928e-01 -4.03190158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:-99.65, Z:-40.33 [[ 7.90712473e-01 5.81314091e-01 1.91957581e-01 1.73297364e+02] [-5.63698843e-01 8.13668729e-01 -1.42080307e-01 -9.96519264e+01] [-2.38783165e-01 4.13840466e-03 9.71064093e-01 -4.03270123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:-99.67, Z:-40.33 [[ 7.89694050e-01 5.82777563e-01 1.91712334e-01 1.73323662e+02] [-5.65229698e-01 8.12623013e-01 -1.41983198e-01 -9.96703027e+01] [-2.38534476e-01 3.76178227e-03 9.71126744e-01 -4.03347508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:-99.69, Z:-40.34 [[ 7.87453807e-01 5.85722417e-01 1.91952472e-01 1.73350721e+02] [-5.68195156e-01 8.10506371e-01 -1.42245168e-01 -9.96874187e+01] [-2.38894885e-01 2.94503438e-03 9.71040967e-01 -4.03426764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:-99.71, Z:-40.35 [[ 7.86202833e-01 5.87348855e-01 1.92110456e-01 1.73376917e+02] [-5.69819370e-01 8.09329942e-01 -1.42446238e-01 -9.97053474e+01] [-2.39146379e-01 2.52337684e-03 9.70980248e-01 -4.03507653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-99.72, Z:-40.36 [[ 7.85056187e-01 5.88772970e-01 1.92440049e-01 1.73402970e+02] [-5.71203773e-01 8.08295558e-01 -1.42774441e-01 -9.97230149e+01] [-2.39610169e-01 2.16347619e-03 9.70866771e-01 -4.03589024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:-99.75, Z:-40.36 [[ 7.82951601e-01 5.88982668e-01 2.00215401e-01 1.73427598e+02] [-5.75433718e-01 8.07985938e-01 -1.26628434e-01 -9.97526216e+01] [-2.36353182e-01 -1.60667574e-02 9.71534370e-01 -4.03561986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:-99.11, Z:-40.00 [[ 7.74799897e-01 -6.60520736e-02 -6.28746565e-01 1.74160640e+02] [-5.51680650e-01 -5.56353173e-01 -6.21385232e-01 -9.91093057e+01] [-3.08761363e-01 8.28316528e-01 -4.67502032e-01 -3.99950398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:-99.82, Z:-40.41 [[ 7.89036951e-01 5.63841419e-01 2.43933483e-01 1.73546125e+02] [-5.38079618e-01 8.25881341e-01 -1.68494318e-01 -9.98214454e+01] [-2.96464187e-01 1.69260776e-03 9.55042471e-01 -4.04132705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:-99.86, Z:-40.40 [[ 7.90424677e-01 5.57436779e-01 2.53954855e-01 1.73569529e+02] [-5.39754384e-01 8.29837123e-01 -1.41547002e-01 -9.98554077e+01] [-2.89644671e-01 -2.51910025e-02 9.56802685e-01 -4.04045544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:-99.84, Z:-40.44 [[ 7.90515736e-01 5.68908983e-01 2.26776189e-01 1.73602781e+02] [-5.36190223e-01 8.21828612e-01 -1.92607834e-01 -9.98400551e+01] [-2.95947487e-01 3.06643484e-02 9.54711885e-01 -4.04421496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:-99.87, Z:-40.44 [[ 7.91357632e-01 5.60598296e-01 2.43890649e-01 1.73622888e+02] [-5.34635589e-01 8.28082182e-01 -1.68655529e-01 -9.98706219e+01] [-2.96509503e-01 3.07421931e-03 9.55024954e-01 -4.04429833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-99.89, Z:-40.45 [[ 7.92201329e-01 5.59334402e-01 2.44053439e-01 1.73648552e+02] [-5.33244237e-01 8.28934108e-01 -1.68875189e-01 -9.98876046e+01] [-2.96761923e-01 3.64305944e-03 9.54944548e-01 -4.04530457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-99.90, Z:-40.46 [[ 7.93998095e-01 5.56904909e-01 2.43770275e-01 1.73675413e+02] [-5.30744789e-01 8.30563510e-01 -1.68743072e-01 -9.99045925e+01] [-2.96440540e-01 4.60187465e-03 9.55040224e-01 -4.04633902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:-99.92, Z:-40.47 [[ 7.94798741e-01 5.55892415e-01 2.43471939e-01 1.73700428e+02] [-5.29718713e-01 8.31238817e-01 -1.68641970e-01 -9.99211301e+01] [-2.96130119e-01 5.06478336e-03 9.55134180e-01 -4.04735042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:-99.94, Z:-40.48 [[ 7.95508799e-01 5.55128695e-01 2.42894797e-01 1.73725847e+02] [-5.29017033e-01 8.31746809e-01 -1.68339613e-01 -9.99382176e+01] [-2.95477122e-01 5.42015819e-03 9.55334440e-01 -4.04835530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:-99.96, Z:-40.49 [[ 7.96049648e-01 5.54607426e-01 2.42312943e-01 1.73752203e+02] [-5.28570763e-01 8.32092734e-01 -1.68031632e-01 -9.99559309e+01] [-2.94818430e-01 5.68198451e-03 9.55536398e-01 -4.04938485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:-99.97, Z:-40.50 [[ 7.96596313e-01 5.53945190e-01 2.42031074e-01 1.73777349e+02] [-5.27908518e-01 8.32531441e-01 -1.67940455e-01 -9.99724542e+01] [-2.94528286e-01 6.01048150e-03 9.55623861e-01 -4.05037759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:-99.99, Z:-40.51 [[ 7.96577708e-01 5.54281283e-01 2.41321808e-01 1.73803653e+02] [-5.28386306e-01 8.32308144e-01 -1.67544219e-01 -9.99900405e+01] [-2.93720731e-01 5.95085101e-03 9.55872753e-01 -4.05136660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:-100.01, Z:-40.52 [[ 7.95631822e-01 5.55802997e-01 2.40941969e-01 1.73829666e+02] [-5.30027743e-01 8.31296039e-01 -1.67384252e-01 -1.00006653e+02] [-2.93326773e-01 5.47030940e-03 9.55996590e-01 -4.05239199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:-100.02, Z:-40.53 [[ 7.94729189e-01 5.57196125e-01 2.40703124e-01 1.73855980e+02] [-5.31503661e-01 8.30365620e-01 -1.67322432e-01 -1.00024219e+02] [-2.93103009e-01 5.04142890e-03 9.56067576e-01 -4.05340720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:-100.04, Z:-40.54 [[ 7.93792189e-01 5.58645660e-01 2.40434996e-01 1.73882243e+02] [-5.33044705e-01 8.29393720e-01 -1.67240544e-01 -1.00041730e+02] [-2.92843479e-01 4.59163579e-03 9.56149368e-01 -4.05442126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:-100.06, Z:-40.55 [[ 7.91734939e-01 5.61576603e-01 2.40390317e-01 1.73908942e+02] [-5.36085190e-01 8.27416926e-01 -1.67313775e-01 -1.00058321e+02] [-2.92862519e-01 3.59847286e-03 9.56147790e-01 -4.05546345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:-100.08, Z:-40.56 [[ 7.90208555e-01 5.63671750e-01 2.40509041e-01 1.73935160e+02] [-5.38217097e-01 8.25993742e-01 -1.67501329e-01 -1.00075662e+02] [-2.93074730e-01 2.91490523e-03 9.56085093e-01 -4.05647698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-100.09, Z:-40.57 [[ 7.88607166e-01 5.65831745e-01 2.40693111e-01 1.73961400e+02] [-5.40403170e-01 8.24517782e-01 -1.67734436e-01 -1.00092897e+02] [-2.93365218e-01 2.20525764e-03 9.55997900e-01 -4.05748117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:-100.11, Z:-40.58 [[ 7.84623921e-01 5.70758837e-01 2.42073653e-01 1.73986698e+02] [-5.45225416e-01 8.21117614e-01 -1.68804948e-01 -1.00109366e+02] [-2.95117856e-01 4.63692402e-04 9.55460745e-01 -4.05843883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:-100.13, Z:-40.59 [[ 7.82622985e-01 5.73279855e-01 2.42593221e-01 1.74012727e+02] [-5.47721131e-01 8.19359535e-01 -1.69267584e-01 -1.00127280e+02] [-2.95808765e-01 -4.00732000e-04 9.55247096e-01 -4.05942620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:-100.15, Z:-40.60 [[ 7.80588612e-01 5.75850480e-01 2.43058929e-01 1.74038691e+02] [-5.50279907e-01 8.17554017e-01 -1.69698125e-01 -1.00145099e+02] [-2.96434551e-01 -1.28602089e-03 9.55052304e-01 -4.06042305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:-100.16, Z:-40.61 [[ 7.78659987e-01 5.78295057e-01 2.43440860e-01 1.74064756e+02] [-5.52725250e-01 8.15824920e-01 -1.70072037e-01 -1.00162843e+02] [-2.96956938e-01 -2.12761996e-03 9.54888501e-01 -4.06145414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:-100.18, Z:-40.63 [[ 7.75786296e-01 5.82058759e-01 2.43645694e-01 1.74090409e+02] [-5.56592175e-01 8.13139291e-01 -1.70322176e-01 -1.00179773e+02] [-2.97255401e-01 -3.47767669e-03 9.54791670e-01 -4.06250805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:-100.20, Z:-40.64 [[ 7.75714217e-01 5.82176126e-01 2.43594771e-01 1.74116465e+02] [-5.56692334e-01 8.13055470e-01 -1.70394977e-01 -1.00198053e+02] [-2.97255948e-01 -3.42953574e-03 9.54791673e-01 -4.06354242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:-100.22, Z:-40.65 [[ 7.74383220e-01 5.83845030e-01 2.43835211e-01 1.74141753e+02] [-5.58376496e-01 8.11855093e-01 -1.70607728e-01 -1.00215431e+02] [-2.97567332e-01 -4.03608881e-03 9.54692303e-01 -4.06459305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:-100.23, Z:-40.66 [[ 7.72453054e-01 5.86407472e-01 2.43808443e-01 1.74166878e+02] [-5.61035101e-01 8.10001222e-01 -1.70697499e-01 -1.00233270e+02] [-2.97583426e-01 -4.92929062e-03 9.54683092e-01 -4.06566183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:-100.25, Z:-40.67 [[ 7.71739949e-01 5.87450380e-01 2.43555953e-01 1.74192481e+02] [-5.62148874e-01 8.09243261e-01 -1.70628217e-01 -1.00251535e+02] [-2.97331624e-01 -5.23409342e-03 9.54759922e-01 -4.06670057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:-100.27, Z:-40.68 [[ 7.70947623e-01 5.88443262e-01 2.43668401e-01 1.74217137e+02] [-5.63131842e-01 8.08519627e-01 -1.70817272e-01 -1.00269631e+02] [-2.97526957e-01 -5.52626555e-03 9.54697423e-01 -4.06773906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:-100.29, Z:-40.69 [[ 7.70274571e-01 5.89543325e-01 2.43137315e-01 1.74242348e+02] [-5.64366382e-01 8.07715566e-01 -1.70546622e-01 -1.00288607e+02] [-2.96930417e-01 -5.85080098e-03 9.54881195e-01 -4.06879715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:-100.31, Z:-40.70 [[ 7.70008497e-01 5.89999368e-01 2.42873754e-01 1.74266742e+02] [-5.64866425e-01 8.07381950e-01 -1.70470843e-01 -1.00306538e+02] [-2.96669575e-01 -5.92723129e-03 9.54961796e-01 -4.06980746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:-100.33, Z:-40.71 [[ 7.69731794e-01 5.90279657e-01 2.43069726e-01 1.74291568e+02] [-5.65098504e-01 8.07176625e-01 -1.70673890e-01 -1.00325270e+02] [-2.96945527e-01 -5.98521866e-03 9.54875663e-01 -4.07086776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:-100.35, Z:-40.72 [[ 7.69989726e-01 5.90052080e-01 2.42805198e-01 1.74315098e+02] [-5.64882125e-01 8.07344362e-01 -1.70596792e-01 -1.00345045e+02] [-2.96688400e-01 -5.79853907e-03 9.54956737e-01 -4.07188650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:-100.36, Z:-40.73 [[ 7.70241360e-01 5.89700170e-01 2.42862010e-01 1.74339133e+02] [-5.64480768e-01 8.07602778e-01 -1.70702124e-01 -1.00364134e+02] [-2.96799106e-01 -5.60909815e-03 9.54923468e-01 -4.07289644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:-100.38, Z:-40.74 [[ 7.70485919e-01 5.89303434e-01 2.43049195e-01 1.74363206e+02] [-5.63994662e-01 8.07893889e-01 -1.70931231e-01 -1.00383864e+02] [-2.97088321e-01 -5.37834184e-03 9.54834856e-01 -4.07390249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:-100.41, Z:-40.75 [[ 7.71381257e-01 5.87952390e-01 2.43480891e-01 1.74385611e+02] [-5.62451636e-01 8.08881446e-01 -1.71344576e-01 -1.00405046e+02] [-2.97689628e-01 -4.77423107e-03 9.54650770e-01 -4.07485671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:-100.42, Z:-40.76 [[ 7.71691208e-01 5.87457018e-01 2.43694343e-01 1.74409290e+02] [-5.61854225e-01 8.09242857e-01 -1.71597869e-01 -1.00424262e+02] [-2.98014279e-01 -4.50012913e-03 9.54550805e-01 -4.07583083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:-100.44, Z:-40.77 [[ 7.72005618e-01 5.86895469e-01 2.44051294e-01 1.74433958e+02] [-5.61168337e-01 8.09651635e-01 -1.71913723e-01 -1.00444047e+02] [-2.98491914e-01 -4.23549826e-03 9.54402765e-01 -4.07686873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:-100.46, Z:-40.78 [[ 7.72215912e-01 5.86271219e-01 2.44884959e-01 1.74456231e+02] [-5.60299017e-01 8.10105375e-01 -1.72610232e-01 -1.00464638e+02] [-2.99579033e-01 -3.91643403e-03 9.54063449e-01 -4.07783755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:-100.48, Z:-40.79 [[ 7.72056517e-01 5.86431787e-01 2.45003048e-01 1.74480933e+02] [-5.60410112e-01 8.09989251e-01 -1.72794442e-01 -1.00484540e+02] [-2.99781989e-01 -3.89511077e-03 9.53999784e-01 -4.07884236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:-100.51, Z:-40.80 [[ 7.71723402e-01 5.86634780e-01 2.45565929e-01 1.74504455e+02] [-5.60467009e-01 8.09842254e-01 -1.73298167e-01 -1.00506079e+02] [-3.00532398e-01 -3.89335099e-03 9.53763660e-01 -4.07990482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:-100.53, Z:-40.81 [[ 7.71646451e-01 5.86785889e-01 2.45446685e-01 1.74528235e+02] [-5.60616802e-01 8.09732949e-01 -1.73324416e-01 -1.00525506e+02] [-3.00450590e-01 -3.85636540e-03 9.53789585e-01 -4.08089155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.55, Y:-100.55, Z:-40.82 [[ 7.71493596e-01 5.87064733e-01 2.45260332e-01 1.74552004e+02] [-5.60917763e-01 8.09530720e-01 -1.73295345e-01 -1.00545049e+02] [-3.00281358e-01 -3.87462756e-03 9.53842803e-01 -4.08189652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:-100.56, Z:-40.83 [[ 7.71321249e-01 5.87300450e-01 2.45238074e-01 1.74576542e+02] [-5.61138608e-01 8.09359695e-01 -1.73379201e-01 -1.00564785e+02] [-3.00311495e-01 -3.88148958e-03 9.53833287e-01 -4.08295449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:-100.59, Z:-40.84 [[ 7.71060315e-01 5.87700089e-01 2.45101196e-01 1.74598691e+02] [-5.61553664e-01 8.09069256e-01 -1.73390950e-01 -1.00585556e+02] [-3.00205719e-01 -3.94259392e-03 9.53866334e-01 -4.08393542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:-100.61, Z:-40.85 [[ 7.70336039e-01 5.88550577e-01 2.45337737e-01 1.74622538e+02] [-5.62362724e-01 8.08449527e-01 -1.73659231e-01 -1.00606581e+02] [-3.00550418e-01 -4.19283388e-03 9.53756712e-01 -4.08493740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:-100.63, Z:-40.85 [[ 7.71234248e-01 5.84505940e-01 2.52092326e-01 1.74644620e+02] [-5.62928383e-01 8.11152249e-01 -1.58567538e-01 -1.00632001e+02] [-2.97168926e-01 -1.96172095e-02 9.54623379e-01 -4.08482931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:-100.64, Z:-40.87 [[ 7.69039664e-01 5.93572177e-01 2.37170964e-01 1.74673544e+02] [-5.63457177e-01 8.04717021e-01 -1.86939901e-01 -1.00636330e+02] [-3.01817836e-01 1.01285173e-02 9.53311810e-01 -4.08745577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:-100.66, Z:-40.88 [[ 7.68609370e-01 5.90428539e-01 2.46239268e-01 1.74695291e+02] [-5.64044562e-01 8.07076245e-01 -1.74589997e-01 -1.00662645e+02] [-3.01816781e-01 -4.69841218e-03 9.53354371e-01 -4.08792087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:-100.68, Z:-40.89 [[ 7.68075261e-01 5.90967041e-01 2.46613767e-01 1.74720160e+02] [-5.64493844e-01 8.06681260e-01 -1.74962983e-01 -1.00681597e+02] [-3.02336060e-01 -4.82721446e-03 9.53189176e-01 -4.08893365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:-100.70, Z:-40.90 [[ 7.67848669e-01 5.90944638e-01 2.47371897e-01 1.74743355e+02] [-5.64269210e-01 8.06698167e-01 -1.75608446e-01 -1.00700465e+02] [-3.03329326e-01 -4.74363363e-03 9.52873978e-01 -4.08995667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:-100.72, Z:-40.91 [[ 7.67933912e-01 5.90891463e-01 2.47234274e-01 1.74768098e+02] [-5.64212038e-01 8.06737747e-01 -1.75610318e-01 -1.00719440e+02] [-3.03219859e-01 -4.63543566e-03 9.52909350e-01 -4.09096061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:-100.74, Z:-40.92 [[ 7.69184867e-01 5.89380962e-01 2.46950849e-01 1.74793119e+02] [-5.62655400e-01 8.07845593e-01 -1.75511820e-01 -1.00738580e+02] [-3.02941481e-01 -3.94719273e-03 9.53000986e-01 -4.09202535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:-100.76, Z:-40.93 [[ 7.69906081e-01 5.88594697e-01 2.46578403e-01 1.74817566e+02] [-5.61877220e-01 8.08420537e-01 -1.75357420e-01 -1.00755994e+02] [-3.02553493e-01 -3.53804360e-03 9.53125840e-01 -4.09298928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:-100.77, Z:-40.94 [[ 7.70275345e-01 5.88092810e-01 2.46622667e-01 1.74842967e+02] [-5.61318956e-01 8.08786783e-01 -1.75456461e-01 -1.00773595e+02] [-3.02649837e-01 -3.28419147e-03 9.53096160e-01 -4.09408882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:-100.79, Z:-40.95 [[ 7.70692856e-01 5.87777929e-01 2.46068341e-01 1.74869238e+02] [-5.61079541e-01 8.09016501e-01 -1.75162923e-01 -1.00790925e+02] [-3.02030248e-01 -3.06709809e-03 9.53293408e-01 -4.09509747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:-100.81, Z:-40.96 [[ 7.70685763e-01 5.87917176e-01 2.45757704e-01 1.74896353e+02] [-5.61260772e-01 8.08915468e-01 -1.75048882e-01 -1.00806575e+02] [-3.01711452e-01 -3.02647766e-03 9.53394483e-01 -4.09620500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-100.82, Z:-40.97 [[ 7.70315181e-01 5.88308826e-01 2.45982208e-01 1.74922633e+02] [-5.61587256e-01 8.08630433e-01 -1.75318501e-01 -1.00823620e+02] [-3.02050121e-01 -3.08997098e-03 9.53287038e-01 -4.09725475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:-100.84, Z:-40.98 [[ 7.69872259e-01 5.88892109e-01 2.45973149e-01 1.74948996e+02] [-5.62166704e-01 8.08205223e-01 -1.75422104e-01 -1.00841321e+02] [-3.02101476e-01 -3.22530307e-03 9.53270316e-01 -4.09827470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.97, Y:-100.86, Z:-40.99 [[ 7.69650359e-01 5.89240449e-01 2.45833314e-01 1.74974419e+02] [-5.62528640e-01 8.07951126e-01 -1.75432344e-01 -1.00858888e+02] [-3.01993136e-01 -3.26671365e-03 9.53304502e-01 -4.09925505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:-100.88, Z:-41.00 [[ 7.69671530e-01 5.89037580e-01 2.46252848e-01 1.74999747e+02] [-5.62189657e-01 8.08099673e-01 -1.75834320e-01 -1.00876947e+02] [-3.02569868e-01 -3.10613387e-03 9.53122147e-01 -4.10031539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-100.90, Z:-41.01 [[ 7.70168800e-01 5.88430399e-01 2.46149719e-01 1.75024479e+02] [-5.61542095e-01 8.08543103e-01 -1.75865077e-01 -1.00895102e+02] [-3.02507015e-01 -2.77763367e-03 9.53143111e-01 -4.10133430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:-100.91, Z:-41.02 [[ 7.71732425e-01 5.86408487e-01 2.46077531e-01 1.75049472e+02] [-5.59415687e-01 8.10013187e-01 -1.75877019e-01 -1.00914486e+02] [-3.02461822e-01 -1.92963344e-03 9.53159547e-01 -4.10241125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:-100.93, Z:-41.03 [[ 7.72507785e-01 5.85312461e-01 2.46254027e-01 1.75074073e+02] [-5.58190058e-01 8.10806602e-01 -1.76115057e-01 -1.00932675e+02] [-3.02746728e-01 -1.40629717e-03 9.53070008e-01 -4.10345168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-100.95, Z:-41.04 [[ 7.73924386e-01 5.83367133e-01 2.46422063e-01 1.75098653e+02] [-5.56077355e-01 8.12208396e-01 -1.76339152e-01 -1.00951706e+02] [-3.03016535e-01 -5.56558955e-04 9.52985136e-01 -4.10444619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-100.97, Z:-41.05 [[ 7.74360663e-01 5.82825237e-01 2.46333729e-01 1.75124059e+02] [-5.55494258e-01 8.12597489e-01 -1.76384380e-01 -1.00970040e+02] [-3.02971438e-01 -2.51846670e-04 9.52999604e-01 -4.10541448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-100.99, Z:-41.07 [[ 7.74609049e-01 5.83865188e-01 2.43068434e-01 1.75149497e+02] [-5.55553929e-01 8.11840155e-01 -1.79653539e-01 -1.00985603e+02] [-3.02226162e-01 4.12363329e-03 9.53227330e-01 -4.10656200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:-101.01, Z:-41.07 [[ 7.74610079e-01 5.81110610e-01 2.49579014e-01 1.75172920e+02] [-5.54828440e-01 8.13811673e-01 -1.72846647e-01 -1.01008716e+02] [-3.03553336e-01 -4.58478024e-03 9.52803417e-01 -4.10715575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:-101.02, Z:-41.08 [[ 7.74613459e-01 5.82381592e-01 2.46588059e-01 1.75199331e+02] [-5.54863105e-01 8.12915517e-01 -1.76904770e-01 -1.01024633e+02] [-3.03481341e-01 2.10199778e-04 9.52837359e-01 -4.10836667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.22, Y:-101.04, Z:-41.09 [[ 7.74617635e-01 5.82647237e-01 2.45946572e-01 1.75224672e+02] [-5.55253326e-01 8.12725142e-01 -1.76554771e-01 -1.01043028e+02] [-3.02756112e-01 1.99786761e-04 9.53068044e-01 -4.10938821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:-101.06, Z:-41.10 [[ 7.74802721e-01 5.82730019e-01 2.45166205e-01 1.75250097e+02] [-5.55483131e-01 8.12665772e-01 -1.76104611e-01 -1.01061090e+02] [-3.01859627e-01 2.60641003e-04 9.53352347e-01 -4.11040637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:-101.08, Z:-41.11 [[ 7.74759785e-01 5.82961627e-01 2.44750929e-01 1.75275674e+02] [-5.55785910e-01 8.12499645e-01 -1.75915745e-01 -1.01079562e+02] [-3.01412171e-01 2.63326819e-04 9.53493909e-01 -4.11148223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:-101.10, Z:-41.13 [[ 7.75444047e-01 5.82613941e-01 2.43408146e-01 1.75299912e+02] [-5.55691905e-01 8.12748889e-01 -1.75059276e-01 -1.01096914e+02] [-2.99821675e-01 4.88737340e-04 9.53995139e-01 -4.11251380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.33, Y:-101.12, Z:-41.14 [[ 7.75595475e-01 5.82489979e-01 2.43222290e-01 1.75325781e+02] [-5.55572315e-01 8.12837645e-01 -1.75026760e-01 -1.01115165e+02] [-2.99651568e-01 6.22392713e-04 9.54048505e-01 -4.11357172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-101.13, Z:-41.15 [[ 7.75594752e-01 5.82410733e-01 2.43414296e-01 1.75351464e+02] [-5.55411171e-01 8.12894323e-01 -1.75274790e-01 -1.01132086e+02] [-2.99952018e-01 7.47188028e-04 9.53953997e-01 -4.11453332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:-101.15, Z:-41.16 [[ 7.75635192e-01 5.82340077e-01 2.43454479e-01 1.75377258e+02] [-5.55307116e-01 8.12944859e-01 -1.75370075e-01 -1.01150393e+02] [-3.00040090e-01 8.31197252e-04 9.53926231e-01 -4.11550435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:-101.17, Z:-41.16 [[ 7.75762025e-01 5.82069317e-01 2.43697745e-01 1.75402191e+02] [-5.54933054e-01 8.13138516e-01 -1.75656082e-01 -1.01168393e+02] [-3.00404038e-01 1.03138413e-03 9.53811486e-01 -4.11645498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:-101.19, Z:-41.17 [[ 7.77011056e-01 5.80345590e-01 2.43829478e-01 1.75428261e+02] [-5.53063826e-01 8.14368345e-01 -1.75853925e-01 -1.01186698e+02] [-3.00623059e-01 1.78718040e-03 9.53741360e-01 -4.11743435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:-101.20, Z:-41.18 [[ 7.77812641e-01 5.79290916e-01 2.43781728e-01 1.75453589e+02] [-5.51935448e-01 8.15117664e-01 -1.75927417e-01 -1.01204824e+02] [-3.00623947e-01 2.28679148e-03 9.53740014e-01 -4.11844539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:-101.22, Z:-41.19 [[ 7.78646956e-01 5.78266522e-01 2.43550299e-01 1.75477932e+02] [-5.50880165e-01 8.15843201e-01 -1.75871870e-01 -1.01222224e+02] [-3.00399670e-01 2.77506678e-03 9.53809382e-01 -4.11941607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:-101.24, Z:-41.20 [[ 7.79941721e-01 5.76862670e-01 2.42735191e-01 1.75503859e+02] [-5.49565086e-01 8.16834104e-01 -1.75386037e-01 -1.01239747e+02] [-2.99448040e-01 3.39210112e-03 9.54106580e-01 -4.12043967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:-101.26, Z:-41.21 [[ 7.80113653e-01 5.76855681e-01 2.42198703e-01 1.75529768e+02] [-5.49647474e-01 8.16838674e-01 -1.75106352e-01 -1.01256680e+02] [-2.98848361e-01 3.47895065e-03 9.54294270e-01 -4.12143508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:-101.27, Z:-41.22 [[ 7.79830390e-01 5.77357955e-01 2.41913939e-01 1.75556189e+02] [-5.50205182e-01 8.16484173e-01 -1.75008151e-01 -1.01274207e+02] [-2.98561251e-01 3.37437208e-03 9.54384510e-01 -4.12247022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:-101.29, Z:-41.23 [[ 7.79351407e-01 5.78312958e-01 2.41175261e-01 1.75582562e+02] [-5.51340936e-01 8.15809152e-01 -1.74581213e-01 -1.01291181e+02] [-2.97715563e-01 3.09031975e-03 9.54649618e-01 -4.12348144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:-101.31, Z:-41.24 [[ 7.79245478e-01 5.78787070e-01 2.40378894e-01 1.75608171e+02] [-5.51986077e-01 8.15473230e-01 -1.74111405e-01 -1.01309011e+02] [-2.96795983e-01 2.98972184e-03 9.54936231e-01 -4.12445581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:-101.33, Z:-41.25 [[ 7.79358278e-01 5.78875960e-01 2.39798452e-01 1.75634218e+02] [-5.52178647e-01 8.15409952e-01 -1.73796868e-01 -1.01327036e+02] [-2.96140873e-01 3.03844264e-03 9.55139441e-01 -4.12545574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:-101.34, Z:-41.26 [[ 7.79461360e-01 5.78915853e-01 2.39366714e-01 1.75659259e+02] [-5.52286028e-01 8.15381370e-01 -1.73589647e-01 -1.01344607e+02] [-2.95668958e-01 3.10753064e-03 9.55285408e-01 -4.12644503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:-101.36, Z:-41.27 [[ 7.79394250e-01 5.79094414e-01 2.39153220e-01 1.75684289e+02] [-5.52490646e-01 8.15254509e-01 -1.73534352e-01 -1.01362396e+02] [-2.95463515e-01 3.12175939e-03 9.55348924e-01 -4.12741774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:-101.38, Z:-41.28 [[ 7.79325594e-01 5.79199716e-01 2.39121951e-01 1.75710008e+02] [-5.52587578e-01 8.15179640e-01 -1.73577428e-01 -1.01381146e+02] [-2.95463343e-01 3.13751268e-03 9.55348925e-01 -4.12845106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:-101.40, Z:-41.29 [[ 7.78869851e-01 5.79735366e-01 2.39308714e-01 1.75735557e+02] [-5.53092085e-01 8.14799401e-01 -1.73755810e-01 -1.01398728e+02] [-2.95720985e-01 2.97340641e-03 9.55269730e-01 -4.12941829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:-101.42, Z:-41.30 [[ 7.78191697e-01 5.80547545e-01 2.39545885e-01 1.75760655e+02] [-5.53854501e-01 8.14221674e-01 -1.74035218e-01 -1.01415792e+02] [-2.96079170e-01 2.75919549e-03 9.55159417e-01 -4.13039933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:-101.43, Z:-41.31 [[ 7.76383686e-01 5.82666549e-01 2.40266655e-01 1.75786516e+02] [-5.55876627e-01 8.12708753e-01 -1.74658692e-01 -1.01433707e+02] [-2.97034591e-01 2.04354150e-03 9.54864533e-01 -4.13131950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:-101.45, Z:-41.32 [[ 7.75314363e-01 5.84027532e-01 2.40415224e-01 1.75811082e+02] [-5.57234511e-01 8.11732245e-01 -1.74872703e-01 -1.01451473e+02] [-2.97283263e-01 1.61365853e-03 9.54787965e-01 -4.13222048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:-101.47, Z:-41.33 [[ 7.74059219e-01 5.85555482e-01 2.40742816e-01 1.75836715e+02] [-5.58729005e-01 8.10631568e-01 -1.75209472e-01 -1.01469834e+02] [-2.97748594e-01 1.11251275e-03 9.54643670e-01 -4.13320044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-101.49, Z:-41.34 [[ 7.71583424e-01 5.88502368e-01 2.41503586e-01 1.75861834e+02] [-5.61609529e-01 8.08495491e-01 -1.75868640e-01 -1.01487641e+02] [-2.98753671e-01 6.66121312e-05 9.54330257e-01 -4.13411050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:-101.51, Z:-41.35 [[ 7.70017245e-01 5.90454813e-01 2.41736542e-01 1.75886839e+02] [-5.63571966e-01 8.07070470e-01 -1.76136013e-01 -1.01506060e+02] [-2.99098782e-01 -6.08170726e-04 9.54221960e-01 -4.13508419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:-101.52, Z:-41.36 [[ 7.68426384e-01 5.92367546e-01 2.42118945e-01 1.75912472e+02] [-5.65457579e-01 8.05666858e-01 -1.76518104e-01 -1.01524533e+02] [-2.99630805e-01 -1.26682397e-03 9.54054388e-01 -4.13609820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-101.54, Z:-41.37 [[ 7.65605935e-01 5.96055545e-01 2.42002770e-01 1.75938487e+02] [-5.69317284e-01 8.02938944e-01 -1.76541444e-01 -1.01542624e+02] [-2.99541955e-01 -2.61518269e-03 9.54079545e-01 -4.13712800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:-101.56, Z:-41.38 [[ 7.64427872e-01 5.97746591e-01 2.41555462e-01 1.75962849e+02] [-5.71157985e-01 8.01678799e-01 -1.76322599e-01 -1.01560007e+02] [-2.99046126e-01 -3.18042197e-03 9.54233357e-01 -4.13811055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:-101.58, Z:-41.39 [[ 7.63129636e-01 5.99607939e-01 2.41046631e-01 1.75987631e+02] [-5.73193230e-01 8.00284793e-01 -1.76050479e-01 -1.01578447e+02] [-2.98467218e-01 -3.81695903e-03 9.54412254e-01 -4.13911263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:-101.60, Z:-41.40 [[ 7.61663994e-01 6.01904677e-01 2.39955663e-01 1.76012275e+02] [-5.75810875e-01 7.98554687e-01 -1.75363188e-01 -1.01596724e+02] [-2.97169642e-01 -4.60125413e-03 9.54813611e-01 -4.14009446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:-101.62, Z:-41.41 [[ 7.61031398e-01 6.02954480e-01 2.39326359e-01 1.76037507e+02] [-5.77019568e-01 7.97760470e-01 -1.75004714e-01 -1.01615426e+02] [-2.96444985e-01 -4.91191045e-03 9.55037300e-01 -4.14109897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-101.63, Z:-41.42 [[ 7.60310259e-01 6.04228080e-01 2.38404569e-01 1.76061429e+02] [-5.78524270e-01 7.96793824e-01 -1.74439879e-01 -1.01633480e+02] [-2.95360761e-01 -5.29439939e-03 9.55371127e-01 -4.14210991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:-101.65, Z:-41.43 [[ 7.60035209e-01 6.04704765e-01 2.38072737e-01 1.76086631e+02] [-5.79076829e-01 7.96431291e-01 -1.74261944e-01 -1.01652579e+02] [-2.94985606e-01 -5.41719267e-03 9.55486340e-01 -4.14314081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:-101.67, Z:-41.44 [[ 7.59949323e-01 6.04982919e-01 2.37639841e-01 1.76110988e+02] [-5.79429871e-01 7.96219978e-01 -1.74053930e-01 -1.01671024e+02] [-2.94513244e-01 -5.42345567e-03 9.55632008e-01 -4.14415132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:-101.69, Z:-41.45 [[ 7.59965916e-01 6.05130457e-01 2.37210745e-01 1.76135989e+02] [-5.79647781e-01 7.96108108e-01 -1.73839959e-01 -1.01690610e+02] [-2.94041252e-01 -5.38623827e-03 9.55777553e-01 -4.14514554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:-101.71, Z:-41.46 [[ 7.60291382e-01 6.04821329e-01 2.36956061e-01 1.76159987e+02] [-5.79346846e-01 7.96344411e-01 -1.73760786e-01 -1.01710866e+02] [-2.93792864e-01 -5.17091844e-03 9.55855122e-01 -4.14612068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.18, Y:-101.73, Z:-41.47 [[ 7.60469344e-01 6.04531052e-01 2.37125670e-01 1.76184770e+02] [-5.78972418e-01 7.96566052e-01 -1.73992714e-01 -1.01730799e+02] [-2.94070257e-01 -4.97309729e-03 9.55770868e-01 -4.14713072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:-101.75, Z:-41.48 [[ 7.61334946e-01 6.03366766e-01 2.37313394e-01 1.76207746e+02] [-5.77678395e-01 7.97451475e-01 -1.74237818e-01 -1.01751250e+02] [-2.94375225e-01 -4.43748074e-03 9.55679620e-01 -4.14799454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:-101.77, Z:-41.49 [[ 7.61945262e-01 6.02590977e-01 2.37325791e-01 1.76232633e+02] [-5.76832544e-01 7.98039893e-01 -1.74346052e-01 -1.01770252e+02] [-2.94454807e-01 -4.05509184e-03 9.55656802e-01 -4.14898693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:-101.79, Z:-41.50 [[ 7.62520953e-01 6.01842488e-01 2.37376107e-01 1.76257581e+02] [-5.76004311e-01 7.98606348e-01 -1.74490498e-01 -1.01788936e+02] [-2.94585862e-01 -3.67700018e-03 9.55617941e-01 -4.14998367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:-101.81, Z:-41.51 [[ 7.62936195e-01 6.01323994e-01 2.37355889e-01 1.76282297e+02] [-5.75432492e-01 7.98998116e-01 -1.74583671e-01 -1.01806910e+02] [-2.94628258e-01 -3.38608908e-03 9.55605946e-01 -4.15100015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:-101.82, Z:-41.52 [[ 7.63928548e-01 6.00123879e-01 2.37201399e-01 1.76307949e+02] [-5.74179509e-01 7.99902044e-01 -1.74569791e-01 -1.01824541e+02] [-2.94501384e-01 -2.83733561e-03 9.55646841e-01 -4.15199775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:-101.84, Z:-41.53 [[ 7.64314555e-01 5.99640000e-01 2.37181643e-01 1.76332894e+02] [-5.73643566e-01 8.00265782e-01 -1.74664641e-01 -1.01841756e+02] [-2.94544259e-01 -2.55899629e-03 9.55634413e-01 -4.15299598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:-101.86, Z:-41.54 [[ 7.64508126e-01 5.99336432e-01 2.37325023e-01 1.76358468e+02] [-5.73262249e-01 8.00493772e-01 -1.74871713e-01 -1.01859600e+02] [-2.94784191e-01 -2.35863102e-03 9.55560944e-01 -4.15403922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:-101.88, Z:-41.55 [[ 7.64868253e-01 5.98892561e-01 2.37285179e-01 1.76383312e+02] [-5.72773122e-01 8.00826638e-01 -1.74950410e-01 -1.01877246e+02] [-2.94800791e-01 -2.09655823e-03 9.55556434e-01 -4.15503622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:-101.90, Z:-41.56 [[ 7.65752267e-01 5.97826987e-01 2.37120981e-01 1.76408216e+02] [-5.71663660e-01 8.01623560e-01 -1.74929497e-01 -1.01895526e+02] [-2.94659339e-01 -1.60078907e-03 9.55601021e-01 -4.15600066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:-101.91, Z:-41.57 [[ 7.65923437e-01 5.97351200e-01 2.37766340e-01 1.76433038e+02] [-5.70988754e-01 8.01978649e-01 -1.75505240e-01 -1.01914306e+02] [-2.95521794e-01 -1.33832918e-03 9.55335061e-01 -4.15705810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-101.93, Z:-41.58 [[ 7.66763713e-01 5.96385622e-01 2.37481786e-01 1.76457397e+02] [-5.70009408e-01 8.02697592e-01 -1.75401969e-01 -1.01933934e+02] [-2.95233270e-01 -8.74986978e-04 9.55424801e-01 -4.15800710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.48, Y:-101.95, Z:-41.59 [[ 7.67077215e-01 5.96076971e-01 2.37244158e-01 1.76481642e+02] [-5.69706861e-01 8.02927022e-01 -1.75334793e-01 -1.01952397e+02] [-2.95002778e-01 -6.64299941e-04 9.55496164e-01 -4.15900745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:-101.97, Z:-41.60 [[ 7.67105947e-01 5.96190905e-01 2.36864667e-01 1.76505884e+02] [-5.69881449e-01 8.02842461e-01 -1.75154554e-01 -1.01970724e+02] [-2.94590564e-01 -6.22679960e-04 9.55623363e-01 -4.16002493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:-101.99, Z:-41.61 [[ 7.66798410e-01 5.96845916e-01 2.36209972e-01 1.76532184e+02] [-5.70685032e-01 8.02355489e-01 -1.74769176e-01 -1.01987833e+02] [-2.93834636e-01 -7.88769403e-04 9.55855943e-01 -4.16112552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-102.01, Z:-41.62 [[ 7.66343458e-01 5.97500220e-01 2.36032185e-01 1.76558085e+02] [-5.71377642e-01 8.01868184e-01 -1.74742685e-01 -1.02005939e+02] [-2.93675492e-01 -9.50600353e-04 9.55904703e-01 -4.16215459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:-102.02, Z:-41.63 [[ 7.65588796e-01 5.98213389e-01 2.36673904e-01 1.76583118e+02] [-5.71945436e-01 8.01336039e-01 -1.75325327e-01 -1.02023312e+02] [-2.94537287e-01 -1.13745333e-03 9.55639311e-01 -4.16308293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:-102.04, Z:-41.64 [[ 7.65127057e-01 5.98473642e-01 2.37507654e-01 1.76608491e+02] [-5.71997331e-01 8.01141659e-01 -1.76042881e-01 -1.02041453e+02] [-2.95634300e-01 -1.15857302e-03 9.55300486e-01 -4.16407258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:-102.06, Z:-41.65 [[ 7.64732388e-01 5.98732436e-01 2.38125691e-01 1.76633708e+02] [-5.72094215e-01 8.00948247e-01 -1.76607233e-01 -1.02059591e+02] [-2.96466833e-01 -1.17305893e-03 9.55042429e-01 -4.16502444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:-102.08, Z:-41.66 [[ 7.64343966e-01 5.98970154e-01 2.38774068e-01 1.76657914e+02] [-5.72161580e-01 8.00770480e-01 -1.77194144e-01 -1.02077406e+02] [-2.97337229e-01 -1.18007312e-03 9.54771795e-01 -4.16594840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.68, Y:-102.10, Z:-41.67 [[ 7.64134362e-01 5.98891993e-01 2.39639433e-01 1.76683194e+02] [-5.71849517e-01 8.00829091e-01 -1.77935091e-01 -1.02095957e+02] [-2.98474131e-01 -1.07137743e-03 9.54417123e-01 -4.16690510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:-102.11, Z:-41.68 [[ 7.64122545e-01 5.98840273e-01 2.39806304e-01 1.76707743e+02] [-5.71724199e-01 8.00867902e-01 -1.78162971e-01 -1.02113800e+02] [-2.98744334e-01 -9.64724385e-04 9.54332695e-01 -4.16791797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:-102.14, Z:-41.68 [[ 7.64552384e-01 5.96142768e-01 2.45098863e-01 1.76731645e+02] [-5.72693130e-01 8.02766989e-01 -1.66095578e-01 -1.02142898e+02] [-2.95773954e-01 -1.33776650e-02 9.55164282e-01 -4.16809583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:-102.14, Z:-41.70 [[ 7.64829419e-01 6.00982257e-01 2.32069571e-01 1.76759862e+02] [-5.70267735e-01 7.99155549e-01 -1.90118698e-01 -1.02144498e+02] [-2.99717650e-01 1.30665848e-02 9.53938465e-01 -4.17047977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:-102.17, Z:-41.71 [[ 7.65078796e-01 5.97348383e-01 2.40477329e-01 1.76781160e+02] [-5.69994150e-01 8.01981785e-01 -1.78694952e-01 -1.02169007e+02] [-2.99601578e-01 -3.54952234e-04 9.54064342e-01 -4.17100836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-102.19, Z:-41.72 [[ 7.65813405e-01 5.96590513e-01 2.40019975e-01 1.76806346e+02] [-5.69274837e-01 8.02545798e-01 -1.78455599e-01 -1.02187448e+02] [-2.99091940e-01 2.63577000e-05 9.54224298e-01 -4.17207340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:-102.21, Z:-41.73 [[ 7.66225933e-01 5.96135005e-01 2.39835102e-01 1.76831158e+02] [-5.68806840e-01 8.02884157e-01 -1.78425922e-01 -1.02205833e+02] [-2.98925741e-01 2.94722387e-04 9.54276330e-01 -4.17310496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:-102.22, Z:-41.74 [[ 7.67109699e-01 5.94944837e-01 2.39965313e-01 1.76856096e+02] [-5.67494946e-01 8.03766083e-01 -1.78632500e-01 -1.02224496e+02] [-2.99152463e-01 8.51620896e-04 9.54204946e-01 -4.17415569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:-102.24, Z:-41.75 [[ 7.67499531e-01 5.94347656e-01 2.40198530e-01 1.76880934e+02] [-5.66779988e-01 8.04207358e-01 -1.78916099e-01 -1.02243267e+02] [-2.99507789e-01 1.17830247e-03 9.54093127e-01 -4.17523033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:-102.26, Z:-41.76 [[ 7.67862536e-01 5.93738100e-01 2.40545620e-01 1.76905333e+02] [-5.66024552e-01 8.04656935e-01 -1.79285874e-01 -1.02262008e+02] [-3.00005555e-01 1.51217922e-03 9.53936256e-01 -4.17626628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:-102.28, Z:-41.77 [[ 7.68765747e-01 5.92409623e-01 2.40935809e-01 1.76929469e+02] [-5.64504862e-01 8.05634102e-01 -1.79688493e-01 -1.02280895e+02] [-3.00555297e-01 2.12892297e-03 9.53762015e-01 -4.17730202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:-102.30, Z:-41.78 [[ 7.68964217e-01 5.92072726e-01 2.41130504e-01 1.76954076e+02] [-5.64072886e-01 8.05881111e-01 -1.79937252e-01 -1.02299311e+02] [-3.00858458e-01 2.35012882e-03 9.53665909e-01 -4.17835252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:-102.32, Z:-41.79 [[ 7.69136870e-01 5.91825764e-01 2.41186111e-01 1.76978806e+02] [-5.63766450e-01 8.06061918e-01 -1.80087684e-01 -1.02317939e+02] [-3.00991470e-01 2.53944044e-03 9.53623451e-01 -4.17938752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.00, Y:-102.34, Z:-41.80 [[ 7.69225968e-01 5.91687031e-01 2.41242342e-01 1.77003410e+02] [-5.63572725e-01 8.06163279e-01 -1.80240259e-01 -1.02336823e+02] [-3.01126541e-01 2.68788352e-03 9.53580401e-01 -4.18042440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:-102.36, Z:-41.81 [[ 7.69071680e-01 5.91945646e-01 2.41099781e-01 1.77028458e+02] [-5.63843091e-01 8.05973437e-01 -1.80243689e-01 -1.02355515e+02] [-3.01014486e-01 2.67787090e-03 9.53615808e-01 -4.18146967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-102.37, Z:-41.82 [[ 7.68807100e-01 5.92363200e-01 2.40917999e-01 1.77052561e+02] [-5.64289483e-01 8.05666838e-01 -1.80217441e-01 -1.02373602e+02] [-3.00853822e-01 2.60495490e-03 9.53666709e-01 -4.18247718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:-102.39, Z:-41.84 [[ 7.68597024e-01 5.92751702e-01 2.40632571e-01 1.77077469e+02] [-5.64732744e-01 8.05381271e-01 -1.80105345e-01 -1.02392138e+02] [-3.00558716e-01 2.53534019e-03 9.53759944e-01 -4.18351601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:-102.41, Z:-41.85 [[ 7.68123435e-01 5.93588931e-01 2.40080342e-01 1.77102039e+02] [-5.65706370e-01 8.04765126e-01 -1.79803768e-01 -1.02410410e+02] [-2.99937813e-01 2.29650880e-03 9.53955992e-01 -4.18458185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:-102.43, Z:-41.86 [[ 7.67792634e-01 5.94170749e-01 2.39698960e-01 1.77126654e+02] [-5.66373962e-01 8.04336052e-01 -1.79621964e-01 -1.02428894e+02] [-2.99524632e-01 2.15317109e-03 9.54086138e-01 -4.18560894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-102.45, Z:-41.87 [[ 7.67479865e-01 5.94746353e-01 2.39272714e-01 1.77151182e+02] [-5.67044312e-01 8.03910886e-01 -1.79410242e-01 -1.02447727e+02] [-2.99057527e-01 2.01551679e-03 9.54232956e-01 -4.18662794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:-102.47, Z:-41.88 [[ 7.67689316e-01 5.94683527e-01 2.38756395e-01 1.77176015e+02] [-5.67066802e-01 8.03957075e-01 -1.79131971e-01 -1.02466359e+02] [-2.98476726e-01 2.12687461e-03 9.54414543e-01 -4.18760814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:-102.49, Z:-41.89 [[ 7.67926380e-01 5.94441890e-01 2.38595713e-01 1.77200607e+02] [-5.66817636e-01 8.04135248e-01 -1.79120826e-01 -1.02485023e+02] [-2.98340145e-01 2.31134966e-03 9.54456817e-01 -4.18862778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:-102.50, Z:-41.90 [[ 7.69115940e-01 5.93064346e-01 2.38191841e-01 1.77225142e+02] [-5.65437133e-01 8.05149725e-01 -1.78926715e-01 -1.02503196e+02] [-2.97895150e-01 2.93287672e-03 9.54594091e-01 -4.18959852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:-102.52, Z:-41.91 [[ 7.69439373e-01 5.92555491e-01 2.38413592e-01 1.77250542e+02] [-5.64819989e-01 8.05523203e-01 -1.79194728e-01 -1.02522244e+02] [-2.98230500e-01 3.21871673e-03 9.54488454e-01 -4.19060846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:-102.54, Z:-41.92 [[ 7.69326360e-01 5.92723320e-01 2.38361106e-01 1.77275929e+02] [-5.64974068e-01 8.05399612e-01 -1.79264517e-01 -1.02541385e+02] [-2.98230202e-01 3.24507464e-03 9.54488458e-01 -4.19164545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:-102.56, Z:-41.93 [[ 7.69752042e-01 5.92033762e-01 2.38700268e-01 1.77301597e+02] [-5.64148079e-01 8.05905211e-01 -1.79593254e-01 -1.02560227e+02] [-2.98695060e-01 3.57997587e-03 9.54341891e-01 -4.19265999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:-102.58, Z:-41.94 [[ 7.71066671e-01 5.90134295e-01 2.39160412e-01 1.77326644e+02] [-5.62014929e-01 8.07293009e-01 -1.80047818e-01 -1.02579400e+02] [-2.99324920e-01 4.41714941e-03 9.54141017e-01 -4.19369527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.35, Y:-102.60, Z:-41.95 [[ 7.71831182e-01 5.89142937e-01 2.39138509e-01 1.77351228e+02] [-5.60947876e-01 8.08014013e-01 -1.80141152e-01 -1.02598041e+02] [-2.99356154e-01 4.89431939e-03 9.54128890e-01 -4.19469413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.38, Y:-102.62, Z:-41.96 [[ 7.72416272e-01 5.88332547e-01 2.39244469e-01 1.77376116e+02] [-5.60039486e-01 8.08601684e-01 -1.80330508e-01 -1.02616970e+02] [-2.99547787e-01 5.30386945e-03 9.54066555e-01 -4.19574249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:-102.64, Z:-41.97 [[ 7.72900843e-01 5.87730278e-01 2.39159793e-01 1.77400776e+02] [-5.59395015e-01 8.09037354e-01 -1.80376765e-01 -1.02635754e+02] [-2.99502092e-01 5.62855745e-03 9.54079041e-01 -4.19674432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:-102.65, Z:-41.98 [[ 7.73556297e-01 5.86941330e-01 2.38978097e-01 1.77425117e+02] [-5.58578747e-01 8.09607065e-01 -1.80350169e-01 -1.02653771e+02] [-2.99333324e-01 6.02292302e-03 9.54129596e-01 -4.19773657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:-102.67, Z:-41.99 [[ 7.73356410e-01 5.87172833e-01 2.39056327e-01 1.77450770e+02] [-5.58769826e-01 8.09439185e-01 -1.80511735e-01 -1.02672415e+02] [-2.99493145e-01 6.02244516e-03 9.54079444e-01 -4.19875958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:-102.69, Z:-42.00 [[ 7.72315744e-01 5.88380472e-01 2.39451063e-01 1.77477051e+02] [-5.59903267e-01 8.08564413e-01 -1.80919653e-01 -1.02689979e+02] [-3.00061199e-01 5.65766440e-03 9.53903175e-01 -4.19977289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:-102.71, Z:-42.01 [[ 7.71347607e-01 5.89660597e-01 2.39422742e-01 1.77503057e+02] [-5.61216151e-01 8.07634076e-01 -1.81007269e-01 -1.02708162e+02] [-3.00098819e-01 5.25161398e-03 9.53893662e-01 -4.20080357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-102.73, Z:-42.02 [[ 7.70175933e-01 5.91192600e-01 2.39416672e-01 1.77528466e+02] [-5.62787504e-01 8.06516444e-01 -1.81111710e-01 -1.02725893e+02] [-3.00165385e-01 4.74716907e-03 9.53875362e-01 -4.20182959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:-102.74, Z:-42.03 [[ 7.67467396e-01 5.94794595e-01 2.39192781e-01 1.77553952e+02] [-5.66579874e-01 8.03870407e-01 -1.81051419e-01 -1.02742425e+02] [-2.99968404e-01 3.42924526e-03 9.53942974e-01 -4.20283830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.58, Y:-102.76, Z:-42.04 [[ 7.65886891e-01 5.96871392e-01 2.39085366e-01 1.77579575e+02] [-5.68749461e-01 8.02332381e-01 -1.81071260e-01 -1.02760680e+02] [-2.99902186e-01 2.70043117e-03 9.53966135e-01 -4.20387903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:-102.78, Z:-42.05 [[ 7.64385670e-01 5.98873149e-01 2.38883860e-01 1.77604687e+02] [-5.70860383e-01 8.00841386e-01 -1.81029000e-01 -1.02778434e+02] [-2.99721489e-01 2.00664132e-03 9.54024634e-01 -4.20488912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:-102.80, Z:-42.06 [[ 7.62782830e-01 6.00907708e-01 2.38898054e-01 1.77630462e+02] [-5.72956583e-01 7.99317366e-01 -1.81142216e-01 -1.02796837e+02] [-2.99805117e-01 1.29395886e-03 9.53999590e-01 -4.20593386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:-102.81, Z:-42.07 [[ 7.59375847e-01 6.05128836e-01 2.39097083e-01 1.77655768e+02] [-5.77298421e-01 7.96127512e-01 -1.81404295e-01 -1.02813766e+02] [-3.00124736e-01 -2.76328831e-04 9.53899925e-01 -4.20688825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:-102.83, Z:-42.08 [[ 7.57587988e-01 6.07329624e-01 2.39188563e-01 1.77681133e+02] [-5.79551743e-01 7.94449244e-01 -1.81576915e-01 -1.02831507e+02] [-3.00300212e-01 -1.06165899e-03 9.53844146e-01 -4.20790574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:-102.85, Z:-42.09 [[ 7.54012944e-01 6.11782885e-01 2.39136325e-01 1.77706646e+02] [-5.84200464e-01 7.91020984e-01 -1.81646966e-01 -1.02848483e+02] [-3.00290356e-01 -2.73938842e-03 9.53843907e-01 -4.20891418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:-102.87, Z:-42.10 [[ 7.52447574e-01 6.13757020e-01 2.39008303e-01 1.77731549e+02] [-5.86280996e-01 7.89487354e-01 -1.81615835e-01 -1.02866656e+02] [-3.00162026e-01 -3.46963137e-03 9.53881921e-01 -4.20993062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-102.89, Z:-42.11 [[ 7.51053835e-01 6.15637904e-01 2.38554206e-01 1.77756453e+02] [-5.88327598e-01 7.88018378e-01 -1.81377158e-01 -1.02885205e+02] [-2.99647751e-01 -4.12401305e-03 9.54040994e-01 -4.21097394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:-102.90, Z:-42.12 [[ 7.50053565e-01 6.17005697e-01 2.38167210e-01 1.77781618e+02] [-5.89819920e-01 7.86945389e-01 -1.81188899e-01 -1.02903908e+02] [-2.99219171e-01 -4.57438495e-03 9.54173445e-01 -4.21202023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:-102.92, Z:-42.13 [[ 7.48988398e-01 6.18490807e-01 2.37666787e-01 1.77806538e+02] [-5.91459949e-01 7.85775716e-01 -1.80918914e-01 -1.02922721e+02] [-2.98649475e-01 -5.06421794e-03 9.54349435e-01 -4.21303181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:-102.94, Z:-42.14 [[ 7.48441978e-01 6.19095171e-01 2.37814581e-01 1.77831327e+02] [-5.92024832e-01 7.85298636e-01 -1.81142623e-01 -1.02941577e+02] [-2.98899989e-01 -5.21739404e-03 9.54270179e-01 -4.21405580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:-102.96, Z:-42.15 [[ 7.48181576e-01 6.19205053e-01 2.38347290e-01 1.77856757e+02] [-5.91980863e-01 7.85212230e-01 -1.81660153e-01 -1.02960517e+02] [-2.99638092e-01 -5.18225485e-03 9.54038866e-01 -4.21507366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:-102.98, Z:-42.16 [[ 7.48049587e-01 6.19344060e-01 2.38400399e-01 1.77881053e+02] [-5.92079511e-01 7.85102817e-01 -1.81811492e-01 -1.02979770e+02] [-2.99772693e-01 -5.14798054e-03 9.53996767e-01 -4.21607669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:-103.00, Z:-42.17 [[ 7.48231199e-01 6.19160461e-01 2.38307357e-01 1.77904474e+02] [-5.91873187e-01 7.85248705e-01 -1.81853244e-01 -1.02998609e+02] [-2.99726882e-01 -4.97946449e-03 9.54012055e-01 -4.21705664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:-103.02, Z:-42.18 [[ 7.48909520e-01 6.18629040e-01 2.37555554e-01 1.77928934e+02] [-5.91458879e-01 7.85669367e-01 -1.81383683e-01 -1.03018835e+02] [-2.98849335e-01 -4.66437435e-03 9.54288907e-01 -4.21809143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:-103.04, Z:-42.19 [[ 7.49424447e-01 6.18257881e-01 2.36897005e-01 1.77953195e+02] [-5.91189000e-01 7.85962932e-01 -1.80991263e-01 -1.03038311e+02] [-2.98091539e-01 -4.41162636e-03 9.54527093e-01 -4.21914243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:-103.06, Z:-42.20 [[ 7.51099349e-01 6.16767106e-01 2.35474211e-01 1.77976765e+02] [-5.89923915e-01 7.87136978e-01 -1.80014311e-01 -1.03058648e+02] [-2.96377365e-01 -3.70323626e-03 9.55063738e-01 -4.22024154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:-103.08, Z:-42.21 [[ 7.52173545e-01 6.15771858e-01 2.34648625e-01 1.78000293e+02] [-5.89039407e-01 7.87917973e-01 -1.79493298e-01 -1.03077753e+02] [-2.95410791e-01 -3.20717617e-03 9.55364945e-01 -4.22124034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:-103.10, Z:-42.22 [[ 7.53619010e-01 6.14331895e-01 2.33783470e-01 1.78024190e+02] [-5.87701645e-01 7.89043619e-01 -1.78932791e-01 -1.03097674e+02] [-2.94389476e-01 -2.54777718e-03 9.55682136e-01 -4.22226406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.05, Y:-103.12, Z:-42.23 [[ 7.57725804e-01 6.09651967e-01 2.32757568e-01 1.78046152e+02] [-5.83009152e-01 7.92668963e-01 -1.78258924e-01 -1.03118894e+02] [-2.93175604e-01 -6.28406195e-04 9.56058403e-01 -4.22320661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.07, Y:-103.14, Z:-42.24 [[ 7.60009324e-01 6.06874923e-01 2.32569678e-01 1.78070164e+02] [-5.80116986e-01 7.94797174e-01 -1.78218223e-01 -1.03139885e+02] [-2.93001893e-01 5.29890649e-04 9.56111714e-01 -4.22418485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:-103.16, Z:-42.25 [[ 7.62578191e-01 6.03666284e-01 2.32511334e-01 1.78093568e+02] [-5.76742170e-01 7.97234955e-01 -1.78283189e-01 -1.03160517e+02] [-2.92989713e-01 1.85578052e-03 9.56113793e-01 -4.22513640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:-103.18, Z:-42.26 [[ 7.64853927e-01 6.00545803e-01 2.33116299e-01 1.78116650e+02] [-5.73302191e-01 7.99584138e-01 -1.78856935e-01 -1.03180074e+02] [-2.93807877e-01 3.15334387e-03 9.55859293e-01 -4.22602806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:-103.20, Z:-42.27 [[ 7.67776027e-01 5.96147994e-01 2.34792549e-01 1.78141707e+02] [-5.68267914e-01 8.02859223e-01 -1.80246069e-01 -1.03197643e+02] [-2.95958696e-01 4.96353883e-03 9.55187842e-01 -4.22690389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:-103.22, Z:-42.28 [[ 7.69029789e-01 5.94461022e-01 2.34966544e-01 1.78166743e+02] [-5.66430083e-01 8.04104202e-01 -1.80481004e-01 -1.03216442e+02] [-2.96226508e-01 5.70314906e-03 9.55100691e-01 -4.22787615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:-103.24, Z:-42.29 [[ 7.72242142e-01 5.90448463e-01 2.34547835e-01 1.78192208e+02] [-5.62304959e-01 8.07042129e-01 -1.80266844e-01 -1.03235224e+02] [-2.95728265e-01 7.32224304e-03 9.55244041e-01 -4.22880920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:-103.25, Z:-42.30 [[ 7.73668761e-01 5.88767397e-01 2.34071784e-01 1.78216653e+02] [-5.60632577e-01 8.08262545e-01 -1.80007701e-01 -1.03253880e+02] [-2.95174122e-01 8.03806718e-03 9.55409665e-01 -4.22976571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:-103.27, Z:-42.31 [[ 7.75115645e-01 5.87075301e-01 2.33534426e-01 1.78241321e+02] [-5.58967291e-01 8.09485099e-01 -1.79692633e-01 -1.03272682e+02] [-2.94535744e-01 8.74446574e-03 9.55600455e-01 -4.23075562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:-103.29, Z:-42.33 [[ 7.78355466e-01 5.84983491e-01 2.27940966e-01 1.78268319e+02] [-5.53991104e-01 8.10776894e-01 -1.89036199e-01 -1.03286033e+02] [-2.95392324e-01 2.08600910e-02 9.55148277e-01 -4.23253752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.29, Y:-103.31, Z:-42.32 [[ 7.79888926e-01 5.78414620e-01 2.39185681e-01 1.78289031e+02] [-5.52549574e-01 8.15742004e-01 -1.71037863e-01 -1.03313270e+02] [-2.94044608e-01 1.22858943e-03 9.55790908e-01 -4.23236385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:-103.33, Z:-42.34 [[ 7.80811577e-01 5.79711127e-01 2.32955554e-01 1.78316415e+02] [-5.51348729e-01 8.14737952e-01 -1.79489968e-01 -1.03325402e+02] [-2.93850063e-01 1.17080962e-02 9.55779818e-01 -4.23370680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:-103.34, Z:-42.35 [[ 7.80950817e-01 5.79171581e-01 2.33829214e-01 1.78344471e+02] [-5.50536195e-01 8.15116677e-01 -1.80262866e-01 -1.03340981e+02] [-2.95001221e-01 1.20449868e-02 9.55420953e-01 -4.23474045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-103.36, Z:-42.36 [[ 7.79914103e-01 5.80277044e-01 2.34547529e-01 1.78370444e+02] [-5.51476338e-01 8.14334271e-01 -1.80924141e-01 -1.03358366e+02] [-2.95986217e-01 1.17578765e-02 9.55119842e-01 -4.23571859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-103.38, Z:-42.37 [[ 7.78438656e-01 5.82078334e-01 2.34985259e-01 1.78396820e+02] [-5.53213504e-01 8.13055734e-01 -1.81370317e-01 -1.03376326e+02] [-2.96627844e-01 1.11886467e-02 9.54927608e-01 -4.23668181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:-103.39, Z:-42.38 [[ 7.74750148e-01 5.86682040e-01 2.35725247e-01 1.78422936e+02] [-5.57803084e-01 8.09760989e-01 -1.82051808e-01 -1.03392153e+02] [-2.97687635e-01 9.55639566e-03 9.54615497e-01 -4.23759086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:-103.41, Z:-42.39 [[ 7.72377820e-01 5.89563614e-01 2.36320225e-01 1.78447842e+02] [-5.60645413e-01 8.07676934e-01 -1.82577903e-01 -1.03409153e+02] [-2.98511683e-01 8.52727229e-03 9.54367886e-01 -4.23860831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:-103.43, Z:-42.40 [[ 7.69801300e-01 5.92882819e-01 2.36423183e-01 1.78474047e+02] [-5.64059731e-01 8.05255381e-01 -1.82757739e-01 -1.03426240e+02] [-2.98734964e-01 7.33034855e-03 9.54307963e-01 -4.23963996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:-103.44, Z:-42.41 [[ 7.64404767e-01 5.99484458e-01 2.37284083e-01 1.78502272e+02] [-5.70720193e-01 8.00371584e-01 -1.83531438e-01 -1.03439887e+02] [-2.99939682e-01 4.86948870e-03 9.53945740e-01 -4.24074127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:-103.46, Z:-42.42 [[ 7.61490498e-01 6.02921153e-01 2.37946014e-01 1.78528540e+02] [-5.74120623e-01 7.97792560e-01 -1.84153584e-01 -1.03456530e+02] [-3.00861650e-01 3.62149072e-03 9.53660921e-01 -4.24179901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:-103.47, Z:-42.43 [[ 7.55686153e-01 6.09860135e-01 2.38765688e-01 1.78555822e+02] [-5.81155670e-01 7.92508473e-01 -1.84901075e-01 -1.03471947e+02] [-3.01987626e-01 9.67148877e-04 9.53311354e-01 -4.24282317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:-103.49, Z:-42.44 [[ 7.52618685e-01 6.13595237e-01 2.38884910e-01 1.78581537e+02] [-5.85008727e-01 7.89620602e-01 -1.85105629e-01 -1.03489426e+02] [-3.02208379e-01 -4.35802325e-04 9.53241788e-01 -4.24383461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:-103.51, Z:-42.45 [[ 7.49640335e-01 6.17097068e-01 2.39229131e-01 1.78606640e+02] [-5.88563386e-01 7.86885082e-01 -1.85485870e-01 -1.03506722e+02] [-3.02708621e-01 -1.75381726e-03 9.53081536e-01 -4.24483397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:-103.52, Z:-42.46 [[ 7.44087893e-01 6.23548828e-01 2.39833415e-01 1.78634065e+02] [-5.95158091e-01 7.81772617e-01 -1.86060266e-01 -1.03522958e+02] [-3.03512857e-01 -4.29360630e-03 9.52817669e-01 -4.24588252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-103.54, Z:-42.47 [[ 7.41439046e-01 6.26430758e-01 2.40525770e-01 1.78660289e+02] [-5.97982885e-01 7.79458399e-01 -1.86711204e-01 -1.03539974e+02] [-3.04441472e-01 -5.39531698e-03 9.52515764e-01 -4.24697539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:-103.56, Z:-42.48 [[ 7.39165549e-01 6.28863135e-01 2.41175141e-01 1.78686071e+02] [-6.00347001e-01 7.77490320e-01 -1.87329338e-01 -1.03556599e+02] [-3.05315853e-01 -6.32137999e-03 9.52230156e-01 -4.24804079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:-103.57, Z:-42.49 [[ 7.36654518e-01 6.31285464e-01 2.42525842e-01 1.78712483e+02] [-6.02534236e-01 7.75516373e-01 -1.88485673e-01 -1.03572821e+02] [-3.07071027e-01 -7.28130093e-03 9.51658745e-01 -4.24913082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:-103.59, Z:-42.50 [[ 7.36150198e-01 6.31629949e-01 2.43159401e-01 1.78736990e+02] [-6.02705179e-01 7.75235170e-01 -1.89094946e-01 -1.03590634e+02] [-3.07943751e-01 -7.35114848e-03 9.51376165e-01 -4.25017687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:-103.61, Z:-42.51 [[ 7.36004589e-01 6.31662399e-01 2.43515624e-01 1.78761141e+02] [-6.02617213e-01 7.75209327e-01 -1.89480857e-01 -1.03608498e+02] [-3.08463515e-01 -7.28792663e-03 9.51208256e-01 -4.25122449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:-103.63, Z:-42.52 [[ 7.37116565e-01 6.30148355e-01 2.44074211e-01 1.78785962e+02] [-6.00850727e-01 7.76446851e-01 -1.90022868e-01 -1.03626493e+02] [-3.09253251e-01 -6.58316341e-03 9.50956933e-01 -4.25238616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:-103.65, Z:-42.53 [[ 7.37789111e-01 6.29359312e-01 2.44078027e-01 1.78810814e+02] [-5.99981395e-01 7.77090037e-01 -1.90140472e-01 -1.03645291e+02] [-3.09337280e-01 -6.15870504e-03 9.50932446e-01 -4.25346921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:-103.66, Z:-42.55 [[ 7.38634600e-01 6.28324853e-01 2.44186007e-01 1.78835204e+02] [-5.98826891e-01 7.77930693e-01 -1.90342302e-01 -1.03663367e+02] [-3.09556589e-01 -5.63173687e-03 9.50864345e-01 -4.25457306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:-103.68, Z:-42.56 [[ 7.38557724e-01 6.28435828e-01 2.44132952e-01 1.78860267e+02] [-5.98921293e-01 7.77841367e-01 -1.90410328e-01 -1.03682975e+02] [-3.09557381e-01 -5.58740499e-03 9.50864348e-01 -4.25561028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:-103.70, Z:-42.57 [[ 7.39665117e-01 6.27185164e-01 2.43996485e-01 1.78885332e+02] [-5.97621708e-01 7.78854015e-01 -1.90354189e-01 -1.03701491e+02] [-3.09424965e-01 -5.01924217e-03 9.50910615e-01 -4.25671696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:-103.72, Z:-42.58 [[ 7.42488383e-01 6.24164310e-01 2.43166436e-01 1.78909050e+02] [-5.94611077e-01 7.81284580e-01 -1.89821157e-01 -1.03719953e+02] [-3.08461778e-01 -3.64945268e-03 9.51229737e-01 -4.25789845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:-103.74, Z:-42.59 [[ 7.44144449e-01 6.22267713e-01 2.42964879e-01 1.78933647e+02] [-5.92631381e-01 7.82799598e-01 -1.89770484e-01 -1.03739510e+02] [-3.08280855e-01 -2.77195930e-03 9.51291349e-01 -4.25901468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:-103.76, Z:-42.60 [[ 7.48993987e-01 6.16699418e-01 2.42259851e-01 1.78956364e+02] [-5.86916344e-01 7.87198632e-01 -1.89334408e-01 -1.03759072e+02] [-3.07469043e-01 -3.75933200e-04 9.51558010e-01 -4.26007528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:-103.78, Z:-42.61 [[ 7.51704617e-01 6.13409507e-01 2.42216734e-01 1.78980349e+02] [-5.83435634e-01 7.89764302e-01 -1.89407521e-01 -1.03779323e+02] [-3.07478503e-01 1.06063427e-03 9.51554436e-01 -4.26115421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:-103.80, Z:-42.62 [[ 7.54420710e-01 6.10042319e-01 2.42276210e-01 1.79004290e+02] [-5.79845981e-01 7.92364787e-01 -1.89569730e-01 -1.03799875e+02] [-3.07616695e-01 2.53244367e-03 9.51506992e-01 -4.26222466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:-103.82, Z:-42.63 [[ 7.60195249e-01 6.02334539e-01 2.43508289e-01 1.79027183e+02] [-5.71395548e-01 7.98222748e-01 -1.90650392e-01 -1.03821058e+02] [-3.09209172e-01 5.79197002e-03 9.50976415e-01 -4.26332885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:-103.84, Z:-42.64 [[ 7.63053947e-01 5.98612338e-01 2.43745653e-01 1.79049929e+02] [-5.67387977e-01 8.01004614e-01 -1.90951543e-01 -1.03840886e+02] [-3.09547343e-01 7.40797543e-03 9.50855175e-01 -4.26429472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:-103.86, Z:-42.65 [[ 7.65473311e-01 5.95216170e-01 2.44475603e-01 1.79073765e+02] [-5.63606414e-01 8.03516632e-01 -1.91595492e-01 -1.03861598e+02] [-3.10480948e-01 8.87321789e-03 9.50538188e-01 -4.26533493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-103.88, Z:-42.66 [[ 7.69979713e-01 5.89174291e-01 2.44958969e-01 1.79095784e+02] [-5.57098320e-01 8.07924994e-01 -1.92090256e-01 -1.03882506e+02] [-3.11083114e-01 1.14393702e-02 9.50313862e-01 -4.26629334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:-103.90, Z:-42.67 [[ 7.71487972e-01 5.86920424e-01 2.45623138e-01 1.79119872e+02] [-5.54529953e-01 8.09548928e-01 -1.92683847e-01 -1.03902620e+02] [-3.11934033e-01 1.24478837e-02 9.50022215e-01 -4.26731170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:-103.92, Z:-42.68 [[ 7.72673668e-01 5.85206043e-01 2.45986361e-01 1.79144349e+02] [-5.52594632e-01 8.10776216e-01 -1.93083141e-01 -1.03922493e+02] [-3.12433312e-01 1.32595159e-02 9.49847151e-01 -4.26835395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:-103.94, Z:-42.69 [[ 7.73487015e-01 5.83939222e-01 2.46440303e-01 1.79168818e+02] [-5.51103510e-01 8.11678417e-01 -1.93553788e-01 -1.03941885e+02] [-3.13053924e-01 1.38972254e-02 9.49633670e-01 -4.26935254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:-103.96, Z:-42.70 [[ 7.72918582e-01 5.84507326e-01 2.46876592e-01 1.79193713e+02] [-5.51541629e-01 8.11271183e-01 -1.94012629e-01 -1.03960639e+02] [-3.13685668e-01 1.37932483e-02 9.49426694e-01 -4.27040591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:-103.98, Z:-42.71 [[ 7.70417075e-01 5.87809740e-01 2.46854694e-01 1.79219202e+02] [-5.54976069e-01 8.08901877e-01 -1.94111609e-01 -1.03978500e+02] [-3.13781920e-01 1.25484505e-02 9.49412157e-01 -4.27146442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:-104.00, Z:-42.72 [[ 7.68482497e-01 5.90500631e-01 2.46462282e-01 1.79243861e+02] [-5.57869848e-01 8.06954799e-01 -1.93920562e-01 -1.03996545e+02] [-3.13394136e-01 1.15306817e-02 9.49553136e-01 -4.27247106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:-104.01, Z:-42.74 [[ 7.66403384e-01 5.93321788e-01 2.46160739e-01 1.79269617e+02] [-5.60878260e-01 8.04897447e-01 -1.93792870e-01 -1.04014870e+02] [-3.13115683e-01 1.04573044e-02 9.49657419e-01 -4.27352148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:-104.03, Z:-42.75 [[ 7.61613438e-01 5.99631232e-01 2.45738390e-01 1.79296167e+02] [-5.67581797e-01 8.00236918e-01 -1.93576288e-01 -1.04031136e+02] [-3.12723320e-01 7.95366502e-03 9.49810963e-01 -4.27459112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:-104.05, Z:-42.76 [[ 7.59062621e-01 6.02875785e-01 2.45692339e-01 1.79322068e+02] [-5.70965384e-01 7.97806799e-01 -1.93656506e-01 -1.04049200e+02] [-3.12765837e-01 6.71559430e-03 9.49806524e-01 -4.27564851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:-104.07, Z:-42.77 [[ 7.54632054e-01 6.08529572e-01 2.45402166e-01 1.79348058e+02] [-5.76947282e-01 7.93518596e-01 -1.93546045e-01 -1.04065817e+02] [-3.12509674e-01 4.47193654e-03 9.49904051e-01 -4.27658897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:-104.08, Z:-42.78 [[ 7.52331496e-01 6.11319881e-01 2.45530697e-01 1.79373152e+02] [-5.79811611e-01 7.91376260e-01 -1.93757868e-01 -1.04083706e+02] [-3.12755201e-01 3.40859738e-03 9.49827650e-01 -4.27756469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:-104.10, Z:-42.79 [[ 7.50189968e-01 6.13928492e-01 2.45574468e-01 1.79398525e+02] [-5.82508611e-01 7.89357955e-01 -1.93901358e-01 -1.04101709e+02] [-3.12887728e-01 2.41361162e-03 9.49787052e-01 -4.27858998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:-104.12, Z:-42.80 [[ 7.46458481e-01 6.18582110e-01 2.45267015e-01 1.79424950e+02] [-5.87448511e-01 7.85719961e-01 -1.93774071e-01 -1.04118971e+02] [-3.12576364e-01 5.62556379e-04 9.49892468e-01 -4.27959779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:-104.14, Z:-42.81 [[ 7.44820867e-01 6.20677845e-01 2.44950788e-01 1.79450245e+02] [-5.89698543e-01 7.84065664e-01 -1.93640553e-01 -1.04137381e+02] [-3.12245903e-01 -2.19598305e-04 9.50001288e-01 -4.28060998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:-104.16, Z:-42.82 [[ 7.43424642e-01 6.22479275e-01 2.44620839e-01 1.79475606e+02] [-5.91641988e-01 7.82635792e-01 -1.93496706e-01 -1.04156237e+02] [-3.11896713e-01 -8.77740207e-04 9.50115609e-01 -4.28163374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:-104.17, Z:-42.83 [[ 7.42448900e-01 6.23790058e-01 2.44244946e-01 1.79500211e+02] [-5.93080302e-01 7.81590812e-01 -1.93317246e-01 -1.04174312e+02] [-3.11488982e-01 -1.32869030e-03 9.50248835e-01 -4.28263703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.53, Y:-104.19, Z:-42.84 [[ 7.40992646e-01 6.25737336e-01 2.43685628e-01 1.79525620e+02] [-5.95238259e-01 7.80031140e-01 -1.92984030e-01 -1.04192269e+02] [-3.10839691e-01 -2.05126186e-03 9.50460141e-01 -4.28370081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:-104.21, Z:-42.85 [[ 7.40416141e-01 6.26712740e-01 2.42930193e-01 1.79549812e+02] [-5.96420158e-01 7.79246809e-01 -1.92503002e-01 -1.04210612e+02] [-3.09946662e-01 -2.35613395e-03 9.50751027e-01 -4.28469135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.57, Y:-104.23, Z:-42.86 [[ 7.39366422e-01 6.28235105e-01 2.42194027e-01 1.79574473e+02] [-5.98174557e-01 7.78018170e-01 -1.92028454e-01 -1.04229412e+02] [-3.09070369e-01 -2.89491393e-03 9.51034766e-01 -4.28569220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.60, Y:-104.25, Z:-42.87 [[ 7.39108662e-01 6.28745504e-01 2.41655700e-01 1.79598799e+02] [-5.98811166e-01 7.77605330e-01 -1.91716295e-01 -1.04248763e+02] [-3.08453519e-01 -3.00695740e-03 9.51234663e-01 -4.28670033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:-104.27, Z:-42.88 [[ 7.38629424e-01 6.29440613e-01 2.41311186e-01 1.79622346e+02] [-5.99591180e-01 7.77042025e-01 -1.91562281e-01 -1.04268389e+02] [-3.08086013e-01 -3.19452156e-03 9.51353144e-01 -4.28768674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:-104.29, Z:-42.89 [[ 7.38360979e-01 6.29964024e-01 2.40766263e-01 1.79646299e+02] [-6.00255924e-01 7.76617116e-01 -1.91203246e-01 -1.04288351e+02] [-3.07434367e-01 -3.34435955e-03 9.51563411e-01 -4.28869328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-104.32, Z:-42.88 [[ 7.38706978e-01 6.24977332e-01 2.52418968e-01 1.79665849e+02] [-6.03243293e-01 7.80081090e-01 -1.66045243e-01 -1.04323530e+02] [-3.00681776e-01 -2.96112695e-02 9.53264728e-01 -4.28796153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:-104.32, Z:-42.91 [[ 7.38449595e-01 6.36957323e-01 2.21308754e-01 1.79699034e+02] [-6.01236628e-01 7.70550395e-01 -2.11581206e-01 -1.04315198e+02] [-3.05297746e-01 2.31831270e-02 9.51974700e-01 -4.29143571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:-104.35, Z:-42.92 [[ 7.38587154e-01 6.30724095e-01 2.38067494e-01 1.79716226e+02] [-6.01655422e-01 7.75999633e-01 -1.89302200e-01 -1.04348185e+02] [-3.04137747e-01 -3.41842524e-03 9.52621932e-01 -4.29170401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.74, Y:-104.37, Z:-42.93 [[ 7.38292403e-01 6.31151785e-01 2.37848171e-01 1.79739345e+02] [-6.02122569e-01 7.75651467e-01 -1.89243793e-01 -1.04367806e+02] [-3.03928841e-01 -3.49649746e-03 9.52688320e-01 -4.29274593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:-104.39, Z:-42.94 [[ 7.38121415e-01 6.31699641e-01 2.36922646e-01 1.79763376e+02] [-6.02894826e-01 7.75204789e-01 -1.88614326e-01 -1.04388418e+02] [-3.02811172e-01 -3.61916422e-03 9.53043701e-01 -4.29377686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:-104.41, Z:-42.95 [[ 7.37832153e-01 6.32708516e-01 2.35124749e-01 1.79785984e+02] [-6.04364083e-01 7.74380175e-01 -1.87294956e-01 -1.04410132e+02] [-3.00579058e-01 -3.90871297e-03 9.53748894e-01 -4.29481101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:-104.45, Z:-42.93 [[ 7.37978409e-01 6.25622632e-01 2.52950964e-01 1.79802107e+02] [-6.08778659e-01 7.78942262e-01 -1.50457625e-01 -1.04454802e+02] [-2.91163891e-01 -4.29566699e-02 9.55708278e-01 -4.29344495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:-103.89, Z:-42.72 [[ 7.23757318e-01 1.80328063e-01 -6.66075923e-01 1.80490285e+02] [-5.71718481e-01 -3.83812015e-01 -7.25138825e-01 -1.03885946e+02] [-3.86410822e-01 9.05632446e-01 -1.74689869e-01 -4.27234881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:-104.51, Z:-43.01 [[ 7.27295872e-01 6.24060060e-01 2.85639206e-01 1.79903615e+02] [-5.83420282e-01 7.81357113e-01 -2.21589343e-01 -1.04513757e+02] [-3.61471284e-01 -5.48669130e-03 9.32367099e-01 -4.30092035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:-104.53, Z:-43.02 [[ 7.27177090e-01 6.24269212e-01 2.85484554e-01 1.79926006e+02] [-5.83637479e-01 7.81190119e-01 -2.21606161e-01 -1.04533749e+02] [-3.61359616e-01 -5.47256233e-03 9.32410467e-01 -4.30203996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.95, Y:-104.56, Z:-43.03 [[ 7.27150519e-01 6.24080473e-01 2.85964483e-01 1.79947217e+02] [-5.83243698e-01 7.81342217e-01 -2.22106122e-01 -1.04556321e+02] [-3.62048217e-01 -5.28240034e-03 9.32144401e-01 -4.30314569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-104.62, Z:-43.00 [[ 7.29710827e-01 6.05246191e-01 3.18118150e-01 1.79961954e+02] [-5.89521339e-01 7.92600210e-01 -1.55722502e-01 -1.04622635e+02] [-3.46390964e-01 -7.39050418e-02 9.35174500e-01 -4.30013571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:-104.64, Z:-43.05 [[ 7.25103380e-01 6.31744636e-01 2.74087218e-01 1.80027655e+02] [-5.94031689e-01 7.75146427e-01 -2.15114781e-01 -1.04637766e+02] [-3.48355337e-01 -6.83603842e-03 9.37337628e-01 -4.30505075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:-104.07, Z:-42.80 [[ 7.14935058e-01 1.30952953e-01 -6.86818162e-01 1.80771600e+02] [-5.39813323e-01 -5.20930510e-01 -6.61235948e-01 -1.04071442e+02] [-4.44375335e-01 8.43494355e-01 -3.01741336e-01 -4.27979131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:-104.72, Z:-43.14 [[ 7.20750645e-01 6.03556679e-01 3.40936714e-01 1.80130856e+02] [-5.47279679e-01 7.97313876e-01 -2.54510384e-01 -1.04719608e+02] [-4.25445015e-01 -3.14921216e-03 9.04978796e-01 -4.31356587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:-104.74, Z:-43.15 [[ 7.21530414e-01 6.02606344e-01 3.40968409e-01 1.80152204e+02] [-5.46139959e-01 7.98034851e-01 -2.54698884e-01 -1.04738654e+02] [-4.25587837e-01 -2.44348178e-03 9.04913821e-01 -4.31492542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:-104.76, Z:-43.16 [[ 7.23400854e-01 6.00691984e-01 3.40382646e-01 1.80173131e+02] [-5.44156226e-01 7.99479676e-01 -2.54413541e-01 -1.04760424e+02] [-4.24953182e-01 -1.17836276e-03 9.05214563e-01 -4.31633941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:-104.78, Z:-43.18 [[ 7.24181382e-01 5.99984544e-01 3.39970402e-01 1.80195469e+02] [-5.43443156e-01 8.00011352e-01 -2.54266342e-01 -1.04780127e+02] [-4.24536056e-01 -6.19637647e-04 9.05410820e-01 -4.31776950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.22, Y:-104.80, Z:-43.19 [[ 7.25581537e-01 5.98795363e-01 3.39080442e-01 1.80215425e+02] [-5.42363420e-01 8.00902031e-01 -2.53767331e-01 -1.04801478e+02] [-4.23524915e-01 2.24062014e-04 9.05884427e-01 -4.31909694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-104.82, Z:-43.21 [[ 7.26132588e-01 5.98338582e-01 3.38706963e-01 1.80237854e+02] [-5.41917831e-01 8.01243127e-01 -2.53642496e-01 -1.04820925e+02] [-4.23150718e-01 6.26739690e-04 9.06059092e-01 -4.32050172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:-104.84, Z:-43.22 [[ 7.26634442e-01 5.98038953e-01 3.38159428e-01 1.80260139e+02] [-5.41702630e-01 8.01466480e-01 -2.53396414e-01 -1.04840097e+02] [-4.22564372e-01 9.44710877e-04 9.06332422e-01 -4.32192051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:-104.86, Z:-43.23 [[ 7.27080313e-01 5.97738841e-01 3.37731396e-01 1.80283045e+02] [-5.41445303e-01 8.01689892e-01 -2.53239611e-01 -1.04859462e+02] [-4.22126998e-01 1.26245785e-03 9.06535826e-01 -4.32338707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:-104.88, Z:-43.25 [[ 7.28711957e-01 5.96068063e-01 3.37167241e-01 1.80304036e+02] [-5.39725202e-01 8.02930405e-01 -2.52981167e-01 -1.04880156e+02] [-4.21515824e-01 2.37274395e-03 9.06817942e-01 -4.32473014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:-104.90, Z:-43.26 [[ 7.29399240e-01 5.95233384e-01 3.37155702e-01 1.80326635e+02] [-5.38738588e-01 8.03547307e-01 -2.53125381e-01 -1.04899964e+02] [-4.21589234e-01 2.99067384e-03 9.06781988e-01 -4.32614268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.35, Y:-104.92, Z:-43.28 [[ 7.30133592e-01 5.94354335e-01 3.37116987e-01 1.80348908e+02] [-5.37708956e-01 8.04195043e-01 -2.53257600e-01 -1.04919569e+02] [-4.21632562e-01 3.64105805e-03 9.06759464e-01 -4.32752320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:-104.94, Z:-43.29 [[ 7.32118451e-01 5.92269175e-01 3.36481498e-01 1.80370147e+02] [-5.35562483e-01 8.05724796e-01 -2.52943431e-01 -1.04940538e+02] [-4.20922084e-01 4.97768669e-03 9.07083140e-01 -4.32882870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:-104.96, Z:-43.30 [[ 7.32487704e-01 5.91931183e-01 3.36272565e-01 1.80393213e+02] [-5.35194390e-01 8.05971064e-01 -2.52937955e-01 -1.04960248e+02] [-4.20747820e-01 5.30275177e-03 9.07162143e-01 -4.33023728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:-104.98, Z:-43.32 [[ 7.32757723e-01 5.91758208e-01 3.35988605e-01 1.80415723e+02] [-5.35029083e-01 8.06096464e-01 -2.52888059e-01 -1.04980694e+02] [-4.20487811e-01 5.54200321e-03 9.07281261e-01 -4.33162034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:-105.00, Z:-43.33 [[ 7.32276364e-01 5.92375887e-01 3.35949603e-01 1.80438182e+02] [-5.35646217e-01 8.05644071e-01 -2.53023242e-01 -1.04998582e+02] [-4.20540673e-01 5.33280543e-03 9.07258014e-01 -4.33301161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:-105.02, Z:-43.34 [[ 7.30398631e-01 5.94745353e-01 3.35850869e-01 1.80460749e+02] [-5.38218035e-01 8.03903679e-01 -2.53101209e-01 -1.05017506e+02] [-4.20522516e-01 4.10378135e-03 9.07272821e-01 -4.33442952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:-105.04, Z:-43.36 [[ 7.29108201e-01 5.96435358e-01 3.35657704e-01 1.80484467e+02] [-5.40071655e-01 8.02654450e-01 -2.53117448e-01 -1.05035825e+02] [-4.20385346e-01 3.27079557e-03 9.07339773e-01 -4.33589282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:-105.05, Z:-43.37 [[ 7.29015004e-01 5.96593728e-01 3.35578675e-01 1.80508512e+02] [-5.40197788e-01 8.02536526e-01 -2.53222185e-01 -1.05053992e+02] [-4.20384912e-01 3.32391413e-03 9.07339781e-01 -4.33734505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.53, Y:-105.07, Z:-43.39 [[ 7.27615409e-01 5.98511099e-01 3.35201852e-01 1.80532060e+02] [-5.42400626e-01 8.01111234e-01 -2.53026384e-01 -1.05071339e+02] [-4.19973069e-01 2.29220197e-03 9.07533673e-01 -4.33873190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:-105.09, Z:-43.40 [[ 7.24692104e-01 6.02211820e-01 3.34906372e-01 1.80555931e+02] [-5.46510409e-01 7.98336297e-01 -2.52953611e-01 -1.05089575e+02] [-4.19699567e-01 2.83666684e-04 9.07663039e-01 -4.34018803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:-105.11, Z:-43.42 [[ 7.23208424e-01 6.04070518e-01 3.34766164e-01 1.80579720e+02] [-5.48533287e-01 7.96930601e-01 -2.53007609e-01 -1.05107931e+02] [-4.19619838e-01 -6.53149786e-04 9.07699711e-01 -4.34161570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-105.13, Z:-43.43 [[ 7.22080685e-01 6.05498453e-01 3.34620842e-01 1.80603352e+02] [-5.50084093e-01 7.95845351e-01 -2.53056650e-01 -1.05125793e+02] [-4.19531851e-01 -1.34228315e-03 9.07739624e-01 -4.34302516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-105.14, Z:-43.44 [[ 7.20579268e-01 6.07351531e-01 3.34499082e-01 1.80626027e+02] [-5.52093661e-01 7.94429944e-01 -2.53127740e-01 -1.05143315e+02] [-4.19473608e-01 -2.27622181e-03 9.07764678e-01 -4.34441446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:-105.16, Z:-43.46 [[ 7.19974085e-01 6.08030073e-01 3.34569495e-01 1.80649619e+02] [-5.52771864e-01 7.93909783e-01 -2.53279535e-01 -1.05161531e+02] [-4.19619569e-01 -2.58590204e-03 9.07696387e-01 -4.34583502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:-105.18, Z:-43.47 [[ 7.19687787e-01 6.08333639e-01 3.34633640e-01 1.80673511e+02] [-5.53010832e-01 7.93677073e-01 -2.53487128e-01 -1.05179561e+02] [-4.19795795e-01 -2.62443727e-03 9.07614788e-01 -4.34726298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:-105.20, Z:-43.49 [[ 7.19330760e-01 6.08603801e-01 3.34909944e-01 1.80697339e+02] [-5.53137594e-01 7.93469867e-01 -2.53858962e-01 -1.05197131e+02] [-4.20240478e-01 -2.64272045e-03 9.07408925e-01 -4.34866808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-105.21, Z:-43.50 [[ 7.18788103e-01 6.09040684e-01 3.35280641e-01 1.80721170e+02] [-5.53414757e-01 7.93134184e-01 -2.54303505e-01 -1.05214372e+02] [-4.20803718e-01 -2.75892032e-03 9.07147518e-01 -4.35010321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:-105.23, Z:-43.51 [[ 7.18788430e-01 6.09051364e-01 3.35260539e-01 1.80744368e+02] [-5.53357476e-01 7.93126448e-01 -2.54452236e-01 -1.05231232e+02] [-4.20878482e-01 -2.62160294e-03 9.07113240e-01 -4.35149405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:-105.25, Z:-43.53 [[ 7.18795170e-01 6.09144799e-01 3.35076285e-01 1.80767758e+02] [-5.53454401e-01 7.93054949e-01 -2.54464288e-01 -1.05249034e+02] [-4.20739504e-01 -2.54174345e-03 9.07177937e-01 -4.35291763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:-105.27, Z:-43.54 [[ 7.19119585e-01 6.09089378e-01 3.34480423e-01 1.80791047e+02] [-5.53526385e-01 7.93098069e-01 -2.54173157e-01 -1.05266437e+02] [-4.20089947e-01 -2.36284436e-03 9.07479396e-01 -4.35433925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.81, Y:-105.28, Z:-43.56 [[ 7.20053883e-01 6.08608178e-01 3.33344403e-01 1.80813904e+02] [-5.53346914e-01 7.93468419e-01 -2.53406908e-01 -1.05283393e+02] [-4.18723773e-01 -1.98846854e-03 9.08111473e-01 -4.35574405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:-105.30, Z:-43.57 [[ 7.20595294e-01 6.08190756e-01 3.32936070e-01 1.80837366e+02] [-5.52961825e-01 7.93789263e-01 -2.53242622e-01 -1.05300923e+02] [-4.18300900e-01 -1.61549519e-03 9.08307078e-01 -4.35714548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:-105.32, Z:-43.59 [[ 7.21895019e-01 6.07379911e-01 3.31597987e-01 1.80860774e+02] [-5.52463212e-01 7.94410874e-01 -2.52380195e-01 -1.05319346e+02] [-4.16715707e-01 -1.00368276e-03 9.09036310e-01 -4.35855656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:-105.34, Z:-43.60 [[ 7.22405062e-01 6.07046388e-01 3.31097582e-01 1.80884333e+02] [-5.52199419e-01 7.94666111e-01 -2.52153870e-01 -1.05337664e+02] [-4.16181124e-01 -6.74660471e-04 9.09281484e-01 -4.35994983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:-105.36, Z:-43.61 [[ 7.22720720e-01 6.06857199e-01 3.30755348e-01 1.80907345e+02] [-5.52039615e-01 7.94810767e-01 -2.52047829e-01 -1.05355547e+02] [-4.15844951e-01 -4.29866144e-04 9.09435425e-01 -4.36133681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:-105.37, Z:-43.63 [[ 7.23308561e-01 6.06492055e-01 3.30139536e-01 1.80929871e+02] [-5.51786840e-01 7.95089541e-01 -2.51721878e-01 -1.05373229e+02] [-4.15157812e-01 -9.40620960e-05 9.09749406e-01 -4.36266824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-105.39, Z:-43.64 [[ 7.23293442e-01 6.06464924e-01 3.30222488e-01 1.80953793e+02] [-5.51663400e-01 7.95110240e-01 -2.51926973e-01 -1.05391425e+02] [-4.15348154e-01 4.54666424e-05 9.09662525e-01 -4.36408761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:-105.41, Z:-43.65 [[ 7.23143734e-01 6.06505018e-01 3.30476629e-01 1.80977022e+02] [-5.51549527e-01 7.95079643e-01 -2.52272632e-01 -1.05409269e+02] [-4.15759858e-01 1.55144276e-04 9.09474418e-01 -4.36548708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:-105.43, Z:-43.67 [[ 7.23077754e-01 6.06269598e-01 3.31052468e-01 1.80999881e+02] [-5.51019871e-01 7.95259074e-01 -2.52863811e-01 -1.05428043e+02] [-4.16576120e-01 4.23708596e-04 9.09100741e-01 -4.36681298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:-105.45, Z:-43.68 [[ 7.22899614e-01 6.06327608e-01 3.31335146e-01 1.81023079e+02] [-5.50920210e-01 7.95214793e-01 -2.53219972e-01 -1.05446443e+02] [-4.17016870e-01 5.13391553e-04 9.08898601e-01 -4.36816947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:-105.46, Z:-43.70 [[ 7.22850912e-01 6.06274913e-01 3.31537765e-01 1.81046886e+02] [-5.50719121e-01 7.95254844e-01 -2.53531425e-01 -1.05464714e+02] [-4.17366756e-01 6.81234845e-04 9.08737876e-01 -4.36955052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:-105.48, Z:-43.71 [[ 7.22716440e-01 6.06459790e-01 3.31492792e-01 1.81069833e+02] [-5.50863889e-01 7.95113835e-01 -2.53659152e-01 -1.05482542e+02] [-4.17408581e-01 7.16230484e-04 9.08718638e-01 -4.37092233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:-105.50, Z:-43.72 [[ 7.22369801e-01 6.06832363e-01 3.31566515e-01 1.81093612e+02] [-5.51178641e-01 7.94829594e-01 -2.53866152e-01 -1.05500588e+02] [-4.17593075e-01 6.32861018e-04 9.08633932e-01 -4.37236691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:-105.52, Z:-43.74 [[ 7.21760433e-01 6.07602370e-01 3.31483389e-01 1.81116608e+02] [-5.51987625e-01 7.94241311e-01 -2.53949604e-01 -1.05517417e+02] [-4.17578183e-01 3.16047142e-04 9.08640942e-01 -4.37371852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-105.54, Z:-43.75 [[ 7.21295974e-01 6.08203694e-01 3.31391588e-01 1.81140503e+02] [-5.52619263e-01 7.93780990e-01 -2.54015139e-01 -1.05535111e+02] [-4.17545288e-01 8.67223914e-05 9.08656109e-01 -4.37515865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:-105.55, Z:-43.77 [[ 7.20783823e-01 6.08845731e-01 3.31326961e-01 1.81164183e+02] [-5.53276519e-01 7.93288632e-01 -2.54122491e-01 -1.05552536e+02] [-4.17559306e-01 -1.48047003e-04 9.08649660e-01 -4.37659182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-105.57, Z:-43.78 [[ 7.19728801e-01 6.10186313e-01 3.31154218e-01 1.81187428e+02] [-5.54737809e-01 7.92257566e-01 -2.54153325e-01 -1.05569179e+02] [-4.17440315e-01 -7.82297541e-04 9.08704007e-01 -4.37794816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:-105.59, Z:-43.79 [[ 7.19128699e-01 6.11004740e-01 3.30948821e-01 1.81210976e+02] [-5.55641506e-01 7.91626139e-01 -2.54146757e-01 -1.05586529e+02] [-4.17272610e-01 -1.12467401e-03 9.08780669e-01 -4.37936570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.23, Y:-105.60, Z:-43.81 [[ 7.18558388e-01 6.11838996e-01 3.30646164e-01 1.81234472e+02] [-5.56592551e-01 7.90980966e-01 -2.54074486e-01 -1.05603943e+02] [-4.16987500e-01 -1.46783866e-03 9.08911035e-01 -4.38077595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:-105.62, Z:-43.82 [[ 7.17942104e-01 6.12699702e-01 3.30390996e-01 1.81257260e+02] [-5.57554505e-01 7.90313703e-01 -2.54041778e-01 -1.05620531e+02] [-4.16763853e-01 -1.82370040e-03 9.09012962e-01 -4.38217258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.28, Y:-105.64, Z:-43.84 [[ 7.17844835e-01 6.13068764e-01 3.29917389e-01 1.81280860e+02] [-5.58057370e-01 7.90027258e-01 -2.53828491e-01 -1.05638521e+02] [-4.16258050e-01 -1.90335934e-03 9.09244529e-01 -4.38356095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:-105.66, Z:-43.85 [[ 7.17564523e-01 6.13305254e-01 3.30087595e-01 1.81304702e+02] [-5.58183871e-01 7.89843688e-01 -2.54121456e-01 -1.05656654e+02] [-4.16571627e-01 -1.90102999e-03 9.09100910e-01 -4.38501950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:-105.67, Z:-43.86 [[ 7.17626389e-01 6.13169737e-01 3.30204845e-01 1.81328125e+02] [-5.57918652e-01 7.89949395e-01 -2.54375176e-01 -1.05674550e+02] [-4.16820277e-01 -1.68110302e-03 9.08987365e-01 -4.38643040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:-105.69, Z:-43.88 [[ 7.18114818e-01 6.12452703e-01 3.30473593e-01 1.81351509e+02] [-5.56959428e-01 7.90506436e-01 -2.54746481e-01 -1.05692821e+02] [-4.17261673e-01 -1.12316022e-03 9.08785693e-01 -4.38781477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.37, Y:-105.71, Z:-43.89 [[ 7.18613295e-01 6.11685725e-01 3.30810379e-01 1.81374638e+02] [-5.55920435e-01 7.91100681e-01 -2.55170889e-01 -1.05710566e+02] [-4.17788706e-01 -5.35056608e-04 9.08544061e-01 -4.38925660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.40, Y:-105.73, Z:-43.91 [[ 7.19148631e-01 6.10985188e-01 3.30941607e-01 1.81398239e+02] [-5.55027042e-01 7.91642028e-01 -2.55436651e-01 -1.05728949e+02] [-4.18055295e-01 1.53765947e-05 9.08421582e-01 -4.39072086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-105.75, Z:-43.92 [[ 7.21036619e-01 6.08604571e-01 3.31219973e-01 1.81421233e+02] [-5.52231985e-01 7.93472178e-01 -2.55815827e-01 -1.05747869e+02] [-4.18504515e-01 1.54231614e-03 9.08213407e-01 -4.39215246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:-105.77, Z:-43.93 [[ 7.22152994e-01 6.07347498e-01 3.31095257e-01 1.81443500e+02] [-5.50817809e-01 7.94432621e-01 -2.55883865e-01 -1.05766021e+02] [-4.18443298e-01 2.41413485e-03 9.08239714e-01 -4.39346978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:-105.78, Z:-43.95 [[ 7.23342398e-01 6.05895682e-01 3.31158870e-01 1.81466470e+02] [-5.49127837e-01 7.95536887e-01 -2.56085298e-01 -1.05784438e+02] [-4.18610073e-01 3.38879926e-03 9.08159745e-01 -4.39486250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:-105.80, Z:-43.96 [[ 7.25781570e-01 6.02722769e-01 3.31611786e-01 1.81489636e+02] [-5.45399996e-01 7.97932576e-01 -2.56597835e-01 -1.05803409e+02] [-4.19261204e-01 5.37291253e-03 9.07849753e-01 -4.39630869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:-105.82, Z:-43.98 [[ 7.27008942e-01 6.01098995e-01 3.31870451e-01 1.81513139e+02] [-5.43445766e-01 7.99148475e-01 -2.56959947e-01 -1.05821690e+02] [-4.19672131e-01 6.45858770e-03 9.07652791e-01 -4.39773940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.54, Y:-105.84, Z:-43.99 [[ 7.27816500e-01 6.00010037e-01 3.32070924e-01 1.81536621e+02] [-5.42100312e-01 7.99959756e-01 -2.57277361e-01 -1.05840267e+02] [-4.20012375e-01 7.23495700e-03 9.07489537e-01 -4.39917488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:-105.86, Z:-44.01 [[ 7.28596381e-01 5.98974428e-01 3.32230265e-01 1.81559279e+02] [-5.40828272e-01 8.00728389e-01 -2.57563251e-01 -1.05858067e+02] [-4.20300005e-01 7.98013270e-03 9.07350111e-01 -4.40056788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:-105.88, Z:-44.02 [[ 7.29585311e-01 5.97615444e-01 3.32507224e-01 1.81582099e+02] [-5.39162420e-01 8.01733413e-01 -2.57929097e-01 -1.05875786e+02] [-4.20724564e-01 8.90588101e-03 9.07144711e-01 -4.40195636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:-105.89, Z:-44.03 [[ 7.29532909e-01 5.97608936e-01 3.32633873e-01 1.81605539e+02] [-5.39038894e-01 8.01736696e-01 -2.58176957e-01 -1.05893877e+02] [-4.20973639e-01 9.04599146e-03 9.07027764e-01 -4.40341773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.796559995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:181.63, Y:-105.91, Z:-44.05 [[ 7.28190005e-01 5.96421613e-01 3.37669330e-01 1.81627129e+02] [-5.39540490e-01 8.02665987e-01 -2.54211275e-01 -1.05914409e+02] [-4.22652785e-01 2.92783367e-03 9.06286958e-01 -4.40466484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.70, Y:-105.97, Z:-44.10 [[ 7.12064461e-01 6.21291077e-01 3.27049846e-01 1.81702618e+02] [-5.61717227e-01 7.83561504e-01 -2.65528015e-01 -1.05973659e+02] [-4.21233855e-01 5.36353003e-03 9.06936201e-01 -4.40994848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:-105.99, Z:-44.11 [[ 7.10447101e-01 6.24101280e-01 3.25211485e-01 1.81725900e+02] [-5.63863771e-01 7.81314427e-01 -2.67591879e-01 -1.05989982e+02] [-4.21096859e-01 6.73490059e-03 9.06990671e-01 -4.41146085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:-106.01, Z:-44.13 [[ 7.08868640e-01 6.26009169e-01 3.24988880e-01 1.81749609e+02] [-5.65980406e-01 7.79794681e-01 -2.67556415e-01 -1.06007761e+02] [-4.20917369e-01 5.72501430e-03 9.07080918e-01 -4.41293689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.77, Y:-106.02, Z:-44.14 [[ 7.05210754e-01 6.30516527e-01 3.24232480e-01 1.81772691e+02] [-5.71154426e-01 7.76169322e-01 -2.67102612e-01 -1.06024403e+02] [-4.20071915e-01 3.17681828e-03 9.07485258e-01 -4.41428846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:-106.04, Z:-44.16 [[ 7.03176134e-01 6.32821897e-01 3.24160102e-01 1.81795840e+02] [-5.73647564e-01 7.74294972e-01 -2.67199868e-01 -1.06042541e+02] [-4.20085464e-01 1.93491681e-03 9.07482484e-01 -4.41572992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.82, Y:-106.06, Z:-44.17 [[ 7.01056790e-01 6.35176923e-01 3.24144495e-01 1.81818774e+02] [-5.76168775e-01 7.72366381e-01 -2.67356907e-01 -1.06060170e+02] [-4.20177249e-01 6.70438268e-04 9.07441806e-01 -4.41710358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:-106.08, Z:-44.19 [[ 6.96809068e-01 6.39557245e-01 3.24690087e-01 1.81842460e+02] [-5.80742038e-01 7.68741178e-01 -2.67909847e-01 -1.06077085e+02] [-4.20946323e-01 -1.87917186e-03 9.07083602e-01 -4.41855207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.87, Y:-106.09, Z:-44.20 [[ 6.94779992e-01 6.41674502e-01 3.24860886e-01 1.81865632e+02] [-5.82935238e-01 7.66971132e-01 -2.68219669e-01 -1.06094915e+02] [-4.21268644e-01 -3.01919823e-03 9.06930876e-01 -4.41997148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:-106.11, Z:-44.21 [[ 6.93789108e-01 6.41980507e-01 3.26370499e-01 1.81888838e+02] [-5.84786176e-01 7.66688839e-01 -2.64978024e-01 -1.06114016e+02] [-4.20335345e-01 -7.01808912e-03 9.07341691e-01 -4.42106346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:-106.13, Z:-44.23 [[ 6.91966424e-01 6.44472171e-01 3.25327664e-01 1.81912671e+02] [-5.86767776e-01 7.64601012e-01 -2.66624959e-01 -1.06131693e+02] [-4.20578228e-01 -6.39627024e-03 9.07233731e-01 -4.42255160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:-106.14, Z:-44.25 [[ 6.89073671e-01 6.49807518e-01 3.20823419e-01 1.81936380e+02] [-5.87680249e-01 7.60094593e-01 -2.77287098e-01 -1.06141424e+02] [-4.24039387e-01 2.52965142e-03 9.05640215e-01 -4.42456696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:-106.17, Z:-44.26 [[ 6.88227645e-01 6.47059901e-01 3.28110031e-01 1.81957059e+02] [-5.88764723e-01 7.62393285e-01 -2.68537857e-01 -1.06166080e+02] [-4.23908964e-01 -8.36443475e-03 9.05666178e-01 -4.42559599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:-106.19, Z:-44.27 [[ 6.87105312e-01 6.46951255e-01 3.30666545e-01 1.81978757e+02] [-5.90513875e-01 7.62412799e-01 -2.64613091e-01 -1.06188395e+02] [-4.23296177e-01 -1.34461217e-02 9.05891576e-01 -4.42670237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:-106.20, Z:-44.28 [[ 6.86503277e-01 6.50020373e-01 3.25863108e-01 1.82002721e+02] [-5.91355658e-01 7.59881028e-01 -2.69961680e-01 -1.06202404e+02] [-4.23097786e-01 -7.37141517e-03 9.06054041e-01 -4.42828671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:-106.22, Z:-44.30 [[ 6.86427537e-01 6.50139644e-01 3.25784714e-01 1.82025904e+02] [-5.91442809e-01 7.59779588e-01 -2.70056257e-01 -1.06221673e+02] [-4.23098854e-01 -7.30897496e-03 9.06054048e-01 -4.42974009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:-106.24, Z:-44.31 [[ 6.86273647e-01 6.50342920e-01 3.25703190e-01 1.82049090e+02] [-5.91667230e-01 7.59604954e-01 -2.70055924e-01 -1.06240316e+02] [-4.23034715e-01 -7.37564069e-03 9.06083457e-01 -4.43121296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:-106.26, Z:-44.33 [[ 6.86573520e-01 6.50262479e-01 3.25231470e-01 1.82072609e+02] [-5.91678534e-01 7.59675757e-01 -2.69831905e-01 -1.06258585e+02] [-4.22532027e-01 -7.17303886e-03 9.06319609e-01 -4.43270493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:-106.28, Z:-44.34 [[ 6.86800330e-01 6.50106465e-01 3.25064441e-01 1.82095349e+02] [-5.91491553e-01 7.59811500e-01 -2.69859645e-01 -1.06277020e+02] [-4.22425200e-01 -6.93317794e-03 9.06371271e-01 -4.43413636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:-106.30, Z:-44.36 [[ 6.87316250e-01 6.49715062e-01 3.24756388e-01 1.82117762e+02] [-5.91096667e-01 7.60149671e-01 -2.69772510e-01 -1.06295791e+02] [-4.22138724e-01 -6.54338834e-03 9.06507629e-01 -4.43553778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:-106.32, Z:-44.37 [[ 6.88788564e-01 6.48437066e-01 3.24190815e-01 1.82140376e+02] [-5.89825615e-01 7.61247549e-01 -2.69458556e-01 -1.06315722e+02] [-4.21516379e-01 -5.61607548e-03 9.06803398e-01 -4.43693473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:-106.34, Z:-44.38 [[ 6.89807592e-01 6.47557458e-01 3.23782063e-01 1.82163443e+02] [-5.88931568e-01 7.62000675e-01 -2.69285312e-01 -1.06335209e+02] [-4.21099863e-01 -4.93042517e-03 9.07000880e-01 -4.43834557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:-106.35, Z:-44.40 [[ 6.90706421e-01 6.46691714e-01 3.23596148e-01 1.82186091e+02] [-5.87969064e-01 7.62739591e-01 -2.69296670e-01 -1.06354139e+02] [-4.20971519e-01 -4.25958518e-03 9.07063855e-01 -4.43978922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.21, Y:-106.37, Z:-44.41 [[ 6.93214125e-01 6.44403326e-01 3.22797970e-01 1.82208444e+02] [-5.85670409e-01 7.64680958e-01 -2.68799562e-01 -1.06373501e+02] [-4.20052793e-01 -2.71756625e-03 9.07495601e-01 -4.44123697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:-106.39, Z:-44.43 [[ 6.94477729e-01 6.43332257e-01 3.22217770e-01 1.82230388e+02] [-5.84631189e-01 7.65584695e-01 -2.68489194e-01 -1.06392608e+02] [-4.19412753e-01 -1.91879224e-03 9.07793622e-01 -4.44259152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:-106.41, Z:-44.44 [[ 6.95879199e-01 6.42053665e-01 3.21744045e-01 1.82253190e+02] [-5.83329540e-01 7.66659032e-01 -2.68254687e-01 -1.06412192e+02] [-4.18901883e-01 -1.00994912e-03 9.08030942e-01 -4.44403268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:-106.42, Z:-44.46 [[ 6.97626827e-01 6.44303706e-01 3.13352109e-01 1.82277201e+02] [-5.79174359e-01 7.64607533e-01 -2.82723155e-01 -1.06419487e+02] [-4.21750960e-01 1.57497509e-02 9.06574913e-01 -4.44641155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:-106.46, Z:-44.46 [[ 7.00863618e-01 6.30399373e-01 3.33746641e-01 1.82293023e+02] [-5.77305118e-01 7.76128124e-01 -2.53661066e-01 -1.06460554e+02] [-4.18937932e-01 -1.48918316e-02 9.07892749e-01 -4.44610021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:-106.47, Z:-44.48 [[ 7.02235306e-01 6.34977724e-01 3.21976499e-01 1.82319171e+02] [-5.75238505e-01 7.72521955e-01 -2.68906103e-01 -1.06471412e+02] [-4.19483299e-01 3.62207954e-03 9.07755827e-01 -4.44811094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-106.48, Z:-44.51 [[ 7.04025885e-01 6.37141110e-01 3.13685765e-01 1.82343317e+02] [-5.69604377e-01 7.70405165e-01 -2.86403101e-01 -1.06476165e+02] [-4.24144324e-01 2.29584120e-02 9.05303543e-01 -4.45063562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:-106.51, Z:-44.51 [[ 7.06569352e-01 6.26129464e-01 3.29729656e-01 1.82361042e+02] [-5.65455044e-01 7.79711010e-01 -2.68907667e-01 -1.06507550e+02] [-4.25464857e-01 3.55461890e-03 9.04967967e-01 -4.45117006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:-106.53, Z:-44.52 [[ 7.07449675e-01 6.24543441e-01 3.30848074e-01 1.82383840e+02] [-5.64898884e-01 7.80988555e-01 -2.66357142e-01 -1.06529028e+02] [-4.24740165e-01 1.53856573e-03 9.05313993e-01 -4.45234692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:-106.56, Z:-44.53 [[ 7.07328928e-01 6.23069052e-01 3.33872346e-01 1.82405976e+02] [-5.66889651e-01 7.82141220e-01 -2.58633398e-01 -1.06556077e+02] [-4.22281790e-01 -6.32989362e-03 9.06442509e-01 -4.45302662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:-106.57, Z:-44.55 [[ 7.07391841e-01 6.28209543e-01 3.23959187e-01 1.82431674e+02] [-5.66571447e-01 7.77997584e-01 -2.71507929e-01 -1.06567264e+02] [-4.22603336e-01 8.51646870e-03 9.06274732e-01 -4.45496793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:-106.59, Z:-44.56 [[ 7.07839640e-01 6.27476106e-01 3.24402190e-01 1.82454229e+02] [-5.65506010e-01 7.78582431e-01 -2.72052112e-01 -1.06585808e+02] [-4.23280045e-01 9.11788146e-03 9.05953016e-01 -4.45632731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:-106.60, Z:-44.58 [[ 7.08587463e-01 6.26894334e-01 3.23893966e-01 1.82476953e+02] [-5.64996503e-01 7.79045329e-01 -2.71785441e-01 -1.06604660e+02] [-4.22708835e-01 9.58479799e-03 9.06214860e-01 -4.45775505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:-106.62, Z:-44.59 [[ 7.09621135e-01 6.26391676e-01 3.22600856e-01 1.82499842e+02] [-5.64886613e-01 7.79444583e-01 -2.70867600e-01 -1.06623693e+02] [-4.21118699e-01 9.98046882e-03 9.06950622e-01 -4.45922799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:-106.64, Z:-44.61 [[ 7.11123247e-01 6.26182894e-01 3.19685331e-01 1.82522612e+02] [-5.65747804e-01 7.79610332e-01 -2.68583605e-01 -1.06642320e+02] [-4.17412446e-01 1.01347711e-02 9.08660628e-01 -4.46072816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:-106.66, Z:-44.62 [[ 7.11612821e-01 6.25911213e-01 3.19127477e-01 1.82545666e+02] [-5.65595461e-01 7.79824767e-01 -2.68281768e-01 -1.06661189e+02] [-4.16784077e-01 1.04156935e-02 9.08945844e-01 -4.46218971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:-106.68, Z:-44.64 [[ 7.13165340e-01 6.24220859e-01 3.18972596e-01 1.82568424e+02] [-5.63727206e-01 7.81162626e-01 -2.68321800e-01 -1.06679409e+02] [-4.16661535e-01 1.15442780e-02 9.08988391e-01 -4.46350439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:-106.70, Z:-44.65 [[ 7.13084901e-01 6.24118109e-01 3.19353268e-01 1.82592167e+02] [-5.63415403e-01 7.81242269e-01 -2.68744491e-01 -1.06698478e+02] [-4.17220575e-01 1.17090884e-02 9.08729822e-01 -4.46488159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:-106.71, Z:-44.66 [[ 7.13551889e-01 6.24008068e-01 3.18524149e-01 1.82615711e+02] [-5.61799160e-01 7.81270881e-01 -2.72024841e-01 -1.06711786e+02] [-4.18599338e-01 1.51572400e-02 9.08044521e-01 -4.46646043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:-106.74, Z:-44.67 [[ 7.12097288e-01 6.22877077e-01 3.23946909e-01 1.82637679e+02] [-5.63279858e-01 7.82289088e-01 -2.65969142e-01 -1.06736123e+02] [-4.19086213e-01 6.92313590e-03 9.07920049e-01 -4.46743863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:-106.75, Z:-44.69 [[ 7.11410166e-01 6.24974519e-01 3.21406947e-01 1.82663504e+02] [-5.63287735e-01 7.80556813e-01 -2.70994447e-01 -1.06750811e+02] [-4.20241006e-01 1.17436137e-02 9.07336533e-01 -4.46892822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.69, Y:-106.77, Z:-44.70 [[ 7.10718807e-01 6.25408982e-01 3.22090644e-01 1.82686529e+02] [-5.63408087e-01 7.80209948e-01 -2.71742092e-01 -1.06769256e+02] [-4.21248269e-01 1.16637421e-02 9.06870362e-01 -4.47029280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:-106.79, Z:-44.71 [[ 7.08946101e-01 6.26410693e-01 3.24044857e-01 1.82711218e+02] [-5.65010789e-01 7.79443981e-01 -2.70610214e-01 -1.06787219e+02] [-4.22087945e-01 8.75921562e-03 9.06512572e-01 -4.47136851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-106.80, Z:-44.73 [[ 7.06746713e-01 6.29707444e-01 3.22455608e-01 1.82736258e+02] [-5.66410675e-01 7.76739561e-01 -2.75417140e-01 -1.06802343e+02] [-4.23896251e-01 1.20078597e-02 9.05631150e-01 -4.47302048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:-106.82, Z:-44.74 [[ 7.05051236e-01 6.30796980e-01 3.24033833e-01 1.82760162e+02] [-5.68305075e-01 7.75896246e-01 -2.73887489e-01 -1.06820488e+02] [-4.24184036e-01 8.95464128e-03 9.05531732e-01 -4.47431264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:-106.83, Z:-44.76 [[ 7.00949186e-01 6.35460447e-01 3.23821338e-01 1.82786272e+02] [-5.73444625e-01 7.72107858e-01 -2.73880844e-01 -1.06834358e+02] [-4.24065443e-01 6.28294914e-03 9.05609753e-01 -4.47569431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:-106.85, Z:-44.77 [[ 6.98679629e-01 6.39428229e-01 3.20902348e-01 1.82811120e+02] [-5.76092755e-01 7.68797030e-01 -2.77611715e-01 -1.06847597e+02] [-4.24221539e-01 9.09213214e-03 9.05512793e-01 -4.47736778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:-106.87, Z:-44.78 [[ 6.94303345e-01 6.41685022e-01 3.25857634e-01 1.82835735e+02] [-5.83450461e-01 7.66954228e-01 -2.67145602e-01 -1.06868251e+02] [-4.21341221e-01 -4.64170098e-03 9.06890307e-01 -4.47822781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:-106.88, Z:-44.80 [[ 6.91172697e-01 6.47690573e-01 3.20588872e-01 1.82860979e+02] [-5.87101644e-01 7.61903029e-01 -2.73524101e-01 -1.06880787e+02] [-4.21416615e-01 8.34136900e-04 9.06866771e-01 -4.47992126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:-106.90, Z:-44.81 [[ 6.88890752e-01 6.49900580e-01 3.21027675e-01 1.82884815e+02] [-5.90213229e-01 7.60016478e-01 -2.72072229e-01 -1.06897988e+02] [-4.20806222e-01 -2.04673800e-03 9.07148243e-01 -4.48129713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:-106.92, Z:-44.83 [[ 6.86597836e-01 6.52476072e-01 3.20715430e-01 1.82909211e+02] [-5.93101368e-01 7.57801325e-01 -2.71970438e-01 -1.06915065e+02] [-4.20492781e-01 -3.48244584e-03 9.07289201e-01 -4.48277785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:-106.93, Z:-44.84 [[ 6.83326784e-01 6.56000061e-01 3.20512755e-01 1.82934910e+02] [-5.96991811e-01 7.54740798e-01 -2.71968943e-01 -1.06930653e+02] [-4.20315695e-01 -5.49982698e-03 9.07361267e-01 -4.48422362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:-106.95, Z:-44.86 [[ 6.82002677e-01 6.57275971e-01 3.20718951e-01 1.82958050e+02] [-5.98241308e-01 7.53624922e-01 -2.72317487e-01 -1.06948528e+02] [-4.20689536e-01 -6.14606995e-03 9.07183851e-01 -4.48559983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:-106.97, Z:-44.87 [[ 6.79962555e-01 6.58797692e-01 3.21926274e-01 1.82981143e+02] [-5.99407603e-01 7.52287299e-01 -2.73448981e-01 -1.06966110e+02] [-4.22328604e-01 -7.02998870e-03 9.06415539e-01 -4.48689047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:-106.99, Z:-44.88 [[ 6.79168127e-01 6.59444792e-01 3.22278173e-01 1.83004473e+02] [-5.99913339e-01 7.51717451e-01 -2.73906664e-01 -1.06985372e+02] [-4.22888450e-01 -7.31029846e-03 9.06152260e-01 -4.48829482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:-107.00, Z:-44.90 [[ 6.78267853e-01 6.60426937e-01 3.22162971e-01 1.83027535e+02] [-6.00962680e-01 7.50850085e-01 -2.73985415e-01 -1.07002926e+02] [-4.22843443e-01 -7.77242300e-03 9.06169417e-01 -4.48959484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.05, Y:-107.02, Z:-44.91 [[ 6.77664937e-01 6.61361734e-01 3.21513438e-01 1.83051306e+02] [-6.02172440e-01 7.50022279e-01 -2.73596297e-01 -1.07019902e+02] [-4.22088363e-01 -8.19991456e-03 9.06517609e-01 -4.49105829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:-107.04, Z:-44.93 [[ 6.76198842e-01 6.63659633e-01 3.19860935e-01 1.83075104e+02] [-6.05269875e-01 7.47975234e-01 -2.72362678e-01 -1.07037200e+02] [-4.20004173e-01 -9.43086053e-03 9.07473170e-01 -4.49255104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.10, Y:-107.05, Z:-44.94 [[ 6.73675583e-01 6.67187978e-01 3.17838656e-01 1.83098523e+02] [-6.09861445e-01 7.44802171e-01 -2.70811271e-01 -1.07054639e+02] [-4.17408945e-01 -1.13986008e-02 9.08647261e-01 -4.49392202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-107.07, Z:-44.95 [[ 6.73592643e-01 6.67309910e-01 3.17758456e-01 1.83121460e+02] [-6.09951924e-01 7.44693860e-01 -2.70905345e-01 -1.07074235e+02] [-4.17410593e-01 -1.13375342e-02 9.08647268e-01 -4.49537173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:-107.09, Z:-44.97 [[ 6.73510998e-01 6.67409578e-01 3.17722191e-01 1.83144380e+02] [-6.10042076e-01 7.44604537e-01 -2.70947871e-01 -1.07093866e+02] [-4.17410590e-01 -1.13375341e-02 9.08647269e-01 -4.49681962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:-107.11, Z:-44.98 [[ 6.73438349e-01 6.67414368e-01 3.17866090e-01 1.83166329e+02] [-6.09960734e-01 7.44600976e-01 -2.71140719e-01 -1.07113874e+02] [-4.17646612e-01 -1.12892759e-02 9.08539410e-01 -4.49819764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:-107.13, Z:-45.00 [[ 6.73352387e-01 6.67542607e-01 3.17778903e-01 1.83189260e+02] [-6.10054370e-01 7.44487053e-01 -2.71242870e-01 -1.07133475e+02] [-4.17648451e-01 -1.12203747e-02 9.08539418e-01 -4.49964760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:-107.15, Z:-45.01 [[ 6.73267868e-01 6.67645738e-01 3.17741321e-01 1.83212171e+02] [-6.10147648e-01 7.44394568e-01 -2.71286888e-01 -1.07153113e+02] [-4.17648448e-01 -1.12203747e-02 9.08539420e-01 -4.50109549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:-107.17, Z:-45.03 [[ 6.73183336e-01 6.67748856e-01 3.17703733e-01 1.83235080e+02] [-6.10240914e-01 7.44302068e-01 -2.71330902e-01 -1.07172754e+02] [-4.17648444e-01 -1.12203746e-02 9.08539421e-01 -4.50254338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:-107.19, Z:-45.04 [[ 6.73098791e-01 6.67851961e-01 3.17666138e-01 1.83257986e+02] [-6.10334168e-01 7.44209555e-01 -2.71374910e-01 -1.07192398e+02] [-4.17648441e-01 -1.12203745e-02 9.08539423e-01 -4.50399127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-107.21, Z:-45.05 [[ 6.73225182e-01 6.67612424e-01 3.17901722e-01 1.83278899e+02] [-6.09946169e-01 7.44427414e-01 -2.71649583e-01 -1.07211961e+02] [-4.18011393e-01 -1.10215977e-02 9.08374922e-01 -4.50531590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.30, Y:-107.23, Z:-45.07 [[ 6.73520179e-01 6.67359286e-01 3.17808357e-01 1.83300393e+02] [-6.09627589e-01 7.44658636e-01 -2.71730968e-01 -1.07232475e+02] [-4.18000922e-01 -1.07284525e-02 9.08383250e-01 -4.50669109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.32, Y:-107.25, Z:-45.08 [[ 6.73935319e-01 6.66974905e-01 3.17735207e-01 1.83322443e+02] [-6.09151316e-01 7.45008348e-01 -2.71840460e-01 -1.07253030e+02] [-4.18026147e-01 -1.03459328e-02 9.08376080e-01 -4.50811412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-107.27, Z:-45.10 [[ 6.74324236e-01 6.66640152e-01 3.17612551e-01 1.83344166e+02] [-6.08748151e-01 7.45312743e-01 -2.71909182e-01 -1.07272779e+02] [-4.17986260e-01 -9.99110205e-03 9.08398406e-01 -4.50952394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:-107.29, Z:-45.11 [[ 6.74529730e-01 6.66454297e-01 3.17566235e-01 1.83365399e+02] [-6.08480616e-01 7.45482368e-01 -2.72042972e-01 -1.07291675e+02] [-4.18044237e-01 -9.73182538e-03 9.08374542e-01 -4.51091279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:-107.31, Z:-45.12 [[ 6.74806084e-01 6.66339846e-01 3.17219102e-01 1.83386605e+02] [-6.08413008e-01 7.45587453e-01 -2.71906164e-01 -1.07312517e+02] [-4.17696493e-01 -9.51629409e-03 9.08536779e-01 -4.51228478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:-107.33, Z:-45.14 [[ 6.74808153e-01 6.66296146e-01 3.17306480e-01 1.83408611e+02] [-6.08253779e-01 7.45628558e-01 -2.72149581e-01 -1.07332943e+02] [-4.17924990e-01 -9.35410964e-03 9.08433379e-01 -4.51372277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:-107.35, Z:-45.15 [[ 6.74769748e-01 6.66493338e-01 3.16973845e-01 1.83429497e+02] [-6.08522199e-01 7.45452639e-01 -2.72031425e-01 -1.07354889e+02] [-4.17596122e-01 -9.32704516e-03 9.08584881e-01 -4.51507240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:-107.37, Z:-45.16 [[ 6.74663116e-01 6.66750730e-01 3.16659351e-01 1.83450779e+02] [-6.08847935e-01 7.45222345e-01 -2.71933538e-01 -1.07374955e+02] [-4.17293509e-01 -9.33386356e-03 9.08723834e-01 -4.51639499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.47, Y:-107.40, Z:-45.18 [[ 6.73927835e-01 6.67501971e-01 3.16642371e-01 1.83472339e+02] [-6.09610985e-01 7.44545272e-01 -2.72078638e-01 -1.07396100e+02] [-4.17367608e-01 -9.66730003e-03 9.08686317e-01 -4.51775062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:-107.42, Z:-45.19 [[ 6.73845512e-01 6.67624907e-01 3.16558382e-01 1.83495193e+02] [-6.09700947e-01 7.44435895e-01 -2.72176329e-01 -1.07415790e+02] [-4.17369118e-01 -9.60114744e-03 9.08686325e-01 -4.51920060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:-107.44, Z:-45.21 [[ 6.73304076e-01 6.68215564e-01 3.16464187e-01 1.83516941e+02] [-6.10357325e-01 7.43901761e-01 -2.72165584e-01 -1.07435240e+02] [-4.17283546e-01 -9.90603742e-03 9.08722352e-01 -4.52057593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:-107.46, Z:-45.22 [[ 6.72498364e-01 6.68889531e-01 3.16753445e-01 1.83539071e+02] [-6.10920154e-01 7.43291718e-01 -2.72569235e-01 -1.07455167e+02] [-4.17758920e-01 -1.02086985e-02 9.08500560e-01 -4.52200862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.56, Y:-107.47, Z:-45.23 [[ 6.72086982e-01 6.69321672e-01 3.16713734e-01 1.83560802e+02] [-6.11332761e-01 7.42900889e-01 -2.72709596e-01 -1.07474660e+02] [-4.17817357e-01 -1.03329121e-02 9.08472282e-01 -4.52338304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:-107.50, Z:-45.25 [[ 6.71165216e-01 6.70096326e-01 3.17030230e-01 1.83581862e+02] [-6.11993105e-01 7.42197094e-01 -2.73144492e-01 -1.07495137e+02] [-4.18332036e-01 -1.06952325e-02 9.08231204e-01 -4.52476941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.60, Y:-107.52, Z:-45.26 [[ 6.70617598e-01 6.70585649e-01 3.17154417e-01 1.83604086e+02] [-6.12407840e-01 7.41752531e-01 -2.73422421e-01 -1.07515433e+02] [-4.18603244e-01 -1.08659648e-02 9.08104210e-01 -4.52619364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.63, Y:-107.54, Z:-45.28 [[ 6.70000142e-01 6.71130645e-01 3.17306584e-01 1.83625257e+02] [-6.12872470e-01 7.41256418e-01 -2.73726612e-01 -1.07535221e+02] [-4.18911859e-01 -1.10716011e-02 9.07959401e-01 -4.52760908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:-107.56, Z:-45.29 [[ 6.68811161e-01 6.72622353e-01 3.16655652e-01 1.83646525e+02] [-6.14724723e-01 7.39890381e-01 -2.73268622e-01 -1.07556454e+02] [-4.18097054e-01 -1.18909536e-02 9.08324534e-01 -4.52900450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:-107.58, Z:-45.30 [[ 6.67978532e-01 6.73547235e-01 3.16447156e-01 1.83668428e+02] [-6.15750252e-01 7.39041457e-01 -2.73256935e-01 -1.07576739e+02] [-4.17919020e-01 -1.23226496e-02 9.08400707e-01 -4.53044621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:-107.60, Z:-45.32 [[ 6.67405322e-01 6.74190876e-01 3.16285945e-01 1.83689862e+02] [-6.16444895e-01 7.38450039e-01 -2.73289648e-01 -1.07596706e+02] [-4.17810755e-01 -1.25778906e-02 9.08447010e-01 -4.53185210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:-107.62, Z:-45.33 [[ 6.65978139e-01 6.75428565e-01 3.16653393e-01 1.83710045e+02] [-6.17594809e-01 7.37306698e-01 -2.73779993e-01 -1.07617134e+02] [-4.18389496e-01 -1.32320016e-02 9.08171319e-01 -4.53320239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:-107.64, Z:-45.35 [[ 6.65407191e-01 6.75862083e-01 3.16928564e-01 1.83731354e+02] [-6.17895493e-01 7.36906506e-01 -2.74178702e-01 -1.07637096e+02] [-4.18853710e-01 -1.33882517e-02 9.07955023e-01 -4.53460881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:-107.66, Z:-45.36 [[ 6.65610156e-01 6.75417720e-01 3.17449248e-01 1.83752129e+02] [-6.17130581e-01 7.37320648e-01 -2.74787385e-01 -1.07658284e+02] [-4.19658154e-01 -1.30063647e-02 9.07589042e-01 -4.53607742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.77, Y:-107.68, Z:-45.38 [[ 6.66083552e-01 6.74860769e-01 3.17640748e-01 1.83773411e+02] [-6.16362805e-01 7.37838711e-01 -2.75119845e-01 -1.07678947e+02] [-4.20035230e-01 -1.25291387e-02 9.07421306e-01 -4.53751210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:-107.70, Z:-45.39 [[ 6.66856978e-01 6.73783112e-01 3.18305026e-01 1.83794847e+02] [-6.14831980e-01 7.38835908e-01 -2.75867970e-01 -1.07699884e+02] [-4.21050363e-01 -1.17396288e-02 9.06961285e-01 -4.53897820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.82, Y:-107.72, Z:-45.40 [[ 6.68123004e-01 6.72237554e-01 3.18917423e-01 1.83816036e+02] [-6.12799958e-01 7.40258943e-01 -2.76573515e-01 -1.07720813e+02] [-4.22004578e-01 -1.06474556e-02 9.06531173e-01 -4.54043100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:-107.74, Z:-45.42 [[ 6.71992922e-01 6.67933253e-01 3.19829147e-01 1.83834776e+02] [-6.07591079e-01 7.44180101e-01 -2.77541094e-01 -1.07742407e+02] [-4.23389412e-01 -7.81968593e-03 9.05914046e-01 -4.54180224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:-107.76, Z:-45.43 [[ 6.74167922e-01 6.65465053e-01 3.20396438e-01 1.83855263e+02] [-6.04581974e-01 7.46403326e-01 -2.78141532e-01 -1.07763092e+02] [-4.24238436e-01 -6.19181196e-03 9.05529354e-01 -4.54320593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:-107.78, Z:-45.45 [[ 6.76715152e-01 6.62902055e-01 3.20339614e-01 1.83876543e+02] [-6.01692730e-01 7.48692915e-01 -2.78253081e-01 -1.07784380e+02] [-4.24290539e-01 -4.44794075e-03 9.05515187e-01 -4.54464744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:-107.81, Z:-45.46 [[ 6.79043398e-01 6.60443346e-01 3.20491264e-01 1.83897753e+02] [-5.98831408e-01 7.50870778e-01 -2.78557031e-01 -1.07805294e+02] [-4.24618663e-01 -2.76792216e-03 9.05368063e-01 -4.54609650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.92, Y:-107.83, Z:-45.48 [[ 6.83544602e-01 6.55943871e-01 3.20163106e-01 1.83917715e+02] [-5.93911067e-01 7.54809648e-01 -2.78445757e-01 -1.07827464e+02] [-4.24306989e-01 1.81681754e-04 9.05518385e-01 -4.54758407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:-107.85, Z:-45.49 [[ 6.85455734e-01 6.54173016e-01 3.19700019e-01 1.83939144e+02] [-5.92064307e-01 7.56343601e-01 -2.78216126e-01 -1.07848020e+02] [-4.23804546e-01 1.42186810e-03 9.05752552e-01 -4.54904058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.96, Y:-107.87, Z:-45.50 [[ 6.87077977e-01 6.52636015e-01 3.19358865e-01 1.83960481e+02] [-5.90428107e-01 7.57667422e-01 -2.78091223e-01 -1.07868591e+02] [-4.23460156e-01 2.51190431e-03 9.05911247e-01 -4.55049665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:-107.89, Z:-45.52 [[ 6.90074277e-01 6.49684103e-01 3.18917008e-01 1.83980811e+02] [-5.87276328e-01 7.60191188e-01 -2.77877442e-01 -1.07890065e+02] [-4.22970456e-01 4.46366618e-03 9.06132479e-01 -4.55195222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:-107.91, Z:-45.54 [[ 6.91259996e-01 6.49595660e-01 3.16520295e-01 1.84002655e+02] [-5.85272882e-01 7.60218185e-01 -2.81999937e-01 -1.07907341e+02] [-4.23810419e-01 9.68452999e-03 9.05699143e-01 -4.55377243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:-107.93, Z:-45.55 [[ 6.92102260e-01 6.45940066e-01 3.22111614e-01 1.84022063e+02] [-5.84473097e-01 7.63385309e-01 -2.75016489e-01 -1.07932264e+02] [-4.23539443e-01 2.07396112e-03 9.05875289e-01 -4.55465606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:-107.95, Z:-45.56 [[ 6.93562505e-01 6.45610691e-01 3.19621474e-01 1.84042712e+02] [-5.82289267e-01 7.63631345e-01 -2.78937945e-01 -1.07950471e+02] [-4.24158296e-01 7.34874606e-03 9.05558245e-01 -4.55619052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:-107.97, Z:-45.58 [[ 6.94023082e-01 6.46388297e-01 3.17039636e-01 1.84064369e+02] [-5.80517854e-01 7.62889664e-01 -2.84602146e-01 -1.07965887e+02] [-4.25829758e-01 1.34732892e-02 9.04702983e-01 -4.55808244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:-107.99, Z:-45.59 [[ 6.94179066e-01 6.43981427e-01 3.21563908e-01 1.84084191e+02] [-5.80317247e-01 7.65006672e-01 -2.79278866e-01 -1.07989153e+02] [-4.25848937e-01 7.26046036e-03 9.04765145e-01 -4.55920169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:-108.01, Z:-45.60 [[ 6.93801471e-01 6.43333896e-01 3.23668066e-01 1.84105653e+02] [-5.81215380e-01 7.65578846e-01 -2.75821884e-01 -1.08012473e+02] [-4.25238992e-01 3.24477116e-03 9.05075285e-01 -4.56024420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:-108.03, Z:-45.62 [[ 6.92901856e-01 6.46133355e-01 3.19997979e-01 1.84127607e+02] [-5.82443288e-01 7.63187547e-01 -2.79829565e-01 -1.08029711e+02] [-4.25025688e-01 7.51374977e-03 9.05150103e-01 -4.56183967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:-108.05, Z:-45.63 [[ 6.91863343e-01 6.47399468e-01 3.19685852e-01 1.84149849e+02] [-5.83891211e-01 7.62119916e-01 -2.79721804e-01 -1.08049518e+02] [-4.24730702e-01 6.86750306e-03 9.05293692e-01 -4.56328968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:-108.06, Z:-45.65 [[ 6.90493040e-01 6.50783253e-01 3.15753890e-01 1.84172909e+02] [-5.84913430e-01 7.59160714e-01 -2.85571865e-01 -1.08064827e+02] [-4.25553336e-01 1.24966946e-02 9.04847054e-01 -4.56531117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:-108.09, Z:-45.66 [[ 6.88807506e-01 6.48793377e-01 3.23436817e-01 1.84192458e+02] [-5.87874193e-01 7.60963858e-01 -2.74477578e-01 -1.08090823e+02] [-4.24202962e-01 -1.07794193e-03 9.05566500e-01 -4.56593331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:-108.11, Z:-45.68 [[ 6.84931140e-01 6.55141021e-01 3.18840988e-01 1.84216761e+02] [-5.92600697e-01 7.55502819e-01 -2.79356232e-01 -1.08106683e+02] [-4.23902993e-01 2.39439055e-03 9.05704433e-01 -4.56763972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:-108.13, Z:-45.69 [[ 6.82722169e-01 6.57428546e-01 3.18870112e-01 1.84239417e+02] [-5.95032359e-01 7.53516062e-01 -2.79553281e-01 -1.08125965e+02] [-4.24060058e-01 1.11918772e-03 9.05633378e-01 -4.56909052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:-108.15, Z:-45.71 [[ 6.80651037e-01 6.59456110e-01 3.19110961e-01 1.84261839e+02] [-5.97090153e-01 7.51743067e-01 -2.79938760e-01 -1.08145007e+02] [-4.24496779e-01 2.59443052e-06 9.05429448e-01 -4.57051779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.28, Y:-108.16, Z:-45.72 [[ 6.77191659e-01 6.62670601e-01 3.19811086e-01 1.84283778e+02] [-6.00272368e-01 7.48908667e-01 -2.80729217e-01 -1.08163692e+02] [-4.25540293e-01 -1.86627371e-03 9.04937553e-01 -4.57192151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.31, Y:-108.18, Z:-45.73 [[ 6.75782948e-01 6.64004875e-01 3.20023333e-01 1.84305851e+02] [-6.01584166e-01 7.47723819e-01 -2.81079316e-01 -1.08183331e+02] [-4.25927105e-01 -2.57236102e-03 9.04753825e-01 -4.57331796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:-108.20, Z:-45.75 [[ 6.74299341e-01 6.65178550e-01 3.20714663e-01 1.84328293e+02] [-6.02516066e-01 7.46677583e-01 -2.81863401e-01 -1.08203353e+02] [-4.26959938e-01 -3.17543138e-03 9.04264966e-01 -4.57476284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:-108.22, Z:-45.77 [[ 6.72651027e-01 6.69048524e-01 3.16092817e-01 1.84350776e+02] [-6.02700147e-01 7.43202504e-01 -2.90521204e-01 -1.08217767e+02] [-4.29293756e-01 4.91019894e-03 9.03151572e-01 -4.57684491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:-108.59, Z:-44.97 [[ 7.13379377e-01 -4.09666373e-01 5.68562509e-01 1.84727949e+02] [-5.99591407e-01 6.31473330e-02 7.97811105e-01 -1.08585928e+02] [-3.62739588e-01 -9.10047184e-01 -2.00584432e-01 -4.49693596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.52, Y:-108.37, Z:-45.86 [[ 6.99507795e-01 6.57450473e-01 2.80085201e-01 1.84519124e+02] [-6.12711467e-01 7.53482296e-01 -2.38430467e-01 -1.08374448e+02] [-3.67795464e-01 -4.82744436e-03 9.29894184e-01 -4.58588374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-108.39, Z:-45.87 [[ 6.99147377e-01 6.58438104e-01 2.78661461e-01 1.84541427e+02] [-6.13817881e-01 7.52621791e-01 -2.38302431e-01 -1.08393479e+02] [-3.66634088e-01 -4.43886795e-03 9.30354632e-01 -4.58717156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.56, Y:-108.41, Z:-45.88 [[ 6.99173600e-01 6.58606860e-01 2.78196478e-01 1.84563245e+02] [-6.14099231e-01 7.52474308e-01 -2.38043171e-01 -1.08412695e+02] [-3.66112568e-01 -4.40674285e-03 9.30560137e-01 -4.58837302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:-108.43, Z:-45.90 [[ 6.99615429e-01 6.58316026e-01 2.77773761e-01 1.84585741e+02] [-6.13873128e-01 7.52730292e-01 -2.37816928e-01 -1.08432614e+02] [-3.65647419e-01 -4.13745522e-03 9.30744243e-01 -4.58963181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.61, Y:-108.45, Z:-45.91 [[ 7.00367424e-01 6.57879677e-01 2.76911181e-01 1.84608548e+02] [-6.13632170e-01 7.53113580e-01 -2.37224568e-01 -1.08453326e+02] [-3.64610793e-01 -3.77724893e-03 9.31152352e-01 -4.59085097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:-108.47, Z:-45.92 [[ 7.02874972e-01 6.55560170e-01 2.76057308e-01 1.84629930e+02] [-6.11365363e-01 7.55138984e-01 -2.36637925e-01 -1.08474349e+02] [-3.63592034e-01 -2.44500108e-03 9.31555074e-01 -4.59208758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.65, Y:-108.50, Z:-45.93 [[ 7.04390942e-01 6.54107516e-01 2.75638819e-01 1.84652494e+02] [-6.09891459e-01 7.56399931e-01 -2.36413943e-01 -1.08495445e+02] [-3.63133321e-01 -1.58192120e-03 9.31735847e-01 -4.59331281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:-108.52, Z:-45.95 [[ 7.05935601e-01 6.52591395e-01 2.75280582e-01 1.84674696e+02] [-6.08327065e-01 7.57709710e-01 -2.36250243e-01 -1.08516509e+02] [-3.62757645e-01 -6.83171588e-04 9.31883267e-01 -4.59450297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.70, Y:-108.54, Z:-45.96 [[ 7.07644395e-01 6.50826483e-01 2.75071445e-01 1.84697175e+02] [-6.06446744e-01 7.59226431e-01 -2.36215100e-01 -1.08537700e+02] [-3.62576554e-01 3.40109318e-04 9.31953930e-01 -4.59572929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.72, Y:-108.56, Z:-45.97 [[ 7.11182211e-01 6.46996400e-01 2.74982765e-01 1.84717572e+02] [-6.02312473e-01 7.62489230e-01 -2.36283430e-01 -1.08558837e+02] [-3.62545925e-01 2.41502268e-03 9.31962778e-01 -4.59688418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.74, Y:-108.58, Z:-45.98 [[ 7.12725887e-01 6.45321126e-01 2.74922635e-01 1.84740086e+02] [-6.00484807e-01 7.63903947e-01 -2.36365727e-01 -1.08579992e+02] [-3.62546283e-01 3.37710695e-03 9.31959649e-01 -4.59803699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:-108.60, Z:-45.99 [[ 7.15129619e-01 6.42570051e-01 2.75124257e-01 1.84760721e+02] [-5.97412844e-01 7.66211307e-01 -2.36681490e-01 -1.08601522e+02] [-3.62887753e-01 4.89517921e-03 9.31820002e-01 -4.59910474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:-108.62, Z:-46.00 [[ 7.15775305e-01 6.41760136e-01 2.75335505e-01 1.84783065e+02] [-5.96421505e-01 7.66886274e-01 -2.36995424e-01 -1.08622589e+02] [-3.63245235e-01 5.41945555e-03 9.31677803e-01 -4.60028254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.80, Y:-108.64, Z:-46.01 [[ 7.16353135e-01 6.41097026e-01 2.75377540e-01 1.84804814e+02] [-5.95640987e-01 7.67437355e-01 -2.37174452e-01 -1.08642456e+02] [-3.63386846e-01 5.87451253e-03 9.31619821e-01 -4.60143067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.83, Y:-108.66, Z:-46.03 [[ 7.16467943e-01 6.40903315e-01 2.75529722e-01 1.84827573e+02] [-5.95329504e-01 7.67597487e-01 -2.37438159e-01 -1.08663515e+02] [-3.63670825e-01 6.08585626e-03 9.31507645e-01 -4.60258998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.85, Y:-108.68, Z:-46.04 [[ 7.15915537e-01 6.41505864e-01 2.75563370e-01 1.84849395e+02] [-5.95906071e-01 7.67095427e-01 -2.37614310e-01 -1.08682907e+02] [-3.63814375e-01 5.90189093e-03 9.31452773e-01 -4.60376597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:-108.70, Z:-46.05 [[ 7.15310260e-01 6.42391731e-01 2.75071072e-01 1.84872880e+02] [-5.96989274e-01 7.66356616e-01 -2.37279042e-01 -1.08703392e+02] [-3.63228631e-01 5.51365354e-03 9.31683724e-01 -4.60494919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.90, Y:-108.72, Z:-46.06 [[ 7.14269504e-01 6.43647305e-01 2.74840360e-01 1.84895922e+02] [-5.98357642e-01 7.65305992e-01 -2.37223250e-01 -1.08723418e+02] [-3.63025080e-01 4.98850388e-03 9.31766015e-01 -4.60616462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:-108.74, Z:-46.07 [[ 7.11721185e-01 6.46695364e-01 2.74295574e-01 1.84919159e+02] [-6.01753891e-01 7.62740150e-01 -2.36896007e-01 -1.08742802e+02] [-3.62415797e-01 3.54547788e-03 9.32009775e-01 -4.60732824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.94, Y:-108.76, Z:-46.09 [[ 7.10193792e-01 6.48483296e-01 2.74033196e-01 1.84942652e+02] [-6.03703711e-01 7.61223926e-01 -2.36812085e-01 -1.08762038e+02] [-3.62169306e-01 2.74761517e-03 9.32108279e-01 -4.60856557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.97, Y:-108.78, Z:-46.10 [[ 7.06826956e-01 6.52299590e-01 2.73680285e-01 1.84965769e+02] [-6.07858939e-01 7.57960694e-01 -2.36649735e-01 -1.08780060e+02] [-3.61805424e-01 9.11403982e-04 9.32253187e-01 -4.60973796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:-108.80, Z:-46.11 [[ 7.06726893e-01 6.52435832e-01 2.73613931e-01 1.84989222e+02] [-6.07975341e-01 7.57843375e-01 -2.36726431e-01 -1.08800403e+02] [-3.61805311e-01 9.50412001e-04 9.32253192e-01 -4.61098388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:-108.82, Z:-46.12 [[ 7.04991020e-01 6.54592772e-01 2.72939489e-01 1.85012714e+02] [-6.10485185e-01 7.55981676e-01 -2.36219273e-01 -1.08819521e+02] [-3.60964681e-01 -9.30485408e-05 9.32579482e-01 -4.61217176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:-108.84, Z:-46.13 [[ 7.03337079e-01 6.56606063e-01 2.72370025e-01 1.85036231e+02] [-6.12779690e-01 7.54233029e-01 -2.35867738e-01 -1.08838655e+02] [-3.60302656e-01 -1.00829407e-03 9.32834915e-01 -4.61341667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:-108.88, Z:-46.12 [[ 7.03082596e-01 6.48864005e-01 2.90947359e-01 1.85054762e+02] [-6.17695061e-01 7.59977340e-01 -2.02205972e-01 -1.08879904e+02] [-3.52317577e-01 -3.75492469e-02 9.35126932e-01 -4.61231045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:-108.86, Z:-46.17 [[ 6.99160863e-01 6.71545590e-01 2.45358122e-01 1.85090596e+02] [-6.17612945e-01 7.40165229e-01 -2.65912926e-01 -1.08857458e+02] [-3.60178204e-01 3.43795584e-02 9.32249810e-01 -4.61716308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:-108.90, Z:-46.17 [[ 6.98452963e-01 6.61927982e-01 2.72056620e-01 1.85105843e+02] [-6.18481496e-01 7.49559233e-01 -2.35884710e-01 -1.08895645e+02] [-3.60061242e-01 -3.50761029e-03 9.32922076e-01 -4.61701730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:-108.92, Z:-46.18 [[ 6.97414380e-01 6.62942351e-01 2.72251028e-01 1.85129076e+02] [-6.19450805e-01 7.48660188e-01 -2.36196154e-01 -1.08915136e+02] [-3.60407940e-01 -3.91952435e-03 9.32786554e-01 -4.61818576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-108.93, Z:-46.19 [[ 6.96127889e-01 6.64327981e-01 2.72165935e-01 1.85153299e+02] [-6.20911179e-01 7.47427525e-01 -2.36265536e-01 -1.08934426e+02] [-3.60382118e-01 -4.51984313e-03 9.32793814e-01 -4.61938614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:-108.95, Z:-46.21 [[ 6.95623114e-01 6.64936625e-01 2.71970161e-01 1.85177115e+02] [-6.21573763e-01 7.46884894e-01 -2.36239313e-01 -1.08954200e+02] [-3.60214576e-01 -4.71599017e-03 9.32857555e-01 -4.62057538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:-108.97, Z:-46.22 [[ 6.95083376e-01 6.65538863e-01 2.71877035e-01 1.85199913e+02] [-6.22194567e-01 7.46347054e-01 -2.36304879e-01 -1.08973414e+02] [-3.60184705e-01 -4.90882051e-03 9.32868095e-01 -4.62175124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:-108.99, Z:-46.23 [[ 6.94298536e-01 6.66768146e-01 2.70868570e-01 1.85223708e+02] [-6.23794113e-01 7.45245541e-01 -2.35563132e-01 -1.08993365e+02] [-3.58929587e-01 -5.41508155e-03 9.33348932e-01 -4.62288746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:-109.01, Z:-46.24 [[ 6.93673109e-01 6.67595172e-01 2.70433547e-01 1.85247378e+02] [-6.24769088e-01 7.44502517e-01 -2.35328681e-01 -1.09013121e+02] [-3.58442748e-01 -5.71734262e-03 9.33534203e-01 -4.62411622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:-109.03, Z:-46.25 [[ 6.93148155e-01 6.68427885e-01 2.69721705e-01 1.85269850e+02] [-6.25839500e-01 7.43752651e-01 -2.34855094e-01 -1.09031658e+02] [-3.57589927e-01 -6.01312212e-03 9.33859350e-01 -4.62530620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:-109.05, Z:-46.27 [[ 6.92320071e-01 6.69534605e-01 2.69102828e-01 1.85293449e+02] [-6.27195326e-01 7.42752441e-01 -2.34403147e-01 -1.09051222e+02] [-3.56817801e-01 -6.49803227e-03 9.34151397e-01 -4.62653370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.32, Y:-109.07, Z:-46.28 [[ 6.91517348e-01 6.70643187e-01 2.68405427e-01 1.85317501e+02] [-6.28556504e-01 7.41747675e-01 -2.33938259e-01 -1.09070447e+02] [-3.55978201e-01 -6.93561219e-03 9.34468521e-01 -4.62775816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:-109.09, Z:-46.29 [[ 6.91137110e-01 6.71150153e-01 2.68117450e-01 1.85340576e+02] [-6.29138483e-01 7.41287692e-01 -2.33831833e-01 -1.09090390e+02] [-3.55688436e-01 -7.07314877e-03 9.34577823e-01 -4.62895902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.36, Y:-109.11, Z:-46.30 [[ 6.91020652e-01 6.71376845e-01 2.67849941e-01 1.85363067e+02] [-6.29413495e-01 7.41082439e-01 -2.33742317e-01 -1.09110218e+02] [-3.55428066e-01 -7.06759938e-03 9.34676917e-01 -4.63012478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.39, Y:-109.13, Z:-46.31 [[ 6.91118362e-01 6.71215529e-01 2.68002097e-01 1.85385937e+02] [-6.29140472e-01 7.41230283e-01 -2.34008407e-01 -1.09130554e+02] [-3.55721346e-01 -6.88345884e-03 9.34566713e-01 -4.63136724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:-109.15, Z:-46.33 [[ 6.91442973e-01 6.70981040e-01 2.67751860e-01 1.85408455e+02] [-6.28916758e-01 7.41444738e-01 -2.33930359e-01 -1.09150914e+02] [-3.55486044e-01 -6.64412886e-03 9.34657974e-01 -4.63252310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:-109.17, Z:-46.34 [[ 6.92230101e-01 6.70085952e-01 2.67959519e-01 1.85430405e+02] [-6.27835913e-01 7.42258630e-01 -2.34252413e-01 -1.09171990e+02] [-3.55864517e-01 -6.07803770e-03 9.34517792e-01 -4.63367037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:-109.19, Z:-46.35 [[ 6.92556824e-01 6.69798523e-01 2.67833876e-01 1.85453226e+02] [-6.27515020e-01 7.42520116e-01 -2.34283538e-01 -1.09192674e+02] [-3.55794808e-01 -5.81511755e-03 9.34546007e-01 -4.63487518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:-109.21, Z:-46.36 [[ 6.92926340e-01 6.69309829e-01 2.68099683e-01 1.85475226e+02] [-6.26849515e-01 7.42963377e-01 -2.34659551e-01 -1.09212703e+02] [-3.56248190e-01 -5.45637272e-03 9.34375436e-01 -4.63605375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.50, Y:-109.23, Z:-46.37 [[ 6.94266168e-01 6.67723652e-01 2.68588184e-01 1.85497909e+02] [-6.24937498e-01 7.44395369e-01 -2.35220446e-01 -1.09233657e+02] [-3.56998055e-01 -4.54523026e-03 9.34094069e-01 -4.63726660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:-109.25, Z:-46.39 [[ 6.94957294e-01 6.66939422e-01 2.68749266e-01 1.85520975e+02] [-6.23989267e-01 7.45101035e-01 -2.35503381e-01 -1.09254328e+02] [-3.57311844e-01 -4.03186536e-03 9.33976440e-01 -4.63850273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:-109.27, Z:-46.40 [[ 6.95632512e-01 6.66129807e-01 2.69010202e-01 1.85542674e+02] [-6.22980340e-01 7.45827585e-01 -2.35874352e-01 -1.09274118e+02] [-3.57758166e-01 -3.50619895e-03 9.33807690e-01 -4.63967052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.56, Y:-109.29, Z:-46.41 [[ 6.97069850e-01 6.64285012e-01 2.69850046e-01 1.85564544e+02] [-6.20671464e-01 7.47475327e-01 -2.36743678e-01 -1.09294876e+02] [-3.58971528e-01 -2.46134291e-03 9.33345265e-01 -4.64085290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:-109.32, Z:-46.42 [[ 6.97641733e-01 6.63580846e-01 2.70104560e-01 1.85587438e+02] [-6.19780719e-01 7.48101915e-01 -2.37097837e-01 -1.09315520e+02] [-3.59399322e-01 -1.99625234e-03 9.33181731e-01 -4.64210226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:-109.34, Z:-46.43 [[ 6.98085113e-01 6.63146662e-01 2.70025331e-01 1.85609963e+02] [-6.19288359e-01 7.48487639e-01 -2.37166993e-01 -1.09335561e+02] [-3.59387122e-01 -1.66079642e-03 9.33187086e-01 -4.64330890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:-109.36, Z:-46.45 [[ 6.98545447e-01 6.62906824e-01 2.69423089e-01 1.85633146e+02] [-6.19178674e-01 7.48700560e-01 -2.36780998e-01 -1.09355349e+02] [-3.58680957e-01 -1.41874337e-03 9.33459136e-01 -4.64460577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:-109.38, Z:-46.46 [[ 6.98648139e-01 6.62984282e-01 2.68965834e-01 1.85656301e+02] [-6.19360135e-01 7.48632116e-01 -2.36522679e-01 -1.09375134e+02] [-3.58167279e-01 -1.34058572e-03 9.33656469e-01 -4.64587373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:-109.39, Z:-46.47 [[ 6.98822932e-01 6.63040320e-01 2.68372955e-01 1.85678750e+02] [-6.19564417e-01 7.48582639e-01 -2.36143950e-01 -1.09394165e+02] [-3.57472295e-01 -1.25152626e-03 9.33922905e-01 -4.64712945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:-109.41, Z:-46.48 [[ 6.99399803e-01 6.62669836e-01 2.67784623e-01 1.85701593e+02] [-6.19314562e-01 7.48911062e-01 -2.35757704e-01 -1.09413248e+02] [-3.56776386e-01 -9.54024896e-04 9.34189328e-01 -4.64844372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.72, Y:-109.43, Z:-46.50 [[ 6.99873913e-01 6.62229382e-01 2.67635485e-01 1.85723808e+02] [-6.18838205e-01 7.49300920e-01 -2.35769817e-01 -1.09432458e+02] [-3.56673215e-01 -6.13918800e-04 9.34229009e-01 -4.64965682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:-109.45, Z:-46.51 [[ 7.00607923e-01 6.61353383e-01 2.67881020e-01 1.85747033e+02] [-6.17767034e-01 7.50074463e-01 -2.36119020e-01 -1.09452902e+02] [-3.57088825e-01 -6.12068910e-05 9.34070429e-01 -4.65091086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:-109.47, Z:-46.52 [[ 7.00991981e-01 6.60812388e-01 2.68211168e-01 1.85769563e+02] [-6.17022293e-01 7.50551051e-01 -2.36551495e-01 -1.09472964e+02] [-3.57622332e-01 3.28430638e-04 9.33866243e-01 -4.65211363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:-109.49, Z:-46.53 [[ 7.02661493e-01 6.58552046e-01 2.69399387e-01 1.85792547e+02] [-6.14143297e-01 7.52533478e-01 -2.37742245e-01 -1.09493238e+02] [-3.59297700e-01 1.60249320e-03 9.33221622e-01 -4.65333223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:-109.51, Z:-46.55 [[ 7.03757515e-01 6.57108054e-01 2.70063631e-01 1.85814707e+02] [-6.12313387e-01 7.53792369e-01 -2.38473018e-01 -1.09513116e+02] [-3.60274445e-01 2.46360243e-03 9.32843103e-01 -4.65450967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:-109.53, Z:-46.56 [[ 7.04927304e-01 6.55732632e-01 2.70355713e-01 1.85837801e+02] [-6.10687843e-01 7.54986067e-01 -2.38864809e-01 -1.09533340e+02] [-3.60746246e-01 3.27937813e-03 9.32658239e-01 -4.65574021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.86, Y:-109.58, Z:-46.55 [[ 7.06129756e-01 6.47986363e-01 2.85472312e-01 1.85857505e+02] [-6.13401518e-01 7.61192694e-01 -2.10533275e-01 -1.09576651e+02] [-3.53722130e-01 -2.64453391e-02 9.34976630e-01 -4.65487531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:-109.56, Z:-46.59 [[ 7.06458990e-01 6.63310542e-01 2.46849793e-01 1.85890763e+02] [-6.08345610e-01 7.47349040e-01 -2.67179774e-01 -1.09556573e+02] [-3.61706116e-01 3.85815654e-02 9.31493504e-01 -4.65935487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:-109.59, Z:-46.59 [[ 7.07532799e-01 6.52461297e-01 2.71461957e-01 1.85905399e+02] [-6.06682746e-01 7.57804081e-01 -2.40143749e-01 -1.09591949e+02] [-3.62399481e-01 5.21829328e-03 9.32008254e-01 -4.65924035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:-109.64, Z:-46.58 [[ 7.07829765e-01 6.46005121e-01 2.85752355e-01 1.85926097e+02] [-6.10714052e-01 7.62941546e-01 -2.12010717e-01 -1.09635060e+02] [-3.54972352e-01 -2.44454824e-02 9.34557140e-01 -4.65841596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:-109.61, Z:-46.63 [[ 7.08223857e-01 6.61131071e-01 2.47638195e-01 1.85959456e+02] [-6.05933264e-01 7.49240336e-01 -2.67364543e-01 -1.09613795e+02] [-3.62303531e-01 3.93017277e-02 9.31231188e-01 -4.66292831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:185.97, Y:-109.67, Z:-46.61 [[ 7.08685647e-01 6.45214880e-01 2.85416210e-01 1.85971394e+02] [-6.08042316e-01 7.63741109e-01 -2.16758068e-01 -1.09668659e+02] [-3.57839624e-01 -1.99318013e-02 9.33570312e-01 -4.66134606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.376559995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:186.74, Y:-109.08, Z:-46.44 [[ 6.80786230e-01 8.61167075e-02 -7.27402242e-01 1.86735204e+02] [-5.99535008e-01 -5.05013703e-01 -6.20901710e-01 -1.09080398e+02] [-4.20818111e-01 8.58804443e-01 -2.92176394e-01 -4.64355635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:186.07, Y:-109.76, Z:-46.67 [[ 7.08218430e-01 6.15499793e-01 3.45813043e-01 1.86065432e+02] [-5.73363028e-01 7.87242086e-01 -2.26946551e-01 -1.09759155e+02] [-4.11924136e-01 -3.75486834e-02 9.10444179e-01 -4.66672512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:-109.16, Z:-46.55 [[ 0.67204116 0.19561063 -0.71421086 186.80449641] [ -0.56542075 -0.48726139 -0.66548907 -109.16000248] [ -0.47818411 0.8510657 -0.2168574 -46.54973497] [ 0. 0. 0. 1. ]] SLAMing on 221.46655999499998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:186.17, Y:-109.84, Z:-46.74 [[ 6.99701251e-01 5.95947665e-01 3.94036217e-01 1.86166718e+02] [-5.39106823e-01 8.02337064e-01 -2.56162192e-01 -1.09839026e+02] [-4.68809121e-01 -3.31906072e-02 8.82675700e-01 -4.67383952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:-109.23, Z:-46.53 [[ 6.70956731e-01 1.13196507e-01 -7.32805305e-01 1.86970706e+02] [-5.19774952e-01 -6.33020625e-01 -5.73688841e-01 -1.09229762e+02] [-5.28820446e-01 7.65814233e-01 -3.65892741e-01 -4.65331178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:-109.92, Z:-46.82 [[ 6.92867137e-01 5.70785065e-01 4.40612687e-01 1.86279434e+02] [-5.00757343e-01 8.20561166e-01 -2.75538484e-01 -1.09923527e+02] [-5.18822912e-01 -2.97284778e-02 8.54364678e-01 -4.68233334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:-109.32, Z:-46.77 [[ 6.44728903e-01 3.75326604e-01 -6.65923856e-01 1.86961617e+02] [-4.91906313e-01 -4.63106924e-01 -7.37265323e-01 -1.09319653e+02] [-5.85109238e-01 8.02908411e-01 -1.13952893e-01 -4.67745918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:186.38, Y:-110.00, Z:-46.92 [[ 6.66931955e-01 5.65372178e-01 4.85341187e-01 1.86382369e+02] [-4.71943527e-01 8.24569576e-01 -3.12016541e-01 -1.09999169e+02] [-5.76603048e-01 -2.09598305e-02 8.16755539e-01 -4.69173365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:-109.39, Z:-46.69 [[ 6.37683098e-01 1.58297848e-01 -7.53858116e-01 1.87202833e+02] [-4.34360388e-01 -7.34332098e-01 -5.21619998e-01 -1.09389752e+02] [-6.36153535e-01 6.60074360e-01 -3.99512853e-01 -4.66929736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-110.07, Z:-47.02 [[ 6.54278523e-01 5.32665563e-01 5.36830524e-01 1.86487951e+02] [-4.27509809e-01 8.46061740e-01 -3.18457053e-01 -1.10072556e+02] [-6.23822873e-01 -2.11407048e-02 7.81279779e-01 -4.70202679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:-109.45, Z:-46.84 [[ 0.621342 0.25689462 -0.7402292 187.28492425] [ -0.38472192 -0.7229778 -0.57383983 -109.44849199] [ -0.68258565 0.64133319 -0.35038347 -46.83511946] [ 0. 0. 0. 1. ]] SLAMing on 221.706559995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:186.60, Y:-110.14, Z:-47.14 [[ 6.34670899e-01 5.03702306e-01 5.86068969e-01 1.86597566e+02] [-3.80648351e-01 8.63771141e-01 -3.30160944e-01 -1.10144258e+02] [-6.72532291e-01 -1.35426431e-02 7.39943859e-01 -4.71367156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-109.51, Z:-46.90 [[ 0.60676702 0.22222253 -0.76318473 187.41576273] [ -0.32770257 -0.80480165 -0.4948791 -109.51342739] [ -0.72418562 0.55037391 -0.4155042 -46.89940454] [ 0. 0. 0. 1. ]] SLAMing on 221.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:-109.89, Z:-46.58 [[ 6.42704539e-01 -4.16314566e-01 -6.43127560e-01 1.87603096e+02] [-2.49719397e-01 -9.07460418e-01 3.37869520e-01 -1.09887943e+02] [-7.24272807e-01 -5.65488470e-02 -6.87190752e-01 -4.65837309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:-110.27, Z:-47.28 [[ 6.54243186e-01 3.58801474e-01 6.65753225e-01 1.86741636e+02] [-2.57951391e-01 9.33375461e-01 -2.49542240e-01 -1.10271201e+02] [-7.10933846e-01 -8.47066014e-03 7.03207874e-01 -4.72791591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.76, Y:-110.26, Z:-47.31 [[ 6.52362381e-01 3.74243619e-01 6.59063758e-01 1.86758895e+02] [-2.57701551e-01 9.27301996e-01 -2.71479132e-01 -1.10264559e+02] [-7.12750471e-01 7.26101982e-03 7.01380099e-01 -4.73092745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:-110.28, Z:-47.33 [[ 6.51300146e-01 3.65726394e-01 6.64870156e-01 1.86782211e+02] [-2.60293092e-01 9.30704994e-01 -2.56974165e-01 -1.10281379e+02] [-7.12780209e-01 -5.69379752e-03 7.01364352e-01 -4.73295674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:-110.28, Z:-47.36 [[ 6.50551341e-01 3.75669677e-01 6.60041852e-01 1.86801291e+02] [-2.60916514e-01 9.26746523e-01 -2.70302525e-01 -1.10280135e+02] [-7.13235953e-01 3.62985107e-03 7.00914616e-01 -4.73558989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:-110.29, Z:-47.38 [[ 6.49710801e-01 3.72778465e-01 6.62504408e-01 1.86822695e+02] [-2.62010026e-01 9.27919464e-01 -2.65172046e-01 -1.10290897e+02] [-7.13601164e-01 -1.29765510e-03 7.00550994e-01 -4.73786407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.84, Y:-110.29, Z:-47.40 [[ 6.47346459e-01 3.77193387e-01 6.62319946e-01 1.86840534e+02] [-2.63471619e-01 9.26134491e-01 -2.69921488e-01 -1.10292238e+02] [-7.15209947e-01 2.30210663e-04 6.98909636e-01 -4.74028982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:-110.31, Z:-47.42 [[ 6.47367963e-01 3.70764270e-01 6.65919347e-01 1.86862710e+02] [-2.63591510e-01 9.28702983e-01 -2.60826158e-01 -1.10305990e+02] [-7.15146304e-01 -6.68018776e-03 6.98942873e-01 -4.74246211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:-110.31, Z:-47.45 [[ 6.46356481e-01 3.72223456e-01 6.66087831e-01 1.86883942e+02] [-2.65441362e-01 9.28108108e-01 -2.61067467e-01 -1.10313595e+02] [-7.15376952e-01 -8.06461233e-03 6.98692192e-01 -4.74485768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.90, Y:-110.32, Z:-47.48 [[ 6.44140078e-01 3.80109190e-01 6.63777495e-01 1.86903198e+02] [-2.67434421e-01 9.24934959e-01 -2.70137284e-01 -1.10316842e+02] [-7.16632675e-01 -3.51069874e-03 6.97441958e-01 -4.74772836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:-110.32, Z:-47.50 [[ 6.42773570e-01 3.80503701e-01 6.64875230e-01 1.86923389e+02] [-2.70289413e-01 9.24749027e-01 -2.67923256e-01 -1.10324334e+02] [-7.16788512e-01 -7.49474826e-03 6.97250355e-01 -4.75013146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:-110.33, Z:-47.52 [[ 6.42196094e-01 3.80390366e-01 6.65497818e-01 1.86944101e+02] [-2.71749239e-01 9.24774137e-01 -2.66355302e-01 -1.10333092e+02] [-7.16754161e-01 -9.79619093e-03 6.97257131e-01 -4.75248437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:-110.34, Z:-47.55 [[ 6.41089286e-01 3.84085513e-01 6.64441756e-01 1.86963387e+02] [-2.71987558e-01 9.23272427e-01 -2.71276230e-01 -1.10336894e+02] [-7.17654023e-01 -6.80760595e-03 6.96366542e-01 -4.75514494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.99, Y:-110.35, Z:-47.57 [[ 6.41271668e-01 3.79005851e-01 6.67177048e-01 1.86985134e+02] [-2.73335496e-01 9.25291890e-01 -2.62911819e-01 -1.10350345e+02] [-7.16978629e-01 -1.37652686e-02 6.96959226e-01 -4.75727087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:-110.37, Z:-47.59 [[ 6.43619636e-01 3.69963086e-01 6.69985880e-01 1.87008572e+02] [-2.75428112e-01 9.28716502e-01 -2.48243861e-01 -1.10367452e+02] [-7.14068008e-01 -2.47583227e-02 6.99638411e-01 -4.75870876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:-110.35, Z:-47.63 [[ 6.39395582e-01 3.97782527e-01 6.57983549e-01 1.87020882e+02] [-2.72030417e-01 9.17455813e-01 -2.90300335e-01 -1.10348680e+02] [-7.19147232e-01 6.62521240e-03 6.94826140e-01 -4.76277499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:-110.39, Z:-47.63 [[ 6.43674089e-01 3.59434319e-01 6.75640909e-01 1.87050198e+02] [-2.75455514e-01 9.32486721e-01 -2.33650967e-01 -1.10392720e+02] [-7.14008352e-01 -3.57139405e-02 6.99225706e-01 -4.76292036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27655999499999 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:187.07, Y:-110.38, Z:-47.67 [[ 6.42806329e-01 3.87907032e-01 6.60551405e-01 1.87066736e+02] [-2.73310548e-01 9.21691569e-01 -2.75292565e-01 -1.10379488e+02] [-7.15612582e-01 -3.57586302e-03 6.98488257e-01 -4.76675187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.09, Y:-110.40, Z:-47.68 [[ 6.44077358e-01 3.74754242e-01 6.66876012e-01 1.87087996e+02] [-2.72993739e-01 9.26979874e-01 -2.57260046e-01 -1.10398868e+02] [-7.14589935e-01 -1.63576056e-02 6.99352310e-01 -4.76811395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:-110.41, Z:-47.71 [[ 6.44260890e-01 3.77963759e-01 6.64884428e-01 1.87108016e+02] [-2.71656363e-01 9.25753113e-01 -2.63028504e-01 -1.10405669e+02] [-7.14934072e-01 -1.11611075e-02 6.99102784e-01 -4.77059810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:-110.42, Z:-47.73 [[ 6.44878896e-01 3.77008187e-01 6.64827825e-01 1.87128669e+02] [-2.69982215e-01 9.26159332e-01 -2.63322038e-01 -1.10415610e+02] [-7.15011058e-01 -9.68086308e-03 6.99046113e-01 -4.77294152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:-110.43, Z:-47.75 [[ 6.45895689e-01 3.74421717e-01 6.65302290e-01 1.87147463e+02] [-2.65759962e-01 9.27236397e-01 -2.63826282e-01 -1.10427164e+02] [-7.15674788e-01 -6.40645346e-03 6.98404293e-01 -4.77524604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:-110.44, Z:-47.78 [[ 6.46442457e-01 3.73369931e-01 6.65362340e-01 1.87167678e+02] [-2.63925217e-01 9.27669852e-01 -2.64144139e-01 -1.10437181e+02] [-7.15860063e-01 -4.85191342e-03 6.98226918e-01 -4.77760054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:-110.45, Z:-47.80 [[ 6.46816525e-01 3.72403701e-01 6.65540282e-01 1.87188154e+02] [-2.62145722e-01 9.28064732e-01 -2.64528777e-01 -1.10447183e+02] [-7.16175959e-01 -3.36695374e-03 6.97911642e-01 -4.77996455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:-110.45, Z:-47.83 [[ 6.45257134e-01 3.82583076e-01 6.61266528e-01 1.87204253e+02] [-2.59162441e-01 9.23863189e-01 -2.81623217e-01 -1.10447004e+02] [-7.18664080e-01 1.03439425e-02 6.95280478e-01 -4.78331128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:-110.47, Z:-47.84 [[ 6.48020913e-01 3.61357639e-01 6.70439820e-01 1.87228150e+02] [-2.57848408e-01 9.32386545e-01 -2.53317054e-01 -1.10474852e+02] [-7.16647120e-01 -8.71709159e-03 6.97381472e-01 -4.78425097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:-110.48, Z:-47.87 [[ 6.48317102e-01 3.69333549e-01 6.65791007e-01 1.87247753e+02] [-2.56897710e-01 9.29296371e-01 -2.65352260e-01 -1.10477580e+02] [-7.16720658e-01 9.92223173e-04 6.97359673e-01 -4.78693810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:-110.48, Z:-47.90 [[ 6.47287626e-01 3.77985265e-01 6.61925878e-01 1.87264426e+02] [-2.53944814e-01 9.25715557e-01 -2.80290454e-01 -1.10476754e+02] [-7.18700745e-01 1.33358987e-02 6.95191623e-01 -4.79013749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.29, Y:-110.50, Z:-47.92 [[ 6.48745067e-01 3.63611321e-01 6.68518246e-01 1.87285808e+02] [-2.53075161e-01 9.31550734e-01 -2.61086562e-01 -1.10498856e+02] [-7.17692692e-01 1.93256623e-04 6.96359937e-01 -4.79179814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:-110.50, Z:-47.94 [[ 6.49364098e-01 3.67611876e-01 6.65723499e-01 1.87305896e+02] [-2.52225065e-01 9.29961277e-01 -2.67496804e-01 -1.10504151e+02] [-7.17432077e-01 5.79066811e-03 6.96604395e-01 -4.79429535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.33, Y:-110.52, Z:-47.96 [[ 6.50611622e-01 3.60091450e-01 6.68609501e-01 1.87329044e+02] [-2.53694559e-01 9.32911011e-01 -2.55570180e-01 -1.10521849e+02] [-7.15781802e-01 -3.34566302e-03 6.98315988e-01 -4.79598665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.696559995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:187.35, Y:-110.53, Z:-47.99 [[ 6.51066511e-01 3.68439909e-01 6.63599602e-01 1.87349031e+02] [-2.53879522e-01 9.29635876e-01 -2.67062401e-01 -1.10526359e+02] [-7.15302444e-01 5.40103617e-03 6.98794135e-01 -4.79887867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:-110.53, Z:-48.01 [[ 6.51773931e-01 3.71469378e-01 6.61211951e-01 1.87366746e+02] [-2.52328446e-01 9.28380206e-01 -2.72837953e-01 -1.10531156e+02] [-7.15207032e-01 1.09860807e-02 6.98826307e-01 -4.80109991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:-110.54, Z:-48.03 [[ 6.51928303e-01 3.67058381e-01 6.63519128e-01 1.87387271e+02] [-2.52588258e-01 9.30178067e-01 -2.66398078e-01 -1.10544207e+02] [-7.14974587e-01 6.07530653e-03 6.99124046e-01 -4.80320445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.41, Y:-110.55, Z:-48.06 [[ 6.52491483e-01 3.67298506e-01 6.62832311e-01 1.87407999e+02] [-2.52515621e-01 9.30078857e-01 -2.66813009e-01 -1.10553548e+02] [-7.14486337e-01 6.71770328e-03 6.99617143e-01 -4.80564807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.43, Y:-110.56, Z:-48.08 [[ 6.52535048e-01 3.67668452e-01 6.62584275e-01 1.87428728e+02] [-2.53151748e-01 9.29935579e-01 -2.66709600e-01 -1.10562929e+02] [-7.14221397e-01 6.30299462e-03 6.99891469e-01 -4.80786856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:-110.57, Z:-48.10 [[ 6.51063018e-01 3.71480315e-01 6.61905826e-01 1.87447623e+02] [-2.55612693e-01 9.28419085e-01 -2.69629660e-01 -1.10570836e+02] [-7.14688112e-01 6.35437011e-03 6.99414415e-01 -4.81019890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:-110.58, Z:-48.12 [[ 6.50032020e-01 3.70824136e-01 6.63285635e-01 1.87468339e+02] [-2.57128742e-01 9.28697764e-01 -2.67217653e-01 -1.10581196e+02] [-7.15082641e-01 3.15022987e-03 6.99032826e-01 -4.81248697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:-110.60, Z:-48.14 [[ 6.50806809e-01 3.64085981e-01 6.66252126e-01 1.87494118e+02] [-2.61663475e-01 9.31317301e-01 -2.53338332e-01 -1.10602633e+02] [-7.12729067e-01 -9.45953521e-03 7.01375644e-01 -4.81436474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:-110.60, Z:-48.17 [[ 6.48589601e-01 3.84728650e-01 6.56746066e-01 1.87510475e+02] [-2.64701777e-01 9.23000836e-01 -2.79289143e-01 -1.10595222e+02] [-7.13627703e-01 7.30218287e-03 7.00487102e-01 -4.81729802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:-110.60, Z:-48.20 [[ 6.45521102e-01 3.89155861e-01 6.57160728e-01 1.87526212e+02] [-2.64617643e-01 9.21112984e-01 -2.85531737e-01 -1.10596974e+02] [-7.16435629e-01 1.04204381e-02 6.97575375e-01 -4.81988624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:-110.62, Z:-48.22 [[ 6.44534216e-01 3.78214142e-01 6.64477018e-01 1.87548360e+02] [-2.66727972e-01 9.25707760e-01 -2.68181528e-01 -1.10616555e+02] [-7.16541578e-01 -4.38243711e-03 6.97530617e-01 -4.82173528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:-110.64, Z:-48.23 [[ 6.45554674e-01 3.71200391e-01 6.67434965e-01 1.87574772e+02] [-2.72845096e-01 9.28355088e-01 -2.52413124e-01 -1.10639126e+02] [-7.13312496e-01 -1.91598849e-02 7.00584172e-01 -4.82343905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-110.62, Z:-48.27 [[ 6.42092039e-01 3.97510851e-01 6.55517305e-01 1.87587415e+02] [-2.71544725e-01 9.17558277e-01 -2.90431182e-01 -1.10621461e+02] [-7.16924875e-01 8.48128327e-03 6.97098839e-01 -4.82701320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:-110.64, Z:-48.29 [[ 6.41481928e-01 3.83149170e-01 6.64603378e-01 1.87609425e+02] [-2.73175720e-01 9.23641518e-01 -2.68814753e-01 -1.10643069e+02] [-7.16851422e-01 -9.11370051e-03 6.97166393e-01 -4.82869856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:-110.65, Z:-48.31 [[ 6.40539122e-01 3.84196357e-01 6.64908108e-01 1.87630711e+02] [-2.74366846e-01 9.23196803e-01 -2.69129145e-01 -1.10651612e+02] [-7.17239477e-01 -1.00409946e-02 6.96754413e-01 -4.83111900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.65, Y:-110.66, Z:-48.33 [[ 6.39155052e-01 3.86157534e-01 6.65103885e-01 1.87651534e+02] [-2.76808746e-01 9.22356746e-01 -2.69508722e-01 -1.10660476e+02] [-7.17535879e-01 -1.18487111e-02 6.96420757e-01 -4.83347079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:-110.67, Z:-48.36 [[ 6.38894492e-01 3.86885176e-01 6.64931341e-01 1.87672992e+02] [-2.77603392e-01 9.22046609e-01 -2.69752493e-01 -1.10669188e+02] [-7.17460929e-01 -1.22438137e-02 6.96491137e-01 -4.83586148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:-110.68, Z:-48.38 [[ 6.38603030e-01 3.87410441e-01 6.64905497e-01 1.87694332e+02] [-2.78050573e-01 9.21823675e-01 -2.70053682e-01 -1.10677718e+02] [-7.17547245e-01 -1.24202549e-02 6.96399087e-01 -4.83825398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:-110.69, Z:-48.41 [[ 6.38761363e-01 3.87687210e-01 6.64592016e-01 1.87715704e+02] [-2.78254143e-01 9.21708800e-01 -2.70236044e-01 -1.10686135e+02] [-7.17327368e-01 -1.23091381e-02 6.96627542e-01 -4.84063595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.74, Y:-110.69, Z:-48.43 [[ 6.39154084e-01 3.87807959e-01 6.64143843e-01 1.87737154e+02] [-2.78285741e-01 9.21661847e-01 -2.70363618e-01 -1.10694631e+02] [-7.16965204e-01 -1.20177508e-02 6.97005359e-01 -4.84304448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:-110.70, Z:-48.45 [[ 6.39439319e-01 3.87843637e-01 6.63848379e-01 1.87757506e+02] [-2.78132893e-01 9.21651753e-01 -2.70555244e-01 -1.10702288e+02] [-7.16770152e-01 -1.16344095e-02 6.97212442e-01 -4.84532698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:-110.71, Z:-48.48 [[ 6.39755143e-01 3.87903063e-01 6.63509285e-01 1.87778619e+02] [-2.78054168e-01 9.21630842e-01 -2.70707354e-01 -1.10710209e+02] [-7.16518832e-01 -1.13051006e-02 6.97476134e-01 -4.84770995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:-110.72, Z:-48.50 [[ 6.41086386e-01 3.85678385e-01 6.63521234e-01 1.87801552e+02] [-2.78896213e-01 9.22526511e-01 -2.66761576e-01 -1.10722723e+02] [-7.15000103e-01 -1.40363449e-02 6.98983428e-01 -4.84998007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:187.82, Y:-110.73, Z:-48.53 [[ 6.41518363e-01 3.90819981e-01 6.60086307e-01 1.87822024e+02] [-2.79407688e-01 9.20422785e-01 -2.73410388e-01 -1.10727953e+02] [-7.14412720e-01 -9.03540385e-03 6.99666226e-01 -4.85253007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:-110.73, Z:-48.55 [[ 6.41511361e-01 3.95574299e-01 6.57255009e-01 1.87839468e+02] [-2.78070028e-01 9.18431174e-01 -2.81356069e-01 -1.10728825e+02] [-7.14940720e-01 -2.26980398e-03 6.99181389e-01 -4.85498416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.86, Y:-110.74, Z:-48.57 [[ 6.42136804e-01 3.88275166e-01 6.60986173e-01 1.87861370e+02] [-2.78210802e-01 9.21490741e-01 -2.71023181e-01 -1.10743685e+02] [-7.14324208e-01 -9.85953406e-03 6.99745465e-01 -4.85706765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:-110.76, Z:-48.59 [[ 6.43354454e-01 3.86353096e-01 6.60928387e-01 1.87884557e+02] [-2.79552238e-01 9.22259484e-01 -2.66998109e-01 -1.10757478e+02] [-7.12703019e-01 -1.29895867e-02 7.01345619e-01 -4.85930566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:-110.75, Z:-48.62 [[ 6.43214576e-01 3.95066454e-01 6.55894432e-01 1.87901501e+02] [-2.77652686e-01 9.18651572e-01 -2.81048527e-01 -1.10754138e+02] [-7.13571296e-01 -1.33634164e-03 7.00581344e-01 -4.86189738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:-110.77, Z:-48.64 [[ 6.43791396e-01 3.87799506e-01 6.59654593e-01 1.87923638e+02] [-2.77311294e-01 9.21706152e-01 -2.71212491e-01 -1.10768297e+02] [-7.13183766e-01 -8.32540039e-03 7.00927673e-01 -4.86395415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:-110.78, Z:-48.66 [[ 6.44297515e-01 3.85377212e-01 6.60579380e-01 1.87947001e+02] [-2.78112545e-01 9.22685348e-01 -2.67030262e-01 -1.10782055e+02] [-7.12414293e-01 -1.16684782e-02 7.01662114e-01 -4.86618379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:-110.78, Z:-48.69 [[ 6.44636286e-01 3.93809431e-01 6.55254294e-01 1.87964609e+02] [-2.75334543e-01 9.19191460e-01 -2.81563402e-01 -1.10778792e+02] [-7.13186475e-01 1.09184428e-03 7.00973509e-01 -4.86878632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:-110.79, Z:-48.71 [[ 6.44931337e-01 3.86240581e-01 6.59455672e-01 1.87986605e+02] [-2.74414013e-01 9.22380897e-01 -2.71864728e-01 -1.10793274e+02] [-7.13274505e-01 -5.62979468e-03 7.00862173e-01 -4.87084318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:-110.80, Z:-48.73 [[ 6.44993613e-01 3.85923830e-01 6.59580198e-01 1.88007006e+02] [-2.73593206e-01 9.22517785e-01 -2.72227286e-01 -1.10801857e+02] [-7.13533459e-01 -4.87180030e-03 7.00604216e-01 -4.87313937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:-110.81, Z:-48.76 [[ 6.45152215e-01 3.84849350e-01 6.60052723e-01 1.88028177e+02] [-2.71565925e-01 9.22973478e-01 -2.72712132e-01 -1.10811217e+02] [-7.14164245e-01 -3.30699242e-03 6.99970353e-01 -4.87551050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:-110.82, Z:-48.78 [[ 6.45219748e-01 3.84467655e-01 6.60209133e-01 1.88049711e+02] [-2.70640094e-01 9.23135134e-01 -2.73085085e-01 -1.10820112e+02] [-7.14454629e-01 -2.47917147e-03 6.99677381e-01 -4.87788747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:-110.83, Z:-48.80 [[ 6.45167597e-01 3.84278720e-01 6.60370076e-01 1.88070596e+02] [-2.69982862e-01 9.23215258e-01 -2.73464516e-01 -1.10828689e+02] [-7.14750324e-01 -1.85815836e-03 6.99377238e-01 -4.88025085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:-110.84, Z:-48.83 [[ 6.45026723e-01 3.84095578e-01 6.60614194e-01 1.88091015e+02] [-2.69296926e-01 9.23292503e-01 -2.73879755e-01 -1.10836941e+02] [-7.15136136e-01 -1.24161131e-03 6.98984096e-01 -4.88258564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:-110.84, Z:-48.85 [[ 6.45365652e-01 3.83548200e-01 6.60601206e-01 1.88111356e+02] [-2.68219311e-01 9.23520826e-01 -2.74167256e-01 -1.10844756e+02] [-7.15235330e-01 -2.47870085e-04 6.98883654e-01 -4.88493189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:-110.85, Z:-48.87 [[ 6.45515530e-01 3.83703073e-01 6.60364787e-01 1.88132463e+02] [-2.68246844e-01 9.23456523e-01 -2.74356850e-01 -1.10853607e+02] [-7.15089737e-01 -3.91626520e-05 6.99032665e-01 -4.88731841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:-110.86, Z:-48.90 [[ 6.45468601e-01 3.83969544e-01 6.60255764e-01 1.88153895e+02] [-2.68359827e-01 9.23345755e-01 -2.74619045e-01 -1.10862470e+02] [-7.15089707e-01 7.18483128e-05 6.99032693e-01 -4.88973043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:-110.87, Z:-48.92 [[ 6.45524194e-01 3.83988283e-01 6.60190513e-01 1.88175142e+02] [-2.68277550e-01 9.23337937e-01 -2.74725699e-01 -1.10871559e+02] [-7.15070396e-01 2.27792374e-04 6.99052414e-01 -4.89213567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:-110.88, Z:-48.95 [[ 6.45211628e-01 3.85669259e-01 6.59515866e-01 1.88195113e+02] [-2.68280304e-01 9.22635276e-01 -2.77073685e-01 -1.10879067e+02] [-7.15351406e-01 1.83604665e-03 6.98762474e-01 -4.89460822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:-110.89, Z:-48.97 [[ 6.45654732e-01 3.83728369e-01 6.60213985e-01 1.88215762e+02] [-2.69046263e-01 9.23445503e-01 -2.73610145e-01 -1.10890096e+02] [-7.14663610e-01 -9.70420077e-04 6.99467642e-01 -4.89667919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:-110.90, Z:-48.99 [[ 6.45501505e-01 3.85288038e-01 6.59455028e-01 1.88236266e+02] [-2.69709553e-01 9.22796327e-01 -2.75143045e-01 -1.10897557e+02] [-7.14552002e-01 -2.56071000e-04 6.99582283e-01 -4.89909236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:-110.91, Z:-49.01 [[ 6.46071220e-01 3.82293401e-01 6.60638883e-01 1.88258698e+02] [-2.71865087e-01 9.24022044e-01 -2.68835707e-01 -1.10909915e+02] [-7.13219008e-01 -5.91763412e-03 7.00916278e-01 -4.90115848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.28, Y:-110.91, Z:-49.04 [[ 6.45084340e-01 3.92780284e-01 6.55431036e-01 1.88276377e+02] [-2.72065274e-01 9.19621565e-01 -2.83331368e-01 -1.10907997e+02] [-7.14035490e-01 4.45260429e-03 7.00095346e-01 -4.90400217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:-110.92, Z:-49.06 [[ 6.44928217e-01 3.87888088e-01 6.58491021e-01 1.88297895e+02] [-2.72956729e-01 9.21704315e-01 -2.75600763e-01 -1.10921289e+02] [-7.13836269e-01 -1.99684647e-03 7.00309784e-01 -4.90620387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:-110.93, Z:-49.09 [[ 6.45215347e-01 3.88465643e-01 6.57868984e-01 1.88318618e+02] [-2.73727415e-01 9.21460529e-01 -2.75651585e-01 -1.10929929e+02] [-7.13281472e-01 -2.22214382e-03 7.00874171e-01 -4.90858493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:-110.94, Z:-49.11 [[ 6.45479539e-01 3.88746954e-01 6.57443511e-01 1.88339517e+02] [-2.73993881e-01 9.21342117e-01 -2.75782625e-01 -1.10938799e+02] [-7.12940052e-01 -2.12345772e-03 7.01221772e-01 -4.91094285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:-110.95, Z:-49.13 [[ 6.46399221e-01 3.88116478e-01 6.56912206e-01 1.88359411e+02] [-2.73006203e-01 9.21609765e-01 -2.75867821e-01 -1.10947423e+02] [-7.12485551e-01 -1.02036301e-03 7.01686040e-01 -4.91324498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:-110.96, Z:-49.16 [[ 6.46618450e-01 3.87462504e-01 6.57082482e-01 1.88380358e+02] [-2.71710055e-01 9.21885461e-01 -2.76226074e-01 -1.10956342e+02] [-7.12782033e-01 7.69584415e-05 7.01385606e-01 -4.91564657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:-110.97, Z:-49.18 [[ 6.47090050e-01 3.86719211e-01 6.57056101e-01 1.88400589e+02] [-2.70345538e-01 9.22196589e-01 -2.76526203e-01 -1.10965193e+02] [-7.12872890e-01 1.30516947e-03 7.01292050e-01 -4.91791262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:-110.97, Z:-49.20 [[ 6.47168499e-01 3.85766015e-01 6.57538985e-01 1.88421719e+02] [-2.68483664e-01 9.22592585e-01 -2.77018853e-01 -1.10974266e+02] [-7.13505050e-01 2.73939930e-03 7.00644731e-01 -4.92029078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:-110.98, Z:-49.23 [[ 6.47737686e-01 3.83386556e-01 6.58369682e-01 1.88443089e+02] [-2.64413290e-01 9.23569890e-01 -2.77676558e-01 -1.10983237e+02] [-7.14507874e-01 5.77987761e-03 6.99603524e-01 -4.92261979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:-110.99, Z:-49.25 [[ 6.47593480e-01 3.82617887e-01 6.58958449e-01 1.88463241e+02] [-2.62737211e-01 9.23879774e-01 -2.78236090e-01 -1.10991825e+02] [-7.15256487e-01 7.05097292e-03 6.98826474e-01 -4.92489491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:-111.00, Z:-49.27 [[ 6.47786299e-01 3.81575721e-01 6.59373096e-01 1.88484138e+02] [-2.60767929e-01 9.24297622e-01 -2.78700544e-01 -1.11000973e+02] [-7.15802346e-01 8.59503735e-03 6.98250046e-01 -4.92725024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:-111.01, Z:-49.30 [[ 6.49025590e-01 3.79179510e-01 6.59536718e-01 1.88504970e+02] [-2.56955039e-01 9.25249659e-01 -2.79082743e-01 -1.11009789e+02] [-7.16058581e-01 1.16605583e-02 6.97942791e-01 -4.92957494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:-111.02, Z:-49.32 [[ 6.49953938e-01 3.77969351e-01 6.59317108e-01 1.88525793e+02] [-2.55132855e-01 9.25723389e-01 -2.79183511e-01 -1.11018434e+02] [-7.15868078e-01 1.32429666e-02 6.98109962e-01 -4.93194542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:-111.03, Z:-49.34 [[ 6.50710329e-01 3.77232135e-01 6.58993159e-01 1.88545902e+02] [-2.53918582e-01 9.26006043e-01 -2.79353115e-01 -1.11026520e+02] [-7.15612619e-01 1.44473488e-02 6.98347946e-01 -4.93422468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:-111.03, Z:-49.37 [[ 6.52937811e-01 3.75141803e-01 6.57982403e-01 1.88566256e+02] [-2.51126923e-01 9.26810263e-01 -2.79209609e-01 -1.11034194e+02] [-7.14568040e-01 1.70694143e-02 6.99357671e-01 -4.93653819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.59, Y:-111.06, Z:-49.38 [[ 6.56852750e-01 3.59983018e-01 6.62538069e-01 1.88594319e+02] [-2.52706059e-01 9.32958348e-01 -2.56375445e-01 -1.11059753e+02] [-7.10411228e-01 9.73532032e-04 7.03786146e-01 -4.93780058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:-111.03, Z:-49.42 [[ 6.54700941e-01 3.91965956e-01 6.46319864e-01 1.88605325e+02] [-2.48217204e-01 9.19114499e-01 -3.05968557e-01 -1.11034082e+02] [-7.13971216e-01 3.98901928e-02 6.99037821e-01 -4.94195573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:-111.06, Z:-49.44 [[ 6.55118274e-01 3.72000612e-01 6.57598351e-01 1.88628419e+02] [-2.46058546e-01 9.27983197e-01 -2.79825621e-01 -1.11058442e+02] [-7.14335522e-01 2.15111838e-02 6.99472680e-01 -4.94362252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:-111.07, Z:-49.46 [[ 6.56724917e-01 3.69309803e-01 6.57512473e-01 1.88649526e+02] [-2.41988322e-01 9.28974598e-01 -2.80085432e-01 -1.11066013e+02] [-7.14250681e-01 2.48287426e-02 6.99449425e-01 -4.94590435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:-111.07, Z:-49.48 [[ 6.57255523e-01 3.68374888e-01 6.57506744e-01 1.88670759e+02] [-2.40387624e-01 9.29307777e-01 -2.80358424e-01 -1.11074047e+02] [-7.14303134e-01 2.62106388e-02 6.99345433e-01 -4.94828812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:-111.08, Z:-49.51 [[ 6.58471334e-01 3.66636553e-01 6.57261851e-01 1.88692507e+02] [-2.37757337e-01 9.29928850e-01 -2.80541944e-01 -1.11081157e+02] [-7.14063688e-01 2.84600006e-02 6.99502021e-01 -4.95061914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.71, Y:-111.09, Z:-49.53 [[ 6.58724054e-01 3.66570943e-01 6.57045177e-01 1.88713875e+02] [-2.37459191e-01 9.29940554e-01 -2.80755587e-01 -1.11088985e+02] [-7.13929796e-01 2.89190418e-02 6.99619851e-01 -4.95296513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:-111.11, Z:-49.54 [[ 6.61899645e-01 3.52347812e-01 6.61619134e-01 1.88743326e+02] [-2.40546329e-01 9.35799305e-01 -2.57715200e-01 -1.11114589e+02] [-7.09948113e-01 1.14315457e-02 7.04161201e-01 -4.95421731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:-111.09, Z:-49.58 [[ 6.59469897e-01 3.85886597e-01 6.45128661e-01 1.88754599e+02] [-2.38497178e-01 9.21256542e-01 -3.07254746e-01 -1.11088215e+02] [-7.12894488e-01 4.87638910e-02 6.99573821e-01 -4.95839203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:-111.11, Z:-49.60 [[ 6.58642910e-01 3.67959147e-01 6.56350199e-01 1.88777532e+02] [-2.39050744e-01 9.29411804e-01 -2.81155544e-01 -1.11111859e+02] [-7.13473376e-01 2.82801020e-02 7.00111403e-01 -4.96003273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:-111.12, Z:-49.62 [[ 6.57913909e-01 3.69974875e-01 6.55948077e-01 1.88800282e+02] [-2.41780065e-01 9.28664598e-01 -2.81290711e-01 -1.11118004e+02] [-7.13226253e-01 2.64699027e-02 7.00433905e-01 -4.96241557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:-111.13, Z:-49.65 [[ 6.57387193e-01 3.71339898e-01 6.55704780e-01 1.88821943e+02] [-2.43514960e-01 9.28150191e-01 -2.81491896e-01 -1.11125121e+02] [-7.13121689e-01 2.53752444e-02 7.00580869e-01 -4.96478994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:-111.14, Z:-49.67 [[ 6.57718932e-01 3.68739831e-01 6.56838446e-01 1.88845056e+02] [-2.45649312e-01 9.29317479e-01 -2.75727111e-01 -1.11136257e+02] [-7.12083017e-01 1.99990287e-02 7.01810385e-01 -4.96669929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:-111.13, Z:-49.70 [[ 6.55506075e-01 3.79528838e-01 6.52893289e-01 1.88864126e+02] [-2.49842634e-01 9.24845821e-01 -2.86773196e-01 -1.11134789e+02] [-7.12664328e-01 2.48609929e-02 7.01064538e-01 -4.96950479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.89, Y:-111.15, Z:-49.71 [[ 6.55418632e-01 3.74465326e-01 6.55897962e-01 1.88888082e+02] [-2.52709468e-01 9.27108749e-01 -2.76780225e-01 -1.11149167e+02] [-7.11733336e-01 1.56552912e-02 7.02275281e-01 -4.97143490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:-111.15, Z:-49.74 [[ 6.53363860e-01 3.83549982e-01 6.52690644e-01 1.88906468e+02] [-2.55432273e-01 9.23287841e-01 -2.86869164e-01 -1.11149151e+02] [-7.12649998e-01 2.07116892e-02 7.01213951e-01 -4.97411475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:-111.16, Z:-49.76 [[ 6.50763210e-01 3.84174315e-01 6.54917812e-01 1.88928379e+02] [-2.60850104e-01 9.23170476e-01 -2.82335784e-01 -1.11156674e+02] [-7.13066944e-01 1.28983617e-02 7.00977293e-01 -4.97629781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:-111.18, Z:-49.77 [[ 6.53113587e-01 3.70069759e-01 6.60674667e-01 1.88956860e+02] [-2.65832565e-01 9.28974417e-01 -2.57564710e-01 -1.11181712e+02] [-7.09066773e-01 -7.40983001e-03 7.05102408e-01 -4.97749075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.97, Y:-111.15, Z:-49.82 [[ 6.48729994e-01 4.07074413e-01 6.42992860e-01 1.88969612e+02] [-2.65682370e-01 9.12895395e-01 -3.09894943e-01 -1.11154348e+02] [-7.13135523e-01 3.02062775e-02 7.00375119e-01 -4.98170634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:188.99, Y:-111.18, Z:-49.83 [[ 6.46866653e-01 3.90138697e-01 6.55252112e-01 1.88992101e+02] [-2.68558761e-01 9.20728397e-01 -2.83081988e-01 -1.11176582e+02] [-7.13750464e-01 7.14260272e-03 7.00363661e-01 -4.98339695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:-111.18, Z:-49.86 [[ 6.46126430e-01 3.91515108e-01 6.55161474e-01 1.89013705e+02] [-2.70259499e-01 9.20152065e-01 -2.83337219e-01 -1.11184768e+02] [-7.13778985e-01 6.00805400e-03 7.00345246e-01 -4.98579530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-111.19, Z:-49.88 [[ 6.45253033e-01 3.93161695e-01 6.55036185e-01 1.89034916e+02] [-2.72338550e-01 9.19457830e-01 -2.83600094e-01 -1.11192908e+02] [-7.13778843e-01 4.60221625e-03 7.00356040e-01 -4.98811368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:-111.20, Z:-49.91 [[ 6.44164321e-01 3.95008099e-01 6.54996893e-01 1.89056430e+02] [-2.74666346e-01 9.18672830e-01 -2.83898977e-01 -1.11200960e+02] [-7.13870245e-01 2.97198857e-03 7.00271691e-01 -4.99050797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:-111.21, Z:-49.93 [[ 6.41592897e-01 3.99342133e-01 6.54892674e-01 1.89078018e+02] [-2.80576472e-01 9.16800866e-01 -2.84170750e-01 -1.11207368e+02] [-7.13887525e-01 -1.42554142e-03 7.00258931e-01 -4.99277778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:-111.21, Z:-49.95 [[ 6.39847233e-01 4.02047769e-01 6.54945120e-01 1.89099211e+02] [-2.84121588e-01 9.15609715e-01 -2.84488616e-01 -1.11214859e+02] [-7.14052128e-01 -4.05479357e-03 7.00080793e-01 -4.99515475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:-111.22, Z:-49.97 [[ 6.38286187e-01 4.05026148e-01 6.54633152e-01 1.89119978e+02] [-2.88202161e-01 9.14278543e-01 -2.84665171e-01 -1.11222183e+02] [-7.13813882e-01 -6.96884218e-03 7.00300776e-01 -4.99745312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:-111.23, Z:-50.00 [[ 6.36742904e-01 4.07843060e-01 6.54387127e-01 1.89141680e+02] [-2.92048049e-01 9.13000124e-01 -2.84848577e-01 -1.11229535e+02] [-7.13629043e-01 -9.73717363e-03 7.00456120e-01 -4.99983802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:-111.24, Z:-50.02 [[ 6.34385341e-01 4.12805935e-01 6.53564456e-01 1.89162590e+02] [-2.99186318e-01 9.10697811e-01 -2.84810542e-01 -1.11236060e+02] [-7.12771202e-01 -1.48579100e-02 7.01239229e-01 -5.00218592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:-111.24, Z:-50.05 [[ 6.33505896e-01 4.15004040e-01 6.53025212e-01 1.89183859e+02] [-3.02260735e-01 9.09662319e-01 -2.84873504e-01 -1.11244655e+02] [-7.12256083e-01 -1.69148359e-02 7.01715868e-01 -5.00455512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:-111.25, Z:-50.07 [[ 6.32797468e-01 4.16791197e-01 6.52573723e-01 1.89205310e+02] [-3.04700200e-01 9.08813916e-01 -2.84982552e-01 -1.11253324e+02] [-7.11846299e-01 -1.85031067e-02 7.02091505e-01 -5.00694108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:-111.26, Z:-50.09 [[ 6.32156933e-01 4.18199293e-01 6.52293617e-01 1.89226555e+02] [-3.06526917e-01 9.08142161e-01 -2.85164976e-01 -1.11262087e+02] [-7.11631127e-01 -1.96765350e-02 7.02277704e-01 -5.00930085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:-111.27, Z:-50.12 [[ 6.31577480e-01 4.19591518e-01 6.51960770e-01 1.89248007e+02] [-3.08349163e-01 9.07474110e-01 -2.85327064e-01 -1.11270127e+02] [-7.11358335e-01 -2.08254096e-02 7.02520905e-01 -5.01166623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:-111.28, Z:-50.14 [[ 6.31508544e-01 4.20096960e-01 6.51702005e-01 1.89269004e+02] [-3.08869571e-01 9.07236606e-01 -2.85519402e-01 -1.11278708e+02] [-7.11193748e-01 -2.09829767e-02 7.02682836e-01 -5.01398878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:-111.29, Z:-50.16 [[ 6.31466977e-01 4.20345238e-01 6.51582181e-01 1.89290267e+02] [-3.08964469e-01 9.07124446e-01 -2.85772981e-01 -1.11287629e+02] [-7.11189437e-01 -2.08595422e-02 7.02690874e-01 -5.01636373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:-111.30, Z:-50.19 [[ 6.31510904e-01 4.20294728e-01 6.51572191e-01 1.89311028e+02] [-3.08583286e-01 9.07158227e-01 -2.86077449e-01 -1.11296776e+02] [-7.11315917e-01 -2.04032592e-02 7.02576240e-01 -5.01868460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:-111.31, Z:-50.21 [[ 6.32022103e-01 4.18710321e-01 6.52096411e-01 1.89330911e+02] [-3.05774816e-01 9.07936606e-01 -2.86623240e-01 -1.11306677e+02] [-7.12074311e-01 -1.82424373e-02 7.01867074e-01 -5.02093204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:-111.32, Z:-50.23 [[ 6.32787459e-01 4.17538415e-01 6.52105593e-01 1.89351594e+02] [-3.03891005e-01 9.08506310e-01 -2.86821445e-01 -1.11316637e+02] [-7.12201018e-01 -1.66720104e-02 7.01777568e-01 -5.02322589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:-111.33, Z:-50.26 [[ 6.33502493e-01 4.16326793e-01 6.52186011e-01 1.89372496e+02] [-3.01799690e-01 9.09092851e-01 -2.87170916e-01 -1.11326914e+02] [-7.12454587e-01 -1.49060446e-02 7.01559885e-01 -5.02561364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:-111.34, Z:-50.28 [[ 6.34333028e-01 4.14880888e-01 6.52300129e-01 1.89392625e+02] [-2.99359421e-01 9.09784569e-01 -2.87534302e-01 -1.11337054e+02] [-7.12745079e-01 -1.28796848e-02 7.01304903e-01 -5.02792163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:-111.35, Z:-50.30 [[ 6.36936817e-01 4.11110047e-01 6.52150306e-01 1.89412747e+02] [-2.93825125e-01 9.11547053e-01 -2.87660851e-01 -1.11347896e+02] [-7.12725955e-01 -8.39635859e-03 7.01392339e-01 -5.03027496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:-111.36, Z:-50.33 [[ 6.38480137e-01 4.09225506e-01 6.51826358e-01 1.89433157e+02] [-2.90955507e-01 9.12414331e-01 -2.87828042e-01 -1.11357915e+02] [-7.12522286e-01 -5.87998102e-03 7.01624841e-01 -5.03261021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.45, Y:-111.37, Z:-50.35 [[ 6.40040292e-01 4.07254024e-01 6.51530954e-01 1.89453113e+02] [-2.87951241e-01 9.13309075e-01 -2.88011488e-01 -1.11367844e+02] [-7.12342970e-01 -3.27019022e-03 7.01823909e-01 -5.03488220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.47, Y:-111.38, Z:-50.37 [[ 6.43746196e-01 4.02524814e-01 6.50818415e-01 1.89473041e+02] [-2.81238336e-01 9.15406044e-01 -2.87987454e-01 -1.11379398e+02] [-7.11685206e-01 2.35573995e-03 7.02494568e-01 -5.03724275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:-111.39, Z:-50.40 [[ 6.45612412e-01 4.00334886e-01 6.50320377e-01 1.89493063e+02] [-2.78035001e-01 9.16354282e-01 -2.88082223e-01 -1.11389813e+02] [-7.11253226e-01 5.17763264e-03 7.02916809e-01 -5.03957951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:-111.40, Z:-50.42 [[ 6.45549709e-01 4.00625480e-01 6.50203659e-01 1.89514273e+02] [-2.78182290e-01 9.16226769e-01 -2.88345490e-01 -1.11399156e+02] [-7.11252547e-01 5.26620439e-03 7.02916838e-01 -5.04199237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-111.41, Z:-50.44 [[ 6.47468154e-01 3.98092673e-01 6.49851686e-01 1.89534795e+02] [-2.74577612e-01 9.17307915e-01 -2.88363182e-01 -1.11409817e+02] [-7.10909365e-01 8.27125362e-03 7.03234998e-01 -5.04436043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.55, Y:-111.42, Z:-50.47 [[ 6.49309924e-01 3.95588635e-01 6.49543112e-01 1.89554708e+02] [-2.70853771e-01 9.18356740e-01 -2.88546587e-01 -1.11420108e+02] [-7.10658046e-01 1.14249605e-02 7.03444818e-01 -5.04667437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:-111.43, Z:-50.49 [[ 6.53168507e-01 3.90110045e-01 6.48987715e-01 1.89574383e+02] [-2.63083715e-01 9.20596857e-01 -2.88597271e-01 -1.11431225e+02] [-7.10040746e-01 1.77645493e-02 7.03936475e-01 -5.04898041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:-111.43, Z:-50.52 [[ 6.54238124e-01 3.91370214e-01 6.47149004e-01 1.89591354e+02] [-2.57294018e-01 9.19829634e-01 -2.96164198e-01 -1.11434020e+02] [-7.11176677e-01 2.72543421e-02 7.02484829e-01 -5.05167126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:-111.46, Z:-50.53 [[ 6.56122219e-01 3.77878594e-01 6.53231507e-01 1.89614620e+02] [-2.55166647e-01 9.25707958e-01 -2.79203793e-01 -1.11457029e+02] [-7.10206742e-01 1.65089188e-02 7.03799573e-01 -5.05324649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:-111.46, Z:-50.56 [[ 6.57754011e-01 3.82593136e-01 6.48831375e-01 1.89634931e+02] [-2.51684023e-01 9.23520330e-01 -2.89422446e-01 -1.11461540e+02] [-7.09940007e-01 2.70682842e-02 7.03741781e-01 -5.05583549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:-111.47, Z:-50.58 [[ 6.59722349e-01 3.78193339e-01 6.49412211e-01 1.89655247e+02] [-2.44903556e-01 9.25164045e-01 -2.89989204e-01 -1.11472804e+02] [-7.10484814e-01 3.22689992e-02 7.02972290e-01 -5.05810855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:-111.48, Z:-50.60 [[ 6.60433100e-01 3.76702561e-01 6.49556234e-01 1.89676295e+02] [-2.42420850e-01 9.25698927e-01 -2.90368091e-01 -1.11483043e+02] [-7.10675912e-01 3.43027241e-02 7.02682767e-01 -5.06045362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.70, Y:-111.49, Z:-50.63 [[ 6.60874265e-01 3.75602202e-01 6.49744713e-01 1.89697082e+02] [-2.40462447e-01 9.26084595e-01 -2.90766460e-01 -1.11492989e+02] [-7.10931092e-01 3.59208668e-02 7.02343701e-01 -5.06279944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:-111.50, Z:-50.65 [[ 6.61129890e-01 3.74334890e-01 6.50215856e-01 1.89718227e+02] [-2.38120390e-01 9.26524803e-01 -2.91291040e-01 -1.11502000e+02] [-7.11481517e-01 3.77515598e-02 7.01690011e-01 -5.06510886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:-111.51, Z:-50.67 [[ 6.60872111e-01 3.74227603e-01 6.50539587e-01 1.89738911e+02] [-2.37478901e-01 9.26544784e-01 -2.91750809e-01 -1.11510305e+02] [-7.11935267e-01 3.83205467e-02 7.01198768e-01 -5.06740240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:-111.52, Z:-50.70 [[ 6.60801847e-01 3.74832291e-01 6.50262772e-01 1.89759818e+02] [-2.38177289e-01 9.26312601e-01 -2.91918730e-01 -1.11518651e+02] [-7.11767166e-01 3.80226121e-02 7.01385617e-01 -5.06977983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:-111.53, Z:-50.72 [[ 6.61168451e-01 3.75692508e-01 6.49393116e-01 1.89781199e+02] [-2.39533609e-01 9.25989398e-01 -2.91834345e-01 -1.11526542e+02] [-7.10971118e-01 3.74001847e-02 7.02225958e-01 -5.07221093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.80, Y:-111.53, Z:-50.75 [[ 6.60300092e-01 3.78233736e-01 6.48801224e-01 1.89802355e+02] [-2.43095326e-01 9.25048078e-01 -2.91874487e-01 -1.11532447e+02] [-7.10569103e-01 3.50042056e-02 7.02756185e-01 -5.07461835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:-111.54, Z:-50.77 [[ 6.59482489e-01 3.79841248e-01 6.48693667e-01 1.89823613e+02] [-2.45116206e-01 9.24439935e-01 -2.92111027e-01 -1.11539634e+02] [-7.10634148e-01 3.36367765e-02 7.02757195e-01 -5.07696921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:-111.55, Z:-50.79 [[ 6.58223647e-01 3.81482328e-01 6.49009140e-01 1.89844261e+02] [-2.46944674e-01 9.23811658e-01 -2.92558281e-01 -1.11546792e+02] [-7.11168024e-01 3.22994280e-02 7.02279708e-01 -5.07925689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:-111.55, Z:-50.82 [[ 6.57340739e-01 3.82931844e-01 6.49050349e-01 1.89865688e+02] [-2.48671018e-01 9.23252632e-01 -2.92860551e-01 -1.11554006e+02] [-7.11383074e-01 3.11091600e-02 7.02115619e-01 -5.08159211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:-111.56, Z:-50.84 [[ 6.55625158e-01 3.84910880e-01 6.49614706e-01 1.89888471e+02] [-2.50845159e-01 9.22484575e-01 -2.93426166e-01 -1.11559058e+02] [-7.12202470e-01 2.94248727e-02 7.01357126e-01 -5.08402917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:-111.57, Z:-50.86 [[ 6.54923831e-01 3.85807962e-01 6.49789959e-01 1.89909394e+02] [-2.51700018e-01 9.22127105e-01 -2.93817466e-01 -1.11565955e+02] [-7.12546052e-01 2.88759167e-02 7.01030887e-01 -5.08632971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:-111.57, Z:-50.89 [[ 6.54250494e-01 3.86890520e-01 6.49824605e-01 1.89931390e+02] [-2.52911236e-01 9.21697937e-01 -2.94123817e-01 -1.11571122e+02] [-7.12735714e-01 2.80827082e-02 7.00870290e-01 -5.08859103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:-111.58, Z:-50.91 [[ 6.53796332e-01 3.87286725e-01 6.50045652e-01 1.89953197e+02] [-2.53065514e-01 9.21532689e-01 -2.94508657e-01 -1.11578461e+02] [-7.13097611e-01 2.80445429e-02 7.00503605e-01 -5.09096528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:-111.59, Z:-50.93 [[ 6.53184265e-01 3.87701824e-01 6.50413416e-01 1.89975274e+02] [-2.53151675e-01 9.21358817e-01 -2.94978237e-01 -1.11585596e+02] [-7.13627736e-01 2.80218973e-02 6.99964447e-01 -5.09335959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:-111.59, Z:-50.96 [[ 6.52749884e-01 3.88028908e-01 6.50654405e-01 1.89997628e+02] [-2.53164947e-01 9.21218667e-01 -2.95404262e-01 -1.11592495e+02] [-7.14020377e-01 2.81022098e-02 6.99560696e-01 -5.09575990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:-111.60, Z:-50.98 [[ 6.52199211e-01 3.88567907e-01 6.50884914e-01 1.90020380e+02] [-2.53483627e-01 9.20996145e-01 -2.95824528e-01 -1.11596196e+02] [-7.14410414e-01 2.79478546e-02 6.99168562e-01 -5.09809390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.04, Y:-111.60, Z:-51.01 [[ 6.51796982e-01 3.89130372e-01 6.50951802e-01 1.90042412e+02] [-2.53943214e-01 9.20765410e-01 -2.96148448e-01 -1.11602957e+02] [-7.14614259e-01 2.77238725e-02 6.98969133e-01 -5.10052190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:-111.61, Z:-51.03 [[ 6.51443702e-01 3.89862866e-01 6.50867151e-01 1.90063519e+02] [-2.54695502e-01 9.20467158e-01 -2.96429438e-01 -1.11609290e+02] [-7.14668667e-01 2.73341551e-02 6.98928852e-01 -5.10282673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:-111.61, Z:-51.05 [[ 6.49854761e-01 3.91955146e-01 6.51198859e-01 1.90085559e+02] [-2.57177401e-01 9.19632134e-01 -2.96877960e-01 -1.11613253e+02] [-7.15226240e-01 2.54539258e-02 6.98429326e-01 -5.10517107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:-111.62, Z:-51.07 [[ 6.49170164e-01 3.93568595e-01 6.50908488e-01 1.90106792e+02] [-2.59309676e-01 9.18980801e-01 -2.97040031e-01 -1.11619727e+02] [-7.15078031e-01 2.40426562e-02 6.98631062e-01 -5.10746878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:-111.63, Z:-51.10 [[ 6.48334189e-01 3.95530431e-01 6.50552425e-01 1.90128330e+02] [-2.61972480e-01 9.18183619e-01 -2.97168744e-01 -1.11626307e+02] [-7.14865861e-01 2.22378246e-02 6.98907920e-01 -5.10982775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:-111.63, Z:-51.12 [[ 6.47251826e-01 3.97671556e-01 6.50324848e-01 1.90150383e+02] [-2.64801452e-01 9.17303873e-01 -2.97378204e-01 -1.11633273e+02] [-7.14804355e-01 2.02716217e-02 6.99030612e-01 -5.11224500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:-111.64, Z:-51.15 [[ 6.45189215e-01 4.01974381e-01 6.49728769e-01 1.90172635e+02] [-2.70884207e-01 9.15513032e-01 -2.97418283e-01 -1.11637755e+02] [-7.14389686e-01 1.58898065e-02 6.99567646e-01 -5.11462717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:-111.64, Z:-51.17 [[ 6.43958523e-01 4.04147402e-01 6.49601646e-01 1.90193266e+02] [-2.73712359e-01 9.14588473e-01 -2.97673428e-01 -1.11644560e+02] [-7.14422120e-01 1.38853419e-02 6.99577181e-01 -5.11691972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:-111.65, Z:-51.19 [[ 6.42706088e-01 4.06313016e-01 6.49491045e-01 1.90214562e+02] [-2.76646169e-01 9.13658665e-01 -2.97816625e-01 -1.11652250e+02] [-7.14419892e-01 1.17293483e-02 6.99618925e-01 -5.11925213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:-111.66, Z:-51.22 [[ 6.40508132e-01 4.09904723e-01 6.49405459e-01 1.90236791e+02] [-2.81484318e-01 9.12092128e-01 -2.98084768e-01 -1.11657994e+02] [-7.14503962e-01 8.12826544e-03 6.99584177e-01 -5.12161050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-111.67, Z:-51.24 [[ 6.39347477e-01 4.11680671e-01 6.49425769e-01 1.90258700e+02] [-2.83684628e-01 9.11304599e-01 -2.98407373e-01 -1.11665936e+02] [-7.14673237e-01 6.55389332e-03 6.99427774e-01 -5.12400246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:-111.67, Z:-51.26 [[ 6.37992281e-01 4.13242019e-01 6.49766791e-01 1.90280313e+02] [-2.85425575e-01 9.10606261e-01 -2.98878703e-01 -1.11673837e+02] [-7.15190947e-01 5.22224510e-03 6.98909607e-01 -5.12642360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:-111.68, Z:-51.29 [[ 6.36571215e-01 4.17143886e-01 6.48666375e-01 1.90299658e+02] [-2.85099840e-01 9.08795965e-01 -3.04644014e-01 -1.11676438e+02] [-7.16585772e-01 8.99293034e-03 6.97441007e-01 -5.12902580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:-111.69, Z:-51.31 [[ 6.34887227e-01 4.11077983e-01 6.54165958e-01 1.90322818e+02] [-2.89272081e-01 9.11592333e-01 -2.92097726e-01 -1.11693314e+02] [-7.16407616e-01 -3.78283283e-03 6.97671712e-01 -5.13092332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:-111.70, Z:-51.33 [[ 6.33858511e-01 4.17981587e-01 6.50780133e-01 1.90344032e+02] [-2.90928551e-01 9.08455052e-01 -3.00116639e-01 -1.11697398e+02] [-7.16647728e-01 9.00964772e-04 6.97434744e-01 -5.13342859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:-111.71, Z:-51.36 [[ 6.32975864e-01 4.19196106e-01 6.50858035e-01 1.90365267e+02] [-2.92307404e-01 9.07895711e-01 -3.00469233e-01 -1.11705609e+02] [-7.16866750e-01 -6.08506567e-05 6.97210197e-01 -5.13585966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.39, Y:-111.71, Z:-51.38 [[ 6.31677563e-01 4.22006406e-01 6.50303044e-01 1.90386226e+02] [-2.96273515e-01 9.06588437e-01 -3.00531880e-01 -1.11712855e+02] [-7.16383598e-01 -2.82832330e-03 6.97700896e-01 -5.13817929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:-111.72, Z:-51.41 [[ 6.30853183e-01 4.23824455e-01 6.49920835e-01 1.90407195e+02] [-2.98859120e-01 9.05732517e-01 -3.00552549e-01 -1.11721500e+02] [-7.16035954e-01 -4.63023645e-03 6.98048045e-01 -5.14057125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-111.73, Z:-51.43 [[ 6.28985665e-01 4.27115256e-01 6.49576471e-01 1.90427472e+02] [-3.03417771e-01 9.04162250e-01 -3.00712958e-01 -1.11729572e+02] [-7.15761615e-01 -7.94890527e-03 6.98299452e-01 -5.14289179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:-111.74, Z:-51.45 [[ 6.27706185e-01 4.29850780e-01 6.49009439e-01 1.90448259e+02] [-3.07305056e-01 9.02836978e-01 -3.00747390e-01 -1.11738925e+02] [-7.15226221e-01 -1.06628854e-02 6.98811674e-01 -5.14533863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:-111.75, Z:-51.48 [[ 6.27274796e-01 4.31002483e-01 6.48662617e-01 1.90468243e+02] [-3.08791798e-01 9.02276803e-01 -3.00905626e-01 -1.11748707e+02] [-7.14964304e-01 -1.15511803e-02 6.99065529e-01 -5.14769734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-111.76, Z:-51.50 [[ 6.27218785e-01 4.31255221e-01 6.48548788e-01 1.90489313e+02] [-3.08901859e-01 9.02157315e-01 -3.01150827e-01 -1.11758445e+02] [-7.14965899e-01 -1.14504705e-02 6.99065555e-01 -5.15010937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:-111.77, Z:-51.52 [[ 6.27169277e-01 4.32097345e-01 6.48035943e-01 1.90509640e+02] [-3.10203807e-01 9.01744254e-01 -3.01049661e-01 -1.11768856e+02] [-7.14445447e-01 -1.22141184e-02 6.99584533e-01 -5.15244204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:-111.78, Z:-51.55 [[ 6.27136378e-01 4.33007328e-01 6.47460128e-01 1.90529248e+02] [-3.11451472e-01 9.01299156e-01 -3.01094357e-01 -1.11780190e+02] [-7.13931330e-01 -1.28251853e-02 7.00098258e-01 -5.15481212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.55, Y:-111.79, Z:-51.57 [[ 6.27017259e-01 4.33420563e-01 6.47298982e-01 1.90548380e+02] [-3.11798847e-01 9.01099632e-01 -3.01331930e-01 -1.11790533e+02] [-7.13884330e-01 -1.28867555e-02 7.00145053e-01 -5.15709463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:-111.80, Z:-51.59 [[ 6.27312070e-01 4.33669404e-01 6.46846516e-01 1.90568217e+02] [-3.12063518e-01 9.00981446e-01 -3.01411340e-01 -1.11801725e+02] [-7.13509585e-01 -1.27782279e-02 7.00528935e-01 -5.15943021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:-111.81, Z:-51.62 [[ 6.27390471e-01 4.33908706e-01 6.46609954e-01 1.90588310e+02] [-3.12200153e-01 9.00868098e-01 -3.01608579e-01 -1.11813395e+02] [-7.13380867e-01 -1.26453788e-02 7.00662424e-01 -5.16179111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:-111.82, Z:-51.64 [[ 6.27351107e-01 4.34160819e-01 6.46478903e-01 1.90607825e+02] [-3.12288895e-01 9.00748548e-01 -3.01873647e-01 -1.11824931e+02] [-7.13376643e-01 -1.25074155e-02 7.00669201e-01 -5.16406766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:-111.84, Z:-51.66 [[ 6.26868124e-01 4.34361925e-01 6.46812240e-01 1.90626682e+02] [-3.12222208e-01 9.00651827e-01 -3.02231003e-01 -1.11838274e+02] [-7.13830266e-01 -1.24901640e-02 7.00207360e-01 -5.16638006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:-111.85, Z:-51.69 [[ 6.26395721e-01 4.34833217e-01 6.46953225e-01 1.90646987e+02] [-3.12530791e-01 9.00422181e-01 -3.02596101e-01 -1.11850125e+02] [-7.14109870e-01 -1.26479000e-02 6.99919370e-01 -5.16874878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:-111.86, Z:-51.71 [[ 6.25698320e-01 4.35259153e-01 6.47341550e-01 1.90666668e+02] [-3.12643963e-01 9.00215045e-01 -3.03095075e-01 -1.11861665e+02] [-7.14671508e-01 -1.27413478e-02 6.99344188e-01 -5.17106743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.69, Y:-111.88, Z:-51.73 [[ 6.24340211e-01 4.36082890e-01 6.48097998e-01 1.90685429e+02] [-3.13154575e-01 8.99808276e-01 -3.03775047e-01 -1.11875102e+02] [-7.15635042e-01 -1.32958763e-02 6.98347841e-01 -5.17332891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:-111.89, Z:-51.76 [[ 6.23624478e-01 4.36751594e-01 6.48336761e-01 1.90704342e+02] [-3.13700041e-01 8.99478082e-01 -3.04189850e-01 -1.11886468e+02] [-7.16020108e-01 -1.36830321e-02 6.97945542e-01 -5.17559005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:-111.90, Z:-51.78 [[ 6.22952648e-01 4.37561527e-01 6.48436511e-01 1.90724201e+02] [-3.14516704e-01 8.99075823e-01 -3.04535561e-01 -1.11898365e+02] [-7.16246635e-01 -1.42328805e-02 6.97702074e-01 -5.17794347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:-111.91, Z:-51.80 [[ 6.22382425e-01 4.38350543e-01 6.48451169e-01 1.90743776e+02] [-3.15321304e-01 8.98683388e-01 -3.04861680e-01 -1.11909881e+02] [-7.16388576e-01 -1.47299169e-02 6.97546011e-01 -5.18030619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:-111.92, Z:-51.83 [[ 6.21686024e-01 4.39840679e-01 6.48110072e-01 1.90762097e+02] [-3.17301368e-01 8.97932917e-01 -3.05018555e-01 -1.11922777e+02] [-7.16118935e-01 -1.60204401e-02 6.97794394e-01 -5.18260324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:-111.93, Z:-51.85 [[ 6.21498485e-01 4.40758188e-01 6.47666467e-01 1.90781770e+02] [-3.18523131e-01 8.97470988e-01 -3.05104639e-01 -1.11934207e+02] [-7.15739232e-01 -1.66746797e-02 6.98168537e-01 -5.18497855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.80, Y:-111.94, Z:-51.87 [[ 6.21439617e-01 4.41021396e-01 6.47543767e-01 1.90802772e+02] [-3.18632175e-01 8.97343755e-01 -3.05364901e-01 -1.11944056e+02] [-7.15741810e-01 -1.65624316e-02 6.98168566e-01 -5.18739129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.82, Y:-111.96, Z:-51.90 [[ 6.21447401e-01 4.41672071e-01 6.47092660e-01 1.90821672e+02] [-3.19631847e-01 8.97013408e-01 -3.05290727e-01 -1.11955053e+02] [-7.15289180e-01 -1.71092931e-02 6.98619111e-01 -5.18966531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.84, Y:-111.97, Z:-51.92 [[ 6.21402602e-01 4.42446700e-01 6.46606312e-01 1.90840301e+02] [-3.20665191e-01 8.96622182e-01 -3.05356347e-01 -1.11968140e+02] [-7.14865471e-01 -1.75949081e-02 6.99040613e-01 -5.19209098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:-111.98, Z:-51.94 [[ 6.21741024e-01 4.42679105e-01 6.46121745e-01 1.90859115e+02] [-3.20883952e-01 8.96510929e-01 -3.05453176e-01 -1.11979653e+02] [-7.14472944e-01 -1.74173284e-02 6.99446244e-01 -5.19439283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.88, Y:-111.99, Z:-51.97 [[ 6.22303272e-01 4.42456650e-01 6.45732724e-01 1.90878054e+02] [-3.20428291e-01 8.96633405e-01 -3.05572000e-01 -1.11991358e+02] [-7.14187894e-01 -1.67525777e-02 6.99753530e-01 -5.19668349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:-112.01, Z:-51.99 [[ 6.24139316e-01 4.40710450e-01 6.45154565e-01 1.90896185e+02] [-3.17869872e-01 8.97534777e-01 -3.05597886e-01 -1.12006078e+02] [-7.13728841e-01 -1.43395436e-02 7.00275317e-01 -5.19905801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:-112.02, Z:-52.01 [[ 6.24946725e-01 4.39693639e-01 6.45066737e-01 1.90915416e+02] [-3.16123127e-01 8.98057104e-01 -3.05875148e-01 -1.12018438e+02] [-7.13798123e-01 -1.27648414e-02 7.00235174e-01 -5.20142734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.93, Y:-112.03, Z:-52.04 [[ 6.26088674e-01 4.38399327e-01 6.44840292e-01 1.90934146e+02] [-3.14044954e-01 8.98714536e-01 -3.06084873e-01 -1.12030640e+02] [-7.13714746e-01 -1.08725674e-02 7.00352089e-01 -5.20370046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:-112.05, Z:-52.06 [[ 6.28170654e-01 4.35047410e-01 6.45085560e-01 1.90951837e+02] [-3.08821474e-01 9.00382738e-01 -3.06496693e-01 -1.12045598e+02] [-7.14164495e-01 -6.68404592e-03 6.99945996e-01 -5.20604879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-112.06, Z:-52.08 [[ 6.29184633e-01 4.33533444e-01 6.45116618e-01 1.90970361e+02] [-3.06314119e-01 9.01125957e-01 -3.06828406e-01 -1.12057584e+02] [-7.14351705e-01 -4.55661108e-03 6.99772019e-01 -5.20831620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.99, Y:-112.07, Z:-52.11 [[ 6.29916510e-01 4.32136918e-01 6.45339348e-01 1.90989862e+02] [-3.04008123e-01 9.01803900e-01 -3.07129918e-01 -1.12069957e+02] [-7.14691717e-01 -2.72219783e-03 6.99434299e-01 -5.21068226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:-112.08, Z:-52.13 [[ 6.31382442e-01 4.29882975e-01 6.45412148e-01 1.91008363e+02] [-3.00426272e-01 9.02884584e-01 -3.07479242e-01 -1.12084365e+02] [-7.14912769e-01 2.38229258e-04 6.99213612e-01 -5.21306118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:-112.10, Z:-52.15 [[ 6.31900701e-01 4.29267015e-01 6.45314911e-01 1.91028370e+02] [-2.99271865e-01 9.03176634e-01 -3.07747168e-01 -1.12096208e+02] [-7.14939057e-01 1.34105375e-03 6.99185488e-01 -5.21546359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:-112.11, Z:-52.18 [[ 6.32199150e-01 4.29276997e-01 6.45015888e-01 1.91048007e+02] [-2.99111990e-01 9.03171221e-01 -3.07918436e-01 -1.12108030e+02] [-7.14742088e-01 1.73378774e-03 6.99385975e-01 -5.21784302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:-112.12, Z:-52.20 [[ 6.32312097e-01 4.29441483e-01 6.44795646e-01 1.91068183e+02] [-2.99130122e-01 9.03092565e-01 -3.08131447e-01 -1.12119755e+02] [-7.14634579e-01 1.95744122e-03 6.99495237e-01 -5.22023224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:-112.13, Z:-52.23 [[ 6.31875221e-01 4.30424551e-01 6.44568391e-01 1.91087318e+02] [-3.00323690e-01 9.02625691e-01 -3.08338358e-01 -1.12132760e+02] [-7.14520389e-01 1.25221064e-03 6.99613498e-01 -5.22263302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:-112.14, Z:-52.25 [[ 6.31205669e-01 4.31497623e-01 6.44506947e-01 1.91106653e+02] [-3.01565824e-01 9.02113964e-01 -3.08623474e-01 -1.12143663e+02] [-7.14589013e-01 4.43617815e-04 6.99544384e-01 -5.22502282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:-112.15, Z:-52.27 [[ 6.30730485e-01 4.32761498e-01 6.44124632e-01 1.91125904e+02] [-3.03233284e-01 9.01508266e-01 -3.08759489e-01 -1.12154574e+02] [-7.14302899e-01 -5.76005439e-04 6.99836436e-01 -5.22729529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:-112.17, Z:-52.30 [[ 6.29942449e-01 4.34028444e-01 6.44043338e-01 1.91145652e+02] [-3.04781525e-01 9.00897694e-01 -3.09017100e-01 -1.12165529e+02] [-7.14339369e-01 -1.62952204e-03 6.99797550e-01 -5.22971121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-112.18, Z:-52.32 [[ 6.29100123e-01 4.36123023e-01 6.43451431e-01 1.91164189e+02] [-3.07742228e-01 8.99879873e-01 -3.09048435e-01 -1.12177126e+02] [-7.13812130e-01 -3.59476835e-03 7.00328009e-01 -5.23206498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:-112.19, Z:-52.34 [[ 6.28557496e-01 4.37213589e-01 6.43241597e-01 1.91183219e+02] [-3.09104365e-01 8.99346679e-01 -3.09241076e-01 -1.12187457e+02] [-7.13701594e-01 -4.45298943e-03 7.00435725e-01 -5.23437441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:-112.20, Z:-52.37 [[ 6.28379924e-01 4.38062871e-01 6.42837143e-01 1.91203514e+02] [-3.10220747e-01 8.98930197e-01 -3.09334106e-01 -1.12198463e+02] [-7.13373506e-01 -5.04207689e-03 7.00765880e-01 -5.23677469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:-112.21, Z:-52.39 [[ 6.27522592e-01 4.39160009e-01 6.42926032e-01 1.91222876e+02] [-3.11436514e-01 8.98389507e-01 -3.09683051e-01 -1.12211218e+02] [-7.13598412e-01 -5.89753182e-03 7.00530174e-01 -5.23917234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.24, Y:-112.22, Z:-52.42 [[ 6.27110376e-01 4.39608322e-01 6.43021850e-01 1.91242582e+02] [-3.11705668e-01 8.98169554e-01 -3.10050042e-01 -1.12222380e+02] [-7.13843227e-01 -5.99795694e-03 7.00279852e-01 -5.24150559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:-112.23, Z:-52.44 [[ 6.26996843e-01 4.39919617e-01 6.42919661e-01 1.91262252e+02] [-3.11870129e-01 8.98017544e-01 -3.10324851e-01 -1.12233671e+02] [-7.13871124e-01 -5.93473568e-03 7.00251952e-01 -5.24381983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:-112.24, Z:-52.46 [[ 6.26886262e-01 4.39951594e-01 6.43005606e-01 1.91281568e+02] [-3.11670061e-01 8.98003301e-01 -3.10566972e-01 -1.12244376e+02] [-7.14055591e-01 -5.71542772e-03 7.00065673e-01 -5.24609397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:-112.26, Z:-52.48 [[ 6.26409962e-01 4.40098874e-01 6.43368900e-01 1.91301772e+02] [-3.11509434e-01 8.97931592e-01 -3.10935250e-01 -1.12255305e+02] [-7.14543513e-01 -5.64254404e-03 6.99568245e-01 -5.24848096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:-112.27, Z:-52.51 [[ 6.26060168e-01 4.40144112e-01 6.43678357e-01 1.91321814e+02] [-3.11104651e-01 8.97911521e-01 -3.11398133e-01 -1.12267202e+02] [-7.15026267e-01 -5.29736373e-03 6.99077518e-01 -5.25086569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:-112.28, Z:-52.53 [[ 6.26130283e-01 4.40253624e-01 6.43535248e-01 1.91341959e+02] [-3.11005640e-01 8.97859472e-01 -3.11647012e-01 -1.12278120e+02] [-7.15007945e-01 -5.01146017e-03 6.99098365e-01 -5.25322026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:-112.29, Z:-52.56 [[ 6.26384048e-01 4.40266125e-01 6.43279693e-01 1.91361566e+02] [-3.10823459e-01 8.97855469e-01 -3.11840237e-01 -1.12288453e+02] [-7.14864883e-01 -4.61466967e-03 6.99247384e-01 -5.25555707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.38, Y:-112.30, Z:-52.58 [[ 6.26517286e-01 4.40431533e-01 6.43036667e-01 1.91381685e+02] [-3.10978948e-01 8.97774677e-01 -3.11917814e-01 -1.12299303e+02] [-7.14680477e-01 -4.54896381e-03 6.99436289e-01 -5.25795984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:-112.31, Z:-52.60 [[ 6.27864618e-01 4.40323845e-01 6.41795087e-01 1.91401375e+02] [-3.11112817e-01 8.97830057e-01 -3.11624780e-01 -1.12310461e+02] [-7.13438741e-01 -4.01250426e-03 7.00706117e-01 -5.26030844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:-112.32, Z:-52.63 [[ 6.28228500e-01 4.40559508e-01 6.41277063e-01 1.91421766e+02] [-3.11378242e-01 8.97715083e-01 -3.11690906e-01 -1.12321091e+02] [-7.13002484e-01 -3.86661394e-03 7.01150845e-01 -5.26272706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:-112.33, Z:-52.65 [[ 6.28440021e-01 4.40701437e-01 6.40972217e-01 1.91441119e+02] [-3.11404806e-01 8.97646463e-01 -3.11861946e-01 -1.12330820e+02] [-7.12804452e-01 -3.61530097e-03 7.01353508e-01 -5.26502677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.46, Y:-112.34, Z:-52.67 [[ 6.28804526e-01 4.40984624e-01 6.40419729e-01 1.91461269e+02] [-3.11777060e-01 8.97507635e-01 -3.11889580e-01 -1.12341049e+02] [-7.12320106e-01 -3.55060125e-03 7.01845753e-01 -5.26741310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-112.35, Z:-52.70 [[ 6.29574847e-01 4.40802893e-01 6.39787717e-01 1.91481826e+02] [-3.11505943e-01 8.97599128e-01 -3.11897182e-01 -1.12350764e+02] [-7.11758077e-01 -2.93505518e-03 7.02418554e-01 -5.26980750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:-112.36, Z:-52.72 [[ 6.29557065e-01 4.41114064e-01 6.39590717e-01 1.91501712e+02] [-3.11724493e-01 8.97446427e-01 -3.12118168e-01 -1.12360276e+02] [-7.11678117e-01 -2.87989422e-03 7.02499796e-01 -5.27208676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.52, Y:-112.37, Z:-52.74 [[ 6.29632840e-01 4.41098368e-01 6.39526947e-01 1.91522117e+02] [-3.11535619e-01 8.97454960e-01 -3.12282168e-01 -1.12369643e+02] [-7.11693786e-01 -2.61231485e-03 7.02484969e-01 -5.27443814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.54, Y:-112.38, Z:-52.77 [[ 6.29576725e-01 4.40702865e-01 6.39854774e-01 1.91543342e+02] [-3.10491536e-01 8.97651308e-01 -3.12757311e-01 -1.12378031e+02] [-7.12199518e-01 -1.76476732e-03 7.01974880e-01 -5.27681218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:-112.39, Z:-52.79 [[ 6.29694096e-01 4.40353414e-01 6.39979856e-01 1.91563565e+02] [-3.09604535e-01 8.97824010e-01 -3.13140670e-01 -1.12386951e+02] [-7.12481844e-01 -9.57834077e-04 7.01689892e-01 -5.27912214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:-112.40, Z:-52.81 [[ 6.30188354e-01 4.39630141e-01 6.39990607e-01 1.91584225e+02] [-3.08264414e-01 8.98178869e-01 -3.13445005e-01 -1.12396574e+02] [-7.12625911e-01 2.43061995e-04 7.01544191e-01 -5.28145317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:-112.41, Z:-52.84 [[ 6.31296209e-01 4.37146569e-01 6.40599699e-01 1.91604904e+02] [-3.04095307e-01 8.99383614e-01 -3.14062350e-01 -1.12406426e+02] [-7.13436151e-01 3.46300840e-03 7.00711685e-01 -5.28378333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:-112.42, Z:-52.86 [[ 6.32319492e-01 4.35754540e-01 6.40538868e-01 1.91625026e+02] [-3.01819672e-01 9.00049085e-01 -3.14350968e-01 -1.12416054e+02] [-7.13496283e-01 5.44301278e-03 7.00637872e-01 -5.28606061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:-112.43, Z:-52.88 [[ 6.33074786e-01 4.34605173e-01 6.40573695e-01 1.91646222e+02] [-2.99965608e-01 9.00593937e-01 -3.14565089e-01 -1.12425663e+02] [-7.13608401e-01 6.99314887e-03 7.00509919e-01 -5.28845355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:-112.43, Z:-52.91 [[ 6.33574474e-01 4.33832337e-01 6.40603535e-01 1.91666835e+02] [-2.98531998e-01 9.00955689e-01 -3.14892827e-01 -1.12434297e+02] [-7.13766091e-01 8.26740389e-03 7.00335361e-01 -5.29081362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:-112.44, Z:-52.93 [[ 6.34699517e-01 4.32766559e-01 6.40210613e-01 1.91687678e+02] [-2.96903851e-01 9.01452136e-01 -3.15011348e-01 -1.12443172e+02] [-7.13445602e-01 9.85655407e-03 7.00641293e-01 -5.29321278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.71, Y:-112.45, Z:-52.96 [[ 6.37572768e-01 4.30193861e-01 6.39088576e-01 1.91708838e+02] [-2.93528814e-01 9.02641521e-01 -3.14768359e-01 -1.12452055e+02] [-7.12279300e-01 1.30968216e-02 7.01773946e-01 -5.29561558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:-112.46, Z:-52.98 [[ 6.38754202e-01 4.29046931e-01 6.38679733e-01 1.91729237e+02] [-2.91798546e-01 9.03161456e-01 -3.14885682e-01 -1.12460890e+02] [-7.11931653e-01 1.47687345e-02 7.02093446e-01 -5.29801514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-112.47, Z:-53.00 [[ 6.39832830e-01 4.28149201e-01 6.38202328e-01 1.91750094e+02] [-2.90461442e-01 9.03563678e-01 -3.14967984e-01 -1.12470222e+02] [-7.11509734e-01 1.61536882e-02 7.02490539e-01 -5.30039082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.77, Y:-112.48, Z:-53.03 [[ 6.40971384e-01 4.26472461e-01 6.38182518e-01 1.91771426e+02] [-2.87781938e-01 9.04312838e-01 -3.15277415e-01 -1.12478457e+02] [-7.11573778e-01 1.84263992e-02 7.02369722e-01 -5.30272708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:-112.49, Z:-53.05 [[ 6.40939351e-01 4.26248238e-01 6.38364463e-01 1.91791979e+02] [-2.87041559e-01 9.04404564e-01 -3.15688972e-01 -1.12487360e+02] [-7.11901603e-01 1.91003542e-02 7.02019433e-01 -5.30502205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:-112.50, Z:-53.07 [[ 6.40706306e-01 4.26251387e-01 6.38596261e-01 1.91812849e+02] [-2.86617342e-01 9.04394634e-01 -3.16102585e-01 -1.12496288e+02] [-7.12282197e-01 1.94961567e-02 7.01622385e-01 -5.30739454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-112.50, Z:-53.10 [[ 6.40616166e-01 4.26392398e-01 6.38592555e-01 1.91833922e+02] [-2.86489150e-01 9.04322497e-01 -3.16425012e-01 -1.12504871e+02] [-7.12414833e-01 1.97571397e-02 7.01480407e-01 -5.30968493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:-112.51, Z:-53.12 [[ 6.40579648e-01 4.27209822e-01 6.38082662e-01 1.91854519e+02] [-2.87613818e-01 9.03948526e-01 -3.16473307e-01 -1.12514411e+02] [-7.11994387e-01 1.92049690e-02 7.01922476e-01 -5.31204972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:-112.52, Z:-53.14 [[ 6.40466302e-01 4.28330291e-01 6.37444961e-01 1.91874882e+02] [-2.89216206e-01 9.03436260e-01 -3.16475766e-01 -1.12523671e+02] [-7.11447048e-01 1.83326503e-02 7.02500542e-01 -5.31443037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:-112.53, Z:-53.17 [[ 6.40044678e-01 4.29673485e-01 6.36964290e-01 1.91895687e+02] [-2.91046693e-01 9.02820048e-01 -3.16556129e-01 -1.12533154e+02] [-7.11079906e-01 1.72237149e-02 7.02900214e-01 -5.31685889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:-112.54, Z:-53.19 [[ 6.37552558e-01 4.32957352e-01 6.37239882e-01 1.91916206e+02] [-2.95215051e-01 9.01305865e-01 -3.17010744e-01 -1.12541446e+02] [-7.11600175e-01 1.39882065e-02 7.02445387e-01 -5.31914792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-112.55, Z:-53.21 [[ 6.35704937e-01 4.34838918e-01 6.37804319e-01 1.91936589e+02] [-2.97277554e-01 9.00424423e-01 -3.17587647e-01 -1.12550724e+02] [-7.12394055e-01 1.22871272e-02 7.01672101e-01 -5.32144332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-112.56, Z:-53.24 [[ 6.34040432e-01 4.36955244e-01 6.38014769e-01 1.91957673e+02] [-2.99869200e-01 8.99424340e-01 -3.17984777e-01 -1.12560155e+02] [-7.12791129e-01 1.02942270e-02 7.01300817e-01 -5.32375294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.98, Y:-112.57, Z:-53.26 [[ 6.32049418e-01 4.39385381e-01 6.38321251e-01 1.91978328e+02] [-3.02831212e-01 8.98263230e-01 -3.18459459e-01 -1.12569275e+02] [-7.13306940e-01 7.97851747e-03 7.00806359e-01 -5.32607235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:-112.58, Z:-53.28 [[ 6.28158087e-01 4.44263508e-01 6.38785843e-01 1.91999136e+02] [-3.09229334e-01 8.95891644e-01 -3.18991193e-01 -1.12577032e+02] [-7.13999046e-01 2.84557625e-03 7.00140890e-01 -5.32842304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:-112.59, Z:-53.31 [[ 6.26294052e-01 4.47157116e-01 6.38597114e-01 1.92019586e+02] [-3.13155397e-01 8.94455426e-01 -3.19191461e-01 -1.12586540e+02] [-7.13925387e-01 -7.24187810e-05 7.00221777e-01 -5.33080006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-112.60, Z:-53.33 [[ 6.24520254e-01 4.49986511e-01 6.38346765e-01 1.92039367e+02] [-3.17002344e-01 8.93030656e-01 -3.19383407e-01 -1.12595612e+02] [-7.13781456e-01 -2.89601396e-03 7.00362511e-01 -5.33308746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:-112.60, Z:-53.36 [[ 6.20770203e-01 4.55365199e-01 6.38190325e-01 1.92060458e+02] [-3.24481993e-01 8.90262401e-01 -3.19600210e-01 -1.12604155e+02] [-7.13691664e-01 -8.68298141e-03 7.00406178e-01 -5.33550145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-112.61, Z:-53.38 [[ 6.19099084e-01 4.58011964e-01 6.37919560e-01 1.92080665e+02] [-3.28081022e-01 8.88874108e-01 -3.19790030e-01 -1.12612777e+02] [-7.13497839e-01 -1.13075865e-02 7.00566180e-01 -5.33782498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:-112.62, Z:-53.40 [[ 6.19006718e-01 4.58306192e-01 6.37797866e-01 1.92101400e+02] [-3.28253582e-01 8.88723080e-01 -3.20032613e-01 -1.12623124e+02] [-7.13498612e-01 -1.12570966e-02 7.00566205e-01 -5.34023637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:-112.63, Z:-53.43 [[ 6.17661550e-01 4.60472123e-01 6.37541869e-01 1.92121478e+02] [-3.31262476e-01 8.87572053e-01 -3.20126573e-01 -1.12632032e+02] [-7.13273708e-01 -1.34638226e-02 7.00756265e-01 -5.34255134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-112.64, Z:-53.45 [[ 6.16323155e-01 4.62351758e-01 6.37476760e-01 1.92141765e+02] [-3.33793566e-01 8.86563171e-01 -3.20292989e-01 -1.12641402e+02] [-7.13251445e-01 -1.53816556e-02 7.00739453e-01 -5.34493221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:-112.65, Z:-53.47 [[ 6.14292104e-01 4.64686782e-01 6.37739294e-01 1.92162664e+02] [-3.36707464e-01 8.85298152e-01 -3.20741743e-01 -1.12650544e+02] [-7.13633867e-01 -1.77024597e-02 7.00295172e-01 -5.34734540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:-112.66, Z:-53.50 [[ 6.13702839e-01 4.65668062e-01 6.37590842e-01 1.92183657e+02] [-3.37869079e-01 8.84767469e-01 -3.20984440e-01 -1.12660956e+02] [-7.13591837e-01 -1.84331684e-02 7.00319147e-01 -5.34972160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:-112.67, Z:-53.52 [[ 6.13234523e-01 4.66379749e-01 6.37521255e-01 1.92203528e+02] [-3.38601132e-01 8.84383717e-01 -3.21270468e-01 -1.12671043e+02] [-7.13647458e-01 -1.88512762e-02 7.00251338e-01 -5.35206335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-112.68, Z:-53.54 [[ 6.13183831e-01 4.66954928e-01 6.37148872e-01 1.92224088e+02] [-3.39303355e-01 8.84074363e-01 -3.21381012e-01 -1.12681847e+02] [-7.13357430e-01 -1.91211103e-02 7.00539478e-01 -5.35443451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:-112.69, Z:-53.57 [[ 6.14254552e-01 4.67269257e-01 6.35885828e-01 1.92243283e+02] [-3.40028429e-01 8.83910794e-01 -3.21064443e-01 -1.12692733e+02] [-7.12089891e-01 -1.90039639e-02 7.01831060e-01 -5.35670991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:-112.70, Z:-53.59 [[ 6.14988200e-01 4.67294511e-01 6.35157739e-01 1.92263255e+02] [-3.40107280e-01 8.83905746e-01 -3.20994812e-01 -1.12703448e+02] [-7.11418690e-01 -1.86137494e-02 7.02521869e-01 -5.35911901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:-112.72, Z:-53.62 [[ 6.16553442e-01 4.66500241e-01 6.34223445e-01 1.92282638e+02] [-3.39078799e-01 8.84353233e-01 -3.20850319e-01 -1.12715382e+02] [-7.10554306e-01 -1.72303557e-02 7.03431371e-01 -5.36156430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:-112.73, Z:-53.64 [[ 6.17064107e-01 4.66054826e-01 6.34054247e-01 1.92301724e+02] [-3.38187583e-01 8.84605803e-01 -3.21094585e-01 -1.12726648e+02] [-7.10535747e-01 -1.62933300e-02 7.03472444e-01 -5.36385947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-112.74, Z:-53.66 [[ 6.17150999e-01 4.65510021e-01 6.34369817e-01 1.92320649e+02] [-3.37049814e-01 8.84908158e-01 -3.21457579e-01 -1.12738193e+02] [-7.11000751e-01 -1.54263625e-02 7.03022020e-01 -5.36612208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:-112.75, Z:-53.68 [[ 6.17484262e-01 4.64815098e-01 6.34555050e-01 1.92340361e+02] [-3.35663930e-01 8.85292915e-01 -3.21848071e-01 -1.12750487e+02] [-7.11366933e-01 -1.42611230e-02 7.02676104e-01 -5.36844561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:-112.76, Z:-53.71 [[ 6.18056832e-01 4.63182689e-01 6.35190955e-01 1.92359500e+02] [-3.32684455e-01 8.86181613e-01 -3.22495276e-01 -1.12764544e+02] [-7.12268774e-01 -1.19977479e-02 7.01804281e-01 -5.37074456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-112.78, Z:-53.73 [[ 6.18251807e-01 4.62674434e-01 6.35371602e-01 1.92379056e+02] [-3.31536688e-01 8.86459922e-01 -3.22912112e-01 -1.12776327e+02] [-7.12634639e-01 -1.10079993e-02 7.01448997e-01 -5.37305403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:-112.79, Z:-53.75 [[ 6.18435885e-01 4.62158518e-01 6.35567904e-01 1.92398731e+02] [-3.30370361e-01 8.86740830e-01 -3.23335933e-01 -1.12787915e+02] [-7.13016466e-01 -1.00102538e-02 7.01075826e-01 -5.37542494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:-112.80, Z:-53.78 [[ 6.18640437e-01 4.61966880e-01 6.35508152e-01 1.92418421e+02] [-3.29797776e-01 8.86847572e-01 -3.23627581e-01 -1.12799772e+02] [-7.13104086e-01 -9.38006756e-03 7.00995419e-01 -5.37779884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:-112.81, Z:-53.80 [[ 6.18453628e-01 4.62486466e-01 6.35312033e-01 1.92436907e+02] [-3.30303227e-01 8.86574867e-01 -3.23859203e-01 -1.12811995e+02] [-7.13032179e-01 -9.55371577e-03 7.01066215e-01 -5.38007080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-112.82, Z:-53.82 [[ 6.18122458e-01 4.63448540e-01 6.34933129e-01 1.92457309e+02] [-3.31558192e-01 8.86064414e-01 -3.23973793e-01 -1.12823514e+02] [-7.12736833e-01 -1.02618031e-02 7.01356473e-01 -5.38242833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:-112.83, Z:-53.85 [[ 6.17826610e-01 4.64449850e-01 6.34489256e-01 1.92477526e+02] [-3.32890558e-01 8.85531115e-01 -3.24065612e-01 -1.12834527e+02] [-7.12372204e-01 -1.09991242e-02 7.01715657e-01 -5.38482111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:-112.85, Z:-53.87 [[ 6.17372763e-01 4.66469242e-01 6.33448750e-01 1.92497608e+02] [-3.35973508e-01 8.84443590e-01 -3.23853885e-01 -1.12845345e+02] [-7.11317562e-01 -1.28834305e-02 7.02752690e-01 -5.38721820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-112.86, Z:-53.90 [[ 6.17086228e-01 4.67827344e-01 6.32725978e-01 1.92517447e+02] [-3.37946148e-01 8.83708825e-01 -3.23807218e-01 -1.12855423e+02] [-7.10631401e-01 -1.40103328e-02 7.03424994e-01 -5.38950037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:-112.86, Z:-53.92 [[ 6.16381334e-01 4.69899620e-01 6.31876885e-01 1.92538902e+02] [-3.41023608e-01 8.82575216e-01 -3.23672501e-01 -1.12864309e+02] [-7.09772463e-01 -1.59792468e-02 7.04249753e-01 -5.39187221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:-112.87, Z:-53.94 [[ 6.15878936e-01 4.70968196e-01 6.31571132e-01 1.92559121e+02] [-3.42378133e-01 8.81990357e-01 -3.23836725e-01 -1.12873766e+02] [-7.09556446e-01 -1.67919272e-02 7.04448494e-01 -5.39416512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:-112.88, Z:-53.97 [[ 6.15433311e-01 4.71601294e-01 6.31533102e-01 1.92580226e+02] [-3.43002155e-01 8.81645199e-01 -3.24116129e-01 -1.12883497e+02] [-7.09641713e-01 -1.71453523e-02 7.04354084e-01 -5.39656769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.60, Y:-112.89, Z:-53.99 [[ 6.15354854e-01 4.71877069e-01 6.31403544e-01 1.92600861e+02] [-3.43138555e-01 8.81499338e-01 -3.24368386e-01 -1.12894043e+02] [-7.09643809e-01 -1.70572392e-02 7.04354112e-01 -5.39898046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:-112.90, Z:-54.01 [[ 6.15201302e-01 4.72363075e-01 6.31189736e-01 1.92621773e+02] [-3.43762016e-01 8.81232549e-01 -3.24433153e-01 -1.12902911e+02] [-7.09475182e-01 -1.73873581e-02 7.04515895e-01 -5.40125808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:-112.91, Z:-54.03 [[ 6.15260064e-01 4.72709656e-01 6.30872915e-01 1.92642071e+02] [-3.44114005e-01 8.81046434e-01 -3.24565451e-01 -1.12912770e+02] [-7.09253555e-01 -1.74000449e-02 7.04738698e-01 -5.40349692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-112.92, Z:-54.06 [[ 6.14998890e-01 4.73153635e-01 6.30794740e-01 1.92662344e+02] [-3.44495952e-01 8.80805198e-01 -3.24814935e-01 -1.12922957e+02] [-7.09294653e-01 -1.75454100e-02 7.04693731e-01 -5.40584001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:-112.93, Z:-54.08 [[ 6.14637281e-01 4.73762043e-01 6.30690526e-01 1.92682213e+02] [-3.45097274e-01 8.80472109e-01 -3.25079586e-01 -1.12932801e+02] [-7.09315786e-01 -1.78435482e-02 7.04664973e-01 -5.40810451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.70, Y:-112.94, Z:-54.10 [[ 6.13847357e-01 4.74572641e-01 6.30850403e-01 1.92702348e+02] [-3.45881813e-01 8.80023649e-01 -3.25459903e-01 -1.12941953e+02] [-7.09617639e-01 -1.84169796e-02 7.04346237e-01 -5.41040358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:-112.95, Z:-54.13 [[ 6.13277447e-01 4.75084928e-01 6.31019084e-01 1.92723360e+02] [-3.46339079e-01 8.79739591e-01 -3.25741455e-01 -1.12952164e+02] [-7.09887326e-01 -1.87766809e-02 7.04064926e-01 -5.41278205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:-112.96, Z:-54.15 [[ 6.12861197e-01 4.75448951e-01 6.31149308e-01 1.92742766e+02] [-3.46492753e-01 8.79541827e-01 -3.26111862e-01 -1.12961762e+02] [-7.10171758e-01 -1.88273557e-02 7.03776673e-01 -5.41506199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:-112.97, Z:-54.17 [[ 6.12706051e-01 4.75943508e-01 6.30927153e-01 1.92763535e+02] [-3.47025676e-01 8.79269836e-01 -3.26278616e-01 -1.12972226e+02] [-7.10045404e-01 -1.90350389e-02 7.03898567e-01 -5.41743116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:-112.98, Z:-54.20 [[ 6.13166225e-01 4.75667957e-01 6.30687859e-01 1.92783567e+02] [-3.46427779e-01 8.79434388e-01 -3.26470444e-01 -1.12981400e+02] [-7.09940121e-01 -1.83071444e-02 7.04024057e-01 -5.41974812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.80, Y:-112.99, Z:-54.22 [[ 6.13709992e-01 4.75402576e-01 6.30358975e-01 1.92803078e+02] [-3.45911073e-01 8.79592022e-01 -3.26593638e-01 -1.12991420e+02] [-7.09722182e-01 -1.76143703e-02 7.04261428e-01 -5.42204203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:-113.00, Z:-54.24 [[ 6.14337914e-01 4.74961202e-01 6.30079982e-01 1.92823775e+02] [-3.45137209e-01 8.79847411e-01 -3.26724410e-01 -1.13002186e+02] [-7.09555659e-01 -1.67448540e-02 7.04450407e-01 -5.42439255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:-113.01, Z:-54.27 [[ 6.15654956e-01 4.73966236e-01 6.29543472e-01 1.92843664e+02] [-3.42470071e-01 8.80436425e-01 -3.27941994e-01 -1.13012207e+02] [-7.09706436e-01 -1.37006834e-02 7.04364299e-01 -5.42679917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-113.02, Z:-54.29 [[ 6.16410910e-01 4.72778853e-01 6.29696551e-01 1.92863309e+02] [-3.40673634e-01 8.81095110e-01 -3.28044025e-01 -1.13021452e+02] [-7.09914830e-01 -1.23110964e-02 7.04179928e-01 -5.42905487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:-113.03, Z:-54.31 [[ 6.17309232e-01 4.70935891e-01 6.30197349e-01 1.92883691e+02] [-3.38498133e-01 8.82097735e-01 -3.27601283e-01 -1.13032184e+02] [-7.10174856e-01 -1.10893292e-02 7.03937995e-01 -5.43136482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:-113.04, Z:-54.34 [[ 6.19313905e-01 4.67525266e-01 6.30769699e-01 1.92903535e+02] [-3.33004236e-01 8.83953765e-01 -3.28228458e-01 -1.13042613e+02] [-7.11026347e-01 -6.77253400e-03 7.03132752e-01 -5.43369340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:-113.05, Z:-54.36 [[ 6.20625613e-01 4.65362958e-01 6.31079366e-01 1.92923623e+02] [-3.29449560e-01 8.85111301e-01 -3.28695865e-01 -1.13052770e+02] [-7.11538358e-01 -3.91174682e-03 7.02636366e-01 -5.43610902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:-113.07, Z:-54.38 [[ 6.23968849e-01 4.55799038e-01 6.34752009e-01 1.92946834e+02] [-3.27980403e-01 8.90019825e-01 -3.16691594e-01 -1.13074608e+02] [-7.09289596e-01 -1.05805301e-02 7.04837798e-01 -5.43801211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:-113.06, Z:-54.41 [[ 6.24719744e-01 4.72489185e-01 6.21674522e-01 1.92962111e+02] [-3.22099112e-01 8.81192217e-01 -3.46052652e-01 -1.13063163e+02] [-7.11320886e-01 1.59451127e-02 7.02686524e-01 -5.44123330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:-113.08, Z:-54.43 [[ 6.29862662e-01 4.55247100e-01 6.29303667e-01 1.92980905e+02] [-3.13654065e-01 8.90302636e-01 -3.30124739e-01 -1.13084286e+02] [-7.10559044e-01 1.05495938e-02 7.03558492e-01 -5.44319111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-113.10, Z:-54.45 [[ 6.31957187e-01 4.52033791e-01 6.29520107e-01 1.93001255e+02] [-3.09957642e-01 8.91906517e-01 -3.29285630e-01 -1.13095039e+02] [-7.10321317e-01 1.29698528e-02 7.03758061e-01 -5.44547684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:-113.11, Z:-54.48 [[ 6.34180297e-01 4.49287604e-01 6.29250348e-01 1.93020919e+02] [-3.06371596e-01 8.93246260e-01 -3.29009976e-01 -1.13105502e+02] [-7.09895623e-01 1.58672111e-02 7.04128139e-01 -5.44780614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:-113.12, Z:-54.50 [[ 6.36128764e-01 4.47563283e-01 6.28511976e-01 1.93041306e+02] [-3.03072058e-01 8.94042324e-01 -3.29902486e-01 -1.13116113e+02] [-7.09568547e-01 1.93760428e-02 7.04369964e-01 -5.45024708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:-113.12, Z:-54.53 [[ 6.40225937e-01 4.42850972e-01 6.27689228e-01 1.93061263e+02] [-2.96200389e-01 8.96233100e-01 -3.30199274e-01 -1.13124645e+02] [-7.08784931e-01 2.54803460e-02 7.04964306e-01 -5.45250432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:-113.14, Z:-54.55 [[ 6.41629784e-01 4.39827522e-01 6.28381231e-01 1.93081124e+02] [-2.92913585e-01 8.97670916e-01 -3.29224178e-01 -1.13135464e+02] [-7.08881409e-01 2.71786388e-02 7.04803852e-01 -5.45480583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:-113.15, Z:-54.57 [[ 6.42834070e-01 4.37755418e-01 6.28597290e-01 1.93101794e+02] [-2.89605388e-01 8.98598589e-01 -3.29619924e-01 -1.13145716e+02] [-7.09149545e-01 2.98457552e-02 7.04426116e-01 -5.45719737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:-113.16, Z:-54.60 [[ 6.44911804e-01 4.34024956e-01 6.29055723e-01 1.93122836e+02] [-2.83804959e-01 9.00243644e-01 -3.30175902e-01 -1.13155554e+02] [-7.09607998e-01 3.44052029e-02 7.03756188e-01 -5.45959510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:-113.17, Z:-54.62 [[ 6.45822128e-01 4.32490352e-01 6.29178730e-01 1.93143939e+02] [-2.81272672e-01 9.00899107e-01 -3.30554811e-01 -1.13165483e+02] [-7.09788323e-01 3.65088294e-02 7.03468295e-01 -5.46198801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.16, Y:-113.18, Z:-54.64 [[ 6.45941341e-01 4.32117003e-01 6.29312863e-01 1.93164978e+02] [-2.80034753e-01 9.01027432e-01 -3.31255346e-01 -1.13176875e+02] [-7.10169220e-01 3.77420508e-02 7.03018646e-01 -5.46448681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.19, Y:-113.18, Z:-54.67 [[ 6.46264328e-01 4.33987191e-01 6.27692230e-01 1.93185581e+02] [-2.77986923e-01 8.99909139e-01 -3.35986328e-01 -1.13179415e+02] [-7.10679737e-01 4.26457470e-02 7.02221939e-01 -5.46670889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:-113.19, Z:-54.69 [[ 6.45591443e-01 4.31641212e-01 6.29998058e-01 1.93207390e+02] [-2.78784359e-01 9.01220695e-01 -3.31783875e-01 -1.13191019e+02] [-7.10978882e-01 3.85632253e-02 7.02155187e-01 -5.46893027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:-113.20, Z:-54.71 [[ 6.44245869e-01 4.33154294e-01 6.30336908e-01 1.93229581e+02] [-2.81656491e-01 9.00611963e-01 -3.31010139e-01 -1.13202071e+02] [-7.11067424e-01 3.57134331e-02 7.02216256e-01 -5.47132835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:-113.19, Z:-54.75 [[ 6.41594082e-01 4.48619619e-01 6.22171577e-01 1.93247883e+02] [-2.81625945e-01 8.92253385e-01 -3.52945782e-01 -1.13192650e+02] [-7.13473098e-01 5.12282668e-02 6.98807415e-01 -5.47451339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:-113.21, Z:-54.76 [[ 6.39056678e-01 4.35080161e-01 6.34280550e-01 1.93269091e+02] [-2.84646411e-01 8.99870130e-01 -3.30469619e-01 -1.13213855e+02] [-7.14550896e-01 3.06431343e-02 6.98912023e-01 -5.47620411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:-113.23, Z:-54.78 [[ 6.35996726e-01 4.34287486e-01 6.37889131e-01 1.93295269e+02] [-2.96046541e-01 9.00674345e-01 -3.18028568e-01 -1.13228610e+02] [-7.12646202e-01 1.34202576e-02 7.01395243e-01 -5.47801009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:-113.22, Z:-54.81 [[ 6.33902193e-01 4.52725657e-01 6.27062588e-01 1.93317350e+02] [-3.01153228e-01 8.91268508e-01 -3.39038611e-01 -1.13222945e+02] [-7.12372615e-01 2.60753961e-02 7.01316855e-01 -5.48088955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:-113.24, Z:-54.83 [[ 6.30131491e-01 4.48123982e-01 6.34128694e-01 1.93344669e+02] [-3.13143101e-01 8.93964833e-01 -3.20574913e-01 -1.13241557e+02] [-7.10546059e-01 3.43132217e-03 7.03642327e-01 -5.48256881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-113.24, Z:-54.86 [[ 6.30030673e-01 4.64992365e-01 6.21967404e-01 1.93364797e+02] [-3.13443243e-01 8.85044186e-01 -3.44165835e-01 -1.13237878e+02] [-7.10503120e-01 2.18835525e-02 7.03353699e-01 -5.48551565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:-113.24, Z:-54.88 [[ 6.26614589e-01 4.72559179e-01 6.19711206e-01 1.93384025e+02] [-3.15617930e-01 8.80933848e-01 -3.52620019e-01 -1.13236463e+02] [-7.12558404e-01 2.53648803e-02 7.01154151e-01 -5.48806429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:-113.24, Z:-54.91 [[ 6.22321460e-01 4.74464057e-01 6.22575183e-01 1.93401198e+02] [-3.16003102e-01 8.79947044e-01 -3.54732632e-01 -1.13237541e+02] [-7.16141076e-01 2.40220406e-02 6.97542043e-01 -5.49053496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-113.26, Z:-54.92 [[ 6.19689949e-01 4.62686932e-01 6.33959913e-01 1.93422329e+02] [-3.19466914e-01 8.86508205e-01 -3.34729880e-01 -1.13256942e+02] [-7.16885806e-01 4.89952515e-03 6.97173390e-01 -5.49244696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:-113.26, Z:-54.95 [[ 6.16422343e-01 4.67203624e-01 6.33832997e-01 1.93445468e+02] [-3.25668881e-01 8.84149743e-01 -3.34991062e-01 -1.13261105e+02] [-7.16912320e-01 7.62923929e-05 6.97163338e-01 -5.49487611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:-113.27, Z:-54.97 [[ 6.14967454e-01 4.68947750e-01 6.33958230e-01 1.93466572e+02] [-3.27765386e-01 8.83224571e-01 -3.35386655e-01 -1.13268710e+02] [-7.17206304e-01 -1.53768665e-03 6.96859206e-01 -5.49727569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:-113.28, Z:-55.00 [[ 6.13928683e-01 4.70349370e-01 6.33926685e-01 1.93487495e+02] [-3.29454104e-01 8.82476002e-01 -3.35702397e-01 -1.13276751e+02] [-7.17322498e-01 -2.75241770e-03 6.96735860e-01 -5.49963781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:-113.28, Z:-55.02 [[ 6.13172903e-01 4.71359086e-01 6.33908198e-01 1.93507709e+02] [-3.30573908e-01 8.81934394e-01 -3.36024724e-01 -1.13284438e+02] [-7.17453749e-01 -3.51225511e-03 6.96597288e-01 -5.50197589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-113.29, Z:-55.04 [[ 6.13074946e-01 4.71960971e-01 6.33555011e-01 1.93529338e+02] [-3.31311608e-01 8.81611162e-01 -3.36146365e-01 -1.13290412e+02] [-7.17197134e-01 -3.82121495e-03 6.96859864e-01 -5.50445432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-113.30, Z:-55.07 [[ 6.13310124e-01 4.71850017e-01 6.33410020e-01 1.93550297e+02] [-3.30897558e-01 8.81672727e-01 -3.36392640e-01 -1.13299001e+02] [-7.17187213e-01 -3.28081670e-03 6.96872828e-01 -5.50692077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:-113.31, Z:-55.09 [[ 6.13599401e-01 4.71479739e-01 6.33405582e-01 1.93570134e+02] [-3.30029555e-01 8.81873540e-01 -3.36718803e-01 -1.13307589e+02] [-7.17339716e-01 -2.43210622e-03 6.96719324e-01 -5.50925642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:-113.32, Z:-55.12 [[ 6.14224031e-01 4.70753394e-01 6.33340415e-01 1.93589902e+02] [-3.28706366e-01 8.82264027e-01 -3.36990078e-01 -1.13316508e+02] [-7.17412688e-01 -1.19562228e-03 6.96647404e-01 -5.51158191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:-113.33, Z:-55.14 [[ 6.15401637e-01 4.68354432e-01 6.33975513e-01 1.93610479e+02] [-3.24601026e-01 8.83538437e-01 -3.37629980e-01 -1.13325133e+02] [-7.18272232e-01 1.98894033e-03 6.95759330e-01 -5.51404373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-113.34, Z:-55.16 [[ 6.16180326e-01 4.67284355e-01 6.34008784e-01 1.93630294e+02] [-3.22701643e-01 8.84099497e-01 -3.37981846e-01 -1.13335023e+02] [-7.18460476e-01 3.66208779e-03 6.95558145e-01 -5.51635041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:-113.35, Z:-55.19 [[ 6.16925511e-01 4.66142529e-01 6.34124637e-01 1.93650978e+02] [-3.20677684e-01 8.84693219e-01 -3.38354446e-01 -1.13345621e+02] [-7.18727164e-01 5.38986985e-03 6.95271323e-01 -5.51874756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-113.36, Z:-55.21 [[ 6.17621693e-01 4.65101816e-01 6.34211121e-01 1.93670600e+02] [-3.18789236e-01 8.85229269e-01 -3.38736718e-01 -1.13355764e+02] [-7.18969309e-01 7.03146641e-03 6.95006252e-01 -5.52106650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:-113.37, Z:-55.23 [[ 6.18587577e-01 4.64307806e-01 6.33851457e-01 1.93690443e+02] [-3.17533722e-01 8.85634604e-01 -3.38856434e-01 -1.13366009e+02] [-7.18694472e-01 8.34316859e-03 6.95275950e-01 -5.52344967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:-113.38, Z:-55.26 [[ 6.20335186e-01 4.63279411e-01 6.32895287e-01 1.93710133e+02] [-3.16271748e-01 8.86156713e-01 -3.38671611e-01 -1.13375807e+02] [-7.17743992e-01 9.92301800e-03 6.96236379e-01 -5.52583634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:-113.39, Z:-55.28 [[ 6.20852073e-01 4.63208716e-01 6.32440028e-01 1.93729835e+02] [-3.16085754e-01 8.86188004e-01 -3.38763366e-01 -1.13385803e+02] [-7.17378909e-01 1.04166553e-02 6.96605336e-01 -5.52818510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:-113.40, Z:-55.30 [[ 6.20818055e-01 4.63455928e-01 6.32292294e-01 1.93749259e+02] [-3.16309051e-01 8.86059049e-01 -3.38892235e-01 -1.13395953e+02] [-7.17309924e-01 1.03906429e-02 6.96676760e-01 -5.53047664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:-113.41, Z:-55.33 [[ 6.20486217e-01 4.64034981e-01 6.32193318e-01 1.93769519e+02] [-3.16884181e-01 8.85759309e-01 -3.39138411e-01 -1.13406471e+02] [-7.17343203e-01 1.00986475e-02 6.96646788e-01 -5.53286763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:-113.42, Z:-55.35 [[ 6.19427265e-01 4.65586266e-01 6.32091205e-01 1.93789325e+02] [-3.18816605e-01 8.84959524e-01 -3.39415104e-01 -1.13416679e+02] [-7.17402143e-01 8.72179780e-03 6.96604691e-01 -5.53516601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:-113.43, Z:-55.38 [[ 6.18811016e-01 4.66711137e-01 6.31865208e-01 1.93810065e+02] [-3.20235344e-01 8.84375381e-01 -3.39601989e-01 -1.13427140e+02] [-7.17302064e-01 7.80387984e-03 6.96718629e-01 -5.53755750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:-113.47, Z:-55.38 [[ 6.23911488e-01 4.41845709e-01 6.44598188e-01 1.93838678e+02] [-3.27859320e-01 8.96719064e-01 -2.97326734e-01 -1.13470158e+02] [-7.09396026e-01 -2.58319584e-02 7.04336559e-01 -5.53788087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:-113.46, Z:-55.41 [[ 6.21553124e-01 4.73408619e-01 6.24144210e-01 1.93859292e+02] [-3.29898696e-01 8.80827837e-01 -3.39572043e-01 -1.13455858e+02] [-7.10519926e-01 5.15770273e-03 7.03658179e-01 -5.54108691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-113.47, Z:-55.44 [[ 6.18166589e-01 4.78948792e-01 6.23280132e-01 1.93879714e+02] [-3.34614750e-01 8.77836713e-01 -3.42688888e-01 -1.13465238e+02] [-7.11268611e-01 3.28009576e-03 7.02912657e-01 -5.54350507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:-113.44, Z:-55.48 [[ 6.09853804e-01 5.11823595e-01 6.05074330e-01 1.93891126e+02] [-3.30378522e-01 8.58171653e-01 -3.92926769e-01 -1.13436094e+02] [-7.20366830e-01 3.97243222e-02 6.92454770e-01 -5.54776052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-113.48, Z:-55.49 [[ 6.05866049e-01 4.78048092e-01 6.35921656e-01 1.93905277e+02] [-3.36853803e-01 8.78291227e-01 -3.39314066e-01 -1.13478340e+02] [-7.20732854e-01 -8.63375606e-03 6.93159153e-01 -5.54883309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:-113.49, Z:-55.51 [[ 6.05282563e-01 4.78992938e-01 6.35766297e-01 1.93925732e+02] [-3.38857294e-01 8.77756860e-01 -3.38701386e-01 -1.13489346e+02] [-7.20283801e-01 -1.04240038e-02 6.93601172e-01 -5.55126495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.356559995 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:193.95, Y:-113.49, Z:-55.54 [[ 6.04973977e-01 4.89695254e-01 6.27857504e-01 1.93946946e+02] [-3.43407174e-01 8.71882582e-01 -3.49130745e-01 -1.13494377e+02] [-7.18385690e-01 -4.39575533e-03 6.95631136e-01 -5.55386811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:-113.53, Z:-55.55 [[ 6.03901907e-01 4.65767243e-01 6.46810144e-01 1.93965180e+02] [-3.46788741e-01 8.84201797e-01 -3.12929309e-01 -1.13528092e+02] [-7.17662913e-01 -3.53278691e-02 6.95493987e-01 -5.55494263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:-113.50, Z:-55.59 [[ 5.95402862e-01 5.08520017e-01 6.22015131e-01 1.93980376e+02] [-3.47965093e-01 8.61039092e-01 -3.70853038e-01 -1.13501367e+02] [-7.24165537e-01 4.36740702e-03 6.89612355e-01 -5.55920655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:-113.53, Z:-55.61 [[ 5.94414203e-01 4.90538357e-01 6.37215721e-01 1.93998053e+02] [-3.50597768e-01 8.71209098e-01 -3.43621759e-01 -1.13529828e+02] [-7.23707786e-01 -1.91527552e-02 6.89840715e-01 -5.56103987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:-113.54, Z:-55.63 [[ 5.93321232e-01 4.92052322e-01 6.37067051e-01 1.94017062e+02] [-3.52539946e-01 8.70322813e-01 -3.43880485e-01 -1.13541095e+02] [-7.23661179e-01 -2.05599903e-02 6.89849103e-01 -5.56337250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:-113.55, Z:-55.66 [[ 5.92457329e-01 4.93377741e-01 6.36845914e-01 1.94036260e+02] [-3.54379635e-01 8.69539491e-01 -3.43971143e-01 -1.13552799e+02] [-7.23470378e-01 -2.18969979e-02 6.90008068e-01 -5.56571610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:-113.57, Z:-55.68 [[ 5.91415362e-01 4.95109602e-01 6.36470229e-01 1.94054280e+02] [-3.56767955e-01 8.68510878e-01 -3.44100975e-01 -1.13565305e+02] [-7.23149014e-01 -2.35655795e-02 6.90289915e-01 -5.56802837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:-113.58, Z:-55.70 [[ 5.93324721e-01 4.88654774e-01 6.39673579e-01 1.94075406e+02] [-3.58173293e-01 8.71925243e-01 -3.33853656e-01 -1.13583315e+02] [-7.20886723e-01 -3.10303649e-02 6.92357890e-01 -5.56980686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:-113.59, Z:-55.72 [[ 5.93183695e-01 4.92547140e-01 6.36812703e-01 1.94094541e+02] [-3.58899355e-01 8.69842474e-01 -3.38474995e-01 -1.13592654e+02] [-7.20641628e-01 -2.77738202e-02 6.92751224e-01 -5.57216728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:-113.60, Z:-55.75 [[ 5.90943651e-01 5.03198757e-01 6.30536765e-01 1.94109408e+02] [-3.57595861e-01 8.64021590e-01 -3.54389464e-01 -1.13595665e+02] [-7.23125716e-01 -1.60531333e-02 6.90529866e-01 -5.57519921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.13, Y:-113.62, Z:-55.77 [[ 5.92757698e-01 4.92675558e-01 6.37109964e-01 1.94128111e+02] [-3.57668535e-01 8.69811823e-01 -3.39853809e-01 -1.13615973e+02] [-7.21603445e-01 -2.64232263e-02 6.91802199e-01 -5.57697444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:-113.63, Z:-55.80 [[ 5.92153900e-01 4.96957465e-01 6.34339843e-01 1.94145539e+02] [-3.57308824e-01 8.67502923e-01 -3.46076701e-01 -1.13625110e+02] [-7.22277068e-01 -2.17245552e-02 6.91262526e-01 -5.57969406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:-113.64, Z:-55.82 [[ 5.94181660e-01 4.92845167e-01 6.35650687e-01 1.94164266e+02] [-3.56883885e-01 8.69775572e-01 -3.40770226e-01 -1.13639912e+02] [-7.20820399e-01 -2.43740678e-02 6.92693191e-01 -5.58166646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:-113.65, Z:-55.84 [[ 5.95075981e-01 4.95407774e-01 6.32815703e-01 1.94180506e+02] [-3.55498925e-01 8.68445635e-01 -3.45575887e-01 -1.13652639e+02] [-7.20767016e-01 -1.93213920e-02 6.92908070e-01 -5.58437685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:-113.67, Z:-55.87 [[ 5.95827700e-01 4.94186475e-01 6.33063251e-01 1.94199099e+02] [-3.54955823e-01 8.69136979e-01 -3.44394069e-01 -1.13666381e+02] [-7.20413573e-01 -1.95099607e-02 6.93270254e-01 -5.58674970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:-113.68, Z:-55.89 [[ 5.96934963e-01 4.93712463e-01 6.32389637e-01 1.94217027e+02] [-3.54272515e-01 8.69428890e-01 -3.44360842e-01 -1.13678951e+02] [-7.19833060e-01 -1.84772407e-02 6.93901259e-01 -5.58906600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:-113.69, Z:-55.91 [[ 5.98450011e-01 4.92648327e-01 6.31787315e-01 1.94234243e+02] [-3.52829115e-01 8.70064301e-01 -3.44237893e-01 -1.13694751e+02] [-7.19283811e-01 -1.69037884e-02 6.94510664e-01 -5.59141312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:-113.71, Z:-55.94 [[ 5.98890418e-01 4.92274815e-01 6.31661122e-01 1.94253160e+02] [-3.52014177e-01 8.70292069e-01 -3.44496348e-01 -1.13707920e+02] [-7.19316541e-01 -1.60381079e-02 6.94497295e-01 -5.59381981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:-113.72, Z:-55.96 [[ 5.99135784e-01 4.91975395e-01 6.31661716e-01 1.94271836e+02] [-3.51238321e-01 8.70475239e-01 -3.44825319e-01 -1.13720719e+02] [-7.19491455e-01 -1.52666129e-02 6.94333477e-01 -5.59619208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.29, Y:-113.74, Z:-55.99 [[ 5.99354792e-01 4.91463514e-01 6.31852394e-01 1.94289460e+02] [-3.50051514e-01 8.70781598e-01 -3.45258377e-01 -1.13736171e+02] [-7.19887332e-01 -1.42486244e-02 6.93944670e-01 -5.59850559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:-113.75, Z:-56.01 [[ 5.99246667e-01 4.91343899e-01 6.32047946e-01 1.94308408e+02] [-3.49427906e-01 8.70857944e-01 -3.45697238e-01 -1.13748998e+02] [-7.20280203e-01 -1.36972725e-02 6.93547990e-01 -5.60090035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:-113.76, Z:-56.03 [[ 5.98838438e-01 4.91661948e-01 6.32187516e-01 1.94326847e+02] [-3.49462237e-01 8.70679009e-01 -3.46112999e-01 -1.13761763e+02] [-7.20602991e-01 -1.36598955e-02 6.93213341e-01 -5.60324250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:-113.77, Z:-56.06 [[ 5.98360123e-01 4.92078988e-01 6.32315928e-01 1.94345187e+02] [-3.49671014e-01 8.70441623e-01 -3.46499008e-01 -1.13774151e+02] [-7.20898984e-01 -1.37713626e-02 6.92903315e-01 -5.60558734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:-113.79, Z:-56.08 [[ 5.97910086e-01 4.93332184e-01 6.31764897e-01 1.94363448e+02] [-3.51471526e-01 8.69713905e-01 -3.46504674e-01 -1.13788583e+02] [-7.20396624e-01 -1.48687331e-02 6.93402931e-01 -5.60801159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:-113.80, Z:-56.10 [[ 5.97475177e-01 4.94346480e-01 6.31383379e-01 1.94382360e+02] [-3.52807667e-01 8.69123957e-01 -3.46627030e-01 -1.13801006e+02] [-7.20104272e-01 -1.56558507e-02 6.93689218e-01 -5.61039042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-113.81, Z:-56.13 [[ 5.96678603e-01 4.95678658e-01 6.31092159e-01 1.94401130e+02] [-3.54556026e-01 8.68342933e-01 -3.46800483e-01 -1.13813323e+02] [-7.19906014e-01 -1.68291007e-02 6.93867504e-01 -5.61275845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.42, Y:-113.83, Z:-56.15 [[ 5.95648226e-01 4.97117749e-01 6.30933543e-01 1.94419681e+02] [-3.56386210e-01 8.67493529e-01 -3.47050207e-01 -1.13825054e+02] [-7.19855583e-01 -1.81361739e-02 6.93886892e-01 -5.61511301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.44, Y:-113.84, Z:-56.17 [[ 5.93750226e-01 5.00010924e-01 6.30436154e-01 1.94438294e+02] [-3.60650255e-01 8.65756006e-01 -3.46984050e-01 -1.13837935e+02] [-7.19299703e-01 -2.13451011e-02 6.94371892e-01 -5.61743507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.46, Y:-113.85, Z:-56.20 [[ 5.92597797e-01 5.01737377e-01 6.30148757e-01 1.94457313e+02] [-3.62998797e-01 8.64713329e-01 -3.47135033e-01 -1.13849493e+02] [-7.19068650e-01 -2.30317846e-02 6.94557278e-01 -5.61983372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.48, Y:-113.86, Z:-56.22 [[ 5.91511253e-01 5.03468404e-01 6.29788857e-01 1.94475862e+02] [-3.65366145e-01 8.63660839e-01 -3.47271559e-01 -1.13860864e+02] [-7.18764230e-01 -2.46884919e-02 6.94815415e-01 -5.62215732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:-113.87, Z:-56.25 [[ 5.90629167e-01 5.04822216e-01 6.29532936e-01 1.94494891e+02] [-3.67153784e-01 8.62833913e-01 -3.47441703e-01 -1.13872442e+02] [-7.18578657e-01 -2.59261961e-02 6.94962262e-01 -5.62454125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:-113.89, Z:-56.27 [[ 5.89691894e-01 5.06770164e-01 6.28846143e-01 1.94513334e+02] [-3.70013512e-01 8.61631942e-01 -3.47390843e-01 -1.13885832e+02] [-7.17881238e-01 -2.78280058e-02 6.95609180e-01 -5.62692350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:-113.90, Z:-56.29 [[ 5.89611544e-01 5.07360139e-01 6.28445635e-01 1.94531846e+02] [-3.70740008e-01 8.61275833e-01 -3.47499332e-01 -1.13897853e+02] [-7.17572348e-01 -2.81003222e-02 6.95916876e-01 -5.62923112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:-113.91, Z:-56.32 [[ 5.89604391e-01 5.07721709e-01 6.28160273e-01 1.94550614e+02] [-3.71097480e-01 8.61061651e-01 -3.47648520e-01 -1.13910376e+02] [-7.17393422e-01 -2.81336002e-02 6.96099977e-01 -5.63159169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.57, Y:-113.92, Z:-56.34 [[ 5.90175032e-01 5.06933216e-01 6.28261209e-01 1.94568995e+02] [-3.69557223e-01 8.61569265e-01 -3.48031408e-01 -1.13924396e+02] [-7.17719229e-01 -2.67790206e-02 6.95817500e-01 -5.63400454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:-113.94, Z:-56.36 [[ 5.90068933e-01 5.07232200e-01 6.28119534e-01 1.94589078e+02] [-3.69722129e-01 8.61395223e-01 -3.48286975e-01 -1.13935465e+02] [-7.17721535e-01 -2.67163675e-02 6.95817529e-01 -5.63643884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-113.95, Z:-56.39 [[ 5.90780899e-01 5.06492258e-01 6.28047388e-01 1.94607833e+02] [-3.68442170e-01 8.61866603e-01 -3.48477153e-01 -1.13947623e+02] [-7.17794049e-01 -2.55254970e-02 6.95787433e-01 -5.63874370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.63, Y:-113.96, Z:-56.41 [[ 5.91221127e-01 5.05612697e-01 6.28341769e-01 1.94626612e+02] [-3.66792927e-01 8.62420381e-01 -3.48846723e-01 -1.13959790e+02] [-7.18276080e-01 -2.42257636e-02 6.95336311e-01 -5.64111990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:-113.97, Z:-56.44 [[ 5.90560104e-01 5.09856154e-01 6.25528150e-01 1.94643864e+02] [-3.64044303e-01 8.60097952e-01 -3.57355928e-01 -1.13966247e+02] [-7.20215599e-01 -1.66798051e-02 6.93549764e-01 -5.64399181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.66, Y:-113.99, Z:-56.46 [[ 5.93139125e-01 4.98259345e-01 6.32395132e-01 1.94662817e+02] [-3.61346718e-01 8.66681474e-01 -3.43935708e-01 -1.13989103e+02] [-7.19454326e-01 -2.45121802e-02 6.94107071e-01 -5.64567560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:-114.00, Z:-56.48 [[ 5.93694955e-01 5.01707862e-01 6.29138714e-01 1.94681834e+02] [-3.59861100e-01 8.64837938e-01 -3.50079034e-01 -1.13998143e+02] [-7.19740432e-01 -1.85623931e-02 6.93995063e-01 -5.64821306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-114.00, Z:-56.51 [[ 5.93845962e-01 5.05113954e-01 6.26264215e-01 1.94698641e+02] [-3.56915857e-01 8.62980426e-01 -3.57597336e-01 -1.14004493e+02] [-7.21081163e-01 -1.11658950e-02 6.92760622e-01 -5.65105356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.72, Y:-114.03, Z:-56.53 [[ 5.95879695e-01 4.94946426e-01 6.32420291e-01 1.94718610e+02] [-3.56985891e-01 8.68667443e-01 -3.43479179e-01 -1.14026824e+02] [-7.19366709e-01 -2.10928532e-02 6.94310182e-01 -5.65269406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:-114.04, Z:-56.55 [[ 5.97543700e-01 4.98179910e-01 6.28297941e-01 1.94736435e+02] [-3.54428615e-01 8.66971056e-01 -3.50344895e-01 -1.14035044e+02] [-7.19250918e-01 -1.33403841e-02 6.94622308e-01 -5.65524396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:-114.05, Z:-56.58 [[ 5.98026594e-01 4.97661595e-01 6.28249258e-01 1.94755188e+02] [-3.53488791e-01 8.67281841e-01 -3.50525152e-01 -1.14046714e+02] [-7.19312080e-01 -1.24557078e-02 6.94575401e-01 -5.65768386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.77, Y:-114.06, Z:-56.60 [[ 5.98582798e-01 4.97284844e-01 6.28017849e-01 1.94773930e+02] [-3.52725345e-01 8.67510087e-01 -3.50729354e-01 -1.14057385e+02] [-7.19224211e-01 -1.15772548e-02 6.94681583e-01 -5.66003999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:-114.07, Z:-56.62 [[ 5.98481133e-01 4.97506547e-01 6.27939144e-01 1.94793437e+02] [-3.52769234e-01 8.67384605e-01 -3.50995461e-01 -1.14068037e+02] [-7.19287287e-01 -1.14534495e-02 6.94618325e-01 -5.66239840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:-114.08, Z:-56.65 [[ 5.97906513e-01 4.98005733e-01 6.28090830e-01 1.94813167e+02] [-3.53090295e-01 8.67095130e-01 -3.51387647e-01 -1.14078752e+02] [-7.19607563e-01 -1.16758143e-02 6.94282817e-01 -5.66478242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.83, Y:-114.09, Z:-56.67 [[ 5.97980909e-01 4.99537949e-01 6.26801939e-01 1.94833168e+02] [-3.55682103e-01 8.66193663e-01 -3.50996837e-01 -1.14089514e+02] [-7.18268107e-01 -1.30528242e-02 6.95643982e-01 -5.66699629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:194.85, Y:-114.10, Z:-56.70 [[ 5.97695966e-01 5.04444216e-01 6.23133666e-01 1.94852262e+02] [-3.57260071e-01 8.63389976e-01 -3.56262530e-01 -1.14096644e+02] [-7.17721933e-01 -9.68410084e-03 6.96262483e-01 -5.66979857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:-114.11, Z:-56.72 [[ 5.98667450e-01 5.01342180e-01 6.24702571e-01 1.94872194e+02] [-3.60116913e-01 8.65102372e-01 -3.49161417e-01 -1.14109404e+02] [-7.15481022e-01 -1.59343863e-02 6.98450430e-01 -5.67166674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:-114.12, Z:-56.74 [[ 5.97323234e-01 5.05751283e-01 6.22431196e-01 1.94892038e+02] [-3.66316040e-01 8.62461321e-01 -3.49246373e-01 -1.14116910e+02] [-7.13454633e-01 -1.93935574e-02 7.00432992e-01 -5.67411278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.91, Y:-114.13, Z:-56.77 [[ 5.95996993e-01 5.07835334e-01 6.22005513e-01 1.94912272e+02] [-3.69233521e-01 8.61186530e-01 -3.49319863e-01 -1.14127055e+02] [-7.13059739e-01 -2.14716976e-02 7.00774411e-01 -5.67654791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:-114.14, Z:-56.79 [[ 5.94588368e-01 5.09545758e-01 6.21954816e-01 1.94932270e+02] [-3.71396175e-01 8.60133152e-01 -3.49622428e-01 -1.14137233e+02] [-7.13112581e-01 -2.31102103e-02 7.00668513e-01 -5.67888631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.95, Y:-114.15, Z:-56.81 [[ 5.93038139e-01 5.10958959e-01 6.22275427e-01 1.94952393e+02] [-3.72960172e-01 8.59257185e-01 -3.50111126e-01 -1.14147961e+02] [-7.13587048e-01 -2.44547000e-02 7.00139624e-01 -5.68125412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-114.16, Z:-56.83 [[ 5.90936074e-01 5.12670339e-01 6.22867305e-01 1.94972719e+02] [-3.74792205e-01 8.58186979e-01 -3.50779008e-01 -1.14159010e+02] [-7.14370604e-01 -2.61578409e-02 6.99278491e-01 -5.68344101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:-114.17, Z:-56.86 [[ 5.90117592e-01 5.13291028e-01 6.23132047e-01 1.94993277e+02] [-3.75238140e-01 8.57803819e-01 -3.51239159e-01 -1.14169910e+02] [-7.14812959e-01 -2.65505037e-02 6.98811494e-01 -5.68582626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:-114.18, Z:-56.88 [[ 5.89568018e-01 5.13602816e-01 6.23395300e-01 1.95013571e+02] [-3.75215350e-01 8.57617331e-01 -3.51718573e-01 -1.14180249e+02] [-7.15278263e-01 -2.65454633e-02 6.98335411e-01 -5.68821326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:-114.19, Z:-56.90 [[ 5.89028404e-01 5.13299411e-01 6.24154831e-01 1.95034098e+02] [-3.74032773e-01 8.57820715e-01 -3.52481355e-01 -1.14189447e+02] [-7.16341416e-01 -2.58328324e-02 6.97271569e-01 -5.69047126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:-114.20, Z:-56.93 [[ 5.88328191e-01 5.13518145e-01 6.24635137e-01 1.95054306e+02] [-3.73779113e-01 8.57692025e-01 -3.53063117e-01 -1.14199966e+02] [-7.17048893e-01 -2.57585825e-02 6.96546754e-01 -5.69283289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:-114.21, Z:-56.95 [[ 5.87844231e-01 5.13716310e-01 6.24927766e-01 1.95074016e+02] [-3.73572116e-01 8.57577576e-01 -3.53559861e-01 -1.14210105e+02] [-7.17553506e-01 -2.56174637e-02 6.96032120e-01 -5.69508442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-114.22, Z:-56.97 [[ 5.87443852e-01 5.13974954e-01 6.25091567e-01 1.95094569e+02] [-3.73544901e-01 8.57424071e-01 -3.53960689e-01 -1.14220554e+02] [-7.17895485e-01 -2.55677367e-02 6.95681222e-01 -5.69740735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-114.23, Z:-57.00 [[ 5.86955873e-01 5.14073063e-01 6.25469175e-01 1.95114852e+02] [-3.73145690e-01 8.57372839e-01 -3.54505443e-01 -1.14231069e+02] [-7.18501981e-01 -2.53120752e-02 6.95064171e-01 -5.69977899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:-114.24, Z:-57.02 [[ 5.86989983e-01 5.13736809e-01 6.25713393e-01 1.95135406e+02] [-3.72181960e-01 8.57597585e-01 -3.54974605e-01 -1.14240749e+02] [-7.18973816e-01 -2.45126996e-02 6.94604765e-01 -5.70209364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:-114.25, Z:-57.04 [[ 5.86776482e-01 5.13811480e-01 6.25852317e-01 1.95155562e+02] [-3.71898241e-01 8.57560715e-01 -3.55360829e-01 -1.14251188e+02] [-7.19294834e-01 -2.42359989e-02 6.94282045e-01 -5.70449266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-114.26, Z:-57.07 [[ 5.86730836e-01 5.13678157e-01 6.26004534e-01 1.95174845e+02] [-3.71276645e-01 8.57656284e-01 -3.55779920e-01 -1.14260593e+02] [-7.19653096e-01 -2.36738135e-02 6.93930091e-01 -5.70679965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:-114.27, Z:-57.09 [[ 5.87839006e-01 5.12805205e-01 6.25680529e-01 1.95194694e+02] [-3.69855413e-01 8.58218011e-01 -3.55905632e-01 -1.14269488e+02] [-7.19480560e-01 -2.21961179e-02 6.94157804e-01 -5.70916925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-114.28, Z:-57.11 [[ 5.89124263e-01 5.10369564e-01 6.26462698e-01 1.95214763e+02] [-3.69811157e-01 8.59620854e-01 -3.52550273e-01 -1.14283221e+02] [-7.18451329e-01 -2.39769752e-02 6.95163861e-01 -5.71149914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-114.29, Z:-57.14 [[ 5.89154194e-01 5.16659705e-01 6.21256859e-01 1.95233219e+02] [-3.68143082e-01 8.56060133e-01 -3.62810859e-01 -1.14286125e+02] [-7.19282981e-01 -1.49598752e-02 6.94556114e-01 -5.71401573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:-114.30, Z:-57.16 [[ 5.91742310e-01 5.10252545e-01 6.24086035e-01 1.95252651e+02] [-3.66186029e-01 8.59836368e-01 -3.55793779e-01 -1.14301107e+02] [-7.18156551e-01 -1.79933546e-02 6.95648912e-01 -5.71620895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:-114.31, Z:-57.19 [[ 5.92554104e-01 5.09618336e-01 6.23833941e-01 1.95271918e+02] [-3.65061363e-01 8.60236563e-01 -3.55982102e-01 -1.14312008e+02] [-7.18059772e-01 -1.67990132e-02 6.95778670e-01 -5.71858772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-114.32, Z:-57.21 [[ 5.93913344e-01 5.08032144e-01 6.23835139e-01 1.95291506e+02] [-3.62415271e-01 8.61216616e-01 -3.56316028e-01 -1.14323243e+02] [-7.18277183e-01 -1.44665376e-02 6.95606647e-01 -5.72100117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:-114.33, Z:-57.23 [[ 5.95475296e-01 5.05326606e-01 6.24543188e-01 1.95311381e+02] [-3.57742296e-01 8.62860520e-01 -3.57060461e-01 -1.14334210e+02] [-7.19325810e-01 -1.08048308e-02 6.94588824e-01 -5.72342547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-114.35, Z:-57.26 [[ 5.95846240e-01 5.05729085e-01 6.23863247e-01 1.95329276e+02] [-3.58355425e-01 8.62624271e-01 -3.57016464e-01 -1.14345490e+02] [-7.18713188e-01 -1.08378610e-02 6.95222190e-01 -5.72581050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-114.36, Z:-57.28 [[ 5.95763032e-01 5.05998012e-01 6.23724636e-01 1.95349212e+02] [-3.58491403e-01 8.62467545e-01 -3.57258516e-01 -1.14356849e+02] [-7.18714355e-01 -1.07585029e-02 6.95222217e-01 -5.72824520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-114.37, Z:-57.31 [[ 5.95074644e-01 5.04531536e-01 6.25567020e-01 1.95369258e+02] [-3.60864973e-01 8.63250286e-01 -3.52952426e-01 -1.14373635e+02] [-7.18096539e-01 -1.57121866e-02 6.95766116e-01 -5.73059191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-114.38, Z:-57.33 [[ 5.94770298e-01 5.12360696e-01 6.19463324e-01 1.95389410e+02] [-3.60951220e-01 8.58739531e-01 -3.63704049e-01 -1.14378294e+02] [-7.18305303e-01 -7.27567682e-03 6.95689985e-01 -5.73332241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-114.39, Z:-57.36 [[ 5.94713857e-01 5.12394148e-01 6.19489842e-01 1.95409332e+02] [-3.60913490e-01 8.58719934e-01 -3.63787750e-01 -1.14389702e+02] [-7.18370991e-01 -7.23262497e-03 6.95622605e-01 -5.73575709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-114.40, Z:-57.38 [[ 5.94658421e-01 5.12387737e-01 6.19548359e-01 1.95429250e+02] [-3.60875576e-01 8.58723753e-01 -3.63816347e-01 -1.14401143e+02] [-7.18435927e-01 -7.23341685e-03 6.95555531e-01 -5.73819045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-114.41, Z:-57.40 [[ 5.93810873e-01 5.15693873e-01 6.17615152e-01 1.95446673e+02] [-3.60910087e-01 8.56762829e-01 -3.68376662e-01 -1.14406726e+02] [-7.19119292e-01 -4.15747116e-03 6.94874203e-01 -5.74046678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-114.42, Z:-57.43 [[ 5.93922299e-01 5.08255731e-01 6.23644462e-01 1.95466298e+02] [-3.61016083e-01 8.61114975e-01 -3.57978195e-01 -1.14424854e+02] [-7.18974054e-01 -1.25344487e-02 6.94923879e-01 -5.74260787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-114.44, Z:-57.45 [[ 5.93841315e-01 5.08448868e-01 6.23564143e-01 1.95486211e+02] [-3.61149297e-01 8.61000950e-01 -3.58118066e-01 -1.14436300e+02] [-7.18974045e-01 -1.25344485e-02 6.94923888e-01 -5.74504045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-114.45, Z:-57.47 [[ 5.93760301e-01 5.08641980e-01 6.23483794e-01 1.95506122e+02] [-3.61282492e-01 8.60886882e-01 -3.58257920e-01 -1.14447750e+02] [-7.18974037e-01 -1.25344483e-02 6.94923897e-01 -5.74747302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-114.46, Z:-57.50 [[ 5.92896517e-01 5.09663926e-01 6.23471252e-01 1.95525727e+02] [-3.62580778e-01 8.60266966e-01 -3.58435386e-01 -1.14459901e+02] [-7.19033309e-01 -1.35436003e-02 6.94843631e-01 -5.74989058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-114.47, Z:-57.52 [[ 5.92813054e-01 5.09938630e-01 6.23325979e-01 1.95545633e+02] [-3.62713950e-01 8.60105563e-01 -3.58687902e-01 -1.14471292e+02] [-7.19034960e-01 -1.34541573e-02 6.94843661e-01 -5.75232632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-114.48, Z:-57.55 [[ 5.92051495e-01 5.10873151e-01 6.23284567e-01 1.95564644e+02] [-3.63902631e-01 8.59536196e-01 -3.58848719e-01 -1.14483037e+02] [-7.19061821e-01 -1.43579733e-02 6.94797774e-01 -5.75469639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-114.49, Z:-57.57 [[ 5.91481188e-01 5.11817065e-01 6.23051600e-01 1.95583513e+02] [-3.65053364e-01 8.58962216e-01 -3.59054247e-01 -1.14494574e+02] [-7.18947874e-01 -1.50732499e-02 6.94900534e-01 -5.75703914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-114.51, Z:-57.59 [[ 5.90756576e-01 5.12803806e-01 6.22927705e-01 1.95603031e+02] [-3.66229583e-01 8.58359015e-01 -3.59298893e-01 -1.14506280e+02] [-7.18945451e-01 -1.58763695e-02 6.94885156e-01 -5.75945422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-114.52, Z:-57.62 [[ 5.89479033e-01 5.14070953e-01 6.23093513e-01 1.95621831e+02] [-3.67641938e-01 8.57578627e-01 -3.59719759e-01 -1.14517789e+02] [-7.19273158e-01 -1.70280508e-02 6.94518661e-01 -5.76185326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-114.53, Z:-57.64 [[ 5.88847289e-01 5.14941752e-01 6.22971799e-01 1.95641494e+02] [-3.68621689e-01 8.57043240e-01 -3.59992965e-01 -1.14529544e+02] [-7.19289177e-01 -1.76600356e-02 6.94486287e-01 -5.76426655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-114.54, Z:-57.67 [[ 5.87573712e-01 5.16253326e-01 6.23088787e-01 1.95660285e+02] [-3.70113858e-01 8.56228422e-01 -3.60400640e-01 -1.14541507e+02] [-7.19564358e-01 -1.88518529e-02 6.94169823e-01 -5.76662607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-114.55, Z:-57.69 [[ 5.87041154e-01 5.16919044e-01 6.23038831e-01 1.95678834e+02] [-3.70755264e-01 8.55818048e-01 -3.60715959e-01 -1.14552700e+02] [-7.19668825e-01 -1.92398136e-02 6.94050871e-01 -5.76892739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:-114.56, Z:-57.71 [[ 5.86143448e-01 5.17616602e-01 6.23304831e-01 1.95697939e+02] [-3.71291443e-01 8.55385432e-01 -3.61190292e-01 -1.14564395e+02] [-7.20123963e-01 -1.97184266e-02 6.93565182e-01 -5.77132480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:-114.58, Z:-57.74 [[ 5.85870553e-01 5.18089042e-01 6.23168869e-01 1.95717277e+02] [-3.71705144e-01 8.55095815e-01 -3.61450459e-01 -1.14575551e+02] [-7.20132613e-01 -1.98718934e-02 6.93551820e-01 -5.77369068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-114.59, Z:-57.76 [[ 5.85364791e-01 5.18617949e-01 6.23204207e-01 1.95736077e+02] [-3.72104975e-01 8.54769652e-01 -3.61810351e-01 -1.14586216e+02] [-7.20337385e-01 -2.01063456e-02 6.93332378e-01 -5.77602528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:-114.60, Z:-57.78 [[ 5.84983287e-01 5.19228614e-01 6.23053931e-01 1.95755288e+02] [-3.72752671e-01 8.54390490e-01 -3.62039137e-01 -1.14597389e+02] [-7.20312433e-01 -2.04581725e-02 6.93348010e-01 -5.77843356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-114.61, Z:-57.81 [[ 5.85298240e-01 5.19997612e-01 6.22116109e-01 1.95774351e+02] [-3.74043337e-01 8.53911605e-01 -3.61837743e-01 -1.14608517e+02] [-7.19386928e-01 -2.09153916e-02 6.94294602e-01 -5.78079726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:-114.62, Z:-57.83 [[ 5.85254766e-01 5.20531423e-01 6.21710460e-01 1.95793609e+02] [-3.74717393e-01 8.53580540e-01 -3.61921452e-01 -1.14619784e+02] [-7.19071439e-01 -2.11494681e-02 6.94614257e-01 -5.78320683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-114.63, Z:-57.86 [[ 5.85166470e-01 5.20807730e-01 6.21562153e-01 1.95813452e+02] [-3.74850251e-01 8.53414206e-01 -3.62176037e-01 -1.14631279e+02] [-7.19074051e-01 -2.10594563e-02 6.94614287e-01 -5.78564262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-114.65, Z:-57.88 [[ 5.86115969e-01 5.17740066e-01 6.23228124e-01 1.95833886e+02] [-3.76763849e-01 8.55139405e-01 -3.56069656e-01 -1.14648910e+02] [-7.17298455e-01 -2.61117153e-02 6.96276601e-01 -5.78792548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:-114.65, Z:-57.91 [[ 5.85502032e-01 5.29758292e-01 6.13631422e-01 1.95851452e+02] [-3.75648716e-01 8.48068035e-01 -3.73722693e-01 -1.14646253e+02] [-7.18383889e-01 -1.16944592e-02 6.95548580e-01 -5.79062376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:-114.66, Z:-57.93 [[ 5.86029595e-01 5.21266695e-01 6.20363076e-01 1.95869630e+02] [-3.75489978e-01 8.53142561e-01 -3.62153347e-01 -1.14664910e+02] [-7.18036622e-01 -2.07075380e-02 6.95697210e-01 -5.79258316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-114.68, Z:-57.95 [[ 5.86340593e-01 5.21310559e-01 6.20032265e-01 1.95889202e+02] [-3.75411045e-01 8.53124394e-01 -3.62277954e-01 -1.14676722e+02] [-7.17823973e-01 -2.03486900e-02 6.95927205e-01 -5.79492799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-114.69, Z:-57.97 [[ 5.87341589e-01 5.20415090e-01 6.19837069e-01 1.95908681e+02] [-3.73875801e-01 8.53705717e-01 -3.62496117e-01 -1.14688577e+02] [-7.17806898e-01 -1.88330353e-02 6.95987481e-01 -5.79736520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:-114.70, Z:-58.00 [[ 5.88044607e-01 5.19824966e-01 6.19665672e-01 1.95927454e+02] [-3.72763860e-01 8.54089745e-01 -3.62736560e-01 -1.14699855e+02] [-7.17809616e-01 -1.76836898e-02 6.96014829e-01 -5.79965654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:-114.71, Z:-58.02 [[ 5.89923016e-01 5.17434244e-01 6.19881148e-01 1.95945367e+02] [-3.68843523e-01 8.55601955e-01 -3.63180052e-01 -1.14711739e+02] [-7.18293318e-01 -1.43908748e-02 6.95591556e-01 -5.80195831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:-114.72, Z:-58.04 [[ 5.91045643e-01 5.15980876e-01 6.20023213e-01 1.95963903e+02] [-3.66329478e-01 8.56512625e-01 -3.63577828e-01 -1.14723695e+02] [-7.18656916e-01 -1.22416890e-02 6.95257060e-01 -5.80429251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:-114.74, Z:-58.07 [[ 5.92203140e-01 5.14264129e-01 6.20344942e-01 1.95982670e+02] [-3.63334624e-01 8.57576027e-01 -3.64075966e-01 -1.14736019e+02] [-7.19224160e-01 -9.78586628e-03 6.94709180e-01 -5.80666038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-114.75, Z:-58.09 [[ 5.93572515e-01 5.12302875e-01 6.20658871e-01 1.96001938e+02] [-3.59963841e-01 8.58776307e-01 -3.64594690e-01 -1.14749011e+02] [-7.19790041e-01 -7.00136419e-03 6.94156523e-01 -5.80903640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:-114.76, Z:-58.11 [[ 5.94876670e-01 5.10211811e-01 6.21132558e-01 1.96021219e+02] [-3.56302010e-01 8.60039230e-01 -3.65214184e-01 -1.14762153e+02] [-7.20534958e-01 -4.05338188e-03 6.93406767e-01 -5.81141907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:-114.77, Z:-58.14 [[ 5.96269262e-01 5.08527373e-01 6.21178620e-01 1.96039685e+02] [-3.53484282e-01 8.61044355e-01 -3.65583754e-01 -1.14774270e+02] [-7.20771691e-01 -1.59052327e-03 6.93170715e-01 -5.81369470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:-114.79, Z:-58.16 [[ 5.99422934e-01 5.05561919e-01 6.20563689e-01 1.96058003e+02] [-3.49366041e-01 8.62787405e-01 -3.65432981e-01 -1.14786247e+02] [-7.20163534e-01 2.24503028e-03 6.93800724e-01 -5.81602345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-114.80, Z:-58.18 [[ 6.01212258e-01 5.04175269e-01 6.19960578e-01 1.96077175e+02] [-3.47419359e-01 8.63590691e-01 -3.65391444e-01 -1.14797781e+02] [-7.19613514e-01 4.29150834e-03 6.94361558e-01 -5.81845942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-114.81, Z:-58.21 [[ 6.02847069e-01 5.02918711e-01 6.19393399e-01 1.96096207e+02] [-3.45621782e-01 8.64311480e-01 -3.65391911e-01 -1.14809176e+02] [-7.19111254e-01 6.19959260e-03 6.94867303e-01 -5.82087657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:-114.82, Z:-58.23 [[ 6.04032335e-01 5.02096534e-01 6.18905493e-01 1.96114940e+02] [-3.44403217e-01 8.64778333e-01 -3.65437901e-01 -1.14820920e+02] [-7.18701163e-01 7.58326569e-03 6.95277737e-01 -5.82327309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:-114.83, Z:-58.26 [[ 6.05883290e-01 5.00578572e-01 6.18325587e-01 1.96132913e+02] [-3.42252999e-01 8.65635829e-01 -3.65427825e-01 -1.14832884e+02] [-7.18170122e-01 9.78282645e-03 6.95798802e-01 -5.82557911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:-114.85, Z:-58.28 [[ 6.06978887e-01 4.96475237e-01 6.20555372e-01 1.96154088e+02] [-3.43282353e-01 8.68038168e-01 -3.58701777e-01 -1.14852407e+02] [-7.16752298e-01 4.69869642e-03 6.97312029e-01 -5.82774850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:-114.85, Z:-58.31 [[ 6.06608140e-01 5.08745040e-01 6.10905107e-01 1.96170795e+02] [-3.41117949e-01 8.60663068e-01 -3.78018026e-01 -1.14848202e+02] [-7.18098259e-01 2.09181142e-02 6.95627287e-01 -5.83058724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:-114.87, Z:-58.33 [[ 6.06949123e-01 4.99628166e-01 6.18048912e-01 1.96190105e+02] [-3.40284084e-01 8.66158957e-01 -3.66026507e-01 -1.14867605e+02] [-7.18205753e-01 1.18472594e-02 6.95729932e-01 -5.83262237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-114.88, Z:-58.35 [[ 6.07016468e-01 4.99380354e-01 6.18183039e-01 1.96208572e+02] [-3.39489588e-01 8.66291604e-01 -3.66450101e-01 -1.14878619e+02] [-7.18524757e-01 1.25745409e-02 6.95387700e-01 -5.83492525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-114.89, Z:-58.37 [[ 6.06634532e-01 4.99819814e-01 6.18202797e-01 1.96228249e+02] [-3.39773544e-01 8.66039874e-01 -3.66781782e-01 -1.14890247e+02] [-7.18713075e-01 1.24535389e-02 6.95195243e-01 -5.83734895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:-114.90, Z:-58.40 [[ 6.05366479e-01 5.01222315e-01 6.18310292e-01 1.96246882e+02] [-3.41359033e-01 8.65245874e-01 -3.67183316e-01 -1.14901112e+02] [-7.19030901e-01 1.12146674e-02 6.94887613e-01 -5.83966777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:-114.91, Z:-58.42 [[ 6.04567518e-01 5.02640826e-01 6.17940383e-01 1.96266485e+02] [-3.43297692e-01 8.64438582e-01 -3.67277322e-01 -1.14912702e+02] [-7.18780085e-01 9.90643153e-03 6.95166924e-01 -5.84202136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:-114.92, Z:-58.44 [[ 6.03292124e-01 5.04210163e-01 6.17908347e-01 1.96285732e+02] [-3.45219766e-01 8.63539638e-01 -3.67590269e-01 -1.14923862e+02] [-7.18931100e-01 8.45013925e-03 6.95029977e-01 -5.84439367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.30, Y:-114.93, Z:-58.47 [[ 6.01726459e-01 5.05997608e-01 6.17973859e-01 1.96304623e+02] [-3.47381535e-01 8.62508490e-01 -3.67974420e-01 -1.14934607e+02] [-7.19201876e-01 6.74723681e-03 6.94768405e-01 -5.84668290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:-114.94, Z:-58.49 [[ 6.00031591e-01 5.07806870e-01 6.18137746e-01 1.96323680e+02] [-3.49541469e-01 8.61456532e-01 -3.68393004e-01 -1.14944893e+02] [-7.19571297e-01 4.98266505e-03 6.94400693e-01 -5.84898818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-114.95, Z:-58.51 [[ 5.96451078e-01 5.11600891e-01 6.18474446e-01 1.96343725e+02] [-3.54462677e-01 8.59222831e-01 -3.68906949e-01 -1.14954824e+02] [-7.20140488e-01 8.08840070e-04 6.93827805e-01 -5.85138594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:-114.95, Z:-58.54 [[ 5.93351052e-01 5.21193267e-01 6.13426530e-01 1.96359995e+02] [-3.54134425e-01 8.53383136e-01 -3.82525860e-01 -1.14952667e+02] [-7.22857758e-01 9.73666995e-03 6.90928259e-01 -5.85438372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:-114.99, Z:-58.56 [[ 5.92951642e-01 5.03231606e-01 6.28622542e-01 1.96382521e+02] [-3.60431760e-01 8.63962746e-01 -3.51649427e-01 -1.14987704e+02] [-7.20067564e-01 -1.80644241e-02 6.93668782e-01 -5.85564043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:-114.99, Z:-58.59 [[ 5.91163119e-01 5.18471476e-01 6.17829666e-01 1.96402325e+02] [-3.63690123e-01 8.55072278e-01 -3.69568524e-01 -1.14987324e+02] [-7.19899758e-01 -6.22326557e-03 6.94050149e-01 -5.85850281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-115.00, Z:-58.61 [[ 5.87753069e-01 5.22459460e-01 6.17723598e-01 1.96421810e+02] [-3.69203590e-01 8.52596954e-01 -3.69820421e-01 -1.14997771e+02] [-7.19885435e-01 -1.07026825e-02 6.94010384e-01 -5.86094147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:-115.01, Z:-58.63 [[ 5.86126411e-01 5.24411043e-01 6.17615486e-01 1.96441061e+02] [-3.71751256e-01 8.51370849e-01 -3.70092802e-01 -1.15008649e+02] [-7.19900573e-01 -1.26781670e-02 6.93961404e-01 -5.86332505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.316559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.46, Y:-115.01, Z:-58.66 [[ 5.83803792e-01 5.28995245e-01 6.15903534e-01 1.96458867e+02] [-3.72404107e-01 8.48566426e-01 -3.75832678e-01 -1.15014589e+02] [-7.21448760e-01 -9.95246362e-03 6.92396299e-01 -5.86597730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-115.03, Z:-58.68 [[ 5.81911010e-01 5.24117408e-01 6.21836409e-01 1.96479146e+02] [-3.77147344e-01 8.51352979e-01 -3.64634045e-01 -1.15034281e+02] [-7.20513329e-01 -2.23393844e-02 6.93081160e-01 -5.86782822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.50, Y:-115.04, Z:-58.70 [[ 5.80900308e-01 5.29572570e-01 6.18148627e-01 1.96498518e+02] [-3.78133798e-01 8.48071246e-01 -3.71200744e-01 -1.15041372e+02] [-7.20811809e-01 -1.81122616e-02 6.92894135e-01 -5.87036219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:-115.05, Z:-58.73 [[ 5.80222289e-01 5.30393417e-01 6.18081644e-01 1.96518179e+02] [-3.79152568e-01 8.47541603e-01 -3.71371191e-01 -1.15053182e+02] [-7.20822743e-01 -1.88694003e-02 6.92862555e-01 -5.87277630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-115.06, Z:-58.75 [[ 5.79754452e-01 5.31015679e-01 6.17986347e-01 1.96537647e+02] [-3.79763851e-01 8.47143969e-01 -3.71653755e-01 -1.15064837e+02] [-7.20877377e-01 -1.92209562e-02 6.92796046e-01 -5.87518384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-115.08, Z:-58.78 [[ 5.79465185e-01 5.31662220e-01 6.17701695e-01 1.96556290e+02] [-3.80522301e-01 8.46729859e-01 -3.71821630e-01 -1.15076573e+02] [-7.20709982e-01 -1.95915802e-02 6.92959805e-01 -5.87752522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:-115.09, Z:-58.80 [[ 5.79448682e-01 5.32000227e-01 6.17426096e-01 1.96575380e+02] [-3.80849610e-01 8.46517139e-01 -3.71970843e-01 -1.15088198e+02] [-7.20550345e-01 -1.96084731e-02 6.93125319e-01 -5.87993812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:-115.10, Z:-58.82 [[ 5.79352337e-01 5.32421375e-01 6.17153424e-01 1.96593791e+02] [-3.81270592e-01 8.46250233e-01 -3.72146852e-01 -1.15099333e+02] [-7.20405167e-01 -1.96983035e-02 6.93273663e-01 -5.88228184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:-115.11, Z:-58.85 [[ 5.79743132e-01 5.32433765e-01 6.16775637e-01 1.96612752e+02] [-3.81181146e-01 8.46251563e-01 -3.72235445e-01 -1.15111390e+02] [-7.20138066e-01 -1.93023013e-02 6.93562244e-01 -5.88470495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.63, Y:-115.11, Z:-58.88 [[ 5.78615551e-01 5.42384047e-01 6.09117058e-01 1.96628053e+02] [-3.76296806e-01 8.40124636e-01 -3.90629376e-01 -1.15106971e+02] [-7.23605388e-01 -3.18457193e-03 6.90206564e-01 -5.88793855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-115.15, Z:-58.89 [[ 5.81419430e-01 5.14635567e-01 6.30160043e-01 1.96649893e+02] [-3.79120973e-01 8.56673320e-01 -3.49825830e-01 -1.15150371e+02] [-7.19874110e-01 -3.55113542e-02 6.93195650e-01 -5.88873326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:-115.14, Z:-58.92 [[ 5.80768926e-01 5.37324846e-01 6.11546781e-01 1.96666858e+02] [-3.73663120e-01 8.43364666e-01 -3.86150116e-01 -1.15137976e+02] [-7.23244998e-01 -4.24849039e-03 6.90578470e-01 -5.89244383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:-115.16, Z:-58.94 [[ 5.80982217e-01 5.27496313e-01 6.19844580e-01 1.96685557e+02] [-3.74100672e-01 8.49413476e-01 -3.72216917e-01 -1.15158803e+02] [-7.22847391e-01 -1.56328647e-02 6.90830850e-01 -5.89438870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:-115.18, Z:-58.96 [[ 5.82784807e-01 5.19039462e-01 6.25267867e-01 1.96705746e+02] [-3.74852895e-01 8.54394320e-01 -3.59855045e-01 -1.15181921e+02] [-7.21004283e-01 -2.46654167e-02 6.92491474e-01 -5.89593284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:-115.19, Z:-58.99 [[ 5.83323965e-01 5.28215021e-01 6.17026778e-01 1.96724731e+02] [-3.73054250e-01 8.49026737e-01 -3.74144526e-01 -1.15185553e+02] [-7.21500990e-01 -1.19369931e-02 6.92310500e-01 -5.89866591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:-115.20, Z:-59.01 [[ 5.84331445e-01 5.27022877e-01 6.17092901e-01 1.96743537e+02] [-3.70942232e-01 8.49791447e-01 -3.74508154e-01 -1.15198143e+02] [-7.21774634e-01 -1.00689275e-02 6.92054907e-01 -5.90101658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:-115.21, Z:-59.03 [[ 5.85640904e-01 5.25628133e-01 6.17041163e-01 1.96762532e+02] [-3.68597882e-01 8.50677434e-01 -3.74811291e-01 -1.15211087e+02] [-7.21914353e-01 -7.93524227e-03 6.91936919e-01 -5.90343134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.78, Y:-115.22, Z:-59.06 [[ 5.89038945e-01 5.21988140e-01 6.16896671e-01 1.96780879e+02] [-3.63056467e-01 8.52947316e-01 -3.75061166e-01 -1.15224357e+02] [-7.21957840e-01 -3.04269239e-03 6.91930357e-01 -5.90579925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-115.24, Z:-59.08 [[ 5.90497892e-01 5.20213559e-01 6.17000886e-01 1.96799705e+02] [-3.60065704e-01 8.54036095e-01 -3.75466427e-01 -1.15236495e+02] [-7.22263753e-01 -4.48724642e-04 6.91617575e-01 -5.90822249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-115.25, Z:-59.11 [[ 5.92345341e-01 5.18412830e-01 6.16745599e-01 1.96818843e+02] [-3.57269669e-01 8.55127722e-01 -3.75652715e-01 -1.15249226e+02] [-7.22139447e-01 2.17163919e-03 6.91744103e-01 -5.91064348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.84, Y:-115.26, Z:-59.13 [[ 5.94298037e-01 5.16320644e-01 6.16622118e-01 1.96836815e+02] [-3.53973239e-01 8.56379916e-01 -3.75920717e-01 -1.15261218e+02] [-7.22158424e-01 5.14121544e-03 6.91708593e-01 -5.91293993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:-115.27, Z:-59.15 [[ 5.98801003e-01 5.11838442e-01 6.16002246e-01 1.96854712e+02] [-3.47601250e-01 8.59012026e-01 -3.75861292e-01 -1.15274642e+02] [-7.21533596e-01 1.09429681e-02 6.92292945e-01 -5.91528599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:-115.29, Z:-59.18 [[ 6.01022227e-01 5.09737435e-01 6.15581051e-01 1.96873756e+02] [-3.44540689e-01 8.60218640e-01 -3.75919679e-01 -1.15287299e+02] [-7.21154628e-01 1.38433634e-02 6.92635809e-01 -5.91765795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:-115.30, Z:-59.20 [[ 6.02814306e-01 5.07918048e-01 6.15332568e-01 1.96892871e+02] [-3.41742778e-01 8.61248456e-01 -3.76115635e-01 -1.15300209e+02] [-7.20990143e-01 1.64424241e-02 6.92750215e-01 -5.92007680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.91, Y:-115.31, Z:-59.22 [[ 6.04470367e-01 5.06377182e-01 6.14977824e-01 1.96911364e+02] [-3.39421115e-01 8.62109466e-01 -3.76245365e-01 -1.15312358e+02] [-7.20700272e-01 1.86927150e-02 6.92994734e-01 -5.92235393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:-115.32, Z:-59.25 [[ 6.05873790e-01 5.04619000e-01 6.15041962e-01 1.96931811e+02] [-3.36536233e-01 8.63082005e-01 -3.76606978e-01 -1.15323652e+02] [-7.20874687e-01 2.11923917e-02 6.92741343e-01 -5.92473957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-115.33, Z:-59.27 [[ 6.06120469e-01 5.04402597e-01 6.14976420e-01 1.96951714e+02] [-3.35916262e-01 8.63191544e-01 -3.76909303e-01 -1.15334587e+02] [-7.20956477e-01 2.18718633e-02 6.92635098e-01 -5.92714309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:-115.35, Z:-59.30 [[ 6.06281614e-01 5.04514780e-01 6.14725501e-01 1.96971511e+02] [-3.35890895e-01 8.63118967e-01 -3.77098072e-01 -1.15345686e+02] [-7.20832790e-01 2.21469282e-02 6.92755081e-01 -5.92954478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:-115.36, Z:-59.32 [[ 6.06219435e-01 5.04890459e-01 6.14478332e-01 1.96991540e+02] [-3.36237795e-01 8.62900226e-01 -3.77289471e-01 -1.15355526e+02] [-7.20723346e-01 2.21093707e-02 6.92870142e-01 -5.93185906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:-115.37, Z:-59.34 [[ 6.05852629e-01 5.05571018e-01 6.14280504e-01 1.97011274e+02] [-3.37009879e-01 8.62512489e-01 -3.77487149e-01 -1.15366314e+02] [-7.20671169e-01 2.16829833e-02 6.92937887e-01 -5.93422353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:-115.38, Z:-59.37 [[ 6.05761572e-01 5.05862363e-01 6.14130432e-01 1.97030840e+02] [-3.37177514e-01 8.62340110e-01 -3.77731199e-01 -1.15378281e+02] [-7.20669301e-01 2.17440727e-02 6.92937915e-01 -5.93665708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:-115.39, Z:-59.39 [[ 6.05071773e-01 5.06678474e-01 6.14137667e-01 1.97050934e+02] [-3.38093870e-01 8.61877808e-01 -3.77967168e-01 -1.15389073e+02] [-7.20819453e-01 2.10610840e-02 6.92802820e-01 -5.93904871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-115.40, Z:-59.41 [[ 6.03542699e-01 5.08576531e-01 6.14073386e-01 1.97071384e+02] [-3.40487324e-01 8.60802299e-01 -3.78269461e-01 -1.15397631e+02] [-7.20974752e-01 1.92175673e-02 6.92694804e-01 -5.94132569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:-115.41, Z:-59.44 [[ 6.02413905e-01 5.10187753e-01 6.13845211e-01 1.97091436e+02] [-3.42610738e-01 8.59881490e-01 -3.78446436e-01 -1.15407415e+02] [-7.20912872e-01 1.76714345e-02 6.92800369e-01 -5.94371094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:-115.42, Z:-59.46 [[ 6.01271935e-01 5.11835520e-01 6.13593074e-01 1.97112293e+02] [-3.44779451e-01 8.58932466e-01 -3.78631943e-01 -1.15417013e+02] [-7.20832290e-01 1.61064784e-02 6.92922356e-01 -5.94611104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-115.43, Z:-59.49 [[ 5.99879112e-01 5.13915122e-01 6.13217986e-01 1.97132504e+02] [-3.47647324e-01 8.57726519e-01 -3.78743392e-01 -1.15426577e+02] [-7.20615285e-01 1.40166573e-02 6.93193439e-01 -5.94851820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:-115.44, Z:-59.51 [[ 5.98303279e-01 5.16061785e-01 6.12954665e-01 1.97152557e+02] [-3.50534677e-01 8.56469368e-01 -3.78926987e-01 -1.15435993e+02] [-7.20526632e-01 1.18513931e-02 6.93325982e-01 -5.95087179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:-115.44, Z:-59.53 [[ 5.94563382e-01 5.20615059e-01 6.12743295e-01 1.97174413e+02] [-3.56867977e-01 8.53764905e-01 -3.79118364e-01 -1.15444020e+02] [-7.20513450e-01 6.74143621e-03 6.93408192e-01 -5.95329457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-115.45, Z:-59.56 [[ 5.92662636e-01 5.23139008e-01 6.12434958e-01 1.97194593e+02] [-3.60338972e-01 8.52237526e-01 -3.79271702e-01 -1.15453478e+02] [-7.20351876e-01 4.09598376e-03 6.93596711e-01 -5.95558417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:-115.46, Z:-59.58 [[ 5.90396014e-01 5.25796769e-01 6.12348189e-01 1.97215165e+02] [-3.63887829e-01 8.50609305e-01 -3.79538480e-01 -1.15463293e+02] [-7.20429174e-01 1.25195273e-03 6.93527388e-01 -5.95801586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-115.47, Z:-59.60 [[ 5.88282862e-01 5.28293424e-01 6.12233070e-01 1.97235013e+02] [-3.67206873e-01 8.49060747e-01 -3.79809111e-01 -1.15472637e+02] [-7.20473724e-01 -1.38100008e-03 6.93480862e-01 -5.96037425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:-115.48, Z:-59.63 [[ 5.86331090e-01 5.30762714e-01 6.11969602e-01 1.97255278e+02] [-3.70722006e-01 8.47510313e-01 -3.79857161e-01 -1.15482175e+02] [-7.20264567e-01 -4.14853542e-03 6.93687064e-01 -5.96275497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-115.49, Z:-59.65 [[ 5.83084818e-01 5.34781584e-01 6.11572361e-01 1.97276468e+02] [-3.76436264e-01 8.44945801e-01 -3.79950433e-01 -1.15490488e+02] [-7.19935993e-01 -8.67468563e-03 6.93986251e-01 -5.96518286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:-115.50, Z:-59.68 [[ 5.81509190e-01 5.36650377e-01 6.11435553e-01 1.97296109e+02] [-3.78876775e-01 8.43738562e-01 -3.80207349e-01 -1.15500974e+02] [-7.19930171e-01 -1.05646625e-02 6.93966092e-01 -5.96752374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:-115.51, Z:-59.70 [[ 5.80117292e-01 5.38087298e-01 6.11494879e-01 1.97316195e+02] [-3.80595524e-01 8.42804242e-01 -3.80562816e-01 -1.15511660e+02] [-7.20146496e-01 -1.19611431e-02 6.93718932e-01 -5.96994146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-115.52, Z:-59.72 [[ 5.78863656e-01 5.39377017e-01 6.11546647e-01 1.97335856e+02] [-3.82081860e-01 8.41961711e-01 -3.80938224e-01 -1.15522519e+02] [-7.20368184e-01 -1.31495873e-02 6.93467208e-01 -5.97232046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:-115.53, Z:-59.75 [[ 5.77540940e-01 5.40455558e-01 6.11844958e-01 1.97355829e+02] [-3.83104143e-01 8.41254677e-01 -3.81473175e-01 -1.15532393e+02] [-7.20886731e-01 -1.40839623e-02 6.92909780e-01 -5.97464379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:-115.54, Z:-59.77 [[ 5.77325771e-01 5.40872385e-01 6.11679668e-01 1.97375478e+02] [-3.83476632e-01 8.40984742e-01 -3.81694035e-01 -1.15543475e+02] [-7.20861031e-01 -1.42030562e-02 6.92934086e-01 -5.97699314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:-115.55, Z:-59.79 [[ 5.77532958e-01 5.41006169e-01 6.11365690e-01 1.97395284e+02] [-3.83506066e-01 8.40903172e-01 -3.81844148e-01 -1.15553958e+02] [-7.20679388e-01 -1.39348703e-02 6.93128444e-01 -5.97946257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:-115.57, Z:-59.82 [[ 5.78329738e-01 5.40991289e-01 6.10625203e-01 1.97414245e+02] [-3.83586119e-01 8.40920416e-01 -3.81725744e-01 -1.15565108e+02] [-7.19997502e-01 -1.34640028e-02 6.93846033e-01 -5.98181033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-115.58, Z:-59.84 [[ 5.78857835e-01 5.40919308e-01 6.10188421e-01 1.97433300e+02] [-3.83532444e-01 8.40972510e-01 -3.81664908e-01 -1.15576774e+02] [-7.19601606e-01 -1.30973334e-02 6.94263631e-01 -5.98428807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.45, Y:-115.59, Z:-59.87 [[ 5.79906413e-01 5.40812839e-01 6.09286489e-01 1.97451964e+02] [-3.83588812e-01 8.41049816e-01 -3.81437846e-01 -1.15588599e+02] [-7.18726774e-01 -1.25172279e-02 6.95179936e-01 -5.98667654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:-115.60, Z:-59.89 [[ 5.80871122e-01 5.40672968e-01 6.08491152e-01 1.97470808e+02] [-3.83522141e-01 8.41148818e-01 -3.81286549e-01 -1.15600649e+02] [-7.17982944e-01 -1.18914844e-02 6.95959112e-01 -5.98908824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.49, Y:-115.61, Z:-59.91 [[ 5.81884599e-01 5.40314025e-01 6.07841318e-01 1.97489076e+02] [-3.83050262e-01 8.41391499e-01 -3.81225448e-01 -1.15612557e+02] [-7.17413974e-01 -1.10045593e-02 6.96560184e-01 -5.99142177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:-115.63, Z:-59.94 [[ 5.83041748e-01 5.39210342e-01 6.07712536e-01 1.97507154e+02] [-3.81204308e-01 8.42120307e-01 -3.81466465e-01 -1.15625773e+02] [-7.17457731e-01 -9.25176260e-03 6.96540601e-01 -5.99377689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:-115.64, Z:-59.96 [[ 5.83618456e-01 5.38628631e-01 6.07674827e-01 1.97525210e+02] [-3.80033041e-01 8.42504178e-01 -3.81787373e-01 -1.15638139e+02] [-7.17610191e-01 -8.11835538e-03 6.96397664e-01 -5.99606023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.54, Y:-115.65, Z:-59.98 [[ 5.83807822e-01 5.38236796e-01 6.07840094e-01 1.97543925e+02] [-3.79032916e-01 8.42762446e-01 -3.82211341e-01 -1.15651227e+02] [-7.17985011e-01 -7.25343229e-03 6.96020769e-01 -5.99837390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:-115.66, Z:-60.01 [[ 5.83846567e-01 5.37841268e-01 6.08152906e-01 1.97562538e+02] [-3.77909588e-01 8.43022142e-01 -3.82750587e-01 -1.15664130e+02] [-7.18545426e-01 -6.35919734e-03 6.95450955e-01 -6.00073928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:-115.68, Z:-60.03 [[ 5.83578840e-01 5.37004540e-01 6.09148473e-01 1.97580266e+02] [-3.75699011e-01 8.43565005e-01 -3.83729508e-01 -1.15677956e+02] [-7.19920823e-01 -4.92005806e-03 6.94038761e-01 -6.00304255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:-115.69, Z:-60.05 [[ 5.83210801e-01 5.36842535e-01 6.09643547e-01 1.97598649e+02] [-3.74805521e-01 8.43671350e-01 -3.84368930e-01 -1.15690863e+02] [-7.20684385e-01 -4.32965583e-03 6.93249790e-01 -6.00540704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:-115.70, Z:-60.08 [[ 5.83331105e-01 5.36908436e-01 6.09470388e-01 1.97617124e+02] [-3.74651487e-01 8.43631108e-01 -3.84607353e-01 -1.15703936e+02] [-7.20667111e-01 -3.98555466e-03 6.93269810e-01 -6.00777251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:-115.72, Z:-60.10 [[ 5.82915013e-01 5.38817264e-01 6.08182574e-01 1.97635307e+02] [-3.75180026e-01 8.42418219e-01 -3.86744737e-01 -1.15717431e+02] [-7.20728822e-01 -2.73864062e-03 6.93211703e-01 -6.01044814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.65, Y:-115.73, Z:-60.13 [[ 5.83513013e-01 5.40800930e-01 6.05843972e-01 1.97652269e+02] [-3.75054958e-01 8.41150605e-01 -3.89614474e-01 -1.15726701e+02] [-7.20309893e-01 1.20329658e-04 6.93652393e-01 -6.01262672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:-115.74, Z:-60.15 [[ 5.83474423e-01 5.38019200e-01 6.08352643e-01 1.97670532e+02] [-3.76089929e-01 8.42921625e-01 -3.84759015e-01 -1.15742618e+02] [-7.19801336e-01 -4.29825754e-03 6.94166811e-01 -6.01488051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-115.76, Z:-60.17 [[ 5.82952476e-01 5.38865459e-01 6.08103961e-01 1.97688652e+02] [-3.77108050e-01 8.42377528e-01 -3.84954048e-01 -1.15755376e+02] [-7.19691552e-01 -4.91098352e-03 6.94276568e-01 -6.01721591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:-115.77, Z:-60.20 [[ 5.81309271e-01 5.41113305e-01 6.07680774e-01 1.97706140e+02] [-3.80290635e-01 8.40918157e-01 -3.85013878e-01 -1.15768921e+02] [-7.19345928e-01 -7.28317037e-03 6.94613843e-01 -6.01950193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:-115.78, Z:-60.22 [[ 5.80380903e-01 5.42708280e-01 6.07145559e-01 1.97725148e+02] [-3.82610732e-01 8.39874552e-01 -3.84993201e-01 -1.15781655e+02] [-7.18865102e-01 -8.85770510e-03 6.95093163e-01 -6.02191022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.74, Y:-115.79, Z:-60.24 [[ 5.79355457e-01 5.44332965e-01 6.06670321e-01 1.97743372e+02] [-3.84910402e-01 8.38804261e-01 -3.85034276e-01 -1.15793822e+02] [-7.18464499e-01 -1.04420080e-02 6.95485247e-01 -6.02427260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:-115.81, Z:-60.27 [[ 5.78051309e-01 5.45870666e-01 6.06532687e-01 1.97762133e+02] [-3.87007027e-01 8.37782199e-01 -3.85157822e-01 -1.15806234e+02] [-7.18388645e-01 -1.20914286e-02 6.95536881e-01 -6.02671339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-115.82, Z:-60.29 [[ 5.75277445e-01 5.49012721e-01 6.06333979e-01 1.97780177e+02] [-3.91334445e-01 8.35668754e-01 -3.85376549e-01 -1.15818869e+02] [-7.18270989e-01 -1.55809342e-02 6.95588975e-01 -6.02910870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:-115.83, Z:-60.32 [[ 5.73721612e-01 5.50584737e-01 6.06382684e-01 1.97798887e+02] [-3.93233649e-01 8.34603384e-01 -3.85751850e-01 -1.15831375e+02] [-7.18478121e-01 -1.71359026e-02 6.95338443e-01 -6.03153285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:-115.84, Z:-60.34 [[ 5.72589034e-01 5.51886497e-01 6.06269819e-01 1.97816917e+02] [-3.94843653e-01 8.33717340e-01 -3.86023169e-01 -1.15843567e+02] [-7.18498635e-01 -1.83491569e-02 6.95286286e-01 -6.03383123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.476559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.84, Y:-115.86, Z:-60.36 [[ 5.71497569e-01 5.52825254e-01 6.06444364e-01 1.97835893e+02] [-3.95772591e-01 8.33076988e-01 -3.86454122e-01 -1.15856375e+02] [-7.18856443e-01 -1.91564667e-02 6.94894557e-01 -6.03623610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:-115.87, Z:-60.39 [[ 5.70084164e-01 5.53897501e-01 6.06796180e-01 1.97853770e+02] [-3.96761583e-01 8.32341789e-01 -3.87023763e-01 -1.15870263e+02] [-7.19433313e-01 -2.01172947e-02 6.94270122e-01 -6.03854677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:-115.88, Z:-60.41 [[ 5.69501267e-01 5.54434080e-01 6.06853490e-01 1.97872025e+02] [-3.97176583e-01 8.31977245e-01 -3.87381757e-01 -1.15883208e+02] [-7.19665943e-01 -2.04135944e-02 6.94020328e-01 -6.04087537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:-115.90, Z:-60.43 [[ 5.68840540e-01 5.54746867e-01 6.07187247e-01 1.97891005e+02] [-3.97105046e-01 8.31767552e-01 -3.87905042e-01 -1.15896354e+02] [-7.20227757e-01 -2.04610063e-02 6.93435884e-01 -6.04327297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:-115.91, Z:-60.46 [[ 5.67430714e-01 5.55602865e-01 6.07723490e-01 1.97908938e+02] [-3.97681467e-01 8.31177763e-01 -3.88578147e-01 -1.15909647e+02] [-7.21021383e-01 -2.11891935e-02 6.92588755e-01 -6.04560416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:-115.92, Z:-60.48 [[ 5.67129100e-01 5.56268437e-01 6.07396089e-01 1.97928023e+02] [-3.98540399e-01 8.30720781e-01 -3.88675359e-01 -1.15922270e+02] [-7.20784388e-01 -2.16427728e-02 6.92821374e-01 -6.04802191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:-115.93, Z:-60.50 [[ 5.66558935e-01 5.56951997e-01 6.07301775e-01 1.97946603e+02] [-3.99261386e-01 8.30250222e-01 -3.88940760e-01 -1.15934656e+02] [-7.20833767e-01 -2.21142853e-02 6.92755108e-01 -6.05042834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:-115.95, Z:-60.53 [[ 5.66404095e-01 5.57767929e-01 6.06697072e-01 1.97964599e+02] [-4.00475719e-01 8.29686593e-01 -3.88895046e-01 -1.15946747e+02] [-7.20281611e-01 -2.26956997e-02 6.93310397e-01 -6.05285608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:-115.96, Z:-60.55 [[ 5.66432667e-01 5.58080679e-01 6.06382709e-01 1.97982922e+02] [-4.00771425e-01 8.29477297e-01 -3.89036861e-01 -1.15958762e+02] [-7.20094645e-01 -2.26576755e-02 6.93505827e-01 -6.05529185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:-115.97, Z:-60.58 [[ 5.66615505e-01 5.58309727e-01 6.06000922e-01 1.98001769e+02] [-4.00985006e-01 8.29327263e-01 -3.89136629e-01 -1.15971204e+02] [-7.19831851e-01 -2.25064357e-02 6.93783515e-01 -6.05772766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:-115.98, Z:-60.60 [[ 5.66793825e-01 5.58442080e-01 6.05712146e-01 1.98020572e+02] [-4.00995307e-01 8.29245476e-01 -3.89300276e-01 -1.15984057e+02] [-7.19685712e-01 -2.22347354e-02 6.93943868e-01 -6.06013119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:-116.00, Z:-60.62 [[ 5.67108457e-01 5.58006498e-01 6.05819071e-01 1.98038013e+02] [-3.99931332e-01 8.29563824e-01 -3.89716296e-01 -1.15996980e+02] [-7.20029811e-01 -2.12746210e-02 6.93616942e-01 -6.06243476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:-116.01, Z:-60.65 [[ 5.66970886e-01 5.57862412e-01 6.06080476e-01 1.98057017e+02] [-3.99334502e-01 8.29671404e-01 -3.90099111e-01 -1.16009920e+02] [-7.20469271e-01 -2.08540060e-02 6.93173240e-01 -6.06483527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:-116.02, Z:-60.67 [[ 5.66914501e-01 5.57778339e-01 6.06210585e-01 1.98075394e+02] [-3.98766794e-01 8.29740730e-01 -3.90532157e-01 -1.16022351e+02] [-7.20827991e-01 -2.03383082e-02 6.92815531e-01 -6.06720115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:-116.04, Z:-60.70 [[ 5.67027973e-01 5.57297821e-01 6.06546302e-01 1.98094778e+02] [-3.99568709e-01 8.30028356e-01 -3.89098670e-01 -1.16039568e+02] [-7.20294471e-01 -2.17270922e-02 6.93328067e-01 -6.06971744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-115.81, Z:-60.13 [[ 6.21422175e-01 -4.55243597e-01 -6.37642335e-01 1.99158202e+02] [-2.87097268e-01 -8.89567043e-01 3.55310616e-01 -1.15811879e+02] [-7.28978490e-01 -3.77325238e-02 -6.83495880e-01 -6.01258445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-116.14, Z:-60.82 [[ 6.04532364e-01 4.69643797e-01 6.43409143e-01 1.98215248e+02] [-3.36664966e-01 8.82665272e-01 -3.27961460e-01 -1.16143046e+02] [-7.21939971e-01 -1.83500010e-02 6.91712336e-01 -6.08244432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:-116.15, Z:-60.85 [[ 6.04338249e-01 4.69865874e-01 6.43429360e-01 1.98234686e+02] [-3.36632623e-01 8.82550330e-01 -3.28303812e-01 -1.16153201e+02] [-7.22117551e-01 -1.81927624e-02 6.91531102e-01 -6.08478905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-116.16, Z:-60.87 [[ 6.04571048e-01 4.69907798e-01 6.43179997e-01 1.98254934e+02] [-3.36495748e-01 8.82535308e-01 -3.28484463e-01 -1.16163392e+02] [-7.21986468e-01 -1.78351379e-02 6.91677272e-01 -6.08722565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:-116.17, Z:-60.90 [[ 6.04521572e-01 4.70060896e-01 6.43114627e-01 1.98274551e+02] [-3.36412125e-01 8.82458510e-01 -3.28776306e-01 -1.16173355e+02] [-7.22066861e-01 -1.75991891e-02 6.91599391e-01 -6.08960659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:-116.18, Z:-60.92 [[ 6.04764935e-01 4.69939989e-01 6.42974168e-01 1.98294356e+02] [-3.35958565e-01 8.82534210e-01 -3.29036792e-01 -1.16183223e+02] [-7.22074246e-01 -1.70227651e-02 6.91606108e-01 -6.09206363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:-116.19, Z:-60.94 [[ 6.04685691e-01 4.70226942e-01 6.42838889e-01 1.98314791e+02] [-3.36096673e-01 8.82383089e-01 -3.29300943e-01 -1.16193623e+02] [-7.22076340e-01 -1.69324439e-02 6.91606139e-01 -6.09449936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.136559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:198.34, Y:-116.21, Z:-60.97 [[ 6.05758049e-01 4.69360382e-01 6.42462464e-01 1.98335899e+02] [-3.36405688e-01 8.82831817e-01 -3.27779189e-01 -1.16206327e+02] [-7.21032870e-01 -1.75731453e-02 6.92677981e-01 -6.09701280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:-116.21, Z:-60.99 [[ 6.06084138e-01 4.74811709e-01 6.38134671e-01 1.98353887e+02] [-3.35291889e-01 8.80029354e-01 -3.36344593e-01 -1.16209478e+02] [-7.21277593e-01 -1.01082562e-02 6.92572348e-01 -6.09949605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.37, Y:-116.22, Z:-61.02 [[ 6.07165342e-01 4.68934302e-01 6.41444361e-01 1.98373531e+02] [-3.34156171e-01 8.83115723e-01 -3.29311819e-01 -1.16224312e+02] [-7.20895208e-01 -1.43958681e-02 6.92894550e-01 -6.10166841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:-116.24, Z:-61.04 [[ 6.09019958e-01 4.66812369e-01 6.41233891e-01 1.98392480e+02] [-3.30840108e-01 8.84282183e-01 -3.29529731e-01 -1.16235894e+02] [-7.20860260e-01 -1.14557072e-02 6.92985752e-01 -6.10397040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:-116.25, Z:-61.06 [[ 6.09797424e-01 4.65601691e-01 6.41375216e-01 1.98412467e+02] [-3.28695883e-01 8.84941855e-01 -3.29904425e-01 -1.16247147e+02] [-7.21183831e-01 -9.64252454e-03 6.92676622e-01 -6.10634483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:-116.26, Z:-61.09 [[ 6.12156516e-01 4.61136612e-01 6.42353038e-01 1.98433367e+02] [-3.24458009e-01 8.87295141e-01 -3.27771769e-01 -1.16263357e+02] [-7.21104292e-01 -7.76896389e-03 6.92782970e-01 -6.10872060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:-116.26, Z:-61.11 [[ 6.12927801e-01 4.66642592e-01 6.37623872e-01 1.98450868e+02] [-3.20274958e-01 8.84437756e-01 -3.39402132e-01 -1.16264763e+02] [-7.22318117e-01 3.81404358e-03 6.91550426e-01 -6.11119615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:-116.28, Z:-61.13 [[ 6.14261371e-01 4.58525923e-01 6.42212540e-01 1.98470626e+02] [-3.17182186e-01 8.88680981e-01 -3.31121692e-01 -1.16281043e+02] [-7.22549949e-01 -3.03113063e-04 6.91318652e-01 -6.11336830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:-116.29, Z:-61.16 [[ 6.15854780e-01 4.56499715e-01 6.42129972e-01 1.98490281e+02] [-3.13948463e-01 8.89720028e-01 -3.31413089e-01 -1.16291599e+02] [-7.22605877e-01 2.50661750e-03 6.91255715e-01 -6.11576142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:-116.30, Z:-61.18 [[ 6.17078519e-01 4.54971423e-01 6.42039801e-01 1.98510377e+02] [-3.11442141e-01 8.90493493e-01 -3.31700366e-01 -1.16301703e+02] [-7.22646452e-01 4.72692055e-03 6.91201680e-01 -6.11815300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:-116.31, Z:-61.20 [[ 6.17770387e-01 4.53734285e-01 6.42249911e-01 1.98530740e+02] [-3.09192213e-01 8.91112517e-01 -3.32142526e-01 -1.16310831e+02] [-7.23021386e-01 6.60914600e-03 6.90794032e-01 -6.12049392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:-116.32, Z:-61.23 [[ 6.19398208e-01 4.50912916e-01 6.42668968e-01 1.98551226e+02] [-3.04673923e-01 8.92509823e-01 -3.32565808e-01 -1.16321280e+02] [-7.23546585e-01 1.01861898e-02 6.90200391e-01 -6.12284589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:-116.33, Z:-61.25 [[ 6.21122297e-01 4.49487224e-01 6.42003370e-01 1.98570542e+02] [-3.02653684e-01 8.93202767e-01 -3.32550094e-01 -1.16331597e+02] [-7.22916206e-01 1.22495933e-02 6.90827118e-01 -6.12519441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:-116.34, Z:-61.28 [[ 6.24316498e-01 4.46561323e-01 6.40946094e-01 1.98590653e+02] [-2.98737997e-01 8.94610139e-01 -3.32307551e-01 -1.16341691e+02] [-7.21792574e-01 1.59901346e-02 6.91924704e-01 -6.12764478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:-116.35, Z:-61.30 [[ 6.25450209e-01 4.47295386e-01 6.39326891e-01 1.98608991e+02] [-2.95253014e-01 8.94119744e-01 -3.36712846e-01 -1.16347250e+02] [-7.22244899e-01 2.18339278e-02 6.91292692e-01 -6.13026456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:-116.36, Z:-61.32 [[ 6.26779305e-01 4.39991698e-01 6.43082428e-01 1.98630307e+02] [-2.93985566e-01 8.97852386e-01 -3.27770622e-01 -1.16363776e+02] [-7.21609444e-01 1.63828908e-02 6.92106502e-01 -6.13221349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:-116.37, Z:-61.35 [[ 6.28018433e-01 4.43423897e-01 6.39506134e-01 1.98649378e+02] [-2.90714249e-01 8.95964766e-01 -3.35756406e-01 -1.16367311e+02] [-7.21857377e-01 2.49476670e-02 6.91592034e-01 -6.13492705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:-116.38, Z:-61.37 [[ 6.29465250e-01 4.37334114e-01 6.42271261e-01 1.98670888e+02] [-2.87617699e-01 8.99000816e-01 -3.30262915e-01 -1.16379493e+02] [-7.21837626e-01 2.31604459e-02 6.91674805e-01 -6.13698687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-116.39, Z:-61.39 [[ 6.30713608e-01 4.35261915e-01 6.42454209e-01 1.98691952e+02] [-2.86327331e-01 9.00001413e-01 -3.28655011e-01 -1.16389765e+02] [-7.21260705e-01 2.33349888e-02 6.92270521e-01 -6.13922903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-116.40, Z:-61.42 [[ 6.31332914e-01 4.36763080e-01 6.40825065e-01 1.98713169e+02] [-2.85853622e-01 8.99202403e-01 -3.31244238e-01 -1.16397619e+02] [-7.20906692e-01 2.59432241e-02 6.92546381e-01 -6.14167768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:-116.40, Z:-61.44 [[ 6.30195257e-01 4.44258083e-01 6.36779942e-01 1.98731547e+02] [-2.85225541e-01 8.95249872e-01 -3.42306964e-01 -1.16398925e+02] [-7.22149797e-01 3.40943212e-02 6.90895975e-01 -6.14438226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:-116.41, Z:-61.46 [[ 6.30072911e-01 4.38672032e-01 6.40761247e-01 1.98752104e+02] [-2.85458318e-01 8.98220780e-01 -3.34234916e-01 -1.16412929e+02] [-7.22164576e-01 2.76817386e-02 6.91167162e-01 -6.14647992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:-116.42, Z:-61.49 [[ 6.28488894e-01 4.40723023e-01 6.40909453e-01 1.98774500e+02] [-2.88086411e-01 8.97278031e-01 -3.34512115e-01 -1.16419628e+02] [-7.22501162e-01 2.55998447e-02 6.90895592e-01 -6.14890817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:-116.43, Z:-61.51 [[ 6.26971649e-01 4.42708820e-01 6.41026873e-01 1.98795227e+02] [-2.90511700e-01 8.96350926e-01 -3.34899940e-01 -1.16427813e+02] [-7.22848188e-01 2.37469617e-02 6.90598710e-01 -6.15130724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:-116.44, Z:-61.54 [[ 6.25375146e-01 4.45021425e-01 6.40985068e-01 1.98815438e+02] [-2.93500774e-01 8.95261785e-01 -3.35206850e-01 -1.16435432e+02] [-7.23023666e-01 2.15004192e-02 6.90488602e-01 -6.15360566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-116.44, Z:-61.56 [[ 6.23702485e-01 4.47877477e-01 6.40625457e-01 1.98836439e+02] [-2.97483470e-01 8.93902132e-01 -3.35324564e-01 -1.16443484e+02] [-7.22840782e-01 1.85672799e-02 6.90765127e-01 -6.15599148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:-116.45, Z:-61.58 [[ 6.19855411e-01 4.52007233e-01 6.41458285e-01 1.98860531e+02] [-3.07072436e-01 8.91971891e-01 -3.31802146e-01 -1.16453943e+02] [-7.22139730e-01 8.69519674e-03 6.91692565e-01 -6.15838300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:-116.45, Z:-61.61 [[ 6.17504933e-01 4.64272067e-01 6.34932363e-01 1.98879724e+02] [-3.10478002e-01 8.85543434e-01 -3.45566545e-01 -1.16449977e+02] [-7.22697079e-01 1.62565148e-02 6.90973703e-01 -6.16091001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:-116.46, Z:-61.63 [[ 6.15046781e-01 4.60441250e-01 6.40086957e-01 1.98901279e+02] [-3.15099869e-01 8.87677078e-01 -3.35769978e-01 -1.16463925e+02] [-7.22792868e-01 4.82292754e-03 6.91047906e-01 -6.16303030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:-116.47, Z:-61.65 [[ 6.12452937e-01 4.63793392e-01 6.40153958e-01 1.98921810e+02] [-3.19555026e-01 8.85942427e-01 -3.36140746e-01 -1.16470930e+02] [-7.23039408e-01 1.30597267e-03 6.90805551e-01 -6.16533927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:-116.47, Z:-61.68 [[ 6.08705408e-01 4.69212732e-01 6.39778976e-01 1.98944872e+02] [-3.27283811e-01 8.83072614e-01 -3.36255951e-01 -1.16474837e+02] [-7.22746866e-01 -4.70848558e-03 6.91096807e-01 -6.16773179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:-116.48, Z:-61.70 [[ 6.06260766e-01 4.72299739e-01 6.39828758e-01 1.98964654e+02] [-3.31386503e-01 8.81402144e-01 -3.36620330e-01 -1.16482186e+02] [-7.22932133e-01 -7.95091564e-03 6.90873298e-01 -6.17008313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:-116.49, Z:-61.72 [[ 6.04655242e-01 4.74756064e-01 6.39530076e-01 1.98985637e+02] [-3.34789575e-01 8.80055100e-01 -3.36777318e-01 -1.16490440e+02] [-7.22708778e-01 -1.04738315e-02 6.91073311e-01 -6.17248776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:-116.50, Z:-61.75 [[ 6.03216254e-01 4.76686377e-01 6.39453086e-01 1.99006660e+02] [-3.37288521e-01 8.78986652e-01 -3.37074055e-01 -1.16499173e+02] [-7.22749337e-01 -1.23516366e-02 6.90999879e-01 -6.17492827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:-116.51, Z:-61.77 [[ 6.01228439e-01 4.78929148e-01 6.39649306e-01 1.99027025e+02] [-3.40099646e-01 8.77731833e-01 -3.37518977e-01 -1.16506387e+02] [-7.23088234e-01 -1.46184951e-02 6.90600974e-01 -6.17723365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:-116.52, Z:-61.80 [[ 6.00785461e-01 4.79714250e-01 6.39477184e-01 1.99047861e+02] [-3.41003092e-01 8.77293957e-01 -3.37745768e-01 -1.16516227e+02] [-7.23030927e-01 -1.51509496e-02 6.90649497e-01 -6.17961201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:-116.53, Z:-61.82 [[ 6.02976636e-01 4.73425314e-01 6.42096293e-01 1.99070649e+02] [-3.42205017e-01 8.80558723e-01 -3.27890321e-01 -1.16533160e+02] [-7.20635069e-01 -2.20183705e-02 6.92964854e-01 -6.18152659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-116.53, Z:-61.84 [[ 6.01884185e-01 4.84362984e-01 6.34923560e-01 1.99090164e+02] [-3.40857033e-01 8.74818561e-01 -3.44251316e-01 -1.16531484e+02] [-7.22185510e-01 -9.21873833e-03 6.91637986e-01 -6.18443263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:-116.54, Z:-61.87 [[ 6.01604647e-01 4.80875918e-01 6.37832423e-01 1.99108281e+02] [-3.40257400e-01 8.76700087e-01 -3.40032144e-01 -1.16542548e+02] [-7.22701010e-01 -1.24622843e-02 6.91048436e-01 -6.18678562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:-116.55, Z:-61.89 [[ 6.02300196e-01 4.79362247e-01 6.38315212e-01 1.99128216e+02] [-3.39971030e-01 8.77516264e-01 -3.38208375e-01 -1.16553732e+02] [-7.22256307e-01 -1.33057096e-02 6.91497494e-01 -6.18917218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:-116.56, Z:-61.92 [[ 6.03139091e-01 4.79158789e-01 6.37675539e-01 1.99148371e+02] [-3.39662650e-01 8.77637636e-01 -3.38203290e-01 -1.16564080e+02] [-7.21701131e-01 -1.26109385e-02 6.92089909e-01 -6.19157096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-116.57, Z:-61.94 [[ 6.05075070e-01 4.77787546e-01 6.36869861e-01 1.99167322e+02] [-3.37743689e-01 8.78412489e-01 -3.38113443e-01 -1.16574434e+02] [-7.20980832e-01 -1.05147612e-02 6.92875227e-01 -6.19395915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:-116.59, Z:-61.96 [[ 6.07635756e-01 4.73696237e-01 6.37487775e-01 1.99186940e+02] [-3.36160426e-01 8.80614690e-01 -3.33937024e-01 -1.16586882e+02] [-7.19565811e-01 -1.13860857e-02 6.94330901e-01 -6.19597987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:-116.60, Z:-61.99 [[ 6.10259053e-01 4.74359964e-01 6.34481294e-01 1.99204266e+02] [-3.30671666e-01 8.80328108e-01 -3.40115673e-01 -1.16595849e+02] [-7.19888976e-01 -2.24631733e-03 6.94085597e-01 -6.19858728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:-116.62, Z:-62.00 [[ 6.13783106e-01 4.63716625e-01 6.38934418e-01 1.99225775e+02] [-3.29014224e-01 8.85931963e-01 -3.26916193e-01 -1.16616542e+02] [-7.17648897e-01 -9.56287517e-03 6.96339438e-01 -6.20031708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:-116.61, Z:-62.03 [[ 6.14981719e-01 4.75370054e-01 6.29142907e-01 1.99241496e+02] [-3.22797233e-01 8.79708906e-01 -3.49162123e-01 -1.16614751e+02] [-7.19443835e-01 1.16427329e-02 6.94453033e-01 -6.20342095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:-116.63, Z:-62.06 [[ 6.14950673e-01 4.67497934e-01 6.35044369e-01 1.99261417e+02] [-3.22774931e-01 8.83989072e-01 -3.38200627e-01 -1.16632401e+02] [-7.19480377e-01 3.00030065e-03 6.94506289e-01 -6.20557983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:-116.64, Z:-62.08 [[ 6.14894890e-01 4.67650690e-01 6.34985910e-01 1.99281680e+02] [-3.22881199e-01 8.83908270e-01 -3.38310362e-01 -1.16643231e+02] [-7.19480372e-01 3.00030063e-03 6.94506294e-01 -6.20801359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-116.66, Z:-62.10 [[ 6.19758878e-01 4.60017827e-01 6.35832158e-01 1.99301341e+02] [-3.16979999e-01 8.87895083e-01 -3.33415659e-01 -1.16659448e+02] [-7.17929393e-01 5.09123760e-03 6.96097311e-01 -6.21003725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:-116.68, Z:-62.12 [[ 6.22298353e-01 4.53698092e-01 6.37889334e-01 1.99322080e+02] [-3.15802265e-01 8.91154554e-01 -3.25749123e-01 -1.16678219e+02] [-7.16249740e-01 1.26624573e-03 6.97842896e-01 -6.21199508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:-116.68, Z:-62.15 [[ 6.23685045e-01 4.61219234e-01 6.31105207e-01 1.99341710e+02] [-3.13376849e-01 8.87184244e-01 -3.38672508e-01 -1.16682726e+02] [-7.16108871e-01 1.34512176e-02 6.97858975e-01 -6.21471153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-116.68, Z:-62.18 [[ 6.22193704e-01 4.69291954e-01 6.26609972e-01 1.99356652e+02] [-3.09195913e-01 8.82644464e-01 -3.54029148e-01 -1.16683356e+02] [-7.19216854e-01 2.65294650e-02 6.94278982e-01 -6.21776054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-116.72, Z:-62.19 [[ 6.28127962e-01 4.41895086e-01 6.40456085e-01 1.99380323e+02] [-3.05522070e-01 8.97053428e-01 -3.19298312e-01 -1.16721421e+02] [-7.15619681e-01 4.88672857e-03 6.98473043e-01 -6.21876080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-116.70, Z:-62.23 [[ 6.26199519e-01 4.67855491e-01 6.23686943e-01 1.99394405e+02] [-3.00569227e-01 8.82973307e-01 -3.60577702e-01 -1.16704578e+02] [-7.19397180e-01 3.83324814e-02 6.93540423e-01 -6.22261646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:-116.73, Z:-62.24 [[ 6.27049313e-01 4.51214682e-01 6.34991708e-01 1.99412816e+02] [-2.97597822e-01 8.92086140e-01 -3.40026257e-01 -1.16729612e+02] [-7.19892141e-01 2.42410816e-02 6.93662508e-01 -6.22439590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:-116.74, Z:-62.27 [[ 6.29207545e-01 4.47925136e-01 6.35185750e-01 1.99431605e+02] [-2.92479218e-01 8.93618926e-01 -3.40442537e-01 -1.16742981e+02] [-7.20106778e-01 2.84303812e-02 6.93280565e-01 -6.22670980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-116.75, Z:-62.29 [[ 6.29805962e-01 4.46861832e-01 6.35341604e-01 1.99450480e+02] [-2.90521093e-01 8.94096513e-01 -3.40864958e-01 -1.16754264e+02] [-7.20376253e-01 3.00986457e-02 6.92930102e-01 -6.22902805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:-116.77, Z:-62.31 [[ 6.30588709e-01 4.46033953e-01 6.35146906e-01 1.99469945e+02] [-2.89250277e-01 8.94468750e-01 -3.40969107e-01 -1.16765557e+02] [-7.20202858e-01 3.12948501e-02 6.93057339e-01 -6.23137959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:-116.78, Z:-62.34 [[ 6.31056582e-01 4.45668106e-01 6.34938997e-01 1.99489074e+02] [-2.88517144e-01 8.94621903e-01 -3.41188377e-01 -1.16776069e+02] [-7.20087112e-01 3.21183848e-02 6.93139929e-01 -6.23367418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:-116.79, Z:-62.36 [[ 6.31019490e-01 4.45831853e-01 6.34860900e-01 1.99509111e+02] [-2.88478559e-01 8.94533038e-01 -3.41453898e-01 -1.16787062e+02] [-7.20135074e-01 3.23203074e-02 6.93080712e-01 -6.23608464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-116.80, Z:-62.38 [[ 6.31668315e-01 4.43247965e-01 6.36023884e-01 1.99529816e+02] [-2.89724584e-01 8.95949674e-01 -3.36650928e-01 -1.16799023e+02] [-7.19065230e-01 2.83799692e-02 6.94362854e-01 -6.23803711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:-116.81, Z:-62.41 [[ 6.29343457e-01 4.49801310e-01 6.33723595e-01 1.99548147e+02] [-2.92288581e-01 8.92597147e-01 -3.43274990e-01 -1.16805666e+02] [-7.20065413e-01 3.08076982e-02 6.93221961e-01 -6.24073519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.57, Y:-116.83, Z:-62.42 [[ 6.30753322e-01 4.39252015e-01 6.39693610e-01 1.99572170e+02] [-2.96221382e-01 8.98233343e-01 -3.24699484e-01 -1.16829435e+02] [-7.17219032e-01 1.53143529e-02 6.96679503e-01 -6.24214958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-116.83, Z:-62.45 [[ 6.30822382e-01 4.52374311e-01 6.30413043e-01 1.99592285e+02] [-2.96831736e-01 8.91356786e-01 -3.42598891e-01 -1.16829422e+02] [-7.16905881e-01 2.89924501e-02 6.96566863e-01 -6.24506028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:-116.82, Z:-62.48 [[ 6.26917476e-01 4.65867332e-01 6.24453447e-01 1.99607343e+02] [-2.97950927e-01 8.83956907e-01 -3.60340717e-01 -1.16824837e+02] [-7.19860906e-01 3.98474096e-02 6.92973636e-01 -6.24818439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:-116.86, Z:-62.49 [[ 6.26425327e-01 4.43081274e-01 6.41303590e-01 1.99634207e+02] [-3.07861850e-01 8.96478781e-01 -3.18664207e-01 -1.16863315e+02] [-7.16109204e-01 2.18642038e-03 6.97984834e-01 -6.24900195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:-116.84, Z:-62.53 [[ 6.21573087e-01 4.79887191e-01 6.19156832e-01 1.99648366e+02] [-3.09501604e-01 8.76527660e-01 -3.68657047e-01 -1.16836509e+02] [-7.19621883e-01 3.75172664e-02 6.93351858e-01 -6.25309091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-116.86, Z:-62.55 [[ 6.19282439e-01 4.64053204e-01 6.33359207e-01 1.99668168e+02] [-3.13402788e-01 8.85702760e-01 -3.42504472e-01 -1.16862009e+02] [-7.19908296e-01 1.36104638e-02 6.93935733e-01 -6.25481769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:-116.89, Z:-62.56 [[ 6.20599059e-01 4.52516225e-01 6.40379477e-01 1.99693950e+02] [-3.20510258e-01 8.91729048e-01 -3.19519138e-01 -1.16888613e+02] [-7.15632575e-01 -6.95491506e-03 6.98442300e-01 -6.25611950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:-116.87, Z:-62.60 [[ 6.14744509e-01 4.87893524e-01 6.19716949e-01 1.99709387e+02] [-3.22496934e-01 8.72522872e-01 -3.67014393e-01 -1.16865255e+02] [-7.19781158e-01 2.57632663e-02 6.93722811e-01 -6.26010854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:-116.89, Z:-62.62 [[ 6.10863777e-01 4.73078268e-01 6.34856203e-01 1.99730750e+02] [-3.29941677e-01 8.81017246e-01 -3.39038497e-01 -1.16890564e+02] [-7.19711008e-01 -2.35918355e-03 6.94269759e-01 -6.26152495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:-116.90, Z:-62.64 [[ 6.07151270e-01 4.81036327e-01 6.32432911e-01 1.99749269e+02] [-3.33768380e-01 8.76700327e-01 -3.46403241e-01 -1.16895334e+02] [-7.21086683e-01 -7.66940139e-04 6.92844433e-01 -6.26412749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:-116.90, Z:-62.67 [[ 6.02764925e-01 4.84089222e-01 6.34296516e-01 1.99770409e+02] [-3.40183168e-01 8.74980953e-01 -3.44505072e-01 -1.16904948e+02] [-7.21768562e-01 -8.12142487e-03 6.92086834e-01 -6.26651401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:-116.91, Z:-62.69 [[ 6.00981787e-01 4.86479569e-01 6.34159697e-01 1.99790557e+02] [-3.43381999e-01 8.73628113e-01 -3.44764737e-01 -1.16914611e+02] [-7.21740739e-01 -1.05616966e-02 6.92082911e-01 -6.26887740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:-116.92, Z:-62.72 [[ 5.98732164e-01 4.92167953e-01 6.31894376e-01 1.99809373e+02] [-3.44049015e-01 8.70474868e-01 -3.51999687e-01 -1.16918004e+02] [-7.23291138e-01 -6.64910290e-03 6.90511201e-01 -6.27150118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:-116.94, Z:-62.73 [[ 5.98033564e-01 4.82670300e-01 6.39832195e-01 1.99829692e+02] [-3.48554211e-01 8.75503414e-01 -3.34669590e-01 -1.16940920e+02] [-7.21710342e-01 -2.28725584e-02 6.91817192e-01 -6.27331224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:-116.94, Z:-62.76 [[ 5.94891998e-01 4.93720348e-01 6.34305706e-01 1.99850324e+02] [-3.52910187e-01 8.69430929e-01 -3.45751730e-01 -1.16944662e+02] [-7.22189664e-01 -1.81680079e-02 6.91456443e-01 -6.27599026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:-116.95, Z:-62.78 [[ 5.93777767e-01 4.95301113e-01 6.34117316e-01 1.99870048e+02] [-3.54968037e-01 8.68499055e-01 -3.45987115e-01 -1.16954839e+02] [-7.22098093e-01 -1.96519227e-02 6.91511494e-01 -6.27834875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-116.97, Z:-62.81 [[ 5.92744823e-01 4.96628950e-01 6.34045157e-01 1.99889482e+02] [-3.56619630e-01 8.67712075e-01 -3.46263188e-01 -1.16965093e+02] [-7.22132962e-01 -2.08672372e-02 6.91439472e-01 -6.28070259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:-116.98, Z:-62.83 [[ 5.91999974e-01 4.97756263e-01 6.33857029e-01 1.99909232e+02] [-3.58156434e-01 8.67038588e-01 -3.46364051e-01 -1.16975733e+02] [-7.21983379e-01 -2.19724640e-02 6.91561430e-01 -6.28307268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:-116.98, Z:-62.86 [[ 5.90145533e-01 5.05222643e-01 6.29665253e-01 1.99926407e+02] [-3.58148036e-01 8.62858103e-01 -3.56659331e-01 -1.16978708e+02] [-7.23504136e-01 -1.50324624e-02 6.90156352e-01 -6.28591385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-117.00, Z:-62.87 [[ 5.91487315e-01 4.91352739e-01 6.39308409e-01 1.99946615e+02] [-3.60148457e-01 8.70385096e-01 -3.35742271e-01 -1.17004411e+02] [-7.21412396e-01 -3.16586430e-02 6.91781674e-01 -6.28746881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:-117.01, Z:-62.90 [[ 5.91421279e-01 4.99518619e-01 6.33010284e-01 1.99966015e+02] [-3.60211284e-01 8.66000560e-01 -3.46829729e-01 -1.17009232e+02] [-7.21435168e-01 -2.28949649e-02 6.92103402e-01 -6.29016935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-117.02, Z:-62.93 [[ 5.91990937e-01 4.99336494e-01 6.32621369e-01 1.99984865e+02] [-3.59802141e-01 8.66122960e-01 -3.46948754e-01 -1.17020658e+02] [-7.21172067e-01 -2.22280051e-02 6.92399282e-01 -6.29252521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-117.03, Z:-62.95 [[ 5.93989514e-01 4.97892709e-01 6.31885517e-01 2.00003787e+02] [-3.57867071e-01 8.67004150e-01 -3.46749136e-01 -1.17033080e+02] [-7.20491233e-01 -2.01656679e-02 6.93170779e-01 -6.29494561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:-117.04, Z:-62.97 [[ 5.94826365e-01 4.97181544e-01 6.31658221e-01 2.00022715e+02] [-3.56605163e-01 8.67441228e-01 -3.46956011e-01 -1.17044760e+02] [-7.20426508e-01 -1.88739996e-02 6.93274418e-01 -6.29737970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.04, Y:-117.06, Z:-63.00 [[ 5.96001639e-01 4.96125637e-01 6.31380550e-01 2.00041369e+02] [-3.54869779e-01 8.68081057e-01 -3.47135016e-01 -1.17056693e+02] [-7.20312076e-01 -1.71648380e-02 6.93437727e-01 -6.29975261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-117.07, Z:-63.02 [[ 5.97312421e-01 4.94732868e-01 6.31234712e-01 2.00060182e+02] [-3.52709067e-01 8.68911809e-01 -3.47258667e-01 -1.17069095e+02] [-7.20287572e-01 -1.52202911e-02 6.93508584e-01 -6.30213978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:-117.08, Z:-63.04 [[ 6.00259221e-01 4.91329654e-01 6.31097487e-01 2.00077938e+02] [-3.47494832e-01 8.70907915e-01 -3.47515101e-01 -1.17084298e+02] [-7.20372271e-01 -1.07039714e-02 6.93505023e-01 -6.30446797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:-117.10, Z:-63.07 [[ 6.01533449e-01 4.89761586e-01 6.31103081e-01 2.00096704e+02] [-3.44872580e-01 8.71815876e-01 -3.47850517e-01 -1.17097416e+02] [-7.20569506e-01 -8.40642594e-03 6.93331753e-01 -6.30685160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:-117.11, Z:-63.09 [[ 6.03047636e-01 4.88225039e-01 6.30848524e-01 2.00115144e+02] [-3.42437120e-01 8.72696204e-01 -3.48049070e-01 -1.17110481e+02] [-7.20465383e-01 -6.13578344e-03 6.93463759e-01 -6.30917099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.13, Y:-117.12, Z:-63.12 [[ 6.04139087e-01 4.86496021e-01 6.31139910e-01 2.00134100e+02] [-3.39443912e-01 8.73675046e-01 -3.48525098e-01 -1.17123391e+02] [-7.20967263e-01 -3.67896532e-03 6.92959357e-01 -6.31161013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:-117.13, Z:-63.14 [[ 6.04804737e-01 4.88049390e-01 6.29300423e-01 2.00151268e+02] [-3.35920352e-01 8.72811708e-01 -3.54058242e-01 -1.17132020e+02] [-7.22058687e-01 2.74128211e-03 6.91826379e-01 -6.31435320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:-117.15, Z:-63.16 [[ 6.07692746e-01 4.78843993e-01 6.33575534e-01 2.00169805e+02] [-3.32701430e-01 8.77898715e-01 -3.44388741e-01 -1.17153624e+02] [-7.21123627e-01 -1.50894671e-03 6.92804762e-01 -6.31616250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.19, Y:-117.16, Z:-63.19 [[ 6.08398898e-01 4.83805196e-01 6.29113116e-01 2.00187042e+02] [-3.30167836e-01 8.75143702e-01 -3.53712738e-01 -1.17160373e+02] [-7.21692442e-01 7.48552422e-03 6.92173379e-01 -6.31892915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:-117.18, Z:-63.21 [[ 6.09601103e-01 4.78228595e-01 6.32205589e-01 2.00205969e+02] [-3.28973570e-01 8.78227912e-01 -3.47119755e-01 -1.17177663e+02] [-7.21223187e-01 3.62565596e-03 6.92693272e-01 -6.32082195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:-117.19, Z:-63.23 [[ 6.11550234e-01 4.77626994e-01 6.30776320e-01 2.00223908e+02] [-3.25260742e-01 8.78518673e-01 -3.49871964e-01 -1.17190153e+02] [-7.21257070e-01 8.79750720e-03 6.92611610e-01 -6.32326560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:-117.20, Z:-63.26 [[ 6.12391141e-01 4.76938634e-01 6.30481268e-01 2.00242836e+02] [-3.24101927e-01 8.78879457e-01 -3.50041198e-01 -1.17202371e+02] [-7.21065206e-01 1.00219348e-02 6.92794724e-01 -6.32568119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:-117.21, Z:-63.28 [[ 6.13292130e-01 4.76154504e-01 6.30198105e-01 2.00262074e+02] [-3.22802724e-01 8.79288330e-01 -3.50214840e-01 -1.17214489e+02] [-7.20882212e-01 1.13543408e-02 6.92964584e-01 -6.32807485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:-117.23, Z:-63.30 [[ 6.14791869e-01 4.74222142e-01 6.30193873e-01 2.00280483e+02] [-3.19692540e-01 8.80293223e-01 -3.50543180e-01 -1.17228241e+02] [-7.20990733e-01 1.40428170e-02 6.92802397e-01 -6.33045846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:-117.24, Z:-63.33 [[ 6.15409765e-01 4.73527047e-01 6.30113448e-01 2.00299357e+02] [-3.18400465e-01 8.80646789e-01 -3.50830979e-01 -1.17240265e+02] [-7.21035343e-01 1.52763958e-02 6.92729866e-01 -6.33281787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.32, Y:-117.25, Z:-63.35 [[ 6.15909342e-01 4.72949038e-01 6.30059433e-01 2.00318668e+02] [-3.17262309e-01 8.80937678e-01 -3.51131649e-01 -1.17252155e+02] [-7.21110470e-01 1.63711527e-02 6.92626650e-01 -6.33521289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:-117.26, Z:-63.38 [[ 6.16621035e-01 4.72272641e-01 6.29870663e-01 2.00337446e+02] [-3.16066495e-01 8.81277325e-01 -3.51357721e-01 -1.17263602e+02] [-7.21027371e-01 1.75735487e-02 6.92683694e-01 -6.33753004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:-117.28, Z:-63.40 [[ 6.17657860e-01 4.70198942e-01 6.30405999e-01 2.00355979e+02] [-3.12449587e-01 8.82324101e-01 -3.51965107e-01 -1.17276070e+02] [-7.21716027e-01 2.04239211e-02 6.91887881e-01 -6.33989726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:-117.29, Z:-63.42 [[ 6.18276455e-01 4.69271652e-01 6.30490557e-01 2.00375563e+02] [-3.10730239e-01 8.82781480e-01 -3.52340144e-01 -1.17287855e+02] [-7.21928628e-01 2.19311338e-02 6.91619897e-01 -6.34230633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:-117.29, Z:-63.45 [[ 6.18471472e-01 4.71412701e-01 6.28699535e-01 2.00392818e+02] [-3.07470202e-01 8.81455496e-01 -3.58466573e-01 -1.17293767e+02] [-7.23156355e-01 2.83949761e-02 6.90100436e-01 -6.34497646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:-117.31, Z:-63.47 [[ 6.19647630e-01 4.62803311e-01 6.33916327e-01 2.00414320e+02] [-3.07284788e-01 8.86235230e-01 -3.46645605e-01 -1.17314460e+02] [-7.22227716e-01 2.00052833e-02 6.91365977e-01 -6.34681470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:-117.32, Z:-63.49 [[ 6.20207092e-01 4.66719811e-01 6.30488526e-01 2.00433905e+02] [-3.06263100e-01 8.84025337e-01 -3.53131868e-01 -1.17321809e+02] [-7.22181471e-01 2.59195181e-02 6.91217840e-01 -6.34936792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:-117.33, Z:-63.52 [[ 6.21458466e-01 4.65705840e-01 6.30005910e-01 2.00452716e+02] [-3.04772607e-01 8.84512455e-01 -3.53201606e-01 -1.17332171e+02] [-7.21736125e-01 2.74915847e-02 6.91622136e-01 -6.35170588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:-117.34, Z:-63.54 [[ 6.22159645e-01 4.65720037e-01 6.29302967e-01 2.00471729e+02] [-3.05024871e-01 8.84499103e-01 -3.53017229e-01 -1.17342264e+02] [-7.21025107e-01 2.76800174e-02 6.92355842e-01 -6.35400333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:-117.35, Z:-63.56 [[ 6.22507538e-01 4.66026793e-01 6.28731575e-01 2.00491488e+02] [-3.05503420e-01 8.84337826e-01 -3.53007465e-01 -1.17352649e+02] [-7.20522051e-01 2.76701611e-02 6.92879742e-01 -6.35642721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:-117.36, Z:-63.59 [[ 6.22283081e-01 4.66620548e-01 6.28513350e-01 2.00511047e+02] [-3.06143512e-01 8.84033574e-01 -3.53214936e-01 -1.17362923e+02] [-7.20444250e-01 2.73843938e-02 6.92971990e-01 -6.35882639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:-117.37, Z:-63.61 [[ 6.21779721e-01 4.67694208e-01 6.28213424e-01 2.00531663e+02] [-3.07515553e-01 8.83491853e-01 -3.53378452e-01 -1.17372357e+02] [-7.20294498e-01 2.65381571e-02 6.93160561e-01 -6.36119900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:-117.38, Z:-63.64 [[ 6.21249199e-01 4.68419631e-01 6.28197805e-01 2.00551872e+02] [-3.08212932e-01 8.83120001e-01 -3.53700231e-01 -1.17382568e+02] [-7.20454177e-01 2.61172978e-02 6.93010581e-01 -6.36357027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:-117.39, Z:-63.66 [[ 6.20965635e-01 4.68963528e-01 6.28072360e-01 2.00572455e+02] [-3.08717802e-01 8.82837614e-01 -3.53964782e-01 -1.17392481e+02] [-7.20482477e-01 2.59028469e-02 6.92989209e-01 -6.36593411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:-117.40, Z:-63.68 [[ 6.20225635e-01 4.69540367e-01 6.28372505e-01 2.00592647e+02] [-3.08996958e-01 8.82537292e-01 -3.54469757e-01 -1.17402335e+02] [-7.21000029e-01 2.56860379e-02 6.92458797e-01 -6.36829613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.61, Y:-117.41, Z:-63.71 [[ 6.19182298e-01 4.70436860e-01 6.28730819e-01 2.00612918e+02] [-3.09690834e-01 8.82076493e-01 -3.55010773e-01 -1.17410941e+02] [-7.21598829e-01 2.51042144e-02 6.91856133e-01 -6.37057483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:-117.42, Z:-63.73 [[ 6.18689135e-01 4.70957302e-01 6.28826664e-01 2.00633336e+02] [-3.10042366e-01 8.81804328e-01 -3.55379880e-01 -1.17420856e+02] [-7.21870823e-01 2.49067637e-02 6.91579473e-01 -6.37300682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:-117.43, Z:-63.75 [[ 6.18275893e-01 4.71640307e-01 6.28721195e-01 2.00653561e+02] [-3.10734785e-01 8.81449855e-01 -3.55654391e-01 -1.17430458e+02] [-7.21927153e-01 2.45269903e-02 6.91534246e-01 -6.37537729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:-117.44, Z:-63.78 [[ 6.17944618e-01 4.72283439e-01 6.28564080e-01 2.00673178e+02] [-3.11401180e-01 8.81114689e-01 -3.55901967e-01 -1.17439469e+02] [-7.21923649e-01 2.41921091e-02 6.91549699e-01 -6.37771394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:-117.44, Z:-63.80 [[ 6.17288570e-01 4.74104113e-01 6.27837647e-01 2.00692826e+02] [-3.12033775e-01 8.80114648e-01 -3.57817173e-01 -1.17444360e+02] [-7.22211703e-01 2.49698998e-02 6.91221209e-01 -6.38025489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.71, Y:-117.46, Z:-63.82 [[ 6.17019269e-01 4.71559016e-01 6.30015329e-01 2.00712769e+02] [-3.14503946e-01 8.81630429e-01 -3.51873633e-01 -1.17458593e+02] [-7.21369870e-01 1.89705049e-02 6.92290135e-01 -6.38231353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:-117.46, Z:-63.85 [[ 6.16709919e-01 4.75877831e-01 6.27063925e-01 2.00732231e+02] [-3.15307213e-01 8.79222676e-01 -3.57139815e-01 -1.17463692e+02] [-7.21283743e-01 2.25338879e-02 6.92273058e-01 -6.38486148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:-117.48, Z:-63.87 [[ 6.14927079e-01 4.76187656e-01 6.28577763e-01 2.00752463e+02] [-3.19352705e-01 8.79184842e-01 -3.53621073e-01 -1.17475068e+02] [-7.21026031e-01 1.67131646e-02 6.92706382e-01 -6.38705086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:-117.48, Z:-63.90 [[ 6.14441727e-01 4.79215796e-01 6.26748422e-01 2.00772683e+02] [-3.21117640e-01 8.77521214e-01 -3.56146010e-01 -1.17483030e+02] [-7.20655830e-01 1.75709954e-02 6.93070296e-01 -6.38950780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:-117.49, Z:-63.92 [[ 6.13838051e-01 4.80392175e-01 6.26439307e-01 2.00792748e+02] [-3.22646177e-01 8.76896804e-01 -3.56302454e-01 -1.17492775e+02] [-7.20487538e-01 1.65937562e-02 6.93269324e-01 -6.39192016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:-117.50, Z:-63.94 [[ 6.13766808e-01 4.80670102e-01 6.26295903e-01 2.00812667e+02] [-3.22786268e-01 8.76742824e-01 -3.56554408e-01 -1.17504050e+02] [-7.20485483e-01 1.66815433e-02 6.93269353e-01 -6.39436039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:-117.51, Z:-63.97 [[ 6.13169517e-01 4.81612001e-01 6.26157348e-01 2.00831948e+02] [-3.24026164e-01 8.76242075e-01 -3.56660724e-01 -1.17513577e+02] [-7.20437498e-01 1.58021204e-02 6.93339819e-01 -6.39667421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:-117.52, Z:-63.99 [[ 6.12483222e-01 4.82811159e-01 6.25905495e-01 2.00852561e+02] [-3.25576101e-01 8.75599923e-01 -3.56826255e-01 -1.17522868e+02] [-7.20322501e-01 1.47702238e-02 6.93482037e-01 -6.39911613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:-117.53, Z:-64.02 [[ 6.12148827e-01 4.83493907e-01 6.25705566e-01 2.00872722e+02] [-3.26330785e-01 8.75229638e-01 -3.57045235e-01 -1.17533424e+02] [-7.20265252e-01 1.43778328e-02 6.93549742e-01 -6.40153831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:-117.54, Z:-64.04 [[ 6.11436230e-01 4.84085049e-01 6.25945206e-01 2.00892169e+02] [-3.26674704e-01 8.74907004e-01 -3.57521150e-01 -1.17543529e+02] [-7.20714488e-01 1.41209194e-02 6.93088180e-01 -6.40389623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:-117.55, Z:-64.06 [[ 6.10895899e-01 4.84625388e-01 6.26054657e-01 2.00911807e+02] [-3.27051750e-01 8.74611565e-01 -3.57899097e-01 -1.17554019e+02] [-7.21001632e-01 1.38868200e-02 6.92794200e-01 -6.40628965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-117.56, Z:-64.09 [[ 6.10026242e-01 4.85725148e-01 6.26050369e-01 2.00932007e+02] [-3.28274689e-01 8.74014655e-01 -3.58237507e-01 -1.17564499e+02] [-7.21182164e-01 1.30177899e-02 6.92623147e-01 -6.40873046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:-117.58, Z:-64.11 [[ 6.09515838e-01 4.86585301e-01 6.25879532e-01 2.00951709e+02] [-3.29260102e-01 8.73544761e-01 -3.58479200e-01 -1.17575071e+02] [-7.21164495e-01 1.24215912e-02 6.92652493e-01 -6.41110448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.97, Y:-117.58, Z:-64.14 [[ 6.08425446e-01 4.90183973e-01 6.24129914e-01 2.00969694e+02] [-3.28791885e-01 8.71468242e-01 -3.63921694e-01 -1.17580607e+02] [-7.22297981e-01 1.62103680e-02 6.91391966e-01 -6.41378605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:-117.60, Z:-64.16 [[ 6.07552981e-01 4.85114968e-01 6.28921969e-01 2.00989664e+02] [-3.33751095e-01 8.74441204e-01 -3.52083494e-01 -1.17599737e+02] [-7.20756257e-01 4.00598062e-03 6.93177012e-01 -6.41562566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:-117.60, Z:-64.18 [[ 6.06392592e-01 4.92592490e-01 6.24212034e-01 2.01008294e+02] [-3.34673375e-01 8.70198440e-01 -3.61591492e-01 -1.17603378e+02] [-7.21305591e-01 1.03592547e-02 6.92539479e-01 -6.41828563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.03, Y:-117.61, Z:-64.21 [[ 6.04961433e-01 4.93146882e-01 6.25162232e-01 2.01027664e+02] [-3.36653852e-01 8.69912971e-01 -3.60438076e-01 -1.17614364e+02] [-7.21585648e-01 7.58786147e-03 6.92283595e-01 -6.42065217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:-117.63, Z:-64.23 [[ 6.04019017e-01 4.91494198e-01 6.27371087e-01 2.01047747e+02] [-3.40580629e-01 8.70880771e-01 -3.54360718e-01 -1.17629590e+02] [-7.20531653e-01 3.70173189e-04 6.93421950e-01 -6.42265170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:-117.64, Z:-64.25 [[ 6.01456672e-01 4.98541669e-01 6.24264428e-01 2.01067626e+02] [-3.46034801e-01 8.66865721e-01 -3.58892376e-01 -1.17637409e+02] [-7.20076238e-01 -1.59002573e-04 6.93894939e-01 -6.42514917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:-117.65, Z:-64.27 [[ 5.99897045e-01 5.00672000e-01 6.24060161e-01 2.01086079e+02] [-3.48872669e-01 8.65634064e-01 -3.59117708e-01 -1.17648209e+02] [-7.20007915e-01 -2.28388178e-03 6.93962093e-01 -6.42745525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:-117.66, Z:-64.30 [[ 5.98326292e-01 5.02517980e-01 6.24084392e-01 2.01105621e+02] [-3.51192953e-01 8.64557011e-01 -3.59450531e-01 -1.17659642e+02] [-7.20186891e-01 -4.10533726e-03 6.93767964e-01 -6.42986307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:-117.67, Z:-64.32 [[ 5.95992842e-01 5.05853288e-01 6.23622469e-01 2.01124039e+02] [-3.55933425e-01 8.62585217e-01 -3.59524882e-01 -1.17671528e+02] [-7.19794366e-01 -7.69382566e-03 6.94144708e-01 -6.43212206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:-117.68, Z:-64.35 [[ 5.94422669e-01 5.07528625e-01 6.23759878e-01 2.01143192e+02] [-3.57951395e-01 8.61584376e-01 -3.59921049e-01 -1.17683103e+02] [-7.20092001e-01 -9.33048823e-03 6.93815864e-01 -6.43450716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:-117.69, Z:-64.37 [[ 5.92734737e-01 5.09091556e-01 6.24092397e-01 2.01162488e+02] [-3.59676172e-01 8.60644363e-01 -3.60450180e-01 -1.17694952e+02] [-7.20623746e-01 -1.08198215e-02 6.93241912e-01 -6.43690881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:-117.71, Z:-64.39 [[ 5.90979151e-01 5.10610538e-01 6.24516231e-01 2.01181502e+02] [-3.61289448e-01 8.59724576e-01 -3.61031285e-01 -1.17706783e+02] [-7.21258330e-01 -1.22691622e-02 6.92557499e-01 -6.43926377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:-117.72, Z:-64.42 [[ 5.89501843e-01 5.12043191e-01 6.24739424e-01 2.01201043e+02] [-3.62892243e-01 8.58851906e-01 -3.61500517e-01 -1.17718989e+02] [-7.21662523e-01 -1.36078696e-02 6.92111283e-01 -6.44163508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:-117.73, Z:-64.44 [[ 5.86441767e-01 5.14614509e-01 6.25506164e-01 2.01219435e+02] [-3.65850470e-01 8.57265129e-01 -3.62284324e-01 -1.17731622e+02] [-7.22661392e-01 -1.63830650e-02 6.91008038e-01 -6.44393212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:-117.74, Z:-64.46 [[ 5.85123474e-01 5.16044332e-01 6.25562761e-01 2.01238562e+02] [-3.67578642e-01 8.56377776e-01 -3.62633488e-01 -1.17743613e+02] [-7.22853002e-01 -1.77581434e-02 6.90773614e-01 -6.44638118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:-117.76, Z:-64.49 [[ 5.84111980e-01 5.17588485e-01 6.25232241e-01 2.01257356e+02] [-3.69675333e-01 8.55413564e-01 -3.62777869e-01 -1.17755569e+02] [-7.22601787e-01 -1.92300368e-02 6.90997006e-01 -6.44879214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:-117.77, Z:-64.51 [[ 5.83189943e-01 5.19090820e-01 6.24847351e-01 2.01275974e+02] [-3.71727680e-01 8.54470060e-01 -3.62904187e-01 -1.17767620e+02] [-7.22293585e-01 -2.06309839e-02 6.91278771e-01 -6.45116189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:-117.78, Z:-64.54 [[ 5.82496868e-01 5.21373049e-01 6.23592448e-01 2.01294024e+02] [-3.75548917e-01 8.53016179e-01 -3.62389858e-01 -1.17780192e+02] [-7.20874753e-01 -2.30985115e-02 6.92680337e-01 -6.45362113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:-117.79, Z:-64.56 [[ 5.82111637e-01 5.22474166e-01 6.23030326e-01 2.01313009e+02] [-3.77122630e-01 8.52317237e-01 -3.62400123e-01 -1.17791992e+02] [-7.20364188e-01 -2.40015062e-02 6.93180614e-01 -6.45610730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:-117.80, Z:-64.59 [[ 5.81875132e-01 5.23386935e-01 6.22484897e-01 2.01331867e+02] [-3.78408799e-01 8.51737940e-01 -3.62421388e-01 -1.17804060e+02] [-7.19880623e-01 -2.46697695e-02 6.93659348e-01 -6.45854990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:-117.82, Z:-64.61 [[ 5.82416445e-01 5.23961703e-01 6.21494343e-01 2.01350013e+02] [-3.79444642e-01 8.51378329e-01 -3.62183248e-01 -1.17817869e+02] [-7.18896966e-01 -2.48812184e-02 6.94671201e-01 -6.46097951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:-117.83, Z:-64.63 [[ 5.82323788e-01 5.24113633e-01 6.21453060e-01 2.01367586e+02] [-3.79331233e-01 8.51291793e-01 -3.62505308e-01 -1.17830367e+02] [-7.19031864e-01 -2.46410914e-02 6.94540132e-01 -6.46331972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:-117.84, Z:-64.66 [[ 5.82892881e-01 5.24007609e-01 6.21008788e-01 2.01386070e+02] [-3.79089204e-01 8.51373122e-01 -3.62567486e-01 -1.17843827e+02] [-7.18698312e-01 -2.40797206e-02 6.94904960e-01 -6.46568723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-117.86, Z:-64.68 [[ 5.83290468e-01 5.23562267e-01 6.21011097e-01 2.01403904e+02] [-3.78077399e-01 8.51674084e-01 -3.62916980e-01 -1.17856886e+02] [-7.18908694e-01 -2.31042458e-02 6.94720435e-01 -6.46806388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.876559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.42, Y:-117.87, Z:-64.70 [[ 5.84331351e-01 5.21797480e-01 6.21517709e-01 2.01421185e+02] [-3.74995273e-01 8.52818116e-01 -3.63427857e-01 -1.17873232e+02] [-7.19677301e-01 -2.07039118e-02 6.93999950e-01 -6.47042766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:-117.89, Z:-64.73 [[ 5.84712220e-01 5.20864850e-01 6.21941659e-01 2.01439220e+02] [-3.73039260e-01 8.53424040e-01 -3.64018020e-01 -1.17886691e+02] [-7.20384155e-01 -1.91628716e-02 6.93310503e-01 -6.47278298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:-117.90, Z:-64.75 [[ 5.85314539e-01 5.20021556e-01 6.22080760e-01 2.01457342e+02] [-3.71375446e-01 8.53969444e-01 -3.64439935e-01 -1.17900039e+02] [-7.20754583e-01 -1.77135267e-02 6.92963969e-01 -6.47509497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-117.91, Z:-64.77 [[ 5.85387926e-01 5.19411476e-01 6.22521240e-01 2.01475338e+02] [-3.69902589e-01 8.54363072e-01 -3.65014814e-01 -1.17913383e+02] [-7.21452043e-01 -1.65969532e-02 6.92265477e-01 -6.47747972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:-117.93, Z:-64.80 [[ 5.85301565e-01 5.18702873e-01 6.23192914e-01 2.01492840e+02] [-3.68127191e-01 8.54816906e-01 -3.65746398e-01 -1.17928851e+02] [-7.22429546e-01 -1.53423180e-02 6.91274304e-01 -6.47984388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:-117.94, Z:-64.82 [[ 5.84952404e-01 5.18765147e-01 6.23468851e-01 2.01511479e+02] [-3.67693171e-01 8.54785148e-01 -3.66256852e-01 -1.17942097e+02] [-7.22933204e-01 -1.50024130e-02 6.90755029e-01 -6.48225698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:-117.95, Z:-64.85 [[ 5.84850198e-01 5.18970232e-01 6.23394053e-01 2.01529384e+02] [-3.67674026e-01 8.54663770e-01 -3.66559205e-01 -1.17954514e+02] [-7.23025627e-01 -1.48235773e-02 6.90662149e-01 -6.48457720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:-117.97, Z:-64.87 [[ 5.84723984e-01 5.19281847e-01 6.23252939e-01 2.01547978e+02] [-3.67874420e-01 8.54474831e-01 -3.66798547e-01 -1.17967002e+02] [-7.23025776e-01 -1.48029058e-02 6.90662436e-01 -6.48697188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:-117.98, Z:-64.89 [[ 5.84732277e-01 5.19512744e-01 6.23052705e-01 2.01565036e+02] [-3.67969115e-01 8.54337050e-01 -3.67024435e-01 -1.17979951e+02] [-7.22970881e-01 -1.46531189e-02 6.90723093e-01 -6.48934577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:-117.99, Z:-64.92 [[ 5.84930236e-01 5.19734293e-01 6.22682009e-01 2.01583828e+02] [-3.68288613e-01 8.54202392e-01 -3.67017398e-01 -1.17992168e+02] [-7.22647990e-01 -1.46471195e-02 6.91061029e-01 -6.49175100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:-118.00, Z:-64.94 [[ 5.85016943e-01 5.19980912e-01 6.22394592e-01 2.01602867e+02] [-3.68453271e-01 8.54054672e-01 -3.67195866e-01 -1.18004178e+02] [-7.22493850e-01 -1.45075197e-02 6.91225121e-01 -6.49420852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:-118.02, Z:-64.97 [[ 5.85441300e-01 5.20012080e-01 6.21969388e-01 2.01621633e+02] [-3.68384536e-01 8.54042595e-01 -3.67292908e-01 -1.18015842e+02] [-7.22185099e-01 -1.40954670e-02 6.91556216e-01 -6.49657720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-118.03, Z:-64.99 [[ 5.86401664e-01 5.19721480e-01 6.21307227e-01 2.01640645e+02] [-3.68013035e-01 8.54232099e-01 -3.67224627e-01 -1.18026633e+02] [-7.21595104e-01 -1.33080256e-02 6.92187404e-01 -6.49898831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:-118.04, Z:-65.01 [[ 5.86833261e-01 5.19719788e-01 6.20901010e-01 2.01660376e+02] [-3.67893892e-01 8.54239891e-01 -3.67325868e-01 -1.18037532e+02] [-7.21304934e-01 -1.28666520e-02 6.92498117e-01 -6.50144914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:-118.05, Z:-65.04 [[ 5.87573002e-01 5.19226531e-01 6.20614032e-01 2.01679942e+02] [-3.66986866e-01 8.54554859e-01 -3.67500522e-01 -1.18047643e+02] [-7.21164757e-01 -1.18238139e-02 6.92662682e-01 -6.50383053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:-118.06, Z:-65.06 [[ 5.87900922e-01 5.18865005e-01 6.20605843e-01 2.01699687e+02] [-3.66244922e-01 8.54783890e-01 -3.67707979e-01 -1.18058693e+02] [-7.21274679e-01 -1.11178787e-02 6.92559911e-01 -6.50624008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:-118.06, Z:-65.09 [[ 5.86745288e-01 5.25090698e-01 6.16449289e-01 2.01716012e+02] [-3.62799565e-01 8.51045778e-01 -3.79601843e-01 -1.18059451e+02] [-7.23951962e-01 -9.17940881e-04 6.89849776e-01 -6.50927852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:-118.09, Z:-65.10 [[ 5.87867933e-01 5.09238044e-01 6.28560186e-01 2.01737809e+02] [-3.63719720e-01 8.60420268e-01 -3.56910253e-01 -1.18089313e+02] [-7.22578203e-01 -1.88036422e-02 6.91033403e-01 -6.51047806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:-118.09, Z:-65.13 [[ 5.87628021e-01 5.17920392e-01 6.21652457e-01 2.01757189e+02] [-3.63226055e-01 8.55383691e-01 -3.69304176e-01 -1.18093461e+02] [-7.23021536e-01 -8.78688698e-03 6.90769606e-01 -6.51321942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.78, Y:-118.11, Z:-65.16 [[ 5.87659223e-01 5.17956126e-01 6.21593186e-01 2.01776436e+02] [-3.62963613e-01 8.55365795e-01 -3.69603534e-01 -1.18105290e+02] [-7.23127964e-01 -8.41478298e-03 6.90662826e-01 -6.51560144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:-118.12, Z:-65.18 [[ 5.88224018e-01 5.17708195e-01 6.21265426e-01 2.01794863e+02] [-3.62450586e-01 8.55522736e-01 -3.69743723e-01 -1.18116501e+02] [-7.22926052e-01 -7.68587897e-03 6.90882660e-01 -6.51802891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:-118.13, Z:-65.20 [[ 5.88321484e-01 5.17975778e-01 6.20950017e-01 2.01813992e+02] [-3.62672290e-01 8.55361683e-01 -3.69898908e-01 -1.18127609e+02] [-7.22735527e-01 -7.58188988e-03 6.91083116e-01 -6.52048218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:-118.14, Z:-65.23 [[ 5.88563169e-01 5.18364694e-01 6.20396196e-01 2.01832599e+02] [-3.63214926e-01 8.55125705e-01 -3.69912078e-01 -1.18138536e+02] [-7.22266096e-01 -7.62053347e-03 6.91573289e-01 -6.52282104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:-118.15, Z:-65.25 [[ 5.88513848e-01 5.18865016e-01 6.20024633e-01 2.01852070e+02] [-3.63833439e-01 8.54820327e-01 -3.70010050e-01 -1.18150078e+02] [-7.21994930e-01 -7.82965632e-03 6.91854043e-01 -6.52520542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:-118.16, Z:-65.28 [[ 5.88421045e-01 5.19400764e-01 6.19664038e-01 2.01871125e+02] [-3.64473317e-01 8.54492813e-01 -3.70136777e-01 -1.18161232e+02] [-7.21747791e-01 -8.05473850e-03 6.92109274e-01 -6.52754833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:-118.17, Z:-65.30 [[ 5.87812064e-01 5.20062973e-01 6.19686600e-01 2.01890550e+02] [-3.65089359e-01 8.54085873e-01 -3.70468732e-01 -1.18172675e+02] [-7.21932641e-01 -8.47499317e-03 6.91911437e-01 -6.52995036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:-118.18, Z:-65.32 [[ 5.86930601e-01 5.20767529e-01 6.19930360e-01 2.01910027e+02] [-3.65606888e-01 8.53651886e-01 -3.70958300e-01 -1.18184045e+02] [-7.22387758e-01 -8.92403206e-03 6.91430610e-01 -6.53235738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:-118.19, Z:-65.35 [[ 5.86612989e-01 5.21027316e-01 6.20012692e-01 2.01928864e+02] [-3.65310893e-01 8.53497584e-01 -3.71604393e-01 -1.18194474e+02] [-7.22795374e-01 -8.50942656e-03 6.91009723e-01 -6.53484585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:-118.21, Z:-65.37 [[ 5.85035541e-01 5.22273879e-01 6.20454197e-01 2.01948149e+02] [-3.66185741e-01 8.52727429e-01 -3.72510315e-01 -1.18205156e+02] [-7.23630720e-01 -9.26970612e-03 6.90125100e-01 -6.53706356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:-118.22, Z:-65.39 [[ 5.84379997e-01 5.22467359e-01 6.20908913e-01 2.01967123e+02] [-3.66697651e-01 8.52599216e-01 -3.72300161e-01 -1.18216420e+02] [-7.23901134e-01 -1.01210723e-02 6.89829481e-01 -6.53942825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:-118.23, Z:-65.42 [[ 5.83937489e-01 5.23012779e-01 6.20866042e-01 2.01986256e+02] [-3.67181362e-01 8.52261421e-01 -3.72596722e-01 -1.18228028e+02] [-7.24013022e-01 -1.03972448e-02 6.89707939e-01 -6.54178786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:-118.24, Z:-65.44 [[ 5.83417938e-01 5.23525857e-01 6.20922046e-01 2.02005360e+02] [-3.67534010e-01 8.51943729e-01 -3.72975381e-01 -1.18239665e+02] [-7.24252899e-01 -1.06094420e-02 6.89452811e-01 -6.54415956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:-118.25, Z:-65.47 [[ 5.83280584e-01 5.23860899e-01 6.20768491e-01 2.02024984e+02] [-3.67751456e-01 8.51737992e-01 -3.73230840e-01 -1.18251378e+02] [-7.24253151e-01 -1.05902136e-02 6.89452841e-01 -6.54659786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.04, Y:-118.26, Z:-65.49 [[ 5.83260599e-01 5.24170455e-01 6.20525913e-01 2.02043414e+02] [-3.68020401e-01 8.51547689e-01 -3.73399942e-01 -1.18262295e+02] [-7.24132625e-01 -1.05767217e-02 6.89579636e-01 -6.54893371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:-118.27, Z:-65.51 [[ 5.83368121e-01 5.24426338e-01 6.20208554e-01 2.02062465e+02] [-3.68247775e-01 8.51391280e-01 -3.73532414e-01 -1.18273509e+02] [-7.23930391e-01 -1.04835178e-02 6.89793364e-01 -6.55127628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:-118.28, Z:-65.54 [[ 5.83924180e-01 5.24306720e-01 6.19786265e-01 2.02082272e+02] [-3.67994526e-01 8.51471647e-01 -3.73598799e-01 -1.18284622e+02] [-7.23610793e-01 -9.92458035e-03 6.90136887e-01 -6.55372774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:-118.30, Z:-65.56 [[ 5.84154561e-01 5.24252937e-01 6.19614644e-01 2.02101559e+02] [-3.67666573e-01 8.51510328e-01 -3.73833457e-01 -1.18295546e+02] [-7.23591556e-01 -9.43507350e-03 6.90163922e-01 -6.55614670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-118.31, Z:-65.59 [[ 5.84243309e-01 5.24094501e-01 6.19664999e-01 2.02120449e+02] [-3.67042234e-01 8.51614508e-01 -3.74209470e-01 -1.18306576e+02] [-7.23836829e-01 -8.81384668e-03 6.89914894e-01 -6.55856247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:-118.32, Z:-65.61 [[ 5.84716973e-01 5.23882999e-01 6.19397017e-01 2.02139876e+02] [-3.66537188e-01 8.51751546e-01 -3.74392567e-01 -1.18318418e+02] [-7.23710267e-01 -8.11835261e-03 6.90056187e-01 -6.56096305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.16, Y:-118.33, Z:-65.63 [[ 5.85968517e-01 5.23147009e-01 6.18836089e-01 2.02159184e+02] [-3.65451497e-01 8.52215575e-01 -3.74397940e-01 -1.18330504e+02] [-7.23246915e-01 -6.76916963e-03 6.90556354e-01 -6.56336942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.18, Y:-118.34, Z:-65.66 [[ 5.86316042e-01 5.23190461e-01 6.18470080e-01 2.02178429e+02] [-3.65382899e-01 8.52191812e-01 -3.74518961e-01 -1.18342309e+02] [-7.22999887e-01 -6.39191572e-03 6.90818578e-01 -6.56577805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-118.35, Z:-65.68 [[ 5.86815218e-01 5.23082444e-01 6.18087905e-01 2.02197470e+02] [-3.65099131e-01 8.52262205e-01 -3.74635500e-01 -1.18353447e+02] [-7.22738213e-01 -5.82154451e-03 6.91097377e-01 -6.56812542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:-118.36, Z:-65.71 [[ 5.87208442e-01 5.23106280e-01 6.17694152e-01 2.02216603e+02] [-3.65040780e-01 8.52250065e-01 -3.74719969e-01 -1.18364647e+02] [-7.22448251e-01 -5.44482560e-03 6.91403557e-01 -6.57056660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:-118.37, Z:-65.73 [[ 5.87899965e-01 5.22965180e-01 6.17155614e-01 2.02236430e+02] [-3.64814917e-01 8.52340299e-01 -3.74734695e-01 -1.18374934e+02] [-7.21999797e-01 -4.84106017e-03 6.91876330e-01 -6.57299907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:-118.39, Z:-65.76 [[ 5.87815372e-01 5.23747223e-01 6.16572732e-01 2.02255740e+02] [-3.65730998e-01 8.51858426e-01 -3.74937408e-01 -1.18387660e+02] [-7.21605103e-01 -5.10578858e-03 6.92286072e-01 -6.57559575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:-118.39, Z:-65.78 [[ 5.88415261e-01 5.27400900e-01 6.12875004e-01 2.02274123e+02] [-3.63892176e-01 8.49615030e-01 -3.81754877e-01 -1.18391381e+02] [-7.22045680e-01 1.60997670e-03 6.91843511e-01 -6.57788351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:-118.41, Z:-65.80 [[ 5.88356090e-01 5.22678625e-01 6.16963667e-01 2.02293208e+02] [-3.63458485e-01 8.52523664e-01 -3.75634572e-01 -1.18407312e+02] [-7.22312288e-01 -3.23379155e-03 6.91559471e-01 -6.58005976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:-118.42, Z:-65.82 [[ 5.88235071e-01 5.22819083e-01 6.16960054e-01 2.02312286e+02] [-3.63301906e-01 8.52438464e-01 -3.75979243e-01 -1.18418864e+02] [-7.22489603e-01 -2.97858674e-03 6.91375369e-01 -6.58239336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.316559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:202.33, Y:-118.43, Z:-65.85 [[ 5.88273823e-01 5.22925154e-01 6.16833197e-01 2.02331455e+02] [-3.63199235e-01 8.52374293e-01 -3.76223843e-01 -1.18429939e+02] [-7.22509671e-01 -2.71070620e-03 6.91355500e-01 -6.58476315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:-118.44, Z:-65.87 [[ 5.88117882e-01 5.23154668e-01 6.16787281e-01 2.02350905e+02] [-3.63195677e-01 8.52233907e-01 -3.76545174e-01 -1.18440279e+02] [-7.22638400e-01 -2.56152377e-03 6.91221515e-01 -6.58701757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-118.45, Z:-65.89 [[ 5.87491770e-01 5.23629179e-01 6.16981283e-01 2.02370424e+02] [-3.63420533e-01 8.51941866e-01 -3.76988824e-01 -1.18451432e+02] [-7.23034534e-01 -2.74583532e-03 6.90806430e-01 -6.58941268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:-118.46, Z:-65.92 [[ 5.86927277e-01 5.24165826e-01 6.17062847e-01 2.02390181e+02] [-3.63787767e-01 8.51610992e-01 -3.77382007e-01 -1.18462385e+02] [-7.23308255e-01 -2.98412130e-03 6.90518836e-01 -6.59181447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:-118.47, Z:-65.94 [[ 5.86333599e-01 5.24930215e-01 6.16977455e-01 2.02409650e+02] [-3.64593830e-01 8.51138053e-01 -3.77670960e-01 -1.18473117e+02] [-7.23383888e-01 -3.50499978e-03 6.90437155e-01 -6.59419031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:-118.48, Z:-65.96 [[ 5.85816419e-01 5.25695747e-01 6.16816914e-01 2.02428784e+02] [-3.65448392e-01 8.50663138e-01 -3.77914937e-01 -1.18482893e+02] [-7.23371686e-01 -4.02597424e-03 6.90447098e-01 -6.59649804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:-118.49, Z:-65.99 [[ 5.85482498e-01 5.26217381e-01 6.16689153e-01 2.02448225e+02] [-3.65952976e-01 8.50339335e-01 -3.78155306e-01 -1.18494280e+02] [-7.23386939e-01 -4.27591782e-03 6.90429615e-01 -6.59890233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:-118.51, Z:-66.01 [[ 5.85204009e-01 5.26720046e-01 6.16524339e-01 2.02467416e+02] [-3.66426820e-01 8.50027062e-01 -3.78398441e-01 -1.18505765e+02] [-7.23372417e-01 -4.47076803e-03 6.90443596e-01 -6.60129759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:-118.52, Z:-66.04 [[ 5.85004783e-01 5.27070481e-01 6.16413913e-01 2.02486127e+02] [-3.66647007e-01 8.49809762e-01 -3.78673132e-01 -1.18516645e+02] [-7.23421990e-01 -4.48072212e-03 6.90391590e-01 -6.60359844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:-118.52, Z:-66.06 [[ 5.84567109e-01 5.31302563e-01 6.13187477e-01 2.02504679e+02] [-3.66475992e-01 8.47182131e-01 -3.84678806e-01 -1.18523312e+02] [-7.23862309e-01 1.52088503e-04 6.89944444e-01 -6.60637582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:-118.54, Z:-66.09 [[ 5.84984244e-01 5.27936807e-01 6.15691613e-01 2.02523952e+02] [-3.66127658e-01 8.49278653e-01 -3.80363390e-01 -1.18536421e+02] [-7.23701577e-01 -2.91513841e-03 6.90106897e-01 -6.60857506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:-118.55, Z:-66.10 [[ 5.85161883e-01 5.24062987e-01 6.18824334e-01 2.02543868e+02] [-3.68171261e-01 8.51626235e-01 -3.73071949e-01 -1.18553794e+02] [-7.22520238e-01 -9.52585154e-03 6.91284142e-01 -6.61044816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:-118.56, Z:-66.13 [[ 5.84842510e-01 5.29077893e-01 6.14846177e-01 2.02563421e+02] [-3.69309712e-01 8.48555614e-01 -3.78898017e-01 -1.18560546e+02] [-7.22197739e-01 -5.47299764e-03 6.91665000e-01 -6.61301085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:-118.57, Z:-66.15 [[ 5.84317868e-01 5.29874941e-01 6.14658585e-01 2.02582293e+02] [-3.70224430e-01 8.48054349e-01 -3.79127542e-01 -1.18571481e+02] [-7.22154070e-01 -6.03062706e-03 6.91705957e-01 -6.61533105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:-118.58, Z:-66.18 [[ 5.83643991e-01 5.30907754e-01 6.14407559e-01 2.02602214e+02] [-3.71547178e-01 8.47401452e-01 -3.79293387e-01 -1.18582767e+02] [-7.22019658e-01 -6.90908811e-03 6.91838043e-01 -6.61774041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:-118.59, Z:-66.20 [[ 5.82703909e-01 5.31842645e-01 6.14491298e-01 2.02621130e+02] [-3.72493495e-01 8.46808663e-01 -3.79688930e-01 -1.18593596e+02] [-7.22291320e-01 -7.64778736e-03 6.91546644e-01 -6.62008482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:-118.60, Z:-66.22 [[ 5.82479597e-01 5.32515872e-01 6.14120806e-01 2.02640520e+02] [-3.73370918e-01 8.46381441e-01 -3.79779691e-01 -1.18603810e+02] [-7.22019166e-01 -8.08092793e-03 6.91825861e-01 -6.62238493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:-118.62, Z:-66.25 [[ 5.81931213e-01 5.33006341e-01 6.14215194e-01 2.02660107e+02] [-3.73693622e-01 8.46070494e-01 -3.80154964e-01 -1.18615256e+02] [-7.22294359e-01 -8.30426145e-03 6.91535898e-01 -6.62482211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:-118.63, Z:-66.27 [[ 5.81881664e-01 5.33351370e-01 6.13962576e-01 2.02679379e+02] [-3.73990256e-01 8.45853085e-01 -3.80347008e-01 -1.18626391e+02] [-7.22180737e-01 -8.29907109e-03 6.91654617e-01 -6.62716145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:-118.64, Z:-66.30 [[ 5.81798870e-01 5.33636772e-01 6.13793020e-01 2.02698663e+02] [-3.74172959e-01 8.45673523e-01 -3.80566538e-01 -1.18638013e+02] [-7.22152804e-01 -8.25156862e-03 6.91684350e-01 -6.62959485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:-118.65, Z:-66.32 [[ 5.81638348e-01 5.33664528e-01 6.13921007e-01 2.02718120e+02] [-3.73773956e-01 8.45659647e-01 -3.80989227e-01 -1.18650243e+02] [-7.22488658e-01 -7.86973925e-03 6.91337982e-01 -6.63198185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:-118.66, Z:-66.34 [[ 5.81513992e-01 5.33805430e-01 6.13916313e-01 2.02736879e+02] [-3.73625417e-01 8.45572931e-01 -3.81327243e-01 -1.18661972e+02] [-7.22665570e-01 -7.62761111e-03 6.91155767e-01 -6.63428533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:-118.67, Z:-66.37 [[ 5.81331411e-01 5.34015901e-01 6.13906188e-01 2.02755819e+02] [-3.73606190e-01 8.45441159e-01 -3.81638129e-01 -1.18673758e+02] [-7.22822389e-01 -7.50092015e-03 6.90993148e-01 -6.63665976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:-118.69, Z:-66.39 [[ 5.81337380e-01 5.34302726e-01 6.13650917e-01 2.02775156e+02] [-3.73826209e-01 8.45260538e-01 -3.81822718e-01 -1.18685608e+02] [-7.22703824e-01 -7.43097773e-03 6.91117909e-01 -6.63904902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:-118.70, Z:-66.41 [[ 5.80988873e-01 5.34844393e-01 6.13509091e-01 2.02794283e+02] [-3.74343224e-01 8.44915680e-01 -3.82079368e-01 -1.18697479e+02] [-7.22716459e-01 -7.67910948e-03 6.91101984e-01 -6.64146489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:-118.71, Z:-66.44 [[ 5.80968631e-01 5.35407613e-01 6.13036816e-01 2.02813004e+02] [-3.75101480e-01 8.44556427e-01 -3.82129981e-01 -1.18709027e+02] [-7.22339483e-01 -7.94548509e-03 6.91492979e-01 -6.64386393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:-118.72, Z:-66.46 [[ 5.80623910e-01 5.35860141e-01 6.12968013e-01 2.02831341e+02] [-3.75433541e-01 8.44268152e-01 -3.82440773e-01 -1.18720469e+02] [-7.22444137e-01 -8.07449444e-03 6.91382145e-01 -6.64621661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:-118.73, Z:-66.49 [[ 5.80689693e-01 5.36222352e-01 6.12588826e-01 2.02850570e+02] [-3.75857610e-01 8.44037773e-01 -3.82532736e-01 -1.18732755e+02] [-7.22170712e-01 -8.11335488e-03 6.91667287e-01 -6.64864310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:-118.75, Z:-66.51 [[ 5.80595637e-01 5.36711732e-01 6.12249315e-01 2.02869610e+02] [-3.76421610e-01 8.43724966e-01 -3.82668201e-01 -1.18745253e+02] [-7.21952546e-01 -8.28838508e-03 6.91892929e-01 -6.65104485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:-118.76, Z:-66.53 [[ 5.80564756e-01 5.37134867e-01 6.11907427e-01 2.02888372e+02] [-3.76893286e-01 8.43454709e-01 -3.82799693e-01 -1.18757020e+02] [-7.21731263e-01 -8.38379052e-03 6.92122602e-01 -6.65337464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:-118.77, Z:-66.56 [[ 5.80740504e-01 5.37191820e-01 6.11690621e-01 2.02907150e+02] [-3.76779120e-01 8.43421619e-01 -3.82984945e-01 -1.18769008e+02] [-7.21649473e-01 -8.05738407e-03 6.92211757e-01 -6.65573335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-118.78, Z:-66.58 [[ 5.81009478e-01 5.36956656e-01 6.11641673e-01 2.02925908e+02] [-3.76101697e-01 8.43577945e-01 -3.83306357e-01 -1.18780630e+02] [-7.21786325e-01 -7.33484432e-03 6.92077092e-01 -6.65811368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:-118.79, Z:-66.60 [[ 5.81382490e-01 5.36532728e-01 6.11659245e-01 2.02944194e+02] [-3.75109780e-01 8.43855381e-01 -3.83667498e-01 -1.18792806e+02] [-7.22002115e-01 -6.38179987e-03 6.91861416e-01 -6.66040180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:-118.81, Z:-66.63 [[ 5.81100026e-01 5.36710171e-01 6.11771977e-01 2.02963470e+02] [-3.75069541e-01 8.43742841e-01 -3.83954239e-01 -1.18805086e+02] [-7.22250371e-01 -6.34121668e-03 6.91602625e-01 -6.66278406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:-118.82, Z:-66.65 [[ 5.80900163e-01 5.37331669e-01 6.11416125e-01 2.02982769e+02] [-3.75839328e-01 8.43344532e-01 -3.84076554e-01 -1.18817318e+02] [-7.22010942e-01 -6.68409320e-03 6.91849350e-01 -6.66515795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.00, Y:-118.83, Z:-66.67 [[ 5.81575060e-01 5.33113539e-01 6.14459441e-01 2.03002429e+02] [-3.76196086e-01 8.45967246e-01 -3.77909942e-01 -1.18832305e+02] [-7.21281467e-01 -1.13742395e-02 6.92548678e-01 -6.66716352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:-118.85, Z:-66.69 [[ 5.81653508e-01 5.32825750e-01 6.14634784e-01 2.03022347e+02] [-3.78113073e-01 8.46110937e-01 -3.75668454e-01 -1.18846206e+02] [-7.20215038e-01 -1.38925728e-02 6.93611776e-01 -6.66939610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-118.84, Z:-66.73 [[ 5.79795125e-01 5.46793631e-01 6.04031737e-01 2.03039686e+02] [-3.77515767e-01 8.37266388e-01 -3.95558897e-01 -1.18843702e+02] [-7.22024556e-01 1.31161593e-03 6.91866187e-01 -6.67254351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:-118.86, Z:-66.75 [[ 5.79627097e-01 5.39483746e-01 6.10728840e-01 2.03058328e+02] [-3.78153233e-01 8.41959112e-01 -3.84844107e-01 -1.18862413e+02] [-7.21825852e-01 -7.88301361e-03 6.92029838e-01 -6.67463215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:-118.87, Z:-66.77 [[ 5.79382709e-01 5.40098246e-01 6.10417530e-01 2.03077870e+02] [-3.78890012e-01 8.41561778e-01 -3.84988484e-01 -1.18874583e+02] [-7.21635667e-01 -8.22543442e-03 6.92224174e-01 -6.67704068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-118.89, Z:-66.79 [[ 5.79299127e-01 5.40426184e-01 6.10206573e-01 2.03096677e+02] [-3.79145359e-01 8.41351348e-01 -3.85196971e-01 -1.18886795e+02] [-7.21568651e-01 -8.21272115e-03 6.92294181e-01 -6.67937848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-118.90, Z:-66.82 [[ 5.79118538e-01 5.40639750e-01 6.10188806e-01 2.03115991e+02] [-3.79135948e-01 8.41215295e-01 -3.85503255e-01 -1.18899215e+02] [-7.21718540e-01 -8.09243015e-03 6.92139337e-01 -6.68175710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.13, Y:-118.91, Z:-66.84 [[ 5.79425473e-01 5.40339027e-01 6.10163795e-01 2.03134287e+02] [-3.78350179e-01 8.41415813e-01 -3.85837495e-01 -1.18911184e+02] [-7.21884522e-01 -7.29150761e-03 6.91975123e-01 -6.68403795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:-118.92, Z:-66.86 [[ 5.79707489e-01 5.40135205e-01 6.10076379e-01 2.03153471e+02] [-3.77771342e-01 8.41552061e-01 -3.86107424e-01 -1.18923238e+02] [-7.21961246e-01 -6.64000755e-03 6.91901633e-01 -6.68645075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:-118.94, Z:-66.89 [[ 5.80059717e-01 5.40009996e-01 6.09852383e-01 2.03172639e+02] [-3.77380690e-01 8.41636739e-01 -3.86304821e-01 -1.18935428e+02] [-7.21882636e-01 -6.06664761e-03 6.91988913e-01 -6.68885351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:-118.95, Z:-66.91 [[ 5.80307724e-01 5.39951554e-01 6.09668160e-01 2.03191265e+02] [-3.77062504e-01 8.41677608e-01 -3.86526418e-01 -1.18946926e+02] [-7.21849579e-01 -5.57873704e-03 6.92027502e-01 -6.69122555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-118.96, Z:-66.94 [[ 5.80379333e-01 5.40049756e-01 6.09512994e-01 2.03210102e+02] [-3.76977413e-01 8.41616308e-01 -3.86742834e-01 -1.18958592e+02] [-7.21836449e-01 -5.31508419e-03 6.92043272e-01 -6.69360789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-118.97, Z:-66.96 [[ 5.80292523e-01 5.40321585e-01 6.09354718e-01 2.03229453e+02] [-3.77109825e-01 8.41442383e-01 -3.86992114e-01 -1.18970811e+02] [-7.21837078e-01 -5.22502084e-03 6.92043302e-01 -6.69604795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:-118.98, Z:-66.98 [[ 5.80484890e-01 5.40463308e-01 6.09045733e-01 2.03248590e+02] [-3.77315245e-01 8.41351756e-01 -3.86988926e-01 -1.18983032e+02] [-7.21575012e-01 -5.16101575e-03 6.92317027e-01 -6.69844545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:-118.99, Z:-67.01 [[ 5.80570439e-01 5.40483830e-01 6.08945970e-01 2.03266740e+02] [-3.77047169e-01 8.41340927e-01 -3.87273646e-01 -1.18994429e+02] [-7.21646311e-01 -4.76172305e-03 6.92245569e-01 -6.70078001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:-119.01, Z:-67.03 [[ 5.81417677e-01 5.40238216e-01 6.08355287e-01 2.03285511e+02] [-3.76739818e-01 8.41502368e-01 -3.87221996e-01 -1.19006207e+02] [-7.21124534e-01 -4.05394686e-03 6.92793599e-01 -6.70316121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:-119.02, Z:-67.05 [[ 5.81666082e-01 5.40092668e-01 6.08247054e-01 2.03304068e+02] [-3.76241015e-01 8.41598471e-01 -3.87498016e-01 -1.19018289e+02] [-7.21184628e-01 -3.45303619e-03 6.92734299e-01 -6.70549510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:-119.03, Z:-67.08 [[ 5.81759435e-01 5.39861504e-01 6.08362980e-01 2.03322463e+02] [-3.75608737e-01 8.41748830e-01 -3.87784713e-01 -1.19030549e+02] [-7.21438865e-01 -2.90903527e-03 6.92472022e-01 -6.70785258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:-119.04, Z:-67.10 [[ 5.82299182e-01 5.38966025e-01 6.08640524e-01 2.03341573e+02] [-3.73800423e-01 8.42326314e-01 -3.88277768e-01 -1.19043127e+02] [-7.21942454e-01 -1.41625819e-03 6.91951651e-01 -6.71021970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:-119.06, Z:-67.13 [[ 5.82676212e-01 5.38883026e-01 6.08353118e-01 2.03360270e+02] [-3.73505514e-01 8.42380140e-01 -3.88444760e-01 -1.19055064e+02] [-7.21790872e-01 -8.85723329e-04 6.92110650e-01 -6.71255109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.38, Y:-119.07, Z:-67.15 [[ 5.82932431e-01 5.38875028e-01 6.08114697e-01 2.03379425e+02] [-3.73312986e-01 8.42385585e-01 -3.88617988e-01 -1.19067425e+02] [-7.21683585e-01 -4.79085063e-04 6.92222922e-01 -6.71498204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:-119.08, Z:-67.17 [[ 5.83722514e-01 5.38606040e-01 6.07594898e-01 2.03398122e+02] [-3.72907794e-01 8.42557687e-01 -3.88633916e-01 -1.19079151e+02] [-7.21254327e-01 2.77493621e-04 6.92670282e-01 -6.71741219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:-119.09, Z:-67.20 [[ 5.83863426e-01 5.38890762e-01 6.07206922e-01 2.03416237e+02] [-3.73208508e-01 8.42375581e-01 -3.88740003e-01 -1.19090721e+02] [-7.20984680e-01 3.56280307e-04 6.92950910e-01 -6.71975432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:-119.10, Z:-67.22 [[ 5.83642673e-01 5.39322548e-01 6.07035765e-01 2.03434756e+02] [-3.73602992e-01 8.42099246e-01 -3.88959722e-01 -1.19102883e+02] [-7.20959108e-01 2.23113685e-04 6.92977572e-01 -6.72214917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:-119.11, Z:-67.25 [[ 5.83177547e-01 5.39870220e-01 6.06995959e-01 2.03453560e+02] [-3.74056446e-01 8.41748267e-01 -3.89283484e-01 -1.19114872e+02] [-7.21100356e-01 -2.93637612e-05 6.92830625e-01 -6.72453445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:-119.13, Z:-67.27 [[ 5.82892164e-01 5.40208877e-01 6.06968776e-01 2.03472745e+02] [-3.74200438e-01 8.41530967e-01 -3.89614763e-01 -1.19127010e+02] [-7.21256375e-01 -2.45894955e-05 6.92668205e-01 -6.72694098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-119.14, Z:-67.29 [[ 5.82488413e-01 5.40518597e-01 6.07080633e-01 2.03491773e+02] [-3.74209008e-01 8.41332066e-01 -3.90035860e-01 -1.19139151e+02] [-7.21578040e-01 1.63276856e-05 6.92333108e-01 -6.72934725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:-119.15, Z:-67.32 [[ 5.82480572e-01 5.40879532e-01 6.06766607e-01 2.03509933e+02] [-3.74576454e-01 8.41100072e-01 -3.90183481e-01 -1.19150953e+02] [-7.21393695e-01 -6.18677417e-06 6.92525188e-01 -6.73165147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:-119.16, Z:-67.34 [[ 5.82251558e-01 5.41215593e-01 6.06686744e-01 2.03528292e+02] [-3.74776982e-01 8.40883869e-01 -3.90456825e-01 -1.19163223e+02] [-7.21474419e-01 -2.81324589e-05 6.92441089e-01 -6.73404166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:-119.18, Z:-67.36 [[ 5.82166771e-01 5.41483005e-01 6.06529477e-01 2.03547563e+02] [-3.74908731e-01 8.40711694e-01 -3.90701026e-01 -1.19175571e+02] [-7.21474389e-01 5.99584439e-05 6.92441118e-01 -6.73648166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:-119.19, Z:-67.39 [[ 5.82521082e-01 5.41757926e-01 6.05943511e-01 2.03565761e+02] [-3.75499453e-01 8.40534560e-01 -3.90514806e-01 -1.19188471e+02] [-7.20880954e-01 -4.83493947e-05 6.93058907e-01 -6.73886697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:-119.20, Z:-67.41 [[ 5.82469714e-01 5.42167080e-01 6.05626857e-01 2.03584739e+02] [-3.75945689e-01 8.40270694e-01 -3.90653299e-01 -1.19201054e+02] [-7.20689858e-01 -1.39090419e-04 6.93257607e-01 -6.74129777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:-119.21, Z:-67.44 [[ 5.82211296e-01 5.42698427e-01 6.05399393e-01 2.03603064e+02] [-3.76511389e-01 8.39927538e-01 -3.90846395e-01 -1.19213121e+02] [-7.20603345e-01 -3.84580005e-04 6.93347439e-01 -6.74369583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:-119.22, Z:-67.46 [[ 5.81701851e-01 5.43221879e-01 6.05419646e-01 2.03620767e+02] [-3.76900789e-01 8.39588949e-01 -3.91198405e-01 -1.19224819e+02] [-7.20811177e-01 -6.22305445e-04 6.93131200e-01 -6.74608117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:-119.24, Z:-67.48 [[ 5.81301481e-01 5.43936772e-01 6.05162273e-01 2.03639389e+02] [-3.77777707e-01 8.39125449e-01 -3.91347013e-01 -1.19237318e+02] [-7.20675095e-01 -1.12621786e-03 6.93272053e-01 -6.74844401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:-119.25, Z:-67.51 [[ 5.80669092e-01 5.44819652e-01 6.04975167e-01 2.03657449e+02] [-3.78809847e-01 8.38551331e-01 -3.91579832e-01 -1.19249735e+02] [-7.20643119e-01 -1.79224491e-03 6.93303889e-01 -6.75078412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.68, Y:-119.26, Z:-67.53 [[ 5.79770836e-01 5.45845518e-01 6.04911934e-01 2.03675893e+02] [-3.79992050e-01 8.37881586e-01 -3.91867950e-01 -1.19262570e+02] [-7.20743934e-01 -2.66811679e-03 6.93196265e-01 -6.75317104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:-119.28, Z:-67.56 [[ 5.78721755e-01 5.46932326e-01 6.04934841e-01 2.03694480e+02] [-3.81183463e-01 8.37169094e-01 -3.92233446e-01 -1.19275563e+02] [-7.20957903e-01 -3.59712920e-03 6.92969525e-01 -6.75558497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.71, Y:-119.29, Z:-67.58 [[ 5.76908389e-01 5.49293770e-01 6.04527142e-01 2.03712098e+02] [-3.84508027e-01 8.35606956e-01 -3.92319503e-01 -1.19289280e+02] [-7.20645743e-01 -6.11312597e-03 6.93276527e-01 -6.75791948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:-119.30, Z:-67.60 [[ 5.75733811e-01 5.50635107e-01 6.04426636e-01 2.03729987e+02] [-3.86179340e-01 8.34713297e-01 -3.92580222e-01 -1.19301645e+02] [-7.20691402e-01 -7.39537200e-03 6.93216569e-01 -6.76023639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:-119.32, Z:-67.63 [[ 5.73481924e-01 5.53202346e-01 6.04223177e-01 2.03748593e+02] [-3.89706202e-01 8.32984170e-01 -3.92767679e-01 -1.19315018e+02] [-7.20588342e-01 -1.02243552e-02 6.93287749e-01 -6.76265225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:-119.33, Z:-67.65 [[ 5.72216549e-01 5.54523353e-01 6.04211943e-01 2.03766388e+02] [-3.91269881e-01 8.32089169e-01 -3.93110029e-01 -1.19327056e+02] [-7.20746905e-01 -1.14658705e-02 6.93103479e-01 -6.76495203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-119.34, Z:-67.67 [[ 5.71094483e-01 5.55761734e-01 6.04135735e-01 2.03784807e+02] [-3.92782921e-01 8.31245621e-01 -3.93385682e-01 -1.19339338e+02] [-7.20813893e-01 -1.26338056e-02 6.93013505e-01 -6.76733977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-119.35, Z:-67.70 [[ 5.70013585e-01 5.57096991e-01 6.03926697e-01 2.03802865e+02] [-3.94498547e-01 8.30331250e-01 -3.93599937e-01 -1.19351633e+02] [-7.20732550e-01 -1.38908930e-02 6.93074047e-01 -6.76963095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-119.36, Z:-67.72 [[ 5.68092760e-01 5.58922718e-01 6.04049676e-01 2.03821024e+02] [-3.96742041e-01 8.29068829e-01 -3.94005877e-01 -1.19364225e+02] [-7.21017593e-01 -1.58200149e-02 6.92736139e-01 -6.77202964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:-119.38, Z:-67.74 [[ 5.67502256e-01 5.59782120e-01 6.03808884e-01 2.03838891e+02] [-3.97779859e-01 8.28476139e-01 -3.94206128e-01 -1.19376348e+02] [-7.20910794e-01 -1.64701460e-02 6.92832130e-01 -6.77434913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:-119.39, Z:-67.77 [[ 5.67070478e-01 5.60414996e-01 6.03627456e-01 2.03857435e+02] [-3.98475137e-01 8.28040185e-01 -3.94419849e-01 -1.19388979e+02] [-7.20866588e-01 -1.68666811e-02 6.92868586e-01 -6.77676325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:-119.40, Z:-67.79 [[ 5.67218994e-01 5.60765000e-01 6.03162688e-01 2.03875871e+02] [-3.98922951e-01 8.27803177e-01 -3.94464675e-01 -1.19401503e+02] [-7.20501972e-01 -1.68675833e-02 6.93247714e-01 -6.77917398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:-119.41, Z:-67.82 [[ 5.68167724e-01 5.60586952e-01 6.02434815e-01 2.03894187e+02] [-3.98770615e-01 8.27937410e-01 -3.94336964e-01 -1.19414531e+02] [-7.19838477e-01 -1.61837663e-02 6.93952918e-01 -6.78160065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:-119.43, Z:-67.84 [[ 5.68822619e-01 5.60308384e-01 6.02075862e-01 2.03913079e+02] [-3.98232998e-01 8.28141035e-01 -3.94452665e-01 -1.19427131e+02] [-7.19618863e-01 -1.53928782e-02 6.94198640e-01 -6.78400016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-119.44, Z:-67.86 [[ 5.69339284e-01 5.60006526e-01 6.01868316e-01 2.03931423e+02] [-3.97565760e-01 8.28359837e-01 -3.94666246e-01 -1.19439565e+02] [-7.19579214e-01 -1.45832363e-02 6.94257217e-01 -6.78633669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:-119.45, Z:-67.89 [[ 5.70437520e-01 5.58977170e-01 6.01785310e-01 2.03950843e+02] [-3.95785377e-01 8.29082839e-01 -3.94937441e-01 -1.19452034e+02] [-7.19690886e-01 -1.28906914e-02 6.94174949e-01 -6.78868665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:-119.46, Z:-67.91 [[ 5.70142060e-01 5.58869789e-01 6.02164919e-01 2.03969700e+02] [-3.95013092e-01 8.29163477e-01 -3.95540877e-01 -1.19464263e+02] [-7.20349004e-01 -1.23485361e-02 6.93501857e-01 -6.79108937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:-119.48, Z:-67.93 [[ 5.70112721e-01 5.58878976e-01 6.02184171e-01 2.03988264e+02] [-3.94641064e-01 8.29163384e-01 -3.95912253e-01 -1.19476336e+02] [-7.20576100e-01 -1.19319902e-02 6.93273187e-01 -6.79340393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:-119.49, Z:-67.96 [[ 5.69904430e-01 5.59137317e-01 6.02141513e-01 2.04007633e+02] [-3.94698041e-01 8.28990262e-01 -3.96217872e-01 -1.19489156e+02] [-7.20709648e-01 -1.18577554e-02 6.93135627e-01 -6.79579401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:-119.50, Z:-67.98 [[ 5.69112063e-01 5.59740062e-01 6.02330908e-01 2.04026372e+02] [-3.95087873e-01 8.28578257e-01 -3.96690868e-01 -1.19501460e+02] [-7.21122065e-01 -1.22120794e-02 6.92700392e-01 -6.79818663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:-119.51, Z:-68.00 [[ 5.68564455e-01 5.60531967e-01 6.02111596e-01 2.04044628e+02] [-3.96017710e-01 8.28034112e-01 -3.96899840e-01 -1.19513269e+02] [-7.21043989e-01 -1.27837144e-02 6.92771349e-01 -6.80046365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-119.53, Z:-68.03 [[ 5.68321822e-01 5.61250439e-01 6.01671215e-01 2.04063353e+02] [-3.97012646e-01 8.27539432e-01 -3.96937585e-01 -1.19525449e+02] [-7.20688050e-01 -1.32827897e-02 6.93132240e-01 -6.80284457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-119.54, Z:-68.05 [[ 5.68290678e-01 5.61961374e-01 6.01036704e-01 2.04082315e+02] [-3.98102387e-01 8.27049382e-01 -3.96867496e-01 -1.19537748e+02] [-7.20111238e-01 -1.37380483e-02 6.93722618e-01 -6.80521561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:-119.55, Z:-68.08 [[ 5.67802993e-01 5.63116519e-01 6.00416145e-01 2.04101291e+02] [-3.99831428e-01 8.26245698e-01 -3.96803321e-01 -1.19549352e+02] [-7.19537762e-01 -1.47591308e-02 6.94296463e-01 -6.80758256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:-119.56, Z:-68.10 [[ 5.67719301e-01 5.63888030e-01 5.99770861e-01 2.04120115e+02] [-4.01008648e-01 8.25709854e-01 -3.96730767e-01 -1.19561358e+02] [-7.18948440e-01 -1.52815886e-02 6.94895397e-01 -6.80988032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:-119.57, Z:-68.12 [[ 5.67413629e-01 5.64466833e-01 5.99515611e-01 2.04139551e+02] [-4.01791954e-01 8.25305621e-01 -3.96779357e-01 -1.19573473e+02] [-7.18752391e-01 -1.57425338e-02 6.95087889e-01 -6.81229827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:-119.58, Z:-68.15 [[ 5.66059846e-01 5.66153023e-01 5.99205312e-01 2.04159704e+02] [-4.04089101e-01 8.24115401e-01 -3.96920400e-01 -1.19584690e+02] [-7.18532010e-01 -1.74516356e-02 6.95274903e-01 -6.81464270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:-119.60, Z:-68.17 [[ 5.64862865e-01 5.67322397e-01 5.99228872e-01 2.04179019e+02] [-4.05415001e-01 8.23287409e-01 -3.97286444e-01 -1.19596173e+02] [-7.18727084e-01 -1.85240155e-02 6.95045495e-01 -6.81700482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:-119.61, Z:-68.19 [[ 5.63781068e-01 5.68398180e-01 5.99228184e-01 2.04197520e+02] [-4.06618429e-01 8.22523077e-01 -3.97639588e-01 -1.19607402e+02] [-7.18896628e-01 -1.94755508e-02 6.94844113e-01 -6.81931033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:-119.62, Z:-68.22 [[ 5.63138410e-01 5.69831483e-01 5.98470728e-01 2.04217298e+02] [-4.08972433e-01 8.21493387e-01 -3.97353953e-01 -1.19618985e+02] [-7.18064538e-01 -2.09927566e-02 6.95659848e-01 -6.82160906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:-119.63, Z:-68.24 [[ 5.62587692e-01 5.70526623e-01 5.98326383e-01 2.04236043e+02] [-4.09730070e-01 8.20998436e-01 -3.97596324e-01 -1.19630894e+02] [-7.18064313e-01 -2.14695124e-02 6.95645529e-01 -6.82402640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:-119.64, Z:-68.26 [[ 5.62622912e-01 5.70874440e-01 5.97961397e-01 2.04255036e+02] [-4.10120080e-01 8.20756242e-01 -3.97694243e-01 -1.19643183e+02] [-7.17814028e-01 -2.14840830e-02 6.95903338e-01 -6.82640051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-119.66, Z:-68.29 [[ 5.63089381e-01 5.70782893e-01 5.97609604e-01 2.04273544e+02] [-4.09844627e-01 8.20834462e-01 -3.97816751e-01 -1.19655308e+02] [-7.17605554e-01 -2.09206970e-02 6.96135471e-01 -6.82871353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:-119.67, Z:-68.31 [[ 5.63519525e-01 5.70471087e-01 5.97501870e-01 2.04292013e+02] [-4.09234145e-01 8.21067815e-01 -3.97963639e-01 -1.19668140e+02] [-7.17616304e-01 -2.02578860e-02 6.96143992e-01 -6.83111548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:-119.68, Z:-68.33 [[ 5.65892991e-01 5.68637004e-01 5.97006768e-01 2.04309801e+02] [-4.06528248e-01 8.22402705e-01 -3.97980621e-01 -1.19681686e+02] [-7.17286488e-01 -1.74856717e-02 6.96558931e-01 -6.83333843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:-119.69, Z:-68.36 [[ 5.67024998e-01 5.67360398e-01 5.97147244e-01 2.04327485e+02] [-4.04249631e-01 8.23323793e-01 -3.98396997e-01 -1.19694453e+02] [-7.17680213e-01 -1.54954968e-02 6.96200404e-01 -6.83562936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:-119.71, Z:-68.38 [[ 5.68497327e-01 5.66039212e-01 5.97001172e-01 2.04346338e+02] [-4.02102811e-01 8.24268689e-01 -3.98615677e-01 -1.19708138e+02] [-7.17721478e-01 -1.34439026e-02 6.96200504e-01 -6.83800931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:-119.72, Z:-68.40 [[ 5.71795850e-01 5.62922083e-01 5.96798320e-01 2.04363853e+02] [-3.97356598e-01 8.26460004e-01 -3.98837807e-01 -1.19721919e+02] [-7.17744551e-01 -9.08794719e-03 6.96247204e-01 -6.84027625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:-119.74, Z:-68.43 [[ 5.73176786e-01 5.61588560e-01 5.96729974e-01 2.04382135e+02] [-3.95250172e-01 8.27385712e-01 -3.99011510e-01 -1.19735388e+02] [-7.17806153e-01 -7.15348965e-03 6.96206258e-01 -6.84265483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-119.75, Z:-68.45 [[ 5.74644277e-01 5.60381611e-01 5.96453188e-01 2.04400819e+02] [-3.93332711e-01 8.28218098e-01 -3.99179359e-01 -1.19749109e+02] [-7.17686097e-01 -5.21841502e-03 6.96347208e-01 -6.84502633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:-119.76, Z:-68.47 [[ 5.74553774e-01 5.60648095e-01 5.96289924e-01 2.04419862e+02] [-3.93463768e-01 8.28038292e-01 -3.99423147e-01 -1.19761796e+02] [-7.17686717e-01 -5.12840376e-03 6.96347238e-01 -6.84746653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:-119.78, Z:-68.50 [[ 5.75623043e-01 5.59279535e-01 5.96543808e-01 2.04438290e+02] [-3.91119313e-01 8.28972982e-01 -3.99786791e-01 -1.19775463e+02] [-7.18111270e-01 -3.19331494e-03 6.95920978e-01 -6.84986876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-119.79, Z:-68.52 [[ 5.78486171e-01 5.57267843e-01 5.95656194e-01 2.04456597e+02] [-3.88474103e-01 8.30332753e-01 -3.99543978e-01 -1.19789832e+02] [-7.17245858e-01 -2.66339601e-04 6.96820141e-01 -6.85222316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:-119.80, Z:-68.55 [[ 5.78609424e-01 5.57693260e-01 5.95138104e-01 2.04475316e+02] [-3.89082530e-01 8.30047038e-01 -3.99545616e-01 -1.19801574e+02] [-7.16816517e-01 -3.76980057e-04 6.97261743e-01 -6.85462003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:-119.81, Z:-68.57 [[ 5.78555286e-01 5.58143089e-01 5.94768925e-01 2.04493907e+02] [-3.89625044e-01 8.29744552e-01 -3.99645222e-01 -1.19812705e+02] [-7.16565494e-01 -5.20013177e-04 6.97519622e-01 -6.85703694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:-119.82, Z:-68.60 [[ 5.78100070e-01 5.59748429e-01 5.93701951e-01 2.04512561e+02] [-3.90188554e-01 8.28662518e-01 -4.01336920e-01 -1.19824779e+02] [-7.16626264e-01 3.57195739e-04 6.97457289e-01 -6.85958136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:-119.83, Z:-68.62 [[ 5.78210940e-01 5.60316651e-01 5.93057636e-01 2.04531192e+02] [-3.90910679e-01 8.28278440e-01 -4.01427038e-01 -1.19834583e+02] [-7.16143107e-01 2.76941825e-04 6.97953418e-01 -6.86169485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-119.85, Z:-68.64 [[ 5.77300924e-01 5.60240068e-01 5.94015748e-01 2.04550104e+02] [-3.92305961e-01 8.28327530e-01 -3.99961918e-01 -1.19847738e+02] [-7.16114290e-01 -2.13753448e-03 6.97979767e-01 -6.86399837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:-119.86, Z:-68.66 [[ 5.76415186e-01 5.61537124e-01 5.93651068e-01 2.04569193e+02] [-3.94060173e-01 8.27444840e-01 -4.00064516e-01 -1.19859341e+02] [-7.15864591e-01 -3.33098042e-03 6.98231188e-01 -6.86636412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:-119.87, Z:-68.69 [[ 5.75032697e-01 5.63627215e-01 5.93010758e-01 2.04588828e+02] [-3.97134190e-01 8.26010972e-01 -3.99987886e-01 -1.19869465e+02] [-7.15277451e-01 -5.49873436e-03 6.98818955e-01 -6.86874409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-119.88, Z:-68.71 [[ 5.74081015e-01 5.64910522e-01 5.92711641e-01 2.04608069e+02] [-3.98843691e-01 8.25124963e-01 -4.00115615e-01 -1.19880914e+02] [-7.15090692e-01 -6.70051969e-03 6.98999574e-01 -6.87116409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:-119.89, Z:-68.74 [[ 5.73068099e-01 5.66301176e-01 5.92364696e-01 2.04627388e+02] [-4.00722830e-01 8.24159402e-01 -4.00228051e-01 -1.19892100e+02] [-7.14852550e-01 -8.01612914e-03 6.99229271e-01 -6.87360576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-119.90, Z:-68.76 [[ 5.72083627e-01 5.67725674e-01 5.91952602e-01 2.04646686e+02] [-4.02692427e-01 8.23164475e-01 -4.00298709e-01 -1.19903244e+02] [-7.14534207e-01 -9.37049301e-03 6.99537748e-01 -6.87596861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:-119.91, Z:-68.78 [[ 5.69433197e-01 5.70214614e-01 5.92115807e-01 2.04666913e+02] [-4.05812831e-01 8.21406893e-01 -4.00757611e-01 -1.19913575e+02] [-7.14885851e-01 -1.20835039e-02 6.99136759e-01 -6.87839647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:-119.93, Z:-68.81 [[ 5.68427346e-01 5.71020641e-01 5.92305478e-01 2.04686356e+02] [-4.06494354e-01 8.20837509e-01 -4.01233253e-01 -1.19925085e+02] [-7.15299023e-01 -1.26968795e-02 6.98703154e-01 -6.88077566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-119.94, Z:-68.83 [[ 5.67423198e-01 5.71761946e-01 5.92553113e-01 2.04704890e+02] [-4.07038091e-01 8.20312945e-01 -4.01754484e-01 -1.19936651e+02] [-7.15786914e-01 -1.32268741e-02 6.98193485e-01 -6.88312716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:-119.95, Z:-68.85 [[ 5.66923933e-01 5.72281221e-01 5.92529711e-01 2.04723966e+02] [-4.07582922e-01 8.19944208e-01 -4.01954796e-01 -1.19948569e+02] [-7.15872486e-01 -1.36271971e-02 6.98098047e-01 -6.88547751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:-119.96, Z:-68.88 [[ 5.66056024e-01 5.72589209e-01 5.93061696e-01 2.04742776e+02] [-4.07307005e-01 8.19729229e-01 -4.02672317e-01 -1.19960147e+02] [-7.16715830e-01 -1.36230924e-02 6.97232264e-01 -6.88781456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-119.97, Z:-68.90 [[ 5.65636544e-01 5.72655279e-01 5.93398038e-01 2.04761653e+02] [-4.06836177e-01 8.19687845e-01 -4.03232143e-01 -1.19972799e+02] [-7.17314175e-01 -1.33329540e-02 6.96622284e-01 -6.89025507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:-119.99, Z:-68.93 [[ 5.65366349e-01 5.72659367e-01 5.93651531e-01 2.04780097e+02] [-4.06308858e-01 8.19691356e-01 -4.03756354e-01 -1.19985269e+02] [-7.17825886e-01 -1.29356197e-02 6.96102483e-01 -6.89260823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:-120.00, Z:-68.95 [[ 5.65440969e-01 5.72458339e-01 5.93774335e-01 2.04798882e+02] [-4.05596931e-01 8.19841539e-01 -4.04167020e-01 -1.19997909e+02] [-7.18169646e-01 -1.23004564e-02 6.95759340e-01 -6.89500764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:-120.01, Z:-68.97 [[ 5.66026771e-01 5.71652202e-01 5.93992807e-01 2.04817476e+02] [-4.03917317e-01 8.20424016e-01 -4.04666820e-01 -1.20009906e+02] [-7.18654643e-01 -1.08717274e-02 6.95282180e-01 -6.89739678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:-120.02, Z:-69.00 [[ 5.66185849e-01 5.71336342e-01 5.94145074e-01 2.04835951e+02] [-4.02991854e-01 8.20654347e-01 -4.05122214e-01 -1.20022027e+02] [-7.19048782e-01 -1.00611598e-02 6.94886770e-01 -6.89977054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:-120.03, Z:-69.02 [[ 5.66602017e-01 5.71052593e-01 5.94021120e-01 2.04854658e+02] [-4.02299738e-01 8.20861033e-01 -4.05391274e-01 -1.20034729e+02] [-7.19108528e-01 -9.27902720e-03 6.94835825e-01 -6.90216148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-120.05, Z:-69.05 [[ 5.66715868e-01 5.70586784e-01 5.94360032e-01 2.04872944e+02] [-4.01018965e-01 8.21195639e-01 -4.05982157e-01 -1.20046938e+02] [-7.19733920e-01 -8.27311472e-03 6.94200721e-01 -6.90459462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:-120.06, Z:-69.07 [[ 5.68311964e-01 5.69224382e-01 5.94142335e-01 2.04891090e+02] [-3.98825783e-01 8.22159475e-01 -4.06191818e-01 -1.20058734e+02] [-7.19694036e-01 -6.11561195e-03 6.94264426e-01 -6.90701364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:-120.07, Z:-69.09 [[ 5.69300019e-01 5.68682351e-01 5.93715313e-01 2.04908703e+02] [-3.97968476e-01 8.22542042e-01 -4.06258145e-01 -1.20070827e+02] [-7.19387643e-01 -4.99720838e-03 6.94590848e-01 -6.90935559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:-120.08, Z:-69.12 [[ 5.71699028e-01 5.67077591e-01 5.92944540e-01 2.04926202e+02] [-3.95965055e-01 8.23659940e-01 -4.05950710e-01 -1.20082837e+02] [-7.18590214e-01 -2.70369088e-03 6.95428497e-01 -6.91171373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:-120.10, Z:-69.14 [[ 5.72561130e-01 5.66514030e-01 5.92651336e-01 2.04944483e+02] [-3.95023746e-01 8.24050524e-01 -4.06075084e-01 -1.20095536e+02] [-7.18421876e-01 -1.60854175e-03 6.95605794e-01 -6.91419951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:-120.11, Z:-69.17 [[ 5.74690086e-01 5.65199833e-01 5.91844958e-01 2.04962185e+02] [-3.93345019e-01 8.24953905e-01 -4.05870362e-01 -1.20107554e+02] [-7.17642670e-01 4.50407052e-04 6.96411370e-01 -6.91651922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:-120.12, Z:-69.19 [[ 5.75273666e-01 5.64816118e-01 5.91644286e-01 2.04980611e+02] [-3.92603456e-01 8.25215749e-01 -4.06056024e-01 -1.20120206e+02] [-7.17581170e-01 1.31174562e-03 6.96473649e-01 -6.91891532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:-120.13, Z:-69.21 [[ 5.75623793e-01 5.64046536e-01 5.92037798e-01 2.04998750e+02] [-3.90859008e-01 8.25738625e-01 -4.06675497e-01 -1.20133111e+02] [-7.18252382e-01 2.68878507e-03 6.95777469e-01 -6.92131574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:-120.15, Z:-69.24 [[ 5.76178313e-01 5.63484902e-01 5.92033206e-01 2.05017253e+02] [-3.89691309e-01 8.26117578e-01 -4.07026328e-01 -1.20146331e+02] [-7.18442229e-01 3.80954784e-03 6.95576201e-01 -6.92374586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.03, Y:-120.16, Z:-69.26 [[ 5.75816630e-01 5.63896498e-01 5.91993199e-01 2.05034957e+02] [-3.89944773e-01 8.25837110e-01 -4.07352601e-01 -1.20158817e+02] [-7.18594658e-01 3.71574883e-03 6.95419234e-01 -6.92606997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.05, Y:-120.17, Z:-69.29 [[ 5.75729408e-01 5.64147593e-01 5.91838781e-01 2.05053837e+02] [-3.90074328e-01 8.25665252e-01 -4.07576878e-01 -1.20171763e+02] [-7.18594230e-01 3.79287991e-03 6.95419259e-01 -6.92850955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-120.18, Z:-69.31 [[ 5.75211315e-01 5.64651174e-01 5.91862311e-01 2.05072247e+02] [-3.90580892e-01 8.25322689e-01 -4.07785515e-01 -1.20184423e+02] [-7.18733964e-01 3.39273340e-03 6.95276908e-01 -6.93088725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:-120.20, Z:-69.33 [[ 5.75123038e-01 5.64914057e-01 5.91697220e-01 2.05091120e+02] [-3.90711700e-01 8.25142404e-01 -4.08024975e-01 -1.20197370e+02] [-7.18733511e-01 3.48153610e-03 6.95276938e-01 -6.93332726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:-120.21, Z:-69.36 [[ 5.74438422e-01 5.65782374e-01 5.91532590e-01 2.05109111e+02] [-3.91875061e-01 8.24550432e-01 -4.08106017e-01 -1.20210008e+02] [-7.18647644e-01 2.62490608e-03 6.95369451e-01 -6.93563601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-120.22, Z:-69.38 [[ 5.73579938e-01 5.66652474e-01 5.91532779e-01 2.05127519e+02] [-3.92785898e-01 8.23954655e-01 -4.08433549e-01 -1.20222539e+02] [-7.18836068e-01 1.92355614e-03 6.95176961e-01 -6.93800925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.15, Y:-120.23, Z:-69.40 [[ 5.72539614e-01 5.67592518e-01 5.91639353e-01 2.05145574e+02] [-3.93689710e-01 8.23308792e-01 -4.08865560e-01 -1.20234772e+02] [-7.19170913e-01 1.16940476e-03 6.94832231e-01 -6.94035754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-120.25, Z:-69.43 [[ 5.71706230e-01 5.68737690e-01 5.91345437e-01 2.05163892e+02] [-3.95202587e-01 8.22518951e-01 -4.08995710e-01 -1.20247404e+02] [-7.19004104e-01 1.24149392e-04 6.95005815e-01 -6.94267320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:-120.26, Z:-69.45 [[ 5.69386074e-01 5.70668417e-01 5.91723800e-01 2.05182626e+02] [-3.97370343e-01 8.21178345e-01 -4.09588741e-01 -1.20259805e+02] [-7.19650129e-01 -1.91936460e-03 6.94334219e-01 -6.94508844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:-120.27, Z:-69.47 [[ 5.68104029e-01 5.71803003e-01 5.91860743e-01 2.05200938e+02] [-3.98543595e-01 8.20385696e-01 -4.10036964e-01 -1.20272143e+02] [-7.20014455e-01 -2.93865695e-03 6.93952844e-01 -6.94746011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:-120.29, Z:-69.50 [[ 5.66976743e-01 5.72954986e-01 5.91827641e-01 2.05219690e+02] [-3.99890596e-01 8.19577020e-01 -4.10342564e-01 -1.20285407e+02] [-7.20156152e-01 -4.01161714e-03 6.93800420e-01 -6.94987742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:-120.30, Z:-69.52 [[ 5.65147058e-01 5.74681065e-01 5.91904111e-01 2.05237766e+02] [-4.01965367e-01 8.18356977e-01 -4.10750171e-01 -1.20298618e+02] [-7.20439204e-01 -5.79070275e-03 6.93493923e-01 -6.95224076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:-120.31, Z:-69.55 [[ 5.64537595e-01 5.75475004e-01 5.91714310e-01 2.05255667e+02] [-4.02881243e-01 8.17794476e-01 -4.10973112e-01 -1.20311374e+02] [-7.20405447e-01 -6.38082454e-03 6.93523811e-01 -6.95457928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-120.32, Z:-69.57 [[ 5.64122898e-01 5.76230893e-01 5.91374089e-01 2.05273900e+02] [-4.03874654e-01 8.17257407e-01 -4.11066412e-01 -1.20324510e+02] [-7.20174020e-01 -6.94902997e-03 6.93758670e-01 -6.95695163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:-120.34, Z:-69.59 [[ 5.63171892e-01 5.77379630e-01 5.91160032e-01 2.05292049e+02] [-4.05322170e-01 8.16436692e-01 -4.11272497e-01 -1.20337787e+02] [-7.20105103e-01 -7.99315686e-03 6.93818961e-01 -6.95929345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:-120.35, Z:-69.62 [[ 5.62624251e-01 5.78059085e-01 5.91017467e-01 2.05310224e+02] [-4.06033091e-01 8.15951329e-01 -4.11534394e-01 -1.20350200e+02] [-7.20132683e-01 -8.43341940e-03 6.93785123e-01 -6.96161045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:-120.36, Z:-69.64 [[ 5.62136973e-01 5.78839515e-01 5.90717225e-01 2.05328332e+02] [-4.07027999e-01 8.15391503e-01 -4.11661153e-01 -1.20362922e+02] [-7.19951548e-01 -9.02849548e-03 6.93965601e-01 -6.96397059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:-120.38, Z:-69.66 [[ 5.61893743e-01 5.79604329e-01 5.90198478e-01 2.05346964e+02] [-4.08158050e-01 8.14841481e-01 -4.11631348e-01 -1.20376233e+02] [-7.19501513e-01 -9.60118123e-03 6.94424502e-01 -6.96637069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:-120.39, Z:-69.69 [[ 5.61852098e-01 5.80559304e-01 5.89298833e-01 2.05364235e+02] [-4.09801194e-01 8.14151924e-01 -4.11363132e-01 -1.20388976e+02] [-7.18599472e-01 -1.03701265e-02 6.95346862e-01 -6.96868202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:-120.40, Z:-69.71 [[ 5.61966804e-01 5.81006993e-01 5.88747980e-01 2.05381842e+02] [-4.10489596e-01 8.13830436e-01 -4.11312915e-01 -1.20401474e+02] [-7.18116705e-01 -1.05307162e-02 6.95843015e-01 -6.97100892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:-120.42, Z:-69.73 [[ 5.62020909e-01 5.81475121e-01 5.88233952e-01 2.05400208e+02] [-4.11186385e-01 8.13493504e-01 -4.11283448e-01 -1.20415105e+02] [-7.17675592e-01 -1.07238951e-02 6.96295012e-01 -6.97344284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:-120.43, Z:-69.76 [[ 5.62204386e-01 5.81754092e-01 5.87782617e-01 2.05418064e+02] [-4.11539806e-01 8.13295016e-01 -4.11322507e-01 -1.20427994e+02] [-7.17329225e-01 -1.06486266e-02 6.96652991e-01 -6.97574618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:-120.44, Z:-69.78 [[ 5.62486861e-01 5.81665541e-01 5.87599974e-01 2.05436546e+02] [-4.11200201e-01 8.13364796e-01 -4.11524123e-01 -1.20442082e+02] [-7.17302535e-01 -1.01443147e-02 6.96687998e-01 -6.97814152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:-120.46, Z:-69.80 [[ 5.62741877e-01 5.81485227e-01 5.87534263e-01 2.05454370e+02] [-4.10623258e-01 8.13501479e-01 -4.11829921e-01 -1.20455232e+02] [-7.17433007e-01 -9.50129055e-03 6.96562708e-01 -6.98044324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:-120.47, Z:-69.83 [[ 5.63149631e-01 5.81279170e-01 5.87347444e-01 2.05472664e+02] [-4.10120240e-01 8.13656062e-01 -4.12025728e-01 -1.20469357e+02] [-7.17400782e-01 -8.85093777e-03 6.96604464e-01 -6.98283318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:-120.49, Z:-69.85 [[ 5.64467675e-01 5.79977580e-01 5.87368922e-01 2.05490242e+02] [-4.07858564e-01 8.14604233e-01 -4.12397060e-01 -1.20485344e+02] [-7.17654259e-01 -6.77863563e-03 6.96366581e-01 -6.98513536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.50, Y:-120.47, Z:-69.89 [[ 5.62109389e-01 5.98938017e-01 5.70356280e-01 2.05503327e+02] [-3.98548827e-01 8.00424507e-01 -4.47749307e-01 -1.20465523e+02] [-7.24701226e-01 2.43692629e-02 6.88632175e-01 -6.98919708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:-120.51, Z:-69.90 [[ 5.63119066e-01 5.68991855e-01 5.99287233e-01 2.05517454e+02] [-3.97203004e-01 8.22298516e-01 -4.07498374e-01 -1.20507059e+02] [-7.24656257e-01 -8.56858566e-03 6.89057246e-01 -6.99038439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:-120.53, Z:-69.92 [[ 5.65148538e-01 5.62938869e-01 6.03081222e-01 2.05534517e+02] [-3.93990284e-01 8.26434400e-01 -4.02216160e-01 -1.20526006e+02] [-7.24830177e-01 -1.02962666e-02 6.88850637e-01 -6.99246900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.56, Y:-120.57, Z:-69.93 [[ 5.69503589e-01 5.43062656e-01 6.17048307e-01 2.05559061e+02] [-4.00045007e-01 8.38891905e-01 -3.69085850e-01 -1.20571404e+02] [-7.18073572e-01 -3.66513785e-02 6.95001455e-01 -6.99300584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-120.52, Z:-69.99 [[ 5.67688853e-01 5.94760657e-01 5.69200427e-01 2.05573941e+02] [-3.92135937e-01 8.03294237e-01 -4.48271989e-01 -1.20521321e+02] [-7.23849966e-01 3.12750686e-02 6.89248212e-01 -6.99857133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:-120.56, Z:-70.00 [[ 5.67643947e-01 5.64408853e-01 5.99352147e-01 2.05589320e+02] [-3.92575242e-01 8.25479734e-01 -4.05546408e-01 -1.20564288e+02] [-7.23647034e-01 -5.08485059e-03 6.90151516e-01 -6.99968397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:-120.61, Z:-70.00 [[ 5.72209752e-01 5.43425021e-01 6.14219218e-01 2.05614275e+02] [-3.98636356e-01 8.38820838e-01 -3.70767659e-01 -1.20610842e+02] [-7.16704302e-01 -3.26932405e-02 6.96610433e-01 -7.00022669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:-120.57, Z:-70.05 [[ 5.71557589e-01 5.86981648e-01 5.73388583e-01 2.05629751e+02] [-3.93356577e-01 8.09249060e-01 -4.36333086e-01 -1.20573211e+02] [-7.20133686e-01 2.38433166e-02 6.93425533e-01 -7.00517619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:-120.63, Z:-70.05 [[ 5.75727025e-01 5.52372465e-01 6.02845795e-01 2.05650175e+02] [-3.95512204e-01 8.33439267e-01 -3.85939224e-01 -1.20629079e+02] [-7.15617558e-01 -1.62372275e-02 6.98303561e-01 -7.00532694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:-120.62, Z:-70.09 [[ 5.76282822e-01 5.72037962e-01 5.83670009e-01 2.05669984e+02] [-3.95029944e-01 8.20189040e-01 -4.13813101e-01 -1.20624468e+02] [-7.15436547e-01 7.90625060e-03 6.98632979e-01 -7.00860966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:-120.64, Z:-70.11 [[ 5.77206393e-01 5.70954508e-01 5.83818234e-01 2.05687858e+02] [-3.93019506e-01 8.20924791e-01 -4.14268217e-01 -1.20637625e+02] [-7.15799168e-01 9.66630944e-03 6.98239296e-01 -7.01088963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:-120.65, Z:-70.13 [[ 5.77457550e-01 5.70666854e-01 5.83851111e-01 2.05706437e+02] [-3.92366059e-01 8.21117374e-01 -4.14505891e-01 -1.20650631e+02] [-7.15955064e-01 1.02761968e-02 6.98070731e-01 -7.01325816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:-120.66, Z:-70.16 [[ 5.77493809e-01 5.70577203e-01 5.83902866e-01 2.05724610e+02] [-3.91837761e-01 8.21172894e-01 -4.14895466e-01 -1.20662991e+02] [-7.16215100e-01 1.08043708e-02 6.97795956e-01 -7.01555734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:-120.68, Z:-70.18 [[ 5.77328354e-01 5.70405842e-01 5.84233813e-01 2.05743194e+02] [-3.91007684e-01 8.21283656e-01 -4.15458960e-01 -1.20676016e+02] [-7.16801899e-01 1.14163272e-02 6.97183408e-01 -7.01793261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:-120.69, Z:-70.20 [[ 5.76487974e-01 5.70622469e-01 5.84851788e-01 2.05762004e+02] [-3.90492546e-01 8.21130870e-01 -4.16244718e-01 -1.20689436e+02] [-7.17758446e-01 1.15798102e-02 6.96195893e-01 -7.02025823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:-120.70, Z:-70.23 [[ 5.75239516e-01 5.71556580e-01 5.85168843e-01 2.05780226e+02] [-3.91221738e-01 8.20491037e-01 -4.16821317e-01 -1.20701753e+02] [-7.18362757e-01 1.08413206e-02 6.95584226e-01 -7.02258692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:-120.71, Z:-70.25 [[ 5.74522959e-01 5.72384329e-01 5.85063714e-01 2.05799047e+02] [-3.92145971e-01 8.19922193e-01 -4.17072098e-01 -1.20714069e+02] [-7.18432257e-01 1.01871180e-02 6.95522333e-01 -7.02496752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:-120.73, Z:-70.27 [[ 5.73768106e-01 5.73462270e-01 5.84748823e-01 2.05817327e+02] [-3.93553429e-01 8.19179760e-01 -4.17205249e-01 -1.20725911e+02] [-7.18265869e-01 9.24916093e-03 6.95707262e-01 -7.02731652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:-120.74, Z:-70.30 [[ 5.72517658e-01 5.74880988e-01 5.84581373e-01 2.05835965e+02] [-3.95362813e-01 8.18199308e-01 -4.17418422e-01 -1.20737788e+02] [-7.18269989e-01 7.85768092e-03 6.95720116e-01 -7.02971520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:-120.75, Z:-70.32 [[ 5.69520372e-01 5.78219822e-01 5.84216042e-01 2.05855656e+02] [-4.00048881e-01 8.15870887e-01 -4.17511184e-01 -1.20748487e+02] [-7.18058103e-01 4.06615116e-03 6.95971283e-01 -7.03218844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:-120.76, Z:-70.35 [[ 5.67570205e-01 5.80400962e-01 5.83951013e-01 2.05874571e+02] [-4.03004826e-01 8.14329013e-01 -4.17678547e-01 -1.20760607e+02] [-7.17949283e-01 1.72682188e-03 6.96093273e-01 -7.03459552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:-120.77, Z:-70.37 [[ 5.62999246e-01 5.84606924e-01 5.84180275e-01 2.05893929e+02] [-4.08516069e-01 8.11310357e-01 -4.18198669e-01 -1.20771487e+02] [-7.18433345e-01 -3.20149469e-03 6.95588441e-01 -7.03696962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:-120.78, Z:-70.39 [[ 5.60415242e-01 5.86931155e-01 5.84334301e-01 2.05913156e+02] [-4.11382654e-01 8.09616388e-01 -4.18671250e-01 -1.20783397e+02] [-7.18817827e-01 -5.75524567e-03 6.95174660e-01 -7.03940053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:-120.79, Z:-70.42 [[ 5.57596941e-01 5.89259448e-01 5.84687057e-01 2.05931921e+02] [-4.14121543e-01 8.07900831e-01 -4.19284623e-01 -1.20794999e+02] [-7.19436584e-01 -8.33968346e-03 6.94508064e-01 -7.04180712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:-120.81, Z:-70.44 [[ 5.55030551e-01 5.91437873e-01 5.84929337e-01 2.05950425e+02] [-4.16735276e-01 8.06278914e-01 -4.19816653e-01 -1.20806460e+02] [-7.19911660e-01 -1.07496205e-02 6.93982455e-01 -7.04417258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:-120.82, Z:-70.47 [[ 5.50154235e-01 5.94745366e-01 5.86181087e-01 2.05969776e+02] [-4.20304591e-01 8.03779145e-01 -4.21050042e-01 -1.20816774e+02] [-7.21577694e-01 -1.47321384e-02 6.92176708e-01 -7.04665995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:-120.83, Z:-70.49 [[ 5.47816662e-01 5.96219628e-01 5.86872270e-01 2.05988901e+02] [-4.21589260e-01 8.02656061e-01 -4.21907269e-01 -1.20828875e+02] [-7.22605979e-01 -1.62912140e-02 6.91068155e-01 -7.04912221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:-120.84, Z:-70.52 [[ 5.46021592e-01 5.97529445e-01 5.87212894e-01 2.06007458e+02] [-4.22888151e-01 8.01653267e-01 -4.22513493e-01 -1.20841288e+02] [-7.23205388e-01 -1.76238848e-02 6.90408116e-01 -7.05152148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:-120.85, Z:-70.54 [[ 5.44224306e-01 5.98755727e-01 5.87632099e-01 2.06025526e+02] [-4.24007701e-01 8.00709713e-01 -4.23180132e-01 -1.20853389e+02] [-7.23904257e-01 -1.88556216e-02 6.89642728e-01 -7.05386570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:-120.86, Z:-70.56 [[ 5.41682508e-01 6.00435830e-01 5.88265989e-01 2.06044257e+02] [-4.25672672e-01 7.99403740e-01 -4.23976929e-01 -1.20864604e+02] [-7.24832971e-01 -2.07478693e-02 6.88612147e-01 -7.05628844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:-120.88, Z:-70.59 [[ 5.40485160e-01 6.01285487e-01 5.88499410e-01 2.06062479e+02] [-4.26380283e-01 7.98745362e-01 -4.24506421e-01 -1.20876599e+02] [-7.25310724e-01 -2.14851239e-02 6.88086290e-01 -7.05874487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:-120.89, Z:-70.61 [[ 5.39823806e-01 6.02160710e-01 5.88211473e-01 2.06080866e+02] [-4.27493795e-01 7.98065833e-01 -4.24664551e-01 -1.20888830e+02] [-7.25147787e-01 -2.22127209e-02 6.88234903e-01 -7.06118774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:-120.90, Z:-70.64 [[ 5.40441651e-01 6.07652498e-01 5.81963283e-01 2.06099376e+02] [-4.29644989e-01 7.94007721e-01 -4.30066184e-01 -1.20896268e+02] [-7.23414131e-01 -1.76119297e-02 6.90189694e-01 -7.06380047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:-120.92, Z:-70.66 [[ 5.39384115e-01 6.00248906e-01 5.90564161e-01 2.06115866e+02] [-4.29886465e-01 7.99342715e-01 -4.19820023e-01 -1.20916026e+02] [-7.24059669e-01 -2.74312873e-02 6.89191643e-01 -7.06584627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-120.93, Z:-70.68 [[ 5.39454759e-01 6.03875713e-01 5.86790155e-01 2.06133945e+02] [-4.30065718e-01 7.96737110e-01 -4.24562664e-01 -1.20925525e+02] [-7.23900574e-01 -2.33259796e-02 6.89509868e-01 -7.06842046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:-120.94, Z:-70.71 [[ 5.39950602e-01 6.03977966e-01 5.86228594e-01 2.06151090e+02] [-4.30245336e-01 7.96668835e-01 -4.24508796e-01 -1.20938211e+02] [-7.23424010e-01 -2.30083388e-02 6.90020520e-01 -7.07079380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:-120.93, Z:-70.75 [[ 5.39146197e-01 6.16878897e-01 5.73394982e-01 2.06165115e+02] [-4.23289945e-01 7.87057700e-01 -4.48738008e-01 -1.20928537e+02] [-7.28111943e-01 -7.76940099e-04 6.85457800e-01 -7.07459328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:-120.98, Z:-70.75 [[ 5.43524451e-01 5.81774784e-01 6.05077906e-01 2.06182817e+02] [-4.28156905e-01 8.12176641e-01 -3.96296313e-01 -1.20983524e+02] [-7.21985343e-01 -4.36715472e-02 6.90528754e-01 -7.07480691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:-120.98, Z:-70.78 [[ 5.44009159e-01 6.01448644e-01 5.85075691e-01 2.06202084e+02] [-4.26345326e-01 7.98698581e-01 -4.24629532e-01 -1.20978994e+02] [-7.22691980e-01 -1.84419312e-02 6.90924161e-01 -7.07806064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:-120.98, Z:-70.81 [[ 5.44825124e-01 6.07492262e-01 5.78030048e-01 2.06216601e+02] [-4.17886867e-01 7.94324496e-01 -4.40929882e-01 -1.20980909e+02] [-7.27004918e-01 -1.32148800e-03 6.86630980e-01 -7.08135127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:-121.01, Z:-70.83 [[ 5.45653267e-01 5.93055243e-01 5.92070934e-01 2.06232718e+02] [-4.18117603e-01 8.04963780e-01 -4.20964348e-01 -1.21012462e+02] [-7.26250771e-01 -1.78547083e-02 6.87197953e-01 -7.08311575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:-121.46, Z:-70.23 [[ 6.17690061e-01 -7.14489188e-01 3.28579045e-01 2.06932094e+02] [-4.11604469e-01 6.22965940e-02 9.09230936e-01 -1.21456480e+02] [-6.70105029e-01 -6.96867515e-01 -2.55606956e-01 -7.02300519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:-121.12, Z:-70.99 [[ 5.97953387e-01 5.68876107e-01 5.64651858e-01 2.06366220e+02] [-4.21905079e-01 8.22362746e-01 -3.81727153e-01 -1.21119290e+02] [-6.81504109e-01 -9.97444276e-03 7.31746308e-01 -7.09862381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-121.13, Z:-71.01 [[ 5.98399519e-01 5.68108415e-01 5.64952073e-01 2.06384477e+02] [-4.20359071e-01 8.22907318e-01 -3.82258809e-01 -1.21133434e+02] [-6.82067641e-01 -8.73924122e-03 7.31236869e-01 -7.10083377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:-121.15, Z:-71.03 [[ 5.98816950e-01 5.67769815e-01 5.64850156e-01 2.06404017e+02] [-4.19688201e-01 8.23148227e-01 -3.82477203e-01 -1.21147061e+02] [-6.82114415e-01 -8.02711358e-03 7.31201402e-01 -7.10313784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:-121.16, Z:-71.05 [[ 5.99013082e-01 5.67612975e-01 5.64799822e-01 2.06423088e+02] [-4.19214874e-01 8.23261369e-01 -3.82752672e-01 -1.21160508e+02] [-6.82233258e-01 -7.49862856e-03 7.31096131e-01 -7.10541776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:-121.17, Z:-71.08 [[ 5.99440678e-01 5.67227814e-01 5.64733106e-01 2.06441715e+02] [-4.18431625e-01 8.23533660e-01 -3.83023871e-01 -1.21174540e+02] [-6.82338515e-01 -6.70210206e-03 7.31005632e-01 -7.10768197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:-121.19, Z:-71.10 [[ 6.00225912e-01 5.66831761e-01 5.64296561e-01 2.06460631e+02] [-4.17864952e-01 8.23812534e-01 -3.83042804e-01 -1.21188976e+02] [-6.81995408e-01 -5.88753942e-03 7.31332757e-01 -7.10992089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:-121.20, Z:-71.12 [[ 6.00784592e-01 5.66719157e-01 5.63814927e-01 2.06479733e+02] [-4.17715983e-01 8.23893373e-01 -3.83031419e-01 -1.21202867e+02] [-6.81594624e-01 -5.39513168e-03 7.31710093e-01 -7.11212082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:-121.22, Z:-71.14 [[ 6.00676066e-01 5.66969978e-01 5.63678372e-01 2.06499956e+02] [-4.17871443e-01 8.23721104e-01 -3.83232306e-01 -1.21216575e+02] [-6.81594983e-01 -5.34662102e-03 7.31710115e-01 -7.11440424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:-121.23, Z:-71.17 [[ 6.01334407e-01 5.66391036e-01 5.63558449e-01 2.06519301e+02] [-4.16953525e-01 8.24124635e-01 -3.83364505e-01 -1.21230209e+02] [-6.81576620e-01 -4.44741458e-03 7.31733238e-01 -7.11663670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:-121.24, Z:-71.19 [[ 6.01899227e-01 5.65921533e-01 5.63427137e-01 2.06538394e+02] [-4.16096683e-01 8.24451438e-01 -3.83592723e-01 -1.21243681e+02] [-6.81601695e-01 -3.55599915e-03 7.31714756e-01 -7.11887274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:-121.26, Z:-71.21 [[ 6.03571683e-01 5.64365845e-01 5.63198381e-01 2.06557033e+02] [-4.13836403e-01 8.25523504e-01 -3.83732168e-01 -1.21257266e+02] [-6.81498830e-01 -1.46212212e-03 7.31817741e-01 -7.12106482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:-121.27, Z:-71.23 [[ 6.04153510e-01 5.63691015e-01 5.63250367e-01 2.06577017e+02] [-4.12699313e-01 8.25985598e-01 -3.83962327e-01 -1.21271066e+02] [-6.81672805e-01 -4.80852293e-04 7.31656993e-01 -7.12335266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.036559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:206.60, Y:-121.28, Z:-71.26 [[ 6.05117318e-01 5.67295324e-01 5.58577699e-01 2.06596423e+02] [-4.09983559e-01 8.23472518e-01 -3.92181711e-01 -1.21279198e+02] [-6.82456235e-01 8.30827225e-03 7.30879238e-01 -7.12615951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-121.70, Z:-70.59 [[ 6.48727523e-01 -6.63271315e-01 3.73127007e-01 2.07245463e+02] [-4.21085742e-01 9.55576178e-02 9.01973137e-01 -1.21700638e+02] [-6.33908036e-01 -7.42253262e-01 -2.17303237e-01 -7.05901834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:-121.38, Z:-71.39 [[ 6.52295542e-01 5.43520631e-01 5.28295229e-01 2.06742539e+02] [-4.16054851e-01 8.39353827e-01 -3.49833552e-01 -1.21382477e+02] [-6.33568376e-01 8.39507382e-03 7.73641155e-01 -7.13895790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:-121.40, Z:-71.40 [[ 6.53934117e-01 5.35544285e-01 5.34380473e-01 2.06762652e+02] [-4.15233632e-01 8.44506836e-01 -3.38214776e-01 -1.21404261e+02] [-6.32416953e-01 -7.22563572e-04 7.74627830e-01 -7.14026460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:-121.41, Z:-71.43 [[ 6.53826276e-01 5.39312963e-01 5.30709647e-01 2.06784798e+02] [-4.15458881e-01 8.42094091e-01 -3.43906179e-01 -1.21414742e+02] [-6.32380518e-01 4.36685987e-03 7.74645603e-01 -7.14257500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:-121.43, Z:-71.45 [[ 6.55987548e-01 5.35986841e-01 5.31411745e-01 2.06806692e+02] [-4.13632259e-01 8.44217742e-01 -3.40888192e-01 -1.21431904e+02] [-6.31338809e-01 3.80936889e-03 7.75497774e-01 -7.14454859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-121.45, Z:-71.47 [[ 6.56393365e-01 5.36189647e-01 5.30705580e-01 2.06828462e+02] [-4.13655776e-01 8.44085957e-01 -3.41185869e-01 -1.21447339e+02] [-6.30901458e-01 4.42271236e-03 7.75850366e-01 -7.14654716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.85, Y:-121.46, Z:-71.49 [[ 6.56765547e-01 5.40485743e-01 5.25865171e-01 2.06849735e+02] [-4.13654439e-01 8.41280486e-01 -3.48047626e-01 -1.21457377e+02] [-6.30514886e-01 1.10592265e-02 7.76098365e-01 -7.14879927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:-121.48, Z:-71.50 [[ 6.58168592e-01 5.34313336e-01 5.30399249e-01 2.06871972e+02] [-4.13637282e-01 8.45280343e-01 -3.38238587e-01 -1.21479108e+02] [-6.29061446e-01 3.22511098e-03 7.77348889e-01 -7.15036745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:-120.83, Z:-71.30 [[ 0.63421074 0.24188276 -0.73434969 207.69734147] [ -0.38544144 -0.72444529 -0.57150147 -120.83212313] [ -0.67023252 0.64550117 -0.36621935 -71.2967746 ] [ 0. 0. 0. 1. ]] SLAMing on 252.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:-121.56, Z:-71.61 [[ 6.42406867e-01 4.91330161e-01 5.88139516e-01 2.06978755e+02] [-3.61484599e-01 8.70972620e-01 -3.32769560e-01 -1.21558837e+02] [-6.75753137e-01 1.17007338e-03 7.37127078e-01 -7.16105806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-121.56, Z:-71.64 [[ 6.42230380e-01 4.98410654e-01 5.82346082e-01 2.06999481e+02] [-3.62371234e-01 8.66896222e-01 -3.42312765e-01 -1.21563905e+02] [-6.75445948e-01 8.81818810e-03 7.37356774e-01 -7.16352679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-121.59, Z:-71.65 [[ 6.43414821e-01 4.90111146e-01 5.88054787e-01 2.07025184e+02] [-3.67383986e-01 8.71629686e-01 -3.24485281e-01 -1.21591005e+02] [-6.71599862e-01 -7.26327235e-03 7.40878445e-01 -7.16491635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:-120.91, Z:-71.44 [[ 0.61907155 0.27449889 -0.73579941 207.84716436] [ -0.33179916 -0.7577752 -0.56185948 -120.91109796] [ -0.71180035 0.59196884 -0.37803856 -71.43770526] [ 0. 0. 0. 1. ]] SLAMing on 252.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.13, Y:-121.65, Z:-71.77 [[ 6.22688906e-01 4.57599276e-01 6.34713659e-01 2.07127269e+02] [-3.14604069e-01 8.89128701e-01 -3.32376945e-01 -1.21647903e+02] [-7.16437580e-01 7.28393669e-03 6.97613172e-01 -7.17717013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.15, Y:-121.67, Z:-71.79 [[ 6.24039905e-01 4.48670171e-01 6.39741569e-01 2.07152444e+02] [-3.18614742e-01 8.93672631e-01 -3.15964990e-01 -1.21672158e+02] [-7.13483597e-01 -6.65633231e-03 7.00640315e-01 -7.17874704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:-121.65, Z:-71.82 [[ 6.21737558e-01 4.75873405e-01 6.22082720e-01 2.07167843e+02] [-3.17791264e-01 8.79213096e-01 -3.54954989e-01 -1.21652632e+02] [-7.15856914e-01 2.29963947e-02 6.97868214e-01 -7.18236110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:-121.70, Z:-71.83 [[ 6.23987851e-01 4.47473765e-01 6.40629683e-01 2.07196641e+02] [-3.26524342e-01 8.94117199e-01 -3.06490275e-01 -1.21698742e+02] [-7.09944375e-01 -1.79349774e-02 7.04029347e-01 -7.18283717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.21, Y:-121.66, Z:-71.87 [[ 6.20114582e-01 4.87118760e-01 6.14957901e-01 2.07209260e+02] [-3.23344946e-01 8.72895282e-01 -3.65379080e-01 -1.21663525e+02] [-7.14776855e-01 2.77333662e-02 6.98802482e-01 -7.18724567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:-121.69, Z:-71.89 [[ 6.19716697e-01 4.64940207e-01 6.32283022e-01 2.07230058e+02] [-3.25546500e-01 8.85342074e-01 -3.31947117e-01 -1.21694311e+02] [-7.14122323e-01 -1.24354141e-04 7.00020923e-01 -7.18865132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-121.70, Z:-71.91 [[ 6.19030760e-01 4.67503345e-01 6.31063817e-01 2.07251037e+02] [-3.29529129e-01 8.83987282e-01 -3.31627861e-01 -1.21702161e+02] [-7.12889522e-01 -2.66606329e-03 7.01271289e-01 -7.19093160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:-121.71, Z:-71.93 [[ 6.18615648e-01 4.68879167e-01 6.30449845e-01 2.07272057e+02] [-3.31513910e-01 8.83253853e-01 -3.31603918e-01 -1.21711902e+02] [-7.12329424e-01 -3.86752016e-03 7.01834621e-01 -7.19333729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:-121.72, Z:-71.96 [[ 6.18424512e-01 4.70617838e-01 6.29340904e-01 2.07293273e+02] [-3.34257787e-01 8.82320280e-01 -3.31334659e-01 -1.21721006e+02] [-7.11212243e-01 -5.45662290e-03 7.02956166e-01 -7.19564305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:-121.73, Z:-71.98 [[ 6.18298105e-01 4.71289264e-01 6.28962545e-01 2.07313500e+02] [-3.35082267e-01 8.81959553e-01 -3.31462247e-01 -1.21731115e+02] [-7.10934123e-01 -5.81171638e-03 7.03234595e-01 -7.19792646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-121.74, Z:-72.00 [[ 6.18238730e-01 4.71706192e-01 6.28708311e-01 2.07333410e+02] [-3.35501898e-01 8.81736016e-01 -3.31632439e-01 -1.21741454e+02] [-7.10787837e-01 -5.90481369e-03 7.03381678e-01 -7.20018343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:-121.75, Z:-72.03 [[ 6.18469027e-01 4.71798538e-01 6.28412447e-01 2.07354155e+02] [-3.35483516e-01 8.81688418e-01 -3.31777552e-01 -1.21752153e+02] [-7.10596140e-01 -5.62787730e-03 7.03577610e-01 -7.20252996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:-121.80, Z:-72.03 [[ 6.22352123e-01 4.47339126e-01 6.42312651e-01 2.07385367e+02] [-3.41584201e-01 8.93553213e-01 -2.91346684e-01 -1.21799329e+02] [-7.04271304e-01 -3.80836264e-02 7.08908716e-01 -7.20309289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:-121.74, Z:-72.09 [[ 6.18865787e-01 5.07979218e-01 5.99134586e-01 2.07395420e+02] [-3.34776412e-01 8.60575567e-01 -3.83841697e-01 -1.21740622e+02] [-7.10584191e-01 3.69703667e-02 7.02640235e-01 -7.20857317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:-121.82, Z:-72.08 [[ 6.23282601e-01 4.50213642e-01 6.39395399e-01 2.07423688e+02] [-3.39028479e-01 8.92378329e-01 -2.97860050e-01 -1.21816045e+02] [-7.04683255e-01 -3.11222625e-02 7.08839132e-01 -7.20790699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.44, Y:-121.80, Z:-72.12 [[ 6.22989923e-01 4.81963738e-01 6.16112418e-01 2.07443379e+02] [-3.38494660e-01 8.76175642e-01 -3.43129143e-01 -1.21799010e+02] [-7.05198498e-01 5.21523569e-03 7.08990747e-01 -7.21161618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:-121.81, Z:-72.14 [[ 6.22949866e-01 4.77980781e-01 6.19247800e-01 2.07462703e+02] [-3.36148003e-01 8.78363174e-01 -3.39827389e-01 -1.21811032e+02] [-7.06355424e-01 3.53651479e-03 7.07848507e-01 -7.21386973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:-121.78, Z:-72.18 [[ 6.20747450e-01 5.03050572e-01 6.01342436e-01 2.07473289e+02] [-3.29479678e-01 8.63372880e-01 -3.82139256e-01 -1.21783662e+02] [-7.11418122e-01 3.90818564e-02 7.01681455e-01 -7.21767401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99655999499998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.50, Y:-121.85, Z:-72.18 [[ 6.23063513e-01 4.51642006e-01 6.38601094e-01 2.07499254e+02] [-3.33386711e-01 8.91914402e-01 -3.05519230e-01 -1.21850101e+02] [-7.07562831e-01 -2.25432337e-02 7.06290764e-01 -7.21753054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:-121.81, Z:-72.22 [[ 6.21209024e-01 4.93218137e-01 6.08962411e-01 2.07512150e+02] [-3.29747648e-01 8.69464718e-01 -3.67828210e-01 -1.21813242e+02] [-7.10890876e-01 2.76942805e-02 7.02756850e-01 -7.22187921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:-121.85, Z:-72.23 [[ 6.21960991e-01 4.67342916e-01 6.28295412e-01 2.07531627e+02] [-3.29399872e-01 8.84075794e-01 -3.31520309e-01 -1.21846340e+02] [-7.10394433e-01 -7.67728283e-04 7.03803353e-01 -7.22317510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-121.86, Z:-72.26 [[ 6.21899081e-01 4.67534664e-01 6.28214033e-01 2.07551682e+02] [-3.29516126e-01 8.83974430e-01 -3.31675036e-01 -1.21857114e+02] [-7.10394718e-01 -7.38254791e-04 7.03803097e-01 -7.22556249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:-121.87, Z:-72.28 [[ 6.22084623e-01 4.67912305e-01 6.27748992e-01 2.07571739e+02] [-3.29983897e-01 8.83774561e-01 -3.31742602e-01 -1.21868018e+02] [-7.10015035e-01 -7.75087214e-04 7.04186090e-01 -7.22792448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:-121.88, Z:-72.30 [[ 6.22083696e-01 4.68386907e-01 6.27395872e-01 2.07591259e+02] [-3.30528723e-01 8.83522980e-01 -3.31870316e-01 -1.21878683e+02] [-7.09762382e-01 -9.21243226e-04 7.04440567e-01 -7.23019971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:-121.89, Z:-72.32 [[ 6.21849178e-01 4.69272521e-01 6.26966428e-01 2.07611228e+02] [-3.31720227e-01 8.83052012e-01 -3.31934987e-01 -1.21889390e+02] [-7.09411934e-01 -1.56394694e-03 7.04792354e-01 -7.23249426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:-121.91, Z:-72.34 [[ 6.22862357e-01 4.65124670e-01 6.29048111e-01 2.07635056e+02] [-3.34486440e-01 8.85199242e-01 -3.23328199e-01 -1.21909484e+02] [-7.07220832e-01 -9.01909907e-03 7.06935181e-01 -7.23442041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:-121.90, Z:-72.37 [[ 6.21448417e-01 4.79694089e-01 6.19431550e-01 2.07651128e+02] [-3.33131758e-01 8.77397461e-01 -3.45249079e-01 -1.21901789e+02] [-7.09101612e-01 8.20217279e-03 7.05058599e-01 -7.23748628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:-121.92, Z:-72.39 [[ 6.21133305e-01 4.71250175e-01 6.26192215e-01 2.07671791e+02] [-3.34320024e-01 8.81994327e-01 -3.32138718e-01 -1.21920589e+02] [-7.08818411e-01 -3.04617727e-03 7.05384421e-01 -7.23946991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:-121.93, Z:-72.42 [[ 6.20361335e-01 4.72047919e-01 6.26356589e-01 2.07691407e+02] [-3.35038185e-01 8.81565741e-01 -3.32552640e-01 -1.21930689e+02] [-7.09155292e-01 -3.55057456e-03 7.05043378e-01 -7.24175405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:-121.94, Z:-72.44 [[ 6.19776712e-01 4.72791837e-01 6.26374254e-01 2.07711755e+02] [-3.35780834e-01 8.81164968e-01 -3.32865634e-01 -1.21941135e+02] [-7.09315204e-01 -4.02210110e-03 7.04879964e-01 -7.24414507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:-121.96, Z:-72.46 [[ 6.20188025e-01 4.70890707e-01 6.27398403e-01 2.07734836e+02] [-3.38336393e-01 8.82144904e-01 -3.27641348e-01 -1.21958510e+02] [-7.07739571e-01 -9.07247186e-03 7.06415169e-01 -7.24625975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:-121.95, Z:-72.49 [[ 6.18737200e-01 4.81884264e-01 6.20444867e-01 2.07751737e+02] [-3.37268260e-01 8.76226998e-01 -3.44203965e-01 -1.21954509e+02] [-7.09517018e-01 3.71543698e-03 7.04678506e-01 -7.24897642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:-121.98, Z:-72.51 [[ 6.19060873e-01 4.72610113e-01 6.27218715e-01 2.07774307e+02] [-3.38793525e-01 8.81231195e-01 -3.29621797e-01 -1.21977763e+02] [-7.08507292e-01 -8.44168172e-03 7.05652999e-01 -7.25090139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:-121.98, Z:-72.53 [[ 6.19050943e-01 4.79267749e-01 6.22156214e-01 2.07794216e+02] [-3.38962022e-01 8.77668009e-01 -3.38826820e-01 -1.21982646e+02] [-7.08435373e-01 -1.13626549e-03 7.05774774e-01 -7.25339133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:-121.99, Z:-72.56 [[ 6.18650801e-01 4.80095545e-01 6.21915954e-01 2.07813720e+02] [-3.38203762e-01 8.77216077e-01 -3.40749423e-01 -1.21991872e+02] [-7.09146953e-01 4.70588351e-04 7.05060549e-01 -7.25573161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:-122.00, Z:-72.58 [[ 6.18659138e-01 4.79721433e-01 6.22196285e-01 2.07834166e+02] [-3.38168737e-01 8.77420844e-01 -3.40256620e-01 -1.22003467e+02] [-7.09156383e-01 9.55348796e-05 7.05051215e-01 -7.25806644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:-122.01, Z:-72.60 [[ 6.19015279e-01 4.79897889e-01 6.21705799e-01 2.07854320e+02] [-3.38044574e-01 8.77324079e-01 -3.40629310e-01 -1.22013264e+02] [-7.08904754e-01 6.90475582e-04 7.05303887e-01 -7.26035241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-122.02, Z:-72.63 [[ 6.19298341e-01 4.80040326e-01 6.21313810e-01 2.07874335e+02] [-3.38362339e-01 8.77246181e-01 -3.40514413e-01 -1.22023285e+02] [-7.08505817e-01 6.50817284e-04 7.05704672e-01 -7.26268475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:-122.03, Z:-72.65 [[ 6.18824112e-01 4.82950480e-01 6.19528492e-01 2.07891871e+02] [-3.37791304e-01 8.75636903e-01 -3.45191322e-01 -1.22025578e+02] [-7.09192325e-01 4.34137646e-03 7.05001701e-01 -7.26516877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:-122.04, Z:-72.67 [[ 6.18588272e-01 4.75779711e-01 6.25285708e-01 2.07912204e+02] [-3.38377913e-01 8.79552095e-01 -3.34497383e-01 -1.22042687e+02] [-7.09118423e-01 -4.66671491e-03 7.05073957e-01 -7.26727871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:-122.05, Z:-72.70 [[ 6.18598266e-01 4.76279737e-01 6.24895030e-01 2.07932749e+02] [-3.38977010e-01 8.79280499e-01 -3.34604829e-01 -1.22053075e+02] [-7.08823513e-01 -4.83908171e-03 7.05369272e-01 -7.26965373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:-122.06, Z:-72.72 [[ 6.18297356e-01 4.76933736e-01 6.24693997e-01 2.07952886e+02] [-3.39694939e-01 8.78923924e-01 -3.34813507e-01 -1.22063708e+02] [-7.08742356e-01 -5.19108294e-03 7.05448315e-01 -7.27195217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:-122.07, Z:-72.74 [[ 6.18021096e-01 4.77482305e-01 6.24548295e-01 2.07972784e+02] [-3.40256582e-01 8.78624452e-01 -3.35029148e-01 -1.22074181e+02] [-7.08713894e-01 -5.45158691e-03 7.05474944e-01 -7.27429817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:-122.08, Z:-72.77 [[ 6.17662938e-01 4.77906366e-01 6.24578258e-01 2.07992933e+02] [-3.40529579e-01 8.78393256e-01 -3.35357860e-01 -1.22084676e+02] [-7.08894986e-01 -5.54925080e-03 7.05292213e-01 -7.27669625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:-122.10, Z:-72.79 [[ 6.17656442e-01 4.78236590e-01 6.24331870e-01 2.08012781e+02] [-3.40816578e-01 8.78213593e-01 -3.35536802e-01 -1.22095235e+02] [-7.08762711e-01 -5.53618391e-03 7.05425241e-01 -7.27902694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:-122.11, Z:-72.81 [[ 6.17685751e-01 4.78450493e-01 6.24138958e-01 2.08032727e+02] [-3.40932329e-01 8.78097812e-01 -3.35722176e-01 -1.22106255e+02] [-7.08681494e-01 -5.41834437e-03 7.05507747e-01 -7.28139344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:-122.15, Z:-72.82 [[ 6.22121199e-01 4.53930214e-01 6.37896994e-01 2.08062427e+02] [-3.47016447e-01 8.90235212e-01 -2.95060762e-01 -1.22151503e+02] [-7.01815360e-01 -3.77971933e-02 7.11355447e-01 -7.28209861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:-122.13, Z:-72.86 [[ 6.20205874e-01 4.94397840e-01 6.09028283e-01 2.08079656e+02] [-3.46503289e-01 8.69201279e-01 -3.52738724e-01 -1.22126056e+02] [-7.03761426e-01 7.74032574e-03 7.10394217e-01 -7.28611793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-122.10, Z:-72.90 [[ 6.15689122e-01 5.13450378e-01 5.97742097e-01 2.08088661e+02] [-3.37468862e-01 8.57292516e-01 -3.88798547e-01 -1.22102634e+02] [-7.12068587e-01 3.76596908e-02 7.01099191e-01 -7.28986837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:-122.15, Z:-72.91 [[ 6.16165501e-01 4.75894964e-01 6.27585898e-01 2.08107535e+02] [-3.36441890e-01 8.79494139e-01 -3.36596069e-01 -1.22146527e+02] [-7.12142493e-01 -3.74730009e-03 7.02024948e-01 -7.29079170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.956559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:-122.16, Z:-72.93 [[ 6.16089512e-01 4.75642262e-01 6.27852014e-01 2.08126282e+02] [-3.35633822e-01 8.79633411e-01 -3.37038574e-01 -1.22156633e+02] [-7.12589398e-01 -3.08244102e-03 7.01574549e-01 -7.29318109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.15, Y:-122.20, Z:-72.94 [[ 6.19326371e-01 4.57650506e-01 6.37958353e-01 2.08153713e+02] [-3.41000317e-01 8.88699614e-01 -3.06482920e-01 -1.22195111e+02] [-7.07215405e-01 -2.77310459e-02 7.06454075e-01 -7.29440700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.016559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.17, Y:-122.17, Z:-72.98 [[ 6.18163826e-01 4.92137125e-01 6.12922944e-01 2.08171625e+02] [-3.40299783e-01 8.70444300e-01 -3.55700406e-01 -1.22174499e+02] [-7.08568657e-01 1.13035788e-02 7.05551335e-01 -7.29824827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-122.16, Z:-73.01 [[ 6.16177869e-01 5.02474261e-01 6.06501815e-01 2.08184273e+02] [-3.34505814e-01 8.64111068e-01 -3.76055743e-01 -1.22163460e+02] [-7.13043263e-01 2.88388435e-02 7.00526678e-01 -7.30126093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:-122.20, Z:-73.03 [[ 6.16914098e-01 4.74760108e-01 6.27709994e-01 2.08203197e+02] [-3.33656046e-01 8.80114581e-01 -3.37745419e-01 -1.22198474e+02] [-7.12804769e-01 -1.07932415e-03 7.01361673e-01 -7.30257069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:-122.21, Z:-73.05 [[ 6.18124027e-01 4.73781373e-01 6.27259036e-01 2.08221675e+02] [-3.32178954e-01 8.80642381e-01 -3.37825605e-01 -1.22209265e+02] [-7.12446370e-01 4.55872986e-04 7.01726416e-01 -7.30491141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:-122.22, Z:-73.07 [[ 6.18399864e-01 4.73262599e-01 6.27378770e-01 2.08241554e+02] [-3.31069174e-01 8.80920237e-01 -3.38190387e-01 -1.22220533e+02] [-7.12723516e-01 1.43111877e-03 7.01443612e-01 -7.30733651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:-122.23, Z:-73.10 [[ 6.18788855e-01 4.72980430e-01 6.27207993e-01 2.08261066e+02] [-3.30436929e-01 8.81070294e-01 -3.38417749e-01 -1.22231849e+02] [-7.12679303e-01 2.15644873e-03 7.01486679e-01 -7.30963790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:-122.24, Z:-73.12 [[ 6.18853188e-01 4.72552289e-01 6.27467183e-01 2.08280430e+02] [-3.29381716e-01 8.81297443e-01 -3.38854691e-01 -1.22243391e+02] [-7.13111784e-01 3.02508796e-03 7.01043816e-01 -7.31198878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:-122.25, Z:-73.14 [[ 6.18697591e-01 4.72529087e-01 6.27638075e-01 2.08300622e+02] [-3.28920927e-01 8.81308265e-01 -3.39273879e-01 -1.22254033e+02] [-7.13459399e-01 3.46463402e-03 7.00688006e-01 -7.31440127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:-122.26, Z:-73.17 [[ 6.18599481e-01 4.72741045e-01 6.27575164e-01 2.08320830e+02] [-3.28923066e-01 8.81193909e-01 -3.39568714e-01 -1.22264811e+02] [-7.13543481e-01 3.63308331e-03 7.00601528e-01 -7.31681162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:-122.28, Z:-73.19 [[ 6.17876177e-01 4.73353292e-01 6.27826163e-01 2.08341032e+02] [-3.29321339e-01 8.80866333e-01 -3.40032292e-01 -1.22275688e+02] [-7.13986334e-01 3.34129990e-03 7.00151662e-01 -7.31920675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:-122.29, Z:-73.22 [[ 6.17220681e-01 4.73994422e-01 6.27987197e-01 2.08360908e+02] [-3.29809312e-01 8.80522680e-01 -3.40449155e-01 -1.22286258e+02] [-7.14327970e-01 3.01623426e-03 6.99804582e-01 -7.32157183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:-122.30, Z:-73.24 [[ 6.16503762e-01 4.74949788e-01 6.27969593e-01 2.08381169e+02] [-3.30846139e-01 8.80009828e-01 -3.40769035e-01 -1.22297260e+02] [-7.14467595e-01 2.32407693e-03 6.99664673e-01 -7.32394496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:-122.31, Z:-73.26 [[ 6.16428633e-01 4.75229977e-01 6.27831355e-01 2.08401450e+02] [-3.30986795e-01 8.79858311e-01 -3.41023598e-01 -1.22308211e+02] [-7.14467272e-01 2.41282242e-03 6.99664702e-01 -7.32636966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:-122.32, Z:-73.29 [[ 6.15729358e-01 4.76150411e-01 6.27820153e-01 2.08421532e+02] [-3.32121338e-01 8.79362444e-01 -3.41199513e-01 -1.22318773e+02] [-7.14543753e-01 1.57408780e-03 6.99588985e-01 -7.32876772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:-122.33, Z:-73.31 [[ 6.14328708e-01 4.77874424e-01 6.27882372e-01 2.08441760e+02] [-3.34217721e-01 8.78428161e-01 -3.41558898e-01 -1.22328041e+02] [-7.14771819e-01 -1.99793788e-05 6.99357738e-01 -7.33115894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:-122.34, Z:-73.34 [[ 6.13692155e-01 4.78979823e-01 6.27662544e-01 2.08461938e+02] [-3.35587469e-01 8.77825452e-01 -3.41765308e-01 -1.22337966e+02] [-7.14676843e-01 -8.96996117e-04 6.99454220e-01 -7.33352739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:-122.35, Z:-73.36 [[ 6.12618604e-01 4.80092021e-01 6.27861527e-01 2.08482133e+02] [-3.36734352e-01 8.77216318e-01 -3.42200975e-01 -1.22347742e+02] [-7.15058335e-01 -1.78386080e-03 6.99062512e-01 -7.33594520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:-122.36, Z:-73.38 [[ 6.11714924e-01 4.81083602e-01 6.27983614e-01 2.08501493e+02] [-3.37750548e-01 8.76671070e-01 -3.42596558e-01 -1.22357220e+02] [-7.15352653e-01 -2.53038225e-03 6.98759028e-01 -7.33824636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:-122.37, Z:-73.41 [[ 6.10123962e-01 4.82384860e-01 6.28532893e-01 2.08521846e+02] [-3.38999760e-01 8.75951671e-01 -3.43202321e-01 -1.22367071e+02] [-7.16120041e-01 -3.67653996e-03 6.97967456e-01 -7.34059314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:-122.38, Z:-73.43 [[ 6.09460140e-01 4.83050721e-01 6.28665523e-01 2.08541896e+02] [-3.39547969e-01 8.75583000e-01 -3.43600911e-01 -1.22377544e+02] [-7.16425512e-01 -4.05104226e-03 6.97651829e-01 -7.34293677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:-122.39, Z:-73.45 [[ 6.09142915e-01 4.83365795e-01 6.28730799e-01 2.08561320e+02] [-3.39623836e-01 8.75409310e-01 -3.43968300e-01 -1.22387503e+02] [-7.16659305e-01 -4.00611282e-03 6.97411924e-01 -7.34521943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:-122.40, Z:-73.48 [[ 6.08332744e-01 4.83562167e-01 6.29363888e-01 2.08581505e+02] [-3.39236717e-01 8.75301520e-01 -3.44623995e-01 -1.22396437e+02] [-7.17530294e-01 -3.85727877e-03 6.96516618e-01 -7.34765515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:-122.41, Z:-73.50 [[ 6.07955703e-01 4.83790887e-01 6.29552413e-01 2.08601917e+02] [-3.39118065e-01 8.75175755e-01 -3.45059901e-01 -1.22406597e+02] [-7.17905844e-01 -3.71146174e-03 6.96130321e-01 -7.35007651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:-122.42, Z:-73.52 [[ 6.07659509e-01 4.83951071e-01 6.29715239e-01 2.08621163e+02] [-3.38914111e-01 8.75088124e-01 -3.45482274e-01 -1.22415818e+02] [-7.18252843e-01 -3.48379138e-03 6.95773467e-01 -7.35242073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:-122.43, Z:-73.55 [[ 6.07574260e-01 4.84291371e-01 6.29535850e-01 2.08641261e+02] [-3.39292240e-01 8.74899266e-01 -3.45589425e-01 -1.22425966e+02] [-7.18146429e-01 -3.62538951e-03 6.95882578e-01 -7.35479781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:-122.44, Z:-73.57 [[ 6.07496922e-01 4.84392390e-01 6.29532765e-01 2.08660590e+02] [-3.39102400e-01 8.74844498e-01 -3.45914247e-01 -1.22436175e+02] [-7.18301505e-01 -3.33423132e-03 6.95723962e-01 -7.35708875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:-122.45, Z:-73.59 [[ 6.07601682e-01 4.84792391e-01 6.29123624e-01 2.08680559e+02] [-3.39594247e-01 8.74622567e-01 -3.45992937e-01 -1.22446699e+02] [-7.17980462e-01 -3.42087246e-03 6.96054850e-01 -7.35945384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:-122.46, Z:-73.62 [[ 6.07346677e-01 4.84995996e-01 6.29212919e-01 2.08700388e+02] [-3.39500284e-01 8.74510324e-01 -3.46368661e-01 -1.22456669e+02] [-7.18240608e-01 -3.25210948e-03 6.95787219e-01 -7.36188323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:-122.47, Z:-73.64 [[ 6.07948459e-01 4.85108774e-01 6.28544468e-01 2.08720878e+02] [-3.39701111e-01 8.74448779e-01 -3.46327141e-01 -1.22466569e+02] [-7.17636277e-01 -2.96820177e-03 6.96411777e-01 -7.36427477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:-122.48, Z:-73.67 [[ 6.07889340e-01 4.85408591e-01 6.28370154e-01 2.08741225e+02] [-3.39893395e-01 8.74282582e-01 -3.46558000e-01 -1.22476946e+02] [-7.17595311e-01 -2.90995092e-03 6.96454235e-01 -7.36665763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:-122.49, Z:-73.69 [[ 6.07639543e-01 4.85708859e-01 6.28379734e-01 2.08760691e+02] [-3.39980871e-01 8.74115995e-01 -3.46892253e-01 -1.22486841e+02] [-7.17765417e-01 -2.85163916e-03 6.96279164e-01 -7.36894190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:-122.50, Z:-73.71 [[ 6.07116818e-01 4.86042919e-01 6.28626638e-01 2.08780595e+02] [-3.40006568e-01 8.73930247e-01 -3.47334792e-01 -1.22496982e+02] [-7.18195449e-01 -2.86439271e-03 6.95835535e-01 -7.37131339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:-122.51, Z:-73.74 [[ 6.06940376e-01 4.86368287e-01 6.28545360e-01 2.08801410e+02] [-3.40179452e-01 8.73749313e-01 -3.47620596e-01 -1.22507525e+02] [-7.18262710e-01 -2.83324122e-03 6.95766234e-01 -7.37367771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:-122.52, Z:-73.76 [[ 6.06717881e-01 4.86793980e-01 6.28430612e-01 2.08821592e+02] [-3.40513132e-01 8.73511940e-01 -3.47890353e-01 -1.22518549e+02] [-7.18292572e-01 -2.91757804e-03 6.95735056e-01 -7.37603601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:-122.53, Z:-73.78 [[ 6.06872386e-01 4.87071672e-01 6.28066153e-01 2.08841211e+02] [-3.40768426e-01 8.73357461e-01 -3.48028197e-01 -1.22528728e+02] [-7.18040937e-01 -2.81641194e-03 6.95995173e-01 -7.37834424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:-122.54, Z:-73.81 [[ 6.07138303e-01 4.87616813e-01 6.27385787e-01 2.08861022e+02] [-3.41611753e-01 8.73052398e-01 -3.47966837e-01 -1.22538988e+02] [-7.17415146e-01 -3.05836358e-03 6.96639186e-01 -7.38065506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:-122.55, Z:-73.83 [[ 6.07077128e-01 4.88117906e-01 6.27055237e-01 2.08881397e+02] [-3.42199431e-01 8.72771616e-01 -3.48093746e-01 -1.22549791e+02] [-7.17186803e-01 -3.25819381e-03 6.96873356e-01 -7.38305467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:-122.56, Z:-73.85 [[ 6.06846775e-01 4.88729779e-01 6.26801560e-01 2.08901395e+02] [-3.42877220e-01 8.72427958e-01 -3.48288201e-01 -1.22559981e+02] [-7.17058020e-01 -3.55840525e-03 6.97004400e-01 -7.38540316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:-122.57, Z:-73.88 [[ 6.07009245e-01 4.88670897e-01 6.26690140e-01 2.08921749e+02] [-3.43826400e-01 8.72455701e-01 -3.47281523e-01 -1.22571330e+02] [-7.16465758e-01 -4.66952013e-03 6.97606632e-01 -7.38773035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:-122.58, Z:-73.90 [[ 6.05970077e-01 4.92437585e-01 6.24744341e-01 2.08941684e+02] [-3.44600496e-01 8.70345183e-01 -3.51780842e-01 -1.22577868e+02] [-7.16973336e-01 -2.11854585e-03 6.97097373e-01 -7.39007668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:-122.59, Z:-73.92 [[ 6.05653399e-01 4.90906473e-01 6.26254577e-01 2.08961363e+02] [-3.45506830e-01 8.71197108e-01 -3.48770167e-01 -1.22589275e+02] [-7.16804709e-01 -5.14139702e-03 6.97255029e-01 -7.39227002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:-122.60, Z:-73.95 [[ 6.05592443e-01 4.91150394e-01 6.26122259e-01 2.08981530e+02] [-3.45612206e-01 8.71060215e-01 -3.49007601e-01 -1.22600473e+02] [-7.16805410e-01 -5.03912935e-03 6.97255054e-01 -7.39469479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27655999499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:-122.61, Z:-73.97 [[ 6.05536411e-01 4.91368368e-01 6.26005417e-01 2.09001982e+02] [-3.45847336e-01 8.70936801e-01 -3.49082667e-01 -1.22611252e+02] [-7.16739336e-01 -5.12004014e-03 6.97322386e-01 -7.39710775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:-122.62, Z:-73.99 [[ 6.05972755e-01 4.91219652e-01 6.25699827e-01 2.09022342e+02] [-3.45459557e-01 8.71024016e-01 -3.49248993e-01 -1.22621905e+02] [-7.16557545e-01 -4.51861072e-03 6.97513346e-01 -7.39936725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:-122.63, Z:-74.02 [[ 6.06015789e-01 4.91221249e-01 6.25656893e-01 2.09041956e+02] [-3.45164914e-01 8.71025046e-01 -3.49537624e-01 -1.22632461e+02] [-7.16663133e-01 -4.12948834e-03 6.97407271e-01 -7.40169407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:-122.64, Z:-74.04 [[ 6.06701285e-01 4.90816431e-01 6.25310148e-01 2.09062705e+02] [-3.44464330e-01 8.71256897e-01 -3.49650889e-01 -1.22643345e+02] [-7.16420181e-01 -3.26339735e-03 6.97661432e-01 -7.40407762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:-122.65, Z:-74.06 [[ 6.07358464e-01 4.90589749e-01 6.24849898e-01 2.09083017e+02] [-3.44059031e-01 8.71386861e-01 -3.49726066e-01 -1.22654604e+02] [-7.16058014e-01 -2.57616450e-03 6.98036019e-01 -7.40644697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:-122.67, Z:-74.09 [[ 6.07919585e-01 4.90397924e-01 6.24454686e-01 2.09102712e+02] [-3.43662970e-01 8.71496510e-01 -3.49842245e-01 -1.22665619e+02] [-7.15771990e-01 -1.92600014e-03 6.98331404e-01 -7.40876140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.456559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:-122.68, Z:-74.11 [[ 6.08476152e-01 4.89941105e-01 6.24271163e-01 2.09122802e+02] [-3.42792266e-01 8.71754965e-01 -3.50052485e-01 -1.22676795e+02] [-7.15716588e-01 -9.96737629e-04 6.98390129e-01 -7.41115216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:-122.69, Z:-74.13 [[ 6.09121459e-01 4.89559105e-01 6.23941448e-01 2.09142545e+02] [-3.42100293e-01 8.71970104e-01 -3.50193555e-01 -1.22688061e+02] [-7.15498733e-01 -1.40142824e-04 6.98614016e-01 -7.41347660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:-122.70, Z:-74.16 [[ 6.10764066e-01 4.88195232e-01 6.23404099e-01 2.09162662e+02] [-3.40127275e-01 8.72732459e-01 -3.50216350e-01 -1.22699637e+02] [-7.15038945e-01 1.86282484e-03 6.99082139e-01 -7.41574688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:-122.71, Z:-74.18 [[ 6.11267702e-01 4.87804975e-01 6.23215937e-01 2.09182628e+02] [-3.39343587e-01 8.72948377e-01 -3.50438385e-01 -1.22711011e+02] [-7.14980928e-01 2.72733466e-03 6.99138638e-01 -7.41810149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:-122.72, Z:-74.20 [[ 6.11754381e-01 4.87508705e-01 6.22970176e-01 2.09202773e+02] [-3.38726323e-01 8.73111179e-01 -3.50629928e-01 -1.22722426e+02] [-7.14857367e-01 3.48299713e-03 6.99261620e-01 -7.42048557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:-122.73, Z:-74.23 [[ 6.12388352e-01 4.87202685e-01 6.22586580e-01 2.09222867e+02] [-3.38177096e-01 8.73278599e-01 -3.50743127e-01 -1.22733384e+02] [-7.14574529e-01 4.24648368e-03 6.99546431e-01 -7.42285390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:-122.74, Z:-74.25 [[ 6.12443136e-01 4.87260760e-01 6.22487234e-01 2.09242561e+02] [-3.37982899e-01 8.73244475e-01 -3.51015166e-01 -1.22744429e+02] [-7.14619454e-01 4.58678907e-03 6.99498390e-01 -7.42518273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:-122.76, Z:-74.28 [[ 6.12542666e-01 4.87593535e-01 6.22128625e-01 2.09262915e+02] [-3.38330570e-01 8.73058613e-01 -3.51142540e-01 -1.22755779e+02] [-7.14369587e-01 4.60465527e-03 6.99753449e-01 -7.42752628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:-122.77, Z:-74.30 [[ 6.12296147e-01 4.88280600e-01 6.21832360e-01 2.09282163e+02] [-3.39139161e-01 8.72676487e-01 -3.51312365e-01 -1.22766415e+02] [-7.14197492e-01 4.21950263e-03 6.99931524e-01 -7.42981662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:-122.78, Z:-74.32 [[ 6.11684317e-01 4.89638568e-01 6.21366533e-01 2.09301470e+02] [-3.41027129e-01 8.71920267e-01 -3.51362412e-01 -1.22776869e+02] [-7.13822662e-01 3.02003219e-03 7.00319989e-01 -7.43210014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:-122.79, Z:-74.35 [[ 6.11589376e-01 4.89926757e-01 6.21232813e-01 2.09321557e+02] [-3.41197871e-01 8.71758191e-01 -3.51598733e-01 -1.22788181e+02] [-7.13822420e-01 3.07073657e-03 7.00320015e-01 -7.43452346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:-122.80, Z:-74.37 [[ 6.10236314e-01 4.91967057e-01 6.20950928e-01 2.09341183e+02] [-3.44038949e-01 8.70613276e-01 -3.51667066e-01 -1.22798707e+02] [-7.13616734e-01 9.68709646e-04 7.00535666e-01 -7.43687901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:-122.81, Z:-74.39 [[ 6.09226148e-01 4.93472243e-01 6.20748456e-01 2.09361278e+02] [-3.46096875e-01 8.69761377e-01 -3.51755738e-01 -1.22809638e+02] [-7.13484726e-01 -5.40307505e-04 7.00670575e-01 -7.43926169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:-122.82, Z:-74.42 [[ 6.08238742e-01 4.94994348e-01 6.20504817e-01 2.09380913e+02] [-3.48077257e-01 8.68894079e-01 -3.51945028e-01 -1.22820323e+02] [-7.13363761e-01 -1.91701330e-03 7.00791317e-01 -7.44158349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:-122.83, Z:-74.44 [[ 6.06182752e-01 4.97535149e-01 6.20484687e-01 2.09400611e+02] [-3.51516833e-01 8.67431338e-01 -3.52134619e-01 -1.22831065e+02] [-7.13427212e-01 -4.65287975e-03 7.00713895e-01 -7.44393743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:-122.84, Z:-74.46 [[ 6.04915650e-01 4.98804918e-01 6.20701788e-01 2.09420293e+02] [-3.52878653e-01 8.66695224e-01 -3.52584807e-01 -1.22841825e+02] [-7.13830311e-01 -5.74834320e-03 7.00295112e-01 -7.44629022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:-122.85, Z:-74.49 [[ 6.03794977e-01 4.99927090e-01 6.20890112e-01 2.09440536e+02] [-3.54041231e-01 8.66041839e-01 -3.53024561e-01 -1.22853097e+02] [-7.14203355e-01 -6.66624297e-03 6.99906514e-01 -7.44868437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:-122.86, Z:-74.51 [[ 6.01724979e-01 5.01511170e-01 6.21621747e-01 2.09460181e+02] [-3.55561893e-01 8.65112775e-01 -3.53773413e-01 -1.22864007e+02] [-7.15194232e-01 -8.15070494e-03 6.98878227e-01 -7.45108023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99655999499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:-122.87, Z:-74.53 [[ 6.01220743e-01 5.02266713e-01 6.21499612e-01 2.09479930e+02] [-3.56379699e-01 8.64669616e-01 -3.54033847e-01 -1.22874935e+02] [-7.15211247e-01 -8.63735195e-03 6.98854969e-01 -7.45342797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:-122.89, Z:-74.56 [[ 6.00289373e-01 5.03029345e-01 6.21783038e-01 2.09498886e+02] [-3.56973758e-01 8.64221007e-01 -3.54530376e-01 -1.22885744e+02] [-7.15697146e-01 -9.13941076e-03 6.98350962e-01 -7.45582699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:-122.90, Z:-74.58 [[ 6.00356112e-01 5.03227118e-01 6.21558531e-01 2.09518393e+02] [-3.57066401e-01 8.64107500e-01 -3.54713707e-01 -1.22896990e+02] [-7.15594945e-01 -8.98312536e-03 6.98457714e-01 -7.45818319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:-122.91, Z:-74.60 [[ 5.99738601e-01 5.03681607e-01 6.21786498e-01 2.09537057e+02] [-3.57251016e-01 8.63841215e-01 -3.55176106e-01 -1.22908039e+02] [-7.16020476e-01 -9.12103793e-03 6.98019688e-01 -7.46048593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-122.92, Z:-74.63 [[ 5.99484037e-01 5.03916129e-01 6.21841961e-01 2.09555900e+02] [-3.57240082e-01 8.63705490e-01 -3.55517020e-01 -1.22918810e+02] [-7.16239076e-01 -9.02009481e-03 6.97796693e-01 -7.46279289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:-122.93, Z:-74.65 [[ 5.99631685e-01 5.04184646e-01 6.21481846e-01 2.09575151e+02] [-3.57525378e-01 8.63549388e-01 -3.55609419e-01 -1.22930250e+02] [-7.15973077e-01 -8.96085696e-03 6.98070381e-01 -7.46518328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-122.94, Z:-74.68 [[ 6.00011567e-01 5.04383217e-01 6.20953855e-01 2.09594935e+02] [-3.57765016e-01 8.63435438e-01 -3.55645100e-01 -1.22941448e+02] [-7.15534984e-01 -8.76439222e-03 6.98521920e-01 -7.46761680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-122.95, Z:-74.70 [[ 5.99944698e-01 5.04809836e-01 6.20671723e-01 2.09613843e+02] [-3.58192830e-01 8.63185243e-01 -3.55821771e-01 -1.22952370e+02] [-7.15377003e-01 -8.84677559e-03 6.98682674e-01 -7.46997689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:-122.96, Z:-74.72 [[ 6.00070365e-01 5.05001640e-01 6.20394149e-01 2.09632908e+02] [-3.58305258e-01 8.63074742e-01 -3.55976589e-01 -1.22963130e+02] [-7.15215282e-01 -8.67948388e-03 6.98850318e-01 -7.47237987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:-122.97, Z:-74.75 [[ 5.99969853e-01 5.05297415e-01 6.20250512e-01 2.09652924e+02] [-3.58472091e-01 8.62902234e-01 -3.56226745e-01 -1.22974561e+02] [-7.15216007e-01 -8.61719009e-03 6.98850347e-01 -7.47480357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:-122.99, Z:-74.77 [[ 6.00898701e-01 5.05080530e-01 6.19527570e-01 2.09671165e+02] [-3.58338846e-01 8.63034615e-01 -3.56040061e-01 -1.22985830e+02] [-7.14502641e-01 -8.05678400e-03 6.99586353e-01 -7.47712685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:-123.00, Z:-74.80 [[ 6.01336344e-01 5.04973598e-01 6.19190009e-01 2.09690399e+02] [-3.58169555e-01 8.63100719e-01 -3.56050164e-01 -1.22997449e+02] [-7.14219274e-01 -7.66910623e-03 6.99879999e-01 -7.47954186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:-123.01, Z:-74.82 [[ 6.01523784e-01 5.04990023e-01 6.18994518e-01 2.09708865e+02] [-3.57969745e-01 8.63094489e-01 -3.56266144e-01 -1.23008566e+02] [-7.14161606e-01 -7.27875062e-03 6.99943013e-01 -7.48183782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:-123.02, Z:-74.84 [[ 6.02140582e-01 5.04533684e-01 6.18766904e-01 2.09726930e+02] [-3.57132831e-01 8.63368629e-01 -3.56441792e-01 -1.23020457e+02] [-7.14060824e-01 -6.35390801e-03 7.00054832e-01 -7.48423066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:-123.03, Z:-74.87 [[ 6.02350670e-01 5.04440146e-01 6.18638674e-01 2.09746483e+02] [-3.56869662e-01 8.63425849e-01 -3.56566750e-01 -1.23032391e+02] [-7.14015207e-01 -5.99515374e-03 7.00104523e-01 -7.48666117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:-123.04, Z:-74.89 [[ 6.02465230e-01 5.04682699e-01 6.18329216e-01 2.09765123e+02] [-3.57059255e-01 8.63284957e-01 -3.56718056e-01 -1.23044192e+02] [-7.13823742e-01 -5.86994345e-03 7.00300799e-01 -7.48893796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:-123.06, Z:-74.91 [[ 6.02127896e-01 5.04899723e-01 6.18480611e-01 2.09784671e+02] [-3.56969709e-01 8.63158845e-01 -3.57112637e-01 -1.23056272e+02] [-7.14153081e-01 -5.75136328e-03 6.99965926e-01 -7.49134426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:-123.07, Z:-74.94 [[ 6.01059251e-01 5.05661222e-01 6.18897815e-01 2.09803022e+02] [-3.57491509e-01 8.62709375e-01 -3.57676328e-01 -1.23068789e+02] [-7.14791996e-01 -6.26604752e-03 6.99309044e-01 -7.49368647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:-123.08, Z:-74.96 [[ 6.00231331e-01 5.06177473e-01 6.19279189e-01 2.09821492e+02] [-3.57704752e-01 8.62404710e-01 -3.58197468e-01 -1.23080374e+02] [-7.15380779e-01 -6.51776593e-03 6.98704415e-01 -7.49600326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-123.09, Z:-74.98 [[ 5.99597106e-01 5.06763398e-01 6.19414375e-01 2.09840971e+02] [-3.58164828e-01 8.62057937e-01 -3.58572265e-01 -1.23092394e+02] [-7.15682378e-01 -6.85355051e-03 6.98392270e-01 -7.49837408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-123.10, Z:-75.01 [[ 5.97544817e-01 5.08298446e-01 6.20139406e-01 2.09858989e+02] [-3.59610573e-01 8.61141042e-01 -3.59327624e-01 -1.23104592e+02] [-7.16673167e-01 -8.29432750e-03 6.97359861e-01 -7.50066441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:-123.12, Z:-75.03 [[ 5.96495403e-01 5.09432165e-01 6.20219399e-01 2.09878027e+02] [-3.60878211e-01 8.60460858e-01 -3.59686015e-01 -1.23116310e+02] [-7.16910141e-01 -9.27261320e-03 6.97103915e-01 -7.50301988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:-123.13, Z:-75.05 [[ 5.95305608e-01 5.10710769e-01 6.20311006e-01 2.09897160e+02] [-3.62329234e-01 8.59689629e-01 -3.60071197e-01 -1.23127744e+02] [-7.17167177e-01 -1.04044087e-02 6.96823499e-01 -7.50542272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:-123.14, Z:-75.08 [[ 5.94409035e-01 5.12229568e-01 6.19918356e-01 2.09916433e+02] [-3.64397655e-01 8.58767506e-01 -3.60184286e-01 -1.23139591e+02] [-7.16862782e-01 -1.18000011e-02 6.97114418e-01 -7.50783223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:-123.16, Z:-75.10 [[ 5.93837693e-01 5.09451661e-01 6.22748585e-01 2.09936388e+02] [-3.68517543e-01 8.60260769e-01 -3.52343908e-01 -1.23156363e+02] [-7.15228366e-01 -2.02586856e-02 6.98597145e-01 -7.50981718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:-123.16, Z:-75.13 [[ 5.91869503e-01 5.18286195e-01 6.17308604e-01 2.09954038e+02] [-3.69339184e-01 8.55113547e-01 -3.63826043e-01 -1.23159710e+02] [-7.16434965e-01 -1.26587165e-02 6.97539030e-01 -7.51264058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-123.17, Z:-75.15 [[ 5.91324572e-01 5.14421067e-01 6.21052507e-01 2.09972133e+02] [-3.70509179e-01 8.57331832e-01 -3.57358472e-01 -1.23174824e+02] [-7.16280810e-01 -1.87908089e-02 6.97559106e-01 -7.51475759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:-123.18, Z:-75.18 [[ 5.89270878e-01 5.19633623e-01 6.18660432e-01 2.09990669e+02] [-3.72013514e-01 8.54236548e-01 -3.63160936e-01 -1.23184151e+02] [-7.17192985e-01 -1.61498774e-02 6.96687450e-01 -7.51757252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:-123.20, Z:-75.20 [[ 5.88112983e-01 5.18367846e-01 6.20820340e-01 2.10010191e+02] [-3.74198748e-01 8.54900321e-01 -3.59333743e-01 -1.23200526e+02] [-7.17006566e-01 -2.09813544e-02 6.96750577e-01 -7.51982064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-123.21, Z:-75.22 [[ 5.88254809e-01 5.21274785e-01 6.18246617e-01 2.10028247e+02] [-3.73648037e-01 8.53220390e-01 -3.63871009e-01 -1.23207339e+02] [-7.17177401e-01 -1.69577636e-02 6.96684297e-01 -7.52219864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:-123.23, Z:-75.24 [[ 5.89235907e-01 5.14656559e-01 6.22840005e-01 2.10047705e+02] [-3.76254383e-01 8.56976384e-01 -3.52170579e-01 -1.23227627e+02] [-7.15006073e-01 -2.68347310e-02 6.98603043e-01 -7.52415509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:-123.23, Z:-75.27 [[ 5.88813307e-01 5.21560244e-01 6.17473725e-01 2.10065448e+02] [-3.77186524e-01 8.52969084e-01 -3.60796436e-01 -1.23233712e+02] [-7.14863075e-01 -2.04610252e-02 6.98965042e-01 -7.52675040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:-123.25, Z:-75.29 [[ 5.88887924e-01 5.21928311e-01 6.17091445e-01 2.10084679e+02] [-3.77612519e-01 8.52742968e-01 -3.60885322e-01 -1.23246225e+02] [-7.14576657e-01 -2.05004466e-02 6.99256700e-01 -7.52914727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:-123.26, Z:-75.32 [[ 5.88544378e-01 5.22258660e-01 6.17139699e-01 2.10103931e+02] [-3.77732474e-01 8.52540480e-01 -3.61238022e-01 -1.23258888e+02] [-7.14796260e-01 -2.05090987e-02 6.99031962e-01 -7.53156158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:-123.26, Z:-75.34 [[ 5.87570893e-01 5.26611020e-01 6.14362499e-01 2.10120960e+02] [-3.75792308e-01 8.49991849e-01 -3.69180170e-01 -1.23263947e+02] [-7.16617462e-01 -1.39531794e-02 6.97326840e-01 -7.53421511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:-123.29, Z:-75.36 [[ 5.88823720e-01 5.14399710e-01 6.23441710e-01 2.10140606e+02] [-3.76713283e-01 8.57094889e-01 -3.51390743e-01 -1.23290541e+02] [-7.15103999e-01 -2.79515692e-02 6.98459004e-01 -7.53590551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:-123.30, Z:-75.39 [[ 5.88657160e-01 5.21879840e-01 6.17352558e-01 2.10159439e+02] [-3.76260051e-01 8.52805071e-01 -3.62148982e-01 -1.23295933e+02] [-7.15479645e-01 -1.91035138e-02 6.98372346e-01 -7.53854137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:-123.31, Z:-75.41 [[ 5.88497843e-01 5.21705359e-01 6.17651850e-01 2.10178926e+02] [-3.75518862e-01 8.52924496e-01 -3.62636718e-01 -1.23308151e+02] [-7.15999911e-01 -1.85289932e-02 6.97854429e-01 -7.54096415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:-123.32, Z:-75.43 [[ 5.88138502e-01 5.21823009e-01 6.17894691e-01 2.10197308e+02] [-3.75207276e-01 8.52857971e-01 -3.63115383e-01 -1.23320015e+02] [-7.16458375e-01 -1.82764462e-02 6.97390399e-01 -7.54327213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:-123.33, Z:-75.46 [[ 5.87800231e-01 5.21497259e-01 6.18491308e-01 2.10216067e+02] [-3.74074697e-01 8.53072805e-01 -3.63778655e-01 -1.23332959e+02] [-7.17327687e-01 -1.75327711e-02 6.96515321e-01 -7.54565051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:-123.34, Z:-75.48 [[ 5.88119508e-01 5.22316757e-01 6.17495465e-01 2.10233979e+02] [-3.72583151e-01 8.52626341e-01 -3.66346992e-01 -1.23342437e+02] [-7.17842072e-01 -1.46125930e-02 6.96052607e-01 -7.54811488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:-123.36, Z:-75.50 [[ 5.88765899e-01 5.20521996e-01 6.18394347e-01 2.10252080e+02] [-3.71927656e-01 8.53709355e-01 -3.64486153e-01 -1.23355616e+02] [-7.17652099e-01 -1.54009427e-02 6.96231481e-01 -7.55045647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:-123.37, Z:-75.52 [[ 5.88900897e-01 5.19082937e-01 6.19474485e-01 2.10270653e+02] [-3.72579153e-01 8.54540555e-01 -3.61863529e-01 -1.23369376e+02] [-7.17203254e-01 -1.77015222e-02 6.96639181e-01 -7.55249474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:-123.38, Z:-75.55 [[ 5.89154851e-01 5.20576768e-01 6.17977662e-01 2.10289440e+02] [-3.72207911e-01 8.53675975e-01 -3.64278190e-01 -1.23379272e+02] [-7.17187446e-01 -1.53999120e-02 6.96710133e-01 -7.55490772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:-123.39, Z:-75.58 [[ 5.89507891e-01 5.22292695e-01 6.16190545e-01 2.10307889e+02] [-3.71130372e-01 8.52682803e-01 -3.67687753e-01 -1.23388371e+02] [-7.17455708e-01 -1.19321948e-02 6.96501924e-01 -7.55755850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:210.33, Y:-123.40, Z:-75.60 [[ 5.87890478e-01 5.24516752e-01 6.15846542e-01 2.10326306e+02] [-3.71725433e-01 8.51325465e-01 -3.70223116e-01 -1.23400962e+02] [-7.18474070e-01 -1.12751781e-02 6.95462351e-01 -7.56030103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:-123.41, Z:-75.62 [[ 5.87970803e-01 5.21445644e-01 6.18372683e-01 2.10345257e+02] [-3.71361116e-01 8.53165558e-01 -3.66332433e-01 -1.23414458e+02] [-7.18596727e-01 -1.42467948e-02 6.95281075e-01 -7.56196838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:-123.42, Z:-75.65 [[ 5.87802176e-01 5.23631799e-01 6.16683339e-01 2.10363269e+02] [-3.69444841e-01 8.51890196e-01 -3.71205609e-01 -1.23421911e+02] [-7.19721551e-01 -9.63501423e-03 6.94195977e-01 -7.56472861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:-123.44, Z:-75.66 [[ 5.86870219e-01 5.18289294e-01 6.22060732e-01 2.10382770e+02] [-3.71892382e-01 8.54990219e-01 -3.61507650e-01 -1.23441603e+02] [-7.19221386e-01 -1.91815739e-02 6.94516137e-01 -7.56643577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:-123.45, Z:-75.69 [[ 5.86428653e-01 5.22526239e-01 6.18924684e-01 2.10401999e+02] [-3.72806284e-01 8.52476224e-01 -3.66469320e-01 -1.23449826e+02] [-7.19108413e-01 -1.58309012e-02 6.94717549e-01 -7.56895551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:-123.46, Z:-75.71 [[ 5.86053689e-01 5.23309979e-01 6.18617604e-01 2.10421397e+02] [-3.73795789e-01 8.51984820e-01 -3.66604111e-01 -1.23461303e+02] [-7.18900398e-01 -1.63869637e-02 6.94919913e-01 -7.57140030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:-123.47, Z:-75.74 [[ 5.85679916e-01 5.23856202e-01 6.18509269e-01 2.10439945e+02] [-3.74326416e-01 8.51643687e-01 -3.66855237e-01 -1.23471814e+02] [-7.18928905e-01 -1.66646137e-02 6.94883817e-01 -7.57377338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:-123.48, Z:-75.76 [[ 5.85339745e-01 5.24577302e-01 6.18220056e-01 2.10459292e+02] [-3.75340416e-01 8.51187149e-01 -3.66878739e-01 -1.23483067e+02] [-7.18677226e-01 -1.72942660e-02 6.95128731e-01 -7.57616471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:-123.49, Z:-75.78 [[ 5.84492537e-01 5.25579863e-01 6.18170107e-01 2.10477548e+02] [-3.76505468e-01 8.50550812e-01 -3.67160658e-01 -1.23494089e+02] [-7.18757335e-01 -1.81417605e-02 6.95024294e-01 -7.57848880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:-123.51, Z:-75.81 [[ 5.84305374e-01 5.26265038e-01 6.17763984e-01 2.10496622e+02] [-3.77537169e-01 8.50114430e-01 -3.67111894e-01 -1.23505707e+02] [-7.18368232e-01 -1.87234131e-02 6.95411042e-01 -7.58080476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:-123.52, Z:-75.83 [[ 5.83761536e-01 5.26929437e-01 6.17711776e-01 2.10515759e+02] [-3.78237780e-01 8.49692435e-01 -3.67367593e-01 -1.23517057e+02] [-7.18441821e-01 -1.91868609e-02 6.95322381e-01 -7.58317471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:-123.53, Z:-75.86 [[ 5.83882956e-01 5.28746894e-01 6.16041731e-01 2.10535046e+02] [-3.79266124e-01 8.48582947e-01 -3.68868797e-01 -1.23527961e+02] [-7.17800739e-01 -1.82675564e-02 6.96008905e-01 -7.58565936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:-123.54, Z:-75.88 [[ 5.83119357e-01 5.24488745e-01 6.20389693e-01 2.10553200e+02] [-3.79482466e-01 8.51083270e-01 -3.62836500e-01 -1.23543522e+02] [-7.18306949e-01 -2.38500241e-02 6.95317412e-01 -7.58777999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:-123.55, Z:-75.90 [[ 5.83149638e-01 5.31781198e-01 6.14121533e-01 2.10572255e+02] [-3.80003787e-01 8.46726306e-01 -3.72359617e-01 -1.23548945e+02] [-7.18006700e-01 -1.62271325e-02 6.95847008e-01 -7.59040492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:-123.56, Z:-75.93 [[ 5.83210784e-01 5.28088954e-01 6.17241636e-01 2.10590379e+02] [-3.79376749e-01 8.48962482e-01 -3.67880396e-01 -1.23563582e+02] [-7.18288565e-01 -1.96153113e-02 6.95468746e-01 -7.59258153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:-123.58, Z:-75.95 [[ 5.83309797e-01 5.27844641e-01 6.17357040e-01 2.10609386e+02] [-3.78739595e-01 8.49126879e-01 -3.68157389e-01 -1.23575507e+02] [-7.18544361e-01 -1.90677436e-02 6.95219693e-01 -7.59492417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:-123.59, Z:-75.97 [[ 5.83914395e-01 5.26534699e-01 6.17903869e-01 2.10628363e+02] [-3.76160417e-01 8.49982300e-01 -3.68827101e-01 -1.23588666e+02] [-7.19407618e-01 -1.70675236e-02 6.94378412e-01 -7.59726946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:-123.60, Z:-76.00 [[ 5.84373082e-01 5.25863441e-01 6.18041861e-01 2.10647026e+02] [-3.74743268e-01 8.50421810e-01 -3.69256317e-01 -1.23600699e+02] [-7.19774676e-01 -1.58235745e-02 6.94027399e-01 -7.59959036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:-123.61, Z:-76.02 [[ 5.84769318e-01 5.25187793e-01 6.18241561e-01 2.10665851e+02] [-3.73307622e-01 8.50861004e-01 -3.69698486e-01 -1.23613114e+02] [-7.20198767e-01 -1.46059551e-02 6.93614015e-01 -7.60196845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-123.62, Z:-76.04 [[ 5.84680423e-01 5.25435404e-01 6.18115231e-01 2.10685632e+02] [-3.73444807e-01 8.50709026e-01 -3.69909624e-01 -1.23624954e+02] [-7.20199819e-01 -1.45530079e-02 6.93614036e-01 -7.60439228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:-123.64, Z:-76.07 [[ 5.86563078e-01 5.23669213e-01 6.17830325e-01 2.10704931e+02] [-3.70842155e-01 8.51835370e-01 -3.69935939e-01 -1.23638142e+02] [-7.20013786e-01 -1.21267662e-02 6.93853796e-01 -7.60677866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-123.65, Z:-76.09 [[ 5.89209313e-01 5.17351008e-01 6.20628972e-01 2.10724523e+02] [-3.69610299e-01 8.55625675e-01 -3.62343664e-01 -1.23654000e+02] [-7.18484943e-01 -1.58945984e-02 6.95360877e-01 -7.60877062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:-123.66, Z:-76.12 [[ 5.88062775e-01 5.26115427e-01 6.14316474e-01 2.10742708e+02] [-3.69544911e-01 8.50386262e-01 -3.74539404e-01 -1.23658863e+02] [-7.19457248e-01 -6.76484539e-03 6.94503784e-01 -7.61164063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:-123.68, Z:-76.14 [[ 5.91617021e-01 5.17550844e-01 6.18166987e-01 2.10762202e+02] [-3.68722736e-01 8.55554749e-01 -3.63413835e-01 -1.23675214e+02] [-7.16960838e-01 -1.29304127e-02 6.96993516e-01 -7.61351336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-123.68, Z:-76.16 [[ 5.90140044e-01 5.24054382e-01 6.14086095e-01 2.10780227e+02] [-3.70108790e-01 8.51644620e-01 -3.71107699e-01 -1.23683521e+02] [-7.17463736e-01 -8.27314739e-03 6.96546727e-01 -7.61627452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:-123.70, Z:-76.19 [[ 5.90446596e-01 5.23351738e-01 6.14390573e-01 2.10799899e+02] [-3.70623923e-01 8.52064210e-01 -3.69627500e-01 -1.23696457e+02] [-7.16945413e-01 -9.46254534e-03 6.97065087e-01 -7.61864644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:-123.70, Z:-76.21 [[ 5.91967357e-01 5.21862687e-01 6.14193768e-01 2.10818027e+02] [-3.68296312e-01 8.52998303e-01 -3.69799570e-01 -1.23702930e+02] [-7.16890839e-01 -7.29602600e-03 6.97147253e-01 -7.62085496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-123.72, Z:-76.23 [[ 5.91835986e-01 5.16256549e-01 6.19039047e-01 2.10836917e+02] [-3.68643449e-01 8.56317236e-01 -3.61694344e-01 -1.23719858e+02] [-7.16820879e-01 -1.41409606e-02 6.97113951e-01 -7.62294850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:-123.74, Z:-76.25 [[ 5.90758897e-01 5.18293061e-01 6.18365773e-01 2.10857072e+02] [-3.71715828e-01 8.55048364e-01 -3.61551708e-01 -1.23735913e+02] [-7.16122384e-01 -1.62664567e-02 6.97785163e-01 -7.62542014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.88, Y:-123.74, Z:-76.28 [[ 5.90835751e-01 5.24543762e-01 6.12998334e-01 2.10876726e+02] [-3.71516158e-01 8.51337078e-01 -3.70406432e-01 -1.23741765e+02] [-7.16162593e-01 -8.88942320e-03 6.97876865e-01 -7.62800406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:-123.75, Z:-76.30 [[ 5.90416306e-01 5.24749825e-01 6.13226065e-01 2.10896479e+02] [-3.71460455e-01 8.51210073e-01 -3.70754018e-01 -1.23753341e+02] [-7.16537310e-01 -8.89001490e-03 6.97492116e-01 -7.63037504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-123.76, Z:-76.33 [[ 5.90220140e-01 5.25028329e-01 6.13176516e-01 2.10915899e+02] [-3.71544070e-01 8.51039115e-01 -3.71062567e-01 -1.23764726e+02] [-7.16655559e-01 -8.81349769e-03 6.97371588e-01 -7.63268629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:-123.78, Z:-76.35 [[ 5.89987533e-01 5.25121806e-01 6.13320308e-01 2.10935228e+02] [-3.71377386e-01 8.50982848e-01 -3.71358358e-01 -1.23776403e+02] [-7.16933433e-01 -8.67649167e-03 6.97087635e-01 -7.63501780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:-123.79, Z:-76.37 [[ 5.89920392e-01 5.25198064e-01 6.13319594e-01 2.10955108e+02] [-3.71135701e-01 8.50939040e-01 -3.71700205e-01 -1.23788476e+02] [-7.17113814e-01 -8.35126657e-03 6.96906044e-01 -7.63739807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.97, Y:-123.80, Z:-76.40 [[ 5.90143821e-01 5.24999226e-01 6.13274884e-01 2.10974461e+02] [-3.70524434e-01 8.51067952e-01 -3.72014764e-01 -1.23800597e+02] [-7.17246063e-01 -7.69111480e-03 6.96777534e-01 -7.63966302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-123.81, Z:-76.42 [[ 5.89873168e-01 5.25313077e-01 6.13266514e-01 2.10993728e+02] [-3.70655430e-01 8.50874324e-01 -3.72327057e-01 -1.23812249e+02] [-7.17401002e-01 -7.68482303e-03 6.96618077e-01 -7.64202777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:-123.82, Z:-76.44 [[ 5.90331925e-01 5.25153798e-01 6.12961424e-01 2.11013486e+02] [-3.70266048e-01 8.50977941e-01 -3.72477648e-01 -1.23823295e+02] [-7.17224702e-01 -7.07335713e-03 6.96806067e-01 -7.64442972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-123.83, Z:-76.47 [[ 5.90571447e-01 5.25396075e-01 6.12522923e-01 2.11032998e+02] [-3.70538108e-01 8.50829415e-01 -3.72546397e-01 -1.23834769e+02] [-7.16886934e-01 -6.94781980e-03 6.97154826e-01 -7.64679535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.05, Y:-123.85, Z:-76.49 [[ 5.90539284e-01 5.25434494e-01 6.12520977e-01 2.11052783e+02] [-3.70248474e-01 8.50808585e-01 -3.72881776e-01 -1.23846223e+02] [-7.17063053e-01 -6.58362053e-03 6.96977212e-01 -7.64922767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:-123.86, Z:-76.52 [[ 5.90299581e-01 5.25689945e-01 6.12532845e-01 2.11071933e+02] [-3.70258553e-01 8.50651583e-01 -3.73229807e-01 -1.23857836e+02] [-7.17255191e-01 -6.47812624e-03 6.96780471e-01 -7.65152122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:-123.87, Z:-76.54 [[ 5.90217569e-01 5.25946592e-01 6.12391545e-01 2.11091630e+02] [-3.70387943e-01 8.50493526e-01 -3.73461557e-01 -1.23869800e+02] [-7.17255877e-01 -6.39887178e-03 6.96780497e-01 -7.65394617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:-123.88, Z:-76.56 [[ 5.89902226e-01 5.26694887e-01 6.12052171e-01 2.11111474e+02] [-3.71486879e-01 8.50024939e-01 -3.73436879e-01 -1.23881572e+02] [-7.16946904e-01 -7.07810484e-03 6.97091843e-01 -7.65626494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:-123.89, Z:-76.59 [[ 5.90154339e-01 5.26954501e-01 6.11585489e-01 2.11131396e+02] [-3.71810298e-01 8.49864806e-01 -3.73479469e-01 -1.23893189e+02] [-7.16571670e-01 -6.98325382e-03 6.97478513e-01 -7.65864265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:-123.90, Z:-76.61 [[ 5.90392448e-01 5.28026781e-01 6.10429747e-01 2.11149519e+02] [-3.70711038e-01 8.49216916e-01 -3.76037174e-01 -1.23900229e+02] [-7.16944966e-01 -4.28353711e-03 6.97116610e-01 -7.66107633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:-123.92, Z:-76.63 [[ 5.90219744e-01 5.23649343e-01 6.14354961e-01 2.11169229e+02] [-3.71839973e-01 8.51866293e-01 -3.68861563e-01 -1.23917564e+02] [-7.16502399e-01 -1.07323553e-02 6.97502064e-01 -7.66311941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:-123.93, Z:-76.66 [[ 5.89994013e-01 5.27600263e-01 6.11183301e-01 2.11188283e+02] [-3.71996204e-01 8.49467259e-01 -3.74198077e-01 -1.23925461e+02] [-7.16607207e-01 -6.58324323e-03 6.97445891e-01 -7.66560679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:-123.93, Z:-76.68 [[ 5.89675711e-01 5.30106467e-01 6.09319037e-01 2.11206478e+02] [-3.71349811e-01 8.47925100e-01 -3.78315138e-01 -1.23932812e+02] [-7.17204207e-01 -3.18726162e-03 6.96855772e-01 -7.66815189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:-123.95, Z:-76.70 [[ 5.89533168e-01 5.24840132e-01 6.13997947e-01 2.11226427e+02] [-3.72763813e-01 8.51130148e-01 -3.69627665e-01 -1.23951694e+02] [-7.16587596e-01 -1.09684480e-02 6.97410862e-01 -7.67004081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:-123.96, Z:-76.73 [[ 5.88993141e-01 5.29186012e-01 6.10777574e-01 2.11246221e+02] [-3.73576371e-01 8.48473817e-01 -3.74877148e-01 -1.23960627e+02] [-7.16608523e-01 -7.37200029e-03 6.97436649e-01 -7.67256693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:-123.97, Z:-76.75 [[ 5.88537417e-01 5.30073488e-01 6.10447218e-01 2.11266164e+02] [-3.74728070e-01 8.47913468e-01 -3.74995500e-01 -1.23972226e+02] [-7.16381590e-01 -8.05282485e-03 6.97662218e-01 -7.67490834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:-123.98, Z:-76.77 [[ 5.88063335e-01 5.30834567e-01 6.10242719e-01 2.11285929e+02] [-3.75612079e-01 8.47432094e-01 -3.75199162e-01 -1.23983944e+02] [-7.16307950e-01 -8.57366618e-03 6.97731619e-01 -7.67732956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:-124.00, Z:-76.80 [[ 5.86921612e-01 5.32554468e-01 6.09843226e-01 2.11306030e+02] [-3.78000468e-01 8.46333534e-01 -3.75280156e-01 -1.23995378e+02] [-7.15987896e-01 -1.02609909e-02 6.98037281e-01 -7.67971467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:-124.01, Z:-76.82 [[ 5.86189435e-01 5.33766061e-01 6.09488095e-01 2.11325490e+02] [-3.79617443e-01 8.45556454e-01 -3.75399627e-01 -1.24006803e+02] [-7.15732173e-01 -1.13170172e-02 6.98283167e-01 -7.68204981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.936559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.35, Y:-124.02, Z:-76.84 [[ 5.85537944e-01 5.34837244e-01 6.09175212e-01 2.11345126e+02] [-3.81007848e-01 8.44866940e-01 -3.75543438e-01 -1.24018491e+02] [-7.15526614e-01 -1.22056042e-02 6.98478838e-01 -7.68443530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:-124.03, Z:-76.87 [[ 5.84598868e-01 5.36016379e-01 6.09040726e-01 2.11364454e+02] [-3.82448162e-01 8.44103800e-01 -3.75795394e-01 -1.24030155e+02] [-7.15526077e-01 -1.32369445e-02 6.98460605e-01 -7.68684454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:-124.04, Z:-76.89 [[ 5.83349380e-01 5.38014540e-01 6.08476668e-01 2.11384024e+02] [-3.85333506e-01 8.42797499e-01 -3.75779810e-01 -1.24042130e+02] [-7.14997615e-01 -1.52555290e-02 6.98960427e-01 -7.68918654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:-124.05, Z:-76.92 [[ 5.81838951e-01 5.43355088e-01 6.05168310e-01 2.11401519e+02] [-3.84858193e-01 8.39447368e-01 -3.83682535e-01 -1.24047403e+02] [-7.16482802e-01 -9.66253799e-03 6.97537834e-01 -7.69206517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:-124.07, Z:-76.94 [[ 5.82346461e-01 5.34922185e-01 6.12152641e-01 2.11421450e+02] [-3.87112179e-01 8.44624694e-01 -3.69801687e-01 -1.24069100e+02] [-7.14854363e-01 -2.16190392e-02 6.98939094e-01 -7.69360954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:-124.08, Z:-76.96 [[ 5.81692145e-01 5.40085959e-01 6.08228086e-01 2.11441372e+02] [-3.87717205e-01 8.41440369e-01 -3.76368802e-01 -1.24076915e+02] [-7.15059170e-01 -1.68897181e-02 6.98859872e-01 -7.69620229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:-124.09, Z:-76.98 [[ 5.81163150e-01 5.40614793e-01 6.08263956e-01 2.11460558e+02] [-3.88113809e-01 8.41095757e-01 -3.76730140e-01 -1.24088863e+02] [-7.15274119e-01 -1.71339660e-02 6.98633926e-01 -7.69849716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:-124.10, Z:-77.01 [[ 5.80687854e-01 5.41097540e-01 6.08288639e-01 2.11480283e+02] [-3.88474506e-01 8.40780850e-01 -3.77061164e-01 -1.24101176e+02] [-7.15464307e-01 -1.73497904e-02 6.98433826e-01 -7.70089460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:-124.11, Z:-77.03 [[ 5.80231007e-01 5.41355162e-01 6.08495330e-01 2.11499458e+02] [-3.88397337e-01 8.40616100e-01 -3.77507723e-01 -1.24112962e+02] [-7.15876726e-01 -1.72962793e-02 6.98012430e-01 -7.70323419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:-124.12, Z:-77.06 [[ 5.79983478e-01 5.41331285e-01 6.08752500e-01 2.11518610e+02] [-3.87851500e-01 8.40640274e-01 -3.78014740e-01 -1.24124935e+02] [-7.16373073e-01 -1.68632666e-02 6.97513620e-01 -7.70554437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:-124.14, Z:-77.08 [[ 5.80093394e-01 5.41199311e-01 6.08765111e-01 2.11538069e+02] [-3.87320935e-01 8.40736125e-01 -3.78345427e-01 -1.24137092e+02] [-7.16571105e-01 -1.63117888e-02 6.97323295e-01 -7.70794076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:-124.15, Z:-77.10 [[ 5.80481347e-01 5.40993597e-01 6.08578125e-01 2.11556699e+02] [-3.86785025e-01 8.40881357e-01 -3.78570849e-01 -1.24148574e+02] [-7.16546405e-01 -1.56355890e-02 6.97364164e-01 -7.71025850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:-124.16, Z:-77.13 [[ 5.81291289e-01 5.40306120e-01 6.08415758e-01 2.11575766e+02] [-3.85562639e-01 8.41345366e-01 -3.78786782e-01 -1.24160363e+02] [-7.16548595e-01 -1.43969284e-02 6.97388586e-01 -7.71264110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:-124.17, Z:-77.15 [[ 5.83866916e-01 5.38362996e-01 6.07671547e-01 2.11594524e+02] [-3.82859973e-01 8.42633710e-01 -3.78664326e-01 -1.24172067e+02] [-7.15903391e-01 -1.15635395e-02 6.98103588e-01 -7.71494787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:-124.18, Z:-77.17 [[ 5.85391790e-01 5.37313756e-01 6.07132917e-01 2.11613388e+02] [-3.81354352e-01 8.43324598e-01 -3.78645588e-01 -1.24183657e+02] [-7.15461606e-01 -9.87676151e-03 6.98582235e-01 -7.71731268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:-124.20, Z:-77.20 [[ 5.87005256e-01 5.36021390e-01 6.06717314e-01 2.11632434e+02] [-3.79433292e-01 8.44167330e-01 -3.78697631e-01 -1.24195690e+02] [-7.15160966e-01 -7.91124839e-03 6.98915020e-01 -7.71973855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:-124.21, Z:-77.22 [[ 5.88842188e-01 5.34466709e-01 6.06308679e-01 2.11650810e+02] [-3.77104975e-01 8.45170991e-01 -3.78784681e-01 -1.24207581e+02] [-7.14882309e-01 -5.59761902e-03 6.99222391e-01 -7.72200406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:-124.22, Z:-77.24 [[ 5.92389203e-01 5.30900022e-01 6.05986963e-01 2.11669524e+02] [-3.71872964e-01 8.47433991e-01 -3.78901214e-01 -1.24220456e+02] [-7.14692613e-01 -8.93180337e-04 6.99438111e-01 -7.72432892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:-124.23, Z:-77.27 [[ 5.94234455e-01 5.29282937e-01 6.05594737e-01 2.11688261e+02] [-3.69460094e-01 8.48444108e-01 -3.79001101e-01 -1.24232462e+02] [-7.14412102e-01 1.47242417e-03 6.99723646e-01 -7.72659406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:-124.24, Z:-77.29 [[ 5.95803180e-01 5.27609425e-01 6.05513720e-01 2.11706820e+02] [-3.66906560e-01 8.49478844e-01 -3.79163909e-01 -1.24244278e+02] [-7.14421547e-01 3.74010696e-03 6.99705556e-01 -7.72886303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:-124.26, Z:-77.31 [[ 5.98722929e-01 5.24295293e-01 6.05512428e-01 2.11725743e+02] [-3.61975858e-01 8.51499341e-01 -3.79370992e-01 -1.24255963e+02] [-7.14495859e-01 7.95723095e-03 6.99594418e-01 -7.73125596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:-124.27, Z:-77.34 [[ 5.99785552e-01 5.23243975e-01 6.05370163e-01 2.11745102e+02] [-3.60228934e-01 8.52128637e-01 -3.79620733e-01 -1.24267665e+02] [-7.14487513e-01 9.61918286e-03 6.99582064e-01 -7.73366515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:-124.30, Z:-77.35 [[ 6.03150582e-01 5.10698380e-01 6.12696124e-01 2.11768020e+02] [-3.61664946e-01 8.59750178e-01 -3.60594089e-01 -1.24295870e+02] [-7.10920419e-01 -4.09817607e-03 7.03260522e-01 -7.73513120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:-124.28, Z:-77.39 [[ 6.01416892e-01 5.38488848e-01 5.90192751e-01 2.11783496e+02] [-3.58220961e-01 8.42058311e-01 -4.03256178e-01 -1.24275852e+02] [-7.14125665e-01 3.11056626e-02 6.99326084e-01 -7.73896384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:-124.30, Z:-77.41 [[ 6.01511968e-01 5.21463726e-01 6.05193304e-01 2.11801453e+02] [-3.56947320e-01 8.53177876e-01 -3.80363147e-01 -1.24303152e+02] [-7.14683121e-01 1.27708570e-02 6.99331782e-01 -7.74054010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:-124.33, Z:-77.42 [[ 6.03521630e-01 5.12124623e-01 6.11138293e-01 2.11824805e+02] [-3.59304469e-01 8.58910903e-01 -3.64927883e-01 -1.24329146e+02] [-7.11801897e-01 6.57151071e-04 7.02379974e-01 -7.74219156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:-124.31, Z:-77.46 [[ 6.01052428e-01 5.36201047e-01 5.92641896e-01 2.11841315e+02] [-3.59222160e-01 8.43660728e-01 -3.98993753e-01 -1.24313876e+02] [-7.13929562e-01 2.69260622e-02 6.99699627e-01 -7.74569523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.86, Y:-124.34, Z:-77.48 [[ 6.00553389e-01 5.23602135e-01 6.04298297e-01 2.11860419e+02] [-3.59971051e-01 8.51892969e-01 -3.80393497e-01 -1.24337215e+02] [-7.13972317e-01 1.09167109e-02 7.00088820e-01 -7.74757674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:-124.35, Z:-77.50 [[ 5.99939708e-01 5.24775346e-01 6.03890043e-01 2.11879570e+02] [-3.61568064e-01 8.51183070e-01 -3.80468024e-01 -1.24347721e+02] [-7.13681219e-01 9.91052186e-03 7.00400528e-01 -7.74988393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:-124.36, Z:-77.52 [[ 5.97549895e-01 5.27732093e-01 6.03682832e-01 2.11900033e+02] [-3.65589529e-01 8.49384020e-01 -3.80645613e-01 -1.24357578e+02] [-7.13637457e-01 6.75462377e-03 7.00482659e-01 -7.75229116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:-124.37, Z:-77.55 [[ 5.95998480e-01 5.29431696e-01 6.03728326e-01 2.11919130e+02] [-3.67627310e-01 8.48337003e-01 -3.81017703e-01 -1.24368378e+02] [-7.13887928e-01 5.13895150e-03 7.00241114e-01 -7.75459342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:-124.38, Z:-77.57 [[ 5.94364433e-01 5.31346713e-01 6.03656849e-01 2.11938547e+02] [-3.70075503e-01 8.47148305e-01 -3.81292370e-01 -1.24379445e+02] [-7.13985324e-01 3.22801143e-03 7.00153224e-01 -7.75690016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:-124.39, Z:-77.59 [[ 5.92674283e-01 5.33021843e-01 6.03841792e-01 2.11957490e+02] [-3.72023812e-01 8.46099978e-01 -3.81723867e-01 -1.24389907e+02] [-7.14377686e-01 1.59439367e-03 6.99758515e-01 -7.75919405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:-124.40, Z:-77.62 [[ 5.91181714e-01 5.34869112e-01 6.03671445e-01 2.11977517e+02] [-3.74454967e-01 8.44934888e-01 -3.81927365e-01 -1.24400960e+02] [-7.14344216e-01 -2.59296329e-04 6.99794451e-01 -7.76154624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:-124.41, Z:-77.64 [[ 5.89277466e-01 5.36685962e-01 6.03920729e-01 2.11997027e+02] [-3.76556378e-01 8.43779550e-01 -3.82415175e-01 -1.24411276e+02] [-7.14812816e-01 -2.06155735e-03 6.99312797e-01 -7.76391670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:-124.42, Z:-77.66 [[ 5.85562089e-01 5.40296700e-01 6.04314915e-01 2.12017896e+02] [-3.81169626e-01 8.41452526e-01 -3.82971750e-01 -1.24421021e+02] [-7.15420685e-01 -6.09275213e-03 6.98667390e-01 -7.76632227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:-124.43, Z:-77.69 [[ 5.83686280e-01 5.42474735e-01 6.04178358e-01 2.12036922e+02] [-3.84038014e-01 8.40030689e-01 -3.83227407e-01 -1.24431807e+02] [-7.15419549e-01 -8.34287644e-03 6.98645308e-01 -7.76861027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:-124.44, Z:-77.71 [[ 5.82331655e-01 5.44521460e-01 6.03644119e-01 2.12056702e+02] [-3.86995203e-01 8.38681762e-01 -3.83207013e-01 -1.24443079e+02] [-7.14929756e-01 -1.04538043e-02 6.99118132e-01 -7.77103393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:-124.46, Z:-77.73 [[ 5.82243413e-01 5.44786398e-01 6.03490173e-01 2.12076181e+02] [-3.87125635e-01 8.38510783e-01 -3.83449357e-01 -1.24455396e+02] [-7.14931011e-01 -1.03656540e-02 6.99118160e-01 -7.77345902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:-124.47, Z:-77.76 [[ 5.79768386e-01 5.48231423e-01 6.02752790e-01 2.12095851e+02] [-3.92359612e-01 8.36203600e-01 -3.83167684e-01 -1.24465836e+02] [-7.14088618e-01 -1.43473414e-02 6.99908280e-01 -7.77589440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:-124.48, Z:-77.78 [[ 5.78164998e-01 5.50042631e-01 6.02642795e-01 2.12115405e+02] [-3.94696230e-01 8.34979992e-01 -3.83436173e-01 -1.24477452e+02] [-7.14100918e-01 -1.61714648e-02 6.99855959e-01 -7.77828127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-124.49, Z:-77.81 [[ 5.76857976e-01 5.51663150e-01 6.02414014e-01 2.12135402e+02] [-3.96834472e-01 8.33877898e-01 -3.83627493e-01 -1.24489427e+02] [-7.13972883e-01 -1.77600680e-02 6.99948071e-01 -7.78066735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:-124.50, Z:-77.83 [[ 5.74508200e-01 5.53723485e-01 6.02769135e-01 2.12154169e+02] [-3.99251267e-01 8.32461988e-01 -3.84194566e-01 -1.24499849e+02] [-7.14519946e-01 -1.99334121e-02 6.99331041e-01 -7.78296925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:-124.51, Z:-77.85 [[ 5.73959312e-01 5.54490934e-01 6.02586519e-01 2.12173621e+02] [-4.00150962e-01 8.31937268e-01 -3.84395095e-01 -1.24511456e+02] [-7.14457778e-01 -2.04984310e-02 6.99378223e-01 -7.78537633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:-124.52, Z:-77.88 [[ 5.73640935e-01 5.55158196e-01 6.02275232e-01 2.12192402e+02] [-4.00967827e-01 8.31481867e-01 -3.84529202e-01 -1.24522770e+02] [-7.14255472e-01 -2.09113002e-02 6.99572611e-01 -7.78774275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-124.53, Z:-77.90 [[ 5.73452498e-01 5.55654136e-01 6.01997270e-01 2.12211375e+02] [-4.01540220e-01 8.31144705e-01 -3.84660799e-01 -1.24534839e+02] [-7.14085208e-01 -2.11414205e-02 6.99739492e-01 -7.79014387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:-124.55, Z:-77.93 [[ 5.73170932e-01 5.56053978e-01 6.01896217e-01 2.12230015e+02] [-4.01844498e-01 8.30874737e-01 -3.84926189e-01 -1.24547265e+02] [-7.14140100e-01 -2.12401807e-02 6.99680479e-01 -7.79254865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:-124.56, Z:-77.95 [[ 5.73396292e-01 5.56002347e-01 6.01729243e-01 2.12247870e+02] [-4.01530766e-01 8.30921238e-01 -3.85153138e-01 -1.24560249e+02] [-7.14135656e-01 -2.07674227e-02 6.99699206e-01 -7.79484924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:-124.56, Z:-77.98 [[ 5.71389008e-01 5.65651898e-01 5.94602835e-01 2.12263247e+02] [-3.98126359e-01 8.24613583e-01 -4.01880380e-01 -1.24558537e+02] [-7.17641975e-01 -7.09703053e-03 6.96376068e-01 -7.79797746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:-124.58, Z:-78.00 [[ 5.72876063e-01 5.50509720e-01 6.07249590e-01 2.12281454e+02] [-3.97579924e-01 8.34514664e-01 -3.81464913e-01 -1.24584412e+02] [-7.16758830e-01 -2.28981282e-02 6.96945088e-01 -7.79968275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-124.61, Z:-78.01 [[ 5.75560641e-01 5.40750160e-01 6.13448624e-01 2.12301838e+02] [-4.00200947e-01 8.40445846e-01 -3.65362808e-01 -1.24612744e+02] [-7.13140344e-01 -3.52142684e-02 7.00136276e-01 -7.80117738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:-124.61, Z:-78.04 [[ 5.75443154e-01 5.55327569e-01 6.00396925e-01 2.12321628e+02] [-3.99532225e-01 8.31443381e-01 -3.86103489e-01 -1.24612853e+02] [-7.13609962e-01 -1.76973098e-02 7.00319661e-01 -7.80417257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:-124.63, Z:-78.07 [[ 5.75453388e-01 5.55344434e-01 6.00371517e-01 2.12339647e+02] [-3.99218872e-01 8.31440377e-01 -3.86433944e-01 -1.24627129e+02] [-7.13777060e-01 -1.73049176e-02 7.00159159e-01 -7.80655947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:-124.64, Z:-78.09 [[ 5.75373300e-01 5.55535293e-01 6.00271692e-01 2.12358291e+02] [-3.99204968e-01 8.31316565e-01 -3.86714574e-01 -1.24640268e+02] [-7.13849395e-01 -1.71262009e-02 7.00089805e-01 -7.80895009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:-124.65, Z:-78.11 [[ 5.75205207e-01 5.55975438e-01 6.00025234e-01 2.12377005e+02] [-3.99644095e-01 8.31019701e-01 -3.86899024e-01 -1.24653463e+02] [-7.13739145e-01 -1.72502086e-02 7.00199160e-01 -7.81133985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:-124.67, Z:-78.14 [[ 5.74194515e-01 5.56881396e-01 6.00153122e-01 2.12394904e+02] [-4.00519273e-01 8.30397601e-01 -3.87329494e-01 -1.24666806e+02] [-7.14062302e-01 -1.79704215e-02 6.99851480e-01 -7.81364022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:-124.68, Z:-78.16 [[ 5.73428762e-01 5.57672418e-01 6.00150756e-01 2.12413335e+02] [-4.01334974e-01 8.29853356e-01 -3.87651449e-01 -1.24679114e+02] [-7.14219640e-01 -1.85709977e-02 6.99675228e-01 -7.81594982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-124.69, Z:-78.18 [[ 5.72297305e-01 5.58757962e-01 6.00221072e-01 2.12431903e+02] [-4.02539850e-01 8.29100228e-01 -3.88013506e-01 -1.24691708e+02] [-7.14449063e-01 -1.95538159e-02 6.99414172e-01 -7.81833684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:-124.70, Z:-78.21 [[ 5.71387440e-01 5.59835085e-01 6.00084220e-01 2.12450061e+02] [-4.03832324e-01 8.28350912e-01 -3.88270809e-01 -1.24703636e+02] [-7.14447932e-01 -2.04803418e-02 6.99388810e-01 -7.82061105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:-124.72, Z:-78.23 [[ 5.69805620e-01 5.61778244e-01 5.99772257e-01 2.12468555e+02] [-4.06515092e-01 8.26981575e-01 -3.88390209e-01 -1.24716103e+02] [-7.14189775e-01 -2.25095505e-02 6.99590084e-01 -7.82297153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:-124.73, Z:-78.25 [[ 5.69173811e-01 5.62801098e-01 5.99413127e-01 2.12487620e+02] [-4.07872220e-01 8.26262184e-01 -3.88498463e-01 -1.24728828e+02] [-7.13919761e-01 -2.33608121e-02 6.99837729e-01 -7.82536014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:-124.74, Z:-78.28 [[ 5.68247780e-01 5.63781905e-01 5.99370023e-01 2.12506367e+02] [-4.08976827e-01 8.25569438e-01 -3.88809796e-01 -1.24741217e+02] [-7.14025500e-01 -2.41881469e-02 6.99701735e-01 -7.82772963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:-124.75, Z:-78.30 [[ 5.67245441e-01 5.64719784e-01 5.99436549e-01 2.12525425e+02] [-4.09955118e-01 8.24904710e-01 -3.89190213e-01 -1.24753590e+02] [-7.14261445e-01 -2.49757075e-02 6.99433201e-01 -7.83010071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:-124.77, Z:-78.32 [[ 5.65415893e-01 5.66430741e-01 5.99550734e-01 2.12544637e+02] [-4.12027000e-01 8.23675356e-01 -3.89605774e-01 -1.24766298e+02] [-7.14519852e-01 -2.67417939e-02 6.99103896e-01 -7.83242234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-124.78, Z:-78.35 [[ 5.64592346e-01 5.67357900e-01 5.99450162e-01 2.12563347e+02] [-4.13089353e-01 8.23011950e-01 -3.89882696e-01 -1.24778547e+02] [-7.14557674e-01 -2.75016936e-02 6.99035755e-01 -7.83473757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:-124.79, Z:-78.37 [[ 5.63584640e-01 5.68209125e-01 5.99592148e-01 2.12582405e+02] [-4.14029069e-01 8.22395833e-01 -3.90185885e-01 -1.24790754e+02] [-7.14809264e-01 -2.83458074e-02 6.98744754e-01 -7.83711589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:-124.80, Z:-78.39 [[ 5.62656941e-01 5.69063071e-01 5.99653556e-01 2.12600759e+02] [-4.14891082e-01 8.21781051e-01 -3.90565351e-01 -1.24802680e+02] [-7.15040248e-01 -2.90366075e-02 6.98480006e-01 -7.83940912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:-124.81, Z:-78.42 [[ 5.63398149e-01 5.74609410e-01 5.93638401e-01 2.12619449e+02] [-4.16160693e-01 8.18092268e-01 -3.96907193e-01 -1.24810299e+02] [-7.13717594e-01 -2.34321904e-02 7.00041520e-01 -7.84194420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-124.83, Z:-78.44 [[ 5.62730869e-01 5.63143514e-01 6.05147380e-01 2.12636831e+02] [-4.14894677e-01 8.25581168e-01 -3.82463256e-01 -1.24832408e+02] [-7.14979983e-01 -3.58485467e-02 6.98225255e-01 -7.84380158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:-124.84, Z:-78.46 [[ 5.62801454e-01 5.68707293e-01 5.99855431e-01 2.12655447e+02] [-4.13471009e-01 8.22073061e-01 -3.91455753e-01 -1.24840089e+02] [-7.15748732e-01 -2.77109633e-02 6.97807892e-01 -7.84642278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:-124.85, Z:-78.49 [[ 5.63219473e-01 5.68686753e-01 5.99482446e-01 2.12673786e+02] [-4.13320277e-01 8.22102739e-01 -3.91552597e-01 -1.24853221e+02] [-7.15506935e-01 -2.72482037e-02 6.98074037e-01 -7.84866870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:-124.87, Z:-78.51 [[ 5.63926860e-01 5.68200295e-01 5.99278668e-01 2.12692632e+02] [-4.12411186e-01 8.22471854e-01 -3.91735961e-01 -1.24866646e+02] [-7.15474326e-01 -2.62387956e-02 6.98146127e-01 -7.85103659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.71, Y:-124.88, Z:-78.53 [[ 5.63809077e-01 5.68485243e-01 5.99119231e-01 2.12711962e+02] [-4.12568244e-01 8.22276932e-01 -3.91979707e-01 -1.24879226e+02] [-7.15476602e-01 -2.61758523e-02 6.98146157e-01 -7.85345802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.73, Y:-124.89, Z:-78.56 [[ 5.64065546e-01 5.68458349e-01 5.98903302e-01 2.12730931e+02] [-4.12417879e-01 8.22306101e-01 -3.92076739e-01 -1.24891654e+02] [-7.15361135e-01 -2.58414496e-02 6.98276927e-01 -7.85587655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:-124.90, Z:-78.58 [[ 5.64539316e-01 5.68422064e-01 5.98491202e-01 2.12749176e+02] [-4.12264130e-01 8.22346473e-01 -3.92153751e-01 -1.24903632e+02] [-7.15075974e-01 -2.53502444e-02 6.98586943e-01 -7.85814779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:-124.92, Z:-78.61 [[ 5.65193504e-01 5.68203756e-01 5.98080927e-01 2.12767978e+02] [-4.11870305e-01 8.22518348e-01 -3.92207113e-01 -1.24915819e+02] [-7.14786091e-01 -2.46588617e-02 6.98908281e-01 -7.86055595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:-124.93, Z:-78.63 [[ 5.65723681e-01 5.68192803e-01 5.97589872e-01 2.12786539e+02] [-4.11814431e-01 8.22539336e-01 -3.92221767e-01 -1.24928200e+02] [-7.14398762e-01 -2.42069912e-02 6.99319977e-01 -7.86287284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.81, Y:-124.94, Z:-78.65 [[ 5.66486705e-01 5.67841448e-01 5.97200890e-01 2.12805417e+02] [-4.11225665e-01 8.22806326e-01 -3.92279495e-01 -1.24941088e+02] [-7.14133227e-01 -2.33632146e-02 6.99619822e-01 -7.86523421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-124.95, Z:-78.68 [[ 5.68290576e-01 5.66360603e-01 5.96893197e-01 2.12824227e+02] [-4.08916429e-01 8.23888192e-01 -3.92422733e-01 -1.24954245e+02] [-7.14026032e-01 -2.10692940e-02 6.99802051e-01 -7.86765837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:-124.97, Z:-78.70 [[ 5.69806429e-01 5.65136772e-01 5.96607964e-01 2.12842855e+02] [-4.06973335e-01 8.24775869e-01 -3.92577980e-01 -1.24966858e+02] [-7.13928104e-01 -1.91100759e-02 6.99958190e-01 -7.86999890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.86, Y:-124.98, Z:-78.72 [[ 5.71450107e-01 5.63706834e-01 5.96388616e-01 2.12860916e+02] [-4.04694127e-01 8.25801980e-01 -3.92776976e-01 -1.24979510e+02] [-7.13909966e-01 -1.69025250e-02 7.00033475e-01 -7.87227914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:-124.99, Z:-78.75 [[ 5.73164070e-01 5.62007861e-01 5.96347310e-01 2.12879882e+02] [-4.01941855e-01 8.27006462e-01 -3.93068769e-01 -1.24992878e+02] [-7.14090817e-01 -1.44040484e-02 6.99904871e-01 -7.87463024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-125.01, Z:-78.77 [[ 5.76760900e-01 5.58209890e-01 5.96446630e-01 2.12897847e+02] [-3.96047420e-01 8.29647942e-01 -3.93485366e-01 -1.25006511e+02] [-7.14488142e-01 -9.27417513e-03 6.99586081e-01 -7.87692720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:-125.02, Z:-78.79 [[ 5.78830466e-01 5.56228138e-01 5.96293174e-01 2.12916493e+02] [-3.92967667e-01 8.31004741e-01 -3.93709961e-01 -1.25019647e+02] [-7.14515014e-01 -6.43261768e-03 6.99590535e-01 -7.87926205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:-125.03, Z:-78.82 [[ 5.81123218e-01 5.54318609e-01 5.95841157e-01 2.12935580e+02] [-3.90179444e-01 8.32296489e-01 -3.93754435e-01 -1.25032833e+02] [-7.14181914e-01 -3.66512638e-03 6.99950541e-01 -7.88165352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:-125.05, Z:-78.84 [[ 5.85789127e-01 5.50125343e-01 5.95158135e-01 2.12953157e+02] [-3.84292570e-01 8.35079977e-01 -3.93650420e-01 -1.25045342e+02] [-7.13561714e-01 1.88128654e-03 7.00589853e-01 -7.88400477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:-125.06, Z:-78.86 [[ 5.87919367e-01 5.48335768e-01 5.94708923e-01 2.12971707e+02] [-3.81833079e-01 8.36247181e-01 -3.93565943e-01 -1.25058161e+02] [-7.13129944e-01 4.30550123e-03 7.01018648e-01 -7.88639119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:-125.07, Z:-78.89 [[ 5.90177812e-01 5.46557569e-01 5.94108554e-01 2.12990200e+02] [-3.79373423e-01 8.37393514e-01 -3.93507190e-01 -1.25070571e+02] [-7.12576983e-01 6.85021643e-03 7.01560487e-01 -7.88875564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:-125.08, Z:-78.91 [[ 5.91994898e-01 5.45090379e-01 5.93648481e-01 2.13008630e+02] [-3.77266108e-01 8.38328860e-01 -3.93541619e-01 -1.25083292e+02] [-7.12188405e-01 9.01117878e-03 7.01930534e-01 -7.89107937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.03, Y:-125.10, Z:-78.93 [[ 5.93601790e-01 5.43631285e-01 5.93381784e-01 2.13027943e+02] [-3.75066943e-01 8.39250336e-01 -3.93679644e-01 -1.25096037e+02] [-7.12012432e-01 1.11310496e-02 7.02078625e-01 -7.89348282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:-125.11, Z:-78.96 [[ 5.95689170e-01 5.41318883e-01 5.93403976e-01 2.13047326e+02] [-3.71440459e-01 8.40695641e-01 -3.94034041e-01 -1.25109099e+02] [-7.12170203e-01 1.43075656e-02 7.01861023e-01 -7.89579608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:-125.12, Z:-78.98 [[ 5.96150135e-01 5.40481605e-01 5.93704178e-01 2.13066297e+02] [-3.69701248e-01 8.41208731e-01 -3.94574275e-01 -1.25121667e+02] [-7.12689276e-01 1.57323316e-02 7.01303422e-01 -7.89811941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.09, Y:-125.13, Z:-79.00 [[ 5.96348895e-01 5.40091404e-01 5.93859639e-01 2.13085413e+02] [-3.68694281e-01 8.41442324e-01 -3.95018155e-01 -1.25134227e+02] [-7.13044545e-01 1.66159883e-02 7.00921812e-01 -7.90042554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:-125.15, Z:-79.03 [[ 5.96364474e-01 5.40480754e-01 5.93489653e-01 2.13105496e+02] [-3.69161797e-01 8.41193858e-01 -3.95110696e-01 -1.25146009e+02] [-7.12789578e-01 1.65362752e-02 7.01182979e-01 -7.90272770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:-125.16, Z:-79.05 [[ 5.96283997e-01 5.40741560e-01 5.93332925e-01 2.13124724e+02] [-3.69295725e-01 8.41024516e-01 -3.95345963e-01 -1.25158762e+02] [-7.12787529e-01 1.66231583e-02 7.01183007e-01 -7.90514997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:-125.17, Z:-79.08 [[ 5.95467070e-01 5.41844684e-01 5.93146953e-01 2.13144682e+02] [-3.70794058e-01 8.40335375e-01 -3.95408934e-01 -1.25169935e+02] [-7.12692596e-01 1.55176336e-02 7.01304832e-01 -7.90752412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-125.18, Z:-79.10 [[ 5.95174986e-01 5.42947758e-01 5.92430981e-01 2.13164087e+02] [-3.72516365e-01 8.39640196e-01 -3.95266870e-01 -1.25181306e+02] [-7.12038127e-01 1.45627178e-02 7.01989768e-01 -7.90986546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:-125.19, Z:-79.12 [[ 5.93483834e-01 5.45601711e-01 5.91688864e-01 2.13183875e+02] [-3.76442709e-01 8.37962192e-01 -3.95107898e-01 -1.25191625e+02] [-7.11384443e-01 1.17531914e-02 7.02704801e-01 -7.91216744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:-125.20, Z:-79.15 [[ 5.92076751e-01 5.47351790e-01 5.91482154e-01 2.13203348e+02] [-3.78850644e-01 8.36844182e-01 -3.95175916e-01 -1.25202875e+02] [-7.11278645e-01 9.89107758e-03 7.02840563e-01 -7.91450955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.22, Y:-125.21, Z:-79.17 [[ 5.90590040e-01 5.49324519e-01 5.91139559e-01 2.13222420e+02] [-3.81533580e-01 8.35571633e-01 -3.95287458e-01 -1.25213762e+02] [-7.11080539e-01 7.91324343e-03 7.03066034e-01 -7.91678871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:-125.22, Z:-79.19 [[ 5.88906681e-01 5.51535661e-01 5.90759965e-01 2.13241551e+02] [-3.84605294e-01 8.34132415e-01 -3.95350328e-01 -1.25224942e+02] [-7.10821841e-01 5.61503924e-03 7.03349687e-01 -7.91903693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.26, Y:-125.24, Z:-79.21 [[ 5.88840817e-01 5.51761283e-01 5.90614916e-01 2.13260751e+02] [-3.84707596e-01 8.33982530e-01 -3.95566942e-01 -1.25237765e+02] [-7.10821045e-01 5.71191710e-03 7.03349711e-01 -7.92145929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-125.25, Z:-79.24 [[ 5.84801383e-01 5.55971867e-01 5.90679799e-01 2.13280731e+02] [-3.90492861e-01 8.31200742e-01 -3.95753272e-01 -1.25248641e+02] [-7.11001173e-01 7.80815761e-04 7.03190389e-01 -7.92374405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-125.26, Z:-79.26 [[ 5.82672125e-01 5.58261316e-01 5.90624668e-01 2.13300059e+02] [-3.93475817e-01 8.29663546e-01 -3.96024219e-01 -1.25260468e+02] [-7.11104758e-01 -1.64425045e-03 7.03084149e-01 -7.92609223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:-125.27, Z:-79.28 [[ 5.80521742e-01 5.60404244e-01 5.90712782e-01 2.13320031e+02] [-3.96122021e-01 8.28210233e-01 -3.96427994e-01 -1.25272417e+02] [-7.11394301e-01 -3.85927104e-03 7.02782509e-01 -7.92849329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.34, Y:-125.28, Z:-79.31 [[ 5.76744991e-01 5.63731336e-01 5.91246308e-01 2.13340453e+02] [-4.00169177e-01 8.25923676e-01 -3.97133116e-01 -1.25283048e+02] [-7.12200706e-01 -7.55401353e-03 7.01935247e-01 -7.93089053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:-125.29, Z:-79.33 [[ 5.74001246e-01 5.66155718e-01 5.91599757e-01 2.13360200e+02] [-4.03050241e-01 8.24235825e-01 -3.97725796e-01 -1.25293663e+02] [-7.12792447e-01 -1.01493221e-02 7.01301589e-01 -7.93323045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:-125.31, Z:-79.36 [[ 5.73889180e-01 5.66375310e-01 5.91498282e-01 2.13379366e+02] [-4.03210106e-01 8.24084803e-01 -3.97876673e-01 -1.25306549e+02] [-7.12792270e-01 -1.01609674e-02 7.01301600e-01 -7.93564916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:-125.32, Z:-79.38 [[ 5.71942850e-01 5.67949173e-01 5.91874238e-01 2.13399298e+02] [-4.04981033e-01 8.22978261e-01 -3.98368102e-01 -1.25317840e+02] [-7.13352465e-01 -1.18540530e-02 7.00705175e-01 -7.93800305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.42, Y:-125.33, Z:-79.40 [[ 5.71154928e-01 5.68751556e-01 5.91864609e-01 2.13418371e+02] [-4.05787774e-01 8.22415197e-01 -3.98709827e-01 -1.25330201e+02] [-7.13525283e-01 -1.24463398e-02 7.00518921e-01 -7.94032806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:-125.34, Z:-79.43 [[ 5.70907054e-01 5.69134621e-01 5.91735515e-01 2.13437306e+02] [-4.06069769e-01 8.22149180e-01 -3.98971263e-01 -1.25342150e+02] [-7.13563227e-01 -1.25103952e-02 7.00479130e-01 -7.94271398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.46, Y:-125.35, Z:-79.45 [[ 5.71052143e-01 5.69384957e-01 5.91354564e-01 2.13456193e+02] [-4.06317326e-01 8.21977706e-01 -3.99072528e-01 -1.25354209e+02] [-7.13306162e-01 -1.23863829e-02 7.00743103e-01 -7.94504267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-125.37, Z:-79.48 [[ 5.71878329e-01 5.69242090e-01 5.90693338e-01 2.13475400e+02] [-4.06211407e-01 8.22085411e-01 -3.98958481e-01 -1.25365986e+02] [-7.12704336e-01 -1.17906628e-02 7.01365461e-01 -7.94751276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:-125.38, Z:-79.50 [[ 5.72290688e-01 5.69093095e-01 5.90437480e-01 2.13494081e+02] [-4.05803628e-01 8.22197149e-01 -3.99143162e-01 -1.25378394e+02] [-7.12605630e-01 -1.11757566e-02 7.01475814e-01 -7.94992150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.51, Y:-125.39, Z:-79.52 [[ 5.73054615e-01 5.68774020e-01 5.90003833e-01 2.13512132e+02] [-4.05272834e-01 8.22428764e-01 -3.99205282e-01 -1.25390900e+02] [-7.12293716e-01 -1.03460966e-02 7.01805258e-01 -7.95219896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-125.40, Z:-79.55 [[ 5.75140995e-01 5.67219374e-01 5.89470116e-01 2.13530633e+02] [-4.03066244e-01 8.23527748e-01 -3.99173710e-01 -1.25404310e+02] [-7.11864059e-01 -8.01434041e-03 7.02271551e-01 -7.95457208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:-125.42, Z:-79.57 [[ 5.76333917e-01 5.66197176e-01 5.89287683e-01 2.13548548e+02] [-4.01373020e-01 8.24245471e-01 -3.99398426e-01 -1.25416943e+02] [-7.11855965e-01 -6.33731787e-03 7.02296892e-01 -7.95686774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:-125.43, Z:-79.59 [[ 5.77930544e-01 5.64981008e-01 5.88891116e-01 2.13566612e+02] [-3.99575265e-01 8.25091908e-01 -3.99453314e-01 -1.25429806e+02] [-7.11572831e-01 -4.45005251e-03 7.02598251e-01 -7.95914642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:-125.44, Z:-79.62 [[ 5.80967025e-01 5.61951479e-01 5.88802047e-01 2.13584944e+02] [-3.94992793e-01 8.27170122e-01 -3.99712750e-01 -1.25443472e+02] [-7.11658633e-01 -3.52637550e-04 7.02525349e-01 -7.96155471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:-125.46, Z:-79.64 [[ 5.82175630e-01 5.60532635e-01 5.88960696e-01 2.13603324e+02] [-3.92512954e-01 8.28130395e-01 -4.00167003e-01 -1.25456525e+02] [-7.12042918e-01 1.79277463e-03 7.02133655e-01 -7.96397377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:-125.47, Z:-79.66 [[ 5.83611514e-01 5.59002663e-01 5.88993738e-01 2.13621552e+02] [-3.89963128e-01 8.29155862e-01 -4.00536284e-01 -1.25469519e+02] [-7.12268460e-01 4.07174687e-03 7.01895335e-01 -7.96632100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:-125.48, Z:-79.69 [[ 5.84926387e-01 5.57476139e-01 5.89136212e-01 2.13639809e+02] [-3.87479499e-01 8.30169906e-01 -4.00846061e-01 -1.25483020e+02] [-7.12545269e-01 6.18723415e-03 7.01598859e-01 -7.96869029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-125.50, Z:-79.71 [[ 5.87855369e-01 5.54369491e-01 5.89152385e-01 2.13657302e+02] [-3.82709456e-01 8.32205972e-01 -4.01206545e-01 -1.25496826e+02] [-7.12712801e-01 1.03772330e-02 7.01379196e-01 -7.97093018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:-125.51, Z:-79.73 [[ 5.89079302e-01 5.53016276e-01 5.89201642e-01 2.13675889e+02] [-3.80429402e-01 8.33078113e-01 -4.01564849e-01 -1.25509924e+02] [-7.12922889e-01 1.24039127e-02 7.01132724e-01 -7.97326515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-125.52, Z:-79.76 [[ 5.91304820e-01 5.50443776e-01 5.89381251e-01 2.13694536e+02] [-3.76320181e-01 8.34720358e-01 -4.02026174e-01 -1.25523029e+02] [-7.13261335e-01 1.59239558e-02 7.00717273e-01 -7.97563642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.71, Y:-125.54, Z:-79.78 [[ 5.92110761e-01 5.49647453e-01 5.89315300e-01 2.13713488e+02] [-3.74894805e-01 8.35217786e-01 -4.02324665e-01 -1.25536031e+02] [-7.13343347e-01 1.72895188e-02 7.00601414e-01 -7.97799049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:-125.55, Z:-79.80 [[ 5.92404480e-01 5.49037469e-01 5.89588662e-01 2.13732657e+02] [-3.73477594e-01 8.35593880e-01 -4.02861459e-01 -1.25548697e+02] [-7.13842713e-01 1.84587780e-02 7.00062750e-01 -7.98036424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.75, Y:-125.56, Z:-79.83 [[ 5.92508147e-01 5.48633075e-01 5.89860869e-01 2.13752230e+02] [-3.72350371e-01 8.35838575e-01 -4.03396923e-01 -1.25560676e+02] [-7.14345362e-01 1.93810505e-02 6.99524895e-01 -7.98274292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.77, Y:-125.57, Z:-79.85 [[ 5.92424712e-01 5.48900261e-01 5.89696077e-01 2.13771305e+02] [-3.72487818e-01 8.35661061e-01 -4.03637730e-01 -1.25573661e+02] [-7.14342905e-01 1.94703605e-02 6.99524924e-01 -7.98516513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:-125.59, Z:-79.87 [[ 5.92049139e-01 5.49222110e-01 5.89773594e-01 2.13789850e+02] [-3.72684469e-01 8.35453026e-01 -4.03886775e-01 -1.25585424e+02] [-7.14551680e-01 1.93213583e-02 6.99315795e-01 -7.98746932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:-125.60, Z:-79.90 [[ 5.91089244e-01 5.50546790e-01 5.89501261e-01 2.13809615e+02] [-3.74420656e-01 8.34608174e-01 -4.04027683e-01 -1.25596574e+02] [-7.14438715e-01 1.80949692e-02 6.99464005e-01 -7.98986422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:-125.61, Z:-79.92 [[ 5.90083080e-01 5.51515962e-01 5.89603343e-01 2.13828768e+02] [-3.75366387e-01 8.33984197e-01 -4.04438418e-01 -1.25607754e+02] [-7.14774115e-01 1.73349908e-02 6.99140517e-01 -7.99225469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.85, Y:-125.62, Z:-79.95 [[ 5.87739730e-01 5.53547562e-01 5.90039919e-01 2.13849242e+02] [-3.77565014e-01 8.32676900e-01 -4.05084979e-01 -1.25617943e+02] [-7.15546413e-01 1.53061062e-02 6.98397490e-01 -7.99470756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:-125.62, Z:-79.98 [[ 5.84936519e-01 5.61646036e-01 5.85152116e-01 2.13865868e+02] [-3.75692248e-01 8.27005825e-01 -4.18230440e-01 -1.25617759e+02] [-7.18821677e-01 2.48011438e-02 6.94751970e-01 -7.99785234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:-125.63, Z:-80.00 [[ 5.82877708e-01 5.56689661e-01 5.91903877e-01 2.13883222e+02] [-3.75767217e-01 8.30542474e-01 -4.11093903e-01 -1.25633271e+02] [-7.20453036e-01 1.71993998e-02 6.93290418e-01 -8.00005650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:-125.67, Z:-80.01 [[ 5.83980907e-01 5.41909448e-01 6.04400902e-01 2.13905702e+02] [-3.80913608e-01 8.40421345e-01 -3.85482537e-01 -1.25665430e+02] [-7.16848048e-01 -5.11008680e-03 6.97210702e-01 -8.00103692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-125.64, Z:-80.05 [[ 5.79926220e-01 5.69893837e-01 5.82156846e-01 2.13923817e+02] [-3.79307948e-01 8.21296890e-01 -4.26141878e-01 -1.25644078e+02] [-7.20979237e-01 2.63141303e-02 6.92456863e-01 -8.00510522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.94, Y:-125.69, Z:-80.06 [[ 5.80860277e-01 5.44465227e-01 6.05110697e-01 2.13944614e+02] [-3.84771813e-01 8.38735018e-01 -3.85323530e-01 -1.25685860e+02] [-7.17322794e-01 -9.01040806e-03 6.96682727e-01 -8.00572663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:-125.68, Z:-80.09 [[ 5.79909350e-01 5.61415979e-01 5.90353490e-01 2.13966131e+02] [-3.86737253e-01 8.27497594e-01 -4.07040574e-01 -1.25683172e+02] [-7.17035176e-01 7.73494752e-03 6.96994066e-01 -8.00879502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:-125.69, Z:-80.11 [[ 5.77465900e-01 5.63994293e-01 5.90291091e-01 2.13986668e+02] [-3.90107510e-01 8.25763843e-01 -4.07345316e-01 -1.25691825e+02] [-7.17181473e-01 4.95104244e-03 6.96868870e-01 -8.01123884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:-125.68, Z:-80.15 [[ 5.74345850e-01 5.76794493e-01 5.80891520e-01 2.14003011e+02] [-3.87434045e-01 8.16628291e-01 -4.27800298e-01 -1.25684631e+02] [-7.21125305e-01 2.06481742e-02 6.92496893e-01 -8.01467660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:-125.73, Z:-80.15 [[ 5.74854628e-01 5.49966224e-01 6.05870704e-01 2.14023498e+02] [-3.93560230e-01 8.35005862e-01 -3.84545909e-01 -1.25728808e+02] [-7.17392851e-01 -1.73886182e-02 6.96451817e-01 -8.01531321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:-125.72, Z:-80.18 [[ 5.73444355e-01 5.68260811e-01 5.90119668e-01 2.14044570e+02] [-3.95500036e-01 8.22848280e-01 -4.08044641e-01 -1.25724981e+02] [-7.17454732e-01 5.98545951e-04 6.96604873e-01 -8.01826586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:214.07, Y:-125.73, Z:-80.21 [[ 5.72153637e-01 5.73028995e-01 5.86752065e-01 2.14065685e+02] [-3.98643814e-01 8.19533500e-01 -4.11640562e-01 -1.25732667e+02] [-7.16744951e-01 1.61656351e-03 6.97333537e-01 -8.02085531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.08, Y:-125.75, Z:-80.23 [[ 5.69742957e-01 5.71250906e-01 5.90817540e-01 2.14083711e+02] [-4.00565750e-01 8.20762580e-01 -4.07303164e-01 -1.25746768e+02] [-7.17593230e-01 -4.60316170e-03 6.96447247e-01 -8.02295019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:-125.76, Z:-80.25 [[ 5.68380290e-01 5.73667190e-01 5.89787929e-01 2.14102391e+02] [-4.02762874e-01 8.19071091e-01 -4.08539613e-01 -1.25756878e+02] [-7.17444014e-01 -5.33881766e-03 6.96595710e-01 -8.02532225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-125.77, Z:-80.28 [[ 5.66904088e-01 5.75259991e-01 5.89657272e-01 2.14121517e+02] [-4.04814596e-01 8.17940969e-01 -4.08775873e-01 -1.25768267e+02] [-7.17457245e-01 -6.96515690e-03 6.96567720e-01 -8.02773530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:-125.78, Z:-80.30 [[ 5.64509148e-01 5.77829917e-01 5.89442117e-01 2.14140783e+02] [-4.08307840e-01 8.16098387e-01 -4.08984267e-01 -1.25778785e+02] [-7.17366106e-01 -9.79847727e-03 6.96627490e-01 -8.03012713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.16, Y:-125.79, Z:-80.32 [[ 5.63290948e-01 5.79188961e-01 5.89273667e-01 2.14158947e+02] [-4.10047297e-01 8.15117319e-01 -4.09200403e-01 -1.25790434e+02] [-7.17331528e-01 -1.11311916e-02 6.96643076e-01 -8.03242501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-125.80, Z:-80.35 [[ 5.62247473e-01 5.80261179e-01 5.89215362e-01 2.14177483e+02] [-4.11302007e-01 8.14340387e-01 -4.09487964e-01 -1.25802505e+02] [-7.17431835e-01 -1.21118876e-02 6.96523413e-01 -8.03474701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-125.82, Z:-80.37 [[ 5.61427029e-01 5.81037695e-01 5.89232457e-01 2.14196440e+02] [-4.12091953e-01 8.13776968e-01 -4.09813700e-01 -1.25815043e+02] [-7.17621010e-01 -1.27374662e-02 6.96317344e-01 -8.03711752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.22, Y:-125.83, Z:-80.40 [[ 5.60332132e-01 5.81947333e-01 5.89376962e-01 2.14215410e+02] [-4.12947996e-01 8.13114475e-01 -4.10266747e-01 -1.25828307e+02] [-7.17984578e-01 -1.34963943e-02 6.95928152e-01 -8.03951130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-125.84, Z:-80.42 [[ 5.59961521e-01 5.82347017e-01 5.89334410e-01 2.14234062e+02] [-4.13196349e-01 8.12826580e-01 -4.10587053e-01 -1.25841349e+02] [-7.18130819e-01 -1.35978761e-02 6.95775269e-01 -8.04189719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.25, Y:-125.85, Z:-80.44 [[ 5.59351019e-01 5.82844923e-01 5.89421949e-01 2.14252544e+02] [-4.13488321e-01 8.12465845e-01 -4.11006884e-01 -1.25854546e+02] [-7.18438478e-01 -1.38219730e-02 6.95453166e-01 -8.04424591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.27, Y:-125.87, Z:-80.47 [[ 5.58535151e-01 5.83295122e-01 5.89750189e-01 2.14271276e+02] [-4.13546907e-01 8.12139633e-01 -4.11592241e-01 -1.25868128e+02] [-7.19039249e-01 -1.40006321e-02 6.94828426e-01 -8.04664863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-125.88, Z:-80.49 [[ 5.58082625e-01 5.84347572e-01 5.89136401e-01 2.14288092e+02] [-4.15129553e-01 8.11366621e-01 -4.11523585e-01 -1.25881205e+02] [-7.18478419e-01 -1.49037684e-02 6.95389560e-01 -8.04897761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-125.89, Z:-80.51 [[ 5.58074277e-01 5.84958190e-01 5.88538034e-01 2.14306166e+02] [-4.16084575e-01 8.10919736e-01 -4.11439921e-01 -1.25894038e+02] [-7.17932258e-01 -1.52675613e-02 6.95945525e-01 -8.05134819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:-125.91, Z:-80.54 [[ 5.57698552e-01 5.85731366e-01 5.88125065e-01 2.14323996e+02] [-4.17128186e-01 8.10350687e-01 -4.11504362e-01 -1.25907378e+02] [-7.17618562e-01 -1.58281549e-02 6.96256467e-01 -8.05368947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-125.92, Z:-80.56 [[ 5.57258234e-01 5.86563763e-01 5.87712696e-01 2.14341072e+02] [-4.18282639e-01 8.09735089e-01 -4.11544311e-01 -1.25922097e+02] [-7.17288572e-01 -1.64935612e-02 6.96580984e-01 -8.05604848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-125.94, Z:-80.58 [[ 5.57195852e-01 5.86958987e-01 5.87377161e-01 2.14358300e+02] [-4.18718457e-01 8.09447162e-01 -4.11667519e-01 -1.25935738e+02] [-7.17082726e-01 -1.65662248e-02 6.96791163e-01 -8.05830784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-125.95, Z:-80.61 [[ 5.57128105e-01 5.87359805e-01 5.87040657e-01 2.14376213e+02] [-4.19303847e-01 8.09151441e-01 -4.11653046e-01 -1.25949812e+02] [-7.16793246e-01 -1.68049246e-02 6.97083235e-01 -8.06064287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-125.97, Z:-80.63 [[ 5.57840482e-01 5.84455915e-01 5.89258246e-01 2.14394651e+02] [-4.20379258e-01 8.11156119e-01 -4.06579672e-01 -1.25970757e+02] [-7.15608326e-01 -2.09053440e-02 6.98188864e-01 -8.06267629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:-125.98, Z:-80.65 [[ 5.56280449e-01 5.92534006e-01 5.82628109e-01 2.14411298e+02] [-4.19018790e-01 8.05470361e-01 -4.19095158e-01 -1.25975280e+02] [-7.17617806e-01 -1.09976826e-02 6.96350297e-01 -8.06540001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:-125.99, Z:-80.67 [[ 5.56619905e-01 5.87876951e-01 5.87005087e-01 2.14427954e+02] [-4.19286454e-01 8.08780563e-01 -4.12398923e-01 -1.25993452e+02] [-7.17198126e-01 -1.65738320e-02 6.96672202e-01 -8.06745385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:-126.01, Z:-80.70 [[ 5.56379000e-01 5.87990002e-01 5.87120232e-01 2.14445001e+02] [-4.19148487e-01 8.08700397e-01 -4.12696274e-01 -1.26008461e+02] [-7.17465647e-01 -1.64750168e-02 6.96399037e-01 -8.06981659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:-126.02, Z:-80.72 [[ 5.56302532e-01 5.88227970e-01 5.86954298e-01 2.14463924e+02] [-4.19245624e-01 8.08529600e-01 -4.12932189e-01 -1.26021717e+02] [-7.17468187e-01 -1.63627990e-02 6.96399066e-01 -8.07223784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:-126.04, Z:-80.75 [[ 5.55997349e-01 5.88419168e-01 5.87051813e-01 2.14481581e+02] [-4.19297987e-01 8.08388959e-01 -4.13154316e-01 -1.26035795e+02] [-7.17674123e-01 -1.64369392e-02 6.96185091e-01 -8.07460095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:-126.05, Z:-80.77 [[ 5.55999670e-01 5.88800507e-01 5.86667137e-01 2.14499795e+02] [-4.19752269e-01 8.08110079e-01 -4.13238590e-01 -1.26049930e+02] [-7.17406718e-01 -1.64943422e-02 6.96459286e-01 -8.07692695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.52, Y:-126.06, Z:-80.79 [[ 5.55809217e-01 5.89105801e-01 5.86541106e-01 2.14518125e+02] [-4.19910710e-01 8.07888219e-01 -4.13511331e-01 -1.26064030e+02] [-7.17461574e-01 -1.64614835e-02 6.96403554e-01 -8.07934156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-126.08, Z:-80.82 [[ 5.56205315e-01 5.88814499e-01 5.86458127e-01 2.14536224e+02] [-4.21346562e-01 8.08065248e-01 -4.11700897e-01 -1.26081125e+02] [-7.16311889e-01 -1.81118885e-02 6.97545151e-01 -8.08165666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:-126.09, Z:-80.84 [[ 5.56013930e-01 5.92678872e-01 5.82735157e-01 2.14553170e+02] [-4.21108144e-01 8.05327619e-01 -4.17271324e-01 -1.26089357e+02] [-7.16600615e-01 -1.33858515e-02 6.97355274e-01 -8.08410357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:-126.11, Z:-80.86 [[ 5.56222417e-01 5.90050668e-01 5.85198114e-01 2.14570053e+02] [-4.21363544e-01 8.07194609e-01 -4.13387986e-01 -1.26105470e+02] [-7.16288620e-01 -1.66454869e-02 6.97605577e-01 -8.08627765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:-126.12, Z:-80.89 [[ 5.56203584e-01 5.90449854e-01 5.84813255e-01 2.14587703e+02] [-4.21863903e-01 8.06900531e-01 -4.13451788e-01 -1.26119362e+02] [-7.16008674e-01 -1.67482362e-02 6.97890447e-01 -8.08865389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:-126.13, Z:-80.91 [[ 5.55984001e-01 5.91867020e-01 5.83588229e-01 2.14605155e+02] [-4.22934916e-01 8.05868023e-01 -4.14370350e-01 -1.26134912e+02] [-7.15547236e-01 -1.64365535e-02 6.98370956e-01 -8.09114461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:-126.15, Z:-80.93 [[ 5.55659778e-01 5.92603517e-01 5.83149451e-01 2.14622730e+02] [-4.23225136e-01 8.05332562e-01 -4.15114381e-01 -1.26147322e+02] [-7.15627484e-01 -1.61411407e-02 6.98295617e-01 -8.09336003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:-126.16, Z:-80.96 [[ 5.54998793e-01 5.92467826e-01 5.83916274e-01 2.14639488e+02] [-4.24572061e-01 8.05385142e-01 -4.13634305e-01 -1.26163907e+02] [-7.15342509e-01 -1.83479959e-02 6.98533067e-01 -8.09553389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:-126.18, Z:-80.98 [[ 5.54391073e-01 5.93413069e-01 5.83533604e-01 2.14657308e+02] [-4.25858243e-01 8.04670268e-01 -4.13703416e-01 -1.26177875e+02] [-7.15049155e-01 -1.91491147e-02 6.98811861e-01 -8.09786724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-126.19, Z:-81.01 [[ 5.52932014e-01 5.95906653e-01 5.82375694e-01 2.14674581e+02] [-4.27552633e-01 8.02823411e-01 -4.15539790e-01 -1.26192811e+02] [-7.15167767e-01 -1.92310086e-02 6.98688223e-01 -8.10054785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:-126.20, Z:-81.03 [[ 5.53262529e-01 5.98533503e-01 5.79360181e-01 2.14692142e+02] [-4.27618119e-01 8.00940414e-01 -4.19090917e-01 -1.26201925e+02] [-7.14872938e-01 -1.58776105e-02 6.99074090e-01 -8.10268240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:-126.22, Z:-81.05 [[ 5.52117443e-01 5.95805767e-01 5.83251075e-01 2.14708355e+02] [-4.28714285e-01 8.02845873e-01 -4.14297678e-01 -1.26220790e+02] [-7.15101665e-01 -2.13070933e-02 6.98695654e-01 -8.10483565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:-126.23, Z:-81.07 [[ 5.51205525e-01 5.96645228e-01 5.83255468e-01 2.14726015e+02] [-4.29708778e-01 8.02199530e-01 -4.14519336e-01 -1.26234991e+02] [-7.15208246e-01 -2.21446455e-02 6.98560505e-01 -8.10716817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-126.25, Z:-81.09 [[ 5.49709414e-01 5.98255007e-01 5.83018444e-01 2.14743504e+02] [-4.31859012e-01 8.00951698e-01 -4.14697686e-01 -1.26250490e+02] [-7.15064581e-01 -2.38185474e-02 6.98652505e-01 -8.10947505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:-126.26, Z:-81.12 [[ 5.49162461e-01 5.99042742e-01 5.82724965e-01 2.14760994e+02] [-4.32842645e-01 8.00344844e-01 -4.14843797e-01 -1.26264778e+02] [-7.14890087e-01 -2.44115743e-02 6.98810589e-01 -8.11177519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.78, Y:-126.28, Z:-81.14 [[ 5.48703368e-01 5.99511309e-01 5.82675557e-01 2.14778666e+02] [-4.33220887e-01 7.99986945e-01 -4.15139194e-01 -1.26278961e+02] [-7.15013481e-01 -2.46389470e-02 6.98676352e-01 -8.11412742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:-126.30, Z:-81.16 [[ 5.48093088e-01 6.00339746e-01 5.82396906e-01 2.14795674e+02] [-4.34263956e-01 7.99344842e-01 -4.15286216e-01 -1.26295023e+02] [-7.14848784e-01 -2.52984795e-02 6.98821296e-01 -8.11648787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:-126.31, Z:-81.19 [[ 5.47701781e-01 6.00981876e-01 5.82102691e-01 2.14813656e+02] [-4.35048377e-01 7.98848817e-01 -4.15419639e-01 -1.26309437e+02] [-7.14671721e-01 -2.57167551e-02 6.98987110e-01 -8.11883148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-126.32, Z:-81.21 [[ 5.46898153e-01 6.01771033e-01 5.82042983e-01 2.14830541e+02] [-4.35878153e-01 7.98234283e-01 -4.15731001e-01 -1.26324492e+02] [-7.14781537e-01 -2.63373039e-02 6.98851701e-01 -8.12121182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:-126.34, Z:-81.24 [[ 5.46893003e-01 6.01860982e-01 5.81954811e-01 2.14847487e+02] [-4.35707948e-01 7.98176110e-01 -4.16021012e-01 -1.26338887e+02] [-7.14889242e-01 -2.60433560e-02 6.98752543e-01 -8.12370073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-126.35, Z:-81.26 [[ 5.47494435e-01 6.01893511e-01 5.81355353e-01 2.14864680e+02] [-4.35794387e-01 7.98165269e-01 -4.15951265e-01 -1.26352258e+02] [-7.14376019e-01 -2.56203966e-02 6.99292856e-01 -8.12605726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-126.37, Z:-81.28 [[ 5.48073608e-01 6.01813246e-01 5.80892535e-01 2.14881361e+02] [-4.35766020e-01 7.98238477e-01 -4.15840486e-01 -1.26365940e+02] [-7.13949085e-01 -2.52220328e-02 6.99743205e-01 -8.12836358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.90, Y:-126.38, Z:-81.31 [[ 5.47995519e-01 6.02032274e-01 5.80739230e-01 2.14900156e+02] [-4.35858604e-01 7.98076385e-01 -4.16054516e-01 -1.26379369e+02] [-7.13952512e-01 -2.51241801e-02 6.99743229e-01 -8.13078477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-126.40, Z:-81.34 [[ 5.48232257e-01 6.02709894e-01 5.79812191e-01 2.14921084e+02] [-4.37331635e-01 7.97544356e-01 -4.15528629e-01 -1.26397689e+02] [-7.12869156e-01 -2.57640158e-02 7.00823645e-01 -8.13365004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-126.41, Z:-81.36 [[ 5.48561761e-01 6.02548928e-01 5.79667821e-01 2.14937079e+02] [-4.36030264e-01 7.97713786e-01 -4.16569711e-01 -1.26411396e+02] [-7.13412645e-01 -2.42384989e-02 7.00324848e-01 -8.13608069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:-126.42, Z:-81.38 [[ 5.49071511e-01 6.02512429e-01 5.79222970e-01 2.14953930e+02] [-4.35901114e-01 7.97756693e-01 -4.16622703e-01 -1.26424907e+02] [-7.13099358e-01 -2.37282805e-02 7.00661312e-01 -8.13836813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-126.44, Z:-81.41 [[ 5.50018522e-01 6.01992987e-01 5.78864465e-01 2.14970293e+02] [-4.35053167e-01 7.98180202e-01 -4.16697860e-01 -1.26439251e+02] [-7.12887345e-01 -2.26452778e-02 7.00912851e-01 -8.14066579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:-126.45, Z:-81.43 [[ 5.50278747e-01 6.01791573e-01 5.78826575e-01 2.14987811e+02] [-4.34454167e-01 7.98349874e-01 -4.16997668e-01 -1.26452698e+02] [-7.13051806e-01 -2.20086633e-02 7.00765825e-01 -8.14299176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-126.47, Z:-81.45 [[ 5.50399011e-01 6.01762973e-01 5.78741957e-01 2.15005513e+02] [-4.34144090e-01 7.98382617e-01 -4.17257842e-01 -1.26466433e+02] [-7.13147838e-01 -2.15990965e-02 7.00680841e-01 -8.14534297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-126.48, Z:-81.48 [[ 5.50703989e-01 6.01592383e-01 5.78629175e-01 2.15023105e+02] [-4.33638929e-01 7.98527310e-01 -4.17506185e-01 -1.26480056e+02] [-7.13219739e-01 -2.09938145e-02 7.00626051e-01 -8.14770726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:-126.49, Z:-81.50 [[ 5.51085268e-01 6.01298474e-01 5.78571665e-01 2.15040506e+02] [-4.33011360e-01 7.98765595e-01 -4.17701672e-01 -1.26493485e+02] [-7.13306518e-01 -2.03388656e-02 7.00557022e-01 -8.15000822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-126.51, Z:-81.52 [[ 5.51437090e-01 6.00601989e-01 5.78959745e-01 2.15057536e+02] [-4.31513857e-01 7.99317102e-01 -4.18196080e-01 -1.26507182e+02] [-7.13941823e-01 -1.92203234e-02 6.99941178e-01 -8.15233925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.936559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.08, Y:-126.53, Z:-81.54 [[ 5.52588547e-01 5.93845016e-01 5.84802527e-01 2.15077253e+02] [-4.33330927e-01 8.04075119e-01 -4.07047308e-01 -1.26531220e+02] [-7.11948176e-01 -2.84833408e-02 7.01654113e-01 -8.15417122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:-126.53, Z:-81.57 [[ 5.50859952e-01 6.10520286e-01 5.69050344e-01 2.15093950e+02] [-4.31641068e-01 7.91962747e-01 -4.31834454e-01 -1.26525470e+02] [-7.14310367e-01 -7.74519146e-03 6.99786190e-01 -8.15745032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:-126.55, Z:-81.59 [[ 5.51491115e-01 6.01205960e-01 5.78281025e-01 2.15111194e+02] [-4.31944944e-01 7.98869895e-01 -4.18605371e-01 -1.26547624e+02] [-7.13639345e-01 -1.89284216e-02 7.00257524e-01 -8.15939137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-126.56, Z:-81.62 [[ 5.51288389e-01 6.01552551e-01 5.78113865e-01 2.15129155e+02] [-4.32202443e-01 7.98608165e-01 -4.18838927e-01 -1.26560624e+02] [-7.13640078e-01 -1.89611869e-02 7.00255891e-01 -8.16175640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-126.57, Z:-81.64 [[ 5.51703123e-01 6.01876051e-01 5.77381056e-01 2.15147815e+02] [-4.32820455e-01 7.98365263e-01 -4.18663780e-01 -1.26573628e+02] [-7.12944681e-01 -1.89242164e-02 7.00964875e-01 -8.16418519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-126.59, Z:-81.66 [[ 5.51367563e-01 6.02382659e-01 5.77173235e-01 2.15165577e+02] [-4.33333514e-01 7.97977556e-01 -4.18872159e-01 -1.26586128e+02] [-7.12892612e-01 -1.91559845e-02 7.01011534e-01 -8.16646710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-126.60, Z:-81.69 [[ 5.50259665e-01 6.03284957e-01 5.77288110e-01 2.15184579e+02] [-4.34220428e-01 7.97276091e-01 -4.19289226e-01 -1.26598783e+02] [-7.13208890e-01 -1.99523414e-02 7.00667527e-01 -8.16883798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-126.61, Z:-81.71 [[ 5.49415339e-01 6.03683056e-01 5.77675994e-01 2.15202315e+02] [-4.34162514e-01 7.96971236e-01 -4.19928280e-01 -1.26610864e+02] [-7.13894738e-01 -2.00902239e-02 6.99964775e-01 -8.17118768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-126.62, Z:-81.74 [[ 5.49039245e-01 6.03741715e-01 5.77972188e-01 2.15220968e+02] [-4.33815722e-01 7.96930639e-01 -4.20363505e-01 -1.26623605e+02] [-7.14394728e-01 -1.99373608e-02 6.99458844e-01 -8.17355750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-126.64, Z:-81.76 [[ 5.48608948e-01 6.03757940e-01 5.78363702e-01 2.15239344e+02] [-4.33201695e-01 7.96927153e-01 -4.21002856e-01 -1.26636579e+02] [-7.15097555e-01 -1.95822014e-02 6.98750330e-01 -8.17595857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:-126.65, Z:-81.78 [[ 5.48418938e-01 6.03519436e-01 5.78792674e-01 2.15257709e+02] [-4.32187963e-01 7.97124376e-01 -4.21670835e-01 -1.26649539e+02] [-7.15856293e-01 -1.88949552e-02 6.97991940e-01 -8.17836653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:-126.66, Z:-81.81 [[ 5.48559228e-01 6.03156214e-01 5.79038302e-01 2.15275533e+02] [-4.31111735e-01 7.97419486e-01 -4.22214206e-01 -1.26662167e+02] [-7.16397547e-01 -1.80207081e-02 6.97459539e-01 -8.18071505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:-126.68, Z:-81.83 [[ 5.49723300e-01 6.01541809e-01 5.79613445e-01 2.15293121e+02] [-4.28005001e-01 7.98689779e-01 -4.22973233e-01 -1.26675517e+02] [-7.17367418e-01 -1.55592120e-02 6.96521283e-01 -8.18311997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:-126.69, Z:-81.86 [[ 5.50656148e-01 6.00672253e-01 5.79629754e-01 2.15310575e+02] [-4.26363231e-01 7.99372481e-01 -4.23341508e-01 -1.26689126e+02] [-7.17629571e-01 -1.40172105e-02 6.96283934e-01 -8.18551565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35655999499994 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:215.33, Y:-126.70, Z:-81.88 [[ 5.52193762e-01 5.99470563e-01 5.79410988e-01 2.15328652e+02] [-4.24413261e-01 8.00306311e-01 -4.23536530e-01 -1.26703120e+02] [-7.17603953e-01 -1.20354774e-02 6.96347409e-01 -8.18794143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:215.35, Y:-126.72, Z:-81.90 [[ 5.53517387e-01 5.98494738e-01 5.79156758e-01 2.15346110e+02] [-4.22820545e-01 8.01059859e-01 -4.23704954e-01 -1.26717146e+02] [-7.17524417e-01 -1.03513171e-02 6.96456432e-01 -8.19037248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41655999499994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:215.36, Y:-126.73, Z:-81.93 [[ 5.56626076e-01 5.96219181e-01 5.78524070e-01 2.15362486e+02] [-4.19631350e-01 8.02791352e-01 -4.23598366e-01 -1.26731280e+02] [-7.16991591e-01 -6.98093967e-03 6.97046860e-01 -8.19271446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:215.38, Y:-126.75, Z:-81.95 [[ 5.58481551e-01 5.94946712e-01 5.78045645e-01 2.15380648e+02] [-4.17811912e-01 8.03749884e-01 -4.23579189e-01 -1.26745464e+02] [-7.16611166e-01 -4.95319378e-03 6.97455305e-01 -8.19509819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47655999499995 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:215.40, Y:-126.76, Z:-81.97 [[ 5.59673389e-01 5.93928326e-01 5.77940170e-01 2.15398233e+02] [-4.16069153e-01 8.04511408e-01 -4.23848858e-01 -1.26759058e+02] [-7.16695303e-01 -3.24614988e-03 6.97378882e-01 -8.19747773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:215.42, Y:-126.77, Z:-82.00 [[ 5.61532177e-01 5.92213475e-01 5.77896889e-01 2.15415993e+02] [-4.13276852e-01 8.05780852e-01 -4.24169142e-01 -1.26772513e+02] [-7.16856930e-01 -6.46785348e-04 6.97219997e-01 -8.19996303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53655999499995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:215.43, Y:-126.79, Z:-82.02 [[ 5.62178726e-01 5.91520625e-01 5.77977881e-01 2.15433750e+02] [-4.11857605e-01 8.06289608e-01 -4.24582596e-01 -1.26785828e+02] [-7.17166922e-01 6.46717188e-04 6.96901132e-01 -8.20233594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:215.45, Y:-126.80, Z:-82.05 [[ 5.62953855e-01 5.89990288e-01 5.78787022e-01 2.15451318e+02] [-4.08679996e-01 8.07404706e-01 -4.25532962e-01 -1.26799399e+02] [-7.18375680e-01 3.01674362e-03 6.95648820e-01 -8.20471751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59655999499995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:215.47, Y:-126.81, Z:-82.07 [[ 5.63241016e-01 5.89528891e-01 5.78977759e-01 2.15468841e+02] [-4.07494280e-01 8.07737226e-01 -4.26038713e-01 -1.26812675e+02] [-7.18824019e-01 4.03235200e-03 6.95180387e-01 -8.20697907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:215.49, Y:-126.83, Z:-82.09 [[ 5.63209602e-01 5.89329143e-01 5.79211624e-01 2.15486325e+02] [-4.06675573e-01 8.07879446e-01 -4.26551029e-01 -1.26825963e+02] [-7.19312118e-01 4.68641654e-03 6.94671228e-01 -8.20923674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65655999499995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:215.50, Y:-126.84, Z:-82.12 [[ 5.62562481e-01 5.89544427e-01 5.79621276e-01 2.15504499e+02] [-4.06328626e-01 8.07721698e-01 -4.27179946e-01 -1.26839280e+02] [-7.20014238e-01 4.79869307e-03 6.93942699e-01 -8.21159318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:215.52, Y:-126.85, Z:-82.14 [[ 5.61716239e-01 5.90210300e-01 5.79764321e-01 2.15522522e+02] [-4.06800983e-01 8.07237720e-01 -4.27644974e-01 -1.26851400e+02] [-7.20408097e-01 4.36643052e-03 6.93536667e-01 -8.21386768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71655999499995 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:215.54, Y:-126.86, Z:-82.16 [[ 5.61058666e-01 5.91130959e-01 5.79462995e-01 2.15541140e+02] [-4.08010218e-01 8.06567694e-01 -4.27757195e-01 -1.26864106e+02] [-7.20236652e-01 3.57005821e-03 6.93719266e-01 -8.21627431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:215.56, Y:-126.86, Z:-82.19 [[ 5.60125243e-01 5.98979078e-01 5.72261983e-01 2.15557327e+02] [-4.04326519e-01 8.00598346e-01 -4.42224327e-01 -1.26859629e+02] [-7.23035116e-01 1.63203131e-02 6.90618468e-01 -8.21915819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77655999499996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:215.57, Y:-126.89, Z:-82.21 [[ 5.59821281e-01 5.82599602e-01 5.89217988e-01 2.15574000e+02] [-4.04831781e-01 8.12749586e-01 -4.18986087e-01 -1.26889590e+02] [-7.22987803e-01 -3.97683948e-03 6.90849348e-01 -8.22080314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:215.59, Y:-126.90, Z:-82.23 [[ 5.58357983e-01 5.86486682e-01 5.86745033e-01 2.15593328e+02] [-4.06626041e-01 8.09954701e-01 -4.22644821e-01 -1.26899957e+02] [-7.23112457e-01 -2.59870008e-03 6.90725432e-01 -8.22347643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83655999499996 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:215.61, Y:-126.91, Z:-82.26 [[ 5.55427997e-01 5.91958677e-01 5.84024542e-01 2.15610635e+02] [-4.08459966e-01 8.05968111e-01 -4.28457535e-01 -1.26905324e+02] [-7.24334313e-01 -5.73334153e-04 6.89448674e-01 -8.22612829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:215.63, Y:-126.93, Z:-82.28 [[ 5.52030841e-01 5.83658680e-01 5.95486772e-01 2.15629379e+02] [-4.14490823e-01 8.11759552e-01 -4.11392499e-01 -1.26932379e+02] [-7.23504878e-01 -1.97224555e-02 6.90037474e-01 -8.22804750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89655999499996 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:216.09, Y:-127.43, Z:-81.80 [[ 5.93771660e-01 -4.64906809e-01 6.56731966e-01 2.16086605e+02] [-4.48015923e-01 4.86944605e-01 7.49777757e-01 -1.27433764e+02] [-6.68368872e-01 -7.39423161e-01 8.08482535e-02 -8.17994988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:216.17, Y:-127.50, Z:-81.91 [[ 6.24829551e-01 -4.15302152e-01 6.61144579e-01 2.16166308e+02] [-4.82973126e-01 4.59741920e-01 7.45234411e-01 -1.27495449e+02] [-6.13453332e-01 -7.84959547e-01 8.66805586e-02 -8.19111335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95655999499996 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:216.58, Y:-126.50, Z:-82.50 [[ 5.82051132e-01 4.68344954e-01 -6.64732640e-01 2.16581356e+02] [-4.37016857e-01 -5.09212135e-01 -7.41430555e-01 -1.26501851e+02] [-6.85735186e-01 7.22049864e-01 -9.17128596e-02 -8.25006583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:215.97, Y:-127.17, Z:-82.65 [[ 5.78710906e-01 6.12429126e-01 5.38538998e-01 2.15969472e+02] [-4.58294002e-01 7.90440182e-01 -4.06412263e-01 -1.27166960e+02] [-6.74581570e-01 -1.16139832e-02 7.38108949e-01 -8.26454278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01655999499997 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:215.99, Y:-127.18, Z:-82.67 [[ 5.77408474e-01 6.13705253e-01 5.38484278e-01 2.15989238e+02] [-4.59776729e-01 7.89432225e-01 -4.06696597e-01 -1.27180545e+02] [-6.74688679e-01 -1.27524787e-02 7.37992250e-01 -8.26667263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:216.01, Y:-127.19, Z:-82.69 [[ 5.75829517e-01 6.14973012e-01 5.38728654e-01 2.16009002e+02] [-4.61070780e-01 7.88425230e-01 -4.07184716e-01 -1.27194310e+02] [-6.75154874e-01 -1.39230628e-02 7.37544605e-01 -8.26880680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07655999499997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:216.03, Y:-127.21, Z:-82.71 [[ 5.74774024e-01 6.16143666e-01 5.38518155e-01 2.16028564e+02] [-4.62539582e-01 7.87491592e-01 -4.07325580e-01 -1.27207778e+02] [-6.75049596e-01 -1.49657997e-02 7.37620545e-01 -8.27089553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:216.05, Y:-127.22, Z:-82.73 [[ 5.73523781e-01 6.17329909e-01 5.38492578e-01 2.16048701e+02] [-4.64002747e-01 7.86538604e-01 -4.07502730e-01 -1.27221730e+02] [-6.75108824e-01 -1.61495288e-02 7.37541367e-01 -8.27313330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13655999499997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:216.07, Y:-127.23, Z:-82.75 [[ 5.72069047e-01 6.19277430e-01 5.37803375e-01 2.16069338e+02] [-4.66834822e-01 7.84964528e-01 -4.07303253e-01 -1.27233860e+02] [-6.74390284e-01 -1.80597595e-02 7.38154178e-01 -8.27530730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:216.09, Y:-127.25, Z:-82.78 [[ 5.71201375e-01 6.20428860e-01 5.37398380e-01 2.16089671e+02] [-4.68406992e-01 7.84030778e-01 -4.07296733e-01 -1.27247501e+02] [-6.74035518e-01 -1.90727048e-02 7.38452675e-01 -8.27756934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.196559995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:216.11, Y:-127.26, Z:-82.80 [[ 5.70457809e-01 6.21797173e-01 5.36606152e-01 2.16109424e+02] [-4.70514327e-01 7.82915265e-01 -4.07013459e-01 -1.27259823e+02] [-6.73196966e-01 -2.02968765e-02 7.39184606e-01 -8.27971245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:216.13, Y:-127.27, Z:-82.82 [[ 5.70587732e-01 6.22139158e-01 5.36071364e-01 2.16128306e+02] [-4.71063826e-01 7.82642159e-01 -4.06903089e-01 -1.27273310e+02] [-6.72702395e-01 -2.03499173e-02 7.39633266e-01 -8.28187936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.256559995 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:216.15, Y:-127.29, Z:-82.84 [[ 5.70900246e-01 6.22410524e-01 5.35423242e-01 2.16148026e+02] [-4.71593648e-01 7.82427260e-01 -4.06702612e-01 -1.27287828e+02] [-6.72065726e-01 -2.03155790e-02 7.40212765e-01 -8.28415278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:216.17, Y:-127.30, Z:-82.86 [[ 5.71331072e-01 6.22389499e-01 5.34987960e-01 2.16167712e+02] [-4.71568166e-01 7.82453805e-01 -4.06681089e-01 -1.27302230e+02] [-6.71717404e-01 -1.99337481e-02 7.40539246e-01 -8.28636416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.316559995 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:216.19, Y:-127.32, Z:-82.88 [[ 5.72845116e-01 6.21766100e-01 5.34093054e-01 2.16186520e+02] [-4.71021640e-01 7.82976881e-01 -4.06307542e-01 -1.27316804e+02] [-6.70810769e-01 -1.88180955e-02 7.41389770e-01 -8.28846963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:216.21, Y:-127.33, Z:-82.91 [[ 5.73513591e-01 6.21441261e-01 5.33753613e-01 2.16205663e+02] [-4.70541008e-01 7.83251326e-01 -4.06335477e-01 -1.27331760e+02] [-6.70576857e-01 -1.81140443e-02 7.41618878e-01 -8.29068682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.376559995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:216.22, Y:-127.35, Z:-82.93 [[ 5.74371418e-01 6.20935389e-01 5.33419832e-01 2.16224719e+02] [-4.69795829e-01 7.83673391e-01 -4.06383925e-01 -1.27346617e+02] [-6.70365089e-01 -1.71831007e-02 7.41832453e-01 -8.29289081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:216.24, Y:-127.36, Z:-82.95 [[ 5.76049319e-01 6.19538888e-01 5.33234234e-01 2.16243270e+02] [-4.67721404e-01 7.84818732e-01 -4.06566410e-01 -1.27361416e+02] [-6.70375917e-01 -1.52027610e-02 7.41865895e-01 -8.29495429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.436559995 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:216.26, Y:-127.38, Z:-82.97 [[ 5.77682450e-01 6.17751143e-01 5.33541482e-01 2.16261345e+02] [-4.64810300e-01 7.86269152e-01 -4.07102206e-01 -1.27376238e+02] [-6.70995061e-01 -1.28197767e-02 7.41350984e-01 -8.29707785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:216.28, Y:-127.39, Z:-83.00 [[ 5.77691847e-01 6.20378746e-01 5.30473695e-01 2.16280502e+02] [-4.65036915e-01 7.84245866e-01 -4.10729946e-01 -1.27392998e+02] [-6.70829931e-01 -9.41450983e-03 7.41551462e-01 -8.29976172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.496559995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:217.29, Y:-127.29, Z:-82.33 [[ 6.38718458e-01 -6.11800739e-01 -4.66624674e-01 2.17292119e+02] [-3.79890136e-01 -7.78120031e-01 5.00212658e-01 -1.27292480e+02] [-6.69120480e-01 -1.42228947e-01 -7.29416692e-01 -8.23267032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:216.40, Y:-127.50, Z:-83.10 [[ 6.27845926e-01 5.37848943e-01 5.62608219e-01 2.16399464e+02] [-4.07654521e-01 8.42993246e-01 -3.50970338e-01 -1.27496095e+02] [-6.63043954e-01 -8.99448727e-03 7.48526429e-01 -8.31006376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.556559995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:216.42, Y:-127.51, Z:-83.12 [[ 6.28799770e-01 5.37143202e-01 5.62217067e-01 2.16419160e+02] [-4.06657592e-01 8.43453991e-01 -3.51019898e-01 -1.27509212e+02] [-6.62752180e-01 -7.90860787e-03 7.48797036e-01 -8.31218505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:216.44, Y:-127.53, Z:-83.14 [[ 6.30520962e-01 5.34643600e-01 5.62671784e-01 2.16439918e+02] [-4.05983008e-01 8.45029557e-01 -3.47998341e-01 -1.27525397e+02] [-6.61529374e-01 -9.01493499e-03 7.49865066e-01 -8.31441832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.616559995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:216.46, Y:-127.53, Z:-83.17 [[ 6.30825395e-01 5.39676513e-01 5.57502092e-01 2.16459490e+02] [-4.05053250e-01 8.41872046e-01 -3.56627708e-01 -1.27531871e+02] [-6.61809025e-01 -8.48219266e-04 7.49671992e-01 -8.31662094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:216.48, Y:-127.55, Z:-83.19 [[ 6.31522768e-01 5.37319623e-01 5.58987134e-01 2.16479534e+02] [-4.04163973e-01 8.43375515e-01 -3.54075166e-01 -1.27549952e+02] [-6.61687597e-01 -2.31593260e-03 7.49776074e-01 -8.31913173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.676559995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:216.50, Y:-127.56, Z:-83.21 [[ 6.32764355e-01 5.37679046e-01 5.57234703e-01 2.16499888e+02] [-4.02940868e-01 8.43149279e-01 -3.56002740e-01 -1.27558958e+02] [-6.61247252e-01 7.33209657e-04 7.50167671e-01 -8.32085839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.52, Y:-127.58, Z:-83.23 [[ 6.33187916e-01 5.34010366e-01 5.60273141e-01 2.16520274e+02] [-4.02520861e-01 8.45471434e-01 -3.50934482e-01 -1.27575481e+02] [-6.61097587e-01 -3.31415327e-03 7.50292608e-01 -8.32287175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.736559995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:216.54, Y:-127.58, Z:-83.26 [[ 6.32997011e-01 5.39068923e-01 5.55625306e-01 2.16539444e+02] [-4.00671322e-01 8.42242461e-01 -3.60680092e-01 -1.27582055e+02] [-6.62402653e-01 5.68629413e-03 7.49126419e-01 -8.32577650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:216.56, Y:-127.61, Z:-83.27 [[ 6.33791985e-01 5.29767874e-01 5.63607771e-01 2.16560115e+02] [-4.02682187e-01 8.48097966e-01 -3.44349961e-01 -1.27605855e+02] [-6.60420151e-01 -8.70856479e-03 7.50845779e-01 -8.32682367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79655999499994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:216.58, Y:-127.61, Z:-83.29 [[ 6.34119756e-01 5.34367252e-01 5.58877244e-01 2.16580501e+02] [-4.03158917e-01 8.45247423e-01 -3.50741618e-01 -1.27613943e+02] [-6.59814385e-01 -2.90415521e-03 7.51423012e-01 -8.32915737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:216.60, Y:-127.63, Z:-83.31 [[ 6.33949331e-01 5.34724354e-01 5.58729014e-01 2.16601308e+02] [-4.03555738e-01 8.45020973e-01 -3.50830902e-01 -1.27626822e+02] [-6.59735562e-01 -3.06928389e-03 7.51491562e-01 -8.33138091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85655999499994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:216.62, Y:-127.64, Z:-83.34 [[ 6.33904086e-01 5.35242319e-01 5.58284219e-01 2.16621830e+02] [-4.04232663e-01 8.44692210e-01 -3.50843305e-01 -1.27639455e+02] [-6.59364515e-01 -3.27571212e-03 7.51816271e-01 -8.33354871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:216.64, Y:-127.65, Z:-83.36 [[ 6.33500466e-01 5.35620392e-01 5.58379759e-01 2.16642087e+02] [-4.04422529e-01 8.44452293e-01 -3.51201855e-01 -1.27651754e+02] [-6.59635943e-01 -3.33481578e-03 7.51577875e-01 -8.33571449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91655999499994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:216.66, Y:-127.66, Z:-83.38 [[ 6.33313406e-01 5.35849607e-01 5.58372034e-01 2.16662799e+02] [-4.04571476e-01 8.44306732e-01 -3.51380226e-01 -1.27664710e+02] [-6.59724224e-01 -3.36759049e-03 7.51500238e-01 -8.33789502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.68, Y:-127.68, Z:-83.40 [[ 6.33503896e-01 5.35588291e-01 5.58406659e-01 2.16682946e+02] [-4.03948141e-01 8.44474701e-01 -3.51693587e-01 -1.27678182e+02] [-6.59923263e-01 -2.76807416e-03 7.51327907e-01 -8.33998735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97655999499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.70, Y:-127.69, Z:-83.42 [[ 6.33420479e-01 5.35814694e-01 5.58284077e-01 2.16703986e+02] [-4.04078492e-01 8.44331296e-01 -3.51888100e-01 -1.27691418e+02] [-6.59923533e-01 -2.69745901e-03 7.51327927e-01 -8.34222624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.73, Y:-127.70, Z:-83.44 [[ 6.33306828e-01 5.35588710e-01 5.58629748e-01 2.16725001e+02] [-4.03447847e-01 8.44475877e-01 -3.52264572e-01 -1.27704876e+02] [-6.60418274e-01 -2.28641067e-03 7.50894450e-01 -8.34443632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03655999499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.75, Y:-127.72, Z:-83.47 [[ 6.33295737e-01 5.34897898e-01 5.59303807e-01 2.16746293e+02] [-4.01899196e-01 8.44915790e-01 -3.52979240e-01 -1.27718286e+02] [-6.61372471e-01 -1.24350252e-03 7.50056603e-01 -8.34663059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.77, Y:-127.73, Z:-83.49 [[ 6.33064681e-01 5.34701129e-01 5.59753350e-01 2.16767016e+02] [-4.01131234e-01 8.45040942e-01 -3.53552739e-01 -1.27730898e+02] [-6.62059547e-01 -7.12800331e-04 7.49450898e-01 -8.34881221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09655999499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.79, Y:-127.74, Z:-83.51 [[ 6.33301372e-01 5.34215540e-01 5.59949221e-01 2.16787536e+02] [-4.00116615e-01 8.45348296e-01 -3.53967445e-01 -1.27743031e+02] [-6.62447029e-01 1.23081554e-04 7.49108749e-01 -8.35095372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.81, Y:-127.76, Z:-83.53 [[ 6.33634580e-01 5.33905861e-01 5.59867619e-01 2.16808388e+02] [-3.99509961e-01 8.45543592e-01 -3.54186144e-01 -1.27755606e+02] [-6.62494536e-01 7.51897941e-04 7.49066369e-01 -8.35316373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:-127.77, Z:-83.55 [[ 6.33846494e-01 5.33638048e-01 5.59883073e-01 2.16829100e+02] [-3.98889061e-01 8.45711884e-01 -3.54484027e-01 -1.27767917e+02] [-6.62665933e-01 1.35722464e-03 7.48913893e-01 -8.35537054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.85, Y:-127.78, Z:-83.58 [[ 6.34269887e-01 5.33215152e-01 5.59806495e-01 2.16849285e+02] [-3.98108489e-01 8.45976988e-01 -3.54728863e-01 -1.27779348e+02] [-6.62730217e-01 2.13011801e-03 7.48855207e-01 -8.35752808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.87, Y:-127.79, Z:-83.60 [[ 6.34497635e-01 5.33151167e-01 5.59609314e-01 2.16870486e+02] [-3.97894394e-01 8.46016295e-01 -3.54875301e-01 -1.27792044e+02] [-6.62640780e-01 2.50213104e-03 7.48933199e-01 -8.35972608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.89, Y:-127.80, Z:-83.62 [[ 6.34587324e-01 5.33324916e-01 5.59341991e-01 2.16891651e+02] [-3.98017106e-01 8.45906323e-01 -3.54999825e-01 -1.27804732e+02] [-6.62481179e-01 2.65070874e-03 7.49073869e-01 -8.36192543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:-127.82, Z:-83.64 [[ 6.34491940e-01 5.33538579e-01 5.59246424e-01 2.16912763e+02] [-3.98094976e-01 8.45771226e-01 -3.55234322e-01 -1.27816942e+02] [-6.62525749e-01 2.76012209e-03 7.49034054e-01 -8.36415194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:-127.83, Z:-83.66 [[ 6.34565294e-01 5.33894312e-01 5.58823543e-01 2.16934362e+02] [-3.98546210e-01 8.45546843e-01 -3.55262515e-01 -1.27829455e+02] [-6.62184118e-01 2.72025739e-03 7.49336235e-01 -8.36635144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:-127.84, Z:-83.68 [[ 6.34612203e-01 5.34253344e-01 5.58427001e-01 2.16955199e+02] [-3.98985206e-01 8.45320167e-01 -3.55309191e-01 -1.27841359e+02] [-6.61874729e-01 2.67943648e-03 7.49609674e-01 -8.36849449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.98, Y:-127.85, Z:-83.71 [[ 6.34312865e-01 5.34866789e-01 5.58179816e-01 2.16976749e+02] [-3.99697154e-01 8.44933129e-01 -3.55429589e-01 -1.27852688e+02] [-6.61732101e-01 2.35067740e-03 7.49736687e-01 -8.37069695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:-127.86, Z:-83.73 [[ 6.34257723e-01 5.35432594e-01 5.57699811e-01 2.16997849e+02] [-4.00464575e-01 8.44575387e-01 -3.55416010e-01 -1.27864923e+02] [-6.61320850e-01 2.08633131e-03 7.50100247e-01 -8.37291288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.02, Y:-127.88, Z:-83.75 [[ 6.34419352e-01 5.36102546e-01 5.56871750e-01 2.17018877e+02] [-4.01563057e-01 8.44151120e-01 -3.55184458e-01 -1.27875615e+02] [-6.60499203e-01 1.71677165e-03 7.50824783e-01 -8.37505916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.04, Y:-127.89, Z:-83.77 [[ 6.34331658e-01 5.36652136e-01 5.56442121e-01 2.17040250e+02] [-4.02294353e-01 8.43802333e-01 -3.55185693e-01 -1.27888152e+02] [-6.60138320e-01 1.45200639e-03 7.51142656e-01 -8.37724734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:-127.90, Z:-83.79 [[ 6.34267010e-01 5.37063802e-01 5.56118542e-01 2.17060495e+02] [-4.02767135e-01 8.43540543e-01 -3.55271709e-01 -1.27900008e+02] [-6.59912112e-01 1.35085311e-03 7.51341587e-01 -8.37935192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:-127.91, Z:-83.82 [[ 6.34098171e-01 5.37444347e-01 5.55943418e-01 2.17082071e+02] [-4.03133004e-01 8.43298279e-01 -3.55431842e-01 -1.27912649e+02] [-6.59850962e-01 1.25954107e-03 7.51395450e-01 -8.38154311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:-127.92, Z:-83.84 [[ 6.33667983e-01 5.38193515e-01 5.55709121e-01 2.17103973e+02] [-4.04004155e-01 8.42820911e-01 -3.55574963e-01 -1.27924993e+02] [-6.59731407e-01 8.07675952e-04 7.51501043e-01 -8.38369917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:-127.94, Z:-83.86 [[ 6.33054552e-01 5.38751663e-01 5.55867412e-01 2.17125274e+02] [-4.04401294e-01 8.42464444e-01 -3.55968053e-01 -1.27937900e+02] [-6.60076910e-01 5.53696165e-04 7.51197821e-01 -8.38590468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:-127.95, Z:-83.88 [[ 6.32513545e-01 5.39628422e-01 5.55632776e-01 2.17146110e+02] [-4.05440905e-01 8.41903299e-01 -3.56113054e-01 -1.27950491e+02] [-6.59957792e-01 -2.99246983e-05 7.51302676e-01 -8.38805510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.17, Y:-127.96, Z:-83.90 [[ 6.31006621e-01 5.41418753e-01 5.55604515e-01 2.17167545e+02] [-4.07582147e-01 8.40751609e-01 -3.56389570e-01 -1.27962028e+02] [-6.60081387e-01 -1.57030276e-03 7.51192450e-01 -8.39019881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.19, Y:-127.97, Z:-83.92 [[ 6.30157435e-01 5.42227121e-01 5.55779954e-01 2.17189147e+02] [-4.08320290e-01 8.40229310e-01 -3.56776188e-01 -1.27974543e+02] [-6.60436332e-01 -2.11106430e-03 7.50879081e-01 -8.39240877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.21, Y:-127.99, Z:-83.95 [[ 6.30070876e-01 5.42465847e-01 5.55645117e-01 2.17210078e+02] [-4.08453469e-01 8.40075407e-01 -3.56986097e-01 -1.27987950e+02] [-6.60436564e-01 -2.02863282e-03 7.50879105e-01 -8.39464792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.23, Y:-128.00, Z:-83.97 [[ 6.29210602e-01 5.43421587e-01 5.55686060e-01 2.17231246e+02] [-4.09561184e-01 8.39455100e-01 -3.57176106e-01 -1.28000450e+02] [-6.60570703e-01 -2.84844779e-03 7.50758438e-01 -8.39684639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.25, Y:-128.01, Z:-83.99 [[ 6.29150011e-01 5.44107151e-01 5.55083482e-01 2.17251781e+02] [-4.10551781e-01 8.39009521e-01 -3.57085787e-01 -1.28012049e+02] [-6.60013257e-01 -3.22998575e-03 7.51247009e-01 -8.39900463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:-128.03, Z:-84.01 [[ 6.29186592e-01 5.44312356e-01 5.54840780e-01 2.17272157e+02] [-4.10718512e-01 8.38876771e-01 -3.57205918e-01 -1.28025208e+02] [-6.59874637e-01 -3.13420522e-03 7.51369177e-01 -8.40119089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:-128.04, Z:-84.03 [[ 6.29703914e-01 5.44073347e-01 5.54488209e-01 2.17292456e+02] [-4.10337122e-01 8.39033786e-01 -3.57275457e-01 -1.28038320e+02] [-6.59618395e-01 -2.54934158e-03 7.51596351e-01 -8.40333877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.31, Y:-128.05, Z:-84.06 [[ 6.30401605e-01 5.43546261e-01 5.54212304e-01 2.17313181e+02] [-4.09548212e-01 8.39377515e-01 -3.57373264e-01 -1.28051942e+02] [-6.59442248e-01 -1.68797880e-03 7.51753332e-01 -8.40553964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:-128.07, Z:-84.08 [[ 6.31655188e-01 5.42723145e-01 5.53591286e-01 2.17333982e+02] [-4.08541313e-01 8.39911510e-01 -3.57271116e-01 -1.28065918e+02] [-6.58866996e-01 -4.92757061e-04 7.52259289e-01 -8.40769598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.36, Y:-128.08, Z:-84.10 [[ 6.34335432e-01 5.40180321e-01 5.53013364e-01 2.17355007e+02] [-4.05232639e-01 8.41545639e-01 -3.57193850e-01 -1.28080455e+02] [-6.58335073e-01 2.48165016e-03 7.52720913e-01 -8.40982203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.936559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.38, Y:-128.09, Z:-84.12 [[ 6.35683798e-01 5.39014176e-01 5.52602775e-01 2.17375296e+02] [-4.03659519e-01 8.42287098e-01 -3.57227431e-01 -1.28093951e+02] [-6.58000837e-01 4.02031971e-03 7.53006464e-01 -8.41195094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:-128.11, Z:-84.14 [[ 6.36924189e-01 5.37919749e-01 5.52240818e-01 2.17395844e+02] [-4.02257775e-01 8.42979068e-01 -3.57176389e-01 -1.28107933e+02] [-6.57659684e-01 5.35111870e-03 7.53296161e-01 -8.41408781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:-128.18, Z:-84.13 [[ 6.45557948e-01 4.95138209e-01 5.81457728e-01 2.17428944e+02] [-4.09035787e-01 8.67113769e-01 -2.84259453e-01 -1.28180734e+02] [-6.44937719e-01 -5.43310699e-02 7.62301433e-01 -8.41256799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:218.02, Y:-127.51, Z:-84.13 [[ 5.87989673e-01 5.35744481e-01 -6.06008247e-01 2.18020298e+02] [-3.98646086e-01 -4.59959232e-01 -7.93422210e-01 -1.27513639e+02] [-7.03810658e-01 7.08106882e-01 -5.68788383e-02 -8.41311220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.056559995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:217.50, Y:-128.21, Z:-84.24 [[ 6.15164102e-01 5.04371497e-01 6.05955873e-01 2.17497872e+02] [-3.74107050e-01 8.63293045e-01 -3.38775787e-01 -1.28205300e+02] [-6.93986342e-01 -1.82896613e-02 7.19755824e-01 -8.42374204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.05, Y:-127.56, Z:-84.26 [[ 5.49310215e-01 6.06543606e-01 -5.74772251e-01 2.18052619e+02] [-3.70093275e-01 -4.40105202e-01 -8.18131028e-01 -1.27560503e+02] [-7.49192402e-01 6.62127076e-01 -1.72765740e-02 -8.42564381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.56, Y:-128.23, Z:-84.34 [[ 5.81514717e-01 5.09933706e-01 6.33883467e-01 2.17560550e+02] [-3.40131294e-01 8.60197064e-01 -3.79962779e-01 -1.28231946e+02] [-7.39020525e-01 5.35034391e-03 6.73661664e-01 -8.43379631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.58, Y:-128.22, Z:-84.38 [[ 5.80060867e-01 5.37030249e-01 6.12476858e-01 2.17576924e+02] [-3.40290636e-01 8.42903700e-01 -4.16792078e-01 -1.28219657e+02] [-7.40088963e-01 3.33446343e-02 6.71681816e-01 -8.43752890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.58, Y:-128.18, Z:-84.42 [[ 5.75996560e-01 5.67143123e-01 5.88707602e-01 2.17583017e+02] [-3.32053418e-01 8.20410642e-01 -4.65474925e-01 -1.28181862e+02] [-7.46972885e-01 7.26295841e-02 6.60875520e-01 -8.44166581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.60, Y:-128.24, Z:-84.42 [[ 5.75206963e-01 5.10553383e-01 6.39118293e-01 2.17598203e+02] [-3.31754528e-01 8.59771953e-01 -3.88241062e-01 -1.28243302e+02] [-7.47713771e-01 1.12885746e-02 6.63925210e-01 -8.44209932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.62, Y:-128.25, Z:-84.45 [[ 5.74201417e-01 5.11804560e-01 6.39021772e-01 2.17616444e+02] [-3.33289746e-01 8.59042285e-01 -3.88541245e-01 -1.28254072e+02] [-7.47803904e-01 1.01215296e-02 6.63842509e-01 -8.44462097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:-128.26, Z:-84.47 [[ 5.73297639e-01 5.13138608e-01 6.38763325e-01 2.17635087e+02] [-3.35066018e-01 8.58260263e-01 -3.88741668e-01 -1.28264946e+02] [-7.47703538e-01 8.83679677e-03 6.63973893e-01 -8.44715492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.65, Y:-128.28, Z:-84.50 [[ 5.70431934e-01 5.16053557e-01 6.38980543e-01 2.17653387e+02] [-3.38882522e-01 8.56538725e-01 -3.89230073e-01 -1.28275540e+02] [-7.48175143e-01 5.48992517e-03 6.63478573e-01 -8.44965422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.67, Y:-128.29, Z:-84.52 [[ 5.68814165e-01 5.17911533e-01 6.38919471e-01 2.17671300e+02] [-3.41301119e-01 8.55426925e-01 -3.89561705e-01 -1.28286348e+02] [-7.48307418e-01 3.52428575e-03 6.63342738e-01 -8.45212638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:-128.30, Z:-84.55 [[ 5.66040212e-01 5.21000438e-01 6.38871678e-01 2.17688652e+02] [-3.45598288e-01 8.53556402e-01 -3.89875995e-01 -1.28296760e+02] [-7.48438576e-01 -1.07467014e-04 6.63204107e-01 -8.45463054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.71, Y:-128.31, Z:-84.57 [[ 5.64330342e-01 5.22657282e-01 6.39031009e-01 2.17706526e+02] [-3.47616800e-01 8.52540814e-01 -3.90303371e-01 -1.28307951e+02] [-7.48794915e-01 -1.87787912e-03 6.62799101e-01 -8.45713993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:-128.32, Z:-84.60 [[ 5.62633667e-01 5.24429628e-01 6.39075053e-01 2.17724839e+02] [-3.49859581e-01 8.51445445e-01 -3.90690323e-01 -1.28319657e+02] [-7.49027123e-01 -3.77100136e-03 6.62528602e-01 -8.45964729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-128.33, Z:-84.62 [[ 5.60933673e-01 5.26218899e-01 6.39098650e-01 2.17742966e+02] [-3.52146288e-01 8.50330077e-01 -3.91064895e-01 -1.28331158e+02] [-7.49230543e-01 -5.69474962e-03 6.62284806e-01 -8.46219123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:-128.34, Z:-84.65 [[ 5.57531655e-01 5.29588473e-01 6.39292189e-01 2.17760328e+02] [-3.56724519e-01 8.48198637e-01 -3.91543982e-01 -1.28342597e+02] [-7.49603943e-01 -9.75303410e-03 6.61814783e-01 -8.46470641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:-128.35, Z:-84.67 [[ 5.55560372e-01 5.31513398e-01 6.39410808e-01 2.17778112e+02] [-3.59163712e-01 8.46966515e-01 -3.91981058e-01 -1.28353989e+02] [-7.49902728e-01 -1.18840167e-02 6.61441357e-01 -8.46719858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.80, Y:-128.37, Z:-84.70 [[ 5.53816740e-01 5.33331834e-01 6.39409238e-01 2.17795497e+02] [-3.61520742e-01 8.45792395e-01 -3.92349306e-01 -1.28365573e+02] [-7.50059845e-01 -1.38700884e-02 6.61224507e-01 -8.46963850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:-128.38, Z:-84.72 [[ 5.52088721e-01 5.35002596e-01 6.39507832e-01 2.17813019e+02] [-3.63751363e-01 8.44701699e-01 -3.92637219e-01 -1.28376995e+02] [-7.50255283e-01 -1.58512650e-02 6.60958204e-01 -8.47212354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.83, Y:-128.39, Z:-84.75 [[ 5.48754774e-01 5.37799627e-01 6.40031061e-01 2.17830146e+02] [-3.67273637e-01 8.42853461e-01 -3.93329529e-01 -1.28387923e+02] [-7.50984870e-01 -1.92250789e-02 6.60039485e-01 -8.47469266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:-128.40, Z:-84.77 [[ 5.46226954e-01 5.39986526e-01 6.40351986e-01 2.17846948e+02] [-3.70005273e-01 8.41391921e-01 -3.93898126e-01 -1.28398842e+02] [-7.51486668e-01 -2.17758378e-02 6.59388808e-01 -8.47722646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.86, Y:-128.40, Z:-84.81 [[ 5.42105196e-01 5.54166066e-01 6.31681825e-01 2.17860421e+02] [-3.68428643e-01 8.32364986e-01 -4.14039691e-01 -1.28396020e+02] [-7.55236580e-01 -8.27660948e-03 6.55400036e-01 -8.48085413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.88, Y:-128.43, Z:-84.82 [[ 5.45106082e-01 5.29754966e-01 6.49783837e-01 2.17880582e+02] [-3.71925270e-01 8.47422335e-01 -3.78875943e-01 -1.28430723e+02] [-7.51352749e-01 -3.51434484e-02 6.58964327e-01 -8.48167722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:-128.42, Z:-84.86 [[ 5.42152985e-01 5.53449315e-01 6.32268927e-01 2.17895865e+02] [-3.70913147e-01 8.32800288e-01 -4.10934443e-01 -1.28422701e+02] [-7.53985131e-01 -1.17275229e-02 6.56786789e-01 -8.48565351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.91, Y:-128.45, Z:-84.88 [[ 5.43480432e-01 5.43004137e-01 6.40137116e-01 2.17911956e+02] [-3.71785705e-01 8.39427054e-01 -3.96405865e-01 -1.28446039e+02] [-7.52598438e-01 -2.25549982e-02 6.58093354e-01 -8.48754417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77655999499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.93, Y:-128.45, Z:-84.90 [[ 5.43233314e-01 5.51385745e-01 6.33144002e-01 2.17930315e+02] [-3.71860422e-01 8.34130459e-01 -4.07364951e-01 -1.28450081e+02] [-7.52739924e-01 -1.41469832e-02 6.58165989e-01 -8.49031352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.88, Y:-128.63, Z:-84.28 [[ 6.26455295e-01 -7.62324388e-01 -1.62527817e-01 2.18875873e+02] [-2.97268574e-01 -4.26419597e-01 8.54281992e-01 -1.28629107e+02] [-7.20545043e-01 -4.86855065e-01 -4.93747898e-01 -8.42806177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83655999499996 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:218.71, Y:-127.83, Z:-84.92 [[ 5.57011275e-01 5.20780527e-01 -6.46935918e-01 2.18708678e+02] [-2.64589762e-01 -6.27099810e-01 -7.32624109e-01 -1.27833239e+02] [-7.87229761e-01 5.79252510e-01 -2.11508469e-01 -8.49173461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:218.12, Y:-128.61, Z:-85.13 [[ 5.70806104e-01 4.32959505e-01 6.97657838e-01 2.18124047e+02] [-2.96667801e-01 9.01028306e-01 -3.16443055e-01 -1.28609585e+02] [-7.65616489e-01 -2.63449889e-02 6.42757601e-01 -8.51283169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.14, Y:-128.60, Z:-85.16 [[ 5.72376117e-01 4.51268694e-01 6.84647461e-01 2.18141312e+02] [-2.93421794e-01 8.92376101e-01 -3.42882700e-01 -1.28604054e+02] [-7.65695260e-01 -4.63261790e-03 6.43186837e-01 -8.51604238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:-128.61, Z:-85.18 [[ 5.76025844e-01 4.46280056e-01 6.84856436e-01 2.18156453e+02] [-2.85221212e-01 8.94890174e-01 -3.43249818e-01 -1.28614586e+02] [-7.66056843e-01 2.38518352e-03 6.42768406e-01 -8.51839299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.17, Y:-128.63, Z:-85.20 [[ 5.79004654e-01 4.33982534e-01 6.90226608e-01 2.18174961e+02] [-2.80976057e-01 9.00918012e-01 -3.30755485e-01 -1.28631340e+02] [-7.65379687e-01 -2.42818567e-03 6.43574423e-01 -8.51999470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.19, Y:-128.64, Z:-85.22 [[ 5.81161925e-01 4.30190615e-01 6.90787125e-01 2.18192365e+02] [-2.76776518e-01 9.02738054e-01 -3.29330782e-01 -1.28643338e+02] [-7.65274837e-01 2.00856219e-04 6.43703646e-01 -8.52243819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.21, Y:-128.66, Z:-85.25 [[ 5.84725895e-01 4.25218057e-01 6.90858330e-01 2.18209796e+02] [-2.68766852e-01 9.05063594e-01 -3.29581963e-01 -1.28655361e+02] [-7.65414925e-01 7.03528972e-03 6.43498638e-01 -8.52498771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:-128.66, Z:-85.28 [[ 5.84491053e-01 4.24338071e-01 6.91597723e-01 2.18228636e+02] [-2.66554297e-01 9.05462048e-01 -3.30283645e-01 -1.28663125e+02] [-7.66367416e-01 8.69949002e-03 6.42343602e-01 -8.52753566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:-128.67, Z:-85.30 [[ 5.85428014e-01 4.24658650e-01 6.90607755e-01 2.18247074e+02] [-2.63691576e-01 9.05261491e-01 -3.33119178e-01 -1.28672870e+02] [-7.66642546e-01 1.29098517e-02 6.41944346e-01 -8.53044322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:218.26, Y:-128.67, Z:-85.33 [[ 5.86027466e-01 4.29259046e-01 6.87247030e-01 2.18264712e+02] [-2.61333190e-01 9.02952783e-01 -3.41146942e-01 -1.28673558e+02] [-7.66992029e-01 2.03210194e-02 6.41334767e-01 -8.53280386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.28, Y:-128.69, Z:-85.35 [[ 5.86584009e-01 4.20628484e-01 6.92091669e-01 2.18284302e+02] [-2.59501298e-01 9.07112621e-01 -3.31369535e-01 -1.28688968e+02] [-7.67188554e-01 1.47773838e-02 6.41251395e-01 -8.53510861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.30, Y:-128.70, Z:-85.38 [[ 5.86738956e-01 4.23403269e-01 6.90265941e-01 2.18303439e+02] [-2.59659694e-01 9.05777016e-01 -3.34880338e-01 -1.28699360e+02] [-7.67016454e-01 1.72530974e-02 6.41395424e-01 -8.53812855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.32, Y:-128.70, Z:-85.40 [[ 5.87666731e-01 4.28122526e-01 6.86555836e-01 2.18320326e+02] [-2.57353193e-01 9.03377390e-01 -3.43043184e-01 -1.28699247e+02] [-7.67083533e-01 2.49077304e-02 6.41063537e-01 -8.54033795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:218.34, Y:-128.71, Z:-85.43 [[ 5.88202351e-01 4.18332928e-01 6.92109496e-01 2.18339392e+02] [-2.54905065e-01 9.08094906e-01 -3.32245467e-01 -1.28711929e+02] [-7.67490327e-01 1.90053487e-02 6.40778741e-01 -8.54255137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:-128.72, Z:-85.45 [[ 5.88572569e-01 4.17996406e-01 6.91998075e-01 2.18358398e+02] [-2.54188910e-01 9.08233935e-01 -3.32414075e-01 -1.28718544e+02] [-7.67444023e-01 1.97515697e-02 6.40811632e-01 -8.54513095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:-128.73, Z:-85.48 [[ 5.88833715e-01 4.17719354e-01 6.91943203e-01 2.18377993e+02] [-2.53372772e-01 9.08342332e-01 -3.32740810e-01 -1.28725032e+02] [-7.67513579e-01 2.06094398e-02 6.40701301e-01 -8.54777074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.316559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:218.40, Y:-128.73, Z:-85.50 [[ 5.89036875e-01 4.16997288e-01 6.92205765e-01 2.18397028e+02] [-2.51672560e-01 9.08639766e-01 -3.33218693e-01 -1.28730662e+02] [-7.67916976e-01 2.20689003e-02 6.40169104e-01 -8.55028344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:-128.72, Z:-85.54 [[ 5.87856488e-01 4.29435925e-01 6.85572415e-01 2.18411141e+02] [-2.48764557e-01 9.02366059e-01 -3.51925689e-01 -1.28724839e+02] [-7.69766812e-01 3.63356813e-02 6.37290180e-01 -8.55372324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:-128.76, Z:-85.55 [[ 5.88900990e-01 4.04176494e-01 6.99883551e-01 2.18435456e+02] [-2.51054779e-01 9.14615638e-01 -3.16938058e-01 -1.28756871e+02] [-7.68223354e-01 1.09360256e-02 6.40088496e-01 -8.55477465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:-128.75, Z:-85.58 [[ 5.89060823e-01 4.17597162e-01 6.91823645e-01 2.18453215e+02] [-2.51896122e-01 9.08356790e-01 -3.33820739e-01 -1.28753227e+02] [-7.67825299e-01 2.23730260e-02 6.40268504e-01 -8.55774021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.47, Y:-128.76, Z:-85.60 [[ 5.88867048e-01 4.18446810e-01 6.91475139e-01 2.18471926e+02] [-2.53009111e-01 9.07981260e-01 -3.34000632e-01 -1.28760878e+02] [-7.67607966e-01 2.17324557e-02 6.40551099e-01 -8.56023877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:-128.77, Z:-85.63 [[ 5.87960020e-01 4.19324339e-01 6.91715342e-01 2.18490602e+02] [-2.53937433e-01 9.07595211e-01 -3.34345200e-01 -1.28768118e+02] [-7.67996612e-01 2.09291918e-02 6.40111844e-01 -8.56283346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:-128.78, Z:-85.65 [[ 5.87322779e-01 4.20494836e-01 6.91546128e-01 2.18509889e+02] [-2.55412399e-01 9.07076540e-01 -3.34629133e-01 -1.28775675e+02] [-7.67995091e-01 1.99058565e-02 6.40146309e-01 -8.56542179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.53, Y:-128.78, Z:-85.68 [[ 5.85226383e-01 4.22756977e-01 6.91944086e-01 2.18528726e+02] [-2.58219438e-01 9.06074332e-01 -3.35189537e-01 -1.28781404e+02] [-7.68656492e-01 1.74883475e-02 6.39422674e-01 -8.56794792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:-128.79, Z:-85.70 [[ 5.84263501e-01 4.24007049e-01 6.91992907e-01 2.18548256e+02] [-2.59851195e-01 9.05514508e-01 -3.35441250e-01 -1.28789686e+02] [-7.68839071e-01 1.61708956e-02 6.39237815e-01 -8.57049151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.57, Y:-128.80, Z:-85.73 [[ 5.84188840e-01 4.24342039e-01 6.91850586e-01 2.18567383e+02] [-2.60023098e-01 9.05356421e-01 -3.35734626e-01 -1.28798888e+02] [-7.68837686e-01 1.62352892e-02 6.39237849e-01 -8.57307617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:-128.81, Z:-85.76 [[ 5.82822473e-01 4.25599340e-01 6.92230573e-01 2.18586873e+02] [-2.61435621e-01 9.04788152e-01 -3.36169326e-01 -1.28807037e+02] [-7.69395465e-01 1.49533084e-02 6.38597696e-01 -8.57561034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:-128.81, Z:-85.78 [[ 5.80944702e-01 4.28118775e-01 6.92255421e-01 2.18606858e+02] [-2.64897946e-01 9.03640978e-01 -3.36544292e-01 -1.28813530e+02] [-7.69631296e-01 1.21365846e-02 6.38373223e-01 -8.57813789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:-128.82, Z:-85.81 [[ 5.79441974e-01 4.29725380e-01 6.92519384e-01 2.18625946e+02] [-2.66799747e-01 9.02898252e-01 -3.37035075e-01 -1.28820980e+02] [-7.70107067e-01 1.05282721e-02 6.37827768e-01 -8.58071413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.65, Y:-128.83, Z:-85.83 [[ 5.76890389e-01 4.32748177e-01 6.92767273e-01 2.18645395e+02] [-2.70911851e-01 9.01487359e-01 -3.37531199e-01 -1.28826722e+02] [-7.70586951e-01 7.03963998e-03 6.37296003e-01 -8.58319352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.66, Y:-128.82, Z:-85.86 [[ 5.74827319e-01 4.41009933e-01 6.89263224e-01 2.18661184e+02] [-2.70427795e-01 8.97392772e-01 -3.48647415e-01 -1.28824166e+02] [-7.72296809e-01 1.40161253e-02 6.35107225e-01 -8.58611100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:-128.85, Z:-85.88 [[ 5.74731787e-01 4.23675448e-01 7.00130336e-01 2.18684048e+02] [-2.75890299e-01 9.05776029e-01 -3.21643169e-01 -1.28851836e+02] [-7.70433589e-01 -8.30061479e-03 6.37466222e-01 -8.58781009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:-128.85, Z:-85.91 [[ 5.73996614e-01 4.37883299e-01 6.91943714e-01 2.18702430e+02] [-2.78386188e-01 8.99030756e-01 -3.38001227e-01 -1.28849645e+02] [-7.70083773e-01 1.38398724e-03 6.37941272e-01 -8.59080703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.72, Y:-128.86, Z:-85.93 [[ 5.73420928e-01 4.39567033e-01 6.91353212e-01 2.18721668e+02] [-2.80924058e-01 8.98209719e-01 -3.38084271e-01 -1.28857769e+02] [-7.69590874e-01 -3.53153445e-04 6.38537205e-01 -8.59335820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85655999499994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.74, Y:-128.87, Z:-85.96 [[ 5.72594994e-01 4.41970007e-01 6.90505239e-01 2.18740776e+02] [-2.84738733e-01 8.97024630e-01 -3.38039446e-01 -1.28865073e+02] [-7.68803503e-01 -3.05389217e-03 6.39477793e-01 -8.59597128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:-128.87, Z:-85.98 [[ 5.72738152e-01 4.42915269e-01 6.89780453e-01 2.18759280e+02] [-2.86190052e-01 8.96555467e-01 -3.38058499e-01 -1.28872946e+02] [-7.68157707e-01 -3.78930341e-03 6.40249465e-01 -8.59840553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.78, Y:-128.88, Z:-86.01 [[ 5.72468795e-01 4.43537397e-01 6.89604275e-01 2.18777948e+02] [-2.86987214e-01 8.96245569e-01 -3.38204403e-01 -1.28881313e+02] [-7.68061077e-01 -4.29614277e-03 6.40362183e-01 -8.60097646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.80, Y:-128.89, Z:-86.04 [[ 5.73443222e-01 4.43444934e-01 6.88853730e-01 2.18795984e+02] [-2.86826610e-01 8.96294242e-01 -3.38211662e-01 -1.28890104e+02] [-7.67393880e-01 -3.63639466e-03 6.41165665e-01 -8.60352464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-128.90, Z:-86.06 [[ 5.74202579e-01 4.43006679e-01 6.88503072e-01 2.18814395e+02] [-2.86067537e-01 8.96514179e-01 -3.38271623e-01 -1.28899876e+02] [-7.67109355e-01 -2.72193980e-03 6.41510583e-01 -8.60612517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.83, Y:-128.90, Z:-86.09 [[ 5.75666951e-01 4.47941741e-01 6.84072919e-01 2.18827145e+02] [-2.78282218e-01 8.93984660e-01 -3.51212806e-01 -1.28897309e+02] [-7.68873571e-01 1.18162760e-02 6.39291645e-01 -8.60904628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.85, Y:-128.94, Z:-86.11 [[ 5.77752664e-01 4.21827663e-01 6.98758386e-01 2.18849968e+02] [-2.79474717e-01 9.06588585e-01 -3.16213567e-01 -1.28935061e+02] [-7.66874007e-01 -1.25920716e-02 6.41674137e-01 -8.61053245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:-128.93, Z:-86.14 [[ 5.79023191e-01 4.37610939e-01 6.87916282e-01 2.18867146e+02] [-2.76950295e-01 8.99146384e-01 -3.38872121e-01 -1.28931675e+02] [-7.66831584e-01 5.69619940e-03 6.41823087e-01 -8.61358838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.89, Y:-128.94, Z:-86.16 [[ 5.80432697e-01 4.35953080e-01 6.87781067e-01 2.18885631e+02] [-2.74041114e-01 8.99930408e-01 -3.39155905e-01 -1.28941914e+02] [-7.66811158e-01 8.37688678e-03 6.41818102e-01 -8.61614023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:-128.95, Z:-86.19 [[ 5.81530255e-01 4.37020284e-01 6.86174784e-01 2.18901740e+02] [-2.68728605e-01 8.99304993e-01 -3.45015170e-01 -1.28945149e+02] [-7.67859037e-01 1.62419674e-02 6.40412912e-01 -8.61880319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:-128.97, Z:-86.21 [[ 5.83236042e-01 4.21575346e-01 6.94341376e-01 2.18921598e+02] [-2.65265458e-01 9.06766662e-01 -3.27732296e-01 -1.28970491e+02] [-7.67769468e-01 6.96050412e-03 6.40688376e-01 -8.62076887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.94, Y:-128.97, Z:-86.24 [[ 5.84557191e-01 4.29450654e-01 6.88378549e-01 2.18938929e+02] [-2.61449548e-01 9.02879674e-01 -3.41251269e-01 -1.28970520e+02] [-7.68073580e-01 1.95046224e-02 6.40064485e-01 -8.62354355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.96, Y:-128.99, Z:-86.26 [[ 5.84447699e-01 4.24892687e-01 6.91293781e-01 2.18957860e+02] [-2.60841578e-01 9.05103578e-01 -3.35781454e-01 -1.28986584e+02] [-7.68363559e-01 1.59285369e-02 6.39815382e-01 -8.62590663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:-128.99, Z:-86.29 [[ 5.85565000e-01 4.27271768e-01 6.88877687e-01 2.18975712e+02] [-2.57887477e-01 9.03849271e-01 -3.41394997e-01 -1.28993713e+02] [-7.68510039e-01 2.22560326e-02 6.39450537e-01 -8.62851207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.99, Y:-129.00, Z:-86.31 [[ 5.85768138e-01 4.27001165e-01 6.88872770e-01 2.18994038e+02] [-2.57051369e-01 9.03955799e-01 -3.41743335e-01 -1.29003068e+02] [-7.68635337e-01 2.31066685e-02 6.39269740e-01 -8.63105380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:-129.01, Z:-86.34 [[ 5.87061707e-01 4.26960708e-01 6.87795832e-01 2.19012557e+02] [-2.57245738e-01 9.03962270e-01 -3.41579925e-01 -1.29012367e+02] [-7.67582688e-01 2.35959467e-02 6.40515455e-01 -8.63356452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.03, Y:-129.02, Z:-86.36 [[ 5.87186883e-01 4.27659516e-01 6.87254613e-01 2.19031420e+02] [-2.58228691e-01 9.03643084e-01 -3.41682776e-01 -1.29021431e+02] [-7.67156769e-01 2.31627854e-02 6.41041322e-01 -8.63613135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:-129.03, Z:-86.39 [[ 5.86526183e-01 4.29199046e-01 6.86858949e-01 2.19050057e+02] [-2.60413419e-01 9.02950664e-01 -3.41855158e-01 -1.29030210e+02] [-7.66923652e-01 2.16397134e-02 6.41373397e-01 -8.63864481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:-129.04, Z:-86.41 [[ 5.85685105e-01 4.30349755e-01 6.86856642e-01 2.19069253e+02] [-2.61748359e-01 9.02425987e-01 -3.42220885e-01 -1.29039688e+02] [-7.67111957e-01 2.06500755e-02 6.41180801e-01 -8.64120652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:-129.05, Z:-86.44 [[ 5.84847725e-01 4.31634183e-01 6.86764204e-01 2.19088082e+02] [-2.63350981e-01 9.01838517e-01 -3.42539852e-01 -1.29049011e+02] [-7.67202320e-01 1.94736262e-02 6.41109490e-01 -8.64373638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.11, Y:-129.06, Z:-86.46 [[ 5.83995477e-01 4.32937485e-01 6.86669073e-01 2.19107232e+02] [-2.64985620e-01 9.01238785e-01 -3.42857512e-01 -1.29058465e+02] [-7.67288670e-01 1.82698064e-02 6.41041582e-01 -8.64627380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:-129.07, Z:-86.49 [[ 5.82867792e-01 4.34386648e-01 6.86712005e-01 2.19125225e+02] [-2.66752137e-01 9.00568189e-01 -3.43249522e-01 -1.29067117e+02] [-7.67533996e-01 1.68871961e-02 6.40785758e-01 -8.64870607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:-129.08, Z:-86.51 [[ 5.80438302e-01 4.37314013e-01 6.86911808e-01 2.19144154e+02] [-2.70740396e-01 8.99207261e-01 -3.43694543e-01 -1.29075570e+02] [-7.67978526e-01 1.35187016e-02 6.40332905e-01 -8.65120775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.16, Y:-129.08, Z:-86.54 [[ 5.78412129e-01 4.41276656e-01 6.86086235e-01 2.19161297e+02] [-2.72420555e-01 8.97261031e-01 -3.47432993e-01 -1.29081350e+02] [-7.68912512e-01 1.40554642e-02 6.39199494e-01 -8.65384820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:-129.08, Z:-86.57 [[ 5.73790463e-01 4.51619752e-01 6.83230637e-01 2.19176720e+02] [-2.75580143e-01 8.92043702e-01 -3.58208903e-01 -1.29080818e+02] [-7.71245803e-01 1.72520556e-02 6.36303605e-01 -8.65685468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:-129.12, Z:-86.58 [[ 5.74544417e-01 4.27486405e-01 6.97964244e-01 2.19200741e+02] [-2.81907119e-01 9.03942180e-01 -3.21584999e-01 -1.29115569e+02] [-7.68392536e-01 -1.19962235e-02 6.39866394e-01 -8.65805989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:-129.11, Z:-86.61 [[ 5.73047204e-01 4.47588764e-01 6.86499236e-01 2.19218651e+02] [-2.85465234e-01 8.94238108e-01 -3.44743102e-01 -1.29110089e+02] [-7.68196917e-01 1.58240572e-03 6.40211678e-01 -8.66114767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:-129.12, Z:-86.64 [[ 5.71385799e-01 4.49901051e-01 6.86372576e-01 2.19237381e+02] [-2.88711493e-01 8.93077839e-01 -3.45047311e-01 -1.29118484e+02] [-7.68221285e-01 -1.00851753e-03 6.40183599e-01 -8.66362112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:-129.11, Z:-86.67 [[ 5.66228873e-01 4.62821053e-01 6.82042181e-01 2.19252595e+02] [-2.91675402e-01 8.86440040e-01 -3.59373783e-01 -1.29114031e+02] [-7.70915251e-01 4.55288461e-03 6.36921461e-01 -8.66668558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:-129.15, Z:-86.68 [[ 5.66633113e-01 4.41424935e-01 6.95752069e-01 2.19275615e+02] [-2.97886787e-01 8.97022539e-01 -3.26518034e-01 -1.29146902e+02] [-7.68238489e-01 -2.22394187e-02 6.39777330e-01 -8.66798781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:-129.14, Z:-86.71 [[ 5.65107854e-01 4.57999801e-01 6.86213739e-01 2.19294060e+02] [-3.00507925e-01 8.88886685e-01 -3.45796832e-01 -1.29144382e+02] [-7.68341136e-01 -1.08001609e-02 6.39949417e-01 -8.67099498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:-129.15, Z:-86.73 [[ 5.63150865e-01 4.60511330e-01 6.86141689e-01 2.19312714e+02] [-3.04070235e-01 8.87547840e-01 -3.46121544e-01 -1.29153013e+02] [-7.68376467e-01 -1.37166182e-02 6.39851123e-01 -8.67343921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:-129.16, Z:-86.76 [[ 5.62321058e-01 4.61705849e-01 6.86019487e-01 2.19331319e+02] [-3.05619654e-01 8.86908358e-01 -3.46396005e-01 -1.29161929e+02] [-7.68369478e-01 -1.48752697e-02 6.39833628e-01 -8.67594260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:-129.17, Z:-86.78 [[ 5.61644661e-01 4.62901996e-01 6.85767465e-01 2.19348975e+02] [-3.07216682e-01 8.86265114e-01 -3.46629569e-01 -1.29170388e+02] [-7.68227300e-01 -1.59965587e-02 6.39977285e-01 -8.67841667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:-129.18, Z:-86.81 [[ 5.61705482e-01 4.63164379e-01 6.85540451e-01 2.19367552e+02] [-3.07356522e-01 8.86130162e-01 -3.46850550e-01 -1.29180001e+02] [-7.68126891e-01 -1.58774735e-02 6.40100762e-01 -8.68099967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:-129.19, Z:-86.84 [[ 5.62417867e-01 4.63274858e-01 6.84881413e-01 2.19386059e+02] [-3.07469783e-01 8.86079288e-01 -3.46880135e-01 -1.29189623e+02] [-7.67560080e-01 -1.54887540e-02 6.40789843e-01 -8.68351164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:-129.20, Z:-86.86 [[ 5.63219161e-01 4.63124386e-01 6.84324470e-01 2.19404223e+02] [-3.07099727e-01 8.86170825e-01 -3.46974102e-01 -1.29199293e+02] [-7.67120548e-01 -1.47333961e-02 6.41333761e-01 -8.68609921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:-129.20, Z:-86.89 [[ 5.65127512e-01 4.66336129e-01 6.80559703e-01 2.19418613e+02] [-3.02821428e-01 8.84589583e-01 -3.54683595e-01 -1.29203953e+02] [-7.67417799e-01 -5.64660393e-03 6.41122483e-01 -8.68901516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:-129.23, Z:-86.91 [[ 5.67654094e-01 4.53879465e-01 6.86849518e-01 2.19438321e+02] [-3.02394076e-01 8.90930601e-01 -3.38822206e-01 -1.29226516e+02] [-7.65719695e-01 -1.53654131e-02 6.42990865e-01 -8.69081943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:-129.23, Z:-86.93 [[ 5.71259822e-01 4.56249574e-01 6.82274535e-01 2.19454733e+02] [-2.96646520e-01 8.89841209e-01 -3.46674868e-01 -1.29234718e+02] [-7.65286259e-01 -4.35294302e-03 6.43675380e-01 -8.69338683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.47, Y:-129.25, Z:-86.96 [[ 5.73009897e-01 4.54363474e-01 6.82065606e-01 2.19472248e+02] [-2.93424824e-01 8.90815364e-01 -3.46914774e-01 -1.29245834e+02] [-7.65219923e-01 -1.34938165e-03 6.43767542e-01 -8.69590116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:-129.26, Z:-86.98 [[ 5.75010484e-01 4.52540207e-01 6.81593944e-01 2.19490291e+02] [-2.90442699e-01 8.91742584e-01 -3.47042075e-01 -1.29257301e+02] [-7.64856838e-01 1.58884674e-03 6.44198334e-01 -8.69844530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.51, Y:-129.27, Z:-87.01 [[ 5.76226228e-01 4.50798250e-01 6.81721550e-01 2.19507150e+02] [-2.87228080e-01 8.92614951e-01 -3.47474574e-01 -1.29268084e+02] [-7.65155778e-01 4.41439092e-03 6.43830062e-01 -8.70089277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.53, Y:-129.28, Z:-87.03 [[ 5.77908348e-01 4.48980905e-01 6.81496947e-01 2.19525543e+02] [-2.84149133e-01 8.93511590e-01 -3.47701465e-01 -1.29279526e+02] [-7.65036739e-01 7.29281250e-03 6.43945341e-01 -8.70338893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.54, Y:-129.29, Z:-87.06 [[ 5.80040769e-01 4.45332982e-01 6.82078618e-01 2.19542141e+02] [-2.77715727e-01 8.95275812e-01 -3.48360726e-01 -1.29291856e+02] [-7.65785010e-01 1.26394644e-02 6.42972443e-01 -8.70582844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.56, Y:-129.30, Z:-87.08 [[ 5.81248361e-01 4.43731910e-01 6.82094080e-01 2.19560014e+02] [-2.74834386e-01 8.96030294e-01 -3.48705853e-01 -1.29303089e+02] [-7.65908874e-01 1.52217973e-02 6.42768927e-01 -8.70835315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:-129.31, Z:-87.11 [[ 5.83806106e-01 4.42511980e-01 6.80700800e-01 2.19576041e+02] [-2.67914684e-01 8.96449180e-01 -3.52988087e-01 -1.29312430e+02] [-7.66415131e-01 2.37068606e-02 6.41907962e-01 -8.71111260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.60, Y:-129.33, Z:-87.13 [[ 5.84955244e-01 4.36904411e-01 6.83331470e-01 2.19595238e+02] [-2.66909469e-01 8.99278968e-01 -3.46491952e-01 -1.29327902e+02] [-7.65889482e-01 2.02946449e-02 6.42651872e-01 -8.71320293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:-129.34, Z:-87.16 [[ 5.86857963e-01 4.37195142e-01 6.81511657e-01 2.19612194e+02] [-2.64218685e-01 8.99022809e-01 -3.49208356e-01 -1.29337304e+02] [-7.65366721e-01 2.48675910e-02 6.43113820e-01 -8.71576426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:-129.35, Z:-87.18 [[ 5.87266099e-01 4.36936397e-01 6.81325997e-01 2.19630649e+02] [-2.63542130e-01 8.99126213e-01 -3.49453287e-01 -1.29347429e+02] [-7.65286923e-01 2.56639647e-02 6.43177492e-01 -8.71831052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.65, Y:-129.36, Z:-87.21 [[ 5.87479128e-01 4.37162622e-01 6.80997148e-01 2.19648661e+02] [-2.63681320e-01 8.99011127e-01 -3.49644326e-01 -1.29357123e+02] [-7.65075444e-01 2.58425170e-02 6.43421890e-01 -8.72076060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:-129.37, Z:-87.23 [[ 5.87223866e-01 4.37742899e-01 6.80844538e-01 2.19667094e+02] [-2.64274514e-01 8.98737375e-01 -3.49900145e-01 -1.29366872e+02] [-7.65066737e-01 2.55398565e-02 6.43444328e-01 -8.72325914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.69, Y:-129.38, Z:-87.26 [[ 5.87038850e-01 4.38538583e-01 6.80491954e-01 2.19685625e+02] [-2.65307289e-01 8.98365485e-01 -3.50073560e-01 -1.29376025e+02] [-7.64851248e-01 2.49673043e-02 6.43722924e-01 -8.72576108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:-129.38, Z:-87.28 [[ 5.85704605e-01 4.40594393e-01 6.80313675e-01 2.19704098e+02] [-2.68154247e-01 8.97417616e-01 -3.50335443e-01 -1.29384657e+02] [-7.64881309e-01 2.27640809e-02 6.43768888e-01 -8.72821440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:-129.39, Z:-87.31 [[ 5.84309191e-01 4.42019252e-01 6.80589266e-01 2.19722843e+02] [-2.69896028e-01 8.96754377e-01 -3.50696053e-01 -1.29393946e+02] [-7.65335811e-01 2.12265870e-02 6.43281065e-01 -8.73074464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.74, Y:-129.40, Z:-87.33 [[ 5.84263839e-01 4.42299371e-01 6.80446201e-01 2.19741756e+02] [-2.70003091e-01 8.96613592e-01 -3.50973501e-01 -1.29403641e+02] [-7.65332671e-01 2.13385470e-02 6.43281097e-01 -8.73332955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.76, Y:-129.41, Z:-87.36 [[ 5.82898687e-01 4.47190463e-01 6.78417136e-01 2.19758440e+02] [-2.70500793e-01 8.94101728e-01 -3.56947365e-01 -1.29408780e+02] [-7.66197391e-01 2.45517770e-02 6.42136098e-01 -8.73618571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:-129.42, Z:-87.38 [[ 5.81750123e-01 4.43518967e-01 6.81804752e-01 2.19778838e+02] [-2.74593502e-01 8.96129158e-01 -3.48641565e-01 -1.29423668e+02] [-7.65614265e-01 1.56031192e-02 6.43110675e-01 -8.73817733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.80, Y:-129.43, Z:-87.41 [[ 5.81117705e-01 4.47928445e-01 6.79457372e-01 2.19796668e+02] [-2.78593516e-01 8.93948326e-01 -3.51058461e-01 -1.29430175e+02] [-7.64648851e-01 1.47138686e-02 6.44279160e-01 -8.74080233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.82, Y:-129.44, Z:-87.43 [[ 5.81070733e-01 4.48189311e-01 6.79325507e-01 2.19815570e+02] [-2.78696742e-01 8.93815943e-01 -3.51313515e-01 -1.29439909e+02] [-7.64646931e-01 1.48121962e-02 6.44279186e-01 -8.74338668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:-129.45, Z:-87.46 [[ 5.79945451e-01 4.49662195e-01 6.79313760e-01 2.19833975e+02] [-2.80794966e-01 8.93102957e-01 -3.51455965e-01 -1.29448890e+02] [-7.64733588e-01 1.30774037e-02 6.44213878e-01 -8.74589606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.85, Y:-129.46, Z:-87.48 [[ 5.77369757e-01 4.52632998e-01 6.79534792e-01 2.19852974e+02] [-2.84857111e-01 8.91645235e-01 -3.51888052e-01 -1.29457510e+02] [-7.65180103e-01 9.59920125e-03 6.43744720e-01 -8.74838087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.87, Y:-129.47, Z:-87.51 [[ 5.76089080e-01 4.54389445e-01 6.79449486e-01 2.19871758e+02] [-2.87190546e-01 8.90769227e-01 -3.52209843e-01 -1.29466126e+02] [-7.65273129e-01 7.77277567e-03 6.43658778e-01 -8.75087632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.89, Y:-129.47, Z:-87.53 [[ 5.74801286e-01 4.55988942e-01 6.79468591e-01 2.19890046e+02] [-2.89247680e-01 8.89964414e-01 -3.52560805e-01 -1.29474383e+02] [-7.65466695e-01 6.11769099e-03 6.43446433e-01 -8.75343092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:-129.48, Z:-87.56 [[ 5.72862533e-01 4.59098958e-01 6.79011536e-01 2.19908789e+02] [-2.93959938e-01 8.88381837e-01 -3.52654600e-01 -1.29482403e+02] [-7.65124875e-01 2.42041840e-03 6.43877370e-01 -8.75601252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.92, Y:-129.48, Z:-87.59 [[ 5.70343773e-01 4.66133532e-01 6.76333875e-01 2.19923034e+02] [-2.94316677e-01 8.84685532e-01 -3.61537278e-01 -1.29483056e+02] [-7.66867443e-01 7.14419655e-03 6.41765756e-01 -8.75893809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:-129.51, Z:-87.61 [[ 5.70438301e-01 4.55693776e-01 6.83332516e-01 2.19945265e+02] [-2.98434199e-01 8.90105520e-01 -3.44454921e-01 -1.29506030e+02] [-7.65204008e-01 -7.43951223e-03 6.43744887e-01 -8.76075979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.96, Y:-129.51, Z:-87.64 [[ 5.68898950e-01 4.64287096e-01 6.78816232e-01 2.19963705e+02] [-3.01023008e-01 8.85678844e-01 -3.53494177e-01 -1.29509932e+02] [-7.65335961e-01 -3.23683825e-03 6.43622863e-01 -8.76350515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.98, Y:-129.52, Z:-87.66 [[ 5.66560193e-01 4.67033310e-01 6.78888382e-01 2.19982605e+02] [-3.04812370e-01 8.84216391e-01 -3.53907888e-01 -1.29517868e+02] [-7.65571007e-01 -6.42345535e-03 6.43319339e-01 -8.76601446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.00, Y:-129.53, Z:-87.69 [[ 5.65546328e-01 4.68420524e-01 6.78777993e-01 2.20001142e+02] [-3.06628163e-01 8.83471068e-01 -3.54200566e-01 -1.29526736e+02] [-7.65595533e-01 -7.81561997e-03 6.43274743e-01 -8.76854989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:-129.54, Z:-87.71 [[ 5.64265275e-01 4.69748371e-01 6.78926481e-01 2.20019487e+02] [-3.08178729e-01 8.82753274e-01 -3.54644228e-01 -1.29535900e+02] [-7.65918122e-01 -9.11727724e-03 6.42873475e-01 -8.77107293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.04, Y:-129.55, Z:-87.74 [[ 5.62173539e-01 4.71962320e-01 6.79126262e-01 2.20037716e+02] [-3.11089363e-01 8.81541977e-01 -3.55115686e-01 -1.29545467e+02] [-7.66279531e-01 -1.16323142e-02 6.42402031e-01 -8.77358135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.06, Y:-129.55, Z:-87.76 [[ 5.61151052e-01 4.73276351e-01 6.79057429e-01 2.20055959e+02] [-3.12747011e-01 8.80819398e-01 -3.55452523e-01 -1.29554936e+02] [-7.66354229e-01 -1.29106237e-02 6.42288496e-01 -8.77602463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:-129.56, Z:-87.79 [[ 5.59380835e-01 4.75566102e-01 6.78918231e-01 2.20074641e+02] [-3.16011808e-01 8.79542376e-01 -3.55727066e-01 -1.29563631e+02] [-7.66309088e-01 -1.55592747e-02 6.42283653e-01 -8.77859899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:-129.57, Z:-87.81 [[ 5.58454019e-01 4.77870948e-01 6.78062287e-01 2.20092840e+02] [-3.19702678e-01 8.78242136e-01 -3.55641600e-01 -1.29571467e+02] [-7.65453660e-01 -1.81688480e-02 6.43234473e-01 -8.78119451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:-129.58, Z:-87.84 [[ 5.58227745e-01 4.79085065e-01 6.77391530e-01 2.20110877e+02] [-3.21532979e-01 8.77557323e-01 -3.55682005e-01 -1.29580224e+02] [-7.64851834e-01 -1.92521528e-02 6.43918494e-01 -8.78372628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-129.59, Z:-87.86 [[ 5.58104278e-01 4.80028330e-01 6.76825249e-01 2.20128843e+02] [-3.22908529e-01 8.77024803e-01 -3.55749317e-01 -1.29589498e+02] [-7.64362282e-01 -2.00074299e-02 6.44476536e-01 -8.78629598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.15, Y:-129.60, Z:-87.89 [[ 5.58106279e-01 4.80683367e-01 6.76358546e-01 2.20147051e+02] [-3.23755275e-01 8.76657989e-01 -3.55883819e-01 -1.29599561e+02] [-7.64002555e-01 -2.03536531e-02 6.44892104e-01 -8.78887655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:-129.61, Z:-87.91 [[ 5.58290826e-01 4.80728035e-01 6.76174467e-01 2.20164436e+02] [-3.23477292e-01 8.76644351e-01 -3.56170077e-01 -1.29610942e+02] [-7.63985468e-01 -1.98805989e-02 6.44927102e-01 -8.79139930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:-129.62, Z:-87.94 [[ 5.58244795e-01 4.80679798e-01 6.76246760e-01 2.20182200e+02] [-3.22900279e-01 8.76683942e-01 -3.56595956e-01 -1.29622043e+02] [-7.64263148e-01 -1.92924315e-02 6.44615888e-01 -8.79385222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.20, Y:-129.63, Z:-87.96 [[ 5.58499321e-01 4.79216671e-01 6.77074509e-01 2.20199736e+02] [-3.19690685e-01 8.77534874e-01 -3.57393917e-01 -1.29634524e+02] [-7.65425617e-01 -1.68501534e-02 6.43303737e-01 -8.79631951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:-129.65, Z:-87.99 [[ 5.58528719e-01 4.78651446e-01 6.77449971e-01 2.20216808e+02] [-3.18127116e-01 8.77866822e-01 -3.57973435e-01 -1.29645263e+02] [-7.66055356e-01 -1.55767612e-02 6.42585836e-01 -8.79876662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.316559995 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:220.23, Y:-129.64, Z:-88.02 [[ 5.56581188e-01 4.92684715e-01 6.68938826e-01 2.20230040e+02] [-3.13869711e-01 8.70206741e-01 -3.79771026e-01 -1.29639477e+02] [-7.69222455e-01 1.41377252e-03 6.38979511e-01 -8.80220794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.25, Y:-129.68, Z:-88.03 [[ 5.59472686e-01 4.60264841e-01 6.89308777e-01 2.20251823e+02] [-3.14987148e-01 8.87318269e-01 -3.36822486e-01 -1.29680074e+02] [-7.66663819e-01 -2.86804249e-02 6.41407844e-01 -8.80299490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.27, Y:-129.68, Z:-88.06 [[ 5.59339252e-01 4.76286554e-01 6.78447286e-01 2.20267555e+02] [-3.12823207e-01 8.79218183e-01 -3.59328580e-01 -1.29678603e+02] [-7.67646561e-01 -1.12474771e-02 6.40774728e-01 -8.80605729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.29, Y:-129.69, Z:-88.09 [[ 5.59833377e-01 4.76320363e-01 6.78015857e-01 2.20285285e+02] [-3.12708783e-01 8.79205668e-01 -3.59458774e-01 -1.29691481e+02] [-7.67332918e-01 -1.07844940e-02 6.41158239e-01 -8.80856170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:-129.70, Z:-88.11 [[ 5.60343891e-01 4.77288898e-01 6.76912130e-01 2.20302510e+02] [-3.14438505e-01 8.78670674e-01 -3.59257948e-01 -1.29701049e+02] [-7.66252667e-01 -1.15392422e-02 6.42435752e-01 -8.81105514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:-129.71, Z:-88.14 [[ 5.61145826e-01 4.79250813e-01 6.74858518e-01 2.20320102e+02] [-3.18320638e-01 8.77572038e-01 -3.58523763e-01 -1.29708418e+02] [-7.64059771e-01 -1.36372807e-02 6.45001311e-01 -8.81365463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.34, Y:-129.72, Z:-88.16 [[ 5.61461602e-01 4.80278946e-01 6.73864233e-01 2.20338897e+02] [-3.20102103e-01 8.76995828e-01 -3.58347543e-01 -1.29716435e+02] [-7.63082900e-01 -1.45069729e-02 6.46137783e-01 -8.81630293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:-129.73, Z:-88.19 [[ 5.61033605e-01 4.81216591e-01 6.73551695e-01 2.20357871e+02] [-3.21309139e-01 8.76468962e-01 -3.58556266e-01 -1.29725667e+02] [-7.62890379e-01 -1.52562002e-02 6.46347830e-01 -8.81886933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:-129.74, Z:-88.21 [[ 5.60953595e-01 4.81527866e-01 6.73395856e-01 2.20376660e+02] [-3.21444408e-01 8.76299626e-01 -3.58848796e-01 -1.29735596e+02] [-7.62892231e-01 -1.51618100e-02 6.46347865e-01 -8.82145279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.40, Y:-129.74, Z:-88.24 [[ 5.60286843e-01 4.82257978e-01 6.73428464e-01 2.20396001e+02] [-3.22322266e-01 8.75885355e-01 -3.59072699e-01 -1.29744638e+02] [-7.63011803e-01 -1.58772795e-02 6.46189524e-01 -8.82395601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:-129.75, Z:-88.26 [[ 5.59515415e-01 4.83115385e-01 6.73455288e-01 2.20414588e+02] [-3.23196276e-01 8.75400645e-01 -3.59468884e-01 -1.29753359e+02] [-7.63208142e-01 -1.65298589e-02 6.45941248e-01 -8.82635709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:-129.76, Z:-88.29 [[ 5.58201818e-01 4.83625947e-01 6.74178517e-01 2.20434331e+02] [-3.23289243e-01 8.75110620e-01 -3.60090916e-01 -1.29761352e+02] [-7.64130091e-01 -1.69512585e-02 6.44839406e-01 -8.82893651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.45, Y:-129.77, Z:-88.31 [[ 5.57657823e-01 4.83817557e-01 6.74491160e-01 2.20452991e+02] [-3.22960059e-01 8.75009073e-01 -3.60632670e-01 -1.29770672e+02] [-7.64666302e-01 -1.67240756e-02 6.44209401e-01 -8.83147783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:-129.78, Z:-88.34 [[ 5.57054895e-01 4.83875060e-01 6.74947976e-01 2.20470774e+02] [-3.22317600e-01 8.74985216e-01 -3.61264773e-01 -1.29779835e+02] [-7.65376514e-01 -1.63033014e-02 6.43376246e-01 -8.83393132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:-129.79, Z:-88.36 [[ 5.56184169e-01 4.83339372e-01 6.76048979e-01 2.20489101e+02] [-3.20383931e-01 8.75302196e-01 -3.62215684e-01 -1.29789802e+02] [-7.66820257e-01 -1.51366007e-02 6.41683392e-01 -8.83641567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.51, Y:-129.80, Z:-88.39 [[ 5.56163783e-01 4.83085929e-01 6.76246872e-01 2.20508094e+02] [-3.19407868e-01 8.75456563e-01 -3.62704316e-01 -1.29799731e+02] [-7.67242113e-01 -1.42755667e-02 6.41198681e-01 -8.83896096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.53, Y:-129.81, Z:-88.41 [[ 5.56377235e-01 4.82824161e-01 6.76258236e-01 2.20526287e+02] [-3.18515038e-01 8.75615188e-01 -3.63106338e-01 -1.29809344e+02] [-7.67458496e-01 -1.33743176e-02 6.40959113e-01 -8.84142385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.54, Y:-129.81, Z:-88.44 [[ 5.56301887e-01 4.87493480e-01 6.72962345e-01 2.20541987e+02] [-3.13595947e-01 8.73120023e-01 -3.73254615e-01 -1.29809633e+02] [-7.69536089e-01 -3.39601717e-03 6.38594296e-01 -8.84440266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.56, Y:-129.83, Z:-88.46 [[ 5.58376985e-01 4.71625360e-01 6.82484185e-01 2.20563015e+02] [-3.14294645e-01 8.81617321e-01 -3.52093420e-01 -1.29834267e+02] [-7.67746064e-01 -1.79002626e-02 6.40504146e-01 -8.84601493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:-129.84, Z:-88.49 [[ 5.59016131e-01 4.80273802e-01 6.75897951e-01 2.20581200e+02] [-3.13666512e-01 8.77076103e-01 -3.63800533e-01 -1.29836251e+02] [-7.67537807e-01 -8.63618620e-03 6.40945498e-01 -8.84881989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.60, Y:-129.85, Z:-88.51 [[ 5.59969632e-01 4.79860688e-01 6.75401904e-01 2.20599904e+02] [-3.12897285e-01 8.77312110e-01 -3.63893873e-01 -1.29845751e+02] [-7.67156633e-01 -7.56190399e-03 6.41415246e-01 -8.85137844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:-129.86, Z:-88.54 [[ 5.61009017e-01 4.79501385e-01 6.74794268e-01 2.20618269e+02] [-3.12260539e-01 8.77516797e-01 -3.63947285e-01 -1.29855166e+02] [-7.66656532e-01 -6.53391321e-03 6.42024197e-01 -8.85390077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.64, Y:-129.86, Z:-88.56 [[ 5.63169198e-01 4.78233166e-01 6.73894275e-01 2.20636350e+02] [-3.10394847e-01 8.78222530e-01 -3.63840936e-01 -1.29864327e+02] [-7.65829938e-01 -4.26930217e-03 6.43028988e-01 -8.85644427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.65, Y:-129.87, Z:-88.59 [[ 5.64194212e-01 4.77675505e-01 6.73432256e-01 2.20654243e+02] [-3.09367626e-01 8.78531265e-01 -3.63970450e-01 -1.29873552e+02] [-7.65491060e-01 -2.98811722e-03 6.43439592e-01 -8.85896900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:-129.88, Z:-88.62 [[ 5.66168552e-01 4.75814872e-01 6.73092400e-01 2.20672495e+02] [-3.06272188e-01 8.79545455e-01 -3.64138901e-01 -1.29882585e+02] [-7.65278066e-01 1.45123542e-05 6.43699838e-01 -8.86158046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:-129.89, Z:-88.64 [[ 5.67204462e-01 4.74932189e-01 6.72843603e-01 2.20690413e+02] [-3.04618786e-01 8.80020722e-01 -3.64377447e-01 -1.29892106e+02] [-7.65170892e-01 1.71571202e-03 6.43824947e-01 -8.86411648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.71, Y:-129.90, Z:-88.67 [[ 5.67971273e-01 4.73986002e-01 6.72863956e-01 2.20708387e+02] [-3.02697041e-01 8.80525427e-01 -3.64759475e-01 -1.29902380e+02] [-7.65364707e-01 3.49897469e-03 6.43587308e-01 -8.86664531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:-129.91, Z:-88.69 [[ 5.70922781e-01 4.75701706e-01 6.69145026e-01 2.20725532e+02] [-2.99488674e-01 8.79541635e-01 -3.69747275e-01 -1.29910169e+02] [-7.64430319e-01 1.06957857e-02 6.44617629e-01 -8.86917857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.74, Y:-129.92, Z:-88.72 [[ 5.70275139e-01 4.70614034e-01 6.73282033e-01 2.20741880e+02] [-2.95135020e-01 8.82277645e-01 -3.66717163e-01 -1.29921517e+02] [-7.66603930e-01 1.04205755e-02 6.42035689e-01 -8.87185613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.76, Y:-129.94, Z:-88.74 [[ 5.72520001e-01 4.62414157e-01 6.77048001e-01 2.20762204e+02] [-2.93922992e-01 8.86647595e-01 -3.57022852e-01 -1.29940520e+02] [-7.65395403e-01 5.40274950e-03 6.43537635e-01 -8.87371864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.78, Y:-129.94, Z:-88.76 [[ 5.72924704e-01 4.68571354e-01 6.72456816e-01 2.20779762e+02] [-2.92913261e-01 8.83334473e-01 -3.65953591e-01 -1.29944411e+02] [-7.65479657e-01 1.26923338e-02 6.43334905e-01 -8.87640871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:-129.95, Z:-88.79 [[ 5.73054585e-01 4.68947808e-01 6.72083622e-01 2.20798054e+02] [-2.93324898e-01 8.83135152e-01 -3.66104913e-01 -1.29953173e+02] [-7.65224768e-01 1.26592389e-02 6.43638717e-01 -8.87895765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:-129.96, Z:-88.81 [[ 5.72544284e-01 4.69942232e-01 6.71823892e-01 2.20816223e+02] [-2.94576602e-01 8.82617672e-01 -3.66347747e-01 -1.29961123e+02] [-7.65125917e-01 1.18467091e-02 6.43771688e-01 -8.88149987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.84, Y:-129.97, Z:-88.84 [[ 5.72420623e-01 4.70337569e-01 6.71652590e-01 2.20835680e+02] [-2.94877149e-01 8.82407675e-01 -3.66611732e-01 -1.29970138e+02] [-7.65102671e-01 1.18011156e-02 6.43800153e-01 -8.88397640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.85, Y:-129.97, Z:-88.87 [[ 5.71352114e-01 4.75977920e-01 6.68581918e-01 2.20850994e+02] [-2.92637131e-01 8.79249664e-01 -3.75877025e-01 -1.29971261e+02] [-7.66759592e-01 1.91062383e-02 6.41649967e-01 -8.88695948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.87, Y:-129.99, Z:-88.89 [[ 5.71236594e-01 4.69586826e-01 6.73184200e-01 2.20869346e+02] [-2.92847992e-01 8.82795279e-01 -3.67304438e-01 -1.29986839e+02] [-7.66765158e-01 1.26770951e-02 6.41802527e-01 -8.88922646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.89, Y:-130.00, Z:-88.92 [[ 5.71218302e-01 4.70035095e-01 6.72886812e-01 2.20887584e+02] [-2.93163305e-01 8.82555921e-01 -3.67627968e-01 -1.29996658e+02] [-7.66658287e-01 1.27301017e-02 6.41929136e-01 -8.89173023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.91, Y:-130.01, Z:-88.94 [[ 5.71199019e-01 4.70424725e-01 6.72630848e-01 2.20905822e+02] [-2.93477716e-01 8.82348332e-01 -3.67875320e-01 -1.30006536e+02] [-7.66552354e-01 1.27278572e-02 6.42055676e-01 -8.89423161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:-130.02, Z:-88.96 [[ 5.72323317e-01 4.65058477e-01 6.75401092e-01 2.20927091e+02] [-2.95423985e-01 8.85259210e-01 -3.59222495e-01 -1.30023151e+02] [-7.64964503e-01 6.06172746e-03 6.44043915e-01 -8.89610662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.95, Y:-130.03, Z:-88.99 [[ 5.72331322e-01 4.71957884e-01 6.70591241e-01 2.20945628e+02] [-2.95676143e-01 8.81534193e-01 -3.68066685e-01 -1.30027855e+02] [-7.64861083e-01 1.23782605e-02 6.44076317e-01 -8.89891776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:-130.04, Z:-89.01 [[ 5.72746545e-01 4.71711302e-01 6.70410204e-01 2.20964329e+02] [-2.95170655e-01 8.81657411e-01 -3.68177260e-01 -1.30036886e+02] [-7.64745500e-01 1.29868343e-02 6.44201570e-01 -8.90144658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.98, Y:-130.05, Z:-89.04 [[ 5.73392765e-01 4.70994963e-01 6.70361456e-01 2.20983371e+02] [-2.93647449e-01 8.82017307e-01 -3.68533101e-01 -1.30045793e+02] [-7.64847640e-01 1.44642824e-02 6.44048812e-01 -8.90400103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.00, Y:-130.06, Z:-89.06 [[ 5.73810218e-01 4.70865502e-01 6.70095152e-01 2.21001985e+02] [-2.93179373e-01 8.82075010e-01 -3.68767586e-01 -1.30055493e+02] [-7.64714122e-01 1.51445319e-02 6.44191706e-01 -8.90648776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:-130.06, Z:-89.09 [[ 5.75071097e-01 4.69772593e-01 6.69781266e-01 2.21020466e+02] [-2.91264944e-01 8.82621759e-01 -3.68976372e-01 -1.30064024e+02] [-7.64498506e-01 1.71038439e-02 6.44398551e-01 -8.90901408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:-130.07, Z:-89.12 [[ 5.75638228e-01 4.69432895e-01 6.69532216e-01 2.21038748e+02] [-2.90495046e-01 8.82784112e-01 -3.69194853e-01 -1.30072971e+02] [-7.64364611e-01 1.80268789e-02 6.44532212e-01 -8.91151046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.06, Y:-130.08, Z:-89.14 [[ 5.76195049e-01 4.69002474e-01 6.69354872e-01 2.21057326e+02] [-2.89681383e-01 8.82994450e-01 -3.69331148e-01 -1.30081996e+02] [-7.64253859e-01 1.89071345e-02 6.44638316e-01 -8.91404281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:-130.09, Z:-89.17 [[ 5.77065060e-01 4.68530368e-01 6.68935879e-01 2.21075995e+02] [-2.88796835e-01 8.83220306e-01 -3.69483802e-01 -1.30090237e+02] [-7.63932134e-01 2.00296270e-02 6.44985666e-01 -8.91653051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.09, Y:-130.10, Z:-89.19 [[ 5.77239170e-01 4.68775974e-01 6.68613511e-01 2.21094943e+02] [-2.88976209e-01 8.83086769e-01 -3.69662697e-01 -1.30099668e+02] [-7.63732736e-01 2.01703911e-02 6.45217377e-01 -8.91909272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:-130.11, Z:-89.21 [[ 5.77538218e-01 4.69348751e-01 6.67953109e-01 2.21113845e+02] [-2.89867233e-01 8.82788964e-01 -3.69676387e-01 -1.30108048e+02] [-7.63168784e-01 1.98845224e-02 6.45893190e-01 -8.92148482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.13, Y:-130.12, Z:-89.24 [[ 5.77102487e-01 4.70061146e-01 6.67828749e-01 2.21132775e+02] [-2.90627101e-01 8.82420280e-01 -3.69959913e-01 -1.30117240e+02] [-7.63209413e-01 1.94156528e-02 6.45859447e-01 -8.92406459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.15, Y:-130.13, Z:-89.27 [[ 5.76871312e-01 4.70918140e-01 6.67424599e-01 2.21151096e+02] [-2.91779673e-01 8.81977328e-01 -3.70108925e-01 -1.30126142e+02] [-7.62944371e-01 1.87642899e-02 6.46191759e-01 -8.92654454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.17, Y:-130.13, Z:-89.29 [[ 5.76152687e-01 4.72599633e-01 6.66856558e-01 2.21171031e+02] [-2.94337903e-01 8.81113726e-01 -3.70140245e-01 -1.30133689e+02] [-7.62504610e-01 1.69761358e-02 6.46760025e-01 -8.92911052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:-130.14, Z:-89.32 [[ 5.75297976e-01 4.74043896e-01 6.66569294e-01 2.21189176e+02] [-2.96307612e-01 8.80363825e-01 -3.70352985e-01 -1.30141953e+02] [-7.62387065e-01 1.55537671e-02 6.46934342e-01 -8.93154787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:-130.15, Z:-89.34 [[ 5.74207069e-01 4.76579348e-01 6.65701410e-01 2.21208718e+02] [-3.00378512e-01 8.79040901e-01 -3.70215942e-01 -1.30149237e+02] [-7.61616039e-01 1.26182119e-02 6.47905695e-01 -8.93414676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:-130.16, Z:-89.37 [[ 5.72895078e-01 4.78106879e-01 6.65736465e-01 2.21226779e+02] [-3.02254624e-01 8.78231538e-01 -3.70609643e-01 -1.30157531e+02] [-7.61861780e-01 1.10985153e-02 6.47644541e-01 -8.93665870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-130.17, Z:-89.39 [[ 5.69884679e-01 4.81158768e-01 6.66121379e-01 2.21246679e+02] [-3.06269430e-01 8.76601274e-01 -3.71172794e-01 -1.30165774e+02] [-7.62515894e-01 7.51307327e-03 6.46925858e-01 -8.93922018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:-130.18, Z:-89.42 [[ 5.68282036e-01 4.82751693e-01 6.66338000e-01 2.21265589e+02] [-3.08134673e-01 8.75737465e-01 -3.71667749e-01 -1.30175094e+02] [-7.62960386e-01 5.89026293e-03 6.46418405e-01 -8.94170490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:-130.18, Z:-89.44 [[ 5.65656748e-01 4.85722538e-01 6.66412830e-01 2.21285410e+02] [-3.12224654e-01 8.74109744e-01 -3.72085904e-01 -1.30183434e+02] [-7.63248458e-01 2.40238716e-03 6.46100627e-01 -8.94424003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.31, Y:-130.21, Z:-89.46 [[ 5.66350690e-01 4.76384824e-01 6.72535795e-01 2.21308437e+02] [-3.17565915e-01 8.79150241e-01 -3.55312178e-01 -1.30208763e+02] [-7.60525335e-01 -1.23431482e-02 6.49190928e-01 -8.94624378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.32, Y:-130.18, Z:-89.50 [[ 5.63169770e-01 5.08593863e-01 6.51284955e-01 2.21322725e+02] [-3.16092583e-01 8.60801912e-01 -3.98880368e-01 -1.30184181e+02] [-7.63495442e-01 1.87710214e-02 6.45540362e-01 -8.94985956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:-130.21, Z:-89.52 [[ 5.62550302e-01 4.89747235e-01 6.66096692e-01 2.21340534e+02] [-3.17671270e-01 8.71862372e-01 -3.72747862e-01 -1.30209982e+02] [-7.63296877e-01 -1.91035954e-03 6.46045067e-01 -8.95165850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:-130.22, Z:-89.54 [[ 5.61469669e-01 4.90861135e-01 6.66188529e-01 2.21358823e+02] [-3.18917307e-01 8.71232851e-01 -3.73155557e-01 -1.30219312e+02] [-7.63572892e-01 -2.94352497e-03 6.45714932e-01 -8.95417618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.38, Y:-130.24, Z:-89.56 [[ 5.61907250e-01 4.82332612e-01 6.72023433e-01 2.21381027e+02] [-3.24043557e-01 8.75827204e-01 -3.57662526e-01 -1.30244641e+02] [-7.61088704e-01 -1.67916975e-02 6.48430431e-01 -8.95625005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-130.22, Z:-89.60 [[ 5.59177402e-01 5.14695240e-01 6.49930337e-01 2.21395632e+02] [-3.21389361e-01 8.57222025e-01 -4.02342240e-01 -1.30218177e+02] [-7.64218236e-01 1.60999926e-02 6.44756759e-01 -8.95972512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.41, Y:-130.25, Z:-89.62 [[ 5.59279614e-01 4.93529756e-01 6.66059077e-01 2.21413073e+02] [-3.22108633e-01 8.69712181e-01 -3.73960895e-01 -1.30246031e+02] [-7.63840521e-01 -5.39467375e-03 6.45382488e-01 -8.96152766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:-130.26, Z:-89.64 [[ 5.59862422e-01 4.94067021e-01 6.65170540e-01 2.21431182e+02] [-3.23085934e-01 8.69405697e-01 -3.73830460e-01 -1.30255780e+02] [-7.63000359e-01 -5.61361857e-03 6.46373685e-01 -8.96410816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:-130.27, Z:-89.67 [[ 5.60024052e-01 4.94456711e-01 6.64744780e-01 2.21449089e+02] [-3.23520238e-01 8.69184047e-01 -3.73970249e-01 -1.30265597e+02] [-7.62697658e-01 -5.62605500e-03 6.46730725e-01 -8.96660792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.47, Y:-130.28, Z:-89.69 [[ 5.60258581e-01 4.94785036e-01 6.64302710e-01 2.21467008e+02] [-3.23900853e-01 8.68997424e-01 -3.74074477e-01 -1.30275557e+02] [-7.62363797e-01 -5.58977866e-03 6.47124559e-01 -8.96910698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.49, Y:-130.29, Z:-89.72 [[ 5.60581287e-01 4.95053401e-01 6.63830363e-01 2.21485358e+02] [-3.24212732e-01 8.68845291e-01 -3.74157674e-01 -1.30286379e+02] [-7.61993914e-01 -5.47646493e-03 6.47561027e-01 -8.97165853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.50, Y:-130.30, Z:-89.74 [[ 5.60648245e-01 4.95291852e-01 6.63595907e-01 2.21503856e+02] [-3.24303792e-01 8.68710448e-01 -3.74391784e-01 -1.30296887e+02] [-7.61905898e-01 -5.30457245e-03 6.47666013e-01 -8.97417148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.52, Y:-130.31, Z:-89.77 [[ 5.60672781e-01 4.95108044e-01 6.63712330e-01 2.21521065e+02] [-3.23497055e-01 8.68819507e-01 -3.74836390e-01 -1.30307035e+02] [-7.62230731e-01 -4.54842287e-03 6.47289444e-01 -8.97660559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:-130.32, Z:-89.79 [[ 5.60307286e-01 4.95073246e-01 6.64046856e-01 2.21539230e+02] [-3.22808188e-01 8.68841884e-01 -3.75378016e-01 -1.30317904e+02] [-7.62791334e-01 -4.03272485e-03 6.46632135e-01 -8.97918435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:-130.33, Z:-89.82 [[ 5.59851574e-01 4.94885748e-01 6.64570772e-01 2.21557182e+02] [-3.21724843e-01 8.68951880e-01 -3.76052863e-01 -1.30328783e+02] [-7.63583224e-01 -3.27513978e-03 6.45701117e-01 -8.98172614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:-130.34, Z:-89.84 [[ 5.60507222e-01 4.93886237e-01 6.64761641e-01 2.21575708e+02] [-3.20459298e-01 8.69523263e-01 -3.75812631e-01 -1.30342955e+02] [-7.63634397e-01 -2.38335539e-03 6.45644505e-01 -8.98431712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:-130.35, Z:-89.87 [[ 5.60865209e-01 4.97947396e-01 6.61421656e-01 2.21592215e+02] [-3.18514313e-01 8.67197953e-01 -3.82774534e-01 -1.30347242e+02] [-7.64185089e-01 4.01265448e-03 6.44984534e-01 -8.98685643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.61, Y:-130.36, Z:-89.89 [[ 5.61680233e-01 4.92805223e-01 6.64573794e-01 2.21609991e+02] [-3.17213556e-01 8.70139054e-01 -3.77138684e-01 -1.30362381e+02] [-7.64127526e-01 1.01952708e-03 6.45064404e-01 -8.98929555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.63, Y:-130.37, Z:-89.92 [[ 5.62229122e-01 4.92009591e-01 6.64699162e-01 2.21627117e+02] [-3.15437675e-01 8.70585821e-01 -3.77596876e-01 -1.30373415e+02] [-7.64458951e-01 2.62480172e-03 6.44667064e-01 -8.99174516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:-130.39, Z:-89.94 [[ 5.63674258e-01 4.90148084e-01 6.64850500e-01 2.21644152e+02] [-3.12026561e-01 8.71620917e-01 -3.78042857e-01 -1.30385995e+02] [-7.64794584e-01 5.64201191e-03 6.44249495e-01 -8.99428888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:-130.40, Z:-89.97 [[ 5.65713333e-01 4.88375627e-01 6.64422811e-01 2.21661647e+02] [-3.09131344e-01 8.72591638e-01 -3.78182026e-01 -1.30398252e+02] [-7.64464674e-01 8.54869797e-03 6.44608938e-01 -8.99677598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:-130.41, Z:-89.99 [[ 5.66564020e-01 4.87887306e-01 6.64056615e-01 2.21679135e+02] [-3.08183185e-01 8.72852613e-01 -3.78353593e-01 -1.30409053e+02] [-7.64217467e-01 9.71044971e-03 6.44885549e-01 -8.99923299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:-130.42, Z:-90.02 [[ 5.67373857e-01 4.88139248e-01 6.63179448e-01 2.21696830e+02] [-3.07157954e-01 8.72687943e-01 -3.79565205e-01 -1.30420031e+02] [-7.64029383e-01 1.16545319e-02 6.45076177e-01 -9.00195286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:-130.43, Z:-90.04 [[ 5.68473876e-01 4.88301758e-01 6.62116942e-01 2.21713380e+02] [-3.05530248e-01 8.72556145e-01 -3.81178489e-01 -1.30429156e+02] [-7.63864333e-01 1.43932592e-02 6.45216331e-01 -9.00425410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.73, Y:-130.44, Z:-90.07 [[ 5.68719017e-01 4.87217868e-01 6.62704632e-01 2.21729945e+02] [-3.04369397e-01 8.73154606e-01 -3.80736529e-01 -1.30440513e+02] [-7.64145241e-01 1.48250953e-02 6.44873838e-01 -9.00683210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.75, Y:-130.45, Z:-90.09 [[ 5.68564920e-01 4.86052407e-01 6.63691938e-01 2.21748082e+02] [-3.04638443e-01 8.73828707e-01 -3.78970724e-01 -1.30452238e+02] [-7.64152701e-01 1.32833807e-02 6.44898598e-01 -9.00911967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:-130.46, Z:-90.12 [[ 5.68106822e-01 4.86732881e-01 6.63585519e-01 2.21766081e+02] [-3.05137401e-01 8.73453003e-01 -3.79435130e-01 -1.30462634e+02] [-7.64294318e-01 1.30749247e-02 6.44735016e-01 -9.01164084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.78, Y:-130.47, Z:-90.14 [[ 5.67463063e-01 4.87360867e-01 6.63675416e-01 2.21783629e+02] [-3.05582405e-01 8.73107482e-01 -3.79871976e-01 -1.30472897e+02] [-7.64594707e-01 1.27557855e-02 6.44385152e-01 -9.01409013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.80, Y:-130.48, Z:-90.17 [[ 5.66741550e-01 4.88225692e-01 6.63656304e-01 2.21802209e+02] [-3.06501908e-01 8.72633880e-01 -3.80219268e-01 -1.30483551e+02] [-7.64761791e-01 1.20741338e-02 6.44199983e-01 -9.01661901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.82, Y:-130.49, Z:-90.19 [[ 5.65908265e-01 4.89471791e-01 6.63449471e-01 2.21820549e+02] [-3.08120735e-01 8.71951097e-01 -3.80477196e-01 -1.30494208e+02] [-7.64728349e-01 1.08926513e-02 6.44260741e-01 -9.01915784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:-130.51, Z:-90.22 [[ 5.63034110e-01 4.92409333e-01 6.63721055e-01 2.21839049e+02] [-3.12010347e-01 8.70331978e-01 -3.81014161e-01 -1.30505002e+02] [-7.65272588e-01 7.43613233e-03 6.43663398e-01 -9.02169865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:-130.51, Z:-90.24 [[ 5.59790505e-01 4.96284788e-01 6.63578179e-01 2.21857871e+02] [-3.17656091e-01 8.68155689e-01 -3.81313923e-01 -1.30514875e+02] [-7.65329471e-01 2.66626353e-03 6.43633197e-01 -9.02425378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.88, Y:-130.53, Z:-90.27 [[ 5.59730200e-01 4.96573382e-01 6.63413129e-01 2.21876374e+02] [-3.17763432e-01 8.67990276e-01 -3.81600946e-01 -1.30525434e+02] [-7.65329018e-01 2.78514126e-03 6.43633232e-01 -9.02683455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.90, Y:-130.54, Z:-90.29 [[ 5.57685734e-01 4.98138626e-01 6.63961242e-01 2.21895463e+02] [-3.25254937e-01 8.67079820e-01 -3.77335146e-01 -1.30538463e+02] [-7.63672606e-01 -5.52224408e-03 6.45580093e-01 -9.02932056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:-130.54, Z:-90.32 [[ 5.55870704e-01 5.08365347e-01 6.57702391e-01 2.21911801e+02] [-3.27762114e-01 8.61141382e-01 -3.88596856e-01 -1.30538844e+02] [-7.63923921e-01 4.39681692e-04 6.45306167e-01 -9.03203302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:-130.55, Z:-90.34 [[ 5.54562827e-01 5.04778071e-01 6.61558138e-01 2.21929269e+02] [-3.30721459e-01 8.63218513e-01 -3.81414624e-01 -1.30553473e+02] [-7.63598970e-01 -7.27310110e-03 6.45649839e-01 -9.03433078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:-130.56, Z:-90.37 [[ 5.51729174e-01 5.07995312e-01 6.61464800e-01 2.21947552e+02] [-3.35378273e-01 8.61286531e-01 -3.81715766e-01 -1.30564465e+02] [-7.63620542e-01 -1.12371980e-02 6.45567497e-01 -9.03687991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:-130.57, Z:-90.39 [[ 5.50367564e-01 5.09494918e-01 6.61445744e-01 2.21965084e+02] [-3.37273249e-01 8.60378516e-01 -3.82093659e-01 -1.30574795e+02] [-7.63768486e-01 -1.27959989e-02 6.45363435e-01 -9.03935005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:-130.59, Z:-90.42 [[ 5.48537597e-01 5.11418606e-01 6.61481303e-01 2.21982600e+02] [-3.39830331e-01 8.59201004e-01 -3.82477426e-01 -1.30585187e+02] [-7.63951471e-01 -1.49881615e-02 6.45099608e-01 -9.04177582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:-130.60, Z:-90.44 [[ 5.47479964e-01 5.12299014e-01 6.61676212e-01 2.22000314e+02] [-3.40802881e-01 8.58659750e-01 -3.82827416e-01 -1.30595675e+02] [-7.64276838e-01 -1.59108196e-02 6.44691989e-01 -9.04430452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:-130.61, Z:-90.47 [[ 5.46610267e-01 5.12935752e-01 6.61901904e-01 2.22018008e+02] [-3.41211487e-01 8.58271949e-01 -3.83332732e-01 -1.30606441e+02] [-7.64716900e-01 -1.63149260e-02 6.44159829e-01 -9.04686051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.04, Y:-130.62, Z:-90.49 [[ 5.46173841e-01 5.13162642e-01 6.62086277e-01 2.22035462e+02] [-3.41004794e-01 8.58139504e-01 -3.83812874e-01 -1.30618865e+02] [-7.65120818e-01 -1.61460427e-02 6.43684270e-01 -9.04941653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:-130.63, Z:-90.52 [[ 5.46070100e-01 5.13488144e-01 6.61919460e-01 2.22053916e+02] [-3.41167837e-01 8.57946015e-01 -3.84100434e-01 -1.30629482e+02] [-7.65122182e-01 -1.60798684e-02 6.43684305e-01 -9.05199581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.07, Y:-130.64, Z:-90.55 [[ 5.46237041e-01 5.13498930e-01 6.61773332e-01 2.22071873e+02] [-3.40966068e-01 8.57945963e-01 -3.84279670e-01 -1.30640934e+02] [-7.65092959e-01 -1.57344609e-02 6.43727576e-01 -9.05454476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-130.65, Z:-90.57 [[ 5.46973922e-01 5.13257037e-01 6.61352208e-01 2.22088814e+02] [-3.40400485e-01 8.58106365e-01 -3.84422913e-01 -1.30652524e+02] [-7.64818305e-01 -1.48553043e-02 6.44074748e-01 -9.05711912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:-130.66, Z:-90.60 [[ 5.46942994e-01 5.13462482e-01 6.61218301e-01 2.22105262e+02] [-3.40347922e-01 8.57987552e-01 -3.84734522e-01 -1.30663768e+02] [-7.64863814e-01 -1.46164236e-02 6.44026169e-01 -9.05960443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.13, Y:-130.68, Z:-90.62 [[ 5.49197308e-01 5.06842497e-01 6.64449396e-01 2.22125371e+02] [-3.42572887e-01 8.61754953e-01 -3.74195427e-01 -1.30684077e+02] [-7.62250703e-01 -2.21152266e-02 6.46903998e-01 -9.06165810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:-130.68, Z:-90.65 [[ 5.47353600e-01 5.25098461e-01 6.51671423e-01 2.22138721e+02] [-3.41191286e-01 8.51032726e-01 -3.99163884e-01 -1.30675426e+02] [-7.64194048e-01 -3.86082183e-03 6.44974845e-01 -9.06490926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.16, Y:-130.70, Z:-90.67 [[ 5.47657905e-01 5.14344336e-01 6.59939939e-01 2.22155818e+02] [-3.41622922e-01 8.57457431e-01 -3.84786347e-01 -1.30696144e+02] [-7.63783083e-01 -1.47193258e-02 6.45305155e-01 -9.06707308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-130.71, Z:-90.70 [[ 5.47591546e-01 5.14624542e-01 6.59776538e-01 2.22174248e+02] [-3.41724336e-01 8.57291284e-01 -3.85066402e-01 -1.30706824e+02] [-7.63785295e-01 -1.46025930e-02 6.45305189e-01 -9.06965409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:-130.72, Z:-90.72 [[ 5.47975086e-01 5.14757893e-01 6.59353939e-01 2.22191959e+02] [-3.42017986e-01 8.57212108e-01 -3.84981947e-01 -1.30718350e+02] [-7.63378676e-01 -1.45503906e-02 6.45787336e-01 -9.07219980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.21, Y:-130.73, Z:-90.75 [[ 5.49136838e-01 5.14203951e-01 6.58819421e-01 2.22208467e+02] [-3.41050921e-01 8.57565671e-01 -3.85052450e-01 -1.30731113e+02] [-7.62976410e-01 -1.32444855e-02 6.46290632e-01 -9.07475670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:-130.74, Z:-90.77 [[ 5.49611339e-01 5.13793145e-01 6.58744245e-01 2.22226092e+02] [-3.40005532e-01 8.57827912e-01 -3.85392673e-01 -1.30742993e+02] [-7.63101313e-01 -1.21605049e-02 6.46164459e-01 -9.07732075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.24, Y:-130.75, Z:-90.80 [[ 5.50237790e-01 5.12880181e-01 6.58932693e-01 2.22243156e+02] [-3.37999161e-01 8.58397352e-01 -3.85889303e-01 -1.30754744e+02] [-7.63541054e-01 -1.03878201e-02 6.45675733e-01 -9.07983129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.26, Y:-130.77, Z:-90.82 [[ 5.52274410e-01 5.09852851e-01 6.59577930e-01 2.22260238e+02] [-3.32390220e-01 8.60242747e-01 -3.86651210e-01 -1.30768865e+02] [-7.64532352e-01 -5.69968402e-03 6.44560157e-01 -9.08235359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:-130.78, Z:-90.85 [[ 5.53694484e-01 5.08122188e-01 6.59722866e-01 2.22278059e+02] [-3.29291657e-01 8.61279891e-01 -3.86993481e-01 -1.30782196e+02] [-7.64846013e-01 -2.96507968e-03 6.44206322e-01 -9.08497995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.29, Y:-130.79, Z:-90.87 [[ 5.56594744e-01 5.06569365e-01 6.58475337e-01 2.22293558e+02] [-3.21239999e-01 8.62174622e-01 -3.91739434e-01 -1.30792189e+02] [-7.66163921e-01 6.51149337e-03 6.42612205e-01 -9.08731488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:-130.81, Z:-90.90 [[ 5.58470106e-01 5.01989271e-01 6.60392242e-01 2.22311052e+02] [-3.18426332e-01 8.64849654e-01 -3.88123366e-01 -1.30806553e+02] [-7.65973767e-01 6.46901804e-03 6.42839280e-01 -9.08967733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.33, Y:-130.82, Z:-90.92 [[ 5.59813685e-01 5.01157520e-01 6.59886186e-01 2.22329303e+02] [-3.17047623e-01 8.65318085e-01 -3.88207956e-01 -1.30816513e+02] [-7.65564787e-01 8.10877979e-03 6.43307706e-01 -9.09224260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.35, Y:-130.82, Z:-90.95 [[ 5.61838433e-01 4.99766628e-01 6.59219912e-01 2.22347567e+02] [-3.14929181e-01 8.66096501e-01 -3.88196421e-01 -1.30824797e+02] [-7.64955676e-01 1.04960817e-02 6.43997396e-01 -9.09486150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:-130.84, Z:-90.97 [[ 5.62807446e-01 4.99280498e-01 6.58761537e-01 2.22366099e+02] [-3.14058958e-01 8.66362042e-01 -3.88308876e-01 -1.30835466e+02] [-7.64601039e-01 1.16531649e-02 6.44398522e-01 -9.09738493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.38, Y:-130.85, Z:-91.00 [[ 5.65115320e-01 4.98340026e-01 6.57496688e-01 2.22384415e+02] [-3.13078535e-01 8.66878306e-01 -3.87948237e-01 -1.30846023e+02] [-7.63299749e-01 1.33873921e-02 6.45905776e-01 -9.09986814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.40, Y:-130.86, Z:-91.02 [[ 5.66447474e-01 4.98114585e-01 6.56520464e-01 2.22402218e+02] [-3.12988865e-01 8.66995571e-01 -3.87758495e-01 -1.30855776e+02] [-7.62348496e-01 1.41612250e-02 6.47011770e-01 -9.10232059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:-130.87, Z:-91.05 [[ 5.68100704e-01 4.97224911e-01 6.55765947e-01 2.22420562e+02] [-3.11757067e-01 8.67477860e-01 -3.87672147e-01 -1.30865465e+02] [-7.61622689e-01 1.57971518e-02 6.47828163e-01 -9.10485791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.44, Y:-130.87, Z:-91.07 [[ 5.71031822e-01 4.94452443e-01 6.55316290e-01 2.22439263e+02] [-3.07419221e-01 8.68975024e-01 -3.87783226e-01 -1.30873802e+02] [-7.61193852e-01 1.99797390e-02 6.48216576e-01 -9.10742896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.46, Y:-130.88, Z:-91.10 [[ 5.72179373e-01 4.92822327e-01 6.55543225e-01 2.22458518e+02] [-3.04317832e-01 8.69834195e-01 -3.88302885e-01 -1.30882511e+02] [-7.61578245e-01 2.26854087e-02 6.47675806e-01 -9.10983862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.48, Y:-130.89, Z:-91.12 [[ 5.72108220e-01 4.93114323e-01 6.55385726e-01 2.22476871e+02] [-3.04457664e-01 8.69666586e-01 -3.88568605e-01 -1.30893314e+02] [-7.61575811e-01 2.27660859e-02 6.47675837e-01 -9.11241862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:-130.90, Z:-91.15 [[ 5.72102516e-01 4.92439095e-01 6.55898200e-01 2.22495861e+02] [-3.02796558e-01 8.70016161e-01 -3.89083699e-01 -1.30903414e+02] [-7.62242058e-01 2.39920462e-02 6.46847297e-01 -9.11495076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:-130.90, Z:-91.18 [[ 5.71495246e-01 4.97814454e-01 6.52360294e-01 2.22513357e+02] [-2.99099376e-01 8.66652197e-01 -3.99316331e-01 -1.30904572e+02] [-7.64154924e-01 3.30868277e-02 6.44183603e-01 -9.11787807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:-130.93, Z:-91.20 [[ 5.72233712e-01 4.82923878e-01 6.62822078e-01 2.22534055e+02] [-3.00501824e-01 8.75489916e-01 -3.78438979e-01 -1.30930521e+02] [-7.63051265e-01 1.73762982e-02 6.46104350e-01 -9.11954265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:-130.92, Z:-91.23 [[ 5.71264682e-01 4.99487812e-01 6.51282265e-01 2.22550297e+02] [-2.98957792e-01 8.65624085e-01 -4.01645594e-01 -1.30922461e+02] [-7.64382693e-01 3.47400346e-02 6.43826241e-01 -9.12294254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:-130.95, Z:-91.24 [[ 5.70645434e-01 4.82642807e-01 6.64394242e-01 2.22571405e+02] [-3.01994570e-01 8.75699655e-01 -3.76761720e-01 -1.30948301e+02] [-7.63651143e-01 1.43539020e-02 6.45469517e-01 -9.12442471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.59, Y:-130.95, Z:-91.27 [[ 5.70008585e-01 4.94257073e-01 6.56353684e-01 2.22590079e+02] [-3.03644899e-01 8.69000873e-01 -3.90688184e-01 -1.30948236e+02] [-7.63472323e-01 2.33971712e-02 6.45416598e-01 -9.12734289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:-130.96, Z:-91.30 [[ 5.69334542e-01 4.95512765e-01 6.55991829e-01 2.22609099e+02] [-3.05382410e-01 8.68316948e-01 -3.90854528e-01 -1.30957447e+02] [-7.63282230e-01 2.21986184e-02 6.45683714e-01 -9.12991415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:-130.97, Z:-91.32 [[ 5.68217091e-01 4.96788505e-01 6.55995822e-01 2.22627516e+02] [-3.06864671e-01 8.67617255e-01 -3.91247201e-01 -1.30966604e+02] [-7.63520406e-01 2.10114047e-02 6.45441794e-01 -9.13238469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.65, Y:-130.97, Z:-91.35 [[ 5.66333634e-01 4.99029619e-01 6.55923513e-01 2.22646742e+02] [-3.09914611e-01 8.66387918e-01 -3.91567247e-01 -1.30974585e+02] [-7.63687861e-01 1.84774215e-02 6.45321188e-01 -9.13482819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:-130.98, Z:-91.37 [[ 5.65304293e-01 5.00314720e-01 6.55832477e-01 2.22665663e+02] [-3.11524962e-01 8.65672398e-01 -3.91871788e-01 -1.30984043e+02] [-7.63795296e-01 1.72186166e-02 6.45228847e-01 -9.13734178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:-130.98, Z:-91.41 [[ 5.63107827e-01 5.11270435e-01 6.49239645e-01 2.22680938e+02] [-3.10642187e-01 8.58979534e-01 -4.07008098e-01 -1.30980405e+02] [-7.65774775e-01 2.75082223e-02 6.42520265e-01 -9.14066286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:-131.01, Z:-91.42 [[ 5.63677706e-01 4.90327067e-01 6.64715587e-01 2.22702467e+02] [-3.14302387e-01 8.71532548e-01 -3.76357580e-01 -1.31012373e+02] [-7.63859577e-01 3.22268130e-03 6.45374434e-01 -9.14194396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.72, Y:-131.01, Z:-91.45 [[ 5.62166561e-01 5.04677117e-01 6.55186817e-01 2.22722175e+02] [-3.17676500e-01 8.63218744e-01 -3.92345564e-01 -1.31010097e+02] [-7.63577369e-01 1.24261014e-02 6.45596773e-01 -9.14485670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:-131.02, Z:-91.47 [[ 5.60249342e-01 5.06508698e-01 6.55415604e-01 2.22740966e+02] [-3.19863036e-01 8.62171367e-01 -3.92871699e-01 -1.31019008e+02] [-7.64073500e-01 1.04628857e-02 6.45044351e-01 -9.14736947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:-131.03, Z:-91.50 [[ 5.59361555e-01 5.07599119e-01 6.55330287e-01 2.22758975e+02] [-3.21143991e-01 8.61541096e-01 -3.93209202e-01 -1.31028707e+02] [-7.64186619e-01 9.49072713e-03 6.44925374e-01 -9.14984694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:-131.04, Z:-91.52 [[ 5.58419242e-01 5.09202947e-01 6.54889539e-01 2.22777281e+02] [-3.23509094e-01 8.60611429e-01 -3.93306287e-01 -1.31037454e+02] [-7.63878142e-01 7.76707683e-03 6.45313766e-01 -9.15237115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:-131.05, Z:-91.55 [[ 5.58012276e-01 5.10857453e-01 6.53947217e-01 2.22795223e+02] [-3.26322969e-01 8.59644817e-01 -3.93095547e-01 -1.31046758e+02] [-7.62978125e-01 5.95414309e-03 6.46396882e-01 -9.15500433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.81, Y:-131.06, Z:-91.58 [[ 5.57273613e-01 5.12666191e-01 6.53161158e-01 2.22813347e+02] [-3.29223975e-01 8.58578808e-01 -3.93006366e-01 -1.31056962e+02] [-7.62271405e-01 3.97576485e-03 6.47245315e-01 -9.15754987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.83, Y:-131.07, Z:-91.60 [[ 5.56472902e-01 5.13986243e-01 6.52806290e-01 2.22831320e+02] [-3.31054094e-01 8.57794238e-01 -3.93182187e-01 -1.31067840e+02] [-7.62063709e-01 2.68103762e-03 6.47496499e-01 -9.16001254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:-131.08, Z:-91.63 [[ 5.56124411e-01 5.14778700e-01 6.52478758e-01 2.22849562e+02] [-3.32227464e-01 8.57320967e-01 -3.93224710e-01 -1.31078646e+02] [-7.61807424e-01 1.91049732e-03 6.47800740e-01 -9.16255727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:-131.09, Z:-91.65 [[ 5.56506271e-01 5.14963483e-01 6.52007195e-01 2.22866879e+02] [-3.32390568e-01 8.57209370e-01 -3.93330149e-01 -1.31089156e+02] [-7.61457340e-01 2.16965226e-03 6.48211395e-01 -9.16505692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:-131.10, Z:-91.68 [[ 5.56425421e-01 5.15254715e-01 6.51846094e-01 2.22885156e+02] [-3.32526498e-01 8.57034136e-01 -3.93597024e-01 -1.31100112e+02] [-7.61457076e-01 2.25129095e-03 6.48211426e-01 -9.16763642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:-131.11, Z:-91.70 [[ 5.56510453e-01 5.15184020e-01 6.51829380e-01 2.22902045e+02] [-3.32178553e-01 8.57075555e-01 -3.93800587e-01 -1.31110837e+02] [-7.61546797e-01 2.63040283e-03 6.48104588e-01 -9.17013618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:-131.12, Z:-91.73 [[ 5.56450461e-01 5.15450670e-01 6.51669771e-01 2.22920314e+02] [-3.32279990e-01 8.56914871e-01 -3.94064605e-01 -1.31121821e+02] [-7.61546383e-01 2.74060658e-03 6.48104618e-01 -9.17271644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:-131.13, Z:-91.75 [[ 5.56822309e-01 5.14453383e-01 6.52140040e-01 2.22937369e+02] [-3.30220662e-01 8.57507467e-01 -3.94506348e-01 -1.31134671e+02] [-7.62170080e-01 4.31982042e-03 6.47362425e-01 -9.17518593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.95, Y:-131.15, Z:-91.78 [[ 5.56930526e-01 5.13342515e-01 6.52922546e-01 2.22954808e+02] [-3.27486131e-01 8.58160189e-01 -3.95365558e-01 -1.31148386e+02] [-7.63270085e-01 6.36807003e-03 6.46048160e-01 -9.17763964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:-131.16, Z:-91.80 [[ 5.56850891e-01 5.13648827e-01 6.52749544e-01 2.22973065e+02] [-3.27623443e-01 8.57976175e-01 -3.95651061e-01 -1.31159359e+02] [-7.63269261e-01 6.46259248e-03 6.46048195e-01 -9.18021961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.99, Y:-131.17, Z:-91.83 [[ 5.56925055e-01 5.13232688e-01 6.53013545e-01 2.22990447e+02] [-3.26532703e-01 8.58218222e-01 -3.96027623e-01 -1.31170941e+02] [-7.63682445e-01 7.32742782e-03 6.45550487e-01 -9.18271737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.01, Y:-131.18, Z:-91.85 [[ 5.56928464e-01 5.13255904e-01 6.52992391e-01 2.23007979e+02] [-3.26123412e-01 8.58200058e-01 -3.96404062e-01 -1.31182548e+02] [-7.63854833e-01 7.81259898e-03 6.45340807e-01 -9.18520705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:-131.19, Z:-91.88 [[ 5.56545895e-01 5.13777929e-01 6.52908038e-01 2.23024969e+02] [-3.26529541e-01 8.57889449e-01 -3.96741921e-01 -1.31194594e+02] [-7.63960160e-01 7.61132523e-03 6.45218523e-01 -9.18771917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:-131.21, Z:-91.90 [[ 5.56168377e-01 5.14433699e-01 6.52713341e-01 2.23042311e+02] [-3.27224750e-01 8.57499751e-01 -3.97011512e-01 -1.31205838e+02] [-7.63937628e-01 7.22128787e-03 6.45249683e-01 -9.19021011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.06, Y:-131.22, Z:-91.93 [[ 5.55453867e-01 5.15267638e-01 6.52663974e-01 2.23060125e+02] [-3.28120253e-01 8.57004271e-01 -3.97342144e-01 -1.31217181e+02] [-7.64073361e-01 6.55296198e-03 6.45096084e-01 -9.19278470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:-131.23, Z:-91.95 [[ 5.54875899e-01 5.16481409e-01 6.52196053e-01 2.23077062e+02] [-3.29863236e-01 8.56281350e-01 -3.97457539e-01 -1.31228378e+02] [-7.63742746e-01 5.40410834e-03 6.45498112e-01 -9.19520165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.09, Y:-131.24, Z:-91.98 [[ 5.53179437e-01 5.18648261e-01 6.51917550e-01 2.23093754e+02] [-3.32972433e-01 8.54982766e-01 -3.97660443e-01 -1.31239845e+02] [-7.63624168e-01 2.90700725e-03 6.45654458e-01 -9.19768275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:-131.25, Z:-92.00 [[ 5.52206949e-01 5.20107198e-01 6.51579610e-01 2.23111513e+02] [-3.35056192e-01 8.54099914e-01 -3.97807347e-01 -1.31250894e+02] [-7.63416553e-01 1.35619905e-03 6.45905045e-01 -9.20019433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:-131.26, Z:-92.03 [[ 5.50025627e-01 5.22820963e-01 6.51252678e-01 2.23128413e+02] [-3.39024173e-01 8.52440447e-01 -3.98004892e-01 -1.31261384e+02] [-7.63239425e-01 -1.87751033e-03 6.46113036e-01 -9.20269216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:-131.27, Z:-92.05 [[ 5.48731328e-01 5.24485374e-01 6.51006162e-01 2.23145744e+02] [-3.41344745e-01 8.51411420e-01 -3.98224006e-01 -1.31272603e+02] [-7.63136747e-01 -3.69954445e-03 6.46226445e-01 -9.20522230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:-131.28, Z:-92.08 [[ 5.47890135e-01 5.26017059e-01 6.50478634e-01 2.23163313e+02] [-3.43643789e-01 8.50457400e-01 -3.98285270e-01 -1.31283943e+02] [-7.62709215e-01 -5.31637233e-03 6.46719715e-01 -9.20770426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:-131.30, Z:-92.10 [[ 5.47787728e-01 5.26334780e-01 6.50307853e-01 2.23181507e+02] [-3.43806073e-01 8.50261209e-01 -3.98563999e-01 -1.31295006e+02] [-7.62709636e-01 -5.25132169e-03 6.46719750e-01 -9.21028340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.20, Y:-131.31, Z:-92.13 [[ 5.46681512e-01 5.27793561e-01 6.50056368e-01 2.23199270e+02] [-3.45939522e-01 8.49344387e-01 -3.98672746e-01 -1.31306485e+02] [-7.62538636e-01 -6.93316975e-03 6.46905526e-01 -9.21280340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:-131.32, Z:-92.15 [[ 5.45635772e-01 5.28999831e-01 6.49954447e-01 2.23216715e+02] [-3.47423255e-01 8.48583282e-01 -3.99003127e-01 -1.31317843e+02] [-7.62613065e-01 -8.09891046e-03 6.46804237e-01 -9.21534936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:-131.33, Z:-92.18 [[ 5.44620008e-01 5.30541098e-01 6.49549991e-01 2.23233442e+02] [-3.49639494e-01 8.47603445e-01 -3.99149876e-01 -1.31330197e+02] [-7.62326224e-01 -9.72332162e-03 6.47119916e-01 -9.21783360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:-131.34, Z:-92.20 [[ 5.44147914e-01 5.31164746e-01 6.49435956e-01 2.23250710e+02] [-3.50257133e-01 8.47208226e-01 -3.99447322e-01 -1.31341663e+02] [-7.62379819e-01 -1.01111489e-02 6.47050830e-01 -9.22036740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:-131.35, Z:-92.23 [[ 5.43725587e-01 5.31594098e-01 6.49438374e-01 2.23267304e+02] [-3.50466306e-01 8.46937768e-01 -3.99837199e-01 -1.31352905e+02] [-7.62584982e-01 -1.02045519e-02 6.46807555e-01 -9.22280708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.28, Y:-131.37, Z:-92.25 [[ 5.43427404e-01 5.31594631e-01 6.49687467e-01 2.23284006e+02] [-3.49865316e-01 8.46942895e-01 -4.00352336e-01 -1.31365450e+02] [-7.63073336e-01 -9.74068028e-03 6.46238503e-01 -9.22523153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:-131.37, Z:-92.28 [[ 5.42072279e-01 5.36369086e-01 6.46889363e-01 2.23300053e+02] [-3.48572339e-01 8.43971581e-01 -4.07687741e-01 -1.31373420e+02] [-7.64627340e-01 -4.49151568e-03 6.44457025e-01 -9.22818646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:-131.39, Z:-92.30 [[ 5.43130909e-01 5.30173590e-01 6.51095062e-01 2.23318318e+02] [-3.47939487e-01 8.47839028e-01 -4.00133847e-01 -1.31389935e+02] [-7.64164203e-01 -9.21662224e-03 6.44955909e-01 -9.23009957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.33, Y:-131.40, Z:-92.33 [[ 5.44805084e-01 5.29330447e-01 6.50381964e-01 2.23334008e+02] [-3.44764627e-01 8.48398660e-01 -4.01692751e-01 -1.31403524e+02] [-7.64411390e-01 -5.38444259e-03 6.44706317e-01 -9.23265175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:-131.42, Z:-92.35 [[ 5.45313984e-01 5.29076661e-01 6.50161938e-01 2.23351350e+02] [-3.44064993e-01 8.48562045e-01 -4.01947431e-01 -1.31415868e+02] [-7.64363748e-01 -4.51040753e-03 6.44769506e-01 -9.23521151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:-131.43, Z:-92.38 [[ 5.45987966e-01 5.28930942e-01 6.49714707e-01 2.23368378e+02] [-3.43697854e-01 8.48656431e-01 -4.02062244e-01 -1.31427892e+02] [-7.64047725e-01 -3.78440380e-03 6.45148628e-01 -9.23773795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.39, Y:-131.44, Z:-92.40 [[ 5.46787983e-01 5.28920971e-01 6.49049696e-01 2.23385618e+02] [-3.43696260e-01 8.48664889e-01 -4.02045752e-01 -1.31439939e+02] [-7.63476118e-01 -3.24216707e-03 6.45827922e-01 -9.24029275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.41, Y:-131.47, Z:-92.42 [[ 5.48752817e-01 5.20415815e-01 6.54245921e-01 2.23405409e+02] [-3.46899834e-01 8.53799185e-01 -3.88184823e-01 -1.31465148e+02] [-7.60612155e-01 -1.39402863e-02 6.49056868e-01 -9.24240853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:-131.45, Z:-92.46 [[ 5.47641985e-01 5.45817246e-01 6.34170159e-01 2.23419661e+02] [-3.44538076e-01 8.37796203e-01 -4.23545789e-01 -1.31448247e+02] [-7.62483948e-01 1.34556904e-02 6.46867200e-01 -9.24585295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.44, Y:-131.47, Z:-92.48 [[ 5.48542210e-01 5.29936542e-01 6.46736967e-01 2.23435887e+02] [-3.45610391e-01 8.48031460e-01 -4.01741335e-01 -1.31474198e+02] [-7.61350708e-01 -3.14693614e-03 6.48332627e-01 -9.24775060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:-131.49, Z:-92.50 [[ 5.48198014e-01 5.30587490e-01 6.46495052e-01 2.23452237e+02] [-3.46360454e-01 8.47622668e-01 -4.01958019e-01 -1.31486512e+02] [-7.61257757e-01 -3.56773204e-03 6.48439587e-01 -9.25025044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:-131.50, Z:-92.53 [[ 5.48329463e-01 5.30938706e-01 6.46095109e-01 2.23470122e+02] [-3.46911698e-01 8.47401981e-01 -4.01947952e-01 -1.31498807e+02] [-7.60912001e-01 -3.73804636e-03 6.48844321e-01 -9.25274755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.49, Y:-131.51, Z:-92.55 [[ 5.48043542e-01 5.31359091e-01 6.45992099e-01 2.23486793e+02] [-3.47185444e-01 8.47138084e-01 -4.02267740e-01 -1.31510145e+02] [-7.60993130e-01 -3.81881660e-03 6.48748698e-01 -9.25520039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:-131.52, Z:-92.58 [[ 5.48069825e-01 5.31681133e-01 6.45704762e-01 2.23504476e+02] [-3.47472135e-01 8.46936102e-01 -4.02445467e-01 -1.31522026e+02] [-7.60843336e-01 -3.79619513e-03 6.48924500e-01 -9.25773350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:-131.53, Z:-92.60 [[ 5.47891685e-01 5.32168151e-01 6.45454692e-01 2.23521402e+02] [-3.47952476e-01 8.46629399e-01 -4.02675721e-01 -1.31532948e+02] [-7.60752112e-01 -3.96487886e-03 6.49030434e-01 -9.26016661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:-131.54, Z:-92.63 [[ 5.47320478e-01 5.33073070e-01 6.45192527e-01 2.23539307e+02] [-3.49119174e-01 8.46055876e-01 -4.02871266e-01 -1.31543965e+02] [-7.60628751e-01 -4.74938843e-03 6.49169736e-01 -9.26268080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.56, Y:-131.55, Z:-92.65 [[ 5.46444125e-01 5.34110687e-01 6.45077200e-01 2.23557060e+02] [-3.50353950e-01 8.45395430e-01 -4.03185660e-01 -1.31554448e+02] [-7.60691086e-01 -5.68691018e-03 6.49089155e-01 -9.26521229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:-131.57, Z:-92.68 [[ 5.44859386e-01 5.35714206e-01 6.45088009e-01 2.23574579e+02] [-3.52370090e-01 8.44366824e-01 -4.03583926e-01 -1.31565315e+02] [-7.60896556e-01 -7.41322949e-03 6.48830853e-01 -9.26776068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.59, Y:-131.58, Z:-92.70 [[ 5.44130951e-01 5.36631409e-01 6.44940492e-01 2.23591828e+02] [-3.53436553e-01 8.43777120e-01 -4.03884607e-01 -1.31576455e+02] [-7.60923197e-01 -8.17942940e-03 6.48790402e-01 -9.27018662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.61, Y:-131.59, Z:-92.73 [[ 5.43069214e-01 5.37325828e-01 6.45257145e-01 2.23609838e+02] [-3.53857458e-01 8.43330022e-01 -4.04449470e-01 -1.31587517e+02] [-7.61485869e-01 -8.68499718e-03 6.48123323e-01 -9.27271734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.63, Y:-131.60, Z:-92.75 [[ 5.42064953e-01 5.38053334e-01 6.45495311e-01 2.23628139e+02] [-3.54364090e-01 8.42860451e-01 -4.04984385e-01 -1.31598625e+02] [-7.61965668e-01 -9.21251726e-03 6.47551891e-01 -9.27523672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.65, Y:-131.61, Z:-92.78 [[ 5.40497885e-01 5.38511807e-01 6.46426384e-01 2.23645362e+02] [-3.53941976e-01 8.42565820e-01 -4.05965412e-01 -1.31609323e+02] [-7.63273944e-01 -9.37398489e-03 6.46006977e-01 -9.27768364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:-131.62, Z:-92.80 [[ 5.40559456e-01 5.38631436e-01 6.46275213e-01 2.23662871e+02] [-3.53802090e-01 8.42492814e-01 -4.06238771e-01 -1.31619958e+02] [-7.63295196e-01 -9.05731191e-03 6.45986385e-01 -9.28021069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:-131.63, Z:-92.83 [[ 5.41506029e-01 5.38206896e-01 6.45836324e-01 2.23680087e+02] [-3.52997194e-01 8.42775390e-01 -4.06352831e-01 -1.31630872e+02] [-7.62996856e-01 -7.93590212e-03 6.46353479e-01 -9.28275389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.70, Y:-131.64, Z:-92.85 [[ 5.41875309e-01 5.38130988e-01 6.45589800e-01 2.23697400e+02] [-3.52596524e-01 8.42829500e-01 -4.06588396e-01 -1.31642295e+02] [-7.62919944e-01 -7.31250673e-03 6.46451612e-01 -9.28526348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:-131.65, Z:-92.88 [[ 5.42126798e-01 5.38073184e-01 6.45426823e-01 2.23714818e+02] [-3.52154946e-01 8.42871436e-01 -4.06884058e-01 -1.31653657e+02] [-7.62945234e-01 -6.70749650e-03 6.46428325e-01 -9.28775991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:-131.66, Z:-92.90 [[ 5.42642884e-01 5.38105455e-01 6.44966061e-01 2.23732179e+02] [-3.52073923e-01 8.42854529e-01 -4.06989184e-01 -1.31664849e+02] [-7.62615666e-01 -6.22594707e-03 6.46821911e-01 -9.29020770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:-131.68, Z:-92.93 [[ 5.43491768e-01 5.37924592e-01 6.44401918e-01 2.23749748e+02] [-3.51771787e-01 8.42975144e-01 -4.07000635e-01 -1.31675659e+02] [-7.62150450e-01 -5.48091920e-03 6.47376746e-01 -9.29272876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:-131.69, Z:-92.95 [[ 5.44045457e-01 5.38079068e-01 6.43805450e-01 2.23767870e+02] [-3.51984999e-01 8.42878486e-01 -4.07016484e-01 -1.31686685e+02] [-7.61656813e-01 -5.17439117e-03 6.47959971e-01 -9.29528334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:-131.70, Z:-92.98 [[ 5.44317018e-01 5.38209961e-01 6.43466411e-01 2.23785292e+02] [-3.51975686e-01 8.42796886e-01 -4.07193475e-01 -1.31697144e+02] [-7.61467072e-01 -4.84219336e-03 6.48185507e-01 -9.29776983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:-131.71, Z:-93.00 [[ 5.45044115e-01 5.38514818e-01 6.42595287e-01 2.23803230e+02] [-3.52658236e-01 8.42602477e-01 -4.07005201e-01 -1.31708013e+02] [-7.60630713e-01 -4.78073076e-03 6.49167208e-01 -9.30026743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:-131.74, Z:-93.02 [[ 5.45914967e-01 5.29147308e-01 6.49599858e-01 2.23824506e+02] [-3.57304180e-01 8.48321914e-01 -3.90747557e-01 -1.31737258e+02] [-7.57832813e-01 -1.87898053e-02 6.52178174e-01 -9.30237817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:-131.14, Z:-92.78 [[ 5.18155013e-01 1.55471310e-01 -8.41037487e-01 2.24761094e+02] [-2.82209092e-01 -8.97189992e-01 -3.39717746e-01 -1.31143736e+02] [-8.07386779e-01 4.13374879e-01 -4.21008074e-01 -9.27846802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.376559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.93, Y:-131.52, Z:-92.55 [[ 5.59063157e-01 -4.49378735e-01 -6.96783424e-01 2.24929443e+02] [-2.00723740e-01 -8.88740917e-01 4.12128090e-01 -1.31519999e+02] [-8.04461539e-01 -9.05446562e-02 -5.87063283e-01 -9.25471090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:-131.90, Z:-93.18 [[ 5.76406955e-01 3.34383329e-01 7.45615726e-01 2.23964634e+02] [-2.24948696e-01 9.42120596e-01 -2.48609869e-01 -1.31898628e+02] [-7.85590928e-01 -2.44248275e-02 6.18263958e-01 -9.31797526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:-131.89, Z:-93.21 [[ 5.76232845e-01 3.58915836e-01 7.34258218e-01 2.23979475e+02] [-2.26112548e-01 9.33354432e-01 -2.78787767e-01 -1.31887413e+02] [-7.85384507e-01 -5.37832805e-03 6.18984854e-01 -9.32124621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:-131.91, Z:-93.23 [[ 5.78453358e-01 3.46787075e-01 7.38329491e-01 2.24004684e+02] [-2.28750739e-01 9.37775460e-01 -2.61247557e-01 -1.31907817e+02] [-7.82984554e-01 -1.77738904e-02 6.21787164e-01 -9.32326155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:-131.89, Z:-93.27 [[ 5.75913970e-01 3.79314086e-01 7.24185006e-01 2.24013987e+02] [-2.27503957e-01 9.25212401e-01 -3.03683986e-01 -1.31886032e+02] [-7.85216562e-01 1.01408955e-02 6.19138202e-01 -9.32694678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:-131.91, Z:-93.29 [[ 5.75403488e-01 3.60891810e-01 7.33940003e-01 2.24035172e+02] [-2.28356990e-01 9.32583239e-01 -2.79538168e-01 -1.31906978e+02] [-7.85343180e-01 -6.75309306e-03 6.19023816e-01 -9.32890673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:-131.91, Z:-93.31 [[ 5.74978308e-01 3.61584223e-01 7.33932419e-01 2.24054140e+02] [-2.29031052e-01 9.32311942e-01 -2.79891442e-01 -1.31913901e+02] [-7.85458288e-01 -7.16180629e-03 6.18873158e-01 -9.33147843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:-131.94, Z:-93.33 [[ 5.78212266e-01 3.42830326e-01 7.40363385e-01 2.24082701e+02] [-2.33166576e-01 9.39023458e-01 -2.52721769e-01 -1.31941488e+02] [-7.81859273e-01 -2.65011692e-02 6.22891455e-01 -9.33297814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:-131.91, Z:-93.37 [[ 5.73355319e-01 3.90994418e-01 7.19991002e-01 2.24087266e+02] [-2.31598882e-01 9.20285809e-01 -3.15334723e-01 -1.31906024e+02] [-7.85891619e-01 1.40497291e-02 6.18204634e-01 -9.33720181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:-131.93, Z:-93.39 [[ 5.73721541e-01 3.64135887e-01 7.33654312e-01 2.24109331e+02] [-2.32205938e-01 9.31298939e-01 -2.80646912e-01 -1.31933224e+02] [-7.85445094e-01 -9.34570872e-03 6.18860777e-01 -9.33891058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-131.94, Z:-93.42 [[ 5.73302835e-01 3.65295538e-01 7.33405093e-01 2.24128061e+02] [-2.33753481e-01 9.30833594e-01 -2.80905910e-01 -1.31939253e+02] [-7.85291774e-01 -1.03918390e-02 6.19038642e-01 -9.34153331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:-131.95, Z:-93.44 [[ 5.73012140e-01 3.65888012e-01 7.33336928e-01 2.24146639e+02] [-2.34260611e-01 9.30598235e-01 -2.81263027e-01 -1.31945981e+02] [-7.85352821e-01 -1.06248277e-02 6.18957235e-01 -9.34403214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:-131.95, Z:-93.47 [[ 5.72845258e-01 3.66239236e-01 7.33291983e-01 2.24165183e+02] [-2.34399494e-01 9.30460704e-01 -2.81602122e-01 -1.31953017e+02] [-7.85433121e-01 -1.05688298e-02 6.18856294e-01 -9.34661728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:-131.96, Z:-93.49 [[ 5.72783679e-01 3.66791489e-01 7.33064022e-01 2.24184057e+02] [-2.34905242e-01 9.30241300e-01 -2.81905395e-01 -1.31959957e+02] [-7.85326928e-01 -1.07297720e-02 6.18988278e-01 -9.34921661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:-131.97, Z:-93.52 [[ 5.72047310e-01 3.67806932e-01 7.33130231e-01 2.24202943e+02] [-2.36030648e-01 9.29830561e-01 -2.82320139e-01 -1.31965190e+02] [-7.85526198e-01 -1.15407269e-02 6.18720780e-01 -9.35180734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:-131.97, Z:-93.54 [[ 5.71772221e-01 3.68424723e-01 7.33034618e-01 2.24220948e+02] [-2.36586409e-01 9.29582661e-01 -2.82671095e-01 -1.31971252e+02] [-7.85559290e-01 -1.18025482e-02 6.18673824e-01 -9.35433898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:-131.98, Z:-93.57 [[ 5.72107789e-01 3.68947451e-01 7.32509698e-01 2.24239311e+02] [-2.37219488e-01 9.29373342e-01 -2.82828758e-01 -1.31977336e+02] [-7.85123935e-01 -1.19570400e-02 6.19223253e-01 -9.35687023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:-131.98, Z:-93.59 [[ 5.72060692e-01 3.69604178e-01 7.32215348e-01 2.24257727e+02] [-2.37983992e-01 9.29107512e-01 -2.83059801e-01 -1.31983955e+02] [-7.84926865e-01 -1.23281461e-02 6.19465764e-01 -9.35949067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.28, Y:-131.99, Z:-93.62 [[ 5.72277287e-01 3.70310388e-01 7.31689089e-01 2.24275960e+02] [-2.38893047e-01 9.28821158e-01 -2.83233769e-01 -1.31990216e+02] [-7.84492714e-01 -1.27071833e-02 6.20007830e-01 -9.36207653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:-132.00, Z:-93.65 [[ 5.72322138e-01 3.70817577e-01 7.31397084e-01 2.24294434e+02] [-2.39406138e-01 9.28616626e-01 -2.83471098e-01 -1.31997017e+02] [-7.84303558e-01 -1.28641663e-02 6.20243857e-01 -9.36468213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.31, Y:-132.00, Z:-93.67 [[ 5.72609525e-01 3.71210724e-01 7.30972592e-01 2.24312583e+02] [-2.39749663e-01 9.28460350e-01 -2.83692577e-01 -1.32003919e+02] [-7.83988795e-01 -1.28053614e-02 6.20642886e-01 -9.36724607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:-132.01, Z:-93.70 [[ 5.73103297e-01 3.70757657e-01 7.30815552e-01 2.24331131e+02] [-2.38787526e-01 9.28654385e-01 -2.83868898e-01 -1.32011444e+02] [-7.83921634e-01 -1.18234362e-02 6.20747193e-01 -9.36990434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:-132.02, Z:-93.72 [[ 5.73262153e-01 3.70654584e-01 7.30743241e-01 2.24349459e+02] [-2.38168134e-01 9.28704409e-01 -2.84225371e-01 -1.32018777e+02] [-7.83993906e-01 -1.11041058e-02 6.20669199e-01 -9.37248174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:-132.03, Z:-93.75 [[ 5.73254961e-01 3.70679187e-01 7.30736402e-01 2.24367216e+02] [-2.37723162e-01 9.28700941e-01 -2.84608961e-01 -1.32026420e+02] [-7.84134203e-01 -1.05594691e-02 6.20501450e-01 -9.37496520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09655999499995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.39, Y:-132.03, Z:-93.77 [[ 5.73242477e-01 3.70630454e-01 7.30770915e-01 2.24385309e+02] [-2.37173881e-01 9.28727055e-01 -2.84981767e-01 -1.32034015e+02] [-7.84309641e-01 -9.95612000e-03 6.20289660e-01 -9.37749625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.40, Y:-132.04, Z:-93.80 [[ 5.73169060e-01 3.70981927e-01 7.30650148e-01 2.24404163e+02] [-2.37348948e-01 9.28587325e-01 -2.85291179e-01 -1.32041304e+02] [-7.84310338e-01 -9.89896700e-03 6.20289694e-01 -9.38016063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15655999499995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.42, Y:-132.05, Z:-93.83 [[ 5.73100312e-01 3.70132968e-01 7.31134473e-01 2.24422835e+02] [-2.35423341e-01 9.28941066e-01 -2.85734748e-01 -1.32049659e+02] [-7.84940687e-01 -8.37144718e-03 6.19514355e-01 -9.38277366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.44, Y:-132.06, Z:-93.85 [[ 5.73063640e-01 3.69969738e-01 7.31245825e-01 2.24441373e+02] [-2.34623416e-01 9.29012882e-01 -2.86158903e-01 -1.32057270e+02] [-7.85206926e-01 -7.58013093e-03 6.19187068e-01 -9.38537447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:-132.06, Z:-93.88 [[ 5.72734937e-01 3.69648634e-01 7.31665620e-01 2.24459901e+02] [-2.33417386e-01 9.29148332e-01 -2.86704902e-01 -1.32064734e+02] [-7.85805966e-01 -6.57756192e-03 6.18438129e-01 -9.38804472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:224.48, Y:-132.07, Z:-93.91 [[ 5.72705425e-01 3.69507405e-01 7.31760052e-01 2.24477717e+02] [-2.32654214e-01 9.29209632e-01 -2.87126237e-01 -1.32072630e+02] [-7.86053760e-01 -5.80830635e-03 6.18130852e-01 -9.39063805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27655999499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.50, Y:-132.08, Z:-93.93 [[ 5.73001253e-01 3.69854106e-01 7.31353201e-01 2.24495306e+02] [-2.32919185e-01 9.29072414e-01 -2.87355360e-01 -1.32079728e+02] [-7.85759644e-01 -5.69121005e-03 6.18505774e-01 -9.39318338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:-132.09, Z:-93.96 [[ 5.73164526e-01 3.69970837e-01 7.31166196e-01 2.24512985e+02] [-2.32739553e-01 9.29028227e-01 -2.87643625e-01 -1.32086927e+02] [-7.85693787e-01 -5.30417154e-03 6.18592870e-01 -9.39580300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33655999499996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.53, Y:-132.09, Z:-93.98 [[ 5.74277519e-01 3.69042011e-01 7.30762154e-01 2.24529911e+02] [-2.30981513e-01 9.29406152e-01 -2.87839791e-01 -1.32094202e+02] [-7.85399817e-01 -3.49262658e-03 6.18978941e-01 -9.39846725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:224.55, Y:-132.10, Z:-94.01 [[ 5.74770944e-01 3.68705630e-01 7.30543989e-01 2.24548483e+02] [-2.30101122e-01 9.29542834e-01 -2.88103442e-01 -1.32101831e+02] [-7.85297291e-01 -2.50550396e-03 6.19113792e-01 -9.40111935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39655999499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.57, Y:-132.11, Z:-94.04 [[ 5.74179324e-01 3.67946235e-01 7.31391599e-01 2.24565898e+02] [-2.27960167e-01 9.29846640e-01 -2.88824148e-01 -1.32109267e+02] [-7.86353779e-01 -8.91297090e-04 6.17775801e-01 -9.40372195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:224.58, Y:-132.12, Z:-94.06 [[ 5.73971012e-01 3.67697925e-01 7.31679925e-01 2.24584366e+02] [-2.26955640e-01 9.29945286e-01 -2.89297255e-01 -1.32116796e+02] [-7.86796298e-01 -1.06475045e-05 6.17212755e-01 -9.40629824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45655999499996 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:224.60, Y:-132.12, Z:-94.09 [[ 5.73482733e-01 3.67635460e-01 7.32094067e-01 2.24603161e+02] [-2.26155238e-01 9.29969753e-01 -2.89844903e-01 -1.32124646e+02] [-7.87382603e-01 6.54139266e-04 6.16464280e-01 -9.40894636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:224.62, Y:-132.13, Z:-94.12 [[ 5.73072605e-01 3.68121713e-01 7.32170877e-01 2.24621994e+02] [-2.26408363e-01 9.29777434e-01 -2.90263978e-01 -1.32132155e+02] [-7.87608432e-01 5.72724260e-04 6.16175811e-01 -9.41158817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51655999499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:224.64, Y:-132.14, Z:-94.14 [[ 5.72796546e-01 3.68985708e-01 7.31951955e-01 2.24640565e+02] [-2.27429032e-01 9.29435068e-01 -2.90562367e-01 -1.32139436e+02] [-7.87515176e-01 -3.40043376e-05 6.16295259e-01 -9.41421162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:224.66, Y:-132.15, Z:-94.17 [[ 5.72633512e-01 3.69533113e-01 7.31803347e-01 2.24657452e+02] [-2.27896966e-01 9.29217540e-01 -2.90891278e-01 -1.32146050e+02] [-7.87498466e-01 -2.01668073e-04 6.16316579e-01 -9.41680253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57655999499997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:224.67, Y:-132.13, Z:-94.21 [[ 5.68518092e-01 3.91541809e-01 7.23520692e-01 2.24665711e+02] [-2.25604160e-01 9.19963628e-01 -3.20577115e-01 -1.32132989e+02] [-7.91132064e-01 1.90246121e-02 6.11349427e-01 -9.42090372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:224.69, Y:-132.17, Z:-94.21 [[ 5.71063881e-01 3.53549031e-01 7.40870520e-01 2.24694688e+02] [-2.29592229e-01 9.35274279e-01 -2.69350016e-01 -1.32173071e+02] [-7.88145578e-01 -1.62820487e-02 6.15273469e-01 -9.42131450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63655999499997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:224.71, Y:-132.17, Z:-94.24 [[ 5.70368475e-01 3.72197993e-01 7.32221590e-01 2.24710671e+02] [-2.31028877e-01 9.28149389e-01 -2.91829351e-01 -1.32166528e+02] [-7.88229320e-01 -2.71406971e-03 6.15375635e-01 -9.42447155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:224.73, Y:-132.17, Z:-94.27 [[ 5.69604447e-01 3.73170788e-01 7.32321198e-01 2.24728671e+02] [-2.32064351e-01 9.27756160e-01 -2.92257840e-01 -1.32172847e+02] [-7.88477590e-01 -3.47427853e-03 6.15053672e-01 -9.42707484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.696559995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:224.75, Y:-132.18, Z:-94.30 [[ 5.68236932e-01 3.74493031e-01 7.32708509e-01 2.24747045e+02] [-2.33561033e-01 9.27217476e-01 -2.92774652e-01 -1.32178914e+02] [-7.89022201e-01 -4.76678597e-03 6.14346193e-01 -9.42977053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:224.77, Y:-132.19, Z:-94.32 [[ 5.67706968e-01 3.75329810e-01 7.32691158e-01 2.24765291e+02] [-2.34437486e-01 9.26875923e-01 -2.93155400e-01 -1.32185644e+02] [-7.89143754e-01 -5.34391003e-03 6.14185297e-01 -9.43243129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.756559995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:224.78, Y:-132.19, Z:-94.35 [[ 5.66421750e-01 3.76614221e-01 7.33026692e-01 2.24783148e+02] [-2.35868517e-01 9.26347020e-01 -2.93678805e-01 -1.32192646e+02] [-7.89640706e-01 -6.55185642e-03 6.13534538e-01 -9.43494625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:224.80, Y:-132.20, Z:-94.38 [[ 5.65614558e-01 3.77546626e-01 7.33170319e-01 2.24802132e+02] [-2.36857317e-01 9.25961715e-01 -2.94097796e-01 -1.32200426e+02] [-7.89923277e-01 -7.31075983e-03 6.13162107e-01 -9.43756229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.816559995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:224.82, Y:-132.21, Z:-94.40 [[ 5.65540009e-01 3.77915237e-01 7.33037906e-01 2.24820913e+02] [-2.37033307e-01 9.25811860e-01 -2.94427598e-01 -1.32207878e+02] [-7.89923863e-01 -7.24381316e-03 6.13162146e-01 -9.44022705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:224.84, Y:-132.21, Z:-94.43 [[ 5.63194588e-01 3.79113433e-01 7.34223985e-01 2.24839704e+02] [-2.38066623e-01 9.25310642e-01 -2.95168593e-01 -1.32214777e+02] [-7.91287646e-01 -8.55687007e-03 6.11384201e-01 -9.44278532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.876559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:224.86, Y:-132.22, Z:-94.45 [[ 5.62112271e-01 3.79955662e-01 7.34617921e-01 2.24858385e+02] [-2.38742571e-01 9.24959394e-01 -2.95723019e-01 -1.32221340e+02] [-7.91853383e-01 -9.15503359e-03 6.10642617e-01 -9.44546832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:224.88, Y:-132.23, Z:-94.48 [[ 5.60887301e-01 3.80941904e-01 7.35043333e-01 2.24876181e+02] [-2.39639985e-01 9.24545332e-01 -2.96291423e-01 -1.32226694e+02] [-7.92450701e-01 -9.95967655e-03 6.09854648e-01 -9.44808352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.936559995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:224.89, Y:-132.23, Z:-94.51 [[ 5.59994671e-01 3.81584650e-01 7.35390456e-01 2.24894469e+02] [-2.40046192e-01 9.24276282e-01 -2.96801585e-01 -1.32233297e+02] [-7.92958885e-01 -1.03203725e-02 6.09187735e-01 -9.45072156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:224.91, Y:-132.24, Z:-94.53 [[ 5.59279274e-01 3.82180010e-01 7.35625675e-01 2.24912699e+02] [-2.40402460e-01 9.24027337e-01 -2.97287969e-01 -1.32240043e+02] [-7.93355753e-01 -1.05792226e-02 6.08666353e-01 -9.45330771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.996559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:224.93, Y:-132.25, Z:-94.56 [[ 5.58617634e-01 3.82718171e-01 7.35848585e-01 2.24931247e+02] [-2.40863905e-01 9.23799858e-01 -2.97621239e-01 -1.32247224e+02] [-7.93681875e-01 -1.09828913e-02 6.08233884e-01 -9.45595341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:224.95, Y:-132.25, Z:-94.59 [[ 5.57740461e-01 3.84127480e-01 7.35779626e-01 2.24949660e+02] [-2.42750267e-01 9.23196445e-01 -2.97960789e-01 -1.32253319e+02] [-7.93724062e-01 -1.24259125e-02 6.08151059e-01 -9.45858489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.056559995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:224.97, Y:-132.26, Z:-94.61 [[ 5.57495747e-01 3.85927209e-01 7.35022912e-01 2.24968216e+02] [-2.45605302e-01 9.22417267e-01 -2.98034261e-01 -1.32258394e+02] [-7.93017357e-01 -1.43726915e-02 6.09029472e-01 -9.46130173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:224.99, Y:-132.26, Z:-94.64 [[ 5.57183716e-01 3.87066526e-01 7.34660338e-01 2.24986182e+02] [-2.47158454e-01 9.21923480e-01 -2.98278050e-01 -1.32264451e+02] [-7.92754064e-01 -1.53818416e-02 6.09347514e-01 -9.46393551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.116559995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:225.00, Y:-132.27, Z:-94.67 [[ 5.57076395e-01 3.88249847e-01 7.34117121e-01 2.25004572e+02] [-2.48907295e-01 9.21406714e-01 -2.98420552e-01 -1.32270958e+02] [-7.92282177e-01 -1.64840611e-02 6.09932150e-01 -9.46657063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:225.02, Y:-132.28, Z:-94.69 [[ 5.56404090e-01 3.89456811e-01 7.33987658e-01 2.25022502e+02] [-2.50455144e-01 9.20876580e-01 -2.98761685e-01 -1.32276556e+02] [-7.92266817e-01 -1.75987611e-02 6.09920957e-01 -9.46920048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.176559995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:225.04, Y:-132.28, Z:-94.72 [[ 5.55784819e-01 3.89695482e-01 7.34330080e-01 2.25041258e+02] [-2.50208177e-01 9.20779256e-01 -2.99268156e-01 -1.32283341e+02] [-7.92779354e-01 -1.74066929e-02 6.09260128e-01 -9.47183108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:225.06, Y:-132.29, Z:-94.74 [[ 5.55639028e-01 3.89683937e-01 7.34446526e-01 2.25059851e+02] [-2.49618055e-01 9.20795411e-01 -2.99710924e-01 -1.32291069e+02] [-7.93067524e-01 -1.68000270e-02 6.08902014e-01 -9.47441893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23655999499994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:225.08, Y:-132.30, Z:-94.77 [[ 5.55274097e-01 3.89283222e-01 7.34934861e-01 2.25077938e+02] [-2.48196494e-01 9.20985069e-01 -3.00308180e-01 -1.32298537e+02] [-7.93768970e-01 -1.56549020e-02 6.08017884e-01 -9.47697321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:225.10, Y:-132.31, Z:-94.80 [[ 5.54711558e-01 3.88871978e-01 7.35577102e-01 2.25096985e+02] [-2.46712604e-01 9.21177051e-01 -3.00941408e-01 -1.32306520e+02] [-7.94624426e-01 -1.45404647e-02 6.06927175e-01 -9.47959714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29655999499994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:225.12, Y:-132.31, Z:-94.82 [[ 5.54310639e-01 3.88513716e-01 7.36068480e-01 2.25115186e+02] [-2.45341332e-01 9.21344964e-01 -3.01547819e-01 -1.32314095e+02] [-7.95328452e-01 -1.34368569e-02 6.06029789e-01 -9.48207158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:225.13, Y:-132.32, Z:-94.85 [[ 5.55743665e-01 3.87856558e-01 7.35334121e-01 2.25133472e+02] [-2.44125820e-01 9.21643069e-01 -3.01623336e-01 -1.32321210e+02] [-7.94702185e-01 -1.18887868e-02 6.06883097e-01 -9.48473989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35655999499994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:225.15, Y:-132.31, Z:-94.88 [[ 5.54777706e-01 3.96915087e-01 7.31218238e-01 2.25145095e+02] [-2.40194395e-01 9.17855274e-01 -3.15987893e-01 -1.32314237e+02] [-7.96572878e-01 -3.31483752e-04 6.04542422e-01 -9.48795753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.17, Y:-132.35, Z:-94.89 [[ 5.57226660e-01 3.68463963e-01 7.44132218e-01 2.25170760e+02] [-2.43484100e-01 9.29267602e-01 -2.77807878e-01 -1.32349278e+02] [-7.93860153e-01 -2.63824072e-02 6.07527798e-01 -9.48944458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41655999499994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:225.19, Y:-132.34, Z:-94.93 [[ 5.56926854e-01 3.87941275e-01 7.34393659e-01 2.25186887e+02] [-2.43548532e-01 9.21623309e-01 -3.02149946e-01 -1.32342502e+02] [-7.94050749e-01 -1.05850784e-02 6.07759298e-01 -9.49250926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:225.20, Y:-132.34, Z:-94.95 [[ 5.55688107e-01 3.91626976e-01 7.33375101e-01 2.25201794e+02] [-2.42029308e-01 9.20102001e-01 -3.07951492e-01 -1.32342507e+02] [-7.95382010e-01 -6.37328698e-03 6.06074946e-01 -9.49521126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47655999499995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:225.22, Y:-132.36, Z:-94.98 [[ 5.55745400e-01 3.82101776e-01 7.38339545e-01 2.25221532e+02] [-2.42424311e-01 9.24004123e-01 -2.95714110e-01 -1.32357821e+02] [-7.95221670e-01 -1.46496988e-02 6.06141800e-01 -9.49758058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:225.24, Y:-132.37, Z:-95.00 [[ 5.57122283e-01 3.79708232e-01 7.38536675e-01 2.25242795e+02] [-2.45723179e-01 9.24893904e-01 -2.90157520e-01 -1.32371004e+02] [-7.93243267e-01 -1.98223596e-02 6.08582117e-01 -9.49993234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53655999499995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:225.26, Y:-132.37, Z:-95.03 [[ 5.57136578e-01 3.90243061e-01 7.33013769e-01 2.25259819e+02] [-2.46236728e-01 9.20637577e-01 -3.02975125e-01 -1.32369352e+02] [-7.93073960e-01 -1.16963878e-02 6.09013044e-01 -9.50291183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.28, Y:-132.38, Z:-95.06 [[ 5.57234400e-01 3.90764417e-01 7.32661582e-01 2.25278379e+02] [-2.46763792e-01 9.20414728e-01 -3.03223284e-01 -1.32376869e+02] [-7.92841380e-01 -1.18279052e-02 6.09313258e-01 -9.50556039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59655999499995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.30, Y:-132.38, Z:-95.08 [[ 5.57243992e-01 3.91245463e-01 7.32397516e-01 2.25295927e+02] [-2.47173249e-01 9.20209441e-01 -3.03512718e-01 -1.32384442e+02] [-7.92707082e-01 -1.18984348e-02 6.09486595e-01 -9.50807358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:225.31, Y:-132.39, Z:-95.11 [[ 5.56673629e-01 3.93935540e-01 7.31388584e-01 2.25311431e+02] [-2.45173769e-01 9.19106492e-01 -3.08436507e-01 -1.32386555e+02] [-7.93728098e-01 -7.61882631e-03 6.08225008e-01 -9.51080420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65655999499995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.33, Y:-132.41, Z:-95.13 [[ 5.57869056e-01 3.83229502e-01 7.36150301e-01 2.25332136e+02] [-2.46455045e-01 9.23488836e-01 -2.93986870e-01 -1.32406341e+02] [-7.92491027e-01 -1.74217782e-02 6.09634689e-01 -9.51292976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.35, Y:-132.41, Z:-95.16 [[ 5.57958607e-01 3.91259756e-01 7.31845609e-01 2.25349409e+02] [-2.46011116e-01 9.20223836e-01 -3.04411930e-01 -1.32408304e+02] [-7.92565911e-01 -1.01928985e-02 6.09701059e-01 -9.51580245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71655999499995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:225.37, Y:-132.42, Z:-95.18 [[ 5.57993113e-01 3.91285071e-01 7.31805766e-01 2.25367262e+02] [-2.45566712e-01 9.20219039e-01 -3.04785024e-01 -1.32416471e+02] [-7.92679428e-01 -9.63919141e-03 6.09562474e-01 -9.51840854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.38, Y:-132.43, Z:-95.21 [[ 5.57459243e-01 3.90998917e-01 7.32365373e-01 2.25384780e+02] [-2.44296009e-01 9.20350387e-01 -3.05408946e-01 -1.32425680e+02] [-7.93447322e-01 -8.66089772e-03 6.08577305e-01 -9.52098555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.40, Y:-132.44, Z:-95.24 [[ 5.56560995e-01 3.91070990e-01 7.33009782e-01 2.25402935e+02] [-2.43570637e-01 9.20324034e-01 -3.06067014e-01 -1.32435094e+02] [-7.94300449e-01 -8.19469764e-03 6.07469870e-01 -9.52357118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.42, Y:-132.44, Z:-95.26 [[ 5.56289203e-01 3.91585368e-01 7.32941486e-01 2.25421157e+02] [-2.43941819e-01 9.20104076e-01 -3.06432502e-01 -1.32443205e+02] [-7.94376933e-01 -8.32998710e-03 6.07368010e-01 -9.52620291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.44, Y:-132.45, Z:-95.29 [[ 5.56172330e-01 3.92575885e-01 7.32500180e-01 2.25438875e+02] [-2.45295401e-01 9.19674269e-01 -3.06642144e-01 -1.32451387e+02] [-7.94041879e-01 -9.13304964e-03 6.07794441e-01 -9.52879772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.46, Y:-132.46, Z:-95.31 [[ 5.56121555e-01 3.92908425e-01 7.32360421e-01 2.25457562e+02] [-2.45406040e-01 9.19533464e-01 -3.06975705e-01 -1.32459125e+02] [-7.94043256e-01 -9.00986455e-03 6.07794480e-01 -9.53146363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:-132.47, Z:-95.34 [[ 5.55972428e-01 3.94614549e-01 7.31555888e-01 2.25475118e+02] [-2.48420270e-01 9.18779036e-01 -3.06810126e-01 -1.32467046e+02] [-7.93209953e-01 -1.11553410e-02 6.08846064e-01 -9.53414130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.49, Y:-132.47, Z:-95.37 [[ 5.55707194e-01 3.95779123e-01 7.31128169e-01 2.25493202e+02] [-2.50056614e-01 9.18264564e-01 -3.07020976e-01 -1.32474714e+02] [-7.92881582e-01 -1.22096695e-02 6.09253412e-01 -9.53681761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:-132.48, Z:-95.39 [[ 5.55339805e-01 3.96933047e-01 7.30781676e-01 2.25511347e+02] [-2.51624557e-01 9.17752039e-01 -3.07272319e-01 -1.32482717e+02] [-7.92642910e-01 -1.32420661e-02 6.09542340e-01 -9.53948075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:-132.49, Z:-95.42 [[ 5.55037737e-01 3.97949912e-01 7.30458060e-01 2.25528823e+02] [-2.52945710e-01 9.17299241e-01 -3.07539543e-01 -1.32490239e+02] [-7.92433958e-01 -1.40701803e-02 6.09795418e-01 -9.54202147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.55, Y:-132.50, Z:-95.45 [[ 5.54984236e-01 3.98270869e-01 7.30323772e-01 2.25547496e+02] [-2.53056893e-01 9.17161664e-01 -3.07858233e-01 -1.32498023e+02] [-7.92435932e-01 -1.39569990e-02 6.09795454e-01 -9.54468704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:-132.51, Z:-95.47 [[ 5.54777163e-01 3.99122538e-01 7.30016095e-01 2.25565266e+02] [-2.54396801e-01 9.16776564e-01 -3.07900955e-01 -1.32506441e+02] [-7.92151858e-01 -1.48973409e-02 6.10142199e-01 -9.54731975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07655999499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.58, Y:-132.52, Z:-95.50 [[ 5.54668875e-01 3.99503444e-01 7.29890017e-01 2.25582982e+02] [-2.54578303e-01 9.16611541e-01 -3.08242065e-01 -1.32515526e+02] [-7.92169380e-01 -1.48418830e-02 6.10120801e-01 -9.54995685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.60, Y:-132.52, Z:-95.53 [[ 5.54752194e-01 3.99564211e-01 7.29793426e-01 2.25601240e+02] [-2.54219469e-01 9.16593118e-01 -3.08592802e-01 -1.32524265e+02] [-7.92226271e-01 -1.43351636e-02 6.10059045e-01 -9.55259875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:-132.53, Z:-95.55 [[ 5.55140203e-01 3.99408270e-01 7.29583709e-01 2.25618121e+02] [-2.53546538e-01 9.16673806e-01 -3.08906599e-01 -1.32534242e+02] [-7.92170126e-01 -1.34969518e-02 6.10151067e-01 -9.55513741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.64, Y:-132.54, Z:-95.58 [[ 5.55252307e-01 3.99585491e-01 7.29401337e-01 2.25636030e+02] [-2.53447190e-01 9.16601197e-01 -3.09203440e-01 -1.32543277e+02] [-7.92123347e-01 -1.31787954e-02 6.10218749e-01 -9.55769391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:-132.55, Z:-95.60 [[ 5.56519514e-01 3.99622750e-01 7.28414503e-01 2.25652651e+02] [-2.53514334e-01 9.16593052e-01 -3.09172540e-01 -1.32552955e+02] [-7.91212053e-01 -1.26029665e-02 6.11412015e-01 -9.56034043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:-132.56, Z:-95.63 [[ 5.57283269e-01 4.00282988e-01 7.27467448e-01 2.25670219e+02] [-2.54586236e-01 9.16300580e-01 -3.09158691e-01 -1.32562044e+02] [-7.90329809e-01 -1.29142336e-02 6.12545522e-01 -9.56295741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:-132.57, Z:-95.66 [[ 5.57697049e-01 4.00808062e-01 7.26860990e-01 2.25687816e+02] [-2.55261715e-01 9.16069086e-01 -3.09287708e-01 -1.32570411e+02] [-7.89819890e-01 -1.30509412e-02 6.13199980e-01 -9.56551870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.71, Y:-132.58, Z:-95.68 [[ 5.58030858e-01 4.01151221e-01 7.26415349e-01 2.25705861e+02] [-2.55590671e-01 9.15919904e-01 -3.09457814e-01 -1.32579084e+02] [-7.89477657e-01 -1.29779769e-02 6.13642080e-01 -9.56817435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:-132.59, Z:-95.71 [[ 5.57978603e-01 4.01470885e-01 7.26278877e-01 2.25724494e+02] [-2.55698818e-01 9.15781507e-01 -3.09777896e-01 -1.32586949e+02] [-7.89479571e-01 -1.28592129e-02 6.13642117e-01 -9.57084027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.74, Y:-132.59, Z:-95.74 [[ 5.57929228e-01 4.01647700e-01 7.26219046e-01 2.25743142e+02] [-2.55806553e-01 9.15703973e-01 -3.09918121e-01 -1.32594929e+02] [-7.89479566e-01 -1.28592128e-02 6.13642124e-01 -9.57350172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.76, Y:-132.60, Z:-95.76 [[ 5.58135670e-01 4.01870061e-01 7.25937345e-01 2.25761267e+02] [-2.56105083e-01 9.15605619e-01 -3.09962155e-01 -1.32603695e+02] [-7.89236822e-01 -1.29153092e-02 6.13953121e-01 -9.57612083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:-132.61, Z:-95.79 [[ 5.58777866e-01 4.01605882e-01 7.25589424e-01 2.25778728e+02] [-2.55347840e-01 9.15734737e-01 -3.10205369e-01 -1.32612928e+02] [-7.89027742e-01 -1.19417980e-02 6.14241497e-01 -9.57865919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:-132.62, Z:-95.81 [[ 5.58916211e-01 4.01218811e-01 7.25696999e-01 2.25796449e+02] [-2.54346478e-01 9.15915725e-01 -3.10493565e-01 -1.32620880e+02] [-7.89253152e-01 -1.10385891e-02 6.13968738e-01 -9.58118109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.81, Y:-132.63, Z:-95.84 [[ 5.59386615e-01 4.00241728e-01 7.25874076e-01 2.25814818e+02] [-2.52202868e-01 9.16363987e-01 -3.10919214e-01 -1.32628507e+02] [-7.89607706e-01 -9.14347696e-03 6.13543860e-01 -9.58386629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.83, Y:-132.64, Z:-95.87 [[ 5.59336207e-01 4.00558544e-01 7.25738149e-01 2.25833435e+02] [-2.52310487e-01 9.16226714e-01 -3.11236288e-01 -1.32636411e+02] [-7.89609033e-01 -9.02562122e-03 6.13543896e-01 -9.58653221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:-132.64, Z:-95.89 [[ 5.59508119e-01 4.00078263e-01 7.25870545e-01 2.25851939e+02] [-2.51243661e-01 9.16445112e-01 -3.11456225e-01 -1.32644255e+02] [-7.89827379e-01 -8.10808615e-03 6.13275608e-01 -9.58919792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:-132.65, Z:-95.92 [[ 5.60285799e-01 3.98357731e-01 7.26216869e-01 2.25870654e+02] [-2.47748748e-01 9.17215857e-01 -3.11986587e-01 -1.32652425e+02] [-7.90379897e-01 -5.11766547e-03 6.12595648e-01 -9.59181137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.89, Y:-132.66, Z:-95.94 [[ 5.61504964e-01 3.96382736e-01 7.26355906e-01 2.25889708e+02] [-2.43931243e-01 9.18083704e-01 -3.12441773e-01 -1.32660741e+02] [-7.90702045e-01 -1.74329244e-03 6.12198690e-01 -9.59442092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:-132.67, Z:-95.97 [[ 5.61446575e-01 3.95945486e-01 7.26639468e-01 2.25908064e+02] [-2.42547615e-01 9.18273863e-01 -3.12959691e-01 -1.32667798e+02] [-7.91169008e-01 -5.34523349e-04 6.11597348e-01 -9.59701178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:-132.67, Z:-96.00 [[ 5.61493820e-01 3.95718525e-01 7.26726592e-01 2.25926084e+02] [-2.41616001e-01 9.18371769e-01 -3.13392729e-01 -1.32674605e+02] [-7.91420494e-01 3.79307660e-04 6.11272000e-01 -9.59952141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:-132.68, Z:-96.02 [[ 5.63012898e-01 3.94497361e-01 7.26215057e-01 2.25944539e+02] [-2.39432836e-01 9.18893261e-01 -3.13539619e-01 -1.32680540e+02] [-7.91004674e-01 2.64711892e-03 6.11804380e-01 -9.60220148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:-132.69, Z:-96.05 [[ 5.63941268e-01 3.93981445e-01 7.25774667e-01 2.25962926e+02] [-2.38339578e-01 9.19109911e-01 -3.13737497e-01 -1.32687606e+02] [-7.90673442e-01 3.94869463e-03 6.12225380e-01 -9.60490135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:-132.69, Z:-96.08 [[ 5.65046184e-01 3.93326656e-01 7.25270261e-01 2.25981229e+02] [-2.37062166e-01 9.19382716e-01 -3.13905960e-01 -1.32694616e+02] [-7.90268524e-01 5.43722563e-03 6.12736564e-01 -9.60751109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.00, Y:-132.70, Z:-96.10 [[ 5.65912214e-01 3.92618645e-01 7.24978597e-01 2.25999796e+02] [-2.35575355e-01 9.19674683e-01 -3.14169906e-01 -1.32701683e+02] [-7.90093424e-01 7.00549641e-03 6.12946412e-01 -9.61017818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:-132.71, Z:-96.13 [[ 5.66910117e-01 3.91875335e-01 7.24601022e-01 2.26017422e+02] [-2.34080539e-01 9.19977934e-01 -3.14399273e-01 -1.32708235e+02] [-7.89822271e-01 8.62113081e-03 6.13275188e-01 -9.61270357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-132.71, Z:-96.15 [[ 5.68174297e-01 3.89869132e-01 7.24693058e-01 2.26035991e+02] [-2.30460053e-01 9.20794904e-01 -3.14682236e-01 -1.32713866e+02] [-7.89978565e-01 1.17815573e-02 6.13021258e-01 -9.61526542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.05, Y:-132.72, Z:-96.18 [[ 5.68802232e-01 3.89270678e-01 7.24522160e-01 2.26054860e+02] [-2.29125880e-01 9.21029561e-01 -3.14969648e-01 -1.32721046e+02] [-7.89914775e-01 1.31486610e-02 6.13075656e-01 -9.61788987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:-132.73, Z:-96.20 [[ 5.69320076e-01 3.88801575e-01 7.24367301e-01 2.26072830e+02] [-2.27954549e-01 9.21209283e-01 -3.15293799e-01 -1.32727795e+02] [-7.89880607e-01 1.43802682e-02 6.13092027e-01 -9.62041854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.09, Y:-132.73, Z:-96.23 [[ 5.70089024e-01 3.87841145e-01 7.24277399e-01 2.26091824e+02] [-2.25986606e-01 9.21582913e-01 -3.15618421e-01 -1.32734444e+02] [-7.89891486e-01 1.62536057e-02 6.13031207e-01 -9.62305392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:-132.74, Z:-96.26 [[ 5.70160732e-01 3.87893833e-01 7.24192733e-01 2.26110341e+02] [-2.25626695e-01 9.21551767e-01 -3.15966669e-01 -1.32741784e+02] [-7.89942615e-01 1.67545741e-02 6.12951833e-01 -9.62562941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:-132.75, Z:-96.28 [[ 5.70059215e-01 3.87995717e-01 7.24218072e-01 2.26128768e+02] [-2.25277133e-01 9.21500728e-01 -3.16364696e-01 -1.32749174e+02] [-7.90115628e-01 1.71968393e-02 6.12716544e-01 -9.62824432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.15, Y:-132.76, Z:-96.31 [[ 5.70209911e-01 3.88216227e-01 7.23981228e-01 2.26146717e+02] [-2.25278227e-01 9.21402922e-01 -3.16648663e-01 -1.32756242e+02] [-7.90006568e-01 1.74589980e-02 6.12849741e-01 -9.63074091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-132.76, Z:-96.33 [[ 5.70120045e-01 3.88497466e-01 7.23901136e-01 2.26165653e+02] [-2.25472876e-01 9.21285035e-01 -3.16853067e-01 -1.32762058e+02] [-7.90015897e-01 1.74242141e-02 6.12838706e-01 -9.63342342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:-132.77, Z:-96.36 [[ 5.69514229e-01 3.88950584e-01 7.24134647e-01 2.26184373e+02] [-2.25568036e-01 9.21094525e-01 -3.17338837e-01 -1.32768862e+02] [-7.90425584e-01 1.73873534e-02 6.12311257e-01 -9.63608645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:-132.78, Z:-96.39 [[ 5.69175987e-01 3.89678330e-01 7.24009319e-01 2.26202763e+02] [-2.26323529e-01 9.20795040e-01 -3.17669883e-01 -1.32776063e+02] [-7.90453260e-01 1.69497254e-02 6.12287801e-01 -9.63867341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.22, Y:-132.78, Z:-96.41 [[ 5.67797022e-01 3.90997688e-01 7.24380666e-01 2.26221040e+02] [-2.27737389e-01 9.20257509e-01 -3.18216592e-01 -1.32782474e+02] [-7.91038699e-01 1.57138713e-02 6.11564266e-01 -9.64115631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.24, Y:-132.79, Z:-96.44 [[ 5.66525993e-01 3.92093123e-01 7.24783611e-01 2.26239265e+02] [-2.28805302e-01 9.19807326e-01 -3.18751655e-01 -1.32789369e+02] [-7.91641607e-01 1.47467652e-02 6.10807743e-01 -9.64366364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:-132.80, Z:-96.46 [[ 5.64354014e-01 3.94231920e-01 7.25317682e-01 2.26258365e+02] [-2.31498352e-01 9.18928514e-01 -3.19341351e-01 -1.32795495e+02] [-7.92409654e-01 1.23117255e-02 6.09865035e-01 -9.64629522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.28, Y:-132.80, Z:-96.49 [[ 5.63634590e-01 3.95727431e-01 7.25062652e-01 2.26276706e+02] [-2.33600331e-01 9.18304911e-01 -3.19604404e-01 -1.32802501e+02] [-7.92304824e-01 1.07652217e-02 6.10030472e-01 -9.64893425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:-132.81, Z:-96.52 [[ 5.63031887e-01 3.97173486e-01 7.24740171e-01 2.26294395e+02] [-2.35659732e-01 9.17696549e-01 -3.19839858e-01 -1.32809010e+02] [-7.92123466e-01 9.28796424e-03 6.10290217e-01 -9.65151254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.31, Y:-132.82, Z:-96.54 [[ 5.62594822e-01 3.98521475e-01 7.24339493e-01 2.26312194e+02] [-2.37639958e-01 9.17124922e-01 -3.20014261e-01 -1.32815315e+02] [-7.91842356e-01 7.90635979e-03 6.10674359e-01 -9.65406552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:-132.82, Z:-96.57 [[ 5.61483625e-01 4.00958937e-01 7.23856387e-01 2.26330569e+02] [-2.41451890e-01 9.16082488e-01 -3.20146623e-01 -1.32821292e+02] [-7.91477810e-01 4.98059339e-03 6.11177610e-01 -9.65667973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-132.83, Z:-96.59 [[ 5.60871900e-01 4.02146402e-01 7.23671875e-01 2.26349147e+02] [-2.43003138e-01 9.15567176e-01 -3.20446908e-01 -1.32828452e+02] [-7.91436787e-01 3.87512967e-03 6.11238739e-01 -9.65929288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.37, Y:-132.84, Z:-96.62 [[ 5.60098663e-01 4.03392308e-01 7.23577317e-01 2.26367263e+02] [-2.44578685e-01 9.15023118e-01 -3.20802059e-01 -1.32835724e+02] [-7.91499055e-01 2.70921620e-03 6.11164385e-01 -9.66178187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:-132.84, Z:-96.64 [[ 5.58854569e-01 4.04857764e-01 7.23720776e-01 2.26385469e+02] [-2.46572360e-01 9.14379123e-01 -3.21111960e-01 -1.32841755e+02] [-7.91759839e-01 1.00534609e-03 6.10831685e-01 -9.66435231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.40, Y:-132.85, Z:-96.67 [[ 5.58420784e-01 4.05834049e-01 7.23508778e-01 2.26403990e+02] [-2.47821598e-01 9.13946770e-01 -3.21381016e-01 -1.32847998e+02] [-7.91675870e-01 1.64737103e-04 6.10941315e-01 -9.66697332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:-132.86, Z:-96.70 [[ 5.57949906e-01 4.06571996e-01 7.23457749e-01 2.26421952e+02] [-2.48545370e-01 9.13618700e-01 -3.21754675e-01 -1.32855376e+02] [-7.91780969e-01 -2.89083625e-04 6.10805054e-01 -9.66955803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:-132.86, Z:-96.72 [[ 5.57828591e-01 4.07165272e-01 7.23217605e-01 2.26440117e+02] [-2.49176624e-01 9.13354316e-01 -3.22016931e-01 -1.32862868e+02] [-7.91668032e-01 -5.78670131e-04 6.10951219e-01 -9.67216055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:-132.87, Z:-96.75 [[ 5.57721213e-01 4.07666045e-01 7.23018287e-01 2.26458466e+02] [-2.49616820e-01 9.13130812e-01 -3.22309733e-01 -1.32870205e+02] [-7.91605010e-01 -7.18550010e-04 6.11032726e-01 -9.67479110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.48, Y:-132.88, Z:-96.77 [[ 5.57360515e-01 4.08229719e-01 7.22978390e-01 2.26476684e+02] [-2.50069899e-01 9.12878740e-01 -3.22672361e-01 -1.32877842e+02] [-7.91716049e-01 -9.50300151e-04 6.10888529e-01 -9.67743091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:-132.89, Z:-96.80 [[ 5.57137038e-01 4.08733421e-01 7.22866040e-01 2.26495006e+02] [-2.50440537e-01 9.12653194e-01 -3.23022732e-01 -1.32885562e+02] [-7.91756186e-01 -1.06703155e-03 6.10836314e-01 -9.68009440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:-132.89, Z:-96.83 [[ 5.56780792e-01 4.09217086e-01 7.22866880e-01 2.26513531e+02] [-2.50711557e-01 9.12436323e-01 -3.23424908e-01 -1.32893353e+02] [-7.91920997e-01 -1.15430465e-03 6.10622472e-01 -9.68271627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.53, Y:-132.90, Z:-96.85 [[ 5.56839015e-01 4.09528555e-01 7.22645608e-01 2.26531172e+02] [-2.50818864e-01 9.12296768e-01 -3.23735239e-01 -1.32900971e+02] [-7.91846077e-01 -9.84739127e-04 6.10719920e-01 -9.68524286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:-132.91, Z:-96.88 [[ 5.55821163e-01 4.10005954e-01 7.23158317e-01 2.26549413e+02] [-2.50809811e-01 9.12082186e-01 -3.24346303e-01 -1.32909513e+02] [-7.92563735e-01 -1.09666173e-03 6.09788098e-01 -9.68779787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:-132.92, Z:-96.90 [[ 5.55116494e-01 4.10505570e-01 7.23416101e-01 2.26568207e+02] [-2.50962181e-01 9.11857281e-01 -3.24860404e-01 -1.32918511e+02] [-7.93009244e-01 -1.21471375e-03 6.09208391e-01 -9.69038726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:-132.93, Z:-96.93 [[ 5.55188699e-01 4.10890706e-01 7.23141989e-01 2.26586511e+02] [-2.51235640e-01 9.11683862e-01 -3.25135646e-01 -1.32927290e+02] [-7.92872097e-01 -1.16740459e-03 6.09386967e-01 -9.69302160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:-132.93, Z:-96.96 [[ 5.57653843e-01 4.11509370e-01 7.20889887e-01 2.26602900e+02] [-2.53033506e-01 9.11404396e-01 -3.24524378e-01 -1.32934752e+02] [-7.90567034e-01 -1.43702872e-03 6.12373823e-01 -9.69567480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:-132.94, Z:-96.98 [[ 5.58630798e-01 4.11743726e-01 7.19999122e-01 2.26620641e+02] [-2.53448509e-01 9.11298877e-01 -3.24496857e-01 -1.32942647e+02] [-7.89743936e-01 -1.20876582e-03 6.13435452e-01 -9.69835950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:-132.95, Z:-97.01 [[ 5.60163095e-01 4.10771478e-01 7.19363677e-01 2.26637986e+02] [-2.51717296e-01 9.11738020e-01 -3.24610822e-01 -1.32951761e+02] [-7.89212082e-01 7.58723086e-04 6.14120277e-01 -9.70100451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:-132.96, Z:-97.04 [[ 5.60691210e-01 4.10246592e-01 7.19251764e-01 2.26656202e+02] [-2.50409649e-01 9.11972224e-01 -3.24964108e-01 -1.32961095e+02] [-7.89253049e-01 2.09693743e-03 6.14064515e-01 -9.70362808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:-132.97, Z:-97.06 [[ 5.61134558e-01 4.09749211e-01 7.19189538e-01 2.26673955e+02] [-2.49119633e-01 9.12191899e-01 -3.25338820e-01 -1.32969572e+02] [-7.89346195e-01 3.39462128e-03 6.13938972e-01 -9.70608020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:-132.98, Z:-97.09 [[ 5.61055947e-01 4.10104191e-01 7.19048522e-01 2.26692413e+02] [-2.49297489e-01 9.12032150e-01 -3.25650301e-01 -1.32977834e+02] [-7.89345923e-01 3.45104715e-03 6.13939007e-01 -9.70874395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:-132.99, Z:-97.11 [[ 5.60977284e-01 4.10391916e-01 7.18945730e-01 2.26710874e+02] [-2.49474497e-01 9.11902717e-01 -3.25877138e-01 -1.32986154e+02] [-7.89345908e-01 3.45104708e-03 6.13939026e-01 -9.71140572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.73, Y:-133.00, Z:-97.14 [[ 5.63217061e-01 4.07511518e-01 7.18833016e-01 2.26729205e+02] [-2.44515201e-01 9.13165906e-01 -3.26098672e-01 -1.32995073e+02] [-7.89302767e-01 7.89873689e-03 6.13953379e-01 -9.71402079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:-133.00, Z:-97.17 [[ 5.66042494e-01 4.03154470e-01 7.19070489e-01 2.26747013e+02] [-2.36798883e-01 9.15015487e-01 -3.26608249e-01 -1.33004581e+02] [-7.89634209e-01 1.45990595e-02 6.13404176e-01 -9.71655273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:-133.01, Z:-97.19 [[ 5.67467576e-01 4.00996953e-01 7.19153665e-01 2.26765481e+02] [-2.32780965e-01 9.15899221e-01 -3.27019326e-01 -1.33013900e+02] [-7.89806035e-01 1.81675805e-02 6.13087568e-01 -9.71917325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:-133.02, Z:-97.22 [[ 5.69708025e-01 3.96496996e-01 7.19877003e-01 2.26783304e+02] [-2.24547212e-01 9.17693569e-01 -3.27745425e-01 -1.33023235e+02] [-7.90576572e-01 2.50728251e-02 6.11849685e-01 -9.72165350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:-133.03, Z:-97.24 [[ 5.70533008e-01 3.95180233e-01 7.19947686e-01 2.26801934e+02] [-2.21903657e-01 9.18193096e-01 -3.28146622e-01 -1.33031909e+02] [-7.90728053e-01 2.74594553e-02 6.11551408e-01 -9.72428289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:-133.04, Z:-97.27 [[ 5.72037112e-01 3.93360043e-01 7.19750943e-01 2.26821036e+02] [-2.18594338e-01 9.18876649e-01 -3.28454288e-01 -1.33039115e+02] [-7.90563127e-01 3.05545615e-02 6.11617823e-01 -9.72689741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:-133.05, Z:-97.30 [[ 5.71998806e-01 3.93689455e-01 7.19601264e-01 2.26839474e+02] [-2.18711885e-01 9.18731462e-01 -3.28782013e-01 -1.33047439e+02] [-7.90558333e-01 3.06775702e-02 6.11617862e-01 -9.72956319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:-133.05, Z:-97.32 [[ 5.72462991e-01 3.93602153e-01 7.19279827e-01 2.26859019e+02] [-2.18564911e-01 9.18757345e-01 -3.28807423e-01 -1.33053488e+02] [-7.90262933e-01 3.10207494e-02 6.11982197e-01 -9.73220995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:-133.08, Z:-97.34 [[ 5.75140203e-01 3.80128962e-01 7.24372639e-01 2.26883921e+02] [-2.22228834e-01 9.24783498e-01 -3.08852436e-01 -1.33076433e+02] [-7.87291619e-01 1.66569656e-02 6.16355784e-01 -9.73404973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:-133.05, Z:-97.38 [[ 5.72357565e-01 4.15141487e-01 7.07152292e-01 2.26894139e+02] [-2.21971850e-01 9.08618057e-01 -3.53753763e-01 -1.33052271e+02] [-7.89389205e-01 4.55057403e-02 6.12204142e-01 -9.73786277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:-133.08, Z:-97.40 [[ 5.71274048e-01 3.97251414e-01 7.18218126e-01 2.26914124e+02] [-2.23744248e-01 9.17298335e-01 -3.29396836e-01 -1.33075074e+02] [-7.89673650e-01 2.74786888e-02 6.12911452e-01 -9.73989676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:-133.08, Z:-97.42 [[ 5.69375834e-01 4.00607241e-01 7.17861406e-01 2.26932856e+02] [-2.28855646e-01 9.15951045e-01 -3.29634307e-01 -1.33081328e+02] [-7.89579795e-01 2.33991726e-02 6.13201619e-01 -9.74240646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.95, Y:-133.09, Z:-97.45 [[ 5.68728085e-01 4.02391435e-01 7.17376818e-01 2.26951064e+02] [-2.31560136e-01 9.15216561e-01 -3.29785612e-01 -1.33088135e+02] [-7.89258050e-01 2.14424659e-02 6.13687177e-01 -9.74495784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35655999499994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.97, Y:-133.09, Z:-97.48 [[ 5.68241440e-01 4.04362050e-01 7.16654030e-01 2.26969323e+02] [-2.34889100e-01 9.14401402e-01 -3.29692565e-01 -1.33094980e+02] [-7.88624611e-01 1.90107581e-02 6.14581007e-01 -9.74760323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:-133.10, Z:-97.50 [[ 5.66970239e-01 4.08187002e-01 7.15491523e-01 2.26987984e+02] [-2.41271679e-01 9.12787573e-01 -3.29555493e-01 -1.33100160e+02] [-7.87612039e-01 1.42203153e-02 6.16007352e-01 -9.75034139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:-133.11, Z:-97.53 [[ 5.65140463e-01 4.10533921e-01 7.15596365e-01 2.27006705e+02] [-2.44477561e-01 9.11772161e-01 -3.30003407e-01 -1.33107746e+02] [-7.87938436e-01 1.15510248e-02 6.15645673e-01 -9.75295567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:-133.12, Z:-97.55 [[ 5.60655670e-01 4.14770101e-01 7.16680531e-01 2.27025427e+02] [-2.50148897e-01 9.09904793e-01 -3.30906025e-01 -1.33115187e+02] [-7.89360975e-01 6.24749468e-03 6.13897565e-01 -9.75537963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.04, Y:-133.12, Z:-97.58 [[ 5.58571814e-01 4.17057858e-01 7.16979966e-01 2.27044614e+02] [-2.53203034e-01 9.08872890e-01 -3.31418609e-01 -1.33122791e+02] [-7.89864388e-01 3.57959092e-03 6.13271094e-01 -9.75800827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:-133.12, Z:-97.61 [[ 5.52961951e-01 4.30275459e-01 7.13509713e-01 2.27059123e+02] [-2.56515408e-01 9.02661771e-01 -3.45545327e-01 -1.33116834e+02] [-7.92737615e-01 8.04718243e-03 6.09509899e-01 -9.76109743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:-133.14, Z:-97.63 [[ 5.50711425e-01 4.14515907e-01 7.24495335e-01 2.27082356e+02] [-2.72075509e-01 9.09715634e-01 -3.13675601e-01 -1.33143729e+02] [-7.89108259e-01 -2.43726995e-02 6.13770419e-01 -9.76273839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:-133.11, Z:-97.67 [[ 5.43145442e-01 4.51332428e-01 7.08019822e-01 2.27090758e+02] [-2.69752183e-01 8.92338509e-01 -3.61891898e-01 -1.33112936e+02] [-7.95126901e-01 5.57004185e-03 6.06417502e-01 -9.76668405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:-133.17, Z:-97.67 [[ 5.48533629e-01 3.98673138e-01 7.34962984e-01 2.27119590e+02] [-2.81842311e-01 9.15725950e-01 -2.86375446e-01 -1.33171679e+02] [-7.87194874e-01 -5.00571027e-02 6.14669437e-01 -9.76728816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:-133.15, Z:-97.71 [[ 5.47336919e-01 4.35132154e-01 7.14900207e-01 2.27136009e+02] [-2.82074716e-01 9.00144851e-01 -3.31923337e-01 -1.33152798e+02] [-7.87944257e-01 -1.99813768e-02 6.15422288e-01 -9.77096861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:-133.16, Z:-97.74 [[ 5.47247058e-01 4.35418858e-01 7.14794429e-01 2.27154399e+02] [-2.82249055e-01 9.00006201e-01 -3.32151033e-01 -1.33161296e+02] [-7.87944242e-01 -1.99813764e-02 6.15422307e-01 -9.77363014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:-133.17, Z:-97.76 [[ 5.47157142e-01 4.35705519e-01 7.14688577e-01 2.27172786e+02] [-2.82423365e-01 8.99867460e-01 -3.32378696e-01 -1.33169800e+02] [-7.87944227e-01 -1.99813760e-02 6.15422327e-01 -9.77629168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:-133.18, Z:-97.79 [[ 5.47869884e-01 4.35857455e-01 7.14049627e-01 2.27190539e+02] [-2.82666955e-01 8.99798990e-01 -3.32356992e-01 -1.33178636e+02] [-7.87361405e-01 -1.97498473e-02 6.16175268e-01 -9.77889733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:-133.19, Z:-97.82 [[ 5.47808082e-01 4.36186939e-01 7.13895832e-01 2.27208923e+02] [-2.82778134e-01 8.99642038e-01 -3.32687136e-01 -1.33187103e+02] [-7.87364485e-01 -1.96254292e-02 6.16175308e-01 -9.78156260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:-133.20, Z:-97.84 [[ 5.47750849e-01 4.36369001e-01 7.13828482e-01 2.27227312e+02] [-2.82888998e-01 8.99553743e-01 -3.32831606e-01 -1.33195688e+02] [-7.87364479e-01 -1.96254291e-02 6.16175316e-01 -9.78422380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:-133.20, Z:-97.87 [[ 5.48650494e-01 4.35939329e-01 7.13399984e-01 2.27244621e+02] [-2.82195366e-01 8.99781253e-01 -3.32805458e-01 -1.33204922e+02] [-7.86986919e-01 -1.87242906e-02 6.16685487e-01 -9.78683237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.25, Y:-133.19, Z:-97.90 [[ 5.46517049e-01 4.48868056e-01 7.06991219e-01 2.27254602e+02] [-2.75230461e-01 8.93597690e-01 -3.54586184e-01 -1.33193948e+02] [-7.90928131e-01 -7.98124583e-04 6.11908534e-01 -9.79010608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:-133.23, Z:-97.92 [[ 5.48789985e-01 4.20771455e-01 7.22344056e-01 2.27273196e+02] [-2.73397940e-01 9.06910438e-01 -3.20572961e-01 -1.33225163e+02] [-7.89989316e-01 -2.15601465e-02 6.12741415e-01 -9.79197979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:-133.26, Z:-97.94 [[ 5.56544130e-01 4.03288912e-01 7.26372277e-01 2.27297315e+02] [-2.71965230e-01 9.14549987e-01 -2.99388102e-01 -1.33255682e+02] [-7.85043658e-01 -3.09253124e-02 6.18667989e-01 -9.79378939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:-133.25, Z:-97.97 [[ 5.58064355e-01 4.27976166e-01 7.10915309e-01 2.27312934e+02] [-2.68226714e-01 9.03778526e-01 -3.33524820e-01 -1.33245156e+02] [-7.85250664e-01 -4.55816357e-03 6.19161221e-01 -9.79716344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.33, Y:-133.26, Z:-98.00 [[ 5.59626341e-01 4.25465712e-01 7.11194268e-01 2.27329986e+02] [-2.63489349e-01 9.04974436e-01 -3.34057829e-01 -1.33255525e+02] [-7.85742783e-01 -4.44553726e-04 6.18553216e-01 -9.79972868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.34, Y:-133.26, Z:-98.03 [[ 5.60750012e-01 4.29282971e-01 7.08008160e-01 2.27342313e+02] [-2.50851090e-01 9.02990635e-01 -3.48828960e-01 -1.33256945e+02] [-7.89071071e-01 1.80012245e-02 6.14038111e-01 -9.80278259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.36, Y:-133.28, Z:-98.05 [[ 5.62522431e-01 4.10573652e-01 7.17633465e-01 2.27361011e+02] [-2.45691864e-01 9.11785074e-01 -3.29064563e-01 -1.33280482e+02] [-7.89432722e-01 8.78949404e-03 6.13774163e-01 -9.80484111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:-133.31, Z:-98.07 [[ 5.67752899e-01 3.96618112e-01 7.21353394e-01 2.27382452e+02] [-2.39618824e-01 9.17959765e-01 -3.16121319e-01 -1.33305251e+02] [-7.87552833e-01 6.62894303e-03 6.16211484e-01 -9.80681937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:-133.30, Z:-98.10 [[ 5.69950408e-01 4.10516628e-01 7.11781308e-01 2.27399011e+02] [-2.36182349e-01 9.11544024e-01 -3.36608661e-01 -1.33302621e+02] [-7.87003450e-01 2.37400621e-02 6.16491670e-01 -9.80992251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:-133.31, Z:-98.13 [[ 5.73089307e-01 4.06759221e-01 7.11418008e-01 2.27415638e+02] [-2.29916798e-01 9.13059897e-01 -3.36838078e-01 -1.33312739e+02] [-7.86579247e-01 2.94713502e-02 6.16785641e-01 -9.81250905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:-133.32, Z:-98.15 [[ 5.74752769e-01 4.05316288e-01 7.10899403e-01 2.27433359e+02] [-2.27499919e-01 9.13618310e-01 -3.36964939e-01 -1.33322126e+02] [-7.86068090e-01 3.19419754e-02 6.17314076e-01 -9.81507042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:-133.33, Z:-98.18 [[ 5.77091584e-01 4.02856526e-01 7.10402649e-01 2.27450261e+02] [-2.23428542e-01 9.14561516e-01 -3.37130421e-01 -1.33331233e+02] [-7.85522113e-01 3.58308999e-02 6.17795400e-01 -9.81761099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:-133.34, Z:-98.20 [[ 5.78977619e-01 4.01030399e-01 7.09901074e-01 2.27468144e+02] [-2.20415449e-01 9.15242876e-01 -3.37264744e-01 -1.33339713e+02] [-7.84985316e-01 3.87955750e-02 6.18298437e-01 -9.82023484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.48, Y:-133.34, Z:-98.23 [[ 5.79405344e-01 4.03579546e-01 7.08105216e-01 2.27484364e+02] [-2.18524806e-01 9.13911860e-01 -3.42070200e-01 -1.33344656e+02] [-7.85198291e-01 4.34587468e-02 6.17717557e-01 -9.82312380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:-133.36, Z:-98.25 [[ 5.80325481e-01 3.98997984e-01 7.09945734e-01 2.27504003e+02] [-2.19086830e-01 9.16108353e-01 -3.35777377e-01 -1.33355990e+02] [-7.84361714e-01 3.93204077e-02 6.19056224e-01 -9.82530454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:-133.36, Z:-98.28 [[ 5.80351183e-01 4.00740411e-01 7.08942612e-01 2.27522268e+02] [-2.19265407e-01 9.15289559e-01 -3.37887117e-01 -1.33363520e+02] [-7.84292793e-01 4.06465976e-02 6.19057888e-01 -9.82800889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:-133.37, Z:-98.31 [[ 5.80108794e-01 4.01463725e-01 7.08731730e-01 2.27540011e+02] [-2.20338374e-01 9.15005764e-01 -3.37957769e-01 -1.33371213e+02] [-7.84171402e-01 3.98914770e-02 6.19260754e-01 -9.83051036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:-133.38, Z:-98.33 [[ 5.80071153e-01 4.01771311e-01 7.08588224e-01 2.27558357e+02] [-2.20457308e-01 9.14865985e-01 -3.38258488e-01 -1.33379885e+02] [-7.84165820e-01 4.00005387e-02 6.19260788e-01 -9.83317144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:-133.39, Z:-98.36 [[ 5.80027922e-01 4.01950686e-01 7.08521881e-01 2.27576709e+02] [-2.20571045e-01 9.14787190e-01 -3.38397416e-01 -1.33388662e+02] [-7.84165814e-01 4.00005384e-02 6.19260796e-01 -9.83582864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:-133.40, Z:-98.38 [[ 5.78385337e-01 4.04419506e-01 7.08459784e-01 2.27595650e+02] [-2.24298708e-01 9.13828991e-01 -3.38536062e-01 -1.33395744e+02] [-7.84321676e-01 3.68976802e-02 6.19256062e-01 -9.83847280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:-133.40, Z:-98.41 [[ 5.75726104e-01 4.11148912e-01 7.06750327e-01 2.27611915e+02] [-2.26444728e-01 9.10742473e-01 -3.45356241e-01 -1.33399437e+02] [-7.85660384e-01 3.87907178e-02 6.17440719e-01 -9.84148487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:-133.40, Z:-98.44 [[ 5.72880112e-01 4.18911603e-01 7.04500849e-01 2.27628060e+02] [-2.29246033e-01 9.07114089e-01 -3.52973491e-01 -1.33401900e+02] [-7.86927337e-01 4.07074685e-02 6.15701444e-01 -9.84437837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:-133.42, Z:-98.46 [[ 5.70552214e-01 4.06370360e-01 7.13675908e-01 2.27651256e+02] [-2.37166667e-01 9.13503844e-01 -3.30549087e-01 -1.33422386e+02] [-7.86271037e-01 1.93353772e-02 6.17579145e-01 -9.84579791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:-133.42, Z:-98.49 [[ 5.68311161e-01 4.17034655e-01 7.09298612e-01 2.27669282e+02] [-2.41793904e-01 9.08624196e-01 -3.40496371e-01 -1.33423390e+02] [-7.86484668e-01 2.20038075e-02 6.17217709e-01 -9.84852156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:-133.43, Z:-98.51 [[ 5.65523659e-01 4.20288955e-01 7.09605655e-01 2.27688102e+02] [-2.46329088e-01 9.07210673e-01 -3.41014332e-01 -1.33430330e+02] [-7.87086382e-01 1.80551592e-02 6.16578494e-01 -9.85110307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:-133.44, Z:-98.54 [[ 5.60281845e-01 4.26389516e-01 7.10124099e-01 2.27707449e+02] [-2.55301832e-01 9.04482927e-01 -3.41660079e-01 -1.33435280e+02] [-7.87975399e-01 1.01299561e-02 6.15623387e-01 -9.85364720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:-133.44, Z:-98.56 [[ 5.57909604e-01 4.29509659e-01 7.10111490e-01 2.27726014e+02] [-2.59880860e-01 9.03040472e-01 -3.42023163e-01 -1.33441412e+02] [-7.88161667e-01 6.27362229e-03 6.15436291e-01 -9.85623135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:-133.43, Z:-98.60 [[ 5.50789654e-01 4.47113112e-01 7.04784096e-01 2.27740139e+02] [-2.64878810e-01 8.94399286e-01 -3.60401350e-01 -1.33431254e+02] [-7.91498562e-01 1.18229619e-02 6.11056662e-01 -9.85970539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:-133.46, Z:-98.61 [[ 5.51711498e-01 4.21150477e-01 7.19893533e-01 2.27764378e+02] [-2.71804424e-01 9.06813922e-01 -3.22196935e-01 -1.33464730e+02] [-7.88502872e-01 -1.79104932e-02 6.14770230e-01 -9.86093979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:-133.46, Z:-98.64 [[ 5.49472601e-01 4.39921456e-01 7.10316108e-01 2.27782019e+02] [-2.75423983e-01 8.98008110e-01 -3.43107949e-01 -1.33458912e+02] [-7.88810174e-01 -7.10967472e-03 6.14595771e-01 -9.86400720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:-133.47, Z:-98.67 [[ 5.47850148e-01 4.42073584e-01 7.10233174e-01 2.27800627e+02] [-2.78478499e-01 8.96927254e-01 -3.43469396e-01 -1.33465959e+02] [-7.88866238e-01 -9.61490834e-03 6.14489718e-01 -9.86661633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:-133.47, Z:-98.69 [[ 5.43982819e-01 4.45826568e-01 7.10859595e-01 2.27819645e+02] [-2.83750827e-01 8.95002208e-01 -3.44175123e-01 -1.33471944e+02] [-7.89663321e-01 -1.44816441e-02 6.13369482e-01 -9.86915633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:-133.48, Z:-98.72 [[ 5.42273086e-01 4.48993861e-01 7.10172101e-01 2.27838431e+02] [-2.89043300e-01 8.93339574e-01 -3.44090652e-01 -1.33478718e+02] [-7.88919432e-01 -1.86793878e-02 6.14212675e-01 -9.87181369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:-133.49, Z:-98.74 [[ 5.42211514e-01 4.49315958e-01 7.10015383e-01 2.27856725e+02] [-2.89150955e-01 8.93180176e-01 -3.44413847e-01 -1.33487496e+02] [-7.88922302e-01 -1.85564719e-02 6.14212714e-01 -9.87447529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:-133.49, Z:-98.77 [[ 5.42729018e-01 4.50391630e-01 7.08937650e-01 2.27874156e+02] [-2.91314505e-01 8.92611744e-01 -3.44064140e-01 -1.33494931e+02] [-7.87769682e-01 -1.97902276e-02 6.15651911e-01 -9.87707129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:227.89, Y:-133.49, Z:-98.81 [[ 5.41196367e-01 4.65716828e-01 7.00153075e-01 2.27887890e+02] [-2.91781618e-01 8.84899409e-01 -3.63065454e-01 -1.33488294e+02] [-7.88650733e-01 -7.80209251e-03 6.14791955e-01 -9.88053980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91655999499994 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:227.91, Y:-133.51, Z:-98.83 [[ 5.41792134e-01 4.51663334e-01 7.08845199e-01 2.27906626e+02] [-2.92274614e-01 8.91957727e-01 -3.44944869e-01 -1.33508805e+02] [-7.88058902e-01 -2.02890399e-02 6.15265407e-01 -9.88279997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:-133.51, Z:-98.85 [[ 5.42212869e-01 4.54944126e-01 7.06421296e-01 2.27923453e+02] [-2.91845858e-01 8.90363054e-01 -3.49398952e-01 -1.33513207e+02] [-7.87928423e-01 -1.67175208e-02 6.15539865e-01 -9.88533031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.94, Y:-133.53, Z:-98.88 [[ 5.43549537e-01 4.42715583e-01 7.13131695e-01 2.27941965e+02] [-2.92277292e-01 8.96252749e-01 -3.33624032e-01 -1.33532678e+02] [-7.86846799e-01 -2.70910124e-02 6.16553478e-01 -9.88755986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:-133.56, Z:-98.89 [[ 5.49405026e-01 4.24703695e-01 7.19569933e-01 2.27967797e+02] [-2.95509657e-01 9.04293177e-01 -3.08103706e-01 -1.33564739e+02] [-7.81554963e-01 -4.33661394e-02 6.22327259e-01 -9.88899624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:-133.55, Z:-98.92 [[ 5.49412741e-01 4.53306671e-01 7.01896503e-01 2.27984802e+02] [-2.94036560e-01 8.91199798e-01 -3.45406168e-01 -1.33551400e+02] [-7.82104942e-01 -1.66126838e-02 6.22925259e-01 -9.89247280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:-133.56, Z:-98.95 [[ 5.50554763e-01 4.52275476e-01 7.01666835e-01 2.28002241e+02] [-2.91991089e-01 8.91759514e-01 -3.45696650e-01 -1.33560908e+02] [-7.82068192e-01 -1.45555263e-02 6.23022856e-01 -9.89506202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:-133.57, Z:-98.98 [[ 5.51643145e-01 4.50944222e-01 7.01668832e-01 2.28019115e+02] [-2.89326683e-01 8.92470293e-01 -3.46102363e-01 -1.33571167e+02] [-7.82291449e-01 -1.20865194e-02 6.22795315e-01 -9.89763367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:-133.57, Z:-99.01 [[ 5.53036249e-01 4.53283943e-01 6.99059779e-01 2.28031830e+02] [-2.79753515e-01 8.91364593e-01 -3.56661090e-01 -1.33574736e+02] [-7.84785880e-01 1.68208155e-03 6.19764707e-01 -9.90064591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:-133.60, Z:-99.02 [[ 5.56029475e-01 4.34651993e-01 7.08455269e-01 2.28053194e+02] [-2.78723964e-01 9.00519886e-01 -3.33731760e-01 -1.33603627e+02] [-7.83035232e-01 -1.18987660e-02 6.21863525e-01 -9.90230147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:-133.61, Z:-99.05 [[ 5.56864235e-01 4.42974046e-01 7.02620964e-01 2.28069655e+02] [-2.74586843e-01 8.96534209e-01 -3.47603909e-01 -1.33605844e+02] [-7.83903240e-01 6.37712858e-04 6.20882681e-01 -9.90510566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:-133.62, Z:-99.08 [[ 5.60026157e-01 4.38693498e-01 7.02793510e-01 2.28086116e+02] [-2.67129841e-01 8.98608028e-01 -3.48059277e-01 -1.33618192e+02] [-7.84227232e-01 7.18518138e-03 6.20432125e-01 -9.90766015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:-133.63, Z:-99.10 [[ 5.61431034e-01 4.36898990e-01 7.02790486e-01 2.28103404e+02] [-2.63748883e-01 8.99451889e-01 -3.48457783e-01 -1.33628325e+02] [-7.84367083e-01 1.02748077e-02 6.20211824e-01 -9.91023083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:-133.64, Z:-99.13 [[ 5.62152664e-01 4.35303224e-01 7.03203729e-01 2.28120847e+02] [-2.60416338e-01 9.00188587e-01 -3.49061369e-01 -1.33638326e+02] [-7.84963511e-01 1.31000387e-02 6.19403484e-01 -9.91283248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:-133.65, Z:-99.15 [[ 5.63302622e-01 4.32404893e-01 7.04071136e-01 2.28137776e+02] [-2.54685077e-01 9.01504239e-01 -3.49893725e-01 -1.33650370e+02] [-7.86018872e-01 1.77796414e-02 6.17946775e-01 -9.91538869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:-133.66, Z:-99.18 [[ 5.64179363e-01 4.31272781e-01 7.04063516e-01 2.28155709e+02] [-2.52372357e-01 9.02001226e-01 -3.50288427e-01 -1.33660678e+02] [-7.86136019e-01 1.99393326e-02 6.17731805e-01 -9.91800912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:-133.67, Z:-99.21 [[ 5.65401323e-01 4.30435237e-01 7.03595658e-01 2.28173083e+02] [-2.50848618e-01 9.02361749e-01 -3.50454342e-01 -1.33670256e+02] [-7.85745706e-01 2.16513502e-02 6.18170611e-01 -9.92059095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.19, Y:-133.68, Z:-99.23 [[ 5.67949211e-01 4.29092464e-01 7.02362692e-01 2.28189436e+02] [-2.49058998e-01 9.02942026e-01 -3.50236082e-01 -1.33679602e+02] [-7.84476456e-01 2.39865580e-02 6.19694550e-01 -9.92316194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:-133.69, Z:-99.26 [[ 5.68457057e-01 4.29171740e-01 7.01903264e-01 2.28206577e+02] [-2.49037126e-01 9.02893988e-01 -3.50375451e-01 -1.33689136e+02] [-7.84115479e-01 2.43734257e-02 6.20136156e-01 -9.92579977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:-133.70, Z:-99.28 [[ 5.69169918e-01 4.29232016e-01 7.01288444e-01 2.28223596e+02] [-2.49064718e-01 9.02853580e-01 -3.50459955e-01 -1.33698312e+02] [-7.83589415e-01 2.48050550e-02 6.20783648e-01 -9.92832986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:-133.71, Z:-99.31 [[ 5.69260863e-01 4.29474739e-01 7.01065987e-01 2.28241081e+02] [-2.49144472e-01 9.02733308e-01 -3.50712998e-01 -1.33708096e+02] [-7.83497991e-01 2.49804688e-02 6.20891999e-01 -9.93094162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:-133.72, Z:-99.34 [[ 5.69034024e-01 4.29899028e-01 7.00990090e-01 2.28259063e+02] [-2.49380160e-01 9.02532065e-01 -3.51063253e-01 -1.33717501e+02] [-7.83587784e-01 2.49539155e-02 6.20779741e-01 -9.93351006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.28, Y:-133.73, Z:-99.36 [[ 5.68613992e-01 4.30269614e-01 7.01103549e-01 2.28276602e+02] [-2.49397227e-01 9.02353623e-01 -3.51509549e-01 -1.33726688e+02] [-7.83887206e-01 2.50199672e-02 6.20398944e-01 -9.93603271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.29, Y:-133.74, Z:-99.39 [[ 5.67757137e-01 4.30649082e-01 7.01564823e-01 2.28294725e+02] [-2.49218812e-01 9.02171300e-01 -3.52103577e-01 -1.33736252e+02] [-7.84564731e-01 2.50661669e-02 6.19540048e-01 -9.93858004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.31, Y:-133.74, Z:-99.41 [[ 5.66346238e-01 4.31472423e-01 7.02199037e-01 2.28313354e+02] [-2.49581967e-01 9.01791722e-01 -3.52817987e-01 -1.33744839e+02] [-7.85468510e-01 2.45609222e-02 6.18414085e-01 -9.94121603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:-133.75, Z:-99.44 [[ 5.65308541e-01 4.32578935e-01 7.02354412e-01 2.28331547e+02] [-2.50732500e-01 9.01286717e-01 -3.53292327e-01 -1.33753377e+02] [-7.85849520e-01 2.36160924e-02 6.17966676e-01 -9.94379570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:-133.76, Z:-99.46 [[ 5.63305471e-01 4.35147795e-01 7.02376923e-01 2.28349517e+02] [-2.54303904e-01 9.00122706e-01 -3.53706995e-01 -1.33760262e+02] [-7.86140236e-01 2.06278914e-02 6.17703828e-01 -9.94631531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:-133.78, Z:-99.48 [[ 5.63959042e-01 4.24654170e-01 7.08250687e-01 2.28375118e+02] [-2.62624003e-01 9.05352975e-01 -3.33713386e-01 -1.33783744e+02] [-7.82929647e-01 2.19705112e-03 6.22106374e-01 -9.94808818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.39, Y:-133.76, Z:-99.52 [[ 5.58040191e-01 4.62992908e-01 6.88642659e-01 2.28386481e+02] [-2.68316981e-01 8.85971879e-01 -3.78232504e-01 -1.33756228e+02] [-7.85236998e-01 2.62944189e-02 6.18636776e-01 -9.95199235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:-133.78, Z:-99.54 [[ 5.57269321e-01 4.45311530e-01 7.00819909e-01 2.28404679e+02] [-2.70238917e-01 8.95340846e-01 -3.54027820e-01 -1.33779181e+02] [-7.85125360e-01 7.90002929e-03 6.19286491e-01 -9.95394558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.42, Y:-133.79, Z:-99.57 [[ 5.57216537e-01 4.45617260e-01 7.00667531e-01 2.28422969e+02] [-2.70351111e-01 8.95187728e-01 -3.54329238e-01 -1.33788342e+02] [-7.85124199e-01 8.01186552e-03 6.19286526e-01 -9.95659419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:-133.80, Z:-99.59 [[ 5.56783841e-01 4.46796318e-01 7.00260526e-01 2.28441295e+02] [-2.72294855e-01 8.94611443e-01 -3.54296314e-01 -1.33796416e+02] [-7.84759368e-01 6.58912409e-03 6.19765534e-01 -9.95921998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:-133.81, Z:-99.62 [[ 5.56730336e-01 4.47114867e-01 7.00099728e-01 2.28459580e+02] [-2.72407323e-01 8.94451365e-01 -3.54613882e-01 -1.33805579e+02] [-7.84758296e-01 6.71201350e-03 6.19765573e-01 -9.96186897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:-133.81, Z:-99.65 [[ 5.56676252e-01 4.47292431e-01 7.00029308e-01 2.28477865e+02] [-2.72517847e-01 8.94362583e-01 -3.54752862e-01 -1.33814857e+02] [-7.84758290e-01 6.71201347e-03 6.19765581e-01 -9.96451378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:-133.82, Z:-99.67 [[ 5.57354103e-01 4.48120398e-01 6.98959593e-01 2.28496157e+02] [-2.74331251e-01 8.93954590e-01 -3.54383345e-01 -1.33822465e+02] [-7.83644542e-01 5.77055206e-03 6.21182689e-01 -9.96714676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:-133.83, Z:-99.70 [[ 5.57787739e-01 4.48197441e-01 6.98564165e-01 2.28514143e+02] [-2.74215455e-01 8.93912937e-01 -3.54577982e-01 -1.33830852e+02] [-7.83376489e-01 6.22216089e-03 6.21516341e-01 -9.96978700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:-133.84, Z:-99.72 [[ 5.59372118e-01 4.46989856e-01 6.98070844e-01 2.28532509e+02] [-2.72212116e-01 8.94500026e-01 -3.54641040e-01 -1.33838132e+02] [-7.82945335e-01 8.35296812e-03 6.22034429e-01 -9.97223629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:-133.85, Z:-99.75 [[ 5.60336949e-01 4.42065295e-01 7.00428996e-01 2.28549070e+02] [-2.70556549e-01 8.96959885e-01 -3.49660003e-01 -1.33851676e+02] [-7.82829264e-01 6.42176729e-03 6.22203427e-01 -9.97480368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:-133.86, Z:-99.78 [[ 5.61187880e-01 4.45298615e-01 6.97694278e-01 2.28566750e+02] [-2.68686923e-01 8.95302632e-01 -3.55303440e-01 -1.33857862e+02] [-7.82863654e-01 1.19306557e-02 6.22078901e-01 -9.97750598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:-133.87, Z:-99.80 [[ 5.63253611e-01 4.42999117e-01 6.97493479e-01 2.28584408e+02] [-2.64666358e-01 8.96384818e-01 -3.55592430e-01 -1.33868006e+02] [-7.82749698e-01 1.56856618e-02 6.22138948e-01 -9.98008757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:-133.88, Z:-99.83 [[ 5.64429164e-01 4.42080061e-01 6.97126200e-01 2.28602390e+02] [-2.62956511e-01 8.96804646e-01 -3.55802334e-01 -1.33877555e+02] [-7.82479132e-01 1.75113408e-02 6.22430527e-01 -9.98270144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:-133.89, Z:-99.85 [[ 5.66577205e-01 4.39819139e-01 6.96813745e-01 2.28620360e+02] [-2.59082489e-01 8.97836270e-01 -3.56042549e-01 -1.33887697e+02] [-7.82218981e-01 2.11933532e-02 6.22643002e-01 -9.98530851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:-133.90, Z:-99.88 [[ 5.68305079e-01 4.37750378e-01 6.96709368e-01 2.28638210e+02] [-2.55381731e-01 8.98759695e-01 -3.56386282e-01 -1.33897173e+02] [-7.82182529e-01 2.46092895e-02 6.22563149e-01 -9.98784045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:-133.91, Z:-99.90 [[ 5.69100523e-01 4.36975045e-01 6.96546772e-01 2.28656493e+02] [-2.53808049e-01 8.99092177e-01 -3.56671743e-01 -1.33906135e+02] [-7.82116404e-01 2.61928982e-02 6.22581611e-01 -9.99047653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:-133.92, Z:-99.93 [[ 5.69053946e-01 4.37293935e-01 6.96384679e-01 2.28674733e+02] [-2.53925262e-01 8.98933531e-01 -3.56988050e-01 -1.33915385e+02] [-7.82112248e-01 2.63157965e-02 6.22581650e-01 -9.99312553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:-133.92, Z:-99.96 [[ 5.70324258e-01 4.36653070e-01 6.95747323e-01 2.28692310e+02] [-2.53151088e-01 8.99213180e-01 -3.56833553e-01 -1.33924288e+02] [-7.81437629e-01 2.73816398e-02 6.23382289e-01 -9.99568312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:-133.93, Z:-99.98 [[ 5.71830931e-01 4.35677232e-01 6.95122102e-01 2.28710390e+02] [-2.51598662e-01 8.99629721e-01 -3.56881602e-01 -1.33932885e+02] [-7.80837691e-01 2.91841480e-02 6.24051909e-01 -9.99827910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:-133.94, Z:-100.01 [[ 5.72188239e-01 4.35400895e-01 6.95001208e-01 2.28728321e+02] [-2.50752635e-01 8.99732575e-01 -3.57217595e-01 -1.33941499e+02] [-7.80848087e-01 3.01223227e-02 6.23994320e-01 -1.00007427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:-133.95, Z:-100.03 [[ 5.72282445e-01 4.35661178e-01 6.94760492e-01 2.28746519e+02] [-2.50872473e-01 8.99601487e-01 -3.57463519e-01 -1.33950587e+02] [-7.80740549e-01 3.02738138e-02 6.24121535e-01 -1.00033310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.76, Y:-133.96, Z:-100.06 [[ 5.72362415e-01 4.36097459e-01 6.94420818e-01 2.28764694e+02] [-2.51307664e-01 8.99392154e-01 -3.57684512e-01 -1.33959412e+02] [-7.80541943e-01 3.02118974e-02 6.24372899e-01 -1.00059450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.79, Y:-133.97, Z:-100.08 [[ 5.73863911e-01 4.29755739e-01 6.97129986e-01 2.28785052e+02] [-2.52381805e-01 9.02622141e-01 -3.48678498e-01 -1.33974441e+02] [-7.79091546e-01 2.41510821e-02 6.26444801e-01 -1.00080958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:-133.97, Z:-100.11 [[ 5.73111100e-01 4.41113844e-01 6.90624532e-01 2.28800622e+02] [-2.52609312e-01 8.96818639e-01 -3.63187093e-01 -1.33972524e+02] [-7.79571807e-01 3.36883670e-02 6.25406181e-01 -1.00110924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.82, Y:-133.99, Z:-100.14 [[ 5.71250602e-01 4.38214586e-01 6.94003405e-01 2.28818072e+02] [-2.55782325e-01 8.98485469e-01 -3.56790224e-01 -1.33986533e+02] [-7.79902656e-01 2.63028255e-02 6.25347911e-01 -1.00136292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:-133.99, Z:-100.16 [[ 5.69898096e-01 4.40746887e-01 6.93511602e-01 2.28836120e+02] [-2.57666814e-01 8.97265932e-01 -3.58499178e-01 -1.33994604e+02] [-7.80271730e-01 2.56130737e-02 6.24915993e-01 -1.00162256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:-134.00, Z:-100.19 [[ 5.68394056e-01 4.42309247e-01 6.93751200e-01 2.28854022e+02] [-2.59454573e-01 8.96539503e-01 -3.59026803e-01 -1.34002876e+02] [-7.80776230e-01 2.40717796e-02 6.24346881e-01 -1.00187350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.87, Y:-134.01, Z:-100.21 [[ 5.66694759e-01 4.43936036e-01 6.94102187e-01 2.28872342e+02] [-2.61464074e-01 8.95782943e-01 -3.59457171e-01 -1.34011592e+02] [-7.81340891e-01 2.22197097e-02 6.23708823e-01 -1.00213160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:-134.02, Z:-100.24 [[ 5.65017573e-01 4.45830003e-01 6.94255537e-01 2.28890970e+02] [-2.63856441e-01 8.94890045e-01 -3.59932751e-01 -1.34020470e+02] [-7.81751188e-01 2.01845340e-02 6.23263720e-01 -1.00238840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.91, Y:-134.03, Z:-100.27 [[ 5.60843494e-01 4.51784602e-01 6.93790493e-01 2.28908647e+02] [-2.68967585e-01 8.91961131e-01 -3.63403054e-01 -1.34026984e+02] [-7.83014057e-01 1.72050848e-02 6.21766011e-01 -1.00266535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.93, Y:-134.04, Z:-100.29 [[ 5.59768350e-01 4.51728922e-01 6.94694448e-01 2.28927341e+02] [-2.72026281e-01 8.92060072e-01 -3.60874674e-01 -1.34036603e+02] [-7.82726707e-01 1.30310741e-02 6.22229133e-01 -1.00289653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:-134.05, Z:-100.32 [[ 5.57807886e-01 4.53894546e-01 6.94859772e-01 2.28945585e+02] [-2.75079398e-01 8.90995493e-01 -3.61190195e-01 -1.34045155e+02] [-7.83059185e-01 1.03331317e-02 6.21861351e-01 -1.00315844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:-134.05, Z:-100.34 [[ 5.54677629e-01 4.58145256e-01 6.94575879e-01 2.28964472e+02] [-2.81564754e-01 8.88863738e-01 -3.61445079e-01 -1.34052831e+02] [-7.82977660e-01 4.91741280e-03 6.22030387e-01 -1.00342200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:-134.06, Z:-100.37 [[ 5.53172215e-01 4.60467713e-01 6.94240582e-01 2.28982243e+02] [-2.85005539e-01 8.87673714e-01 -3.61672807e-01 -1.34060530e+02] [-7.82797767e-01 2.20493684e-03 6.22272283e-01 -1.00367786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:-134.07, Z:-100.39 [[ 5.53115118e-01 4.60768623e-01 6.94086409e-01 2.29000415e+02] [-2.85117273e-01 8.87517279e-01 -3.61968535e-01 -1.34069921e+02] [-7.82797424e-01 2.31424504e-03 6.22272318e-01 -1.00394274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.02, Y:-134.08, Z:-100.42 [[ 5.49963931e-01 4.65062344e-01 6.93726669e-01 2.29018567e+02] [-2.92035104e-01 8.85270891e-01 -3.61954345e-01 -1.34076913e+02] [-7.82467362e-01 -3.53070503e-03 6.22681589e-01 -1.00420049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.04, Y:-134.09, Z:-100.45 [[ 5.48443096e-01 4.67390013e-01 6.93366243e-01 2.29036982e+02] [-2.95550172e-01 8.84028690e-01 -3.62137228e-01 -1.34085210e+02] [-7.82214975e-01 -6.31285043e-03 6.22976630e-01 -1.00445791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:-134.09, Z:-100.47 [[ 5.46383772e-01 4.69694868e-01 6.93434571e-01 2.29054235e+02] [-2.98717222e-01 8.82782599e-01 -3.62578135e-01 -1.34093169e+02] [-7.82453063e-01 -9.03403928e-03 6.22644032e-01 -1.00471051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.07, Y:-134.10, Z:-100.50 [[ 5.43384798e-01 4.73345877e-01 6.93308475e-01 2.29072508e+02] [-3.04230429e-01 8.80769539e-01 -3.62889606e-01 -1.34100848e+02] [-7.82417285e-01 -1.37368391e-02 6.22602997e-01 -1.00496362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:-134.11, Z:-100.52 [[ 5.42226013e-01 4.74972481e-01 6.93103234e-01 2.29090475e+02] [-3.06525543e-01 8.79863409e-01 -3.63156266e-01 -1.34109576e+02] [-7.82325407e-01 -1.55410712e-02 6.22676026e-01 -1.00522149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:-134.12, Z:-100.55 [[ 5.41563371e-01 4.76109514e-01 6.92841140e-01 2.29108050e+02] [-3.08019467e-01 8.79229502e-01 -3.63427422e-01 -1.34118214e+02] [-7.82197624e-01 -1.65895788e-02 6.22809492e-01 -1.00548263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.13, Y:-134.13, Z:-100.57 [[ 5.41321482e-01 4.76945576e-01 6.92455031e-01 2.29125148e+02] [-3.09098254e-01 8.78764658e-01 -3.63635731e-01 -1.34127153e+02] [-7.81939462e-01 -1.71928081e-02 6.23117232e-01 -1.00573992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:-134.14, Z:-100.60 [[ 5.41521748e-01 4.77240135e-01 6.92095405e-01 2.29142893e+02] [-3.09480141e-01 8.78603827e-01 -3.63699543e-01 -1.34136836e+02] [-7.81649691e-01 -1.72385710e-02 6.23479425e-01 -1.00600134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.16, Y:-134.15, Z:-100.63 [[ 5.42544914e-01 4.77260098e-01 6.91279839e-01 2.29159608e+02] [-3.09504239e-01 8.78604473e-01 -3.63677475e-01 -1.34147080e+02] [-7.80930306e-01 -1.66426762e-02 6.24396412e-01 -1.00625427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.18, Y:-134.16, Z:-100.65 [[ 5.43187101e-01 4.77097042e-01 6.90887969e-01 2.29176363e+02] [-3.09008979e-01 8.78707640e-01 -3.63849329e-01 -1.34157014e+02] [-7.80679975e-01 -1.58523237e-02 6.24729926e-01 -1.00651041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:-134.17, Z:-100.68 [[ 5.44820227e-01 4.75945232e-01 6.90396304e-01 2.29193145e+02] [-3.06991463e-01 8.79368935e-01 -3.63959500e-01 -1.34168774e+02] [-7.80337851e-01 -1.36532736e-02 6.25209106e-01 -1.00676905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:-134.18, Z:-100.70 [[ 5.45499690e-01 4.75357660e-01 6.90264575e-01 2.29210332e+02] [-3.05627335e-01 8.79707440e-01 -3.64289379e-01 -1.34179209e+02] [-7.80398629e-01 -1.22439786e-02 6.25162431e-01 -1.00702491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.23, Y:-134.19, Z:-100.73 [[ 5.46082818e-01 4.74781635e-01 6.90199939e-01 2.29227635e+02] [-3.04236097e-01 8.80036747e-01 -3.64658364e-01 -1.34190069e+02] [-7.80534403e-01 -1.08500683e-02 6.25018658e-01 -1.00728229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:-134.20, Z:-100.75 [[ 5.47120698e-01 4.72605328e-01 6.90871295e-01 2.29243648e+02] [-2.99800157e-01 8.81244800e-01 -3.65414105e-01 -1.34201819e+02] [-7.81523389e-01 -7.19770260e-03 6.23834421e-01 -1.00752895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:-134.21, Z:-100.78 [[ 5.48234796e-01 4.71519155e-01 6.90730262e-01 2.29260890e+02] [-2.97677133e-01 8.81840963e-01 -3.65711417e-01 -1.34212776e+02] [-7.81554178e-01 -5.11887988e-03 6.23816371e-01 -1.00778216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:-134.24, Z:-100.80 [[ 5.53787362e-01 4.56497206e-01 6.96369054e-01 2.29281121e+02] [-2.94345096e-01 8.89648785e-01 -3.49121761e-01 -1.34237910e+02] [-7.78896991e-01 -1.16335974e-02 6.27043967e-01 -1.00795880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.30, Y:-134.24, Z:-100.83 [[ 5.53309869e-01 4.69761457e-01 6.87875252e-01 2.29298175e+02] [-2.94714310e-01 8.82793335e-01 -3.65813345e-01 -1.34236870e+02] [-7.79096698e-01 -3.18546652e-04 6.26903688e-01 -1.00825470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:-134.25, Z:-100.85 [[ 5.54648846e-01 4.68736958e-01 6.87495689e-01 2.29315266e+02] [-2.92565880e-01 8.83335554e-01 -3.66228760e-01 -1.34248371e+02] [-7.78954340e-01 1.99057785e-03 6.27077486e-01 -1.00852162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.33, Y:-134.24, Z:-100.88 [[ 5.53738617e-01 4.80024947e-01 6.80403994e-01 2.29326992e+02] [-2.88226896e-01 8.77096862e-01 -3.84221748e-01 -1.34244876e+02] [-7.81216232e-01 1.66476882e-02 6.24038503e-01 -1.00884588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:-134.27, Z:-100.91 [[ 5.57462786e-01 4.62490717e-01 6.89447300e-01 2.29342916e+02] [-2.82407076e-01 8.86572810e-01 -3.66380808e-01 -1.34268866e+02] [-7.80692952e-01 9.53886989e-03 6.24842000e-01 -1.00906290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:-134.28, Z:-100.93 [[ 5.59265394e-01 4.60966037e-01 6.89008369e-01 2.29359054e+02] [-2.79783931e-01 8.87333553e-01 -3.66551659e-01 -1.34279721e+02] [-7.80348109e-01 1.22261884e-02 6.25225839e-01 -1.00931387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:-134.29, Z:-100.96 [[ 5.60846781e-01 4.59196657e-01 6.88904434e-01 2.29375432e+02] [-2.76583006e-01 8.88204251e-01 -3.66871981e-01 -1.34290624e+02] [-7.80354233e-01 1.52197104e-02 6.25152487e-01 -1.00956960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:-134.31, Z:-100.98 [[ 5.64717496e-01 4.53629340e-01 6.89430614e-01 2.29392201e+02] [-2.70368790e-01 8.90974959e-01 -3.64779852e-01 -1.34305659e+02] [-7.79740256e-01 1.95970433e-02 6.25796363e-01 -1.00981872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:-134.31, Z:-101.01 [[ 5.65651953e-01 4.59948608e-01 6.84459748e-01 2.29407188e+02] [-2.66025563e-01 8.87408694e-01 -3.76478697e-01 -1.34307185e+02] [-7.80556384e-01 3.08721201e-02 6.24322548e-01 -1.01011078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:-134.33, Z:-101.03 [[ 5.67028023e-01 4.44333476e-01 6.93575507e-01 2.29425276e+02] [-2.64317094e-01 8.95649172e-01 -3.57699642e-01 -1.34332211e+02] [-7.80138254e-01 1.95018582e-02 6.25303113e-01 -1.01031070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:-134.34, Z:-101.06 [[ 5.69099459e-01 4.49836210e-01 6.88311840e-01 2.29441632e+02] [-2.60372018e-01 8.92598627e-01 -3.68068068e-01 -1.34338024e+02] [-7.79956549e-01 3.02501955e-02 6.25102158e-01 -1.01059463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:-134.35, Z:-101.09 [[ 5.69397587e-01 4.49664220e-01 6.88177649e-01 2.29458924e+02] [-2.59704770e-01 8.92658163e-01 -3.68394945e-01 -1.34348156e+02] [-7.79961422e-01 3.10401751e-02 6.25057347e-01 -1.01085208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:-134.36, Z:-101.11 [[ 5.68640694e-01 4.50166865e-01 6.88474804e-01 2.29476459e+02] [-2.59763822e-01 8.92407395e-01 -3.68960430e-01 -1.34358090e+02] [-7.80493766e-01 3.09650686e-02 6.24396225e-01 -1.01111411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:-134.37, Z:-101.14 [[ 5.67927320e-01 4.51050415e-01 6.88485353e-01 2.29493961e+02] [-2.60635435e-01 8.91982872e-01 -3.69372071e-01 -1.34367467e+02] [-7.80722569e-01 3.03328104e-02 6.24141163e-01 -1.01136704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.51, Y:-134.38, Z:-101.16 [[ 5.66663854e-01 4.52166180e-01 6.88794471e-01 2.29512168e+02] [-2.61685347e-01 8.91450011e-01 -3.69915744e-01 -1.34377145e+02] [-7.81289227e-01 2.93704612e-02 6.23477762e-01 -1.01162778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:-134.39, Z:-101.19 [[ 5.64570476e-01 4.54009673e-01 6.89300657e-01 2.29530828e+02] [-2.63708313e-01 8.90573834e-01 -3.70588951e-01 -1.34386593e+02] [-7.82124097e-01 2.74492671e-02 6.22517818e-01 -1.01188397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.55, Y:-134.40, Z:-101.21 [[ 5.64433604e-01 4.55560409e-01 6.88389003e-01 2.29548572e+02] [-2.66326469e-01 8.89831313e-01 -3.70500266e-01 -1.34395631e+02] [-7.81335343e-01 2.57865879e-02 6.23578490e-01 -1.01213895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:-134.40, Z:-101.24 [[ 5.63209591e-01 4.58289950e-01 6.87579288e-01 2.29566249e+02] [-2.70758884e-01 8.88518772e-01 -3.70437603e-01 -1.34403386e+02] [-7.80694936e-01 2.24658097e-02 6.24508370e-01 -1.01240919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:-134.41, Z:-101.27 [[ 5.61832410e-01 4.60059155e-01 6.87524485e-01 2.29584665e+02] [-2.73090896e-01 8.87649826e-01 -3.70808775e-01 -1.34412481e+02] [-7.80874961e-01 2.05757101e-02 6.24348408e-01 -1.01267035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:-134.42, Z:-101.29 [[ 5.60070530e-01 4.63722928e-01 6.86499853e-01 2.29601454e+02] [-2.74109021e-01 8.85715420e-01 -3.74663100e-01 -1.34418432e+02] [-7.81783376e-01 2.16619582e-02 6.23173742e-01 -1.01294104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:-134.43, Z:-101.32 [[ 5.57587619e-01 4.61586282e-01 6.89952282e-01 2.29621258e+02] [-2.78636476e-01 8.86998948e-01 -3.68231694e-01 -1.34431611e+02] [-7.81957647e-01 1.30755613e-02 6.23194407e-01 -1.01315822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:-134.44, Z:-101.34 [[ 5.56407418e-01 4.65833666e-01 6.88047805e-01 2.29639395e+02] [-2.80829830e-01 8.84766025e-01 -3.71918926e-01 -1.34437163e+02] [-7.82013678e-01 1.37141012e-02 6.23110368e-01 -1.01342797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:-134.44, Z:-101.37 [[ 5.55672468e-01 4.67308408e-01 6.87641593e-01 2.29657924e+02] [-2.82971334e-01 8.84010483e-01 -3.72092314e-01 -1.34444996e+02] [-7.81764243e-01 1.21785956e-02 6.23455171e-01 -1.01369037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:-134.45, Z:-101.39 [[ 5.54628354e-01 4.69260118e-01 6.87155245e-01 2.29675643e+02] [-2.85922714e-01 8.83003656e-01 -3.72226738e-01 -1.34452121e+02] [-7.81431757e-01 9.97421066e-03 6.23910991e-01 -1.01394271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:-134.46, Z:-101.42 [[ 5.53935350e-01 4.70263414e-01 6.87028347e-01 2.29693560e+02] [-2.87146088e-01 8.82479401e-01 -3.72528161e-01 -1.34461324e+02] [-7.81474729e-01 9.07901523e-03 6.23870835e-01 -1.01419814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:-134.47, Z:-101.45 [[ 5.53038171e-01 4.71135812e-01 6.87153423e-01 2.29711214e+02] [-2.87952167e-01 8.82020572e-01 -3.72992305e-01 -1.34470087e+02] [-7.81813488e-01 8.41166467e-03 6.23455623e-01 -1.01445500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:229.73, Y:-134.48, Z:-101.47 [[ 5.51229269e-01 4.74063066e-01 6.86593404e-01 2.29729787e+02] [-2.88456876e-01 8.80440864e-01 -3.76319698e-01 -1.34477272e+02] [-7.82904160e-01 9.38584367e-03 6.22071525e-01 -1.01473458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:-134.49, Z:-101.50 [[ 5.51315381e-01 4.73532576e-01 6.86890275e-01 2.29747799e+02] [-2.88704430e-01 8.80733536e-01 -3.75443992e-01 -1.34486239e+02] [-7.82752261e-01 8.67978208e-03 6.22272898e-01 -1.01497226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:-134.49, Z:-101.52 [[ 5.50922314e-01 4.73506580e-01 6.87223488e-01 2.29765031e+02] [-2.89002103e-01 8.80753221e-01 -3.75168693e-01 -1.34494704e+02] [-7.82919146e-01 8.07977105e-03 6.22071000e-01 -1.01521385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:-134.50, Z:-101.55 [[ 5.50665662e-01 4.73094774e-01 6.87712631e-01 2.29783147e+02] [-2.89273840e-01 8.80981759e-01 -3.74421936e-01 -1.34504033e+02] [-7.82999345e-01 7.24402989e-03 6.21980346e-01 -1.01546796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:-134.51, Z:-101.58 [[ 5.49352678e-01 4.78108772e-01 6.85290915e-01 2.29798610e+02] [-2.88353433e-01 8.78218621e-01 -3.81555176e-01 -1.34507457e+02] [-7.84260118e-01 1.20023699e-02 6.20316057e-01 -1.01575573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:-134.53, Z:-101.60 [[ 5.49752686e-01 4.68979694e-01 6.91252509e-01 2.29818587e+02] [-2.89789393e-01 8.83205691e-01 -3.68740850e-01 -1.34526606e+02] [-7.83450121e-01 2.39862827e-03 6.21450042e-01 -1.01596627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:-134.53, Z:-101.62 [[ 5.49494346e-01 4.74487833e-01 6.87689799e-01 2.29836065e+02] [-2.90269834e-01 8.80236824e-01 -3.75401861e-01 -1.34532149e+02] [-7.83453501e-01 6.66559605e-03 6.21414662e-01 -1.01623543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:-134.54, Z:-101.65 [[ 5.49411659e-01 4.75307954e-01 6.87189332e-01 2.29853733e+02] [-2.91612529e-01 8.79800063e-01 -3.75385112e-01 -1.34540471e+02] [-7.83012747e-01 5.84793780e-03 6.21978166e-01 -1.01649683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:-134.55, Z:-101.68 [[ 5.49419791e-01 4.75960011e-01 6.86731360e-01 2.29870933e+02] [-2.92465356e-01 8.79449817e-01 -3.75542322e-01 -1.34548943e+02] [-7.82688896e-01 5.48525258e-03 6.22388949e-01 -1.01675041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:-134.56, Z:-101.70 [[ 5.48941115e-01 4.78455889e-01 6.85378446e-01 2.29887553e+02] [-2.92462072e-01 8.78079925e-01 -3.78736823e-01 -1.34555663e+02] [-7.83025918e-01 7.45701390e-03 6.21944374e-01 -1.01702913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:-134.57, Z:-101.73 [[ 5.49272771e-01 4.75567486e-01 6.87120797e-01 2.29905420e+02] [-2.93803639e-01 8.79672138e-01 -3.73973731e-01 -1.34568157e+02] [-7.82290767e-01 3.53499727e-03 6.22903411e-01 -1.01725442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:-134.58, Z:-101.75 [[ 5.48940221e-01 4.77640700e-01 6.85947517e-01 2.29923151e+02] [-2.94520510e-01 8.78544220e-01 -3.76055478e-01 -1.34577048e+02] [-7.82254628e-01 4.40636477e-03 6.22943241e-01 -1.01751641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:-134.59, Z:-101.78 [[ 5.48837031e-01 4.78088923e-01 6.85717796e-01 2.29940935e+02] [-2.94888440e-01 8.78300731e-01 -3.76335799e-01 -1.34587213e+02] [-7.82188418e-01 4.33677154e-03 6.23026862e-01 -1.01777230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:-134.60, Z:-101.80 [[ 5.48187554e-01 4.78475173e-01 6.85967867e-01 2.29958654e+02] [-2.94820113e-01 8.78090238e-01 -3.76880135e-01 -1.34597206e+02] [-7.82669475e-01 4.36387530e-03 6.22422244e-01 -1.01802890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:-134.61, Z:-101.83 [[ 5.47981676e-01 4.78775210e-01 6.85923013e-01 2.29976180e+02] [-2.94819689e-01 8.77925943e-01 -3.77263025e-01 -1.34606307e+02] [-7.82813792e-01 4.50961536e-03 6.22239688e-01 -1.01828624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:-134.61, Z:-101.85 [[ 5.48408066e-01 4.78922714e-01 6.85479123e-01 2.29993087e+02] [-2.94854235e-01 8.77843572e-01 -3.77427666e-01 -1.34614842e+02] [-7.82502124e-01 4.86795439e-03 6.22628886e-01 -1.01853853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:-134.62, Z:-101.88 [[ 5.49257509e-01 4.78830286e-01 6.84863304e-01 2.30009573e+02] [-2.94663031e-01 8.77890111e-01 -3.77468742e-01 -1.34624325e+02] [-7.81978188e-01 5.52364381e-03 6.23281319e-01 -1.01879075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:-134.64, Z:-101.91 [[ 5.49735879e-01 4.78635552e-01 6.84615565e-01 2.30026878e+02] [-2.94059956e-01 8.77990928e-01 -3.77704477e-01 -1.34635203e+02] [-7.81869047e-01 6.31968005e-03 6.23410664e-01 -1.01905503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:-134.65, Z:-101.93 [[ 5.50312437e-01 4.77800467e-01 6.84735668e-01 2.30044125e+02] [-2.92125421e-01 8.78431144e-01 -3.78181787e-01 -1.34647354e+02] [-7.82188570e-01 8.08944552e-03 6.22989246e-01 -1.01930852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:-134.66, Z:-101.96 [[ 5.50237872e-01 4.78134945e-01 6.84562092e-01 2.30062060e+02] [-2.92268639e-01 8.78248229e-01 -3.78495827e-01 -1.34657164e+02] [-7.82187527e-01 8.18670715e-03 6.22989286e-01 -1.01957334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:-134.67, Z:-101.98 [[ 5.51315696e-01 4.75231185e-01 6.85715921e-01 2.30079862e+02] [-2.92747169e-01 8.79842687e-01 -3.74400776e-01 -1.34671337e+02] [-7.81249063e-01 5.67162970e-03 6.24193667e-01 -1.01982400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:-134.68, Z:-102.01 [[ 5.51229674e-01 4.82313206e-01 6.80822897e-01 2.30097164e+02] [-2.92962894e-01 8.75918756e-01 -3.83326331e-01 -1.34675319e+02] [-7.81228897e-01 1.18450021e-02 6.24132283e-01 -1.02010229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:-134.68, Z:-102.04 [[ 5.50907843e-01 4.84654654e-01 6.79419175e-01 2.30112966e+02] [-2.91193577e-01 8.74563446e-01 -3.87743573e-01 -1.34680770e+02] [-7.82116902e-01 1.57684758e-02 6.22932184e-01 -1.02035795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:-134.70, Z:-102.06 [[ 5.50787529e-01 4.77955593e-01 6.84245241e-01 2.30130933e+02] [-2.91214966e-01 8.78332103e-01 -3.79112859e-01 -1.34696320e+02] [-7.82193673e-01 9.54817990e-03 6.22962190e-01 -1.02060080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:-134.71, Z:-102.09 [[ 5.50697042e-01 4.78228454e-01 6.84127410e-01 2.30148850e+02] [-2.91386083e-01 8.78183567e-01 -3.79325418e-01 -1.34706211e+02] [-7.82193658e-01 9.54817972e-03 6.22962209e-01 -1.02086531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.756559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.17, Y:-134.72, Z:-102.11 [[ 5.51138647e-01 4.77918496e-01 6.83988379e-01 2.30166064e+02] [-2.90644806e-01 8.78342932e-01 -3.79525086e-01 -1.34716472e+02] [-7.82158416e-01 1.03732729e-02 6.22993264e-01 -1.02112077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:-134.73, Z:-102.14 [[ 5.51408420e-01 4.77696909e-01 6.83925740e-01 2.30183037e+02] [-2.89831557e-01 8.78452637e-01 -3.79892923e-01 -1.34726749e+02] [-7.82270045e-01 1.12528940e-02 6.22837820e-01 -1.02137717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:-134.74, Z:-102.16 [[ 5.51870637e-01 4.77412549e-01 6.83751459e-01 2.30200371e+02] [-2.89035377e-01 8.78594895e-01 -3.80170436e-01 -1.34737317e+02] [-7.82238679e-01 1.21765396e-02 6.22859841e-01 -1.02164159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:-134.75, Z:-102.19 [[ 5.53315936e-01 4.76127933e-01 6.83479090e-01 2.30217139e+02] [-2.86684378e-01 8.79255623e-01 -3.80422945e-01 -1.34747560e+02] [-7.82082823e-01 1.45512999e-02 6.23004588e-01 -1.02190349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:-134.76, Z:-102.22 [[ 5.54038478e-01 4.75784898e-01 6.83132561e-01 2.30233950e+02] [-2.85887615e-01 8.79423549e-01 -3.80634330e-01 -1.34757409e+02] [-7.81862927e-01 1.55869260e-02 6.23255494e-01 -1.02215410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:-134.77, Z:-102.24 [[ 5.54461759e-01 4.75443406e-01 6.83026885e-01 2.30250876e+02] [-2.84952349e-01 8.79589817e-01 -3.80951326e-01 -1.34767414e+02] [-7.81904288e-01 1.65928270e-02 6.23177633e-01 -1.02241229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:-134.78, Z:-102.27 [[ 5.54997994e-01 4.75101670e-01 6.82829137e-01 2.30268254e+02] [-2.84046667e-01 8.79754144e-01 -3.81248131e-01 -1.34777472e+02] [-7.81853386e-01 1.76366074e-02 6.23212831e-01 -1.02267042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.28, Y:-134.79, Z:-102.29 [[ 5.55584159e-01 4.74642098e-01 6.82672045e-01 2.30284909e+02] [-2.82924563e-01 8.79977055e-01 -3.81567917e-01 -1.34787777e+02] [-7.81843932e-01 1.88483999e-02 6.23189220e-01 -1.02292515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:-134.80, Z:-102.32 [[ 5.55454355e-01 4.74867757e-01 6.82620738e-01 2.30302689e+02] [-2.82845145e-01 8.79850698e-01 -3.81918019e-01 -1.34798095e+02] [-7.81964886e-01 1.90620651e-02 6.23030942e-01 -1.02318450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:-134.81, Z:-102.34 [[ 5.55096631e-01 4.75341063e-01 6.82582305e-01 2.30319556e+02] [-2.83114305e-01 8.79597161e-01 -3.82302399e-01 -1.34807544e+02] [-7.82121487e-01 1.89659584e-02 6.22837276e-01 -1.02343674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:-134.82, Z:-102.37 [[ 5.54664521e-01 4.76033349e-01 6.82451112e-01 2.30336957e+02] [-2.83836435e-01 8.79232336e-01 -3.82606034e-01 -1.34817135e+02] [-7.82166317e-01 1.85135016e-02 6.22794591e-01 -1.02369452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:-134.83, Z:-102.40 [[ 5.52744041e-01 4.77696799e-01 6.82846830e-01 2.30354737e+02] [-2.85671925e-01 8.78364905e-01 -3.83231843e-01 -1.34827033e+02] [-7.82857315e-01 1.67589498e-02 6.21975531e-01 -1.02395526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:-134.84, Z:-102.42 [[ 5.51466458e-01 4.78956408e-01 6.82997441e-01 2.30372492e+02] [-2.87052948e-01 8.77700900e-01 -3.83720907e-01 -1.34836542e+02] [-7.83253056e-01 1.55527806e-02 6.21508456e-01 -1.02421591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.39, Y:-134.85, Z:-102.45 [[ 5.49998769e-01 4.80365884e-01 6.83191021e-01 2.30390153e+02] [-2.88641957e-01 8.76954343e-01 -3.84235476e-01 -1.34846116e+02] [-7.83700947e-01 1.41314449e-02 6.20977558e-01 -1.02447564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:-134.86, Z:-102.47 [[ 5.47480878e-01 4.82977830e-01 6.83371864e-01 2.30407235e+02] [-2.92154950e-01 8.75563563e-01 -3.84751780e-01 -1.34855744e+02] [-7.84162084e-01 1.09937694e-02 6.20458672e-01 -1.02473401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:-134.87, Z:-102.50 [[ 5.47081398e-01 4.79567017e-01 6.86088493e-01 2.30426766e+02] [-2.96648557e-01 8.77501339e-01 -3.76816978e-01 -1.34874748e+02] [-7.82752565e-01 2.62239791e-03 6.22327523e-01 -1.02498368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23655999499994 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:230.44, Y:-134.87, Z:-102.53 [[ 5.44741087e-01 4.99245203e-01 6.73803662e-01 2.30442246e+02] [-3.00908845e-01 8.66341124e-01 -3.98631314e-01 -1.34869457e+02] [-7.82758593e-01 1.43973733e-02 6.22158903e-01 -1.02530098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:-134.88, Z:-102.55 [[ 5.43060656e-01 4.99882046e-01 6.74687382e-01 2.30457672e+02] [-3.02273763e-01 8.66005061e-01 -3.98328768e-01 -1.34876513e+02] [-7.83400087e-01 1.23763885e-02 6.21394503e-01 -1.02553526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:-134.89, Z:-102.58 [[ 5.42006011e-01 4.91686072e-01 6.81523507e-01 2.30475089e+02] [-3.05306866e-01 8.70772146e-01 -3.85413528e-01 -1.34894670e+02] [-7.82954151e-01 8.22642691e-04 6.22078871e-01 -1.02576056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:-134.90, Z:-102.60 [[ 5.38616929e-01 4.95953193e-01 6.81118370e-01 2.30491914e+02] [-3.11953819e-01 8.68336024e-01 -3.85587039e-01 -1.34903645e+02] [-7.82672740e-01 -4.79376969e-03 6.22414975e-01 -1.02601295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:-134.91, Z:-102.63 [[ 5.36835245e-01 4.98259556e-01 6.80841637e-01 2.30509361e+02] [-3.15397058e-01 8.66994419e-01 -3.85804838e-01 -1.34913050e+02] [-7.82516847e-01 -7.62181441e-03 6.22582760e-01 -1.02626958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:-134.95, Z:-102.64 [[ 5.38706195e-01 4.80798870e-01 6.91829518e-01 2.30534400e+02] [-3.23537837e-01 8.76265283e-01 -3.57046807e-01 -1.34948993e+02] [-7.77893890e-01 -3.14896995e-02 6.27606163e-01 -1.02642788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:-134.91, Z:-102.69 [[ 5.32175393e-01 5.34440398e-01 6.56629890e-01 2.30544157e+02] [-3.21253684e-01 8.45044655e-01 -4.27429060e-01 -1.34905414e+02] [-7.83316936e-01 1.65224573e-02 6.21402918e-01 -1.02687393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.56, Y:-134.94, Z:-102.70 [[ 5.29991726e-01 5.05188662e-01 6.81097046e-01 2.30561140e+02] [-3.25424949e-01 8.62848098e-01 -3.86770942e-01 -1.34942678e+02] [-7.83075585e-01 -1.66605721e-02 6.21703348e-01 -1.02703176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.58, Y:-134.95, Z:-102.73 [[ 5.28994342e-01 5.06217476e-01 6.81108548e-01 2.30578360e+02] [-3.26576041e-01 8.62225974e-01 -3.87187886e-01 -1.34952971e+02] [-7.83270755e-01 -1.76135320e-02 6.21431160e-01 -1.02729001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:-134.96, Z:-102.76 [[ 5.28151340e-01 5.07103965e-01 6.81103319e-01 2.30595771e+02] [-3.27502260e-01 8.61689496e-01 -3.87599642e-01 -1.34963837e+02] [-7.83452891e-01 -1.83516062e-02 6.21180156e-01 -1.02755138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.61, Y:-134.97, Z:-102.78 [[ 5.27493283e-01 5.07663665e-01 6.81196329e-01 2.30612545e+02] [-3.27830380e-01 8.61354237e-01 -3.88067161e-01 -1.34974367e+02] [-7.83758941e-01 -1.86140307e-02 6.20786147e-01 -1.02780211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:-134.99, Z:-102.81 [[ 5.26144603e-01 5.08421080e-01 6.81674308e-01 2.30629682e+02] [-3.28260980e-01 8.60893585e-01 -3.88724791e-01 -1.34985492e+02] [-7.84484917e-01 -1.92416256e-02 6.19849316e-01 -1.02806539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:-135.00, Z:-102.83 [[ 5.26064804e-01 5.08810291e-01 6.81445456e-01 2.30646433e+02] [-3.28522660e-01 8.60663986e-01 -3.89012037e-01 -1.34995601e+02] [-7.84428890e-01 -1.92247322e-02 6.19920742e-01 -1.02831424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:-135.01, Z:-102.86 [[ 5.26713387e-01 5.09405552e-01 6.80499076e-01 2.30662169e+02] [-3.29640014e-01 8.60305556e-01 -3.88859629e-01 -1.35006030e+02] [-7.83524390e-01 -1.95021527e-02 6.21054906e-01 -1.02856664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:-135.02, Z:-102.88 [[ 5.27440991e-01 5.09801296e-01 6.79638610e-01 2.30679080e+02] [-3.30378760e-01 8.60071267e-01 -3.88750937e-01 -1.35016223e+02] [-7.82723371e-01 -1.94949818e-02 6.22064361e-01 -1.02883316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:-135.05, Z:-102.90 [[ 5.31775803e-01 4.92050103e-01 6.89275846e-01 2.30702882e+02] [-3.36223783e-01 8.69667966e-01 -3.61429378e-01 -1.35051888e+02] [-7.77282486e-01 -3.95515349e-02 6.27907328e-01 -1.02899505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:-135.03, Z:-102.94 [[ 5.30684513e-01 5.26359478e-01 6.64318935e-01 2.30716579e+02] [-3.35335879e-01 8.50229693e-01 -4.05782352e-01 -1.35031768e+02] [-7.78411071e-01 -7.42756441e-03 6.27710949e-01 -1.02935930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:-135.02, Z:-102.97 [[ 5.27968843e-01 5.35894098e-01 6.58837170e-01 2.30726327e+02] [-3.30057287e-01 8.44267503e-01 -4.22225735e-01 -1.35024592e+02] [-7.82503091e-01 5.46802390e-03 6.22622689e-01 -1.02967296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:-135.08, Z:-102.97 [[ 5.32760883e-01 4.94211635e-01 6.86964847e-01 2.30749612e+02] [-3.34002555e-01 8.68656235e-01 -3.65894301e-01 -1.35079721e+02] [-7.77565518e-01 -3.45138436e-02 6.27854011e-01 -1.02974768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:-135.05, Z:-103.02 [[ 5.29126198e-01 5.31776405e-01 6.61240744e-01 2.30758185e+02] [-3.25207429e-01 8.46850483e-01 -4.20813959e-01 -1.35050365e+02] [-7.83750978e-01 7.62328769e-03 6.21028414e-01 -1.03016588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.78, Y:-135.10, Z:-103.03 [[ 5.33561760e-01 4.94352584e-01 6.86241481e-01 2.30780584e+02] [-3.26843811e-01 8.68874958e-01 -3.71792188e-01 -1.35100134e+02] [-7.80054467e-01 -2.59196865e-02 6.25174534e-01 -1.03026688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.80, Y:-135.10, Z:-103.06 [[ 5.34413902e-01 5.12388107e-01 6.72205482e-01 2.30796572e+02] [-3.21687789e-01 8.58748409e-01 -3.98833470e-01 -1.35096956e+02] [-7.81612914e-01 -3.09814445e-03 6.23756085e-01 -1.03059249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:-135.09, Z:-103.09 [[ 5.32484769e-01 5.21765333e-01 6.66498993e-01 2.30807679e+02] [-3.15244720e-01 8.53013410e-01 -4.15919330e-01 -1.35090740e+02] [-7.85544867e-01 1.13604197e-02 6.18700415e-01 -1.03090688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:-135.12, Z:-103.11 [[ 5.33606259e-01 5.02165348e-01 6.80510341e-01 2.30826023e+02] [-3.14968213e-01 8.64753362e-01 -3.91147859e-01 -1.35116866e+02] [-7.84894506e-01 -5.62018063e-03 6.19603928e-01 -1.03110476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.85, Y:-135.13, Z:-103.13 [[ 5.36221158e-01 4.98851111e-01 6.80892384e-01 2.30846749e+02] [-3.19366622e-01 8.66606476e-01 -3.83403412e-01 -1.35132190e+02] [-7.81326968e-01 -1.18652783e-02 6.24009122e-01 -1.03134160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.86, Y:-135.12, Z:-103.17 [[ 5.35672083e-01 5.13172168e-01 6.70604016e-01 2.30860573e+02] [-3.17157417e-01 8.58278846e-01 -4.03445902e-01 -1.35123640e+02] [-7.82602449e-01 3.42766974e-03 6.22512376e-01 -1.03165573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:-135.14, Z:-103.19 [[ 5.36523981e-01 5.02762055e-01 6.77770119e-01 2.30878360e+02] [-3.16849947e-01 8.64408610e-01 -3.90389376e-01 -1.35141726e+02] [-7.82143292e-01 -5.29816419e-03 6.23076079e-01 -1.03187974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.90, Y:-135.15, Z:-103.21 [[ 5.36544843e-01 5.02577772e-01 6.77890267e-01 2.30895849e+02] [-3.15954079e-01 8.64520476e-01 -3.90867454e-01 -1.35151814e+02] [-7.82491311e-01 -4.46427829e-03 6.22645500e-01 -1.03212222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:-135.16, Z:-103.24 [[ 5.36860393e-01 5.02488647e-01 6.77706484e-01 2.30914455e+02] [-3.15625685e-01 8.64574636e-01 -3.91012948e-01 -1.35162269e+02] [-7.82407404e-01 -3.98220814e-03 6.22754202e-01 -1.03237857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.93, Y:-135.17, Z:-103.26 [[ 5.36965606e-01 5.02228256e-01 6.77816138e-01 2.30932821e+02] [-3.14608087e-01 8.64729783e-01 -3.91489660e-01 -1.35171824e+02] [-7.82744971e-01 -3.02995622e-03 6.22335223e-01 -1.03264053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.95, Y:-135.18, Z:-103.29 [[ 5.37497852e-01 5.01831609e-01 6.77688051e-01 2.30951136e+02] [-3.13544211e-01 8.64963297e-01 -3.91827159e-01 -1.35180938e+02] [-7.82806545e-01 -1.87890916e-03 6.22262310e-01 -1.03290147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:-135.19, Z:-103.32 [[ 5.38168462e-01 5.03835416e-01 6.75666028e-01 2.30969686e+02] [-3.11514501e-01 8.63795654e-01 -3.95999727e-01 -1.35187222e+02] [-7.83156065e-01 2.63479862e-03 6.21819616e-01 -1.03318482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:-135.20, Z:-103.34 [[ 5.38804349e-01 5.03325933e-01 6.75538955e-01 2.30988114e+02] [-3.10810690e-01 8.64090134e-01 -3.95910286e-01 -1.35196732e+02] [-7.82998460e-01 3.35345501e-03 6.22014602e-01 -1.03343910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:-135.21, Z:-103.37 [[ 5.39339592e-01 5.00842198e-01 6.76956348e-01 2.31007338e+02] [-3.11858552e-01 8.65538577e-01 -3.91902048e-01 -1.35210084e+02] [-7.82212917e-01 2.53664049e-04 6.23011146e-01 -1.03367396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:-135.21, Z:-103.39 [[ 5.38905027e-01 5.06760658e-01 6.72885583e-01 2.31023962e+02] [-3.10505477e-01 8.62058985e-01 -4.00550440e-01 -1.35210692e+02] [-7.83050267e-01 6.92398643e-03 6.21919881e-01 -1.03392684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.04, Y:-135.22, Z:-103.42 [[ 5.38359375e-01 5.07131846e-01 6.73042698e-01 2.31040806e+02] [-3.08446642e-01 8.61819672e-01 -4.02650620e-01 -1.35216981e+02] [-7.84238390e-01 9.17297597e-03 6.20391815e-01 -1.03420562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:-135.24, Z:-103.44 [[ 5.38083318e-01 4.99547514e-01 6.78909879e-01 2.31059303e+02] [-3.09544193e-01 8.66286099e-01 -3.92085178e-01 -1.35235735e+02] [-7.83995367e-01 8.21882894e-04 6.20766131e-01 -1.03444345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:-135.23, Z:-103.47 [[ 5.38733811e-01 5.10694736e-01 6.70042363e-01 2.31076029e+02] [-3.07224744e-01 8.59647262e-01 -4.08190570e-01 -1.35231189e+02] [-7.84460858e-01 1.40524675e-02 6.20019105e-01 -1.03472371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:-135.25, Z:-103.50 [[ 5.38511609e-01 4.99946519e-01 6.78276290e-01 2.31094063e+02] [-3.06535765e-01 8.66043073e-01 -3.94974962e-01 -1.35249646e+02] [-7.84882839e-01 4.78266064e-03 6.19625738e-01 -1.03495808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:-135.26, Z:-103.52 [[ 5.39193059e-01 5.02106721e-01 6.76135849e-01 2.31112439e+02] [-3.07109778e-01 8.64780732e-01 -3.97288144e-01 -1.35258524e+02] [-7.84190302e-01 6.56707902e-03 6.20485652e-01 -1.03521248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:-135.26, Z:-103.55 [[ 5.40563059e-01 5.08895044e-01 6.69938366e-01 2.31129571e+02] [-3.05444202e-01 8.60687928e-01 -4.07332947e-01 -1.35258215e+02] [-7.83897582e-01 1.55603548e-02 6.20695140e-01 -1.03548541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:-135.28, Z:-103.56 [[ 5.43020779e-01 4.91564609e-01 6.80802959e-01 2.31149982e+02] [-3.07691742e-01 8.70840128e-01 -3.83357878e-01 -1.35282820e+02] [-7.81315702e-01 -1.30615507e-03 6.24134656e-01 -1.03563785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:-135.29, Z:-103.59 [[ 5.43414763e-01 4.99678466e-01 6.74553057e-01 2.31167588e+02] [-3.08331172e-01 8.66192139e-01 -3.93246826e-01 -1.35285843e+02] [-7.80789526e-01 5.71039631e-03 6.24768043e-01 -1.03591576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:-135.30, Z:-103.62 [[ 5.43382590e-01 4.99954773e-01 6.74374218e-01 2.31185198e+02] [-3.08581735e-01 8.66032969e-01 -3.93400826e-01 -1.35295158e+02] [-7.80712927e-01 5.66759322e-03 6.24864149e-01 -1.03617435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:-135.31, Z:-103.64 [[ 5.43320593e-01 5.00265300e-01 6.74193861e-01 2.31202914e+02] [-3.08693259e-01 8.65852809e-01 -3.93709771e-01 -1.35305405e+02] [-7.80711986e-01 5.79152607e-03 6.24864188e-01 -1.03643911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:-135.32, Z:-103.67 [[ 5.42989796e-01 5.00498761e-01 6.74287084e-01 2.31221058e+02] [-3.08772827e-01 8.65718453e-01 -3.93942765e-01 -1.35315114e+02] [-7.80910636e-01 5.70537226e-03 6.24616704e-01 -1.03669587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:-135.32, Z:-103.69 [[ 5.42237231e-01 5.00810874e-01 6.74660844e-01 2.31239586e+02] [-3.08477604e-01 8.65537079e-01 -3.94572089e-01 -1.35324202e+02] [-7.81549968e-01 5.83391584e-03 6.23815367e-01 -1.03694042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:-135.33, Z:-103.72 [[ 5.41495663e-01 5.01053760e-01 6.75075979e-01 2.31258278e+02] [-3.08237297e-01 8.65396428e-01 -3.95068085e-01 -1.35332959e+02] [-7.82158690e-01 5.84405958e-03 6.23051869e-01 -1.03719143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:-135.34, Z:-103.74 [[ 5.41397702e-01 5.01643233e-01 6.74716677e-01 2.31276185e+02] [-3.08927436e-01 8.65056725e-01 -3.95272946e-01 -1.35340615e+02] [-7.81954198e-01 5.56137166e-03 6.23311081e-01 -1.03744354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:-135.35, Z:-103.77 [[ 5.41807043e-01 5.02980322e-01 6.73391360e-01 2.31294855e+02] [-3.11731348e-01 8.64288783e-01 -3.94751145e-01 -1.35347800e+02] [-7.80556657e-01 3.96175405e-03 6.25072484e-01 -1.03770759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:-135.35, Z:-103.80 [[ 5.40226974e-01 5.08341401e-01 6.70629433e-01 2.31311995e+02] [-3.14818161e-01 8.61143845e-01 -3.99150102e-01 -1.35348373e+02] [-7.80412931e-01 4.50532672e-03 6.25248239e-01 -1.03798833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:-135.36, Z:-103.82 [[ 5.40274115e-01 5.03317135e-01 6.74370627e-01 2.31329181e+02] [-3.18120845e-01 8.64093430e-01 -3.90053423e-01 -1.35362616e+02] [-7.79039799e-01 -3.79558587e-03 6.26962986e-01 -1.03823611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:-135.37, Z:-103.85 [[ 5.40161698e-01 5.03835567e-01 6.74073484e-01 2.31346893e+02] [-3.18451954e-01 8.63791432e-01 -3.90451938e-01 -1.35372866e+02] [-7.78982473e-01 -3.75283686e-03 6.27034467e-01 -1.03850066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:-135.38, Z:-103.88 [[ 5.40049681e-01 5.04306532e-01 6.73811000e-01 2.31364601e+02] [-3.18782053e-01 8.63516554e-01 -3.90790434e-01 -1.35383164e+02] [-7.78925122e-01 -3.75260496e-03 6.27105711e-01 -1.03876505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.38, Y:-135.40, Z:-103.90 [[ 5.40995746e-01 5.02290760e-01 6.74557333e-01 2.31383281e+02] [-3.21785502e-01 8.64658357e-01 -3.85771975e-01 -1.35399319e+02] [-7.77031333e-01 -8.36177255e-03 6.29406377e-01 -1.03899961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:-135.40, Z:-103.93 [[ 5.40816519e-01 5.09482772e-01 6.69286783e-01 2.31401064e+02] [-3.22050116e-01 8.60478453e-01 -3.94791787e-01 -1.35404132e+02] [-7.77046470e-01 -2.03396611e-03 6.29439947e-01 -1.03928546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:-135.41, Z:-103.95 [[ 5.40751752e-01 5.09655800e-01 6.69207374e-01 2.31418742e+02] [-3.22158869e-01 8.60375981e-01 -3.94926366e-01 -1.35414577e+02] [-7.77046463e-01 -2.03396609e-03 6.29439955e-01 -1.03954972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:-135.43, Z:-103.98 [[ 5.40686963e-01 5.09828807e-01 6.69127937e-01 2.31436417e+02] [-3.22267608e-01 8.60273475e-01 -3.95060929e-01 -1.35425025e+02] [-7.77046457e-01 -2.03396609e-03 6.29439963e-01 -1.03981398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:-135.44, Z:-104.01 [[ 5.40933275e-01 5.10562369e-01 6.68369104e-01 2.31453197e+02] [-3.23762585e-01 8.59836040e-01 -3.94790796e-01 -1.35435810e+02] [-7.76253168e-01 -2.83743049e-03 6.30414918e-01 -1.04006054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:-135.45, Z:-104.03 [[ 5.40555229e-01 5.11352506e-01 6.68070849e-01 2.31469856e+02] [-3.24760801e-01 8.59364153e-01 -3.94998322e-01 -1.35446716e+02] [-7.76099521e-01 -3.44481532e-03 6.30601036e-01 -1.04031811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:-135.46, Z:-104.06 [[ 5.40858516e-01 5.12208928e-01 6.67168704e-01 2.31487199e+02] [-3.26261775e-01 8.58851101e-01 -3.94877248e-01 -1.35458370e+02] [-7.75258228e-01 -4.09892302e-03 6.31631126e-01 -1.04057390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:-135.45, Z:-104.09 [[ 5.40682117e-01 5.22525387e-01 6.59264794e-01 2.31498463e+02] [-3.24645497e-01 8.52591757e-01 -4.09502866e-01 -1.35454504e+02] [-7.76059372e-01 7.38353048e-03 6.30616630e-01 -1.04088795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:-135.48, Z:-104.11 [[ 5.41403771e-01 5.06746541e-01 6.70887397e-01 2.31513926e+02] [-3.26372148e-01 8.62047834e-01 -3.87756048e-01 -1.35479513e+02] [-7.74831064e-01 -9.02637397e-03 6.32103905e-01 -1.04110542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:-135.51, Z:-104.13 [[ 5.43968347e-01 4.93800586e-01 6.78424218e-01 2.31535365e+02] [-3.33149980e-01 8.69149762e-01 -3.65499360e-01 -1.35511062e+02] [-7.70136045e-01 -2.71969314e-02 6.37299614e-01 -1.04127210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:-135.51, Z:-104.16 [[ 5.39754656e-01 5.19097132e-01 6.62723984e-01 2.31552264e+02] [-3.38218464e-01 8.54637818e-01 -3.93957448e-01 -1.35507146e+02] [-7.70891161e-01 -1.15051213e-02 6.36862976e-01 -1.04159362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:-135.51, Z:-104.19 [[ 5.32597830e-01 5.30324007e-01 6.59618070e-01 2.31567294e+02] [-3.40942699e-01 8.47752426e-01 -4.06292875e-01 -1.35511885e+02] [-7.74659685e-01 -8.50126147e-03 6.32321201e-01 -1.04189616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:-135.54, Z:-104.21 [[ 5.30074382e-01 5.17954133e-01 6.71375205e-01 2.31587920e+02] [-3.46294600e-01 8.54956743e-01 -3.86172263e-01 -1.35537089e+02] [-7.74016279e-01 -2.77935844e-02 6.32555387e-01 -1.04205188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:-135.54, Z:-104.23 [[ 5.29622078e-01 5.26164430e-01 6.65320560e-01 2.31605544e+02] [-3.46564541e-01 8.50133020e-01 -3.96442766e-01 -1.35541168e+02] [-7.74205059e-01 -2.06116728e-02 6.32599151e-01 -1.04234164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:-135.55, Z:-104.26 [[ 5.27144980e-01 5.28071013e-01 6.65777121e-01 2.31622639e+02] [-3.48969323e-01 8.48887119e-01 -3.97002608e-01 -1.35550961e+02] [-7.74815192e-01 -2.30578591e-02 6.31767167e-01 -1.04258980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:-135.55, Z:-104.29 [[ 5.22742722e-01 5.37663511e-01 6.61557251e-01 2.31637009e+02] [-3.49902334e-01 8.42969955e-01 -4.08619642e-01 -1.35552155e+02] [-7.77372757e-01 -1.78774822e-02 6.28786126e-01 -1.04289294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:-135.58, Z:-104.31 [[ 5.22894727e-01 5.22333301e-01 6.73608958e-01 2.31656845e+02] [-3.53077590e-01 8.51993940e-01 -3.86577991e-01 -1.35578793e+02] [-7.75833307e-01 -3.56966344e-02 6.29927321e-01 -1.04305069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:-135.58, Z:-104.33 [[ 5.20232430e-01 5.33024047e-01 6.67265753e-01 2.31674319e+02] [-3.55089480e-01 8.45583478e-01 -3.98622683e-01 -1.35582311e+02] [-7.76704372e-01 -2.95626021e-02 6.29171179e-01 -1.04332571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.69, Y:-135.59, Z:-104.36 [[ 5.16157657e-01 5.35841026e-01 6.68173382e-01 2.31693212e+02] [-3.58605094e-01 8.43658865e-01 -3.99552383e-01 -1.35592569e+02] [-7.77806955e-01 -3.33783565e-02 6.27616305e-01 -1.04358104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:-135.60, Z:-104.38 [[ 5.14833232e-01 5.37195127e-01 6.68107880e-01 2.31710705e+02] [-3.60349903e-01 8.42737438e-01 -3.99926940e-01 -1.35601968e+02] [-7.77878327e-01 -3.48569310e-02 6.27447451e-01 -1.04383176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:-135.61, Z:-104.41 [[ 5.14103343e-01 5.38285551e-01 6.67792197e-01 2.31728292e+02] [-3.61863018e-01 8.41995633e-01 -4.00123119e-01 -1.35610907e+02] [-7.77658607e-01 -3.59446669e-02 6.27658404e-01 -1.04409794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:-135.62, Z:-104.44 [[ 5.14122805e-01 5.38676936e-01 6.67461534e-01 2.31744893e+02] [-3.62205710e-01 8.41745705e-01 -4.00338847e-01 -1.35621077e+02] [-7.77486183e-01 -3.59350481e-02 6.27872525e-01 -1.04435743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:-135.63, Z:-104.46 [[ 5.14701162e-01 5.38662715e-01 6.67027130e-01 2.31761626e+02] [-3.61956648e-01 8.41781554e-01 -4.00488703e-01 -1.35632002e+02] [-7.77219466e-01 -3.53029031e-02 6.28238495e-01 -1.04461586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:-135.64, Z:-104.49 [[ 5.15624635e-01 5.37131182e-01 6.67548747e-01 2.31777680e+02] [-3.58601340e-01 8.42872044e-01 -4.01212905e-01 -1.35644964e+02] [-7.78162139e-01 -3.25086178e-02 6.27221552e-01 -1.04487293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:-135.66, Z:-104.51 [[ 5.16478744e-01 5.34826249e-01 6.68738058e-01 2.31793938e+02] [-3.53529372e-01 8.44477224e-01 -4.02337173e-01 -1.35658356e+02] [-7.79914540e-01 -2.86199483e-02 6.25231324e-01 -1.04513190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:-135.67, Z:-104.54 [[ 5.17019661e-01 5.33646154e-01 6.69262619e-01 2.31810828e+02] [-3.50735824e-01 8.45297420e-01 -4.03059118e-01 -1.35669615e+02] [-7.80816913e-01 -2.63448879e-02 6.24204209e-01 -1.04539607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:-135.68, Z:-104.57 [[ 5.21561875e-01 5.26821596e-01 6.71142472e-01 2.31824699e+02] [-3.37764858e-01 8.49831533e-01 -4.04600131e-01 -1.35683042e+02] [-7.83510122e-01 -1.56643391e-02 6.21181549e-01 -1.04566620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:-135.70, Z:-104.60 [[ 5.35748412e-01 5.14609448e-01 6.69440628e-01 2.31833419e+02] [-3.18799749e-01 8.57419405e-01 -4.03978569e-01 -1.35695249e+02] [-7.81882574e-01 3.01337293e-03 6.23418447e-01 -1.04596960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:-135.71, Z:-104.62 [[ 5.36045045e-01 5.14744275e-01 6.69099426e-01 2.31850457e+02] [-3.18805103e-01 8.57337300e-01 -4.04148562e-01 -1.35705462e+02] [-7.81677054e-01 3.32952284e-03 6.23674513e-01 -1.04623771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:-135.72, Z:-104.65 [[ 5.35982887e-01 5.15041630e-01 6.68920372e-01 2.31868025e+02] [-3.18910940e-01 8.57158224e-01 -4.04444794e-01 -1.35715997e+02] [-7.81676504e-01 3.44946415e-03 6.23674550e-01 -1.04650232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.89, Y:-135.73, Z:-104.68 [[ 5.35921204e-01 5.15207400e-01 6.68842132e-01 2.31885592e+02] [-3.19014600e-01 8.57058595e-01 -4.04574157e-01 -1.35726645e+02] [-7.81676498e-01 3.44946414e-03 6.23674557e-01 -1.04676648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.90, Y:-135.74, Z:-104.70 [[ 5.35859501e-01 5.15373151e-01 6.68763868e-01 2.31903156e+02] [-3.19118248e-01 8.56958935e-01 -4.04703505e-01 -1.35737297e+02] [-7.81676493e-01 3.44946411e-03 6.23674564e-01 -1.04703065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.92, Y:-135.75, Z:-104.73 [[ 5.36172684e-01 5.15469381e-01 6.68438606e-01 2.31919516e+02] [-3.19302581e-01 8.56900665e-01 -4.04681494e-01 -1.35747500e+02] [-7.81386406e-01 3.54499049e-03 6.24037433e-01 -1.04728560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:-135.76, Z:-104.76 [[ 5.36111774e-01 5.15748991e-01 6.68271759e-01 2.31937073e+02] [-3.19406108e-01 8.56731954e-01 -4.04956908e-01 -1.35758069e+02] [-7.81385887e-01 3.65208460e-03 6.24037466e-01 -1.04755017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:-135.77, Z:-104.78 [[ 5.36051299e-01 5.15911180e-01 6.68195075e-01 2.31954628e+02] [-3.19507604e-01 8.56634295e-01 -4.05083417e-01 -1.35768739e+02] [-7.81385881e-01 3.65208457e-03 6.24037472e-01 -1.04781433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:-135.78, Z:-104.81 [[ 5.35800255e-01 5.16063768e-01 6.68278590e-01 2.31971529e+02] [-3.19473056e-01 8.56542323e-01 -4.05305089e-01 -1.35778983e+02] [-7.81572167e-01 3.66556647e-03 6.23804064e-01 -1.04808218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:-135.79, Z:-104.83 [[ 5.35737077e-01 5.16365202e-01 6.68096372e-01 2.31989079e+02] [-3.19580484e-01 8.56360108e-01 -4.05605325e-01 -1.35789545e+02] [-7.81571557e-01 3.78724983e-03 6.23804103e-01 -1.04834679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:-135.80, Z:-104.86 [[ 5.35674343e-01 5.16533286e-01 6.68016738e-01 2.32006627e+02] [-3.19685640e-01 8.56258735e-01 -4.05736454e-01 -1.35800221e+02] [-7.81571551e-01 3.78724981e-03 6.23804110e-01 -1.04861096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:-135.81, Z:-104.89 [[ 5.35611589e-01 5.16701349e-01 6.67937079e-01 2.32024174e+02] [-3.19790784e-01 8.56157329e-01 -4.05867567e-01 -1.35810900e+02] [-7.81571545e-01 3.78724978e-03 6.23804117e-01 -1.04887512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:-135.82, Z:-104.91 [[ 5.35548814e-01 5.16869392e-01 6.67857395e-01 2.32041717e+02] [-3.19895916e-01 8.56055891e-01 -4.05998664e-01 -1.35821583e+02] [-7.81571539e-01 3.78724975e-03 6.23804124e-01 -1.04913928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.06, Y:-135.83, Z:-104.94 [[ 5.35486018e-01 5.17037416e-01 6.67777684e-01 2.32059259e+02] [-3.20001035e-01 8.55954419e-01 -4.06129745e-01 -1.35832269e+02] [-7.81571534e-01 3.78724971e-03 6.23804132e-01 -1.04940345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:-135.84, Z:-104.97 [[ 5.35210966e-01 5.17247882e-01 6.67835197e-01 2.32075887e+02] [-3.20070431e-01 8.55827527e-01 -4.06342422e-01 -1.35842707e+02] [-7.81731502e-01 3.72462021e-03 6.23604030e-01 -1.04966463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:-135.85, Z:-104.99 [[ 5.34875584e-01 5.17843852e-01 6.67642011e-01 2.32092797e+02] [-3.20660032e-01 8.55468352e-01 -4.06633795e-01 -1.35853699e+02] [-7.81719421e-01 3.41237979e-03 6.23620961e-01 -1.04992969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:-135.86, Z:-105.02 [[ 5.34164901e-01 5.18628109e-01 6.67602234e-01 2.32109936e+02] [-3.21435476e-01 8.54995273e-01 -4.07016362e-01 -1.35864522e+02] [-7.81886880e-01 2.82281289e-03 6.23413938e-01 -1.05019520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:-135.87, Z:-105.05 [[ 5.32887796e-01 5.19535274e-01 6.67917432e-01 2.32126292e+02] [-3.22129897e-01 8.54446522e-01 -4.07619272e-01 -1.35874891e+02] [-7.82472317e-01 2.05916243e-03 6.22681968e-01 -1.05045126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:-135.89, Z:-105.07 [[ 5.31720695e-01 5.20446318e-01 6.68138259e-01 2.32143566e+02] [-3.23102965e-01 8.53893722e-01 -4.08007335e-01 -1.35885624e+02] [-7.82864980e-01 1.06849127e-03 6.22190712e-01 -1.05071090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.16, Y:-135.90, Z:-105.10 [[ 5.27944250e-01 5.22860761e-01 6.69246960e-01 2.32160702e+02] [-3.25633021e-01 8.52415863e-01 -4.09084750e-01 -1.35895913e+02] [-7.84371088e-01 -1.95496842e-03 6.20288783e-01 -1.05096649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.18, Y:-135.90, Z:-105.12 [[ 5.23508814e-01 5.25707091e-01 6.70500243e-01 2.32177838e+02] [-3.28757717e-01 8.50646862e-01 -4.10266108e-01 -1.35904332e+02] [-7.86038730e-01 -5.65420560e-03 6.18151393e-01 -1.05121852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:-135.91, Z:-105.15 [[ 5.21300382e-01 5.27536384e-01 6.70784075e-01 2.32195061e+02] [-3.31026500e-01 8.49495860e-01 -4.10826290e-01 -1.35914055e+02] [-7.86554110e-01 -7.88340257e-03 6.17471039e-01 -1.05147362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:-135.92, Z:-105.17 [[ 5.19227751e-01 5.29362700e-01 6.70952811e-01 2.32212055e+02] [-3.33390638e-01 8.48335209e-01 -4.11312602e-01 -1.35923711e+02] [-7.86926442e-01 -1.01244685e-02 6.16963751e-01 -1.05173363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:-135.93, Z:-105.20 [[ 5.16213825e-01 5.32072163e-01 6.71135232e-01 2.32228910e+02] [-3.37150556e-01 8.46588604e-01 -4.11846135e-01 -1.35933402e+02] [-7.87307303e-01 -1.36729481e-02 6.16409167e-01 -1.05199581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:-135.94, Z:-105.22 [[ 5.15361597e-01 5.33236859e-01 6.70865766e-01 2.32245387e+02] [-3.38720112e-01 8.45835597e-01 -4.12105361e-01 -1.35943235e+02] [-7.87191914e-01 -1.48524504e-02 6.16529233e-01 -1.05224949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:-135.95, Z:-105.25 [[ 5.14697220e-01 5.34339208e-01 6.70498607e-01 2.32262259e+02] [-3.40297878e-01 8.45119219e-01 -4.12275223e-01 -1.35953725e+02] [-7.86946076e-01 -1.59723419e-02 6.16815011e-01 -1.05251240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:-135.96, Z:-105.28 [[ 5.14626772e-01 5.34641016e-01 6.70312068e-01 2.32279745e+02] [-3.40398733e-01 8.44930635e-01 -4.12578387e-01 -1.35964391e+02] [-7.86948529e-01 -1.58494957e-02 6.16815050e-01 -1.05277701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.30, Y:-135.97, Z:-105.30 [[ 5.14435958e-01 5.35163253e-01 6.70041743e-01 2.32296617e+02] [-3.41223508e-01 8.44589827e-01 -4.12594887e-01 -1.35974470e+02] [-7.86716062e-01 -1.63803483e-02 6.17097660e-01 -1.05304050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:-135.98, Z:-105.33 [[ 5.14694516e-01 5.35682264e-01 6.69428165e-01 2.32313195e+02] [-3.41989045e-01 8.44257376e-01 -4.12641462e-01 -1.35984585e+02] [-7.86214378e-01 -1.65528009e-02 6.17732107e-01 -1.05329437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:-136.00, Z:-105.36 [[ 5.15395831e-01 5.35389644e-01 6.69122610e-01 2.32329209e+02] [-3.41233246e-01 8.44462096e-01 -4.12848205e-01 -1.35995201e+02] [-7.86083335e-01 -1.55466363e-02 6.17924989e-01 -1.05355532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:-136.01, Z:-105.38 [[ 5.16223279e-01 5.35084911e-01 6.68728394e-01 2.32346161e+02] [-3.40536499e-01 8.44673309e-01 -4.12991398e-01 -1.36006949e+02] [-7.85842490e-01 -1.45306523e-02 6.18255967e-01 -1.05381820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:-136.02, Z:-105.41 [[ 5.18891274e-01 5.33101513e-01 6.68247426e-01 2.32361608e+02] [-3.37129854e-01 8.45980722e-01 -4.13110253e-01 -1.36019347e+02] [-7.85554141e-01 -1.09268518e-02 6.18696449e-01 -1.05407905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:-136.03, Z:-105.43 [[ 5.20552238e-01 5.31922447e-01 6.67895110e-01 2.32378247e+02] [-3.34939862e-01 8.46749886e-01 -4.13315762e-01 -1.36031107e+02] [-7.85392040e-01 -8.55225116e-03 6.18939579e-01 -1.05434382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.39, Y:-136.04, Z:-105.46 [[ 5.22425851e-01 5.30372562e-01 6.67664718e-01 2.32393656e+02] [-3.32066570e-01 8.47745929e-01 -4.13592351e-01 -1.36042434e+02] [-7.85368082e-01 -5.63779704e-03 6.19003386e-01 -1.05459390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.41, Y:-136.05, Z:-105.49 [[ 5.24284032e-01 5.28749405e-01 6.67495558e-01 2.32409837e+02] [-3.29072200e-01 8.48773801e-01 -4.13877425e-01 -1.36054503e+02] [-7.85390184e-01 -2.66490651e-03 6.18995280e-01 -1.05485422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.43, Y:-136.07, Z:-105.51 [[ 5.25572366e-01 5.27356582e-01 6.67584245e-01 2.32426797e+02] [-3.26226822e-01 8.49644064e-01 -4.14344090e-01 -1.36065484e+02] [-7.85716074e-01 -1.60833094e-05 6.18587303e-01 -1.05510925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:-136.06, Z:-105.54 [[ 5.25225452e-01 5.32788712e-01 6.63531773e-01 2.32440253e+02] [-3.18407838e-01 8.46145384e-01 -4.27380904e-01 -1.36062316e+02] [-7.89148068e-01 1.31976112e-02 6.14061194e-01 -1.05542232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:-136.10, Z:-105.56 [[ 5.26700572e-01 5.10783206e-01 6.79475551e-01 2.32460707e+02] [-3.20918232e-01 8.59665476e-01 -3.97475481e-01 -1.36097928e+02] [-7.87145473e-01 -8.70552937e-03 6.16705941e-01 -1.05557402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.48, Y:-136.10, Z:-105.59 [[ 5.27332628e-01 5.24906218e-01 6.68127055e-01 2.32477574e+02] [-3.20497326e-01 8.51144809e-01 -4.15733061e-01 -1.36096447e+02] [-7.86893744e-01 5.09667323e-03 6.17067468e-01 -1.05587317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:-136.11, Z:-105.61 [[ 5.27147294e-01 5.25136941e-01 6.68092003e-01 2.32495052e+02] [-3.20568136e-01 8.51002408e-01 -4.15969917e-01 -1.36107101e+02] [-7.86989073e-01 5.10840777e-03 6.16945786e-01 -1.05613526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:-136.12, Z:-105.64 [[ 5.27123375e-01 5.25997619e-01 6.67433482e-01 2.32512601e+02] [-3.21962883e-01 8.50474764e-01 -4.15971848e-01 -1.36117590e+02] [-7.86435534e-01 4.37967653e-03 6.17656837e-01 -1.05639746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:-136.13, Z:-105.67 [[ 5.26999437e-01 5.26837411e-01 6.66868754e-01 2.32529916e+02] [-3.23251019e-01 8.49958112e-01 -4.16028828e-01 -1.36127794e+02] [-7.85990059e-01 3.68095374e-03 6.18228177e-01 -1.05666345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:-136.14, Z:-105.69 [[ 5.26381474e-01 5.27853507e-01 6.66553238e-01 2.32546938e+02] [-3.24616235e-01 8.49331043e-01 -4.16246417e-01 -1.36137135e+02] [-7.85841488e-01 2.73039964e-03 6.18421945e-01 -1.05692410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.56, Y:-136.15, Z:-105.72 [[ 5.25736575e-01 5.29034841e-01 6.66125507e-01 2.32564524e+02] [-3.26337969e-01 8.48598723e-01 -4.16393729e-01 -1.36146264e+02] [-7.85560045e-01 1.53136818e-03 6.18783542e-01 -1.05717874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.58, Y:-136.15, Z:-105.74 [[ 5.23141901e-01 5.31104065e-01 6.66521585e-01 2.32582984e+02] [-3.28877139e-01 8.47305962e-01 -4.17028098e-01 -1.36153848e+02] [-7.86233031e-01 -1.03884026e-03 6.17929237e-01 -1.05744575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:-136.16, Z:-105.77 [[ 5.22159170e-01 5.32186411e-01 6.66428860e-01 2.32601156e+02] [-3.30173874e-01 8.46624613e-01 -4.17387083e-01 -1.36163351e+02] [-7.86342809e-01 -2.09490543e-03 6.17786855e-01 -1.05770739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:-136.17, Z:-105.80 [[ 5.21066847e-01 5.33268200e-01 6.66419064e-01 2.32618996e+02] [-3.31399549e-01 8.45940376e-01 -4.17802848e-01 -1.36172974e+02] [-7.86551766e-01 -3.14776418e-03 6.17516325e-01 -1.05796887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.64, Y:-136.18, Z:-105.82 [[ 5.19476246e-01 5.34654535e-01 6.66550042e-01 2.32636385e+02] [-3.33010012e-01 8.45057838e-01 -4.18307999e-01 -1.36181601e+02] [-7.86923606e-01 -4.66676810e-03 6.17032786e-01 -1.05821890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:-136.19, Z:-105.85 [[ 5.18794449e-01 5.35418272e-01 6.66467999e-01 2.32654054e+02] [-3.33815255e-01 8.44570516e-01 -4.18650236e-01 -1.36191803e+02] [-7.87032207e-01 -5.28376655e-03 6.16889282e-01 -1.05848078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.67, Y:-136.20, Z:-105.87 [[ 5.18005487e-01 5.36230782e-01 6.66428439e-01 2.32671439e+02] [-3.34629866e-01 8.44050529e-01 -4.19048396e-01 -1.36202191e+02] [-7.87205925e-01 -5.93749055e-03 6.16661640e-01 -1.05874350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.69, Y:-136.21, Z:-105.90 [[ 5.17076089e-01 5.37253205e-01 6.66326731e-01 2.32689098e+02] [-3.35836013e-01 8.43392694e-01 -4.19407840e-01 -1.36211609e+02] [-7.87303303e-01 -6.91074724e-03 6.16527170e-01 -1.05900242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:-136.22, Z:-105.93 [[ 5.16595179e-01 5.37948141e-01 6.66139039e-01 2.32706533e+02] [-3.36570758e-01 8.42945638e-01 -4.19717495e-01 -1.36221187e+02] [-7.87305243e-01 -7.37888697e-03 6.16519266e-01 -1.05926281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.72, Y:-136.23, Z:-105.95 [[ 5.16088825e-01 5.38756876e-01 6.65877882e-01 2.32723796e+02] [-3.37549602e-01 8.42423121e-01 -4.19980418e-01 -1.36230757e+02] [-7.87218261e-01 -8.01961342e-03 6.16622327e-01 -1.05951688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.74, Y:-136.24, Z:-105.98 [[ 5.15219636e-01 5.39790237e-01 6.65714072e-01 2.32741499e+02] [-3.39026620e-01 8.41748966e-01 -4.20142391e-01 -1.36240095e+02] [-7.87152893e-01 -9.22918189e-03 6.16688856e-01 -1.05977833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:-136.25, Z:-106.00 [[ 5.14942312e-01 5.40423744e-01 6.65414602e-01 2.32758494e+02] [-3.39759955e-01 8.41338076e-01 -4.20372947e-01 -1.36250594e+02] [-7.87018163e-01 -9.61341762e-03 6.16854921e-01 -1.06002556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:-136.26, Z:-106.03 [[ 5.14255060e-01 5.40785942e-01 6.65651785e-01 2.32775314e+02] [-3.39833622e-01 8.41102918e-01 -4.20783781e-01 -1.36261033e+02] [-7.87435612e-01 -9.82066904e-03 6.16318677e-01 -1.06027742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.79, Y:-136.27, Z:-106.05 [[ 5.13514473e-01 5.41303992e-01 6.65802429e-01 2.32792328e+02] [-3.40232493e-01 8.40764280e-01 -4.21138073e-01 -1.36271745e+02] [-7.87746620e-01 -1.02671243e-02 6.15913833e-01 -1.06052369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:-136.28, Z:-106.08 [[ 5.13268629e-01 5.41808003e-01 6.65582002e-01 2.32809632e+02] [-3.40901949e-01 8.40434411e-01 -4.21255102e-01 -1.36282661e+02] [-7.87617405e-01 -1.06811729e-02 6.16072022e-01 -1.06077958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.83, Y:-136.29, Z:-106.10 [[ 5.12949329e-01 5.42368850e-01 6.65371337e-01 2.32827011e+02] [-3.41466739e-01 8.40068727e-01 -4.21526986e-01 -1.36293298e+02] [-7.87580759e-01 -1.09801964e-02 6.16113613e-01 -1.06104190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:-136.30, Z:-106.13 [[ 5.12747153e-01 5.43347577e-01 6.64728342e-01 2.32843870e+02] [-3.43038315e-01 8.39423693e-01 -4.21535976e-01 -1.36303035e+02] [-7.87029270e-01 -1.18859186e-02 6.16801145e-01 -1.06130574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:-136.31, Z:-106.16 [[ 5.12947125e-01 5.44061847e-01 6.63989423e-01 2.32861294e+02] [-3.44238286e-01 8.38953970e-01 -4.21492869e-01 -1.36313973e+02] [-7.86374751e-01 -1.23670254e-02 6.17625945e-01 -1.06156806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:-136.32, Z:-106.18 [[ 5.12752107e-01 5.44824100e-01 6.63514865e-01 2.32877871e+02] [-3.45312598e-01 8.38450576e-01 -4.21615751e-01 -1.36324819e+02] [-7.86030843e-01 -1.29356770e-02 6.18051925e-01 -1.06182570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:-136.34, Z:-106.21 [[ 5.13020510e-01 5.45641646e-01 6.62635006e-01 2.32895043e+02] [-3.46787089e-01 8.37908831e-01 -4.21482509e-01 -1.36336166e+02] [-7.85206133e-01 -1.35640930e-02 6.19085894e-01 -1.06208622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:-136.35, Z:-106.23 [[ 5.12759136e-01 5.46800869e-01 6.61881317e-01 2.32910875e+02] [-3.48721537e-01 8.37133256e-01 -4.21427575e-01 -1.36347441e+02] [-7.84519827e-01 -1.47214307e-02 6.19928965e-01 -1.06233809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:-136.36, Z:-106.26 [[ 5.12815292e-01 5.47313717e-01 6.61413768e-01 2.32927685e+02] [-3.49585141e-01 8.36790868e-01 -4.21392066e-01 -1.36358918e+02] [-7.84098658e-01 -1.51241301e-02 6.20451896e-01 -1.06259988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.95, Y:-136.39, Z:-106.28 [[ 5.16335880e-01 5.32815688e-01 6.70451118e-01 2.32948807e+02] [-3.54054171e-01 8.45657480e-01 -3.99385866e-01 -1.36390277e+02] [-7.79771058e-01 -3.11587618e-02 6.25288916e-01 -1.06277688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:-136.36, Z:-106.32 [[ 5.12218452e-01 5.71226666e-01 6.41351973e-01 2.32960638e+02] [-3.50364783e-01 8.20767343e-01 -4.51204484e-01 -1.36361927e+02] [-7.84140789e-01 6.40811729e-03 6.20549885e-01 -1.06317790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:-136.40, Z:-106.34 [[ 5.13649685e-01 5.47729357e-01 6.60421496e-01 2.32975458e+02] [-3.49663701e-01 8.36534223e-01 -4.21836212e-01 -1.36395279e+02] [-7.83517260e-01 -1.42493872e-02 6.21206614e-01 -1.06335834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:-136.41, Z:-106.36 [[ 5.14504990e-01 5.47378787e-01 6.60046271e-01 2.32991098e+02] [-3.48848864e-01 8.36782044e-01 -4.22019290e-01 -1.36407399e+02] [-7.83319274e-01 -1.31253616e-02 6.21481005e-01 -1.06360634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.01, Y:-136.42, Z:-106.39 [[ 5.15829046e-01 5.46007395e-01 6.60148710e-01 2.33006753e+02] [-3.46044479e-01 8.37714375e-01 -4.22478218e-01 -1.36422092e+02] [-7.83692296e-01 -1.05142805e-02 6.21060251e-01 -1.06386153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:-136.43, Z:-106.41 [[ 5.16565647e-01 5.45452428e-01 6.60031500e-01 2.33021977e+02] [-3.44694139e-01 8.38092505e-01 -4.22832003e-01 -1.36433830e+02] [-7.83802196e-01 -9.08850259e-03 6.20944053e-01 -1.06411098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:-136.45, Z:-106.44 [[ 5.18373152e-01 5.44070626e-01 6.59754825e-01 2.33037284e+02] [-3.42338544e-01 8.39013234e-01 -4.22919749e-01 -1.36447373e+02] [-7.83641242e-01 -6.62926285e-03 6.21178281e-01 -1.06436772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:-136.46, Z:-106.46 [[ 5.18892098e-01 5.43811247e-01 6.59560700e-01 2.33053505e+02] [-3.41561657e-01 8.39188301e-01 -4.23200460e-01 -1.36459580e+02] [-7.83636794e-01 -5.68527102e-03 6.21193249e-01 -1.06462598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.07, Y:-136.47, Z:-106.49 [[ 5.18928445e-01 5.43740847e-01 6.59590145e-01 2.33069483e+02] [-3.40906500e-01 8.39238131e-01 -4.23629695e-01 -1.36471776e+02] [-7.83897970e-01 -5.02506912e-03 6.20869328e-01 -1.06488296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:-136.48, Z:-106.51 [[ 5.18895410e-01 5.43841192e-01 6.59533405e-01 2.33085649e+02] [-3.40586543e-01 8.39175487e-01 -4.24010977e-01 -1.36484123e+02] [-7.84058901e-01 -4.61085286e-03 6.20669300e-01 -1.06514025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.10, Y:-136.50, Z:-106.54 [[ 5.19172219e-01 5.44054922e-01 6.59139172e-01 2.33101058e+02] [-3.40711947e-01 8.39038313e-01 -4.24181657e-01 -1.36497464e+02] [-7.83821138e-01 -4.35325842e-03 6.20971395e-01 -1.06539137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:-136.51, Z:-106.56 [[ 5.18419302e-01 5.44725636e-01 6.59177828e-01 2.33117607e+02] [-3.41434624e-01 8.38599336e-01 -4.24468551e-01 -1.36509023e+02] [-7.84004991e-01 -5.01344398e-03 6.20734275e-01 -1.06564812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:-136.52, Z:-106.59 [[ 5.17688352e-01 5.45898830e-01 6.58781631e-01 2.33134052e+02] [-3.43117653e-01 8.37828077e-01 -4.24634418e-01 -1.36519617e+02] [-7.83753179e-01 -6.21131489e-03 6.21041362e-01 -1.06589514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:-136.53, Z:-106.61 [[ 5.16191115e-01 5.48128022e-01 6.58105162e-01 2.33150710e+02] [-3.46770198e-01 8.36345573e-01 -4.24589816e-01 -1.36529965e+02] [-7.83132915e-01 -9.04176644e-03 6.21788617e-01 -1.06614854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:-136.54, Z:-106.64 [[ 5.15109694e-01 5.49716508e-01 6.57627374e-01 2.33167579e+02] [-3.49236016e-01 8.35279937e-01 -4.24666495e-01 -1.36540724e+02] [-7.82749135e-01 -1.09173360e-02 6.22241596e-01 -1.06641014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.18, Y:-136.55, Z:-106.67 [[ 5.14221260e-01 5.51215427e-01 6.57067766e-01 2.33184335e+02] [-3.51562011e-01 8.34267947e-01 -4.24736560e-01 -1.36551157e+02] [-7.82291920e-01 -1.25914958e-02 6.22784719e-01 -1.06666726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.20, Y:-136.56, Z:-106.69 [[ 5.13404579e-01 5.52470409e-01 6.56652256e-01 2.33201171e+02] [-3.53419955e-01 8.33415851e-01 -4.24867455e-01 -1.36561812e+02] [-7.81991096e-01 -1.39451145e-02 6.23133581e-01 -1.06692622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:-136.57, Z:-106.72 [[ 5.12345130e-01 5.53659560e-01 6.56478149e-01 2.33217422e+02] [-3.54954004e-01 8.32604721e-01 -4.25178825e-01 -1.36572210e+02] [-7.81991127e-01 -1.51812473e-02 6.23104651e-01 -1.06717723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.23, Y:-136.58, Z:-106.74 [[ 5.10955219e-01 5.54736103e-01 6.56652587e-01 2.33234693e+02] [-3.56073587e-01 8.31866490e-01 -4.25687377e-01 -1.36583157e+02] [-7.82391440e-01 -1.63094549e-02 6.22573399e-01 -1.06744054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:-136.59, Z:-106.77 [[ 5.10585372e-01 5.55038827e-01 6.56684459e-01 2.33251059e+02] [-3.56007198e-01 8.31666541e-01 -4.26133358e-01 -1.36593815e+02] [-7.82663052e-01 -1.62069346e-02 6.22234588e-01 -1.06768729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21655999499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:233.27, Y:-136.60, Z:-106.79 [[ 5.10159243e-01 5.55133562e-01 6.56935518e-01 2.33267956e+02] [-3.55468256e-01 8.31610405e-01 -4.26692457e-01 -1.36604911e+02] [-7.83185716e-01 -1.58386221e-02 6.21586094e-01 -1.06794968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:-136.62, Z:-106.82 [[ 5.10053255e-01 5.54441135e-01 6.57602239e-01 2.33285156e+02] [-3.53280947e-01 8.32101033e-01 -4.27551684e-01 -1.36616636e+02] [-7.84243744e-01 -1.42442136e-02 6.20289329e-01 -1.06820986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.30, Y:-136.63, Z:-106.85 [[ 5.09960337e-01 5.54758862e-01 6.57406313e-01 2.33302360e+02] [-3.53411217e-01 8.31890902e-01 -4.27852824e-01 -1.36627727e+02] [-7.84245476e-01 -1.41467953e-02 6.20289369e-01 -1.06847441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.32, Y:-136.64, Z:-106.87 [[ 5.10112096e-01 5.53898628e-01 6.58013647e-01 2.33318974e+02] [-3.51225134e-01 8.32489763e-01 -4.28487690e-01 -1.36639445e+02] [-7.85128368e-01 -1.25341773e-02 6.19206217e-01 -1.06872194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:-136.65, Z:-106.90 [[ 5.10219208e-01 5.53746556e-01 6.58058592e-01 2.33335094e+02] [-3.50435805e-01 8.32602128e-01 -4.28915427e-01 -1.36650167e+02] [-7.85411425e-01 -1.17664027e-02 6.18862219e-01 -1.06897224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:-136.66, Z:-106.92 [[ 5.10148041e-01 5.54027413e-01 6.57877346e-01 2.33352288e+02] [-3.50535818e-01 8.32416801e-01 -4.29193325e-01 -1.36661302e+02] [-7.85413023e-01 -1.16574400e-02 6.18862253e-01 -1.06923681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:-136.67, Z:-106.95 [[ 5.10859225e-01 5.53346848e-01 6.57898258e-01 2.33368577e+02] [-3.49175503e-01 8.32886464e-01 -4.29390972e-01 -1.36672006e+02] [-7.85556695e-01 -1.03636158e-02 6.18702897e-01 -1.06948856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:-136.68, Z:-106.97 [[ 5.11047635e-01 5.53337532e-01 6.57759751e-01 2.33384949e+02] [-3.48774130e-01 8.32899282e-01 -4.29692207e-01 -1.36682624e+02] [-7.85612449e-01 -9.81639864e-03 6.18641025e-01 -1.06974963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.40, Y:-136.69, Z:-107.00 [[ 5.11493165e-01 5.53277159e-01 6.57464165e-01 2.33402048e+02] [-3.48376009e-01 8.32947059e-01 -4.29922497e-01 -1.36693118e+02] [-7.85499140e-01 -9.14232360e-03 6.18795216e-01 -1.07001677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.42, Y:-136.70, Z:-107.03 [[ 5.12163401e-01 5.53405215e-01 6.56834316e-01 2.33417911e+02] [-3.48553986e-01 8.32866248e-01 -4.29934800e-01 -1.36703181e+02] [-7.84983293e-01 -8.74534999e-03 6.19455204e-01 -1.07027183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.43, Y:-136.71, Z:-107.05 [[ 5.12698883e-01 5.53589239e-01 6.56261236e-01 2.33434275e+02] [-3.48816421e-01 8.32746707e-01 -4.29953517e-01 -1.36713738e+02] [-7.84517023e-01 -8.47800822e-03 6.20049323e-01 -1.07053455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.45, Y:-136.72, Z:-107.08 [[ 5.13046770e-01 5.53858711e-01 6.55761802e-01 2.33451092e+02] [-3.49130990e-01 8.32569149e-01 -4.30042049e-01 -1.36724697e+02] [-7.84149580e-01 -8.31508279e-03 6.20516153e-01 -1.07080077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:-136.74, Z:-107.11 [[ 5.13054156e-01 5.54244688e-01 6.55429827e-01 2.33467584e+02] [-3.49503288e-01 8.32312005e-01 -4.30237351e-01 -1.36735554e+02] [-7.83978880e-01 -8.33981885e-03 6.20731474e-01 -1.07106534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.48, Y:-136.75, Z:-107.13 [[ 5.13266947e-01 5.54585596e-01 6.54974701e-01 2.33483538e+02] [-3.49887324e-01 8.32085526e-01 -4.30363262e-01 -1.36746434e+02] [-7.83668235e-01 -8.27610805e-03 6.21124467e-01 -1.07131987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:-136.76, Z:-107.16 [[ 5.13282229e-01 5.54989820e-01 6.54620236e-01 2.33500523e+02] [-3.50330424e-01 8.31815206e-01 -4.30525327e-01 -1.36757960e+02] [-7.83460240e-01 -8.35238571e-03 6.21385782e-01 -1.07157712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.52, Y:-136.77, Z:-107.18 [[ 5.12842890e-01 5.55178267e-01 6.54804752e-01 2.33516461e+02] [-3.49955959e-01 8.31692105e-01 -4.31067360e-01 -1.36768805e+02] [-7.83915172e-01 -8.08299415e-03 6.20815325e-01 -1.07183130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:-136.78, Z:-107.21 [[ 5.12833162e-01 5.54842570e-01 6.55096841e-01 2.33533338e+02] [-3.48845725e-01 8.31923943e-01 -4.31519656e-01 -1.36780713e+02] [-7.84416222e-01 -7.23014285e-03 6.20192644e-01 -1.07209016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.55, Y:-136.79, Z:-107.23 [[ 5.12954460e-01 5.54514395e-01 6.55279717e-01 2.33549884e+02] [-3.47639099e-01 8.32151211e-01 -4.32054879e-01 -1.36791773e+02] [-7.84872460e-01 -6.17637266e-03 6.19626560e-01 -1.07234722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:-136.80, Z:-107.26 [[ 5.12838995e-01 5.54300881e-01 6.55550684e-01 2.33566822e+02] [-3.46546833e-01 8.32299484e-01 -4.32646346e-01 -1.36803722e+02] [-7.85430747e-01 -5.30109584e-03 6.18926845e-01 -1.07260761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.58, Y:-136.82, Z:-107.29 [[ 5.13076880e-01 5.53877913e-01 6.55722024e-01 2.33583508e+02] [-3.45183522e-01 8.32587854e-01 -4.33181026e-01 -1.36815368e+02] [-7.85875596e-01 -4.08926823e-03 6.18371107e-01 -1.07286322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:-136.83, Z:-107.31 [[ 5.13548522e-01 5.51966708e-01 6.56963218e-01 2.33599473e+02] [-3.42293846e-01 8.33862411e-01 -4.33022403e-01 -1.36828502e+02] [-7.86830883e-01 -2.49645142e-03 6.17163616e-01 -1.07312003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.62, Y:-136.84, Z:-107.34 [[ 5.13379053e-01 5.54369636e-01 6.55069656e-01 2.33616075e+02] [-3.42506584e-01 8.32270371e-01 -4.35907410e-01 -1.36837591e+02] [-7.86848898e-01 -5.79937111e-04 6.17145425e-01 -1.07338389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:-136.85, Z:-107.36 [[ 5.13758425e-01 5.54629192e-01 6.54552321e-01 2.33632433e+02] [-3.41003422e-01 8.32096235e-01 -4.37415731e-01 -1.36848459e+02] [-7.87254055e-01 1.52143530e-03 6.16626903e-01 -1.07362905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:-136.86, Z:-107.39 [[ 5.13880604e-01 5.52783435e-01 6.56016157e-01 2.33648739e+02] [-3.41344780e-01 8.33324807e-01 -4.34802838e-01 -1.36861503e+02] [-7.87026344e-01 -4.90946026e-04 6.16919195e-01 -1.07387419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:-136.87, Z:-107.41 [[ 5.13762981e-01 5.53543137e-01 6.55467464e-01 2.33665821e+02] [-3.42532141e-01 8.32819759e-01 -4.34836730e-01 -1.36871826e+02] [-7.86587142e-01 -1.11565928e-03 6.17478277e-01 -1.07413848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:-136.88, Z:-107.44 [[ 5.13386528e-01 5.54288448e-01 6.55132498e-01 2.33682966e+02] [-3.43485243e-01 8.32322937e-01 -4.35036110e-01 -1.36882263e+02] [-7.86417295e-01 -1.68666716e-03 6.17693285e-01 -1.07440120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:-136.89, Z:-107.47 [[ 5.13181870e-01 5.55087779e-01 6.54615861e-01 2.33700450e+02] [-3.44675759e-01 8.31788494e-01 -4.35116676e-01 -1.36893221e+02] [-7.86029891e-01 -2.33622906e-03 6.18184077e-01 -1.07466401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.72, Y:-136.90, Z:-107.49 [[ 5.12187852e-01 5.56337285e-01 6.54333576e-01 2.33717800e+02] [-3.46402577e-01 8.30948416e-01 -4.35350416e-01 -1.36903106e+02] [-7.85919117e-01 -3.68164288e-03 6.18318354e-01 -1.07492156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.74, Y:-136.91, Z:-107.52 [[ 5.11575476e-01 5.57177813e-01 6.54097406e-01 2.33735063e+02] [-3.47426908e-01 8.30381550e-01 -4.35615686e-01 -1.36913768e+02] [-7.85865813e-01 -4.40073701e-03 6.18381402e-01 -1.07518102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.75, Y:-136.92, Z:-107.54 [[ 5.10563749e-01 5.58125209e-01 6.54080201e-01 2.33752473e+02] [-3.48440505e-01 8.29739894e-01 -4.36028579e-01 -1.36924975e+02] [-7.86074979e-01 -5.28764964e-03 6.18108541e-01 -1.07544056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:-136.94, Z:-107.57 [[ 5.09107377e-01 5.59701791e-01 6.53868171e-01 2.33769939e+02] [-3.50636490e-01 8.28663349e-01 -4.36315375e-01 -1.36936705e+02] [-7.86043084e-01 -7.13866442e-03 6.18130495e-01 -1.07568072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:-136.95, Z:-107.59 [[ 5.08785509e-01 5.60725691e-01 6.53241154e-01 2.33786660e+02] [-3.52316812e-01 8.27961346e-01 -4.36294480e-01 -1.36947857e+02] [-7.85499949e-01 -8.16753159e-03 6.18807823e-01 -1.07594105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:-136.96, Z:-107.62 [[ 5.08921381e-01 5.61691948e-01 6.52304517e-01 2.33802998e+02] [-3.54127371e-01 8.27296805e-01 -4.36089213e-01 -1.36958391e+02] [-7.84597243e-01 -9.06375919e-03 6.19939526e-01 -1.07620599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:-136.97, Z:-107.65 [[ 5.08559010e-01 5.62765280e-01 6.51661701e-01 2.33818992e+02] [-3.55858761e-01 8.26554748e-01 -4.36086907e-01 -1.36969327e+02] [-7.84048643e-01 -1.01235997e-02 6.20616820e-01 -1.07646877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.84, Y:-136.98, Z:-107.67 [[ 5.07510930e-01 5.63364969e-01 6.51960558e-01 2.33835323e+02] [-3.56047198e-01 8.26141547e-01 -4.36715625e-01 -1.36981250e+02] [-7.84641988e-01 -1.04907771e-02 6.19860383e-01 -1.07672704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:-136.99, Z:-107.70 [[ 5.06966910e-01 5.63700577e-01 6.52093714e-01 2.33851423e+02] [-3.55940742e-01 8.25913187e-01 -4.37234029e-01 -1.36993155e+02] [-7.85041872e-01 -1.04435358e-02 6.19354658e-01 -1.07697052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:-137.00, Z:-107.72 [[ 5.06936959e-01 5.63618910e-01 6.52187583e-01 2.33867436e+02] [-3.55392373e-01 8.25974827e-01 -4.37563534e-01 -1.37004377e+02] [-7.85309608e-01 -9.96536520e-03 6.19023029e-01 -1.07721863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:-137.02, Z:-107.75 [[ 5.07110351e-01 5.63212691e-01 6.52403676e-01 2.33884130e+02] [-3.54065045e-01 8.26264760e-01 -4.38091875e-01 -1.37015697e+02] [-7.85797070e-01 -8.83241226e-03 6.18421339e-01 -1.07747341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:-137.02, Z:-107.78 [[ 5.05771628e-01 5.67970141e-01 6.49311157e-01 2.33898614e+02] [-3.51103132e-01 8.23046295e-01 -4.46454238e-01 -1.37018232e+02] [-7.87985819e-01 -2.17129380e-03 6.15689560e-01 -1.07776961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:-137.04, Z:-107.80 [[ 5.06135984e-01 5.55347698e-01 6.59860061e-01 2.33917525e+02] [-3.53718400e-01 8.31453539e-01 -4.28448720e-01 -1.37044045e+02] [-7.86580993e-01 -1.65513303e-02 6.17265254e-01 -1.07795141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:-137.05, Z:-107.82 [[ 5.05448195e-01 5.64197934e-01 6.52842104e-01 2.33934979e+02] [-3.53890361e-01 8.25591700e-01 -4.39499667e-01 -1.37047576e+02] [-7.86945827e-01 -8.89021491e-03 6.16958045e-01 -1.07824418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:-137.06, Z:-107.85 [[ 5.04644614e-01 5.64342206e-01 6.53338877e-01 2.33952518e+02] [-3.53151022e-01 8.25496720e-01 -4.40272099e-01 -1.37057056e+02] [-7.87793227e-01 -8.54634880e-03 6.15880500e-01 -1.07849786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.97, Y:-137.07, Z:-107.88 [[ 5.03807025e-01 5.64551630e-01 6.53804206e-01 2.33969941e+02] [-3.52753642e-01 8.25353739e-01 -4.40858338e-01 -1.37067524e+02] [-7.88507039e-01 -8.52428753e-03 6.14966655e-01 -1.07876057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.99, Y:-137.08, Z:-107.90 [[ 5.02880051e-01 5.64869961e-01 6.54242754e-01 2.33986606e+02] [-3.52341196e-01 8.25136691e-01 -4.41593844e-01 -1.37077442e+02] [-7.89282799e-01 -8.44793967e-03 6.13971739e-01 -1.07901667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:-137.09, Z:-107.93 [[ 5.01978934e-01 5.64458863e-01 6.55288747e-01 2.34004075e+02] [-3.50249245e-01 8.25429068e-01 -4.42710198e-01 -1.37087575e+02] [-7.90786075e-01 -7.28319574e-03 6.12049295e-01 -1.07927743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:-137.10, Z:-107.95 [[ 5.01678006e-01 5.64308237e-01 6.55648833e-01 2.34020825e+02] [-3.49129407e-01 8.25538845e-01 -4.43389527e-01 -1.37098436e+02] [-7.91471942e-01 -6.46751492e-03 6.11171282e-01 -1.07953422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:-137.11, Z:-107.98 [[ 5.01244821e-01 5.64075523e-01 6.56180184e-01 2.34036805e+02] [-3.47718844e-01 8.25704756e-01 -4.44188318e-01 -1.37108999e+02] [-7.92366856e-01 -5.51912094e-03 6.10019922e-01 -1.07978423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:-137.12, Z:-108.00 [[ 5.01159177e-01 5.63686203e-01 6.56580036e-01 2.34053275e+02] [-3.46373568e-01 8.25976547e-01 -4.44733735e-01 -1.37120230e+02] [-7.93009982e-01 -4.53957753e-03 6.09191728e-01 -1.08004245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:-137.13, Z:-108.03 [[ 5.02156814e-01 5.61978822e-01 6.57281019e-01 2.34069349e+02] [-3.42377621e-01 8.27150669e-01 -4.45644853e-01 -1.37132815e+02] [-7.94113404e-01 -1.25471201e-03 6.07768317e-01 -1.08030560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:-137.14, Z:-108.06 [[ 5.02686985e-01 5.61057717e-01 6.57662553e-01 2.34085733e+02] [-3.39952168e-01 8.27776302e-01 -4.46339464e-01 -1.37144923e+02] [-7.94819677e-01 7.95228794e-04 6.06845160e-01 -1.08056826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:-137.16, Z:-108.08 [[ 5.03374392e-01 5.60192848e-01 6.57873997e-01 2.34101963e+02] [-3.37768706e-01 8.28357632e-01 -4.46918263e-01 -1.37156853e+02] [-7.95315361e-01 2.75796043e-03 6.06189632e-01 -1.08082553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:-137.17, Z:-108.11 [[ 5.04656337e-01 5.58418153e-01 6.58400446e-01 2.34117520e+02] [-3.33805346e-01 8.29536741e-01 -4.47708372e-01 -1.37168667e+02] [-7.96175843e-01 6.16127802e-03 6.05033938e-01 -1.08108550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:-137.18, Z:-108.13 [[ 5.04898878e-01 5.57904986e-01 6.58649489e-01 2.34134037e+02] [-3.32160673e-01 8.29870256e-01 -4.48313112e-01 -1.37179447e+02] [-7.96709740e-01 7.57532909e-03 6.04314657e-01 -1.08134305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:-137.19, Z:-108.16 [[ 5.05391002e-01 5.56913559e-01 6.59110933e-01 2.34150837e+02] [-3.29527598e-01 8.30513133e-01 -4.49065138e-01 -1.37189551e+02] [-7.97490750e-01 9.75823741e-03 6.03252252e-01 -1.08159594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:-137.20, Z:-108.19 [[ 5.05816696e-01 5.56685779e-01 6.58976793e-01 2.34168045e+02] [-3.28914347e-01 8.30656903e-01 -4.49248775e-01 -1.37199804e+02] [-7.97474026e-01 1.04906091e-02 6.03262070e-01 -1.08185631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:-137.21, Z:-108.21 [[ 5.06904203e-01 5.56263130e-01 6.58497881e-01 2.34184752e+02] [-3.28089456e-01 8.30923342e-01 -4.49359221e-01 -1.37209668e+02] [-7.97123226e-01 1.17358665e-02 6.03702602e-01 -1.08211759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:-137.22, Z:-108.24 [[ 5.09804989e-01 5.55016207e-01 6.57309579e-01 2.34201792e+02] [-3.26587640e-01 8.31717903e-01 -4.48983122e-01 -1.37219032e+02] [-7.95889054e-01 1.42246513e-02 6.05275369e-01 -1.08238644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:-137.23, Z:-108.26 [[ 5.11000505e-01 5.54538606e-01 6.56784149e-01 2.34217973e+02] [-3.25730579e-01 8.32012985e-01 -4.49058996e-01 -1.37229018e+02] [-7.95473491e-01 1.55346925e-02 6.05789236e-01 -1.08264381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.23, Y:-137.24, Z:-108.29 [[ 5.11973584e-01 5.53921581e-01 6.56546976e-01 2.34234795e+02] [-3.24418157e-01 8.32394554e-01 -4.49301865e-01 -1.37236969e+02] [-7.95384127e-01 1.70349264e-02 6.05866241e-01 -1.08290547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:-137.24, Z:-108.32 [[ 5.16710012e-01 5.56171423e-01 6.50910218e-01 2.34250648e+02] [-3.24297380e-01 8.30758212e-01 -4.52406899e-01 -1.37241369e+02] [-7.92364798e-01 2.26746962e-02 6.09626021e-01 -1.08318241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.27, Y:-137.26, Z:-108.34 [[ 5.19884069e-01 5.46226097e-01 6.56778201e-01 2.34267017e+02] [-3.22081043e-01 8.37444142e-01 -4.41532684e-01 -1.37255443e+02] [-7.91191732e-01 1.80100006e-02 6.11302939e-01 -1.08343198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:-137.26, Z:-108.37 [[ 5.19982150e-01 5.51231120e-01 6.52505032e-01 2.34284183e+02] [-3.22244342e-01 8.34046955e-01 -4.47799353e-01 -1.37262860e+02] [-7.91060774e-01 2.25816157e-02 6.11320638e-01 -1.08371324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.30, Y:-137.27, Z:-108.40 [[ 5.20895712e-01 5.51267729e-01 6.51745002e-01 2.34300674e+02] [-3.22782096e-01 8.34019267e-01 -4.47463497e-01 -1.37272269e+02] [-7.90240075e-01 2.27101992e-02 6.12376413e-01 -1.08396591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:-137.28, Z:-108.42 [[ 5.20839576e-01 5.51537265e-01 6.51561801e-01 2.34317603e+02] [-3.22880404e-01 8.33838075e-01 -4.47730175e-01 -1.37283827e+02] [-7.90236914e-01 2.28190570e-02 6.12376445e-01 -1.08423043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.33, Y:-137.30, Z:-108.45 [[ 5.20779710e-01 5.51691851e-01 6.51478776e-01 2.34334524e+02] [-3.22976966e-01 8.33735805e-01 -4.47850965e-01 -1.37295490e+02] [-7.90236909e-01 2.28190569e-02 6.12376451e-01 -1.08449454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.35, Y:-137.31, Z:-108.48 [[ 5.21166560e-01 5.52052930e-01 6.50863257e-01 2.34350963e+02] [-3.23907109e-01 8.33506570e-01 -4.47605834e-01 -1.37305351e+02] [-7.89600913e-01 2.24579566e-02 6.13209620e-01 -1.08475499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:-137.32, Z:-108.50 [[ 5.21110485e-01 5.52313189e-01 6.50687332e-01 2.34367882e+02] [-3.24004443e-01 8.33331386e-01 -4.47861498e-01 -1.37316931e+02] [-7.89597989e-01 2.25597353e-02 6.13209650e-01 -1.08501948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:-137.33, Z:-108.53 [[ 5.21809011e-01 5.53538295e-01 6.49084519e-01 2.34384734e+02] [-3.27243207e-01 8.32563808e-01 -4.46933316e-01 -1.37326192e+02] [-7.87798985e-01 2.08053319e-02 6.15580944e-01 -1.08528193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:-137.34, Z:-108.55 [[ 5.21716565e-01 5.53843776e-01 6.48898218e-01 2.34401639e+02] [-3.27394609e-01 8.32359061e-01 -4.47203716e-01 -1.37337765e+02] [-7.87797306e-01 2.08678085e-02 6.15580977e-01 -1.08554631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.42, Y:-137.35, Z:-108.58 [[ 5.22087841e-01 5.55216581e-01 6.47424771e-01 2.34418359e+02] [-3.30605309e-01 8.31487600e-01 -4.46462205e-01 -1.37348081e+02] [-7.86208889e-01 1.90504219e-02 6.17667115e-01 -1.08580697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.43, Y:-137.36, Z:-108.61 [[ 5.22439972e-01 5.56803530e-01 6.45775739e-01 2.34434771e+02] [-3.34104452e-01 8.30467704e-01 -4.45755099e-01 -1.37357590e+02] [-7.84493908e-01 1.71237321e-02 6.19900062e-01 -1.08606963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.45, Y:-137.37, Z:-108.63 [[ 5.22443175e-01 5.58593696e-01 6.44225280e-01 2.34451372e+02] [-3.37857767e-01 8.29308037e-01 -4.45084609e-01 -1.37366531e+02] [-7.82882659e-01 1.48749020e-02 6.21991543e-01 -1.08634145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:-137.37, Z:-108.66 [[ 5.21494085e-01 5.62288965e-01 6.41774913e-01 2.34468654e+02] [-3.45389630e-01 8.26882940e-01 -4.43813707e-01 -1.37372988e+02] [-7.80224277e-01 9.78382372e-03 6.25423340e-01 -1.08662136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.49, Y:-137.38, Z:-108.69 [[ 5.20541194e-01 5.64413530e-01 6.40682631e-01 2.34485872e+02] [-3.49186990e-01 8.25461353e-01 -4.43488444e-01 -1.37382341e+02] [-7.79169630e-01 7.13596496e-03 6.26772500e-01 -1.08689130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:-137.39, Z:-108.72 [[ 5.19244005e-01 5.66395013e-01 6.39986213e-01 2.34502711e+02] [-3.52407612e-01 8.24120416e-01 -4.43434793e-01 -1.37391559e+02] [-7.78584959e-01 4.71484498e-03 6.27521499e-01 -1.08715232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.52, Y:-137.40, Z:-108.74 [[ 5.16376600e-01 5.69962071e-01 6.39138830e-01 2.34520520e+02] [-3.58315024e-01 8.21670993e-01 -4.43246120e-01 -1.37399471e+02] [-7.77795314e-01 -1.31120335e-04 6.28517647e-01 -1.08740919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.54, Y:-137.41, Z:-108.77 [[ 5.14847108e-01 5.71870528e-01 6.38667797e-01 2.34538209e+02] [-3.61268067e-01 8.20340108e-01 -4.43314213e-01 -1.37409444e+02] [-7.77443142e-01 -2.49124052e-03 6.28948292e-01 -1.08766869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:-137.42, Z:-108.79 [[ 5.13399497e-01 5.73698900e-01 6.38193175e-01 2.34555296e+02] [-3.64058941e-01 8.19052837e-01 -4.43411251e-01 -1.37418922e+02] [-7.77098478e-01 -4.69281824e-03 6.29361529e-01 -1.08792710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:-137.43, Z:-108.82 [[ 5.11416614e-01 5.76437515e-01 6.37316906e-01 2.34574020e+02] [-3.68679503e-01 8.17099008e-01 -4.43198189e-01 -1.37426793e+02] [-7.76227074e-01 -8.30676283e-03 6.30398705e-01 -1.08819498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:-137.44, Z:-108.85 [[ 5.10657253e-01 5.78029876e-01 6.36483018e-01 2.34591408e+02] [-3.71386093e-01 8.15952672e-01 -4.43050344e-01 -1.37436478e+02] [-7.75436355e-01 -1.01340699e-02 6.31344407e-01 -1.08845447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.61, Y:-137.45, Z:-108.87 [[ 5.09807945e-01 5.79179897e-01 6.36118311e-01 2.34608047e+02] [-3.72992766e-01 8.15121368e-01 -4.43230810e-01 -1.37445284e+02] [-7.75224004e-01 -1.13049403e-02 6.31585261e-01 -1.08870982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:-137.46, Z:-108.90 [[ 5.09191266e-01 5.80381511e-01 6.35516764e-01 2.34625486e+02] [-3.74915015e-01 8.14247480e-01 -4.43215266e-01 -1.37455125e+02] [-7.74701869e-01 -1.25834347e-02 6.32201448e-01 -1.08897252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.64, Y:-137.46, Z:-108.92 [[ 5.07898938e-01 5.81852785e-01 6.35205483e-01 2.34643510e+02] [-3.76998594e-01 8.13169186e-01 -4.43427486e-01 -1.37462830e+02] [-7.74539043e-01 -1.42552246e-02 6.32365448e-01 -1.08923353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:-137.47, Z:-108.95 [[ 5.07686831e-01 5.82452481e-01 6.34825322e-01 2.34661117e+02] [-3.77948518e-01 8.12729816e-01 -4.43424361e-01 -1.37472785e+02] [-7.74215086e-01 -1.48105813e-02 6.32749277e-01 -1.08949260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.68, Y:-137.48, Z:-108.98 [[ 5.07809962e-01 5.83087917e-01 6.34143141e-01 2.34679714e+02] [-3.79009205e-01 8.12266858e-01 -4.43367313e-01 -1.37482018e+02] [-7.73615580e-01 -1.51997495e-02 6.33472890e-01 -1.08975539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:-137.49, Z:-109.00 [[ 5.07625818e-01 5.83509408e-01 6.33902832e-01 2.34697108e+02] [-3.79369392e-01 8.11962393e-01 -4.43616882e-01 -1.37492895e+02] [-7.73559884e-01 -1.52919495e-02 6.33538683e-01 -1.09001408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.71, Y:-137.50, Z:-109.03 [[ 5.07693778e-01 5.83977556e-01 6.33417115e-01 2.34714601e+02] [-3.80002274e-01 8.11622991e-01 -4.43696284e-01 -1.37503982e+02] [-7.73204565e-01 -1.54381013e-02 6.33968742e-01 -1.09027423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.73, Y:-137.52, Z:-109.05 [[ 5.07751685e-01 5.84205199e-01 6.33160731e-01 2.34731334e+02] [-3.80055626e-01 8.11463201e-01 -4.43942783e-01 -1.37515057e+02] [-7.73140315e-01 -1.52236016e-02 6.34052281e-01 -1.09052254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:-137.53, Z:-109.08 [[ 5.07846642e-01 5.84298490e-01 6.32998469e-01 2.34748969e+02] [-3.80020273e-01 8.11399765e-01 -4.44088970e-01 -1.37526770e+02] [-7.73095324e-01 -1.50231590e-02 6.34111918e-01 -1.09077859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.77, Y:-137.54, Z:-109.10 [[ 5.08078621e-01 5.84093848e-01 6.33001178e-01 2.34766074e+02] [-3.79174686e-01 8.11562439e-01 -4.44514301e-01 -1.37537648e+02] [-7.73358049e-01 -1.41698096e-02 6.33811127e-01 -1.09102421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.78, Y:-137.55, Z:-109.13 [[ 5.08365407e-01 5.84130845e-01 6.32736729e-01 2.34782946e+02] [-3.78971778e-01 8.11543737e-01 -4.44721435e-01 -1.37549173e+02] [-7.73269037e-01 -1.37083703e-02 6.33929868e-01 -1.09128514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.80, Y:-137.56, Z:-109.15 [[ 5.08864027e-01 5.83797877e-01 6.32643217e-01 2.34799317e+02] [-3.78006765e-01 8.11800305e-01 -4.45074320e-01 -1.37560665e+02] [-7.73413400e-01 -1.26611052e-02 6.33775520e-01 -1.09154778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.82, Y:-137.57, Z:-109.18 [[ 5.09724055e-01 5.83365424e-01 6.32349722e-01 2.34815970e+02] [-3.77038197e-01 8.12129216e-01 -4.45295785e-01 -1.37572687e+02] [-7.73319847e-01 -1.14420256e-02 6.33912844e-01 -1.09180682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.83, Y:-137.59, Z:-109.21 [[ 5.11317058e-01 5.81772803e-01 6.32530847e-01 2.34831590e+02] [-3.73832236e-01 8.13307027e-01 -4.45848785e-01 -1.37586281e+02] [-7.73824480e-01 -8.49033248e-03 6.33343184e-01 -1.09206413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:-137.60, Z:-109.23 [[ 5.11722336e-01 5.81086221e-01 6.32834145e-01 2.34847721e+02] [-3.71966646e-01 8.13812613e-01 -4.46486109e-01 -1.37599636e+02] [-7.74455335e-01 -6.91627920e-03 6.32590784e-01 -1.09232065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.86, Y:-137.61, Z:-109.26 [[ 5.12788628e-01 5.80986329e-01 6.32062267e-01 2.34862074e+02] [-3.67688846e-01 8.13911475e-01 -4.49836663e-01 -1.37613374e+02] [-7.75791683e-01 -1.73112007e-03 6.30986741e-01 -1.09258244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:-137.63, Z:-109.28 [[ 5.13700778e-01 5.78830553e-01 6.33298272e-01 2.34877326e+02] [-3.66951733e-01 8.15444232e-01 -4.47657379e-01 -1.37628659e+02] [-7.75537192e-01 -2.42795474e-03 6.31297211e-01 -1.09280722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.89, Y:-137.64, Z:-109.31 [[ 5.13849240e-01 5.78700565e-01 6.33296625e-01 2.34892980e+02] [-3.66533453e-01 8.15537630e-01 -4.47829880e-01 -1.37643193e+02] [-7.75636634e-01 -2.00735504e-03 6.31176507e-01 -1.09306470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:-137.66, Z:-109.33 [[ 5.13477066e-01 5.79197647e-01 6.33144051e-01 2.34906521e+02] [-3.66919749e-01 8.15184193e-01 -4.48156924e-01 -1.37659990e+02] [-7.75700458e-01 -2.19475363e-03 6.31097443e-01 -1.09330338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:-137.67, Z:-109.35 [[ 5.12762167e-01 5.80043995e-01 6.32948595e-01 2.34921449e+02] [-3.67935566e-01 8.14579807e-01 -4.48422967e-01 -1.37673885e+02] [-7.75692193e-01 -2.94996708e-03 6.31104523e-01 -1.09354960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.94, Y:-137.69, Z:-109.38 [[ 5.11220031e-01 5.81211690e-01 6.33124830e-01 2.34936272e+02] [-3.69157776e-01 8.13741482e-01 -4.48940238e-01 -1.37687608e+02] [-7.76129252e-01 -4.21571161e-03 6.30559761e-01 -1.09380066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:-137.70, Z:-109.41 [[ 5.07502531e-01 5.83970031e-01 6.33577291e-01 2.34949916e+02] [-3.72694568e-01 8.11736447e-01 -4.49647306e-01 -1.37703603e+02] [-7.76878331e-01 -7.93366877e-03 6.29600759e-01 -1.09405346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.96, Y:-137.72, Z:-109.43 [[ 5.05257588e-01 5.85698553e-01 6.33775966e-01 2.34964807e+02] [-3.74772212e-01 8.10466666e-01 -4.50210587e-01 -1.37717387e+02] [-7.77341983e-01 -1.00493048e-02 6.28997975e-01 -1.09430411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:-137.73, Z:-109.46 [[ 5.04662407e-01 5.92521477e-01 6.27880685e-01 2.34980646e+02] [-3.77752328e-01 8.05526090e-01 -4.56542328e-01 -1.37726958e+02] [-7.76285408e-01 -6.78364001e-03 6.30345103e-01 -1.09458304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.99, Y:-137.75, Z:-109.48 [[ 5.01595489e-01 5.84136873e-01 6.38111338e-01 2.34993781e+02] [-3.78497165e-01 8.11451844e-01 -4.45292938e-01 -1.37748923e+02] [-7.77908646e-01 -1.81664038e-02 6.28114735e-01 -1.09478626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:-137.76, Z:-109.51 [[ 4.99520888e-01 5.89866383e-01 6.34457668e-01 2.35009068e+02] [-3.79742292e-01 8.07355340e-01 -4.51633863e-01 -1.37759332e+02] [-7.78636419e-01 -1.53298608e-02 6.27288069e-01 -1.09506360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.02, Y:-137.78, Z:-109.53 [[ 4.96882251e-01 5.91208698e-01 6.35279706e-01 2.35022096e+02] [-3.80704711e-01 8.06340536e-01 -4.52635464e-01 -1.37777075e+02] [-7.79853802e-01 -1.69474492e-02 6.25732237e-01 -1.09531037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.04, Y:-137.79, Z:-109.56 [[ 4.95403299e-01 5.92027465e-01 6.35672127e-01 2.35038107e+02] [-3.81220351e-01 8.05721996e-01 -4.53302448e-01 -1.37790454e+02] [-7.80542514e-01 -1.77636236e-02 6.24850253e-01 -1.09555959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:-137.80, Z:-109.58 [[ 4.95377662e-01 5.92047418e-01 6.35673523e-01 2.35054371e+02] [-3.80719007e-01 8.05718592e-01 -4.53729642e-01 -1.37800893e+02] [-7.80803439e-01 -1.72454628e-02 6.24538697e-01 -1.09581100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.07, Y:-137.81, Z:-109.61 [[ 4.95722819e-01 5.91899972e-01 6.35541745e-01 2.35071015e+02] [-3.80092631e-01 8.05842736e-01 -4.54034223e-01 -1.37811058e+02] [-7.80889543e-01 -1.64896093e-02 6.24451451e-01 -1.09606815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:-137.82, Z:-109.63 [[ 4.96827568e-01 5.91115023e-01 6.35409629e-01 2.35089098e+02] [-3.78449209e-01 8.06452408e-01 -4.54324454e-01 -1.37820060e+02] [-7.80985636e-01 -1.47493577e-02 6.24374802e-01 -1.09632526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:-137.83, Z:-109.66 [[ 4.96973794e-01 5.90975976e-01 6.35424617e-01 2.35106682e+02] [-3.77701761e-01 8.06567556e-01 -4.54741858e-01 -1.37830205e+02] [-7.81254394e-01 -1.40062107e-02 6.24055605e-01 -1.09658630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:-137.84, Z:-109.68 [[ 4.96725325e-01 5.90953789e-01 6.35639497e-01 2.35123737e+02] [-3.76938353e-01 8.06593716e-01 -4.55328513e-01 -1.37840450e+02] [-7.81780935e-01 -1.34237014e-02 6.23408674e-01 -1.09683846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:-137.85, Z:-109.71 [[ 4.95964820e-01 5.91036642e-01 6.36156101e-01 2.35140057e+02] [-3.76118961e-01 8.06538985e-01 -4.56102393e-01 -1.37852226e+02] [-7.82657923e-01 -1.30596299e-02 6.22315050e-01 -1.09708769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:-137.87, Z:-109.73 [[ 4.95730897e-01 5.90941800e-01 6.36426481e-01 2.35156175e+02] [-3.75260029e-01 8.06618266e-01 -4.56669337e-01 -1.37866135e+02] [-7.83218225e-01 -1.24403201e-02 6.21622434e-01 -1.09733886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:-137.88, Z:-109.76 [[ 4.95803269e-01 5.91170752e-01 6.36157418e-01 2.35171484e+02] [-3.75337423e-01 8.06453505e-01 -4.56896666e-01 -1.37877662e+02] [-7.83135325e-01 -1.22428253e-02 6.21730791e-01 -1.09759571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:-137.89, Z:-109.79 [[ 4.95863752e-01 5.91363221e-01 6.35931348e-01 2.35187393e+02] [-3.75355652e-01 8.06315603e-01 -4.57125020e-01 -1.37889485e+02] [-7.83088293e-01 -1.20286981e-02 6.21794207e-01 -1.09786127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.20, Y:-137.90, Z:-109.81 [[ 4.96838143e-01 5.91394061e-01 6.35141657e-01 2.35202989e+02] [-3.75572326e-01 8.06300699e-01 -4.56973315e-01 -1.37901200e+02] [-7.82366467e-01 -1.14998563e-02 6.22712185e-01 -1.09812628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:-137.91, Z:-109.84 [[ 4.97023798e-01 5.91715791e-01 6.34696594e-01 2.35219074e+02] [-3.75939640e-01 8.06065686e-01 -4.57085874e-01 -1.37912690e+02] [-7.82072075e-01 -1.14250522e-02 6.23083251e-01 -1.09839320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:-137.92, Z:-109.86 [[ 4.97469436e-01 5.92011764e-01 6.34071156e-01 2.35235143e+02] [-3.76424505e-01 8.05850056e-01 -4.57067041e-01 -1.37924207e+02] [-7.81555342e-01 -1.13030375e-02 6.23733508e-01 -1.09864995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.25, Y:-137.92, Z:-109.90 [[ 4.94337522e-01 6.06567034e-01 6.22661102e-01 2.35247958e+02] [-3.73400632e-01 7.95023243e-01 -4.78027207e-01 -1.37917839e+02] [-7.84985594e-01 3.80473556e-03 6.19502334e-01 -1.09901496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:-137.96, Z:-109.91 [[ 4.97150951e-01 5.76404659e-01 6.48535736e-01 2.35265917e+02] [-3.77384498e-01 8.16694535e-01 -4.36567265e-01 -1.37963180e+02] [-7.81294997e-01 -2.77075027e-02 6.23546648e-01 -1.09909177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:-137.96, Z:-109.94 [[ 4.96276314e-01 5.93188109e-01 6.33906687e-01 2.35283146e+02] [-3.77389220e-01 8.04974048e-01 -4.57814546e-01 -1.37960629e+02] [-7.81848577e-01 -1.20270353e-02 6.23352351e-01 -1.09940963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.30, Y:-137.96, Z:-109.97 [[ 4.93581150e-01 6.02829178e-01 6.26876886e-01 2.35296136e+02] [-3.74890918e-01 7.97867776e-01 -4.72084538e-01 -1.37960061e+02] [-7.84751201e-01 -1.99842247e-03 6.19807679e-01 -1.09973533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:-137.99, Z:-109.99 [[ 4.95354290e-01 5.82944793e-01 6.44049296e-01 2.35313739e+02] [-3.77009116e-01 8.12205950e-01 -4.45180437e-01 -1.37992969e+02] [-7.82616288e-01 -2.22904168e-02 6.22105202e-01 -1.09987249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:-138.00, Z:-110.02 [[ 4.94278045e-01 5.93704905e-01 6.34983228e-01 2.35329661e+02] [-3.75995199e-01 8.04599630e-01 -4.59616195e-01 -1.37995677e+02] [-7.83783659e-01 -1.15724505e-02 6.20926126e-01 -1.10016988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.35, Y:-138.01, Z:-110.04 [[ 4.93835852e-01 5.93920704e-01 6.35125458e-01 2.35345153e+02] [-3.75700531e-01 8.04442985e-01 -4.60131063e-01 -1.38007598e+02] [-7.84203585e-01 -1.13877560e-02 6.20399111e-01 -1.10042309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:-138.02, Z:-110.07 [[ 4.93507069e-01 5.94167566e-01 6.35150121e-01 2.35360828e+02] [-3.75572074e-01 8.04262476e-01 -4.60551286e-01 -1.38019729e+02] [-7.84472046e-01 -1.12593332e-02 6.20061962e-01 -1.10068536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.38, Y:-138.03, Z:-110.09 [[ 4.93058797e-01 5.94773799e-01 6.34930824e-01 2.35376089e+02] [-3.76231830e-01 8.03808297e-01 -4.60805634e-01 -1.38032629e+02] [-7.84437781e-01 -1.16769141e-02 6.20097587e-01 -1.10093992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.39, Y:-138.04, Z:-110.12 [[ 4.92852462e-01 5.95327112e-01 6.34572361e-01 2.35392005e+02] [-3.76965931e-01 8.03393193e-01 -4.60929565e-01 -1.38044663e+02] [-7.84214982e-01 -1.20418900e-02 6.20372352e-01 -1.10119949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:-138.06, Z:-110.15 [[ 4.93024811e-01 5.95652438e-01 6.34133037e-01 2.35407902e+02] [-3.77330316e-01 8.03153115e-01 -4.61049789e-01 -1.38055585e+02] [-7.83931355e-01 -1.19686341e-02 6.20732135e-01 -1.10145430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:-138.07, Z:-110.17 [[ 4.93291599e-01 5.95847026e-01 6.33742629e-01 2.35424617e+02] [-3.77650877e-01 8.03009669e-01 -4.61037185e-01 -1.38066476e+02] [-7.83609095e-01 -1.19076889e-02 6.21140076e-01 -1.10171749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:-138.08, Z:-110.20 [[ 4.93192690e-01 5.96154147e-01 6.33530744e-01 2.35441226e+02] [-3.77777027e-01 8.02783137e-01 -4.61328248e-01 -1.38078456e+02] [-7.83610547e-01 -1.18096414e-02 6.21140116e-01 -1.10198198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:-138.09, Z:-110.22 [[ 4.93599663e-01 5.96006237e-01 6.33352933e-01 2.35457880e+02] [-3.77382423e-01 8.02901039e-01 -4.61446019e-01 -1.38088114e+02] [-7.83544433e-01 -1.12466651e-02 6.21233960e-01 -1.10224294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:-138.10, Z:-110.25 [[ 4.94284559e-01 5.95938360e-01 6.32882489e-01 2.35474626e+02] [-3.77170220e-01 8.02960427e-01 -4.61516173e-01 -1.38099177e+02] [-7.83214785e-01 -1.05841098e-02 6.21661144e-01 -1.10250016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:-138.11, Z:-110.28 [[ 4.94554269e-01 5.95829674e-01 6.32774110e-01 2.35491289e+02] [-3.76535243e-01 8.03050565e-01 -4.61877691e-01 -1.38110640e+02] [-7.83350041e-01 -9.83816951e-03 6.21502956e-01 -1.10276544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.51, Y:-138.12, Z:-110.30 [[ 4.95636574e-01 5.95183754e-01 6.32535126e-01 2.35507571e+02] [-3.75138930e-01 8.03547485e-01 -4.62149568e-01 -1.38122856e+02] [-7.83335924e-01 -8.23032172e-03 6.21544119e-01 -1.10302018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:-138.13, Z:-110.33 [[ 4.95714748e-01 5.95227549e-01 6.32432647e-01 2.35523069e+02] [-3.74739539e-01 8.03520119e-01 -4.62521023e-01 -1.38134439e+02] [-7.83477611e-01 -7.71902626e-03 6.21372070e-01 -1.10326941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:-138.15, Z:-110.35 [[ 4.95667851e-01 5.95355092e-01 6.32349346e-01 2.35539430e+02] [-3.74497375e-01 8.03428803e-01 -4.62875658e-01 -1.38146524e+02] [-7.83623058e-01 -7.38058803e-03 6.21192747e-01 -1.10353451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:-138.16, Z:-110.38 [[ 4.95679710e-01 5.95518726e-01 6.32185947e-01 2.35555892e+02] [-3.74367847e-01 8.03310243e-01 -4.63186106e-01 -1.38158378e+02] [-7.83677447e-01 -7.07813732e-03 6.21127652e-01 -1.10379588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:-138.17, Z:-110.41 [[ 4.95519561e-01 5.95726707e-01 6.32115540e-01 2.35572550e+02] [-3.74210525e-01 8.03158143e-01 -4.63576833e-01 -1.38169223e+02] [-7.83853844e-01 -6.83289952e-03 6.20907774e-01 -1.10406025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:-138.18, Z:-110.43 [[ 4.95655081e-01 5.95929725e-01 6.31817856e-01 2.35588590e+02] [-3.74254157e-01 8.03009661e-01 -4.63798782e-01 -1.38180065e+02] [-7.83747323e-01 -6.57623609e-03 6.21044995e-01 -1.10431796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:-138.19, Z:-110.46 [[ 4.95890047e-01 5.95920648e-01 6.31642021e-01 2.35605143e+02] [-3.73882872e-01 8.03020700e-01 -4.64079037e-01 -1.38191530e+02] [-7.83775898e-01 -6.02795707e-03 6.21014496e-01 -1.10457940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:-138.20, Z:-110.48 [[ 4.96224311e-01 5.95613225e-01 6.31669470e-01 2.35621069e+02] [-3.72802824e-01 8.03255978e-01 -4.64540513e-01 -1.38202647e+02] [-7.84078751e-01 -4.97186611e-03 6.20641436e-01 -1.10483709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:-138.21, Z:-110.51 [[ 4.96218092e-01 5.95809279e-01 6.31489437e-01 2.35637522e+02] [-3.72766407e-01 8.03111931e-01 -4.64818709e-01 -1.38214156e+02] [-7.84100000e-01 -4.74659564e-03 6.20616354e-01 -1.10509653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.65, Y:-138.23, Z:-110.54 [[ 4.96031841e-01 5.96294061e-01 6.31178109e-01 2.35653689e+02] [-3.73278385e-01 8.02750921e-01 -4.65031404e-01 -1.38225619e+02] [-7.83974273e-01 -4.93476189e-03 6.20773701e-01 -1.10535387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:-138.24, Z:-110.56 [[ 4.95540409e-01 5.96844413e-01 6.31043937e-01 2.35669999e+02] [-3.73737838e-01 8.02339919e-01 -4.65371553e-01 -1.38237206e+02] [-7.84066153e-01 -5.23458688e-03 6.20655192e-01 -1.10561778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.69, Y:-138.25, Z:-110.59 [[ 4.95914688e-01 5.97685691e-01 6.29952726e-01 2.35685686e+02] [-3.75542120e-01 8.01708287e-01 -4.65007461e-01 -1.38248180e+02] [-7.82966626e-01 -5.96975220e-03 6.22035066e-01 -1.10586843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:-138.26, Z:-110.61 [[ 4.95900154e-01 5.98291777e-01 6.29388582e-01 2.35701435e+02] [-3.76520400e-01 8.01252895e-01 -4.65001277e-01 -1.38258626e+02] [-7.82505863e-01 -6.38343603e-03 6.22610493e-01 -1.10612036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.72, Y:-138.27, Z:-110.64 [[ 4.95890879e-01 5.98898026e-01 6.28819045e-01 2.35717957e+02] [-3.77508791e-01 8.00796406e-01 -4.64986267e-01 -1.38269325e+02] [-7.82035388e-01 -6.80226838e-03 6.23196903e-01 -1.10638800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:-138.28, Z:-110.66 [[ 4.95735724e-01 5.99604934e-01 6.28267471e-01 2.35733729e+02] [-3.78597098e-01 8.00262551e-01 -4.65020522e-01 -1.38280166e+02] [-7.81607529e-01 -7.33295629e-03 6.23727423e-01 -1.10663775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.75, Y:-138.29, Z:-110.69 [[ 4.95446830e-01 6.00273595e-01 6.27856711e-01 2.35749947e+02] [-3.79534492e-01 7.99756231e-01 -4.65127445e-01 -1.38291952e+02] [-7.81336040e-01 -7.84735993e-03 6.24061224e-01 -1.10689548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:-138.30, Z:-110.72 [[ 4.95137649e-01 6.00563836e-01 6.27823054e-01 2.35766684e+02] [-3.79483615e-01 7.99539337e-01 -4.65541658e-01 -1.38304217e+02] [-7.81556712e-01 -7.74136003e-03 6.23786163e-01 -1.10715415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.78, Y:-138.32, Z:-110.74 [[ 4.94568571e-01 6.00379114e-01 6.28447968e-01 2.35783611e+02] [-3.78066445e-01 7.99685693e-01 -4.66442446e-01 -1.38316737e+02] [-7.82603151e-01 -6.90731493e-03 6.22482608e-01 -1.10741220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.80, Y:-138.33, Z:-110.77 [[ 4.94065466e-01 6.00436012e-01 6.28789242e-01 2.35800149e+02] [-3.77293393e-01 7.99646849e-01 -4.67134469e-01 -1.38328913e+02] [-7.83293694e-01 -6.44301711e-03 6.21618434e-01 -1.10767422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:-138.34, Z:-110.79 [[ 4.93816195e-01 6.00461678e-01 6.28960522e-01 2.35816532e+02] [-3.76619333e-01 7.99631628e-01 -4.67704113e-01 -1.38340968e+02] [-7.83775123e-01 -5.91882698e-03 6.21016525e-01 -1.10793084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:-138.35, Z:-110.82 [[ 4.93881643e-01 6.00437901e-01 6.28931832e-01 2.35832661e+02] [-3.76038368e-01 7.99653823e-01 -4.68133431e-01 -1.38352999e+02] [-7.84012799e-01 -5.29999166e-03 6.20722032e-01 -1.10818479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:-138.37, Z:-110.84 [[ 4.93491277e-01 6.00506403e-01 6.29172805e-01 2.35848831e+02] [-3.75394852e-01 7.99605100e-01 -4.68732747e-01 -1.38365117e+02] [-7.84566800e-01 -4.87271012e-03 6.20025155e-01 -1.10844735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:-138.37, Z:-110.87 [[ 4.93113321e-01 6.03517140e-01 6.26583047e-01 2.35863835e+02] [-3.72525621e-01 7.97349696e-01 -4.74824308e-01 -1.38369222e+02] [-7.86170411e-01 7.23952794e-04 6.18009354e-01 -1.10873046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:-138.39, Z:-110.89 [[ 4.92944959e-01 5.93584454e-01 6.36131090e-01 2.35880220e+02] [-3.75422204e-01 8.04680863e-01 -4.59942255e-01 -1.38394584e+02] [-7.84897087e-01 -1.20915195e-02 6.19508159e-01 -1.10893131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:-138.40, Z:-110.92 [[ 4.92544620e-01 6.01613980e-01 6.28856435e-01 2.35897197e+02] [-3.76192112e-01 7.98769302e-01 -4.69517941e-01 -1.38399197e+02] [-7.84779773e-01 -5.31229435e-03 6.19751957e-01 -1.10921905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:-138.41, Z:-110.95 [[ 4.92753352e-01 6.02754868e-01 6.27599158e-01 2.35913105e+02] [-3.78637013e-01 7.97899815e-01 -4.69030807e-01 -1.38409255e+02] [-7.83471854e-01 -6.51576857e-03 6.21393111e-01 -1.10948062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:-138.42, Z:-110.97 [[ 4.92914715e-01 6.03419542e-01 6.26833263e-01 2.35929166e+02] [-3.80068803e-01 7.97391452e-01 -4.68737216e-01 -1.38420739e+02] [-7.82676682e-01 -7.19229681e-03 6.22386924e-01 -1.10974257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.94, Y:-138.43, Z:-111.00 [[ 4.93035226e-01 6.03974060e-01 6.26204120e-01 2.35944588e+02] [-3.80991462e-01 7.96968785e-01 -4.68707011e-01 -1.38431809e+02] [-7.82152013e-01 -7.48935562e-03 6.23042645e-01 -1.10999381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:-138.44, Z:-111.03 [[ 4.94237500e-01 6.03955327e-01 6.25273745e-01 2.35960702e+02] [-3.81304548e-01 7.96988220e-01 -4.68419276e-01 -1.38443496e+02] [-7.81240126e-01 -6.90935118e-03 6.24192379e-01 -1.11025487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:-138.46, Z:-111.05 [[ 4.94625363e-01 6.03628829e-01 6.25282326e-01 2.35977065e+02] [-3.80221490e-01 7.97244131e-01 -4.68863962e-01 -1.38455864e+02] [-7.81522469e-01 -5.83377050e-03 6.23849820e-01 -1.11051011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:-138.47, Z:-111.08 [[ 4.95166331e-01 6.03184786e-01 6.25282671e-01 2.35993485e+02] [-3.78951744e-01 7.97588399e-01 -4.69306213e-01 -1.38468452e+02] [-7.81796572e-01 -4.56732349e-03 6.23516848e-01 -1.11077106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:-138.48, Z:-111.10 [[ 4.96763063e-01 6.01364365e-01 6.25769414e-01 2.36009772e+02] [-3.75014301e-01 7.98974095e-01 -4.70111338e-01 -1.38481401e+02] [-7.82681758e-01 -1.13853118e-03 6.22421055e-01 -1.11102558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:-138.49, Z:-111.13 [[ 4.97410806e-01 6.00644419e-01 6.25946301e-01 2.36025375e+02] [-3.73132673e-01 7.99516081e-01 -4.70686780e-01 -1.38493444e+02] [-7.83169521e-01 5.63674082e-04 6.21807996e-01 -1.11127634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.04, Y:-138.51, Z:-111.15 [[ 4.98005819e-01 5.99887941e-01 6.26198581e-01 2.36040907e+02] [-3.71157874e-01 8.00080767e-01 -4.71288234e-01 -1.38505562e+02] [-7.83729569e-01 2.28574897e-03 6.21098010e-01 -1.11153421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:-138.52, Z:-111.18 [[ 4.99078181e-01 5.99184107e-01 6.26018670e-01 2.36056878e+02] [-3.69642181e-01 8.00601477e-01 -4.71595094e-01 -1.38518237e+02] [-7.83763757e-01 3.95991547e-03 6.21046449e-01 -1.11178973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.07, Y:-138.53, Z:-111.20 [[ 4.99756888e-01 5.98713668e-01 6.25927310e-01 2.36072576e+02] [-3.68418539e-01 8.00945825e-01 -4.71967760e-01 -1.38530636e+02] [-7.83907414e-01 5.26591397e-03 6.20855407e-01 -1.11204684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:-138.54, Z:-111.23 [[ 5.01319300e-01 5.97576459e-01 6.25764601e-01 2.36088580e+02] [-3.66196993e-01 8.01775784e-01 -4.72287364e-01 -1.38542740e+02] [-7.83950714e-01 7.61365570e-03 6.20776377e-01 -1.11231354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.10, Y:-138.55, Z:-111.26 [[ 5.01897971e-01 5.97410696e-01 6.25458942e-01 2.36104420e+02] [-3.65664193e-01 8.01891020e-01 -4.72504486e-01 -1.38554392e+02] [-7.83829143e-01 8.44110318e-03 6.20919176e-01 -1.11256744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:-138.57, Z:-111.28 [[ 5.02270211e-01 5.97472842e-01 6.25100663e-01 2.36120703e+02] [-3.65588196e-01 8.01840105e-01 -4.72649677e-01 -1.38566601e+02] [-7.83626127e-01 8.86842904e-03 6.21169417e-01 -1.11282608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.14, Y:-138.58, Z:-111.31 [[ 5.02943321e-01 5.97489057e-01 6.24543707e-01 2.36138055e+02] [-3.65597820e-01 8.01822015e-01 -4.72672921e-01 -1.38578513e+02] [-7.83189792e-01 9.39587162e-03 6.21711724e-01 -1.11308419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:-138.59, Z:-111.33 [[ 5.02708908e-01 5.97973653e-01 6.24268583e-01 2.36153971e+02] [-3.66067179e-01 8.01462769e-01 -4.72918862e-01 -1.38589840e+02] [-7.83121047e-01 9.21628526e-03 6.21801002e-01 -1.11333240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:-138.60, Z:-111.36 [[ 5.02223548e-01 5.98516474e-01 6.24139038e-01 2.36170667e+02] [-3.66706285e-01 8.01062965e-01 -4.73101075e-01 -1.38601565e+02] [-7.83133455e-01 8.72679222e-03 6.21792437e-01 -1.11358985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:-138.61, Z:-111.39 [[ 5.00942552e-01 6.03703651e-01 6.20160029e-01 2.36186020e+02] [-3.65569211e-01 7.97084795e-01 -4.80640179e-01 -1.38605120e+02] [-7.84484360e-01 1.40617057e-02 6.19989159e-01 -1.11387608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.20, Y:-138.63, Z:-111.41 [[ 4.99862476e-01 5.92261233e-01 6.31952638e-01 2.36202860e+02] [-3.69346757e-01 8.05743581e-01 -4.62990555e-01 -1.38630193e+02] [-7.83403139e-01 -1.97805213e-03 6.21510748e-01 -1.11406877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.22, Y:-138.63, Z:-111.44 [[ 4.98769570e-01 6.04142850e-01 6.21482367e-01 2.36219465e+02] [-3.69071042e-01 7.96822498e-01 -4.78393637e-01 -1.38628460e+02] [-7.84229228e-01 9.23704427e-03 6.20402446e-01 -1.11438197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.24, Y:-138.65, Z:-111.46 [[ 4.98308265e-01 5.96943935e-01 6.28766102e-01 2.36236369e+02] [-3.71326902e-01 8.02282751e-01 -4.67395677e-01 -1.38649636e+02] [-7.83457213e-01 -5.70639806e-04 6.21445468e-01 -1.11459847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:-138.65, Z:-111.49 [[ 4.96861232e-01 6.07938468e-01 6.19305849e-01 2.36252353e+02] [-3.70166437e-01 7.93915745e-01 -4.82363554e-01 -1.38648093e+02] [-7.84924025e-01 1.04215104e-02 6.19504372e-01 -1.11491628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:-138.67, Z:-111.51 [[ 4.95694809e-01 5.99632632e-01 6.28273319e-01 2.36268990e+02] [-3.72247523e-01 8.00274945e-01 -4.70097644e-01 -1.38668902e+02] [-7.84677283e-01 -8.48224883e-04 6.19903897e-01 -1.11513105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:-138.68, Z:-111.54 [[ 4.94986238e-01 6.04341325e-01 6.24307767e-01 2.36285646e+02] [-3.72379825e-01 7.96719372e-01 -4.75995282e-01 -1.38676155e+02] [-7.85061711e-01 3.13149715e-03 6.19409641e-01 -1.11539547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.30, Y:-138.69, Z:-111.56 [[ 4.94675063e-01 6.03923035e-01 6.24958839e-01 2.36301856e+02] [-3.72662180e-01 7.97039631e-01 -4.75237547e-01 -1.38688084e+02] [-7.85123864e-01 2.18964019e-03 6.19334905e-01 -1.11564356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:-138.70, Z:-111.59 [[ 4.93380895e-01 6.04739359e-01 6.25192451e-01 2.36318861e+02] [-3.73880535e-01 7.96423081e-01 -4.75314234e-01 -1.38700276e+02] [-7.85358923e-01 7.63673813e-04 6.19040208e-01 -1.11589484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:-138.71, Z:-111.61 [[ 4.94010525e-01 6.03138603e-01 6.26240710e-01 2.36336649e+02] [-3.74846086e-01 7.97635311e-01 -4.72512775e-01 -1.38713840e+02] [-7.84502398e-01 -1.31759525e-03 6.20124384e-01 -1.11610753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:-138.72, Z:-111.64 [[ 4.93807856e-01 6.06001701e-01 6.23631093e-01 2.36353929e+02] [-3.74637186e-01 7.95461782e-01 -4.76327128e-01 -1.38722425e+02] [-7.84729750e-01 1.57868048e-03 6.19836049e-01 -1.11637979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.37, Y:-138.73, Z:-111.66 [[ 4.94047217e-01 6.05750469e-01 6.23685591e-01 2.36371479e+02] [-3.73616831e-01 7.95650598e-01 -4.76812951e-01 -1.38732135e+02] [-7.85065482e-01 2.54867741e-03 6.19407534e-01 -1.11664530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:-138.73, Z:-111.70 [[ 4.93268127e-01 6.12547002e-01 6.17634782e-01 2.36386340e+02] [-3.70504998e-01 7.90345397e-01 -4.87934627e-01 -1.38732806e+02] [-7.87027701e-01 1.18458261e-02 6.16803919e-01 -1.11696303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:-138.76, Z:-111.72 [[ 4.94637546e-01 5.99589227e-01 6.29147405e-01 2.36401596e+02] [-3.71113011e-01 8.00307732e-01 -4.70938072e-01 -1.38757140e+02] [-7.85880927e-01 -5.41135526e-04 6.18377616e-01 -1.11716532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.42, Y:-138.76, Z:-111.74 [[ 4.95099116e-01 6.04797194e-01 6.23776578e-01 2.36418573e+02] [-3.71128608e-01 7.96364206e-01 -4.77564245e-01 -1.38764804e+02] [-7.85582855e-01 4.94030278e-03 6.18736755e-01 -1.11744268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:-138.78, Z:-111.77 [[ 4.95812510e-01 6.05257515e-01 6.22762631e-01 2.36435298e+02] [-3.70686255e-01 7.96004004e-01 -4.78507394e-01 -1.38775680e+02] [-7.85341744e-01 6.40040471e-03 6.19029385e-01 -1.11769899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:-138.79, Z:-111.80 [[ 4.96513590e-01 6.04871855e-01 6.22578746e-01 2.36451636e+02] [-3.69967938e-01 7.96289441e-01 -4.78588394e-01 -1.38785432e+02] [-7.85237531e-01 7.29146717e-03 6.19151722e-01 -1.11795442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:-138.80, Z:-111.82 [[ 4.96438057e-01 6.03454647e-01 6.24012616e-01 2.36467782e+02] [-3.70193914e-01 7.97377689e-01 -4.76597616e-01 -1.38799464e+02] [-7.85178783e-01 5.59552211e-03 6.19243868e-01 -1.11821260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:-138.82, Z:-111.84 [[ 4.97285073e-01 6.00247818e-01 6.26426463e-01 2.36485146e+02] [-3.72788575e-01 7.99813964e-01 -4.70453294e-01 -1.38816876e+02] [-7.83413195e-01 4.24772474e-04 6.21501074e-01 -1.11842376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:-138.82, Z:-111.87 [[ 4.96731590e-01 6.06478479e-01 6.20839417e-01 2.36502559e+02] [-3.73742202e-01 7.95082665e-01 -4.77661306e-01 -1.38823259e+02] [-7.83309960e-01 5.23556915e-03 6.21609278e-01 -1.11870373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:-138.83, Z:-111.90 [[ 4.95452952e-01 6.07935613e-01 6.20435865e-01 2.36519934e+02] [-3.75910909e-01 7.93978629e-01 -4.77795904e-01 -1.38832811e+02] [-7.83081963e-01 3.49678122e-03 6.21908684e-01 -1.11896000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.54, Y:-138.84, Z:-111.92 [[ 4.94773620e-01 6.08863639e-01 6.20067846e-01 2.36536614e+02] [-3.77236370e-01 7.93270791e-01 -4.77926953e-01 -1.38844135e+02] [-7.82874055e-01 2.55350529e-03 6.22174971e-01 -1.11922264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:-138.86, Z:-111.95 [[ 4.94232848e-01 6.09796299e-01 6.19582412e-01 2.36553116e+02] [-3.78661209e-01 7.92556519e-01 -4.77985202e-01 -1.38855583e+02] [-7.82527687e-01 1.62416291e-03 6.22613670e-01 -1.11948164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:-138.87, Z:-111.97 [[ 4.93261133e-01 6.11090202e-01 6.19081755e-01 2.36570319e+02] [-3.80665622e-01 7.91560955e-01 -4.78042821e-01 -1.38866822e+02] [-7.82168230e-01 1.36802068e-04 6.23067285e-01 -1.11974520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.59, Y:-138.88, Z:-112.00 [[ 4.92575224e-01 6.11769602e-01 6.18956866e-01 2.36586229e+02] [-3.81317764e-01 7.91035911e-01 -4.78392046e-01 -1.38878384e+02] [-7.82282820e-01 -3.75179272e-04 6.22923309e-01 -1.11999693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:-138.89, Z:-112.03 [[ 4.92180522e-01 6.12312911e-01 6.18733571e-01 2.36602428e+02] [-3.82061266e-01 7.90615020e-01 -4.78494598e-01 -1.38890341e+02] [-7.82168475e-01 -8.88410470e-04 6.23066359e-01 -1.12025247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:-138.90, Z:-112.05 [[ 4.91843524e-01 6.12947226e-01 6.18373387e-01 2.36618833e+02] [-3.82869022e-01 7.90122732e-01 -4.78662074e-01 -1.38902333e+02] [-7.81985460e-01 -1.32917280e-03 6.23295254e-01 -1.12051062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:-138.91, Z:-112.08 [[ 4.91469175e-01 6.13446983e-01 6.18175420e-01 2.36634562e+02] [-3.83300697e-01 7.89734375e-01 -4.78957401e-01 -1.38913951e+02] [-7.82009351e-01 -1.55427083e-03 6.23264758e-01 -1.12076799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.65, Y:-138.93, Z:-112.10 [[ 4.90922121e-01 6.14225750e-01 6.17836709e-01 2.36651247e+02] [-3.84533248e-01 7.89126586e-01 -4.78971202e-01 -1.38925681e+02] [-7.81747819e-01 -2.44119800e-03 6.23589920e-01 -1.12102379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.67, Y:-138.94, Z:-112.13 [[ 4.90271936e-01 6.16791975e-01 6.15793057e-01 2.36666838e+02] [-3.84420080e-01 7.87126165e-01 -4.82341790e-01 -1.38935173e+02] [-7.82211373e-01 -2.44572640e-04 6.23013089e-01 -1.12129957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:-138.95, Z:-112.15 [[ 4.89998790e-01 6.13744273e-01 6.19046971e-01 2.36683352e+02] [-3.85071865e-01 7.89493762e-01 -4.77932274e-01 -1.38950836e+02] [-7.82061918e-01 -4.19133556e-03 6.23186640e-01 -1.12152822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:-138.96, Z:-112.18 [[ 4.89077436e-01 6.15562297e-01 6.17969514e-01 2.36699019e+02] [-3.85341954e-01 7.88081101e-01 -4.80041412e-01 -1.38961271e+02] [-7.82505489e-01 -3.35215735e-03 6.22634662e-01 -1.12178138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.72, Y:-138.97, Z:-112.20 [[ 4.87875570e-01 6.16069510e-01 6.18413928e-01 2.36715542e+02] [-3.85194392e-01 7.87683413e-01 -4.80811941e-01 -1.38972739e+02] [-7.83327970e-01 -3.63317674e-03 6.21598014e-01 -1.12203682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.73, Y:-138.98, Z:-112.23 [[ 4.86991502e-01 6.16611282e-01 6.18570775e-01 2.36731911e+02] [-3.85348728e-01 7.87257926e-01 -4.81384790e-01 -1.38984713e+02] [-7.83802038e-01 -3.93515881e-03 6.20998293e-01 -1.12230074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:-139.00, Z:-112.26 [[ 4.86568222e-01 6.17170997e-01 6.18345637e-01 2.36747797e+02] [-3.85898957e-01 7.86817541e-01 -4.81663942e-01 -1.38996509e+02] [-7.83794208e-01 -4.25656841e-03 6.21006055e-01 -1.12255248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.76, Y:-139.01, Z:-112.28 [[ 4.86241647e-01 6.17745146e-01 6.18029122e-01 2.36764017e+02] [-3.86601528e-01 7.86364676e-01 -4.81840072e-01 -1.39008807e+02] [-7.83650636e-01 -4.64029259e-03 6.21184472e-01 -1.12281262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:-139.02, Z:-112.31 [[ 4.86428932e-01 6.18182608e-01 6.17444052e-01 2.36780000e+02] [-3.87314828e-01 7.86020048e-01 -4.81829543e-01 -1.39020373e+02] [-7.83182047e-01 -4.76940698e-03 6.21774183e-01 -1.12307707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:-139.03, Z:-112.33 [[ 4.86864605e-01 6.18385194e-01 6.16897567e-01 2.36795717e+02] [-3.87610142e-01 7.85862150e-01 -4.81849622e-01 -1.39032806e+02] [-7.82765121e-01 -4.52022791e-03 6.22300838e-01 -1.12333455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:-139.05, Z:-112.36 [[ 4.86949243e-01 6.18577274e-01 6.16638136e-01 2.36811015e+02] [-3.87611216e-01 7.85712415e-01 -4.82092881e-01 -1.39045399e+02] [-7.82711939e-01 -4.26109445e-03 6.22369555e-01 -1.12359360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:-139.06, Z:-112.38 [[ 4.87387195e-01 6.18726104e-01 6.16142622e-01 2.36826210e+02] [-3.87771097e-01 7.85596960e-01 -4.82152457e-01 -1.39058168e+02] [-7.82360082e-01 -3.92736670e-03 6.22813999e-01 -1.12384284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:-139.07, Z:-112.41 [[ 4.87833334e-01 6.20697526e-01 6.13802265e-01 2.36840600e+02] [-3.87971415e-01 7.84048095e-01 -4.84506724e-01 -1.39070446e+02] [-7.81982621e-01 -1.77920261e-03 6.23297693e-01 -1.12414274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:-139.08, Z:-112.44 [[ 4.88975134e-01 6.21691648e-01 6.11884640e-01 2.36856548e+02] [-3.88207489e-01 7.83262079e-01 -4.85587748e-01 -1.39080629e+02] [-7.81151883e-01 -9.78659585e-05 6.24341034e-01 -1.12435873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:-139.10, Z:-112.46 [[ 4.88776138e-01 6.18971470e-01 6.14794442e-01 2.36871333e+02] [-3.88339623e-01 7.85407126e-01 -4.82004132e-01 -1.39095904e+02] [-7.81210742e-01 -3.15692379e-03 6.24259409e-01 -1.12460753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:-139.11, Z:-112.49 [[ 4.88268476e-01 6.19271224e-01 6.14895964e-01 2.36885574e+02] [-3.88149839e-01 7.85171175e-01 -4.82541116e-01 -1.39109518e+02] [-7.81622414e-01 -3.06215472e-03 6.23744359e-01 -1.12485585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:-139.12, Z:-112.51 [[ 4.88386228e-01 6.19412169e-01 6.14660440e-01 2.36900357e+02] [-3.88073704e-01 7.85061146e-01 -4.82781314e-01 -1.39122792e+02] [-7.81586651e-01 -2.74980860e-03 6.23790627e-01 -1.12510594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:-139.14, Z:-112.54 [[ 4.88333973e-01 6.19390782e-01 6.14723506e-01 2.36915237e+02] [-3.87450757e-01 7.85079789e-01 -4.83251110e-01 -1.39136125e+02] [-7.81928284e-01 -2.18715325e-03 6.23364560e-01 -1.12536595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:-139.15, Z:-112.56 [[ 4.88898573e-01 6.19332484e-01 6.14333346e-01 2.36929797e+02] [-3.87179383e-01 7.85127340e-01 -4.83391338e-01 -1.39149268e+02] [-7.81709864e-01 -1.52787051e-03 6.23640405e-01 -1.12561296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:-139.16, Z:-112.59 [[ 4.88471887e-01 6.25029250e-01 6.08879012e-01 2.36942490e+02] [-3.84603097e-01 7.80574194e-01 -4.92731556e-01 -1.39155744e+02] [-7.83246879e-01 6.50875912e-03 6.21676735e-01 -1.12592303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:-139.18, Z:-112.61 [[ 4.89435494e-01 6.14058114e-01 6.19181339e-01 2.36957450e+02] [-3.85130748e-01 7.89248694e-01 -4.78289458e-01 -1.39180127e+02] [-7.82385586e-01 -4.37393465e-03 6.22778985e-01 -1.12609685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.97, Y:-139.19, Z:-112.64 [[ 4.88993037e-01 6.18772866e-01 6.14821885e-01 2.36973363e+02] [-3.84754143e-01 7.85569837e-01 -4.84607348e-01 -1.39189615e+02] [-7.82847405e-01 4.14351389e-04 6.22213604e-01 -1.12636944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:-139.20, Z:-112.66 [[ 4.88039096e-01 6.19170760e-01 6.15179169e-01 2.36988595e+02] [-3.84487951e-01 7.85256303e-01 -4.85326235e-01 -1.39203263e+02] [-7.83573134e-01 3.29198287e-04 6.21299473e-01 -1.12662165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.00, Y:-139.22, Z:-112.69 [[ 4.86053083e-01 6.20151625e-01 6.15763236e-01 2.37002967e+02] [-3.84930557e-01 7.84481664e-01 -4.86227298e-01 -1.39216796e+02] [-7.84589617e-01 -6.93807823e-04 6.20015042e-01 -1.12686910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:-139.23, Z:-112.71 [[ 4.85193750e-01 6.20958413e-01 6.15627870e-01 2.37017834e+02] [-3.85849583e-01 7.83842117e-01 -4.86530199e-01 -1.39229224e+02] [-7.84670073e-01 -1.47834534e-03 6.19911841e-01 -1.12712135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.03, Y:-139.24, Z:-112.74 [[ 4.84312109e-01 6.21903377e-01 6.15368159e-01 2.37032938e+02] [-3.87124889e-01 7.83090008e-01 -4.86728220e-01 -1.39242008e+02] [-7.84586580e-01 -2.49595966e-03 6.20014249e-01 -1.12738117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:-139.25, Z:-112.77 [[ 4.81625638e-01 6.26986920e-01 6.12310500e-01 2.37046619e+02] [-3.90037461e-01 7.79026114e-01 -4.90906399e-01 -1.39253548e+02] [-7.84797760e-01 -2.39092500e-03 6.19747335e-01 -1.12768939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:-139.27, Z:-112.79 [[ 4.82029833e-01 6.26335739e-01 6.12658782e-01 2.37062264e+02] [-3.91052132e-01 7.79544467e-01 -4.89273598e-01 -1.39266106e+02] [-7.84044304e-01 -3.73705213e-03 6.20693615e-01 -1.12789536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:-139.28, Z:-112.82 [[ 4.81698635e-01 6.24936268e-01 6.14346064e-01 2.37077367e+02] [-3.91709369e-01 7.80652179e-01 -4.86976329e-01 -1.39280368e+02] [-7.83919763e-01 -6.06927614e-03 6.20832481e-01 -1.12815225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.09, Y:-139.29, Z:-112.84 [[ 4.81509672e-01 6.25482859e-01 6.13937805e-01 2.37092209e+02] [-3.92418888e-01 7.80211886e-01 -4.87110695e-01 -1.39292741e+02] [-7.83680963e-01 -6.37227955e-03 6.21130857e-01 -1.12840609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:-139.31, Z:-112.87 [[ 4.82111351e-01 6.25820255e-01 6.13121239e-01 2.37106450e+02] [-3.93231892e-01 7.79941345e-01 -4.86888259e-01 -1.39306009e+02] [-7.82903138e-01 -6.36446841e-03 6.22111059e-01 -1.12867035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:-139.32, Z:-112.89 [[ 4.83394997e-01 6.29445302e-01 6.08381368e-01 2.37121295e+02] [-3.94416785e-01 7.77039663e-01 -4.90555564e-01 -1.39316341e+02] [-7.81514349e-01 -2.82371807e-03 6.23880878e-01 -1.12893439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:-139.34, Z:-112.92 [[ 4.83334908e-01 6.22114099e-01 6.15923222e-01 2.37134605e+02] [-3.93874642e-01 7.82865265e-01 -4.81647946e-01 -1.39336477e+02] [-7.81824874e-01 -9.79927296e-03 6.23421078e-01 -1.12915773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:-139.35, Z:-112.94 [[ 4.83423849e-01 6.26099742e-01 6.11801026e-01 2.37149675e+02] [-3.93649019e-01 7.79723890e-01 -4.86899482e-01 -1.39346427e+02] [-7.81883516e-01 -5.45605185e-03 6.23400673e-01 -1.12943029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:-139.36, Z:-112.97 [[ 4.83892720e-01 6.26153179e-01 6.11375524e-01 2.37164994e+02] [-3.93600640e-01 7.79684158e-01 -4.87002207e-01 -1.39360528e+02] [-7.81617791e-01 -4.98097528e-03 6.23737780e-01 -1.12969112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:-139.37, Z:-113.00 [[ 4.84086994e-01 6.25669279e-01 6.11717039e-01 2.37178674e+02] [-3.91929544e-01 7.80079873e-01 -4.87715721e-01 -1.39374785e+02] [-7.82336894e-01 -3.65314265e-03 6.22844796e-01 -1.12995498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:-139.39, Z:-113.02 [[ 4.84400623e-01 6.25688856e-01 6.11448682e-01 2.37193118e+02] [-3.91663692e-01 7.80066490e-01 -4.87950636e-01 -1.39388182e+02] [-7.82275903e-01 -3.11865580e-03 6.22924302e-01 -1.13020769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:-139.40, Z:-113.05 [[ 4.84279572e-01 6.25799006e-01 6.11431844e-01 2.37207758e+02] [-3.91332943e-01 7.79979432e-01 -4.88355007e-01 -1.39402221e+02] [-7.82516341e-01 -2.77306901e-03 6.22623873e-01 -1.13046546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:-139.42, Z:-113.07 [[ 4.84185175e-01 6.25974169e-01 6.11327291e-01 2.37222267e+02] [-3.91150147e-01 7.79839824e-01 -4.88724269e-01 -1.39416296e+02] [-7.82666135e-01 -2.48771397e-03 6.22436770e-01 -1.13071960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:-139.43, Z:-113.10 [[ 4.83935116e-01 6.26178012e-01 6.11316532e-01 2.37236017e+02] [-3.90959046e-01 7.79676765e-01 -4.89137165e-01 -1.39432351e+02] [-7.82916233e-01 -2.28907745e-03 6.22122923e-01 -1.13097937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:-139.45, Z:-113.12 [[ 4.83603240e-01 6.26583830e-01 6.11163325e-01 2.37250892e+02] [-3.91201385e-01 7.79350390e-01 -4.89463427e-01 -1.39446171e+02] [-7.83000244e-01 -2.38184022e-03 6.22016836e-01 -1.13123837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:-139.46, Z:-113.15 [[ 4.83303645e-01 6.27014894e-01 6.10958190e-01 2.37265966e+02] [-3.91529964e-01 7.79003227e-01 -4.89753264e-01 -1.39459569e+02] [-7.83020992e-01 -2.50890032e-03 6.21990218e-01 -1.13150220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:-139.47, Z:-113.18 [[ 4.82387795e-01 6.27948046e-01 6.10723560e-01 2.37280032e+02] [-3.92697057e-01 7.78247616e-01 -4.90020071e-01 -1.39473310e+02] [-7.83001300e-01 -3.44964319e-03 6.22010501e-01 -1.13176108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:-139.49, Z:-113.20 [[ 4.81775571e-01 6.28674612e-01 6.10459279e-01 2.37295641e+02] [-3.93565860e-01 7.77657856e-01 -4.90259292e-01 -1.39486710e+02] [-7.82942024e-01 -4.06098100e-03 6.22081422e-01 -1.13202249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:-139.50, Z:-113.23 [[ 4.80520298e-01 6.29601553e-01 6.10493347e-01 2.37310781e+02] [-3.94463603e-01 7.76902050e-01 -4.90735846e-01 -1.39499559e+02] [-7.83261584e-01 -5.00886998e-03 6.21672102e-01 -1.13228233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:-139.51, Z:-113.25 [[ 4.79624385e-01 6.30472848e-01 6.10298647e-01 2.37326241e+02] [-3.95493322e-01 7.76189209e-01 -4.91034973e-01 -1.39512122e+02] [-7.83291441e-01 -5.85669256e-03 6.21627073e-01 -1.13253918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:-139.52, Z:-113.28 [[ 4.78656568e-01 6.31779281e-01 6.09707167e-01 2.37341122e+02] [-3.97612468e-01 7.75113053e-01 -4.91023502e-01 -1.39524316e+02] [-7.82810460e-01 -7.39554671e-03 6.22216273e-01 -1.13278962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:-139.54, Z:-113.30 [[ 4.78423389e-01 6.32432334e-01 6.09212937e-01 2.37356340e+02] [-3.98617878e-01 7.74575222e-01 -4.91057036e-01 -1.39536182e+02] [-7.82441594e-01 -7.90999685e-03 6.22673738e-01 -1.13303820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.37, Y:-139.55, Z:-113.33 [[ 4.77783516e-01 6.33194007e-01 6.08923855e-01 2.37372421e+02] [-3.99604344e-01 7.73945139e-01 -4.91248705e-01 -1.39548227e+02] [-7.82329394e-01 -8.61808385e-03 6.22805305e-01 -1.13330009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:-139.56, Z:-113.36 [[ 4.77330135e-01 6.33836487e-01 6.08610918e-01 2.37388432e+02] [-4.00384522e-01 7.73413603e-01 -4.91450540e-01 -1.39559926e+02] [-7.82207247e-01 -9.09423896e-03 6.22951938e-01 -1.13355896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:-139.57, Z:-113.38 [[ 4.76889443e-01 6.34492799e-01 6.08272429e-01 2.37404423e+02] [-4.01211169e-01 7.72869262e-01 -4.91632690e-01 -1.39571701e+02] [-7.82052464e-01 -9.59125281e-03 6.23138790e-01 -1.13382195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:-139.59, Z:-113.41 [[ 4.77656260e-01 6.28271355e-01 6.14100645e-01 2.37422274e+02] [-4.04684920e-01 7.77767322e-01 -4.80945016e-01 -1.39593583e+02] [-7.79791391e-01 -1.87908734e-02 6.25757373e-01 -1.13405006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:-139.06, Z:-113.27 [[ 0.44938099 0.28918835 -0.84523773 238.33980938] [ -0.32621133 -0.82769745 -0.45662139 -139.06312523] [ -0.8316507 0.4809231 -0.27761498 -113.27225443] [ 0. 0. 0. 1. ]] SLAMing on 301.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:-139.67, Z:-113.54 [[ 4.59029914e-01 5.91960969e-01 6.62475471e-01 2.37500751e+02] [-3.48365277e-01 8.05891116e-01 -4.78728673e-01 -1.39670601e+02] [-8.17271786e-01 -1.10326692e-02 5.76146776e-01 -1.13537106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:-139.68, Z:-113.56 [[ 4.58665811e-01 5.92362245e-01 6.62368964e-01 2.37515677e+02] [-3.48874661e-01 8.05590451e-01 -4.78863755e-01 -1.39680561e+02] [-8.17258922e-01 -1.14453152e-02 5.76156975e-01 -1.13563392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:-139.69, Z:-113.59 [[ 4.58644743e-01 5.92942431e-01 6.61864241e-01 2.37530821e+02] [-3.49751783e-01 8.05158100e-01 -4.78951067e-01 -1.39691112e+02] [-8.16895764e-01 -1.18198099e-02 5.76664202e-01 -1.13590369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:-139.70, Z:-113.62 [[ 4.59062759e-01 5.91453669e-01 6.62905680e-01 2.37546329e+02] [-3.51775038e-01 8.06202834e-01 -4.75700865e-01 -1.39704817e+02] [-8.15791460e-01 -1.48171193e-02 5.78156334e-01 -1.13617198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.56, Y:-139.71, Z:-113.65 [[ 4.58316085e-01 5.99200231e-01 6.56433888e-01 2.37561241e+02] [-3.51869436e-01 8.00552380e-01 -4.85081216e-01 -1.39707741e+02] [-8.16170489e-01 -8.65849843e-03 5.77746280e-01 -1.13645754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.58, Y:-139.72, Z:-113.67 [[ 4.57970424e-01 5.94706966e-01 6.60747089e-01 2.37576122e+02] [-3.52357850e-01 8.03832052e-01 -4.79268169e-01 -1.39723050e+02] [-8.16153807e-01 -1.33287771e-02 5.77680973e-01 -1.13671316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:-139.73, Z:-113.70 [[ 4.57005430e-01 5.94896105e-01 6.61244782e-01 2.37590960e+02] [-3.51486548e-01 8.03697546e-01 -4.80132754e-01 -1.39733622e+02] [-8.17069914e-01 -1.29953694e-02 5.76392121e-01 -1.13697547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:-139.74, Z:-113.72 [[ 4.56852769e-01 5.94969390e-01 6.61284335e-01 2.37606276e+02] [-3.50912416e-01 8.03651526e-01 -4.80629485e-01 -1.39744429e+02] [-8.17401996e-01 -1.24759730e-02 5.75932571e-01 -1.13724037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:-139.76, Z:-113.75 [[ 4.57666409e-01 5.89083082e-01 6.65974910e-01 2.37622431e+02] [-3.51714796e-01 8.07876322e-01 -4.72898034e-01 -1.39763162e+02] [-8.16601592e-01 -1.78036840e-02 5.76927092e-01 -1.13748436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.64, Y:-139.76, Z:-113.78 [[ 4.57459888e-01 5.99806481e-01 6.56477446e-01 2.37637982e+02] [-3.51337535e-01 8.00102829e-01 -4.86207157e-01 -1.39764990e+02] [-8.16879665e-01 -8.22489580e-03 5.76749481e-01 -1.13779395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:-139.77, Z:-113.81 [[ 4.57453989e-01 6.05925029e-01 6.50838464e-01 2.37650778e+02] [-3.47605303e-01 7.95521350e-01 -4.96302665e-01 -1.39765510e+02] [-8.18478100e-01 8.00732301e-04 5.74537169e-01 -1.13807380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:-139.79, Z:-113.83 [[ 4.58030526e-01 5.93868719e-01 6.61458980e-01 2.37664470e+02] [-3.46911078e-01 8.04515383e-01 -4.82086820e-01 -1.39787031e+02] [-8.18450207e-01 -8.65696766e-03 5.74512242e-01 -1.13830304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:-139.80, Z:-113.86 [[ 4.58678687e-01 5.93674043e-01 6.61184538e-01 2.37678955e+02] [-3.46184610e-01 8.04669280e-01 -4.82352118e-01 -1.39798190e+02] [-8.18394818e-01 -7.64727507e-03 5.74605466e-01 -1.13857120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:-139.81, Z:-113.88 [[ 4.59560118e-01 5.93483364e-01 6.60743517e-01 2.37693020e+02] [-3.45578307e-01 8.04819325e-01 -4.82536514e-01 -1.39809324e+02] [-8.18156545e-01 -6.58408823e-03 5.74957840e-01 -1.13883203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:-139.82, Z:-113.91 [[ 4.60750732e-01 5.92928894e-01 6.60412060e-01 2.37707410e+02] [-3.44276832e-01 8.05239729e-01 -4.82765411e-01 -1.39820442e+02] [-8.18035590e-01 -4.93005501e-03 5.75146476e-01 -1.13910136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.72, Y:-139.83, Z:-113.94 [[ 4.60859513e-01 5.93348587e-01 6.59959062e-01 2.37722487e+02] [-3.44759730e-01 8.04930332e-01 -4.82936734e-01 -1.39829914e+02] [-8.17770896e-01 -4.96131956e-03 5.75522499e-01 -1.13936326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:-139.84, Z:-113.96 [[ 4.61032758e-01 5.93746893e-01 6.59479661e-01 2.37737328e+02] [-3.45282456e-01 8.04636311e-01 -4.83053239e-01 -1.39839646e+02] [-8.17452642e-01 -5.00339032e-03 5.75974083e-01 -1.13963528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.75, Y:-139.85, Z:-113.99 [[ 4.60928844e-01 5.94519480e-01 6.58855969e-01 2.37753316e+02] [-3.46572042e-01 8.04061201e-01 -4.83087368e-01 -1.39849331e+02] [-8.16965373e-01 -5.67215662e-03 5.76658830e-01 -1.13991087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.77, Y:-139.86, Z:-114.02 [[ 4.60668526e-01 5.94956148e-01 6.58643827e-01 2.37768865e+02] [-3.46849631e-01 8.03737587e-01 -4.83426546e-01 -1.39859616e+02] [-8.16994396e-01 -5.75097433e-03 5.76616930e-01 -1.14018242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.78, Y:-139.87, Z:-114.04 [[ 4.60330755e-01 5.95428150e-01 6.58453426e-01 2.37783932e+02] [-3.47161699e-01 8.03386982e-01 -4.83785193e-01 -1.39870075e+02] [-8.17052233e-01 -5.88860678e-03 5.76533584e-01 -1.14044723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.80, Y:-139.88, Z:-114.07 [[ 4.60045871e-01 5.95874055e-01 6.58249123e-01 2.37799313e+02] [-3.47492272e-01 8.03055267e-01 -4.84098501e-01 -1.39881009e+02] [-8.17072162e-01 -6.02896690e-03 5.76503889e-01 -1.14071662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.81, Y:-139.89, Z:-114.10 [[ 4.59421905e-01 5.96408686e-01 6.58200724e-01 2.37814361e+02] [-3.47767011e-01 8.02656351e-01 -4.84562574e-01 -1.39891833e+02] [-8.17306319e-01 -6.28183805e-03 5.76169176e-01 -1.14098284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:-139.90, Z:-114.12 [[ 4.59122885e-01 5.96866396e-01 6.57994439e-01 2.37829571e+02] [-3.48064652e-01 8.02315198e-01 -4.84913725e-01 -1.39901226e+02] [-8.17347646e-01 -6.38961675e-03 5.76109363e-01 -1.14124949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.84, Y:-139.91, Z:-114.15 [[ 4.59012343e-01 5.96928544e-01 6.58015184e-01 2.37844948e+02] [-3.47710792e-01 8.02271459e-01 -4.85239850e-01 -1.39911089e+02] [-8.17560319e-01 -6.06790033e-03 5.75810998e-01 -1.14152080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.86, Y:-139.92, Z:-114.18 [[ 4.58665617e-01 5.97155165e-01 6.58051336e-01 2.37859984e+02] [-3.47357499e-01 8.02104961e-01 -4.85767845e-01 -1.39921182e+02] [-8.17905019e-01 -5.77405767e-03 5.75324291e-01 -1.14178817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:-139.93, Z:-114.21 [[ 4.59117744e-01 5.97210862e-01 6.57685398e-01 2.37875394e+02] [-3.47170578e-01 8.02067325e-01 -4.85963574e-01 -1.39931863e+02] [-8.17730693e-01 -5.21451980e-03 5.75577381e-01 -1.14205947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:-139.94, Z:-114.23 [[ 4.60150122e-01 5.97487509e-01 6.56711917e-01 2.37889772e+02] [-3.47959468e-01 8.01862647e-01 -4.85737073e-01 -1.39942764e+02] [-8.16814590e-01 -4.99715547e-03 5.76878630e-01 -1.14232704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:-139.95, Z:-114.26 [[ 4.62684941e-01 5.97287584e-01 6.55110821e-01 2.37903945e+02] [-3.48617736e-01 8.02017286e-01 -4.85009224e-01 -1.39954600e+02] [-8.15100190e-01 -3.97678671e-03 5.79306366e-01 -1.14260431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:-139.97, Z:-114.29 [[ 4.63105263e-01 5.97317402e-01 6.54786558e-01 2.37918177e+02] [-3.48313906e-01 8.01997962e-01 -4.85259406e-01 -1.39965348e+02] [-8.14991373e-01 -3.34507870e-03 5.79463435e-01 -1.14286855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.93, Y:-139.98, Z:-114.31 [[ 4.63386412e-01 5.97415854e-01 6.54497770e-01 2.37932714e+02] [-3.48142288e-01 8.01926418e-01 -4.85500739e-01 -1.39976318e+02] [-8.14904891e-01 -2.88390543e-03 5.79587527e-01 -1.14313763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:-139.99, Z:-114.34 [[ 4.63382838e-01 5.97540595e-01 6.54386417e-01 2.37947097e+02] [-3.47762675e-01 8.01835061e-01 -4.85923509e-01 -1.39987191e+02] [-8.15068995e-01 -2.40255645e-03 5.79358922e-01 -1.14340677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.96, Y:-140.00, Z:-114.37 [[ 4.62494724e-01 5.98094266e-01 6.54508884e-01 2.37962479e+02] [-3.47931871e-01 8.01421118e-01 -4.86484947e-01 -1.39997497e+02] [-8.15501099e-01 -2.72777937e-03 5.78749096e-01 -1.14367613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:-140.01, Z:-114.39 [[ 4.61596557e-01 5.98522749e-01 6.54751202e-01 2.37977380e+02] [-3.47700772e-01 8.01100992e-01 -4.87176942e-01 -1.40007901e+02] [-8.16108321e-01 -2.77829958e-03 5.77892282e-01 -1.14394403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:-140.02, Z:-114.42 [[ 4.61273924e-01 5.98414459e-01 6.55077479e-01 2.37992452e+02] [-3.46497641e-01 8.01184383e-01 -4.87896474e-01 -1.40020137e+02] [-8.16802150e-01 -1.92888001e-03 5.76914662e-01 -1.14421320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:-140.03, Z:-114.45 [[ 4.61433286e-01 5.98295528e-01 6.55073877e-01 2.38007197e+02] [-3.45591727e-01 8.01274861e-01 -4.88390167e-01 -1.40032220e+02] [-8.17095882e-01 -1.02863309e-03 5.76500877e-01 -1.14448479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.02, Y:-140.04, Z:-114.48 [[ 4.61140057e-01 5.98273540e-01 6.55300404e-01 2.38021767e+02] [-3.44607544e-01 8.01291884e-01 -4.89057213e-01 -1.40044123e+02] [-8.17676885e-01 -2.97592195e-04 5.75677360e-01 -1.14475860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:-140.06, Z:-114.50 [[ 4.60748980e-01 5.98437600e-01 6.55425676e-01 2.38036802e+02] [-3.44049397e-01 8.01169413e-01 -4.89650472e-01 -1.40055634e+02] [-8.18132257e-01 1.07147028e-04 5.75030085e-01 -1.14502834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:-140.07, Z:-114.53 [[ 4.59296869e-01 5.99157945e-01 6.55786660e-01 2.38051943e+02] [-3.44210503e-01 8.00630705e-01 -4.90417786e-01 -1.40067034e+02] [-8.18880649e-01 -4.81302767e-04 5.73963633e-01 -1.14529719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:-140.08, Z:-114.56 [[ 4.58408682e-01 5.99953091e-01 6.55681149e-01 2.38066643e+02] [-3.44999383e-01 8.00034271e-01 -4.90836624e-01 -1.40077239e+02] [-8.19046340e-01 -1.20582194e-03 5.73726102e-01 -1.14556466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:-140.09, Z:-114.58 [[ 4.57790200e-01 6.00800874e-01 6.55336892e-01 2.38082086e+02] [-3.46406169e-01 7.99395439e-01 -4.90886646e-01 -1.40087556e+02] [-8.18798448e-01 -2.28964632e-03 5.74076527e-01 -1.14584188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:-140.10, Z:-114.61 [[ 4.57110996e-01 6.01921924e-01 6.54782051e-01 2.38096921e+02] [-3.48221743e-01 7.98546938e-01 -4.90983101e-01 -1.40097322e+02] [-8.18407695e-01 -3.57557309e-03 5.74626888e-01 -1.14610848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:-140.11, Z:-114.64 [[ 4.55174083e-01 6.03955257e-01 6.54258819e-01 2.38112217e+02] [-3.51650617e-01 7.96991312e-01 -4.91066892e-01 -1.40106315e+02] [-8.18021025e-01 -6.54959558e-03 5.75151028e-01 -1.14638878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:-140.12, Z:-114.67 [[ 4.53485454e-01 6.05804834e-01 6.53721229e-01 2.38127131e+02] [-3.54737453e-01 7.95560527e-01 -4.91166761e-01 -1.40115471e+02] [-8.17626004e-01 -9.16242260e-03 5.75676791e-01 -1.14665728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:-140.13, Z:-114.69 [[ 4.53409497e-01 6.06105610e-01 6.53495079e-01 2.38142299e+02] [-3.54831576e-01 7.95332751e-01 -4.91467566e-01 -1.40126763e+02] [-8.17627287e-01 -9.04462736e-03 5.75676831e-01 -1.14693338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:-140.13, Z:-114.72 [[ 4.51501364e-01 6.11943458e-01 6.49362551e-01 2.38155181e+02] [-3.55639996e-01 7.90878152e-01 -4.98028054e-01 -1.40131374e+02] [-8.18331664e-01 -6.07894893e-03 5.74714133e-01 -1.14724311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:-140.15, Z:-114.74 [[ 4.52142832e-01 6.04588973e-01 6.55773614e-01 2.38170511e+02] [-3.57037143e-01 7.96424077e-01 -4.88091352e-01 -1.40150281e+02] [-8.17368545e-01 -1.34485320e-02 5.75958157e-01 -1.14744986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:-140.16, Z:-114.77 [[ 4.51776336e-01 6.07717306e-01 6.53129251e-01 2.38185589e+02] [-3.56643272e-01 7.94082950e-01 -4.92176640e-01 -1.40158871e+02] [-8.17743064e-01 -1.05803948e-02 5.75486174e-01 -1.14773088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:-140.17, Z:-114.80 [[ 4.51887964e-01 6.07651927e-01 6.53112857e-01 2.38200027e+02] [-3.55873296e-01 7.94142888e-01 -4.92637059e-01 -1.40170025e+02] [-8.18016788e-01 -9.80866775e-03 5.75110706e-01 -1.14800106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:-140.18, Z:-114.83 [[ 4.52464268e-01 6.07442610e-01 6.52908540e-01 2.38214529e+02] [-3.55012053e-01 7.94315544e-01 -4.92979979e-01 -1.40181244e+02] [-8.18072447e-01 -8.73457547e-03 5.75048849e-01 -1.14827237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.23, Y:-140.19, Z:-114.85 [[ 4.52988367e-01 6.07036112e-01 6.52923194e-01 2.38229315e+02] [-3.53577255e-01 7.94640580e-01 -4.93487056e-01 -1.40192548e+02] [-8.18403729e-01 -7.31489487e-03 5.74597101e-01 -1.14854860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:-140.20, Z:-114.88 [[ 4.53846243e-01 6.05967329e-01 6.53320123e-01 2.38243718e+02] [-3.50571095e-01 7.95475616e-01 -4.94285800e-01 -1.40204315e+02] [-8.19221273e-01 -4.70539777e-03 5.73458250e-01 -1.14881727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:-140.22, Z:-114.91 [[ 4.54044189e-01 6.05546089e-01 6.53573108e-01 2.38257820e+02] [-3.48839371e-01 7.95803609e-01 -4.94982535e-01 -1.40215767e+02] [-8.19850577e-01 -3.24808807e-03 5.72568321e-01 -1.14907868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:-140.23, Z:-114.93 [[ 4.55200360e-01 6.04380963e-01 6.53847293e-01 2.38272633e+02] [-3.45828561e-01 7.96695304e-01 -4.95660367e-01 -1.40228212e+02] [-8.20484758e-01 -4.94290878e-04 5.71668188e-01 -1.14934721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:-140.24, Z:-114.96 [[ 4.55751676e-01 6.04275064e-01 6.53561058e-01 2.38287075e+02] [-3.45233633e-01 7.96775683e-01 -4.95945813e-01 -1.40239650e+02] [-8.20429246e-01 3.96877522e-04 5.71747929e-01 -1.14962097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:-140.25, Z:-114.99 [[ 4.57345774e-01 6.04199230e-01 6.52516769e-01 2.38301127e+02] [-3.45505091e-01 7.96832320e-01 -4.95665700e-01 -1.40250370e+02] [-8.19427285e-01 1.24274750e-03 5.73181804e-01 -1.14988731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:-140.26, Z:-115.02 [[ 4.56920675e-01 6.05692164e-01 6.51429581e-01 2.38315785e+02] [-3.48604639e-01 7.95698691e-01 -4.95316463e-01 -1.40261234e+02] [-8.18350966e-01 -7.71041623e-04 5.74718281e-01 -1.15015723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:-140.27, Z:-115.04 [[ 4.55943819e-01 6.07348294e-01 6.50571506e-01 2.38331209e+02] [-3.51690224e-01 7.94429905e-01 -4.95171800e-01 -1.40268761e+02] [-8.17575208e-01 -3.02911696e-03 5.75813863e-01 -1.15042700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:-140.28, Z:-115.07 [[ 4.55846577e-01 6.07666037e-01 6.50342898e-01 2.38346309e+02] [-3.51815580e-01 7.94187216e-01 -4.95471960e-01 -1.40280134e+02] [-8.17575499e-01 -2.94156703e-03 5.75813903e-01 -1.15070301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:-140.29, Z:-115.10 [[ 4.55750486e-01 6.07882918e-01 6.50207546e-01 2.38361395e+02] [-3.51940074e-01 7.94021225e-01 -4.95649553e-01 -1.40291601e+02] [-8.17575489e-01 -2.94156701e-03 5.75813918e-01 -1.15097870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.38, Y:-140.30, Z:-115.12 [[ 4.55471504e-01 6.08268929e-01 6.50042014e-01 2.38375687e+02] [-3.52393365e-01 7.93724367e-01 -4.95802930e-01 -1.40302349e+02] [-8.17535703e-01 -3.24638663e-03 5.75868766e-01 -1.15124072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:-140.31, Z:-115.15 [[ 4.55359914e-01 6.08594563e-01 6.49815363e-01 2.38390763e+02] [-3.52537008e-01 7.93474981e-01 -4.96099902e-01 -1.40313748e+02] [-8.17535936e-01 -3.17995476e-03 5.75868806e-01 -1.15151666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:-140.33, Z:-115.18 [[ 4.55104434e-01 6.09015785e-01 6.49599668e-01 2.38405723e+02] [-3.53045881e-01 7.93150425e-01 -4.96257000e-01 -1.40325709e+02] [-8.17458598e-01 -3.48972547e-03 5.75976789e-01 -1.15179033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:-140.34, Z:-115.21 [[ 4.53894424e-01 6.12751848e-01 6.46927372e-01 2.38419412e+02] [-3.53744265e-01 7.90273443e-01 -5.00332770e-01 -1.40336006e+02] [-8.17829351e-01 -1.74859370e-03 5.75458161e-01 -1.15210077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:-140.36, Z:-114.70 [[ 4.96498087e-01 -6.48308477e-01 -5.77222460e-01 2.39556648e+02] [-2.84006104e-01 -7.49699481e-01 5.97738422e-01 -1.40360450e+02] [-8.20262265e-01 -1.32841281e-01 -5.56347923e-01 -1.14702191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:-140.46, Z:-115.35 [[ 5.02126512e-01 5.07716802e-01 7.00066151e-01 2.38513413e+02] [-3.00718112e-01 8.61508946e-01 -4.09109953e-01 -1.40456545e+02] [-8.10825248e-01 -5.09761708e-03 5.85266120e-01 -1.15345248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:-140.46, Z:-115.37 [[ 5.01471200e-01 5.09792455e-01 6.99026673e-01 2.38529669e+02] [-3.01130413e-01 8.60287134e-01 -4.11371513e-01 -1.40464976e+02] [-8.11077746e-01 -4.20722467e-03 5.84923234e-01 -1.15372781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:-140.47, Z:-115.40 [[ 5.00235131e-01 5.10644708e-01 6.99290209e-01 2.38546602e+02] [-3.01781155e-01 8.59777541e-01 -4.11959602e-01 -1.40473825e+02] [-8.11599007e-01 -4.95594126e-03 5.84193881e-01 -1.15399668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:-140.48, Z:-115.43 [[ 4.99243067e-01 5.11236812e-01 6.99566496e-01 2.38563040e+02] [-3.01943620e-01 8.59423836e-01 -4.12578139e-01 -1.40482423e+02] [-8.12149254e-01 -5.25286486e-03 5.83426085e-01 -1.15426502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:-140.49, Z:-115.45 [[ 4.98168355e-01 5.11980633e-01 6.99788627e-01 2.38579557e+02] [-3.02409839e-01 8.58977432e-01 -4.13165899e-01 -1.40491196e+02] [-8.12635576e-01 -5.79679006e-03 5.82743355e-01 -1.15453315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:-140.50, Z:-115.48 [[ 4.97321059e-01 5.12397639e-01 7.00086012e-01 2.38595539e+02] [-3.02250914e-01 8.58728650e-01 -4.13798852e-01 -1.40500446e+02] [-8.13213471e-01 -5.81075391e-03 5.81936496e-01 -1.15479527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:-140.51, Z:-115.51 [[ 4.97279321e-01 5.12584889e-01 6.99978577e-01 2.38611836e+02] [-3.02067045e-01 8.58619021e-01 -4.14160447e-01 -1.40510757e+02] [-8.13307308e-01 -5.48703473e-03 5.81808487e-01 -1.15505902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:-140.52, Z:-115.53 [[ 4.96945993e-01 5.12918205e-01 6.99971139e-01 2.38628147e+02] [-3.02010323e-01 8.58420760e-01 -4.14612545e-01 -1.40521551e+02] [-8.13532080e-01 -5.35846677e-03 5.81495350e-01 -1.15532903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:-140.53, Z:-115.56 [[ 4.96868831e-01 5.13145054e-01 6.99859642e-01 2.38644550e+02] [-3.01855453e-01 8.58287016e-01 -4.15002029e-01 -1.40531479e+02] [-8.13636682e-01 -5.05487633e-03 5.81351699e-01 -1.15559477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:-140.54, Z:-115.59 [[ 4.96617608e-01 5.13545709e-01 6.99744064e-01 2.38660931e+02] [-3.02009984e-01 8.58047423e-01 -4.15384869e-01 -1.40541210e+02] [-8.13732708e-01 -5.04225387e-03 5.81217391e-01 -1.15586741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:-140.55, Z:-115.61 [[ 4.96512611e-01 5.14217708e-01 6.99324944e-01 2.38677496e+02] [-3.02876459e-01 8.57642294e-01 -4.15590600e-01 -1.40550504e+02] [-8.13474694e-01 -5.46308925e-03 5.81574653e-01 -1.15614028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.69, Y:-140.56, Z:-115.64 [[ 4.96436053e-01 5.14984583e-01 6.98814800e-01 2.38693476e+02] [-3.03973434e-01 8.57178235e-01 -4.15747068e-01 -1.40559162e+02] [-8.13112167e-01 -6.02930100e-03 5.82075812e-01 -1.15639882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.71, Y:-140.57, Z:-115.67 [[ 4.96114456e-01 5.15830670e-01 6.98419047e-01 2.38709819e+02] [-3.05158483e-01 8.56663772e-01 -4.15939276e-01 -1.40567745e+02] [-8.12864532e-01 -6.77500914e-03 5.82413386e-01 -1.15666885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:-140.58, Z:-115.69 [[ 4.95579312e-01 5.16626853e-01 6.98210456e-01 2.38725885e+02] [-3.06057382e-01 8.56178734e-01 -4.16277378e-01 -1.40576140e+02] [-8.12853016e-01 -7.39400760e-03 5.82421929e-01 -1.15693883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.74, Y:-140.58, Z:-115.72 [[ 4.94814471e-01 5.18189070e-01 6.97594959e-01 2.38742084e+02] [-3.08614109e-01 8.55215936e-01 -4.16368868e-01 -1.40584999e+02] [-8.12352123e-01 -9.26230580e-03 5.83093679e-01 -1.15719724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.76, Y:-140.59, Z:-115.75 [[ 4.93898982e-01 5.19172889e-01 6.97512227e-01 2.38758721e+02] [-3.09786600e-01 8.54607785e-01 -4.16746681e-01 -1.40594795e+02] [-8.12462958e-01 -1.02491801e-02 5.82922719e-01 -1.15746848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:-140.60, Z:-115.77 [[ 4.92798298e-01 5.20516455e-01 6.97289364e-01 2.38775437e+02] [-3.11666892e-01 8.53770169e-01 -4.17061443e-01 -1.40604249e+02] [-8.12412202e-01 -1.17948392e-02 5.82964232e-01 -1.15773308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:-140.61, Z:-115.80 [[ 4.92230570e-01 5.21320671e-01 6.97089538e-01 2.38791380e+02] [-3.12577327e-01 8.53270243e-01 -4.17403051e-01 -1.40613248e+02] [-8.12406598e-01 -1.24358426e-02 5.82958720e-01 -1.15799502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:-140.62, Z:-115.83 [[ 4.91971736e-01 5.21979833e-01 6.96778921e-01 2.38807962e+02] [-3.13369727e-01 8.52860584e-01 -4.17646068e-01 -1.40622526e+02] [-8.12258102e-01 -1.28793590e-02 5.83155980e-01 -1.15826317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:-140.64, Z:-115.85 [[ 4.93472714e-01 5.16193190e-01 7.00020908e-01 2.38826291e+02] [-3.14965235e-01 8.56273137e-01 -4.09381505e-01 -1.40639488e+02] [-8.10729043e-01 -1.84636470e-02 5.85130338e-01 -1.15850017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:-140.64, Z:-115.88 [[ 4.93635774e-01 5.25593940e-01 6.92874255e-01 2.38842226e+02] [-3.15476440e-01 8.50664486e-01 -4.20528892e-01 -1.40641105e+02] [-8.10430959e-01 -1.09973982e-02 5.85730927e-01 -1.15878780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:-140.64, Z:-115.91 [[ 4.92814301e-01 5.31272833e-01 6.89117728e-01 2.38856246e+02] [-3.12361541e-01 8.47193714e-01 -4.29759326e-01 -1.40642192e+02] [-8.12135662e-01 -3.46233371e-03 5.83458378e-01 -1.15909264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:-140.66, Z:-115.93 [[ 4.93057164e-01 5.21942583e-01 6.96039204e-01 2.38871983e+02] [-3.12037788e-01 8.52911897e-01 -4.18537591e-01 -1.40659879e+02] [-8.12112709e-01 -1.08275759e-02 5.83400130e-01 -1.15932835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:-140.68, Z:-115.95 [[ 4.95621350e-01 5.13204192e-01 7.00700317e-01 2.38890741e+02] [-3.12993668e-01 8.58087036e-01 -4.07089183e-01 -1.40680749e+02] [-8.10181733e-01 -1.75526718e-02 5.85915918e-01 -1.15954903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:-140.67, Z:-115.99 [[ 4.93972356e-01 5.34276061e-01 6.85959476e-01 2.38902986e+02] [-3.09045265e-01 8.45303621e-01 -4.35835763e-01 -1.40668230e+02] [-8.12700643e-01 3.29829018e-03 5.82672108e-01 -1.15988338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:-140.69, Z:-116.01 [[ 4.95211788e-01 5.19240243e-01 6.96530585e-01 2.38918762e+02] [-3.05595250e-01 8.54613942e-01 -4.19817287e-01 -1.40690099e+02] [-8.13250778e-01 -4.95796859e-03 5.81892250e-01 -1.16009654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:-140.70, Z:-116.04 [[ 4.95821110e-01 5.18669194e-01 6.96522573e-01 2.38935153e+02] [-3.04045745e-01 8.54968168e-01 -4.20220914e-01 -1.40699680e+02] [-8.13460271e-01 -3.42032455e-03 5.81610427e-01 -1.16036934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:-140.71, Z:-116.06 [[ 4.96790866e-01 5.18231124e-01 6.96157553e-01 2.38951323e+02] [-3.02971797e-01 8.55238173e-01 -4.20447092e-01 -1.40708900e+02] [-8.13269282e-01 -2.04183022e-03 5.81883928e-01 -1.16063277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:-140.72, Z:-116.09 [[ 4.98104128e-01 5.17555838e-01 6.95721375e-01 2.38967338e+02] [-3.01597074e-01 8.55649372e-01 -4.20598807e-01 -1.40718024e+02] [-8.12976926e-01 -3.25528636e-04 5.82295811e-01 -1.16090267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.98, Y:-140.73, Z:-116.12 [[ 4.98750501e-01 5.17620102e-01 6.95210305e-01 2.38983593e+02] [-3.01496181e-01 8.55610525e-01 -4.20750143e-01 -1.40727586e+02] [-8.12617985e-01 2.46093031e-04 5.82796662e-01 -1.16116975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.00, Y:-140.74, Z:-116.14 [[ 4.99022009e-01 5.17699336e-01 6.94956425e-01 2.38999666e+02] [-3.01208682e-01 8.55562257e-01 -4.21054099e-01 -1.40737418e+02] [-8.12557915e-01 7.88353227e-04 5.82879931e-01 -1.16143937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:-140.75, Z:-116.17 [[ 4.99373844e-01 5.17803266e-01 6.94626188e-01 2.39015337e+02] [-3.01027136e-01 8.55498749e-01 -4.21312892e-01 -1.40747042e+02] [-8.12409027e-01 1.29130637e-03 5.83086534e-01 -1.16169804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:-140.76, Z:-116.20 [[ 4.99835506e-01 5.18046578e-01 6.94112534e-01 2.39032350e+02] [-3.01286421e-01 8.55351062e-01 -4.21427399e-01 -1.40756813e+02] [-8.12028915e-01 1.51769623e-03 5.83615231e-01 -1.16196747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:-140.77, Z:-116.22 [[ 4.99785391e-01 5.18595652e-01 6.93738505e-01 2.39048792e+02] [-3.01898556e-01 8.55018627e-01 -4.21663859e-01 -1.40766210e+02] [-8.11832387e-01 1.30278353e-03 5.83889097e-01 -1.16223896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:-140.78, Z:-116.25 [[ 4.99893903e-01 5.19148851e-01 6.93246389e-01 2.39065012e+02] [-3.02613425e-01 8.54683153e-01 -4.21831510e-01 -1.40775178e+02] [-8.11499354e-01 1.08533520e-03 5.84352309e-01 -1.16250321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.08, Y:-140.78, Z:-116.28 [[ 4.99767003e-01 5.19908352e-01 6.92768539e-01 2.39081841e+02] [-3.03713475e-01 8.54221909e-01 -4.21975184e-01 -1.40784482e+02] [-8.11166486e-01 4.86132849e-04 5.84815095e-01 -1.16277649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.10, Y:-140.79, Z:-116.31 [[ 4.99451320e-01 5.20797115e-01 6.92328494e-01 2.39098496e+02] [-3.04966503e-01 8.53680434e-01 -4.22167204e-01 -1.40793256e+02] [-8.10890752e-01 -2.85032710e-04 5.85197494e-01 -1.16305083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.11, Y:-140.80, Z:-116.33 [[ 4.99287426e-01 5.21980557e-01 6.91555033e-01 2.39114909e+02] [-3.07000253e-01 8.52956012e-01 -4.22157420e-01 -1.40800711e+02] [-8.10223988e-01 -1.52967851e-03 5.86118374e-01 -1.16331654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.13, Y:-140.82, Z:-116.36 [[ 5.00061364e-01 5.14595818e-01 6.96512582e-01 2.39133831e+02] [-3.10752763e-01 8.57359015e-01 -4.10326992e-01 -1.40822264e+02] [-8.08313895e-01 -1.12545332e-02 5.88644191e-01 -1.16355514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:-140.81, Z:-116.39 [[ 4.98017348e-01 5.40098068e-01 6.78434078e-01 2.39147266e+02] [-3.09428059e-01 8.41535385e-01 -4.42800715e-01 -1.40806155e+02] [-8.10082093e-01 1.05958982e-02 5.86220717e-01 -1.16388753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.16, Y:-140.83, Z:-116.41 [[ 4.96441933e-01 5.25078513e-01 6.91258246e-01 2.39164101e+02] [-3.11415549e-01 8.51036819e-01 -4.22796273e-01 -1.40830370e+02] [-8.10287457e-01 -5.37476665e-03 5.86007977e-01 -1.16410003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:-140.84, Z:-116.44 [[ 4.95323354e-01 5.26131515e-01 6.91260011e-01 2.39180294e+02] [-3.12574038e-01 8.50379004e-01 -4.23264717e-01 -1.40839285e+02] [-8.10525907e-01 -6.41703430e-03 5.85667633e-01 -1.16435653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:-140.85, Z:-116.46 [[ 4.94076576e-01 5.27217386e-01 6.91324934e-01 2.39196885e+02] [-3.13986637e-01 8.49694833e-01 -4.23593062e-01 -1.40847864e+02] [-8.10740852e-01 -7.77938158e-03 5.85353528e-01 -1.16462297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:-140.86, Z:-116.49 [[ 4.93074401e-01 5.28471349e-01 6.91082968e-01 2.39213809e+02] [-3.15705681e-01 8.48901698e-01 -4.23905449e-01 -1.40856483e+02] [-8.10683390e-01 -9.16189335e-03 5.85413103e-01 -1.16489452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.23, Y:-140.86, Z:-116.52 [[ 4.91750735e-01 5.29797376e-01 6.91010821e-01 2.39229875e+02] [-3.17404125e-01 8.48057172e-01 -4.24327295e-01 -1.40864475e+02] [-8.10824171e-01 -1.06664257e-02 5.85192611e-01 -1.16515339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:-140.87, Z:-116.54 [[ 4.89303028e-01 5.31726879e-01 6.91266282e-01 2.39247162e+02] [-3.19926709e-01 8.46812382e-01 -4.24918451e-01 -1.40872282e+02] [-8.11313409e-01 -1.32406616e-02 5.84461493e-01 -1.16542214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.26, Y:-140.88, Z:-116.57 [[ 4.88221478e-01 5.32785372e-01 6.91215983e-01 2.39263674e+02] [-3.21166891e-01 8.46129006e-01 -4.25344017e-01 -1.40881861e+02] [-8.11474963e-01 -1.43336036e-02 5.84211376e-01 -1.16568485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.28, Y:-140.89, Z:-116.60 [[ 4.87171350e-01 5.33520312e-01 6.91390015e-01 2.39280636e+02] [-3.21664213e-01 8.45655911e-01 -4.25908693e-01 -1.40891872e+02] [-8.11908992e-01 -1.49049120e-02 5.83593723e-01 -1.16595380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.30, Y:-140.90, Z:-116.62 [[ 4.86511093e-01 5.35542482e-01 6.90290668e-01 2.39296540e+02] [-3.21607804e-01 8.44399360e-01 -4.28436858e-01 -1.40899525e+02] [-8.12327137e-01 -1.35635815e-02 5.83044297e-01 -1.16623839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:-140.91, Z:-116.65 [[ 4.87187059e-01 5.34967913e-01 6.90259445e-01 2.39312091e+02] [-3.22600513e-01 8.44745416e-01 -4.27005961e-01 -1.40908115e+02] [-8.11527990e-01 -1.46462724e-02 5.84129958e-01 -1.16649726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.33, Y:-140.92, Z:-116.67 [[ 4.87797433e-01 5.32197408e-01 6.91967906e-01 2.39328994e+02] [-3.24193210e-01 8.46423353e-01 -4.22452683e-01 -1.40920861e+02] [-8.10526019e-01 -1.82599627e-02 5.85417925e-01 -1.16674546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.35, Y:-140.93, Z:-116.70 [[ 4.88060279e-01 5.35245549e-01 6.89426839e-01 2.39345488e+02] [-3.24176369e-01 8.44554480e-01 -4.26189408e-01 -1.40927085e+02] [-8.10374509e-01 -1.54897682e-02 5.85707454e-01 -1.16702023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:-140.94, Z:-116.73 [[ 4.88496900e-01 5.35282879e-01 6.89088541e-01 2.39361774e+02] [-3.23880308e-01 8.44541995e-01 -4.26439169e-01 -1.40936807e+02] [-8.10229797e-01 -1.48679970e-02 5.85923731e-01 -1.16728692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.38, Y:-140.95, Z:-116.76 [[ 4.89144820e-01 5.35121575e-01 6.88754125e-01 2.39377490e+02] [-3.23225868e-01 8.44660617e-01 -4.26700691e-01 -1.40946464e+02] [-8.10100231e-01 -1.39047175e-02 5.86126501e-01 -1.16755001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:-140.96, Z:-116.78 [[ 4.90390893e-01 5.34617519e-01 6.88259312e-01 2.39393636e+02] [-3.22158674e-01 8.45002942e-01 -4.26829963e-01 -1.40956739e+02] [-8.09771919e-01 -1.24151803e-02 5.86613418e-01 -1.16782235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:-140.97, Z:-116.81 [[ 4.91681480e-01 5.35130748e-01 6.86938428e-01 2.39408314e+02] [-3.20319278e-01 8.44718928e-01 -4.28772075e-01 -1.40965196e+02] [-8.09719014e-01 -9.22033273e-03 5.86745348e-01 -1.16809270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.42, Y:-140.98, Z:-116.83 [[ 4.94610682e-01 5.30979135e-01 6.88056271e-01 2.39423567e+02] [-3.19003038e-01 8.47331735e-01 -4.24577428e-01 -1.40980881e+02] [-8.08453669e-01 -9.49150977e-03 5.88483284e-01 -1.16833958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:-140.99, Z:-116.86 [[ 4.95487874e-01 5.32202962e-01 6.86477803e-01 2.39438897e+02] [-3.18196939e-01 8.46587617e-01 -4.26661593e-01 -1.40990350e+02] [-8.08234171e-01 -7.02949045e-03 5.88819252e-01 -1.16861010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:-141.00, Z:-116.89 [[ 4.96283534e-01 5.31869560e-01 6.86161370e-01 2.39454678e+02] [-3.17260598e-01 8.46806319e-01 -4.26924783e-01 -1.41000367e+02] [-8.08114081e-01 -5.81622635e-03 5.88997287e-01 -1.16887856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:-141.01, Z:-116.91 [[ 4.97235109e-01 5.31239094e-01 6.85960838e-01 2.39469938e+02] [-3.15718328e-01 8.47211927e-01 -4.27263254e-01 -1.41009538e+02] [-8.08133147e-01 -4.12011798e-03 5.88985433e-01 -1.16914675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.49, Y:-141.02, Z:-116.94 [[ 4.97687147e-01 5.30883373e-01 6.85908411e-01 2.39485773e+02] [-3.14564937e-01 8.47439858e-01 -4.27661768e-01 -1.41019508e+02] [-8.08304648e-01 -2.92097074e-03 5.88757220e-01 -1.16940896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:-141.03, Z:-116.97 [[ 4.98064962e-01 5.30698816e-01 6.85776976e-01 2.39501662e+02] [-3.13795840e-01 8.47558058e-01 -4.27992417e-01 -1.41030434e+02] [-8.08370871e-01 -2.02593527e-03 5.88670052e-01 -1.16967683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.52, Y:-141.06, Z:-116.99 [[ 5.01173397e-01 5.18526896e-01 6.92787907e-01 2.39520382e+02] [-3.14195549e-01 8.54992247e-01 -4.12637146e-01 -1.41056740e+02] [-8.06291748e-01 -1.08681165e-02 5.91418212e-01 -1.16988347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.54, Y:-141.05, Z:-117.02 [[ 5.00645184e-01 5.35115293e-01 6.80445459e-01 2.39536299e+02] [-3.14535913e-01 8.44774670e-01 -4.32923684e-01 -1.41053133e+02] [-8.06487172e-01 2.71662408e-03 5.91245348e-01 -1.17019754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.55, Y:-141.05, Z:-117.05 [[ 4.98334546e-01 5.46544703e-01 6.73016766e-01 2.39547968e+02] [-3.11646199e-01 8.37311013e-01 -4.49206984e-01 -1.41049824e+02] [-8.09036048e-01 1.41122413e-02 5.87589583e-01 -1.17050552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85655999499994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:239.56, Y:-141.08, Z:-117.07 [[ 4.98755434e-01 5.27816079e-01 6.87497785e-01 2.39563800e+02] [-3.12011226e-01 8.49355911e-01 -4.25727062e-01 -1.41079015e+02] [-8.08635896e-01 -2.17334091e-03 5.88305418e-01 -1.17072010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:239.58, Y:-141.08, Z:-117.10 [[ 4.98599561e-01 5.33690617e-01 6.83061347e-01 2.39580188e+02] [-3.12142434e-01 8.45675712e-01 -4.32896860e-01 -1.41084494e+02] [-8.08681383e-01 2.62975262e-03 5.88241027e-01 -1.17101089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.59, Y:-141.09, Z:-117.13 [[ 4.97878655e-01 5.36929700e-01 6.81045771e-01 2.39594859e+02] [-3.12705063e-01 8.43615748e-01 -4.36495148e-01 -1.41090176e+02] [-8.08908146e-01 4.35515641e-03 5.87918910e-01 -1.17128532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:-141.10, Z:-117.15 [[ 4.97552331e-01 5.32107088e-01 6.85057461e-01 2.39610622e+02] [-3.13832055e-01 8.46676224e-01 -4.29707822e-01 -1.41104568e+02] [-8.08672442e-01 -1.19086254e-03 5.88257990e-01 -1.17153898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:-141.11, Z:-117.18 [[ 4.96955566e-01 5.32934661e-01 6.84847292e-01 2.39626075e+02] [-3.14773322e-01 8.46154358e-01 -4.30047158e-01 -1.41113882e+02] [-8.08673557e-01 -1.85732817e-03 5.88254731e-01 -1.17180016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.64, Y:-141.12, Z:-117.21 [[ 4.95919515e-01 5.33929912e-01 6.84823104e-01 2.39641461e+02] [-3.15884445e-01 8.45523952e-01 -4.30472142e-01 -1.41123723e+02] [-8.08876290e-01 -2.84542977e-03 5.87971982e-01 -1.17205961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:-141.13, Z:-117.23 [[ 4.93585877e-01 5.35559955e-01 6.85236103e-01 2.39657914e+02] [-3.17919167e-01 8.44481781e-01 -4.31019633e-01 -1.41134741e+02] [-8.09506260e-01 -5.10448787e-03 5.87089055e-01 -1.17232861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:-141.14, Z:-117.26 [[ 4.92446544e-01 5.36626421e-01 6.85221487e-01 2.39673825e+02] [-3.19115750e-01 8.43797260e-01 -4.31475750e-01 -1.41144954e+02] [-8.09729300e-01 -6.18622730e-03 5.86770987e-01 -1.17259961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:-141.16, Z:-117.29 [[ 4.91702086e-01 5.37677256e-01 6.84932279e-01 2.39689225e+02] [-3.20520156e-01 8.43119674e-01 -4.31759245e-01 -1.41155091e+02] [-8.09627006e-01 -7.23767948e-03 5.86900100e-01 -1.17285746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.70, Y:-141.16, Z:-117.31 [[ 4.90610991e-01 5.38993840e-01 6.84679849e-01 2.39704718e+02] [-3.22394248e-01 8.42263983e-01 -4.32033947e-01 -1.41164717e+02] [-8.09544813e-01 -8.77624242e-03 5.86992482e-01 -1.17311523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.72, Y:-141.17, Z:-117.34 [[ 4.90013648e-01 5.39671738e-01 6.84573619e-01 2.39720672e+02] [-3.23255541e-01 8.41822123e-01 -4.32251511e-01 -1.41174474e+02] [-8.09563142e-01 -9.48307646e-03 5.86956209e-01 -1.17338379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:-141.18, Z:-117.37 [[ 4.89811745e-01 5.40432724e-01 6.84117626e-01 2.39736631e+02] [-3.24309195e-01 8.41327108e-01 -4.32425999e-01 -1.41183939e+02] [-8.09263863e-01 -1.00583032e-02 5.87359200e-01 -1.17365007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.75, Y:-141.19, Z:-117.39 [[ 4.89402596e-01 5.41109880e-01 6.83875133e-01 2.39752426e+02] [-3.25040339e-01 8.40886276e-01 -4.32734387e-01 -1.41193175e+02] [-8.09218065e-01 -1.05056726e-02 5.87414465e-01 -1.17392752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:-141.20, Z:-117.42 [[ 4.89390410e-01 5.41521102e-01 6.83558280e-01 2.39768021e+02] [-3.25378249e-01 8.40621440e-01 -4.32994907e-01 -1.41203494e+02] [-8.09089625e-01 -1.05114412e-02 5.87591259e-01 -1.17418841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.78, Y:-141.21, Z:-117.45 [[ 4.89141802e-01 5.41509087e-01 6.83745717e-01 2.39783811e+02] [-3.24607902e-01 8.40636777e-01 -4.33542985e-01 -1.41214164e+02] [-8.09549262e-01 -9.88526553e-03 5.86968716e-01 -1.17445884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.80, Y:-141.23, Z:-117.47 [[ 4.89026732e-01 5.41440276e-01 6.83882507e-01 2.39799986e+02] [-3.23760669e-01 8.40689526e-01 -4.34073900e-01 -1.41225277e+02] [-8.09957953e-01 -9.14051716e-03 5.86416717e-01 -1.17472923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:-141.24, Z:-117.50 [[ 4.89374106e-01 5.40203698e-01 6.84611532e-01 2.39815297e+02] [-3.20370695e-01 8.41509557e-01 -4.34999176e-01 -1.41236046e+02] [-8.11095310e-01 -6.45213990e-03 5.84878421e-01 -1.17499200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:-141.25, Z:-117.53 [[ 4.90911762e-01 5.38767381e-01 6.84642498e-01 2.39830878e+02] [-3.17279237e-01 8.42447486e-01 -4.35449329e-01 -1.41246616e+02] [-8.11381247e-01 -3.45565221e-03 5.84507084e-01 -1.17526148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:-141.26, Z:-117.55 [[ 4.92207460e-01 5.38253941e-01 6.84115861e-01 2.39846664e+02] [-3.16214388e-01 8.42780496e-01 -4.35579496e-01 -1.41257185e+02] [-8.11011884e-01 -1.93180115e-03 5.85026488e-01 -1.17553141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.86, Y:-141.27, Z:-117.58 [[ 4.92100885e-01 5.38620905e-01 6.83903677e-01 2.39862908e+02] [-3.16379874e-01 8.42546176e-01 -4.35912510e-01 -1.41267401e+02] [-8.11012019e-01 -1.86042739e-03 5.85026533e-01 -1.17580529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:-141.28, Z:-117.61 [[ 4.92968630e-01 5.38001576e-01 6.83766213e-01 2.39878237e+02] [-3.14996673e-01 8.42943747e-01 -4.36145543e-01 -1.41278019e+02] [-8.11023444e-01 -3.78011613e-04 5.85013531e-01 -1.17607379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:-141.29, Z:-117.64 [[ 4.94811219e-01 5.39848324e-01 6.80974041e-01 2.39891943e+02] [-3.11443410e-01 8.41740030e-01 -4.40995153e-01 -1.41285122e+02] [-8.11273604e-01 6.12447172e-03 5.84634613e-01 -1.17637320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:-141.30, Z:-117.66 [[ 4.96447610e-01 5.33071867e-01 6.85108864e-01 2.39908153e+02] [-3.11360640e-01 8.46068647e-01 -4.32692034e-01 -1.41301574e+02] [-8.10305080e-01 1.49299186e-03 5.86006355e-01 -1.17659290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.92, Y:-141.31, Z:-117.69 [[ 4.97107425e-01 5.35833408e-01 6.82471074e-01 2.39923819e+02] [-3.11023970e-01 8.44310929e-01 -4.36352088e-01 -1.41309283e+02] [-8.10029813e-01 4.64899957e-03 5.86370266e-01 -1.17686751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:-141.32, Z:-117.71 [[ 4.97574294e-01 5.35613627e-01 6.82303352e-01 2.39939125e+02] [-3.10166858e-01 8.44444167e-01 -4.36704212e-01 -1.41319415e+02] [-8.10071813e-01 5.66490282e-03 5.86303306e-01 -1.17713896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.95, Y:-141.33, Z:-117.74 [[ 4.97861530e-01 5.35819413e-01 6.81932147e-01 2.39954622e+02] [-3.10211077e-01 8.44311380e-01 -4.36929493e-01 -1.41329306e+02] [-8.09878377e-01 5.98748015e-03 5.86567273e-01 -1.17739984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:-141.34, Z:-117.77 [[ 4.97668097e-01 5.36094185e-01 6.81857382e-01 2.39970533e+02] [-3.10150643e-01 8.44135717e-01 -4.37311639e-01 -1.41339214e+02] [-8.10020397e-01 6.15754536e-03 5.86369373e-01 -1.17767374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:-141.35, Z:-117.79 [[ 4.96899698e-01 5.37480585e-01 6.81326142e-01 2.39986479e+02] [-3.12332912e-01 8.43263775e-01 -4.37440690e-01 -1.41348238e+02] [-8.09653532e-01 4.56356883e-03 5.86890392e-01 -1.17793473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.00, Y:-141.34, Z:-117.83 [[ 4.94208512e-01 5.50629512e-01 6.72729580e-01 2.39998766e+02] [-3.11606536e-01 8.34617614e-01 -4.54218895e-01 -1.41344208e+02] [-8.11578286e-01 1.48519100e-02 5.84054884e-01 -1.17828063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:-141.38, Z:-117.84 [[ 4.96373098e-01 5.26722804e-01 6.90055676e-01 2.40017133e+02] [-3.15945290e-01 8.49991757e-01 -4.21535985e-01 -1.41378230e+02] [-8.08574252e-01 -8.78071765e-03 5.88328631e-01 -1.17841737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:-141.38, Z:-117.87 [[ 4.95614596e-01 5.40912022e-01 6.79544228e-01 2.40032969e+02] [-3.18316653e-01 8.41079064e-01 -4.37333415e-01 -1.41377331e+02] [-8.08109325e-01 4.38579323e-04 5.89032365e-01 -1.17871861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:-141.39, Z:-117.90 [[ 4.93600496e-01 5.42852342e-01 6.79462939e-01 2.40049007e+02] [-3.21093873e-01 8.39825491e-01 -4.37712085e-01 -1.41386475e+02] [-8.08243327e-01 -2.11648420e-03 5.88844840e-01 -1.17899311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.07, Y:-141.40, Z:-117.93 [[ 4.92383542e-01 5.43983312e-01 6.79441391e-01 2.40065387e+02] [-3.22405593e-01 8.39089494e-01 -4.38159167e-01 -1.41396352e+02] [-8.08463407e-01 -3.31334150e-03 5.88537119e-01 -1.17926204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:-141.41, Z:-117.95 [[ 4.91397049e-01 5.44936193e-01 6.79391997e-01 2.40081513e+02] [-3.23443398e-01 8.38466872e-01 -4.38585994e-01 -1.41406016e+02] [-8.08649064e-01 -4.22499306e-03 5.88276161e-01 -1.17953298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:-141.42, Z:-117.98 [[ 4.89131387e-01 5.46679068e-01 6.79626723e-01 2.40097933e+02] [-3.25575553e-01 8.37317445e-01 -4.39203888e-01 -1.41415927e+02] [-8.09166884e-01 -6.44143890e-03 5.87543583e-01 -1.17980296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.11, Y:-141.43, Z:-118.01 [[ 4.87825946e-01 5.47872160e-01 6.79604255e-01 2.40114174e+02] [-3.26999317e-01 8.36526119e-01 -4.39653840e-01 -1.41425981e+02] [-8.09380809e-01 -7.75557695e-03 5.87232967e-01 -1.18007646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.13, Y:-141.42, Z:-118.04 [[ 4.84607941e-01 5.60345867e-01 6.71690147e-01 2.40126400e+02] [-3.24832361e-01 8.28252980e-01 -4.56597129e-01 -1.41419934e+02] [-8.12181680e-01 3.08389801e-03 5.83396442e-01 -1.18041546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:-141.46, Z:-118.06 [[ 4.86096120e-01 5.32813011e-01 6.92691026e-01 2.40145449e+02] [-3.30226297e-01 8.45860010e-01 -4.18893108e-01 -1.41459767e+02] [-8.09111336e-01 -2.51224779e-02 5.87118137e-01 -1.18055476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:-141.46, Z:-118.09 [[ 4.84626207e-01 5.51377266e-01 6.79058577e-01 2.40161831e+02] [-3.32043069e-01 8.34168696e-01 -4.40352117e-01 -1.41455084e+02] [-8.09249554e-01 -1.20705182e-02 5.87341011e-01 -1.18087688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:-141.47, Z:-118.11 [[ 4.82514958e-01 5.52606887e-01 6.79562318e-01 2.40177692e+02] [-3.33103383e-01 8.33332518e-01 -4.41133824e-01 -1.41465009e+02] [-8.10074967e-01 -1.35108386e-02 5.86170628e-01 -1.18114530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.19, Y:-141.48, Z:-118.14 [[ 4.81444910e-01 5.53152002e-01 6.79877681e-01 2.40193617e+02] [-3.33141317e-01 8.32966129e-01 -4.41796663e-01 -1.41475494e+02] [-8.10695789e-01 -1.37945912e-02 5.85305089e-01 -1.18141932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:-141.49, Z:-118.17 [[ 4.80916724e-01 5.53347022e-01 6.80092772e-01 2.40209418e+02] [-3.32645248e-01 8.32841901e-01 -4.42404235e-01 -1.41485745e+02] [-8.11212823e-01 -1.34700335e-02 5.84595855e-01 -1.18168551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:-141.48, Z:-118.20 [[ 4.78744421e-01 5.65195528e-01 6.71831671e-01 2.40221743e+02] [-3.29238651e-01 8.24956020e-01 -4.59401216e-01 -1.41481705e+02] [-8.13883094e-01 -1.25718372e-03 5.81027305e-01 -1.18202877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:-141.52, Z:-118.22 [[ 4.81683919e-01 5.39446419e-01 6.90636057e-01 2.40239940e+02] [-3.31768686e-01 8.41680153e-01 -4.26032931e-01 -1.41517601e+02] [-8.11116602e-01 -2.39182051e-02 5.84395224e-01 -1.18217173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:-141.52, Z:-118.25 [[ 4.81932795e-01 5.53339341e-01 6.79379389e-01 2.40255121e+02] [-3.31950759e-01 8.32868267e-01 -4.42875991e-01 -1.41516433e+02] [-8.10894244e-01 -1.20840396e-02 5.85067946e-01 -1.18248038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:-141.53, Z:-118.27 [[ 4.82017661e-01 5.53844908e-01 6.78907057e-01 2.40270496e+02] [-3.32626900e-01 8.32529203e-01 -4.43006176e-01 -1.41526556e+02] [-8.10566666e-01 -1.22859486e-02 5.85517494e-01 -1.18274730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:-141.54, Z:-118.30 [[ 4.82032487e-01 5.54370400e-01 6.78467495e-01 2.40285904e+02] [-3.33273544e-01 8.32176390e-01 -4.43183034e-01 -1.41536415e+02] [-8.10292186e-01 -1.24866465e-02 5.85893042e-01 -1.18302389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.30, Y:-141.55, Z:-118.33 [[ 4.82613843e-01 5.54937872e-01 6.77589726e-01 2.40300899e+02] [-3.34365783e-01 8.31794426e-01 -4.43077369e-01 -1.41546568e+02] [-8.09495770e-01 -1.27275471e-02 5.86987741e-01 -1.18328835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:-141.56, Z:-118.35 [[ 4.83141374e-01 5.55640840e-01 6.76637030e-01 2.40314526e+02] [-3.35799647e-01 8.31317058e-01 -4.42888864e-01 -1.41558181e+02] [-8.08587045e-01 -1.32365411e-02 5.88227664e-01 -1.18354958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:-141.57, Z:-118.38 [[ 4.83225456e-01 5.55947895e-01 6.76324698e-01 2.40330031e+02] [-3.36008910e-01 8.31113466e-01 -4.43112197e-01 -1.41569367e+02] [-8.08449857e-01 -1.31280305e-02 5.88418630e-01 -1.18382212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.34, Y:-141.58, Z:-118.41 [[ 4.82787776e-01 5.56341720e-01 6.76313429e-01 2.40344809e+02] [-3.36048236e-01 8.30850008e-01 -4.43576202e-01 -1.41579719e+02] [-8.08694965e-01 -1.31207665e-02 5.88081881e-01 -1.18408216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:-141.59, Z:-118.44 [[ 4.82329509e-01 5.56664688e-01 6.76374652e-01 2.40360522e+02] [-3.36151615e-01 8.30631525e-01 -4.43906929e-01 -1.41590479e+02] [-8.08925421e-01 -1.32550204e-02 5.87761829e-01 -1.18435325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.38, Y:-141.60, Z:-118.46 [[ 4.82082171e-01 5.56904395e-01 6.76353661e-01 2.40375947e+02] [-3.35939251e-01 8.30474932e-01 -4.44360448e-01 -1.41600862e+02] [-8.09161047e-01 -1.29954927e-02 5.87443203e-01 -1.18461918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.39, Y:-141.61, Z:-118.49 [[ 4.81208591e-01 5.57329931e-01 6.76625184e-01 2.40391561e+02] [-3.36039733e-01 8.30184301e-01 -4.44827297e-01 -1.41612125e+02] [-8.09639172e-01 -1.33182294e-02 5.86776819e-01 -1.18488659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:-141.62, Z:-118.52 [[ 4.80669550e-01 5.57819552e-01 6.76604856e-01 2.40407119e+02] [-3.36250427e-01 8.29852892e-01 -4.45286232e-01 -1.41622265e+02] [-8.09871863e-01 -1.34731387e-02 5.86452079e-01 -1.18515041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:-141.63, Z:-118.54 [[ 4.79715385e-01 5.58294454e-01 6.76890281e-01 2.40422423e+02] [-3.36419143e-01 8.29526796e-01 -4.45766144e-01 -1.41632151e+02] [-8.10367392e-01 -1.38779705e-02 5.85757708e-01 -1.18540838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:-141.64, Z:-118.57 [[ 4.79008416e-01 5.58877770e-01 6.76909578e-01 2.40438189e+02] [-3.36817671e-01 8.29127466e-01 -4.46207913e-01 -1.41642341e+02] [-8.10620006e-01 -1.42577624e-02 5.85398943e-01 -1.18567697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:-141.65, Z:-118.59 [[ 4.78918440e-01 5.59331623e-01 6.76598303e-01 2.40453536e+02] [-3.37252516e-01 8.28819415e-01 -4.46451696e-01 -1.41652604e+02] [-8.10492362e-01 -1.43705302e-02 5.85572898e-01 -1.18594381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.47, Y:-141.66, Z:-118.62 [[ 4.78923090e-01 5.59634238e-01 6.76344730e-01 2.40469599e+02] [-3.37349834e-01 8.28617970e-01 -4.46752001e-01 -1.41663005e+02] [-8.10449113e-01 -1.42049334e-02 5.85636795e-01 -1.18621614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.48, Y:-141.67, Z:-118.65 [[ 4.78555714e-01 5.59908718e-01 6.76377599e-01 2.40484625e+02] [-3.37143856e-01 8.28435929e-01 -4.47244824e-01 -1.41672699e+02] [-8.10751780e-01 -1.40049858e-02 5.85222531e-01 -1.18647703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:-141.68, Z:-118.68 [[ 4.77862979e-01 5.61684389e-01 6.75394419e-01 2.40500277e+02] [-3.36779987e-01 8.27256150e-01 -4.49696012e-01 -1.41683497e+02] [-8.11311416e-01 -1.25662477e-02 5.84479149e-01 -1.18677016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.52, Y:-141.69, Z:-118.71 [[ 4.77672310e-01 5.67348548e-01 6.70779241e-01 2.40516166e+02] [-3.36921982e-01 8.23439649e-01 -4.56542136e-01 -1.41689095e+02] [-8.11364741e-01 -7.92273515e-03 5.84486517e-01 -1.18705248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:-141.70, Z:-118.73 [[ 4.77659659e-01 5.66086123e-01 6.71853966e-01 2.40531724e+02] [-3.36899698e-01 8.24296887e-01 -4.55009050e-01 -1.41698664e+02] [-8.11381442e-01 -9.00793103e-03 5.84447614e-01 -1.18727335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:-141.71, Z:-118.75 [[ 4.77548278e-01 5.61019263e-01 6.76169379e-01 2.40546849e+02] [-3.37353996e-01 8.27685360e-01 -4.48474332e-01 -1.41713687e+02] [-8.11258235e-01 -1.39402973e-02 5.84521809e-01 -1.18751620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.56, Y:-141.72, Z:-118.78 [[ 4.77768212e-01 5.61425577e-01 6.75676593e-01 2.40562870e+02] [-3.37879243e-01 8.27409209e-01 -4.48588473e-01 -1.41724275e+02] [-8.10910077e-01 -1.39757834e-02 5.85003867e-01 -1.18778594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:-141.73, Z:-118.80 [[ 4.77992448e-01 5.61905498e-01 6.75118827e-01 2.40578617e+02] [-3.38540438e-01 8.27081551e-01 -4.48694194e-01 -1.41732884e+02] [-8.10502061e-01 -1.40825875e-02 5.85566469e-01 -1.18804518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.59, Y:-141.74, Z:-118.83 [[ 4.78201448e-01 5.62286475e-01 6.74653463e-01 2.40594362e+02] [-3.38999508e-01 8.26822662e-01 -4.48824709e-01 -1.41742021e+02] [-8.10186835e-01 -1.40785661e-02 5.86002633e-01 -1.18831795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:-141.75, Z:-118.86 [[ 4.78632165e-01 5.62641275e-01 6.74051961e-01 2.40609600e+02] [-3.39488455e-01 8.26582998e-01 -4.48896577e-01 -1.41751501e+02] [-8.09727633e-01 -1.39765187e-02 5.86639427e-01 -1.18858256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.63, Y:-141.76, Z:-118.89 [[ 4.79059900e-01 5.62733629e-01 6.73670896e-01 2.40625317e+02] [-3.39376746e-01 8.26528193e-01 -4.49081920e-01 -1.41761734e+02] [-8.09521486e-01 -1.34910971e-02 5.86935221e-01 -1.18885494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:-141.77, Z:-118.91 [[ 4.79454420e-01 5.62019733e-01 6.73986112e-01 2.40640638e+02] [-3.37225988e-01 8.27041802e-01 -4.49756035e-01 -1.41772999e+02] [-8.10186455e-01 -1.16481138e-02 5.86056507e-01 -1.18910614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.66, Y:-141.78, Z:-118.94 [[ 4.79724756e-01 5.61484051e-01 6.74240179e-01 2.40656701e+02] [-3.35478415e-01 8.27425361e-01 -4.50357087e-01 -1.41784065e+02] [-8.10751745e-01 -1.01455831e-02 5.85302209e-01 -1.18937498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:-141.80, Z:-118.96 [[ 4.80337342e-01 5.60697827e-01 6.74458290e-01 2.40672803e+02] [-3.33297745e-01 8.27980051e-01 -4.50956370e-01 -1.41795297e+02] [-8.11288267e-01 -8.18424312e-03 5.84589058e-01 -1.18964334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.69, Y:-141.81, Z:-118.99 [[ 4.82775725e-01 5.57795331e-01 6.75123669e-01 2.40688905e+02] [-3.27063979e-01 8.29974258e-01 -4.51853831e-01 -1.41806280e+02] [-8.12377223e-01 -2.66457327e-03 5.83126184e-01 -1.18991381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:-141.82, Z:-119.02 [[ 4.84439385e-01 5.56374200e-01 6.75104608e-01 2.40703938e+02] [-3.23985364e-01 8.30931763e-01 -4.52311716e-01 -1.41817019e+02] [-8.12620432e-01 3.93597071e-04 5.82793170e-01 -1.19016919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.72, Y:-141.83, Z:-119.04 [[ 4.86181039e-01 5.54900947e-01 6.75065134e-01 2.40719473e+02] [-3.20888585e-01 8.31909128e-01 -4.52722563e-01 -1.41828234e+02] [-8.12809026e-01 3.48443039e-03 5.82519824e-01 -1.19043590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.73, Y:-141.84, Z:-119.07 [[ 4.90875198e-01 5.51766102e-01 6.74237131e-01 2.40733703e+02] [-3.15679921e-01 8.33946548e-01 -4.52635993e-01 -1.41839844e+02] [-8.12026926e-01 9.34465819e-03 5.83545157e-01 -1.19069349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:-141.85, Z:-119.10 [[ 4.93075009e-01 5.50491572e-01 6.73673559e-01 2.40748875e+02] [-3.13454930e-01 8.34753811e-01 -4.52694248e-01 -1.41850481e+02] [-8.11555939e-01 1.20459215e-02 5.84150540e-01 -1.19095970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.76, Y:-141.86, Z:-119.12 [[ 4.94273811e-01 5.49773080e-01 6.73381734e-01 2.40764328e+02] [-3.11883005e-01 8.35198898e-01 -4.52958930e-01 -1.41859806e+02] [-8.11432309e-01 1.38694176e-02 5.84281822e-01 -1.19121731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.78, Y:-141.87, Z:-119.15 [[ 4.95428575e-01 5.49028451e-01 6.73140614e-01 2.40781329e+02] [-3.10265570e-01 8.35656404e-01 -4.53225828e-01 -1.41867399e+02] [-8.11348139e-01 1.56886702e-02 5.84352687e-01 -1.19148958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.80, Y:-141.88, Z:-119.18 [[ 4.96136247e-01 5.48983710e-01 6.72655714e-01 2.40797335e+02] [-3.10038399e-01 8.35672632e-01 -4.53351347e-01 -1.41877674e+02] [-8.11002475e-01 1.63749349e-02 5.84813514e-01 -1.19175938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:-141.89, Z:-119.20 [[ 4.96513226e-01 5.49092980e-01 6.72288268e-01 2.40813276e+02] [-3.09960319e-01 8.35592151e-01 -4.53553038e-01 -1.41888038e+02] [-8.10801589e-01 1.68123959e-02 5.85079590e-01 -1.19202807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.83, Y:-141.90, Z:-119.23 [[ 4.96273922e-01 5.48986784e-01 6.72551638e-01 2.40829521e+02] [-3.08898021e-01 8.35644695e-01 -4.54180533e-01 -1.41896912e+02] [-8.11353318e-01 1.76480844e-02 5.84289602e-01 -1.19229114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.85, Y:-141.91, Z:-119.25 [[ 4.97119474e-01 5.42766064e-01 6.76961763e-01 2.40847386e+02] [-3.10336385e-01 8.39807225e-01 -4.45438159e-01 -1.41913830e+02] [-8.10286096e-01 1.13501162e-02 5.85924584e-01 -1.19251832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.86, Y:-141.91, Z:-119.28 [[ 4.94933191e-01 5.58271359e-01 6.65863519e-01 2.40861888e+02] [-3.10214962e-01 8.29326817e-01 -4.64740475e-01 -1.41908298e+02] [-8.11669769e-01 2.34546604e-02 5.83645496e-01 -1.19283583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.88, Y:-141.92, Z:-119.31 [[ 4.93835397e-01 5.51279881e-01 6.72470887e-01 2.40877920e+02] [-3.11422822e-01 8.34179233e-01 -4.55149244e-01 -1.41923614e+02] [-8.11875869e-01 1.53460265e-02 5.83628369e-01 -1.19307163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:-141.93, Z:-119.33 [[ 4.91701699e-01 5.53634051e-01 6.72100272e-01 2.40896173e+02] [-3.15166957e-01 8.32672697e-01 -4.55330615e-01 -1.41930502e+02] [-8.11726079e-01 1.20630391e-02 5.83913740e-01 -1.19334461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:-141.94, Z:-119.36 [[ 4.90805549e-01 5.55149142e-01 6.71505282e-01 2.40912464e+02] [-3.17669689e-01 8.31688384e-01 -4.55390382e-01 -1.41938917e+02] [-8.11292723e-01 1.01912521e-02 5.84551329e-01 -1.19360501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:-141.95, Z:-119.39 [[ 4.89943282e-01 5.56834249e-01 6.70739293e-01 2.40929210e+02] [-3.20669063e-01 8.30585235e-01 -4.55301569e-01 -1.41947873e+02] [-8.10633661e-01 7.98660436e-03 5.85499173e-01 -1.19387277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:-141.96, Z:-119.41 [[ 4.88749901e-01 5.58611564e-01 6.70131819e-01 2.40945840e+02] [-3.23667585e-01 8.29410229e-01 -4.55321828e-01 -1.41956671e+02] [-8.10162224e-01 5.63855087e-03 5.86178623e-01 -1.19414561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:-141.96, Z:-119.44 [[ 4.86216139e-01 5.61655914e-01 6.69429982e-01 2.40963899e+02] [-3.28868258e-01 8.27370013e-01 -4.55307073e-01 -1.41963212e+02] [-8.09592203e-01 1.22337530e-03 5.86991455e-01 -1.19442103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:-141.97, Z:-119.47 [[ 4.84820908e-01 5.63123801e-01 6.69208691e-01 2.40981056e+02] [-3.30935682e-01 8.26372349e-01 -4.55620802e-01 -1.41971672e+02] [-8.09586476e-01 -5.70543147e-04 5.87000352e-01 -1.19469368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:-141.98, Z:-119.50 [[ 4.81972661e-01 5.65775574e-01 6.69029412e-01 2.40999124e+02] [-3.34979399e-01 8.24547826e-01 -4.55971145e-01 -1.41978904e+02] [-8.09624084e-01 -4.34544483e-03 5.86932671e-01 -1.19496566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.02, Y:-141.99, Z:-119.52 [[ 4.80534329e-01 5.67106598e-01 6.68937116e-01 2.41015450e+02] [-3.36686336e-01 8.23623178e-01 -4.56384896e-01 -1.41988143e+02] [-8.09770999e-01 -5.91337695e-03 5.86716253e-01 -1.19523116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.04, Y:-142.02, Z:-119.54 [[ 4.81700972e-01 5.55175443e-01 6.78044542e-01 2.41035788e+02] [-3.42095516e-01 8.31465942e-01 -4.37761402e-01 -1.42016300e+02] [-8.06805324e-01 -2.10859048e-02 5.90440982e-01 -1.19542090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:-141.99, Z:-119.58 [[ 4.75990521e-01 5.90121733e-01 6.52065460e-01 2.41050543e+02] [-3.39702587e-01 8.07272531e-01 -4.82610831e-01 -1.41989814e+02] [-8.11193674e-01 8.20985650e-03 5.84719951e-01 -1.19580689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.06, Y:-142.02, Z:-119.60 [[ 4.74834029e-01 5.70512443e-01 6.70110586e-01 2.41064788e+02] [-3.40393598e-01 8.21219968e-01 -4.57962839e-01 -1.42016821e+02] [-8.11581692e-01 -1.06450136e-02 5.84141970e-01 -1.19600765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.08, Y:-142.03, Z:-119.63 [[ 4.73337276e-01 5.71451351e-01 6.70369433e-01 2.41081407e+02] [-3.41160138e-01 8.20553430e-01 -4.58586774e-01 -1.42026089e+02] [-8.12133969e-01 -1.16371139e-02 5.83354947e-01 -1.19627452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.10, Y:-142.04, Z:-119.65 [[ 4.72029536e-01 5.72441597e-01 6.70446668e-01 2.41097349e+02] [-3.42143555e-01 8.19847562e-01 -4.59116285e-01 -1.42035004e+02] [-8.12481326e-01 -1.26725591e-02 5.82849467e-01 -1.19653820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.11, Y:-142.04, Z:-119.68 [[ 4.71021489e-01 5.73310316e-01 6.70413334e-01 2.41113415e+02] [-3.43064991e-01 8.19226378e-01 -4.59537325e-01 -1.42044583e+02] [-8.12677777e-01 -1.35433897e-02 5.82555927e-01 -1.19680911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.13, Y:-142.05, Z:-119.71 [[ 4.69803727e-01 5.74838526e-01 6.69959049e-01 2.41129404e+02] [-3.45467582e-01 8.18120491e-01 -4.59707529e-01 -1.42053698e+02] [-8.12364824e-01 -1.54768218e-02 5.82944131e-01 -1.19707019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:-142.06, Z:-119.73 [[ 4.68981852e-01 5.75749276e-01 6.69752785e-01 2.41145144e+02] [-3.46617820e-01 8.17461606e-01 -4.60013706e-01 -1.42062792e+02] [-8.12349746e-01 -1.64101705e-02 5.82939617e-01 -1.19734322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:-142.07, Z:-119.76 [[ 4.68408494e-01 5.76687331e-01 6.69346849e-01 2.41161232e+02] [-3.47963581e-01 8.16780831e-01 -4.60206933e-01 -1.42072221e+02] [-8.12105183e-01 -1.73434896e-02 5.83253268e-01 -1.19761240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:-142.08, Z:-119.79 [[ 4.68722776e-01 5.77879830e-01 6.68097195e-01 2.41177195e+02] [-3.50497416e-01 8.15909124e-01 -4.59830255e-01 -1.42080994e+02] [-8.10833226e-01 -1.86334273e-02 5.84980576e-01 -1.19787592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.19, Y:-142.09, Z:-119.81 [[ 4.68929618e-01 5.78583657e-01 6.67342465e-01 2.41192749e+02] [-3.51777093e-01 8.15397949e-01 -4.59759787e-01 -1.42091079e+02] [-8.10159176e-01 -1.91608107e-02 5.85896726e-01 -1.19814397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:-142.10, Z:-119.84 [[ 4.69311056e-01 5.79177841e-01 6.66558445e-01 2.41207862e+02] [-3.52864784e-01 8.14968711e-01 -4.59687333e-01 -1.42101114e+02] [-8.09464994e-01 -1.94686544e-02 5.86845290e-01 -1.19840569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:-142.10, Z:-119.87 [[ 4.69315591e-01 5.83997430e-01 6.62336680e-01 2.41221864e+02] [-3.50714763e-01 8.11650541e-01 -4.67142970e-01 -1.42103254e+02] [-8.10396219e-01 -1.30537726e-02 5.85736774e-01 -1.19868320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.23, Y:-142.11, Z:-119.90 [[ 4.68416355e-01 5.81911822e-01 6.64804294e-01 2.41232502e+02] [-3.47473987e-01 8.13159178e-01 -4.66941088e-01 -1.42109776e+02] [-8.12310253e-01 -1.22793565e-02 5.83096279e-01 -1.19896781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:-142.12, Z:-119.92 [[ 4.69244377e-01 5.74350533e-01 6.70769096e-01 2.41245865e+02] [-3.45178810e-01 8.18453166e-01 -4.59332129e-01 -1.42122941e+02] [-8.12810743e-01 -1.59962593e-02 5.82308179e-01 -1.19921676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:-142.18, Z:-119.93 [[ 4.74262213e-01 5.34723625e-01 6.99389733e-01 2.41266148e+02] [-3.53440252e-01 8.43228429e-01 -4.05025685e-01 -1.42182487e+02] [-8.06322108e-01 -5.51041061e-02 5.88904233e-01 -1.19933121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.28, Y:-142.16, Z:-119.97 [[ 4.73160406e-01 5.80084229e-01 6.63039605e-01 2.41284691e+02] [-3.51601281e-01 8.14423725e-01 -4.61617304e-01 -1.42157254e+02] [-8.07772103e-01 -1.47065434e-02 5.89311418e-01 -1.19972806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:-142.17, Z:-120.00 [[ 4.74380590e-01 5.78035470e-01 6.63956363e-01 2.41298838e+02] [-3.46582121e-01 8.15942716e-01 -4.62729205e-01 -1.42170474e+02] [-8.09224252e-01 -1.06056514e-02 5.87404146e-01 -1.19998183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:-142.14, Z:-120.04 [[ 4.70972817e-01 6.02239713e-01 6.44586638e-01 2.41308631e+02] [-3.34562524e-01 7.98054994e-01 -5.01174764e-01 -1.42144310e+02] [-8.16242932e-01 2.03851582e-02 5.77349047e-01 -1.20036393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:-142.23, Z:-120.04 [[ 4.76552382e-01 5.27277622e-01 7.03474333e-01 2.41324859e+02] [-3.41385463e-01 8.48373685e-01 -4.04620880e-01 -1.42233474e+02] [-8.10156647e-01 -4.73328668e-02 5.84299416e-01 -1.20035814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:-142.21, Z:-120.08 [[ 4.77626664e-01 5.74174522e-01 6.64978486e-01 2.41342652e+02] [-3.37323000e-01 8.18729459e-01 -4.64645313e-01 -1.42207669e+02] [-8.11224977e-01 -2.38554752e-03 5.84729293e-01 -1.20076941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:-142.22, Z:-120.10 [[ 4.78648162e-01 5.73509659e-01 6.64817725e-01 2.41357870e+02] [-3.35672235e-01 8.19198591e-01 -4.65013784e-01 -1.42219589e+02] [-8.11307641e-01 -5.82858843e-04 5.84619169e-01 -1.20104105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:-142.23, Z:-120.13 [[ 4.80178477e-01 5.72953803e-01 6.64193172e-01 2.41372772e+02] [-3.34664320e-01 8.19587020e-01 -4.65055814e-01 -1.42230991e+02] [-8.10819600e-01 1.02803638e-03 5.85295241e-01 -1.20130454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:-142.24, Z:-120.16 [[ 4.78718698e-01 5.80131539e-01 6.58996059e-01 2.41385263e+02] [-3.33065530e-01 8.14484184e-01 -4.75060908e-01 -1.42235021e+02] [-8.12339683e-01 7.93166782e-03 5.83130627e-01 -1.20163216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:-142.26, Z:-120.18 [[ 4.83540692e-01 5.66401160e-01 6.67366560e-01 2.41400315e+02] [-3.31622001e-01 8.24129369e-01 -4.59170592e-01 -1.42257881e+02] [-8.10071138e-01 7.14231810e-04 5.86331171e-01 -1.20181526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:-142.27, Z:-120.21 [[ 4.84505447e-01 5.70618636e-01 6.63060211e-01 2.41415625e+02] [-3.30491288e-01 8.21191311e-01 -4.65209994e-01 -1.42265283e+02] [-8.09956777e-01 6.26115271e-03 5.86456152e-01 -1.20209209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.43, Y:-142.28, Z:-120.24 [[ 4.85501982e-01 5.70085367e-01 6.62789936e-01 2.41430486e+02] [-3.29245216e-01 8.21548792e-01 -4.65462318e-01 -1.42276722e+02] [-8.09867528e-01 7.76246261e-03 5.86561447e-01 -1.20235926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:-142.29, Z:-120.26 [[ 4.86644469e-01 5.69423018e-01 6.62521386e-01 2.41445333e+02] [-3.27742273e-01 8.21989584e-01 -4.65744702e-01 -1.42288303e+02] [-8.09791432e-01 9.51581800e-03 5.86640679e-01 -1.20262467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:-142.30, Z:-120.29 [[ 4.88780500e-01 5.67710257e-01 6.62418815e-01 2.41459659e+02] [-3.24296406e-01 8.23125388e-01 -4.66150659e-01 -1.42301482e+02] [-8.09892254e-01 1.30253117e-02 5.86434035e-01 -1.20288780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.47, Y:-142.31, Z:-120.32 [[ 4.89978808e-01 5.66922325e-01 6.62208309e-01 2.41474624e+02] [-3.22516439e-01 8.23634765e-01 -4.66485714e-01 -1.42313023e+02] [-8.09878950e-01 1.49950486e-02 5.86405350e-01 -1.20315058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.49, Y:-142.32, Z:-120.34 [[ 4.90871442e-01 5.66202726e-01 6.62162896e-01 2.41489327e+02] [-3.20941411e-01 8.24098852e-01 -4.66752282e-01 -1.42324338e+02] [-8.09964097e-01 1.65998714e-02 5.86244493e-01 -1.20341959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57655999499997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:241.50, Y:-142.32, Z:-120.38 [[ 4.90163730e-01 5.77148621e-01 6.53176077e-01 2.41502100e+02] [-3.18674817e-01 8.16155022e-01 -4.82013839e-01 -1.42324616e+02] [-8.11286558e-01 2.81149348e-02 5.83972321e-01 -1.20377434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:241.52, Y:-142.34, Z:-120.40 [[ 4.90268620e-01 5.72208947e-01 6.57429541e-01 2.41517719e+02] [-3.18809858e-01 8.19766717e-01 -4.75754984e-01 -1.42340358e+02] [-8.11170114e-01 2.36527208e-02 5.84331750e-01 -1.20403222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63655999499997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:242.22, Y:-142.87, Z:-119.91 [[ 5.08525736e-01 -7.90361780e-01 3.41657478e-01 2.42217225e+02] [-3.38335462e-01 1.81463422e-01 9.23363494e-01 -1.42868743e+02] [-7.91789550e-01 -5.85148941e-01 -1.75128598e-01 -1.19909913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.68, Y:-142.11, Z:-120.07 [[ 5.35489632e-01 -2.76732703e-01 -7.97915952e-01 2.42679598e+02] [-3.05068930e-01 -9.44380460e-01 1.22794522e-01 -1.42108097e+02] [-7.87517493e-01 1.77664172e-01 -5.90128494e-01 -1.20073211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:-142.26, Z:-120.04 [[ 5.65304916e-01 -4.27856517e-01 -7.05244038e-01 2.42722390e+02] [-2.33563373e-01 -9.02998965e-01 3.60612008e-01 -1.42264810e+02] [-7.91124834e-01 -3.91365640e-02 -6.10401365e-01 -1.20044151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:242.73, Y:-142.18, Z:-120.08 [[ 5.93698328e-01 -2.85768804e-01 -7.52235658e-01 2.42731820e+02] [-1.61296205e-01 -9.58106611e-01 2.36675424e-01 -1.42179580e+02] [-7.88356410e-01 -1.91810469e-02 -6.14919717e-01 -1.20080938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:-142.66, Z:-120.74 [[ 6.12351042e-01 2.11442194e-01 7.61786322e-01 2.41823115e+02] [-1.15757630e-01 9.77166551e-01 -1.78173236e-01 -1.42655494e+02] [-7.82065453e-01 2.09219875e-02 6.22845003e-01 -1.20739129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.84, Y:-142.66, Z:-120.77 [[ 6.11251997e-01 2.14540501e-01 7.61802711e-01 2.41843047e+02] [-1.20307976e-01 9.76559191e-01 -1.78488480e-01 -1.42664312e+02] [-7.82238447e-01 1.74504978e-02 6.22734689e-01 -1.20769789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.86, Y:-142.66, Z:-120.79 [[ 6.11008109e-01 2.23276060e-01 7.59484623e-01 2.41859261e+02] [-1.21205945e-01 9.74474162e-01 -1.88968851e-01 -1.42658677e+02] [-7.82290362e-01 2.34074491e-02 6.22474000e-01 -1.20791256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.88, Y:-142.67, Z:-120.81 [[ 6.09786634e-01 2.14727506e-01 7.62923560e-01 2.41881081e+02] [-1.24866661e-01 9.76606416e-01 -1.75066344e-01 -1.42670868e+02] [-7.82667604e-01 1.14893994e-02 6.22333846e-01 -1.20814323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.90, Y:-142.67, Z:-120.84 [[ 6.07352211e-01 2.19750457e-01 7.63435019e-01 2.41900758e+02] [-1.32307506e-01 9.75539985e-01 -1.75546180e-01 -1.42674416e+02] [-7.83337741e-01 5.61017701e-03 6.21571001e-01 -1.20840027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:-142.68, Z:-120.87 [[ 6.05846866e-01 2.22476573e-01 7.63841443e-01 2.41920323e+02] [-1.36112835e-01 9.74934405e-01 -1.76000572e-01 -1.42678428e+02] [-7.83851307e-01 2.66077091e-03 6.20942871e-01 -1.20866132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:-142.68, Z:-120.89 [[ 6.04896898e-01 2.25098297e-01 7.63826224e-01 2.41940292e+02] [-1.39882435e-01 9.74336045e-01 -1.76358090e-01 -1.42682663e+02] [-7.83921328e-01 -1.67410360e-04 6.20860149e-01 -1.20892304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.96, Y:-142.69, Z:-120.92 [[ 6.03034095e-01 2.29732208e-01 7.63919494e-01 2.41959037e+02] [-1.46872147e-01 9.73237663e-01 -1.76739992e-01 -1.42686895e+02] [-7.84078091e-01 -5.61825518e-03 6.20636755e-01 -1.20917515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.98, Y:-142.69, Z:-120.94 [[ 6.01943354e-01 2.32068089e-01 7.64073688e-01 2.41978495e+02] [-1.50178113e-01 9.72665514e-01 -1.77111072e-01 -1.42691357e+02] [-7.84289955e-01 -8.13631221e-03 6.20341090e-01 -1.20943170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.00, Y:-142.70, Z:-120.97 [[ 6.00888146e-01 2.34440902e-01 7.64179887e-01 2.41998078e+02] [-1.53530181e-01 9.72071822e-01 -1.77496073e-01 -1.42695992e+02] [-7.84450075e-01 -1.06693898e-02 6.20100189e-01 -1.20968751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:-142.70, Z:-121.00 [[ 6.00188745e-01 2.36696769e-01 7.64034103e-01 2.42017822e+02] [-1.56764272e-01 9.71495972e-01 -1.77821651e-01 -1.42700264e+02] [-7.84345863e-01 -1.30466966e-02 6.20186545e-01 -1.20995034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:-142.70, Z:-121.02 [[ 5.99751813e-01 2.38934207e-01 7.63680697e-01 2.42036716e+02] [-1.60015174e-01 9.70913922e-01 -1.78104747e-01 -1.42704422e+02] [-7.84023537e-01 -1.53818550e-02 6.20540484e-01 -1.21020950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.06, Y:-142.71, Z:-121.05 [[ 5.99236139e-01 2.42516815e-01 7.62955860e-01 2.42055800e+02] [-1.65566612e-01 9.69951385e-01 -1.78275088e-01 -1.42708604e+02] [-7.83264800e-01 -1.94911421e-02 6.21382610e-01 -1.21047909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:-142.71, Z:-121.07 [[ 5.98963935e-01 2.44302804e-01 7.62599728e-01 2.42075391e+02] [-1.68080841e-01 9.69466612e-01 -1.78559006e-01 -1.42713596e+02] [-7.82937441e-01 -2.12279988e-02 6.21738157e-01 -1.21074202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.09, Y:-142.72, Z:-121.10 [[ 5.99344685e-01 2.46461301e-01 7.61605393e-01 2.42093502e+02] [-1.71347739e-01 9.68870065e-01 -1.78691775e-01 -1.42720131e+02] [-7.81937274e-01 -2.34013966e-02 6.22917711e-01 -1.21099256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.11, Y:-142.73, Z:-121.13 [[ 5.99468018e-01 2.46891528e-01 7.61368944e-01 2.42112699e+02] [-1.71813961e-01 9.68755917e-01 -1.78862896e-01 -1.42726016e+02] [-7.81740404e-01 -2.35912282e-02 6.23157601e-01 -1.21125480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:-142.73, Z:-121.15 [[ 6.00075427e-01 2.47167315e-01 7.60800763e-01 2.42131799e+02] [-1.71945655e-01 9.68691399e-01 -1.79085637e-01 -1.42732295e+02] [-7.81245271e-01 -2.33514955e-02 6.23787250e-01 -1.21150971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.15, Y:-142.74, Z:-121.18 [[ 6.00223784e-01 2.47084678e-01 7.60710570e-01 2.42150498e+02] [-1.71374434e-01 9.68728724e-01 -1.79430942e-01 -1.42738222e+02] [-7.81256816e-01 -2.26676242e-02 6.23798017e-01 -1.21176643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.17, Y:-142.75, Z:-121.20 [[ 6.00858457e-01 2.46180939e-01 7.60502505e-01 2.42169123e+02] [-1.69540322e-01 9.68997477e-01 -1.79721923e-01 -1.42746316e+02] [-7.81169120e-01 -2.09484023e-02 6.23967924e-01 -1.21202311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:-142.75, Z:-121.23 [[ 6.01894589e-01 2.51462133e-01 7.57950988e-01 2.42185782e+02] [-1.69629934e-01 9.67728092e-01 -1.86354570e-01 -1.42748985e+02] [-7.80351581e-01 -1.64053687e-02 6.25125807e-01 -1.21228260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.22, Y:-142.78, Z:-121.25 [[ 6.04244396e-01 2.30920125e-01 7.62603833e-01 2.42215461e+02] [-1.70733803e-01 9.72377414e-01 -1.59160714e-01 -1.42777089e+02] [-7.78292155e-01 -3.40302832e-02 6.26979474e-01 -1.21250132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.22, Y:-142.75, Z:-121.29 [[ 6.00879363e-01 2.70732941e-01 7.52095516e-01 2.42219671e+02] [-1.66390579e-01 9.62649174e-01 -2.13590128e-01 -1.42747490e+02] [-7.81830011e-01 3.20029148e-03 6.23483433e-01 -1.21285090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.24, Y:-142.78, Z:-121.30 [[ 6.01671146e-01 2.43557260e-01 7.60704735e-01 2.42243994e+02] [-1.64272525e-01 9.69749098e-01 -1.80558091e-01 -1.42776498e+02] [-7.81668964e-01 -1.63262936e-02 6.23479817e-01 -1.21303118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.26, Y:-142.78, Z:-121.33 [[ 6.02190937e-01 2.43421944e-01 7.60336657e-01 2.42263670e+02] [-1.63698001e-01 9.69795493e-01 -1.80830492e-01 -1.42783236e+02] [-7.81389173e-01 -1.55711071e-02 6.23849742e-01 -1.21328966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.28, Y:-142.79, Z:-121.36 [[ 6.01877879e-01 2.44049432e-01 7.60383386e-01 2.42283293e+02] [-1.64245653e-01 9.69633609e-01 -1.81201626e-01 -1.42787854e+02] [-7.81515441e-01 -1.58284153e-02 6.23685079e-01 -1.21355028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:-142.79, Z:-121.38 [[ 6.02544420e-01 2.45091002e-01 7.59519995e-01 2.42302299e+02] [-1.65683261e-01 9.69358639e-01 -1.81363962e-01 -1.42789827e+02] [-7.80697943e-01 -1.65599067e-02 6.24689116e-01 -1.21381232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:-142.79, Z:-121.41 [[ 6.03567942e-01 2.45496618e-01 7.58575738e-01 2.42322498e+02] [-1.66148811e-01 9.69257011e-01 -1.81481182e-01 -1.42793436e+02] [-7.79807869e-01 -1.65002332e-02 6.25801430e-01 -1.21407527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:242.35, Y:-142.80, Z:-121.44 [[ 6.05484086e-01 2.42973795e-01 7.57860644e-01 2.42345734e+02] [-1.67174850e-01 9.69840864e-01 -1.77373248e-01 -1.42802513e+02] [-7.78101273e-01 -1.92985602e-02 6.27842317e-01 -1.21435372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.36, Y:-142.79, Z:-121.46 [[ 6.04082010e-01 2.62417727e-01 7.52477150e-01 2.42357720e+02] [-1.65684661e-01 9.64952802e-01 -2.03505977e-01 -1.42788099e+02] [-7.79508511e-01 -1.73962232e-03 6.26389221e-01 -1.21463018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:-142.80, Z:-121.48 [[ 6.04092597e-01 2.45091949e-01 7.58288910e-01 2.42381428e+02] [-1.64469356e-01 9.69390049e-01 -1.82298560e-01 -1.42804914e+02] [-7.79757633e-01 -1.45900785e-02 6.25911467e-01 -1.21483651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:-142.81, Z:-121.51 [[ 6.03763959e-01 2.45398133e-01 7.58451606e-01 2.42401674e+02] [-1.64471526e-01 9.69314855e-01 -1.82696002e-01 -1.42810271e+02] [-7.80011666e-01 -1.44384310e-02 6.25598379e-01 -1.21509420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.42, Y:-142.82, Z:-121.54 [[ 6.03599907e-01 2.45924678e-01 7.58411633e-01 2.42421677e+02] [-1.64873454e-01 9.69179690e-01 -1.83050465e-01 -1.42815860e+02] [-7.80053778e-01 -1.45527021e-02 6.25543221e-01 -1.21535142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.44, Y:-142.82, Z:-121.56 [[ 6.03424934e-01 2.46385953e-01 7.58401154e-01 2.42441239e+02] [-1.65161082e-01 9.69062085e-01 -1.83413448e-01 -1.42821397e+02] [-7.80128301e-01 -1.45821072e-02 6.25449595e-01 -1.21560311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.46, Y:-142.83, Z:-121.59 [[ 6.03285301e-01 2.46766747e-01 7.58388435e-01 2.42461226e+02] [-1.65352326e-01 9.68965706e-01 -1.83750017e-01 -1.42826726e+02] [-7.80195779e-01 -1.45476070e-02 6.25366223e-01 -1.21586546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:-142.83, Z:-121.61 [[ 6.03683002e-01 2.46559135e-01 7.58139451e-01 2.42480146e+02] [-1.64630017e-01 9.69030883e-01 -1.84054627e-01 -1.42831275e+02] [-7.80040891e-01 -1.37018611e-02 6.25578507e-01 -1.21611866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.50, Y:-142.84, Z:-121.64 [[ 6.03982508e-01 2.46654313e-01 7.57869896e-01 2.42499111e+02] [-1.64431545e-01 9.69012448e-01 -1.84328898e-01 -1.42835626e+02] [-7.79850881e-01 -1.32862881e-02 6.25824318e-01 -1.21636947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.52, Y:-142.84, Z:-121.66 [[ 6.04117347e-01 2.46655732e-01 7.57761955e-01 2.42518566e+02] [-1.64059805e-01 9.69018865e-01 -1.84626163e-01 -1.42839858e+02] [-7.79824731e-01 -1.27824110e-02 6.25867397e-01 -1.21662676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.54, Y:-142.84, Z:-121.69 [[ 6.03766253e-01 2.46216429e-01 7.58184530e-01 2.42538325e+02] [-1.62787611e-01 9.69144602e-01 -1.85091691e-01 -1.42844338e+02] [-7.80363060e-01 -1.16709320e-02 6.25217789e-01 -1.21688164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:-142.85, Z:-121.71 [[ 6.03320079e-01 2.46353625e-01 7.58495071e-01 2.42558088e+02] [-1.62473238e-01 9.69114098e-01 -1.85527118e-01 -1.42849491e+02] [-7.80773545e-01 -1.13029146e-02 6.24711866e-01 -1.21713773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.58, Y:-142.85, Z:-121.74 [[ 6.03223047e-01 2.46692801e-01 7.58462008e-01 2.42578574e+02] [-1.62574585e-01 9.69029254e-01 -1.85881169e-01 -1.42854871e+02] [-7.80827420e-01 -1.11788408e-02 6.24646759e-01 -1.21739421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.60, Y:-142.86, Z:-121.76 [[ 6.02921081e-01 2.46914915e-01 7.58629814e-01 2.42597591e+02] [-1.62430726e-01 9.68975753e-01 -1.86285398e-01 -1.42859635e+02] [-7.81090539e-01 -1.09093975e-02 6.24322477e-01 -1.21764025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:-142.87, Z:-121.79 [[ 6.02559742e-01 2.47013973e-01 7.58884613e-01 2.42617821e+02] [-1.62096041e-01 9.68954779e-01 -1.86685589e-01 -1.42865695e+02] [-7.81438821e-01 -1.05229710e-02 6.23893129e-01 -1.21789866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:-142.87, Z:-121.82 [[ 6.02498624e-01 2.47374730e-01 7.58815624e-01 2.42637387e+02] [-1.62244866e-01 9.68863751e-01 -1.87028437e-01 -1.42871007e+02] [-7.81455061e-01 -1.04295631e-02 6.23874356e-01 -1.21815277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:242.66, Y:-142.89, Z:-121.84 [[ 6.05128626e-01 2.37081870e-01 7.60007587e-01 2.42664371e+02] [-1.64139316e-01 9.71273651e-01 -1.72295615e-01 -1.42889532e+02] [-7.79023511e-01 -2.04861162e-02 6.26659946e-01 -1.21837042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:-142.87, Z:-121.87 [[ 6.02911563e-01 2.68975491e-01 7.51099083e-01 2.42670488e+02] [-1.61073740e-01 9.63104910e-01 -2.15601909e-01 -1.42865355e+02] [-7.81378844e-01 9.00654508e-03 6.23991975e-01 -1.21871498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:-142.89, Z:-121.89 [[ 6.03328893e-01 2.46740746e-01 7.58362217e-01 2.42695371e+02] [-1.60375322e-01 9.69045308e-01 -1.87699088e-01 -1.42887369e+02] [-7.81200361e-01 -8.37830171e-03 6.24224159e-01 -1.21890782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:-142.89, Z:-121.92 [[ 6.03342659e-01 2.46480269e-01 7.58435965e-01 2.42715377e+02] [-1.59488546e-01 9.69118878e-01 -1.88074464e-01 -1.42892811e+02] [-7.81371256e-01 -7.48850204e-03 6.24021541e-01 -1.21916794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:-142.92, Z:-121.93 [[ 6.07882692e-01 2.29512903e-01 7.60133186e-01 2.42748310e+02] [-1.62330583e-01 9.73016638e-01 -1.63973792e-01 -1.42916964e+02] [-7.77256338e-01 -2.37160330e-02 6.28736937e-01 -1.21933778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:-142.88, Z:-121.98 [[ 6.02479301e-01 2.74165969e-01 7.49567685e-01 2.42748682e+02] [-1.57673385e-01 9.61525927e-01 -2.24959987e-01 -1.42880750e+02] [-7.82405136e-01 1.73468613e-02 6.22528144e-01 -1.21975572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:-142.91, Z:-121.99 [[ 6.02706037e-01 2.45416328e-01 7.59286678e-01 2.42774775e+02] [-1.56442005e-01 9.69405982e-01 -1.89150580e-01 -1.42906448e+02] [-7.82477688e-01 -4.78213415e-03 6.22660260e-01 -1.21992678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:-142.93, Z:-122.01 [[ 6.08198478e-01 2.26062021e-01 7.60914302e-01 2.42808593e+02] [-1.60890365e-01 9.73800199e-01 -1.60709249e-01 -1.42933812e+02] [-7.77308756e-01 -2.46806592e-02 6.28635000e-01 -1.22007474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:-142.89, Z:-122.05 [[ 6.02826414e-01 2.78694204e-01 7.47616115e-01 2.42805621e+02] [-1.56053745e-01 9.60098887e-01 -2.32071877e-01 -1.42891155e+02] [-7.82462487e-01 2.32307625e-02 6.22264243e-01 -1.22053053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:-142.95, Z:-122.06 [[ 6.09524830e-01 2.23347414e-01 7.60654596e-01 2.42848118e+02] [-1.60434913e-01 9.74391904e-01 -1.57546999e-01 -1.42945462e+02] [-7.76363394e-01 -2.60067465e-02 6.29748783e-01 -1.22056992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.86, Y:-142.93, Z:-122.09 [[ 6.10564219e-01 2.54979352e-01 7.49797883e-01 2.42861573e+02] [-1.61298176e-01 9.66946428e-01 -1.97477857e-01 -1.42930041e+02] [-7.75367160e-01 -3.68117023e-04 6.31510595e-01 -1.22091265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.86, Y:-142.90, Z:-122.13 [[ 6.03856446e-01 2.88025455e-01 7.43235313e-01 2.42861164e+02] [-1.55789822e-01 9.57096249e-01 -2.44328265e-01 -1.42899191e+02] [-7.81720490e-01 3.17507004e-02 6.22820174e-01 -1.22131633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.89, Y:-142.93, Z:-122.14 [[ 6.04261630e-01 2.45750520e-01 7.57941003e-01 2.42888859e+02] [-1.56178850e-01 9.69326052e-01 -1.89776638e-01 -1.42934671e+02] [-7.81329667e-01 -3.69961371e-03 6.24107574e-01 -1.22144093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.92, Y:-142.95, Z:-122.16 [[ 6.08333430e-01 2.31377213e-01 7.59206839e-01 2.42919264e+02] [-1.61101762e-01 9.72647860e-01 -1.67339067e-01 -1.42953832e+02] [-7.77159354e-01 -2.05116109e-02 6.28969485e-01 -1.22161951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:-142.94, Z:-122.20 [[ 6.06762538e-01 2.61228931e-01 7.50732088e-01 2.42930692e+02] [-1.61459583e-01 9.65270863e-01 -2.05384919e-01 -1.42935175e+02] [-7.78312293e-01 3.40698506e-03 6.27868112e-01 -1.22197876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:-142.94, Z:-122.22 [[ 6.06569427e-01 2.57409194e-01 7.52206114e-01 2.42951339e+02] [-1.61307689e-01 9.66302433e-01 -2.00597702e-01 -1.42942905e+02] [-7.78494290e-01 3.39803644e-04 6.27651595e-01 -1.22223077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:-142.93, Z:-122.25 [[ 6.03458668e-01 2.70394650e-01 7.50149565e-01 2.42961394e+02] [-1.58840386e-01 9.62659984e-01 -2.19215620e-01 -1.42931381e+02] [-7.81413699e-01 1.31335198e-02 6.23875102e-01 -1.22253983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:-142.96, Z:-122.27 [[ 6.04791880e-01 2.42743060e-01 7.58487040e-01 2.42989765e+02] [-1.60528346e-01 9.70023409e-01 -1.82442419e-01 -1.42958607e+02] [-7.80036815e-01 -1.14189767e-02 6.25629423e-01 -1.22270812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:-142.95, Z:-122.30 [[ 6.03289298e-01 2.59070892e-01 7.54270705e-01 2.43002235e+02] [-1.59687690e-01 9.65854712e-01 -2.04020873e-01 -1.42948692e+02] [-7.81371784e-01 2.63586334e-03 6.24060243e-01 -1.22301281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:-142.96, Z:-122.33 [[ 6.03026904e-01 2.50819668e-01 7.57263526e-01 2.43022716e+02] [-1.59748277e-01 9.68024116e-01 -1.93416128e-01 -1.42959803e+02] [-7.81561924e-01 -4.33641484e-03 6.23812596e-01 -1.22325085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.04, Y:-142.97, Z:-122.35 [[ 6.03656847e-01 2.48214744e-01 7.57619860e-01 2.43042593e+02] [-1.60299166e-01 9.68679969e-01 -1.89639910e-01 -1.42966427e+02] [-7.80962604e-01 -6.96840167e-03 6.24538912e-01 -1.22347579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.06, Y:-142.97, Z:-122.37 [[ 6.03482085e-01 2.49733719e-01 7.57259825e-01 2.43061623e+02] [-1.60935606e-01 9.68292332e-01 -1.91075091e-01 -1.42970140e+02] [-7.80966775e-01 -6.55967472e-03 6.24538123e-01 -1.22373565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.08, Y:-142.97, Z:-122.40 [[ 6.03519733e-01 2.50404460e-01 7.57008282e-01 2.43081200e+02] [-1.61661537e-01 9.68116765e-01 -1.91351709e-01 -1.42973744e+02] [-7.80787730e-01 -6.89459028e-03 6.24758341e-01 -1.22399665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.10, Y:-142.98, Z:-122.42 [[ 6.03956285e-01 2.50964483e-01 7.56474477e-01 2.43100834e+02] [-1.62264655e-01 9.67970673e-01 -1.91580160e-01 -1.42978469e+02] [-7.80324925e-01 -7.04302848e-03 6.25334636e-01 -1.22424854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:-142.98, Z:-122.45 [[ 6.04215484e-01 2.51049143e-01 7.56239365e-01 2.43120526e+02] [-1.62048560e-01 9.67951682e-01 -1.91858818e-01 -1.42983861e+02] [-7.80169157e-01 -6.62343154e-03 6.25533546e-01 -1.22450227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.14, Y:-142.99, Z:-122.48 [[ 6.04494394e-01 2.51037388e-01 7.56020342e-01 2.43140041e+02] [-1.61650949e-01 9.67958472e-01 -1.92159743e-01 -1.42988844e+02] [-7.80035575e-01 -6.05191834e-03 6.25705902e-01 -1.22476145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.16, Y:-142.99, Z:-122.50 [[ 6.04825252e-01 2.50747198e-01 7.55852008e-01 2.43159155e+02] [-1.60790153e-01 9.68039067e-01 -1.92475693e-01 -1.42993678e+02] [-7.79957013e-01 -5.11940072e-03 6.25812152e-01 -1.22501845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:-143.00, Z:-122.53 [[ 6.05158505e-01 2.50391821e-01 7.55703063e-01 2.43178642e+02] [-1.59851316e-01 9.68135720e-01 -1.92771326e-01 -1.42999008e+02] [-7.79891493e-01 -4.14292183e-03 6.25901027e-01 -1.22528218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.20, Y:-143.00, Z:-122.55 [[ 6.05807339e-01 2.49950103e-01 7.55329342e-01 2.43198251e+02] [-1.58809412e-01 9.68254041e-01 -1.93038033e-01 -1.43004830e+02] [-7.79600564e-01 -3.00955189e-03 6.26269833e-01 -1.22553978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:-142.99, Z:-122.59 [[ 6.02912949e-01 2.62292189e-01 7.53457884e-01 2.43207833e+02] [-1.53478968e-01 9.64903167e-01 -2.13087036e-01 -1.42994585e+02] [-7.82904964e-01 1.28329946e-02 6.22008948e-01 -1.22587078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.23, Y:-143.02, Z:-122.60 [[ 6.04438743e-01 2.35269137e-01 7.61119070e-01 2.43233415e+02] [-1.51171897e-01 9.71911529e-01 -1.80374716e-01 -1.43020853e+02] [-7.82177003e-01 -6.03434691e-03 6.23027064e-01 -1.22603628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.26, Y:-143.04, Z:-122.62 [[ 6.07574604e-01 2.28829869e-01 7.60585295e-01 2.43260011e+02] [-1.53832763e-01 9.73369488e-01 -1.69962702e-01 -1.43036155e+02] [-7.79223063e-01 -1.37379157e-02 6.26596113e-01 -1.22623436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.26, Y:-143.01, Z:-122.66 [[ 6.03662184e-01 2.62079853e-01 7.52931682e-01 2.43264252e+02] [-1.49111434e-01 9.64872614e-01 -2.16302146e-01 -1.43009614e+02] [-7.83171595e-01 1.83027028e-02 6.21536212e-01 -1.22662731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.29, Y:-143.04, Z:-122.68 [[ 6.04987803e-01 2.32171263e-01 7.61633943e-01 2.43291808e+02] [-1.49639156e-01 9.72653179e-01 -1.77634221e-01 -1.43038298e+02] [-7.82047237e-01 -6.50372331e-03 6.23185222e-01 -1.22677702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:-143.04, Z:-122.71 [[ 6.04995875e-01 2.40239444e-01 7.59121203e-01 2.43308771e+02] [-1.49935874e-01 9.70713626e-01 -1.87707991e-01 -1.43036587e+02] [-7.81984159e-01 -2.56940724e-04 6.23298251e-01 -1.22706074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.34, Y:-143.06, Z:-122.72 [[ 6.08544080e-01 2.28181747e-01 7.60004732e-01 2.43337107e+02] [-1.53992548e-01 9.73514967e-01 -1.68981965e-01 -1.43056229e+02] [-7.78434582e-01 -1.42020910e-02 6.27565058e-01 -1.22723352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.35, Y:-143.04, Z:-122.76 [[ 6.07563051e-01 2.53820918e-01 7.52623465e-01 2.43347610e+02] [-1.53124524e-01 9.67219488e-01 -2.02581692e-01 -1.43039293e+02] [-7.79371554e-01 7.83604088e-03 6.26513030e-01 -1.22758804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:-143.06, Z:-122.78 [[ 6.09404493e-01 2.40652569e-01 7.55455164e-01 2.43373458e+02] [-1.57977096e-01 9.70573317e-01 -1.81743427e-01 -1.43057848e+02] [-7.76961647e-01 -8.58935174e-03 6.29489334e-01 -1.22776824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.39, Y:-143.05, Z:-122.81 [[ 6.08176137e-01 2.56288456e-01 7.51290898e-01 2.43387490e+02] [-1.58290715e-01 9.66593324e-01 -2.01597112e-01 -1.43049724e+02] [-7.77859779e-01 3.68418010e-03 6.28427077e-01 -1.22809156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.41, Y:-143.07, Z:-122.83 [[ 6.09645357e-01 2.45999256e-01 7.53536266e-01 2.43411557e+02] [-1.61284489e-01 9.69235479e-01 -1.85929827e-01 -1.43065493e+02] [-7.76092683e-01 -8.18245589e-03 6.30565774e-01 -1.22828573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.43, Y:-143.06, Z:-122.86 [[ 6.07744845e-01 2.58413402e-01 7.50911924e-01 2.43425265e+02] [-1.60893772e-01 9.66032178e-01 -2.02225184e-01 -1.43057615e+02] [-7.77662779e-01 2.08426100e-03 6.28678183e-01 -1.22858310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:-143.07, Z:-122.88 [[ 6.07784082e-01 2.48658432e-01 7.54166755e-01 2.43448024e+02] [-1.61409132e-01 9.68568102e-01 -1.89269446e-01 -1.43070410e+02] [-7.77525306e-01 -6.69444476e-03 6.28816017e-01 -1.22880238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.47, Y:-143.08, Z:-122.90 [[ 6.08404317e-01 2.47768532e-01 7.53959510e-01 2.43470436e+02] [-1.62806681e-01 9.68777582e-01 -1.86986582e-01 -1.43078413e+02] [-7.76748461e-01 -8.98620153e-03 6.29746835e-01 -1.22904469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.48, Y:-143.07, Z:-122.93 [[ 6.06985214e-01 2.58597155e-01 7.51462881e-01 2.43484531e+02] [-1.60786260e-01 9.65982934e-01 -2.02545674e-01 -1.43071538e+02] [-7.78278054e-01 2.11732341e-03 6.27916227e-01 -1.22934786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:-143.09, Z:-122.95 [[ 6.07924393e-01 2.45491344e-01 7.55090679e-01 2.43509757e+02] [-1.60579771e-01 9.69363623e-01 -1.85871741e-01 -1.43089010e+02] [-7.77587339e-01 -8.25632288e-03 6.28720735e-01 -1.22954524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:-143.09, Z:-122.98 [[ 6.07583894e-01 2.53472400e-01 7.52724089e-01 2.43527473e+02] [-1.59407724e-01 9.67342586e-01 -1.97072319e-01 -1.43088280e+02] [-7.78094460e-01 -2.52066650e-04 6.28147234e-01 -1.22982598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.55, Y:-143.09, Z:-123.01 [[ 6.07676997e-01 2.53064821e-01 7.52786067e-01 2.43546973e+02] [-1.58329103e-01 9.67449011e-01 -1.97419112e-01 -1.43093781e+02] [-7.78241969e-01 7.79110397e-04 6.27964036e-01 -1.23007682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.57, Y:-143.10, Z:-123.03 [[ 6.08269631e-01 2.51997185e-01 7.52665580e-01 2.43566933e+02] [-1.56286342e-01 9.67724416e-01 -1.97696822e-01 -1.43098349e+02] [-7.78191902e-01 2.62162314e-03 6.28021092e-01 -1.23033903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:-143.10, Z:-123.06 [[ 6.07866083e-01 2.50587256e-01 7.53461911e-01 2.43585927e+02] [-1.53597757e-01 9.68082816e-01 -1.98048962e-01 -1.43103100e+02] [-7.79042074e-01 4.65718748e-03 6.26954350e-01 -1.23059015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51655999499997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:243.60, Y:-143.11, Z:-123.09 [[ 6.06395664e-01 2.53591342e-01 7.53641646e-01 2.43603055e+02] [-1.52706482e-01 9.67280204e-01 -2.02607349e-01 -1.43106273e+02] [-7.80362114e-01 7.77425325e-03 6.25279563e-01 -1.23087522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.62, Y:-143.12, Z:-123.11 [[ 6.07226617e-01 2.47980678e-01 7.54838671e-01 2.43623910e+02] [-1.52399492e-01 9.68757630e-01 -1.95660545e-01 -1.43115836e+02] [-7.79775756e-01 3.77326031e-03 6.26047548e-01 -1.23108672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:-143.12, Z:-123.13 [[ 6.08313427e-01 2.49630662e-01 7.53418415e-01 2.43642290e+02] [-1.51086198e-01 9.68314883e-01 -1.98844785e-01 -1.43118873e+02] [-7.79184019e-01 7.12882848e-03 6.26754692e-01 -1.23134933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:-143.12, Z:-123.16 [[ 6.08976203e-01 2.49585532e-01 7.52897766e-01 2.43661511e+02] [-1.50946411e-01 9.68323847e-01 -1.98907284e-01 -1.43123612e+02] [-7.78693242e-01 7.48258689e-03 6.27360221e-01 -1.23160654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.68, Y:-143.13, Z:-123.19 [[ 6.10259714e-01 2.47626706e-01 7.52505214e-01 2.43681072e+02] [-1.50855672e-01 9.68834506e-01 -1.96474596e-01 -1.43129913e+02] [-7.77705374e-01 6.38085124e-03 6.28596561e-01 -1.23186039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.70, Y:-143.13, Z:-123.21 [[ 6.10305166e-01 2.53307008e-01 7.50575222e-01 2.43698145e+02] [-1.51441703e-01 9.67329844e-01 -2.03318429e-01 -1.43130724e+02] [-7.77555795e-01 1.04178972e-02 6.28727646e-01 -1.23212346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.72, Y:-143.15, Z:-123.23 [[ 6.12066658e-01 2.42466943e-01 7.52717867e-01 2.43722287e+02] [-1.52613442e-01 9.70159565e-01 -1.88413257e-01 -1.43146220e+02] [-7.75940425e-01 4.46607576e-04 6.30806038e-01 -1.23234553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:-143.13, Z:-123.27 [[ 6.09882145e-01 2.62892762e-01 7.47616990e-01 2.43734826e+02] [-1.52118232e-01 9.64666817e-01 -2.15123162e-01 -1.43134319e+02] [-7.77755625e-01 1.74736009e-02 6.28323850e-01 -1.23266419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.756559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.76, Y:-143.15, Z:-123.29 [[ 6.09915502e-01 2.50503207e-01 7.51831912e-01 2.43756696e+02] [-1.51360099e-01 9.68082356e-01 -1.99766546e-01 -1.43147903e+02] [-7.77877369e-01 8.04335998e-03 6.28364626e-01 -1.23289034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.78, Y:-143.15, Z:-123.31 [[ 6.09763589e-01 2.50352890e-01 7.52005184e-01 2.43776740e+02] [-1.52611463e-01 9.68134088e-01 -1.98560139e-01 -1.43154510e+02] [-7.77751957e-01 6.31013199e-03 6.28539637e-01 -1.23313533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.79, Y:-143.16, Z:-123.34 [[ 6.08048380e-01 2.56827874e-01 7.51210098e-01 2.43794626e+02] [-1.55082022e-01 9.66423408e-01 -2.04878898e-01 -1.43155264e+02] [-7.78605635e-01 8.07710121e-03 6.27461573e-01 -1.23339388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.81, Y:-143.16, Z:-123.37 [[ 6.07615736e-01 2.54672193e-01 7.52293288e-01 2.43814345e+02] [-1.56381422e-01 9.67016881e-01 -2.01055225e-01 -1.43162419e+02] [-7.78683484e-01 4.51962415e-03 6.27400674e-01 -1.23365075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.83, Y:-143.17, Z:-123.39 [[ 6.06403036e-01 2.56631734e-01 7.52605814e-01 2.43834571e+02] [-1.59465122e-01 9.66507349e-01 -2.01083117e-01 -1.43169339e+02] [-7.79003359e-01 1.92303467e-03 6.27016801e-01 -1.23392688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:-143.17, Z:-123.42 [[ 6.06174396e-01 2.65585649e-01 7.49677840e-01 2.43853259e+02] [-1.63623442e-01 9.64078252e-01 -2.09237887e-01 -1.43168839e+02] [-7.78318682e-01 4.16978140e-03 6.27855590e-01 -1.23416770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.87, Y:-143.18, Z:-123.44 [[ 6.04422790e-01 2.61246241e-01 7.52611116e-01 2.43872976e+02] [-1.65899089e-01 9.65267933e-01 -2.01829904e-01 -1.43176925e+02] [-7.79198680e-01 -2.86690461e-03 6.26770450e-01 -1.23440951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:-143.18, Z:-123.47 [[ 6.04082224e-01 2.63633809e-01 7.52051781e-01 2.43892696e+02] [-1.69593464e-01 9.64606774e-01 -2.01920352e-01 -1.43181508e+02] [-7.78667274e-01 -5.56657178e-03 6.27412376e-01 -1.23466955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:-143.19, Z:-123.49 [[ 6.03501989e-01 2.65964013e-01 7.51697076e-01 2.43911880e+02] [-1.72974902e-01 9.63949737e-01 -2.02189483e-01 -1.43185345e+02] [-7.78373325e-01 -8.00297313e-03 6.27750683e-01 -1.23492532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.93, Y:-143.19, Z:-123.52 [[ 6.02061992e-01 2.69828637e-01 7.51474460e-01 2.43931082e+02] [-1.78798813e-01 9.62827692e-01 -2.02469308e-01 -1.43189094e+02] [-7.78172437e-01 -1.24636662e-02 6.27926998e-01 -1.23517341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:-143.19, Z:-123.54 [[ 6.01367768e-01 2.71467861e-01 7.51439957e-01 2.43950445e+02] [-1.81155195e-01 9.62342151e-01 -2.02682954e-01 -1.43193737e+02] [-7.78164252e-01 -1.42402566e-02 6.27899365e-01 -1.23543156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.97, Y:-143.20, Z:-123.57 [[ 6.00512689e-01 2.72948920e-01 7.51587252e-01 2.43969950e+02] [-1.83040301e-01 9.61901729e-01 -2.03079569e-01 -1.43198831e+02] [-7.78383427e-01 -1.56188988e-02 6.27594846e-01 -1.23569063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.99, Y:-143.20, Z:-123.59 [[ 5.99709796e-01 2.74239123e-01 7.51758647e-01 2.43989318e+02] [-1.84609504e-01 9.61515671e-01 -2.03486966e-01 -1.43204345e+02] [-7.78631807e-01 -1.67486641e-02 6.27257516e-01 -1.23594436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:-143.21, Z:-123.62 [[ 5.99232879e-01 2.75286713e-01 7.51756066e-01 2.44009317e+02] [-1.85872833e-01 9.61201166e-01 -2.03822494e-01 -1.43210033e+02] [-7.78698431e-01 -1.75938893e-02 6.27151663e-01 -1.23619693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:-143.22, Z:-123.64 [[ 5.98157819e-01 2.76273284e-01 7.52250155e-01 2.44028038e+02] [-1.86870019e-01 9.60903699e-01 -2.04312695e-01 -1.43215138e+02] [-7.79286096e-01 -1.83617646e-02 6.26399255e-01 -1.23644548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:-143.21, Z:-123.68 [[ 5.94639467e-01 2.88518303e-01 7.50440599e-01 2.44038737e+02] [-1.83859315e-01 9.57457324e-01 -2.22421278e-01 -1.43206252e+02] [-7.82687458e-01 -5.71502426e-03 6.22388690e-01 -1.23677687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:-143.24, Z:-123.69 [[ 5.97837765e-01 2.58217096e-01 7.58889938e-01 2.44069135e+02] [-1.86398382e-01 9.65528702e-01 -1.81686460e-01 -1.43238865e+02] [-7.79644566e-01 -3.28368294e-02 6.25360770e-01 -1.23689764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:-143.22, Z:-123.73 [[ 5.95742139e-01 2.84628713e-01 7.51051130e-01 2.44080905e+02] [-1.84800630e-01 9.58588748e-01 -2.16694114e-01 -1.43223936e+02] [-7.81626529e-01 -9.70090635e-03 6.23671277e-01 -1.23726220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:-143.24, Z:-123.74 [[ 5.97987816e-01 2.67270116e-01 7.55630371e-01 2.44104798e+02] [-1.84100079e-01 9.63359574e-01 -1.95052537e-01 -1.43244052e+02] [-7.80075466e-01 -2.24725703e-02 6.25281737e-01 -1.23743598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.12, Y:-143.24, Z:-123.78 [[ 5.97022062e-01 2.83447838e-01 7.50481166e-01 2.44118498e+02] [-1.82996273e-01 9.58954160e-01 -2.16608596e-01 -1.43237482e+02] [-7.81074275e-01 -8.01514582e-03 6.24386687e-01 -1.23777313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.14, Y:-143.25, Z:-123.80 [[ 5.98260792e-01 2.76938707e-01 7.51923518e-01 2.44139670e+02] [-1.82853470e-01 9.60802014e-01 -2.08384499e-01 -1.43248942e+02] [-7.80159364e-01 -1.28235490e-02 6.25449377e-01 -1.23801583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.16, Y:-143.26, Z:-123.82 [[ 6.00735923e-01 2.71169038e-01 7.52052992e-01 2.44161224e+02] [-1.82460338e-01 9.62393484e-01 -2.01263525e-01 -1.43259319e+02] [-7.78347336e-01 -1.63136138e-02 6.27621932e-01 -1.23821537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:-143.26, Z:-123.85 [[ 6.00623085e-01 2.75052654e-01 7.50731608e-01 2.44180432e+02] [-1.82613917e-01 9.61337204e-01 -2.06113894e-01 -1.43262100e+02] [-7.78398399e-01 -1.32972765e-02 6.27629759e-01 -1.23848964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:-143.27, Z:-123.88 [[ 6.00792624e-01 2.75049748e-01 7.50597002e-01 2.44200074e+02] [-1.82454697e-01 9.61341485e-01 -2.06234899e-01 -1.43267419e+02] [-7.78304893e-01 -1.30455419e-02 6.27750991e-01 -1.23875370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:-143.27, Z:-123.90 [[ 6.00870238e-01 2.75183196e-01 7.50485953e-01 2.44218722e+02] [-1.82250354e-01 9.61308512e-01 -2.06569003e-01 -1.43272448e+02] [-7.78292853e-01 -1.26551644e-02 6.27773910e-01 -1.23900898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:-143.27, Z:-123.93 [[ 5.99250823e-01 2.83750947e-01 7.48587905e-01 2.44234021e+02] [-1.82217336e-01 9.58879168e-01 -2.17594998e-01 -1.43272514e+02] [-7.79548134e-01 -6.01171269e-03 6.26313472e-01 -1.23933745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:-143.29, Z:-123.95 [[ 6.01712105e-01 2.72329844e-01 7.50852182e-01 2.44256553e+02] [-1.81039105e-01 9.62112576e-01 -2.03873080e-01 -1.43285764e+02] [-7.77925051e-01 -1.32607071e-02 6.28217135e-01 -1.23950634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:-143.29, Z:-123.98 [[ 6.01601972e-01 2.74814250e-01 7.50034796e-01 2.44275417e+02] [-1.80780540e-01 9.61435564e-01 -2.07268069e-01 -1.43290387e+02] [-7.78070346e-01 -1.08988160e-02 6.28082600e-01 -1.23977006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:-143.30, Z:-124.00 [[ 6.01487905e-01 2.74775356e-01 7.50140522e-01 2.44294686e+02] [-1.80241540e-01 9.61453235e-01 -2.07655158e-01 -1.43296719e+02] [-7.78283552e-01 -1.03044174e-02 6.27828426e-01 -1.24002465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.31, Y:-143.30, Z:-124.03 [[ 6.01458165e-01 2.74251796e-01 7.50355934e-01 2.44313944e+02] [-1.78883652e-01 9.61615095e-01 -2.08079429e-01 -1.43302844e+02] [-7.78619750e-01 -9.07533825e-03 6.27430413e-01 -1.24028355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.33, Y:-143.31, Z:-124.05 [[ 6.01307772e-01 2.74219196e-01 7.50488371e-01 2.44332974e+02] [-1.78327831e-01 9.61629934e-01 -2.08487544e-01 -1.43308497e+02] [-7.78863369e-01 -8.46778270e-03 6.27136467e-01 -1.24053682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:-143.31, Z:-124.08 [[ 6.01243063e-01 2.73956860e-01 7.50636009e-01 2.44351734e+02] [-1.77575756e-01 9.61710507e-01 -2.08757638e-01 -1.43314520e+02] [-7.79085124e-01 -7.78067527e-03 6.26869868e-01 -1.24078171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:-143.32, Z:-124.10 [[ 6.01509564e-01 2.73225800e-01 7.50688954e-01 2.44371522e+02] [-1.75965303e-01 9.61929221e-01 -2.09113332e-01 -1.43322150e+02] [-7.79244799e-01 -6.31154060e-03 6.26687887e-01 -1.24103990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:-143.33, Z:-124.13 [[ 6.01806608e-01 2.73224802e-01 7.50451207e-01 2.44390464e+02] [-1.75591564e-01 9.61933033e-01 -2.09409749e-01 -1.43328270e+02] [-7.79099743e-01 -5.74873073e-03 6.26873626e-01 -1.24129085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:-143.33, Z:-124.16 [[ 6.01600995e-01 2.73439055e-01 7.50538025e-01 2.44410028e+02] [-1.75627293e-01 9.61872531e-01 -2.09657548e-01 -1.43334150e+02] [-7.79250471e-01 -5.68477202e-03 6.26686833e-01 -1.24155124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:-143.34, Z:-124.18 [[ 6.00670975e-01 2.74544228e-01 7.50879382e-01 2.44429404e+02] [-1.76833303e-01 9.61552018e-01 -2.10113538e-01 -1.43338656e+02] [-7.79695045e-01 -6.57137701e-03 6.26124951e-01 -1.24180218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:-143.34, Z:-124.21 [[ 6.00258223e-01 2.75360097e-01 7.50910703e-01 2.44449160e+02] [-1.77711922e-01 9.61314811e-01 -2.10457377e-01 -1.43343653e+02] [-7.79813144e-01 -7.11701354e-03 6.25971892e-01 -1.24206234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:-143.35, Z:-124.23 [[ 5.99983331e-01 2.75999024e-01 7.50895826e-01 2.44468855e+02] [-1.78299339e-01 9.61129402e-01 -2.10807065e-01 -1.43348505e+02] [-7.79890600e-01 -7.40350451e-03 6.25872064e-01 -1.24231869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.49, Y:-143.35, Z:-124.26 [[ 5.99416121e-01 2.76452767e-01 7.51181856e-01 2.44488043e+02] [-1.78474189e-01 9.60998728e-01 -2.11254372e-01 -1.43353064e+02] [-7.80286664e-01 -7.43729604e-03 6.25377813e-01 -1.24257180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:-143.36, Z:-124.28 [[ 5.99226179e-01 2.77099036e-01 7.51095274e-01 2.44507260e+02] [-1.79113106e-01 9.60810092e-01 -2.11571412e-01 -1.43357490e+02] [-7.80286154e-01 -7.75187879e-03 6.25374629e-01 -1.24282278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:-143.36, Z:-124.31 [[ 5.99127900e-01 2.77690841e-01 7.50955096e-01 2.44527159e+02] [-1.79705894e-01 9.60636990e-01 -2.11854583e-01 -1.43362751e+02] [-7.80225321e-01 -8.02306558e-03 6.25447104e-01 -1.24308078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:-143.37, Z:-124.33 [[ 5.98834706e-01 2.78310231e-01 7.50959659e-01 2.44546335e+02] [-1.80246862e-01 9.60455589e-01 -2.12217179e-01 -1.43367456e+02] [-7.80325614e-01 -8.27510942e-03 6.25318686e-01 -1.24332913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.57, Y:-143.37, Z:-124.36 [[ 5.97918506e-01 2.79264108e-01 7.51335489e-01 2.44565946e+02] [-1.81232800e-01 9.60172027e-01 -2.12660179e-01 -1.43371146e+02] [-7.80799675e-01 -9.01317735e-03 6.24716440e-01 -1.24358876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.59, Y:-143.38, Z:-124.38 [[ 5.97468366e-01 2.79734313e-01 7.51518640e-01 2.44585363e+02] [-1.81479847e-01 9.60034487e-01 -2.13070057e-01 -1.43375383e+02] [-7.81086818e-01 -9.08286910e-03 6.24356376e-01 -1.24384556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:-143.38, Z:-124.41 [[ 5.97027490e-01 2.80165263e-01 7.51708455e-01 2.44604268e+02] [-1.81650476e-01 9.59908760e-01 -2.13490698e-01 -1.43379974e+02] [-7.81384208e-01 -9.08838356e-03 6.23984071e-01 -1.24409657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:-143.38, Z:-124.44 [[ 5.96726545e-01 2.80445543e-01 7.51842888e-01 2.44624115e+02] [-1.81629078e-01 9.59828355e-01 -2.13870070e-01 -1.43384852e+02] [-7.81619030e-01 -8.93458277e-03 6.23692123e-01 -1.24435729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.64, Y:-143.39, Z:-124.46 [[ 5.96819841e-01 2.80257207e-01 7.51839062e-01 2.44643767e+02] [-1.80870034e-01 9.59890548e-01 -2.14233907e-01 -1.43389495e+02] [-7.81723806e-01 -8.12611016e-03 6.23571855e-01 -1.24460858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.66, Y:-143.40, Z:-124.49 [[ 5.96702046e-01 2.80128485e-01 7.51980519e-01 2.44663259e+02] [-1.80188671e-01 9.59933703e-01 -2.14614371e-01 -1.43395010e+02] [-7.81971043e-01 -7.43753612e-03 6.23270384e-01 -1.24487124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.68, Y:-143.40, Z:-124.51 [[ 5.96927437e-01 2.79937246e-01 7.51872844e-01 2.44683079e+02] [-1.79458946e-01 9.59995468e-01 -2.14949270e-01 -1.43400603e+02] [-7.81966829e-01 -6.62119072e-03 6.23284877e-01 -1.24513341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.70, Y:-143.41, Z:-124.54 [[ 5.97168871e-01 2.79823517e-01 7.51723446e-01 2.44702267e+02] [-1.78871097e-01 9.60033272e-01 -2.15270172e-01 -1.43405560e+02] [-7.81917176e-01 -5.90895138e-03 6.23354325e-01 -1.24539154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.72, Y:-143.41, Z:-124.57 [[ 5.97600576e-01 2.79288258e-01 7.51579417e-01 2.44721185e+02] [-1.77608016e-01 9.60196046e-01 -2.15589763e-01 -1.43409089e+02] [-7.81875274e-01 -4.64996240e-03 6.23417544e-01 -1.24565394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.74, Y:-143.41, Z:-124.59 [[ 5.97746350e-01 2.79137601e-01 7.51519461e-01 2.44740096e+02] [-1.76929545e-01 9.60243232e-01 -2.15937193e-01 -1.43413643e+02] [-7.81917667e-01 -3.89032730e-03 6.23369576e-01 -1.24591190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.316559995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:244.76, Y:-143.41, Z:-124.62 [[ 5.96440833e-01 2.85456342e-01 7.50181985e-01 2.44755920e+02] [-1.75351775e-01 9.58387587e-01 -2.25266481e-01 -1.43413559e+02] [-7.83268848e-01 2.81238469e-03 6.21676767e-01 -1.24623042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:244.78, Y:-143.42, Z:-124.65 [[ 5.96528288e-01 2.83987817e-01 7.50669649e-01 2.44775642e+02] [-1.75579779e-01 9.58826940e-01 -2.23209857e-01 -1.43420423e+02] [-7.83151162e-01 1.34858319e-03 6.21829911e-01 -1.24648037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.80, Y:-143.43, Z:-124.67 [[ 5.98485251e-01 2.76726812e-01 7.51822902e-01 2.44797292e+02] [-1.74634047e-01 9.60944524e-01 -2.14682490e-01 -1.43429572e+02] [-7.81868501e-01 -2.80957247e-03 6.23437048e-01 -1.24666947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:-143.43, Z:-124.69 [[ 5.98291661e-01 2.78319132e-01 7.51389080e-01 2.44816184e+02] [-1.74218005e-01 9.60488087e-01 -2.17050042e-01 -1.43433766e+02] [-7.82109439e-01 -1.04627683e-03 6.23140217e-01 -1.24693271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:-143.44, Z:-124.72 [[ 5.98416589e-01 2.78518354e-01 7.51215756e-01 2.44835221e+02] [-1.74144597e-01 9.60430617e-01 -2.17363037e-01 -1.43438696e+02] [-7.82030207e-01 -7.46517607e-04 6.23240080e-01 -1.24718523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.85, Y:-143.44, Z:-124.74 [[ 5.98290043e-01 2.78976102e-01 7.51146696e-01 2.44854647e+02] [-1.74480061e-01 9.60297691e-01 -2.17681079e-01 -1.43443375e+02] [-7.82052257e-01 -8.23699228e-04 6.23212314e-01 -1.24744707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:-143.45, Z:-124.77 [[ 5.98041069e-01 2.79810906e-01 7.51034445e-01 2.44874160e+02] [-1.75406531e-01 9.60054173e-01 -2.18010399e-01 -1.43446588e+02] [-7.82035440e-01 -1.35717469e-03 6.23232484e-01 -1.24771460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:-143.45, Z:-124.80 [[ 5.97761264e-01 2.80379058e-01 7.51045308e-01 2.44893423e+02] [-1.75855177e-01 9.59888131e-01 -2.18379791e-01 -1.43451211e+02] [-7.82148597e-01 -1.53622545e-03 6.23090051e-01 -1.24796956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:-143.46, Z:-124.82 [[ 5.98310794e-01 2.80334974e-01 7.50624071e-01 2.44913471e+02] [-1.75508902e-01 9.59901764e-01 -2.18598327e-01 -1.43456252e+02] [-7.81806126e-01 -9.51467361e-04 6.23520870e-01 -1.24822842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.93, Y:-143.46, Z:-124.85 [[ 5.97489917e-01 2.80968344e-01 7.51041003e-01 2.44932730e+02] [-1.76048617e-01 9.59716042e-01 -2.18979461e-01 -1.43462211e+02] [-7.82312395e-01 -1.38171013e-03 6.22884746e-01 -1.24848086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:-143.47, Z:-124.87 [[ 5.97219785e-01 2.81058379e-01 7.51222148e-01 2.44952577e+02] [-1.75832040e-01 9.59689998e-01 -2.19267420e-01 -1.43467409e+02] [-7.82567328e-01 -1.13808126e-03 6.22564922e-01 -1.24873552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.97, Y:-143.47, Z:-124.90 [[ 5.97187187e-01 2.81404639e-01 7.51118428e-01 2.44972025e+02] [-1.75970667e-01 9.59588642e-01 -2.19599550e-01 -1.43472364e+02] [-7.82561044e-01 -1.03277318e-03 6.22573004e-01 -1.24899430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:-143.48, Z:-124.93 [[ 5.97107673e-01 2.81404878e-01 7.51181550e-01 2.44991734e+02] [-1.75492040e-01 9.59589011e-01 -2.19980622e-01 -1.43475983e+02] [-7.82729181e-01 -4.74265425e-04 6.22362277e-01 -1.24925587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:-143.48, Z:-124.95 [[ 5.97268478e-01 2.81586547e-01 7.50985607e-01 2.45010539e+02] [-1.75403487e-01 9.59535821e-01 -2.20283056e-01 -1.43480550e+02] [-7.82626336e-01 -1.57368820e-04 6.22491762e-01 -1.24951220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:-143.49, Z:-124.98 [[ 5.97575109e-01 2.81553003e-01 7.50754218e-01 2.45030470e+02] [-1.75013956e-01 9.59545593e-01 -2.20550155e-01 -1.43485697e+02] [-7.82479460e-01 4.02817477e-04 6.22676267e-01 -1.24977545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.05, Y:-143.49, Z:-125.00 [[ 5.98464746e-01 2.81190347e-01 7.50181269e-01 2.45050732e+02] [-1.74184932e-01 9.59650935e-01 -2.20748031e-01 -1.43490607e+02] [-7.81984371e-01 1.43964081e-03 6.23296374e-01 -1.25002958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.07, Y:-143.50, Z:-125.03 [[ 5.97587197e-01 2.81379791e-01 7.50809533e-01 2.45068570e+02] [-1.73786630e-01 9.59594855e-01 -2.21305041e-01 -1.43495473e+02] [-7.82743731e-01 1.76840014e-03 6.22341646e-01 -1.25028766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:-143.50, Z:-125.06 [[ 5.98352336e-01 2.81415733e-01 7.50186421e-01 2.45087968e+02] [-1.73643259e-01 9.59583305e-01 -2.21467604e-01 -1.43499968e+02] [-7.82190834e-01 2.25084331e-03 6.23034857e-01 -1.25055146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.11, Y:-143.50, Z:-125.08 [[ 5.98852177e-01 2.81848874e-01 7.49624761e-01 2.45107686e+02] [-1.74093381e-01 9.59456198e-01 -2.21664835e-01 -1.43504601e+02] [-7.81708107e-01 2.23975930e-03 6.23640456e-01 -1.25081302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.13, Y:-143.51, Z:-125.11 [[ 5.99081352e-01 2.82419345e-01 7.49226833e-01 2.45127068e+02] [-1.74693837e-01 9.59288834e-01 -2.21916643e-01 -1.43508898e+02] [-7.81398488e-01 2.06081251e-03 6.24028971e-01 -1.25107495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:-143.51, Z:-125.13 [[ 5.97964079e-01 2.85452175e-01 7.48969970e-01 2.45143353e+02] [-1.73334371e-01 9.58375156e-01 -2.26874978e-01 -1.43507758e+02] [-7.82556168e-01 5.84084849e-03 6.22552591e-01 -1.25134926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:-143.52, Z:-125.16 [[ 5.97274164e-01 2.79520780e-01 7.51752424e-01 2.45164140e+02] [-1.75187392e-01 9.60138307e-01 -2.17816000e-01 -1.43517415e+02] [-7.82670398e-01 -1.60167714e-03 6.22434321e-01 -1.25158133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.19, Y:-143.53, Z:-125.18 [[ 5.97988134e-01 2.78560197e-01 7.51541355e-01 2.45185941e+02] [-1.77373282e-01 9.60406630e-01 -2.14843722e-01 -1.43525945e+02] [-7.81632209e-01 -4.82936056e-03 6.23720905e-01 -1.25181932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:-143.53, Z:-125.21 [[ 5.97633673e-01 2.86054442e-01 7.49003905e-01 2.45204570e+02] [-1.79192454e-01 9.58212888e-01 -2.22975619e-01 -1.43525942e+02] [-7.81488361e-01 -9.58109374e-04 6.23919085e-01 -1.25209059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.22, Y:-143.53, Z:-125.23 [[ 5.97299613e-01 2.86902432e-01 7.48946037e-01 2.45224624e+02] [-1.80290602e-01 9.57958264e-01 -2.23184369e-01 -1.43531283e+02] [-7.81491184e-01 -1.71999463e-03 6.23913913e-01 -1.25234524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:-143.54, Z:-125.26 [[ 5.96557861e-01 2.87973246e-01 7.49126243e-01 2.45244170e+02] [-1.81496587e-01 9.57634987e-01 -2.23593875e-01 -1.43536262e+02] [-7.81778554e-01 -2.57717252e-03 6.23550841e-01 -1.25259662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.26, Y:-143.54, Z:-125.29 [[ 5.95654168e-01 2.88949458e-01 7.49469361e-01 2.45263873e+02] [-1.82522819e-01 9.57338484e-01 -2.24027782e-01 -1.43540566e+02] [-7.82228568e-01 -3.35217802e-03 6.22982528e-01 -1.25285516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.28, Y:-143.55, Z:-125.31 [[ 5.95049178e-01 2.90191955e-01 7.49469883e-01 2.45283720e+02] [-1.84079904e-01 9.56958130e-01 -2.24378535e-01 -1.43545168e+02] [-7.82324143e-01 -4.44608103e-03 6.22855655e-01 -1.25311895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:-143.55, Z:-125.34 [[ 5.94297892e-01 2.92233151e-01 7.49272848e-01 2.45303471e+02] [-1.86988958e-01 9.56324454e-01 -2.24674584e-01 -1.43549391e+02] [-7.82205309e-01 -6.58211748e-03 6.22985979e-01 -1.25337164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:-143.55, Z:-125.36 [[ 5.94105324e-01 2.93474036e-01 7.48940488e-01 2.45322849e+02] [-1.88690174e-01 9.55936030e-01 -2.24905145e-01 -1.43554583e+02] [-7.81943017e-01 -7.70036704e-03 6.23302352e-01 -1.25362786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.34, Y:-143.56, Z:-125.39 [[ 5.93858501e-01 2.94995089e-01 7.48538562e-01 2.45342567e+02] [-1.90821618e-01 9.55455148e-01 -2.25150106e-01 -1.43559736e+02] [-7.81613198e-01 -9.13003447e-03 6.23696602e-01 -1.25388952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:-143.56, Z:-125.42 [[ 5.92861382e-01 2.97775552e-01 7.48227975e-01 2.45362793e+02] [-1.94946315e-01 9.54557699e-01 -2.25423012e-01 -1.43563642e+02] [-7.81352236e-01 -1.22196886e-02 6.23970643e-01 -1.25415351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.38, Y:-143.57, Z:-125.44 [[ 5.92210201e-01 2.99290100e-01 7.48139368e-01 2.45382404e+02] [-1.96959273e-01 9.54064452e-01 -2.25761084e-01 -1.43568381e+02] [-7.81341233e-01 -1.36549686e-02 6.23954661e-01 -1.25441461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:-143.57, Z:-125.47 [[ 5.92148064e-01 2.99664769e-01 7.48038566e-01 2.45402166e+02] [-1.97141490e-01 9.53947795e-01 -2.26094752e-01 -1.43574260e+02] [-7.81342373e-01 -1.35878683e-02 6.23954699e-01 -1.25467798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.42, Y:-143.58, Z:-125.49 [[ 5.91857711e-01 3.01002047e-01 7.47731381e-01 2.45421712e+02] [-1.99087623e-01 9.53506222e-01 -2.26252080e-01 -1.43579386e+02] [-7.81068863e-01 -1.49550246e-02 6.24265792e-01 -1.25493395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:-143.58, Z:-125.52 [[ 5.91819141e-01 3.02762232e-01 7.47050959e-01 2.45440935e+02] [-2.01700854e-01 9.52919996e-01 -2.26407257e-01 -1.43584718e+02] [-7.80427364e-01 -1.66886678e-02 6.25023694e-01 -1.25519352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:-143.59, Z:-125.55 [[ 5.91744834e-01 3.03653538e-01 7.46748003e-01 2.45460539e+02] [-2.02772306e-01 9.52625837e-01 -2.26687906e-01 -1.43590694e+02] [-7.80206026e-01 -1.72784173e-02 6.25283946e-01 -1.25545040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:-143.60, Z:-125.57 [[ 5.91486491e-01 3.04587214e-01 7.46572408e-01 2.45479635e+02] [-2.03864269e-01 9.52315761e-01 -2.27011126e-01 -1.43596818e+02] [-7.80117357e-01 -1.79254241e-02 6.25376357e-01 -1.25570081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:-143.60, Z:-125.60 [[ 5.91239915e-01 3.05184105e-01 7.46523962e-01 2.45499297e+02] [-2.04405309e-01 9.52119869e-01 -2.27346048e-01 -1.43603079e+02] [-7.80162696e-01 -1.81774029e-02 6.25312521e-01 -1.25596328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:-143.61, Z:-125.62 [[ 5.91750533e-01 3.05717658e-01 7.45900812e-01 2.45518081e+02] [-2.05012020e-01 9.51946705e-01 -2.27524816e-01 -1.43609459e+02] [-7.79616174e-01 -1.82807017e-02 6.25990765e-01 -1.25621882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.54, Y:-143.62, Z:-125.65 [[ 5.91777091e-01 3.05988484e-01 7.45768679e-01 2.45536774e+02] [-2.05064927e-01 9.51862986e-01 -2.27827195e-01 -1.43615386e+02] [-7.79582100e-01 -1.81080847e-02 6.26038215e-01 -1.25647914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:-143.62, Z:-125.67 [[ 5.91705674e-01 3.06238184e-01 7.45722850e-01 2.45555895e+02] [-2.05024687e-01 9.51787068e-01 -2.28180312e-01 -1.43621762e+02] [-7.79646890e-01 -1.78760081e-02 6.25964197e-01 -1.25674017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:-143.63, Z:-125.70 [[ 5.91252824e-01 3.06248990e-01 7.46077513e-01 2.45574574e+02] [-2.04458238e-01 9.51793418e-01 -2.28661580e-01 -1.43628368e+02] [-7.80139044e-01 -1.73448887e-02 6.25365675e-01 -1.25699382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:-143.64, Z:-125.72 [[ 5.91401589e-01 3.05741913e-01 7.46167570e-01 2.45594264e+02] [-2.03178607e-01 9.51977396e-01 -2.29036005e-01 -1.43637191e+02] [-7.80360566e-01 -1.61530300e-02 6.25121161e-01 -1.25724656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:-143.64, Z:-125.75 [[ 5.91329866e-01 3.05397259e-01 7.46365529e-01 2.45613494e+02] [-2.02098508e-01 9.52104490e-01 -2.29462925e-01 -1.43644385e+02] [-7.80695320e-01 -1.51510794e-02 6.24728151e-01 -1.25750472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:-143.65, Z:-125.78 [[ 5.91658996e-01 3.05201790e-01 7.46184628e-01 2.45632641e+02] [-2.01388935e-01 9.52179941e-01 -2.29773491e-01 -1.43651663e+02] [-7.80629316e-01 -1.43257747e-02 6.24830091e-01 -1.25776037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:-143.66, Z:-125.80 [[ 5.92233443e-01 3.04374950e-01 7.46066645e-01 2.45650436e+02] [-1.99627221e-01 9.52468262e-01 -2.30115586e-01 -1.43659199e+02] [-7.80646221e-01 -1.26530657e-02 6.24845083e-01 -1.25800901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:-143.67, Z:-125.83 [[ 5.92744899e-01 3.04437872e-01 7.45634674e-01 2.45669136e+02] [-1.99441914e-01 9.52454299e-01 -2.30333954e-01 -1.43665973e+02] [-7.80305329e-01 -1.21815306e-02 6.25280100e-01 -1.25826386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:-143.67, Z:-125.85 [[ 5.93065949e-01 3.04307087e-01 7.45432745e-01 2.45688087e+02] [-1.98877743e-01 9.52504790e-01 -2.30612811e-01 -1.43672794e+02] [-7.80205373e-01 -1.14813763e-02 6.25418063e-01 -1.25852920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:-143.68, Z:-125.88 [[ 5.94019937e-01 3.04273668e-01 7.44686410e-01 2.45706431e+02] [-1.98624334e-01 9.52522990e-01 -2.30755990e-01 -1.43680817e+02] [-7.79543898e-01 -1.08391837e-02 6.26253801e-01 -1.25878016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:-143.69, Z:-125.90 [[ 5.94568920e-01 3.04634848e-01 7.44100403e-01 2.45724645e+02] [-1.98980233e-01 9.52408414e-01 -2.30922238e-01 -1.43687451e+02] [-7.79034445e-01 -1.07620863e-02 6.26888755e-01 -1.25902809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:-143.69, Z:-125.93 [[ 5.94702496e-01 3.04926099e-01 7.43874328e-01 2.45743837e+02] [-1.99100322e-01 9.52316882e-01 -2.31196060e-01 -1.43694406e+02] [-7.78901793e-01 -1.06127447e-02 6.27056111e-01 -1.25928980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:-143.70, Z:-125.95 [[ 5.94688884e-01 3.05421243e-01 7.43682053e-01 2.45762222e+02] [-1.99504876e-01 9.52157277e-01 -2.31504480e-01 -1.43701386e+02] [-7.78808664e-01 -1.06950548e-02 6.27170376e-01 -1.25954131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:-143.71, Z:-125.98 [[ 5.94596414e-01 3.06183015e-01 7.43442712e-01 2.45780846e+02] [-2.00385499e-01 9.51907202e-01 -2.31772153e-01 -1.43709523e+02] [-7.78653168e-01 -1.11642479e-02 6.27355245e-01 -1.25979929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.80, Y:-143.72, Z:-126.00 [[ 5.94500422e-01 3.06856128e-01 7.43241929e-01 2.45799673e+02] [-2.01074189e-01 9.51686740e-01 -2.32080849e-01 -1.43716387e+02] [-7.78548918e-01 -1.14746053e-02 6.27479016e-01 -1.26004697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:-143.72, Z:-126.03 [[ 5.93883297e-01 3.07434494e-01 7.43496242e-01 2.45818815e+02] [-2.01624977e-01 9.51494895e-01 -2.32389400e-01 -1.43723266e+02] [-7.78877396e-01 -1.18952295e-02 6.27063398e-01 -1.26031232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:-143.73, Z:-126.06 [[ 5.93756410e-01 3.08136443e-01 7.43306974e-01 2.45837567e+02] [-2.02366148e-01 9.51263213e-01 -2.32693451e-01 -1.43730167e+02] [-7.78781913e-01 -1.22569410e-02 6.27175016e-01 -1.26056343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:-143.74, Z:-126.08 [[ 5.93807327e-01 3.09163521e-01 7.42839670e-01 2.45856023e+02] [-2.03758938e-01 9.50919055e-01 -2.32884618e-01 -1.43738771e+02] [-7.78379826e-01 -1.30716298e-02 6.27657533e-01 -1.26081948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:-143.75, Z:-126.11 [[ 5.93713468e-01 3.09910992e-01 7.42603188e-01 2.45874825e+02] [-2.04580084e-01 9.50670024e-01 -2.33181249e-01 -1.43746093e+02] [-7.78236023e-01 -1.34789746e-02 6.27827214e-01 -1.26107337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:-143.75, Z:-126.13 [[ 5.93803331e-01 3.10466040e-01 7.42299429e-01 2.45893749e+02] [-2.05149048e-01 9.50486174e-01 -2.33430720e-01 -1.43753185e+02] [-7.78017655e-01 -1.36700815e-02 6.28093669e-01 -1.26132977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:-143.76, Z:-126.16 [[ 5.93854981e-01 3.11280402e-01 7.41916958e-01 2.45912411e+02] [-2.06134353e-01 9.50212543e-01 -2.33676597e-01 -1.43760289e+02] [-7.77717745e-01 -1.41645612e-02 6.28454036e-01 -1.26158290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.93, Y:-143.77, Z:-126.18 [[ 5.93510260e-01 3.12050875e-01 7.41869141e-01 2.45930782e+02] [-2.06962763e-01 9.49952333e-01 -2.34002095e-01 -1.43767093e+02] [-7.77760880e-01 -1.46566426e-02 6.28389367e-01 -1.26183692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:-143.77, Z:-126.21 [[ 5.93189552e-01 3.12989117e-01 7.41730388e-01 2.45949843e+02] [-2.08096513e-01 9.49632337e-01 -2.34295253e-01 -1.43774838e+02] [-7.77703026e-01 -1.53700114e-02 6.28443924e-01 -1.26209570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.97, Y:-143.78, Z:-126.23 [[ 5.93036660e-01 3.13557188e-01 7.41612709e-01 2.45969217e+02] [-2.08605136e-01 9.49441681e-01 -2.34615411e-01 -1.43782024e+02] [-7.77683365e-01 -1.55686796e-02 6.28463364e-01 -1.26234941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.99, Y:-143.79, Z:-126.26 [[ 5.92279939e-01 3.13825639e-01 7.42103727e-01 2.45988465e+02] [-2.08411597e-01 9.49355772e-01 -2.35134480e-01 -1.43789087e+02] [-7.78311686e-01 -1.53975871e-02 6.27689282e-01 -1.26260848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:-143.80, Z:-126.29 [[ 5.91898544e-01 3.13985890e-01 7.42340202e-01 2.46007746e+02] [-2.08129770e-01 9.49308106e-01 -2.35576144e-01 -1.43795487e+02] [-7.78677156e-01 -1.50659185e-02 6.27243896e-01 -1.26285742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.03, Y:-143.80, Z:-126.31 [[ 5.91139670e-01 3.13381629e-01 7.43199735e-01 2.46027085e+02] [-2.06427805e-01 9.49527060e-01 -2.36190440e-01 -1.43800879e+02] [-7.79706004e-01 -1.37955512e-02 6.25993794e-01 -1.26311347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:-143.81, Z:-126.34 [[ 5.91221607e-01 3.13330713e-01 7.43156024e-01 2.46046829e+02] [-2.05915059e-01 9.49552574e-01 -2.36535192e-01 -1.43805717e+02] [-7.79779456e-01 -1.31822996e-02 6.25915511e-01 -1.26337593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.07, Y:-143.81, Z:-126.36 [[ 5.90954618e-01 3.13539194e-01 7.43280440e-01 2.46065461e+02] [-2.05756707e-01 9.49487394e-01 -2.36934308e-01 -1.43810631e+02] [-7.80023600e-01 -1.29175120e-02 6.25616752e-01 -1.26362901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:-143.82, Z:-126.39 [[ 5.91011499e-01 3.13643290e-01 7.43191291e-01 2.46085142e+02] [-2.05539668e-01 9.49458027e-01 -2.37240175e-01 -1.43815775e+02] [-7.80037725e-01 -1.25436199e-02 6.25606750e-01 -1.26388496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-143.82, Z:-126.41 [[ 5.91101385e-01 3.14072702e-01 7.42938416e-01 2.46105286e+02] [-2.05858521e-01 9.49316179e-01 -2.37531182e-01 -1.43820757e+02] [-7.79885518e-01 -1.25351929e-02 6.25796650e-01 -1.26414467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:-143.83, Z:-126.44 [[ 5.91366406e-01 3.14668425e-01 7.42475290e-01 2.46124011e+02] [-2.06518797e-01 9.49116240e-01 -2.37756913e-01 -1.43826042e+02] [-7.79509949e-01 -1.27336526e-02 6.26260404e-01 -1.26439190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:-143.83, Z:-126.46 [[ 5.91507370e-01 3.15593073e-01 7.41970380e-01 2.46143477e+02] [-2.07754815e-01 9.48799961e-01 -2.37942370e-01 -1.43831953e+02] [-7.79074431e-01 -1.34032536e-02 6.26788149e-01 -1.26464849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.16, Y:-143.84, Z:-126.49 [[ 5.91394722e-01 3.16547858e-01 7.41653380e-01 2.46162088e+02] [-2.08935163e-01 9.48472071e-01 -2.38215930e-01 -1.43837241e+02] [-7.78844260e-01 -1.40778262e-02 6.27059355e-01 -1.26489674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.18, Y:-143.84, Z:-126.52 [[ 5.91539925e-01 3.18564518e-01 7.40673454e-01 2.46180761e+02] [-2.12233689e-01 9.47760487e-01 -2.38132151e-01 -1.43841623e+02] [-7.77841487e-01 -1.63311843e-02 6.28248290e-01 -1.26515584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:-143.85, Z:-126.54 [[ 5.91814718e-01 3.19541385e-01 7.40032866e-01 2.46199665e+02] [-2.13602280e-01 9.47418701e-01 -2.38268486e-01 -1.43846659e+02] [-7.77257619e-01 -1.70619103e-02 6.28951100e-01 -1.26542061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:-143.85, Z:-126.57 [[ 5.92574976e-01 3.20323321e-01 7.39085833e-01 2.46219314e+02] [-2.14738953e-01 9.47146921e-01 -2.38327281e-01 -1.43852088e+02] [-7.76364657e-01 -1.74837351e-02 6.30041458e-01 -1.26568319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.24, Y:-143.86, Z:-126.59 [[ 5.93984559e-01 3.20574400e-01 7.37844426e-01 2.46237362e+02] [-2.15130610e-01 9.47067308e-01 -2.38290441e-01 -1.43857982e+02] [-7.75178150e-01 -1.71920787e-02 6.31508724e-01 -1.26593669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.26, Y:-143.86, Z:-126.62 [[ 5.94576907e-01 3.20206289e-01 7.37527107e-01 2.46256485e+02] [-2.14241493e-01 9.47209543e-01 -2.38526024e-01 -1.43864802e+02] [-7.74970247e-01 -1.61868435e-02 6.31790394e-01 -1.26619110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:-143.87, Z:-126.64 [[ 5.94883024e-01 3.19523146e-01 7.37576536e-01 2.46275585e+02] [-2.12682641e-01 9.47463735e-01 -2.38911207e-01 -1.43872051e+02] [-7.75164681e-01 -1.47455049e-02 6.31587119e-01 -1.26643900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:-143.88, Z:-126.67 [[ 5.95008122e-01 3.18495985e-01 7.37919807e-01 2.46294998e+02] [-2.10643899e-01 9.47833917e-01 -2.39248851e-01 -1.43879228e+02] [-7.75625220e-01 -1.30832954e-02 6.31058116e-01 -1.26669010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.31, Y:-143.89, Z:-126.69 [[ 5.94695607e-01 3.16206824e-01 7.39155180e-01 2.46313989e+02] [-2.06074097e-01 9.48641918e-01 -2.40024954e-01 -1.43887302e+02] [-7.77091116e-01 -9.57895064e-03 6.29315217e-01 -1.26693673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:-143.89, Z:-126.72 [[ 5.94787333e-01 3.15235736e-01 7.39496085e-01 2.46333219e+02] [-2.03964978e-01 9.48981390e-01 -2.40484116e-01 -1.43894214e+02] [-7.77577209e-01 -7.79439633e-03 6.28739160e-01 -1.26718868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.35, Y:-143.90, Z:-126.74 [[ 5.94920717e-01 3.14320045e-01 7.39778514e-01 2.46351936e+02] [-2.01946232e-01 9.49297758e-01 -2.40938759e-01 -1.43901055e+02] [-7.78001967e-01 -6.05602420e-03 6.28232652e-01 -1.26743225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.37, Y:-143.91, Z:-126.77 [[ 5.94995092e-01 3.12205311e-01 7.40613721e-01 2.46371660e+02] [-1.97823764e-01 9.50010556e-01 -2.41548552e-01 -1.43908631e+02] [-7.79003594e-01 -2.79079135e-03 6.27013248e-01 -1.26768582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.39, Y:-143.91, Z:-126.79 [[ 5.95365671e-01 3.11474338e-01 7.40623693e-01 2.46390184e+02] [-1.96192540e-01 9.50253712e-01 -2.41922240e-01 -1.43914802e+02] [-7.79132983e-01 -1.27264625e-03 6.26857381e-01 -1.26793743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.41, Y:-143.92, Z:-126.82 [[ 5.95660346e-01 3.10993545e-01 7.40588798e-01 2.46409664e+02] [-1.95011655e-01 9.50412016e-01 -2.42254937e-01 -1.43920171e+02] [-7.79204214e-01 -1.21787550e-04 6.26770116e-01 -1.26819921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:-143.93, Z:-126.85 [[ 5.96832242e-01 3.10450395e-01 7.39872845e-01 2.46429164e+02] [-1.93987782e-01 9.50588903e-01 -2.42382916e-01 -1.43925038e+02] [-7.78562788e-01 1.13564687e-03 6.27565690e-01 -1.26845434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.45, Y:-143.93, Z:-126.87 [[ 5.97557221e-01 3.10239938e-01 7.39375783e-01 2.46447788e+02] [-1.93397842e-01 9.50656251e-01 -2.42590120e-01 -1.43931000e+02] [-7.78153354e-01 1.96779768e-03 6.28071242e-01 -1.26870302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.47, Y:-143.94, Z:-126.90 [[ 5.97823615e-01 3.10080794e-01 7.39227182e-01 2.46467548e+02] [-1.92922969e-01 9.50706870e-01 -2.42769799e-01 -1.43937462e+02] [-7.78066612e-01 2.51961612e-03 6.28176726e-01 -1.26896272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01655999499997 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:246.48, Y:-143.94, Z:-126.93 [[ 5.97597343e-01 3.17314870e-01 7.36334631e-01 2.46484094e+02] [-1.91866194e-01 9.48268847e-01 -2.52929946e-01 -1.43937470e+02] [-7.78501624e-01 9.87254057e-03 6.27564940e-01 -1.26927281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:-143.95, Z:-126.95 [[ 5.99451886e-01 3.04745565e-01 7.40126730e-01 2.46505874e+02] [-1.90495891e-01 9.52432450e-01 -2.37873376e-01 -1.43951173e+02] [-7.77411572e-01 1.60254302e-03 6.28990207e-01 -1.26945147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:-143.95, Z:-126.97 [[ 5.99986850e-01 3.08675507e-01 7.38061793e-01 2.46524830e+02] [-1.90053397e-01 9.51150307e-01 -2.43295705e-01 -1.43954017e+02] [-7.77107126e-01 5.70307254e-03 6.29342506e-01 -1.26972290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:-143.96, Z:-127.00 [[ 6.00381048e-01 3.08536208e-01 7.37799435e-01 2.46544614e+02] [-1.89487975e-01 9.51190828e-01 -2.43578152e-01 -1.43960023e+02] [-7.76940735e-01 6.43558482e-03 6.29540847e-01 -1.26998453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.56, Y:-143.97, Z:-127.02 [[ 6.00742555e-01 3.08266018e-01 7.37618089e-01 2.46564117e+02] [-1.88678877e-01 9.51271864e-01 -2.43889570e-01 -1.43965749e+02] [-7.76858201e-01 7.34189082e-03 6.29632776e-01 -1.27023729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:-143.97, Z:-127.05 [[ 6.01306504e-01 3.07483177e-01 7.37485311e-01 2.46583311e+02] [-1.87039013e-01 9.51511797e-01 -2.44216519e-01 -1.43970384e+02] [-7.76818445e-01 8.91045641e-03 6.29661582e-01 -1.27049213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:-143.97, Z:-127.08 [[ 6.00772381e-01 3.13182811e-01 7.35519594e-01 2.46600334e+02] [-1.87289836e-01 9.49600360e-01 -2.51359652e-01 -1.43972553e+02] [-7.77171193e-01 1.32545926e-02 6.29149627e-01 -1.27079340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.62, Y:-143.98, Z:-127.11 [[ 6.00857783e-01 3.12492930e-01 7.35743225e-01 2.46620232e+02] [-1.87346772e-01 9.49836111e-01 -2.50424737e-01 -1.43979710e+02] [-7.77091443e-01 1.26305340e-02 6.29260962e-01 -1.27105412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:-143.99, Z:-127.13 [[ 6.01594202e-01 3.07256522e-01 7.37345134e-01 2.46641512e+02] [-1.87430727e-01 9.51590063e-01 -2.43610497e-01 -1.43988750e+02] [-7.76501216e-01 8.35352811e-03 6.30060378e-01 -1.27125553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:-143.99, Z:-127.15 [[ 6.00998135e-01 3.08659841e-01 7.37245104e-01 2.46661142e+02] [-1.88034121e-01 9.51133868e-01 -2.44923529e-01 -1.43993999e+02] [-7.76816845e-01 8.57134858e-03 6.29668263e-01 -1.27151878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.68, Y:-144.00, Z:-127.18 [[ 5.99407081e-01 3.09931405e-01 7.38006555e-01 2.46681660e+02] [-1.89273208e-01 9.50729395e-01 -2.45538736e-01 -1.43998429e+02] [-7.77744691e-01 7.49278868e-03 6.28535642e-01 -1.27177951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.70, Y:-144.00, Z:-127.20 [[ 5.98575310e-01 3.11011828e-01 7.38227093e-01 2.46701021e+02] [-1.90432155e-01 9.50382720e-01 -2.45984308e-01 -1.44003586e+02] [-7.78102302e-01 6.65795746e-03 6.28102284e-01 -1.27203955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:-144.01, Z:-127.23 [[ 5.97989296e-01 3.12129025e-01 7.38230501e-01 2.46720836e+02] [-1.91745437e-01 9.50022222e-01 -2.46356377e-01 -1.44008822e+02] [-7.78230357e-01 5.76614633e-03 6.27952437e-01 -1.27229539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:-144.01, Z:-127.26 [[ 5.97276812e-01 3.13336995e-01 7.38295563e-01 2.46740453e+02] [-1.93178836e-01 9.49630101e-01 -2.46748067e-01 -1.44014372e+02] [-7.78422988e-01 4.75382119e-03 6.27722115e-01 -1.27255125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.76, Y:-144.02, Z:-127.28 [[ 5.96743792e-01 3.14549495e-01 7.38210987e-01 2.46759324e+02] [-1.94684081e-01 9.49233739e-01 -2.47089897e-01 -1.44019642e+02] [-7.78456778e-01 3.73143483e-03 6.27687121e-01 -1.27279829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.79, Y:-144.04, Z:-127.30 [[ 5.97499537e-01 3.07538200e-01 7.40550173e-01 2.46785062e+02] [-1.99276420e-01 9.51505838e-01 -2.34362006e-01 -1.44036191e+02] [-7.76713082e-01 -7.54299746e-03 6.29809409e-01 -1.27302634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:-144.02, Z:-127.34 [[ 5.94810426e-01 3.35316436e-01 7.30591161e-01 2.46797082e+02] [-1.98218355e-01 9.41963723e-01 -2.70949863e-01 -1.44015917e+02] [-7.79044313e-01 1.63472252e-02 6.26755716e-01 -1.27336412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:-144.03, Z:-127.36 [[ 5.94057319e-01 3.18188229e-01 7.38818078e-01 2.46819580e+02] [-1.99375588e-01 9.48027558e-01 -2.47978072e-01 -1.44034799e+02] [-7.79323602e-01 1.08998824e-05 6.26621674e-01 -1.27357252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.84, Y:-144.04, Z:-127.38 [[ 5.92623436e-01 3.20035779e-01 7.39171538e-01 2.46840177e+02] [-2.01726429e-01 9.47403618e-01 -2.48460927e-01 -1.44038256e+02] [-7.79810176e-01 -1.86666627e-03 6.26013262e-01 -1.27382774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:-144.04, Z:-127.41 [[ 5.91941853e-01 3.20831042e-01 7.39372900e-01 2.46859822e+02] [-2.02457256e-01 9.47133505e-01 -2.48895930e-01 -1.44043462e+02] [-7.80138387e-01 -2.35949015e-03 6.25602534e-01 -1.27408377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.88, Y:-144.05, Z:-127.43 [[ 5.91580980e-01 3.21330693e-01 7.39444745e-01 2.46878907e+02] [-2.02755387e-01 9.46963886e-01 -2.49298318e-01 -1.44048315e+02] [-7.80334670e-01 -2.44626243e-03 6.25357352e-01 -1.27433054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:-144.05, Z:-127.46 [[ 5.91190224e-01 3.21843015e-01 7.39534443e-01 2.46898641e+02] [-2.03099769e-01 9.46789502e-01 -2.49680042e-01 -1.44053475e+02] [-7.80541224e-01 -2.59087448e-03 6.25098940e-01 -1.27459116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:-144.06, Z:-127.48 [[ 5.91597645e-01 3.22145327e-01 7.39076867e-01 2.46917866e+02] [-2.03305996e-01 9.46687140e-01 -2.49900244e-01 -1.44057671e+02] [-7.80178761e-01 -2.41836283e-03 6.25551959e-01 -1.27484406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.94, Y:-144.06, Z:-127.51 [[ 5.91917358e-01 3.22283195e-01 7.38760708e-01 2.46937000e+02] [-2.03222791e-01 9.46641041e-01 -2.50142434e-01 -1.44063201e+02] [-7.79957908e-01 -2.06936418e-03 6.25828554e-01 -1.27510654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.96, Y:-144.07, Z:-127.54 [[ 5.92566760e-01 3.22597878e-01 7.38102462e-01 2.46956479e+02] [-2.03540547e-01 9.46534161e-01 -2.50288488e-01 -1.44069464e+02] [-7.79381730e-01 -1.92114062e-03 6.26546430e-01 -1.27536315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.98, Y:-144.08, Z:-127.56 [[ 5.93180767e-01 3.22830443e-01 7.37507344e-01 2.46976258e+02] [-2.03704966e-01 9.46455343e-01 -2.50452732e-01 -1.44075411e+02] [-7.78871533e-01 -1.67016479e-03 6.27181270e-01 -1.27562134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:-144.08, Z:-127.59 [[ 5.94012404e-01 3.23040310e-01 7.36745697e-01 2.46994965e+02] [-2.03893419e-01 9.46384204e-01 -2.50568177e-01 -1.44079928e+02] [-7.78188112e-01 -1.37699439e-03 6.28029749e-01 -1.27587146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:-144.09, Z:-127.61 [[ 5.94572861e-01 3.23474070e-01 7.36103008e-01 2.47014441e+02] [-2.04421672e-01 9.46235973e-01 -2.50697554e-01 -1.44085455e+02] [-7.77621304e-01 -1.41744557e-03 6.28731340e-01 -1.27612966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:-144.09, Z:-127.64 [[ 5.95100656e-01 3.23996146e-01 7.35446603e-01 2.47033739e+02] [-2.05070854e-01 9.46057143e-01 -2.50842234e-01 -1.44091063e+02] [-7.77046429e-01 -1.54228530e-03 6.29441394e-01 -1.27638661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.05, Y:-144.10, Z:-127.66 [[ 5.95839618e-01 3.25029082e-01 7.34391752e-01 2.47053097e+02] [-2.06699702e-01 9.45701142e-01 -2.50847728e-01 -1.44097051e+02] [-7.76047926e-01 -2.33354189e-03 6.30669622e-01 -1.27664928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.07, Y:-144.10, Z:-127.69 [[ 5.95977654e-01 3.25782522e-01 7.33945764e-01 2.47072351e+02] [-2.07632262e-01 9.45440692e-01 -2.51059238e-01 -1.44103342e+02] [-7.75692903e-01 -2.76512357e-03 6.31104488e-01 -1.27690361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.10, Y:-144.12, Z:-127.71 [[ 5.98144611e-01 3.14949683e-01 7.36905504e-01 2.47097962e+02] [-2.10914426e-01 9.48986279e-01 -2.34393147e-01 -1.44124223e+02] [-7.73135259e-01 -1.52230032e-02 6.34058461e-01 -1.27711185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.11, Y:-144.10, Z:-127.75 [[ 5.94720001e-01 3.49774732e-01 7.23854790e-01 2.47107009e+02] [-2.09572026e-01 9.36712351e-01 -2.80445248e-01 -1.44099444e+02] [-7.76136384e-01 1.50866832e-02 6.30384570e-01 -1.27745929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.13, Y:-144.12, Z:-127.77 [[ 5.94096900e-01 3.28283532e-01 7.34356042e-01 2.47129131e+02] [-2.10448265e-01 9.44566880e-01 -2.52001861e-01 -1.44123482e+02] [-7.76376456e-01 -4.83043000e-03 6.30250954e-01 -1.27765189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:-144.13, Z:-127.79 [[ 5.93318941e-01 3.29321475e-01 7.34520252e-01 2.47148540e+02] [-2.11576818e-01 9.44201030e-01 -2.52427543e-01 -1.44130077e+02] [-7.76664589e-01 -5.63741501e-03 6.29889145e-01 -1.27790856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.17, Y:-144.14, Z:-127.82 [[ 5.92523324e-01 3.30544768e-01 7.34613005e-01 2.47167867e+02] [-2.13033029e-01 9.43766596e-01 -2.52827095e-01 -1.44136592e+02] [-7.76873889e-01 -6.69088253e-03 6.29620674e-01 -1.27816560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:-144.14, Z:-127.84 [[ 5.91585952e-01 3.31812160e-01 7.34797082e-01 2.47186705e+02] [-2.14520416e-01 9.43313203e-01 -2.53261114e-01 -1.44143223e+02] [-7.77178906e-01 -7.80325847e-03 6.29231322e-01 -1.27841123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:-144.16, Z:-127.86 [[ 5.92752250e-01 3.22865259e-01 7.37836563e-01 2.47212526e+02] [-2.20293888e-01 9.46188680e-01 -2.37060297e-01 -1.44164114e+02] [-7.74671138e-01 -2.20228612e-02 6.31980713e-01 -1.27861465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:-144.14, Z:-127.90 [[ 5.89328476e-01 3.55513548e-01 7.25466791e-01 2.47222020e+02] [-2.19643203e-01 9.34655340e-01 -2.79600176e-01 -1.44141136e+02] [-7.77463061e-01 5.43249595e-03 6.28905141e-01 -1.27896713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.24, Y:-144.16, Z:-127.92 [[ 5.89065767e-01 3.36569954e-01 7.34657871e-01 2.47243214e+02] [-2.21167951e-01 9.41570855e-01 -2.54025714e-01 -1.44162816e+02] [-7.77229863e-01 -1.28449235e-02 6.29085645e-01 -1.27917051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.26, Y:-144.17, Z:-127.94 [[ 5.88784373e-01 3.37965522e-01 7.34242649e-01 2.47262246e+02] [-2.23104267e-01 9.41052675e-01 -2.54252531e-01 -1.44169691e+02] [-7.76889598e-01 -1.41127506e-02 6.29478659e-01 -1.27942437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:-144.18, Z:-127.97 [[ 5.88837646e-01 3.39296247e-01 7.33585907e-01 2.47281073e+02] [-2.25032357e-01 9.40555395e-01 -2.54393372e-01 -1.44176759e+02] [-7.76292899e-01 -1.52841712e-02 6.30187059e-01 -1.27967939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.30, Y:-144.18, Z:-127.99 [[ 5.88432326e-01 3.40485467e-01 7.33360105e-01 2.47299556e+02] [-2.26559715e-01 9.40108777e-01 -2.54688405e-01 -1.44183781e+02] [-7.76155972e-01 -1.62829661e-02 6.30330685e-01 -1.27993570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.32, Y:-144.19, Z:-128.02 [[ 5.87917170e-01 3.42136469e-01 7.33004801e-01 2.47318150e+02] [-2.29051764e-01 9.39475970e-01 -2.54794410e-01 -1.44191973e+02] [-7.75814856e-01 -1.80980342e-02 6.30701015e-01 -1.28018982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:-144.20, Z:-128.04 [[ 5.87407623e-01 3.42874585e-01 7.33068417e-01 2.47337069e+02] [-2.29763875e-01 9.39198220e-01 -2.55176930e-01 -1.44199028e+02] [-7.75990236e-01 -1.85397667e-02 6.30472387e-01 -1.28044923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.36, Y:-144.21, Z:-128.07 [[ 5.86701824e-01 3.43798200e-01 7.33201042e-01 2.47355419e+02] [-2.30743277e-01 9.38846674e-01 -2.55586509e-01 -1.44206179e+02] [-7.76233541e-01 -1.92281395e-02 6.30152179e-01 -1.28071168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:-144.21, Z:-128.10 [[ 5.86796507e-01 3.44505465e-01 7.32793180e-01 2.47374198e+02] [-2.31585638e-01 9.38579709e-01 -2.55805049e-01 -1.44213522e+02] [-7.75911047e-01 -1.95988670e-02 6.30537812e-01 -1.28097123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.39, Y:-144.22, Z:-128.12 [[ 5.86518400e-01 3.45247316e-01 7.32666676e-01 2.47392440e+02] [-2.32371419e-01 9.38298010e-01 -2.56125688e-01 -1.44221213e+02] [-7.75886390e-01 -2.00283664e-02 6.30554656e-01 -1.28122895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:-144.23, Z:-128.15 [[ 5.86605839e-01 3.45940450e-01 7.32269619e-01 2.47411415e+02] [-2.33175061e-01 9.38035401e-01 -2.56357128e-01 -1.44229325e+02] [-7.75579126e-01 -2.03664250e-02 6.30921729e-01 -1.28149142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.43, Y:-144.24, Z:-128.17 [[ 5.86896321e-01 3.46592555e-01 7.31728303e-01 2.47428902e+02] [-2.33965473e-01 9.37788734e-01 -2.56539370e-01 -1.44239111e+02] [-7.75121194e-01 -2.06371463e-02 6.31475449e-01 -1.28174255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.45, Y:-144.25, Z:-128.20 [[ 5.87186728e-01 3.46919005e-01 7.31340516e-01 2.47447439e+02] [-2.34209956e-01 9.37670418e-01 -2.56748678e-01 -1.44247129e+02] [-7.74827363e-01 -2.05278135e-02 6.31839510e-01 -1.28199788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.47, Y:-144.25, Z:-128.23 [[ 5.87078697e-01 3.47334430e-01 7.31230058e-01 2.47465822e+02] [-2.34462244e-01 9.37516784e-01 -2.57079241e-01 -1.44254855e+02] [-7.74832924e-01 -2.05200948e-02 6.31832941e-01 -1.28225510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:-144.26, Z:-128.25 [[ 5.87110040e-01 3.47516224e-01 7.31118509e-01 2.47484740e+02] [-2.34343230e-01 9.37456242e-01 -2.57408325e-01 -1.44262266e+02] [-7.74845179e-01 -2.02056609e-02 6.31828046e-01 -1.28251784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.50, Y:-144.27, Z:-128.28 [[ 5.86435707e-01 3.47538823e-01 7.31648773e-01 2.47502564e+02] [-2.33721885e-01 9.37458163e-01 -2.57965645e-01 -1.44271479e+02] [-7.75543191e-01 -1.97220647e-02 6.30986369e-01 -1.28276888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.52, Y:-144.28, Z:-128.30 [[ 5.86032353e-01 3.47671229e-01 7.31909009e-01 2.47521572e+02] [-2.33410369e-01 9.37415715e-01 -2.58401583e-01 -1.44279939e+02] [-7.75941803e-01 -1.94034644e-02 6.30506006e-01 -1.28302721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:-144.29, Z:-128.33 [[ 5.85249079e-01 3.48104997e-01 7.32329452e-01 2.47540824e+02] [-2.33489688e-01 9.37253550e-01 -2.58917648e-01 -1.44288460e+02] [-7.76508906e-01 -1.94600598e-02 6.29805704e-01 -1.28328626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.56, Y:-144.30, Z:-128.35 [[ 5.84484701e-01 3.48577345e-01 7.32715135e-01 2.47559126e+02] [-2.33637429e-01 9.37075927e-01 -2.59426791e-01 -1.44296334e+02] [-7.77040016e-01 -1.95586902e-02 6.29147258e-01 -1.28353548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.58, Y:-144.30, Z:-128.38 [[ 5.83820671e-01 3.49079385e-01 7.33005462e-01 2.47578161e+02] [-2.33901578e-01 9.36885432e-01 -2.59876391e-01 -1.44304298e+02] [-7.77459630e-01 -1.97299254e-02 6.28623301e-01 -1.28379833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:-144.31, Z:-128.41 [[ 5.83137965e-01 3.50111110e-01 7.33056836e-01 2.47596959e+02] [-2.35077251e-01 9.36482658e-01 -2.60267013e-01 -1.44312108e+02] [-7.77617386e-01 -2.05534099e-02 6.28401749e-01 -1.28405980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.62, Y:-144.32, Z:-128.43 [[ 5.83058623e-01 3.50912984e-01 7.32736460e-01 2.47615291e+02] [-2.36021702e-01 9.36171737e-01 -2.60530680e-01 -1.44318729e+02] [-7.77390763e-01 -2.10370472e-02 6.28666083e-01 -1.28431424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:-144.33, Z:-128.46 [[ 5.82760928e-01 3.51653113e-01 7.32618447e-01 2.47633057e+02] [-2.36968117e-01 9.35879554e-01 -2.60721252e-01 -1.44325430e+02] [-7.77326066e-01 -2.16690553e-02 6.28724614e-01 -1.28456583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.65, Y:-144.33, Z:-128.48 [[ 5.82665533e-01 3.52321692e-01 7.32373062e-01 2.47651092e+02] [-2.37708424e-01 9.35619701e-01 -2.60979848e-01 -1.44332145e+02] [-7.77171527e-01 -2.20272838e-02 6.28903185e-01 -1.28481811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:-144.34, Z:-128.51 [[ 5.82267237e-01 3.53588548e-01 7.32079233e-01 2.47669862e+02] [-2.39431423e-01 9.35113705e-01 -2.61218207e-01 -1.44340032e+02] [-7.76941091e-01 -2.31839684e-02 6.29146283e-01 -1.28507304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:-144.35, Z:-128.53 [[ 5.82369160e-01 3.53920621e-01 7.31837656e-01 2.47687957e+02] [-2.39607137e-01 9.34990987e-01 -2.61496224e-01 -1.44346993e+02] [-7.76810518e-01 -2.30661887e-02 6.29311822e-01 -1.28532051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.936559995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:247.71, Y:-144.36, Z:-128.56 [[ 5.83078849e-01 3.50992953e-01 7.32682061e-01 2.47708945e+02] [-2.40775694e-01 9.35997655e-01 -2.56778999e-01 -1.44359511e+02] [-7.75916310e-01 -2.66896282e-02 6.30271008e-01 -1.28558012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:-144.35, Z:-128.59 [[ 5.82779720e-01 3.65387665e-01 7.25850985e-01 2.47722941e+02] [-2.38229211e-01 9.30786528e-01 -2.77278350e-01 -1.44350907e+02] [-7.76926406e-01 -1.13267078e-02 6.29489527e-01 -1.28586184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.74, Y:-144.37, Z:-128.61 [[ 5.83213886e-01 3.53209966e-01 7.31508225e-01 2.47743354e+02] [-2.37566365e-01 9.35311560e-01 -2.62210807e-01 -1.44367279e+02] [-7.76803570e-01 -2.08567667e-02 6.29397497e-01 -1.28608266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.76, Y:-144.37, Z:-128.63 [[ 5.82978800e-01 3.53023341e-01 7.31785652e-01 2.47762008e+02] [-2.36696939e-01 9.35399182e-01 -2.62684088e-01 -1.44374523e+02] [-7.77245314e-01 -2.00721695e-02 6.28877437e-01 -1.28633832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.78, Y:-144.38, Z:-128.66 [[ 5.82708591e-01 3.52653702e-01 7.32178983e-01 2.47780768e+02] [-2.35486358e-01 9.35559976e-01 -2.63198985e-01 -1.44381490e+02] [-7.77815449e-01 -1.90498523e-02 6.28203972e-01 -1.28659346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.80, Y:-144.39, Z:-128.68 [[ 5.82344089e-01 3.52377070e-01 7.32602049e-01 2.47799478e+02] [-2.34408708e-01 9.35682114e-01 -2.63726258e-01 -1.44388805e+02] [-7.78413720e-01 -1.81488727e-02 6.27489202e-01 -1.28684773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-144.40, Z:-128.71 [[ 5.82294583e-01 3.52691342e-01 7.32490161e-01 2.47818907e+02] [-2.34523257e-01 9.35565828e-01 -2.64036784e-01 -1.44395732e+02] [-7.78416252e-01 -1.80387892e-02 6.27489236e-01 -1.28711123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.84, Y:-144.40, Z:-128.74 [[ 5.81901693e-01 3.50914688e-01 7.33654757e-01 2.47837501e+02] [-2.30994814e-01 9.36279323e-01 -2.64617508e-01 -1.44403787e+02] [-7.79763949e-01 -1.54890681e-02 6.25881996e-01 -1.28736675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:-144.41, Z:-128.76 [[ 5.81918128e-01 3.50591010e-01 7.33796454e-01 2.47856758e+02] [-2.29945275e-01 9.36416443e-01 -2.65046066e-01 -1.44411534e+02] [-7.80061833e-01 -1.44979169e-02 6.25534449e-01 -1.28762573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:-144.42, Z:-128.79 [[ 5.82020240e-01 3.50302884e-01 7.33853071e-01 2.47875805e+02] [-2.28989711e-01 9.36538429e-01 -2.65442053e-01 -1.44419027e+02] [-7.80266719e-01 -1.35521556e-02 6.25300077e-01 -1.28788695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:-144.43, Z:-128.81 [[ 5.82329929e-01 3.49709731e-01 7.33890290e-01 2.47894646e+02] [-2.27553437e-01 9.36778676e-01 -2.65829164e-01 -1.44427108e+02] [-7.80455820e-01 -1.21989797e-02 6.25091911e-01 -1.28814720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:-144.43, Z:-128.84 [[ 5.82940797e-01 3.49767401e-01 7.33377660e-01 2.47913067e+02] [-2.27394437e-01 9.36763597e-01 -2.66018295e-01 -1.44433745e+02] [-7.80046022e-01 -1.16930835e-02 6.25612880e-01 -1.28839739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.93, Y:-144.44, Z:-128.87 [[ 5.83328234e-01 3.50223197e-01 7.32851884e-01 2.47932043e+02] [-2.27914826e-01 9.36592447e-01 -2.66175543e-01 -1.44440502e+02] [-7.79604389e-01 -1.17601008e-02 6.26161877e-01 -1.28865757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.95, Y:-144.45, Z:-128.89 [[ 5.83819928e-01 3.51164518e-01 7.32009408e-01 2.47950729e+02] [-2.29318554e-01 9.36231304e-01 -2.66240394e-01 -1.44445961e+02] [-7.78824301e-01 -1.24268912e-02 6.27119032e-01 -1.28891839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.97, Y:-144.45, Z:-128.92 [[ 5.83734723e-01 3.52049797e-01 7.31652044e-01 2.47969467e+02] [-2.30424447e-01 9.35890504e-01 -2.66483655e-01 -1.44451819e+02] [-7.78561717e-01 -1.30347552e-02 6.27432664e-01 -1.28916430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:-144.46, Z:-128.94 [[ 5.83122322e-01 3.53223014e-01 7.31574918e-01 2.47988834e+02] [-2.31907824e-01 9.35433199e-01 -2.66802347e-01 -1.44457958e+02] [-7.78580194e-01 -1.40795431e-02 6.27387159e-01 -1.28942690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:-144.46, Z:-128.97 [[ 5.82829337e-01 3.54324590e-01 7.31275631e-01 2.48008349e+02] [-2.33338766e-01 9.35002473e-01 -2.67064403e-01 -1.44463846e+02] [-7.78372009e-01 -1.49819842e-02 6.27624534e-01 -1.28968005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:-144.47, Z:-128.99 [[ 5.82362338e-01 3.55361288e-01 7.31144624e-01 2.48026670e+02] [-2.34595344e-01 9.34595376e-01 -2.67388308e-01 -1.44468231e+02] [-7.78343839e-01 -1.58062449e-02 6.27639253e-01 -1.28993320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.05, Y:-144.47, Z:-129.02 [[ 5.82305207e-01 3.55849939e-01 7.30952439e-01 2.48045681e+02] [-2.35030534e-01 9.34407255e-01 -2.67663463e-01 -1.44474672e+02] [-7.78255289e-01 -1.59343141e-02 6.27745811e-01 -1.29019118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:-144.48, Z:-129.04 [[ 5.82316749e-01 3.56111645e-01 7.30815778e-01 2.48064713e+02] [-2.35044189e-01 9.34311164e-01 -2.67986712e-01 -1.44481550e+02] [-7.78242529e-01 -1.57208506e-02 6.27767012e-01 -1.29044529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.08, Y:-144.49, Z:-129.07 [[ 5.82279943e-01 3.56007775e-01 7.30895706e-01 2.48083755e+02] [-2.34379940e-01 9.34362133e-01 -2.68390475e-01 -1.44488932e+02] [-7.78470367e-01 -1.50289013e-02 6.27501411e-01 -1.29070250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:-144.50, Z:-129.10 [[ 5.82543631e-01 3.55657950e-01 7.30855896e-01 2.48102113e+02] [-2.33372614e-01 9.34511270e-01 -2.68748784e-01 -1.44496112e+02] [-7.78575713e-01 -1.40038585e-02 6.27394414e-01 -1.29095193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:-144.50, Z:-129.12 [[ 5.83119680e-01 3.54388545e-01 7.31013132e-01 2.48120814e+02] [-2.30838909e-01 9.35023840e-01 -2.69153889e-01 -1.44503851e+02] [-7.78899761e-01 -1.17973440e-02 6.27037467e-01 -1.29121114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:-144.51, Z:-129.15 [[ 5.83547395e-01 3.53837746e-01 7.30938634e-01 2.48139161e+02] [-2.29516251e-01 9.35247963e-01 -2.69506101e-01 -1.44510958e+02] [-7.78970300e-01 -1.04927118e-02 6.26973025e-01 -1.29146253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.16, Y:-144.52, Z:-129.17 [[ 5.83892493e-01 3.52986209e-01 7.31074751e-01 2.48158176e+02] [-2.27801691e-01 9.35585127e-01 -2.69790401e-01 -1.44517954e+02] [-7.79214955e-01 -9.01147445e-03 6.26691988e-01 -1.29172554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:-144.53, Z:-129.20 [[ 5.84195390e-01 3.52278480e-01 7.31174137e-01 2.48176672e+02] [-2.26155862e-01 9.35865113e-01 -2.70203659e-01 -1.44525013e+02] [-7.79467300e-01 -7.50758542e-03 6.26397928e-01 -1.29198037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:-144.53, Z:-129.22 [[ 5.84935158e-01 3.50251765e-01 7.31556260e-01 2.48195393e+02] [-2.22303127e-01 9.36645778e-01 -2.70695411e-01 -1.44532265e+02] [-7.80020629e-01 -4.28798094e-03 6.25739109e-01 -1.29224482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:-144.54, Z:-129.25 [[ 5.85751219e-01 3.49701715e-01 7.31166342e-01 2.48214027e+02] [-2.21130767e-01 9.36856331e-01 -2.70926926e-01 -1.44539410e+02] [-7.79741427e-01 -2.98759675e-03 6.26094547e-01 -1.29250231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:-144.55, Z:-129.28 [[ 5.86486857e-01 3.49330973e-01 7.30753746e-01 2.48232085e+02] [-2.20259828e-01 9.36997409e-01 -2.71148418e-01 -1.44546726e+02] [-7.79434907e-01 -1.93071052e-03 6.26480246e-01 -1.29275279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:-144.55, Z:-129.30 [[ 5.87965948e-01 3.48323918e-01 7.30045542e-01 2.48250862e+02] [-2.18545176e-01 9.37374228e-01 -2.71233410e-01 -1.44554594e+02] [-7.78802960e-01 -7.19224209e-05 6.27268638e-01 -1.29300864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.27, Y:-144.56, Z:-129.33 [[ 5.88312965e-01 3.48191970e-01 7.29828889e-01 2.48269434e+02] [-2.17974527e-01 9.37423021e-01 -2.71523820e-01 -1.44561565e+02] [-7.78700816e-01 6.56877250e-04 6.27395097e-01 -1.29325962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:-144.58, Z:-129.35 [[ 5.90328463e-01 3.38767161e-01 7.32631637e-01 2.48293572e+02] [-2.19375237e-01 9.40834032e-01 -2.58274716e-01 -1.44579908e+02] [-7.76779770e-01 -8.25432321e-03 6.29718235e-01 -1.29347319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.30, Y:-144.56, Z:-129.38 [[ 5.88774117e-01 3.63460158e-01 7.21970742e-01 2.48304610e+02] [-2.18084556e-01 9.31505459e-01 -2.91095701e-01 -1.44563445e+02] [-7.78321377e-01 1.39389454e-02 6.27711351e-01 -1.29380822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.33, Y:-144.58, Z:-129.40 [[ 5.88673003e-01 3.49262971e-01 7.29026387e-01 2.48325352e+02] [-2.18922833e-01 9.37024556e-01 -2.72135580e-01 -1.44580678e+02] [-7.78162508e-01 5.98347242e-04 6.28062698e-01 -1.29403110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:-144.59, Z:-129.43 [[ 5.88634791e-01 3.50260546e-01 7.28578502e-01 2.48343809e+02] [-2.20256775e-01 9.36652296e-01 -2.72340651e-01 -1.44586893e+02] [-7.77814911e-01 -1.65168923e-04 6.28493387e-01 -1.29428548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.36, Y:-144.59, Z:-129.45 [[ 5.88483360e-01 3.51237601e-01 7.28230377e-01 2.48363316e+02] [-2.21543950e-01 9.36285888e-01 -2.72556443e-01 -1.44593568e+02] [-7.77563897e-01 -9.40102694e-04 6.28803231e-01 -1.29454800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:-144.60, Z:-129.48 [[ 5.88177038e-01 3.52325188e-01 7.27952425e-01 2.48382372e+02] [-2.22946597e-01 9.35875858e-01 -2.72820808e-01 -1.44600341e+02] [-7.77394743e-01 -1.82758132e-03 6.29010392e-01 -1.29480586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.40, Y:-144.61, Z:-129.51 [[ 5.87354084e-01 3.53222347e-01 7.28182088e-01 2.48401134e+02] [-2.23809739e-01 9.35536161e-01 -2.73278782e-01 -1.44607155e+02] [-7.77768848e-01 -2.46283469e-03 6.28545586e-01 -1.29506560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.42, Y:-144.61, Z:-129.53 [[ 5.86650316e-01 3.54631243e-01 7.28064618e-01 2.48420635e+02] [-2.25643092e-01 9.34998650e-01 -2.73610524e-01 -1.44614505e+02] [-7.77770276e-01 -3.76905124e-03 6.28537344e-01 -1.29532028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:-144.62, Z:-129.56 [[ 5.86253682e-01 3.55673963e-01 7.27875438e-01 2.48439537e+02] [-2.26928443e-01 9.34598811e-01 -2.73913388e-01 -1.44621290e+02] [-7.77695379e-01 -4.59290779e-03 6.28624533e-01 -1.29557143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:-144.63, Z:-129.58 [[ 5.85455667e-01 3.57634990e-01 7.27556785e-01 2.48458691e+02] [-2.29769661e-01 9.33837611e-01 -2.74140877e-01 -1.44626954e+02] [-7.77462260e-01 -6.67314597e-03 6.28894191e-01 -1.29583058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.48, Y:-144.63, Z:-129.61 [[ 5.85027619e-01 3.58536910e-01 7.27457194e-01 2.48478113e+02] [-2.30796275e-01 9.33486850e-01 -2.74472914e-01 -1.44633489e+02] [-7.77480395e-01 -7.32017554e-03 6.28864573e-01 -1.29609434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:-144.64, Z:-129.64 [[ 5.84579317e-01 3.59250030e-01 7.27465764e-01 2.48497059e+02] [-2.31476356e-01 9.33209390e-01 -2.74843465e-01 -1.44640345e+02] [-7.77615406e-01 -7.72331898e-03 6.28692796e-01 -1.29635052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:-144.65, Z:-129.66 [[ 5.83956229e-01 3.59938631e-01 7.27625800e-01 2.48516132e+02] [-2.32039546e-01 9.32940934e-01 -2.75279607e-01 -1.44647493e+02] [-7.77915659e-01 -8.08671930e-03 6.28316666e-01 -1.29660460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.54, Y:-144.66, Z:-129.69 [[ 5.83035981e-01 3.60506312e-01 7.28082581e-01 2.48535812e+02] [-2.32278424e-01 9.32719837e-01 -2.75826829e-01 -1.44655034e+02] [-7.78534379e-01 -8.30090906e-03 6.27547063e-01 -1.29686114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.55, Y:-144.66, Z:-129.71 [[ 5.82612553e-01 3.61138040e-01 7.28108460e-01 2.48554869e+02] [-2.32806528e-01 9.32472883e-01 -2.76216298e-01 -1.44662296e+02] [-7.78693607e-01 -8.58132004e-03 6.27345700e-01 -1.29712343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.57, Y:-144.67, Z:-129.74 [[ 5.82376999e-01 3.61842216e-01 7.27947280e-01 2.48573335e+02] [-2.33536906e-01 9.32196331e-01 -2.76533026e-01 -1.44669288e+02] [-7.78651106e-01 -8.95608151e-03 6.27393213e-01 -1.29737272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:-144.68, Z:-129.76 [[ 5.82060021e-01 3.62612916e-01 7.27817289e-01 2.48592519e+02] [-2.34392800e-01 9.31891824e-01 -2.76835048e-01 -1.44676681e+02] [-7.78630945e-01 -9.46051849e-03 6.27410831e-01 -1.29762885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.61, Y:-144.68, Z:-129.79 [[ 5.81187568e-01 3.63650244e-01 7.27996917e-01 2.48611759e+02] [-2.35507433e-01 9.31478643e-01 -2.77279256e-01 -1.44682793e+02] [-7.78946250e-01 -1.02974286e-02 6.27006143e-01 -1.29789489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:-144.69, Z:-129.82 [[ 5.80885158e-01 3.64532371e-01 7.27797076e-01 2.48630838e+02] [-2.36546750e-01 9.31126709e-01 -2.77576453e-01 -1.44689321e+02] [-7.78856899e-01 -1.09179916e-02 6.27106633e-01 -1.29815646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.65, Y:-144.70, Z:-129.84 [[ 5.80844688e-01 3.65245402e-01 7.27471818e-01 2.48649448e+02] [-2.37366115e-01 9.30842670e-01 -2.77829536e-01 -1.44695904e+02] [-7.78637770e-01 -1.13013491e-02 6.27371902e-01 -1.29841214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:-144.70, Z:-129.87 [[ 5.80504315e-01 3.66061987e-01 7.27333048e-01 2.48668438e+02] [-2.38301534e-01 9.30514756e-01 -2.78127073e-01 -1.44703334e+02] [-7.78605882e-01 -1.18706151e-02 6.27400964e-01 -1.29867323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:-144.71, Z:-129.89 [[ 5.80041449e-01 3.66859145e-01 7.27300684e-01 2.48687097e+02] [-2.39127542e-01 9.30194100e-01 -2.78490493e-01 -1.44710779e+02] [-7.78697590e-01 -1.23815957e-02 6.27277259e-01 -1.29893041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.71, Y:-144.72, Z:-129.92 [[ 5.79429583e-01 3.67913666e-01 7.27255727e-01 2.48706216e+02] [-2.40369558e-01 9.29765755e-01 -2.78851424e-01 -1.44718025e+02] [-7.78770720e-01 -1.32353731e-02 6.27169029e-01 -1.29918600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:-144.72, Z:-129.94 [[ 5.79108309e-01 3.68538296e-01 7.27195360e-01 2.48724847e+02] [-2.40926786e-01 9.29514406e-01 -2.79208261e-01 -1.44724575e+02] [-7.78837499e-01 -1.35090173e-02 6.27080263e-01 -1.29943951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.74, Y:-144.73, Z:-129.97 [[ 5.78638476e-01 3.69149914e-01 7.27259139e-01 2.48743525e+02] [-2.41440610e-01 9.29267249e-01 -2.79586859e-01 -1.44731136e+02] [-7.79027564e-01 -1.38101759e-02 6.26837565e-01 -1.29970197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.76, Y:-144.74, Z:-130.00 [[ 5.78532648e-01 3.69839660e-01 7.26992848e-01 2.48762355e+02] [-2.42200509e-01 9.28987527e-01 -2.79859052e-01 -1.44737642e+02] [-7.78870264e-01 -1.41704399e-02 6.27024968e-01 -1.29996482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.78, Y:-144.74, Z:-130.02 [[ 5.78718739e-01 3.70894028e-01 7.26307264e-01 2.48780319e+02] [-2.43732369e-01 9.28554016e-01 -2.79967804e-01 -1.44743979e+02] [-7.78253913e-01 -1.50019751e-02 6.27770489e-01 -1.30021576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.676559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.80, Y:-144.75, Z:-130.05 [[ 5.78728003e-01 3.71701827e-01 7.25886803e-01 2.48799125e+02] [-2.44783144e-01 9.28221882e-01 -2.80152371e-01 -1.44751820e+02] [-7.77917162e-01 -1.55528317e-02 6.28174338e-01 -1.30047545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:-144.76, Z:-130.07 [[ 5.78994762e-01 3.72032283e-01 7.25504683e-01 2.48817988e+02] [-2.45024005e-01 9.28091514e-01 -2.80373641e-01 -1.44759783e+02] [-7.77642786e-01 -1.54311937e-02 6.28516966e-01 -1.30073084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:-144.77, Z:-130.10 [[ 5.79818482e-01 3.71784691e-01 7.24973566e-01 2.48836077e+02] [-2.44408618e-01 9.28205256e-01 -2.80534188e-01 -1.44768393e+02] [-7.77222591e-01 -1.45308802e-02 6.29057945e-01 -1.30098090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.85, Y:-144.78, Z:-130.12 [[ 5.80124364e-01 3.71435494e-01 7.24907854e-01 2.48854689e+02] [-2.43458623e-01 9.28359768e-01 -2.80848785e-01 -1.44776049e+02] [-7.77292494e-01 -1.35578453e-02 6.28993294e-01 -1.30123571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.87, Y:-144.78, Z:-130.15 [[ 5.80523751e-01 3.71022178e-01 7.24799778e-01 2.48873348e+02] [-2.42404775e-01 9.28540238e-01 -2.81163568e-01 -1.44784074e+02] [-7.77323678e-01 -1.24727976e-02 6.28977209e-01 -1.30149120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:-144.79, Z:-130.17 [[ 5.80708680e-01 3.70491322e-01 7.24923175e-01 2.48891847e+02] [-2.41039100e-01 9.28768203e-01 -2.81584406e-01 -1.44792208e+02] [-7.77610173e-01 -1.12163204e-02 6.28646652e-01 -1.30174908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.91, Y:-144.80, Z:-130.20 [[ 5.80521069e-01 3.69130202e-01 7.25767306e-01 2.48911299e+02] [-2.38011332e-01 9.29335393e-01 -2.82287679e-01 -1.44801881e+02] [-7.78682153e-01 -8.86689817e-03 6.27355946e-01 -1.30200203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.93, Y:-144.81, Z:-130.23 [[ 5.80544612e-01 3.68649525e-01 7.25992756e-01 2.48930578e+02] [-2.36667964e-01 9.29536835e-01 -2.82753511e-01 -1.44810228e+02] [-7.79073956e-01 -7.66820046e-03 6.26885133e-01 -1.30226001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:-144.82, Z:-130.25 [[ 5.80931716e-01 3.67971616e-01 7.26027018e-01 2.48949279e+02] [-2.35091819e-01 9.29816400e-01 -2.83148898e-01 -1.44818007e+02] [-7.79262586e-01 -6.19283719e-03 6.26666953e-01 -1.30251325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.97, Y:-144.83, Z:-130.28 [[ 5.81648615e-01 3.67286181e-01 7.25800075e-01 2.48967717e+02] [-2.33808164e-01 9.30094977e-01 -2.83296798e-01 -1.44825792e+02] [-7.79114004e-01 -4.91879303e-03 6.26862963e-01 -1.30276793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.99, Y:-144.83, Z:-130.30 [[ 5.83455299e-01 3.65899468e-01 7.25049994e-01 2.48986420e+02] [-2.31663605e-01 9.30650428e-01 -2.83234453e-01 -1.44834670e+02] [-7.78403423e-01 -2.71305267e-03 6.27758513e-01 -1.30302872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.01, Y:-144.84, Z:-130.33 [[ 5.83997299e-01 3.65690502e-01 7.24718988e-01 2.49005044e+02] [-2.31023771e-01 9.30734623e-01 -2.83480295e-01 -1.44842845e+02] [-7.78187106e-01 -1.87558697e-03 6.28029705e-01 -1.30328132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.02, Y:-144.85, Z:-130.35 [[ 5.83955178e-01 3.65993591e-01 7.24599919e-01 2.49024272e+02] [-2.31129394e-01 9.30615709e-01 -2.83784435e-01 -1.44850315e+02] [-7.78187351e-01 -1.75895026e-03 6.28029739e-01 -1.30354486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.04, Y:-144.86, Z:-130.38 [[ 5.84339157e-01 3.65905357e-01 7.24334880e-01 2.49043418e+02] [-2.30935068e-01 9.30650979e-01 -2.83826972e-01 -1.44858445e+02] [-7.77956775e-01 -1.42311139e-03 6.28316187e-01 -1.30380520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:-144.87, Z:-130.41 [[ 5.84617768e-01 3.66175276e-01 7.23973571e-01 2.49062901e+02] [-2.31078862e-01 9.30545084e-01 -2.84057047e-01 -1.44866239e+02] [-7.77704716e-01 -1.23019272e-03 6.28628557e-01 -1.30406524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.08, Y:-144.87, Z:-130.43 [[ 5.84709614e-01 3.66786644e-01 7.23589818e-01 2.49082026e+02] [-2.31774125e-01 9.30303899e-01 -2.84280514e-01 -1.44873757e+02] [-7.77428725e-01 -1.48784683e-03 6.28969287e-01 -1.30432008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:-144.88, Z:-130.46 [[ 5.84504786e-01 3.67619206e-01 7.23332755e-01 2.49101346e+02] [-2.32757284e-01 9.29974178e-01 -2.84555927e-01 -1.44881176e+02] [-7.77289008e-01 -2.03666617e-03 6.29140405e-01 -1.30457883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.12, Y:-144.89, Z:-130.48 [[ 5.84218824e-01 3.68582561e-01 7.23073483e-01 2.49120782e+02] [-2.33951253e-01 9.29590916e-01 -2.84828968e-01 -1.44888595e+02] [-7.77145531e-01 -2.76150213e-03 6.29314864e-01 -1.30483954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:-144.90, Z:-130.51 [[ 5.83731343e-01 3.69641068e-01 7.22926829e-01 2.49139056e+02] [-2.35242667e-01 9.29167594e-01 -2.85146401e-01 -1.44895705e+02] [-7.77122002e-01 -3.61434373e-03 6.29339599e-01 -1.30508585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.16, Y:-144.90, Z:-130.53 [[ 5.82847669e-01 3.71229567e-01 7.22825846e-01 2.49158756e+02] [-2.37535544e-01 9.28525482e-01 -2.85337160e-01 -1.44903217e+02] [-7.77087807e-01 -5.38873223e-03 6.29369130e-01 -1.30534243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:-144.91, Z:-130.56 [[ 5.82149267e-01 3.72394727e-01 7.22789319e-01 2.49177431e+02] [-2.38940162e-01 9.28052500e-01 -2.85702918e-01 -1.44910254e+02] [-7.77180694e-01 -6.38165264e-03 6.29245138e-01 -1.30560247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.20, Y:-144.92, Z:-130.59 [[ 5.81684572e-01 3.73643240e-01 7.22519057e-01 2.49196204e+02] [-2.40590218e-01 9.27542302e-01 -2.85974870e-01 -1.44917356e+02] [-7.77019566e-01 -7.48384787e-03 6.29431955e-01 -1.30585283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:-144.92, Z:-130.61 [[ 5.81132100e-01 3.74842845e-01 7.22342249e-01 2.49214900e+02] [-2.42151817e-01 9.27048817e-01 -2.86256857e-01 -1.44924596e+02] [-7.76947862e-01 -8.56343936e-03 6.29506701e-01 -1.30610891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.23, Y:-144.93, Z:-130.64 [[ 5.79760116e-01 3.76853522e-01 7.22398526e-01 2.49233849e+02] [-2.44868984e-01 9.26211055e-01 -2.86657047e-01 -1.44931200e+02] [-7.77121218e-01 -1.07006703e-02 6.29259968e-01 -1.30636632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.25, Y:-144.94, Z:-130.66 [[ 5.79057019e-01 3.77977009e-01 7.22375491e-01 2.49252420e+02] [-2.46210938e-01 9.25741634e-01 -2.87023695e-01 -1.44937998e+02] [-7.77221425e-01 -1.16536622e-02 6.29119264e-01 -1.30662091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:-144.94, Z:-130.69 [[ 5.78172377e-01 3.78846525e-01 7.22628544e-01 2.49270970e+02] [-2.47052526e-01 9.25377539e-01 -2.87474278e-01 -1.44944756e+02] [-7.77612855e-01 -1.23175211e-02 6.28622722e-01 -1.30687717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.29, Y:-144.95, Z:-130.71 [[ 5.77560411e-01 3.79359375e-01 7.22848834e-01 2.49290299e+02] [-2.47344064e-01 9.25164855e-01 -2.87907806e-01 -1.44951662e+02] [-7.77974862e-01 -1.25082179e-02 6.28170884e-01 -1.30713878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:-144.96, Z:-130.74 [[ 5.76303488e-01 3.79768589e-01 7.23636724e-01 2.49309687e+02] [-2.47167083e-01 9.24996548e-01 -2.88599756e-01 -1.44958364e+02] [-7.78962594e-01 -1.25381318e-02 6.26945031e-01 -1.30739884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:-144.97, Z:-130.77 [[ 5.75840613e-01 3.79971515e-01 7.23898636e-01 2.49328756e+02] [-2.46903097e-01 9.24916826e-01 -2.89080828e-01 -1.44965434e+02] [-7.79388510e-01 -1.22683336e-02 6.26420816e-01 -1.30765858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.35, Y:-144.97, Z:-130.79 [[ 5.75373688e-01 3.80023945e-01 7.24242308e-01 2.49347098e+02] [-2.46356798e-01 9.24901427e-01 -2.89595716e-01 -1.44972522e+02] [-7.79906051e-01 -1.17962603e-02 6.25785427e-01 -1.30791520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.37, Y:-144.98, Z:-130.82 [[ 5.75356725e-01 3.79493893e-01 7.24533660e-01 2.49366077e+02] [-2.44928666e-01 9.25133876e-01 -2.90064234e-01 -1.44980045e+02] [-7.80368238e-01 -1.05686552e-02 6.25230930e-01 -1.30817954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.38, Y:-144.99, Z:-130.84 [[ 5.75343127e-01 3.79365819e-01 7.24611525e-01 2.49384231e+02] [-2.44212973e-01 9.25194468e-01 -2.90474129e-01 -1.44987022e+02] [-7.80602530e-01 -9.83724102e-03 6.24950333e-01 -1.30843195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.40, Y:-144.99, Z:-130.87 [[ 5.75558222e-01 3.79009274e-01 7.24627286e-01 2.49403037e+02] [-2.43191446e-01 9.25350729e-01 -2.90833199e-01 -1.44993750e+02] [-7.80762867e-01 -8.83171840e-03 6.24765033e-01 -1.30869289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.42, Y:-145.00, Z:-130.89 [[ 5.75798222e-01 3.78720714e-01 7.24587488e-01 2.49421193e+02] [-2.42276224e-01 9.25477445e-01 -2.91193629e-01 -1.45000264e+02] [-7.80870437e-01 -7.88154640e-03 6.24643292e-01 -1.30894818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:-145.01, Z:-130.92 [[ 5.77670531e-01 3.77928917e-01 7.23509842e-01 2.49439454e+02] [-2.41090753e-01 9.25813410e-01 -2.91109565e-01 -1.45006154e+02] [-7.79853837e-01 -6.26611561e-03 6.25930291e-01 -1.30921413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:-145.01, Z:-130.95 [[ 5.78208751e-01 3.77697201e-01 7.23200847e-01 2.49457978e+02] [-2.40400694e-01 9.25913480e-01 -2.91361861e-01 -1.45012984e+02] [-7.79667972e-01 -5.39000785e-03 6.26169946e-01 -1.30947404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.48, Y:-145.02, Z:-130.97 [[ 5.78818910e-01 3.77366284e-01 7.22885439e-01 2.49476160e+02] [-2.39550031e-01 9.26053754e-01 -2.91616576e-01 -1.45019946e+02] [-7.79477038e-01 -4.37404039e-03 6.26415529e-01 -1.30972584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:-145.03, Z:-131.00 [[ 5.79143738e-01 3.76853613e-01 7.22892721e-01 2.49494590e+02] [-2.38283040e-01 9.26267449e-01 -2.91975694e-01 -1.45027160e+02] [-7.79624092e-01 -3.15718046e-03 6.26239817e-01 -1.30998215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.51, Y:-145.03, Z:-131.02 [[ 5.81048374e-01 3.75192276e-01 7.22228179e-01 2.49513099e+02] [-2.35672060e-01 9.26946828e-01 -2.91938793e-01 -1.45034591e+02] [-7.79000300e-01 -5.78442095e-04 6.27023284e-01 -1.31024167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:-145.04, Z:-131.05 [[ 5.82341775e-01 3.74400714e-01 7.21596953e-01 2.49531812e+02] [-2.34259513e-01 9.27266427e-01 -2.92060701e-01 -1.45041962e+02] [-7.78460363e-01 1.03819605e-03 6.27692906e-01 -1.31050137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:-145.05, Z:-131.08 [[ 5.83291043e-01 3.73731872e-01 7.21176849e-01 2.49550717e+02] [-2.32942429e-01 9.27533460e-01 -2.92266154e-01 -1.45049696e+02] [-7.78144835e-01 2.48354295e-03 6.28079969e-01 -1.31076441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:-145.06, Z:-131.10 [[ 5.84060860e-01 3.73056800e-01 7.20903278e-01 2.49569494e+02] [-2.31543917e-01 9.27800161e-01 -2.92530811e-01 -1.45057312e+02] [-7.77984786e-01 3.93502858e-03 6.28270793e-01 -1.31102879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:-145.06, Z:-131.13 [[ 5.85165715e-01 3.71435547e-01 7.20844450e-01 2.49587206e+02] [-2.28530378e-01 9.28434910e-01 -2.92886471e-01 -1.45064038e+02] [-7.78045598e-01 6.65226640e-03 6.28172584e-01 -1.31128584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:-145.07, Z:-131.15 [[ 5.85404682e-01 3.70801313e-01 7.20976938e-01 2.49606230e+02] [-2.27017972e-01 9.28677587e-01 -2.93292994e-01 -1.45071406e+02] [-7.78308550e-01 8.02036954e-03 6.27830769e-01 -1.31154858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.63, Y:-145.08, Z:-131.18 [[ 5.85506052e-01 3.70382122e-01 7.21110080e-01 2.49625360e+02] [-2.25818798e-01 9.28834554e-01 -2.93721369e-01 -1.45079445e+02] [-7.78581103e-01 9.13542752e-03 6.27477498e-01 -1.31180968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.64, Y:-145.09, Z:-131.21 [[ 5.85480886e-01 3.70012832e-01 7.21320065e-01 2.49644202e+02] [-2.24657541e-01 9.28970789e-01 -2.94180664e-01 -1.45087671e+02] [-7.78935890e-01 1.01871633e-02 6.27020813e-01 -1.31206718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:-145.10, Z:-131.23 [[ 5.85589214e-01 3.69855705e-01 7.21312713e-01 2.49662936e+02] [-2.23945498e-01 9.29024650e-01 -2.94553243e-01 -1.45095796e+02] [-7.79059488e-01 1.09524673e-02 6.26854335e-01 -1.31232420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:-145.10, Z:-131.26 [[ 5.85364896e-01 3.69990215e-01 7.21425796e-01 2.49682174e+02] [-2.23629059e-01 9.28966472e-01 -2.94976843e-01 -1.45103889e+02] [-7.79318922e-01 1.13373168e-02 6.26524926e-01 -1.31258112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.70, Y:-145.11, Z:-131.28 [[ 5.84557334e-01 3.70859134e-01 7.21634413e-01 2.49700757e+02] [-2.24423057e-01 9.28626890e-01 -2.95442701e-01 -1.45111007e+02] [-7.79696745e-01 1.07517965e-02 6.26065000e-01 -1.31283299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.72, Y:-145.12, Z:-131.31 [[ 5.83432117e-01 3.72053351e-01 7.21930238e-01 2.49719582e+02] [-2.25870137e-01 9.28162566e-01 -2.95798804e-01 -1.45117748e+02] [-7.80121559e-01 9.51604082e-03 6.25555592e-01 -1.31308928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.74, Y:-145.12, Z:-131.33 [[ 5.82409569e-01 3.73477298e-01 7.22020638e-01 2.49738421e+02] [-2.27611301e-01 9.27603250e-01 -2.96218342e-01 -1.45124270e+02] [-7.80379517e-01 8.18034043e-03 6.25252663e-01 -1.31334490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:-145.13, Z:-131.36 [[ 5.80053399e-01 3.76333789e-01 7.22434034e-01 2.49757900e+02] [-2.31502693e-01 9.26471285e-01 -2.96744775e-01 -1.45130791e+02] [-7.80989474e-01 4.88239059e-03 6.24525103e-01 -1.31360428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:-145.14, Z:-131.39 [[ 5.79004179e-01 3.77935232e-01 7.22439701e-01 2.49777039e+02] [-2.33595275e-01 9.25826248e-01 -2.97117831e-01 -1.45137553e+02] [-7.81144934e-01 3.27396544e-03 6.24341151e-01 -1.31386083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.80, Y:-145.14, Z:-131.41 [[ 5.77972031e-01 3.79547080e-01 7.22421169e-01 2.49796173e+02] [-2.35708974e-01 9.25170936e-01 -2.97489528e-01 -1.45144243e+02] [-7.81274351e-01 1.65947400e-03 6.24185578e-01 -1.31411970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:-145.15, Z:-131.44 [[ 5.75974150e-01 3.82595615e-01 7.22408731e-01 2.49814837e+02] [-2.40117405e-01 9.23913955e-01 -2.97870167e-01 -1.45149975e+02] [-7.81407327e-01 -1.89739387e-03 6.24018421e-01 -1.31437294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:-145.16, Z:-131.46 [[ 5.74825191e-01 3.84418598e-01 7.22356104e-01 2.49833672e+02] [-2.42620904e-01 9.23150899e-01 -2.98207167e-01 -1.45156699e+02] [-7.81480068e-01 -3.84169902e-03 6.23918380e-01 -1.31463032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.85, Y:-145.16, Z:-131.49 [[ 5.74231834e-01 3.85950906e-01 7.22010872e-01 2.49852266e+02] [-2.44769295e-01 9.22503840e-01 -2.98453777e-01 -1.45162944e+02] [-7.81246307e-01 -5.34443223e-03 6.24200003e-01 -1.31487753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:-145.17, Z:-131.51 [[ 5.73100188e-01 3.87952378e-01 7.21837327e-01 2.49871392e+02] [-2.47617697e-01 9.21648674e-01 -2.98746044e-01 -1.45168314e+02] [-7.81179653e-01 -7.52828222e-03 6.24260902e-01 -1.31513571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41655999499994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:249.89, Y:-145.18, Z:-131.54 [[ 5.72672418e-01 3.89081897e-01 7.21568832e-01 2.49890272e+02] [-2.49097209e-01 9.21163903e-01 -2.99011111e-01 -1.45175428e+02] [-7.81022971e-01 -8.50536620e-03 6.24444375e-01 -1.31539580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:-145.18, Z:-131.57 [[ 5.72583463e-01 3.89774403e-01 7.21265619e-01 2.49909612e+02] [-2.49889918e-01 9.20867517e-01 -2.99262500e-01 -1.45182354e+02] [-7.80834942e-01 -8.88424781e-03 6.24674206e-01 -1.31565483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:-145.19, Z:-131.59 [[ 5.72741480e-01 3.90334483e-01 7.20837144e-01 2.49928827e+02] [-2.50527365e-01 9.20628408e-01 -2.99465146e-01 -1.45188969e+02] [-7.80514726e-01 -9.07331947e-03 6.25071546e-01 -1.31591651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.95, Y:-145.20, Z:-131.62 [[ 5.73323252e-01 3.90500878e-01 7.20284328e-01 2.49947286e+02] [-2.50594505e-01 9.20561230e-01 -2.99615448e-01 -1.45195069e+02] [-7.80065922e-01 -8.72279128e-03 6.25636532e-01 -1.31617238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53655999499995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:249.97, Y:-145.20, Z:-131.64 [[ 5.73670196e-01 3.90414151e-01 7.20055065e-01 2.49966148e+02] [-2.50128465e-01 9.20603900e-01 -2.99873656e-01 -1.45202993e+02] [-7.79960420e-01 -8.07768942e-03 6.25776712e-01 -1.31642857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.98, Y:-145.21, Z:-131.67 [[ 5.74508162e-01 3.89911861e-01 7.19659025e-01 2.49984539e+02] [-2.49053500e-01 9.20826830e-01 -3.00083828e-01 -1.45210435e+02] [-7.79687582e-01 -6.83299021e-03 6.26131443e-01 -1.31667299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59655999499995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.00, Y:-145.22, Z:-131.69 [[ 5.76069976e-01 3.88189908e-01 7.19341350e-01 2.50003671e+02] [-2.46022599e-01 9.21570807e-01 -3.00300065e-01 -1.45217811e+02] [-7.79497443e-01 -3.98037721e-03 6.26392762e-01 -1.31693598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.02, Y:-145.23, Z:-131.72 [[ 5.77005750e-01 3.87140946e-01 7.19156626e-01 2.50022568e+02] [-2.43974226e-01 9.22018357e-01 -3.00597283e-01 -1.45225805e+02] [-7.79449127e-01 -2.00932041e-03 6.26462306e-01 -1.31719409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65655999499995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:250.04, Y:-145.23, Z:-131.74 [[ 5.78137448e-01 3.86082257e-01 7.18816793e-01 2.50040622e+02] [-2.41988039e-01 9.22464357e-01 -3.00834338e-01 -1.45233947e+02] [-7.79229671e-01 -2.14699719e-05 6.26738478e-01 -1.31744202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.06, Y:-145.24, Z:-131.77 [[ 5.78984682e-01 3.85162363e-01 7.18628341e-01 2.50059598e+02] [-2.40180608e-01 9.22847191e-01 -3.01108515e-01 -1.45242656e+02] [-7.79159813e-01 1.73662622e-03 6.26822918e-01 -1.31769743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71655999499995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:250.08, Y:-145.25, Z:-131.80 [[ 5.80733791e-01 3.83105218e-01 7.18316543e-01 2.50078337e+02] [-2.36618919e-01 9.23691006e-01 -3.01341024e-01 -1.45251454e+02] [-7.78947849e-01 5.03163169e-03 6.27068522e-01 -1.31795041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:250.10, Y:-145.26, Z:-131.82 [[ 5.81264934e-01 3.82482012e-01 7.18219039e-01 2.50096082e+02] [-2.35202638e-01 9.23940553e-01 -3.01684561e-01 -1.45259185e+02] [-7.78980613e-01 6.43164359e-03 6.27015022e-01 -1.31819936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77655999499996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:250.11, Y:-145.27, Z:-131.85 [[ 5.81663156e-01 3.82146855e-01 7.18075034e-01 2.50114918e+02] [-2.34304188e-01 9.24071952e-01 -3.01981083e-01 -1.45267373e+02] [-7.78954119e-01 7.40328207e-03 6.27037217e-01 -1.31845967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:250.13, Y:-145.27, Z:-131.87 [[ 5.81678893e-01 3.81779491e-01 7.18257674e-01 2.50132597e+02] [-2.33147566e-01 9.24214698e-01 -3.02439092e-01 -1.45274984e+02] [-7.79289342e-01 8.46240741e-03 6.26607141e-01 -1.31870881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83655999499996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.15, Y:-145.28, Z:-131.90 [[ 5.82827030e-01 3.81047114e-01 7.17715647e-01 2.50151655e+02] [-2.31842009e-01 9.24502122e-01 -3.02564222e-01 -1.45283729e+02] [-7.78820863e-01 9.94596894e-03 6.27167555e-01 -1.31896383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.17, Y:-145.29, Z:-131.92 [[ 5.83204901e-01 3.80996776e-01 7.17435364e-01 2.50169983e+02] [-2.31438046e-01 9.24515936e-01 -3.02831166e-01 -1.45291366e+02] [-7.78658125e-01 1.05707813e-02 6.27359374e-01 -1.31922262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89655999499996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.19, Y:-145.30, Z:-131.95 [[ 5.83750120e-01 3.80722363e-01 7.17137560e-01 2.50187771e+02] [-2.30685277e-01 9.24617908e-01 -3.03094091e-01 -1.45299066e+02] [-7.78472929e-01 1.14981353e-02 6.27572858e-01 -1.31947182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.21, Y:-145.31, Z:-131.97 [[ 5.83705918e-01 3.80953059e-01 7.17051023e-01 2.50206807e+02] [-2.30799349e-01 9.24522331e-01 -3.03298730e-01 -1.45307096e+02] [-7.78472262e-01 1.15423542e-02 6.27572874e-01 -1.31973508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95655999499996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:250.23, Y:-145.32, Z:-132.00 [[ 5.83815975e-01 3.80525637e-01 7.17188362e-01 2.50225042e+02] [-2.29844766e-01 9.24687805e-01 -3.03519105e-01 -1.45316134e+02] [-7.78672133e-01 1.23573110e-02 6.27309338e-01 -1.31998137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.23, Y:-145.30, Z:-132.03 [[ 5.79782736e-01 3.99232213e-01 7.10257431e-01 2.50232062e+02] [-2.22744479e-01 9.16183380e-01 -3.33155987e-01 -1.45296004e+02] [-7.83732656e-01 3.49521683e-02 6.20114078e-01 -1.32034001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01655999499997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.25, Y:-145.33, Z:-132.05 [[ 5.78841133e-01 3.65286710e-01 7.29046338e-01 2.50252853e+02] [-2.22559041e-01 9.30879170e-01 -2.89709242e-01 -1.45329439e+02] [-7.84480985e-01 5.43977241e-03 6.20129013e-01 -1.32050336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:250.28, Y:-145.37, Z:-132.06 [[ 5.82987515e-01 3.42610431e-01 7.36711375e-01 2.50284807e+02] [-2.30053828e-01 9.39243543e-01 -2.54748511e-01 -1.45367459e+02] [-7.79230899e-01 -2.09680709e-02 6.26386100e-01 -1.32063211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07655999499997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.29, Y:-145.32, Z:-132.11 [[ 5.78988954e-01 4.02297409e-01 7.09174581e-01 2.50287283e+02] [-2.24165992e-01 9.14819239e-01 -3.35939531e-01 -1.45315243e+02] [-7.83914153e-01 3.55324544e-02 6.19851632e-01 -1.32111912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.32, Y:-145.38, Z:-132.11 [[ 5.82650505e-01 3.43767794e-01 7.36438791e-01 2.50321871e+02] [-2.32357463e-01 9.38775407e-01 -2.54383066e-01 -1.45382952e+02] [-7.78799331e-01 -2.29006273e-02 6.26854978e-01 -1.32113101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13655999499997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.33, Y:-145.34, Z:-132.16 [[ 5.80725524e-01 3.92396741e-01 7.13290028e-01 2.50329523e+02] [-2.29847726e-01 9.19552868e-01 -3.18735856e-01 -1.45344987e+02] [-7.80978802e-01 2.11499561e-02 6.24199320e-01 -1.32156086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:250.35, Y:-145.37, Z:-132.18 [[ 5.80289827e-01 3.74824586e-01 7.23028524e-01 2.50350195e+02] [-2.31241397e-01 9.27087107e-01 -2.95020188e-01 -1.45367101e+02] [-7.80891243e-01 4.00308748e-03 6.24654178e-01 -1.32176392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.196559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:250.37, Y:-145.39, Z:-132.20 [[ 5.81820841e-01 3.69261709e-01 7.24658747e-01 2.50374860e+02] [-2.36587747e-01 9.29303079e-01 -2.83587774e-01 -1.45387013e+02] [-7.78145711e-01 -6.44810315e-03 6.28050694e-01 -1.32196562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.39, Y:-145.38, Z:-132.23 [[ 5.81326192e-01 3.88485062e-01 7.14940008e-01 2.50392310e+02] [-2.38681193e-01 9.21423698e-01 -3.06609941e-01 -1.45380561e+02] [-7.77876048e-01 7.59765535e-03 6.28371808e-01 -1.32228158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.256559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.41, Y:-145.39, Z:-132.25 [[ 5.80175028e-01 3.90804609e-01 7.14610869e-01 2.50410769e+02] [-2.42087855e-01 9.20459978e-01 -3.06833667e-01 -1.45386625e+02] [-7.77682717e-01 5.01861919e-03 6.28636943e-01 -1.32253737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.43, Y:-145.39, Z:-132.28 [[ 5.79369551e-01 3.92223847e-01 7.14486793e-01 2.50429645e+02] [-2.43987650e-01 9.19862719e-01 -3.07119853e-01 -1.45394060e+02] [-7.77689495e-01 3.60993774e-03 6.28638226e-01 -1.32279541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.316559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.45, Y:-145.40, Z:-132.31 [[ 5.78435368e-01 3.93574386e-01 7.14501034e-01 2.50448408e+02] [-2.45653665e-01 9.19289761e-01 -3.07507092e-01 -1.45401345e+02] [-7.77860400e-01 2.35317983e-03 6.28432702e-01 -1.32305662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.47, Y:-145.41, Z:-132.33 [[ 5.76817570e-01 3.95673200e-01 7.14649711e-01 2.50467484e+02] [-2.48438590e-01 9.18391371e-01 -3.07953821e-01 -1.45409017e+02] [-7.78177202e-01 8.66078578e-05 6.28044771e-01 -1.32331709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.49, Y:-145.42, Z:-132.36 [[ 5.76389228e-01 3.96814199e-01 7.14362617e-01 2.50486488e+02] [-2.49936836e-01 9.17898518e-01 -3.08210787e-01 -1.45416524e+02] [-7.78014804e-01 -8.96154765e-04 6.28245304e-01 -1.32357473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.51, Y:-145.42, Z:-132.38 [[ 5.75687682e-01 3.98028558e-01 7.14252729e-01 2.50505304e+02] [-2.51457619e-01 9.17370891e-01 -3.08544510e-01 -1.45423499e+02] [-7.78044188e-01 -1.97901698e-03 6.28206435e-01 -1.32383410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.436559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.52, Y:-145.43, Z:-132.41 [[ 5.74754763e-01 3.99111081e-01 7.14399964e-01 2.50523416e+02] [-2.52631154e-01 9.16898042e-01 -3.08991070e-01 -1.45430092e+02] [-7.78353687e-01 -2.88559815e-03 6.27819409e-01 -1.32409005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.54, Y:-145.44, Z:-132.43 [[ 5.73755236e-01 4.00280699e-01 7.14549012e-01 2.50542149e+02] [-2.53978202e-01 9.16384052e-01 -3.09411282e-01 -1.45437115e+02] [-7.78652684e-01 -3.95352993e-03 6.27442721e-01 -1.32434993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.56, Y:-145.44, Z:-132.46 [[ 5.73305246e-01 4.00743062e-01 7.14651029e-01 2.50560139e+02] [-2.54185763e-01 9.16181656e-01 -3.09839911e-01 -1.45444805e+02] [-7.78916358e-01 -4.02127077e-03 6.27114931e-01 -1.32460306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.58, Y:-145.45, Z:-132.49 [[ 5.73500020e-01 4.00824489e-01 7.14449058e-01 2.50578999e+02] [-2.53978358e-01 9.16147762e-01 -3.10110095e-01 -1.45452978e+02] [-7.78840626e-01 -3.60645336e-03 6.27211506e-01 -1.32486532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.556559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.60, Y:-145.46, Z:-132.51 [[ 5.74102693e-01 3.99828508e-01 7.14523101e-01 2.50597247e+02] [-2.51878158e-01 9.16588385e-01 -3.10520733e-01 -1.45462124e+02] [-7.79078617e-01 -1.70197370e-03 6.26923928e-01 -1.32512125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:250.62, Y:-145.47, Z:-132.54 [[ 5.74526533e-01 3.99394855e-01 7.14424952e-01 2.50615385e+02] [-2.50770753e-01 9.16778836e-01 -3.10854622e-01 -1.45470907e+02] [-7.79123413e-01 -5.62654532e-04 6.26870314e-01 -1.32537803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.616559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.63, Y:-145.48, Z:-132.56 [[ 5.75143385e-01 3.98858770e-01 7.14228093e-01 2.50633300e+02] [-2.49544357e-01 9.17012080e-01 -3.11153434e-01 -1.45479184e+02] [-7.79062064e-01 7.26249072e-04 6.26946387e-01 -1.32562978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.65, Y:-145.49, Z:-132.59 [[ 5.75831176e-01 3.98442973e-01 7.13905913e-01 2.50651812e+02] [-2.48613729e-01 9.17191322e-01 -3.11370024e-01 -1.45487621e+02] [-7.78851507e-01 1.80975557e-03 6.27205752e-01 -1.32589151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.676559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.67, Y:-145.50, Z:-132.62 [[ 5.77273472e-01 3.97051626e-01 7.13516183e-01 2.50669768e+02] [-2.46148542e-01 9.17786516e-01 -3.11574721e-01 -1.45496821e+02] [-7.78566782e-01 4.23285263e-03 6.27547488e-01 -1.32615218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:-145.51, Z:-132.64 [[ 5.77885942e-01 3.96559829e-01 7.13293867e-01 2.50687963e+02] [-2.45015223e-01 9.17992690e-01 -3.11860485e-01 -1.45505630e+02] [-7.78469896e-01 5.45193382e-03 6.27658265e-01 -1.32640981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.71, Y:-145.51, Z:-132.67 [[ 5.78348654e-01 3.96175470e-01 7.13132408e-01 2.50706317e+02] [-2.44016581e-01 9.18151596e-01 -3.12175519e-01 -1.45514114e+02] [-7.78439942e-01 6.53015902e-03 6.27685123e-01 -1.32666486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:250.72, Y:-145.52, Z:-132.69 [[ 5.78831781e-01 3.95607129e-01 7.13055937e-01 2.50724175e+02] [-2.42677698e-01 9.18386214e-01 -3.12528874e-01 -1.45522110e+02] [-7.78499393e-01 7.85887142e-03 6.27596155e-01 -1.32691339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79655999499994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.74, Y:-145.53, Z:-132.72 [[ 5.79596069e-01 3.94342835e-01 7.13135419e-01 2.50742199e+02] [-2.40180896e-01 9.18908029e-01 -3.12923589e-01 -1.45530739e+02] [-7.78705037e-01 1.00877784e-02 6.27309096e-01 -1.32717670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.76, Y:-145.54, Z:-132.74 [[ 5.80187824e-01 3.93938130e-01 7.12877857e-01 2.50760465e+02] [-2.39208207e-01 9.19068885e-01 -3.13196134e-01 -1.45539261e+02] [-7.78563756e-01 1.11863494e-02 6.27465810e-01 -1.32742944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.78, Y:-145.55, Z:-132.77 [[ 5.80479724e-01 3.93528053e-01 7.12866721e-01 2.50778834e+02] [-2.38120193e-01 9.19230837e-01 -3.13549744e-01 -1.45547826e+02] [-7.78679693e-01 1.22613083e-02 6.27301839e-01 -1.32768349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.80, Y:-145.56, Z:-132.79 [[ 5.81008621e-01 3.93119749e-01 7.12661102e-01 2.50797476e+02] [-2.37125582e-01 9.19390348e-01 -3.13835700e-01 -1.45556487e+02] [-7.78588750e-01 1.33510682e-02 6.27392467e-01 -1.32793703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91655999499994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.82, Y:-145.57, Z:-132.82 [[ 5.81811988e-01 3.92002128e-01 7.12621318e-01 2.50816183e+02] [-2.34915574e-01 9.19835479e-01 -3.14193195e-01 -1.45565597e+02] [-7.78658773e-01 1.53955220e-02 6.27258714e-01 -1.32819235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.84, Y:-145.57, Z:-132.85 [[ 5.82223314e-01 3.91873732e-01 7.12355944e-01 2.50835001e+02] [-2.34400141e-01 9.19878025e-01 -3.14453483e-01 -1.45573999e+02] [-7.78506639e-01 1.61058154e-02 6.27429690e-01 -1.32845026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.85, Y:-145.58, Z:-132.87 [[ 5.82259213e-01 3.91711068e-01 7.12416064e-01 2.50854016e+02] [-2.33638426e-01 9.19933401e-01 -3.14858101e-01 -1.45582199e+02] [-7.78708736e-01 1.68812616e-02 6.27158455e-01 -1.32871037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.88, Y:-145.60, Z:-132.89 [[ 5.83474581e-01 3.81954733e-01 7.16706352e-01 2.50878179e+02] [-2.35190642e-01 9.24153864e-01 -3.01039862e-01 -1.45601887e+02] [-7.77330544e-01 7.08648008e-03 6.29052468e-01 -1.32890468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.89, Y:-145.60, Z:-132.92 [[ 5.82193595e-01 3.98294274e-01 7.08810475e-01 2.50894816e+02] [-2.35596186e-01 9.17031940e-01 -3.21786978e-01 -1.45596659e+02] [-7.78167755e-01 2.03492732e-02 6.27726734e-01 -1.32921446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.92, Y:-145.62, Z:-132.94 [[ 5.82773398e-01 3.88472598e-01 7.13767614e-01 2.50917971e+02] [-2.38896278e-01 9.21424956e-01 -3.06438604e-01 -1.45616866e+02] [-7.76726294e-01 8.06783965e-03 6.29786610e-01 -1.32942201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.93, Y:-145.59, Z:-132.98 [[ 5.78811343e-01 4.20800064e-01 6.98501779e-01 2.50927569e+02] [-2.36163517e-01 9.06364990e-01 -3.50327417e-01 -1.45591004e+02] [-7.80515357e-01 3.78128464e-02 6.23991960e-01 -1.32979808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.95, Y:-145.63, Z:-133.00 [[ 5.78627121e-01 3.90795635e-01 7.15869699e-01 2.50950931e+02] [-2.39087988e-01 9.20444686e-01 -3.09222434e-01 -1.45625959e+02] [-7.79761238e-01 7.76864122e-03 6.26028801e-01 -1.32995361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.97, Y:-145.62, Z:-133.03 [[ 5.75513084e-01 4.08289586e-01 7.08579074e-01 2.50966596e+02] [-2.41300054e-01 9.12657217e-01 -3.29895572e-01 -1.45616697e+02] [-7.81382732e-01 1.88790489e-02 6.23766469e-01 -1.33025736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:-145.63, Z:-133.05 [[ 5.74319892e-01 4.00164374e-01 7.14160441e-01 2.50986440e+02] [-2.43540651e-01 9.16403994e-01 -3.17634494e-01 -1.45631402e+02] [-7.81565488e-01 8.49671016e-03 6.23765335e-01 -1.33048889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.01, Y:-145.64, Z:-133.07 [[ 5.73190774e-01 4.02345765e-01 7.13841875e-01 2.51006009e+02] [-2.46725437e-01 9.15467589e-01 -3.17876789e-01 -1.45638633e+02] [-7.81395479e-01 6.08109410e-03 6.24006511e-01 -1.33074958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:-145.65, Z:-133.10 [[ 5.71947604e-01 4.04660350e-01 7.13530616e-01 2.51025270e+02] [-2.50122175e-01 9.14460442e-01 -3.18121043e-01 -1.45645345e+02] [-7.81226495e-01 3.47873841e-03 6.24237985e-01 -1.33100734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.04, Y:-145.65, Z:-133.13 [[ 5.69361246e-01 4.09264104e-01 7.12973117e-01 2.51044774e+02] [-2.57325708e-01 9.12413155e-01 -3.18254168e-01 -1.45649959e+02] [-7.80776058e-01 -2.26472224e-03 6.24806865e-01 -1.33126484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.06, Y:-145.66, Z:-133.15 [[ 5.67842498e-01 4.11766773e-01 7.12743308e-01 2.51063824e+02] [-2.61021207e-01 9.11274546e-01 -3.18506877e-01 -1.45656571e+02] [-7.80655383e-01 -5.17937786e-03 6.24940275e-01 -1.33152253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:-145.66, Z:-133.18 [[ 5.66672453e-01 4.13891825e-01 7.12443604e-01 2.51082703e+02] [-2.64124219e-01 9.10294791e-01 -3.18750356e-01 -1.45663040e+02] [-7.80461868e-01 -7.54656436e-03 6.25157837e-01 -1.33177557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.10, Y:-145.67, Z:-133.20 [[ 5.64417536e-01 4.16930604e-01 7.12461730e-01 2.51102772e+02] [-2.68709650e-01 9.08866823e-01 -3.18992510e-01 -1.45668442e+02] [-7.80530569e-01 -1.14003758e-02 6.25013649e-01 -1.33203414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.12, Y:-145.68, Z:-133.23 [[ 5.63408757e-01 4.18233685e-01 7.12496426e-01 2.51121981e+02] [-2.70311278e-01 9.08251409e-01 -3.19391907e-01 -1.45675817e+02] [-7.80706337e-01 -1.26476222e-02 6.24770080e-01 -1.33229476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:-145.68, Z:-133.26 [[ 5.62692154e-01 4.19257608e-01 7.12460945e-01 2.51140960e+02] [-2.71497981e-01 9.07766879e-01 -3.19762632e-01 -1.45683512e+02] [-7.80811364e-01 -1.35037838e-02 6.24620894e-01 -1.33255217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.16, Y:-145.69, Z:-133.28 [[ 5.62295844e-01 4.20126927e-01 7.12261714e-01 2.51159512e+02] [-2.72520053e-01 9.07355238e-01 -3.20061390e-01 -1.45691424e+02] [-7.80740805e-01 -1.41364112e-02 6.24695091e-01 -1.33280383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:-145.70, Z:-133.31 [[ 5.62402917e-01 4.20636187e-01 7.11876504e-01 2.51177927e+02] [-2.73092659e-01 9.07116715e-01 -3.20249379e-01 -1.45699426e+02] [-7.80463554e-01 -1.42990622e-02 6.25037742e-01 -1.33305860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:-145.71, Z:-133.33 [[ 5.62531107e-01 4.20904851e-01 7.11616371e-01 2.51195694e+02] [-2.73181196e-01 9.06995218e-01 -3.20517875e-01 -1.45706606e+02] [-7.80340175e-01 -1.40989360e-02 6.25196315e-01 -1.33331707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:251.21, Y:-145.70, Z:-133.37 [[ 5.61308700e-01 4.32849884e-01 7.05388915e-01 2.51210858e+02] [-2.72150035e-01 9.01460915e-01 -3.36604482e-01 -1.45704010e+02] [-7.81579747e-01 -3.03259368e-03 6.23797966e-01 -1.33365157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:-145.73, Z:-133.38 [[ 5.63720154e-01 4.11559787e-01 7.16127174e-01 2.51232197e+02] [-2.73140898e-01 9.11126031e-01 -3.08615304e-01 -1.45729794e+02] [-7.79495758e-01 -2.16309532e-02 6.26033917e-01 -1.33379645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.25, Y:-145.73, Z:-133.41 [[ 5.63487591e-01 4.21122056e-01 7.10730574e-01 2.51249850e+02] [-2.72856254e-01 9.06910400e-01 -3.21034253e-01 -1.45731081e+02] [-7.79763554e-01 -1.30284641e-02 6.25938543e-01 -1.33408366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:-145.74, Z:-133.43 [[ 5.63505935e-01 4.21382964e-01 7.10561369e-01 2.51268614e+02] [-2.72880577e-01 9.06792211e-01 -3.21347282e-01 -1.45740229e+02] [-7.79741785e-01 -1.28172958e-02 6.25970019e-01 -1.33434369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.29, Y:-145.75, Z:-133.46 [[ 5.63494776e-01 4.21514520e-01 7.10492186e-01 2.51287269e+02] [-2.72644260e-01 9.06736424e-01 -3.21705089e-01 -1.45749175e+02] [-7.79832511e-01 -1.24324787e-02 6.25864753e-01 -1.33460428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.31, Y:-145.76, Z:-133.49 [[ 5.63336046e-01 4.21678619e-01 7.10520683e-01 2.51305638e+02] [-2.72404839e-01 9.06664710e-01 -3.22109775e-01 -1.45757834e+02] [-7.80030835e-01 -1.20932250e-02 6.25624209e-01 -1.33486147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.32, Y:-145.76, Z:-133.52 [[ 5.62170814e-01 4.28511211e-01 7.07348654e-01 2.51321620e+02] [-2.71664013e-01 9.03517632e-01 -3.31443136e-01 -1.45762827e+02] [-7.81129080e-01 -5.83351642e-03 6.24342318e-01 -1.33518489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.34, Y:-145.77, Z:-133.54 [[ 5.63892921e-01 4.21869537e-01 7.09965399e-01 2.51340486e+02] [-2.70738654e-01 9.06604716e-01 -3.23679579e-01 -1.45774936e+02] [-7.80208533e-01 -9.69445348e-03 6.25444372e-01 -1.33536578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.36, Y:-145.78, Z:-133.56 [[ 5.64323138e-01 4.20944458e-01 7.10172627e-01 2.51358537e+02] [-2.70320245e-01 9.07033524e-01 -3.22826813e-01 -1.45784989e+02] [-7.80042538e-01 -9.79539848e-03 6.25649814e-01 -1.33561692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.38, Y:-145.79, Z:-133.59 [[ 5.64654580e-01 4.20659274e-01 7.10078151e-01 2.51375841e+02] [-2.69428779e-01 9.07175685e-01 -3.23172415e-01 -1.45794085e+02] [-7.80111106e-01 -8.83470462e-03 6.25578620e-01 -1.33586933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:-145.80, Z:-133.61 [[ 5.64599745e-01 4.20963715e-01 7.09941321e-01 2.51394689e+02] [-2.69540177e-01 9.07035514e-01 -3.23472825e-01 -1.45802592e+02] [-7.80112313e-01 -8.72503440e-03 6.25578654e-01 -1.33613248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.41, Y:-145.81, Z:-133.64 [[ 5.66276145e-01 4.19910075e-01 7.09229762e-01 2.51412109e+02] [-2.68031181e-01 9.07538644e-01 -3.23315473e-01 -1.45813853e+02] [-7.79416842e-01 -7.00985101e-03 6.26466479e-01 -1.33638482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.43, Y:-145.82, Z:-133.66 [[ 5.67179363e-01 4.19570874e-01 7.08708580e-01 2.51430022e+02] [-2.67295657e-01 9.07702927e-01 -3.23463179e-01 -1.45823542e+02] [-7.79012581e-01 -5.97308558e-03 6.26979841e-01 -1.33664158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.45, Y:-145.83, Z:-133.69 [[ 5.67572059e-01 4.19527732e-01 7.08419678e-01 2.51447499e+02] [-2.66904266e-01 9.07726776e-01 -3.23719342e-01 -1.45833256e+02] [-7.78860752e-01 -5.34618067e-03 6.27174097e-01 -1.33689423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:-145.84, Z:-133.72 [[ 5.68033455e-01 4.24555693e-01 7.05046422e-01 2.51463471e+02] [-2.65381472e-01 9.05401111e-01 -3.31393274e-01 -1.45839855e+02] [-7.79044715e-01 1.13620955e-03 6.26967336e-01 -1.33720796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.48, Y:-145.85, Z:-133.74 [[ 5.68747719e-01 4.18225689e-01 7.08246641e-01 2.51482261e+02] [-2.65412312e-01 9.08333742e-01 -3.23243126e-01 -1.45854128e+02] [-7.78512901e-01 -4.13358784e-03 6.27614991e-01 -1.33739391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.50, Y:-145.86, Z:-133.77 [[ 5.68792609e-01 4.18795835e-01 7.07873588e-01 2.51500253e+02] [-2.64935150e-01 9.08075305e-01 -3.24358762e-01 -1.45863287e+02] [-7.78642623e-01 -3.04772836e-03 6.27460259e-01 -1.33765182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:-145.87, Z:-133.79 [[ 5.68582179e-01 4.18645743e-01 7.08131377e-01 2.51517273e+02] [-2.64076303e-01 9.08146733e-01 -3.24858765e-01 -1.45874256e+02] [-7.79087936e-01 -2.29181143e-03 6.26910469e-01 -1.33790290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.53, Y:-145.88, Z:-133.82 [[ 5.68619022e-01 4.18779880e-01 7.08022472e-01 2.51534997e+02] [-2.63910528e-01 9.08085662e-01 -3.25164055e-01 -1.45883761e+02] [-7.79117219e-01 -1.96011747e-03 6.26875200e-01 -1.33815881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:-145.89, Z:-133.84 [[ 5.68474467e-01 4.18848676e-01 7.08097852e-01 2.51553007e+02] [-2.63512327e-01 9.08054788e-01 -3.25572964e-01 -1.45893450e+02] [-7.79357450e-01 -1.51259547e-03 6.26577751e-01 -1.33842025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.57, Y:-145.90, Z:-133.87 [[ 5.68744796e-01 4.18777078e-01 7.07923100e-01 2.51570537e+02] [-2.63029090e-01 9.08088655e-01 -3.25869134e-01 -1.45903305e+02] [-7.79323459e-01 -8.67994918e-04 6.26621251e-01 -1.33866826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.59, Y:-145.91, Z:-133.89 [[ 5.68837309e-01 4.18690981e-01 7.07899695e-01 2.51588036e+02] [-2.62469023e-01 9.08128738e-01 -3.26208840e-01 -1.45914442e+02] [-7.79444756e-01 -2.41982731e-04 6.26470920e-01 -1.33892658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:-145.92, Z:-133.92 [[ 5.68766695e-01 4.19040413e-01 7.07749658e-01 2.51605304e+02] [-2.62643704e-01 9.07967566e-01 -3.26516742e-01 -1.45923413e+02] [-7.79437446e-01 -1.74143199e-04 6.26480038e-01 -1.33917680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.62, Y:-145.93, Z:-133.94 [[ 5.68421358e-01 4.19742911e-01 7.07610803e-01 2.51622982e+02] [-2.63408655e-01 9.07642822e-01 -3.26803285e-01 -1.45933125e+02] [-7.79431229e-01 -6.28842775e-04 6.26487481e-01 -1.33943405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.64, Y:-145.94, Z:-133.97 [[ 5.67775809e-01 4.21056768e-01 7.07348449e-01 2.51640058e+02] [-2.65181752e-01 9.07032345e-01 -3.27064157e-01 -1.45943912e+02] [-7.79300500e-01 -1.87678449e-03 6.26647596e-01 -1.33968733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.66, Y:-145.95, Z:-133.99 [[ 5.67227564e-01 4.22161388e-01 7.07129870e-01 2.51657441e+02] [-2.66628677e-01 9.06516126e-01 -3.27318899e-01 -1.45953099e+02] [-7.79206031e-01 -2.87679984e-03 6.26761267e-01 -1.33993586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:-145.96, Z:-134.02 [[ 5.65969282e-01 4.23360680e-01 7.07421025e-01 2.51675220e+02] [-2.67946277e-01 9.05952285e-01 -3.27803677e-01 -1.45962289e+02] [-7.79668881e-01 -4.02401864e-03 6.26179082e-01 -1.34019353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.69, Y:-145.97, Z:-134.05 [[ 5.65302931e-01 4.24708896e-01 7.07145635e-01 2.51693457e+02] [-2.69799361e-01 9.05314210e-01 -3.28046470e-01 -1.45972022e+02] [-7.79513246e-01 -5.34180955e-03 6.26362965e-01 -1.34045418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:-145.98, Z:-134.07 [[ 5.64567806e-01 4.26012412e-01 7.06948808e-01 2.51711649e+02] [-2.71539480e-01 9.04693218e-01 -3.28323760e-01 -1.45981633e+02] [-7.79441789e-01 -6.60348680e-03 6.26439855e-01 -1.34071768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.73, Y:-145.99, Z:-134.10 [[ 5.63100865e-01 4.28634854e-01 7.06533493e-01 2.51728331e+02] [-2.75518351e-01 9.03425902e-01 -3.28498521e-01 -1.45991270e+02] [-7.79106574e-01 -9.68514201e-03 6.26816675e-01 -1.34096672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.75, Y:-146.00, Z:-134.12 [[ 5.61869714e-01 4.30055977e-01 7.06650041e-01 2.51746321e+02] [-2.77310458e-01 9.02733177e-01 -3.28894696e-01 -1.46000011e+02] [-7.79359567e-01 -1.11654775e-02 6.26477452e-01 -1.34122652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:-146.01, Z:-134.15 [[ 5.60691042e-01 4.31380938e-01 7.06778637e-01 2.51764433e+02] [-2.78885069e-01 9.02083972e-01 -3.29344235e-01 -1.46008983e+02] [-7.79646506e-01 -1.24496469e-02 6.26096105e-01 -1.34148623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.78, Y:-146.02, Z:-134.17 [[ 5.59769855e-01 4.32522895e-01 7.06810905e-01 2.51782503e+02] [-2.80219118e-01 9.01522208e-01 -3.29749836e-01 -1.46018181e+02] [-7.79830082e-01 -1.34779102e-02 6.25846139e-01 -1.34174902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.80, Y:-146.03, Z:-134.20 [[ 5.59102816e-01 4.33711233e-01 7.06610648e-01 2.51799406e+02] [-2.81752269e-01 9.00934322e-01 -3.30050006e-01 -1.46029219e+02] [-7.79756180e-01 -1.45572660e-02 6.25914041e-01 -1.34199196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.82, Y:-146.04, Z:-134.22 [[ 5.58610150e-01 4.34299313e-01 7.06639093e-01 2.51817347e+02] [-2.82228074e-01 9.00646171e-01 -3.30429704e-01 -1.46039361e+02] [-7.79937187e-01 -1.48520044e-02 6.25681551e-01 -1.34224896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.83, Y:-146.05, Z:-134.25 [[ 5.58167100e-01 4.34671403e-01 7.06760398e-01 2.51834471e+02] [-2.82275583e-01 9.00467230e-01 -3.30876506e-01 -1.46048742e+02] [-7.80237133e-01 -1.48168235e-02 6.25308306e-01 -1.34249837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:-146.06, Z:-134.28 [[ 5.58723035e-01 4.34704064e-01 7.06300889e-01 2.51852371e+02] [-2.82127346e-01 9.00459562e-01 -3.31023771e-01 -1.46058359e+02] [-7.79892768e-01 -1.43161893e-02 6.25749404e-01 -1.34275726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.87, Y:-146.07, Z:-134.30 [[ 5.59143387e-01 4.34762221e-01 7.05932351e-01 2.51870143e+02] [-2.81944156e-01 9.00439153e-01 -3.31235302e-01 -1.46066476e+02] [-7.79657724e-01 -1.38254727e-02 6.26053265e-01 -1.34301797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.89, Y:-146.08, Z:-134.33 [[ 5.61069071e-01 4.27814641e-01 7.08643867e-01 2.51891459e+02] [-2.83877722e-01 9.03617868e-01 -3.20761887e-01 -1.46084932e+02] [-7.77569892e-01 -2.11986325e-02 6.28439084e-01 -1.34326318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.90, Y:-146.07, Z:-134.36 [[ 5.60312461e-01 4.50736314e-01 6.94900512e-01 2.51904406e+02] [-2.81267969e-01 8.92655128e-01 -3.52214640e-01 -1.46068976e+02] [-7.79062434e-01 1.89699616e-03 6.26943479e-01 -1.34358018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.92, Y:-146.09, Z:-134.38 [[ 5.61771449e-01 4.33582548e-01 7.04570092e-01 2.51924237e+02] [-2.79694052e-01 9.01048590e-01 -3.31485558e-01 -1.46089831e+02] [-7.78578241e-01 -1.08449418e-02 6.27453831e-01 -1.34379216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.94, Y:-146.10, Z:-134.40 [[ 5.62038536e-01 4.33789585e-01 7.04229565e-01 2.51942690e+02] [-2.79744190e-01 9.00952168e-01 -3.31705260e-01 -1.46098655e+02] [-7.78367440e-01 -1.05729905e-02 6.27719954e-01 -1.34404634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.96, Y:-146.11, Z:-134.43 [[ 5.62127024e-01 4.34116371e-01 7.03957516e-01 2.51961429e+02] [-2.79936975e-01 9.00796114e-01 -3.31966341e-01 -1.46107568e+02] [-7.78234218e-01 -1.04564864e-02 6.27887063e-01 -1.34430380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.98, Y:-146.12, Z:-134.46 [[ 5.61592983e-01 4.34700885e-01 7.04023055e-01 2.51978947e+02] [-2.80357067e-01 9.00511173e-01 -3.32384629e-01 -1.46116015e+02] [-7.78468520e-01 -1.07129639e-02 6.27592221e-01 -1.34455073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.00, Y:-146.13, Z:-134.48 [[ 5.61010701e-01 4.33158038e-01 7.05436820e-01 2.51999193e+02] [-2.83798111e-01 9.01168995e-01 -3.27647791e-01 -1.46130705e+02] [-7.77641065e-01 -1.63877197e-02 6.28494882e-01 -1.34480048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.01, Y:-146.12, Z:-134.51 [[ 5.59360934e-01 4.47349870e-01 6.97849152e-01 2.52014265e+02] [-2.83549161e-01 8.94348627e-01 -3.46035267e-01 -1.46124529e+02] [-7.78919263e-01 -4.31593134e-03 6.27109364e-01 -1.34508195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:-146.14, Z:-134.53 [[ 5.58825795e-01 4.38319546e-01 7.03981326e-01 2.52032953e+02] [-2.84810426e-01 8.98707895e-01 -3.33477345e-01 -1.46140631e+02] [-7.78843214e-01 -1.41454790e-02 6.27059131e-01 -1.34530634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.05, Y:-146.15, Z:-134.56 [[ 5.58635619e-01 4.38984611e-01 7.03717810e-01 2.52050921e+02] [-2.85583791e-01 8.98376776e-01 -3.33708055e-01 -1.46148444e+02] [-7.78696438e-01 -1.45491940e-02 6.27232157e-01 -1.34556568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:-146.16, Z:-134.58 [[ 5.59003550e-01 4.39213943e-01 7.03282406e-01 2.52069190e+02] [-2.85717955e-01 8.98268712e-01 -3.33884070e-01 -1.46157772e+02] [-7.78383120e-01 -1.42980303e-02 6.27626708e-01 -1.34582150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.09, Y:-146.17, Z:-134.61 [[ 5.59010493e-01 4.39091704e-01 7.03353214e-01 2.52087217e+02] [-2.85000357e-01 8.98339684e-01 -3.34306160e-01 -1.46166834e+02] [-7.78641166e-01 -1.35752659e-02 6.27322602e-01 -1.34607217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.11, Y:-146.18, Z:-134.63 [[ 5.59377689e-01 4.38855655e-01 7.03208586e-01 2.52106133e+02] [-2.84403718e-01 8.98465029e-01 -3.34477379e-01 -1.46176062e+02] [-7.78595612e-01 -1.28959532e-02 6.27393472e-01 -1.34633035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:-146.18, Z:-134.66 [[ 5.59469293e-01 4.38411062e-01 7.03413002e-01 2.52124797e+02] [-2.83094571e-01 8.98698009e-01 -3.34961719e-01 -1.46183857e+02] [-7.79006787e-01 -1.17316059e-02 6.26905731e-01 -1.34658244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.14, Y:-146.19, Z:-134.68 [[ 5.59316583e-01 4.38626095e-01 7.03400391e-01 2.52143441e+02] [-2.83000686e-01 8.98595871e-01 -3.35314885e-01 -1.46191488e+02] [-7.79150545e-01 -1.15156177e-02 6.26731058e-01 -1.34683783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:-146.19, Z:-134.71 [[ 5.60950764e-01 4.46408309e-01 6.97175633e-01 2.52161425e+02] [-2.83942873e-01 8.94816978e-01 -3.44498217e-01 -1.46192998e+02] [-7.77631459e-01 -4.71151443e-03 6.28702725e-01 -1.34712011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.18, Y:-146.21, Z:-134.73 [[ 5.58962310e-01 4.32264069e-01 7.07607879e-01 2.52180057e+02] [-2.83440884e-01 9.01570051e-01 -3.26852731e-01 -1.46211949e+02] [-7.79244763e-01 -1.78666452e-02 6.26464989e-01 -1.34731687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.20, Y:-146.21, Z:-134.76 [[ 5.58165906e-01 4.40290023e-01 7.03274852e-01 2.52198250e+02] [-2.84615076e-01 8.97768214e-01 -3.36164382e-01 -1.46214391e+02] [-7.79387631e-01 -1.25271290e-02 6.26416787e-01 -1.34760389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:-146.22, Z:-134.79 [[ 5.57974555e-01 4.41126382e-01 7.02902491e-01 2.52216241e+02] [-2.85686440e-01 8.97349068e-01 -3.36374656e-01 -1.46223407e+02] [-7.79132629e-01 -1.31212113e-02 6.26721772e-01 -1.34785404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.23, Y:-146.23, Z:-134.81 [[ 5.57958295e-01 4.42202343e-01 7.02239012e-01 2.52234635e+02] [-2.87339998e-01 8.96804883e-01 -3.36417489e-01 -1.46233434e+02] [-7.78535977e-01 -1.40744272e-02 6.27442143e-01 -1.34811375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.26, Y:-146.25, Z:-134.83 [[ 5.59123291e-01 4.35885407e-01 7.05255314e-01 2.52255508e+02] [-2.89542654e-01 8.99742335e-01 -3.26540628e-01 -1.46251105e+02] [-7.76882358e-01 -2.16250244e-02 6.29274313e-01 -1.34834201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:-146.24, Z:-134.87 [[ 5.57184786e-01 4.56014062e-01 6.93971389e-01 2.52269525e+02] [-2.88242691e-01 8.89967044e-01 -3.53376304e-01 -1.46239293e+02] [-7.78756230e-01 -3.13628052e-03 6.27318817e-01 -1.34865816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.29, Y:-146.26, Z:-134.89 [[ 5.57406063e-01 4.43710995e-01 7.01725754e-01 2.52288751e+02] [-2.89084048e-01 8.96043736e-01 -3.36951088e-01 -1.46257443e+02] [-7.78285869e-01 -1.50391429e-02 6.27729982e-01 -1.34887642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.31, Y:-146.27, Z:-134.91 [[ 5.57224625e-01 4.44415149e-01 7.01424188e-01 2.52307084e+02] [-2.89902591e-01 8.95687681e-01 -3.37194405e-01 -1.46265042e+02] [-7.78111306e-01 -1.54516635e-02 6.27936335e-01 -1.34913444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.33, Y:-146.27, Z:-134.94 [[ 5.56726104e-01 4.45473843e-01 7.01148416e-01 2.52325890e+02] [-2.91280238e-01 8.95145374e-01 -3.37447155e-01 -1.46273224e+02] [-7.77953642e-01 -1.63650376e-02 6.28108523e-01 -1.34939809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.35, Y:-146.29, Z:-134.96 [[ 5.58703579e-01 4.36645099e-01 7.05117982e-01 2.52348273e+02] [-2.94008588e-01 8.99247990e-01 -3.23901224e-01 -1.46294690e+02] [-7.75505810e-01 -2.63459694e-02 6.30790479e-01 -1.34960859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.36, Y:-146.28, Z:-134.99 [[ 5.56021096e-01 4.62116030e-01 6.90861286e-01 2.52360587e+02] [-2.91466791e-01 8.86817289e-01 -3.58611497e-01 -1.46278243e+02] [-7.78387854e-01 -1.96756441e-03 6.27780597e-01 -1.34994948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:-146.30, Z:-135.02 [[ 5.56632976e-01 4.45603133e-01 7.01140199e-01 2.52378814e+02] [-2.90373252e-01 8.95100583e-01 -3.38346449e-01 -1.46300444e+02] [-7.78359239e-01 -1.52575688e-02 6.27633732e-01 -1.35015287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.40, Y:-146.31, Z:-135.04 [[ 5.56691873e-01 4.45552447e-01 7.01125648e-01 2.52397053e+02] [-2.89851066e-01 8.95135640e-01 -3.38701263e-01 -1.46309845e+02] [-7.78511733e-01 -1.46697760e-02 6.27458588e-01 -1.35041426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.42, Y:-146.32, Z:-135.07 [[ 5.56858419e-01 4.45485574e-01 7.01035880e-01 2.52415352e+02] [-2.89320171e-01 8.95179231e-01 -3.39039795e-01 -1.46319548e+02] [-7.78590098e-01 -1.40266569e-02 6.27376054e-01 -1.35066917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.44, Y:-146.34, Z:-135.09 [[ 5.58250891e-01 4.36338838e-01 7.05665900e-01 2.52437789e+02] [-2.89825912e-01 8.99513033e-01 -3.26920853e-01 -1.46341253e+02] [-7.77403939e-01 -2.20164060e-02 6.28616254e-01 -1.35088468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:-146.34, Z:-135.12 [[ 5.57382291e-01 4.54281443e-01 6.94948452e-01 2.52454437e+02] [-2.88818344e-01 8.90842776e-01 -3.50689480e-01 -1.46335085e+02] [-7.78401532e-01 -5.24575531e-03 6.27744802e-01 -1.35120929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.47, Y:-146.33, Z:-135.15 [[ 5.56109594e-01 4.59390143e-01 6.92605816e-01 2.52468293e+02] [-2.85124793e-01 8.88230064e-01 -3.60209946e-01 -1.46332945e+02] [-7.80670207e-01 2.83711655e-03 6.24936780e-01 -1.35148178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.49, Y:-146.35, Z:-135.17 [[ 5.56302583e-01 4.43984721e-01 7.02427935e-01 2.52486890e+02] [-2.84556660e-01 8.95976260e-01 -3.40960480e-01 -1.46353740e+02] [-7.80739998e-01 -1.02033515e-02 6.24772717e-01 -1.35168102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.50, Y:-146.36, Z:-135.19 [[ 5.56742882e-01 4.43623315e-01 7.02307424e-01 2.52504544e+02] [-2.83592740e-01 8.96166395e-01 -3.41263754e-01 -1.46362530e+02] [-7.80776870e-01 -9.17312104e-03 6.24742613e-01 -1.35193196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.52, Y:-146.37, Z:-135.22 [[ 5.56689860e-01 4.43837486e-01 7.02214131e-01 2.52523151e+02] [-2.83695450e-01 8.96060784e-01 -3.41455654e-01 -1.46371571e+02] [-7.80777364e-01 -9.13005304e-03 6.24742628e-01 -1.35219501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:-146.38, Z:-135.25 [[ 5.56939320e-01 4.43779540e-01 7.02052928e-01 2.52541586e+02] [-2.83497947e-01 8.96092631e-01 -3.41536104e-01 -1.46381075e+02] [-7.80671190e-01 -8.81567816e-03 6.24879810e-01 -1.35245619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.56, Y:-146.39, Z:-135.27 [[ 5.57450545e-01 4.43960083e-01 7.01532847e-01 2.52559574e+02] [-2.83602635e-01 8.96006348e-01 -3.41675533e-01 -1.46389894e+02] [-7.80268182e-01 -8.48935209e-03 6.25387476e-01 -1.35271186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.58, Y:-146.40, Z:-135.30 [[ 5.56911570e-01 4.46940315e-01 7.00067039e-01 2.52576751e+02] [-2.83753490e-01 8.94541547e-01 -3.45368466e-01 -1.46396964e+02] [-7.80598143e-01 -6.30677106e-03 6.25001411e-01 -1.35300019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.59, Y:-146.41, Z:-135.32 [[ 5.58475257e-01 4.44833674e-01 7.00163117e-01 2.52594989e+02] [-2.84557615e-01 8.95575367e-01 -3.42011294e-01 -1.46405054e+02] [-7.79186981e-01 -8.23190062e-03 6.26737493e-01 -1.35323016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.61, Y:-146.41, Z:-135.35 [[ 5.58614710e-01 4.45176239e-01 6.99834068e-01 2.52613220e+02] [-2.85349234e-01 8.95400154e-01 -3.41810444e-01 -1.46414048e+02] [-7.78797419e-01 -8.75677280e-03 6.27214396e-01 -1.35349185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:-146.42, Z:-135.38 [[ 5.57636714e-01 4.48568978e-01 6.98446252e-01 2.52629789e+02] [-2.84744751e-01 8.93730830e-01 -3.46649147e-01 -1.46419945e+02] [-7.79719002e-01 -5.57461256e-03 6.26104785e-01 -1.35377799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.65, Y:-146.43, Z:-135.40 [[ 5.58952649e-01 4.42997129e-01 7.00946132e-01 2.52649015e+02] [-2.84718778e-01 8.96469533e-01 -3.39525541e-01 -1.46433261e+02] [-7.78785692e-01 -9.79382605e-03 6.27213622e-01 -1.35399535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.67, Y:-146.44, Z:-135.43 [[ 5.59266134e-01 4.45020978e-01 6.99412411e-01 2.52666747e+02] [-2.84275824e-01 8.95490428e-01 -3.42467736e-01 -1.46440551e+02] [-7.78722446e-01 -7.29543281e-03 6.27326174e-01 -1.35425438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.68, Y:-146.45, Z:-135.45 [[ 5.59445881e-01 4.44786937e-01 6.99417534e-01 2.52684540e+02] [-2.83600985e-01 8.95611885e-01 -3.42709545e-01 -1.46449680e+02] [-7.78839385e-01 -6.62805792e-03 6.27188394e-01 -1.35451093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.70, Y:-146.46, Z:-135.48 [[ 5.60200273e-01 4.44113299e-01 6.99241755e-01 2.52702266e+02] [-2.82145928e-01 8.95955929e-01 -3.43011149e-01 -1.46459603e+02] [-7.78825610e-01 -5.13327454e-03 6.27219515e-01 -1.35477270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.72, Y:-146.47, Z:-135.50 [[ 5.60408155e-01 4.43978855e-01 6.99160551e-01 2.52720219e+02] [-2.81495477e-01 8.96026517e-01 -3.43361000e-01 -1.46469010e+02] [-7.78911418e-01 -4.38822795e-03 6.27118607e-01 -1.35503283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.74, Y:-146.48, Z:-135.53 [[ 5.60466048e-01 4.44116628e-01 6.99026630e-01 2.52738873e+02] [-2.81308481e-01 8.95959980e-01 -3.43687726e-01 -1.46478181e+02] [-7.78937320e-01 -4.01681792e-03 6.27088923e-01 -1.35529170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:-146.49, Z:-135.55 [[ 5.59867324e-01 4.44553468e-01 6.99228713e-01 2.52756622e+02] [-2.81399641e-01 8.95743077e-01 -3.44178125e-01 -1.46485891e+02] [-7.79334858e-01 -4.06862302e-03 6.26594466e-01 -1.35554457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.78, Y:-146.49, Z:-135.58 [[ 5.59555084e-01 4.45443571e-01 6.98912106e-01 2.52775048e+02] [-2.82560488e-01 8.95297248e-01 -3.44387003e-01 -1.46494542e+02] [-7.79139062e-01 -4.78144736e-03 6.26832880e-01 -1.35580427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:-146.50, Z:-135.61 [[ 5.59351281e-01 4.46124202e-01 6.98641068e-01 2.52793454e+02] [-2.83586352e-01 8.94954374e-01 -3.44434972e-01 -1.46502686e+02] [-7.78912656e-01 -5.46492868e-03 6.27108610e-01 -1.35606230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.81, Y:-146.51, Z:-135.63 [[ 5.59130091e-01 4.46893867e-01 6.98326151e-01 2.52812001e+02] [-2.84468273e-01 8.94567446e-01 -3.44712759e-01 -1.46511212e+02] [-7.78749859e-01 -5.91235752e-03 6.27306704e-01 -1.35632488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.83, Y:-146.52, Z:-135.66 [[ 5.58775416e-01 4.47640206e-01 6.98131993e-01 2.52829857e+02] [-2.85282685e-01 8.94191010e-01 -3.45016271e-01 -1.46519589e+02] [-7.78706507e-01 -6.37835863e-03 6.27355954e-01 -1.35657703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:-146.53, Z:-135.68 [[ 5.58477208e-01 4.48122857e-01 6.98060967e-01 2.52847065e+02] [-2.85636557e-01 8.93948204e-01 -3.45352524e-01 -1.46528202e+02] [-7.78790707e-01 -6.52021738e-03 6.27249967e-01 -1.35682827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:-146.54, Z:-135.71 [[ 5.58850985e-01 4.48399895e-01 6.97583766e-01 2.52865323e+02] [-2.85919022e-01 8.93810266e-01 -3.45475790e-01 -1.46537346e+02] [-7.78418839e-01 -6.38298256e-03 6.27712807e-01 -1.35708439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.88, Y:-146.55, Z:-135.73 [[ 5.59099836e-01 4.48705750e-01 6.97187581e-01 2.52883494e+02] [-2.86169461e-01 8.93657676e-01 -3.45663127e-01 -1.46546313e+02] [-7.78148067e-01 -6.25359711e-03 6.28049743e-01 -1.35734176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.90, Y:-146.55, Z:-135.76 [[ 5.59159061e-01 4.49255621e-01 6.96785858e-01 2.52902000e+02] [-2.86801886e-01 8.93379974e-01 -3.45856763e-01 -1.46554568e+02] [-7.77872626e-01 -6.45055491e-03 6.28388867e-01 -1.35760245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.92, Y:-146.56, Z:-135.79 [[ 5.58722658e-01 4.49986294e-01 6.96664430e-01 2.52920110e+02] [-2.87553673e-01 8.93008776e-01 -3.46191002e-01 -1.46563080e+02] [-7.77908656e-01 -6.90365891e-03 6.28339449e-01 -1.35786194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:-146.57, Z:-135.81 [[ 5.58577159e-01 4.50839055e-01 6.96229634e-01 2.52938589e+02] [-2.88692684e-01 8.92573542e-01 -3.46365424e-01 -1.46571825e+02] [-7.77591211e-01 -7.52458679e-03 6.28725130e-01 -1.35811430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:-146.58, Z:-135.84 [[ 5.57805842e-01 4.51763824e-01 6.96248583e-01 2.52956849e+02] [-2.89679213e-01 8.92099313e-01 -3.46763276e-01 -1.46580237e+02] [-7.77777987e-01 -8.26216021e-03 6.28484797e-01 -1.35837359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.98, Y:-146.59, Z:-135.86 [[ 5.56579217e-01 4.53117042e-01 6.96350861e-01 2.52975988e+02] [-2.91305528e-01 8.91399276e-01 -3.47200836e-01 -1.46587745e+02] [-7.78049269e-01 -9.60608570e-03 6.28129810e-01 -1.35863273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.99, Y:-146.60, Z:-135.89 [[ 5.55720824e-01 4.53777166e-01 6.96606524e-01 2.52993586e+02] [-2.91728280e-01 8.91059242e-01 -3.47718331e-01 -1.46595693e+02] [-7.78504320e-01 -9.98550547e-03 6.27559809e-01 -1.35888264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.01, Y:-146.60, Z:-135.92 [[ 5.54814846e-01 4.57200570e-01 6.95088574e-01 2.53010856e+02] [-2.91860048e-01 8.89331388e-01 -3.52004822e-01 -1.46601098e+02] [-7.79100891e-01 -7.57108386e-03 6.26852837e-01 -1.35916771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.03, Y:-146.61, Z:-135.94 [[ 5.55276889e-01 4.53006479e-01 6.97461616e-01 2.53029980e+02] [-2.93014199e-01 8.91420920e-01 -3.45704242e-01 -1.46613373e+02] [-7.78338137e-01 -1.24045807e-02 6.27722766e-01 -1.35938814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:-146.62, Z:-135.97 [[ 5.54972841e-01 4.55356150e-01 6.96172337e-01 2.53047429e+02] [-2.93707405e-01 8.90238234e-01 -3.48154917e-01 -1.46619563e+02] [-7.78293715e-01 -1.12544472e-02 6.27799515e-01 -1.35965670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:-146.63, Z:-135.99 [[ 5.54708045e-01 4.55703999e-01 6.96155765e-01 2.53065750e+02] [-2.93793339e-01 8.90061029e-01 -3.48535276e-01 -1.46628648e+02] [-7.78450036e-01 -1.11906056e-02 6.27606813e-01 -1.35991941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.08, Y:-146.64, Z:-136.02 [[ 5.54479303e-01 4.55962472e-01 6.96168748e-01 2.53083738e+02] [-2.93720453e-01 8.89930956e-01 -3.48928630e-01 -1.46637568e+02] [-7.78640481e-01 -1.10052963e-02 6.27373800e-01 -1.36017766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.10, Y:-146.65, Z:-136.04 [[ 5.54832692e-01 4.55981198e-01 6.95874868e-01 2.53101556e+02] [-2.93441401e-01 8.89927858e-01 -3.49171237e-01 -1.46645900e+02] [-7.78493949e-01 -1.04668785e-02 6.27564830e-01 -1.36043246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.12, Y:-146.65, Z:-136.07 [[ 5.55236321e-01 4.56204348e-01 6.95406515e-01 2.53119178e+02] [-2.93628617e-01 8.89816034e-01 -3.49298814e-01 -1.46654677e+02] [-7.78135505e-01 -1.02478651e-02 6.28012833e-01 -1.36068862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.14, Y:-146.66, Z:-136.09 [[ 5.55295984e-01 4.56419773e-01 6.95217492e-01 2.53137332e+02] [-2.93649554e-01 8.89707890e-01 -3.49556589e-01 -1.46663661e+02] [-7.78085027e-01 -1.00429362e-02 6.28078681e-01 -1.36094918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.16, Y:-146.67, Z:-136.12 [[ 5.56061174e-01 4.56387535e-01 6.94626798e-01 2.53155181e+02] [-2.93479989e-01 8.89731052e-01 -3.49640030e-01 -1.46672380e+02] [-7.77602383e-01 -9.43781971e-03 6.28685503e-01 -1.36120927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.17, Y:-146.68, Z:-136.15 [[ 5.56281710e-01 4.56593803e-01 6.94314596e-01 2.53173291e+02] [-2.93527324e-01 8.89627934e-01 -3.49862615e-01 -1.46681760e+02] [-7.77426761e-01 -9.17813108e-03 6.28906505e-01 -1.36147134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.19, Y:-146.69, Z:-136.17 [[ 5.56278718e-01 4.56667499e-01 6.94268524e-01 2.53190881e+02] [-2.93190373e-01 8.89594641e-01 -3.50229610e-01 -1.46690680e+02] [-7.77556038e-01 -8.72756883e-03 6.28753081e-01 -1.36172700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.21, Y:-146.70, Z:-136.20 [[ 5.56225168e-01 4.56966962e-01 6.94114370e-01 2.53208920e+02] [-2.93314170e-01 8.89441813e-01 -3.50513993e-01 -1.46699912e+02] [-7.77547658e-01 -8.62887610e-03 6.28764807e-01 -1.36198979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:-146.71, Z:-136.23 [[ 5.56331093e-01 4.57352345e-01 6.93775574e-01 2.53227332e+02] [-2.93677336e-01 8.89243661e-01 -3.50712608e-01 -1.46709318e+02] [-7.77334765e-01 -8.63383400e-03 6.29027917e-01 -1.36225142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.24, Y:-146.72, Z:-136.25 [[ 5.56217825e-01 4.57675207e-01 6.93653470e-01 2.53244199e+02] [-2.93784983e-01 8.89078539e-01 -3.51040931e-01 -1.46718410e+02] [-7.77375145e-01 -8.52974994e-03 6.28979434e-01 -1.36250818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.26, Y:-146.73, Z:-136.28 [[ 5.56116872e-01 4.58098215e-01 6.93455153e-01 2.53262152e+02] [-2.94133261e-01 8.88859953e-01 -3.51302731e-01 -1.46727883e+02] [-7.77315669e-01 -8.60284994e-03 6.29051939e-01 -1.36276937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:-146.74, Z:-136.30 [[ 5.56189200e-01 4.58847481e-01 6.92901554e-01 2.53279186e+02] [-2.95173245e-01 8.88468753e-01 -3.51420020e-01 -1.46737277e+02] [-7.76869570e-01 -9.06998051e-03 6.29596225e-01 -1.36301677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.30, Y:-146.75, Z:-136.33 [[ 5.55922220e-01 4.59409847e-01 6.92743154e-01 2.53297389e+02] [-2.95710232e-01 8.88175424e-01 -3.51709930e-01 -1.46746393e+02] [-7.76856450e-01 -9.32787340e-03 6.29608646e-01 -1.36327757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.32, Y:-146.76, Z:-136.35 [[ 5.55218502e-01 4.60185782e-01 6.92792510e-01 2.53315069e+02] [-2.96433038e-01 8.87767918e-01 -3.52130058e-01 -1.46755166e+02] [-7.77084210e-01 -9.85746565e-03 6.29319443e-01 -1.36353118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.33, Y:-146.76, Z:-136.38 [[ 5.54681503e-01 4.61049459e-01 6.92648414e-01 2.53333344e+02] [-2.97447215e-01 8.87311805e-01 -3.52424339e-01 -1.46763713e+02] [-7.77080166e-01 -1.05430795e-02 6.29313324e-01 -1.36378448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.35, Y:-146.77, Z:-136.40 [[ 5.53047410e-01 4.62015552e-01 6.93311035e-01 2.53351657e+02] [-2.98145645e-01 8.86798391e-01 -3.53125739e-01 -1.46771143e+02] [-7.77976694e-01 -1.14123900e-02 6.28189478e-01 -1.36404554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:-146.78, Z:-136.43 [[ 5.52264172e-01 4.62573603e-01 6.93563225e-01 2.53369573e+02] [-2.98407443e-01 8.86504204e-01 -3.53642891e-01 -1.46779921e+02] [-7.78432581e-01 -1.16601297e-02 6.27619916e-01 -1.36429599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.176559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.39, Y:-146.79, Z:-136.46 [[ 5.51630878e-01 4.62866714e-01 6.93871587e-01 2.53388001e+02] [-2.98243567e-01 8.86352297e-01 -3.54161518e-01 -1.46789296e+02] [-7.78944253e-01 -1.15763083e-02 6.26986315e-01 -1.36455319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:-146.80, Z:-136.48 [[ 5.51147588e-01 4.62993792e-01 6.94170790e-01 2.53405659e+02] [-2.97774764e-01 8.86290644e-01 -3.54709859e-01 -1.46798434e+02] [-7.79465539e-01 -1.12090604e-02 6.26344818e-01 -1.36479896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.42, Y:-146.81, Z:-136.51 [[ 5.51412419e-01 4.62357972e-01 6.94384224e-01 2.53423549e+02] [-2.96163853e-01 8.86639231e-01 -3.55187058e-01 -1.46807622e+02] [-7.79891862e-01 -9.79695259e-03 6.25837601e-01 -1.36505370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.44, Y:-146.82, Z:-136.53 [[ 5.51754093e-01 4.62037942e-01 6.94325832e-01 2.53441306e+02] [-2.95202124e-01 8.86816565e-01 -3.55544773e-01 -1.46816688e+02] [-7.80014825e-01 -8.79317640e-03 6.25699252e-01 -1.36531140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:-146.83, Z:-136.56 [[ 5.51789200e-01 4.61846064e-01 6.94425584e-01 2.53458982e+02] [-2.94348586e-01 8.86924240e-01 -3.55983570e-01 -1.46825441e+02] [-7.80312494e-01 -7.97529974e-03 6.25338953e-01 -1.36557112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.48, Y:-146.83, Z:-136.58 [[ 5.52427531e-01 4.61001743e-01 6.94479097e-01 2.53476580e+02] [-2.92473483e-01 8.87377348e-01 -3.56399640e-01 -1.46833661e+02] [-7.80565875e-01 -6.23174718e-03 6.25042463e-01 -1.36582571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:-146.84, Z:-136.61 [[ 5.52639694e-01 4.60734840e-01 6.94487420e-01 2.53494122e+02] [-2.91739268e-01 8.87520709e-01 -3.56644346e-01 -1.46842452e+02] [-7.80690443e-01 -5.51342935e-03 6.24893618e-01 -1.36607957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.51, Y:-146.85, Z:-136.63 [[ 5.53088691e-01 4.60476444e-01 6.94301336e-01 2.53511570e+02] [-2.90994241e-01 8.87659815e-01 -3.56906717e-01 -1.46851228e+02] [-7.80650531e-01 -4.63662151e-03 6.24950598e-01 -1.36633022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.53, Y:-146.86, Z:-136.66 [[ 5.53692600e-01 4.60260745e-01 6.93962933e-01 2.53529604e+02] [-2.90419888e-01 8.87775546e-01 -3.57086639e-01 -1.46860374e+02] [-7.80436284e-01 -3.82440746e-03 6.25223624e-01 -1.36658771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:-146.87, Z:-136.68 [[ 5.54533135e-01 4.59832979e-01 6.93575254e-01 2.53547229e+02] [-2.89490311e-01 8.88001439e-01 -3.57279727e-01 -1.46869951e+02] [-7.80184825e-01 -2.65986852e-03 6.25543415e-01 -1.36684316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.57, Y:-146.88, Z:-136.71 [[ 5.54782292e-01 4.59837488e-01 6.93372983e-01 2.53565606e+02] [-2.89137233e-01 8.88000587e-01 -3.57567642e-01 -1.46879291e+02] [-7.80138622e-01 -2.10774966e-03 6.25603140e-01 -1.36710520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:-146.89, Z:-136.74 [[ 5.54905920e-01 4.60073263e-01 6.93117604e-01 2.53582961e+02] [-2.89184968e-01 8.87878973e-01 -3.57830943e-01 -1.46887993e+02] [-7.80032995e-01 -1.87668362e-03 6.25735570e-01 -1.36735368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.60, Y:-146.90, Z:-136.76 [[ 5.54917842e-01 4.60213668e-01 6.93014840e-01 2.53600635e+02] [-2.89015947e-01 8.87806835e-01 -3.58146348e-01 -1.46896524e+02] [-7.80087156e-01 -1.55054124e-03 6.25668942e-01 -1.36760869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.62, Y:-146.90, Z:-136.79 [[ 5.54512735e-01 4.60246399e-01 6.93317300e-01 2.53619032e+02] [-2.88575698e-01 8.87790329e-01 -3.58542045e-01 -1.46904866e+02] [-7.80538080e-01 -1.25839369e-03 6.25106969e-01 -1.36786405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:-146.91, Z:-136.81 [[ 5.54131769e-01 4.60582677e-01 6.93398573e-01 2.53636521e+02] [-2.88572530e-01 8.87616029e-01 -3.58975877e-01 -1.46913351e+02] [-7.80809758e-01 -1.17584280e-03 6.24767748e-01 -1.36811194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.65, Y:-146.92, Z:-136.84 [[ 5.53939006e-01 4.61085300e-01 6.93218526e-01 2.53654878e+02] [-2.89038004e-01 8.87354767e-01 -3.59247199e-01 -1.46922353e+02] [-7.80774366e-01 -1.36546277e-03 6.24811592e-01 -1.36836763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.67, Y:-146.93, Z:-136.86 [[ 5.53865653e-01 4.61417220e-01 6.93056266e-01 2.53673245e+02] [-2.89178185e-01 8.87182360e-01 -3.59560062e-01 -1.46931777e+02] [-7.80774498e-01 -1.26878474e-03 6.24811631e-01 -1.36863088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:-146.94, Z:-136.89 [[ 5.53133939e-01 4.62329545e-01 6.93032639e-01 2.53690960e+02] [-2.90379451e-01 8.86705343e-01 -3.59768550e-01 -1.46940751e+02] [-7.80847373e-01 -2.24224190e-03 6.24717818e-01 -1.36888302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.71, Y:-146.95, Z:-136.91 [[ 5.52559753e-01 4.63124204e-01 6.92960093e-01 2.53708971e+02] [-2.91239687e-01 8.86288835e-01 -3.60099354e-01 -1.46949678e+02] [-7.80933521e-01 -2.84107010e-03 6.24607689e-01 -1.36913922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:-146.96, Z:-136.94 [[ 5.51811885e-01 4.64138050e-01 6.92877705e-01 2.53726321e+02] [-2.92426475e-01 8.85755085e-01 -3.60450671e-01 -1.46958156e+02] [-7.81018822e-01 -3.71482013e-03 6.24496437e-01 -1.36939040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.74, Y:-146.97, Z:-136.96 [[ 5.51088896e-01 4.64936505e-01 6.92917798e-01 2.53743877e+02] [-2.93377249e-01 8.85332592e-01 -3.60715942e-01 -1.46967095e+02] [-7.81172720e-01 -4.49976721e-03 6.24298754e-01 -1.36963797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.76, Y:-146.98, Z:-136.99 [[ 5.49077007e-01 4.66430585e-01 6.93510598e-01 2.53762293e+02] [-2.95099468e-01 8.84535429e-01 -3.61266354e-01 -1.46976230e+02] [-7.81940371e-01 -6.29155977e-03 6.23321484e-01 -1.36988966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:-146.98, Z:-137.01 [[ 5.47828448e-01 4.67530279e-01 6.93757472e-01 2.53779686e+02] [-2.96214978e-01 8.83946910e-01 -3.61793515e-01 -1.46984590e+02] [-7.82394197e-01 -7.30057462e-03 6.22740735e-01 -1.37013866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.80, Y:-147.00, Z:-137.04 [[ 5.47426061e-01 4.66550692e-01 6.94733877e-01 2.53798672e+02] [-2.98391596e-01 8.84427586e-01 -3.58817922e-01 -1.46996517e+02] [-7.81848555e-01 -1.08764684e-02 6.23373515e-01 -1.37039056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.82, Y:-147.00, Z:-137.07 [[ 5.45807133e-01 4.75141503e-01 6.90170360e-01 2.53815036e+02] [-2.99280527e-01 8.79894559e-01 -3.69075509e-01 -1.46997760e+02] [-7.82640237e-01 -5.11050406e-03 6.22453326e-01 -1.37065442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.83, Y:-147.01, Z:-137.09 [[ 5.44787664e-01 4.71710565e-01 6.93322107e-01 2.53833142e+02] [-3.02194545e-01 8.81670615e-01 -3.62402240e-01 -1.47011537e+02] [-7.82230694e-01 -1.20858889e-02 6.22871635e-01 -1.37088910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.85, Y:-147.02, Z:-137.11 [[ 5.44070935e-01 4.72844226e-01 6.93112657e-01 2.53851403e+02] [-3.03855467e-01 8.81044733e-01 -3.62535562e-01 -1.47020732e+02] [-7.82086103e-01 -1.33610077e-02 6.23027135e-01 -1.37114971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.87, Y:-147.03, Z:-137.14 [[ 5.43528594e-01 4.73787561e-01 6.92893942e-01 2.53869276e+02] [-3.05010653e-01 8.80525746e-01 -3.62826284e-01 -1.47029087e+02] [-7.82013536e-01 -1.41335740e-02 6.23101174e-01 -1.37139888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:-147.04, Z:-137.17 [[ 5.42772805e-01 4.74906958e-01 6.92720047e-01 2.53887499e+02] [-3.06459340e-01 8.79904680e-01 -3.63112141e-01 -1.47037618e+02] [-7.81972094e-01 -1.52031330e-02 6.23128004e-01 -1.37165775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.90, Y:-147.05, Z:-137.19 [[ 5.42588164e-01 4.76315680e-01 6.91896999e-01 2.53904815e+02] [-3.08743409e-01 8.79117379e-01 -3.63084207e-01 -1.47045405e+02] [-7.81201378e-01 -1.66134450e-02 6.24058011e-01 -1.37191178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:-147.05, Z:-137.22 [[ 5.42647261e-01 4.77038578e-01 6.91352402e-01 2.53922128e+02] [-3.09778949e-01 8.78716154e-01 -3.63173406e-01 -1.47054314e+02] [-7.80750250e-01 -1.70913663e-02 6.24609424e-01 -1.37216002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.94, Y:-147.06, Z:-137.24 [[ 5.43123756e-01 4.77576641e-01 6.90606355e-01 2.53940207e+02] [-3.10641443e-01 8.78419877e-01 -3.63153430e-01 -1.47064248e+02] [-7.80075945e-01 -1.72937002e-02 6.25445800e-01 -1.37241907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.96, Y:-147.07, Z:-137.27 [[ 5.43333525e-01 4.77984712e-01 6.90158891e-01 2.53958353e+02] [-3.11085480e-01 8.78197778e-01 -3.63310456e-01 -1.47074387e+02] [-7.79752848e-01 -1.72996590e-02 6.25848398e-01 -1.37267916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.98, Y:-147.08, Z:-137.29 [[ 5.44196132e-01 4.78203352e-01 6.89327298e-01 2.53976028e+02] [-3.11452510e-01 8.78084541e-01 -3.63269698e-01 -1.47084407e+02] [-7.79004431e-01 -1.70027523e-02 6.26787845e-01 -1.37293482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.99, Y:-147.09, Z:-137.32 [[ 5.44603636e-01 4.78297291e-01 6.88940187e-01 2.53993217e+02] [-3.11348927e-01 8.78041870e-01 -3.63461581e-01 -1.47093724e+02] [-7.78761019e-01 -1.65582894e-02 6.27102143e-01 -1.37318587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:-147.10, Z:-137.34 [[ 5.44790023e-01 4.78286574e-01 6.88800250e-01 2.54010089e+02] [-3.11114192e-01 8.78054530e-01 -3.63631960e-01 -1.47103213e+02] [-7.78724464e-01 -1.61924699e-02 6.27157088e-01 -1.37343501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.03, Y:-147.11, Z:-137.37 [[ 5.45438078e-01 4.78159142e-01 6.88375725e-01 2.54027622e+02] [-3.10727917e-01 8.78136659e-01 -3.63763893e-01 -1.47113154e+02] [-7.78424990e-01 -1.54868767e-02 6.27546566e-01 -1.37368967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:-147.12, Z:-137.40 [[ 5.46235090e-01 4.77357155e-01 6.88300351e-01 2.54044893e+02] [-3.09016761e-01 8.78600809e-01 -3.64100619e-01 -1.47124226e+02] [-7.78547280e-01 -1.38118111e-02 6.27433954e-01 -1.37395208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:-147.14, Z:-137.42 [[ 5.46743367e-01 4.77113115e-01 6.88065961e-01 2.54062371e+02] [-3.08284667e-01 8.78747149e-01 -3.64367963e-01 -1.47135013e+02] [-7.78480735e-01 -1.29044187e-02 6.27535832e-01 -1.37421072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.08, Y:-147.15, Z:-137.45 [[ 5.46904928e-01 4.76710444e-01 6.88216646e-01 2.54079095e+02] [-3.07043772e-01 8.78981523e-01 -3.64850112e-01 -1.47145695e+02] [-7.78857575e-01 -1.17743105e-02 6.27090300e-01 -1.37446324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:-147.16, Z:-137.47 [[ 5.47899287e-01 4.75610550e-01 6.88186731e-01 2.54095814e+02] [-3.04987931e-01 8.79600692e-01 -3.65082161e-01 -1.47157508e+02] [-7.78966452e-01 -9.86039161e-03 6.26988069e-01 -1.37472295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.11, Y:-147.17, Z:-137.50 [[ 5.48059712e-01 4.75688162e-01 6.88005323e-01 2.54114190e+02] [-3.04732691e-01 8.79563706e-01 -3.65384283e-01 -1.47167377e+02] [-7.78953490e-01 -9.40530898e-03 6.27011165e-01 -1.37498114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.13, Y:-147.18, Z:-137.52 [[ 5.47578194e-01 4.76145206e-01 6.88072572e-01 2.54131663e+02] [-3.04923562e-01 8.79315428e-01 -3.65822360e-01 -1.47176352e+02] [-7.79217392e-01 -9.49319215e-03 6.26681846e-01 -1.37523601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.15, Y:-147.19, Z:-137.55 [[ 5.46611643e-01 4.77247394e-01 6.88077493e-01 2.54149676e+02] [-3.06382137e-01 8.78703660e-01 -3.66073577e-01 -1.47186367e+02] [-7.79323872e-01 -1.07145730e-02 6.26529728e-01 -1.37549637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-147.20, Z:-137.57 [[ 5.45969891e-01 4.78169879e-01 6.87946543e-01 2.54167070e+02] [-3.07451921e-01 8.78192525e-01 -3.66403065e-01 -1.47195768e+02] [-7.79352420e-01 -1.14654449e-02 6.26480924e-01 -1.37574845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.18, Y:-147.21, Z:-137.60 [[ 5.45748831e-01 4.78870018e-01 6.87634873e-01 2.54184981e+02] [-3.08313984e-01 8.77804729e-01 -3.66607891e-01 -1.47205618e+02] [-7.79166671e-01 -1.19316195e-02 6.26703228e-01 -1.37600487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:-147.21, Z:-137.63 [[ 5.45259535e-01 4.79898391e-01 6.87306026e-01 2.54202151e+02] [-3.09677988e-01 8.77230341e-01 -3.66833032e-01 -1.47214791e+02] [-7.78968281e-01 -1.28243393e-02 6.26932176e-01 -1.37625163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:-147.22, Z:-137.65 [[ 5.44550289e-01 4.80563822e-01 6.87403372e-01 2.54220088e+02] [-3.10224051e-01 8.76859522e-01 -3.67257970e-01 -1.47223772e+02] [-7.79247086e-01 -1.32586246e-02 6.26576562e-01 -1.37651447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.24, Y:-147.23, Z:-137.68 [[ 5.43970908e-01 4.81108502e-01 6.87481098e-01 2.54238525e+02] [-3.10561956e-01 8.76557247e-01 -3.67693709e-01 -1.47232331e+02] [-7.79517109e-01 -1.34907936e-02 6.26235639e-01 -1.37677891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-147.24, Z:-137.70 [[ 5.43352560e-01 4.81774752e-01 6.87503516e-01 2.54257176e+02] [-3.11133915e-01 8.76184859e-01 -3.68097513e-01 -1.47241446e+02] [-7.79720259e-01 -1.38989344e-02 6.25973751e-01 -1.37704075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:-147.25, Z:-137.73 [[ 5.42339876e-01 4.82644141e-01 6.87693312e-01 2.54275707e+02] [-3.11915904e-01 8.75694929e-01 -3.68601220e-01 -1.47249816e+02] [-7.80112766e-01 -1.45953412e-02 6.25468663e-01 -1.37729591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.29, Y:-147.26, Z:-137.76 [[ 5.41703715e-01 4.83261249e-01 6.87761332e-01 2.54293819e+02] [-3.12366398e-01 8.75349006e-01 -3.69041124e-01 -1.47258781e+02] [-7.80374473e-01 -1.49225822e-02 6.25134384e-01 -1.37755661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:-147.27, Z:-137.78 [[ 5.41582181e-01 4.83902014e-01 6.87406416e-01 2.54311509e+02] [-3.13122766e-01 8.74989102e-01 -3.69253578e-01 -1.47267983e+02] [-7.80155673e-01 -1.52614404e-02 6.25399244e-01 -1.37780809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.33, Y:-147.28, Z:-137.81 [[ 5.42009977e-01 4.84261791e-01 6.86815624e-01 2.54329931e+02] [-3.13609762e-01 8.74790719e-01 -3.69310324e-01 -1.47277587e+02] [-7.79662813e-01 -1.52222043e-02 6.26014523e-01 -1.37806873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.35, Y:-147.29, Z:-137.83 [[ 5.42284420e-01 4.84611421e-01 6.86352226e-01 2.54348070e+02] [-3.13972400e-01 8.74598430e-01 -3.69457601e-01 -1.47287156e+02] [-7.79325952e-01 -1.51445549e-02 6.26435713e-01 -1.37833113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:-147.30, Z:-137.86 [[ 5.42819454e-01 4.84708997e-01 6.85860211e-01 2.54365536e+02] [-3.13943600e-01 8.74551947e-01 -3.69592083e-01 -1.47295845e+02] [-7.78964991e-01 -1.46996511e-02 6.26895098e-01 -1.37858099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.38, Y:-147.30, Z:-137.88 [[ 5.43083226e-01 4.85081583e-01 6.85387823e-01 2.54383666e+02] [-3.14536179e-01 8.74342554e-01 -3.69583671e-01 -1.47304827e+02] [-7.78541972e-01 -1.48645750e-02 6.27416483e-01 -1.37884417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:-147.31, Z:-137.91 [[ 5.43154784e-01 4.85515593e-01 6.85023715e-01 2.54402046e+02] [-3.14969701e-01 8.74100843e-01 -3.69786160e-01 -1.47313866e+02] [-7.78316753e-01 -1.49105926e-02 6.27694756e-01 -1.37910768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.42, Y:-147.32, Z:-137.94 [[ 5.43154496e-01 4.86038733e-01 6.84652864e-01 2.54420319e+02] [-3.15554303e-01 8.73807022e-01 -3.69982122e-01 -1.47322960e+02] [-7.78080121e-01 -1.50877044e-02 6.27983826e-01 -1.37936982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.44, Y:-147.33, Z:-137.96 [[ 5.43220987e-01 4.86417319e-01 6.84331171e-01 2.54438303e+02] [-3.15878181e-01 8.73596748e-01 -3.70202237e-01 -1.47332149e+02] [-7.77902265e-01 -1.50636614e-02 6.28204705e-01 -1.37962731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-147.34, Z:-137.99 [[ 5.43583435e-01 4.86291221e-01 6.84132953e-01 2.54456041e+02] [-3.15308884e-01 8.73679457e-01 -3.70492259e-01 -1.47341278e+02] [-7.77880040e-01 -1.43197431e-02 6.28249622e-01 -1.37988518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.47, Y:-147.35, Z:-138.01 [[ 5.44159620e-01 4.85817051e-01 6.84011769e-01 2.54473138e+02] [-3.14128219e-01 8.73962672e-01 -3.70827063e-01 -1.47351298e+02] [-7.77954864e-01 -1.30782850e-02 6.28184040e-01 -1.38013955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:-147.36, Z:-138.04 [[ 5.44061291e-01 4.86147449e-01 6.83855225e-01 2.54491319e+02] [-3.14296284e-01 8.73779747e-01 -3.71115615e-01 -1.47361073e+02] [-7.77955755e-01 -1.30235156e-02 6.28184074e-01 -1.38040266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.51, Y:-147.37, Z:-138.07 [[ 5.44065550e-01 4.85905021e-01 6.84024114e-01 2.54508783e+02] [-3.13461469e-01 8.73924982e-01 -3.71479520e-01 -1.47371172e+02] [-7.78289525e-01 -1.23059945e-02 6.27784978e-01 -1.38066012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.53, Y:-147.38, Z:-138.09 [[ 5.44212920e-01 4.85535721e-01 6.84169103e-01 2.54526636e+02] [-3.12282897e-01 8.74144676e-01 -3.71954941e-01 -1.47381798e+02] [-7.78660189e-01 -1.12316253e-02 6.27345328e-01 -1.38091806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:-147.39, Z:-138.12 [[ 5.43851790e-01 4.85558692e-01 6.84439908e-01 2.54544035e+02] [-3.11645684e-01 8.74138391e-01 -3.72503747e-01 -1.47391665e+02] [-7.79167632e-01 -1.07159142e-02 6.26723999e-01 -1.38117242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.56, Y:-147.40, Z:-138.14 [[ 5.43202810e-01 4.85737375e-01 6.84828380e-01 2.54561992e+02] [-3.11215313e-01 8.74042141e-01 -3.73088951e-01 -1.47402230e+02] [-7.79792111e-01 -1.04661125e-02 6.25951056e-01 -1.38143258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:-147.41, Z:-138.17 [[ 5.42572740e-01 4.85929812e-01 6.85191243e-01 2.54579889e+02] [-3.10795005e-01 8.73938265e-01 -3.73682182e-01 -1.47412413e+02] [-7.80398159e-01 -1.02042502e-02 6.25199638e-01 -1.38169115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.60, Y:-147.42, Z:-138.19 [[ 5.41291843e-01 4.86233440e-01 6.85988471e-01 2.54596954e+02] [-3.10258919e-01 8.73770469e-01 -3.74519120e-01 -1.47422433e+02] [-7.81500188e-01 -1.01098968e-02 6.23823089e-01 -1.38193984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:-147.43, Z:-138.22 [[ 5.40716849e-01 4.86602499e-01 6.86180223e-01 2.54614576e+02] [-3.10416936e-01 8.73562749e-01 -3.74872578e-01 -1.47432606e+02] [-7.81835414e-01 -1.03020436e-02 6.23399754e-01 -1.38219932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:-147.44, Z:-138.25 [[ 5.40395326e-01 4.87222109e-01 6.85993811e-01 2.54632280e+02] [-3.11038088e-01 8.73213396e-01 -3.75171524e-01 -1.47442987e+02] [-7.81810847e-01 -1.06292650e-02 6.23425071e-01 -1.38245863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:-147.45, Z:-138.27 [[ 5.40110411e-01 4.88337200e-01 6.85425067e-01 2.54649083e+02] [-3.12711134e-01 8.72577148e-01 -3.75261066e-01 -1.47452658e+02] [-7.81340189e-01 -1.16576412e-02 6.23996482e-01 -1.38271986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:-147.46, Z:-138.30 [[ 5.39818604e-01 4.89373521e-01 6.84915639e-01 2.54666350e+02] [-3.14205129e-01 8.71983828e-01 -3.75392249e-01 -1.47461820e+02] [-7.80942387e-01 -1.25602864e-02 6.24476763e-01 -1.38297757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.68, Y:-147.47, Z:-138.32 [[ 5.39339779e-01 4.90369911e-01 6.84580129e-01 2.54683219e+02] [-3.15716084e-01 8.71407791e-01 -3.75462137e-01 -1.47470544e+02] [-7.80663793e-01 -1.36312908e-02 6.24802554e-01 -1.38323477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.70, Y:-147.48, Z:-138.35 [[ 5.38696670e-01 4.92172756e-01 6.83792275e-01 2.54700777e+02] [-3.18672655e-01 8.70356361e-01 -3.75403175e-01 -1.47479317e+02] [-7.79906172e-01 -1.56774597e-02 6.25700072e-01 -1.38349618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:-147.49, Z:-138.38 [[ 5.38168476e-01 4.93057674e-01 6.83570641e-01 2.54718386e+02] [-3.19746171e-01 8.69842245e-01 -3.75681853e-01 -1.47488888e+02] [-7.79831442e-01 -1.63889652e-02 6.25774979e-01 -1.38375215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:-147.50, Z:-138.40 [[ 5.37799944e-01 4.93650437e-01 6.83432854e-01 2.54736139e+02] [-3.20294143e-01 8.69500380e-01 -3.76006317e-01 -1.47498518e+02] [-7.79860809e-01 -1.66833635e-02 6.25730600e-01 -1.38400744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:-147.51, Z:-138.43 [[ 5.37350441e-01 4.94108372e-01 6.83455499e-01 2.54754476e+02] [-3.20522873e-01 8.69238084e-01 -3.76417642e-01 -1.47507765e+02] [-7.80076657e-01 -1.67949340e-02 6.25458503e-01 -1.38427044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:-147.52, Z:-138.45 [[ 5.37317080e-01 4.94331301e-01 6.83320511e-01 2.54772029e+02] [-3.20466434e-01 8.69116052e-01 -3.76747333e-01 -1.47516846e+02] [-7.80122824e-01 -1.65485107e-02 6.25407488e-01 -1.38452249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:-147.53, Z:-138.48 [[ 5.37234045e-01 4.94641749e-01 6.83161124e-01 2.54790145e+02] [-3.20601419e-01 8.68940976e-01 -3.77036219e-01 -1.47526754e+02] [-7.80124548e-01 -1.64657325e-02 6.25407522e-01 -1.38478569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:-147.54, Z:-138.50 [[ 5.37145880e-01 4.94614248e-01 6.83250356e-01 2.54807805e+02] [-3.20220306e-01 8.68963100e-01 -3.77309006e-01 -1.47536375e+02] [-7.80341758e-01 -1.61206599e-02 6.25145475e-01 -1.38504207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.83, Y:-147.55, Z:-138.53 [[ 5.37222183e-01 4.94662291e-01 6.83155578e-01 2.54825742e+02] [-3.19857563e-01 8.68944792e-01 -3.77658694e-01 -1.47546966e+02] [-7.80437996e-01 -1.56258504e-02 6.25037892e-01 -1.38530190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:-147.56, Z:-138.55 [[ 5.38348812e-01 4.93828353e-01 6.82871960e-01 2.54842486e+02] [-3.18196921e-01 8.69449172e-01 -3.77900592e-01 -1.47558508e+02] [-7.80340487e-01 -1.38454200e-02 6.25201590e-01 -1.38554599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.86, Y:-147.57, Z:-138.58 [[ 5.38838137e-01 4.93511362e-01 6.82715166e-01 2.54860497e+02] [-3.17324739e-01 8.69644242e-01 -3.78185012e-01 -1.47569664e+02] [-7.80357913e-01 -1.28619047e-02 6.25200848e-01 -1.38580415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.88, Y:-147.58, Z:-138.61 [[ 5.39640563e-01 4.93305300e-01 6.82230125e-01 2.54877897e+02] [-3.16798548e-01 8.69773901e-01 -3.78327956e-01 -1.47580098e+02] [-7.80017143e-01 -1.19684012e-02 6.25643680e-01 -1.38605642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:-147.59, Z:-138.63 [[ 5.40060862e-01 4.93164885e-01 6.81999019e-01 2.54895764e+02] [-3.16408612e-01 8.69861129e-01 -3.78453705e-01 -1.47590170e+02] [-7.79884514e-01 -1.14023293e-02 6.25819568e-01 -1.38631500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.91, Y:-147.60, Z:-138.66 [[ 5.41040676e-01 4.93142051e-01 6.81238508e-01 2.54913368e+02] [-3.16364974e-01 8.69882163e-01 -3.78441840e-01 -1.47599363e+02] [-7.79222812e-01 -1.07675738e-02 6.26654505e-01 -1.38657098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:-147.61, Z:-138.68 [[ 5.41215110e-01 4.94487594e-01 6.80123683e-01 2.54930405e+02] [-3.16308081e-01 8.69134323e-01 -3.80203532e-01 -1.47607858e+02] [-7.79124767e-01 -9.35672058e-03 6.26799050e-01 -1.38683832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:-147.62, Z:-138.71 [[ 5.41867526e-01 4.93981559e-01 6.79971914e-01 2.54948366e+02] [-3.17416009e-01 8.69407103e-01 -3.78653359e-01 -1.47618094e+02] [-7.78220189e-01 -1.06540126e-02 6.27901131e-01 -1.38707496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.97, Y:-147.63, Z:-138.73 [[ 5.42864529e-01 4.95757347e-01 6.77881078e-01 2.54965944e+02] [-3.18595905e-01 8.68406847e-01 -3.79955521e-01 -1.47626015e+02] [-7.77042311e-01 -9.70576118e-03 6.29373535e-01 -1.38734841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:-147.64, Z:-138.76 [[ 5.43476779e-01 4.93818169e-01 6.78805279e-01 2.54984158e+02] [-3.20573103e-01 8.69462886e-01 -3.75855258e-01 -1.47638911e+02] [-7.75800152e-01 -1.33381096e-02 6.30837712e-01 -1.38757678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.00, Y:-147.65, Z:-138.78 [[ 5.43481711e-01 4.96042794e-01 6.77177359e-01 2.55002531e+02] [-3.21650126e-01 8.68208516e-01 -3.77829550e-01 -1.47647657e+02] [-7.75350776e-01 -1.24707325e-02 6.31407677e-01 -1.38783920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:-147.66, Z:-138.81 [[ 5.42672115e-01 4.97320360e-01 6.76889530e-01 2.55021142e+02] [-3.23398104e-01 8.67458141e-01 -3.78060895e-01 -1.47656162e+02] [-7.75190713e-01 -1.37416852e-02 6.31577805e-01 -1.38809774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-147.67, Z:-138.84 [[ 5.42225718e-01 4.98109232e-01 6.76667174e-01 2.55038747e+02] [-3.24306916e-01 8.66996347e-01 -3.78341589e-01 -1.47665022e+02] [-7.75123406e-01 -1.43013038e-02 6.31647986e-01 -1.38835119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:-147.67, Z:-138.86 [[ 5.42022635e-01 4.98499086e-01 6.76542773e-01 2.55057004e+02] [-3.24548611e-01 8.66771698e-01 -3.78648943e-01 -1.47674071e+02] [-7.75164281e-01 -1.43347200e-02 6.31597066e-01 -1.38860166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.08, Y:-147.68, Z:-138.89 [[ 5.41866406e-01 4.98424315e-01 6.76722987e-01 2.55075207e+02] [-3.23853281e-01 8.66824566e-01 -3.79122967e-01 -1.47684511e+02] [-7.75564214e-01 -1.37249601e-02 6.31119462e-01 -1.38886124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.09, Y:-147.70, Z:-138.91 [[ 5.42186465e-01 4.98120948e-01 6.76690001e-01 2.55092992e+02] [-3.22905627e-01 8.67013844e-01 -3.79498288e-01 -1.47695053e+02] [-7.75735646e-01 -1.27481735e-02 6.30929229e-01 -1.38911197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.11, Y:-147.71, Z:-138.94 [[ 5.42827928e-01 4.96937518e-01 6.77045747e-01 2.55110754e+02] [-3.20280625e-01 8.67722622e-01 -3.80102319e-01 -1.47706839e+02] [-7.76375014e-01 -1.05144809e-02 6.30183532e-01 -1.38936496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:-147.72, Z:-138.96 [[ 5.43454416e-01 4.96521699e-01 6.76848211e-01 2.55128129e+02] [-3.19249081e-01 8.67973896e-01 -3.80396294e-01 -1.47716909e+02] [-7.76361593e-01 -9.35512329e-03 6.30218342e-01 -1.38961832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:-147.73, Z:-138.99 [[ 5.44129510e-01 4.96214624e-01 6.76530948e-01 2.55145043e+02] [-3.18507159e-01 8.68159377e-01 -3.80594909e-01 -1.47726425e+02] [-7.76193447e-01 -8.38702903e-03 6.30439047e-01 -1.38986872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:-147.74, Z:-139.01 [[ 5.44647785e-01 4.96042699e-01 6.76239921e-01 2.55162460e+02] [-3.18005357e-01 8.68264344e-01 -3.80775029e-01 -1.47736333e+02] [-7.76035684e-01 -7.65964125e-03 6.30642487e-01 -1.39012557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:-147.75, Z:-139.04 [[ 5.45856367e-01 4.95403343e-01 6.75733938e-01 2.55179126e+02] [-3.16823905e-01 8.68641144e-01 -3.80900480e-01 -1.47746116e+02] [-7.75669672e-01 -6.17171261e-03 6.31108921e-01 -1.39037396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.20, Y:-147.76, Z:-139.06 [[ 5.46191925e-01 4.95318756e-01 6.75524767e-01 2.55197172e+02] [-3.16521027e-01 8.68692606e-01 -3.81034900e-01 -1.47756167e+02] [-7.75557103e-01 -5.69960780e-03 6.31251689e-01 -1.39063490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:-147.77, Z:-139.09 [[ 5.46530171e-01 4.95375799e-01 6.75209294e-01 2.55214575e+02] [-3.16331583e-01 8.68663092e-01 -3.81259442e-01 -1.47765951e+02] [-7.75396094e-01 -5.22023647e-03 6.31453598e-01 -1.39089104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:-147.79, Z:-139.11 [[ 5.49126986e-01 4.80507992e-01 6.83792090e-01 2.55237160e+02] [-3.18761165e-01 8.76757365e-01 -3.60121983e-01 -1.47794380e+02] [-7.72561242e-01 -2.02136641e-02 6.34618417e-01 -1.39106975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:-147.77, Z:-139.15 [[ 5.46826321e-01 5.15328540e-01 6.59861705e-01 2.55249776e+02] [-3.15569031e-01 8.56866736e-01 -4.07670925e-01 -1.47768898e+02] [-7.75498008e-01 1.46932734e-02 6.31179013e-01 -1.39146029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:-147.79, Z:-139.17 [[ 5.47301190e-01 4.94934141e-01 6.74908589e-01 2.55267629e+02] [-3.14395050e-01 8.68925396e-01 -3.82262226e-01 -1.47794952e+02] [-7.75639839e-01 -2.97534854e-03 6.31168747e-01 -1.39165577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:-147.80, Z:-139.19 [[ 5.47214368e-01 4.95037325e-01 6.74903313e-01 2.55284891e+02] [-3.14062729e-01 8.68867933e-01 -3.82665805e-01 -1.47804013e+02] [-7.75835703e-01 -2.56174975e-03 6.30929790e-01 -1.39190813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.30, Y:-147.81, Z:-139.22 [[ 5.46885061e-01 4.95242612e-01 6.75019618e-01 2.55302754e+02] [-3.14000342e-01 8.68751092e-01 -3.82982149e-01 -1.47813587e+02] [-7.76093110e-01 -2.50917521e-03 6.30613343e-01 -1.39216551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.32, Y:-147.82, Z:-139.24 [[ 5.45765645e-01 4.95857524e-01 6.75474038e-01 2.55320269e+02] [-3.14173929e-01 8.68399245e-01 -3.83637191e-01 -1.47821781e+02] [-7.76810532e-01 -2.84033297e-03 6.29727980e-01 -1.39241999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.34, Y:-147.83, Z:-139.27 [[ 5.44830118e-01 4.96646353e-01 6.75649719e-01 2.55338351e+02] [-3.14853243e-01 8.67946104e-01 -3.84105448e-01 -1.47831397e+02] [-7.77192111e-01 -3.45828858e-03 6.29253893e-01 -1.39268410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:-147.84, Z:-139.29 [[ 5.44326351e-01 4.97193318e-01 6.75653483e-01 2.55356213e+02] [-3.15238637e-01 8.67631904e-01 -3.84499000e-01 -1.47840760e+02] [-7.77388851e-01 -3.69914573e-03 6.29009452e-01 -1.39294651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:-147.85, Z:-139.32 [[ 5.43928199e-01 4.97939934e-01 6.75424263e-01 2.55374273e+02] [-3.16104129e-01 8.67201240e-01 -3.84759910e-01 -1.47850525e+02] [-7.77316083e-01 -4.22263336e-03 6.29096078e-01 -1.39320424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.39, Y:-147.86, Z:-139.35 [[ 5.42972114e-01 4.98467849e-01 6.75804030e-01 2.55392143e+02] [-3.16186892e-01 8.66896861e-01 -3.85377324e-01 -1.47858505e+02] [-7.77950598e-01 -4.43123555e-03 6.28309821e-01 -1.39346075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:-147.87, Z:-139.37 [[ 5.42852021e-01 4.98759068e-01 6.75685634e-01 2.55410100e+02] [-3.16272424e-01 8.66729845e-01 -3.85682679e-01 -1.47867507e+02] [-7.77999639e-01 -4.33211125e-03 6.28249787e-01 -1.39371957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:-147.88, Z:-139.40 [[ 5.42677619e-01 4.98927415e-01 6.75701440e-01 2.55427486e+02] [-3.16034624e-01 8.66634444e-01 -3.86091771e-01 -1.47876458e+02] [-7.78217912e-01 -4.02168735e-03 6.27981455e-01 -1.39397550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.45, Y:-147.89, Z:-139.42 [[ 5.43456051e-01 4.98913309e-01 6.75085943e-01 2.55445613e+02] [-3.16137015e-01 8.66644197e-01 -3.85986041e-01 -1.47885471e+02] [-7.77632888e-01 -3.65320587e-03 6.28707997e-01 -1.39423979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.46, Y:-147.89, Z:-139.45 [[ 5.44035621e-01 4.99060983e-01 6.74509732e-01 2.55462794e+02] [-3.16271109e-01 8.66560601e-01 -3.86063868e-01 -1.47894494e+02] [-7.77172972e-01 -3.29544472e-03 6.29278405e-01 -1.39448944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.48, Y:-147.90, Z:-139.47 [[ 5.44673670e-01 4.99032041e-01 6.74016035e-01 2.55480270e+02] [-3.16103896e-01 8.66579239e-01 -3.86158969e-01 -1.47903763e+02] [-7.76794001e-01 -2.72847212e-03 6.29748867e-01 -1.39474990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:-147.91, Z:-139.50 [[ 5.45551885e-01 4.98671566e-01 6.73572424e-01 2.55497692e+02] [-3.15343890e-01 8.66789437e-01 -3.86308559e-01 -1.47912399e+02] [-7.76486556e-01 -1.65558555e-03 6.30131642e-01 -1.39501478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.51, Y:-147.92, Z:-139.53 [[ 5.45850033e-01 4.98545195e-01 6.73424405e-01 2.55514432e+02] [-3.14746689e-01 8.66863224e-01 -3.86629891e-01 -1.47921832e+02] [-7.76519326e-01 -9.16162526e-04 6.30092769e-01 -1.39526669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:-147.93, Z:-139.55 [[ 5.46060095e-01 4.98406453e-01 6.73356800e-01 2.55532321e+02] [-3.14108616e-01 8.66943463e-01 -3.86968745e-01 -1.47932101e+02] [-7.76629996e-01 -1.98983086e-04 6.29956991e-01 -1.39552389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:-147.94, Z:-139.58 [[ 5.45762535e-01 4.97898792e-01 6.73973329e-01 2.55549247e+02] [-3.12370033e-01 8.67234476e-01 -3.87723260e-01 -1.47941989e+02] [-7.77539850e-01 1.07575864e-03 6.28832748e-01 -1.39577034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.57, Y:-147.95, Z:-139.60 [[ 5.45828390e-01 4.97707300e-01 6.74061431e-01 2.55566793e+02] [-3.11697946e-01 8.67343410e-01 -3.88020360e-01 -1.47951806e+02] [-7.77763305e-01 1.68896496e-03 6.28555000e-01 -1.39602795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.58, Y:-147.96, Z:-139.63 [[ 5.45749387e-01 4.97854258e-01 6.74016873e-01 2.55583965e+02] [-3.11464632e-01 8.67258321e-01 -3.88397719e-01 -1.47961399e+02] [-7.77912199e-01 2.03539942e-03 6.28369690e-01 -1.39628541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:-147.96, Z:-139.66 [[ 5.43600312e-01 5.09321606e-01 6.67150809e-01 2.55597126e+02] [-3.08030922e-01 8.60442998e-01 -4.05899986e-01 -1.47955760e+02] [-7.80778875e-01 1.51442802e-02 6.24623886e-01 -1.39662928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.62, Y:-147.99, Z:-139.68 [[ 5.45871406e-01 4.83216010e-01 6.84490099e-01 2.55618967e+02] [-3.11689509e-01 8.75423207e-01 -3.69437218e-01 -1.47993395e+02] [-7.77736496e-01 -1.16831697e-02 6.28481858e-01 -1.39675028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.64, Y:-147.99, Z:-139.71 [[ 5.45296309e-01 4.99111114e-01 6.73453808e-01 2.55636503e+02] [-3.12589965e-01 8.66536400e-01 -3.89104332e-01 -1.47990276e+02] [-7.77778535e-01 1.66225354e-03 6.28536226e-01 -1.39706554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.65, Y:-148.00, Z:-139.73 [[ 5.45007563e-01 5.00386118e-01 6.72741027e-01 2.55653394e+02] [-3.14630560e-01 8.65802274e-01 -3.89093862e-01 -1.47999544e+02] [-7.77157878e-01 3.94211628e-04 6.29305551e-01 -1.39732292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.67, Y:-148.01, Z:-139.76 [[ 5.44225927e-01 5.01150884e-01 6.72804527e-01 2.55670727e+02] [-3.15338769e-01 8.65359901e-01 -3.89504432e-01 -1.48009387e+02] [-7.77418550e-01 -1.82940770e-04 6.28983597e-01 -1.39758762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.69, Y:-148.02, Z:-139.78 [[ 5.43642622e-01 5.01842166e-01 6.72760834e-01 2.55688495e+02] [-3.15979997e-01 8.64958986e-01 -3.89875100e-01 -1.48019131e+02] [-7.77566294e-01 -6.26244622e-04 6.28800657e-01 -1.39784784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:-148.03, Z:-139.81 [[ 5.42330188e-01 5.02840625e-01 6.73074493e-01 2.55706337e+02] [-3.16850236e-01 8.64377831e-01 -3.90457287e-01 -1.48028595e+02] [-7.78128457e-01 -1.50703832e-03 6.28103362e-01 -1.39811015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.72, Y:-148.04, Z:-139.84 [[ 5.41839614e-01 5.03464050e-01 6.73003554e-01 2.55724161e+02] [-3.17387348e-01 8.64014220e-01 -3.90825663e-01 -1.48038828e+02] [-7.78251312e-01 -1.83798706e-03 6.27950251e-01 -1.39837151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.74, Y:-148.05, Z:-139.86 [[ 5.41412208e-01 5.03874752e-01 6.73040158e-01 2.55741927e+02] [-3.17511527e-01 8.63774706e-01 -3.91253993e-01 -1.48049081e+02] [-7.78498074e-01 -1.86831958e-03 6.27644213e-01 -1.39862971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.76, Y:-148.06, Z:-139.89 [[ 5.40773005e-01 5.04397098e-01 6.73162777e-01 2.55758758e+02] [-3.17752618e-01 8.63469351e-01 -3.91731993e-01 -1.48059136e+02] [-7.78843907e-01 -2.06114806e-03 6.27214414e-01 -1.39887753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:-148.07, Z:-139.91 [[ 5.39860607e-01 5.04469731e-01 6.73840348e-01 2.55776316e+02] [-3.16910035e-01 8.63427804e-01 -3.92505360e-01 -1.48069511e+02] [-7.79819565e-01 -1.64858628e-03 6.26002179e-01 -1.39914132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:-148.07, Z:-139.95 [[ 5.38328879e-01 5.12917052e-01 6.68668914e-01 2.55790891e+02] [-3.15282424e-01 8.58409572e-01 -4.04635639e-01 -1.48070706e+02] [-7.81536315e-01 7.00749428e-03 6.23820393e-01 -1.39946378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.81, Y:-148.10, Z:-139.96 [[ 5.39912948e-01 4.97955230e-01 6.78626995e-01 2.55809926e+02] [-3.16178676e-01 8.67175820e-01 -3.84755951e-01 -1.48095246e+02] [-7.80080159e-01 -6.83266507e-03 6.25642279e-01 -1.39962020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.82, Y:-148.09, Z:-140.00 [[ 5.39569067e-01 5.11324386e-01 6.68889075e-01 2.55823341e+02] [-3.14151064e-01 8.59354284e-01 -4.03508766e-01 -1.48090894e+02] [-7.81136564e-01 7.58863404e-03 6.24314088e-01 -1.39995366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:-148.11, Z:-140.01 [[ 5.40430223e-01 4.98199205e-01 6.78035932e-01 2.55841923e+02] [-3.14854165e-01 8.67049264e-01 -3.86124887e-01 -1.48113013e+02] [-7.80257668e-01 -4.80887864e-03 6.25439722e-01 -1.40011497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:-148.12, Z:-140.04 [[ 5.40121630e-01 5.03908421e-01 6.74051132e-01 2.55858766e+02] [-3.14194797e-01 8.63756502e-01 -3.93962351e-01 -1.48118269e+02] [-7.80736995e-01 1.00422849e-03 6.24858973e-01 -1.40039741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:-148.13, Z:-140.07 [[ 5.40323225e-01 5.03960290e-01 6.73850754e-01 2.55876275e+02] [-3.13933094e-01 8.63725569e-01 -3.94238701e-01 -1.48128905e+02] [-7.80702776e-01 1.47227393e-03 6.24900798e-01 -1.40065896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.89, Y:-148.14, Z:-140.09 [[ 5.40318933e-01 5.04133984e-01 6.73724259e-01 2.55893701e+02] [-3.13808670e-01 8.63623645e-01 -3.94560919e-01 -1.48139966e+02] [-7.80755768e-01 1.76822120e-03 6.24833821e-01 -1.40091940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.91, Y:-148.15, Z:-140.12 [[ 5.40220367e-01 5.04479645e-01 6.73544537e-01 2.55911559e+02] [-3.13978793e-01 8.63421632e-01 -3.94867577e-01 -1.48150317e+02] [-7.80755578e-01 1.83680671e-03 6.24833860e-01 -1.40118253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.93, Y:-148.15, Z:-140.15 [[ 5.39344902e-01 5.10985179e-01 6.69328935e-01 2.55926614e+02] [-3.13154682e-01 8.59550224e-01 -4.03865768e-01 -1.48154441e+02] [-7.81691258e-01 8.21945310e-03 6.23611432e-01 -1.40149831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.94, Y:-148.17, Z:-140.17 [[ 5.39361314e-01 5.02221479e-01 6.75916385e-01 2.55944328e+02] [-3.15071232e-01 8.64736676e-01 -3.91101776e-01 -1.48174570e+02] [-7.80909400e-01 -2.01664021e-03 6.24641050e-01 -1.40167543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.96, Y:-148.18, Z:-140.19 [[ 5.38750412e-01 5.06551376e-01 6.73166916e-01 2.55961592e+02] [-3.16347854e-01 8.62209759e-01 -3.95624023e-01 -1.48182271e+02] [-7.80814977e-01 1.87696056e-04 6.24762303e-01 -1.40194478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:-148.19, Z:-140.23 [[ 5.37014244e-01 5.15006397e-01 6.68119834e-01 2.55976949e+02] [-3.16939733e-01 8.57163450e-01 -4.05980327e-01 -1.48186482e+02] [-7.81770368e-01 6.26349692e-03 6.23534972e-01 -1.40227813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:-148.20, Z:-140.25 [[ 5.36160586e-01 5.07520925e-01 6.74503030e-01 2.55995081e+02] [-3.19409343e-01 8.61630298e-01 -3.94424774e-01 -1.48202957e+02] [-7.81351072e-01 -3.96755151e-03 6.24079130e-01 -1.40245594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.01, Y:-148.21, Z:-140.27 [[ 5.35074777e-01 5.10267269e-01 6.73292134e-01 2.56012326e+02] [-3.20999835e-01 8.60007133e-01 -3.96669682e-01 -1.48211880e+02] [-7.81443593e-01 -3.87872219e-03 6.23963834e-01 -1.40271665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:-148.22, Z:-140.30 [[ 5.33852515e-01 5.11551155e-01 6.73288132e-01 2.56029256e+02] [-3.22556864e-01 8.59237124e-01 -3.97075098e-01 -1.48222256e+02] [-7.81638383e-01 -5.19416892e-03 6.23710236e-01 -1.40296835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.05, Y:-148.23, Z:-140.32 [[ 5.31329414e-01 5.13743588e-01 6.73614563e-01 2.56046389e+02] [-3.25377685e-01 8.57907434e-01 -3.97648333e-01 -1.48233446e+02] [-7.82188223e-01 -7.89689143e-03 6.22992154e-01 -1.40322381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:-148.24, Z:-140.35 [[ 5.29963400e-01 5.14884715e-01 6.73819356e-01 2.56063698e+02] [-3.26560798e-01 8.57211941e-01 -3.98178017e-01 -1.48243789e+02] [-7.82621773e-01 -9.02321087e-03 6.22432118e-01 -1.40347736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.08, Y:-148.25, Z:-140.37 [[ 5.28712285e-01 5.15837533e-01 6.74073408e-01 2.56081103e+02] [-3.27600817e-01 8.56626990e-01 -3.98582369e-01 -1.48254088e+02] [-7.83033221e-01 -1.00916038e-02 6.21898010e-01 -1.40373664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79655999499994 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:256.10, Y:-148.26, Z:-140.41 [[ 5.25677660e-01 5.27806821e-01 6.67145380e-01 2.56096788e+02] [-3.29022687e-01 8.49360608e-01 -4.12711314e-01 -1.48255288e+02] [-7.84478852e-01 -2.55284818e-03 6.20150315e-01 -1.40407886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:-148.28, Z:-140.42 [[ 5.26093417e-01 5.15644926e-01 6.76266240e-01 2.56115383e+02] [-3.31518768e-01 8.56648470e-01 -3.95283069e-01 -1.48276924e+02] [-7.83148149e-01 -1.62391305e-02 6.21623091e-01 -1.40424050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.13, Y:-148.28, Z:-140.45 [[ 5.25876328e-01 5.19537850e-01 6.73449709e-01 2.56132205e+02] [-3.33011683e-01 8.54325710e-01 -3.99037342e-01 -1.48284131e+02] [-7.82660403e-01 -1.44223291e-02 6.22281841e-01 -1.40450135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:256.15, Y:-148.29, Z:-140.48 [[ 5.24477466e-01 5.29818925e-01 6.66494782e-01 2.56147642e+02] [-3.34010527e-01 8.48082857e-01 -4.11330082e-01 -1.48286794e+02] [-7.83173260e-01 -6.88291385e-03 6.21765446e-01 -1.40483919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.00, Y:-148.65, Z:-139.87 [[ 6.05108532e-01 -7.92017703e-01 8.09420904e-02 2.57003995e+02] [-3.02659557e-01 -1.34809709e-01 9.43516579e-01 -1.48652345e+02] [-7.36370054e-01 -5.95427830e-01 -3.21286232e-01 -1.39872155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.27, Y:-148.36, Z:-140.61 [[ 5.80387284e-01 4.83983415e-01 6.54912707e-01 2.56270061e+02] [-3.23914095e-01 8.75070515e-01 -3.59626545e-01 -1.48364900e+02] [-7.47148084e-01 -3.41278288e-03 6.64648850e-01 -1.40613327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97655999499995 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:256.29, Y:-148.39, Z:-140.63 [[ 5.79683607e-01 4.74206326e-01 6.62642645e-01 2.56288422e+02] [-3.25264646e-01 8.80280702e-01 -3.45411054e-01 -1.48386898e+02] [-7.47107640e-01 -1.53050999e-02 6.64526846e-01 -1.40634899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:-148.40, Z:-140.65 [[ 5.80990436e-01 4.69936039e-01 6.64537608e-01 2.56308283e+02] [-3.25849004e-01 8.82485501e-01 -3.39178075e-01 -1.48400303e+02] [-7.45836805e-01 -1.94796996e-02 6.65843827e-01 -1.40651772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.33, Y:-148.41, Z:-140.68 [[ 5.81249336e-01 4.75452687e-01 6.60374100e-01 2.56327441e+02] [-3.25754572e-01 8.79635179e-01 -3.46591849e-01 -1.48405685e+02] [-7.45676316e-01 -1.36636007e-02 6.66168250e-01 -1.40677960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:-148.42, Z:-140.70 [[ 5.81497111e-01 4.75445753e-01 6.60160925e-01 2.56345915e+02] [-3.25462352e-01 8.79646420e-01 -3.46837761e-01 -1.48415342e+02] [-7.45610735e-01 -1.31723711e-02 6.66251545e-01 -1.40701629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.36, Y:-148.43, Z:-140.73 [[ 5.82571476e-01 4.74813914e-01 6.59668267e-01 2.56364191e+02] [-3.24410667e-01 8.80005724e-01 -3.46911581e-01 -1.48425661e+02] [-7.45230297e-01 -1.19026303e-02 6.66700932e-01 -1.40725768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:-148.42, Z:-140.76 [[ 5.82448038e-01 4.81085208e-01 6.55218518e-01 2.56379571e+02] [-3.20845434e-01 8.76672672e-01 -3.58473478e-01 -1.48424531e+02] [-7.46868456e-01 -1.43169561e-03 6.64970270e-01 -1.40755737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.40, Y:-148.45, Z:-140.78 [[ 5.83305593e-01 4.69995430e-01 6.62464248e-01 2.56399091e+02] [-3.21042257e-01 8.82582803e-01 -3.43481388e-01 -1.48445606e+02] [-7.46114236e-01 -1.23244028e-02 6.65703880e-01 -1.40775913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.42, Y:-148.47, Z:-140.79 [[ 5.85127105e-01 4.63223808e-01 6.65619993e-01 2.56420788e+02] [-3.21790749e-01 8.86039607e-01 -3.33743208e-01 -1.48466074e+02] [-7.44363476e-01 -1.89081591e-02 6.67506926e-01 -1.40794507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:-148.47, Z:-140.82 [[ 5.85391876e-01 4.72779831e-01 6.58631599e-01 2.56439749e+02] [-3.20175092e-01 8.81151193e-01 -3.47937474e-01 -1.48467354e+02] [-7.44851839e-01 -7.19766195e-03 6.67191076e-01 -1.40823142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.46, Y:-148.48, Z:-140.85 [[ 5.86057190e-01 4.71932020e-01 6.58647962e-01 2.56458286e+02] [-3.18489414e-01 8.81616862e-01 -3.48304753e-01 -1.48477366e+02] [-7.45051316e-01 -5.64589836e-03 6.66983254e-01 -1.40847062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:-148.49, Z:-140.87 [[ 5.87502733e-01 4.69532609e-01 6.59074857e-01 2.56477179e+02] [-3.14259524e-01 8.82912485e-01 -3.48864581e-01 -1.48488296e+02] [-7.45708717e-01 -2.16165565e-03 6.66268592e-01 -1.40871181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.49, Y:-148.49, Z:-140.90 [[ 5.88716790e-01 4.68985376e-01 6.58380785e-01 2.56494145e+02] [-3.09649186e-01 8.83198973e-01 -3.52245590e-01 -1.48493387e+02] [-7.46679264e-01 3.50581862e-03 6.65175004e-01 -1.40896071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:-148.51, Z:-140.92 [[ 5.90392607e-01 4.61208085e-01 6.62362191e-01 2.56513116e+02] [-3.07381151e-01 8.87291807e-01 -3.43846009e-01 -1.48510806e+02] [-7.46293105e-01 -5.93510852e-04 6.65617195e-01 -1.40918703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:-148.52, Z:-140.94 [[ 5.90322096e-01 4.62424525e-01 6.61576436e-01 2.56532107e+02] [-3.07535919e-01 8.86658557e-01 -3.45337895e-01 -1.48519421e+02] [-7.46285120e-01 4.02072706e-04 6.65626290e-01 -1.40942885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:-148.53, Z:-140.97 [[ 5.89488312e-01 4.64166308e-01 6.61099968e-01 2.56550534e+02] [-3.07283537e-01 8.85745954e-01 -3.47895004e-01 -1.48525194e+02] [-7.47047761e-01 1.93490202e-03 6.64767552e-01 -1.40968405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:-148.54, Z:-140.99 [[ 5.89253329e-01 4.59546520e-01 6.64528036e-01 2.56572348e+02] [-3.12647533e-01 8.88105762e-01 -3.36926812e-01 -1.48544879e+02] [-7.45004722e-01 -9.22780534e-03 6.66995362e-01 -1.40988173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.59, Y:-148.53, Z:-141.02 [[ 5.88285503e-01 4.76097113e-01 6.53644939e-01 2.56587933e+02] [-3.09862332e-01 8.79333710e-01 -3.61604151e-01 -1.48533284e+02] [-7.46930721e-01 1.01865344e-02 6.64823835e-01 -1.41020562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.61, Y:-148.56, Z:-141.04 [[ 5.89287597e-01 4.57580119e-01 6.65853259e-01 2.56610190e+02] [-3.12374167e-01 8.89102162e-01 -3.34544057e-01 -1.48562861e+02] [-7.45092281e-01 -1.08526937e-02 6.66873085e-01 -1.41036613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:-148.57, Z:-141.06 [[ 5.88475873e-01 4.64908340e-01 6.61480448e-01 2.56631061e+02] [-3.15385782e-01 8.85326495e-01 -3.41655976e-01 -1.48571707e+02] [-7.44464879e-01 -7.56522973e-03 6.67618762e-01 -1.41062240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.65, Y:-148.58, Z:-141.09 [[ 5.88264661e-01 4.71886674e-01 6.56709719e-01 2.56651120e+02] [-3.15870524e-01 8.81658391e-01 -3.50577086e-01 -1.48576047e+02] [-7.44426290e-01 -1.20313213e-03 6.67703565e-01 -1.41089053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:-148.58, Z:-141.11 [[ 5.87376727e-01 4.74633964e-01 6.55523593e-01 2.56669171e+02] [-3.15221968e-01 8.80181450e-01 -3.54846059e-01 -1.48578541e+02] [-7.45401698e-01 1.79287943e-03 6.66613151e-01 -1.41114915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:-148.59, Z:-141.14 [[ 5.86672396e-01 4.69989255e-01 6.59488893e-01 2.56689311e+02] [-3.16490572e-01 8.82658751e-01 -3.47487045e-01 -1.48592592e+02] [-7.45418820e-01 -4.86096021e-03 6.66578693e-01 -1.41137261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.71, Y:-148.60, Z:-141.16 [[ 5.85774581e-01 4.70259592e-01 6.60093976e-01 2.56710185e+02] [-3.18896426e-01 8.82491920e-01 -3.45706640e-01 -1.48601737e+02] [-7.45099463e-01 -7.99544794e-03 6.66905438e-01 -1.41159663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.73, Y:-148.61, Z:-141.19 [[ 5.85187627e-01 4.73786380e-01 6.58089589e-01 2.56730414e+02] [-3.20362776e-01 8.80615613e-01 -3.49118652e-01 -1.48609085e+02] [-7.44931629e-01 -6.52749189e-03 6.67108881e-01 -1.41185273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:-148.62, Z:-141.21 [[ 5.84757836e-01 4.74781835e-01 6.57754120e-01 2.56749906e+02] [-3.21676686e-01 8.80072909e-01 -3.49278949e-01 -1.48617938e+02] [-7.44702882e-01 -7.34056302e-03 6.67355777e-01 -1.41209254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.77, Y:-148.63, Z:-141.23 [[ 5.83180253e-01 4.76297107e-01 6.58059161e-01 2.56770905e+02] [-3.24970005e-01 8.79219517e-01 -3.48378438e-01 -1.48629201e+02] [-7.44510100e-01 -1.06820628e-02 6.67525734e-01 -1.41233293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:-148.64, Z:-141.26 [[ 5.82356690e-01 4.79901336e-01 6.56167199e-01 2.56790369e+02] [-3.25738242e-01 8.77281813e-01 -3.52521232e-01 -1.48635862e+02] [-7.44818960e-01 -8.44565189e-03 6.67213150e-01 -1.41258130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.81, Y:-148.64, Z:-141.28 [[ 5.81591369e-01 4.80525048e-01 6.56389486e-01 2.56810087e+02] [-3.26173443e-01 8.76936765e-01 -3.52977047e-01 -1.48644867e+02] [-7.45226385e-01 -8.80841506e-03 6.66753363e-01 -1.41282513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:-148.65, Z:-141.31 [[ 5.80836598e-01 4.81367927e-01 6.56440222e-01 2.56830809e+02] [-3.27031349e-01 8.76467809e-01 -3.53347812e-01 -1.48652389e+02] [-7.45439027e-01 -9.43919064e-03 6.66506983e-01 -1.41307217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:-148.66, Z:-141.33 [[ 5.80670569e-01 4.81848910e-01 6.56234195e-01 2.56849945e+02] [-3.27465672e-01 8.76202095e-01 -3.53604473e-01 -1.48660891e+02] [-7.45377706e-01 -9.56646059e-03 6.66573746e-01 -1.41330864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.87, Y:-148.66, Z:-141.36 [[ 5.80481812e-01 4.85885412e-01 6.53418880e-01 2.56867443e+02] [-3.25217493e-01 8.74017561e-01 -3.61008152e-01 -1.48661856e+02] [-7.46508170e-01 -2.94458331e-03 6.65369733e-01 -1.41357827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-148.69, Z:-141.38 [[ 5.81667651e-01 4.72968707e-01 6.61787992e-01 2.56889023e+02] [-3.28222817e-01 8.80878015e-01 -3.41062612e-01 -1.48686460e+02] [-7.44266435e-01 -1.88288312e-02 6.67617367e-01 -1.41376122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.91, Y:-148.68, Z:-141.40 [[ 5.81363081e-01 4.84560548e-01 6.53619188e-01 2.56906940e+02] [-3.26535219e-01 8.74741841e-01 -3.58052317e-01 -1.48682818e+02] [-7.45246079e-01 -5.27128650e-03 6.66768697e-01 -1.41404915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.93, Y:-148.70, Z:-141.43 [[ 5.81402115e-01 4.77037192e-01 6.59095667e-01 2.56927130e+02] [-3.28418067e-01 8.78753204e-01 -3.46315434e-01 -1.48701767e+02] [-7.44387772e-01 -1.51103993e-02 6.67576603e-01 -1.41425115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:-148.69, Z:-141.46 [[ 5.80003556e-01 4.89732938e-01 6.50966607e-01 2.56943670e+02] [-3.25301646e-01 8.71872310e-01 -3.66084026e-01 -1.48693909e+02] [-7.46843165e-01 5.69527748e-04 6.64999972e-01 -1.41455784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:-148.73, Z:-141.47 [[ 5.81493671e-01 4.69684797e-01 6.64275020e-01 2.56966134e+02] [-3.29300609e-01 8.82520866e-01 -3.35735060e-01 -1.48725466e+02] [-7.43926219e-01 -2.35183559e-02 6.67847788e-01 -1.41470253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:-148.71, Z:-141.50 [[ 5.79988330e-01 4.90385829e-01 6.50488490e-01 2.56982870e+02] [-3.26154250e-01 8.71505413e-01 -3.66199016e-01 -1.48711417e+02] [-7.46483049e-01 2.31570185e-04 6.65404392e-01 -1.41504280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.01, Y:-148.74, Z:-141.52 [[ 5.82056229e-01 4.70794105e-01 6.62995820e-01 2.57005105e+02] [-3.29827854e-01 8.81951320e-01 -3.36712720e-01 -1.48743540e+02] [-7.43252402e-01 -2.26887522e-02 6.68626269e-01 -1.41518920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:-148.74, Z:-141.55 [[ 5.82289101e-01 4.84272923e-01 6.53007763e-01 2.57024699e+02] [-3.30103951e-01 8.74868959e-01 -3.54451246e-01 -1.48742392e+02] [-7.42947363e-01 -9.16734572e-03 6.69287065e-01 -1.41547770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:-148.75, Z:-141.57 [[ 5.82777527e-01 4.84528399e-01 6.52382238e-01 2.57043824e+02] [-3.30459178e-01 8.74729117e-01 -3.54465378e-01 -1.48752305e+02] [-7.42406281e-01 -9.01124191e-03 6.69889327e-01 -1.41572160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:-148.76, Z:-141.60 [[ 5.83879294e-01 4.84730666e-01 6.51245845e-01 2.57063056e+02] [-3.31032768e-01 8.74619466e-01 -3.54200643e-01 -1.48761854e+02] [-7.41284207e-01 -8.77329316e-03 6.71133931e-01 -1.41597670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.08, Y:-148.77, Z:-141.62 [[ 5.84437721e-01 4.85173761e-01 6.50414462e-01 2.57081977e+02] [-3.31788352e-01 8.74372982e-01 -3.54102213e-01 -1.48771358e+02] [-7.40505935e-01 -8.84925171e-03 6.71991556e-01 -1.41622136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:-148.78, Z:-141.65 [[ 5.84891756e-01 4.85535592e-01 6.49735963e-01 2.57100922e+02] [-3.32360789e-01 8.74172011e-01 -3.54061577e-01 -1.48780663e+02] [-7.39890491e-01 -8.85906006e-03 6.72668996e-01 -1.41646986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.12, Y:-148.79, Z:-141.67 [[ 5.85272359e-01 4.85750954e-01 6.49232067e-01 2.57120116e+02] [-3.32582558e-01 8.74054426e-01 -3.54143618e-01 -1.48791307e+02] [-7.39489762e-01 -8.65279032e-03 6.73112191e-01 -1.41671166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:-148.80, Z:-141.70 [[ 5.85253280e-01 4.86054391e-01 6.49022132e-01 2.57139062e+02] [-3.32766299e-01 8.73886563e-01 -3.54385193e-01 -1.48802172e+02] [-7.39422199e-01 -8.56759617e-03 6.73187498e-01 -1.41695406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.16, Y:-148.81, Z:-141.72 [[ 5.85404700e-01 4.86520222e-01 6.48536360e-01 2.57158222e+02] [-3.33352817e-01 8.73626201e-01 -3.54475897e-01 -1.48813165e+02] [-7.39038049e-01 -8.67956681e-03 6.73607770e-01 -1.41719617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.18, Y:-148.82, Z:-141.74 [[ 5.85324624e-01 4.86816029e-01 6.48386643e-01 2.57177705e+02] [-3.33491082e-01 8.73462311e-01 -3.54749614e-01 -1.48823741e+02] [-7.39039095e-01 -8.58747855e-03 6.73607803e-01 -1.41744677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:-148.83, Z:-141.77 [[ 5.85043826e-01 4.87424593e-01 6.48182835e-01 2.57197033e+02] [-3.34302607e-01 8.73117709e-01 -3.54834092e-01 -1.48834260e+02] [-7.38894775e-01 -9.09571644e-03 6.73759437e-01 -1.41769801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.21, Y:-148.83, Z:-141.80 [[ 5.82140219e-01 4.98885047e-01 6.42048655e-01 2.57211216e+02] [-3.31437956e-01 8.66657597e-01 -3.72898767e-01 -1.48827045e+02] [-7.42469964e-01 4.28007609e-03 6.69865683e-01 -1.41799691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.23, Y:-148.86, Z:-141.82 [[ 5.81739724e-01 4.80758325e-01 6.56087133e-01 2.57229313e+02] [-3.33147924e-01 8.76694076e-01 -3.47015789e-01 -1.48855183e+02] [-7.42018433e-01 -1.67011972e-02 6.70171408e-01 -1.41817649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.25, Y:-148.88, Z:-141.83 [[ 5.83461255e-01 4.70366891e-01 6.62063405e-01 2.57253079e+02] [-3.39666890e-01 8.81815683e-01 -3.27150586e-01 -1.48884278e+02] [-7.37698698e-01 -3.40013262e-02 6.74273343e-01 -1.41833194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:-148.88, Z:-141.86 [[ 5.81977974e-01 4.92877783e-01 6.46817693e-01 2.57272531e+02] [-3.41393941e-01 8.69989545e-01 -3.55764485e-01 -1.48876733e+02] [-7.38073041e-01 -1.37725473e-02 6.74580242e-01 -1.41864568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.29, Y:-148.89, Z:-141.89 [[ 5.80150164e-01 4.94939115e-01 6.46885662e-01 2.57292103e+02] [-3.44203099e-01 8.68778187e-01 -3.56017819e-01 -1.48887612e+02] [-7.38207297e-01 -1.61162534e-02 6.74381386e-01 -1.41888395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.31, Y:-148.90, Z:-141.91 [[ 5.78986863e-01 4.96029851e-01 6.47092420e-01 2.57311679e+02] [-3.45336069e-01 8.68137749e-01 -3.56482605e-01 -1.48898176e+02] [-7.38591370e-01 -1.70656073e-02 6.73937351e-01 -1.41913177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:-148.89, Z:-141.94 [[ 5.76577891e-01 5.04728619e-01 6.42500550e-01 2.57327022e+02] [-3.42739183e-01 8.63253245e-01 -3.70572108e-01 -1.48894774e+02] [-7.41679033e-01 -6.54642924e-03 6.70723010e-01 -1.41942598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.35, Y:-148.93, Z:-141.96 [[ 5.78196625e-01 4.82366856e-01 6.58035622e-01 2.57348791e+02] [-3.47703088e-01 8.75291031e-01 -3.36107383e-01 -1.48932153e+02] [-7.38099740e-01 -3.44648631e-02 6.73810765e-01 -1.41955947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.37, Y:-148.93, Z:-141.99 [[ 5.77741968e-01 4.98758736e-01 6.46106757e-01 2.57367973e+02] [-3.48743232e-01 8.66531933e-01 -3.57072215e-01 -1.48929690e+02] [-7.37965024e-01 -1.90297547e-02 6.74570598e-01 -1.41986191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.39, Y:-148.94, Z:-142.01 [[ 5.78302814e-01 4.98964206e-01 6.45446029e-01 2.57386363e+02] [-3.49030318e-01 8.66418913e-01 -3.57065966e-01 -1.48940292e+02] [-7.37389783e-01 -1.87879796e-02 6.75206131e-01 -1.42010283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:-148.95, Z:-142.04 [[ 5.78981895e-01 4.98849475e-01 6.44925706e-01 2.57405069e+02] [-3.48787983e-01 8.66497914e-01 -3.57111060e-01 -1.48951496e+02] [-7.36971444e-01 -1.81814981e-02 6.75679306e-01 -1.42035331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.42, Y:-148.95, Z:-142.06 [[ 5.79257214e-01 5.02922796e-01 6.41505839e-01 2.57420116e+02] [-3.43317837e-01 8.64300384e-01 -3.67583609e-01 -1.48953704e+02] [-7.39319919e-01 -7.31493977e-03 6.73314599e-01 -1.42064639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:-148.99, Z:-142.08 [[ 5.81938074e-01 4.84795430e-01 6.52932974e-01 2.57440118e+02] [-3.44000274e-01 8.74262276e-01 -3.42533626e-01 -1.48985399e+02] [-7.36893404e-01 -2.52757636e-02 6.75536266e-01 -1.42079746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:-148.99, Z:-142.11 [[ 5.82352505e-01 4.94889720e-01 6.44941644e-01 2.57458084e+02] [-3.41955555e-01 8.68871706e-01 -3.57950217e-01 -1.48987712e+02] [-7.37517429e-01 -1.20881721e-02 6.75219903e-01 -1.42107050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:-149.00, Z:-142.13 [[ 5.84624637e-01 4.91695997e-01 6.45328661e-01 2.57476261e+02] [-3.36596723e-01 8.70733547e-01 -3.58504862e-01 -1.49001856e+02] [-7.38184720e-01 -7.62473771e-03 6.74555545e-01 -1.42131436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:-149.01, Z:-142.16 [[ 5.85624710e-01 4.90229580e-01 6.45537496e-01 2.57494671e+02] [-3.33899261e-01 8.71577118e-01 -3.58977174e-01 -1.49014232e+02] [-7.38616939e-01 -5.31858924e-03 6.74104391e-01 -1.42155930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:-149.03, Z:-142.18 [[ 5.86523683e-01 4.88728607e-01 6.45859364e-01 2.57512485e+02] [-3.31077936e-01 8.72430832e-01 -3.59516124e-01 -1.49026321e+02] [-7.39173437e-01 -2.96506395e-03 6.73508603e-01 -1.42180107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.53, Y:-149.04, Z:-142.20 [[ 5.88598979e-01 4.85803389e-01 6.46178233e-01 2.57529630e+02] [-3.26168829e-01 8.74067359e-01 -3.60027981e-01 -1.49040727e+02] [-7.39706115e-01 1.14890444e-03 6.72929078e-01 -1.42204510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.55, Y:-149.05, Z:-142.23 [[ 5.89361952e-01 4.84787134e-01 6.46246024e-01 2.57547457e+02] [-3.24220072e-01 8.74627375e-01 -3.60427941e-01 -1.49052940e+02] [-7.39955292e-01 2.89658279e-03 6.72649817e-01 -1.42228710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.56, Y:-149.07, Z:-142.25 [[ 5.90808988e-01 4.83793108e-01 6.45669396e-01 2.57564880e+02] [-3.22859812e-01 8.75171212e-01 -3.60328866e-01 -1.49066556e+02] [-7.39395890e-01 4.42483282e-03 6.73256370e-01 -1.42253052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.58, Y:-149.08, Z:-142.28 [[ 5.90738521e-01 4.84285334e-01 6.45364793e-01 2.57582887e+02] [-3.23391273e-01 8.74899734e-01 -3.60511497e-01 -1.49077552e+02] [-7.39219916e-01 4.26268682e-03 6.73450625e-01 -1.42276831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:-149.09, Z:-142.30 [[ 5.89293677e-01 4.85644839e-01 6.45664041e-01 2.57601990e+02] [-3.24860154e-01 8.74151108e-01 -3.61006538e-01 -1.49087679e+02] [-7.39728899e-01 2.98835066e-03 6.72898377e-01 -1.42301711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:-149.10, Z:-142.33 [[ 5.88180162e-01 4.87296381e-01 6.45434996e-01 2.57621280e+02] [-3.27060702e-01 8.73235562e-01 -3.61235312e-01 -1.49097945e+02] [-7.39645452e-01 1.37502184e-03 6.72995331e-01 -1.42326129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.64, Y:-149.11, Z:-142.35 [[ 5.85924070e-01 4.90444695e-01 6.45102307e-01 2.57639434e+02] [-3.31553949e-01 8.71469712e-01 -3.61403541e-01 -1.49107325e+02] [-7.39435571e-01 -2.13118435e-03 6.73223956e-01 -1.42350558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:-149.12, Z:-142.38 [[ 5.85042736e-01 4.92173540e-01 6.44585295e-01 2.57658618e+02] [-3.34078841e-01 8.70488445e-01 -3.61443213e-01 -1.49117192e+02] [-7.38996837e-01 -3.88258216e-03 6.73697707e-01 -1.42375390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:-149.13, Z:-142.40 [[ 5.82929919e-01 4.95471849e-01 6.43972326e-01 2.57677251e+02] [-3.38976975e-01 8.68590809e-01 -3.61447944e-01 -1.49126658e+02] [-7.38435725e-01 -7.59296994e-03 6.74281119e-01 -1.42398987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.70, Y:-149.14, Z:-142.42 [[ 5.81933457e-01 4.97274585e-01 6.43483829e-01 2.57696163e+02] [-3.41600377e-01 8.67541782e-01 -3.61497494e-01 -1.49137112e+02] [-7.38012624e-01 -9.44683276e-03 6.74720775e-01 -1.42423386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:-149.15, Z:-142.45 [[ 5.80895778e-01 4.98845412e-01 6.43205528e-01 2.57715272e+02] [-3.43722914e-01 8.66621444e-01 -3.61693007e-01 -1.49147238e+02] [-7.37844600e-01 -1.09785374e-02 6.74881336e-01 -1.42447803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.73, Y:-149.16, Z:-142.47 [[ 5.79017174e-01 5.01008557e-01 6.43218111e-01 2.57734452e+02] [-3.46549816e-01 8.65340633e-01 -3.62061893e-01 -1.49155741e+02] [-7.37998874e-01 -1.32670641e-02 6.74671510e-01 -1.42471746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.75, Y:-149.17, Z:-142.50 [[ 5.78052444e-01 5.01973211e-01 6.43333714e-01 2.57753872e+02] [-3.47680811e-01 8.64766300e-01 -3.62349693e-01 -1.49165920e+02] [-7.38223154e-01 -1.42176619e-02 6.74406727e-01 -1.42496285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:-149.18, Z:-142.52 [[ 5.76938147e-01 5.02717092e-01 6.43752980e-01 2.57773190e+02] [-3.48158947e-01 8.64325434e-01 -3.62941995e-01 -1.49176388e+02] [-7.38869218e-01 -1.47332777e-02 6.73687768e-01 -1.42521469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:-149.17, Z:-142.55 [[ 5.74046789e-01 5.13476536e-01 6.37818259e-01 2.57789250e+02] [-3.45836910e-01 8.58099391e-01 -3.79555355e-01 -1.49174556e+02] [-7.42204228e-01 -2.69856311e-03 6.70168338e-01 -1.42554612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:-149.19, Z:-142.58 [[ 5.73561481e-01 5.04455324e-01 6.45408440e-01 2.57807232e+02] [-3.44486480e-01 8.63369298e-01 -3.68676715e-01 -1.49193782e+02] [-7.43206763e-01 -1.08757193e-02 6.68973412e-01 -1.42575867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:-149.20, Z:-142.60 [[ 5.72972783e-01 5.04909827e-01 6.45575910e-01 2.57824476e+02] [-3.42508828e-01 8.63130226e-01 -3.71071307e-01 -1.49201973e+02] [-7.44573631e-01 -8.50168893e-03 6.67486202e-01 -1.42600194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:-149.23, Z:-142.61 [[ 5.75847243e-01 4.85992380e-01 6.57427836e-01 2.57846518e+02] [-3.44078209e-01 8.73517192e-01 -3.44351423e-01 -1.49232763e+02] [-7.41626684e-01 -2.79127748e-02 6.70231854e-01 -1.42611039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.87, Y:-149.23, Z:-142.64 [[ 5.76296311e-01 5.00504652e-01 6.46047719e-01 2.57865119e+02] [-3.41699854e-01 8.65677036e-01 -3.65847617e-01 -1.49230732e+02] [-7.42377109e-01 -9.91777881e-03 6.69908849e-01 -1.42641490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.496559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:257.88, Y:-149.22, Z:-142.68 [[ 5.74141759e-01 5.15958587e-01 6.35726338e-01 2.57879672e+02] [-3.37274669e-01 8.56557054e-01 -3.90583936e-01 -1.49223072e+02] [-7.46061015e-01 9.83615849e-03 6.65804935e-01 -1.42678117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.90, Y:-149.27, Z:-142.68 [[ 5.79234968e-01 4.80779837e-01 6.58283830e-01 2.57900627e+02] [-3.38351331e-01 8.76502330e-01 -3.42435458e-01 -1.49267854e+02] [-7.41623374e-01 -2.43806181e-02 6.70373297e-01 -1.42682499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.92, Y:-149.26, Z:-142.71 [[ 5.79587449e-01 4.97856089e-01 6.45149365e-01 2.57918597e+02] [-3.37376277e-01 8.67242592e-01 -3.66152338e-01 -1.49263099e+02] [-7.41792178e-01 -5.44079162e-03 6.70607756e-01 -1.42713148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:-149.27, Z:-142.74 [[ 5.81393053e-01 4.96473002e-01 6.44590317e-01 2.57936962e+02] [-3.35280846e-01 8.68046160e-01 -3.66172935e-01 -1.49273721e+02] [-7.41329125e-01 -3.22838598e-03 6.71133896e-01 -1.42738184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.96, Y:-149.28, Z:-142.76 [[ 5.82003083e-01 4.96298308e-01 6.44174201e-01 2.57955205e+02] [-3.34873877e-01 8.68148375e-01 -3.66302997e-01 -1.49284470e+02] [-7.41034343e-01 -2.52763841e-03 6.71462369e-01 -1.42762121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:-149.30, Z:-142.79 [[ 5.82318379e-01 4.96171695e-01 6.43986765e-01 2.57973734e+02] [-3.34426054e-01 8.68222289e-01 -3.66536861e-01 -1.49295566e+02] [-7.40988880e-01 -1.92480233e-03 6.71514539e-01 -1.42786768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:-149.31, Z:-142.81 [[ 5.82665025e-01 4.96158657e-01 6.43683196e-01 2.57992721e+02] [-3.34202079e-01 8.68230672e-01 -3.66721244e-01 -1.49306985e+02] [-7.40817413e-01 -1.44461952e-03 6.71704900e-01 -1.42811724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:-149.32, Z:-142.84 [[ 5.82978813e-01 4.96119270e-01 6.43429385e-01 2.58011145e+02] [-3.33904210e-01 8.68253886e-01 -3.66937553e-01 -1.49317368e+02] [-7.40704855e-01 -9.26960773e-04 6.71829933e-01 -1.42835265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:-149.33, Z:-142.86 [[ 5.82611661e-01 4.96989931e-01 6.43089933e-01 2.58030709e+02] [-3.35044019e-01 8.67754834e-01 -3.67079083e-01 -1.49327527e+02] [-7.40479006e-01 -1.59888134e-03 6.72077589e-01 -1.42860295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:-149.34, Z:-142.88 [[ 5.82039072e-01 4.98668406e-01 6.42308602e-01 2.58049416e+02] [-3.37641174e-01 8.66786671e-01 -3.66986790e-01 -1.49336256e+02] [-7.39749252e-01 -3.26917946e-03 6.72874696e-01 -1.42884649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.06, Y:-149.33, Z:-142.92 [[ 5.79594469e-01 5.10285433e-01 6.35357402e-01 2.58064079e+02] [-3.35210789e-01 8.59945895e-01 -3.84872426e-01 -1.49329553e+02] [-7.42767782e-01 1.00912730e-02 6.69473067e-01 -1.42917642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.09, Y:-149.37, Z:-142.93 [[ 5.81896073e-01 4.83569024e-01 6.53879162e-01 2.58086956e+02] [-3.41040810e-01 8.75002441e-01 -3.43601358e-01 -1.49371196e+02] [-7.38300837e-01 -2.30591980e-02 6.74077256e-01 -1.42926572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.10, Y:-149.35, Z:-142.97 [[ 5.79277407e-01 5.12502396e-01 6.33860379e-01 2.58102252e+02] [-3.39139169e-01 8.58651618e-01 -3.84320210e-01 -1.49348464e+02] [-7.41230268e-01 7.66113237e-03 6.71207119e-01 -1.42965715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.13, Y:-149.39, Z:-142.98 [[ 5.81185427e-01 4.85127286e-01 6.53356729e-01 2.58125368e+02] [-3.44365058e-01 8.74061867e-01 -3.42678506e-01 -1.49391329e+02] [-7.37316897e-01 -2.58334743e-02 6.75052906e-01 -1.42975014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.15, Y:-149.39, Z:-143.01 [[ 5.80512063e-01 5.04030134e-01 6.39499312e-01 2.58145432e+02] [-3.45386204e-01 8.63651502e-01 -3.67170878e-01 -1.49385599e+02] [-7.37369728e-01 -7.72711631e-03 6.75445169e-01 -1.43006405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.16, Y:-149.39, Z:-143.03 [[ 5.79829845e-01 5.05056857e-01 6.39308159e-01 2.58164141e+02] [-3.46640449e-01 8.63043526e-01 -3.67418388e-01 -1.49394661e+02] [-7.37317944e-01 -8.56992022e-03 6.75491529e-01 -1.43030215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.18, Y:-149.41, Z:-143.05 [[ 5.79728507e-01 5.05530715e-01 6.39025472e-01 2.58183481e+02] [-3.47155493e-01 8.62764340e-01 -3.67587755e-01 -1.49405281e+02] [-7.37155290e-01 -8.74010210e-03 6.75666848e-01 -1.43054757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.20, Y:-149.42, Z:-143.08 [[ 5.79717583e-01 5.05815595e-01 6.38809915e-01 2.58202703e+02] [-3.47320079e-01 8.62598374e-01 -3.67821707e-01 -1.49415974e+02] [-7.37086350e-01 -8.63879922e-03 6.75743357e-01 -1.43079339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:-149.43, Z:-143.10 [[ 5.79901368e-01 5.05794213e-01 6.38660017e-01 2.58221328e+02] [-3.46988525e-01 8.62615673e-01 -3.68093962e-01 -1.49426659e+02] [-7.37097936e-01 -8.14950489e-03 6.75736797e-01 -1.43103499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:-149.44, Z:-143.13 [[ 5.80315555e-01 5.05311773e-01 6.38665694e-01 2.58239885e+02] [-3.45903637e-01 8.62907556e-01 -3.68430758e-01 -1.49438981e+02] [-7.37281853e-01 -7.11068667e-03 6.75547857e-01 -1.43127514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.26, Y:-149.45, Z:-143.15 [[ 5.80121939e-01 5.05123533e-01 6.38990417e-01 2.58258484e+02] [-3.45031104e-01 8.63023178e-01 -3.68977684e-01 -1.49450594e+02] [-7.37842851e-01 -6.41951989e-03 6.74942010e-01 -1.43152081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.28, Y:-149.46, Z:-143.18 [[ 5.79951268e-01 5.05140194e-01 6.39132155e-01 2.58277215e+02] [-3.44574158e-01 8.63016564e-01 -3.69419897e-01 -1.49462056e+02] [-7.38190474e-01 -5.98288707e-03 6.74565807e-01 -1.43176322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:-149.47, Z:-143.20 [[ 5.79322880e-01 5.05321192e-01 6.39558828e-01 2.58295747e+02] [-3.44183074e-01 8.62912116e-01 -3.70027961e-01 -1.49473342e+02] [-7.38866031e-01 -5.75965922e-03 6.73827733e-01 -1.43200914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.31, Y:-149.48, Z:-143.22 [[ 5.79117691e-01 5.05714431e-01 6.39433823e-01 2.58314040e+02] [-3.44451348e-01 8.62681462e-01 -3.70316031e-01 -1.49484194e+02] [-7.38901867e-01 -5.79727772e-03 6.73788114e-01 -1.43224659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:-149.50, Z:-143.25 [[ 5.77849601e-01 5.06681684e-01 6.39815215e-01 2.58331272e+02] [-3.45287721e-01 8.62107856e-01 -3.70872532e-01 -1.49496103e+02] [-7.39504042e-01 -6.61179232e-03 6.73119645e-01 -1.43248341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:-149.51, Z:-143.27 [[ 5.77146563e-01 5.07547696e-01 6.39763379e-01 2.58349782e+02] [-3.46246911e-01 8.61592792e-01 -3.71175077e-01 -1.49508022e+02] [-7.39604571e-01 -7.29367364e-03 6.73002141e-01 -1.43272800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.37, Y:-149.52, Z:-143.30 [[ 5.77044949e-01 5.07860527e-01 6.39606763e-01 2.58368987e+02] [-3.46414939e-01 8.61408978e-01 -3.71444832e-01 -1.49519087e+02] [-7.39605176e-01 -7.22897306e-03 6.73002173e-01 -1.43297843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.39, Y:-149.53, Z:-143.32 [[ 5.76368238e-01 5.08754900e-01 6.39506142e-01 2.58386673e+02] [-3.47539861e-01 8.60873721e-01 -3.71634877e-01 -1.49530138e+02] [-7.39605097e-01 -8.05533631e-03 6.72992877e-01 -1.43321648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-149.54, Z:-143.35 [[ 5.75827923e-01 5.09687853e-01 6.39249948e-01 2.58405145e+02] [-3.48848088e-01 8.60312728e-01 -3.71708247e-01 -1.49541350e+02] [-7.39410045e-01 -8.96113359e-03 6.73195724e-01 -1.43346062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.42, Y:-149.55, Z:-143.37 [[ 5.74781329e-01 5.11594528e-01 6.38668508e-01 2.58422943e+02] [-3.51667876e-01 8.59157359e-01 -3.71723470e-01 -1.49552883e+02] [-7.38888441e-01 -1.09394881e-02 6.73738969e-01 -1.43370836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:-149.56, Z:-143.39 [[ 5.74080242e-01 5.12755653e-01 6.38367853e-01 2.58440866e+02] [-3.53193729e-01 8.58451245e-01 -3.71908120e-01 -1.49563467e+02] [-7.38705669e-01 -1.19624186e-02 6.73921980e-01 -1.43394952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:-149.54, Z:-143.44 [[ 5.68811189e-01 5.34640679e-01 6.24990541e-01 2.58452916e+02] [-3.50042106e-01 8.45005512e-01 -4.04272444e-01 -1.49543668e+02] [-7.44260946e-01 1.11816840e-02 6.67795339e-01 -1.43435108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:-149.61, Z:-143.43 [[ 5.72933329e-01 4.85538503e-01 6.60302781e-01 2.58476525e+02] [-3.56648464e-01 8.73057295e-01 -3.32524936e-01 -1.49607521e+02] [-7.37935820e-01 -4.49813547e-02 6.73370183e-01 -1.43433533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:-149.59, Z:-143.47 [[ 5.71467892e-01 5.16549215e-01 6.37653007e-01 2.58496064e+02] [-3.58510870e-01 8.56109951e-01 -3.72217286e-01 -1.49592717e+02] [-7.38169631e-01 -1.58953072e-02 6.74427857e-01 -1.43469365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:-149.58, Z:-143.51 [[ 5.67386216e-01 5.36232051e-01 6.24922451e-01 2.58509054e+02] [-3.53499012e-01 8.44033505e-01 -4.03293802e-01 -1.49576646e+02] [-7.43714549e-01 7.91387530e-03 6.68450477e-01 -1.43507995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.53, Y:-149.64, Z:-143.51 [[ 5.71821641e-01 4.90003431e-01 6.57964018e-01 2.58532471e+02] [-3.58685638e-01 8.70634821e-01 -3.36659503e-01 -1.49637308e+02] [-7.37810697e-01 -4.34930545e-02 6.73605026e-01 -1.43506847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:-149.62, Z:-143.54 [[ 5.70975762e-01 5.17238348e-01 6.37535232e-01 2.58552084e+02] [-3.58554143e-01 8.55700113e-01 -3.73116929e-01 -1.49624478e+02] [-7.38529354e-01 -1.55501765e-02 6.74041976e-01 -1.43541464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:-149.61, Z:-143.58 [[ 5.67989519e-01 5.31942710e-01 6.28032531e-01 2.58565536e+02] [-3.51093190e-01 8.46755301e-01 -3.99673656e-01 -1.49610508e+02] [-7.44393363e-01 6.51250288e-03 6.67709599e-01 -1.43579006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.58, Y:-149.64, Z:-143.60 [[ 5.67770519e-01 5.14443933e-01 6.42638372e-01 2.58581878e+02] [-3.49529546e-01 8.57463024e-01 -3.77605959e-01 -1.49635457e+02] [-7.45295736e-01 -1.02275670e-02 6.66655580e-01 -1.43599337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.61, Y:-149.68, Z:-143.60 [[ 5.72636084e-01 4.85618202e-01 6.60501989e-01 2.58607332e+02] [-3.53464591e-01 8.73194145e-01 -3.35551438e-01 -1.49679863e+02] [-7.39696356e-01 -4.13152033e-02 6.71671315e-01 -1.43604540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:-149.64, Z:-143.66 [[ 5.70365201e-01 5.33137500e-01 6.24858338e-01 2.58620878e+02] [-3.44981876e-01 8.45868369e-01 -4.06809792e-01 -1.49639078e+02] [-7.45433460e-01 1.64653472e-02 6.66376658e-01 -1.43655436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:-149.68, Z:-143.67 [[ 5.72781775e-01 5.04052694e-01 6.46414665e-01 2.58639532e+02] [-3.44737439e-01 8.63588132e-01 -3.67928847e-01 -1.49677915e+02] [-7.43691560e-01 -1.21003976e-02 6.68413378e-01 -1.43667939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:-149.71, Z:-143.68 [[ 5.78666280e-01 4.86529124e-01 6.54549271e-01 2.58664458e+02] [-3.45453144e-01 8.73239564e-01 -3.43678321e-01 -1.49709951e+02] [-7.38787833e-01 -2.72410475e-02 6.73387306e-01 -1.43678048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:-149.70, Z:-143.71 [[ 5.80025189e-01 5.07937374e-01 6.36844097e-01 2.58684545e+02] [-3.43053649e-01 8.61393163e-01 -3.74587791e-01 -1.49699765e+02] [-7.38840290e-01 -1.20133724e-03 6.73879502e-01 -1.43711949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.70, Y:-149.71, Z:-143.74 [[ 5.80822479e-01 5.07282032e-01 6.36639763e-01 2.58703354e+02] [-3.41816264e-01 8.61780094e-01 -3.74828909e-01 -1.49710812e+02] [-7.38787446e-01 9.52303837e-05 6.73938499e-01 -1.43737189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.72, Y:-149.72, Z:-143.76 [[ 5.80741934e-01 5.07571581e-01 6.36482440e-01 2.58722534e+02] [-3.41953193e-01 8.61609573e-01 -3.75095933e-01 -1.49722031e+02] [-7.38787399e-01 1.86734536e-04 6.73938532e-01 -1.43762199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:-149.73, Z:-143.79 [[ 5.81514020e-01 5.06443334e-01 6.36676208e-01 2.58740934e+02] [-3.39935573e-01 8.62271202e-01 -3.75409350e-01 -1.49733817e+02] [-7.39111123e-01 1.87690868e-03 6.73580898e-01 -1.43786182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:-149.74, Z:-143.81 [[ 5.81408803e-01 5.06435322e-01 6.36778665e-01 2.58758944e+02] [-3.39458316e-01 8.62274741e-01 -3.75832839e-01 -1.49744915e+02] [-7.39413183e-01 2.35270755e-03 6.73247807e-01 -1.43809779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:-149.76, Z:-143.83 [[ 5.81062461e-01 5.06649730e-01 6.36924225e-01 2.58777757e+02] [-3.39310066e-01 8.62148324e-01 -3.76256490e-01 -1.49756434e+02] [-7.39753402e-01 2.51372159e-03 6.72873380e-01 -1.43834275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.80, Y:-149.77, Z:-143.86 [[ 5.80042309e-01 5.07416581e-01 6.37243543e-01 2.58796780e+02] [-3.39837230e-01 8.61698547e-01 -3.76810658e-01 -1.49766374e+02] [-7.40311811e-01 2.00704408e-03 6.72260660e-01 -1.43858411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:-149.78, Z:-143.88 [[ 5.79056537e-01 5.08177924e-01 6.37533312e-01 2.58815934e+02] [-3.40529785e-01 8.61251090e-01 -3.77208200e-01 -1.49776225e+02] [-7.40765140e-01 1.32579200e-03 6.71762793e-01 -1.43883103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.83, Y:-149.79, Z:-143.91 [[ 5.77816848e-01 5.09898451e-01 6.37284285e-01 2.58834914e+02] [-3.42853163e-01 8.60234502e-01 -3.77423251e-01 -1.49785637e+02] [-7.40661461e-01 -4.13419671e-04 6.71878285e-01 -1.43907604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.85, Y:-149.80, Z:-143.93 [[ 5.77340311e-01 5.10879340e-01 6.36930503e-01 2.58854149e+02] [-3.44172186e-01 8.59651538e-01 -3.77550977e-01 -1.49796407e+02] [-7.40421280e-01 -1.23836559e-03 6.72141945e-01 -1.43932573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:-149.79, Z:-143.97 [[ 5.74736659e-01 5.22609405e-01 6.29727864e-01 2.58870219e+02] [-3.43582117e-01 8.52513151e-01 -3.93919607e-01 -1.49794930e+02] [-7.42717377e-01 1.00368067e-02 6.69529806e-01 -1.43966421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:-149.83, Z:-143.98 [[ 5.75270815e-01 5.03851846e-01 6.44357670e-01 2.58890362e+02] [-3.47937815e-01 8.63670224e-01 -3.64709503e-01 -1.49825755e+02] [-7.40272089e-01 -1.43896673e-02 6.72153384e-01 -1.43977194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.91, Y:-149.82, Z:-144.01 [[ 5.72013367e-01 5.25535834e-01 6.29772018e-01 2.58907053e+02] [-3.47332491e-01 8.50743535e-01 -3.94456054e-01 -1.49816535e+02] [-7.43075264e-01 6.89385183e-03 6.69172344e-01 -1.44014221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:-149.85, Z:-144.03 [[ 5.71910372e-01 5.07729344e-01 6.44305393e-01 2.58928066e+02] [-3.51728808e-01 8.61349231e-01 -3.66557427e-01 -1.49845968e+02] [-7.41083917e-01 -1.69827731e-02 6.71197597e-01 -1.44025041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:-149.84, Z:-144.06 [[ 5.69463347e-01 5.24922132e-01 6.32588533e-01 2.58946249e+02] [-3.52185247e-01 8.51149506e-01 -3.89242945e-01 -1.49842013e+02] [-7.42749654e-01 -1.12875831e-03 6.69568277e-01 -1.44060204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:-149.85, Z:-144.08 [[ 5.68046815e-01 5.23690347e-01 6.34878915e-01 2.58964847e+02] [-3.54051103e-01 8.51890537e-01 -3.85914926e-01 -1.49854704e+02] [-7.42947261e-01 -5.56183531e-03 6.69326851e-01 -1.44084040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:-149.88, Z:-144.10 [[ 5.66465036e-01 5.06923689e-01 6.49727433e-01 2.58981077e+02] [-3.56170691e-01 8.61582560e-01 -3.61687616e-01 -1.49880987e+02] [-7.43141845e-01 -2.65304804e-02 6.68607756e-01 -1.44095073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:-149.87, Z:-144.13 [[ 5.67996627e-01 5.29159713e-01 6.30372771e-01 2.59001053e+02] [-3.55345890e-01 8.48521263e-01 -3.92098156e-01 -1.49871853e+02] [-7.42367248e-01 -1.28994322e-03 6.69991945e-01 -1.44130587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:-149.90, Z:-144.15 [[ 5.68872227e-01 5.17612671e-01 6.39109937e-01 2.59020197e+02] [-3.57748685e-01 8.55471941e-01 -3.74411054e-01 -1.49895870e+02] [-7.40540524e-01 -1.56486889e-02 6.71829480e-01 -1.44147765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:-149.90, Z:-144.17 [[ 5.69134938e-01 5.22074237e-01 6.35235321e-01 2.59038805e+02] [-3.58538642e-01 8.52820150e-01 -3.79668058e-01 -1.49903619e+02] [-7.39956394e-01 -1.16740522e-02 6.72553531e-01 -1.44174752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:-149.91, Z:-144.20 [[ 5.69524040e-01 5.22500033e-01 6.34536117e-01 2.59057281e+02] [-3.59221626e-01 8.52558410e-01 -3.79610300e-01 -1.49914949e+02] [-7.39325497e-01 -1.17419036e-02 6.73245822e-01 -1.44199737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:-149.93, Z:-144.22 [[ 5.70160019e-01 5.20515425e-01 6.35595190e-01 2.59075576e+02] [-3.59595845e-01 8.53740064e-01 -3.76588278e-01 -1.49929207e+02] [-7.38653086e-01 -1.38418098e-02 6.73943635e-01 -1.44223741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.09, Y:-149.94, Z:-144.25 [[ 5.69904873e-01 5.26579734e-01 6.30810764e-01 2.59092503e+02] [-3.59648805e-01 8.50091544e-01 -3.84703918e-01 -1.49936153e+02] [-7.38824183e-01 -7.62569969e-03 6.73855085e-01 -1.44249238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.11, Y:-149.95, Z:-144.27 [[ 5.70019385e-01 5.22808952e-01 6.33836494e-01 2.59110454e+02] [-3.59168085e-01 8.52378778e-01 -3.80064080e-01 -1.49952033e+02] [-7.38969680e-01 -1.10099468e-02 6.73648717e-01 -1.44272645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:-149.97, Z:-144.30 [[ 5.71168711e-01 5.21879591e-01 6.33567673e-01 2.59127367e+02] [-3.57553357e-01 8.52968038e-01 -3.80264543e-01 -1.49966053e+02] [-7.38865279e-01 -9.33903982e-03 6.73788455e-01 -1.44296669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.14, Y:-149.98, Z:-144.32 [[ 5.71951353e-01 5.21240306e-01 6.33387870e-01 2.59144908e+02] [-3.56345373e-01 8.53371685e-01 -3.80492761e-01 -1.49978847e+02] [-7.38843437e-01 -8.08148736e-03 6.73828661e-01 -1.44320597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:-149.99, Z:-144.35 [[ 5.72556419e-01 5.20564139e-01 6.33397288e-01 2.59162613e+02] [-3.54965708e-01 8.53795593e-01 -3.80831237e-01 -1.49991906e+02] [-7.39038898e-01 -6.78694733e-03 6.73628566e-01 -1.44345011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:-150.00, Z:-144.37 [[ 5.73237986e-01 5.19881743e-01 6.33341286e-01 2.59180060e+02] [-3.53587651e-01 8.54220878e-01 -3.81159370e-01 -1.50004433e+02] [-7.39171147e-01 -5.44662828e-03 6.73495620e-01 -1.44368499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:-150.02, Z:-144.39 [[ 5.71796837e-01 5.20273689e-01 6.34321422e-01 2.59199259e+02] [-3.53289853e-01 8.53980638e-01 -3.81972970e-01 -1.50015256e+02] [-7.40428699e-01 -5.68838580e-03 6.72110843e-01 -1.44392868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.22, Y:-150.03, Z:-144.42 [[ 5.71565654e-01 5.20496650e-01 6.34346861e-01 2.59217962e+02] [-3.53214390e-01 8.53845831e-01 -3.82343945e-01 -1.50026663e+02] [-7.40643166e-01 -5.52577262e-03 6.71875857e-01 -1.44417566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.24, Y:-150.04, Z:-144.44 [[ 5.71617514e-01 5.20719647e-01 6.34117077e-01 2.59236946e+02] [-3.53306914e-01 8.53710910e-01 -3.82559677e-01 -1.50038416e+02] [-7.40559007e-01 -5.36013602e-03 6.71969959e-01 -1.44442160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:-150.05, Z:-144.47 [[ 5.72650849e-01 5.20338266e-01 6.33497510e-01 2.59254834e+02] [-3.52735458e-01 8.53948974e-01 -3.82555677e-01 -1.50049054e+02] [-7.40032906e-01 -4.38620122e-03 6.72556361e-01 -1.44465712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.27, Y:-150.06, Z:-144.49 [[ 5.73394213e-01 5.20336425e-01 6.32826265e-01 2.59273408e+02] [-3.52794764e-01 8.53952280e-01 -3.82493606e-01 -1.50059892e+02] [-7.39428787e-01 -3.93817308e-03 6.73223261e-01 -1.44490339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:-150.07, Z:-144.52 [[ 5.73438191e-01 5.20599453e-01 6.32570036e-01 2.59292045e+02] [-3.52961586e-01 8.53792490e-01 -3.82696359e-01 -1.50070398e+02] [-7.39315062e-01 -3.82021498e-03 6.73348829e-01 -1.44515047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:-150.08, Z:-144.54 [[ 5.74184280e-01 5.20974283e-01 6.31583889e-01 2.59311504e+02] [-3.53773165e-01 8.53563751e-01 -3.82457148e-01 -1.50080355e+02] [-7.38347452e-01 -3.83654934e-03 6.74409609e-01 -1.44539545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:-150.09, Z:-144.56 [[ 5.74674328e-01 5.21255754e-01 6.30905584e-01 2.59329888e+02] [-3.54243736e-01 8.53392335e-01 -3.82404103e-01 -1.50091029e+02] [-7.37740329e-01 -3.73652980e-03 6.75074252e-01 -1.44563338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:-150.10, Z:-144.59 [[ 5.75804780e-01 5.20825725e-01 6.30229656e-01 2.59349012e+02] [-3.53685618e-01 8.53658573e-01 -3.82326464e-01 -1.50101639e+02] [-7.37126407e-01 -2.75775958e-03 6.75749255e-01 -1.44587811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:-150.11, Z:-144.61 [[ 5.76379834e-01 5.20589981e-01 6.29898689e-01 2.59367729e+02] [-3.53164135e-01 8.53804464e-01 -3.82482721e-01 -1.50112551e+02] [-7.36926984e-01 -2.00229847e-03 6.75969386e-01 -1.44612030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:-150.12, Z:-144.64 [[ 5.77284716e-01 5.20114033e-01 6.29463065e-01 2.59385944e+02] [-3.52353177e-01 8.54096316e-01 -3.82579041e-01 -1.50123040e+02] [-7.36606812e-01 -9.36278024e-04 6.76320580e-01 -1.44635685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:-150.13, Z:-144.66 [[ 5.77862400e-01 5.19530740e-01 6.29414694e-01 2.59404730e+02] [-3.51156900e-01 8.54451729e-01 -3.82885198e-01 -1.50133716e+02] [-7.36725104e-01 2.31646816e-04 6.76192331e-01 -1.44660322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:-150.18, Z:-144.66 [[ 5.85418986e-01 4.87157993e-01 6.48044521e-01 2.59433637e+02] [-3.54073756e-01 8.72703446e-01 -3.36185174e-01 -1.50183101e+02] [-7.29325981e-01 -3.26463739e-02 6.83387026e-01 -1.44662987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:-150.12, Z:-144.72 [[ 5.80180563e-01 5.51590437e-01 5.99281657e-01 2.59444516e+02] [-3.43647755e-01 8.32857348e-01 -4.33883463e-01 -1.50122287e+02] [-7.38442100e-01 4.57889559e-02 6.72760460e-01 -1.44722348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:-150.21, Z:-144.71 [[ 5.85306990e-01 4.86754473e-01 6.48448772e-01 2.59469475e+02] [-3.47962723e-01 8.73156512e-01 -3.41349746e-01 -1.50205433e+02] [-7.32350784e-01 -2.58416084e-02 6.80437022e-01 -1.44712883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:-150.17, Z:-144.76 [[ 5.83269562e-01 5.30671155e-01 6.14967270e-01 2.59486985e+02] [-3.45133661e-01 8.47258442e-01 -4.03777028e-01 -1.50174102e+02] [-7.35309033e-01 2.32649447e-02 6.77332539e-01 -1.44756967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:-150.17, Z:-144.79 [[ 5.80300731e-01 5.39191971e-01 6.10346689e-01 2.59499570e+02] [-3.38206449e-01 8.41312699e-01 -4.21674448e-01 -1.50165102e+02] [-7.40855897e-01 3.82748039e-02 6.70572576e-01 -1.44790342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:-150.23, Z:-144.79 [[ 5.83772849e-01 4.91624931e-01 6.46153378e-01 2.59524102e+02] [-3.43080115e-01 8.70661659e-01 -3.52483063e-01 -1.50229839e+02] [-7.35870434e-01 -1.59123330e-02 6.76935375e-01 -1.44790761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:-150.21, Z:-144.83 [[ 5.83335490e-01 5.22024863e-01 6.22261801e-01 2.59543687e+02] [-3.43647325e-01 8.52788181e-01 -3.93266874e-01 -1.50214849e+02] [-7.35952595e-01 1.55679214e-02 6.76854059e-01 -1.44827438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.56, Y:-150.19, Z:-144.87 [[ 5.80077504e-01 5.42726524e-01 6.07419138e-01 2.59556227e+02] [-3.37289360e-01 8.38806610e-01 -4.27363264e-01 -1.50193657e+02] [-7.41448567e-01 4.30278032e-02 6.69628726e-01 -1.44865517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:-150.23, Z:-144.88 [[ 5.79840627e-01 5.12572473e-01 6.33288486e-01 2.59572375e+02] [-3.36362381e-01 8.58568988e-01 -3.86936224e-01 -1.50231677e+02] [-7.42054712e-01 1.13469203e-02 6.70243278e-01 -1.44878467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:-150.24, Z:-144.90 [[ 5.80188466e-01 5.11882347e-01 6.33528064e-01 2.59591249e+02] [-3.34922149e-01 8.58964192e-01 -3.87308239e-01 -1.50242518e+02] [-7.42434171e-01 1.25291929e-02 6.69801852e-01 -1.44902610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:-150.25, Z:-144.93 [[ 5.80633821e-01 5.11574256e-01 6.33368887e-01 2.59610569e+02] [-3.34176223e-01 8.59134862e-01 -3.87573917e-01 -1.50253958e+02] [-7.42422129e-01 1.33817020e-02 6.69798710e-01 -1.44927292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:-150.26, Z:-144.95 [[ 5.81198342e-01 5.10518840e-01 6.33702613e-01 2.59629689e+02] [-3.31974679e-01 8.59731964e-01 -3.88141420e-01 -1.50263211e+02] [-7.42967900e-01 1.52139284e-02 6.69154120e-01 -1.44951546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.65, Y:-150.27, Z:-144.98 [[ 5.81400544e-01 5.10279466e-01 6.33709929e-01 2.59648826e+02] [-3.31240689e-01 8.59860652e-01 -3.88483289e-01 -1.50273333e+02] [-7.43137277e-01 1.59538819e-02 6.68948773e-01 -1.44976426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:-150.28, Z:-145.00 [[ 5.81342024e-01 5.10304125e-01 6.33743758e-01 2.59667800e+02] [-3.30856523e-01 8.59837952e-01 -3.88860717e-01 -1.50283201e+02] [-7.43354163e-01 1.63828203e-02 6.68697384e-01 -1.45001109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:-150.29, Z:-145.03 [[ 5.80816244e-01 5.11243949e-01 6.33468323e-01 2.59686841e+02] [-3.32050762e-01 8.59293678e-01 -3.89045842e-01 -1.50291944e+02] [-7.43232657e-01 1.56205055e-02 6.68850669e-01 -1.45025440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.71, Y:-150.30, Z:-145.05 [[ 5.80012532e-01 5.12330680e-01 6.33326723e-01 2.59705473e+02] [-3.33394218e-01 8.58663384e-01 -3.89288438e-01 -1.50301788e+02] [-7.43258877e-01 1.46447052e-02 6.68843610e-01 -1.45049445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:-150.31, Z:-145.07 [[ 5.78942163e-01 5.13809191e-01 6.33108274e-01 2.59724887e+02] [-3.35377108e-01 8.57803599e-01 -3.89480655e-01 -1.50312215e+02] [-7.43201297e-01 1.31567509e-02 6.68938512e-01 -1.45074428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.74, Y:-150.32, Z:-145.10 [[ 5.77591342e-01 5.16818220e-01 6.31891738e-01 2.59743504e+02] [-3.37122493e-01 8.55990841e-01 -3.91954214e-01 -1.50320561e+02] [-7.43462619e-01 1.33644426e-02 6.68643945e-01 -1.45100857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:-150.33, Z:-145.12 [[ 5.75384696e-01 5.18149498e-01 6.32813993e-01 2.59763273e+02] [-3.41290955e-01 8.55248775e-01 -3.89961559e-01 -1.50329052e+02] [-7.43271778e-01 8.40422072e-03 6.68936793e-01 -1.45123692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.78, Y:-150.34, Z:-145.15 [[ 5.73972521e-01 5.21520532e-01 6.31325495e-01 2.59781706e+02] [-3.43352961e-01 8.53195419e-01 -3.92640193e-01 -1.50336730e+02] [-7.43413942e-01 8.59720339e-03 6.68776344e-01 -1.45150190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.80, Y:-150.35, Z:-145.17 [[ 5.71566500e-01 5.23316309e-01 6.32021975e-01 2.59801904e+02] [-3.48356037e-01 8.52133059e-01 -3.90534660e-01 -1.50346813e+02] [-7.42939976e-01 3.04785765e-03 6.69351106e-01 -1.45174603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:-150.36, Z:-145.20 [[ 5.70180319e-01 5.25640969e-01 6.31344578e-01 2.59821562e+02] [-3.51100828e-01 8.50705390e-01 -3.91188636e-01 -1.50356602e+02] [-7.42713009e-01 1.38245726e-03 6.69608450e-01 -1.45199746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:-150.36, Z:-145.23 [[ 5.67946265e-01 5.30644947e-01 6.29168483e-01 2.59840239e+02] [-3.52506421e-01 8.47587010e-01 -3.96655373e-01 -1.50361281e+02] [-7.43758202e-01 3.49300730e-03 6.68439627e-01 -1.45225772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:-150.38, Z:-145.25 [[ 5.65462922e-01 5.25214545e-01 6.35925598e-01 2.59860535e+02] [-3.58269732e-01 8.50904009e-01 -3.84194178e-01 -1.50380005e+02] [-7.42896011e-01 -1.05853310e-02 6.69323142e-01 -1.45246008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.88, Y:-150.38, Z:-145.27 [[ 5.63563039e-01 5.34015280e-01 6.30257393e-01 2.59879868e+02] [-3.60852227e-01 8.45456526e-01 -3.93686338e-01 -1.50384791e+02] [-7.43089746e-01 -5.56271450e-03 6.69168652e-01 -1.45272953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:-150.40, Z:-145.29 [[ 5.61108847e-01 5.34646286e-01 6.31909970e-01 2.59899117e+02] [-3.65103022e-01 8.44998174e-01 -3.90740155e-01 -1.50396613e+02] [-7.42870544e-01 -1.14644814e-02 6.69336926e-01 -1.45294568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:-150.41, Z:-145.32 [[ 5.59986393e-01 5.36000232e-01 6.31758649e-01 2.59918010e+02] [-3.66353221e-01 8.44129078e-01 -3.91447847e-01 -1.50407738e+02] [-7.43101983e-01 -1.22413484e-02 6.69066209e-01 -1.45319300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:-150.42, Z:-145.34 [[ 5.59326366e-01 5.36907826e-01 6.31572643e-01 2.59936479e+02] [-3.67427083e-01 8.43541296e-01 -3.91708336e-01 -1.50419544e+02] [-7.43068877e-01 -1.29640938e-02 6.69089364e-01 -1.45342999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:-150.43, Z:-145.37 [[ 5.58819448e-01 5.37501634e-01 6.31516285e-01 2.59954628e+02] [-3.67971491e-01 8.43157661e-01 -3.92023138e-01 -1.50431253e+02] [-7.43180871e-01 -1.33098356e-02 6.68958176e-01 -1.45366336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:-150.44, Z:-145.39 [[ 5.58796912e-01 5.37741095e-01 6.31332342e-01 2.59973729e+02] [-3.68073167e-01 8.43006885e-01 -3.92251877e-01 -1.50442565e+02] [-7.43147465e-01 -1.31873566e-02 6.68997712e-01 -1.45391263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.99, Y:-150.45, Z:-145.42 [[ 5.58945725e-01 5.37886388e-01 6.31076786e-01 2.59991741e+02] [-3.68045381e-01 8.42918681e-01 -3.92467444e-01 -1.50453114e+02] [-7.43049308e-01 -1.28968958e-02 6.69112394e-01 -1.45415390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:-150.48, Z:-145.44 [[ 5.60662603e-01 5.29812889e-01 6.36361334e-01 2.60012431e+02] [-3.71533696e-01 8.47768457e-01 -3.78485608e-01 -1.50478448e+02] [-7.40013620e-01 -2.42269519e-02 6.72155411e-01 -1.45435083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:-150.47, Z:-145.47 [[ 5.60754779e-01 5.46115901e-01 6.22343555e-01 2.60031716e+02] [-3.70888132e-01 8.37688046e-01 -4.00899901e-01 -1.50473568e+02] [-7.40267568e-01 -6.01330318e-03 6.72285482e-01 -1.45465276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:-150.47, Z:-145.49 [[ 5.59591394e-01 5.52301949e-01 6.17915876e-01 2.60046390e+02] [-3.68267816e-01 8.33639522e-01 -4.11611422e-01 -1.50472780e+02] [-7.42452886e-01 2.77567938e-03 6.69892535e-01 -1.45493585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:-150.52, Z:-145.50 [[ 5.64572965e-01 5.24548334e-01 6.37264790e-01 2.60066732e+02] [-3.72673139e-01 8.50904679e-01 -3.70237705e-01 -1.50517622e+02] [-7.36459163e-01 -2.84652707e-02 6.75882852e-01 -1.45504665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:-150.49, Z:-145.54 [[ 5.61991460e-01 5.56812279e-01 6.11658144e-01 2.60082028e+02] [-3.68165791e-01 8.30582555e-01 -4.17835578e-01 -1.50491938e+02] [-7.40688564e-01 9.62842162e-03 6.71779535e-01 -1.45543769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:-150.52, Z:-145.56 [[ 5.63927189e-01 5.36114902e-01 6.28145633e-01 2.60097223e+02] [-3.66694749e-01 8.44089040e-01 -3.91214332e-01 -1.50522900e+02] [-7.39946678e-01 -9.72130631e-03 6.72595279e-01 -1.45560998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:-150.54, Z:-145.59 [[ 5.64414230e-01 5.35508747e-01 6.28225245e-01 2.60115060e+02] [-3.65348755e-01 8.44487020e-01 -3.91614555e-01 -1.50535497e+02] [-7.40241085e-01 -8.48848405e-03 6.72287945e-01 -1.45585491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:-150.55, Z:-145.61 [[ 5.64967226e-01 5.35005359e-01 6.28157066e-01 2.60133240e+02] [-3.64230079e-01 8.44816629e-01 -3.91945550e-01 -1.50548537e+02] [-7.40370504e-01 -7.35730737e-03 6.72158751e-01 -1.45610176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:-150.56, Z:-145.63 [[ 5.66278059e-01 5.33480618e-01 6.28273500e-01 2.60149544e+02] [-3.61462521e-01 8.45798125e-01 -3.92390594e-01 -1.50562984e+02] [-7.40725325e-01 -4.89513950e-03 6.71790169e-01 -1.45633462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:-150.59, Z:-145.65 [[ 5.68454732e-01 5.27726649e-01 6.31160679e-01 2.60169642e+02] [-3.61570845e-01 8.49359694e-01 -3.84518705e-01 -1.50585115e+02] [-7.39003209e-01 -9.62782285e-03 6.73633107e-01 -1.45653835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:-150.58, Z:-145.68 [[ 5.68183560e-01 5.39947821e-01 6.20986145e-01 2.60185049e+02] [-3.58124911e-01 8.41667313e-01 -4.04156754e-01 -1.50581828e+02] [-7.40887299e-01 7.24461545e-03 6.71590296e-01 -1.45684457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:-150.60, Z:-145.71 [[ 5.69299985e-01 5.30310726e-01 6.28226123e-01 2.60201807e+02] [-3.55970665e-01 8.47803344e-01 -3.93083166e-01 -1.50602382e+02] [-7.41068427e-01 1.52170069e-04 6.71429492e-01 -1.45706256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:-150.62, Z:-145.73 [[ 5.71624043e-01 5.27709306e-01 6.28306328e-01 2.60217873e+02] [-3.51632900e-01 8.49415594e-01 -3.93506611e-01 -1.50616506e+02] [-7.41350294e-01 4.00466361e-03 6.71106329e-01 -1.45730047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:-150.63, Z:-145.75 [[ 5.73095278e-01 5.26591140e-01 6.27904111e-01 2.60235429e+02] [-3.49872709e-01 8.50098314e-01 -3.93601250e-01 -1.50629509e+02] [-7.41047157e-01 5.88450507e-03 6.71427199e-01 -1.45754904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:-150.64, Z:-145.78 [[ 5.75825085e-01 5.24906965e-01 6.26815881e-01 2.60252186e+02] [-3.47742753e-01 8.51117228e-01 -3.93286718e-01 -1.50644161e+02] [-7.39932733e-01 8.49367766e-03 6.72627243e-01 -1.45779659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:-150.66, Z:-145.80 [[ 5.76328020e-01 5.24653907e-01 6.26565472e-01 2.60270088e+02] [-3.47144474e-01 8.51265105e-01 -3.93495153e-01 -1.50657245e+02] [-7.39822092e-01 9.27354187e-03 6.72738637e-01 -1.45804206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:-150.67, Z:-145.83 [[ 5.76498845e-01 5.24462277e-01 6.26568753e-01 2.60287358e+02] [-3.46455352e-01 8.51375144e-01 -3.93864257e-01 -1.50670222e+02] [-7.40012007e-01 9.98419143e-03 6.72519550e-01 -1.45828364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:-150.68, Z:-145.85 [[ 5.76485492e-01 5.24881110e-01 6.26230228e-01 2.60305524e+02] [-3.46940330e-01 8.51118368e-01 -3.93992298e-01 -1.50682241e+02] [-7.39795164e-01 9.86632170e-03 6.72759817e-01 -1.45853057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:-150.69, Z:-145.88 [[ 5.75941353e-01 5.25535607e-01 6.26181989e-01 2.60322899e+02] [-3.47531146e-01 8.50718609e-01 -3.94334821e-01 -1.50693972e+02] [-7.39941661e-01 9.49598623e-03 6.72604018e-01 -1.45876537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:-150.71, Z:-145.90 [[ 5.74359210e-01 5.26948102e-01 6.26448079e-01 2.60340962e+02] [-3.49176806e-01 8.49860028e-01 -3.94732177e-01 -1.50706974e+02] [-7.40396553e-01 7.97692158e-03 6.72122989e-01 -1.45901399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:-150.72, Z:-145.93 [[ 5.73216017e-01 5.28040206e-01 6.26575565e-01 2.60358913e+02] [-3.50300534e-01 8.49190253e-01 -3.95177745e-01 -1.50719209e+02] [-7.40751600e-01 7.03245805e-03 6.71742221e-01 -1.45926001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:-150.75, Z:-145.94 [[ 5.72921441e-01 5.21076684e-01 6.32645328e-01 2.60380140e+02] [-3.56300133e-01 8.53476649e-01 -3.80299650e-01 -1.50748546e+02] [-7.38113296e-01 -7.52979069e-03 6.74634764e-01 -1.45944809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.40, Y:-150.74, Z:-145.98 [[ 5.69697040e-01 5.47622057e-01 6.12825722e-01 2.60396869e+02] [-3.58171230e-01 8.36559296e-01 -4.14586437e-01 -1.50735132e+02] [-7.39701732e-01 1.66921233e-02 6.72727820e-01 -1.45980973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.41, Y:-150.75, Z:-146.00 [[ 5.67145533e-01 5.43496262e-01 6.18835809e-01 2.60412554e+02] [-3.62316059e-01 8.39393143e-01 -4.05149633e-01 -1.50752743e+02] [-7.39643846e-01 5.56465346e-03 6.72975494e-01 -1.46002880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.43, Y:-150.77, Z:-146.03 [[ 5.67081234e-01 5.41322557e-01 6.20796877e-01 2.60430605e+02] [-3.62383865e-01 8.40809374e-01 -4.02141184e-01 -1.50766292e+02] [-7.39659927e-01 3.07994726e-03 6.72973778e-01 -1.46026302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.45, Y:-150.78, Z:-146.05 [[ 5.65501784e-01 5.43724093e-01 6.20138568e-01 2.60448600e+02] [-3.65614752e-01 8.39263597e-01 -4.02445608e-01 -1.50778771e+02] [-7.39279098e-01 8.51900723e-04 6.73398611e-01 -1.46051067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.47, Y:-150.80, Z:-146.07 [[ 5.65176885e-01 5.38177763e-01 6.25251776e-01 2.60468994e+02] [-3.71213885e-01 8.42749109e-01 -3.89838674e-01 -1.50802589e+02] [-7.36732883e-01 -1.17743335e-02 6.76081374e-01 -1.46070273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.48, Y:-150.78, Z:-146.10 [[ 5.61845071e-01 5.61593829e-01 6.07406361e-01 2.60484084e+02] [-3.69928885e-01 8.27313828e-01 -4.22734492e-01 -1.50783793e+02] [-7.39920763e-01 1.28141336e-02 6.72571975e-01 -1.46103251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.50, Y:-150.83, Z:-146.12 [[ 5.61642659e-01 5.37005736e-01 6.29430190e-01 2.60503602e+02] [-3.75891982e-01 8.43320076e-01 -3.84078727e-01 -1.50827895e+02] [-7.37063594e-01 -2.08827643e-02 6.75500680e-01 -1.46117130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:-150.81, Z:-146.15 [[ 5.58370020e-01 5.61632774e-01 6.10566579e-01 2.60519121e+02] [-3.74727707e-01 8.27372648e-01 -4.18370228e-01 -1.50809494e+02] [-7.40136519e-01 4.80917879e-03 6.72439444e-01 -1.46149325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:-150.84, Z:-146.17 [[ 5.56101423e-01 5.47446476e-01 6.25342757e-01 2.60535973e+02] [-3.78016048e-01 8.36687656e-01 -3.96304977e-01 -1.50836345e+02] [-7.40172328e-01 -1.60038361e-02 6.72226749e-01 -1.46166182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.55, Y:-150.85, Z:-146.19 [[ 5.55229525e-01 5.48146293e-01 6.25504449e-01 2.60554764e+02] [-3.78586884e-01 8.36219281e-01 -3.96748390e-01 -1.50847540e+02] [-7.40535040e-01 -1.65213600e-02 6.71814631e-01 -1.46190837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.57, Y:-150.86, Z:-146.22 [[ 5.55429287e-01 5.48041255e-01 6.25419131e-01 2.60573572e+02] [-3.78078782e-01 8.36299840e-01 -3.97062983e-01 -1.50857871e+02] [-7.40644815e-01 -1.59172938e-02 6.71708194e-01 -1.46215144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.59, Y:-150.87, Z:-146.24 [[ 5.55700367e-01 5.47815651e-01 6.25375979e-01 2.60591769e+02] [-3.77389835e-01 8.36461213e-01 -3.97378349e-01 -1.50868348e+02] [-7.40792828e-01 -1.51872434e-02 6.71561861e-01 -1.46239313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:-150.88, Z:-146.26 [[ 5.56312764e-01 5.47499055e-01 6.25108705e-01 2.60610975e+02] [-3.76729300e-01 8.36683393e-01 -3.97537336e-01 -1.50879546e+02] [-7.40669389e-01 -1.43416702e-02 6.71716587e-01 -1.46264108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.63, Y:-150.89, Z:-146.29 [[ 5.57262313e-01 5.46703785e-01 6.24958947e-01 2.60629650e+02] [-3.75223800e-01 8.37228052e-01 -3.97814389e-01 -1.50890607e+02] [-7.40719794e-01 -1.28125043e-02 6.71691913e-01 -1.46288039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:-150.90, Z:-146.31 [[ 5.57328398e-01 5.46778189e-01 6.24834913e-01 2.60648077e+02] [-3.75037605e-01 8.37184567e-01 -3.98081394e-01 -1.50902280e+02] [-7.40764370e-01 -1.24745241e-02 6.71649116e-01 -1.46312334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.67, Y:-150.91, Z:-146.34 [[ 5.57202147e-01 5.47022452e-01 6.24733707e-01 2.60666561e+02] [-3.75064171e-01 8.37027082e-01 -3.98387414e-01 -1.50913947e+02] [-7.40845892e-01 -1.23329076e-02 6.71561810e-01 -1.46336815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:-150.93, Z:-146.36 [[ 5.57517011e-01 5.47126777e-01 6.24361332e-01 2.60684552e+02] [-3.75065737e-01 8.36963797e-01 -3.98518876e-01 -1.50925123e+02] [-7.40608180e-01 -1.19954903e-02 6.71830062e-01 -1.46361405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.70, Y:-150.94, Z:-146.39 [[ 5.57430125e-01 5.47333730e-01 6.24257514e-01 2.60703236e+02] [-3.75194411e-01 8.36828685e-01 -3.98681460e-01 -1.50937044e+02] [-7.40608405e-01 -1.19808746e-02 6.71830075e-01 -1.46386466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.72, Y:-150.95, Z:-146.41 [[ 5.58053142e-01 5.47214409e-01 6.23805324e-01 2.60721481e+02] [-3.75100409e-01 8.36912727e-01 -3.98593491e-01 -1.50948744e+02] [-7.40186716e-01 -1.15532824e-02 6.72302125e-01 -1.46411764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.74, Y:-150.96, Z:-146.44 [[ 5.60653634e-01 5.46152077e-01 6.22402934e-01 2.60738558e+02] [-3.74051952e-01 8.37630673e-01 -3.98070336e-01 -1.50959610e+02] [-7.38750729e-01 -9.63145188e-03 6.73909931e-01 -1.46436390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:-150.97, Z:-146.46 [[ 5.62387375e-01 5.45265866e-01 6.21615296e-01 2.60756449e+02] [-3.72886343e-01 8.38224890e-01 -3.97913067e-01 -1.50971417e+02] [-7.38021826e-01 -8.01056970e-03 6.74729290e-01 -1.46461859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.77, Y:-150.98, Z:-146.49 [[ 5.65330214e-01 5.43143967e-01 6.20803012e-01 2.60774466e+02] [-3.69885256e-01 8.39626090e-01 -3.97759886e-01 -1.50983124e+02] [-7.37283288e-01 -4.76019973e-03 6.75566942e-01 -1.46486476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.79, Y:-150.99, Z:-146.51 [[ 5.66803695e-01 5.42012512e-01 6.20448232e-01 2.60793053e+02] [-3.68051827e-01 8.40365663e-01 -3.97898738e-01 -1.50994712e+02] [-7.37069484e-01 -2.82663073e-03 6.75811058e-01 -1.46510499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:-151.01, Z:-146.53 [[ 5.67881897e-01 5.40868817e-01 6.20460373e-01 2.60810894e+02] [-3.65942964e-01 8.41106504e-01 -3.98278289e-01 -1.51006352e+02] [-7.37289562e-01 -8.78077779e-04 6.75576295e-01 -1.46534108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.83, Y:-151.02, Z:-146.56 [[ 5.69310460e-01 5.39600328e-01 6.20255662e-01 2.60829911e+02] [-3.63832410e-01 8.41920456e-01 -3.98492062e-01 -1.51018706e+02] [-7.37232377e-01 1.19658631e-03 6.75638210e-01 -1.46558658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.85, Y:-151.03, Z:-146.58 [[ 5.72848133e-01 5.36310021e-01 6.19852061e-01 2.60848441e+02] [-3.58853732e-01 8.44000411e-01 -3.98606706e-01 -1.51031125e+02] [-7.36932165e-01 5.90488216e-03 6.75940912e-01 -1.46581616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.87, Y:-151.04, Z:-146.61 [[ 5.74429312e-01 5.34919387e-01 6.19590360e-01 2.60867322e+02] [-3.56615903e-01 8.44864098e-01 -3.98785348e-01 -1.51043068e+02] [-7.36787665e-01 8.11821705e-03 6.76075463e-01 -1.46606096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.89, Y:-151.05, Z:-146.63 [[ 5.77225186e-01 5.32084136e-01 6.19433255e-01 2.60885889e+02] [-3.52168791e-01 8.46603650e-01 -3.99048120e-01 -1.51053295e+02] [-7.36741629e-01 1.21955652e-02 6.76064376e-01 -1.46630012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.90, Y:-151.06, Z:-146.65 [[ 5.78716586e-01 5.30868375e-01 6.19084713e-01 2.60904872e+02] [-3.50273917e-01 8.47336114e-01 -3.99161238e-01 -1.51064325e+02] [-7.36474912e-01 1.41520021e-02 6.76316808e-01 -1.46654755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.92, Y:-151.08, Z:-146.68 [[ 5.79753634e-01 5.30037760e-01 6.18826064e-01 2.60923926e+02] [-3.48851076e-01 8.47829576e-01 -3.99359408e-01 -1.51075262e+02] [-7.36334606e-01 1.56519297e-02 6.76436520e-01 -1.46679540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.94, Y:-151.09, Z:-146.70 [[ 5.80082051e-01 5.29635172e-01 6.18862989e-01 2.60942362e+02] [-3.47838220e-01 8.48062665e-01 -3.99747782e-01 -1.51085965e+02] [-7.36555081e-01 1.66223128e-02 6.76173285e-01 -1.46703357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.96, Y:-151.10, Z:-146.73 [[ 5.79773653e-01 5.29736951e-01 6.19064838e-01 2.60962490e+02] [-3.47468199e-01 8.47993006e-01 -4.00217081e-01 -1.51096301e+02] [-7.36972430e-01 1.69299746e-02 6.75710747e-01 -1.46727344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:-151.11, Z:-146.75 [[ 5.78716706e-01 5.30829377e-01 6.19118040e-01 2.60981303e+02] [-3.48625731e-01 8.47327575e-01 -4.00619620e-01 -1.51106834e+02] [-7.37256451e-01 1.60047873e-02 6.75423403e-01 -1.46751186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:-151.12, Z:-146.78 [[ 5.75513605e-01 5.33814936e-01 6.19536685e-01 2.61001913e+02] [-3.52320967e-01 8.45506865e-01 -4.01233195e-01 -1.51116595e+02] [-7.38006793e-01 1.26393987e-02 6.74674898e-01 -1.46775163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.02, Y:-151.13, Z:-146.80 [[ 5.73120972e-01 5.36054340e-01 6.19821019e-01 2.61021044e+02] [-3.55000416e-01 8.44121412e-01 -4.01788186e-01 -1.51127011e+02] [-7.38584495e-01 1.02365161e-02 6.74083198e-01 -1.46799240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.04, Y:-151.14, Z:-146.82 [[ 5.70741148e-01 5.38426466e-01 6.19960871e-01 2.61040659e+02] [-3.57990358e-01 8.42637864e-01 -4.02249095e-01 -1.51137160e+02] [-7.38984063e-01 7.64009567e-03 6.73679585e-01 -1.46823992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.06, Y:-151.14, Z:-146.85 [[ 5.65553143e-01 5.43862942e-01 6.19969953e-01 2.61060155e+02] [-3.65625677e-01 8.39173428e-01 -4.02623672e-01 -1.51144865e+02] [-7.39234406e-01 1.02814976e-03 6.73447427e-01 -1.46847903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.08, Y:-151.16, Z:-146.87 [[ 5.62820249e-01 5.47134930e-01 6.19577869e-01 2.61079252e+02] [-3.70389248e-01 8.37039638e-01 -4.02711373e-01 -1.51155318e+02] [-7.38948694e-01 -2.83086643e-03 6.73755752e-01 -1.46872821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.10, Y:-151.16, Z:-146.90 [[ 5.59611637e-01 5.51840324e-01 6.18309852e-01 2.61097796e+02] [-3.74087501e-01 8.33938916e-01 -4.05714710e-01 -1.51163883e+02] [-7.39522385e-01 -4.25931472e-03 6.73118490e-01 -1.46899460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.12, Y:-151.18, Z:-146.92 [[ 5.54464840e-01 5.53998356e-01 6.21010920e-01 2.61117032e+02] [-3.81977512e-01 8.32390039e-01 -4.01522107e-01 -1.51176155e+02] [-7.39365892e-01 -1.45823152e-02 6.73145923e-01 -1.46920899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.14, Y:-151.19, Z:-146.95 [[ 5.51984837e-01 5.57644404e-01 6.19956013e-01 2.61135435e+02] [-3.84941898e-01 8.29930163e-01 -4.03776744e-01 -1.51185575e+02] [-7.39684038e-01 -1.57684040e-02 6.72769561e-01 -1.46945414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:-151.20, Z:-146.97 [[ 5.48291522e-01 5.60836821e-01 6.20353502e-01 2.61154032e+02] [-3.89226592e-01 8.27689536e-01 -4.04268094e-01 -1.51196458e+02] [-7.40188535e-01 -1.98013104e-02 6.72107760e-01 -1.46970044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:-151.21, Z:-146.99 [[ 5.46929201e-01 5.62014331e-01 6.20490403e-01 2.61172361e+02] [-3.90508078e-01 8.26862122e-01 -4.04725182e-01 -1.51207978e+02] [-7.40521364e-01 -2.09504943e-02 6.71706176e-01 -1.46994927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.19, Y:-151.22, Z:-147.02 [[ 5.45859854e-01 5.62908250e-01 6.20621722e-01 2.61190770e+02] [-3.91366541e-01 8.26233956e-01 -4.05178578e-01 -1.51219779e+02] [-7.40857105e-01 -2.17198572e-02 6.71311401e-01 -1.47019951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.21, Y:-151.23, Z:-147.04 [[ 5.44212376e-01 5.64340264e-01 6.20768037e-01 2.61208911e+02] [-3.93030790e-01 8.25215525e-01 -4.05642868e-01 -1.51231991e+02] [-7.41188025e-01 -2.32250833e-02 6.70895601e-01 -1.47044367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.23, Y:-151.24, Z:-147.07 [[ 5.44456847e-01 5.64988492e-01 6.19963504e-01 2.61226735e+02] [-3.94147411e-01 8.24761515e-01 -4.05482752e-01 -1.51243533e+02] [-7.40415127e-01 -2.35891490e-02 6.71735805e-01 -1.47069391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:-151.25, Z:-147.09 [[ 5.44792829e-01 5.65320140e-01 6.19365734e-01 2.61243741e+02] [-3.94647660e-01 8.24535578e-01 -4.05455676e-01 -1.51254295e+02] [-7.39901343e-01 -2.35418929e-02 6.72303341e-01 -1.47093878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:-151.27, Z:-147.12 [[ 5.45340673e-01 5.65349288e-01 6.18856795e-01 2.61261399e+02] [-3.94785441e-01 8.24523482e-01 -4.05346128e-01 -1.51265869e+02] [-7.39424104e-01 -2.32639223e-02 6.72837859e-01 -1.47119742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.28, Y:-151.28, Z:-147.14 [[ 5.45620960e-01 5.65206192e-01 6.18740437e-01 2.61278800e+02] [-3.94244016e-01 8.24639743e-01 -4.05636475e-01 -1.51277523e+02] [-7.39506203e-01 -2.26109521e-02 6.72769887e-01 -1.47144599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.30, Y:-151.29, Z:-147.17 [[ 5.47550451e-01 5.63333672e-01 6.18743629e-01 2.61295520e+02] [-3.91001200e-01 8.25996599e-01 -4.06014384e-01 -1.51290856e+02] [-7.39801707e-01 -1.96161425e-02 6.72538952e-01 -1.47169829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:-151.30, Z:-147.19 [[ 5.49054780e-01 5.62137067e-01 6.18498801e-01 2.61312228e+02] [-3.88949902e-01 8.26858444e-01 -4.06230339e-01 -1.51304051e+02] [-7.39768087e-01 -1.75223385e-02 6.72633738e-01 -1.47193689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.33, Y:-151.32, Z:-147.22 [[ 5.50768402e-01 5.60658016e-01 6.18317683e-01 2.61329270e+02] [-3.86464333e-01 8.27909913e-01 -4.06460939e-01 -1.51317592e+02] [-7.39796922e-01 -1.50918892e-02 6.72660946e-01 -1.47218809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.34, Y:-151.33, Z:-147.24 [[ 5.55400021e-01 5.57098378e-01 6.17391459e-01 2.61344133e+02] [-3.81356299e-01 8.30388369e-01 -4.06229652e-01 -1.51333669e+02] [-7.38984567e-01 -9.82616452e-03 6.73650694e-01 -1.47243174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.36, Y:-151.35, Z:-147.27 [[ 5.57730083e-01 5.55526635e-01 6.16706829e-01 2.61360614e+02] [-3.79106578e-01 8.31466811e-01 -4.06129468e-01 -1.51348172e+02] [-7.38386997e-01 -7.28699354e-03 6.74337855e-01 -1.47267990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:-151.36, Z:-147.29 [[ 5.60249473e-01 5.53897013e-01 6.15888485e-01 2.61376924e+02] [-3.76856114e-01 8.32572134e-01 -4.05959495e-01 -1.51362304e+02] [-7.37631342e-01 -4.66274793e-03 6.75187575e-01 -1.47292514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.39, Y:-151.38, Z:-147.32 [[ 5.64848622e-01 5.50905166e-01 6.14369215e-01 2.61391237e+02] [-3.73107252e-01 8.34567805e-01 -4.05324016e-01 -1.51379169e+02] [-7.36027861e-01 -2.78897459e-04 6.76951187e-01 -1.47317131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:-151.39, Z:-147.34 [[ 5.66569987e-01 5.50075238e-01 6.13527247e-01 2.61408323e+02] [-3.72086309e-01 8.35114161e-01 -4.05137159e-01 -1.51392856e+02] [-7.35221211e-01 1.25346657e-03 6.77826084e-01 -1.47342117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.43, Y:-151.40, Z:-147.37 [[ 5.66243301e-01 5.50561852e-01 6.13392347e-01 2.61426970e+02] [-3.72501615e-01 8.34793683e-01 -4.05415902e-01 -1.51404193e+02] [-7.35262587e-01 1.07439877e-03 6.77781509e-01 -1.47367287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:-151.42, Z:-147.39 [[ 5.66250296e-01 5.51839032e-01 6.12237115e-01 2.61445299e+02] [-3.74809186e-01 8.33950638e-01 -4.05023959e-01 -1.51415403e+02] [-7.34083563e-01 -1.27158183e-04 6.79059134e-01 -1.47391237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.46, Y:-151.43, Z:-147.42 [[ 5.66672849e-01 5.52802730e-01 6.10975469e-01 2.61464098e+02] [-3.76882402e-01 8.33311432e-01 -4.04415272e-01 -1.51426699e+02] [-7.32694709e-01 -1.09474737e-03 6.80556584e-01 -1.47415462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.48, Y:-151.44, Z:-147.44 [[ 5.67144119e-01 5.53645204e-01 6.09774168e-01 2.61483403e+02] [-3.78579584e-01 8.32750859e-01 -4.03984536e-01 -1.51437073e+02] [-7.31454063e-01 -1.73059715e-03 6.81888523e-01 -1.47440320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.50, Y:-151.45, Z:-147.46 [[ 5.68571799e-01 5.54051812e-01 6.08072939e-01 2.61502179e+02] [-3.79976178e-01 8.32480266e-01 -4.03230345e-01 -1.51446085e+02] [-7.29619225e-01 -1.78782858e-03 6.83851293e-01 -1.47464079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.52, Y:-151.46, Z:-147.49 [[ 5.68760068e-01 5.54383229e-01 6.07594618e-01 2.61520942e+02] [-3.80428179e-01 8.32259598e-01 -4.03259672e-01 -1.51458579e+02] [-7.29236852e-01 -1.78811535e-03 6.84259028e-01 -1.47488625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:-151.47, Z:-147.51 [[ 5.68196509e-01 5.54286731e-01 6.08209624e-01 2.61539531e+02] [-3.79464040e-01 8.32324890e-01 -4.04032574e-01 -1.51472153e+02] [-7.30177903e-01 -1.22378279e-03 6.83255979e-01 -1.47512363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.56, Y:-151.48, Z:-147.54 [[ 5.67378997e-01 5.54120256e-01 6.09123810e-01 2.61557404e+02] [-3.78172032e-01 8.32436442e-01 -4.05012943e-01 -1.51484658e+02] [-7.31482733e-01 -5.57751747e-04 6.81859737e-01 -1.47535658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.58, Y:-151.50, Z:-147.56 [[ 5.65761227e-01 5.53119211e-01 6.11533623e-01 2.61576710e+02] [-3.74596522e-01 8.33101301e-01 -4.06963963e-01 -1.51497634e+02] [-7.34569043e-01 1.16606308e-03 6.78532947e-01 -1.47558878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.60, Y:-151.51, Z:-147.58 [[ 5.64683696e-01 5.53128334e-01 6.12520506e-01 2.61595887e+02] [-3.73499254e-01 8.33094512e-01 -4.07985100e-01 -1.51508826e+02] [-7.35955590e-01 1.60658193e-03 6.77027908e-01 -1.47582869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.62, Y:-151.52, Z:-147.61 [[ 5.61615203e-01 5.53834747e-01 6.14699469e-01 2.61616603e+02] [-3.72548534e-01 8.32625819e-01 -4.09807071e-01 -1.51517622e+02] [-7.38780044e-01 1.14849574e-03 6.73945641e-01 -1.47607349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.64, Y:-151.53, Z:-147.63 [[ 5.57592826e-01 5.55154113e-01 6.17166226e-01 2.61637425e+02] [-3.72286931e-01 8.31747493e-01 -4.11823443e-01 -1.51528388e+02] [-7.41951940e-01 -1.33122823e-04 6.70453056e-01 -1.47631136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.66, Y:-151.54, Z:-147.65 [[ 5.54951862e-01 5.56723201e-01 6.18132436e-01 2.61655831e+02] [-3.73498103e-01 8.30696200e-01 -4.12847418e-01 -1.51540006e+02] [-7.43322002e-01 -1.76084899e-03 6.68931462e-01 -1.47654101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.68, Y:-151.55, Z:-147.68 [[ 5.47952548e-01 5.61807064e-01 6.19774821e-01 2.61676591e+02] [-3.79540777e-01 8.27227512e-01 -4.14298735e-01 -1.51550240e+02] [-7.45450739e-01 -8.21376985e-03 6.66510112e-01 -1.47677600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:-151.56, Z:-147.70 [[ 5.44741423e-01 5.64900957e-01 6.19793264e-01 2.61696594e+02] [-3.83779243e-01 8.25071984e-01 -4.14692313e-01 -1.51556687e+02] [-7.45634143e-01 -1.19637091e-02 6.66248148e-01 -1.47703875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.71, Y:-151.57, Z:-147.73 [[ 5.45590584e-01 5.63772782e-01 6.20073516e-01 2.61714709e+02] [-3.81441565e-01 8.25869879e-01 -4.15260492e-01 -1.51567704e+02] [-7.46212602e-01 -9.95959836e-03 6.65633201e-01 -1.47729499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.73, Y:-151.58, Z:-147.75 [[ 5.45497653e-01 5.64058890e-01 6.19895055e-01 2.61733140e+02] [-3.81572075e-01 8.25675623e-01 -4.15526794e-01 -1.51579964e+02] [-7.46213818e-01 -9.86575171e-03 6.65633236e-01 -1.47754586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.75, Y:-151.59, Z:-147.78 [[ 5.46855986e-01 5.62666274e-01 6.19963866e-01 2.61750106e+02] [-3.79173370e-01 8.26648302e-01 -4.15788576e-01 -1.51592356e+02] [-7.46442286e-01 -7.69731707e-03 6.65405640e-01 -1.47778451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.77, Y:-151.60, Z:-147.81 [[ 5.63055088e-01 5.48107299e-01 6.18504129e-01 2.61765722e+02] [-3.58063494e-01 8.36317613e-01 -4.15166696e-01 -1.51603809e+02] [-7.44821793e-01 1.22979710e-02 6.67150101e-01 -1.47805414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.79, Y:-151.61, Z:-147.83 [[ 5.73863691e-01 5.42349568e-01 6.13626442e-01 2.61785547e+02] [-3.52969791e-01 8.39915153e-01 -4.12255822e-01 -1.51606015e+02] [-7.38980914e-01 1.99870503e-02 6.73429823e-01 -1.47833202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.80, Y:-151.62, Z:-147.86 [[ 5.73782664e-01 5.42631246e-01 6.13453165e-01 2.61803962e+02] [-3.53106752e-01 8.39731015e-01 -4.12513568e-01 -1.51618307e+02] [-7.38978400e-01 2.00786794e-02 6.73429856e-01 -1.47858288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.82, Y:-151.63, Z:-147.88 [[ 5.74556392e-01 5.41772980e-01 6.13487564e-01 2.61822372e+02] [-3.51597872e-01 8.40251290e-01 -4.12742906e-01 -1.51630311e+02] [-7.39096671e-01 2.14431525e-02 6.73257976e-01 -1.47882601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:-151.64, Z:-147.91 [[ 5.74476106e-01 5.42053571e-01 6.13314871e-01 2.61840780e+02] [-3.51734661e-01 8.40067976e-01 -4.12999424e-01 -1.51642616e+02] [-7.39093995e-01 2.15342025e-02 6.73258008e-01 -1.47907686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:-151.66, Z:-147.93 [[ 5.74394246e-01 5.42249047e-01 6.13218738e-01 2.61859173e+02] [-3.51868342e-01 8.39941813e-01 -4.13142131e-01 -1.51655002e+02] [-7.39093986e-01 2.15342022e-02 6.73258018e-01 -1.47932741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.88, Y:-151.67, Z:-147.96 [[ 5.74312356e-01 5.42444494e-01 6.13122572e-01 2.61877564e+02] [-3.52002005e-01 8.39815604e-01 -4.13284817e-01 -1.51667393e+02] [-7.39093976e-01 2.15342019e-02 6.73258028e-01 -1.47957797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:-151.68, Z:-147.98 [[ 5.74748173e-01 5.41784417e-01 6.13297794e-01 2.61895689e+02] [-3.50672706e-01 8.40212139e-01 -4.13608771e-01 -1.51679400e+02] [-7.39387037e-01 2.26540884e-02 6.72899399e-01 -1.47982494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:-151.69, Z:-148.01 [[ 5.74613010e-01 5.42127535e-01 6.13121216e-01 2.61914079e+02] [-3.50895483e-01 8.39990257e-01 -4.13870425e-01 -1.51691696e+02] [-7.39386401e-01 2.26738653e-02 6.72899433e-01 -1.48007561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:-151.70, Z:-148.03 [[ 5.74477388e-01 5.42452103e-01 6.12961212e-01 2.61932462e+02] [-3.51117528e-01 8.39780693e-01 -4.14107317e-01 -1.51704015e+02] [-7.39386376e-01 2.26738645e-02 6.72899460e-01 -1.48032621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.95, Y:-151.72, Z:-148.06 [[ 5.75133059e-01 5.41824840e-01 6.12901140e-01 2.61950494e+02] [-3.49869392e-01 8.40151367e-01 -4.14411738e-01 -1.51715675e+02] [-7.39468305e-01 2.39065412e-02 6.72766753e-01 -1.48056344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.97, Y:-151.73, Z:-148.08 [[ 5.75053435e-01 5.42096113e-01 6.12735956e-01 2.61968872e+02] [-3.50005884e-01 8.39974033e-01 -4.14655888e-01 -1.51728031e+02] [-7.39465637e-01 2.39881031e-02 6.72766782e-01 -1.48081426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:-151.74, Z:-148.11 [[ 5.74972109e-01 5.42291254e-01 6.12639592e-01 2.61987238e+02] [-3.50139486e-01 8.39848062e-01 -4.14798233e-01 -1.51740459e+02] [-7.39465628e-01 2.39881028e-02 6.72766792e-01 -1.48106481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.01, Y:-151.75, Z:-148.13 [[ 5.74890751e-01 5.42486366e-01 6.12543195e-01 2.62005600e+02] [-3.50273069e-01 8.39722045e-01 -4.14940555e-01 -1.51752891e+02] [-7.39465619e-01 2.39881025e-02 6.72766802e-01 -1.48131537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:-151.77, Z:-148.16 [[ 5.74809363e-01 5.42681449e-01 6.12446766e-01 2.62023960e+02] [-3.50406633e-01 8.39595983e-01 -4.15082855e-01 -1.51765328e+02] [-7.39465610e-01 2.39881022e-02 6.72766812e-01 -1.48156592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.04, Y:-151.78, Z:-148.18 [[ 5.75400300e-01 5.42325938e-01 6.12206723e-01 2.62042501e+02] [-3.49852940e-01 8.39805581e-01 -4.15125892e-01 -1.51777619e+02] [-7.39268162e-01 2.46812410e-02 6.72958707e-01 -1.48181317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:-151.79, Z:-148.21 [[ 5.75266598e-01 5.42665974e-01 6.12031030e-01 2.62060859e+02] [-3.50074184e-01 8.39585322e-01 -4.15384824e-01 -1.51789965e+02] [-7.39267480e-01 2.47007505e-02 6.72958740e-01 -1.48206384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:-151.80, Z:-148.23 [[ 5.75132396e-01 5.42987742e-01 6.11871750e-01 2.62079210e+02] [-3.50294671e-01 8.39377260e-01 -4.15619368e-01 -1.51802335e+02] [-7.39267455e-01 2.47007497e-02 6.72958767e-01 -1.48231443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.10, Y:-151.81, Z:-148.26 [[ 5.74998110e-01 5.43309430e-01 6.11712380e-01 2.62097556e+02] [-3.50515105e-01 8.39169075e-01 -4.15853851e-01 -1.51814711e+02] [-7.39267431e-01 2.47007489e-02 6.72958794e-01 -1.48256503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:-151.83, Z:-148.28 [[ 5.74863740e-01 5.43631038e-01 6.11552921e-01 2.62115897e+02] [-3.50735488e-01 8.38960766e-01 -4.16088272e-01 -1.51827094e+02] [-7.39267406e-01 2.47007480e-02 6.72958821e-01 -1.48281563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.13, Y:-151.84, Z:-148.31 [[ 5.75117940e-01 5.43480260e-01 6.11447923e-01 2.62133482e+02] [-3.50222958e-01 8.39040206e-01 -4.16359715e-01 -1.51838462e+02] [-7.39312678e-01 2.53128416e-02 6.72886339e-01 -1.48305377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.15, Y:-151.85, Z:-148.33 [[ 5.75279426e-01 5.43736626e-01 6.11067970e-01 2.62151264e+02] [-3.50515671e-01 8.38871828e-01 -4.16452663e-01 -1.51850002e+02] [-7.39048271e-01 2.53877494e-02 6.73173912e-01 -1.48329011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:-151.86, Z:-148.35 [[ 5.74098457e-01 5.45098376e-01 6.10965402e-01 2.62169893e+02] [-3.52201611e-01 8.38026719e-01 -4.16731621e-01 -1.51861694e+02] [-7.39165061e-01 2.40619821e-02 6.73094372e-01 -1.48353470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:-151.87, Z:-148.38 [[ 5.71094495e-01 5.47789016e-01 6.11374085e-01 2.62189468e+02] [-3.55404139e-01 8.36350956e-01 -4.17378698e-01 -1.51872685e+02] [-7.39958766e-01 2.10777965e-02 6.72321910e-01 -1.48378197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.21, Y:-151.88, Z:-148.40 [[ 5.69063197e-01 5.49771936e-01 6.11488263e-01 2.62208204e+02] [-3.57804678e-01 8.35099129e-01 -4.17834007e-01 -1.51884075e+02] [-7.40366727e-01 1.89805949e-02 6.71935151e-01 -1.48402643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.23, Y:-151.89, Z:-148.43 [[ 5.64482693e-01 5.53970594e-01 6.11944336e-01 2.62227030e+02] [-3.63203923e-01 8.32418702e-01 -4.18523614e-01 -1.51894990e+02] [-7.41243684e-01 1.39887533e-02 6.71090244e-01 -1.48425617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:-151.91, Z:-148.45 [[ 5.62548242e-01 5.56122605e-01 6.11773751e-01 2.62246338e+02] [-3.66126021e-01 8.31019511e-01 -4.18758054e-01 -1.51906786e+02] [-7.41276744e-01 1.15853180e-02 6.71099522e-01 -1.48450122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.26, Y:-151.92, Z:-148.48 [[ 5.60443157e-01 5.58477051e-01 6.11560996e-01 2.62264987e+02] [-3.69362712e-01 8.29471916e-01 -4.18983923e-01 -1.51918250e+02] [-7.41265577e-01 8.92884431e-03 6.71152457e-01 -1.48475180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.28, Y:-151.93, Z:-148.50 [[ 5.59605441e-01 5.59123247e-01 6.11737644e-01 2.62283985e+02] [-3.73039352e-01 8.29070181e-01 -4.16514437e-01 -1.51931464e+02] [-7.40056344e-01 4.88153038e-03 6.72527158e-01 -1.48498291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:-151.94, Z:-148.52 [[ 5.55396070e-01 5.66564099e-01 6.08720237e-01 2.62302031e+02] [-3.78695224e-01 8.24010079e-01 -4.21422968e-01 -1.51937041e+02] [-7.40354735e-01 3.53721352e-03 6.72207077e-01 -1.48523676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.32, Y:-151.95, Z:-148.55 [[ 5.53734957e-01 5.66607579e-01 6.10191321e-01 2.62319491e+02] [-3.81530713e-01 8.23987340e-01 -4.18902351e-01 -1.51949281e+02] [-7.40143170e-01 -8.45854096e-04 6.72448788e-01 -1.48546819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.34, Y:-151.96, Z:-148.57 [[ 5.52098756e-01 5.68427088e-01 6.09981647e-01 2.62337973e+02] [-3.84014750e-01 8.22728692e-01 -4.19106396e-01 -1.51960691e+02] [-7.40080831e-01 -2.85383009e-03 6.72511873e-01 -1.48571605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.36, Y:-151.97, Z:-148.60 [[ 5.49205914e-01 5.71290102e-01 6.09918424e-01 2.62357264e+02] [-3.87915834e-01 8.20724514e-01 -4.19443176e-01 -1.51971682e+02] [-7.40198736e-01 -6.23634142e-03 6.72359234e-01 -1.48596304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.38, Y:-151.98, Z:-148.62 [[ 5.47625808e-01 5.72632327e-01 6.10080481e-01 2.62375209e+02] [-3.89376230e-01 8.19777266e-01 -4.19942121e-01 -1.51983253e+02] [-7.40602543e-01 -7.57969424e-03 6.71900604e-01 -1.48620443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.39, Y:-152.00, Z:-148.64 [[ 5.45570740e-01 5.74520740e-01 6.10146284e-01 2.62393327e+02] [-3.91894226e-01 8.18430756e-01 -4.20226146e-01 -1.51996057e+02] [-7.40791120e-01 -9.84971617e-03 6.71663234e-01 -1.48644220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.41, Y:-152.01, Z:-148.67 [[ 5.44884436e-01 5.75492697e-01 6.09843510e-01 2.62410456e+02] [-3.93150319e-01 8.17737061e-01 -4.20403289e-01 -1.52008687e+02] [-7.40630663e-01 -1.06889615e-02 6.71827335e-01 -1.48667696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.43, Y:-152.03, Z:-148.69 [[ 5.45755501e-01 5.71763406e-01 6.12566356e-01 2.62428904e+02] [-3.95518017e-01 8.20247387e-01 -4.13230834e-01 -1.52028012e+02] [-7.38726222e-01 -1.67580297e-02 6.73797252e-01 -1.48689560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.45, Y:-152.03, Z:-148.72 [[ 5.44212688e-01 5.84383031e-01 6.01937723e-01 2.62445379e+02] [-3.94852425e-01 8.11471571e-01 -4.30819513e-01 -1.52027089e+02] [-7.40218962e-01 -3.21912462e-03 6.72358182e-01 -1.48718360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.46, Y:-152.05, Z:-148.74 [[ 5.44671666e-01 5.76864684e-01 6.08736325e-01 2.62461611e+02] [-3.95072456e-01 8.16759339e-01 -4.20502005e-01 -1.52046759e+02] [-7.39763834e-01 -1.14594274e-02 6.72769018e-01 -1.48740782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:-152.06, Z:-148.77 [[ 5.44993772e-01 5.77126315e-01 6.08199808e-01 2.62478947e+02] [-3.95448132e-01 8.16576170e-01 -4.20504617e-01 -1.52059351e+02] [-7.39325750e-01 -1.13390808e-02 6.73252450e-01 -1.48765416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:-152.07, Z:-148.79 [[ 5.45121559e-01 5.77169603e-01 6.08044189e-01 2.62495713e+02] [-3.95209829e-01 8.16551148e-01 -4.20777155e-01 -1.52071764e+02] [-7.39358964e-01 -1.09303414e-02 6.73222735e-01 -1.48789783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.51, Y:-152.09, Z:-148.81 [[ 5.46092973e-01 5.76458132e-01 6.07847421e-01 2.62512888e+02] [-3.95111752e-01 8.17054411e-01 -4.19891406e-01 -1.52085755e+02] [-7.38694232e-01 -1.08679131e-02 6.73953055e-01 -1.48814273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:-152.10, Z:-148.84 [[ 5.46772371e-01 5.77782354e-01 6.05976505e-01 2.62527964e+02] [-3.93041875e-01 8.16164281e-01 -4.23549230e-01 -1.52097833e+02] [-7.39295650e-01 -6.58912504e-03 6.73348739e-01 -1.48839075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:-152.11, Z:-148.86 [[ 5.47553356e-01 5.75606724e-01 6.07340285e-01 2.62544485e+02] [-3.92265761e-01 8.17691852e-01 -4.21316518e-01 -1.52113440e+02] [-7.39129823e-01 -7.54552509e-03 6.73520727e-01 -1.48862912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:-152.13, Z:-148.89 [[ 5.48156995e-01 5.75224749e-01 6.07157638e-01 2.62560564e+02] [-3.91415402e-01 8.17969065e-01 -4.21569201e-01 -1.52127030e+02] [-7.39133204e-01 -6.56474454e-03 6.73527291e-01 -1.48886601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.58, Y:-152.14, Z:-148.91 [[ 5.48927980e-01 5.74495482e-01 6.07151557e-01 2.62576509e+02] [-3.89945474e-01 8.18491526e-01 -4.21917230e-01 -1.52143505e+02] [-7.39337947e-01 -5.15382895e-03 6.73314814e-01 -1.48910844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-152.16, Z:-148.94 [[ 5.49087090e-01 5.74512344e-01 6.06991709e-01 2.62593699e+02] [-3.89669130e-01 8.18482384e-01 -4.22190189e-01 -1.52157940e+02] [-7.39365496e-01 -4.70674912e-03 6.73287835e-01 -1.48935688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:-152.17, Z:-148.96 [[ 5.48757480e-01 5.74784336e-01 6.07032285e-01 2.62608857e+02] [-3.89621529e-01 8.18291971e-01 -4.22603023e-01 -1.52172735e+02] [-7.39635243e-01 -4.60627648e-03 6.72992191e-01 -1.48959471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.63, Y:-152.19, Z:-148.98 [[ 5.48531539e-01 5.75222689e-01 6.06821233e-01 2.62625354e+02] [-3.90041353e-01 8.17983015e-01 -4.22813824e-01 -1.52186072e+02] [-7.39581567e-01 -4.75865684e-03 6.73050118e-01 -1.48983955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.64, Y:-152.20, Z:-149.01 [[ 5.48136393e-01 5.75696400e-01 6.06729058e-01 2.62642140e+02] [-3.90441994e-01 8.17648364e-01 -4.23091246e-01 -1.52199524e+02] [-7.39663129e-01 -4.98079370e-03 6.72958875e-01 -1.49009186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.66, Y:-152.21, Z:-149.03 [[ 5.47699921e-01 5.76337314e-01 6.06514713e-01 2.62658970e+02] [-3.91148070e-01 8.17194154e-01 -4.23316551e-01 -1.52213483e+02] [-7.39613401e-01 -5.38661778e-03 6.73010402e-01 -1.49034060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.67, Y:-152.23, Z:-149.06 [[ 5.47012953e-01 5.76961156e-01 6.06541551e-01 2.62674041e+02] [-3.91648702e-01 8.16751154e-01 -4.23708445e-01 -1.52229658e+02] [-7.39856826e-01 -5.77720340e-03 6.72739549e-01 -1.49058439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.69, Y:-152.24, Z:-149.08 [[ 5.46718392e-01 5.77108768e-01 6.06666688e-01 2.62690435e+02] [-3.91362931e-01 8.16648603e-01 -4.24169913e-01 -1.52244122e+02] [-7.40225679e-01 -5.52536048e-03 6.72335790e-01 -1.49082652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:-152.26, Z:-149.11 [[ 5.46215644e-01 5.77245083e-01 6.06989773e-01 2.62706799e+02] [-3.90903208e-01 8.16554038e-01 -4.24775453e-01 -1.52258816e+02] [-7.40839492e-01 -5.25525160e-03 6.71661544e-01 -1.49106684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.72, Y:-152.27, Z:-149.13 [[ 5.46075561e-01 5.77279729e-01 6.07082858e-01 2.62723731e+02] [-3.90467220e-01 8.16532084e-01 -4.25218420e-01 -1.52274040e+02] [-7.41172606e-01 -4.84456849e-03 6.71297027e-01 -1.49131043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.74, Y:-152.29, Z:-149.16 [[ 5.46125322e-01 5.77195414e-01 6.07118264e-01 2.62738806e+02] [-3.89894081e-01 8.16594904e-01 -4.25623505e-01 -1.52290309e+02] [-7.41437616e-01 -4.26804406e-03 6.71008231e-01 -1.49155219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.76, Y:-152.30, Z:-149.18 [[ 5.45747420e-01 5.77519005e-01 6.07150354e-01 2.62755003e+02] [-3.89930312e-01 8.16366218e-01 -4.26028813e-01 -1.52304194e+02] [-7.41696775e-01 -4.24220080e-03 6.70721923e-01 -1.49179747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.77, Y:-152.32, Z:-149.20 [[ 5.44382205e-01 5.78390524e-01 6.07546226e-01 2.62769433e+02] [-3.90669961e-01 8.15743774e-01 -4.26543172e-01 -1.52319775e+02] [-7.42310580e-01 -5.14754861e-03 6.70036197e-01 -1.49203363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.79, Y:-152.33, Z:-149.23 [[ 5.43210273e-01 5.79337016e-01 6.07693362e-01 2.62786410e+02] [-3.91592572e-01 8.15065866e-01 -4.26992847e-01 -1.52333317e+02] [-7.42682878e-01 -6.02130504e-03 6.69616223e-01 -1.49228043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:-152.35, Z:-149.25 [[ 5.41944689e-01 5.80579029e-01 6.07638005e-01 2.62804143e+02] [-3.93075425e-01 8.14171577e-01 -4.27336346e-01 -1.52346404e+02] [-7.42824114e-01 -7.25490410e-03 6.69447311e-01 -1.49252888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.82, Y:-152.36, Z:-149.28 [[ 5.40250697e-01 5.82594547e-01 6.07217241e-01 2.62820857e+02] [-3.96004711e-01 8.12706865e-01 -4.27419957e-01 -1.52358475e+02] [-7.42502157e-01 -9.54695807e-03 6.69775636e-01 -1.49277279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:-152.37, Z:-149.30 [[ 5.39486549e-01 5.83836770e-01 6.06703296e-01 2.62838250e+02] [-3.97871191e-01 8.11799135e-01 -4.27411605e-01 -1.52370950e+02] [-7.42059822e-01 -1.08069509e-02 6.70246544e-01 -1.49301638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.86, Y:-152.38, Z:-149.33 [[ 5.37737366e-01 5.86058455e-01 6.06113860e-01 2.62856568e+02] [-4.01244665e-01 8.10158190e-01 -4.27371531e-01 -1.52382571e+02] [-7.41512808e-01 -1.33863112e-02 6.70805160e-01 -1.49326835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:-152.39, Z:-149.35 [[ 5.36792681e-01 5.87098421e-01 6.05944769e-01 2.62874405e+02] [-4.02514936e-01 8.09388360e-01 -4.27635603e-01 -1.52394008e+02] [-7.41508830e-01 -1.43501581e-02 6.70789631e-01 -1.49350712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.89, Y:-152.41, Z:-149.38 [[ 5.36030975e-01 5.88046565e-01 6.05699622e-01 2.62892298e+02] [-4.03866645e-01 8.08681179e-01 -4.27699058e-01 -1.52406024e+02] [-7.41324846e-01 -1.53619313e-02 6.70970554e-01 -1.49375233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.91, Y:-152.42, Z:-149.40 [[ 5.35156825e-01 5.89004424e-01 6.05541875e-01 2.62910997e+02] [-4.05014834e-01 8.07966896e-01 -4.27963175e-01 -1.52417913e+02] [-7.41329992e-01 -1.62260283e-02 6.70944527e-01 -1.49400100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:-152.43, Z:-149.42 [[ 5.34751108e-01 5.89153052e-01 6.05755672e-01 2.62928711e+02] [-4.04665121e-01 8.07863173e-01 -4.28489479e-01 -1.52429477e+02] [-7.41813583e-01 -1.59929686e-02 6.70415418e-01 -1.49424471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:-152.44, Z:-149.45 [[ 5.34657222e-01 5.89407960e-01 6.05590547e-01 2.62946809e+02] [-4.04786127e-01 8.07678755e-01 -4.28722777e-01 -1.52442225e+02] [-7.41815237e-01 -1.59149228e-02 6.70415445e-01 -1.49449555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.96, Y:-152.46, Z:-149.47 [[ 5.35551009e-01 5.88419269e-01 6.05762231e-01 2.62964176e+02] [-4.02937423e-01 8.08429396e-01 -4.29049350e-01 -1.52455265e+02] [-7.42176900e-01 -1.43064598e-02 6.70051323e-01 -1.49473987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.98, Y:-152.47, Z:-149.50 [[ 5.35394618e-01 5.88750112e-01 6.05578986e-01 2.62982262e+02] [-4.03144557e-01 8.08188836e-01 -4.29307899e-01 -1.52467978e+02] [-7.42177249e-01 -1.42867333e-02 6.70051356e-01 -1.49499054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:-152.48, Z:-149.52 [[ 5.36164748e-01 5.88008149e-01 6.05618510e-01 2.63000058e+02] [-4.01605031e-01 8.08753149e-01 -4.29687960e-01 -1.52480704e+02] [-7.42455899e-01 -1.28359038e-02 6.69771959e-01 -1.49523556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.02, Y:-152.49, Z:-149.55 [[ 5.38733576e-01 5.85496976e-01 6.05771760e-01 2.63016946e+02] [-3.97276081e-01 8.10625686e-01 -4.30183348e-01 -1.52493017e+02] [-7.42925198e-01 -8.90441743e-03 6.69315219e-01 -1.49547749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:-152.51, Z:-149.57 [[ 5.40162100e-01 5.84387489e-01 6.05570944e-01 2.63033691e+02] [-3.95364167e-01 8.11445108e-01 -4.30399828e-01 -1.52505570e+02] [-7.42907855e-01 -6.93537703e-03 6.69357766e-01 -1.49571720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.05, Y:-152.52, Z:-149.60 [[ 5.41863214e-01 5.83181552e-01 6.05213628e-01 2.63050920e+02] [-3.93438983e-01 8.12327413e-01 -4.30499641e-01 -1.52518641e+02] [-7.42691069e-01 -4.84271460e-03 6.69616699e-01 -1.49596320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:-152.53, Z:-149.62 [[ 5.45435854e-01 5.80464754e-01 6.04615909e-01 2.63067959e+02] [-3.89424479e-01 8.14285099e-01 -4.30451337e-01 -1.52532384e+02] [-7.42191555e-01 -6.68642724e-04 6.70187473e-01 -1.49620304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.09, Y:-152.55, Z:-149.65 [[ 5.46712549e-01 5.79674089e-01 6.04221267e-01 2.63085770e+02] [-3.88133877e-01 8.14847958e-01 -4.30551854e-01 -1.52545604e+02] [-7.41928219e-01 8.69358275e-04 6.70478755e-01 -1.49645113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.10, Y:-152.56, Z:-149.67 [[ 5.47699217e-01 5.79077619e-01 6.03899560e-01 2.63103565e+02] [-3.87073535e-01 8.15269593e-01 -4.30708218e-01 -1.52558639e+02] [-7.41754438e-01 2.14501591e-03 6.70668139e-01 -1.49669865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:-152.57, Z:-149.69 [[ 5.49571147e-01 5.78055672e-01 6.03177581e-01 2.63121379e+02] [-3.85704875e-01 8.15987604e-01 -4.30576334e-01 -1.52571344e+02] [-7.41082521e-01 3.98379598e-03 6.71402135e-01 -1.49694505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:-152.58, Z:-149.72 [[ 5.50004414e-01 5.77918193e-01 6.02914345e-01 2.63139538e+02] [-3.85286915e-01 8.16081558e-01 -4.30772427e-01 -1.52583536e+02] [-7.40978501e-01 4.63172827e-03 6.71512776e-01 -1.49719195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:-152.60, Z:-149.74 [[ 5.50214128e-01 5.77949544e-01 6.02692905e-01 2.63156938e+02] [-3.85084713e-01 8.16056847e-01 -4.30999985e-01 -1.52595038e+02] [-7.40927917e-01 5.05445659e-03 6.71565540e-01 -1.49743238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.17, Y:-152.61, Z:-149.77 [[ 5.50165157e-01 5.78271518e-01 6.02428711e-01 2.63174625e+02] [-3.85511356e-01 8.15829636e-01 -4.31048722e-01 -1.52606928e+02] [-7.40742394e-01 4.90487852e-03 6.71771276e-01 -1.49767522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:-152.62, Z:-149.79 [[ 5.49569574e-01 5.79162140e-01 6.02116683e-01 2.63192963e+02] [-3.86691252e-01 8.15201914e-01 -4.31179447e-01 -1.52618264e+02] [-7.40569483e-01 4.12985126e-03 6.71967101e-01 -1.49791840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.21, Y:-152.63, Z:-149.82 [[ 5.48678006e-01 5.80227305e-01 6.01904245e-01 2.63211272e+02] [-3.88025756e-01 8.14448505e-01 -4.31404272e-01 -1.52630227e+02] [-7.40532551e-01 3.14768598e-03 6.72013120e-01 -1.49816926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:-152.64, Z:-149.84 [[ 5.47085188e-01 5.82665739e-01 6.00997865e-01 2.63229821e+02] [-3.91949368e-01 8.12711845e-01 -4.31132404e-01 -1.52642308e+02] [-7.39644164e-01 3.05418882e-04 6.72998081e-01 -1.49841255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.25, Y:-152.65, Z:-149.87 [[ 5.46061654e-01 5.84166717e-01 6.00471412e-01 2.63247722e+02] [-3.94176554e-01 8.11632703e-01 -4.31134782e-01 -1.52654601e+02] [-7.39216825e-01 -1.26557975e-03 6.73466320e-01 -1.49865288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:-152.67, Z:-149.89 [[ 5.44993728e-01 5.85557702e-01 6.00086672e-01 2.63266174e+02] [-3.96289817e-01 8.10625663e-01 -4.31092120e-01 -1.52666672e+02] [-7.38874968e-01 -2.86573554e-03 6.73836456e-01 -1.49889620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.28, Y:-152.68, Z:-149.91 [[ 5.42594379e-01 5.88219439e-01 5.99657596e-01 2.63284403e+02] [-4.00170749e-01 8.08678964e-01 -4.31163200e-01 -1.52675803e+02] [-7.38549059e-01 -6.01870014e-03 6.74172873e-01 -1.49913786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.30, Y:-152.69, Z:-149.94 [[ 5.40595130e-01 5.90300410e-01 5.99418327e-01 2.63303228e+02] [-4.03073461e-01 8.07139645e-01 -4.31343690e-01 -1.52686420e+02] [-7.38436653e-01 -8.42732145e-03 6.74270190e-01 -1.49938851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.32, Y:-152.70, Z:-149.96 [[ 5.39567270e-01 5.91302118e-01 5.99357127e-01 2.63320675e+02] [-4.04196666e-01 8.06396084e-01 -4.31683229e-01 -1.52698534e+02] [-7.38574448e-01 -9.33601104e-03 6.74107279e-01 -1.49962815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.34, Y:-152.71, Z:-149.99 [[ 5.38681044e-01 5.92033826e-01 5.99431966e-01 2.63338050e+02] [-4.04840175e-01 8.05852154e-01 -4.32095752e-01 -1.52710809e+02] [-7.38868842e-01 -9.91235087e-03 6.73776357e-01 -1.49986298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.36, Y:-152.72, Z:-150.01 [[ 5.38187799e-01 5.92386453e-01 5.99526633e-01 2.63356092e+02] [-4.05039464e-01 8.05590375e-01 -4.32397016e-01 -1.52724201e+02] [-7.39119020e-01 -1.01211476e-02 6.73498802e-01 -1.50010876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:-152.74, Z:-150.03 [[ 5.37895964e-01 5.92199011e-01 5.99973553e-01 2.63373781e+02] [-4.03998954e-01 8.05736593e-01 -4.33097434e-01 -1.52737505e+02] [-7.39900518e-01 -9.42732621e-03 6.72650242e-01 -1.50034871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:-152.75, Z:-150.06 [[ 5.37877264e-01 5.92068695e-01 6.00118913e-01 2.63391644e+02] [-4.03273948e-01 8.05839465e-01 -4.33581457e-01 -1.52750220e+02] [-7.40309511e-01 -8.79871597e-03 6.72208606e-01 -1.50059100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.41, Y:-152.76, Z:-150.08 [[ 5.37705783e-01 5.91931360e-01 6.00407991e-01 2.63409113e+02] [-4.02420689e-01 8.05947082e-01 -4.34173802e-01 -1.52762464e+02] [-7.40898158e-01 -8.15883356e-03 6.71567832e-01 -1.50082941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:-152.78, Z:-150.11 [[ 5.37786403e-01 5.91702622e-01 6.00561232e-01 2.63426987e+02] [-4.01563667e-01 8.06122178e-01 -4.34641986e-01 -1.52775172e+02] [-7.41304530e-01 -7.41902033e-03 6.71127821e-01 -1.50107526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.44, Y:-152.79, Z:-150.13 [[ 5.38368163e-01 5.91044705e-01 6.00687837e-01 2.63443934e+02] [-4.00061166e-01 8.06616024e-01 -4.35111083e-01 -1.52788247e+02] [-7.41694536e-01 -6.06192178e-03 6.70710421e-01 -1.50131197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.46, Y:-152.80, Z:-150.16 [[ 5.38684170e-01 5.90915189e-01 6.00531935e-01 2.63461301e+02] [-3.99602035e-01 8.06715221e-01 -4.35349016e-01 -1.52801098e+02] [-7.41712599e-01 -5.45815970e-03 6.70695631e-01 -1.50155732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.48, Y:-152.81, Z:-150.18 [[ 5.39402434e-01 5.90951526e-01 5.99851072e-01 2.63478153e+02] [-3.99774693e-01 8.06691333e-01 -4.35234750e-01 -1.52814460e+02] [-7.41097301e-01 -5.03859470e-03 6.71378733e-01 -1.50180358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.50, Y:-152.83, Z:-150.21 [[ 5.39707365e-01 5.91248015e-01 5.99284361e-01 2.63495203e+02] [-4.00246449e-01 8.06474422e-01 -4.35203156e-01 -1.52827262e+02] [-7.40620510e-01 -4.97908875e-03 6.71905104e-01 -1.50205534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.51, Y:-152.84, Z:-150.23 [[ 5.39998817e-01 5.91752410e-01 5.98523486e-01 2.63512166e+02] [-4.01172759e-01 8.06103056e-01 -4.35038252e-01 -1.52839588e+02] [-7.39906545e-01 -5.19117703e-03 6.72689644e-01 -1.50230092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.53, Y:-152.85, Z:-150.26 [[ 5.40063051e-01 5.92533012e-01 5.97692672e-01 2.63529554e+02] [-4.02595528e-01 8.05525201e-01 -4.34794195e-01 -1.52852351e+02] [-7.39086424e-01 -5.81211779e-03 6.73585539e-01 -1.50255473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.55, Y:-152.86, Z:-150.28 [[ 5.40395500e-01 5.93903353e-01 5.96029790e-01 2.63546278e+02] [-4.05513594e-01 8.04504338e-01 -4.33971768e-01 -1.52863701e+02] [-7.37245840e-01 -7.18179192e-03 6.75586407e-01 -1.50280513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:-152.88, Z:-150.31 [[ 5.39876941e-01 5.94839617e-01 5.95565881e-01 2.63563655e+02] [-4.06875899e-01 8.03804415e-01 -4.33993623e-01 -1.52876697e+02] [-7.36875085e-01 -8.01825370e-03 6.75981373e-01 -1.50305862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.58, Y:-152.89, Z:-150.33 [[ 5.39390698e-01 5.95566215e-01 5.95280235e-01 2.63580169e+02] [-4.07757295e-01 8.03260813e-01 -4.34172840e-01 -1.52889539e+02] [-7.36743960e-01 -8.54106736e-03 6.76117880e-01 -1.50329405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:-152.90, Z:-150.35 [[ 5.38695198e-01 5.96158616e-01 5.95317048e-01 2.63596897e+02] [-4.08352310e-01 8.02815447e-01 -4.34437278e-01 -1.52903193e+02] [-7.36923249e-01 -9.06981629e-03 6.75915574e-01 -1.50352746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.61, Y:-152.92, Z:-150.38 [[ 5.36759574e-01 5.96899382e-01 5.96322303e-01 2.63614113e+02] [-4.08288281e-01 8.02257485e-01 -4.35526815e-01 -1.52918054e+02] [-7.38369717e-01 -9.69822065e-03 6.74326408e-01 -1.50376285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.63, Y:-152.93, Z:-150.40 [[ 5.35529436e-01 5.97410001e-01 5.96916672e-01 2.63630957e+02] [-4.08161373e-01 8.01874116e-01 -4.36351001e-01 -1.52930734e+02] [-7.39332481e-01 -9.95952304e-03 6.73266879e-01 -1.50399773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:-152.94, Z:-150.42 [[ 5.34334348e-01 5.97890620e-01 5.97506160e-01 2.63648292e+02] [-4.08021869e-01 8.01512620e-01 -4.37144912e-01 -1.52943765e+02] [-7.40273570e-01 -1.02140386e-02 6.72228171e-01 -1.50423954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.67, Y:-152.96, Z:-150.45 [[ 5.33933125e-01 5.98271074e-01 5.97484008e-01 2.63665750e+02] [-4.08186137e-01 8.01227813e-01 -4.37513508e-01 -1.52957055e+02] [-7.40472482e-01 -1.02817349e-02 6.72008028e-01 -1.50448481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:-152.97, Z:-150.47 [[ 5.33751127e-01 5.98640680e-01 5.97276378e-01 2.63682382e+02] [-4.08480040e-01 8.00951101e-01 -4.37745806e-01 -1.52970150e+02] [-7.40441619e-01 -1.03281613e-02 6.72041321e-01 -1.50472285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.70, Y:-152.98, Z:-150.50 [[ 5.34456841e-01 5.98764665e-01 5.96520545e-01 2.63698337e+02] [-4.08864088e-01 8.00862030e-01 -4.37550188e-01 -1.52983061e+02] [-7.39720246e-01 -1.00441375e-02 6.72839559e-01 -1.50496197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.72, Y:-153.00, Z:-150.52 [[ 5.34632649e-01 5.99215907e-01 5.95909580e-01 2.63715332e+02] [-4.09769520e-01 8.00520235e-01 -4.37328588e-01 -1.52995966e+02] [-7.39091924e-01 -1.03754414e-02 6.73524668e-01 -1.50520604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.73, Y:-153.01, Z:-150.54 [[ 5.34594695e-01 5.99769448e-01 5.95386531e-01 2.63732431e+02] [-4.10585487e-01 8.00101808e-01 -4.37329001e-01 -1.53008829e+02] [-7.38666413e-01 -1.06633052e-02 6.73986813e-01 -1.50544828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:-153.02, Z:-150.57 [[ 5.33971394e-01 6.00361340e-01 5.95349320e-01 2.63750107e+02] [-4.11108365e-01 7.99652449e-01 -4.37659540e-01 -1.53022056e+02] [-7.38826410e-01 -1.10554111e-02 6.73805101e-01 -1.50568926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.77, Y:-153.03, Z:-150.59 [[ 5.33367768e-01 6.00778333e-01 5.95469746e-01 2.63767326e+02] [-4.11223368e-01 7.99337360e-01 -4.38126838e-01 -1.53034320e+02] [-7.39198327e-01 -1.11883411e-02 6.73394873e-01 -1.50592680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:-153.05, Z:-150.62 [[ 5.32701726e-01 6.01320270e-01 5.95518937e-01 2.63785402e+02] [-4.11610929e-01 7.98924977e-01 -4.38514907e-01 -1.53047344e+02] [-7.39462855e-01 -1.15244550e-02 6.73098709e-01 -1.50617520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.80, Y:-153.06, Z:-150.64 [[ 5.32264605e-01 6.01784450e-01 5.95440900e-01 2.63802352e+02] [-4.11951530e-01 7.98572616e-01 -4.38836774e-01 -1.53059393e+02] [-7.39587944e-01 -1.17155075e-02 6.72957963e-01 -1.50641388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.82, Y:-153.07, Z:-150.67 [[ 5.32274825e-01 6.02357728e-01 5.94851812e-01 2.63819961e+02] [-4.12886520e-01 7.98135026e-01 -4.38754149e-01 -1.53072857e+02] [-7.39059018e-01 -1.20685063e-02 6.73532567e-01 -1.50665415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.84, Y:-153.09, Z:-150.69 [[ 5.32336985e-01 6.02780137e-01 5.94368102e-01 2.63837467e+02] [-4.13477610e-01 7.97814380e-01 -4.38780675e-01 -1.53086088e+02] [-7.38683694e-01 -1.21787207e-02 6.73942193e-01 -1.50690570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.85, Y:-153.10, Z:-150.72 [[ 5.32363840e-01 6.03159466e-01 5.93959090e-01 2.63854671e+02] [-4.13947408e-01 7.97526789e-01 -4.38860529e-01 -1.53098624e+02] [-7.38401168e-01 -1.22343491e-02 6.74250722e-01 -1.50715304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.87, Y:-153.11, Z:-150.74 [[ 5.32583934e-01 6.03478410e-01 5.93437581e-01 2.63872003e+02] [-4.14407645e-01 7.97286103e-01 -4.38863503e-01 -1.53111161e+02] [-7.37984185e-01 -1.21934199e-02 6.74707836e-01 -1.50740251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.89, Y:-153.12, Z:-150.76 [[ 5.32930585e-01 6.03738522e-01 5.92861525e-01 2.63889252e+02] [-4.14822583e-01 7.97091051e-01 -4.38825798e-01 -1.53124061e+02] [-7.37500655e-01 -1.20686598e-02 6.75238573e-01 -1.50764305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.91, Y:-153.14, Z:-150.79 [[ 5.32671487e-01 6.03967727e-01 5.92860921e-01 2.63906660e+02] [-4.14904966e-01 7.96916859e-01 -4.39064221e-01 -1.53137162e+02] [-7.37641482e-01 -1.21039491e-02 6.75084097e-01 -1.50788361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:-153.15, Z:-150.81 [[ 5.32087129e-01 6.04217012e-01 5.93131596e-01 2.63924336e+02] [-4.14650342e-01 7.96729248e-01 -4.39644856e-01 -1.53149833e+02] [-7.38206191e-01 -1.20128495e-02 6.74468169e-01 -1.50812576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.94, Y:-153.16, Z:-150.84 [[ 5.31714777e-01 6.04646120e-01 5.93028216e-01 2.63943103e+02] [-4.14953753e-01 7.96401558e-01 -4.39952203e-01 -1.53162392e+02] [-7.38303988e-01 -1.21501968e-02 6.74358654e-01 -1.50836968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.96, Y:-153.17, Z:-150.86 [[ 5.31526376e-01 6.05080164e-01 5.92754339e-01 2.63960741e+02] [-4.15387461e-01 7.96069920e-01 -4.40143090e-01 -1.53174461e+02] [-7.38195752e-01 -1.22750581e-02 6.74474873e-01 -1.50860836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.98, Y:-153.19, Z:-150.88 [[ 5.31288800e-01 6.05529882e-01 5.92508037e-01 2.63978324e+02] [-4.15852937e-01 7.95725094e-01 -4.40327048e-01 -1.53186613e+02] [-7.38104699e-01 -1.24553785e-02 6.74571210e-01 -1.50884392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.00, Y:-153.20, Z:-150.91 [[ 5.30994787e-01 6.05932108e-01 5.92360377e-01 2.63995832e+02] [-4.16176633e-01 7.95416857e-01 -4.40578068e-01 -1.53198434e+02] [-7.38133827e-01 -1.25818900e-02 6.74536989e-01 -1.50908066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.01, Y:-153.21, Z:-150.93 [[ 5.31436710e-01 6.05945780e-01 5.91949942e-01 2.64013610e+02] [-4.16129747e-01 7.95412982e-01 -4.40629347e-01 -1.53211024e+02] [-7.37842163e-01 -1.21613689e-02 6.74863723e-01 -1.50932408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.03, Y:-153.22, Z:-150.96 [[ 5.32522982e-01 6.05646327e-01 5.91279799e-01 2.64030618e+02] [-4.15784577e-01 7.95654308e-01 -4.40519474e-01 -1.53223791e+02] [-7.37253321e-01 -1.12582769e-02 6.75522607e-01 -1.50956220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.05, Y:-153.24, Z:-150.98 [[ 5.33091252e-01 6.05352702e-01 5.91068375e-01 2.64047621e+02] [-4.15251591e-01 7.95887281e-01 -4.40601353e-01 -1.53236167e+02] [-7.37143021e-01 -1.05613565e-02 6.75654220e-01 -1.50980270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.07, Y:-153.25, Z:-151.00 [[ 5.33613287e-01 6.05218314e-01 5.90734841e-01 2.64065120e+02] [-4.14925591e-01 7.95997448e-01 -4.40709446e-01 -1.53248768e+02] [-7.36948854e-01 -9.94258686e-03 6.75875382e-01 -1.51004502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.08, Y:-153.26, Z:-151.03 [[ 5.33514942e-01 6.05484780e-01 5.90550580e-01 2.64082893e+02] [-4.15049909e-01 7.95795913e-01 -4.40956276e-01 -1.53261955e+02] [-7.36950052e-01 -9.85120256e-03 6.75875414e-01 -1.51029590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.10, Y:-153.27, Z:-151.05 [[ 5.34147090e-01 6.05225395e-01 5.90244955e-01 2.64100557e+02] [-4.14676536e-01 7.96000589e-01 -4.40938129e-01 -1.53274827e+02] [-7.36702286e-01 -9.23491491e-03 6.76154168e-01 -1.51053645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.12, Y:-153.29, Z:-151.08 [[ 5.34230996e-01 6.05408915e-01 5.89980753e-01 2.64118299e+02] [-4.14746043e-01 7.95863349e-01 -4.41120449e-01 -1.53287698e+02] [-7.36602310e-01 -9.03196621e-03 6.76265821e-01 -1.51077795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.14, Y:-153.30, Z:-151.10 [[ 5.34362181e-01 6.05498980e-01 5.89769485e-01 2.64136186e+02] [-4.14632649e-01 7.95798525e-01 -4.41343941e-01 -1.53300109e+02] [-7.36570992e-01 -8.70017349e-03 6.76304281e-01 -1.51102178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:-153.31, Z:-151.13 [[ 5.34662347e-01 6.05619056e-01 5.89374018e-01 2.64153552e+02] [-4.14702970e-01 7.95710420e-01 -4.41436715e-01 -1.53312120e+02] [-7.36313534e-01 -8.39556573e-03 6.76588423e-01 -1.51125824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:-153.33, Z:-151.15 [[ 5.35489317e-01 6.05593493e-01 5.88649057e-01 2.64171526e+02] [-4.14983857e-01 7.95733359e-01 -4.41131296e-01 -1.53325246e+02] [-7.35553934e-01 -8.05875957e-03 6.77418237e-01 -1.51150106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.19, Y:-153.34, Z:-151.18 [[ 5.35548256e-01 6.05880929e-01 5.88299553e-01 2.64189217e+02] [-4.15280552e-01 7.95515106e-01 -4.41245713e-01 -1.53338771e+02] [-7.35343544e-01 -8.00099092e-03 6.77647295e-01 -1.51175023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.21, Y:-153.35, Z:-151.20 [[ 5.35792118e-01 6.06284274e-01 5.87661625e-01 2.64206347e+02] [-4.15981411e-01 7.95206784e-01 -4.41141289e-01 -1.53351098e+02] [-7.34769537e-01 -8.09628712e-03 6.78268515e-01 -1.51198653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.22, Y:-153.36, Z:-151.22 [[ 5.35869883e-01 6.06605957e-01 5.87258615e-01 2.64224293e+02] [-4.16402880e-01 7.94961204e-01 -4.41186272e-01 -1.53364002e+02] [-7.34474036e-01 -8.11774252e-03 6.78588235e-01 -1.51223473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:-153.38, Z:-151.25 [[ 5.35655588e-01 6.06906278e-01 5.87143815e-01 2.64241520e+02] [-4.16538376e-01 7.94732216e-01 -4.41470822e-01 -1.53376337e+02] [-7.34553519e-01 -8.09161822e-03 6.78502508e-01 -1.51247047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.26, Y:-153.39, Z:-151.27 [[ 5.34772451e-01 6.07078489e-01 5.87770478e-01 2.64260039e+02] [-4.16048444e-01 7.94600781e-01 -4.42168849e-01 -1.53389001e+02] [-7.35474077e-01 -8.08127405e-03 6.77504668e-01 -1.51271104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.28, Y:-153.40, Z:-151.29 [[ 5.34198753e-01 6.07274878e-01 5.88089206e-01 2.64277773e+02] [-4.15665529e-01 7.94452446e-01 -4.42795076e-01 -1.53401825e+02] [-7.36107234e-01 -7.90783383e-03 6.76818740e-01 -1.51294864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.30, Y:-153.41, Z:-151.32 [[ 5.33604703e-01 6.07402249e-01 5.88496839e-01 2.64295638e+02] [-4.15137229e-01 7.94357360e-01 -4.43460783e-01 -1.53414838e+02] [-7.36835872e-01 -7.67418803e-03 6.76028109e-01 -1.51319166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.31, Y:-153.43, Z:-151.34 [[ 5.33569482e-01 6.07460828e-01 5.88468308e-01 2.64313528e+02] [-4.14836003e-01 7.94315991e-01 -4.43816625e-01 -1.53427873e+02] [-7.37031002e-01 -7.31083402e-03 6.75819394e-01 -1.51343298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.33, Y:-153.44, Z:-151.37 [[ 5.33546245e-01 6.07685098e-01 5.88257789e-01 2.64331504e+02] [-4.14930592e-01 7.94145676e-01 -4.44032936e-01 -1.53441409e+02] [-7.36994578e-01 -7.17404676e-03 6.75860581e-01 -1.51367092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.35, Y:-153.45, Z:-151.39 [[ 5.33242768e-01 6.08326867e-01 5.87869520e-01 2.64349344e+02] [-4.15776676e-01 7.93650264e-01 -4.44127250e-01 -1.53454666e+02] [-7.36737338e-01 -7.59479102e-03 6.76136387e-01 -1.51391929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:-153.47, Z:-151.42 [[ 5.32513410e-01 6.08323490e-01 5.88533771e-01 2.64367196e+02] [-4.17999012e-01 7.93618591e-01 -4.42093156e-01 -1.53470851e+02] [-7.36006993e-01 -1.05860010e-02 6.76891160e-01 -1.51416617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.44, Y:-153.34, Z:-150.84 [[ 5.65811448e-01 -5.26768683e-01 -6.34328118e-01 2.65437878e+02] [-3.22819002e-01 -8.49427694e-01 4.17445189e-01 -1.53341246e+02] [-7.58712922e-01 -3.14220966e-02 -6.50666853e-01 -1.50841554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.46, Y:-153.56, Z:-151.53 [[ 5.73892007e-01 5.20644527e-01 6.32121224e-01 2.64464393e+02] [-3.58656020e-01 8.53714445e-01 -3.77541397e-01 -1.53564905e+02] [-7.36215881e-01 -1.00460924e-02 6.76672189e-01 -1.51525393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.48, Y:-153.57, Z:-151.55 [[ 5.73250437e-01 5.21500665e-01 6.31997621e-01 2.64483591e+02] [-3.59596831e-01 8.53184226e-01 -3.77844937e-01 -1.53574882e+02] [-7.36256787e-01 -1.06645665e-02 6.76618216e-01 -1.51550195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.50, Y:-153.58, Z:-151.58 [[ 5.71983758e-01 5.25364281e-01 6.29942023e-01 2.64501980e+02] [-3.61039588e-01 8.50829031e-01 -3.81759579e-01 -1.53582435e+02] [-7.36535808e-01 -9.07373029e-03 6.76337690e-01 -1.51578000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.52, Y:-153.59, Z:-151.60 [[ 5.72847368e-01 5.22582337e-01 6.31469393e-01 2.64520557e+02] [-3.61324905e-01 8.52507337e-01 -3.77724176e-01 -1.53594349e+02] [-7.35724274e-01 -1.17873184e-02 6.77178597e-01 -1.51598178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.54, Y:-153.61, Z:-151.62 [[ 5.72581298e-01 5.23347374e-01 6.31077003e-01 2.64539617e+02] [-3.62058113e-01 8.52034925e-01 -3.78087833e-01 -1.53605241e+02] [-7.35570921e-01 -1.20005261e-02 6.77341426e-01 -1.51623176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:-153.62, Z:-151.65 [[ 5.72674399e-01 5.24033267e-01 6.30423007e-01 2.64558558e+02] [-3.63105318e-01 8.51607347e-01 -3.78046895e-01 -1.53616162e+02] [-7.34982014e-01 -1.24121684e-02 6.77972992e-01 -1.51647843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:-153.63, Z:-151.67 [[ 5.72720055e-01 5.24672026e-01 6.29849985e-01 2.64577153e+02] [-3.64028812e-01 8.51208770e-01 -3.78056417e-01 -1.53627097e+02] [-7.34489457e-01 -1.27630501e-02 6.78500068e-01 -1.51671943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.60, Y:-153.64, Z:-151.70 [[ 5.72472550e-01 5.25698935e-01 6.29218411e-01 2.64596555e+02] [-3.65713449e-01 8.50559069e-01 -3.77892766e-01 -1.53637844e+02] [-7.33845251e-01 -1.37803996e-02 6.79176890e-01 -1.51696611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.62, Y:-153.65, Z:-151.72 [[ 5.72470767e-01 5.26269346e-01 6.28743029e-01 2.64616103e+02] [-3.66473649e-01 8.50201897e-01 -3.77960049e-01 -1.53648635e+02] [-7.33467304e-01 -1.40466726e-02 6.79579580e-01 -1.51721325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.64, Y:-153.66, Z:-151.75 [[ 5.71732470e-01 5.26783159e-01 6.28984489e-01 2.64636068e+02] [-3.66705888e-01 8.49879830e-01 -3.78458805e-01 -1.53658296e+02] [-7.33926955e-01 -1.42751282e-02 6.79078380e-01 -1.51746042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:-153.67, Z:-151.77 [[ 5.71334841e-01 5.26913218e-01 6.29236808e-01 2.64655387e+02] [-3.66361413e-01 8.49803561e-01 -3.78963352e-01 -1.53669183e+02] [-7.34408480e-01 -1.40131190e-02 6.78563053e-01 -1.51770043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.67, Y:-153.68, Z:-151.79 [[ 5.70745087e-01 5.26956325e-01 6.29735721e-01 2.64674754e+02] [-3.65734476e-01 8.49782701e-01 -3.79615140e-01 -1.53680442e+02] [-7.35179121e-01 -1.36525873e-02 6.77735396e-01 -1.51794580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.69, Y:-153.69, Z:-151.82 [[ 5.70405812e-01 5.26782827e-01 6.30188117e-01 2.64693999e+02] [-3.64813142e-01 8.49900327e-01 -3.80237828e-01 -1.53691923e+02] [-7.35899845e-01 -1.30110400e-02 6.76965384e-01 -1.51818440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:-153.70, Z:-151.84 [[ 5.70199421e-01 5.26206449e-01 6.30856080e-01 2.64713007e+02] [-3.63153042e-01 8.50274185e-01 -3.80990392e-01 -1.53702671e+02] [-7.36880240e-01 -1.18568034e-02 6.75919320e-01 -1.51841577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.73, Y:-153.71, Z:-151.87 [[ 5.70123935e-01 5.26098274e-01 6.31014505e-01 2.64732072e+02] [-3.62537287e-01 8.50348505e-01 -3.81410719e-01 -1.53713474e+02] [-7.37241761e-01 -1.13149073e-02 6.75534276e-01 -1.51866093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.75, Y:-153.72, Z:-151.89 [[ 5.70304151e-01 5.25954984e-01 6.30971100e-01 2.64750799e+02] [-3.61973688e-01 8.50445192e-01 -3.81730304e-01 -1.53724112e+02] [-7.37379295e-01 -1.06925592e-02 6.75394289e-01 -1.51890573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.77, Y:-153.73, Z:-151.91 [[ 5.70598950e-01 5.25915818e-01 6.30737181e-01 2.64769051e+02] [-3.61666888e-01 8.50475764e-01 -3.81952925e-01 -1.53734464e+02] [-7.37301771e-01 -1.01748156e-02 6.75486915e-01 -1.51914202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.79, Y:-153.74, Z:-151.94 [[ 5.71521141e-01 5.25415623e-01 6.30318974e-01 2.64787830e+02] [-3.60818591e-01 8.50797183e-01 -3.82039394e-01 -1.53744217e+02] [-7.37003073e-01 -9.08721354e-03 6.75828301e-01 -1.51937686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.81, Y:-153.75, Z:-151.96 [[ 5.71692927e-01 5.25404257e-01 6.30172646e-01 2.64806163e+02] [-3.60653352e-01 8.50807340e-01 -3.82172774e-01 -1.53754357e+02] [-7.36950716e-01 -8.78840535e-03 6.75889345e-01 -1.51962029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.82, Y:-153.76, Z:-151.99 [[ 5.71942558e-01 5.25372044e-01 6.29972957e-01 2.64824968e+02] [-3.60372420e-01 8.50831905e-01 -3.82383039e-01 -1.53764535e+02] [-7.36894450e-01 -8.32374564e-03 6.75956571e-01 -1.51986513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.84, Y:-153.77, Z:-152.01 [[ 5.71744695e-01 5.25470031e-01 6.30070830e-01 2.64843993e+02] [-3.60060612e-01 8.50774522e-01 -3.82804216e-01 -1.53774148e+02] [-7.37200353e-01 -7.99740952e-03 6.75626881e-01 -1.52011290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:-153.78, Z:-152.04 [[ 5.71838169e-01 5.25832377e-01 6.29683586e-01 2.64862293e+02] [-3.60451914e-01 8.50550643e-01 -3.82933443e-01 -1.53784400e+02] [-7.36936582e-01 -7.99469452e-03 6.75914609e-01 -1.52035188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.88, Y:-153.79, Z:-152.06 [[ 5.71742445e-01 5.26031184e-01 6.29604455e-01 2.64880709e+02] [-3.60429334e-01 8.50429305e-01 -3.83224076e-01 -1.53794684e+02] [-7.37021894e-01 -7.82244455e-03 6.75823600e-01 -1.52060111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.90, Y:-153.80, Z:-152.08 [[ 5.71910023e-01 5.26301142e-01 6.29226536e-01 2.64898694e+02] [-3.60675032e-01 8.50263397e-01 -3.83361027e-01 -1.53804227e+02] [-7.36771638e-01 -7.69828756e-03 6.76097840e-01 -1.52084540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:-153.82, Z:-152.11 [[ 5.71597447e-01 5.27024351e-01 6.28905154e-01 2.64916589e+02] [-3.61586414e-01 8.49810696e-01 -3.83506253e-01 -1.53815057e+02] [-7.36567461e-01 -8.19236392e-03 6.76314469e-01 -1.52108257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.94, Y:-153.83, Z:-152.13 [[ 5.70925949e-01 5.27806842e-01 6.28858886e-01 2.64935059e+02] [-3.62413600e-01 8.49319077e-01 -3.83814393e-01 -1.53826363e+02] [-7.36681711e-01 -8.77741646e-03 6.76182678e-01 -1.52132528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.95, Y:-153.84, Z:-152.16 [[ 5.70298048e-01 5.29638283e-01 6.27888068e-01 2.64954016e+02] [-3.65385262e-01 8.48156456e-01 -3.83567773e-01 -1.53837631e+02] [-7.35699495e-01 -1.06730938e-02 6.77223994e-01 -1.52156869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.97, Y:-153.85, Z:-152.18 [[ 5.70180677e-01 5.30913683e-01 6.26916786e-01 2.64971834e+02] [-3.67511259e-01 8.47343333e-01 -3.83333732e-01 -1.53848108e+02] [-7.34730883e-01 -1.18294909e-02 6.78255552e-01 -1.52180678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:-153.86, Z:-152.21 [[ 5.69355601e-01 5.32683835e-01 6.26164621e-01 2.64990184e+02] [-3.70258391e-01 8.46204046e-01 -3.83206779e-01 -1.53858905e+02] [-7.33991092e-01 -1.36617790e-02 6.79021673e-01 -1.52205250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.01, Y:-153.87, Z:-152.23 [[ 5.66995815e-01 5.35940730e-01 6.25526402e-01 2.65009253e+02] [-3.75128614e-01 8.44076262e-01 -3.83162874e-01 -1.53869465e+02] [-7.33344577e-01 -1.74011064e-02 6.79634411e-01 -1.52230596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:-153.88, Z:-152.26 [[ 5.65611005e-01 5.37295892e-01 6.25617548e-01 2.65028022e+02] [-3.76707119e-01 8.43186014e-01 -3.83574102e-01 -1.53880258e+02] [-7.33604756e-01 -1.87208506e-02 6.79318476e-01 -1.52255681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:-153.89, Z:-152.28 [[ 5.64002976e-01 5.38511622e-01 6.26023863e-01 2.65046770e+02] [-3.77879628e-01 8.42383511e-01 -3.84183559e-01 -1.53891445e+02] [-7.34239491e-01 -1.98809938e-02 6.78599378e-01 -1.52279867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.07, Y:-153.90, Z:-152.30 [[ 5.61215543e-01 5.40747233e-01 6.26601583e-01 2.65066117e+02] [-3.80465945e-01 8.40887258e-01 -3.84908151e-01 -1.53902625e+02] [-7.35039305e-01 -2.23841263e-02 6.77654906e-01 -1.52303378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.09, Y:-153.91, Z:-152.33 [[ 5.59604736e-01 5.41970419e-01 6.26985330e-01 2.65085221e+02] [-3.81690738e-01 8.40066307e-01 -3.85487718e-01 -1.53913418e+02] [-7.35632191e-01 -2.35937406e-02 6.76970173e-01 -1.52327717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.10, Y:-153.92, Z:-152.35 [[ 5.58374558e-01 5.43002451e-01 6.27189119e-01 2.65104346e+02] [-3.82721643e-01 8.39373045e-01 -3.85975435e-01 -1.53923914e+02] [-7.36031248e-01 -2.45199872e-02 6.76503343e-01 -1.52351959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:-153.93, Z:-152.38 [[ 5.56985822e-01 5.44040148e-01 6.27524591e-01 2.65123623e+02] [-3.83684262e-01 8.38672437e-01 -3.86542274e-01 -1.53934841e+02] [-7.36582094e-01 -2.54727433e-02 6.75868299e-01 -1.52376784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.14, Y:-153.94, Z:-152.40 [[ 5.54266353e-01 5.45276197e-01 6.28858235e-01 2.65143071e+02] [-3.84329048e-01 8.37828476e-01 -3.87730098e-01 -1.53944777e+02] [-7.38295329e-01 -2.67827396e-02 6.73945615e-01 -1.52400233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.16, Y:-153.96, Z:-152.42 [[ 5.53005399e-01 5.46028639e-01 6.29315305e-01 2.65162396e+02] [-3.84813357e-01 8.37318047e-01 -3.88351861e-01 -1.53955470e+02] [-7.38988301e-01 -2.74082596e-02 6.73160515e-01 -1.52424611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:-153.97, Z:-152.45 [[ 5.52127682e-01 5.46660720e-01 6.29537196e-01 2.65181716e+02] [-3.85236423e-01 8.36891757e-01 -3.88850982e-01 -1.53965944e+02] [-7.39424047e-01 -2.78252658e-02 6.72664725e-01 -1.52449326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:-153.98, Z:-152.47 [[ 5.51555003e-01 5.47339413e-01 6.29449478e-01 2.65201379e+02] [-3.85923251e-01 8.36432869e-01 -3.89157167e-01 -1.53976768e+02] [-7.39493288e-01 -2.82776060e-02 6.72569739e-01 -1.52473995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.22, Y:-153.99, Z:-152.50 [[ 5.51280811e-01 5.48346659e-01 6.28812698e-01 2.65221608e+02] [-3.87442558e-01 8.35744288e-01 -3.89126907e-01 -1.53986110e+02] [-7.38903060e-01 -2.91106029e-02 6.73182621e-01 -1.52498390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:-154.00, Z:-152.52 [[ 5.51348579e-01 5.48742830e-01 6.28407552e-01 2.65240293e+02] [-3.87888598e-01 8.35483079e-01 -3.89243447e-01 -1.53995633e+02] [-7.38618426e-01 -2.91433030e-02 6.73493495e-01 -1.52522626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.26, Y:-154.01, Z:-152.55 [[ 5.51355118e-01 5.49218515e-01 6.27986111e-01 2.65259508e+02] [-3.88493201e-01 8.35164534e-01 -3.89324073e-01 -1.54006198e+02] [-7.38295717e-01 -2.93125143e-02 6.73839900e-01 -1.52547828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:-154.02, Z:-152.57 [[ 5.51770161e-01 5.49482268e-01 6.27390569e-01 2.65278474e+02] [-3.88863342e-01 8.34996479e-01 -3.89315016e-01 -1.54016732e+02] [-7.37790614e-01 -2.91567847e-02 6.74399653e-01 -1.52572490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.30, Y:-154.03, Z:-152.60 [[ 5.52586222e-01 5.49614140e-01 6.26556274e-01 2.65297269e+02] [-3.89181874e-01 8.34922002e-01 -3.89156420e-01 -1.54026375e+02] [-7.37011490e-01 -2.88018687e-02 6.75266256e-01 -1.52595850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.32, Y:-154.04, Z:-152.62 [[ 5.52959646e-01 5.49542989e-01 6.26289177e-01 2.65316120e+02] [-3.88873978e-01 8.34987119e-01 -3.89324467e-01 -1.54037155e+02] [-7.36893927e-01 -2.82668439e-02 6.75417149e-01 -1.52620609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:-154.05, Z:-152.65 [[ 5.52884024e-01 5.49802284e-01 6.26128345e-01 2.65334952e+02] [-3.88973280e-01 8.34820256e-01 -3.89583018e-01 -1.54048809e+02] [-7.36898258e-01 -2.81529693e-02 6.75417180e-01 -1.52645703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:-154.06, Z:-152.67 [[ 5.53662936e-01 5.49186467e-01 6.25980493e-01 2.65353726e+02] [-3.87967472e-01 8.35259410e-01 -3.89644658e-01 -1.54059276e+02] [-7.36843670e-01 -2.71282641e-02 6.75518663e-01 -1.52670018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.37, Y:-154.07, Z:-152.69 [[ 5.55580458e-01 5.47613106e-01 6.25659844e-01 2.65373249e+02] [-3.85409147e-01 8.36370849e-01 -3.89799426e-01 -1.54070125e+02] [-7.36742929e-01 -2.45700826e-02 6.75726400e-01 -1.52694806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.39, Y:-154.08, Z:-152.72 [[ 5.56830809e-01 5.46494350e-01 6.25526479e-01 2.65391174e+02] [-3.83408933e-01 8.37157203e-01 -3.90083847e-01 -1.54080997e+02] [-7.36842616e-01 -2.26217356e-02 6.75685738e-01 -1.52718710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.41, Y:-154.09, Z:-152.74 [[ 5.58001756e-01 5.45134210e-01 6.25669828e-01 2.65409898e+02] [-3.81028345e-01 8.38096770e-01 -3.90398776e-01 -1.54092799e+02] [-7.37191591e-01 -2.05547364e-02 6.75371055e-01 -1.52743256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-154.10, Z:-152.77 [[ 5.60393494e-01 5.41954254e-01 6.26294435e-01 2.65428691e+02] [-3.75455727e-01 8.40256703e-01 -3.91154279e-01 -1.54104017e+02] [-7.38235822e-01 -1.59455187e-02 6.74354218e-01 -1.52766121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.45, Y:-154.11, Z:-152.79 [[ 5.62203734e-01 5.39311177e-01 6.26953280e-01 2.65448434e+02] [-3.70691302e-01 8.42019980e-01 -3.91906000e-01 -1.54114888e+02] [-7.39266474e-01 -1.20751110e-02 6.73304739e-01 -1.52790288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:-154.12, Z:-152.82 [[ 5.68457568e-01 5.33847104e-01 6.25989826e-01 2.65469835e+02] [-3.62774530e-01 8.45569346e-01 -3.91672212e-01 -1.54119070e+02] [-7.38410884e-01 -4.44413174e-03 6.74336426e-01 -1.52815530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:-154.13, Z:-152.84 [[ 5.68910478e-01 5.33463761e-01 6.25905171e-01 2.65488680e+02] [-3.61886068e-01 8.45815619e-01 -3.91962259e-01 -1.54130801e+02] [-7.38498031e-01 -3.51492515e-03 6.74246471e-01 -1.52840377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.51, Y:-154.14, Z:-152.87 [[ 5.68803828e-01 5.33772578e-01 6.25738796e-01 2.65507475e+02] [-3.62053113e-01 8.45621033e-01 -3.92227754e-01 -1.54142495e+02] [-7.38498307e-01 -3.45003135e-03 6.74246504e-01 -1.52865458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:-154.17, Z:-152.88 [[ 5.71832985e-01 5.25071716e-01 6.30322719e-01 2.65529082e+02] [-3.63005283e-01 8.50976655e-01 -3.79560137e-01 -1.54165166e+02] [-7.35686211e-01 -1.17654715e-02 6.77220328e-01 -1.52884148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:-154.17, Z:-152.91 [[ 5.71376847e-01 5.36264467e-01 6.21247873e-01 2.65548185e+02] [-3.63319699e-01 8.44049943e-01 -3.94434393e-01 -1.54167388e+02] [-7.35885381e-01 -3.40910302e-04 6.77106040e-01 -1.52912006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.57, Y:-154.18, Z:-152.94 [[ 5.71112694e-01 5.36636794e-01 6.21169254e-01 2.65566285e+02] [-3.63409952e-01 8.43813307e-01 -3.94857327e-01 -1.54178566e+02] [-7.36045853e-01 -2.31057205e-04 6.76931643e-01 -1.52936369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:-154.19, Z:-152.96 [[ 5.70850342e-01 5.36905739e-01 6.21178006e-01 2.65584365e+02] [-3.63497961e-01 8.43642208e-01 -3.95141819e-01 -1.54189834e+02] [-7.36205895e-01 -2.30096038e-04 6.76757584e-01 -1.52960703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.60, Y:-154.19, Z:-152.99 [[ 5.69531572e-01 5.44048421e-01 6.16153474e-01 2.65599953e+02] [-3.59966036e-01 8.38986638e-01 -4.08075818e-01 -1.54189837e+02] [-7.38957536e-01 1.06177386e-02 6.73668333e-01 -1.52989899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:-154.21, Z:-153.01 [[ 5.69606527e-01 5.33371751e-01 6.25350285e-01 2.65617519e+02] [-3.59873021e-01 8.45880560e-01 -3.93671802e-01 -1.54210815e+02] [-7.38945068e-01 -8.08668290e-04 6.73765191e-01 -1.53011541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.64, Y:-154.22, Z:-153.04 [[ 5.69540830e-01 5.33526152e-01 6.25278408e-01 2.65636267e+02] [-3.59976996e-01 8.45783182e-01 -3.93785946e-01 -1.54222649e+02] [-7.38945062e-01 -8.08668299e-04 6.73765197e-01 -1.53036616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-154.23, Z:-153.06 [[ 5.70123088e-01 5.32736355e-01 6.25421171e-01 2.65655078e+02] [-3.58533515e-01 8.46281162e-01 -3.94032883e-01 -1.54233994e+02] [-7.39197797e-01 4.12792891e-04 6.73488268e-01 -1.53061171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.68, Y:-154.26, Z:-153.08 [[ 5.73146689e-01 5.22663935e-01 6.31130164e-01 2.65676703e+02] [-3.59238755e-01 8.52490492e-01 -3.79746597e-01 -1.54257274e+02] [-7.36512315e-01 -9.07590937e-03 6.76363244e-01 -1.53079415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:-154.25, Z:-153.11 [[ 5.71429790e-01 5.43356150e-01 6.15005764e-01 2.65693040e+02] [-3.55847712e-01 8.39350392e-01 -4.10929830e-01 -1.54245371e+02] [-7.39486579e-01 1.59691527e-02 6.72981861e-01 -1.53113061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:-154.29, Z:-153.12 [[ 5.76236235e-01 5.14968146e-01 6.34633446e-01 2.65714912e+02] [-3.55569607e-01 8.57139865e-01 -3.72668093e-01 -1.54286066e+02] [-7.35881823e-01 -1.09115061e-02 6.77022069e-01 -1.53123999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.73, Y:-154.26, Z:-153.16 [[ 5.74222950e-01 5.46396862e-01 6.09687193e-01 2.65730857e+02] [-3.49718298e-01 8.37044713e-01 -4.20776973e-01 -1.54262883e+02] [-7.40246659e-01 2.84010273e-02 6.71735264e-01 -1.53163239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:-154.29, Z:-153.18 [[ 5.74263912e-01 5.27563610e-01 6.26017250e-01 2.65747403e+02] [-3.48707592e-01 8.49466718e-01 -3.95991553e-01 -1.54290178e+02] [-7.40691552e-01 9.10669006e-03 6.71783517e-01 -1.53182454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:-154.30, Z:-153.21 [[ 5.74108263e-01 5.27843451e-01 6.25924111e-01 2.65765460e+02] [-3.48782217e-01 8.49291761e-01 -3.96300984e-01 -1.54300826e+02] [-7.40777070e-01 9.20847077e-03 6.71687827e-01 -1.53206037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:-154.34, Z:-153.22 [[ 5.78331880e-01 5.07808547e-01 6.38484703e-01 2.65791298e+02] [-3.55161256e-01 8.61309209e-01 -3.63327578e-01 -1.54339947e+02] [-7.34433604e-01 -1.66411081e-02 6.78476495e-01 -1.53217303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.81, Y:-154.30, Z:-153.26 [[ 5.71720612e-01 5.59121877e-01 6.00431735e-01 2.65808132e+02] [-3.53234442e-01 8.28278286e-01 -4.34948859e-01 -1.54296187e+02] [-7.40513991e-01 3.65760592e-02 6.71044873e-01 -1.53263679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:-154.33, Z:-153.28 [[ 5.70622602e-01 5.32465545e-01 6.25196200e-01 2.65823471e+02] [-3.55194441e-01 8.46440742e-01 -3.96705154e-01 -1.54330629e+02] [-7.40423362e-01 4.30271278e-03 6.72127020e-01 -1.53279609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:-154.34, Z:-153.30 [[ 5.68852208e-01 5.34415160e-01 6.25146065e-01 2.65841510e+02] [-3.57734947e-01 8.45219226e-01 -3.97026658e-01 -1.54340641e+02] [-7.40562539e-01 2.21289609e-03 6.71983802e-01 -1.53303614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.86, Y:-154.35, Z:-153.33 [[ 5.67516436e-01 5.36598446e-01 6.24489554e-01 2.65860746e+02] [-3.61079581e-01 8.43837697e-01 -3.96937624e-01 -1.54351631e+02] [-7.39963939e-01 -2.21800322e-04 6.72646504e-01 -1.53328509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.88, Y:-154.36, Z:-153.35 [[ 5.65985460e-01 5.38628109e-01 6.24131572e-01 2.65879146e+02] [-3.63934717e-01 8.42540212e-01 -3.97086278e-01 -1.54361926e+02] [-7.39737779e-01 -2.39808768e-03 6.72890978e-01 -1.53352434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.90, Y:-154.37, Z:-153.38 [[ 5.63407754e-01 5.41805056e-01 6.23713864e-01 2.65898423e+02] [-3.68572899e-01 8.40481936e-01 -3.97170157e-01 -1.54371731e+02] [-7.39409035e-01 -6.11528104e-03 6.73228700e-01 -1.53376961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.92, Y:-154.38, Z:-153.40 [[ 5.62567639e-01 5.43097408e-01 6.23348103e-01 2.65917699e+02] [-3.70346596e-01 8.39637590e-01 -3.97306075e-01 -1.54382927e+02] [-7.39162398e-01 -7.34330727e-03 6.73487212e-01 -1.53401854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.94, Y:-154.39, Z:-153.43 [[ 5.61679463e-01 5.44154212e-01 6.23227385e-01 2.65936731e+02] [-3.71604826e-01 8.38944425e-01 -3.97595404e-01 -1.54394194e+02] [-7.39206355e-01 -8.27313085e-03 6.73428185e-01 -1.53426513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:-154.41, Z:-153.45 [[ 5.60126123e-01 5.45381163e-01 6.23552816e-01 2.65955431e+02] [-3.72810161e-01 8.38135005e-01 -3.98173703e-01 -1.54405625e+02] [-7.39777879e-01 -9.43933287e-03 6.72784950e-01 -1.53450325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.97, Y:-154.42, Z:-153.47 [[ 5.59322320e-01 5.46040991e-01 6.23696864e-01 2.65973338e+02] [-3.73320310e-01 8.37700117e-01 -3.98610662e-01 -1.54417230e+02] [-7.40128697e-01 -9.88686633e-03 6.72392565e-01 -1.53474013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.99, Y:-154.43, Z:-153.50 [[ 5.58757202e-01 5.46683517e-01 6.23640539e-01 2.65991501e+02] [-3.73945911e-01 8.37275831e-01 -3.98915577e-01 -1.54429110e+02] [-7.40239721e-01 -1.03108774e-02 6.72263967e-01 -1.53498345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:-154.44, Z:-153.52 [[ 5.58051986e-01 5.47347227e-01 6.23689822e-01 2.66009581e+02] [-3.74494756e-01 8.36836876e-01 -3.99321575e-01 -1.54440904e+02] [-7.40494199e-01 -1.07263696e-02 6.71977147e-01 -1.53522467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:-154.45, Z:-153.55 [[ 5.56224791e-01 5.48737833e-01 6.24099970e-01 2.66028009e+02] [-3.75918781e-01 8.35906073e-01 -3.99932629e-01 -1.54452905e+02] [-7.41147119e-01 -1.21584572e-02 6.71232538e-01 -1.53547004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.05, Y:-154.46, Z:-153.57 [[ 5.55555637e-01 5.49608584e-01 6.23929754e-01 2.66046366e+02] [-3.76940087e-01 8.35323352e-01 -4.00188791e-01 -1.54464456e+02] [-7.41130289e-01 -1.28569966e-02 6.71238104e-01 -1.53571933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:-154.48, Z:-153.60 [[ 5.54975051e-01 5.50443997e-01 6.23709948e-01 2.66064317e+02] [-3.77930584e-01 8.34763033e-01 -4.00423716e-01 -1.54475637e+02] [-7.41060838e-01 -1.34938931e-02 6.71302278e-01 -1.53596137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.08, Y:-154.49, Z:-153.62 [[ 5.54321812e-01 5.51170353e-01 6.23649398e-01 2.66082145e+02] [-3.78678172e-01 8.34274836e-01 -4.00734750e-01 -1.54486941e+02] [-7.41168112e-01 -1.40264016e-02 6.71172921e-01 -1.53620441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.10, Y:-154.50, Z:-153.65 [[ 5.53840422e-01 5.52197170e-01 6.23168574e-01 2.66100623e+02] [-3.80174731e-01 8.33579443e-01 -4.00764876e-01 -1.54499285e+02] [-7.40761744e-01 -1.49531566e-02 6.71601401e-01 -1.53645399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:-154.51, Z:-153.67 [[ 5.53838950e-01 5.52842321e-01 6.22597611e-01 2.66118535e+02] [-3.81114938e-01 8.33145110e-01 -4.00775036e-01 -1.54511179e+02] [-7.40279556e-01 -1.53164250e-02 6.72124680e-01 -1.53669525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.14, Y:-154.52, Z:-153.69 [[ 5.53760679e-01 5.53407658e-01 6.22164829e-01 2.66135879e+02] [-3.81868852e-01 8.32764229e-01 -4.00848997e-01 -1.54523133e+02] [-7.39949519e-01 -1.56109563e-02 6.72481232e-01 -1.53693174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.15, Y:-154.54, Z:-153.72 [[ 5.53726099e-01 5.53891710e-01 6.21764731e-01 2.66153603e+02] [-3.82615960e-01 8.32435862e-01 -4.00818617e-01 -1.54535704e+02] [-7.39589369e-01 -1.59533802e-02 6.72869271e-01 -1.53718358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:-154.55, Z:-153.74 [[ 5.54125742e-01 5.54237064e-01 6.21100587e-01 2.66171050e+02] [-3.83170257e-01 8.32206735e-01 -4.00764899e-01 -1.54547766e+02] [-7.39002853e-01 -1.59131248e-02 6.73514332e-01 -1.53742425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.19, Y:-154.56, Z:-153.77 [[ 5.54435449e-01 5.54410003e-01 6.20669704e-01 2.66188518e+02] [-3.83338109e-01 8.32095783e-01 -4.00834756e-01 -1.54560462e+02] [-7.38683442e-01 -1.56893529e-02 6.73869882e-01 -1.53767342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.21, Y:-154.57, Z:-153.79 [[ 5.55081681e-01 5.54242099e-01 6.20241907e-01 2.66205785e+02] [-3.82973062e-01 8.32220522e-01 -4.00924727e-01 -1.54573329e+02] [-7.38387406e-01 -1.49899703e-02 6.74210160e-01 -1.53791640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:-154.59, Z:-153.82 [[ 5.55805908e-01 5.53335451e-01 6.20402830e-01 2.66221929e+02] [-3.81132118e-01 8.32851167e-01 -4.01369208e-01 -1.54588342e+02] [-7.38795033e-01 -1.33720674e-02 6.73797512e-01 -1.53816049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.24, Y:-154.60, Z:-153.84 [[ 5.56237930e-01 5.52886315e-01 6.20416060e-01 2.66238970e+02] [-3.80044517e-01 8.33165637e-01 -4.01747665e-01 -1.54601657e+02] [-7.39030128e-01 -1.23184324e-02 6.73559742e-01 -1.53839826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:-154.62, Z:-153.86 [[ 5.56585799e-01 5.52416674e-01 6.20522414e-01 2.66256335e+02] [-3.78890853e-01 8.33491887e-01 -4.02160410e-01 -1.54615382e+02] [-7.39360514e-01 -1.12734932e-02 6.73215373e-01 -1.53864468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.27, Y:-154.63, Z:-153.89 [[ 5.57687234e-01 5.51423722e-01 6.20416657e-01 2.66272576e+02] [-3.77081636e-01 8.34171164e-01 -4.02452369e-01 -1.54631235e+02] [-7.39455468e-01 -9.50517927e-03 6.73138368e-01 -1.53888756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:-154.65, Z:-153.91 [[ 5.57984874e-01 5.51315200e-01 6.20245460e-01 2.66290122e+02] [-3.76631650e-01 8.34249595e-01 -4.02711079e-01 -1.54645163e+02] [-7.39460263e-01 -8.89738052e-03 6.73141409e-01 -1.53913538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.31, Y:-154.66, Z:-153.94 [[ 5.58035010e-01 5.51312856e-01 6.20202437e-01 2.66307200e+02] [-3.76250552e-01 8.34255965e-01 -4.03053976e-01 -1.54658981e+02] [-7.39616421e-01 -8.43327980e-03 6.72975802e-01 -1.53938305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.32, Y:-154.67, Z:-153.96 [[ 5.58072959e-01 5.51551581e-01 6.19955987e-01 2.66324294e+02] [-3.76371697e-01 8.34099662e-01 -4.03264305e-01 -1.54672886e+02] [-7.39526145e-01 -8.28298329e-03 6.73076871e-01 -1.53962572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:-154.69, Z:-153.99 [[ 5.57744383e-01 5.52388686e-01 6.19506209e-01 2.66340163e+02] [-3.77513626e-01 8.33539132e-01 -4.03355895e-01 -1.54687884e+02] [-7.39191900e-01 -8.90255135e-03 6.73436024e-01 -1.53986581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:-154.70, Z:-154.01 [[ 5.57317375e-01 5.53251391e-01 6.19120539e-01 2.66357702e+02] [-3.78812069e-01 8.32957380e-01 -4.03340328e-01 -1.54700908e+02] [-7.38849619e-01 -9.74175937e-03 6.73799924e-01 -1.54011201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.38, Y:-154.72, Z:-154.03 [[ 5.56802664e-01 5.52035274e-01 6.20667262e-01 2.66375759e+02] [-3.81339584e-01 8.33698244e-01 -3.99408762e-01 -1.54718127e+02] [-7.37936932e-01 -1.42931328e-02 6.74718305e-01 -1.54034731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.39, Y:-154.72, Z:-154.06 [[ 5.54709750e-01 5.62009969e-01 6.13548603e-01 2.66391739e+02] [-3.84454047e-01 8.27087440e-01 -4.10026162e-01 -1.54722998e+02] [-7.37897133e-01 -8.43573382e-03 6.74860474e-01 -1.54061318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.41, Y:-154.74, Z:-154.08 [[ 5.53580614e-01 5.58326238e-01 6.17916107e-01 2.66408660e+02] [-3.86355447e-01 8.29477704e-01 -4.03356179e-01 -1.54740150e+02] [-7.37751972e-01 -1.54450926e-02 6.74895160e-01 -1.54084324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:-154.75, Z:-154.11 [[ 5.52108321e-01 5.59747391e-01 6.17947619e-01 2.66426363e+02] [-3.88060948e-01 8.28491158e-01 -4.03746333e-01 -1.54753509e+02] [-7.37960095e-01 -1.68896288e-02 6.74632966e-01 -1.54109378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.44, Y:-154.77, Z:-154.13 [[ 5.50300057e-01 5.61723027e-01 6.17767828e-01 2.66442697e+02] [-3.90744424e-01 8.27105572e-01 -4.03998970e-01 -1.54768805e+02] [-7.37894737e-01 -1.90686779e-02 6.74646384e-01 -1.54133716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:-154.78, Z:-154.16 [[ 5.49712265e-01 5.63504536e-01 6.16667709e-01 2.66459250e+02] [-3.90923917e-01 8.25922151e-01 -4.06240189e-01 -1.54779940e+02] [-7.38237711e-01 -1.77549422e-02 6.74306937e-01 -1.54158935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:-154.79, Z:-154.18 [[ 5.49644958e-01 5.62021006e-01 6.18079938e-01 2.66477642e+02] [-3.91163810e-01 8.26888482e-01 -4.04037513e-01 -1.54793563e+02] [-7.38160751e-01 -1.96933220e-02 6.74337363e-01 -1.54183371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:-154.81, Z:-154.21 [[ 5.49105311e-01 5.61556193e-01 6.18981421e-01 2.66494701e+02] [-3.92312424e-01 8.27149229e-01 -4.02386773e-01 -1.54808736e+02] [-7.37952789e-01 -2.18813873e-02 6.74497506e-01 -1.54206115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:-154.82, Z:-154.23 [[ 5.48382288e-01 5.63826642e-01 6.17556786e-01 2.66512127e+02] [-3.92725523e-01 8.25641276e-01 -4.05071781e-01 -1.54820662e+02] [-7.38270634e-01 -2.03961216e-02 6.74196165e-01 -1.54231353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.53, Y:-154.83, Z:-154.26 [[ 5.47662797e-01 5.64388856e-01 6.17681698e-01 2.66529314e+02] [-3.93077404e-01 8.25249402e-01 -4.05528764e-01 -1.54834461e+02] [-7.38617368e-01 -2.07037014e-02 6.73806902e-01 -1.54255959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:-154.85, Z:-154.28 [[ 5.46621413e-01 5.64924847e-01 6.18114025e-01 2.66545283e+02] [-3.93184533e-01 8.24875019e-01 -4.06186074e-01 -1.54849652e+02] [-7.39331424e-01 -2.10028685e-02 6.73014060e-01 -1.54279238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.56, Y:-154.86, Z:-154.30 [[ 5.46361248e-01 5.65309134e-01 6.17992694e-01 2.66562201e+02] [-3.93465262e-01 8.24609522e-01 -4.06453225e-01 -1.54862886e+02] [-7.39374380e-01 -2.10883663e-02 6.72964194e-01 -1.54303239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.58, Y:-154.88, Z:-154.33 [[ 5.46339876e-01 5.65521579e-01 6.17817193e-01 2.66579487e+02] [-3.93527846e-01 8.24467559e-01 -4.06680560e-01 -1.54876133e+02] [-7.39356866e-01 -2.09424630e-02 6.72987993e-01 -1.54327843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:-154.89, Z:-154.35 [[ 5.46242242e-01 5.65851982e-01 6.17600961e-01 2.66596408e+02] [-3.93756375e-01 8.24241681e-01 -4.06917152e-01 -1.54889287e+02] [-7.39307332e-01 -2.09089779e-02 6.73043449e-01 -1.54352056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.61, Y:-154.90, Z:-154.38 [[ 5.46342973e-01 5.65952850e-01 6.17419409e-01 2.66613005e+02] [-3.93644766e-01 8.24180191e-01 -4.07149618e-01 -1.54904421e+02] [-7.39292333e-01 -2.06005855e-02 6.73069433e-01 -1.54376423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:-154.92, Z:-154.40 [[ 5.46809017e-01 5.65798934e-01 6.17147847e-01 2.66629911e+02] [-3.93185103e-01 8.24302757e-01 -4.07345602e-01 -1.54917504e+02] [-7.39192380e-01 -1.99130915e-02 6.73199892e-01 -1.54400352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.65, Y:-154.93, Z:-154.43 [[ 5.47340609e-01 5.65431472e-01 6.17013377e-01 2.66647221e+02] [-3.92470096e-01 8.24573516e-01 -4.07487106e-01 -1.54930922e+02] [-7.39178924e-01 -1.91250588e-02 6.73237514e-01 -1.54425441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:-154.95, Z:-154.45 [[ 5.48940094e-01 5.64105504e-01 6.16806091e-01 2.66663632e+02] [-3.90207412e-01 8.25530425e-01 -4.07722568e-01 -1.54945900e+02] [-7.39190739e-01 -1.68670438e-02 6.73284898e-01 -1.54449929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:-154.96, Z:-154.47 [[ 5.49356265e-01 5.63548768e-01 6.16944471e-01 2.66680908e+02] [-3.88867713e-01 8.25934142e-01 -4.08184635e-01 -1.54959535e+02] [-7.39587450e-01 -1.56709992e-02 6.72878015e-01 -1.54474817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.70, Y:-154.97, Z:-154.50 [[ 5.50162446e-01 5.62932278e-01 6.16788889e-01 2.66698201e+02] [-3.87642786e-01 8.26377935e-01 -4.08451440e-01 -1.54973039e+02] [-7.39631228e-01 -1.43791205e-02 6.72858743e-01 -1.54499190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.72, Y:-154.99, Z:-154.52 [[ 5.50491923e-01 5.62408363e-01 6.16972832e-01 2.66715580e+02] [-3.86322413e-01 8.26753750e-01 -4.08941598e-01 -1.54986569e+02] [-7.40076777e-01 -1.32313862e-02 6.72392218e-01 -1.54523723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.73, Y:-155.00, Z:-154.55 [[ 5.51461893e-01 5.61201345e-01 6.17205663e-01 2.66731864e+02] [-3.83936739e-01 8.27604050e-01 -4.09468091e-01 -1.55000338e+02] [-7.40595950e-01 -1.11618805e-02 6.71857910e-01 -1.54547569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:-155.01, Z:-154.57 [[ 5.51670849e-01 5.61031565e-01 6.17173280e-01 2.66749237e+02] [-3.83323483e-01 8.27727732e-01 -4.09792520e-01 -1.55013343e+02] [-7.40757978e-01 -1.05064235e-02 6.71689834e-01 -1.54572140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.77, Y:-155.03, Z:-154.60 [[ 5.52007187e-01 5.60931540e-01 6.16963429e-01 2.66766668e+02] [-3.82915121e-01 8.27802883e-01 -4.10022435e-01 -1.55026459e+02] [-7.40718621e-01 -9.90929526e-03 6.71742309e-01 -1.54597356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.78, Y:-155.04, Z:-154.62 [[ 5.53075831e-01 5.60642864e-01 6.16268371e-01 2.66782708e+02] [-3.82558908e-01 8.28008465e-01 -4.09939830e-01 -1.55039826e+02] [-7.40105268e-01 -9.03114249e-03 6.72430391e-01 -1.54621691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:-155.04, Z:-154.65 [[ 5.52216497e-01 5.67337352e-01 6.10888917e-01 2.66797616e+02] [-3.80663185e-01 8.23485441e-01 -4.20674777e-01 -1.55042952e+02] [-7.41722643e-01 -2.39369225e-04 6.70706689e-01 -1.54652464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:-155.07, Z:-154.67 [[ 5.54000376e-01 5.52786981e-01 6.22503122e-01 2.66816591e+02] [-3.82787661e-01 8.33146244e-01 -3.99175329e-01 -1.55072131e+02] [-7.39295063e-01 -1.71432313e-02 6.73163368e-01 -1.54667038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.83, Y:-155.08, Z:-154.70 [[ 5.53866949e-01 5.60958570e-01 6.15269766e-01 2.66834379e+02] [-3.82804684e-01 8.27801545e-01 -4.10128243e-01 -1.55077949e+02] [-7.39386216e-01 -8.37166973e-03 6.73229485e-01 -1.54695238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.85, Y:-155.09, Z:-154.72 [[ 5.54261089e-01 5.60823334e-01 6.15038075e-01 2.66850994e+02] [-3.82353106e-01 8.27899507e-01 -4.10351689e-01 -1.55091696e+02] [-7.39324521e-01 -7.71974393e-03 6.73305026e-01 -1.54718808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:-155.10, Z:-154.74 [[ 5.53948808e-01 5.60874440e-01 6.15272769e-01 2.66868101e+02] [-3.82005463e-01 8.27866833e-01 -4.10741200e-01 -1.55104452e+02] [-7.39738160e-01 -7.50796096e-03 6.72852945e-01 -1.54742673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:-155.12, Z:-154.77 [[ 5.53729647e-01 5.60834432e-01 6.15506472e-01 2.66885415e+02] [-3.81397971e-01 8.27898084e-01 -4.11242447e-01 -1.55116970e+02] [-7.40215553e-01 -7.03578493e-03 6.72332829e-01 -1.54766729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.90, Y:-155.13, Z:-154.79 [[ 5.53452680e-01 5.60961268e-01 6.15639982e-01 2.66903435e+02] [-3.81133177e-01 8.27814052e-01 -4.11656893e-01 -1.55129935e+02] [-7.40559000e-01 -6.80821188e-03 6.71956856e-01 -1.54791674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.92, Y:-155.14, Z:-154.82 [[ 5.53060140e-01 5.61346118e-01 6.15641955e-01 2.66920406e+02] [-3.81287472e-01 8.27552752e-01 -4.12039205e-01 -1.55143014e+02] [-7.40772803e-01 -6.85410458e-03 6.71720683e-01 -1.54815015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:-155.16, Z:-154.84 [[ 5.52791366e-01 5.61819136e-01 6.15451838e-01 2.66937995e+02] [-3.81873875e-01 8.27228812e-01 -4.12146621e-01 -1.55155441e+02] [-7.40671351e-01 -7.19388449e-03 6.71828995e-01 -1.54839112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:-155.17, Z:-154.86 [[ 5.52153688e-01 5.62580570e-01 6.15328699e-01 2.66955847e+02] [-3.82718630e-01 8.26705831e-01 -4.12412317e-01 -1.55167897e+02] [-7.40710980e-01 -7.78277534e-03 6.71778738e-01 -1.54863687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.97, Y:-155.18, Z:-154.89 [[ 5.51467424e-01 5.64155142e-01 6.14501958e-01 2.66972803e+02] [-3.85256656e-01 8.25615211e-01 -4.12233953e-01 -1.55180117e+02] [-7.39906068e-01 -9.40737335e-03 6.72644418e-01 -1.54887428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:-155.19, Z:-154.91 [[ 5.50708215e-01 5.65203678e-01 6.14219231e-01 2.66990952e+02] [-3.86775244e-01 8.24884295e-01 -4.12275162e-01 -1.55192290e+02] [-7.39679236e-01 -1.05214744e-02 6.72877349e-01 -1.54912497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.01, Y:-155.20, Z:-154.94 [[ 5.49983592e-01 5.66255090e-01 6.13900010e-01 2.67008493e+02] [-3.88164882e-01 8.24150363e-01 -4.12436909e-01 -1.55203834e+02] [-7.39490415e-01 -1.14608922e-02 6.73069517e-01 -1.54936442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:-155.22, Z:-154.96 [[ 5.48729933e-01 5.67817799e-01 6.13578363e-01 2.67026642e+02] [-3.90351797e-01 8.23049679e-01 -4.12570842e-01 -1.55216051e+02] [-7.39270543e-01 -1.31214462e-02 6.73280694e-01 -1.54961066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:-155.23, Z:-154.98 [[ 5.48075209e-01 5.68674189e-01 6.13370388e-01 2.67044199e+02] [-3.91370539e-01 8.22447004e-01 -4.12807495e-01 -1.55228029e+02] [-7.39217605e-01 -1.38055456e-02 6.73325137e-01 -1.54984940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.06, Y:-155.24, Z:-155.01 [[ 5.47706591e-01 5.69364126e-01 6.13059525e-01 2.67062598e+02] [-3.92241082e-01 8.21961204e-01 -4.12948802e-01 -1.55240573e+02] [-7.39029379e-01 -1.42923510e-02 6.73521570e-01 -1.55009524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.08, Y:-155.25, Z:-155.03 [[ 5.46676093e-01 5.70570838e-01 6.12857380e-01 2.67080810e+02] [-3.93784461e-01 8.21102971e-01 -4.13187257e-01 -1.55252741e+02] [-7.38971615e-01 -1.54541175e-02 6.73559294e-01 -1.55033710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:-155.26, Z:-155.06 [[ 5.45960280e-01 5.71369108e-01 6.12751757e-01 2.67098237e+02] [-3.94647738e-01 8.20535823e-01 -4.13490176e-01 -1.55264383e+02] [-7.39040280e-01 -1.60718823e-02 6.73469494e-01 -1.55057175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:-155.28, Z:-155.08 [[ 5.45248707e-01 5.72052679e-01 6.12747567e-01 2.67115701e+02] [-3.95294531e-01 8.20049458e-01 -4.13837069e-01 -1.55275830e+02] [-7.39219914e-01 -1.65716351e-02 6.73260202e-01 -1.55080811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:-155.29, Z:-155.11 [[ 5.44371925e-01 5.72983783e-01 6.12657157e-01 2.67134095e+02] [-3.96508472e-01 8.19378746e-01 -4.14004229e-01 -1.55287924e+02] [-7.39215962e-01 -1.75514747e-02 6.73239710e-01 -1.55105802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:-155.30, Z:-155.13 [[ 5.44075591e-01 5.73860224e-01 6.12099824e-01 2.67152712e+02] [-3.97808947e-01 8.18749866e-01 -4.14000843e-01 -1.55298944e+02] [-7.38735266e-01 -1.82510335e-02 6.73748549e-01 -1.55130987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.17, Y:-155.31, Z:-155.16 [[ 5.43926496e-01 5.74229798e-01 6.11885697e-01 2.67171001e+02] [-3.98101754e-01 8.18490052e-01 -4.14233060e-01 -1.55310783e+02] [-7.38687323e-01 -1.82804327e-02 6.73800315e-01 -1.55156113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.19, Y:-155.32, Z:-155.18 [[ 5.44233958e-01 5.74473179e-01 6.11383648e-01 2.67189220e+02] [-3.98404824e-01 8.18322876e-01 -4.14271972e-01 -1.55322952e+02] [-7.38297362e-01 -1.81173197e-02 6.74231984e-01 -1.55180795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.21, Y:-155.34, Z:-155.21 [[ 5.44396056e-01 5.74666025e-01 6.11058012e-01 2.67207130e+02] [-3.98504826e-01 8.18192385e-01 -4.14433499e-01 -1.55335186e+02] [-7.38123864e-01 -1.78936044e-02 6.74427891e-01 -1.55205187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:-155.35, Z:-155.23 [[ 5.45138828e-01 5.74334462e-01 6.10707446e-01 2.67225004e+02] [-3.97838109e-01 8.18445007e-01 -4.14575217e-01 -1.55347600e+02] [-7.37935294e-01 -1.69616481e-02 6.74658287e-01 -1.55228733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.24, Y:-155.36, Z:-155.25 [[ 5.45325768e-01 5.74186273e-01 6.10679892e-01 2.67242940e+02] [-3.97248188e-01 8.18561816e-01 -4.14910148e-01 -1.55359747e+02] [-7.38114953e-01 -1.63302851e-02 6.74477307e-01 -1.55252993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:-155.37, Z:-155.28 [[ 5.45421578e-01 5.74025355e-01 6.10745605e-01 2.67260491e+02] [-3.96553393e-01 8.18687663e-01 -4.15326278e-01 -1.55371743e+02] [-7.38417706e-01 -1.56653279e-02 6.74161620e-01 -1.55276756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:-155.38, Z:-155.30 [[ 5.45637971e-01 5.73792939e-01 6.10770717e-01 2.67278493e+02] [-3.95808143e-01 8.18864266e-01 -4.15688859e-01 -1.55383930e+02] [-7.38657647e-01 -1.49323976e-02 6.73915354e-01 -1.55301071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:-155.40, Z:-155.33 [[ 5.46086462e-01 5.72645629e-01 6.11446285e-01 2.67296554e+02] [-3.93212210e-01 8.19700238e-01 -4.16504115e-01 -1.55396166e+02] [-7.39711926e-01 -1.29808862e-02 6.72798456e-01 -1.55325148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:-155.41, Z:-155.35 [[ 5.46592564e-01 5.71873215e-01 6.11716924e-01 2.67314593e+02] [-3.91455081e-01 8.20261393e-01 -4.17054153e-01 -1.55408411e+02] [-7.40269875e-01 -1.15009992e-02 6.72211454e-01 -1.55349735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:-155.42, Z:-155.37 [[ 5.47591024e-01 5.71023755e-01 6.11617480e-01 2.67331888e+02] [-3.89854725e-01 8.20873770e-01 -4.17348233e-01 -1.55420408e+02] [-7.40376502e-01 -9.90581860e-03 6.72119417e-01 -1.55373248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:-155.43, Z:-155.40 [[ 5.50335218e-01 5.68709921e-01 6.11310210e-01 2.67349486e+02] [-3.86246607e-01 8.22513529e-01 -4.17474613e-01 -1.55433455e+02] [-7.40232873e-01 -6.36551238e-03 6.72320440e-01 -1.55397917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:-155.45, Z:-155.42 [[ 5.51763827e-01 5.67607611e-01 6.11046871e-01 2.67366767e+02] [-3.84382436e-01 8.23287348e-01 -4.17669828e-01 -1.55445972e+02] [-7.40139732e-01 -4.42058246e-03 6.72438574e-01 -1.55422027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:-155.46, Z:-155.45 [[ 5.53130383e-01 5.66488291e-01 6.10850060e-01 2.67384463e+02] [-3.82606621e-01 8.24065571e-01 -4.17765615e-01 -1.55458829e+02] [-7.40039832e-01 -2.63642281e-03 6.72557875e-01 -1.55446516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:-155.47, Z:-155.47 [[ 5.55735626e-01 5.64708600e-01 6.10132864e-01 2.67402319e+02] [-3.80088224e-01 8.25290348e-01 -4.17646720e-01 -1.55471123e+02] [-7.39385458e-01 1.96844737e-04 6.73282337e-01 -1.55470832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21655999499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.42, Y:-155.48, Z:-155.50 [[ 5.56416469e-01 5.64394172e-01 6.09803191e-01 2.67420186e+02] [-3.79458784e-01 8.25504735e-01 -4.17795362e-01 -1.55483333e+02] [-7.39196688e-01 1.07304288e-03 6.73488756e-01 -1.55496091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:-155.50, Z:-155.52 [[ 5.57127706e-01 5.64328570e-01 6.09214235e-01 2.67438400e+02] [-3.79392684e-01 8.25548693e-01 -4.17768534e-01 -1.55495716e+02] [-7.38694735e-01 1.61900109e-03 6.74038180e-01 -1.55520862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.46, Y:-155.51, Z:-155.55 [[ 5.57440161e-01 5.64281334e-01 6.08972120e-01 2.67456481e+02] [-3.79094378e-01 8.25579795e-01 -4.17977816e-01 -1.55507610e+02] [-7.38612158e-01 2.13971433e-03 6.74127215e-01 -1.55545947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:-155.52, Z:-155.57 [[ 5.57552762e-01 5.64443478e-01 6.08718718e-01 2.67474666e+02] [-3.79115524e-01 8.25468283e-01 -4.18178830e-01 -1.55520002e+02] [-7.38516308e-01 2.38204599e-03 6.74231406e-01 -1.55570464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.49, Y:-155.53, Z:-155.59 [[ 5.56777691e-01 5.64974578e-01 6.08935406e-01 2.67492774e+02] [-3.79321465e-01 8.25105524e-01 -4.18707655e-01 -1.55532309e+02] [-7.38995148e-01 2.14481076e-03 6.73707333e-01 -1.55594923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.51, Y:-155.54, Z:-155.62 [[ 5.55873821e-01 5.65562404e-01 6.09215448e-01 2.67510658e+02] [-3.79562697e-01 8.24703469e-01 -4.19280750e-01 -1.55544132e+02] [-7.39551523e-01 1.83173421e-03 6.73097459e-01 -1.55619186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.53, Y:-155.56, Z:-155.64 [[ 5.53153354e-01 5.66976069e-01 6.10376527e-01 2.67529575e+02] [-3.80522457e-01 8.23734230e-01 -4.20314856e-01 -1.55555393e+02] [-7.41096503e-01 2.36596804e-04 6.71398479e-01 -1.55643317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:-155.57, Z:-155.67 [[ 5.51690683e-01 5.68090679e-01 6.10663877e-01 2.67547773e+02] [-3.81553214e-01 8.22965575e-01 -4.20885743e-01 -1.55567015e+02] [-7.41656616e-01 -8.02021572e-04 6.70779264e-01 -1.55667010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:-155.58, Z:-155.69 [[ 5.50049735e-01 5.69290681e-01 6.11026521e-01 2.67566353e+02] [-3.82814994e-01 8.22133535e-01 -4.21365792e-01 -1.55578534e+02] [-7.42225013e-01 -2.13797182e-03 6.70147341e-01 -1.55691271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.58, Y:-155.59, Z:-155.72 [[ 5.48320340e-01 5.70712179e-01 6.11254786e-01 2.67584691e+02] [-3.84354481e-01 8.21142266e-01 -4.21896921e-01 -1.55589674e+02] [-7.42708851e-01 -3.60385321e-03 6.69604790e-01 -1.55715835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.60, Y:-155.60, Z:-155.74 [[ 5.48230528e-01 5.70986075e-01 6.11079529e-01 2.67602909e+02] [-3.84481790e-01 8.20952228e-01 -4.22150675e-01 -1.55602189e+02] [-7.42709258e-01 -3.51306391e-03 6.69604822e-01 -1.55740945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:-155.61, Z:-155.77 [[ 5.46663112e-01 5.72441317e-01 6.11122231e-01 2.67621328e+02] [-3.86400372e-01 8.19928986e-01 -4.22387512e-01 -1.55613509e+02] [-7.42868895e-01 -5.23418540e-03 6.69416469e-01 -1.55765408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.64, Y:-155.62, Z:-155.79 [[ 5.44456905e-01 5.74923267e-01 6.10761750e-01 2.67639781e+02] [-3.89975083e-01 8.18166855e-01 -4.22519149e-01 -1.55623253e+02] [-7.42621111e-01 -8.13839596e-03 6.69662342e-01 -1.55790242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.66, Y:-155.63, Z:-155.82 [[ 5.43544062e-01 5.76386539e-01 6.10195387e-01 2.67658622e+02] [-3.92204910e-01 8.17119802e-01 -4.22481406e-01 -1.55634525e+02] [-7.42115329e-01 -9.68436759e-03 6.70202247e-01 -1.55815366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.68, Y:-155.65, Z:-155.84 [[ 5.42310352e-01 5.77904870e-01 6.09856904e-01 2.67676670e+02] [-3.94323109e-01 8.16026074e-01 -4.22623629e-01 -1.55645265e+02] [-7.41895388e-01 -1.12875012e-02 6.70420633e-01 -1.55840501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.70, Y:-155.65, Z:-155.87 [[ 5.40754781e-01 5.80379238e-01 6.08887680e-01 2.67695060e+02] [-3.98338912e-01 8.14223139e-01 -4.22334926e-01 -1.55654098e+02] [-7.40884861e-01 -1.41640256e-02 6.71482690e-01 -1.55865278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:-155.67, Z:-155.89 [[ 5.39726643e-01 5.81606048e-01 6.08629243e-01 2.67713316e+02] [-4.00115854e-01 8.13322026e-01 -4.22391506e-01 -1.55665484e+02] [-7.40677024e-01 -1.55462599e-02 6.71681368e-01 -1.55889919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:-155.68, Z:-155.91 [[ 5.38918497e-01 5.82544475e-01 6.08447852e-01 2.67731628e+02] [-4.01247002e-01 8.12634005e-01 -4.22642659e-01 -1.55677048e+02] [-7.40653560e-01 -1.63679297e-02 6.71687721e-01 -1.55914191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.75, Y:-155.69, Z:-155.94 [[ 5.37794518e-01 5.83288881e-01 6.08729116e-01 2.67750541e+02] [-4.01745784e-01 8.12087913e-01 -4.23218084e-01 -1.55688923e+02] [-7.41199961e-01 -1.69499902e-02 6.71070277e-01 -1.55939043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:-155.70, Z:-155.96 [[ 5.37913741e-01 5.83254039e-01 6.08657156e-01 2.67768432e+02] [-4.01328096e-01 8.12123423e-01 -4.23546107e-01 -1.55700939e+02] [-7.41339711e-01 -1.64399464e-02 6.70928582e-01 -1.55963302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.79, Y:-155.71, Z:-155.99 [[ 5.38365633e-01 5.82879158e-01 6.08616737e-01 2.67785805e+02] [-4.00371870e-01 8.12411747e-01 -4.23898005e-01 -1.55712755e+02] [-7.41528699e-01 -1.54609035e-02 6.70742983e-01 -1.55987480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:-155.72, Z:-156.01 [[ 5.39119417e-01 5.82300733e-01 6.08503172e-01 2.67803502e+02] [-3.99192084e-01 8.12848917e-01 -4.24172509e-01 -1.55724940e+02] [-7.41617107e-01 -1.42300138e-02 6.70672478e-01 -1.56011907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.82, Y:-155.74, Z:-156.04 [[ 5.41243688e-01 5.80369245e-01 6.08462661e-01 2.67821054e+02] [-3.95891472e-01 8.14277613e-01 -4.24525513e-01 -1.55737248e+02] [-7.41839075e-01 -1.11134245e-02 6.70485853e-01 -1.56036894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:-155.75, Z:-156.06 [[ 5.42625301e-01 5.79527058e-01 6.08034680e-01 2.67838416e+02] [-3.94519655e-01 8.14897901e-01 -4.24612355e-01 -1.55749225e+02] [-7.41560534e-01 -9.47622512e-03 6.70819034e-01 -1.56061001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:-155.76, Z:-156.09 [[ 5.43929262e-01 5.78644821e-01 6.07709741e-01 2.67856095e+02] [-3.93044725e-01 8.15542097e-01 -4.24743372e-01 -1.55761472e+02] [-7.41388429e-01 -7.82675888e-03 6.71030506e-01 -1.56086119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:-155.77, Z:-156.11 [[ 5.46243319e-01 5.76563127e-01 6.07612703e-01 2.67873660e+02] [-3.89580923e-01 8.17040045e-01 -4.25055607e-01 -1.55773862e+02] [-7.41515301e-01 -4.53053233e-03 6.70920661e-01 -1.56110672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:-155.79, Z:-156.13 [[ 5.47141673e-01 5.75839701e-01 6.07490436e-01 2.67891430e+02] [-3.88175425e-01 8.17556791e-01 -4.25347778e-01 -1.55787015e+02] [-7.41590069e-01 -3.08736332e-03 6.70846211e-01 -1.56134873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:-155.80, Z:-156.16 [[ 5.48014724e-01 5.75043794e-01 6.07457404e-01 2.67908581e+02] [-3.86588728e-01 8.18121175e-01 -4.25707527e-01 -1.55799568e+02] [-7.41774236e-01 -1.54219187e-03 6.70647899e-01 -1.56158682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.93, Y:-155.81, Z:-156.18 [[ 5.48858530e-01 5.74490141e-01 6.07219394e-01 2.67926077e+02] [-3.85552626e-01 8.18511423e-01 -4.25896963e-01 -1.55812665e+02] [-7.41689617e-01 -3.57850810e-04 6.70743158e-01 -1.56182643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.94, Y:-155.83, Z:-156.21 [[ 5.50019841e-01 5.73270681e-01 6.07321086e-01 2.67943354e+02] [-3.83236254e-01 8.19364178e-01 -4.26347648e-01 -1.55825112e+02] [-7.42029749e-01 1.75220722e-03 6.70364664e-01 -1.56206703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:-155.84, Z:-156.23 [[ 5.50210965e-01 5.73124676e-01 6.07285765e-01 2.67961287e+02] [-3.82787693e-01 8.19465138e-01 -4.26556526e-01 -1.55837428e+02] [-7.42119584e-01 2.23456086e-03 6.70263776e-01 -1.56231476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.98, Y:-155.85, Z:-156.26 [[ 5.50087713e-01 5.73432144e-01 6.07107143e-01 2.67979679e+02] [-3.82959910e-01 8.19249864e-01 -4.26815379e-01 -1.55849839e+02] [-7.42122103e-01 2.28819909e-03 6.70260807e-01 -1.56256292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:-155.86, Z:-156.28 [[ 5.49855555e-01 5.73929949e-01 6.06847001e-01 2.67997702e+02] [-3.83481165e-01 8.18901751e-01 -4.27015362e-01 -1.55862158e+02] [-7.42024976e-01 2.08237388e-03 6.70369002e-01 -1.56281526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:-155.87, Z:-156.31 [[ 5.49789234e-01 5.74456601e-01 6.06408617e-01 2.68015283e+02] [-3.84185426e-01 8.18532982e-01 -4.27089353e-01 -1.55874560e+02] [-7.41709752e-01 1.83577495e-03 6.70718476e-01 -1.56305936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:-155.89, Z:-156.33 [[ 5.50000566e-01 5.74771119e-01 6.05918755e-01 2.68032338e+02] [-3.84611267e-01 8.18312063e-01 -4.27129419e-01 -1.55886606e+02] [-7.41332281e-01 1.87824176e-03 6.71135547e-01 -1.56329920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:-155.90, Z:-156.36 [[ 5.50527563e-01 5.74600060e-01 6.05602322e-01 2.68050430e+02] [-3.84343095e-01 8.18430837e-01 -4.27143243e-01 -1.55898924e+02] [-7.41080149e-01 2.39505789e-03 6.71412300e-01 -1.56355069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:-155.91, Z:-156.38 [[ 5.50575344e-01 5.74539189e-01 6.05616637e-01 2.68068527e+02] [-3.83824105e-01 8.18471801e-01 -4.27531247e-01 -1.55911327e+02] [-7.41313595e-01 2.93789959e-03 6.71152384e-01 -1.56380228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.09, Y:-155.92, Z:-156.40 [[ 5.50689680e-01 5.74419608e-01 6.05626114e-01 2.68085901e+02] [-3.83216778e-01 8.18553239e-01 -4.27919966e-01 -1.55923110e+02] [-7.41542836e-01 3.56502087e-03 6.70896052e-01 -1.56404310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.10, Y:-155.93, Z:-156.43 [[ 5.51099589e-01 5.74029314e-01 6.05623307e-01 2.68103037e+02] [-3.82246224e-01 8.18822252e-01 -4.28273211e-01 -1.55934947e+02] [-7.41739218e-01 4.52396835e-03 6.70673145e-01 -1.56428050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.12, Y:-155.95, Z:-156.45 [[ 5.51959975e-01 5.72906246e-01 6.05903144e-01 2.68120574e+02] [-3.79966013e-01 8.19595366e-01 -4.28823115e-01 -1.55948163e+02] [-7.42270850e-01 6.47059381e-03 6.70068740e-01 -1.56452164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:-155.96, Z:-156.48 [[ 5.52373180e-01 5.72275256e-01 6.06122844e-01 2.68138377e+02] [-3.78433908e-01 8.20024623e-01 -4.29356956e-01 -1.55960890e+02] [-7.42746018e-01 7.78783042e-03 6.69527970e-01 -1.56476291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.16, Y:-155.97, Z:-156.50 [[ 5.52443023e-01 5.71962021e-01 6.06354807e-01 2.68155951e+02] [-3.77362738e-01 8.20234186e-01 -4.29899108e-01 -1.55973444e+02] [-7.43238905e-01 8.67905237e-03 6.68969808e-01 -1.56500763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:-155.99, Z:-156.53 [[ 5.52760731e-01 5.71782652e-01 6.06234420e-01 2.68173995e+02] [-3.76777730e-01 8.20351570e-01 -4.30188149e-01 -1.55985940e+02] [-7.43299480e-01 9.37548738e-03 6.68893104e-01 -1.56525451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.19, Y:-156.00, Z:-156.55 [[ 5.52859798e-01 5.71536439e-01 6.06376239e-01 2.68191677e+02] [-3.75881391e-01 8.20513654e-01 -4.30662888e-01 -1.55997607e+02] [-7.43679517e-01 1.01706530e-02 6.68458925e-01 -1.56550489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.21, Y:-156.01, Z:-156.57 [[ 5.53577933e-01 5.70991302e-01 6.06234612e-01 2.68209655e+02] [-3.74755328e-01 8.20877295e-01 -4.30951171e-01 -1.56008690e+02] [-7.43713599e-01 1.13754076e-02 6.68401588e-01 -1.56574831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.23, Y:-156.02, Z:-156.60 [[ 5.53467551e-01 5.71060202e-01 6.06270498e-01 2.68227525e+02] [-3.74425332e-01 8.20824390e-01 -4.31338605e-01 -1.56020651e+02] [-7.43961922e-01 1.17288887e-02 6.68119070e-01 -1.56599502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:-156.03, Z:-156.62 [[ 5.53721792e-01 5.70938854e-01 6.06152622e-01 2.68245151e+02] [-3.73912281e-01 8.20899527e-01 -4.31640560e-01 -1.56032269e+02] [-7.44030768e-01 1.23608748e-02 6.68031006e-01 -1.56623642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.26, Y:-156.04, Z:-156.65 [[ 5.54307789e-01 5.70727109e-01 6.05816344e-01 2.68263699e+02] [-3.73475327e-01 8.21035769e-01 -4.31759709e-01 -1.56044054e+02] [-7.43813858e-01 1.30703124e-02 6.68259015e-01 -1.56648470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:-156.06, Z:-156.67 [[ 5.54678256e-01 5.70868536e-01 6.05343826e-01 2.68281475e+02] [-3.73640686e-01 8.20933176e-01 -4.31811715e-01 -1.56055685e+02] [-7.43454552e-01 1.33354862e-02 6.68653494e-01 -1.56672388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:-156.07, Z:-156.70 [[ 5.54808285e-01 5.71081750e-01 6.05023472e-01 2.68299526e+02] [-3.73817922e-01 8.20782543e-01 -4.31944648e-01 -1.56067187e+02] [-7.43268409e-01 1.34778524e-02 6.68857548e-01 -1.56696904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:-156.08, Z:-156.72 [[ 5.54557900e-01 5.71507968e-01 6.04850543e-01 2.68317381e+02] [-3.74173329e-01 8.20487766e-01 -4.32196884e-01 -1.56078573e+02] [-7.43276433e-01 1.33592550e-02 6.68851011e-01 -1.56721643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:-156.09, Z:-156.75 [[ 5.54019535e-01 5.72419347e-01 6.04481966e-01 2.68336616e+02] [-3.75399993e-01 8.19864384e-01 -4.32316132e-01 -1.56089322e+02] [-7.43059352e-01 1.25890561e-02 6.69107103e-01 -1.56746855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:-156.10, Z:-156.77 [[ 5.53388839e-01 5.73347939e-01 6.04179554e-01 2.68355227e+02] [-3.76601102e-01 8.19227091e-01 -4.32479576e-01 -1.56101012e+02] [-7.42921532e-01 1.17946847e-02 6.69274594e-01 -1.56772039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:-156.11, Z:-156.80 [[ 5.52581330e-01 5.74298628e-01 6.04015695e-01 2.68374048e+02] [-3.77719007e-01 8.18572271e-01 -4.32744485e-01 -1.56112968e+02] [-7.42955063e-01 1.09783142e-02 6.69251262e-01 -1.56796869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:-156.12, Z:-156.82 [[ 5.51345242e-01 5.75414341e-01 6.04083405e-01 2.68392379e+02] [-3.78893817e-01 8.17801583e-01 -4.33174383e-01 -1.56124918e+02] [-7.43275117e-01 9.94516826e-03 6.68911948e-01 -1.56821644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.41, Y:-156.14, Z:-156.85 [[ 5.50335888e-01 5.76428116e-01 6.04037281e-01 2.68409944e+02] [-3.80014321e-01 8.17097864e-01 -4.33520698e-01 -1.56136187e+02] [-7.43451092e-01 9.03918154e-03 6.68729218e-01 -1.56845347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:-156.15, Z:-156.87 [[ 5.47822526e-01 5.78581222e-01 6.04263394e-01 2.68429252e+02] [-3.82638323e-01 8.15598388e-01 -4.34035923e-01 -1.56147252e+02] [-7.43961285e-01 6.56032433e-03 6.68190518e-01 -1.56870154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.45, Y:-156.16, Z:-156.90 [[ 5.46385228e-01 5.79890776e-01 6.04309417e-01 2.68447860e+02] [-3.84117924e-01 8.14677277e-01 -4.34458692e-01 -1.56158734e+02] [-7.44255738e-01 5.25573280e-03 6.67874070e-01 -1.56895367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:-156.17, Z:-156.92 [[ 5.44047757e-01 5.82225426e-01 6.04173478e-01 2.68466734e+02] [-3.87279297e-01 8.13023430e-01 -4.34750099e-01 -1.56168743e+02] [-7.44329755e-01 2.54093642e-03 6.67807427e-01 -1.56919319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:-156.18, Z:-156.94 [[ 5.42715280e-01 5.83577589e-01 6.04067317e-01 2.68485048e+02] [-3.89118651e-01 8.12056794e-01 -4.34914290e-01 -1.56180120e+02] [-7.44343201e-01 9.80771291e-04 6.67796554e-01 -1.56943799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.50, Y:-156.19, Z:-156.97 [[ 5.41589643e-01 5.84952182e-01 6.03747963e-01 2.68503620e+02] [-3.91001935e-01 8.11067663e-01 -4.35070952e-01 -1.56191997e+02] [-7.44176152e-01 -4.36700136e-04 6.67983281e-01 -1.56968574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.52, Y:-156.20, Z:-156.99 [[ 5.40622222e-01 5.86225961e-01 6.03379430e-01 2.68521412e+02] [-3.92771197e-01 8.10145780e-01 -4.35194901e-01 -1.56203127e+02] [-7.43947848e-01 -1.71402688e-03 6.68235484e-01 -1.56992187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:-156.21, Z:-157.02 [[ 5.38600657e-01 5.88036386e-01 6.03425672e-01 2.68539487e+02] [-3.95045836e-01 8.08825685e-01 -4.35591321e-01 -1.56213273e+02] [-7.44209729e-01 -3.77102720e-03 6.67935371e-01 -1.57016132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:-156.23, Z:-157.04 [[ 5.37838820e-01 5.88728098e-01 6.03430717e-01 2.68557861e+02] [-3.95681220e-01 8.08319734e-01 -4.35953643e-01 -1.56225268e+02] [-7.44423116e-01 -4.29340915e-03 6.67694385e-01 -1.57040601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:-156.24, Z:-157.06 [[ 5.37086475e-01 5.89411549e-01 6.03433628e-01 2.68575178e+02] [-3.96274009e-01 8.07818831e-01 -4.36343495e-01 -1.56236921e+02] [-7.44650944e-01 -4.77087386e-03 6.67437046e-01 -1.57064251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:-156.25, Z:-157.09 [[ 5.36743896e-01 5.89891506e-01 6.03269427e-01 2.68593107e+02] [-3.96724482e-01 8.07467051e-01 -4.36585212e-01 -1.56249077e+02] [-7.44658093e-01 -4.99730327e-03 6.67427412e-01 -1.57088567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.61, Y:-156.26, Z:-157.11 [[ 5.35985264e-01 5.90690976e-01 6.03161643e-01 2.68611781e+02] [-3.97584751e-01 8.06878154e-01 -4.36891303e-01 -1.56261211e+02] [-7.44745703e-01 -5.64057095e-03 6.67324525e-01 -1.57113513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-156.27, Z:-157.14 [[ 5.35561216e-01 5.91349392e-01 6.02893092e-01 2.68629294e+02] [-3.98350331e-01 8.06392586e-01 -4.37090392e-01 -1.56273562e+02] [-7.44641657e-01 -6.07400162e-03 6.67436820e-01 -1.57137238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:-156.29, Z:-157.16 [[ 5.34995918e-01 5.92013037e-01 6.02743670e-01 2.68647194e+02] [-3.99059928e-01 8.05901758e-01 -4.37348294e-01 -1.56286076e+02] [-7.44668075e-01 -6.55129366e-03 6.67402831e-01 -1.57161732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:-156.30, Z:-157.19 [[ 5.33548610e-01 5.93455593e-01 6.02607949e-01 2.68664762e+02] [-4.00908555e-01 8.04826082e-01 -4.37638331e-01 -1.56297087e+02] [-7.44713510e-01 -8.08935938e-03 6.67335261e-01 -1.57185489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:-156.31, Z:-157.21 [[ 5.32753854e-01 5.94442546e-01 6.02338270e-01 2.68682489e+02] [-4.02208223e-01 8.04087451e-01 -4.37803513e-01 -1.56308704e+02] [-7.44581679e-01 -9.02389646e-03 6.67470368e-01 -1.57210095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.70, Y:-156.32, Z:-157.23 [[ 5.32042485e-01 5.95631155e-01 6.01792590e-01 2.68700627e+02] [-4.03995073e-01 8.03193391e-01 -4.37799449e-01 -1.56321137e+02] [-7.44122823e-01 -1.01933346e-02 6.67965060e-01 -1.57234933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:-156.33, Z:-157.26 [[ 5.31189030e-01 5.96812604e-01 6.01375865e-01 2.68718098e+02] [-4.05671673e-01 8.02300228e-01 -4.37886788e-01 -1.56333386e+02] [-7.43820347e-01 -1.13604948e-02 6.68283047e-01 -1.57259386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:-156.35, Z:-157.28 [[ 5.31069679e-01 5.97105294e-01 6.01190705e-01 2.68736005e+02] [-4.05826145e-01 8.02083337e-01 -4.38140915e-01 -1.56346353e+02] [-7.43821307e-01 -1.12955509e-02 6.68283080e-01 -1.57284483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.75, Y:-156.36, Z:-157.31 [[ 5.29713027e-01 5.98784067e-01 6.00717696e-01 2.68753686e+02] [-4.08436328e-01 8.00799949e-01 -4.38063017e-01 -1.56358766e+02] [-7.43359856e-01 -1.33072428e-02 6.68759331e-01 -1.57309370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:-156.37, Z:-157.33 [[ 5.29223140e-01 5.99532520e-01 6.00402886e-01 2.68770843e+02] [-4.09380203e-01 8.00230115e-01 -4.38223245e-01 -1.56371230e+02] [-7.43189557e-01 -1.38751740e-02 6.68937039e-01 -1.57333655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:-156.38, Z:-157.36 [[ 5.28769431e-01 5.99813833e-01 6.00521652e-01 2.68787943e+02] [-4.09309698e-01 8.00019843e-01 -4.38672796e-01 -1.56384678e+02] [-7.43551249e-01 -1.38425715e-02 6.68535656e-01 -1.57358140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.81, Y:-156.40, Z:-157.38 [[ 5.28670092e-01 6.00087634e-01 6.00335544e-01 2.68805833e+02] [-4.09434952e-01 7.99816075e-01 -4.38927404e-01 -1.56397678e+02] [-7.43552926e-01 -1.37505637e-02 6.68535690e-01 -1.57383246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:-156.41, Z:-157.41 [[ 5.28797370e-01 5.99814310e-01 6.00496575e-01 2.68822861e+02] [-4.08652699e-01 8.00031771e-01 -4.39263175e-01 -1.56411935e+02] [-7.43892676e-01 -1.31133344e-02 6.68170433e-01 -1.57407364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.84, Y:-156.42, Z:-157.43 [[ 5.28844689e-01 5.99652115e-01 6.00616880e-01 2.68839823e+02] [-4.07874210e-01 8.00164420e-01 -4.39744846e-01 -1.56424943e+02] [-7.44286184e-01 -1.24194093e-02 6.67745336e-01 -1.57431586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.86, Y:-156.44, Z:-157.46 [[ 5.29289441e-01 5.99660073e-01 6.00217032e-01 2.68857271e+02] [-4.07794189e-01 8.00165243e-01 -4.39817557e-01 -1.56438714e+02] [-7.44013835e-01 -1.19742290e-02 6.68056907e-01 -1.57456376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:-156.45, Z:-157.48 [[ 5.30336010e-01 5.99295695e-01 5.99656890e-01 2.68873847e+02] [-4.07255262e-01 8.00452513e-01 -4.39794187e-01 -1.56453231e+02] [-7.43563628e-01 -1.09747294e-02 6.68575117e-01 -1.57480582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.89, Y:-156.47, Z:-157.51 [[ 5.30428682e-01 5.99365153e-01 5.99505485e-01 2.68890775e+02] [-4.07050535e-01 8.00405506e-01 -4.40069185e-01 -1.56466788e+02] [-7.43609626e-01 -1.06037099e-02 6.68529944e-01 -1.57505050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:-156.48, Z:-157.53 [[ 5.30582797e-01 5.99350257e-01 5.99383989e-01 2.68907947e+02] [-4.06697091e-01 8.00422947e-01 -4.40364147e-01 -1.56480313e+02] [-7.43693063e-01 -1.01180842e-02 6.68444652e-01 -1.57530066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.92, Y:-156.49, Z:-157.55 [[ 5.31124277e-01 5.98872202e-01 5.99382255e-01 2.68923514e+02] [-4.05544494e-01 8.00794235e-01 -4.40751922e-01 -1.56493904e+02] [-7.43935928e-01 -8.98212735e-03 6.68190583e-01 -1.57553850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:-156.51, Z:-157.58 [[ 5.31408358e-01 5.98577570e-01 5.99424765e-01 2.68940092e+02] [-4.04797645e-01 8.01022039e-01 -4.41024445e-01 -1.56507461e+02] [-7.44139788e-01 -8.28165693e-03 6.67972597e-01 -1.57577855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:-156.52, Z:-157.60 [[ 5.31952894e-01 5.98268118e-01 5.99250680e-01 2.68957108e+02] [-4.04206978e-01 8.01260331e-01 -4.41133314e-01 -1.56521304e+02] [-7.44071796e-01 -7.55916408e-03 6.68056900e-01 -1.57602522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.97, Y:-156.53, Z:-157.63 [[ 5.32487893e-01 5.97852662e-01 5.99190153e-01 2.68973721e+02] [-4.03212324e-01 8.01579439e-01 -4.41463731e-01 -1.56534875e+02] [-7.44228772e-01 -6.52676240e-03 6.67892907e-01 -1.57627094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:-156.55, Z:-157.65 [[ 5.33661514e-01 5.96680591e-01 5.99314325e-01 2.68989184e+02] [-4.00906415e-01 8.02466677e-01 -4.41951670e-01 -1.56549540e+02] [-7.44633759e-01 -4.41636065e-03 6.67458658e-01 -1.57650742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:-156.56, Z:-157.67 [[ 5.34419288e-01 5.95902586e-01 5.99413156e-01 2.69005342e+02] [-3.99382392e-01 8.03050983e-01 -4.42270080e-01 -1.56563142e+02] [-7.44909209e-01 -3.03739846e-03 6.67158935e-01 -1.57674917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.02, Y:-156.58, Z:-157.70 [[ 5.35352485e-01 5.95099300e-01 5.99378461e-01 2.69021772e+02] [-3.97819104e-01 8.03650773e-01 -4.42589421e-01 -1.56576710e+02] [-7.45075618e-01 -1.50285568e-03 6.66978309e-01 -1.57699434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:-156.59, Z:-157.72 [[ 5.36347450e-01 5.94283310e-01 5.99298557e-01 2.69037700e+02] [-3.96219361e-01 8.04255765e-01 -4.42925369e-01 -1.56589705e+02] [-7.45212474e-01 1.08201438e-04 6.66827082e-01 -1.57723381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:-156.60, Z:-157.75 [[ 5.37632337e-01 5.93434756e-01 5.98988031e-01 2.69054271e+02] [-3.94795219e-01 8.04880244e-01 -4.43062668e-01 -1.56603077e+02] [-7.45042419e-01 1.72720736e-03 6.67014851e-01 -1.57748021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:-156.62, Z:-157.77 [[ 5.40316324e-01 5.91315678e-01 5.98668555e-01 2.69069745e+02] [-3.91457876e-01 8.06423906e-01 -4.43216895e-01 -1.56617238e+02] [-7.44861733e-01 5.12380250e-03 6.67199179e-01 -1.57773509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03655999499995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:269.09, Y:-156.62, Z:-157.81 [[ 5.40807922e-01 5.97532270e-01 5.92015183e-01 2.69085218e+02] [-3.89538611e-01 8.01712723e-01 -4.53339145e-01 -1.56624569e+02] [-7.45510873e-01 1.45566286e-02 6.66334483e-01 -1.57805198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:-157.02, Z:-157.19 [[ 5.79493287e-01 -7.92597477e-01 1.89675433e-01 2.69858453e+02] [-3.87029751e-01 -6.28238941e-02 9.19924524e-01 -1.57019867e+02] [-7.17213708e-01 -6.06500122e-01 -3.43164829e-01 -1.57194223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.21, Y:-156.73, Z:-157.94 [[ 5.97798458e-01 5.47216565e-01 5.85825089e-01 2.69207265e+02] [-3.83266863e-01 8.36942423e-01 -3.90683879e-01 -1.56734795e+02] [-7.04090559e-01 9.02287566e-03 7.10052866e-01 -1.57937116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:-156.75, Z:-157.96 [[ 5.98798728e-01 5.46528039e-01 5.85446142e-01 2.69225789e+02] [-3.82358068e-01 8.37380352e-01 -3.90635962e-01 -1.56748720e+02] [-7.03734602e-01 1.00622613e-02 7.10391695e-01 -1.57960407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:-156.76, Z:-157.98 [[ 5.99032206e-01 5.46833455e-01 5.84921866e-01 2.69244870e+02] [-3.82819429e-01 8.37180851e-01 -3.90611711e-01 -1.56761653e+02] [-7.03284936e-01 1.00695399e-02 7.10836762e-01 -1.57983732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:-156.76, Z:-158.02 [[ 5.97168326e-01 5.58991692e-01 5.75254969e-01 2.69261362e+02] [-3.80487380e-01 8.28760173e-01 -4.10348546e-01 -1.56759070e+02] [-7.06129835e-01 2.61698984e-02 7.07598609e-01 -1.58018807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:-156.80, Z:-158.02 [[ 5.97666462e-01 5.35529256e-01 5.96660050e-01 2.69281110e+02] [-3.85057454e-01 8.44485443e-01 -3.72256757e-01 -1.56799172e+02] [-7.03225111e-01 -7.26302066e-03 7.10930159e-01 -1.58023743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:-156.80, Z:-158.05 [[ 5.96815248e-01 5.49682554e-01 5.84517451e-01 2.69301020e+02] [-3.86341226e-01 8.35339202e-01 -3.91086786e-01 -1.56799964e+02] [-7.03243924e-01 7.58336855e-03 7.10908205e-01 -1.58052355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.32, Y:-156.81, Z:-158.08 [[ 5.95787630e-01 5.50880340e-01 5.84438149e-01 2.69320737e+02] [-3.87760952e-01 8.34558628e-01 -3.91348105e-01 -1.56813166e+02] [-7.03333878e-01 6.53806678e-03 7.10829593e-01 -1.58075864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:-156.83, Z:-158.10 [[ 5.94502716e-01 5.52182344e-01 5.84517904e-01 2.69340258e+02] [-3.89201719e-01 8.33705933e-01 -3.91735166e-01 -1.56826116e+02] [-7.03625286e-01 5.39224715e-03 7.10550759e-01 -1.58099073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:-156.84, Z:-158.12 [[ 5.93215564e-01 5.53529100e-01 5.84551820e-01 2.69359146e+02] [-3.90735833e-01 8.32819292e-01 -3.92093785e-01 -1.56838730e+02] [-7.03861352e-01 4.19079362e-03 7.10325020e-01 -1.58121789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.38, Y:-156.85, Z:-158.15 [[ 5.90638787e-01 5.55954337e-01 5.84859469e-01 2.69378642e+02] [-3.93628323e-01 8.31211146e-01 -3.92612753e-01 -1.56851886e+02] [-7.04416473e-01 1.67506862e-03 7.09784916e-01 -1.58145151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:-156.86, Z:-158.17 [[ 5.89351382e-01 5.57250666e-01 5.84924477e-01 2.69397616e+02] [-3.95078215e-01 8.30344161e-01 -3.92990812e-01 -1.56864531e+02] [-7.04683016e-01 5.18759311e-04 7.09522077e-01 -1.58168245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-156.88, Z:-158.19 [[ 5.88072106e-01 5.58628495e-01 5.84897772e-01 2.69416611e+02] [-3.96707384e-01 8.29417661e-01 -3.93305982e-01 -1.56877256e+02] [-7.04836470e-01 -7.40988327e-04 7.09369439e-01 -1.58191427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.44, Y:-156.89, Z:-158.22 [[ 5.86860548e-01 5.60000768e-01 5.84802391e-01 2.69435891e+02] [-3.98376075e-01 8.28489680e-01 -3.93575093e-01 -1.56890109e+02] [-7.04905100e-01 -1.99758622e-03 7.09298815e-01 -1.58215095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:-156.90, Z:-158.24 [[ 5.84472614e-01 5.62630762e-01 5.84669470e-01 2.69454201e+02] [-4.01843507e-01 8.26694570e-01 -3.93824687e-01 -1.56902990e+02] [-7.04920960e-01 -4.76588631e-03 7.09269855e-01 -1.58237475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:-156.92, Z:-158.26 [[ 5.83209962e-01 5.64202330e-01 5.84415837e-01 2.69473632e+02] [-4.03920943e-01 8.25612593e-01 -3.93969185e-01 -1.56916242e+02] [-7.04779407e-01 -6.29104287e-03 7.09398626e-01 -1.58260481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:-156.93, Z:-158.28 [[ 5.80986914e-01 5.67022425e-01 5.83900485e-01 2.69492184e+02] [-4.07918564e-01 8.23649863e-01 -3.93958561e-01 -1.56928543e+02] [-7.04312893e-01 -9.29907855e-03 7.09828765e-01 -1.58283619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:-156.94, Z:-158.31 [[ 5.79543463e-01 5.68518758e-01 5.83879950e-01 2.69510981e+02] [-4.09847993e-01 8.22598439e-01 -3.94152802e-01 -1.56941057e+02] [-7.04381997e-01 -1.08733455e-02 7.09737820e-01 -1.58307148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:-156.95, Z:-158.33 [[ 5.78292457e-01 5.69938285e-01 5.83736400e-01 2.69529240e+02] [-4.11616942e-01 8.21596953e-01 -3.94398200e-01 -1.56953220e+02] [-7.04378681e-01 -1.21982880e-02 7.09719575e-01 -1.58330205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:-156.97, Z:-158.35 [[ 5.77114964e-01 5.71219780e-01 5.83649108e-01 2.69548345e+02] [-4.13178674e-01 8.20687950e-01 -3.94657665e-01 -1.56966081e+02] [-7.04430054e-01 -1.33885204e-02 7.09647128e-01 -1.58353866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:-156.98, Z:-158.38 [[ 5.75854863e-01 5.72637521e-01 5.83504453e-01 2.69566327e+02] [-4.14951953e-01 8.19676486e-01 -3.94899146e-01 -1.56978841e+02] [-7.04418948e-01 -1.47217187e-02 7.09631747e-01 -1.58376942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.696559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:269.58, Y:-156.99, Z:-158.40 [[ 5.75238469e-01 5.73134633e-01 5.83624362e-01 2.69584991e+02] [-4.15268642e-01 8.19324453e-01 -3.95296593e-01 -1.56992624e+02] [-7.04735879e-01 -1.49710889e-02 7.09311785e-01 -1.58400413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:-157.01, Z:-158.42 [[ 5.75257382e-01 5.73337581e-01 5.83406344e-01 2.69603890e+02] [-4.15356518e-01 8.19185347e-01 -3.95492516e-01 -1.57006548e+02] [-7.04668651e-01 -1.48116386e-02 7.09381919e-01 -1.58423637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.62, Y:-157.02, Z:-158.45 [[ 5.75467679e-01 5.73495277e-01 5.83043838e-01 2.69622548e+02] [-4.15473979e-01 8.19078923e-01 -3.95589547e-01 -1.57020674e+02] [-7.04427656e-01 -1.45905446e-02 7.09625812e-01 -1.58446897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:-157.03, Z:-158.47 [[ 5.76476710e-01 5.73095333e-01 5.82439990e-01 2.69639987e+02] [-4.14949704e-01 8.19374666e-01 -3.95527369e-01 -1.57034964e+02] [-7.03911462e-01 -1.36709850e-02 7.10156151e-01 -1.58469148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:-157.05, Z:-158.49 [[ 5.76713840e-01 5.73081438e-01 5.82218871e-01 2.69658017e+02] [-4.14860037e-01 8.19388926e-01 -3.95591882e-01 -1.57048071e+02] [-7.03770060e-01 -1.33960288e-02 7.10301520e-01 -1.58491868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:-157.06, Z:-158.52 [[ 5.77052558e-01 5.73094274e-01 5.81870517e-01 2.69676950e+02] [-4.14793850e-01 8.19385768e-01 -3.95667822e-01 -1.57061602e+02] [-7.03531383e-01 -1.30351835e-02 7.10544634e-01 -1.58515652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.69, Y:-157.08, Z:-158.54 [[ 5.77934466e-01 5.73000490e-01 5.81087078e-01 2.69694455e+02] [-4.14831411e-01 8.19459777e-01 -3.95475124e-01 -1.57075537e+02] [-7.02784927e-01 -1.24944678e-02 7.11292651e-01 -1.58539115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:-157.09, Z:-158.56 [[ 5.78472741e-01 5.73038405e-01 5.80513802e-01 2.69712954e+02] [-4.14945994e-01 8.19438382e-01 -3.95399240e-01 -1.57089694e+02] [-7.02274241e-01 -1.21541947e-02 7.11802758e-01 -1.58562512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:-157.10, Z:-158.59 [[ 5.78942541e-01 5.73034441e-01 5.80049190e-01 2.69731376e+02] [-4.14911928e-01 8.19447112e-01 -3.95416898e-01 -1.57103903e+02] [-7.01907135e-01 -1.17456638e-02 7.12171618e-01 -1.58585441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:-157.12, Z:-158.61 [[ 5.79407668e-01 5.72792491e-01 5.79823694e-01 2.69749624e+02] [-4.14386428e-01 8.19625808e-01 -3.95597553e-01 -1.57117933e+02] [-7.01833772e-01 -1.10588138e-02 7.12254912e-01 -1.58608539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.77, Y:-157.15, Z:-158.63 [[ 5.81425540e-01 5.66465961e-01 5.84003987e-01 2.69770383e+02] [-4.15854297e-01 8.23867251e-01 -3.85107721e-01 -1.57146813e+02] [-6.99292175e-01 -1.89491028e-02 7.14584765e-01 -1.58627811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.70, Y:-156.57, Z:-158.35 [[ 5.69472310e-01 7.66953294e-02 -8.18424776e-01 2.70697443e+02] [-3.32549572e-01 -8.89028540e-01 -3.14704683e-01 -1.56568930e+02] [-7.51739363e-01 4.51382412e-01 -4.80772138e-01 -1.58350692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.84, Y:-157.02, Z:-158.04 [[ 6.26254336e-01 -5.77968041e-01 -5.23219314e-01 2.70837554e+02] [-2.66500298e-01 -7.89397701e-01 5.53017957e-01 -1.57020564e+02] [-7.32654829e-01 -2.06891790e-01 -6.48392388e-01 -1.58039756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:-157.28, Z:-158.77 [[ 6.27903751e-01 4.11452219e-01 6.60639048e-01 2.69917532e+02] [-2.87002222e-01 9.11420414e-01 -2.94860227e-01 -1.57277952e+02] [-7.23440809e-01 -4.46103152e-03 6.90371998e-01 -1.58773892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:-157.29, Z:-158.80 [[ 6.28386968e-01 4.10486526e-01 6.60780320e-01 2.69938045e+02] [-2.85223197e-01 9.11861870e-01 -2.95221371e-01 -1.57288559e+02] [-7.23724773e-01 -2.95661359e-03 6.90082395e-01 -1.58797932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.96, Y:-157.30, Z:-158.82 [[ 6.29115718e-01 4.08674434e-01 6.61209967e-01 2.69959561e+02] [-2.85180274e-01 9.12669692e-01 -2.92756290e-01 -1.57303541e+02] [-7.23108308e-01 -4.38645655e-03 6.90720735e-01 -1.58821210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:-157.30, Z:-158.85 [[ 6.29185464e-01 4.15674080e-01 6.56765339e-01 2.69976868e+02] [-2.82187577e-01 9.09488578e-01 -3.05287894e-01 -1.57301895e+02] [-7.24220839e-01 6.75168520e-03 6.89535054e-01 -1.58846654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:-157.32, Z:-158.87 [[ 6.29946917e-01 4.06471750e-01 6.61776094e-01 2.69999851e+02] [-2.82035334e-01 9.13660577e-01 -2.92712182e-01 -1.57321976e+02] [-7.23617960e-01 -2.25110484e-03 6.90197059e-01 -1.58867041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.02, Y:-157.32, Z:-158.89 [[ 6.30237534e-01 4.16794232e-01 6.55044440e-01 2.70016252e+02] [-2.79286468e-01 9.08919128e-01 -3.09620878e-01 -1.57316576e+02] [-7.24430617e-01 1.21896509e-02 6.89239939e-01 -1.58893404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:270.04, Y:-157.34, Z:-158.91 [[ 6.31105319e-01 4.05298754e-01 6.61391711e-01 2.70040287e+02] [-2.79089261e-01 9.14183855e-01 -2.93899753e-01 -1.57339287e+02] [-7.23750828e-01 8.94373322e-04 6.90060823e-01 -1.58913748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:-157.34, Z:-158.94 [[ 6.32238985e-01 4.14681565e-01 6.54456313e-01 2.70057174e+02] [-2.76629159e-01 9.09851219e-01 -3.09268602e-01 -1.57335295e+02] [-7.23705862e-01 1.44899676e-02 6.89956423e-01 -1.58939820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:-157.35, Z:-158.96 [[ 6.32165759e-01 4.06106259e-01 6.59881928e-01 2.70078802e+02] [-2.76616699e-01 9.13809553e-01 -2.97380736e-01 -1.57351941e+02] [-7.23774588e-01 5.45955778e-03 6.90014883e-01 -1.58960784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:-157.37, Z:-158.98 [[ 6.35181669e-01 4.03858745e-01 6.58363396e-01 2.70102170e+02] [-2.78186267e-01 9.14817000e-01 -2.92783635e-01 -1.57365647e+02] [-7.20525259e-01 2.82314287e-03 6.93422946e-01 -1.58984694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.12, Y:-157.36, Z:-159.01 [[ 6.35146819e-01 4.13954546e-01 6.52096735e-01 2.70118416e+02] [-2.76425384e-01 9.10161993e-01 -3.08535499e-01 -1.57358896e+02] [-7.21233337e-01 1.57092502e-02 6.92514039e-01 -1.59011405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.14, Y:-157.37, Z:-159.03 [[ 6.35658896e-01 4.05454759e-01 6.56920244e-01 2.70138890e+02] [-2.76341070e-01 9.14087396e-01 -2.96782490e-01 -1.57373629e+02] [-7.20814388e-01 7.11838632e-03 6.93091586e-01 -1.59031646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:-157.38, Z:-159.06 [[ 6.36579803e-01 4.05382647e-01 6.56072453e-01 2.70159388e+02] [-2.76336900e-01 9.14115703e-01 -2.96699172e-01 -1.57382205e+02] [-7.20002828e-01 7.57567226e-03 6.93929778e-01 -1.59055513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.18, Y:-157.39, Z:-159.08 [[ 6.38049627e-01 4.04453768e-01 6.55217386e-01 2.70180658e+02] [-2.75090080e-01 9.14513952e-01 -2.96630545e-01 -1.57389654e+02] [-7.19178782e-01 9.02120553e-03 6.94766505e-01 -1.59079176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:-157.40, Z:-159.10 [[ 6.38370322e-01 4.03937564e-01 6.55223455e-01 2.70200824e+02] [-2.74011539e-01 9.14731567e-01 -2.96957634e-01 -1.57397535e+02] [-7.19305921e-01 1.00301533e-02 6.94621039e-01 -1.59102115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.22, Y:-157.41, Z:-159.13 [[ 6.38847834e-01 4.03276327e-01 6.55165360e-01 2.70221690e+02] [-2.72781492e-01 9.15010086e-01 -2.97231896e-01 -1.57405604e+02] [-7.19349500e-01 1.11689684e-02 6.94558530e-01 -1.59125775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.24, Y:-157.41, Z:-159.15 [[ 6.38985267e-01 4.06515700e-01 6.53025891e-01 2.70242126e+02] [-2.69896231e-01 9.13459489e-01 -3.04545213e-01 -1.57409170e+02] [-7.20315107e-01 1.83506771e-02 6.93404210e-01 -1.59153809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.26, Y:-157.42, Z:-159.17 [[ 6.40002010e-01 3.98955228e-01 6.56682689e-01 2.70263523e+02] [-2.68206531e-01 9.16877082e-01 -2.95637741e-01 -1.57421713e+02] [-7.20043530e-01 1.30821628e-02 6.93805573e-01 -1.59171412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.28, Y:-157.43, Z:-159.19 [[ 6.39852368e-01 4.00161682e-01 6.56094182e-01 2.70283785e+02] [-2.67072933e-01 9.16309842e-01 -2.98409657e-01 -1.57428757e+02] [-7.20597666e-01 1.57131280e-02 6.93175376e-01 -1.59194832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.31, Y:-157.44, Z:-159.22 [[ 6.39537931e-01 4.00784342e-01 6.56020690e-01 2.70305693e+02] [-2.68146434e-01 9.16052483e-01 -2.98237051e-01 -1.57441111e+02] [-7.20478122e-01 1.48242977e-02 6.93319202e-01 -1.59219533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.33, Y:-157.45, Z:-159.25 [[ 6.39355908e-01 4.06224354e-01 6.52844390e-01 2.70326598e+02] [-2.67887653e-01 9.13536434e-01 -3.06083958e-01 -1.57445683e+02] [-7.20735894e-01 2.08076358e-02 6.92897405e-01 -1.59245860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.35, Y:-157.45, Z:-159.27 [[ 6.38747909e-01 4.06659545e-01 6.53168526e-01 2.70345122e+02] [-2.66797717e-01 9.13307877e-01 -3.07713667e-01 -1.57449457e+02] [-7.21678659e-01 2.22875894e-02 6.91869335e-01 -1.59266797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:-157.46, Z:-159.29 [[ 6.36383996e-01 4.02757320e-01 6.57876851e-01 2.70366970e+02] [-2.69396123e-01 9.15207297e-01 -2.99702073e-01 -1.57460461e+02] [-7.22800898e-01 1.34961298e-02 6.90924537e-01 -1.59288887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:-157.47, Z:-159.31 [[ 6.35324673e-01 4.04612668e-01 6.57762228e-01 2.70388383e+02] [-2.71790359e-01 9.14411977e-01 -2.99967893e-01 -1.57468156e+02] [-7.22836469e-01 1.18035718e-02 6.90918313e-01 -1.59313305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:-157.47, Z:-159.34 [[ 6.32315020e-01 4.09195252e-01 6.57827455e-01 2.70409700e+02] [-2.78031315e-01 9.12420023e-01 -3.00313652e-01 -1.57474503e+02] [-7.23101863e-01 6.99620042e-03 6.90705979e-01 -1.59338133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:-157.48, Z:-159.36 [[ 6.30314675e-01 4.12283210e-01 6.57819097e-01 2.70430681e+02] [-2.82166033e-01 9.11047502e-01 -3.00623983e-01 -1.57482555e+02] [-7.23246666e-01 3.87350257e-03 6.90578928e-01 -1.59362494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.45, Y:-157.49, Z:-159.39 [[ 6.28446654e-01 4.15426729e-01 6.57628646e-01 2.70451058e+02] [-2.86455875e-01 9.09626376e-01 -3.00870217e-01 -1.57490334e+02] [-7.23185892e-01 6.99291254e-04 6.90653079e-01 -1.59386262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.47, Y:-157.50, Z:-159.41 [[ 6.26458652e-01 4.18509915e-01 6.57570535e-01 2.70471989e+02] [-2.90625099e-01 9.08208934e-01 -3.01153756e-01 -1.57498250e+02] [-7.23247267e-01 -2.44612578e-03 6.90584829e-01 -1.59410890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:-157.51, Z:-159.43 [[ 6.23125800e-01 4.23844077e-01 6.57320649e-01 2.70492596e+02] [-2.98145828e-01 9.05698140e-01 -3.01363474e-01 -1.57505146e+02] [-7.23065213e-01 -8.19005327e-03 6.90731222e-01 -1.59434908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.51, Y:-157.51, Z:-159.46 [[ 6.21583500e-01 4.26449426e-01 6.57095762e-01 2.70513201e+02] [-3.01721798e-01 9.04446764e-01 -3.01562609e-01 -1.57513729e+02] [-7.22909337e-01 -1.08137722e-02 6.90858273e-01 -1.59459563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:-157.52, Z:-159.48 [[ 6.20693862e-01 4.28515449e-01 6.56592445e-01 2.70533486e+02] [-3.04619427e-01 9.03444131e-01 -3.01654946e-01 -1.57522109e+02] [-7.22458396e-01 -1.27754412e-02 6.91296358e-01 -1.59483510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:-157.53, Z:-159.51 [[ 6.18989635e-01 4.31391399e-01 6.56317982e-01 2.70553359e+02] [-3.08585246e-01 9.02028572e-01 -3.01860233e-01 -1.57531389e+02] [-7.22237480e-01 -1.56816905e-02 6.91467358e-01 -1.59507173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.57, Y:-157.54, Z:-159.53 [[ 6.18125349e-01 4.32387790e-01 6.56476848e-01 2.70573354e+02] [-3.09644431e-01 9.01537666e-01 -3.02241895e-01 -1.57541009e+02] [-7.22524310e-01 -1.64510232e-02 6.91149756e-01 -1.59531127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:-157.55, Z:-159.55 [[ 6.17603275e-01 4.33236631e-01 6.56408574e-01 2.70593553e+02] [-3.10567196e-01 9.01119712e-01 -3.02541373e-01 -1.57550515e+02] [-7.22574710e-01 -1.70084277e-02 6.91083570e-01 -1.59554828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.61, Y:-157.56, Z:-159.58 [[ 6.16534898e-01 4.37679344e-01 6.54462766e-01 2.70613906e+02] [-3.12663277e-01 8.98996598e-01 -3.06670494e-01 -1.57561403e+02] [-7.22583140e-01 -1.55534113e-02 6.91109034e-01 -1.59584247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.63, Y:-157.56, Z:-159.60 [[ 6.17051909e-01 4.39866108e-01 6.52506512e-01 2.70631972e+02] [-3.11633305e-01 8.97987716e-01 -3.10648908e-01 -1.57564287e+02] [-7.22586759e-01 -1.16562593e-02 6.91181964e-01 -1.59604046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:-157.58, Z:-159.63 [[ 6.17598536e-01 4.34692914e-01 6.55449555e-01 2.70651315e+02] [-3.12302141e-01 9.00405967e-01 -3.02880286e-01 -1.57579427e+02] [-7.21830604e-01 -1.76398784e-02 6.91844934e-01 -1.59625694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:-157.59, Z:-159.65 [[ 6.18322525e-01 4.34603908e-01 6.54825700e-01 2.70670585e+02] [-3.12235947e-01 9.00456797e-01 -3.02797407e-01 -1.57591245e+02] [-7.21239189e-01 -1.72336653e-02 6.92471684e-01 -1.59649201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:-157.60, Z:-159.67 [[ 6.18447696e-01 4.34081903e-01 6.55053700e-01 2.70689986e+02] [-3.11034362e-01 9.00727503e-01 -3.03228612e-01 -1.57602974e+02] [-7.21650936e-01 -1.62131728e-02 6.92067236e-01 -1.59672906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-157.61, Z:-159.70 [[ 6.18547033e-01 4.33382256e-01 6.55423061e-01 2.70709383e+02] [-3.09508379e-01 9.01085521e-01 -3.03725942e-01 -1.57614395e+02] [-7.22221664e-01 -1.49901489e-02 6.91499215e-01 -1.59696863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:-157.62, Z:-159.72 [[ 6.18489192e-01 4.33651615e-01 6.55299470e-01 2.70730120e+02] [-3.09618547e-01 9.00957800e-01 -3.03992432e-01 -1.57623959e+02] [-7.22223978e-01 -1.48768358e-02 6.91499245e-01 -1.59721323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.75, Y:-157.63, Z:-159.75 [[ 6.18747107e-01 4.33385933e-01 6.55231754e-01 2.70750024e+02] [-3.09116327e-01 9.01093674e-01 -3.04100783e-01 -1.57634796e+02] [-7.22218190e-01 -1.43813530e-02 6.91515772e-01 -1.59745405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.77, Y:-157.64, Z:-159.77 [[ 6.18689325e-01 4.33655796e-01 6.55107755e-01 2.70770754e+02] [-3.09226766e-01 9.00965638e-01 -3.04367747e-01 -1.57644372e+02] [-7.22220414e-01 -1.42677769e-02 6.91515802e-01 -1.59769865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:-157.66, Z:-159.79 [[ 6.19338426e-01 4.33225221e-01 6.54779217e-01 2.70790202e+02] [-3.08603701e-01 9.01183557e-01 -3.04354979e-01 -1.57655169e+02] [-7.21930516e-01 -1.35685555e-02 6.91832512e-01 -1.59793634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.81, Y:-157.67, Z:-159.82 [[ 6.20276756e-01 4.32059105e-01 6.54661497e-01 2.70808767e+02] [-3.06626332e-01 9.01768264e-01 -3.04621555e-01 -1.57667486e+02] [-7.21967478e-01 -1.17867836e-02 6.91826592e-01 -1.59817562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:-157.68, Z:-159.84 [[ 6.20302105e-01 4.31721938e-01 6.54859883e-01 2.70828269e+02] [-3.05710427e-01 9.01939860e-01 -3.05033807e-01 -1.57678422e+02] [-7.22334018e-01 -1.09843820e-02 6.91457092e-01 -1.59841462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:-157.69, Z:-159.87 [[ 6.20476171e-01 4.31262186e-01 6.54997900e-01 2.70847891e+02] [-3.04640692e-01 9.02170865e-01 -3.05420658e-01 -1.57689263e+02] [-7.22636403e-01 -1.00327731e-02 6.91155535e-01 -1.59865347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.87, Y:-157.71, Z:-159.89 [[ 6.21005955e-01 4.28759347e-01 6.56137962e-01 2.70870081e+02] [-3.05905290e-01 9.03311062e-01 -3.00750858e-01 -1.57707679e+02] [-7.21646421e-01 -1.39479998e-02 6.92121302e-01 -1.59889793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.89, Y:-157.70, Z:-159.92 [[ 6.21191995e-01 4.41395089e-01 6.47526741e-01 2.70885334e+02] [-3.01386839e-01 8.97297831e-01 -3.22525311e-01 -1.57702387e+02] [-7.23385429e-01 5.19410345e-03 6.90424900e-01 -1.59916650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:-157.72, Z:-159.94 [[ 6.21905197e-01 4.28909345e-01 6.55187530e-01 2.70905797e+02] [-3.00312926e-01 9.03325731e-01 -3.06291968e-01 -1.57723359e+02] [-7.23219242e-01 -6.27671744e-03 6.90589987e-01 -1.59935514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.92, Y:-157.73, Z:-159.96 [[ 6.22094424e-01 4.28590053e-01 6.55216830e-01 2.70924948e+02] [-2.99492116e-01 9.03482464e-01 -3.06633183e-01 -1.57733871e+02] [-7.23396848e-01 -5.47748180e-03 6.90410745e-01 -1.59959130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:-157.75, Z:-159.98 [[ 6.22618111e-01 4.27988269e-01 6.55112760e-01 2.70944269e+02] [-2.98349564e-01 9.03773685e-01 -3.06888684e-01 -1.57745041e+02] [-7.23418430e-01 -4.37815375e-03 6.90395978e-01 -1.59983677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:-157.76, Z:-160.01 [[ 6.22573644e-01 4.28326373e-01 6.54934024e-01 2.70963905e+02] [-2.98587680e-01 9.03613655e-01 -3.07128248e-01 -1.57755177e+02] [-7.23358455e-01 -4.34527866e-03 6.90459024e-01 -1.60007627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.98, Y:-157.76, Z:-160.03 [[ 6.22140575e-01 4.29102570e-01 6.54837453e-01 2.70984302e+02] [-2.99423108e-01 9.03242887e-01 -3.07405415e-01 -1.57764968e+02] [-7.23385725e-01 -4.82408404e-03 6.90427274e-01 -1.60031779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.00, Y:-157.77, Z:-160.06 [[ 6.20678079e-01 4.31126802e-01 6.54895719e-01 2.71004357e+02] [-3.01994499e-01 9.02266057e-01 -3.07758484e-01 -1.57772330e+02] [-7.23573110e-01 -6.75595976e-03 6.90214686e-01 -1.60055063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.03, Y:-157.78, Z:-160.08 [[ 6.20108740e-01 4.32480780e-01 6.54542226e-01 2.71025078e+02] [-3.03921227e-01 9.01607090e-01 -3.07793020e-01 -1.57780684e+02] [-7.23254477e-01 -8.06413491e-03 6.90534526e-01 -1.60079377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:-157.79, Z:-160.10 [[ 6.20042866e-01 4.33716783e-01 6.53786354e-01 2.71045382e+02] [-3.05743258e-01 9.01003609e-01 -3.07755676e-01 -1.57788487e+02] [-7.22542666e-01 -9.06905839e-03 6.91266843e-01 -1.60102984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:-157.80, Z:-160.13 [[ 6.19559041e-01 4.35073200e-01 6.53343635e-01 2.71065977e+02] [-3.07718037e-01 9.00335248e-01 -3.07743482e-01 -1.57796823e+02] [-7.22119245e-01 -1.03803649e-02 6.91690714e-01 -1.60127543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:-157.80, Z:-160.15 [[ 6.19315385e-01 4.37003521e-01 6.52285503e-01 2.71086949e+02] [-3.10680437e-01 8.99377446e-01 -3.07567676e-01 -1.57804648e+02] [-7.21059027e-01 -1.21709512e-02 6.92766734e-01 -1.60152132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:-157.81, Z:-160.18 [[ 6.19073842e-01 4.37866715e-01 6.51935823e-01 2.71107525e+02] [-3.11759772e-01 8.98949598e-01 -3.07726282e-01 -1.57813510e+02] [-7.20800543e-01 -1.27420720e-02 6.93025409e-01 -1.60175988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:-157.82, Z:-160.20 [[ 6.17614624e-01 4.39014602e-01 6.52547589e-01 2.71128298e+02] [-3.12805614e-01 8.98375700e-01 -3.08340314e-01 -1.57821973e+02] [-7.21598797e-01 -1.36850621e-02 6.92176202e-01 -1.60200506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.15, Y:-157.83, Z:-160.22 [[ 6.16672253e-01 4.39332406e-01 6.53224594e-01 2.71148258e+02] [-3.12613596e-01 8.98220652e-01 -3.08986085e-01 -1.57830908e+02] [-7.22487420e-01 -1.36637445e-02 6.91249036e-01 -1.60223720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:-157.84, Z:-160.25 [[ 6.15993335e-01 4.39492194e-01 6.53757465e-01 2.71168973e+02] [-3.12280777e-01 8.98145248e-01 -3.09541321e-01 -1.57840683e+02] [-7.23210155e-01 -1.34804988e-02 6.90496450e-01 -1.60247627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:-157.85, Z:-160.27 [[ 6.15584790e-01 4.39475619e-01 6.54153305e-01 2.71189162e+02] [-3.11723775e-01 8.98159764e-01 -3.10060199e-01 -1.57850292e+02] [-7.23798075e-01 -1.30467949e-02 6.89888489e-01 -1.60271040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:-157.86, Z:-160.29 [[ 6.15195351e-01 4.39220622e-01 6.54690709e-01 2.71208880e+02] [-3.10774949e-01 8.98294098e-01 -3.10622994e-01 -1.57859660e+02] [-7.24536825e-01 -1.23676502e-02 6.89125120e-01 -1.60294394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.23, Y:-157.87, Z:-160.32 [[ 6.15912888e-01 4.37511237e-01 6.55160462e-01 2.71228988e+02] [-3.07735648e-01 8.99157616e-01 -3.11150048e-01 -1.57869386e+02] [-7.25224162e-01 -9.97490501e-03 6.88440569e-01 -1.60318284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.25, Y:-157.88, Z:-160.34 [[ 6.16652710e-01 4.36514603e-01 6.55129328e-01 2.71248075e+02] [-3.05953022e-01 8.99658185e-01 -3.11460909e-01 -1.57878882e+02] [-7.25349697e-01 -8.37558368e-03 6.88329620e-01 -1.60341483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:-157.89, Z:-160.37 [[ 6.17827032e-01 4.35344061e-01 6.54801731e-01 2.71268040e+02] [-3.04193353e-01 9.00239004e-01 -3.11506243e-01 -1.57888689e+02] [-7.25090451e-01 -6.72935642e-03 6.88620762e-01 -1.60365334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.29, Y:-157.90, Z:-160.39 [[ 6.20756008e-01 4.32495804e-01 6.53918465e-01 2.71287145e+02] [-3.00146374e-01 9.01631074e-01 -3.11405783e-01 -1.57898175e+02] [-7.24274902e-01 -2.96424525e-03 6.89504953e-01 -1.60389192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:-157.91, Z:-160.41 [[ 6.22184817e-01 4.31372988e-01 6.53301920e-01 2.71307285e+02] [-2.98509457e-01 9.02172795e-01 -3.11410263e-01 -1.57908193e+02] [-7.23725195e-01 -1.26206398e-03 6.90087132e-01 -1.60413676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:-157.92, Z:-160.44 [[ 6.23344998e-01 4.30472732e-01 6.52789584e-01 2.71326567e+02] [-2.97120210e-01 9.02603558e-01 -3.11490606e-01 -1.57918202e+02] [-7.23298413e-01 2.09132531e-04 6.90535562e-01 -1.60437059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.35, Y:-157.93, Z:-160.46 [[ 6.23294020e-01 4.30725274e-01 6.52671666e-01 2.71347191e+02] [-2.97227287e-01 9.02483042e-01 -3.11737549e-01 -1.57928013e+02] [-7.23298351e-01 3.12321720e-04 6.90535588e-01 -1.60461517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:-157.94, Z:-160.49 [[ 6.24167653e-01 4.29787187e-01 6.52455144e-01 2.71367107e+02] [-2.95837133e-01 9.02928841e-01 -3.11768984e-01 -1.57937956e+02] [-7.23114881e-01 1.57565521e-03 6.90725984e-01 -1.60485444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:-157.95, Z:-160.51 [[ 6.24557378e-01 4.29463748e-01 6.52295157e-01 2.71387186e+02] [-2.95126311e-01 9.03081032e-01 -3.12001779e-01 -1.57947872e+02] [-7.23068837e-01 2.35354980e-03 6.90771973e-01 -1.60509847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.41, Y:-157.96, Z:-160.53 [[ 6.25017229e-01 4.29032371e-01 6.52138550e-01 2.71407757e+02] [-2.94245731e-01 9.03283190e-01 -3.12248184e-01 -1.57957148e+02] [-7.23030369e-01 3.27151032e-03 6.90808500e-01 -1.60533961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:-157.97, Z:-160.56 [[ 6.24798874e-01 4.29427815e-01 6.52087509e-01 2.71428040e+02] [-2.94504469e-01 9.03095386e-01 -3.12547342e-01 -1.57966127e+02] [-7.23113743e-01 3.23654254e-03 6.90721391e-01 -1.60557765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:-157.97, Z:-160.58 [[ 6.24108682e-01 4.30519337e-01 6.52028722e-01 2.71448365e+02] [-2.95772988e-01 9.02578174e-01 -3.12843377e-01 -1.57974488e+02] [-7.23192017e-01 2.39578382e-03 6.90642865e-01 -1.60581440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:-157.98, Z:-160.61 [[ 6.23817494e-01 4.31357946e-01 6.51753064e-01 2.71469002e+02] [-2.96809518e-01 9.02179042e-01 -3.13012918e-01 -1.57983549e+02] [-7.23018564e-01 1.81642101e-03 6.90826213e-01 -1.60605513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.49, Y:-157.99, Z:-160.63 [[ 6.23220981e-01 4.32483038e-01 6.51578108e-01 2.71489565e+02] [-2.98190668e-01 9.01641592e-01 -3.13248728e-01 -1.57992917e+02] [-7.22964684e-01 9.28668067e-04 6.90884363e-01 -1.60629885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.51, Y:-158.00, Z:-160.65 [[ 6.22171242e-01 4.33759182e-01 6.51733011e-01 2.71509597e+02] [-2.99622099e-01 9.01028831e-01 -3.13645729e-01 -1.58002056e+02] [-7.23276948e-01 -1.32259676e-04 6.90558063e-01 -1.60653705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:-158.01, Z:-160.68 [[ 6.20175222e-01 4.36491029e-01 6.51811534e-01 2.71529816e+02] [-3.03201804e-01 8.99703968e-01 -3.14008657e-01 -1.58010025e+02] [-7.23499385e-01 -2.89004467e-03 6.90318975e-01 -1.60678112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.55, Y:-158.02, Z:-160.70 [[ 6.19002061e-01 4.38333695e-01 6.51690127e-01 2.71550176e+02] [-3.05592513e-01 8.98800476e-01 -3.14278412e-01 -1.58018588e+02] [-7.23498214e-01 -4.61263886e-03 6.90310842e-01 -1.60702297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.57, Y:-158.03, Z:-160.73 [[ 6.17625831e-01 4.40263013e-01 6.51695337e-01 2.71569730e+02] [-3.08047442e-01 8.97845748e-01 -3.14610532e-01 -1.58026579e+02] [-7.23633268e-01 -6.44149052e-03 6.90154621e-01 -1.60725830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:-158.04, Z:-160.75 [[ 6.16336081e-01 4.42268101e-01 6.51558718e-01 2.71590211e+02] [-3.10709608e-01 8.96843636e-01 -3.14850810e-01 -1.58035127e+02] [-7.23594759e-01 -8.39163946e-03 6.90174040e-01 -1.60749893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.61, Y:-158.04, Z:-160.77 [[ 6.13664132e-01 4.46020310e-01 6.51522997e-01 2.71611262e+02] [-3.15849444e-01 8.94937213e-01 -3.15161091e-01 -1.58043438e+02] [-7.23640423e-01 -1.23801193e-02 6.90066135e-01 -1.60774528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.63, Y:-158.05, Z:-160.80 [[ 6.12452340e-01 4.47933669e-01 6.51350566e-01 2.71630763e+02] [-3.18377531e-01 8.93953969e-01 -3.15407752e-01 -1.58052316e+02] [-7.23559175e-01 -1.42031694e-02 6.90116215e-01 -1.60797898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.65, Y:-158.06, Z:-160.82 [[ 6.11418974e-01 4.49479123e-01 6.51256751e-01 2.71650907e+02] [-3.20465117e-01 8.93151768e-01 -3.15566204e-01 -1.58061462e+02] [-7.23511539e-01 -1.57619061e-02 6.90132317e-01 -1.60821836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.67, Y:-158.07, Z:-160.85 [[ 6.09774653e-01 4.51670536e-01 6.51282274e-01 2.71671230e+02] [-3.23313247e-01 8.92004484e-01 -3.15905912e-01 -1.58070241e+02] [-7.23632101e-01 -1.79367688e-02 6.89952792e-01 -1.60845522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:-158.08, Z:-160.87 [[ 6.08710531e-01 4.52586112e-01 6.51642004e-01 2.71690527e+02] [-3.24272715e-01 8.91522806e-01 -3.16281983e-01 -1.58078916e+02] [-7.24098541e-01 -1.87855480e-02 6.89440648e-01 -1.60868854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.71, Y:-158.09, Z:-160.89 [[ 6.07854877e-01 4.53449925e-01 6.51840175e-01 2.71710408e+02] [-3.25132679e-01 8.91069688e-01 -3.16675785e-01 -1.58088012e+02] [-7.24431632e-01 -1.94416218e-02 6.89072445e-01 -1.60892864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:-158.10, Z:-160.92 [[ 6.07045817e-01 4.54276173e-01 6.52018815e-01 2.71730973e+02] [-3.25927556e-01 8.90635721e-01 -3.17079236e-01 -1.58097521e+02] [-7.24752789e-01 -2.00292748e-02 6.88717811e-01 -1.60916904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:-158.11, Z:-160.94 [[ 6.05185667e-01 4.55365593e-01 6.52987354e-01 2.71751555e+02] [-3.26719463e-01 8.90057701e-01 -3.17886273e-01 -1.58107033e+02] [-7.25950894e-01 -2.09634615e-02 6.87426965e-01 -1.60941129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.77, Y:-158.12, Z:-160.97 [[ 6.04493718e-01 4.55829161e-01 6.53304769e-01 2.71771548e+02] [-3.26899942e-01 8.89816917e-01 -3.18374437e-01 -1.58116425e+02] [-7.26445988e-01 -2.11099437e-02 6.86899262e-01 -1.60965018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.79, Y:-158.13, Z:-160.99 [[ 6.03982556e-01 4.56379967e-01 6.53392989e-01 2.71791162e+02] [-3.27317111e-01 8.89528882e-01 -3.18750492e-01 -1.58126129e+02] [-7.26683274e-01 -2.13469691e-02 6.86640900e-01 -1.60988061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:-158.14, Z:-161.01 [[ 6.03799971e-01 4.56574838e-01 6.53425598e-01 2.71810862e+02] [-3.27260651e-01 8.89432815e-01 -3.19076376e-01 -1.58135295e+02] [-7.26860414e-01 -2.11821800e-02 6.86458487e-01 -1.61011757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:-158.14, Z:-161.04 [[ 6.04480712e-01 4.56147731e-01 6.53094416e-01 2.71830757e+02] [-3.26578443e-01 8.89670465e-01 -3.19112809e-01 -1.58144647e+02] [-7.26601397e-01 -2.03890194e-02 6.86756651e-01 -1.61036858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:-158.15, Z:-161.06 [[ 6.05005775e-01 4.55989168e-01 6.52718846e-01 2.71850061e+02] [-3.26175677e-01 8.89766198e-01 -3.19257796e-01 -1.58154532e+02] [-7.26345263e-01 -1.97482009e-02 6.87046263e-01 -1.61060979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.87, Y:-158.16, Z:-161.09 [[ 6.05594225e-01 4.55583633e-01 6.52456273e-01 2.71869951e+02] [-3.25355261e-01 8.89994083e-01 -3.19459678e-01 -1.58164918e+02] [-7.26222823e-01 -1.88171449e-02 6.87201809e-01 -1.61085259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:-158.18, Z:-161.11 [[ 6.06796031e-01 4.53958694e-01 6.52472284e-01 2.71888551e+02] [-3.22610105e-01 8.90871028e-01 -3.19799205e-01 -1.58175904e+02] [-7.26444284e-01 -1.64412634e-02 6.87028666e-01 -1.61108868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:-158.19, Z:-161.13 [[ 6.07394242e-01 4.52962840e-01 6.52607769e-01 2.71907675e+02] [-3.20864811e-01 8.91403381e-01 -3.20071531e-01 -1.58186528e+02] [-7.26717282e-01 -1.49892632e-02 6.86773117e-01 -1.61132198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.93, Y:-158.20, Z:-161.16 [[ 6.08029296e-01 4.51738706e-01 6.52864853e-01 2.71927112e+02] [-3.18728912e-01 8.92051528e-01 -3.20399675e-01 -1.58197484e+02] [-7.27126024e-01 -1.32745159e-02 6.86375649e-01 -1.61156177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.95, Y:-158.21, Z:-161.18 [[ 6.08670711e-01 4.50763963e-01 6.52940897e-01 2.71946505e+02] [-3.16917338e-01 8.92566634e-01 -3.20761914e-01 -1.58208468e+02] [-7.27381170e-01 -1.16899091e-02 6.86134083e-01 -1.61180052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.96, Y:-158.22, Z:-161.20 [[ 6.10454898e-01 4.48288386e-01 6.52979586e-01 2.71964965e+02] [-3.12924301e-01 8.93850345e-01 -3.21107368e-01 -1.58219857e+02] [-7.27614733e-01 -8.31161522e-03 6.85935651e-01 -1.61204202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.98, Y:-158.23, Z:-161.23 [[ 6.11020041e-01 4.47517953e-01 6.52979473e-01 2.71984702e+02] [-3.11474561e-01 8.94247566e-01 -3.21410779e-01 -1.58230586e+02] [-7.27762398e-01 -6.99806703e-03 6.85793642e-01 -1.61228886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:-158.24, Z:-161.25 [[ 6.11314218e-01 4.47126199e-01 6.52972503e-01 2.72003856e+02] [-3.10551897e-01 8.94450099e-01 -3.21739862e-01 -1.58240814e+02] [-7.27909642e-01 -6.09769742e-03 6.85645952e-01 -1.61252650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:-158.25, Z:-161.28 [[ 6.12065685e-01 4.46312751e-01 6.52825035e-01 2.72022584e+02] [-3.09108916e-01 8.94864582e-01 -3.21976796e-01 -1.58251909e+02] [-7.27892351e-01 -4.72309113e-03 6.85675154e-01 -1.61276627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:-158.26, Z:-161.30 [[ 6.12589813e-01 4.46039100e-01 6.52520376e-01 2.72041993e+02] [-3.08541289e-01 8.95004561e-01 -3.22132130e-01 -1.58261868e+02] [-7.27692238e-01 -3.99461616e-03 6.85892156e-01 -1.61300668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:-158.27, Z:-161.32 [[ 6.12731640e-01 4.46080943e-01 6.52358590e-01 2.72061104e+02] [-3.08332688e-01 8.94985349e-01 -3.22385139e-01 -1.58271754e+02] [-7.27661247e-01 -3.60790250e-03 6.85927177e-01 -1.61324413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:-158.28, Z:-161.35 [[ 6.11723669e-01 4.46860201e-01 6.52771104e-01 2.72081270e+02] [-3.08929140e-01 8.94594245e-01 -3.22899246e-01 -1.58280059e+02] [-7.28256095e-01 -4.13490399e-03 6.85292611e-01 -1.61348905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:-158.29, Z:-161.37 [[ 6.11389473e-01 4.47524155e-01 6.52629331e-01 2.72101259e+02] [-3.09625793e-01 8.94260539e-01 -3.23156242e-01 -1.58289005e+02] [-7.28240881e-01 -4.49654951e-03 6.85306501e-01 -1.61372795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.12, Y:-158.30, Z:-161.40 [[ 6.10728312e-01 4.48329106e-01 6.52695903e-01 2.72120929e+02] [-3.10446081e-01 8.93854241e-01 -3.23493163e-01 -1.58298341e+02] [-7.28446402e-01 -5.06045191e-03 6.85084106e-01 -1.61397108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.14, Y:-158.31, Z:-161.42 [[ 6.10544663e-01 4.48987467e-01 6.52415105e-01 2.72141367e+02] [-3.11202821e-01 8.93521680e-01 -3.23684740e-01 -1.58307867e+02] [-7.28277432e-01 -5.40943044e-03 6.85261060e-01 -1.61421317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.16, Y:-158.32, Z:-161.45 [[ 6.09783932e-01 4.49961431e-01 6.52455567e-01 2.72161605e+02] [-3.12256759e-01 8.93026866e-01 -3.24035080e-01 -1.58318163e+02] [-7.28463639e-01 -6.14227535e-03 6.85056932e-01 -1.61445698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.18, Y:-158.33, Z:-161.47 [[ 6.09715593e-01 4.50586101e-01 6.52088232e-01 2.72181920e+02] [-3.13007200e-01 8.92709692e-01 -3.24184977e-01 -1.58328783e+02] [-7.28198729e-01 -6.44767649e-03 6.85335713e-01 -1.61469723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.20, Y:-158.34, Z:-161.49 [[ 6.09768825e-01 4.51233905e-01 6.51590318e-01 2.72201819e+02] [-3.13855552e-01 8.92380006e-01 -3.24272442e-01 -1.58338909e+02] [-7.27788892e-01 -6.77401306e-03 6.85767775e-01 -1.61493995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:-158.35, Z:-161.52 [[ 6.09821228e-01 4.51866943e-01 6.51102400e-01 2.72221006e+02] [-3.14679631e-01 8.92057204e-01 -3.24361949e-01 -1.58348041e+02] [-7.27389029e-01 -7.08586109e-03 6.86188743e-01 -1.61517635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.24, Y:-158.36, Z:-161.54 [[ 6.09702697e-01 4.52469708e-01 6.50794733e-01 2.72240930e+02] [-3.15391267e-01 8.91749107e-01 -3.24517918e-01 -1.58356460e+02] [-7.27180150e-01 -7.39552523e-03 6.86406830e-01 -1.61542624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:-158.37, Z:-161.57 [[ 6.09507698e-01 4.52764456e-01 6.50772398e-01 2.72261041e+02] [-3.15484231e-01 8.91600132e-01 -3.24836737e-01 -1.58366081e+02] [-7.27303284e-01 -7.31793775e-03 6.86277190e-01 -1.61566809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:-158.38, Z:-161.59 [[ 6.09308767e-01 4.52966066e-01 6.50818384e-01 2.72280709e+02] [-3.15400983e-01 8.91499285e-01 -3.25194164e-01 -1.58375914e+02] [-7.27506045e-01 -7.12510221e-03 6.86064273e-01 -1.61590207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:-158.39, Z:-161.61 [[ 6.08987203e-01 4.52995259e-01 6.51098980e-01 2.72300221e+02] [-3.14968817e-01 8.91487281e-01 -3.25645623e-01 -1.58386167e+02] [-7.27962383e-01 -6.76185846e-03 6.85583727e-01 -1.61613310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.32, Y:-158.40, Z:-161.64 [[ 6.08893151e-01 4.52765971e-01 6.51346379e-01 2.72320090e+02] [-3.14179352e-01 8.91608567e-01 -3.26075909e-01 -1.58396716e+02] [-7.28382087e-01 -6.09419578e-03 6.85144069e-01 -1.61636854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:-158.41, Z:-161.66 [[ 6.08836053e-01 4.51733734e-01 6.52116013e-01 2.72339298e+02] [-3.11908763e-01 8.92141784e-01 -3.26796512e-01 -1.58407789e+02] [-7.29404952e-01 -4.43520067e-03 6.84067792e-01 -1.61659630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:-158.42, Z:-161.68 [[ 6.08961203e-01 4.51225380e-01 6.52351063e-01 2.72359192e+02] [-3.10708065e-01 8.92403462e-01 -3.27225549e-01 -1.58418058e+02] [-7.29812819e-01 -3.42307261e-03 6.83638451e-01 -1.61683765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.38, Y:-158.43, Z:-161.71 [[ 6.09275622e-01 4.50896709e-01 6.52284735e-01 2.72379359e+02] [-3.09906891e-01 8.92572364e-01 -3.27524494e-01 -1.58427980e+02] [-7.29891044e-01 -2.59484412e-03 6.83558579e-01 -1.61707916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:-158.44, Z:-161.73 [[ 6.09587330e-01 4.50626563e-01 6.52180181e-01 2.72399170e+02] [-3.09210619e-01 8.92710666e-01 -3.27805521e-01 -1.58437324e+02] [-7.29926079e-01 -1.83494531e-03 6.83523630e-01 -1.61732221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.42, Y:-158.45, Z:-161.76 [[ 6.10382048e-01 4.50216928e-01 6.51719628e-01 2.72419485e+02] [-3.08502809e-01 8.92918748e-01 -3.27905668e-01 -1.58446654e+02] [-7.29561357e-01 -9.09602865e-04 6.83914761e-01 -1.61756810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:-158.46, Z:-161.78 [[ 6.10515741e-01 4.50343889e-01 6.51506647e-01 2.72439456e+02] [-3.08451075e-01 8.92854962e-01 -3.28127948e-01 -1.58456549e+02] [-7.29471359e-01 -6.30648602e-04 6.84011066e-01 -1.61780619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.46, Y:-158.47, Z:-161.80 [[ 6.10833751e-01 4.50459535e-01 6.51128509e-01 2.72459806e+02] [-3.08473500e-01 8.92796780e-01 -3.28265151e-01 -1.58466650e+02] [-7.29195604e-01 -3.40456609e-04 6.84305236e-01 -1.61804665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.48, Y:-158.48, Z:-161.83 [[ 6.12344856e-01 4.50080837e-01 6.49970012e-01 2.72480258e+02] [-3.08193152e-01 8.92987654e-01 -3.28009193e-01 -1.58476861e+02] [-7.28045849e-01 5.38435319e-04 6.85528229e-01 -1.61828578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.50, Y:-158.49, Z:-161.85 [[ 6.12773954e-01 4.50089060e-01 6.49559789e-01 2.72500488e+02] [-3.08075104e-01 8.92983158e-01 -3.28132306e-01 -1.58486955e+02] [-7.27734713e-01 9.57731064e-04 6.85858055e-01 -1.61852367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:-158.50, Z:-161.88 [[ 6.13279528e-01 4.49959054e-01 6.49172605e-01 2.72520613e+02] [-3.07736415e-01 8.93047842e-01 -3.28274047e-01 -1.58496376e+02] [-7.27452074e-01 1.54970228e-03 6.86156745e-01 -1.61876348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.54, Y:-158.51, Z:-161.90 [[ 6.13772297e-01 4.49928932e-01 6.48727619e-01 2.72540594e+02] [-3.07577419e-01 8.93062080e-01 -3.28384306e-01 -1.58505137e+02] [-7.27103637e-01 2.01922312e-03 6.86524743e-01 -1.61900344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.56, Y:-158.51, Z:-161.93 [[ 6.15182408e-01 4.49753729e-01 6.47512307e-01 2.72560274e+02] [-3.07650482e-01 8.93148762e-01 -3.28079976e-01 -1.58513333e+02] [-7.25880008e-01 2.62155647e-03 6.87816357e-01 -1.61925261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.58, Y:-158.52, Z:-161.95 [[ 6.15718600e-01 4.50052708e-01 6.46794531e-01 2.72579903e+02] [-3.08124528e-01 8.92997940e-01 -3.28045659e-01 -1.58523570e+02] [-7.25224021e-01 2.69055408e-03 6.88507720e-01 -1.61949041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.60, Y:-158.53, Z:-161.97 [[ 6.16293479e-01 4.49986407e-01 6.46292953e-01 2.72599605e+02] [-3.07954102e-01 8.93029710e-01 -3.28119198e-01 -1.58533918e+02] [-7.24807987e-01 3.18915617e-03 6.88943547e-01 -1.61972896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:-158.54, Z:-162.00 [[ 6.16206250e-01 4.50299571e-01 6.46157994e-01 2.72619977e+02] [-3.08129340e-01 8.92871613e-01 -3.28384825e-01 -1.58544194e+02] [-7.24807676e-01 3.25254520e-03 6.88943578e-01 -1.61997342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:-158.55, Z:-162.02 [[ 6.16771367e-01 4.50321770e-01 6.45603117e-01 2.72639362e+02] [-3.08219902e-01 8.92859408e-01 -3.28333017e-01 -1.58554390e+02] [-7.24288322e-01 3.51867419e-03 6.89488249e-01 -1.62019927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.66, Y:-158.57, Z:-162.04 [[ 6.17437759e-01 4.49962223e-01 6.45216717e-01 2.72659513e+02] [-3.08433862e-01 8.93041536e-01 -3.27636029e-01 -1.58565280e+02] [-7.23629164e-01 3.28817148e-03 6.90181151e-01 -1.62042939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.68, Y:-158.57, Z:-162.07 [[ 6.17732300e-01 4.50214103e-01 6.44758921e-01 2.72679808e+02] [-3.08392704e-01 8.92912578e-01 -3.28026018e-01 -1.58574900e+02] [-7.23395290e-01 3.79331877e-03 6.90423685e-01 -1.62066496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:-158.58, Z:-162.09 [[ 6.17568510e-01 4.50638811e-01 6.44619110e-01 2.72700016e+02] [-3.08514768e-01 8.92697432e-01 -3.28496472e-01 -1.58584423e+02] [-7.23483084e-01 3.99456106e-03 6.90330552e-01 -1.62090326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:-158.59, Z:-162.11 [[ 6.16798089e-01 4.51217712e-01 6.44951698e-01 2.72720477e+02] [-3.08825522e-01 8.92406040e-01 -3.28995832e-01 -1.58594281e+02] [-7.24007537e-01 3.74645568e-03 6.89781886e-01 -1.62113851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:-158.60, Z:-162.14 [[ 6.16057756e-01 4.51842872e-01 6.45221559e-01 2.72739850e+02] [-3.09227613e-01 8.92090853e-01 -3.29472599e-01 -1.58604117e+02] [-7.24466096e-01 3.45382704e-03 6.89301782e-01 -1.62136904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:-158.61, Z:-162.16 [[ 6.14996326e-01 4.52776288e-01 6.45579702e-01 2.72759063e+02] [-3.10053282e-01 8.91619861e-01 -3.29971189e-01 -1.58614481e+02] [-7.25014815e-01 2.76696342e-03 6.88727713e-01 -1.62159753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:-158.62, Z:-162.18 [[ 6.14004026e-01 4.53976932e-01 6.45681036e-01 2.72779339e+02] [-3.11414873e-01 8.91011718e-01 -3.30331493e-01 -1.58624848e+02] [-7.25272247e-01 1.75018872e-03 6.88459951e-01 -1.62183785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:-158.63, Z:-162.21 [[ 6.12122899e-01 4.56509538e-01 6.45681500e-01 2.72799292e+02] [-3.14740849e-01 8.89718146e-01 -3.30665721e-01 -1.58634461e+02] [-7.25426602e-01 -8.14283505e-04 6.88299050e-01 -1.62206633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.82, Y:-158.64, Z:-162.23 [[ 6.10979688e-01 4.58158386e-01 6.45596402e-01 2.72819381e+02] [-3.16966938e-01 8.88867046e-01 -3.30828255e-01 -1.58643742e+02] [-7.25421106e-01 -2.50337054e-03 6.88300771e-01 -1.62230466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:-158.65, Z:-162.25 [[ 6.09654679e-01 4.59942574e-01 6.45580360e-01 2.72839202e+02] [-3.19220118e-01 8.87938766e-01 -3.31154442e-01 -1.58652239e+02] [-7.25547855e-01 -4.19238360e-03 6.88158946e-01 -1.62254381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:-158.66, Z:-162.28 [[ 6.07745022e-01 4.63154478e-01 6.45084427e-01 2.72859923e+02] [-3.23835740e-01 8.86244898e-01 -3.31210498e-01 -1.58660353e+02] [-7.25104407e-01 -7.60986159e-03 6.88596898e-01 -1.62278989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:-158.67, Z:-162.30 [[ 6.07014061e-01 4.64552203e-01 6.44767540e-01 2.72880077e+02] [-3.25687486e-01 8.85501625e-01 -3.31382761e-01 -1.58670160e+02] [-7.24887296e-01 -8.83872357e-03 6.88810776e-01 -1.62303107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.90, Y:-158.68, Z:-162.33 [[ 6.06721493e-01 4.65846883e-01 6.44108463e-01 2.72900283e+02] [-3.27564148e-01 8.84809621e-01 -3.31381447e-01 -1.58680508e+02] [-7.24286379e-01 -9.93059387e-03 6.89427751e-01 -1.62326782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:-158.69, Z:-162.35 [[ 6.06187769e-01 4.66888374e-01 6.43856844e-01 2.72919805e+02] [-3.28861828e-01 8.84251087e-01 -3.31586961e-01 -1.58690234e+02] [-7.24145211e-01 -1.07359784e-02 6.89563958e-01 -1.62350061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:-158.70, Z:-162.37 [[ 6.05336096e-01 4.68893433e-01 6.43200715e-01 2.72940190e+02] [-3.31798422e-01 8.83163331e-01 -3.31560460e-01 -1.58699991e+02] [-7.23517808e-01 -1.27074678e-02 6.90188744e-01 -1.62374313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:-158.71, Z:-162.40 [[ 6.05153578e-01 4.69788896e-01 6.42718865e-01 2.72960189e+02] [-3.33005284e-01 8.82678083e-01 -3.31642704e-01 -1.58709736e+02] [-7.23115916e-01 -1.33340091e-02 6.90597985e-01 -1.62398537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:-158.72, Z:-162.42 [[ 6.05082595e-01 4.70594408e-01 6.42196198e-01 2.72980149e+02] [-3.34101811e-01 8.82240925e-01 -3.31703077e-01 -1.58719234e+02] [-7.22669381e-01 -1.38511541e-02 6.91055072e-01 -1.62422724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:-158.73, Z:-162.45 [[ 6.04767948e-01 4.71231649e-01 6.42025281e-01 2.72999760e+02] [-3.34760685e-01 8.81895686e-01 -3.31956750e-01 -1.58728815e+02] [-7.22627852e-01 -1.41680205e-02 6.91092074e-01 -1.62446593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:-158.74, Z:-162.47 [[ 6.04518112e-01 4.71930389e-01 6.41747271e-01 2.73020005e+02] [-3.35701007e-01 8.81512908e-01 -3.32023836e-01 -1.58739483e+02] [-7.22400641e-01 -1.47207830e-02 6.91318026e-01 -1.62469961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:-158.75, Z:-162.49 [[ 6.04359791e-01 4.72088478e-01 6.41780112e-01 2.73039798e+02] [-3.35568058e-01 8.81432106e-01 -3.32372562e-01 -1.58750088e+02] [-7.22594853e-01 -1.44882936e-02 6.91119937e-01 -1.62493715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:-158.76, Z:-162.52 [[ 6.04258081e-01 4.71769062e-01 6.42110678e-01 2.73059106e+02] [-3.34587092e-01 8.81615710e-01 -3.32874176e-01 -1.58761307e+02] [-7.23134600e-01 -1.37000340e-02 6.90571256e-01 -1.62517290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:-158.77, Z:-162.54 [[ 6.04178792e-01 4.71686504e-01 6.42245926e-01 2.73078686e+02] [-3.34049602e-01 8.81667755e-01 -3.33275911e-01 -1.58771890e+02] [-7.23449273e-01 -1.31837586e-02 6.90251648e-01 -1.62541086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:-158.78, Z:-162.56 [[ 6.04530334e-01 4.71543772e-01 6.42019896e-01 2.73098352e+02] [-3.33612550e-01 8.81752893e-01 -3.33488385e-01 -1.58782175e+02] [-7.23357272e-01 -1.25820497e-02 6.90359290e-01 -1.62564863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:-158.79, Z:-162.59 [[ 6.04818946e-01 4.71424652e-01 6.41835524e-01 2.73117805e+02] [-3.33187998e-01 8.81824565e-01 -3.33723231e-01 -1.58793247e+02] [-7.23311690e-01 -1.20097608e-02 6.90417240e-01 -1.62589686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.14, Y:-158.80, Z:-162.61 [[ 6.05373338e-01 4.71477424e-01 6.41273858e-01 2.73137570e+02] [-3.33208395e-01 8.81801492e-01 -3.33763829e-01 -1.58804151e+02] [-7.22838355e-01 -1.16261095e-02 6.90919348e-01 -1.62613626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:-158.81, Z:-162.64 [[ 6.06474218e-01 4.71342330e-01 6.40332282e-01 2.73155918e+02] [-3.33151654e-01 8.81881708e-01 -3.33608496e-01 -1.58814700e+02] [-7.21941132e-01 -1.10028072e-02 6.91866996e-01 -1.62637152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:-158.83, Z:-162.66 [[ 6.07046432e-01 4.71308500e-01 6.39814760e-01 2.73175170e+02] [-3.33047574e-01 8.81905348e-01 -3.33649924e-01 -1.58825095e+02] [-7.21508103e-01 -1.05477576e-02 6.92325647e-01 -1.62661323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:-158.84, Z:-162.69 [[ 6.07755605e-01 4.71318606e-01 6.39133708e-01 2.73194508e+02] [-3.33076290e-01 8.81904965e-01 -3.33622267e-01 -1.58835678e+02] [-7.20897572e-01 -1.01194820e-02 6.92967738e-01 -1.62685223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.21, Y:-158.84, Z:-162.71 [[ 6.07819567e-01 4.75191042e-01 6.36198749e-01 2.73211747e+02] [-3.31338693e-01 8.79874657e-01 -3.40639485e-01 -1.58841428e+02] [-7.21643988e-01 -3.74991795e-03 6.92254212e-01 -1.62712815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.23, Y:-158.86, Z:-162.73 [[ 6.07867964e-01 4.70141584e-01 6.39893295e-01 2.73231536e+02] [-3.31595426e-01 8.82539761e-01 -3.33418722e-01 -1.58856403e+02] [-7.21485282e-01 -9.51112969e-03 6.92364446e-01 -1.62734383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:-158.87, Z:-162.75 [[ 6.08951038e-01 4.65706321e-01 6.42102995e-01 2.73252266e+02] [-3.32141991e-01 8.84823915e-01 -3.26754246e-01 -1.58872326e+02] [-7.20319603e-01 -1.42920298e-02 6.93495066e-01 -1.62753911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:-158.88, Z:-162.78 [[ 6.08847950e-01 4.70602842e-01 6.38621279e-01 2.73271928e+02] [-3.31145520e-01 8.82310369e-01 -3.34471311e-01 -1.58880284e+02] [-7.20865326e-01 -7.83440336e-03 6.93030882e-01 -1.62779831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.29, Y:-158.89, Z:-162.80 [[ 6.08865950e-01 4.70592275e-01 6.38611905e-01 2.73291657e+02] [-3.30790978e-01 8.82319752e-01 -3.34797230e-01 -1.58891938e+02] [-7.21012888e-01 -7.40042312e-03 6.92882132e-01 -1.62804014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:-158.90, Z:-162.83 [[ 6.08872222e-01 4.70366635e-01 6.38772140e-01 2.73311418e+02] [-3.30031218e-01 8.82445570e-01 -3.35215171e-01 -1.58903180e+02] [-7.21355677e-01 -6.71154070e-03 6.92532268e-01 -1.62828183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:-158.91, Z:-162.85 [[ 6.08178583e-01 4.71927082e-01 6.38281788e-01 2.73329770e+02] [-3.28721355e-01 8.81629102e-01 -3.38633133e-01 -1.58912175e+02] [-7.22537945e-01 -3.86743516e-03 6.91320447e-01 -1.62853710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.35, Y:-158.93, Z:-162.87 [[ 6.08834165e-01 4.67943198e-01 6.40585765e-01 2.73349135e+02] [-3.28007196e-01 8.83731751e-01 -3.33810531e-01 -1.58927706e+02] [-7.22310348e-01 -6.88148481e-03 6.91534820e-01 -1.62873348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.37, Y:-158.94, Z:-162.90 [[ 6.09152298e-01 4.69630136e-01 6.39046957e-01 2.73368630e+02] [-3.27855026e-01 8.82850919e-01 -3.36281633e-01 -1.58936732e+02] [-7.22111182e-01 -4.66802732e-03 6.91761267e-01 -1.62897890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.39, Y:-158.95, Z:-162.92 [[ 6.08856616e-01 4.69877992e-01 6.39146535e-01 2.73387634e+02] [-3.27810135e-01 8.82719720e-01 -3.36669587e-01 -1.58946768e+02] [-7.22380880e-01 -4.53520684e-03 6.91480510e-01 -1.62921486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:-158.96, Z:-162.95 [[ 6.08555212e-01 4.70269015e-01 6.39145998e-01 2.73407166e+02] [-3.28052268e-01 8.82511119e-01 -3.36980467e-01 -1.58956813e+02] [-7.22524922e-01 -4.60207446e-03 6.91329558e-01 -1.62945363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:-158.97, Z:-162.97 [[ 6.07921191e-01 4.70522723e-01 6.39562501e-01 2.73427261e+02] [-3.27849063e-01 8.82376464e-01 -3.37530395e-01 -1.58966838e+02] [-7.23150619e-01 -4.48808619e-03 6.90675785e-01 -1.62969980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.45, Y:-158.98, Z:-162.99 [[ 6.07447229e-01 4.70943757e-01 6.39702933e-01 2.73446978e+02] [-3.28039519e-01 8.82151394e-01 -3.37933413e-01 -1.58977224e+02] [-7.23462465e-01 -4.57112743e-03 6.90348583e-01 -1.62993735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:-158.99, Z:-163.02 [[ 6.07357437e-01 4.71017981e-01 6.39733543e-01 2.73467349e+02] [-3.27781809e-01 8.82113445e-01 -3.38282362e-01 -1.58987597e+02] [-7.23654634e-01 -4.23470952e-03 6.90149287e-01 -1.63017766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:-159.00, Z:-163.04 [[ 6.07680301e-01 4.70644653e-01 6.39701697e-01 2.73487098e+02] [-3.26909099e-01 8.82316431e-01 -3.38597337e-01 -1.58997415e+02] [-7.23778345e-01 -3.36537419e-03 6.90024335e-01 -1.63041446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:-159.01, Z:-163.07 [[ 6.08052848e-01 4.70525297e-01 6.39435438e-01 2.73506808e+02] [-3.26558456e-01 8.82381980e-01 -3.38764840e-01 -1.59007314e+02] [-7.23623734e-01 -2.82612327e-03 6.90188890e-01 -1.63065381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.53, Y:-159.02, Z:-163.09 [[ 6.09014016e-01 4.69443169e-01 6.39316072e-01 2.73526463e+02] [-3.24711922e-01 8.82961979e-01 -3.39028482e-01 -1.59017485e+02] [-7.23646389e-01 -1.12045344e-03 6.90170014e-01 -1.63089398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:-159.03, Z:-163.11 [[ 6.09634552e-01 4.68816586e-01 6.39184419e-01 2.73546258e+02] [-3.23527359e-01 8.83295537e-01 -3.39291971e-01 -1.59027508e+02] [-7.23654449e-01 5.04614899e-05 6.90162471e-01 -1.63113615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.57, Y:-159.04, Z:-163.14 [[ 6.10112861e-01 4.68231485e-01 6.39156924e-01 2.73565719e+02] [-3.22342486e-01 8.83605056e-01 -3.39613643e-01 -1.59037205e+02] [-7.23780090e-01 1.17522001e-03 6.90029710e-01 -1.63137463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.58, Y:-159.05, Z:-163.16 [[ 6.11284386e-01 4.66401703e-01 6.39375359e-01 2.73584988e+02] [-3.19242111e-01 8.84565096e-01 -3.40042740e-01 -1.59046146e+02] [-7.24165639e-01 3.74727811e-03 6.89615897e-01 -1.63160686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.60, Y:-159.06, Z:-163.19 [[ 6.11657411e-01 4.65706186e-01 6.39525574e-01 2.73604811e+02] [-3.17827889e-01 8.84925463e-01 -3.40429668e-01 -1.59056126e+02] [-7.24472667e-01 4.96726661e-03 6.89285632e-01 -1.63185079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.62, Y:-159.07, Z:-163.21 [[ 6.12142867e-01 4.64933051e-01 6.39623615e-01 2.73624132e+02] [-3.16305731e-01 8.85323359e-01 -3.40812609e-01 -1.59065270e+02] [-7.24728773e-01 6.30939231e-03 6.89005368e-01 -1.63208782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.64, Y:-159.07, Z:-163.23 [[ 6.12904762e-01 4.64044410e-01 6.39539317e-01 2.73644107e+02] [-3.14746055e-01 8.85777996e-01 -3.41075156e-01 -1.59074660e+02] [-7.24763874e-01 7.75411084e-03 6.88953700e-01 -1.63233000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:-159.08, Z:-163.26 [[ 6.14207571e-01 4.61922033e-01 6.39825832e-01 2.73663725e+02] [-3.11166098e-01 8.86856043e-01 -3.41558221e-01 -1.59083325e+02] [-7.25206673e-01 1.06955378e-02 6.88448173e-01 -1.63256405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.68, Y:-159.09, Z:-163.28 [[ 6.14535658e-01 4.61250630e-01 6.39995142e-01 2.73683286e+02] [-3.09773261e-01 8.87190207e-01 -3.41956231e-01 -1.59093192e+02] [-7.25524950e-01 1.18909153e-02 6.88093129e-01 -1.63279634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:-159.10, Z:-163.30 [[ 6.15049156e-01 4.60787781e-01 6.39835257e-01 2.73703589e+02] [-3.08988055e-01 8.87419633e-01 -3.42071305e-01 -1.59103160e+02] [-7.25424647e-01 1.26892159e-02 6.88184616e-01 -1.63303311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:-159.11, Z:-163.33 [[ 6.15329255e-01 4.60740766e-01 6.39599762e-01 2.73723075e+02] [-3.08702269e-01 8.87437015e-01 -3.42284170e-01 -1.59112343e+02] [-7.25308774e-01 1.31715659e-02 6.88297677e-01 -1.63326791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.74, Y:-159.12, Z:-163.35 [[ 6.15731007e-01 4.61218065e-01 6.38868706e-01 2.73744069e+02] [-3.09491459e-01 8.87191826e-01 -3.42207103e-01 -1.59120697e+02] [-7.24631191e-01 1.29831159e-02 6.89014568e-01 -1.63351316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.76, Y:-159.13, Z:-163.38 [[ 6.15584668e-01 4.62192800e-01 6.38305047e-01 2.73764360e+02] [-3.10878950e-01 8.86694981e-01 -3.42237183e-01 -1.59129634e+02] [-7.24161443e-01 1.22403599e-02 6.89521847e-01 -1.63375290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.78, Y:-159.14, Z:-163.40 [[ 6.15225971e-01 4.63171455e-01 6.37941383e-01 2.73784458e+02] [-3.12155428e-01 8.86194087e-01 -3.42372646e-01 -1.59138152e+02] [-7.23917118e-01 1.14996782e-02 6.89791102e-01 -1.63399178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.80, Y:-159.15, Z:-163.42 [[ 6.14002802e-01 4.65259743e-01 6.37600134e-01 2.73804800e+02] [-3.15040820e-01 8.85124031e-01 -3.42497784e-01 -1.59145238e+02] [-7.23705631e-01 9.42452937e-03 6.90044446e-01 -1.63422586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.83, Y:-159.15, Z:-163.45 [[ 6.13280315e-01 4.66480913e-01 6.37403180e-01 2.73825339e+02] [-3.16703481e-01 8.84492894e-01 -3.42594842e-01 -1.59154655e+02] [-7.23592538e-01 8.23886647e-03 6.90178209e-01 -1.63446814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:-159.16, Z:-163.47 [[ 6.12412787e-01 4.67786553e-01 6.37280409e-01 2.73845005e+02] [-3.18322428e-01 8.83812914e-01 -3.42849188e-01 -1.59163870e+02] [-7.23616895e-01 7.10458005e-03 6.90165280e-01 -1.63470350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:-159.17, Z:-163.49 [[ 6.12359511e-01 4.68026425e-01 6.37155471e-01 2.73865141e+02] [-3.18427132e-01 8.83685127e-01 -3.43081270e-01 -1.59174673e+02] [-7.23615914e-01 7.20148928e-03 6.90165304e-01 -1.63494799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.89, Y:-159.18, Z:-163.52 [[ 6.11680806e-01 4.69117580e-01 6.37004936e-01 2.73885693e+02] [-3.19945192e-01 8.83114761e-01 -3.43137571e-01 -1.59184573e+02] [-7.23520328e-01 6.08399926e-03 6.90276263e-01 -1.63519133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.91, Y:-159.19, Z:-163.54 [[ 6.09876375e-01 4.71371645e-01 6.37071094e-01 2.73906972e+02] [-3.22833205e-01 8.81926411e-01 -3.43488757e-01 -1.59193638e+02] [-7.23760685e-01 3.81797486e-03 6.90040502e-01 -1.63542567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:-159.20, Z:-163.57 [[ 6.08877152e-01 4.72659262e-01 6.37072865e-01 2.73926672e+02] [-3.24357037e-01 8.81241131e-01 -3.43811840e-01 -1.59202833e+02] [-7.23920663e-01 2.70010759e-03 6.89877948e-01 -1.63565558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.95, Y:-159.21, Z:-163.59 [[ 6.08134089e-01 4.73722463e-01 6.36992903e-01 2.73946530e+02] [-3.25733103e-01 8.80672570e-01 -3.43967686e-01 -1.59212022e+02] [-7.23927397e-01 1.68880066e-03 6.89874099e-01 -1.63588771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.97, Y:-159.22, Z:-163.61 [[ 6.06802739e-01 4.75303117e-01 6.37085067e-01 2.73967442e+02] [-3.27666274e-01 8.79822093e-01 -3.44307852e-01 -1.59221516e+02] [-7.24172113e-01 1.75656962e-04 6.89619257e-01 -1.63612883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.99, Y:-159.23, Z:-163.64 [[ 6.06138185e-01 4.76059890e-01 6.37152637e-01 2.73986767e+02] [-3.28395847e-01 8.79412801e-01 -3.44658228e-01 -1.59231250e+02] [-7.24398142e-01 -3.27767009e-04 6.89381769e-01 -1.63635886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:-159.24, Z:-163.66 [[ 6.05767806e-01 4.76625917e-01 6.37081706e-01 2.74006793e+02] [-3.28950460e-01 8.79105987e-01 -3.44911958e-01 -1.59241174e+02] [-7.24456320e-01 -6.31760302e-04 6.89320420e-01 -1.63659533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.03, Y:-159.25, Z:-163.68 [[ 6.05427278e-01 4.77235897e-01 6.36948749e-01 2.74026872e+02] [-3.29586396e-01 8.78774694e-01 -3.45149017e-01 -1.59250647e+02] [-7.24451943e-01 -9.67013086e-04 6.89324631e-01 -1.63683259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.05, Y:-159.26, Z:-163.71 [[ 6.05553663e-01 4.77589377e-01 6.36563545e-01 2.74046611e+02] [-3.29971521e-01 8.78582636e-01 -3.45269961e-01 -1.59260622e+02] [-7.24170944e-01 -9.68351564e-04 6.89619827e-01 -1.63706763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.07, Y:-159.27, Z:-163.73 [[ 6.05495902e-01 4.77834523e-01 6.36434507e-01 2.74066713e+02] [-3.30077278e-01 8.78449437e-01 -3.45507710e-01 -1.59271488e+02] [-7.24171046e-01 -8.69066681e-04 6.89619853e-01 -1.63731213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.09, Y:-159.28, Z:-163.76 [[ 6.06175462e-01 4.78062431e-01 6.35615939e-01 2.74086848e+02] [-3.30724184e-01 8.78325334e-01 -3.45204463e-01 -1.59280535e+02] [-7.23306867e-01 -9.59088115e-04 6.90526072e-01 -1.63755145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:-159.29, Z:-163.78 [[ 6.06397543e-01 4.78389055e-01 6.35158195e-01 2.74106901e+02] [-3.31112474e-01 8.78147510e-01 -3.45284637e-01 -1.59290639e+02] [-7.22942978e-01 -9.29045372e-04 6.90907076e-01 -1.63779774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:-159.30, Z:-163.80 [[ 6.06887212e-01 4.78641953e-01 6.34499640e-01 2.74127132e+02] [-3.31510870e-01 8.78009805e-01 -3.45252553e-01 -1.59301169e+02] [-7.22349262e-01 -8.14167978e-04 6.91527932e-01 -1.63804023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.15, Y:-159.31, Z:-163.83 [[ 6.07330453e-01 4.78826219e-01 6.33936253e-01 2.74146614e+02] [-3.31739196e-01 8.77909503e-01 -3.45288300e-01 -1.59311490e+02] [-7.21871752e-01 -5.97403427e-04 6.92026601e-01 -1.63827766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.17, Y:-159.32, Z:-163.85 [[ 6.08733131e-01 4.78484299e-01 6.32848126e-01 2.74166436e+02] [-3.31643641e-01 8.78096105e-01 -3.44905386e-01 -1.59321429e+02] [-7.20733287e-01 7.52787557e-05 6.93212467e-01 -1.63852414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:-159.33, Z:-163.88 [[ 6.09323726e-01 4.78345195e-01 6.32384750e-01 2.74185447e+02] [-3.31354894e-01 8.78171640e-01 -3.44990586e-01 -1.59331785e+02] [-7.20366942e-01 6.67167868e-04 6.93592837e-01 -1.63875738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:-159.34, Z:-163.90 [[ 6.10491446e-01 4.77318097e-01 6.32034516e-01 2.74205243e+02] [-3.29749521e-01 8.78727635e-01 -3.45113021e-01 -1.59343873e+02] [-7.20114885e-01 2.27546818e-03 6.93851118e-01 -1.63899606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.22, Y:-159.36, Z:-163.92 [[ 6.10846690e-01 4.77110685e-01 6.31847858e-01 2.74224292e+02] [-3.29205950e-01 8.78838270e-01 -3.45350168e-01 -1.59355051e+02] [-7.20062334e-01 2.94793287e-03 6.93903124e-01 -1.63922717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:-159.37, Z:-163.95 [[ 6.11274132e-01 4.76814422e-01 6.31658091e-01 2.74243067e+02] [-3.28561628e-01 8.78996223e-01 -3.45561713e-01 -1.59365709e+02] [-7.19993884e-01 3.69432557e-03 6.93970575e-01 -1.63945642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.26, Y:-159.38, Z:-163.97 [[ 6.11812779e-01 4.76209863e-01 6.31592661e-01 2.74262754e+02] [-3.27413642e-01 8.79318603e-01 -3.45831031e-01 -1.59377590e+02] [-7.20059324e-01 4.79179052e-03 6.93895964e-01 -1.63969797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.28, Y:-159.39, Z:-163.99 [[ 6.12776053e-01 4.74495580e-01 6.31948933e-01 2.74282785e+02] [-3.27175777e-01 8.80249504e-01 -3.43681280e-01 -1.59390181e+02] [-7.19347983e-01 3.84127501e-03 6.94639276e-01 -1.63992661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.30, Y:-159.40, Z:-164.02 [[ 6.10741567e-01 4.78498427e-01 6.30899354e-01 2.74300892e+02] [-3.27852335e-01 8.78067551e-01 -3.48583165e-01 -1.59399121e+02] [-7.20768746e-01 6.05240207e-03 6.93149178e-01 -1.64017874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.32, Y:-159.41, Z:-164.04 [[ 6.10671406e-01 4.77398111e-01 6.31800188e-01 2.74320904e+02] [-3.27962822e-01 8.78674743e-01 -3.46945362e-01 -1.59411262e+02] [-7.20777928e-01 4.66263917e-03 6.93150372e-01 -1.64041809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.34, Y:-159.42, Z:-164.07 [[ 6.09476807e-01 4.78290635e-01 6.32278492e-01 2.74340536e+02] [-3.28781670e-01 8.78193197e-01 -3.47389294e-01 -1.59422664e+02] [-7.21415716e-01 3.84413931e-03 6.92491579e-01 -1.64066074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:-159.43, Z:-164.09 [[ 6.08114202e-01 4.79712808e-01 6.32513035e-01 2.74360624e+02] [-3.30341965e-01 8.77421737e-01 -3.47858136e-01 -1.59433907e+02] [-7.21852689e-01 2.59187371e-03 6.92041890e-01 -1.64089987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.38, Y:-159.44, Z:-164.11 [[ 6.05559763e-01 4.83002603e-01 6.32460164e-01 2.74380374e+02] [-3.34769714e-01 8.75618462e-01 -3.48168849e-01 -1.59444322e+02] [-7.21960257e-01 -8.91462501e-04 6.91933952e-01 -1.64113958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.40, Y:-159.45, Z:-164.14 [[ 6.03927250e-01 4.85138649e-01 6.32386249e-01 2.74399788e+02] [-3.37549161e-01 8.74432052e-01 -3.48466856e-01 -1.59454686e+02] [-7.22033545e-01 -3.01281749e-03 6.91851489e-01 -1.64138105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.42, Y:-159.47, Z:-164.16 [[ 6.01075609e-01 4.88758912e-01 6.32315457e-01 2.74419247e+02] [-3.42485697e-01 8.72391408e-01 -3.48764646e-01 -1.59465346e+02] [-7.22088401e-01 -6.92507801e-03 6.91766134e-01 -1.64162746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:-159.48, Z:-164.19 [[ 5.99844242e-01 4.90561757e-01 6.32088639e-01 2.74438880e+02] [-3.44876376e-01 8.71363399e-01 -3.48978669e-01 -1.59476480e+02] [-7.21974495e-01 -8.65959396e-03 6.91865479e-01 -1.64187134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:-159.49, Z:-164.21 [[ 5.98770297e-01 4.92124761e-01 6.31891883e-01 2.74458632e+02] [-3.46904637e-01 8.70465961e-01 -3.49207937e-01 -1.59487623e+02] [-7.21894248e-01 -1.01108836e-02 6.91929523e-01 -1.64211119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.48, Y:-159.50, Z:-164.24 [[ 5.97766276e-01 4.93590649e-01 6.31699098e-01 2.74478335e+02] [-3.48790412e-01 8.69619014e-01 -3.49439580e-01 -1.59498692e+02] [-7.21817656e-01 -1.14473922e-02 6.91988605e-01 -1.64235285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.50, Y:-159.51, Z:-164.26 [[ 5.96133114e-01 4.95801100e-01 6.31511346e-01 2.74497857e+02] [-3.51761667e-01 8.68328180e-01 -3.49671134e-01 -1.59509194e+02] [-7.21726430e-01 -1.36909423e-02 6.92043003e-01 -1.64259708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.52, Y:-159.52, Z:-164.28 [[ 5.95576453e-01 4.96779846e-01 6.31267355e-01 2.74516781e+02] [-3.52969302e-01 8.67756432e-01 -3.49873473e-01 -1.59518969e+02] [-7.21596397e-01 -1.44415956e-02 6.92163333e-01 -1.64282932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.54, Y:-159.53, Z:-164.31 [[ 5.95191551e-01 4.97694224e-01 6.30910039e-01 2.74536190e+02] [-3.54170003e-01 8.67220430e-01 -3.49989050e-01 -1.59529364e+02] [-7.21325604e-01 -1.51388846e-02 6.92430637e-01 -1.64307117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:-159.54, Z:-164.33 [[ 5.95294153e-01 4.98511741e-01 6.30167371e-01 2.74554107e+02] [-3.55411887e-01 8.66741389e-01 -3.49916785e-01 -1.59540316e+02] [-7.20629768e-01 -1.56655578e-02 6.93143079e-01 -1.64330770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.57, Y:-159.55, Z:-164.35 [[ 5.95493722e-01 4.98646475e-01 6.29872146e-01 2.74573371e+02] [-3.55440356e-01 8.66668318e-01 -3.50068823e-01 -1.59551915e+02] [-7.20450818e-01 -1.54181938e-02 6.93334623e-01 -1.64354803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.59, Y:-159.56, Z:-164.38 [[ 5.95877876e-01 4.98441369e-01 6.29671152e-01 2.74592094e+02] [-3.54902550e-01 8.66798093e-01 -3.50293085e-01 -1.59563499e+02] [-7.20398319e-01 -1.47399977e-02 6.93403919e-01 -1.64378167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.61, Y:-159.58, Z:-164.40 [[ 5.96406633e-01 4.97065376e-01 6.30257995e-01 2.74610390e+02] [-3.52252218e-01 8.67619987e-01 -3.50932947e-01 -1.59576465e+02] [-7.21261051e-01 -1.27110396e-02 6.92546696e-01 -1.64401785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:-159.59, Z:-164.43 [[ 5.96694538e-01 4.96376518e-01 6.30528334e-01 2.74629671e+02] [-3.50752483e-01 8.68031551e-01 -3.51417020e-01 -1.59588860e+02] [-7.21753645e-01 -1.14707620e-02 6.92054982e-01 -1.64426126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.65, Y:-159.60, Z:-164.45 [[ 5.97199865e-01 4.95526320e-01 6.30718628e-01 2.74648658e+02] [-3.49054565e-01 8.68535097e-01 -3.51863178e-01 -1.59600874e+02] [-7.22158731e-01 -1.00225746e-02 6.91654766e-01 -1.64449720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.67, Y:-159.61, Z:-164.47 [[ 5.97770752e-01 4.94820736e-01 6.30731772e-01 2.74666872e+02] [-3.47665677e-01 8.68951098e-01 -3.52210969e-01 -1.59612963e+02] [-7.22356356e-01 -8.74237247e-03 6.91465737e-01 -1.64472521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.68, Y:-159.63, Z:-164.50 [[ 5.98863351e-01 4.93175770e-01 6.30983634e-01 2.74684357e+02] [-3.44801331e-01 8.69906409e-01 -3.52668232e-01 -1.59626619e+02] [-7.22824134e-01 -6.36391760e-03 6.91002729e-01 -1.64495379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.70, Y:-159.64, Z:-164.52 [[ 5.99406682e-01 4.92706177e-01 6.30834569e-01 2.74703327e+02] [-3.43877120e-01 8.70178983e-01 -3.52898094e-01 -1.59638957e+02] [-7.22814054e-01 -5.40009902e-03 6.91021478e-01 -1.64519256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:-159.65, Z:-164.54 [[ 5.99829504e-01 4.92269714e-01 6.30773411e-01 2.74721908e+02] [-3.42923909e-01 8.70431367e-01 -3.53203097e-01 -1.59650467e+02] [-7.22916150e-01 -4.44564492e-03 6.90921469e-01 -1.64543085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.74, Y:-159.66, Z:-164.57 [[ 6.00531824e-01 4.91892089e-01 6.30399635e-01 2.74740010e+02] [-3.42263315e-01 8.70648772e-01 -3.53307994e-01 -1.59663582e+02] [-7.22646076e-01 -3.58997482e-03 6.91208913e-01 -1.64567366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.76, Y:-159.68, Z:-164.59 [[ 6.01152361e-01 4.91959121e-01 6.29755557e-01 2.74759241e+02] [-3.42381469e-01 8.70612273e-01 -3.53283456e-01 -1.59675451e+02] [-7.22073935e-01 -3.23944946e-03 6.91808310e-01 -1.64591223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.78, Y:-159.69, Z:-164.61 [[ 6.01372707e-01 4.92301641e-01 6.29277333e-01 2.74777395e+02] [-3.42805458e-01 8.70418688e-01 -3.53349296e-01 -1.59687638e+02] [-7.21689189e-01 -3.22508167e-03 6.92209732e-01 -1.64614746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.80, Y:-159.70, Z:-164.64 [[ 6.01339047e-01 4.92884467e-01 6.28853126e-01 2.74795940e+02] [-3.43570111e-01 8.70087611e-01 -3.53422025e-01 -1.59698908e+02] [-7.21353540e-01 -3.52867425e-03 6.92558025e-01 -1.64637724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:-159.71, Z:-164.66 [[ 6.01081154e-01 4.93675583e-01 6.28479010e-01 2.74815217e+02] [-3.44610145e-01 8.69636546e-01 -3.53519627e-01 -1.59710232e+02] [-7.21072323e-01 -4.08625760e-03 6.92847752e-01 -1.64661555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.83, Y:-159.72, Z:-164.68 [[ 6.00491886e-01 4.94914138e-01 6.28068063e-01 2.74833850e+02] [-3.46292753e-01 8.68926628e-01 -3.53621045e-01 -1.59721425e+02] [-7.20757119e-01 -5.14885054e-03 6.93168569e-01 -1.64684284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:-159.73, Z:-164.71 [[ 5.99759022e-01 4.96058818e-01 6.27865244e-01 2.74853469e+02] [-3.47744457e-01 8.68267265e-01 -3.53815982e-01 -1.59732617e+02] [-7.20668376e-01 -6.13233089e-03 6.93252830e-01 -1.64708144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.87, Y:-159.74, Z:-164.73 [[ 5.98521222e-01 4.97782095e-01 6.27682509e-01 2.74873148e+02] [-3.50000420e-01 8.67267180e-01 -3.54044269e-01 -1.59744052e+02] [-7.20605338e-01 -7.78613322e-03 6.93301755e-01 -1.64732191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.89, Y:-159.75, Z:-164.76 [[ 5.97984272e-01 4.98859122e-01 6.27339132e-01 2.74892594e+02] [-3.51408462e-01 8.66639873e-01 -3.54185578e-01 -1.59754824e+02] [-7.20365812e-01 -8.65487516e-03 6.93540330e-01 -1.64756119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.91, Y:-159.77, Z:-164.78 [[ 5.97465940e-01 4.99904744e-01 6.27000556e-01 2.74911628e+02] [-3.52760401e-01 8.66028544e-01 -3.54336931e-01 -1.59765353e+02] [-7.20135091e-01 -9.47672025e-03 6.93769156e-01 -1.64779426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67655999499993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.93, Y:-159.78, Z:-164.80 [[ 5.95853701e-01 5.01748762e-01 6.27061837e-01 2.74931879e+02] [-3.55182219e-01 8.64937717e-01 -3.54581918e-01 -1.59775767e+02] [-7.20280472e-01 -1.14422663e-02 6.93588579e-01 -1.64803271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.95, Y:-159.79, Z:-164.83 [[ 5.95117173e-01 5.02620142e-01 6.27063429e-01 2.74951018e+02] [-3.56091649e-01 8.64423102e-01 -3.54924552e-01 -1.59786452e+02] [-7.20440343e-01 -1.20703546e-02 6.93411868e-01 -1.64826267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.97, Y:-159.80, Z:-164.85 [[ 5.94485468e-01 5.03167386e-01 6.27223732e-01 2.74970278e+02] [-3.56464460e-01 8.64100843e-01 -3.55334802e-01 -1.59797211e+02] [-7.20777439e-01 -1.23415931e-02 6.93056685e-01 -1.64849703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.99, Y:-159.81, Z:-164.87 [[ 5.94054834e-01 5.03380560e-01 6.27460649e-01 2.74990271e+02] [-3.56425087e-01 8.63976536e-01 -3.55676402e-01 -1.59808377e+02] [-7.21151865e-01 -1.23514308e-02 6.92666897e-01 -1.64872994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.01, Y:-159.82, Z:-164.90 [[ 5.93901120e-01 5.03457717e-01 6.27544251e-01 2.75010257e+02] [-3.56143288e-01 8.63936069e-01 -3.56056776e-01 -1.59819424e+02] [-7.21417645e-01 -1.20331550e-02 6.92395685e-01 -1.64896987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.03, Y:-159.83, Z:-164.92 [[ 5.93651948e-01 5.03527459e-01 6.27724034e-01 2.75028950e+02] [-3.55790178e-01 8.63899960e-01 -3.56497135e-01 -1.59829911e+02] [-7.21796865e-01 -1.17028273e-02 6.92006019e-01 -1.64920030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.05, Y:-159.84, Z:-164.94 [[ 5.93556824e-01 5.03363117e-01 6.27945753e-01 2.75048479e+02] [-3.55096618e-01 8.64003442e-01 -3.56937592e-01 -1.59840620e+02] [-7.22216511e-01 -1.11186695e-02 6.91577679e-01 -1.64943869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:-159.85, Z:-164.97 [[ 5.94388434e-01 5.02320083e-01 6.27994366e-01 2.75067327e+02] [-3.53195124e-01 8.64630374e-01 -3.57305919e-01 -1.59850763e+02] [-7.22464943e-01 -9.42604265e-03 6.91343298e-01 -1.64967118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.09, Y:-159.86, Z:-164.99 [[ 5.95431426e-01 5.01759585e-01 6.27454171e-01 2.75086540e+02] [-3.52361109e-01 8.64966972e-01 -3.57314688e-01 -1.59861369e+02] [-7.22013204e-01 -8.33405322e-03 6.91829081e-01 -1.64990446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.11, Y:-159.87, Z:-165.01 [[ 5.95352011e-01 5.02022660e-01 6.27319083e-01 2.75106403e+02] [-3.52493503e-01 8.64815053e-01 -3.57551752e-01 -1.59872638e+02] [-7.22014067e-01 -8.25674591e-03 6.91829107e-01 -1.65014892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.13, Y:-159.88, Z:-165.04 [[ 5.96167948e-01 5.01390955e-01 6.27049351e-01 2.75125218e+02] [-3.51541547e-01 8.65190422e-01 -3.57580864e-01 -1.59883116e+02] [-7.21804904e-01 -7.25564933e-03 6.92058550e-01 -1.65038279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.15, Y:-159.89, Z:-165.06 [[ 5.97179898e-01 5.00801649e-01 6.26557163e-01 2.75145055e+02] [-3.50652144e-01 8.65540245e-01 -3.57607549e-01 -1.59894278e+02] [-7.21400890e-01 -6.14757303e-03 6.92490407e-01 -1.65062515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.16, Y:-159.90, Z:-165.09 [[ 5.98776788e-01 4.99226204e-01 6.26290313e-01 2.75163867e+02] [-3.48178104e-01 8.66463254e-01 -3.57789655e-01 -1.59904577e+02] [-7.21275514e-01 -3.82443350e-03 6.92637717e-01 -1.65085880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.18, Y:-159.92, Z:-165.11 [[ 5.99379613e-01 4.98680063e-01 6.26148763e-01 2.75183694e+02] [-3.47147544e-01 8.66781683e-01 -3.58019687e-01 -1.59915320e+02] [-7.21271559e-01 -2.77630332e-03 6.92646829e-01 -1.65110089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.20, Y:-159.93, Z:-165.13 [[ 6.00852870e-01 4.97340989e-01 6.25801701e-01 2.75203703e+02] [-3.45075018e-01 8.67554825e-01 -3.58150607e-01 -1.59925715e+02] [-7.21040263e-01 -7.52713332e-04 6.92892757e-01 -1.65134511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.22, Y:-159.94, Z:-165.16 [[ 6.01263671e-01 4.96973052e-01 6.25699435e-01 2.75223452e+02] [-3.44258522e-01 8.67765968e-01 -3.58424742e-01 -1.59936730e+02] [-7.21088113e-01 1.05413192e-04 6.92843360e-01 -1.65158639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.24, Y:-159.95, Z:-165.18 [[ 6.01464793e-01 4.96835450e-01 6.25615408e-01 2.75242486e+02] [-3.43749336e-01 8.67844479e-01 -3.58723228e-01 -1.59947613e+02] [-7.21163294e-01 7.04510681e-04 6.92764756e-01 -1.65182088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:-159.96, Z:-165.21 [[ 6.01624115e-01 4.96751576e-01 6.25528813e-01 2.75262254e+02] [-3.43344639e-01 8.67891935e-01 -3.58995888e-01 -1.59958991e+02] [-7.21223185e-01 1.20861884e-03 6.92701708e-01 -1.65206144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.28, Y:-159.97, Z:-165.23 [[ 6.01926251e-01 4.96891572e-01 6.25126830e-01 2.75281164e+02] [-3.43435687e-01 8.67811400e-01 -3.59103472e-01 -1.59970085e+02] [-7.20927678e-01 1.46294458e-03 6.93008761e-01 -1.65228869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.30, Y:-159.98, Z:-165.25 [[ 6.02053233e-01 4.97573842e-01 6.24461509e-01 2.75301132e+02] [-3.44491618e-01 8.67421004e-01 -3.59035273e-01 -1.59981006e+02] [-7.20317589e-01 1.03659127e-03 6.93643638e-01 -1.65252510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:-159.99, Z:-165.28 [[ 6.01650641e-01 4.98530101e-01 6.24086728e-01 2.75321074e+02] [-3.45749587e-01 8.66872335e-01 -3.59151191e-01 -1.59991663e+02] [-7.20051199e-01 3.05815656e-04 6.93920873e-01 -1.65277004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.34, Y:-160.00, Z:-165.30 [[ 6.01139225e-01 4.99601990e-01 6.23722281e-01 2.75341125e+02] [-3.47163208e-01 8.66254893e-01 -3.59277283e-01 -1.60002230e+02] [-7.19798123e-01 -5.57760196e-04 6.94183225e-01 -1.65301336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.36, Y:-160.01, Z:-165.33 [[ 6.00433061e-01 5.00698438e-01 6.23523226e-01 2.75360996e+02] [-3.48508762e-01 8.65620577e-01 -3.59503350e-01 -1.60012640e+02] [-7.19737301e-01 -1.44561057e-03 6.94245006e-01 -1.65325213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:-160.02, Z:-165.35 [[ 5.98825239e-01 5.02681414e-01 6.23473920e-01 2.75381519e+02] [-3.51047754e-01 8.64465043e-01 -3.59813375e-01 -1.60023354e+02] [-7.19842905e-01 -3.40378928e-03 6.94128667e-01 -1.65349179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.40, Y:-160.03, Z:-165.37 [[ 5.97941804e-01 5.03639966e-01 6.23548221e-01 2.75401046e+02] [-3.52034913e-01 8.63903753e-01 -3.60196787e-01 -1.60034455e+02] [-7.20095146e-01 -4.13402698e-03 6.93863020e-01 -1.65372710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.42, Y:-160.05, Z:-165.40 [[ 5.96937902e-01 5.04397629e-01 6.23897566e-01 2.75420881e+02] [-3.52567205e-01 8.63459112e-01 -3.60741913e-01 -1.60045422e+02] [-7.20667404e-01 -4.62530021e-03 6.93265533e-01 -1.65395201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.44, Y:-160.06, Z:-165.42 [[ 5.96610455e-01 5.04745453e-01 6.23929477e-01 2.75440666e+02] [-3.52719323e-01 8.63255712e-01 -3.61079846e-01 -1.60056834e+02] [-7.20864095e-01 -4.64797109e-03 6.93060858e-01 -1.65419338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.46, Y:-160.07, Z:-165.44 [[ 5.96497897e-01 5.04849444e-01 6.23952961e-01 2.75460342e+02] [-3.52512408e-01 8.63196388e-01 -3.61423570e-01 -1.60068014e+02] [-7.21058431e-01 -4.36276102e-03 6.92860524e-01 -1.65443828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:-160.08, Z:-165.47 [[ 5.97003268e-01 5.04740578e-01 6.23557574e-01 2.75480429e+02] [-3.52235385e-01 8.63262706e-01 -3.61535246e-01 -1.60079084e+02] [-7.20775507e-01 -3.80131855e-03 6.93158148e-01 -1.65467986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.50, Y:-160.09, Z:-165.49 [[ 5.97908518e-01 5.03817376e-01 6.23436810e-01 2.75500123e+02] [-3.50615797e-01 8.63807242e-01 -3.61808805e-01 -1.60090170e+02] [-7.20814794e-01 -2.25822759e-03 6.93124038e-01 -1.65491639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.52, Y:-160.10, Z:-165.52 [[ 5.98471301e-01 5.03241372e-01 6.23362033e-01 2.75519212e+02] [-3.49471761e-01 8.64145145e-01 -3.62108625e-01 -1.60101178e+02] [-7.20903315e-01 -1.13580708e-03 6.93034718e-01 -1.65515036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:-160.11, Z:-165.54 [[ 5.99339948e-01 5.02558044e-01 6.23078679e-01 2.75539082e+02] [-3.48324948e-01 8.64543466e-01 -3.62262785e-01 -1.60112557e+02] [-7.20736677e-01 8.47098933e-05 6.93208940e-01 -1.65539159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.56, Y:-160.12, Z:-165.56 [[ 6.00170967e-01 5.01817705e-01 6.22875430e-01 2.75558432e+02] [-3.47029426e-01 8.64972279e-01 -3.62482460e-01 -1.60123680e+02] [-7.20670096e-01 1.39534552e-03 6.93276760e-01 -1.65562772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.58, Y:-160.13, Z:-165.59 [[ 6.02566003e-01 4.99659812e-01 6.22297585e-01 2.75577762e+02] [-3.43924585e-01 8.66210560e-01 -3.62484683e-01 -1.60134367e+02] [-7.20159768e-01 4.39750762e-03 6.93794329e-01 -1.65586321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:-160.15, Z:-165.61 [[ 6.03624333e-01 4.98800841e-01 6.21960920e-01 2.75596795e+02] [-3.42569038e-01 8.66697140e-01 -3.62605186e-01 -1.60145217e+02] [-7.19919522e-01 5.81275911e-03 6.94033208e-01 -1.65609945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.62, Y:-160.17, Z:-165.63 [[ 6.05432549e-01 4.88807498e-01 6.28107203e-01 2.75618754e+02] [-3.44013162e-01 8.72372347e-01 -3.47305965e-01 -1.60171317e+02] [-7.17709114e-01 -5.80680899e-03 6.96318827e-01 -1.65626704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.64, Y:-160.15, Z:-165.66 [[ 6.05237444e-01 5.13455809e-01 6.08317984e-01 2.75635027e+02] [-3.40853265e-01 8.57734719e-01 -3.84850886e-01 -1.60153036e+02] [-7.19379378e-01 2.55789955e-02 6.94146257e-01 -1.65662768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:-160.18, Z:-165.68 [[ 6.06077025e-01 4.97054598e-01 6.20972919e-01 2.75654113e+02] [-3.39994310e-01 8.67675755e-01 -3.62688093e-01 -1.60178692e+02] [-7.19078931e-01 8.68966151e-03 6.94874075e-01 -1.65680520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:-160.19, Z:-165.70 [[ 6.06270342e-01 4.97494227e-01 6.20431920e-01 2.75673176e+02] [-3.40612380e-01 8.67424930e-01 -3.62708145e-01 -1.60189313e+02] [-7.18623322e-01 8.57239812e-03 6.95346701e-01 -1.65703926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.69, Y:-160.20, Z:-165.73 [[ 6.06339868e-01 4.98154256e-01 6.19834092e-01 2.75692674e+02] [-3.41605497e-01 8.67050001e-01 -3.62670622e-01 -1.60200299e+02] [-7.18093064e-01 8.16292391e-03 6.95899215e-01 -1.65727796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.71, Y:-160.21, Z:-165.75 [[ 6.05717994e-01 5.00249005e-01 6.18754108e-01 2.75712352e+02] [-3.44921191e-01 8.65860279e-01 -3.62374598e-01 -1.60210051e+02] [-7.17032136e-01 6.07541108e-03 6.97013633e-01 -1.65751737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:-160.22, Z:-165.78 [[ 6.05000976e-01 5.01778181e-01 6.18217176e-01 2.75731879e+02] [-3.47092675e-01 8.64983725e-01 -3.62394579e-01 -1.60220600e+02] [-7.16589488e-01 4.67042038e-03 6.97479529e-01 -1.65776049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.75, Y:-160.23, Z:-165.80 [[ 6.03805603e-01 5.03572047e-01 6.17927170e-01 2.75751503e+02] [-3.49490823e-01 8.63948179e-01 -3.62559937e-01 -1.60231705e+02] [-7.16432103e-01 2.95584639e-03 6.97650561e-01 -1.65799972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.77, Y:-160.24, Z:-165.82 [[ 6.02513447e-01 5.05381544e-01 6.17711131e-01 2.75771137e+02] [-3.51868419e-01 8.62895131e-01 -3.62767981e-01 -1.60242994e+02] [-7.16356170e-01 1.21954790e-03 6.97733724e-01 -1.65823714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.79, Y:-160.24, Z:-165.86 [[ 5.97628210e-01 5.18216858e-01 6.11793928e-01 2.75788279e+02] [-3.53683572e-01 8.55190158e-01 -3.78890123e-01 -1.60242295e+02] [-7.19547395e-01 1.00539641e-02 6.94370553e-01 -1.65855150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.81, Y:-160.28, Z:-165.87 [[ 5.98911141e-01 4.97776758e-01 6.27314710e-01 2.75810051e+02] [-3.58164359e-01 8.67130958e-01 -3.46124535e-01 -1.60277146e+02] [-7.16256754e-01 -1.73839307e-02 6.97620284e-01 -1.65865781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.83, Y:-160.28, Z:-165.89 [[ 5.95646012e-01 5.13059091e-01 6.18042230e-01 2.75828861e+02] [-3.61869761e-01 8.58324968e-01 -3.63769880e-01 -1.60278113e+02] [-7.17116521e-01 -6.97271551e-03 6.96918415e-01 -1.65894193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.84, Y:-160.28, Z:-165.93 [[ 5.91370693e-01 5.25583973e-01 6.11589887e-01 2.75844521e+02] [-3.60914446e-01 8.50725615e-01 -3.82108220e-01 -1.60276110e+02] [-7.21125139e-01 5.23597754e-03 6.92785045e-01 -1.65927009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.86, Y:-160.30, Z:-165.94 [[ 5.89701506e-01 5.12162520e-01 6.24453110e-01 2.75863235e+02] [-3.62584340e-01 8.58790597e-01 -3.61954840e-01 -1.60302509e+02] [-7.21654163e-01 -1.29716043e-02 6.92132218e-01 -1.65943745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:-160.32, Z:-165.96 [[ 5.90088764e-01 5.08184724e-01 6.27330485e-01 2.75884582e+02] [-3.65311962e-01 8.61007284e-01 -3.53855376e-01 -1.60320769e+02] [-7.19960013e-01 -2.03652492e-02 6.93716683e-01 -1.65959935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.90, Y:-160.32, Z:-165.99 [[ 5.87720881e-01 5.18389088e-01 6.21173825e-01 2.75903501e+02] [-3.66791981e-01 8.55054625e-01 -3.66531351e-01 -1.60324484e+02] [-7.21143404e-01 -1.24234492e-02 6.92674418e-01 -1.65986590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.92, Y:-160.34, Z:-166.01 [[ 5.86921006e-01 5.19188687e-01 6.21262296e-01 2.75922852e+02] [-3.67574128e-01 8.54560485e-01 -3.66900038e-01 -1.60336183e+02] [-7.21396558e-01 -1.30186074e-02 6.92399828e-01 -1.66010812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:-160.35, Z:-166.04 [[ 5.86239967e-01 5.20348509e-01 6.20934884e-01 2.75941874e+02] [-3.69097608e-01 8.53839127e-01 -3.67049997e-01 -1.60347545e+02] [-7.21172418e-01 -1.40062025e-02 6.92614012e-01 -1.66035574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.96, Y:-160.36, Z:-166.06 [[ 5.85886071e-01 5.21307417e-01 6.20464414e-01 2.75960755e+02] [-3.70413386e-01 8.53241624e-01 -3.67113952e-01 -1.60358755e+02] [-7.20785291e-01 -1.47413736e-02 6.93001628e-01 -1.66059537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.98, Y:-160.37, Z:-166.08 [[ 5.85800142e-01 5.22257982e-01 6.19745750e-01 2.75979189e+02] [-3.71860753e-01 8.52647540e-01 -3.67030998e-01 -1.60369755e+02] [-7.20109557e-01 -1.54523104e-02 6.93688296e-01 -1.66082706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.99, Y:-160.36, Z:-166.12 [[ 5.83245195e-01 5.35116712e-01 6.11126130e-01 2.75993922e+02] [-3.70940073e-01 8.44776348e-01 -3.85689493e-01 -1.60363841e+02] [-7.22653794e-01 -1.73962791e-03 6.91207978e-01 -1.66116555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:-160.41, Z:-166.12 [[ 5.86036798e-01 5.08034984e-01 6.31237932e-01 2.76015958e+02] [-3.76400190e-01 8.60562838e-01 -3.43153753e-01 -1.60406261e+02] [-7.17554018e-01 -3.64973509e-02 6.95545955e-01 -1.66123863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.04, Y:-160.40, Z:-166.15 [[ 5.85667643e-01 5.25906956e-01 6.16778149e-01 2.76035159e+02] [-3.78148221e-01 8.50332250e-01 -3.65976759e-01 -1.60402303e+02] [-7.16936074e-01 -1.88928138e-02 6.96882865e-01 -1.66154946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:-160.41, Z:-166.18 [[ 5.85978970e-01 5.26549112e-01 6.15933989e-01 2.76053337e+02] [-3.79212559e-01 8.49927653e-01 -3.65815282e-01 -1.60412849e+02] [-7.16119042e-01 -1.92098420e-02 6.97713767e-01 -1.66178421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.07, Y:-160.42, Z:-166.20 [[ 5.86282693e-01 5.27053037e-01 6.15213540e-01 2.76072760e+02] [-3.80029842e-01 8.49611059e-01 -3.65702566e-01 -1.60424958e+02] [-7.15436875e-01 -1.93944188e-02 6.98408143e-01 -1.66202742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47655999499995 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:276.09, Y:-160.43, Z:-166.23 [[ 5.84923276e-01 5.34637761e-01 6.09940346e-01 2.76089468e+02] [-3.77627543e-01 8.45034504e-01 -3.78568523e-01 -1.60429493e+02] [-7.17817665e-01 -8.89673378e-03 6.96174294e-01 -1.66232730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:276.69, Y:-160.89, Z:-165.67 [[ 6.55661920e-01 -6.19970759e-01 4.30979936e-01 2.76688057e+02] [-3.59030929e-01 2.46142679e-01 9.00283607e-01 -1.60889300e+02] [-6.64232067e-01 -7.45016805e-01 -6.12022962e-02 -1.65672974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:-160.18, Z:-165.70 [[ 6.63385434e-01 -3.96698439e-01 -6.34468372e-01 2.77208089e+02] [-2.77791882e-01 -9.17873375e-01 2.83443359e-01 -1.60180854e+02] [-6.94803164e-01 -1.17820328e-02 -7.19103433e-01 -1.65698245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.32, Y:-160.57, Z:-166.44 [[ 6.62589251e-01 4.39044006e-01 6.06807915e-01 2.76316718e+02] [-3.22426770e-01 8.98463755e-01 -2.97999763e-01 -1.60572254e+02] [-6.76029928e-01 1.80032364e-03 7.36871967e-01 -1.66439874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.34, Y:-160.61, Z:-166.44 [[ 6.65481303e-01 4.12760429e-01 6.21903099e-01 2.76343276e+02] [-3.22665476e-01 9.10398857e-01 -2.58961215e-01 -1.60609646e+02] [-6.73068813e-01 -2.83328124e-02 7.39036958e-01 -1.66444723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.36, Y:-160.59, Z:-166.48 [[ 6.62837496e-01 4.37822300e-01 6.07419202e-01 2.76358763e+02] [-3.18219388e-01 8.99041052e-01 -3.00768362e-01 -1.60592374e+02] [-6.77777895e-01 6.06798097e-03 7.35241665e-01 -1.66483768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.38, Y:-160.63, Z:-166.49 [[ 6.66401587e-01 4.08265771e-01 6.23881387e-01 2.76384806e+02] [-3.18163523e-01 9.12462102e-01 -2.57264233e-01 -1.60632442e+02] [-6.74300302e-01 -2.70550072e-02 7.37961469e-01 -1.66486766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:-160.62, Z:-166.53 [[ 6.64563020e-01 4.32166874e-01 6.09580008e-01 2.76402745e+02] [-3.16471789e-01 9.01789684e-01 -2.94314412e-01 -1.60620613e+02] [-6.76905902e-01 2.67559863e-03 7.36064699e-01 -1.66525034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.43, Y:-160.65, Z:-166.53 [[ 6.67136144e-01 4.15896845e-01 6.18028462e-01 2.76426725e+02] [-3.17228881e-01 9.09265730e-01 -2.69446970e-01 -1.60645707e+02] [-6.74014245e-01 -1.62986647e-02 7.38538524e-01 -1.66534728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.45, Y:-160.65, Z:-166.56 [[ 6.67775073e-01 4.23444344e-01 6.12185707e-01 2.76447686e+02] [-3.17764930e-01 9.05890503e-01 -2.79978296e-01 -1.60648604e+02] [-6.73128444e-01 -7.56862162e-03 7.39486859e-01 -1.66560092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.47, Y:-160.66, Z:-166.58 [[ 6.67872467e-01 4.24046589e-01 6.11662373e-01 2.76469838e+02] [-3.18554647e-01 9.05606409e-01 -2.79999944e-01 -1.60658088e+02] [-6.72658386e-01 -7.84363803e-03 7.39911598e-01 -1.66583168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.49, Y:-160.67, Z:-166.61 [[ 6.68093616e-01 4.24758592e-01 6.10926394e-01 2.76491495e+02] [-3.19554110e-01 9.05269598e-01 -2.79950221e-01 -1.60667025e+02] [-6.71964353e-01 -8.19108472e-03 7.40538193e-01 -1.66605530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.51, Y:-160.68, Z:-166.63 [[ 6.68025510e-01 4.24962390e-01 6.10859137e-01 2.76513662e+02] [-3.19696134e-01 9.05174070e-01 -2.80096921e-01 -1.60677197e+02] [-6.71964508e-01 -8.17741624e-03 7.40538203e-01 -1.66628426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.54, Y:-160.68, Z:-166.65 [[ 6.67807324e-01 4.26486200e-01 6.10035162e-01 2.76536019e+02] [-3.21949288e-01 9.04444193e-01 -2.79873825e-01 -1.60684804e+02] [-6.71105084e-01 -9.49859567e-03 7.41301385e-01 -1.66650633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.56, Y:-160.69, Z:-166.67 [[ 6.67396307e-01 4.27415088e-01 6.09834824e-01 2.76558351e+02] [-3.23051300e-01 9.03998980e-01 -2.80042321e-01 -1.60693772e+02] [-6.70984372e-01 -1.01087218e-02 7.41402580e-01 -1.66673672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.58, Y:-160.70, Z:-166.70 [[ 6.66763436e-01 4.28119132e-01 6.10033220e-01 2.76579770e+02] [-3.23670531e-01 9.03661556e-01 -2.80416083e-01 -1.60702610e+02] [-6.71315059e-01 -1.04785858e-02 7.41098031e-01 -1.66695201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.60, Y:-160.71, Z:-166.72 [[ 6.66280308e-01 4.29119157e-01 6.09858426e-01 2.76602582e+02] [-3.24858061e-01 9.03178934e-01 -2.80597671e-01 -1.60711836e+02] [-6.71221120e-01 -1.11607235e-02 7.41173156e-01 -1.66716546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.62, Y:-160.72, Z:-166.74 [[ 6.65970166e-01 4.29357241e-01 6.10029588e-01 2.76623952e+02] [-3.24857657e-01 9.03066980e-01 -2.80958240e-01 -1.60721287e+02] [-6.71529032e-01 -1.10629775e-02 7.40895654e-01 -1.66738181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.65, Y:-160.73, Z:-166.76 [[ 6.66334101e-01 4.29472548e-01 6.09550815e-01 2.76645766e+02] [-3.25048236e-01 9.03013481e-01 -2.80909766e-01 -1.60730366e+02] [-6.71075637e-01 -1.09536605e-02 7.41307971e-01 -1.66759650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.67, Y:-160.74, Z:-166.78 [[ 6.66481380e-01 4.29629535e-01 6.09279109e-01 2.76667707e+02] [-3.25136067e-01 9.02940778e-01 -2.81041791e-01 -1.60739773e+02] [-6.70886807e-01 -1.07894931e-02 7.41481273e-01 -1.66781901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.69, Y:-160.75, Z:-166.80 [[ 6.66484602e-01 4.29621886e-01 6.09280978e-01 2.76689616e+02] [-3.24868384e-01 9.02948566e-01 -2.81326180e-01 -1.60749192e+02] [-6.71013270e-01 -1.04365598e-02 7.41371884e-01 -1.66804250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.71, Y:-160.76, Z:-166.83 [[ 6.66375211e-01 4.29893326e-01 6.09209166e-01 2.76711996e+02] [-3.25008647e-01 9.02820213e-01 -2.81575997e-01 -1.60759002e+02] [-6.71053990e-01 -1.03629828e-02 7.41336058e-01 -1.66826565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.73, Y:-160.77, Z:-166.85 [[ 6.66023278e-01 4.30187832e-01 6.09386103e-01 2.76734624e+02] [-3.25082830e-01 9.02680374e-01 -2.81938462e-01 -1.60768909e+02] [-6.71367371e-01 -1.03233803e-02 7.41052819e-01 -1.66848275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:-160.78, Z:-166.87 [[ 6.65917102e-01 4.30258815e-01 6.09452021e-01 2.76756533e+02] [-3.24897210e-01 9.02649587e-01 -2.82250821e-01 -1.60778869e+02] [-6.71562519e-01 -1.00536124e-02 7.40879685e-01 -1.66870241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:-160.79, Z:-166.89 [[ 6.65766584e-01 4.30326406e-01 6.09568733e-01 2.76778147e+02] [-3.24679960e-01 9.02620445e-01 -2.82593799e-01 -1.60788533e+02] [-6.71816775e-01 -9.77324326e-03 7.40652891e-01 -1.66891502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.80, Y:-160.81, Z:-166.91 [[ 6.65851006e-01 4.26837120e-01 6.11925249e-01 2.76802967e+02] [-3.26744249e-01 9.04173692e-01 -2.75151105e-01 -1.60807401e+02] [-6.70731417e-01 -1.67334159e-02 7.41511537e-01 -1.66911946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:-160.80, Z:-166.94 [[ 6.64786897e-01 4.40931254e-01 6.03024055e-01 2.76821436e+02] [-3.24450665e-01 8.97536348e-01 -2.98597170e-01 -1.60798448e+02] [-6.72896833e-01 2.85192970e-03 7.39730842e-01 -1.66939665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.84, Y:-160.82, Z:-166.96 [[ 6.64896654e-01 4.30856807e-01 6.10143304e-01 2.76843691e+02] [-3.24616413e-01 9.02369391e-01 -2.83467223e-01 -1.60817358e+02] [-6.72708424e-01 -9.58612248e-03 7.39845580e-01 -1.66957892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:-160.83, Z:-166.98 [[ 6.64905258e-01 4.28970352e-01 6.11461719e-01 2.76867554e+02] [-3.26766242e-01 9.03198063e-01 -2.78311124e-01 -1.60833773e+02] [-6.71658262e-01 -1.47545185e-02 7.40714172e-01 -1.66979447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.89, Y:-160.83, Z:-167.01 [[ 6.64515316e-01 4.40095650e-01 6.03933121e-01 2.76886461e+02] [-3.25392285e-01 8.97950814e-01 -2.96317727e-01 -1.60828786e+02] [-6.72710380e-01 3.92489739e-04 7.39905798e-01 -1.67005102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:-160.85, Z:-167.02 [[ 6.64728817e-01 4.32213533e-01 6.09366115e-01 2.76908809e+02] [-3.26153086e-01 9.01714667e-01 -2.83786582e-01 -1.60845039e+02] [-6.72130765e-01 -1.01055207e-02 7.40363501e-01 -1.67022739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.93, Y:-160.85, Z:-167.04 [[ 6.64591559e-01 4.32899405e-01 6.09028870e-01 2.76930617e+02] [-3.26980193e-01 9.01381463e-01 -2.83893311e-01 -1.60854624e+02] [-6.71864579e-01 -1.04672793e-02 7.40600043e-01 -1.67044958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:-160.86, Z:-167.07 [[ 6.64667087e-01 4.33538596e-01 6.08491536e-01 2.76952750e+02] [-3.27808685e-01 9.01070830e-01 -2.83923980e-01 -1.60863256e+02] [-6.71385976e-01 -1.07538857e-02 7.41029841e-01 -1.67067060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.97, Y:-160.87, Z:-167.09 [[ 6.64917405e-01 4.33849515e-01 6.07996252e-01 2.76974646e+02] [-3.28193365e-01 9.00921399e-01 -2.83953777e-01 -1.60872530e+02] [-6.70950043e-01 -1.07345273e-02 7.41424851e-01 -1.67089350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.00, Y:-160.88, Z:-167.11 [[ 6.65061697e-01 4.34411777e-01 6.07436703e-01 2.76995981e+02] [-3.28923129e-01 9.00647973e-01 -2.83976769e-01 -1.60881871e+02] [-6.70449487e-01 -1.09379091e-02 7.41874550e-01 -1.67111917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.02, Y:-160.89, Z:-167.13 [[ 6.65812643e-01 4.34976805e-01 6.06208466e-01 2.77018238e+02] [-3.29943647e-01 9.00372665e-01 -2.83665742e-01 -1.60890718e+02] [-6.69201550e-01 -1.11463953e-02 7.42997337e-01 -1.67134935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.04, Y:-160.90, Z:-167.16 [[ 6.66076575e-01 4.35189219e-01 6.05765912e-01 2.77039257e+02] [-3.30155459e-01 9.00271759e-01 -2.83739549e-01 -1.60899782e+02] [-6.68834336e-01 -1.10046557e-02 7.43330026e-01 -1.67156759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.06, Y:-160.91, Z:-167.18 [[ 6.66138731e-01 4.35308226e-01 6.05612037e-01 2.77060698e+02] [-3.30141412e-01 9.00216695e-01 -2.83930538e-01 -1.60908705e+02] [-6.68779365e-01 -1.08004846e-02 7.43382479e-01 -1.67178675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.08, Y:-160.92, Z:-167.20 [[ 6.66235787e-01 4.35121325e-01 6.05639586e-01 2.77082688e+02] [-3.29724444e-01 9.00311679e-01 -2.84113836e-01 -1.60918692e+02] [-6.68888382e-01 -1.04073709e-02 7.43289997e-01 -1.67200745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:-160.93, Z:-167.22 [[ 6.66485515e-01 4.34787176e-01 6.05604797e-01 2.77104660e+02] [-3.29040204e-01 9.00480577e-01 -2.84371720e-01 -1.60928670e+02] [-6.68976534e-01 -9.73869368e-03 7.43219722e-01 -1.67223284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:-160.94, Z:-167.25 [[ 6.66825879e-01 4.34353978e-01 6.05540973e-01 2.77126805e+02] [-3.28229436e-01 9.00697660e-01 -2.84621086e-01 -1.60938835e+02] [-6.69035638e-01 -8.96366592e-03 7.43176269e-01 -1.67245544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:-160.95, Z:-167.27 [[ 6.67527197e-01 4.32598254e-01 6.06024910e-01 2.77147763e+02] [-3.25401843e-01 9.01560650e-01 -2.85135117e-01 -1.60949071e+02] [-6.69717166e-01 -6.86617731e-03 7.42584523e-01 -1.67266674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.17, Y:-160.96, Z:-167.29 [[ 6.67821819e-01 4.32033544e-01 6.06103155e-01 2.77169807e+02] [-3.24449501e-01 9.01836979e-01 -2.85346428e-01 -1.60959392e+02] [-6.69885467e-01 -6.08929559e-03 7.42439480e-01 -1.67288960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.19, Y:-160.97, Z:-167.31 [[ 6.68802938e-01 4.30293384e-01 6.06259214e-01 2.77192344e+02] [-3.21780331e-01 9.02680217e-01 -2.85702370e-01 -1.60969080e+02] [-6.70194038e-01 -4.00370583e-03 7.42175129e-01 -1.67311638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:-160.98, Z:-167.33 [[ 6.69878024e-01 4.29076890e-01 6.05934366e-01 2.77213408e+02] [-3.20017680e-01 9.03264686e-01 -2.85834903e-01 -1.60978235e+02] [-6.69964266e-01 -2.43519053e-03 7.42389354e-01 -1.67333358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:-160.99, Z:-167.36 [[ 6.70856743e-01 4.27755268e-01 6.05785986e-01 2.77235420e+02] [-3.18142134e-01 9.03894140e-01 -2.85938745e-01 -1.60988114e+02] [-6.69878207e-01 -9.02111284e-04 7.42470453e-01 -1.67356115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:-161.00, Z:-167.38 [[ 6.72985668e-01 4.24643668e-01 6.05613776e-01 2.77256340e+02] [-3.13773918e-01 9.05357002e-01 -2.86137427e-01 -1.60997538e+02] [-6.69803120e-01 2.54058012e-03 7.42534394e-01 -1.67377915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.28, Y:-161.01, Z:-167.40 [[ 6.73921373e-01 4.23342345e-01 6.05484304e-01 2.77277397e+02] [-3.11845763e-01 9.05960284e-01 -2.86335789e-01 -1.61007546e+02] [-6.69762796e-01 4.15009399e-03 7.42563515e-01 -1.67399086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.30, Y:-161.02, Z:-167.42 [[ 6.75385824e-01 4.20483555e-01 6.05844509e-01 2.77300145e+02] [-3.07615759e-01 9.07270731e-01 -2.86761861e-01 -1.61017452e+02] [-6.70243638e-01 7.30757697e-03 7.42105158e-01 -1.67421485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:-161.03, Z:-167.44 [[ 6.76144922e-01 4.19118878e-01 6.05943405e-01 2.77321188e+02] [-3.05492193e-01 9.07886777e-01 -2.87082078e-01 -1.61026539e+02] [-6.70449524e-01 8.99811000e-03 7.41900579e-01 -1.67443199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.34, Y:-161.04, Z:-167.47 [[ 6.76586834e-01 4.18025883e-01 6.06205096e-01 2.77343031e+02] [-3.03757389e-01 9.08376800e-01 -2.87372648e-01 -1.61036191e+02] [-6.70791849e-01 1.02932729e-02 7.41574233e-01 -1.67465677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:-161.05, Z:-167.49 [[ 6.77105331e-01 4.17199545e-01 6.06195439e-01 2.77365008e+02] [-3.02400960e-01 9.08742745e-01 -2.87646106e-01 -1.61045898e+02] [-6.70881532e-01 1.14526288e-02 7.41476100e-01 -1.67487972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.39, Y:-161.06, Z:-167.51 [[ 6.77330989e-01 4.16668695e-01 6.06308445e-01 2.77387302e+02] [-3.01379404e-01 9.08974760e-01 -2.87984967e-01 -1.61055889e+02] [-6.71113393e-01 1.23322649e-02 7.41252136e-01 -1.67510688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:-161.06, Z:-167.53 [[ 6.77584825e-01 4.16281449e-01 6.06290822e-01 2.77409620e+02] [-3.00610982e-01 9.09141965e-01 -2.88260169e-01 -1.61064968e+02] [-6.71201790e-01 1.30630363e-02 7.41159574e-01 -1.67533002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:-161.07, Z:-167.56 [[ 6.77527938e-01 4.16715377e-01 6.06056258e-01 2.77431464e+02] [-3.01042227e-01 9.08944442e-01 -2.88432970e-01 -1.61074365e+02] [-6.71065921e-01 1.29728700e-02 7.41284179e-01 -1.67555430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.45, Y:-161.08, Z:-167.58 [[ 6.77521243e-01 4.17219452e-01 6.05716844e-01 2.77452794e+02] [-3.01616062e-01 9.08715512e-01 -2.88554793e-01 -1.61083128e+02] [-6.70814965e-01 1.28080726e-02 7.41514151e-01 -1.67577015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:-161.09, Z:-167.60 [[ 6.77263378e-01 4.17915014e-01 6.05525687e-01 2.77474928e+02] [-3.02397961e-01 9.08401030e-01 -2.88726586e-01 -1.61091803e+02] [-6.70723333e-01 1.24342094e-02 7.41603399e-01 -1.67599710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:-161.10, Z:-167.62 [[ 6.76276425e-01 4.19532794e-01 6.05510059e-01 2.77497683e+02] [-3.04325371e-01 9.07671465e-01 -2.88995814e-01 -1.61099302e+02] [-6.70847423e-01 1.11689829e-02 7.41511287e-01 -1.67621937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.52, Y:-161.11, Z:-167.64 [[ 6.75460440e-01 4.20843907e-01 6.05511024e-01 2.77519593e+02] [-3.05833788e-01 9.07075638e-01 -2.89274058e-01 -1.61108533e+02] [-6.70983523e-01 1.02074520e-02 7.41401996e-01 -1.67644625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.54, Y:-161.12, Z:-167.67 [[ 6.74843996e-01 4.22160607e-01 6.05281755e-01 2.77541621e+02] [-3.07455724e-01 9.06474067e-01 -2.89440398e-01 -1.61117941e+02] [-6.70862548e-01 9.22977470e-03 7.41524277e-01 -1.67666951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.56, Y:-161.13, Z:-167.69 [[ 6.73864698e-01 4.24300403e-01 6.04876464e-01 2.77564470e+02] [-3.10257175e-01 9.05490961e-01 -2.89528246e-01 -1.61126133e+02] [-6.70557123e-01 7.43560127e-03 7.41820637e-01 -1.67689526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.59, Y:-161.14, Z:-167.71 [[ 6.73357677e-01 4.25321954e-01 6.04723634e-01 2.77587123e+02] [-3.11443915e-01 9.05016881e-01 -2.89736315e-01 -1.61135385e+02] [-6.70516313e-01 6.75867658e-03 7.41864000e-01 -1.67712125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.61, Y:-161.14, Z:-167.73 [[ 6.72659641e-01 4.26326303e-01 6.04793264e-01 2.77609314e+02] [-3.12508974e-01 9.04548864e-01 -2.90050847e-01 -1.61144574e+02] [-6.70721365e-01 6.10217620e-03 7.41684309e-01 -1.67734557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:-161.15, Z:-167.76 [[ 6.71629958e-01 4.27265103e-01 6.05274922e-01 2.77631272e+02] [-3.13303934e-01 9.04109569e-01 -2.90562442e-01 -1.61153523e+02] [-6.71382041e-01 5.51542675e-03 7.41090909e-01 -1.67756981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.65, Y:-161.16, Z:-167.78 [[ 6.70257039e-01 4.28269027e-01 6.06086745e-01 2.77654384e+02] [-3.14038496e-01 9.03638172e-01 -2.91235090e-01 -1.61161858e+02] [-6.72410086e-01 4.86779900e-03 7.40162807e-01 -1.67779555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.68, Y:-161.17, Z:-167.80 [[ 6.69740781e-01 4.28685948e-01 6.06362634e-01 2.77676712e+02] [-3.14217690e-01 9.03440808e-01 -2.91653820e-01 -1.61171327e+02] [-6.72840642e-01 4.80259088e-03 7.39771860e-01 -1.67802081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.70, Y:-161.18, Z:-167.82 [[ 6.69124997e-01 4.28995090e-01 6.06823657e-01 2.77698656e+02] [-3.14170175e-01 9.03293824e-01 -2.92159832e-01 -1.61180605e+02] [-6.73475195e-01 4.84555236e-03 7.39193941e-01 -1.67824790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.72, Y:-161.20, Z:-167.84 [[ 6.70171901e-01 4.22399130e-01 6.10285669e-01 2.77723665e+02] [-3.14728788e-01 9.06404074e-01 -2.81740029e-01 -1.61199018e+02] [-6.72172160e-01 -3.26021849e-03 7.40387708e-01 -1.67843143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-161.19, Z:-167.87 [[ 6.69430205e-01 4.38159878e-01 5.99899260e-01 2.77741574e+02] [-3.11859909e-01 8.98688579e-01 -3.08386503e-01 -1.61189220e+02] [-6.74245206e-01 1.93587109e-02 7.38253779e-01 -1.67872731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.76, Y:-161.21, Z:-167.89 [[ 6.70161783e-01 4.26892681e-01 6.07162107e-01 2.77762473e+02] [-3.10587205e-01 9.04268976e-01 -2.92973048e-01 -1.61207860e+02] [-6.74105907e-01 7.76255855e-03 7.38593914e-01 -1.67890525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.78, Y:-161.22, Z:-167.91 [[ 6.72172653e-01 4.24649243e-01 6.06512114e-01 2.77784301e+02] [-3.07613455e-01 9.05299043e-01 -2.92929353e-01 -1.61217012e+02] [-6.73467064e-01 1.03278135e-02 7.39145080e-01 -1.67913447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.81, Y:-161.23, Z:-167.94 [[ 6.72997393e-01 4.23780142e-01 6.06205328e-01 2.77805269e+02] [-3.06323679e-01 9.05691588e-01 -2.93067487e-01 -1.61226454e+02] [-6.73231247e-01 1.15386081e-02 7.39341970e-01 -1.67935652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.83, Y:-161.24, Z:-167.96 [[ 6.73768218e-01 4.23103403e-01 6.05821673e-01 2.77826985e+02] [-3.05348685e-01 9.05994807e-01 -2.93147727e-01 -1.61236383e+02] [-6.72903091e-01 1.25267697e-02 7.39624574e-01 -1.67958273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.85, Y:-161.25, Z:-167.98 [[ 6.75148429e-01 4.22026741e-01 6.05035560e-01 2.77848728e+02] [-3.04011635e-01 9.06476618e-01 -2.93047891e-01 -1.61245611e+02] [-6.72124635e-01 1.39129730e-02 7.40307304e-01 -1.67980782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.87, Y:-161.26, Z:-168.00 [[ 6.75427789e-01 4.21916763e-01 6.04800419e-01 2.77869722e+02] [-3.03715861e-01 9.06520842e-01 -2.93217732e-01 -1.61255214e+02] [-6.71977662e-01 1.43599238e-02 7.40432181e-01 -1.68002542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:-161.26, Z:-168.03 [[ 6.75773397e-01 4.21780010e-01 6.04509668e-01 2.77892074e+02] [-3.03510591e-01 9.06579099e-01 -2.93250163e-01 -1.61264672e+02] [-6.71722887e-01 1.46955722e-02 7.40656738e-01 -1.68025512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.91, Y:-161.28, Z:-168.05 [[ 6.75724083e-01 4.22019303e-01 6.04397776e-01 2.77914028e+02] [-3.03625563e-01 9.06466011e-01 -2.93480645e-01 -1.61275292e+02] [-6.71720539e-01 1.48013249e-02 7.40656762e-01 -1.68048434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.94, Y:-161.29, Z:-168.07 [[ 6.75673743e-01 4.22169571e-01 6.04349110e-01 2.77935977e+02] [-3.03737582e-01 9.06396036e-01 -2.93580836e-01 -1.61285992e+02] [-6.71720533e-01 1.48013248e-02 7.40656767e-01 -1.68071322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.96, Y:-161.30, Z:-168.09 [[ 6.75464497e-01 4.22582571e-01 6.04294369e-01 2.77956919e+02] [-3.04206993e-01 9.06207839e-01 -2.93675771e-01 -1.61295420e+02] [-6.71718556e-01 1.45369840e-02 7.40663795e-01 -1.68093157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:-161.31, Z:-168.12 [[ 6.74772092e-01 4.23633257e-01 6.04332266e-01 2.77979280e+02] [-3.05361324e-01 9.05728458e-01 -2.93956499e-01 -1.61305270e+02] [-6.71890680e-01 1.38139408e-02 7.40521498e-01 -1.68115965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:-161.32, Z:-168.14 [[ 6.73920274e-01 4.24762363e-01 6.04490198e-01 2.78000732e+02] [-3.06546367e-01 9.05210939e-01 -2.94316974e-01 -1.61315336e+02] [-6.72205913e-01 1.30419016e-02 7.40249363e-01 -1.68137798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.02, Y:-161.33, Z:-168.16 [[ 6.71831097e-01 4.27443181e-01 6.04925867e-01 2.78023366e+02] [-3.09708431e-01 9.03978887e-01 -2.94792909e-01 -1.61325364e+02] [-6.72847431e-01 1.07004026e-02 7.39703884e-01 -1.68160074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:-161.34, Z:-168.18 [[ 6.70232670e-01 4.29500037e-01 6.05242006e-01 2.78045118e+02] [-3.12073000e-01 9.03022051e-01 -2.95231465e-01 -1.61335270e+02] [-6.73348803e-01 8.99408465e-03 7.39270245e-01 -1.68182714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.07, Y:-161.34, Z:-168.20 [[ 6.68812478e-01 4.31801207e-01 6.05175666e-01 2.78066643e+02] [-3.14942110e-01 9.01941398e-01 -2.95488040e-01 -1.61344795e+02] [-6.73425079e-01 7.03078673e-03 7.39222045e-01 -1.68204906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.09, Y:-161.35, Z:-168.23 [[ 6.65204035e-01 4.36788804e-01 6.05573391e-01 2.78089463e+02] [-3.21251741e-01 8.99561075e-01 -2.95951332e-01 -1.61353895e+02] [-6.74018479e-01 2.32651425e-03 7.38710821e-01 -1.68227437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:-161.36, Z:-168.25 [[ 6.63399686e-01 4.39663061e-01 6.05472749e-01 2.78111778e+02] [-3.24924625e-01 8.98162755e-01 -2.96188544e-01 -1.61363577e+02] [-6.74036234e-01 -2.41618545e-04 7.38698245e-01 -1.68250225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.13, Y:-161.37, Z:-168.27 [[ 6.59882646e-01 4.44843263e-01 6.05532299e-01 2.78132990e+02] [-3.31653576e-01 8.95593541e-01 -2.96509888e-01 -1.61371889e+02] [-6.74211243e-01 -5.16522295e-03 7.38520495e-01 -1.68272255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:-161.38, Z:-168.30 [[ 6.58209184e-01 4.47499821e-01 6.05396217e-01 2.78154790e+02] [-3.35072418e-01 8.94252139e-01 -2.96714655e-01 -1.61381906e+02] [-6.74156617e-01 -7.55126341e-03 7.38549818e-01 -1.68295246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.18, Y:-161.39, Z:-168.32 [[ 6.56715753e-01 4.49981395e-01 6.05178621e-01 2.78176255e+02] [-3.38276864e-01 8.92984791e-01 -2.96895479e-01 -1.61392253e+02] [-6.74012747e-01 -9.74198792e-03 7.38655475e-01 -1.68317901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:-161.40, Z:-168.34 [[ 6.53897974e-01 4.54112198e-01 6.05144240e-01 2.78197430e+02] [-3.43644414e-01 8.90840194e-01 -2.97173798e-01 -1.61402646e+02] [-6.74037058e-01 -1.36330935e-02 7.38571718e-01 -1.68340082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.22, Y:-161.41, Z:-168.36 [[ 6.52635831e-01 4.55959077e-01 6.05117998e-01 2.78218023e+02] [-3.45922133e-01 8.89870819e-01 -2.97435375e-01 -1.61412863e+02] [-6.74095208e-01 -1.52067255e-02 7.38487918e-01 -1.68361803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:-161.42, Z:-168.38 [[ 6.51523562e-01 4.57385668e-01 6.05239952e-01 2.78239516e+02] [-3.47573786e-01 8.89117809e-01 -2.97761625e-01 -1.61423642e+02] [-6.74321520e-01 -1.63668272e-02 7.38256470e-01 -1.68384424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:-161.43, Z:-168.41 [[ 6.50010696e-01 4.59137594e-01 6.05540060e-01 2.78259851e+02] [-3.49574377e-01 8.88185865e-01 -2.98200645e-01 -1.61434896e+02] [-6.74747248e-01 -1.78476807e-02 7.37833051e-01 -1.68406114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.28, Y:-161.45, Z:-168.43 [[ 6.49556962e-01 4.59843971e-01 6.05490938e-01 2.78281096e+02] [-3.50312672e-01 8.87812119e-01 -2.98447101e-01 -1.61446405e+02] [-6.74801293e-01 -1.82527562e-02 7.37773713e-01 -1.68428438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-161.46, Z:-168.45 [[ 6.48908940e-01 4.60341162e-01 6.05807892e-01 2.78301646e+02] [-3.50597313e-01 8.87550513e-01 -2.98890632e-01 -1.61457666e+02] [-6.75276767e-01 -1.84418163e-02 7.37333837e-01 -1.68450178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.32, Y:-161.47, Z:-168.47 [[ 6.48552910e-01 4.61130157e-01 6.05589054e-01 2.78322553e+02] [-3.51523584e-01 8.87130572e-01 -2.99049357e-01 -1.61469803e+02] [-6.75137240e-01 -1.89295038e-02 7.37449239e-01 -1.68472399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.34, Y:-161.48, Z:-168.49 [[ 6.49221203e-01 4.61618055e-01 6.04500291e-01 2.78342161e+02] [-3.52379112e-01 8.86874745e-01 -2.98801185e-01 -1.61482253e+02] [-6.74048063e-01 -1.90252108e-02 7.38442449e-01 -1.68494739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.36, Y:-161.49, Z:-168.52 [[ 6.49335610e-01 4.61946795e-01 6.04126166e-01 2.78362196e+02] [-3.52821441e-01 8.86701281e-01 -2.98794025e-01 -1.61493110e+02] [-6.73706387e-01 -1.91310638e-02 7.38751451e-01 -1.68516893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.38, Y:-161.50, Z:-168.54 [[ 6.49356801e-01 4.62214529e-01 6.03898563e-01 2.78382698e+02] [-3.53040404e-01 8.86562891e-01 -2.98946003e-01 -1.61504119e+02] [-6.73571242e-01 -1.90779718e-02 7.38876047e-01 -1.68539676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:-161.52, Z:-168.56 [[ 6.49189274e-01 4.62445349e-01 6.03901967e-01 2.78403837e+02] [-3.53098074e-01 8.86444602e-01 -2.99228536e-01 -1.61515800e+02] [-6.73702484e-01 -1.89806653e-02 7.38758890e-01 -1.68562787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-161.53, Z:-168.58 [[ 6.49429501e-01 4.62565806e-01 6.03551322e-01 2.78423953e+02] [-3.53152868e-01 8.86386690e-01 -2.99335411e-01 -1.61530315e+02] [-6.73442184e-01 -1.87486333e-02 7.39002107e-01 -1.68584633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:-161.54, Z:-168.61 [[ 6.49198345e-01 4.62743265e-01 6.03663963e-01 2.78444840e+02] [-3.53091518e-01 8.86297157e-01 -2.99672703e-01 -1.61543510e+02] [-6.73697179e-01 -1.86016021e-02 7.38773369e-01 -1.68607012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:-161.56, Z:-168.63 [[ 6.49025915e-01 4.62842332e-01 6.03773416e-01 2.78465588e+02] [-3.52919326e-01 8.86250329e-01 -3.00013841e-01 -1.61556354e+02] [-6.73953494e-01 -1.83665495e-02 7.38545434e-01 -1.68629268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:-161.57, Z:-168.65 [[ 6.48954031e-01 4.62501922e-01 6.04111444e-01 2.78484758e+02] [-3.52048409e-01 8.86441889e-01 -3.00470790e-01 -1.61570690e+02] [-6.74478008e-01 -1.76847425e-02 7.38083103e-01 -1.68650699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.51, Y:-161.58, Z:-168.67 [[ 6.48976726e-01 4.62293126e-01 6.04246866e-01 2.78505052e+02] [-3.51459321e-01 8.86561287e-01 -3.00807963e-01 -1.61582867e+02] [-6.74763333e-01 -1.71508261e-02 7.37834869e-01 -1.68672980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.53, Y:-161.60, Z:-168.70 [[ 6.48910340e-01 4.62130601e-01 6.04442453e-01 2.78525889e+02] [-3.50993823e-01 8.86653090e-01 -3.01080779e-01 -1.61595391e+02] [-6.75069410e-01 -1.67811369e-02 7.37563344e-01 -1.68695559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:-161.61, Z:-168.72 [[ 6.48849332e-01 4.61243755e-01 6.05184883e-01 2.78545145e+02] [-3.49207834e-01 8.87137065e-01 -3.01731201e-01 -1.61609563e+02] [-6.76053573e-01 -1.55572135e-02 7.36688224e-01 -1.68717928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-161.62, Z:-168.74 [[ 6.49007707e-01 4.60700173e-01 6.05429060e-01 2.78565720e+02] [-3.48097761e-01 8.87434775e-01 -3.02138164e-01 -1.61622024e+02] [-6.76473906e-01 -1.46585031e-02 7.36320707e-01 -1.68740106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.59, Y:-161.63, Z:-168.76 [[ 6.49152121e-01 4.60189671e-01 6.05662440e-01 2.78586148e+02] [-3.47031261e-01 8.87713593e-01 -3.02545667e-01 -1.61634754e+02] [-6.76883171e-01 -1.37856388e-02 7.35961364e-01 -1.68762271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:-161.65, Z:-168.78 [[ 6.49309945e-01 4.59431149e-01 6.06068985e-01 2.78606000e+02] [-3.45550338e-01 8.88123136e-01 -3.03038378e-01 -1.61647163e+02] [-6.77489158e-01 -1.26615097e-02 7.35423773e-01 -1.68783978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.63, Y:-161.66, Z:-168.81 [[ 6.50359850e-01 4.57452649e-01 6.06439725e-01 2.78625802e+02] [-3.42433233e-01 8.89174498e-01 -3.03493316e-01 -1.61661984e+02] [-6.78064560e-01 -1.02852483e-02 7.34930382e-01 -1.68806044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:-161.68, Z:-168.83 [[ 6.50653666e-01 4.55823176e-01 6.07350837e-01 2.78645648e+02] [-3.39539120e-01 8.90031927e-01 -3.04230759e-01 -1.61676215e+02] [-6.79237067e-01 -8.27051002e-03 7.33872336e-01 -1.68827826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83655999499996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:278.67, Y:-161.69, Z:-168.85 [[ 6.51607914e-01 4.55607910e-01 6.06488713e-01 2.78666428e+02] [-3.39362337e-01 8.90147500e-01 -3.04089843e-01 -1.61688536e+02] [-6.78410149e-01 -7.67207839e-03 7.34643321e-01 -1.68850161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:278.69, Y:-161.70, Z:-168.87 [[ 6.52766030e-01 4.55671547e-01 6.05194143e-01 2.78687105e+02] [-3.39762023e-01 8.90117587e-01 -3.03730883e-01 -1.61700491e+02] [-6.77095472e-01 -7.35678345e-03 7.35858410e-01 -1.68872929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89655999499996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:278.71, Y:-161.71, Z:-168.90 [[ 6.53970751e-01 4.55386535e-01 6.04107077e-01 2.78706470e+02] [-3.39596415e-01 8.90268694e-01 -3.03473110e-01 -1.61712345e+02] [-6.76015186e-01 -6.69006005e-03 7.36857321e-01 -1.68896637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:278.73, Y:-161.72, Z:-168.92 [[ 6.54457150e-01 4.55068756e-01 6.03819730e-01 2.78726306e+02] [-3.39026950e-01 8.90436050e-01 -3.03618787e-01 -1.61723523e+02] [-6.75830279e-01 -6.00567578e-03 7.37032812e-01 -1.68918498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95655999499996 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:278.75, Y:-161.74, Z:-168.94 [[ 6.54784402e-01 4.54834919e-01 6.03641105e-01 2.78747302e+02] [-3.38625974e-01 8.90558499e-01 -3.03707112e-01 -1.61735539e+02] [-6.75714316e-01 -5.54587712e-03 7.37142731e-01 -1.68941237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:278.77, Y:-161.75, Z:-168.96 [[ 6.54994804e-01 4.54761032e-01 6.03468483e-01 2.78767570e+02] [-3.38337183e-01 8.90598805e-01 -3.03910710e-01 -1.61747047e+02] [-6.75655058e-01 -5.11589081e-03 7.37200157e-01 -1.68963045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01655999499997 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:278.79, Y:-161.76, Z:-168.98 [[ 6.55615587e-01 4.54081990e-01 6.03305684e-01 2.78787524e+02] [-3.37240556e-01 8.90950526e-01 -3.04098615e-01 -1.61759464e+02] [-6.75601221e-01 -4.08735254e-03 7.37255915e-01 -1.68984853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:278.81, Y:-161.77, Z:-169.01 [[ 6.55924721e-01 4.53515702e-01 6.03395615e-01 2.78807655e+02] [-3.36184049e-01 8.91242612e-01 -3.04412372e-01 -1.61770342e+02] [-6.75827674e-01 -3.18038040e-03 7.37052807e-01 -1.69007029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07655999499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.83, Y:-161.78, Z:-169.03 [[ 6.56087041e-01 4.53127826e-01 6.03510537e-01 2.78828597e+02] [-3.35443053e-01 8.91441851e-01 -3.04646326e-01 -1.61781950e+02] [-6.76038277e-01 -2.56891039e-03 7.36862028e-01 -1.69029943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.85, Y:-161.79, Z:-169.05 [[ 6.55881922e-01 4.52155098e-01 6.04462300e-01 2.78848639e+02] [-3.33423431e-01 8.91938482e-01 -3.05408842e-01 -1.61794543e+02] [-6.77235351e-01 -1.22975542e-03 7.35765430e-01 -1.69052297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13655999499997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:278.87, Y:-161.81, Z:-169.07 [[ 6.55625621e-01 4.52006982e-01 6.04851000e-01 2.78869902e+02] [-3.32783853e-01 8.92014093e-01 -3.05885215e-01 -1.61806248e+02] [-6.77797869e-01 -7.38462260e-04 7.35247919e-01 -1.69074592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.89, Y:-161.82, Z:-169.10 [[ 6.55675515e-01 4.50912261e-01 6.05613534e-01 2.78890713e+02] [-3.30679810e-01 8.92567978e-01 -3.06550597e-01 -1.61819042e+02] [-6.78778670e-01 7.33551828e-04 7.34342549e-01 -1.69097279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:-161.83, Z:-169.12 [[ 6.55693855e-01 4.50342277e-01 6.06017658e-01 2.78910960e+02] [-3.29444610e-01 8.92854420e-01 -3.07045980e-01 -1.61830342e+02] [-6.79361330e-01 1.67891097e-03 7.33801993e-01 -1.69119572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.93, Y:-161.84, Z:-169.14 [[ 6.55821696e-01 4.49922155e-01 6.06191355e-01 2.78931586e+02] [-3.28623669e-01 8.93064727e-01 -3.07313974e-01 -1.61841782e+02] [-6.79635482e-01 2.33434438e-03 7.33546292e-01 -1.69141993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:-161.85, Z:-169.17 [[ 6.55340699e-01 4.49027599e-01 6.07373677e-01 2.78952248e+02] [-3.26574870e-01 8.93510540e-01 -3.08200859e-01 -1.61854001e+02] [-6.81085474e-01 3.62358626e-03 7.32194952e-01 -1.69165153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:-161.87, Z:-169.19 [[ 6.54923182e-01 4.49094533e-01 6.07774404e-01 2.78972593e+02] [-3.26204012e-01 8.93475681e-01 -3.08694266e-01 -1.61865181e+02] [-6.81664557e-01 3.91258200e-03 7.31654375e-01 -1.69187198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:-161.88, Z:-169.21 [[ 6.54585581e-01 4.49234602e-01 6.08034530e-01 2.78993343e+02] [-3.26018304e-01 8.93404424e-01 -3.09096425e-01 -1.61876366e+02] [-6.82077549e-01 4.09967726e-03 7.31268357e-01 -1.69209729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.02, Y:-161.90, Z:-169.23 [[ 6.55403036e-01 4.44684285e-01 6.10493855e-01 2.79016304e+02] [-3.28106277e-01 8.95680254e-01 -3.00171873e-01 -1.61896091e+02] [-6.80289006e-01 -3.57330910e-03 7.32935263e-01 -1.69228860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.03, Y:-161.89, Z:-169.26 [[ 6.55031822e-01 4.58961859e-01 6.00239390e-01 2.79034763e+02] [-3.27553058e-01 8.88342808e-01 -3.21801257e-01 -1.61891330e+02] [-6.80912848e-01 1.41798160e-02 7.32227168e-01 -1.69259007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:-161.90, Z:-169.28 [[ 6.54005692e-01 4.54347282e-01 6.04851306e-01 2.79053540e+02] [-3.27920772e-01 8.90794017e-01 -3.14569526e-01 -1.61904498e+02] [-6.81721734e-01 7.38695295e-03 7.31574269e-01 -1.69278581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:-161.92, Z:-169.30 [[ 6.53213843e-01 4.51958909e-01 6.07490592e-01 2.79074798e+02] [-3.29483970e-01 8.92036675e-01 -3.09371757e-01 -1.61918971e+02] [-6.81727210e-01 1.92750270e-03 7.31603920e-01 -1.69299712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.10, Y:-161.93, Z:-169.32 [[ 6.52387975e-01 4.53286349e-01 6.07389015e-01 2.79095994e+02] [-3.31072842e-01 8.91364504e-01 -3.09612812e-01 -1.61929527e+02] [-6.81748270e-01 8.97668172e-04 7.31586284e-01 -1.69322626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.12, Y:-161.94, Z:-169.35 [[ 6.50652068e-01 4.55996965e-01 6.07222080e-01 2.79117001e+02] [-3.34585166e-01 8.89979923e-01 -3.09820114e-01 -1.61939361e+02] [-6.81692492e-01 -1.58240244e-03 7.31637097e-01 -1.69346086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:-161.95, Z:-169.37 [[ 6.49446512e-01 4.58400623e-01 6.06702643e-01 2.79137163e+02] [-3.37845933e-01 8.88737790e-01 -3.09847165e-01 -1.61949334e+02] [-6.81233700e-01 -3.74285967e-03 7.32056444e-01 -1.69368823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:-161.96, Z:-169.39 [[ 6.49052569e-01 4.59515903e-01 6.06280378e-01 2.79157925e+02] [-3.39316455e-01 8.88157747e-01 -3.09903469e-01 -1.61959877e+02] [-6.80878187e-01 -4.57726552e-03 7.32382375e-01 -1.69391424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:-161.97, Z:-169.42 [[ 6.48492796e-01 4.61255276e-01 6.05558143e-01 2.79178657e+02] [-3.41763691e-01 8.87246918e-01 -3.09823315e-01 -1.61970672e+02] [-6.80187234e-01 -6.03959868e-03 7.33013540e-01 -1.69415085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-161.98, Z:-169.44 [[ 6.48130367e-01 4.62974875e-01 6.04633189e-01 2.79199683e+02] [-3.44272507e-01 8.86339923e-01 -3.09641700e-01 -1.61982727e+02] [-6.79266861e-01 -7.47039522e-03 7.33853340e-01 -1.69437926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.22, Y:-161.99, Z:-169.46 [[ 6.48055889e-01 4.63233920e-01 6.04514599e-01 2.79221374e+02] [-3.44410923e-01 8.86205268e-01 -3.09873101e-01 -1.61993799e+02] [-6.79267754e-01 -7.38634304e-03 7.33853365e-01 -1.69460859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.24, Y:-162.01, Z:-169.48 [[ 6.47792093e-01 4.64671597e-01 6.03693392e-01 2.79242157e+02] [-3.46604122e-01 8.85440574e-01 -3.09613586e-01 -1.62005802e+02] [-6.78403263e-01 -8.67738487e-03 7.34638493e-01 -1.69483641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:-162.02, Z:-169.51 [[ 6.46812540e-01 4.66833951e-01 6.03075120e-01 2.79263487e+02] [-3.49569750e-01 8.84281827e-01 -3.09591086e-01 -1.62017474e+02] [-6.77815999e-01 -1.05694222e-02 7.35155602e-01 -1.69506439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.28, Y:-162.03, Z:-169.53 [[ 6.44538958e-01 4.70339238e-01 6.02785645e-01 2.79284047e+02] [-3.54223328e-01 8.82376493e-01 -3.09737888e-01 -1.62027924e+02] [-6.77565765e-01 -1.38826015e-02 7.35331155e-01 -1.69528595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:-162.04, Z:-169.55 [[ 6.43597877e-01 4.71572629e-01 6.02827528e-01 2.79304495e+02] [-3.55640108e-01 8.81702145e-01 -3.10034581e-01 -1.62038475e+02] [-6.77718147e-01 -1.48520496e-02 7.35171769e-01 -1.69550616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:-162.05, Z:-169.57 [[ 6.43521115e-01 4.71818968e-01 6.02716713e-01 2.79326165e+02] [-3.55776024e-01 8.81571562e-01 -3.10249902e-01 -1.62049598e+02] [-6.77719703e-01 -1.47797929e-02 7.35171791e-01 -1.69573545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:-162.06, Z:-169.60 [[ 6.43445969e-01 4.72005142e-01 6.02651169e-01 2.79347833e+02] [-3.55911928e-01 8.81471896e-01 -3.10377183e-01 -1.62060779e+02] [-6.77719695e-01 -1.47797927e-02 7.35171798e-01 -1.69596446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:-162.07, Z:-169.62 [[ 6.43370794e-01 4.72191295e-01 6.02585598e-01 2.79369499e+02] [-3.56047817e-01 8.81372191e-01 -3.10504450e-01 -1.62071965e+02] [-6.77719687e-01 -1.47797925e-02 7.35171806e-01 -1.69619347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.39, Y:-162.08, Z:-169.64 [[ 6.43116160e-01 4.72826165e-01 6.02359546e-01 2.79390725e+02] [-3.56871260e-01 8.81023815e-01 -3.10547808e-01 -1.62082955e+02] [-6.77528234e-01 -1.52464964e-02 7.35338722e-01 -1.69641971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.41, Y:-162.09, Z:-169.66 [[ 6.43118444e-01 4.73412159e-01 6.01896664e-01 2.79411635e+02] [-3.57608437e-01 8.80704862e-01 -3.10604493e-01 -1.62094172e+02] [-6.77137263e-01 -1.54878466e-02 7.35693723e-01 -1.69663847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.43, Y:-162.11, Z:-169.69 [[ 6.43331906e-01 4.73525032e-01 6.01579673e-01 2.79432967e+02] [-3.57652392e-01 8.80648094e-01 -3.10714823e-01 -1.62105764e+02] [-6.76911239e-01 -1.52636494e-02 7.35906377e-01 -1.69686160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:-162.12, Z:-169.71 [[ 6.43916446e-01 4.72566172e-01 6.01708254e-01 2.79454129e+02] [-3.56011216e-01 8.81185441e-01 -3.11075929e-01 -1.62116858e+02] [-6.77220514e-01 -1.39079806e-02 7.35648655e-01 -1.69708499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.47, Y:-162.13, Z:-169.73 [[ 6.43864670e-01 4.72239833e-01 6.02019790e-01 2.79474667e+02] [-3.55152238e-01 8.81370899e-01 -3.11532064e-01 -1.62127211e+02] [-6.77720573e-01 -1.32241860e-02 7.35200616e-01 -1.69730464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.50, Y:-162.14, Z:-169.75 [[ 6.43836138e-01 4.72093212e-01 6.02165282e-01 2.79496556e+02] [-3.54632647e-01 8.81456476e-01 -3.11881655e-01 -1.62138137e+02] [-6.78019700e-01 -1.27467874e-02 7.34933198e-01 -1.69753018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.52, Y:-162.15, Z:-169.78 [[ 6.43900582e-01 4.72124348e-01 6.02071956e-01 2.79518186e+02] [-3.54444883e-01 8.81444446e-01 -3.12129001e-01 -1.62148899e+02] [-6.78056683e-01 -1.24212786e-02 7.34904651e-01 -1.69775280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:-162.16, Z:-169.80 [[ 6.44218795e-01 4.72899717e-01 6.01122285e-01 2.79538880e+02] [-3.55664829e-01 8.81022616e-01 -3.11932170e-01 -1.62158629e+02] [-6.77114963e-01 -1.28454887e-02 7.35765126e-01 -1.69797180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:-162.17, Z:-169.82 [[ 6.44255325e-01 4.73591284e-01 6.00538402e-01 2.79559830e+02] [-3.56622115e-01 8.80645526e-01 -3.11904031e-01 -1.62169297e+02] [-6.76576487e-01 -1.32194417e-02 7.36253695e-01 -1.69819333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:-162.18, Z:-169.84 [[ 6.44066589e-01 4.74530126e-01 5.99999491e-01 2.79580827e+02] [-3.57899644e-01 8.80130167e-01 -3.11895391e-01 -1.62180511e+02] [-6.76081411e-01 -1.38582033e-02 7.36696597e-01 -1.69841661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.60, Y:-162.19, Z:-169.86 [[ 6.43763242e-01 4.75132519e-01 5.99848296e-01 2.79601368e+02] [-3.58522248e-01 8.79800724e-01 -3.12109729e-01 -1.62191757e+02] [-6.76040447e-01 -1.41341885e-02 7.36728945e-01 -1.69863854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:-162.20, Z:-169.89 [[ 6.43515962e-01 4.75669432e-01 5.99688085e-01 2.79622501e+02] [-3.59078010e-01 8.79506810e-01 -3.12299140e-01 -1.62203107e+02] [-6.75980909e-01 -1.43653227e-02 7.36779104e-01 -1.69886077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:-162.21, Z:-169.91 [[ 6.43432065e-01 4.75782749e-01 5.99688213e-01 2.79643628e+02] [-3.58968559e-01 8.79449157e-01 -3.12587195e-01 -1.62214591e+02] [-6.76118888e-01 -1.41405889e-02 7.36656835e-01 -1.69907884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.66, Y:-162.23, Z:-169.93 [[ 6.43298743e-01 4.75721339e-01 5.99879934e-01 2.79664264e+02] [-3.58531839e-01 8.79488750e-01 -3.12976771e-01 -1.62225570e+02] [-6.76477382e-01 -1.37384922e-02 7.36335254e-01 -1.69929612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.69, Y:-162.24, Z:-169.95 [[ 6.42978393e-01 4.75415007e-01 6.00465950e-01 2.79685812e+02] [-3.57598230e-01 8.79663847e-01 -3.13552265e-01 -1.62237341e+02] [-6.77275640e-01 -1.31182292e-02 7.35612412e-01 -1.69952018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:-162.25, Z:-169.97 [[ 6.42602705e-01 4.75601456e-01 6.00720416e-01 2.79707210e+02] [-3.57470109e-01 8.79565129e-01 -3.13975007e-01 -1.62248795e+02] [-6.77699701e-01 -1.29784036e-02 7.35224235e-01 -1.69974234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.73, Y:-162.26, Z:-170.00 [[ 6.42573153e-01 4.75847184e-01 6.00557408e-01 2.79728732e+02] [-3.57614977e-01 8.79433577e-01 -3.14178471e-01 -1.62259809e+02] [-6.77651290e-01 -1.28856733e-02 7.35270487e-01 -1.69995956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:-162.27, Z:-170.02 [[ 6.42118721e-01 4.76323748e-01 6.00665660e-01 2.79750002e+02] [-3.57945047e-01 8.79173287e-01 -3.14530881e-01 -1.62270692e+02] [-6.77907731e-01 -1.30391313e-02 7.35031353e-01 -1.70018452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:-162.28, Z:-170.04 [[ 6.42011334e-01 4.77211932e-01 6.00075178e-01 2.79770860e+02] [-3.59158996e-01 8.78683016e-01 -3.14517048e-01 -1.62280223e+02] [-6.77367155e-01 -1.35988887e-02 7.35519413e-01 -1.70040961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:-162.29, Z:-170.06 [[ 6.42152545e-01 4.77787059e-01 5.99466126e-01 2.79791163e+02] [-3.59971228e-01 8.78366480e-01 -3.14472642e-01 -1.62290200e+02] [-6.76801909e-01 -1.38511499e-02 7.36034864e-01 -1.70063076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.81, Y:-162.30, Z:-170.09 [[ 6.42040854e-01 4.78435519e-01 5.99068440e-01 2.79812535e+02] [-3.60793264e-01 8.78007907e-01 -3.14531932e-01 -1.62301355e+02] [-6.76470075e-01 -1.41975079e-02 7.36333259e-01 -1.70085929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.83, Y:-162.31, Z:-170.11 [[ 6.41972858e-01 4.79078792e-01 5.98627063e-01 2.79833773e+02] [-3.61612355e-01 8.77651866e-01 -3.14584975e-01 -1.62312881e+02] [-6.76097149e-01 -1.45159269e-02 7.36669487e-01 -1.70108580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.86, Y:-162.32, Z:-170.13 [[ 6.41809382e-01 4.79597702e-01 5.98386799e-01 2.79855245e+02] [-3.62158340e-01 8.77365391e-01 -3.14755949e-01 -1.62324787e+02] [-6.75960098e-01 -1.46974483e-02 7.36791647e-01 -1.70130878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:-162.34, Z:-170.15 [[ 6.40815603e-01 4.80378290e-01 5.98825568e-01 2.79876906e+02] [-3.62752226e-01 8.76929926e-01 -3.15285154e-01 -1.62337093e+02] [-6.76584204e-01 -1.51856615e-02 7.36208673e-01 -1.70152674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:-162.35, Z:-170.17 [[ 6.39487287e-01 4.81896655e-01 5.99025562e-01 2.79897958e+02] [-3.64466602e-01 8.76073703e-01 -3.15688078e-01 -1.62347301e+02] [-6.76919572e-01 -1.64462983e-02 7.35873232e-01 -1.70174567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.92, Y:-162.36, Z:-170.20 [[ 6.39061934e-01 4.82581900e-01 5.98927837e-01 2.79918748e+02] [-3.65195094e-01 8.75688996e-01 -3.15913478e-01 -1.62357319e+02] [-6.76928643e-01 -1.68372295e-02 7.35856046e-01 -1.70196820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.94, Y:-162.37, Z:-170.22 [[ 6.39359399e-01 4.82951215e-01 5.98312363e-01 2.79939916e+02] [-3.65728870e-01 8.75484725e-01 -3.15862137e-01 -1.62367588e+02] [-6.76359337e-01 -1.68706783e-02 7.36378589e-01 -1.70219245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:-162.38, Z:-170.24 [[ 6.39898021e-01 4.82933891e-01 5.97750265e-01 2.79960630e+02] [-3.65689703e-01 8.75501856e-01 -3.15860003e-01 -1.62377485e+02] [-6.75870967e-01 -1.64729262e-02 7.36835857e-01 -1.70241916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:-162.39, Z:-170.26 [[ 6.40027323e-01 4.83178546e-01 5.97414026e-01 2.79981029e+02] [-3.65925631e-01 8.75368446e-01 -3.15956510e-01 -1.62388614e+02] [-6.75620795e-01 -1.63883050e-02 7.37067137e-01 -1.70263283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:-162.40, Z:-170.29 [[ 6.39794958e-01 4.83484321e-01 5.97415536e-01 2.80002133e+02] [-3.66178827e-01 8.75197530e-01 -3.16136599e-01 -1.62400305e+02] [-6.75703691e-01 -1.64983179e-02 7.36988689e-01 -1.70285624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.02, Y:-162.41, Z:-170.31 [[ 6.39722762e-01 4.83486464e-01 5.97491110e-01 2.80023571e+02] [-3.65883359e-01 8.75202612e-01 -3.16464462e-01 -1.62411997e+02] [-6.75932064e-01 -1.61625347e-02 7.36786684e-01 -1.70307395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.04, Y:-162.42, Z:-170.33 [[ 6.39965169e-01 4.83079972e-01 5.97560309e-01 2.80044405e+02] [-3.65028035e-01 8.75440969e-01 -3.16792745e-01 -1.62422896e+02] [-6.76165007e-01 -1.53899429e-02 7.36589461e-01 -1.70329249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:-162.43, Z:-170.35 [[ 6.40078064e-01 4.82572127e-01 5.97849659e-01 2.80065519e+02] [-3.63950940e-01 8.75735473e-01 -3.17217739e-01 -1.62433680e+02] [-6.76638593e-01 -1.45438295e-02 7.36171645e-01 -1.70352367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:-162.44, Z:-170.38 [[ 6.41225340e-01 4.80687133e-01 5.98138733e-01 2.80086994e+02] [-3.60970506e-01 8.76807063e-01 -3.17662821e-01 -1.62444247e+02] [-6.77148696e-01 -1.22169906e-02 7.35744785e-01 -1.70375577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.11, Y:-162.46, Z:-170.40 [[ 6.42100861e-01 4.79656568e-01 5.98026806e-01 2.80107881e+02] [-3.59343319e-01 8.77390155e-01 -3.17897616e-01 -1.62455522e+02] [-6.77184512e-01 -1.07746038e-02 7.35734358e-01 -1.70398075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-162.47, Z:-170.42 [[ 6.44534019e-01 4.76337493e-01 5.98062280e-01 2.80128569e+02] [-3.54522546e-01 8.79235235e-01 -3.18212455e-01 -1.62467951e+02] [-6.77413953e-01 -6.92780980e-03 7.35569400e-01 -1.70419886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.15, Y:-162.48, Z:-170.44 [[ 6.45805342e-01 4.74560747e-01 5.98103300e-01 2.80149909e+02] [-3.51808199e-01 8.80210155e-01 -3.18529550e-01 -1.62479866e+02] [-6.77618220e-01 -4.70956015e-03 7.35398782e-01 -1.70442446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.17, Y:-162.49, Z:-170.47 [[ 6.49041956e-01 4.70704667e-01 5.97646766e-01 2.80170896e+02] [-3.46511628e-01 8.82290777e-01 -3.18579154e-01 -1.62491392e+02] [-6.77254923e-01 -3.20316764e-04 7.35748372e-01 -1.70465065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:-162.50, Z:-170.49 [[ 6.50657536e-01 4.68825718e-01 5.97366903e-01 2.80191881e+02] [-3.43825143e-01 8.83288447e-01 -3.18725258e-01 -1.62502498e+02] [-6.77073883e-01 1.99122980e-03 7.35912354e-01 -1.70487745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.21, Y:-162.51, Z:-170.51 [[ 6.52164860e-01 4.66954768e-01 5.97188614e-01 2.80213391e+02] [-3.41106228e-01 8.84270819e-01 -3.18922657e-01 -1.62513732e+02] [-6.76998920e-01 4.28539403e-03 7.35971533e-01 -1.70510461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.23, Y:-162.53, Z:-170.53 [[ 6.53415934e-01 4.65389750e-01 5.97042710e-01 2.80234429e+02] [-3.38789470e-01 8.85083739e-01 -3.19137071e-01 -1.62525091e+02] [-6.76955916e-01 6.25746421e-03 7.35996965e-01 -1.70533257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:-162.54, Z:-170.56 [[ 6.54855366e-01 4.63766716e-01 5.96728483e-01 2.80254920e+02] [-3.36477462e-01 8.85918589e-01 -3.19266615e-01 -1.62536191e+02] [-6.76718085e-01 8.28777040e-03 7.36195589e-01 -1.70555232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:-162.55, Z:-170.58 [[ 6.56151531e-01 4.62437142e-01 5.96336363e-01 2.80276046e+02] [-3.34710957e-01 8.86597138e-01 -3.19239865e-01 -1.62547886e+02] [-6.76338484e-01 9.86941116e-03 7.36524847e-01 -1.70577703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:-162.56, Z:-170.60 [[ 6.58230463e-01 4.60069004e-01 5.95876807e-01 2.80297280e+02] [-3.31486246e-01 8.87793256e-01 -3.19280447e-01 -1.62559551e+02] [-6.75906448e-01 1.26351506e-02 7.36879113e-01 -1.70600538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:-162.57, Z:-170.62 [[ 6.59122111e-01 4.59421129e-01 5.95390855e-01 2.80318768e+02] [-3.30597932e-01 8.88114001e-01 -3.19309456e-01 -1.62570833e+02] [-6.75472465e-01 1.36289373e-02 7.37259250e-01 -1.70623364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-162.58, Z:-170.65 [[ 6.59939858e-01 4.59042291e-01 5.94776899e-01 2.80339437e+02] [-3.30137626e-01 8.88298643e-01 -3.19272093e-01 -1.62581160e+02] [-6.74898905e-01 1.43421463e-02 7.37770812e-01 -1.70645962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:-162.59, Z:-170.67 [[ 6.60211669e-01 4.59777572e-01 5.93906673e-01 2.80360987e+02] [-3.31328731e-01 8.87925646e-01 -3.19075726e-01 -1.62591587e+02] [-6.74048829e-01 1.38791732e-02 7.38556393e-01 -1.70668426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.38, Y:-162.60, Z:-170.69 [[ 6.59309383e-01 4.62177621e-01 5.93045516e-01 2.80381931e+02] [-3.34738076e-01 8.86709686e-01 -3.18898657e-01 -1.62600031e+02] [-6.73247026e-01 1.17379614e-02 7.39324463e-01 -1.70691249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:-162.61, Z:-170.71 [[ 6.58170660e-01 4.64164850e-01 5.92758277e-01 2.80403563e+02] [-3.37315976e-01 8.85692198e-01 -3.19009816e-01 -1.62610062e+02] [-6.73074524e-01 1.00160644e-02 7.39506838e-01 -1.70714242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:-162.62, Z:-170.74 [[ 6.56759067e-01 4.66526219e-01 5.92470096e-01 2.80424900e+02] [-3.40385251e-01 8.84471848e-01 -3.19135444e-01 -1.62620105e+02] [-6.72908173e-01 7.92701431e-03 7.39683550e-01 -1.70736711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-162.63, Z:-170.76 [[ 6.54847226e-01 4.69112102e-01 5.92544467e-01 2.80446674e+02] [-3.43578713e-01 8.83120820e-01 -3.19454670e-01 -1.62630400e+02] [-6.73148408e-01 5.60833906e-03 7.39486151e-01 -1.70759723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:-162.64, Z:-170.78 [[ 6.50723435e-01 4.74377926e-01 5.92895096e-01 2.80468630e+02] [-3.50262727e-01 8.80321147e-01 -3.19922961e-01 -1.62639704e+02] [-6.73702482e-01 5.12314175e-04 7.39002506e-01 -1.70781640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:-162.65, Z:-170.80 [[ 6.46067187e-01 4.79445023e-01 5.93910482e-01 2.80490750e+02] [-3.56397238e-01 8.77560613e-01 -3.20731007e-01 -1.62649139e+02] [-6.74965332e-01 -4.45427607e-03 7.37835998e-01 -1.70803954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.51, Y:-162.66, Z:-170.83 [[ 6.43953103e-01 4.81831389e-01 5.94275117e-01 2.80511605e+02] [-3.59195203e-01 8.76239032e-01 -3.21222611e-01 -1.62659205e+02] [-6.75502190e-01 -6.60847431e-03 7.37328366e-01 -1.70825560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.53, Y:-162.67, Z:-170.85 [[ 6.39919724e-01 4.86019208e-01 5.95221032e-01 2.80534045e+02] [-3.64282920e-01 8.73881041e-01 -3.21915954e-01 -1.62669103e+02] [-6.76609711e-01 -1.08284874e-02 7.36262210e-01 -1.70848301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.56, Y:-162.68, Z:-170.87 [[ 6.37914473e-01 4.88245532e-01 5.95551363e-01 2.80556053e+02] [-3.66906324e-01 8.72611542e-01 -3.22379973e-01 -1.62679879e+02] [-6.77085574e-01 -1.28607109e-02 7.35791905e-01 -1.70870485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:-162.69, Z:-170.89 [[ 6.37835976e-01 4.88496442e-01 5.95429672e-01 2.80577487e+02] [-3.67039914e-01 8.72472325e-01 -3.22604624e-01 -1.62691452e+02] [-6.77087121e-01 -1.27776201e-02 7.35791929e-01 -1.70893417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:-162.70, Z:-170.92 [[ 6.35544617e-01 4.90601818e-01 5.96148384e-01 2.80599322e+02] [-3.69434803e-01 8.71257179e-01 -3.23154537e-01 -1.62702599e+02] [-6.77938763e-01 -1.48588340e-02 7.34968196e-01 -1.70915962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:-162.71, Z:-170.94 [[ 6.34606952e-01 4.92102515e-01 5.95910339e-01 2.80621064e+02] [-3.71334569e-01 8.70388328e-01 -3.23318414e-01 -1.62713918e+02] [-6.77779208e-01 -1.61019955e-02 7.35089159e-01 -1.70938668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:-162.72, Z:-170.96 [[ 6.34561384e-01 4.94406990e-01 5.94048464e-01 2.80642388e+02] [-3.75089594e-01 8.69041888e-01 -3.22605012e-01 -1.62723271e+02] [-6.75751172e-01 -1.81087145e-02 7.36907340e-01 -1.70962628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:-162.73, Z:-170.99 [[ 6.34058091e-01 4.95442068e-01 5.93723415e-01 2.80663083e+02] [-3.76386309e-01 8.68436580e-01 -3.22724733e-01 -1.62733387e+02] [-6.75502541e-01 -1.88431363e-02 7.37116852e-01 -1.70985374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:-162.74, Z:-171.01 [[ 6.33802054e-01 4.96650157e-01 5.92986997e-01 2.80684155e+02] [-3.78129648e-01 8.67725806e-01 -3.22598660e-01 -1.62743876e+02] [-6.74768795e-01 -1.97622711e-02 7.37764547e-01 -1.71007925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:-162.76, Z:-171.03 [[ 6.34184906e-01 4.97077027e-01 5.92219499e-01 2.80705255e+02] [-3.78800015e-01 8.67479914e-01 -3.22473483e-01 -1.62755130e+02] [-6.74032680e-01 -1.98249399e-02 7.38435453e-01 -1.71030564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:-162.77, Z:-171.05 [[ 6.34806642e-01 4.97369635e-01 5.91307004e-01 2.80725724e+02] [-3.79349153e-01 8.67314332e-01 -3.22273284e-01 -1.62765735e+02] [-6.73137985e-01 -1.97305897e-02 7.39253649e-01 -1.71052363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:-162.78, Z:-171.07 [[ 6.35493267e-01 4.97286305e-01 5.90639178e-01 2.80746568e+02] [-3.79292505e-01 8.67372263e-01 -3.22184036e-01 -1.62776359e+02] [-6.72521749e-01 -1.92792275e-02 7.39826202e-01 -1.71074595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:-162.79, Z:-171.10 [[ 6.36603425e-01 4.96695929e-01 5.89940026e-01 2.80766711e+02] [-3.78561265e-01 8.67731808e-01 -3.22075889e-01 -1.62787171e+02] [-6.71883507e-01 -1.82938287e-02 7.40430880e-01 -1.71096706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:-162.80, Z:-171.12 [[ 6.38957549e-01 4.94199194e-01 5.89491652e-01 2.80786991e+02] [-3.75209020e-01 8.69211699e-01 -3.22008097e-01 -1.62799688e+02] [-6.71529182e-01 -1.54330806e-02 7.40817372e-01 -1.71119487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.81, Y:-162.81, Z:-171.14 [[ 6.39715598e-01 4.92909067e-01 5.89749612e-01 2.80807866e+02] [-3.73073565e-01 8.69972130e-01 -3.22435433e-01 -1.62812354e+02] [-6.71997074e-01 -1.37530147e-02 7.40426084e-01 -1.71141951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-162.83, Z:-171.16 [[ 6.40544116e-01 4.91250288e-01 5.90234183e-01 2.80828855e+02] [-3.70321854e-01 8.70940079e-01 -3.22993967e-01 -1.62825309e+02] [-6.72729485e-01 -1.16847316e-02 7.39796260e-01 -1.71164317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.85, Y:-162.84, Z:-171.19 [[ 6.42589324e-01 4.87757551e-01 5.90907381e-01 2.80849199e+02] [-3.64983372e-01 8.72945239e-01 -3.23656837e-01 -1.62839378e+02] [-6.73695851e-01 -7.69294092e-03 7.38968686e-01 -1.71186026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.87, Y:-162.85, Z:-171.21 [[ 6.44259111e-01 4.84760648e-01 5.91554994e-01 2.80870012e+02] [-3.60329289e-01 8.74636678e-01 -3.24304616e-01 -1.62852448e+02] [-6.74605811e-01 -4.21838668e-03 7.38166109e-01 -1.71208590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.89, Y:-162.86, Z:-171.23 [[ 6.44182286e-01 4.85012856e-01 5.91431917e-01 2.80891384e+02] [-3.60465701e-01 8.74497245e-01 -3.24528962e-01 -1.62864133e+02] [-6.74606301e-01 -4.13511187e-03 7.38166133e-01 -1.71231522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-162.88, Z:-171.25 [[ 6.45086347e-01 4.83620345e-01 5.91586821e-01 2.80912212e+02] [-3.58352497e-01 8.75274338e-01 -3.24774263e-01 -1.62876304e+02] [-6.74868204e-01 -2.48917140e-03 7.37934084e-01 -1.71254157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.93, Y:-162.89, Z:-171.28 [[ 6.45873327e-01 4.82061298e-01 5.92000465e-01 2.80933053e+02] [-3.55766151e-01 8.76137340e-01 -3.25290345e-01 -1.62889581e+02] [-6.75483598e-01 -5.17369724e-04 7.37374831e-01 -1.71275699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:-162.90, Z:-171.30 [[ 6.46051518e-01 4.81578996e-01 5.92198537e-01 2.80954240e+02] [-3.54742511e-01 8.76402623e-01 -3.25693404e-01 -1.62901665e+02] [-6.75851453e-01 3.36722580e-04 7.37037787e-01 -1.71298083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:-162.91, Z:-171.32 [[ 6.46919586e-01 4.80554404e-01 5.92083199e-01 2.80974934e+02] [-3.53140656e-01 8.76963153e-01 -3.25925306e-01 -1.62911968e+02] [-6.75859991e-01 1.75881483e-03 7.37027937e-01 -1.71320268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:-162.92, Z:-171.34 [[ 6.47507361e-01 4.80154892e-01 5.91764732e-01 2.80995111e+02] [-3.52509595e-01 8.77180157e-01 -3.26024475e-01 -1.62922407e+02] [-6.75626527e-01 2.50050149e-03 7.37239815e-01 -1.71342156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:-162.93, Z:-171.37 [[ 6.49469846e-01 4.78496179e-01 5.90957127e-01 2.81016256e+02] [-3.50429281e-01 8.78077891e-01 -3.25850482e-01 -1.62932681e+02] [-6.74824598e-01 4.54138152e-03 7.37964185e-01 -1.71365017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.04, Y:-162.94, Z:-171.39 [[ 6.51492984e-01 4.76134668e-01 5.90637511e-01 2.81036805e+02] [-3.47132256e-01 8.79341755e-01 -3.25971279e-01 -1.62943914e+02] [-6.74578453e-01 7.33866975e-03 7.38166685e-01 -1.71386457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:-162.96, Z:-171.41 [[ 6.52371206e-01 4.74808153e-01 5.90736005e-01 2.81057797e+02] [-3.45038698e-01 8.80042863e-01 -3.26301789e-01 -1.62955770e+02] [-6.74803755e-01 9.04310949e-03 7.37941810e-01 -1.71408146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:-162.97, Z:-171.43 [[ 6.53142937e-01 4.73416012e-01 5.91000494e-01 2.81078371e+02] [-3.42752031e-01 8.80772216e-01 -3.26743553e-01 -1.62967338e+02] [-6.75222445e-01 1.08436244e-02 7.37534451e-01 -1.71429891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:-162.98, Z:-171.45 [[ 6.55235418e-01 4.69861297e-01 5.91520844e-01 2.81099883e+02] [-3.37433050e-01 8.82615103e-01 -3.27306456e-01 -1.62979247e+02] [-6.75873867e-01 1.48640998e-02 7.36867406e-01 -1.71451844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.12, Y:-162.99, Z:-171.47 [[ 6.57649637e-01 4.66686970e-01 5.91354570e-01 2.81120999e+02] [-3.32982503e-01 8.84229599e-01 -3.27506745e-01 -1.62990697e+02] [-6.75736345e-01 1.84739668e-02 7.36911871e-01 -1.71473663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:-163.00, Z:-171.50 [[ 6.59709283e-01 4.63890844e-01 5.91260473e-01 2.81141745e+02] [-3.29002783e-01 8.85626655e-01 -3.27753867e-01 -1.63001301e+02] [-6.75678053e-01 2.16959274e-02 7.36877504e-01 -1.71495544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:-163.01, Z:-171.52 [[ 6.60583546e-01 4.64969752e-01 5.89434057e-01 2.81164571e+02] [-3.31193522e-01 8.85082058e-01 -3.27017740e-01 -1.63009030e+02] [-6.73750866e-01 2.08057972e-02 7.38665614e-01 -1.71517973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:-163.02, Z:-171.54 [[ 6.59341799e-01 4.67766080e-01 5.88611320e-01 2.81187255e+02] [-3.35122134e-01 8.83663877e-01 -3.26850589e-01 -1.63018144e+02] [-6.73024180e-01 1.82495733e-02 7.39395298e-01 -1.71540859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:-163.03, Z:-171.56 [[ 6.59273100e-01 4.68017702e-01 5.88488241e-01 2.81208567e+02] [-3.35261823e-01 8.83528925e-01 -3.27072085e-01 -1.63029946e+02] [-6.73021909e-01 1.83321867e-02 7.39395321e-01 -1.71563789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.23, Y:-163.04, Z:-171.59 [[ 6.57916092e-01 4.69986348e-01 5.88437974e-01 2.81230484e+02] [-3.37784056e-01 8.82519322e-01 -3.27202655e-01 -1.63040776e+02] [-6.73088663e-01 1.65069266e-02 7.39377558e-01 -1.71586493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:-163.05, Z:-171.61 [[ 6.57829613e-01 4.70261022e-01 5.88315198e-01 2.81251782e+02] [-3.37955310e-01 8.82371911e-01 -3.27423304e-01 -1.63052584e+02] [-6.73087223e-01 1.65645001e-02 7.39377582e-01 -1.71609415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.27, Y:-163.06, Z:-171.63 [[ 6.57742450e-01 4.70488548e-01 5.88230733e-01 2.81273076e+02] [-3.38124942e-01 8.82250613e-01 -3.27574999e-01 -1.63064440e+02] [-6.73087210e-01 1.65644998e-02 7.39377593e-01 -1.71632317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.29, Y:-163.08, Z:-171.65 [[ 6.56346310e-01 4.72634879e-01 5.88069547e-01 2.81294967e+02] [-3.40911737e-01 8.81137505e-01 -3.27682599e-01 -1.63075377e+02] [-6.73044359e-01 1.45934536e-02 7.39458128e-01 -1.71654576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:-163.09, Z:-171.68 [[ 6.56276480e-01 4.72884306e-01 5.87946949e-01 2.81316260e+02] [-3.41049718e-01 8.81002305e-01 -3.27902468e-01 -1.63087213e+02] [-6.73042548e-01 1.46755365e-02 7.39458151e-01 -1.71677506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:-163.10, Z:-171.70 [[ 6.53593247e-01 4.77095207e-01 5.87533855e-01 2.81339092e+02] [-3.46782976e-01 8.78788648e-01 -3.27829347e-01 -1.63096292e+02] [-6.72723892e-01 1.05203084e-02 7.39818821e-01 -1.71699093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.36, Y:-163.10, Z:-171.72 [[ 6.50120156e-01 4.81516693e-01 5.87780110e-01 2.81361484e+02] [-3.52343517e-01 8.76414237e-01 -3.28256196e-01 -1.63104496e+02] [-6.73199695e-01 6.30545819e-03 7.39433846e-01 -1.71722063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.38, Y:-163.11, Z:-171.74 [[ 6.48343105e-01 4.83993753e-01 5.87708486e-01 2.81382387e+02] [-3.55451305e-01 8.75061905e-01 -3.28513366e-01 -1.63114647e+02] [-6.73279725e-01 4.08762782e-03 7.39376564e-01 -1.71743915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.40, Y:-163.13, Z:-171.77 [[ 6.46750257e-01 4.86149301e-01 5.87684407e-01 2.81404413e+02] [-3.58122596e-01 8.73873065e-01 -3.28776629e-01 -1.63125329e+02] [-6.73396102e-01 2.17330388e-03 7.39278680e-01 -1.71766557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.43, Y:-163.14, Z:-171.79 [[ 6.44919783e-01 4.88677826e-01 5.87598891e-01 2.81426087e+02] [-3.61324165e-01 8.72464307e-01 -3.29015017e-01 -1.63136086e+02] [-6.73441402e-01 -1.25385331e-04 7.39240599e-01 -1.71789194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:-163.15, Z:-171.81 [[ 6.41593007e-01 4.93240648e-01 5.87428359e-01 2.81447620e+02] [-3.67314375e-01 8.69881033e-01 -3.29222018e-01 -1.63145362e+02] [-6.73378470e-01 -4.54433626e-03 7.39283968e-01 -1.71811207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.47, Y:-163.16, Z:-171.83 [[ 6.39840048e-01 4.95671971e-01 5.87293803e-01 2.81469061e+02] [-3.70424377e-01 8.68483449e-01 -3.29427199e-01 -1.63155901e+02] [-6.73342776e-01 -6.76722608e-03 7.39299473e-01 -1.71833781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.49, Y:-163.17, Z:-171.86 [[ 6.36411680e-01 4.99819637e-01 5.87503620e-01 2.81490648e+02] [-3.75679472e-01 8.66062267e-01 -3.29850094e-01 -1.63165071e+02] [-6.73680272e-01 -1.07925970e-02 7.38944119e-01 -1.71856293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:-163.18, Z:-171.88 [[ 6.34942816e-01 5.01761235e-01 5.87437897e-01 2.81512020e+02] [-3.78184766e-01 8.64913970e-01 -3.30000163e-01 -1.63175894e+02] [-6.73664533e-01 -1.26288313e-02 7.38929367e-01 -1.71878535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:-163.19, Z:-171.90 [[ 6.34858302e-01 5.02019949e-01 5.87308188e-01 2.81533278e+02] [-3.78323814e-01 8.64765083e-01 -3.30230895e-01 -1.63187794e+02] [-6.73666111e-01 -1.25428488e-02 7.38929393e-01 -1.71901465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.56, Y:-163.20, Z:-171.92 [[ 6.32617730e-01 5.04441408e-01 5.87650979e-01 2.81555066e+02] [-3.81305792e-01 8.63316711e-01 -3.30590606e-01 -1.63198360e+02] [-6.74092501e-01 -1.49372434e-02 7.38495889e-01 -1.71924445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.58, Y:-163.21, Z:-171.95 [[ 6.31930240e-01 5.05359778e-01 5.87601623e-01 2.81576392e+02] [-3.82307183e-01 8.62768431e-01 -3.30865309e-01 -1.63209680e+02] [-6.74170149e-01 -1.55605271e-02 7.38412134e-01 -1.71946938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.60, Y:-163.22, Z:-171.97 [[ 6.31242001e-01 5.06084426e-01 5.87717696e-01 2.81596876e+02] [-3.82965763e-01 8.62335735e-01 -3.31231496e-01 -1.63220570e+02] [-6.74441073e-01 -1.59885239e-02 7.38155544e-01 -1.71969043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:-163.23, Z:-171.99 [[ 6.30441417e-01 5.06900034e-01 5.87874115e-01 2.81618172e+02] [-3.83748681e-01 8.61846113e-01 -3.31599499e-01 -1.63231741e+02] [-6.74744818e-01 -1.65418583e-02 7.37865704e-01 -1.71991185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:-163.24, Z:-172.01 [[ 6.30908465e-01 5.07514654e-01 5.86841873e-01 2.81639402e+02] [-3.84817319e-01 8.61479366e-01 -3.31313949e-01 -1.63243008e+02] [-6.73698849e-01 -1.67981417e-02 7.38815053e-01 -1.72014365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:-163.25, Z:-172.04 [[ 6.31659104e-01 5.07795348e-01 5.85790629e-01 2.81659360e+02] [-3.85435206e-01 8.61315999e-01 -3.31020318e-01 -1.63253617e+02] [-6.72641419e-01 -1.66923342e-02 7.39780297e-01 -1.72036679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:-163.26, Z:-172.06 [[ 6.32466283e-01 5.07919622e-01 5.84811131e-01 2.81679630e+02] [-3.85825004e-01 8.61247385e-01 -3.30744628e-01 -1.63264676e+02] [-6.71658743e-01 -1.64499317e-02 7.40678022e-01 -1.72060116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:-163.28, Z:-172.08 [[ 6.32836565e-01 5.07728121e-01 5.84576802e-01 2.81699912e+02] [-3.85404849e-01 8.61370897e-01 -3.30912799e-01 -1.63276792e+02] [-6.71551177e-01 -1.58850150e-02 7.40787880e-01 -1.72082288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:-163.29, Z:-172.10 [[ 6.34236187e-01 5.05963531e-01 5.84589911e-01 2.81720181e+02] [-3.82744581e-01 8.62446225e-01 -3.31199479e-01 -1.63290615e+02] [-6.71752220e-01 -1.36899252e-02 7.40649405e-01 -1.72104410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:-163.30, Z:-172.13 [[ 6.35253353e-01 5.04497606e-01 5.84752378e-01 2.81740773e+02] [-3.80410807e-01 8.63332328e-01 -3.31579417e-01 -1.63303370e+02] [-6.72116654e-01 -1.18091875e-02 7.40351097e-01 -1.72126565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:-163.32, Z:-172.15 [[ 6.38054397e-01 5.00172062e-01 5.85418222e-01 2.81760378e+02] [-3.73929532e-01 8.65898506e-01 -3.32259660e-01 -1.63317451e+02] [-6.73099764e-01 -6.90542468e-03 7.39519454e-01 -1.72148528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:-163.33, Z:-172.17 [[ 6.39821048e-01 4.97687276e-01 5.85607721e-01 2.81780510e+02] [-3.70188856e-01 8.67347609e-01 -3.32668509e-01 -1.63330775e+02] [-6.73490340e-01 -3.93713836e-03 7.39185539e-01 -1.72170907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.80, Y:-163.35, Z:-172.19 [[ 6.44029959e-01 4.91542307e-01 5.86183907e-01 2.81800135e+02] [-3.61297878e-01 8.70848983e-01 -3.33295504e-01 -1.63345965e+02] [-6.74306499e-01 2.86528827e-03 7.38446027e-01 -1.72193480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:-163.36, Z:-172.22 [[ 6.45960989e-01 4.88411183e-01 5.86676160e-01 2.81819816e+02] [-3.56531842e-01 8.72589390e-01 -3.33875429e-01 -1.63359213e+02] [-6.74995886e-01 6.50176962e-03 7.37792844e-01 -1.72215794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:-163.37, Z:-172.24 [[ 6.45866700e-01 4.88690507e-01 5.86547350e-01 2.81841001e+02] [-3.56703766e-01 8.72432539e-01 -3.34101613e-01 -1.63371225e+02] [-6.74995281e-01 6.56145762e-03 7.37792869e-01 -1.72238717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.86, Y:-163.39, Z:-172.26 [[ 6.51311671e-01 4.81614621e-01 5.86379113e-01 2.81860101e+02] [-3.47067619e-01 8.76268667e-01 -3.34211446e-01 -1.63385200e+02] [-6.74786763e-01 1.41626123e-02 7.37876850e-01 -1.72260159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.88, Y:-163.40, Z:-172.28 [[ 6.53834580e-01 4.78380802e-01 5.86218518e-01 2.81880104e+02] [-3.42641504e-01 8.77973768e-01 -3.34303549e-01 -1.63397614e+02] [-6.74608881e-01 1.77164257e-02 7.37962727e-01 -1.72282600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:-163.41, Z:-172.31 [[ 6.53746263e-01 4.78656556e-01 5.86091909e-01 2.81901277e+02] [-3.42813051e-01 8.77822282e-01 -3.34525415e-01 -1.63409649e+02] [-6.74607319e-01 1.77747842e-02 7.37962751e-01 -1.72305522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.92, Y:-163.42, Z:-172.33 [[ 6.56466186e-01 4.75368439e-01 5.85727747e-01 2.81920608e+02] [-3.38420980e-01 8.79527040e-01 -3.34519693e-01 -1.63421469e+02] [-6.74183496e-01 2.13783091e-02 7.38254415e-01 -1.72327386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:-163.44, Z:-172.35 [[ 6.60968963e-01 4.69064976e-01 5.85745745e-01 2.81941262e+02] [-3.29814163e-01 8.82718227e-01 -3.34710546e-01 -1.63435038e+02] [-6.74049440e-01 2.80460402e-02 7.38153624e-01 -1.72349871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:-163.45, Z:-172.37 [[ 6.62517717e-01 4.66563362e-01 5.85993946e-01 2.81961732e+02] [-3.26068676e-01 8.83945678e-01 -3.35140652e-01 -1.63447449e+02] [-6.74351165e-01 3.09623499e-02 7.37761370e-01 -1.72372031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:-163.46, Z:-172.39 [[ 6.64645157e-01 4.62619501e-01 5.86711184e-01 2.81981817e+02] [-3.20115628e-01 8.85849621e-01 -3.35851802e-01 -1.63459462e+02] [-6.75109473e-01 3.54068541e-02 7.36867393e-01 -1.72393613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:-163.47, Z:-172.42 [[ 6.65393272e-01 4.61405522e-01 5.86819170e-01 2.82001996e+02] [-3.18178044e-01 8.86417989e-01 -3.36193219e-01 -1.63470787e+02] [-6.75288476e-01 3.69877299e-02 7.36625673e-01 -1.72415286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:-163.48, Z:-172.44 [[ 6.65533377e-01 4.60692776e-01 5.87220138e-01 2.82022670e+02] [-3.16749935e-01 8.86742687e-01 -3.36685143e-01 -1.63481862e+02] [-6.75821576e-01 3.80732600e-02 7.36081262e-01 -1.72437784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:-163.49, Z:-172.46 [[ 6.65508415e-01 4.60372294e-01 5.87499702e-01 2.82043279e+02] [-3.15887479e-01 8.86878305e-01 -3.37137915e-01 -1.63492684e+02] [-6.76249695e-01 3.87843199e-02 7.35650818e-01 -1.72459818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:-163.50, Z:-172.48 [[ 6.64123764e-01 4.61475214e-01 5.88200861e-01 2.82065348e+02] [-3.16688310e-01 8.86335751e-01 -3.37812746e-01 -1.63502483e+02] [-6.77235661e-01 3.80731362e-02 7.34780440e-01 -1.72482829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:-163.51, Z:-172.50 [[ 6.60700042e-01 4.65326209e-01 5.89022048e-01 2.82086907e+02] [-3.21064317e-01 8.84463062e-01 -3.38589423e-01 -1.63511464e+02] [-6.78522777e-01 3.45920840e-02 7.33764424e-01 -1.72504919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:-163.52, Z:-172.53 [[ 6.58221124e-01 4.68258948e-01 5.89473078e-01 2.82108374e+02] [-3.24464300e-01 8.83013045e-01 -3.39132541e-01 -1.63521540e+02] [-6.79314265e-01 3.19612328e-02 7.33151150e-01 -1.72527081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.13, Y:-163.53, Z:-172.55 [[ 6.55633086e-01 4.71799971e-01 5.89533751e-01 2.82129949e+02] [-3.28923824e-01 8.81240296e-01 -3.39447579e-01 -1.63531027e+02] [-6.79672255e-01 2.86413675e-02 7.32956546e-01 -1.72549630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:-163.54, Z:-172.57 [[ 6.52752717e-01 4.75826796e-01 5.89493639e-01 2.82151984e+02] [-3.34090488e-01 8.79189031e-01 -3.39720759e-01 -1.63539923e+02] [-6.79924582e-01 2.48094312e-02 7.32862235e-01 -1.72572196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:-163.54, Z:-172.60 [[ 6.46307135e-01 4.84706740e-01 5.89361064e-01 2.82174536e+02] [-3.45877551e-01 8.74532916e-01 -3.39942493e-01 -1.63544942e+02] [-6.80188067e-01 1.58604975e-02 7.32866044e-01 -1.72595436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:-163.55, Z:-172.62 [[ 6.39275450e-01 4.94111538e-01 5.89220406e-01 2.82198321e+02] [-3.58455751e-01 8.69376177e-01 -3.40138997e-01 -1.63551092e+02] [-6.80320787e-01 6.23306748e-03 7.32887969e-01 -1.72618931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.22, Y:-163.56, Z:-172.64 [[ 6.32364089e-01 5.02363368e-01 5.89700522e-01 2.82221154e+02] [-3.69168237e-01 8.64653703e-01 -3.40718047e-01 -1.63557270e+02] [-6.81051005e-01 -2.24084497e-03 7.32232550e-01 -1.72640889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:-163.57, Z:-172.66 [[ 6.29451392e-01 5.05900559e-01 5.89792819e-01 2.82242207e+02] [-3.73786788e-01 8.62572038e-01 -3.40958819e-01 -1.63566239e+02] [-6.81230051e-01 -5.83976023e-03 7.32046115e-01 -1.72663022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:-163.57, Z:-172.69 [[ 6.25527805e-01 5.10842593e-01 5.89707394e-01 2.82264944e+02] [-3.80357965e-01 8.59605416e-01 -3.41183745e-01 -1.63573285e+02] [-6.81206859e-01 -1.08799850e-02 7.32010138e-01 -1.72685971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:-163.58, Z:-172.71 [[ 6.22871783e-01 5.13481735e-01 5.90226440e-01 2.82287314e+02] [-3.83437797e-01 8.57995501e-01 -3.41788203e-01 -1.63581701e+02] [-6.81913630e-01 -1.34248982e-02 7.31309493e-01 -1.72709345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:-163.59, Z:-172.73 [[ 6.22787174e-01 5.13736833e-01 5.90093724e-01 2.82308423e+02] [-3.83572280e-01 8.57844112e-01 -3.42017230e-01 -1.63593883e+02] [-6.81915275e-01 -1.33396516e-02 7.31309518e-01 -1.72732272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:-163.60, Z:-172.75 [[ 6.21584500e-01 5.14715665e-01 5.90508674e-01 2.82328675e+02] [-3.84548061e-01 8.57242834e-01 -3.42428842e-01 -1.63604452e+02] [-6.82462819e-01 -1.42305053e-02 7.30781769e-01 -1.72754186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:-163.62, Z:-172.78 [[ 6.21121380e-01 5.15221842e-01 5.90554557e-01 2.82349508e+02] [-3.84956551e-01 8.56934957e-01 -3.42740328e-01 -1.63615403e+02] [-6.82654147e-01 -1.44545004e-02 7.30598647e-01 -1.72776686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:-163.63, Z:-172.80 [[ 6.21125267e-01 5.15438962e-01 5.90360974e-01 2.82370330e+02] [-3.85078165e-01 8.56806375e-01 -3.42925126e-01 -1.63626969e+02] [-6.82582017e-01 -1.43356599e-02 7.30668378e-01 -1.72799645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:-163.64, Z:-172.82 [[ 6.22701356e-01 5.14792565e-01 5.89263639e-01 2.82391032e+02] [-3.84479011e-01 8.57212632e-01 -3.42581952e-01 -1.63638639e+02] [-6.81482876e-01 -1.32332553e-02 7.31714405e-01 -1.72822728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.41, Y:-163.65, Z:-172.85 [[ 6.24297721e-01 5.13783723e-01 5.88454451e-01 2.82411485e+02] [-3.83238261e-01 8.57839189e-01 -3.42403798e-01 -1.63650276e+02] [-6.80720787e-01 -1.17563500e-02 7.32448632e-01 -1.72845736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:-163.66, Z:-172.87 [[ 6.24774736e-01 5.13613340e-01 5.88096817e-01 2.82431787e+02] [-3.82915424e-01 8.57948505e-01 -3.42491081e-01 -1.63662520e+02] [-6.80464773e-01 -1.12115675e-02 7.32695021e-01 -1.72867957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.45, Y:-163.67, Z:-172.89 [[ 6.25250818e-01 5.13309731e-01 5.87855880e-01 2.82451892e+02] [-3.82338140e-01 8.58139042e-01 -3.42658622e-01 -1.63674584e+02] [-6.80352087e-01 -1.05121401e-02 7.32810025e-01 -1.72890365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.47, Y:-163.69, Z:-172.91 [[ 6.26986158e-01 5.12642976e-01 5.86588047e-01 2.82471081e+02] [-3.81820019e-01 8.58550279e-01 -3.42205920e-01 -1.63687351e+02] [-6.79044793e-01 -9.41268415e-03 7.34036492e-01 -1.72913180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:-163.70, Z:-172.94 [[ 6.26904897e-01 5.12836686e-01 5.86505570e-01 2.82492146e+02] [-3.81953095e-01 8.58434740e-01 -3.42347237e-01 -1.63699653e+02] [-6.79044979e-01 -9.39845909e-03 7.34036501e-01 -1.72936085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:-163.71, Z:-172.96 [[ 6.28905975e-01 5.11483750e-01 5.85543891e-01 2.82511236e+02] [-3.80453072e-01 8.59258299e-01 -3.41951218e-01 -1.63712670e+02] [-6.78035939e-01 -7.71680753e-03 7.34988242e-01 -1.72959429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:-163.73, Z:-172.98 [[ 6.29726223e-01 5.10742313e-01 5.85309469e-01 2.82531433e+02] [-3.79284236e-01 8.59708833e-01 -3.42117219e-01 -1.63726033e+02] [-6.77929460e-01 -6.55847021e-03 7.35097704e-01 -1.72982379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:-163.74, Z:-173.00 [[ 6.30421608e-01 5.09834036e-01 5.85352759e-01 2.82550578e+02] [-3.77733942e-01 8.60256961e-01 -3.42454420e-01 -1.63739315e+02] [-6.78148705e-01 -5.21693863e-03 7.34906197e-01 -1.73004290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:-163.75, Z:-173.03 [[ 6.31418005e-01 5.08492842e-01 5.85445414e-01 2.82570468e+02] [-3.75677558e-01 8.61058894e-01 -3.42700969e-01 -1.63753060e+02] [-6.78363970e-01 -3.55114147e-03 7.34717438e-01 -1.73026364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:-163.77, Z:-173.05 [[ 6.33765284e-01 5.04956118e-01 5.85970037e-01 2.82589306e+02] [-3.70292588e-01 8.63144808e-01 -3.43313910e-01 -1.63768786e+02] [-6.79135454e-01 6.00076189e-04 7.34012722e-01 -1.73047637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:-163.78, Z:-173.07 [[ 6.35190086e-01 5.02877381e-01 5.86214888e-01 2.82609442e+02] [-3.67065773e-01 8.64351978e-01 -3.43741730e-01 -1.63783087e+02] [-6.79555939e-01 3.16191780e-03 7.33616881e-01 -1.73070252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.63, Y:-163.80, Z:-173.09 [[ 6.36878267e-01 5.00863363e-01 5.86107469e-01 2.82629102e+02] [-3.64109990e-01 8.65507835e-01 -3.43976893e-01 -1.63796999e+02] [-6.79566030e-01 5.66382235e-03 7.33592484e-01 -1.73092738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.65, Y:-163.81, Z:-173.12 [[ 6.40645399e-01 4.96159287e-01 5.86002930e-01 2.82648135e+02] [-3.57506730e-01 8.68161573e-01 -3.44215660e-01 -1.63812545e+02] [-6.79531022e-01 1.10201874e-02 7.33564002e-01 -1.73115199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:-163.83, Z:-173.14 [[ 6.42272825e-01 4.93976190e-01 5.86065817e-01 2.82667322e+02] [-3.54235870e-01 8.69367623e-01 -3.44553167e-01 -1.63826003e+02] [-6.79707707e-01 1.36916013e-02 7.33355285e-01 -1.73136491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.69, Y:-163.84, Z:-173.16 [[ 6.45340991e-01 4.89450068e-01 5.86492656e-01 2.82686422e+02] [-3.47697607e-01 8.71830499e-01 -3.44989791e-01 -1.63841102e+02] [-6.80177462e-01 1.87139607e-02 7.32808576e-01 -1.73158232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.71, Y:-163.85, Z:-173.18 [[ 6.46857562e-01 4.87645497e-01 5.86325136e-01 2.82705624e+02] [-3.45076110e-01 8.72789956e-01 -3.45195844e-01 -1.63853953e+02] [-6.80071888e-01 2.09657451e-02 7.32845594e-01 -1.73179615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:-163.87, Z:-173.20 [[ 6.48133959e-01 4.86224955e-01 5.86095269e-01 2.82725004e+02] [-3.43032732e-01 8.73536726e-01 -3.45343501e-01 -1.63866814e+02] [-6.79890370e-01 2.27789897e-02 7.32959891e-01 -1.73201183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:-163.88, Z:-173.22 [[ 6.50470318e-01 4.83916282e-01 5.85417285e-01 2.82745084e+02] [-3.40068410e-01 8.74743455e-01 -3.45220749e-01 -1.63879921e+02] [-6.79147879e-01 2.54739247e-02 7.33559294e-01 -1.73223562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:-163.89, Z:-173.25 [[ 6.50924808e-01 4.83556962e-01 5.85208987e-01 2.82765484e+02] [-3.39429415e-01 8.74920931e-01 -3.45399823e-01 -1.63892043e+02] [-6.79032081e-01 2.61921692e-02 7.33641195e-01 -1.73246024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:-163.90, Z:-173.27 [[ 6.52596738e-01 4.81159437e-01 5.85323068e-01 2.82785880e+02] [-3.37670228e-01 8.76225635e-01 -3.43813110e-01 -1.63904166e+02] [-6.78303999e-01 2.67251399e-02 7.34295207e-01 -1.73265766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:-163.92, Z:-173.29 [[ 6.52258848e-01 4.81993619e-01 5.85013288e-01 2.82805954e+02] [-3.39047956e-01 8.75796670e-01 -3.43550108e-01 -1.63917855e+02] [-6.77941649e-01 2.57360380e-02 7.34665078e-01 -1.73288590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:-163.93, Z:-173.31 [[ 6.52559177e-01 4.83783941e-01 5.83197753e-01 2.82826765e+02] [-3.40272085e-01 8.74782037e-01 -3.44922160e-01 -1.63928854e+02] [-6.77038720e-01 2.66362058e-02 7.35465216e-01 -1.73311367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:-163.94, Z:-173.33 [[ 6.51953772e-01 4.85361791e-01 5.82563483e-01 2.82847677e+02] [-3.42484010e-01 8.73947065e-01 -3.44849577e-01 -1.63939346e+02] [-6.76506454e-01 2.53073052e-02 7.36001738e-01 -1.73332992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.87, Y:-163.95, Z:-173.35 [[ 6.51091915e-01 4.86330679e-01 5.82719305e-01 2.82868851e+02] [-3.43519852e-01 8.73430319e-01 -3.45128366e-01 -1.63950589e+02] [-6.76811221e-01 2.45346395e-02 7.35747662e-01 -1.73354978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:-163.96, Z:-173.38 [[ 6.49534038e-01 4.88238059e-01 5.82862875e-01 2.82891130e+02] [-3.45721589e-01 8.72409647e-01 -3.45511203e-01 -1.63961235e+02] [-6.77186914e-01 2.29130082e-02 7.35454198e-01 -1.73376223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.91, Y:-163.97, Z:-173.40 [[ 6.49445713e-01 4.88510739e-01 5.82732806e-01 2.82912102e+02] [-3.45891374e-01 8.72255464e-01 -3.45730478e-01 -1.63973627e+02] [-6.77184926e-01 2.29709259e-02 7.35454222e-01 -1.73399144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:-163.98, Z:-173.42 [[ 6.48086779e-01 4.89943357e-01 5.83042909e-01 2.82933975e+02] [-3.47445962e-01 8.71483167e-01 -3.46119043e-01 -1.63983112e+02] [-6.77690807e-01 2.17392717e-02 7.35025560e-01 -1.73420133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:-163.99, Z:-173.44 [[ 6.47438371e-01 4.90506434e-01 5.83289803e-01 2.82955794e+02] [-3.47889382e-01 8.71175163e-01 -3.46448861e-01 -1.63994568e+02] [-6.78082984e-01 2.13839572e-02 7.34674209e-01 -1.73442319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:-164.00, Z:-173.46 [[ 6.46931117e-01 4.91644471e-01 5.82894368e-01 2.82978613e+02] [-3.49373440e-01 8.70554109e-01 -3.46516583e-01 -1.64003916e+02] [-6.77804049e-01 2.05245499e-02 7.34956063e-01 -1.73464673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:-164.01, Z:-173.49 [[ 6.46901730e-01 4.92338802e-01 5.82340670e-01 2.82999843e+02] [-3.50355027e-01 8.70171131e-01 -3.46487458e-01 -1.64013973e+02] [-6.77325259e-01 2.01173543e-02 7.35408584e-01 -1.73486790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:-164.02, Z:-173.51 [[ 6.46581651e-01 4.93014656e-01 5.82124315e-01 2.83021655e+02] [-3.51133240e-01 8.69797336e-01 -3.46638200e-01 -1.64023980e+02] [-6.77227891e-01 1.97267033e-02 7.35508831e-01 -1.73509832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:-164.03, Z:-173.53 [[ 6.46504512e-01 4.93584321e-01 5.81727113e-01 2.83043695e+02] [-3.51858697e-01 8.69480293e-01 -3.46697962e-01 -1.64034506e+02] [-6.76924939e-01 1.94560528e-02 7.35794869e-01 -1.73532415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:-164.05, Z:-173.55 [[ 6.46411363e-01 4.94158823e-01 5.81342763e-01 2.83065375e+02] [-3.52583995e-01 8.69160044e-01 -3.46764106e-01 -1.64045045e+02] [-6.76636444e-01 1.91801050e-02 7.36067420e-01 -1.73554703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:-164.05, Z:-173.58 [[ 6.46181269e-01 4.94974973e-01 5.80904074e-01 2.83088266e+02] [-3.53659982e-01 8.68706939e-01 -3.46803794e-01 -1.64053720e+02] [-6.76294599e-01 1.86555914e-02 7.36394992e-01 -1.73577627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:-164.06, Z:-173.60 [[ 6.46610301e-01 4.95426375e-01 5.80041228e-01 2.83110055e+02] [-3.54490299e-01 8.68453106e-01 -3.46591734e-01 -1.64063895e+02] [-6.75449292e-01 1.84907970e-02 7.37174568e-01 -1.73599837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:-164.07, Z:-173.62 [[ 6.46924570e-01 4.95732868e-01 5.79428619e-01 2.83132555e+02] [-3.54980803e-01 8.68278176e-01 -3.46527976e-01 -1.64072878e+02] [-6.74890532e-01 1.84914250e-02 7.37686137e-01 -1.73622810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:-164.08, Z:-173.65 [[ 6.46981043e-01 4.95970785e-01 5.79161903e-01 2.83153501e+02] [-3.55180012e-01 8.68140371e-01 -3.46669086e-01 -1.64083227e+02] [-6.74731569e-01 1.85815950e-02 7.37829272e-01 -1.73645032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:-164.10, Z:-173.67 [[ 6.46888778e-01 4.96235503e-01 5.79038198e-01 2.83174428e+02] [-3.55350522e-01 8.67988080e-01 -3.46875625e-01 -1.64095719e+02] [-6.74730254e-01 1.86284237e-02 7.37829294e-01 -1.73667949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:-164.10, Z:-173.69 [[ 6.47709747e-01 4.95504727e-01 5.78746187e-01 2.83196064e+02] [-3.54352151e-01 8.68383742e-01 -3.46906660e-01 -1.64103953e+02] [-6.74467669e-01 1.96148692e-02 7.38043779e-01 -1.73689702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:-164.11, Z:-173.71 [[ 6.48941958e-01 4.93944933e-01 5.78699178e-01 2.83217700e+02] [-3.52121199e-01 8.69228537e-01 -3.47062548e-01 -1.64113121e+02] [-6.74451627e-01 2.14512003e-02 7.38007350e-01 -1.73711330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:-164.13, Z:-173.73 [[ 6.48886408e-01 4.94160685e-01 5.78577260e-01 2.83238623e+02] [-3.52229271e-01 8.69103599e-01 -3.47265711e-01 -1.64125650e+02] [-6.74448641e-01 2.15441533e-02 7.38007371e-01 -1.73734257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:-164.14, Z:-173.76 [[ 6.49720305e-01 4.93290074e-01 5.78384326e-01 2.83260328e+02] [-3.51062383e-01 8.69571683e-01 -3.47275526e-01 -1.64137205e+02] [-6.74254201e-01 2.25829806e-02 7.38153968e-01 -1.73756759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:-164.15, Z:-173.78 [[ 6.51469456e-01 4.90995849e-01 5.78368935e-01 2.83282676e+02] [-3.47738521e-01 8.70794435e-01 -3.47555713e-01 -1.64146814e+02] [-6.74288862e-01 2.53007733e-02 7.38034147e-01 -1.73778619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:-164.16, Z:-173.80 [[ 6.52085022e-01 4.90128116e-01 5.78411233e-01 2.83303552e+02] [-3.46280853e-01 8.71245829e-01 -3.47879688e-01 -1.64157339e+02] [-6.74443990e-01 2.65543988e-02 7.37848337e-01 -1.73800428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:-164.17, Z:-173.82 [[ 6.52939037e-01 4.89144885e-01 5.78280118e-01 2.83325220e+02] [-3.44878925e-01 8.71760172e-01 -3.47983806e-01 -1.64168285e+02] [-6.74336074e-01 2.77755854e-02 7.37902010e-01 -1.73822553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.35, Y:-164.18, Z:-173.84 [[ 6.53632572e-01 4.88390352e-01 5.78134349e-01 2.83346380e+02] [-3.43685765e-01 8.72146730e-01 -3.48195602e-01 -1.64178653e+02] [-6.74273354e-01 2.88954404e-02 7.37916321e-01 -1.73844246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.37, Y:-164.19, Z:-173.87 [[ 6.54118004e-01 4.87614556e-01 5.78240159e-01 2.83368944e+02] [-3.42418742e-01 8.72546087e-01 -3.48443298e-01 -1.64187417e+02] [-6.74447212e-01 2.99227668e-02 7.37716467e-01 -1.73866655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:-164.20, Z:-173.89 [[ 6.53980665e-01 4.87974468e-01 5.78091869e-01 2.83390016e+02] [-3.42717623e-01 8.72346038e-01 -3.48650285e-01 -1.64197665e+02] [-6.74428589e-01 2.98882736e-02 7.37734891e-01 -1.73887946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:-164.21, Z:-173.91 [[ 6.53071200e-01 4.89184313e-01 5.78097497e-01 2.83413303e+02] [-3.44077014e-01 8.71699330e-01 -3.48928772e-01 -1.64206175e+02] [-6.74617682e-01 2.89652714e-02 7.37598805e-01 -1.73910670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:-164.22, Z:-173.93 [[ 6.52366812e-01 4.90298911e-01 5.77948544e-01 2.83435070e+02] [-3.45377895e-01 8.71099370e-01 -3.49141802e-01 -1.64216003e+02] [-6.74634458e-01 2.81578726e-02 7.37614725e-01 -1.73932975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:-164.22, Z:-173.95 [[ 6.50755868e-01 4.92380387e-01 5.77995117e-01 2.83457762e+02] [-3.47852178e-01 8.69980691e-01 -3.49474549e-01 -1.64223405e+02] [-6.74919005e-01 2.63657534e-02 7.37420629e-01 -1.73954597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:-164.23, Z:-173.98 [[ 6.49742041e-01 4.94160463e-01 5.77616411e-01 2.83480118e+02] [-3.50199496e-01 8.69016251e-01 -3.49529781e-01 -1.64231295e+02] [-6.74681846e-01 2.48232175e-02 7.37691137e-01 -1.73976329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:-164.24, Z:-174.00 [[ 6.49159137e-01 4.95127936e-01 5.77443280e-01 2.83501722e+02] [-3.51427002e-01 8.68487865e-01 -3.49611056e-01 -1.64241656e+02] [-6.74604682e-01 2.40240512e-02 7.37788159e-01 -1.73998879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:-164.25, Z:-174.02 [[ 6.48696975e-01 4.96291990e-01 5.76963166e-01 2.83523387e+02] [-3.52997868e-01 8.67847493e-01 -3.49618697e-01 -1.64252067e+02] [-6.74228996e-01 2.31298239e-02 7.38160058e-01 -1.74021104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:-164.26, Z:-174.04 [[ 6.47819477e-01 4.97630046e-01 5.76796552e-01 2.83544921e+02] [-3.54612106e-01 8.67108288e-01 -3.49819199e-01 -1.64262706e+02] [-6.74225614e-01 2.20806508e-02 7.38195276e-01 -1.74043371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:-164.28, Z:-174.07 [[ 6.47762348e-01 4.97859311e-01 5.76662853e-01 2.83565794e+02] [-3.54723123e-01 8.66973964e-01 -3.50039501e-01 -1.64275330e+02] [-6.74222104e-01 2.21867605e-02 7.38195301e-01 -1.74066297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:-164.28, Z:-174.09 [[ 6.45855022e-01 5.00455262e-01 5.76555133e-01 2.83589038e+02] [-3.58145825e-01 8.65539941e-01 -3.50103098e-01 -1.64284115e+02] [-6.74242433e-01 1.96250304e-02 7.38249280e-01 -1.74089075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:-164.29, Z:-174.11 [[ 6.44657671e-01 5.02105055e-01 5.76460754e-01 2.83609882e+02] [-3.60130186e-01 8.64613866e-01 -3.50355693e-01 -1.64293915e+02] [-6.74331326e-01 1.82585666e-02 7.38203148e-01 -1.74110749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:-164.30, Z:-174.13 [[ 6.42266927e-01 5.04728731e-01 5.76838022e-01 2.83632781e+02] [-3.63167305e-01 8.63132194e-01 -3.50873660e-01 -1.64303104e+02] [-6.74983484e-01 1.58658379e-02 7.37662234e-01 -1.74133012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:-164.31, Z:-174.15 [[ 6.40819187e-01 5.07196690e-01 5.76283166e-01 2.83653710e+02] [-3.66527619e-01 8.61722962e-01 -3.50843328e-01 -1.64312495e+02] [-6.74543012e-01 1.36034397e-02 7.38110203e-01 -1.74154864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:-164.32, Z:-174.18 [[ 6.40440793e-01 5.08349355e-01 5.75687870e-01 2.83674810e+02] [-3.68162217e-01 8.61057306e-01 -3.50766159e-01 -1.64323492e+02] [-6.74011997e-01 1.26984343e-02 7.38611249e-01 -1.74177327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:-164.33, Z:-174.20 [[ 6.39138947e-01 5.10602334e-01 5.75140559e-01 2.83696493e+02] [-3.71233856e-01 8.59750962e-01 -3.50733101e-01 -1.64333331e+02] [-6.73562789e-01 1.06555379e-02 7.39053198e-01 -1.74199606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:-164.35, Z:-174.22 [[ 6.39077643e-01 5.10829672e-01 5.75006794e-01 2.83717338e+02] [-3.71342480e-01 8.59614588e-01 -3.50952308e-01 -1.64346010e+02] [-6.73561080e-01 1.07613245e-02 7.39053222e-01 -1.74222531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:-164.36, Z:-174.24 [[ 6.38436992e-01 5.11689151e-01 5.74954276e-01 2.83737771e+02] [-3.72411468e-01 8.59112419e-01 -3.51049214e-01 -1.64356833e+02] [-6.73578433e-01 1.00032386e-02 7.39048057e-01 -1.74244037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:-164.37, Z:-174.27 [[ 6.37731769e-01 5.12560635e-01 5.74960683e-01 2.83759207e+02] [-3.73327557e-01 8.58599510e-01 -3.51330922e-01 -1.64368276e+02] [-6.73739361e-01 9.40622357e-03 7.38909194e-01 -1.74266348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:-164.38, Z:-174.29 [[ 6.37149184e-01 5.13339394e-01 5.74911805e-01 2.83779772e+02] [-3.74126045e-01 8.58139157e-01 -3.51606157e-01 -1.64379125e+02] [-6.73847623e-01 8.93609654e-03 7.38816301e-01 -1.74287764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:-164.39, Z:-174.31 [[ 6.36719165e-01 5.13934373e-01 5.74856648e-01 2.83800717e+02] [-3.74788416e-01 8.57787170e-01 -3.51759599e-01 -1.64390341e+02] [-6.73886005e-01 8.52246581e-03 7.38786180e-01 -1.74309933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.82, Y:-164.40, Z:-174.33 [[ 6.36166370e-01 5.14801589e-01 5.74692678e-01 2.83822456e+02] [-3.75780110e-01 8.57272540e-01 -3.51956106e-01 -1.64401753e+02] [-6.73855814e-01 7.94456059e-03 7.38820158e-01 -1.74332141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:-164.41, Z:-174.35 [[ 6.35913431e-01 5.15135961e-01 5.74672994e-01 2.83843616e+02] [-3.75965422e-01 8.57071685e-01 -3.52247255e-01 -1.64414053e+02] [-6.73991180e-01 7.94158569e-03 7.38696704e-01 -1.74354430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.86, Y:-164.43, Z:-174.38 [[ 6.35261483e-01 5.15329054e-01 5.75220667e-01 2.83864936e+02] [-3.75634047e-01 8.56954091e-01 -3.52886311e-01 -1.64425809e+02] [-6.74790272e-01 8.10261475e-03 7.37965064e-01 -1.74376477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.89, Y:-164.44, Z:-174.40 [[ 6.34902310e-01 5.15502990e-01 5.75461314e-01 2.83886203e+02] [-3.75453915e-01 8.56847828e-01 -3.53335757e-01 -1.64437936e+02] [-6.75228416e-01 8.27448521e-03 7.37562281e-01 -1.74399230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:-164.45, Z:-174.42 [[ 6.34896132e-01 5.15602018e-01 5.75379406e-01 2.83907167e+02] [-3.75356924e-01 8.56785839e-01 -3.53589035e-01 -1.64449951e+02] [-6.75288147e-01 8.51966683e-03 7.37504803e-01 -1.74421895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.93, Y:-164.46, Z:-174.44 [[ 6.35131088e-01 5.15626595e-01 5.75098006e-01 2.83927523e+02] [-3.75275811e-01 8.56767831e-01 -3.53718745e-01 -1.64461719e+02] [-6.75112263e-01 8.83740071e-03 7.37662072e-01 -1.74444145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:-164.47, Z:-174.47 [[ 6.36210957e-01 5.15325072e-01 5.74173918e-01 2.83947866e+02] [-3.75147966e-01 8.56942616e-01 -3.53430838e-01 -1.64473970e+02] [-6.74165871e-01 9.45639380e-03 7.38519434e-01 -1.74466891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:-164.49, Z:-174.49 [[ 6.36337112e-01 5.15379812e-01 5.73984956e-01 2.83967996e+02] [-3.75062392e-01 8.56906583e-01 -3.53608980e-01 -1.64486803e+02] [-6.74094417e-01 9.73434658e-03 7.38581045e-01 -1.74489106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:-164.50, Z:-174.51 [[ 6.36015626e-01 5.15537975e-01 5.74199199e-01 2.83988806e+02] [-3.74884037e-01 8.56809393e-01 -3.54033363e-01 -1.64500056e+02] [-6.74496910e-01 9.91263724e-03 7.38211120e-01 -1.74511477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:-164.51, Z:-174.53 [[ 6.35464186e-01 5.15544438e-01 5.74803619e-01 2.84009213e+02] [-3.74262834e-01 8.56801203e-01 -3.54709783e-01 -1.64512425e+02] [-6.75361088e-01 1.02777320e-02 7.37415601e-01 -1.74532734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.03, Y:-164.53, Z:-174.56 [[ 6.35201848e-01 5.16009961e-01 5.74675850e-01 2.84029900e+02] [-3.74707160e-01 8.56522965e-01 -3.54912602e-01 -1.64525112e+02] [-6.75361501e-01 1.01059851e-02 7.37417597e-01 -1.74555285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:-164.54, Z:-174.58 [[ 6.34906573e-01 5.16518845e-01 5.74544973e-01 2.84050628e+02] [-3.75196724e-01 8.56218509e-01 -3.55129952e-01 -1.64537782e+02] [-6.75367353e-01 9.90694925e-03 7.37414938e-01 -1.74578216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:-164.55, Z:-174.60 [[ 6.34025420e-01 5.17786174e-01 5.74377268e-01 2.84070441e+02] [-3.76731977e-01 8.55463797e-01 -3.55323387e-01 -1.64550077e+02] [-6.75340495e-01 8.89777558e-03 7.37452402e-01 -1.74600690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.09, Y:-164.56, Z:-174.62 [[ 6.32981367e-01 5.18893515e-01 5.74529468e-01 2.84091068e+02] [-3.77884678e-01 8.54801058e-01 -3.55694141e-01 -1.64562937e+02] [-6.75675780e-01 8.04188071e-03 7.37155050e-01 -1.74623602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:-164.58, Z:-174.65 [[ 6.31856287e-01 5.20351515e-01 5.74449244e-01 2.84111641e+02] [-3.79634351e-01 8.53924937e-01 -3.55935333e-01 -1.64575682e+02] [-6.75748024e-01 6.81931212e-03 7.37101150e-01 -1.74646427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:-164.59, Z:-174.67 [[ 6.29572625e-01 5.23484007e-01 5.74110446e-01 2.84131809e+02] [-3.83800129e-01 8.52027053e-01 -3.56015959e-01 -1.64587558e+02] [-6.75526292e-01 3.79423861e-03 7.37326137e-01 -1.74668800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-164.60, Z:-174.69 [[ 6.28007205e-01 5.25291456e-01 5.74174048e-01 2.84152526e+02] [-3.85963499e-01 8.50919620e-01 -3.56325662e-01 -1.64599589e+02] [-6.75750789e-01 2.16485861e-03 7.37126980e-01 -1.74691658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.17, Y:-164.61, Z:-174.71 [[ 6.26510080e-01 5.27168128e-01 5.74089614e-01 2.84173317e+02] [-3.88293276e-01 8.49760873e-01 -3.56559660e-01 -1.64611801e+02] [-6.75805780e-01 4.73083903e-04 7.37079592e-01 -1.74714253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.19, Y:-164.62, Z:-174.74 [[ 6.23579116e-01 5.30572853e-01 5.74144175e-01 2.84193057e+02] [-3.92607691e-01 8.47634512e-01 -3.56896252e-01 -1.64624641e+02] [-6.76023880e-01 -2.86036919e-03 7.36874163e-01 -1.74736358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:-164.64, Z:-174.76 [[ 6.22192536e-01 5.32177400e-01 5.74163447e-01 2.84213102e+02] [-3.94520585e-01 8.46622059e-01 -3.57189863e-01 -1.64638006e+02] [-6.76187812e-01 -4.27843226e-03 7.36716864e-01 -1.74758654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-164.65, Z:-174.78 [[ 6.19726649e-01 5.34997862e-01 5.74209168e-01 2.84233294e+02] [-3.98059958e-01 8.44824367e-01 -3.57519311e-01 -1.64652355e+02] [-6.76377964e-01 -7.00543309e-03 7.36521401e-01 -1.74780821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.25, Y:-164.67, Z:-174.80 [[ 6.18561943e-01 5.36302721e-01 5.74247781e-01 2.84253393e+02] [-3.99540862e-01 8.43986971e-01 -3.57845068e-01 -1.64665302e+02] [-6.76570929e-01 -8.08611269e-03 7.36333072e-01 -1.74803325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.27, Y:-164.68, Z:-174.83 [[ 6.16783992e-01 5.38280855e-01 5.74309349e-01 2.84272728e+02] [-4.01927072e-01 8.42707305e-01 -3.58188535e-01 -1.64679027e+02] [-6.76780715e-01 -9.90552087e-03 7.36118024e-01 -1.74825276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.29, Y:-164.69, Z:-174.85 [[ 6.15919560e-01 5.39535728e-01 5.74059486e-01 2.84292324e+02] [-4.03519784e-01 8.41891494e-01 -3.58316197e-01 -1.64693401e+02] [-6.76620188e-01 -1.09504058e-02 7.36250779e-01 -1.74847994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-164.71, Z:-174.87 [[ 6.15478729e-01 5.40275204e-01 5.73836770e-01 2.84311864e+02] [-4.04377319e-01 8.41411013e-01 -3.58478020e-01 -1.64706902e+02] [-6.76509363e-01 -1.14109779e-02 7.36345619e-01 -1.74870751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:-164.72, Z:-174.89 [[ 6.15167888e-01 5.40748750e-01 5.73724027e-01 2.84331357e+02] [-4.04803840e-01 8.41104514e-01 -3.58715831e-01 -1.64721015e+02] [-6.76537006e-01 -1.15752292e-02 7.36317658e-01 -1.74893202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:-164.73, Z:-174.92 [[ 6.15096190e-01 5.40980047e-01 5.73582833e-01 2.84352060e+02] [-4.04909708e-01 8.40957268e-01 -3.58941502e-01 -1.64733921e+02] [-6.76538842e-01 -1.14657074e-02 7.36317684e-01 -1.74916127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-164.75, Z:-174.94 [[ 6.14788786e-01 5.41470324e-01 5.73449769e-01 2.84370491e+02] [-4.05529237e-01 8.40636411e-01 -3.58993679e-01 -1.64748019e+02] [-6.76447179e-01 -1.18453595e-02 7.36395886e-01 -1.74937701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-164.76, Z:-174.96 [[ 6.14941450e-01 5.42028753e-01 5.72758103e-01 2.84388990e+02] [-4.06408698e-01 8.40272798e-01 -3.58850380e-01 -1.64764070e+02] [-6.75780278e-01 -1.21019017e-02 7.37003772e-01 -1.74959617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.41, Y:-164.78, Z:-174.98 [[ 6.14732819e-01 5.42546901e-01 5.72491417e-01 2.84408452e+02] [-4.06985202e-01 8.39935247e-01 -3.58987224e-01 -1.64777974e+02] [-6.75623125e-01 -1.23143064e-02 7.37144321e-01 -1.74982527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:-164.79, Z:-175.01 [[ 6.14622363e-01 5.43152592e-01 5.72035499e-01 2.84428289e+02] [-4.07784683e-01 8.39539247e-01 -3.59006273e-01 -1.64792039e+02] [-6.75241440e-01 -1.26140309e-02 7.37488904e-01 -1.75005447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.45, Y:-164.81, Z:-175.03 [[ 6.13800741e-01 5.44336702e-01 5.71792100e-01 2.84445805e+02] [-4.09254800e-01 8.38757300e-01 -3.59161107e-01 -1.64807020e+02] [-6.75099370e-01 -1.35553085e-02 7.37602260e-01 -1.75027131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:-164.82, Z:-175.05 [[ 6.13081752e-01 5.45104334e-01 5.71832170e-01 2.84464788e+02] [-4.10020387e-01 8.38250023e-01 -3.59472087e-01 -1.64821277e+02] [-6.75288122e-01 -1.40770708e-02 7.37419682e-01 -1.75049994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:-164.84, Z:-175.07 [[ 6.12694926e-01 5.45934511e-01 5.71454668e-01 2.84483576e+02] [-4.11075987e-01 8.37700317e-01 -3.59547928e-01 -1.64835845e+02] [-6.74997379e-01 -1.46181010e-02 7.37675301e-01 -1.75071699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-164.85, Z:-175.09 [[ 6.11885361e-01 5.47059686e-01 5.71246011e-01 2.84500812e+02] [-4.12553178e-01 8.36947670e-01 -3.59608776e-01 -1.64852178e+02] [-6.74830483e-01 -1.56300117e-02 7.37807239e-01 -1.75094690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:-164.87, Z:-175.12 [[ 6.11622624e-01 5.47752119e-01 5.70863716e-01 2.84519753e+02] [-4.13429377e-01 8.36487148e-01 -3.59674021e-01 -1.64866757e+02] [-6.74532368e-01 -1.60270622e-02 7.38071282e-01 -1.75117215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-164.88, Z:-175.14 [[ 6.11549267e-01 5.47980391e-01 5.70723212e-01 2.84540405e+02] [-4.13533737e-01 8.36339697e-01 -3.59896874e-01 -1.64879734e+02] [-6.74534908e-01 -1.59186335e-02 7.38071308e-01 -1.75140143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.56, Y:-164.90, Z:-175.16 [[ 6.11044973e-01 5.48753942e-01 5.70520071e-01 2.84558143e+02] [-4.14580680e-01 8.35818889e-01 -3.59902271e-01 -1.64896915e+02] [-6.74349242e-01 -1.66101259e-02 7.38225713e-01 -1.75162797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:-164.91, Z:-175.18 [[ 6.10682258e-01 5.49244405e-01 5.70436468e-01 2.84576057e+02] [-4.15014767e-01 8.35492935e-01 -3.60158715e-01 -1.64911734e+02] [-6.74410798e-01 -1.67970205e-02 7.38165250e-01 -1.75184363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:-164.93, Z:-175.21 [[ 6.10676415e-01 5.49673359e-01 5.70029398e-01 2.84595251e+02] [-4.15561390e-01 8.35208235e-01 -3.60188750e-01 -1.64927249e+02] [-6.74079407e-01 -1.69234349e-02 7.38464996e-01 -1.75207069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:-164.94, Z:-175.23 [[ 6.10772129e-01 5.49969934e-01 5.69640657e-01 2.84613347e+02] [-4.15900127e-01 8.35013778e-01 -3.60248630e-01 -1.64942142e+02] [-6.73783712e-01 -1.68837987e-02 7.38735708e-01 -1.75228676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:-164.96, Z:-175.25 [[ 6.10817281e-01 5.50112514e-01 5.69454537e-01 2.84631343e+02] [-4.15937029e-01 8.34923365e-01 -3.60415543e-01 -1.64956995e+02] [-6.73719999e-01 -1.67091864e-02 7.38797784e-01 -1.75250267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:-164.98, Z:-175.27 [[ 6.10975274e-01 5.50038845e-01 5.69356200e-01 2.84648016e+02] [-4.15632977e-01 8.34979909e-01 -3.60635245e-01 -1.64975152e+02] [-6.73764382e-01 -1.63039952e-02 7.38766362e-01 -1.75271904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-164.99, Z:-175.29 [[ 6.10987963e-01 5.49965260e-01 5.69413665e-01 2.84667274e+02] [-4.15246277e-01 8.35035972e-01 -3.60950766e-01 -1.64990888e+02] [-6.73991275e-01 -1.59103306e-02 7.38567954e-01 -1.75294370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.69, Y:-165.01, Z:-175.32 [[ 6.11000000e-01 5.49769419e-01 5.69589840e-01 2.84686302e+02] [-4.14605501e-01 8.35175205e-01 -3.61364988e-01 -1.65006381e+02] [-6.74374732e-01 -1.53610733e-02 7.38229476e-01 -1.75317112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:-165.02, Z:-175.34 [[ 6.11188232e-01 5.49598191e-01 5.69553136e-01 2.84704461e+02] [-4.14107751e-01 8.35297694e-01 -3.61652504e-01 -1.65021427e+02] [-6.74509983e-01 -1.48186134e-02 7.38116991e-01 -1.75338958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-165.04, Z:-175.36 [[ 6.12185266e-01 5.48541082e-01 5.69501432e-01 2.84721733e+02] [-4.12427974e-01 8.36017450e-01 -3.61908814e-01 -1.65039363e+02] [-6.74634988e-01 -1.33230787e-02 7.38031252e-01 -1.75361514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:-165.05, Z:-175.38 [[ 6.12823028e-01 5.48127499e-01 5.69213652e-01 2.84740022e+02] [-4.11742344e-01 8.36301277e-01 -3.62033722e-01 -1.65054905e+02] [-6.74474743e-01 -1.25067617e-02 7.38191982e-01 -1.75383532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:-165.07, Z:-175.41 [[ 6.14746932e-01 5.46924083e-01 5.68295924e-01 2.84756650e+02] [-4.10354578e-01 8.37112189e-01 -3.61735128e-01 -1.65073988e+02] [-6.73569098e-01 -1.08272743e-02 7.39044951e-01 -1.75405948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-165.09, Z:-175.43 [[ 6.15596983e-01 5.46373668e-01 5.67905070e-01 2.84774867e+02] [-4.09546605e-01 8.37483421e-01 -3.61791513e-01 -1.65089468e+02] [-6.73284437e-01 -9.86582955e-03 7.39317748e-01 -1.75428240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.79, Y:-165.11, Z:-175.45 [[ 6.16144401e-01 5.46002101e-01 5.67668726e-01 2.84793434e+02] [-4.08896378e-01 8.37734311e-01 -3.61946097e-01 -1.65105037e+02] [-6.73178898e-01 -9.10662449e-03 7.39423586e-01 -1.75451240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:-165.12, Z:-175.47 [[ 6.16424814e-01 5.45897087e-01 5.67465259e-01 2.84811387e+02] [-4.08589206e-01 8.37807703e-01 -3.62123064e-01 -1.65120107e+02] [-6.73108691e-01 -8.63853732e-03 7.39493114e-01 -1.75472909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:-165.14, Z:-175.50 [[ 6.16468667e-01 5.45919895e-01 5.67395674e-01 2.84830041e+02] [-4.08400187e-01 8.37795878e-01 -3.62363566e-01 -1.65135299e+02] [-6.73183237e-01 -8.33871541e-03 7.39428695e-01 -1.75495436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.85, Y:-165.15, Z:-175.52 [[ 6.16330883e-01 5.46277137e-01 5.67201492e-01 2.84846758e+02] [-4.08712912e-01 8.37562656e-01 -3.62550068e-01 -1.65153337e+02] [-6.73119601e-01 -8.37176932e-03 7.39486251e-01 -1.75517358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:-165.17, Z:-175.54 [[ 6.16175025e-01 5.46675525e-01 5.66986957e-01 2.84865140e+02] [-4.09113538e-01 8.37301648e-01 -3.62701066e-01 -1.65168739e+02] [-6.73018909e-01 -8.47470145e-03 7.39576722e-01 -1.75539814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.88, Y:-165.18, Z:-175.56 [[ 6.15798618e-01 5.47199359e-01 5.66890574e-01 2.84883065e+02] [-4.09589241e-01 8.36957271e-01 -3.62958925e-01 -1.65183781e+02] [-6.73074079e-01 -8.68267511e-03 7.39524101e-01 -1.75561261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.90, Y:-165.20, Z:-175.59 [[ 6.14433089e-01 5.50075905e-01 5.65586844e-01 2.84901054e+02] [-4.10039445e-01 8.35088748e-01 -3.66734832e-01 -1.65197363e+02] [-6.74047204e-01 -6.57889953e-03 7.38658978e-01 -1.75586496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:-165.22, Z:-175.61 [[ 6.14188003e-01 5.48186976e-01 5.67683131e-01 2.84917470e+02] [-4.11474710e-01 8.36283230e-01 -3.62379528e-01 -1.65216396e+02] [-6.73395620e-01 -1.10180932e-02 7.39200204e-01 -1.75605980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.94, Y:-165.23, Z:-175.63 [[ 6.13416833e-01 5.49820175e-01 5.66937003e-01 2.84935986e+02] [-4.12482612e-01 8.35213829e-01 -3.63697615e-01 -1.65231125e+02] [-6.73481911e-01 -1.07534170e-02 7.39125483e-01 -1.75628539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-165.25, Z:-175.65 [[ 6.11355815e-01 5.51342074e-01 5.67684759e-01 2.84953018e+02] [-4.13850416e-01 8.34191472e-01 -3.64489261e-01 -1.65248905e+02] [-6.74516050e-01 -1.21039440e-02 7.38160953e-01 -1.75651347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.97, Y:-165.26, Z:-175.67 [[ 6.10389096e-01 5.52312648e-01 5.67781551e-01 2.84971116e+02] [-4.14836498e-01 8.33538342e-01 -3.64862320e-01 -1.65263820e+02] [-6.74785767e-01 -1.28285287e-02 7.37902160e-01 -1.75672882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.99, Y:-165.28, Z:-175.70 [[ 6.09301859e-01 5.53344185e-01 5.67944942e-01 2.84989603e+02] [-4.15889624e-01 8.32840835e-01 -3.65256025e-01 -1.65278834e+02] [-6.75120037e-01 -1.36512337e-02 7.37581575e-01 -1.75695133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:-165.30, Z:-175.72 [[ 6.07111378e-01 5.55048386e-01 5.68627350e-01 2.85006805e+02] [-4.17554605e-01 8.31678664e-01 -3.66003760e-01 -1.65295863e+02] [-6.76065031e-01 -1.52279209e-02 7.36684589e-01 -1.75717718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:-165.31, Z:-175.74 [[ 6.06318156e-01 5.55922949e-01 5.68619353e-01 2.85025891e+02] [-4.18473312e-01 8.31082648e-01 -3.66308231e-01 -1.65310733e+02] [-6.76208830e-01 -1.58526931e-02 7.36539416e-01 -1.75740694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.04, Y:-165.33, Z:-175.76 [[ 6.05607469e-01 5.56783278e-01 5.68534938e-01 2.85044597e+02] [-4.19414811e-01 8.30494749e-01 -3.66564712e-01 -1.65325381e+02] [-6.76262382e-01 -1.64576460e-02 7.36476976e-01 -1.75763355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:-165.34, Z:-175.79 [[ 6.05076768e-01 5.57553476e-01 5.68345165e-01 2.85062067e+02] [-4.20291397e-01 8.29967836e-01 -3.66754050e-01 -1.65342170e+02] [-6.76193202e-01 -1.69562286e-02 7.36529185e-01 -1.75786532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.08, Y:-165.36, Z:-175.81 [[ 6.04760958e-01 5.58033680e-01 5.68209993e-01 2.85080104e+02] [-4.20738515e-01 8.29641417e-01 -3.66979864e-01 -1.65357005e+02] [-6.76197668e-01 -1.71327348e-02 7.36521000e-01 -1.75808097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:-165.37, Z:-175.83 [[ 6.04736611e-01 5.58128016e-01 5.68143247e-01 2.85099015e+02] [-4.20638254e-01 8.29582594e-01 -3.67227694e-01 -1.65371996e+02] [-6.76281813e-01 -1.69067527e-02 7.36448961e-01 -1.75830732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-165.39, Z:-175.85 [[ 6.05149727e-01 5.57923053e-01 5.67904636e-01 2.85117166e+02] [-4.20203890e-01 8.29732361e-01 -3.67386581e-01 -1.65386496e+02] [-6.76182297e-01 -1.63118482e-02 7.36553749e-01 -1.75853114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-165.40, Z:-175.88 [[ 6.06504494e-01 5.57040505e-01 5.67325457e-01 2.85134483e+02] [-4.19145019e-01 8.30348392e-01 -3.67204305e-01 -1.65403454e+02] [-6.75625452e-01 -1.50805783e-02 7.37090784e-01 -1.75875678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-165.42, Z:-175.90 [[ 6.07000659e-01 5.56479786e-01 5.67345087e-01 2.85153182e+02] [-4.18089719e-01 8.30741209e-01 -3.67518747e-01 -1.65417955e+02] [-6.75833698e-01 -1.41170265e-02 7.36918939e-01 -1.75898417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-165.43, Z:-175.92 [[ 6.07521628e-01 5.55934576e-01 5.67321971e-01 2.85171201e+02] [-4.17069112e-01 8.31121942e-01 -3.67817446e-01 -1.65431992e+02] [-6.75996174e-01 -1.31554172e-02 7.36787696e-01 -1.75920221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-165.45, Z:-175.94 [[ 6.09178565e-01 5.54202702e-01 5.67239669e-01 2.85189411e+02] [-4.14479247e-01 8.32310420e-01 -3.68057494e-01 -1.65446882e+02] [-6.76097944e-01 -1.08963350e-02 7.36731186e-01 -1.75942335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-165.46, Z:-175.97 [[ 6.09112094e-01 5.54364622e-01 5.67152822e-01 2.85209853e+02] [-4.14575941e-01 8.32203080e-01 -3.68191286e-01 -1.65460178e+02] [-6.76098548e-01 -1.08581492e-02 7.36731195e-01 -1.75965249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-165.47, Z:-175.99 [[ 6.09559399e-01 5.53570946e-01 5.67447396e-01 2.85229981e+02] [-4.13205825e-01 8.32743833e-01 -3.68508691e-01 -1.65471992e+02] [-6.76534024e-01 -9.84463376e-03 7.36345569e-01 -1.75988397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-165.48, Z:-176.01 [[ 6.10024154e-01 5.53405167e-01 5.67109560e-01 2.85250667e+02] [-4.12893151e-01 8.32860236e-01 -3.68596084e-01 -1.65483725e+02] [-6.76305979e-01 -9.30313920e-03 7.36562064e-01 -1.76011575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:285.27, Y:-165.50, Z:-176.03 [[ 6.10364529e-01 5.53570520e-01 5.66581699e-01 2.85270710e+02] [-4.13672564e-01 8.32744924e-01 -3.67982201e-01 -1.65497558e+02] [-6.75522132e-01 -9.77602119e-03 7.37274900e-01 -1.76034926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-165.23, Z:-175.40 [[ 6.49114072e-01 -4.92733868e-01 -5.79537968e-01 2.86303787e+02] [-3.22805538e-01 -8.68283250e-01 3.76670656e-01 -1.65232174e+02] [-6.88801499e-01 -5.74241576e-02 -7.22672098e-01 -1.75400388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-165.59, Z:-176.14 [[ 6.49249137e-01 4.61313083e-01 6.04703066e-01 2.85396547e+02] [-3.52193076e-01 8.87031060e-01 -2.98556421e-01 -1.65593140e+02] [-6.74118384e-01 -1.91347340e-02 7.38375424e-01 -1.76137776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-165.60, Z:-176.16 [[ 6.48996158e-01 4.70559101e-01 5.97811107e-01 2.85418059e+02] [-3.52099170e-01 8.82333773e-01 -3.12271177e-01 -1.65596271e+02] [-6.74410974e-01 -7.82600062e-03 7.38314697e-01 -1.76164109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-165.61, Z:-176.19 [[ 6.48904421e-01 4.70729508e-01 5.97776532e-01 2.85439631e+02] [-3.52089308e-01 8.82244282e-01 -3.12535033e-01 -1.65607734e+02] [-6.74504390e-01 -7.66536126e-03 7.38231042e-01 -1.76186746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-165.62, Z:-176.21 [[ 6.48876150e-01 4.70299148e-01 5.98145846e-01 2.85460985e+02] [-3.51067073e-01 8.82480248e-01 -3.13018405e-01 -1.65618141e+02] [-6.75064184e-01 -6.87913385e-03 7.37726931e-01 -1.76209613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.63, Z:-176.23 [[ 6.48862905e-01 4.70058691e-01 5.98349193e-01 2.85481271e+02] [-3.50377692e-01 8.82612793e-01 -3.13416863e-01 -1.65628295e+02] [-6.75434973e-01 -6.28363311e-03 7.37392781e-01 -1.76231556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-165.64, Z:-176.25 [[ 6.49183223e-01 4.69351492e-01 5.98556865e-01 2.85502891e+02] [-3.49069333e-01 8.82995961e-01 -3.13797282e-01 -1.65638834e+02] [-6.75804516e-01 -5.22591499e-03 7.37062376e-01 -1.76254731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-165.65, Z:-176.28 [[ 6.50402442e-01 4.67121366e-01 5.98977706e-01 2.85524488e+02] [-3.45572675e-01 8.84189488e-01 -3.14306339e-01 -1.65649547e+02] [-6.76428998e-01 -2.56471813e-03 7.36503383e-01 -1.76277372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.66, Z:-176.30 [[ 6.50967953e-01 4.66097477e-01 5.99160969e-01 2.85545950e+02] [-3.43825455e-01 8.84732625e-01 -3.14693882e-01 -1.65661043e+02] [-6.76775281e-01 -1.15116147e-03 7.36188762e-01 -1.76298830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-165.67, Z:-176.32 [[ 6.51697736e-01 4.65129099e-01 5.99120174e-01 2.85567281e+02] [-3.42262840e-01 8.85242837e-01 -3.14962330e-01 -1.65672464e+02] [-6.76864987e-01 2.03665150e-04 7.36107158e-01 -1.76320455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:-165.68, Z:-176.34 [[ 6.52157677e-01 4.64455308e-01 5.99142413e-01 2.85588627e+02] [-3.41069209e-01 8.85595673e-01 -3.15265125e-01 -1.65683927e+02] [-6.77024489e-01 1.25354313e-03 7.35959421e-01 -1.76342191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.70, Z:-176.36 [[ 6.53214747e-01 4.63652548e-01 5.98612403e-01 2.85610544e+02] [-3.39967173e-01 8.86013755e-01 -3.15280745e-01 -1.65695204e+02] [-6.76559544e-01 2.43746580e-03 7.36383896e-01 -1.76364654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.71, Z:-176.39 [[ 6.53448171e-01 4.63742592e-01 5.98287804e-01 2.85631427e+02] [-3.39979339e-01 8.85965888e-01 -3.15402117e-01 -1.65705754e+02] [-6.76327981e-01 2.69344444e-03 7.36595688e-01 -1.76387220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.72, Z:-176.41 [[ 6.54191463e-01 4.64160539e-01 5.97150336e-01 2.85652187e+02] [-3.40833702e-01 8.85747266e-01 -3.15093904e-01 -1.65715835e+02] [-6.75178434e-01 2.60278212e-03 7.37649855e-01 -1.76410139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.73, Z:-176.43 [[ 6.54118693e-01 4.64418375e-01 5.97029571e-01 2.85673810e+02] [-3.40974045e-01 8.85611853e-01 -3.15322608e-01 -1.65727209e+02] [-6.75178077e-01 2.68682470e-03 7.37649880e-01 -1.76432987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.74, Z:-176.46 [[ 6.54446772e-01 4.65076370e-01 5.96157188e-01 2.85693924e+02] [-3.42142233e-01 8.85267841e-01 -3.15023081e-01 -1.65737386e+02] [-6.74268578e-01 2.19528684e-03 7.38482948e-01 -1.76455623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-165.75, Z:-176.48 [[ 6.54359726e-01 4.65834552e-01 5.95660574e-01 2.85714896e+02] [-3.43162612e-01 8.84870138e-01 -3.15030572e-01 -1.65748531e+02] [-6.73834379e-01 1.73487990e-03 7.38880382e-01 -1.76477756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-165.76, Z:-176.50 [[ 6.54107651e-01 4.66512211e-01 5.95407036e-01 2.85735715e+02] [-3.43940673e-01 8.84513683e-01 -3.15183055e-01 -1.65759527e+02] [-6.73682414e-01 1.37895130e-03 7.39019691e-01 -1.76499636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-165.77, Z:-176.52 [[ 6.52968524e-01 4.67873661e-01 5.95589073e-01 2.85756455e+02] [-3.45450883e-01 8.83795310e-01 -3.15546410e-01 -1.65770120e+02] [-6.74014683e-01 2.95102608e-04 7.38717889e-01 -1.76521430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-165.78, Z:-176.54 [[ 6.52129425e-01 4.68803375e-01 5.95777314e-01 2.85778003e+02] [-3.46376890e-01 8.83302482e-01 -3.15911026e-01 -1.65781055e+02] [-6.74351735e-01 -3.48617800e-04 7.38410195e-01 -1.76544039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.80, Y:-165.79, Z:-176.57 [[ 6.51293982e-01 4.69794959e-01 5.95910099e-01 2.85799487e+02] [-3.47395360e-01 8.82774959e-01 -3.16267031e-01 -1.65792148e+02] [-6.74635170e-01 -1.03358906e-03 7.38150608e-01 -1.76566849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-165.80, Z:-176.59 [[ 6.50170257e-01 4.71086576e-01 5.96117501e-01 2.85820224e+02] [-3.48776465e-01 8.82084665e-01 -3.16672736e-01 -1.65803617e+02] [-6.75006381e-01 -2.02056092e-03 7.37809124e-01 -1.76588929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-165.81, Z:-176.61 [[ 6.49713209e-01 4.71679354e-01 5.96147073e-01 2.85840720e+02] [-3.49314569e-01 8.81767125e-01 -3.16963829e-01 -1.65814805e+02] [-6.75168185e-01 -2.30727163e-03 7.37660219e-01 -1.76610568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-165.83, Z:-176.63 [[ 6.49639468e-01 4.71923624e-01 5.96034106e-01 2.85862307e+02] [-3.49451264e-01 8.81636603e-01 -3.17176157e-01 -1.65826260e+02] [-6.75168406e-01 -2.23472224e-03 7.37660240e-01 -1.76633412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:-165.84, Z:-176.66 [[ 6.49335923e-01 4.72548131e-01 5.95870056e-01 2.85883016e+02] [-3.50232233e-01 8.81300752e-01 -3.17248117e-01 -1.65837702e+02] [-6.75055733e-01 -2.69230172e-03 7.37761824e-01 -1.76655250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-165.85, Z:-176.68 [[ 6.48551839e-01 4.73761333e-01 5.95760616e-01 2.85903616e+02] [-3.51687052e-01 8.80645783e-01 -3.17457433e-01 -1.65849120e+02] [-6.75053131e-01 -3.63369279e-03 7.37760169e-01 -1.76677904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-165.86, Z:-176.70 [[ 6.48428361e-01 4.74084694e-01 5.95637779e-01 2.85925178e+02] [-3.51914534e-01 8.80471822e-01 -3.17687790e-01 -1.65860557e+02] [-6.75053200e-01 -3.61581842e-03 7.37760194e-01 -1.76700731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-165.87, Z:-176.72 [[ 6.47212205e-01 4.75401259e-01 5.95911071e-01 2.85945204e+02] [-3.53325998e-01 8.79756683e-01 -3.18102056e-01 -1.65871739e+02] [-6.75482865e-01 -4.67134049e-03 7.37360887e-01 -1.76722239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-165.88, Z:-176.74 [[ 6.46960617e-01 4.76219804e-01 5.95530569e-01 2.85966557e+02] [-3.54369159e-01 8.79310950e-01 -3.18174092e-01 -1.65882887e+02] [-6.75177354e-01 -5.19155962e-03 7.37637166e-01 -1.76744371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-165.89, Z:-176.77 [[ 6.46462543e-01 4.77068326e-01 5.95392302e-01 2.85987551e+02] [-3.55321464e-01 8.78847549e-01 -3.18392278e-01 -1.65893797e+02] [-6.75153936e-01 -5.72698263e-03 7.37654637e-01 -1.76767094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-165.90, Z:-176.79 [[ 6.46240825e-01 4.78189317e-01 5.94733363e-01 2.86007918e+02] [-3.56892690e-01 8.78232457e-01 -3.18332153e-01 -1.65904146e+02] [-6.74537177e-01 -6.53675662e-03 7.38211939e-01 -1.76789413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-165.92, Z:-176.81 [[ 6.45972587e-01 4.78907030e-01 5.94447200e-01 2.86029356e+02] [-3.57755839e-01 8.77838064e-01 -3.18451084e-01 -1.65915666e+02] [-6.74336843e-01 -6.95628631e-03 7.38391111e-01 -1.76812038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-165.93, Z:-176.83 [[ 6.45664072e-01 4.79453000e-01 5.94342265e-01 2.86050017e+02] [-3.58285865e-01 8.77538161e-01 -3.18681683e-01 -1.65926953e+02] [-6.74350907e-01 -7.18311965e-03 7.38376095e-01 -1.76834425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-165.94, Z:-176.86 [[ 6.45654897e-01 4.79853583e-01 5.94028865e-01 2.86071106e+02] [-3.58719530e-01 8.77318579e-01 -3.18798385e-01 -1.65938508e+02] [-6.74129107e-01 -7.25601645e-03 7.38577889e-01 -1.76856929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-165.93, Z:-176.89 [[ 6.44222620e-01 4.89588409e-01 5.87605656e-01 2.86086443e+02] [-3.54544050e-01 8.71904493e-01 -3.37758895e-01 -1.65932029e+02] [-6.77698851e-01 9.25983091e-03 7.35281254e-01 -1.76888727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.11, Y:-165.98, Z:-176.89 [[ 6.46717716e-01 4.62967153e-01 6.06149825e-01 2.86112713e+02] [-3.58739241e-01 8.85953023e-01 -2.93927539e-01 -1.65976663e+02] [-6.73099066e-01 -2.73615816e-02 7.39046001e-01 -1.76893298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-165.97, Z:-176.92 [[ 6.46502248e-01 4.79601663e-01 5.93310280e-01 2.86132922e+02] [-3.58067897e-01 8.77464921e-01 -3.19128020e-01 -1.65972036e+02] [-6.73663287e-01 -6.12838196e-03 7.39013003e-01 -1.76924027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-165.98, Z:-176.95 [[ 6.46639059e-01 4.79664607e-01 5.93110269e-01 2.86154105e+02] [-3.58003711e-01 8.77432278e-01 -3.19289744e-01 -1.65983536e+02] [-6.73566085e-01 -5.87045761e-03 7.39103692e-01 -1.76946477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-165.98, Z:-176.98 [[ 6.45022890e-01 4.90248570e-01 5.86175581e-01 2.86170635e+02] [-3.54676931e-01 8.71519296e-01 -3.38612450e-01 -1.65979167e+02] [-6.76867599e-01 1.05098248e-02 7.36029753e-01 -1.76979357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:286.19, Y:-166.01, Z:-177.00 [[ 6.45534089e-01 4.75606405e-01 5.97565300e-01 2.86191234e+02] [-3.55294765e-01 8.79620518e-01 -3.16280531e-01 -1.66006407e+02] [-6.76055745e-01 -8.14195845e-03 7.36805496e-01 -1.76995537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-166.38, Z:-176.37 [[ 6.94901286e-01 -6.19580392e-01 3.65010056e-01 2.86822237e+02] [-3.48605357e-01 1.53708322e-01 9.24579935e-01 -1.66381022e+02] [-6.28956682e-01 -7.69736247e-01 -1.09176933e-01 -1.76368545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-165.43, Z:-177.16 [[ 6.37086287e-01 6.73674369e-01 -3.74544934e-01 2.86809215e+02] [-3.57670767e-01 -1.72060350e-01 -9.17859934e-01 -1.65430903e+02] [-6.82783044e-01 7.18719751e-01 1.31336339e-01 -1.77158339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-166.13, Z:-177.20 [[ 6.49419992e-01 4.76686003e-01 5.92472893e-01 2.86438019e+02] [-3.53453867e-01 8.79071998e-01 -3.19848067e-01 -1.66132584e+02] [-6.73293427e-01 -1.69610586e-03 7.39373441e-01 -1.77197819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-166.14, Z:-177.22 [[ 6.50014459e-01 4.75334387e-01 5.92906758e-01 2.86458602e+02] [-3.51160678e-01 8.79805217e-01 -3.20357548e-01 -1.66144045e+02] [-6.73919418e-01 3.14988217e-05 7.38804857e-01 -1.77219167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-166.16, Z:-177.24 [[ 6.50032849e-01 4.74805916e-01 5.93309901e-01 2.86479186e+02] [-3.49997772e-01 8.80090066e-01 -3.20847370e-01 -1.66155130e+02] [-6.74506379e-01 9.04186978e-04 7.38268465e-01 -1.77240763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-166.17, Z:-177.26 [[ 6.49904644e-01 4.73581890e-01 5.94427579e-01 2.86500644e+02] [-3.47540063e-01 8.80746248e-01 -3.21717192e-01 -1.66166805e+02] [-6.75899296e-01 2.49809881e-03 7.36989757e-01 -1.77262636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:-166.18, Z:-177.29 [[ 6.49831195e-01 4.73835395e-01 5.94305844e-01 2.86522121e+02] [-3.47678035e-01 8.80609651e-01 -3.21941961e-01 -1.66178397e+02] [-6.75898959e-01 2.58084160e-03 7.36989781e-01 -1.77285513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-166.19, Z:-177.31 [[ 6.49909980e-01 4.73146311e-01 5.94768515e-01 2.86543491e+02] [-3.46363337e-01 8.80976931e-01 -3.22353975e-01 -1.66189744e+02] [-6.76497935e-01 3.49505754e-03 7.36436235e-01 -1.77307977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-166.20, Z:-177.33 [[ 6.50619510e-01 4.71915121e-01 5.94970900e-01 2.86564402e+02] [-3.44324489e-01 8.81629075e-01 -3.22755047e-01 -1.66201186e+02] [-6.76856631e-01 5.12767945e-03 7.36097010e-01 -1.77330464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-166.21, Z:-177.35 [[ 6.51301217e-01 4.71353451e-01 5.94670202e-01 2.86585788e+02] [-3.43450532e-01 8.81923626e-01 -3.22881480e-01 -1.66212836e+02] [-6.76645001e-01 6.05330335e-03 7.36284524e-01 -1.77353095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-166.22, Z:-177.38 [[ 6.51870559e-01 4.70937330e-01 5.94375980e-01 2.86606780e+02] [-3.42769776e-01 8.82140239e-01 -3.23013126e-01 -1.66224098e+02] [-6.76441908e-01 6.82862584e-03 7.36464334e-01 -1.77375743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-166.23, Z:-177.40 [[ 6.53086157e-01 4.70126966e-01 5.93682666e-01 2.86627984e+02] [-3.41762798e-01 8.82562538e-01 -3.22926551e-01 -1.66234647e+02] [-6.75778560e-01 8.00021081e-03 7.37061283e-01 -1.77398527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-166.25, Z:-177.42 [[ 6.53424126e-01 4.70030614e-01 5.93387001e-01 2.86649611e+02] [-3.41518246e-01 8.82609758e-01 -3.23056192e-01 -1.66245764e+02] [-6.75575458e-01 8.44022219e-03 7.37242541e-01 -1.77421158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-166.26, Z:-177.44 [[ 6.53874965e-01 4.70038657e-01 5.92883793e-01 2.86670740e+02] [-3.41524106e-01 8.82602324e-01 -3.23070306e-01 -1.66256678e+02] [-6.75136146e-01 8.76347783e-03 7.37641096e-01 -1.77443393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-166.27, Z:-177.47 [[ 6.54116013e-01 4.70267566e-01 5.92436206e-01 2.86691598e+02] [-3.41793092e-01 8.82479329e-01 -3.23121830e-01 -1.66267265e+02] [-6.74766422e-01 8.86856049e-03 7.37978065e-01 -1.77465418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-166.28, Z:-177.49 [[ 6.54375748e-01 4.70579054e-01 5.91901794e-01 2.86712531e+02] [-3.42237351e-01 8.82313343e-01 -3.23104875e-01 -1.66277493e+02] [-6.74289237e-01 8.86109179e-03 7.38414183e-01 -1.77487014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-166.29, Z:-177.51 [[ 6.54524292e-01 4.71003564e-01 5.91399691e-01 2.86734132e+02] [-3.42820840e-01 8.82088072e-01 -3.23101384e-01 -1.66288547e+02] [-6.73848517e-01 8.73356519e-03 7.38817908e-01 -1.77509790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-166.30, Z:-177.53 [[ 6.54604824e-01 4.71627029e-01 5.90813397e-01 2.86754977e+02] [-3.43697228e-01 8.81757900e-01 -3.23071542e-01 -1.66299459e+02] [-6.73323651e-01 8.42326317e-03 7.39299878e-01 -1.77531683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-166.31, Z:-177.55 [[ 6.54321140e-01 4.72265165e-01 5.90617862e-01 2.86776015e+02] [-3.44411287e-01 8.81419461e-01 -3.23234589e-01 -1.66310436e+02] [-6.73234514e-01 8.08376689e-03 7.39384840e-01 -1.77554160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:286.80, Y:-166.32, Z:-177.58 [[ 6.51924907e-01 4.79753657e-01 5.87222567e-01 2.86796137e+02] [-3.45555711e-01 8.77287667e-01 -3.33102988e-01 -1.66316340e+02] [-6.74970493e-01 1.42400232e-02 7.37707297e-01 -1.77582992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-166.34, Z:-177.60 [[ 6.52952136e-01 4.71014124e-01 5.93126634e-01 2.86818594e+02] [-3.46181460e-01 8.82119754e-01 -3.19410609e-01 -1.66335216e+02] [-6.73655628e-01 3.23039548e-03 7.39038334e-01 -1.77596153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-166.34, Z:-177.62 [[ 6.51538237e-01 4.75477910e-01 5.91116471e-01 2.86840525e+02] [-3.47831055e-01 8.79709587e-01 -3.24229240e-01 -1.66343230e+02] [-6.74174668e-01 5.63908199e-03 7.38550417e-01 -1.77619649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-166.35, Z:-177.64 [[ 6.50674102e-01 4.76453298e-01 5.91282901e-01 2.86860981e+02] [-3.48799256e-01 8.79185698e-01 -3.24609899e-01 -1.66353645e+02] [-6.74508927e-01 4.97621848e-03 7.38249920e-01 -1.77641321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-166.36, Z:-177.66 [[ 6.50096071e-01 4.77321723e-01 5.91218295e-01 2.86882356e+02] [-3.49760183e-01 8.78717622e-01 -3.24843277e-01 -1.66364592e+02] [-6.74568687e-01 4.39471907e-03 7.38199007e-01 -1.77663463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:-166.38, Z:-177.69 [[ 6.49100059e-01 4.78515681e-01 5.91347492e-01 2.86903365e+02] [-3.51039675e-01 8.78072005e-01 -3.25208702e-01 -1.66375631e+02] [-6.74863142e-01 3.50655670e-03 7.37934580e-01 -1.77685881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-166.39, Z:-177.71 [[ 6.48428085e-01 4.79586070e-01 5.91217573e-01 2.86924017e+02] [-3.52285560e-01 8.77490563e-01 -3.25430786e-01 -1.66386238e+02] [-6.74859913e-01 2.74104796e-03 7.37940773e-01 -1.77707630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-166.40, Z:-177.73 [[ 6.46963129e-01 4.81377364e-01 5.91366674e-01 2.86945750e+02] [-3.54385536e-01 8.76512632e-01 -3.25785969e-01 -1.66396778e+02] [-6.75166351e-01 1.19971451e-03 7.37664530e-01 -1.77730052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-166.41, Z:-177.75 [[ 6.45973367e-01 4.82570295e-01 5.91476390e-01 2.86966728e+02] [-3.55673243e-01 8.75857189e-01 -3.26145257e-01 -1.66407532e+02] [-6.75436861e-01 3.08823709e-04 7.37417759e-01 -1.77751936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-166.42, Z:-177.77 [[ 6.44654399e-01 4.83895473e-01 5.91832643e-01 2.86987924e+02] [-3.57035890e-01 8.75125483e-01 -3.26620211e-01 -1.66418152e+02] [-6.75977869e-01 -7.48338605e-04 7.36921543e-01 -1.77774799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-166.43, Z:-177.80 [[ 6.43479542e-01 4.85228752e-01 5.92019541e-01 2.87009467e+02] [-3.58485955e-01 8.74385386e-01 -3.27013786e-01 -1.66428925e+02] [-6.76329727e-01 -1.80400909e-03 7.36596801e-01 -1.77797434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-166.44, Z:-177.82 [[ 6.41559338e-01 4.87861166e-01 5.91940115e-01 2.87030470e+02] [-3.61830668e-01 8.72911036e-01 -3.27268835e-01 -1.66438707e+02] [-6.76372814e-01 -4.21970997e-03 7.36547358e-01 -1.77820020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-166.45, Z:-177.84 [[ 6.40853532e-01 4.89123247e-01 5.91663080e-01 2.87051732e+02] [-3.63431095e-01 8.72199076e-01 -3.27393663e-01 -1.66449866e+02] [-6.76183843e-01 -5.21737601e-03 7.36714456e-01 -1.77842992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-166.46, Z:-177.86 [[ 6.40510395e-01 4.90292733e-01 5.91066384e-01 2.87072608e+02] [-3.65047618e-01 8.71536543e-01 -3.27359574e-01 -1.66460851e+02] [-6.75637973e-01 -6.09016536e-03 7.37208410e-01 -1.77864880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-166.47, Z:-177.89 [[ 6.40004140e-01 4.91813025e-01 5.90351293e-01 2.87093833e+02] [-3.67218118e-01 8.70669783e-01 -3.27238418e-01 -1.66471924e+02] [-6.74941149e-01 -7.35374848e-03 7.37834919e-01 -1.77888182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-166.48, Z:-177.91 [[ 6.39610382e-01 4.92438512e-01 5.90256615e-01 2.87115247e+02] [-3.67845845e-01 8.70313500e-01 -3.27481062e-01 -1.66483273e+02] [-6.74972587e-01 -7.66315623e-03 7.37803011e-01 -1.77910871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-166.48, Z:-177.94 [[ 6.37583794e-01 5.03255323e-01 5.83284653e-01 2.87132309e+02] [-3.64969467e-01 8.64099776e-01 -3.46596114e-01 -1.66479605e+02] [-6.78442476e-01 8.10297621e-03 7.34608840e-01 -1.77943901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-166.52, Z:-177.95 [[ 6.39855534e-01 4.80400235e-01 5.99833735e-01 2.87156304e+02] [-3.68863574e-01 8.76727978e-01 -3.08687086e-01 -1.66517445e+02] [-6.74184366e-01 -2.37416754e-02 7.38181396e-01 -1.77948759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:-166.52, Z:-177.98 [[ 6.39996228e-01 4.93699011e-01 5.88783589e-01 2.87176388e+02] [-3.69499913e-01 8.69596582e-01 -3.27523433e-01 -1.66517031e+02] [-6.73702191e-01 -7.94172339e-03 7.38960274e-01 -1.77976691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-166.53, Z:-178.00 [[ 6.40191230e-01 4.93858392e-01 5.88437828e-01 2.87197618e+02] [-3.69637426e-01 8.69507548e-01 -3.27604636e-01 -1.66529111e+02] [-6.73441432e-01 -7.77902940e-03 7.39199651e-01 -1.77999498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-166.54, Z:-178.02 [[ 6.40251121e-01 4.94032502e-01 5.88226477e-01 2.87218870e+02] [-3.69716062e-01 8.69410054e-01 -3.27774605e-01 -1.66541647e+02] [-6.73341322e-01 -7.61871846e-03 7.39292513e-01 -1.78021968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-166.56, Z:-178.04 [[ 6.40685143e-01 4.93402166e-01 5.88282968e-01 2.87239682e+02] [-3.68567865e-01 8.69776140e-01 -3.28096320e-01 -1.66555113e+02] [-6.73557924e-01 -6.61575977e-03 7.39104834e-01 -1.78044037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-166.57, Z:-178.07 [[ 6.41424163e-01 4.92939512e-01 5.87865359e-01 2.87259728e+02] [-3.67879434e-01 8.70044414e-01 -3.28157644e-01 -1.66566962e+02] [-6.73230841e-01 -5.77533330e-03 7.39409819e-01 -1.78065511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-166.58, Z:-178.09 [[ 6.41918132e-01 4.92379910e-01 5.87795148e-01 2.87280273e+02] [-3.66906538e-01 8.70366793e-01 -3.28391896e-01 -1.66579031e+02] [-6.73290950e-01 -4.86517045e-03 7.39361634e-01 -1.78088083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-166.59, Z:-178.11 [[ 6.42701543e-01 4.91821101e-01 5.87406785e-01 2.87301206e+02] [-3.66081222e-01 8.70687384e-01 -3.28463114e-01 -1.66591458e+02] [-6.72992768e-01 -3.93484282e-03 7.39638595e-01 -1.78110756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-166.60, Z:-178.13 [[ 6.43937218e-01 4.90318551e-01 5.87309610e-01 2.87320712e+02] [-3.63829611e-01 8.71540961e-01 -3.28701030e-01 -1.66604576e+02] [-6.73032595e-01 -2.01780058e-03 7.39610070e-01 -1.78132527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-166.62, Z:-178.15 [[ 6.44489633e-01 4.89833500e-01 5.87108385e-01 2.87340540e+02] [-3.63028088e-01 8.71815191e-01 -3.28859971e-01 -1.66617016e+02] [-6.72936639e-01 -1.18999293e-03 7.39699171e-01 -1.78153542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.63, Z:-178.18 [[ 6.44414752e-01 4.90068961e-01 5.86994072e-01 2.87361847e+02] [-3.63160810e-01 8.71682947e-01 -3.29063925e-01 -1.66628936e+02] [-6.72936738e-01 -1.11959517e-03 7.39699191e-01 -1.78176413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-166.64, Z:-178.20 [[ 6.44520966e-01 4.89561796e-01 5.87300581e-01 2.87382515e+02] [-3.62176385e-01 8.71968510e-01 -3.29392142e-01 -1.66642058e+02] [-6.73365421e-01 -4.06259949e-04 7.39309709e-01 -1.78198956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-166.66, Z:-178.22 [[ 6.45129190e-01 4.88279315e-01 5.87700297e-01 2.87403158e+02] [-3.59978766e-01 8.72686486e-01 -3.29899356e-01 -1.66656356e+02] [-6.73961138e-01 1.26807667e-03 7.38765711e-01 -1.78220984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-166.67, Z:-178.24 [[ 6.45182279e-01 4.87903312e-01 5.87954237e-01 2.87422992e+02] [-3.59068599e-01 8.72895359e-01 -3.30338362e-01 -1.66668692e+02] [-6.74395706e-01 2.01255358e-03 7.38367376e-01 -1.78242502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.68, Z:-178.26 [[ 6.46280281e-01 4.86625694e-01 5.87807138e-01 2.87443174e+02] [-3.57165833e-01 8.73602861e-01 -3.30530800e-01 -1.66681545e+02] [-6.74354778e-01 3.67091219e-03 7.38398374e-01 -1.78264534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-166.69, Z:-178.29 [[ 6.46428115e-01 4.86364741e-01 5.87860555e-01 2.87463443e+02] [-3.56520576e-01 8.73745365e-01 -3.30850595e-01 -1.66693877e+02] [-6.74554499e-01 4.28674317e-03 7.38212606e-01 -1.78287224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-166.71, Z:-178.31 [[ 6.47020629e-01 4.86214906e-01 5.87332419e-01 2.87484055e+02] [-3.56331209e-01 8.73826215e-01 -3.30841074e-01 -1.66706322e+02] [-6.74086326e-01 4.77612949e-03 7.38637133e-01 -1.78309109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-166.72, Z:-178.33 [[ 6.47541256e-01 4.86067933e-01 5.86880130e-01 2.87504826e+02] [-3.56104776e-01 8.73905168e-01 -3.30876331e-01 -1.66718480e+02] [-6.73705953e-01 5.26525752e-03 7.38980762e-01 -1.78331435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-166.73, Z:-178.35 [[ 6.47432529e-01 4.86441180e-01 5.86690803e-01 2.87525628e+02] [-3.56444380e-01 8.73697762e-01 -3.31058341e-01 -1.66730619e+02] [-6.73630852e-01 5.21529962e-03 7.39049576e-01 -1.78354522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-166.74, Z:-178.38 [[ 6.47381402e-01 4.86748219e-01 5.86492533e-01 2.87546662e+02] [-3.56701320e-01 8.73526647e-01 -3.31233099e-01 -1.66742426e+02] [-6.73543977e-01 5.23148756e-03 7.39128638e-01 -1.78377385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-166.75, Z:-178.40 [[ 6.47370265e-01 4.87510247e-01 5.85871572e-01 2.87566457e+02] [-3.57793419e-01 8.73104247e-01 -3.31168905e-01 -1.66753819e+02] [-6.72975192e-01 4.76790913e-03 7.39649686e-01 -1.78399310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-166.77, Z:-178.42 [[ 6.47063898e-01 4.88236519e-01 5.85605169e-01 2.87587577e+02] [-3.58669980e-01 8.72700642e-01 -3.31284522e-01 -1.66765631e+02] [-6.72803209e-01 4.32326030e-03 7.39808862e-01 -1.78422265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-166.78, Z:-178.44 [[ 6.46197371e-01 4.89521562e-01 5.85489195e-01 2.87607669e+02] [-3.60207129e-01 8.71984880e-01 -3.31501423e-01 -1.66776493e+02] [-6.72814820e-01 3.31796544e-03 7.39803494e-01 -1.78443941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-166.79, Z:-178.47 [[ 6.45374503e-01 4.90630072e-01 5.85468942e-01 2.87628133e+02] [-3.61473876e-01 8.71364455e-01 -3.31753861e-01 -1.66788038e+02] [-6.72925246e-01 2.47375482e-03 7.39706356e-01 -1.78465782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-166.80, Z:-178.49 [[ 6.44290197e-01 4.91712124e-01 5.85755350e-01 2.87649415e+02] [-3.62630023e-01 8.70756446e-01 -3.32088358e-01 -1.66800175e+02] [-6.73342119e-01 1.54879770e-03 7.39329421e-01 -1.78488277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-166.81, Z:-178.51 [[ 6.43350059e-01 4.92866150e-01 5.85818794e-01 2.87670208e+02] [-3.63906528e-01 8.70104887e-01 -3.32399646e-01 -1.66811809e+02] [-6.73552329e-01 6.66048834e-04 7.39139240e-01 -1.78510321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-166.82, Z:-178.53 [[ 6.40983673e-01 4.95131659e-01 5.86501979e-01 2.87691045e+02] [-3.66360578e-01 8.68816864e-01 -3.33072339e-01 -1.66822175e+02] [-6.74477470e-01 -1.37727335e-03 7.38294145e-01 -1.78532212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-166.83, Z:-178.55 [[ 6.39672430e-01 4.96414019e-01 5.86849473e-01 2.87711902e+02] [-3.67760077e-01 8.68082226e-01 -3.33445309e-01 -1.66833524e+02] [-6.74960523e-01 -2.52403635e-03 7.37849525e-01 -1.78554882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-166.84, Z:-178.58 [[ 6.38672947e-01 4.97621437e-01 5.86915473e-01 2.87733157e+02] [-3.69110074e-01 8.67387371e-01 -3.33761744e-01 -1.66844984e+02] [-6.75170068e-01 -3.47181668e-03 7.37653934e-01 -1.78577388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-166.86, Z:-178.60 [[ 6.37226214e-01 4.99635782e-01 5.86776650e-01 2.87754201e+02] [-3.71650450e-01 8.66219625e-01 -3.33975305e-01 -1.66856491e+02] [-6.75143463e-01 -5.25798715e-03 7.37667716e-01 -1.78600047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-166.87, Z:-178.62 [[ 6.36564809e-01 5.00585100e-01 5.86685437e-01 2.87774719e+02] [-3.72716787e-01 8.65667124e-01 -3.34219431e-01 -1.66868003e+02] [-6.75179562e-01 -5.91518198e-03 7.37629697e-01 -1.78622376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-166.88, Z:-178.65 [[ 6.35625465e-01 5.02050130e-01 5.86451989e-01 2.87795975e+02] [-3.74557438e-01 8.64809229e-01 -3.34382599e-01 -1.66879825e+02] [-6.75045920e-01 -7.11786000e-03 7.37741379e-01 -1.78645011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-166.89, Z:-178.67 [[ 6.35344086e-01 5.02713274e-01 5.86188755e-01 2.87816453e+02] [-3.75321918e-01 8.64420956e-01 -3.34529324e-01 -1.66890814e+02] [-6.74886176e-01 -7.46826057e-03 7.37884052e-01 -1.78667086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:-166.90, Z:-178.69 [[ 6.35343511e-01 5.02789735e-01 5.86123797e-01 2.87837028e+02] [-3.75206455e-01 8.64378556e-01 -3.34768319e-01 -1.66902101e+02] [-6.74950916e-01 -7.22455301e-03 7.37827261e-01 -1.78689641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-166.91, Z:-178.71 [[ 6.35262245e-01 5.03042458e-01 5.85995021e-01 2.87858236e+02] [-3.75342461e-01 8.64232206e-01 -3.34993629e-01 -1.66914178e+02] [-6.74951789e-01 -7.14000809e-03 7.37827286e-01 -1.78712517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-166.93, Z:-178.73 [[ 6.35251701e-01 5.03136155e-01 5.85926008e-01 2.87878187e+02] [-3.75354439e-01 8.64178440e-01 -3.35118887e-01 -1.66925734e+02] [-6.74955052e-01 -7.04508479e-03 7.37825213e-01 -1.78734177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-166.94, Z:-178.76 [[ 6.35324778e-01 5.02980902e-01 5.85980067e-01 2.87899163e+02] [-3.74862162e-01 8.64272654e-01 -3.35426801e-01 -1.66937956e+02] [-6.75159823e-01 -6.55679677e-03 7.37642340e-01 -1.78756850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-166.95, Z:-178.78 [[ 6.35847070e-01 5.02061152e-01 5.86202272e-01 2.87918743e+02] [-3.73225838e-01 8.64816268e-01 -3.35850109e-01 -1.66950455e+02] [-6.75574554e-01 -5.23652682e-03 7.37273085e-01 -1.78778334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-166.96, Z:-178.80 [[ 6.36356071e-01 5.01333240e-01 5.86272918e-01 2.87939550e+02] [-3.71946947e-01 8.65244378e-01 -3.36166082e-01 -1.66963026e+02] [-6.75800577e-01 -4.14109501e-03 7.37072881e-01 -1.78801172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-166.98, Z:-178.82 [[ 6.36997800e-01 5.00449728e-01 5.86330856e-01 2.87960153e+02] [-3.70445977e-01 8.65760879e-01 -3.36493503e-01 -1.66975662e+02] [-6.76020400e-01 -2.85828580e-03 7.36877364e-01 -1.78823840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-166.99, Z:-178.85 [[ 6.38190735e-01 4.99325816e-01 5.85991737e-01 2.87979942e+02] [-3.68825947e-01 8.66413292e-01 -3.36593863e-01 -1.66987830e+02] [-6.75781035e-01 -1.31787247e-03 7.37101252e-01 -1.78845374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.00, Z:-178.87 [[ 6.39111851e-01 4.98312879e-01 5.85850080e-01 2.88000083e+02] [-3.67272747e-01 8.66997271e-01 -3.36788452e-01 -1.67000317e+02] [-6.75756444e-01 7.87224110e-05 7.37124971e-01 -1.78868179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-167.01, Z:-178.89 [[ 6.40480970e-01 4.97149488e-01 5.85343074e-01 2.88020745e+02] [-3.65698485e-01 8.67663343e-01 -3.36786194e-01 -1.67012812e+02] [-6.75313812e-01 1.64607327e-03 7.37528674e-01 -1.78891020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-167.02, Z:-178.91 [[ 6.42759050e-01 4.95057082e-01 5.84618927e-01 2.88041795e+02] [-3.62986011e-01 8.68850383e-01 -3.36660315e-01 -1.67024701e+02] [-6.74612452e-01 4.18297150e-03 7.38160242e-01 -1.78913608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.04, Z:-178.94 [[ 6.43072579e-01 4.94755027e-01 5.84529829e-01 2.88062812e+02] [-3.62359220e-01 8.69019000e-01 -3.36900242e-01 -1.67035914e+02] [-6.74650616e-01 4.84153443e-03 7.38121336e-01 -1.78936421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-167.05, Z:-178.96 [[ 6.43792117e-01 4.94339770e-01 5.84088950e-01 2.88083321e+02] [-3.61768778e-01 8.69250651e-01 -3.36937172e-01 -1.67047627e+02] [-6.74281144e-01 5.61234927e-03 7.38453411e-01 -1.78958813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.06, Z:-178.98 [[ 6.44426667e-01 4.93971566e-01 5.83700576e-01 2.88104027e+02] [-3.61212096e-01 8.69454966e-01 -3.37007247e-01 -1.67059916e+02] [-6.73973362e-01 6.33674890e-03 7.38728470e-01 -1.78980997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-167.07, Z:-179.00 [[ 6.45403512e-01 4.93208908e-01 5.83266046e-01 2.88125393e+02] [-3.60150533e-01 8.69878831e-01 -3.37049569e-01 -1.67070901e+02] [-6.73606636e-01 7.46939806e-03 7.39052304e-01 -1.79002878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-167.08, Z:-179.02 [[ 6.45498769e-01 4.93098784e-01 5.83253742e-01 2.88145922e+02] [-3.59740113e-01 8.69937175e-01 -3.37337164e-01 -1.67082138e+02] [-6.73734659e-01 7.93095716e-03 7.38930788e-01 -1.79024980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.09, Z:-179.05 [[ 6.45808639e-01 4.92921934e-01 5.83060176e-01 2.88167112e+02] [-3.59356917e-01 8.70032670e-01 -3.37499273e-01 -1.67094053e+02] [-6.73642196e-01 8.43323857e-03 7.39009521e-01 -1.79047357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.11, Z:-179.07 [[ 6.46453161e-01 4.91946497e-01 5.83169748e-01 2.88188338e+02] [-3.57719910e-01 8.70570345e-01 -3.37851656e-01 -1.67105057e+02] [-6.73895227e-01 9.79384090e-03 7.38762007e-01 -1.79069552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.12, Z:-179.09 [[ 6.46527941e-01 4.91707181e-01 5.83288668e-01 2.88209575e+02] [-3.57064955e-01 8.70698593e-01 -3.38213806e-01 -1.67116435e+02] [-6.74170779e-01 1.03927333e-02 7.38502371e-01 -1.79091548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-167.13, Z:-179.11 [[ 6.46459506e-01 4.91521199e-01 5.83521223e-01 2.88230916e+02] [-3.56420399e-01 8.70796913e-01 -3.38640276e-01 -1.67128036e+02] [-6.74577354e-01 1.09383580e-02 7.38123124e-01 -1.79113964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-167.14, Z:-179.14 [[ 6.46313854e-01 4.91541308e-01 5.83665611e-01 2.88251879e+02] [-3.56095234e-01 8.70781277e-01 -3.39022347e-01 -1.67139430e+02] [-6.74888574e-01 1.12742976e-02 7.37833520e-01 -1.79135613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-167.15, Z:-179.16 [[ 6.45605217e-01 4.91862204e-01 5.84179318e-01 2.88274058e+02] [-3.55989397e-01 8.70599919e-01 -3.39598779e-01 -1.67149699e+02] [-6.75622271e-01 1.12851004e-02 7.37161579e-01 -1.79158482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-167.16, Z:-179.18 [[ 6.45039385e-01 4.92559201e-01 5.84217105e-01 2.88295161e+02] [-3.56632916e-01 8.70210531e-01 -3.39921453e-01 -1.67160472e+02] [-6.75823316e-01 1.09116749e-02 7.36982890e-01 -1.79180647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-167.17, Z:-179.20 [[ 6.44360779e-01 4.93421784e-01 5.84238077e-01 2.88316673e+02] [-3.57508899e-01 8.69728426e-01 -3.40234994e-01 -1.67171540e+02] [-6.76007821e-01 1.03637739e-02 7.36821565e-01 -1.79203221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-167.18, Z:-179.23 [[ 6.43647287e-01 4.94441298e-01 5.84162625e-01 2.88337768e+02] [-3.58651781e-01 8.69157508e-01 -3.40491008e-01 -1.67182553e+02] [-6.76082147e-01 9.64514772e-03 7.36763124e-01 -1.79225563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.19, Z:-179.25 [[ 6.42945810e-01 4.95679947e-01 5.83885327e-01 2.88358865e+02] [-3.60203919e-01 8.68461813e-01 -3.40627681e-01 -1.67193494e+02] [-6.75924421e-01 8.68735708e-03 7.36919743e-01 -1.79247754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-167.20, Z:-179.27 [[ 6.41942045e-01 4.98225891e-01 5.82821905e-01 2.88379954e+02] [-3.63952744e-01 8.67024112e-01 -3.40305143e-01 -1.67202533e+02] [-6.74869477e-01 6.33654758e-03 7.37909911e-01 -1.79269974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-167.21, Z:-179.29 [[ 6.40965644e-01 4.99957459e-01 5.82413583e-01 2.88401385e+02] [-3.66260626e-01 8.66036475e-01 -3.40343912e-01 -1.67213074e+02] [-6.74548884e-01 4.83359116e-03 7.38214359e-01 -1.79292787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-167.22, Z:-179.32 [[ 6.39717131e-01 5.01859868e-01 5.82150037e-01 2.88421999e+02] [-3.68702713e-01 8.64943114e-01 -3.40487473e-01 -1.67223462e+02] [-6.74403664e-01 3.17537142e-03 7.38356022e-01 -1.79315048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-167.23, Z:-179.34 [[ 6.37312652e-01 5.05283835e-01 5.81825429e-01 2.88443108e+02] [-3.73256512e-01 8.62953204e-01 -3.40575019e-01 -1.67232480e+02] [-6.74175170e-01 -1.17361389e-04 7.38571477e-01 -1.79336913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-167.24, Z:-179.36 [[ 6.36074989e-01 5.06954894e-01 5.81726176e-01 2.88464141e+02] [-3.75407058e-01 8.61970958e-01 -3.40698706e-01 -1.67243702e+02] [-6.74149946e-01 -1.67418725e-03 7.38592613e-01 -1.79359283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-167.25, Z:-179.38 [[ 6.34650631e-01 5.08599409e-01 5.81846388e-01 2.88484574e+02] [-3.77306988e-01 8.60997766e-01 -3.41060529e-01 -1.67254640e+02] [-6.74431623e-01 -3.08042809e-03 7.38330886e-01 -1.79380612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-167.27, Z:-179.40 [[ 6.33594332e-01 5.10123017e-01 5.81663760e-01 2.88505990e+02] [-3.79223637e-01 8.60090285e-01 -3.41224464e-01 -1.67266324e+02] [-6.74349803e-01 -4.38276010e-03 7.38399035e-01 -1.79402766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-167.28, Z:-179.42 [[ 6.31596293e-01 5.12044048e-01 5.82148619e-01 2.88526710e+02] [-3.81314267e-01 8.58937508e-01 -3.41797875e-01 -1.67276866e+02] [-6.75044852e-01 -6.10330276e-03 7.37751447e-01 -1.79424179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-167.29, Z:-179.45 [[ 6.31069383e-01 5.12842808e-01 5.82016914e-01 2.88547537e+02] [-3.82224543e-01 8.58456831e-01 -3.41988697e-01 -1.67288489e+02] [-6.75022839e-01 -6.64255270e-03 7.37766930e-01 -1.79446157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-167.30, Z:-179.47 [[ 6.30143880e-01 5.13906828e-01 5.82081148e-01 2.88567966e+02] [-3.83363721e-01 8.57813800e-01 -3.42326953e-01 -1.67299649e+02] [-6.75241400e-01 -7.43356043e-03 7.37559349e-01 -1.79468020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-167.31, Z:-179.49 [[ 6.29323176e-01 5.14622879e-01 5.82336357e-01 2.88588204e+02] [-3.83948867e-01 8.57380403e-01 -3.42756636e-01 -1.67310247e+02] [-6.75674188e-01 -7.88268971e-03 7.37158230e-01 -1.79490007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-167.32, Z:-179.51 [[ 6.28720671e-01 5.15569979e-01 5.82149392e-01 2.88609214e+02] [-3.85083904e-01 8.56804582e-01 -3.42923162e-01 -1.67320854e+02] [-6.75589154e-01 -8.57348026e-03 7.37228452e-01 -1.79512587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-167.33, Z:-179.53 [[ 6.28751152e-01 5.15886483e-01 5.81835995e-01 2.88629135e+02] [-3.85401231e-01 8.56614264e-01 -3.43042118e-01 -1.67332571e+02] [-6.75379805e-01 -8.55218189e-03 7.37420491e-01 -1.79534140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-167.34, Z:-179.56 [[ 6.29047438e-01 5.15673293e-01 5.81704715e-01 2.88649246e+02] [-3.84921005e-01 8.56748031e-01 -3.43247187e-01 -1.67344578e+02] [-6.75377776e-01 -7.99159956e-03 7.37428636e-01 -1.79556513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-167.36, Z:-179.58 [[ 6.30858000e-01 5.14205608e-01 5.81042835e-01 2.88670023e+02] [-3.83017389e-01 8.57645399e-01 -3.43135614e-01 -1.67357072e+02] [-6.74770971e-01 -6.07966235e-03 7.38002150e-01 -1.79579512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-167.37, Z:-179.60 [[ 6.30756967e-01 5.14477011e-01 5.80912260e-01 2.88691053e+02] [-3.83182871e-01 8.57483033e-01 -3.43356573e-01 -1.67369454e+02] [-6.74771470e-01 -6.02107718e-03 7.38002175e-01 -1.79602378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-167.38, Z:-179.63 [[ 6.31590088e-01 5.13574831e-01 5.80805349e-01 2.88711241e+02] [-3.81826841e-01 8.58031285e-01 -3.43497567e-01 -1.67382164e+02] [-6.74760864e-01 -4.81741264e-03 7.38020710e-01 -1.79625016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-167.40, Z:-179.65 [[ 6.32886252e-01 5.12267431e-01 5.80548940e-01 2.88731536e+02] [-3.79919025e-01 8.58820480e-01 -3.43640681e-01 -1.67395114e+02] [-6.74623248e-01 -3.07612429e-03 7.38155817e-01 -1.79646883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-167.41, Z:-179.67 [[ 6.33970725e-01 5.10866496e-01 5.80600158e-01 2.88751812e+02] [-3.77721394e-01 8.59659167e-01 -3.43966081e-01 -1.67408121e+02] [-6.74838995e-01 -1.24067518e-03 7.37963950e-01 -1.79668835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.42, Z:-179.69 [[ 6.36589895e-01 5.07338877e-01 5.80827487e-01 2.88771178e+02] [-3.72542365e-01 8.61741889e-01 -3.44402532e-01 -1.67421459e+02] [-6.75252169e-01 2.86032598e-03 7.37581403e-01 -1.79690396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-167.43, Z:-179.71 [[ 6.38080778e-01 5.05401671e-01 5.80880429e-01 2.88791763e+02] [-3.69635137e-01 8.62868283e-01 -3.44714654e-01 -1.67434389e+02] [-6.75442660e-01 5.24197768e-03 7.37393881e-01 -1.79712967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.45, Z:-179.74 [[ 6.39598812e-01 5.03536065e-01 5.80831121e-01 2.88812138e+02] [-3.66868584e-01 8.63941114e-01 -3.44982889e-01 -1.67447801e+02] [-6.75515212e-01 7.56195524e-03 7.37307274e-01 -1.79735331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-167.46, Z:-179.76 [[ 6.40848860e-01 5.01615756e-01 5.81114766e-01 2.88832124e+02] [-3.63844409e-01 8.65033372e-01 -3.45448276e-01 -1.67460814e+02] [-6.75965964e-01 9.94477508e-03 7.36865739e-01 -1.79758053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.48, Z:-179.78 [[ 6.44047212e-01 4.97419367e-01 5.81185996e-01 2.88851925e+02] [-3.57875035e-01 8.67385482e-01 -3.45785894e-01 -1.67475114e+02] [-6.76112896e-01 1.47104826e-02 7.36651175e-01 -1.79780196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-167.49, Z:-179.80 [[ 6.45486072e-01 4.95501864e-01 5.81227695e-01 2.88871730e+02] [-3.54991817e-01 8.68438922e-01 -3.46113636e-01 -1.67487698e+02] [-6.76260704e-01 1.70804558e-02 7.36464336e-01 -1.79801724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-167.50, Z:-179.82 [[ 6.46633150e-01 4.93872990e-01 5.81339006e-01 2.88892325e+02] [-3.52478234e-01 8.69323729e-01 -3.46461180e-01 -1.67500547e+02] [-6.76479612e-01 1.91239381e-02 7.36213020e-01 -1.79824531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-167.51, Z:-179.85 [[ 6.49613429e-01 4.90379716e-01 5.80973431e-01 2.88912944e+02] [-3.47727944e-01 8.71202759e-01 -3.46541527e-01 -1.67513450e+02] [-6.76082592e-01 2.30973334e-02 7.36463742e-01 -1.79847049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-167.53, Z:-179.87 [[ 6.51002089e-01 4.88876987e-01 5.80685432e-01 2.88933874e+02] [-3.45611971e-01 8.71994759e-01 -3.46666274e-01 -1.67526175e+02] [-6.75831817e-01 2.49886314e-02 7.36632149e-01 -1.79869394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.54, Z:-179.89 [[ 6.52563684e-01 4.87170369e-01 5.80366842e-01 2.88954270e+02] [-3.43245916e-01 8.72886930e-01 -3.46771754e-01 -1.67538483e+02] [-6.75531553e-01 2.70821046e-02 7.36833550e-01 -1.79890955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.55, Z:-179.91 [[ 6.53907868e-01 4.85722039e-01 5.80067756e-01 2.88975366e+02] [-3.41321770e-01 8.73639760e-01 -3.46775169e-01 -1.67551010e+02] [-6.75206597e-01 2.87692584e-02 7.37067419e-01 -1.79912915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-167.56, Z:-179.93 [[ 6.55909900e-01 4.83067586e-01 5.80024060e-01 2.88996410e+02] [-3.37526851e-01 8.75003187e-01 -3.47051938e-01 -1.67561604e+02] [-6.75172443e-01 3.18611069e-02 7.36971534e-01 -1.79934224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.57, Z:-179.96 [[ 6.56691640e-01 4.82093811e-01 5.79949694e-01 2.89017346e+02] [-3.36015093e-01 8.75490703e-01 -3.47289341e-01 -1.67572243e+02] [-6.75166607e-01 3.31901568e-02 7.36918222e-01 -1.79956291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.58, Z:-179.98 [[ 6.57036041e-01 4.81557242e-01 5.80005400e-01 2.89038645e+02] [-3.35097040e-01 8.75756188e-01 -3.47506940e-01 -1.67582995e+02] [-6.75287801e-01 3.39664913e-02 7.36771785e-01 -1.79978763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.59, Z:-180.00 [[ 6.57515129e-01 4.81041860e-01 5.79890148e-01 2.89061379e+02] [-3.34209437e-01 8.76005260e-01 -3.47733859e-01 -1.67592208e+02] [-6.75261362e-01 3.48355132e-02 7.36755441e-01 -1.80000519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.60, Z:-180.02 [[ 6.57517999e-01 4.81521688e-01 5.79488520e-01 2.89082554e+02] [-3.34818689e-01 8.75748673e-01 -3.47794060e-01 -1.67602502e+02] [-6.74956685e-01 3.46572680e-02 7.37042975e-01 -1.80022272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-167.61, Z:-180.04 [[ 6.57393661e-01 4.82164590e-01 5.79094883e-01 2.89103399e+02] [-3.35659739e-01 8.75409443e-01 -3.47837387e-01 -1.67612363e+02] [-6.74660000e-01 3.42872558e-02 7.37331858e-01 -1.80043975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.62, Z:-180.07 [[ 6.56912671e-01 4.83141500e-01 5.78826428e-01 2.89125107e+02] [-3.36871914e-01 8.74897940e-01 -3.47952451e-01 -1.67622575e+02] [-6.74524318e-01 3.35840079e-02 7.37488345e-01 -1.80066527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-167.63, Z:-180.09 [[ 6.55335048e-01 4.85536877e-01 5.78610332e-01 2.89148712e+02] [-3.39926213e-01 8.73650359e-01 -3.48116676e-01 -1.67630049e+02] [-6.74526608e-01 3.14482391e-02 7.37580411e-01 -1.80088350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-167.64, Z:-180.11 [[ 6.53801348e-01 4.87266050e-01 5.78891695e-01 2.89170961e+02] [-3.41791273e-01 8.72736612e-01 -3.48582175e-01 -1.67639795e+02] [-6.75072236e-01 3.00433661e-02 7.37139656e-01 -1.80110623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.65, Z:-180.13 [[ 6.52528677e-01 4.89072755e-01 5.78804082e-01 2.89193233e+02] [-3.43985967e-01 8.71776670e-01 -3.48825304e-01 -1.67649335e+02] [-6.75188848e-01 2.85180320e-02 7.37093442e-01 -1.80132730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-167.66, Z:-180.16 [[ 6.50895556e-01 4.91176799e-01 5.78861233e-01 2.89215767e+02] [-3.46494512e-01 8.70650885e-01 -3.49154107e-01 -1.67658803e+02] [-6.75482442e-01 2.66906165e-02 7.36892857e-01 -1.80155079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.67, Z:-180.18 [[ 6.49219501e-01 4.93372595e-01 5.78876086e-01 2.89237800e+02] [-3.49147506e-01 8.69465413e-01 -3.49465183e-01 -1.67667795e+02] [-6.75729279e-01 2.47664695e-02 7.36733713e-01 -1.80177173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-167.67, Z:-180.20 [[ 6.45681947e-01 4.97749160e-01 5.79086002e-01 2.89262654e+02] [-3.54633629e-01 8.67077702e-01 -3.49873188e-01 -1.67673995e+02] [-6.76261645e-01 2.05434311e-02 7.36375010e-01 -1.80199868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-167.68, Z:-180.22 [[ 6.43793874e-01 5.00132237e-01 5.79134866e-01 2.89285491e+02] [-3.57527525e-01 8.65753439e-01 -3.50207155e-01 -1.67683081e+02] [-6.76537890e-01 1.84045664e-02 7.36177802e-01 -1.80222293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-167.69, Z:-180.24 [[ 6.41812603e-01 5.02435202e-01 5.79340531e-01 2.89307559e+02] [-3.60221488e-01 8.64460170e-01 -3.50640975e-01 -1.67691200e+02] [-6.76991183e-01 1.63548888e-02 7.35809388e-01 -1.80244369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-167.70, Z:-180.27 [[ 6.38608071e-01 5.06615431e-01 5.79241346e-01 2.89331591e+02] [-3.65650935e-01 8.62084862e-01 -3.50869041e-01 -1.67695429e+02] [-6.77110866e-01 1.22676615e-02 7.35778757e-01 -1.80266205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-167.70, Z:-180.29 [[ 6.37362372e-01 5.08474395e-01 5.78984453e-01 2.89353957e+02] [-3.68049797e-01 8.61011659e-01 -3.50996110e-01 -1.67703888e+02] [-6.76984899e-01 1.06166030e-02 7.35920331e-01 -1.80288844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.71, Z:-180.31 [[ 6.36353517e-01 5.10285144e-01 5.78500884e-01 2.89376192e+02] [-3.70496932e-01 8.59957861e-01 -3.51004986e-01 -1.67713230e+02] [-6.76599013e-01 9.03045476e-03 7.36296290e-01 -1.80311261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.72, Z:-180.33 [[ 6.35438850e-01 5.12582070e-01 5.77474753e-01 2.89399865e+02] [-3.73907681e-01 8.58610369e-01 -3.50686869e-01 -1.67719641e+02] [-6.75581612e-01 6.91781438e-03 7.37252758e-01 -1.80333693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-167.73, Z:-180.36 [[ 6.34848202e-01 5.13516336e-01 5.77294321e-01 2.89422270e+02] [-3.74994695e-01 8.58056882e-01 -3.50880844e-01 -1.67729269e+02] [-6.75534410e-01 6.27376536e-03 7.37301770e-01 -1.80356634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.44, Y:-167.74, Z:-180.38 [[ 6.34623952e-01 5.14084993e-01 5.77034712e-01 2.89443972e+02] [-3.75630867e-01 8.57718130e-01 -3.51028576e-01 -1.67738454e+02] [-6.75391657e-01 6.01909254e-03 7.37434662e-01 -1.80378564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-167.75, Z:-180.40 [[ 6.34756555e-01 5.14200807e-01 5.76785616e-01 2.89466191e+02] [-3.75757077e-01 8.57648067e-01 -3.51064685e-01 -1.67747949e+02] [-6.75196813e-01 6.10933307e-03 7.37612324e-01 -1.80400758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-167.75, Z:-180.42 [[ 6.35623736e-01 5.13785132e-01 5.76200749e-01 2.89488987e+02] [-3.75244822e-01 8.57891156e-01 -3.51018643e-01 -1.67754956e+02] [-6.74665687e-01 6.89943367e-03 7.38091193e-01 -1.80422137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-167.77, Z:-180.45 [[ 6.37238754e-01 5.13260807e-01 5.74882696e-01 2.89510406e+02] [-3.75026399e-01 8.58197625e-01 -3.50502548e-01 -1.67765299e+02] [-6.73262185e-01 7.75761966e-03 7.39363138e-01 -1.80445019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.53, Y:-167.78, Z:-180.47 [[ 6.39110342e-01 5.12380011e-01 5.73589309e-01 2.89531271e+02] [-3.74301772e-01 8.58711617e-01 -3.50017917e-01 -1.67775284e+02] [-6.71889987e-01 9.00457595e-03 7.40596221e-01 -1.80467286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:-167.79, Z:-180.49 [[ 6.40578963e-01 5.11425871e-01 5.72802035e-01 2.89552398e+02] [-3.73214372e-01 8.59265559e-01 -3.49819570e-01 -1.67785963e+02] [-6.71095839e-01 1.03091059e-02 7.41298926e-01 -1.80490374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-167.80, Z:-180.51 [[ 6.42834376e-01 5.08468195e-01 5.72908422e-01 2.89573930e+02] [-3.68913067e-01 8.60970820e-01 -3.50189087e-01 -1.67795531e+02] [-6.71317447e-01 1.37601802e-02 7.41042201e-01 -1.80511781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:-167.81, Z:-180.53 [[ 6.43764318e-01 5.07007135e-01 5.73159025e-01 2.89595292e+02] [-3.66555010e-01 8.61800214e-01 -3.50624892e-01 -1.67807247e+02] [-6.71717893e-01 1.56254826e-02 7.40642233e-01 -1.80533876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:-167.82, Z:-180.56 [[ 6.45020705e-01 5.05383465e-01 5.73180464e-01 2.89616534e+02] [-3.64096006e-01 8.62713914e-01 -3.50939882e-01 -1.67818946e+02] [-6.71849975e-01 1.76707722e-02 7.40476438e-01 -1.80555537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.64, Y:-167.83, Z:-180.58 [[ 6.47771563e-01 5.01893482e-01 5.73144776e-01 2.89638443e+02] [-3.59178817e-01 8.64658444e-01 -3.51221231e-01 -1.67829655e+02] [-6.71850117e-01 2.16496631e-02 7.40370659e-01 -1.80577048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-167.84, Z:-180.60 [[ 6.48651474e-01 5.00437156e-01 5.73422984e-01 2.89659445e+02] [-3.56813262e-01 8.65453636e-01 -3.51673570e-01 -1.67841094e+02] [-6.72261528e-01 2.35086534e-02 7.39940391e-01 -1.80599405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-167.85, Z:-180.62 [[ 6.49485850e-01 4.99224865e-01 5.73535235e-01 2.89680368e+02] [-3.54858485e-01 8.66108232e-01 -3.52039750e-01 -1.67852619e+02] [-6.72490585e-01 2.51209916e-02 7.39679220e-01 -1.80621521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-167.86, Z:-180.64 [[ 6.50518978e-01 4.97184037e-01 5.74136824e-01 2.89702155e+02] [-3.51499692e-01 8.67204902e-01 -3.52708980e-01 -1.67862573e+02] [-6.73255543e-01 2.76349686e-02 7.38893282e-01 -1.80643901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-167.87, Z:-180.67 [[ 6.50743235e-01 4.96827122e-01 5.74191652e-01 2.89723570e+02] [-3.50711530e-01 8.67385753e-01 -3.53048692e-01 -1.67873612e+02] [-6.73449824e-01 2.83684145e-02 7.38688411e-01 -1.80666289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-167.88, Z:-180.69 [[ 6.50844208e-01 4.96706389e-01 5.74181661e-01 2.89744920e+02] [-3.50279543e-01 8.67439031e-01 -3.53346530e-01 -1.67883959e+02] [-6.73577062e-01 2.88494528e-02 7.38553756e-01 -1.80688707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-167.89, Z:-180.71 [[ 6.50571517e-01 4.97011198e-01 5.74226932e-01 2.89766668e+02] [-3.50379492e-01 8.67262852e-01 -3.53679739e-01 -1.67891856e+02] [-6.73788477e-01 2.88966233e-02 7.38359041e-01 -1.80710564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-167.90, Z:-180.73 [[ 6.50236038e-01 4.97648323e-01 5.74055085e-01 2.89787883e+02] [-3.51163246e-01 8.66912472e-01 -3.53761417e-01 -1.67902449e+02] [-6.73704289e-01 2.84413753e-02 7.38453532e-01 -1.80732908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-167.91, Z:-180.76 [[ 6.49210943e-01 4.99339447e-01 5.73746693e-01 2.89810288e+02] [-3.53336650e-01 8.65985344e-01 -3.53868049e-01 -1.67911396e+02] [-6.73556504e-01 2.70092753e-02 7.38642089e-01 -1.80755390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.92, Z:-180.78 [[ 6.48159425e-01 5.00669830e-01 5.73776159e-01 2.89831147e+02] [-3.54812977e-01 8.65248047e-01 -3.54194252e-01 -1.67922046e+02] [-6.73793077e-01 2.59911157e-02 7.38462830e-01 -1.80777047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-167.93, Z:-180.80 [[ 6.48102214e-01 5.00891500e-01 5.73647301e-01 2.89851966e+02] [-3.54924603e-01 8.65116833e-01 -3.54402865e-01 -1.67934869e+02] [-6.73789318e-01 2.60877408e-02 7.38462852e-01 -1.80799913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-167.95, Z:-180.82 [[ 6.48409830e-01 4.97431878e-01 5.76303930e-01 2.89874790e+02] [-3.57669535e-01 8.67309014e-01 -3.46190090e-01 -1.67951580e+02] [-6.72039579e-01 1.83466989e-02 7.40287919e-01 -1.80818553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-167.95, Z:-180.85 [[ 6.45058980e-01 5.10531541e-01 5.68556469e-01 2.89896283e+02] [-3.60533413e-01 8.59372239e-01 -3.62622411e-01 -1.67949611e+02] [-6.73731824e-01 2.89292378e-02 7.38409459e-01 -1.80845240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-167.96, Z:-180.87 [[ 6.43615626e-01 5.06656990e-01 5.73635442e-01 2.89915937e+02] [-3.62198546e-01 8.61900720e-01 -3.54879363e-01 -1.67964357e+02] [-6.74218910e-01 2.06359799e-02 7.38243197e-01 -1.80865415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-167.98, Z:-180.89 [[ 6.42133700e-01 5.08271561e-01 5.73867869e-01 2.89937834e+02] [-3.64051087e-01 8.60983348e-01 -3.55210474e-01 -1.67975393e+02] [-6.74634062e-01 1.91753946e-02 7.37903237e-01 -1.80888061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-167.98, Z:-180.91 [[ 6.39020757e-01 5.11315433e-01 5.74638148e-01 2.89959280e+02] [-3.67396631e-01 8.59237252e-01 -3.55993062e-01 -1.67984980e+02] [-6.75775250e-01 1.63668367e-02 7.36926006e-01 -1.80910127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-168.00, Z:-180.93 [[ 6.37460981e-01 5.13039834e-01 5.74833565e-01 2.89980291e+02] [-3.69339364e-01 8.58235792e-01 -3.56398316e-01 -1.67996486e+02] [-6.76189272e-01 1.48813567e-02 7.36577636e-01 -1.80932296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-168.01, Z:-180.95 [[ 6.36001139e-01 5.14817798e-01 5.74861014e-01 2.90001167e+02] [-3.71437561e-01 8.57195670e-01 -3.56720790e-01 -1.68007451e+02] [-6.76414584e-01 1.33498557e-02 7.36400090e-01 -1.80954385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-168.02, Z:-180.98 [[ 6.33217801e-01 5.18374556e-01 5.74737363e-01 2.90023412e+02] [-3.76048215e-01 8.55096557e-01 -3.56928029e-01 -1.68016562e+02] [-6.76478349e-01 9.88422293e-03 7.36396188e-01 -1.80976605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-168.03, Z:-181.00 [[ 6.33154215e-01 5.18606929e-01 5.74597766e-01 2.90044203e+02] [-3.76158191e-01 8.54954380e-01 -3.57152662e-01 -1.68029434e+02] [-6.76476722e-01 9.99305672e-03 7.36396214e-01 -1.80999473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-168.04, Z:-181.02 [[ 6.31628921e-01 5.20635402e-01 5.74442063e-01 2.90065667e+02] [-3.78866246e-01 8.53741866e-01 -3.57190697e-01 -1.68040421e+02] [-6.76391361e-01 7.97526650e-03 7.36499234e-01 -1.81022340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-168.05, Z:-181.04 [[ 6.27854375e-01 5.25012618e-01 5.74596062e-01 2.90087115e+02] [-3.84416477e-01 8.51086683e-01 -3.57596744e-01 -1.68049364e+02] [-6.76773859e-01 3.63448640e-03 7.36181999e-01 -1.81044525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-168.06, Z:-181.07 [[ 6.26367931e-01 5.30580467e-01 5.71093322e-01 2.90108451e+02] [-3.88455894e-01 8.47622363e-01 -3.61439272e-01 -1.68057952e+02] [-6.75844089e-01 4.54940249e-03 7.37030576e-01 -1.81067311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-168.07, Z:-181.09 [[ 6.21935450e-01 5.28318533e-01 5.77992927e-01 2.90128760e+02] [-3.93637158e-01 8.49005653e-01 -3.52475799e-01 -1.68074234e+02] [-6.76938760e-01 -8.30229851e-03 7.35992518e-01 -1.81087995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-168.08, Z:-181.11 [[ 6.18245222e-01 5.37812135e-01 5.73176198e-01 2.90150490e+02] [-3.99430227e-01 8.43041482e-01 -3.60189608e-01 -1.68080181e+02] [-6.76925653e-01 -6.25839492e-03 7.36024791e-01 -1.81111533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:-168.09, Z:-181.13 [[ 6.14261284e-01 5.38994230e-01 5.76340433e-01 2.90170255e+02] [-4.04469973e-01 8.42191329e-01 -3.56535843e-01 -1.68093860e+02] [-6.77559677e-01 -1.41062346e-02 7.35332509e-01 -1.81133417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-168.11, Z:-181.16 [[ 6.12842814e-01 5.44587936e-01 5.72579833e-01 2.90191048e+02] [-4.09788619e-01 8.38575949e-01 -3.58975855e-01 -1.68106045e+02] [-6.75645598e-01 -1.46409262e-02 7.37081183e-01 -1.81155697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-168.12, Z:-181.18 [[ 6.12759767e-01 5.44608388e-01 5.72649258e-01 2.90211775e+02] [-4.09949086e-01 8.38558488e-01 -3.58833400e-01 -1.68119168e+02] [-6.75623575e-01 -1.48783697e-02 7.37096614e-01 -1.81178487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-168.13, Z:-181.20 [[ 6.12671123e-01 5.44816787e-01 5.72545862e-01 2.90232542e+02] [-4.10108850e-01 8.38423124e-01 -3.58967125e-01 -1.68132140e+02] [-6.75607006e-01 -1.48773335e-02 7.37111823e-01 -1.81201327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-168.14, Z:-181.22 [[ 6.11884797e-01 5.48183497e-01 5.70168263e-01 2.90251923e+02] [-4.10804628e-01 8.36271818e-01 -3.63165256e-01 -1.68141635e+02] [-6.75896850e-01 -1.20124623e-02 7.36898330e-01 -1.81224848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-168.16, Z:-181.24 [[ 6.09755843e-01 5.44509056e-01 5.75940708e-01 2.90268864e+02] [-4.12999348e-01 8.38489366e-01 -3.55481536e-01 -1.68158864e+02] [-6.76483075e-01 -2.11061939e-02 7.36155675e-01 -1.81244203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.29, Y:-168.17, Z:-181.27 [[ 6.10386020e-01 5.47701129e-01 5.72234549e-01 2.90289562e+02] [-4.14114848e-01 8.36482426e-01 -3.58895589e-01 -1.68170327e+02] [-6.75231663e-01 -1.79059728e-02 7.37388349e-01 -1.81267778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-168.19, Z:-181.29 [[ 6.09515408e-01 5.45452014e-01 5.75302588e-01 2.90307392e+02] [-4.14879063e-01 8.37842293e-01 -3.54817777e-01 -1.68185587e+02] [-6.75548911e-01 -2.24140968e-02 7.36974407e-01 -1.81288401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-168.20, Z:-181.31 [[ 6.09666083e-01 5.45189945e-01 5.75391337e-01 2.90327776e+02] [-4.14289809e-01 8.38026343e-01 -3.55071545e-01 -1.68200082e+02] [-6.75774534e-01 -2.19036898e-02 7.36782876e-01 -1.81311498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-168.21, Z:-181.33 [[ 6.10299588e-01 5.47400853e-01 5.72613935e-01 2.90345901e+02] [-4.13205530e-01 8.36693077e-01 -3.59452200e-01 -1.68213216e+02] [-6.75866557e-01 -1.72337148e-02 7.36822500e-01 -1.81333792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-168.23, Z:-181.36 [[ 6.11013835e-01 5.46635672e-01 5.72583213e-01 2.90365042e+02] [-4.11996093e-01 8.37214502e-01 -3.59626329e-01 -1.68227823e+02] [-6.75959550e-01 -1.61653845e-02 7.36761405e-01 -1.81355820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-168.24, Z:-181.38 [[ 6.11687415e-01 5.45872073e-01 5.72592513e-01 2.90383830e+02] [-4.10655428e-01 8.37734920e-01 -3.59947669e-01 -1.68242604e+02] [-6.76166123e-01 -1.49627644e-02 7.36597237e-01 -1.81377820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-168.26, Z:-181.40 [[ 6.13801834e-01 5.43516439e-01 5.72570685e-01 2.90401029e+02] [-4.07174650e-01 8.39312339e-01 -3.60227153e-01 -1.68259606e+02] [-6.76355020e-01 -1.20281810e-02 7.36477569e-01 -1.81398975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-168.27, Z:-181.42 [[ 6.14620507e-01 5.42376474e-01 5.72773422e-01 2.90419788e+02] [-4.05238026e-01 8.40070558e-01 -3.60643315e-01 -1.68274612e+02] [-6.76774537e-01 -1.04507940e-02 7.36116164e-01 -1.81421669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-168.29, Z:-181.44 [[ 6.15612764e-01 5.41190145e-01 5.72829950e-01 2.90438255e+02] [-4.03305489e-01 8.40854205e-01 -3.60983225e-01 -1.68289333e+02] [-6.77027036e-01 -8.79958229e-03 7.35905537e-01 -1.81443580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-168.30, Z:-181.47 [[ 6.16558111e-01 5.39987603e-01 5.72948064e-01 2.90457332e+02] [-4.01336347e-01 8.41642537e-01 -3.61340528e-01 -1.68304462e+02] [-6.77336868e-01 -7.15744901e-03 7.35638185e-01 -1.81466524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-168.32, Z:-181.49 [[ 6.17474403e-01 5.38873580e-01 5.73010145e-01 2.90475921e+02] [-3.99499610e-01 8.42368126e-01 -3.61684948e-01 -1.68319262e+02] [-6.77587945e-01 -5.58613179e-03 7.35420541e-01 -1.81488872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-168.34, Z:-181.51 [[ 6.19787432e-01 5.36167160e-01 5.73051757e-01 2.90493465e+02] [-3.95506046e-01 8.44108767e-01 -3.62015686e-01 -1.68337017e+02] [-6.77818934e-01 -2.27266223e-03 7.35225359e-01 -1.81511488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-168.35, Z:-181.53 [[ 6.21072010e-01 5.34969766e-01 5.72779983e-01 2.90511603e+02] [-3.93755147e-01 8.44870978e-01 -3.62146261e-01 -1.68352181e+02] [-6.77662485e-01 -6.16159783e-04 7.35372815e-01 -1.81533368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:-168.37, Z:-181.56 [[ 6.22314146e-01 5.33746195e-01 5.72573229e-01 2.90530482e+02] [-3.91953556e-01 8.45644084e-01 -3.62296139e-01 -1.68367495e+02] [-6.77567350e-01 1.03989867e-03 7.35459996e-01 -1.81556500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-168.38, Z:-181.58 [[ 6.23857671e-01 5.32335048e-01 5.72207133e-01 2.90549404e+02] [-3.89972368e-01 8.46528714e-01 -3.62368168e-01 -1.68382826e+02] [-6.77291044e-01 2.92119037e-03 7.35709391e-01 -1.81579132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-168.40, Z:-181.60 [[ 6.25367692e-01 5.30952937e-01 5.71842836e-01 2.90568495e+02] [-3.88034773e-01 8.47387921e-01 -3.62439961e-01 -1.68398106e+02] [-6.77011274e-01 4.76333686e-03 7.35957231e-01 -1.81602058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-168.42, Z:-181.62 [[ 6.28141629e-01 5.27861716e-01 5.71664327e-01 2.90585479e+02] [-3.83678710e-01 8.49288323e-01 -3.62629278e-01 -1.68415260e+02] [-6.76925950e-01 8.44711362e-03 7.36002652e-01 -1.81624378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-168.43, Z:-181.65 [[ 6.29374737e-01 5.26633700e-01 5.71440624e-01 2.90604445e+02] [-3.81895039e-01 8.50032469e-01 -3.62768494e-01 -1.68430336e+02] [-6.76789198e-01 1.00869857e-02 7.36107760e-01 -1.81646933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-168.45, Z:-181.67 [[ 6.30398776e-01 5.25475720e-01 5.71377853e-01 2.90623158e+02] [-3.80094845e-01 8.50728499e-01 -3.63027451e-01 -1.68445058e+02] [-6.76849534e-01 1.16742839e-02 7.36028817e-01 -1.81669308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-168.46, Z:-181.69 [[ 6.32436386e-01 5.23850530e-01 5.70617946e-01 2.90641473e+02] [-3.78089975e-01 8.51699527e-01 -3.62844164e-01 -1.68461965e+02] [-6.76071142e-01 1.37309271e-02 7.36708404e-01 -1.81692017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-168.47, Z:-181.71 [[ 6.32949361e-01 5.25193385e-01 5.68811933e-01 2.90660056e+02] [-3.78420415e-01 8.50842384e-01 -3.64506826e-01 -1.68474692e+02] [-6.75405875e-01 1.54643151e-02 7.37284042e-01 -1.81714205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:-168.51, Z:-181.72 [[ 6.34900811e-01 5.07318733e-01 5.82690881e-01 2.90681292e+02] [-3.81191683e-01 8.61706226e-01 -3.34895926e-01 -1.68512388e+02] [-6.72007337e-01 -9.49122253e-03 7.40483664e-01 -1.81724131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-168.51, Z:-181.76 [[ 6.34954937e-01 5.30950487e-01 5.61180728e-01 2.90703867e+02] [-3.81856866e-01 8.47159557e-01 -3.69467210e-01 -1.68506355e+02] [-6.71578411e-01 2.03043149e-02 7.40655232e-01 -1.81755305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-168.50, Z:-181.79 [[ 6.32311488e-01 5.42655845e-01 5.52907602e-01 2.90718599e+02] [-3.77671703e-01 8.39058958e-01 -3.91591815e-01 -1.68501020e+02] [-6.76421664e-01 3.87904476e-02 7.35492375e-01 -1.81785357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-168.53, Z:-181.80 [[ 6.32101794e-01 5.26276396e-01 5.68753442e-01 2.90734882e+02] [-3.78198319e-01 8.50154204e-01 -3.66338451e-01 -1.68530288e+02] [-6.76323409e-01 1.64615964e-02 7.36420846e-01 -1.81801649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-168.55, Z:-181.82 [[ 6.30729812e-01 5.24134367e-01 5.72243889e-01 2.90753265e+02] [-3.79005741e-01 8.51556833e-01 -3.62223146e-01 -1.68546493e+02] [-6.77151794e-01 1.15812175e-02 7.35752216e-01 -1.81821942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-168.56, Z:-181.84 [[ 6.30009393e-01 5.26465484e-01 5.70896014e-01 2.90773304e+02] [-3.80477122e-01 8.50109567e-01 -3.64075382e-01 -1.68559642e+02] [-6.76997285e-01 1.21580386e-02 7.35885085e-01 -1.81844148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-168.57, Z:-181.87 [[ 6.27103844e-01 5.29245966e-01 5.71523819e-01 2.90792522e+02] [-3.83571442e-01 8.48414866e-01 -3.64780982e-01 -1.68573871e+02] [-6.77948168e-01 9.53534021e-03 7.35047862e-01 -1.81866243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-168.59, Z:-181.89 [[ 6.25366273e-01 5.31221294e-01 5.71595102e-01 2.90812589e+02] [-3.85922870e-01 8.47197676e-01 -3.65129614e-01 -1.68587365e+02] [-6.78218669e-01 7.74812367e-03 7.34819300e-01 -1.81888211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-168.60, Z:-181.91 [[ 6.21387647e-01 5.35494696e-01 5.71946521e-01 2.90832098e+02] [-3.91224294e-01 8.44531504e-01 -3.65663904e-01 -1.68600667e+02] [-6.78837936e-01 3.45965850e-03 7.34279979e-01 -1.81910229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-168.61, Z:-181.93 [[ 6.19099180e-01 5.38013567e-01 5.72064338e-01 2.90852164e+02] [-3.94314086e-01 8.42935544e-01 -3.66027417e-01 -1.68613750e+02] [-6.79141080e-01 1.03424748e-03 7.34007033e-01 -1.81933206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-168.63, Z:-181.96 [[ 6.16834750e-01 5.40644686e-01 5.72029907e-01 2.90871631e+02] [-3.97636172e-01 8.41249699e-01 -3.66311915e-01 -1.68626717e+02] [-6.79264577e-01 -1.50586419e-03 7.33891931e-01 -1.81955912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-168.64, Z:-181.98 [[ 6.14945216e-01 5.43152136e-01 5.71688848e-01 2.90891491e+02] [-4.00974149e-01 8.39625167e-01 -3.66400480e-01 -1.68640005e+02] [-6.79015548e-01 -3.91622714e-03 7.34113444e-01 -1.81978406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-168.66, Z:-182.00 [[ 6.14338637e-01 5.43011969e-01 5.72473616e-01 2.90911873e+02] [-4.03911097e-01 8.39684822e-01 -3.63022348e-01 -1.68655030e+02] [-6.77822886e-01 -8.20979142e-03 7.35179389e-01 -1.81999239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-168.66, Z:-182.02 [[ 6.09855658e-01 5.51410933e-01 5.69229356e-01 2.90930582e+02] [-4.09146451e-01 8.34200862e-01 -3.69740588e-01 -1.68664422e+02] [-6.78730622e-01 -7.40978115e-03 7.34349942e-01 -1.82024549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-168.68, Z:-182.05 [[ 6.08820908e-01 5.50807662e-01 5.70918577e-01 2.90948891e+02] [-4.11043112e-01 8.34555153e-01 -3.66825920e-01 -1.68679188e+02] [-6.78513568e-01 -1.13408587e-02 7.34500322e-01 -1.82045622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-168.69, Z:-182.07 [[ 6.07965870e-01 5.52072085e-01 5.70608372e-01 2.90968055e+02] [-4.12692062e-01 8.33703927e-01 -3.66910104e-01 -1.68692946e+02] [-6.78279267e-01 -1.24167256e-02 7.34699300e-01 -1.82067933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-168.71, Z:-182.09 [[ 6.07168339e-01 5.53635012e-01 5.69942876e-01 2.90986097e+02] [-4.14931168e-01 8.32645337e-01 -3.66788589e-01 -1.68708070e+02] [-6.77627283e-01 -1.37846453e-02 7.35276308e-01 -1.82089907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:-168.72, Z:-182.11 [[ 6.06775936e-01 5.54326334e-01 5.69688756e-01 2.91005540e+02] [-4.15760799e-01 8.32177894e-01 -3.66909950e-01 -1.68722451e+02] [-6.77470236e-01 -1.42221238e-02 7.35412680e-01 -1.82112747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.02, Y:-168.74, Z:-182.14 [[ 6.06336697e-01 5.54883155e-01 5.69614338e-01 2.91024585e+02] [-4.16287272e-01 8.31801966e-01 -3.67165353e-01 -1.68736583e+02] [-6.77540196e-01 -1.44973718e-02 7.35342852e-01 -1.82135060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-168.75, Z:-182.16 [[ 6.05556764e-01 5.55789958e-01 5.69559943e-01 2.91042282e+02] [-4.17284338e-01 8.31184378e-01 -3.67432050e-01 -1.68751943e+02] [-6.77624370e-01 -1.51674811e-02 7.35251767e-01 -1.82157561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-168.77, Z:-182.18 [[ 6.05292602e-01 5.56296001e-01 5.69346665e-01 2.91061375e+02] [-4.17841176e-01 8.30841388e-01 -3.67574944e-01 -1.68766530e+02] [-6.77517245e-01 -1.54060857e-02 7.35345521e-01 -1.82180307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-168.78, Z:-182.20 [[ 6.05108686e-01 5.56696938e-01 5.69150241e-01 2.91079793e+02] [-4.18227548e-01 8.30570909e-01 -3.67746765e-01 -1.68781048e+02] [-6.77443131e-01 -1.55075486e-02 7.35411667e-01 -1.82202114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-168.80, Z:-182.22 [[ 6.04993145e-01 5.57288804e-01 5.68693664e-01 2.91098852e+02] [-4.19042673e-01 8.30167752e-01 -3.67729169e-01 -1.68796046e+02] [-6.77042490e-01 -1.58332870e-02 7.35773589e-01 -1.82224295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-168.81, Z:-182.25 [[ 6.05013942e-01 5.58136563e-01 5.67839508e-01 2.91116865e+02] [-4.20416812e-01 8.29586938e-01 -3.67471383e-01 -1.68812806e+02] [-6.76171453e-01 -1.64039658e-02 7.36561658e-01 -1.82246559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-168.83, Z:-182.27 [[ 6.04671117e-01 5.58714705e-01 5.67636080e-01 2.91135831e+02] [-4.21045288e-01 8.29191828e-01 -3.67643548e-01 -1.68827499e+02] [-6.76087055e-01 -1.66970620e-02 7.36632543e-01 -1.82269558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-168.84, Z:-182.29 [[ 6.04657537e-01 5.59253955e-01 5.67119279e-01 2.91154646e+02] [-4.21793622e-01 8.28823590e-01 -3.67616101e-01 -1.68842270e+02] [-6.75632595e-01 -1.69254488e-02 7.37044181e-01 -1.82291572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-168.86, Z:-182.31 [[ 6.04372511e-01 5.59920495e-01 5.66765301e-01 2.91172933e+02] [-4.22617886e-01 8.28365781e-01 -3.67701313e-01 -1.68856880e+02] [-6.75372483e-01 -1.72965874e-02 7.37273923e-01 -1.82313549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-168.87, Z:-182.34 [[ 6.04020878e-01 5.60630069e-01 5.66438615e-01 2.91190716e+02] [-4.23506111e-01 8.27876280e-01 -3.67781782e-01 -1.68873930e+02] [-6.75130620e-01 -1.77423402e-02 7.37484818e-01 -1.82336273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-168.90, Z:-182.36 [[ 6.04418748e-01 5.56363423e-01 5.70208486e-01 2.91210755e+02] [-4.26471815e-01 8.30512516e-01 -3.58288644e-01 -1.68899417e+02] [-6.72903981e-01 -2.66214746e-02 7.39250654e-01 -1.82355260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-168.90, Z:-182.38 [[ 6.03843158e-01 5.68833736e-01 5.58391996e-01 2.91230175e+02] [-4.26354132e-01 8.22384201e-01 -3.76704633e-01 -1.68902627e+02] [-6.73495059e-01 -1.06022199e-02 7.39115687e-01 -1.82381951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-168.92, Z:-182.40 [[ 6.03952660e-01 5.65907411e-01 5.61239688e-01 2.91248328e+02] [-4.25845773e-01 8.24354066e-01 -3.72955428e-01 -1.68920162e+02] [-6.73718459e-01 -1.37541255e-02 7.38860110e-01 -1.82403217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-168.93, Z:-182.43 [[ 6.03729883e-01 5.67858649e-01 5.59505838e-01 2.91268364e+02] [-4.25841482e-01 8.23047716e-01 -3.75834391e-01 -1.68931241e+02] [-6.73920812e-01 -1.13583431e-02 7.38716270e-01 -1.82426244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-168.95, Z:-182.45 [[ 6.05498001e-01 5.66602733e-01 5.58868065e-01 2.91285271e+02] [-4.23674593e-01 8.23942865e-01 -3.76321664e-01 -1.68946267e+02] [-6.73700238e-01 -8.91618531e-03 7.38950940e-01 -1.82446163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-168.96, Z:-182.47 [[ 6.05726994e-01 5.63393146e-01 5.61856718e-01 2.91303375e+02] [-4.22862269e-01 8.26102282e-01 -3.72481571e-01 -1.68964370e+02] [-6.74004681e-01 -1.19658645e-02 7.38630156e-01 -1.82467395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:-168.98, Z:-182.49 [[ 6.06400055e-01 5.63068195e-01 5.61456303e-01 2.91321624e+02] [-4.22121450e-01 8.26338053e-01 -3.72798745e-01 -1.68979423e+02] [-6.73863825e-01 -1.09375697e-02 7.38774604e-01 -1.82488851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-168.99, Z:-182.51 [[ 6.07399842e-01 5.62380100e-01 5.61065108e-01 2.91340311e+02] [-4.20543449e-01 8.26828852e-01 -3.73493317e-01 -1.68993451e+02] [-6.73950028e-01 -9.09247422e-03 7.38720980e-01 -1.82510671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:-169.01, Z:-182.53 [[ 6.08486567e-01 5.61233964e-01 5.61035236e-01 2.91359325e+02] [-4.19327836e-01 8.27616360e-01 -3.73115701e-01 -1.69009313e+02] [-6.73727144e-01 -8.22179970e-03 7.38934461e-01 -1.82533068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.37, Y:-169.01, Z:-182.56 [[ 6.09969275e-01 5.64563372e-01 5.56062661e-01 2.91374634e+02] [-4.12450881e-01 8.25369163e-01 -3.85551572e-01 -1.69014596e+02] [-6.76625269e-01 5.82607832e-03 7.36304490e-01 -1.82559365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:-169.04, Z:-182.58 [[ 6.11499214e-01 5.51895596e-01 5.66992031e-01 2.91391052e+02] [-4.09991035e-01 8.33887837e-01 -3.69511065e-01 -1.69039788e+02] [-6.76739287e-01 -6.50592403e-03 7.36194003e-01 -1.82576130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:-169.06, Z:-182.60 [[ 6.13342387e-01 5.50045328e-01 5.66799130e-01 2.91409872e+02] [-4.07317368e-01 8.35124591e-01 -3.69674830e-01 -1.69055069e+02] [-6.76685805e-01 -4.12988688e-03 7.36260325e-01 -1.82598543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-169.07, Z:-182.62 [[ 6.17209624e-01 5.46109664e-01 5.66406669e-01 2.91427094e+02] [-4.01920638e-01 8.37713517e-01 -3.69724038e-01 -1.69072534e+02] [-6.76396393e-01 5.46704519e-04 7.36537590e-01 -1.82620765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.44, Y:-169.09, Z:-182.64 [[ 6.18899108e-01 5.44513386e-01 5.66099873e-01 2.91444972e+02] [-3.99659586e-01 8.38747997e-01 -3.69829707e-01 -1.69086895e+02] [-6.76192361e-01 2.64003484e-03 7.36720382e-01 -1.82642588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.46, Y:-169.10, Z:-182.67 [[ 6.20416003e-01 5.42968858e-01 5.65922966e-01 2.91463552e+02] [-3.97414754e-01 8.39739978e-01 -3.69997679e-01 -1.69101455e+02] [-6.76125356e-01 4.64634435e-03 7.36771956e-01 -1.82665745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:-169.12, Z:-182.69 [[ 6.22088235e-01 5.41769716e-01 5.65236060e-01 2.91481854e+02] [-3.95928519e-01 8.40503420e-01 -3.69857552e-01 -1.69116107e+02] [-6.75460463e-01 6.29095560e-03 7.37369370e-01 -1.82687921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.50, Y:-169.13, Z:-182.71 [[ 6.24292299e-01 5.39998867e-01 5.64500088e-01 2.91499137e+02] [-3.93816066e-01 8.41623751e-01 -3.69565106e-01 -1.69132221e+02] [-6.74661420e-01 8.40744598e-03 7.38079456e-01 -1.82710847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.52, Y:-169.15, Z:-182.73 [[ 6.24506965e-01 5.39925428e-01 5.64332866e-01 2.91517620e+02] [-3.93540738e-01 8.41666537e-01 -3.69760907e-01 -1.69146666e+02] [-6.74623405e-01 8.83028909e-03 7.38109265e-01 -1.82733631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-169.16, Z:-182.76 [[ 6.24954386e-01 5.39981309e-01 5.63783825e-01 2.91536956e+02] [-3.93670122e-01 8.41627727e-01 -3.69711515e-01 -1.69161524e+02] [-6.74133407e-01 9.10798580e-03 7.38553447e-01 -1.82756491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.56, Y:-169.18, Z:-182.78 [[ 6.24753770e-01 5.40447246e-01 5.63559670e-01 2.91555712e+02] [-3.94153814e-01 8.41330295e-01 -3.69873095e-01 -1.69176248e+02] [-6.74036718e-01 8.95041683e-03 7.38643617e-01 -1.82778954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:-169.19, Z:-182.80 [[ 6.23873352e-01 5.41576585e-01 5.63450835e-01 2.91573126e+02] [-3.95461053e-01 8.40612598e-01 -3.70109466e-01 -1.69191876e+02] [-6.74086491e-01 8.07857246e-03 7.38608245e-01 -1.82800569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:-169.21, Z:-182.82 [[ 6.23073349e-01 5.42721785e-01 5.63234113e-01 2.91591885e+02] [-3.96965086e-01 8.39882946e-01 -3.70155857e-01 -1.69205848e+02] [-6.73942373e-01 7.04997169e-03 7.38750280e-01 -1.82822481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:-169.22, Z:-182.84 [[ 6.21721980e-01 5.44167436e-01 5.63332567e-01 2.91611566e+02] [-3.98596172e-01 8.38956535e-01 -3.70503744e-01 -1.69219797e+02] [-6.74227611e-01 5.80811630e-03 7.38500775e-01 -1.82844710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:-169.23, Z:-182.87 [[ 6.17055043e-01 5.48442619e-01 5.64317080e-01 2.91631649e+02] [-4.03502206e-01 8.36186840e-01 -3.71453279e-01 -1.69233058e+02] [-6.75595325e-01 1.50393222e-03 7.37271113e-01 -1.82867054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:-169.25, Z:-182.89 [[ 6.14926454e-01 5.51070740e-01 5.64080221e-01 2.91650898e+02] [-4.06931965e-01 8.34457888e-01 -3.71599796e-01 -1.69245927e+02] [-6.75478965e-01 -1.03572770e-03 7.37378529e-01 -1.82888308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.67, Y:-169.26, Z:-182.91 [[ 6.12825693e-01 5.53598852e-01 5.63890931e-01 2.91670722e+02] [-4.10220434e-01 8.32776128e-01 -3.71756798e-01 -1.69258889e+02] [-6.75399042e-01 -3.49746474e-03 7.37444168e-01 -1.82910585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:-169.27, Z:-182.93 [[ 6.11182408e-01 5.55866466e-01 5.63443463e-01 2.91690791e+02] [-4.13289009e-01 8.31252420e-01 -3.71768220e-01 -1.69271878e+02] [-6.75017229e-01 -5.64679476e-03 7.37780356e-01 -1.82932973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-169.28, Z:-182.96 [[ 6.07736797e-01 5.59810424e-01 5.63265724e-01 2.91710612e+02] [-4.18479288e-01 8.28564409e-01 -3.71962507e-01 -1.69284310e+02] [-6.74930420e-01 -9.65973625e-03 7.37818147e-01 -1.82955052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.73, Y:-169.30, Z:-182.98 [[ 6.06409400e-01 5.61606222e-01 5.62908600e-01 2.91730717e+02] [-4.20872456e-01 8.27327227e-01 -3.72016176e-01 -1.69297619e+02] [-6.74636210e-01 -1.13186186e-02 7.38063597e-01 -1.82977381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.75, Y:-169.31, Z:-183.00 [[ 6.05477002e-01 5.62953115e-01 5.62566788e-01 2.91750812e+02] [-4.22628878e-01 8.26394895e-01 -3.72097178e-01 -1.69310444e+02] [-6.74375587e-01 -1.24606869e-02 7.38283346e-01 -1.82999911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-169.32, Z:-183.02 [[ 6.04687510e-01 5.64050107e-01 5.62317075e-01 2.91771313e+02] [-4.23989283e-01 8.25633010e-01 -3.72240810e-01 -1.69323266e+02] [-6.74230008e-01 -1.33270454e-02 7.38401169e-01 -1.83022682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:-169.34, Z:-183.04 [[ 6.03687589e-01 5.65339204e-01 5.62096859e-01 2.91791916e+02] [-4.25596954e-01 8.24732608e-01 -3.72402146e-01 -1.69335430e+02] [-6.74113141e-01 -1.44121575e-02 7.38487483e-01 -1.83044748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:-169.35, Z:-183.07 [[ 6.03281329e-01 5.65879505e-01 5.61989345e-01 2.91811989e+02] [-4.26116647e-01 8.24357482e-01 -3.72638357e-01 -1.69347887e+02] [-6.74148530e-01 -1.46672521e-02 7.38450155e-01 -1.83067363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-169.36, Z:-183.09 [[ 6.03772415e-01 5.65885212e-01 5.61455962e-01 2.91832442e+02] [-4.26151657e-01 8.24359945e-01 -3.72592868e-01 -1.69359600e+02] [-6.73686601e-01 -1.43040930e-02 7.38878716e-01 -1.83089944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-169.37, Z:-183.11 [[ 6.04199706e-01 5.65699284e-01 5.61183602e-01 2.91852611e+02] [-4.25773105e-01 8.24497166e-01 -3.72721995e-01 -1.69372154e+02] [-6.73542855e-01 -1.37383647e-02 7.39020487e-01 -1.83112361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-169.38, Z:-183.13 [[ 6.04611106e-01 5.65284605e-01 5.61158378e-01 2.91871865e+02] [-4.24940245e-01 8.24794596e-01 -3.73014294e-01 -1.69384534e+02] [-6.73699636e-01 -1.29301944e-02 7.38892151e-01 -1.83134506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:-169.40, Z:-183.16 [[ 6.05486005e-01 5.64610241e-01 5.60893906e-01 2.91891984e+02] [-4.23913246e-01 8.25272621e-01 -3.73125530e-01 -1.69397893e+02] [-6.73560880e-01 -1.18480699e-02 7.39036782e-01 -1.83156954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-169.41, Z:-183.18 [[ 6.07171207e-01 5.62558159e-01 5.61134069e-01 2.91911332e+02] [-4.20694564e-01 8.26706189e-01 -3.73594648e-01 -1.69411244e+02] [-6.74061725e-01 -9.23013907e-03 7.38617354e-01 -1.83179429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-169.42, Z:-183.20 [[ 6.08333923e-01 5.61410829e-01 5.61023813e-01 2.91930998e+02] [-4.18917846e-01 8.27502245e-01 -3.73828668e-01 -1.69424565e+02] [-6.74119927e-01 -7.61022672e-03 7.38582702e-01 -1.83202260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-169.44, Z:-183.22 [[ 6.09488694e-01 5.60152844e-01 5.61027917e-01 2.91949670e+02] [-4.16922574e-01 8.28368472e-01 -3.74140671e-01 -1.69437502e+02] [-6.74313799e-01 -5.87069436e-03 7.38421584e-01 -1.83224021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-169.45, Z:-183.25 [[ 6.10963836e-01 5.58744870e-01 5.60827390e-01 2.91969557e+02] [-4.14868727e-01 8.29330001e-01 -3.74293586e-01 -1.69451525e+02] [-6.74245601e-01 -3.98990072e-03 7.38496412e-01 -1.83246817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:-169.47, Z:-183.27 [[ 6.14464784e-01 5.55044858e-01 5.60676586e-01 2.91988197e+02] [-4.09656307e-01 8.31820301e-01 -3.74508606e-01 -1.69465702e+02] [-6.74251243e-01 4.37649901e-04 7.38501909e-01 -1.83269004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-169.48, Z:-183.29 [[ 6.16161570e-01 5.53233708e-01 5.60604481e-01 2.92007812e+02] [-4.06982913e-01 8.33021543e-01 -3.74753276e-01 -1.69479458e+02] [-6.74321754e-01 2.75212173e-03 7.38432527e-01 -1.83291698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-169.49, Z:-183.31 [[ 6.17476267e-01 5.51623581e-01 5.60744581e-01 2.92028097e+02] [-4.04437236e-01 8.34078990e-01 -3.75156982e-01 -1.69492896e+02] [-6.74650711e-01 4.86454402e-03 7.38121097e-01 -1.83314371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-169.51, Z:-183.34 [[ 6.18345186e-01 5.50405531e-01 5.60983940e-01 2.92048032e+02] [-4.02358657e-01 8.34871746e-01 -3.75628379e-01 -1.69506088e+02] [-6.75097579e-01 6.55125544e-03 7.37699356e-01 -1.83336583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-169.52, Z:-183.36 [[ 6.19221302e-01 5.49130234e-01 5.61267285e-01 2.92067601e+02] [-4.00174406e-01 8.35695550e-01 -3.76129489e-01 -1.69518748e+02] [-6.75592647e-01 8.30258982e-03 7.37228352e-01 -1.83358478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-169.53, Z:-183.38 [[ 6.20759556e-01 5.47023282e-01 5.61625412e-01 2.92087538e+02] [-3.96930061e-01 8.37047362e-01 -3.76561071e-01 -1.69532611e+02] [-6.76094742e-01 1.08278747e-02 7.36735133e-01 -1.83380409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-169.55, Z:-183.40 [[ 6.21132875e-01 5.46402085e-01 5.61817330e-01 2.92107293e+02] [-3.95689726e-01 8.37439030e-01 -3.76995375e-01 -1.69545829e+02] [-6.76478819e-01 1.18588757e-02 7.36366603e-01 -1.83402530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-169.56, Z:-183.42 [[ 6.21409437e-01 5.46059077e-01 5.61844993e-01 2.92127011e+02] [-3.94927574e-01 8.37652171e-01 -3.77320886e-01 -1.69558784e+02] [-6.76670173e-01 1.25826787e-02 7.36178751e-01 -1.83424688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-169.57, Z:-183.45 [[ 6.21867822e-01 5.45589014e-01 5.61794483e-01 2.92146709e+02] [-3.94034291e-01 8.37944878e-01 -3.77604765e-01 -1.69571287e+02] [-6.76769821e-01 1.34539623e-02 7.36071736e-01 -1.83446967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-169.58, Z:-183.47 [[ 6.22938635e-01 5.44669792e-01 5.61500022e-01 2.92167228e+02] [-3.92720445e-01 8.38520546e-01 -3.77695574e-01 -1.69583348e+02] [-6.76548674e-01 1.47686274e-02 7.36249807e-01 -1.83469846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-169.60, Z:-183.49 [[ 6.23718060e-01 5.44278169e-01 5.61014310e-01 2.92187636e+02] [-3.92223670e-01 8.38761211e-01 -3.77677406e-01 -1.69596392e+02] [-6.76118609e-01 1.55211273e-02 7.36629297e-01 -1.83492125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-169.61, Z:-183.51 [[ 6.24331274e-01 5.43665288e-01 5.60926480e-01 2.92207731e+02] [-3.91174691e-01 8.39139322e-01 -3.77925336e-01 -1.69609137e+02] [-6.76160352e-01 1.65303640e-02 7.36569023e-01 -1.83514081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:-169.63, Z:-183.53 [[ 6.26521221e-01 5.36558837e-01 5.65310334e-01 2.92230462e+02] [-3.92035555e-01 8.43825455e-01 -3.66424241e-01 -1.69632261e+02] [-6.73631415e-01 7.95081286e-03 7.39024696e-01 -1.83529758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-169.63, Z:-183.56 [[ 6.27375800e-01 5.49197594e-01 5.52070293e-01 2.92248816e+02] [-3.87642190e-01 8.35123525e-01 -3.90259184e-01 -1.69626259e+02] [-6.75376294e-01 3.08334302e-02 7.36828448e-01 -1.83561342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-169.66, Z:-183.57 [[ 6.29238550e-01 5.32099476e-01 5.66505953e-01 2.92270313e+02] [-3.87851975e-01 8.46627663e-01 -3.64406977e-01 -1.69658712e+02] [-6.73520373e-01 9.57846502e-03 7.39106596e-01 -1.83571560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-169.65, Z:-183.61 [[ 6.28714970e-01 5.49330800e-01 5.50411809e-01 2.92288613e+02] [-3.84888021e-01 8.34846602e-01 -3.93563670e-01 -1.69649491e+02] [-6.75706074e-01 3.55924591e-02 7.36311401e-01 -1.83605609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:-169.67, Z:-183.62 [[ 6.28795135e-01 5.38597923e-01 5.60828811e-01 2.92308219e+02] [-3.83399258e-01 8.42241053e-01 -3.78992108e-01 -1.69672191e+02] [-6.76477411e-01 2.32870437e-02 7.36095121e-01 -1.83622988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:-169.68, Z:-183.65 [[ 6.28851349e-01 5.38307612e-01 5.61044469e-01 2.92328833e+02] [-3.82586296e-01 8.42407605e-01 -3.79443215e-01 -1.69683453e+02] [-6.76885298e-01 2.39654521e-02 7.35698274e-01 -1.83645109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-169.70, Z:-183.67 [[ 6.28421946e-01 5.38823273e-01 5.61030604e-01 2.92349422e+02] [-3.83025615e-01 8.42084437e-01 -3.79717236e-01 -1.69695600e+02] [-6.77035624e-01 2.37335524e-02 7.35567456e-01 -1.83667574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-169.71, Z:-183.69 [[ 6.27367012e-01 5.39821897e-01 5.61251238e-01 2.92370243e+02] [-3.83939353e-01 8.41464471e-01 -3.80168538e-01 -1.69707712e+02] [-6.77496278e-01 2.30187621e-02 7.35165920e-01 -1.83690241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:-169.72, Z:-183.71 [[ 6.24345306e-01 5.42783008e-01 5.61764670e-01 2.92391437e+02] [-3.87295644e-01 8.39630170e-01 -3.80819200e-01 -1.69717893e+02] [-6.78376756e-01 2.01936704e-02 7.34436650e-01 -1.83711930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:-169.73, Z:-183.73 [[ 6.22305972e-01 5.45029355e-01 5.61852542e-01 2.92412542e+02] [-3.90000046e-01 8.38222078e-01 -3.81161007e-01 -1.69730219e+02] [-6.78701143e-01 1.80762536e-02 7.34192078e-01 -1.83734561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-169.74, Z:-183.76 [[ 6.20401083e-01 5.47306034e-01 5.61746030e-01 2.92432877e+02] [-3.92865698e-01 8.36781122e-01 -3.81384187e-01 -1.69741533e+02] [-6.78792340e-01 1.59204169e-02 7.34157681e-01 -1.83756464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-169.75, Z:-183.78 [[ 6.16164044e-01 5.52240871e-01 5.61579818e-01 2.92455010e+02] [-3.99386344e-01 8.33614549e-01 -3.81545975e-01 -1.69751497e+02] [-6.78846388e-01 1.08076004e-02 7.34200774e-01 -1.83779325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-169.76, Z:-183.80 [[ 6.13986776e-01 5.54975206e-01 5.61268884e-01 2.92475053e+02] [-4.03009370e-01 8.31827223e-01 -3.81637156e-01 -1.69762344e+02] [-6.78677896e-01 8.12354739e-03 7.34391123e-01 -1.83801383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:-169.78, Z:-183.82 [[ 6.13924777e-01 5.55176870e-01 5.61137248e-01 2.92495203e+02] [-4.03105754e-01 8.31691718e-01 -3.81830640e-01 -1.69776041e+02] [-6.78676741e-01 8.21763752e-03 7.34391143e-01 -1.83824327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-169.79, Z:-183.85 [[ 6.12120478e-01 5.57723066e-01 5.60583180e-01 2.92515549e+02] [-4.06795803e-01 8.30008678e-01 -3.81579310e-01 -1.69787118e+02] [-6.78104487e-01 5.52962457e-03 7.34944711e-01 -1.83846643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-169.80, Z:-183.87 [[ 6.10402349e-01 5.60263361e-01 5.59923155e-01 2.92536276e+02] [-4.10413383e-01 8.28309077e-01 -3.81398648e-01 -1.69798182e+02] [-6.77473120e-01 3.00667462e-03 7.35541387e-01 -1.83869369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-169.81, Z:-183.89 [[ 6.06812725e-01 5.64739893e-01 5.59327426e-01 2.92557305e+02] [-4.16588893e-01 8.25267341e-01 -3.81297141e-01 -1.69807001e+02] [-6.76928365e-01 -1.63363653e-03 7.36047091e-01 -1.83892412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-169.82, Z:-183.92 [[ 6.05111560e-01 5.66847387e-01 5.59038497e-01 2.92577935e+02] [-4.19463907e-01 8.23814172e-01 -3.81287609e-01 -1.69819256e+02] [-6.76675721e-01 -3.77493182e-03 7.36271498e-01 -1.83915102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-169.83, Z:-183.94 [[ 6.03174926e-01 5.68949227e-01 5.58996231e-01 2.92597600e+02] [-4.22078660e-01 8.22352238e-01 -3.81557861e-01 -1.69831369e+02] [-6.76778851e-01 -5.79424571e-03 7.36163578e-01 -1.83936754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-169.84, Z:-183.96 [[ 6.01546062e-01 5.70827798e-01 5.58836256e-01 2.92618335e+02] [-4.24483977e-01 8.21034716e-01 -3.81726798e-01 -1.69844413e+02] [-6.76724234e-01 -7.59078382e-03 7.36197454e-01 -1.83959140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-169.86, Z:-183.98 [[ 5.98276890e-01 5.73763528e-01 5.59339053e-01 2.92638442e+02] [-4.27917980e-01 8.18952527e-01 -3.82364958e-01 -1.69856447e+02] [-6.77459199e-01 -1.05911199e-02 7.35484101e-01 -1.83980944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-169.87, Z:-184.00 [[ 5.96738429e-01 5.75224792e-01 5.59481623e-01 2.92658653e+02] [-4.29580180e-01 8.17908105e-01 -3.82736464e-01 -1.69869490e+02] [-6.77764057e-01 -1.19486602e-02 7.35182367e-01 -1.84003503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:-169.88, Z:-184.03 [[ 5.95416037e-01 5.76578322e-01 5.59497258e-01 2.92678707e+02] [-4.31152897e-01 8.16935922e-01 -3.83044226e-01 -1.69882331e+02] [-6.77928405e-01 -1.31581889e-02 7.35010163e-01 -1.84025705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:-169.89, Z:-184.05 [[ 5.93321209e-01 5.78840045e-01 5.59387295e-01 2.92698549e+02] [-4.34039882e-01 8.15295878e-01 -3.83277984e-01 -1.69894631e+02] [-6.77922801e-01 -1.53894385e-02 7.34972001e-01 -1.84047223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-169.91, Z:-184.07 [[ 5.92199518e-01 5.79996105e-01 5.59378449e-01 2.92718098e+02] [-4.35367928e-01 8.14454330e-01 -3.83560831e-01 -1.69907532e+02] [-6.78051988e-01 -1.63908975e-02 7.34831165e-01 -1.84069648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-169.92, Z:-184.09 [[ 5.91522197e-01 5.80951955e-01 5.59103136e-01 2.92738189e+02] [-4.36682075e-01 8.13754600e-01 -3.83552105e-01 -1.69920612e+02] [-6.77798093e-01 -1.72707338e-02 7.35045214e-01 -1.84092009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-169.93, Z:-184.12 [[ 5.90779253e-01 5.82004584e-01 5.58793825e-01 2.92758119e+02] [-4.38052190e-01 8.12983092e-01 -3.83625822e-01 -1.69933752e+02] [-6.77561918e-01 -1.81426824e-02 7.35241926e-01 -1.84115168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-169.95, Z:-184.14 [[ 5.90099700e-01 5.83653079e-01 5.57791563e-01 2.92777936e+02] [-4.40655577e-01 8.11765235e-01 -3.83222999e-01 -1.69946115e+02] [-6.76465082e-01 -1.96541860e-02 7.36212406e-01 -1.84138096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-169.96, Z:-184.16 [[ 5.89855078e-01 5.84338087e-01 5.57332923e-01 2.92797640e+02] [-4.41597869e-01 8.11261804e-01 -3.83204395e-01 -1.69959277e+02] [-6.76063835e-01 -2.00819727e-02 7.36569349e-01 -1.84161221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-169.96, Z:-184.19 [[ 5.88229675e-01 5.93063192e-01 5.49783504e-01 2.92815828e+02] [-4.40440134e-01 8.05111344e-01 -3.97250818e-01 -1.69962236e+02] [-6.78231774e-01 -8.47200011e-03 7.34799215e-01 -1.84191158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-169.99, Z:-184.20 [[ 5.90782371e-01 5.75985337e-01 5.64992993e-01 2.92834224e+02] [-4.43152663e-01 8.16826386e-01 -3.69337748e-01 -1.69994400e+02] [-6.74234312e-01 -3.21799186e-02 7.37816065e-01 -1.84201090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.00, Z:-184.23 [[ 5.91748467e-01 5.84733725e-01 5.54905598e-01 2.92854502e+02] [-4.42937000e-01 8.10988465e-01 -3.82236215e-01 -1.70000428e+02] [-6.73528445e-01 -1.96005268e-02 7.38901383e-01 -1.84227084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.00, Z:-184.26 [[ 5.90165019e-01 5.92627983e-01 5.48176362e-01 2.92872198e+02] [-4.40418878e-01 8.05442617e-01 -3.96602323e-01 -1.70004429e+02] [-6.76562239e-01 -7.36640075e-03 7.36348609e-01 -1.84257115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-170.04, Z:-184.27 [[ 5.93348101e-01 5.74736058e-01 5.63574747e-01 2.92890685e+02] [-4.40323857e-01 8.17847825e-01 -3.70458953e-01 -1.70037667e+02] [-6.73834499e-01 -2.83442905e-02 7.38338451e-01 -1.84266391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-170.05, Z:-184.29 [[ 5.92372438e-01 5.84805900e-01 5.54163292e-01 2.92911021e+02] [-4.39558279e-01 8.11036014e-01 -3.86016974e-01 -1.70045281e+02] [-6.75191391e-01 -1.49212466e-02 7.37491655e-01 -1.84294943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-170.06, Z:-184.31 [[ 5.93602708e-01 5.84138610e-01 5.53550277e-01 2.92929937e+02] [-4.36929821e-01 8.11570732e-01 -3.87872760e-01 -1.70055663e+02] [-6.75816659e-01 -1.16203028e-02 7.36978163e-01 -1.84314448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:-170.07, Z:-184.33 [[ 5.94224695e-01 5.80578844e-01 5.56619455e-01 2.92948179e+02] [-4.35131575e-01 8.14089394e-01 -3.84602353e-01 -1.70071837e+02] [-6.76429985e-01 -1.36624839e-02 7.36380209e-01 -1.84334668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-170.09, Z:-184.36 [[ 5.95463849e-01 5.78717446e-01 5.57233275e-01 2.92967309e+02] [-4.31936205e-01 8.15450590e-01 -3.85319932e-01 -1.70087064e+02] [-6.77387569e-01 -1.12451369e-02 7.35540364e-01 -1.84356934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-170.10, Z:-184.38 [[ 5.96215441e-01 5.78007611e-01 5.57166357e-01 2.92986508e+02] [-4.30716021e-01 8.15969029e-01 -3.85588190e-01 -1.70101132e+02] [-6.77503400e-01 -1.00868436e-02 7.35450473e-01 -1.84379272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.11, Z:-184.40 [[ 5.97076186e-01 5.77325629e-01 5.56951655e-01 2.93004988e+02] [-4.29620525e-01 8.16464957e-01 -3.85760520e-01 -1.70114806e+02] [-6.77440944e-01 -8.94944266e-03 7.35522722e-01 -1.84400814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-170.13, Z:-184.42 [[ 5.97899203e-01 5.76751883e-01 5.56663102e-01 2.93024546e+02] [-4.28834148e-01 8.16879496e-01 -3.85757906e-01 -1.70129314e+02] [-6.77213273e-01 -8.07180304e-03 7.35742502e-01 -1.84423649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-170.14, Z:-184.45 [[ 5.98879325e-01 5.76273126e-01 5.56105061e-01 2.93043360e+02] [-4.28238261e-01 8.17225756e-01 -3.85686474e-01 -1.70143016e+02] [-6.76724128e-01 -7.16580891e-03 7.36201811e-01 -1.84445095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:-170.16, Z:-184.47 [[ 5.99957391e-01 5.75472322e-01 5.55772198e-01 2.93062549e+02] [-4.27084651e-01 8.17799765e-01 -3.85748941e-01 -1.70156461e+02] [-6.76498212e-01 -5.92884727e-03 7.36420409e-01 -1.84466720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:-170.17, Z:-184.49 [[ 5.99915449e-01 5.75756587e-01 5.55523002e-01 2.93082300e+02] [-4.27361718e-01 8.17599706e-01 -3.85866146e-01 -1.70170308e+02] [-6.76360419e-01 -5.92220232e-03 7.36547019e-01 -1.84489117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-170.18, Z:-184.51 [[ 5.99891729e-01 5.75799787e-01 5.55503842e-01 2.93102116e+02] [-4.27156752e-01 8.17571298e-01 -3.86153184e-01 -1.70183680e+02] [-6.76510919e-01 -5.63711545e-03 7.36411026e-01 -1.84511668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:-170.20, Z:-184.53 [[ 6.00306134e-01 5.75619097e-01 5.55243372e-01 2.93122060e+02] [-4.26799494e-01 8.17702073e-01 -3.86271292e-01 -1.70196766e+02] [-6.76368788e-01 -5.09656456e-03 7.36545509e-01 -1.84534766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-170.21, Z:-184.56 [[ 6.00624923e-01 5.75604139e-01 5.54914028e-01 2.93141948e+02] [-4.26699220e-01 8.17714823e-01 -3.86355074e-01 -1.70210243e+02] [-6.76149006e-01 -4.72689654e-03 7.36749740e-01 -1.84557724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:-170.22, Z:-184.58 [[ 6.01131218e-01 5.75474725e-01 5.54499865e-01 2.93161484e+02] [-4.26499102e-01 8.17808625e-01 -3.86377495e-01 -1.70223732e+02] [-6.75825255e-01 -4.23012036e-03 7.37049748e-01 -1.84580291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-170.24, Z:-184.60 [[ 6.01406582e-01 5.75297244e-01 5.54385429e-01 2.93180550e+02] [-4.26041757e-01 8.17936144e-01 -3.86612061e-01 -1.70236818e+02] [-6.75868733e-01 -3.68030390e-03 7.37012830e-01 -1.84602826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-170.25, Z:-184.63 [[ 6.02570585e-01 5.74494443e-01 5.53953812e-01 2.93200354e+02] [-4.24956786e-01 8.18504812e-01 -3.86602642e-01 -1.70250384e+02] [-6.75514930e-01 -2.45105086e-03 7.37342235e-01 -1.84625455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-170.26, Z:-184.65 [[ 6.03012631e-01 5.74311755e-01 5.53662149e-01 2.93220446e+02] [-4.24611306e-01 8.18634468e-01 -3.86707702e-01 -1.70264494e+02] [-6.75337698e-01 -1.90157926e-03 7.37506188e-01 -1.84648020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-170.28, Z:-184.67 [[ 6.03443997e-01 5.74074143e-01 5.53438543e-01 2.93240437e+02] [-4.24143276e-01 8.18802312e-01 -3.86865939e-01 -1.70278441e+02] [-6.75246491e-01 -1.28530814e-03 7.37591028e-01 -1.84670817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.29, Z:-184.69 [[ 6.03827223e-01 5.74019900e-01 5.53076703e-01 2.93259552e+02] [-4.24011249e-01 8.18840884e-01 -3.86929020e-01 -1.70292343e+02] [-6.74986774e-01 -8.72467901e-04 7.37829312e-01 -1.84692534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.31, Z:-184.71 [[ 6.03938392e-01 5.73892997e-01 5.53087015e-01 2.93278629e+02] [-4.23563432e-01 8.18930195e-01 -3.87230363e-01 -1.70306234e+02] [-6.75168451e-01 -4.04151685e-04 7.37663473e-01 -1.84714442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.32, Z:-184.74 [[ 6.04001388e-01 5.74056676e-01 5.52848312e-01 2.93298433e+02] [-4.23676064e-01 8.18815523e-01 -3.87349626e-01 -1.70320323e+02] [-6.75041418e-01 -2.68885375e-04 7.37779785e-01 -1.84736398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.33, Z:-184.76 [[ 6.03572519e-01 5.74654261e-01 5.52695844e-01 2.93318293e+02] [-4.24294288e-01 8.18396076e-01 -3.87559311e-01 -1.70333846e+02] [-6.75036719e-01 -5.85539774e-04 7.37783901e-01 -1.84759061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-170.35, Z:-184.78 [[ 6.02950196e-01 5.75317417e-01 5.52685201e-01 2.93337461e+02] [-4.24907248e-01 8.17929657e-01 -3.87872281e-01 -1.70346775e+02] [-6.75207296e-01 -9.72279678e-04 7.37627387e-01 -1.84781201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.36, Z:-184.80 [[ 6.02357100e-01 5.76185363e-01 5.52427689e-01 2.93357227e+02] [-4.26069606e-01 8.17317227e-01 -3.87888181e-01 -1.70360277e+02] [-6.75004159e-01 -1.72544843e-03 7.37811906e-01 -1.84803675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.37, Z:-184.83 [[ 6.00454458e-01 5.77886809e-01 5.52721702e-01 2.93377095e+02] [-4.27910325e-01 8.16110265e-01 -3.88402869e-01 -1.70373006e+02] [-6.75534750e-01 -3.29708911e-03 7.37320779e-01 -1.84826278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.39, Z:-184.85 [[ 5.99471221e-01 5.78947810e-01 5.52678649e-01 2.93396955e+02] [-4.29094657e-01 8.15354059e-01 -3.88684363e-01 -1.70386741e+02] [-6.75656740e-01 -4.14636564e-03 7.37204705e-01 -1.84848881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.40, Z:-184.87 [[ 5.98337728e-01 5.79948452e-01 5.52857808e-01 2.93416748e+02] [-4.30053504e-01 8.14638255e-01 -3.89125298e-01 -1.70400656e+02] [-6.76051734e-01 -4.93009061e-03 7.36837667e-01 -1.84871915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.41, Z:-184.89 [[ 5.96771638e-01 5.81369711e-01 5.53057748e-01 2.93436264e+02] [-4.31574494e-01 8.13615928e-01 -3.89580003e-01 -1.70414791e+02] [-6.76466606e-01 -6.19532144e-03 7.36447248e-01 -1.84894368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.43, Z:-184.92 [[ 5.95967371e-01 5.82054000e-01 5.53205236e-01 2.93455284e+02] [-4.32126109e-01 8.13123115e-01 -3.89997213e-01 -1.70428051e+02] [-6.76823402e-01 -6.62881248e-03 7.36115576e-01 -1.84916620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.44, Z:-184.94 [[ 5.95139995e-01 5.82796160e-01 5.53314578e-01 2.93474676e+02] [-4.32801557e-01 8.12586899e-01 -3.90365655e-01 -1.70441742e+02] [-6.77119782e-01 -7.15319678e-03 7.35838048e-01 -1.84939631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.46, Z:-184.96 [[ 5.94503835e-01 5.83501534e-01 5.53255050e-01 2.93494062e+02] [-4.33519000e-01 8.12076339e-01 -3.90631918e-01 -1.70455306e+02] [-6.77219659e-01 -7.61440216e-03 7.35741500e-01 -1.84962122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.47, Z:-184.99 [[ 5.93613152e-01 5.84578454e-01 5.53074549e-01 2.93513187e+02] [-4.34816733e-01 8.11292749e-01 -3.90817712e-01 -1.70468906e+02] [-6.77168985e-01 -8.49153438e-03 7.35778540e-01 -1.84985650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-170.48, Z:-185.01 [[ 5.93115292e-01 5.85402925e-01 5.52736526e-01 2.93532016e+02] [-4.35868396e-01 8.10691712e-01 -3.90893451e-01 -1.70482567e+02] [-6.76929090e-01 -9.07549948e-03 7.35992285e-01 -1.85008028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-170.50, Z:-185.03 [[ 5.92862373e-01 5.86083050e-01 5.52286941e-01 2.93551225e+02] [-4.36813977e-01 8.10195103e-01 -3.90867555e-01 -1.70496499e+02] [-6.76541023e-01 -9.51598875e-03 7.36343459e-01 -1.85030510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-170.51, Z:-185.05 [[ 5.92459643e-01 5.86734756e-01 5.52027080e-01 2.93570697e+02] [-4.37577625e-01 8.09718633e-01 -3.91000713e-01 -1.70510431e+02] [-6.76400320e-01 -9.90255562e-03 7.36467614e-01 -1.85053620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-170.52, Z:-185.08 [[ 5.92079804e-01 5.87406801e-01 5.51719817e-01 2.93589695e+02] [-4.38400732e-01 8.09226108e-01 -3.91098331e-01 -1.70523991e+02] [-6.76199899e-01 -1.03129485e-02 7.36646007e-01 -1.85076299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-170.54, Z:-185.10 [[ 5.91870932e-01 5.88115477e-01 5.51188702e-01 2.93608274e+02] [-4.39408280e-01 8.08705536e-01 -3.91044397e-01 -1.70538068e+02] [-6.75728617e-01 -1.07490675e-02 7.37072109e-01 -1.85099111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.55, Z:-185.12 [[ 5.91625601e-01 5.88465754e-01 5.51078221e-01 2.93626634e+02] [-4.39658022e-01 8.08450172e-01 -3.91291635e-01 -1.70551913e+02] [-6.75781009e-01 -1.07878116e-02 7.37023508e-01 -1.85121758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-170.57, Z:-185.14 [[ 5.91572880e-01 5.88746024e-01 5.50835407e-01 2.93645575e+02] [-4.39917134e-01 8.08246359e-01 -3.91421433e-01 -1.70566359e+02] [-6.75658525e-01 -1.07676290e-02 7.37136090e-01 -1.85144685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-170.58, Z:-185.17 [[ 5.91427562e-01 5.89018108e-01 5.50700561e-01 2.93664132e+02] [-4.40079696e-01 8.08048711e-01 -3.91646706e-01 -1.70580827e+02] [-6.75679880e-01 -1.07214787e-02 7.37117189e-01 -1.85167242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-170.60, Z:-185.19 [[ 5.91323505e-01 5.88658820e-01 5.51196250e-01 2.93681617e+02] [-4.38974402e-01 8.08320116e-01 -3.92326477e-01 -1.70596202e+02] [-6.76489458e-01 -9.96917673e-03 7.36384838e-01 -1.85189687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-170.61, Z:-185.21 [[ 5.91364985e-01 5.88686411e-01 5.51122277e-01 2.93700329e+02] [-4.38779972e-01 8.08303719e-01 -3.92577679e-01 -1.70611347e+02] [-6.76579331e-01 -9.66472366e-03 7.36306324e-01 -1.85212384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.63, Z:-185.24 [[ 5.91476477e-01 5.88681206e-01 5.51008180e-01 2.93719167e+02] [-4.38547177e-01 8.08311804e-01 -3.92821080e-01 -1.70626039e+02] [-6.76632804e-01 -9.29865352e-03 7.36261899e-01 -1.85235324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-170.64, Z:-185.26 [[ 5.91321516e-01 5.88980070e-01 5.50855100e-01 2.93739004e+02] [-4.38755755e-01 8.08094271e-01 -3.93035669e-01 -1.70640122e+02] [-6.76633026e-01 -9.28039739e-03 7.36261925e-01 -1.85258246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-170.65, Z:-185.28 [[ 5.91492288e-01 5.89014870e-01 5.50634503e-01 2.93756975e+02] [-4.38675040e-01 8.08072168e-01 -3.93171185e-01 -1.70654285e+02] [-6.76536091e-01 -8.99188853e-03 7.36354577e-01 -1.85280522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67655999499993 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.68, Z:-185.30 [[ 5.92482489e-01 5.80401228e-01 5.58658137e-01 2.93775657e+02] [-4.40256317e-01 8.14046516e-01 -3.78817429e-01 -1.70682628e+02] [-6.74639811e-01 -2.15100810e-02 7.37833614e-01 -1.85297777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-170.07, Z:-185.12 [[ 5.65162472e-01 2.89168380e-01 -7.72640297e-01 2.94588529e+02] [-3.70894579e-01 -7.47508826e-01 -5.51060584e-01 -1.70072347e+02] [-7.36904737e-01 5.98006859e-01 -3.15212952e-01 -1.85115229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.73, Z:-185.41 [[ 5.74299762e-01 5.53415642e-01 6.03250289e-01 2.93846591e+02] [-3.89508514e-01 8.32855135e-01 -3.93237131e-01 -1.70728463e+02] [-7.20043680e-01 -9.13513308e-03 6.93868610e-01 -1.85408215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-170.74, Z:-185.43 [[ 5.74057813e-01 5.53929346e-01 6.03009044e-01 2.93863571e+02] [-3.90074507e-01 8.32510825e-01 -3.93405142e-01 -1.70742838e+02] [-7.19930210e-01 -9.38115988e-03 6.93983060e-01 -1.85432170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-170.78, Z:-185.45 [[ 5.76424957e-01 5.40006596e-01 6.13292055e-01 2.93886449e+02] [-3.94874036e-01 8.41154742e-01 -3.69503986e-01 -1.70779479e+02] [-7.15408110e-01 -2.91817894e-02 6.98097170e-01 -1.85445315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-170.75, Z:-185.49 [[ 5.73068159e-01 5.77111991e-01 5.81837292e-01 2.93900780e+02] [-3.90378397e-01 8.16495695e-01 -4.25369825e-01 -1.70748507e+02] [-7.20553671e-01 1.66291930e-02 6.93199739e-01 -1.85488408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-170.78, Z:-185.50 [[ 5.72802809e-01 5.54891588e-01 6.03317717e-01 2.93916355e+02] [-3.90422231e-01 8.31867007e-01 -3.94420795e-01 -1.70784508e+02] [-7.20740885e-01 -9.62330932e-03 6.93137770e-01 -1.85502630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-170.80, Z:-185.53 [[ 5.72337579e-01 5.55277798e-01 6.03403897e-01 2.93934381e+02] [-3.90563446e-01 8.31608441e-01 -3.94826032e-01 -1.70797854e+02] [-7.21033904e-01 -9.69372964e-03 6.92831972e-01 -1.85526310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.81, Z:-185.55 [[ 5.71751523e-01 5.55579835e-01 6.03681409e-01 2.93952748e+02] [-3.90457869e-01 8.31406990e-01 -3.95354360e-01 -1.70811255e+02] [-7.21555853e-01 -9.66769947e-03 6.92288731e-01 -1.85550577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-170.82, Z:-185.57 [[ 5.71180180e-01 5.55986537e-01 6.03847806e-01 2.93970973e+02] [-3.90578037e-01 8.31133862e-01 -3.95809676e-01 -1.70824485e+02] [-7.21943210e-01 -9.77104916e-03 6.91883320e-01 -1.85574561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-170.84, Z:-185.60 [[ 5.70693823e-01 5.56316601e-01 6.04003643e-01 2.93988949e+02] [-3.90595538e-01 8.30912864e-01 -3.96256152e-01 -1.70837447e+02] [-7.22318272e-01 -9.78019011e-03 6.91491621e-01 -1.85598324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-170.85, Z:-185.62 [[ 5.69871062e-01 5.56899543e-01 6.04243222e-01 2.94006171e+02] [-3.90925331e-01 8.30518286e-01 -3.96757813e-01 -1.70851385e+02] [-7.22789290e-01 -1.01131852e-02 6.90994476e-01 -1.85622352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-170.86, Z:-185.65 [[ 5.69368772e-01 5.57288497e-01 6.04358116e-01 2.94023655e+02] [-3.91054082e-01 8.30256337e-01 -3.97178953e-01 -1.70864039e+02] [-7.23115417e-01 -1.01954159e-02 6.90651973e-01 -1.85645526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-170.88, Z:-185.67 [[ 5.68380910e-01 5.58201218e-01 6.04445649e-01 2.94041185e+02] [-3.92102849e-01 8.29631340e-01 -3.97450872e-01 -1.70878049e+02] [-7.23324614e-01 -1.11013731e-02 6.90418903e-01 -1.85668963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-170.89, Z:-185.69 [[ 5.68423597e-01 5.58973832e-01 6.03691038e-01 2.94059792e+02] [-3.93399453e-01 8.29103126e-01 -3.97271791e-01 -1.70891119e+02] [-7.22586663e-01 -1.16730640e-02 6.91181781e-01 -1.85693452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-170.90, Z:-185.72 [[ 5.68828979e-01 5.59748666e-01 6.02590262e-01 2.94078178e+02] [-3.94890364e-01 8.28572778e-01 -3.96898920e-01 -1.70903674e+02] [-7.21453528e-01 -1.21894806e-02 6.92355562e-01 -1.85718321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-170.92, Z:-185.74 [[ 5.69218034e-01 5.60351158e-01 6.01662206e-01 2.94096699e+02] [-3.96012876e-01 8.28160942e-01 -3.96639958e-01 -1.70915646e+02] [-7.20530799e-01 -1.24913639e-02 6.93310417e-01 -1.85743228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-170.93, Z:-185.77 [[ 5.69534984e-01 5.61102864e-01 6.00660867e-01 2.94115155e+02] [-3.97399584e-01 8.27644338e-01 -3.96331201e-01 -1.70927172e+02] [-7.19516138e-01 -1.29778943e-02 6.94354450e-01 -1.85766825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-170.94, Z:-185.79 [[ 5.68944491e-01 5.61805710e-01 6.00563494e-01 2.94134534e+02] [-3.98146760e-01 8.27159494e-01 -3.96593405e-01 -1.70939639e+02] [-7.19570235e-01 -1.34727761e-02 6.94288961e-01 -1.85790540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-170.95, Z:-185.81 [[ 5.67995198e-01 5.62776767e-01 6.00552883e-01 2.94153795e+02] [-3.99203986e-01 8.26485471e-01 -3.96935692e-01 -1.70951623e+02] [-7.19734418e-01 -1.42855380e-02 6.94102508e-01 -1.85813785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-170.96, Z:-185.84 [[ 5.66924681e-01 5.63708584e-01 6.00690468e-01 2.94173436e+02] [-4.00108162e-01 8.25836461e-01 -3.97375891e-01 -1.70963646e+02] [-7.20076291e-01 -1.50589588e-02 6.93731477e-01 -1.85837312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-170.98, Z:-185.86 [[ 5.66235107e-01 5.64429921e-01 6.00663523e-01 2.94192721e+02] [-4.00814003e-01 8.25334358e-01 -3.97707597e-01 -1.70975078e+02] [-7.20226311e-01 -1.55583475e-02 6.93564704e-01 -1.85860761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33655999499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.21, Y:-170.99, Z:-185.88 [[ 5.66501524e-01 5.64186257e-01 6.00641233e-01 2.94211888e+02] [-4.00112978e-01 8.25514274e-01 -3.98039933e-01 -1.70986566e+02] [-7.20406571e-01 -1.48341236e-02 6.93393338e-01 -1.85884620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.00, Z:-185.91 [[ 5.67244500e-01 5.63770005e-01 6.00330791e-01 2.94230108e+02] [-3.99334320e-01 8.25815564e-01 -3.98196880e-01 -1.70999175e+02] [-7.20253968e-01 -1.38576987e-02 6.93572048e-01 -1.85907950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.01, Z:-185.93 [[ 5.67876356e-01 5.63278252e-01 6.00195014e-01 2.94247848e+02] [-3.98474979e-01 8.26165637e-01 -3.98331560e-01 -1.71011816e+02] [-7.20232001e-01 -1.29596211e-02 6.93612221e-01 -1.85930725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.02, Z:-185.95 [[ 5.68229032e-01 5.62915484e-01 6.00201571e-01 2.94266364e+02] [-3.97718033e-01 8.26423798e-01 -3.98552472e-01 -1.71024968e+02] [-7.20372219e-01 -1.22419027e-02 6.93479633e-01 -1.85954435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-171.04, Z:-185.98 [[ 5.68596853e-01 5.62469461e-01 6.00271376e-01 2.94284635e+02] [-3.96654684e-01 8.26741427e-01 -3.98953223e-01 -1.71037922e+02] [-7.20668218e-01 -1.12569059e-02 6.93188720e-01 -1.85977487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-171.05, Z:-186.00 [[ 5.70486027e-01 5.60672856e-01 6.00159680e-01 2.94303051e+02] [-3.93776998e-01 8.27992890e-01 -3.99208530e-01 -1.71051508e+02] [-7.20753335e-01 -8.58618867e-03 6.93138448e-01 -1.86001077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-171.06, Z:-186.02 [[ 5.71421891e-01 5.59894298e-01 5.99996164e-01 2.94321455e+02] [-3.92403534e-01 8.28532834e-01 -3.99440620e-01 -1.71063774e+02] [-7.20761048e-01 -7.19150069e-03 6.93146300e-01 -1.86024874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-171.08, Z:-186.05 [[ 5.72297488e-01 5.59046594e-01 5.99952074e-01 2.94340372e+02] [-3.90842771e-01 8.29116609e-01 -3.99759399e-01 -1.71075888e+02] [-7.20914360e-01 -5.70563143e-03 6.93000672e-01 -1.86049017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.09, Z:-186.07 [[ 5.73650018e-01 5.57725874e-01 5.99889579e-01 2.94358952e+02] [-3.88610998e-01 8.30017291e-01 -4.00065981e-01 -1.71088305e+02] [-7.21045872e-01 -3.62583087e-03 6.92877842e-01 -1.86072509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-171.10, Z:-186.10 [[ 5.74156052e-01 5.57282269e-01 5.99817723e-01 2.94377332e+02] [-3.87649434e-01 8.30318909e-01 -4.00372859e-01 -1.71100552e+02] [-7.21160693e-01 -2.64250019e-03 6.92762782e-01 -1.86096054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63655999499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.40, Y:-171.11, Z:-186.12 [[ 5.74413435e-01 5.57044141e-01 5.99792489e-01 2.94396005e+02] [-3.86979072e-01 8.30480602e-01 -4.00685871e-01 -1.71113371e+02] [-7.21315745e-01 -1.94779309e-03 6.92603641e-01 -1.86120199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-171.13, Z:-186.14 [[ 5.74813547e-01 5.56817955e-01 5.99619172e-01 2.94414550e+02] [-3.86420471e-01 8.30633603e-01 -4.00907766e-01 -1.71125764e+02] [-7.21296476e-01 -1.25790797e-03 6.92625304e-01 -1.86143903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.14, Z:-186.17 [[ 5.75614337e-01 5.56535437e-01 5.99113047e-01 2.94433448e+02] [-3.86014486e-01 8.30823723e-01 -4.00904925e-01 -1.71138008e+02] [-7.20875129e-01 -4.99692428e-04 6.93064787e-01 -1.86168398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-171.15, Z:-186.19 [[ 5.76185505e-01 5.56460800e-01 5.98633144e-01 2.94451701e+02] [-3.85877375e-01 8.30873864e-01 -4.00933004e-01 -1.71149706e+02] [-7.20492134e-01 1.27996203e-05 6.93463110e-01 -1.86192024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-171.16, Z:-186.22 [[ 5.76589682e-01 5.56369422e-01 5.98328844e-01 2.94470575e+02] [-3.85734178e-01 8.30934967e-01 -4.00944167e-01 -1.71162017e+02] [-7.20245432e-01 3.84385229e-04 6.93719230e-01 -1.86216347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-171.17, Z:-186.24 [[ 5.76614278e-01 5.56175647e-01 5.98485275e-01 2.94489237e+02] [-3.84981789e-01 8.31064110e-01 -4.01399387e-01 -1.71174385e+02] [-7.20628196e-01 1.04668533e-03 6.93320927e-01 -1.86240734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-171.19, Z:-186.26 [[ 5.76660208e-01 5.56145915e-01 5.98468651e-01 2.94507465e+02] [-3.84585610e-01 8.31083303e-01 -4.01739283e-01 -1.71186382e+02] [-7.20802964e-01 1.50462728e-03 6.93138387e-01 -1.86263798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.20, Z:-186.29 [[ 5.76457864e-01 5.56258566e-01 5.98558885e-01 2.94526386e+02] [-3.84345098e-01 8.31007416e-01 -4.02126250e-01 -1.71198980e+02] [-7.21093043e-01 1.75566558e-03 6.92836013e-01 -1.86287969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-171.21, Z:-186.31 [[ 5.76031231e-01 5.56507146e-01 5.98738521e-01 2.94545718e+02] [-3.84205936e-01 8.30840711e-01 -4.02603417e-01 -1.71211288e+02] [-7.21508017e-01 1.87324753e-03 6.92403547e-01 -1.86312282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.22, Z:-186.34 [[ 5.75506843e-01 5.57114227e-01 5.98678220e-01 2.94564215e+02] [-3.84751767e-01 8.30434443e-01 -4.02920233e-01 -1.71222952e+02] [-7.21635608e-01 1.54084845e-03 6.92271388e-01 -1.86335820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.23, Z:-186.36 [[ 5.73946182e-01 5.58773701e-01 5.98629879e-01 2.94583049e+02] [-3.86834903e-01 8.29320162e-01 -4.03220569e-01 -1.71234147e+02] [-7.21764878e-01 -1.44025531e-04 6.92138311e-01 -1.86359999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-171.24, Z:-186.39 [[ 5.69803765e-01 5.64707438e-01 5.97016900e-01 2.94602353e+02] [-3.91943487e-01 8.25287835e-01 -4.06546790e-01 -1.71239896e+02] [-7.22290781e-01 -2.34499399e-03 6.91585518e-01 -1.86385417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-171.25, Z:-186.41 [[ 5.67615594e-01 5.63302701e-01 6.00418690e-01 2.94621613e+02] [-3.97337303e-01 8.26165975e-01 -3.99465706e-01 -1.71254724e+02] [-7.21065604e-01 -1.18257791e-02 6.92765867e-01 -1.86406359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-171.26, Z:-186.43 [[ 5.67472748e-01 5.66316961e-01 5.97712121e-01 2.94640853e+02] [-3.97472600e-01 8.24142623e-01 -4.03490357e-01 -1.71264975e+02] [-7.21103469e-01 -8.60440950e-03 6.92773954e-01 -1.86431897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.28, Z:-186.46 [[ 5.67383097e-01 5.66502821e-01 5.97621097e-01 2.94659864e+02] [-3.97600581e-01 8.24014878e-01 -4.03625147e-01 -1.71277824e+02] [-7.21103460e-01 -8.60440937e-03 6.92773963e-01 -1.86456239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.29, Z:-186.48 [[ 5.66997624e-01 5.68216464e-01 5.96358738e-01 2.94678347e+02] [-3.98416291e-01 8.22841722e-01 -4.05211006e-01 -1.71288321e+02] [-7.20956416e-01 -7.84535849e-03 6.92935998e-01 -1.86481741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.30, Z:-186.51 [[ 5.66859935e-01 5.67701579e-01 5.96979674e-01 2.94697302e+02] [-3.98677501e-01 8.23186873e-01 -4.04251930e-01 -1.71301869e+02] [-7.20920290e-01 -8.84814143e-03 6.92961504e-01 -1.86505718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-171.32, Z:-186.53 [[ 5.66236280e-01 5.67681641e-01 5.97590185e-01 2.94715946e+02] [-4.00162522e-01 8.23174030e-01 -4.02808233e-01 -1.71315284e+02] [-7.20587560e-01 -1.10485597e-02 6.93275918e-01 -1.86527312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.33, Z:-186.55 [[ 5.65785924e-01 5.69852312e-01 5.95948513e-01 2.94734259e+02] [-4.00133217e-01 8.21699554e-01 -4.05836484e-01 -1.71325032e+02] [-7.20957486e-01 -8.84222597e-03 6.92922880e-01 -1.86552902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.34, Z:-186.57 [[ 5.65375326e-01 5.68652864e-01 5.97481933e-01 2.94753049e+02] [-4.01079443e-01 8.22495362e-01 -4.03282358e-01 -1.71338996e+02] [-7.20753787e-01 -1.16318261e-02 6.93093558e-01 -1.86574061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.35, Z:-186.60 [[ 5.65082976e-01 5.69201673e-01 5.97235871e-01 2.94772311e+02] [-4.00222493e-01 8.22134127e-01 -4.04867180e-01 -1.71350208e+02] [-7.21459068e-01 -1.02436780e-02 6.92381312e-01 -1.86598424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.36, Z:-186.62 [[ 5.64991563e-01 5.69464588e-01 5.97071702e-01 2.94791304e+02] [-4.00349296e-01 8.21953149e-01 -4.05109197e-01 -1.71363026e+02] [-7.21460308e-01 -1.01539571e-02 6.92381341e-01 -1.86622797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-171.37, Z:-186.65 [[ 5.65755906e-01 5.71167947e-01 5.94716261e-01 2.94809327e+02] [-3.99019708e-01 8.20810798e-01 -4.08721062e-01 -1.71371500e+02] [-7.21597899e-01 -6.06715407e-03 6.92285824e-01 -1.86648476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.39, Z:-186.67 [[ 5.66291499e-01 5.65927060e-01 5.99199884e-01 2.94827555e+02] [-3.96279780e-01 8.24410423e-01 -4.04116061e-01 -1.71386455e+02] [-7.22686844e-01 -8.60330805e-03 6.91122065e-01 -1.86670457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-171.40, Z:-186.69 [[ 5.66659700e-01 5.65363456e-01 5.99383806e-01 2.94845531e+02] [-3.95643574e-01 8.24800701e-01 -4.03943023e-01 -1.71399488e+02] [-7.22746807e-01 -8.24411911e-03 6.91063736e-01 -1.86694160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-171.41, Z:-186.72 [[ 5.67569172e-01 5.65089361e-01 5.98781471e-01 2.94863819e+02] [-3.95054912e-01 8.24998391e-01 -4.04115418e-01 -1.71412281e+02] [-7.22355073e-01 -7.18810829e-03 6.91484981e-01 -1.86717311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-171.43, Z:-186.74 [[ 5.69702394e-01 5.60750243e-01 6.00831380e-01 2.94883913e+02] [-3.95453379e-01 8.27911660e-01 -3.97717122e-01 -1.71431211e+02] [-7.20455278e-01 -1.10204027e-02 6.93413833e-01 -1.86738521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.44, Z:-186.77 [[ 5.68523011e-01 5.69628119e-01 5.93553192e-01 2.94901918e+02] [-3.95180142e-01 8.21901493e-01 -4.10256739e-01 -1.71435553e+02] [-7.21536029e-01 -1.32003862e-03 6.92375633e-01 -1.86766383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.45, Z:-186.79 [[ 5.68837922e-01 5.66982302e-01 5.95780570e-01 2.94920025e+02] [-3.95262776e-01 8.23719016e-01 -4.06514847e-01 -1.71450359e+02] [-7.21242509e-01 -4.24882133e-03 6.92669612e-01 -1.86788466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.46, Z:-186.81 [[ 5.68729150e-01 5.67251976e-01 5.95627694e-01 2.94938979e+02] [-3.95418773e-01 8.23533588e-01 -4.06738766e-01 -1.71463247e+02] [-7.21242781e-01 -4.19817916e-03 6.92669637e-01 -1.86812817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-171.48, Z:-186.84 [[ 5.68756577e-01 5.67544058e-01 5.95323189e-01 2.94958130e+02] [-3.95807491e-01 8.23331900e-01 -4.06768992e-01 -1.71475796e+02] [-7.21007896e-01 -4.28083883e-03 6.92913622e-01 -1.86837071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.49, Z:-186.86 [[ 5.68850196e-01 5.68035146e-01 5.94765102e-01 2.94976927e+02] [-3.96540745e-01 8.22992141e-01 -4.06742393e-01 -1.71487378e+02] [-7.20530979e-01 -4.47310644e-03 6.93408321e-01 -1.86860841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.50, Z:-186.88 [[ 5.68425524e-01 5.68471739e-01 5.94753989e-01 2.94995478e+02] [-3.96952782e-01 8.22688984e-01 -4.06953713e-01 -1.71499827e+02] [-7.20639239e-01 -4.76637285e-03 6.93293854e-01 -1.86884746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.51, Z:-186.91 [[ 5.67978389e-01 5.68949293e-01 5.94724518e-01 2.95013715e+02] [-3.97292360e-01 8.22357728e-01 -4.07291722e-01 -1.71512084e+02] [-7.20804641e-01 -4.94661111e-03 6.93120625e-01 -1.86908204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.52, Z:-186.93 [[ 5.67598099e-01 5.69467426e-01 5.94591665e-01 2.95032442e+02] [-3.97789364e-01 8.21997409e-01 -4.07533902e-01 -1.71524839e+02] [-7.20830091e-01 -5.20677242e-03 6.93092252e-01 -1.86931950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.54, Z:-186.96 [[ 5.67382780e-01 5.70050777e-01 5.94238078e-01 2.95051290e+02] [-3.98514251e-01 8.21590912e-01 -4.07645392e-01 -1.71537523e+02] [-7.20599176e-01 -5.52136734e-03 6.93329894e-01 -1.86955990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.55, Z:-186.98 [[ 5.67107002e-01 5.70845290e-01 5.93738414e-01 2.95069490e+02] [-3.99649633e-01 8.21034955e-01 -4.07653987e-01 -1.71550403e+02] [-7.20187350e-01 -6.10390883e-03 6.93752782e-01 -1.86979876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.57, Z:-187.00 [[ 5.69057964e-01 5.63797912e-01 5.98585790e-01 2.95089814e+02] [-4.01657727e-01 8.25774466e-01 -3.95938886e-01 -1.71572033e+02] [-7.17526378e-01 -1.51144317e-02 6.96367324e-01 -1.86997643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-171.57, Z:-187.03 [[ 5.66382379e-01 5.79501833e-01 5.85993709e-01 2.95106819e+02] [-4.00942891e-01 8.14968400e-01 -4.18415232e-01 -1.71568662e+02] [-7.20038749e-01 2.03300300e-03 6.93930881e-01 -1.87030431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.59, Z:-187.05 [[ 5.66018108e-01 5.72411312e-01 5.93269578e-01 2.95124491e+02] [-4.01227391e-01 8.19937408e-01 -4.08312659e-01 -1.71588211e+02] [-7.20166705e-01 -6.92364610e-03 6.93766517e-01 -1.87050550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.60, Z:-187.07 [[ 5.65355681e-01 5.73012279e-01 5.93321062e-01 2.95142993e+02] [-4.01721679e-01 8.19514247e-01 -4.08676023e-01 -1.71602381e+02] [-7.20411442e-01 -7.30262185e-03 6.93508490e-01 -1.87073643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-171.62, Z:-187.10 [[ 5.65195703e-01 5.73706818e-01 5.92802078e-01 2.95161479e+02] [-4.02728101e-01 8.19023969e-01 -4.08668344e-01 -1.71615667e+02] [-7.19974926e-01 -7.76046331e-03 6.93956685e-01 -1.87096825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-171.63, Z:-187.12 [[ 5.64884666e-01 5.74033921e-01 5.92781893e-01 2.95179101e+02] [-4.02845928e-01 8.18794791e-01 -4.09011307e-01 -1.71627968e+02] [-7.20153090e-01 -7.75555605e-03 6.93771849e-01 -1.87120155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-171.64, Z:-187.14 [[ 5.64946581e-01 5.74074133e-01 5.92683938e-01 2.95197401e+02] [-4.02627720e-01 8.18769782e-01 -4.09276146e-01 -1.71640665e+02] [-7.20226547e-01 -7.41182317e-03 6.93699348e-01 -1.87143731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.65, Z:-187.17 [[ 5.65222338e-01 5.73806754e-01 5.92679946e-01 2.95216073e+02] [-4.01878368e-01 8.18963676e-01 -4.09624553e-01 -1.71654483e+02] [-7.20428683e-01 -6.65630164e-03 6.93497085e-01 -1.87167387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.67, Z:-187.19 [[ 5.64936938e-01 5.73844085e-01 5.92915864e-01 2.95234338e+02] [-4.01395590e-01 8.18940427e-01 -4.10144068e-01 -1.71667427e+02] [-7.20921519e-01 -6.28827858e-03 6.92988183e-01 -1.87190642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.68, Z:-187.21 [[ 5.65194840e-01 5.73496973e-01 5.93005915e-01 2.95253321e+02] [-4.00483660e-01 8.19189515e-01 -4.10537911e-01 -1.71680271e+02] [-7.21226478e-01 -5.45527020e-03 6.92677853e-01 -1.87214319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.69, Z:-187.24 [[ 5.65523685e-01 5.73289076e-01 5.92893411e-01 2.95271269e+02] [-3.99889989e-01 8.19339325e-01 -4.10817560e-01 -1.71693036e+02] [-7.21298107e-01 -4.76507953e-03 6.92608357e-01 -1.87237216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.72, Z:-187.25 [[ 5.70198725e-01 5.60153175e-01 6.00917494e-01 2.95292714e+02] [-4.00640320e-01 8.28208165e-01 -3.91865499e-01 -1.71721030e+02] [-7.17189478e-01 -1.73105695e-02 6.96663187e-01 -1.87250021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.71, Z:-187.29 [[ 5.67653866e-01 5.84277938e-01 5.79989982e-01 2.95308655e+02] [-3.97357746e-01 8.11452646e-01 -4.28545709e-01 -1.71706904e+02] [-7.21024209e-01 1.28021167e-02 6.92791597e-01 -1.87288666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.75, Z:-187.30 [[ 5.71138062e-01 5.60255449e-01 5.99929285e-01 2.95328939e+02] [-3.98657438e-01 8.28198279e-01 -3.93903362e-01 -1.71745530e+02] [-7.17546906e-01 -1.41930688e-02 6.96365561e-01 -1.87297064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.73, Z:-187.33 [[ 5.69524854e-01 5.81815862e-01 5.80630471e-01 2.95345499e+02] [-3.95799896e-01 8.13213884e-01 -4.26644607e-01 -1.71733695e+02] [-7.20405360e-01 1.31712275e-02 6.93428177e-01 -1.87333878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-171.76, Z:-187.35 [[ 5.69871485e-01 5.70308946e-01 5.91603074e-01 2.95363007e+02] [-3.95376813e-01 8.21430219e-01 -4.11010427e-01 -1.71756134e+02] [-7.20363566e-01 3.16984563e-04 6.93596592e-01 -1.87352539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.78, Z:-187.37 [[ 5.72871716e-01 5.59259542e-01 5.99205108e-01 2.95385038e+02] [-3.97968280e-01 8.28886892e-01 -3.93151075e-01 -1.71782934e+02] [-7.16546750e-01 -1.32394954e-02 6.97413414e-01 -1.87365937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.77, Z:-187.40 [[ 5.70648322e-01 5.82557898e-01 5.78780431e-01 2.95401102e+02] [-3.96000382e-01 8.12655037e-01 -4.27522500e-01 -1.71768951e+02] [-7.19405442e-01 1.47677254e-02 6.94433384e-01 -1.87404110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.79, Z:-187.42 [[ 5.71376687e-01 5.70794268e-01 5.89680071e-01 2.95419266e+02] [-3.96661928e-01 8.21092885e-01 -4.10445843e-01 -1.71792530e+02] [-7.18462244e-01 6.15552106e-04 6.95565687e-01 -1.87422854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.80, Z:-187.45 [[ 5.71483151e-01 5.71044937e-01 5.89334106e-01 2.95437991e+02] [-3.96903460e-01 8.20918487e-01 -4.10561179e-01 -1.71804750e+02] [-7.18244145e-01 7.20049975e-04 6.95790795e-01 -1.87446179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.82, Z:-187.47 [[ 5.71253900e-01 5.71381272e-01 5.89230366e-01 2.95457002e+02] [-3.97234904e-01 8.20684551e-01 -4.10708289e-01 -1.71817568e+02] [-7.18243283e-01 5.55844107e-04 6.95791835e-01 -1.87470201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-171.83, Z:-187.49 [[ 5.71282731e-01 5.71670707e-01 5.88921595e-01 2.95476855e+02] [-3.97509364e-01 8.20482928e-01 -4.10845556e-01 -1.71830246e+02] [-7.18068484e-01 6.07122787e-04 6.95972187e-01 -1.87493749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-171.84, Z:-187.52 [[ 5.71180797e-01 5.72039120e-01 5.88662673e-01 2.95495731e+02] [-3.97860290e-01 8.20226146e-01 -4.11018562e-01 -1.71842765e+02] [-7.17955212e-01 5.60407676e-04 6.96089074e-01 -1.87517294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-171.88, Z:-187.53 [[ 5.73359864e-01 5.55531905e-01 6.02198280e-01 2.95517947e+02] [-4.01293492e-01 8.31228344e-01 -3.84737538e-01 -1.71877780e+02] [-7.14298256e-01 -2.10651885e-02 6.99524309e-01 -1.87527425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-171.24, Z:-187.49 [[ 5.22058826e-01 5.20011456e-01 -6.76049308e-01 2.96209529e+02] [-3.65010173e-01 -5.80168662e-01 -7.28129039e-01 -1.71239990e+02] [-7.70858064e-01 6.26891067e-01 -1.13072699e-01 -1.87489930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.91, Z:-187.65 [[ 5.37220786e-01 5.57149987e-01 6.33228015e-01 2.95586969e+02] [-3.59803750e-01 8.30411593e-01 -4.25391405e-01 -1.71910086e+02] [-7.62846701e-01 6.91290181e-04 6.46579023e-01 -1.87650757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-171.92, Z:-187.68 [[ 5.36753249e-01 5.57807775e-01 6.33045366e-01 2.95604076e+02] [-3.60492092e-01 8.29970127e-01 -4.25670107e-01 -1.71921229e+02] [-7.62850838e-01 2.71964255e-04 6.46574454e-01 -1.87675281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.93, Z:-187.70 [[ 5.36088759e-01 5.58499755e-01 6.32998315e-01 2.95621547e+02] [-3.61307974e-01 8.29504592e-01 -4.25885760e-01 -1.71932386e+02] [-7.62932101e-01 -3.94770457e-04 6.46478502e-01 -1.87700534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.94, Z:-187.73 [[ 5.34790334e-01 5.60280571e-01 6.32522712e-01 2.95640003e+02] [-3.63968346e-01 8.28299370e-01 -4.25966192e-01 -1.71943335e+02] [-7.62578745e-01 -2.41564302e-03 6.46890889e-01 -1.87725727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.95, Z:-187.75 [[ 5.33818658e-01 5.61477689e-01 6.32281935e-01 2.95657472e+02] [-3.65539020e-01 8.27484014e-01 -4.26205856e-01 -1.71954256e+02] [-7.62508272e-01 -3.60708029e-03 6.46968410e-01 -1.87750640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-171.97, Z:-187.78 [[ 5.33019424e-01 5.62745348e-01 6.31829065e-01 2.95675657e+02] [-3.67419782e-01 8.26615585e-01 -4.26273830e-01 -1.71965444e+02] [-7.62163367e-01 -4.93426595e-03 6.47365936e-01 -1.87776351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-172.00, Z:-187.79 [[ 5.34073460e-01 5.48744250e-01 6.43152617e-01 2.95697295e+02] [-3.74015124e-01 8.35596368e-01 -4.02357300e-01 -1.71998815e+02] [-7.58207245e-01 -2.56604506e-02 6.51508492e-01 -1.87792046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-171.37, Z:-187.70 [[ 4.83583192e-01 4.44281149e-01 -7.54162818e-01 2.96470015e+02] [-3.10047527e-01 -7.18796944e-01 -6.22255160e-01 -1.71372209e+02] [-8.18546167e-01 5.34738453e-01 -2.09849850e-01 -1.87702563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-172.04, Z:-187.92 [[ 5.02323309e-01 5.33876313e-01 6.80181870e-01 2.95769178e+02] [-3.27641129e-01 8.45490432e-01 -4.21660076e-01 -1.72039272e+02] [-8.00201590e-01 -1.10458710e-02 5.99629389e-01 -1.87919040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-172.05, Z:-187.95 [[ 5.01283186e-01 5.35666603e-01 6.79541359e-01 2.95786035e+02] [-3.30606966e-01 8.44325135e-01 -4.21680093e-01 -1.72048785e+02] [-7.99633792e-01 -1.32799661e-02 6.00341104e-01 -1.87945308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-172.06, Z:-187.97 [[ 5.00039182e-01 5.37095287e-01 6.79330162e-01 2.95802687e+02] [-3.32588017e-01 8.43389558e-01 -4.21994389e-01 -1.72058376e+02] [-7.99591163e-01 -1.49233424e-02 6.00359281e-01 -1.87972179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-172.07, Z:-188.00 [[ 4.99769041e-01 5.37846268e-01 6.78934679e-01 2.95819549e+02] [-3.33561065e-01 8.42901122e-01 -4.22202220e-01 -1.72068496e+02] [-7.99354691e-01 -1.54625758e-02 6.00660459e-01 -1.87999152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-172.08, Z:-188.02 [[ 4.99431320e-01 5.38614595e-01 6.78574001e-01 2.95835310e+02] [-3.34536335e-01 8.42399718e-01 -4.22431245e-01 -1.72078394e+02] [-7.99158180e-01 -1.60322647e-02 6.00906956e-01 -1.88024809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-172.09, Z:-188.05 [[ 4.99360118e-01 5.38920444e-01 6.78383541e-01 2.95851956e+02] [-3.34637046e-01 8.42206324e-01 -4.22736982e-01 -1.72088676e+02] [-7.99160510e-01 -1.59142749e-02 6.00906994e-01 -1.88051959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-172.10, Z:-188.08 [[ 4.99099929e-01 5.39531104e-01 6.78089558e-01 2.95868464e+02] [-3.35651859e-01 8.41801749e-01 -4.22738271e-01 -1.72098948e+02] [-7.98897422e-01 -1.66133796e-02 6.01237811e-01 -1.88079066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-172.11, Z:-188.11 [[ 4.98440790e-01 5.40773471e-01 6.77584557e-01 2.95884316e+02] [-3.37537411e-01 8.40977142e-01 -4.22878165e-01 -1.72108899e+02] [-7.98514418e-01 -1.79304105e-02 6.01708588e-01 -1.88105254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-172.12, Z:-188.13 [[ 4.97994835e-01 5.41554762e-01 6.77288405e-01 2.95900528e+02] [-3.38525296e-01 8.40460353e-01 -4.23115847e-01 -1.72119128e+02] [-7.98374453e-01 -1.85697515e-02 6.01874901e-01 -1.88131754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-172.13, Z:-188.16 [[ 4.97610154e-01 5.42199744e-01 6.77055073e-01 2.95916057e+02] [-3.39198563e-01 8.40035730e-01 -4.23419777e-01 -1.72128854e+02] [-7.98328547e-01 -1.89581272e-02 6.01923683e-01 -1.88157455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-172.14, Z:-188.18 [[ 4.97151408e-01 5.42883310e-01 6.76844287e-01 2.95932292e+02] [-3.39961150e-01 8.39582774e-01 -4.23706481e-01 -1.72139314e+02] [-7.98289981e-01 -1.94544888e-02 6.01958993e-01 -1.88183831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-172.15, Z:-188.21 [[ 4.96635851e-01 5.43518321e-01 6.76713135e-01 2.95947994e+02] [-3.40540817e-01 8.39162833e-01 -4.24072743e-01 -1.72150121e+02] [-7.98363817e-01 -1.98387158e-02 6.01848520e-01 -1.88209925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-172.16, Z:-188.24 [[ 4.96223641e-01 5.43994445e-01 6.76632945e-01 2.95963474e+02] [-3.40853579e-01 8.38850059e-01 -4.24440120e-01 -1.72160234e+02] [-7.98486654e-01 -2.00155393e-02 6.01679684e-01 -1.88235418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-172.17, Z:-188.26 [[ 4.95612472e-01 5.44458455e-01 6.76707668e-01 2.95978844e+02] [-3.41031806e-01 8.38544710e-01 -4.24900079e-01 -1.72170446e+02] [-7.98790076e-01 -2.01930598e-02 6.01270867e-01 -1.88260905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-172.18, Z:-188.29 [[ 4.95064082e-01 5.45079635e-01 6.76609006e-01 2.95994994e+02] [-3.41619884e-01 8.38130666e-01 -4.25244449e-01 -1.72181647e+02] [-7.98878846e-01 -2.06198375e-02 6.01138430e-01 -1.88287784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-172.19, Z:-188.31 [[ 4.94599942e-01 5.45537376e-01 6.76579536e-01 2.96010788e+02] [-3.41828631e-01 8.37829872e-01 -4.25669229e-01 -1.72192072e+02] [-7.99077020e-01 -2.07382805e-02 6.00870901e-01 -1.88314796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-172.20, Z:-188.34 [[ 4.94517120e-01 5.45901210e-01 6.76346573e-01 2.96026358e+02] [-3.42024060e-01 8.37594429e-01 -4.25975486e-01 -1.72202350e+02] [-7.99044655e-01 -2.06746303e-02 6.00916133e-01 -1.88340332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-172.21, Z:-188.37 [[ 4.94209121e-01 5.46274166e-01 6.76270567e-01 2.96041959e+02] [-3.42154791e-01 8.37351013e-01 -4.26348894e-01 -1.72212958e+02] [-7.99179231e-01 -2.06837026e-02 6.00736831e-01 -1.88366531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-172.22, Z:-188.39 [[ 4.94093212e-01 5.46634729e-01 6.76063881e-01 2.96057969e+02] [-3.42383804e-01 8.37115772e-01 -4.26626903e-01 -1.72223750e+02] [-7.99152819e-01 -2.06798662e-02 6.00772099e-01 -1.88393022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-172.23, Z:-188.42 [[ 4.93675248e-01 5.47058749e-01 6.76026238e-01 2.96073263e+02] [-3.42532508e-01 8.36837365e-01 -4.27053515e-01 -1.72234895e+02] [-7.99347378e-01 -2.07352132e-02 6.00511299e-01 -1.88418911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-172.25, Z:-188.45 [[ 4.93309777e-01 5.47482074e-01 6.75950325e-01 2.96089062e+02] [-3.42752916e-01 8.36558080e-01 -4.27423698e-01 -1.72245807e+02] [-7.99478519e-01 -2.08316559e-02 6.00333358e-01 -1.88445237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-172.26, Z:-188.47 [[ 4.92849454e-01 5.47932644e-01 6.75921026e-01 2.96105262e+02] [-3.42940732e-01 8.36260510e-01 -4.27855132e-01 -1.72256924e+02] [-7.99681855e-01 -2.09326833e-02 6.00058958e-01 -1.88471751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-172.27, Z:-188.50 [[ 4.91920933e-01 5.48604260e-01 6.76052632e-01 2.96120888e+02] [-3.43376239e-01 8.35808066e-01 -4.28389583e-01 -1.72268369e+02] [-8.00066593e-01 -2.14066069e-02 5.99529152e-01 -1.88497281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-172.28, Z:-188.52 [[ 4.91807884e-01 5.48940044e-01 6.75862289e-01 2.96137442e+02] [-3.43534624e-01 8.35589041e-01 -4.28689769e-01 -1.72278771e+02] [-8.00068102e-01 -2.13490892e-02 5.99529189e-01 -1.88524414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-172.29, Z:-188.55 [[ 4.91442322e-01 5.49353233e-01 6.75792476e-01 2.96153847e+02] [-3.43886522e-01 8.35311200e-01 -4.28949016e-01 -1.72289776e+02] [-8.00141553e-01 -2.15922236e-02 5.99422448e-01 -1.88551252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-172.30, Z:-188.58 [[ 4.90774476e-01 5.50016758e-01 6.75738100e-01 2.96169729e+02] [-3.44456121e-01 8.34862725e-01 -4.29364893e-01 -1.72300187e+02] [-8.00306438e-01 -2.20407939e-02 5.99185955e-01 -1.88577641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-172.31, Z:-188.60 [[ 4.89475901e-01 5.51567448e-01 6.75415941e-01 2.96185348e+02] [-3.46741980e-01 8.33787561e-01 -4.29614133e-01 -1.72309882e+02] [-8.00114581e-01 -2.39092957e-02 5.99370506e-01 -1.88603745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-172.32, Z:-188.63 [[ 4.89026579e-01 5.52630616e-01 6.74872141e-01 2.96201770e+02] [-3.48414568e-01 8.33051091e-01 -4.29689619e-01 -1.72319680e+02] [-7.99662613e-01 -2.50056406e-02 5.99928682e-01 -1.88630596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-172.33, Z:-188.66 [[ 4.87942793e-01 5.53845562e-01 6.74660599e-01 2.96217691e+02] [-3.50070333e-01 8.32201779e-01 -4.29989488e-01 -1.72329188e+02] [-7.99601521e-01 -2.63683889e-02 5.99951761e-01 -1.88657443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-172.34, Z:-188.68 [[ 4.87160715e-01 5.54925133e-01 6.74338590e-01 2.96234179e+02] [-3.51571103e-01 8.31446025e-01 -4.30226996e-01 -1.72339175e+02] [-7.99419913e-01 -2.74882711e-02 6.00143481e-01 -1.88684329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-172.35, Z:-188.71 [[ 4.86633599e-01 5.55933214e-01 6.73888716e-01 2.96250813e+02] [-3.53052835e-01 8.30738880e-01 -4.30379612e-01 -1.72349344e+02] [-7.99087878e-01 -2.84811420e-02 6.00539248e-01 -1.88711358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-172.36, Z:-188.74 [[ 4.85399146e-01 5.56924199e-01 6.73960759e-01 2.96267116e+02] [-3.54105879e-01 8.30038841e-01 -4.30864885e-01 -1.72358667e+02] [-7.99372689e-01 -2.95120200e-02 6.00110278e-01 -1.88737361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-172.37, Z:-188.76 [[ 4.85009996e-01 5.57278125e-01 6.73948363e-01 2.96283450e+02] [-3.54360932e-01 8.29793836e-01 -4.31127034e-01 -1.72368968e+02] [-7.99495862e-01 -2.97200489e-02 5.99935901e-01 -1.88763810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-172.38, Z:-188.79 [[ 4.84321695e-01 5.57518118e-01 6.74244795e-01 2.96299607e+02] [-3.53955315e-01 8.29638939e-01 -4.31757878e-01 -1.72378908e+02] [-8.00092576e-01 -2.95428213e-02 5.99148638e-01 -1.88789962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-172.39, Z:-188.82 [[ 4.83276952e-01 5.57619952e-01 6.74909902e-01 2.96316745e+02] [-3.53067121e-01 8.29581731e-01 -4.32594221e-01 -1.72388019e+02] [-8.01116094e-01 -2.92256791e-02 5.97795002e-01 -1.88816900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-172.40, Z:-188.84 [[ 4.82467715e-01 5.57948141e-01 6.75217576e-01 2.96332897e+02] [-3.52799965e-01 8.29362088e-01 -4.33232861e-01 -1.72397756e+02] [-8.01721328e-01 -2.91958689e-02 5.96984517e-01 -1.88843427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-172.41, Z:-188.87 [[ 4.82062985e-01 5.58088114e-01 6.75390950e-01 2.96349379e+02] [-3.52288654e-01 8.29281327e-01 -4.33803164e-01 -1.72407351e+02] [-8.02189493e-01 -2.88121210e-02 5.96373942e-01 -1.88870099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-172.42, Z:-188.90 [[ 4.81372137e-01 5.58364323e-01 6.75655348e-01 2.96365686e+02] [-3.51937591e-01 8.29100497e-01 -4.34433308e-01 -1.72416016e+02] [-8.02758244e-01 -2.86644254e-02 5.95615272e-01 -1.88896285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-172.43, Z:-188.92 [[ 4.81167066e-01 5.58633053e-01 6.75579282e-01 2.96382438e+02] [-3.51882059e-01 8.28924903e-01 -4.34813203e-01 -1.72425664e+02] [-8.02905518e-01 -2.85064352e-02 5.95424313e-01 -1.88923333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-172.44, Z:-188.95 [[ 4.80826691e-01 5.59099872e-01 6.75435434e-01 2.96398711e+02] [-3.52199171e-01 8.28605210e-01 -4.35165658e-01 -1.72435319e+02] [-8.02970384e-01 -2.86485363e-02 5.95330013e-01 -1.88950233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-172.44, Z:-188.98 [[ 4.80630607e-01 5.59535112e-01 6.75214542e-01 2.96415274e+02] [-3.52516875e-01 8.28308786e-01 -4.35472627e-01 -1.72444845e+02] [-8.02948362e-01 -2.87230471e-02 5.95356124e-01 -1.88976699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-172.45, Z:-189.00 [[ 4.80474911e-01 5.59915391e-01 6.75010085e-01 2.96431221e+02] [-3.52710480e-01 8.28052885e-01 -4.35802405e-01 -1.72453750e+02] [-8.02956523e-01 -2.86910099e-02 5.95346663e-01 -1.89002717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-172.46, Z:-189.03 [[ 4.80661036e-01 5.60261021e-01 6.74590659e-01 2.96447513e+02] [-3.53250656e-01 8.27814622e-01 -4.35817537e-01 -1.72462290e+02] [-8.02607590e-01 -2.88190839e-02 5.95810807e-01 -1.89028761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-172.47, Z:-189.06 [[ 4.80752959e-01 5.60559910e-01 6.74276783e-01 2.96463933e+02] [-3.53447224e-01 8.27616518e-01 -4.36034355e-01 -1.72472046e+02] [-8.02465982e-01 -2.86964510e-02 5.96007434e-01 -1.89055517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-172.48, Z:-189.08 [[ 4.80787240e-01 5.60640865e-01 6.74185027e-01 2.96480568e+02] [-3.53055452e-01 8.27578813e-01 -4.36423138e-01 -1.72482058e+02] [-8.02617890e-01 -2.81980234e-02 5.95826648e-01 -1.89082476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-172.49, Z:-189.11 [[ 4.81120555e-01 5.60619661e-01 6.73964841e-01 2.96496714e+02] [-3.52577812e-01 8.27616610e-01 -4.36737487e-01 -1.72491712e+02] [-8.02628119e-01 -2.75016671e-02 5.95845416e-01 -1.89108895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-172.50, Z:-189.13 [[ 4.82415740e-01 5.61217727e-01 6.72539751e-01 2.96512541e+02] [-3.50524155e-01 8.27320546e-01 -4.38945931e-01 -1.72498936e+02] [-8.02750192e-01 -2.39870015e-02 5.95832824e-01 -1.89134814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-172.51, Z:-189.16 [[ 4.82535695e-01 5.55584062e-01 6.77115687e-01 2.96528742e+02] [-3.49373411e-01 8.30999173e-01 -4.32872492e-01 -1.72513332e+02] [-8.03179633e-01 -2.76897885e-02 5.95093062e-01 -1.89160164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-172.52, Z:-189.19 [[ 4.82907215e-01 5.59039189e-01 6.73999857e-01 2.96545428e+02] [-3.48455707e-01 8.28809533e-01 -4.37782341e-01 -1.72520267e+02] [-8.03354992e-01 -2.34508455e-02 5.95038499e-01 -1.89188358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-172.53, Z:-189.21 [[ 4.83357371e-01 5.58772025e-01 6.73898714e-01 2.96561314e+02] [-3.47463908e-01 8.29019772e-01 -4.38172398e-01 -1.72529760e+02] [-8.03513836e-01 -2.23616222e-02 5.94865928e-01 -1.89214273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-172.54, Z:-189.24 [[ 4.84843453e-01 5.58036771e-01 6.73440264e-01 2.96577664e+02] [-3.46007297e-01 8.29562727e-01 -4.38297424e-01 -1.72539223e+02] [-8.03247021e-01 -2.05096085e-02 5.95292852e-01 -1.89240688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.56, Z:-189.27 [[ 4.86390620e-01 5.53557250e-01 6.76016668e-01 2.96597301e+02] [-3.49826159e-01 8.32360329e-01 -4.29881312e-01 -1.72562455e+02] [-8.00653373e-01 -2.73980765e-02 5.98501063e-01 -1.89266071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-172.54, Z:-189.30 [[ 4.84928488e-01 5.77066265e-01 6.57144495e-01 2.96610794e+02] [-3.45112668e-01 8.16693477e-01 -4.62502985e-01 -1.72542447e+02] [-8.03580493e-01 -2.50801632e-03 5.95190811e-01 -1.89298482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.57, Z:-189.32 [[ 4.84983246e-01 5.62827358e-01 6.69340434e-01 2.96626181e+02] [-3.46342856e-01 8.26409541e-01 -4.43952585e-01 -1.72568435e+02] [-8.03017981e-01 -1.65117121e-02 5.95726016e-01 -1.89322966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-172.58, Z:-189.35 [[ 4.87001152e-01 5.61337629e-01 6.69126255e-01 2.96645371e+02] [-3.47983008e-01 8.27387704e-01 -4.40837173e-01 -1.72581755e+02] [-8.01085329e-01 -1.81563561e-02 5.98274721e-01 -1.89347722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-172.57, Z:-189.38 [[ 4.84420822e-01 5.81616624e-01 6.53497184e-01 2.96658648e+02] [-3.44625353e-01 8.13461147e-01 -4.68523564e-01 -1.72568651e+02] [-8.04095662e-01 1.75087214e-03 5.94497351e-01 -1.89382553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.60, Z:-189.40 [[ 4.85369022e-01 5.59118077e-01 6.72163588e-01 2.96674905e+02] [-3.47753153e-01 8.28822004e-01 -4.38317044e-01 -1.72602063e+02] [-8.02174955e-01 -2.10014920e-02 5.96719599e-01 -1.89400462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.59, Z:-189.43 [[ 4.84487141e-01 5.76158790e-01 6.58265341e-01 2.96690388e+02] [-3.45514053e-01 8.17327736e-01 -4.61080699e-01 -1.72590270e+02] [-8.03674219e-01 -4.05225684e-03 5.95055737e-01 -1.89428391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-172.61, Z:-189.45 [[ 4.84896661e-01 5.59776317e-01 6.71956623e-01 2.96706186e+02] [-3.45248707e-01 8.28444917e-01 -4.41001530e-01 -1.72613925e+02] [-8.03541261e-01 -1.81519857e-02 5.94972224e-01 -1.89450521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-172.62, Z:-189.48 [[ 4.84789105e-01 5.59751311e-01 6.72055052e-01 2.96722178e+02] [-3.44493555e-01 8.28476505e-01 -4.41532412e-01 -1.72623695e+02] [-8.03930167e-01 -1.74685314e-02 5.94467103e-01 -1.89476252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-172.63, Z:-189.50 [[ 4.84334382e-01 5.59742792e-01 6.72389927e-01 2.96738564e+02] [-3.43609499e-01 8.28494599e-01 -4.42186853e-01 -1.72633465e+02] [-8.04582326e-01 -1.68732697e-02 5.93601359e-01 -1.89503235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.64, Z:-189.53 [[ 4.84394227e-01 5.59160322e-01 6.72831307e-01 2.96755358e+02] [-3.41612356e-01 8.28918536e-01 -4.42939113e-01 -1.72643394e+02] [-8.05396319e-01 -1.52903391e-02 5.92539428e-01 -1.89530270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-172.65, Z:-189.56 [[ 4.83763893e-01 5.65163849e-01 6.68253186e-01 2.96769986e+02] [-3.38486028e-01 8.24947087e-01 -4.52647228e-01 -1.72646725e+02] [-8.07093368e-01 -7.21998127e-03 5.90379680e-01 -1.89562880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-172.66, Z:-189.59 [[ 4.84945333e-01 5.57580916e-01 6.73744422e-01 2.96786942e+02] [-3.38782396e-01 8.30014552e-01 -4.43060190e-01 -1.72664774e+02] [-8.06259581e-01 -1.33927782e-02 5.91410282e-01 -1.89586746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-172.67, Z:-189.61 [[ 4.85833316e-01 5.58998826e-01 6.71927304e-01 2.96804065e+02] [-3.38764886e-01 8.29088352e-01 -4.44804289e-01 -1.72672994e+02] [-8.05732177e-01 -1.15246341e-02 5.92167917e-01 -1.89609779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-172.68, Z:-189.64 [[ 4.86940493e-01 5.60331166e-01 6.70013388e-01 2.96819859e+02] [-3.36787098e-01 8.28234186e-01 -4.47886798e-01 -1.72680737e+02] [-8.05892925e-01 -7.55764650e-03 5.92013070e-01 -1.89639864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-172.69, Z:-189.66 [[ 4.87730110e-01 5.57822242e-01 6.71530853e-01 2.96836275e+02] [-3.37127962e-01 8.29905114e-01 -4.44524733e-01 -1.72692375e+02] [-8.05272673e-01 -9.58373072e-03 5.92827188e-01 -1.89662120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.70, Z:-189.69 [[ 4.88313844e-01 5.57212380e-01 6.71612949e-01 2.96852285e+02] [-3.36627884e-01 8.30318956e-01 -4.44130723e-01 -1.72702389e+02] [-8.05128100e-01 -9.20846555e-03 5.93029465e-01 -1.89688361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-172.71, Z:-189.72 [[ 4.89886332e-01 5.56500304e-01 6.71057966e-01 2.96868986e+02] [-3.35323564e-01 8.30814287e-01 -4.44191095e-01 -1.72711778e+02] [-8.04717024e-01 -7.41840251e-03 5.93612229e-01 -1.89715625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-172.72, Z:-189.74 [[ 4.90766370e-01 5.56160471e-01 6.70696579e-01 2.96885266e+02] [-3.34453733e-01 8.31051656e-01 -4.44402796e-01 -1.72721624e+02] [-8.04542771e-01 -6.21902799e-03 5.93862150e-01 -1.89742186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-172.73, Z:-189.77 [[ 4.91420033e-01 5.55799689e-01 6.70517007e-01 2.96901042e+02] [-3.33369737e-01 8.31301386e-01 -4.44750069e-01 -1.72731224e+02] [-8.04593668e-01 -4.97098415e-03 5.93804951e-01 -1.89768791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.75, Z:-189.79 [[ 4.94181120e-01 5.47474452e-01 6.75319736e-01 2.96919559e+02] [-3.34750818e-01 8.36737791e-01 -4.33372541e-01 -1.72752454e+02] [-8.02325938e-01 -1.18993062e-02 5.96767539e-01 -1.89792182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-172.75, Z:-189.82 [[ 4.96324849e-01 5.57733516e-01 6.65278114e-01 2.96937394e+02] [-3.32632863e-01 8.30019582e-01 -4.47686131e-01 -1.72753878e+02] [-8.01883422e-01 9.04387967e-04 5.97479840e-01 -1.89821507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-172.75, Z:-189.85 [[ 4.95077738e-01 5.70017538e-01 6.55727107e-01 2.96950225e+02] [-3.28586993e-01 8.21490851e-01 -4.66029365e-01 -1.72746991e+02] [-8.04318731e-01 1.52573655e-02 5.94002182e-01 -1.89852093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-172.77, Z:-189.87 [[ 4.95859263e-01 5.52748550e-01 6.69770581e-01 2.96964834e+02] [-3.27411892e-01 8.33346670e-01 -4.45347933e-01 -1.72770872e+02] [-8.04316508e-01 1.53904483e-03 5.94199114e-01 -1.89872567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-172.78, Z:-189.90 [[ 4.96161510e-01 5.52591383e-01 6.69676429e-01 2.96981351e+02] [-3.26841974e-01 8.33449417e-01 -4.45574229e-01 -1.72781365e+02] [-8.04361909e-01 2.19841605e-03 5.94135579e-01 -1.89899088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-172.79, Z:-189.93 [[ 4.96146118e-01 5.52532450e-01 6.69736457e-01 2.96998523e+02] [-3.26064324e-01 8.33486198e-01 -4.46074898e-01 -1.72791488e+02] [-8.04686949e-01 2.94116333e-03 5.93692061e-01 -1.89925156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-172.80, Z:-189.95 [[ 4.95557543e-01 5.53208705e-01 6.69613956e-01 2.97015253e+02] [-3.26684438e-01 8.33038965e-01 -4.46456450e-01 -1.72801603e+02] [-8.04798111e-01 2.49240272e-03 5.93543418e-01 -1.89951807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-172.81, Z:-189.98 [[ 4.94934790e-01 5.53932889e-01 6.69475846e-01 2.97031286e+02] [-3.27387392e-01 8.32558974e-01 -4.46836715e-01 -1.72810708e+02] [-8.04895676e-01 1.97708389e-03 5.93413045e-01 -1.89977433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.82, Z:-190.00 [[ 4.93989004e-01 5.54932889e-01 6.69346213e-01 2.97047569e+02] [-3.28792178e-01 8.31894774e-01 -4.47042268e-01 -1.72820111e+02] [-8.04904074e-01 7.58165313e-04 5.93404463e-01 -1.90003659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-172.83, Z:-190.03 [[ 4.91969297e-01 5.57173616e-01 6.68972176e-01 2.97065257e+02] [-3.32322866e-01 8.30392857e-01 -4.47223898e-01 -1.72828602e+02] [-8.04691073e-01 -2.29432416e-03 5.93689323e-01 -1.90030611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-172.88, Z:-190.04 [[ 4.95690229e-01 5.31162882e-01 6.87136951e-01 2.97090487e+02] [-3.42099871e-01 8.46627059e-01 -4.07664447e-01 -1.72875090e+02] [-7.98284959e-01 -3.29941793e-02 6.01375514e-01 -1.90043237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-172.81, Z:-190.09 [[ 4.88977161e-01 6.01131264e-01 6.32093774e-01 2.97101827e+02] [-3.36995515e-01 7.98554176e-01 -4.98743674e-01 -1.72813059e+02] [-8.04571538e-01 3.08614988e-02 5.93053293e-01 -1.90093277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.86, Z:-190.11 [[ 4.87292537e-01 5.62337256e-01 6.68073943e-01 2.97115085e+02] [-3.40634821e-01 8.26853498e-01 -4.47527888e-01 -1.72856174e+02] [-8.04060882e-01 -9.49224795e-03 5.94471190e-01 -1.90108414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-172.87, Z:-190.13 [[ 4.86370776e-01 5.63710642e-01 6.67588032e-01 2.97131853e+02] [-3.42763350e-01 8.25897857e-01 -4.47667304e-01 -1.72865870e+02] [-8.03714349e-01 -1.10924158e-02 5.94911930e-01 -1.90134517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-172.88, Z:-190.16 [[ 4.85369248e-01 5.64987875e-01 6.67237135e-01 2.97148532e+02] [-3.44615002e-01 8.25003820e-01 -4.47894182e-01 -1.72875546e+02] [-8.03527967e-01 -1.25458644e-02 5.95134781e-01 -1.90160907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-172.89, Z:-190.19 [[ 4.85254307e-01 5.65338160e-01 6.67024004e-01 2.97164807e+02] [-3.44774380e-01 8.24764880e-01 -4.48211467e-01 -1.72886361e+02] [-8.03529019e-01 -1.24762426e-02 5.95134824e-01 -1.90188056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-172.90, Z:-190.21 [[ 4.84094523e-01 5.66357128e-01 6.67002321e-01 2.97181357e+02] [-3.46098731e-01 8.24045636e-01 -4.48513611e-01 -1.72896181e+02] [-8.03659232e-01 -1.37256741e-02 5.94931462e-01 -1.90214405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-172.91, Z:-190.24 [[ 4.82199899e-01 5.67868945e-01 6.67089288e-01 2.97198008e+02] [-3.47972862e-01 8.22971071e-01 -4.49036194e-01 -1.72905174e+02] [-8.03988896e-01 -1.56037611e-02 5.94439550e-01 -1.90239918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-172.92, Z:-190.27 [[ 4.81397562e-01 5.68351990e-01 6.67257374e-01 2.97214800e+02] [-3.48067974e-01 8.22633348e-01 -4.49580983e-01 -1.72915025e+02] [-8.04428413e-01 -1.58237328e-02 5.93838814e-01 -1.90266979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:-172.95, Z:-190.28 [[ 4.84585732e-01 5.44587799e-01 6.84544227e-01 2.97236579e+02] [-3.53747843e-01 8.37722869e-01 -4.16032281e-01 -1.72954811e+02] [-8.00024457e-01 -4.05527364e-02 5.98595309e-01 -1.90281095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:-172.37, Z:-190.21 [[ 4.34457981e-01 5.60196739e-01 -7.05284252e-01 2.97938504e+02] [-2.77508575e-01 -6.61698047e-01 -6.96523284e-01 -1.72367950e+02] [-8.56875285e-01 4.98332527e-01 -1.32020598e-01 -1.90208683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.29, Y:-173.00, Z:-190.38 [[ 4.51771883e-01 5.11225406e-01 7.31129777e-01 2.97289984e+02] [-3.12134669e-01 8.58308700e-01 -4.07281383e-01 -1.73003596e+02] [-8.35747638e-01 -4.42126733e-02 5.47330910e-01 -1.90381541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.94, Z:-190.43 [[ 4.44363791e-01 5.86365367e-01 6.77286112e-01 2.97297062e+02] [-3.04213039e-01 8.09871727e-01 -5.01559780e-01 -1.72941507e+02] [-8.42612158e-01 1.68357391e-02 5.38257661e-01 -1.90432181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-172.98, Z:-190.45 [[ 4.45927164e-01 5.43787028e-01 7.10946294e-01 2.97308509e+02] [-3.04393448e-01 8.39082828e-01 -4.50870977e-01 -1.72984347e+02] [-8.41720615e-01 -1.53517773e-02 5.39695034e-01 -1.90450002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-172.99, Z:-190.48 [[ 4.46233627e-01 5.44130853e-01 7.10490791e-01 2.97323282e+02] [-3.04648387e-01 8.38863556e-01 -4.51106744e-01 -1.72993985e+02] [-8.41465929e-01 -1.51508749e-02 5.40097714e-01 -1.90478302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-173.00, Z:-190.51 [[ 4.46816577e-01 5.44456497e-01 7.09874686e-01 2.97337206e+02] [-3.05007180e-01 8.38656882e-01 -4.51248552e-01 -1.73003139e+02] [-8.41026496e-01 -1.48915424e-02 5.40788938e-01 -1.90505544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-173.01, Z:-190.53 [[ 4.47042198e-01 5.44836233e-01 7.09441155e-01 2.97351800e+02] [-3.05613656e-01 8.38407158e-01 -4.51302261e-01 -1.73012592e+02] [-8.40686366e-01 -1.50637500e-02 5.41312772e-01 -1.90533577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-173.02, Z:-190.56 [[ 4.47238991e-01 5.45511912e-01 7.08797600e-01 2.97365753e+02] [-3.06673325e-01 8.37960106e-01 -4.51413705e-01 -1.73021906e+02] [-8.40195666e-01 -1.54795066e-02 5.42062384e-01 -1.90561013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-173.05, Z:-190.58 [[ 4.50780506e-01 5.26423179e-01 7.20885270e-01 2.97384648e+02] [-3.12322358e-01 8.49561402e-01 -4.25088425e-01 -1.73054330e+02] [-8.36212700e-01 -3.35270120e-02 5.47379447e-01 -1.90580932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-173.02, Z:-190.62 [[ 4.46946080e-01 5.73408777e-01 6.86616033e-01 2.97394786e+02] [-3.08543976e-01 8.19258778e-01 -4.83338049e-01 -1.73019845e+02] [-8.39666491e-01 4.17480568e-03 5.43086323e-01 -1.90622473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-173.05, Z:-190.64 [[ 4.47552489e-01 5.47068868e-01 7.07398349e-01 2.97407279e+02] [-3.09272442e-01 8.36921427e-01 -4.51567362e-01 -1.73050886e+02] [-8.39075280e-01 -1.66787178e-02 5.43759592e-01 -1.90643974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-173.06, Z:-190.67 [[ 4.47516496e-01 5.47451965e-01 7.07124693e-01 2.97421495e+02] [-3.09436077e-01 8.36673037e-01 -4.51915415e-01 -1.73060813e+02] [-8.39034147e-01 -1.65702882e-02 5.43826374e-01 -1.90671780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-173.07, Z:-190.70 [[ 4.47422345e-01 5.47601447e-01 7.07068526e-01 2.97434879e+02] [-3.08951780e-01 8.36585688e-01 -4.52408206e-01 -1.73071692e+02] [-8.39262798e-01 -1.60325390e-02 5.43489572e-01 -1.90698540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-173.09, Z:-190.72 [[ 4.49510596e-01 5.37324235e-01 7.13598550e-01 2.97452208e+02] [-3.10480037e-01 8.43030479e-01 -4.39205827e-01 -1.73093114e+02] [-8.37581263e-01 -2.41304310e-02 5.45779581e-01 -1.90720358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-173.08, Z:-190.75 [[ 4.46584164e-01 5.59528733e-01 6.98204971e-01 2.97463167e+02] [-3.07900275e-01 8.28786879e-01 -4.67236268e-01 -1.73082138e+02] [-8.40095236e-01 -6.31718480e-03 5.42402146e-01 -1.90754992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-173.11, Z:-190.78 [[ 4.48053437e-01 5.40953861e-01 7.11770355e-01 2.97478430e+02] [-3.08951503e-01 8.40796809e-01 -4.44533121e-01 -1.73109516e+02] [-8.38926151e-01 -2.07279280e-02 5.43850408e-01 -1.90776220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-173.11, Z:-190.81 [[ 4.46357459e-01 5.56578867e-01 7.00703207e-01 2.97490088e+02] [-3.06547107e-01 8.30761682e-01 -4.64611557e-01 -1.73105738e+02] [-8.40710349e-01 -7.41570670e-03 5.41434315e-01 -1.90808503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-173.12, Z:-190.83 [[ 4.46278764e-01 5.48003395e-01 7.07479713e-01 2.97503783e+02] [-3.06817289e-01 8.36353377e-01 -4.54286452e-01 -1.73123135e+02] [-8.40653565e-01 -1.43286114e-02 5.41383667e-01 -1.90833662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-173.13, Z:-190.86 [[ 4.46131780e-01 5.48515980e-01 7.07175123e-01 2.97517999e+02] [-3.07264393e-01 8.36014770e-01 -4.54607409e-01 -1.73133097e+02] [-8.40568277e-01 -1.44749221e-02 5.41512187e-01 -1.90861540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-173.14, Z:-190.89 [[ 4.44523127e-01 5.49893155e-01 7.07118595e-01 2.97531968e+02] [-3.09105322e-01 8.35076355e-01 -4.55083928e-01 -1.73143322e+02] [-8.40745556e-01 -1.62787901e-02 5.41185653e-01 -1.90889545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-173.15, Z:-190.92 [[ 4.43729392e-01 5.51118984e-01 7.06662644e-01 2.97546691e+02] [-3.11019664e-01 8.34237894e-01 -4.55317367e-01 -1.73152864e+02] [-8.40458801e-01 -1.77482798e-02 5.41584715e-01 -1.90917612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-173.16, Z:-190.94 [[ 4.43001761e-01 5.52257831e-01 7.06229940e-01 2.97560633e+02] [-3.12748367e-01 8.33455557e-01 -4.55565904e-01 -1.73162065e+02] [-8.40201106e-01 -1.90557628e-02 5.41940014e-01 -1.90944944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-173.17, Z:-190.97 [[ 4.42277970e-01 5.53492614e-01 7.05716745e-01 2.97574591e+02] [-3.15045312e-01 8.32593098e-01 -4.55560297e-01 -1.73171785e+02] [-8.39724150e-01 -2.08484690e-02 5.42612839e-01 -1.90972564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-173.18, Z:-191.00 [[ 4.40626687e-01 5.55534364e-01 7.05145157e-01 2.97588318e+02] [-3.18640922e-01 8.31150110e-01 -4.55694478e-01 -1.73182367e+02] [-8.39235417e-01 -2.38969548e-02 5.43242902e-01 -1.91000926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-173.19, Z:-191.03 [[ 4.39587712e-01 5.56640930e-01 7.04920930e-01 2.97602081e+02] [-3.20124278e-01 8.30371576e-01 -4.56073999e-01 -1.73192080e+02] [-8.39215759e-01 -2.51777782e-02 5.43215417e-01 -1.91028080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-173.20, Z:-191.05 [[ 4.38678629e-01 5.57493463e-01 7.04813520e-01 2.97615621e+02] [-3.21332009e-01 8.29764719e-01 -4.56329103e-01 -1.73201883e+02] [-8.39229885e-01 -2.62973194e-02 5.43140545e-01 -1.91054790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-173.21, Z:-191.08 [[ 4.37759503e-01 5.58329890e-01 7.04722890e-01 2.97629782e+02] [-3.22260532e-01 8.29174364e-01 -4.56747221e-01 -1.73212017e+02] [-8.39353780e-01 -2.71589367e-02 5.42906645e-01 -1.91082472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-173.22, Z:-191.11 [[ 4.36693774e-01 5.59098377e-01 7.04774824e-01 2.97643700e+02] [-3.22877939e-01 8.28633134e-01 -4.57293086e-01 -1.73223775e+02] [-8.39671593e-01 -2.78591988e-02 5.42379462e-01 -1.91110421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-173.23, Z:-191.14 [[ 4.35779878e-01 5.59633962e-01 7.04915404e-01 2.97657748e+02] [-3.22946273e-01 8.28263376e-01 -4.57914276e-01 -1.73234543e+02] [-8.40119993e-01 -2.80999751e-02 5.41672215e-01 -1.91138210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-173.25, Z:-191.17 [[ 4.35224430e-01 5.60069473e-01 7.04912676e-01 2.97672171e+02] [-3.22954904e-01 8.27967935e-01 -4.58442176e-01 -1.73245304e+02] [-8.40404561e-01 -2.81297713e-02 5.41229055e-01 -1.91165720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-173.26, Z:-191.19 [[ 4.34552664e-01 5.60537576e-01 7.04955040e-01 2.97685999e+02] [-3.22990450e-01 8.27647480e-01 -4.58995445e-01 -1.73255667e+02] [-8.40738456e-01 -2.82360526e-02 5.40704701e-01 -1.91192473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-173.26, Z:-191.23 [[ 4.32037946e-01 5.67953611e-01 7.00551146e-01 2.97697686e+02] [-3.21399007e-01 8.22749908e-01 -4.68812615e-01 -1.73258356e+02] [-8.42642208e-01 -2.26116034e-02 5.37998907e-01 -1.91225032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-173.28, Z:-191.25 [[ 4.33002455e-01 5.55458015e-01 7.09912155e-01 2.97713086e+02] [-3.23541502e-01 8.30863757e-01 -4.52754143e-01 -1.73280797e+02] [-8.41326198e-01 -3.36423892e-02 5.39479767e-01 -1.91245149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-173.29, Z:-191.27 [[ 4.32248971e-01 5.62287763e-01 7.04977517e-01 2.97727342e+02] [-3.24413262e-01 8.26405568e-01 -4.60228066e-01 -1.73285613e+02] [-8.41377955e-01 -2.97709474e-02 5.39626564e-01 -1.91274168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.74, Y:-173.30, Z:-191.30 [[ 4.31855399e-01 5.63129560e-01 7.04546672e-01 2.97741285e+02] [-3.25639851e-01 8.25802501e-01 -4.60444261e-01 -1.73295386e+02] [-8.41106178e-01 -3.05831333e-02 5.40004694e-01 -1.91302312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-173.31, Z:-191.33 [[ 4.31390067e-01 5.64475179e-01 7.03754490e-01 2.97754622e+02] [-3.28104578e-01 8.24819085e-01 -4.60457233e-01 -1.73305700e+02] [-8.40386814e-01 -3.22683935e-02 5.41025650e-01 -1.91329697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-173.32, Z:-191.36 [[ 4.30959737e-01 5.65272189e-01 7.03378318e-01 2.97768722e+02] [-3.29200263e-01 8.24243833e-01 -4.60705211e-01 -1.73315737e+02] [-8.40179083e-01 -3.30069302e-02 5.41303658e-01 -1.91357781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:-173.33, Z:-191.38 [[ 4.30510721e-01 5.66081636e-01 7.03002205e-01 2.97782207e+02] [-3.30267627e-01 8.23659273e-01 -4.60986655e-01 -1.73325519e+02] [-8.39990365e-01 -3.37191733e-02 5.41552586e-01 -1.91384731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-173.34, Z:-191.41 [[ 4.29919751e-01 5.66641215e-01 7.02913039e-01 2.97796131e+02] [-3.30912540e-01 8.23250399e-01 -4.61254454e-01 -1.73335447e+02] [-8.40039225e-01 -3.43003391e-02 5.41440290e-01 -1.91412484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-173.35, Z:-191.44 [[ 4.29299482e-01 5.67408152e-01 7.02673426e-01 2.97809795e+02] [-3.31787880e-01 8.22693968e-01 -4.61618281e-01 -1.73345906e+02] [-8.40011165e-01 -3.49660377e-02 5.41441243e-01 -1.91440614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:-173.36, Z:-191.47 [[ 4.28812443e-01 5.67863685e-01 7.02602821e-01 2.97823620e+02] [-3.31921297e-01 8.22375638e-01 -4.62089345e-01 -1.73355949e+02] [-8.40207201e-01 -3.50591781e-02 5.41130957e-01 -1.91468500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-173.37, Z:-191.50 [[ 4.28652286e-01 5.68256681e-01 7.02382775e-01 2.97837394e+02] [-3.32057472e-01 8.22106954e-01 -4.62469449e-01 -1.73366263e+02] [-8.40235118e-01 -3.49928624e-02 5.41091902e-01 -1.91496171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:-173.38, Z:-191.52 [[ 4.28578953e-01 5.68545371e-01 7.02193878e-01 2.97850645e+02] [-3.31963689e-01 8.21918651e-01 -4.62871301e-01 -1.73376724e+02] [-8.40309580e-01 -3.47259723e-02 5.40993453e-01 -1.91523548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:-173.39, Z:-191.55 [[ 4.28812766e-01 5.68381937e-01 7.02183442e-01 2.97863469e+02] [-3.31154201e-01 8.22065771e-01 -4.63189770e-01 -1.73388799e+02] [-8.40509671e-01 -3.39093104e-02 5.40734363e-01 -1.91551804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-173.40, Z:-191.58 [[ 4.28925116e-01 5.68495657e-01 7.02022744e-01 2.97877304e+02] [-3.30702914e-01 8.22011723e-01 -4.63607928e-01 -1.73399574e+02] [-8.40630019e-01 -3.33078826e-02 5.40584644e-01 -1.91579472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-173.41, Z:-191.61 [[ 4.28557333e-01 5.68686099e-01 7.02093109e-01 2.97891216e+02] [-3.30189934e-01 8.21896514e-01 -4.64177474e-01 -1.73410157e+02] [-8.41019156e-01 -3.28974169e-02 5.40004203e-01 -1.91607377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:-173.42, Z:-191.63 [[ 4.27935747e-01 5.68986710e-01 7.02228681e-01 2.97904408e+02] [-3.29820772e-01 8.21696019e-01 -4.64794482e-01 -1.73421230e+02] [-8.41480395e-01 -3.27074318e-02 5.39296736e-01 -1.91634671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:-173.43, Z:-191.66 [[ 4.27749764e-01 5.69195267e-01 7.02172976e-01 2.97918729e+02] [-3.29504921e-01 8.21565354e-01 -4.65249262e-01 -1.73431448e+02] [-8.41698667e-01 -3.23591889e-02 5.38977028e-01 -1.91662392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.93, Y:-173.44, Z:-191.69 [[ 4.27062254e-01 5.69436460e-01 7.02395864e-01 2.97931964e+02] [-3.28953511e-01 8.21409114e-01 -4.65914859e-01 -1.73441278e+02] [-8.42263272e-01 -3.20809358e-02 5.38110950e-01 -1.91689242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-173.45, Z:-191.72 [[ 4.26514146e-01 5.69698239e-01 7.02516619e-01 2.97945976e+02] [-3.28590827e-01 8.21235339e-01 -4.66476781e-01 -1.73451581e+02] [-8.42682474e-01 -3.18815710e-02 5.37466104e-01 -1.91716653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-173.46, Z:-191.74 [[ 4.25672310e-01 5.70001075e-01 7.02781516e-01 2.97960444e+02] [-3.28113137e-01 8.21031062e-01 -4.67172092e-01 -1.73462502e+02] [-8.43294050e-01 -3.17296247e-02 5.36515030e-01 -1.91744741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-173.47, Z:-191.77 [[ 4.25386557e-01 5.70505485e-01 7.02545208e-01 2.97974651e+02] [-3.28465354e-01 8.20675116e-01 -4.67549853e-01 -1.73472486e+02] [-8.43301126e-01 -3.18723379e-02 5.36495448e-01 -1.91771751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.99, Y:-173.48, Z:-191.80 [[ 4.24843428e-01 5.70798441e-01 7.02635895e-01 2.97988855e+02] [-3.28164003e-01 8.20477775e-01 -4.68107475e-01 -1.73481834e+02] [-8.43692153e-01 -3.17074233e-02 5.35890092e-01 -1.91800108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-173.49, Z:-191.83 [[ 4.24796771e-01 5.71215228e-01 7.02325328e-01 2.98003353e+02] [-3.28408925e-01 8.20189579e-01 -4.68440640e-01 -1.73491273e+02] [-8.43620342e-01 -3.16578343e-02 5.36006064e-01 -1.91828312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:-173.50, Z:-191.86 [[ 4.25321338e-01 5.71522521e-01 7.01757627e-01 2.98016760e+02] [-3.28681954e-01 8.19987378e-01 -4.68603108e-01 -1.73499907e+02] [-8.43249626e-01 -3.13481676e-02 5.36607268e-01 -1.91855939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-173.51, Z:-191.88 [[ 4.25583869e-01 5.72015735e-01 7.01196384e-01 2.98031188e+02] [-3.29367265e-01 8.19638858e-01 -4.68731637e-01 -1.73509919e+02] [-8.42849675e-01 -3.14665115e-02 5.37228335e-01 -1.91883772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-173.52, Z:-191.91 [[ 4.25715241e-01 5.72421629e-01 7.00785283e-01 2.98045313e+02] [-3.29704054e-01 8.19358091e-01 -4.68985666e-01 -1.73519842e+02] [-8.42651631e-01 -3.13974028e-02 5.37542959e-01 -1.91911150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-173.53, Z:-191.94 [[ 4.25576924e-01 5.72907995e-01 7.00471777e-01 2.98059654e+02] [-3.30161990e-01 8.19011862e-01 -4.69268186e-01 -1.73529634e+02] [-8.42542190e-01 -3.15594449e-02 5.37704993e-01 -1.91938744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-173.54, Z:-191.97 [[ 4.25288684e-01 5.73467008e-01 7.00189351e-01 2.98074440e+02] [-3.30685343e-01 8.18610199e-01 -4.69600411e-01 -1.73539396e+02] [-8.42482486e-01 -3.18266152e-02 5.37782788e-01 -1.91966631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-173.55, Z:-192.00 [[ 4.25205578e-01 5.73828868e-01 6.99943317e-01 2.98089208e+02] [-3.30779583e-01 8.18361715e-01 -4.69966988e-01 -1.73549164e+02] [-8.42487438e-01 -3.16943736e-02 5.37782840e-01 -1.91995026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-173.56, Z:-192.02 [[ 4.24979928e-01 5.74032630e-01 6.99913281e-01 2.98103421e+02] [-3.30836431e-01 8.18217023e-01 -4.70178859e-01 -1.73558602e+02] [-8.42578968e-01 -3.17402345e-02 5.37636718e-01 -1.92022359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-173.57, Z:-192.05 [[ 4.24968267e-01 5.74267149e-01 6.99727957e-01 2.98117862e+02] [-3.30688156e-01 8.18064662e-01 -4.70548139e-01 -1.73567855e+02] [-8.42643053e-01 -3.14237207e-02 5.37554867e-01 -1.92050367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-173.58, Z:-192.08 [[ 4.24771146e-01 5.74668452e-01 6.99518152e-01 2.98132052e+02] [-3.30817093e-01 8.17784897e-01 -4.70943641e-01 -1.73577284e+02] [-8.42691833e-01 -3.13692911e-02 5.37481574e-01 -1.92078007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-173.59, Z:-192.11 [[ 4.25440838e-01 5.74711988e-01 6.99075264e-01 2.98146162e+02] [-3.30467175e-01 8.17785007e-01 -4.71189059e-01 -1.73586835e+02] [-8.42491270e-01 -3.05583592e-02 5.37842586e-01 -1.92105093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-173.60, Z:-192.13 [[ 4.25754009e-01 5.74989550e-01 6.98656240e-01 2.98160839e+02] [-3.30604592e-01 8.17600489e-01 -4.71412818e-01 -1.73596862e+02] [-8.42279127e-01 -3.02730641e-02 5.38190871e-01 -1.92133118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-173.61, Z:-192.16 [[ 4.26019395e-01 5.75232152e-01 6.98294670e-01 2.98174554e+02] [-3.30574925e-01 8.17444160e-01 -4.71704637e-01 -1.73606247e+02] [-8.42156574e-01 -2.98833840e-02 5.38404392e-01 -1.92160054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.62, Z:-192.19 [[ 4.26895338e-01 5.75229971e-01 6.97761314e-01 2.98189020e+02] [-3.30299497e-01 8.17475988e-01 -4.71842401e-01 -1.73616078e+02] [-8.41821010e-01 -2.90428892e-02 5.38974858e-01 -1.92188466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.20, Y:-173.63, Z:-192.22 [[ 4.27331895e-01 5.75313689e-01 6.97424986e-01 2.98202863e+02] [-3.29958524e-01 8.17441042e-01 -4.72141415e-01 -1.73625297e+02] [-8.41733226e-01 -2.83602331e-02 5.39148285e-01 -1.92215334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-173.63, Z:-192.24 [[ 4.27378520e-01 5.75261383e-01 6.97439562e-01 2.98216962e+02] [-3.29079068e-01 8.17506703e-01 -4.72641257e-01 -1.73634794e+02] [-8.42053780e-01 -2.75160403e-02 5.38691284e-01 -1.92243030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-173.64, Z:-192.27 [[ 4.27659312e-01 5.75132799e-01 6.97373484e-01 2.98230650e+02] [-3.28052173e-01 8.17632881e-01 -4.73136602e-01 -1.73644215e+02] [-8.42311869e-01 -2.64336132e-02 5.38341880e-01 -1.92269831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:-173.65, Z:-192.30 [[ 4.27956241e-01 5.75010769e-01 6.97291955e-01 2.98244683e+02] [-3.27110316e-01 8.17750906e-01 -4.73584520e-01 -1.73654415e+02] [-8.42527327e-01 -2.54179406e-02 5.38053558e-01 -1.92297208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:-173.67, Z:-192.32 [[ 4.29010112e-01 5.74141140e-01 6.97360936e-01 2.98258691e+02] [-3.24610000e-01 8.18434178e-01 -4.74124291e-01 -1.73665261e+02] [-8.42958286e-01 -2.29662182e-02 5.37488494e-01 -1.92324638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-173.67, Z:-192.35 [[ 4.29589239e-01 5.74014059e-01 6.97108991e-01 2.98272570e+02] [-3.23754826e-01 8.18553834e-01 -4.74502300e-01 -1.73674856e+02] [-8.42992229e-01 -2.18513184e-02 5.37481740e-01 -1.92351679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:-173.68, Z:-192.38 [[ 4.29895958e-01 5.75190587e-01 6.95949175e-01 2.98286406e+02] [-3.23609929e-01 8.17760019e-01 -4.75967610e-01 -1.73684855e+02] [-8.42891499e-01 -2.05995112e-02 5.37689111e-01 -1.92380693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:-173.69, Z:-192.41 [[ 4.30888697e-01 5.80101699e-01 6.91243046e-01 2.98299128e+02] [-3.20791066e-01 8.14433799e-01 -4.83519057e-01 -1.73688379e+02] [-8.43461927e-01 -1.34016967e-02 5.37021761e-01 -1.92410242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-173.70, Z:-192.44 [[ 4.31180064e-01 5.76603402e-01 6.93982903e-01 2.98311966e+02] [-3.19697505e-01 8.16889043e-01 -4.80089364e-01 -1.73700209e+02] [-8.43728189e-01 -1.48596395e-02 5.36564939e-01 -1.92437054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-173.72, Z:-192.46 [[ 4.33379575e-01 5.66366779e-01 7.01007002e-01 2.98327388e+02] [-3.20290016e-01 8.23863063e-01 -4.67615184e-01 -1.73719998e+02] [-8.42375480e-01 -2.18706740e-02 5.38447048e-01 -1.92459005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:-173.73, Z:-192.49 [[ 4.34761853e-01 5.72070104e-01 6.95498330e-01 2.98340636e+02] [-3.18846390e-01 8.20064778e-01 -4.75216519e-01 -1.73726196e+02] [-8.42210847e-01 -1.51511173e-02 5.38935369e-01 -1.92488530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:-173.74, Z:-192.52 [[ 4.35782207e-01 5.71987196e-01 6.94927706e-01 2.98354223e+02] [-3.18430213e-01 8.20140825e-01 -4.75364310e-01 -1.73736576e+02] [-8.41840880e-01 -1.41306685e-02 5.39540783e-01 -1.92515302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.37, Y:-173.75, Z:-192.54 [[ 4.36398655e-01 5.71925608e-01 6.94591472e-01 2.98368094e+02] [-3.17878743e-01 8.20198795e-01 -4.75633306e-01 -1.73747253e+02] [-8.41729956e-01 -1.32301289e-02 5.39736644e-01 -1.92543568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-173.76, Z:-192.57 [[ 4.38481377e-01 5.71418675e-01 6.93696461e-01 2.98381300e+02] [-3.17024231e-01 8.20579512e-01 -4.75546950e-01 -1.73758939e+02] [-8.40969512e-01 -1.14001059e-02 5.40962400e-01 -1.92571834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.39, Y:-173.77, Z:-192.60 [[ 4.39075602e-01 5.71440345e-01 6.93302638e-01 2.98394472e+02] [-3.16637224e-01 8.20575046e-01 -4.75812423e-01 -1.73769055e+02] [-8.40805259e-01 -1.06077965e-02 5.41233767e-01 -1.92599203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-173.78, Z:-192.63 [[ 4.39492848e-01 5.71585216e-01 6.92918738e-01 2.98407767e+02] [-3.16531786e-01 8.20480400e-01 -4.76045736e-01 -1.73779573e+02] [-8.40626948e-01 -1.01121093e-02 5.41520157e-01 -1.92626885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-173.79, Z:-192.65 [[ 4.40276480e-01 5.71563313e-01 6.92439167e-01 2.98421303e+02] [-3.16171072e-01 8.20505816e-01 -4.76241598e-01 -1.73790032e+02] [-8.40352590e-01 -9.25125901e-03 5.41961198e-01 -1.92654563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-173.80, Z:-192.68 [[ 4.40950286e-01 5.71214192e-01 6.92298485e-01 2.98433856e+02] [-3.14837882e-01 8.20764263e-01 -4.76679277e-01 -1.73802147e+02] [-8.40499824e-01 -7.76992513e-03 5.41756102e-01 -1.92681481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-173.81, Z:-192.71 [[ 4.40734892e-01 5.71479216e-01 6.92216917e-01 2.98447978e+02] [-3.14644126e-01 8.20582099e-01 -4.77120627e-01 -1.73812834e+02] [-8.40685333e-01 -7.51827846e-03 5.41471742e-01 -1.92708893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:-173.82, Z:-192.74 [[ 4.39886804e-01 5.71945663e-01 6.92371113e-01 2.98462992e+02] [-3.14526881e-01 8.20256208e-01 -4.77757882e-01 -1.73822543e+02] [-8.41173253e-01 -7.60993838e-03 5.40712167e-01 -1.92737115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.48, Y:-173.83, Z:-192.76 [[ 4.38909213e-01 5.72754595e-01 6.92322812e-01 2.98477167e+02] [-3.15256907e-01 8.19684383e-01 -4.78257875e-01 -1.73832445e+02] [-8.41410593e-01 -8.34776072e-03 5.40331870e-01 -1.92763389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:-173.84, Z:-192.79 [[ 4.38284243e-01 5.73362365e-01 6.92215661e-01 2.98491931e+02] [-3.15990894e-01 8.19252366e-01 -4.78513653e-01 -1.73842235e+02] [-8.41461038e-01 -9.00885125e-03 5.40242689e-01 -1.92791333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:-173.85, Z:-192.82 [[ 4.37422068e-01 5.78269997e-01 6.88669547e-01 2.98505903e+02] [-3.17958064e-01 8.15809477e-01 -4.83070976e-01 -1.73850724e+02] [-8.41168595e-01 -7.66213091e-03 5.40718677e-01 -1.92824639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.52, Y:-173.85, Z:-192.85 [[ 4.37527967e-01 5.84834288e-01 6.83035968e-01 2.98521349e+02] [-3.18227917e-01 8.11148387e-01 -4.90682470e-01 -1.73851213e+02] [-8.41011457e-01 -2.67380986e-03 5.41010702e-01 -1.92848780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:-173.87, Z:-192.87 [[ 4.37156364e-01 5.75660452e-01 6.91020519e-01 2.98535688e+02] [-3.19494689e-01 8.17609635e-01 -4.78996480e-01 -1.73868379e+02] [-8.40724365e-01 -1.13810267e-02 5.41343713e-01 -1.92873475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.55, Y:-173.88, Z:-192.90 [[ 4.36317441e-01 5.76895730e-01 6.90520389e-01 2.98551430e+02] [-3.21803403e-01 8.16710770e-01 -4.78984434e-01 -1.73876955e+02] [-8.40279514e-01 -1.32225483e-02 5.41992162e-01 -1.92901546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.57, Y:-173.89, Z:-192.93 [[ 4.35671156e-01 5.77743782e-01 6.90219361e-01 2.98565615e+02] [-3.22873468e-01 8.16097555e-01 -4.79309404e-01 -1.73885314e+02] [-8.40204361e-01 -1.40322368e-02 5.42088304e-01 -1.92928353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-173.89, Z:-192.96 [[ 4.35119399e-01 5.78386392e-01 6.90029195e-01 2.98580576e+02] [-3.23502335e-01 8.15633883e-01 -4.79674482e-01 -1.73894286e+02] [-8.40248385e-01 -1.45103830e-02 5.42007473e-01 -1.92956292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:-173.90, Z:-192.98 [[ 4.34843375e-01 5.79019750e-01 6.89671928e-01 2.98595219e+02] [-3.24230166e-01 8.15177256e-01 -4.79959207e-01 -1.73903760e+02] [-8.40110730e-01 -1.49053626e-02 5.42210099e-01 -1.92983995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.61, Y:-173.91, Z:-193.01 [[ 4.34748276e-01 5.79489964e-01 6.89336869e-01 2.98609605e+02] [-3.24619717e-01 8.14841733e-01 -4.80265541e-01 -1.73913152e+02] [-8.40009510e-01 -1.49777233e-02 5.42364906e-01 -1.93011291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-173.92, Z:-193.04 [[ 4.34691151e-01 5.79700467e-01 6.89195888e-01 2.98624091e+02] [-3.24642008e-01 8.14693919e-01 -4.80501180e-01 -1.73922992e+02] [-8.40030458e-01 -1.48723258e-02 5.42335361e-01 -1.93039213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.64, Y:-173.93, Z:-193.07 [[ 4.35017007e-01 5.79784232e-01 6.88919769e-01 2.98638540e+02] [-3.24255482e-01 8.14646113e-01 -4.80843107e-01 -1.73932899e+02] [-8.40011063e-01 -1.42110821e-02 5.42383129e-01 -1.93066929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.65, Y:-173.94, Z:-193.09 [[ 4.36178566e-01 5.79328604e-01 6.88568535e-01 2.98652086e+02] [-3.22932755e-01 8.14998234e-01 -4.81136483e-01 -1.73943107e+02] [-8.39918267e-01 -1.24999128e-02 5.42568943e-01 -1.93093651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:-173.95, Z:-193.12 [[ 4.37118347e-01 5.79017146e-01 6.88234477e-01 2.98666315e+02] [-3.22182651e-01 8.15235944e-01 -4.81236632e-01 -1.73953418e+02] [-8.39717744e-01 -1.13798474e-02 5.42903867e-01 -1.93120929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:-173.96, Z:-193.15 [[ 4.37711785e-01 5.78671882e-01 6.88147692e-01 2.98680420e+02] [-3.21127762e-01 8.15496354e-01 -4.81500422e-01 -1.73963620e+02] [-8.39812690e-01 -1.02249186e-02 5.42779971e-01 -1.93148896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:-173.97, Z:-193.18 [[ 4.38290653e-01 5.78480618e-01 6.87940026e-01 2.98694194e+02] [-3.20163054e-01 8.15645974e-01 -4.81889265e-01 -1.73973651e+02] [-8.39879112e-01 -9.04541886e-03 5.42698128e-01 -1.93176644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.71, Y:-173.98, Z:-193.20 [[ 4.39165455e-01 5.77599275e-01 6.88122650e-01 2.98707635e+02] [-3.17497320e-01 8.16294127e-01 -4.82555023e-01 -1.73983651e+02] [-8.40433909e-01 -6.55560096e-03 5.41874403e-01 -1.93203463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:-173.99, Z:-193.23 [[ 4.39080400e-01 5.77388959e-01 6.88353392e-01 2.98721978e+02] [-3.16082400e-01 8.16451331e-01 -4.83217488e-01 -1.73993880e+02] [-8.41011486e-01 -5.40506481e-03 5.40990265e-01 -1.93231795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.74, Y:-174.00, Z:-193.26 [[ 4.38967038e-01 5.77307950e-01 6.88493624e-01 2.98736018e+02] [-3.14943302e-01 8.16514430e-01 -4.83854217e-01 -1.74004162e+02] [-8.41497865e-01 -4.44040289e-03 5.40242192e-01 -1.93259273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.75, Y:-174.00, Z:-193.29 [[ 4.37567939e-01 5.86928439e-01 6.81211646e-01 2.98747503e+02] [-3.12240118e-01 8.09624751e-01 -4.97004900e-01 -1.74004552e+02] [-8.43232120e-01 4.77180492e-03 5.37528439e-01 -1.93294007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:-174.03, Z:-193.31 [[ 4.38605925e-01 5.71625058e-01 6.93447645e-01 2.98763294e+02] [-3.12495025e-01 8.20487264e-01 -4.78693544e-01 -1.74029957e+02] [-8.42598186e-01 -6.74111465e-03 5.38500562e-01 -1.93312282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-174.04, Z:-193.34 [[ 4.38307588e-01 5.77317452e-01 6.88905667e-01 2.98776813e+02] [-3.12656010e-01 8.16515436e-01 -4.85333661e-01 -1.74035439e+02] [-8.42693703e-01 -2.66507018e-03 5.38386683e-01 -1.93340553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-174.05, Z:-193.37 [[ 4.38459252e-01 5.77722457e-01 6.88469496e-01 2.98791229e+02] [-3.13113628e-01 8.16228850e-01 -4.85520669e-01 -1.74045435e+02] [-8.42444859e-01 -2.68815192e-03 5.38775866e-01 -1.93368888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-174.05, Z:-193.40 [[ 4.38447220e-01 5.78576830e-01 6.87759324e-01 2.98804605e+02] [-3.14635831e-01 8.15620371e-01 -4.85559166e-01 -1.74054377e+02] [-8.41883798e-01 -3.50165955e-03 5.39647486e-01 -1.93396022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-174.06, Z:-193.43 [[ 4.37812509e-01 5.82410065e-01 6.84922421e-01 2.98817546e+02] [-3.14624190e-01 8.12894631e-01 -4.90116250e-01 -1.74059768e+02] [-8.42218396e-01 -9.14136965e-04 5.39135733e-01 -1.93426547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:-174.08, Z:-193.45 [[ 4.38461157e-01 5.77231016e-01 6.88880373e-01 2.98832661e+02] [-3.16853381e-01 8.16553412e-01 -4.82539594e-01 -1.74075088e+02] [-8.41044439e-01 -6.69920642e-03 5.40924553e-01 -1.93449948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:-174.08, Z:-193.48 [[ 4.38145711e-01 5.80755652e-01 6.86113116e-01 2.98846941e+02] [-3.18680906e-01 8.14056465e-01 -4.85545624e-01 -1.74081916e+02] [-8.40518183e-01 -5.91141668e-03 5.41751086e-01 -1.93479039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.86, Y:-174.09, Z:-193.51 [[ 4.38033784e-01 5.81352253e-01 6.85679198e-01 2.98861478e+02] [-3.19436682e-01 8.13627994e-01 -4.85767119e-01 -1.74091516e+02] [-8.40289599e-01 -6.24867899e-03 5.42101784e-01 -1.93507560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.88, Y:-174.10, Z:-193.53 [[ 4.37903655e-01 5.81951063e-01 6.85254222e-01 2.98875401e+02] [-3.20175066e-01 8.13197193e-01 -4.86002317e-01 -1.74101063e+02] [-8.40076375e-01 -6.57912515e-03 5.42428244e-01 -1.93534412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.89, Y:-174.12, Z:-193.56 [[ 4.38523359e-01 5.77263043e-01 6.88813939e-01 2.98891078e+02] [-3.21937301e-01 8.16476234e-01 -4.79294204e-01 -1.74119379e+02] [-8.39079041e-01 -1.15731961e-02 5.43886407e-01 -1.93560359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.90, Y:-174.11, Z:-193.59 [[ 4.37308089e-01 5.94318275e-01 6.74942533e-01 2.98903075e+02] [-3.20061147e-01 8.04224437e-01 -5.00783304e-01 -1.74111014e+02] [-8.40429948e-01 2.97370843e-03 5.41912040e-01 -1.93591850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.92, Y:-174.14, Z:-193.61 [[ 4.38356226e-01 5.76925784e-01 6.89202770e-01 2.98918854e+02] [-3.21207082e-01 8.16719204e-01 -4.79370161e-01 -1.74140071e+02] [-8.39446144e-01 -1.12419159e-02 5.43326596e-01 -1.93613867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03655999499995 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:299.81, Y:-173.54, Z:-193.46 [[ 4.05954936e-01 2.91401044e-01 -8.66190523e-01 2.99809767e+02] [-2.50996350e-01 -8.75805255e-01 -4.12269314e-01 -1.73537062e+02] [-8.78749920e-01 3.84773423e-01 -2.82396868e-01 -1.93457446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:-174.00, Z:-193.19 [[ 4.57496160e-01 -5.56128928e-01 -6.93842834e-01 3.00076646e+02] [-1.78200411e-01 -8.21801132e-01 5.41190829e-01 -1.74004329e+02] [-8.71172702e-01 -1.23949648e-01 -4.75073265e-01 -1.93192397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:-173.88, Z:-193.27 [[ 4.82953852e-01 -3.38938224e-01 -8.07388665e-01 3.00079718e+02] [-1.08504684e-01 -9.38107336e-01 3.28909348e-01 -1.73877581e+02] [-8.68897180e-01 -7.12425847e-02 -4.89838937e-01 -1.93268775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.06, Y:-173.80, Z:-193.29 [[ 4.98463432e-01 -1.91005478e-01 -8.45606951e-01 3.00057646e+02] [-3.30069830e-02 -9.78899911e-01 2.01656894e-01 -1.73804443e+02] [-8.66282140e-01 -7.26076532e-02 -4.94250324e-01 -1.93294207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.03, Y:-173.75, Z:-193.31 [[ 5.03067881e-01 -7.75641038e-02 -8.60759268e-01 3.00033481e+02] [ 4.55350035e-02 -9.92202399e-01 1.16021391e-01 -1.73746814e+02] [-8.63046506e-01 -9.75613115e-02 -4.95613276e-01 -1.93314764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.85, Z:-193.29 [[ 5.20864118e-01 -2.10830441e-01 -8.27194715e-01 3.00091769e+02] [ 1.17227179e-01 -9.42174429e-01 3.13950847e-01 -1.73854250e+02] [-8.45552103e-01 -2.60495434e-01 -4.66029795e-01 -1.93288269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.94, Y:-173.61, Z:-193.36 [[ 5.01213070e-01 2.47750331e-01 -8.29099048e-01 2.99936832e+02] [ 1.89136774e-01 -9.66335681e-01 -1.74420851e-01 -1.73613411e+02] [-8.44400817e-01 -6.93911091e-02 -5.31198771e-01 -1.93356617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-173.58, Z:-193.38 [[ 4.72673496e-01 3.84560555e-01 -7.92901600e-01 2.99884157e+02] [ 2.60190441e-01 -9.20548260e-01 -2.91362035e-01 -1.73576577e+02] [-8.41950534e-01 -6.85863055e-02 -5.35177744e-01 -1.93378286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:-173.55, Z:-193.40 [[ 4.34476993e-01 5.12196081e-01 -7.40867678e-01 2.99826990e+02] [ 3.25626374e-01 -8.56249729e-01 -4.01003575e-01 -1.73547835e+02] [-8.39760208e-01 -6.70192283e-02 -5.38805360e-01 -1.93399501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:-173.53, Z:-193.42 [[ 3.87465486e-01 6.28807549e-01 -6.74145061e-01 2.99767202e+02] [ 3.85896528e-01 -7.74747319e-01 -5.00849739e-01 -1.73527337e+02] [-8.37230175e-01 -6.60882510e-02 -5.42842497e-01 -1.93421116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.72, Y:-173.53, Z:-193.44 [[ 3.30251484e-01 7.05649954e-01 -6.26890820e-01 2.99724780e+02] [ 4.39351217e-01 -7.02741308e-01 -5.59575877e-01 -1.73525190e+02] [-8.35406766e-01 -9.06244812e-02 -5.42109526e-01 -1.93439340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:-173.55, Z:-193.42 [[ 2.84907303e-01 6.24986403e-01 -7.26787331e-01 2.99825790e+02] [ 4.96541348e-01 -7.44781248e-01 -4.45811151e-01 -1.73552422e+02] [-8.19923483e-01 -2.33865109e-01 -5.22525208e-01 -1.93416517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.59, Y:-173.52, Z:-193.48 [[ 2.20861189e-01 8.85543252e-01 -4.08697301e-01 2.99588256e+02] [ 5.31824390e-01 -4.60613173e-01 -7.10632341e-01 -1.73523551e+02] [-8.17547035e-01 -6.04040890e-02 -5.72685072e-01 -1.93479889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.53, Y:-173.54, Z:-193.50 [[ 1.49917899e-01 9.39285093e-01 -3.08655370e-01 2.99533267e+02] [ 5.59557351e-01 -3.37981784e-01 -7.56745588e-01 -1.73535510e+02] [-8.15119743e-01 -5.92606722e-02 -5.76253397e-01 -1.93501122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:-173.55, Z:-193.52 [[ 7.71455739e-02 9.75871964e-01 -2.04260791e-01 2.99480970e+02] [ 5.77346917e-01 -2.10752007e-01 -7.88830862e-01 -1.73554843e+02] [-8.12846294e-01 -5.70745285e-02 -5.79675254e-01 -1.93522496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:-173.58, Z:-193.54 [[ 1.21229518e-03 9.95231971e-01 -9.75287358e-02 2.99432144e+02] [ 5.85868189e-01 -7.97447951e-02 -8.06473330e-01 -1.73580809e+02] [-8.10405451e-01 -5.61613001e-02 -5.83171427e-01 -1.93543590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.41, Y:-173.61, Z:-193.56 [[-7.40156190e-02 9.97210187e-01 9.67113159e-03 2.99414994e+02] [ 5.84475474e-01 5.12348566e-02 -8.09792202e-01 -1.73614242e+02] [-8.08028532e-01 -5.42847318e-02 -5.86637077e-01 -1.93561799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:-173.64, Z:-193.59 [[-1.47724516e-01 9.82476420e-01 1.13655404e-01 2.99401590e+02] [ 5.73728044e-01 1.78731240e-01 -7.99306747e-01 -1.73640327e+02] [-8.05613803e-01 -5.28699100e-02 -5.90077261e-01 -1.93591352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:-174.22, Z:-194.19 [[-1.69833638e-01 -9.62771781e-01 -2.10302242e-01 3.00292383e+02] [ 5.82205241e-01 -2.70203156e-01 7.66829389e-01 -1.74224847e+02] [-7.95106026e-01 7.79435726e-03 6.06420362e-01 -1.94192053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:-174.23, Z:-194.19 [[-1.68631921e-01 -9.63110559e-01 -2.09717254e-01 3.00290133e+02] [ 5.83072373e-01 -2.69015201e-01 7.66588175e-01 -1.74225258e+02] [-7.94726295e-01 6.99089966e-03 6.06927709e-01 -1.94193317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:-174.22, Z:-194.20 [[-1.67469477e-01 -9.63434576e-01 -2.09159728e-01 3.00288162e+02] [ 5.83788259e-01 -2.67870757e-01 7.66444079e-01 -1.74222485e+02] [-7.94446501e-01 6.25099561e-03 6.07301970e-01 -1.94198833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:-174.22, Z:-194.20 [[-1.66172155e-01 -9.63783469e-01 -2.08586289e-01 3.00287254e+02] [ 5.84620307e-01 -2.66631645e-01 7.66241908e-01 -1.74223893e+02] [-7.94106990e-01 5.38428905e-03 6.07754143e-01 -1.94198500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:-173.63, Z:-193.66 [[-2.22284334e-01 9.55438951e-01 1.94232040e-01 2.99395470e+02] [ 5.47360683e-01 2.87149735e-01 -7.86092433e-01 -1.73631399e+02] [-8.06837008e-01 -6.84210513e-02 -5.86798604e-01 -1.93657865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.34, Y:-174.12, Z:-194.24 [[-2.36710357e-01 -9.19981379e-01 -3.12413939e-01 3.00343798e+02] [ 5.64868369e-01 -3.91935275e-01 7.26161460e-01 -1.74118535e+02] [-7.90501064e-01 -4.58281319e-03 6.12443520e-01 -1.94242713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-174.07, Z:-194.32 [[-2.34980062e-01 -9.24092403e-01 -3.01392770e-01 3.00316382e+02] [ 5.66968389e-01 -3.82168658e-01 7.29721839e-01 -1.74069706e+02] [-7.89513278e-01 5.89909540e-04 6.13733196e-01 -1.94322037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:-174.01, Z:-194.41 [[-2.33062414e-01 -9.25113942e-01 -2.99743398e-01 3.00289347e+02] [ 5.67939108e-01 -3.79689600e-01 7.30260897e-01 -1.74006475e+02] [-7.89383988e-01 -3.96305618e-05 6.13899762e-01 -1.94413534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.36, Y:-174.19, Z:-194.13 [[-2.17987073e-01 -1.76908932e-02 9.75791304e-01 2.99355095e+02] [ 5.04099883e-01 8.54092624e-01 1.28098005e-01 -1.74192296e+02] [-8.35682323e-01 5.19819991e-01 -1.77263174e-01 -1.94131979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-174.03, Z:-194.30 [[-2.30751942e-01 -9.10913688e-01 -3.42037709e-01 3.00321940e+02] [ 5.10591480e-01 -4.12596567e-01 7.54360931e-01 -1.74027510e+02] [-8.28281282e-01 -5.71290378e-04 5.60312227e-01 -1.94301455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-174.03, Z:-194.30 [[-2.30063013e-01 -9.11249025e-01 -3.41608291e-01 3.00320626e+02] [ 5.10554539e-01 -4.11855116e-01 7.54790982e-01 -1.74026660e+02] [-8.28495669e-01 -7.60176537e-04 5.59994955e-01 -1.94303787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-174.03, Z:-194.31 [[-2.29739886e-01 -9.11402598e-01 -3.41416005e-01 3.00318992e+02] [ 5.09410381e-01 -4.11515755e-01 7.55748535e-01 -1.74026527e+02] [-8.29289243e-01 -2.95274462e-04 5.58819527e-01 -1.94306091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-174.03, Z:-194.31 [[-2.29763080e-01 -9.11541135e-01 -3.41030330e-01 3.00318196e+02] [ 5.08870526e-01 -4.11208838e-01 7.56279101e-01 -1.74026283e+02] [-8.29614196e-01 2.24732176e-04 5.58337026e-01 -1.94307193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.55, Y:-174.25, Z:-194.33 [[-1.89387857e-01 -4.99678394e-01 8.45253656e-01 2.99552356e+02] [ 4.61338532e-01 7.14618699e-01 5.25820192e-01 -1.74251877e+02] [-8.66775057e-01 4.89532040e-01 9.51807929e-02 -1.94334510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.35 [[-1.98342410e-01 -9.20100645e-01 -3.37750044e-01 3.00279885e+02] [ 4.59326901e-01 -3.91670595e-01 7.97253375e-01 -1.73978890e+02] [-8.65840105e-01 2.99147453e-03 5.00311867e-01 -1.94354552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.36 [[-1.98823302e-01 -9.20188022e-01 -3.37228852e-01 3.00279235e+02] [ 4.58696032e-01 -3.91457069e-01 7.97721326e-01 -1.73979751e+02] [-8.66064227e-01 3.92005156e-03 4.99917382e-01 -1.94355361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.36 [[-1.99629491e-01 -9.20241204e-01 -3.36606882e-01 3.00278080e+02] [ 4.58417358e-01 -3.91319882e-01 7.97948793e-01 -1.73978867e+02] [-8.66026323e-01 4.98767381e-03 4.99973530e-01 -1.94358456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.36 [[-2.01958517e-01 -9.20048623e-01 -3.35742890e-01 3.00277536e+02] [ 4.58656113e-01 -3.91739996e-01 7.97605382e-01 -1.73979264e+02] [-8.65359652e-01 7.09267102e-03 5.01101154e-01 -1.94359439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.36 [[-2.02750187e-01 -9.20119648e-01 -3.35070433e-01 3.00276670e+02] [ 4.58632978e-01 -3.91554397e-01 7.97709813e-01 -1.73979395e+02] [-8.65186774e-01 8.06146323e-03 5.01384942e-01 -1.94361278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.36 [[-2.03639051e-01 -9.20201450e-01 -3.34305891e-01 3.00276115e+02] [ 4.59018645e-01 -3.91342385e-01 7.97592014e-01 -1.73979549e+02] [-8.64773393e-01 8.96824392e-03 5.02082214e-01 -1.94362037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-173.98, Z:-194.36 [[-2.05891794e-01 -9.19997338e-01 -3.33486834e-01 3.00275639e+02] [ 4.59082210e-01 -3.91768263e-01 7.97346319e-01 -1.73980036e+02] [-8.64206048e-01 1.10691916e-02 5.03016281e-01 -1.94362593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.25, Y:-173.93, Z:-194.48 [[-2.05761367e-01 -9.23178456e-01 -3.24659512e-01 3.00248429e+02] [ 4.52187789e-01 -3.83909345e-01 8.05071313e-01 -1.73931958e+02] [-8.67864312e-01 1.88455073e-02 4.96443736e-01 -1.94478525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.14, Y:-173.26, Z:-194.07 [[-2.11190685e-01 2.26321774e-01 -9.50882195e-01 3.00144186e+02] [ 4.97780499e-01 -8.12317789e-01 -3.03898642e-01 -1.73259120e+02] [-8.41197402e-01 -5.37511176e-01 5.88953845e-02 -1.94074503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.24, Y:-173.92, Z:-194.55 [[-2.19779148e-01 -9.25319446e-01 -3.09000081e-01 3.00240831e+02] [ 5.15317929e-01 -3.79064659e-01 7.68607452e-01 -1.73920966e+02] [-8.28338432e-01 9.69060903e-03 5.60144208e-01 -1.94548716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.24, Y:-173.92, Z:-194.55 [[-2.19830610e-01 -9.27416159e-01 -3.02611584e-01 3.00238284e+02] [ 5.15260140e-01 -3.73783192e-01 7.71228315e-01 -1.73922487e+02] [-8.28360725e-01 1.36159034e-02 5.60029567e-01 -1.94552064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.20, Y:-173.85, Z:-194.69 [[-2.19019000e-01 -9.30751982e-01 -2.92799291e-01 3.00202157e+02] [ 5.08639886e-01 -3.64997224e-01 7.79783619e-01 -1.73847967e+02] [-8.32656078e-01 2.18580311e-02 5.53358909e-01 -1.94693662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:-173.21, Z:-194.22 [[-2.20221168e-01 2.00481003e-01 -9.54625583e-01 3.00124353e+02] [ 5.53783244e-01 -7.79950837e-01 -2.91548985e-01 -1.73212505e+02] [-8.03011056e-01 -5.92860910e-01 6.07386643e-02 -1.94216995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.20, Y:-173.84, Z:-194.74 [[-2.25381243e-01 -9.34098854e-01 -2.76880167e-01 3.00197409e+02] [ 5.70704846e-01 -3.56909413e-01 7.39534752e-01 -1.73843236e+02] [-7.89619702e-01 8.66040879e-03 6.13535430e-01 -1.94744627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.20, Y:-173.85, Z:-194.75 [[-2.23843704e-01 -9.36434980e-01 -2.70154631e-01 3.00195066e+02] [ 5.70474248e-01 -3.50631262e-01 7.42709129e-01 -1.73847425e+02] [-7.90223468e-01 1.21345025e-02 6.12698641e-01 -1.94745531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-173.84, Z:-194.75 [[-2.22517803e-01 -9.36878917e-01 -2.69710443e-01 3.00193495e+02] [ 5.70913597e-01 -3.49470310e-01 7.42918682e-01 -1.73843182e+02] [-7.90280642e-01 1.13312738e-02 6.12640277e-01 -1.94751390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-173.84, Z:-194.75 [[-2.19949610e-01 -9.37613010e-01 -2.69265693e-01 3.00193006e+02] [ 5.71812154e-01 -3.47551363e-01 7.43127789e-01 -1.73843073e+02] [-7.90349942e-01 9.48127180e-03 6.12582301e-01 -1.94752257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-173.84, Z:-194.76 [[-2.17773118e-01 -9.38236913e-01 -2.68861236e-01 3.00191172e+02] [ 5.72396452e-01 -3.45900811e-01 7.43448001e-01 -1.73839327e+02] [-7.90529677e-01 8.00777167e-03 6.12371378e-01 -1.94758632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-173.84, Z:-194.76 [[-2.15625380e-01 -9.38920470e-01 -2.68205233e-01 3.00189535e+02] [ 5.73254207e-01 -3.44070967e-01 7.43636191e-01 -1.73836017e+02] [-7.90496875e-01 6.59705810e-03 6.12430542e-01 -1.94763859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-173.83, Z:-194.77 [[-2.10965810e-01 -9.40109085e-01 -2.67746775e-01 3.00188304e+02] [ 5.74932756e-01 -3.40860682e-01 7.43818742e-01 -1.73834985e+02] [-7.90535105e-01 2.98393230e-03 6.12409457e-01 -1.94766135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-173.83, Z:-194.77 [[-2.07817452e-01 -9.40952237e-01 -2.67246694e-01 3.00185497e+02] [ 5.76231889e-01 -3.38538825e-01 7.43873829e-01 -1.73830095e+02] [-7.90423125e-01 5.93896258e-04 6.12560961e-01 -1.94774304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.83, Z:-194.78 [[-2.04865509e-01 -9.41915130e-01 -2.66131566e-01 3.00184398e+02] [ 5.77275432e-01 -3.35849010e-01 7.44283897e-01 -1.73830730e+02] [-7.90432286e-01 -1.15311571e-03 6.12548342e-01 -1.94775575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.83, Z:-194.78 [[-1.99726521e-01 -9.43181136e-01 -2.65553500e-01 3.00181707e+02] [ 5.79559318e-01 -3.32237040e-01 7.44130060e-01 -1.73827867e+02] [-7.90076144e-01 -5.28149734e-03 6.12985964e-01 -1.94781296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.83, Z:-194.78 [[-1.97317427e-01 -9.43830219e-01 -2.65047826e-01 3.00180068e+02] [ 5.80569294e-01 -3.30355825e-01 7.44180303e-01 -1.73826572e+02] [-7.89939952e-01 -7.03888667e-03 6.13143805e-01 -1.94784526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.82, Z:-194.79 [[-1.93525253e-01 -9.44749255e-01 -2.64569123e-01 3.00178448e+02] [ 5.81939850e-01 -3.27643744e-01 7.44308799e-01 -1.73824867e+02] [-7.89869602e-01 -9.92076698e-03 6.13194578e-01 -1.94788331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.82, Z:-194.79 [[-1.91938302e-01 -9.45194477e-01 -2.64134602e-01 3.00177057e+02] [ 5.82354362e-01 -3.26325573e-01 7.44563643e-01 -1.73822439e+02] [-7.89951318e-01 -1.09096561e-02 6.13072503e-01 -1.94792474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.82, Z:-194.79 [[-1.90522760e-01 -9.45581976e-01 -2.63772259e-01 3.00176459e+02] [ 5.82407222e-01 -3.25174322e-01 7.45025831e-01 -1.73822186e+02] [-7.90254963e-01 -1.16784911e-02 6.12666881e-01 -1.94793779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.82, Z:-194.80 [[-1.89431591e-01 -9.45927437e-01 -2.63319114e-01 3.00175260e+02] [ 5.82716243e-01 -3.24146164e-01 7.45232209e-01 -1.73819447e+02] [-7.90289474e-01 -1.22698021e-02 6.12610806e-01 -1.94797979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.82, Z:-194.80 [[-1.88429362e-01 -9.46281265e-01 -2.62766328e-01 3.00174120e+02] [ 5.83400367e-01 -3.23087685e-01 7.45156601e-01 -1.73815832e+02] [-7.90024295e-01 -1.28885890e-02 6.12940044e-01 -1.94803977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.82, Z:-194.80 [[-1.87869570e-01 -9.46522302e-01 -2.62298602e-01 3.00174863e+02] [ 5.83577578e-01 -3.22374468e-01 7.45326715e-01 -1.73819667e+02] [-7.90026730e-01 -1.30473737e-02 6.12933546e-01 -1.94800519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.82, Z:-194.80 [[-1.87504778e-01 -9.46738530e-01 -2.61778752e-01 3.00174901e+02] [ 5.83904210e-01 -3.21736859e-01 7.45346407e-01 -1.73818479e+02] [-7.89872035e-01 -1.30977028e-02 6.13131812e-01 -1.94803012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.82, Z:-194.80 [[-1.87443315e-01 -9.46881780e-01 -2.61304225e-01 3.00175122e+02] [ 5.83945999e-01 -3.21325017e-01 7.45491317e-01 -1.73816900e+02] [-7.89855730e-01 -1.28501927e-02 6.13158054e-01 -1.94804716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.81, Z:-194.81 [[-1.87801871e-01 -9.46927991e-01 -2.60878970e-01 3.00174846e+02] [ 5.83641788e-01 -3.21214108e-01 7.45777286e-01 -1.73814436e+02] [-7.89995393e-01 -1.22014989e-02 6.12991356e-01 -1.94808174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-1.89657305e-01 -9.46659064e-01 -2.60512424e-01 3.00175688e+02] [ 5.82584722e-01 -3.22074085e-01 7.46232756e-01 -1.73812442e+02] [-7.90332303e-01 -1.02420648e-02 6.12592810e-01 -1.94810425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-1.91058016e-01 -9.46510290e-01 -2.60029048e-01 3.00176317e+02] [ 5.82162195e-01 -3.22554103e-01 7.46355163e-01 -1.73812348e+02] [-7.90306278e-01 -8.78194457e-03 6.12649055e-01 -1.94809976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-1.90692957e-01 -9.46712510e-01 -2.59560437e-01 3.00175588e+02] [ 5.82281950e-01 -3.21960103e-01 7.46518200e-01 -1.73811223e+02] [-7.90306224e-01 -8.78159409e-03 6.12649130e-01 -1.94811976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-1.94640130e-01 -9.46007309e-01 -2.59201449e-01 3.00176857e+02] [ 5.80475997e-01 -3.24105722e-01 7.46996050e-01 -1.73810707e+02] [-7.90672396e-01 -5.06481139e-03 6.12218516e-01 -1.94812331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-1.96947579e-01 -9.45675592e-01 -2.58668371e-01 3.00177200e+02] [ 5.79953380e-01 -3.25098841e-01 7.46970429e-01 -1.73809709e+02] [-7.90484490e-01 -2.90157868e-03 6.12475185e-01 -1.94813681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-1.99772455e-01 -9.45214140e-01 -2.58188295e-01 3.00178189e+02] [ 5.79031466e-01 -3.26450865e-01 7.47095974e-01 -1.73810965e+02] [-7.90451471e-01 -2.49950162e-04 6.12524620e-01 -1.94812169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.06389882e-01 -9.43970007e-01 -2.57534158e-01 3.00180350e+02] [ 5.77518978e-01 -3.29987345e-01 7.46712918e-01 -1.73811089e+02] [-7.89857612e-01 5.38312689e-03 6.13266642e-01 -1.94810845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.09827806e-01 -9.43346142e-01 -2.57041530e-01 3.00181440e+02] [ 5.76432177e-01 -3.31700584e-01 7.46793591e-01 -1.73811883e+02] [-7.89745679e-01 8.53105229e-03 6.13375077e-01 -1.94809351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.12922787e-01 -9.42771855e-01 -2.56603032e-01 3.00181836e+02] [ 5.75239736e-01 -3.33241817e-01 7.47026865e-01 -1.73811843e+02] [-7.89786764e-01 1.14507817e-02 6.13274610e-01 -1.94809050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.18404572e-01 -9.41602202e-01 -2.56290336e-01 3.00181235e+02] [ 5.72664347e-01 -3.36322023e-01 7.47624934e-01 -1.73812702e+02] [-7.90161369e-01 1.65163656e-02 6.12676278e-01 -1.94807863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.20721091e-01 -9.41193503e-01 -2.55806547e-01 3.00179312e+02] [ 5.71936499e-01 -3.37348316e-01 7.47719704e-01 -1.73809149e+02] [-7.90044835e-01 1.87324082e-02 6.12762805e-01 -1.94812729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.22554693e-01 -9.40876417e-01 -2.55383978e-01 3.00179130e+02] [ 5.71120415e-01 -3.38122179e-01 7.47993893e-01 -1.73812238e+02] [-7.90120801e-01 2.06145480e-02 6.12604408e-01 -1.94809118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.24982873e-01 -9.40424660e-01 -2.54919920e-01 3.00177116e+02] [ 5.70266676e-01 -3.39226873e-01 7.48145071e-01 -1.73813586e+02] [-7.90049761e-01 2.29474919e-02 6.12613082e-01 -1.94807839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-173.81, Z:-194.81 [[-2.26157161e-01 -9.40290329e-01 -2.54375775e-01 3.00176171e+02] [ 5.70212390e-01 -3.39517087e-01 7.48054796e-01 -1.73812835e+02] [-7.89753612e-01 2.41297306e-02 6.12949417e-01 -1.94808580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.81, Z:-194.81 [[-2.28191784e-01 -9.39929836e-01 -2.53890555e-01 3.00174044e+02] [ 5.69599642e-01 -3.40368296e-01 7.48134795e-01 -1.73811609e+02] [-7.89610510e-01 2.61022444e-02 6.13052946e-01 -1.94810938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.81, Z:-194.81 [[-2.28676273e-01 -9.39923373e-01 -2.53478235e-01 3.00171857e+02] [ 5.69236668e-01 -3.40327265e-01 7.48429668e-01 -1.73811036e+02] [-7.89732093e-01 2.68590014e-02 6.12863620e-01 -1.94813213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.81, Z:-194.81 [[-2.28501492e-01 -9.40085445e-01 -2.53034433e-01 3.00170359e+02] [ 5.69245720e-01 -3.39866172e-01 7.48632284e-01 -1.73812441e+02] [-7.89776158e-01 2.70248259e-02 6.12799543e-01 -1.94812229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-173.81, Z:-194.82 [[-2.27409428e-01 -9.40458201e-01 -2.52632787e-01 3.00165465e+02] [ 5.69406721e-01 -3.38877187e-01 7.48958102e-01 -1.73811776e+02] [-7.89975277e-01 2.64693263e-02 6.12567087e-01 -1.94815911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-173.81, Z:-194.82 [[-2.25600011e-01 -9.41019371e-01 -2.52164985e-01 3.00161948e+02] [ 5.70107494e-01 -3.37410497e-01 7.49087179e-01 -1.73809315e+02] [-7.89988659e-01 2.52329278e-02 6.12602007e-01 -1.94820822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-173.81, Z:-194.82 [[-2.20514000e-01 -9.42362684e-01 -2.51646871e-01 3.00157536e+02] [ 5.72182192e-01 -3.33921335e-01 7.49068810e-01 -1.73809708e+02] [-7.89924753e-01 2.11923013e-02 6.12837475e-01 -1.94822450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.81, Z:-194.83 [[-2.16817467e-01 -9.43343804e-01 -2.51182511e-01 3.00154294e+02] [ 5.73512956e-01 -3.31307154e-01 7.49211892e-01 -1.73806752e+02] [-7.89982959e-01 1.83858000e-02 6.12853071e-01 -1.94827513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.80, Z:-194.83 [[-2.12344008e-01 -9.44474534e-01 -2.50754614e-01 3.00151015e+02] [ 5.74940507e-01 -3.28243176e-01 7.49466364e-01 -1.73804442e+02] [-7.90160386e-01 1.49757065e-02 6.12717139e-01 -1.94832185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.80, Z:-194.84 [[-2.07785214e-01 -9.45621237e-01 -2.50251434e-01 3.00146927e+02] [ 5.76698021e-01 -3.25069477e-01 7.49499319e-01 -1.73802784e+02] [-7.90091576e-01 1.14153697e-02 6.12882527e-01 -1.94836260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.10, Y:-173.67, Z:-195.02 [[-1.95038686e-01 -9.48262597e-01 -2.50515385e-01 3.00097375e+02] [ 5.82452424e-01 -3.17487080e-01 7.48298823e-01 -1.73667235e+02] [-7.89119183e-01 3.39256876e-05 6.14240111e-01 -1.95023545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.19, Y:-173.29, Z:-194.37 [[-2.48625056e-01 8.64815451e-01 4.36210748e-01 2.99191911e+02] [ 5.40597109e-01 4.97578270e-01 -6.78358778e-01 -1.73288382e+02] [-8.03704142e-01 6.71572800e-02 -5.91227158e-01 -1.94373052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-173.66, Z:-194.94 [[-2.44375136e-01 -9.10354250e-01 -3.33969958e-01 3.00162734e+02] [ 5.51284761e-01 -4.13769512e-01 7.24485958e-01 -1.73662024e+02] [-7.97725457e-01 -7.06619423e-03 6.02979406e-01 -1.94944014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-173.66, Z:-194.95 [[-2.40860746e-01 -9.11407751e-01 -3.33649535e-01 3.00160051e+02] [ 5.52389286e-01 -4.11390566e-01 7.24999227e-01 -1.73661571e+02] [-7.98030186e-01 -9.68057416e-03 6.02539716e-01 -1.94945951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.66, Z:-194.95 [[-2.35988355e-01 -9.12745787e-01 -3.33473573e-01 3.00154035e+02] [ 5.53579251e-01 -4.08310921e-01 7.25832077e-01 -1.73656825e+02] [-7.98661073e-01 -1.33161326e-02 6.01633752e-01 -1.94954890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.66, Z:-194.95 [[-2.34113439e-01 -9.13339642e-01 -3.33169020e-01 3.00152700e+02] [ 5.53856028e-01 -4.06941416e-01 7.26389830e-01 -1.73658649e+02] [-7.99020900e-01 -1.44700487e-02 6.01129120e-01 -1.94953485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.66, Z:-194.96 [[-2.32638062e-01 -9.13843243e-01 -3.32821363e-01 3.00150388e+02] [ 5.54097045e-01 -4.05778019e-01 7.26856701e-01 -1.73658467e+02] [-7.99284678e-01 -1.53207999e-02 6.00757252e-01 -1.94955689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-173.66, Z:-194.96 [[-2.31540303e-01 -9.14328401e-01 -3.32253913e-01 3.00146387e+02] [ 5.54939146e-01 -4.04653876e-01 7.26840963e-01 -1.73659368e+02] [-7.99019169e-01 -1.60877262e-02 6.01090303e-01 -1.94958380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.14, Y:-173.66, Z:-194.96 [[-2.31372580e-01 -9.14605171e-01 -3.31608369e-01 3.00144147e+02] [ 5.55642052e-01 -4.04026323e-01 7.26653040e-01 -1.73658849e+02] [-7.98579138e-01 -1.61279665e-02 6.01673707e-01 -1.94960919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.06, Y:-173.00, Z:-194.60 [[-2.70930818e-01 2.05015674e-01 -9.40513192e-01 3.00064579e+02] [ 6.09362701e-01 -7.19830196e-01 -3.32447871e-01 -1.73001419e+02] [-7.45166820e-01 -6.63184033e-01 7.00952786e-02 -1.94597817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:-173.73, Z:-194.98 [[-2.39898517e-01 -2.25714601e-01 9.44193635e-01 2.99245378e+02] [ 5.34222724e-01 7.81396071e-01 3.22531026e-01 -1.73726170e+02] [-8.10589158e-01 5.81784410e-01 -6.68738894e-02 -1.94977039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.55, Z:-195.12 [[-2.37459815e-01 -9.13385817e-01 -3.30664765e-01 3.00091603e+02] [ 5.56394394e-01 -4.06919584e-01 7.24459613e-01 -1.73545583e+02] [-7.96265103e-01 -1.19499760e-02 6.04829797e-01 -1.95118936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.55, Z:-195.12 [[-2.43292501e-01 -9.12100513e-01 -3.29971837e-01 3.00092074e+02] [ 5.54583734e-01 -4.09910022e-01 7.24162037e-01 -1.73546726e+02] [-7.95767328e-01 -6.81382074e-03 6.05564143e-01 -1.95117602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.55, Z:-195.12 [[-2.46704400e-01 -9.11368990e-01 -3.29459410e-01 3.00092526e+02] [ 5.53223893e-01 -4.11574654e-01 7.24257984e-01 -1.73547370e+02] [-7.95663411e-01 -3.58718598e-03 6.05728379e-01 -1.95116458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.55, Z:-195.12 [[-2.50130437e-01 -9.10542847e-01 -3.29160277e-01 3.00093334e+02] [ 5.51111343e-01 -4.13414698e-01 7.24820374e-01 -1.73547496e+02] [-7.96059703e-01 -1.04325324e-04 6.05218091e-01 -1.95115246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.53, Z:-195.14 [[-2.50904735e-01 -9.10455065e-01 -3.28813609e-01 3.00086717e+02] [ 5.50436217e-01 -4.13606857e-01 7.25223647e-01 -1.73532107e+02] [-7.96283106e-01 9.71128161e-04 6.04923361e-01 -1.95136968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.53, Z:-195.14 [[-2.59688946e-01 -9.09526583e-01 -3.24535125e-01 3.00087137e+02] [ 5.45910075e-01 -4.15478931e-01 7.27570923e-01 -1.73534883e+02] [-7.96582602e-01 1.17751315e-02 6.04415010e-01 -1.95135200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.54, Z:-195.13 [[-2.63740683e-01 -9.08499003e-01 -3.24145667e-01 3.00088054e+02] [ 5.43816743e-01 -4.17591667e-01 7.27928946e-01 -1.73535933e+02] [-7.96683251e-01 1.57086370e-02 6.04192880e-01 -1.95132943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.54, Z:-195.13 [[-2.71834333e-01 -9.06192541e-01 -3.23915381e-01 3.00089574e+02] [ 5.39271120e-01 -4.22217848e-01 7.28641715e-01 -1.73539159e+02] [-7.97052542e-01 2.33916240e-02 6.03456773e-01 -1.95127796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.54, Z:-195.13 [[-2.75419419e-01 -9.05243317e-01 -3.23540848e-01 3.00088803e+02] [ 5.37321822e-01 -4.24038524e-01 7.29024409e-01 -1.73539033e+02] [-7.97138258e-01 2.69419214e-02 6.03195433e-01 -1.95128368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.54, Z:-195.13 [[-2.78453998e-01 -9.04434654e-01 -3.23204777e-01 3.00088160e+02] [ 5.35489844e-01 -4.25552061e-01 7.29490281e-01 -1.73539297e+02] [-7.97316749e-01 3.00566092e-02 6.02812245e-01 -1.95128352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.54, Z:-195.13 [[-2.84302656e-01 -9.02832467e-01 -3.22591902e-01 3.00087632e+02] [ 5.33322546e-01 -4.28540698e-01 7.29328412e-01 -1.73541732e+02] [-7.96705129e-01 3.53044700e-02 6.03336169e-01 -1.95125048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-173.54, Z:-195.13 [[-2.86340473e-01 -9.02410639e-01 -3.21969209e-01 3.00085880e+02] [ 5.32994425e-01 -4.29270444e-01 7.29139102e-01 -1.73540855e+02] [-7.96194748e-01 3.71742421e-02 6.03897341e-01 -1.95126586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:-173.54, Z:-195.13 [[-2.88319092e-01 -9.01972159e-01 -3.21431682e-01 3.00082919e+02] [ 5.32389063e-01 -4.30020421e-01 7.29139440e-01 -1.73542166e+02] [-7.95885662e-01 3.90981091e-02 6.04183210e-01 -1.95126623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:-173.54, Z:-195.13 [[-2.88310000e-01 -9.02202825e-01 -3.20791844e-01 3.00080227e+02] [ 5.33105335e-01 -4.29532968e-01 7.28903375e-01 -1.73542497e+02] [-7.95409357e-01 3.91342883e-02 6.04807790e-01 -1.95128130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:-173.54, Z:-195.13 [[-2.87388613e-01 -9.02749831e-01 -3.20078939e-01 3.00076571e+02] [ 5.34106868e-01 -4.28439931e-01 7.28813473e-01 -1.73541289e+02] [-7.95070838e-01 3.84963340e-02 6.05293643e-01 -1.95132271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:-173.47, Z:-195.21 [[-2.87003305e-01 -8.98268565e-01 -3.32780240e-01 3.00052846e+02] [ 5.43432864e-01 -4.38760441e-01 7.15660532e-01 -1.73470206e+02] [-7.88866164e-01 2.45532186e-02 6.14074356e-01 -1.95210358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.15, Y:-173.57, Z:-195.00 [[-2.31433350e-01 -6.93839226e-02 9.70373369e-01 2.99151095e+02] [ 5.31924987e-01 8.26126194e-01 1.85933645e-01 -1.73567922e+02] [-8.14551664e-01 5.59197088e-01 -1.54286110e-01 -1.95003932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:-173.45, Z:-195.19 [[-2.72464123e-01 -8.92436999e-01 -3.59610213e-01 3.00046602e+02] [ 4.80776492e-01 -4.50025038e-01 7.52549952e-01 -1.73451109e+02] [-8.33437020e-01 3.21507263e-02 5.51678407e-01 -1.95192980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:-173.44, Z:-195.19 [[-2.71120649e-01 -8.87436733e-01 -3.72759493e-01 3.00046582e+02] [ 4.92040076e-01 -4.60620614e-01 7.38732167e-01 -1.73435399e+02] [-8.27278767e-01 1.68729351e-02 5.61538197e-01 -1.95189533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.16, Y:-173.52, Z:-195.11 [[-2.21075532e-01 -2.06776129e-01 9.53084069e-01 2.99161132e+02] [ 4.63843091e-01 8.37363149e-01 2.89262068e-01 -1.73518212e+02] [-8.57889968e-01 5.06030225e-01 -8.92088246e-02 -1.95112062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.01, Y:-173.37, Z:-195.27 [[-2.41612937e-01 -8.87411843e-01 -3.92585544e-01 3.00007822e+02] [ 4.31649093e-01 -4.60628740e-01 7.75564456e-01 -1.73370794e+02] [-8.69081268e-01 1.79272118e-02 4.94344380e-01 -1.95266572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.00, Y:-173.37, Z:-195.27 [[-2.36779965e-01 -8.89003050e-01 -3.91929618e-01 3.00003506e+02] [ 4.34432177e-01 -4.57704777e-01 7.75741594e-01 -1.73371238e+02] [-8.69024702e-01 1.34132305e-02 4.94586851e-01 -1.95269757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.00, Y:-173.37, Z:-195.28 [[-2.31940260e-01 -8.90568565e-01 -3.91268893e-01 2.99997466e+02] [ 4.37198099e-01 -4.54761846e-01 7.75918478e-01 -1.73368058e+02] [-8.68942770e-01 8.90471683e-03 4.94832465e-01 -1.95280113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.99, Y:-173.34, Z:-195.30 [[-2.25501797e-01 -8.86697571e-01 -4.03628985e-01 2.99989149e+02] [ 4.51989760e-01 -4.62232983e-01 7.62919344e-01 -1.73344162e+02] [-8.63049359e-01 -1.03964852e-02 5.05012591e-01 -1.95299709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.09, Y:-173.37, Z:-195.19 [[-2.03167010e-01 -1.32773091e-01 9.70100238e-01 2.99086362e+02] [ 3.75659907e-01 9.04374375e-01 2.02451534e-01 -1.73371824e+02] [-9.04213913e-01 4.05559238e-01 -1.33861511e-01 -1.95186876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:-173.40, Z:-195.34 [[-1.63447701e-01 -4.23261491e-01 8.91142278e-01 2.99167290e+02] [ 3.20040905e-01 8.31690210e-01 4.53723719e-01 -1.73395384e+02] [-9.33198086e-01 3.59362080e-01 -4.76861950e-04 -1.95343956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-173.24, Z:-195.43 [[-1.78883752e-01 -8.82357225e-01 -4.35254328e-01 2.99927992e+02] [ 3.31267563e-01 -4.70575481e-01 8.17814477e-01 -1.73236258e+02] [-9.26424527e-01 2.10808190e-03 3.76474635e-01 -1.95427299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-173.22, Z:-195.43 [[-1.78124138e-01 -8.69268672e-01 -4.61133134e-01 2.99933983e+02] [ 3.32235300e-01 -4.94236525e-01 8.03336768e-01 -1.73222882e+02] [-9.26224323e-01 -1.01110361e-02 3.76837193e-01 -1.95429619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-173.22, Z:-195.44 [[-1.78019669e-01 -8.69810903e-01 -4.60149965e-01 2.99929640e+02] [ 3.31951514e-01 -4.93291570e-01 8.04034588e-01 -1.73223949e+02] [-9.26346150e-01 -9.61350597e-03 3.76550648e-01 -1.95435571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-173.22, Z:-195.44 [[-1.78944761e-01 -8.70286166e-01 -4.58890796e-01 2.99927441e+02] [ 3.31406994e-01 -4.92480275e-01 8.04756226e-01 -1.73223957e+02] [-9.26362875e-01 -8.07270823e-03 3.76545687e-01 -1.95439792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-173.22, Z:-195.44 [[-1.80646212e-01 -8.70550138e-01 -4.57721971e-01 2.99926022e+02] [ 3.30531049e-01 -4.92045519e-01 8.05382166e-01 -1.73224760e+02] [-9.26345601e-01 -5.80208646e-03 3.76630010e-01 -1.95441701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-173.22, Z:-195.46 [[-1.79218864e-01 -8.71445392e-01 -4.56578063e-01 2.99922798e+02] [ 3.31326911e-01 -4.90445112e-01 8.06031060e-01 -1.73220689e+02] [-9.26338532e-01 -6.82062795e-03 3.76630326e-01 -1.95455508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-173.22, Z:-195.46 [[-1.84615949e-01 -8.72234455e-01 -4.52906179e-01 2.99920620e+02] [ 3.28958479e-01 -4.89087960e-01 8.07823797e-01 -1.73223119e+02] [-9.26122708e-01 1.49829583e-04 3.77222358e-01 -1.95455732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-173.22, Z:-195.46 [[-1.87315696e-01 -8.72256562e-01 -4.51753605e-01 2.99919515e+02] [ 3.27455617e-01 -4.89035966e-01 8.08465610e-01 -1.73223586e+02] [-9.26113195e-01 3.50904339e-03 3.77229423e-01 -1.95457196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-173.23, Z:-195.46 [[-1.92867983e-01 -8.71645978e-01 -4.50594308e-01 2.99917949e+02] [ 3.24409481e-01 -4.90036603e-01 8.09087521e-01 -1.73225173e+02] [-9.26045587e-01 9.87001252e-03 3.77282590e-01 -1.95457448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-173.23, Z:-195.46 [[-1.95079414e-01 -8.71778561e-01 -4.49384204e-01 2.99916784e+02] [ 3.23556556e-01 -4.89739696e-01 8.09608662e-01 -1.73225586e+02] [-9.25880758e-01 1.25367778e-02 3.77607802e-01 -1.95458937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-173.23, Z:-195.46 [[-1.98790524e-01 -8.71604974e-01 -4.48092733e-01 2.99915530e+02] [ 3.22355225e-01 -4.89928775e-01 8.09973397e-01 -1.73225930e+02] [-9.25510366e-01 1.65700017e-02 3.78359615e-01 -1.95461755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:-173.22, Z:-195.48 [[-1.98826500e-01 -8.72243485e-01 -4.46832548e-01 2.99912032e+02] [ 3.23105285e-01 -4.88785027e-01 8.10365456e-01 -1.73221751e+02] [-9.25241048e-01 1.67481696e-02 3.79009896e-01 -1.95476229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.91, Y:-173.22, Z:-195.48 [[-1.99113387e-01 -8.73976949e-01 -4.43303679e-01 2.99909963e+02] [ 3.23720671e-01 -4.85627322e-01 8.12016645e-01 -1.73222900e+02] [-9.24964208e-01 1.81768203e-02 3.79619305e-01 -1.95479106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:-173.22, Z:-195.48 [[-1.98961127e-01 -8.74686117e-01 -4.41971341e-01 2.99907903e+02] [ 3.24309875e-01 -4.84343072e-01 8.12548395e-01 -1.73221990e+02] [-9.24790558e-01 1.83298745e-02 3.80034789e-01 -1.95484523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:-173.22, Z:-195.49 [[-1.98501002e-01 -8.75514488e-01 -4.40535736e-01 2.99905555e+02] [ 3.25032488e-01 -4.82848136e-01 8.13149162e-01 -1.73220868e+02] [-9.24635730e-01 1.82224968e-02 3.80416491e-01 -1.95490498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.90, Y:-173.22, Z:-195.50 [[-1.97006388e-01 -8.76412128e-01 -4.39420374e-01 2.99901914e+02] [ 3.26338180e-01 -4.81265962e-01 8.13564052e-01 -1.73219445e+02] [-9.24495471e-01 1.68776705e-02 3.80819208e-01 -1.95498307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.90, Y:-173.22, Z:-195.50 [[-1.95602876e-01 -8.77231643e-01 -4.38410949e-01 2.99900254e+02] [ 3.26956034e-01 -4.79803466e-01 8.14179579e-01 -1.73219567e+02] [-9.24575182e-01 1.59147622e-02 3.80667117e-01 -1.95500168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.90, Y:-173.22, Z:-195.51 [[-1.93707892e-01 -8.78207568e-01 -4.37297061e-01 2.99898228e+02] [ 3.27809598e-01 -4.78060000e-01 8.14861647e-01 -1.73217807e+02] [-9.24671899e-01 1.44949583e-02 3.80488865e-01 -1.95505433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-173.22, Z:-195.51 [[-1.89910897e-01 -8.79503637e-01 -4.36356740e-01 2.99894716e+02] [ 3.28663375e-01 -4.75752526e-01 8.15867587e-01 -1.73215187e+02] [-9.25156331e-01 1.15276669e-02 3.79411222e-01 -1.95513402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-173.21, Z:-195.52 [[-1.87470859e-01 -8.80527348e-01 -4.35346145e-01 2.99892818e+02] [ 3.29156940e-01 -4.73893621e-01 8.16749989e-01 -1.73214975e+02] [-9.25478463e-01 9.81961738e-03 3.78672932e-01 -1.95516724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-173.21, Z:-195.52 [[-1.84639590e-01 -8.81567399e-01 -4.34450392e-01 2.99890338e+02] [ 3.29793482e-01 -4.71995683e-01 8.17591790e-01 -1.73213942e+02] [-9.25820977e-01 7.68090510e-03 3.77884271e-01 -1.95522711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-173.21, Z:-195.53 [[-1.78436216e-01 -8.83281240e-01 -4.33560570e-01 2.99886091e+02] [ 3.32183412e-01 -4.68839183e-01 8.18439980e-01 -1.73211410e+02] [-9.26182864e-01 2.01770401e-03 3.77069265e-01 -1.95533812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-173.21, Z:-195.54 [[-1.74587932e-01 -8.85016501e-01 -4.31584114e-01 2.99882914e+02] [ 3.33987095e-01 -4.65558461e-01 8.19577904e-01 -1.73209333e+02] [-9.26267604e-01 -1.05511280e-03 3.76864979e-01 -1.95544305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-173.20, Z:-195.56 [[-1.69970894e-01 -8.86587045e-01 -4.30201473e-01 2.99878437e+02] [ 3.36411253e-01 -4.62531457e-01 8.20300018e-01 -1.73204306e+02] [-9.26249083e-01 -5.29748894e-03 3.76874744e-01 -1.95561713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-173.20, Z:-195.57 [[-1.62861329e-01 -8.89699346e-01 -4.26510563e-01 2.99875026e+02] [ 3.40508570e-01 -4.56405742e-01 8.22038754e-01 -1.73203659e+02] [-9.26029212e-01 -1.13521777e-02 3.77281097e-01 -1.95569704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.20, Z:-195.58 [[-1.58584212e-01 -8.91154197e-01 -4.25082634e-01 2.99871633e+02] [ 3.42866742e-01 -4.53443188e-01 8.22697801e-01 -1.73199535e+02] [-9.25901423e-01 -1.52798150e-02 3.77456066e-01 -1.95584067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.20, Z:-195.59 [[-1.54963531e-01 -8.92976328e-01 -4.22586775e-01 2.99869194e+02] [ 3.44549827e-01 -4.49747210e-01 8.24022368e-01 -1.73198436e+02] [-9.25889692e-01 -1.79087844e-02 3.77369255e-01 -1.95591812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.19, Z:-195.60 [[-1.50110634e-01 -8.94542923e-01 -4.21022275e-01 2.99867026e+02] [ 3.47883119e-01 -4.46404794e-01 8.24439261e-01 -1.73194701e+02] [-9.25442669e-01 -2.27094422e-02 3.78206489e-01 -1.95602218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.64 [[-1.44413533e-01 -8.96014717e-01 -4.19883745e-01 2.99860397e+02] [ 3.50572353e-01 -4.43137514e-01 8.25062524e-01 -1.73182945e+02] [-9.25334403e-01 -2.80494389e-02 3.78113042e-01 -1.95637131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.64 [[-1.42397462e-01 -9.00922612e-01 -4.09952937e-01 2.99856464e+02] [ 3.51317650e-01 -4.33210207e-01 8.30002907e-01 -1.73184557e+02] [-9.25364183e-01 -2.58333954e-02 3.78198049e-01 -1.95644897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.65 [[-1.41189658e-01 -9.01692355e-01 -4.08676372e-01 2.99856601e+02] [ 3.51622655e-01 -4.31570877e-01 8.30727445e-01 -1.73183938e+02] [-9.25433406e-01 -2.64097465e-02 3.77988804e-01 -1.95647598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.65 [[-1.40563829e-01 -9.02324877e-01 -4.07494326e-01 2.99857538e+02] [ 3.51761512e-01 -4.30242395e-01 8.31357517e-01 -1.73180528e+02] [-9.25475904e-01 -2.64820246e-02 3.77879681e-01 -1.95654062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.66 [[-1.40196177e-01 -9.02880936e-01 -4.06387805e-01 2.99857715e+02] [ 3.52010426e-01 -4.29077466e-01 8.31854067e-01 -1.73178407e+02] [-9.25437028e-01 -2.64299849e-02 3.77978523e-01 -1.95659571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.66 [[-1.40250690e-01 -9.03430199e-01 -4.05146419e-01 2.99859094e+02] [ 3.52174225e-01 -4.27949617e-01 8.32365569e-01 -1.73178796e+02] [-9.25366446e-01 -2.59422808e-02 3.78185059e-01 -1.95659075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.18, Z:-195.66 [[-1.42212240e-01 -9.03775992e-01 -4.03688786e-01 2.99862330e+02] [ 3.52786197e-01 -4.27330413e-01 8.32424542e-01 -1.73176237e+02] [-9.24833811e-01 -2.40348729e-02 3.79611310e-01 -1.95663234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-173.17, Z:-195.67 [[-1.42944640e-01 -9.04184799e-01 -4.02512956e-01 2.99863439e+02] [ 3.52952199e-01 -4.26520300e-01 8.32769583e-01 -1.73173462e+02] [-9.24657545e-01 -2.30278848e-02 3.80102803e-01 -1.95669360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.17, Z:-195.67 [[-1.43537865e-01 -9.04615275e-01 -4.01332885e-01 2.99865368e+02] [ 3.53204654e-01 -4.25652067e-01 8.33106710e-01 -1.73171504e+02] [-9.24469228e-01 -2.21702842e-02 3.80611514e-01 -1.95671619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.17, Z:-195.67 [[-1.44553576e-01 -9.04957714e-01 -4.00194703e-01 2.99869260e+02] [ 3.52999038e-01 -4.24993865e-01 8.33529780e-01 -1.73167720e+02] [-9.24389497e-01 -2.07786348e-02 3.80883586e-01 -1.95674514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.17, Z:-195.68 [[-1.44412500e-01 -9.05518839e-01 -3.98974514e-01 2.99870499e+02] [ 3.53144845e-01 -4.23813169e-01 8.34069012e-01 -1.73165888e+02] [-9.24355856e-01 -2.04458022e-02 3.80983229e-01 -1.95676592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-173.16, Z:-195.68 [[-1.44141390e-01 -9.06081768e-01 -3.97792771e-01 2.99871660e+02] [ 3.53114550e-01 -4.22622361e-01 8.34685842e-01 -1.73164062e+02] [-9.24409744e-01 -2.01536377e-02 3.80868030e-01 -1.95679255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:-173.06, Z:-195.87 [[-1.46960860e-01 -8.93050095e-01 -4.25281123e-01 2.99850899e+02] [ 3.77000135e-01 -4.48066925e-01 8.10621323e-01 -1.73056423e+02] [-9.14479854e-01 -4.12014343e-02 4.02528307e-01 -1.95873155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.03, Y:-173.17, Z:-195.76 [[-9.31543940e-02 -2.81172169e-01 9.55125369e-01 2.99025091e+02] [ 2.54533028e-01 9.20694859e-01 2.95861308e-01 -1.73168016e+02] [-9.62566983e-01 2.70671733e-01 -1.41991681e-02 -1.95761028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.16, Y:-172.30, Z:-195.56 [[-2.27864570e-01 9.73445734e-01 -2.19349015e-02 2.99155122e+02] [ 2.56305082e-01 3.82324881e-02 -9.65839522e-01 -1.72296549e+02] [-9.39353737e-01 -2.25702634e-01 -2.58210918e-01 -1.95558870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.92, Y:-172.94, Z:-195.92 [[-1.96001704e-01 -7.97176769e-01 -5.71045121e-01 2.99917815e+02] [ 2.91627028e-01 -6.03378684e-01 7.42218189e-01 -1.72942278e+02] [-9.36235552e-01 -2.10561617e-02 3.50741542e-01 -1.95921535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-172.85, Z:-196.14 [[-2.02406244e-01 -7.85011976e-01 -5.85480923e-01 2.99871298e+02] [ 3.08501920e-01 -6.18527545e-01 7.22668833e-01 -1.72852252e+02] [-9.29439766e-01 -3.43493048e-02 3.67371538e-01 -1.96141819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.03, Y:-173.13, Z:-195.91 [[-1.61542387e-01 -3.57690745e-01 9.19761593e-01 2.99028909e+02] [ 1.93697129e-01 9.02382082e-01 3.84951946e-01 -1.73134593e+02] [-9.67670129e-01 2.40341236e-01 -7.64892852e-02 -1.95913780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-172.81, Z:-196.07 [[-1.77498946e-01 -7.43616229e-01 -6.44615411e-01 2.99888299e+02] [ 2.53194648e-01 -6.67473139e-01 7.00265721e-01 -1.72808049e+02] [-9.50992426e-01 -3.89167443e-02 3.06755428e-01 -1.96066143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:-173.09, Z:-196.37 [[-1.00613416e-01 -5.42898302e-01 8.33749587e-01 2.99052520e+02] [ 1.48266174e-01 8.20463128e-01 5.52138930e-01 -1.73088753e+02] [-9.83816081e-01 1.79169446e-01 -2.05614417e-03 -1.96369555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:-172.21, Z:-196.02 [[-2.23944257e-01 9.44939760e-01 2.38616472e-01 2.98936499e+02] [ 1.16913596e-01 2.69113576e-01 -9.55985928e-01 -1.72210958e+02] [-9.67564045e-01 -1.86190049e-01 -1.70742745e-01 -1.96020668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.42, Y:-172.03, Z:-196.22 [[-2.80666497e-01 7.12033377e-01 -6.43610742e-01 2.99424592e+02] [ 1.82551194e-01 -6.18722147e-01 -7.64105991e-01 -1.72031232e+02] [-9.42285190e-01 -3.31950862e-01 4.36720343e-02 -1.96224868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-172.60, Z:-196.46 [[-2.51321177e-01 -5.80692652e-01 -7.74360194e-01 2.99885788e+02] [ 2.07389023e-01 -8.13764801e-01 5.42933367e-01 -1.72598922e+02] [-9.45424486e-01 -2.41431512e-02 3.24945609e-01 -1.96463796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-172.60, Z:-196.48 [[-2.49692197e-01 -5.83558330e-01 -7.72731184e-01 2.99882544e+02] [ 2.09691460e-01 -8.11657986e-01 5.45197950e-01 -1.72595982e+02] [-9.45348242e-01 -2.59034562e-02 3.25031864e-01 -1.96481009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-172.60, Z:-196.49 [[-2.48720712e-01 -5.87990808e-01 -7.69678386e-01 2.99882797e+02] [ 2.11205101e-01 -8.08452121e-01 5.49361059e-01 -1.72596606e+02] [-9.45267376e-01 -2.59225277e-02 3.25265445e-01 -1.96485230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-172.59, Z:-196.50 [[-2.46892069e-01 -5.90266076e-01 -7.68524733e-01 2.99881307e+02] [ 2.14439753e-01 -8.06693353e-01 5.50691771e-01 -1.72590357e+02] [-9.45018465e-01 -2.88408231e-02 3.25742702e-01 -1.96502324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-172.58, Z:-196.56 [[-2.41741144e-01 -5.96274004e-01 -7.65518473e-01 2.99866397e+02] [ 2.22095272e-01 -8.01975004e-01 5.54535646e-01 -1.72580525e+02] [-9.44581870e-01 -3.59639520e-02 3.26299992e-01 -1.96559916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-172.59, Z:-196.57 [[-2.40445533e-01 -6.16003329e-01 -7.50150548e-01 2.99864746e+02] [ 2.22789514e-01 -7.87214614e-01 5.75028680e-01 -1.72591333e+02] [-9.44749056e-01 -2.88625986e-02 3.26521320e-01 -1.96570147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-172.59, Z:-196.57 [[-2.39917644e-01 -6.17379228e-01 -7.49187836e-01 2.99865826e+02] [ 2.23251169e-01 -7.86131502e-01 5.76329920e-01 -1.72589754e+02] [-9.44774280e-01 -2.89853439e-02 3.26437452e-01 -1.96571504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-172.59, Z:-196.58 [[-2.39834367e-01 -6.18646349e-01 -7.48168545e-01 2.99867226e+02] [ 2.23467571e-01 -7.85146452e-01 5.77587477e-01 -1.72585285e+02] [-9.44744262e-01 -2.86660802e-02 3.26552499e-01 -1.96576677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-172.58, Z:-196.58 [[-2.39641880e-01 -6.19857583e-01 -7.47227104e-01 2.99867518e+02] [ 2.23356102e-01 -7.84208597e-01 5.78903211e-01 -1.72583483e+02] [-9.44819465e-01 -2.81682798e-02 3.26378197e-01 -1.96579942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-172.58, Z:-196.59 [[-2.39443810e-01 -6.21005685e-01 -7.46336788e-01 2.99867454e+02] [ 2.22939003e-01 -7.83325302e-01 5.80258281e-01 -1.72581210e+02] [-9.44968181e-01 -2.74483256e-02 3.26008783e-01 -1.96585419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-172.56, Z:-196.62 [[-2.42720811e-01 -6.14232427e-01 -7.50869585e-01 2.99856375e+02] [ 2.31847834e-01 -7.88314656e-01 5.69918051e-01 -1.72558025e+02] [-9.41983646e-01 -3.57565146e-02 3.33748831e-01 -1.96620835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.92, Y:-173.00, Z:-196.63 [[-1.94634076e-01 -3.43429649e-01 9.18789232e-01 2.98917087e+02] [ 1.10692592e-01 9.23028737e-01 3.68463162e-01 -1.73003996e+02] [-9.74610038e-01 1.73418648e-01 -1.41637727e-01 -1.96632819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.12, Y:-171.94, Z:-196.57 [[-3.09069426e-01 8.74847262e-01 -3.72985735e-01 2.99118555e+02] [ 1.48237798e-01 -3.43079065e-01 -9.27535612e-01 -1.71938602e+02] [-9.39415587e-01 -3.41963483e-01 -2.36501819e-02 -1.96574153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:-173.04, Z:-196.93 [[-1.99266773e-01 -9.13923098e-01 3.53606170e-01 2.99338462e+02] [ 1.39490180e-01 3.30714769e-01 9.33365004e-01 -1.73043275e+02] [-9.69966620e-01 2.35313221e-01 6.15828328e-02 -1.96931853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:-171.90, Z:-196.83 [[-3.02624433e-01 8.74810872e-01 -3.78317844e-01 2.99046179e+02] [ 1.46964419e-01 -3.49353209e-01 -9.25393859e-01 -1.71897237e+02] [-9.41711162e-01 -3.35646054e-01 -2.28432542e-02 -1.96829382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:-171.89, Z:-196.94 [[-3.59629557e-01 8.64166406e-01 -3.51970175e-01 2.99023947e+02] [ 1.66889109e-01 -3.11554658e-01 -9.35458027e-01 -1.71894257e+02] [-9.18049349e-01 -3.95158345e-01 -3.21756977e-02 -1.96936779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:-171.87, Z:-197.15 [[-4.21580820e-01 8.50957926e-01 -3.13273397e-01 2.98938385e+02] [ 1.79668095e-01 -2.60238315e-01 -9.48680871e-01 -1.71872199e+02] [-8.88813247e-01 -4.56230894e-01 -4.31785071e-02 -1.97145118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:-172.30, Z:-197.44 [[-4.10892858e-01 -4.37404511e-01 -7.99902715e-01 2.99701229e+02] [ 2.10552145e-01 -8.99199709e-01 3.83546187e-01 -1.72297068e+02] [-8.87037121e-01 -1.08248431e-02 4.61571197e-01 -1.97437170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.64, Y:-172.26, Z:-197.57 [[-4.14599416e-01 -4.37228984e-01 -7.98084044e-01 2.99635324e+02] [ 2.21969820e-01 -8.99111115e-01 3.77264630e-01 -1.72257070e+02] [-8.82517265e-01 -2.07368764e-02 4.69822582e-01 -1.97568574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-172.92, Z:-197.44 [[-3.45371924e-01 -4.07731956e-01 8.45264980e-01 2.98789448e+02] [ 1.37497088e-01 8.68983923e-01 4.75354071e-01 -1.72919649e+02] [-9.28338723e-01 2.80395424e-01 -2.44060693e-01 -1.97444542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.86, Y:-171.84, Z:-197.28 [[-4.46456020e-01 8.61941481e-01 -2.40278808e-01 2.98860621e+02] [ 1.39575147e-01 -1.98157226e-01 -9.70181680e-01 -1.71836858e+02] [-8.83852816e-01 -4.66680402e-01 -3.18371227e-02 -1.97281508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.59, Y:-172.17, Z:-197.69 [[-4.43140023e-01 -3.36769825e-01 -8.30790590e-01 2.99585764e+02] [ 1.68488623e-01 -9.41526473e-01 2.91786711e-01 -1.72167565e+02] [-8.80476294e-01 -1.06763925e-02 4.73969947e-01 -1.97694590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.58, Y:-172.17, Z:-197.70 [[-4.42768545e-01 -3.38284050e-01 -8.30373360e-01 2.99581593e+02] [ 1.70157896e-01 -9.40970859e-01 2.92609181e-01 -1.72166685e+02] [-8.80342153e-01 -1.17364432e-02 4.74194000e-01 -1.97703671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:-172.16, Z:-197.73 [[-4.41865659e-01 -3.41792615e-01 -8.29416993e-01 2.99566482e+02] [ 1.75928631e-01 -9.39635140e-01 2.93487514e-01 -1.72162385e+02] [-8.79661217e-01 -1.62361423e-02 4.75323607e-01 -1.97734962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:-172.17, Z:-197.74 [[-4.41632168e-01 -3.48764416e-01 -8.26634387e-01 2.99565928e+02] [ 1.77741113e-01 -9.37102011e-01 3.00412911e-01 -1.72165879e+02] [-8.79414081e-01 -1.42549107e-02 4.75844168e-01 -1.97739612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.56, Y:-172.17, Z:-197.75 [[-4.41580711e-01 -3.50701249e-01 -8.25842061e-01 2.99563352e+02] [ 1.78867314e-01 -9.36377306e-01 3.02000040e-01 -1.72166367e+02] [-8.79211556e-01 -1.43587584e-02 4.76215147e-01 -1.97745211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.38, Y:-172.08, Z:-198.08 [[-4.54635731e-01 -3.33156097e-01 -8.26022619e-01 2.99383540e+02] [ 1.96603856e-01 -9.42070921e-01 2.71752285e-01 -1.72078682e+02] [-8.68707820e-01 -3.88509331e-02 4.93798875e-01 -1.98076367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:-172.86, Z:-198.01 [[-3.40638975e-01 -6.34261923e-01 6.94029468e-01 2.98719936e+02] [ 1.13388127e-01 7.05075092e-01 7.00008748e-01 -1.72864049e+02] [-9.33331785e-01 3.17144964e-01 -1.68258285e-01 -1.98006078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.91, Z:-197.72 [[-4.64147257e-01 8.60978503e-01 2.08046490e-01 2.98419979e+02] [ 4.63962606e-02 2.58189173e-01 -9.64979657e-01 -1.71913392e+02] [-8.84542091e-01 -4.38240082e-01 -1.59783979e-01 -1.97717358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:-171.94, Z:-198.26 [[-4.76935677e-01 -1.61954823e-01 -8.63888300e-01 2.99252311e+02] [ 1.25786516e-01 -9.85336776e-01 1.15278752e-01 -1.71944848e+02] [-8.69890862e-01 -5.36849500e-02 4.90313996e-01 -1.98261396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:298.66, Y:-172.82, Z:-198.30 [[-3.58869192e-01 -7.19274877e-01 5.94858433e-01 2.98657122e+02] [ 5.88698738e-02 6.18600075e-01 7.83497470e-01 -1.72824438e+02] [-9.31529517e-01 3.16192345e-01 -1.79652888e-01 -1.98303778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-171.92, Z:-198.06 [[-4.68156500e-01 8.21074486e-01 3.26597887e-01 2.98220765e+02] [-2.04610133e-02 3.59431046e-01 -9.32947303e-01 -1.71918103e+02] [-8.83408648e-01 -4.43447868e-01 -1.51469964e-01 -1.98059826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.29, Y:-171.86, Z:-198.15 [[-4.73726329e-01 -1.86277787e-02 -8.80475083e-01 2.99290278e+02] [ 3.70477455e-02 -9.99312765e-01 1.20898887e-03 -1.71860922e+02] [-8.79892510e-01 -3.20468869e-02 4.74090885e-01 -1.98150340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-171.70, Z:-198.03 [[-5.38173130e-01 8.27905551e-01 -1.57930619e-01 2.98528396e+02] [ 9.91538067e-03 -1.81148315e-01 -9.83405803e-01 -1.71700081e+02] [-8.42775989e-01 -5.30808522e-01 8.92801571e-02 -1.98026730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-171.89, Z:-198.32 [[-5.27981592e-01 -6.77303508e-02 -8.46550671e-01 2.99258158e+02] [ 4.98075075e-02 -9.97568434e-01 4.87486625e-02 -1.71889344e+02] [-8.47793991e-01 -1.64261824e-02 5.30071250e-01 -1.98315983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-171.90, Z:-198.32 [[-5.27585277e-01 -7.79731747e-02 -8.45916047e-01 2.99260127e+02] [ 4.96084930e-02 -9.96907212e-01 6.09508590e-02 -1.71895582e+02] [-8.48052341e-01 -9.80784441e-03 5.29821700e-01 -1.98321080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-171.90, Z:-198.33 [[-5.27352562e-01 -7.87242230e-02 -8.45991591e-01 2.99255697e+02] [ 4.96427677e-02 -9.96852136e-01 6.18175992e-02 -1.71895782e+02] [-8.48195067e-01 -9.39769479e-03 5.29600616e-01 -1.98329373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:-171.90, Z:-198.33 [[-5.27374703e-01 -8.02026261e-02 -8.45838910e-01 2.99253516e+02] [ 4.94617044e-02 -9.96744378e-01 6.36724846e-02 -1.71896495e+02] [-8.48191878e-01 -8.25737646e-03 5.29624729e-01 -1.98333603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:-171.90, Z:-198.34 [[-5.28118671e-01 -8.07104664e-02 -8.45326262e-01 2.99249997e+02] [ 4.90795291e-02 -9.96709943e-01 6.45018511e-02 -1.71896116e+02] [-8.47751066e-01 -7.42358299e-03 5.30342362e-01 -1.98339338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:-171.90, Z:-198.34 [[-5.28754079e-01 -8.15541037e-02 -8.44847946e-01 2.99248810e+02] [ 4.93298060e-02 -9.96643407e-01 6.53336780e-02 -1.71896378e+02] [-8.47340365e-01 -7.13073656e-03 5.31002315e-01 -1.98341763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:-171.90, Z:-198.35 [[-5.29204339e-01 -8.24242145e-02 -8.44481508e-01 2.99244858e+02] [ 4.96206540e-02 -9.96573557e-01 6.61735357e-02 -1.71896486e+02] [-8.47042241e-01 -6.88440249e-03 5.31480994e-01 -1.98349405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:-171.90, Z:-198.35 [[-5.29950923e-01 -8.35063821e-02 -8.43906810e-01 2.99243250e+02] [ 5.03329347e-02 -9.96482856e-01 6.69963700e-02 -1.71896989e+02] [-8.46533292e-01 -6.97151818e-03 5.32290131e-01 -1.98352447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:-171.90, Z:-198.36 [[-5.31065449e-01 -8.50172927e-02 -8.43054891e-01 2.99241399e+02] [ 5.18782581e-02 -9.96349476e-01 6.77965162e-02 -1.71898327e+02] [-8.45741175e-01 -7.73183188e-03 5.33537331e-01 -1.98357596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:-171.90, Z:-198.36 [[-5.31897694e-01 -8.62294809e-02 -8.42406861e-01 2.99238939e+02] [ 5.28456954e-02 -9.96242985e-01 6.86093794e-02 -1.71898863e+02] [-8.45158077e-01 -8.02440574e-03 5.34456203e-01 -1.98362339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:-171.90, Z:-198.39 [[-5.32365484e-01 -8.86300023e-02 -8.41862052e-01 2.99225882e+02] [ 5.58468819e-02 -9.96014490e-01 6.95432394e-02 -1.71898332e+02] [-8.44670419e-01 -9.99295024e-03 5.35193445e-01 -1.98385994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.22, Y:-171.90, Z:-198.39 [[-5.32740013e-01 -9.31263444e-02 -8.41139443e-01 2.99224628e+02] [ 5.55017426e-02 -9.95631841e-01 7.50785797e-02 -1.71900335e+02] [-8.44457006e-01 -6.68734126e-03 5.35581595e-01 -1.98390809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.03, Y:-171.87, Z:-198.69 [[-5.40441285e-01 -8.59628418e-02 -8.36978857e-01 2.99033234e+02] [ 6.23751492e-02 -9.96123171e-01 6.20320004e-02 -1.71871439e+02] [-8.39066480e-01 -1.86820271e-02 5.43708031e-01 -1.98687387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:-172.79, Z:-198.21 [[-4.58420463e-01 -6.05708631e-01 6.50359695e-01 2.98604337e+02] [ 8.39655324e-03 7.28796547e-01 6.84678823e-01 -1.72788599e+02] [-8.88695773e-01 3.19331563e-01 -3.29009386e-01 -1.98210679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:-171.82, Z:-198.50 [[-4.92698326e-01 3.94030863e-03 -8.70191263e-01 2.99095146e+02] [ 1.69389302e-03 -9.99983511e-01 -5.48709476e-03 -1.71823262e+02] [-8.70198535e-01 -4.17749331e-03 4.92683528e-01 -1.98500008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:-171.82, Z:-198.51 [[-4.94534705e-01 2.42322661e-03 -8.69154505e-01 2.99083876e+02] [ 4.89220162e-03 -9.99972512e-01 -5.57153355e-03 -1.71820402e+02] [-8.69144115e-01 -7.00739578e-03 4.94509256e-01 -1.98512146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-172.73, Z:-198.28 [[-4.24384474e-01 -4.76825720e-01 7.69762984e-01 2.98407080e+02] [-5.21175259e-02 8.61567669e-01 5.04960311e-01 -1.72728890e+02] [-9.03980963e-01 1.74179173e-01 -3.90486918e-01 -1.98283355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.95, Y:-171.74, Z:-198.63 [[-4.63514135e-01 1.44979757e-01 -8.74148452e-01 2.98945671e+02] [-5.38250953e-02 -9.89308891e-01 -1.35538844e-01 -1.71738203e+02] [-8.84453224e-01 -1.57730461e-02 4.66362204e-01 -1.98629076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:-172.72, Z:-198.40 [[-3.88810955e-01 -5.24858336e-01 7.57198632e-01 2.98348394e+02] [-1.09311597e-01 8.42339895e-01 5.27744707e-01 -1.72718033e+02] [-9.14809825e-01 1.22422332e-01 -3.84884082e-01 -1.98404569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-171.68, Z:-198.78 [[-4.33187975e-01 2.91053798e-01 -8.53015747e-01 2.98781400e+02] [-1.10176283e-01 -9.56426647e-01 -2.70387233e-01 -1.71675897e+02] [-8.94544222e-01 -2.31463932e-02 4.46379748e-01 -1.98782823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.48, Y:-172.75, Z:-198.60 [[-3.47705076e-01 -7.94756624e-01 4.97456620e-01 2.98482045e+02] [-1.40460256e-01 5.68727215e-01 8.10444490e-01 -1.72749678e+02] [-9.27023245e-01 2.11922779e-01 -3.09381058e-01 -1.98595085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:-171.65, Z:-198.88 [[-3.72644352e-01 3.88419055e-01 -8.42773294e-01 2.98672418e+02] [-1.51869187e-01 -9.21467933e-01 -3.57536850e-01 -1.71649145e+02] [-9.15462690e-01 -5.24279253e-03 4.02368707e-01 -1.98881136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.66, Y:-171.66, Z:-198.92 [[-3.74128082e-01 3.80273099e-01 -8.45825365e-01 2.98661167e+02] [-1.47887915e-01 -9.24854762e-01 -3.50389545e-01 -1.71659111e+02] [-9.15509335e-01 -6.00321831e-03 4.02251934e-01 -1.98923821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.61, Y:-171.68, Z:-199.06 [[-3.81355801e-01 3.71551332e-01 -8.46473485e-01 2.98606519e+02] [-1.39566664e-01 -9.28317501e-01 -3.44597973e-01 -1.71680770e+02] [-9.13831986e-01 -1.32749560e-02 4.05875444e-01 -1.99060180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.25, Y:-172.75, Z:-198.76 [[-3.04066311e-01 -6.83763528e-01 6.63333338e-01 2.98247555e+02] [-1.81457328e-01 7.25124737e-01 6.64279575e-01 -1.72751833e+02] [-9.35209558e-01 8.16183450e-02 -3.44559907e-01 -1.98758144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:-171.63, Z:-199.10 [[-3.36431779e-01 5.15107106e-01 -7.88338967e-01 2.98487380e+02] [-1.91624701e-01 -8.57069456e-01 -4.78238351e-01 -1.71629427e+02] [-9.22005223e-01 -9.82936053e-03 3.87052648e-01 -1.99097561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.20, Y:-172.76, Z:-198.89 [[-2.55653640e-01 -7.22481229e-01 6.42387803e-01 2.98198066e+02] [-2.27799005e-01 6.90777613e-01 6.86246240e-01 -1.72759913e+02] [-9.39547141e-01 2.91060476e-02 -3.41180316e-01 -1.98890878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.61, Z:-199.23 [[-2.82244401e-01 6.61034313e-01 -6.95249405e-01 2.98328168e+02] [-2.43265453e-01 -7.50343040e-01 -6.14660266e-01 -1.71613978e+02] [-9.27987078e-01 -4.35425686e-03 3.72586933e-01 -1.99229525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.62, Z:-199.24 [[-2.82684428e-01 6.58763212e-01 -6.97223454e-01 2.98328374e+02] [-2.41586629e-01 -7.52334941e-01 -6.12885012e-01 -1.71616832e+02] [-9.28291665e-01 -4.81318523e-03 3.71821756e-01 -1.99237531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:-171.67, Z:-199.36 [[-3.25671644e-01 6.37068020e-01 -6.98628885e-01 2.98315751e+02] [-1.89657136e-01 -7.67911311e-01 -6.11835263e-01 -1.71669990e+02] [-9.26265702e-01 -6.67574422e-02 3.70911435e-01 -1.99357069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.71, Z:-199.39 [[-3.25653073e-01 5.06360387e-01 -7.98466802e-01 2.98409348e+02] [-1.84967317e-01 -8.62302290e-01 -4.71404128e-01 -1.71705712e+02] [-9.27220129e-01 -5.82394032e-03 3.74471513e-01 -1.99389561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-171.71, Z:-199.42 [[-3.27055181e-01 4.98762269e-01 -8.02665004e-01 2.98402813e+02] [-1.78670593e-01 -8.66693009e-01 -4.65746764e-01 -1.71710296e+02] [-9.27961059e-01 -8.91225995e-03 3.72570589e-01 -1.99416541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.62, Z:-199.14 [[-2.95210448e-01 -1.25143129e-01 9.47201134e-01 2.97745907e+02] [-2.54215019e-01 9.65936490e-01 4.83882290e-02 -1.72618141e+02] [-9.20991594e-01 -2.26508043e-01 -3.16967807e-01 -1.99141360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-171.69, Z:-199.57 [[-3.17734731e-01 6.29499404e-01 -7.09066387e-01 2.98265061e+02] [-2.49935223e-01 -7.76974906e-01 -5.77790948e-01 -1.71689989e+02] [-9.14645847e-01 -6.36358600e-03 4.04205986e-01 -1.99569622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:-171.69, Z:-199.58 [[-3.18831001e-01 6.27137917e-01 -7.10665059e-01 2.98262443e+02] [-2.48052530e-01 -7.78873285e-01 -5.76043704e-01 -1.71694761e+02] [-9.14776877e-01 -7.37832473e-03 4.03892096e-01 -1.99583951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:-171.70, Z:-199.61 [[-3.21027871e-01 6.19628611e-01 -7.16241224e-01 2.98258932e+02] [-2.41887664e-01 -7.84832544e-01 -5.70550818e-01 -1.71699744e+02] [-9.15659033e-01 -9.91279745e-03 4.01833638e-01 -1.99607240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-172.64, Z:-199.29 [[-2.85775462e-01 -1.86109744e-01 9.40050822e-01 2.97710969e+02] [-3.19027113e-01 9.43481228e-01 8.98046441e-02 -1.72643874e+02] [-9.03633823e-01 -2.74237736e-01 -3.28997838e-01 -1.99288468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-171.70, Z:-199.76 [[-3.09667844e-01 7.21980664e-01 -6.18748533e-01 2.98130523e+02] [-3.11363432e-01 -6.91853671e-01 -6.51453230e-01 -1.71704817e+02] [-8.98420080e-01 -9.07845043e-03 4.39043212e-01 -1.99761069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-171.81, Z:-200.08 [[-3.15578564e-01 7.18508888e-01 -6.19802507e-01 2.98025042e+02] [-3.06754893e-01 -6.95356663e-01 -6.49908107e-01 -1.71811481e+02] [-8.97948554e-01 -1.49696154e-02 4.39845774e-01 -2.00075385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-172.85, Z:-199.48 [[-2.34360165e-01 -7.62517516e-01 6.03027654e-01 2.97998054e+02] [-3.56073068e-01 6.44526174e-01 6.76607701e-01 -1.72848599e+02] [-9.04592330e-01 -5.61520146e-02 -4.22563212e-01 -1.99481394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:-171.74, Z:-199.96 [[-2.49829357e-01 8.07249480e-01 -5.34727566e-01 2.97977013e+02] [-3.47014721e-01 -5.90200187e-01 -7.28865229e-01 -1.71744930e+02] [-9.03972387e-01 3.46640515e-03 4.27576786e-01 -1.99960015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-172.32, Z:-200.03 [[-3.00284151e-01 6.61987535e-01 6.86732795e-01 2.97332537e+02] [-4.07211856e-01 5.62083561e-01 -7.19889280e-01 -1.72315542e+02] [-8.62558945e-01 -4.95817077e-01 1.00784389e-01 -2.00026190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-172.82, Z:-199.86 [[-2.21133748e-01 -9.71906155e-01 -8.06119760e-02 2.98314235e+02] [-3.91710250e-01 1.28174829e-02 9.19999344e-01 -1.72822790e+02] [-8.93119783e-01 2.35019440e-01 -3.83539981e-01 -1.99860878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-171.99, Z:-200.57 [[-2.37126044e-01 8.56761741e-01 -4.57963491e-01 2.97746083e+02] [-3.91755157e-01 -5.15710877e-01 -7.61951565e-01 -1.71992647e+02] [-8.88987703e-01 -1.26900092e-03 4.57929310e-01 -2.00568090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-172.40, Z:-200.00 [[-2.79498959e-01 5.04963133e-01 8.16634904e-01 2.97315560e+02] [-4.41495492e-01 6.87690799e-01 -5.76335923e-01 -1.72400165e+02] [-8.52620703e-01 -5.21625919e-01 3.07300843e-02 -2.00004462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-173.07, Z:-200.12 [[-2.07922035e-01 -6.83230285e-01 6.99974861e-01 2.97708796e+02] [-4.99834524e-01 6.89341508e-01 5.24379380e-01 -1.73065167e+02] [-8.40793599e-01 -2.40841574e-01 -4.84831374e-01 -2.00124910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:298.04, Y:-173.19, Z:-200.50 [[-1.42712980e-01 -9.87529643e-01 6.64696140e-02 2.98035879e+02] [-5.11322606e-01 1.31061810e-01 8.49336208e-01 -1.73190301e+02] [-8.47456310e-01 8.72238850e-02 -5.23650452e-01 -2.00498540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:-172.32, Z:-200.63 [[-1.56240235e-01 -4.85767023e-02 -9.86523843e-01 2.98255722e+02] [-4.35445267e-01 -8.93102439e-01 1.12940040e-01 -1.72324264e+02] [-8.86553105e-01 4.47222916e-01 1.18386040e-01 -2.00634364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-172.08, Z:-200.65 [[-1.64503082e-01 9.46205547e-01 -2.78628424e-01 2.97555281e+02] [-4.49059203e-01 -3.23347231e-01 -8.32942015e-01 -1.72079634e+02] [-8.78228084e-01 -1.19008707e-02 4.78093925e-01 -2.00651513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77655999499996 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:297.47, Y:-172.32, Z:-201.14 [[-1.69828099e-01 9.43809403e-01 -2.83517596e-01 2.97473238e+02] [-4.45755615e-01 -3.30153066e-01 -8.32046204e-01 -1.72321802e+02] [-8.78897234e-01 -1.49252646e-02 4.76777609e-01 -2.01136298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-173.26, Z:-200.45 [[-8.11655139e-02 -7.92954094e-01 6.03850946e-01 2.97677984e+02] [-4.94174435e-01 5.58154962e-01 6.66524318e-01 -1.73264800e+02] [-8.65565588e-01 -2.44308911e-01 -4.37160576e-01 -2.00453794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-172.46, Z:-200.85 [[-9.94601293e-02 -7.19372929e-02 -9.92437761e-01 2.98193076e+02] [-4.12719927e-01 -9.04559765e-01 1.06929384e-01 -1.72456220e+02] [-9.05411478e-01 4.20234050e-01 6.02776769e-02 -2.00845568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-172.55, Z:-200.95 [[-9.38676634e-02 -9.54634336e-02 -9.90997273e-01 2.98183860e+02] [-3.48917770e-01 -9.29105826e-01 1.22551022e-01 -1.72548275e+02] [-9.32440481e-01 3.57280137e-01 5.39041045e-02 -2.00949561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-172.31, Z:-200.99 [[-1.06518855e-01 9.71482486e-01 -2.11838410e-01 2.97421568e+02] [-3.70017925e-01 -2.36478262e-01 -8.98423490e-01 -1.72310510e+02] [-9.22897865e-01 -1.73150324e-02 3.84655327e-01 -2.00986094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-172.31, Z:-201.00 [[-1.07930044e-01 9.70736698e-01 -2.14525916e-01 2.97421236e+02] [-3.69687044e-01 -2.39501433e-01 -8.97758628e-01 -1.72313720e+02] [-9.22866510e-01 -1.75876765e-02 3.84718180e-01 -2.00995047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-172.32, Z:-201.02 [[-1.10226105e-01 9.69876607e-01 -2.17231612e-01 2.97420339e+02] [-3.68793475e-01 -2.42871461e-01 -8.97220612e-01 -1.72320992e+02] [-9.22952642e-01 -1.87835323e-02 3.84454939e-01 -2.01015214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-172.35, Z:-201.08 [[-1.19207431e-01 9.67395983e-01 -2.23460512e-01 2.97416980e+02] [-3.65783669e-01 -2.52025514e-01 -8.95927145e-01 -1.72347277e+02] [-9.23034071e-01 -2.50629672e-02 3.83900966e-01 -2.01084539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01655999499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.77, Y:-173.46, Z:-200.85 [[-2.07066582e-02 -9.19963478e-01 3.91456808e-01 2.97767982e+02] [-3.88086682e-01 3.68235173e-01 8.44861873e-01 -1.73462001e+02] [-9.21390233e-01 -1.34424908e-01 -3.64650494e-01 -2.00846364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.45, Z:-201.27 [[-5.97387443e-02 9.94052127e-01 -9.10585045e-02 2.97299110e+02] [-3.92914540e-01 -1.07273686e-01 -9.13296513e-01 -1.72450183e+02] [-9.17632523e-01 -1.87809765e-02 3.96985929e-01 -2.01270957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.45, Z:-201.28 [[-6.03344923e-02 9.92926726e-01 -1.02255886e-01 2.97303925e+02] [-3.92033104e-01 -1.17782455e-01 -9.12380041e-01 -1.72451075e+02] [-9.17970476e-01 -1.49602942e-02 3.96366491e-01 -2.01281483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.46, Z:-201.30 [[-6.11796281e-02 9.92596888e-01 -1.04921265e-01 2.97303547e+02] [-3.91395189e-01 -1.20556691e-01 -9.12291560e-01 -1.72457186e+02] [-9.18186724e-01 -1.47479803e-02 3.95873260e-01 -2.01297423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.49, Z:-201.39 [[-7.54936932e-02 9.91061548e-01 -1.09989595e-01 2.97304786e+02] [-3.89475399e-01 -1.30849465e-01 -9.11694758e-01 -1.72492758e+02] [-9.17937697e-01 -2.59889628e-02 3.95872401e-01 -2.01385354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-172.51, Z:-201.43 [[-8.29709836e-02 9.87330100e-01 -1.35259339e-01 2.97311653e+02] [-3.94817070e-01 -1.57188486e-01 -9.05213379e-01 -1.72508289e+02] [-9.15005627e-01 -2.17037486e-02 4.02856860e-01 -2.01432968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-173.17, Z:-201.39 [[-1.35335174e-02 -7.27115011e-01 -6.86382259e-01 2.98180376e+02] [-3.22337293e-01 -6.46626618e-01 6.91355687e-01 -1.73170555e+02] [-9.46528137e-01 2.30603073e-01 -2.25625151e-01 -2.01386196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-173.49, Z:-201.39 [[ 5.65020599e-03 -9.88276790e-02 9.95088521e-01 2.97140422e+02] [-4.17328056e-01 9.04070918e-01 9.21578512e-02 -1.73490101e+02] [-9.08738339e-01 -4.15799069e-01 -3.61353763e-02 -2.01389118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-172.65, Z:-201.72 [[-2.01729933e-02 9.99732606e-01 -1.13034021e-02 2.97215010e+02] [-4.13592720e-01 -1.86375484e-02 -9.10271225e-01 -1.72651049e+02] [-9.10238492e-01 -1.36878905e-02 4.13858103e-01 -2.01722335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-172.65, Z:-201.74 [[-2.26200328e-02 9.99500518e-01 -2.20691847e-02 2.97220486e+02] [-4.13742991e-01 -2.94547210e-02 -9.09917115e-01 -1.72654199e+02] [-9.10112670e-01 -1.14513845e-02 4.14202601e-01 -2.01739145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-172.66, Z:-201.75 [[-2.36043801e-02 9.99289400e-01 -2.93858673e-02 2.97224106e+02] [-4.14229365e-01 -3.65282450e-02 -9.09439234e-01 -1.72656587e+02] [-9.09866401e-01 -9.29426024e-03 4.14797240e-01 -2.01750697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.66, Z:-201.76 [[-2.44552006e-02 9.99192093e-01 -3.18920676e-02 2.97225522e+02] [-4.14473337e-01 -3.91645227e-02 -9.09218342e-01 -1.72660778e+02] [-9.09732816e-01 -9.01670529e-03 4.15096257e-01 -2.01762340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.66, Z:-201.77 [[-2.56120926e-02 9.99079967e-01 -3.43982529e-02 2.97226906e+02] [-4.14734658e-01 -4.19279809e-02 -9.08975912e-01 -1.72663827e+02] [-9.09581874e-01 -9.01462760e-03 4.15426951e-01 -2.01771268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.67, Z:-201.78 [[-2.68298757e-02 9.98949182e-01 -3.71576206e-02 2.97228262e+02] [-4.14870983e-01 -4.49458778e-02 -9.08769463e-01 -1.72668697e+02] [-9.09484593e-01 -8.96655315e-03 4.15640921e-01 -2.01784973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.436559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.67, Z:-201.80 [[-2.84539249e-02 9.98798190e-01 -3.99067694e-02 2.97230235e+02] [-4.15473822e-01 -4.81282570e-02 -9.08330983e-01 -1.72672898e+02] [-9.09159985e-01 -9.26536358e-03 4.16343939e-01 -2.01796230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:297.24, Y:-172.70, Z:-201.88 [[-3.43039709e-02 9.97935353e-01 -5.42979570e-02 2.97239136e+02] [-4.08348465e-01 -6.35834573e-02 -9.10608958e-01 -1.72701383e+02] [-9.12181324e-01 -9.06501585e-03 4.09686535e-01 -2.01880582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.496559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.72, Z:-201.91 [[-4.71755966e-02 9.98194055e-01 -3.71899517e-02 2.97229770e+02] [-4.15695915e-01 -5.34731584e-02 -9.07930354e-01 -1.72724162e+02] [-9.08279345e-01 -2.73724452e-02 4.17467819e-01 -2.01907009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.25, Y:-172.72, Z:-201.92 [[-5.00636797e-02 9.95498147e-01 -8.04802282e-02 2.97251704e+02] [-4.15315735e-01 -9.40343995e-02 -9.04804052e-01 -1.72716519e+02] [-9.08298667e-01 -1.18731151e-02 4.18153753e-01 -2.01924847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.556559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.25, Y:-172.72, Z:-201.94 [[-5.28563677e-02 9.95055441e-01 -8.40884826e-02 2.97253242e+02] [-4.15176784e-01 -9.84808584e-02 -9.04394692e-01 -1.72722984e+02] [-9.08203965e-01 -1.28914326e-02 4.18329258e-01 -2.01941908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.73, Z:-201.95 [[-5.47230704e-02 9.94606369e-01 -8.81110429e-02 2.97255428e+02] [-4.14699188e-01 -1.02911675e-01 -9.04120440e-01 -1.72727001e+02] [-9.08311604e-01 -1.29366686e-02 4.18094096e-01 -2.01953656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61655999499993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.73, Z:-201.96 [[-5.73070760e-02 9.94237468e-01 -9.05966642e-02 2.97257922e+02] [-4.14645904e-01 -1.06251924e-01 -9.03758432e-01 -1.72731942e+02] [-9.08176565e-01 -1.42262174e-02 4.18345480e-01 -2.01964733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.74, Z:-201.98 [[-5.94149424e-02 9.93881947e-01 -9.31049981e-02 2.97259262e+02] [-4.14194966e-01 -1.09407355e-01 -9.03588712e-01 -1.72737517e+02] [-9.08246880e-01 -1.51230498e-02 4.18161331e-01 -2.01979002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.74, Z:-201.98 [[-6.12392258e-02 9.93531620e-01 -9.56278021e-02 2.97261097e+02] [-4.13584243e-01 -1.12454159e-01 -9.03494403e-01 -1.72738666e+02] [-9.08404002e-01 -1.57791456e-02 4.17795629e-01 -2.01982936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.75, Z:-202.00 [[-6.41833298e-02 9.93104308e-01 -9.81036923e-02 2.97262204e+02] [-4.13458259e-01 -1.15935204e-01 -9.03112007e-01 -1.72748334e+02] [-9.08258096e-01 -1.74029540e-02 4.18048285e-01 -2.02004287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73655999499994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.27, Y:-172.79, Z:-202.11 [[-7.94481484e-02 9.91484099e-01 -1.03185628e-01 2.97265653e+02] [-4.10980704e-01 -1.26885164e-01 -9.02770744e-01 -1.72794306e+02] [-9.08175563e-01 -2.93161620e-02 4.17561624e-01 -2.02112702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-172.78, Z:-202.11 [[-8.35294300e-02 9.87808977e-01 -1.31363079e-01 2.97280933e+02] [-4.10805599e-01 -1.54235188e-01 -8.98582365e-01 -1.72783847e+02] [-9.07888536e-01 -2.10933846e-02 4.18680636e-01 -2.02108908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:-172.78, Z:-202.11 [[-8.35334534e-02 9.86788173e-01 -1.38820979e-01 2.97286882e+02] [-4.11557664e-01 -1.61034933e-01 -8.97044057e-01 -1.72783837e+02] [-9.07547493e-01 -1.78003500e-02 4.19572039e-01 -2.02113843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-172.81, Z:-202.15 [[-8.85664482e-02 9.88109989e-01 -1.25676707e-01 2.97276561e+02] [-4.16898936e-01 -1.51362156e-01 -8.96261555e-01 -1.72809045e+02] [-9.04627692e-01 -2.69842171e-02 4.25347612e-01 -2.02154707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-173.12, Z:-202.19 [[-6.41685462e-02 -1.66603805e-01 -9.83933722e-01 2.98087360e+02] [-3.18437484e-01 -9.31003690e-01 1.78408793e-01 -1.73120631e+02] [-9.45769510e-01 3.24769612e-01 6.68825679e-03 -2.02190003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-173.19, Z:-202.30 [[-5.37059469e-02 -1.68415530e-01 -9.84251940e-01 2.98074573e+02] [-2.54889356e-01 -9.50709954e-01 1.76584254e-01 -1.73191194e+02] [-9.65477647e-01 2.60358967e-01 8.13145243e-03 -2.02300109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91655999499994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.06, Y:-173.27, Z:-202.43 [[-5.00166214e-02 -1.93886520e-01 -9.79748108e-01 2.98061951e+02] [-1.85750059e-01 -9.62054980e-01 1.99867783e-01 -1.73268434e+02] [-9.81323215e-01 1.91984980e-01 1.21043072e-02 -2.02432122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-174.10, Z:-202.34 [[ 5.60942985e-02 -9.15537634e-01 3.98301734e-01 2.97637446e+02] [-2.32587150e-01 3.75971856e-01 8.96966210e-01 -1.74096852e+02] [-9.70956563e-01 -1.42954555e-01 -1.91852411e-01 -2.02342248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-173.95, Z:-202.37 [[ 1.27986975e-01 -9.86838781e-01 -9.88360007e-02 2.97890295e+02] [-2.10122167e-01 -1.24374228e-01 9.69731781e-01 -1.73954789e+02] [-9.69261579e-01 -1.03345403e-01 -2.23274984e-01 -2.02373181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-173.34, Z:-202.67 [[ 1.06850516e-01 8.64792453e-01 4.90629168e-01 2.96956743e+02] [-2.57005289e-01 5.00706687e-01 -8.26583992e-01 -1.73343339e+02] [-9.60484903e-01 -3.77733650e-02 2.75757003e-01 -2.02665016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-173.09, Z:-202.70 [[ 7.08710443e-02 3.32719991e-01 -9.40358816e-01 2.97838331e+02] [-1.61918519e-01 -9.26388622e-01 -3.39980169e-01 -1.73088516e+02] [-9.84255906e-01 1.76356256e-01 -1.17806007e-02 -2.02701480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-173.34, Z:-202.77 [[ 8.52081499e-02 8.85863490e-01 4.56054217e-01 2.96979697e+02] [-1.89231482e-01 4.63776171e-01 -8.65507429e-01 -1.73335529e+02] [-9.78228510e-01 -1.25515284e-02 2.07150770e-01 -2.02770540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-173.34, Z:-202.80 [[ 8.61977261e-02 8.86447739e-01 4.54731084e-01 2.96983235e+02] [-1.89604855e-01 4.62684034e-01 -8.66010094e-01 -1.73340369e+02] [-9.78069502e-01 -1.15711204e-02 2.07957107e-01 -2.02803074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-173.35, Z:-202.84 [[ 8.69038259e-02 8.87037261e-01 4.53445281e-01 2.96986397e+02] [-1.89763622e-01 4.61572924e-01 -8.66568061e-01 -1.73345228e+02] [-9.77976223e-01 -1.07393389e-02 2.08439856e-01 -2.02835309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-173.35, Z:-202.86 [[ 8.83009743e-02 8.87514223e-01 4.52240469e-01 2.96989364e+02] [-1.88650559e-01 4.60697537e-01 -8.67276626e-01 -1.73349930e+02] [-9.78066411e-01 -8.73404628e-03 2.08110096e-01 -2.02863005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.99, Y:-173.36, Z:-202.89 [[ 8.89835872e-02 8.87315811e-01 4.52495936e-01 2.96991884e+02] [-1.87988221e-01 4.61094672e-01 -8.67209394e-01 -1.73355326e+02] [-9.78132072e-01 -7.89650315e-03 2.07834778e-01 -2.02890498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-173.36, Z:-202.92 [[ 8.95804379e-02 8.87023671e-01 4.52950718e-01 2.96994262e+02] [-1.87686377e-01 4.61665463e-01 -8.66971063e-01 -1.73360490e+02] [-9.78135558e-01 -7.34903170e-03 2.07838453e-01 -2.02917009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-173.37, Z:-202.95 [[ 8.99051884e-02 8.86705558e-01 4.53508887e-01 2.96996992e+02] [-1.87184512e-01 4.62282111e-01 -8.66750949e-01 -1.73366744e+02] [-9.78201930e-01 -6.96443246e-03 2.07539108e-01 -2.02947411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-173.37, Z:-202.98 [[ 9.02835935e-02 8.86720726e-01 4.53404044e-01 2.96999419e+02] [-1.86416430e-01 4.62263191e-01 -8.66926558e-01 -1.73371446e+02] [-9.78313747e-01 -6.25271810e-03 2.07034094e-01 -2.02975059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-173.38, Z:-203.00 [[ 9.09863719e-02 8.86441526e-01 4.53809323e-01 2.97001790e+02] [-1.85735095e-01 4.62808830e-01 -8.66781669e-01 -1.73376354e+02] [-9.78378227e-01 -5.42299837e-03 2.06752597e-01 -2.03002540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-173.39, Z:-203.03 [[ 9.14917236e-02 8.83117973e-01 4.60143358e-01 2.97002918e+02] [-1.86881248e-01 4.69098439e-01 -8.63146600e-01 -1.73388013e+02] [-9.78112807e-01 -7.02139503e-03 2.07956814e-01 -2.03030226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-173.84, Z:-202.85 [[ 1.54629039e-01 -8.43513339e-01 -5.14368649e-01 2.98082469e+02] [-1.14970346e-01 -5.32456388e-01 8.38613149e-01 -1.73842998e+02] [-9.81260251e-01 -7.05368037e-02 -1.79312240e-01 -2.02851805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-173.67, Z:-202.87 [[ 1.99231023e-01 -6.23904672e-01 -7.55678476e-01 2.98118922e+02] [-5.55140286e-02 -7.77085145e-01 6.26942477e-01 -1.73666639e+02] [-9.78378859e-01 -8.29556344e-02 -1.89454930e-01 -2.02873562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-173.47, Z:-202.90 [[ 2.18891510e-01 -3.01784942e-01 -9.27907515e-01 2.98091235e+02] [ 1.55578814e-02 -9.49768943e-01 3.12565044e-01 -1.73467030e+02] [-9.75625163e-01 -8.28541094e-02 -2.03201223e-01 -2.02898303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-173.30, Z:-202.92 [[ 2.13324098e-01 3.92551213e-02 -9.76192535e-01 2.98002031e+02] [ 8.88006522e-02 -9.95835552e-01 -2.06397054e-02 -1.73301547e+02] [-9.72937446e-01 -8.22835871e-02 -2.15921602e-01 -2.02923381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:-173.18, Z:-202.94 [[ 1.85770175e-01 3.58769351e-01 -9.14753516e-01 2.97869864e+02] [ 1.56909653e-01 -9.29843432e-01 -3.32822105e-01 -1.73181406e+02] [-9.69983919e-01 -8.17052364e-02 -2.29031552e-01 -2.02944325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-173.11, Z:-202.97 [[ 1.38637293e-01 6.28185957e-01 -7.65612242e-01 2.97713628e+02] [ 2.13774785e-01 -7.73834468e-01 -5.96221903e-01 -1.73112403e+02] [-9.66995368e-01 -8.10100015e-02 -2.41572634e-01 -2.02965434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-173.09, Z:-202.99 [[ 7.62162374e-02 8.29070168e-01 -5.53925755e-01 2.97551163e+02] [ 2.54696658e-01 -5.53299521e-01 -7.93088426e-01 -1.73094247e+02] [-9.64012810e-01 -8.06368232e-02 -2.53331809e-01 -2.02986625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-173.12, Z:-203.01 [[ 4.12546130e-03 9.52268814e-01 -3.05232839e-01 2.97400374e+02] [ 2.76362982e-01 -2.94433049e-01 -9.14840249e-01 -1.73122751e+02] [-9.61044475e-01 -8.05809193e-02 -2.64386521e-01 -2.03009025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-173.18, Z:-203.03 [[-7.31620403e-02 9.95383331e-01 -6.21235828e-02 2.97261527e+02] [ 2.76530877e-01 -3.96016281e-02 -9.60188724e-01 -1.73184345e+02] [-9.58216046e-01 -8.74284549e-02 -2.72356890e-01 -2.03032414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-174.11, Z:-203.00 [[-5.69969271e-02 -9.71837978e-01 -2.28653222e-01 2.98053045e+02] [ 3.05599516e-01 -2.35015249e-01 9.22700801e-01 -1.74111610e+02] [-9.50452674e-01 -1.72852036e-02 3.10388362e-01 -2.03003472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:-174.13, Z:-203.01 [[-5.60109342e-02 -9.80211674e-01 -1.89862710e-01 2.98037172e+02] [ 3.05589187e-01 -1.97865661e-01 9.31377705e-01 -1.74127496e+02] [-9.50514610e-01 -5.85265580e-03 3.10624729e-01 -2.03011575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-174.09, Z:-203.12 [[-5.23867457e-02 -9.80379847e-01 -1.90028907e-01 2.98031853e+02] [ 3.07722125e-01 -1.96878315e-01 9.30884538e-01 -1.74093091e+02] [-9.50033011e-01 -9.71008749e-03 3.11998384e-01 -2.03118628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-173.48, Z:-202.88 [[-1.17978365e-01 8.61949556e-01 4.93076129e-01 2.97088332e+02] [ 2.46186400e-01 5.06430757e-01 -8.26389827e-01 -1.73476696e+02] [-9.62015261e-01 2.38925161e-02 -2.71948130e-01 -2.02878645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-173.96, Z:-203.15 [[-1.14628996e-01 -9.11823389e-01 -3.94256643e-01 2.98127814e+02] [ 2.73055524e-01 -4.10506152e-01 8.70014586e-01 -1.73964860e+02] [-9.55144426e-01 -7.92505615e-03 2.96034321e-01 -2.03147598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-173.96, Z:-203.15 [[-1.13774626e-01 -9.12542353e-01 -3.92838119e-01 2.98126932e+02] [ 2.73034274e-01 -4.08900286e-01 8.70777148e-01 -1.73964976e+02] [-9.55252647e-01 -8.18592618e-03 2.95677816e-01 -2.03149192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-173.96, Z:-203.15 [[-1.13046440e-01 -9.13318557e-01 -3.91241251e-01 2.98125829e+02] [ 2.73155234e-01 -4.07160411e-01 8.71554139e-01 -1.73964864e+02] [-9.55304517e-01 -8.34350295e-03 2.95505779e-01 -2.03151619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-173.96, Z:-203.16 [[-1.10502311e-01 -9.14332257e-01 -3.89596924e-01 2.98124012e+02] [ 2.74505926e-01 -4.04827013e-01 8.72216479e-01 -1.73964007e+02] [-9.55215021e-01 -1.05647273e-02 2.95723943e-01 -2.03158632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-173.96, Z:-203.16 [[-1.09018653e-01 -9.15151821e-01 -3.88087718e-01 2.98122771e+02] [ 2.75519245e-01 -4.02937267e-01 8.72771851e-01 -1.73964337e+02] [-9.55093754e-01 -1.17772238e-02 2.96069617e-01 -2.03163416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-173.86, Z:-203.49 [[-1.03836217e-01 -9.12567315e-01 -3.95523622e-01 2.98088315e+02] [ 2.87428211e-01 -4.08238206e-01 8.66444800e-01 -1.73862413e+02] [-9.52157058e-01 -2.37162973e-02 3.04687501e-01 -2.03493654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-173.69, Z:-203.09 [[-1.45199485e-01 4.97963012e-01 8.54956109e-01 2.97040731e+02] [ 1.85281717e-01 8.62511892e-01 -4.70896933e-01 -1.73693365e+02] [-9.71899066e-01 9.00337435e-02 -2.17499725e-01 -2.03086643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-173.78, Z:-203.29 [[-1.43426407e-01 -8.06889232e-01 -5.73025858e-01 2.98173552e+02] [ 2.20376115e-01 -5.90514032e-01 7.76355296e-01 -1.73783406e+02] [-9.64812538e-01 -1.49313621e-02 2.62514420e-01 -2.03289486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-173.71, Z:-203.62 [[-1.38893727e-01 -8.06086457e-01 -5.75267900e-01 2.98124056e+02] [ 2.29060507e-01 -5.91295683e-01 7.73240389e-01 -1.73705632e+02] [-9.63452031e-01 -2.43729169e-02 2.66769834e-01 -2.03624636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-173.61, Z:-203.20 [[-1.85031252e-01 5.28029019e-01 8.28823739e-01 2.97039877e+02] [ 1.26695177e-01 8.49165768e-01 -5.12704427e-01 -1.73605640e+02] [-9.74531563e-01 1.01416281e-02 -2.24020936e-01 -2.03203802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.57, Z:-203.43 [[-1.82199429e-01 -6.20636121e-01 -7.62636331e-01 2.98194151e+02] [ 1.64068015e-01 -7.83934881e-01 5.98771900e-01 -1.73571695e+02] [-9.69476691e-01 -1.60283305e-02 2.44659025e-01 -2.03428370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.57, Z:-203.44 [[-1.82513523e-01 -6.24120550e-01 -7.59712020e-01 2.98192746e+02] [ 1.63940922e-01 -7.81191544e-01 6.02381229e-01 -1.73573616e+02] [-9.69439110e-01 -1.46051685e-02 2.44896919e-01 -2.03435055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.57, Z:-203.44 [[-1.82982010e-01 -6.25826688e-01 -7.58194264e-01 2.98191981e+02] [ 1.63556652e-01 -7.79846256e-01 6.04225983e-01 -1.73574124e+02] [-9.69415703e-01 -1.34452305e-02 2.45055953e-01 -2.03440479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.57, Z:-203.44 [[-1.84644760e-01 -6.27210449e-01 -7.56646130e-01 2.98191972e+02] [ 1.61900945e-01 -7.78777716e-01 6.06047320e-01 -1.73573586e+02] [-9.69378356e-01 -1.05982612e-02 2.45343188e-01 -2.03443274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.57, Z:-203.45 [[-1.86112260e-01 -6.28600570e-01 -7.55131478e-01 2.98190964e+02] [ 1.60212577e-01 -7.77688737e-01 6.07891568e-01 -1.73573536e+02] [-9.69378232e-01 -7.84548636e-03 2.45447126e-01 -2.03448215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-173.57, Z:-203.46 [[-1.87029130e-01 -6.30140348e-01 -7.53620094e-01 2.98189387e+02] [ 1.59203390e-01 -7.76458519e-01 6.09726537e-01 -1.73574511e+02] [-9.69368034e-01 -5.94224973e-03 2.45540840e-01 -2.03457277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-173.06, Z:-203.33 [[-2.53686168e-01 9.66453503e-01 -4.01367111e-02 2.97299307e+02] [ 1.39228336e-01 -4.57866194e-03 -9.90249719e-01 -1.73057002e+02] [-9.57214082e-01 -2.56800824e-01 -1.33396170e-01 -2.03332065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-173.47, Z:-203.63 [[-2.54522024e-01 -5.17133813e-01 -8.17184899e-01 2.98183298e+02] [ 1.58939746e-01 -8.55892058e-01 4.92124926e-01 -1.73469693e+02] [-9.53916504e-01 -4.62652810e-03 3.00036495e-01 -2.03631120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-172.95, Z:-203.50 [[-3.13121351e-01 8.51829949e-01 -4.19929468e-01 2.97510145e+02] [ 1.68331788e-01 -3.85384575e-01 -9.07272362e-01 -1.72954363e+02] [-9.34676109e-01 -3.54773825e-01 -2.27179201e-02 -2.03496701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-172.95, Z:-203.61 [[-3.69746920e-01 8.37789808e-01 -4.01740528e-01 2.97488276e+02] [ 1.92190922e-01 -3.54067952e-01 -9.15258725e-01 -1.72947034e+02] [-9.09037878e-01 -4.15624978e-01 -3.01000612e-02 -2.03612992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-172.94, Z:-203.72 [[-4.25001564e-01 8.18427067e-01 -3.86717994e-01 2.97463892e+02] [ 2.14005182e-01 -3.24263036e-01 -9.21441949e-01 -1.72937637e+02] [-8.79531383e-01 -4.74373924e-01 -3.73353357e-02 -2.03719434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-172.92, Z:-203.83 [[-4.79635419e-01 7.93622529e-01 -3.74316906e-01 2.97433960e+02] [ 2.34504337e-01 -2.95136518e-01 -9.26230075e-01 -1.72924287e+02] [-8.45551643e-01 -5.32031688e-01 -4.45499978e-02 -2.03827762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.91, Z:-203.93 [[-5.32450025e-01 7.64355434e-01 -3.63672574e-01 2.97403075e+02] [ 2.52974491e-01 -2.66309403e-01 -9.30098494e-01 -1.72910336e+02] [-8.07775264e-01 -5.87230851e-01 -5.15659789e-02 -2.03926335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-172.89, Z:-204.02 [[-5.83149926e-01 7.30474155e-01 -3.55448553e-01 2.97367701e+02] [ 2.70087612e-01 -2.38321208e-01 -9.32874956e-01 -1.72893309e+02] [-7.66151973e-01 -6.40008212e-01 -5.83150256e-02 -2.04022578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-173.92, Z:-204.59 [[-5.23723896e-01 -7.71777680e-01 3.60655644e-01 2.97464222e+02] [ 2.72967227e-01 2.49004291e-01 9.29239343e-01 -1.73916108e+02] [-8.06970987e-01 5.85112020e-01 8.02605159e-02 -2.04590383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-173.88, Z:-204.66 [[-4.70369931e-01 -8.02741543e-01 3.66548965e-01 2.97381710e+02] [ 2.53991847e-01 2.74640569e-01 9.27394576e-01 -1.73882758e+02] [-8.45127369e-01 5.29318971e-01 7.47071419e-02 -2.04655444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-173.85, Z:-204.72 [[-4.14853009e-01 -8.29166360e-01 3.74673362e-01 2.97304787e+02] [ 2.33327552e-01 3.01065064e-01 9.24617802e-01 -1.73851814e+02] [-8.79463038e-01 4.71002096e-01 6.85696094e-02 -2.04721137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-173.19, Z:-204.75 [[-4.24638477e-01 -4.75685296e-01 -7.70328282e-01 2.97726539e+02] [ 2.33444407e-01 -8.79607228e-01 4.14481403e-01 -1.73189795e+02] [-8.74749034e-01 -3.82407690e-03 4.84561146e-01 -2.04754145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-173.19, Z:-204.76 [[-4.23750173e-01 -4.77141097e-01 -7.69916986e-01 2.97723900e+02] [ 2.35057364e-01 -8.78812421e-01 4.15255060e-01 -1.73188807e+02] [-8.74747865e-01 -5.01025376e-03 4.84552444e-01 -2.04759844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-173.19, Z:-204.77 [[-4.22745103e-01 -4.78677899e-01 -7.69515462e-01 2.97721246e+02] [ 2.36830715e-01 -8.77967488e-01 4.16034016e-01 -1.73188117e+02] [-8.74755846e-01 -6.36855386e-03 4.84522085e-01 -2.04765533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-173.19, Z:-204.77 [[-4.21655270e-01 -4.80137666e-01 -7.69203910e-01 2.97718797e+02] [ 2.38358121e-01 -8.77160456e-01 4.16863216e-01 -1.73187728e+02] [-8.74866984e-01 -7.57342714e-03 4.84304040e-01 -2.04771153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-173.19, Z:-204.78 [[-4.19678440e-01 -4.82106273e-01 -7.69053671e-01 2.97715494e+02] [ 2.40605265e-01 -8.76059482e-01 4.17886217e-01 -1.73186663e+02] [-8.75202327e-01 -9.66052687e-03 4.83660584e-01 -2.04778590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-173.19, Z:-204.78 [[-4.18453560e-01 -4.83947922e-01 -7.68564263e-01 2.97713911e+02] [ 2.43096727e-01 -8.75019103e-01 4.18623400e-01 -1.73185414e+02] [-8.75100337e-01 -1.16610045e-02 4.83801015e-01 -2.04781979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-173.83, Z:-204.79 [[-3.50721192e-01 -7.79140615e-01 5.19552257e-01 2.97128574e+02] [ 1.96977237e-01 4.81005554e-01 8.54303005e-01 -1.73830961e+02] [-9.15529690e-01 4.01962137e-01 -1.52258758e-02 -2.04788563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-173.80, Z:-204.88 [[-2.96664117e-01 -8.04481279e-01 5.14587478e-01 2.97066869e+02] [ 1.64881386e-01 4.87605028e-01 8.57353757e-01 -1.73795683e+02] [-9.40640489e-01 3.39191992e-01 -1.20109272e-02 -2.04878152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-173.10, Z:-204.94 [[-3.14103398e-01 -4.67833371e-01 -8.26118026e-01 2.97588129e+02] [ 1.83019932e-01 -8.83674237e-01 4.30840513e-01 -1.73103325e+02] [-9.31580785e-01 -1.58675959e-02 3.63187913e-01 -2.04937286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-173.10, Z:-204.94 [[-3.13806095e-01 -4.70207764e-01 -8.24882048e-01 2.97586788e+02] [ 1.83493502e-01 -8.82421046e-01 4.33201145e-01 -1.73104110e+02] [-9.31587822e-01 -1.54193362e-02 3.63189172e-01 -2.04942151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-173.10, Z:-204.95 [[-3.13698037e-01 -4.71547607e-01 -8.24157993e-01 2.97584644e+02] [ 1.84104754e-01 -8.81705049e-01 4.34398027e-01 -1.73102996e+02] [-9.31503613e-01 -1.54615959e-02 3.63403299e-01 -2.04949745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-173.08, Z:-205.10 [[-3.10022312e-01 -4.75900529e-01 -8.23046082e-01 2.97537482e+02] [ 1.88181778e-01 -8.79288727e-01 4.37537373e-01 -1.73079972e+02] [-9.31919409e-01 -1.92359272e-02 3.62154932e-01 -2.05096333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-172.62, Z:-204.81 [[-3.82734054e-01 8.00332326e-01 -4.61500609e-01 2.96925564e+02] [ 1.96468878e-01 -4.17599684e-01 -8.87136114e-01 -1.72618905e+02] [-9.02726218e-01 -4.30207708e-01 2.58922622e-03 -2.04810491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-172.61, Z:-204.92 [[-4.35708886e-01 7.74225416e-01 -4.59056392e-01 2.96905807e+02] [ 2.24126442e-01 -4.00625978e-01 -8.88406531e-01 -1.72608905e+02] [-8.71736832e-01 -4.89973296e-01 1.03191032e-03 -2.04924791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.63, Z:-205.10 [[-4.93719481e-01 8.54499016e-01 -1.61469828e-01 2.96626460e+02] [ 2.21614473e-01 -5.59161764e-02 -9.73529869e-01 -1.72628152e+02] [-8.40909091e-01 -5.16434713e-01 -1.61762444e-01 -2.05103648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-173.01, Z:-205.46 [[-4.79187310e-01 -4.41511702e-01 -7.58582190e-01 2.97473699e+02] [ 2.49473434e-01 -8.97137489e-01 3.64564578e-01 -1.73006039e+02] [-8.41512049e-01 -1.45513846e-02 5.40042340e-01 -2.05457416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.58, Z:-205.11 [[-5.43373188e-01 7.29159993e-01 -4.16018369e-01 2.96848167e+02] [ 2.52567643e-01 -3.30607456e-01 -9.09344982e-01 -1.72584468e+02] [-8.00596755e-01 -5.99186460e-01 -4.51899321e-03 -2.05106039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-173.66, Z:-205.61 [[-4.61902429e-01 -7.79164974e-01 4.23731154e-01 2.96909515e+02] [ 2.36293671e-01 3.52376416e-01 9.05536395e-01 -1.73657857e+02] [-8.54875106e-01 5.18394450e-01 2.13482293e-02 -2.05608597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-173.62, Z:-205.68 [[-4.07381109e-01 -8.08107101e-01 4.25445115e-01 2.96836980e+02] [ 2.11581567e-01 3.69665217e-01 9.04754590e-01 -1.73624344e+02] [-8.88410870e-01 4.58596272e-01 2.03859405e-02 -2.05677669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.48, Z:-205.43 [[-4.95380692e-01 7.60644568e-01 -4.19544767e-01 2.96633496e+02] [ 2.30443050e-01 -3.50594348e-01 -9.07733223e-01 -1.72478784e+02] [-8.37552369e-01 -5.46354688e-01 -1.60758359e-03 -2.05431272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.46, Z:-205.54 [[-5.47184470e-01 7.26290103e-01 -4.16043077e-01 2.96603740e+02] [ 2.53318228e-01 -3.30050254e-01 -9.09338609e-01 -1.72464756e+02] [-7.97758755e-01 -6.02967260e-01 -3.38414886e-03 -2.05535938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.45, Z:-205.63 [[-5.97859717e-01 6.87783869e-01 -4.11724553e-01 2.96572533e+02] [ 2.74509978e-01 -3.06903348e-01 -9.11292822e-01 -1.72450225e+02] [-7.53132147e-01 -6.57847767e-01 -5.31838590e-03 -2.05629792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.83, Z:-206.18 [[-5.75309250e-01 -4.48211409e-01 -6.84197193e-01 2.97117253e+02] [ 3.03917475e-01 -8.93743808e-01 3.29933591e-01 -1.72827135e+02] [-7.59377004e-01 -1.81256366e-02 6.50398360e-01 -2.06180907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.83, Z:-206.18 [[-5.74138868e-01 -4.49580191e-01 -6.84282261e-01 2.97115193e+02] [ 3.05334517e-01 -8.93034543e-01 3.30545214e-01 -1.72826173e+02] [-7.59694276e-01 -1.91561381e-02 6.49998192e-01 -2.06184080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.83, Z:-206.18 [[-5.73226465e-01 -4.50673447e-01 -6.84328038e-01 2.97115478e+02] [ 3.06420413e-01 -8.92466781e-01 3.31073370e-01 -1.72826143e+02] [-7.59946018e-01 -1.99120622e-02 6.49681122e-01 -2.06183357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.82, Z:-206.19 [[-5.71437741e-01 -4.51740651e-01 -6.85119911e-01 2.97113036e+02] [ 3.07079641e-01 -8.91909364e-01 3.31963524e-01 -1.72824261e+02] [-7.61026282e-01 -2.06898906e-02 6.48391029e-01 -2.06186999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.82, Z:-206.19 [[-5.70888399e-01 -4.52313400e-01 -6.85199988e-01 2.97112965e+02] [ 3.07337300e-01 -8.91617367e-01 3.32509030e-01 -1.72823656e+02] [-7.61334499e-01 -2.07619665e-02 6.48026790e-01 -2.06187429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.82, Z:-206.19 [[-5.70594537e-01 -4.52635776e-01 -6.85231880e-01 2.97109424e+02] [ 3.07228208e-01 -8.91459897e-01 3.33031652e-01 -1.72821225e+02] [-7.61598781e-01 -2.04965215e-02 6.47724625e-01 -2.06192394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.82, Z:-206.19 [[-5.70281679e-01 -4.52875669e-01 -6.85333813e-01 2.97109372e+02] [ 3.06950031e-01 -8.91346576e-01 3.33591008e-01 -1.72820688e+02] [-7.61945199e-01 -2.01223951e-02 6.47328822e-01 -2.06193398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.82, Z:-206.19 [[-5.70670867e-01 -4.52349367e-01 -6.85357434e-01 2.97112439e+02] [ 3.05516019e-01 -8.91644329e-01 3.34111289e-01 -1.72820731e+02] [-7.62230099e-01 -1.87200962e-02 6.47035420e-01 -2.06190799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.82, Z:-206.19 [[-5.71044525e-01 -4.52213300e-01 -6.85135959e-01 2.97111354e+02] [ 3.04823312e-01 -8.91731687e-01 3.34510608e-01 -1.72819280e+02] [-7.62227590e-01 -1.78249608e-02 6.47063653e-01 -2.06193412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-172.41, Z:-205.77 [[-6.34984339e-01 5.87474371e-01 -5.01665978e-01 2.96585823e+02] [ 3.11900063e-01 -3.99146233e-01 -8.62206840e-01 -1.72409621e+02] [-7.06762506e-01 -7.03957490e-01 7.02183139e-02 -2.05768895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-172.40, Z:-205.85 [[-6.72373905e-01 5.40792187e-01 -5.05427683e-01 2.96558803e+02] [ 3.38035695e-01 -3.83123070e-01 -8.59621185e-01 -1.72396582e+02] [-6.58517426e-01 -7.48839451e-01 7.47948918e-02 -2.05847975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-172.38, Z:-205.92 [[-7.07181645e-01 4.91134415e-01 -5.08607026e-01 2.96530845e+02] [ 3.63647356e-01 -3.64255273e-01 -8.57367306e-01 -1.72383334e+02] [-6.06345382e-01 -7.91268022e-01 7.89949118e-02 -2.05921112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-173.45, Z:-206.45 [[-6.43512056e-01 -5.59633590e-01 5.22209230e-01 2.96359612e+02] [ 3.37155293e-01 4.05249459e-01 8.49764194e-01 -1.73449566e+02] [-6.87181594e-01 7.22899109e-01 -7.20994853e-02 -2.06446679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-172.70, Z:-206.56 [[-6.55048110e-01 -4.66752536e-01 -5.94183510e-01 2.96859258e+02] [ 3.54018116e-01 -8.84319976e-01 3.04383563e-01 -1.72701209e+02] [-6.67520147e-01 -1.09658491e-02 7.44510983e-01 -2.06563361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.70, Z:-206.57 [[-6.55423622e-01 -4.66777788e-01 -5.93749419e-01 2.96850093e+02] [ 3.53896004e-01 -8.84312096e-01 3.04548413e-01 -1.72695963e+02] [-6.67216227e-01 -1.05173222e-02 7.44789831e-01 -2.06572791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.70, Z:-206.57 [[-6.55585269e-01 -4.67043765e-01 -5.93361675e-01 2.96852656e+02] [ 3.54077321e-01 -8.84174047e-01 3.04738421e-01 -1.72696492e+02] [-6.66961173e-01 -1.03138926e-02 7.45021085e-01 -2.06570440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.70, Z:-206.57 [[-6.56070911e-01 -4.67124956e-01 -5.92760689e-01 2.96852043e+02] [ 3.54103465e-01 -8.84135712e-01 3.04819257e-01 -1.72695041e+02] [-6.66469576e-01 -9.91556622e-03 7.45466288e-01 -2.06571098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.69, Z:-206.57 [[-6.56051221e-01 -4.67445357e-01 -5.92529859e-01 2.96848436e+02] [ 3.54289706e-01 -8.83967944e-01 3.05089295e-01 -1.72693367e+02] [-6.66389976e-01 -9.77302485e-03 7.45539327e-01 -2.06574963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-172.68, Z:-206.60 [[-6.53506902e-01 -4.71169726e-01 -5.92391610e-01 2.96825453e+02] [ 3.59078164e-01 -8.81944267e-01 3.05347640e-01 -1.72682885e+02] [-6.66326948e-01 -1.31681017e-02 7.45543426e-01 -2.06598745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-172.69, Z:-206.60 [[-6.53343787e-01 -4.74699227e-01 -5.89747862e-01 2.96824748e+02] [ 3.59869889e-01 -8.80092686e-01 3.09726536e-01 -1.72685819e+02] [-6.66059727e-01 -9.87458951e-03 7.45833046e-01 -2.06601407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.67, Z:-206.61 [[-6.54277173e-01 -4.73964919e-01 -5.89303518e-01 2.96809067e+02] [ 3.62455845e-01 -8.80438951e-01 3.05700857e-01 -1.72674758e+02] [-6.63737253e-01 -1.35834118e-02 7.47842463e-01 -2.06614175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-173.38, Z:-206.33 [[-6.23670440e-01 -3.02075680e-01 7.20961487e-01 2.96049284e+02] [ 2.88173855e-01 7.68501520e-01 5.71280354e-01 -1.73377601e+02] [-7.26629900e-01 5.64052921e-01 -3.92241368e-01 -2.06331149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.61, Z:-206.64 [[-6.35700591e-01 -4.28087582e-01 -6.42359542e-01 2.96755558e+02] [ 3.09044182e-01 -9.03680855e-01 2.96399402e-01 -1.72611771e+02] [-7.07372923e-01 -1.00962041e-02 7.06768430e-01 -2.06636283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-172.61, Z:-206.64 [[-6.35183780e-01 -4.28415563e-01 -6.42652061e-01 2.96754488e+02] [ 3.08952695e-01 -9.03527327e-01 2.96962290e-01 -1.72610746e+02] [-7.07876965e-01 -9.92345690e-03 7.06266046e-01 -2.06637462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-172.61, Z:-206.64 [[-6.34710149e-01 -4.28706988e-01 -6.42925614e-01 2.96754236e+02] [ 3.08817858e-01 -9.03391399e-01 2.97515564e-01 -1.72610949e+02] [-7.08360471e-01 -9.71076314e-03 7.05784063e-01 -2.06637908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-172.60, Z:-206.64 [[-6.36578185e-01 -4.26754696e-01 -6.42377338e-01 2.96749263e+02] [ 3.12183298e-01 -9.04241873e-01 2.91355838e-01 -1.72604356e+02] [-7.05201959e-01 -1.50687051e-02 7.08846338e-01 -2.06637837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-173.33, Z:-206.37 [[-6.04587706e-01 -3.28977014e-01 7.25429411e-01 2.95979787e+02] [ 2.35554060e-01 7.96152377e-01 5.57364941e-01 -1.73327314e+02] [-7.60912604e-01 5.07853834e-01 -4.03852068e-01 -2.06366921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-172.54, Z:-206.68 [[-6.14171478e-01 -3.73912640e-01 -6.94969591e-01 2.96676917e+02] [ 2.55717387e-01 -9.27409403e-01 2.72984279e-01 -1.72535109e+02] [-7.46593606e-01 -1.00566496e-02 6.65204368e-01 -2.06684953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-172.54, Z:-206.69 [[-6.13976899e-01 -3.74623427e-01 -6.94758703e-01 2.96676289e+02] [ 2.56222772e-01 -9.27122052e-01 2.73485999e-01 -1.72535828e+02] [-7.46580377e-01 -1.00989152e-02 6.65218576e-01 -2.06685851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.54, Z:-206.69 [[-6.13531746e-01 -3.75404589e-01 -6.94730301e-01 2.96674696e+02] [ 2.56893284e-01 -9.26802681e-01 2.73939102e-01 -1.72536212e+02] [-7.46715901e-01 -1.04012128e-02 6.65061785e-01 -2.06688267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.54, Z:-206.69 [[-6.12941805e-01 -3.76212143e-01 -6.94814196e-01 2.96673997e+02] [ 2.57556702e-01 -9.26471299e-01 2.74436654e-01 -1.72537361e+02] [-7.46971813e-01 -1.07403546e-02 6.64768949e-01 -2.06689408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.53, Z:-206.68 [[-6.18504358e-01 -3.68563640e-01 -6.93983575e-01 2.96670138e+02] [ 2.62254078e-01 -9.29358698e-01 2.59836891e-01 -1.72527849e+02] [-7.40726102e-01 -2.12897737e-02 6.71469722e-01 -2.06682513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-173.31, Z:-206.57 [[-5.61800867e-01 -6.13247182e-01 5.55254608e-01 2.96072774e+02] [ 2.04444050e-01 5.47449446e-01 8.11481198e-01 -1.73308154e+02] [-8.01612385e-01 5.69409342e-01 -1.82182836e-01 -2.06570870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.48, Z:-206.77 [[-5.72452824e-01 -3.48517127e-01 -7.42181634e-01 2.96574747e+02] [ 2.24155916e-01 -9.37206583e-01 2.67203942e-01 -1.72479699e+02] [-7.88702663e-01 -1.34027528e-02 6.14628730e-01 -2.06766120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.48, Z:-206.77 [[-5.72652877e-01 -3.51782954e-01 -7.40484596e-01 2.96573380e+02] [ 2.23374027e-01 -9.36031541e-01 2.71935651e-01 -1.72482466e+02] [-7.88779264e-01 -9.68029343e-03 6.14600330e-01 -2.06769370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-173.26, Z:-206.67 [[-5.18228212e-01 -6.63533563e-01 5.39594970e-01 2.95987574e+02] [ 1.73782423e-01 5.36065958e-01 8.26095006e-01 -1.73261574e+02] [-8.37400256e-01 5.21877859e-01 -1.62494033e-01 -2.06672555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-172.43, Z:-206.82 [[-5.30129749e-01 -3.19702704e-01 -7.85335999e-01 2.96494661e+02] [ 1.86887339e-01 -9.47473499e-01 2.59551710e-01 -1.72432120e+02] [-8.27064430e-01 -9.17327242e-03 5.62032276e-01 -2.06824093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-172.43, Z:-206.83 [[-5.30162112e-01 -3.20152855e-01 -7.85130743e-01 2.96489734e+02] [ 1.86682526e-01 -9.47326827e-01 2.60233583e-01 -1.72431630e+02] [-8.27089940e-01 -8.60420452e-03 5.62003735e-01 -2.06832184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-172.43, Z:-206.84 [[-5.30105916e-01 -3.21182722e-01 -7.84747970e-01 2.96486766e+02] [ 1.87719573e-01 -9.46973754e-01 2.60772068e-01 -1.72432144e+02] [-8.26891214e-01 -9.07573763e-03 5.62288673e-01 -2.06837026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-172.43, Z:-206.84 [[-5.30303730e-01 -3.23127434e-01 -7.83815422e-01 2.96484311e+02] [ 1.87736836e-01 -9.46324741e-01 2.63105235e-01 -1.72433346e+02] [-8.26760446e-01 -7.62533940e-03 5.62502462e-01 -2.06841658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-172.43, Z:-206.85 [[-5.30357317e-01 -3.23730874e-01 -7.83530113e-01 2.96481170e+02] [ 1.87960840e-01 -9.46120049e-01 2.63680821e-01 -1.72433445e+02] [-8.26675171e-01 -7.42792531e-03 5.62630418e-01 -2.06846676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-172.42, Z:-206.91 [[-5.33769224e-01 -3.19634890e-01 -7.82894599e-01 2.96438308e+02] [ 1.91096739e-01 -9.47455950e-01 2.56533154e-01 -1.72418313e+02] [-8.23755092e-01 -1.26791023e-02 5.66804012e-01 -2.06905934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-173.13, Z:-206.94 [[-4.62066486e-01 -8.74151942e-01 1.49509013e-01 2.96122600e+02] [ 1.84312919e-01 7.02474471e-02 9.80354040e-01 -1.73126027e+02] [-8.67481014e-01 4.80545189e-01 1.28658505e-01 -2.06938801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-172.10, Z:-206.57 [[-5.30906084e-01 8.31248828e-01 -1.64815402e-01 2.95606529e+02] [ 1.78166951e-01 -8.06530970e-02 -9.80689357e-01 -1.72104060e+02] [-8.28489751e-01 -5.50018604e-01 -1.05281849e-01 -2.06572422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-172.09, Z:-206.67 [[-5.84551938e-01 7.97847201e-01 -1.47441092e-01 2.95568005e+02] [ 1.82384135e-01 -4.78578914e-02 -9.82061938e-01 -1.72093993e+02] [-7.90591588e-01 -6.00957125e-01 -1.17539249e-01 -2.06670358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-173.05, Z:-207.30 [[-5.26093105e-01 -8.38789080e-01 1.40210288e-01 2.95938869e+02] [ 1.89381170e-01 4.51782955e-02 9.80863749e-01 -1.73048541e+02] [-8.29072263e-01 5.42578843e-01 1.35082867e-01 -2.07296920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-173.03, Z:-207.36 [[-4.69943660e-01 -8.68805858e-01 1.55978643e-01 2.95851582e+02] [ 1.84181284e-01 7.63032488e-02 9.79926053e-01 -1.73034089e+02] [-8.63267173e-01 4.89238382e-01 1.24159551e-01 -2.07359390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:-173.02, Z:-207.43 [[-4.12104915e-01 -8.93932956e-01 1.76219774e-01 2.95763526e+02] [ 1.77029379e-01 1.11162694e-01 9.77907692e-01 -1.73019248e+02] [-8.93772979e-01 4.34196643e-01 1.12441704e-01 -2.07431904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-172.31, Z:-207.55 [[-4.20348450e-01 -3.76903342e-01 -8.25379338e-01 2.95998103e+02] [ 1.69863085e-01 -9.26251781e-01 3.36458273e-01 -1.72305154e+02] [-8.91321330e-01 1.22823272e-03 4.53370465e-01 -2.07546638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-173.06, Z:-207.45 [[-3.62024551e-01 -7.99388203e-01 4.79496324e-01 2.95496695e+02] [ 1.50235050e-01 4.57627978e-01 8.76359551e-01 -1.73058477e+02] [-9.19982421e-01 3.89300827e-01 -4.55764369e-02 -2.07453288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-173.03, Z:-207.55 [[-3.08099259e-01 -8.29080491e-01 4.66583740e-01 2.95441140e+02] [ 1.21086531e-01 4.52278706e-01 8.83618710e-01 -1.73026980e+02] [-9.43616924e-01 3.28739276e-01 -3.89562536e-02 -2.07546574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-171.85, Z:-207.47 [[-3.42452688e-01 8.26452404e-01 -4.46880947e-01 2.95260574e+02] [ 1.31153086e-01 -4.28932983e-01 -8.93764714e-01 -1.71847946e+02] [-9.30335974e-01 -3.64681944e-01 3.84974700e-02 -2.07469524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.84, Z:-207.59 [[-3.96655221e-01 7.94373683e-01 -4.60038137e-01 2.95254350e+02] [ 1.59825684e-01 -4.33731596e-01 -8.86753998e-01 -1.71843801e+02] [-9.03947115e-01 -4.25261513e-01 4.50805854e-02 -2.07591800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-172.24, Z:-207.99 [[-4.25316646e-01 -3.69394810e-01 -8.26228313e-01 2.95827680e+02] [ 1.59691275e-01 -9.29220981e-01 3.33237250e-01 -1.72240101e+02] [-8.90844794e-01 9.78989671e-03 4.54202279e-01 -2.07991462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-172.98, Z:-207.94 [[-3.68306276e-01 -7.64987979e-01 5.28340686e-01 2.95261142e+02] [ 1.50107470e-01 5.11902608e-01 8.45827091e-01 -1.72978439e+02] [-9.17506531e-01 3.90831309e-01 -7.37065333e-02 -2.07943149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-171.80, Z:-207.86 [[-3.99368096e-01 7.66712970e-01 -5.02649326e-01 2.95181425e+02] [ 1.56825487e-01 -4.83057059e-01 -8.61429999e-01 -1.71797308e+02] [-9.03277859e-01 -4.22855884e-01 7.26774425e-02 -2.07864690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-172.93, Z:-208.21 [[-3.61560816e-01 -7.76494183e-01 5.16072243e-01 2.95163939e+02] [ 1.53810889e-01 4.96258074e-01 8.54441416e-01 -1.72926852e+02] [-9.19573807e-01 3.88310066e-01 -5.99942133e-02 -2.08206354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.22, Z:-207.98 [[-3.91755410e-01 6.69873390e-01 6.30711772e-01 2.94566962e+02] [ 9.32189680e-02 7.10875271e-01 -6.97113027e-01 -1.72221415e+02] [-9.15334869e-01 -2.14303500e-01 -3.40934140e-01 -2.07984237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-172.06, Z:-208.44 [[-4.11142052e-01 -2.07077479e-01 -8.87739337e-01 2.95599822e+02] [ 7.94302987e-02 -9.78290311e-01 1.91412894e-01 -1.72056115e+02] [-9.08104091e-01 8.18448933e-03 4.18664512e-01 -2.08435670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-172.06, Z:-208.54 [[-4.06060090e-01 -2.18191196e-01 -8.87416365e-01 2.95554071e+02] [ 1.03892915e-01 -9.75804515e-01 1.92384538e-01 -1.72055598e+02] [-9.07921509e-01 -1.40765903e-02 4.18903789e-01 -2.08535146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-172.08, Z:-208.55 [[-4.05854104e-01 -2.63016074e-01 -8.75274237e-01 2.95560507e+02] [ 1.07105922e-01 -9.64784127e-01 2.40249680e-01 -1.72083530e+02] [-9.07640219e-01 3.75926415e-03 4.19732177e-01 -2.08547487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-172.09, Z:-208.56 [[-4.05028244e-01 -2.66218284e-01 -8.74688486e-01 2.95554608e+02] [ 1.12512220e-01 -9.63912522e-01 2.41275053e-01 -1.72087776e+02] [-9.07355014e-01 -6.89932907e-04 4.20364606e-01 -2.08558899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-172.08, Z:-208.60 [[-4.10237471e-01 -2.62222084e-01 -8.73467112e-01 2.95528425e+02] [ 1.20844273e-01 -9.64955777e-01 2.32931342e-01 -1.72077610e+02] [-9.03936878e-01 -9.99633319e-03 4.27549054e-01 -2.08601254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-172.85, Z:-208.55 [[-3.39233449e-01 -7.78802124e-01 5.27624790e-01 2.94964326e+02] [ 8.05613328e-02 5.34771550e-01 8.41147586e-01 -1.72847285e+02] [-9.37246253e-01 3.27851553e-01 -1.18671060e-01 -2.08546971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-172.03, Z:-208.75 [[-3.48140967e-01 -2.23413057e-01 -9.10430927e-01 2.95435059e+02] [ 9.75479700e-02 -9.74547522e-01 2.01845292e-01 -1.72033831e+02] [-9.32353077e-01 -1.85400735e-02 3.61073407e-01 -2.08749779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-172.06, Z:-208.76 [[-3.46174292e-01 -2.57209687e-01 -9.02223108e-01 2.95437952e+02] [ 1.02466141e-01 -9.66296437e-01 2.36160722e-01 -1.72055937e+02] [-9.32557800e-01 -1.06945489e-02 3.60862269e-01 -2.08759510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.79, Z:-208.80 [[-2.68291248e-01 -9.10946091e-01 3.13364048e-01 2.94992341e+02] [ 7.23393145e-02 3.05320510e-01 9.49497978e-01 -1.72791880e+02] [-9.60617942e-01 2.77410538e-01 -1.60176049e-02 -2.08801129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.77, Z:-208.91 [[-2.03962259e-01 -9.32306361e-01 2.98670800e-01 2.94938685e+02] [ 5.18294346e-02 2.94372749e-01 9.54284231e-01 -1.72771866e+02] [-9.77605803e-01 2.10117907e-01 -1.17200195e-02 -2.08905553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.75, Z:-209.02 [[-1.36878245e-01 -9.49939985e-01 2.80852935e-01 2.94890044e+02] [ 3.25102991e-02 2.79060843e-01 9.59722943e-01 -1.72753341e+02] [-9.90054254e-01 1.40495805e-01 -7.31452529e-03 -2.09022363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-172.74, Z:-209.14 [[-7.08260131e-02 -9.63672656e-01 2.57524149e-01 2.94853292e+02] [ 1.56680403e-02 2.57065867e-01 9.66266864e-01 -1.72737123e+02] [-9.97365624e-01 7.24717283e-02 -3.10808842e-03 -2.09144840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-171.66, Z:-209.22 [[-1.77102268e-01 9.61475007e-01 -2.10239383e-01 2.94477090e+02] [ 2.59208922e-02 -2.08985313e-01 -9.77575187e-01 -1.71660953e+02] [-9.83851053e-01 -1.78580375e-01 1.20894829e-02 -2.09223956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-171.66, Z:-209.35 [[-2.41406263e-01 9.40849673e-01 -2.37749677e-01 2.94503614e+02] [ 4.27455520e-02 -2.34448366e-01 -9.71188335e-01 -1.71658561e+02] [-9.69482251e-01 -2.44613688e-01 1.63801654e-02 -2.09350136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.73, Z:-209.60 [[-1.37978409e-01 -9.57314363e-01 2.53990489e-01 2.94810619e+02] [ 2.96026821e-02 2.52342672e-01 9.67185017e-01 -1.72728842e+02] [-9.89992747e-01 1.40969449e-01 -6.47876761e-03 -2.09595192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.71, Z:-209.72 [[-7.35748298e-02 -9.70390566e-01 2.30062804e-01 2.94775548e+02] [ 1.50613985e-02 2.29580548e-01 9.73173122e-01 -1.72713755e+02] [-9.97175962e-01 7.50661144e-02 -2.27591069e-03 -2.09715922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.70, Z:-209.84 [[-9.57899778e-03 -9.80411845e-01 1.96725334e-01 2.94753640e+02] [ 4.23882303e-03 1.96692781e-01 9.80456007e-01 -1.72699130e+02] [-9.99945136e-01 1.02256698e-02 2.27167260e-03 -2.09835786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.82, Z:-209.85 [[-3.47846290e-02 5.98516919e-02 -9.97601025e-01 2.94995306e+02] [ 1.30564752e-02 -9.98092702e-01 -6.03364471e-02 -1.71821849e+02] [-9.99309541e-01 -1.51239340e-02 3.39368322e-02 -2.09851299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.84, Z:-209.96 [[-3.53394603e-02 2.10799859e-02 -9.99153020e-01 2.95005788e+02] [ 2.98615039e-02 -9.99308829e-01 -2.21394571e-02 -1.71843824e+02] [-9.98929133e-01 -3.06186083e-02 3.46855546e-02 -2.09955010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.17, Z:-210.02 [[-2.35141350e-02 -5.52681800e-01 -8.33060570e-01 2.95106464e+02] [ 3.92658855e-02 -8.33158555e-01 5.51638479e-01 -1.72171278e+02] [-9.98952089e-01 -1.97395593e-02 4.12925430e-02 -2.10015688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-172.30, Z:-210.05 [[-1.72061992e-02 -7.30282050e-01 -6.82929041e-01 2.95089812e+02] [ 4.25852247e-02 -6.82945610e-01 7.29226846e-01 -1.72303785e+02] [-9.98944666e-01 -1.65354643e-02 4.28501234e-02 -2.10054870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-172.38, Z:-210.09 [[-1.30557924e-02 -8.23132817e-01 -5.67698786e-01 2.95064005e+02] [ 4.48293965e-02 -5.67658146e-01 8.22042915e-01 -1.72383844e+02] [-9.98909341e-01 -1.47171723e-02 4.43117743e-02 -2.10092622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-172.45, Z:-210.10 [[-1.12666412e-02 -8.86316513e-01 -4.62942871e-01 2.95034698e+02] [ 4.45940669e-02 -4.62956992e-01 8.85258263e-01 -1.72446790e+02] [-9.98941656e-01 -1.06706181e-02 4.47404282e-02 -2.10101253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-172.46, Z:-210.12 [[-8.86369497e-03 -8.95228849e-01 -4.45518510e-01 2.95029470e+02] [ 4.58008234e-02 -4.45431886e-01 8.94143568e-01 -1.72455325e+02] [-9.98911267e-01 -1.24796988e-02 4.49503908e-02 -2.10120563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-172.50, Z:-210.14 [[-6.06058126e-03 -9.33574724e-01 -3.58331556e-01 2.95000772e+02] [ 4.56433681e-02 -3.58222923e-01 9.32519716e-01 -1.72500320e+02] [-9.98939414e-01 -1.07038476e-02 4.47825339e-02 -2.10144259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-172.54, Z:-210.16 [[-6.08089922e-03 -9.59796568e-01 -2.80630666e-01 2.94974291e+02] [ 4.41759240e-02 -2.80619718e-01 9.58801889e-01 -1.72535681e+02] [-9.99005261e-01 -6.56674133e-03 4.41063205e-02 -2.10164388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.57, Z:-210.17 [[-6.56757632e-03 -9.76982844e-01 -2.13216766e-01 2.94949062e+02] [ 4.29532073e-02 -2.13300188e-01 9.76042034e-01 -1.72565097e+02] [-9.99055498e-01 -2.74811339e-03 4.33654119e-02 -2.10169103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.58, Z:-210.18 [[-7.28337008e-03 -9.82574497e-01 -1.85726440e-01 2.94939027e+02] [ 4.22265233e-02 -1.85867905e-01 9.81666971e-01 -1.72575603e+02] [-9.99081515e-01 -6.92738004e-04 4.28444496e-02 -2.10182541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.59, Z:-210.18 [[-1.21219019e-02 -9.90542951e-01 -1.36666464e-01 2.94921799e+02] [ 3.95118377e-02 -1.37044259e-01 9.89776584e-01 -1.72594889e+02] [-9.99145572e-01 6.59803155e-03 4.07994094e-02 -2.10183999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-171.79, Z:-210.28 [[-5.65313661e-02 9.58251896e-01 2.80281124e-01 2.94102387e+02] [ 8.31687185e-03 2.81172300e-01 -9.59621262e-01 -1.71792005e+02] [-9.98366183e-01 -5.19176387e-02 -2.38647124e-02 -2.10278298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.92, Z:-210.35 [[-7.95371722e-02 -1.88510917e-01 -9.78844969e-01 2.95085116e+02] [ 2.18531666e-03 -9.81986517e-01 1.88938362e-01 -1.71915880e+02] [-9.96829505e-01 1.28885368e-02 7.85163868e-02 -2.10353524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.92, Z:-210.36 [[-8.09256686e-02 -1.96788109e-01 -9.77100546e-01 2.95087580e+02] [-1.94896494e-03 -9.80282729e-01 1.97590419e-01 -1.71918594e+02] [-9.96718234e-01 1.78944715e-02 7.89465021e-02 -2.10357202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.93, Z:-210.45 [[-7.89178695e-02 -2.10927744e-01 -9.74310760e-01 2.95083567e+02] [ 1.10284801e-02 -9.77483943e-01 2.10721411e-01 -1.71927256e+02] [-9.96820115e-01 5.88451805e-03 7.94671627e-02 -2.10454261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.05, Z:-210.46 [[-8.37903908e-02 -4.12703136e-01 -9.07003469e-01 2.95119742e+02] [ 1.37102371e-02 -9.10595596e-01 4.13071046e-01 -1.72046030e+02] [-9.96389081e-01 2.21761518e-02 8.19574187e-02 -2.10463149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-172.72, Z:-210.57 [[-2.57377237e-02 -7.62000268e-01 6.47065036e-01 2.94464570e+02] [ 1.09218507e-02 6.47026485e-01 7.62389298e-01 -1.72716330e+02] [-9.99609065e-01 2.66893128e-02 -8.33053574e-03 -2.10567469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.41, Z:-210.70 [[ 1.68126330e-02 -8.83935954e-01 -4.67305644e-01 2.95008514e+02] [ 1.51300582e-02 -4.67093275e-01 8.84078591e-01 -1.72412384e+02] [-9.99744176e-01 -2.19340505e-02 5.52093463e-03 -2.10702671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-172.64, Z:-210.77 [[ 4.58387178e-02 -3.69953188e-01 9.27918882e-01 2.94169646e+02] [ 4.99060838e-02 9.28583464e-01 3.67752816e-01 -1.72640211e+02] [-9.97701456e-01 2.94514800e-02 6.10279901e-02 -2.10773884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-172.64, Z:-210.80 [[ 4.55558152e-02 -3.71646122e-01 9.27256075e-01 2.94172255e+02] [ 5.14575853e-02 9.27860497e-01 3.69360279e-01 -1.72640139e+02] [-9.97635597e-01 3.08878499e-02 6.13934533e-02 -2.10802262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-172.64, Z:-210.83 [[ 4.47065795e-02 -3.76871777e-01 9.25185919e-01 2.94176334e+02] [ 5.24058990e-02 9.25721467e-01 3.74557588e-01 -1.72641641e+02] [-9.97624651e-01 3.17400113e-02 6.11361446e-02 -2.10829221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-172.64, Z:-210.86 [[ 4.36240521e-02 -3.79175229e-01 9.24295996e-01 2.94179198e+02] [ 5.38403357e-02 9.24724551e-01 3.76809931e-01 -1.72641739e+02] [-9.97596191e-01 3.33264306e-02 6.07551536e-02 -2.10856961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-172.64, Z:-210.88 [[ 4.28510485e-02 -3.84266373e-01 9.22227273e-01 2.94182756e+02] [ 5.38088358e-02 9.22623039e-01 3.81931064e-01 -1.72642665e+02] [-9.97631393e-01 3.32578293e-02 6.02122907e-02 -2.10883442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-172.64, Z:-210.91 [[ 4.26541249e-02 -3.86465610e-01 9.21316969e-01 2.94185388e+02] [ 5.37348701e-02 9.21708898e-01 3.84142255e-01 -1.72642220e+02] [-9.97643819e-01 3.31215959e-02 6.00813659e-02 -2.10911858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-172.64, Z:-210.94 [[ 4.25049495e-02 -3.91391375e-01 9.19242145e-01 2.94188667e+02] [ 5.10617579e-02 9.19722248e-01 3.89234741e-01 -1.72642244e+02] [-9.97790572e-01 3.03937168e-02 5.90778794e-02 -2.10939379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-172.64, Z:-210.97 [[ 4.26647938e-02 -3.96416867e-01 9.17078722e-01 2.94191866e+02] [ 4.90342527e-02 9.17639190e-01 3.94377939e-01 -1.72642259e+02] [-9.97885443e-01 2.81422163e-02 5.85888917e-02 -2.10965979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-172.64, Z:-210.99 [[ 4.37355544e-02 -3.98529150e-01 9.16112284e-01 2.94193865e+02] [ 4.68566377e-02 9.16798854e-01 3.96590869e-01 -1.72641245e+02] [-9.97943714e-01 2.55808198e-02 5.87704422e-02 -2.10994257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-172.64, Z:-211.02 [[ 4.50344472e-02 -4.03358285e-01 9.13933254e-01 2.94197556e+02] [ 4.39110153e-02 9.14776479e-01 4.01566703e-01 -1.72641362e+02] [-9.98019900e-01 2.20474026e-02 5.89083248e-02 -2.11021443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-172.64, Z:-211.06 [[ 4.97893493e-02 -4.07496528e-01 9.11848453e-01 2.94201986e+02] [ 3.65647946e-02 9.13112449e-01 4.06064861e-01 -1.72640323e+02] [-9.98090195e-01 1.31238462e-02 6.03633015e-02 -2.11055132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-172.61, Z:-211.09 [[ 5.16185786e-02 -3.38925870e-01 9.39395964e-01 2.94165349e+02] [ 3.23629467e-02 9.40723623e-01 3.37626576e-01 -1.72614211e+02] [-9.98142356e-01 1.29738175e-02 5.95274561e-02 -2.11086192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-172.63, Z:-211.11 [[ 5.24164281e-02 -4.00099117e-01 9.14971701e-01 2.94197396e+02] [ 2.87675750e-02 9.16455953e-01 3.99100129e-01 -1.72633321e+02] [-9.98210872e-01 5.40211379e-03 5.95472289e-02 -2.11112920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-172.63, Z:-211.14 [[ 5.42153046e-02 -4.04972158e-01 9.12720248e-01 2.94200636e+02] [ 2.47031707e-02 9.14328798e-01 4.04218508e-01 -1.72632788e+02] [-9.98223649e-01 6.32254564e-04 5.95747107e-02 -2.11139923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-172.63, Z:-211.17 [[ 5.69506563e-02 -4.06698812e-01 9.11785446e-01 2.94201127e+02] [ 1.63663547e-02 9.13525273e-01 4.06452603e-01 -1.72629864e+02] [-9.98242839e-01 -8.22513852e-03 5.86820408e-02 -2.11167839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-172.63, Z:-211.20 [[ 5.81945434e-02 -4.11549758e-01 9.09527455e-01 2.94204353e+02] [ 1.25911442e-02 9.11301597e-01 4.11546913e-01 -1.72629752e+02] [-9.98225855e-01 -1.24977934e-02 5.82146627e-02 -2.11195721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-172.63, Z:-211.22 [[ 5.93155265e-02 -4.16486270e-01 9.07204969e-01 2.94207906e+02] [ 9.27436080e-03 9.08995816e-01 4.16702043e-01 -1.72629873e+02] [-9.98196200e-01 -1.63031549e-02 5.77802093e-02 -2.11223595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-172.63, Z:-211.25 [[ 6.13169823e-02 -4.21251652e-01 9.04868650e-01 2.94211144e+02] [ 3.45402922e-03 9.06658637e-01 4.21850904e-01 -1.72630217e+02] [-9.98112367e-01 -2.27411817e-02 5.70485871e-02 -2.11250603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-172.63, Z:-211.28 [[ 6.17289569e-02 -4.23371908e-01 9.03850520e-01 2.94213493e+02] [ 1.79910150e-03 9.05623229e-01 4.24079391e-01 -1.72630153e+02] [-9.98091328e-01 -2.45518596e-02 5.66648663e-02 -2.11278892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-172.63, Z:-211.31 [[ 6.24127673e-02 -4.28393979e-01 9.01433994e-01 2.94217620e+02] [ 8.76702883e-04 9.03218026e-01 4.29181115e-01 -1.72631291e+02] [-9.98050038e-01 -2.59960913e-02 5.67479107e-02 -2.11306465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-172.63, Z:-211.33 [[ 6.27372588e-02 -4.33432732e-01 8.98999501e-01 2.94221684e+02] [ 4.43095706e-04 9.00785963e-01 4.34263114e-01 -1.72632755e+02] [-9.98029980e-01 -2.68461345e-02 5.67048943e-02 -2.11333123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-172.63, Z:-211.36 [[ 6.32428343e-02 -4.35590607e-01 8.97920468e-01 2.94224330e+02] [ 2.24321407e-04 8.99727741e-01 4.36451534e-01 -1.72634074e+02] [-9.97998143e-01 -2.74010093e-02 5.69990447e-02 -2.11361490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-172.64, Z:-211.39 [[ 6.35909080e-02 -4.40558708e-01 8.95468716e-01 2.94228449e+02] [ 7.19800581e-04 8.97304790e-01 4.41410915e-01 -1.72635846e+02] [-9.97975791e-01 -2.74251620e-02 5.73775407e-02 -2.11389642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-172.64, Z:-211.42 [[ 6.43203748e-02 -4.45493465e-01 8.92971703e-01 2.94232386e+02] [ 1.75213166e-03 8.94873651e-01 4.46316120e-01 -1.72637543e+02] [-9.97927763e-01 -2.71426162e-02 5.83391718e-02 -2.11417535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-172.64, Z:-211.45 [[ 7.03293434e-02 -4.62836975e-01 8.83649092e-01 2.94250815e+02] [ 3.05032253e-03 8.85938235e-01 4.63793207e-01 -1.72644073e+02] [-9.97519162e-01 -2.99228570e-02 6.37192564e-02 -2.11449495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-172.58, Z:-211.48 [[ 6.15331062e-02 -2.70551360e-01 9.60737029e-01 2.94145232e+02] [ 8.81137173e-04 9.62575390e-01 2.71012622e-01 -1.72577449e+02] [-9.98104654e-01 -1.58297074e-02 5.94686465e-02 -2.11477694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-172.64, Z:-211.50 [[ 6.54372751e-02 -4.56239525e-01 8.87447722e-01 2.94243016e+02] [ 5.40983595e-03 8.89503023e-01 4.56897260e-01 -1.72643566e+02] [-9.97842020e-01 -2.50971651e-02 6.06748350e-02 -2.11501791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-172.64, Z:-211.53 [[ 6.48790053e-02 -4.58422853e-01 8.86362907e-01 2.94246589e+02] [ 6.34322135e-03 8.88405806e-01 4.59015127e-01 -1.72644989e+02] [-9.97872977e-01 -2.41580488e-02 6.05467627e-02 -2.11529300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-172.65, Z:-211.56 [[ 6.44607117e-02 -4.63377004e-01 8.83813650e-01 2.94251705e+02] [ 7.43644089e-03 8.85854056e-01 4.63904399e-01 -1.72647703e+02] [-9.97892537e-01 -2.33311797e-02 6.05486586e-02 -2.11556921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-172.65, Z:-211.58 [[ 6.41561722e-02 -4.68502377e-01 8.81129678e-01 2.94256885e+02] [ 8.98200283e-03 8.83183992e-01 4.68940678e-01 -1.72650431e+02] [-9.97899449e-01 -2.21711296e-02 6.08697939e-02 -2.11583501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-172.65, Z:-211.61 [[ 6.10667096e-02 -4.70932222e-01 8.80053237e-01 2.94261722e+02] [ 1.14892354e-02 8.81971997e-01 4.71161750e-01 -1.72654294e+02] [-9.98067560e-01 -1.86611589e-02 5.92697789e-02 -2.11610061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-172.66, Z:-211.64 [[ 5.90899939e-02 -4.73227128e-01 8.78956460e-01 2.94265940e+02] [ 1.30494159e-02 8.80785929e-01 4.73334829e-01 -1.72656448e+02] [-9.98167363e-01 -1.64994838e-02 5.82209727e-02 -2.11637572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-172.66, Z:-211.67 [[ 5.72026337e-02 -4.78292163e-01 8.76335818e-01 2.94271965e+02] [ 1.52347247e-02 8.78089073e-01 4.78254622e-01 -1.72659185e+02] [-9.98246343e-01 -1.40066890e-02 5.75156570e-02 -2.11665821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-172.66, Z:-211.69 [[ 5.42125997e-02 -4.83404734e-01 8.73716692e-01 2.94279144e+02] [ 1.86575082e-02 8.75341092e-01 4.83145806e-01 -1.72664385e+02] [-9.98355093e-01 -9.89121384e-03 5.64736440e-02 -2.11694124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-172.67, Z:-211.72 [[ 5.31019775e-02 -4.88338824e-01 8.71036953e-01 2.94284160e+02] [ 2.06641195e-02 8.72618234e-01 4.87965585e-01 -1.72666972e+02] [-9.98375267e-01 -7.91272584e-03 5.64288456e-02 -2.11721360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.67, Z:-211.75 [[ 5.21604982e-02 -4.90523693e-01 8.69865386e-01 2.94287800e+02] [ 2.25257509e-02 8.71407429e-01 4.90042531e-01 -1.72669047e+02] [-9.98384632e-01 -5.96649159e-03 5.65024601e-02 -2.11749077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.67, Z:-211.78 [[ 5.15598786e-02 -4.95461332e-01 8.67098407e-01 2.94292827e+02] [ 2.46695550e-02 8.68620205e-01 4.94863975e-01 -1.72671722e+02] [-9.98365160e-01 -4.12419457e-03 5.70087629e-02 -2.11776567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-172.68, Z:-211.80 [[ 5.08905964e-02 -5.00398524e-01 8.64298250e-01 2.94298708e+02] [ 2.78145023e-02 8.65794084e-01 4.99626819e-01 -1.72676288e+02] [-9.98316834e-01 -1.38628120e-03 5.79791132e-02 -2.11803157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.68, Z:-211.84 [[ 5.37442271e-02 -5.07460179e-01 8.59997515e-01 2.94309304e+02] [ 2.87130568e-02 8.61671476e-01 5.06653557e-01 -1.72681441e+02] [-9.98141833e-01 -2.53654635e-03 6.08806004e-02 -2.11836459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-172.60, Z:-211.86 [[ 5.11630204e-02 -2.49295517e-01 9.67075018e-01 2.94161685e+02] [ 2.93715448e-02 9.68299976e-01 2.48057391e-01 -1.72595116e+02] [-9.98258312e-01 1.57131219e-02 5.68633458e-02 -2.11863531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.68, Z:-211.89 [[ 4.84844572e-02 -5.07584105e-01 8.60236964e-01 2.94309590e+02] [ 3.34893572e-02 8.61591725e-01 5.06495965e-01 -1.72681305e+02] [-9.98262351e-01 4.25160095e-03 5.87724725e-02 -2.11887578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-172.69, Z:-211.92 [[ 4.51894690e-02 -5.12544711e-01 8.57470601e-01 2.94316486e+02] [ 3.80658478e-02 8.58607555e-01 5.11218210e-01 -1.72685349e+02] [-9.98252925e-01 9.53866596e-03 5.83104684e-02 -2.11915718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-172.69, Z:-211.94 [[ 4.28704438e-02 -5.17328833e-01 8.54712235e-01 2.94321798e+02] [ 4.03574797e-02 8.55697193e-01 5.15900755e-01 -1.72687623e+02] [-9.98265195e-01 1.23771373e-02 5.75622063e-02 -2.11943299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.69, Z:-211.97 [[ 4.09129365e-02 -5.22052747e-01 8.51931371e-01 2.94326886e+02] [ 4.22433761e-02 8.52786664e-01 5.20548175e-01 -1.72688521e+02] [-9.98269317e-01 1.46913028e-02 5.69432772e-02 -2.11971180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.69, Z:-212.00 [[ 4.06901227e-02 -5.26729190e-01 8.49058699e-01 2.94331202e+02] [ 4.24530073e-02 8.49906489e-01 5.25220622e-01 -1.72688863e+02] [-9.98269531e-01 1.46738036e-02 5.69440375e-02 -2.11999623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.69, Z:-212.03 [[ 3.76456929e-02 -5.31128876e-01 8.46454322e-01 2.94334831e+02] [ 4.27826027e-02 8.47134737e-01 5.29653082e-01 -1.72688408e+02] [-9.98374905e-01 1.62743617e-02 5.46140498e-02 -2.12028073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-172.69, Z:-212.06 [[ 3.69900563e-02 -5.35827194e-01 8.43517014e-01 2.94338781e+02] [ 4.29749229e-02 8.44166742e-01 5.34355377e-01 -1.72688252e+02] [-9.98391152e-01 1.64842432e-02 5.42529077e-02 -2.12056130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.69, Z:-212.09 [[ 3.48085012e-02 -5.30736785e-01 8.46821607e-01 2.94332771e+02] [ 4.16284070e-02 8.47369680e-01 5.29369153e-01 -1.72690185e+02] [-9.98526637e-01 1.68252877e-02 5.15893954e-02 -2.12088856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-172.66, Z:-212.12 [[ 4.19021660e-02 -4.23867959e-01 9.04754200e-01 2.94272107e+02] [ 4.25073427e-02 9.05485910e-01 4.22242101e-01 -1.72660078e+02] [-9.98217078e-01 2.07658382e-02 5.59593215e-02 -2.12119988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-172.60, Z:-212.14 [[ 4.26015713e-02 -2.70421709e-01 9.61798942e-01 2.94185877e+02] [ 4.41303098e-02 9.62242678e-01 2.68591779e-01 -1.72603817e+02] [-9.98117038e-01 3.10020534e-02 5.29268439e-02 -2.12144810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-172.69, Z:-212.17 [[ 3.77685870e-02 -5.35939954e-01 8.43410873e-01 2.94342536e+02] [ 4.39411420e-02 8.44087400e-01 5.34402131e-01 -1.72686003e+02] [-9.98319944e-01 1.68768236e-02 5.54298021e-02 -2.12167561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-172.69, Z:-212.20 [[ 3.79912042e-02 -5.38000701e-01 8.42087830e-01 2.94344341e+02] [ 4.45260039e-02 8.42770617e-01 5.36428114e-01 -1.72685141e+02] [-9.98285582e-01 1.71152560e-02 5.59728919e-02 -2.12195660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.68, Z:-212.22 [[ 3.77689979e-02 -5.42655917e-01 8.39105511e-01 2.94347433e+02] [ 4.45300842e-02 8.39784476e-01 5.41090663e-01 -1.72683437e+02] [-9.98293832e-01 1.69289870e-02 5.58823318e-02 -2.12222480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.68, Z:-212.25 [[ 3.71671939e-02 -5.44663098e-01 8.37830955e-01 2.94349864e+02] [ 4.43146792e-02 8.38483799e-01 5.43121651e-01 -1.72682176e+02] [-9.98326003e-01 1.69419023e-02 5.53006604e-02 -2.12250429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.68, Z:-212.28 [[ 3.65802634e-02 -5.49317194e-01 8.34812856e-01 2.94354298e+02] [ 4.43649134e-02 8.35441010e-01 5.47786522e-01 -1.72681576e+02] [-9.98345451e-01 1.69982249e-02 5.49310620e-02 -2.12278807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.68, Z:-212.31 [[ 3.66854695e-02 -5.53990067e-01 8.31714604e-01 2.94358657e+02] [ 4.42934141e-02 8.32358320e-01 5.52465130e-01 -1.72681169e+02] [-9.98344765e-01 1.65720367e-02 5.50735672e-02 -2.12306044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.68, Z:-212.33 [[ 3.64991137e-02 -5.55990566e-01 8.30386841e-01 2.94360683e+02] [ 4.37335001e-02 8.31033106e-01 5.54500999e-01 -1.72679156e+02] [-9.98376280e-01 1.60769280e-02 5.46473852e-02 -2.12334253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.68, Z:-212.36 [[ 3.63390822e-02 -5.60557196e-01 8.27318017e-01 2.94364430e+02] [ 4.36223295e-02 8.27965482e-01 5.59079826e-01 -1.72678360e+02] [-9.98386981e-01 1.57730914e-02 5.45403164e-02 -2.12361830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.68, Z:-212.39 [[ 3.61109818e-02 -5.65132635e-01 8.24209380e-01 2.94367727e+02] [ 4.34039669e-02 8.24855961e-01 5.63674321e-01 -1.72677641e+02] [-9.98404774e-01 1.54191235e-02 5.43153567e-02 -2.12388275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.68, Z:-212.42 [[ 3.66178716e-02 -5.67080585e-01 8.22847946e-01 2.94368633e+02] [ 4.26822058e-02 8.23536292e-01 5.65655554e-01 -1.72675554e+02] [-9.98417428e-01 1.44078629e-02 5.43603964e-02 -2.12416758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.67, Z:-212.44 [[ 3.70643561e-02 -5.71739324e-01 8.19597693e-01 2.94372048e+02] [ 4.23151622e-02 8.20323563e-01 5.70332078e-01 -1.72674845e+02] [-9.98416577e-01 1.35424181e-02 5.45980069e-02 -2.12443615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.67, Z:-212.47 [[ 4.03788752e-02 -5.74770634e-01 8.17317725e-01 2.94375526e+02] [ 4.09883794e-02 8.18249138e-01 5.73400646e-01 -1.72674689e+02] [-9.98343377e-01 1.03472559e-02 5.65988966e-02 -2.12473581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.64, Z:-212.50 [[ 4.20345736e-02 -4.48622618e-01 8.92732234e-01 2.94293030e+02] [ 4.14839983e-02 8.93535109e-01 4.47072798e-01 -1.72638058e+02] [-9.98254563e-01 1.82415881e-02 5.61700272e-02 -2.12501841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.67, Z:-212.53 [[ 4.13781335e-02 -5.77786176e-01 8.15138629e-01 2.94377202e+02] [ 4.15060711e-02 8.16127111e-01 5.76379896e-01 -1.72670518e+02] [-9.98281071e-01 9.98367758e-03 5.77514507e-02 -2.12527125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.67, Z:-212.56 [[ 4.19985053e-02 -5.82214226e-01 8.11949950e-01 2.94380922e+02] [ 4.11117422e-02 8.12985753e-01 5.80830431e-01 -1.72670022e+02] [-9.98271481e-01 8.98666709e-03 5.80800276e-02 -2.12555517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.67, Z:-212.58 [[ 4.23565636e-02 -5.86633624e-01 8.08744034e-01 2.94384762e+02] [ 4.05909537e-02 8.09812568e-01 5.85282820e-01 -1.72669198e+02] [-9.98277665e-01 8.03712267e-03 5.81128958e-02 -2.12583747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.67, Z:-212.61 [[ 4.25612949e-02 -5.91198039e-01 8.05402641e-01 2.94388358e+02] [ 4.00817287e-02 8.06494505e-01 5.89881402e-01 -1.72668294e+02] [-9.98289533e-01 7.17581386e-03 5.80216898e-02 -2.12610673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.67, Z:-212.64 [[ 4.25924059e-02 -5.93161047e-01 8.03956379e-01 2.94389717e+02] [ 3.96115956e-02 8.05056474e-01 5.91874137e-01 -1.72666806e+02] [-9.98306971e-01 6.63665146e-03 5.77853476e-02 -2.12638482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.67, Z:-212.67 [[ 4.22767233e-02 -5.97687800e-01 8.00613497e-01 2.94392792e+02] [ 3.98398110e-02 8.01701089e-01 5.96395970e-01 -1.72665467e+02] [-9.98311308e-01 6.68262302e-03 5.77050642e-02 -2.12666319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.67, Z:-212.69 [[ 4.19708816e-02 -6.02250241e-01 7.97203294e-01 2.94396787e+02] [ 4.11835617e-02 7.98271073e-01 6.00888682e-01 -1.72665351e+02] [-9.98269683e-01 7.61184334e-03 5.83069507e-02 -2.12693364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.67, Z:-212.72 [[ 4.11413877e-02 -6.05370335e-01 7.94879955e-01 2.94400003e+02] [ 4.27917046e-02 7.95891140e-01 6.03925628e-01 -1.72665309e+02] [-9.98236573e-01 9.16792983e-03 5.86488945e-02 -2.12721726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.67, Z:-212.75 [[ 4.03113574e-02 -6.09880839e-01 7.91467218e-01 2.94404339e+02] [ 4.47874319e-02 7.92417822e-01 6.08332213e-01 -1.72665494e+02] [-9.98182889e-01 1.09250869e-02 5.92584346e-02 -2.12750008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.67, Z:-212.78 [[ 4.36943178e-02 -6.27777457e-01 7.77165537e-01 2.94426669e+02] [ 4.82361959e-02 7.78326893e-01 6.26003608e-01 -1.72669121e+02] [-9.97879790e-01 1.01347085e-02 6.42900590e-02 -2.12783796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-172.59, Z:-212.82 [[ 4.40665892e-02 -3.61499534e-01 9.31330351e-01 2.94254828e+02] [ 4.98746142e-02 9.31869541e-01 3.59348968e-01 -1.72594415e+02] [-9.97782872e-01 3.06144586e-02 5.90939620e-02 -2.12815784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.64, Z:-212.84 [[ 3.76703871e-02 -5.20849135e-01 8.52817167e-01 2.94347639e+02] [ 5.26086220e-02 8.53273095e-01 5.18803776e-01 -1.72640345e+02] [-9.97904442e-01 2.53219969e-02 5.95442831e-02 -2.12838223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.67, Z:-212.86 [[ 3.32013298e-02 -6.34019802e-01 7.72603755e-01 2.94427115e+02] [ 5.39956673e-02 7.73038853e-01 6.32056484e-01 -1.72665159e+02] [-9.97989048e-01 2.07321395e-02 5.99002402e-02 -2.12864064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.66, Z:-212.89 [[ 3.25606064e-02 -6.38305640e-01 7.69094089e-01 2.94431435e+02] [ 5.46617497e-02 7.69487700e-01 6.36318138e-01 -1.72664958e+02] [-9.97973898e-01 2.13211241e-02 5.99458892e-02 -2.12891733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.67, Z:-212.92 [[ 3.25115530e-02 -6.42564640e-01 7.65541431e-01 2.94436055e+02] [ 5.48218371e-02 7.65939737e-01 6.40570750e-01 -1.72665095e+02] [-9.97966715e-01 2.11424377e-02 6.01284644e-02 -2.12919246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.66, Z:-212.95 [[ 3.25346654e-02 -6.46878676e-01 7.61898599e-01 2.94440120e+02] [ 5.50284691e-02 7.62305235e-01 6.44874094e-01 -1.72664909e+02] [-9.97954590e-01 2.09453506e-02 6.03980890e-02 -2.12945843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.66, Z:-212.97 [[ 3.33892604e-02 -6.49748918e-01 7.59415236e-01 2.94442333e+02] [ 5.40277298e-02 7.59901291e-01 6.47789342e-01 -1.72664235e+02] [-9.97981043e-01 1.94002741e-02 6.04770011e-02 -2.12973040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.66, Z:-213.00 [[ 3.36812391e-02 -6.51529156e-01 7.57875540e-01 2.94444044e+02] [ 5.35445144e-02 7.58393061e-01 6.49594451e-01 -1.72663417e+02] [-9.97997274e-01 1.87009317e-02 6.04294303e-02 -2.13000907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.66, Z:-213.03 [[ 3.63876127e-02 -6.55606175e-01 7.54225752e-01 2.94448131e+02] [ 5.10412179e-02 7.54959765e-01 6.53781728e-01 -1.72662614e+02] [-9.98033434e-01 1.47070447e-02 6.09341212e-02 -2.13028129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.66, Z:-213.06 [[ 3.79160245e-02 -6.57331863e-01 7.52646794e-01 2.94450350e+02] [ 4.93390068e-02 7.53501219e-01 6.55592538e-01 -1.72661267e+02] [-9.98062141e-01 1.22773826e-02 6.10018720e-02 -2.13055868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.66, Z:-213.08 [[ 3.97287557e-02 -6.61316992e-01 7.49053712e-01 2.94454171e+02] [ 4.72742908e-02 7.50050101e-01 6.59689312e-01 -1.72660599e+02] [-9.98091563e-01 9.20234745e-03 6.10618490e-02 -2.13083861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-172.66, Z:-213.12 [[ 4.64308389e-02 -6.66325364e-01 7.44214140e-01 2.94461660e+02] [ 4.14632650e-02 7.45661122e-01 6.65034051e-01 -1.72661615e+02] [-9.98060607e-01 -2.05407435e-05 6.22496966e-02 -2.13115606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.63, Z:-213.15 [[ 4.76754130e-02 -5.06954652e-01 8.60653261e-01 2.94351296e+02] [ 3.98059071e-02 8.61912852e-01 5.05491569e-01 -1.72625162e+02] [-9.98069409e-01 1.01595644e-02 6.12718409e-02 -2.13147021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-172.62, Z:-213.17 [[ 4.96312442e-02 -4.95084121e-01 8.67426339e-01 2.94341367e+02] [ 3.31514835e-02 8.68834704e-01 4.93991129e-01 -1.72620532e+02] [-9.98217270e-01 4.23907555e-03 5.95341205e-02 -2.13174604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.64, Z:-213.20 [[ 5.18434249e-02 -5.69633308e-01 8.20262247e-01 2.94391492e+02] [ 3.25984697e-02 8.21894374e-01 5.68706407e-01 -1.72636164e+02] [-9.98123038e-01 -2.74439386e-03 6.11789934e-02 -2.13198224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-172.66, Z:-213.22 [[ 5.36384392e-02 -6.72740049e-01 7.37932073e-01 2.94467560e+02] [ 3.22032931e-02 7.39776920e-01 6.72081138e-01 -1.72656091e+02] [-9.98041014e-01 -1.22855404e-02 6.13449243e-02 -2.13223134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-172.66, Z:-213.25 [[ 5.49328847e-02 -6.75408271e-01 7.35395163e-01 2.94470856e+02] [ 3.03479631e-02 7.37296369e-01 6.74887447e-01 -1.72655690e+02] [-9.98028747e-01 -1.47557691e-02 6.09990817e-02 -2.13250802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.66, Z:-213.28 [[ 5.71725949e-02 -6.79249296e-01 7.31677312e-01 2.94476045e+02] [ 2.77991097e-02 7.33675010e-01 6.78931653e-01 -1.72656036e+02] [-9.97977206e-01 -1.84763065e-02 6.08286298e-02 -2.13278543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.66, Z:-213.31 [[ 5.79064422e-02 -6.83184768e-01 7.27946026e-01 2.94480864e+02] [ 2.74103403e-02 7.29982690e-01 6.82915768e-01 -1.72655953e+02] [-9.97945648e-01 -1.95919742e-02 6.09970274e-02 -2.13306179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-172.66, Z:-213.33 [[ 5.75711267e-02 -6.87185607e-01 7.24197146e-01 2.94485613e+02] [ 2.69135330e-02 7.26204946e-01 6.86951263e-01 -1.72656125e+02] [-9.97978571e-01 -2.00578544e-02 6.03030295e-02 -2.13334463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-172.66, Z:-213.36 [[ 5.73107765e-02 -6.91269442e-01 7.20320785e-01 2.94490606e+02] [ 2.65119074e-02 7.22306004e-01 6.91065232e-01 -1.72656367e+02] [-9.98004306e-01 -2.05084072e-02 5.97227894e-02 -2.13361104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-172.66, Z:-213.39 [[ 5.66633814e-02 -6.94070088e-01 7.17674003e-01 2.94495491e+02] [ 2.68708105e-02 7.19628710e-01 6.93838943e-01 -1.72657430e+02] [-9.98031673e-01 -2.00307785e-02 5.94268219e-02 -2.13389412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-172.66, Z:-213.42 [[ 5.65100640e-02 -6.98099779e-01 7.13766986e-01 2.94500877e+02] [ 2.80794153e-02 7.15737867e-01 6.97804308e-01 -1.72657762e+02] [-9.98007094e-01 -1.93908064e-02 6.00486263e-02 -2.13417672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.66, Z:-213.45 [[ 5.58190137e-02 -7.02151660e-01 7.09836097e-01 2.94505673e+02] [ 2.90032275e-02 7.11784800e-01 7.01798555e-01 -1.72658626e+02] [-9.98019564e-01 -1.85861653e-02 6.00957898e-02 -2.13446058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.66, Z:-213.47 [[ 5.52363090e-02 -7.06192146e-01 7.05862311e-01 2.94512032e+02] [ 3.09418690e-02 7.07812719e-01 7.05722151e-01 -1.72660860e+02] [-9.97993763e-01 -1.71407876e-02 6.09478669e-02 -2.13472660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-172.66, Z:-213.50 [[ 5.45682164e-02 -7.07962594e-01 7.04138676e-01 2.94515804e+02] [ 3.21268361e-02 7.06069110e-01 7.07413796e-01 -1.72661464e+02] [-9.97993074e-01 -1.59805613e-02 6.12735302e-02 -2.13501124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-172.66, Z:-213.53 [[ 5.31127237e-02 -7.11877082e-01 7.00292838e-01 2.94521184e+02] [ 3.33313865e-02 7.02155731e-01 7.11242819e-01 -1.72662261e+02] [-9.98032092e-01 -1.44343121e-02 6.10212535e-02 -2.13528741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.66, Z:-213.56 [[ 5.16479887e-02 -7.15802850e-01 6.96389809e-01 2.94526864e+02] [ 3.45068730e-02 6.98183217e-01 7.15087038e-01 -1.72662994e+02] [-9.98069016e-01 -1.29025726e-02 6.07598769e-02 -2.13556780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.67, Z:-213.59 [[ 4.82640995e-02 -7.17131729e-01 6.95264453e-01 2.94532150e+02] [ 3.68686894e-02 6.96880367e-01 7.16239104e-01 -1.72666886e+02] [-9.98153934e-01 -8.93514627e-03 6.00740103e-02 -2.13587591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.65, Z:-213.61 [[ 4.59721680e-02 -6.03108891e-01 7.96332986e-01 2.94444270e+02] [ 3.79961488e-02 7.97654673e-01 6.01916369e-01 -1.72647752e+02] [-9.98219842e-01 2.58618624e-03 5.95857298e-02 -2.13614701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-172.67, Z:-213.64 [[ 4.30818652e-02 -7.24725173e-01 6.87689884e-01 2.94543774e+02] [ 4.18606197e-02 6.89033920e-01 7.23519140e-01 -1.72665956e+02] [-9.98194190e-01 -2.38342939e-03 6.00223113e-02 -2.13639662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.67, Z:-213.67 [[ 4.07197845e-02 -7.28695913e-01 6.83625750e-01 2.94549697e+02] [ 4.40907697e-02 6.84837202e-01 7.27360991e-01 -1.72666469e+02] [-9.98197327e-01 5.23602731e-04 6.00151869e-02 -2.13666438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.67, Z:-213.69 [[ 3.77511073e-02 -7.31378609e-01 6.80925975e-01 2.94553026e+02] [ 4.44469718e-02 6.81966282e-01 7.30031819e-01 -1.72665033e+02] [-9.98298212e-01 2.70558815e-03 5.82525467e-02 -2.13694189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.66, Z:-213.72 [[ 3.69741116e-02 -7.35134351e-01 6.76912403e-01 2.94556969e+02] [ 4.52635677e-02 6.77912360e-01 7.33747941e-01 -1.72663645e+02] [-9.98290601e-01 3.50979213e-03 5.83400107e-02 -2.13722250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.66, Z:-213.75 [[ 3.65437270e-02 -7.38850314e-01 6.72877975e-01 2.94560814e+02] [ 4.62519577e-02 6.73856654e-01 7.37413023e-01 -1.72662878e+02] [-9.98261144e-01 4.17410339e-03 5.87985071e-02 -2.13750065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.66, Z:-213.78 [[ 3.63010899e-02 -7.42564793e-01 6.68789772e-01 2.94565054e+02] [ 4.64420174e-02 6.69761340e-01 7.41122720e-01 -1.72662000e+02] [-9.98261173e-01 4.15638373e-03 5.87992737e-02 -2.13778507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.66, Z:-213.81 [[ 3.57254029e-02 -7.46061060e-01 6.64918484e-01 2.94568890e+02] [ 4.78050591e-02 6.65857332e-01 7.44545962e-01 -1.72661230e+02] [-9.98217598e-01 5.18726298e-03 5.94535145e-02 -2.13806679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.66, Z:-213.84 [[ 3.27587912e-02 -7.42209765e-01 6.69366511e-01 2.94562964e+02] [ 4.86177043e-02 6.70116488e-01 7.40662009e-01 -1.72663977e+02] [-9.98280111e-01 8.27987096e-03 5.80367410e-02 -2.13837026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-172.65, Z:-213.86 [[ 3.39459411e-02 -6.83609303e-01 7.29058293e-01 2.94516390e+02] [ 5.18835245e-02 7.29700461e-01 6.81795671e-01 -1.72653028e+02] [-9.98076036e-01 1.46819181e-02 6.02384288e-02 -2.13863626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.66, Z:-213.89 [[ 3.08682941e-02 -7.55720674e-01 6.54166195e-01 2.94579656e+02] [ 5.34654583e-02 6.54789507e-01 7.53917864e-01 -1.72658271e+02] [-9.98092477e-01 1.17031371e-02 6.06171873e-02 -2.13890070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.66, Z:-213.92 [[ 2.85365247e-02 -7.59320549e-01 6.50090740e-01 2.94583010e+02] [ 5.44971192e-02 6.50570160e-01 7.57488304e-01 -1.72657233e+02] [-9.98106072e-01 1.38119889e-02 5.99457939e-02 -2.13917606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.66, Z:-213.95 [[ 2.65207115e-02 -7.62879408e-01 6.45996642e-01 2.94586368e+02] [ 5.56601696e-02 6.46348356e-01 7.61009690e-01 -1.72655411e+02] [-9.98097489e-01 1.57737642e-02 5.96036156e-02 -2.13945590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.65, Z:-213.97 [[ 2.27497801e-02 -7.66435173e-01 6.41918665e-01 2.94589144e+02] [ 5.70943277e-02 6.42032950e-01 7.64548187e-01 -1.72653052e+02] [-9.98109556e-01 1.92566115e-02 5.83652094e-02 -2.13973220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.65, Z:-214.00 [[ 2.26633834e-02 -7.64433743e-01 6.44303828e-01 2.94587732e+02] [ 5.62003127e-02 6.44424411e-01 7.62599963e-01 -1.72654486e+02] [-9.98162259e-01 1.89269813e-02 5.75662529e-02 -2.14003078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.65, Z:-214.03 [[ 2.07023876e-02 -7.28164949e-01 6.85089205e-01 2.94554800e+02] [ 5.83262244e-02 6.84948631e-01 7.26253003e-01 -1.72646942e+02] [-9.98082894e-01 2.49234956e-02 5.66511843e-02 -2.14030101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.65, Z:-214.06 [[ 1.87089014e-02 -7.76511251e-01 6.29825575e-01 2.94597912e+02] [ 5.67217727e-02 6.29745617e-01 7.74727757e-01 -1.72646825e+02] [-9.98214715e-01 2.12305179e-02 5.58269434e-02 -2.14056047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.64, Z:-214.08 [[ 1.92409594e-02 -7.77959552e-01 6.28019682e-01 2.94598714e+02] [ 5.60173748e-02 6.27988114e-01 7.76204215e-01 -1.72644868e+02] [-9.98244379e-01 2.02451001e-02 5.56623456e-02 -2.14083738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.64, Z:-214.11 [[ 2.05448502e-02 -7.81343023e-01 6.23763568e-01 2.94601041e+02] [ 5.47832191e-02 6.23837719e-01 7.79631515e-01 -1.72643191e+02] [-9.98286887e-01 1.81543636e-02 5.56211385e-02 -2.14111031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.64, Z:-214.14 [[ 2.48976511e-02 -7.82697730e-01 6.21903828e-01 2.94599134e+02] [ 5.17131347e-02 6.22272157e-01 7.81090977e-01 -1.72640663e+02] [-9.98351571e-01 1.27132657e-02 5.59688681e-02 -2.14138700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.64, Z:-214.17 [[ 2.77735978e-02 -7.86063502e-01 6.17521497e-01 2.94600980e+02] [ 4.99312646e-02 6.18079582e-01 7.84528202e-01 -1.72638614e+02] [-9.98366414e-01 9.04445847e-03 5.64154384e-02 -2.14166100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.64, Z:-214.19 [[ 3.05441285e-02 -7.87457212e-01 6.15612050e-01 2.94601297e+02] [ 4.80984147e-02 6.16343862e-01 7.86006862e-01 -1.72636423e+02] [-9.98375480e-01 5.60206905e-03 5.67011297e-02 -2.14194131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.63, Z:-214.22 [[ 3.68624077e-02 -7.90607601e-01 6.11212553e-01 2.94603051e+02] [ 4.43214932e-02 6.12319842e-01 7.89366845e-01 -1.72633234e+02] [-9.98337001e-01 -2.00810949e-03 5.76124931e-02 -2.14222559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.63, Z:-214.25 [[ 3.94076703e-02 -7.93830066e-01 6.06861484e-01 2.94606038e+02] [ 4.20198850e-02 6.08112557e-01 7.92737944e-01 -1.72631359e+02] [-9.98339304e-01 -5.73970577e-03 5.73209472e-02 -2.14249079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.63, Z:-214.28 [[ 4.16130586e-02 -7.95158505e-01 6.04972152e-01 2.94607303e+02] [ 4.00501059e-02 6.06337499e-01 7.94198229e-01 -1.72629352e+02] [-9.98330778e-01 -8.81981867e-03 5.70777402e-02 -2.14275559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.63, Z:-214.31 [[ 4.31310166e-02 -7.94451562e-01 6.05794050e-01 2.94606778e+02] [ 3.69143138e-02 6.07211513e-01 7.93682249e-01 -1.72629649e+02] [-9.98387224e-01 -1.18698506e-02 5.55162841e-02 -2.14307479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.62, Z:-214.33 [[ 4.44131535e-02 -7.36272670e-01 6.75225908e-01 2.94553412e+02] [ 3.29893254e-02 6.76605122e-01 7.35606697e-01 -1.72621016e+02] [-9.98468415e-01 -1.03953660e-02 5.43393058e-02 -2.14334598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.62, Z:-214.36 [[ 4.49802771e-02 -7.99709584e-01 5.98699721e-01 2.94612218e+02] [ 3.27171439e-02 6.00164064e-01 7.99207535e-01 -1.72623427e+02] [-9.98451983e-01 -1.63608315e-02 5.31597595e-02 -2.14361200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.62, Z:-214.39 [[ 4.51687100e-02 -8.03068278e-01 5.94172642e-01 2.94615763e+02] [ 3.16825017e-02 5.95632077e-01 8.02632324e-01 -1.72621887e+02] [-9.98476843e-01 -1.74289910e-02 5.23471447e-02 -2.14387729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.62, Z:-214.42 [[ 4.49006376e-02 -8.04526651e-01 5.92216852e-01 2.94617218e+02] [ 3.10363081e-02 5.93651983e-01 8.04123169e-01 -1.72620615e+02] [-9.98509229e-01 -1.77254183e-02 5.16248896e-02 -2.14415562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.62, Z:-214.44 [[ 4.54140153e-02 -8.07795590e-01 5.87710688e-01 2.94620301e+02] [ 3.13809348e-02 5.89180933e-01 8.07391519e-01 -1.72619381e+02] [-9.98475240e-01 -1.82239800e-02 5.21064526e-02 -2.14443252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.62, Z:-214.47 [[ 4.59763772e-02 -8.11055126e-01 5.83160145e-01 2.94623919e+02] [ 3.23002151e-02 5.84679227e-01 8.10621304e-01 -1.72618460e+02] [-9.98420187e-01 -1.84332327e-02 5.30786877e-02 -2.14469901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.62, Z:-214.50 [[ 4.66174938e-02 -8.13246860e-01 5.80048579e-01 2.94626471e+02] [ 3.32257845e-02 5.81620962e-01 8.12781092e-01 -1.72617966e+02] [-9.98360084e-01 -1.86172484e-02 5.41344765e-02 -2.14497731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.62, Z:-214.52 [[ 4.82518049e-02 -8.16422965e-01 5.75434884e-01 2.94631041e+02] [ 3.49650303e-02 5.77133463e-01 8.15900982e-01 -1.72617740e+02] [-9.98223026e-01 -1.92485969e-02 5.63939850e-02 -2.14524628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.62, Z:-214.55 [[ 4.85907328e-02 -8.18590450e-01 5.72318632e-01 2.94633995e+02] [ 3.55938763e-02 5.74050654e-01 8.18045795e-01 -1.72617099e+02] [-9.98184360e-01 -1.93784061e-02 5.70303492e-02 -2.14551894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.62, Z:-214.58 [[ 4.88102189e-02 -8.19966684e-01 5.70326397e-01 2.94636410e+02] [ 3.66449905e-02 5.72092698e-01 8.19369934e-01 -1.72616146e+02] [-9.98135616e-01 -1.90940205e-02 5.79716412e-02 -2.14579178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.62, Z:-214.61 [[ 4.84071325e-02 -8.22119205e-01 5.67253702e-01 2.94639853e+02] [ 3.76212194e-02 5.69017197e-01 8.21464590e-01 -1.72615522e+02] [-9.98118928e-01 -1.84239692e-02 5.84736178e-02 -2.14607539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.62, Z:-214.64 [[ 4.86742998e-02 -8.27026267e-01 5.60052111e-01 2.94651634e+02] [ 3.99656771e-02 5.61880315e-01 8.26252538e-01 -1.72616454e+02] [-9.98014808e-01 -1.78344020e-02 6.04017956e-02 -2.14640256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.60, Z:-214.67 [[ 4.50621348e-02 -6.70169786e-01 7.40838621e-01 2.94510371e+02] [ 3.67297462e-02 7.42201991e-01 6.69168985e-01 -1.72604645e+02] [-9.98308735e-01 -2.94336852e-03 5.80603723e-02 -2.14671911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.61, Z:-214.70 [[ 4.35659064e-02 -6.89234767e-01 7.23227107e-01 2.94528884e+02] [ 3.93590540e-02 7.24536506e-01 6.88111704e-01 -1.72606995e+02] [-9.98274951e-01 -1.51267538e-03 5.86927180e-02 -2.14700338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.60, Z:-214.72 [[ 3.62059897e-02 -6.62577682e-01 7.48117599e-01 2.94507881e+02] [ 4.36990777e-02 7.48942055e-01 6.61193004e-01 -1.72602800e+02] [-9.98388460e-01 8.75290199e-03 5.60702219e-02 -2.14724151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.61, Z:-214.75 [[ 3.21465154e-02 -8.36746662e-01 5.46645796e-01 2.94669059e+02] [ 4.72888540e-02 5.47589275e-01 8.35409930e-01 -1.72614688e+02] [-9.98363844e-01 -1.00526495e-03 5.71718778e-02 -2.14748496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.61, Z:-214.78 [[ 3.12926941e-02 -8.42235447e-01 5.38200909e-01 2.94680992e+02] [ 4.84756846e-02 5.39109824e-01 8.40839287e-01 -1.72614200e+02] [-9.98334050e-01 -2.22469013e-04 5.76981387e-02 -2.14780885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.61, Z:-214.81 [[ 2.74874601e-02 -6.81947028e-01 7.30884868e-01 2.94528443e+02] [ 4.95690431e-02 7.31191516e-01 6.80368927e-01 -1.72605352e+02] [-9.98392383e-01 1.75276498e-02 5.39020592e-02 -2.14808816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.61, Z:-214.83 [[ 2.19149229e-02 -8.44844231e-01 5.34563337e-01 2.94684945e+02] [ 5.11240472e-02 5.34939203e-01 8.43342386e-01 -1.72613572e+02] [-9.98451836e-01 8.84725791e-03 5.49150077e-02 -2.14832781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-172.61, Z:-214.86 [[ 2.06124196e-02 -8.47809981e-01 5.29899391e-01 2.94690347e+02] [ 5.17632616e-02 5.30206120e-01 8.46287206e-01 -1.72612829e+02] [-9.98446640e-01 9.98529375e-03 5.48142409e-02 -2.14860542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.61, Z:-214.89 [[ 2.26854900e-02 -8.54097144e-01 5.19618550e-01 2.94703359e+02] [ 5.24351417e-02 5.20053419e-01 8.52522725e-01 -1.72611023e+02] [-9.98366628e-01 7.90637657e-03 5.65823714e-02 -2.14892434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.61, Z:-214.92 [[ 2.21492161e-02 -7.34421890e-01 6.78331704e-01 2.94580309e+02] [ 5.27674384e-02 6.78411209e-01 7.32784981e-01 -1.72611749e+02] [-9.98361162e-01 1.95632134e-02 5.37798383e-02 -2.14920254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.61, Z:-214.94 [[ 2.12349903e-02 -8.55569841e-01 5.17251701e-01 2.94702578e+02] [ 5.09709829e-02 5.17622008e-01 8.54089817e-01 -1.72610517e+02] [-9.98474353e-01 8.22823865e-03 5.46009340e-02 -2.14944404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.61, Z:-214.97 [[ 2.21653675e-02 -8.56749531e-01 5.15256186e-01 2.94704158e+02] [ 4.98666407e-02 5.15688737e-01 8.55323591e-01 -1.72609713e+02] [-9.98509897e-01 6.73553334e-03 5.41536514e-02 -2.14972808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.61, Z:-215.00 [[ 2.36521021e-02 -8.59512095e-01 5.10567858e-01 2.94707750e+02] [ 4.92789048e-02 5.11092262e-01 8.58112049e-01 -1.72608510e+02] [-9.98504966e-01 4.86407107e-03 5.44442210e-02 -2.15000928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.61, Z:-215.03 [[ 2.71685845e-02 -8.62187846e-01 5.05859652e-01 2.94711460e+02] [ 4.80545143e-02 5.06587871e-01 8.60848124e-01 -1.72608263e+02] [-9.98475153e-01 9.20814866e-04 5.51952935e-02 -2.15029055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.61, Z:-215.06 [[ 2.90417591e-02 -8.64906948e-01 5.01091357e-01 2.94715374e+02] [ 4.73662528e-02 5.01930434e-01 8.63610026e-01 -1.72607423e+02] [-9.98455314e-01 -1.34593444e-03 5.55443439e-02 -2.15056238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.61, Z:-215.08 [[ 3.11246303e-02 -8.66042751e-01 4.99000211e-01 2.94717524e+02] [ 4.71799392e-02 4.99958577e-01 8.64763248e-01 -1.72606534e+02] [-9.98401378e-01 -3.37263673e-03 5.64208702e-02 -2.15082716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.61, Z:-215.11 [[ 3.26183159e-02 -8.67162477e-01 4.96956019e-01 2.94719582e+02] [ 4.64426759e-02 4.97998553e-01 8.65933323e-01 -1.72605953e+02] [-9.98388263e-01 -5.16531933e-03 5.65172199e-02 -2.15111126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.60, Z:-215.14 [[ 3.59584266e-02 -8.69701290e-01 4.92266856e-01 2.94724388e+02] [ 4.48872886e-02 4.93493859e-01 8.68590204e-01 -1.72604896e+02] [-9.98344691e-01 -9.13661267e-03 5.67837955e-02 -2.15138854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.60, Z:-215.17 [[ 3.69132777e-02 -8.72141992e-01 4.87858336e-01 2.94728338e+02] [ 4.40890286e-02 4.89137011e-01 8.71091925e-01 -1.72603567e+02] [-9.98345415e-01 -1.06456580e-02 5.65075435e-02 -2.15165406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.60, Z:-215.19 [[ 3.78163865e-02 -8.73249850e-01 4.85803067e-01 2.94730875e+02] [ 4.33764675e-02 4.87127066e-01 8.72253234e-01 -1.72602272e+02] [-9.98342828e-01 -1.19130444e-02 5.62998792e-02 -2.15193263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.60, Z:-215.22 [[ 3.82136384e-02 -8.75794556e-01 4.81169007e-01 2.94734863e+02] [ 4.24573787e-02 4.82508893e-01 8.74861440e-01 -1.72600959e+02] [-9.98367211e-01 -1.30024640e-02 5.56223614e-02 -2.15219806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.60, Z:-215.25 [[ 3.82473755e-02 -8.76875244e-01 4.79194058e-01 2.94737852e+02] [ 4.06118266e-02 4.80512778e-01 8.76046888e-01 -1.72600385e+02] [-9.98442696e-01 -1.40455482e-02 5.39898580e-02 -2.15247436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.60, Z:-215.27 [[ 3.79175045e-02 -8.79515049e-01 4.74358032e-01 2.94742106e+02] [ 4.00462112e-02 4.75655487e-01 8.78719613e-01 -1.72599198e+02] [-9.98478124e-01 -1.43226130e-02 5.32569145e-02 -2.15273948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.60, Z:-215.30 [[ 3.75174496e-02 -8.80657641e-01 4.72265349e-01 2.94744865e+02] [ 3.95854862e-02 4.73536870e-01 8.79883982e-01 -1.72597985e+02] [-9.98511608e-01 -1.43161495e-02 5.26271566e-02 -2.15301255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.60, Z:-215.33 [[ 3.59304099e-02 -8.81815466e-01 4.70223873e-01 2.94748002e+02] [ 3.95919978e-02 4.71414345e-01 8.81022695e-01 -1.72596919e+02] [-9.98569717e-01 -1.30384040e-02 5.18509467e-02 -2.15329518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.60, Z:-215.36 [[ 3.52997326e-02 -8.84384183e-01 4.65422975e-01 2.94752056e+02] [ 4.01072542e-02 4.66591684e-01 8.83563019e-01 -1.72595474e+02] [-9.98571648e-01 -1.25227007e-02 5.19407829e-02 -2.15356837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.59, Z:-215.38 [[ 3.44203696e-02 -8.85514939e-01 4.63334146e-01 2.94753789e+02] [ 4.08458708e-02 4.64467949e-01 8.84647466e-01 -1.72593800e+02] [-9.98572408e-01 -1.15246061e-02 5.21567873e-02 -2.15384939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.59, Z:-215.41 [[ 3.29526005e-02 -8.88111608e-01 4.58445087e-01 2.94755768e+02] [ 4.20290269e-02 4.59519791e-01 8.87172544e-01 -1.72592198e+02] [-9.98572825e-01 -9.96664151e-03 5.24688388e-02 -2.15413105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.59, Z:-215.44 [[ 3.28497625e-02 -8.90620311e-01 4.53559649e-01 2.94758604e+02] [ 4.26510259e-02 4.54640347e-01 8.89653328e-01 -1.72590230e+02] [-9.98549840e-01 -9.88011621e-03 5.29206974e-02 -2.15440393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.58, Z:-215.47 [[ 3.71734072e-02 -8.99540063e-01 4.35253733e-01 2.94776737e+02] [ 4.56604742e-02 4.36628822e-01 8.98482272e-01 -1.72583279e+02] [-9.98265125e-01 -1.35257555e-02 5.73044069e-02 -2.15472062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.60, Z:-215.50 [[ 3.27982196e-02 -7.82937160e-01 6.21235608e-01 2.94635969e+02] [ 4.12732138e-02 6.22100798e-01 7.81848527e-01 -1.72596559e+02] [-9.98609433e-01 -2.84967875e-06 5.27181314e-02 -2.15500865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.59, Z:-215.53 [[ 3.32712434e-02 -8.94043837e-01 4.46742255e-01 2.94763030e+02] [ 4.35222515e-02 4.47861762e-01 8.93042920e-01 -1.72585186e+02] [-9.98498291e-01 -1.02694196e-02 5.38117184e-02 -2.15526050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.58, Z:-215.55 [[ 3.44224396e-02 -8.96153542e-01 4.42406969e-01 2.94766076e+02] [ 4.37038718e-02 4.43595614e-01 8.95160825e-01 -1.72583245e+02] [-9.98451335e-01 -1.14787220e-02 5.44350228e-02 -2.15554427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.58, Z:-215.58 [[ 3.72783162e-02 -8.98329554e-01 4.37737753e-01 2.94768936e+02] [ 4.42912433e-02 4.39097059e-01 8.97347234e-01 -1.72581642e+02] [-9.98322900e-01 -1.40636447e-02 5.61569318e-02 -2.15582437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.58, Z:-215.61 [[ 3.84407251e-02 -9.00697667e-01 4.32742444e-01 2.94772561e+02] [ 4.42993586e-02 4.34172830e-01 8.99739696e-01 -1.72580148e+02] [-9.98278457e-01 -1.54164336e-02 5.65902473e-02 -2.15610773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.58, Z:-215.64 [[ 3.96643222e-02 -9.03040795e-01 4.27719609e-01 2.94776374e+02] [ 4.50061165e-02 4.29236627e-01 9.02070046e-01 -1.72578580e+02] [-9.98198974e-01 -1.65299984e-02 5.76677391e-02 -2.15638657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.58, Z:-215.67 [[ 4.04819228e-02 -9.05362371e-01 4.22705798e-01 2.94780092e+02] [ 4.52960324e-02 4.24280517e-01 9.04397210e-01 -1.72577122e+02] [-9.98153036e-01 -1.74648425e-02 5.81850144e-02 -2.15665431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.58, Z:-215.69 [[ 4.12746297e-02 -9.06350721e-01 4.20505382e-01 2.94782911e+02] [ 4.60476716e-02 4.22142380e-01 9.05359279e-01 -1.72575670e+02] [-9.98086177e-01 -1.80050752e-02 5.91591107e-02 -2.15692677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.57, Z:-215.72 [[ 4.01765694e-02 -9.07373482e-01 4.18400774e-01 2.94785093e+02] [ 4.59673118e-02 4.19973974e-01 9.06371263e-01 -1.72573990e+02] [-9.98134685e-01 -1.71821291e-02 5.85826333e-02 -2.15721020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.57, Z:-215.75 [[ 3.91033961e-02 -9.09621989e-01 4.13592508e-01 2.94789569e+02] [ 4.60213227e-02 4.15109305e-01 9.08606792e-01 -1.72571722e+02] [-9.98174816e-01 -1.64955370e-02 5.80941906e-02 -2.15748684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.57, Z:-215.78 [[ 3.78830687e-02 -9.11875663e-01 4.08714629e-01 2.94793771e+02] [ 4.57335160e-02 4.10161772e-01 9.10865394e-01 -1.72569558e+02] [-9.98235102e-01 -1.58144193e-02 5.72414668e-02 -2.15775957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.57, Z:-215.80 [[ 3.47256038e-02 -9.12925408e-01 4.06646445e-01 2.94796074e+02] [ 4.44674764e-02 4.07900283e-01 9.11942982e-01 -1.72567451e+02] [-9.98407119e-01 -1.35852295e-02 5.47600726e-02 -2.15803933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.56, Z:-215.83 [[ 3.34146906e-02 -9.15211398e-01 4.01586299e-01 2.94799991e+02] [ 4.44560683e-02 4.02774035e-01 9.14219194e-01 -1.72564899e+02] [-9.98452361e-01 -1.26954036e-02 5.41452702e-02 -2.15831265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.56, Z:-215.86 [[ 3.22417857e-02 -9.16211856e-01 3.99394920e-01 2.94802046e+02] [ 4.44997324e-02 4.00522318e-01 9.15205795e-01 -1.72563144e+02] [-9.98488979e-01 -1.17349021e-02 5.36847372e-02 -2.15858988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.56, Z:-215.89 [[ 3.14951886e-02 -9.18435300e-01 3.94315424e-01 2.94805515e+02] [ 4.48337600e-02 3.95412211e-01 9.17408915e-01 -1.72560914e+02] [-9.98497865e-01 -1.12153237e-02 5.36304900e-02 -2.15885780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.56, Z:-215.91 [[ 3.16196873e-02 -9.19382696e-01 3.92091385e-01 2.94806406e+02] [ 4.58719178e-02 3.93209035e-01 9.18304101e-01 -1.72559678e+02] [-9.98446775e-01 -1.10505048e-02 5.46069941e-02 -2.15912444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.55, Z:-215.94 [[ 3.51068213e-02 -9.24667204e-01 3.79154419e-01 2.94819356e+02] [ 4.92265858e-02 3.80527735e-01 9.23458384e-01 -1.72552991e+02] [-9.98170454e-01 -1.37552110e-02 5.88773286e-02 -2.15942361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.57, Z:-215.97 [[ 3.49253614e-02 -8.63650341e-01 5.02880013e-01 2.94735225e+02] [ 4.68094042e-02 5.04048398e-01 8.62405990e-01 -1.72569447e+02] [-9.98293093e-01 -6.58032711e-03 5.80310304e-02 -2.15972219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.57, Z:-216.00 [[ 3.45812461e-02 -8.65902526e-01 4.99015984e-01 2.94734233e+02] [ 4.61246219e-02 5.00165378e-01 8.64700592e-01 -1.72569437e+02] [-9.98336946e-01 -6.88550042e-03 5.72357686e-02 -2.15997944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.55, Z:-216.02 [[ 3.55642313e-02 -9.24453147e-01 3.79633460e-01 2.94814364e+02] [ 4.85915878e-02 3.81024061e-01 9.23287346e-01 -1.72552564e+02] [-9.98185375e-01 -1.43890121e-02 5.84714741e-02 -2.16022663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.55, Z:-216.05 [[ 3.62612006e-02 -9.25851203e-01 3.76144488e-01 2.94816592e+02] [ 4.84220844e-02 3.77577710e-01 9.24710968e-01 -1.72550600e+02] [-9.98168536e-01 -1.53174297e-02 5.85230662e-02 -2.16051124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.55, Z:-216.08 [[ 3.78626432e-02 -9.27824025e-01 3.71091631e-01 2.94818889e+02] [ 4.84443934e-02 3.72625556e-01 9.26716427e-01 -1.72547849e+02] [-9.98107991e-01 -1.71106244e-02 5.90564606e-02 -2.16079254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.55, Z:-216.11 [[ 3.84701912e-02 -9.29808194e-01 3.66028368e-01 2.94821907e+02] [ 4.85294447e-02 3.67605756e-01 9.28714650e-01 -1.72545429e+02] [-9.98080627e-01 -1.79646767e-02 5.92649390e-02 -2.16106497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.54, Z:-216.13 [[ 3.85491811e-02 -9.30666157e-01 3.63833017e-01 2.94823670e+02] [ 4.86031985e-02 3.65419007e-01 9.29573385e-01 -1.72543608e+02] [-9.98073990e-01 -1.81508444e-02 5.93199555e-02 -2.16134937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-172.54, Z:-216.16 [[ 3.74772105e-02 -9.32631596e-01 3.58878481e-01 2.94828302e+02] [ 4.88708742e-02 3.60411608e-01 9.31512271e-01 -1.72541280e+02] [-9.98101747e-01 -1.73717764e-02 5.90857431e-02 -2.16162471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-172.54, Z:-216.19 [[ 3.62174701e-02 -9.34614178e-01 3.53814406e-01 2.94832345e+02] [ 4.89606898e-02 3.55280985e-01 9.33476444e-01 -1.72539303e+02] [-9.98143850e-01 -1.64851578e-02 5.86267333e-02 -2.16189530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.54, Z:-216.22 [[ 3.48246284e-02 -9.35965831e-01 3.50364394e-01 2.94835440e+02] [ 4.93273397e-02 3.51759512e-01 9.34789848e-01 -1.72537265e+02] [-9.98175365e-01 -1.52711656e-02 5.84185988e-02 -2.16217091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.54, Z:-216.24 [[ 3.14227260e-02 -9.37988645e-01 3.45238923e-01 2.94840568e+02] [ 4.94245968e-02 3.46445123e-01 9.36767306e-01 -1.72535274e+02] [-9.98283438e-01 -1.23724878e-02 5.72459607e-02 -2.16243683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.53, Z:-216.27 [[ 2.96984950e-02 -9.38859740e-01 3.43016599e-01 2.94842818e+02] [ 4.94559941e-02 3.44127850e-01 9.37619394e-01 -1.72533828e+02] [-9.98334665e-01 -1.08816580e-02 5.66523210e-02 -2.16270784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.53, Z:-216.30 [[ 2.79507831e-02 -9.39714617e-01 3.40815482e-01 2.94844997e+02] [ 4.99604611e-02 3.41835855e-01 9.38430712e-01 -1.72531826e+02] [-9.98360008e-01 -9.20257466e-03 5.65031554e-02 -2.16299125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-172.53, Z:-216.33 [[ 2.61084229e-02 -9.41577199e-01 3.35783753e-01 2.94848786e+02] [ 4.99578096e-02 3.36707498e-01 9.40283084e-01 -1.72529814e+02] [-9.98410020e-01 -7.77428765e-03 5.58300361e-02 -2.16326821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-172.53, Z:-216.35 [[ 2.34806555e-02 -9.43437858e-01 3.30716900e-01 2.94852757e+02] [ 5.07146908e-02 3.31506260e-01 9.42088966e-01 -1.72527977e+02] [-9.98437118e-01 -5.34866116e-03 5.56301435e-02 -2.16353930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-172.53, Z:-216.38 [[ 2.20514072e-02 -9.44240712e-01 3.28516688e-01 2.94854546e+02] [ 5.13606152e-02 3.29232631e-01 9.42850976e-01 -1.72526023e+02] [-9.98436689e-01 -3.91837161e-03 5.57568266e-02 -2.16381171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.52, Z:-216.41 [[ 2.13420260e-02 -9.44904254e-01 3.26650376e-01 2.94856953e+02] [ 5.22263074e-02 3.27332385e-01 9.43464850e-01 -1.72524691e+02] [-9.98407197e-01 -3.07570838e-03 5.63347963e-02 -2.16410914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.54, Z:-216.44 [[ 1.96904914e-02 -9.19633750e-01 3.92283125e-01 2.94814063e+02] [ 5.34340396e-02 3.92766406e-01 9.18084611e-01 -1.72535350e+02] [-9.98377227e-01 2.88373488e-03 5.68735098e-02 -2.16438396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.52, Z:-216.46 [[ 1.83409270e-02 -9.47521813e-01 3.19164574e-01 2.94860540e+02] [ 5.43254230e-02 3.19691124e-01 9.45963178e-01 -1.72520671e+02] [-9.98354826e-01 -1.10911226e-05 5.73379548e-02 -2.16464925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.52, Z:-216.49 [[ 1.77655261e-02 -9.49256850e-01 3.13999711e-01 2.94864049e+02] [ 5.49971609e-02 3.14501581e-01 9.47662423e-01 -1.72518301e+02] [-9.98328452e-01 4.33371142e-04 5.77937177e-02 -2.16492259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.52, Z:-216.52 [[ 1.68267797e-02 -9.50007448e-01 3.11773488e-01 2.94865222e+02] [ 5.51621976e-02 3.12224778e-01 9.48405409e-01 -1.72516375e+02] [-9.98335611e-01 1.23950183e-03 5.76582362e-02 -2.16520547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.51, Z:-216.55 [[ 1.78523333e-02 -9.53310625e-01 3.01463343e-01 2.94873361e+02] [ 5.75951206e-02 3.01991246e-01 9.51569277e-01 -1.72510614e+02] [-9.98180393e-01 3.75085666e-04 6.02972887e-02 -2.16551045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.53, Z:-216.58 [[ 1.65093426e-02 -9.09692798e-01 4.14953558e-01 2.94798175e+02] [ 5.61337132e-02 4.15198847e-01 9.07997205e-01 -1.72531423e+02] [-9.98286756e-01 8.30244709e-03 5.79190946e-02 -2.16578010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.51, Z:-216.60 [[ 1.53679985e-02 -9.54340713e-01 2.98324704e-01 2.94871684e+02] [ 5.68415490e-02 2.98711292e-01 9.52649255e-01 -1.72508865e+02] [-9.98264926e-01 2.31692596e-03 5.88367991e-02 -2.16603205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.51, Z:-216.63 [[ 1.63127135e-02 -9.55578745e-01 2.94284143e-01 2.94875740e+02] [ 5.75577425e-02 2.94732694e-01 9.53844718e-01 -1.72506273e+02] [-9.98208897e-01 1.37853533e-03 5.98088453e-02 -2.16633569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.52, Z:-216.66 [[ 1.58048211e-02 -9.16533634e-01 3.99645224e-01 2.94806792e+02] [ 5.77095586e-02 3.99865024e-01 9.14755470e-01 -1.72524134e+02] [-9.98208302e-01 8.60580290e-03 5.92125467e-02 -2.16660681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.50, Z:-216.69 [[ 1.46204996e-02 -9.57683176e-01 2.87452909e-01 2.94876912e+02] [ 5.78255479e-02 2.87812323e-01 9.55939471e-01 -1.72501891e+02] [-9.98219639e-01 2.64580931e-03 5.95865143e-02 -2.16687066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.50, Z:-216.72 [[ 1.49920184e-02 -9.59227739e-01 2.82236398e-01 2.94879053e+02] [ 5.80078184e-02 2.82627095e-01 9.57474291e-01 -1.72498970e+02] [-9.98203553e-01 2.01744554e-03 5.98798590e-02 -2.16715271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.50, Z:-216.74 [[ 1.49882218e-02 -9.60742834e-01 2.77035303e-01 2.94881374e+02] [ 5.83681897e-02 2.77434637e-01 9.58969852e-01 -1.72496456e+02] [-9.98182602e-01 1.79679627e-03 6.02350719e-02 -2.16742953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.49, Z:-216.77 [[ 1.52459709e-02 -9.62219005e-01 2.71849493e-01 2.94883900e+02] [ 5.90458563e-02 2.72273026e-01 9.60406678e-01 -1.72493739e+02] [-9.98138842e-01 1.40925387e-03 6.09661117e-02 -2.16770940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.49, Z:-216.80 [[ 1.53762885e-02 -9.63668632e-01 2.66657718e-01 2.94886369e+02] [ 5.96613868e-02 2.67098323e-01 9.61820672e-01 -1.72491192e+02] [-9.98100240e-01 1.11993709e-03 6.16007879e-02 -2.16799057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.49, Z:-216.83 [[ 1.55315383e-02 -9.65079208e-01 2.61497406e-01 2.94888386e+02] [ 6.01197914e-02 2.61957139e-01 9.63205102e-01 -1.72488252e+02] [-9.98070329e-01 7.61112567e-04 6.20889580e-02 -2.16827418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.49, Z:-216.85 [[ 1.55270735e-02 -9.66462830e-01 2.56336709e-01 2.94891396e+02] [ 6.01516652e-02 2.56806159e-01 9.64589226e-01 -1.72485244e+02] [-9.98068478e-01 4.41832077e-04 6.21217967e-02 -2.16854539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.48, Z:-216.88 [[ 1.55552420e-02 -9.67052189e-01 2.54102536e-01 2.94892892e+02] [ 5.98326884e-02 2.54578138e-01 9.65199472e-01 -1.72482800e+02] [-9.98087213e-01 1.89726496e-04 6.18213568e-02 -2.16882607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.48, Z:-216.91 [[ 1.54259400e-02 -9.68415520e-01 2.48864262e-01 2.94895656e+02] [ 5.94369697e-02 2.49341867e-01 9.66589820e-01 -1.72479698e+02] [-9.98112863e-01 -1.18818940e-04 6.14060166e-02 -2.16910961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.48, Z:-216.94 [[ 1.54341167e-02 -9.69744643e-01 2.43633156e-01 2.94897721e+02] [ 5.82783498e-02 2.44120414e-01 9.67992178e-01 -1.72476399e+02] [-9.98181057e-01 -7.41565931e-04 6.02829005e-02 -2.16938684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.47, Z:-216.97 [[ 1.53941678e-02 -9.71059014e-01 2.38343052e-01 2.94900188e+02] [ 5.78692201e-02 2.38837006e-01 9.69333812e-01 -1.72473345e+02] [-9.98205476e-01 -1.12936082e-03 5.98711248e-02 -2.16965730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.47, Z:-216.99 [[ 1.50638458e-02 -9.71622964e-01 2.36054860e-01 2.94901009e+02] [ 5.75538180e-02 2.36532801e-01 9.69917415e-01 -1.72471139e+02] [-9.98228751e-01 -1.02482800e-03 5.94837049e-02 -2.16994009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.47, Z:-217.02 [[ 1.43119236e-02 -9.72922762e-01 2.30686949e-01 2.94902837e+02] [ 5.76214415e-02 2.31129684e-01 9.71215135e-01 -1.72468086e+02] [-9.98235913e-01 -6.07442308e-04 5.93691224e-02 -2.17020438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.47, Z:-217.05 [[ 1.32839293e-02 -9.73484709e-01 2.28366062e-01 2.94904161e+02] [ 5.77124398e-02 2.28751935e-01 9.71772518e-01 -1.72465919e+02] [-9.98244866e-01 2.70605163e-04 5.92209022e-02 -2.17048631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.46, Z:-217.08 [[ 1.22482444e-02 -9.74748305e-01 2.22970227e-01 2.94907007e+02] [ 5.84464323e-02 2.23303605e-01 9.72995126e-01 -1.72463177e+02] [-9.98215405e-01 1.11433217e-03 5.97056380e-02 -2.17075428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.46, Z:-217.10 [[ 1.08549108e-02 -9.75296441e-01 2.20633233e-01 2.94907979e+02] [ 5.87298870e-02 2.20887165e-01 9.73529486e-01 -1.72461333e+02] [-9.98214892e-01 2.39018907e-03 5.96767602e-02 -2.17103329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.46, Z:-217.13 [[ 8.30851482e-03 -9.76523166e-01 2.15252121e-01 2.94910120e+02] [ 6.05310034e-02 2.15355956e-01 9.74657791e-01 -1.72458242e+02] [-9.98131738e-01 4.93146814e-03 6.08992152e-02 -2.17130407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.46, Z:-217.16 [[ 6.76353604e-03 -9.77045825e-01 2.12921841e-01 2.94911455e+02] [ 6.13281564e-02 2.12931184e-01 9.75140589e-01 -1.72456033e+02] [-9.98094741e-01 6.46270543e-03 6.13605869e-02 -2.17158809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.45, Z:-217.19 [[ 5.08075495e-03 -9.78173981e-01 2.07725418e-01 2.94914132e+02] [ 6.19594878e-02 2.07636912e-01 9.76241740e-01 -1.72453253e+02] [-9.98065733e-01 7.91051544e-03 6.16621111e-02 -2.17186710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.44, Z:-217.22 [[ 8.12120474e-03 -9.84138051e-01 1.77218346e-01 2.94937606e+02] [ 6.84068790e-02 1.77355787e-01 9.81766481e-01 -1.72435212e+02] [-9.97624451e-01 4.14982733e-03 6.87621552e-02 -2.17219165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.49, Z:-217.25 [[ 4.87929804e-03 -9.07308491e-01 4.20437266e-01 2.94783135e+02] [ 6.54371100e-02 4.19830813e-01 9.05240340e-01 -1.72489432e+02] [-9.97844766e-01 2.30952622e-02 6.14201252e-02 -2.17248937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.45, Z:-217.27 [[ 1.80880477e-04 -9.79362419e-01 2.02111900e-01 2.94915543e+02] [ 6.45178852e-02 2.01702243e-01 9.77319624e-01 -1.72447392e+02] [-9.97916535e-01 1.28630543e-02 6.32228761e-02 -2.17273902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.44, Z:-217.30 [[-1.50422339e-04 -9.80437739e-01 1.96829410e-01 2.94918732e+02] [ 6.45152309e-02 1.96409847e-01 9.78397137e-01 -1.72444635e+02] [-9.97916711e-01 1.28456676e-02 6.32236227e-02 -2.17302344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.44, Z:-217.33 [[-1.88606562e-03 -9.81418052e-01 1.91872486e-01 2.94921290e+02] [ 6.49029926e-02 1.91348139e-01 9.79374030e-01 -1.72441713e+02] [-9.97889796e-01 1.43002622e-02 6.33360734e-02 -2.17329992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.44, Z:-217.36 [[-4.45411218e-03 -9.82438745e-01 1.86532231e-01 2.94923452e+02] [ 6.43140954e-02 1.85866456e-01 9.80467928e-01 -1.72439072e+02] [-9.97919765e-01 1.63637658e-02 6.23567891e-02 -2.17356704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.43, Z:-217.39 [[-3.25621138e-03 -9.84148480e-01 1.77316569e-01 2.94932144e+02] [ 6.68049411e-02 1.76707302e-01 9.81993701e-01 -1.72431244e+02] [-9.97760741e-01 1.50432020e-02 6.51705849e-02 -2.17388528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.47, Z:-217.42 [[-3.86947543e-03 -9.42664450e-01 3.33719586e-01 2.94837544e+02] [ 6.62720466e-02 3.32746677e-01 9.40684679e-01 -1.72466406e+02] [-9.97794089e-01 2.57562362e-02 6.11847473e-02 -2.17416264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.43, Z:-217.44 [[-6.55626697e-03 -9.83664733e-01 1.79890824e-01 2.94926853e+02] [ 6.35646307e-02 1.79120922e-01 9.81771477e-01 -1.72431702e+02] [-9.97956188e-01 1.78714497e-02 6.13519209e-02 -2.17441773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.43, Z:-217.47 [[-5.26837327e-03 -9.84639090e-01 1.74522511e-01 2.94928609e+02] [ 6.28619856e-02 1.73853651e-01 9.82763084e-01 -1.72428293e+02] [-9.98008324e-01 1.61483943e-02 6.09804424e-02 -2.17468453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.43, Z:-217.50 [[-4.00222825e-03 -9.85053954e-01 1.72199565e-01 2.94929323e+02] [ 6.24896875e-02 1.71618027e-01 9.83179685e-01 -1.72426081e+02] [-9.98037585e-01 1.46956065e-02 6.08688593e-02 -2.17496750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.42, Z:-217.52 [[-2.26904698e-03 -9.85946083e-01 1.67048415e-01 2.94931238e+02] [ 6.23837878e-02 1.66583908e-01 9.84051861e-01 -1.72422897e+02] [-9.98049655e-01 1.26539728e-02 6.11290645e-02 -2.17524370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.42, Z:-217.55 [[ 2.85214335e-03 -9.86841179e-01 1.61667415e-01 2.94931415e+02] [ 6.13383125e-02 1.61536299e-01 9.84958697e-01 -1.72420139e+02] [-9.98112958e-01 7.10716301e-03 6.09918972e-02 -2.17551303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.42, Z:-217.58 [[ 5.73848653e-03 -9.87421020e-01 1.58008855e-01 2.94932087e+02] [ 6.08767524e-02 1.58063339e-01 9.85550609e-01 -1.72417547e+02] [-9.98128795e-01 3.96349703e-03 6.10180293e-02 -2.17579579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.41, Z:-217.61 [[ 8.63566136e-03 -9.88233402e-01 1.52709425e-01 2.94933674e+02] [ 6.03399196e-02 1.52951817e-01 9.86389799e-01 -1.72414807e+02] [-9.98140531e-01 6.96346161e-04 6.09507641e-02 -2.17607824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.41, Z:-217.63 [[ 1.17067373e-02 -9.89020808e-01 1.47311895e-01 2.94935302e+02] [ 6.01265396e-02 1.47751667e-01 9.87195140e-01 -1.72411957e+02] [-9.98122113e-01 -2.69947972e-03 6.11960887e-02 -2.17634571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.41, Z:-217.66 [[ 1.72974526e-02 -9.89284299e-01 1.44973704e-01 2.94934095e+02] [ 5.96367885e-02 1.45758065e-01 9.87521159e-01 -1.72410034e+02] [-9.98070264e-01 -8.43583433e-03 6.15189817e-02 -2.17662692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.41, Z:-217.69 [[ 1.96180035e-02 -9.90011839e-01 1.39612651e-01 2.94936229e+02] [ 5.95338368e-02 1.40548464e-01 9.88282273e-01 -1.72407283e+02] [-9.98033495e-01 -1.10764483e-02 6.16964835e-02 -2.17689454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.41, Z:-217.72 [[ 2.13039169e-02 -9.90301934e-01 1.37288832e-01 2.94937092e+02] [ 5.93905122e-02 1.38331042e-01 9.88603707e-01 -1.72405060e+02] [-9.98007470e-01 -1.29074772e-02 6.17615321e-02 -2.17717443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.40, Z:-217.75 [[ 2.34153041e-02 -9.90994192e-01 1.31841706e-01 2.94939193e+02] [ 5.88830221e-02 1.33016012e-01 9.89363194e-01 -1.72401888e+02] [-9.97990237e-01 -1.54030019e-02 6.14673433e-02 -2.17745736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.40, Z:-217.77 [[ 2.35096676e-02 -9.91698659e-01 1.26416237e-01 2.94941446e+02] [ 5.87546290e-02 1.27603208e-01 9.90083489e-01 -1.72398929e+02] [-9.97995586e-01 -1.58489946e-02 6.12667958e-02 -2.17772625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.40, Z:-217.80 [[ 2.34590694e-02 -9.91996165e-01 1.24069661e-01 2.94942251e+02] [ 5.81316289e-02 1.25247374e-01 9.90421026e-01 -1.72396685e+02] [-9.98033259e-01 -1.60219841e-02 6.06045397e-02 -2.17800184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.39, Z:-217.83 [[ 2.29365831e-02 -9.92667678e-01 1.18679373e-01 2.94944621e+02] [ 5.76421747e-02 1.19826231e-01 9.91120101e-01 -1.72393651e+02] [-9.98073791e-01 -1.58919714e-02 5.99679281e-02 -2.17828154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.39, Z:-217.86 [[ 2.22312806e-02 -9.93312412e-01 1.13297053e-01 2.94946253e+02] [ 5.77646698e-02 1.14411965e-01 9.91752563e-01 -1.72391366e+02] [-9.98082669e-01 -1.55033626e-02 5.99218880e-02 -2.17855579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.39, Z:-217.88 [[ 2.19146172e-02 -9.93583373e-01 1.10958687e-01 2.94947406e+02] [ 5.87527303e-02 1.12073425e-01 9.91961524e-01 -1.72389643e+02] [-9.98031997e-01 -1.52193313e-02 6.08317821e-02 -2.17883535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.39, Z:-217.91 [[ 2.11374301e-02 -9.94184862e-01 1.05591998e-01 2.94949943e+02] [ 5.97514656e-02 1.06683015e-01 9.92496094e-01 -1.72387010e+02] [-9.97989465e-01 -1.46695402e-02 6.16590074e-02 -2.17911302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.38, Z:-217.94 [[ 2.04891923e-02 -9.94759152e-01 1.00171964e-01 2.94952779e+02] [ 6.03043531e-02 1.01240201e-01 9.93032631e-01 -1.72384561e+02] [-9.97969728e-01 -1.43056310e-02 6.20626371e-02 -2.17938046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.38, Z:-217.97 [[ 1.90884022e-02 -9.95020221e-01 9.78283875e-02 2.94954860e+02] [ 6.05089525e-02 9.88165480e-02 9.93264293e-01 -1.72382669e+02] [-9.97985120e-01 -1.30403351e-02 6.20938812e-02 -2.17965802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-172.38, Z:-217.99 [[ 1.84364364e-02 -9.95548160e-01 9.24335342e-02 2.94958469e+02] [ 6.10222079e-02 9.33973056e-02 9.93757130e-01 -1.72379716e+02] [-9.97966126e-01 -1.26808418e-02 6.24724603e-02 -2.17992248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-172.38, Z:-218.02 [[ 1.66161844e-02 -9.95794464e-01 9.00959976e-02 2.94960901e+02] [ 6.19188238e-02 9.09602996e-02 9.93927705e-01 -1.72378458e+02] [-9.97942865e-01 -1.09366478e-02 6.31698351e-02 -2.18020010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-172.38, Z:-218.05 [[ 1.52916596e-02 -9.96289536e-01 8.46954932e-02 2.94964787e+02] [ 6.25079610e-02 8.54922407e-02 9.94376102e-01 -1.72375698e+02] [-9.97927312e-01 -9.91151833e-03 6.35833457e-02 -2.18048109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-172.37, Z:-218.08 [[ 1.39870619e-02 -9.96751670e-01 7.93124825e-02 2.94969042e+02] [ 6.28084311e-02 8.00394245e-02 9.94810933e-01 -1.72372878e+02] [-9.97927584e-01 -8.93298948e-03 6.37239250e-02 -2.18075604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-172.37, Z:-218.10 [[ 1.23436324e-02 -9.97188089e-01 7.39158366e-02 2.94973295e+02] [ 6.27660763e-02 7.45483932e-02 9.95240150e-01 -1.72369904e+02] [-9.97951930e-01 -7.64547157e-03 6.35097816e-02 -2.18103327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-172.37, Z:-218.13 [[ 8.31185460e-03 -9.97613330e-01 6.85460218e-02 2.94979134e+02] [ 6.25150044e-02 6.89327128e-02 9.95660663e-01 -1.72367400e+02] [-9.98009413e-01 -3.99063182e-03 6.29387604e-02 -2.18130345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-172.36, Z:-218.16 [[ 5.83905720e-03 -9.97874543e-01 6.49022466e-02 2.94982936e+02] [ 6.27270540e-02 6.51410366e-02 9.95902587e-01 -1.72364454e+02] [-9.98013638e-01 -1.74400545e-03 6.29740926e-02 -2.18157897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.36, Z:-218.19 [[ 2.93680010e-03 -9.98218153e-01 5.95977681e-02 2.94987623e+02] [ 6.26629740e-02 5.96646011e-02 9.96249711e-01 -1.72361044e+02] [-9.98030424e-01 8.08787137e-04 6.27265412e-02 -2.18185573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.36, Z:-218.21 [[-1.01370461e-04 -9.98531191e-01 5.41797948e-02 2.94992162e+02] [ 6.24140128e-02 5.40678455e-02 9.96584748e-01 -1.72357659e+02] [-9.98050340e-01 3.48260266e-03 6.23168577e-02 -2.18213276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-172.35, Z:-218.24 [[-3.01009772e-03 -9.98807343e-01 4.87322350e-02 2.94996314e+02] [ 6.22151527e-02 4.84509965e-02 9.96886040e-01 -1.72354459e+02] [-9.98058222e-01 6.03260783e-03 6.19951091e-02 -2.18240106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-172.35, Z:-218.27 [[-7.78550686e-03 -9.98893642e-01 4.63775649e-02 2.95000858e+02] [ 6.17557891e-02 4.58101438e-02 9.97039444e-01 -1.72351547e+02] [-9.98060924e-01 1.06265405e-02 6.13308099e-02 -2.18267834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.35, Z:-218.29 [[-9.51258015e-03 -9.99113886e-01 4.09994265e-02 2.95005162e+02] [ 6.11096285e-02 4.03437981e-02 9.97315392e-01 -1.72347922e+02] [-9.98085730e-01 1.19925023e-02 6.06717048e-02 -2.18294790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.31, Z:-218.33 [[-6.26607166e-03 -9.99890937e-01 -1.33735002e-02 2.95042336e+02] [ 7.23657870e-02 -1.37921151e-02 9.97282794e-01 -1.72305624e+02] [-9.97358476e-01 5.28126158e-03 7.24443170e-02 -2.18328828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.38, Z:-218.37 [[-1.42848800e-03 -9.75982962e-01 2.17842185e-01 2.94925657e+02] [ 7.24124717e-02 2.17169564e-01 9.73444305e-01 -1.72375017e+02] [-9.97373748e-01 1.71650445e-02 7.03631145e-02 -2.18365587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.43, Z:-218.39 [[-6.63870426e-03 -9.06910855e-01 4.21270256e-01 2.94789503e+02] [ 6.32073561e-02 4.20056548e-01 9.05294055e-01 -1.72428501e+02] [-9.97978335e-01 3.26373586e-02 5.45348061e-02 -2.18392338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.34, Z:-218.41 [[-1.04445230e-02 -9.99441640e-01 3.17383151e-02 2.95012483e+02] [ 5.93722869e-02 3.10642114e-02 9.97752447e-01 -1.72336422e+02] [-9.98181268e-01 1.23054247e-02 5.90146849e-02 -2.18414677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.33, Z:-218.44 [[-8.42335704e-03 -9.99533870e-01 2.93443375e-02 2.95013733e+02] [ 6.03491741e-02 2.87837460e-02 9.97762233e-01 -1.72334182e+02] [-9.98141786e-01 1.01754141e-02 6.00785878e-02 -2.18443140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.33, Z:-218.47 [[-7.34697060e-03 -9.99689446e-01 2.38124583e-02 2.95016640e+02] [ 6.04637133e-02 2.33254190e-02 9.97897823e-01 -1.72331083e+02] [-9.98143357e-01 8.77131561e-03 6.02735649e-02 -2.18469892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.33, Z:-218.50 [[-6.25903332e-03 -9.99751070e-01 2.14154584e-02 2.95017880e+02] [ 6.08298550e-02 2.09955611e-02 9.97927310e-01 -1.72328510e+02] [-9.98128525e-01 7.54875950e-03 6.06833007e-02 -2.18497925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.32, Z:-218.53 [[-3.65525509e-03 -9.99867687e-01 1.58507637e-02 2.95020666e+02] [ 6.14482140e-02 1.55963332e-02 9.97988412e-01 -1.72324432e+02] [-9.98103580e-01 4.62190333e-03 6.13830751e-02 -2.18525510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.32, Z:-218.55 [[-2.72816862e-03 -9.99943205e-01 1.03025857e-02 2.95023540e+02] [ 6.13080626e-02 1.01159930e-02 9.98067627e-01 -1.72321194e+02] [-9.98115163e-01 3.35452835e-03 6.12769825e-02 -2.18553755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.30, Z:-218.58 [[ 5.94660951e-04 -9.99722111e-01 -2.35657938e-02 2.95044049e+02] [ 6.81264908e-02 -2.34705464e-02 9.97400579e-01 -1.72296232e+02] [-9.97676515e-01 -2.19857002e-03 6.80936022e-02 -2.18583591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-171.96, Z:-218.28 [[-1.45274976e-02 3.47629974e-01 9.37519255e-01 2.94114004e+02] [-2.61326094e-02 9.37165920e-01 -3.47903901e-01 -1.71963773e+02] [-9.99552919e-01 -2.95539976e-02 -4.53019735e-03 -2.18281893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.22, Z:-218.35 [[-4.93948735e-02 6.57286683e-01 -7.52020188e-01 2.94817343e+02] [-3.28725037e-02 -7.53601229e-01 -6.56509396e-01 -1.71223160e+02] [-9.98238221e-01 -7.70741220e-03 5.88306963e-02 -2.18350080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-172.13, Z:-218.46 [[ 3.15228298e-02 -9.28251361e-01 -3.70615329e-01 2.95168236e+02] [ 2.91708502e-02 -3.69787230e-01 9.28658423e-01 -1.72128859e+02] [-9.99077261e-01 -4.00851057e-02 1.54211414e-02 -2.18458128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.41, Z:-218.52 [[ 4.95379386e-02 -6.78654670e-01 7.32784983e-01 2.94553830e+02] [ 1.81110377e-02 7.34175513e-01 6.78718135e-01 -1.72405082e+02] [-9.98608023e-01 -2.03508008e-02 4.86606818e-02 -2.18523139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.29, Z:-218.57 [[ 5.30920811e-02 -2.77784258e-01 9.59175238e-01 2.94305907e+02] [ 1.09591069e-02 9.60634187e-01 2.77600175e-01 -1.72294154e+02] [-9.98529483e-01 -4.22666701e-03 5.40463355e-02 -2.18565733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-172.22, Z:-218.60 [[ 4.74131546e-02 -1.01116950e-01 9.93744110e-01 2.94221290e+02] [ 1.02736821e-02 9.94859711e-01 1.00740292e-01 -1.72221005e+02] [-9.98822529e-01 5.43299601e-03 4.82082807e-02 -2.18596699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-172.26, Z:-218.62 [[ 4.86578056e-02 -1.83705057e-01 9.81776385e-01 2.94260038e+02] [ 1.19617188e-02 9.82977356e-01 1.83336942e-01 -1.72256583e+02] [-9.98743879e-01 2.82295973e-03 5.00269493e-02 -2.18623323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-172.25, Z:-218.66 [[ 4.71070104e-02 -1.77808738e-01 9.82936917e-01 2.94255763e+02] [ 1.23816811e-02 9.84057679e-01 1.77418090e-01 -1.72254084e+02] [-9.98813107e-01 3.81277561e-03 4.85575864e-02 -2.18655003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-172.28, Z:-218.68 [[ 4.70998033e-02 -2.31846883e-01 9.71611358e-01 2.94281634e+02] [ 1.36738706e-02 9.72749371e-01 2.31455582e-01 -1.72276193e+02] [-9.98796593e-01 2.38417557e-03 4.89865483e-02 -2.18681769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.28, Z:-218.71 [[ 4.77441647e-02 -2.36646623e-01 9.70422006e-01 2.94285294e+02] [ 1.39861073e-02 9.71593082e-01 2.36244093e-01 -1.72278323e+02] [-9.98761675e-01 2.29314936e-03 4.96976652e-02 -2.18709897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.28, Z:-218.74 [[ 4.86628001e-02 -2.43810183e-01 9.68601325e-01 2.94289859e+02] [ 1.41996736e-02 9.69821092e-01 2.43403820e-01 -1.72280941e+02] [-9.98714324e-01 1.90911124e-03 5.06562350e-02 -2.18737155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.28, Z:-218.77 [[ 4.92243853e-02 -2.46897937e-01 9.67790457e-01 2.94292126e+02] [ 1.41332330e-02 9.69040259e-01 2.46497927e-01 -1.72281680e+02] [-9.98687745e-01 1.54429908e-03 5.11898771e-02 -2.18765564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-172.28, Z:-218.80 [[ 4.99711592e-02 -2.54210351e-01 9.65857122e-01 2.94296881e+02] [ 1.39464046e-02 9.67148634e-01 2.53828719e-01 -1.72283767e+02] [-9.98653284e-01 7.86118888e-04 5.18748588e-02 -2.18797909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.29, Z:-218.83 [[ 5.18103700e-02 -2.75074496e-01 9.60025889e-01 2.94307802e+02] [ 1.29985648e-02 9.61421309e-01 2.74772821e-01 -1.72291282e+02] [-9.98572342e-01 -1.75712283e-03 5.33871674e-02 -2.18829487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-172.28, Z:-218.86 [[ 5.27738841e-02 -2.44768678e-01 9.68144210e-01 2.94294205e+02] [ 1.21512997e-02 9.69580838e-01 2.44469518e-01 -1.72279015e+02] [-9.98532555e-01 -1.13739559e-03 5.41428043e-02 -2.18858430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-172.28, Z:-218.89 [[ 5.36917373e-02 -2.51789870e-01 9.66291394e-01 2.94298697e+02] [ 1.18738886e-02 9.67779798e-01 2.51517939e-01 -1.72281337e+02] [-9.98486959e-01 -2.03079872e-03 5.49515035e-02 -2.18885683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-172.28, Z:-218.91 [[ 5.36201194e-02 -2.54851498e-01 9.65492412e-01 2.94301198e+02] [ 1.21725724e-02 9.66978342e-01 2.54567702e-01 -1.72282169e+02] [-9.98487211e-01 -1.89742426e-03 5.49516925e-02 -2.18914195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.28, Z:-218.94 [[ 5.42760236e-02 -2.61248575e-01 9.63744414e-01 2.94305707e+02] [ 1.18606457e-02 9.65267684e-01 2.60993532e-01 -1.72284429e+02] [-9.98455527e-01 -2.73506007e-03 5.54894683e-02 -2.18942359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.29, Z:-218.97 [[ 5.48270177e-02 -2.68315309e-01 9.61769668e-01 2.94310367e+02] [ 1.18138329e-02 9.63325370e-01 2.68075856e-01 -1.72286890e+02] [-9.98425977e-01 -3.33561359e-03 5.59860894e-02 -2.18970407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.29, Z:-219.00 [[ 5.48683271e-02 -2.75424971e-01 9.59755465e-01 2.94314860e+02] [ 1.15892853e-02 9.61314343e-01 2.75209780e-01 -1.72289346e+02] [-9.98426339e-01 -3.97742031e-03 5.59376884e-02 -2.18997672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-172.29, Z:-219.03 [[ 5.45183640e-02 -2.78518043e-01 9.58882395e-01 2.94317650e+02] [ 1.17411734e-02 9.60423022e-01 2.78297977e-01 -1.72290468e+02] [-9.98443736e-01 -3.91394594e-03 5.56308206e-02 -2.19025705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-172.29, Z:-219.05 [[ 5.43471236e-02 -2.85528943e-01 9.56827891e-01 2.94322254e+02] [ 1.22550315e-02 9.58362637e-01 2.85290852e-01 -1.72293024e+02] [-9.98446896e-01 -3.77878128e-03 5.55834189e-02 -2.19054122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.29, Z:-219.08 [[ 5.34577975e-02 -2.92046662e-01 9.54908902e-01 2.94325919e+02] [ 1.32769941e-02 9.56399618e-01 2.91759305e-01 -1.72294996e+02] [-9.98481840e-01 -2.91849000e-03 5.50045190e-02 -2.19081661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.31, Z:-219.11 [[ 5.23023248e-02 -3.44568142e-01 9.37303186e-01 2.94354187e+02] [ 1.47853965e-02 9.38752145e-01 3.44275765e-01 -1.72314907e+02] [-9.98521837e-01 -4.14802365e-03 5.41934962e-02 -2.19113506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.32, Z:-219.15 [[ 5.20397666e-02 -3.49254196e-01 9.35581835e-01 2.94358334e+02] [ 1.49000974e-02 9.37018517e-01 3.48961726e-01 -1.72317091e+02] [-9.98533850e-01 -4.21962627e-03 5.39661465e-02 -2.19146053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.31, Z:-219.18 [[ 5.18683148e-02 -3.37049769e-01 9.40056983e-01 2.94354448e+02] [ 1.42289917e-02 9.41477939e-01 3.36774147e-01 -1.72313661e+02] [-9.98552559e-01 -4.09184445e-03 5.36287525e-02 -2.19177981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.29, Z:-219.21 [[ 5.12555538e-02 -2.84462023e-01 9.57316158e-01 2.94328071e+02] [ 1.39070621e-02 9.58686495e-01 2.84124616e-01 -1.72294646e+02] [-9.98588735e-01 -1.24950927e-03 5.30940383e-02 -2.19210829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-172.30, Z:-219.24 [[ 5.17851843e-02 -3.08816690e-01 9.49710770e-01 2.94344241e+02] [ 1.41907780e-02 9.51118294e-01 3.08500588e-01 -1.72304612e+02] [-9.98557418e-01 -2.49862505e-03 5.36361852e-02 -2.19239029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.28, Z:-219.27 [[ 4.98375303e-02 -2.35992564e-01 9.70476033e-01 2.94306715e+02] [ 1.30136547e-02 9.71754457e-01 2.35635142e-01 -1.72276987e+02] [-9.98672552e-01 8.85966495e-04 5.15009679e-02 -2.19267263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-172.30, Z:-219.29 [[ 4.98365182e-02 -2.88959038e-01 9.56043407e-01 2.94333688e+02] [ 1.39608474e-02 9.57340900e-01 2.88623449e-01 -1.72297571e+02] [-9.98659810e-01 -1.03681163e-03 5.17446503e-02 -2.19294704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-172.30, Z:-219.32 [[ 4.93095044e-02 -2.94989904e-01 9.54227190e-01 2.94336660e+02] [ 1.43473739e-02 9.55500002e-01 2.94641984e-01 -1.72300119e+02] [-9.98680492e-01 -8.37995888e-04 5.13475621e-02 -2.19322740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.31, Z:-219.35 [[ 5.01882823e-02 -3.13080820e-01 9.48399461e-01 2.94348245e+02] [ 1.37852944e-02 9.49722861e-01 3.12788191e-01 -1.72308464e+02] [-9.98644633e-01 -2.62433626e-03 5.19808703e-02 -2.19350405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.31, Z:-219.38 [[ 5.03270189e-02 -3.05054853e-01 9.51004063e-01 2.94345376e+02] [ 1.32391105e-02 9.52330816e-01 3.04779826e-01 -1.72306042e+02] [-9.98645041e-01 -2.74821223e-03 5.19666259e-02 -2.19378093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-172.31, Z:-219.41 [[ 5.05417542e-02 -3.11991991e-01 9.48739442e-01 2.94350315e+02] [ 1.30774399e-02 9.50078831e-01 3.11735779e-01 -1.72308828e+02] [-9.98636326e-01 -3.34859008e-03 5.20987073e-02 -2.19406469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.31, Z:-219.43 [[ 5.08468036e-02 -3.18822493e-01 9.46449587e-01 2.94355016e+02] [ 1.17823582e-02 9.47800986e-01 3.18644736e-01 -1.72311622e+02] [-9.98636960e-01 -5.05065827e-03 5.19491314e-02 -2.19433032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.31, Z:-219.46 [[ 5.05785241e-02 -3.21787773e-01 9.45459910e-01 2.94357225e+02] [ 1.13232525e-02 9.46795485e-01 3.21636585e-01 -1.72312346e+02] [-9.98655895e-01 -5.56222251e-03 5.15312025e-02 -2.19461032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.31, Z:-219.49 [[ 5.08794527e-02 -3.28532933e-01 9.43121092e-01 2.94361834e+02] [ 1.07851738e-02 9.44469886e-01 3.28420942e-01 -1.72314427e+02] [-9.98646565e-01 -6.53815291e-03 5.15973956e-02 -2.19487756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-172.32, Z:-219.52 [[ 5.05509871e-02 -3.31428134e-01 9.42125252e-01 2.94364365e+02] [ 9.84497360e-03 9.43450850e-01 3.31366218e-01 -1.72315817e+02] [-9.98672957e-01 -7.47569118e-03 5.09552730e-02 -2.19516014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.32, Z:-219.54 [[ 5.02855949e-02 -3.38069365e-01 9.39776816e-01 2.94369200e+02] [ 9.58822091e-03 9.41087302e-01 3.38027744e-01 -1.72318371e+02] [-9.98688853e-01 -7.98713850e-03 5.05646186e-02 -2.19543539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.32, Z:-219.57 [[ 5.00788867e-02 -3.44887364e-01 9.37307213e-01 2.94374247e+02] [ 9.73725511e-03 9.38608759e-01 3.44846029e-01 -1.72320852e+02] [-9.98697798e-01 -8.14270575e-03 5.03627379e-02 -2.19571345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.32, Z:-219.60 [[ 4.97099012e-02 -3.51769906e-01 9.34765671e-01 2.94379249e+02] [ 9.70772520e-03 9.36048716e-01 3.51736493e-01 -1.72323141e+02] [-9.98716519e-01 -8.41033807e-03 4.99457748e-02 -2.19601642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.32, Z:-219.63 [[ 4.90923007e-02 -3.51785548e-01 9.34792423e-01 2.94380023e+02] [ 9.74720187e-03 9.36045086e-01 3.51745064e-01 -1.72323284e+02] [-9.98746684e-01 -8.15636399e-03 4.93815316e-02 -2.19628326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-172.32, Z:-219.66 [[ 4.85464092e-02 -3.54866555e-01 9.33655704e-01 2.94382530e+02] [ 1.02967771e-02 9.34885986e-01 3.54798772e-01 -1.72324048e+02] [-9.98767852e-01 -7.61056174e-03 4.90393394e-02 -2.19656743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.33, Z:-219.68 [[ 4.79455149e-02 -3.61784544e-01 9.31028019e-01 2.94387070e+02] [ 1.04576981e-02 9.32230707e-01 3.61713348e-01 -1.72326214e+02] [-9.98795206e-01 -7.60612282e-03 4.84797148e-02 -2.19684847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.33, Z:-219.71 [[ 4.75125513e-02 -3.68696165e-01 9.28334905e-01 2.94391964e+02] [ 1.08151708e-02 9.29519920e-01 3.68613279e-01 -1.72328229e+02] [-9.98812089e-01 -7.47365678e-03 4.81513749e-02 -2.19713303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.33, Z:-219.74 [[ 4.69615185e-02 -3.75556502e-01 9.25608951e-01 2.94396869e+02] [ 1.03109316e-02 9.26764189e-01 3.75502095e-01 -1.72330508e+02] [-9.98843482e-01 -8.09025805e-03 4.73945910e-02 -2.19740667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.33, Z:-219.77 [[ 4.67752416e-02 -3.78529857e-01 9.24406417e-01 2.94399735e+02] [ 1.02808537e-02 9.25552760e-01 3.78479051e-01 -1.72331376e+02] [-9.98852532e-01 -8.19976200e-03 4.71845640e-02 -2.19769002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-172.33, Z:-219.80 [[ 4.75747751e-02 -3.84480363e-01 9.21906444e-01 2.94405211e+02] [ 9.77051357e-03 9.23086489e-01 3.84468295e-01 -1.72334828e+02] [-9.98819893e-01 -9.28349328e-03 4.76722028e-02 -2.19800257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-172.27, Z:-219.83 [[ 4.78707577e-02 -2.14933358e-01 9.75454787e-01 2.94318650e+02] [ 8.20256258e-03 9.76626054e-01 2.14788894e-01 -1.72271261e+02] [-9.98819858e-01 -2.28087816e-03 4.85148335e-02 -2.19830086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-172.27, Z:-219.86 [[ 4.45798265e-02 -2.13010042e-01 9.76032459e-01 2.94314726e+02] [ 8.96293173e-03 9.77049730e-01 2.12822674e-01 -1.72267956e+02] [-9.98965618e-01 -7.39485595e-04 4.54659019e-02 -2.19858647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.34, Z:-219.88 [[ 4.58337996e-02 -4.25087495e-01 9.03991087e-01 2.94429437e+02] [ 1.14721480e-02 9.05106419e-01 4.25030305e-01 -1.72343908e+02] [-9.98883203e-01 -9.11003429e-03 4.63611329e-02 -2.19884370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.35, Z:-219.91 [[ 4.57306078e-02 -4.31786292e-01 9.00815914e-01 2.94433973e+02] [ 1.17617427e-02 9.01929552e-01 4.31722996e-01 -1.72345540e+02] [-9.98884564e-01 -9.14779003e-03 4.63243458e-02 -2.19912812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.35, Z:-219.94 [[ 4.62254734e-02 -4.38404586e-01 8.97588227e-01 2.94438909e+02] [ 1.23639128e-02 8.98731016e-01 4.38326015e-01 -1.72347294e+02] [-9.98854514e-01 -9.16412496e-03 4.69646627e-02 -2.19939361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.35, Z:-219.97 [[ 4.63308973e-02 -4.41262751e-01 8.96181138e-01 2.94441343e+02] [ 1.25101478e-02 8.97330491e-01 4.41181920e-01 -1.72347690e+02] [-9.98847808e-01 -9.22899572e-03 4.70943890e-02 -2.19966457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.35, Z:-219.99 [[ 4.63546892e-02 -4.44109130e-01 8.94772778e-01 2.94443944e+02] [ 1.27677280e-02 8.95925894e-01 4.44020019e-01 -1.72348166e+02] [-9.98843445e-01 -9.15819454e-03 4.72006309e-02 -2.19993693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-172.35, Z:-220.03 [[ 5.01043792e-02 -4.58485160e-01 8.87288515e-01 2.94459385e+02] [ 1.48817203e-02 8.88648459e-01 4.58347521e-01 -1.72351719e+02] [-9.98633109e-01 -9.76083849e-03 5.13482273e-02 -2.20026846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.32, Z:-220.06 [[ 5.00895298e-02 -3.58006783e-01 9.32374486e-01 2.94402109e+02] [ 1.35987171e-02 9.33704269e-01 3.57786826e-01 -1.72319412e+02] [-9.98652149e-01 -5.24227700e-03 5.16372408e-02 -2.20060610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.30, Z:-220.09 [[ 4.49396266e-02 -3.11874509e-01 9.49059914e-01 2.94371643e+02] [ 1.26094977e-02 9.50121119e-01 3.11626154e-01 -1.72302904e+02] [-9.98910121e-01 -2.03719424e-03 4.66306692e-02 -2.20090479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.35, Z:-220.12 [[ 4.48337934e-02 -4.42607734e-01 8.95593839e-01 2.94447232e+02] [ 1.42608692e-02 8.96687511e-01 4.42434329e-01 -1.72345520e+02] [-9.98892666e-01 -7.06406268e-03 4.65138736e-02 -2.20117248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.35, Z:-220.15 [[ 5.37329134e-02 -4.75033306e-01 8.78325755e-01 2.94480479e+02] [ 1.55779402e-02 8.79888205e-01 4.74925336e-01 -1.72351814e+02] [-9.98433825e-01 -1.18366159e-02 5.46789971e-02 -2.20151800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-172.30, Z:-220.18 [[ 4.50997800e-02 -3.00844417e-01 9.52606239e-01 2.94368693e+02] [ 1.05699555e-02 9.53666842e-01 3.00678949e-01 -1.72295661e+02] [-9.98926567e-01 -3.49154892e-03 4.61900769e-02 -2.20184252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.34, Z:-220.21 [[ 4.72107596e-02 -4.42416902e-01 8.95565983e-01 2.94449434e+02] [ 1.17107751e-02 8.96749227e-01 4.42384087e-01 -1.72341432e+02] [-9.98816300e-01 -1.03975170e-02 4.75172570e-02 -2.20209751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.34, Z:-220.24 [[ 4.71121149e-02 -4.45407637e-01 8.94087515e-01 2.94452164e+02] [ 1.19877659e-02 8.95269059e-01 4.45364576e-01 -1.72341790e+02] [-9.98817672e-01 -1.02639552e-02 4.75174613e-02 -2.20238265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-172.34, Z:-220.27 [[ 5.07030221e-02 -4.58619080e-01 8.87185293e-01 2.94465113e+02] [ 1.18543738e-02 8.88541667e-01 4.58642758e-01 -1.72343425e+02] [-9.98643419e-01 -1.27375478e-02 5.04883897e-02 -2.20270675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-172.33, Z:-220.30 [[ 5.02127805e-02 -4.07998894e-01 9.11600559e-01 2.94435026e+02] [ 1.03493460e-02 9.12915510e-01 4.08017355e-01 -1.72327543e+02] [-9.98684919e-01 -1.10532163e-02 5.00625479e-02 -2.20304811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.32, Z:-220.33 [[ 5.08416069e-02 -3.96269869e-01 9.16725325e-01 2.94429774e+02] [ 9.69045536e-03 9.18064963e-01 3.96311517e-01 -1.72323935e+02] [-9.98659715e-01 -1.12656285e-02 5.05159334e-02 -2.20334829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-172.30, Z:-220.36 [[ 4.95155419e-02 -3.29902470e-01 9.42715531e-01 2.94393254e+02] [ 9.37584835e-03 9.43985274e-01 3.29854355e-01 -1.72300560e+02] [-9.98729345e-01 -7.49415927e-03 4.98350579e-02 -2.20362437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.32, Z:-220.39 [[ 5.02383305e-02 -3.95600609e-01 9.17047582e-01 2.94431514e+02] [ 1.02720657e-02 9.18363141e-01 3.95605391e-01 -1.72323569e+02] [-9.98684432e-01 -1.04545814e-02 5.02006665e-02 -2.20390553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.30, Z:-220.42 [[ 4.85074420e-02 -3.32465617e-01 9.41867104e-01 2.94396522e+02] [ 1.10244899e-02 9.43097927e-01 3.32332303e-01 -1.72300178e+02] [-9.98761978e-01 -5.73698557e-03 4.94125319e-02 -2.20418489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-172.32, Z:-220.45 [[ 4.50238958e-02 -4.01041068e-01 9.14952955e-01 2.94431858e+02] [ 1.35822345e-02 9.16042831e-01 4.00850413e-01 -1.72322921e+02] [-9.98893574e-01 -5.62074168e-03 4.66908508e-02 -2.20445802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-172.36, Z:-220.47 [[ 4.61946051e-02 -5.12825635e-01 8.57249046e-01 2.94503089e+02] [ 1.59963865e-02 8.58434896e-01 5.12673039e-01 -1.72355100e+02] [-9.98804372e-01 -9.96984157e-03 4.78584181e-02 -2.20471812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.34, Z:-220.50 [[ 4.58242653e-02 -4.75039276e-01 8.78770632e-01 2.94479431e+02] [ 1.62028553e-02 8.79932463e-01 4.74822418e-01 -1.72344157e+02] [-9.98818104e-01 -7.51979507e-03 4.80192513e-02 -2.20499400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.34, Z:-220.53 [[ 4.56831061e-02 -4.77976022e-01 8.77184118e-01 2.94482182e+02] [ 1.73314498e-02 8.78347935e-01 4.77707574e-01 -1.72344624e+02] [-9.98805624e-01 -6.62029326e-03 4.84096793e-02 -2.20527381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-172.35, Z:-220.56 [[ 4.54715029e-02 -4.84688610e-01 8.73504032e-01 2.94487661e+02] [ 1.95564631e-02 8.74672823e-01 4.84319107e-01 -1.72346725e+02] [-9.98774192e-01 -4.94006830e-03 4.92514828e-02 -2.20555441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-172.35, Z:-220.58 [[ 4.56187207e-02 -4.91319738e-01 8.69783794e-01 2.94493121e+02] [ 2.05679935e-02 8.70967635e-01 4.90909704e-01 -1.72348187e+02] [-9.98747160e-01 -4.50496528e-03 4.98378905e-02 -2.20583163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-172.35, Z:-220.61 [[ 4.59641700e-02 -4.97919973e-01 8.66004039e-01 2.94498564e+02] [ 2.15541410e-02 8.67212812e-01 4.97470961e-01 -1.72349457e+02] [-9.98710526e-01 -4.19986665e-03 5.05929545e-02 -2.20610642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-172.35, Z:-220.64 [[ 4.59497822e-02 -5.04540852e-01 8.62164222e-01 2.94503790e+02] [ 2.17447751e-02 8.63376531e-01 5.04091391e-01 -1.72350772e+02] [-9.98707055e-01 -4.41532253e-03 5.06430909e-02 -2.20637436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.35, Z:-220.67 [[ 4.62017466e-02 -5.07375821e-01 8.60485430e-01 2.94506626e+02] [ 2.14597172e-02 8.61710632e-01 5.06946019e-01 -1.72350345e+02] [-9.98701597e-01 -4.95601753e-03 5.07006779e-02 -2.20665119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.35, Z:-220.69 [[ 4.64881130e-02 -5.13715586e-01 8.56700153e-01 2.94511699e+02] [ 2.12924345e-02 8.57942129e-01 5.13304914e-01 -1.72350990e+02] [-9.98691888e-01 -5.62134497e-03 5.08223661e-02 -2.20692864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-172.35, Z:-220.72 [[ 4.67224074e-02 -5.20149316e-01 8.52796403e-01 2.94517030e+02] [ 2.08672633e-02 8.54050687e-01 5.19771085e-01 -1.72351613e+02] [-9.98689929e-01 -6.48942936e-03 5.07573969e-02 -2.20721155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-172.35, Z:-220.75 [[ 4.65738261e-02 -5.26570406e-01 8.48854809e-01 2.94522153e+02] [ 2.12046041e-02 8.50106623e-01 5.26183518e-01 -1.72352634e+02] [-9.98689763e-01 -6.50674948e-03 5.07584350e-02 -2.20749615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.35, Z:-220.78 [[ 4.74565163e-02 -5.32470766e-01 8.45117011e-01 2.94526997e+02] [ 1.98535016e-02 8.46405952e-01 5.32168021e-01 -1.72352894e+02] [-9.98675982e-01 -8.47630840e-03 5.07388870e-02 -2.20776840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.35, Z:-220.80 [[ 4.82307723e-02 -5.35184455e-01 8.43357215e-01 2.94529463e+02] [ 1.94610527e-02 8.44683071e-01 5.34912869e-01 -1.72352273e+02] [-9.98646614e-01 -9.38664155e-03 5.11549697e-02 -2.20803882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.35, Z:-220.83 [[ 4.92965612e-02 -5.39379248e-01 8.40618746e-01 2.94533211e+02] [ 1.87593745e-02 8.41993578e-01 5.39161294e-01 -1.72352338e+02] [-9.98607999e-01 -1.08093158e-02 5.16258053e-02 -2.20832096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-172.35, Z:-220.86 [[ 5.03772292e-02 -5.45653507e-01 8.36495299e-01 2.94538161e+02] [ 1.85075246e-02 8.37924997e-01 5.45471512e-01 -1.72352721e+02] [-9.98558765e-01 -1.19978861e-02 5.23110353e-02 -2.20858659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-172.35, Z:-220.89 [[ 5.18372730e-02 -5.48287829e-01 8.34681588e-01 2.94540565e+02] [ 1.74726311e-02 8.36175296e-01 5.48183894e-01 -1.72351664e+02] [-9.98502681e-01 -1.38322747e-02 5.29250780e-02 -2.20886257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.35, Z:-220.91 [[ 5.22939682e-02 -5.54417567e-01 8.30594066e-01 2.94545663e+02] [ 1.69307294e-02 8.32104767e-01 5.54359998e-01 -1.72351859e+02] [-9.98488203e-01 -1.49271208e-02 5.29007540e-02 -2.20914516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.35, Z:-220.94 [[ 5.24884475e-02 -5.60488788e-01 8.26496995e-01 2.94550604e+02] [ 1.62260792e-02 8.28007283e-01 5.60482518e-01 -1.72352025e+02] [-9.98489698e-01 -1.60080515e-02 5.25553523e-02 -2.20941579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.35, Z:-220.97 [[ 5.27513521e-02 -5.63107166e-01 8.24698499e-01 2.94553393e+02] [ 1.60488290e-02 8.26219743e-01 5.63119323e-01 -1.72351561e+02] [-9.98478708e-01 -1.64698605e-02 5.26214192e-02 -2.20969592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.35, Z:-221.00 [[ 5.26345346e-02 -5.69056939e-01 8.20611848e-01 2.94558086e+02] [ 1.59395317e-02 8.22124986e-01 5.69083860e-01 -1.72351300e+02] [-9.98486623e-01 -1.68732956e-02 5.23426671e-02 -2.20996210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.35, Z:-221.02 [[ 5.20307229e-02 -5.71659529e-01 8.18839537e-01 2.94560792e+02] [ 1.62572288e-02 8.20326380e-01 5.71664528e-01 -1.72350838e+02] [-9.98513148e-01 -1.64320569e-02 5.19757743e-02 -2.21024389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.35, Z:-221.05 [[ 5.14126020e-02 -5.77523070e-01 8.14753858e-01 2.94565795e+02] [ 1.73637483e-02 8.16226407e-01 5.77471171e-01 -1.72350963e+02] [-9.98526537e-01 -1.55421145e-02 5.19922886e-02 -2.21052178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.35, Z:-221.08 [[ 4.87887234e-02 -5.83877523e-01 8.10374419e-01 2.94570743e+02] [ 1.96404895e-02 8.11744578e-01 5.83682269e-01 -1.72351350e+02] [-9.98615998e-01 -1.25609625e-02 5.10716220e-02 -2.21079856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.35, Z:-221.11 [[ 4.74465877e-02 -5.90099365e-01 8.05935209e-01 2.94575949e+02] [ 2.16625725e-02 8.07262015e-01 5.89795534e-01 -1.72351904e+02] [-9.98638851e-01 -1.05251557e-02 5.10848983e-02 -2.21106324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.35, Z:-221.13 [[ 4.56490024e-02 -5.92866230e-01 8.04006096e-01 2.94578450e+02] [ 2.39338755e-02 8.05263173e-01 5.92434294e-01 -1.72352077e+02] [-9.98670786e-01 -7.80105271e-03 5.09490471e-02 -2.21133860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.35, Z:-221.16 [[ 4.23399077e-02 -5.99109276e-01 7.99547001e-01 2.94584224e+02] [ 2.89226095e-02 8.00664214e-01 5.98414823e-01 -1.72352745e+02] [-9.98684542e-01 -2.21184264e-03 5.12278525e-02 -2.21162012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.35, Z:-221.19 [[ 4.03315061e-02 -6.05344702e-01 7.94940980e-01 2.94589325e+02] [ 3.13413307e-02 7.95963258e-01 6.04533053e-01 -1.72353420e+02] [-9.98694693e-01 5.32779613e-04 5.10747054e-02 -2.21190383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.35, Z:-221.22 [[ 3.86057277e-02 -6.11486258e-01 7.90312694e-01 2.94594373e+02] [ 3.36057073e-02 7.91249411e-01 6.10569427e-01 -1.72353533e+02] [-9.98689268e-01 2.98754004e-03 5.10961875e-02 -2.21217368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.35, Z:-221.24 [[ 3.73276222e-02 -6.14177232e-01 7.88284832e-01 2.94596806e+02] [ 3.57207130e-02 7.89150525e-01 6.13160240e-01 -1.72352809e+02] [-9.98664448e-01 5.27028250e-03 5.13959613e-02 -2.21244460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.35, Z:-221.27 [[ 3.49801065e-02 -6.17963016e-01 7.85428611e-01 2.94599616e+02] [ 3.96075041e-02 7.86149355e-01 6.16766113e-01 -1.72351833e+02] [-9.98602843e-01 9.53432265e-03 5.19755608e-02 -2.21272549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.35, Z:-221.30 [[ 2.92609880e-02 -6.10769697e-01 7.91267446e-01 2.94587258e+02] [ 3.99406284e-02 7.91688627e-01 6.09617801e-01 -1.72352111e+02] [-9.98773518e-01 1.37656999e-02 4.75601169e-02 -2.21299956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.37, Z:-221.33 [[ 2.46917275e-02 -7.69386116e-01 6.38306606e-01 2.94718911e+02] [ 4.08273924e-02 6.38744669e-01 7.68334804e-01 -1.72373357e+02] [-9.98861073e-01 7.08888067e-03 4.71837381e-02 -2.21326615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.35, Z:-221.36 [[ 3.17148646e-02 -6.37544790e-01 7.69760228e-01 2.94614787e+02] [ 4.45459816e-02 7.70283987e-01 6.36143250e-01 -1.72351511e+02] [-9.98503792e-01 1.41145279e-02 5.28295108e-02 -2.21356248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.35, Z:-221.38 [[ 3.09726124e-02 -6.31897550e-01 7.74432815e-01 2.94610341e+02] [ 4.67122289e-02 7.74873048e-01 6.30388552e-01 -1.72348615e+02] [-9.98428097e-01 1.66507026e-02 5.35171856e-02 -2.21384793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.35, Z:-221.41 [[ 3.03224865e-02 -6.33305902e-01 7.73307301e-01 2.94610494e+02] [ 4.64380496e-02 7.73720227e-01 6.31823169e-01 -1.72349707e+02] [-9.98460843e-01 1.67524332e-02 5.28706120e-02 -2.21414723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-172.32, Z:-221.44 [[ 3.31886257e-02 -5.24210721e-01 8.50941617e-01 2.94535009e+02] [ 4.75222907e-02 8.51275347e-01 5.22562835e-01 -1.72321398e+02] [-9.98318660e-01 2.30955526e-02 5.31643531e-02 -2.21442101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.35, Z:-221.47 [[ 2.85977032e-02 -6.47752715e-01 7.61313727e-01 2.94622352e+02] [ 4.81339233e-02 7.61634075e-01 6.46217194e-01 -1.72346142e+02] [-9.98431418e-01 1.81646890e-02 5.29598648e-02 -2.21467164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.35, Z:-221.50 [[ 2.75879264e-02 -6.51547515e-01 7.58106023e-01 2.94625477e+02] [ 4.71618193e-02 7.58398517e-01 6.50082650e-01 -1.72345116e+02] [-9.98506219e-01 1.78192269e-02 5.16508087e-02 -2.21495364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.34, Z:-221.52 [[ 2.72471844e-02 -6.57042516e-01 7.53360952e-01 2.94630250e+02] [ 4.58522129e-02 7.53668997e-01 6.55652817e-01 -1.72344178e+02] [-9.98576570e-01 1.66785735e-02 5.06622114e-02 -2.21523189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.34, Z:-221.55 [[ 2.74804167e-02 -6.62631424e-01 7.48441329e-01 2.94634915e+02] [ 4.40537014e-02 7.48799450e-01 6.61330972e-01 -1.72343074e+02] [-9.98651139e-01 1.47979601e-02 4.97686878e-02 -2.21551570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.34, Z:-221.58 [[ 3.03034147e-02 -6.68135606e-01 7.43422165e-01 2.94638697e+02] [ 3.86880803e-02 7.43990430e-01 6.67069316e-01 -1.72340456e+02] [-9.98791738e-01 8.54709823e-03 4.83943345e-02 -2.21578379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.34, Z:-221.61 [[ 3.24223198e-02 -6.71851767e-01 7.39975673e-01 2.94641057e+02] [ 3.54753401e-02 7.40671974e-01 6.70929599e-01 -1.72338668e+02] [-9.98844479e-01 4.49779466e-03 4.78484736e-02 -2.21606852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.34, Z:-221.64 [[ 3.79484545e-02 -6.76943396e-01 7.35056157e-01 2.94642679e+02] [ 2.84506844e-02 7.36019727e-01 6.76361974e-01 -1.72335661e+02] [-9.98874603e-01 -4.75404084e-03 4.71903140e-02 -2.21635005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.33, Z:-221.66 [[ 4.11414614e-02 -6.82297321e-01 7.29916260e-01 2.94646000e+02] [ 2.50760968e-02 7.31009768e-01 6.81906085e-01 -1.72334265e+02] [-9.98838610e-01 -9.75116209e-03 4.71841638e-02 -2.21661682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.33, Z:-221.69 [[ 4.39248677e-02 -6.84510818e-01 7.27678188e-01 2.94646844e+02] [ 2.19252256e-02 7.28866264e-01 6.84304942e-01 -1.72332342e+02] [-9.98794218e-01 -1.41034956e-02 4.70234084e-02 -2.21689231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.33, Z:-221.72 [[ 4.91967229e-02 -6.89645032e-01 7.22474506e-01 2.94648583e+02] [ 1.63864008e-02 7.23810360e-01 6.89804356e-01 -1.72329622e+02] [-9.98654679e-01 -2.20973569e-02 4.69098976e-02 -2.21717608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.33, Z:-221.74 [[ 5.12909365e-02 -6.94980528e-01 7.17196839e-01 2.94652376e+02] [ 1.43267051e-02 7.18580231e-01 6.95296481e-01 -1.72328462e+02] [-9.98580986e-01 -2.53873401e-02 4.68134341e-02 -2.21744876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.33, Z:-221.77 [[ 5.27800411e-02 -6.97227415e-01 7.14904329e-01 2.94653467e+02] [ 1.25263987e-02 7.16308110e-01 6.97671685e-01 -1.72327098e+02] [-9.98527594e-01 -2.78679635e-02 4.65405201e-02 -2.21771812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.33, Z:-221.80 [[ 5.38177011e-02 -6.99476004e-01 7.12626813e-01 2.94654816e+02] [ 1.14367590e-02 7.14046035e-01 7.00005329e-01 -1.72325577e+02] [-9.98485281e-01 -2.95225365e-02 4.64280546e-02 -2.21800152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.32, Z:-221.83 [[ 5.48661161e-02 -7.04743969e-01 7.07337011e-01 2.94658567e+02] [ 1.07124039e-02 7.08778758e-01 7.05349500e-01 -1.72324811e+02] [-9.98436254e-01 -3.11225078e-02 4.64374396e-02 -2.21827060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.32, Z:-221.86 [[ 5.58617422e-02 -7.06987283e-01 7.05016630e-01 2.94658604e+02] [ 1.07433390e-02 7.06503967e-01 7.07627533e-01 -1.72322824e+02] [-9.98380712e-01 -3.19550742e-02 4.70619465e-02 -2.21855594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.32, Z:-221.88 [[ 5.59905033e-02 -7.12349690e-01 6.99587723e-01 2.94662698e+02] [ 1.15673193e-02 7.01102675e-01 7.12966504e-01 -1.72322470e+02] [-9.98364293e-01 -3.18269988e-02 4.74950679e-02 -2.21882960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.32, Z:-221.91 [[ 5.54748851e-02 -7.14715178e-01 6.97212128e-01 2.94664507e+02] [ 1.29297412e-02 6.98743112e-01 7.15255819e-01 -1.72321652e+02] [-9.98376361e-01 -3.06639620e-02 4.80037761e-02 -2.21911479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.32, Z:-221.94 [[ 5.47910518e-02 -7.20137189e-01 6.91664926e-01 2.94669357e+02] [ 1.44918735e-02 6.93206045e-01 7.20593758e-01 -1.72321292e+02] [-9.98392671e-01 -2.94585693e-02 4.84176254e-02 -2.21938856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.32, Z:-221.97 [[ 5.19571384e-02 -7.22658768e-01 6.89249418e-01 2.94671053e+02] [ 1.78162451e-02 6.90742554e-01 7.22881252e-01 -1.72320712e+02] [-9.98490379e-01 -2.52790047e-02 4.87640722e-02 -2.21966828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.32, Z:-221.99 [[ 4.98941541e-02 -7.27994654e-01 6.83764841e-01 2.94675873e+02] [ 2.01615241e-02 6.85212167e-01 7.28064420e-01 -1.72320662e+02] [-9.98550993e-01 -2.25404171e-02 4.88655632e-02 -2.21994871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.32, Z:-222.02 [[ 4.81191459e-02 -7.33329787e-01 6.78168100e-01 2.94681179e+02] [ 2.25467157e-02 6.79579058e-01 7.33255719e-01 -1.72320588e+02] [-9.98587099e-01 -1.99931756e-02 4.92349421e-02 -2.22022218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-172.32, Z:-222.05 [[ 4.37833843e-02 -7.35846182e-01 6.75731760e-01 2.94685063e+02] [ 2.68688634e-02 6.77003031e-01 7.35489606e-01 -1.72320238e+02] [-9.98679668e-01 -1.40460797e-02 4.94128344e-02 -2.22050045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-172.32, Z:-222.08 [[ 4.14839432e-02 -7.41131197e-01 6.70077333e-01 2.94690616e+02] [ 2.93108625e-02 6.71268722e-01 7.40634307e-01 -1.72320302e+02] [-9.98709145e-01 -1.10838870e-02 4.95700682e-02 -2.22076714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-172.32, Z:-222.10 [[ 3.93387638e-02 -7.44729844e-01 6.66205614e-01 2.94694986e+02] [ 3.20354255e-02 6.67318955e-01 7.44082753e-01 -1.72320195e+02] [-9.98712268e-01 -7.92911539e-03 5.01092402e-02 -2.22104242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.32, Z:-222.13 [[ 3.70636214e-02 -7.49856117e-01 6.60561951e-01 2.94700798e+02] [ 3.45710618e-02 6.61582593e-01 7.49074972e-01 -1.72320220e+02] [-9.98714739e-01 -4.92710317e-03 5.04439689e-02 -2.22132439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.32, Z:-222.16 [[ 3.18292054e-02 -7.55145012e-01 6.54784631e-01 2.94707015e+02] [ 3.93144299e-02 6.55555479e-01 7.54122927e-01 -1.72320619e+02] [-9.98719819e-01 1.73935091e-03 5.05539056e-02 -2.22159774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.32, Z:-222.19 [[ 2.90884153e-02 -7.57424060e-01 6.52274986e-01 2.94710066e+02] [ 4.16057144e-02 6.52903044e-01 7.56297944e-01 -1.72320437e+02] [-9.98710583e-01 5.13885809e-03 5.05050841e-02 -2.22186432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.32, Z:-222.21 [[ 2.61790688e-02 -7.60859422e-01 6.48388461e-01 2.94714438e+02] [ 4.42020162e-02 6.48857427e-01 7.59625053e-01 -1.72320187e+02] [-9.98679547e-01 8.77380076e-03 5.06180037e-02 -2.22214809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.32, Z:-222.24 [[ 2.02710129e-02 -7.65832489e-01 6.42720534e-01 2.94721169e+02] [ 4.83109620e-02 6.42851984e-01 7.64465420e-01 -1.72320137e+02] [-9.98626625e-01 1.55539589e-02 5.00293652e-02 -2.22242664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.32, Z:-222.27 [[ 1.76961608e-02 -7.70738747e-01 6.36905511e-01 2.94727078e+02] [ 5.05601098e-02 6.36880098e-01 7.69303202e-01 -1.72319764e+02] [-9.98564230e-01 1.85882994e-02 5.02389683e-02 -2.22271034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.32, Z:-222.30 [[ 1.33024982e-02 -7.75619692e-01 6.31060328e-01 2.94733102e+02] [ 5.38317841e-02 6.30756418e-01 7.74111413e-01 -1.72319234e+02] [-9.98461408e-01 2.36734876e-02 5.01436279e-02 -2.22299001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.32, Z:-222.33 [[ 1.29773258e-02 -7.80373940e-01 6.25178457e-01 2.94738060e+02] [ 5.38659165e-02 6.24868831e-01 7.78869314e-01 -1.72318682e+02] [-9.98463846e-01 2.35681697e-02 5.01446839e-02 -2.22327438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.32, Z:-222.35 [[ 1.01219669e-02 -7.83346629e-01 6.21502699e-01 2.94741363e+02] [ 5.58459742e-02 6.21007319e-01 7.81812725e-01 -1.72317591e+02] [-9.98388087e-01 2.67949412e-02 5.00325712e-02 -2.22354466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67655999499993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.32, Z:-222.38 [[ 9.06134573e-03 -7.86535065e-01 6.17479137e-01 2.94744562e+02] [ 5.62916878e-02 6.16926499e-01 7.85005058e-01 -1.72316618e+02] [-9.98373246e-01 2.76457405e-02 4.98655706e-02 -2.22381088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.32, Z:-222.41 [[ 8.07979770e-03 -7.88496208e-01 6.14986541e-01 2.94746198e+02] [ 5.65762444e-02 6.14381949e-01 7.86977731e-01 -1.72315293e+02] [-9.98365587e-01 2.84350080e-02 4.95742360e-02 -2.22408634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.31, Z:-222.44 [[ 7.56356668e-03 -7.93035856e-01 6.09128003e-01 2.94749737e+02] [ 5.62446093e-02 6.08518491e-01 7.91543928e-01 -1.72313568e+02] [-9.98388370e-01 2.82732712e-02 4.92065620e-02 -2.22436898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.31, Z:-222.46 [[ 7.92500015e-03 -7.97548643e-01 6.03202583e-01 2.94753941e+02] [ 5.57737774e-02 6.02635056e-01 7.96065497e-01 -1.72312477e+02] [-9.98411979e-01 2.73340674e-02 4.92581834e-02 -2.22463837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.31, Z:-222.49 [[ 7.58750340e-03 -8.00596385e-01 5.99155955e-01 2.94757425e+02] [ 5.58545508e-02 5.98577099e-01 7.99115590e-01 -1.72311716e+02] [-9.98410086e-01 2.74022945e-02 4.92586572e-02 -2.22492324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.31, Z:-222.52 [[ 8.15920248e-03 -8.04713991e-01 5.93606621e-01 2.94761351e+02] [ 5.52250462e-02 5.93083029e-01 8.03245115e-01 -1.72310351e+02] [-9.98440595e-01 2.62281135e-02 4.92794519e-02 -2.22519983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.31, Z:-222.55 [[ 9.55529998e-03 -8.09109416e-01 5.87580335e-01 2.94765293e+02] [ 5.47505914e-02 5.87149037e-01 8.07625149e-01 -1.72308768e+02] [-9.98454340e-01 2.44532703e-02 4.99096042e-02 -2.22548194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.31, Z:-222.58 [[ 1.36095109e-02 -8.13480366e-01 5.81433122e-01 2.94767346e+02] [ 5.23168488e-02 5.81269813e-01 8.12027310e-01 -1.72306534e+02] [-9.98537795e-01 1.93674542e-02 5.04695271e-02 -2.22575606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.31, Z:-222.60 [[ 1.56272705e-02 -8.15343441e-01 5.78766673e-01 2.94768066e+02] [ 5.08335341e-02 5.78736677e-01 8.13928628e-01 -1.72305081e+02] [-9.98584869e-01 1.67012725e-02 5.04908632e-02 -2.22603218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.30, Z:-222.63 [[ 1.74973200e-02 -8.19591083e-01 5.72681675e-01 2.94771552e+02] [ 4.90161097e-02 5.72783811e-01 8.18239651e-01 -1.72303500e+02] [-9.98644714e-01 1.37536268e-02 5.01953481e-02 -2.22630911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.30, Z:-222.66 [[ 1.92380989e-02 -8.23850089e-01 5.66481180e-01 2.94775262e+02] [ 4.72085266e-02 5.66702591e-01 8.22568859e-01 -1.72301996e+02] [-9.98699780e-01 1.09180808e-02 4.97950293e-02 -2.22658477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.30, Z:-222.69 [[ 2.24625602e-02 -8.28015566e-01 5.60254992e-01 2.94777868e+02] [ 4.31561308e-02 5.60677107e-01 8.26909142e-01 -1.72299572e+02] [-9.98815790e-01 5.60394134e-03 4.83281913e-02 -2.22686205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.30, Z:-222.71 [[ 2.36913625e-02 -8.32197215e-01 5.53973388e-01 2.94781449e+02] [ 4.11858301e-02 5.54470951e-01 8.31183308e-01 -1.72297912e+02] [-9.98870586e-01 3.12398878e-03 4.74109054e-02 -2.22713980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.30, Z:-222.74 [[ 2.47230625e-02 -8.36358599e-01 5.47624930e-01 2.94784913e+02] [ 3.85169788e-02 5.48182545e-01 8.35471328e-01 -1.72296634e+02] [-9.98952057e-01 4.37448017e-04 4.57667578e-02 -2.22740927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.29, Z:-222.77 [[ 2.95330266e-02 -8.41651736e-01 5.39212533e-01 2.94791222e+02] [ 3.53301404e-02 5.39989715e-01 8.40929777e-01 -1.72292714e+02] [-9.98939228e-01 -5.78474695e-03 4.56832046e-02 -2.22773571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.29, Z:-222.80 [[ 2.94240045e-02 -7.83250093e-01 6.21010081e-01 2.94730903e+02] [ 3.14309531e-02 6.21696854e-01 7.82627061e-01 -1.72290119e+02] [-9.99072732e-01 -3.50908344e-03 4.29111080e-02 -2.22799574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.29, Z:-222.83 [[ 3.04825007e-02 -8.72943868e-01 4.86867354e-01 2.94821480e+02] [ 3.21903761e-02 4.87698405e-01 8.72418504e-01 -1.72290541e+02] [-9.99016815e-01 -1.09210544e-02 4.29666584e-02 -2.22826942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.29, Z:-222.85 [[ 3.39687301e-02 -8.44125504e-01 5.35068461e-01 2.94788842e+02] [ 3.01034705e-02 5.35998690e-01 8.43681922e-01 -1.72290102e+02] [-9.98969422e-01 -1.25513859e-02 4.36183021e-02 -2.22854415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.29, Z:-222.88 [[ 3.51099294e-02 -8.45870331e-01 5.32231787e-01 2.94790521e+02] [ 2.96986338e-02 5.33208023e-01 8.45462711e-01 -1.72289033e+02] [-9.98942082e-01 -1.38775791e-02 4.38420893e-02 -2.22882604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.29, Z:-222.91 [[ 3.71935153e-02 -8.49785703e-01 5.25814512e-01 2.94793782e+02] [ 2.85439612e-02 5.26867315e-01 8.49468113e-01 -1.72288184e+02] [-9.98900338e-01 -1.65858763e-02 4.38522977e-02 -2.22910654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.29, Z:-222.94 [[ 3.70669154e-02 -8.53746131e-01 5.19368450e-01 2.94798529e+02] [ 2.87707559e-02 5.20421894e-01 8.53424453e-01 -1.72287188e+02] [-9.98898537e-01 -1.66911891e-02 4.38533559e-02 -2.22939093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.29, Z:-222.97 [[ 3.76755208e-02 -8.56158051e-01 5.15338672e-01 2.94801143e+02] [ 2.82969691e-02 5.16412057e-01 8.55872577e-01 -1.72286219e+02] [-9.98889302e-01 -1.76629226e-02 4.36827711e-02 -2.22967572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.29, Z:-223.00 [[ 3.91793900e-02 -8.59976031e-01 5.08828264e-01 2.94805528e+02] [ 2.87020117e-02 5.09977685e-01 8.59708646e-01 -1.72285532e+02] [-9.98819889e-01 -1.90784655e-02 4.46636567e-02 -2.22995410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.28, Z:-223.02 [[ 3.97733052e-02 -8.63795288e-01 5.02270628e-01 2.94810512e+02] [ 2.94810178e-02 5.03463994e-01 8.63513102e-01 -1.72284794e+02] [-9.98773725e-01 -1.95373208e-02 4.54899914e-02 -2.23022429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.28, Z:-223.05 [[ 4.01378714e-02 -8.65435861e-01 4.99409372e-01 2.94813169e+02] [ 3.03331229e-02 5.00637157e-01 8.65125620e-01 -1.72284556e+02] [-9.98733625e-01 -1.95756550e-02 4.63458822e-02 -2.23049984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.29, Z:-223.08 [[ 4.06296523e-02 -8.69119645e-01 4.92930293e-01 2.94818882e+02] [ 3.25010647e-02 4.94226170e-01 8.68725603e-01 -1.72285064e+02] [-9.98645539e-01 -1.92752598e-02 4.83275512e-02 -2.23076696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.29, Z:-223.11 [[ 4.02479061e-02 -8.70725192e-01 4.90120134e-01 2.94821942e+02] [ 3.35044159e-02 4.91417813e-01 8.70279258e-01 -1.72285191e+02] [-9.98627839e-01 -1.86057290e-02 4.89516770e-02 -2.23105162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.27, Z:-223.14 [[ 4.87452607e-02 -8.94005344e-01 4.45396839e-01 2.94864513e+02] [ 4.24040335e-02 4.47377197e-01 8.93339544e-01 -1.72272051e+02] [-9.97910716e-01 -2.46594465e-02 5.97169507e-02 -2.23137653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.28, Z:-223.17 [[ 3.99784530e-02 -7.34676801e-01 6.77238304e-01 2.94695746e+02] [ 3.04107342e-02 6.78360808e-01 7.34099314e-01 -1.72278462e+02] [-9.98737659e-01 -8.75284081e-03 4.94618766e-02 -2.23167658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.29, Z:-223.19 [[ 3.90342883e-02 -8.74710613e-01 4.83071080e-01 2.94835181e+02] [ 3.57109318e-02 4.84351859e-01 8.74144156e-01 -1.72285359e+02] [-9.98599546e-01 -1.68706767e-02 5.01430611e-02 -2.23193905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.28, Z:-223.22 [[ 4.35335118e-02 -8.91201031e-01 4.51514735e-01 2.94868898e+02] [ 4.00966762e-02 4.53137640e-01 8.90538341e-01 -1.72276787e+02] [-9.98247009e-01 -2.06640212e-02 5.54608719e-02 -2.23224557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.28, Z:-223.26 [[ 4.40339945e-02 -7.90410510e-01 6.10992826e-01 2.94761834e+02] [ 3.49065379e-02 6.12429888e-01 7.89753864e-01 -1.72279922e+02] [-9.98420022e-01 -1.34483731e-02 5.45582287e-02 -2.23256884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.28, Z:-223.28 [[ 3.74626579e-02 -7.21008239e-01 6.91913049e-01 2.94695619e+02] [ 2.80240164e-02 6.92884789e-01 7.20503521e-01 -1.72279396e+02] [-9.98905002e-01 -7.60179424e-03 4.61628526e-02 -2.23283142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.28, Z:-223.31 [[ 3.83262613e-02 -8.85784600e-01 4.62511340e-01 2.94860534e+02] [ 3.32623819e-02 4.63725792e-01 8.85354169e-01 -1.72284348e+02] [-9.98711526e-01 -1.85480863e-02 4.72361816e-02 -2.23309080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.28, Z:-223.34 [[ 3.92137834e-02 -8.89276709e-01 4.55685434e-01 2.94866714e+02] [ 3.29564271e-02 4.56939115e-01 8.88887236e-01 -1.72283616e+02] [-9.98687215e-01 -1.98388678e-02 4.72256945e-02 -2.23335997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.28, Z:-223.36 [[ 4.09531070e-02 -8.90714115e-01 4.52715373e-01 2.94871733e+02] [ 3.20300818e-02 4.54032957e-01 8.90408978e-01 -1.72284405e+02] [-9.98647544e-01 -2.19645037e-02 4.71237062e-02 -2.23364215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.28, Z:-223.39 [[ 4.16177078e-02 -8.94096846e-01 4.45935866e-01 2.94877897e+02] [ 3.16301800e-02 4.47277856e-01 8.93835584e-01 -1.72284005e+02] [-9.98632815e-01 -2.30943565e-02 4.68951233e-02 -2.23392547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.28, Z:-223.42 [[ 4.22803321e-02 -8.97435911e-01 4.39114062e-01 2.94884165e+02] [ 3.17953921e-02 4.40493063e-01 8.97192797e-01 -1.72283336e+02] [-9.98599733e-01 -2.39718056e-02 4.71585197e-02 -2.23419118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.28, Z:-223.45 [[ 4.23233913e-02 -8.98872245e-01 4.36162146e-01 2.94888025e+02] [ 3.16266093e-02 4.37539877e-01 8.98642651e-01 -1.72283061e+02] [-9.98603269e-01 -2.42392747e-02 4.69464527e-02 -2.23447421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.28, Z:-223.48 [[ 4.28781220e-02 -9.02040502e-01 4.29516472e-01 2.94895823e+02] [ 3.16501243e-02 4.30922491e-01 9.01833730e-01 -1.72283084e+02] [-9.98578858e-01 -2.50746870e-02 4.70268411e-02 -2.23475580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.28, Z:-223.50 [[ 4.28499228e-02 -9.05290112e-01 4.22627138e-01 2.94901944e+02] [ 3.18500957e-02 4.24038450e-01 9.05083954e-01 -1.72282354e+02] [-9.98573711e-01 -2.53220628e-02 4.70035915e-02 -2.23503013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.28, Z:-223.53 [[ 4.24576035e-02 -9.06703713e-01 4.19625701e-01 2.94905774e+02] [ 3.25691802e-02 4.21037273e-01 9.06458418e-01 -1.72282199e+02] [-9.98567274e-01 -2.48191870e-02 4.74068302e-02 -2.23531200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.28, Z:-223.56 [[ 4.14328937e-02 -9.09895642e-01 4.12762930e-01 2.94912110e+02] [ 3.37174466e-02 4.14155698e-01 9.09581328e-01 -1.72281490e+02] [-9.98572205e-01 -2.37692744e-02 4.78390267e-02 -2.23559398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.28, Z:-223.59 [[ 3.73608157e-02 -9.13148094e-01 4.05912216e-01 2.94920765e+02] [ 3.57611125e-02 4.07157356e-01 9.12657674e-01 -1.72281874e+02] [-9.98661761e-01 -1.95817627e-02 4.78669227e-02 -2.23587616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-172.28, Z:-223.62 [[ 3.41535962e-02 -9.16279127e-01 3.99081563e-01 2.94928028e+02] [ 3.70769867e-02 4.00201291e-01 9.15676921e-01 -1.72280657e+02] [-9.98728606e-01 -1.64769180e-02 4.76411822e-02 -2.23615798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.28, Z:-223.64 [[ 3.01234801e-02 -9.19434611e-01 3.92087454e-01 2.94935219e+02] [ 3.80848434e-02 3.93036404e-01 9.18733873e-01 -1.72279642e+02] [-9.98820365e-01 -1.27428723e-02 4.68561475e-02 -2.23643729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.28, Z:-223.67 [[ 2.07237355e-02 -9.22669919e-01 3.85033436e-01 2.94944552e+02] [ 4.03628571e-02 3.85574289e-01 9.21793527e-01 -1.72279465e+02] [-9.98970153e-01 -3.56195567e-03 4.52321336e-02 -2.23670674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-172.28, Z:-223.70 [[ 1.53703485e-02 -9.24767725e-01 3.80221523e-01 2.94950459e+02] [ 4.19075433e-02 3.80528113e-01 9.23819308e-01 -1.72278613e+02] [-9.99003258e-01 1.73472517e-03 4.46035932e-02 -2.23698614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-172.28, Z:-223.73 [[ 1.00509912e-02 -9.27688731e-01 3.73219234e-01 2.94957848e+02] [ 4.37883068e-02 3.73288385e-01 9.26681372e-01 -1.72277246e+02] [-9.98990271e-01 7.02857200e-03 4.43738370e-02 -2.23726345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-172.28, Z:-223.75 [[ 1.61973051e-04 -9.30532600e-01 3.66209030e-01 2.94967561e+02] [ 4.75010491e-02 3.65802813e-01 9.29479399e-01 -1.72276965e+02] [-9.98871175e-01 1.72447625e-02 4.42605249e-02 -2.23754807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-172.28, Z:-223.78 [[-4.57922710e-03 -9.33250258e-01 3.59197700e-01 2.94974373e+02] [ 4.94034938e-02 3.58551703e-01 9.32201680e-01 -1.72275768e+02] [-9.98768404e-01 2.20143845e-02 4.44639337e-02 -2.23782597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-172.28, Z:-223.81 [[-1.27144791e-02 -9.35869580e-01 3.52117127e-01 2.94983085e+02] [ 5.34396028e-02 3.51006338e-01 9.34846918e-01 -1.72275164e+02] [-9.98490136e-01 3.07030910e-02 4.55496359e-02 -2.23809626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.27, Z:-223.84 [[-1.30175239e-02 -9.37012058e-01 3.49054363e-01 2.94985288e+02] [ 5.34454792e-02 3.47932919e-01 9.35994799e-01 -1.72273552e+02] [-9.98485916e-01 3.08397124e-02 4.55498333e-02 -2.23838143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.27, Z:-223.87 [[-1.86558091e-02 -9.39328845e-01 3.42510266e-01 2.94990256e+02] [ 5.53463402e-02 3.41074393e-01 9.38405585e-01 -1.72271611e+02] [-9.98292915e-01 3.64634051e-02 4.56253950e-02 -2.23866040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.27, Z:-223.89 [[-2.11447549e-02 -9.41801901e-01 3.35502726e-01 2.94994034e+02] [ 5.54325409e-02 3.33957163e-01 9.40956878e-01 -1.72269182e+02] [-9.98238515e-01 3.84940712e-02 4.51450301e-02 -2.23893883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-172.27, Z:-223.92 [[-2.28763629e-02 -9.44227673e-01 3.28497753e-01 2.94998239e+02] [ 5.58005398e-02 3.26865569e-01 9.43422069e-01 -1.72266633e+02] [-9.98179829e-01 3.99124175e-02 4.52109185e-02 -2.23922315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-172.26, Z:-223.95 [[-2.44048341e-02 -9.46615174e-01 3.21440688e-01 2.95002724e+02] [ 5.62954356e-02 3.19724932e-01 9.45836557e-01 -1.72264251e+02] [-9.98115839e-01 4.11786277e-02 4.54872797e-02 -2.23950486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.26, Z:-223.98 [[-2.63070286e-02 -9.48937650e-01 3.14364878e-01 2.95006092e+02] [ 5.59614873e-02 3.12582595e-01 9.48240704e-01 -1.72261355e+02] [-9.98086295e-01 4.25377215e-02 4.48808430e-02 -2.23978172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.26, Z:-224.01 [[-2.74394745e-02 -9.51217820e-01 3.07297469e-01 2.95009885e+02] [ 5.54066877e-02 3.05493382e-01 9.50580818e-01 -1.72259178e+02] [-9.98086757e-01 4.31097731e-02 4.43212508e-02 -2.24005110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-172.23, Z:-224.04 [[-2.10093546e-02 -9.65690012e-01 2.58846300e-01 2.95050340e+02] [ 6.31526366e-02 2.57104575e-01 9.64317884e-01 -1.72231526e+02] [-9.97782718e-01 3.66065227e-02 5.55842693e-02 -2.24038491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.29, Z:-224.07 [[-2.14912698e-02 -8.26631233e-01 5.62333469e-01 2.94837887e+02] [ 6.52757549e-02 5.60103054e-01 8.25847228e-01 -1.72290382e+02] [-9.97635806e-01 5.44552473e-02 4.19216519e-02 -2.24068371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-172.25, Z:-224.09 [[-2.85211323e-02 -9.51013575e-01 3.07830676e-01 2.95004401e+02] [ 5.43502332e-02 3.06025010e-01 9.50470802e-01 -1.72254900e+02] [-9.98114521e-01 4.38391725e-02 4.29596297e-02 -2.24093593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.25, Z:-224.12 [[-2.78323240e-02 -9.53278169e-01 3.00809068e-01 2.95006628e+02] [ 5.31310844e-02 2.99089507e-01 9.52744748e-01 -1.72252226e+02] [-9.98199604e-01 4.24994125e-02 4.23243468e-02 -2.24120469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.25, Z:-224.15 [[-2.43704143e-02 -9.54324134e-01 2.97777654e-01 2.95005102e+02] [ 5.04928154e-02 2.96310921e-01 9.53755898e-01 -1.72249505e+02] [-9.98427042e-01 3.82790585e-02 4.09652924e-02 -2.24148446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.25, Z:-224.18 [[-2.22081223e-02 -9.56563569e-01 2.90676690e-01 2.95007483e+02] [ 4.88652535e-02 2.89362312e-01 9.55971568e-01 -1.72246683e+02] [-9.98558454e-01 3.54343237e-02 4.03165277e-02 -2.24175958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.24, Z:-224.20 [[-1.92301239e-02 -9.58767178e-01 2.83541356e-01 2.95009780e+02] [ 4.72407296e-02 2.82405747e-01 9.58131154e-01 -1.72243955e+02] [-9.98698411e-01 3.18196813e-02 3.98621635e-02 -2.24203305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.24, Z:-224.23 [[-1.60222672e-02 -9.59738049e-01 2.80439233e-01 2.95009620e+02] [ 4.61165640e-02 2.79467427e-01 9.59047037e-01 -1.72241858e+02] [-9.98807564e-01 2.82990017e-02 3.97821194e-02 -2.24231083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.24, Z:-224.26 [[-8.81517968e-03 -9.61889316e-01 2.73296974e-01 2.95009112e+02] [ 4.44848406e-02 2.72659788e-01 9.61081547e-01 -1.72239136e+02] [-9.98971167e-01 2.06296788e-02 4.03859478e-02 -2.24258672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.24, Z:-224.29 [[-9.13015552e-03 -9.63896741e-01 2.66119735e-01 2.95013513e+02] [ 4.44143298e-02 2.65477284e-01 9.63093546e-01 -1.72236561e+02] [-9.98971475e-01 2.06127235e-02 4.03869789e-02 -2.24287132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-172.23, Z:-224.31 [[-5.34143801e-03 -9.65764830e-01 2.59364152e-01 2.95014858e+02] [ 4.37641948e-02 2.58893574e-01 9.64913889e-01 -1.72234442e+02] [-9.99027609e-01 1.65048910e-02 4.08830561e-02 -2.24314941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.23, Z:-224.34 [[-2.03700431e-03 -9.67689219e-01 2.52137714e-01 2.95016560e+02] [ 4.32765102e-02 2.51816709e-01 9.66806852e-01 -1.72232225e+02] [-9.99061056e-01 1.28810301e-02 4.13652606e-02 -2.24343021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.23, Z:-224.37 [[ 4.08258956e-03 -9.69541377e-01 2.44893552e-01 2.95017254e+02] [ 4.21037138e-02 2.44845086e-01 9.68647594e-01 -1.72229641e+02] [-9.99104904e-01 6.35633746e-03 4.18208947e-02 -2.24370811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.23, Z:-224.40 [[ 6.19283564e-03 -9.71326119e-01 2.37670400e-01 2.95020514e+02] [ 4.14245877e-02 2.37720126e-01 9.70449970e-01 -1.72226967e+02] [-9.99122441e-01 3.83556114e-03 4.17089457e-02 -2.24398623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.22, Z:-224.43 [[ 1.05687231e-02 -9.76236255e-01 2.16451095e-01 2.95035243e+02] [ 4.43875860e-02 2.16707834e-01 9.75226875e-01 -1.72216104e+02] [-9.98958480e-01 -6.99161229e-04 4.56230959e-02 -2.24432313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-172.24, Z:-224.46 [[ 1.56424489e-02 -9.46843766e-01 3.21313237e-01 2.94973845e+02] [ 4.27605799e-02 3.21692037e-01 9.45878304e-01 -1.72235343e+02] [-9.98962886e-01 -1.05631272e-03 4.55196398e-02 -2.24462596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:294.94, Y:-172.25, Z:-224.49 [[ 1.55045722e-02 -9.25693204e-01 3.77957274e-01 2.94935740e+02] [ 4.06427899e-02 3.78273772e-01 9.24801123e-01 -1.72245800e+02] [-9.99053438e-01 1.02259225e-03 4.34877274e-02 -2.24492609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-172.24, Z:-224.52 [[ 1.72809419e-02 -9.42860215e-01 3.32740114e-01 2.94962905e+02] [ 3.84078818e-02 3.33170171e-01 9.42084111e-01 -1.72238151e+02] [-9.99112708e-01 -3.50025778e-03 4.19707580e-02 -2.24518877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.22, Z:-224.55 [[ 1.86646424e-02 -9.70958690e-01 2.38518037e-01 2.95017825e+02] [ 3.84363683e-02 2.39080058e-01 9.70238822e-01 -1.72219314e+02] [-9.99086721e-01 -8.94139352e-03 4.17824696e-02 -2.24546031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.22, Z:-224.57 [[ 2.12277407e-02 -9.72603184e-01 2.31500386e-01 2.95021120e+02] [ 3.78323817e-02 2.32168165e-01 9.71939635e-01 -1.72217198e+02] [-9.99058604e-01 -1.18738715e-02 4.17243005e-02 -2.24572517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-172.22, Z:-224.60 [[ 2.22381420e-02 -9.73299824e-01 2.28457694e-01 2.95023426e+02] [ 3.78560078e-02 2.29170102e-01 9.72649982e-01 -1.72215587e+02] [-9.99035729e-01 -1.29814321e-02 4.19415630e-02 -2.24600036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-172.21, Z:-224.63 [[ 2.28585317e-02 -9.74894488e-01 2.21490916e-01 2.95027954e+02] [ 3.77525777e-02 2.22232527e-01 9.74262514e-01 -1.72213100e+02] [-9.99025641e-01 -1.39083575e-02 4.18846891e-02 -2.24626555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-172.21, Z:-224.66 [[ 2.32028516e-02 -9.75952208e-01 2.16746203e-01 2.95031078e+02] [ 3.80259380e-02 2.17509240e-01 9.75317261e-01 -1.72211037e+02] [-9.99007335e-01 -1.43881640e-02 4.21583328e-02 -2.24655005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.21, Z:-224.68 [[ 2.44454785e-02 -9.77480219e-01 2.09606392e-01 2.95035801e+02] [ 3.86734804e-02 2.10436756e-01 9.76842226e-01 -1.72209084e+02] [-9.98952842e-01 -1.57731669e-02 4.29467893e-02 -2.24682218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.21, Z:-224.71 [[ 2.48924081e-02 -9.78128404e-01 2.06507126e-01 2.95037888e+02] [ 3.94267262e-02 2.07370975e-01 9.77467550e-01 -1.72207763e+02] [-9.98912359e-01 -1.61896213e-02 4.37263637e-02 -2.24710347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.21, Z:-224.74 [[ 2.53740550e-02 -9.79495709e-01 1.99860735e-01 2.95042219e+02] [ 4.06739887e-02 2.00771109e-01 9.78793435e-01 -1.72205601e+02] [-9.98850231e-01 -1.67068252e-02 4.49343746e-02 -2.24738368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-172.20, Z:-224.77 [[ 2.67119650e-02 -9.80866928e-01 1.92838121e-01 2.95047952e+02] [ 4.24778994e-02 1.93846467e-01 9.80111818e-01 -1.72204019e+02] [-9.98740256e-01 -1.79893543e-02 4.68431868e-02 -2.24766330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-172.20, Z:-224.79 [[ 2.73135280e-02 -9.82200664e-01 1.85838174e-01 2.95053279e+02] [ 4.34459701e-02 1.86898275e-01 9.81418098e-01 -1.72201479e+02] [-9.98682341e-01 -1.87320710e-02 4.77775120e-02 -2.24793601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-172.20, Z:-224.82 [[ 2.76011199e-02 -9.83754656e-01 1.77383636e-01 2.95061468e+02] [ 4.54065644e-02 1.78501929e-01 9.82891299e-01 -1.72196238e+02] [-9.98587213e-01 -1.90745191e-02 4.95957723e-02 -2.24822555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-172.20, Z:-224.85 [[ 2.61715102e-02 -9.80739377e-01 1.93559621e-01 2.95053236e+02] [ 4.34704863e-02 1.94559327e-01 9.79927031e-01 -1.72201815e+02] [-9.98711855e-01 -1.72320394e-02 4.77251291e-02 -2.24850367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-172.19, Z:-224.88 [[ 2.59149720e-02 -9.86588291e-01 1.61158178e-01 2.95075071e+02] [ 4.71447995e-02 1.62239123e-01 9.85624591e-01 -1.72187732e+02] [-9.98551843e-01 -1.79446637e-02 5.07169295e-02 -2.24878453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-172.21, Z:-224.91 [[ 2.27475097e-02 -9.73019947e-01 2.29596895e-01 2.95036537e+02] [ 4.17187507e-02 2.30380148e-01 9.72206014e-01 -1.72209279e+02] [-9.98870410e-01 -1.25367701e-02 4.58337512e-02 -2.24906985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-172.19, Z:-224.93 [[ 1.64593077e-02 -9.85896031e-01 1.66547613e-01 2.95076868e+02] [ 4.16435852e-02 1.67101584e-01 9.85059832e-01 -1.72192335e+02] [-9.98996949e-01 -9.27776313e-03 4.38066218e-02 -2.24933520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-172.18, Z:-224.96 [[ 1.31605032e-02 -9.87894845e-01 1.54565765e-01 2.95087470e+02] [ 4.38440656e-02 1.55000605e-01 9.86940986e-01 -1.72184261e+02] [-9.98951700e-01 -6.21184853e-03 4.53532123e-02 -2.24961827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-172.19, Z:-225.00 [[ 9.92731151e-03 -9.84819415e-01 1.73297917e-01 2.95080562e+02] [ 4.37519338e-02 1.73568275e-01 9.83849492e-01 -1.72187895e+02] [-9.98993102e-01 -2.18486138e-03 4.48108202e-02 -2.24995367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-172.20, Z:-225.03 [[ 1.63743088e-03 -9.77489584e-01 2.10977325e-01 2.95063551e+02] [ 4.41157564e-02 2.10842816e-01 9.76523992e-01 -1.72198288e+02] [-9.99025084e-01 7.70843376e-03 4.34679329e-02 -2.25027505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-172.20, Z:-225.06 [[-1.72186245e-03 -9.76075715e-01 2.17424089e-01 2.95061661e+02] [ 4.38470110e-02 2.17141612e-01 9.75154839e-01 -1.72199323e+02] [-9.99036774e-01 1.12124789e-02 4.24241146e-02 -2.25059504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-172.20, Z:-225.09 [[-6.21185538e-03 -9.81210309e-01 1.92841236e-01 2.95076146e+02] [ 4.17489684e-02 1.92422339e-01 9.80423718e-01 -1.72195102e+02] [-9.99108821e-01 1.41411730e-02 3.97692185e-02 -2.25089968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-172.19, Z:-225.12 [[-8.54865397e-03 -9.86104202e-01 1.65907877e-01 2.95093656e+02] [ 4.19776275e-02 1.65413793e-01 9.85330481e-01 -1.72186511e+02] [-9.99081978e-01 1.53876684e-02 3.99802496e-02 -2.25121277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-172.19, Z:-225.15 [[-1.23543229e-02 -9.85267831e-01 1.70571604e-01 2.95093705e+02] [ 4.40276809e-02 1.69883182e-01 9.84480202e-01 -1.72187717e+02] [-9.98953920e-01 1.96724585e-02 4.12802659e-02 -2.25149333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-172.19, Z:-225.18 [[-1.34429492e-02 -9.86468445e-01 1.63399188e-01 2.95098661e+02] [ 4.50980367e-02 1.62649506e-01 9.85652731e-01 -1.72185228e+02] [-9.98892113e-01 2.06190622e-02 4.23013011e-02 -2.25176255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-172.18, Z:-225.20 [[-1.43467529e-02 -9.86966051e-01 1.60287818e-01 2.95101077e+02] [ 4.60711457e-02 1.59481574e-01 9.86125285e-01 -1.72183809e+02] [-9.98835132e-01 2.15323392e-02 4.31826140e-02 -2.25203403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-172.18, Z:-225.23 [[-1.51603325e-02 -9.87428646e-01 1.57336691e-01 2.95103427e+02] [ 4.67771429e-02 1.56482084e-01 9.86572479e-01 -1.72182680e+02] [-9.98790300e-01 2.23165277e-02 4.38167704e-02 -2.25231011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.18, Z:-225.26 [[-1.56635615e-02 -9.88521066e-01 1.50268940e-01 2.95108146e+02] [ 4.75509642e-02 1.49380884e-01 9.87635691e-01 -1.72180349e+02] [-9.98745993e-01 2.26153254e-02 4.46652932e-02 -2.25258166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.17, Z:-225.29 [[-1.33480615e-02 -9.91908268e-01 1.26252989e-01 2.95123647e+02] [ 5.17666585e-02 1.25409398e-01 9.90753600e-01 -1.72165116e+02] [-9.98569999e-01 1.97603353e-02 4.96738043e-02 -2.25287586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-172.20, Z:-225.32 [[-1.23253704e-02 -9.71621630e-01 2.36219165e-01 2.95059529e+02] [ 4.93236804e-02 2.35358759e-01 9.70656185e-01 -1.72200570e+02] [-9.98706794e-01 2.36148956e-02 4.50230709e-02 -2.25316082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-172.15, Z:-225.34 [[-1.08113234e-02 -9.96739861e-01 7.99547721e-02 2.95148107e+02] [ 5.01636340e-02 7.93181352e-02 9.95586382e-01 -1.72147670e+02] [-9.98682495e-01 1.47744283e-02 4.91425595e-02 -2.25343561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-172.19, Z:-225.38 [[-9.94913029e-03 -9.76623126e-01 2.14728398e-01 2.95072313e+02] [ 4.65878473e-02 2.14053121e-01 9.75710425e-01 -1.72193823e+02] [-9.98864649e-01 1.97112040e-02 4.33691267e-02 -2.25375739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.17, Z:-225.40 [[-9.51503948e-03 -9.90008857e-01 1.40683785e-01 2.95113700e+02] [ 4.48493862e-02 1.40126054e-01 9.89117395e-01 -1.72171717e+02] [-9.98948445e-01 1.57210724e-02 4.30679846e-02 -2.25402471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.17, Z:-225.43 [[-8.40263008e-03 -9.91010291e-01 1.33521527e-01 2.95117342e+02] [ 4.36357912e-02 1.33035664e-01 9.90150206e-01 -1.72168686e+02] [-9.99012169e-01 1.41461834e-02 4.21256687e-02 -2.25430571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.17, Z:-225.46 [[-4.64016804e-03 -9.91976803e-01 1.26334836e-01 2.95119520e+02] [ 4.23091530e-02 1.26028317e-01 9.91124008e-01 -1.72165581e+02] [-9.99093792e-01 9.94410182e-03 4.13849058e-02 -2.25457176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.16, Z:-225.49 [[-2.33438532e-03 -9.92526297e-01 1.22008606e-01 2.95120475e+02] [ 4.21435835e-02 1.21802896e-01 9.91659202e-01 -1.72162613e+02] [-9.99108837e-01 7.45679454e-03 4.15442800e-02 -2.25489207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-172.15, Z:-225.52 [[ 6.31240542e-04 -9.95306020e-01 9.67756573e-02 2.95133309e+02] [ 4.11089552e-02 9.67196970e-02 9.94462344e-01 -1.72153960e+02] [-9.99154470e-01 3.35060120e-03 4.09770440e-02 -2.25520429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.16, Z:-225.55 [[ 2.96378739e-03 -9.91174699e-01 1.32528982e-01 2.95112724e+02] [ 4.08502264e-02 1.32538942e-01 9.90335644e-01 -1.72164058e+02] [-9.99160885e-01 2.47869463e-03 4.08825281e-02 -2.25552573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-172.15, Z:-225.58 [[ 8.92865130e-03 -9.95789483e-01 9.12336775e-02 2.95132930e+02] [ 4.05431404e-02 9.15227922e-02 9.94977302e-01 -1.72149770e+02] [-9.99137895e-01 -5.18490559e-03 4.11896080e-02 -2.25584525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-172.15, Z:-225.62 [[ 1.25254343e-02 -9.94910759e-01 9.99784748e-02 2.95128230e+02] [ 4.04460831e-02 1.00408595e-01 9.94123850e-01 -1.72151505e+02] [-9.99103212e-01 -8.40809523e-03 4.14979044e-02 -2.25616501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-172.17, Z:-225.64 [[ 1.74273088e-02 -9.88736412e-01 1.48649240e-01 2.95100167e+02] [ 3.97141625e-02 1.49239016e-01 9.88003290e-01 -1.72165419e+02] [-9.99059095e-01 -1.13147584e-02 4.18676729e-02 -2.25644878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-172.16, Z:-225.67 [[ 1.93334560e-02 -9.89774949e-01 1.41321507e-01 2.95103062e+02] [ 3.97490030e-02 1.41997089e-01 9.89068675e-01 -1.72162454e+02] [-9.99022640e-01 -1.35047266e-02 4.20878619e-02 -2.25671467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-172.16, Z:-225.70 [[ 2.09514199e-02 -9.90191068e-01 1.38140097e-01 2.95104045e+02] [ 3.96396647e-02 1.38884504e-01 9.89514927e-01 -1.72160586e+02] [-9.98994362e-01 -1.52559156e-02 4.21606695e-02 -2.25699954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.16, Z:-225.73 [[ 2.19306075e-02 -9.91154625e-01 1.30887580e-01 2.95107160e+02] [ 3.96216441e-02 1.31677868e-01 9.90500411e-01 -1.72157746e+02] [-9.98974061e-01 -1.65362946e-02 4.21589514e-02 -2.25727691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.15, Z:-225.75 [[ 2.25291880e-02 -9.92097405e-01 1.23430847e-01 2.95110535e+02] [ 4.06441554e-02 1.24269018e-01 9.91415788e-01 -1.72154617e+02] [-9.98919661e-01 -1.73190501e-02 4.31226412e-02 -2.25754805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.15, Z:-225.78 [[ 2.18549712e-02 -9.92729456e-01 1.18366324e-01 2.95113213e+02] [ 4.11685815e-02 1.19187804e-01 9.92017850e-01 -1.72152271e+02] [-9.98913164e-01 -1.68075479e-02 4.34741095e-02 -2.25782787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.15, Z:-225.81 [[ 2.08002600e-02 -9.93603566e-01 1.10992356e-01 2.95117637e+02] [ 4.18586504e-02 1.11784507e-01 9.92850481e-01 -1.72149327e+02] [-9.98907004e-01 -1.60055580e-02 4.39160512e-02 -2.25811103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.16, Z:-225.84 [[ 1.50062714e-02 -9.92932185e-01 1.17730574e-01 2.95112224e+02] [ 3.90408954e-02 1.18235894e-01 9.92217759e-01 -1.72155839e+02] [-9.99124927e-01 -1.02931820e-02 4.05392415e-02 -2.25837905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-172.07, Z:-225.86 [[ 1.20153620e-02 -9.93349157e-01 -1.14512374e-01 2.95228501e+02] [ 3.90214467e-02 -1.13967601e-01 9.92717841e-01 -1.72074775e+02] [-9.99166131e-01 -1.63963028e-02 3.73925592e-02 -2.25862984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-172.00, Z:-225.89 [[ 8.74197462e-03 -9.63075482e-01 -2.69089566e-01 2.95296997e+02] [ 3.97597192e-02 -2.68552278e-01 9.62444200e-01 -1.72003004e+02] [-9.99171028e-01 -1.91125884e-02 3.59439335e-02 -2.25889788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-172.12, Z:-225.92 [[ 7.11303186e-03 -9.99748999e-01 2.12448682e-02 2.95164559e+02] [ 3.96937751e-02 2.15109477e-02 9.98980322e-01 -1.72124124e+02] [-9.99186574e-01 -6.26248983e-03 3.98368200e-02 -2.25921189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.97, Z:-225.95 [[ 4.93627679e-03 -9.47545042e-01 -3.19584146e-01 2.95318479e+02] [ 4.35676784e-02 -3.19080790e-01 9.46725571e-01 -1.71970557e+02] [-9.99038283e-01 -1.85968388e-02 3.97072666e-02 -2.25946614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-172.14, Z:-225.98 [[ 7.70481065e-03 -9.95867498e-01 9.04906757e-02 2.95134734e+02] [ 4.75531039e-02 9.07558768e-02 9.94737188e-01 -1.72135519e+02] [-9.98838995e-01 -3.36114918e-03 4.80558474e-02 -2.25984592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-172.14, Z:-226.01 [[ 2.96150363e-03 -9.95525484e-01 9.44470272e-02 2.95135646e+02] [ 4.92215131e-02 9.44780781e-02 9.94309376e-01 -1.72135370e+02] [-9.98783496e-01 1.70417475e-03 4.92810678e-02 -2.26011508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.15, Z:-226.04 [[-3.33700728e-03 -9.93937594e-01 1.09895060e-01 2.95124300e+02] [ 4.49982331e-02 1.09635102e-01 9.92952820e-01 -1.72146942e+02] [-9.98981493e-01 8.25857429e-03 4.43595824e-02 -2.26037691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.96, Z:-226.06 [[-6.28381599e-03 -9.51279073e-01 -3.08267156e-01 2.95321268e+02] [ 4.77805220e-02 -3.08206764e-01 9.50118736e-01 -1.71961399e+02] [-9.98838093e-01 -8.75879431e-03 4.73893252e-02 -2.26063193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-172.13, Z:-226.10 [[-2.65657504e-03 -9.96050799e-01 8.87454189e-02 2.95141472e+02] [ 5.10214822e-02 8.84951369e-02 9.94769028e-01 -1.72129899e+02] [-9.98694023e-01 7.17060138e-03 5.05848941e-02 -2.26099161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-172.13, Z:-226.13 [[-8.36526569e-03 -9.96565357e-01 8.23863500e-02 2.95146455e+02] [ 5.15370048e-02 8.18500668e-02 9.95311260e-01 -1.72125889e+02] [-9.98636050e-01 1.25719888e-02 5.06752961e-02 -2.26127356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-172.12, Z:-226.15 [[-1.08774083e-02 -9.97074850e-01 7.56533282e-02 2.95149734e+02] [ 5.09157707e-02 7.50073837e-02 9.95882260e-01 -1.72122424e+02] [-9.98643713e-01 1.46845655e-02 4.99509485e-02 -2.26154848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-172.12, Z:-226.18 [[-1.34315402e-02 -9.97533991e-01 6.88878157e-02 2.95153193e+02] [ 5.05109155e-02 6.81291834e-02 9.96397040e-01 -1.72118800e+02] [-9.98633187e-01 1.68627335e-02 4.94712752e-02 -2.26182813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-172.12, Z:-226.22 [[-1.68083212e-02 -9.97729236e-01 6.52215623e-02 2.95153942e+02] [ 4.90423215e-02 6.43295834e-02 9.96722908e-01 -1.72117877e+02] [-9.98655261e-01 1.99518556e-02 4.78496856e-02 -2.26215204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-172.10, Z:-226.24 [[-2.24011714e-02 -9.99688896e-01 1.09680584e-02 2.95180387e+02] [ 4.70539990e-02 9.90438764e-03 9.98843243e-01 -1.72097173e+02] [-9.98641131e-01 2.28913497e-02 4.68174904e-02 -2.26242436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-172.07, Z:-226.27 [[-2.56812559e-02 -9.98454442e-01 -4.92869290e-02 2.95208974e+02] [ 4.56310319e-02 -5.04226233e-02 9.97685004e-01 -1.72072372e+02] [-9.98628200e-01 2.33727904e-02 4.68554227e-02 -2.26268378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-172.06, Z:-226.30 [[-3.02597550e-02 -9.97439616e-01 -6.47962918e-02 2.95217202e+02] [ 4.58128907e-02 -6.61418551e-02 9.96757962e-01 -1.72063666e+02] [-9.98491626e-01 2.71931463e-02 4.76970285e-02 -2.26296660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-172.11, Z:-226.33 [[-3.28602169e-02 -9.97971091e-01 5.45335489e-02 2.95158000e+02] [ 5.00712470e-02 5.28507113e-02 9.97346315e-01 -1.72107324e+02] [-9.98204927e-01 3.55035790e-02 4.82329712e-02 -2.26326850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-172.09, Z:-226.36 [[-3.49439740e-02 -9.98947404e-01 2.97153593e-02 2.95171666e+02] [ 5.39568652e-02 2.78043662e-02 9.98156087e-01 -1.72091633e+02] [-9.97931649e-01 3.64828879e-02 5.29284754e-02 -2.26355593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-172.12, Z:-226.38 [[-3.85720539e-02 -9.90507612e-01 1.31935088e-01 2.95116149e+02] [ 5.88005192e-02 1.29554678e-01 9.89827300e-01 -1.72123260e+02] [-9.97524283e-01 4.59375236e-02 5.32451718e-02 -2.26384634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-172.12, Z:-226.41 [[-4.00367939e-02 -9.90239926e-01 1.33498852e-01 2.95114708e+02] [ 5.94639665e-02 1.31007879e-01 9.89596368e-01 -1.72121362e+02] [-9.97427236e-01 4.75586371e-02 5.36384583e-02 -2.26413848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-172.13, Z:-226.44 [[-4.03747979e-02 -9.84492628e-01 1.70716552e-01 2.95092937e+02] [ 6.05187110e-02 1.68132720e-01 9.83904911e-01 -1.72130953e+02] [-9.97350170e-01 5.00565076e-02 5.27919003e-02 -2.26442299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.65, Z:-226.55 [[-4.60270538e-03 4.58299099e-01 8.88786111e-01 2.94225400e+02] [ 8.95040373e-03 8.88778804e-01 -4.58248981e-01 -1.71654129e+02] [-9.99949351e-01 5.84580946e-03 -8.19274895e-03 -2.26545321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-170.97, Z:-226.62 [[-1.33628051e-02 6.40914835e-01 -7.67495674e-01 2.94976027e+02] [-6.59830410e-02 -7.66456397e-01 -6.38898138e-01 -1.70971089e+02] [-9.97731263e-01 4.21042272e-02 5.25315173e-02 -2.26616056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-170.98, Z:-226.62 [[-1.72443864e-02 5.92392543e-01 -8.05464900e-01 2.95012871e+02] [-6.58285915e-02 -8.04509478e-01 -5.90280523e-01 -1.70983539e+02] [-9.97681927e-01 4.28435945e-02 5.28696390e-02 -2.26624881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-170.99, Z:-226.83 [[-4.32341234e-02 5.96206489e-01 -8.01666161e-01 2.94991861e+02] [-6.03534988e-02 -8.02509565e-01 -5.93578852e-01 -1.70994880e+02] [-9.97240325e-01 2.27204963e-02 7.06789452e-02 -2.26825701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-171.91, Z:-226.84 [[-1.47618485e-02 -9.40549295e-01 -3.39336282e-01 2.95284746e+02] [ 1.89423826e-02 -3.39575414e-01 9.40388071e-01 -1.71911693e+02] [-9.99711595e-01 7.45402856e-03 2.28290054e-02 -2.26842540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.17, Z:-226.89 [[ 6.37622769e-03 -8.49854734e-01 5.26978438e-01 2.94837079e+02] [ 4.75224870e-02 5.26651246e-01 8.48752071e-01 -1.72169807e+02] [-9.98849817e-01 1.96314895e-02 4.37452588e-02 -2.26894563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-172.12, Z:-226.93 [[ 1.43600808e-02 -5.07947141e-01 8.61268536e-01 2.94541580e+02] [ 4.89741221e-02 8.60680849e-01 5.06783989e-01 -1.72123612e+02] [-9.98696813e-01 3.49024113e-02 3.72357118e-02 -2.26930204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.13, Z:-226.96 [[ 2.25831384e-02 -5.38186176e-01 8.42523377e-01 2.94572091e+02] [ 4.74620312e-02 8.42365232e-01 5.36812976e-01 -1.72126098e+02] [-9.98617723e-01 2.78649490e-02 4.45666597e-02 -2.26961680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-172.03, Z:-226.99 [[ 2.52263023e-02 -2.63143358e-01 9.64426880e-01 2.94407335e+02] [ 4.75415141e-02 9.63958124e-01 2.61771925e-01 -1.72031101e+02] [-9.98550669e-01 3.92467764e-02 3.68273327e-02 -2.26990267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.12, Z:-227.02 [[ 2.36583328e-02 -5.39971681e-01 8.41350621e-01 2.94573439e+02] [ 4.60021719e-02 8.41282724e-01 5.38634550e-01 -1.72121888e+02] [-9.98661146e-01 2.59607605e-02 4.47432168e-02 -2.27021069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-172.02, Z:-227.05 [[ 2.53481135e-02 -2.54105139e-01 9.66844378e-01 2.94404096e+02] [ 4.55866266e-02 9.66442844e-01 2.52804447e-01 -1.72022114e+02] [-9.98638740e-01 3.76670578e-02 3.60812990e-02 -2.27049285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.11, Z:-227.08 [[ 2.34844674e-02 -5.33630515e-01 8.45391598e-01 2.94562299e+02] [ 4.23996847e-02 8.45395601e-01 5.32455205e-01 -1.72113097e+02] [-9.98824683e-01 2.33399103e-02 4.24794310e-02 -2.27082909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-172.02, Z:-227.12 [[ 3.44407015e-02 -2.69123673e-01 9.62489629e-01 2.94421073e+02] [ 3.96646762e-02 9.62670269e-01 2.67754864e-01 -1.72020885e+02] [-9.98619323e-01 2.89551742e-02 4.38297428e-02 -2.27119886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.95, Z:-227.15 [[ 3.63814518e-02 -1.04246068e-01 9.93885882e-01 2.94348373e+02] [ 3.66097282e-02 9.94015738e-01 1.02919580e-01 -1.71948417e+02] [-9.98667171e-01 3.26415283e-02 3.99801559e-02 -2.27149115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.95, Z:-227.18 [[ 3.84491992e-02 -1.09403266e-01 9.93253535e-01 2.94352592e+02] [ 3.54136646e-02 9.93513307e-01 1.08061003e-01 -1.71946109e+02] [-9.98632831e-01 3.10198885e-02 4.20741616e-02 -2.27177215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-171.93, Z:-227.21 [[ 3.60573378e-02 -7.31064838e-02 9.96672118e-01 2.94335613e+02] [ 3.59330926e-02 9.96770586e-01 7.18137287e-02 -1.71925970e+02] [-9.98703500e-01 3.32240996e-02 3.85678358e-02 -2.27208605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.97, Z:-227.24 [[ 3.05645641e-02 -1.82690545e-01 9.82695259e-01 2.94371338e+02] [ 4.06338083e-02 9.82568959e-01 1.81403240e-01 -1.71967608e+02] [-9.98706514e-01 3.43861398e-02 3.74552045e-02 -2.27235656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.10, Z:-227.26 [[ 2.20247494e-02 -5.49201329e-01 8.35399791e-01 2.94559413e+02] [ 4.61918666e-02 8.35269129e-01 5.47897613e-01 -1.72097666e+02] [-9.98689753e-01 2.65213681e-02 4.37652277e-02 -2.27264311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-172.03, Z:-227.29 [[ 2.52214883e-02 -3.63088770e-01 9.31413131e-01 2.94451465e+02] [ 4.79446459e-02 9.31076705e-01 3.61659342e-01 -1.72034489e+02] [-9.98531516e-01 3.55346859e-02 4.08913027e-02 -2.27291879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-172.10, Z:-227.32 [[ 1.84203593e-02 -5.45769118e-01 8.37733108e-01 2.94553945e+02] [ 4.77619054e-02 8.37399045e-01 5.44501276e-01 -1.72095298e+02] [-9.98688886e-01 2.99818203e-02 4.14921642e-02 -2.27318952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.10, Z:-227.35 [[ 2.08719328e-02 -5.63955868e-01 8.25541121e-01 2.94573148e+02] [ 5.01308912e-02 8.25272670e-01 5.62505034e-01 -1.72099378e+02] [-9.98524540e-01 2.96445448e-02 4.54966460e-02 -2.27350774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-172.00, Z:-227.38 [[ 2.50587592e-02 -2.89889548e-01 9.56731994e-01 2.94419111e+02] [ 5.60160819e-02 9.55936080e-01 2.88181211e-01 -1.72001880e+02] [-9.98115353e-01 4.63709142e-02 4.01930487e-02 -2.27377811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.09, Z:-227.40 [[ 1.10667740e-02 -5.60166863e-01 8.28305869e-01 2.94563828e+02] [ 5.68780762e-02 8.27368075e-01 5.58772720e-01 -1.72094084e+02] [-9.98319794e-01 4.09286329e-02 4.10175091e-02 -2.27403969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.10, Z:-227.44 [[ 1.27810609e-02 -5.75675416e-01 8.17578412e-01 2.94579335e+02] [ 5.81877675e-02 8.16687800e-01 5.74138677e-01 -1.72097666e+02] [-9.98223837e-01 4.02349611e-02 4.39354038e-02 -2.27436040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-171.97, Z:-227.46 [[ 2.48772894e-02 -2.30076198e-01 9.72854595e-01 2.94393392e+02] [ 6.42076204e-02 9.71514214e-01 2.28117322e-01 -1.71969488e+02] [-9.97626434e-01 5.67897379e-02 3.89412855e-02 -2.27462198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.09, Z:-227.49 [[ 6.32161156e-03 -5.75158759e-01 8.18017384e-01 2.94571415e+02] [ 6.19863476e-02 8.16685972e-01 5.73743597e-01 -1.72091325e+02] [-9.98056977e-01 4.70789257e-02 4.08147622e-02 -2.27488536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.09, Z:-227.52 [[ 5.29720493e-03 -5.83061346e-01 8.12410861e-01 2.94575606e+02] [ 6.13089579e-02 8.11083281e-01 5.81708796e-01 -1.72090507e+02] [-9.98104780e-01 4.67266325e-02 4.00433578e-02 -2.27516893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.09, Z:-227.54 [[ 4.95001407e-03 -5.90875934e-01 8.06747251e-01 2.94580469e+02] [ 6.04023335e-02 8.05460723e-01 5.89563043e-01 -1.72090586e+02] [-9.98161838e-01 4.58110712e-02 3.96773272e-02 -2.27544564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.09, Z:-227.57 [[ 5.46970946e-03 -5.98677061e-01 8.00971822e-01 2.94585251e+02] [ 5.90871053e-02 7.99777799e-01 5.97381106e-01 -1.72090630e+02] [-9.98237846e-01 4.40596053e-02 3.97486467e-02 -2.27571067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.09, Z:-227.61 [[ 1.22065671e-02 -6.13187952e-01 7.89842728e-01 2.94599245e+02] [ 5.58561818e-02 7.89086361e-01 6.11737527e-01 -1.72089721e+02] [-9.98364205e-01 3.66503838e-02 4.38823733e-02 -2.27606122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.03, Z:-227.64 [[ 2.04581682e-02 -4.16685799e-01 9.08820339e-01 2.94482450e+02] [ 5.47729692e-02 9.08112553e-01 4.15128309e-01 -1.72025077e+02] [-9.98289229e-01 4.12860237e-02 4.14014378e-02 -2.27639757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-172.02, Z:-227.67 [[ 1.77411605e-02 -4.25162777e-01 9.04943017e-01 2.94480431e+02] [ 4.78487353e-02 9.04409479e-01 4.23974047e-01 -1.72023453e+02] [-9.98697026e-01 3.57785873e-02 3.63887749e-02 -2.27669079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.08, Z:-227.70 [[ 1.85830726e-02 -6.23577482e-01 7.81540654e-01 2.94604848e+02] [ 4.56936357e-02 7.81388571e-01 6.22369659e-01 -1.72081519e+02] [-9.98782640e-01 2.41458934e-02 4.30141229e-02 -2.27698239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.03, Z:-227.73 [[ 2.34345228e-02 -4.61368828e-01 8.86898883e-01 2.94507114e+02] [ 4.27735667e-02 8.86792869e-01 4.60183474e-01 -1.72030710e+02] [-9.98809914e-01 2.71516484e-02 4.05159580e-02 -2.27729492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-172.00, Z:-227.76 [[ 2.08995425e-02 -3.73980523e-01 9.27201045e-01 2.94455292e+02] [ 3.91521924e-02 9.26998366e-01 3.73016266e-01 -1.71997377e+02] [-9.99014672e-01 2.85060844e-02 3.40159992e-02 -2.27756695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-172.07, Z:-227.78 [[ 1.66367899e-02 -6.09763386e-01 7.92408878e-01 2.94582964e+02] [ 3.37560629e-02 7.92409317e-01 6.09055008e-01 -1.72073477e+02] [-9.99291622e-01 1.66158837e-02 3.37663585e-02 -2.27783327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.07, Z:-227.81 [[ 1.70477152e-02 -6.17625176e-01 7.86287808e-01 2.94587048e+02] [ 3.23074254e-02 7.86331719e-01 6.16959202e-01 -1.72074131e+02] [-9.99332580e-01 1.48851899e-02 3.33590385e-02 -2.27811670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.07, Z:-227.84 [[ 1.73486611e-02 -6.25484953e-01 7.80043331e-01 2.94590171e+02] [ 3.05608737e-02 7.80127953e-01 6.24873115e-01 -1.72073797e+02] [-9.99382338e-01 1.29980938e-02 3.26495421e-02 -2.27839062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.07, Z:-227.87 [[ 1.70244205e-02 -6.28885686e-01 7.77311368e-01 2.94591847e+02] [ 3.03445568e-02 7.77390903e-01 6.28285438e-01 -1.72073630e+02] [-9.99394505e-01 1.28909735e-02 3.23178871e-02 -2.27865976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-172.07, Z:-227.89 [[ 1.66428399e-02 -6.32246631e-01 7.74588415e-01 2.94593971e+02] [ 3.07138925e-02 7.74653395e-01 6.31639750e-01 -1.72073573e+02] [-9.99389650e-01 1.32783461e-02 3.23111876e-02 -2.27894354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.07, Z:-227.92 [[ 1.60685600e-02 -6.39949232e-01 7.68249166e-01 2.94597992e+02] [ 3.19417693e-02 7.68284745e-01 6.39310781e-01 -1.72074200e+02] [-9.99360558e-01 1.42664340e-02 3.27863402e-02 -2.27922390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.08, Z:-227.95 [[ 1.50428405e-02 -6.47605780e-01 7.61827058e-01 2.94602479e+02] [ 3.25734623e-02 7.61826260e-01 6.46961914e-01 -1.72075204e+02] [-9.99356134e-01 1.50832000e-02 3.25547934e-02 -2.27949267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-172.07, Z:-227.98 [[ 1.37998365e-02 -6.50934080e-01 7.59008820e-01 2.94603888e+02] [ 3.46165435e-02 7.58937085e-01 6.50243182e-01 -1.72074364e+02] [-9.99305389e-01 1.73010122e-02 3.30062956e-02 -2.27976808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-172.08, Z:-228.00 [[ 1.23074119e-02 -6.58563195e-01 7.52424778e-01 2.94608674e+02] [ 3.58843516e-02 7.52287954e-01 6.57856479e-01 -1.72075207e+02] [-9.99280161e-01 1.89037646e-02 3.28908309e-02 -2.28003615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.07, Z:-228.04 [[ 2.00353182e-02 -6.92900999e-01 7.20754321e-01 2.94646907e+02] [ 4.29953515e-02 7.20829244e-01 6.91777855e-01 -1.72074210e+02] [-9.98874359e-01 1.71290959e-02 4.42335653e-02 -2.28037747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-172.04, Z:-228.07 [[ 2.39681158e-02 -5.77787618e-01 8.15835154e-01 2.94573742e+02] [ 4.49584496e-02 8.15866919e-01 5.76489296e-01 -1.72041362e+02] [-9.98701290e-01 2.28613215e-02 4.55312283e-02 -2.28069194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-172.02, Z:-228.10 [[ 2.04846517e-02 -5.02623230e-01 8.64262846e-01 2.94528454e+02] [ 4.81986330e-02 8.63935595e-01 5.01290515e-01 -1.72016376e+02] [-9.98627694e-01 3.13875261e-02 4.19231723e-02 -2.28098132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-172.01, Z:-228.13 [[ 1.64789797e-02 -4.95186795e-01 8.68630233e-01 2.94521626e+02] [ 4.98108064e-02 8.68076078e-01 4.93925912e-01 -1.72012720e+02] [-9.98622715e-01 3.51277772e-02 3.89706617e-02 -2.28128907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-172.02, Z:-228.16 [[ 4.64919564e-03 -5.03772393e-01 8.63823918e-01 2.94511823e+02] [ 4.92686147e-02 8.62899558e-01 5.02968147e-01 -1.72019221e+02] [-9.98774744e-01 4.02210104e-02 2.88319567e-02 -2.28158686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.07, Z:-228.19 [[-2.13692597e-03 -6.81463703e-01 7.31848792e-01 2.94621561e+02] [ 4.55212161e-02 7.31025513e-01 6.80830021e-01 -1.72074220e+02] [-9.98961087e-01 3.47695304e-02 2.94589091e-02 -2.28186132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-172.07, Z:-228.21 [[-4.50131371e-03 -6.86354418e-01 7.27253292e-01 2.94623427e+02] [ 4.74197240e-02 7.26296007e-01 6.85744471e-01 -1.72072992e+02] [-9.98864910e-01 3.75729014e-02 2.92774509e-02 -2.28213913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.07, Z:-228.24 [[-5.00930361e-03 -6.94304957e-01 7.19663486e-01 2.94629612e+02] [ 4.73555395e-02 7.18700387e-01 6.93705418e-01 -1.72074535e+02] [-9.98865536e-01 3.75550337e-02 2.92789974e-02 -2.28242385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.07, Z:-228.27 [[-6.31216706e-03 -7.01662782e-01 7.12481226e-01 2.94633913e+02] [ 4.78861840e-02 7.11465915e-01 7.01087131e-01 -1.72074416e+02] [-9.98832854e-01 3.85433861e-02 2.91090614e-02 -2.28270103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.07, Z:-228.30 [[-6.73347264e-03 -7.09467594e-01 7.04705892e-01 2.94638393e+02] [ 4.81149518e-02 7.03675761e-01 7.08890241e-01 -1.72074479e+02] [-9.98819109e-01 3.86801831e-02 2.93978176e-02 -2.28297301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.07, Z:-228.32 [[-6.44828589e-03 -7.14724239e-01 6.99376638e-01 2.94639159e+02] [ 4.79428305e-02 6.98365937e-01 7.14133393e-01 -1.72071985e+02] [-9.98829267e-01 3.81350319e-02 2.97626398e-02 -2.28324914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.07, Z:-228.36 [[ 1.99431511e-03 -7.47869060e-01 6.63843274e-01 2.94675312e+02] [ 5.20798559e-02 6.63021379e-01 7.46786676e-01 -1.72068720e+02] [-9.98640932e-01 3.30835341e-02 4.02711864e-02 -2.28358352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-172.03, Z:-228.39 [[ 1.08273756e-05 -6.09479393e-01 7.92801911e-01 2.94563575e+02] [ 4.74633796e-02 7.91908719e-01 6.08792089e-01 -1.72034534e+02] [-9.98872979e-01 3.76224664e-02 2.89365261e-02 -2.28389565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-172.06, Z:-228.42 [[-2.42406027e-03 -7.13075650e-01 7.01082906e-01 2.94630985e+02] [ 4.39142381e-02 7.00332721e-01 7.12464469e-01 -1.72063062e+02] [-9.99032364e-01 3.25145785e-02 2.96165251e-02 -2.28416670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.06, Z:-228.44 [[-1.38094963e-03 -7.20715520e-01 6.93229567e-01 2.94635149e+02] [ 4.26216337e-02 6.92557858e-01 7.20102083e-01 -1.72062703e+02] [-9.99090331e-01 3.05410014e-02 2.97616853e-02 -2.28444764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.06, Z:-228.47 [[-3.46986569e-04 -7.28328629e-01 6.85227910e-01 2.94638941e+02] [ 4.14981844e-02 6.84627194e-01 7.27711142e-01 -1.72062169e+02] [-9.99138519e-01 2.86882202e-02 2.99867593e-02 -2.28472966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.06, Z:-228.50 [[ 2.15122001e-03 -7.35860686e-01 6.77129547e-01 2.94641436e+02] [ 3.91093615e-02 6.76674973e-01 7.35242435e-01 -1.72059805e+02] [-9.99232621e-01 2.49004360e-02 3.02347183e-02 -2.28499582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-172.06, Z:-228.53 [[ 2.80599338e-03 -7.40922289e-01 6.71584907e-01 2.94643852e+02] [ 3.81077626e-02 6.71178957e-01 7.40315207e-01 -1.72058572e+02] [-9.99269696e-01 2.35152786e-02 3.01182144e-02 -2.28527774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.06, Z:-228.55 [[ 3.09734505e-03 -7.48226155e-01 6.63436528e-01 2.94647693e+02] [ 3.67494914e-02 6.63076727e-01 7.47648800e-01 -1.72058378e+02] [-9.99319709e-01 2.20652287e-02 2.95507081e-02 -2.28554556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.05, Z:-228.58 [[ 3.47418451e-03 -7.51354859e-01 6.59889237e-01 2.94647215e+02] [ 3.53781904e-02 6.59572469e-01 7.50807926e-01 -1.72054746e+02] [-9.99367957e-01 2.07372418e-02 2.88730517e-02 -2.28582827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.05, Z:-228.61 [[ 3.65179147e-03 -7.58476762e-01 6.51689855e-01 2.94651182e+02] [ 3.49801866e-02 6.51392251e-01 7.57934378e-01 -1.72054424e+02] [-9.99381334e-01 2.00284144e-02 2.89104073e-02 -2.28609719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.05, Z:-228.64 [[ 3.51677008e-03 -7.61537517e-01 6.48111289e-01 2.94652091e+02] [ 3.49617827e-02 6.47812700e-01 7.60996964e-01 -1.72053341e+02] [-9.99382462e-01 1.99828747e-02 2.89029175e-02 -2.28637421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.05, Z:-228.66 [[ 3.46358403e-03 -7.68408919e-01 6.39949793e-01 2.94656287e+02] [ 3.47558482e-02 6.39659490e-01 7.67872234e-01 -1.72053118e+02] [-9.99389831e-01 1.95824079e-02 2.89222182e-02 -2.28664787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.05, Z:-228.69 [[ 2.87836133e-03 -7.71349875e-01 6.36404813e-01 2.94656482e+02] [ 3.42409312e-02 6.36110284e-01 7.70838028e-01 -1.72050852e+02] [-9.99409463e-01 1.95723430e-02 2.82426932e-02 -2.28693274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.05, Z:-228.72 [[ 2.68171001e-03 -7.78249317e-01 6.27949687e-01 2.94660915e+02] [ 3.40362838e-02 6.27659141e-01 7.77743874e-01 -1.72051084e+02] [-9.99417000e-01 1.92873903e-02 2.81719144e-02 -2.28720602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.05, Z:-228.75 [[ 3.51589534e-03 -7.81222142e-01 6.24243224e-01 2.94660792e+02] [ 3.47090931e-02 6.23966279e-01 7.80680064e-01 -1.72049372e+02] [-9.99391273e-01 1.89221268e-02 2.93093122e-02 -2.28747884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.05, Z:-228.78 [[ 3.29620549e-03 -7.84147143e-01 6.20566187e-01 2.94661867e+02] [ 3.51989849e-02 6.20275982e-01 7.83593477e-01 -1.72048490e+02] [-9.99374888e-01 1.92604147e-02 2.96457405e-02 -2.28775911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.05, Z:-228.80 [[ 2.75632906e-03 -7.90733875e-01 6.12153855e-01 2.94666369e+02] [ 3.53820393e-02 6.11849998e-01 7.90182062e-01 -1.72048696e+02] [-9.99370059e-01 1.94812500e-02 2.96642370e-02 -2.28803915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.05, Z:-228.83 [[ 1.55880923e-03 -7.97423154e-01 6.03418498e-01 2.94670084e+02] [ 3.56114317e-02 6.03080755e-01 7.96884828e-01 -1.72048164e+02] [-9.99364496e-01 2.02464052e-02 2.93374681e-02 -2.28831291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.05, Z:-228.86 [[ 5.18364574e-04 -8.00288685e-01 5.99614669e-01 2.94671815e+02] [ 3.59100216e-02 5.99242912e-01 7.99761466e-01 -1.72047297e+02] [-9.99354893e-01 2.11176077e-02 2.90490103e-02 -2.28859564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.05, Z:-228.89 [[-4.42337279e-04 -8.06712325e-01 5.90944185e-01 2.94676535e+02] [ 3.61392675e-02 5.90545320e-01 8.06194876e-01 -1.72047308e+02] [-9.99346665e-01 2.17129000e-02 2.88927723e-02 -2.28886269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.05, Z:-228.91 [[-2.49410601e-03 -8.09470629e-01 5.87155074e-01 2.94676971e+02] [ 3.81816001e-02 5.86651667e-01 8.08938803e-01 -1.72046105e+02] [-9.99267704e-01 2.44360993e-02 2.94437124e-02 -2.28914180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-172.05, Z:-228.94 [[-4.12313317e-03 -8.15747468e-01 5.78393523e-01 2.94681991e+02] [ 3.93549222e-02 5.77817974e-01 8.15216278e-01 -1.72046818e+02] [-9.99216788e-01 2.61238774e-02 2.97212577e-02 -2.28942029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-172.05, Z:-228.97 [[-7.20690211e-03 -8.21958095e-01 5.69502372e-01 2.94686726e+02] [ 4.18262455e-02 5.68770970e-01 8.21431768e-01 -1.72046646e+02] [-9.99098907e-01 2.97401243e-02 3.02803443e-02 -2.28970376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-172.05, Z:-229.00 [[-9.40851414e-03 -8.28106062e-01 5.60492489e-01 2.94691732e+02] [ 4.25465625e-02 5.59678176e-01 8.27617139e-01 -1.72047078e+02] [-9.99050184e-01 3.16336762e-02 2.99673263e-02 -2.28998521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.05, Z:-229.03 [[-1.12336211e-02 -8.34232190e-01 5.51298884e-01 2.94697022e+02] [ 4.32913930e-02 5.50410971e-01 8.33770723e-01 -1.72046954e+02] [-9.98999330e-01 3.32327610e-02 2.99319653e-02 -2.29025292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.05, Z:-229.05 [[-1.34328811e-02 -8.38317430e-01 5.45016922e-01 2.94699537e+02] [ 4.46064882e-02 5.44021058e-01 8.37885046e-01 -1.72046008e+02] [-9.98914320e-01 3.55665010e-02 3.00866264e-02 -2.29053541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-172.05, Z:-229.08 [[-1.36907034e-02 -8.44239743e-01 5.35790836e-01 2.94704660e+02] [ 4.51171109e-02 5.34773738e-01 8.43789960e-01 -1.72045827e+02] [-9.98887887e-01 3.57254127e-02 3.07682295e-02 -2.29080500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.05, Z:-229.11 [[-1.39322521e-02 -8.46766237e-01 5.31782693e-01 2.94706663e+02] [ 4.49046664e-02 5.30767875e-01 8.46326789e-01 -1.72045107e+02] [-9.98894120e-01 3.56707626e-02 3.06289635e-02 -2.29108808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-172.04, Z:-229.14 [[-1.36285104e-02 -8.52631703e-01 5.22334609e-01 2.94711547e+02] [ 4.32382886e-02 5.21391967e-01 8.52221137e-01 -1.72044402e+02] [-9.98971829e-01 3.41993592e-02 2.97605397e-02 -2.29135270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.04, Z:-229.16 [[-9.89241688e-03 -8.66463922e-01 4.99141676e-01 2.94730166e+02] [ 4.63000116e-02 4.98233836e-01 8.65805610e-01 -1.72039744e+02] [-9.98878596e-01 3.16751754e-02 3.51885528e-02 -2.29164091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-172.03, Z:-229.19 [[-1.03902820e-02 -8.09574731e-01 5.86924864e-01 2.94671373e+02] [ 4.39267787e-02 5.86020390e-01 8.09104777e-01 -1.72030970e+02] [-9.98980721e-01 3.41885454e-02 2.94730930e-02 -2.29191739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.04, Z:-229.23 [[-6.63695967e-03 -8.76535466e-01 4.81291521e-01 2.94741268e+02] [ 4.65293209e-02 4.80510115e-01 8.75753991e-01 -1.72037160e+02] [-9.98894876e-01 2.82065115e-02 3.75954737e-02 -2.29225482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.02, Z:-229.26 [[-6.04303291e-03 -7.85895045e-01 6.18330381e-01 2.94650075e+02] [ 4.33831215e-02 6.17553445e-01 7.85331552e-01 -1.72021080e+02] [-9.99040233e-01 3.15708865e-02 3.03626844e-02 -2.29256559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.03, Z:-229.29 [[-1.91259110e-03 -8.76638897e-01 4.81145078e-01 2.94740179e+02] [ 4.67641507e-02 4.80541155e-01 8.75724450e-01 -1.72033137e+02] [-9.98904128e-01 2.41752438e-02 4.00761948e-02 -2.29286314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-172.02, Z:-229.31 [[-3.16136035e-03 -7.80920200e-01 6.24622804e-01 2.94645064e+02] [ 4.27160492e-02 6.23950337e-01 7.80295660e-01 -1.72017086e+02] [-9.99082251e-01 2.91482142e-02 3.13852938e-02 -2.29314604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.03, Z:-229.35 [[ 8.96726648e-04 -8.76527167e-01 4.81351558e-01 2.94736969e+02] [ 4.37887002e-02 4.80924464e-01 8.75667865e-01 -1.72032138e+02] [-9.99040412e-01 2.02925243e-02 3.88132431e-02 -2.29346027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-172.02, Z:-229.37 [[-2.84974899e-04 -7.96926381e-01 6.04076371e-01 2.94657927e+02] [ 3.95662728e-02 6.03594387e-01 7.96309190e-01 -1.72017869e+02] [-9.99216908e-01 2.41279786e-02 3.13593973e-02 -2.29374205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.03, Z:-229.40 [[-2.76368494e-04 -8.65802163e-01 5.00386389e-01 2.94718096e+02] [ 3.80094740e-02 5.00015723e-01 8.65181806e-01 -1.72034500e+02] [-9.99277341e-01 1.92585324e-02 3.27704962e-02 -2.29401749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-172.04, Z:-229.43 [[ 6.25528518e-04 -8.71266033e-01 4.90810665e-01 2.94723332e+02] [ 3.85160890e-02 4.90467561e-01 8.70607881e-01 -1.72035099e+02] [-9.99257784e-01 1.83595172e-02 3.38645615e-02 -2.29429729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.04, Z:-229.46 [[ 1.12600097e-03 -8.76613798e-01 4.81193289e-01 2.94729012e+02] [ 3.86364266e-02 4.80872440e-01 8.75938881e-01 -1.72035462e+02] [-9.99252700e-01 1.76052811e-02 3.44106875e-02 -2.29456568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-172.04, Z:-229.48 [[ 9.97995217e-04 -8.78894829e-01 4.77014553e-01 2.94731721e+02] [ 3.86257928e-02 4.76692696e-01 8.78220999e-01 -1.72035139e+02] [-9.99253247e-01 1.75486049e-02 3.44237466e-02 -2.29484729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.04, Z:-229.51 [[ 5.36257287e-04 -8.84022687e-01 4.67443687e-01 2.94737883e+02] [ 3.86275501e-02 4.67113203e-01 8.83353365e-01 -1.72035361e+02] [-9.99253534e-01 1.75824998e-02 3.43981235e-02 -2.29512785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-172.04, Z:-229.54 [[-4.16469822e-04 -8.89070161e-01 4.57770768e-01 2.94744025e+02] [ 3.95385060e-02 4.57398213e-01 8.88382565e-01 -1.72035241e+02] [-9.99217961e-01 1.84695568e-02 3.49620133e-02 -2.29540249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-172.04, Z:-229.57 [[-1.67876021e-03 -8.93977809e-01 4.48108088e-01 2.94749691e+02] [ 3.98275768e-02 4.47693402e-01 8.93299716e-01 -1.72035730e+02] [-9.99205157e-01 1.93466953e-02 3.48534000e-02 -2.29567826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.04, Z:-229.60 [[-3.79276619e-03 -8.98801236e-01 4.38339996e-01 2.94756037e+02] [ 4.17513058e-02 4.37818594e-01 8.98093374e-01 -1.72035462e+02] [-9.99120835e-01 2.17075254e-02 3.58655817e-02 -2.29595498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-172.04, Z:-229.62 [[-5.25061174e-03 -9.03561106e-01 4.28427075e-01 2.94762529e+02] [ 4.24093730e-02 4.27846311e-01 9.02856013e-01 -1.72035917e+02] [-9.99086521e-01 2.29098700e-02 3.60730051e-02 -2.29622049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.04, Z:-229.65 [[-6.85724335e-03 -9.05580175e-01 4.24119707e-01 2.94766433e+02] [ 4.30042499e-02 4.23470233e-01 9.04888720e-01 -1.72035661e+02] [-9.99051356e-01 2.44439920e-02 3.60399577e-02 -2.29648526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-172.04, Z:-229.68 [[-8.41121915e-03 -9.07558066e-01 4.19842361e-01 2.94770353e+02] [ 4.35342386e-02 4.19126784e-01 9.06883405e-01 -1.72035072e+02] [-9.99016527e-01 2.59055126e-02 3.59844822e-02 -2.29676282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.03, Z:-229.70 [[-1.15467398e-02 -9.12064620e-01 4.09883889e-01 2.94777294e+02] [ 4.36317568e-02 4.09061234e-01 9.11463206e-01 -1.72034891e+02] [-9.98980952e-01 2.84083826e-02 3.50716580e-02 -2.29704607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.03, Z:-229.73 [[-1.25596396e-02 -9.16485463e-01 3.99870794e-01 2.94783590e+02] [ 4.36173342e-02 3.99019547e-01 9.15904432e-01 -1.72034780e+02] [-9.98969361e-01 2.89447276e-02 3.49631110e-02 -2.29732239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-172.03, Z:-229.76 [[-1.32223424e-02 -9.20802099e-01 3.89805931e-01 2.94789570e+02] [ 4.35831629e-02 3.88938796e-01 9.20232102e-01 -1.72034585e+02] [-9.98962300e-01 2.91565993e-02 3.49887860e-02 -2.29760452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.03, Z:-229.79 [[-1.30529002e-02 -9.25001048e-01 3.79740283e-01 2.94795342e+02] [ 4.31634170e-02 3.78897396e-01 9.24431546e-01 -1.72034475e+02] [-9.98982753e-01 2.84574009e-02 3.49804961e-02 -2.29788829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-172.03, Z:-229.82 [[-1.28174603e-02 -9.29062855e-01 3.69699776e-01 2.94801534e+02] [ 4.28557416e-02 3.68879991e-01 9.28488523e-01 -1.72034132e+02] [-9.98999048e-01 2.77446229e-02 3.50875730e-02 -2.29816438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.03, Z:-229.84 [[-1.26113010e-02 -9.33022837e-01 3.59596079e-01 2.94807884e+02] [ 4.24388371e-02 3.58801187e-01 9.32448740e-01 -1.72033896e+02] [-9.99019469e-01 2.70202311e-02 3.50714544e-02 -2.29843574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.03, Z:-229.87 [[-1.23185287e-02 -9.34708650e-01 3.55201343e-01 2.94810974e+02] [ 4.20452082e-02 3.54429932e-01 9.34136834e-01 -1.72033226e+02] [-9.99039766e-01 2.64417058e-02 3.49339645e-02 -2.29871893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.03, Z:-229.90 [[-1.02844604e-02 -9.38564628e-01 3.44950241e-01 2.94816675e+02] [ 4.09450085e-02 3.44283896e-01 9.37972337e-01 -1.72032244e+02] [-9.99108471e-01 2.37705299e-02 3.48887626e-02 -2.29900223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-172.03, Z:-229.93 [[-8.86579510e-03 -9.42333406e-01 3.34558142e-01 2.94822259e+02] [ 4.03282949e-02 3.33962139e-01 9.41723377e-01 -1.72031862e+02] [-9.99147150e-01 2.18412859e-02 3.50418596e-02 -2.29927287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-172.03, Z:-229.96 [[-7.24947388e-03 -9.43937015e-01 3.30045992e-01 2.94825151e+02] [ 3.98252675e-02 3.29520265e-01 9.43308191e-01 -1.72031198e+02] [-9.99180361e-01 1.99826580e-02 3.52036955e-02 -2.29955544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-172.03, Z:-229.98 [[-4.05722842e-03 -9.47414849e-01 3.19982254e-01 2.94830982e+02] [ 3.82726082e-02 3.19603324e-01 9.46778180e-01 -1.72030552e+02] [-9.99259099e-01 1.60878508e-02 3.49633336e-02 -2.29983926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.03, Z:-230.01 [[-4.45026750e-03 -9.50783165e-01 3.09825062e-01 2.94836635e+02] [ 3.82230947e-02 3.09439978e-01 9.50150459e-01 -1.72029875e+02] [-9.99259321e-01 1.60708964e-02 3.49647843e-02 -2.30012399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-172.03, Z:-230.04 [[-2.82682712e-03 -9.53848989e-01 3.00273401e-01 2.94842199e+02] [ 3.73792798e-02 2.99963963e-01 9.53217924e-01 -1.72029009e+02] [-9.99297152e-01 1.39185858e-02 3.48062420e-02 -2.30040112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47655999499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.85, Y:-172.03, Z:-230.07 [[-1.19046644e-03 -9.57084650e-01 2.89806067e-01 2.94848265e+02] [ 3.68288829e-02 2.89567702e-01 9.56448733e-01 -1.72028027e+02] [-9.99320878e-01 1.18118538e-02 3.49036379e-02 -2.30066703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.02, Z:-230.10 [[ 1.37895081e-03 -9.64516734e-01 2.64018120e-01 2.94864734e+02] [ 3.88551466e-02 2.63870676e-01 9.63775152e-01 -1.72022226e+02] [-9.99243902e-01 8.92946421e-03 3.78403038e-02 -2.30095555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-172.03, Z:-230.12 [[ 4.45836252e-03 -9.29349277e-01 3.69174816e-01 2.94806449e+02] [ 3.64189540e-02 3.69084471e-01 9.28682030e-01 -1.72026036e+02] [-9.99326665e-01 9.30455946e-03 3.54914409e-02 -2.30123858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.03, Z:-230.15 [[ 4.97278530e-03 -9.62741495e-01 2.70377672e-01 2.94862072e+02] [ 3.68617208e-02 2.70373733e-01 9.62049509e-01 -1.72026659e+02] [-9.99308003e-01 5.18252059e-03 3.68328187e-02 -2.30151462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-172.03, Z:-230.18 [[ 5.03602189e-03 -9.65611960e-01 2.59938801e-01 2.94869048e+02] [ 3.74036169e-02 2.59942088e-01 9.64899518e-01 -1.72025830e+02] [-9.99287550e-01 4.86339624e-03 3.74264539e-02 -2.30179455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.03, Z:-230.21 [[ 4.53724352e-03 -9.68402745e-01 2.49350228e-01 2.94875850e+02] [ 3.80985738e-02 2.49339161e-01 9.67666514e-01 -1.72025213e+02] [-9.99263685e-01 5.10934942e-03 3.80260759e-02 -2.30207299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.02, Z:-230.23 [[ 2.56451574e-03 -9.71070362e-01 2.38779764e-01 2.94885197e+02] [ 3.91813601e-02 2.38694767e-01 9.70303885e-01 -1.72024617e+02] [-9.99228825e-01 6.86735632e-03 3.86599940e-02 -2.30234944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.02, Z:-230.26 [[-1.37209722e-03 -9.73609999e-01 2.28214124e-01 2.94894892e+02] [ 3.93347518e-02 2.27985174e-01 9.72869744e-01 -1.72023433e+02] [-9.99225147e-01 1.03116178e-02 3.79838898e-02 -2.30261722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.02, Z:-230.29 [[-4.07061666e-03 -9.74664352e-01 2.23635487e-01 2.94899363e+02] [ 3.93170521e-02 2.23308425e-01 9.73954576e-01 -1.72022576e+02] [-9.99218494e-01 1.27572838e-02 3.74119261e-02 -2.30289267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.02, Z:-230.32 [[-1.06388602e-02 -9.77305315e-01 2.11568279e-01 2.94908232e+02] [ 4.01125974e-02 2.10992832e-01 9.76664223e-01 -1.72020191e+02] [-9.99138526e-01 1.88771474e-02 3.69575314e-02 -2.30315340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.99, Z:-230.34 [[-1.36236149e-02 -9.99904797e-01 2.18941074e-03 2.95014096e+02] [ 3.64471682e-02 1.69157178e-03 9.99334150e-01 -1.71993496e+02] [-9.99242714e-01 1.36943414e-02 3.64206530e-02 -2.30342614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.99, Z:-230.37 [[-1.40552437e-02 -9.99687110e-01 -2.06913470e-02 2.95025302e+02] [ 3.59911642e-02 -2.11857875e-02 9.99127519e-01 -1.71988656e+02] [-9.99253264e-01 1.32982751e-02 3.62776743e-02 -2.30370948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.98, Z:-230.40 [[-1.72440739e-02 -9.99553630e-01 -2.43963648e-02 2.95031978e+02] [ 3.83221021e-02 -2.50427949e-02 9.98951588e-01 -1.71983516e+02] [-9.99116639e-01 1.62910750e-02 3.87368361e-02 -2.30403286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-172.00, Z:-230.44 [[-1.70616106e-02 -9.97468420e-01 6.90336996e-02 2.94989111e+02] [ 3.77375381e-02 6.83521342e-02 9.96947272e-01 -1.72003008e+02] [-9.99142022e-01 1.96146880e-02 3.64758050e-02 -2.30436774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.02, Z:-230.47 [[-1.59072715e-02 -9.74626049e-01 2.23273426e-01 2.94911822e+02] [ 4.11934554e-02 2.22473281e-01 9.74068138e-01 -1.72019942e+02] [-9.99024553e-01 2.46921702e-02 3.66092718e-02 -2.30465884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.02, Z:-230.49 [[-1.71019763e-02 -9.76947165e-01 2.12795111e-01 2.94918867e+02] [ 4.11219068e-02 2.11958907e-01 9.76413033e-01 -1.72018432e+02] [-9.99007763e-01 2.54491332e-02 3.65490141e-02 -2.30493002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95655999499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.98, Z:-230.53 [[-1.06433070e-02 -9.91669248e-01 1.28369866e-01 2.94975755e+02] [ 5.85050987e-02 1.27539646e-01 9.90106455e-01 -1.71981459e+02] [-9.98230371e-01 1.80482986e-02 5.66602636e-02 -2.30526044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-172.01, Z:-230.56 [[-5.32661730e-03 -9.34782511e-01 3.55180637e-01 2.94857283e+02] [ 5.56538553e-02 3.54358045e-01 9.33452208e-01 -1.72007554e+02] [-9.98435915e-01 2.47393144e-02 5.01367209e-02 -2.30559710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01655999499997 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:294.78, Y:-172.00, Z:-230.59 [[-1.49947983e-03 -8.71334305e-01 4.90687560e-01 2.94779796e+02] [ 5.82782089e-02 4.89777983e-01 8.69897222e-01 -1.72003876e+02] [-9.98299255e-01 2.99007854e-02 5.00453904e-02 -2.30591458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-172.01, Z:-230.62 [[-6.80097994e-03 -9.19910751e-01 3.92068817e-01 2.94834519e+02] [ 5.32373341e-02 3.91188764e-01 9.18769360e-01 -1.72011878e+02] [-9.98558728e-01 2.71212306e-02 4.63131291e-02 -2.30618311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-172.01, Z:-230.64 [[-8.18896888e-03 -9.51755052e-01 3.06749509e-01 2.94883547e+02] [ 5.14491528e-02 3.05952483e-01 9.50655596e-01 -1.72009862e+02] [-9.98642041e-01 2.35668915e-02 4.64615557e-02 -2.30644303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.01, Z:-230.67 [[-7.74621543e-03 -9.53420136e-01 3.01546083e-01 2.94887599e+02] [ 5.12499425e-02 3.00780297e-01 9.52315419e-01 -1.72008543e+02] [-9.98655816e-01 2.28310598e-02 4.65328181e-02 -2.30672208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.13655999499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.89, Y:-172.01, Z:-230.70 [[-7.15519969e-03 -9.55881660e-01 2.93664867e-01 2.94892730e+02] [ 5.09018563e-02 2.92943504e-01 9.54773850e-01 -1.72007314e+02] [-9.98678028e-01 2.17796844e-02 4.65600817e-02 -2.30700216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.01, Z:-230.73 [[-4.33709570e-03 -9.58283384e-01 2.85786890e-01 2.94897173e+02] [ 4.94364339e-02 2.85234658e-01 9.57181921e-01 -1.72005931e+02] [-9.98767855e-01 1.82796743e-02 4.61370231e-02 -2.30727490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.00, Z:-230.76 [[-2.59790710e-03 -9.59300955e-01 2.82373738e-01 2.94899146e+02] [ 4.85096268e-02 2.81921358e-01 9.58210397e-01 -1.72004820e+02] [-9.98819337e-01 1.61871862e-02 4.58029258e-02 -2.30755193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-172.00, Z:-230.78 [[-4.34427167e-04 -9.61603976e-01 2.74440531e-01 2.94903745e+02] [ 4.75918788e-02 2.74109697e-01 9.60520113e-01 -1.72003525e+02] [-9.98866770e-01 1.34784165e-02 4.56454592e-02 -2.30781798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.00, Z:-230.81 [[ 4.24086440e-03 -9.63116863e-01 2.69050037e-01 2.94906989e+02] [ 4.54042611e-02 2.68960431e-01 9.62080423e-01 -1.72002214e+02] [-9.98959693e-01 8.13596552e-03 4.48702342e-02 -2.30809394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-172.00, Z:-230.84 [[ 6.97468959e-03 -9.65276569e-01 2.61136937e-01 2.94911236e+02] [ 4.44659829e-02 2.61184361e-01 9.64264230e-01 -1.72000767e+02] [-9.98986552e-01 4.88626685e-03 4.47436512e-02 -2.30837838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.00, Z:-230.87 [[ 1.01348113e-02 -9.67379457e-01 2.53128961e-01 2.94915536e+02] [ 4.37801260e-02 2.53328496e-01 9.66389142e-01 -1.71999673e+02] [-9.98989783e-01 1.28784626e-03 4.49194310e-02 -2.30865927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.00, Z:-230.89 [[ 1.38166972e-02 -9.69399857e-01 2.45097973e-01 2.94919801e+02] [ 4.35901533e-02 2.45472292e-01 9.68423075e-01 -1.71997838e+02] [-9.98953952e-01 -2.69655024e-03 4.56479047e-02 -2.30893519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.00, Z:-230.92 [[ 2.13959254e-02 -9.71265649e-01 2.37034287e-01 2.94923857e+02] [ 4.15623504e-02 2.37747710e-01 9.70437323e-01 -1.71996058e+02] [-9.98906795e-01 -1.09117025e-02 4.54549155e-02 -2.30921313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-171.99, Z:-230.95 [[ 2.46638934e-02 -9.73146852e-01 2.28859995e-01 2.94928163e+02] [ 4.04718871e-02 2.29713935e-01 9.72416338e-01 -1.71994213e+02] [-9.98876228e-01 -1.47211770e-02 4.50507296e-02 -2.30949174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-171.99, Z:-230.98 [[ 2.77510351e-02 -9.74972630e-01 2.20586155e-01 2.94932737e+02] [ 3.95620928e-02 2.21569486e-01 9.74341728e-01 -1.71992607e+02] [-9.98831678e-01 -1.83121416e-02 4.47207402e-02 -2.30976838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.99, Z:-231.01 [[ 2.98075270e-02 -9.76748551e-01 2.12305864e-01 2.94937717e+02] [ 3.86779624e-02 2.13368257e-01 9.76205922e-01 -1.71990804e+02] [-9.98807052e-01 -2.08867262e-02 4.41386238e-02 -2.31005123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.99, Z:-231.03 [[ 3.19393272e-02 -9.78440163e-01 2.04045895e-01 2.94944239e+02] [ 3.81262061e-02 2.05194156e-01 9.77978400e-01 -1.71989291e+02] [-9.98762370e-01 -2.34564762e-02 4.38579746e-02 -2.31032331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.99, Z:-231.06 [[ 3.13592463e-02 -9.79199188e-01 2.00463333e-01 2.94947746e+02] [ 3.83032986e-02 2.01591983e-01 9.78720353e-01 -1.71988353e+02] [-9.98773976e-01 -2.30135257e-02 4.38283316e-02 -2.31060317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.556559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.99, Z:-231.09 [[ 2.99219102e-02 -9.80882336e-01 1.92287603e-01 2.94953388e+02] [ 3.87174263e-02 1.93366739e-01 9.80362313e-01 -1.71987031e+02] [-9.98802103e-01 -2.18894320e-02 4.37631417e-02 -2.31088495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-171.99, Z:-231.12 [[ 2.61472761e-02 -9.82561848e-01 1.84088387e-01 2.94961252e+02] [ 3.94687214e-02 1.85022457e-01 9.81941399e-01 -1.71986252e+02] [-9.98878641e-01 -1.84093596e-02 4.36182932e-02 -2.31116912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.98, Z:-231.14 [[ 2.41131870e-02 -9.84149366e-01 1.75694561e-01 2.94967557e+02] [ 4.03923804e-02 1.76561260e-01 9.83460511e-01 -1.71984853e+02] [-9.98892892e-01 -1.66176457e-02 4.40095903e-02 -2.31143375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.98, Z:-231.17 [[ 2.17970215e-02 -9.84845280e-01 1.72060058e-01 2.94971582e+02] [ 4.10066279e-02 1.72836814e-01 9.84096485e-01 -1.71984125e+02] [-9.98921091e-01 -1.43947695e-02 4.41525117e-02 -2.31171476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.98, Z:-231.20 [[ 1.85835317e-02 -9.86335350e-01 1.63698596e-01 2.94980343e+02] [ 4.20945887e-02 1.64353540e-01 9.85502897e-01 -1.71982864e+02] [-9.98940788e-01 -1.14232993e-02 4.45736501e-02 -2.31198864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.98, Z:-231.23 [[ 1.76406949e-02 -9.86946679e-01 1.60078291e-01 2.94984780e+02] [ 4.24578295e-02 1.60698227e-01 9.86089962e-01 -1.71981655e+02] [-9.98942510e-01 -1.05987354e-02 4.47384422e-02 -2.31227141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.98, Z:-231.25 [[ 1.70783783e-02 -9.88258934e-01 1.51830855e-01 2.94991556e+02] [ 4.26806679e-02 1.52435156e-01 9.87391454e-01 -1.71979908e+02] [-9.98942786e-01 -1.03828025e-02 4.47828966e-02 -2.31254319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.98, Z:-231.28 [[ 1.69530522e-02 -9.89106057e-01 1.46225178e-01 2.94997122e+02] [ 4.26507615e-02 1.46828469e-01 9.88242032e-01 -1.71978584e+02] [-9.98946198e-01 -1.05171035e-02 4.46753172e-02 -2.31282644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.98, Z:-231.31 [[ 1.82794078e-02 -9.90249189e-01 1.38102885e-01 2.95006270e+02] [ 4.22225392e-02 1.38767279e-01 9.89424530e-01 -1.71976849e+02] [-9.98941000e-01 -1.22550400e-02 4.43474189e-02 -2.31310250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.97, Z:-231.34 [[ 1.93316686e-02 -9.91341605e-01 1.29877285e-01 2.95012896e+02] [ 4.20641440e-02 1.30592973e-01 9.90543327e-01 -1.71974849e+02] [-9.98927873e-01 -1.36856786e-02 4.42245162e-02 -2.31338559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.97, Z:-231.37 [[ 2.10451537e-02 -9.92367253e-01 1.21508588e-01 2.95019618e+02] [ 4.27378343e-02 1.22317366e-01 9.91570441e-01 -1.71972733e+02] [-9.98864645e-01 -1.56747384e-02 4.49858150e-02 -2.31365223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.97, Z:-231.39 [[ 2.25808576e-02 -9.92770851e-01 1.17881902e-01 2.95023674e+02] [ 4.27902329e-02 1.18763658e-01 9.92000096e-01 -1.71971864e+02] [-9.98828865e-01 -1.73560188e-02 4.51626811e-02 -2.31393015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.97, Z:-231.42 [[ 2.60962024e-02 -9.93643078e-01 1.09509918e-01 2.95032512e+02] [ 4.35636533e-02 1.10573545e-01 9.92912735e-01 -1.71970543e+02] [-9.98709766e-01 -2.11405996e-02 4.61722721e-02 -2.31420106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-171.97, Z:-231.45 [[ 2.72038832e-02 -9.94006588e-01 1.05881306e-01 2.95037038e+02] [ 4.34680042e-02 1.06996600e-01 9.93308744e-01 -1.71969290e+02] [-9.98684375e-01 -2.24194060e-02 4.61182056e-02 -2.31447675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-171.97, Z:-231.47 [[ 2.80542205e-02 -9.94818812e-01 9.77163893e-02 2.95044244e+02] [ 4.30457142e-02 9.88664887e-02 9.94169243e-01 -1.71967019e+02] [-9.98679141e-01 -2.36843714e-02 4.55963085e-02 -2.31474883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.97, Z:-231.50 [[ 2.80136375e-02 -9.95160842e-01 9.41813927e-02 2.95049211e+02] [ 4.28002676e-02 9.53260907e-02 9.94525552e-01 -1.71965551e+02] [-9.98690830e-01 -2.38292895e-02 4.52635809e-02 -2.31502489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.94, Z:-231.53 [[ 3.00236525e-02 -9.97988532e-01 5.58343202e-02 2.95079818e+02] [ 5.08555026e-02 5.73123276e-02 9.97060186e-01 -1.71944737e+02] [-9.98254626e-01 -2.70959062e-02 5.24739337e-02 -2.31534325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.98, Z:-231.57 [[ 3.15161967e-02 -9.72093515e-01 2.32467046e-01 2.94992936e+02] [ 4.39925985e-02 2.33706314e-01 9.71311490e-01 -1.71977530e+02] [-9.98534617e-01 -2.03852145e-02 5.01304538e-02 -2.31568865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-172.00, Z:-231.60 [[ 2.54855385e-02 -9.31686252e-01 3.62368894e-01 2.94916074e+02] [ 3.24723729e-02 3.63066888e-01 9.31197068e-01 -1.72002091e+02] [-9.99147653e-01 -1.19650809e-02 3.95070185e-02 -2.31598064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.96, Z:-231.62 [[ 2.26518667e-02 -9.97076519e-01 7.29747153e-02 2.95076752e+02] [ 3.88024340e-02 7.38152728e-02 9.96516772e-01 -1.71957489e+02] [-9.98990122e-01 -1.97413685e-02 4.03610495e-02 -2.31622877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.96, Z:-231.65 [[ 2.08646008e-02 -9.97387363e-01 6.91600756e-02 2.95082113e+02] [ 3.87207193e-02 6.99293679e-02 9.96800175e-01 -1.71955639e+02] [-9.99032219e-01 -1.81199099e-02 4.00786045e-02 -2.31650747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.95, Z:-231.68 [[ 1.79406960e-02 -9.98028607e-01 6.01417531e-02 2.95092872e+02] [ 3.86718334e-02 6.07990792e-02 9.97400602e-01 -1.71953099e+02] [-9.99090897e-01 -1.55682692e-02 3.96863739e-02 -2.31678482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.93, Z:-231.71 [[ 1.95788789e-02 -9.99499226e-01 2.48588828e-02 2.95117864e+02] [ 4.70962199e-02 2.57580313e-02 9.98558196e-01 -1.71932836e+02] [-9.98698460e-01 -1.83798905e-02 4.75769487e-02 -2.31712413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.99, Z:-231.74 [[ 1.63826591e-02 -9.68384724e-01 2.48922950e-01 2.95002863e+02] [ 3.76567346e-02 2.49377311e-01 9.67673978e-01 -1.71990629e+02] [-9.99156434e-01 -6.47944743e-03 4.05516701e-02 -2.31741784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.93, Z:-231.77 [[ 1.66726838e-02 -9.99461464e-01 2.82631085e-02 2.95125970e+02] [ 4.84236568e-02 2.90410098e-02 9.98404612e-01 -1.71932289e+02] [-9.98687725e-01 -1.52774813e-02 4.88817705e-02 -2.31771192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.99, Z:-231.80 [[ 1.49441083e-02 -9.66012298e-01 2.58063780e-01 2.95004515e+02] [ 3.92070941e-02 2.58460238e-01 9.65225937e-01 -1.71991816e+02] [-9.99119351e-01 -4.30651008e-03 4.17369928e-02 -2.31799671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-171.95, Z:-231.83 [[ 1.27506490e-02 -9.98713961e-01 4.90697947e-02 2.95114780e+02] [ 4.18631563e-02 4.95639393e-02 9.97893227e-01 -1.71946330e+02] [-9.99041990e-01 -1.06695698e-02 4.24412911e-02 -2.31826642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.94, Z:-231.85 [[ 1.17939105e-02 -9.99094328e-01 4.08830842e-02 2.95122333e+02] [ 4.28693280e-02 4.13535451e-02 9.98224476e-01 -1.71943063e+02] [-9.99011073e-01 -1.00203398e-02 4.33182225e-02 -2.31854634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.93, Z:-231.89 [[ 1.23136622e-02 -9.99797751e-01 1.59006612e-02 2.95143791e+02] [ 4.83665850e-02 1.64787929e-02 9.98693708e-01 -1.71929002e+02] [-9.98753747e-01 -1.15285163e-02 4.85597172e-02 -2.31885912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.98, Z:-231.91 [[ 1.20936678e-02 -9.79205861e-01 2.02508334e-01 2.95047772e+02] [ 4.26438340e-02 2.02843961e-01 9.78282082e-01 -1.71980464e+02] [-9.99017140e-01 -3.19528673e-03 4.42102196e-02 -2.31914165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.94, Z:-231.94 [[ 9.35443777e-03 -9.99638783e-01 2.51951976e-02 2.95142263e+02] [ 4.45793290e-02 2.55881493e-02 9.98678091e-01 -1.71935839e+02] [-9.98962050e-01 -8.21888706e-03 4.48025890e-02 -2.31940220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.93, Z:-231.97 [[ 8.26861004e-03 -9.99782863e-01 1.91273943e-02 2.95147902e+02] [ 4.42856484e-02 1.94754068e-02 9.98829059e-01 -1.71933121e+02] [-9.98984690e-01 -7.41185893e-03 4.44370669e-02 -2.31967978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-171.93, Z:-232.00 [[ 6.07152236e-03 -9.99928449e-01 1.03069330e-02 2.95158269e+02] [ 4.33556539e-02 1.05606566e-02 9.99003884e-01 -1.71928822e+02] [-9.99041252e-01 -5.61861060e-03 4.34166710e-02 -2.31996103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.93, Z:-232.03 [[ 3.06227232e-03 -9.99975163e-01 6.34795381e-03 2.95166848e+02] [ 4.11091407e-02 6.46850277e-03 9.99133723e-01 -1.71928182e+02] [-9.99149969e-01 -2.79866063e-03 4.11279280e-02 -2.32025297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-170.97, Z:-232.11 [[-3.93128428e-02 4.30312982e-01 -9.01823285e-01 2.95158000e+02] [ 9.37611223e-02 -8.96950359e-01 -4.32075116e-01 -1.70968949e+02] [-9.94818251e-01 -1.01542064e-01 -5.08495973e-03 -2.32111184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-171.40, Z:-232.14 [[-6.30753254e-02 6.08111853e-01 7.91341568e-01 2.94302929e+02] [ 3.41605869e-02 7.93771350e-01 -6.07256204e-01 -1.71403075e+02] [-9.97423961e-01 -1.12701903e-02 -7.08408441e-02 -2.32141026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.38, Z:-232.23 [[-8.08739635e-02 -4.88921280e-01 -8.68570886e-01 2.95455810e+02] [ 4.39259551e-02 -8.72327045e-01 4.86945621e-01 -1.71383254e+02] [-9.95755950e-01 1.22841662e-03 9.20248797e-02 -2.32227865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.39, Z:-232.23 [[-8.08488352e-02 -4.98990658e-01 -8.62827786e-01 2.95457264e+02] [ 4.34311088e-02 -8.66603105e-01 4.97104412e-01 -1.71387578e+02] [-9.95779697e-01 2.71674520e-03 9.17355692e-02 -2.32232236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.39, Z:-232.27 [[-7.89683581e-02 -5.08767975e-01 -8.57274254e-01 2.95455380e+02] [ 4.71682662e-02 -8.60903572e-01 5.06576938e-01 -1.71390534e+02] [-9.95760590e-01 -4.32591202e-04 9.19818448e-02 -2.32274165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.42, Z:-232.29 [[-7.87173126e-02 -5.61442473e-01 -8.23763275e-01 2.95458279e+02] [ 4.89894108e-02 -8.27507623e-01 5.59313125e-01 -1.71423084e+02] [-9.95692534e-01 3.67194858e-03 9.26439122e-02 -2.32286104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.43, Z:-232.33 [[-7.55390007e-02 -5.72921761e-01 -8.16121630e-01 2.95455918e+02] [ 5.40776057e-02 -8.19609392e-01 5.70364846e-01 -1.71428168e+02] [-9.95675385e-01 -1.04911325e-03 9.28947115e-02 -2.32329916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.46, Z:-232.35 [[-7.43740315e-02 -6.24152040e-01 -7.77754932e-01 2.95454902e+02] [ 5.65465426e-02 -7.81299664e-01 6.21589353e-01 -1.71463538e+02] [-9.95625930e-01 2.25075372e-03 9.34020458e-02 -2.32345684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.47, Z:-232.36 [[-7.28950779e-02 -6.32876457e-01 -7.70813660e-01 2.95454177e+02] [ 5.90183838e-02 -7.74252670e-01 6.30118746e-01 -1.71467784e+02] [-9.95591853e-01 4.40378672e-04 9.37905543e-02 -2.32363626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.48, Z:-232.37 [[-7.14782900e-02 -6.49673394e-01 -7.56845648e-01 2.95455120e+02] [ 6.16776312e-02 -7.60213310e-01 6.46739201e-01 -1.71478090e+02] [-9.95533387e-01 -4.52634644e-04 9.44090634e-02 -2.32370095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.48, Z:-232.38 [[-7.07288762e-02 -6.59957322e-01 -7.47966416e-01 2.95455112e+02] [ 6.32566486e-02 -7.51302609e-01 6.56919315e-01 -1.71484373e+02] [-9.95487831e-01 -8.50683857e-04 9.48854776e-02 -2.32377491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.49, Z:-232.39 [[-7.01531521e-02 -6.68225918e-01 -7.40643408e-01 2.95454724e+02] [ 6.43804020e-02 -7.43957712e-01 6.65118100e-01 -1.71488676e+02] [-9.95456528e-01 -1.02278911e-03 9.52116317e-02 -2.32389410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.49, Z:-232.39 [[-6.89303675e-02 -6.76403697e-01 -7.33298468e-01 2.95455956e+02] [ 6.44618242e-02 -7.36530586e-01 6.73325604e-01 -1.71492060e+02] [-9.95536678e-01 -8.57175603e-04 9.43715402e-02 -2.32393044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-170.99, Z:-232.43 [[-1.25499001e-01 9.83822894e-01 1.27837840e-01 2.94478239e+02] [ 3.63356007e-02 1.33328262e-01 -9.90405623e-01 -1.70992101e+02] [-9.91428124e-01 -1.19649852e-01 -5.24803596e-02 -2.32427177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.25, Z:-232.57 [[-1.37211021e-01 -3.50422096e-01 -9.26486638e-01 2.95453178e+02] [ 5.15800181e-02 -9.36591855e-01 3.46605251e-01 -1.71249544e+02] [-9.89197977e-01 -2.30137206e-04 1.46585503e-01 -2.32574633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.25, Z:-232.58 [[-1.36310054e-01 -3.56563531e-01 -9.24273778e-01 2.95454192e+02] [ 5.11395188e-02 -9.34270706e-01 3.52878162e-01 -1.71249939e+02] [-9.89345399e-01 8.33925037e-04 1.45584978e-01 -2.32581357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.25, Z:-232.58 [[-1.35877806e-01 -3.60828804e-01 -9.22680766e-01 2.95454983e+02] [ 5.13573513e-02 -9.32631367e-01 3.57157046e-01 -1.71250998e+02] [-9.89393574e-01 1.14327550e-03 1.45255116e-01 -2.32584830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.25, Z:-232.59 [[-1.35301701e-01 -3.65121130e-01 -9.21075464e-01 2.95455252e+02] [ 5.18221577e-02 -9.30959286e-01 3.61426716e-01 -1.71252121e+02] [-9.89448288e-01 1.16953138e-03 1.44881739e-01 -2.32591458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.25, Z:-232.60 [[-1.34561369e-01 -3.69431806e-01 -9.19463637e-01 2.95455007e+02] [ 5.24674018e-02 -9.29257342e-01 3.65688342e-01 -1.71253121e+02] [-9.89515240e-01 9.65655846e-04 1.44425267e-01 -2.32600477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.25, Z:-232.61 [[-1.33695952e-01 -3.73817419e-01 -9.17815847e-01 2.95455446e+02] [ 5.37006231e-02 -9.27502295e-01 3.69940179e-01 -1.71254598e+02] [-9.89566388e-01 1.72221274e-04 1.44077530e-01 -2.32607179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.26, Z:-232.62 [[-1.28500695e-01 -3.84277493e-01 -9.14231032e-01 2.95459350e+02] [ 5.77632842e-02 -9.23209028e-01 3.79932223e-01 -1.71258576e+02] [-9.90025744e-01 -3.98743202e-03 1.40830132e-01 -2.32621357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.13, Z:-232.59 [[-1.85134208e-01 8.84356641e-01 4.28530812e-01 2.94360522e+02] [ 1.39114578e-02 4.38383819e-01 -8.98680198e-01 -1.71126929e+02] [-9.82614775e-01 -1.60414959e-01 -9.34625314e-02 -2.32594826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.09, Z:-232.81 [[-1.93502871e-01 -1.20497939e-01 -9.73671857e-01 2.95393908e+02] [ 2.94245818e-02 -9.92695390e-01 1.17004519e-01 -1.71086993e+02] [-9.80658367e-01 -6.00917681e-03 1.95635009e-01 -2.32806790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.09, Z:-232.82 [[-1.93958506e-01 -1.31813148e-01 -9.72113878e-01 2.95395071e+02] [ 3.31941109e-02 -9.91246332e-01 1.27784432e-01 -1.71091399e+02] [-9.80447984e-01 -7.48357842e-03 1.96636077e-01 -2.32821020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-171.09, Z:-232.95 [[-1.93517481e-01 -1.37738762e-01 -9.71379956e-01 2.95373360e+02] [ 3.96670754e-02 -9.90384783e-01 1.32531149e-01 -1.71087590e+02] [-9.80294603e-01 -1.28847079e-02 1.97120462e-01 -2.32952984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-171.57, Z:-232.76 [[-1.98932702e-01 2.87558654e-01 9.36875552e-01 2.94308325e+02] [-5.12505492e-02 9.51621920e-01 -3.02967164e-01 -1.71566591e+02] [-9.78672142e-01 -1.08285463e-01 -1.74571181e-01 -2.32764835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-170.87, Z:-232.96 [[-2.81898838e-01 9.57827664e-01 -5.56705618e-02 2.94534839e+02] [-4.37327801e-02 -7.07911450e-02 -9.96532015e-01 -1.70865243e+02] [-9.58446915e-01 -2.78486588e-01 6.18444081e-02 -2.32959071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.89, Z:-233.21 [[-1.94702364e-01 -9.73262160e-01 1.21867790e-01 2.95096336e+02] [-3.52796894e-02 1.31113959e-01 9.90739357e-01 -1.71891313e+02] [-9.80227695e-01 1.88599837e-01 -5.98645844e-02 -2.33205917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.87, Z:-233.33 [[-1.28226961e-01 -9.90764289e-01 4.40904715e-02 2.95081525e+02] [-3.77524885e-02 4.93016075e-02 9.98070189e-01 -1.71868989e+02] [-9.91026032e-01 1.26314983e-01 -4.37256128e-02 -2.33331214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.85, Z:-233.35 [[-1.06722914e-01 -3.04781950e-01 9.46423892e-01 2.94367432e+02] [-1.19574548e-01 9.48886040e-01 2.92091098e-01 -1.71846598e+02] [-9.87072514e-01 -8.19953960e-02 -1.37712047e-01 -2.33353315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-170.76, Z:-233.54 [[-1.34843884e-01 6.81578381e-01 -7.19213485e-01 2.94793119e+02] [-1.09132215e-01 -7.31642626e-01 -6.72896149e-01 -1.70758463e+02] [-9.84838711e-01 -1.22465693e-02 1.73039692e-01 -2.33538603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-170.80, Z:-233.90 [[-1.37401803e-01 6.72860164e-01 -7.26897479e-01 2.94753235e+02] [-1.02838709e-01 -7.39582493e-01 -6.65163090e-01 -1.70796291e+02] [-9.85162395e-01 -1.66414093e-02 1.70816038e-01 -2.33904611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.88, Z:-233.83 [[-8.92973578e-02 -2.83918895e-01 9.54681121e-01 2.94288614e+02] [-1.93033959e-01 9.45269831e-01 2.63064323e-01 -1.71875665e+02] [-9.77120194e-01 -1.60794927e-01 -1.39216086e-01 -2.33831656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.11, Z:-233.82 [[-9.63817359e-02 -1.77221140e-01 -9.79440263e-01 2.95188864e+02] [-9.76579112e-02 -9.77589915e-01 1.86496354e-01 -1.71105716e+02] [-9.90542020e-01 1.13624933e-01 7.69147667e-02 -2.33818367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59655999499995 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:294.61, Y:-170.83, Z:-234.27 [[-1.10469589e-01 7.78249181e-01 -6.18162342e-01 2.94609886e+02] [-1.06038299e-01 -6.27648065e-01 -7.71241716e-01 -1.70830095e+02] [-9.88206633e-01 -1.96498725e-02 1.51860243e-01 -2.34270074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.99, Z:-234.07 [[-3.27711299e-02 -5.72341414e-01 8.19360335e-01 2.94426485e+02] [-1.82451598e-01 8.09451047e-01 5.58122223e-01 -1.71993461e+02] [-9.82668544e-01 -1.31203307e-01 -1.30951231e-01 -2.34066286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65655999499995 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:294.36, Y:-170.91, Z:-234.55 [[-1.17671855e-01 9.51574314e-01 -2.84006441e-01 2.94359123e+02] [-1.59046975e-01 -3.00360624e-01 -9.40471986e-01 -1.70905554e+02] [-9.80233337e-01 -6.54967179e-02 1.86689008e-01 -2.34552446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.99, Z:-234.22 [[ 4.10046517e-06 -9.63945518e-01 2.66099677e-01 2.94819414e+02] [-1.67089781e-01 2.62358103e-01 9.50394250e-01 -1.71990392e+02] [-9.85941684e-01 -4.44664339e-02 -1.61064370e-01 -2.34222531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-170.89, Z:-234.17 [[-4.25811348e-02 9.95406070e-01 -8.57531459e-02 2.94244649e+02] [-1.84163503e-01 -9.21802627e-02 -9.78563541e-01 -1.70893125e+02] [-9.81972836e-01 -2.58757463e-02 1.87242609e-01 -2.34169973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-170.88, Z:-234.22 [[-4.78694882e-02 9.89399264e-01 -1.37104368e-01 2.94268454e+02] [-1.85815583e-01 -1.43686540e-01 -9.72021989e-01 -1.70884809e+02] [-9.81417893e-01 -2.10540671e-02 1.90724002e-01 -2.34216388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.72, Z:-234.18 [[ 4.62220065e-02 -9.17152663e-01 -3.95846586e-01 2.95089551e+02] [-1.28748695e-01 -3.98434658e-01 9.08115409e-01 -1.71715959e+02] [-9.90599465e-01 8.98981500e-03 -1.36498658e-01 -2.34182225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.80, Z:-234.17 [[ 1.23952799e-01 -9.63446807e-01 -2.37499377e-01 2.95026381e+02] [-1.12043810e-01 -2.51403772e-01 9.61375228e-01 -1.71803003e+02] [-9.85942132e-01 -9.25548149e-02 -1.39110452e-01 -2.34171485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.55, Z:-234.19 [[ 1.73377326e-01 -7.38280769e-01 -6.51829586e-01 2.95137281e+02] [-5.70911932e-02 -6.68274265e-01 7.41721041e-01 -1.71546755e+02] [-9.83199318e-01 -9.13838820e-02 -1.58012935e-01 -2.34192982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.30, Z:-234.22 [[ 1.96374284e-01 -3.88512823e-01 -9.00274917e-01 2.95124596e+02] [ 1.30964746e-02 -9.17031090e-01 3.98600630e-01 -1.71298021e+02] [-9.80441545e-01 -9.00653409e-02 -1.74993176e-01 -2.34216245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.10, Z:-234.24 [[ 1.90603469e-01 -6.85620821e-03 -9.81643168e-01 2.95023474e+02] [ 8.70365991e-02 -9.95919444e-01 2.38556224e-02 -1.71099345e+02] [-9.77801078e-01 -8.99858473e-02 -1.89228960e-01 -2.34241161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-170.96, Z:-234.26 [[ 1.59296052e-01 3.76595598e-01 -9.12579050e-01 2.94854695e+02] [ 1.53310229e-01 -9.22604971e-01 -3.53971809e-01 -1.70956833e+02] [-9.75254193e-01 -8.35213914e-02 -2.04703286e-01 -2.34262456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-170.89, Z:-234.28 [[ 1.09446732e-01 6.58146579e-01 -7.44892269e-01 2.94676599e+02] [ 2.05269943e-01 -7.48205743e-01 -6.30913953e-01 -1.70891973e+02] [-9.72566534e-01 -8.38525236e-02 -2.16986384e-01 -2.34281633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-170.89, Z:-234.30 [[ 4.42026699e-02 8.66488109e-01 -4.97236847e-01 2.94488087e+02] [ 2.39419169e-01 -4.92406896e-01 -8.36787853e-01 -1.70888440e+02] [-9.69909576e-01 -8.20597752e-02 -2.29219562e-01 -2.34303300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-170.94, Z:-234.33 [[-2.77740282e-02 9.76896251e-01 -2.11901670e-01 2.94318209e+02] [ 2.51833194e-01 -1.98307898e-01 -9.47234934e-01 -1.70942167e+02] [-9.67372031e-01 -7.96724042e-02 -2.40507094e-01 -2.34325380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.80, Z:-234.94 [[-1.46128040e-02 -9.96275875e-01 -8.49755720e-02 2.95004869e+02] [ 2.79801231e-01 -8.56637689e-02 9.56228524e-01 -1.71797843e+02] [-9.59946737e-01 -9.80308960e-03 2.80011004e-01 -2.34935831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-171.25, Z:-234.82 [[-6.54575972e-02 7.53907503e-01 6.53711541e-01 2.93998391e+02] [ 1.99790153e-01 6.51752983e-01 -7.31643318e-01 -1.71247936e+02] [-9.77649834e-01 8.27135150e-02 -1.93285479e-01 -2.34819991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.68, Z:-234.75 [[-7.42390259e-02 -9.30612057e-01 -3.58398893e-01 2.95139969e+02] [ 2.35400567e-01 -3.65587839e-01 9.00517687e-01 -1.71681038e+02] [-9.69058894e-01 -1.75137466e-02 2.46207491e-01 -2.34752832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-171.54, Z:-234.70 [[-8.16046968e-02 3.54955479e-01 9.31314813e-01 2.94041680e+02] [ 1.58447625e-01 9.27167762e-01 -3.39491224e-01 -1.71539805e+02] [-9.83989341e-01 1.19860542e-01 -1.31903097e-01 -2.34702833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.54, Z:-234.93 [[-1.04861872e-01 -8.58971816e-01 -5.01170039e-01 2.95171908e+02] [ 1.60120325e-01 -5.11956381e-01 8.43956246e-01 -1.71537783e+02] [-9.81511828e-01 8.25132242e-03 1.91223551e-01 -2.34930695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.52, Z:-235.01 [[-1.04016148e-01 -8.56506408e-01 -5.05546648e-01 2.95166689e+02] [ 1.68503510e-01 -5.16131856e-01 8.39770489e-01 -1.71517026e+02] [-9.80197535e-01 2.16330718e-03 1.98010384e-01 -2.35008100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-171.56, Z:-235.01 [[-8.92475506e-02 1.91111165e-01 9.77502633e-01 2.94060012e+02] [ 9.25254142e-02 9.78765967e-01 -1.82910441e-01 -1.71561380e+02] [-9.91702537e-01 7.41195271e-02 -1.05035105e-01 -2.35013818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-170.73, Z:-234.94 [[-1.43518536e-01 5.62731381e-01 -8.14085881e-01 2.94792726e+02] [ 1.30286244e-01 -8.04698627e-01 -5.79211201e-01 -1.70725742e+02] [-9.81034110e-01 -1.89191736e-01 4.21730108e-02 -2.34943390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.37, Z:-235.10 [[-1.62022487e-01 -7.08558509e-01 -6.86799500e-01 2.95212297e+02] [ 1.39498444e-01 -7.05452508e-01 6.94893476e-01 -1.71369223e+02] [-9.76877115e-01 1.67809080e-02 2.13141979e-01 -2.35100478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.33, Z:-235.27 [[-1.64583266e-01 -7.03434670e-01 -6.91441981e-01 2.95185828e+02] [ 1.48335853e-01 -7.10680604e-01 6.87698738e-01 -1.71332284e+02] [-9.75145540e-01 1.06180681e-02 2.21310716e-01 -2.35273407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-171.65, Z:-235.23 [[-1.26614556e-01 -7.41488573e-02 9.89176780e-01 2.94138591e+02] [ 9.87326120e-02 9.91308324e-01 8.69464055e-02 -1.71653853e+02] [-9.87026152e-01 1.08672688e-01 -1.18193153e-01 -2.35231244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.11, Z:-235.50 [[-1.58721784e-01 -4.63688453e-01 -8.71665311e-01 2.95142045e+02] [ 7.07801098e-02 -8.85929289e-01 4.58387906e-01 -1.71108682e+02] [-9.84783007e-01 1.10595797e-02 1.73436197e-01 -2.35503471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-171.56, Z:-235.23 [[-1.28701620e-01 4.04130121e-02 9.90859567e-01 2.94090098e+02] [ 4.05155020e-02 9.98549343e-01 -3.54641334e-02 -1.71555075e+02] [-9.90855382e-01 3.55808813e-02 -1.30152272e-01 -2.35227050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-170.88, Z:-235.37 [[-1.54011199e-01 -9.19741278e-02 -9.83779096e-01 2.95075498e+02] [-1.28064952e-02 -9.95388746e-01 9.50643857e-02 -1.70876582e+02] [-9.87986105e-01 2.72397423e-02 1.52123148e-01 -2.35371534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-170.88, Z:-235.38 [[-1.55685936e-01 -1.02535186e-01 -9.82470572e-01 2.95077892e+02] [-1.53108770e-02 -9.94228135e-01 1.06188478e-01 -1.70884402e+02] [-9.87687940e-01 3.15745387e-02 1.53217435e-01 -2.35376358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-170.89, Z:-235.48 [[-1.54436528e-01 -1.09012955e-01 -9.81970231e-01 2.95064263e+02] [ 4.29925901e-04 -9.93901588e-01 1.10269894e-01 -1.70889960e+02] [-9.88002618e-01 1.66075252e-02 1.53541578e-01 -2.35475648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-170.95, Z:-235.49 [[-1.58354418e-01 -2.25553971e-01 -9.61274823e-01 2.95095928e+02] [ 1.97050967e-03 -9.73629114e-01 2.28128178e-01 -1.70953847e+02] [-9.87380370e-01 3.42309036e-02 1.54622928e-01 -2.35487812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-170.96, Z:-235.49 [[-1.58455516e-01 -2.29660712e-01 -9.60285274e-01 2.95095303e+02] [ 1.96557810e-03 -9.72644087e-01 2.32292094e-01 -1.70956844e+02] [-9.87364161e-01 3.49204479e-02 1.54572237e-01 -2.35494359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-170.96, Z:-235.50 [[-1.57982100e-01 -2.33858746e-01 -9.59349646e-01 2.95095145e+02] [ 2.34376160e-03 -9.71636470e-01 2.36467919e-01 -1.70960421e+02] [-9.87439195e-01 3.51092116e-02 1.54049279e-01 -2.35500824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-170.97, Z:-235.52 [[-1.55298001e-01 -2.41637527e-01 -9.57858986e-01 2.95095627e+02] [ 4.96459174e-03 -9.69801430e-01 2.43845317e-01 -1.70967567e+02] [-9.87855194e-01 3.31133116e-02 1.51807856e-01 -2.35516279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-170.95, Z:-235.76 [[-1.63902618e-01 8.55808039e-01 4.90640941e-01 2.93967683e+02] [ 2.43771557e-03 4.97716930e-01 -8.67336103e-01 -1.70950764e+02] [-9.86473512e-01 -1.40962615e-01 -8.36633246e-02 -2.35763059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-170.81, Z:-235.67 [[-2.06402551e-01 3.42692179e-02 -9.77866866e-01 2.95018880e+02] [-2.91512581e-02 -9.99158232e-01 -2.88622901e-02 -1.70809935e+02] [-9.78032817e-01 2.25487991e-02 2.07227799e-01 -2.35665667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-170.82, Z:-235.84 [[-2.18279172e-01 2.08322222e-03 -9.75884144e-01 2.94989251e+02] [-1.94939726e-02 -9.99807497e-01 2.22598862e-03 -1.70820979e+02] [-9.75691646e-01 1.95097457e-02 2.18277763e-01 -2.35835216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.75, Z:-235.72 [[-1.57003272e-01 -8.40700694e-01 5.18239632e-01 2.94560472e+02] [-5.30917221e-03 5.25458408e-01 8.50802724e-01 -1.71750475e+02] [-9.87583812e-01 1.30827388e-01 -8.69621140e-02 -2.35720884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-170.72, Z:-235.83 [[-1.44048648e-01 2.20898187e-01 -9.64600424e-01 2.94880675e+02] [-5.40987345e-02 -9.75066824e-01 -2.15216207e-01 -1.70720125e+02] [-9.88090742e-01 2.11820585e-02 1.52407370e-01 -2.35830726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-170.73, Z:-235.84 [[-1.45306120e-01 1.94341159e-01 -9.70112182e-01 2.94891827e+02] [-5.08726492e-02 -9.80689224e-01 -1.88840195e-01 -1.70733226e+02] [-9.88077985e-01 2.19125408e-02 1.52386795e-01 -2.35841259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-170.74, Z:-236.09 [[-1.48335737e-01 1.88261576e-01 -9.70852248e-01 2.94857122e+02] [-4.61212863e-02 -9.81961626e-01 -1.83369003e-01 -1.70742847e+02] [-9.87860990e-01 1.75767782e-02 1.54342868e-01 -2.36089885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.66, Z:-235.86 [[-1.04461174e-01 -4.88037000e-01 8.66549335e-01 2.94219349e+02] [-6.61979127e-02 8.72796069e-01 4.83575080e-01 -1.71663417e+02] [-9.92323385e-01 -6.84893675e-03 -1.23480333e-01 -2.35860449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-170.61, Z:-236.28 [[-9.71054181e-02 6.13784000e-01 -7.83479252e-01 2.94598751e+02] [-9.51358871e-02 -7.89319148e-01 -6.06567759e-01 -1.70605035e+02] [-9.90716761e-01 1.56359779e-02 1.35040051e-01 -2.36280705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-170.61, Z:-236.35 [[-1.09769648e-01 6.30658731e-01 -7.68257893e-01 2.94582667e+02] [-7.70744373e-02 -7.76002098e-01 -6.26003415e-01 -1.70612017e+02] [-9.90964255e-01 -9.50312968e-03 1.33789144e-01 -2.36352478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-170.84, Z:-236.15 [[-1.73983847e-01 9.08462391e-01 3.80033821e-01 2.93983315e+02] [-9.95626292e-02 3.67714270e-01 -9.24593694e-01 -1.70839795e+02] [-9.79702457e-01 -1.98701534e-01 2.64725609e-02 -2.36152048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-171.51, Z:-236.40 [[-1.28446082e-01 -9.29773496e-01 -3.44996884e-01 2.94881748e+02] [-5.96437018e-02 -3.40006337e-01 9.38529871e-01 -1.71508650e+02] [-9.89921327e-01 1.41127376e-01 -1.17826512e-02 -2.36395337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.87, Z:-236.45 [[-1.79220854e-01 8.99171511e-01 3.99212324e-01 2.93935247e+02] [-1.07255314e-01 3.85505917e-01 -9.16450482e-01 -1.70870328e+02] [-9.77944877e-01 -2.07064682e-01 2.73502232e-02 -2.36451324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.85, Z:-236.59 [[-2.43327058e-01 8.97925923e-01 3.66771018e-01 2.93951489e+02] [-1.32170786e-01 3.43913636e-01 -9.29652782e-01 -1.70854056e+02] [-9.60896887e-01 -2.74686090e-01 3.49960814e-02 -2.36590274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.51, Z:-236.86 [[-1.84097076e-01 -9.05672873e-01 -3.81922654e-01 2.94831227e+02] [-6.80825031e-02 -3.75880978e-01 9.24163548e-01 -1.71514863e+02] [-9.80547316e-01 1.96138057e-01 7.53811269e-03 -2.36864964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-171.55, Z:-236.93 [[-1.56953256e-01 -7.04364142e-02 9.85091055e-01 2.93868547e+02] [-1.77970958e-01 9.83141535e-01 4.19411412e-02 -1.71551496e+02] [-9.71438116e-01 -1.68734800e-01 -1.66842901e-01 -2.36928754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-170.64, Z:-237.07 [[-2.00047121e-01 7.13855102e-01 -6.71112541e-01 2.94414764e+02] [-1.64906075e-01 -6.99717830e-01 -6.95126568e-01 -1.70640185e+02] [-9.65809058e-01 -2.83875336e-02 2.57695581e-01 -2.37065221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-170.65, Z:-237.09 [[-2.02452862e-01 6.63786955e-01 -7.19999803e-01 2.94451716e+02] [-1.61637249e-01 -7.47790806e-01 -6.43958313e-01 -1.70652640e+02] [-9.65860362e-01 -1.39924155e-02 2.58685086e-01 -2.37085482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-170.66, Z:-237.10 [[-2.04706296e-01 6.58636736e-01 -7.24080784e-01 2.94454805e+02] [-1.59333948e-01 -7.52301605e-01 -6.39261283e-01 -1.70656844e+02] [-9.65768101e-01 -1.54901596e-02 2.58944067e-01 -2.37095644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-170.67, Z:-237.16 [[-2.10524828e-01 6.54150117e-01 -7.26475686e-01 2.94446180e+02] [-1.51984501e-01 -7.55995674e-01 -6.36687720e-01 -1.70669881e+02] [-9.65701822e-01 -2.36255277e-02 2.58576538e-01 -2.37160515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-170.68, Z:-237.17 [[-2.11224985e-01 6.28790662e-01 -7.48335693e-01 2.94464509e+02] [-1.49921327e-01 -7.77392179e-01 -6.10888693e-01 -1.70676506e+02] [-9.65871421e-01 -1.68434752e-02 2.58473782e-01 -2.37165655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-170.68, Z:-237.17 [[-2.11841341e-01 6.25661562e-01 -7.50780165e-01 2.94465218e+02] [-1.48839069e-01 -7.79908461e-01 -6.07938914e-01 -1.70678985e+02] [-9.65903814e-01 -1.70411743e-02 2.58339738e-01 -2.37174647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-170.69, Z:-237.21 [[-2.14542439e-01 6.21834224e-01 -7.53189047e-01 2.94459956e+02] [-1.44071246e-01 -7.82857889e-01 -6.05290841e-01 -1.70686072e+02] [-9.66030547e-01 -2.13476892e-02 2.57544672e-01 -2.37213640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-170.69, Z:-237.23 [[-2.14984146e-01 6.07279643e-01 -7.64848516e-01 2.94467672e+02] [-1.42222405e-01 -7.94279524e-01 -5.90671504e-01 -1.70691076e+02] [-9.66206295e-01 -1.82064131e-02 2.57126276e-01 -2.37225639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-171.58, Z:-237.27 [[-1.20356897e-01 -9.20199180e-01 -3.72488506e-01 2.94709232e+02] [-1.07361311e-01 -3.60950086e-01 9.26384685e-01 -1.71578083e+02] [-9.86908185e-01 1.51487641e-01 -5.53509580e-02 -2.37270345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.71, Z:-237.36 [[-4.78138145e-02 -9.92842482e-01 -1.09442427e-01 2.94559792e+02] [-1.05751875e-01 -1.03920223e-01 9.88947485e-01 -1.71710447e+02] [-9.93242357e-01 5.88590934e-02 -1.00026132e-01 -2.37364045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-170.71, Z:-237.47 [[-8.84841934e-02 8.72607681e-01 -4.80339862e-01 2.94143033e+02] [-1.17010859e-01 -4.87998456e-01 -8.64965876e-01 -1.70712907e+02] [-9.89180978e-01 -2.03308278e-02 1.45284724e-01 -2.37465104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-170.71, Z:-237.47 [[-8.99143568e-02 8.69175641e-01 -4.86260334e-01 2.94146166e+02] [-1.15538031e-01 -4.94044550e-01 -8.61725563e-01 -1.70712563e+02] [-9.89225137e-01 -2.12999380e-02 1.44844540e-01 -2.37469772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-170.72, Z:-237.50 [[-9.27704318e-02 8.65182296e-01 -4.92801423e-01 2.94148596e+02] [-1.13051011e-01 -5.00887867e-01 -8.58097205e-01 -1.70715065e+02] [-9.89248763e-01 -2.38943490e-02 1.44277317e-01 -2.37498130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-171.79, Z:-237.49 [[-1.39104824e-02 -5.34594587e-01 8.44994157e-01 2.93936334e+02] [-1.86797697e-01 8.31587716e-01 5.23037753e-01 -1.71788516e+02] [-9.82299913e-01 -1.50567255e-01 -1.11428824e-01 -2.37486536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.76, Z:-237.70 [[-5.96793140e-02 9.80046254e-01 -1.89598836e-01 2.93938682e+02] [-1.76622655e-01 -1.97307864e-01 -9.64299769e-01 -1.70758590e+02] [-9.82467718e-01 -2.40612988e-02 1.84873570e-01 -2.37698260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.76, Z:-237.69 [[-6.14006360e-02 9.78652487e-01 -1.96135852e-01 2.93942161e+02] [-1.76531378e-01 -2.04056608e-01 -9.62910989e-01 -1.70755070e+02] [-9.82378051e-01 -2.44992148e-02 1.85292078e-01 -2.37691107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.76, Z:-237.70 [[-6.30231594e-02 9.77403245e-01 -2.01769616e-01 2.93944424e+02] [-1.76233512e-01 -2.09893596e-01 -9.61710158e-01 -1.70755232e+02] [-9.82328779e-01 -2.50514446e-02 1.85479364e-01 -2.37704241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.76, Z:-237.72 [[-6.57384647e-02 9.76058890e-01 -2.07334267e-01 2.93945236e+02] [-1.76513662e-01 -2.15881960e-01 -9.60332185e-01 -1.70755070e+02] [-9.82100495e-01 -2.65334328e-02 1.86479478e-01 -2.37716829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.76, Z:-237.73 [[-6.72313963e-02 9.74624868e-01 -2.13509499e-01 2.93946847e+02] [-1.76300554e-01 -2.22231039e-01 -9.58922041e-01 -1.70755452e+02] [-9.82037705e-01 -2.68278247e-02 1.86767807e-01 -2.37729549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.76, Z:-237.74 [[-6.88574745e-02 9.73266630e-01 -2.19113477e-01 2.93947913e+02] [-1.75981485e-01 -2.28040464e-01 -9.57615823e-01 -1.70755101e+02] [-9.81982263e-01 -2.73790920e-02 1.86979197e-01 -2.37737293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.75, Z:-237.74 [[-6.93686671e-02 9.71951781e-01 -2.24716984e-01 2.93947442e+02] [-1.75884603e-01 -2.33646887e-01 -9.56281203e-01 -1.70754448e+02] [-9.81963642e-01 -2.68116949e-02 1.87159126e-01 -2.37743272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.75, Z:-237.75 [[-6.97868192e-02 9.70609052e-01 -2.30321228e-01 2.93948598e+02] [-1.75373252e-01 -2.39225421e-01 -9.54994985e-01 -1.70753811e+02] [-9.82025469e-01 -2.62538795e-02 1.86913647e-01 -2.37748533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.75, Z:-237.76 [[-7.00220650e-02 9.69249758e-01 -2.35906372e-01 2.93949462e+02] [-1.74847114e-01 -2.44750958e-01 -9.53690440e-01 -1.70754336e+02] [-9.82102539e-01 -2.55318257e-02 1.86608490e-01 -2.37759428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.76, Z:-237.78 [[-6.98287530e-02 9.67885744e-01 -2.41497685e-01 2.93950460e+02] [-1.74043408e-01 -2.50196199e-01 -9.52423621e-01 -1.70755352e+02] [-9.82259048e-01 -2.44754736e-02 1.85925022e-01 -2.37775798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.75, Z:-237.77 [[-6.77671948e-02 9.66604987e-01 -2.47148553e-01 2.93950174e+02] [-1.72760961e-01 -2.55344721e-01 -9.51290031e-01 -1.70753035e+02] [-9.82629766e-01 -2.17686353e-02 1.84295602e-01 -2.37773570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.75, Z:-237.79 [[-6.75214391e-02 9.65175115e-01 -2.52740682e-01 2.93950699e+02] [-1.71914178e-01 -2.60784930e-01 -9.49966702e-01 -1.70754036e+02] [-9.82795183e-01 -2.06934123e-02 1.83535860e-01 -2.37787230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.75, Z:-237.79 [[-6.71691556e-02 9.63720648e-01 -2.58323087e-01 2.93951843e+02] [-1.70894188e-01 -2.66194231e-01 -9.48649465e-01 -1.70753637e+02] [-9.82997193e-01 -1.95740693e-02 1.82574299e-01 -2.37794122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.76, Z:-237.83 [[-6.99652935e-02 9.62445394e-01 -2.62304636e-01 2.93949621e+02] [-1.70823549e-01 -2.70624399e-01 -9.47407911e-01 -1.70758622e+02] [-9.82814414e-01 -2.14778639e-02 1.83342653e-01 -2.37828384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.75, Z:-237.79 [[ 3.53677139e-02 -9.91158001e-01 -1.27886438e-01 2.94529655e+02] [-1.52592809e-01 -1.31821852e-01 9.79458235e-01 -1.71746513e+02] [-9.87656094e-01 -1.51266478e-02 -1.55905821e-01 -2.37790675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.91, Z:-237.97 [[ 2.13120295e-03 9.93531044e-01 1.13540840e-01 2.93723471e+02] [-1.68383900e-01 1.12276434e-01 -9.79306318e-01 -1.70905516e+02] [-9.85719189e-01 -1.70313490e-02 1.67533916e-01 -2.37970372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.91, Z:-238.00 [[ 2.24591992e-03 9.93400232e-01 1.14677525e-01 2.93722731e+02] [-1.68565190e-01 1.13412911e-01 -9.79144161e-01 -1.70910367e+02] [-9.85687949e-01 -1.71315593e-02 1.67707415e-01 -2.37998258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-171.76, Z:-237.85 [[ 1.13942664e-01 -9.86566552e-01 -1.17061987e-01 2.94521756e+02] [-1.42439561e-01 -1.32834573e-01 9.80849605e-01 -1.71761149e+02] [-9.83223291e-01 -9.50863591e-02 -1.55661632e-01 -2.37846101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-171.14, Z:-238.07 [[ 8.38124665e-02 8.42251962e-01 5.32528969e-01 2.93570920e+02] [-1.67610232e-01 5.38710801e-01 -8.25649734e-01 -1.71144154e+02] [-9.82284216e-01 -2.00575633e-02 1.86320727e-01 -2.38065136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.55, Z:-237.90 [[ 1.74281885e-01 -8.25461220e-01 -5.36879502e-01 2.94675430e+02] [-9.19391499e-02 -5.56482960e-01 8.25756567e-01 -1.71545151e+02] [-9.80394317e-01 -9.45541663e-02 -1.72877102e-01 -2.37895038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-171.32, Z:-237.92 [[ 2.09713777e-01 -5.38040221e-01 -8.16414632e-01 2.94709051e+02] [-2.32536860e-02 -8.37490634e-01 5.45956687e-01 -1.71321123e+02] [-9.77486265e-01 -9.55099897e-02 -1.88144743e-01 -2.37919242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.11, Z:-237.94 [[ 2.17022892e-01 -1.85809538e-01 -9.58319300e-01 2.94657642e+02] [ 5.37043600e-02 -9.77957560e-01 2.01779217e-01 -1.71114747e+02] [-9.74688107e-01 -9.52566339e-02 -2.02260395e-01 -2.37943624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-170.95, Z:-237.96 [[ 1.97277627e-01 1.69534266e-01 -9.65577377e-01 2.94542843e+02] [ 1.27567394e-01 -9.80998671e-01 -1.46178546e-01 -1.70952070e+02] [-9.72012396e-01 -9.43384331e-02 -2.15156134e-01 -2.37963572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-170.85, Z:-237.98 [[ 1.55122765e-01 4.86621992e-01 -8.59730170e-01 2.94388895e+02] [ 1.91349834e-01 -8.68583796e-01 -4.57107679e-01 -1.70845606e+02] [-9.69186344e-01 -9.36014185e-02 -2.27852157e-01 -2.37984952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-170.80, Z:-238.01 [[ 9.54512389e-02 7.36808444e-01 -6.69329797e-01 2.94219199e+02] [ 2.38385449e-01 -6.69753754e-01 -7.03279665e-01 -1.70798404e+02] [-9.66468540e-01 -9.24295687e-02 -2.39573237e-01 -2.38006989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-170.81, Z:-238.03 [[ 2.47918166e-02 9.05149591e-01 -4.24369630e-01 2.94051141e+02] [ 2.65785066e-01 -4.15190219e-01 -8.70043321e-01 -1.70805592e+02] [-9.63713476e-01 -9.12211558e-02 -2.50868564e-01 -2.38028265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-170.86, Z:-238.05 [[-5.01963721e-02 9.86892575e-01 -1.53373305e-01 2.93898478e+02] [ 2.72170987e-01 -1.34237664e-01 -9.52839548e-01 -1.70859396e+02] [-9.60938748e-01 -8.95728522e-02 -2.61865282e-01 -2.38050124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-171.77, Z:-238.34 [[-2.30208266e-02 -9.92845078e-01 -1.17169506e-01 2.94585582e+02] [ 2.87240924e-01 -1.18827559e-01 9.50459185e-01 -1.71771666e+02] [-9.57581690e-01 -1.17755211e-02 2.87921247e-01 -2.38344919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-171.77, Z:-238.34 [[-2.42455692e-02 -9.93025185e-01 -1.15382554e-01 2.94585354e+02] [ 2.86800327e-01 -1.17474164e-01 9.50760429e-01 -1.71772437e+02] [-9.57683520e-01 -1.00400263e-02 2.87648176e-01 -2.38344749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.35 [[-2.52650602e-02 -9.93186137e-01 -1.13767197e-01 2.94584927e+02] [ 2.86358751e-01 -1.16224766e-01 9.51047038e-01 -1.71771426e+02] [-9.57789300e-01 -8.54997170e-03 2.87343968e-01 -2.38349681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-171.77, Z:-238.35 [[-2.83090980e-02 -9.93305632e-01 -1.11993373e-01 2.94585053e+02] [ 2.85430791e-01 -1.15406221e-01 9.51425598e-01 -1.71770535e+02] [-9.57981137e-01 -5.03235637e-03 2.86787058e-01 -2.38354763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.36 [[-2.90376653e-02 -9.93466483e-01 -1.10368301e-01 2.94584603e+02] [ 2.85327927e-01 -1.14059024e-01 9.51618891e-01 -1.71771039e+02] [-9.57989973e-01 -3.85836767e-03 2.86775739e-01 -2.38355859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.36 [[-2.97115700e-02 -9.93646515e-01 -1.08553337e-01 2.94584284e+02] [ 2.85918751e-01 -1.12512085e-01 9.51625714e-01 -1.71771007e+02] [-9.57793136e-01 -2.76314045e-03 2.87445081e-01 -2.38358852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.37 [[-3.06647362e-02 -9.93814611e-01 -1.06734219e-01 2.94584157e+02] [ 2.86838825e-01 -1.11042575e-01 9.51521432e-01 -1.71768663e+02] [-9.57487944e-01 -1.43736412e-03 2.88469706e-01 -2.38368879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.37 [[-3.05945388e-02 -9.94146290e-01 -1.03620111e-01 2.94583203e+02] [ 2.87105342e-01 -1.08040529e-01 9.51786618e-01 -1.71769859e+02] [-9.57410308e-01 -6.30414785e-04 2.88730160e-01 -2.38368731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.38 [[-3.03906695e-02 -9.94321926e-01 -1.01981934e-01 2.94582353e+02] [ 2.87670489e-01 -1.06413056e-01 9.51799323e-01 -1.71767404e+02] [-9.57247145e-01 -4.11374157e-04 2.89271039e-01 -2.38378893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.38 [[-2.99331907e-02 -9.94501031e-01 -1.00357874e-01 2.94581966e+02] [ 2.87778457e-01 -1.04726071e-01 9.51953785e-01 -1.71768172e+02] [-9.57229107e-01 -3.85819993e-04 2.89330758e-01 -2.38379116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.38 [[-2.89470515e-02 -9.94692827e-01 -9.87332191e-02 2.94582321e+02] [ 2.87912032e-01 -1.02885524e-01 9.52114085e-01 -1.71767757e+02] [-9.57219270e-01 -8.65586239e-04 2.89362265e-01 -2.38381841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.38 [[-2.81633504e-02 -9.94874586e-01 -9.71153089e-02 2.94582075e+02] [ 2.87887989e-01 -1.01110150e-01 9.52311527e-01 -1.71767479e+02] [-9.57249879e-01 -1.13804773e-03 2.89260044e-01 -2.38384216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.77, Z:-238.39 [[-2.71708661e-02 -9.95057816e-01 -9.55075252e-02 2.94581653e+02] [ 2.87585298e-01 -9.92846169e-02 9.52595014e-01 -1.71766841e+02] [-9.57369542e-01 -1.58372853e-03 2.88861648e-01 -2.38388777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.72, Z:-238.55 [[-2.15570302e-02 -9.95155537e-01 -9.59205474e-02 2.94580976e+02] [ 2.90548187e-01 -9.80378467e-02 9.51824738e-01 -1.71718650e+02] [-9.56617502e-01 -7.35102656e-03 2.91254042e-01 -2.38545408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.98, Z:-238.26 [[-9.16435397e-02 9.44631007e-01 3.15077327e-01 2.93705915e+02] [ 2.48180619e-01 3.28091167e-01 -9.11461775e-01 -1.70984148e+02] [-9.64369142e-01 -5.33349741e-03 -2.64506544e-01 -2.38260272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.61, Z:-238.53 [[-9.03951401e-02 -9.42520325e-01 -3.21689534e-01 2.94698261e+02] [ 2.67150387e-01 -3.34122007e-01 9.03876737e-01 -1.71605792e+02] [-9.59405748e-01 -4.23341904e-03 2.81997675e-01 -2.38526053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.61, Z:-238.53 [[-8.91248069e-02 -9.43173697e-01 -3.20125203e-01 2.94697288e+02] [ 2.67429654e-01 -3.32262520e-01 9.04479407e-01 -1.71605651e+02] [-9.59446793e-01 -4.99941972e-03 2.81845448e-01 -2.38531286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.60, Z:-238.54 [[-8.73257301e-02 -9.43878243e-01 -3.18540546e-01 2.94696495e+02] [ 2.68086565e-01 -3.30232282e-01 9.05028306e-01 -1.71604602e+02] [-9.59428898e-01 -6.36418315e-03 2.81878851e-01 -2.38538776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.60, Z:-238.54 [[-8.65808875e-02 -9.44485996e-01 -3.16938407e-01 2.94695941e+02] [ 2.68519718e-01 -3.28483311e-01 9.05536236e-01 -1.71604881e+02] [-9.59375271e-01 -6.70208064e-03 2.82053490e-01 -2.38540407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.60, Z:-238.55 [[-8.60234643e-02 -9.45060965e-01 -3.15372377e-01 2.94695111e+02] [ 2.68482301e-01 -3.26825010e-01 9.06147155e-01 -1.71604468e+02] [-9.59435885e-01 -6.72198378e-03 2.81846762e-01 -2.38545379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-171.60, Z:-238.55 [[-8.66700107e-02 -9.45652773e-01 -3.13415288e-01 2.94694886e+02] [ 2.68698168e-01 -3.25129398e-01 9.06692985e-01 -1.71604083e+02] [-9.59317259e-01 -5.63102293e-03 2.82274136e-01 -2.38550375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-171.59, Z:-238.61 [[-8.05263508e-02 -9.46764470e-01 -3.11693030e-01 2.94688354e+02] [ 2.71223325e-01 -3.21722014e-01 9.07156466e-01 -1.71590121e+02] [-9.59142020e-01 -1.14884202e-02 2.82691708e-01 -2.38606809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.54, Z:-238.82 [[-7.85488120e-02 -9.52339660e-01 -2.94752874e-01 2.94666871e+02] [ 2.79385657e-01 -3.04847277e-01 9.10500847e-01 -1.71535912e+02] [-9.56960678e-01 -1.08309654e-02 2.90015433e-01 -2.38817974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-171.36, Z:-238.59 [[-9.92781762e-02 4.09922232e-01 9.06701499e-01 2.93609198e+02] [ 1.92901845e-01 9.01845471e-01 -3.86605256e-01 -1.71355410e+02] [-9.76182730e-01 1.36522927e-01 -1.68608328e-01 -2.38585022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-171.43, Z:-238.72 [[-1.17203190e-01 -8.71437822e-01 -4.76297738e-01 2.94743317e+02] [ 2.09311804e-01 -4.90505679e-01 8.45927153e-01 -1.71429304e+02] [-9.70799661e-01 -5.49377857e-04 2.39891052e-01 -2.38723074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-171.34, Z:-238.69 [[-1.19906442e-01 3.51965905e-01 9.28300839e-01 2.93616262e+02] [ 1.39443770e-01 9.31748462e-01 -3.35261448e-01 -1.71338543e+02] [-9.82943478e-01 8.92457615e-02 -1.60802096e-01 -2.38689666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.23, Z:-238.84 [[-1.46225789e-01 -7.18035683e-01 -6.80472466e-01 2.94780379e+02] [ 1.38582147e-01 -6.95951567e-01 7.04589530e-01 -1.71229976e+02] [-9.79496303e-01 8.72782490e-03 2.01272994e-01 -2.38842021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.23, Z:-238.84 [[-1.47879645e-01 -7.19715601e-01 -6.78336984e-01 2.94780829e+02] [ 1.37108283e-01 -6.94173916e-01 7.06628540e-01 -1.71231350e+02] [-9.79455425e-01 1.14903584e-02 2.01333162e-01 -2.38838876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.23, Z:-238.84 [[-1.50877102e-01 -7.20968268e-01 -6.76343742e-01 2.94780953e+02] [ 1.32944030e-01 -6.92758853e-01 7.08809605e-01 -1.71231450e+02] [-9.79572348e-01 1.70272766e-02 2.00369875e-01 -2.38841614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.23, Z:-238.85 [[-1.51754284e-01 -7.22690270e-01 -6.74306615e-01 2.94779572e+02] [ 1.31292724e-01 -6.90900982e-01 7.10927601e-01 -1.71231367e+02] [-9.79659562e-01 1.93547562e-02 1.99731158e-01 -2.38851981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.23, Z:-238.85 [[-1.52378798e-01 -7.24475151e-01 -6.72247318e-01 2.94779641e+02] [ 1.30035815e-01 -6.88973789e-01 7.13025810e-01 -1.71232997e+02] [-9.79730263e-01 2.12337882e-02 1.99192715e-01 -2.38849577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.23, Z:-238.86 [[-1.54937140e-01 -7.24971870e-01 -6.71126121e-01 2.94776880e+02] [ 1.29495701e-01 -6.88371590e-01 7.13705413e-01 -1.71231221e+02] [-9.79400504e-01 2.36715280e-02 2.00535066e-01 -2.38861252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.23, Z:-238.93 [[-1.45701373e-01 -7.31196242e-01 -6.66425664e-01 2.94766368e+02] [ 1.35665125e-01 -6.82017350e-01 7.18642685e-01 -1.71227476e+02] [-9.79982696e-01 1.42965052e-02 1.98568694e-01 -2.38931840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.26, Z:-238.95 [[-1.45905114e-01 -7.68618256e-01 -6.22846429e-01 2.94758367e+02] [ 1.37355137e-01 -6.39224944e-01 7.56653843e-01 -1.71260719e+02] [-9.79716931e-01 2.48485092e-02 1.98839854e-01 -2.38945760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.26, Z:-238.95 [[-1.45570777e-01 -7.71921907e-01 -6.18826080e-01 2.94756744e+02] [ 1.38232047e-01 -6.35222787e-01 7.59857824e-01 -1.71263425e+02] [-9.79643328e-01 2.50714982e-02 1.99174220e-01 -2.38951642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.27, Z:-238.96 [[-1.44553465e-01 -7.74037193e-01 -6.16417651e-01 2.94754646e+02] [ 1.40613579e-01 -6.32707443e-01 7.61517638e-01 -1.71265214e+02] [-9.79455010e-01 2.34033212e-02 2.00300193e-01 -2.38959841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.27, Z:-238.97 [[-1.43146702e-01 -7.76135210e-01 -6.14103539e-01 2.94752433e+02] [ 1.42277223e-01 -6.30186434e-01 7.63296961e-01 -1.71266232e+02] [-9.79421367e-01 2.18904962e-02 2.00635472e-01 -2.38968431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.27, Z:-238.97 [[-1.41601783e-01 -7.78250379e-01 -6.11780420e-01 2.94751001e+02] [ 1.44034447e-01 -6.27628529e-01 7.65072877e-01 -1.71268190e+02] [-9.79389102e-01 2.02182292e-02 2.00968182e-01 -2.38972119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.27, Z:-239.01 [[-1.37337966e-01 -7.80808978e-01 -6.09488001e-01 2.94745606e+02] [ 1.47840334e-01 -6.24584689e-01 7.66835838e-01 -1.71265928e+02] [-9.79429180e-01 1.52087643e-02 2.01214251e-01 -2.39005311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-171.28, Z:-239.01 [[-1.33545711e-01 -7.93029187e-01 -5.94365420e-01 2.94739951e+02] [ 1.50817112e-01 -6.09014603e-01 7.78688264e-01 -1.71277330e+02] [-9.79499741e-01 1.43500019e-02 2.00933660e-01 -2.39014737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.28, Z:-239.05 [[-1.28495589e-01 -7.95406605e-01 -5.92298250e-01 2.94734657e+02] [ 1.54337897e-01 -6.06011470e-01 7.80339613e-01 -1.71275069e+02] [-9.79626815e-01 8.85613190e-03 2.00631183e-01 -2.39045397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-170.75, Z:-238.97 [[-1.64356276e-01 9.44292791e-01 2.85128285e-01 2.93691549e+02] [ 1.28438643e-01 3.07085443e-01 -9.42975103e-01 -1.70754730e+02] [-9.78003338e-01 -1.18362386e-01 -1.71755105e-01 -2.38965185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.08, Z:-239.22 [[-1.87104919e-01 -6.02481095e-01 -7.75891925e-01 2.94759472e+02] [ 1.33640677e-01 -7.98108803e-01 5.87505326e-01 -1.71080949e+02] [-9.73207028e-01 6.23441410e-03 2.29846064e-01 -2.39219515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.08, Z:-239.23 [[-1.84731140e-01 -6.07275371e-01 -7.72716655e-01 2.94757336e+02] [ 1.36052187e-01 -7.94480302e-01 5.91853743e-01 -1.71084026e+02] [-9.73326363e-01 4.20402591e-03 2.29386394e-01 -2.39225855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.09, Z:-239.23 [[-1.80040479e-01 -6.10331367e-01 -7.71414965e-01 2.94754549e+02] [ 1.40106698e-01 -7.92145407e-01 5.94033474e-01 -1.71085715e+02] [-9.73630083e-01 -1.13033255e-03 2.28129751e-01 -2.39233643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.08, Z:-239.26 [[-1.76389445e-01 -6.13201081e-01 -7.69981298e-01 2.94749710e+02] [ 1.43908273e-01 -7.89906573e-01 5.96102353e-01 -1.71084663e+02] [-9.73743895e-01 -5.66051534e-03 2.27575890e-01 -2.39257300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-171.64, Z:-239.35 [[-1.10631959e-01 -8.20216171e-01 5.61253956e-01 2.94140052e+02] [ 1.01747525e-01 5.52406167e-01 8.27342050e-01 -1.71642716e+02] [-9.88639475e-01 1.48636673e-01 2.23411893e-02 -2.39346063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-171.61, Z:-239.46 [[-5.24291575e-02 -8.08019795e-01 5.86817854e-01 2.94081038e+02] [ 5.91758218e-02 5.84079615e-01 8.09536427e-01 -1.71612894e+02] [-9.96869804e-01 7.71687416e-02 1.71924333e-02 -2.39460084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.09, Z:-239.48 [[-5.80067311e-02 -6.89951436e-01 -7.21527709e-01 2.94661236e+02] [ 7.52160436e-02 -7.23710850e-01 6.85992093e-01 -1.71085790e+02] [-9.95478662e-01 -1.44783007e-02 9.38755180e-02 -2.39483800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.10, Z:-239.49 [[-5.59919140e-02 -7.04569730e-01 -7.07422364e-01 2.94658646e+02] [ 7.67574718e-02 -7.09474612e-01 7.00538411e-01 -1.71098225e+02] [-9.95476366e-01 -1.50754657e-02 9.38058327e-02 -2.39492156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.10, Z:-239.51 [[-5.41911868e-02 -7.09749786e-01 -7.02366398e-01 2.94656648e+02] [ 7.91050824e-02 -7.04240746e-01 7.05540472e-01 -1.71101914e+02] [-9.95392235e-01 -1.73266763e-02 9.43084570e-02 -2.39505514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.11, Z:-239.51 [[-5.21517561e-02 -7.17894502e-01 -6.94195707e-01 2.94654881e+02] [ 8.04857565e-02 -6.95901869e-01 7.13612382e-01 -1.71108877e+02] [-9.95390495e-01 -1.86567277e-02 9.40727866e-02 -2.39513970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-170.43, Z:-239.56 [[-1.31850666e-01 7.57085951e-01 -6.39872069e-01 2.94119377e+02] [ 1.15399020e-01 -6.29395363e-01 -7.68468961e-01 -1.70433736e+02] [-9.84529567e-01 -1.75163754e-01 -4.38077900e-03 -2.39559168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-171.58, Z:-239.79 [[-3.83248869e-02 -7.99839217e-01 5.98989507e-01 2.94039625e+02] [ 5.92066714e-02 5.96559213e-01 8.00382206e-01 -1.71584958e+02] [-9.97509786e-01 6.61387324e-02 2.44927533e-02 -2.39794579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-170.41, Z:-239.84 [[-1.29000067e-01 7.31451370e-01 -6.69580373e-01 2.94116705e+02] [ 1.21906954e-01 -6.58402996e-01 -7.42727534e-01 -1.70413562e+02] [-9.84122796e-01 -1.77438405e-01 -4.23497809e-03 -2.39841512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.08, Y:-171.54, Z:-240.22 [[-1.53591755e-02 -8.63063297e-01 5.04862200e-01 2.94079003e+02] [ 7.96005882e-02 5.02263754e-01 8.61042896e-01 -1.71541392e+02] [-9.96708504e-01 5.34122370e-02 6.09859889e-02 -2.40222189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03655999499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.78, Z:-240.24 [[-1.19830658e-01 7.91164936e-01 5.99748828e-01 2.93457061e+02] [ 1.09317119e-03 6.04206559e-01 -7.96826982e-01 -1.70776819e+02] [-9.92793744e-01 -9.48286730e-02 -7.32673480e-02 -2.40237096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-170.65, Z:-240.22 [[-1.09833696e-01 -1.38635181e-01 -9.84234142e-01 2.94552650e+02] [ 6.25562568e-02 -9.89226067e-01 1.32357479e-01 -1.70653492e+02] [-9.91979473e-01 -4.70326926e-02 1.17322853e-01 -2.40219949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-170.76, Z:-240.23 [[-1.04229595e-01 -3.33234289e-01 -9.37065153e-01 2.94598399e+02] [ 6.35611116e-02 -9.42502843e-01 3.28098121e-01 -1.70763372e+02] [-9.92520114e-01 -2.53633686e-02 1.19417431e-01 -2.40231033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-170.77, Z:-240.24 [[-1.03146177e-01 -3.38525994e-01 -9.35286597e-01 2.94598072e+02] [ 6.46239045e-02 -9.40596072e-01 3.33320837e-01 -1.70765876e+02] [-9.92564667e-01 -2.60611015e-02 1.18895761e-01 -2.40239704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-170.44, Z:-240.38 [[-2.03035234e-01 9.77756088e-01 -5.26281960e-02 2.93702542e+02] [ 3.30817322e-02 -4.68672809e-02 -9.98353173e-01 -1.70441150e+02] [-9.78612432e-01 -2.04441902e-01 -2.28301557e-02 -2.40381951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-170.68, Z:-240.42 [[-1.72514405e-01 -2.02312315e-01 -9.64006487e-01 2.94578237e+02] [ 7.03215359e-02 -9.78712215e-01 1.92814113e-01 -1.70681595e+02] [-9.82493594e-01 -3.45272048e-02 1.83068868e-01 -2.40417219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-170.71, Z:-240.43 [[-1.70949416e-01 -2.53947011e-01 -9.51991183e-01 2.94589342e+02] [ 7.08736686e-02 -9.66880459e-01 2.45191967e-01 -1.70710515e+02] [-9.82727439e-01 -2.55556840e-02 1.83285807e-01 -2.40427241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-170.69, Z:-240.65 [[-1.80297995e-01 -2.42074478e-01 -9.53358579e-01 2.94540591e+02] [ 8.09700524e-02 -9.69605629e-01 2.30886933e-01 -1.70687124e+02] [-9.80273678e-01 -3.55650430e-02 1.94418734e-01 -2.40649325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-171.49, Z:-240.47 [[-1.04023797e-01 -7.01027536e-01 7.05506515e-01 2.93908081e+02] [-1.81445359e-02 7.10574484e-01 7.03388000e-01 -1.71490611e+02] [-9.94409285e-01 6.03680023e-02 -8.66364753e-02 -2.40468210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-170.54, Z:-240.57 [[-1.30598963e-01 1.96658410e-02 -9.91240216e-01 2.94459220e+02] [ 2.46586327e-02 -9.99429535e-01 -2.30771652e-02 -1.70542114e+02] [-9.91128580e-01 -2.74564822e-02 1.30039528e-01 -2.40574441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.41, Z:-240.66 [[-3.16979265e-02 -9.95325731e-01 9.12246172e-02 2.94254557e+02] [-4.51538099e-03 9.14121522e-02 9.95802907e-01 -1.71409749e+02] [-9.99487295e-01 3.11529735e-02 -7.39185057e-03 -2.40657426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-170.49, Z:-240.69 [[-6.72275732e-02 1.23183069e-01 -9.90104229e-01 2.94375781e+02] [ 2.02087344e-02 -9.91977564e-01 -1.24788301e-01 -1.70494642e+02] [-9.97532987e-01 -2.83979681e-02 6.41988704e-02 -2.40687666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.79, Z:-240.76 [[-1.20480500e-01 6.96563046e-01 7.07307834e-01 2.93376558e+02] [-7.63668413e-02 7.03883273e-01 -7.06198586e-01 -1.70793987e+02] [-9.89773992e-01 -1.39098024e-01 -3.16098888e-02 -2.40756759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-170.36, Z:-240.87 [[-1.23538927e-01 4.47825427e-01 -8.85545324e-01 2.94222918e+02] [-3.14420562e-02 -8.93699609e-01 -4.47562739e-01 -1.70357114e+02] [-9.91841485e-01 -2.74480546e-02 1.24487243e-01 -2.40873819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-170.36, Z:-240.88 [[-1.23597865e-01 4.38465637e-01 -8.90208657e-01 2.94227568e+02] [-3.06554281e-02 -8.98346106e-01 -4.38217433e-01 -1.70360667e+02] [-9.91858766e-01 -2.68730117e-02 1.24475013e-01 -2.40882253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-170.36, Z:-240.89 [[-1.23428047e-01 4.31523443e-01 -8.93617947e-01 2.94230733e+02] [-2.99361443e-02 -9.01712916e-01 -4.31297629e-01 -1.70363436e+02] [-9.91901883e-01 -2.64827481e-02 1.24214812e-01 -2.40891990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-170.37, Z:-240.90 [[-1.22867004e-01 4.23922526e-01 -8.97325688e-01 2.94234475e+02] [-3.03986702e-02 -9.05359851e-01 -4.23555735e-01 -1.70366233e+02] [-9.91957469e-01 -2.47635167e-02 1.24125534e-01 -2.40896805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-170.38, Z:-241.21 [[-1.38823133e-01 4.33474296e-01 -8.90408992e-01 2.94183848e+02] [-2.88958361e-02 -9.00505139e-01 -4.33884230e-01 -1.70377891e+02] [-9.89895534e-01 -3.45040559e-02 1.37536547e-01 -2.41210299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-171.39, Z:-241.15 [[-6.27608824e-03 -9.97443465e-01 7.11838769e-02 2.94213646e+02] [-3.84869456e-02 7.13734752e-02 9.96706869e-01 -1.71391760e+02] [-9.99239394e-01 3.51577026e-03 -3.88364986e-02 -2.41147016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.93, Z:-241.14 [[-7.46011819e-02 5.17761080e-01 8.52266465e-01 2.93325075e+02] [-1.47045182e-01 8.39593997e-01 -5.22933680e-01 -1.70926602e+02] [-9.86312516e-01 -1.64333148e-01 1.34995678e-02 -2.41136957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.29, Z:-241.19 [[-1.00963997e-01 8.75151689e-01 -4.73197414e-01 2.93832172e+02] [-1.05559611e-01 -4.82366225e-01 -8.69586105e-01 -1.70287556e+02] [-9.89274199e-01 -3.78463540e-02 1.41082294e-01 -2.41193664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:293.84, Y:-170.35, Z:-241.74 [[-1.09085829e-01 8.31361955e-01 -5.44919794e-01 2.93836204e+02] [-1.05633953e-01 -5.54782383e-01 -8.25262368e-01 -1.70345529e+02] [-9.88403637e-01 -3.24623973e-02 1.48338946e-01 -2.41738098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-171.28, Z:-241.24 [[ 1.54337970e-02 -9.76127876e-01 -2.16647568e-01 2.94305532e+02] [-8.21056794e-02 -2.17178877e-01 9.72672603e-01 -1.71282858e+02] [-9.96504117e-01 2.77596421e-03 -8.34975371e-02 -2.41239415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-171.06, Z:-241.39 [[ 5.78812631e-02 -7.51510789e-01 -6.57176759e-01 2.94413962e+02] [-2.77833570e-02 -6.59238005e-01 7.51420879e-01 -1.71055945e+02] [-9.97936794e-01 -2.52346131e-02 -5.90370210e-02 -2.41387085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-171.08, Z:-241.39 [[ 1.18827051e-01 -7.62231216e-01 -6.36304727e-01 2.94404835e+02] [ 2.10714481e-02 -6.38764960e-01 7.69113334e-01 -1.71076438e+02] [-9.92691355e-01 -1.04799331e-01 -5.98412408e-02 -2.41386309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-170.60, Z:-241.40 [[ 9.69648020e-02 -5.19489447e-03 -9.95274254e-01 2.94314267e+02] [ 1.03015467e-01 -9.94563189e-01 1.52274864e-02 -1.70599448e+02] [-9.89942241e-01 -1.04005172e-01 -9.59024682e-02 -2.41397916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-170.38, Z:-241.41 [[ 3.63221633e-02 6.01178866e-01 -7.98288589e-01 2.94015183e+02] [ 1.56033292e-01 -7.92430301e-01 -5.89667559e-01 -1.70384693e+02] [-9.87083741e-01 -1.03141595e-01 -1.22586700e-01 -2.41414144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.38, Z:-241.43 [[-4.04116198e-02 9.26481538e-01 -3.74164218e-01 2.93705859e+02] [ 1.71955655e-01 -3.62434417e-01 -9.16009032e-01 -1.70377368e+02] [-9.84275446e-01 -1.01357062e-01 -1.44667178e-01 -2.41430505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.38, Z:-241.62 [[ 7.66799163e-03 -9.95824743e-01 -9.09630926e-02 2.94243575e+02] [ 1.76707968e-01 -8.81847663e-02 9.80304922e-01 -1.71375133e+02] [-9.84233456e-01 -2.35908732e-02 1.75293967e-01 -2.41615841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.38, Z:-241.62 [[ 7.15028419e-03 -9.96131245e-01 -8.75866161e-02 2.94241997e+02] [ 1.76615781e-01 -8.49538445e-02 9.80606807e-01 -1.71375613e+02] [-9.84253900e-01 -2.24807959e-02 1.75325053e-01 -2.41621265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.38, Z:-241.62 [[ 6.85292307e-03 -9.96425212e-01 -8.42011525e-02 2.94240653e+02] [ 1.77094362e-01 -8.16628092e-02 9.80800068e-01 -1.71376297e+02] [-9.84170018e-01 -2.16328968e-02 1.75901659e-01 -2.41624603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.38, Z:-241.63 [[ 5.52879854e-03 -9.96713711e-01 -8.08159018e-02 2.94239384e+02] [ 1.77752248e-01 -7.85505496e-02 9.80935242e-01 -1.71377327e+02] [-9.84059740e-01 -1.97886015e-02 1.76733813e-01 -2.41627344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.38, Z:-241.63 [[ 5.11838547e-03 -9.96983217e-01 -7.74484809e-02 2.94238036e+02] [ 1.77691167e-01 -7.53101831e-02 9.81200400e-01 -1.71377615e+02] [-9.84072991e-01 -1.87840728e-02 1.76769645e-01 -2.41634547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.38, Z:-241.64 [[ 2.82320858e-03 -9.97248648e-01 -7.40753900e-02 2.94236872e+02] [ 1.77977309e-01 -7.23919386e-02 9.81368170e-01 -1.71379093e+02] [-9.84030542e-01 -1.59543456e-02 1.77283253e-01 -2.41636385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.37, Z:-241.68 [[ 7.27065135e-03 -9.97467289e-01 -7.07541206e-02 2.94234469e+02] [ 1.78360528e-01 -6.83277912e-02 9.81589953e-01 -1.71372601e+02] [-9.83938341e-01 -1.97565406e-02 1.77412005e-01 -2.41683972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.38, Z:-241.69 [[ 6.73589147e-03 -9.99302126e-01 -3.67408420e-02 2.94219370e+02] [ 1.78423710e-01 -3.49510239e-02 9.83332805e-01 -1.71384315e+02] [-9.83930693e-01 -1.31790604e-02 1.78063766e-01 -2.41689592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.38, Z:-241.71 [[ 7.14513362e-03 -9.99480754e-01 -3.14192462e-02 2.94217503e+02] [ 1.78448138e-01 -2.96412703e-02 9.83502749e-01 -1.71382781e+02] [-9.83923376e-01 -1.26339645e-02 1.78143689e-01 -2.41709411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-171.15, Z:-241.78 [[-7.47592464e-03 1.56347593e-01 9.87673803e-01 2.93327281e+02] [ 9.31523423e-02 9.83515394e-01 -1.54984231e-01 -1.71147144e+02] [-9.95623800e-01 9.08454777e-02 -2.19168315e-02 -2.41779379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.29, Z:-241.81 [[-7.04404046e-03 -9.90621120e-01 -1.36455773e-01 2.94269852e+02] [ 1.12769073e-01 -1.36375612e-01 9.84217877e-01 -1.71292635e+02] [-9.93596255e-01 -8.45512051e-03 1.12672061e-01 -2.41813346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.29, Z:-241.82 [[-6.19741824e-03 -9.91239963e-01 -1.31927736e-01 2.94267759e+02] [ 1.12781357e-01 -1.31781357e-01 9.84842139e-01 -1.71294060e+02] [-9.93600502e-01 -8.77551056e-03 1.12610093e-01 -2.41819161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-171.29, Z:-241.87 [[-1.08697122e-05 -9.92490378e-01 -1.22322727e-01 2.94262011e+02] [ 1.13565568e-01 -1.21532586e-01 9.86069314e-01 -1.71293387e+02] [-9.93530504e-01 -1.38809317e-02 1.12714055e-01 -2.41867889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.32, Z:-241.88 [[ 2.60214081e-03 -9.98026702e-01 -6.27369980e-02 2.94235989e+02] [ 1.13785504e-01 -6.20342471e-02 9.91566746e-01 -1.71316290e+02] [-9.93501932e-01 -9.71875723e-03 1.13399549e-01 -2.41877962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.32, Z:-241.89 [[ 4.42820224e-03 -9.98555870e-01 -5.35403105e-02 2.94231625e+02] [ 1.14100050e-01 -5.26866292e-02 9.92071216e-01 -1.71318671e+02] [-9.93459395e-01 -1.05020441e-02 1.13701968e-01 -2.41887838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.32, Z:-241.90 [[ 6.45290838e-03 -9.99038821e-01 -4.33566014e-02 2.94227069e+02] [ 1.14669403e-01 -4.23322227e-02 9.92501341e-01 -1.71320596e+02] [-9.93382750e-01 -1.13761958e-02 1.14286020e-01 -2.41902148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.32, Z:-241.91 [[ 8.44726414e-03 -9.99431077e-01 -3.26522125e-02 2.94222511e+02] [ 1.14523312e-01 -3.14715939e-02 9.92921925e-01 -1.71323968e+02] [-9.93384646e-01 -1.21269133e-02 1.14192308e-01 -2.41908466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.33, Z:-241.91 [[ 9.56585016e-03 -9.99598936e-01 -2.66545061e-02 2.94219928e+02] [ 1.14764242e-01 -2.53821110e-02 9.93068435e-01 -1.71325305e+02] [-9.93346698e-01 -1.25585280e-02 1.14475413e-01 -2.41914441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41655999499994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.33, Z:-241.93 [[ 1.03102584e-02 -9.99723372e-01 -2.11394792e-02 2.94217494e+02] [ 1.14874341e-01 -1.98164554e-02 9.93182357e-01 -1.71325727e+02] [-9.93326525e-01 -1.26683505e-02 1.14638251e-01 -2.41927979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.28, Z:-241.93 [[-7.45445973e-02 8.42253999e-01 -5.33901962e-01 2.93829519e+02] [ 1.37388192e-01 -5.21611932e-01 -8.42048382e-01 -1.70275163e+02] [-9.87708250e-01 -1.36121983e-01 -7.68324026e-02 -2.41928866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-171.15, Z:-242.10 [[-4.92689074e-02 -9.20985140e-01 -3.86469852e-01 2.94389757e+02] [ 1.59722196e-01 -3.89225252e-01 9.07189354e-01 -1.71147940e+02] [-9.85931739e-01 -1.70315853e-02 1.66278472e-01 -2.42101240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.10, Z:-242.55 [[-4.89837253e-02 -9.33728625e-01 -3.54614508e-01 2.94353988e+02] [ 1.58939239e-01 -3.57803603e-01 9.20171125e-01 -1.71100361e+02] [-9.86072468e-01 -1.12887505e-02 1.65932671e-01 -2.42549839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.87, Z:-242.12 [[-9.08800476e-02 5.22932462e-01 8.47515461e-01 2.93297299e+02] [ 6.22895503e-02 8.52355706e-01 -5.19239601e-01 -1.70868338e+02] [-9.93911882e-01 5.60283732e-03 -1.10035355e-01 -2.42121954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-170.77, Z:-242.56 [[-9.65936991e-02 -6.11661503e-01 -7.85200524e-01 2.94448032e+02] [ 1.01438003e-01 -7.90831500e-01 6.03569276e-01 -1.70774623e+02] [-9.90141398e-01 -2.13481844e-02 1.38435061e-01 -2.42559873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-171.10, Z:-242.57 [[-7.98061000e-02 3.60853751e-02 9.96157032e-01 2.93365661e+02] [-3.61031082e-03 9.99327516e-01 -3.64894609e-02 -1.71096176e+02] [-9.96803868e-01 -6.50851808e-03 -7.96221523e-02 -2.42570322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-170.39, Z:-242.71 [[-1.13118006e-01 -1.76063531e-02 -9.93425555e-01 2.94315390e+02] [ 2.91462972e-02 -9.99471503e-01 1.43947144e-02 -1.70388816e+02] [-9.93153971e-01 -2.73263751e-02 1.13571384e-01 -2.42705490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-171.30, Z:-242.70 [[-3.35435144e-02 -6.03575017e-01 7.96600296e-01 2.93668832e+02] [-3.93850889e-02 7.97227997e-01 6.02392178e-01 -1.71303852e+02] [-9.98660927e-01 -1.11678228e-02 -5.05136845e-02 -2.42701426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-170.12, Z:-242.45 [[-6.55786323e-02 7.40968666e-01 -6.68329918e-01 2.93884687e+02] [-4.31725750e-02 -6.71251382e-01 -7.39971426e-01 -1.70120537e+02] [-9.96913021e-01 -1.96727906e-02 7.60092728e-02 -2.42449371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-170.15, Z:-242.48 [[-7.50175581e-02 5.63915423e-01 -8.22418240e-01 2.94015701e+02] [-4.04421964e-02 -8.25784161e-01 -5.62534398e-01 -1.70148393e+02] [-9.96361779e-01 -8.93955687e-03 8.47542895e-02 -2.42476794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-171.25, Z:-242.55 [[ 1.38819785e-02 -9.85217575e-01 1.70744314e-01 2.94079521e+02] [-3.85943229e-02 1.70105573e-01 9.84669778e-01 -1.71246233e+02] [-9.99158530e-01 -2.02589259e-02 -3.56624033e-02 -2.42554164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.33, Z:-242.63 [[ 1.06593879e-02 9.80357383e-01 1.96941056e-01 2.93346845e+02] [-6.07065446e-02 1.97223412e-01 -9.78477205e-01 -1.70327475e+02] [-9.98098739e-01 -1.52564287e-03 6.16163901e-02 -2.42634773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.12, Z:-242.59 [[ 8.90125752e-02 -9.84305730e-01 -1.52377790e-01 2.94247201e+02] [-1.97002105e-02 -1.54694968e-01 9.87765847e-01 -1.71120802e+02] [-9.95835661e-01 -8.49217072e-02 -3.31608275e-02 -2.42589658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83655999499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.31, Y:-171.04, Z:-242.72 [[ 1.03167682e-01 1.15808661e-01 9.87899177e-01 2.93308367e+02] [-4.60019562e-02 9.92691671e-01 -1.11566424e-01 -1.71039693e+02] [-9.93599642e-01 -3.39352454e-02 1.07741124e-01 -2.42717679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-170.81, Z:-242.76 [[ 9.90018510e-02 5.04811194e-01 8.57533843e-01 2.93225841e+02] [-4.94894065e-02 8.63198891e-01 -5.02432555e-01 -1.70807388e+02] [-9.93855841e-01 7.30291200e-03 1.10441094e-01 -2.42763001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-170.78, Z:-242.79 [[ 9.49199681e-02 5.28829221e-01 8.43403731e-01 2.93220747e+02] [-4.36848510e-02 8.48625656e-01 -5.27186997e-01 -1.70784279e+02] [-9.94525934e-01 1.31966066e-02 1.03653346e-01 -2.42791309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-170.88, Z:-242.82 [[ 9.57664624e-02 3.96418365e-01 9.13061479e-01 2.93239227e+02] [-4.14255613e-02 9.18069973e-01 -3.94247952e-01 -1.70876071e+02] [-9.94541456e-01 -6.83526521e-05 1.04342167e-01 -2.42816211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-170.88, Z:-242.85 [[ 9.57750151e-02 3.96077363e-01 9.13208557e-01 2.93241884e+02] [-4.14058323e-02 9.18217139e-01 -3.93907149e-01 -1.70877374e+02] [-9.94541454e-01 -8.56972268e-05 1.04342173e-01 -2.42846238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-170.88, Z:-242.87 [[ 9.44955410e-02 3.92390503e-01 9.14931848e-01 2.93244432e+02] [-4.22004247e-02 9.19797067e-01 -3.90118546e-01 -1.70881604e+02] [-9.94630442e-01 -1.74604947e-03 1.03475767e-01 -2.42871130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.91, Z:-242.90 [[ 9.60917672e-02 3.42438202e-01 9.34613530e-01 2.93256647e+02] [-4.07412703e-02 9.39524828e-01 -3.40048889e-01 -1.70914222e+02] [-9.94538346e-01 -5.40144377e-03 1.04231968e-01 -2.42899658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.91, Z:-242.94 [[ 1.01105282e-01 3.69027185e-01 9.23902949e-01 2.93262342e+02] [-4.86784403e-02 9.29384336e-01 -3.65889554e-01 -1.70907887e+02] [-9.93684121e-01 -7.98078796e-03 1.11929333e-01 -2.42936563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-170.81, Z:-242.97 [[ 9.36105670e-02 5.11475260e-01 8.54183891e-01 2.93236779e+02] [-4.60351995e-02 8.59257247e-01 -5.09468098e-01 -1.70806984e+02] [-9.94544027e-01 8.36907169e-03 1.03981424e-01 -2.42969299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.90, Z:-242.99 [[ 9.40102078e-02 3.73313049e-01 9.22929818e-01 2.93258492e+02] [-4.54441028e-02 9.27678254e-01 -3.70604765e-01 -1.70898796e+02] [-9.94533516e-01 -7.10108663e-03 1.04176102e-01 -2.42992941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.89, Z:-243.03 [[ 9.25448173e-02 3.93770715e-01 9.14538179e-01 2.93258115e+02] [-4.89596777e-02 9.19168388e-01 -3.90809959e-01 -1.70887576e+02] [-9.94504101e-01 -8.60805815e-03 1.04343158e-01 -2.43026902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.91, Z:-243.06 [[ 9.70026795e-02 3.76562277e-01 9.21298720e-01 2.93270915e+02] [-5.56842975e-02 9.26267482e-01 -3.72730211e-01 -1.70907054e+02] [-9.93725183e-01 -1.51460429e-02 1.10819034e-01 -2.43061605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-170.82, Z:-243.10 [[ 8.85527973e-02 5.06436627e-01 8.57718103e-01 2.93248316e+02] [-5.22519044e-02 8.62277159e-01 -5.03733898e-01 -1.70815123e+02] [-9.94700025e-01 -2.10358598e-04 1.02819333e-01 -2.43095021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.89, Z:-243.12 [[ 8.98561711e-02 3.99394778e-01 9.12364883e-01 2.93265279e+02] [-5.30363248e-02 9.16689686e-01 -3.96064600e-01 -1.70887081e+02] [-9.94541611e-01 -1.27996319e-02 1.03552656e-01 -2.43120254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.89, Z:-243.15 [[ 8.85276165e-02 3.98936082e-01 9.12695384e-01 2.93267814e+02] [-5.52013057e-02 9.16849774e-01 -3.95397657e-01 -1.70888099e+02] [-9.94542949e-01 -1.53783648e-02 1.03188318e-01 -2.43147713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.89, Z:-243.18 [[ 8.81656810e-02 3.98021584e-01 9.13129581e-01 2.93270636e+02] [-5.62213639e-02 9.17226451e-01 -3.94379000e-01 -1.70889650e+02] [-9.94517959e-01 -1.65666974e-02 1.03245211e-01 -2.43175170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.91, Z:-243.21 [[ 9.18356120e-02 3.81669459e-01 9.19725309e-01 2.93281659e+02] [-6.23215897e-02 9.24020691e-01 -3.77229084e-01 -1.70908490e+02] [-9.93822036e-01 -2.26756796e-02 1.08644253e-01 -2.43210618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.81, Z:-243.24 [[ 8.47071144e-02 5.16932562e-01 8.51824765e-01 2.93260677e+02] [-5.81856847e-02 8.56004735e-01 -5.13683093e-01 -1.70812736e+02] [-9.94705550e-01 -6.05139477e-03 1.02587766e-01 -2.43243156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.89, Z:-243.27 [[ 8.69307243e-02 4.00014884e-01 9.12376645e-01 2.93277925e+02] [-5.82634034e-02 9.16317504e-01 -3.96191378e-01 -1.70891700e+02] [-9.94509138e-01 -1.87169651e-02 1.02962373e-01 -2.43267184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.89, Z:-243.29 [[ 8.67514134e-02 3.97325731e-01 9.13567981e-01 2.93280628e+02] [-5.79734080e-02 9.17484564e-01 -3.93524026e-01 -1.70894319e+02] [-9.94541742e-01 -1.88238838e-02 1.02627409e-01 -2.43294387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.90, Z:-243.32 [[ 8.66907976e-02 3.95448303e-01 9.14387962e-01 2.93282946e+02] [-5.72214694e-02 9.18304628e-01 -3.91717134e-01 -1.70896374e+02] [-9.94590574e-01 -1.83643520e-02 1.02236694e-01 -2.43322640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-170.90, Z:-243.35 [[ 8.70372838e-02 3.92663058e-01 9.15554605e-01 2.93285481e+02] [-5.56804381e-02 9.19523142e-01 -3.89071819e-01 -1.70899683e+02] [-9.94647777e-01 -1.71147272e-02 1.01896448e-01 -2.43349085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-170.90, Z:-243.38 [[ 8.73261730e-02 3.91438844e-01 9.16051184e-01 2.93287850e+02] [-5.48569792e-02 9.20058398e-01 -3.87921714e-01 -1.70902038e+02] [-9.94668212e-01 -1.63760820e-02 1.01818331e-01 -2.43375648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-170.90, Z:-243.40 [[ 8.79548521e-02 3.90200547e-01 9.16519218e-01 2.93290207e+02] [-5.37917312e-02 9.20603056e-01 -3.86777020e-01 -1.70904265e+02] [-9.94670998e-01 -1.52822398e-02 1.01961069e-01 -2.43403887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-170.91, Z:-243.44 [[ 8.91705136e-02 3.86531748e-01 9.17955243e-01 2.93293385e+02] [-5.54445458e-02 9.22123948e-01 -3.82901198e-01 -1.70912214e+02] [-9.94471982e-01 -1.67521150e-02 1.03657343e-01 -2.43436339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.83, Z:-243.46 [[ 8.82037524e-02 5.03416599e-01 8.59530003e-01 2.93278236e+02] [-5.22543325e-02 8.64043497e-01 -5.00697833e-01 -1.70832003e+02] [-9.94730910e-01 -7.50738884e-04 1.02517577e-01 -2.43464839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.91, Z:-243.49 [[ 9.09348494e-02 3.83915255e-01 9.18879715e-01 2.93297333e+02] [-5.14945361e-02 9.23280960e-01 -3.80658090e-01 -1.70912178e+02] [-9.94524593e-01 -1.27021985e-02 1.03727953e-01 -2.43492504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.91, Z:-243.52 [[ 9.15812799e-02 3.86258953e-01 9.17832714e-01 2.93299006e+02] [-5.09923816e-02 9.22315904e-01 -3.83057634e-01 -1.70911714e+02] [-9.94491149e-01 -1.17215676e-02 1.04163135e-01 -2.43520635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.91, Z:-243.55 [[ 9.23167208e-02 3.85324358e-01 9.18151819e-01 2.93301406e+02] [-5.02432540e-02 9.22717426e-01 -3.82188654e-01 -1.70913355e+02] [-9.94461281e-01 -1.08485318e-02 1.04542197e-01 -2.43548211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.92, Z:-243.58 [[ 9.23182662e-02 3.82573733e-01 9.19301189e-01 2.93304095e+02] [-4.92400418e-02 9.23868339e-01 -3.79529591e-01 -1.70916580e+02] [-9.94511315e-01 -1.02289152e-02 1.04127870e-01 -2.43576022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73655999499994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.31, Y:-170.92, Z:-243.61 [[ 9.20696034e-02 3.81567769e-01 9.19744109e-01 2.93307558e+02] [-4.92598302e-02 9.24281723e-01 -3.78519175e-01 -1.70918950e+02] [-9.94533387e-01 -1.04563283e-02 1.03894215e-01 -2.43608975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-170.92, Z:-243.64 [[ 9.11008609e-02 3.84302115e-01 9.18701539e-01 2.93310089e+02] [-4.85458501e-02 9.23154759e-01 -3.81351008e-01 -1.70918401e+02] [-9.94657697e-01 -9.85774214e-03 1.02756466e-01 -2.43642126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-170.92, Z:-243.67 [[ 9.10428543e-02 3.87048066e-01 9.17553809e-01 2.93312315e+02] [-4.83225200e-02 9.22011971e-01 -3.84133908e-01 -1.70917629e+02] [-9.94673883e-01 -9.36586490e-03 1.02645739e-01 -2.43670994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.92, Z:-243.70 [[ 9.05414024e-02 3.86536673e-01 9.17818966e-01 2.93315396e+02] [-4.82054372e-02 9.22225017e-01 -3.83636878e-01 -1.70918763e+02] [-9.94725334e-01 -9.50884367e-03 1.02132716e-01 -2.43703255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.92, Z:-243.74 [[ 9.02053486e-02 3.89345647e-01 9.16664040e-01 2.93317830e+02] [-4.83977287e-02 9.21042679e-01 -3.86442806e-01 -1.70917817e+02] [-9.94746528e-01 -9.50524946e-03 1.01926421e-01 -2.43735197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.92, Z:-243.77 [[ 8.99641387e-02 3.91949269e-01 9.15577536e-01 2.93320144e+02] [-4.85352966e-02 9.19938424e-01 -3.89047069e-01 -1.70917181e+02] [-9.94761669e-01 -9.43754283e-03 1.01784842e-01 -2.43767730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.92, Z:-243.80 [[ 9.00827051e-02 3.94703885e-01 9.14381731e-01 2.93322101e+02] [-4.85344703e-02 9.18763482e-01 -3.91813820e-01 -1.70916353e+02] [-9.94750980e-01 -9.08338415e-03 1.01921444e-01 -2.43797367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.92, Z:-243.83 [[ 9.02673213e-02 3.94325487e-01 9.14526774e-01 2.93324794e+02] [-4.81615783e-02 9.18929583e-01 -3.91470156e-01 -1.70916960e+02] [-9.94752368e-01 -8.70809048e-03 1.01940650e-01 -2.43825655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.92, Z:-243.85 [[ 9.02508812e-02 3.93612747e-01 9.14835386e-01 2.93327297e+02] [-4.77590215e-02 9.19237769e-01 -3.90795344e-01 -1.70918013e+02] [-9.94773268e-01 -8.42201876e-03 1.01760578e-01 -2.43853530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.92, Z:-243.88 [[ 9.02118633e-02 3.92550025e-01 9.15295743e-01 2.93329638e+02] [-4.72075359e-02 9.19695463e-01 -3.89784176e-01 -1.70919247e+02] [-9.94803130e-01 -8.04569981e-03 1.01498761e-01 -2.43879964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.92, Z:-243.91 [[ 9.10164010e-02 3.91259575e-01 9.15768508e-01 2.93332126e+02] [-4.61587334e-02 9.20254474e-01 -3.88588568e-01 -1.70920181e+02] [-9.94779064e-01 -6.90278151e-03 1.01818297e-01 -2.43907397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.92, Z:-243.94 [[ 9.10078438e-02 3.90180261e-01 9.16229740e-01 2.93334505e+02] [-4.53895495e-02 9.20716838e-01 -3.87582628e-01 -1.70921506e+02] [-9.94815240e-01 -6.31419584e-03 1.01502560e-01 -2.43936613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-170.92, Z:-243.96 [[ 9.17055886e-02 3.89448995e-01 9.16471257e-01 2.93337128e+02] [-4.50271069e-02 9.21029854e-01 -3.86880560e-01 -1.70922903e+02] [-9.94767634e-01 -5.78693975e-03 1.01999346e-01 -2.43963736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-170.93, Z:-243.99 [[ 9.18979319e-02 3.87540327e-01 9.17260740e-01 2.93339714e+02] [-4.43417988e-02 9.21837576e-01 -3.85031541e-01 -1.70925006e+02] [-9.94780667e-01 -5.28938888e-03 1.01899202e-01 -2.43991457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-170.93, Z:-244.02 [[ 9.16242553e-02 3.84839064e-01 9.18424679e-01 2.93342388e+02] [-4.38650830e-02 9.22968745e-01 -3.82367036e-01 -1.70927238e+02] [-9.94827046e-01 -5.25267984e-03 1.01447321e-01 -2.44018404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.93, Z:-244.05 [[ 9.15090063e-02 3.83674137e-01 9.18923424e-01 2.93345052e+02] [-4.37295870e-02 9.23453338e-01 -3.81210776e-01 -1.70928685e+02] [-9.94843618e-01 -5.29992252e-03 1.01282209e-01 -2.44046973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.93, Z:-244.08 [[ 9.16057124e-02 3.83008398e-01 9.19191471e-01 2.93347761e+02] [-4.39560912e-02 9.23728209e-01 -3.80518144e-01 -1.70929719e+02] [-9.94824736e-01 -5.54642853e-03 1.01454333e-01 -2.44075706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.93, Z:-244.10 [[ 9.08603168e-02 3.82430254e-01 9.19506119e-01 2.93350488e+02] [-4.49075432e-02 9.23959487e-01 -3.79844941e-01 -1.70929885e+02] [-9.94850600e-01 -6.77992910e-03 1.01125255e-01 -2.44103059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.93, Z:-244.13 [[ 9.07199675e-02 3.81349295e-01 9.19968806e-01 2.93353479e+02] [-4.60725833e-02 9.24396102e-01 -3.78641206e-01 -1.70931003e+02] [-9.94810135e-01 -8.03502154e-03 1.01430931e-01 -2.44130672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.93, Z:-244.16 [[ 9.02571024e-02 3.80452241e-01 9.20385652e-01 2.93356265e+02] [-4.73122062e-02 9.24752155e-01 -3.77617542e-01 -1.70931712e+02] [-9.94794054e-01 -9.46281061e-03 1.01465485e-01 -2.44157193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.93, Z:-244.18 [[ 8.95223807e-02 3.79610858e-01 9.20804724e-01 2.93359204e+02] [-5.09660394e-02 9.25051612e-01 -3.76406665e-01 -1.70932100e+02] [-9.94679952e-01 -1.32329491e-02 1.02160085e-01 -2.44184145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.93, Z:-244.21 [[ 8.93819410e-02 3.78591323e-01 9.21238014e-01 2.93362321e+02] [-5.25418045e-02 9.25444558e-01 -3.75222240e-01 -1.70933315e+02] [-9.94610591e-01 -1.48654156e-02 1.02609902e-01 -2.44211537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.94, Z:-244.24 [[ 8.76362403e-02 3.76256055e-01 9.22361790e-01 2.93365957e+02] [-5.59129017e-02 9.26322477e-01 -3.72559280e-01 -1.70935079e+02] [-9.94582142e-01 -1.89222295e-02 1.02216987e-01 -2.44242080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.94, Z:-244.27 [[ 8.66198072e-02 3.76360790e-01 9.22415072e-01 2.93368502e+02] [-5.69220443e-02 9.26252227e-01 -3.72581123e-01 -1.70935364e+02] [-9.94613940e-01 -2.02328466e-02 1.01655015e-01 -2.44271744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.94, Z:-244.30 [[ 8.59488615e-02 3.76114030e-01 9.22578468e-01 2.93371338e+02] [-5.79482930e-02 9.26324652e-01 -3.72242709e-01 -1.70935912e+02] [-9.94612884e-01 -2.14680103e-02 1.01411715e-01 -2.44298306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.94, Z:-244.33 [[ 8.53428344e-02 3.74956897e-01 9.23105588e-01 2.93374264e+02] [-5.83923094e-02 9.26775534e-01 -3.71049117e-01 -1.70937046e+02] [-9.94639100e-01 -2.22358837e-02 1.00988250e-01 -2.44326687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.94, Z:-244.36 [[ 8.40297976e-02 3.72344133e-01 9.24282879e-01 2.93378095e+02] [-5.99001118e-02 9.27773518e-01 -3.68304596e-01 -1.70939354e+02] [-9.94661234e-01 -2.44160871e-02 1.00264076e-01 -2.44358029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.94, Z:-244.39 [[ 8.35139514e-02 3.74798659e-01 9.23337092e-01 2.93380408e+02] [-6.00997366e-02 9.26781697e-01 -3.70760986e-01 -1.70938142e+02] [-9.94692637e-01 -2.45286011e-02 9.99245022e-02 -2.44385544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.94, Z:-244.41 [[ 8.34778664e-02 3.73987883e-01 9.23669047e-01 2.93383114e+02] [-6.06799953e-02 9.27091960e-01 -3.69889761e-01 -1.70938813e+02] [-9.94660437e-01 -2.51706254e-02 1.00085242e-01 -2.44412957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.94, Z:-244.44 [[ 8.35585642e-02 3.73044297e-01 9.24043245e-01 2.93385605e+02] [-6.16036798e-02 9.27446240e-01 -3.68847472e-01 -1.70938699e+02] [-9.94596880e-01 -2.61040990e-02 1.00476978e-01 -2.44439761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.94, Z:-244.47 [[ 8.38915246e-02 3.71895882e-01 9.24475887e-01 2.93388382e+02] [-6.20768689e-02 9.27894777e-01 -3.67638062e-01 -1.70940186e+02] [-9.94539428e-01 -2.65468509e-02 1.00928639e-01 -2.44468883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.94, Z:-244.50 [[ 8.43804509e-02 3.71565474e-01 9.24564242e-01 2.93390862e+02] [-6.22930065e-02 9.28025517e-01 -3.67271319e-01 -1.70941015e+02] [-9.94484550e-01 -2.66033669e-02 1.01453142e-01 -2.44495499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.94, Z:-244.53 [[ 8.45286786e-02 3.70395019e-01 9.25020233e-01 2.93393687e+02] [-6.27077794e-02 9.28479971e-01 -3.66050102e-01 -1.70942442e+02] [-9.94445894e-01 -2.70642333e-02 1.01709834e-01 -2.44527993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.93, Z:-244.56 [[ 8.24573050e-02 3.84128194e-01 9.19590302e-01 2.93389793e+02] [-5.96677002e-02 9.22980139e-01 -3.80193936e-01 -1.70930716e+02] [-9.94806795e-01 -2.35200711e-02 9.90265007e-02 -2.44558613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.97, Z:-244.59 [[ 8.57030878e-02 3.27838772e-01 9.40838307e-01 2.93404056e+02] [-6.21897790e-02 9.44231555e-01 -3.23356155e-01 -1.70969705e+02] [-9.94377902e-01 -3.07979055e-02 1.01311781e-01 -2.44586603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.92, Z:-244.61 [[ 8.59693826e-02 4.06309046e-01 9.09682485e-01 2.93394369e+02] [-6.12563900e-02 9.13491019e-01 -4.02221101e-01 -1.70921397e+02] [-9.94412852e-01 -2.11451654e-02 1.03421284e-01 -2.44614825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.95, Z:-244.64 [[ 8.77237797e-02 3.69419678e-01 9.25112771e-01 2.93402478e+02] [-6.01048871e-02 9.28963904e-01 -3.65258084e-01 -1.70945384e+02] [-9.94329896e-01 -2.35619789e-02 1.03696153e-01 -2.44642242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.95, Z:-244.67 [[ 8.77624824e-02 3.68723127e-01 9.25386947e-01 2.93405160e+02] [-6.00552406e-02 9.29240156e-01 -3.64562890e-01 -1.70946757e+02] [-9.94329480e-01 -2.35793916e-02 1.03696179e-01 -2.44671439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.95, Z:-244.70 [[ 8.86430618e-02 3.68136411e-01 9.25536596e-01 2.93407646e+02] [-5.94218185e-02 9.29493928e-01 -3.64019347e-01 -1.70948513e+02] [-9.94289422e-01 -2.27292782e-02 1.04268523e-01 -2.44702078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.95, Z:-244.73 [[ 8.91982114e-02 3.67948126e-01 9.25558132e-01 2.93409967e+02] [-5.74195791e-02 9.29616448e-01 -3.64027817e-01 -1.70950971e+02] [-9.94357416e-01 -2.06745282e-02 1.04047551e-01 -2.44731928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.95, Z:-244.76 [[ 8.92434937e-02 3.67838264e-01 9.25597435e-01 2.93412182e+02] [-5.61902883e-02 9.29684863e-01 -3.64044924e-01 -1.70952828e+02] [-9.94423577e-01 -1.95209458e-02 1.03637263e-01 -2.44758539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.96, Z:-244.79 [[ 8.92335381e-02 3.66283528e-01 9.26214745e-01 2.93414792e+02] [-5.47188597e-02 9.30322889e-01 -3.62636413e-01 -1.70955565e+02] [-9.94506522e-01 -1.83220845e-02 1.03058620e-01 -2.44785190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.96, Z:-244.81 [[ 8.87494586e-02 3.64848070e-01 9.26827611e-01 2.93417261e+02] [-5.18908248e-02 9.30929385e-01 -3.61493877e-01 -1.70958819e+02] [-9.94701400e-01 -1.60114633e-02 1.01551746e-01 -2.44812656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.96, Z:-244.85 [[ 8.80744196e-02 3.62103535e-01 9.27967632e-01 2.93420462e+02] [-5.12168622e-02 9.32001837e-01 -3.58816679e-01 -1.70962401e+02] [-9.94796326e-01 -1.59250195e-02 1.00631328e-01 -2.44845808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.96, Z:-244.87 [[ 8.80305619e-02 3.64847624e-01 9.26896343e-01 2.93422174e+02] [-5.05732555e-02 9.30945746e-01 -3.61638444e-01 -1.70961767e+02] [-9.94833135e-01 -1.50409301e-02 1.00403209e-01 -2.44873547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.96, Z:-244.90 [[ 8.79754070e-02 3.63888067e-01 9.27278708e-01 2.93424407e+02] [-5.02603481e-02 9.31323949e-01 -3.60707082e-01 -1.70963414e+02] [-9.94853871e-01 -1.48719983e-02 1.00222744e-01 -2.44902700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-170.96, Z:-244.94 [[ 8.83455359e-02 3.63267732e-01 9.27486723e-01 2.93426055e+02] [-5.11951208e-02 9.31552842e-01 -3.59983835e-01 -1.70964890e+02] [-9.94773404e-01 -1.56798300e-02 1.00896070e-01 -2.44935461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-170.96, Z:-244.97 [[ 8.91397910e-02 3.66104391e-01 9.26294593e-01 2.93427940e+02] [-5.17560466e-02 9.30442942e-01 -3.62763343e-01 -1.70964443e+02] [-9.94673519e-01 -1.56046975e-02 1.01887605e-01 -2.44965328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-170.97, Z:-244.99 [[ 8.91677001e-02 3.66340530e-01 9.26198541e-01 2.93429311e+02] [-5.24465667e-02 9.30339567e-01 -3.62929259e-01 -1.70965400e+02] [-9.94634847e-01 -1.62143663e-02 1.02169543e-01 -2.44993225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.98, Z:-245.02 [[ 9.10284706e-02 3.55778816e-01 9.30126471e-01 2.93435897e+02] [-5.46674464e-02 9.34381065e-01 -3.52056097e-01 -1.70975577e+02] [-9.94346664e-01 -1.88005110e-02 1.04504799e-01 -2.45022570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-170.94, Z:-245.05 [[ 8.72523051e-02 4.14612222e-01 9.05805575e-01 2.93425794e+02] [-5.29063053e-02 9.09918704e-01 -4.11398681e-01 -1.70936674e+02] [-9.94780357e-01 -1.20273431e-02 1.01328105e-01 -2.45050521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.97, Z:-245.08 [[ 8.77236038e-02 3.59395431e-01 9.29053009e-01 2.93438163e+02] [-5.29973895e-02 9.33011468e-01 -3.55922572e-01 -1.70973404e+02] [-9.94734058e-01 -1.80145734e-02 1.00894148e-01 -2.45080697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.97, Z:-245.11 [[ 8.69654201e-02 3.61830961e-01 9.28178524e-01 2.93440675e+02] [-5.27805476e-02 9.32073370e-01 -3.58404027e-01 -1.70973422e+02] [-9.94812158e-01 -1.78210140e-02 1.00155788e-01 -2.45112392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.97, Z:-245.15 [[ 8.54899193e-02 3.64273961e-01 9.27359669e-01 2.93442893e+02] [-5.25995337e-02 9.31119309e-01 -3.60901816e-01 -1.70973375e+02] [-9.94949628e-01 -1.79252190e-02 9.87619551e-02 -2.45145509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.97, Z:-245.18 [[ 8.48119558e-02 3.67143811e-01 9.26289563e-01 2.93445757e+02] [-5.31155531e-02 9.29983162e-01 -3.63744494e-01 -1.70973361e+02] [-9.94980236e-01 -1.83505004e-02 9.83747374e-02 -2.45177160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.97, Z:-245.21 [[ 8.39292196e-02 3.68942841e-01 9.25654939e-01 2.93447908e+02] [-5.35949874e-02 9.29259240e-01 -3.65519962e-01 -1.70973386e+02] [-9.95029378e-01 -1.89326596e-02 9.77654897e-02 -2.45209744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.97, Z:-245.24 [[ 8.43966089e-02 3.71887673e-01 9.24433216e-01 2.93449858e+02] [-5.47978093e-02 9.28071437e-01 -3.68348488e-01 -1.70972031e+02] [-9.94924325e-01 -1.95695518e-02 9.87047118e-02 -2.45241594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.97, Z:-245.27 [[ 8.45726035e-02 3.74544188e-01 9.23343991e-01 2.93451278e+02] [-5.49567579e-02 9.27006762e-01 -3.70996251e-01 -1.70970689e+02] [-9.94900613e-01 -1.93678734e-02 9.89831096e-02 -2.45269476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.97, Z:-245.30 [[ 8.48500887e-02 3.73507408e-01 9.23738425e-01 2.93453902e+02] [-5.49122427e-02 9.27425694e-01 -3.69954360e-01 -1.70971823e+02] [-9.94879444e-01 -1.93338884e-02 9.92022818e-02 -2.45297429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.97, Z:-245.33 [[ 8.52143738e-02 3.72496554e-01 9.24112995e-01 2.93456802e+02] [-5.51625795e-02 9.27827837e-01 -3.68907297e-01 -1.70973507e+02] [-9.94834459e-01 -1.95402523e-02 9.96121390e-02 -2.45326865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.97, Z:-245.35 [[ 8.51420912e-02 3.72122355e-01 9.24270403e-01 2.93459300e+02] [-5.48086855e-02 9.27983478e-01 -3.68568409e-01 -1.70974676e+02] [-9.94860207e-01 -1.92773607e-02 9.94059911e-02 -2.45354674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.99, Z:-245.39 [[ 9.05190223e-02 3.52698912e-01 9.31348369e-01 2.93472106e+02] [-5.84772668e-02 9.35456355e-01 -3.48571109e-01 -1.70993975e+02] [-9.94176401e-01 -2.29103911e-02 1.05301463e-01 -2.45387604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.95, Z:-245.42 [[ 8.79351765e-02 4.29701250e-01 8.98679164e-01 2.93461227e+02] [-5.81970505e-02 9.02849162e-01 -4.26000580e-01 -1.70946812e+02] [-9.94424712e-01 -1.48400405e-02 1.04399546e-01 -2.45423441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.93, Z:-245.46 [[ 8.66465414e-02 4.52757393e-01 8.87413725e-01 2.93459585e+02] [-5.69484403e-02 8.91558217e-01 -4.49311497e-01 -1.70931288e+02] [-9.94610101e-01 -1.16055403e-02 1.03034263e-01 -2.45456231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.95, Z:-245.49 [[ 8.80074928e-02 4.29649878e-01 8.98696647e-01 2.93467287e+02] [-5.69697491e-02 9.02891619e-01 -4.26076486e-01 -1.70948855e+02] [-9.94489381e-01 -1.37005992e-02 1.03938273e-01 -2.45488406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.94, Z:-245.52 [[ 8.80111342e-02 4.49024887e-01 8.89174163e-01 2.93467608e+02] [-5.72003932e-02 8.93443293e-01 -4.45519021e-01 -1.70938773e+02] [-9.94475819e-01 -1.16504774e-02 1.04317358e-01 -2.45518667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.91, Z:-245.55 [[ 8.69409073e-02 4.87971867e-01 8.68518702e-01 2.93464547e+02] [-5.41004940e-02 8.72846038e-01 -4.84987558e-01 -1.70910804e+02] [-9.94743392e-01 -4.82203248e-03 1.02285545e-01 -2.45547572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.92, Z:-245.58 [[ 8.34244003e-02 4.70920607e-01 8.78222154e-01 2.93463681e+02] [-4.71766315e-02 8.82172486e-01 -4.68557436e-01 -1.70916839e+02] [-9.95396773e-01 -2.34243980e-03 9.58111586e-02 -2.45576202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.98, Z:-245.60 [[ 8.55217402e-02 3.69456924e-01 9.25304065e-01 2.93481370e+02] [-4.60590822e-02 9.29179710e-01 -3.66747362e-01 -1.70984012e+02] [-9.95271115e-01 -1.12537834e-02 9.64819126e-02 -2.45600594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.99, Z:-245.63 [[ 8.57004350e-02 3.66592863e-01 9.26425987e-01 2.93484164e+02] [-4.45656769e-02 9.30326745e-01 -3.64013803e-01 -1.70986683e+02] [-9.95323734e-01 -1.00906599e-02 9.60668657e-02 -2.45628874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.99, Z:-245.66 [[ 8.65256276e-02 3.63749236e-01 9.27469573e-01 2.93487376e+02] [-4.36205508e-02 9.31451476e-01 -3.61241465e-01 -1.70989252e+02] [-9.95294209e-01 -9.20008922e-03 9.64613656e-02 -2.45657507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.99, Z:-245.69 [[ 8.77051982e-02 3.62971869e-01 9.27663312e-01 2.93489890e+02] [-4.30584044e-02 9.31762903e-01 -3.60505015e-01 -1.70989903e+02] [-9.95215440e-01 -8.32553824e-03 9.73494396e-02 -2.45685868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.99, Z:-245.72 [[ 8.80126307e-02 3.62297337e-01 9.27897848e-01 2.93492818e+02] [-4.34759356e-02 9.32022195e-01 -3.59783923e-01 -1.70990775e+02] [-9.95170146e-01 -8.67569749e-03 9.77809410e-02 -2.45719096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:293.50, Y:-171.00, Z:-245.75 [[ 9.11032071e-02 3.53654066e-01 9.30929110e-01 2.93500471e+02] [-4.79623103e-02 9.35289971e-01 -3.50617009e-01 -1.71001025e+02] [-9.94685791e-01 -1.27071769e-02 1.02169982e-01 -2.45750791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95655999499996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.91, Z:-245.78 [[ 8.78152905e-02 4.96147222e-01 8.63786090e-01 2.93481468e+02] [-4.85881254e-02 8.68237295e-01 -4.93764309e-01 -1.70907893e+02] [-9.94951089e-01 1.39030937e-03 1.00351374e-01 -2.45784840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.90, Z:-245.81 [[ 8.74437728e-02 5.00466002e-01 8.61328838e-01 2.93483856e+02] [-4.70746172e-02 8.65750914e-01 -4.98256295e-01 -1.70903465e+02] [-9.95056565e-01 3.02268496e-03 9.92637716e-02 -2.45812570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.93, Z:-245.84 [[ 8.64228275e-02 4.61338887e-01 8.83004828e-01 2.93489028e+02] [-4.38096009e-02 8.87223432e-01 -4.59255158e-01 -1.70926829e+02] [-9.95294838e-01 1.00604015e-03 9.68874302e-02 -2.45837734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-170.98, Z:-245.87 [[ 8.72219963e-02 3.77912950e-01 9.21723454e-01 2.93503715e+02] [-4.35997070e-02 9.25811253e-01 -3.75463168e-01 -1.70981954e+02] [-9.95234339e-01 -7.43822552e-03 9.72279995e-02 -2.45867824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.98, Z:-245.90 [[ 8.71425786e-02 3.82974971e-01 9.19639246e-01 2.93506609e+02] [-4.33522497e-02 9.23734390e-01 -3.80572410e-01 -1.70979018e+02] [-9.95252106e-01 -6.70436910e-03 9.70994233e-02 -2.45897825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.99, Z:-245.93 [[ 8.43791260e-02 3.63988750e-01 9.27573368e-01 2.93505820e+02] [-3.92750226e-02 9.31384704e-01 -3.61911600e-01 -1.70987390e+02] [-9.95659398e-01 -5.89268050e-03 9.28850936e-02 -2.45929220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-171.05, Z:-245.96 [[ 8.94105137e-02 2.67341293e-01 9.59444836e-01 2.93535330e+02] [-4.32212542e-02 9.63437008e-01 -2.64425897e-01 -1.71051465e+02] [-9.95056623e-01 -1.78259538e-02 9.76962238e-02 -2.45957354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.99, Z:-245.99 [[ 8.34731653e-02 3.70582561e-01 9.25040970e-01 2.93509357e+02] [-3.92238245e-02 9.28783125e-01 -3.68542263e-01 -1.70985076e+02] [-9.95737778e-01 -5.52025547e-03 9.20641326e-02 -2.45993369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-171.06, Z:-246.02 [[ 8.96236101e-02 2.48461587e-01 9.64486624e-01 2.93546148e+02] [-4.41707173e-02 9.68422442e-01 -2.45370989e-01 -1.71064903e+02] [-9.94995757e-01 -2.06110322e-02 9.77682419e-02 -2.46020951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-171.01, Z:-246.05 [[ 8.79469939e-02 3.50101954e-01 9.32573830e-01 2.93526761e+02] [-4.44116098e-02 9.36648638e-01 -3.47443430e-01 -1.71005512e+02] [-9.95134632e-01 -1.08604998e-02 9.79240234e-02 -2.46053289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:-170.98, Z:-246.09 [[ 8.18866058e-02 3.75175236e-01 9.23329912e-01 2.93516056e+02] [-3.91389432e-02 9.26937107e-01 -3.73169859e-01 -1.70984038e+02] [-9.95872847e-01 -5.58054382e-03 9.05876957e-02 -2.46086772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-171.05, Z:-246.12 [[ 8.34185537e-02 2.69194712e-01 9.59466285e-01 2.93540841e+02] [-4.11860536e-02 9.62930768e-01 -2.66585906e-01 -1.71051607e+02] [-9.95663123e-01 -1.72784191e-02 9.14133598e-02 -2.46116953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-171.02, Z:-246.15 [[ 8.64392268e-02 3.31638592e-01 9.39438186e-01 2.93533471e+02] [-4.46349336e-02 9.43309885e-01 -3.28898439e-01 -1.71017915e+02] [-9.95256742e-01 -1.35020343e-02 9.63416437e-02 -2.46152318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-171.00, Z:-246.18 [[ 8.86215809e-02 3.69563861e-01 9.24969604e-01 2.93532869e+02] [-4.63807310e-02 9.29147184e-01 -3.66789228e-01 -1.70996853e+02] [-9.94984946e-01 -1.03953251e-02 9.94831344e-02 -2.46179632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-171.00, Z:-246.21 [[ 8.74227010e-02 3.63886081e-01 9.27331759e-01 2.93531415e+02] [-4.49344192e-02 9.31388826e-01 -3.61241960e-01 -1.70999212e+02] [-9.95157359e-01 -1.00883662e-02 9.77755365e-02 -2.46209403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-170.99, Z:-246.24 [[ 8.66038482e-02 3.74977800e-01 9.22979644e-01 2.93529769e+02] [-4.38956111e-02 9.26997031e-01 -3.72491182e-01 -1.70992517e+02] [-9.95275313e-01 -8.25558571e-03 9.67413898e-02 -2.46239245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-171.02, Z:-246.26 [[ 9.05181616e-02 3.39845216e-01 9.36115213e-01 2.93545361e+02] [-4.58531275e-02 9.40399340e-01 -3.36966723e-01 -1.71019196e+02] [-9.94838657e-01 -1.24222020e-02 1.00706185e-01 -2.46264899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-171.02, Z:-246.29 [[ 8.99925861e-02 3.47281939e-01 9.33432691e-01 2.93546816e+02] [-4.49275011e-02 9.37697055e-01 -3.44537011e-01 -1.71015869e+02] [-9.94928567e-01 -1.09310216e-02 9.99882927e-02 -2.46291565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-171.02, Z:-246.32 [[ 8.99030053e-02 3.46056491e-01 9.33896330e-01 2.93549644e+02] [-4.46384630e-02 9.38151276e-01 -3.43335975e-01 -1.71017460e+02] [-9.94949676e-01 -1.08207608e-02 9.97900490e-02 -2.46319227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-171.01, Z:-246.35 [[ 8.62793206e-02 3.61835622e-01 9.28240735e-01 2.93543786e+02] [-4.38985042e-02 9.32190939e-01 -3.59295108e-01 -1.71007479e+02] [-9.95303371e-01 -9.74864194e-03 9.63128435e-02 -2.46350647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-170.98, Z:-246.38 [[ 8.52860854e-02 4.05052783e-01 9.10306831e-01 2.93539683e+02] [-4.46199020e-02 9.14271745e-01 -4.02636611e-01 -1.70978955e+02] [-9.95356895e-01 -6.27850117e-03 9.60480736e-02 -2.46379095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-171.02, Z:-246.40 [[ 8.93953392e-02 3.44077518e-01 9.34675952e-01 2.93558728e+02] [-4.78540790e-02 9.38833234e-01 -3.41031004e-01 -1.71019854e+02] [-9.94845948e-01 -1.42414746e-02 1.00392828e-01 -2.46402562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-171.02, Z:-246.43 [[ 8.96467944e-02 3.39038638e-01 9.36491460e-01 2.93562017e+02] [-4.89832214e-02 9.40640361e-01 -3.35851688e-01 -1.71023077e+02] [-9.94768363e-01 -1.57643413e-02 1.00932598e-01 -2.46430301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-171.03, Z:-246.46 [[ 8.98483143e-02 3.36380735e-01 9.37430148e-01 2.93564871e+02] [-4.98704718e-02 9.41575807e-01 -3.33088481e-01 -1.71025008e+02] [-9.94706096e-01 -1.68226452e-02 1.01374465e-01 -2.46458442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-171.03, Z:-246.49 [[ 9.02208936e-02 3.33792802e-01 9.38319005e-01 2.93568559e+02] [-5.14576439e-02 9.42465269e-01 -3.30320037e-01 -1.71026601e+02] [-9.94591525e-01 -1.84819164e-02 1.02206250e-01 -2.46490899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-171.03, Z:-246.52 [[ 8.97221596e-02 3.36703774e-01 9.37326252e-01 2.93570888e+02] [-5.22408003e-02 9.41417422e-01 -3.33172832e-01 -1.71025758e+02] [-9.94595814e-01 -1.90736876e-02 1.02055679e-01 -2.46522530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-171.02, Z:-246.55 [[ 8.94310549e-02 3.39349475e-01 9.36399498e-01 2.93573170e+02] [-5.23076705e-02 9.40469527e-01 -3.35828789e-01 -1.71024883e+02] [-9.94618517e-01 -1.89473535e-02 1.01857762e-01 -2.46549907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-171.03, Z:-246.58 [[ 8.95129843e-02 3.38169053e-01 9.36818615e-01 2.93575947e+02] [-5.21498397e-02 9.40895600e-01 -3.34657832e-01 -1.71026407e+02] [-9.94619435e-01 -1.88987194e-02 1.01857835e-01 -2.46578289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-171.03, Z:-246.60 [[ 8.86586910e-02 3.36473239e-01 9.37510211e-01 2.93579047e+02] [-5.15375732e-02 9.41505533e-01 -3.33033346e-01 -1.71028825e+02] [-9.94727860e-01 -1.87907006e-02 1.00813662e-01 -2.46604684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-171.03, Z:-246.63 [[ 8.85628763e-02 3.34623529e-01 9.38181065e-01 2.93582543e+02] [-5.09895398e-02 9.42170235e-01 -3.31233022e-01 -1.71031007e+02] [-9.94764637e-01 -1.85024717e-02 1.00503606e-01 -2.46632746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-171.03, Z:-246.66 [[ 8.79699465e-02 3.31941462e-01 9.39189094e-01 2.93585488e+02] [-5.01617464e-02 9.43124368e-01 -3.28633879e-01 -1.71033252e+02] [-9.94859331e-01 -1.82014604e-02 9.96173636e-02 -2.46659998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-171.03, Z:-246.69 [[ 8.79262668e-02 3.30712844e-01 9.39626514e-01 2.93588793e+02] [-4.90983684e-02 9.43572160e-01 -3.27507144e-01 -1.71034492e+02] [-9.94916239e-01 -1.73376482e-02 9.92022385e-02 -2.46687479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-171.04, Z:-246.71 [[ 8.75871844e-02 3.28109241e-01 9.40570471e-01 2.93591730e+02] [-4.87729568e-02 9.44479252e-01 -3.24930980e-01 -1.71036345e+02] [-9.94962152e-01 -1.74146133e-02 9.87271363e-02 -2.46713959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-171.04, Z:-246.75 [[ 8.72886977e-02 3.26378853e-01 9.41200047e-01 2.93594967e+02] [-4.90015228e-02 9.45069338e-01 -3.23176108e-01 -1.71037442e+02] [-9.94977153e-01 -1.79106139e-02 9.84869326e-02 -2.46746371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-171.04, Z:-246.78 [[ 8.72172458e-02 3.28887737e-01 9.40332924e-01 2.93597458e+02] [-4.96029580e-02 9.44192820e-01 -3.25637015e-01 -1.71036354e+02] [-9.94953616e-01 -1.82421310e-02 9.86637018e-02 -2.46778948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-171.03, Z:-246.81 [[ 8.71862258e-02 3.31735591e-01 9.39334903e-01 2.93599727e+02] [-4.99490454e-02 9.43195254e-01 -3.28462793e-01 -1.71034885e+02] [-9.94939021e-01 -1.82814504e-02 9.88035105e-02 -2.46812113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-171.03, Z:-246.85 [[ 8.66989472e-02 3.39544854e-01 9.36585599e-01 2.93599386e+02] [-4.98974780e-02 9.40425657e-01 -3.36318041e-01 -1.71029593e+02] [-9.94984188e-01 -1.75748393e-02 9.84763463e-02 -2.46846004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-171.02, Z:-246.87 [[ 8.73710496e-02 3.56046193e-01 9.30374875e-01 2.93600932e+02] [-5.05439070e-02 9.34327938e-01 -3.52812441e-01 -1.71020177e+02] [-9.94892765e-01 -1.61991879e-02 9.96291782e-02 -2.46872959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-171.03, Z:-246.90 [[ 8.81771299e-02 3.36647527e-01 9.37493059e-01 2.93607215e+02] [-5.07386525e-02 9.41455260e-01 -3.33298037e-01 -1.71031446e+02] [-9.94811732e-01 -1.81778702e-02 1.00095865e-01 -2.46900040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-171.03, Z:-246.93 [[ 8.85657675e-02 3.35637925e-01 9.37818366e-01 2.93610253e+02] [-5.10989222e-02 9.41809465e-01 -3.32240624e-01 -1.71032374e+02] [-9.94758767e-01 -1.84963619e-02 1.00562814e-01 -2.46928770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-171.03, Z:-246.96 [[ 8.89144333e-02 3.34963460e-01 9.38026494e-01 2.93613292e+02] [-5.13418290e-02 9.42045892e-01 -3.31532130e-01 -1.71032878e+02] [-9.94715155e-01 -1.86820044e-02 1.00959113e-01 -2.46957361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-171.03, Z:-246.99 [[ 8.79416587e-02 3.39188178e-01 9.36598977e-01 2.93613426e+02] [-5.13672059e-02 9.40535031e-01 -3.35790508e-01 -1.71029375e+02] [-9.94800319e-01 -1.85804983e-02 1.00135360e-01 -2.46987465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-171.01, Z:-247.01 [[ 8.78132279e-02 3.65439427e-01 9.26683799e-01 2.93613513e+02] [-5.17136195e-02 9.30695476e-01 -3.62121019e-01 -1.71013281e+02] [-9.94793717e-01 -1.61231578e-02 1.00625569e-01 -2.47013564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-171.03, Z:-247.04 [[ 8.78079822e-02 3.28819270e-01 9.40301891e-01 2.93622674e+02] [-5.17958598e-02 9.44178167e-01 -3.25337945e-01 -1.71034588e+02] [-9.94789901e-01 -2.01364764e-02 9.99378565e-02 -2.47039591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-171.04, Z:-247.07 [[ 8.75090119e-02 3.27870663e-01 9.40660938e-01 2.93625965e+02] [-5.17131657e-02 9.44505424e-01 -3.24399833e-01 -1.71035604e+02] [-9.94820547e-01 -2.02566461e-02 9.96079663e-02 -2.47070705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-171.04, Z:-247.10 [[ 8.74408636e-02 3.28230215e-01 9.40541877e-01 2.93629074e+02] [-5.18099991e-02 9.44378898e-01 -3.24752555e-01 -1.71036167e+02] [-9.94821501e-01 -2.03328299e-02 9.95829135e-02 -2.47102640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-171.04, Z:-247.13 [[ 8.74460498e-02 3.30629438e-01 9.39700677e-01 2.93631468e+02] [-5.12224121e-02 9.43558774e-01 -3.27220270e-01 -1.71035452e+02] [-9.94851473e-01 -1.95196153e-02 9.94461249e-02 -2.47129975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-171.04, Z:-247.16 [[ 8.76360659e-02 3.29326101e-01 9.40140542e-01 2.93634340e+02] [-5.02701109e-02 9.44031225e-01 -3.26003011e-01 -1.71037052e+02] [-9.94883328e-01 -1.86913480e-02 9.92864422e-02 -2.47157936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-171.04, Z:-247.19 [[ 8.73404815e-02 3.28107423e-01 9.40594046e-01 2.93637388e+02] [-4.81905245e-02 9.44488464e-01 -3.24991099e-01 -1.71038658e+02] [-9.95012218e-01 -1.69428414e-02 9.83037461e-02 -2.47186846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-171.04, Z:-247.22 [[ 8.79725816e-02 3.27301823e-01 9.40815785e-01 2.93640228e+02] [-4.70761083e-02 9.44788376e-01 -3.24281922e-01 -1.71039605e+02] [-9.95009882e-01 -1.57620280e-02 9.85235685e-02 -2.47215778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-171.04, Z:-247.25 [[ 8.72114490e-02 3.32387801e-01 9.39101972e-01 2.93639736e+02] [-4.63547571e-02 9.43026705e-01 -3.29472109e-01 -1.71038024e+02] [-9.95110748e-01 -1.47981037e-02 9.76504811e-02 -2.47249145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-171.00, Z:-247.28 [[ 8.76069017e-02 3.91192505e-01 9.16129606e-01 2.93634629e+02] [-4.42103456e-02 9.20286299e-01 -3.88739725e-01 -1.71001187e+02] [-9.95173591e-01 -6.44612363e-03 9.79181871e-02 -2.47276136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51655999499997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:293.64, Y:-171.04, Z:-247.31 [[ 8.88421129e-02 3.32298727e-01 9.38980636e-01 2.93643986e+02] [-4.08443703e-02 9.43130841e-01 -3.29902946e-01 -1.71038640e+02] [-9.95207926e-01 -9.04279806e-03 9.73622690e-02 -2.47305322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-170.99, Z:-247.33 [[ 9.02691451e-02 4.08085311e-01 9.08470066e-01 2.93636545e+02] [-3.87196084e-02 9.12942573e-01 -4.06247032e-01 -1.70991551e+02] [-9.95164445e-01 1.49596709e-03 9.82114490e-02 -2.47332252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-171.04, Z:-247.36 [[ 9.34414480e-02 3.24566580e-01 9.41236012e-01 2.93650330e+02] [-3.30509604e-02 9.45862387e-01 -3.22880751e-01 -1.71043582e+02] [-9.95076042e-01 -9.38309334e-04 9.91099882e-02 -2.47363223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-171.04, Z:-247.40 [[ 9.49374269e-02 3.36271425e-01 9.36967670e-01 2.93650553e+02] [-3.01600332e-02 9.41758464e-01 -3.34934870e-01 -1.71037210e+02] [-9.95026260e-01 3.53887869e-03 9.95500827e-02 -2.47395226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-171.05, Z:-247.43 [[ 9.68122036e-02 3.22433543e-01 9.41628381e-01 2.93657339e+02] [-2.83859235e-02 9.46582025e-01 -3.21211317e-01 -1.71047603e+02] [-9.94897802e-01 4.36818420e-03 1.00793266e-01 -2.47425299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-171.05, Z:-247.46 [[ 9.72572536e-02 3.27436260e-01 9.39854522e-01 2.93657518e+02] [-2.50873919e-02 9.44837831e-01 -3.26576324e-01 -1.71045069e+02] [-9.94943038e-01 8.18341764e-03 1.00106854e-01 -2.47458662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-171.05, Z:-247.49 [[ 9.97118204e-02 3.22561100e-01 9.41282046e-01 2.93662957e+02] [-2.07278510e-02 9.46464638e-01 -3.22141344e-01 -1.71050558e+02] [-9.94800437e-01 1.26105459e-02 1.01059710e-01 -2.47489864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-171.05, Z:-247.52 [[ 1.00320361e-01 3.29425989e-01 9.38836697e-01 2.93664398e+02] [-1.85251793e-02 9.44051840e-01 -3.29276390e-01 -1.71047684e+02] [-9.94782711e-01 1.56410083e-02 1.00810297e-01 -2.47519211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-171.05, Z:-247.55 [[ 1.00638482e-01 3.28589662e-01 9.39095698e-01 2.93667624e+02] [-1.70124017e-02 9.44318096e-01 -3.28593840e-01 -1.71049655e+02] [-9.94777600e-01 1.70929119e-02 1.00624839e-01 -2.47552361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-171.05, Z:-247.58 [[ 1.00448407e-01 3.31221106e-01 9.38191183e-01 2.93669764e+02] [-1.49225787e-02 9.43355901e-01 -3.31446768e-01 -1.71048837e+02] [-9.94830355e-01 1.92930681e-02 9.97012706e-02 -2.47583910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-171.05, Z:-247.61 [[ 1.00618099e-01 3.32915402e-01 9.37573108e-01 2.93672108e+02] [-1.44710621e-02 9.42745462e-01 -3.33199012e-01 -1.71048233e+02] [-9.94819876e-01 1.99581725e-02 9.96748958e-02 -2.47612055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-171.05, Z:-247.64 [[ 1.00285035e-01 3.31894710e-01 9.37970582e-01 2.93674581e+02] [-1.42585791e-02 9.43105681e-01 -3.32187246e-01 -1.71048974e+02] [-9.94856575e-01 1.99392820e-02 9.93117336e-02 -2.47640921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-171.05, Z:-247.67 [[ 1.00012119e-01 3.31314041e-01 9.38204979e-01 2.93677747e+02] [-1.52563973e-02 9.43332419e-01 -3.31498402e-01 -1.71050113e+02] [-9.94869247e-01 1.88402296e-02 9.93993325e-02 -2.47674064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-171.06, Z:-247.71 [[ 1.02301816e-01 3.20849307e-01 9.41589115e-01 2.93686475e+02] [-2.06935518e-02 9.47036890e-01 -3.20457339e-01 -1.71060373e+02] [-9.94538142e-01 1.32985446e-02 1.03523105e-01 -2.47707893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-171.00, Z:-247.74 [[ 1.00806591e-01 4.18811059e-01 9.02460707e-01 2.93670030e+02] [-2.08885530e-02 9.07772340e-01 -4.18942773e-01 -1.70995558e+02] [-9.94686734e-01 2.33810944e-02 1.00257792e-01 -2.47736491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-171.05, Z:-247.76 [[ 9.93844000e-02 3.35591495e-01 9.36750281e-01 2.93685407e+02] [-2.18891454e-02 9.41920633e-01 -3.35121451e-01 -1.71047996e+02] [-9.94808327e-01 1.28011812e-02 1.00958028e-01 -2.47762761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-171.05, Z:-247.79 [[ 9.81952313e-02 3.36244344e-01 9.36641574e-01 2.93688677e+02] [-2.64494749e-02 9.41739506e-01 -3.35301549e-01 -1.71046979e+02] [-9.94815622e-01 8.15133527e-03 1.01367815e-01 -2.47789838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-171.05, Z:-247.82 [[ 9.74778309e-02 3.35353714e-01 9.37035730e-01 2.93692387e+02] [-2.93628761e-02 9.42078737e-01 -3.34103988e-01 -1.71047770e+02] [-9.94804450e-01 5.05366806e-03 1.01678741e-01 -2.47822874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-171.05, Z:-247.85 [[ 9.64250371e-02 3.38392677e-01 9.36051606e-01 2.93694897e+02] [-3.19566197e-02 9.41001479e-01 -3.36890177e-01 -1.71045961e+02] [-9.94827114e-01 2.57160265e-03 1.01549989e-01 -2.47851709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-171.04, Z:-247.88 [[ 9.43781062e-02 3.38216817e-01 9.36323746e-01 2.93698323e+02] [-3.68910423e-02 9.41064016e-01 -3.36210601e-01 -1.71044906e+02] [-9.94852665e-01 -2.81103915e-03 1.01293011e-01 -2.47879431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-171.05, Z:-247.91 [[ 9.29064985e-02 3.37435760e-01 9.36752630e-01 2.93701216e+02] [-3.91605916e-02 9.41332248e-01 -3.35201503e-01 -1.71045279e+02] [-9.94904433e-01 -5.54138924e-03 1.00670067e-01 -2.47908214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-171.05, Z:-247.94 [[ 9.19104779e-02 3.36977246e-01 9.37015901e-01 2.93704578e+02] [-4.14752241e-02 9.41477796e-01 -3.34513627e-01 -1.71046027e+02] [-9.94903146e-01 -8.11763722e-03 1.00507881e-01 -2.47941064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-171.04, Z:-247.97 [[ 8.97040795e-02 3.40084379e-01 9.36106721e-01 2.93707207e+02] [-4.46425863e-02 9.40324244e-01 -3.37338636e-01 -1.71043917e+02] [-9.94967446e-01 -1.15295733e-02 9.95331669e-02 -2.47968395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-171.04, Z:-248.00 [[ 8.84424135e-02 3.39396839e-01 9.36476228e-01 2.93710483e+02] [-4.63499721e-02 9.40544306e-01 -3.36493818e-01 -1.71044878e+02] [-9.95002321e-01 -1.36453217e-02 9.89150424e-02 -2.48001409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-171.04, Z:-248.03 [[ 8.77086879e-02 3.42375834e-01 9.35460301e-01 2.93712900e+02] [-4.81258130e-02 9.39439177e-01 -3.39319819e-01 -1.71043690e+02] [-9.94982961e-01 -1.52584914e-02 9.88740929e-02 -2.48033208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-171.05, Z:-248.07 [[ 8.97816594e-02 3.33911368e-01 9.38318950e-01 2.93720740e+02] [-5.22279946e-02 9.42405937e-01 -3.30368411e-01 -1.71052880e+02] [-9.94591117e-01 -1.93454930e-02 1.02050290e-01 -2.48066905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-171.01, Z:-248.10 [[ 8.52323466e-02 4.04339398e-01 9.10628958e-01 2.93710073e+02] [-5.31923226e-02 9.14497942e-01 -4.01078659e-01 -1.71007236e+02] [-9.94940211e-01 -1.42535940e-02 9.94525573e-02 -2.48098709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-171.04, Z:-248.12 [[ 8.65236311e-02 3.48970576e-01 9.33130858e-01 2.93720394e+02] [-5.49494121e-02 9.36889308e-01 -3.45281025e-01 -1.71042467e+02] [-9.94733242e-01 -2.14000241e-02 1.00238793e-01 -2.48123874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-171.04, Z:-248.15 [[ 8.61940828e-02 3.47904745e-01 9.33559247e-01 2.93723001e+02] [-5.62964395e-02 9.37250213e-01 -3.44082475e-01 -1.71044288e+02] [-9.94686529e-01 -2.28981883e-02 1.00371221e-01 -2.48151901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-171.05, Z:-248.18 [[ 8.62363292e-02 3.47003940e-01 9.33890551e-01 2.93725774e+02] [-5.76602494e-02 9.37549695e-01 -3.43039160e-01 -1.71045708e+02] [-9.94604741e-01 -2.42659241e-02 1.00859178e-01 -2.48179394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-171.05, Z:-248.21 [[ 8.62050508e-02 3.46190388e-01 9.34195325e-01 2.93727787e+02] [-6.00849379e-02 9.37785658e-01 -3.41976402e-01 -1.71046599e+02] [-9.94463921e-01 -2.66509750e-02 1.01642688e-01 -2.48207371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-171.05, Z:-248.24 [[ 8.64470204e-02 3.45248956e-01 9.34521306e-01 2.93730217e+02] [-6.10106790e-02 9.38106880e-01 -3.40929873e-01 -1.71048094e+02] [-9.94386550e-01 -2.75434077e-02 1.02160418e-01 -2.48235658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-171.05, Z:-248.26 [[ 8.69101424e-02 3.44268891e-01 9.34839857e-01 2.93732484e+02] [-6.15223392e-02 9.38454239e-01 -3.39880336e-01 -1.71049835e+02] [-9.94314653e-01 -2.79744863e-02 1.02741419e-01 -2.48262230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-171.05, Z:-248.30 [[ 8.78847889e-02 3.43455058e-01 9.35048067e-01 2.93734497e+02] [-6.11880655e-02 9.38768907e-01 -3.39070729e-01 -1.71053986e+02] [-9.94249609e-01 -2.74146229e-02 1.03518858e-01 -2.48295059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-171.04, Z:-248.33 [[ 8.76280947e-02 3.62481021e-01 9.27862504e-01 2.93733992e+02] [-6.06504816e-02 9.31658901e-01 -3.58236249e-01 -1.71044962e+02] [-9.94305203e-01 -2.48837478e-02 1.03624143e-01 -2.48326877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-171.06, Z:-248.36 [[ 8.86960276e-02 3.47723409e-01 9.33392439e-01 2.93738887e+02] [-5.91873056e-02 9.37269800e-01 -3.43543571e-01 -1.71057169e+02] [-9.94298686e-01 -2.47740335e-02 1.03712920e-01 -2.48359115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-171.05, Z:-248.39 [[ 8.89871199e-02 3.66558899e-01 9.26129508e-01 2.93737855e+02] [-5.47357535e-02 9.30212935e-01 -3.62915822e-01 -1.71049745e+02] [-9.94527672e-01 -1.83975627e-02 1.02840848e-01 -2.48390769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-171.06, Z:-248.42 [[ 8.96566153e-02 3.52290161e-01 9.31586461e-01 2.93742098e+02] [-5.16660349e-02 9.35739108e-01 -3.48888152e-01 -1.71061073e+02] [-9.94631747e-01 -1.68512477e-02 1.02096637e-01 -2.48417872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-171.06, Z:-248.45 [[ 8.97077137e-02 3.51255553e-01 9.31972136e-01 2.93744818e+02] [-5.15830200e-02 9.36127657e-01 -3.47856583e-01 -1.71062553e+02] [-9.94631448e-01 -1.68685186e-02 1.02096694e-01 -2.48446235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.07, Z:-248.47 [[ 9.04789444e-02 3.50094401e-01 9.32334420e-01 2.93747020e+02] [-4.83197579e-02 9.36614921e-01 -3.47012523e-01 -1.71065882e+02] [-9.94725471e-01 -1.36528467e-02 1.01660406e-01 -2.48473534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.07, Z:-248.50 [[ 9.13667616e-02 3.48582347e-01 9.32814270e-01 2.93749174e+02] [-4.49168322e-02 9.37221544e-01 -3.45829808e-01 -1.71069382e+02] [-9.94803796e-01 -1.03017124e-02 1.01288112e-01 -2.48501972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.07, Z:-248.53 [[ 9.40757730e-02 3.47192102e-01 9.33063445e-01 2.93750313e+02] [-3.78409077e-02 9.37789733e-01 -3.45135455e-01 -1.71074737e+02] [-9.94845624e-01 -2.83908304e-03 1.01361358e-01 -2.48529271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.08, Z:-248.56 [[ 9.56256853e-02 3.45651735e-01 9.33477695e-01 2.93752710e+02] [-3.45420890e-02 9.38362651e-01 -3.43922055e-01 -1.71078617e+02] [-9.94817859e-01 6.43512604e-04 1.01671105e-01 -2.48562093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.08, Z:-248.59 [[ 9.69300907e-02 3.48072737e-01 9.32442989e-01 2.93754152e+02] [-3.11242452e-02 9.37456318e-01 -3.46708715e-01 -1.71079981e+02] [-9.94804423e-01 4.58492296e-03 1.01701227e-01 -2.48594907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.08, Z:-248.63 [[ 1.00663205e-01 3.50070221e-01 9.31298964e-01 2.93754754e+02] [-2.41455689e-02 9.36637475e-01 -3.49467067e-01 -1.71082703e+02] [-9.94627524e-01 1.26917318e-02 1.02737575e-01 -2.48626530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-171.08, Z:-248.65 [[ 1.02517027e-01 3.52219246e-01 9.30285903e-01 2.93756056e+02] [-2.03024993e-02 9.35759376e-01 -3.52054255e-01 -1.71083647e+02] [-9.94524041e-01 1.72044267e-02 1.03082201e-01 -2.48654594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-171.09, Z:-248.69 [[ 1.03964312e-01 3.50838186e-01 9.30647081e-01 2.93757977e+02] [-1.70730450e-02 9.36209370e-01 -3.51027814e-01 -1.71086941e+02] [-9.94434479e-01 2.06053856e-02 1.03322239e-01 -2.48687115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-171.09, Z:-248.72 [[ 1.07088536e-01 3.53278485e-01 9.29368795e-01 2.93759448e+02] [-1.25025414e-02 9.35148629e-01 -3.54034925e-01 -1.71089369e+02] [-9.94170877e-01 2.62936099e-02 1.04560576e-01 -2.48719538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-171.10, Z:-248.75 [[ 1.10940032e-01 3.44772029e-01 9.32107589e-01 2.93768220e+02] [-1.28799619e-02 9.38317149e-01 -3.45535866e-01 -1.71100416e+02] [-9.93743637e-01 2.63282498e-02 1.08537585e-01 -2.48751428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-171.08, Z:-248.79 [[ 1.12921610e-01 3.86729536e-01 9.15253504e-01 2.93763809e+02] [-1.34709456e-02 9.21656455e-01 -3.87773017e-01 -1.71078004e+02] [-9.93512579e-01 3.14586231e-02 1.09284543e-01 -2.48786079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01655999499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.75, Y:-171.04, Z:-248.82 [[ 1.10387139e-01 4.36403251e-01 8.92954020e-01 2.93752490e+02] [-1.00333500e-02 8.98888237e-01 -4.38063089e-01 -1.71042444e+02] [-9.93838021e-01 3.93972109e-02 1.03604287e-01 -2.48817921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-171.09, Z:-248.84 [[ 1.07720124e-01 3.61436163e-01 9.26153483e-01 2.93767362e+02] [-7.25449065e-03 9.31835033e-01 -3.62809653e-01 -1.71093167e+02] [-9.94154790e-01 3.23631292e-02 1.02999421e-01 -2.48843556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-171.09, Z:-248.87 [[ 1.06955063e-01 3.61007583e-01 9.26409272e-01 2.93769832e+02] [-7.54316711e-03 9.32021756e-01 -3.62323815e-01 -1.71094266e+02] [-9.94235241e-01 3.17643064e-02 1.02407586e-01 -2.48872263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-171.13, Z:-248.90 [[ 1.13336170e-01 3.19209690e-01 9.40882610e-01 2.93793861e+02] [-1.56037629e-02 9.47439383e-01 -3.19554594e-01 -1.71133018e+02] [-9.93434163e-01 2.15357846e-02 1.12360023e-01 -2.48903540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-171.04, Z:-248.94 [[ 1.13024998e-01 4.69371006e-01 8.75737523e-01 2.93768386e+02] [-2.20275621e-02 8.82352387e-01 -4.70073454e-01 -1.71038138e+02] [-9.93347943e-01 3.38396885e-02 1.10066976e-01 -2.48939835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-170.99, Z:-248.97 [[ 1.11644506e-01 5.30834276e-01 8.40089564e-01 2.93762177e+02] [-2.41507518e-02 8.46574338e-01 -5.31722326e-01 -1.70993424e+02] [-9.93454702e-01 3.90750818e-02 1.07335420e-01 -2.48969402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-171.02, Z:-249.00 [[ 1.10253421e-01 4.93958776e-01 8.62466759e-01 2.93769439e+02] [-2.69201885e-02 8.68922807e-01 -4.94214992e-01 -1.71022832e+02] [-9.93538870e-01 3.12711261e-02 1.09099176e-01 -2.48998544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-170.98, Z:-249.03 [[ 1.07662734e-01 5.48485344e-01 8.29199954e-01 2.93764794e+02] [-2.65840201e-02 8.35337887e-01 -5.49093711e-01 -1.70979659e+02] [-9.93831991e-01 3.70734620e-02 1.04515706e-01 -2.49027359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-170.99, Z:-249.05 [[ 9.99879768e-02 5.20327087e-01 8.48093230e-01 2.93763078e+02] [-2.47424811e-02 8.53401415e-01 -5.20666721e-01 -1.70989671e+02] [-9.94680961e-01 3.10764812e-02 9.82040640e-02 -2.49050221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-171.11, Z:-249.08 [[ 9.73210428e-02 3.33561003e-01 9.37691672e-01 2.93793236e+02] [-2.54569860e-02 9.42690128e-01 -3.32696955e-01 -1.71113445e+02] [-9.94927413e-01 8.50761086e-03 1.00235044e-01 -2.49077308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-171.11, Z:-249.11 [[ 9.59885999e-02 3.36789642e-01 9.36674397e-01 2.93795419e+02] [-2.87552423e-02 9.41565113e-01 -3.35601361e-01 -1.71111458e+02] [-9.94966997e-01 5.27960555e-03 1.00063985e-01 -2.49106234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-171.11, Z:-249.14 [[ 9.32360621e-02 3.36963077e-01 9.36890026e-01 2.93798799e+02] [-3.57651615e-02 9.41515131e-01 -3.35067323e-01 -1.71110987e+02] [-9.95001452e-01 -2.26766537e-03 9.98347021e-02 -2.49139213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-171.13, Z:-249.17 [[ 9.68762315e-02 3.16920762e-01 9.43491508e-01 2.93813573e+02] [-4.33762150e-02 9.48393951e-01 -3.14113701e-01 -1.71131197e+02] [-9.94350793e-01 -1.04949389e-02 1.05623655e-01 -2.49169673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-171.06, Z:-249.20 [[ 9.40124416e-02 4.34632298e-01 8.95687683e-01 2.93795737e+02] [-4.81210152e-02 9.00604552e-01 -4.31967369e-01 -1.71059317e+02] [-9.94407376e-01 -2.49109356e-03 1.05582980e-01 -2.49203614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-171.03, Z:-249.23 [[ 9.10724675e-02 4.81596624e-01 8.71648150e-01 2.93791346e+02] [-4.93509682e-02 8.76392787e-01 -4.79061756e-01 -1.71026675e+02] [-9.94620675e-01 6.12656014e-04 1.03582513e-01 -2.49233335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-171.03, Z:-249.27 [[ 8.78548027e-02 4.75377136e-01 8.75384551e-01 2.93793254e+02] [-5.12034938e-02 8.79775929e-01 -4.72623018e-01 -1.71029892e+02] [-9.94816433e-01 -3.30054540e-03 1.01633511e-01 -2.49265482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-171.01, Z:-249.29 [[ 8.20154957e-02 4.94963356e-01 8.65034528e-01 2.93786921e+02] [-4.56125610e-02 8.68913312e-01 -4.92858144e-01 -1.71007202e+02] [-9.95586738e-01 9.65564796e-04 9.38409023e-02 -2.49292363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-171.14, Z:-249.32 [[ 9.14220980e-02 2.96884957e-01 9.50526866e-01 2.93830042e+02] [-5.23042229e-02 9.54638216e-01 -2.93138441e-01 -1.71144544e+02] [-9.94437664e-01 -2.29172378e-02 1.02803365e-01 -2.49322637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-171.03, Z:-249.36 [[ 8.16195102e-02 4.70721448e-01 8.78498477e-01 2.93794566e+02] [-4.71661930e-02 8.82276050e-01 -4.68363451e-01 -1.71025735e+02] [-9.95546888e-01 -3.20783333e-03 9.42130777e-02 -2.49355657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-171.12, Z:-249.38 [[ 8.43174866e-02 3.25334119e-01 9.41832402e-01 2.93819672e+02] [-4.70198423e-02 9.45444442e-01 -3.22372366e-01 -1.71120865e+02] [-9.95328939e-01 -1.71031834e-02 9.50146580e-02 -2.49381068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-171.12, Z:-249.41 [[ 8.39472651e-02 3.24956116e-01 9.41995955e-01 2.93822187e+02] [-4.69392677e-02 9.45572947e-01 -3.22006997e-01 -1.71122643e+02] [-9.95364035e-01 -1.71849936e-02 9.46314650e-02 -2.49412726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-171.14, Z:-249.44 [[ 8.58127647e-02 3.16948190e-01 9.44552812e-01 2.93830386e+02] [-5.01351832e-02 9.48222525e-01 -3.13624787e-01 -1.71135781e+02] [-9.95049061e-01 -2.04423182e-02 9.72598520e-02 -2.49444117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-171.06, Z:-249.48 [[ 8.24758116e-02 4.33929637e-01 8.97163759e-01 2.93809850e+02] [-4.92779527e-02 9.00905276e-01 -4.31209193e-01 -1.71061840e+02] [-9.95374012e-01 -8.64606516e-03 9.56860579e-02 -2.49480180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-171.07, Z:-249.51 [[ 8.34920777e-02 4.24260479e-01 9.01682937e-01 2.93811597e+02] [-4.77979919e-02 9.05505774e-01 -4.21633308e-01 -1.71065015e+02] [-9.95361454e-01 -7.89559290e-03 9.58813573e-02 -2.49507965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-171.14, Z:-249.54 [[ 9.17047952e-02 3.11802495e-01 9.45711074e-01 2.93835565e+02] [-5.25273417e-02 9.49905413e-01 -3.08091844e-01 -1.71142244e+02] [-9.94399874e-01 -2.14221893e-02 1.03489038e-01 -2.49540632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-171.06, Z:-249.57 [[ 8.77252258e-02 4.36997262e-01 8.95174663e-01 2.93812408e+02] [-5.13819688e-02 8.99427969e-01 -4.34038273e-01 -1.71059050e+02] [-9.94818666e-01 -7.91973105e-03 1.01356301e-01 -2.49572452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-171.13, Z:-249.60 [[ 9.13544181e-02 3.25235825e-01 9.41209875e-01 2.93834022e+02] [-5.00623095e-02 9.45466958e-01 -3.21847785e-01 -1.71134502e+02] [-9.94559267e-01 -1.77169229e-02 1.02654640e-01 -2.49597937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:293.84, Y:-171.15, Z:-249.63 [[ 9.38544242e-02 3.12564861e-01 9.45248409e-01 2.93842461e+02] [-5.18356161e-02 9.49685694e-01 -3.08885339e-01 -1.71150017e+02] [-9.94235594e-01 -2.00072781e-02 1.05334196e-01 -2.49629783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-171.04, Z:-249.66 [[ 8.81319769e-02 4.77043736e-01 8.74449557e-01 2.93814391e+02] [-4.86017242e-02 8.78879296e-01 -4.74561961e-01 -1.71040220e+02] [-9.94922423e-01 -6.75672389e-04 1.00642518e-01 -2.49659014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-171.14, Z:-249.68 [[ 9.18145871e-02 3.20431928e-01 9.42811467e-01 2.93843759e+02] [-4.40151688e-02 9.47191236e-01 -3.17634108e-01 -1.71143421e+02] [-9.94802868e-01 -1.23345614e-02 1.01069838e-01 -2.49681321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-171.14, Z:-249.71 [[ 9.18885233e-02 3.19307470e-01 9.43185686e-01 2.93846401e+02] [-4.38415244e-02 9.47571783e-01 -3.16521148e-01 -1.71144812e+02] [-9.94803709e-01 -1.22660375e-02 1.01069898e-01 -2.49709728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-171.15, Z:-249.74 [[ 9.21432529e-02 3.17055086e-01 9.43920385e-01 2.93849585e+02] [-3.94000864e-02 9.48371738e-01 -3.14704116e-01 -1.71148158e+02] [-9.94965956e-01 -8.19268375e-03 9.98780546e-02 -2.49736579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-171.15, Z:-249.76 [[ 9.20001262e-02 3.14809028e-01 9.44685796e-01 2.93852522e+02] [-3.67644776e-02 9.49136312e-01 -3.12711744e-01 -1.71150677e+02] [-9.95080072e-01 -5.96135985e-03 9.88944499e-02 -2.49764445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-171.15, Z:-249.79 [[ 9.18286017e-02 3.11700206e-01 9.45732779e-01 2.93856040e+02] [-3.45152375e-02 9.50171250e-01 -3.09811708e-01 -1.71153686e+02] [-9.95176470e-01 -4.19261554e-03 9.80113038e-02 -2.49792512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-171.18, Z:-249.82 [[ 9.83599961e-02 2.80036944e-01 9.54936973e-01 2.93875893e+02] [-3.75518041e-02 9.59951140e-01 -2.77639463e-01 -1.71182626e+02] [-9.94442142e-01 -8.55098967e-03 1.04936683e-01 -2.49823541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-171.06, Z:-249.86 [[ 9.36068982e-02 4.63972352e-01 8.80890121e-01 2.93834154e+02] [-2.79404144e-02 8.85650689e-01 -4.63510724e-01 -1.71057703e+02] [-9.95217103e-01 1.87753661e-02 9.58665937e-02 -2.49855307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-171.18, Z:-249.88 [[ 1.00953490e-01 2.83125533e-01 9.53754856e-01 2.93880074e+02] [-2.73030102e-02 9.59079832e-01 -2.81816289e-01 -1.71180271e+02] [-9.94516435e-01 2.40995937e-03 1.04552636e-01 -2.49884799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-171.11, Z:-249.92 [[ 1.01697337e-01 3.99225767e-01 9.11195061e-01 2.93858132e+02] [-2.61698700e-02 9.16700502e-01 -3.98717103e-01 -1.71109946e+02] [-9.94471111e-01 1.67026111e-02 1.03673686e-01 -2.49921826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-171.08, Z:-249.95 [[ 9.91653712e-02 4.34140114e-01 8.95370644e-01 2.93847745e+02] [-1.53684265e-02 9.00366701e-01 -4.34860456e-01 -1.71080068e+02] [-9.94952281e-01 2.93626606e-02 9.59572486e-02 -2.49951633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-171.16, Z:-249.98 [[ 9.83461651e-02 3.10820862e-01 9.45366820e-01 2.93874129e+02] [-1.06233147e-02 9.50245808e-01 -3.11319852e-01 -1.71158439e+02] [-9.95095562e-01 2.05741843e-02 9.67549789e-02 -2.49978607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-171.18, Z:-250.01 [[ 1.04524298e-01 2.90062936e-01 9.51282379e-01 2.93890689e+02] [-1.22850925e-02 9.56825488e-01 -2.90403276e-01 -1.71177510e+02] [-9.94446453e-01 1.86676066e-02 1.03574963e-01 -2.50012788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-171.12, Z:-250.05 [[ 1.05565273e-01 3.80395158e-01 9.18779352e-01 2.93872765e+02] [-1.16183035e-02 9.24350737e-01 -3.81366924e-01 -1.71122374e+02] [-9.94344502e-01 2.95844460e-02 1.01998884e-01 -2.50048813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-171.11, Z:-250.08 [[ 1.07851336e-01 4.00710878e-01 9.09834535e-01 2.93873039e+02] [-9.63309928e-03 9.15550960e-01 -4.02086612e-01 -1.71109083e+02] [-9.94120361e-01 3.46010520e-02 1.02603482e-01 -2.50081237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-171.07, Z:-250.11 [[ 1.04479613e-01 4.40943392e-01 8.91433080e-01 2.93861637e+02] [-3.18969166e-03 8.96482675e-01 -4.43067307e-01 -1.71074018e+02] [-9.94521914e-01 4.34481042e-02 9.50706365e-02 -2.50110947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-171.15, Z:-250.14 [[ 1.01095300e-01 3.12677874e-01 9.44464021e-01 2.93887138e+02] [ 1.48745384e-03 9.49279102e-01 -3.14431190e-01 -1.71154253e+02] [-9.94875634e-01 3.31923621e-02 9.55025619e-02 -2.50135211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-171.15, Z:-250.16 [[ 1.01008165e-01 3.11381295e-01 9.44901603e-01 2.93890395e+02] [ 3.47031176e-03 9.49643003e-01 -3.13314737e-01 -1.71153395e+02] [-9.94879544e-01 3.49264500e-02 9.48411073e-02 -2.50161981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-171.15, Z:-250.19 [[ 1.00900790e-01 3.10074565e-01 9.45342686e-01 2.93893746e+02] [ 3.48323536e-03 9.50076075e-01 -3.11998909e-01 -1.71153547e+02] [-9.94890395e-01 3.47737876e-02 9.47833643e-02 -2.50189969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-171.17, Z:-250.22 [[ 1.03868113e-01 2.90921802e-01 9.51091962e-01 2.93908492e+02] [-3.04654005e-03 9.56352896e-01 -2.92198316e-01 -1.71169889e+02] [-9.94586413e-01 2.74525481e-02 1.00220876e-01 -2.50220971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-171.06, Z:-250.25 [[ 1.02323578e-01 4.42901914e-01 8.90711951e-01 2.93879907e+02] [-9.53354782e-03 8.95807320e-01 -4.44340361e-01 -1.71063138e+02] [-9.94705483e-01 3.69748507e-02 9.58846369e-02 -2.50250048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-171.14, Z:-250.28 [[ 9.54034891e-02 3.05471669e-01 9.47409750e-01 2.93910693e+02] [-2.48117156e-02 9.52185022e-01 -3.04512829e-01 -1.71141347e+02] [-9.95129415e-01 5.54472508e-03 9.84210495e-02 -2.50276182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-171.10, Z:-250.31 [[ 9.09441987e-02 3.70523369e-01 9.24360095e-01 2.93900533e+02] [-2.94156383e-02 9.28801060e-01 -3.69409409e-01 -1.71096207e+02] [-9.95421455e-01 6.40500047e-03 9.53682496e-02 -2.50305539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-171.14, Z:-250.33 [[ 9.11667263e-02 3.04832411e-01 9.48032610e-01 2.93914347e+02] [-2.87076279e-02 9.52405900e-01 -3.03477964e-01 -1.71136423e+02] [-9.95421770e-01 4.51325063e-04 9.55787434e-02 -2.50332807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-171.14, Z:-250.36 [[ 9.11736273e-02 3.04253792e-01 9.48217802e-01 2.93916933e+02] [-2.86852300e-02 9.52590918e-01 -3.02898830e-01 -1.71137519e+02] [-9.95421784e-01 4.16539267e-04 9.55787593e-02 -2.50362850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-171.14, Z:-250.39 [[ 9.11794632e-02 3.04059976e-01 9.48279409e-01 2.93919445e+02] [-2.86666802e-02 9.52652800e-01 -3.02705903e-01 -1.71138389e+02] [-9.95421784e-01 4.16539286e-04 9.55787610e-02 -2.50392904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-171.14, Z:-250.42 [[ 9.01874713e-02 3.04151376e-01 9.48344958e-01 2.93922286e+02] [-3.16206487e-02 9.52619876e-01 -3.02515301e-01 -1.71137828e+02] [-9.95422702e-01 -2.70419279e-03 9.55318415e-02 -2.50420251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-171.14, Z:-250.45 [[ 9.02716594e-02 3.02793465e-01 9.48771387e-01 2.93924904e+02] [-3.13688263e-02 9.53052722e-01 -3.01175208e-01 -1.71139271e+02] [-9.95423038e-01 -2.57425905e-03 9.55319264e-02 -2.50448676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-171.14, Z:-250.48 [[ 9.03636675e-02 2.99995568e-01 9.49651024e-01 2.93927804e+02] [-3.11039120e-02 9.53937122e-01 -2.98389870e-01 -1.71141550e+02] [-9.95423003e-01 -2.57425892e-03 9.55322926e-02 -2.50477056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-171.15, Z:-250.51 [[ 9.02474770e-02 2.93566873e-01 9.51668999e-01 2.93933605e+02] [-3.57695408e-02 9.55907243e-01 -2.91482216e-01 -1.71148250e+02] [-9.95276812e-01 -7.73522846e-03 9.67689691e-02 -2.50508766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-171.11, Z:-250.54 [[ 8.94836337e-02 3.65114759e-01 9.26651980e-01 2.93923101e+02] [-3.61454121e-02 9.30962001e-01 -3.63322533e-01 -1.71106241e+02] [-9.95332200e-01 -9.82797311e-04 9.65030861e-02 -2.50539211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-171.11, Z:-250.57 [[ 8.87890021e-02 3.66120091e-01 9.26322078e-01 2.93925381e+02] [-3.89364166e-02 9.30560084e-01 -3.64063024e-01 -1.71105473e+02] [-9.95289138e-01 -3.74286978e-03 9.68789057e-02 -2.50567894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-171.10, Z:-250.60 [[ 8.80841205e-02 3.67244597e-01 9.25944163e-01 2.93927489e+02] [-4.17266713e-02 9.30101743e-01 -3.64924146e-01 -1.71104636e+02] [-9.95238701e-01 -6.49254533e-03 9.72510887e-02 -2.50596470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-171.10, Z:-250.62 [[ 8.72975684e-02 3.75446879e-01 9.22723564e-01 2.93927448e+02] [-4.28260653e-02 9.26817861e-01 -3.73061094e-01 -1.71096092e+02] [-9.95261304e-01 -6.94929317e-03 9.69878583e-02 -2.50621715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-171.16, Z:-250.65 [[ 9.02748823e-02 2.80251793e-01 9.55672213e-01 2.93950267e+02] [-5.07747745e-02 9.59637546e-01 -2.76618335e-01 -1.71156629e+02] [-9.94621721e-01 -2.35523535e-02 1.00860888e-01 -2.50650446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-171.09, Z:-250.68 [[ 8.49105199e-02 3.93622471e-01 9.15342315e-01 2.93932497e+02] [-5.45515145e-02 9.19118616e-01 -3.90185985e-01 -1.71087484e+02] [-9.94894133e-01 -1.68024147e-02 9.95155414e-02 -2.50682814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-171.08, Z:-250.71 [[ 8.48855491e-02 3.96955813e-01 9.13904003e-01 2.93935405e+02] [-5.44799835e-02 9.17691485e-01 -3.93540684e-01 -1.71084813e+02] [-9.94900183e-01 -1.63835580e-02 9.95248917e-02 -2.50710870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-171.09, Z:-250.74 [[ 8.33200992e-02 3.84877109e-01 9.19199310e-01 2.93936337e+02] [-5.07715014e-02 9.22848239e-01 -3.81802806e-01 -1.71087832e+02] [-9.95228625e-01 -1.48572814e-02 9.64325955e-02 -2.50735744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-171.15, Z:-250.76 [[ 8.64479083e-02 2.77224679e-01 9.56908165e-01 2.93956749e+02] [-5.03539154e-02 9.60492137e-01 -2.73713971e-01 -1.71152608e+02] [-9.94983036e-01 -2.45220725e-02 9.69918842e-02 -2.50761167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-171.15, Z:-250.79 [[ 8.60264480e-02 2.75955757e-01 9.57312838e-01 2.93959466e+02] [-4.70476132e-02 9.60928192e-01 -2.72770110e-01 -1.71154921e+02] [-9.95181377e-01 -2.15738405e-02 9.56482989e-02 -2.50789379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-171.16, Z:-250.82 [[ 8.63520599e-02 2.74989072e-01 9.57561660e-01 2.93962072e+02] [-4.49858191e-02 9.61247758e-01 -2.71990851e-01 -1.71156688e+02] [-9.95248511e-01 -1.95897253e-02 9.53763326e-02 -2.50815796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-171.17, Z:-250.85 [[ 9.01398820e-02 2.59629277e-01 9.61492299e-01 2.93973239e+02] [-4.56414349e-02 9.65484991e-01 -2.56428530e-01 -1.71170726e+02] [-9.94882737e-01 -2.07694507e-02 9.88785559e-02 -2.50849675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-171.12, Z:-250.88 [[ 8.56356479e-02 3.40630696e-01 9.36289093e-01 2.93955202e+02] [-4.15691209e-02 9.40144460e-01 -3.38231285e-01 -1.71120658e+02] [-9.95458962e-01 -9.95605926e-03 9.46695985e-02 -2.50882926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-171.16, Z:-250.91 [[ 8.88708561e-02 2.78475117e-01 9.56322948e-01 2.93968396e+02] [-3.71090295e-02 9.60381120e-01 -2.76208298e-01 -1.71158692e+02] [-9.95351642e-01 -1.09413485e-02 9.56838336e-02 -2.50909043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-171.16, Z:-250.94 [[ 9.14328493e-02 2.74089672e-01 9.57347840e-01 2.93973613e+02] [-3.59956891e-02 9.61656212e-01 -2.71885345e-01 -1.71164091e+02] [-9.95160462e-01 -9.60114351e-03 9.77930141e-02 -2.50942088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-171.15, Z:-250.97 [[ 9.09814141e-02 3.05672779e-01 9.47779792e-01 2.93967588e+02] [-3.32099322e-02 9.52128931e-01 -3.03887477e-01 -1.71145642e+02] [-9.95298690e-01 -3.82759026e-03 9.67774089e-02 -2.50974430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-171.16, Z:-251.01 [[ 9.37782282e-02 2.80478061e-01 9.55268392e-01 2.93973954e+02] [-2.82439930e-02 9.59860093e-01 -2.79053540e-01 -1.71163098e+02] [-9.95192404e-01 -8.11447186e-04 9.79357993e-02 -2.51005370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-171.16, Z:-251.04 [[ 9.50154308e-02 2.83168224e-01 9.54352045e-01 2.93975863e+02] [-2.56148224e-02 9.59067377e-01 -2.82017106e-01 -1.71163345e+02] [-9.95146195e-01 2.35041874e-03 9.83795037e-02 -2.51038104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-171.17, Z:-251.07 [[ 9.69397481e-02 2.84830809e-01 9.53663513e-01 2.93978936e+02] [-2.29678655e-02 9.58561312e-01 -2.83958955e-01 -1.71165149e+02] [-9.95025207e-01 5.62329425e-03 9.94646478e-02 -2.51068242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-171.16, Z:-251.10 [[ 9.79694117e-02 3.02731200e-01 9.48027328e-01 2.93976029e+02] [-1.92422147e-02 9.53008068e-01 -3.02333192e-01 -1.71155095e+02] [-9.95003383e-01 1.13772596e-02 9.91908585e-02 -2.51095582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-171.16, Z:-251.13 [[ 9.86844500e-02 2.94268796e-01 9.50614146e-01 2.93977743e+02] [-1.05609157e-02 9.55532972e-01 -2.94695108e-01 -1.71161387e+02] [-9.95062735e-01 1.90424687e-02 9.74039937e-02 -2.51127083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-171.20, Z:-251.16 [[ 9.75764325e-02 2.33141993e-01 9.67534832e-01 2.93991977e+02] [-4.90277367e-03 9.72274823e-01 -2.33789717e-01 -1.71197321e+02] [-9.95215958e-01 1.80687622e-02 9.60141511e-02 -2.51157417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-171.22, Z:-251.19 [[ 9.83553576e-02 1.98041810e-01 9.75246464e-01 2.94003980e+02] [-1.07677405e-03 9.80018730e-01 -1.98902312e-01 -1.71219451e+02] [-9.95150775e-01 1.85129880e-02 9.66033390e-02 -2.51189449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-171.21, Z:-251.22 [[ 1.00377550e-01 2.13489121e-01 9.71775047e-01 2.94004831e+02] [ 2.07111715e-03 9.76661039e-01 -2.14776456e-01 -1.71213947e+02] [-9.94947264e-01 2.35713944e-02 9.75926813e-02 -2.51223174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-171.17, Z:-251.26 [[ 1.04960601e-01 2.93870605e-01 9.50064913e-01 2.93991261e+02] [ 7.62718231e-03 9.55075880e-01 -2.96263209e-01 -1.71171906e+02] [-9.94447132e-01 3.83422829e-02 9.80039340e-02 -2.51257921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-171.16, Z:-251.29 [[ 1.02612183e-01 3.14869165e-01 9.43572016e-01 2.93984114e+02] [ 1.41949951e-02 9.48019047e-01 -3.17896822e-01 -1.71156060e+02] [-9.94620150e-01 4.60140870e-02 9.28087374e-02 -2.51288388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-171.26, Z:-251.32 [[ 9.96133853e-02 1.36111553e-01 9.85672775e-01 2.94036369e+02] [ 1.60689076e-02 9.90250567e-01 -1.38367645e-01 -1.71262993e+02] [-9.94896459e-01 2.96219543e-02 9.64550473e-02 -2.51317089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-171.17, Z:-251.35 [[ 1.06627929e-01 3.01586461e-01 9.47457699e-01 2.93998143e+02] [ 1.51801018e-02 9.52285306e-01 -3.04831528e-01 -1.71171752e+02] [-9.94183107e-01 4.68860587e-02 9.69620965e-02 -2.51354311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-171.17, Z:-251.39 [[ 1.06174235e-01 3.01748269e-01 9.47457130e-01 2.93999877e+02] [ 1.80074653e-02 9.52103275e-01 -3.05245942e-01 -1.71171051e+02] [-9.94184471e-01 4.94705556e-02 9.56551149e-02 -2.51387455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-171.17, Z:-251.42 [[ 1.08652876e-01 3.04778557e-01 9.46205360e-01 2.94003699e+02] [ 1.70618693e-02 9.51128528e-01 -3.08323556e-01 -1.71170614e+02] [-9.93933320e-01 4.96442731e-02 9.81427579e-02 -2.51419188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-171.17, Z:-251.45 [[ 1.09514344e-01 3.07707668e-01 9.45157447e-01 2.94005814e+02] [ 1.64091405e-02 9.50187512e-01 -3.11246576e-01 -1.71168724e+02] [-9.93849762e-01 4.95951860e-02 9.90099437e-02 -2.51447783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-171.17, Z:-251.48 [[ 1.09516817e-01 3.07059407e-01 9.45367964e-01 2.94008735e+02] [ 1.53260705e-02 9.50454111e-01 -3.10486867e-01 -1.71168955e+02] [-9.93866781e-01 4.84923094e-02 9.93846945e-02 -2.51475057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-171.16, Z:-251.51 [[ 1.07768707e-01 3.11226441e-01 9.44205491e-01 2.94010073e+02] [ 1.19455594e-02 9.49262835e-01 -3.14256858e-01 -1.71164074e+02] [-9.94104225e-01 4.51461179e-02 9.85830540e-02 -2.51508513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-171.16, Z:-251.54 [[ 1.06648434e-01 3.16666346e-01 9.42522433e-01 2.94011257e+02] [ 9.77581727e-03 9.47548903e-01 -3.19461281e-01 -1.71159373e+02] [-9.94248734e-01 4.32839726e-02 9.79589346e-02 -2.51540664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-171.17, Z:-251.57 [[ 1.06262025e-01 2.98109221e-01 9.48598585e-01 2.94020240e+02] [ 5.86039658e-03 9.53795644e-01 -3.00398944e-01 -1.71170493e+02] [-9.94320893e-01 3.74801641e-02 9.96052184e-02 -2.51569531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-171.18, Z:-251.60 [[ 1.03103593e-01 2.70993030e-01 9.57043587e-01 2.94029302e+02] [ 2.61149050e-03 9.62094294e-01 -2.72704509e-01 -1.71183721e+02] [-9.94667195e-01 3.06161251e-02 9.84876832e-02 -2.51598891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-171.16, Z:-251.63 [[ 1.02889418e-01 3.10761813e-01 9.44902568e-01 2.94024977e+02] [-4.81576623e-04 9.49959562e-01 -3.12372531e-01 -1.71159839e+02] [-9.94692684e-01 3.16847848e-02 9.78904419e-02 -2.51633254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-171.16, Z:-251.67 [[ 1.01703985e-01 3.13459515e-01 9.44139519e-01 2.94027780e+02] [-3.70994725e-03 9.49173588e-01 -3.14731213e-01 -1.71159382e+02] [-9.94807788e-01 2.85067108e-02 9.76976548e-02 -2.51667044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-171.12, Z:-251.69 [[ 1.01871939e-01 3.70169521e-01 9.23361594e-01 2.94021427e+02] [-5.41155858e-03 9.28382961e-01 -3.71585511e-01 -1.71122285e+02] [-9.94782802e-01 3.28573112e-02 9.65793665e-02 -2.51694811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-171.15, Z:-251.72 [[ 9.90915867e-02 3.14567063e-01 9.44048950e-01 2.94033597e+02] [-6.75707537e-03 9.48909080e-01 -3.15477256e-01 -1.71152348e+02] [-9.95055375e-01 2.48821320e-02 9.61544597e-02 -2.51720782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-171.16, Z:-251.75 [[ 9.92975935e-02 3.10311135e-01 9.45434814e-01 2.94038334e+02] [-9.35449614e-03 9.50379693e-01 -3.10951657e-01 -1.71156374e+02] [-9.95013810e-01 2.20326849e-02 9.72732207e-02 -2.51754100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-171.12, Z:-251.79 [[ 1.00401883e-01 3.77030741e-01 9.20742788e-01 2.94031893e+02] [-1.20398226e-02 9.25811608e-01 -3.77793474e-01 -1.71115939e+02] [-9.94874115e-01 2.68455964e-02 9.74926125e-02 -2.51788539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-171.10, Z:-251.82 [[ 9.95085191e-02 3.89806324e-01 9.15504825e-01 2.94032492e+02] [-1.13933597e-02 9.20457448e-01 -3.90676693e-01 -1.71103838e+02] [-9.94971480e-01 2.84449834e-02 9.60345612e-02 -2.51818276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-171.15, Z:-251.85 [[ 9.83199257e-02 3.10878404e-01 9.45350628e-01 2.94048287e+02] [-1.32961072e-02 9.50278863e-01 -3.11116209e-01 -1.71151483e+02] [-9.95066031e-01 1.80194393e-02 9.75648198e-02 -2.51847560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-171.07, Z:-251.88 [[ 9.98274805e-02 4.33443455e-01 8.95634549e-01 2.94035032e+02] [-1.29758436e-02 9.00621484e-01 -4.34410601e-01 -1.71071816e+02] [-9.94920148e-01 3.17445020e-02 9.55310681e-02 -2.51875191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-171.15, Z:-251.90 [[ 9.76070738e-02 3.09522043e-01 9.45869422e-01 2.94053327e+02] [-1.04375573e-02 9.50673689e-01 -3.10017087e-01 -1.71145167e+02] [-9.95170295e-01 2.03872944e-02 9.60231309e-02 -2.51899566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-171.15, Z:-251.93 [[ 9.87024867e-02 3.05513960e-01 9.47058097e-01 2.94057811e+02] [-1.21235379e-02 9.52003836e-01 -3.05845903e-01 -1.71150053e+02] [-9.95043134e-01 1.87060564e-02 9.76690560e-02 -2.51930888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-171.08, Z:-251.96 [[ 1.01947798e-01 4.16438022e-01 9.03430141e-01 2.94047961e+02] [-1.17193488e-02 9.08601640e-01 -4.17499362e-01 -1.71079831e+02] [-9.94720716e-01 3.19755278e-02 9.75103190e-02 -2.51960522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-171.11, Z:-251.99 [[ 1.01560430e-01 3.72158867e-01 9.22595934e-01 2.94055961e+02] [-9.86117529e-03 9.27722170e-01 -3.73141170e-01 -1.71105985e+02] [-9.94780497e-01 2.87984973e-02 9.78897860e-02 -2.51990671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-171.11, Z:-252.02 [[ 1.02094954e-01 3.64878048e-01 9.25440776e-01 2.94060213e+02] [-8.99429645e-03 9.30602482e-01 -3.65920925e-01 -1.71110045e+02] [-9.94733996e-01 2.90349913e-02 9.82916388e-02 -2.52022917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-171.09, Z:-252.05 [[ 1.03330102e-01 3.89778612e-01 9.15093178e-01 2.94059387e+02] [-4.38519514e-03 9.20187507e-01 -3.91453346e-01 -1.71089412e+02] [-9.94637452e-01 3.64360521e-02 9.67923244e-02 -2.52051420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-171.15, Z:-252.08 [[ 1.05882886e-01 2.86756790e-01 9.52134107e-01 2.94081005e+02] [-3.95422098e-03 9.57630536e-01 -2.87972432e-01 -1.71154933e+02] [-9.94370745e-01 2.67264034e-02 1.02530584e-01 -2.52084463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-171.08, Z:-252.12 [[ 1.07888716e-01 4.07431399e-01 9.06840493e-01 2.94066312e+02] [-2.90126113e-03 9.12289969e-01 -4.09534608e-01 -1.71080850e+02] [-9.94158744e-01 4.15531819e-02 9.96078584e-02 -2.52118720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-171.10, Z:-252.15 [[ 1.07047973e-01 3.64834735e-01 9.24898020e-01 2.94072903e+02] [ 4.55252386e-03 9.30053721e-01 -3.67395361e-01 -1.71101794e+02] [-9.94243434e-01 4.35395489e-02 9.78994467e-02 -2.52146536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-171.15, Z:-252.18 [[ 1.08840231e-01 2.87163305e-01 9.51678013e-01 2.94091668e+02] [ 5.47126161e-03 9.57177921e-01 -2.89448600e-01 -1.71150643e+02] [-9.94044199e-01 3.67105317e-02 1.02608320e-01 -2.52179098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-171.09, Z:-252.21 [[ 1.08685568e-01 3.80288068e-01 9.18459816e-01 2.94078033e+02] [ 7.37165547e-03 9.23599300e-01 -3.83288392e-01 -1.71091821e+02] [-9.94048845e-01 4.84284857e-02 9.75785615e-02 -2.52210908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-171.14, Z:-252.24 [[ 1.05954733e-01 3.03767155e-01 9.46836369e-01 2.94090734e+02] [ 1.06836790e-02 9.51793601e-01 -3.06553096e-01 -1.71135875e+02] [-9.94313559e-01 4.25964474e-02 9.76016864e-02 -2.52241992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-171.14, Z:-252.28 [[ 1.06037930e-01 3.06853426e-01 9.45831345e-01 2.94093018e+02] [ 1.04880790e-02 9.50796041e-01 -3.09639935e-01 -1.71135100e+02] [-9.94306772e-01 4.27535316e-02 9.76021410e-02 -2.52275421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-171.16, Z:-252.31 [[ 1.12422226e-01 2.80722096e-01 9.53182222e-01 2.94111576e+02] [ 7.14282510e-03 9.59010353e-01 -2.83280996e-01 -1.71155084e+02] [-9.93634854e-01 3.86554940e-02 1.05808930e-01 -2.52309826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-171.06, Z:-252.34 [[ 1.10717130e-01 4.25732561e-01 8.98049834e-01 2.94088924e+02] [ 8.48544395e-03 9.03167367e-01 -4.29204735e-01 -1.71061530e+02] [-9.93815735e-01 5.51406680e-02 9.63835692e-02 -2.52343192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-171.13, Z:-252.37 [[ 1.06379629e-01 3.12909366e-01 9.43806709e-01 2.94103576e+02] [ 1.10775133e-02 9.48760953e-01 -3.15800479e-01 -1.71126962e+02] [-9.94263880e-01 4.40497691e-02 9.74625803e-02 -2.52370556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-171.15, Z:-252.40 [[ 1.12172350e-01 2.85366972e-01 9.51831422e-01 2.94122096e+02] [ 3.18275981e-03 9.57768713e-01 -2.87522107e-01 -1.71146564e+02] [-9.93683669e-01 3.52814812e-02 1.06526913e-01 -2.52404275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-171.06, Z:-252.44 [[ 1.09406691e-01 4.16767578e-01 9.02405099e-01 2.94102093e+02] [ 2.22973792e-03 9.07749702e-01 -4.19506265e-01 -1.71061799e+02] [-9.93994570e-01 4.79089191e-02 9.83846084e-02 -2.52436803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-171.12, Z:-252.47 [[ 1.05009135e-01 3.17737477e-01 9.42345997e-01 2.94114339e+02] [ 2.14685302e-03 9.47510313e-01 -3.19717998e-01 -1.71118048e+02] [-9.94468940e-01 3.55963887e-02 9.88151025e-02 -2.52466594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-171.11, Z:-252.49 [[ 1.04124721e-01 3.20906407e-01 9.41369811e-01 2.94117147e+02] [-7.88330549e-04 9.46541164e-01 -3.22582089e-01 -1.71114557e+02] [-9.94563935e-01 3.28466592e-02 9.88113145e-02 -2.52493670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-171.11, Z:-252.53 [[ 1.01331011e-01 3.20338592e-01 9.41867938e-01 2.94121766e+02] [-7.10843684e-03 9.46950003e-01 -3.21302290e-01 -1.71111117e+02] [-9.94827370e-01 2.58626771e-02 9.82325078e-02 -2.52526917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-171.11, Z:-252.56 [[ 9.97975182e-02 3.23762054e-01 9.40860557e-01 2.94124955e+02] [-1.05546600e-02 9.45872377e-01 -3.24367147e-01 -1.71107820e+02] [-9.94951785e-01 2.24405730e-02 9.78129142e-02 -2.52559441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-171.10, Z:-252.59 [[ 9.83821412e-02 3.27132901e-01 9.39843083e-01 2.94127560e+02] [-1.36196184e-02 9.44778927e-01 -3.27425236e-01 -1.71104273e+02] [-9.95055506e-01 1.94124917e-02 9.74047990e-02 -2.52587205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-171.10, Z:-252.62 [[ 9.57232918e-02 3.26801133e-01 9.40232988e-01 2.94131172e+02] [-1.91939106e-02 9.45000839e-01 -3.26504223e-01 -1.71100602e+02] [-9.95222912e-01 1.32073110e-02 9.67311828e-02 -2.52616190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-171.10, Z:-252.64 [[ 9.46646804e-02 3.26323800e-01 9.40505915e-01 2.94134048e+02] [-2.18794869e-02 9.45202372e-01 -3.25751078e-01 -1.71099740e+02] [-9.95268751e-01 1.02593348e-02 9.66170778e-02 -2.52644587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-171.10, Z:-252.68 [[ 9.38732771e-02 3.25492268e-01 9.40873313e-01 2.94137127e+02] [-2.49765689e-02 9.45518996e-01 -3.24607453e-01 -1.71099712e+02] [-9.95270807e-01 6.97217823e-03 9.68886468e-02 -2.52676939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-171.10, Z:-252.71 [[ 9.33922319e-02 3.28784286e-01 9.39775922e-01 2.94139485e+02] [-2.74687115e-02 9.44392913e-01 -3.27669797e-01 -1.71097318e+02] [-9.95250401e-01 4.78737995e-03 9.72302426e-02 -2.52705132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-171.10, Z:-252.73 [[ 9.23565330e-02 3.28228645e-01 9.40072459e-01 2.94142381e+02] [-3.15770318e-02 9.44598178e-01 -3.26706556e-01 -1.71095779e+02] [-9.95225182e-01 4.88786942e-04 9.76042992e-02 -2.52733744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-171.10, Z:-252.76 [[ 9.21829654e-02 3.27656255e-01 9.40289147e-01 2.94145365e+02] [-3.36041121e-02 9.44795729e-01 -3.25932193e-01 -1.71095848e+02] [-9.95174892e-01 -1.55218575e-03 9.81046695e-02 -2.52762001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-171.10, Z:-252.79 [[ 9.11327448e-02 3.26745531e-01 9.40708340e-01 2.94148216e+02] [-3.58170396e-02 9.45103488e-01 -3.24802304e-01 -1.71096407e+02] [-9.95194435e-01 -4.09326244e-03 9.78329326e-02 -2.52794742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-171.09, Z:-252.82 [[ 9.05221961e-02 3.29989631e-01 9.39634278e-01 2.94150412e+02] [-3.76161436e-02 9.43967563e-01 -3.27887582e-01 -1.71094494e+02] [-9.95183781e-01 -5.66431393e-03 9.78629542e-02 -2.52822394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-171.09, Z:-252.85 [[ 8.88858803e-02 3.29422850e-01 9.39989301e-01 2.94153370e+02] [-4.15951540e-02 9.44129129e-01 -3.26940409e-01 -1.71094786e+02] [-9.95172921e-01 -1.00386137e-02 9.76221429e-02 -2.52851406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-171.10, Z:-252.88 [[ 8.79565085e-02 3.28821668e-01 9.40287171e-01 2.94155594e+02] [-4.32021706e-02 9.44316652e-01 -3.26189567e-01 -1.71095749e+02] [-9.95187030e-01 -1.19319513e-02 9.72646054e-02 -2.52879586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-171.10, Z:-252.91 [[ 8.76737011e-02 3.27801154e-01 9.40669828e-01 2.94158018e+02] [-4.44204798e-02 9.44653305e-01 -3.25049157e-01 -1.71097159e+02] [-9.95158351e-01 -1.32867424e-02 9.73823360e-02 -2.52907395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-171.10, Z:-252.93 [[ 8.68578659e-02 3.24967149e-01 9.41728232e-01 2.94160442e+02] [-4.63902215e-02 9.45594699e-01 -3.22022689e-01 -1.71100457e+02] [-9.95140020e-01 -1.57167778e-02 9.72076356e-02 -2.52934211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-171.10, Z:-252.96 [[ 8.68785725e-02 3.23675155e-01 9.42171167e-01 2.94162948e+02] [-4.65520356e-02 9.46033024e-01 -3.20709253e-01 -1.71102651e+02] [-9.95130656e-01 -1.59972236e-02 9.72577360e-02 -2.52962264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-171.11, Z:-252.99 [[ 8.71063748e-02 3.20678276e-01 9.43174386e-01 2.94165061e+02] [-4.64921485e-02 9.47050036e-01 -3.17702235e-01 -1.71105884e+02] [-9.95113541e-01 -1.61763137e-02 9.74031174e-02 -2.52990278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-171.11, Z:-253.02 [[ 8.74711077e-02 3.17667697e-01 9.44158906e-01 2.94167423e+02] [-4.62326959e-02 9.48065004e-01 -3.14698722e-01 -1.71109186e+02] [-9.95093635e-01 -1.61239658e-02 9.76149301e-02 -2.53017157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-171.11, Z:-253.04 [[ 8.73385009e-02 3.16308811e-01 9.44627293e-01 2.94169527e+02] [-4.54523248e-02 9.48528621e-01 -3.13412734e-01 -1.71113112e+02] [-9.95141232e-01 -1.55625082e-02 9.72200386e-02 -2.53044269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-171.12, Z:-253.07 [[ 8.68676942e-02 3.14975239e-01 9.45116185e-01 2.94171715e+02] [-4.47884393e-02 9.48977927e-01 -3.12145623e-01 -1.71116056e+02] [-9.95212540e-01 -1.52149083e-02 9.65427737e-02 -2.53072061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-171.12, Z:-253.10 [[ 8.69194491e-02 3.11940924e-01 9.46117260e-01 2.94174057e+02] [-4.44122480e-02 9.49980714e-01 -3.09134592e-01 -1.71119650e+02] [-9.95224880e-01 -1.51493859e-02 9.64257979e-02 -2.53100753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-171.12, Z:-253.13 [[ 8.68684206e-02 3.11098076e-01 9.46399421e-01 2.94175603e+02] [-4.35452283e-02 9.50268360e-01 -3.08372920e-01 -1.71123310e+02] [-9.95267648e-01 -1.44233103e-02 9.60951483e-02 -2.53127258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-171.13, Z:-253.16 [[ 8.71689672e-02 3.09742625e-01 9.46816285e-01 2.94177748e+02] [-4.33517925e-02 9.50713154e-01 -3.07026254e-01 -1.71126327e+02] [-9.95249815e-01 -1.42830217e-02 9.63005817e-02 -2.53155123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-171.13, Z:-253.18 [[ 8.77235872e-02 3.08522130e-01 9.47163485e-01 2.94179459e+02] [-4.25962062e-02 9.51121165e-01 -3.05866137e-01 -1.71128883e+02] [-9.95233709e-01 -1.35138964e-02 9.65776327e-02 -2.53182851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-171.13, Z:-253.21 [[ 8.84412806e-02 3.07286706e-01 9.47498296e-01 2.94181264e+02] [-4.17085008e-02 9.51533953e-01 -3.04702374e-01 -1.71131758e+02] [-9.95207788e-01 -1.25704653e-02 9.69713491e-02 -2.53211808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-171.14, Z:-253.24 [[ 8.94736579e-02 3.06244708e-01 9.47738700e-01 2.94182339e+02] [-3.88461569e-02 9.51904186e-01 -3.03923341e-01 -1.71136581e+02] [-9.95231350e-01 -9.62287328e-03 9.70667794e-02 -2.53244270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-171.14, Z:-253.27 [[ 9.01924813e-02 3.09173432e-01 9.46719127e-01 2.94184107e+02] [-3.69459836e-02 9.50977774e-01 -3.07044407e-01 -1.71138002e+02] [-9.95238821e-01 -7.28437241e-03 9.71937617e-02 -2.53274957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-171.14, Z:-253.31 [[ 9.08785118e-02 3.09894418e-01 9.46417744e-01 2.94186146e+02] [-3.45541421e-02 9.50759299e-01 -3.07997999e-01 -1.71140390e+02] [-9.95262331e-01 -4.71225349e-03 9.71117259e-02 -2.53308240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-171.14, Z:-253.34 [[ 9.27061997e-02 3.12491868e-01 9.45385843e-01 2.94187170e+02] [-2.88080140e-02 9.49919066e-01 -3.11165335e-01 -1.71143938e+02] [-9.95276675e-01 1.61226708e-03 9.70656567e-02 -2.53339871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-171.15, Z:-253.37 [[ 9.33529810e-02 3.15114009e-01 9.44451366e-01 2.94188809e+02] [-2.55758445e-02 9.49039750e-01 -3.14116904e-01 -1.71145405e+02] [-9.95304525e-01 5.16860814e-03 9.66549966e-02 -2.53372308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-171.15, Z:-253.40 [[ 9.42402176e-02 3.17827268e-01 9.43453554e-01 2.94190099e+02] [-2.16941201e-02 9.48101756e-01 -3.17226143e-01 -1.71146498e+02] [-9.95313090e-01 9.42806608e-03 9.62442987e-02 -2.53401451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-171.15, Z:-253.43 [[ 9.49143215e-02 3.17256454e-01 9.43578091e-01 2.94191610e+02] [-1.75891874e-02 9.48243740e-01 -3.17055878e-01 -1.71149455e+02] [-9.95330042e-01 1.34963716e-02 9.55821944e-02 -2.53429747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-171.16, Z:-253.46 [[ 9.68714428e-02 3.15401655e-01 9.44000911e-01 2.94193632e+02] [-1.02648985e-02 9.48727774e-01 -3.15927592e-01 -1.71155113e+02] [-9.95243968e-01 2.09142881e-02 9.51421942e-02 -2.53462383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-171.16, Z:-253.49 [[ 9.78267066e-02 3.18176944e-01 9.42970502e-01 2.94195392e+02] [-7.31868622e-03 9.47719676e-01 -3.19020146e-01 -1.71156115e+02] [-9.95176553e-01 2.43073850e-02 9.50409318e-02 -2.53494804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-171.16, Z:-253.53 [[ 9.88637573e-02 3.20985536e-01 9.41909891e-01 2.94197123e+02] [-4.65744257e-03 9.46685935e-01 -3.22124274e-01 -1.71156640e+02] [-9.95090079e-01 2.74595249e-02 9.50879002e-02 -2.53526867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-171.16, Z:-253.56 [[ 1.00636017e-01 3.23367438e-01 9.40906952e-01 2.94198347e+02] [-1.31416887e-04 9.45712331e-01 -3.25004878e-01 -1.71158142e+02] [-9.94923301e-01 3.25835453e-02 9.52152180e-02 -2.53560113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-171.16, Z:-253.59 [[ 1.01508294e-01 3.26212694e-01 9.39830487e-01 2.94199864e+02] [ 1.50302609e-03 9.44658839e-01 -3.28050940e-01 -1.71158343e+02] [-9.94833558e-01 3.47124808e-02 9.54004006e-02 -2.53589399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-171.16, Z:-253.62 [[ 1.02035660e-01 3.26296431e-01 9.39744308e-01 2.94202022e+02] [ 2.55804120e-03 9.44585623e-01 -3.28255171e-01 -1.71160613e+02] [-9.94777453e-01 3.58976376e-02 9.55467375e-02 -2.53622080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-171.16, Z:-253.65 [[ 1.02753776e-01 3.29182795e-01 9.38658803e-01 2.94203705e+02] [ 3.75195314e-03 9.43518754e-01 -3.31297877e-01 -1.71161960e+02] [-9.94699746e-01 3.75639116e-02 9.57150364e-02 -2.53654501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-171.16, Z:-253.69 [[ 1.03017014e-01 3.32234350e-01 9.37554175e-01 2.94205977e+02] [ 3.23754583e-03 9.42452036e-01 -3.34325706e-01 -1.71161880e+02] [-9.94674325e-01 3.74766105e-02 9.60129707e-02 -2.53687739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-171.16, Z:-253.72 [[ 1.03187537e-01 3.35300131e-01 9.36443354e-01 2.94207759e+02] [ 2.55530015e-03 9.41376523e-01 -3.37348058e-01 -1.71161070e+02] [-9.94658636e-01 3.72030090e-02 9.62815321e-02 -2.53716713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-171.16, Z:-253.74 [[ 1.02725473e-01 3.34987528e-01 9.36606018e-01 2.94210034e+02] [ 3.32310911e-05 9.41586098e-01 -3.36772354e-01 -1.71161695e+02] [-9.94709745e-01 3.46262236e-02 9.67137449e-02 -2.53744490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-171.16, Z:-253.77 [[ 1.01718218e-01 3.34068844e-01 9.37043975e-01 2.94212414e+02] [-1.39183577e-03 9.41976396e-01 -3.35676232e-01 -1.71162838e+02] [-9.94812277e-01 3.28401768e-02 9.62811293e-02 -2.53771920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-171.16, Z:-253.80 [[ 1.00385029e-01 3.33177695e-01 9.37504917e-01 2.94214737e+02] [-2.92352492e-03 9.42359319e-01 -3.34589848e-01 -1.71164029e+02] [-9.94944370e-01 3.08469926e-02 9.55728209e-02 -2.53799253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.17, Z:-253.83 [[ 9.82402191e-02 3.32331888e-01 9.38032183e-01 2.94217317e+02] [-6.57157281e-03 9.42787843e-01 -3.33328512e-01 -1.71165118e+02] [-9.95141032e-01 2.65819193e-02 9.48036275e-02 -2.53827481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.17, Z:-253.86 [[ 9.71590480e-02 3.29670140e-01 9.39083446e-01 2.94220592e+02] [-8.95305255e-03 9.43798820e-01 -3.30399199e-01 -1.71167389e+02] [-9.95228598e-01 2.36936082e-02 9.46501489e-02 -2.53860362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.17, Z:-253.89 [[ 9.62577258e-02 3.32946693e-01 9.38019696e-01 2.94222275e+02] [-1.12999576e-02 9.42700568e-01 -3.33448572e-01 -1.71165805e+02] [-9.95292299e-01 2.14974184e-02 9.45044962e-02 -2.53888565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-171.17, Z:-253.92 [[ 9.57195408e-02 3.32249363e-01 9.38321976e-01 2.94224980e+02] [-1.38345700e-02 9.43003300e-01 -3.32495684e-01 -1.71166593e+02] [-9.95312199e-01 1.88450532e-02 9.48603700e-02 -2.53916533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.17, Z:-253.94 [[ 9.34963557e-02 3.31689369e-01 9.38744158e-01 2.94227554e+02] [-1.92325005e-02 9.43300063e-01 -3.31383617e-01 -1.71166258e+02] [-9.95433846e-01 1.29287630e-02 9.45743342e-02 -2.53944069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.17, Z:-253.97 [[ 9.22012191e-02 3.30839759e-01 9.39171970e-01 2.94229892e+02] [-2.18480788e-02 9.43634681e-01 -3.30266938e-01 -1.71166879e+02] [-9.95500676e-01 9.93191109e-03 9.42324810e-02 -2.53970731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-171.17, Z:-254.00 [[ 9.08649830e-02 3.29843249e-01 9.39652588e-01 2.94232653e+02] [-2.48973785e-02 9.44013360e-01 -3.28966405e-01 -1.71167822e+02] [-9.95551945e-01 6.49664065e-03 9.39899902e-02 -2.53998264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.17, Z:-254.02 [[ 8.94851079e-02 3.28993745e-01 9.40082726e-01 2.94235166e+02] [-2.76178157e-02 9.44326071e-01 -3.27849857e-01 -1.71168645e+02] [-9.95605179e-01 3.37464842e-03 9.35892089e-02 -2.54024746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.17, Z:-254.05 [[ 8.71563233e-02 3.27464351e-01 9.40835200e-01 2.94237970e+02] [-3.29730548e-02 9.44859886e-01 -3.25810640e-01 -1.71169427e+02] [-9.95648810e-01 -2.62575315e-03 9.31480137e-02 -2.54052884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.17, Z:-254.08 [[ 8.61280721e-02 3.24795244e-01 9.41854556e-01 2.94240387e+02] [-3.55744132e-02 9.45767205e-01 -3.22891398e-01 -1.71171246e+02] [-9.95648742e-01 -5.69590957e-03 9.30115062e-02 -2.54080637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.17, Z:-254.11 [[ 8.52700182e-02 3.22045230e-01 9.42876394e-01 2.94242823e+02] [-3.79529212e-02 9.46686073e-01 -3.19914137e-01 -1.71173005e+02] [-9.95634772e-01 -8.50582919e-03 9.29464959e-02 -2.54108180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-171.17, Z:-254.14 [[ 8.40481553e-02 3.19517699e-01 9.43845510e-01 2.94244668e+02] [-4.27305122e-02 9.47481375e-01 -3.16943446e-01 -1.71174806e+02] [-9.95545082e-01 -1.36924901e-02 9.32872166e-02 -2.54135841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.18, Z:-254.16 [[ 8.41786971e-02 3.16505652e-01 9.44848199e-01 2.94247419e+02] [-4.24790690e-02 9.48491557e-01 -3.13941547e-01 -1.71177217e+02] [-9.95544814e-01 -1.37090815e-02 9.32876489e-02 -2.54164214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.18, Z:-254.19 [[ 8.35968863e-02 3.13874542e-01 9.45777105e-01 2.94249591e+02] [-4.45316866e-02 9.49327806e-01 -3.11116772e-01 -1.71179554e+02] [-9.95504138e-01 -1.61086562e-02 9.33382114e-02 -2.54192128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.18, Z:-254.22 [[ 8.35962908e-02 3.12891749e-01 9.46102750e-01 2.94251697e+02] [-4.64595777e-02 9.49617362e-01 -3.09948987e-01 -1.71181461e+02] [-9.95416078e-01 -1.80449486e-02 9.39213076e-02 -2.54220619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-171.18, Z:-254.25 [[ 8.39939288e-02 3.12246045e-01 9.46280840e-01 2.94253848e+02] [-4.78846756e-02 9.49804286e-01 -3.09158336e-01 -1.71183508e+02] [-9.95315065e-01 -1.93449278e-02 9.47295942e-02 -2.54247793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-171.19, Z:-254.28 [[ 8.44580345e-02 3.10241311e-01 9.46898711e-01 2.94255929e+02] [-4.88498835e-02 9.50440574e-01 -3.07044630e-01 -1.71186066e+02] [-9.95228883e-01 -2.03235058e-02 9.54275946e-02 -2.54275539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-171.19, Z:-254.31 [[ 8.42514340e-02 3.07341678e-01 9.47862221e-01 2.94258190e+02] [-5.03427097e-02 9.51342432e-01 -3.03995377e-01 -1.71190323e+02] [-9.95171999e-01 -2.21059062e-02 9.56243770e-02 -2.54307890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-171.19, Z:-254.34 [[ 8.37717365e-02 3.10480797e-01 9.46881181e-01 2.94260111e+02] [-5.07994412e-02 9.50316313e-01 -3.07112882e-01 -1.71190651e+02] [-9.95189285e-01 -2.23736555e-02 9.53818987e-02 -2.54341234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-171.19, Z:-254.37 [[ 8.35214067e-02 3.13571462e-01 9.45884302e-01 2.94261580e+02] [-5.07106127e-02 9.49308426e-01 -3.10228860e-01 -1.71190554e+02] [-9.95214855e-01 -2.20556217e-02 9.51889761e-02 -2.54368670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-171.19, Z:-254.40 [[ 8.37252904e-02 3.12599989e-01 9.46187784e-01 2.94263720e+02] [-5.05496646e-02 9.49631534e-01 -3.09264743e-01 -1.71193171e+02] [-9.95205912e-01 -2.19361947e-02 9.53100005e-02 -2.54395111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.20, Z:-254.42 [[ 8.39342074e-02 3.10421929e-01 9.46886094e-01 2.94265464e+02] [-4.94740533e-02 9.50365482e-01 -3.07177096e-01 -1.71198318e+02] [-9.95242366e-01 -2.10636270e-02 9.51260045e-02 -2.54423078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.20, Z:-254.45 [[ 8.47788052e-02 3.07336077e-01 9.47817013e-01 2.94268182e+02] [-4.89486621e-02 9.51377779e-01 -3.04112399e-01 -1.71202879e+02] [-9.95196756e-01 -2.06120889e-02 9.57003612e-02 -2.54450576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.21, Z:-254.48 [[ 8.45256881e-02 3.06078866e-01 9.48246348e-01 2.94270094e+02] [-4.76583421e-02 9.51804739e-01 -3.02979243e-01 -1.71205813e+02] [-9.95280910e-01 -1.95823198e-02 9.50391618e-02 -2.54478909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.21, Z:-254.51 [[ 8.44693565e-02 3.04793711e-01 9.48665232e-01 2.94272067e+02] [-4.60866741e-02 9.52244012e-01 -3.01839959e-01 -1.71208839e+02] [-9.95359707e-01 -1.82245983e-02 9.44823673e-02 -2.54507725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-171.21, Z:-254.53 [[ 8.50223940e-02 3.03674478e-01 9.48974712e-01 2.94273390e+02] [-4.20613424e-02 9.52668287e-01 -3.01087990e-01 -1.71213871e+02] [-9.95490852e-01 -1.43159285e-02 9.37710947e-02 -2.54534501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-171.22, Z:-254.56 [[ 8.53768914e-02 3.01475582e-01 9.49643754e-01 2.94275656e+02] [-3.96039645e-02 9.53397462e-01 -2.99106680e-01 -1.71218181e+02] [-9.95561305e-01 -1.20728590e-02 9.33377398e-02 -2.54562953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-171.22, Z:-254.59 [[ 8.55515911e-02 3.00479621e-01 9.49943642e-01 2.94277657e+02] [-3.69307068e-02 9.53740349e-01 -2.98354603e-01 -1.71222235e+02] [-9.95649059e-01 -9.55737917e-03 9.26909292e-02 -2.54591026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-171.23, Z:-254.62 [[ 8.70374923e-02 2.98820137e-01 9.50332048e-01 2.94279448e+02] [-3.11611808e-02 9.54302103e-01 -2.97214531e-01 -1.71229294e+02] [-9.95717558e-01 -3.74466131e-03 9.23716502e-02 -2.54617598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-171.23, Z:-254.64 [[ 8.78106565e-02 2.96486072e-01 9.50991744e-01 2.94281340e+02] [-2.83527387e-02 9.55036602e-01 -2.95129142e-01 -1.71233688e+02] [-9.95733604e-01 -1.04773667e-03 9.22685831e-02 -2.54644454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-171.24, Z:-254.67 [[ 8.86490309e-02 2.94898722e-01 9.51407427e-01 2.94283147e+02] [-2.53322365e-02 9.55526536e-01 -2.93815108e-01 -1.71237263e+02] [-9.95740743e-01 1.94514661e-03 9.21769456e-02 -2.54672130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.24, Z:-254.70 [[ 8.95886326e-02 2.91668689e-01 9.52314682e-01 2.94285329e+02] [-2.26954122e-02 9.56509098e-01 -2.90818265e-01 -1.71241698e+02] [-9.95720239e-01 4.44083644e-03 9.23118833e-02 -2.54700835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.25, Z:-254.73 [[ 9.14887979e-02 2.90417110e-01 9.52516510e-01 2.94286265e+02] [-1.77016830e-02 9.56851249e-01 -2.90038510e-01 -1.71247055e+02] [-9.95648759e-01 9.67412930e-03 9.26820421e-02 -2.54727935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.25, Z:-254.76 [[ 9.24195271e-02 2.88184070e-01 9.53104702e-01 2.94288361e+02] [-1.52162998e-02 9.57498359e-01 -2.88037075e-01 -1.71251113e+02] [-9.95603885e-01 1.21175234e-02 9.28766408e-02 -2.54755415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.26, Z:-254.78 [[ 9.37080378e-02 2.85012582e-01 9.53932195e-01 2.94290801e+02] [-1.28995452e-02 9.58415461e-01 -2.85084910e-01 -1.71255774e+02] [-9.95516150e-01 1.44094560e-02 9.34877650e-02 -2.54783409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.26, Z:-254.81 [[ 9.57501278e-02 2.83450029e-01 9.54194946e-01 2.94292376e+02] [-8.93634035e-03 9.58805474e-01 -2.83922887e-01 -1.71261593e+02] [-9.95365287e-01 1.86586419e-02 9.43387525e-02 -2.54811459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-171.27, Z:-254.84 [[ 9.65002702e-02 2.80257031e-01 9.55062142e-01 2.94294844e+02] [-7.47576983e-03 9.59717373e-01 -2.80867722e-01 -1.71265962e+02] [-9.95304883e-01 1.99639863e-02 9.47081229e-02 -2.54837822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-171.27, Z:-254.87 [[ 9.65376867e-02 2.78707268e-01 9.55511765e-01 2.94296706e+02] [-4.74600837e-03 9.60113571e-01 -2.79570039e-01 -1.71270269e+02] [-9.95318015e-01 2.24541780e-02 9.40098901e-02 -2.54865481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-171.27, Z:-254.89 [[ 9.62215370e-02 2.75679100e-01 9.56421690e-01 2.94299551e+02] [-3.84789099e-03 9.60976074e-01 -2.76604736e-01 -1.71273868e+02] [-9.95352505e-01 2.29351264e-02 9.35273779e-02 -2.54893048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-171.28, Z:-254.93 [[ 9.53520422e-02 2.72709195e-01 9.57359746e-01 2.94302707e+02] [-3.93469050e-03 9.61837554e-01 -2.73592833e-01 -1.71277386e+02] [-9.95435837e-01 2.23207210e-02 9.27862013e-02 -2.54926001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-171.28, Z:-254.96 [[ 9.45561546e-02 2.75906417e-01 9.56522233e-01 2.94304836e+02] [-4.48501733e-03 9.60935504e-01 -2.76736051e-01 -1.71277460e+02] [-9.95509427e-01 2.18770781e-02 9.20998111e-02 -2.54958749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-171.28, Z:-254.99 [[ 9.28566470e-02 2.79213616e-01 9.55728727e-01 2.94306723e+02] [-6.12181732e-03 9.60017839e-01 -2.79871886e-01 -1.71277240e+02] [-9.95660668e-01 2.01371682e-02 9.08533323e-02 -2.54986307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-171.28, Z:-255.02 [[ 9.19055889e-02 2.78433710e-01 9.56048133e-01 2.94309588e+02] [-7.76047795e-03 9.60282710e-01 -2.78920943e-01 -1.71278866e+02] [-9.95737484e-01 1.82150031e-02 9.04161266e-02 -2.55018991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-171.28, Z:-255.05 [[ 9.14000696e-02 2.81711929e-01 9.55135810e-01 2.94311309e+02] [-9.54641991e-03 9.59354373e-01 -2.82042642e-01 -1.71277832e+02] [-9.95768494e-01 1.66605896e-02 9.03743969e-02 -2.55048095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-171.28, Z:-255.08 [[ 9.09166202e-02 2.81711258e-01 9.55182148e-01 2.94313740e+02] [-1.16043729e-02 9.59389048e-01 -2.81847464e-01 -1.71278427e+02] [-9.95790895e-01 1.45403290e-02 9.04934922e-02 -2.55076440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-171.28, Z:-255.10 [[ 9.04813999e-02 2.78890019e-01 9.56050979e-01 2.94316533e+02] [-1.37632665e-02 9.60247208e-01 -2.78811537e-01 -1.71280197e+02] [-9.95803037e-01 1.20688737e-02 9.07229492e-02 -2.55104619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-171.28, Z:-255.14 [[ 8.93744423e-02 2.76374763e-01 9.56885155e-01 2.94319234e+02] [-1.95707397e-02 9.61031723e-01 -2.75744471e-01 -1.71281220e+02] [-9.95805802e-01 5.91755808e-03 9.13005329e-02 -2.55137118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-171.28, Z:-255.17 [[ 8.85821152e-02 2.79793722e-01 9.55964791e-01 2.94320822e+02] [-2.25504787e-02 9.60054979e-01 -2.78901262e-01 -1.71279770e+02] [-9.95813579e-01 3.14820004e-03 9.13531831e-02 -2.55168768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-171.28, Z:-255.20 [[ 8.78333589e-02 2.81982916e-01 9.55390463e-01 2.94322498e+02] [-2.50833659e-02 9.59419167e-01 -2.80865959e-01 -1.71278839e+02] [-9.95819324e-01 7.04992073e-04 9.13420887e-02 -2.55197683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-171.28, Z:-255.23 [[ 8.67275756e-02 2.81817923e-01 9.55540154e-01 2.94324925e+02] [-2.97244966e-02 9.59459164e-01 -2.80275878e-01 -1.71279505e+02] [-9.95788523e-01 -4.09530266e-03 9.15884631e-02 -2.55230354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-171.28, Z:-255.26 [[ 8.64029191e-02 2.85058029e-01 9.54608012e-01 2.94326155e+02] [-3.11136206e-02 9.58496077e-01 -2.83402916e-01 -1.71278230e+02] [-9.95774311e-01 -5.21447230e-03 9.16860463e-02 -2.55257986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-171.28, Z:-255.29 [[ 8.63092721e-02 2.84113627e-01 9.54897982e-01 2.94328512e+02] [-3.25620884e-02 9.58767021e-01 -2.82321642e-01 -1.71279814e+02] [-9.95736120e-01 -6.72649712e-03 9.20018168e-02 -2.55285391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-171.28, Z:-255.31 [[ 8.61605124e-02 2.83037123e-01 9.55231047e-01 2.94330447e+02] [-3.33541964e-02 9.59078562e-01 -2.81168649e-01 -1.71281198e+02] [-9.95722785e-01 -7.63532909e-03 9.20751761e-02 -2.55312404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-171.28, Z:-255.34 [[ 8.50774220e-02 2.81735996e-01 9.55712646e-01 2.94332067e+02] [-3.34267006e-02 9.59457467e-01 -2.79864297e-01 -1.71283280e+02] [-9.95813481e-01 -8.13618760e-03 9.10456726e-02 -2.55340073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-171.29, Z:-255.37 [[ 8.48297452e-02 2.80567313e-01 9.56078395e-01 2.94334319e+02] [-3.31558397e-02 9.59800544e-01 -2.78717790e-01 -1.71285635e+02] [-9.95843665e-01 -8.05602287e-03 9.07220804e-02 -2.55367822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-171.29, Z:-255.40 [[ 8.44919982e-02 2.79340222e-01 9.56467534e-01 2.94336415e+02] [-3.22321525e-02 9.60163856e-01 -2.77572439e-01 -1.71287847e+02] [-9.95902701e-01 -7.37635739e-03 9.01298994e-02 -2.55396218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-171.29, Z:-255.42 [[ 8.44241972e-02 2.78140078e-01 9.56823208e-01 2.94338713e+02] [-3.15845526e-02 9.60515857e-01 -2.76426672e-01 -1.71290158e+02] [-9.95929200e-01 -6.88373312e-03 8.98757100e-02 -2.55424342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-171.29, Z:-255.45 [[ 8.37184729e-02 2.76927737e-01 9.57236776e-01 2.94340163e+02] [-3.07707372e-02 9.60869379e-01 -2.75287483e-01 -1.71293458e+02] [-9.96014246e-01 -6.40823359e-03 8.89637876e-02 -2.55451592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-171.30, Z:-255.48 [[ 8.35662143e-02 2.75618560e-01 9.57627849e-01 2.94342451e+02] [-3.11291164e-02 9.61242193e-01 -2.73942375e-01 -1.71295822e+02] [-9.96015896e-01 -6.91778161e-03 8.89071334e-02 -2.55479904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.30, Z:-255.51 [[ 8.35190417e-02 2.74569544e-01 9.57933262e-01 2.94345190e+02] [-3.24020442e-02 9.61531792e-01 -2.72775953e-01 -1.71298062e+02] [-9.95979255e-01 -8.25700972e-03 8.92028284e-02 -2.55512325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.30, Z:-255.54 [[ 8.32250541e-02 2.78038614e-01 9.56957742e-01 2.94345547e+02] [-3.64373127e-02 9.60496093e-01 -2.75897768e-01 -1.71297666e+02] [-9.95864405e-01 -1.19073618e-02 9.00683192e-02 -2.55540628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.30, Z:-255.57 [[ 8.34911224e-02 2.77654015e-01 9.57046227e-01 2.94347596e+02] [-3.88158768e-02 9.60576715e-01 -2.75292031e-01 -1.71298920e+02] [-9.95752259e-01 -1.41641478e-02 9.09770121e-02 -2.55568678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.30, Z:-255.60 [[ 8.33269514e-02 2.76715410e-01 9.57332336e-01 2.94349489e+02] [-4.13358679e-02 9.60806263e-01 -2.74121637e-01 -1.71300751e+02] [-9.95664585e-01 -1.67304427e-02 9.14993284e-02 -2.55598366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.30, Z:-255.63 [[ 8.31535352e-02 2.76532511e-01 9.57400261e-01 2.94351684e+02] [-4.37592665e-02 9.60814051e-01 -2.73717895e-01 -1.71302377e+02] [-9.95575520e-01 -1.91345226e-02 9.19959449e-02 -2.55630482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.30, Z:-255.66 [[ 8.25451505e-02 2.79550565e-01 9.56576071e-01 2.94352287e+02] [-4.71510071e-02 9.59872330e-01 -2.76445097e-01 -1.71303475e+02] [-9.95471286e-01 -2.22843229e-02 9.24138966e-02 -2.55657929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-171.31, Z:-255.69 [[ 8.22576969e-02 2.78596818e-01 9.56879033e-01 2.94354423e+02] [-4.76064143e-02 9.60135204e-01 -2.75452392e-01 -1.71305980e+02] [-9.95473405e-01 -2.28955003e-02 9.22415061e-02 -2.55686184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.31, Z:-255.71 [[ 8.18318434e-02 2.77436760e-01 9.57252524e-01 2.94356277e+02] [-4.74755947e-02 9.60468583e-01 -2.74310351e-01 -1.71308979e+02] [-9.95514750e-01 -2.29988111e-02 9.17683899e-02 -2.55712773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.31, Z:-255.75 [[ 8.12093044e-02 2.75925265e-01 9.57742292e-01 2.94358289e+02] [-4.53806337e-02 9.60943215e-01 -2.72999516e-01 -1.71314651e+02] [-9.95663421e-01 -2.12928514e-02 9.05591935e-02 -2.55745732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.32, Z:-255.77 [[ 8.11946202e-02 2.78881571e-01 9.56886881e-01 2.94359259e+02] [-4.32183414e-02 9.60138866e-01 -2.76162150e-01 -1.71315694e+02] [-9.95760819e-01 -1.89321830e-02 9.00109095e-02 -2.55774177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.32, Z:-255.80 [[ 8.14967165e-02 2.78223151e-01 9.57052853e-01 2.94361178e+02] [-4.03125582e-02 9.60381390e-01 -2.75758016e-01 -1.71319107e+02] [-9.95858013e-01 -1.61078760e-02 8.94838169e-02 -2.55802522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.32, Z:-255.83 [[ 8.18362163e-02 2.77192505e-01 9.57322907e-01 2.94363024e+02] [-3.72650060e-02 9.60724132e-01 -2.74991750e-01 -1.71322883e+02] [-9.95948871e-01 -1.31703596e-02 8.89516082e-02 -2.55829951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-171.33, Z:-255.86 [[ 8.23703451e-02 2.75509278e-01 9.57762896e-01 2.94364170e+02] [-3.08797249e-02 9.61272800e-01 -2.73863190e-01 -1.71328745e+02] [-9.96123270e-01 -7.01724926e-03 8.76880230e-02 -2.55856473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.33, Z:-255.89 [[ 8.28332903e-02 2.73919406e-01 9.58178900e-01 2.94366320e+02] [-2.78607403e-02 9.61743820e-01 -2.72530004e-01 -1.71332455e+02] [-9.96173893e-01 -4.12101654e-03 8.72960025e-02 -2.55885441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.34, Z:-255.91 [[ 8.34298400e-02 2.72904737e-01 9.58416645e-01 2.94367753e+02] [-2.49954641e-02 9.62040206e-01 -2.71760683e-01 -1.71335464e+02] [-9.96200125e-01 -1.28311857e-03 8.70842410e-02 -2.55912166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.34, Z:-255.94 [[ 8.50858080e-02 2.71146316e-01 9.58770088e-01 2.94369126e+02] [-2.03082191e-02 9.62531644e-01 -2.70407860e-01 -1.71341160e+02] [-9.96166644e-01 3.53695828e-03 8.74042815e-02 -2.55940501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.34, Z:-255.97 [[ 8.50974658e-02 2.70371141e-01 9.58987939e-01 2.94371778e+02] [-2.02564013e-02 9.62749739e-01 -2.69634232e-01 -1.71342241e+02] [-9.96166703e-01 3.51954526e-03 8.74043093e-02 -2.55969715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-171.35, Z:-256.00 [[ 8.61835714e-02 2.69633217e-01 9.59098702e-01 2.94373476e+02] [-1.86426658e-02 9.62948476e-01 -2.69040301e-01 -1.71345171e+02] [-9.96104835e-01 5.30669744e-03 8.80170207e-02 -2.55998316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-171.35, Z:-256.03 [[ 8.63867574e-02 2.68816434e-01 9.59309675e-01 2.94375580e+02] [-1.81127035e-02 9.63173969e-01 -2.68268215e-01 -1.71347101e+02] [-9.96097012e-01 5.79912950e-03 8.80744684e-02 -2.56027544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-171.35, Z:-256.05 [[ 8.62324149e-02 2.68113650e-01 9.59520214e-01 2.94378226e+02] [-1.88721736e-02 9.63374530e-01 -2.67494592e-01 -1.71347471e+02] [-9.96096286e-01 4.95847253e-03 8.81339995e-02 -2.56054915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-171.35, Z:-256.09 [[ 8.59035071e-02 2.67096795e-01 9.59833261e-01 2.94380921e+02] [-2.27079370e-02 9.63669117e-01 -2.66131891e-01 -1.71347562e+02] [-9.96044646e-01 1.06582953e-03 8.88477739e-02 -2.56087485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-171.35, Z:-256.12 [[ 8.62093862e-02 2.70388820e-01 9.58883636e-01 2.94382462e+02] [-2.46304903e-02 9.62751122e-01 -2.69264956e-01 -1.71345711e+02] [-9.95972530e-01 -4.04607457e-04 8.96579925e-02 -2.56119106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-171.34, Z:-256.15 [[ 8.67327965e-02 2.73430493e-01 9.57973480e-01 2.94383721e+02] [-2.62262164e-02 9.61890567e-01 -2.72174068e-01 -1.71343995e+02] [-9.95886343e-01 -1.51760178e-03 9.05985061e-02 -2.56147341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-171.35, Z:-256.18 [[ 8.71119209e-02 2.72362188e-01 9.58243368e-01 2.94386461e+02] [-2.73637086e-02 9.62191252e-01 -2.70996720e-01 -1.71345063e+02] [-9.95822645e-01 -2.61404743e-03 9.12711678e-02 -2.56178725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-171.35, Z:-256.21 [[ 8.73212522e-02 2.72878759e-01 9.58077336e-01 2.94389038e+02] [-2.89490101e-02 9.62039952e-01 -2.71368912e-01 -1.71345716e+02] [-9.95759486e-01 -4.03911722e-03 9.19061032e-02 -2.56207553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-171.35, Z:-256.24 [[ 8.68530672e-02 2.72151165e-01 9.58326817e-01 2.94391863e+02] [-2.93362438e-02 9.62243464e-01 -2.70604696e-01 -1.71346704e+02] [-9.95789099e-01 -4.61086134e-03 9.15576891e-02 -2.56239505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-171.35, Z:-256.27 [[ 8.63417927e-02 2.74872172e-01 9.57596149e-01 2.94393652e+02] [-2.93764421e-02 9.61470105e-01 -2.73335437e-01 -1.71345153e+02] [-9.95832375e-01 -4.53049620e-03 9.10898189e-02 -2.56267155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-171.35, Z:-256.29 [[ 8.50457049e-02 2.73859045e-01 9.58002323e-01 2.94396938e+02] [-2.84191864e-02 9.61761277e-01 -2.72410712e-01 -1.71345637e+02] [-9.95971675e-01 -4.05828562e-03 8.95765170e-02 -2.56293845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-171.35, Z:-256.32 [[ 8.45070603e-02 2.71701928e-01 9.58663976e-01 2.94400322e+02] [-2.74297435e-02 9.62375267e-01 -2.70335817e-01 -1.71347334e+02] [-9.96045263e-01 -3.45062183e-03 8.87802189e-02 -2.56322021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-171.35, Z:-256.35 [[ 8.38462408e-02 2.68633952e-01 9.59586165e-01 2.94403569e+02] [-2.69407071e-02 9.63236196e-01 -2.67301758e-01 -1.71349481e+02] [-9.96114454e-01 -3.43968224e-03 8.80009226e-02 -2.56348513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-171.35, Z:-256.38 [[ 8.36347941e-02 2.67294250e-01 9.59978648e-01 2.94406511e+02] [-2.66131943e-02 9.63609298e-01 -2.65986578e-01 -1.71350713e+02] [-9.96141034e-01 -3.30236566e-03 8.77048191e-02 -2.56375986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.41, Y:-171.35, Z:-256.40 [[ 8.33663939e-02 2.64311782e-01 9.60827418e-01 2.94410168e+02] [-2.70733485e-02 9.64428610e-01 -2.62953401e-01 -1.71352492e+02] [-9.96151132e-01 -4.09133875e-03 8.75567403e-02 -2.56403147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-171.35, Z:-256.43 [[ 8.35666029e-02 2.63047751e-01 9.61156857e-01 2.94412902e+02] [-2.76945856e-02 9.64771096e-01 -2.61629018e-01 -1.71353107e+02] [-9.96117279e-01 -4.75539268e-03 8.79076415e-02 -2.56431276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-171.35, Z:-256.46 [[ 8.37450708e-02 2.60135747e-01 9.61933551e-01 2.94415320e+02] [-2.86751824e-02 9.65553872e-01 -2.58618355e-01 -1.71354326e+02] [-9.96074544e-01 -5.92560756e-03 8.83198174e-02 -2.56458922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-171.35, Z:-256.49 [[ 8.43135424e-02 2.59074767e-01 9.62170199e-01 2.94417593e+02] [-2.98433027e-02 9.65831844e-01 -2.57445581e-01 -1.71354451e+02] [-9.95992271e-01 -7.00818756e-03 8.91643508e-02 -2.56485599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-171.35, Z:-256.51 [[ 8.52867749e-02 2.57928467e-01 9.62392369e-01 2.94419693e+02] [-3.21840536e-02 9.66120841e-01 -2.56075590e-01 -1.71354202e+02] [-9.95836509e-01 -9.13382637e-03 9.06985142e-02 -2.56512102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-171.35, Z:-256.54 [[ 8.55392936e-02 2.56693069e-01 9.62700212e-01 2.94422172e+02] [-3.26538723e-02 9.66444884e-01 -2.54790132e-01 -1.71354973e+02] [-9.95799555e-01 -9.64132189e-03 9.10510353e-02 -2.56540307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.36, Z:-256.57 [[ 8.55841460e-02 2.53755291e-01 9.63474757e-01 2.94425082e+02] [-3.28954801e-02 9.67215274e-01 -2.51818389e-01 -1.71356873e+02] [-9.95787749e-01 -1.01423029e-02 9.11256954e-02 -2.56568227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.36, Z:-256.60 [[ 8.54863060e-02 2.52569566e-01 9.63794950e-01 2.94427802e+02] [-3.25219620e-02 9.67527923e-01 -2.50663199e-01 -1.71358183e+02] [-9.95808422e-01 -9.91623178e-03 9.09244460e-02 -2.56595279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.36, Z:-256.62 [[ 8.48712980e-02 2.51166799e-01 9.64215796e-01 2.94430406e+02] [-3.16323656e-02 9.67898772e-01 -2.49341856e-01 -1.71359524e+02] [-9.95889681e-01 -9.33845959e-03 9.00918251e-02 -2.56623393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.36, Z:-256.65 [[ 8.51983869e-02 2.49935739e-01 9.64506797e-01 2.94433138e+02] [-3.08919071e-02 9.68223773e-01 -2.48170136e-01 -1.71360735e+02] [-9.95884996e-01 -8.65175910e-03 9.02120952e-02 -2.56649924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-171.36, Z:-256.68 [[ 8.53301738e-02 2.48516122e-01 9.64861907e-01 2.94435485e+02] [-3.00483818e-02 9.68595288e-01 -2.46820306e-01 -1.71361881e+02] [-9.95899521e-01 -7.93131940e-03 9.01179115e-02 -2.56677785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-171.36, Z:-256.70 [[ 8.63452375e-02 2.47260133e-01 9.65094258e-01 2.94437369e+02] [-2.90147459e-02 9.68925333e-01 -2.45645769e-01 -1.71363386e+02] [-9.95842681e-01 -6.79162236e-03 9.08362779e-02 -2.56704321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-171.36, Z:-256.73 [[ 8.67900121e-02 2.45849370e-01 9.65414720e-01 2.94439884e+02] [-2.82446855e-02 9.69289069e-01 -2.44296825e-01 -1.71364892e+02] [-9.95826155e-01 -6.06531078e-03 9.10685482e-02 -2.56731942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-171.37, Z:-256.76 [[ 8.71972537e-02 2.44668342e-01 9.65678022e-01 2.94442806e+02] [-2.80117781e-02 9.69589180e-01 -2.43129927e-01 -1.71366788e+02] [-9.95797158e-01 -5.85009655e-03 9.13991091e-02 -2.56764480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-171.37, Z:-256.80 [[ 8.77945942e-02 2.47704377e-01 9.64849548e-01 2.94444360e+02] [-2.68008036e-02 9.68826402e-01 -2.46286662e-01 -1.71366284e+02] [-9.95778001e-01 -4.23610571e-03 9.16963972e-02 -2.56796783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-171.37, Z:-256.83 [[ 8.98161342e-02 2.43318272e-01 9.65779106e-01 2.94449764e+02] [-2.72640795e-02 9.69935544e-01 -2.41829922e-01 -1.71372674e+02] [-9.95585120e-01 -4.61084958e-03 9.37497096e-02 -2.56827218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-171.31, Z:-256.86 [[ 8.80185905e-02 3.42624332e-01 9.35340203e-01 2.94426582e+02] [-2.49381206e-02 9.39448191e-01 -3.41782369e-01 -1.71310036e+02] [-9.95806617e-01 6.75757557e-03 9.12333124e-02 -2.56856844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-171.37, Z:-256.88 [[ 8.84262313e-02 2.45609763e-01 9.65327222e-01 2.94452083e+02] [-2.25691702e-02 9.69368773e-01 -2.44570673e-01 -1.71369111e+02] [-9.95827010e-01 -1.60171468e-04 9.12608359e-02 -2.56881257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-171.37, Z:-256.91 [[ 8.78532316e-02 2.44386858e-01 9.65689843e-01 2.94454316e+02] [-2.16008339e-02 9.69677672e-01 -2.43430929e-01 -1.71370187e+02] [-9.95899199e-01 5.26487938e-04 9.04682770e-02 -2.56908716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-171.37, Z:-256.94 [[ 8.73606935e-02 2.47012481e-01 9.65066290e-01 2.94454683e+02] [-2.08390822e-02 9.69011299e-01 -2.46135806e-01 -1.71370229e+02] [-9.95958755e-01 1.39149895e-03 8.98010125e-02 -2.56938694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-171.34, Z:-256.97 [[ 8.71586033e-02 2.97166251e-01 9.50839417e-01 2.94443924e+02] [-2.03126046e-02 9.54803408e-01 -2.96543166e-01 -1.71340958e+02] [-9.95987337e-01 6.53226304e-03 8.92555521e-02 -2.56969401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-171.34, Z:-257.00 [[ 8.83407047e-02 2.96559673e-01 9.50919703e-01 2.94447871e+02] [-1.90159212e-02 9.54980215e-01 -2.96059425e-01 -1.71340680e+02] [-9.95908788e-01 8.07148410e-03 9.00029805e-02 -2.56995284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-171.38, Z:-257.03 [[ 8.87416057e-02 2.38649026e-01 9.67042693e-01 2.94464943e+02] [-1.81316391e-02 9.71099268e-01 -2.37986249e-01 -1.71375517e+02] [-9.95889638e-01 3.58521283e-03 9.05040063e-02 -2.57026392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-171.37, Z:-257.05 [[ 9.00061341e-02 2.41603478e-01 9.66191832e-01 2.94465991e+02] [-1.64911892e-02 9.70357921e-01 -2.41108994e-01 -1.71372967e+02] [-9.95804668e-01 5.76763610e-03 9.13224938e-02 -2.57054517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-171.37, Z:-257.08 [[ 9.05464198e-02 2.40546864e-01 9.66404963e-01 2.94468564e+02] [-1.56372613e-02 9.70614876e-01 -2.40129630e-01 -1.71373409e+02] [-9.95769462e-01 6.63095136e-03 9.16471961e-02 -2.57081341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-171.37, Z:-257.11 [[ 9.08080033e-02 2.39155443e-01 9.66725701e-01 2.94471306e+02] [-1.49163630e-02 9.70954116e-01 -2.38800351e-01 -1.71374358e+02] [-9.95756702e-01 7.26495158e-03 9.17377340e-02 -2.57109220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-171.38, Z:-257.14 [[ 9.09105850e-02 2.37923254e-01 9.67020057e-01 2.94474032e+02] [-1.40223909e-02 9.71250642e-01 -2.37645877e-01 -1.71375170e+02] [-9.95760332e-01 8.04459245e-03 9.16332169e-02 -2.57135858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-171.38, Z:-257.17 [[ 9.07129226e-02 2.36544347e-01 9.67376833e-01 2.94477951e+02] [-1.34841215e-02 9.71584451e-01 -2.36308766e-01 -1.71375730e+02] [-9.95785792e-01 8.39203204e-03 9.13248579e-02 -2.57168141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-171.37, Z:-257.20 [[ 9.03244415e-02 2.39713329e-01 9.66632823e-01 2.94480143e+02] [-1.34604342e-02 9.70805442e-01 -2.39490314e-01 -1.71373810e+02] [-9.95821426e-01 8.62053135e-03 9.09141049e-02 -2.57200382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-171.37, Z:-257.23 [[ 9.02652970e-02 2.42636020e-01 9.65908866e-01 2.94481856e+02] [-1.32598453e-02 9.70074935e-01 -2.42443388e-01 -1.71371724e+02] [-9.95829480e-01 9.07642223e-03 9.07814182e-02 -2.57227734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-171.37, Z:-257.26 [[ 8.99597519e-02 2.41388419e-01 9.66249903e-01 2.94485431e+02] [-1.41329386e-02 9.70395324e-01 -2.41108224e-01 -1.71371203e+02] [-9.95845120e-01 8.03408545e-03 9.07080503e-02 -2.57260047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-171.37, Z:-257.29 [[ 8.98046873e-02 2.44611353e-01 9.65453471e-01 2.94487395e+02] [-1.47358737e-02 9.69590542e-01 -2.44288836e-01 -1.71368963e+02] [-9.95850376e-01 7.71148209e-03 9.06783374e-02 -2.57292148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-171.37, Z:-257.32 [[ 8.95635829e-02 2.47627241e-01 9.64706750e-01 2.94489412e+02] [-1.54974164e-02 9.68828674e-01 -2.47246499e-01 -1.71366889e+02] [-9.95860530e-01 7.19382018e-03 9.06093497e-02 -2.57323500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-171.36, Z:-257.35 [[ 8.97654538e-02 2.50174522e-01 9.64030535e-01 2.94491342e+02] [-1.58697079e-02 9.68174563e-01 -2.49772230e-01 -1.71364730e+02] [-9.95836491e-01 7.12203464e-03 9.08788256e-02 -2.57351408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-171.37, Z:-257.38 [[ 9.02355786e-02 2.47267573e-01 9.64736383e-01 2.94495077e+02] [-1.74661375e-02 9.68932124e-01 -2.46709290e-01 -1.71365119e+02] [-9.95767279e-01 5.41173715e-03 9.17509602e-02 -2.57379032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-171.37, Z:-257.41 [[ 9.02847564e-02 2.44286709e-01 9.65490894e-01 2.94498407e+02] [-1.81669307e-02 9.69692802e-01 -2.43651047e-01 -1.71366091e+02] [-9.95750283e-01 4.45796927e-03 9.19864181e-02 -2.57406835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-171.37, Z:-257.43 [[ 9.01210614e-02 2.43217444e-01 9.65776097e-01 2.94501240e+02] [-1.90374189e-02 9.69965591e-01 -2.42496040e-01 -1.71366189e+02] [-9.95748849e-01 3.46811640e-03 9.20445609e-02 -2.57434997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-171.37, Z:-257.46 [[ 8.96147289e-02 2.42136958e-01 9.66094661e-01 2.94503989e+02] [-1.96838502e-02 9.70238564e-01 -2.41349695e-01 -1.71366289e+02] [-9.95781977e-01 2.61202487e-03 9.17138535e-02 -2.57462577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-171.37, Z:-257.49 [[ 8.88244349e-02 2.39218228e-01 9.66894441e-01 2.94508421e+02] [-2.11210069e-02 9.70965543e-01 -2.38285159e-01 -1.71366585e+02] [-9.95823339e-01 7.43760434e-04 9.12979955e-02 -2.57494859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-171.36, Z:-257.53 [[ 8.79943457e-02 2.42458907e-01 9.66162861e-01 2.94510674e+02] [-2.20465813e-02 9.70161675e-01 -2.41454494e-01 -1.71364606e+02] [-9.95876972e-01 -5.39578837e-05 9.07141318e-02 -2.57527896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-171.36, Z:-257.56 [[ 8.72390957e-02 2.45708935e-01 9.65409996e-01 2.94513102e+02] [-2.30642225e-02 9.69343212e-01 -2.44625794e-01 -1.71361335e+02] [-9.95920369e-01 -9.25497895e-04 9.02317108e-02 -2.57561155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-171.36, Z:-257.59 [[ 8.73466880e-02 2.48886381e-01 9.64585987e-01 2.94515086e+02] [-2.35791492e-02 9.68532062e-01 -2.47769388e-01 -1.71359200e+02] [-9.95898880e-01 -1.10228145e-03 9.04665969e-02 -2.57590991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-171.36, Z:-257.62 [[ 8.71661326e-02 2.49086272e-01 9.64550722e-01 2.94517398e+02] [-2.35993220e-02 9.68480620e-01 -2.47968469e-01 -1.71358567e+02] [-9.95914222e-01 -1.14829066e-03 9.02969773e-02 -2.57619274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-171.36, Z:-257.65 [[ 8.70863022e-02 2.47960014e-01 9.64848075e-01 2.94520460e+02] [-2.39600597e-02 9.68768906e-01 -2.46805030e-01 -1.71359265e+02] [-9.95912592e-01 -1.62448002e-03 9.03076384e-02 -2.57651454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-171.36, Z:-257.68 [[ 8.76007595e-02 2.50659543e-01 9.64103677e-01 2.94522350e+02] [-2.38090035e-02 9.68074684e-01 -2.49528631e-01 -1.71357385e+02] [-9.95871095e-01 -1.09545024e-03 9.07720315e-02 -2.57678839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.36, Z:-257.71 [[ 8.87636075e-02 2.49625444e-01 9.64265607e-01 2.94525131e+02] [-2.32667495e-02 9.68342397e-01 -2.48539052e-01 -1.71357195e+02] [-9.95780940e-01 -3.74103402e-04 9.17615371e-02 -2.57706864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.36, Z:-257.74 [[ 8.94244973e-02 2.46536871e-01 9.64998876e-01 2.94528170e+02] [-2.29486513e-02 9.69133393e-01 -2.45466548e-01 -1.71358980e+02] [-9.95729190e-01 -1.94700072e-04 9.23219551e-02 -2.57735204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.36, Z:-257.76 [[ 9.03802069e-02 2.43443668e-01 9.65694879e-01 2.94531353e+02] [-2.28247706e-02 9.69915028e-01 -2.42371343e-01 -1.71360860e+02] [-9.95645744e-01 -1.36191995e-04 9.32176668e-02 -2.57764831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.36, Z:-257.79 [[ 9.15483286e-02 2.43070318e-01 9.65678893e-01 2.94534330e+02] [-2.32699459e-02 9.70008617e-01 -2.41954112e-01 -1.71361013e+02] [-9.95528710e-01 -3.20801074e-04 9.44589008e-02 -2.57794464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-171.36, Z:-257.82 [[ 9.15534885e-02 2.42680714e-01 9.65776387e-01 2.94536953e+02] [-2.32499101e-02 9.70106157e-01 -2.41564660e-01 -1.71361837e+02] [-9.95528704e-01 -3.38126781e-04 9.44589077e-02 -2.57824512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-171.36, Z:-257.86 [[ 9.17031082e-02 2.42552319e-01 9.65794446e-01 2.94539718e+02] [-2.40433106e-02 9.70137717e-01 -2.41360165e-01 -1.71362592e+02] [-9.95496087e-01 -1.08741850e-03 9.47964048e-02 -2.57856006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-171.36, Z:-257.89 [[ 9.19147253e-02 2.45335517e-01 9.65071069e-01 2.94541958e+02] [-2.48216619e-02 9.69437040e-01 -2.44081362e-01 -1.71361395e+02] [-9.95457467e-01 -1.51999646e-03 9.51951744e-02 -2.57888441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-171.36, Z:-257.92 [[ 9.25489264e-02 2.48145260e-01 9.64291774e-01 2.94544177e+02] [-2.59410723e-02 9.68720395e-01 -2.46795174e-01 -1.71359895e+02] [-9.95370161e-01 -2.17413422e-03 9.60911866e-02 -2.57915525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-171.36, Z:-257.95 [[ 9.16802128e-02 2.52560332e-01 9.63227916e-01 2.94543549e+02] [-2.73596507e-02 9.67575408e-01 -2.51096156e-01 -1.71359750e+02] [-9.95412572e-01 -3.33303024e-03 9.56174817e-02 -2.57947495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-171.29, Z:-257.97 [[ 9.24230417e-02 3.58133263e-01 9.29084790e-01 2.94526682e+02] [-2.71380582e-02 9.33637908e-01 -3.57188721e-01 -1.71294381e+02] [-9.95349942e-01 7.79891095e-03 9.60086966e-02 -2.57974451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-171.36, Z:-258.00 [[ 9.20532369e-02 2.49554419e-01 9.63975515e-01 2.94548424e+02] [-2.63783745e-02 9.68357330e-01 -2.48169826e-01 -1.71361510e+02] [-9.95404633e-01 -2.58327131e-03 9.57232666e-02 -2.58003947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-171.32, Z:-258.03 [[ 9.27321858e-02 3.22967295e-01 9.41856076e-01 2.94537623e+02] [-2.50779179e-02 9.46389523e-01 -3.22052744e-01 -1.71317845e+02] [-9.95375226e-01 6.24486546e-03 9.58601163e-02 -2.58030617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.37, Z:-258.06 [[ 9.27287854e-02 2.39768344e-01 9.66391491e-01 2.94557828e+02] [-2.30718459e-02 9.70830116e-01 -2.38655769e-01 -1.71367959e+02] [-9.95424062e-01 -1.66175943e-04 9.55557957e-02 -2.58055931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.37, Z:-258.08 [[ 9.24030163e-02 2.38489140e-01 9.66739165e-01 2.94560334e+02] [-2.16362372e-02 9.71144618e-01 -2.37507903e-01 -1.71369758e+02] [-9.95486593e-01 1.02984868e-03 9.48966996e-02 -2.58082475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.37, Z:-258.11 [[ 9.25075166e-02 2.37006939e-01 9.67093620e-01 2.94563135e+02] [-2.00753625e-02 9.71504912e-01 -2.36167708e-01 -1.71371798e+02] [-9.95509588e-01 2.43253317e-03 9.46295069e-02 -2.58110344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-171.37, Z:-258.14 [[ 9.30041918e-02 2.35573981e-01 9.67396051e-01 2.94565985e+02] [-1.71025839e-02 9.71841901e-01 -2.35012385e-01 -1.71374294e+02] [-9.95518821e-01 5.31216480e-03 9.44142943e-02 -2.58140213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-171.38, Z:-258.17 [[ 9.35019159e-02 2.35014230e-01 9.67484214e-01 2.94568295e+02] [-1.53227815e-02 9.71965903e-01 -2.34622029e-01 -1.71375390e+02] [-9.95501182e-01 7.11305999e-03 9.44817458e-02 -2.58167166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-171.38, Z:-258.20 [[ 9.39265818e-02 2.33507242e-01 9.67807918e-01 2.94570711e+02] [-1.36661816e-02 9.72316285e-01 -2.33268680e-01 -1.71377061e+02] [-9.95485325e-01 8.68389102e-03 9.45174975e-02 -2.58195110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-171.38, Z:-258.22 [[ 9.49819634e-02 2.32072986e-01 9.68049873e-01 2.94573184e+02] [-1.08347269e-02 9.72629710e-01 -2.32107853e-01 -1.71379175e+02] [-9.95420030e-01 1.15575036e-02 9.48967270e-02 -2.58223090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.38, Z:-258.25 [[ 9.52351567e-02 2.28896215e-01 9.68781084e-01 2.94576337e+02] [-9.51762623e-03 9.73369380e-01 -2.29044681e-01 -1.71381882e+02] [-9.95409303e-01 1.25926098e-02 9.48775340e-02 -2.58251346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.38, Z:-258.28 [[ 9.49160462e-02 2.25758480e-01 9.69548376e-01 2.94579334e+02] [-8.38227012e-03 9.74092188e-01 -2.25995902e-01 -1.71384439e+02] [-9.95449990e-01 1.33236211e-02 9.43493477e-02 -2.58281878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.39, Z:-258.32 [[ 9.47594692e-02 2.25750277e-01 9.69565601e-01 2.94581980e+02] [-8.25467375e-03 9.74092876e-01 -2.25997630e-01 -1.71385643e+02] [-9.95465973e-01 1.34119678e-02 9.41680188e-02 -2.58315089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-171.39, Z:-258.35 [[ 9.52513231e-02 2.28898972e-01 9.68778843e-01 2.94583652e+02] [-8.42426758e-03 9.73354256e-01 -2.29151749e-01 -1.71385076e+02] [-9.95417609e-01 1.36657551e-02 9.46415870e-02 -2.58346622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-171.38, Z:-258.37 [[ 9.52910352e-02 2.31849263e-01 9.68073106e-01 2.94585013e+02] [-8.62640616e-03 9.72654318e-01 -2.32097314e-01 -1.71383844e+02] [-9.95412077e-01 1.37658015e-02 9.46852627e-02 -2.58374509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-171.39, Z:-258.41 [[ 9.53769151e-02 2.30758888e-01 9.68325141e-01 2.94588130e+02] [-9.37465879e-03 9.72924812e-01 -2.30931649e-01 -1.71385273e+02] [-9.95397087e-01 1.29478305e-02 9.49578530e-02 -2.58406742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-171.40, Z:-258.44 [[ 9.79568064e-02 2.23254165e-01 9.69825779e-01 2.94595692e+02] [-1.42803033e-02 9.74727527e-01 -2.22940173e-01 -1.71395168e+02] [-9.95088206e-01 7.98910110e-03 9.86693329e-02 -2.58439307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-171.30, Z:-258.47 [[ 9.65033844e-02 3.72823819e-01 9.22870249e-01 2.94562840e+02] [-1.36442446e-02 9.27606196e-01 -3.73310299e-01 -1.71300529e+02] [-9.95239133e-01 2.34338399e-02 9.46040366e-02 -2.58468313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-171.40, Z:-258.50 [[ 9.92737080e-02 2.11783244e-01 9.72261584e-01 2.94605700e+02] [-1.70351414e-02 9.77306765e-01 -2.11142823e-01 -1.71404452e+02] [-9.94914336e-01 4.39831735e-03 1.00628624e-01 -2.58496115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-171.31, Z:-258.53 [[ 9.84388530e-02 3.71302248e-01 9.23279174e-01 2.94572292e+02] [-1.88666346e-02 9.28314914e-01 -3.71315865e-01 -1.71308559e+02] [-9.94964242e-01 1.91327370e-02 9.83874791e-02 -2.58529604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-171.29, Z:-258.55 [[ 9.41144201e-02 3.88603140e-01 9.16586098e-01 2.94566985e+02] [-1.70529978e-02 9.21166789e-01 -3.88794216e-01 -1.71291598e+02] [-9.95415326e-01 2.09606015e-02 9.33219267e-02 -2.58554132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-171.40, Z:-258.58 [[ 9.29143888e-02 2.15353580e-01 9.72105834e-01 2.94606221e+02] [-1.71872190e-02 9.76530766e-01 -2.14691086e-01 -1.71397012e+02] [-9.95525749e-01 3.24009516e-03 9.44350884e-02 -2.58582413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-171.40, Z:-258.61 [[ 9.21069155e-02 2.18687789e-01 9.71438092e-01 2.94607970e+02] [-1.87095822e-02 9.75793043e-01 -2.17894216e-01 -1.71395510e+02] [-9.95573336e-01 1.89436324e-03 9.39688445e-02 -2.58612429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-171.40, Z:-258.64 [[ 9.12918699e-02 2.19038366e-01 9.71436045e-01 2.94610070e+02] [-2.24290493e-02 9.75714404e-01 -2.17895249e-01 -1.71395502e+02] [-9.95571561e-01 -1.89632222e-03 9.39876147e-02 -2.58639462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-171.40, Z:-258.67 [[ 9.08548274e-02 2.17318801e-01 9.71863128e-01 2.94612726e+02] [-2.44679997e-02 9.76091829e-01 -2.15976987e-01 -1.71396729e+02] [-9.95563518e-01 -4.15699486e-03 9.40000110e-02 -2.58667210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-171.40, Z:-258.69 [[ 9.02647474e-02 2.16330366e-01 9.72138595e-01 2.94615190e+02] [-2.64922380e-02 9.76299468e-01 -2.14796437e-01 -1.71397684e+02] [-9.95565386e-01 -6.36558089e-03 9.38565004e-02 -2.58693780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-171.40, Z:-258.72 [[ 8.96516266e-02 2.15151826e-01 9.72456826e-01 2.94617548e+02] [-2.84944673e-02 9.76542961e-01 -2.13428937e-01 -1.71398789e+02] [-9.95565493e-01 -8.57538785e-03 9.36793015e-02 -2.58720400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-171.40, Z:-258.75 [[ 8.85499625e-02 2.14156739e-01 9.72777362e-01 2.94620869e+02] [-3.23318418e-02 9.76717110e-01 -2.12080971e-01 -1.71400584e+02] [-9.95546863e-01 -1.26719218e-02 9.34123453e-02 -2.58750291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-171.40, Z:-258.78 [[ 8.78228209e-02 2.13898542e-01 9.72900080e-01 2.94623515e+02] [-3.38283367e-02 9.76750912e-01 -2.11691520e-01 -1.71401563e+02] [-9.95561548e-01 -1.43202451e-02 9.30168523e-02 -2.58778581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.40, Z:-258.81 [[ 8.68796086e-02 2.12822457e-01 9.73220702e-01 2.94625810e+02] [-3.49939120e-02 9.76963663e-01 -2.10517049e-01 -1.71402677e+02] [-9.95604018e-01 -1.57671608e-02 9.23257109e-02 -2.58805444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.40, Z:-258.83 [[ 8.62493076e-02 2.11530575e-01 9.73558356e-01 2.94628414e+02] [-3.58542404e-02 9.77225828e-01 -2.09151035e-01 -1.71403885e+02] [-9.95628209e-01 -1.68670634e-02 9.18693191e-02 -2.58833691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.41, Z:-258.87 [[ 8.47525586e-02 2.10874567e-01 9.73832080e-01 2.94631396e+02] [-3.74262008e-02 9.77332587e-01 -2.08375370e-01 -1.71405618e+02] [-9.95698892e-01 -1.87864892e-02 9.07236712e-02 -2.58866435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.40, Z:-258.90 [[ 8.43567374e-02 2.14150372e-01 9.73151355e-01 2.94632731e+02] [-3.80429286e-02 9.76612570e-01 -2.11614326e-01 -1.71404735e+02] [-9.95709133e-01 -1.91704334e-02 9.05307574e-02 -2.58897126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.40, Z:-258.92 [[ 8.46825915e-02 2.15720162e-01 9.72776270e-01 2.94634164e+02] [-3.77406693e-02 9.76276955e-01 -2.13211045e-01 -1.71404508e+02] [-9.95692975e-01 -1.86579637e-02 9.08150858e-02 -2.58924524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-171.41, Z:-258.95 [[ 8.54149935e-02 2.14316861e-01 9.73022385e-01 2.94636582e+02] [-3.74477659e-02 9.76591897e-01 -2.11815795e-01 -1.71406168e+02] [-9.95641474e-01 -1.83452697e-02 9.14412782e-02 -2.58953694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-171.41, Z:-258.98 [[ 8.57931443e-02 2.13460188e-01 9.73177417e-01 2.94638132e+02] [-3.67271025e-02 9.76792526e-01 -2.11015360e-01 -1.71408345e+02] [-9.95635805e-01 -1.76383155e-02 9.16418763e-02 -2.58983809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-171.42, Z:-259.02 [[ 8.90333585e-02 2.04956798e-01 9.74713174e-01 2.94644821e+02] [-3.97791935e-02 9.78550473e-01 -2.02130126e-01 -1.71419999e+02] [-9.95233981e-01 -2.07769800e-02 9.52766512e-02 -2.59018119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-171.30, Z:-259.05 [[ 8.36780709e-02 4.02036880e-01 9.11791823e-01 2.94602165e+02] [-3.59070826e-02 9.15623153e-01 -4.00430922e-01 -1.71295600e+02] [-9.95845702e-01 7.67502827e-04 9.10535506e-02 -2.59045881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.41, Z:-259.07 [[ 8.81488397e-02 2.09748892e-01 9.73773682e-01 2.94645670e+02] [-3.50234624e-02 9.77627262e-01 -2.07408519e-01 -1.71414105e+02] [-9.95491406e-01 -1.58221057e-02 9.35228412e-02 -2.59073297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.41, Z:-259.11 [[ 8.97089565e-02 2.12761685e-01 9.72977270e-01 2.94647104e+02] [-3.27763263e-02 9.77017694e-01 -2.10623215e-01 -1.71414091e+02] [-9.95428559e-01 -1.29958316e-02 9.46207842e-02 -2.59105292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.41, Z:-259.13 [[ 9.04000359e-02 2.15576331e-01 9.72293515e-01 2.94648403e+02] [-3.08458288e-02 9.76428592e-01 -2.13625233e-01 -1.71413228e+02] [-9.95427731e-01 -1.06794705e-02 9.49188104e-02 -2.59132484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.41, Z:-259.16 [[ 9.08642304e-02 2.13984448e-01 9.72601844e-01 2.94650870e+02] [-2.83771919e-02 9.76801693e-01 -2.12257360e-01 -1.71414968e+02] [-9.95458903e-01 -8.31310753e-03 9.48286118e-02 -2.59159963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.42, Z:-259.19 [[ 9.09185512e-02 2.10677921e-01 9.73318361e-01 2.94654580e+02] [-2.60196278e-02 9.77535172e-01 -2.09160146e-01 -1.71418114e+02] [-9.95518356e-01 -6.30884407e-03 9.43578427e-02 -2.59192825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.42, Z:-259.23 [[ 8.95901616e-02 2.13513295e-01 9.72823558e-01 2.94657143e+02] [-2.16986898e-02 9.76937947e-01 -2.12418017e-01 -1.71416718e+02] [-9.95742321e-01 -2.07843213e-03 9.21569873e-02 -2.59225004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.42, Z:-259.25 [[ 8.91090151e-02 2.15276952e-01 9.72479006e-01 2.94658888e+02] [-1.90496286e-02 9.76552863e-01 -2.14433246e-01 -1.71415777e+02] [-9.95839694e-01 5.82571471e-04 9.11206098e-02 -2.59252726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.42, Z:-259.28 [[ 8.95786441e-02 2.13881191e-01 9.72743801e-01 2.94661827e+02] [-1.65982847e-02 9.76855204e-01 -2.13256669e-01 -1.71417302e+02] [-9.95841435e-01 2.95736471e-03 9.10554256e-02 -2.59279275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.42, Z:-259.31 [[ 8.99791097e-02 2.12284793e-01 9.73056487e-01 2.94664796e+02] [-1.39528964e-02 9.77192424e-01 -2.11896869e-01 -1.71418767e+02] [-9.95845910e-01 5.48933528e-03 9.08888920e-02 -2.59307574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.42, Z:-259.34 [[ 9.05974954e-02 2.08640564e-01 9.73787045e-01 2.94667897e+02] [-7.95815229e-03 9.77928645e-01 -2.08787533e-01 -1.71420618e+02] [-9.95855794e-01 1.11660820e-02 9.02582792e-02 -2.59335186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.42, Z:-259.36 [[ 9.11920568e-02 2.05253249e-01 9.74451185e-01 2.94670834e+02] [-4.67008385e-03 9.78605781e-01 -2.05691310e-01 -1.71422268e+02] [-9.95822373e-01 1.42066449e-02 9.01996238e-02 -2.59362787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.42, Z:-259.39 [[ 9.17030874e-02 2.01828544e-01 9.75118343e-01 2.94674076e+02] [-1.24409544e-03 9.79266950e-01 -2.02570218e-01 -1.71423569e+02] [-9.95785618e-01 1.73631741e-02 9.00528967e-02 -2.59390199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.42, Z:-259.42 [[ 9.34539332e-02 2.00001767e-01 9.75328486e-01 2.94677136e+02] [ 5.56196892e-03 9.79495511e-01 -2.01389197e-01 -1.71422046e+02] [-9.95608069e-01 2.42453593e-02 9.04253044e-02 -2.59417370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.42, Z:-259.44 [[ 9.46295943e-02 1.98269008e-01 9.75568880e-01 2.94679612e+02] [ 9.30539703e-03 9.79747451e-01 -2.00020854e-01 -1.71422026e+02] [-9.95469060e-01 2.80059480e-02 9.08681320e-02 -2.59443832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.42, Z:-259.47 [[ 9.58186432e-02 1.96520456e-01 9.75806588e-01 2.94682317e+02] [ 1.33183726e-02 9.79976349e-01 -1.98668005e-01 -1.71422282e+02] [-9.95309705e-01 3.20322544e-02 9.12826715e-02 -2.59473152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-171.42, Z:-259.50 [[ 9.75257193e-02 1.95721500e-01 9.75798047e-01 2.94685097e+02] [ 1.69387017e-02 9.80003504e-01 -1.98257944e-01 -1.71422321e+02] [-9.95088848e-01 3.58640006e-02 9.22602785e-02 -2.59499613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.44, Z:-259.53 [[ 1.03546148e-01 1.76016374e-01 9.78926162e-01 2.94701064e+02] [ 2.05471534e-02 9.83628089e-01 -1.79035187e-01 -1.71437491e+02] [-9.94412394e-01 3.86525500e-02 9.82342644e-02 -2.59533406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.36, Z:-259.57 [[ 1.05833467e-01 2.99396600e-01 9.48240979e-01 2.94669494e+02] [ 2.25454226e-02 9.52628900e-01 -3.03298339e-01 -1.71363266e+02] [-9.94128252e-01 5.34776083e-02 9.40699964e-02 -2.59568866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.39, Z:-259.60 [[ 1.06752034e-01 2.61203599e-01 9.59362644e-01 2.94684595e+02] [ 2.41077074e-02 9.63912634e-01 -2.65124974e-01 -1.71387171e+02] [-9.93993371e-01 5.14306642e-02 9.66026146e-02 -2.59600152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.35, Z:-259.63 [[ 1.04527505e-01 3.16683751e-01 9.42754158e-01 2.94668508e+02] [ 2.86466109e-02 9.46594941e-01 -3.21150104e-01 -1.71346226e+02] [-9.94109336e-01 6.05757306e-02 8.98732913e-02 -2.59630187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.42, Z:-259.66 [[ 9.87367888e-02 1.96871500e-01 9.75444852e-01 2.94698092e+02] [ 3.12007823e-02 9.79140280e-01 -2.00775554e-01 -1.71417034e+02] [-9.94624330e-01 5.02585760e-02 9.05346222e-02 -2.59655176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.42, Z:-259.69 [[ 9.84939697e-02 1.93915632e-01 9.76061302e-01 2.94702293e+02] [ 3.19404535e-02 9.79709073e-01 -1.97863439e-01 -1.71415159e+02] [-9.94624927e-01 5.06641962e-02 9.03016825e-02 -2.59688315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.41, Z:-259.72 [[ 9.82796716e-02 1.97164753e-01 9.75431785e-01 2.94704092e+02] [ 3.11268571e-02 9.79088361e-01 -2.01040047e-01 -1.71412057e+02] [-9.94671918e-01 5.01202756e-02 9.00873634e-02 -2.59718477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-171.43, Z:-259.75 [[ 1.02499810e-01 1.75810179e-01 9.79073322e-01 2.94721692e+02] [ 2.61321122e-02 9.83441773e-01 -1.79330401e-01 -1.71429211e+02] [-9.94389713e-01 4.39665859e-02 9.62083036e-02 -2.59749862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.36, Z:-259.79 [[ 1.04527314e-01 2.89680986e-01 9.51398427e-01 2.94698766e+02] [ 2.00123216e-02 9.55832522e-01 -2.93229770e-01 -1.71361789e+02] [-9.94320646e-01 4.96902115e-02 9.41134170e-02 -2.59785743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-171.33, Z:-259.82 [[ 9.96197746e-02 3.36807681e-01 9.36288677e-01 2.94685537e+02] [ 2.06995195e-02 9.40064339e-01 -3.40368285e-01 -1.71325323e+02] [-9.94810249e-01 5.32881376e-02 8.66772404e-02 -2.59815539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-171.43, Z:-259.85 [[ 9.82840810e-02 1.68042370e-01 9.80867984e-01 2.94735349e+02] [ 1.45205356e-02 9.85292972e-01 -1.70255433e-01 -1.71428183e+02] [-9.95052458e-01 3.09761273e-02 9.43985491e-02 -2.59845858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-171.32, Z:-259.88 [[ 9.32524768e-02 3.34104947e-01 9.37911435e-01 2.94694120e+02] [ 8.01962642e-03 9.41733666e-01 -3.36263868e-01 -1.71320908e+02] [-9.95610195e-01 3.88791378e-02 8.51395999e-02 -2.59877098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-171.40, Z:-259.90 [[ 8.82641873e-02 2.01370471e-01 9.75530300e-01 2.94723172e+02] [ 4.32636429e-03 9.79265878e-01 -2.02533016e-01 -1.71396055e+02] [-9.96087705e-01 2.20969115e-02 8.55629048e-02 -2.59901747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.39, Z:-259.93 [[ 8.66133616e-02 1.99136484e-01 9.76136664e-01 2.94726732e+02] [-6.13460944e-03 9.79906854e-01 -1.99361292e-01 -1.71392847e+02] [-9.96223114e-01 1.12791344e-02 8.60946512e-02 -2.59930030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.40, Z:-259.96 [[ 8.66300759e-02 1.95940227e-01 9.76781786e-01 2.94729833e+02] [-5.86849229e-03 9.80551163e-01 -1.96175883e-01 -1.71395012e+02] [-9.96223264e-01 1.12624952e-02 8.60950954e-02 -2.59958409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.39, Z:-259.99 [[ 8.53933320e-02 1.93822878e-01 9.77312985e-01 2.94732795e+02] [-1.59292670e-02 9.81036101e-01 -1.93169425e-01 -1.71391939e+02] [-9.96219974e-01 9.27501402e-04 8.68613979e-02 -2.59986398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.42, Z:-260.02 [[ 9.37743822e-02 1.52754189e-01 9.83805125e-01 2.94758661e+02] [-2.59833496e-02 9.88198387e-01 -1.50959643e-01 -1.71420989e+02] [-9.95254355e-01 -1.14064052e-02 9.66367588e-02 -2.60016947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-171.33, Z:-260.05 [[ 8.95245272e-02 3.18169133e-01 9.43797522e-01 2.94724126e+02] [-3.07922718e-02 9.48033700e-01 -3.16676395e-01 -1.71326167e+02] [-9.95508511e-01 -7.11365285e-04 9.46694192e-02 -2.60051307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-171.30, Z:-260.08 [[ 8.66244685e-02 3.60405033e-01 9.28764994e-01 2.94718958e+02] [-3.33924543e-02 9.32795909e-01 -3.58854758e-01 -1.71298395e+02] [-9.95681247e-01 7.18600611e-05 9.28377584e-02 -2.60079663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-171.28, Z:-260.11 [[ 7.90809915e-02 3.68520844e-01 9.26249742e-01 2.94713535e+02] [-3.34028902e-02 9.29617511e-01 -3.67008897e-01 -1.71283251e+02] [-9.96308408e-01 -1.91599098e-03 8.58247358e-02 -2.60105453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.38, Z:-260.13 [[ 8.13953215e-02 1.93868156e-01 9.77645099e-01 2.94745506e+02] [-3.65101724e-02 9.80821451e-01 -1.91458320e-01 -1.71384962e+02] [-9.96012956e-01 -2.01101796e-02 8.69124372e-02 -2.60127942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.39, Z:-260.16 [[ 8.11118494e-02 1.92644168e-01 9.77910575e-01 2.94748095e+02] [-3.84658122e-02 9.81017535e-01 -1.90065716e-01 -1.71385230e+02] [-9.95962474e-01 -2.21995428e-02 8.69823610e-02 -2.60156179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.41, Z:-260.19 [[ 8.88375361e-02 1.61918478e-01 9.82797181e-01 2.94767537e+02] [-4.67796907e-02 9.86287907e-01 -1.58265049e-01 -1.71407057e+02] [-9.94947010e-01 -3.19150711e-02 9.51938839e-02 -2.60189618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.35, Z:-260.22 [[ 8.59894664e-02 2.65195335e-01 9.60352667e-01 2.94747820e+02] [-4.88647628e-02 9.63885525e-01 -2.61795587e-01 -1.71349521e+02] [-9.95097004e-01 -2.44157425e-02 9.58427091e-02 -2.60224824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.31, Z:-260.25 [[ 7.86073078e-02 3.16303215e-01 9.45395773e-01 2.94731723e+02] [-4.56616562e-02 9.48477312e-01 -3.13537559e-01 -1.71312470e+02] [-9.95859380e-01 -1.85219934e-02 8.90001766e-02 -2.60254645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.40, Z:-260.28 [[ 8.95829540e-02 1.72629323e-01 9.80904690e-01 2.94770395e+02] [-5.06798071e-02 9.84378714e-01 -1.68612289e-01 -1.71400263e+02] [-9.94689123e-01 -3.46072736e-02 9.69323739e-02 -2.60284690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-171.33, Z:-260.32 [[ 8.12253082e-02 2.85136156e-01 9.55039173e-01 2.94740486e+02] [-4.72201090e-02 9.58230229e-01 -2.82072845e-01 -1.71332453e+02] [-9.95576572e-01 -2.21856001e-02 9.12967061e-02 -2.60318366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.38, Z:-260.34 [[ 8.43104619e-02 2.01154373e-01 9.75924518e-01 2.94758564e+02] [-4.61867008e-02 9.79147896e-01 -1.97828680e-01 -1.71381902e+02] [-9.95368542e-01 -2.83957063e-02 9.18430682e-02 -2.60344999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.38, Z:-260.37 [[ 8.42912794e-02 2.00215520e-01 9.76119217e-01 2.94760756e+02] [-4.45373744e-02 9.79383485e-01 -1.97039110e-01 -1.71383986e+02] [-9.95445329e-01 -2.68651084e-02 9.14705606e-02 -2.60372235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.42, Z:-260.40 [[ 9.54125620e-02 1.59224071e-01 9.82621055e-01 2.94786880e+02] [-4.78152482e-02 9.86718127e-01 -1.55245097e-01 -1.71415333e+02] [-9.94288763e-01 -3.21719372e-02 1.01758643e-01 -2.60404660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.35, Z:-260.44 [[ 9.09242045e-02 2.84169515e-01 9.54452972e-01 2.94760651e+02] [-4.65678880e-02 9.58587743e-01 -2.80964358e-01 -1.71346071e+02] [-9.94768426e-01 -1.89003984e-02 1.00392002e-01 -2.60439778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-171.32, Z:-260.47 [[ 8.31345299e-02 3.22650030e-01 9.42860333e-01 2.94744134e+02] [-3.81213018e-02 9.46472681e-01 -3.20524930e-01 -1.71317851e+02] [-9.95808926e-01 -9.29637395e-03 9.09844005e-02 -2.60468630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.39, Z:-260.49 [[ 8.63883345e-02 2.03047972e-01 9.75350489e-01 2.94768227e+02] [-3.66890753e-02 9.78994785e-01 -2.00557030e-01 -1.71389152e+02] [-9.95585741e-01 -1.84589197e-02 9.20233713e-02 -2.60493002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-171.42, Z:-260.53 [[ 9.72895171e-02 1.60750321e-01 9.82188416e-01 2.94795582e+02] [-4.07770745e-02 9.86685169e-01 -1.57447159e-01 -1.71421884e+02] [-9.94420424e-01 -2.47328121e-02 1.02549051e-01 -2.60525743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.33, Z:-260.56 [[ 8.47993304e-02 3.16714141e-01 9.44722831e-01 2.94751438e+02] [-3.54067122e-02 9.48496984e-01 -3.14801265e-01 -1.71326503e+02] [-9.95768768e-01 -6.75459297e-03 9.16457155e-02 -2.60560497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.39, Z:-260.59 [[ 8.69864941e-02 2.03725432e-01 9.75156038e-01 2.94775293e+02] [-3.45291098e-02 9.78894851e-01 -2.01426441e-01 -1.71394138e+02] [-9.95610913e-01 -1.61498901e-02 9.21850890e-02 -2.60590829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.40, Z:-260.62 [[ 8.66001985e-02 2.06872174e-01 9.74527737e-01 2.94776539e+02] [-3.39812576e-02 9.78246871e-01 -2.04641967e-01 -1.71395476e+02] [-9.95663437e-01 -1.53936431e-02 9.17461498e-02 -2.60618824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.40, Z:-260.65 [[ 8.63998471e-02 2.05899010e-01 9.74751591e-01 2.94779514e+02] [-3.41589699e-02 9.78447278e-01 -2.03651882e-01 -1.71397866e+02] [-9.95674762e-01 -1.57010188e-02 9.15709933e-02 -2.60651227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-171.42, Z:-260.69 [[ 9.34877223e-02 1.80980116e-01 9.79033321e-01 2.94799695e+02] [-3.97424386e-02 9.83234539e-01 -1.77961738e-01 -1.71421015e+02] [-9.94826912e-01 -2.22719342e-02 9.91129487e-02 -2.60685030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.37, Z:-260.72 [[ 9.05838918e-02 2.77324044e-01 9.56496698e-01 2.94781221e+02] [-4.19424003e-02 9.60655451e-01 -2.74557716e-01 -1.71369317e+02] [-9.95005223e-01 -1.52472610e-02 9.86515455e-02 -2.60720994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.35, Z:-260.75 [[ 8.89250168e-02 3.19680033e-01 9.43343531e-01 2.94774676e+02] [-4.28268419e-02 9.47446904e-01 -3.17033477e-01 -1.71345368e+02] [-9.95117181e-01 -1.22082171e-02 9.79426181e-02 -2.60750587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.33, Z:-260.78 [[ 8.36884413e-02 3.40388399e-01 9.36553246e-01 2.94765107e+02] [-3.93384825e-02 9.40246161e-01 -3.38215377e-01 -1.71327525e+02] [-9.95715185e-01 -8.53786574e-03 9.20780987e-02 -2.60776684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.40, Z:-260.80 [[ 8.64874597e-02 2.17571289e-01 9.72205047e-01 2.94790035e+02] [-4.19227086e-02 9.75792082e-01 -2.14644588e-01 -1.71401898e+02] [-9.95370487e-01 -2.21934037e-02 9.35149560e-02 -2.60801711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-171.42, Z:-260.84 [[ 9.10941275e-02 2.02561269e-01 9.75023483e-01 2.94802483e+02] [-4.64456232e-02 9.78893003e-01 -1.99025858e-01 -1.71415724e+02] [-9.94758596e-01 -2.71554864e-02 9.85794885e-02 -2.60835021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-171.36, Z:-260.87 [[ 8.47962429e-02 2.92265754e-01 9.52570379e-01 2.94779629e+02] [-4.53162473e-02 9.56155611e-01 -2.89331790e-01 -1.71360506e+02] [-9.95367287e-01 -1.86326661e-02 9.43227906e-02 -2.60867126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-171.41, Z:-260.90 [[ 8.88001391e-02 2.12915919e-01 9.73026899e-01 2.94801757e+02] [-4.90402564e-02 9.76635960e-01 -2.09230147e-01 -1.71410657e+02] [-9.94841489e-01 -2.91378224e-02 9.71668604e-02 -2.60899128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.37, Z:-260.93 [[ 8.36558989e-02 2.83487109e-01 9.55320234e-01 2.94785633e+02] [-4.98821713e-02 9.58670138e-01 -2.80113075e-01 -1.71368056e+02] [-9.95245427e-01 -2.42203365e-02 9.43393647e-02 -2.60931670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.376559995 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:294.80, Y:-171.41, Z:-260.96 [[ 8.61248822e-02 2.21717960e-01 9.71299980e-01 2.94802036e+02] [-5.16435989e-02 9.74605292e-01 -2.17893239e-01 -1.71406745e+02] [-9.94944945e-01 -3.13953970e-02 9.53880794e-02 -2.60959910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.37, Z:-260.99 [[ 8.23823316e-02 2.91372587e-01 9.53055700e-01 2.94789098e+02] [-5.14064289e-02 9.56275708e-01 -2.87913440e-01 -1.71365412e+02] [-9.95274098e-01 -2.52742095e-02 9.37586467e-02 -2.60987794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-171.41, Z:-261.01 [[ 8.32487659e-02 2.20421896e-01 9.71845580e-01 2.94806327e+02] [-5.20345305e-02 9.74861908e-01 -2.16648719e-01 -1.71408438e+02] [-9.95169358e-01 -3.25337899e-02 9.26256006e-02 -2.61013954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-171.41, Z:-261.04 [[ 8.29814646e-02 2.19414664e-01 9.72096334e-01 2.94809204e+02] [-5.17707553e-02 9.75092579e-01 -2.15671626e-01 -1.71409865e+02] [-9.95205439e-01 -3.24294140e-02 9.22738732e-02 -2.61041626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-171.41, Z:-261.07 [[ 8.23254407e-02 2.18210873e-01 9.72423024e-01 2.94812120e+02] [-5.15285038e-02 9.75362056e-01 -2.14507980e-01 -1.71411486e+02] [-9.95272493e-01 -3.24480395e-02 9.15411909e-02 -2.61074741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-171.41, Z:-261.10 [[ 8.18041568e-02 2.21322310e-01 9.71763611e-01 2.94813643e+02] [-5.09137389e-02 9.74686424e-01 -2.17702014e-01 -1.71410547e+02] [-9.95347111e-01 -3.16671891e-02 9.10017473e-02 -2.61103585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.41, Z:-261.14 [[ 8.12110639e-02 2.20394060e-01 9.72024290e-01 2.94816332e+02] [-4.93743326e-02 9.74937823e-01 -2.16929521e-01 -1.71412548e+02] [-9.95473223e-01 -3.03759734e-02 9.00575475e-02 -2.61136662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.41, Z:-261.17 [[ 8.12003844e-02 2.23513236e-01 9.71312685e-01 2.94818355e+02] [-4.85255084e-02 9.74261659e-01 -2.20135173e-01 -1.71411831e+02] [-9.95515832e-01 -2.92583811e-02 8.99565147e-02 -2.61168830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.41, Z:-261.20 [[ 8.15315554e-02 2.26402896e-01 9.70615441e-01 2.94820175e+02] [-4.75768776e-02 9.73631543e-01 -2.23109972e-01 -1.71410923e+02] [-9.95534553e-01 -2.79883489e-02 9.01532369e-02 -2.61201799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.41, Z:-261.23 [[ 8.19920049e-02 2.29474570e-01 9.69855006e-01 2.94821912e+02] [-4.65744920e-02 9.72950612e-01 -2.26269582e-01 -1.71409999e+02] [-9.95544137e-01 -2.66182076e-02 9.04618329e-02 -2.61234927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.41, Z:-261.27 [[ 8.33512081e-02 2.32482851e-01 9.69022342e-01 2.94823254e+02] [-4.40868400e-02 9.72314282e-01 -2.29480473e-01 -1.71409355e+02] [-9.95544538e-01 -2.35936583e-02 9.12930043e-02 -2.61266669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.41, Z:-261.30 [[ 8.39163903e-02 2.35366966e-01 9.68277042e-01 2.94825228e+02] [-4.28803021e-02 9.71657282e-01 -2.32472378e-01 -1.71408918e+02] [-9.95549757e-01 -2.20117693e-02 9.16305783e-02 -2.61299316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.41, Z:-261.33 [[ 8.44860979e-02 2.38355269e-01 9.67496183e-01 2.94826791e+02] [-4.09263447e-02 9.70978452e-01 -2.35639300e-01 -1.71408108e+02] [-9.95583816e-01 -1.96878374e-02 9.17891905e-02 -2.61329309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.41, Z:-261.36 [[ 8.75865547e-02 2.32658807e-01 9.68606460e-01 2.94832529e+02] [-3.99734371e-02 9.72380965e-01 -2.29950830e-01 -1.71414454e+02] [-9.95354570e-01 -1.85779285e-02 9.44676707e-02 -2.61363040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.38, Z:-261.39 [[ 8.64249505e-02 2.94783415e-01 9.51647764e-01 2.94819782e+02] [-3.48939703e-02 9.55531437e-01 -2.92817492e-01 -1.71376961e+02] [-9.95647096e-01 -7.90003157e-03 9.28679209e-02 -2.61394830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.41, Z:-261.43 [[ 8.80466567e-02 2.40575482e-01 9.66628793e-01 2.94833159e+02] [-3.25663907e-02 9.70573936e-01 -2.38591000e-01 -1.71409579e+02] [-9.95583857e-01 -1.04724711e-02 9.32904652e-02 -2.61425635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.41, Z:-261.46 [[ 8.88136479e-02 2.43505044e-01 9.65824741e-01 2.94834849e+02] [-3.02339043e-02 9.69868823e-01 -2.41744446e-01 -1.71408306e+02] [-9.95589296e-01 -7.73044663e-03 9.34996963e-02 -2.61458574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-171.41, Z:-261.49 [[ 8.93363082e-02 2.46425090e-01 9.65035595e-01 2.94836513e+02] [-2.77641411e-02 9.69149381e-01 -2.44905347e-01 -1.71407301e+02] [-9.95614472e-01 -4.91444483e-03 9.34220087e-02 -2.61491513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-171.41, Z:-261.52 [[ 9.02410368e-02 2.49280282e-01 9.64217764e-01 2.94838257e+02] [-2.48562945e-02 9.68430088e-01 -2.48043001e-01 -1.71406309e+02] [-9.95609723e-01 -1.58322316e-03 9.35883193e-02 -2.61519652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-171.41, Z:-261.55 [[ 9.10940090e-02 2.47679140e-01 9.64550116e-01 2.94840315e+02] [-1.93950680e-02 9.68834710e-01 -2.46947638e-01 -1.71408143e+02] [-9.95653410e-01 3.78793524e-03 9.30587915e-02 -2.61552090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-171.41, Z:-261.59 [[ 9.13706773e-02 2.50586136e-01 9.63772788e-01 2.94842272e+02] [-1.72798851e-02 9.68074487e-01 -2.50066378e-01 -1.71407466e+02] [-9.95667015e-01 6.19485128e-03 9.27837211e-02 -2.61585025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-171.41, Z:-261.62 [[ 9.13542102e-02 2.53751801e-01 9.62945706e-01 2.94844357e+02] [-1.74263168e-02 9.67248500e-01 -2.53232430e-01 -1.71406424e+02] [-9.95665974e-01 6.35325176e-03 9.27841820e-02 -2.61618463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-171.41, Z:-261.65 [[ 9.19057695e-02 2.56260515e-01 9.62228600e-01 2.94845860e+02] [-1.45715773e-02 9.66560982e-01 -2.56022533e-01 -1.71405108e+02] [-9.95661086e-01 9.50875942e-03 9.25666507e-02 -2.61650881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-171.42, Z:-261.68 [[ 9.25501405e-02 2.38977651e-01 9.66604445e-01 2.94853607e+02] [-1.34859095e-02 9.70982777e-01 -2.38768880e-01 -1.71417635e+02] [-9.95616694e-01 9.06255331e-03 9.30874234e-02 -2.61682444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-171.40, Z:-261.71 [[ 9.13699041e-02 2.69488678e-01 9.58659164e-01 2.94846245e+02] [-1.14492265e-02 9.62906718e-01 -2.69591481e-01 -1.71397043e+02] [-9.95751202e-01 1.36566419e-02 9.10661314e-02 -2.61714475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-171.43, Z:-261.75 [[ 9.13650679e-02 2.13556797e-01 9.72648919e-01 2.94861329e+02] [-1.27017961e-02 9.76904604e-01 -2.13298050e-01 -1.71430477e+02] [-9.95736456e-01 7.13360261e-03 9.19675104e-02 -2.61745961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.44, Z:-261.78 [[ 9.36178522e-02 2.10917047e-01 9.73010636e-01 2.94868137e+02] [-1.70865119e-02 9.77499182e-01 -2.10246046e-01 -1.71435131e+02] [-9.95461576e-01 3.05742544e-03 9.51152106e-02 -2.61778504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-171.40, Z:-261.81 [[ 9.40006159e-02 2.72893058e-01 9.57440997e-01 2.94856729e+02] [-2.23642341e-02 9.62035396e-01 -2.72006870e-01 -1.71397899e+02] [-9.95320916e-01 4.15637868e-03 9.65349640e-02 -2.61812405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-171.40, Z:-261.84 [[ 9.32583660e-02 2.62143459e-01 9.60512199e-01 2.94861692e+02] [-2.54299347e-02 9.65028910e-01 -2.60907111e-01 -1.71404438e+02] [-9.95317133e-01 -9.39916560e-05 9.66633103e-02 -2.61844083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.41, Z:-261.88 [[ 9.33027731e-02 2.50817502e-01 9.63527464e-01 2.94868318e+02] [-2.99267049e-02 9.68018224e-01 -2.49088560e-01 -1.71413112e+02] [-9.95187914e-01 -5.59454864e-03 9.78249260e-02 -2.61875357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.40, Z:-261.91 [[ 9.23425882e-02 2.78968739e-01 9.55850035e-01 2.94865393e+02] [-3.34632531e-02 9.60278828e-01 -2.77028488e-01 -1.71397227e+02] [-9.95164839e-01 -6.40432401e-03 9.80098339e-02 -2.61908606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.40, Z:-261.94 [[ 9.04556084e-02 2.82538125e-01 9.54981670e-01 2.94867732e+02] [-3.85671815e-02 9.59187234e-01 -2.80129298e-01 -1.71395386e+02] [-9.95153433e-01 -1.14916854e-02 9.76605639e-02 -2.61940031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.39, Z:-261.97 [[ 8.97689087e-02 2.85565715e-01 9.54145568e-01 2.94869938e+02] [-4.02614000e-02 9.58270825e-01 -2.83012447e-01 -1.71394058e+02] [-9.95148513e-01 -1.30095179e-02 9.75202017e-02 -2.61966943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-171.40, Z:-262.00 [[ 9.13427981e-02 2.72719617e-01 9.57747620e-01 2.94879133e+02] [-4.26065525e-02 9.61957879e-01 -2.69854998e-01 -1.71404095e+02] [-9.94907621e-01 -1.61570137e-02 9.94875670e-02 -2.61999338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.38, Z:-262.03 [[ 8.57262876e-02 3.09283201e-01 9.47098150e-01 2.94872223e+02] [-4.45583393e-02 9.50836571e-01 -3.06470832e-01 -1.71382600e+02] [-9.95321836e-01 -1.59285140e-02 9.52928352e-02 -2.62031956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-171.39, Z:-262.06 [[ 8.55550659e-02 2.89275747e-01 9.53414848e-01 2.94878291e+02] [-4.41554505e-02 9.57084125e-01 -2.86426736e-01 -1.71394067e+02] [-9.95354523e-01 -1.75932039e-02 9.46564962e-02 -2.62062445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-171.42, Z:-262.09 [[ 8.59638381e-02 2.43656265e-01 9.66044431e-01 2.94890348e+02] [-4.51700438e-02 9.69589859e-01 -2.40531021e-01 -1.71422430e+02] [-9.95273774e-01 -2.29592995e-02 9.43556298e-02 -2.62093649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-171.42, Z:-262.13 [[ 8.57636202e-02 2.47715568e-01 9.65029326e-01 2.94893061e+02] [-4.76043557e-02 9.68510690e-01 -2.44378536e-01 -1.71423585e+02] [-9.95177586e-01 -2.49808114e-02 9.48553230e-02 -2.62126111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-171.39, Z:-262.16 [[ 8.37003787e-02 2.99981973e-01 9.50265785e-01 2.94883216e+02] [-4.71470677e-02 9.53736249e-01 -2.96924775e-01 -1.71392358e+02] [-9.95375005e-01 -1.99495292e-02 9.39713555e-02 -2.62158471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.42, Z:-262.19 [[ 8.51805215e-02 2.49656315e-01 9.64580740e-01 2.94895915e+02] [-4.76730858e-02 9.68011695e-01 -2.46334397e-01 -1.71424134e+02] [-9.95224375e-01 -2.50016480e-02 9.43576280e-02 -2.62188365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.42, Z:-262.22 [[ 8.56220194e-02 2.60188115e-01 9.61754134e-01 2.94897316e+02] [-4.92373806e-02 9.65224554e-01 -2.56743532e-01 -1.71421572e+02] [-9.95110321e-01 -2.53713547e-02 9.54554567e-02 -2.62217751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-171.40, Z:-262.25 [[ 8.46163619e-02 3.03186200e-01 9.49167108e-01 2.94889406e+02] [-4.78859691e-02 9.52720119e-01 -3.00052176e-01 -1.71395084e+02] [-9.95262280e-01 -2.00624633e-02 9.51340754e-02 -2.62250753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.43, Z:-262.28 [[ 8.79947440e-02 2.56886873e-01 9.62427171e-01 2.94902121e+02] [-4.88730831e-02 9.66124808e-01 -2.53405363e-01 -1.71427880e+02] [-9.94921277e-01 -2.47384431e-02 9.75687586e-02 -2.62281866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-171.40, Z:-262.32 [[ 8.74828032e-02 3.06297448e-01 9.47907502e-01 2.94892568e+02] [-4.74609760e-02 9.51756710e-01 -3.03161048e-01 -1.71398947e+02] [-9.95034781e-01 -1.84672369e-02 9.77995207e-02 -2.62315734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.43, Z:-262.35 [[ 9.12382449e-02 2.70554759e-01 9.58371382e-01 2.94902752e+02] [-4.59376686e-02 9.62504374e-01 -2.67348203e-01 -1.71426364e+02] [-9.94768975e-01 -1.96329661e-02 1.00245865e-01 -2.62347064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.41, Z:-262.38 [[ 9.18034453e-02 3.08081312e-01 9.46920289e-01 2.94897186e+02] [-4.44784410e-02 9.51255522e-01 -3.05179621e-01 -1.71406477e+02] [-9.94783291e-01 -1.41009976e-02 1.01031511e-01 -2.62380257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.41, Z:-262.41 [[ 9.31902239e-02 3.10728960e-01 9.45919180e-01 2.94899015e+02] [-4.23866927e-02 9.50430331e-01 -3.08034987e-01 -1.71407826e+02] [-9.94745671e-01 -1.13885362e-02 1.01741588e-01 -2.62413318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.41, Z:-262.44 [[ 9.45440809e-02 3.13439073e-01 9.44890134e-01 2.94900513e+02] [-3.93181747e-02 9.49576748e-01 -3.11059609e-01 -1.71408686e+02] [-9.94743936e-01 -7.74251052e-03 1.02100713e-01 -2.62443410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.41, Z:-262.47 [[ 9.66638979e-02 3.16780669e-01 9.43560331e-01 2.94899599e+02] [-3.03333435e-02 9.48496995e-01 -3.15330524e-01 -1.71408454e+02] [-9.94854753e-01 1.85973789e-03 1.01294434e-01 -2.62474997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.45, Z:-262.51 [[ 9.83101353e-02 2.58340862e-01 9.61038561e-01 2.94916539e+02] [-2.70422859e-02 9.66053552e-01 -2.56922653e-01 -1.71449501e+02] [-9.94788335e-01 -7.30578797e-04 1.01958983e-01 -2.62505520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.41, Z:-262.54 [[ 9.83215027e-02 3.20593090e-01 9.42100288e-01 2.94903465e+02] [-2.26012333e-02 9.47162459e-01 -3.19956968e-01 -1.71412409e+02] [-9.94898018e-01 1.01660215e-02 1.00372235e-01 -2.62538934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.45, Z:-262.57 [[ 1.00547305e-01 2.70222223e-01 9.57533388e-01 2.94921101e+02] [-2.07567733e-02 9.62770876e-01 -2.69520679e-01 -1.71448513e+02] [-9.94715736e-01 7.22427438e-03 1.02412958e-01 -2.62570214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-171.40, Z:-262.60 [[ 9.87007259e-02 3.41968268e-01 9.34513708e-01 2.94906976e+02] [-1.85636065e-02 9.39568493e-01 -3.41857338e-01 -1.71404502e+02] [-9.94943998e-01 1.63936227e-02 9.90842567e-02 -2.62603555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-171.42, Z:-262.63 [[ 9.83387669e-02 3.24486300e-01 9.40764651e-01 2.94913606e+02] [-1.59208890e-02 9.45738751e-01 -3.24537734e-01 -1.71415938e+02] [-9.95025634e-01 1.69368309e-02 9.81688930e-02 -2.62631061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.42, Z:-262.66 [[ 9.86696081e-02 3.23364966e-01 9.41116043e-01 2.94916590e+02] [-1.58893469e-02 9.46122364e-01 -3.23419235e-01 -1.71417819e+02] [-9.94993386e-01 1.69579298e-02 9.84915809e-02 -2.62658928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.42, Z:-262.69 [[ 9.89758359e-02 3.22263657e-01 9.41461587e-01 2.94919378e+02] [-1.60845521e-02 9.46501637e-01 -3.22297905e-01 -1.71419311e+02] [-9.94959834e-01 1.67567165e-02 9.88642572e-02 -2.62686120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.42, Z:-262.71 [[ 9.94130312e-02 3.21172392e-01 9.41788375e-01 2.94922383e+02] [-1.84213229e-02 9.46908813e-01 -3.20974072e-01 -1.71419601e+02] [-9.94875723e-01 1.45600177e-02 1.00051496e-01 -2.62714620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-171.42, Z:-262.75 [[ 1.00341600e-01 3.16345163e-01 9.43322480e-01 2.94927072e+02] [-2.03945986e-02 9.48562293e-01 -3.15932964e-01 -1.71423486e+02] [-9.94743999e-01 1.24625355e-02 1.01631990e-01 -2.62746695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.43, Z:-262.78 [[ 1.04173229e-01 3.14221666e-01 9.43616809e-01 2.94935906e+02] [-2.47429982e-02 9.49304106e-01 -3.13383947e-01 -1.71428589e+02] [-9.94251338e-01 9.29830866e-03 1.06666860e-01 -2.62779867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.38, Z:-262.81 [[ 1.01476238e-01 3.88441102e-01 9.15869032e-01 2.94921068e+02] [-2.53988486e-02 9.21332804e-01 -3.87944278e-01 -1.71378789e+02] [-9.94513686e-01 1.61051068e-02 1.03359343e-01 -2.62813117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-171.39, Z:-262.84 [[ 9.84137424e-02 3.65594263e-01 9.25556897e-01 2.94925617e+02] [-2.54064216e-02 9.30691743e-01 -3.64921078e-01 -1.71389594e+02] [-9.94821215e-01 1.23981603e-02 1.00881299e-01 -2.62843283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.42, Z:-262.87 [[ 1.00059701e-01 3.15201015e-01 9.43735332e-01 2.94941681e+02] [-2.69080015e-02 9.49005739e-01 -3.14108369e-01 -1.71423588e+02] [-9.94617522e-01 6.03555776e-03 1.03438660e-01 -2.62874488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-171.39, Z:-262.91 [[ 9.69134718e-02 3.71023928e-01 9.23552394e-01 2.94931397e+02] [-2.66745369e-02 9.28555214e-01 -3.70234633e-01 -1.71387230e+02] [-9.94935299e-01 1.12453912e-02 9.98864011e-02 -2.62907134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.41, Z:-262.94 [[ 9.63263879e-02 3.32007067e-01 9.38345637e-01 2.94941105e+02] [-2.60071256e-02 9.43247183e-01 -3.31071565e-01 -1.71412002e+02] [-9.95009978e-01 7.48725517e-03 9.94941435e-02 -2.62938336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.41, Z:-262.97 [[ 9.54168622e-02 3.35323549e-01 9.37258630e-01 2.94944838e+02] [-2.63800635e-02 9.42075678e-01 -3.34361346e-01 -1.71410635e+02] [-9.95087793e-01 7.17876826e-03 9.87357616e-02 -2.62970232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.41, Z:-263.00 [[ 9.50281468e-02 3.37310701e-01 9.36584829e-01 2.94947506e+02] [-2.61318386e-02 9.41363573e-01 -3.36380365e-01 -1.71410009e+02] [-9.95131538e-01 7.49091907e-03 9.82705846e-02 -2.62998427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.41, Z:-263.03 [[ 9.31237566e-02 3.43175649e-01 9.34643483e-01 2.94946830e+02] [-2.49893810e-02 9.39232543e-01 -3.42370795e-01 -1.71405126e+02] [-9.95340895e-01 8.52669254e-03 9.60406097e-02 -2.63030565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.42, Z:-263.06 [[ 9.09673381e-02 3.23183378e-01 9.41954058e-01 2.94952898e+02] [-2.62667006e-02 9.46325359e-01 -3.22146512e-01 -1.71417122e+02] [-9.95507410e-01 4.56278549e-03 9.45736599e-02 -2.63062346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.40, Z:-263.09 [[ 9.24405028e-02 3.52466483e-01 9.31247621e-01 2.94953564e+02] [-2.79235712e-02 9.35801992e-01 -3.51418420e-01 -1.71399556e+02] [-9.95326594e-01 6.48153622e-03 9.63481296e-02 -2.63089538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-171.41, Z:-263.12 [[ 9.13026690e-02 3.38396558e-01 9.36563715e-01 2.94958980e+02] [-2.91328273e-02 9.40997093e-01 -3.37158346e-01 -1.71408157e+02] [-9.95396957e-01 3.49870788e-03 9.57739946e-02 -2.63121045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-171.41, Z:-263.15 [[ 8.99191149e-02 3.43945304e-01 9.34674372e-01 2.94959367e+02] [-3.15020988e-02 9.38988710e-01 -3.42502294e-01 -1.71405751e+02] [-9.95450737e-01 1.35329869e-03 9.52680326e-02 -2.63150860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.37, Z:-263.18 [[ 8.88306424e-02 4.03948893e-01 9.10458351e-01 2.94954355e+02] [-3.50847192e-02 9.14773637e-01 -4.02440375e-01 -1.71365323e+02] [-9.95428641e-01 3.80586146e-03 9.54323633e-02 -2.63177928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.41, Z:-263.20 [[ 8.87656117e-02 3.37769634e-01 9.37033799e-01 2.94967572e+02] [-3.67045610e-02 9.41217639e-01 -3.35800731e-01 -1.71406953e+02] [-9.95376030e-01 -4.58585695e-03 9.59454456e-02 -2.63204197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.41, Z:-263.24 [[ 8.83793569e-02 3.36856816e-01 9.37398834e-01 2.94970888e+02] [-3.91130764e-02 9.41529205e-01 -3.34653437e-01 -1.71407841e+02] [-9.95318671e-01 -7.08809671e-03 9.63872521e-02 -2.63236622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.41, Z:-263.27 [[ 8.84006854e-02 3.40132797e-01 9.36213116e-01 2.94973395e+02] [-4.16408778e-02 9.40333072e-01 -3.37697721e-01 -1.71406018e+02] [-9.95214226e-01 -9.13202600e-03 9.72895163e-02 -2.63268305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.40, Z:-263.30 [[ 8.79799840e-02 3.43312581e-01 9.35091436e-01 2.94975503e+02] [-4.53655418e-02 9.39138538e-01 -3.40530138e-01 -1.71402657e+02] [-9.95088685e-01 -1.24610935e-02 9.81999548e-02 -2.63296535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.40, Z:-263.32 [[ 8.82735554e-02 3.42322626e-01 9.35426640e-01 2.94978095e+02] [-4.69485053e-02 9.39478773e-01 -3.39375121e-01 -1.71403406e+02] [-9.94989255e-01 -1.39590341e-02 9.90026671e-02 -2.63322979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.40, Z:-263.36 [[ 8.78289180e-02 3.42360901e-01 9.35454486e-01 2.94979981e+02] [-4.80637934e-02 9.39446208e-01 -3.39309143e-01 -1.71403452e+02] [-9.94975353e-01 -1.51603362e-02 9.89657076e-02 -2.63355717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.40, Z:-263.39 [[ 8.73170838e-02 3.52497445e-01 9.31730260e-01 2.94981169e+02] [-4.92268693e-02 9.35686724e-01 -3.49380981e-01 -1.71397049e+02] [-9.94963538e-01 -1.53592353e-02 9.90537817e-02 -2.63387475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.40, Z:-263.42 [[ 8.76611317e-02 3.45344029e-01 9.34373067e-01 2.94986407e+02] [-5.17250536e-02 9.38296636e-01 -3.41941431e-01 -1.71402199e+02] [-9.94806536e-01 -1.83555241e-02 1.00115083e-01 -2.63418763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.40, Z:-263.45 [[ 8.80567577e-02 3.47999400e-01 9.33350109e-01 2.94988467e+02] [-5.18113096e-02 9.37321662e-01 -3.44592064e-01 -1.71401395e+02] [-9.94767106e-01 -1.80144316e-02 1.00567811e-01 -2.63447293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.40, Z:-263.48 [[ 8.85132771e-02 3.47192258e-01 9.33607485e-01 2.94991148e+02] [-5.12895860e-02 9.37631587e-01 -3.43826098e-01 -1.71402825e+02] [-9.94753627e-01 -1.74511667e-02 1.00800192e-01 -2.63477273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.41, Z:-263.51 [[ 8.99747697e-02 3.46519117e-01 9.33717860e-01 2.94993999e+02] [-4.82952850e-02 9.37935515e-01 -3.43430540e-01 -1.71405180e+02] [-9.94772389e-01 -1.41940864e-02 1.01125771e-01 -2.63510411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.41, Z:-263.54 [[ 9.07165478e-02 3.49358286e-01 9.32587420e-01 2.94996081e+02] [-4.60737871e-02 9.36918214e-01 -3.46498869e-01 -1.71405730e+02] [-9.94810391e-01 -1.15346530e-02 1.01090245e-01 -2.63541092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.40, Z:-263.57 [[ 9.07048690e-02 3.51808567e-01 9.31666978e-01 2.94998008e+02] [-4.60203677e-02 9.36004691e-01 -3.48966107e-01 -1.71404994e+02] [-9.94813929e-01 -1.12227319e-02 1.01090543e-01 -2.63569590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.41, Z:-263.60 [[ 9.16607951e-02 3.50553021e-01 9.32046607e-01 2.95000459e+02] [-4.26160080e-02 9.36510252e-01 -3.48040837e-01 -1.71407677e+02] [-9.94877970e-01 -7.81840584e-03 1.00780445e-01 -2.63596423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.41, Z:-263.62 [[ 9.28012188e-02 3.48883349e-01 9.32560101e-01 2.95003039e+02] [-3.87379814e-02 9.37157848e-01 -3.46748522e-01 -1.71410504e+02] [-9.94930803e-01 -3.94681040e-03 1.00484427e-01 -2.63624224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.41, Z:-263.65 [[ 9.53508206e-02 3.46863930e-01 9.33056073e-01 2.95005602e+02] [-2.94761125e-02 9.37899597e-01 -3.45652290e-01 -1.71413615e+02] [-9.95007226e-01 5.45536372e-03 9.96536964e-02 -2.63652996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.42, Z:-263.68 [[ 9.68693033e-02 3.45596054e-01 9.33370080e-01 2.95007719e+02] [-2.42510651e-02 9.38321502e-01 -3.44912518e-01 -1.71415477e+02] [-9.95001620e-01 1.07762167e-02 9.92756225e-02 -2.63680194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.42, Z:-263.71 [[ 9.85190601e-02 3.43774372e-01 9.33870000e-01 2.95010690e+02] [-1.91994296e-02 9.38917286e-01 -3.43606916e-01 -1.71418413e+02] [-9.94949937e-01 1.59220591e-02 9.91015203e-02 -2.63713064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.42, Z:-263.75 [[ 9.99419983e-02 3.46282129e-01 9.32791662e-01 2.95012875e+02] [-1.39979717e-02 9.37881956e-01 -3.46672026e-01 -1.71418619e+02] [-9.94894795e-01 2.15899038e-02 9.85810443e-02 -2.63745784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.42, Z:-263.78 [[ 1.03851231e-01 3.48239624e-01 9.31635168e-01 2.95015079e+02] [-4.20371246e-03 9.36845372e-01 -3.49718571e-01 -1.71419973e+02] [-9.94583959e-01 3.24023775e-02 9.87564439e-02 -2.63778831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.42, Z:-263.81 [[ 1.05601348e-01 3.50754822e-01 9.30494175e-01 2.95016735e+02] [ 1.80781873e-04 9.35719459e-01 -3.52745038e-01 -1.71419921e+02] [-9.94408529e-01 3.74185680e-02 9.87498262e-02 -2.63811215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.42, Z:-263.84 [[ 1.07873352e-01 3.53025520e-01 9.29374156e-01 2.95018724e+02] [ 4.33012312e-03 9.34653509e-01 -3.55533499e-01 -1.71419758e+02] [-9.94155214e-01 4.23768947e-02 9.92955626e-02 -2.63841474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.42, Z:-263.87 [[ 1.11781541e-01 3.52118376e-01 9.29256443e-01 2.95020482e+02] [ 1.11517909e-02 9.34613627e-01 -3.55489811e-01 -1.71420378e+02] [-9.93670229e-01 5.01000725e-02 1.00545801e-01 -2.63868784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.42, Z:-263.90 [[ 1.13239708e-01 3.50839736e-01 9.29563472e-01 2.95022696e+02] [ 1.38445896e-02 9.34933407e-01 -3.54553032e-01 -1.71421052e+02] [-9.93471236e-01 5.30189067e-02 1.01014354e-01 -2.63896236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.42, Z:-263.92 [[ 1.14442250e-01 3.49474261e-01 9.29930488e-01 2.95025363e+02] [ 1.57804602e-02 9.35323013e-01 -3.53442837e-01 -1.71422089e+02] [-9.93304560e-01 5.51235245e-02 1.01525605e-01 -2.63924250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.42, Z:-263.95 [[ 1.15519210e-01 3.48066730e-01 9.30325139e-01 2.95028641e+02] [ 1.82145918e-02 9.35695647e-01 -3.52337743e-01 -1.71422594e+02] [-9.93138229e-01 5.76472703e-02 1.01750928e-01 -2.63952197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.42, Z:-263.98 [[ 1.15648009e-01 3.46971339e-01 9.30718232e-01 2.95032228e+02] [ 1.81184353e-02 9.36112513e-01 -3.51233662e-01 -1.71423953e+02] [-9.93124997e-01 5.74826318e-02 1.01972970e-01 -2.63984672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.42, Z:-264.02 [[ 1.15314640e-01 3.51469690e-01 9.29070283e-01 2.95033838e+02] [ 1.67542963e-02 9.34488471e-01 -3.55598919e-01 -1.71422045e+02] [-9.93187710e-01 5.65716801e-02 1.01871574e-01 -2.64017450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.41, Z:-264.05 [[ 1.15755047e-01 3.73434975e-01 9.20405937e-01 2.95034248e+02] [ 1.52135866e-02 9.25859703e-01 -3.77561064e-01 -1.71407786e+02] [-9.93161274e-01 5.77072741e-02 1.01491648e-01 -2.64048752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-171.42, Z:-264.08 [[ 1.12590237e-01 3.54484854e-01 9.28258545e-01 2.95041041e+02] [ 1.20679040e-02 9.33641909e-01 -3.58004400e-01 -1.71417743e+02] [-9.93568218e-01 5.15099353e-02 1.00841075e-01 -2.64076875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-171.42, Z:-264.11 [[ 1.10617632e-01 3.54183240e-01 9.28610776e-01 2.95044296e+02] [ 8.99044617e-03 9.33949985e-01 -3.57290634e-01 -1.71417324e+02] [-9.93822374e-01 4.78712691e-02 1.00127070e-01 -2.64109247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.41, Z:-264.14 [[ 1.08851721e-01 3.57605547e-01 9.27507184e-01 2.95047011e+02] [ 5.50254273e-03 9.32820322e-01 -3.60299832e-01 -1.71414308e+02] [-9.94042768e-01 4.43229046e-02 9.95713572e-02 -2.64140198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.41, Z:-264.17 [[ 1.06432930e-01 3.58484643e-01 9.27448539e-01 2.95050435e+02] [ 1.67721120e-03 9.32680595e-01 -3.60699452e-01 -1.71412778e+02] [-9.94318469e-01 3.99458267e-02 9.86666742e-02 -2.64173036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.41, Z:-264.20 [[ 1.01520717e-01 3.62514460e-01 9.26432302e-01 2.95054407e+02] [-6.84969294e-03 9.31476281e-01 -3.63737571e-01 -1.71407706e+02] [-9.94809844e-01 3.05811221e-02 9.70472524e-02 -2.64203456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-171.41, Z:-264.24 [[ 9.94295479e-02 3.63049826e-01 9.26449453e-01 2.95057946e+02] [-1.17316760e-02 9.31426243e-01 -3.63741010e-01 -1.71406436e+02] [-9.94975443e-01 2.52977993e-02 9.68704731e-02 -2.64236711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-171.40, Z:-264.27 [[ 9.77256696e-02 3.66552470e-01 9.25250766e-01 2.95060438e+02] [-1.68453249e-02 9.30176936e-01 -3.66724833e-01 -1.71403141e+02] [-9.95070816e-01 2.02522800e-02 9.70768593e-02 -2.64265463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-171.40, Z:-264.30 [[ 9.43942976e-02 3.66845147e-01 9.25480607e-01 2.95064344e+02] [-2.72063575e-02 9.30234881e-01 -3.65954753e-01 -1.71399670e+02] [-9.95163067e-01 9.36508560e-03 9.77893883e-02 -2.64298482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.40, Z:-264.33 [[ 9.26954144e-02 3.70305722e-01 9.24273354e-01 2.95066567e+02] [-3.20030331e-02 9.28898447e-01 -3.68949158e-01 -1.71395935e+02] [-9.95180067e-01 4.62034431e-03 9.79555328e-02 -2.64326760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.39, Z:-264.36 [[ 9.09292364e-02 3.69821628e-01 9.24642546e-01 2.95069761e+02] [-3.65159274e-02 9.29102725e-01 -3.68014557e-01 -1.71394888e+02] [-9.95187651e-01 -3.00897474e-04 9.79869810e-02 -2.64359535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.39, Z:-264.39 [[ 8.89636974e-02 3.74363973e-01 9.23004375e-01 2.95072201e+02] [-4.10571015e-02 9.27269475e-01 -3.72136581e-01 -1.71391559e+02] [-9.95188311e-01 -4.78923806e-03 9.78636206e-02 -2.64392551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.39, Z:-264.42 [[ 8.74383034e-02 3.84076837e-01 9.19151525e-01 2.95076309e+02] [-4.83191096e-02 9.23234622e-01 -3.81186434e-01 -1.71385029e+02] [-9.94997390e-01 -1.10822883e-02 9.92843197e-02 -2.64421202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.36, Z:-264.45 [[ 8.51097055e-02 4.20533207e-01 9.03276348e-01 2.95074045e+02] [-4.88942422e-02 9.07236304e-01 -4.17769843e-01 -1.71359988e+02] [-9.95171187e-01 -8.60874418e-03 9.77762671e-02 -2.64448592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.39, Z:-264.48 [[ 8.51200516e-02 3.71116341e-01 9.24676829e-01 2.95081716e+02] [-5.01647409e-02 9.28464240e-01 -3.68018550e-01 -1.71390556e+02] [-9.95107067e-01 -1.50604156e-02 9.76478792e-02 -2.64477258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.39, Z:-264.51 [[ 8.42829349e-02 3.71198739e-01 9.24720435e-01 2.95084693e+02] [-5.10024385e-02 9.28413088e-01 -3.68032456e-01 -1.71390881e+02] [-9.95135739e-01 -1.61441416e-02 9.71814207e-02 -2.64510283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.39, Z:-264.54 [[ 8.34423272e-02 3.74228895e-01 9.23574638e-01 2.95086523e+02] [-5.09320867e-02 9.27197036e-01 -3.71095109e-01 -1.71388788e+02] [-9.95210179e-01 -1.60745441e-02 9.64277370e-02 -2.64537905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.39, Z:-264.56 [[ 8.37362267e-02 3.73248429e-01 9.23944725e-01 2.95088925e+02] [-5.04386988e-02 9.27600142e-01 -3.70153907e-01 -1.71390126e+02] [-9.95210622e-01 -1.56072783e-02 9.64999009e-02 -2.64564590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.39, Z:-264.60 [[ 8.39624331e-02 3.71892389e-01 9.24470855e-01 2.95091654e+02] [-4.97918929e-02 9.28153653e-01 -3.68851683e-01 -1.71391850e+02] [-9.95224134e-01 -1.50614690e-02 9.64472649e-02 -2.64597657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.39, Z:-264.63 [[ 8.41813133e-02 3.74860107e-01 9.23251540e-01 2.95093345e+02] [-4.91465569e-02 9.26974639e-01 -3.71890623e-01 -1.71391128e+02] [-9.95237722e-01 -1.40683934e-02 9.64570260e-02 -2.64627632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.39, Z:-264.66 [[ 8.53499593e-02 3.75584208e-01 9.22849873e-01 2.95094880e+02] [-4.76348654e-02 9.26708684e-01 -3.72749158e-01 -1.71392071e+02] [-9.95211688e-01 -1.21457040e-02 9.69854517e-02 -2.64656621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.39, Z:-264.68 [[ 8.55410041e-02 3.74779252e-01 9.23159384e-01 2.95096982e+02] [-4.69349340e-02 9.27042669e-01 -3.72006723e-01 -1.71393879e+02] [-9.95228541e-01 -1.15065961e-02 9.68904003e-02 -2.64683962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.40, Z:-264.72 [[ 8.60212396e-02 3.73449829e-01 9.23653383e-01 2.95099593e+02] [-4.66483370e-02 9.27582773e-01 -3.70694122e-01 -1.71396158e+02] [-9.95200623e-01 -1.11993264e-02 9.72126334e-02 -2.64717207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.40, Z:-264.75 [[ 8.63032999e-02 3.76458939e-01 9.22404688e-01 2.95101230e+02] [-4.63554874e-02 9.26373762e-01 -3.73741652e-01 -1.71396328e+02] [-9.95189886e-01 -1.05033810e-02 9.74000502e-02 -2.64749207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.40, Z:-264.78 [[ 8.67790708e-02 3.78308597e-01 9.21602950e-01 2.95102922e+02] [-4.60497151e-02 9.25627202e-01 -3.75624423e-01 -1.71396429e+02] [-9.95162709e-01 -9.84321493e-03 9.77460716e-02 -2.64776557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-171.41, Z:-264.81 [[ 8.86801481e-02 3.68570052e-01 9.25360442e-01 2.95108436e+02] [-4.81301172e-02 9.29521030e-01 -3.65614752e-01 -1.71408269e+02] [-9.94896640e-01 -1.21149362e-02 1.00169382e-01 -2.64807628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.34, Z:-264.84 [[ 8.64773535e-02 4.73398839e-01 8.76592954e-01 2.95098929e+02] [-4.56178999e-02 8.80847866e-01 -4.71196398e-01 -1.71339700e+02] [-9.95208860e-01 7.59487794e-04 9.77688531e-02 -2.64835649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-171.41, Z:-264.86 [[ 8.90522317e-02 3.74570695e-01 9.22911965e-01 2.95108647e+02] [-4.27138370e-02 9.27177106e-01 -3.72180255e-01 -1.71405312e+02] [-9.95110661e-01 -6.27762893e-03 9.85665421e-02 -2.64860254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-171.40, Z:-264.89 [[ 9.07474411e-02 3.79682187e-01 9.20655385e-01 2.95109767e+02] [-4.19462421e-02 9.25106657e-01 -3.77383341e-01 -1.71404223e+02] [-9.94990158e-01 -4.37146123e-03 9.98773028e-02 -2.64888343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.43, Z:-264.91 [[ 8.99354033e-02 3.45420992e-01 9.34128450e-01 2.95116513e+02] [-3.88615931e-02 9.38432128e-01 -3.43270911e-01 -1.71427144e+02] [-9.95189128e-01 -5.42951200e-03 9.78218820e-02 -2.64914944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.42, Z:-264.94 [[ 8.95156732e-02 3.68801797e-01 9.25187645e-01 2.95115341e+02] [-3.72433511e-02 9.29506663e-01 -3.66920014e-01 -1.71415287e+02] [-9.95288841e-01 -1.61199631e-03 9.69408294e-02 -2.64942995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.42, Z:-264.97 [[ 8.99951607e-02 3.67189195e-01 9.25782354e-01 2.95117549e+02] [-3.36124002e-02 9.30144556e-01 -3.65651901e-01 -1.71419865e+02] [-9.95374843e-01 1.78913458e-03 9.60506189e-02 -2.64973678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.42, Z:-265.00 [[ 9.06930018e-02 3.67028752e-01 9.25777875e-01 2.95119654e+02] [-3.19702748e-02 9.30202767e-01 -3.65651081e-01 -1.71422141e+02] [-9.95365602e-01 3.56462104e-03 9.60968913e-02 -2.65001761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.42, Z:-265.03 [[ 9.07689126e-02 3.65933843e-01 9.26203772e-01 2.95121527e+02] [-2.99681409e-02 9.30625484e-01 -3.64743909e-01 -1.71424834e+02] [-9.95420974e-01 5.35080280e-03 9.54382202e-02 -2.65029588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.43, Z:-265.06 [[ 9.16228307e-02 3.64518089e-01 9.26677840e-01 2.95123615e+02] [-2.65732702e-02 9.31155721e-01 -3.63652147e-01 -1.71429157e+02] [-9.95439159e-01 8.69397844e-03 9.50015606e-02 -2.65057568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.43, Z:-265.09 [[ 9.21270377e-02 3.63276898e-01 9.27115152e-01 2.95125499e+02] [-2.52569426e-02 9.31627732e-01 -3.62535317e-01 -1.71431729e+02] [-9.95426891e-01 9.98321070e-03 9.50033669e-02 -2.65085781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.43, Z:-265.11 [[ 9.30169384e-02 3.62041777e-01 9.27509354e-01 2.95127664e+02] [-2.41485018e-02 9.32094352e-01 -3.61409698e-01 -1.71433974e+02] [-9.95371639e-01 1.12192623e-02 9.54433294e-02 -2.65112984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.44, Z:-265.14 [[ 9.47384566e-02 3.60392716e-01 9.27977217e-01 2.95129452e+02] [-2.06623687e-02 9.32680988e-01 -3.60110041e-01 -1.71437247e+02] [-9.95287743e-01 1.49420621e-02 9.58073244e-02 -2.65141588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.44, Z:-265.17 [[ 9.58923477e-02 3.59412414e-01 9.28238857e-01 2.95131743e+02] [-1.84951731e-02 9.33018612e-01 -3.59352470e-01 -1.71439899e+02] [-9.95219868e-01 1.72912137e-02 9.61167400e-02 -2.65170151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.44, Z:-265.20 [[ 9.70026459e-02 3.58416973e-01 9.28508352e-01 2.95133984e+02] [-1.61441641e-02 9.33351716e-01 -3.58599973e-01 -1.71442803e+02] [-9.95153181e-01 1.97951551e-02 9.63239284e-02 -2.65199253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.45, Z:-265.23 [[ 9.92168621e-02 3.57107267e-01 9.28778991e-01 2.95136094e+02] [-1.08326826e-02 9.33716783e-01 -3.57848602e-01 -1.71446924e+02] [-9.95006868e-01 2.54434474e-02 9.65088789e-02 -2.65228763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.45, Z:-265.26 [[ 1.00070291e-01 3.56442200e-01 9.28942891e-01 2.95138449e+02] [-7.94512696e-03 9.33885862e-01 -3.57482966e-01 -1.71449179e+02] [-9.94948648e-01 2.83928553e-02 9.62862086e-02 -2.65259618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.45, Z:-265.29 [[ 1.00952226e-01 3.56535434e-01 9.28811677e-01 2.95140472e+02] [-5.27398759e-03 9.33759751e-01 -3.57861583e-01 -1.71450753e+02] [-9.94877296e-01 3.12283823e-02 9.61454893e-02 -2.65288739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.45, Z:-265.32 [[ 1.01488211e-01 3.55526112e-01 9.29140101e-01 2.95142504e+02] [-2.42454003e-03 9.34048008e-01 -3.57139246e-01 -1.71452563e+02] [-9.94833788e-01 3.39926857e-02 9.56568484e-02 -2.65315949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.47, Z:-265.35 [[ 1.05520278e-01 3.39670148e-01 9.34606688e-01 2.95152646e+02] [-7.21719747e-04 9.39879661e-01 -3.41505054e-01 -1.71467831e+02] [-9.94416890e-01 3.53611841e-02 9.94215098e-02 -2.65348971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.44, Z:-265.38 [[ 1.07188044e-01 3.90396499e-01 9.14385748e-01 2.95147564e+02] [-1.11405324e-03 9.19730848e-01 -3.92547993e-01 -1.71438268e+02] [-9.94238142e-01 4.10577772e-02 9.90190732e-02 -2.65383349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.43, Z:-265.42 [[ 1.06687999e-01 4.10447803e-01 9.05621484e-01 2.95145951e+02] [ 4.35430187e-05 9.10818015e-01 -4.12808117e-01 -1.71425939e+02] [-9.94292547e-01 4.40811054e-02 9.71554794e-02 -2.65415525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.42, Z:-265.44 [[ 1.03710553e-01 4.14903983e-01 9.03935178e-01 2.95144521e+02] [ 2.69454063e-03 9.08715515e-01 -4.17407297e-01 -1.71419559e+02] [-9.94603871e-01 4.57252315e-02 9.31254127e-02 -2.65443256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.45, Z:-265.47 [[ 1.01683004e-01 3.60153153e-01 9.27335038e-01 2.95154301e+02] [ 4.13854395e-03 9.32005387e-01 -3.62420792e-01 -1.71454649e+02] [-9.94808242e-01 4.06898516e-02 9.32785978e-02 -2.65470002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-171.45, Z:-265.50 [[ 1.01484559e-01 3.59311176e-01 9.27683331e-01 2.95156875e+02] [ 3.37593715e-03 9.32367958e-01 -3.61494943e-01 -1.71454897e+02] [-9.94831386e-01 3.98179556e-02 9.34079393e-02 -2.65497861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-171.46, Z:-265.53 [[ 1.02544784e-01 3.50501431e-01 9.30931423e-01 2.95163718e+02] [-3.63170593e-04 9.35878069e-01 -3.52323869e-01 -1.71463454e+02] [-9.94728323e-01 3.57908880e-02 9.60967058e-02 -2.65531795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.42, Z:-265.56 [[ 1.02633874e-01 4.21192983e-01 9.01145249e-01 2.95154195e+02] [-2.59298386e-03 9.06039486e-01 -4.23185215e-01 -1.71415833e+02] [-9.94715821e-01 4.10964831e-02 9.40824894e-02 -2.65564323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.45, Z:-265.60 [[ 1.00410190e-01 3.64896439e-01 9.25617838e-01 2.95165087e+02] [-8.25083888e-03 9.30592951e-01 -3.65962681e-01 -1.71450204e+02] [-9.94911914e-01 2.91092588e-02 9.64517169e-02 -2.65595464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.45, Z:-265.63 [[ 9.94041678e-02 3.68298568e-01 9.24378157e-01 2.95167378e+02] [-1.22331227e-02 9.29361383e-01 -3.68968523e-01 -1.71447954e+02] [-9.94971940e-01 2.53689775e-02 9.68878364e-02 -2.65626935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.45, Z:-265.65 [[ 9.88715698e-02 3.71463767e-01 9.23167960e-01 2.95169782e+02] [-1.61834331e-02 9.28191116e-01 -3.71751730e-01 -1.71445331e+02] [-9.94968597e-01 2.18156502e-02 9.77832717e-02 -2.65654195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.44, Z:-265.69 [[ 9.57015819e-02 3.70954925e-01 9.23706474e-01 2.95173627e+02] [-2.34618952e-02 9.28548591e-01 -3.70468695e-01 -1.71443485e+02] [-9.95133532e-01 1.37825357e-02 9.75668746e-02 -2.65687139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.43, Z:-265.72 [[ 9.08659769e-02 3.88617965e-01 9.16907548e-01 2.95170001e+02] [-2.43492164e-02 9.21308161e-01 -3.88070082e-01 -1.71428744e+02] [-9.95565412e-01 1.29363868e-02 9.31781090e-02 -2.65718942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.47, Z:-265.75 [[ 9.13750410e-02 3.21973351e-01 9.42328904e-01 2.95186343e+02] [-2.99709027e-02 9.46748149e-01 -3.20577116e-01 -1.71473519e+02] [-9.95365434e-01 1.05029918e-03 9.61589829e-02 -2.65750713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-171.40, Z:-265.78 [[ 9.02395085e-02 4.33550373e-01 8.96599635e-01 2.95176058e+02] [-3.30389657e-02 9.01080345e-01 -4.32391766e-01 -1.71403196e+02] [-9.95371919e-01 9.39609586e-03 9.56371034e-02 -2.65783967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.44, Z:-265.82 [[ 8.70318826e-02 3.81502172e-01 9.20261672e-01 2.95185458e+02] [-3.61897789e-02 9.24367908e-01 -3.79781871e-01 -1.71435036e+02] [-9.95547965e-01 -2.50935235e-04 9.42559585e-02 -2.65815597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.43, Z:-265.85 [[ 8.60263366e-02 3.84682687e-01 9.19031392e-01 2.95188005e+02] [-3.81450371e-02 9.23046429e-01 -3.82792694e-01 -1.71433159e+02] [-9.95562367e-01 -2.12623347e-03 9.40800382e-02 -2.65848556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.43, Z:-265.88 [[ 8.59457681e-02 3.87798717e-01 9.17728435e-01 2.95190088e+02] [-3.97278760e-02 9.21738162e-01 -3.85772545e-01 -1.71430941e+02] [-9.95507419e-01 -3.30388385e-03 9.46259136e-02 -2.65876238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.43, Z:-265.90 [[ 8.57001505e-02 3.87108589e-01 9.18042714e-01 2.95192679e+02] [-4.25204654e-02 9.22014237e-01 -3.84813925e-01 -1.71430038e+02] [-9.95413228e-01 -6.05699216e-03 9.54767962e-02 -2.65903321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-171.43, Z:-265.94 [[ 8.57917188e-02 3.85996907e-01 9.18502133e-01 2.95195794e+02] [-4.43464008e-02 9.22466850e-01 -3.83520935e-01 -1.71431243e+02] [-9.95325664e-01 -7.82934347e-03 9.62575902e-02 -2.65936142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-171.43, Z:-265.97 [[ 8.49526007e-02 3.89114546e-01 9.17263826e-01 2.95198006e+02] [-4.56966741e-02 9.21144634e-01 -3.86528624e-01 -1.71429773e+02] [-9.95336561e-01 -9.07929420e-03 9.60348728e-02 -2.65969238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-171.43, Z:-266.00 [[ 8.42563776e-02 3.92426413e-01 9.15916139e-01 2.95200757e+02] [-4.91249966e-02 9.19702835e-01 -3.89529756e-01 -1.71427673e+02] [-9.95232434e-01 -1.21740109e-02 9.67687755e-02 -2.66001939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-171.43, Z:-266.03 [[ 8.39090471e-02 3.95579076e-01 9.14590874e-01 2.95203192e+02] [-5.08120003e-02 9.18332184e-01 -3.92535527e-01 -1.71426344e+02] [-9.95177076e-01 -1.35349098e-02 9.71565426e-02 -2.66033557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.43, Z:-266.06 [[ 8.37661839e-02 3.98473315e-01 9.13346727e-01 2.95205242e+02] [-5.19613833e-02 9.17067765e-01 -3.95331165e-01 -1.71425078e+02] [-9.95129761e-01 -1.43433764e-02 9.75244917e-02 -2.66062997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.43, Z:-266.09 [[ 8.47491202e-02 3.98206372e-01 9.13372472e-01 2.95207206e+02] [-5.34449153e-02 9.17167454e-01 -3.94901889e-01 -1.71426123e+02] [-9.94967953e-01 -1.53475268e-02 9.90112407e-02 -2.66090140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.43, Z:-266.12 [[ 8.49646524e-02 3.96930290e-01 9.13907738e-01 2.95209393e+02] [-5.36796795e-02 9.17715894e-01 -3.93593736e-01 -1.71428427e+02] [-9.94936933e-01 -1.56167195e-02 9.92805027e-02 -2.66122610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.43, Z:-266.15 [[ 8.55966574e-02 3.99897415e-01 9.12554256e-01 2.95211301e+02] [-5.35404443e-02 9.16438576e-01 -3.96577554e-01 -1.71428699e+02] [-9.94890262e-01 -1.49128473e-02 9.98547641e-02 -2.66153293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.43, Z:-266.18 [[ 8.63255203e-02 4.00660810e-01 9.12150656e-01 2.95213044e+02] [-5.25045100e-02 9.16125765e-01 -3.97437868e-01 -1.71430059e+02] [-9.94882496e-01 -1.35829924e-02 1.00121533e-01 -2.66181099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.43, Z:-266.21 [[ 8.70316059e-02 3.97671525e-01 9.13390857e-01 2.95215403e+02] [-5.14123107e-02 9.17441024e-01 -3.94536109e-01 -1.71434112e+02] [-9.94878020e-01 -1.26224233e-02 1.00291578e-01 -2.66210083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.44, Z:-266.24 [[ 8.72428881e-02 3.96818054e-01 9.13741818e-01 2.95217308e+02] [-5.00979492e-02 9.17826250e-01 -3.93808546e-01 -1.71436603e+02] [-9.94926567e-01 -1.14195963e-02 9.99535836e-02 -2.66238462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.44, Z:-266.27 [[ 8.82511230e-02 3.95825763e-01 9.14075328e-01 2.95218941e+02] [-4.73628674e-02 9.18285326e-01 -3.93076099e-01 -1.71440591e+02] [-9.94971607e-01 -8.60382145e-03 9.97871544e-02 -2.66265437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.44, Z:-266.29 [[ 8.87546844e-02 3.94395659e-01 9.14644560e-01 2.95220768e+02] [-4.57360662e-02 9.18913622e-01 -3.91798376e-01 -1.71443855e+02] [-9.95002924e-01 -7.05830297e-03 9.95959944e-02 -2.66293466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.45, Z:-266.33 [[ 8.88315503e-02 3.93164603e-01 9.15166952e-01 2.95222691e+02] [-4.41601751e-02 9.19450400e-01 -3.90718364e-01 -1.71447637e+02] [-9.95067251e-01 -5.70581485e-03 9.90384222e-02 -2.66326321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.45, Z:-266.36 [[ 8.93787657e-02 3.95832173e-01 9.13962979e-01 2.95223509e+02] [-4.05086947e-02 9.18321046e-01 -3.93758178e-01 -1.71450871e+02] [-9.95173594e-01 -1.82982740e-03 9.81130462e-02 -2.66356501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.45, Z:-266.38 [[ 8.99448469e-02 3.95863806e-01 9.13893742e-01 2.95225209e+02] [-3.88826961e-02 9.18309227e-01 -3.93949615e-01 -1.71453770e+02] [-9.95187450e-01 -1.00914811e-04 9.79894349e-02 -2.66384867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.47, Z:-266.42 [[ 9.20213017e-02 3.86766598e-01 9.17574890e-01 2.95230458e+02] [-3.93591096e-02 9.22177367e-01 -3.84759359e-01 -1.71465045e+02] [-9.94978864e-01 -7.08873577e-04 1.00082751e-01 -2.66418463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.43, Z:-266.45 [[ 9.04746705e-02 4.48633036e-01 8.89124701e-01 2.95222460e+02] [-3.60814831e-02 8.93676730e-01 -4.47258347e-01 -1.71427699e+02] [-9.95244925e-01 8.38461369e-03 9.70424530e-02 -2.66450383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.46, Z:-266.48 [[ 9.06510066e-02 3.97611492e-01 9.13064892e-01 2.95229989e+02] [-3.45423521e-02 9.17543460e-01 -3.96132332e-01 -1.71463014e+02] [-9.95283488e-01 4.37038569e-03 9.69106744e-02 -2.66481302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.46, Z:-266.51 [[ 9.11927312e-02 4.00528175e-01 9.11735196e-01 2.95231532e+02] [-3.38083354e-02 9.16267488e-01 -3.99137680e-01 -1.71464151e+02] [-9.95259204e-01 5.57420586e-03 9.70981256e-02 -2.66514105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.47, Z:-266.55 [[ 9.17065517e-02 4.03393402e-01 9.10419503e-01 2.95232945e+02] [-3.28268547e-02 9.14999944e-01 -4.02116278e-01 -1.71465573e+02] [-9.95244847e-01 6.99048852e-03 9.71536262e-02 -2.66546594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.47, Z:-266.58 [[ 9.26765068e-02 4.06240727e-01 9.09054199e-01 2.95234562e+02] [-3.16903705e-02 9.13724344e-01 -4.05096956e-01 -1.71467175e+02] [-9.95191834e-01 8.73470646e-03 9.75546995e-02 -2.66578839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.47, Z:-266.61 [[ 9.45574823e-02 4.08605094e-01 9.07799956e-01 2.95234954e+02] [-2.77222520e-02 9.12612874e-01 -4.07883830e-01 -1.71470003e+02] [-9.95133338e-01 1.34022088e-02 9.76218291e-02 -2.66607504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-171.47, Z:-266.64 [[ 9.53415824e-02 4.07860859e-01 9.08052588e-01 2.95237111e+02] [-2.58254798e-02 9.12914468e-01 -4.07333057e-01 -1.71473372e+02] [-9.95109555e-01 1.53848845e-02 9.75719123e-02 -2.66640518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-171.47, Z:-266.67 [[ 9.61738674e-02 4.10583710e-01 9.06736789e-01 2.95238676e+02] [-2.35576445e-02 9.11643242e-01 -4.10306760e-01 -1.71474222e+02] [-9.95085737e-01 1.81002050e-02 9.73486413e-02 -2.66670060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-171.49, Z:-266.70 [[ 1.00180946e-01 3.99180954e-01 9.11382655e-01 2.95244907e+02] [-2.12330051e-02 9.16639913e-01 -3.99149633e-01 -1.71487752e+02] [-9.94742649e-01 2.06357953e-02 1.00305665e-01 -2.66704046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-171.44, Z:-266.74 [[ 9.95212414e-02 4.75141861e-01 8.74262966e-01 2.95235196e+02] [-1.90685954e-02 8.79374314e-01 -4.75749099e-01 -1.71436861e+02] [-9.94852708e-01 3.06761741e-02 9.65767113e-02 -2.66736299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-171.48, Z:-266.76 [[ 9.86685799e-02 4.14737515e-01 9.04575760e-01 2.95243953e+02] [-1.52611220e-02 9.09535163e-01 -4.15346704e-01 -1.71478206e+02] [-9.95003321e-01 2.71768284e-02 9.60719028e-02 -2.66762008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.48, Z:-266.79 [[ 9.91421301e-02 4.13346294e-01 9.05160582e-01 2.95245897e+02] [-1.16909666e-02 9.10063200e-01 -4.14304590e-01 -1.71481672e+02] [-9.95004603e-01 3.04928374e-02 9.50580220e-02 -2.66788956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.48, Z:-266.82 [[ 9.97382775e-02 4.11972989e-01 9.05721001e-01 2.95248292e+02] [-1.06005619e-02 9.10648113e-01 -4.13046780e-01 -1.71483823e+02] [-9.94957237e-01 3.15954228e-02 9.51936194e-02 -2.66816405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.49, Z:-266.85 [[ 9.94016690e-02 4.09171031e-01 9.07027219e-01 2.95251155e+02] [-1.06024732e-02 9.11925513e-01 -4.10218779e-01 -1.71486464e+02] [-9.94990902e-01 3.11596995e-02 9.49851429e-02 -2.66849348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.48, Z:-266.88 [[ 9.92833927e-02 4.12191238e-01 9.05671680e-01 2.95253261e+02] [-1.14565763e-02 9.10581828e-01 -4.13170039e-01 -1.71484871e+02] [-9.94993244e-01 3.06450265e-02 9.51279536e-02 -2.66881368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-171.48, Z:-266.91 [[ 9.87069146e-02 4.14169231e-01 9.04831914e-01 2.95255719e+02] [-1.28897766e-02 9.09728155e-01 -4.15004262e-01 -1.71484032e+02] [-9.95033064e-01 2.93007090e-02 9.51350082e-02 -2.66912937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-171.48, Z:-266.94 [[ 9.77418957e-02 4.14755753e-01 9.04667998e-01 2.95257732e+02] [-1.49367900e-02 9.09529548e-01 -4.15370791e-01 -1.71483518e+02] [-9.95099701e-01 2.70862926e-02 9.50942618e-02 -2.66940639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-171.48, Z:-266.97 [[ 9.66527705e-02 4.13952970e-01 9.05152573e-01 2.95260515e+02] [-1.76467338e-02 9.09980039e-01 -4.14276383e-01 -1.71484318e+02] [-9.95161713e-01 2.40679737e-02 9.52570097e-02 -2.66973475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-171.48, Z:-267.01 [[ 9.43796229e-02 4.17550213e-01 9.03739070e-01 2.95263197e+02] [-2.41989528e-02 9.08485179e-01 -4.17215881e-01 -1.71481291e+02] [-9.95242130e-01 1.75071383e-02 9.58467665e-02 -2.67005691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.48, Z:-267.04 [[ 9.31164027e-02 4.20661285e-01 9.02426407e-01 2.95265748e+02] [-2.80160983e-02 9.07112468e-01 -4.19954841e-01 -1.71479630e+02] [-9.95260988e-01 1.38222172e-02 9.62523377e-02 -2.67038425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.48, Z:-267.07 [[ 9.11388680e-02 4.23951978e-01 9.01087358e-01 2.95268114e+02] [-3.14333053e-02 9.05627013e-01 -4.22908571e-01 -1.71477465e+02] [-9.95341979e-01 1.02192545e-02 9.58640328e-02 -2.67071303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.48, Z:-267.10 [[ 8.94044242e-02 4.27241659e-01 8.99706293e-01 2.95270587e+02] [-3.47834394e-02 9.04112045e-01 -4.25877356e-01 -1.71475473e+02] [-9.95387845e-01 6.78044046e-03 9.56925511e-02 -2.67104328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.47, Z:-267.14 [[ 8.61287926e-02 4.30766351e-01 8.98344133e-01 2.95273220e+02] [-4.02403242e-02 9.02463145e-01 -4.28883421e-01 -1.71471720e+02] [-9.95471018e-01 7.89552004e-04 9.50622386e-02 -2.67135950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-171.47, Z:-267.17 [[ 8.46536438e-02 4.33747063e-01 8.97049188e-01 2.95275457e+02] [-4.24213731e-02 9.01033407e-01 -4.31670275e-01 -1.71469954e+02] [-9.95507000e-01 -1.51159661e-03 9.46759071e-02 -2.67166705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-171.47, Z:-267.19 [[ 8.18503854e-02 4.34139306e-01 8.97119601e-01 2.95277741e+02] [-4.63246509e-02 9.00824251e-01 -4.31705565e-01 -1.71469321e+02] [-9.95567447e-01 -6.22348540e-03 9.38441639e-02 -2.67193638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-171.47, Z:-267.23 [[ 8.08030885e-02 4.32724155e-01 8.97897915e-01 2.95280840e+02] [-4.87411655e-02 9.01481310e-01 -4.30064816e-01 -1.71471038e+02] [-9.95537624e-01 -9.01402548e-03 9.39339538e-02 -2.67226299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-171.47, Z:-267.25 [[ 7.92739846e-02 4.35829167e-01 8.96531412e-01 2.95282725e+02] [-5.06118328e-02 8.99961602e-01 -4.33021429e-01 -1.71469483e+02] [-9.95567214e-01 -1.10477639e-02 9.34016550e-02 -2.67254227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.47, Z:-267.28 [[ 7.81818434e-02 4.35029063e-01 8.97015782e-01 2.95285550e+02] [-5.25924003e-02 9.00316726e-01 -4.32046101e-01 -1.71470797e+02] [-9.95550922e-01 -1.33980525e-02 9.32676439e-02 -2.67283111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.47, Z:-267.32 [[ 7.64960716e-02 4.34479836e-01 8.97427225e-01 2.95288025e+02] [-5.44637785e-02 9.00541539e-01 -4.31345144e-01 -1.71471960e+02] [-9.95581261e-01 -1.58810686e-02 9.25513036e-02 -2.67315639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.47, Z:-267.35 [[ 7.48435149e-02 4.37749671e-01 8.95976380e-01 2.95290552e+02] [-5.80458550e-02 8.98885375e-01 -4.34322187e-01 -1.71470169e+02] [-9.95504459e-01 -1.95015159e-02 9.26852949e-02 -2.67347474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.47, Z:-267.37 [[ 7.42599145e-02 4.40610016e-01 8.94621863e-01 2.95292285e+02] [-5.92184022e-02 8.97464074e-01 -4.37094288e-01 -1.71468586e+02] [-9.95479104e-01 -2.05194928e-02 9.27378266e-02 -2.67374038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.47, Z:-267.40 [[ 7.43284009e-02 4.39341877e-01 8.95239635e-01 2.95294652e+02] [-5.91446183e-02 8.98084761e-01 -4.35827576e-01 -1.71470392e+02] [-9.95478379e-01 -2.05542397e-02 9.27379118e-02 -2.67402417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-171.47, Z:-267.43 [[ 7.39664623e-02 4.38535407e-01 8.95664926e-01 2.95296563e+02] [-6.02907554e-02 8.98448725e-01 -4.34919434e-01 -1.71471705e+02] [-9.95436581e-01 -2.18308631e-02 9.28947046e-02 -2.67430462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-171.47, Z:-267.46 [[ 7.36890177e-02 4.35827266e-01 8.97008653e-01 2.95299182e+02] [-6.24738001e-02 8.99704778e-01 -4.32005019e-01 -1.71474363e+02] [-9.95322537e-01 -2.42055137e-02 9.35261468e-02 -2.67463684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-171.47, Z:-267.50 [[ 7.34279786e-02 4.38859852e-01 8.95550312e-01 2.95301120e+02] [-6.34313144e-02 8.98211355e-01 -4.34963021e-01 -1.71473562e+02] [-9.95281267e-01 -2.48674780e-02 9.37913015e-02 -2.67495698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-171.47, Z:-267.52 [[ 7.37587380e-02 4.41630122e-01 8.94160212e-01 2.95302821e+02] [-6.37438044e-02 8.96856799e-01 -4.37703792e-01 -1.71472768e+02] [-9.95236844e-01 -2.47126943e-02 9.43022098e-02 -2.67523875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-171.48, Z:-267.55 [[ 7.48063724e-02 4.40528704e-01 8.94616380e-01 2.95303997e+02] [-6.36695854e-02 8.97409566e-01 -4.36580182e-01 -1.71475911e+02] [-9.95163399e-01 -2.43008743e-02 9.51802341e-02 -2.67551185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.48, Z:-267.58 [[ 7.58523456e-02 4.39219568e-01 8.95171823e-01 2.95305607e+02] [-6.31439995e-02 8.98072158e-01 -4.35292125e-01 -1.71478572e+02] [-9.95117710e-01 -2.35068004e-02 9.58549599e-02 -2.67579089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.48, Z:-267.61 [[ 7.72699978e-02 4.38057508e-01 8.95619879e-01 2.95306880e+02] [-6.22518951e-02 8.98672665e-01 -4.34179850e-01 -1.71481250e+02] [-9.95064847e-01 -2.22049586e-02 9.67103449e-02 -2.67607197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.49, Z:-267.63 [[ 7.85131652e-02 4.35061360e-01 8.96971179e-01 2.95308287e+02] [-6.06642544e-02 9.00166239e-01 -4.31301044e-01 -1.71485353e+02] [-9.95065591e-01 -2.05512777e-02 9.70675737e-02 -2.67634700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.49, Z:-267.66 [[ 8.13613824e-02 4.31862745e-01 8.98262153e-01 2.95309017e+02] [-5.69892147e-02 9.01791382e-01 -4.28397633e-01 -1.71491963e+02] [-9.95054046e-01 -1.63362310e-02 9.79825122e-02 -2.67662518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.50, Z:-267.69 [[ 8.34810791e-02 4.28562825e-01 8.99647050e-01 2.95310120e+02] [-5.21397069e-02 9.03440270e-01 -4.25531586e-01 -1.71499326e+02] [-9.95144392e-01 -1.13834975e-02 9.77653087e-02 -2.67691399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.50, Z:-267.72 [[ 8.35398905e-02 4.27829077e-01 8.99990760e-01 2.95312510e+02] [-5.20370139e-02 9.03788459e-01 -4.24804156e-01 -1.71500823e+02] [-9.95144832e-01 -1.13447389e-02 9.77653365e-02 -2.67720632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.51, Z:-267.75 [[ 8.48110205e-02 4.26199351e-01 9.00644882e-01 2.95313047e+02] [-4.62187757e-02 9.04611372e-01 -4.23724074e-01 -1.71507743e+02] [-9.95324528e-01 -5.69023273e-03 9.64194258e-02 -2.67747322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.51, Z:-267.77 [[ 8.54111644e-02 4.23986760e-01 9.01631943e-01 2.95314920e+02] [-4.32190599e-02 9.05663608e-01 -4.21788504e-01 -1.71512753e+02] [-9.95407980e-01 -2.94223770e-03 9.56780924e-02 -2.67774861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.52, Z:-267.80 [[ 8.58910802e-02 4.20735111e-01 9.03108348e-01 2.95316386e+02] [-3.79761984e-02 9.07181954e-01 -4.19021134e-01 -1.71520625e+02] [-9.95580499e-01 1.69355598e-03 9.38967580e-02 -2.67802563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.53, Z:-267.83 [[ 8.63496049e-02 4.17733714e-01 9.04456903e-01 2.95319063e+02] [-3.60273593e-02 9.08563318e-01 -4.16190733e-01 -1.71525898e+02] [-9.95613266e-01 3.35271151e-03 9.35039262e-02 -2.67833633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.53, Z:-267.86 [[ 8.70092907e-02 4.17938874e-01 9.04298889e-01 2.95320707e+02] [-3.42839786e-02 9.08460027e-01 -4.16563307e-01 -1.71528339e+02] [-9.95617393e-01 5.24191409e-03 9.33730700e-02 -2.67861596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.53, Z:-267.89 [[ 8.82026183e-02 4.17476068e-01 9.04397054e-01 2.95322232e+02] [-3.32003140e-02 9.08663333e-01 -4.16207504e-01 -1.71531248e+02] [-9.95549114e-01 6.68432541e-03 9.40068217e-02 -2.67889438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.54, Z:-267.92 [[ 9.03762113e-02 4.07590411e-01 9.08681571e-01 2.95324807e+02] [-3.13077155e-02 9.13127258e-01 -4.06470709e-01 -1.71541288e+02] [-9.95415475e-01 8.28653851e-03 9.52857066e-02 -2.67916531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.54, Z:-267.95 [[ 9.04762603e-02 4.13915540e-01 9.05807912e-01 2.95326087e+02] [-3.12381332e-02 9.10270243e-01 -4.12834426e-01 -1.71538096e+02] [-9.95408572e-01 9.05596681e-03 9.52877962e-02 -2.67945205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.54, Z:-267.97 [[ 9.25146080e-02 4.11910503e-01 9.06515739e-01 2.95327745e+02] [-2.98852264e-02 9.11158761e-01 -4.10970298e-01 -1.71543156e+02] [-9.95262740e-01 1.09293280e-02 9.66055342e-02 -2.67972552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.55, Z:-268.00 [[ 9.33205337e-02 4.10723645e-01 9.06971535e-01 2.95329565e+02] [-2.90206602e-02 9.11681852e-01 -4.09870714e-01 -1.71545831e+02] [-9.95213082e-01 1.19284410e-02 9.69981083e-02 -2.68000625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.55, Z:-268.03 [[ 9.40583354e-02 4.09522788e-01 9.07438216e-01 2.95331652e+02] [-2.79796876e-02 9.12206421e-01 -4.08774490e-01 -1.71548404e+02] [-9.95173436e-01 1.30588102e-02 9.72589372e-02 -2.68027122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-171.57, Z:-268.06 [[ 9.69518833e-02 3.93218842e-01 9.14319022e-01 2.95340087e+02] [-2.97310870e-02 9.19380948e-01 -3.92243209e-01 -1.71566480e+02] [-9.94844910e-01 1.08450194e-02 1.00826538e-01 -2.68058081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.47, Z:-268.09 [[ 9.56500722e-02 5.22057846e-01 8.47529745e-01 2.95322661e+02] [-2.83064559e-02 8.52515754e-01 -5.21934512e-01 -1.71473919e+02] [-9.95012466e-01 2.59325103e-02 9.63208008e-02 -2.68087988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-171.55, Z:-268.12 [[ 9.42741299e-02 4.06832707e-01 9.08625081e-01 2.95339935e+02] [-2.65389731e-02 9.13392596e-01 -4.06213796e-01 -1.71553325e+02] [-9.95192480e-01 1.41814756e-02 9.69062145e-02 -2.68116408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-171.55, Z:-268.15 [[ 9.42640341e-02 4.09793163e-01 9.07294801e-01 2.95342519e+02] [-2.68148722e-02 9.12067309e-01 -4.09162787e-01 -1.71552617e+02] [-9.95186040e-01 1.42403407e-02 9.69636952e-02 -2.68147190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.55, Z:-268.17 [[ 9.43664426e-02 4.09856591e-01 9.07255504e-01 2.95345584e+02] [-2.76454954e-02 9.12049649e-01 -4.09146874e-01 -1.71553371e+02] [-9.95153607e-01 1.35282071e-02 9.73975694e-02 -2.68173654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.56, Z:-268.20 [[ 9.41677019e-02 4.08383936e-01 9.07939979e-01 2.95348588e+02] [-2.78188054e-02 9.12715827e-01 -4.07646824e-01 -1.71555054e+02] [-9.95167603e-01 1.31293590e-02 9.73091052e-02 -2.68202074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-171.56, Z:-268.23 [[ 9.56328797e-02 3.99641442e-01 9.11669387e-01 2.95355649e+02] [-2.95145574e-02 9.16602849e-01 -3.98708048e-01 -1.71563839e+02] [-9.94979017e-01 1.12220804e-02 9.94526102e-02 -2.68234672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.53, Z:-268.26 [[ 9.33815600e-02 4.51602291e-01 8.87319139e-01 2.95348317e+02] [-2.95732473e-02 8.92078271e-01 -4.50912166e-01 -1.71526529e+02] [-9.95191091e-01 1.58659731e-02 9.66590069e-02 -2.68264712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.63655999499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.36, Y:-171.55, Z:-268.29 [[ 9.27972806e-02 4.10076973e-01 9.07317773e-01 2.95356967e+02] [-2.91058352e-02 9.11977591e-01 -4.09206211e-01 -1.71553629e+02] [-9.95259522e-01 1.15649820e-02 9.65646732e-02 -2.68290869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-171.55, Z:-268.32 [[ 9.22944985e-02 4.09215598e-01 9.07757853e-01 2.95359976e+02] [-2.94527742e-02 9.12372038e-01 -4.08301112e-01 -1.71554132e+02] [-9.95296066e-01 1.09479592e-02 9.62594543e-02 -2.68323916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.696559995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:295.37, Y:-171.56, Z:-268.35 [[ 9.28176930e-02 4.02800197e-01 9.10569535e-01 2.95365388e+02] [-3.25244402e-02 9.15255914e-01 -4.01557932e-01 -1.71563046e+02] [-9.95151766e-01 7.65591645e-03 9.80527933e-02 -2.68354800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.47, Z:-268.38 [[ 9.20629049e-02 5.34066549e-01 8.40414983e-01 2.95352846e+02] [-3.30213693e-02 8.45172535e-01 -5.33472564e-01 -1.71469539e+02] [-9.95205512e-01 2.13613804e-02 9.54446474e-02 -2.68383172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-171.55, Z:-268.41 [[ 9.11172022e-02 4.09118973e-01 9.07920328e-01 2.95369664e+02] [-3.20843153e-02 9.12445627e-01 -4.07938200e-01 -1.71554001e+02] [-9.95323190e-01 8.04018533e-03 9.62657947e-02 -2.68407788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-171.55, Z:-268.44 [[ 9.04806201e-02 4.08524182e-01 9.08251755e-01 2.95372498e+02] [-3.33996364e-02 9.12724286e-01 -4.07208597e-01 -1.71554225e+02] [-9.95337994e-01 6.50920801e-03 9.62284186e-02 -2.68435923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-171.55, Z:-268.47 [[ 8.98766998e-02 4.07603663e-01 9.08725169e-01 2.95375551e+02] [-3.52173167e-02 9.13147872e-01 -4.06104303e-01 -1.71554456e+02] [-9.95330056e-01 4.49645243e-03 9.64254244e-02 -2.68468686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-171.55, Z:-268.50 [[ 8.82560513e-02 4.10966950e-01 9.07368192e-01 2.95378321e+02] [-3.96722440e-02 9.11650237e-01 -4.09047623e-01 -1.71550360e+02] [-9.95307481e-01 1.03595733e-04 9.67626312e-02 -2.68499399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-171.55, Z:-268.53 [[ 8.72500946e-02 4.11214915e-01 9.07353137e-01 2.95380711e+02] [-4.23008049e-02 9.11534444e-01 -4.09042296e-01 -1.71549709e+02] [-9.95287930e-01 -2.69278898e-03 9.69261884e-02 -2.68526106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-171.55, Z:-268.55 [[ 8.48359298e-02 4.10451680e-01 9.07927466e-01 2.95383601e+02] [-4.76881892e-02 9.11840805e-01 -4.07764862e-01 -1.71549050e+02] [-9.95253084e-01 -8.70430562e-03 9.69305599e-02 -2.68553077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.55, Z:-268.58 [[ 8.38888486e-02 4.09431315e-01 9.08476010e-01 2.95386473e+02] [-5.03421435e-02 9.12266757e-01 -4.06491123e-01 -1.71549831e+02] [-9.95202658e-01 -1.16345574e-02 9.71406578e-02 -2.68581429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.55, Z:-268.61 [[ 8.29122266e-02 4.06785790e-01 9.09753199e-01 2.95389566e+02] [-5.31213651e-02 9.13402609e-01 -4.03576257e-01 -1.71551720e+02] [-9.95140032e-01 -1.48659258e-02 9.73412605e-02 -2.68609166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.55, Z:-268.64 [[ 8.22302729e-02 4.05891260e-01 9.10214517e-01 2.95392191e+02] [-5.53855032e-02 9.13757289e-01 -4.02467469e-01 -1.71552410e+02] [-9.95073177e-01 -1.73176792e-02 9.76190029e-02 -2.68636054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.55, Z:-268.66 [[ 8.15439148e-02 4.05004254e-01 9.10671260e-01 2.95395215e+02] [-5.98499685e-02 9.14055058e-01 -4.01150011e-01 -1.71552948e+02] [-9.94871133e-01 -2.17923039e-02 9.87751197e-02 -2.68663389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.55, Z:-268.69 [[ 8.12670764e-02 4.03190094e-01 9.11500637e-01 2.95398003e+02] [-6.11992561e-02 9.14818526e-01 -3.99201348e-01 -1.71554221e+02] [-9.94811698e-01 -2.33412344e-02 9.90195608e-02 -2.68691721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.56, Z:-268.72 [[ 8.08812340e-02 4.00404693e-01 9.12761912e-01 2.95400761e+02] [-6.23902274e-02 9.16000190e-01 -3.96296747e-01 -1.71556294e+02] [-9.94769162e-01 -2.48944533e-02 9.90685656e-02 -2.68719481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.56, Z:-268.75 [[ 8.10933748e-02 3.97611256e-01 9.13963431e-01 2.95403498e+02] [-6.34736456e-02 9.17182342e-01 -3.93379777e-01 -1.71558065e+02] [-9.94683347e-01 -2.61120973e-02 9.96152473e-02 -2.68746125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-171.56, Z:-268.77 [[ 8.15998337e-02 3.96448603e-01 9.14423301e-01 2.95406080e+02] [-6.45543060e-02 9.17658756e-01 -3.92090742e-01 -1.71559326e+02] [-9.94572375e-01 -2.70354222e-02 1.00473266e-01 -2.68774018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-171.56, Z:-268.81 [[ 8.17562279e-02 3.93602133e-01 9.15638182e-01 2.95409018e+02] [-6.45287923e-02 9.18876541e-01 -3.89232498e-01 -1.71562361e+02] [-9.94561187e-01 -2.72628453e-02 1.00522550e-01 -2.68805211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-171.56, Z:-268.83 [[ 8.22724426e-02 3.93850824e-01 9.15484994e-01 2.95411199e+02] [-6.31146201e-02 9.18814285e-01 -3.89611159e-01 -1.71563676e+02] [-9.94609366e-01 -2.57262259e-02 1.00450841e-01 -2.68833113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-171.57, Z:-268.86 [[ 8.30139758e-02 3.92793395e-01 9.15872278e-01 2.95413387e+02] [-6.16126242e-02 9.19309246e-01 -3.88682898e-01 -1.71565671e+02] [-9.94641928e-01 -2.41631818e-02 1.00516547e-01 -2.68861206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.57, Z:-268.89 [[ 8.34947083e-02 3.89727672e-01 9.17137381e-01 2.95415816e+02] [-5.96445493e-02 9.20655481e-01 -3.85792707e-01 -1.71569186e+02] [-9.94721650e-01 -2.24905962e-02 1.00114992e-01 -2.68889471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.57, Z:-268.92 [[ 8.47649716e-02 3.86510474e-01 9.18381486e-01 2.95417870e+02] [-5.59350104e-02 9.22091088e-01 -3.82908997e-01 -1.71573410e+02] [-9.94829721e-01 -1.89124077e-02 9.97804923e-02 -2.68917942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.58, Z:-268.95 [[ 8.52641833e-02 3.85598500e-01 9.18718573e-01 2.95420160e+02] [-5.41100432e-02 9.22507708e-01 -3.82167021e-01 -1.71575928e+02] [-9.94887995e-01 -1.71267428e-02 9.95216178e-02 -2.68950749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.58, Z:-268.98 [[ 8.57669180e-02 3.88473516e-01 9.17459734e-01 2.95422088e+02] [-5.24652515e-02 9.21336217e-01 -3.85210297e-01 -1.71576402e+02] [-9.94932879e-01 -1.50964558e-02 9.94015285e-02 -2.68984120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.58, Z:-269.01 [[ 8.62979929e-02 3.91296029e-01 9.16209624e-01 2.95423831e+02] [-5.04594644e-02 9.20176849e-01 -3.88237568e-01 -1.71576948e+02] [-9.94990703e-01 -1.27273239e-02 9.91540032e-02 -2.69013326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-171.58, Z:-269.04 [[ 8.77447790e-02 3.90718303e-01 9.16318755e-01 2.95425542e+02] [-4.62246930e-02 9.20472823e-01 -3.88063217e-01 -1.71580573e+02] [-9.95069913e-01 -8.30603196e-03 9.88275181e-02 -2.69044207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-171.58, Z:-269.07 [[ 8.86114817e-02 3.90873041e-01 9.16169346e-01 2.95427471e+02] [-4.39234129e-02 9.20426196e-01 -3.88440925e-01 -1.71582210e+02] [-9.95097352e-01 -5.82095862e-03 9.87288070e-02 -2.69073165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-171.58, Z:-269.10 [[ 8.96820448e-02 3.89921097e-01 9.16470768e-01 2.95429456e+02] [-4.17484741e-02 9.20841650e-01 -3.87695396e-01 -1.71584372e+02] [-9.95095069e-01 -3.49194026e-03 9.88615729e-02 -2.69100514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-171.59, Z:-269.13 [[ 9.16083398e-02 3.88230355e-01 9.16997876e-01 2.95431327e+02] [-3.76215274e-02 9.21561926e-01 -3.86404241e-01 -1.71587461e+02] [-9.95084184e-01 8.98990322e-04 9.90285770e-02 -2.69128394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-171.59, Z:-269.16 [[ 9.22435344e-02 3.85123726e-01 9.18243348e-01 2.95433708e+02] [-3.57660127e-02 9.22861480e-01 -3.83467704e-01 -1.71590711e+02] [-9.95093927e-01 2.53051314e-03 9.89023447e-02 -2.69155783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.59, Z:-269.18 [[ 9.29696038e-02 3.82018324e-01 9.19466504e-01 2.95436465e+02] [-3.36935437e-02 9.24144275e-01 -3.80554996e-01 -1.71593891e+02] [-9.95098688e-01 4.39996233e-03 9.87888781e-02 -2.69183916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.60, Z:-269.21 [[ 9.36951320e-02 3.78945239e-01 9.20663743e-01 2.95439321e+02] [-3.19400703e-02 9.25399793e-01 -3.77644084e-01 -1.71597342e+02] [-9.95088466e-01 5.97734760e-03 9.88089933e-02 -2.69211524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.60, Z:-269.24 [[ 9.37891756e-02 3.76032885e-01 9.21847525e-01 2.95442121e+02] [-3.16609826e-02 9.26587148e-01 -3.74745032e-01 -1.71600008e+02] [-9.95088525e-01 5.96042917e-03 9.88094154e-02 -2.69239897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.60, Z:-269.27 [[ 9.43749861e-02 3.73168607e-01 9.22951002e-01 2.95444993e+02] [-3.01104399e-02 9.27734671e-01 -3.72023847e-01 -1.71603243e+02] [-9.95081265e-01 7.31928470e-03 9.87912176e-02 -2.69266332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.60, Z:-269.29 [[ 9.49909104e-02 3.71634139e-01 9.23506791e-01 2.95447452e+02] [-2.70905285e-02 9.28323201e-01 -3.70785838e-01 -1.71604787e+02] [-9.95109456e-01 1.02029972e-02 9.82500312e-02 -2.69293399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.61, Z:-269.32 [[ 9.54493929e-02 3.69501487e-01 9.24314916e-01 2.95449957e+02] [-2.51506555e-02 9.29153190e-01 -3.68838439e-01 -1.71606315e+02] [-9.95116505e-01 1.19582790e-02 9.79803125e-02 -2.69321095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.61, Z:-269.35 [[ 9.57870239e-02 3.66516741e-01 9.25467625e-01 2.95452776e+02] [-2.33603465e-02 9.30314372e-01 -3.66018393e-01 -1.71608355e+02] [-9.95127701e-01 1.34405682e-02 9.76740030e-02 -2.69348822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.61, Z:-269.38 [[ 9.58584187e-02 3.63434631e-01 9.26674934e-01 2.95456192e+02] [-2.07782935e-02 9.31489775e-01 -3.63173596e-01 -1.71609460e+02] [-9.95178088e-01 1.55585229e-02 9.68426883e-02 -2.69381691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.61, Z:-269.41 [[ 9.57428942e-02 3.66388278e-01 9.25523056e-01 2.95458264e+02] [-1.99261467e-02 9.30313585e-01 -3.66223406e-01 -1.71607858e+02] [-9.95206635e-01 1.66211806e-02 9.63716217e-02 -2.69413855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.61, Z:-269.45 [[ 9.61841748e-02 3.69105118e-01 9.24397110e-01 2.95461026e+02] [-1.91316243e-02 9.29216981e-01 -3.69038999e-01 -1.71606941e+02] [-9.95179675e-01 1.78104934e-02 9.64375490e-02 -2.69446668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.61, Z:-269.47 [[ 9.66099339e-02 3.71930567e-01 9.23219462e-01 2.95463356e+02] [-1.74116444e-02 9.28047878e-01 -3.72053720e-01 -1.71605044e+02] [-9.95170013e-01 1.98693163e-02 9.61345669e-02 -2.69474488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-171.61, Z:-269.50 [[ 9.67528739e-02 3.70936545e-01 9.23604332e-01 2.95466162e+02] [-1.66590923e-02 9.28431445e-01 -3.71130067e-01 -1.71605694e+02] [-9.95169009e-01 2.05214907e-02 9.60078767e-02 -2.69503031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-171.61, Z:-269.53 [[ 9.70937264e-02 3.70145389e-01 9.23885923e-01 2.95469314e+02] [-1.62368857e-02 9.28737334e-01 -3.70382677e-01 -1.71606183e+02] [-9.95142790e-01 2.09608042e-02 9.61845770e-02 -2.69533042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-171.61, Z:-269.56 [[ 9.69363028e-02 3.70101377e-01 9.23920085e-01 2.95471903e+02] [-1.55917798e-02 9.28742563e-01 -3.70397285e-01 -1.71605711e+02] [-9.95168453e-01 2.14993849e-02 9.57994094e-02 -2.69560825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-171.60, Z:-269.59 [[ 9.55557341e-02 3.69223143e-01 9.24415152e-01 2.95475101e+02] [-1.51812977e-02 9.29097190e-01 -3.69523936e-01 -1.71604256e+02] [-9.95308309e-01 2.12763093e-02 9.43858505e-02 -2.69588495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-171.60, Z:-269.62 [[ 9.50480931e-02 3.68136508e-01 9.24900736e-01 2.95478374e+02] [-1.49728796e-02 9.29530685e-01 -3.68440659e-01 -1.71604211e+02] [-9.95360072e-01 2.11711547e-02 9.38621826e-02 -2.69616784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-171.60, Z:-269.64 [[ 9.42587682e-02 3.67039377e-01 9.25417409e-01 2.95481406e+02] [-1.45236038e-02 9.29964093e-01 -3.67363376e-01 -1.71604132e+02] [-9.95441786e-01 2.11868236e-02 9.29880043e-02 -2.69645000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-171.60, Z:-269.67 [[ 9.37109694e-02 3.65945396e-01 9.25906162e-01 2.95485372e+02] [-1.42333084e-02 9.30396059e-01 -3.66279383e-01 -1.71602749e+02] [-9.95497698e-01 2.11456881e-02 9.23969303e-02 -2.69673341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-171.60, Z:-269.70 [[ 9.34084782e-02 3.64876765e-01 9.26358355e-01 2.95488517e+02] [-1.45477971e-02 9.30827162e-01 -3.65170038e-01 -1.71602765e+02] [-9.95521581e-01 2.06335042e-02 9.22553018e-02 -2.69701625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-171.60, Z:-269.73 [[ 9.28735480e-02 3.64217015e-01 9.26671717e-01 2.95491586e+02] [-1.52119880e-02 9.31104672e-01 -3.64434747e-01 -1.71602129e+02] [-9.95561701e-01 1.97498289e-02 9.20154593e-02 -2.69731299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-171.60, Z:-269.76 [[ 9.22644827e-02 3.64067082e-01 9.26791468e-01 2.95495006e+02] [-1.76006727e-02 9.31212473e-01 -3.64051572e-01 -1.71598039e+02] [-9.95578968e-01 1.72768767e-02 9.23256626e-02 -2.69757878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.196559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.50, Y:-171.60, Z:-269.79 [[ 9.19041315e-02 3.62906768e-01 9.27282216e-01 2.95498378e+02] [-1.90183678e-02 9.31693138e-01 -3.62748119e-01 -1.71597127e+02] [-9.95586226e-01 1.57026566e-02 9.25283431e-02 -2.69785791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-171.60, Z:-269.81 [[ 9.13554575e-02 3.61957140e-01 9.27707502e-01 2.95501581e+02] [-2.05720998e-02 9.32090308e-01 -3.61641323e-01 -1.71595929e+02] [-9.95605830e-01 1.39530172e-02 9.25977550e-02 -2.69814188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-171.60, Z:-269.84 [[ 9.07831766e-02 3.59177798e-01 9.28843219e-01 2.95505276e+02] [-2.20958642e-02 9.33191481e-01 -3.58699640e-01 -1.71595886e+02] [-9.95625526e-01 1.20402992e-02 9.26544309e-02 -2.69842089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-171.59, Z:-269.87 [[ 8.93309503e-02 3.56639966e-01 9.29961245e-01 2.95509849e+02] [-2.60975479e-02 9.34211711e-01 -3.55763120e-01 -1.71593639e+02] [-9.95660032e-01 7.51094942e-03 9.27614485e-02 -2.69869666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-171.59, Z:-269.90 [[ 8.89480888e-02 3.55734941e-01 9.30344500e-01 2.95513199e+02] [-2.84063607e-02 9.34572883e-01 -3.54635877e-01 -1.71592794e+02] [-9.95631115e-01 5.11648200e-03 9.32336069e-02 -2.69897294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-171.59, Z:-269.92 [[ 8.83646326e-02 3.54811802e-01 9.30752533e-01 2.95516397e+02] [-3.05536670e-02 9.34933553e-01 -3.53504915e-01 -1.71591573e+02] [-9.95619488e-01 2.79942897e-03 9.34558615e-02 -2.69924170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-171.59, Z:-269.95 [[ 8.77103228e-02 3.53699131e-01 9.31237791e-01 2.95519247e+02] [-3.25252137e-02 9.35359055e-01 -3.52201007e-01 -1.71590080e+02] [-9.95614890e-01 6.02955853e-04 9.35447845e-02 -2.69952490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-171.59, Z:-269.98 [[ 8.69975350e-02 3.52925385e-01 9.31598144e-01 2.95523016e+02] [-3.64400940e-02 9.35645268e-01 -3.51055625e-01 -1.71586681e+02] [-9.95541837e-01 -3.40654997e-03 9.42594662e-02 -2.69979202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-171.59, Z:-270.01 [[ 8.68562437e-02 3.51761293e-01 9.32051493e-01 2.95526581e+02] [-3.79200166e-02 9.36076564e-01 -3.49746677e-01 -1.71586407e+02] [-9.95498903e-01 -4.96572550e-03 9.46428883e-02 -2.70006709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-171.58, Z:-270.03 [[ 8.61723193e-02 3.49038242e-01 9.33138059e-01 2.95530170e+02] [-4.01775616e-02 9.37077610e-01 -3.46801553e-01 -1.71584932e+02] [-9.95469786e-01 -7.60651768e-03 9.47736565e-02 -2.70033925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-171.58, Z:-270.06 [[ 8.56284186e-02 3.47820248e-01 9.33642785e-01 2.95533281e+02] [-4.06345616e-02 9.37524053e-01 -3.45539408e-01 -1.71584720e+02] [-9.95498170e-01 -8.35017217e-03 9.44122253e-02 -2.70062002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-171.59, Z:-270.09 [[ 8.57119259e-02 3.44989620e-01 9.34684775e-01 2.95536666e+02] [-4.13715158e-02 9.38560404e-01 -3.42626277e-01 -1.71585477e+02] [-9.95460629e-01 -9.30216778e-03 9.47185633e-02 -2.70089856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-171.59, Z:-270.12 [[ 8.55890376e-02 3.42143883e-01 9.35741460e-01 2.95539872e+02] [-4.17282156e-02 9.39594689e-01 -3.39736039e-01 -1.71586078e+02] [-9.95456314e-01 -9.96914076e-03 9.46960589e-02 -2.70118038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-171.59, Z:-270.14 [[ 8.53292012e-02 3.39301227e-01 9.36799661e-01 2.95542733e+02] [-4.19701819e-02 9.40618348e-01 -3.36861435e-01 -1.71586959e+02] [-9.95468448e-01 -1.05735350e-02 9.45027465e-02 -2.70144898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.59, Z:-270.17 [[ 8.52253852e-02 3.38064883e-01 9.37255978e-01 2.95545993e+02] [-4.20220511e-02 9.41061037e-01 -3.35616258e-01 -1.71585939e+02] [-9.95475153e-01 -1.07823937e-02 9.44084692e-02 -2.70172065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-171.61, Z:-270.21 [[ 9.30520129e-02 3.07990406e-01 9.46827985e-01 2.95563460e+02] [-4.72552166e-02 9.51248415e-01 -3.04784182e-01 -1.71611045e+02] [-9.94539224e-01 -1.63817799e-02 1.03069733e-01 -2.70206389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.55, Z:-270.24 [[ 8.90514664e-02 4.14937639e-01 9.05481415e-01 2.95552673e+02] [-4.76187987e-02 9.09827296e-01 -4.12245972e-01 -1.71547553e+02] [-9.94888077e-01 -6.40682881e-03 1.00780287e-01 -2.70241714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.53, Z:-270.27 [[ 8.67419847e-02 4.40733373e-01 8.93437139e-01 2.95551732e+02] [-4.63128382e-02 8.97631783e-01 -4.38306176e-01 -1.71530076e+02] [-9.95153731e-01 -3.35806211e-03 9.82739758e-02 -2.70273555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.54, Z:-270.30 [[ 8.54313860e-02 4.24791129e-01 9.01251339e-01 2.95553692e+02] [-4.42413151e-02 9.05283505e-01 -4.22497908e-01 -1.71537674e+02] [-9.95361334e-01 -3.77796258e-03 9.61329428e-02 -2.70304686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-171.55, Z:-270.34 [[ 8.58548283e-02 3.99060312e-01 9.12896388e-01 2.95558545e+02] [-4.35035656e-02 9.16907249e-01 -3.96722242e-01 -1.71554071e+02] [-9.95357417e-01 -5.65372790e-03 9.60814608e-02 -2.70335636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.54, Z:-270.37 [[ 8.06269274e-02 4.12559549e-01 9.07355452e-01 2.95553599e+02] [-3.93337490e-02 9.10926988e-01 -4.10688300e-01 -1.71541541e+02] [-9.95967949e-01 -2.57715588e-03 8.96727578e-02 -2.70366164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.61, Z:-270.40 [[ 8.88161560e-02 3.12806914e-01 9.45655077e-01 2.95574979e+02] [-4.22717637e-02 9.49735466e-01 -3.10186464e-01 -1.71608791e+02] [-9.95150636e-01 -1.24249386e-02 9.75747533e-02 -2.70397269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-171.54, Z:-270.43 [[ 8.15519178e-02 4.24078075e-01 9.01946269e-01 2.95557340e+02] [-3.84174127e-02 9.05625609e-01 -4.22334416e-01 -1.71537700e+02] [-9.95928405e-01 -2.08260501e-04 9.01474876e-02 -2.70430391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.61, Z:-270.46 [[ 8.86505665e-02 3.20250333e-01 9.43175912e-01 2.95577280e+02] [-4.06981823e-02 9.47277923e-01 -3.17817863e-01 -1.71605674e+02] [-9.95230996e-01 -1.02108116e-02 9.70103309e-02 -2.70460396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.58, Z:-270.49 [[ 8.98410995e-02 3.74211043e-01 9.22981404e-01 2.95574540e+02] [-4.38021740e-02 9.27316891e-01 -3.71705198e-01 -1.71577766e+02] [-9.94992435e-01 -7.03418843e-03 9.97024263e-02 -2.70494321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.56, Z:-270.53 [[ 8.75744608e-02 4.05227639e-01 9.10011689e-01 2.95570563e+02] [-4.25806332e-02 9.14209283e-01 -4.02999102e-01 -1.71558432e+02] [-9.95247509e-01 -3.45644491e-03 9.73162344e-02 -2.70526947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.56, Z:-270.56 [[ 8.63150615e-02 3.96255332e-01 9.14074079e-01 2.95571627e+02] [-4.21160628e-02 9.18129396e-01 -3.94036355e-01 -1.71564022e+02] [-9.95377289e-01 -4.48592910e-03 9.59371098e-02 -2.70557125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.59, Z:-270.59 [[ 8.74278590e-02 3.64600224e-01 9.27050725e-01 2.95578542e+02] [-4.31692054e-02 9.31126626e-01 -3.62132056e-01 -1.71585894e+02] [-9.95235042e-01 -8.35961284e-03 9.71459094e-02 -2.70588899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.56, Z:-270.62 [[ 8.15209693e-02 4.03291766e-01 9.11432983e-01 2.95570362e+02] [-4.12770556e-02 9.15058248e-01 -4.01203948e-01 -1.71561136e+02] [-9.95816517e-01 -4.91473525e-03 9.12431320e-02 -2.70621141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.60, Z:-270.65 [[ 8.53697562e-02 3.38246196e-01 9.37177419e-01 2.95583459e+02] [-4.24448786e-02 9.40992013e-01 -3.35756554e-01 -1.71604272e+02] [-9.95444844e-01 -1.11149267e-02 9.46890775e-02 -2.70651284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.59, Z:-270.68 [[ 8.54338490e-02 3.64202050e-01 9.27393080e-01 2.95582957e+02] [-4.30237784e-02 9.31276539e-01 -3.61763684e-01 -1.71591741e+02] [-9.95414493e-01 -8.99309037e-03 9.52318874e-02 -2.70684671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.59, Z:-270.72 [[ 8.47863376e-02 3.81113201e-01 9.20632394e-01 2.95581717e+02] [-4.23575247e-02 9.24502801e-01 -3.78814481e-01 -1.71585454e+02] [-9.95498427e-01 -6.87741690e-03 9.45282184e-02 -2.70717649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.59, Z:-270.75 [[ 8.54347977e-02 3.84376968e-01 9.19214470e-01 2.95585215e+02] [-4.28867912e-02 9.23151309e-01 -3.82037151e-01 -1.71587105e+02] [-9.95420323e-01 -6.78289235e-03 9.53539401e-02 -2.70750051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.59, Z:-270.78 [[ 8.66021688e-02 3.91091457e-01 9.16268267e-01 2.95589144e+02] [-4.43962462e-02 9.20325024e-01 -3.88626843e-01 -1.71588062e+02] [-9.95253253e-01 -7.02294410e-03 9.70651357e-02 -2.70783052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.56, Z:-270.82 [[ 8.37305378e-02 4.39679769e-01 8.94243199e-01 2.95583995e+02] [-4.35673261e-02 8.98151597e-01 -4.37522110e-01 -1.71559087e+02] [-9.95535577e-01 -2.32582355e-03 9.43583881e-02 -2.70816892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.54, Z:-270.85 [[ 7.71342785e-02 4.67439752e-01 8.80653383e-01 2.95576915e+02] [-3.84517637e-02 8.84022504e-01 -4.65860144e-01 -1.71538024e+02] [-9.96278959e-01 2.07111029e-03 8.61623209e-02 -2.70846313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.61, Z:-270.87 [[ 7.81877075e-02 3.58866827e-01 9.30108210e-01 2.95588664e+02] [-3.81746607e-02 9.33357827e-01 -3.56911561e-01 -1.71607421e+02] [-9.96207497e-01 -7.60046864e-03 8.66767282e-02 -2.70870080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.61, Z:-270.90 [[ 7.82652324e-02 3.57512553e-01 9.30623086e-01 2.95590499e+02] [-3.88476226e-02 9.33871185e-01 -3.55493280e-01 -1.71610133e+02] [-9.96175394e-01 -8.32973026e-03 8.69781580e-02 -2.70898365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.61, Z:-270.93 [[ 7.81792400e-02 3.56753097e-01 9.30921712e-01 2.95591877e+02] [-3.95175733e-02 9.34154778e-01 -3.54673387e-01 -1.71611958e+02] [-9.96155795e-01 -9.05967119e-03 8.71295273e-02 -2.70925466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.62, Z:-270.95 [[ 7.71423199e-02 3.55534350e-01 9.31474309e-01 2.95593425e+02] [-4.18182599e-02 9.34589967e-01 -3.53260283e-01 -1.71615325e+02] [-9.96142709e-01 -1.17013169e-02 8.69642660e-02 -2.70954345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-171.62, Z:-270.98 [[ 7.66531651e-02 3.54806086e-01 9.31792323e-01 2.95595167e+02] [-4.28736155e-02 9.34850453e-01 -3.52443590e-01 -1.71617406e+02] [-9.96135606e-01 -1.29333891e-02 8.68710658e-02 -2.70980916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-171.62, Z:-271.01 [[ 7.64319930e-02 3.53474495e-01 9.32316433e-01 2.95597200e+02] [-4.39915632e-02 9.35336600e-01 -3.51013087e-01 -1.71619769e+02] [-9.96103857e-01 -1.41854274e-02 8.70395361e-02 -2.71012041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-171.62, Z:-271.04 [[ 7.53750279e-02 3.54073148e-01 9.32175311e-01 2.95598144e+02] [-4.62663258e-02 9.35069700e-01 -3.51431477e-01 -1.71621634e+02] [-9.96081338e-01 -1.66391693e-02 8.68625684e-02 -2.71039912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.64, Z:-271.07 [[ 7.94524849e-02 3.36278480e-01 9.38405076e-01 2.95608170e+02] [-5.03843242e-02 9.41532590e-01 -3.33133310e-01 -1.71639354e+02] [-9.95564525e-01 -2.08126364e-02 9.17502678e-02 -2.71070759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-171.59, Z:-271.10 [[ 7.71829694e-02 4.24449718e-01 9.02155877e-01 2.95598756e+02] [-5.03854946e-02 9.05359446e-01 -4.21646269e-01 -1.71586206e+02] [-9.95742985e-01 -1.29116590e-02 9.12644394e-02 -2.71102446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.57, Z:-271.13 [[ 7.19209838e-02 4.46126100e-01 8.92075599e-01 2.95593430e+02] [-4.76635116e-02 8.94907241e-01 -4.43699470e-01 -1.71568615e+02] [-9.96270828e-01 -1.06081533e-02 8.56265457e-02 -2.71133074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.64, Z:-271.16 [[ 7.34177766e-02 3.42519331e-01 9.36637784e-01 2.95607115e+02] [-5.07769648e-02 9.39238076e-01 -3.39490111e-01 -1.71635993e+02] [-9.96007796e-01 -2.26350146e-02 8.63488633e-02 -2.71162163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.64, Z:-271.19 [[ 7.29400914e-02 3.45746022e-01 9.35488873e-01 2.95608353e+02] [-5.15832541e-02 9.38039762e-01 -3.42666854e-01 -1.71635835e+02] [-9.96001461e-01 -2.32614086e-02 8.62554109e-02 -2.71189821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.64, Z:-271.22 [[ 7.27702541e-02 3.42564451e-01 9.36671814e-01 2.95610506e+02] [-5.22365632e-02 9.39181865e-01 -3.39424168e-01 -1.71639288e+02] [-9.95979835e-01 -2.42285334e-02 8.62388925e-02 -2.71217546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.64, Z:-271.25 [[ 7.27349645e-02 3.41373726e-01 9.37109174e-01 2.95612502e+02] [-5.28632604e-02 9.39596673e-01 -3.38176829e-01 -1.71641703e+02] [-9.95949346e-01 -2.49413667e-02 8.63876588e-02 -2.71246722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.65, Z:-271.27 [[ 7.30907463e-02 3.40561661e-01 9.37376924e-01 2.95613823e+02] [-5.32368611e-02 9.39883129e-01 -3.37321124e-01 -1.71645398e+02] [-9.95903399e-01 -2.52479524e-02 8.68271932e-02 -2.71274012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.65, Z:-271.30 [[ 7.32683523e-02 3.39067782e-01 9.37904466e-01 2.95615574e+02] [-5.27545361e-02 9.40433137e-01 -3.35860796e-01 -1.71648340e+02] [-9.95916014e-01 -2.48707479e-02 8.67913500e-02 -2.71301570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.65, Z:-271.33 [[ 7.34341602e-02 3.35767143e-01 9.39078192e-01 2.95617887e+02] [-5.23935481e-02 9.41619045e-01 -3.32578547e-01 -1.71652592e+02] [-9.95922859e-01 -2.47790121e-02 8.67390358e-02 -2.71331572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.66, Z:-271.36 [[ 7.34205318e-02 3.35776564e-01 9.39075889e-01 2.95619953e+02] [-5.25445769e-02 9.41611819e-01 -3.32575178e-01 -1.71655161e+02] [-9.95915907e-01 -2.49254988e-02 8.67768780e-02 -2.71364578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.66, Z:-271.40 [[ 7.33843773e-02 3.39220315e-01 9.37840237e-01 2.95620629e+02] [-5.28237316e-02 9.40377811e-01 -3.36004800e-01 -1.71656763e+02] [-9.95903804e-01 -2.48827180e-02 8.69279230e-02 -2.71397223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.66, Z:-271.43 [[ 7.39148552e-02 3.42637823e-01 9.36555346e-01 2.95621991e+02] [-5.29347976e-02 9.39148343e-01 -3.39408746e-01 -1.71656887e+02] [-9.95858675e-01 -2.44890194e-02 8.75544776e-02 -2.71429305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.67, Z:-271.46 [[ 7.79329684e-02 3.25713640e-01 9.42251069e-01 2.95631457e+02] [-5.60803169e-02 9.45061328e-01 -3.22046713e-01 -1.71674831e+02] [-9.95380053e-01 -2.77436822e-02 9.19175587e-02 -2.71459600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.59, Z:-271.49 [[ 7.12943637e-02 4.64247839e-01 8.82831274e-01 2.95608550e+02] [-5.10411041e-02 8.85621974e-01 -4.61593463e-01 -1.71586104e+02] [-9.96148543e-01 -1.21516708e-02 8.68355774e-02 -2.71488641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.67, Z:-271.51 [[ 7.47879328e-02 3.40132753e-01 9.37398781e-01 2.95626846e+02] [-5.02172650e-02 9.40123282e-01 -3.37114877e-01 -1.71667513e+02] [-9.95934231e-01 -2.18614782e-02 8.73904135e-02 -2.71513267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.67, Z:-271.55 [[ 7.53258636e-02 3.38809503e-01 9.37834812e-01 2.95629302e+02] [-4.93659567e-02 9.40620630e-01 -3.35850910e-01 -1.71671211e+02] [-9.95936251e-01 -2.09988529e-02 8.75787165e-02 -2.71546419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.67, Z:-271.58 [[ 7.52894911e-02 3.42079935e-01 9.36649780e-01 2.95630172e+02] [-4.81746715e-02 9.39466800e-01 -3.39236395e-01 -1.71671857e+02] [-9.95997336e-01 -1.95818600e-02 8.72115658e-02 -2.71575661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.68, Z:-271.60 [[ 7.59105957e-02 3.41416632e-01 9.36841643e-01 2.95631146e+02] [-4.50496517e-02 9.39767514e-01 -3.38832626e-01 -1.71676619e+02] [-9.96096436e-01 -1.64834033e-02 8.67190122e-02 -2.71602494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.68, Z:-271.63 [[ 7.64440756e-02 3.39838567e-01 9.37371886e-01 2.95632722e+02] [-4.34746015e-02 9.40364774e-01 -3.37378202e-01 -1.71679975e+02] [-9.96125626e-01 -1.49613044e-02 8.66596621e-02 -2.71631116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.68, Z:-271.66 [[ 7.67383555e-02 3.38897098e-01 9.37688638e-01 2.95634558e+02] [-4.21489614e-02 9.40723741e-01 -3.36544660e-01 -1.71683169e+02] [-9.96159972e-01 -1.36967185e-02 8.64737536e-02 -2.71664080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.69, Z:-271.70 [[ 7.76300628e-02 3.42029873e-01 9.36476983e-01 2.95634569e+02] [-3.92594191e-02 9.39631782e-01 -3.39927658e-01 -1.71685693e+02] [-9.96208950e-01 -1.03769369e-02 8.63715683e-02 -2.71695362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.73 [[ 7.81479404e-02 3.44662844e-01 9.35468024e-01 2.95635633e+02] [-3.84173231e-02 9.38681835e-01 -3.42637597e-01 -1.71686898e+02] [-9.96201289e-01 -9.16175488e-03 8.65970759e-02 -2.71728528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.76 [[ 7.89001252e-02 3.47941363e-01 9.34190333e-01 2.95636897e+02] [-3.78894720e-02 9.37481313e-01 -3.45967016e-01 -1.71687583e+02] [-9.96162215e-01 -8.09913757e-03 8.71507074e-02 -2.71761738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.79 [[ 7.96125215e-02 3.51204956e-01 9.32907780e-01 2.95636977e+02] [-3.67771547e-02 9.36276055e-01 -3.49334495e-01 -1.71689469e+02] [-9.96147222e-01 -6.49829372e-03 8.74556166e-02 -2.71793256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.83 [[ 8.00363107e-02 3.54332186e-01 9.31688194e-01 2.95638269e+02] [-3.69425216e-02 9.35099001e-01 -3.52455824e-01 -1.71690375e+02] [-9.96107142e-01 -6.20964739e-03 8.79317986e-02 -2.71826089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.85 [[ 8.03939687e-02 3.57651472e-01 9.30388217e-01 2.95639218e+02] [-3.69123838e-02 9.33837503e-01 -3.55787851e-01 -1.71690388e+02] [-9.96079458e-01 -5.73964965e-03 8.82766714e-02 -2.71853888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.89 [[ 8.04176613e-02 3.56711426e-01 9.30746989e-01 2.95640908e+02] [-3.81282100e-02 9.34188690e-01 -3.54736144e-01 -1.71693983e+02] [-9.96031746e-01 -6.96066555e-03 8.87260378e-02 -2.71886489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.92 [[ 8.00503169e-02 3.60109968e-01 9.29469073e-01 2.95642164e+02] [-3.90406744e-02 9.32878712e-01 -3.58068616e-01 -1.71693455e+02] [-9.96025990e-01 -7.62359324e-03 8.87361725e-02 -2.71916711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.69, Z:-271.94 [[ 7.94205790e-02 3.60222678e-01 9.29479421e-01 2.95644090e+02] [-4.03111333e-02 9.32822643e-01 -3.58073917e-01 -1.71694788e+02] [-9.96025795e-01 -9.02993109e-03 8.86062988e-02 -2.71943748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-171.70, Z:-271.98 [[ 7.73451931e-02 3.59097083e-01 9.30089784e-01 2.95647258e+02] [-4.38300356e-02 9.33207140e-01 -3.56655803e-01 -1.71696224e+02] [-9.96040486e-01 -1.31802564e-02 8.79183243e-02 -2.71975380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-171.69, Z:-272.00 [[ 7.68937336e-02 3.62141279e-01 9.28946203e-01 2.95649313e+02] [-4.56506301e-02 9.32006359e-01 -3.59555512e-01 -1.71694804e+02] [-9.95993662e-01 -1.47594138e-02 8.81974263e-02 -2.72003175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-171.70, Z:-272.04 [[ 7.64433773e-02 3.61256684e-01 9.29327724e-01 2.95651979e+02] [-4.74669787e-02 9.32316741e-01 -3.58514128e-01 -1.71695770e+02] [-9.95943420e-01 -1.67063486e-02 8.84172038e-02 -2.72035897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-171.69, Z:-272.07 [[ 7.62318805e-02 3.64841222e-01 9.27943739e-01 2.95654589e+02] [-4.98051767e-02 9.30883394e-01 -3.61905446e-01 -1.71693706e+02] [-9.95845442e-01 -1.86276692e-02 8.91339732e-02 -2.72067854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.69, Z:-272.10 [[ 7.58942574e-02 3.68027239e-01 9.26712476e-01 2.95656872e+02] [-5.00960035e-02 9.29626606e-01 -3.65081860e-01 -1.71692570e+02] [-9.95856642e-01 -1.87169748e-02 8.89900147e-02 -2.72097943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.69, Z:-272.13 [[ 7.60898617e-02 3.68259593e-01 9.26604125e-01 2.95659493e+02] [-5.04902225e-02 9.29529035e-01 -3.65275937e-01 -1.71693197e+02] [-9.95821807e-01 -1.89906529e-02 8.93212445e-02 -2.72129471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.69, Z:-272.16 [[ 7.64243608e-02 3.71174264e-01 9.25412872e-01 2.95660801e+02] [-5.06989387e-02 9.28373298e-01 -3.68174738e-01 -1.71691447e+02] [-9.95785587e-01 -1.87799314e-02 8.97684771e-02 -2.72157027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-171.70, Z:-272.19 [[ 7.81774181e-02 3.65081084e-01 9.27687498e-01 2.95666426e+02] [-5.28557273e-02 9.30744529e-01 -3.61829924e-01 -1.71698073e+02] [-9.95537324e-01 -2.07466682e-02 9.20598304e-02 -2.72187559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-171.64, Z:-272.22 [[ 7.48774514e-02 4.50183517e-01 8.89791081e-01 2.95653614e+02] [-5.18676888e-02 8.92846392e-01 -4.47364575e-01 -1.71642644e+02] [-9.95842914e-01 -1.26538877e-02 9.02040409e-02 -2.72219083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.64, Z:-272.24 [[ 7.42429607e-02 4.47852022e-01 8.91019949e-01 2.95655829e+02] [-4.98423083e-02 8.94035568e-01 -4.45214720e-01 -1.71642197e+02] [-9.95993839e-01 -1.13564321e-02 8.86978261e-02 -2.72243751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-171.71, Z:-272.27 [[ 7.61561203e-02 3.53788076e-01 9.32220061e-01 2.95675144e+02] [-5.09421140e-02 9.35094749e-01 -3.50717424e-01 -1.71706533e+02] [-9.95793727e-01 -2.07799823e-02 8.92359007e-02 -2.72272508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.63, Z:-272.30 [[ 7.31007945e-02 4.70423629e-01 8.79407689e-01 2.95658247e+02] [-4.85117357e-02 8.82400244e-01 -4.67991903e-01 -1.71627648e+02] [-9.96144008e-01 -8.45101342e-03 8.73252256e-02 -2.72301160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-171.71, Z:-272.33 [[ 7.67498426e-02 3.52126684e-01 9.32800225e-01 2.95679102e+02] [-4.90128744e-02 9.35761153e-01 -3.49211688e-01 -1.71708337e+02] [-9.95844968e-01 -1.89172782e-02 8.90782621e-02 -2.72329400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.62, Z:-272.36 [[ 7.47124041e-02 4.79888096e-01 8.74142707e-01 2.95660807e+02] [-4.58740736e-02 8.77318626e-01 -4.77710789e-01 -1.71621850e+02] [-9.96149400e-01 -4.40956538e-03 8.75610055e-02 -2.72357541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-171.71, Z:-272.38 [[ 7.96144979e-02 3.49046868e-01 9.33717203e-01 2.95682069e+02] [-4.21239560e-02 9.37031852e-01 -3.46694218e-01 -1.71707623e+02] [-9.95935291e-01 -1.17299763e-02 8.93045554e-02 -2.72381960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.71, Z:-272.41 [[ 8.05285734e-02 3.45661084e-01 9.34897622e-01 2.95685043e+02] [-4.06519767e-02 9.38302341e-01 -3.43418307e-01 -1.71710906e+02] [-9.95922972e-01 -1.03504500e-02 8.96119553e-02 -2.72409777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.71, Z:-272.44 [[ 8.06091202e-02 3.42263972e-01 9.36139703e-01 2.95687834e+02] [-3.91976137e-02 9.39558048e-01 -3.40138532e-01 -1.71714206e+02] [-9.95974757e-01 -9.27617465e-03 8.91528786e-02 -2.72436251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.72, Z:-272.47 [[ 8.10442636e-02 3.40699662e-01 9.36672604e-01 2.95690853e+02] [-3.74751088e-02 9.40141057e-01 -3.38718776e-01 -1.71716480e+02] [-9.96005745e-01 -7.65069399e-03 8.89607965e-02 -2.72465838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.72, Z:-272.49 [[ 8.12651019e-02 3.40215917e-01 9.36829287e-01 2.95692991e+02] [-3.66717620e-02 9.40322301e-01 -3.38303342e-01 -1.71717329e+02] [-9.96017653e-01 -6.86292508e-03 8.88917048e-02 -2.72494609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.72, Z:-272.52 [[ 8.17535980e-02 3.39322824e-01 9.37110650e-01 2.95695000e+02] [-3.60206020e-02 9.40649772e-01 -3.37461882e-01 -1.71718356e+02] [-9.96001439e-01 -6.16656669e-03 8.91241158e-02 -2.72522280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.72, Z:-272.55 [[ 8.22376192e-02 3.38039814e-01 9.37531897e-01 2.95696734e+02] [-3.56043584e-02 9.41114359e-01 -3.36208406e-01 -1.71719692e+02] [-9.95976558e-01 -5.73124282e-03 8.94306950e-02 -2.72549008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.72, Z:-272.58 [[ 8.24383487e-02 3.36609841e-01 9.38028642e-01 2.95699409e+02] [-3.57377045e-02 9.41625561e-01 -3.34759792e-01 -1.71722071e+02] [-9.95955187e-01 -5.92594594e-03 8.96557194e-02 -2.72578988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.72, Z:-272.61 [[ 8.23178696e-02 3.36616331e-01 9.38036894e-01 2.95701447e+02] [-3.57762614e-02 9.41622757e-01 -3.34763562e-01 -1.71723052e+02] [-9.95963768e-01 -6.00242987e-03 8.95552531e-02 -2.72607397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.73, Z:-272.64 [[ 8.22935161e-02 3.36222628e-01 9.38180218e-01 2.95703545e+02] [-3.75254742e-02 9.41751039e-01 -3.34210741e-01 -1.71726478e+02] [-9.95901409e-01 -7.70228061e-03 9.01169178e-02 -2.72638534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.68, Z:-272.67 [[ 8.07461650e-02 4.18951794e-01 9.04411107e-01 2.95690391e+02] [-3.93690824e-02 9.08006433e-01 -4.17102376e-01 -1.71675180e+02] [-9.95956893e-01 -1.92641815e-03 8.98117850e-02 -2.72667517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.67, Z:-272.69 [[ 8.02920799e-02 4.19356460e-01 9.04263978e-01 2.95692888e+02] [-3.93506953e-02 9.07819318e-01 -4.17511208e-01 -1.71672851e+02] [-9.95994330e-01 -2.06057294e-03 8.93926694e-02 -2.72692074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-171.73, Z:-272.72 [[ 8.11840308e-02 3.37490295e-01 9.37821654e-01 2.95709536e+02] [-3.91703267e-02 9.41280966e-01 -3.35344342e-01 -1.71725455e+02] [-9.95929133e-01 -9.51017514e-03 8.96365881e-02 -2.72717450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-171.73, Z:-272.74 [[ 8.08489795e-02 3.34299835e-01 9.38992579e-01 2.95712602e+02] [-3.93938582e-02 9.42412240e-01 -3.32125418e-01 -1.71728900e+02] [-9.95947572e-01 -1.01385394e-02 8.93624281e-02 -2.72744923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-171.73, Z:-272.77 [[ 7.97332624e-02 3.31117407e-01 9.40214800e-01 2.95715814e+02] [-3.94434411e-02 9.43527089e-01 -3.28938971e-01 -1.71733020e+02] [-9.96035553e-01 -1.08579298e-02 8.82909029e-02 -2.72771932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-171.74, Z:-272.80 [[ 7.91567543e-02 3.29712490e-01 9.40757079e-01 2.95718483e+02] [-4.01963546e-02 9.44006470e-01 -3.27469139e-01 -1.71737450e+02] [-9.96051435e-01 -1.18936109e-02 8.79777284e-02 -2.72803077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.68, Z:-272.83 [[ 7.67125710e-02 4.18460202e-01 9.04989636e-01 2.95704222e+02] [-3.84453805e-02 9.08230736e-01 -4.16699991e-01 -1.71679956e+02] [-9.96311766e-01 -2.82654325e-03 8.57605765e-02 -2.72830776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-171.74, Z:-272.86 [[ 7.77227919e-02 3.25182855e-01 9.42451738e-01 2.95723425e+02] [-3.74420108e-02 9.45596482e-01 -3.23180120e-01 -1.71739186e+02] [-9.96271682e-01 -1.01688270e-02 8.56698985e-02 -2.72855027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-171.74, Z:-272.88 [[ 7.81691191e-02 3.23032896e-01 9.43153931e-01 2.95725611e+02] [-3.71144320e-02 9.46335863e-01 -3.21046652e-01 -1.71741034e+02] [-9.96249019e-01 -9.90868845e-03 8.59634232e-02 -2.72882640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-171.74, Z:-272.91 [[ 8.11009497e-02 3.19930449e-01 9.43963529e-01 2.95727128e+02] [-3.73586607e-02 9.47393556e-01 -3.17883280e-01 -1.71743536e+02] [-9.96005505e-01 -9.48457723e-03 8.87866903e-02 -2.72910200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-171.75, Z:-272.94 [[ 8.16965050e-02 3.16769899e-01 9.44977520e-01 2.95729825e+02] [-3.81785700e-02 9.48445687e-01 -3.14631811e-01 -1.71745460e+02] [-9.95925739e-01 -1.03735710e-02 8.95785196e-02 -2.72938182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-171.75, Z:-272.97 [[ 8.18247145e-02 3.13451356e-01 9.46072388e-01 2.95732700e+02] [-3.79087561e-02 9.49547411e-01 -3.11324011e-01 -1.71748080e+02] [-9.95925521e-01 -1.03904291e-02 8.95789968e-02 -2.72966573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.75, Z:-272.99 [[ 8.19491221e-02 3.10332446e-01 9.47089285e-01 2.95735540e+02] [-3.76400633e-02 9.50571308e-01 -3.08216504e-01 -1.71750569e+02] [-9.95925483e-01 -1.03904287e-02 8.95794171e-02 -2.72994969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.75, Z:-273.03 [[ 8.18711433e-02 3.07321837e-01 9.48077214e-01 2.95738398e+02] [-3.87774770e-02 9.51532651e-01 -3.05093300e-01 -1.71752760e+02] [-9.95888258e-01 -1.17857051e-02 8.98202315e-02 -2.73027436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.75, Z:-273.06 [[ 8.17807369e-02 3.10735408e-01 9.46971709e-01 2.95740120e+02] [-3.89213892e-02 9.50425330e-01 -3.08507404e-01 -1.71751606e+02] [-9.95890073e-01 -1.16274916e-02 8.98207376e-02 -2.73060899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.75, Z:-273.09 [[ 8.17191948e-02 3.12237590e-01 9.46482784e-01 2.95742264e+02] [-3.90506616e-02 9.49932887e-01 -3.10004124e-01 -1.71751605e+02] [-9.95890064e-01 -1.16274915e-02 8.98208351e-02 -2.73094302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.75, Z:-273.12 [[ 8.20213298e-02 3.13785465e-01 9.45944599e-01 2.95744631e+02] [-3.97968965e-02 9.49416843e-01 -3.11486541e-01 -1.71750653e+02] [-9.95835684e-01 -1.20971190e-02 9.03601197e-02 -2.73124208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-171.75, Z:-273.15 [[ 8.20057603e-02 3.13439394e-01 9.46060676e-01 2.95746742e+02] [-4.06906033e-02 9.49519394e-01 -3.11058188e-01 -1.71750689e+02] [-9.95800849e-01 -1.29872165e-02 9.06200978e-02 -2.73151222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-171.75, Z:-273.18 [[ 8.17337185e-02 3.12060905e-01 9.46539799e-01 2.95749234e+02] [-4.16348480e-02 9.49957390e-01 -3.09592468e-01 -1.71751356e+02] [-9.95784183e-01 -1.41048970e-02 9.06361583e-02 -2.73179171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-171.75, Z:-273.21 [[ 8.14176078e-02 3.08772614e-01 9.47644789e-01 2.95752218e+02] [-4.18682430e-02 9.51021664e-01 -3.06275766e-01 -1.71754045e+02] [-9.95800293e-01 -1.47399821e-02 9.03576757e-02 -2.73206508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-171.76, Z:-273.23 [[ 8.13569078e-02 3.07532265e-01 9.48053247e-01 2.95754849e+02] [-4.19606436e-02 9.51419965e-01 -3.05023530e-01 -1.71755747e+02] [-9.95801365e-01 -1.49651532e-02 9.03088381e-02 -2.73233418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:-171.76, Z:-273.26 [[ 8.05688064e-02 3.05246338e-01 9.48858968e-01 2.95757455e+02] [-4.16467449e-02 9.52153331e-01 -3.02769852e-01 -1.71757854e+02] [-9.95878615e-01 -1.51230818e-02 8.94263737e-02 -2.73261704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:-171.76, Z:-273.29 [[ 8.02582460e-02 3.01938533e-01 9.49943017e-01 2.95760260e+02] [-4.16760084e-02 9.53200464e-01 -2.99452811e-01 -1.71760579e+02] [-9.95902467e-01 -1.55562758e-02 8.90857902e-02 -2.73288440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-171.77, Z:-273.32 [[ 8.18761077e-02 2.90754193e-01 9.53288153e-01 2.95768868e+02] [-4.35784728e-02 9.56629205e-01 -2.88030347e-01 -1.71772223e+02] [-9.95689319e-01 -1.79600381e-02 9.09956995e-02 -2.73322932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-171.70, Z:-273.36 [[ 7.65877735e-02 3.95854291e-01 9.15114033e-01 2.95746457e+02] [-4.19047592e-02 9.18276778e-01 -3.93715316e-01 -1.71704482e+02] [-9.96181863e-01 -8.19385369e-03 8.69169527e-02 -2.73355967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-171.76, Z:-273.38 [[ 7.85124953e-02 3.05316937e-01 9.49008618e-01 2.95766147e+02] [-4.17212387e-02 9.52119453e-01 -3.02866119e-01 -1.71761553e+02] [-9.96039721e-01 -1.58150403e-02 8.74914749e-02 -2.73380472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-171.76, Z:-273.41 [[ 7.80680588e-02 3.03075541e-01 9.49763442e-01 2.95768502e+02] [-4.20807225e-02 9.52823681e-01 -3.00593158e-01 -1.71764278e+02] [-9.96059532e-01 -1.65000075e-02 8.71387328e-02 -2.73408057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-171.77, Z:-273.44 [[ 7.81939360e-02 3.01844323e-01 9.50145101e-01 2.95770847e+02] [-4.24779133e-02 9.53206447e-01 -2.99321061e-01 -1.71765623e+02] [-9.96032798e-01 -1.69550894e-02 8.73566809e-02 -2.73435065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-171.77, Z:-273.47 [[ 7.82152067e-02 2.99621472e-01 9.50846652e-01 2.95773535e+02] [-4.34016136e-02 9.53887634e-01 -2.97009565e-01 -1.71767564e+02] [-9.95991306e-01 -1.80376144e-02 8.76125738e-02 -2.73467491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-171.77, Z:-273.50 [[ 7.83637788e-02 3.03149591e-01 9.49715454e-01 2.95775098e+02] [-4.45193870e-02 9.52758767e-01 -3.00447594e-01 -1.71765739e+02] [-9.95930290e-01 -1.87365411e-02 8.81578112e-02 -2.73499708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-171.76, Z:-273.53 [[ 7.87698957e-02 3.06194726e-01 9.48704429e-01 2.95775815e+02] [-4.56789798e-02 9.51770437e-01 -3.03391606e-01 -1.71763488e+02] [-9.95845738e-01 -1.94377253e-02 8.89575208e-02 -2.73529562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-171.74, Z:-273.56 [[ 7.78289064e-02 3.45550877e-01 9.35166965e-01 2.95769828e+02] [-4.59973103e-02 9.38257913e-01 -3.42864896e-01 -1.71738963e+02] [-9.95905070e-01 -1.63303652e-02 8.89179981e-02 -2.73558203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-171.77, Z:-273.59 [[ 7.91879420e-02 3.01116482e-01 9.50293709e-01 2.95781364e+02] [-4.63256512e-02 9.53368990e-01 -2.98230621e-01 -1.71766800e+02] [-9.95782709e-01 -2.04067058e-02 8.94447454e-02 -2.73589869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-171.77, Z:-273.62 [[ 7.89305206e-02 3.04514864e-01 9.49231621e-01 2.95782926e+02] [-4.62184409e-02 9.52296280e-01 -3.01654855e-01 -1.71765825e+02] [-9.95808129e-01 -2.00622308e-02 8.92394433e-02 -2.73618735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.77, Z:-273.65 [[ 7.82559841e-02 3.03693690e-01 9.49550495e-01 2.95785481e+02] [-4.64966098e-02 9.52546783e-01 -3.00820032e-01 -1.71767490e+02] [-9.95848415e-01 -2.06099113e-02 8.86632129e-02 -2.73651551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.77, Z:-273.68 [[ 7.72119331e-02 3.07139415e-01 9.48527120e-01 2.95787428e+02] [-4.69016779e-02 9.51432918e-01 -3.04262445e-01 -1.71766635e+02] [-9.95910915e-01 -2.09948219e-02 8.78673287e-02 -2.73684922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.77, Z:-273.72 [[ 7.70920241e-02 3.10562275e-01 9.47421708e-01 2.95789154e+02] [-4.70288510e-02 9.50324648e-01 -3.07687097e-01 -1.71765472e+02] [-9.95914207e-01 -2.08359333e-02 8.78678377e-02 -2.73718385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.76, Z:-273.75 [[ 7.64734720e-02 3.12097092e-01 9.46967377e-01 2.95791009e+02] [-4.75390062e-02 9.49809777e-01 -3.09194808e-01 -1.71764961e+02] [-9.95937674e-01 -2.13726875e-02 8.74720370e-02 -2.73750840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.76, Z:-273.78 [[ 7.62138813e-02 3.15531049e-01 9.45849672e-01 2.95792381e+02] [-4.78218853e-02 9.48673772e-01 -3.12619804e-01 -1.71763507e+02] [-9.95944030e-01 -2.14063460e-02 8.73913999e-02 -2.73780743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.76, Z:-273.81 [[ 7.76027704e-02 3.15766281e-01 9.45658218e-01 2.95793557e+02] [-4.85385464e-02 9.48590435e-01 -3.12762204e-01 -1.71763837e+02] [-9.95802099e-01 -2.16296618e-02 8.89400820e-02 -2.73809284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-171.76, Z:-273.84 [[ 7.85520598e-02 3.14959529e-01 9.45848862e-01 2.95795336e+02] [-4.89848632e-02 9.48853960e-01 -3.11892043e-01 -1.71764987e+02] [-9.95705809e-01 -2.18325147e-02 8.99626824e-02 -2.73836069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-171.77, Z:-273.87 [[ 7.91619874e-02 3.12896332e-01 9.46482575e-01 2.95797994e+02] [-5.02634393e-02 9.49507363e-01 -3.09692355e-01 -1.71767594e+02] [-9.95593776e-01 -2.30576072e-02 9.08921357e-02 -2.73868705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-171.77, Z:-273.90 [[ 7.88110086e-02 3.16367197e-01 9.45357404e-01 2.95799980e+02] [-5.10163419e-02 9.48344403e-01 -3.13113759e-01 -1.71766906e+02] [-9.95583325e-01 -2.35518653e-02 9.08798760e-02 -2.73899540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-171.77, Z:-273.93 [[ 7.81457372e-02 3.19177841e-01 9.44467442e-01 2.95802004e+02] [-5.17750185e-02 9.47385420e-01 -3.15880063e-01 -1.71766259e+02] [-9.95596601e-01 -2.42151389e-02 9.05595707e-02 -2.73927732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-171.77, Z:-273.96 [[ 7.70378127e-02 3.18012995e-01 9.44951274e-01 2.95804948e+02] [-5.27425829e-02 9.47740693e-01 -3.14651868e-01 -1.71767667e+02] [-9.95632159e-01 -2.55990792e-02 8.97846968e-02 -2.73957866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45655999499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.81, Y:-171.77, Z:-273.99 [[ 7.62412428e-02 3.18075623e-01 9.44994800e-01 2.95807803e+02] [-5.35487398e-02 9.47691747e-01 -3.14663129e-01 -1.71768069e+02] [-9.95650443e-01 -2.66129726e-02 8.92857454e-02 -2.73991098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-171.77, Z:-274.02 [[ 7.50587562e-02 3.21494236e-01 9.43932010e-01 2.95809114e+02] [-5.35883052e-02 9.46534861e-01 -3.18119555e-01 -1.71765794e+02] [-9.95738157e-01 -2.67060585e-02 8.82740606e-02 -2.74019815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-171.77, Z:-274.05 [[ 7.52996026e-02 3.20808920e-01 9.44145967e-01 2.95811199e+02] [-5.29294277e-02 9.46785174e-01 -3.17484345e-01 -1.71766814e+02] [-9.95755214e-01 -2.60666607e-02 8.82727799e-02 -2.74049282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-171.77, Z:-274.08 [[ 7.53436199e-02 3.20354362e-01 9.44296787e-01 2.95813309e+02] [-5.25045876e-02 9.46949339e-01 -3.17065005e-01 -1.71768064e+02] [-9.95774376e-01 -2.56910881e-02 8.81666648e-02 -2.74078002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-171.77, Z:-274.11 [[ 7.45971596e-02 3.19491046e-01 9.44648472e-01 2.95816297e+02] [-5.21656666e-02 9.47241073e-01 -3.16248467e-01 -1.71769671e+02] [-9.95848386e-01 -2.56869799e-02 8.73279569e-02 -2.74105751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-171.78, Z:-274.14 [[ 7.77093654e-02 3.03512714e-01 9.49653246e-01 2.95827243e+02] [-5.51835653e-02 9.52382839e-01 -2.99869475e-01 -1.71784300e+02] [-9.95447652e-01 -2.91025853e-02 9.07579797e-02 -2.74139406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-171.72, Z:-274.17 [[ 7.07172359e-02 3.97424197e-01 9.14906050e-01 2.95806666e+02] [-5.24085896e-02 9.17415861e-01 -3.94463532e-01 -1.71721838e+02] [-9.96118674e-01 -2.00535651e-02 8.57055555e-02 -2.74171755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-171.77, Z:-274.20 [[ 7.30738805e-02 3.21061673e-01 9.44234934e-01 2.95822994e+02] [-5.24538598e-02 9.46692954e-01 -3.17838078e-01 -1.71769446e+02] [-9.95946184e-01 -2.63031051e-02 8.60194518e-02 -2.74196044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-171.77, Z:-274.22 [[ 7.30567402e-02 3.18758717e-01 9.45016187e-01 2.95825578e+02] [-5.22526920e-02 9.47470200e-01 -3.15546949e-01 -1.71771043e+02] [-9.95958016e-01 -2.63268083e-02 8.58750853e-02 -2.74224718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-171.77, Z:-274.25 [[ 7.30335386e-02 3.17909628e-01 9.45303957e-01 2.95828081e+02] [-5.21702734e-02 9.47755268e-01 -3.14703374e-01 -1.71771701e+02] [-9.95964038e-01 -2.63328649e-02 8.58033532e-02 -2.74251744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-171.78, Z:-274.28 [[ 7.53654000e-02 3.08259473e-01 9.48312266e-01 2.95836014e+02] [-5.34449498e-02 9.50898739e-01 -3.04852794e-01 -1.71779266e+02] [-9.95722699e-01 -2.77071486e-02 8.81397758e-02 -2.74284190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-171.75, Z:-274.32 [[ 7.20831724e-02 3.46801564e-01 9.35164526e-01 2.95827941e+02] [-5.22326552e-02 9.37629575e-01 -3.43689584e-01 -1.71754841e+02] [-9.96030003e-01 -2.40718907e-02 8.57016808e-02 -2.74316299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-171.77, Z:-274.34 [[ 7.29805573e-02 3.22321304e-01 9.43812913e-01 2.95835115e+02] [-5.12404450e-02 9.46298421e-01 -3.19207950e-01 -1.71769841e+02] [-9.96016192e-01 -2.50654196e-02 8.55772732e-02 -2.74343656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-171.77, Z:-274.37 [[ 7.32575708e-02 3.20978150e-01 9.44249096e-01 2.95837783e+02] [-5.01723997e-02 9.46780345e-01 -3.17946077e-01 -1.71770706e+02] [-9.96050229e-01 -2.40832858e-02 8.54630723e-02 -2.74372377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-171.77, Z:-274.40 [[ 7.33546370e-02 3.20058194e-01 9.44553783e-01 2.95840594e+02] [-4.91796569e-02 9.47113986e-01 -3.17106385e-01 -1.71771659e+02] [-9.96092595e-01 -2.31916072e-02 8.52155548e-02 -2.74404768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-171.77, Z:-274.43 [[ 7.40962538e-02 3.23254490e-01 9.43406742e-01 2.95842130e+02] [-4.66775263e-02 9.46094582e-01 -3.20509361e-01 -1.71769277e+02] [-9.96158097e-01 -2.02873500e-02 8.51907843e-02 -2.74432178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-171.77, Z:-274.46 [[ 7.44577110e-02 3.22035971e-01 9.43794937e-01 2.95844381e+02] [-4.44794012e-02 9.46552621e-01 -3.19467869e-01 -1.71770543e+02] [-9.96231716e-01 -1.81925873e-02 8.48021086e-02 -2.74461051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-171.77, Z:-274.49 [[ 7.55336543e-02 3.20802156e-01 9.44129569e-01 2.95846945e+02] [-3.94508029e-02 9.47054539e-01 -3.18639818e-01 -1.71771948e+02] [-9.96362535e-01 -1.31786397e-02 8.41903928e-02 -2.74487602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-171.77, Z:-274.52 [[ 7.61352077e-02 3.19134687e-01 9.44646220e-01 2.95849626e+02] [-3.68413093e-02 9.47649490e-01 -3.17180015e-01 -1.71773573e+02] [-9.96416654e-01 -1.06534372e-02 8.39068305e-02 -2.74515783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-171.78, Z:-274.54 [[ 7.73903518e-02 3.15472118e-01 9.45773798e-01 2.95852792e+02] [-3.25998957e-02 9.48912289e-01 -3.13851423e-01 -1.71775821e+02] [-9.96467752e-01 -6.54305513e-03 8.37210140e-02 -2.74543665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:-171.78, Z:-274.57 [[ 7.81075402e-02 3.14019388e-01 9.46198201e-01 2.95855374e+02] [-3.02332349e-02 9.49407320e-01 -3.12588696e-01 -1.71775853e+02] [-9.96486409e-01 -4.19109834e-03 8.36496923e-02 -2.74570986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:-171.78, Z:-274.60 [[ 7.83872139e-02 3.11695010e-01 9.46943327e-01 2.95857953e+02] [-2.97219672e-02 9.50174519e-01 -3.10298226e-01 -1.71776774e+02] [-9.96479829e-01 -3.82160515e-03 8.37457221e-02 -2.74598623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:-171.78, Z:-274.63 [[ 7.94982719e-02 3.10387012e-01 9.47280279e-01 2.95860513e+02] [-2.92155948e-02 9.50605197e-01 -3.09024609e-01 -1.71775425e+02] [-9.96406781e-01 -3.10843443e-03 8.46396116e-02 -2.74625730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:-171.78, Z:-274.65 [[ 7.97322395e-02 3.08940393e-01 9.47733403e-01 2.95863113e+02] [-2.92485871e-02 9.51076030e-01 -3.07569350e-01 -1.71775821e+02] [-9.96387119e-01 -3.19666984e-03 8.48674918e-02 -2.74652637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-171.78, Z:-274.68 [[ 7.97918671e-02 3.07497281e-01 9.48197595e-01 2.95865567e+02] [-2.90803484e-02 9.51543756e-01 -3.06135287e-01 -1.71777280e+02] [-9.96387270e-01 -3.14681034e-03 8.48675810e-02 -2.74681057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-171.78, Z:-274.71 [[ 8.03680124e-02 3.05475406e-01 9.48802276e-01 2.95868239e+02] [-2.93923276e-02 9.52193719e-01 -3.04077643e-01 -1.71778816e+02] [-9.96331809e-01 -3.44939152e-03 8.55045497e-02 -2.74712050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-171.78, Z:-274.74 [[ 8.03387555e-02 3.05904690e-01 9.48666435e-01 2.95870573e+02] [-2.94784212e-02 9.52055701e-01 -3.04501175e-01 -1.71779400e+02] [-9.96331625e-01 -3.50194337e-03 8.55045575e-02 -2.74744602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-171.78, Z:-274.77 [[ 8.10419142e-02 3.06991991e-01 9.48255306e-01 2.95872502e+02] [-3.00450680e-02 9.51704794e-01 -3.05540963e-01 -1.71779109e+02] [-9.96257749e-01 -3.72877071e-03 8.63515735e-02 -2.74772410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-171.78, Z:-274.80 [[ 8.15139814e-02 3.05976214e-01 9.48543108e-01 2.95874862e+02] [-3.05812374e-02 9.52029942e-01 -3.04472950e-01 -1.71780175e+02] [-9.96202921e-01 -4.18881955e-03 8.69608823e-02 -2.74803561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-171.78, Z:-274.84 [[ 8.14950035e-02 3.06401687e-01 9.48407386e-01 2.95877144e+02] [-3.06341830e-02 9.51893016e-01 -3.04895446e-01 -1.71780713e+02] [-9.96202847e-01 -4.20623001e-03 8.69608900e-02 -2.74835292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-171.78, Z:-274.86 [[ 8.18550098e-02 3.07072871e-01 9.48159274e-01 2.95879795e+02] [-3.12211376e-02 9.51674914e-01 -3.05516119e-01 -1.71780521e+02] [-9.96155107e-01 -4.59458632e-03 8.74865237e-02 -2.74863365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-171.78, Z:-274.90 [[ 8.19254051e-02 3.06077157e-01 9.48475093e-01 2.95882797e+02] [-3.18983981e-02 9.51991889e-01 -3.04456789e-01 -1.71782021e+02] [-9.96127863e-01 -5.31209034e-03 8.77556921e-02 -2.74895834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-171.78, Z:-274.92 [[ 8.20507973e-02 3.09498813e-01 9.47353235e-01 2.95884245e+02] [-3.22018216e-02 9.50885358e-01 -3.07863734e-01 -1.71780339e+02] [-9.96107780e-01 -5.24603505e-03 8.79873273e-02 -2.74924405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-171.78, Z:-274.95 [[ 8.16893154e-02 3.08908531e-01 9.47577108e-01 2.95887320e+02] [-3.26133666e-02 9.51074031e-01 -3.07236969e-01 -1.71781386e+02] [-9.96124101e-01 -5.80570190e-03 8.77671336e-02 -2.74953112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-171.78, Z:-274.98 [[ 8.10999588e-02 3.08073990e-01 9.47899369e-01 2.95890154e+02] [-3.25011240e-02 9.51343746e-01 -3.06412720e-01 -1.71782559e+02] [-9.96175925e-01 -5.95773599e-03 8.71666896e-02 -2.74981597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-171.78, Z:-275.01 [[ 8.04211894e-02 3.07242316e-01 9.48227078e-01 2.95893366e+02] [-3.24540504e-02 9.51611130e-01 -3.05586310e-01 -1.71783649e+02] [-9.96232486e-01 -6.19819490e-03 8.65009564e-02 -2.75009741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-171.79, Z:-275.04 [[ 8.04294153e-02 3.05982708e-01 9.48633592e-01 2.95896250e+02] [-3.23795191e-02 9.52016625e-01 -3.04328627e-01 -1.71785188e+02] [-9.96234248e-01 -6.23932601e-03 8.64777134e-02 -2.75037386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-171.79, Z:-275.07 [[ 8.05401506e-02 3.04720886e-01 9.49030277e-01 2.95899018e+02] [-3.23818539e-02 9.52420708e-01 -3.03061398e-01 -1.71786561e+02] [-9.96225225e-01 -6.32274913e-03 8.65755344e-02 -2.75066003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-171.79, Z:-275.09 [[ 8.04830247e-02 3.03882344e-01 9.49303958e-01 2.95901460e+02] [-3.23756396e-02 9.52687999e-01 -3.02220770e-01 -1.71787549e+02] [-9.96230044e-01 -6.41068108e-03 8.65135970e-02 -2.75093382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-171.79, Z:-275.12 [[ 8.07481579e-02 3.01621631e-01 9.50002172e-01 2.95903950e+02] [-3.28051179e-02 9.53402393e-01 -2.99912822e-01 -1.71788402e+02] [-9.96194539e-01 -6.94752528e-03 8.68802202e-02 -2.75120924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-171.79, Z:-275.15 [[ 8.07928999e-02 3.00350131e-01 9.50401129e-01 2.95906427e+02] [-3.26942398e-02 9.53803742e-01 -2.98646127e-01 -1.71789787e+02] [-9.96194556e-01 -6.94415575e-03 8.68802894e-02 -2.75150162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-171.79, Z:-275.18 [[ 8.10416903e-02 2.99147536e-01 9.50759168e-01 2.95909119e+02] [-3.40571566e-02 9.54170902e-01 -2.97318011e-01 -1.71790196e+02] [-9.96128684e-01 -8.28499969e-03 8.75157373e-02 -2.75182901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-171.79, Z:-275.21 [[ 8.06261934e-02 3.02646601e-01 9.49686502e-01 2.95911011e+02] [-3.51672104e-02 9.53058918e-01 -3.00735709e-01 -1.71787847e+02] [-9.96123830e-01 -9.15064959e-03 8.74847493e-02 -2.75214317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-171.79, Z:-275.24 [[ 8.06375711e-02 3.03099148e-01 9.49541199e-01 2.95913108e+02] [-3.55127798e-02 9.52912308e-01 -3.01159386e-01 -1.71787553e+02] [-9.96110649e-01 -9.43608619e-03 8.76044273e-02 -2.75242978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-171.79, Z:-275.28 [[ 8.04174388e-02 3.02293787e-01 9.49816562e-01 2.95915573e+02] [-3.60012304e-02 9.53161884e-01 -3.00310397e-01 -1.71788213e+02] [-9.96110911e-01 -1.00443720e-02 8.75337858e-02 -2.75275961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-171.79, Z:-275.31 [[ 8.08680105e-02 3.05748556e-01 9.48671801e-01 2.95917066e+02] [-3.65574776e-02 9.52058515e-01 -3.03723781e-01 -1.71785298e+02] [-9.96054173e-01 -1.01195102e-02 8.81684740e-02 -2.75308895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-171.78, Z:-275.34 [[ 8.09228311e-02 3.09156883e-01 9.47561880e-01 2.95918546e+02] [-3.64846257e-02 9.50961420e-01 -3.07150208e-01 -1.71783562e+02] [-9.96052392e-01 -9.71597612e-03 8.82339635e-02 -2.75339800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-171.78, Z:-275.37 [[ 8.15637381e-02 3.09059988e-01 9.47538538e-01 2.95920443e+02] [-3.53960537e-02 9.51004673e-01 -3.07143664e-01 -1.71784280e+02] [-9.96039395e-01 -8.48733962e-03 8.85070000e-02 -2.75367412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-171.79, Z:-275.40 [[ 8.18817554e-02 3.07832116e-01 9.47910738e-01 2.95922812e+02] [-3.46457888e-02 9.51408822e-01 -3.05975363e-01 -1.71785932e+02] [-9.96039682e-01 -7.78731538e-03 8.85681109e-02 -2.75395600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-171.79, Z:-275.43 [[ 8.23756562e-02 3.06497777e-01 9.48300250e-01 2.95925494e+02] [-3.37647792e-02 9.51846232e-01 -3.04710832e-01 -1.71787900e+02] [-9.96029212e-01 -6.91839382e-03 8.87577877e-02 -2.75426327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-171.79, Z:-275.46 [[ 8.22386518e-02 3.07133757e-01 9.48106355e-01 2.95926854e+02] [-3.33268622e-02 9.51644278e-01 -3.05389078e-01 -1.71789680e+02] [-9.96055282e-01 -6.48262379e-03 8.84977468e-02 -2.75456695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-171.76, Z:-275.48 [[ 8.22309689e-02 3.53261415e-01 9.31903665e-01 2.95920529e+02] [-3.10825419e-02 9.35524651e-01 -3.51891323e-01 -1.71762162e+02] [-9.96128477e-01 -2.95702528e-05 8.79093612e-02 -2.75483939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-171.79, Z:-275.51 [[ 8.25554863e-02 3.01636780e-01 9.49842011e-01 2.95932225e+02] [-2.97821116e-02 9.53416466e-01 -3.00183391e-01 -1.71794102e+02] [-9.96141364e-01 -3.50651495e-03 8.76931402e-02 -2.75510131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-171.80, Z:-275.54 [[ 8.21956788e-02 3.00335360e-01 9.50285505e-01 2.95934280e+02] [-2.91043986e-02 9.53828678e-01 -2.98937764e-01 -1.71795754e+02] [-9.96191149e-01 -3.08609568e-03 8.71416757e-02 -2.75538056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-171.80, Z:-275.57 [[ 8.11330576e-02 2.99039233e-01 9.50785446e-01 2.95937217e+02] [-2.83082288e-02 9.54236823e-01 -2.97709137e-01 -1.71798213e+02] [-9.96301195e-01 -2.76099942e-03 8.58854222e-02 -2.75570941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-171.80, Z:-275.60 [[ 8.07913070e-02 3.02453627e-01 9.49733946e-01 2.95938860e+02] [-2.84369032e-02 9.53160336e-01 -3.01125750e-01 -1.71797479e+02] [-9.96325302e-01 -2.67914946e-03 8.56079138e-02 -2.75604010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-171.80, Z:-275.63 [[ 8.13400538e-02 3.05854772e-01 9.48597203e-01 2.95940102e+02] [-2.85539856e-02 9.52075362e-01 -3.04527790e-01 -1.71796249e+02] [-9.96277304e-01 -2.31592409e-03 8.61752340e-02 -2.75632311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-171.80, Z:-275.66 [[ 8.21514794e-02 3.05206030e-01 9.48736219e-01 2.95941745e+02] [-2.85689758e-02 9.52283937e-01 -3.03873521e-01 -1.71797571e+02] [-9.96210293e-01 -2.14076279e-03 8.69509579e-02 -2.75662153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-171.80, Z:-275.69 [[ 8.18282757e-02 3.04796437e-01 9.48895814e-01 2.95943773e+02] [-2.86090055e-02 9.52414705e-01 -3.03459642e-01 -1.71799082e+02] [-9.96235744e-01 -2.31538632e-03 8.66543760e-02 -2.75688650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-171.80, Z:-275.72 [[ 8.15572811e-02 3.03354670e-01 9.49381037e-01 2.95946123e+02] [-2.87813869e-02 9.52873908e-01 -3.01998257e-01 -1.71800863e+02] [-9.96253001e-01 -2.69434620e-03 8.64447733e-02 -2.75716639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-171.80, Z:-275.74 [[ 8.12845814e-02 3.00100846e-01 9.50437951e-01 2.95948888e+02] [-2.92639766e-02 9.53900933e-01 -2.98691531e-01 -1.71803532e+02] [-9.96261229e-01 -3.53457790e-03 8.63195822e-02 -2.75743742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-171.80, Z:-275.77 [[ 8.05170833e-02 2.98799714e-01 9.50913104e-01 2.95951491e+02] [-3.06826555e-02 9.54301450e-01 -2.97266408e-01 -1.71804775e+02] [-9.96280871e-01 -5.24151505e-03 8.60055381e-02 -2.75771722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-171.81, Z:-275.80 [[ 8.02796439e-02 2.95630296e-01 9.51923268e-01 2.95954244e+02] [-3.18873358e-02 9.55278556e-01 -2.93983126e-01 -1.71807080e+02] [-9.96262203e-01 -6.75343623e-03 8.61162848e-02 -2.75799915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-171.81, Z:-275.83 [[ 8.02278305e-02 2.94980481e-01 9.52129199e-01 2.95956179e+02] [-3.42855754e-02 9.55459681e-01 -2.93123349e-01 -1.71808043e+02] [-9.96186727e-01 -9.12764709e-03 8.67680328e-02 -2.75826451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-171.81, Z:-275.85 [[ 8.02948895e-02 2.93502736e-01 9.52580115e-01 2.95958656e+02] [-3.41156170e-02 9.55915115e-01 -2.91654621e-01 -1.71809480e+02] [-9.96187159e-01 -9.07948276e-03 8.67681255e-02 -2.75854871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-171.81, Z:-275.88 [[ 8.04999493e-02 2.91531025e-01 9.53168096e-01 2.95960854e+02] [-3.51087908e-02 9.56507492e-01 -2.89587277e-01 -1.71811189e+02] [-9.96136101e-01 -1.01528182e-02 8.72341063e-02 -2.75882615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-171.81, Z:-275.91 [[ 7.97790691e-02 2.88357973e-01 9.54193366e-01 2.95963299e+02] [-3.65508161e-02 9.57447017e-01 -2.86285255e-01 -1.71813452e+02] [-9.96142228e-01 -1.20369751e-02 8.69239510e-02 -2.75911449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-171.81, Z:-275.94 [[ 7.94549119e-02 2.87538862e-01 9.54467558e-01 2.95965492e+02] [-3.68155792e-02 9.57687928e-01 -2.85444294e-01 -1.71814620e+02] [-9.96158386e-01 -1.24593247e-02 8.66789197e-02 -2.75940110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-171.82, Z:-275.97 [[ 7.91986974e-02 2.86707354e-01 9.54738948e-01 2.95967796e+02] [-3.69783598e-02 9.57933167e-01 -2.84599100e-01 -1.71816041e+02] [-9.96172760e-01 -1.27648023e-02 8.64690268e-02 -2.75966778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-171.82, Z:-275.99 [[ 7.89280388e-02 2.85193529e-01 9.55214644e-01 2.95970277e+02] [-3.64452216e-02 9.58388881e-01 -2.83129828e-01 -1.71818266e+02] [-9.96213888e-01 -1.24661273e-02 8.60376962e-02 -2.75994241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-171.82, Z:-276.02 [[ 7.68989985e-02 2.88167897e-01 9.54487196e-01 2.95968827e+02] [-3.54475236e-02 9.57506898e-01 -2.86223714e-01 -1.71817241e+02] [-9.96408559e-01 -1.18238905e-02 8.38461598e-02 -2.76024366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-171.80, Z:-276.05 [[ 7.72456788e-02 3.25437751e-01 9.42402979e-01 2.95965886e+02] [-3.39874783e-02 9.45537387e-01 -3.23734307e-01 -1.71796415e+02] [-9.96432615e-01 -7.02282449e-03 8.40994858e-02 -2.76050818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-171.83, Z:-276.08 [[ 7.82228235e-02 2.77454045e-01 9.57549186e-01 2.95977973e+02] [-3.27566268e-02 9.60688916e-01 -2.75687885e-01 -1.71825915e+02] [-9.96397608e-01 -9.80099656e-03 8.42362581e-02 -2.76076494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-171.83, Z:-276.10 [[ 7.87435556e-02 2.75798451e-01 9.57984690e-01 2.95979744e+02] [-3.05807094e-02 9.61184615e-01 -2.74206046e-01 -1.71827460e+02] [-9.96425749e-01 -7.70389241e-03 8.41212065e-02 -2.76103235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-171.83, Z:-276.13 [[ 7.88191190e-02 2.74229899e-01 9.58428667e-01 2.95981716e+02] [-2.90104981e-02 9.61643491e-01 -2.72763978e-01 -1.71828951e+02] [-9.96466727e-01 -6.30547659e-03 8.37514387e-02 -2.76130775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-171.83, Z:-276.16 [[ 7.91767144e-02 2.72832784e-01 9.58797851e-01 2.95984241e+02] [-2.74325497e-02 9.62049464e-01 -2.71492697e-01 -1.71830701e+02] [-9.96483067e-01 -4.80636996e-03 8.36564145e-02 -2.76159112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-171.83, Z:-276.19 [[ 8.02080196e-02 2.71329170e-01 9.59138757e-01 2.95986380e+02] [-2.47075492e-02 9.62484484e-01 -2.70209467e-01 -1.71832791e+02] [-9.96471882e-01 -2.02500179e-03 8.39028531e-02 -2.76187442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-171.83, Z:-276.22 [[ 8.02346558e-02 2.70473826e-01 9.59378085e-01 2.95988754e+02] [-2.46195945e-02 9.62725235e-01 -2.69358491e-01 -1.71833804e+02] [-9.96471914e-01 -2.00761358e-03 8.39028838e-02 -2.76215856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-171.83, Z:-276.24 [[ 8.24423278e-02 2.69211561e-01 9.59545933e-01 2.95989972e+02] [-2.26443367e-02 9.63080986e-01 -2.68257803e-01 -1.71834892e+02] [-9.96338545e-01 3.87516536e-04 8.54947556e-02 -2.76243569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-171.84, Z:-276.27 [[ 8.29923253e-02 2.67824280e-01 9.59886675e-01 2.95991951e+02] [-2.12673549e-02 9.63466198e-01 -2.66984239e-01 -1.71836628e+02] [-9.96323228e-01 1.74339222e-03 8.56562142e-02 -2.76271160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-171.84, Z:-276.30 [[ 8.31391442e-02 2.66512875e-01 9.60238913e-01 2.95994170e+02] [-2.07641276e-02 9.63828955e-01 -2.65711492e-01 -1.71838074e+02] [-9.96321602e-01 2.15250269e-03 8.56658218e-02 -2.76297711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-171.84, Z:-276.33 [[ 8.27393341e-02 2.65056398e-01 9.60676485e-01 2.95996672e+02] [-2.08193539e-02 9.64231111e-01 -2.64244051e-01 -1.71839503e+02] [-9.96353731e-01 1.86271304e-03 8.52981430e-02 -2.76330513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-171.84, Z:-276.36 [[ 8.43991381e-02 2.62085394e-01 9.61346988e-01 2.96001163e+02] [-2.25469331e-02 9.65044618e-01 -2.61113999e-01 -1.71843931e+02] [-9.96176903e-01 3.62370207e-04 8.73581559e-02 -2.76360664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-171.79, Z:-276.39 [[ 8.29606519e-02 3.42515441e-01 9.35842242e-01 2.95984272e+02] [-2.19393448e-02 9.39479549e-01 -3.41901803e-01 -1.71792942e+02] [-9.96311294e-01 7.83263087e-03 8.54544002e-02 -2.76389029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-171.84, Z:-276.41 [[ 8.30502966e-02 2.64154489e-01 9.60898046e-01 2.96001656e+02] [-2.23130750e-02 9.64480290e-01 -2.63210746e-01 -1.71839721e+02] [-9.96295526e-01 4.19140307e-04 8.59944731e-02 -2.76414976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-171.84, Z:-276.45 [[ 8.27704726e-02 2.63170504e-01 9.61192142e-01 2.96004122e+02] [-2.31953058e-02 9.64749154e-01 -2.62146998e-01 -1.71840909e+02] [-9.96298663e-01 -5.97114767e-04 8.59570637e-02 -2.76447510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-171.84, Z:-276.48 [[ 8.17557946e-02 2.66765968e-01 9.60287409e-01 2.96005734e+02] [-2.45591715e-02 9.63759532e-01 -2.65639628e-01 -1.71838894e+02] [-9.96349757e-01 -1.86628430e-03 8.53444775e-02 -2.76479376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-171.84, Z:-276.51 [[ 8.06947791e-02 2.70044874e-01 9.59460327e-01 2.96007331e+02] [-2.49461903e-02 9.62845141e-01 -2.68899464e-01 -1.71837444e+02] [-9.96426636e-01 -2.23609707e-03 8.44331668e-02 -2.76505979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-171.84, Z:-276.53 [[ 8.07695932e-02 2.68556432e-01 9.59871718e-01 2.96009846e+02] [-2.46912946e-02 9.63261663e-01 -2.67427204e-01 -1.71838832e+02] [-9.96426923e-01 -2.10048891e-03 8.44332586e-02 -2.76534425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-171.84, Z:-276.56 [[ 7.99460771e-02 2.65475109e-01 9.60797373e-01 2.96012950e+02] [-2.50756212e-02 9.64113163e-01 -2.64304792e-01 -1.71840932e+02] [-9.96483737e-01 -2.96245975e-03 8.37340185e-02 -2.76562368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-171.84, Z:-276.59 [[ 7.94647611e-02 2.64392804e-01 9.61135681e-01 2.96015304e+02] [-2.73468305e-02 9.64400059e-01 -2.63029801e-01 -1.71841244e+02] [-9.96462494e-01 -5.38241422e-03 8.38661255e-02 -2.76590157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-171.84, Z:-276.62 [[ 7.93624407e-02 2.63228915e-01 9.61463541e-01 2.96017775e+02] [-2.86769032e-02 9.64709447e-01 -2.61750489e-01 -1.71842128e+02] [-9.96433258e-01 -6.79863927e-03 8.41102864e-02 -2.76619355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-171.84, Z:-276.65 [[ 7.87735281e-02 2.62907055e-01 9.61600027e-01 2.96020140e+02] [-2.98982379e-02 9.64786621e-01 -2.61329048e-01 -1.71842576e+02] [-9.96444091e-01 -8.16433527e-03 8.38601036e-02 -2.76646555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-171.84, Z:-276.67 [[ 7.88377244e-02 2.60889305e-01 9.62144160e-01 2.96022785e+02] [-2.97272373e-02 9.65334253e-01 -2.59318473e-01 -1.71844245e+02] [-9.96444130e-01 -8.15780939e-03 8.38602741e-02 -2.76674960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-171.85, Z:-276.70 [[ 7.80522018e-02 2.58927574e-01 9.62737953e-01 2.96025580e+02] [-3.11932317e-02 9.65845456e-01 -2.57234401e-01 -1.71845551e+02] [-9.96461156e-01 -9.95319667e-03 8.34631523e-02 -2.76704148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-171.85, Z:-276.74 [[ 7.69895972e-02 2.58755077e-01 9.62869883e-01 2.96028007e+02] [-3.43634863e-02 9.65851176e-01 -2.56808598e-01 -1.71845449e+02] [-9.96439538e-01 -1.33159756e-02 8.32522195e-02 -2.76737312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-171.84, Z:-276.76 [[ 7.70766316e-02 2.62261897e-01 9.61913661e-01 2.96029544e+02] [-3.52222714e-02 9.64897750e-01 -2.60253191e-01 -1.71843302e+02] [-9.96402822e-01 -1.38213446e-02 8.36085281e-02 -2.76764904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-171.84, Z:-276.79 [[ 7.69715647e-02 2.61247439e-01 9.62198085e-01 2.96031748e+02] [-3.58443913e-02 9.65162358e-01 -2.59184880e-01 -1.71844068e+02] [-9.96388758e-01 -1.45395389e-02 8.36543123e-02 -2.76793316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-171.85, Z:-276.82 [[ 7.67574338e-02 2.57942759e-01 9.63106344e-01 2.96034546e+02] [-3.65684080e-02 9.66034513e-01 -2.55812572e-01 -1.71846324e+02] [-9.96378968e-01 -1.55837492e-02 8.35828863e-02 -2.76821647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-171.85, Z:-276.85 [[ 7.63210608e-02 2.54566437e-01 9.64038912e-01 2.96037677e+02] [-3.65214306e-02 9.66923879e-01 -2.52436919e-01 -1.71849313e+02] [-9.96414212e-01 -1.59418268e-02 8.30937867e-02 -2.76849360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-171.85, Z:-276.88 [[ 7.60802138e-02 2.51207548e-01 9.64938635e-01 2.96040765e+02] [-3.66078066e-02 9.67794717e-01 -2.49064759e-01 -1.71852111e+02] [-9.96429460e-01 -1.63753869e-02 8.28261863e-02 -2.76876928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-171.85, Z:-276.90 [[ 7.65750338e-02 2.50044615e-01 9.65201510e-01 2.96043395e+02] [-3.79934361e-02 9.68072555e-01 -2.47774147e-01 -1.71853546e+02] [-9.96339683e-01 -1.76980082e-02 8.36302427e-02 -2.76904958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-171.85, Z:-276.93 [[ 7.70416994e-02 2.48834313e-01 9.65477116e-01 2.96045570e+02] [-3.89571730e-02 9.68366997e-01 -2.46470482e-01 -1.71854500e+02] [-9.96266488e-01 -1.86237543e-02 8.42985205e-02 -2.76932675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-171.86, Z:-276.97 [[ 7.80309847e-02 2.47751208e-01 9.65676190e-01 2.96047798e+02] [-4.14153880e-02 9.68599001e-01 -2.45154527e-01 -1.71855708e+02] [-9.96090323e-01 -2.08642050e-02 8.58414463e-02 -2.76965628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-171.85, Z:-276.99 [[ 7.81783965e-02 2.51352655e-01 9.64733114e-01 2.96048471e+02] [-4.30967676e-02 9.67642315e-01 -2.48618219e-01 -1.71854279e+02] [-9.96007433e-01 -2.21403050e-02 8.64812115e-02 -2.76993284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-171.86, Z:-277.03 [[ 7.99898608e-02 2.44792108e-01 9.66270379e-01 2.96054949e+02] [-4.49132810e-02 9.69277169e-01 -2.41835826e-01 -1.71861636e+02] [-9.95783320e-01 -2.40539591e-02 8.85267626e-02 -2.77026693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-171.82, Z:-277.06 [[ 7.59064549e-02 3.14251027e-01 9.46300429e-01 2.96039571e+02] [-4.39919943e-02 9.49169804e-01 -3.11675130e-01 -1.71819124e+02] [-9.96144023e-01 -1.79714889e-02 8.58726443e-02 -2.77058656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-171.86, Z:-277.08 [[ 7.73868333e-02 2.54261522e-01 9.64034417e-01 2.96054711e+02] [-4.37194365e-02 9.66869434e-01 -2.51499719e-01 -1.71856486e+02] [-9.96042112e-01 -2.26842747e-02 8.59391341e-02 -2.77083906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-171.86, Z:-277.11 [[ 7.74905411e-02 2.51905056e-01 9.64644525e-01 2.96056898e+02] [-4.32407244e-02 9.67492604e-01 -2.49175241e-01 -1.71858602e+02] [-9.96054946e-01 -2.24032038e-02 8.58640825e-02 -2.77110602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-171.86, Z:-277.14 [[ 7.74193234e-02 2.50405964e-01 9.65040466e-01 2.96059041e+02] [-4.27003828e-02 9.67890264e-01 -2.47719830e-01 -1.71859948e+02] [-9.96083795e-01 -2.20292957e-02 8.56258399e-02 -2.77137885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-171.86, Z:-277.17 [[ 7.75243896e-02 2.48916753e-01 9.65417226e-01 2.96061436e+02] [-4.19668250e-02 9.68287941e-01 -2.46286923e-01 -1.71861325e+02] [-9.96106799e-01 -2.14222524e-02 8.55121774e-02 -2.77166208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-171.86, Z:-277.20 [[ 7.75573875e-02 2.48056548e-01 9.65635957e-01 2.96063887e+02] [-4.19147825e-02 9.68508280e-01 -2.45427916e-01 -1.71862330e+02] [-9.96106421e-01 -2.14396731e-02 8.55122083e-02 -2.77195442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-171.86, Z:-277.23 [[ 7.74986201e-02 2.47379759e-01 9.65814278e-01 2.96065918e+02] [-4.15091331e-02 9.68688401e-01 -2.44785160e-01 -1.71863673e+02] [-9.96127982e-01 -2.11196013e-02 8.53405337e-02 -2.77227925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-171.86, Z:-277.26 [[ 7.79857973e-02 2.50771825e-01 9.64899843e-01 2.96067729e+02] [-4.06106713e-02 9.67843203e-01 -2.48254523e-01 -1.71863765e+02] [-9.96126994e-01 -1.98249035e-02 8.56620360e-02 -2.77261189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-171.87, Z:-277.29 [[ 8.03621062e-02 2.44387716e-01 9.66341853e-01 2.96074001e+02] [-4.16018720e-02 9.69454984e-01 -2.41715367e-01 -1.71871122e+02] [-9.95897192e-01 -2.07768741e-02 8.80744309e-02 -2.77291662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-171.82, Z:-277.32 [[ 7.73525720e-02 3.31709005e-01 9.40205145e-01 2.96054459e+02] [-3.91249382e-02 9.43314183e-01 -3.29587002e-01 -1.71816376e+02] [-9.96235825e-01 -1.12910659e-02 8.59458726e-02 -2.77320880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-171.87, Z:-277.35 [[ 7.96592988e-02 2.49298921e-01 9.65144779e-01 2.96074212e+02] [-3.76564815e-02 9.68283133e-01 -2.47001545e-01 -1.71866103e+02] [-9.96110629e-01 -1.66679866e-02 8.65204756e-02 -2.77348717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-171.87, Z:-277.38 [[ 7.97762681e-02 2.49300982e-01 9.65134585e-01 2.96076347e+02] [-3.76776882e-02 9.68282752e-01 -2.46999807e-01 -1.71866617e+02] [-9.96100466e-01 -1.66593172e-02 8.66390691e-02 -2.77376774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-171.87, Z:-277.40 [[ 7.99289057e-02 2.47947018e-01 9.65470686e-01 2.96078853e+02] [-3.67640545e-02 9.68643850e-01 -2.45718329e-01 -1.71867881e+02] [-9.96122369e-01 -1.58546198e-02 8.65381806e-02 -2.77404953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-171.87, Z:-277.44 [[ 7.97871724e-02 2.46684897e-01 9.65805658e-01 2.96081633e+02] [-3.68743037e-02 9.68961833e-01 -2.44444782e-01 -1.71869608e+02] [-9.96129657e-01 -1.61098532e-02 8.64070586e-02 -2.77437683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-171.87, Z:-277.47 [[ 8.00156623e-02 2.50183911e-01 9.64886265e-01 2.96083350e+02] [-3.70514602e-02 9.68067575e-01 -2.47936201e-01 -1.71868637e+02] [-9.96104755e-01 -1.59116657e-02 8.67302474e-02 -2.77469133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-171.87, Z:-277.50 [[ 7.99908603e-02 2.53437816e-01 9.64038763e-01 2.96084662e+02] [-3.72293659e-02 9.67222672e-01 -2.51185742e-01 -1.71867342e+02] [-9.96100114e-01 -1.57979882e-02 8.68043028e-02 -2.77499670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11655999499993 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:296.09, Y:-171.87, Z:-277.53 [[ 8.03314395e-02 2.54935983e-01 9.63615330e-01 2.96086311e+02] [-3.89363073e-02 9.66804355e-01 -2.52533767e-01 -1.71867672e+02] [-9.96007442e-01 -1.72332217e-02 8.75910513e-02 -2.77529464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-171.84, Z:-277.56 [[ 7.97679227e-02 3.04464730e-01 9.49177700e-01 2.96077814e+02] [-3.92625934e-02 9.52432689e-01 -3.02209234e-01 -1.71837977e+02] [-9.96039923e-01 -1.31605752e-02 8.79276521e-02 -2.77556499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-171.87, Z:-277.59 [[ 8.08910706e-02 2.48339546e-01 9.65289648e-01 2.96092882e+02] [-3.91355986e-02 9.68507885e-01 -2.45887945e-01 -1.71871990e+02] [-9.95954336e-01 -1.78870491e-02 8.80625565e-02 -2.77588251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-171.87, Z:-277.62 [[ 8.05737308e-02 2.49824307e-01 9.64932997e-01 2.96094400e+02] [-3.87519661e-02 9.68133794e-01 -2.47417142e-01 -1.71871506e+02] [-9.95995060e-01 -1.74577286e-02 8.76873348e-02 -2.77616549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-171.87, Z:-277.65 [[ 8.07340167e-02 2.48685270e-01 9.65213787e-01 2.96097279e+02] [-3.79302489e-02 9.68439980e-01 -2.46343867e-01 -1.71873320e+02] [-9.96013712e-01 -1.67224694e-02 8.76187437e-02 -2.77649040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-171.87, Z:-277.68 [[ 8.06049233e-02 2.52048414e-01 9.64351826e-01 2.96098794e+02] [-3.70638747e-02 9.67588753e-01 -2.49796468e-01 -1.71872506e+02] [-9.96056783e-01 -1.56077901e-02 8.73343081e-02 -2.77678500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-171.87, Z:-277.71 [[ 8.04531269e-02 2.51471202e-01 9.64515178e-01 2.96101218e+02] [-3.52089602e-02 9.67765020e-01 -2.49381625e-01 -1.71873842e+02] [-9.96136348e-01 -1.38960450e-02 8.67137615e-02 -2.77707266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-171.88, Z:-277.73 [[ 8.03186767e-02 2.50265119e-01 9.64840028e-01 2.96103640e+02] [-3.08203128e-02 9.68128015e-01 -2.48552319e-01 -1.71876293e+02] [-9.96292637e-01 -9.77327816e-03 8.54720103e-02 -2.77734282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-171.86, Z:-277.77 [[ 7.65640005e-02 2.65630044e-01 9.61029986e-01 2.96095758e+02] [-2.59356924e-02 9.64063673e-01 -2.64402297e-01 -1.71864625e+02] [-9.96727292e-01 -4.68128051e-03 8.07018707e-02 -2.77767050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-171.92, Z:-277.80 [[ 8.19910172e-02 1.76319766e-01 9.80912235e-01 2.96127508e+02] [-2.62788158e-02 9.84266330e-01 -1.74726114e-01 -1.71920284e+02] [-9.96286554e-01 -1.14512401e-02 8.53344723e-02 -2.77795961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-171.88, Z:-277.83 [[ 8.31577172e-02 2.51013729e-01 9.64404947e-01 2.96109692e+02] [-2.26526970e-02 9.67982949e-01 -2.49991732e-01 -1.71879033e+02] [-9.96278901e-01 -1.05763130e-03 8.61813902e-02 -2.77831167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-171.88, Z:-277.86 [[ 8.40568862e-02 2.54237075e-01 9.63482200e-01 2.96110494e+02] [-2.02712396e-02 9.67140305e-01 -2.53433831e-01 -1.71877737e+02] [-9.96254745e-01 1.77188016e-03 8.64485032e-02 -2.77860313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-171.88, Z:-277.89 [[ 8.44163125e-02 2.58318782e-01 9.62364429e-01 2.96109283e+02] [-1.74565795e-02 9.66046995e-01 -2.57776010e-01 -1.71875018e+02] [-9.96277649e-01 4.96090906e-03 8.60594874e-02 -2.77893085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-171.88, Z:-277.92 [[ 8.60952599e-02 2.56032855e-01 9.62826456e-01 2.96114231e+02] [-1.68263734e-02 9.66650678e-01 -2.55545182e-01 -1.71878403e+02] [-9.96144809e-01 5.80035144e-03 8.75321458e-02 -2.77923874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-171.88, Z:-277.96 [[ 8.77695413e-02 2.57921108e-01 9.62171092e-01 2.96115936e+02] [-1.41328602e-02 9.66123882e-01 -2.57691495e-01 -1.71878180e+02] [-9.96040546e-01 9.01923485e-03 8.84414129e-02 -2.77956876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-171.88, Z:-277.99 [[ 8.78445771e-02 2.61281748e-01 9.61257082e-01 2.96117691e+02] [-1.33326022e-02 9.65209492e-01 -2.61137662e-01 -1.71876742e+02] [-9.96044965e-01 1.01234691e-02 8.82719853e-02 -2.77990008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-171.88, Z:-278.02 [[ 8.80597472e-02 2.64674432e-01 9.60308766e-01 2.96119676e+02] [-1.31079616e-02 9.64278353e-01 -2.64566513e-01 -1.71875072e+02] [-9.96028947e-01 1.07099698e-02 8.83834503e-02 -2.78022404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-171.87, Z:-278.05 [[ 8.69435692e-02 2.67860051e-01 9.59526867e-01 2.96121506e+02] [-1.26789179e-02 9.63393693e-01 -2.67790661e-01 -1.71872727e+02] [-9.96132552e-01 1.11169134e-02 8.71570618e-02 -2.78051167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-171.89, Z:-278.08 [[ 9.11963967e-02 2.42609153e-01 9.65828151e-01 2.96137962e+02] [-1.83136014e-02 9.70114238e-01 -2.41956562e-01 -1.71893736e+02] [-9.95664516e-01 4.37777484e-03 9.29139701e-02 -2.78082543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-171.80, Z:-278.12 [[ 9.11856337e-02 3.92013548e-01 9.15429166e-01 2.96108772e+02] [-2.04239803e-02 9.19801720e-01 -3.91851576e-01 -1.71803593e+02] [-9.95624448e-01 1.70345270e-02 9.18791796e-02 -2.78116048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-171.76, Z:-278.14 [[ 8.60145052e-02 4.47723561e-01 8.90025347e-01 2.96096609e+02] [-1.65212804e-02 8.93854306e-01 -4.48053041e-01 -1.71758780e+02] [-9.96156891e-01 2.38347022e-02 8.42814023e-02 -2.78141112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-171.88, Z:-278.17 [[ 8.48299188e-02 2.58901989e-01 9.62171318e-01 2.96133171e+02] [-1.65671476e-02 9.65885067e-01 -2.58440644e-01 -1.71877580e+02] [-9.96257705e-01 5.98306464e-03 8.62252193e-02 -2.78167498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-171.88, Z:-278.20 [[ 8.43670892e-02 2.62320977e-01 9.61285545e-01 2.96134999e+02] [-1.90157468e-02 9.64973211e-01 -2.61658373e-01 -1.71875457e+02] [-9.96253279e-01 3.79579276e-03 8.64002102e-02 -2.78200853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-171.87, Z:-278.23 [[ 8.36334623e-02 2.66258175e-01 9.60266644e-01 2.96137368e+02] [-2.48633988e-02 9.63900244e-01 -2.65100230e-01 -1.71871499e+02] [-9.96186356e-01 -1.70424246e-03 8.72343979e-02 -2.78233857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-171.87, Z:-278.27 [[ 8.28429447e-02 2.70023818e-01 9.59283162e-01 2.96138940e+02] [-2.83213051e-02 9.62841082e-01 -2.68579513e-01 -1.71868440e+02] [-9.96160103e-01 -4.91823335e-03 8.74120174e-02 -2.78266016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-171.88, Z:-278.30 [[ 8.62412779e-02 2.55749324e-01 9.62888740e-01 2.96150794e+02] [-3.78222090e-02 9.66633350e-01 -2.53356364e-01 -1.71880900e+02] [-9.95556087e-01 -1.45688025e-02 9.30366997e-02 -2.78297410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-171.77, Z:-278.33 [[ 7.99261332e-02 4.24344054e-01 9.01966705e-01 2.96117333e+02] [-3.70751324e-02 9.05500969e-01 -4.22721457e-01 -1.71769559e+02] [-9.96111062e-01 3.45956460e-04 8.81058031e-02 -2.78326510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-171.87, Z:-278.35 [[ 8.21319218e-02 2.70212959e-01 9.59291043e-01 2.96146492e+02] [-3.76954257e-02 9.62696536e-01 -2.67944837e-01 -1.71865383e+02] [-9.95908330e-01 -1.41540599e-02 8.92539090e-02 -2.78350874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-171.87, Z:-278.38 [[ 8.17402685e-02 2.67102197e-01 9.60195264e-01 2.96149907e+02] [-4.06294512e-02 9.63511352e-01 -2.64565913e-01 -1.71867044e+02] [-9.95825174e-01 -1.73865179e-02 8.96098923e-02 -2.78377555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-171.87, Z:-278.41 [[ 8.18532110e-02 2.64798542e-01 9.60823493e-01 2.96152599e+02] [-4.03759676e-02 9.64148089e-01 -2.62275129e-01 -1.71868887e+02] [-9.95826206e-01 -1.73261168e-02 8.96101143e-02 -2.78405972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01655999499997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:296.16, Y:-171.88, Z:-278.44 [[ 8.34634231e-02 2.48033376e-01 9.65149368e-01 2.96163500e+02] [-4.54161330e-02 9.68469119e-01 -2.44959057e-01 -1.71883082e+02] [-9.95475380e-01 -2.33882306e-02 9.20964647e-02 -2.78437988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-171.78, Z:-278.47 [[ 7.65607865e-02 4.10612928e-01 9.08589825e-01 2.96132497e+02] [-4.31005487e-02 9.11775600e-01 -4.08420859e-01 -1.71778091e+02] [-9.96132917e-01 -7.89169784e-03 8.75038996e-02 -2.78466995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-171.87, Z:-278.49 [[ 7.96107360e-02 2.58827857e-01 9.62637144e-01 2.96162448e+02] [-4.30920352e-02 9.65693093e-01 -2.56085781e-01 -1.71870998e+02] [-9.95894175e-01 -2.10948162e-02 8.80329570e-02 -2.78490599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-171.87, Z:-278.52 [[ 7.90094481e-02 2.57534743e-01 9.63033418e-01 2.96165439e+02] [-4.28104187e-02 9.66038763e-01 -2.54826169e-01 -1.71871671e+02] [-9.95954203e-01 -2.10941889e-02 8.73513597e-02 -2.78519508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-171.87, Z:-278.55 [[ 7.90595090e-02 2.56674901e-01 9.63258838e-01 2.96167878e+02] [-4.26947433e-02 9.66268603e-01 -2.53972726e-01 -1.71872702e+02] [-9.95955196e-01 -2.10471299e-02 8.73513904e-02 -2.78548760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-171.87, Z:-278.58 [[ 7.91229458e-02 2.55238832e-01 9.63635148e-01 2.96170445e+02] [-4.25772429e-02 9.66648932e-01 -2.52541128e-01 -1.71874063e+02] [-9.95955189e-01 -2.10471297e-02 8.73514768e-02 -2.78577996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-171.88, Z:-278.60 [[ 7.93233935e-02 2.53812746e-01 9.63995275e-01 2.96173343e+02] [-4.25808492e-02 9.67022569e-01 -2.51105999e-01 -1.71875040e+02] [-9.95939090e-01 -2.11291574e-02 8.75150740e-02 -2.78604488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-171.88, Z:-278.63 [[ 8.02356274e-02 2.51524561e-01 9.64519382e-01 2.96176153e+02] [-4.29696394e-02 9.67612397e-01 -2.48756627e-01 -1.71876288e+02] [-9.95849313e-01 -2.14859060e-02 8.84449075e-02 -2.78632026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-171.88, Z:-278.66 [[ 8.07799348e-02 2.48210422e-01 9.65332165e-01 2.96178999e+02] [-4.34805451e-02 9.68452829e-01 -2.45374326e-01 -1.71877886e+02] [-9.95783131e-01 -2.21518467e-02 8.90238809e-02 -2.78660388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-171.88, Z:-278.69 [[ 8.20566474e-02 2.44974023e-01 9.66050948e-01 2.96181950e+02] [-4.50536470e-02 9.69240661e-01 -2.41956010e-01 -1.71878941e+02] [-9.95608796e-01 -2.36700195e-02 9.05696122e-02 -2.78686868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-171.88, Z:-278.71 [[ 8.22757220e-02 2.43604049e-01 9.66378690e-01 2.96184581e+02] [-4.60944775e-02 9.69558694e-01 -2.40481262e-01 -1.71879680e+02] [-9.95543070e-01 -2.47589513e-02 9.09999429e-02 -2.78713287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-171.88, Z:-278.74 [[ 8.28488256e-02 2.42354494e-01 9.66643870e-01 2.96187952e+02] [-4.83716372e-02 9.69813188e-01 -2.39003275e-01 -1.71879204e+02] [-9.95387491e-01 -2.69570060e-02 9.20709674e-02 -2.78741498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-171.88, Z:-278.77 [[ 8.25159513e-02 2.41147980e-01 9.66974027e-01 2.96190400e+02] [-4.90942350e-02 9.70088501e-01 -2.37735264e-01 -1.71879260e+02] [-9.95379764e-01 -2.78558987e-02 9.18867512e-02 -2.78769048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-171.88, Z:-278.80 [[ 8.28027547e-02 2.39933809e-01 9.67251503e-01 2.96193367e+02] [-4.98121918e-02 9.70367789e-01 -2.36442593e-01 -1.71879704e+02] [-9.95320275e-01 -2.86028194e-02 9.23007550e-02 -2.78796029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-171.88, Z:-278.82 [[ 8.25705056e-02 2.38449155e-01 9.67638420e-01 2.96195840e+02] [-4.97982120e-02 9.70728272e-01 -2.34961188e-01 -1.71880431e+02] [-9.95340268e-01 -2.87857992e-02 9.20278658e-02 -2.78824258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-171.90, Z:-278.86 [[ 8.77603117e-02 2.19784039e-01 9.71593075e-01 2.96209315e+02] [-5.27840280e-02 9.75012133e-01 -2.15789684e-01 -1.71896207e+02] [-9.94742165e-01 -3.23468262e-02 9.71684555e-02 -2.78858919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-171.82, Z:-278.89 [[ 7.88945417e-02 3.40247632e-01 9.37020384e-01 2.96181527e+02] [-5.02992118e-02 9.40111660e-01 -3.37135070e-01 -1.71821689e+02] [-9.95613198e-01 -2.05332700e-02 9.12838662e-02 -2.78890982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:296.21, Y:-171.90, Z:-278.92 [[ 8.53444076e-02 2.22014066e-01 9.71301234e-01 2.96213801e+02] [-5.08547120e-02 9.74557974e-01 -2.18290068e-01 -1.71896651e+02] [-9.95052828e-01 -3.07654079e-02 9.44635343e-02 -2.78919014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-171.81, Z:-278.95 [[ 7.71105046e-02 3.64649727e-01 9.27946414e-01 2.96183206e+02] [-4.66534464e-02 9.31017749e-01 -3.61979843e-01 -1.71808125e+02] [-9.95930432e-01 -1.53794500e-02 8.88034149e-02 -2.78948351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-171.88, Z:-278.97 [[ 8.08680969e-02 2.38907694e-01 9.67669088e-01 2.96209733e+02] [-4.49215202e-02 9.70735890e-01 -2.35910765e-01 -1.71883504e+02] [-9.95712011e-01 -2.43915118e-02 8.92336608e-02 -2.78972639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-171.91, Z:-279.00 [[ 8.73882220e-02 2.08660817e-01 9.74075953e-01 2.96227916e+02] [-4.66892193e-02 9.77600107e-01 -2.05227065e-01 -1.71907408e+02] [-9.95079603e-01 -2.75444175e-02 9.51729458e-02 -2.79003801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-171.80, Z:-279.03 [[ 7.78865069e-02 3.84210148e-01 9.19954485e-01 2.96188342e+02] [-4.13303819e-02 9.23208681e-01 -3.82070060e-01 -1.71797000e+02] [-9.96105161e-01 -8.26396787e-03 8.77850515e-02 -2.79033910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-171.91, Z:-279.06 [[ 8.94802944e-02 2.06685183e-01 9.74307196e-01 2.96234923e+02] [-4.39616714e-02 9.78097507e-01 -2.03451807e-01 -1.71909097e+02] [-9.95017914e-01 -2.46272452e-02 9.66066790e-02 -2.79064414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-171.85, Z:-279.10 [[ 8.79355273e-02 3.15313039e-01 9.44904773e-01 2.96215634e+02] [-4.61671320e-02 9.48850144e-01 -3.12333157e-01 -1.71850654e+02] [-9.95055747e-01 -1.61583626e-02 9.79947364e-02 -2.79100012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-171.77, Z:-279.13 [[ 8.11808972e-02 4.34074934e-01 8.97211577e-01 2.96192413e+02] [-3.96196809e-02 9.00876653e-01 -4.32263273e-01 -1.71767828e+02] [-9.95911614e-01 -4.55716028e-04 9.03318853e-02 -2.79127778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-171.91, Z:-279.15 [[ 9.24826799e-02 2.17190475e-01 9.71738263e-01 2.96242058e+02] [-4.20129262e-02 9.75902831e-01 -2.14122814e-01 -1.71905540e+02] [-9.94827557e-01 -2.10229163e-02 9.93789164e-02 -2.79154184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-171.81, Z:-279.18 [[ 8.43431880e-02 3.73700517e-01 9.23706745e-01 2.96205342e+02] [-3.81376631e-02 9.27541338e-01 -3.71769533e-01 -1.71806424e+02] [-9.95706656e-01 -3.87178898e-03 9.24838579e-02 -2.79184914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-171.89, Z:-279.21 [[ 8.82582785e-02 2.40239156e-01 9.66693139e-01 2.96232256e+02] [-3.55714437e-02 9.70621458e-01 -2.37967765e-01 -1.71885700e+02] [-9.95462279e-01 -1.33840453e-02 9.42110325e-02 -2.79209123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-171.91, Z:-279.24 [[ 9.48863177e-02 2.11551965e-01 9.72749892e-01 2.96251327e+02] [-3.85663099e-02 9.77206339e-01 -2.08759218e-01 -1.71908760e+02] [-9.94740784e-01 -1.77069804e-02 1.00882290e-01 -2.79241283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-171.82, Z:-279.27 [[ 8.63457381e-02 3.55209264e-01 9.30790413e-01 2.96215915e+02] [-3.46487930e-02 9.34785216e-01 -3.53519534e-01 -1.71818781e+02] [-9.95662531e-01 -1.72585924e-03 9.30222917e-02 -2.79271400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-171.89, Z:-279.30 [[ 8.83932261e-02 2.36735828e-01 9.67544720e-01 2.96240604e+02] [-3.14370725e-02 9.71526046e-01 -2.34837930e-01 -1.71888599e+02] [-9.95589448e-01 -9.65869130e-03 9.33186028e-02 -2.79296247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-171.89, Z:-279.32 [[ 8.85650360e-02 2.33312892e-01 9.68360123e-01 2.96243580e+02] [-2.99645957e-02 9.72364472e-01 -2.31537159e-01 -1.71890777e+02] [-9.95619585e-01 -8.51042276e-03 9.31086210e-02 -2.79323585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-171.89, Z:-279.36 [[ 8.88507376e-02 2.31815515e-01 9.68693509e-01 2.96246645e+02] [-2.92434622e-02 9.72727823e-01 -2.30098681e-01 -1.71892211e+02] [-9.95615572e-01 -7.88351450e-03 9.32066728e-02 -2.79355932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-171.89, Z:-279.39 [[ 8.86939743e-02 2.35122147e-01 9.67910613e-01 2.96248477e+02] [-2.86052704e-02 9.71940774e-01 -2.33479914e-01 -1.71890965e+02] [-9.95648089e-01 -6.97908334e-03 9.29310226e-02 -2.79385152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-171.89, Z:-279.41 [[ 8.80075577e-02 2.34884552e-01 9.68030948e-01 2.96250962e+02] [-2.81412541e-02 9.72000112e-01 -2.33289202e-01 -1.71891363e+02] [-9.95722220e-01 -6.71039199e-03 9.21533018e-02 -2.79413506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-171.89, Z:-279.44 [[ 8.80810154e-02 2.33657903e-01 9.68321083e-01 2.96253863e+02] [-2.81699777e-02 9.72294825e-01 -2.32054361e-01 -1.71892321e+02] [-9.95714913e-01 -6.83799955e-03 9.22228534e-02 -2.79440652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-171.89, Z:-279.47 [[ 8.82556779e-02 2.32224853e-01 9.68649861e-01 2.96256116e+02] [-2.80557390e-02 9.72638204e-01 -2.30624805e-01 -1.71893109e+02] [-9.95702672e-01 -6.82223920e-03 9.23560838e-02 -2.79468898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-171.89, Z:-279.50 [[ 8.57516221e-02 2.40829916e-01 9.66771747e-01 2.96252836e+02] [-2.62802128e-02 9.70555094e-01 -2.39441349e-01 -1.71885378e+02] [-9.95969884e-01 -4.87448319e-03 8.95557351e-02 -2.79500297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.94, Z:-279.53 [[ 8.97787255e-02 1.46956706e-01 9.85060154e-01 2.96281989e+02] [-2.81998720e-02 9.89032757e-01 -1.44979214e-01 -1.71940224e+02] [-9.95562428e-01 -1.47625211e-02 9.29382607e-02 -2.79529580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-171.89, Z:-279.56 [[ 8.89436285e-02 2.34926694e-01 9.67935163e-01 2.96263664e+02] [-2.98013418e-02 9.71979284e-01 -2.33169791e-01 -1.71891780e+02] [-9.95590735e-01 -8.10679928e-03 9.34524951e-02 -2.79560595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-171.89, Z:-279.59 [[ 8.65233778e-02 2.42024927e-01 9.66404491e-01 2.96261714e+02] [-2.83081158e-02 9.70247908e-01 -2.40453006e-01 -1.71885460e+02] [-9.95847557e-01 -6.55228395e-03 9.08003959e-02 -2.79592026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.92, Z:-279.62 [[ 8.88020735e-02 1.76469615e-01 9.80292133e-01 2.96281865e+02] [-2.82339199e-02 9.84230840e-01 -1.74621015e-01 -1.71922531e+02] [-9.95649053e-01 -1.21707814e-02 9.23841684e-02 -2.79622369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.90, Z:-279.66 [[ 8.84326848e-02 2.16367951e-01 9.72298601e-01 2.96275638e+02] [-2.85812534e-02 9.76272167e-01 -2.14652670e-01 -1.71901502e+02] [-9.95672020e-01 -8.80720073e-03 9.25184360e-02 -2.79655665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-171.89, Z:-279.68 [[ 8.80256140e-02 2.40607276e-01 9.66622796e-01 2.96272526e+02] [-2.71777021e-02 9.70608507e-01 -2.39124440e-01 -1.71887743e+02] [-9.95747390e-01 -5.22151079e-03 9.19775627e-02 -2.79684815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.89, Z:-279.71 [[ 8.83698133e-02 2.37240793e-01 9.67423166e-01 2.96275827e+02] [-2.54534625e-02 9.71443532e-01 -2.35901645e-01 -1.71889752e+02] [-9.95762470e-01 -3.77768495e-03 9.18848832e-02 -2.79713172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.90, Z:-279.75 [[ 9.08216324e-02 2.24058363e-01 9.70334623e-01 2.96284737e+02] [-2.48620248e-02 9.74567934e-01 -2.22708827e-01 -1.71898757e+02] [-9.95556784e-01 -3.89770423e-03 9.40823952e-02 -2.79745278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.88, Z:-279.78 [[ 8.84480869e-02 2.50305219e-01 9.64118371e-01 2.96278142e+02] [-2.29759525e-02 9.68166972e-01 -2.49248509e-01 -1.71883039e+02] [-9.95815767e-01 -1.05984108e-04 9.13835173e-02 -2.79777300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-171.89, Z:-279.81 [[ 9.01341550e-02 2.37396309e-01 9.67222222e-01 2.96283492e+02] [-2.00378645e-02 9.71410946e-01 -2.36557093e-01 -1.71890177e+02] [-9.95728034e-01 1.94080588e-03 9.23142198e-02 -2.79809844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-171.89, Z:-279.84 [[ 9.12649188e-02 2.40602958e-01 9.66323409e-01 2.96285111e+02] [-1.85432843e-02 9.70615473e-01 -2.39920300e-01 -1.71888382e+02] [-9.95653987e-01 3.97749702e-03 9.30447114e-02 -2.79841374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-171.89, Z:-279.87 [[ 9.28120718e-02 2.42251446e-01 9.65764027e-01 2.96287774e+02] [-1.67549965e-02 9.70193330e-01 -2.41752296e-01 -1.71887359e+02] [-9.95542661e-01 6.25615854e-03 9.41045751e-02 -2.79873151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-171.89, Z:-279.91 [[ 9.31694786e-02 2.33278391e-01 9.67936279e-01 2.96291466e+02] [-1.55326285e-02 9.72387181e-01 -2.32855980e-01 -1.71892943e+02] [-9.95529098e-01 6.66047560e-03 9.42202333e-02 -2.79905157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-171.89, Z:-279.94 [[ 9.46958443e-02 2.46342348e-01 9.64545564e-01 2.96292051e+02] [-1.30880109e-02 9.69123890e-01 -2.46226704e-01 -1.71885567e+02] [-9.95420213e-01 1.06926628e-02 9.49961364e-02 -2.79938676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-171.88, Z:-279.97 [[ 9.43169620e-02 2.49039426e-01 9.63889867e-01 2.96293703e+02] [-1.20558649e-02 9.68420638e-01 -2.49030367e-01 -1.71884245e+02] [-9.95469219e-01 1.18672616e-02 9.43408782e-02 -2.79970176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-171.88, Z:-280.00 [[ 9.45708133e-02 2.53680450e-01 9.62653931e-01 2.96295156e+02] [-1.13935635e-02 9.67200312e-01 -2.53759222e-01 -1.71881763e+02] [-9.95452936e-01 1.30301573e-02 9.43592445e-02 -2.79997860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-171.90, Z:-280.03 [[ 9.88722731e-02 2.34662099e-01 9.67035663e-01 2.96308004e+02] [-1.26070757e-02 9.72014739e-01 -2.34581347e-01 -1.71895644e+02] [-9.95020269e-01 1.10020992e-02 9.90637096e-02 -2.80030739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-171.84, Z:-280.06 [[ 9.53459356e-02 3.17731950e-01 9.43374560e-01 2.96288866e+02] [-1.18219006e-02 9.47986647e-01 -3.18090489e-01 -1.71844374e+02] [-9.95373998e-01 1.91761550e-02 9.41428693e-02 -2.80062752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-171.88, Z:-280.09 [[ 9.50009737e-02 2.54869333e-01 9.62297479e-01 2.96302734e+02] [-1.09490791e-02 9.66878602e-01 -2.55001740e-01 -1.71880924e+02] [-9.95416964e-01 1.36891424e-02 9.46449931e-02 -2.80087686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-171.88, Z:-280.12 [[ 9.49187625e-02 2.53617267e-01 9.62636334e-01 2.96305690e+02] [-1.27801483e-02 9.67233090e-01 -2.53568173e-01 -1.71881794e+02] [-9.95402982e-01 1.17657421e-02 9.50498342e-02 -2.80120012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-171.88, Z:-280.15 [[ 9.42709610e-02 2.57022151e-01 9.61796548e-01 2.96307433e+02] [-1.37099121e-02 9.66342549e-01 -2.56893201e-01 -1.71879933e+02] [-9.95452171e-01 1.10314228e-02 9.46217919e-02 -2.80148178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-171.88, Z:-280.18 [[ 9.36079686e-02 2.56151235e-01 9.62093599e-01 2.96310541e+02] [-1.52000566e-02 9.66591714e-01 -2.55869923e-01 -1.71880798e+02] [-9.95493097e-01 9.32758654e-03 9.43742000e-02 -2.80181080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-171.88, Z:-280.21 [[ 9.23010602e-02 2.59809726e-01 9.61238483e-01 2.96312917e+02] [-1.84138162e-02 9.65639751e-01 -2.59231178e-01 -1.71878291e+02] [-9.95560870e-01 6.22724380e-03 9.39136613e-02 -2.80212502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-171.88, Z:-280.24 [[ 9.15423611e-02 2.63093601e-01 9.60417489e-01 2.96314906e+02] [-2.02609611e-02 9.64759549e-01 -2.62351873e-01 -1.71876607e+02] [-9.95595043e-01 4.55732848e-03 9.36468962e-02 -2.80244929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.87, Z:-280.27 [[ 9.00311375e-02 2.66702864e-01 9.59564472e-01 2.96316743e+02] [-2.32318186e-02 9.63777428e-01 -2.65694094e-01 -1.71873969e+02] [-9.95667955e-01 1.62831376e-03 9.29659707e-02 -2.80273258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.87, Z:-280.30 [[ 8.95316800e-02 2.66265189e-01 9.59732737e-01 2.96319853e+02] [-2.51365662e-02 9.63899733e-01 -2.65076324e-01 -1.71874841e+02] [-9.95666727e-01 -3.91656857e-04 9.29925551e-02 -2.80303188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.88, Z:-280.33 [[ 8.95270323e-02 2.66266554e-01 9.59732792e-01 2.96322279e+02] [-2.51533916e-02 9.63899349e-01 -2.65076125e-01 -1.71875510e+02] [-9.95666720e-01 -4.09056017e-04 9.29925551e-02 -2.80334081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-171.89, Z:-280.37 [[ 9.34742662e-02 2.45338556e-01 9.64920491e-01 2.96337366e+02] [-3.24632553e-02 9.69399501e-01 -2.43332582e-01 -1.71893178e+02] [-9.95092307e-01 -8.57912574e-03 9.85783951e-02 -2.80368302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.82, Z:-280.41 [[ 8.99899914e-02 3.69242052e-01 9.24966004e-01 2.96317752e+02] [-3.54953145e-02 9.29333228e-01 -3.67532086e-01 -1.71821478e+02] [-9.95309944e-01 2.42250070e-04 9.67370519e-02 -2.80405024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.81, Z:-280.44 [[ 8.91590542e-02 3.81403208e-01 9.20099047e-01 2.96319317e+02] [-3.67241561e-02 9.24408778e-01 -3.79631067e-01 -1.71814584e+02] [-9.95340143e-01 5.76857925e-05 9.64261233e-02 -2.80437573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.81, Z:-280.47 [[ 8.86462803e-02 3.90181497e-01 9.16460712e-01 2.96320646e+02] [-3.67870673e-02 9.20737683e-01 -3.88444116e-01 -1.71809847e+02] [-9.95383619e-01 7.20224044e-04 9.59736037e-02 -2.80471008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.81, Z:-280.50 [[ 8.83534207e-02 3.92372652e-01 9.15553043e-01 2.96323401e+02] [-3.82166639e-02 9.19806211e-01 -3.90507390e-01 -1.71809366e+02] [-9.95355796e-01 -4.86719173e-04 9.62631988e-02 -2.80503865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-171.79, Z:-280.53 [[ 8.27035773e-02 4.19650203e-01 9.03910297e-01 2.96315605e+02] [-3.49024109e-02 9.07680822e-01 -4.18207303e-01 -1.71785791e+02] [-9.95962821e-01 3.03859136e-03 8.97152548e-02 -2.80532985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-171.88, Z:-280.56 [[ 8.50405369e-02 2.72126687e-01 9.58496309e-01 2.96338744e+02] [-3.43597346e-02 9.62209871e-01 -2.70132510e-01 -1.71875271e+02] [-9.95784874e-01 -9.96146507e-03 9.11770447e-02 -2.80557390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.89, Z:-280.59 [[ 8.76942043e-02 2.63425564e-01 9.60685536e-01 2.96345888e+02] [-3.72515519e-02 9.64593599e-01 -2.61096747e-01 -1.71885114e+02] [-9.95450676e-01 -1.28903557e-02 9.44022792e-02 -2.80592455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-171.82, Z:-280.62 [[ 8.36689076e-02 3.67129965e-01 9.26398997e-01 2.96328943e+02] [-3.66044967e-02 9.30163642e-01 -3.65315904e-01 -1.71821842e+02] [-9.95821081e-01 -3.34478642e-03 9.12643835e-02 -2.80624747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.88, Z:-280.65 [[ 8.54876069e-02 2.72784156e-01 9.58269625e-01 2.96345963e+02] [-3.59511991e-02 9.62008725e-01 -2.70641320e-01 -1.71878462e+02] [-9.95690404e-01 -1.13144633e-02 9.20467413e-02 -2.80649650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.88, Z:-280.68 [[ 8.55541539e-02 2.71318445e-01 9.58679711e-01 2.96348448e+02] [-3.57789603e-02 9.62423646e-01 -2.69185052e-01 -1.71879816e+02] [-9.95690892e-01 -1.12706639e-02 9.20468326e-02 -2.80678063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.88, Z:-280.70 [[ 8.65351774e-02 2.71105038e-01 9.58652034e-01 2.96350493e+02] [-3.66423201e-02 9.62476704e-01 -2.68879035e-01 -1.71881764e+02] [-9.95574710e-01 -1.18597397e-02 9.32220099e-02 -2.80703552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.92, Z:-280.73 [[ 8.74225770e-02 1.96393007e-01 9.76620233e-01 2.96368109e+02] [-3.39239174e-02 9.80392073e-01 -1.94114790e-01 -1.71924746e+02] [-9.95593522e-01 -1.61607689e-02 9.23708216e-02 -2.80731976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-171.89, Z:-280.76 [[ 8.69943256e-02 2.65530947e-01 9.60169414e-01 2.96355743e+02] [-3.39299353e-02 9.64054013e-01 -2.63531060e-01 -1.71887526e+02] [-9.95630829e-01 -9.65277935e-03 9.28766765e-02 -2.80762015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-171.89, Z:-280.79 [[ 8.78867993e-02 2.64142584e-01 9.60471033e-01 2.96358032e+02] [-3.24068988e-02 9.64449832e-01 -2.62271452e-01 -1.71890637e+02] [-9.95603186e-01 -8.07568910e-03 9.33224508e-02 -2.80790059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-171.89, Z:-280.82 [[ 8.81952956e-02 2.62827616e-01 9.60803432e-01 2.96360337e+02] [-3.17234460e-02 9.64813969e-01 -2.61012698e-01 -1.71892699e+02] [-9.95597917e-01 -7.45990370e-03 9.34298509e-02 -2.80817190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-171.89, Z:-280.85 [[ 8.80777358e-02 2.61341901e-01 9.61219394e-01 2.96362917e+02] [-3.13343776e-02 9.65219008e-01 -2.59558131e-01 -1.71894909e+02] [-9.95620645e-01 -7.25791899e-03 9.32032906e-02 -2.80849711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-171.90, Z:-280.88 [[ 8.82038257e-02 2.65086963e-01 9.60181747e-01 2.96364129e+02] [-3.28510110e-02 9.64188527e-01 -2.63175408e-01 -1.71898714e+02] [-9.95560594e-01 -8.32986328e-03 9.37534915e-02 -2.80881245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.83, Z:-280.91 [[ 8.71113955e-02 3.83125362e-01 9.19579557e-01 2.96346701e+02] [-3.19055540e-02 9.23688034e-01 -3.81814681e-01 -1.71827048e+02] [-9.95687522e-01 3.92071453e-03 9.26875806e-02 -2.80908596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.90, Z:-280.93 [[ 8.89237419e-02 2.60171580e-01 9.61458952e-01 2.96369226e+02] [-3.05425453e-02 9.65541303e-01 -2.58451438e-01 -1.71901460e+02] [-9.95570048e-01 -6.38293462e-03 9.38058479e-02 -2.80933460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.90, Z:-280.96 [[ 8.92138063e-02 2.58902640e-01 9.61774568e-01 2.96371418e+02] [-3.03937093e-02 9.65882962e-01 -2.57189281e-01 -1.71903395e+02] [-9.95548652e-01 -6.28706189e-03 9.40391071e-02 -2.80960095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.91, Z:-280.99 [[ 8.87073969e-02 2.56695110e-01 9.62412915e-01 2.96373581e+02] [-3.10887916e-02 9.66464803e-01 -2.54910319e-01 -1.71907022e+02] [-9.95572441e-01 -7.30782371e-03 9.37129177e-02 -2.80987152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.91, Z:-281.02 [[ 8.70079964e-02 2.61306930e-01 9.61326322e-01 2.96372450e+02] [-3.28637569e-02 9.65213582e-01 -2.59389120e-01 -1.71908717e+02] [-9.95665397e-01 -9.02386701e-03 9.25688272e-02 -2.81020090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.82, Z:-281.05 [[ 8.49902148e-02 4.08827076e-01 9.08645742e-01 2.96350223e+02] [-3.37150834e-02 9.12603126e-01 -4.07454080e-01 -1.71820529e+02] [-9.95811205e-01 3.99454281e-03 9.13459747e-02 -2.81052132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-171.85, Z:-281.08 [[ 8.50943214e-02 3.69724330e-01 9.25236660e-01 2.96357930e+02] [-3.28024065e-02 9.29140971e-01 -3.68267644e-01 -1.71846506e+02] [-9.95832797e-01 9.87496291e-04 9.11924682e-02 -2.81079703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.87, Z:-281.10 [[ 8.64496014e-02 3.35000234e-01 9.38243737e-01 2.96367985e+02] [-3.21150388e-02 9.42217142e-01 -3.33459866e-01 -1.71867749e+02] [-9.95738465e-01 -1.30426151e-03 9.22128418e-02 -2.81103355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-171.93, Z:-281.13 [[ 8.68647212e-02 2.39014046e-01 9.67122953e-01 2.96389318e+02] [-3.19876899e-02 9.70961041e-01 -2.37089529e-01 -1.71925333e+02] [-9.95706437e-01 -1.03413133e-02 9.19877673e-02 -2.81134015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-171.93, Z:-281.17 [[ 8.66826486e-02 2.43748155e-01 9.65957015e-01 2.96389351e+02] [-3.40818466e-02 9.69764633e-01 -2.41650541e-01 -1.71927498e+02] [-9.95652824e-01 -1.19746899e-02 9.23691541e-02 -2.81166180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-171.85, Z:-281.20 [[ 8.47392133e-02 3.71502081e-01 9.24556904e-01 2.96366308e+02] [-3.32618595e-02 9.28431926e-01 -3.70010550e-01 -1.71851012e+02] [-9.95847837e-01 6.01921109e-04 9.10314410e-02 -2.81197046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-171.90, Z:-281.22 [[ 8.75110892e-02 2.83183126e-01 9.55064986e-01 2.96386647e+02] [-3.29650376e-02 9.59041299e-01 -2.81341595e-01 -1.71904691e+02] [-9.95617957e-01 -6.86324378e-03 9.32618910e-02 -2.81224834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-171.93, Z:-281.25 [[ 8.95605013e-02 2.36953526e-01 9.67384072e-01 2.96398294e+02] [-3.28130392e-02 9.71462020e-01 -2.34914555e-01 -1.71932434e+02] [-9.95440717e-01 -1.07037462e-02 9.47797908e-02 -2.81251902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-171.95, Z:-281.28 [[ 8.97284893e-02 2.04264042e-01 9.74794850e-01 2.96407816e+02] [-3.13376992e-02 9.78837261e-01 -2.02226521e-01 -1.71952791e+02] [-9.95473127e-01 -1.24023476e-02 9.42307538e-02 -2.81278995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-171.94, Z:-281.31 [[ 8.93840747e-02 2.28367642e-01 9.69463103e-01 2.96404036e+02] [-3.13087380e-02 9.73522445e-01 -2.26437213e-01 -1.71940694e+02] [-9.95505023e-01 -1.01127855e-02 9.41673056e-02 -2.81307753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-171.95, Z:-281.34 [[ 9.07063330e-02 2.24909589e-01 9.70148462e-01 2.96407285e+02] [-3.18278908e-02 9.74321332e-01 -2.22901162e-01 -1.71947276e+02] [-9.95368950e-01 -1.06592323e-02 9.55355130e-02 -2.81339505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-171.88, Z:-281.37 [[ 8.87586329e-02 3.39913998e-01 9.36258714e-01 2.96385523e+02] [-3.11701664e-02 9.40456131e-01 -3.38482919e-01 -1.71878837e+02] [-9.95565330e-01 8.59941215e-04 9.40687763e-02 -2.81366429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-171.95, Z:-281.39 [[ 9.05144152e-02 2.22114483e-01 9.70810124e-01 2.96412289e+02] [-2.95367950e-02 9.74981483e-01 -2.20314969e-01 -1.71948420e+02] [-9.95457040e-01 -8.73293900e-03 9.48104287e-02 -2.81391107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-171.95, Z:-281.42 [[ 9.00922358e-02 2.20881599e-01 9.71130634e-01 2.96415089e+02] [-2.96396762e-02 9.75258665e-01 -2.19070825e-01 -1.71950364e+02] [-9.95492280e-01 -9.04741715e-03 9.44100926e-02 -2.81424202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-171.95, Z:-281.46 [[ 8.92802739e-02 2.24307807e-01 9.70420033e-01 2.96416830e+02] [-2.99699833e-02 9.74474733e-01 -2.22487742e-01 -1.71950202e+02] [-9.95555540e-01 -9.21970569e-03 9.37238723e-02 -2.81455969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-171.95, Z:-281.48 [[ 8.91097419e-02 2.27490396e-01 9.69694578e-01 2.96418449e+02] [-3.02762441e-02 9.73736385e-01 -2.25656379e-01 -1.71949532e+02] [-9.95561552e-01 -9.25052804e-03 9.36569527e-02 -2.81484418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-171.95, Z:-281.51 [[ 8.87980278e-02 2.26257088e-01 9.70011670e-01 2.96421150e+02] [-3.02950912e-02 9.74021696e-01 -2.24419123e-01 -1.71951206e+02] [-9.95588830e-01 -9.45861646e-03 9.33456847e-02 -2.81512172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-171.95, Z:-281.54 [[ 8.84062734e-02 2.25054183e-01 9.70327236e-01 2.96423796e+02] [-3.06164821e-02 9.74295167e-01 -2.23185031e-01 -1.71952937e+02] [-9.95613862e-01 -9.97704964e-03 9.30241723e-02 -2.81539829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-171.95, Z:-281.57 [[ 8.81718564e-02 2.23840897e-01 9.70629165e-01 2.96426308e+02] [-3.08310161e-02 9.74570680e-01 -2.21949180e-01 -1.71954245e+02] [-9.95628029e-01 -1.03558121e-02 9.28309483e-02 -2.81567978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-171.96, Z:-281.60 [[ 8.79994527e-02 2.20651684e-01 9.71374763e-01 2.96429129e+02] [-3.20575305e-02 9.75280073e-01 -2.18634613e-01 -1.71956554e+02] [-9.95604546e-01 -1.19001498e-02 9.28976607e-02 -2.81595635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-171.96, Z:-281.62 [[ 8.73998109e-02 2.17418192e-01 9.72157705e-01 2.96431836e+02] [-3.25229864e-02 9.75994672e-01 -2.15352399e-01 -1.71958656e+02] [-9.95642269e-01 -1.27957129e-02 9.23728386e-02 -2.81623259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-171.96, Z:-281.65 [[ 8.75394289e-02 2.16251640e-01 9.72405305e-01 2.96434463e+02] [-3.35249325e-02 9.76239295e-01 -2.14086240e-01 -1.71959880e+02] [-9.95596770e-01 -1.38588350e-02 9.27092519e-02 -2.81650422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-171.96, Z:-281.68 [[ 8.75809110e-02 2.14959184e-01 9.72688097e-01 2.96437027e+02] [-3.52481329e-02 9.76497419e-01 -2.12627281e-01 -1.71960525e+02] [-9.95533602e-01 -1.56633483e-02 9.30994434e-02 -2.81677509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-171.96, Z:-281.71 [[ 8.72315807e-02 2.12780462e-01 9.73198400e-01 2.96439512e+02] [-3.59880630e-02 9.76957787e-01 -2.10376665e-01 -1.71962122e+02] [-9.95537800e-01 -1.66720363e-02 9.28791287e-02 -2.81705959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-171.96, Z:-281.73 [[ 8.76119698e-02 2.09508908e-01 9.73873791e-01 2.96442757e+02] [-3.64924221e-02 9.77651911e-01 -2.07038749e-01 -1.71964196e+02] [-9.95486035e-01 -1.73999408e-02 9.32994972e-02 -2.81733513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-171.97, Z:-281.76 [[ 8.72402148e-02 2.06229219e-01 9.74606923e-01 2.96445570e+02] [-3.67075454e-02 9.78338105e-01 -2.03732936e-01 -1.71966174e+02] [-9.95510774e-01 -1.80017228e-02 9.29205949e-02 -2.81761262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.436559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.44, Y:-171.96, Z:-281.79 [[ 8.28910258e-02 2.19065776e-01 9.72182732e-01 2.96439342e+02] [-3.51447080e-02 9.75575705e-01 -2.16833792e-01 -1.71956766e+02] [-9.95938717e-01 -1.61935028e-02 8.85654737e-02 -2.81794303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-171.99, Z:-281.82 [[ 8.73974269e-02 1.56352560e-01 9.83827001e-01 2.96463213e+02] [-3.61824992e-02 9.87452619e-01 -1.53714512e-01 -1.71994014e+02] [-9.95516206e-01 -2.21630669e-02 9.19580445e-02 -2.81824255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-171.97, Z:-281.85 [[ 8.64387414e-02 2.08700502e-01 9.74152167e-01 2.96451707e+02] [-3.61706097e-02 9.77824706e-01 -2.06277800e-01 -1.71966171e+02] [-9.95600337e-01 -1.74052844e-02 9.20707613e-02 -2.81853931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-171.97, Z:-281.88 [[ 8.58756537e-02 2.07390326e-01 9.74481721e-01 2.96453837e+02] [-3.55280822e-02 9.78110305e-01 -2.05031673e-01 -1.71967752e+02] [-9.95672199e-01 -1.70142377e-02 9.13640424e-02 -2.81880825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-171.97, Z:-281.91 [[ 8.58413591e-02 2.05917801e-01 9.74796964e-01 2.96456225e+02] [-3.52896194e-02 9.78422917e-01 -2.03576123e-01 -1.71969189e+02] [-9.95683636e-01 -1.69249628e-02 9.12559138e-02 -2.81908516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-171.97, Z:-281.94 [[ 8.58665511e-02 2.02616081e-01 9.75486371e-01 2.96459089e+02] [-3.52850019e-02 9.79106761e-01 -2.00262125e-01 -1.71971220e+02] [-9.95681628e-01 -1.72242204e-02 9.12218296e-02 -2.81935264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-171.97, Z:-281.96 [[ 8.60595143e-02 2.01220610e-01 9.75758180e-01 2.96461524e+02] [-3.56621054e-02 9.79386256e-01 -1.98823480e-01 -1.71972756e+02] [-9.95651533e-01 -1.76869390e-02 9.14614561e-02 -2.81962937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-171.97, Z:-281.99 [[ 8.65708841e-02 1.97984586e-01 9.76374716e-01 2.96463827e+02] [-3.59785739e-02 9.80036140e-01 -1.95536969e-01 -1.71974693e+02] [-9.95595814e-01 -1.82007616e-02 9.19657982e-02 -2.81989681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-171.98, Z:-282.02 [[ 8.69248463e-02 1.96572610e-01 9.76628527e-01 2.96466060e+02] [-3.60285099e-02 9.80318224e-01 -1.94108542e-01 -1.71976156e+02] [-9.95563166e-01 -1.83136154e-02 9.22962292e-02 -2.82017431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-171.98, Z:-282.05 [[ 8.73467480e-02 1.93352101e-01 9.77233601e-01 2.96469316e+02] [-3.57865962e-02 9.80958787e-01 -1.90890488e-01 -1.71978963e+02] [-9.95534964e-01 -1.82982009e-02 9.26029735e-02 -2.82045645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-171.98, Z:-282.07 [[ 8.73935962e-02 1.90129647e-01 9.77861481e-01 2.96472651e+02] [-3.54658176e-02 9.81588826e-01 -1.87684714e-01 -1.71981888e+02] [-9.95542332e-01 -1.82782148e-02 9.25276809e-02 -2.82073383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-171.99, Z:-282.10 [[ 8.71093896e-02 1.86833798e-01 9.78521889e-01 2.96475873e+02] [-3.58433855e-02 9.82207490e-01 -1.84346679e-01 -1.71985159e+02] [-9.95553718e-01 -1.90152106e-02 9.22562507e-02 -2.82100423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-171.99, Z:-282.13 [[ 8.71168963e-02 1.85436234e-01 9.78787030e-01 2.96478471e+02] [-3.63277443e-02 9.82460340e-01 -1.82898813e-01 -1.71986663e+02] [-9.95535505e-01 -1.96235481e-02 9.23253756e-02 -2.82128736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-171.99, Z:-282.16 [[ 8.69775139e-02 1.82177060e-01 9.79411268e-01 2.96481468e+02] [-3.65961041e-02 9.83057796e-01 -1.79605388e-01 -1.71988893e+02] [-9.95537863e-01 -2.02210066e-02 9.21708937e-02 -2.82157001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-171.99, Z:-282.19 [[ 8.66501719e-02 1.83875039e-01 9.79122933e-01 2.96481100e+02] [-3.75972400e-02 9.82722937e-01 -1.81223833e-01 -1.71989350e+02] [-9.95529103e-01 -2.11092437e-02 9.20663054e-02 -2.82191640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.48, Y:-171.97, Z:-282.22 [[ 8.62641661e-02 2.20359211e-01 9.71596785e-01 2.96476528e+02] [-3.86651625e-02 9.75237933e-01 -2.17752104e-01 -1.71970196e+02] [-9.95521722e-01 -1.87827439e-02 9.26483117e-02 -2.82222774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-171.99, Z:-282.25 [[ 8.73451180e-02 1.81449271e-01 9.79513651e-01 2.96488908e+02] [-3.87405623e-02 9.83146497e-01 -1.78667665e-01 -1.71992616e+02] [-9.95424532e-01 -2.23411614e-02 9.29024936e-02 -2.82249345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-171.99, Z:-282.28 [[ 8.74234748e-02 1.80168548e-01 9.79743043e-01 2.96491545e+02] [-3.84727377e-02 9.83385563e-01 -1.77405422e-01 -1.71993639e+02] [-9.95428041e-01 -2.21839987e-02 9.29025603e-02 -2.82277792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-172.00, Z:-282.31 [[ 8.80926983e-02 1.76878671e-01 9.80282415e-01 2.96494573e+02] [-3.86495222e-02 9.83974236e-01 -1.74071586e-01 -1.71997175e+02] [-9.95362191e-01 -2.25530112e-02 9.35172216e-02 -2.82307973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.48, Y:-171.96, Z:-282.34 [[ 8.52977332e-02 2.50005874e-01 9.64479839e-01 2.96478540e+02] [-3.86499486e-02 9.68109397e-01 -2.47528536e-01 -1.71956331e+02] [-9.95605584e-01 -1.61634732e-02 9.22402512e-02 -2.82335643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-172.00, Z:-282.36 [[ 8.68125587e-02 1.72111399e-01 9.81244743e-01 2.96501151e+02] [-3.78287436e-02 9.84822463e-01 -1.69392155e-01 -1.72000778e+02] [-9.95506186e-01 -2.24138894e-02 9.20057159e-02 -2.82361324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-172.00, Z:-282.39 [[ 8.63396855e-02 1.68718306e-01 9.81875548e-01 2.96504368e+02] [-3.75350079e-02 9.85407009e-01 -1.66024545e-01 -1.72003283e+02] [-9.95558427e-01 -2.25201995e-02 9.14125742e-02 -2.82388124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-172.00, Z:-282.42 [[ 8.58724731e-02 1.67221928e-01 9.82172462e-01 2.96507077e+02] [-3.71291590e-02 9.85666256e-01 -1.64570527e-01 -1.72004622e+02] [-9.95614054e-01 -2.23351594e-02 9.08504086e-02 -2.82416160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-172.01, Z:-282.45 [[ 8.55161449e-02 1.65943441e-01 9.82420360e-01 2.96510517e+02] [-3.70448758e-02 9.85880182e-01 -1.63303227e-01 -1.72006923e+02] [-9.95647863e-01 -2.24285779e-02 9.04560267e-02 -2.82447957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-172.01, Z:-282.48 [[ 8.52533736e-02 1.68910237e-01 9.81937470e-01 2.96512056e+02] [-3.67826192e-02 9.85387223e-01 -1.66310129e-01 -1.72005965e+02] [-9.95680120e-01 -2.19397325e-02 9.02205460e-02 -2.82476438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-172.01, Z:-282.51 [[ 8.49537020e-02 1.68050583e-01 9.82110926e-01 2.96514655e+02] [-3.66695558e-02 9.85533816e-01 -1.65464321e-01 -1.72006971e+02] [-9.95709904e-01 -2.19567648e-02 8.98870864e-02 -2.82505276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-172.01, Z:-282.53 [[ 8.53296614e-02 1.67230933e-01 9.82218237e-01 2.96516577e+02] [-3.69516324e-02 9.85666685e-01 -1.64607908e-01 -1.72007767e+02] [-9.95667327e-01 -2.22486301e-02 9.02860604e-02 -2.82532336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-172.01, Z:-282.56 [[ 8.59070791e-02 1.65788051e-01 9.82412488e-01 2.96519158e+02] [-3.72121204e-02 9.85903687e-01 -1.63123197e-01 -1.72009019e+02] [-9.95607971e-01 -2.25442143e-02 9.08654310e-02 -2.82560498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-172.01, Z:-282.59 [[ 8.62895213e-02 1.62455293e-01 9.82935601e-01 2.96522317e+02] [-3.74814836e-02 9.86446464e-01 -1.59745145e-01 -1.72011016e+02] [-9.95564793e-01 -2.30575526e-02 9.12090586e-02 -2.82587323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-172.01, Z:-282.62 [[ 8.43525524e-02 1.69559896e-01 9.81903299e-01 2.96518893e+02] [-3.80875295e-02 9.85243873e-01 -1.66864770e-01 -1.72007558e+02] [-9.95707782e-01 -2.33228016e-02 8.95659530e-02 -2.82616886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-172.00, Z:-282.65 [[ 8.53195916e-02 1.84760201e-01 9.79073151e-01 2.96517504e+02] [-3.89006457e-02 9.82524742e-01 -1.82021621e-01 -1.71999925e+02] [-9.95593947e-01 -2.25565674e-02 9.10159009e-02 -2.82646189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-172.00, Z:-282.67 [[ 8.73066024e-02 1.88411332e-01 9.78201783e-01 2.96521643e+02] [-3.98129278e-02 9.81826789e-01 -1.85556155e-01 -1.71998211e+02] [-9.95385598e-01 -2.27447994e-02 9.32211679e-02 -2.82671426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-172.02, Z:-282.70 [[ 8.84162452e-02 1.53960239e-01 9.84113211e-01 2.96533537e+02] [-3.97753598e-02 9.87740238e-01 -1.50954111e-01 -1.72017417e+02] [-9.95289148e-01 -2.57966614e-02 9.34561069e-02 -2.82697950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-172.01, Z:-282.73 [[ 8.58754023e-02 1.58446152e-01 9.83626063e-01 2.96530855e+02] [-3.84153146e-02 9.87065588e-01 -1.55646357e-01 -1.72014012e+02] [-9.95565005e-01 -2.44201111e-02 9.08514133e-02 -2.82730906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-172.04, Z:-282.76 [[ 8.85836087e-02 1.10173961e-01 9.89956889e-01 2.96551945e+02] [-3.93227608e-02 9.93476057e-01 -1.07046924e-01 -1.72042247e+02] [-9.95292251e-01 -2.94452351e-02 9.23380387e-02 -2.82759774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-172.02, Z:-282.79 [[ 8.71621484e-02 1.54164783e-01 9.84193060e-01 2.96541059e+02] [-3.95626989e-02 9.87709359e-01 -1.51211825e-01 -1.72020034e+02] [-9.95408234e-01 -2.57573861e-02 9.21900446e-02 -2.82788294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-172.02, Z:-282.81 [[ 8.69263522e-02 1.52677119e-01 9.84445787e-01 2.96543950e+02] [-3.92138205e-02 9.87944863e-01 -1.49757216e-01 -1.72021355e+02] [-9.95442658e-01 -2.55860318e-02 9.18654962e-02 -2.82814684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-172.02, Z:-282.84 [[ 8.63204030e-02 1.51183086e-01 9.84729639e-01 2.96546412e+02] [-3.86986813e-02 9.88181841e-01 -1.48320807e-01 -1.72022430e+02] [-9.95515545e-01 -2.53046267e-02 9.11508408e-02 -2.82841372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-172.02, Z:-282.87 [[ 8.54765093e-02 1.49720324e-01 9.85026696e-01 2.96549161e+02] [-3.81738484e-02 9.88411164e-01 -1.46922183e-01 -1.72023578e+02] [-9.95608620e-01 -2.50438644e-02 9.02013370e-02 -2.82869767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-172.03, Z:-282.90 [[ 8.50897557e-02 1.46517304e-01 9.85541685e-01 2.96552660e+02] [-3.80347131e-02 9.88885673e-01 -1.43730601e-01 -1.72025906e+02] [-9.95647073e-01 -2.52547935e-02 8.97167840e-02 -2.82898072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-172.03, Z:-282.93 [[ 8.50514061e-02 1.43302814e-01 9.86017526e-01 2.96555929e+02] [-3.80818070e-02 9.89347751e-01 -1.40501971e-01 -1.72028074e+02] [-9.95648550e-01 -2.55994390e-02 8.96026474e-02 -2.82926397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-172.03, Z:-282.95 [[ 8.51475968e-02 1.42081514e-01 9.86185951e-01 2.96558866e+02] [-3.85934601e-02 9.89508019e-01 -1.39227959e-01 -1.72029314e+02] [-9.95620626e-01 -2.62054021e-02 8.97376471e-02 -2.82954080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-172.03, Z:-282.98 [[ 8.54962324e-02 1.40898664e-01 9.86325484e-01 2.96561220e+02] [-3.94425071e-02 9.89652815e-01 -1.37955042e-01 -1.72030232e+02] [-9.95557473e-01 -2.71085136e-02 9.01689836e-02 -2.82982114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-172.03, Z:-283.01 [[ 8.59797371e-02 1.39663100e-01 9.86459175e-01 2.96563902e+02] [-3.96881738e-02 9.89819938e-01 -1.36679698e-01 -1.72031345e+02] [-9.95506069e-01 -2.73990787e-02 9.06474314e-02 -2.83009888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.03, Z:-283.04 [[ 8.63008215e-02 1.36299543e-01 9.86901516e-01 2.96566915e+02] [-3.98224627e-02 9.90277580e-01 -1.33283482e-01 -1.72033386e+02] [-9.95472923e-01 -2.77983748e-02 9.08895521e-02 -2.83037185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.03, Z:-283.07 [[ 8.59360377e-02 1.34854095e-01 9.87131891e-01 2.96569545e+02] [-4.01071031e-02 9.90462301e-01 -1.31817494e-01 -1.72034599e+02] [-9.95493053e-01 -2.82631274e-02 9.05250127e-02 -2.83065579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.04, Z:-283.09 [[ 8.61258471e-02 1.33570003e-01 9.87289923e-01 2.96572444e+02] [-3.99199016e-02 9.90638950e-01 -1.30540694e-01 -1.72035828e+02] [-9.95484174e-01 -2.81695887e-02 9.06517201e-02 -2.83092694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.04, Z:-283.12 [[ 8.68737364e-02 1.34461632e-01 9.87103350e-01 2.96574380e+02] [-3.93221619e-02 9.90540079e-01 -1.31469084e-01 -1.72035919e+02] [-9.95442978e-01 -2.73938272e-02 9.13392398e-02 -2.83120644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-172.03, Z:-283.15 [[ 8.56577657e-02 1.53595613e-01 9.84414108e-01 2.96570336e+02] [-3.75031115e-02 9.87842395e-01 -1.50867225e-01 -1.72025977e+02] [-9.95618533e-01 -2.39956425e-02 9.03766858e-02 -2.83148673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-172.04, Z:-283.18 [[ 8.64896961e-02 1.27131295e-01 9.88107872e-01 2.96580354e+02] [-3.63670033e-02 9.91566343e-01 -1.24393040e-01 -1.72040361e+02] [-9.95588757e-01 -2.51758060e-02 9.03836559e-02 -2.83177753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-172.04, Z:-283.21 [[ 8.68992638e-02 1.26623331e-01 9.88137162e-01 2.96582890e+02] [-3.54217735e-02 9.91654909e-01 -1.23959027e-01 -1.72040975e+02] [-9.95587171e-01 -2.42296226e-02 9.06593045e-02 -2.83205224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-172.04, Z:-283.23 [[ 8.76114319e-02 1.25442216e-01 9.88224917e-01 2.96585749e+02] [-3.39943039e-02 9.91838266e-01 -1.22887106e-01 -1.72042233e+02] [-9.95574520e-01 -2.28277028e-02 9.11606916e-02 -2.83233187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-172.04, Z:-283.26 [[ 8.81213183e-02 1.24099888e-01 9.88349053e-01 2.96588570e+02] [-3.30598792e-02 9.92026748e-01 -1.21614047e-01 -1.72043275e+02] [-9.95560986e-01 -2.19579102e-02 9.15214321e-02 -2.83261297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-172.04, Z:-283.29 [[ 8.55926403e-02 1.30570792e-01 9.87737399e-01 2.96583627e+02] [-3.01745784e-02 9.91260488e-01 -1.28421729e-01 -1.72037457e+02] [-9.95873182e-01 -1.88126047e-02 8.87845209e-02 -2.83293515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.06, Z:-283.32 [[ 8.71506119e-02 8.03012946e-02 9.92953409e-01 2.96602844e+02] [-2.98289338e-02 9.96509302e-01 -7.79708056e-02 -1.72064149e+02] [-9.95748465e-01 -2.28235381e-02 8.92416974e-02 -2.83324604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.06, Z:-283.35 [[ 8.90688681e-02 9.57178068e-02 9.91415573e-01 2.96604933e+02] [-3.12245184e-02 9.95150811e-01 -9.32732177e-02 -1.72058154e+02] [-9.95535919e-01 -2.26487339e-02 9.16256988e-02 -2.83351987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.04, Z:-283.38 [[ 8.79791869e-02 1.23102886e-01 9.88486390e-01 2.96598610e+02] [-3.04256542e-02 9.92203444e-01 -1.20857792e-01 -1.72043256e+02] [-9.95657543e-01 -1.94423748e-02 9.10387380e-02 -2.83379804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.04, Z:-283.41 [[ 8.78093321e-02 1.21608687e-01 9.88686426e-01 2.96601890e+02] [-3.00441243e-02 9.92392016e-01 -1.19396132e-01 -1.72044062e+02] [-9.95684123e-01 -1.92201232e-02 9.07949067e-02 -2.83408098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-172.04, Z:-283.43 [[ 8.73618046e-02 1.20696509e-01 9.88837837e-01 2.96604516e+02] [-2.93988631e-02 9.92513039e-01 -1.18547771e-01 -1.72044206e+02] [-9.95742749e-01 -1.87141610e-02 9.02560703e-02 -2.83434817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-172.04, Z:-283.46 [[ 8.69515866e-02 1.19118253e-01 9.89065348e-01 2.96607792e+02] [-2.83241991e-02 9.92719874e-01 -1.17068324e-01 -1.72044887e+02] [-9.95809802e-01 -1.78352073e-02 8.96924972e-02 -2.83464360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-172.05, Z:-283.49 [[ 8.65918912e-02 1.18610450e-01 9.89157928e-01 2.96610700e+02] [-2.74304839e-02 9.92794769e-01 -1.16645253e-01 -1.72045425e+02] [-9.95866162e-01 -1.70325475e-02 8.92215187e-02 -2.83492555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-172.05, Z:-283.52 [[ 8.65059821e-02 1.17255594e-01 9.89326964e-01 2.96613813e+02] [-2.65116032e-02 9.92968837e-01 -1.15369077e-01 -1.72046184e+02] [-9.95898514e-01 -1.62485286e-02 8.90063782e-02 -2.83519410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-172.05, Z:-283.55 [[ 8.62811014e-02 1.15692990e-01 9.89530547e-01 2.96616913e+02] [-2.55083527e-02 9.93165408e-01 -1.13893793e-01 -1.72046725e+02] [-9.95944223e-01 -1.54144123e-02 8.86425429e-02 -2.83546984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-172.05, Z:-283.57 [[ 8.64835012e-02 1.12311219e-01 9.89902417e-01 2.96620572e+02] [-2.52109728e-02 9.93553769e-01 -1.10522916e-01 -1.72047914e+02] [-9.95934240e-01 -1.53979942e-02 8.87574837e-02 -2.83574733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-172.05, Z:-283.60 [[ 8.63659191e-02 1.11029613e-01 9.90057247e-01 2.96622674e+02] [-2.51238020e-02 9.93697171e-01 -1.09246180e-01 -1.72047978e+02] [-9.95946647e-01 -1.54388556e-02 8.86110555e-02 -2.83601807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.05, Z:-283.63 [[ 8.64873926e-02 1.09531555e-01 9.90213497e-01 2.96625124e+02] [-2.48517922e-02 9.93865739e-01 -1.07764935e-01 -1.72048031e+02] [-9.95942930e-01 -1.52882718e-02 8.86789118e-02 -2.83629858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.05, Z:-283.66 [[ 8.67233708e-02 1.06173228e-01 9.90558581e-01 2.96628113e+02] [-2.53590497e-02 9.94217776e-01 -1.04345255e-01 -1.72048121e+02] [-9.95909622e-01 -1.60704520e-02 8.89143690e-02 -2.83656621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.05, Z:-283.68 [[ 8.66837941e-02 1.03864395e-01 9.90806796e-01 2.96630932e+02] [-2.53114621e-02 9.94458968e-01 -1.02032794e-01 -1.72048551e+02] [-9.95914278e-01 -1.62341789e-02 8.88324361e-02 -2.83684632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.05, Z:-283.71 [[ 8.67534625e-02 1.00501870e-01 9.91147421e-01 2.96634034e+02] [-2.51560098e-02 9.94802136e-01 -9.86705927e-02 -1.72049502e+02] [-9.95912151e-01 -1.63732987e-02 8.88307558e-02 -2.83712238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:-172.05, Z:-283.74 [[ 8.65728849e-02 9.71739699e-02 9.91495010e-01 2.96637389e+02] [-2.52472306e-02 9.95125949e-01 -9.53253546e-02 -1.72049809e+02] [-9.95925556e-01 -1.67799122e-02 8.86042978e-02 -2.83741367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-172.03, Z:-283.77 [[ 7.99965427e-02 1.19375158e-01 9.89621203e-01 2.96623457e+02] [-2.11435939e-02 9.92782838e-01 -1.18047383e-01 -1.72032705e+02] [-9.96570871e-01 -1.14807663e-02 8.19432146e-02 -2.83771810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-172.13, Z:-283.80 [[ 8.79792486e-02 -7.40062254e-02 9.93369383e-01 2.96702580e+02] [-2.34848952e-02 9.96805063e-01 7.63421593e-02 -1.72130834e+02] [-9.95845426e-01 -3.00457016e-02 8.59601320e-02 -2.83796839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-172.03, Z:-283.83 [[ 7.83125526e-02 1.19367972e-01 9.89756754e-01 2.96630300e+02] [-2.06190140e-02 9.92787372e-01 -1.18102036e-01 -1.72031856e+02] [-9.96715607e-01 -1.11589365e-02 8.02089631e-02 -2.83833643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-172.12, Z:-283.86 [[ 8.62573116e-02 -5.10517831e-02 9.94964015e-01 2.96699682e+02] [-2.36958253e-02 9.98298578e-01 5.32771637e-02 -1.72118786e+02] [-9.95991056e-01 -2.81720384e-02 8.49008374e-02 -2.83862048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-172.04, Z:-283.89 [[ 8.33092128e-02 1.04759704e-01 9.91002008e-01 2.96648187e+02] [-2.39501643e-02 9.94382234e-01 -1.03103645e-01 -1.72042253e+02] [-9.96235898e-01 -1.51451774e-02 8.53502133e-02 -2.83894622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-172.04, Z:-283.92 [[ 8.36634533e-02 1.01410479e-01 9.91320504e-01 2.96651300e+02] [-2.39261039e-02 9.94725871e-01 -9.97395757e-02 -1.72043004e+02] [-9.96206790e-01 -1.53738800e-02 8.56485591e-02 -2.83921989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-172.04, Z:-283.95 [[ 8.43477515e-02 9.99619934e-02 9.91409631e-01 2.96653196e+02] [-2.39219294e-02 9.94871653e-01 -9.82758181e-02 -1.72041766e+02] [-9.96149185e-01 -1.54270869e-02 8.63064707e-02 -2.83949117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-172.04, Z:-283.98 [[ 8.50552168e-02 9.84759256e-02 9.91497908e-01 2.96655973e+02] [-2.32801272e-02 9.95028682e-01 -9.68295277e-02 -1.72041563e+02] [-9.96104234e-01 -1.48463409e-02 8.69249123e-02 -2.83976580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-172.04, Z:-284.00 [[ 8.56769145e-02 9.52113182e-02 9.91763213e-01 2.96659266e+02] [-2.28035553e-02 9.95350047e-01 -9.35856972e-02 -1.72042390e+02] [-9.96061978e-01 -1.45975935e-02 8.74496774e-02 -2.84004100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-172.04, Z:-284.03 [[ 8.64645713e-02 9.19029291e-02 9.92006920e-01 2.96662289e+02] [-2.16301470e-02 9.95674484e-01 -9.03573939e-02 -1.72042520e+02] [-9.96020088e-01 -1.36445422e-02 8.80784413e-02 -2.84031476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.04, Z:-284.06 [[ 8.69467124e-02 9.04110910e-02 9.92101862e-01 2.96665234e+02] [-2.04608678e-02 9.95825267e-01 -8.89572402e-02 -1.72042909e+02] [-9.96002822e-01 -1.25647254e-02 8.84336225e-02 -2.84059630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.04, Z:-284.09 [[ 8.70136979e-02 8.70770582e-02 9.92394177e-01 2.96668579e+02] [-2.01868193e-02 9.96122121e-01 -8.56341725e-02 -1.72044712e+02] [-9.96002565e-01 -1.25819359e-02 8.84340782e-02 -2.84088013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.05, Z:-284.12 [[ 8.73938208e-02 8.39028319e-02 9.92634190e-01 2.96672131e+02] [-1.93602985e-02 9.96401608e-01 -8.25167489e-02 -1.72046184e+02] [-9.95985692e-01 -1.20062403e-02 8.87037274e-02 -2.84115897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-172.05, Z:-284.14 [[ 8.71800223e-02 8.25459357e-02 9.92766746e-01 2.96674866e+02] [-1.83359188e-02 9.96525219e-01 -8.12482702e-02 -1.72046797e+02] [-9.96023814e-01 -1.11200644e-02 8.83906464e-02 -2.84142739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-172.05, Z:-284.17 [[ 8.71866334e-02 8.09944720e-02 9.92893945e-01 2.96678071e+02] [-1.73601759e-02 9.96661523e-01 -7.97774011e-02 -1.72047635e+02] [-9.96040720e-01 -1.02812905e-02 8.83016410e-02 -2.84171101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-172.05, Z:-284.20 [[ 8.70208638e-02 7.99650270e-02 9.92991925e-01 2.96681007e+02] [-1.53033250e-02 9.96762882e-01 -7.89275927e-02 -1.72048195e+02] [-9.96088941e-01 -8.32773084e-03 8.79628978e-02 -2.84199242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.06, Z:-284.23 [[ 8.98575243e-02 6.69265135e-02 9.93703410e-01 2.96691249e+02] [-1.52492970e-02 9.97715131e-01 -6.58177585e-02 -1.72056100e+02] [-9.95837881e-01 -9.23905762e-03 9.06727938e-02 -2.84230876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-172.04, Z:-284.26 [[ 8.92954192e-02 1.02581529e-01 9.90708513e-01 2.96682379e+02] [-1.45170619e-02 9.94710470e-01 -1.01687441e-01 -1.72038058e+02] [-9.95899384e-01 -5.30195417e-03 9.03122708e-02 -2.84264010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-172.03, Z:-284.30 [[ 8.67894895e-02 1.17775982e-01 9.89240316e-01 2.96677048e+02] [-1.30054587e-02 9.93036509e-01 -1.17086932e-01 -1.72029076e+02] [-9.96141778e-01 -2.70360905e-03 8.77168624e-02 -2.84295374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.05, Z:-284.32 [[ 8.65199266e-02 8.50047592e-02 9.92616992e-01 2.96688832e+02] [-1.27974389e-02 9.96365819e-01 -8.42103286e-02 -1.72045722e+02] [-9.96167922e-01 -5.41708390e-03 8.72933407e-02 -2.84322731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.05, Z:-284.35 [[ 8.66270264e-02 8.37662058e-02 9.92712940e-01 2.96691836e+02] [-1.31603228e-02 9.96468087e-01 -8.29346611e-02 -1.72046310e+02] [-9.96153886e-01 -5.88003966e-03 8.74234576e-02 -2.84351807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.05, Z:-284.38 [[ 8.61155067e-02 8.38075518e-02 9.92753954e-01 2.96693892e+02] [-1.38858271e-02 9.96459804e-01 -8.29158839e-02 -1.72046308e+02] [-9.96188388e-01 -6.64486642e-03 8.69743781e-02 -2.84383891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-172.05, Z:-284.42 [[ 8.60914918e-02 7.79554232e-02 9.93232705e-01 2.96698358e+02] [-1.50876047e-02 9.96921778e-01 -7.69372014e-02 -1.72049359e+02] [-9.96172987e-01 -8.36186404e-03 8.70026437e-02 -2.84415872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-172.05, Z:-284.44 [[ 8.67585206e-02 8.48436441e-02 9.92609951e-01 2.96699171e+02] [-1.80243700e-02 9.96337474e-01 -8.35868452e-02 -1.72046009e+02] [-9.96066304e-01 -1.06392980e-02 8.79700185e-02 -2.84444073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-172.04, Z:-284.47 [[ 8.70720360e-02 8.67307985e-02 9.92419382e-01 2.96700928e+02] [-1.96054586e-02 9.96159192e-01 -8.53375061e-02 -1.72044901e+02] [-9.96009080e-01 -1.20263267e-02 8.84380061e-02 -2.84472268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-172.05, Z:-284.50 [[ 8.70683302e-02 8.56158136e-02 9.92516518e-01 2.96703491e+02] [-2.13514537e-02 9.96231644e-01 -8.40632330e-02 -1.72045293e+02] [-9.95973504e-01 -1.38724251e-02 8.85682478e-02 -2.84502231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-172.04, Z:-284.53 [[ 8.73833827e-02 8.53049296e-02 9.92515599e-01 2.96705812e+02] [-2.26421282e-02 9.96239480e-01 -8.36315249e-02 -1.72044991e+02] [-9.95917406e-01 -1.51646599e-02 8.89862609e-02 -2.84530646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-172.05, Z:-284.56 [[ 8.75536250e-02 8.46765424e-02 9.92554405e-01 2.96707723e+02] [-2.51281941e-02 9.96251380e-01 -8.27753697e-02 -1.72045144e+02] [-9.95842827e-01 -1.76938160e-02 8.93531884e-02 -2.84557602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-172.05, Z:-284.59 [[ 8.82144385e-02 8.24213284e-02 9.92685719e-01 2.96710923e+02] [-2.57519055e-02 9.96426457e-01 -8.04434886e-02 -1.72046765e+02] [-9.95768574e-01 -1.84672716e-02 9.00217067e-02 -2.84585602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-172.06, Z:-284.62 [[ 8.96851978e-02 7.21612924e-02 9.93352562e-01 2.96718119e+02] [-2.75449103e-02 9.97170014e-01 -6.99517059e-02 -1.72055073e+02] [-9.95589194e-01 -2.10881746e-02 9.14190663e-02 -2.84615603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.00, Z:-284.64 [[ 8.64324310e-02 1.78313964e-01 9.80170172e-01 2.96687760e+02] [-2.62510119e-02 9.83918050e-01 -1.76680942e-01 -1.71997451e+02] [-9.95911803e-01 -1.04594955e-02 8.97233509e-02 -2.84643449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-172.05, Z:-284.67 [[ 8.86862509e-02 7.45163259e-02 9.93268376e-01 2.96719368e+02] [-2.52165773e-02 9.97046078e-01 -7.25482141e-02 -1.72053237e+02] [-9.95740364e-01 -1.86127996e-02 9.03033253e-02 -2.84668287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-172.06, Z:-284.70 [[ 8.88769778e-02 7.15390362e-02 9.93470205e-01 2.96722796e+02] [-2.61607852e-02 9.97240947e-01 -6.94701908e-02 -1.72058039e+02] [-9.95698999e-01 -1.98156600e-02 9.05032789e-02 -2.84699650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-172.00, Z:-284.73 [[ 8.64275507e-02 1.78544808e-01 9.80128578e-01 2.96693776e+02] [-2.46748589e-02 9.83891691e-01 -1.77054490e-01 -1.72000167e+02] [-9.95952524e-01 -8.88214846e-03 8.94409169e-02 -2.84726991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:-172.06, Z:-284.75 [[ 8.78572261e-02 6.72605045e-02 9.93859715e-01 2.96727920e+02] [-2.31803965e-02 9.97585684e-01 -6.54635158e-02 -1.72059730e+02] [-9.95863333e-01 -1.72866193e-02 8.92042362e-02 -2.84751206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:-172.06, Z:-284.78 [[ 8.78840595e-02 6.49745443e-02 9.94009407e-01 2.96731084e+02] [-2.28611886e-02 9.97739191e-01 -6.31971033e-02 -1.72062020e+02] [-9.95868344e-01 -1.71702186e-02 8.91707657e-02 -2.84778948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:-172.06, Z:-284.81 [[ 8.75426775e-02 6.15768345e-02 9.94255789e-01 2.96734293e+02] [-2.25609462e-02 9.97954227e-01 -5.98194321e-02 -1.72064523e+02] [-9.95905258e-01 -1.71945982e-02 8.87528167e-02 -2.84806646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-172.07, Z:-284.83 [[ 8.70670414e-02 5.82771333e-02 9.94496408e-01 2.96737526e+02] [-2.35177366e-02 9.98129475e-01 -5.64310784e-02 -1.72067662e+02] [-9.95924820e-01 -1.84750175e-02 8.82747266e-02 -2.84833147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-172.07, Z:-284.87 [[ 8.81131854e-02 5.78245223e-02 9.94430687e-01 2.96740641e+02] [-2.55289447e-02 9.98116836e-01 -5.57768312e-02 -1.72070829e+02] [-9.95783279e-01 -2.04720917e-02 8.94234529e-02 -2.84868152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-172.02, Z:-284.90 [[ 8.60071183e-02 1.45597073e-01 9.85598431e-01 2.96715948e+02] [-2.62374762e-02 9.89252027e-01 -1.43847215e-01 -1.72024125e+02] [-9.95948980e-01 -1.34877309e-02 8.89028159e-02 -2.84897872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-172.07, Z:-284.92 [[ 8.85830382e-02 6.06574980e-02 9.94220153e-01 2.96743863e+02] [-2.69675148e-02 9.97924224e-01 -5.84807319e-02 -1.72068451e+02] [-9.95703670e-01 -2.16312458e-02 9.00349417e-02 -2.84923846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-172.07, Z:-284.95 [[ 8.94957956e-02 5.74826609e-02 9.94327032e-01 2.96746893e+02] [-2.80666739e-02 9.98082231e-01 -5.51735710e-02 -1.72070374e+02] [-9.95591666e-01 -2.29696499e-02 9.09375104e-02 -2.84951122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.08, Z:-284.99 [[ 9.38302463e-02 4.53373281e-02 9.94555384e-01 2.96757477e+02] [-3.25392034e-02 9.98568558e-01 -4.24503950e-02 -1.72082022e+02] [-9.95056323e-01 -2.83789090e-02 9.51711742e-02 -2.84986682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-172.01, Z:-285.02 [[ 9.13463060e-02 1.81491821e-01 9.79140731e-01 2.96719962e+02] [-3.55441972e-02 9.83219213e-01 -1.78931801e-01 -1.72013875e+02] [-9.95184637e-01 -1.84580122e-02 9.62644242e-02 -2.85018731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-171.98, Z:-285.04 [[ 8.57339893e-02 2.32434428e-01 9.68826052e-01 2.96703668e+02] [-3.28327660e-02 9.72537365e-01 -2.30419363e-01 -1.71981638e+02] [-9.95776929e-01 -1.20544678e-02 9.10109733e-02 -2.85043331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-172.07, Z:-285.07 [[ 9.03421935e-02 6.21438481e-02 9.93970035e-01 2.96754392e+02] [-3.18323729e-02 9.97721513e-01 -5.94851411e-02 -1.72073560e+02] [-9.95401923e-01 -2.62664066e-02 9.21145362e-02 -2.85065585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-172.09, Z:-285.10 [[ 9.73375464e-02 3.83518892e-02 9.94512209e-01 2.96774227e+02] [-3.51077398e-02 9.98767667e-01 -3.50798364e-02 -1.72092407e+02] [-9.94632017e-01 -3.15004907e-02 9.85640422e-02 -2.85101482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-171.99, Z:-285.13 [[ 8.35652674e-02 2.33563404e-01 9.68744023e-01 2.96709959e+02] [-3.14135527e-02 9.72278566e-01 -2.31705801e-01 -1.71985630e+02] [-9.96007046e-01 -1.10691342e-02 8.85857746e-02 -2.85134051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.08, Z:-285.16 [[ 8.75006644e-02 6.61495873e-02 9.93965727e-01 2.96760832e+02] [-3.03208632e-02 9.97507346e-01 -6.37160839e-02 -1.72075930e+02] [-9.95702907e-01 -2.45626992e-02 8.92882681e-02 -2.85156627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.07, Z:-285.19 [[ 8.89039137e-02 7.31006347e-02 9.93354112e-01 2.96761023e+02] [-2.92988823e-02 9.97063596e-01 -7.07514023e-02 -1.72073206e+02] [-9.95609195e-01 -2.28140886e-02 9.07846228e-02 -2.85185608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.07, Z:-285.21 [[ 8.60008102e-02 7.31820218e-02 9.93603670e-01 2.96762614e+02] [-2.88895413e-02 9.97062407e-01 -7.09362505e-02 -1.72074825e+02] [-9.95876124e-01 -2.26041792e-02 8.78623699e-02 -2.85213035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-172.08, Z:-285.24 [[ 8.66505102e-02 5.73965292e-02 9.94583997e-01 2.96769894e+02] [-2.87237340e-02 9.98067872e-01 -5.50951008e-02 -1.72083683e+02] [-9.95824601e-01 -2.37941476e-02 8.81317329e-02 -2.85239798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-172.09, Z:-285.27 [[ 8.68300250e-02 5.59381059e-02 9.94651434e-01 2.96772519e+02] [-2.85716418e-02 9.98151458e-01 -5.36407266e-02 -1.72085326e+02] [-9.95813340e-01 -2.37611989e-02 8.82677596e-02 -2.85267736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-172.09, Z:-285.30 [[ 8.73434947e-02 5.25558037e-02 9.94790934e-01 2.96775619e+02] [-2.80528168e-02 9.98341089e-01 -5.02803007e-02 -1.72088012e+02] [-9.95783186e-01 -2.35150307e-02 8.86729380e-02 -2.85295384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-172.09, Z:-285.32 [[ 8.81941535e-02 4.91257764e-02 9.94891175e-01 2.96778190e+02] [-2.69747465e-02 9.98534625e-01 -4.69144515e-02 -1.72091338e+02] [-9.95737995e-01 -2.26993569e-02 8.93900713e-02 -2.85323880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-172.09, Z:-285.36 [[ 8.87668349e-02 4.82869701e-02 9.94881308e-01 2.96781105e+02] [-2.69650299e-02 9.98574652e-01 -4.60603125e-02 -1.72092994e+02] [-9.95687369e-01 -2.27383761e-02 8.99423708e-02 -2.85356238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-172.09, Z:-285.38 [[ 8.89745238e-02 5.16899049e-02 9.94691755e-01 2.96782242e+02] [-2.67735456e-02 9.98415775e-01 -4.94885503e-02 -1.72092469e+02] [-9.95673999e-01 -2.22282048e-02 9.02174902e-02 -2.85383833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-172.09, Z:-285.41 [[ 8.92529872e-02 5.06232431e-02 9.94721665e-01 2.96784861e+02] [-2.66232582e-02 9.98471929e-01 -4.84252867e-02 -1.72094086e+02] [-9.95653106e-01 -2.21606303e-02 9.04643580e-02 -2.85410575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-172.10, Z:-285.44 [[ 8.92526370e-02 4.91515524e-02 9.94795502e-01 2.96787230e+02] [-2.64479721e-02 9.98546388e-01 -4.69639778e-02 -1.72096315e+02] [-9.95657809e-01 -2.21186648e-02 9.04228572e-02 -2.85438311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-172.10, Z:-285.47 [[ 8.96846917e-02 4.59369252e-02 9.94910275e-01 2.96791212e+02] [-2.70298876e-02 9.98680094e-01 -4.36744165e-02 -1.72099127e+02] [-9.95603355e-01 -2.29753864e-02 9.08079863e-02 -2.85470667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.11, Z:-285.50 [[ 9.63295017e-02 2.64624710e-02 9.94997671e-01 2.96809248e+02] [-2.97455831e-02 9.99276577e-01 -2.36964878e-02 -1.72114066e+02] [-9.94904934e-01 -2.73141151e-02 9.70469563e-02 -2.85500843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-172.05, Z:-285.53 [[ 8.70518364e-02 1.51160364e-01 9.84668737e-01 2.96760786e+02] [-2.69936428e-02 9.88415987e-01 -1.49349186e-01 -1.72046933e+02] [-9.95837999e-01 -1.35786752e-02 9.01237957e-02 -2.85534213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-172.10, Z:-285.56 [[ 8.97167915e-02 4.73513636e-02 9.94841066e-01 2.96797256e+02] [-2.57202204e-02 9.98646212e-01 -4.52129751e-02 -1.72101591e+02] [-9.95635158e-01 -2.15311684e-02 9.08132215e-02 -2.85558142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-172.10, Z:-285.59 [[ 8.94792195e-02 4.49011628e-02 9.94976057e-01 2.96800576e+02] [-2.47314986e-02 9.98775430e-01 -4.28484913e-02 -1.72104092e+02] [-9.95681587e-01 -2.07731994e-02 9.04801190e-02 -2.85586397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-172.11, Z:-285.61 [[ 8.90940981e-02 4.14607580e-02 9.95159910e-01 2.96804411e+02] [-2.37840372e-02 9.98936912e-01 -3.94887935e-02 -1.72106946e+02] [-9.95739204e-01 -2.01507019e-02 8.99854875e-02 -2.85614097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-172.12, Z:-285.65 [[ 9.32299152e-02 2.32443286e-02 9.95373239e-01 2.96821131e+02] [-2.40319191e-02 9.99488719e-01 -2.10895266e-02 -1.72120449e+02] [-9.95354535e-01 -2.19545543e-02 9.37408543e-02 -2.85647891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-172.06, Z:-285.68 [[ 8.62939739e-02 1.32086754e-01 9.87474779e-01 2.96779264e+02] [-2.22756773e-02 9.91180152e-01 -1.30635753e-01 -1.72062474e+02] [-9.96020655e-01 -1.07235912e-02 8.84751961e-02 -2.85680526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.11, Z:-285.71 [[ 8.75881233e-02 4.41337755e-02 9.95178643e-01 2.96811539e+02] [-2.04727139e-02 9.98886844e-01 -4.24963713e-02 -1.72107738e+02] [-9.95946378e-01 -1.66518302e-02 8.83941622e-02 -2.85706117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.11, Z:-285.73 [[ 8.68626470e-02 4.06684280e-02 9.95389853e-01 2.96814928e+02] [-1.86887276e-02 9.99057096e-01 -3.91873888e-02 -1.72110122e+02] [-9.96044985e-01 -1.51986495e-02 8.75407850e-02 -2.85734385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-172.11, Z:-285.77 [[ 8.74893951e-02 3.47413982e-02 9.95559461e-01 2.96821095e+02] [-1.81289720e-02 9.99281696e-01 -3.32781233e-02 -1.72113966e+02] [-9.96000475e-01 -1.51369868e-02 8.80563769e-02 -2.85767001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.10, Z:-285.80 [[ 8.65826908e-02 6.86276447e-02 9.93878103e-01 2.96809550e+02] [-1.73368746e-02 9.97577238e-01 -6.73727520e-02 -1.72096307e+02] [-9.96093806e-01 -1.13974259e-02 8.75627103e-02 -2.85799461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-172.11, Z:-285.83 [[ 8.81195296e-02 3.97374844e-02 9.95316975e-01 2.96822552e+02] [-1.57712556e-02 9.99134381e-01 -3.84935977e-02 -1.72111725e+02] [-9.95985048e-01 -1.23053607e-02 8.86699617e-02 -2.85831567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.10, Z:-285.86 [[ 8.81293784e-02 6.55666951e-02 9.93948802e-01 2.96814755e+02] [-1.55983866e-02 9.97799817e-01 -6.44376854e-02 -1.72098302e+02] [-9.95986899e-01 -9.82514450e-03 8.89582123e-02 -2.85863623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-172.11, Z:-285.89 [[ 8.89291374e-02 4.58767360e-02 9.94980871e-01 2.96823876e+02] [-1.48596601e-02 9.98888645e-01 -4.47287935e-02 -1.72108265e+02] [-9.95927105e-01 -1.08073845e-02 8.95120183e-02 -2.85889584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-172.11, Z:-285.92 [[ 8.89570171e-02 4.43990120e-02 9.95045415e-01 2.96826751e+02] [-1.45922430e-02 9.98956886e-01 -4.32689963e-02 -1.72109013e+02] [-9.95928570e-01 -1.06708637e-02 8.95121059e-02 -2.85918025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-172.11, Z:-285.95 [[ 8.94210862e-02 4.12184597e-02 9.95140647e-01 2.96830061e+02] [-1.37734143e-02 9.99098940e-01 -4.01447633e-02 -1.72110722e+02] [-9.95898671e-01 -1.01166961e-02 8.99082314e-02 -2.85947796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-172.11, Z:-285.98 [[ 8.95449554e-02 4.07043455e-02 9.95150671e-01 2.96832880e+02] [-1.27906013e-02 9.99129134e-01 -3.97161604e-02 -1.72111037e+02] [-9.95900648e-01 -9.17219366e-03 8.99876068e-02 -2.85980130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-172.12, Z:-286.01 [[ 9.10813789e-02 3.65238298e-02 9.95173448e-01 2.96839376e+02] [-1.31370310e-02 9.99284309e-01 -3.54723603e-02 -1.72115593e+02] [-9.95756798e-01 -9.84275293e-03 9.14960074e-02 -2.86010563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-172.07, Z:-286.04 [[ 8.86743694e-02 1.29034298e-01 9.87667457e-01 2.96807154e+02] [-1.12173061e-02 9.91640080e-01 -1.28546196e-01 -1.72065389e+02] [-9.95997504e-01 3.19784607e-04 8.93804760e-02 -2.86038728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-172.11, Z:-286.06 [[ 8.90169514e-02 3.86312244e-02 9.95280669e-01 2.96840294e+02] [-9.47886128e-03 9.99235178e-01 -3.79369360e-02 -1.72112007e+02] [-9.95985007e-01 -6.05709701e-03 8.93150493e-02 -2.86063676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-172.11, Z:-286.09 [[ 8.85556525e-02 3.51458946e-02 9.95450985e-01 2.96843951e+02] [-7.99579563e-03 9.99370191e-01 -3.45729595e-02 -1.72113611e+02] [-9.96039138e-01 -4.89779165e-03 8.87808987e-02 -2.86090655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.11, Z:-286.12 [[ 8.83272693e-02 3.27875512e-02 9.95551742e-01 2.96846762e+02] [-7.08294289e-03 9.99453521e-01 -3.22876403e-02 -1.72114246e+02] [-9.96066326e-01 -4.19955703e-03 8.85112326e-02 -2.86118856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.996559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.12, Z:-286.15 [[ 8.82576184e-02 2.94207506e-02 9.95663102e-01 2.96850117e+02] [-6.71632233e-03 9.99558572e-01 -2.89405088e-02 -1.72115596e+02] [-9.96075039e-01 -4.13297394e-03 8.84162582e-02 -2.86145264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-172.12, Z:-286.17 [[ 8.86848064e-02 2.79531652e-02 9.95667427e-01 2.96852791e+02] [-6.44055065e-03 9.99601332e-01 -2.74899443e-02 -1.72115801e+02] [-9.96038917e-01 -3.97470611e-03 8.88294843e-02 -2.86173195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-172.12, Z:-286.21 [[ 9.12923817e-02 1.80597405e-02 9.95660357e-01 2.96862300e+02] [-7.56715623e-03 9.99819253e-01 -1.74413418e-02 -1.72122060e+02] [-9.95795380e-01 -5.94205585e-03 9.14125417e-02 -2.86206132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-172.09, Z:-286.24 [[ 8.89568383e-02 7.76811918e-02 9.93001668e-01 2.96840193e+02] [-7.62253758e-03 9.96978011e-01 -7.73094000e-02 -1.72090632e+02] [-9.96006314e-01 -6.91992741e-04 8.92801395e-02 -2.86238317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-172.11, Z:-286.26 [[ 9.03970740e-02 3.22581949e-02 9.95383232e-01 2.96858948e+02] [-8.15234633e-03 9.99465761e-01 -3.16501344e-02 -1.72113650e+02] [-9.95872436e-01 -5.25362930e-03 9.06117604e-02 -2.86263638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-172.11, Z:-286.29 [[ 9.03479955e-02 3.08444944e-02 9.95432497e-01 2.96861630e+02] [-8.45541004e-03 9.99508011e-01 -3.02033438e-02 -1.72114241e+02] [-9.95874363e-01 -5.68797837e-03 9.05643481e-02 -2.86291216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-172.11, Z:-286.32 [[ 8.99092142e-02 2.95636741e-02 9.95511086e-01 2.96864131e+02] [-8.27060991e-03 9.99547033e-01 -2.89365725e-02 -1.72114351e+02] [-9.95915624e-01 -5.63181936e-03 9.01129979e-02 -2.86319435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-172.12, Z:-286.35 [[ 8.95743807e-02 2.61890674e-02 9.95635758e-01 2.96867029e+02] [-8.19278674e-03 9.99639786e-01 -2.55573082e-02 -1.72115058e+02] [-9.95946439e-01 -5.86775138e-03 8.97566762e-02 -2.86346494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-172.12, Z:-286.37 [[ 8.93371781e-02 2.46949077e-02 9.95695250e-01 2.96869391e+02] [-7.81059603e-03 9.99679211e-01 -2.40929232e-02 -1.72115463e+02] [-9.95970815e-01 -5.62457959e-03 8.95014017e-02 -2.86373418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-172.12, Z:-286.40 [[ 8.93452926e-02 2.32082415e-02 9.95730283e-01 2.96872172e+02] [-7.26957399e-03 9.99717051e-01 -2.26488768e-02 -1.72115941e+02] [-9.95974182e-01 -5.21496445e-03 8.94887265e-02 -2.86401858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-172.12, Z:-286.43 [[ 8.93553891e-02 1.98445518e-02 9.95802093e-01 2.96875269e+02] [-6.35331562e-03 9.99792508e-01 -1.93539775e-02 -1.72117805e+02] [-9.95979543e-01 -4.59726281e-03 8.94629272e-02 -2.86429122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-172.12, Z:-286.46 [[ 8.93447262e-02 1.83469752e-02 9.95831767e-01 2.96877866e+02] [-5.47982961e-03 9.99824248e-01 -1.79288886e-02 -1.72118645e+02] [-9.95985688e-01 -3.85513676e-03 8.94295619e-02 -2.86457513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-172.12, Z:-286.49 [[ 8.95350234e-02 1.50988157e-02 9.95869221e-01 2.96881446e+02] [-4.95797338e-03 9.99879453e-01 -1.47138630e-02 -1.72120535e+02] [-9.95971334e-01 -3.62008702e-03 8.95990898e-02 -2.86485167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-172.12, Z:-286.51 [[ 9.00389111e-02 1.17726692e-02 9.95868665e-01 2.96884579e+02] [-4.38386955e-03 9.99925131e-01 -1.14242664e-02 -1.72122188e+02] [-9.95928600e-01 -3.33712982e-03 9.00837799e-02 -2.86512085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-172.12, Z:-286.54 [[ 9.00559852e-02 1.03439641e-02 9.95882986e-01 2.96887211e+02] [-4.26600666e-03 9.99940895e-01 -1.00003449e-02 -1.72122814e+02] [-9.95927568e-01 -3.34785255e-03 9.00947899e-02 -2.86538507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-172.12, Z:-286.57 [[ 8.90647357e-02 1.36964131e-02 9.95931665e-01 2.96885775e+02] [-3.80305887e-03 9.99902837e-01 -1.34109240e-02 -1.72120628e+02] [-9.96018579e-01 -2.59314635e-03 8.91081702e-02 -2.86566528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-172.13, Z:-286.59 [[ 9.02365713e-02 -4.44332394e-04 9.95920260e-01 2.96895502e+02] [-4.17403152e-03 9.99990949e-01 8.24341766e-04 -1.72127521e+02] [-9.95911612e-01 -4.23138834e-03 9.02338999e-02 -2.86594371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-172.13, Z:-286.62 [[ 9.07214403e-02 2.80058638e-03 9.95872370e-01 2.96896960e+02] [-4.76934776e-03 9.99985800e-01 -2.37767869e-03 -1.72125875e+02] [-9.95864887e-01 -4.53395523e-03 9.07335090e-02 -2.86621418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-172.13, Z:-286.65 [[ 9.10761860e-02 1.41008115e-03 9.95842929e-01 2.96899535e+02] [-4.95407890e-03 9.99987265e-01 -9.62867290e-04 -1.72126272e+02] [-9.95831605e-01 -4.84579017e-03 9.10820118e-02 -2.86649829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-172.13, Z:-286.68 [[ 9.08349326e-02 4.92481844e-04 9.95865841e-01 2.96900237e+02] [-4.05535014e-03 9.99991769e-01 -1.24625555e-04 -1.72125530e+02] [-9.95857705e-01 -4.02726433e-03 9.08361822e-02 -2.86677421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.14, Z:-286.70 [[ 9.21812831e-02 -2.96256086e-02 9.95301429e-01 2.96915783e+02] [-4.91250215e-03 9.99531608e-01 3.02065003e-02 -1.72140969e+02] [-9.95730123e-01 -7.67389437e-03 9.19925702e-02 -2.86703989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-172.13, Z:-286.73 [[ 9.17803741e-02 -5.88353175e-03 9.95761893e-01 2.96908890e+02] [-5.11744284e-03 9.99966553e-01 6.38005514e-03 -1.72129548e+02] [-9.95766125e-01 -5.68131842e-03 9.17471956e-02 -2.86732985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-172.13, Z:-286.76 [[ 9.15716690e-02 -9.00110015e-03 9.95757807e-01 2.96913127e+02] [-5.39579991e-03 9.99939982e-01 9.53511211e-03 -1.72131882e+02] [-9.95783870e-01 -6.24605602e-03 9.15176049e-02 -2.86760798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.13, Z:-286.79 [[ 9.12686727e-02 -1.23886060e-02 9.95749241e-01 2.96917006e+02] [-5.09105140e-03 9.99903742e-01 1.29069312e-02 -1.72133731e+02] [-9.95813291e-01 -6.24740906e-03 9.11968163e-02 -2.86787847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.13, Z:-286.82 [[ 9.12450090e-02 -1.38719837e-02 9.95731850e-01 2.96919879e+02] [-4.75851016e-03 9.99885482e-01 1.43659013e-02 -1.72134704e+02] [-9.95817104e-01 -6.04901692e-03 9.11685499e-02 -2.86816185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.14, Z:-286.84 [[ 9.11810299e-02 -1.72372142e-02 9.95685140e-01 2.96923337e+02] [-4.56999455e-03 9.99832411e-01 1.77275140e-02 -1.72136252e+02] [-9.95823847e-01 -6.16668865e-03 9.10869750e-02 -2.86842729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-172.14, Z:-286.87 [[ 9.17444274e-02 -1.86351037e-02 9.95608203e-01 2.96925915e+02] [-5.07211425e-03 9.99803162e-01 1.91810129e-02 -1.72137018e+02] [-9.95769669e-01 -6.80958960e-03 9.16318493e-02 -2.86869738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-172.14, Z:-286.90 [[ 9.19402647e-02 -2.00570860e-02 9.95562505e-01 2.96928531e+02] [-5.11139356e-03 9.99774443e-01 2.06139793e-02 -1.72137746e+02] [-9.95751405e-01 -6.98396649e-03 9.18170073e-02 -2.86897848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-172.14, Z:-286.93 [[ 9.23961400e-02 -2.33761560e-02 9.95447894e-01 2.96932262e+02] [-5.44470733e-03 9.99697580e-01 2.39813220e-02 -1.72139513e+02] [-9.95707441e-01 -7.63570403e-03 9.22409212e-02 -2.86925176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-172.14, Z:-286.95 [[ 9.22730320e-02 -2.56612383e-02 9.95403028e-01 2.96935231e+02] [-5.37959226e-03 9.99640431e-01 2.62691612e-02 -1.72140709e+02] [-9.95719211e-01 -7.77879759e-03 9.21018065e-02 -2.86952787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-172.14, Z:-286.98 [[ 9.21982482e-02 -2.90158337e-02 9.95317821e-01 2.96938835e+02] [-5.12867672e-03 9.99548245e-01 2.96142399e-02 -1.72142740e+02] [-9.95727463e-01 -7.83504438e-03 9.20077843e-02 -2.86979951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-172.14, Z:-287.01 [[ 9.20477874e-02 -3.13185041e-02 9.95261954e-01 2.96942611e+02] [-4.75902897e-03 9.99480011e-01 3.18913798e-02 -1.72144334e+02] [-9.95743218e-01 -7.67201142e-03 9.18508778e-02 -2.87011319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-172.14, Z:-287.04 [[ 9.18683663e-02 -3.09843325e-02 9.95288990e-01 2.96944699e+02] [-3.78265939e-03 9.99497712e-01 3.14645057e-02 -1.72144581e+02] [-9.95763975e-01 -6.65543199e-03 9.17050188e-02 -2.87037911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-172.15, Z:-287.07 [[ 9.14649174e-02 -3.25930653e-02 9.95274767e-01 2.96947735e+02] [-2.33571562e-03 9.99454450e-01 3.29445911e-02 -1.72145840e+02] [-9.95805560e-01 -5.33795312e-03 9.13388906e-02 -2.87065991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-172.15, Z:-287.09 [[ 9.07436362e-02 -3.61411629e-02 9.95218272e-01 2.96952232e+02] [ 1.09480930e-03 9.99344285e-01 3.61911740e-02 -1.72148907e+02] [-9.95873684e-01 -2.19454452e-03 9.07237019e-02 -2.87093595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-172.15, Z:-287.12 [[ 9.02859684e-02 -3.95282746e-02 9.95131127e-01 2.96955724e+02] [ 2.90997059e-03 9.99218232e-01 3.94266063e-02 -1.72150962e+02] [-9.95911631e-01 -6.63867024e-04 9.03304118e-02 -2.87121040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-172.15, Z:-287.15 [[ 9.02349165e-02 -4.31638522e-02 9.94984694e-01 2.96959667e+02] [ 5.69780909e-03 9.99066376e-01 4.28241885e-02 -1.72153052e+02] [-9.95904210e-01 1.80499576e-03 9.03966104e-02 -2.87148285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-172.15, Z:-287.18 [[ 9.01727319e-02 -4.47234246e-02 9.94921451e-01 2.96962348e+02] [ 6.76190593e-03 9.98995667e-01 4.42937157e-02 -1.72153624e+02] [-9.95903186e-01 2.73347990e-03 9.03845841e-02 -2.87175883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-172.14, Z:-287.21 [[ 8.59520428e-02 -2.99615645e-02 9.95848659e-01 2.96951265e+02] [ 9.02869945e-03 9.99530089e-01 2.92930555e-02 -1.72144613e+02] [-9.96258365e-01 6.47342027e-03 8.61821670e-02 -2.87208398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-172.19, Z:-287.24 [[ 9.08112589e-02 -1.24702773e-01 9.88029622e-01 2.97001363e+02] [ 9.10513888e-03 9.92191478e-01 1.24391189e-01 -1.72188333e+02] [-9.95826497e-01 -2.29997359e-03 9.12375933e-02 -2.87237484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-172.15, Z:-287.27 [[ 9.18405952e-02 -4.43037227e-02 9.94787658e-01 2.96969359e+02] [ 8.80957607e-03 9.99006805e-01 4.36783101e-02 -1.72151710e+02] [-9.95734752e-01 4.75221555e-03 9.21396766e-02 -2.87267977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-172.15, Z:-287.30 [[ 9.19180796e-02 -4.77041203e-02 9.94623237e-01 2.96973372e+02] [ 9.26096705e-03 9.98849559e-01 4.70509711e-02 -1.72152555e+02] [-9.95723506e-01 4.88633811e-03 9.22541195e-02 -2.87295151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-172.15, Z:-287.32 [[ 9.16970905e-02 -4.91928055e-02 9.94571119e-01 2.96976369e+02] [ 9.64634200e-03 9.98776046e-01 4.85114170e-02 -1.72152402e+02] [-9.95740223e-01 5.14561737e-03 9.20593881e-02 -2.87322535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-172.15, Z:-287.35 [[ 9.12735252e-02 -5.06295965e-02 9.94537977e-01 2.96979583e+02] [ 9.88058862e-03 9.98703601e-01 4.99348696e-02 -1.72151175e+02] [-9.95776841e-01 5.26888904e-03 9.16554485e-02 -2.87349202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-172.15, Z:-287.38 [[ 9.13317471e-02 -5.28450827e-02 9.94417372e-01 2.96983171e+02] [ 1.01228732e-02 9.98588633e-01 5.21370208e-02 -1.72151123e+02] [-9.95769069e-01 5.30459573e-03 9.17377886e-02 -2.87376783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-172.15, Z:-287.41 [[ 9.10658499e-02 -5.60968562e-02 9.94263624e-01 2.96986532e+02] [ 1.06764228e-02 9.98409770e-01 5.53529169e-02 -1.72151108e+02] [-9.95787641e-01 5.57441843e-03 9.15199480e-02 -2.87405123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-172.15, Z:-287.43 [[ 9.11673038e-02 -5.94728629e-02 9.94058098e-01 2.96990313e+02] [ 1.11090113e-02 9.98213699e-01 5.87026533e-02 -1.72149994e+02] [-9.95773625e-01 5.69124003e-03 9.16651363e-02 -2.87432294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-172.15, Z:-287.46 [[ 9.13089158e-02 -6.09755938e-02 9.93954053e-01 2.96993205e+02] [ 1.17566297e-02 9.98120043e-01 6.01511479e-02 -1.72149054e+02] [-9.95753214e-01 6.19321361e-03 9.18541265e-02 -2.87460642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-172.15, Z:-287.49 [[ 9.12312982e-02 -6.42791590e-02 9.93753008e-01 2.96996829e+02] [ 1.25092238e-02 9.97909819e-01 6.33996282e-02 -1.72149132e+02] [-9.95751159e-01 6.64704837e-03 9.18446906e-02 -2.87488912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.00, Y:-172.15, Z:-287.52 [[ 9.13896353e-02 -6.77061743e-02 9.93510850e-01 2.97000218e+02] [ 1.39605259e-02 9.97675019e-01 6.67057751e-02 -1.72147325e+02] [-9.95717349e-01 7.77371746e-03 9.21223699e-02 -2.87516756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-172.15, Z:-287.55 [[ 9.25409380e-02 -7.10644080e-02 9.93169686e-01 2.97004476e+02] [ 1.47921450e-02 9.97437908e-01 6.99915195e-02 -1.72145836e+02] [-9.95598999e-01 8.21402909e-03 9.33550346e-02 -2.87549417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:-172.14, Z:-287.58 [[ 9.23061432e-02 -6.98159068e-02 9.93280079e-01 2.97006016e+02] [ 1.52014719e-02 9.97521449e-01 6.87013428e-02 -1.72143751e+02] [-9.95614630e-01 8.75776321e-03 9.31386622e-02 -2.87577775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:-172.14, Z:-287.61 [[ 9.22822103e-02 -7.04702548e-02 9.93236093e-01 2.97008608e+02] [ 1.54619218e-02 9.97473648e-01 6.93343328e-02 -1.72143792e+02] [-9.95612838e-01 8.95901328e-03 9.31386786e-02 -2.87606238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:-172.14, Z:-287.63 [[ 9.22002073e-02 -7.35738477e-02 9.93018636e-01 2.97012369e+02] [ 1.59033373e-02 9.97248107e-01 7.24106142e-02 -1.72142676e+02] [-9.95613482e-01 9.11603670e-03 9.31165519e-02 -2.87634514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-172.14, Z:-287.66 [[ 9.21057546e-02 -7.69245206e-02 9.92773463e-01 2.97016078e+02] [ 1.61331170e-02 9.96995945e-01 7.57549279e-02 -1.72142900e+02] [-9.95618528e-01 9.03906566e-03 9.30700961e-02 -2.87661582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-172.14, Z:-287.69 [[ 9.15309151e-02 -7.84007023e-02 9.92711147e-01 2.97018851e+02] [ 1.65849470e-02 9.96877631e-01 7.72005746e-02 -1.72141836e+02] [-9.95664116e-01 9.39782250e-03 9.25453933e-02 -2.87689883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-172.14, Z:-287.72 [[ 9.14767430e-02 -8.17376478e-02 9.92446957e-01 2.97022522e+02] [ 1.68739605e-02 9.96609736e-01 8.05251708e-02 -1.72143068e+02] [-9.95664238e-01 9.38033037e-03 9.25458506e-02 -2.87718265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-172.14, Z:-287.75 [[ 9.13392054e-02 -8.48371464e-02 9.92199480e-01 2.97026173e+02] [ 1.68908170e-02 9.96353095e-01 8.36373746e-02 -1.72142734e+02] [-9.95676579e-01 9.11968849e-03 9.24390687e-02 -2.87746373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-172.15, Z:-287.78 [[ 9.29167843e-02 -8.91438210e-02 9.91675275e-01 2.97032753e+02] [ 1.44066107e-02 9.96000128e-01 8.81827382e-02 -1.72146068e+02] [-9.95569646e-01 6.09302314e-03 9.38293894e-02 -2.87781643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-172.08, Z:-287.81 [[ 9.18375662e-02 2.94767227e-02 9.95337623e-01 2.96988674e+02] [ 1.30642279e-02 9.99440075e-01 -3.08036229e-02 -1.72084163e+02] [-9.95688298e-01 1.58322473e-02 9.14010534e-02 -2.87813053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-172.14, Z:-287.84 [[ 9.11340471e-02 -8.35877544e-02 9.92324379e-01 2.97032638e+02] [ 1.33296101e-02 9.96484179e-01 8.27139747e-02 -1.72135582e+02] [-9.95749420e-01 5.68923775e-03 9.19278283e-02 -2.87837705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-172.14, Z:-287.87 [[ 9.34877630e-02 -9.15364021e-02 9.91403614e-01 2.97041126e+02] [ 1.02778573e-02 9.95800306e-01 9.09731637e-02 -1.72140789e+02] [-9.95567378e-01 1.68462725e-03 9.40359411e-02 -2.87869749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-172.05, Z:-287.90 [[ 9.22170695e-02 7.57287675e-02 9.92855058e-01 2.96980774e+02] [ 7.66723014e-03 9.97020226e-01 -7.67585981e-02 -1.72053541e+02] [-9.95709408e-01 1.46909012e-02 9.13616536e-02 -2.87898545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.14, Z:-287.93 [[ 9.47081425e-02 -9.37960399e-02 9.91076521e-01 2.97046369e+02] [ 6.21180349e-03 9.95587742e-01 9.36293790e-02 -1.72135729e+02] [-9.95485701e-01 -2.71109198e-03 9.48729084e-02 -2.87925822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-172.07, Z:-287.95 [[ 9.26816138e-02 4.50401608e-02 9.94676582e-01 2.96996120e+02] [ 4.82928696e-03 9.98944296e-01 -4.56833896e-02 -1.72065182e+02] [-9.95684085e-01 9.03758891e-03 9.23662575e-02 -2.87953883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.13, Z:-287.98 [[ 9.28840741e-02 -9.14921234e-02 9.91464442e-01 2.97047182e+02] [ 4.92770835e-03 9.95799268e-01 9.14304941e-02 -1.72127575e+02] [-9.95664736e-01 -3.60678918e-03 9.29447395e-02 -2.87978369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.13, Z:-288.01 [[ 9.31121464e-02 -9.46149436e-02 9.91149908e-01 2.97050528e+02] [ 3.12195133e-03 9.95497472e-01 9.47366738e-02 -1.72127134e+02] [-9.95650733e-01 -5.72681327e-03 9.29882896e-02 -2.88005853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.12, Z:-288.03 [[ 9.41094559e-02 -9.76528734e-02 9.90760984e-01 2.97053733e+02] [ 1.11797243e-04 9.95178755e-01 9.80776852e-02 -1.72124700e+02] [-9.95561850e-01 -9.11927325e-03 9.36666485e-02 -2.88034121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-172.12, Z:-288.06 [[ 9.42361097e-02 -1.00847357e-01 9.90428880e-01 2.97056817e+02] [-1.27554398e-03 9.94843066e-01 1.01418182e-01 -1.72124310e+02] [-9.95549059e-01 -1.08205905e-02 9.36215051e-02 -2.88062140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-172.12, Z:-288.09 [[ 9.41974929e-02 -1.04059825e-01 9.90100190e-01 2.97060034e+02] [-2.40963388e-03 9.94495558e-01 1.04751031e-01 -1.72123839e+02] [-9.95550615e-01 -1.22530634e-02 9.34282422e-02 -2.88089999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-172.12, Z:-288.12 [[ 9.42036928e-02 -1.07144260e-01 9.89770565e-01 2.97063668e+02] [-4.69719932e-03 9.94132891e-01 1.08063555e-01 -1.72122321e+02] [-9.95541863e-01 -1.48291356e-02 9.31477115e-02 -2.88120802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-172.12, Z:-288.15 [[ 9.33789382e-02 -1.06700416e-01 9.89896659e-01 2.97065833e+02] [-5.10530324e-03 9.94176468e-01 1.07643328e-01 -1.72120770e+02] [-9.95617552e-01 -1.51053423e-02 9.22904050e-02 -2.88148954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-172.12, Z:-288.18 [[ 9.25849659e-02 -1.10075747e-01 9.89601614e-01 2.97069329e+02] [-5.41715679e-03 9.93800104e-01 1.11049572e-01 -1.72121108e+02] [-9.95690051e-01 -1.56423480e-02 9.14146512e-02 -2.88176162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-172.12, Z:-288.20 [[ 9.09628216e-02 -1.11637101e-01 9.89577143e-01 2.97071911e+02] [-4.77099475e-03 9.93636466e-01 1.12533599e-01 -1.72119689e+02] [-9.95842861e-01 -1.49576411e-02 8.98513566e-02 -2.88203765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-172.12, Z:-288.24 [[ 9.06820515e-02 -1.15071972e-01 9.89209385e-01 2.97075690e+02] [-4.07082302e-03 9.93250763e-01 1.15915272e-01 -1.72120227e+02] [-9.95871575e-01 -1.45383310e-02 8.96015792e-02 -2.88236253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-172.12, Z:-288.27 [[ 9.03528034e-02 -1.13869133e-01 9.89378690e-01 2.97077516e+02] [-3.12367459e-03 9.93404757e-01 1.14617762e-01 -1.72118603e+02] [-9.95904922e-01 -1.34465332e-02 8.94012146e-02 -2.88269430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-172.12, Z:-288.30 [[ 9.16791549e-02 -1.13686989e-01 9.89277616e-01 2.97080554e+02] [-2.61784727e-03 9.93430532e-01 1.14406842e-01 -1.72119633e+02] [-9.95785157e-01 -1.30785003e-02 9.07792565e-02 -2.88300098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.07, Z:-288.33 [[ 8.92960190e-02 -2.01985515e-02 9.95800301e-01 2.97047146e+02] [ 2.32067651e-03 9.99795854e-01 2.00714951e-02 -1.72072996e+02] [-9.96002428e-01 5.18625757e-04 8.93246639e-02 -2.88327085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-172.12, Z:-288.35 [[ 8.95515725e-02 -1.13719554e-01 9.89468736e-01 2.97083603e+02] [ 5.44585905e-03 9.93501331e-01 1.13690144e-01 -1.72115430e+02] [-9.95967298e-01 -4.79262393e-03 8.95889070e-02 -2.88354289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-172.12, Z:-288.38 [[ 8.88504637e-02 -1.14393040e-01 9.89454308e-01 2.97085866e+02] [ 8.19024787e-03 9.93433485e-01 1.14117618e-01 -1.72115281e+02] [-9.96011303e-01 -2.03552722e-03 8.92039331e-02 -2.88380940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-172.12, Z:-288.41 [[ 8.86205004e-02 -1.16142163e-01 9.89271148e-01 2.97089125e+02] [ 1.13887944e-02 9.93232073e-01 1.15586956e-01 -1.72115218e+02] [-9.96000353e-01 1.02323184e-03 8.93434425e-02 -2.88409027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-172.12, Z:-288.44 [[ 8.71134400e-02 -1.20061490e-01 9.88937049e-01 2.97092278e+02] [ 1.74373625e-02 9.92742624e-01 1.18987483e-01 -1.72115771e+02] [-9.96045776e-01 6.87904484e-03 8.85747807e-02 -2.88441147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-172.11, Z:-288.47 [[ 8.71786789e-02 -1.19488523e-01 9.89000693e-01 2.97093891e+02] [ 2.05749034e-02 9.92784715e-01 1.18132058e-01 -1.72114648e+02] [-9.95980196e-01 1.00499970e-02 8.90081247e-02 -2.88468483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.13, Z:-288.50 [[ 9.21581031e-02 -1.42493891e-01 9.85496005e-01 2.97112234e+02] [ 2.21787644e-02 9.89756031e-01 1.41035818e-01 -1.72125710e+02] [-9.95497356e-01 8.85949027e-03 9.43743768e-02 -2.88501959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-172.07, Z:-288.54 [[ 8.81916898e-02 -2.89152920e-02 9.95683751e-01 2.97064878e+02] [ 2.76690885e-02 9.99263997e-01 2.65685029e-02 -1.72071036e+02] [-9.95719161e-01 2.52065407e-02 8.89268402e-02 -2.88535277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.13, Z:-288.56 [[ 9.37374011e-02 -1.53243306e-01 9.83732580e-01 2.97124493e+02] [ 2.90305589e-02 9.88083718e-01 1.51154866e-01 -1.72128999e+02] [-9.95173616e-01 1.43894423e-02 9.70691386e-02 -2.88563365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-172.05, Z:-288.59 [[ 8.86878509e-02 1.68193634e-02 9.95917454e-01 2.97053930e+02] [ 3.17239418e-02 9.99302476e-01 -1.97015924e-02 -1.72047028e+02] [-9.95554146e-01 3.33417192e-02 8.80924125e-02 -2.88594052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-172.11, Z:-288.62 [[ 8.51663407e-02 -1.21307745e-01 9.88954562e-01 2.97104271e+02] [ 3.47786738e-02 9.92317873e-01 1.18725243e-01 -1.72110036e+02] [-9.95759579e-01 2.42831336e-02 8.87310045e-02 -2.88620869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.11, Z:-288.65 [[ 8.46889547e-02 -1.21354671e-01 9.88989800e-01 2.97106100e+02] [ 3.54021439e-02 9.92295407e-01 1.18728739e-01 -1.72108848e+02] [-9.95778323e-01 2.49573464e-02 8.83326763e-02 -2.88647965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.11, Z:-288.68 [[ 8.42964834e-02 -1.22833484e-01 9.88840755e-01 2.97108689e+02] [ 3.57647086e-02 9.92106437e-01 1.20190284e-01 -1.72108004e+02] [-9.95798669e-01 2.52339831e-02 8.80241875e-02 -2.88676224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.11, Z:-288.71 [[ 8.39815172e-02 -1.26090697e-01 9.88457506e-01 2.97112257e+02] [ 3.49832162e-02 9.91723382e-01 1.23535052e-01 -1.72108347e+02] [-9.95853041e-01 2.42047615e-02 8.76974923e-02 -2.88708602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-172.11, Z:-288.74 [[ 8.41102023e-02 -1.24738788e-01 9.88618080e-01 2.97113732e+02] [ 3.40034866e-02 9.91915221e-01 1.22261837e-01 -1.72106015e+02] [-9.95876115e-01 2.33329938e-02 8.76717437e-02 -2.88736810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.10, Z:-288.77 [[ 8.43523755e-02 -1.25454989e-01 9.88506815e-01 2.97115631e+02] [ 3.01946017e-02 9.91908714e-01 1.23310137e-01 -1.72103415e+02] [-9.95978395e-01 1.94460665e-02 8.74579197e-02 -2.88765135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.10, Z:-288.79 [[ 8.44428134e-02 -1.28579489e-01 9.88097529e-01 2.97118499e+02] [ 2.79086654e-02 9.91555497e-01 1.26644394e-01 -1.72103036e+02] [-9.96037408e-01 1.68822744e-02 8.73182178e-02 -2.88793212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.10, Z:-288.82 [[ 8.50825663e-02 -1.31364488e-01 9.87676226e-01 2.97121004e+02] [ 2.18318464e-02 9.91278473e-01 1.29962913e-01 -1.72100661e+02] [-9.96134693e-01 1.05052175e-02 8.72084458e-02 -2.88821540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-172.10, Z:-288.85 [[ 8.51069656e-02 -1.34387490e-01 9.87267343e-01 2.97123888e+02] [ 1.84711069e-02 9.90904891e-01 1.33290342e-01 -1.72100016e+02] [-9.96200594e-01 6.89198411e-03 8.68151941e-02 -2.88849955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-172.11, Z:-288.88 [[ 9.27594978e-02 -1.62670081e-01 9.82310603e-01 2.97148318e+02] [ 1.32318827e-02 9.86678404e-01 1.62143901e-01 -1.72112280e+02] [-9.95600619e-01 -2.04256817e-03 9.36762247e-02 -2.88882551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-172.05, Z:-288.92 [[ 8.57546082e-02 -4.19163527e-02 9.95434160e-01 2.97096637e+02] [ 9.87999782e-03 9.99101260e-01 4.12196277e-02 -1.72053862e+02] [-9.96267300e-01 6.30011431e-03 8.60916705e-02 -2.88915991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-172.09, Z:-288.94 [[ 8.65802458e-02 -1.31577688e-01 9.87517682e-01 2.97129451e+02] [ 2.37722804e-03 9.91264371e-01 1.31868477e-01 -1.72091486e+02] [-9.96242044e-01 -9.06965045e-03 8.61367031e-02 -2.88940740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-172.09, Z:-288.97 [[ 8.71078459e-02 -1.32722499e-01 9.87318065e-01 2.97131789e+02] [-1.02361038e-03 9.91072844e-01 1.33317554e-01 -1.72090167e+02] [-9.96198362e-01 -1.26236339e-02 8.61943644e-02 -2.88968252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-172.09, Z:-289.00 [[ 8.86826787e-02 -1.35561284e-01 9.86792035e-01 2.97134939e+02] [-6.76590110e-03 9.90590606e-01 1.36691165e-01 -1.72088389e+02] [-9.96036950e-01 -1.87986760e-02 8.69310342e-02 -2.88995174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-172.09, Z:-289.02 [[ 8.91746300e-02 -1.37669278e-01 9.86455805e-01 2.97137680e+02] [-8.68167183e-03 9.90256499e-01 1.38984515e-01 -1.72087978e+02] [-9.95978169e-01 -2.09579783e-02 8.71105574e-02 -2.89023508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-172.09, Z:-289.05 [[ 8.94491787e-02 -1.40916307e-01 9.85972332e-01 2.97141166e+02] [-1.00543876e-02 9.89762422e-01 1.42370143e-01 -1.72087951e+02] [-9.95940638e-01 -2.26482404e-02 8.71166085e-02 -2.89050550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-172.09, Z:-289.08 [[ 8.95509778e-02 -1.42280876e-01 9.85767100e-01 2.97143852e+02] [-1.11339733e-02 9.89538798e-01 1.43836719e-01 -1.72086634e+02] [-9.95920005e-01 -2.38562234e-02 8.70300155e-02 -2.89078126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-172.09, Z:-289.11 [[ 8.92602716e-02 -1.45615898e-01 9.85306356e-01 2.97147298e+02] [-1.08018459e-02 9.89055425e-01 1.47148518e-01 -1.72087378e+02] [-9.95949760e-01 -2.37776441e-02 8.67104354e-02 -2.89106347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-172.09, Z:-289.13 [[ 8.92773535e-02 -1.49009157e-01 9.84797352e-01 2.97150782e+02] [-1.01234775e-02 9.88558777e-01 1.50496046e-01 -1.72088183e+02] [-9.95955355e-01 -2.34054626e-02 8.67474205e-02 -2.89133461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-172.09, Z:-289.17 [[ 8.89714270e-02 -1.50531488e-01 9.84593498e-01 2.97153678e+02] [-9.34026579e-03 9.88344210e-01 1.51948943e-01 -1.72088497e+02] [-9.95990384e-01 -2.27154792e-02 8.65283907e-02 -2.89166337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-172.09, Z:-289.20 [[ 8.94160822e-02 -1.49421882e-01 9.84722228e-01 2.97155874e+02] [-7.00017731e-03 9.88563834e-01 1.50640448e-01 -1.72088430e+02] [-9.95969760e-01 -2.03629089e-02 8.73475253e-02 -2.89198630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-172.09, Z:-289.23 [[ 8.95614854e-02 -1.48479404e-01 9.84851566e-01 2.97157833e+02] [-5.42582498e-03 9.88737954e-01 1.49558748e-01 -1.72088042e+02] [-9.95966516e-01 -1.87383358e-02 8.77472166e-02 -2.89226620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-172.09, Z:-289.25 [[ 9.01276331e-02 -1.51891395e-01 9.84279439e-01 2.97161352e+02] [-4.15739385e-03 9.88235616e-01 1.52882582e-01 -1.72089505e+02] [-9.95921546e-01 -1.78709825e-02 8.84358646e-02 -2.89253458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29655999499994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.16, Y:-172.09, Z:-289.28 [[ 9.09651153e-02 -1.53500042e-01 9.83952786e-01 2.97164158e+02] [-1.87217588e-03 9.88021053e-01 1.54307786e-01 -1.72090896e+02] [-9.95852320e-01 -1.58787582e-02 8.95880700e-02 -2.89281864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-172.09, Z:-289.31 [[ 9.14510084e-02 -1.56897014e-01 9.83371771e-01 2.97168240e+02] [-1.47956109e-03 9.87487357e-01 1.57691251e-01 -1.72092709e+02] [-9.95808478e-01 -1.58759825e-02 9.00745759e-02 -2.89313313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35655999499994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:297.17, Y:-172.09, Z:-289.34 [[ 9.19374603e-02 -1.56090926e-01 9.83454690e-01 2.97170376e+02] [-8.10173790e-04 9.87625496e-01 1.56828642e-01 -1.72092676e+02] [-9.95764454e-01 -1.52151963e-02 9.06733190e-02 -2.89340260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-172.09, Z:-289.37 [[ 9.20682232e-02 -1.57607597e-01 9.83200533e-01 2.97173423e+02] [-2.06598120e-04 9.87391247e-01 1.58298717e-01 -1.72093640e+02] [-9.95752680e-01 -1.47774090e-02 9.08747963e-02 -2.89366842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-172.10, Z:-289.39 [[ 9.22187897e-02 -1.59999854e-01 9.82799950e-01 2.97177320e+02] [ 1.26024791e-03 9.87023774e-01 1.60569241e-01 -1.72096149e+02] [-9.95737971e-01 -1.35689295e-02 9.12237773e-02 -2.89394303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-172.10, Z:-289.42 [[ 9.18608353e-02 -1.63411930e-01 9.82271922e-01 2.97180767e+02] [ 2.21183530e-03 9.86473796e-01 1.63904111e-01 -1.72098002e+02] [-9.95769398e-01 -1.28837448e-02 9.09797472e-02 -2.89420859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-172.10, Z:-289.45 [[ 9.20288872e-02 -1.64923060e-01 9.82003599e-01 2.97183782e+02] [ 3.14156741e-03 9.86231831e-01 1.65338759e-01 -1.72099211e+02] [-9.95751382e-01 -1.21309115e-02 9.12799349e-02 -2.89448335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:-172.10, Z:-289.48 [[ 9.22964287e-02 -1.68409195e-01 9.81386627e-01 2.97187642e+02] [ 4.99524269e-03 9.85659468e-01 1.68672641e-01 -1.72102256e+02] [-9.95719045e-01 -1.06656180e-02 9.18140937e-02 -2.89476543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:-172.10, Z:-289.50 [[ 9.26322902e-02 -1.71760715e-01 9.80773937e-01 2.97191798e+02] [ 5.56733548e-03 9.85083045e-01 1.71989535e-01 -1.72104245e+02] [-9.95684821e-01 -1.04714870e-02 9.22067480e-02 -2.89504244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-172.11, Z:-289.53 [[ 9.26317453e-02 -1.75070175e-01 9.80188652e-01 2.97195384e+02] [ 5.77674570e-03 9.84499158e-01 1.75294143e-01 -1.72105172e+02] [-9.95683679e-01 -1.05755018e-02 9.22072112e-02 -2.89532607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-172.11, Z:-289.57 [[ 9.32668631e-02 -1.77126904e-01 9.79758824e-01 2.97199209e+02] [ 6.02588523e-03 9.84130544e-01 1.77343624e-01 -1.72106438e+02] [-9.95622911e-01 -1.06363693e-02 9.28541151e-02 -2.89565221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-172.11, Z:-289.60 [[ 9.62570521e-02 -1.86322925e-01 9.77761907e-01 2.97209962e+02] [ 6.14820416e-03 9.82415876e-01 1.86604520e-01 -1.72110188e+02] [-9.95337520e-01 -1.19505212e-02 9.57100075e-02 -2.89596165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-172.11, Z:-289.63 [[ 9.38387460e-02 -1.73453418e-01 9.80361261e-01 2.97203973e+02] [ 3.91682735e-03 9.84763065e-01 1.73857308e-01 -1.72106849e+02] [-9.95579705e-01 -1.24746460e-02 9.30883183e-02 -2.89629161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-172.11, Z:-289.66 [[ 9.35074286e-02 -1.71172927e-01 9.80793653e-01 2.97205555e+02] [ 3.13751220e-03 9.85155601e-01 1.71635070e-01 -1.72106227e+02] [-9.95613638e-01 -1.29719020e-02 9.26564242e-02 -2.89656801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-172.11, Z:-289.68 [[ 9.37139852e-02 -1.74424830e-01 9.80200830e-01 2.97209270e+02] [ 2.51822478e-03 9.84571983e-01 1.74961908e-01 -1.72107905e+02] [-9.95595976e-01 -1.39280117e-02 9.27074051e-02 -2.89683235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-172.11, Z:-289.71 [[ 9.39759904e-02 -1.75692098e-01 9.79949387e-01 2.97212562e+02] [ 7.69947728e-04 9.84317997e-01 1.76401495e-01 -1.72110124e+02] [-9.95574166e-01 -1.58229954e-02 9.26375324e-02 -2.89711389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.12, Z:-289.74 [[ 9.87509350e-02 -1.92411209e-01 9.76333027e-01 2.97228397e+02] [-9.18480403e-04 9.81110564e-01 1.93445644e-01 -1.72118315e+02] [-9.95111757e-01 -1.99996810e-02 9.67088596e-02 -2.89744413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-172.09, Z:-289.78 [[ 9.36964491e-02 -1.24083272e-01 9.87838204e-01 2.97198063e+02] [-2.69112665e-03 9.92167903e-01 1.24882383e-01 -1.72088676e+02] [-9.95597174e-01 -1.43594335e-02 9.26286856e-02 -2.89777224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-172.11, Z:-289.80 [[ 9.47775650e-02 -1.74411069e-01 9.80101011e-01 2.97219786e+02] [-3.24781080e-03 9.84473498e-01 1.75503231e-01 -1.72110911e+02] [-9.95493177e-01 -1.98169516e-02 9.27395467e-02 -2.89802769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-172.11, Z:-289.83 [[ 9.55953867e-02 -1.75562691e-01 9.79815934e-01 2.97222799e+02] [-6.02863707e-03 9.84203703e-01 1.76937070e-01 -1.72113003e+02] [-9.95402018e-01 -2.28213223e-02 9.30269298e-02 -2.89830512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.11, Z:-289.86 [[ 9.64111915e-02 -1.78714306e-01 9.79166012e-01 2.97226690e+02] [-7.23694187e-03 9.83596850e-01 1.80235577e-01 -1.72114620e+02] [-9.95315281e-01 -2.44628942e-02 9.35363992e-02 -2.89857017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.12, Z:-289.89 [[ 9.67415847e-02 -1.79998765e-01 9.78898110e-01 2.97229710e+02] [-8.62278434e-03 9.83322758e-01 1.81664529e-01 -1.72115474e+02] [-9.95272181e-01 -2.60153417e-02 9.35761113e-02 -2.89885116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-172.12, Z:-289.91 [[ 9.69852091e-02 -1.83158063e-01 9.78287787e-01 2.97233397e+02] [-9.84611193e-03 9.82696790e-01 1.84959651e-01 -1.72117092e+02] [-9.95237119e-01 -2.75706815e-02 9.35036588e-02 -2.89911514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:-172.12, Z:-289.94 [[ 9.69854715e-02 -1.84376438e-01 9.78058867e-01 2.97236829e+02] [-1.20742676e-02 9.82401199e-01 1.86392320e-01 -1.72119001e+02] [-9.95212555e-01 -2.98866916e-02 9.30524330e-02 -2.89938987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:-172.12, Z:-289.97 [[ 9.71026648e-02 -1.87571735e-01 9.77439470e-01 2.97240960e+02] [-1.27340438e-02 9.81765890e-01 1.89667029e-01 -1.72120711e+02] [-9.95192904e-01 -3.08639310e-02 9.29435375e-02 -2.89966574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:-172.12, Z:-289.99 [[ 9.66183057e-02 -1.90815643e-01 9.76859403e-01 2.97244753e+02] [-1.32098904e-02 9.81118836e-01 1.92954214e-01 -1.72122340e+02] [-9.95233843e-01 -3.15471150e-02 9.22733859e-02 -2.89993978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-172.12, Z:-290.02 [[ 9.67323288e-02 -1.94036154e-01 9.76213515e-01 2.97249408e+02] [-1.36070702e-02 9.80463632e-01 1.96229240e-01 -1.72124991e+02] [-9.95217416e-01 -3.22651172e-02 9.22022669e-02 -2.90021496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-172.13, Z:-290.05 [[ 9.64906943e-02 -1.97364886e-01 9.75569909e-01 2.97253153e+02] [-1.33025981e-02 9.79800114e-01 1.99536407e-01 -1.72126871e+02] [-9.95244988e-01 -3.22310209e-02 9.19161275e-02 -2.90048442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.13, Z:-290.08 [[ 9.52726641e-02 -1.99011840e-01 9.75355016e-01 2.97255925e+02] [-1.14153784e-02 9.79529121e-01 2.00978581e-01 -1.72128467e+02] [-9.95385759e-01 -3.02818114e-02 9.10505535e-02 -2.90076438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.13, Z:-290.10 [[ 9.54467181e-02 -2.02361438e-01 9.74648538e-01 2.97259623e+02] [-1.00808880e-02 9.78871955e-01 2.04225540e-01 -1.72130258e+02] [-9.95383494e-01 -2.93179804e-02 9.13901325e-02 -2.90103910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.13, Z:-290.13 [[ 9.57901729e-02 -2.05757151e-01 9.73903608e-01 2.97263459e+02] [-8.40517965e-03 9.78200668e-01 2.07491701e-01 -1.72132239e+02] [-9.95366061e-01 -2.80615007e-02 9.19725853e-02 -2.90131950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-172.14, Z:-290.16 [[ 9.67442843e-02 -2.09308187e-01 9.73052222e-01 2.97267230e+02] [-5.04698397e-03 9.77522325e-01 2.10771517e-01 -1.72135390e+02] [-9.95296474e-01 -2.53019185e-02 9.35133226e-02 -2.90159458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-172.14, Z:-290.19 [[ 1.00321904e-01 -2.23080446e-01 9.69623963e-01 2.97280128e+02] [-3.43311487e-03 9.74457074e-01 2.24547601e-01 -1.72142141e+02] [-9.94949109e-01 -2.58558734e-02 9.69935283e-02 -2.90187949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.12, Z:-290.22 [[ 9.86798076e-02 -1.74672473e-01 9.79669242e-01 2.97260680e+02] [-2.63078378e-03 9.84424995e-01 1.75785404e-01 -1.72122747e+02] [-9.95115759e-01 -1.99237678e-02 9.66833436e-02 -2.90221726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.12, Z:-290.25 [[ 9.61439964e-02 -1.64169743e-01 9.81735518e-01 2.97255938e+02] [ 1.02836115e-03 9.86320494e-01 1.64835751e-01 -1.72119635e+02] [-9.95366905e-01 -1.48383892e-02 9.49976198e-02 -2.90252340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-172.14, Z:-290.28 [[ 9.67177695e-02 -2.11358420e-01 9.72611583e-01 2.97279014e+02] [ 4.25699754e-03 9.77271718e-01 2.11947794e-01 -1.72140379e+02] [-9.95302743e-01 -1.63587127e-02 9.54192931e-02 -2.90279120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.15, Z:-290.31 [[ 1.00548939e-01 -2.28768325e-01 9.68274220e-01 2.97295291e+02] [ 5.93172588e-03 9.73326860e-01 2.29346111e-01 -1.72149817e+02] [-9.94914431e-01 -1.73169708e-02 9.92239739e-02 -2.90309024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-172.11, Z:-290.34 [[ 9.45622354e-02 -1.23432756e-01 9.87837202e-01 2.97247124e+02] [ 7.50619358e-03 9.92343870e-01 1.23277334e-01 -1.72105164e+02] [-9.95490653e-01 -4.24248298e-03 9.47647648e-02 -2.90337777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:-172.15, Z:-290.36 [[ 9.30585648e-02 -2.18615168e-01 9.71363738e-01 2.97291485e+02] [ 1.27290487e-02 9.75778700e-01 2.18389332e-01 -1.72147942e+02] [-9.95579266e-01 -7.95846140e-03 9.35873285e-02 -2.90364429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:-172.15, Z:-290.39 [[ 9.22640743e-02 -2.19020827e-01 9.71348145e-01 2.97294280e+02] [ 1.47126911e-02 9.75702477e-01 2.18605153e-01 -1.72148681e+02] [-9.95625872e-01 -5.87825691e-03 9.32446716e-02 -2.90392119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.15, Z:-290.42 [[ 9.16231655e-02 -2.22491022e-01 9.70619874e-01 2.97298587e+02] [ 1.60577552e-02 9.74923163e-01 2.21961650e-01 -1.72150522e+02] [-9.95664273e-01 -4.75085272e-03 9.28982527e-02 -2.90418442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-172.15, Z:-290.45 [[ 9.15904770e-02 -2.24107726e-01 9.70250953e-01 2.97302143e+02] [ 1.80282888e-02 9.74559854e-01 2.23401144e-01 -1.72152838e+02] [-9.95633550e-01 -2.96945296e-03 9.33006807e-02 -2.90446773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-172.15, Z:-290.47 [[ 9.19777484e-02 -2.27414594e-01 9.69444530e-01 2.97306055e+02] [ 1.86030278e-02 9.73793964e-01 2.26669900e-01 -1.72154523e+02] [-9.95587275e-01 -2.81398348e-03 9.37979762e-02 -2.90473399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-172.16, Z:-290.50 [[ 9.25279245e-02 -2.28841015e-01 9.69056435e-01 2.97309255e+02] [ 1.89388612e-02 9.73459925e-01 2.28072562e-01 -1.72155584e+02] [-9.95529961e-01 -2.75025550e-03 9.44062147e-02 -2.90501275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-172.16, Z:-290.53 [[ 9.32561266e-02 -2.31982459e-01 9.68239347e-01 2.97313389e+02] [ 1.80519836e-02 9.72711359e-01 2.31315237e-01 -1.72158109e+02] [-9.95478488e-01 -4.09292220e-03 9.48990371e-02 -2.90529475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-172.16, Z:-290.56 [[ 9.34212015e-02 -2.35215990e-01 9.67442979e-01 2.97317435e+02] [ 1.75291057e-02 9.71930471e-01 2.34614342e-01 -1.72159302e+02] [-9.95472355e-01 -4.95954355e-03 9.49220384e-02 -2.90555960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-172.16, Z:-290.58 [[ 9.29550418e-02 -2.36575441e-01 9.67156358e-01 2.97320020e+02] [ 1.67207883e-02 9.71595985e-01 2.36054351e-01 -1.72159827e+02] [-9.95529897e-01 -5.77082535e-03 9.42704733e-02 -2.90583987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-172.16, Z:-290.61 [[ 9.24807103e-02 -2.39660260e-01 9.66442072e-01 2.97324085e+02] [ 1.46772728e-02 9.70824268e-01 2.39342469e-01 -1.72161416e+02] [-9.95606296e-01 -7.94982763e-03 9.33000769e-02 -2.90612155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73655999499994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.34, Y:-172.17, Z:-290.64 [[ 9.69111105e-02 -2.55278527e-01 9.61998498e-01 2.97340071e+02] [ 1.25494783e-02 9.66784574e-01 2.55284347e-01 -1.72169993e+02] [-9.95213920e-01 -1.26673103e-02 9.68957790e-02 -2.90643808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-172.12, Z:-290.68 [[ 9.64613638e-02 -1.25092278e-01 9.87444746e-01 2.97284695e+02] [ 9.58611136e-03 9.92141788e-01 1.24750866e-01 -1.72116243e+02] [-9.95290567e-01 -2.56788339e-03 9.69024985e-02 -2.90675669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-172.10, Z:-290.70 [[ 9.04762324e-02 -8.79816435e-02 9.92004678e-01 2.97263111e+02] [ 7.34293311e-03 9.96121885e-01 8.76770862e-02 -1.72097444e+02] [-9.95871544e-01 -6.48468437e-04 9.07713985e-02 -2.90701349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-172.17, Z:-290.72 [[ 9.31967980e-02 -2.60225448e-01 9.61039579e-01 2.97342223e+02] [ 7.91616420e-03 9.65403746e-01 2.60639485e-01 -1.72169201e+02] [-9.95616237e-01 -1.66830183e-02 9.20325253e-02 -2.90724732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-172.17, Z:-290.75 [[ 9.39267806e-02 -2.63352114e-01 9.60116360e-01 2.97345978e+02] [ 6.08955524e-03 9.64513709e-01 2.63962539e-01 -1.72170092e+02] [-9.95560484e-01 -1.89464699e-02 9.21973648e-02 -2.90752534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-172.17, Z:-290.78 [[ 9.48727015e-02 -2.66430318e-01 9.59173632e-01 2.97349806e+02] [ 4.05349458e-03 9.63615075e-01 2.67263086e-01 -1.72170782e+02] [-9.95481160e-01 -2.14679659e-02 9.25007392e-02 -2.90779832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-172.17, Z:-290.81 [[ 9.63713254e-02 -2.67441142e-01 9.58742825e-01 2.97353056e+02] [ 1.00677294e-04 9.63228822e-01 2.68682390e-01 -1.72171051e+02] [-9.95345446e-01 -2.57967544e-02 9.28545635e-02 -2.90807367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-172.17, Z:-290.83 [[ 9.67822007e-02 -2.70594489e-01 9.57816177e-01 2.97356707e+02] [-1.63829530e-03 9.62289157e-01 2.72023700e-01 -1.72171915e+02] [-9.95304236e-01 -2.78962381e-02 9.26891487e-02 -2.90834255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-172.17, Z:-290.86 [[ 9.73415871e-02 -2.71911754e-01 9.57386345e-01 2.97360028e+02] [-2.70907174e-03 9.61878683e-01 2.73463086e-01 -1.72172060e+02] [-9.95247344e-01 -2.92129591e-02 9.28941692e-02 -2.90862485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-172.17, Z:-290.89 [[ 9.83938423e-02 -2.74938851e-01 9.56413760e-01 2.97364533e+02] [-3.91345517e-03 9.60963003e-01 2.76649223e-01 -1.72173835e+02] [-9.95139858e-01 -3.09634624e-02 9.34768812e-02 -2.90890538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03655999499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.37, Y:-172.17, Z:-290.92 [[ 9.82468814e-02 -2.78182786e-01 9.55490391e-01 2.97368289e+02] [-3.91378342e-03 9.60020024e-01 2.79903978e-01 -1.72174932e+02] [-9.95154376e-01 -3.12392754e-02 9.32302262e-02 -2.90918486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-172.18, Z:-290.95 [[ 9.81864091e-02 -2.81417124e-01 9.54549020e-01 2.97372441e+02] [-3.91527724e-03 9.59067096e-01 2.83151860e-01 -1.72175831e+02] [-9.95160339e-01 -3.15389884e-02 9.30655282e-02 -2.90945217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-172.18, Z:-290.97 [[ 9.77968674e-02 -2.82900476e-01 9.54150457e-01 2.97375869e+02] [-3.17808008e-03 9.58652641e-01 2.84561090e-01 -1.72176976e+02] [-9.95201323e-01 -3.08615498e-02 9.28541449e-02 -2.90973146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-172.18, Z:-291.00 [[ 9.76725434e-02 -2.86326385e-01 9.53140743e-01 2.97379832e+02] [-2.36001562e-03 9.57650650e-01 2.87923016e-01 -1.72178455e+02] [-9.95215808e-01 -3.03716003e-02 9.28604399e-02 -2.91000492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-172.18, Z:-291.03 [[ 9.76109836e-02 -2.87879309e-01 9.52679169e-01 2.97383210e+02] [-1.15252077e-03 9.57217039e-01 2.89368643e-01 -1.72179219e+02] [-9.95223979e-01 -2.93435404e-02 9.31031098e-02 -2.91027086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-172.18, Z:-291.06 [[ 9.93027214e-02 -2.92336758e-01 9.51145725e-01 2.97390284e+02] [-1.14196109e-03 9.55836224e-01 2.93897618e-01 -1.72183292e+02] [-9.95056614e-01 -3.02710047e-02 9.45833010e-02 -2.91062237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-172.15, Z:-291.09 [[ 9.50664925e-02 -1.94507561e-01 9.76283345e-01 2.97343780e+02] [ 5.14962412e-04 9.80734601e-01 1.95344252e-01 -1.72145663e+02] [-9.95470792e-01 -1.80679437e-02 9.33351627e-02 -2.91093847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-172.18, Z:-291.12 [[ 9.62725584e-02 -2.86497069e-01 9.53231884e-01 2.97391578e+02] [ 3.88968039e-03 9.57781275e-01 2.87471562e-01 -1.72181911e+02] [-9.95347409e-01 -2.39678554e-02 9.33224358e-02 -2.91119462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.18, Z:-291.15 [[ 9.60364565e-02 -2.89935940e-01 9.52215390e-01 2.97395936e+02] [ 5.16736521e-03 9.56769473e-01 2.90801434e-01 -1.72183627e+02] [-9.95364404e-01 -2.30070946e-02 9.33829548e-02 -2.91146025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.18, Z:-291.17 [[ 9.51499002e-02 -2.91516258e-01 9.51821815e-01 2.97399019e+02] [ 6.40014802e-03 9.56319341e-01 2.92253926e-01 -1.72184594e+02] [-9.95442381e-01 -2.17161314e-02 9.28594370e-02 -2.91172744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.19, Z:-291.20 [[ 9.43096891e-02 -2.93853208e-01 9.51186614e-01 2.97403810e+02] [ 9.13450379e-03 9.55660319e-01 2.94329603e-01 -1.72186491e+02] [-9.95501001e-01 -1.90695156e-02 9.28122309e-02 -2.91200545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-172.19, Z:-291.23 [[ 9.39834675e-02 -2.97310176e-01 9.50144077e-01 2.97407881e+02] [ 1.01507240e-02 9.54604897e-01 2.97701955e-01 -1.72187929e+02] [-9.95522009e-01 -1.83344117e-02 9.27349918e-02 -2.91227280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-172.19, Z:-291.25 [[ 9.36849722e-02 -2.98908843e-01 9.49671854e-01 2.97411110e+02] [ 1.17437617e-02 9.54132479e-01 2.99154303e-01 -1.72188381e+02] [-9.95532626e-01 -1.68735426e-02 9.28981890e-02 -2.91254498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-172.19, Z:-291.28 [[ 9.33544889e-02 -3.00603136e-01 9.49169476e-01 2.97415075e+02] [ 1.47050726e-02 9.53645048e-01 3.00574255e-01 -1.72189596e+02] [-9.95524334e-01 -1.41023499e-02 9.34474370e-02 -2.91282796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45655999499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.42, Y:-172.19, Z:-291.31 [[ 9.37663085e-02 -3.04534568e-01 9.47874768e-01 2.97420713e+02] [ 1.46811293e-02 9.52388784e-01 3.04532541e-01 -1.72191940e+02] [-9.95485984e-01 -1.46390202e-02 9.37728919e-02 -2.91313947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.37, Y:-172.15, Z:-291.35 [[ 9.25990434e-02 -2.07991745e-01 9.73737568e-01 2.97373380e+02] [ 1.34505235e-02 9.78111369e-01 2.07646897e-01 -1.72154742e+02] [-9.95612626e-01 -6.13062398e-03 9.33697749e-02 -2.91345423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-172.15, Z:-291.37 [[ 9.11765108e-02 -2.10845451e-01 9.73257951e-01 2.97375576e+02] [ 1.54707865e-02 9.77510731e-01 2.10317438e-01 -1.72152281e+02] [-9.95714567e-01 -4.11894424e-03 9.23879627e-02 -2.91370168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-172.19, Z:-291.40 [[ 9.19943639e-02 -3.12032066e-01 9.45607227e-01 2.97430067e+02] [ 1.66919473e-02 9.49983926e-01 3.11852399e-01 -1.72190746e+02] [-9.95619614e-01 -1.29046370e-02 9.26015898e-02 -2.91401796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-172.16, Z:-291.43 [[ 9.08355639e-02 -2.38469850e-01 9.66892461e-01 2.97394927e+02] [ 1.70477538e-02 9.71136363e-01 2.37914980e-01 -1.72161776e+02] [-9.95719978e-01 -5.12779677e-03 9.22790945e-02 -2.91433079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.16, Z:-291.46 [[ 9.05874682e-02 -2.35756251e-01 9.67580953e-01 2.97395808e+02] [ 1.77959263e-02 9.71803656e-01 2.35119034e-01 -1.72159144e+02] [-9.95729489e-01 -4.07983867e-03 9.22287336e-02 -2.91460229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-172.16, Z:-291.49 [[ 9.14827837e-02 -2.52818760e-01 9.63178890e-01 2.97408228e+02] [ 1.79760512e-02 9.67496499e-01 2.52244695e-01 -1.72164788e+02] [-9.95644395e-01 -5.76189391e-03 9.30539559e-02 -2.91493031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.15, Z:-291.53 [[ 9.08039991e-02 -2.26997795e-01 9.69652842e-01 2.97397299e+02] [ 1.79357060e-02 9.73890150e-01 2.26310153e-01 -1.72153504e+02] [-9.95707258e-01 -3.15845869e-03 9.25044860e-02 -2.91525809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-172.15, Z:-291.55 [[ 9.09415897e-02 -2.38251628e-01 9.66936290e-01 2.97404265e+02] [ 1.86416050e-02 9.71196871e-01 2.37548162e-01 -1.72153281e+02] [-9.95681735e-01 -3.57776312e-03 9.27635801e-02 -2.91554129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-172.18, Z:-291.58 [[ 9.17885098e-02 -3.13529923e-01 9.45131661e-01 2.97444425e+02] [ 1.94816461e-02 9.49522178e-01 3.13094394e-01 -1.72178936e+02] [-9.95587934e-01 -1.03257473e-02 9.32633047e-02 -2.91578763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-172.18, Z:-291.61 [[ 9.24243388e-02 -3.15761107e-01 9.44326567e-01 2.97447053e+02] [ 1.94174809e-02 9.48777149e-01 3.15348827e-01 -1.72177594e+02] [-9.95530363e-01 -1.08094637e-02 9.38213859e-02 -2.91606769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-172.18, Z:-291.64 [[ 9.40335865e-02 -3.18249443e-01 9.43331849e-01 2.97450893e+02] [ 1.74094667e-02 9.47911092e-01 3.18058913e-01 -1.72177309e+02] [-9.95416795e-01 -1.34853159e-02 9.46760327e-02 -2.91638020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-172.14, Z:-291.67 [[ 9.27709212e-02 -2.26883137e-01 9.69493475e-01 2.97405306e+02] [ 1.63090857e-02 9.73908173e-01 2.26355658e-01 -1.72139456e+02] [-9.95553901e-01 -5.18767072e-03 9.40506149e-02 -2.91665743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-172.17, Z:-291.69 [[ 9.37993575e-02 -3.23225738e-01 9.41661724e-01 2.97456240e+02] [ 1.75378204e-02 9.46221460e-01 3.23043919e-01 -1.72173308e+02] [-9.95436641e-01 -1.37866179e-02 9.44236400e-02 -2.91691415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-172.17, Z:-291.72 [[ 9.41282960e-02 -3.26368259e-01 9.40544323e-01 2.97460328e+02] [ 1.67015959e-02 9.45123609e-01 3.26285797e-01 -1.72172327e+02] [-9.95419972e-01 -1.50041348e-02 9.44137456e-02 -2.91719712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-172.17, Z:-291.75 [[ 9.37424090e-02 -3.29619344e-01 9.39448481e-01 2.97463981e+02] [ 1.66267495e-02 9.43990369e-01 3.29553841e-01 -1.72172037e+02] [-9.95457640e-01 -1.52731963e-02 9.39724295e-02 -2.91747489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-172.17, Z:-291.78 [[ 9.37684774e-02 -3.32887063e-01 9.38292959e-01 2.97467732e+02] [ 1.66330471e-02 9.42837606e-01 3.32837184e-01 -1.72171608e+02] [-9.95455079e-01 -1.56029649e-02 9.39453729e-02 -2.91775649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-172.17, Z:-291.80 [[ 9.36865819e-02 -3.36138855e-01 9.37141128e-01 2.97471619e+02] [ 1.64557668e-02 9.41675353e-01 3.36120122e-01 -1.72171393e+02] [-9.95465736e-01 -1.60685695e-02 9.37537677e-02 -2.91803297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-172.17, Z:-291.83 [[ 9.42805628e-02 -3.39311728e-01 9.35937352e-01 2.97475951e+02] [ 1.57669130e-02 9.40515986e-01 3.39383389e-01 -1.72170815e+02] [-9.95420806e-01 -1.72404142e-02 9.40222750e-02 -2.91829796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-172.17, Z:-291.86 [[ 9.43833017e-02 -3.40670769e-01 9.35433172e-01 2.97478579e+02] [ 1.52489109e-02 9.40012215e-01 3.40799804e-01 -1.72170133e+02] [-9.95419139e-01 -1.79014737e-02 9.39163147e-02 -2.91856338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-172.17, Z:-291.88 [[ 9.42511848e-02 -3.42031132e-01 9.34949955e-01 2.97481505e+02] [ 1.49215519e-02 9.39510385e-01 3.42195242e-01 -1.72169312e+02] [-9.95436619e-01 -1.83014028e-02 9.36536022e-02 -2.91884726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-172.17, Z:-291.91 [[ 9.48431436e-02 -3.45240711e-01 9.33709607e-01 2.97485744e+02] [ 1.44192751e-02 9.38315645e-01 3.45479139e-01 -1.72168979e+02] [-9.95387795e-01 -1.93029119e-02 9.39709262e-02 -2.91912230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-172.17, Z:-291.94 [[ 9.49935047e-02 -3.48470365e-01 9.32493774e-01 2.97489623e+02] [ 1.40222704e-02 9.37105230e-01 3.48765200e-01 -1.72169018e+02] [-9.95379129e-01 -2.00547488e-02 9.39052557e-02 -2.91938618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-172.17, Z:-291.97 [[ 9.54705565e-02 -3.49835851e-01 9.31933608e-01 2.97492669e+02] [ 1.37458303e-02 9.36584032e-01 3.50173389e-01 -1.72168234e+02] [-9.95337342e-01 -2.06210471e-02 9.42249831e-02 -2.91966609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-172.17, Z:-291.99 [[ 9.59259123e-02 -3.53044538e-01 9.30675977e-01 2.97496465e+02] [ 1.33053202e-02 9.35358945e-01 3.53449589e-01 -1.72168083e+02] [-9.95299547e-01 -2.15220324e-02 9.44225307e-02 -2.91993483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-172.17, Z:-292.02 [[ 9.68775465e-02 -3.54274194e-01 9.30109960e-01 2.97499599e+02] [ 1.17228281e-02 9.34846917e-01 3.54857461e-01 -1.72167097e+02] [-9.95227269e-01 -2.34742010e-02 9.47187711e-02 -2.92021876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-172.17, Z:-292.05 [[ 9.73714488e-02 -3.57404223e-01 9.28860066e-01 2.97503339e+02] [ 1.08682465e-02 9.33621178e-01 3.58096883e-01 -1.72166905e+02] [-9.95188767e-01 -2.47733322e-02 9.47924039e-02 -2.92050237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-172.17, Z:-292.08 [[ 9.83480714e-02 -3.60503502e-01 9.27558560e-01 2.97506971e+02] [ 9.72761995e-03 9.32380926e-01 3.61346346e-01 -1.72166913e+02] [-9.95104532e-01 -2.65147791e-02 9.52047069e-02 -2.92078232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-172.17, Z:-292.11 [[ 1.00806484e-01 -3.63427179e-01 9.26152654e-01 2.97510313e+02] [ 7.74095608e-03 9.31152913e-01 3.64546747e-01 -1.72166819e+02] [-9.94875937e-01 -2.95793689e-02 9.66795253e-02 -2.92105448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-172.17, Z:-292.13 [[ 1.01965438e-01 -3.64691723e-01 9.25528496e-01 2.97513032e+02] [ 6.98995569e-03 9.30617369e-01 3.65926841e-01 -1.72166419e+02] [-9.94763384e-01 -3.08424874e-02 9.74399866e-02 -2.92132231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-172.17, Z:-292.16 [[ 1.03097006e-01 -3.65979918e-01 9.24894430e-01 2.97515880e+02] [ 6.71067292e-03 9.30084074e-01 3.67285423e-01 -1.72165843e+02] [-9.94648669e-01 -3.16593636e-02 9.83448552e-02 -2.92159753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-172.17, Z:-292.19 [[ 1.03663220e-01 -3.69102269e-01 9.23589439e-01 2.97519711e+02] [ 6.39070888e-03 9.28820282e-01 3.70475428e-01 -1.72166031e+02] [-9.94591924e-01 -3.25022844e-02 9.86433261e-02 -2.92187861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-172.17, Z:-292.21 [[ 1.03561860e-01 -3.72239069e-01 9.22341052e-01 2.97523706e+02] [ 5.88567175e-03 9.27540393e-01 3.73676570e-01 -1.72166614e+02] [-9.94605600e-01 -3.32700441e-02 9.82486857e-02 -2.92214314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-172.17, Z:-292.24 [[ 1.02846558e-01 -3.73660856e-01 9.21846056e-01 2.97527053e+02] [ 5.90452678e-03 9.26973458e-01 3.75080452e-01 -1.72166476e+02] [-9.94679708e-01 -3.31326688e-02 9.75423201e-02 -2.92242042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-172.17, Z:-292.27 [[ 1.02609233e-01 -3.76821413e-01 9.20585123e-01 2.97531604e+02] [ 6.09008156e-03 9.25690627e-01 3.78232434e-01 -1.72166939e+02] [-9.94703100e-01 -3.32037016e-02 9.72792788e-02 -2.92269945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-172.17, Z:-292.30 [[ 1.01645769e-01 -3.80060046e-01 9.19359831e-01 2.97535847e+02] [ 6.85877487e-03 9.24392069e-01 3.81382039e-01 -1.72167338e+02] [-9.94797012e-01 -3.24601884e-02 9.65672888e-02 -2.92297929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-172.17, Z:-292.33 [[ 9.98127356e-02 -3.83447225e-01 9.18153388e-01 2.97540601e+02] [ 8.41549423e-03 9.23053759e-01 3.84578910e-01 -1.72168504e+02] [-9.94970652e-01 -3.06591585e-02 9.53594187e-02 -2.92326066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-172.17, Z:-292.35 [[ 9.87495825e-02 -3.86738653e-01 9.16886980e-01 2.97544741e+02] [ 9.25832873e-03 9.21707627e-01 3.87774849e-01 -1.72168954e+02] [-9.95069246e-01 -2.98037633e-02 9.45987969e-02 -2.92353567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59655999499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.55, Y:-172.17, Z:-292.38 [[ 9.74412395e-02 -3.90100551e-01 9.15601859e-01 2.97548830e+02] [ 1.01673068e-02 9.20321961e-01 3.91029557e-01 -1.72169159e+02] [-9.95189344e-01 -2.87931997e-02 9.36435846e-02 -2.92380600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-172.17, Z:-292.41 [[ 9.68941807e-02 -3.91535678e-01 9.15047174e-01 2.97551640e+02] [ 1.03712259e-02 9.19720383e-01 3.92437070e-01 -1.72168592e+02] [-9.95240652e-01 -2.85347075e-02 9.31762580e-02 -2.92408550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-172.17, Z:-292.44 [[ 9.67965863e-02 -3.94714535e-01 9.13690788e-01 2.97555385e+02] [ 1.04759802e-02 9.18354744e-01 3.95619537e-01 -1.72168303e+02] [-9.95249052e-01 -2.87228140e-02 9.30286259e-02 -2.92435108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-172.17, Z:-292.46 [[ 9.69228057e-02 -3.96075431e-01 9.13088289e-01 2.97558063e+02] [ 1.05199244e-02 9.17763963e-01 3.96986952e-01 -1.72167233e+02] [-9.95236304e-01 -2.88714695e-02 9.31189418e-02 -2.92463032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-172.17, Z:-292.49 [[ 9.76750654e-02 -3.99051775e-01 9.11711173e-01 2.97560666e+02] [ 9.44644891e-03 9.16422070e-01 4.00101680e-01 -1.72166007e+02] [-9.95173526e-01 -3.04675247e-02 9.32812079e-02 -2.92490881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-172.17, Z:-292.52 [[ 9.79406464e-02 -4.02166717e-01 9.10312892e-01 2.97564134e+02] [ 9.15189946e-03 9.15035877e-01 4.03268628e-01 -1.72165660e+02] [-9.95150176e-01 -3.11652981e-02 9.32997946e-02 -2.92518983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-172.17, Z:-292.55 [[ 9.82274547e-02 -4.05291996e-01 9.08894804e-01 2.97567512e+02] [ 8.84101177e-03 9.13630943e-01 4.06448443e-01 -1.72165054e+02] [-9.95124718e-01 -3.18888464e-02 9.33268333e-02 -2.92546281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-172.16, Z:-292.57 [[ 9.83788747e-02 -4.06634907e-01 9.08278399e-01 2.97569911e+02] [ 8.63465072e-03 9.13020347e-01 4.07822620e-01 -1.72163947e+02] [-9.95111572e-01 -3.22784637e-02 9.33330647e-02 -2.92573816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-172.16, Z:-292.60 [[ 9.88749628e-02 -4.09616463e-01 9.06883727e-01 2.97573521e+02] [ 7.33287427e-03 9.11624638e-01 4.10958330e-01 -1.72162978e+02] [-9.95072847e-01 -3.39834253e-02 9.31405182e-02 -2.92601399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-172.16, Z:-292.63 [[ 9.91256119e-02 -4.12739489e-01 9.05439246e-01 2.97577211e+02] [ 7.04436674e-03 9.10188936e-01 4.14133406e-01 -1.72162295e+02] [-9.95049994e-01 -3.46729812e-02 9.31305236e-02 -2.92629303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-172.16, Z:-292.66 [[ 9.92133754e-02 -4.15814402e-01 9.04021620e-01 2.97580687e+02] [ 6.31636740e-03 9.08748878e-01 4.17295555e-01 -1.72161783e+02] [-9.95046135e-01 -3.56911678e-02 9.27864801e-02 -2.92656027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-172.16, Z:-292.68 [[ 9.97851740e-02 -4.17817641e-01 9.03034516e-01 2.97583273e+02] [ 5.24924684e-03 9.07772588e-01 4.19429820e-01 -1.72159930e+02] [-9.94995158e-01 -3.71126265e-02 9.27754736e-02 -2.92684158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-172.16, Z:-292.71 [[ 1.00438126e-01 -4.20859398e-01 9.01548418e-01 2.97586855e+02] [ 4.76216579e-03 9.06323412e-01 4.22557918e-01 -1.72159032e+02] [-9.94931910e-01 -3.81476023e-02 9.30336271e-02 -2.92711985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-172.16, Z:-292.74 [[ 1.00802138e-01 -4.23904533e-01 9.00079927e-01 2.97589966e+02] [ 3.90160867e-03 9.04849435e-01 4.25713845e-01 -1.72158320e+02] [-9.94898842e-01 -3.94011060e-02 9.28646669e-02 -2.92738497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-172.16, Z:-292.77 [[ 1.01352163e-01 -4.25157538e-01 8.99426933e-01 2.97592793e+02] [ 3.09625543e-03 9.04212830e-01 4.27070921e-01 -1.72157094e+02] [-9.94845793e-01 -4.04997061e-02 9.29603225e-02 -2.92766321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-172.16, Z:-292.79 [[ 1.01577624e-01 -4.28130340e-01 8.97990199e-01 2.97595999e+02] [ 1.58920326e-03 9.02727779e-01 4.30209288e-01 -1.72155427e+02] [-9.94826347e-01 -4.22725481e-02 9.23773286e-02 -2.92794564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-172.15, Z:-292.82 [[ 1.01095576e-01 -4.31290103e-01 8.96531389e-01 2.97599401e+02] [ 1.53206653e-03 9.01214647e-01 4.33370295e-01 -1.72154664e+02] [-9.94875539e-01 -4.24382738e-02 9.17695790e-02 -2.92822867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-172.15, Z:-292.85 [[ 1.00354709e-01 -4.34453614e-01 8.95086024e-01 2.97602498e+02] [ 1.48485229e-03 8.99691988e-01 4.36522762e-01 -1.72154116e+02] [-9.94950616e-01 -4.24780443e-02 9.09334272e-02 -2.92849312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-172.15, Z:-292.88 [[ 9.96065360e-02 -4.35886700e-01 8.94472651e-01 2.97605142e+02] [ 1.89874786e-03 8.99024810e-01 4.37893578e-01 -1.72152950e+02] [-9.95025092e-01 -4.19186844e-02 9.03763860e-02 -2.92877047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-172.15, Z:-292.91 [[ 9.75473861e-02 -4.39115289e-01 8.93119404e-01 2.97609287e+02] [ 2.14465869e-03 8.97489872e-01 4.41029852e-01 -1.72151837e+02] [-9.95228571e-01 -4.11058730e-02 8.84895434e-02 -2.92905205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-172.15, Z:-292.93 [[ 9.70720194e-02 -4.42218745e-01 8.91638719e-01 2.97612618e+02] [ 1.87433808e-03 8.95949225e-01 4.44152534e-01 -1.72151108e+02] [-9.95275595e-01 -4.14435510e-02 8.78004680e-02 -2.92932487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-172.15, Z:-292.96 [[ 9.70710361e-02 -4.43528790e-01 8.90987894e-01 2.97614931e+02] [ 1.54530619e-03 8.95281674e-01 4.45497852e-01 -1.72149688e+02] [-9.95276256e-01 -4.18680890e-02 8.75913075e-02 -2.92960152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-172.15, Z:-292.99 [[ 9.66066245e-02 -4.46641161e-01 8.89482340e-01 2.97617067e+02] [ 1.79150703e-03 8.93738901e-01 4.48583958e-01 -1.72148128e+02] [-9.95321029e-01 -4.17426681e-02 8.71412591e-02 -2.92987686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-172.15, Z:-293.02 [[ 9.66920278e-02 -4.49756839e-01 8.87901705e-01 2.97620119e+02] [ 2.04998753e-03 8.92169788e-01 4.51695547e-01 -1.72147312e+02] [-9.95312237e-01 -4.18551709e-02 8.71877018e-02 -2.93015057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-172.15, Z:-293.04 [[ 9.64070912e-02 -4.51119580e-01 8.87241116e-01 2.97621991e+02] [ 2.05107432e-03 8.91481384e-01 4.53052685e-01 -1.72146020e+02] [-9.95339875e-01 -4.18576941e-02 8.68704068e-02 -2.93042826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-172.15, Z:-293.07 [[ 9.64597359e-02 -4.54204291e-01 8.85660195e-01 2.97625063e+02] [ 2.33898040e-03 8.89910459e-01 4.56129262e-01 -1.72145112e+02] [-9.95334139e-01 -4.19265663e-02 8.69029028e-02 -2.93070853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-172.14, Z:-293.10 [[ 9.64595991e-02 -4.57271901e-01 8.84080287e-01 2.97628867e+02] [ 2.65645680e-03 8.88337264e-01 4.59183893e-01 -1.72144875e+02] [-9.95333356e-01 -4.19441732e-02 8.69033794e-02 -2.93099240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-172.14, Z:-293.13 [[ 9.68590336e-02 -4.60132863e-01 8.82550892e-01 2.97631401e+02] [ 3.31716821e-03 8.86864467e-01 4.62017763e-01 -1.72143481e+02] [-9.95292582e-01 -4.18230242e-02 8.74271733e-02 -2.93127350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-172.14, Z:-293.15 [[ 9.73591724e-02 -4.63165963e-01 8.80907761e-01 2.97634657e+02] [ 4.02955182e-03 8.85288846e-01 4.65024109e-01 -1.72142820e+02] [-9.95241154e-01 -4.17246990e-02 8.80573406e-02 -2.93154776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-172.14, Z:-293.18 [[ 9.77966257e-02 -4.66240818e-01 8.79235645e-01 2.97637366e+02] [ 5.29042098e-03 8.83701704e-01 4.68020629e-01 -1.72141811e+02] [-9.95192359e-01 -4.11193116e-02 8.88896549e-02 -2.93182390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-172.14, Z:-293.21 [[ 9.77417643e-02 -4.69346917e-01 8.77587613e-01 2.97640994e+02] [ 6.31647431e-03 8.82084687e-01 4.71048518e-01 -1.72141034e+02] [-9.95191765e-01 -4.04978537e-02 8.91811314e-02 -2.93210693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-172.14, Z:-293.24 [[ 9.75498444e-02 -4.72479815e-01 8.75926282e-01 2.97644335e+02] [ 7.33115540e-03 8.80441172e-01 4.74098720e-01 -1.72140110e+02] [-9.95203639e-01 -3.98267047e-02 8.93507223e-02 -2.93238292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-172.14, Z:-293.27 [[ 9.67860777e-02 -4.75622820e-01 8.74308520e-01 2.97647414e+02] [ 8.15559985e-03 8.78782071e-01 4.77153601e-01 -1.72139328e+02] [-9.95271793e-01 -3.90513151e-02 8.89328592e-02 -2.93266261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-172.14, Z:-293.29 [[ 9.58934166e-02 -4.78762158e-01 8.72691956e-01 2.97650751e+02] [ 9.10063379e-03 8.77117327e-01 4.80189935e-01 -1.72138593e+02] [-9.95350004e-01 -3.81050036e-02 8.84668163e-02 -2.93293003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-172.14, Z:-293.32 [[ 9.35310789e-02 -4.80412589e-01 8.72041101e-01 2.97653285e+02] [ 1.17126433e-02 8.76350969e-01 4.81530677e-01 -1.72137421e+02] [-9.95547463e-01 -3.48241774e-02 8.75929529e-02 -2.93320939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-172.14, Z:-293.35 [[ 9.14803871e-02 -4.83729914e-01 8.70423293e-01 2.97656481e+02] [ 1.37230896e-02 8.74617845e-01 4.84618718e-01 -1.72137317e+02] [-9.95712316e-01 -3.23882111e-02 8.66486479e-02 -2.93348447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-172.14, Z:-293.38 [[ 8.99394338e-02 -4.87102522e-01 8.68701348e-01 2.97660337e+02] [ 1.62344503e-02 8.72837455e-01 4.87740936e-01 -1.72136970e+02] [-9.95814913e-01 -2.97642547e-02 8.64103482e-02 -2.93375574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-172.14, Z:-293.40 [[ 8.58669126e-02 -4.89796977e-01 8.67597715e-01 2.97663791e+02] [ 2.13519229e-02 8.71518639e-01 4.89897292e-01 -1.72136868e+02] [-9.96077793e-01 -2.35410885e-02 8.52927221e-02 -2.93403502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-172.14, Z:-293.43 [[ 8.38757521e-02 -4.93138800e-01 8.65897790e-01 2.97667377e+02] [ 2.42658340e-02 8.69712931e-01 4.92961041e-01 -1.72136677e+02] [-9.96180720e-01 -2.03357461e-02 8.49142504e-02 -2.93431865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-172.14, Z:-293.46 [[ 8.24436350e-02 -4.96443205e-01 8.64145353e-01 2.97671359e+02] [ 2.70861309e-02 8.67893058e-01 4.96012078e-01 -1.72136142e+02] [-9.96227579e-01 -1.74866846e-02 8.49989841e-02 -2.93459167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-172.14, Z:-293.49 [[ 8.10919612e-02 -4.98010155e-01 8.63371287e-01 2.97673874e+02] [ 2.99352381e-02 8.67050237e-01 4.97320588e-01 -1.72135575e+02] [-9.96256983e-01 -1.44834768e-02 8.52188568e-02 -2.93487324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-172.14, Z:-293.52 [[ 7.92242349e-02 -5.01448137e-01 8.61552835e-01 2.97677872e+02] [ 3.55858510e-02 8.65141164e-01 5.00264343e-01 -1.72135652e+02] [-9.96221445e-01 -8.97396904e-03 8.63846055e-02 -2.93515239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-172.14, Z:-293.54 [[ 7.80606305e-02 -5.04711669e-01 8.59751516e-01 2.97681301e+02] [ 3.82112016e-02 8.63263985e-01 5.03304278e-01 -1.72135599e+02] [-9.96216062e-01 -6.43611077e-03 8.66725703e-02 -2.93542334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-172.13, Z:-293.57 [[ 7.71219626e-02 -5.06236742e-01 8.58939208e-01 2.97684080e+02] [ 4.08467620e-02 8.62386042e-01 5.04600691e-01 -1.72134826e+02] [-9.96184594e-01 -3.83091016e-03 8.71870358e-02 -2.93570091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-172.13, Z:-293.60 [[ 7.43889888e-02 -5.09655557e-01 8.57156632e-01 2.97687987e+02] [ 4.56599408e-02 8.60377427e-01 5.07607972e-01 -1.72134638e+02] [-9.96183441e-01 1.37727730e-03 8.72734494e-02 -2.93597829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-172.13, Z:-293.63 [[ 7.29673343e-02 -5.12850582e-01 8.55371293e-01 2.97691815e+02] [ 4.82947738e-02 8.58468315e-01 5.10587668e-01 -1.72134210e+02] [-9.96164335e-01 4.05374204e-03 8.74081474e-02 -2.93625765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-172.13, Z:-293.65 [[ 7.18707558e-02 -5.16030187e-01 8.53549905e-01 2.97695875e+02] [ 5.05474787e-02 8.56547720e-01 5.13586367e-01 -1.72133943e+02] [-9.96132294e-01 6.23295533e-03 8.76447569e-02 -2.93652516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-172.13, Z:-293.68 [[ 6.92619063e-02 -5.17685981e-01 8.52762577e-01 2.97699249e+02] [ 5.49707258e-02 8.55497190e-01 5.14881324e-01 -1.72133119e+02] [-9.96082832e-01 1.12153158e-02 8.77109403e-02 -2.93680548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-172.13, Z:-293.71 [[ 6.80971313e-02 -5.20787713e-01 8.50965886e-01 2.97703125e+02] [ 5.66473383e-02 8.53588138e-01 5.17859411e-01 -1.72133007e+02] [-9.96069204e-01 1.29402121e-02 8.76281413e-02 -2.93707726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-172.13, Z:-293.74 [[ 6.73983226e-02 -5.22225970e-01 8.50139696e-01 2.97706163e+02] [ 5.88549493e-02 8.52674389e-01 5.19117020e-01 -1.72131675e+02] [-9.95988735e-01 1.50473122e-02 8.82044066e-02 -2.93735405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-172.13, Z:-293.76 [[ 6.67593964e-02 -5.25329455e-01 8.48275985e-01 2.97709262e+02] [ 6.10942937e-02 8.50729603e-01 5.22040831e-01 -1.72130853e+02] [-9.95896918e-01 1.69736914e-02 8.88888268e-02 -2.93761808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-172.13, Z:-293.79 [[ 6.67151404e-02 -5.26668391e-01 8.47448816e-01 2.97711683e+02] [ 6.21311677e-02 8.49885666e-01 5.23291576e-01 -1.72129442e+02] [-9.95835734e-01 1.77415135e-02 8.94227636e-02 -2.93789884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-172.13, Z:-293.82 [[ 6.66730408e-02 -5.29620676e-01 8.45610221e-01 2.97714480e+02] [ 6.28332528e-02 8.48042538e-01 5.26189924e-01 -1.72127771e+02] [-9.95794501e-01 1.80497585e-02 8.98193645e-02 -2.93817663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-172.13, Z:-293.84 [[ 6.74434330e-02 -5.32488930e-01 8.43745769e-01 2.97717905e+02] [ 6.24266511e-02 8.46266463e-01 5.29089771e-01 -1.72126514e+02] [-9.95768194e-01 1.69885922e-02 9.03166161e-02 -2.93844805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-172.12, Z:-293.87 [[ 6.80239792e-02 -5.33701523e-01 8.42932633e-01 2.97720254e+02] [ 6.19449867e-02 8.45518893e-01 5.30340099e-01 -1.72124501e+02] [-9.95758785e-01 1.61396068e-02 9.05756933e-02 -2.93873084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-172.12, Z:-293.90 [[ 7.10319762e-02 -5.41567224e-01 8.37651121e-01 2.97730522e+02] [ 6.12636414e-02 8.40555611e-01 5.38249971e-01 -1.72124060e+02] [-9.95590892e-01 1.30845988e-02 9.28847063e-02 -2.93902088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-172.11, Z:-293.93 [[ 7.14332224e-02 -4.88315993e-01 8.69738343e-01 2.97696542e+02] [ 6.01811567e-02 8.72487309e-01 4.84916615e-01 -1.72107146e+02] [-9.95628205e-01 1.77027031e-02 9.17120013e-02 -2.93930527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-172.12, Z:-293.96 [[ 7.10587973e-02 -5.29809893e-01 8.45134383e-01 2.97721985e+02] [ 5.82766804e-02 8.48034018e-01 5.26727761e-01 -1.72116647e+02] [-9.95768284e-01 1.18229852e-02 9.11358391e-02 -2.93956080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-172.12, Z:-293.98 [[ 7.32952344e-02 -5.43459939e-01 8.36229098e-01 2.97731277e+02] [ 5.51810690e-02 8.39409830e-01 5.40690472e-01 -1.72117044e+02] [-9.95782536e-01 6.51398072e-03 9.15134406e-02 -2.93983413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-172.12, Z:-294.01 [[ 7.42986014e-02 -5.46230240e-01 8.34333412e-01 2.97734145e+02] [ 5.33575515e-02 8.37624913e-01 5.43633587e-01 -1.72115657e+02] [-9.95807557e-01 4.12677278e-03 9.13798677e-02 -2.94009790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.74, Y:-172.11, Z:-294.04 [[ 7.56294377e-02 -5.47347789e-01 8.33481005e-01 2.97736434e+02] [ 5.18882170e-02 8.36902768e-01 5.44886566e-01 -1.72113578e+02] [-9.95785018e-01 2.03837866e-03 9.16953866e-02 -2.94037854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.11, Z:-294.07 [[ 7.97103520e-02 -5.59344003e-01 8.25094265e-01 2.97750259e+02] [ 5.13815659e-02 8.28933216e-01 5.56982638e-01 -1.72112978e+02] [-9.95492941e-01 -2.00264675e-03 9.48145291e-02 -2.94065875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-172.10, Z:-294.09 [[ 7.91594880e-02 -5.16947455e-01 8.52349168e-01 2.97720518e+02] [ 4.58549231e-02 8.56015491e-01 5.14912425e-01 -1.72100414e+02] [-9.95806759e-01 -1.67579837e-03 9.14663337e-02 -2.94094208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.11, Z:-294.12 [[ 8.02865581e-02 -5.53760626e-01 8.28796258e-01 2.97745082e+02] [ 4.45048867e-02 8.32642721e-01 5.52019397e-01 -1.72107877e+02] [-9.95777778e-01 -7.43425380e-03 9.14950721e-02 -2.94120200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.11, Z:-294.15 [[ 8.12537796e-02 -5.54831754e-01 8.27985234e-01 2.97747169e+02] [ 4.25972330e-02 8.31906187e-01 5.53278928e-01 -1.72105963e+02] [-9.95782757e-01 -9.68612409e-03 9.12298195e-02 -2.94147643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.10, Z:-294.17 [[ 8.20440664e-02 -5.57579197e-01 8.26059447e-01 2.97750226e+02] [ 4.05609843e-02 8.30035122e-01 5.56234216e-01 -1.72104545e+02] [-9.95802981e-01 -1.21299327e-02 9.07154177e-02 -2.94174530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.10, Z:-294.20 [[ 8.35882959e-02 -5.58525755e-01 8.25264792e-01 2.97752321e+02] [ 3.68864074e-02 8.29329695e-01 5.57540715e-01 -1.72102377e+02] [-9.95817448e-01 -1.61628250e-02 8.99242645e-02 -2.94201695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-172.10, Z:-294.23 [[ 8.42788571e-02 -5.59656471e-01 8.24428110e-01 2.97754881e+02] [ 3.56653069e-02 8.28535845e-01 5.58799015e-01 -1.72100855e+02] [-9.95803726e-01 -1.76914607e-02 8.97883739e-02 -2.94230045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-172.10, Z:-294.26 [[ 8.47517311e-02 -5.62325548e-01 8.22561318e-01 2.97758559e+02] [ 3.43665302e-02 8.26690017e-01 5.61607121e-01 -1.72099995e+02] [-9.95809262e-01 -1.93285973e-02 8.93885879e-02 -2.94258383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-172.10, Z:-294.28 [[ 8.61223698e-02 -5.64910805e-01 8.20645307e-01 2.97761655e+02] [ 3.22352903e-02 8.24854471e-01 5.64425361e-01 -1.72098923e+02] [-9.95762935e-01 -2.21559100e-02 8.92484856e-02 -2.94284797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-172.10, Z:-294.31 [[ 8.69847825e-02 -5.66019290e-01 8.19790102e-01 2.97763915e+02] [ 3.14607611e-02 8.24059549e-01 5.65628924e-01 -1.72097528e+02] [-9.95712744e-01 -2.34098885e-02 8.94880383e-02 -2.94313194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-172.10, Z:-294.34 [[ 8.77905187e-02 -5.68696938e-01 8.17848774e-01 2.97766832e+02] [ 3.09073851e-02 8.22178548e-01 5.68389979e-01 -1.72096375e+02] [-9.95659359e-01 -2.46216841e-02 8.97564165e-02 -2.94340995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-172.10, Z:-294.37 [[ 8.91308557e-02 -5.71353820e-01 8.15849559e-01 2.97770030e+02] [ 3.00170747e-02 8.20278487e-01 5.71176137e-01 -1.72095654e+02] [-9.95567509e-01 -2.64200007e-02 9.02624938e-02 -2.94368228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-172.09, Z:-294.39 [[ 9.18233325e-02 -5.72295861e-01 8.14890129e-01 2.97772429e+02] [ 2.87337583e-02 8.19529423e-01 5.72316256e-01 -1.72094771e+02] [-9.95360662e-01 -2.91371298e-02 9.16961336e-02 -2.94394745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:-172.09, Z:-294.42 [[ 9.24894363e-02 -5.73439221e-01 8.14010543e-01 2.97775048e+02] [ 2.87193915e-02 8.18710895e-01 5.73487286e-01 -1.72093948e+02] [-9.95299403e-01 -2.96636284e-02 9.21909346e-02 -2.94422221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:-172.09, Z:-294.45 [[ 9.27548026e-02 -5.76167840e-01 8.12051210e-01 2.97779218e+02] [ 2.86484082e-02 8.16773804e-01 5.76246320e-01 -1.72093910e+02] [-9.95276753e-01 -3.01856392e-02 9.22659845e-02 -2.94449809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:-172.09, Z:-294.48 [[ 9.24893517e-02 -5.79007809e-01 8.10059058e-01 2.97783447e+02] [ 2.92220003e-02 8.14774156e-01 5.79041578e-01 -1.72093892e+02] [-9.95284781e-01 -2.98836341e-02 9.22776999e-02 -2.94477241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-172.09, Z:-294.51 [[ 9.04054621e-02 -5.82046967e-01 8.08113965e-01 2.97788716e+02] [ 3.10663673e-02 8.12690065e-01 5.81867458e-01 -1.72094953e+02] [-9.95420380e-01 -2.74988312e-02 9.15537057e-02 -2.94505135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-172.10, Z:-294.53 [[ 8.91949735e-02 -5.84984622e-01 8.06124834e-01 2.97793721e+02] [ 3.27034835e-02 8.10634437e-01 5.84638599e-01 -1.72095093e+02] [-9.95477141e-01 -2.57837341e-02 9.14355521e-02 -2.94532261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-172.10, Z:-294.56 [[ 8.56701738e-02 -5.87323295e-01 8.04805547e-01 2.97798835e+02] [ 3.66729118e-02 8.09086780e-01 5.86543844e-01 -1.72096588e+02] [-9.95648391e-01 -2.07347501e-02 9.08534604e-02 -2.94559923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-172.10, Z:-294.59 [[ 8.39303787e-02 -5.90245211e-01 8.02848854e-01 2.97803544e+02] [ 3.89091517e-02 8.07018416e-01 5.89243035e-01 -1.72097291e+02] [-9.95711690e-01 -1.82172233e-02 9.06993017e-02 -2.94587723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-172.10, Z:-294.62 [[ 8.23097500e-02 -5.93142307e-01 8.00879085e-01 2.97808323e+02] [ 4.13266813e-02 8.04946058e-01 5.91907045e-01 -1.72098015e+02] [-9.95749572e-01 -1.56220462e-02 9.07675119e-02 -2.94615513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-172.10, Z:-294.64 [[ 8.06464806e-02 -5.96053113e-01 7.98884742e-01 2.97812757e+02] [ 4.38282537e-02 8.02840780e-01 5.94580328e-01 -1.72098758e+02] [-9.95778705e-01 -1.29370877e-02 9.08702505e-02 -2.94642682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:-172.10, Z:-294.67 [[ 7.69025364e-02 -5.97711808e-01 7.98014157e-01 2.97817459e+02] [ 4.90731951e-02 8.01683443e-01 5.95731045e-01 -1.72100481e+02] [-9.95830217e-01 -6.65212400e-03 9.09831183e-02 -2.94670579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:-172.10, Z:-294.70 [[ 7.48852571e-02 -6.00774237e-01 7.95903583e-01 2.97822494e+02] [ 5.17281086e-02 7.99410393e-01 5.98554280e-01 -1.72101028e+02] [-9.95849588e-01 -3.65230415e-03 9.09409678e-02 -2.94697884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-172.10, Z:-294.72 [[ 7.25766264e-02 -6.02231681e-01 7.95015494e-01 2.97826057e+02] [ 5.41522576e-02 7.98321222e-01 5.99792264e-01 -1.72101220e+02] [-9.95891644e-01 -4.79015210e-04 9.05516662e-02 -2.94724899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-172.10, Z:-294.75 [[ 6.80038724e-02 -6.03862514e-01 7.94182307e-01 2.97830811e+02] [ 5.84633071e-02 7.97069123e-01 6.01051458e-01 -1.72102418e+02] [-9.95970640e-01 5.55669745e-03 8.95075866e-02 -2.94752510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-172.10, Z:-294.78 [[ 6.63626922e-02 -6.06807319e-01 7.92073779e-01 2.97835549e+02] [ 6.07612991e-02 7.94808131e-01 6.03811311e-01 -1.72102557e+02] [-9.95943803e-01 8.05688755e-03 8.96160083e-02 -2.94779676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-172.10, Z:-294.81 [[ 6.46600578e-02 -6.08154330e-01 7.91181008e-01 2.97838658e+02] [ 6.25390679e-02 7.93751220e-01 6.05018897e-01 -1.72102557e+02] [-9.95945753e-01 1.03591659e-02 8.93574047e-02 -2.94807566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-172.10, Z:-294.84 [[ 6.36410311e-02 -6.10980108e-01 7.89083726e-01 2.97843015e+02] [ 6.43228576e-02 7.91553759e-01 6.07704877e-01 -1.72102659e+02] [-9.95897781e-01 1.20811552e-02 8.96752839e-02 -2.94835660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:-172.10, Z:-294.86 [[ 6.34855325e-02 -6.13663576e-01 7.87011183e-01 2.97846684e+02] [ 6.44577851e-02 7.89476748e-01 6.10386483e-01 -1.72101724e+02] [-9.95898981e-01 1.19782868e-02 8.96757466e-02 -2.94864022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:-172.10, Z:-294.89 [[ 6.24895851e-02 -6.15485148e-01 7.85667286e-01 2.97850698e+02] [ 6.68018905e-02 7.88019840e-01 6.12014901e-01 -1.72102321e+02] [-9.95807491e-01 1.42395028e-02 9.03586043e-02 -2.94891889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:-172.10, Z:-294.92 [[ 6.25372319e-02 -6.18191681e-01 7.83535667e-01 2.97854796e+02] [ 6.75358375e-02 7.85894044e-01 6.14662071e-01 -1.72101988e+02] [-9.95754993e-01 1.44774729e-02 9.08977310e-02 -2.94918340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:-172.10, Z:-294.95 [[ 6.23525598e-02 -6.20002867e-01 7.82118024e-01 2.97857712e+02] [ 6.75086990e-02 7.84468115e-01 6.16483862e-01 -1.72101451e+02] [-9.95768414e-01 1.43604234e-02 9.07691820e-02 -2.94946322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:-172.10, Z:-294.97 [[ 6.26876183e-02 -6.22695981e-01 7.79948702e-01 2.97861488e+02] [ 6.72507933e-02 7.82345053e-01 6.19203964e-01 -1.72100495e+02] [-9.95764828e-01 1.36357473e-02 9.09201468e-02 -2.94972765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:-172.10, Z:-295.00 [[ 6.41717798e-02 -6.23698321e-01 7.79026564e-01 2.97864609e+02] [ 6.50308091e-02 7.81589857e-01 6.20393657e-01 -1.72099320e+02] [-9.95817743e-01 1.08489626e-02 9.07156186e-02 -2.95001093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:-172.10, Z:-295.03 [[ 6.47485699e-02 -6.26287676e-01 7.76898558e-01 2.97868158e+02] [ 6.37085037e-02 7.79538343e-01 6.23106090e-01 -1.72098223e+02] [-9.95865879e-01 9.14981649e-03 9.03738436e-02 -2.95029034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:-172.10, Z:-295.06 [[ 6.58262342e-02 -6.28849054e-01 7.74735939e-01 2.97871713e+02] [ 6.25580691e-02 7.77493383e-01 6.25771946e-01 -1.72097056e+02] [-9.95868161e-01 7.27377376e-03 9.05190441e-02 -2.95057412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-172.10, Z:-295.09 [[ 6.84946957e-02 -6.31248617e-01 7.72550102e-01 2.97875553e+02] [ 5.93190264e-02 7.75575561e-01 6.28461456e-01 -1.72095933e+02] [-9.95886404e-01 2.78064371e-03 9.05678655e-02 -2.95085338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-172.10, Z:-295.11 [[ 6.96384532e-02 -6.33764000e-01 7.70385408e-01 2.97878717e+02] [ 5.76602971e-02 7.73526322e-01 6.31135737e-01 -1.72095110e+02] [-9.95904502e-01 4.69335069e-04 9.04101971e-02 -2.95111884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-172.09, Z:-295.14 [[ 7.07663398e-02 -6.34799334e-01 7.69429614e-01 2.97881214e+02] [ 5.65178576e-02 7.72676015e-01 6.32279612e-01 -1.72093514e+02] [-9.95890484e-01 -1.25760056e-03 9.05569518e-02 -2.95139422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-172.09, Z:-295.17 [[ 7.23856708e-02 -6.37255588e-01 7.67245482e-01 2.97884547e+02] [ 5.41287778e-02 7.70639778e-01 6.34968037e-01 -1.72091886e+02] [-9.95906818e-01 -4.43252702e-03 9.02771434e-02 -2.95167772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-172.09, Z:-295.19 [[ 7.31236351e-02 -6.39798934e-01 7.65055722e-01 2.97888092e+02] [ 5.29464654e-02 7.68517977e-01 6.37633744e-01 -1.72090817e+02] [-9.95916465e-01 -6.11910085e-03 9.00719202e-02 -2.95194244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-172.09, Z:-295.22 [[ 7.33902934e-02 -6.40878284e-01 7.64126227e-01 2.97890643e+02] [ 5.20396880e-02 7.67609520e-01 6.38801610e-01 -1.72089202e+02] [-9.95944645e-01 -7.11694712e-03 8.96861938e-02 -2.95222388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-172.09, Z:-295.25 [[ 7.35524963e-02 -6.43457829e-01 7.61939665e-01 2.97894177e+02] [ 5.08970597e-02 7.65435437e-01 6.41496751e-01 -1.72088218e+02] [-9.95991727e-01 -8.40319879e-03 8.90497986e-02 -2.95249687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:-172.09, Z:-295.28 [[ 7.38903110e-02 -6.44508197e-01 7.61018663e-01 2.97897062e+02] [ 4.94613351e-02 7.64533989e-01 6.42682936e-01 -1.72086884e+02] [-9.96039055e-01 -9.84704291e-03 8.83698901e-02 -2.95278103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:-172.09, Z:-295.31 [[ 7.42486258e-02 -6.47074566e-01 7.58802772e-01 2.97901020e+02] [ 4.89495541e-02 7.62350645e-01 6.45310341e-01 -1.72085927e+02] [-9.96037691e-01 -1.07703486e-02 8.82774992e-02 -2.95305255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:-172.08, Z:-295.33 [[ 7.44462904e-02 -6.48174016e-01 7.57844440e-01 2.97903476e+02] [ 4.85632764e-02 7.61408068e-01 6.46451361e-01 -1.72084782e+02] [-9.96041846e-01 -1.13224968e-02 8.81614600e-02 -2.95332796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-172.08, Z:-295.36 [[ 7.49982257e-02 -6.50741134e-01 7.55586688e-01 2.97907030e+02] [ 4.80939699e-02 7.59199372e-01 6.49078797e-01 -1.72083950e+02] [-9.96023211e-01 -1.23405947e-02 8.82353304e-02 -2.95360556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-172.08, Z:-295.39 [[ 7.59440178e-02 -6.53277204e-01 7.53300339e-01 2.97910427e+02] [ 4.77734266e-02 7.56998399e-01 6.51667955e-01 -1.72082967e+02] [-9.95966970e-01 -1.35025444e-02 8.86987904e-02 -2.95388407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-172.08, Z:-295.42 [[ 7.83530773e-02 -6.55688654e-01 7.50954849e-01 2.97913837e+02] [ 4.66052364e-02 7.54856221e-01 6.54232403e-01 -1.72082168e+02] [-9.95835703e-01 -1.62626938e-02 8.97038326e-02 -2.95416775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:-172.08, Z:-295.44 [[ 7.95059993e-02 -6.58185091e-01 7.48646233e-01 2.97916984e+02] [ 4.59297091e-02 7.52644840e-01 6.56822813e-01 -1.72081363e+02] [-9.95775707e-01 -1.78362504e-02 9.00700298e-02 -2.95443607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:-172.08, Z:-295.47 [[ 8.08154300e-02 -6.59188622e-01 7.47622383e-01 2.97919642e+02] [ 4.52011425e-02 7.51727941e-01 6.57922457e-01 -1.72080349e+02] [-9.95703632e-01 -1.93769004e-02 9.05472956e-02 -2.95471202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:-172.08, Z:-295.50 [[ 8.22272111e-02 -6.61545697e-01 7.45383108e-01 2.97923489e+02] [ 4.45190031e-02 7.49607451e-01 6.60383774e-01 -1.72080391e+02] [-9.95618775e-01 -2.11178031e-02 9.10894850e-02 -2.95498862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.93, Y:-172.08, Z:-295.53 [[ 8.23896494e-02 -6.64085895e-01 7.43102866e-01 2.97927637e+02] [ 4.45740993e-02 7.47347206e-01 6.62936878e-01 -1.72079993e+02] [-9.95602880e-01 -2.14959960e-02 9.11747049e-02 -2.95526940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.93, Y:-172.08, Z:-295.56 [[ 8.26744975e-02 -6.66690493e-01 7.40735253e-01 2.97932088e+02] [ 4.48471760e-02 7.45015712e-01 6.65537617e-01 -1.72079576e+02] [-9.95567003e-01 -2.18031038e-02 9.14929855e-02 -2.95555003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:-172.08, Z:-295.58 [[ 8.20198615e-02 -6.69362985e-01 7.38394160e-01 2.97937541e+02] [ 4.55906536e-02 7.42634780e-01 6.68143006e-01 -1.72080206e+02] [-9.95587382e-01 -2.11371245e-02 9.14274978e-02 -2.95583142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:-172.08, Z:-295.61 [[ 8.14196048e-02 -6.72011101e-01 7.36051580e-01 2.97942096e+02] [ 4.62679288e-02 7.40255745e-01 6.70731475e-01 -1.72080071e+02] [-9.95605407e-01 -2.05551095e-02 9.13638920e-02 -2.95609981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-172.08, Z:-295.64 [[ 8.05624509e-02 -6.73211671e-01 7.35048119e-01 2.97945415e+02] [ 4.69441502e-02 7.39189478e-01 6.71859481e-01 -1.72079693e+02] [-9.95643480e-01 -1.96204372e-02 9.11542659e-02 -2.95638216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-172.08, Z:-295.67 [[ 7.95649163e-02 -6.75815180e-01 7.32764128e-01 2.97950147e+02] [ 4.73000795e-02 7.36826175e-01 6.74425600e-01 -1.72079469e+02] [-9.95706848e-01 -1.90008150e-02 9.05916247e-02 -2.95666239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-172.08, Z:-295.69 [[ 7.78146068e-02 -6.78506184e-01 7.30461666e-01 2.97955886e+02] [ 4.86720615e-02 7.34395042e-01 6.76974854e-01 -1.72080287e+02] [-9.95779051e-01 -1.71254570e-02 9.01709561e-02 -2.95692911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-172.08, Z:-295.72 [[ 7.69332067e-02 -6.79680854e-01 7.29462281e-01 2.97959411e+02] [ 4.94128857e-02 7.33330779e-01 6.78073989e-01 -1.72079981e+02] [-9.95811051e-01 -1.61215700e-02 9.00024808e-02 -2.95720399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-172.08, Z:-295.75 [[ 7.63110278e-02 -6.82289480e-01 7.27088504e-01 2.97964061e+02] [ 5.02054757e-02 7.30919174e-01 6.80614848e-01 -1.72079788e+02] [-9.95819279e-01 -1.54345943e-02 9.00318613e-02 -2.95747220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-172.08, Z:-295.78 [[ 7.55959490e-02 -6.83461237e-01 7.26061974e-01 2.97967265e+02] [ 5.09391163e-02 7.29841788e-01 6.81715608e-01 -1.72079356e+02] [-9.95836562e-01 -1.45499830e-02 8.99879940e-02 -2.95775039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-172.08, Z:-295.80 [[ 7.54677486e-02 -6.85997361e-01 7.23679653e-01 2.97972669e+02] [ 5.16630610e-02 7.27464524e-01 6.84197555e-01 -1.72080181e+02] [-9.95808991e-01 -1.42473430e-02 9.03408333e-02 -2.95802034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:-172.08, Z:-295.83 [[ 7.50763456e-02 -6.87121988e-01 7.22652694e-01 2.97975905e+02] [ 5.21855543e-02 7.26412209e-01 6.85275106e-01 -1.72079753e+02] [-9.95811333e-01 -1.37359192e-02 9.03942159e-02 -2.95830262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:-172.08, Z:-295.86 [[ 7.49470523e-02 -6.89627369e-01 7.20275663e-01 2.97980164e+02] [ 5.28024904e-02 7.24038351e-01 6.87735679e-01 -1.72079154e+02] [-9.95788550e-01 -1.35114131e-02 9.06785827e-02 -2.95858434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:-172.08, Z:-295.89 [[ 7.48085396e-02 -6.92106315e-01 7.17908442e-01 2.97984705e+02] [ 5.28975815e-02 7.21666332e-01 6.90217032e-01 -1.72079426e+02] [-9.95793919e-01 -1.36585079e-02 9.05975546e-02 -2.95886864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.99, Y:-172.08, Z:-295.91 [[ 7.43618692e-02 -6.94585848e-01 7.15556296e-01 2.97988989e+02] [ 5.27757699e-02 7.19278462e-01 6.92714380e-01 -1.72078805e+02] [-9.95833837e-01 -1.37475016e-02 9.01441939e-02 -2.95914824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.99, Y:-172.08, Z:-295.94 [[ 7.40719228e-02 -6.97052972e-01 7.13183359e-01 2.97993363e+02] [ 5.27279938e-02 7.16885089e-01 6.95194597e-01 -1.72078030e+02] [-9.95857976e-01 -1.38896728e-02 8.98552618e-02 -2.95942338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-172.08, Z:-295.97 [[ 7.35154899e-02 -6.99599316e-01 7.10743463e-01 2.97997479e+02] [ 5.30044531e-02 7.14405537e-01 6.97721475e-01 -1.72077398e+02] [-9.95884532e-01 -1.36207674e-02 8.96017522e-02 -2.95969013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-172.08, Z:-296.00 [[ 7.16499735e-02 -7.01454218e-01 7.09103844e-01 2.98001385e+02] [ 5.42143666e-02 7.12618930e-01 6.99453403e-01 -1.72077269e+02] [-9.95955362e-01 -1.16722020e-02 8.90880237e-02 -2.95997244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.01, Y:-172.08, Z:-296.02 [[ 7.03995472e-02 -7.04020954e-01 7.06681258e-01 2.98005551e+02] [ 5.53796007e-02 7.10104812e-01 7.01914707e-01 -1.72076613e+02] [-9.95980423e-01 -1.02787517e-02 8.89794565e-02 -2.96024657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.01, Y:-172.08, Z:-296.05 [[ 6.84235636e-02 -7.06612803e-01 7.04284433e-01 2.98009365e+02] [ 5.66173364e-02 7.07551474e-01 7.04390083e-01 -1.72076161e+02] [-9.96048540e-01 -8.32217104e-03 8.84197280e-02 -2.96051336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.01, Y:-172.08, Z:-296.08 [[ 6.69930381e-02 -7.08414050e-01 7.02610465e-01 2.98013228e+02] [ 5.85210577e-02 7.05770026e-01 7.06019799e-01 -1.72075309e+02] [-9.96035752e-01 -6.18090367e-03 8.87388178e-02 -2.96079525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:-172.08, Z:-296.11 [[ 6.30394430e-02 -7.11146896e-01 7.00211483e-01 2.98018240e+02] [ 6.17169268e-02 7.03041962e-01 7.08465257e-01 -1.72075394e+02] [-9.96100923e-01 -1.44635438e-03 8.82091746e-02 -2.96106612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:-172.07, Z:-296.13 [[ 6.10903640e-02 -7.12924267e-01 6.98574948e-01 2.98022241e+02] [ 6.32062310e-02 7.01240610e-01 7.10117300e-01 -1.72074583e+02] [-9.96128978e-01 7.72965181e-04 8.79003000e-02 -2.96134900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-172.07, Z:-296.16 [[ 5.76517076e-02 -7.15608421e-01 6.96118430e-01 2.98026623e+02] [ 6.59278012e-02 6.98485098e-01 7.12581288e-01 -1.72073785e+02] [-9.96157521e-01 4.81202937e-03 8.74473484e-02 -2.96162038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-172.07, Z:-296.19 [[ 5.63405235e-02 -7.16736292e-01 6.95064625e-01 2.98028831e+02] [ 6.66247347e-02 6.97317625e-01 7.13659074e-01 -1.72072041e+02] [-9.96186172e-01 6.10057032e-03 8.70396054e-02 -2.96188706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-172.07, Z:-296.22 [[ 5.50775992e-02 -7.17838933e-01 6.94027178e-01 2.98030810e+02] [ 6.71912869e-02 6.96171281e-01 7.14724337e-01 -1.72070182e+02] [-9.96218746e-01 7.26727872e-03 8.65759645e-02 -2.96216741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-172.07, Z:-296.24 [[ 5.43896517e-02 -7.20250226e-01 6.91578902e-01 2.98034171e+02] [ 6.79543009e-02 6.93668299e-01 7.17081936e-01 -1.72068268e+02] [-9.96204788e-01 7.99392409e-03 8.66724778e-02 -2.96244266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:-172.07, Z:-296.27 [[ 5.33881263e-02 -7.22701965e-01 6.89094753e-01 2.98037289e+02] [ 6.91876023e-02 6.91097671e-01 7.19442204e-01 -1.72066634e+02] [-9.96174073e-01 9.26714242e-03 8.68984258e-02 -2.96271798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:-172.07, Z:-296.30 [[ 5.28017324e-02 -7.25080112e-01 6.86637319e-01 2.98040326e+02] [ 6.95585331e-02 6.88596924e-01 7.21800448e-01 -1.72065007e+02] [-9.96179496e-01 9.64917062e-03 8.67946195e-02 -2.96298709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:-172.06, Z:-296.33 [[ 5.24093243e-02 -7.26124841e-01 6.85562527e-01 2.98042442e+02] [ 7.00190679e-02 6.87488395e-01 7.22811896e-01 -1.72063131e+02] [-9.96167954e-01 1.01203660e-02 8.68733868e-02 -2.96326796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-172.06, Z:-296.35 [[ 5.19042240e-02 -7.28461906e-01 6.83117269e-01 2.98046049e+02] [ 7.04706326e-02 6.85005797e-01 7.25121333e-01 -1.72061433e+02] [-9.96162558e-01 1.05028460e-02 8.68898656e-02 -2.96354864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-172.06, Z:-296.38 [[ 5.11640223e-02 -7.30840876e-01 6.80627547e-01 2.98048244e+02] [ 7.18323758e-02 6.82448034e-01 7.27395897e-01 -1.72059328e+02] [-9.96103585e-01 1.16745938e-02 8.74148228e-02 -2.96382814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-172.06, Z:-296.41 [[ 5.07055067e-02 -7.33154472e-01 6.78169206e-01 2.98050986e+02] [ 7.23070834e-02 6.79955598e-01 7.29679430e-01 -1.72057666e+02] [-9.96092685e-01 1.20376722e-02 8.74897546e-02 -2.96410266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-172.06, Z:-296.44 [[ 5.02872522e-02 -7.35503496e-01 6.75652129e-01 2.98053864e+02] [ 7.29410489e-02 6.77406100e-01 7.31984002e-01 -1.72055829e+02] [-9.96067666e-01 1.24733109e-02 8.77132878e-02 -2.96438552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-172.05, Z:-296.47 [[ 5.05619820e-02 -7.37813896e-01 6.73107823e-01 2.98056549e+02] [ 7.31350803e-02 6.74895709e-01 7.34279948e-01 -1.72053430e+02] [-9.96039530e-01 1.21011452e-02 8.80841432e-02 -2.96466010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-172.05, Z:-296.49 [[ 5.08707068e-02 -7.40078024e-01 6.70594281e-01 2.98059143e+02] [ 7.28765818e-02 6.72424375e-01 7.36569388e-01 -1.72051477e+02] [-9.96042758e-01 1.14008136e-02 8.81410598e-02 -2.96493644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-172.05, Z:-296.52 [[ 5.16696084e-02 -7.42320998e-01 6.68049240e-01 2.98062024e+02] [ 7.26243849e-02 6.69964618e-01 7.38832261e-01 -1.72049379e+02] [-9.96020055e-01 1.03414916e-02 8.85274153e-02 -2.96521770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-172.05, Z:-296.55 [[ 5.21247487e-02 -7.44578882e-01 6.65496280e-01 2.98064707e+02] [ 7.22710085e-02 6.67467376e-01 7.41123609e-01 -1.72047237e+02] [-9.96022044e-01 9.46520542e-03 8.86030360e-02 -2.96549697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-172.04, Z:-296.58 [[ 5.38451674e-02 -7.46738531e-01 6.62934586e-01 2.98066892e+02] [ 7.07409820e-02 6.65082254e-01 7.43411938e-01 -1.72044445e+02] [-9.96040366e-01 6.86750332e-03 8.86364823e-02 -2.96577300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-172.04, Z:-296.61 [[ 5.36111345e-02 -7.49056927e-01 6.60332921e-01 2.98070466e+02] [ 7.09174274e-02 6.62470224e-01 7.45723756e-01 -1.72042798e+02] [-9.96040443e-01 6.85001543e-03 8.86369705e-02 -2.96605686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-172.04, Z:-296.63 [[ 5.43952058e-02 -7.51145661e-01 6.57891600e-01 2.98072929e+02] [ 7.00585275e-02 6.60114336e-01 7.47890946e-01 -1.72040678e+02] [-9.96058715e-01 5.40923489e-03 8.85312141e-02 -2.96632281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-172.04, Z:-296.66 [[ 5.49240068e-02 -7.52075576e-01 6.56784349e-01 2.98074293e+02] [ 6.90070159e-02 6.59063561e-01 7.48914718e-01 -1.72038655e+02] [-9.96103100e-01 4.18933096e-03 8.80969028e-02 -2.96660256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-172.04, Z:-296.69 [[ 5.58819154e-02 -7.54220342e-01 6.54239167e-01 2.98077346e+02] [ 6.83528234e-02 6.56615672e-01 7.51121662e-01 -1.72036404e+02] [-9.96094927e-01 2.74497702e-03 8.82460313e-02 -2.96687800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-172.03, Z:-296.71 [[ 5.79062240e-02 -7.56327292e-01 6.51625580e-01 2.98079807e+02] [ 6.65476543e-02 6.54193365e-01 7.53393955e-01 -1.72033662e+02] [-9.96101541e-01 -2.62045281e-04 8.82136747e-02 -2.96714995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-172.03, Z:-296.74 [[ 5.91780816e-02 -7.57779053e-01 6.49822177e-01 2.98081749e+02] [ 6.59571459e-02 6.52508712e-01 7.54905316e-01 -1.72031484e+02] [-9.96066067e-01 -1.81343223e-03 8.85951574e-02 -2.96742901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-172.03, Z:-296.77 [[ 6.05838510e-02 -7.59908030e-01 6.47201193e-01 2.98084598e+02] [ 6.53019903e-02 6.50020609e-01 7.57105579e-01 -1.72029240e+02] [-9.96024722e-01 -3.60484563e-03 8.90042584e-02 -2.96770626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-172.03, Z:-296.80 [[ 6.39894205e-02 -7.61877661e-01 6.44552391e-01 2.98086511e+02] [ 6.34000841e-02 6.47674933e-01 7.59274398e-01 -1.72026433e+02] [-9.95934628e-01 -7.72085296e-03 8.97474514e-02 -2.96798329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-172.02, Z:-296.83 [[ 6.52242137e-02 -7.64010350e-01 6.41898735e-01 2.98088958e+02] [ 6.26601264e-02 6.45134830e-01 7.61495082e-01 -1.72024083e+02] [-9.95901356e-01 -9.44646207e-03 8.99513972e-02 -2.96825824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-172.02, Z:-296.85 [[ 6.62791410e-02 -7.66162040e-01 6.39220466e-01 2.98091427e+02] [ 6.17901904e-02 6.42551172e-01 7.63747317e-01 -1.72021832e+02] [-9.95886062e-01 -1.11229617e-02 8.99290380e-02 -2.96853706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-172.02, Z:-296.88 [[ 6.85418901e-02 -7.68201716e-01 6.36528188e-01 2.98093414e+02] [ 6.03808948e-02 6.40053339e-01 7.65954222e-01 -1.72019396e+02] [-9.95819340e-01 -1.40658086e-02 9.02551726e-02 -2.96880693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-172.02, Z:-296.91 [[ 6.94460050e-02 -7.69091743e-01 6.35354345e-01 2.98095401e+02] [ 5.99766060e-02 6.38958776e-01 7.66899269e-01 -1.72017517e+02] [-9.95781130e-01 -1.51516933e-02 9.05006468e-02 -2.96908974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-172.02, Z:-296.94 [[ 6.98487562e-02 -7.71218974e-01 6.32726200e-01 2.98098463e+02] [ 5.92579630e-02 6.36363078e-01 7.69110217e-01 -1.72015565e+02] [-9.95795986e-01 -1.62273263e-02 9.01500350e-02 -2.96936860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-172.01, Z:-296.96 [[ 7.06552382e-02 -7.73334972e-01 6.30048298e-01 2.98101732e+02] [ 5.88325105e-02 6.33758054e-01 7.71290778e-01 -1.72013490e+02] [-9.95764316e-01 -1.74284105e-02 9.02755642e-02 -2.96964105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-172.01, Z:-296.99 [[ 7.15390992e-02 -7.74723900e-01 6.28239632e-01 2.98104492e+02] [ 5.79307106e-02 6.32017440e-01 7.72785862e-01 -1.72011244e+02] [-9.95754081e-01 -1.88900361e-02 9.00942644e-02 -2.96992129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:-172.01, Z:-297.02 [[ 7.21535861e-02 -7.76850785e-01 6.25537143e-01 2.98107774e+02] [ 5.78176601e-02 6.29374981e-01 7.74947902e-01 -1.72009294e+02] [-9.95716314e-01 -1.97481763e-02 9.03273565e-02 -2.97019530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:-172.01, Z:-297.05 [[ 7.25801119e-02 -7.78973750e-01 6.22841893e-01 2.98110874e+02] [ 5.75804483e-02 6.26720053e-01 7.77114192e-01 -1.72007463e+02] [-9.95699061e-01 -2.05395196e-02 9.03410693e-02 -2.97047701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:-172.01, Z:-297.07 [[ 7.34030395e-02 -7.81059514e-01 6.20127430e-01 2.98114013e+02] [ 5.73519503e-02 6.24081734e-01 7.79251400e-01 -1.72005692e+02] [-9.95651921e-01 -2.16339037e-02 9.06047826e-02 -2.97074597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-172.00, Z:-297.10 [[ 7.44190546e-02 -7.81906490e-01 6.18937836e-01 2.98115795e+02] [ 5.70443785e-02 6.22980427e-01 7.80154681e-01 -1.72004143e+02] [-9.95594166e-01 -2.27514496e-02 9.09649842e-02 -2.97102591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-172.00, Z:-297.13 [[ 7.44822740e-02 -7.84012944e-01 6.16259762e-01 2.98119088e+02] [ 5.68999892e-02 6.20310722e-01 7.82289588e-01 -1.72002309e+02] [-9.95597701e-01 -2.32015336e-02 9.08124812e-02 -2.97130702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-172.00, Z:-297.16 [[ 7.46607798e-02 -7.86115082e-01 6.13554273e-01 2.98122306e+02] [ 5.67963187e-02 6.17624924e-01 7.84419296e-01 -1.72000847e+02] [-9.95590250e-01 -2.37177322e-02 9.07608012e-02 -2.97157644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-172.00, Z:-297.18 [[ 7.36601463e-02 -7.87611333e-01 6.11753685e-01 2.98125583e+02] [ 5.65090395e-02 6.15730847e-01 7.85927638e-01 -1.71999001e+02] [-9.95681129e-01 -2.33219316e-02 8.98619842e-02 -2.97184140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-172.00, Z:-297.21 [[ 7.27655255e-02 -7.89081967e-01 6.09962972e-01 2.98128465e+02] [ 5.63085838e-02 6.13859069e-01 7.87404843e-01 -1.71997133e+02] [-9.95758265e-01 -2.29497760e-02 8.90998659e-02 -2.97210903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-171.99, Z:-297.24 [[ 7.18713335e-02 -7.90031980e-01 6.08838224e-01 2.98131038e+02] [ 5.63006685e-02 6.12656965e-01 7.88341093e-01 -1.71994842e+02] [-9.95823652e-01 -2.23811266e-02 8.85118016e-02 -2.97238854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-171.99, Z:-297.27 [[ 7.02149724e-02 -7.92249764e-01 6.06143686e-01 2.98134414e+02] [ 5.62638885e-02 6.09821444e-01 7.90539172e-01 -1.71992820e+02] [-9.95943890e-01 -2.14036853e-02 8.73936483e-02 -2.97265435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.99, Z:-297.29 [[ 6.96996692e-02 -7.93202460e-01 6.04956043e-01 2.98136482e+02] [ 5.65533133e-02 6.08597451e-01 7.91461221e-01 -1.71991067e+02] [-9.95963694e-01 -2.09523167e-02 8.72772683e-02 -2.97293324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.99, Z:-297.32 [[ 6.94375404e-02 -7.95337078e-01 6.02177183e-01 2.98139573e+02] [ 5.72305344e-02 6.05815956e-01 7.93543757e-01 -1.71989103e+02] [-9.95943319e-01 -2.06388046e-02 8.75839359e-02 -2.97320899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.99, Z:-297.35 [[ 6.92772939e-02 -7.97464093e-01 5.99376073e-01 2.98142187e+02] [ 5.80225532e-02 6.03023456e-01 7.95610517e-01 -1.71987203e+02] [-9.95908650e-01 -2.03404135e-02 8.80467359e-02 -2.97348904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.99, Z:-297.38 [[ 6.93048915e-02 -7.99564770e-01 5.96567692e-01 2.98144893e+02] [ 5.88631050e-02 6.00241237e-01 7.97650043e-01 -1.71985086e+02] [-9.95857403e-01 -2.01652230e-02 8.86645188e-02 -2.97376339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-171.98, Z:-297.40 [[ 6.89248442e-02 -8.01674809e-01 5.93773413e-01 2.98147053e+02] [ 5.97998946e-02 5.97438645e-01 7.99681836e-01 -1.71983118e+02] [-9.95827966e-01 -1.96103584e-02 8.91184346e-02 -2.97404613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-171.98, Z:-297.43 [[ 6.82112709e-02 -8.03792410e-01 5.90986451e-01 2.98150143e+02] [ 6.00229309e-02 5.94599400e-01 8.01778524e-01 -1.71981185e+02] [-9.95863681e-01 -1.92175932e-02 8.88043570e-02 -2.97431720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-171.98, Z:-297.46 [[ 6.73901840e-02 -8.04762678e-01 5.89758930e-01 2.98152228e+02] [ 6.09622436e-02 5.93319512e-01 8.02655319e-01 -1.71978424e+02] [-9.95862525e-01 -1.81380621e-02 8.90440495e-02 -2.97459862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-171.98, Z:-297.49 [[ 6.66488604e-02 -8.06836778e-01 5.87002847e-01 2.98154993e+02] [ 6.09415341e-02 5.90504344e-01 8.04730234e-01 -1.71976268e+02] [-9.95913680e-01 -1.78614989e-02 8.85263126e-02 -2.97486713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-171.97, Z:-297.51 [[ 6.59456283e-02 -8.07755191e-01 5.85817997e-01 2.98157058e+02] [ 6.09569991e-02 5.89260671e-01 8.05640184e-01 -1.71973964e+02] [-9.95959547e-01 -1.74187410e-02 8.80974976e-02 -2.97514960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-171.97, Z:-297.54 [[ 6.53128166e-02 -8.09830540e-01 5.83016923e-01 2.98159838e+02] [ 6.14787889e-02 5.86420169e-01 8.07670567e-01 -1.71971712e+02] [-9.95969174e-01 -1.69080652e-02 8.80881537e-02 -2.97541653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-171.97, Z:-297.57 [[ 6.40202671e-02 -8.10788693e-01 5.81827381e-01 2.98161084e+02] [ 6.18508366e-02 5.85126242e-01 8.08580086e-01 -1.71969294e+02] [-9.96030060e-01 -1.57790028e-02 8.76078973e-02 -2.97570110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-171.97, Z:-297.60 [[ 6.36553683e-02 -8.12817535e-01 5.79029921e-01 2.98164003e+02] [ 6.23262765e-02 5.82311893e-01 8.10572819e-01 -1.71967050e+02] [-9.96023810e-01 -1.55085324e-02 8.77271684e-02 -2.97597997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-171.96, Z:-297.63 [[ 6.30078685e-02 -8.14860284e-01 5.76222809e-01 2.98166765e+02] [ 6.24825388e-02 5.79458180e-01 8.12603316e-01 -1.71964779e+02] [-9.96055190e-01 -1.51965388e-02 8.74249641e-02 -2.97625821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-171.96, Z:-297.65 [[ 6.28837570e-02 -8.16845757e-01 5.73418383e-01 2.98169272e+02] [ 6.19147921e-02 5.76641771e-01 8.14647670e-01 -1.71961670e+02] [-9.96098485e-01 -1.57250261e-02 8.68362362e-02 -2.97653841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-171.96, Z:-297.68 [[ 6.31518182e-02 -8.18816194e-01 5.70571545e-01 2.98171655e+02] [ 6.17467414e-02 5.73823128e-01 8.16648246e-01 -1.71959280e+02] [-9.96091958e-01 -1.63418880e-02 8.67972057e-02 -2.97681129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-171.96, Z:-297.71 [[ 6.33528409e-02 -8.19652519e-01 5.69347139e-01 2.98173030e+02] [ 6.13765943e-02 5.72613215e-01 8.17524935e-01 -1.71956812e+02] [-9.96102069e-01 -1.68479387e-02 8.65841540e-02 -2.97709314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.95, Z:-297.74 [[ 6.33234994e-02 -8.21599267e-01 5.66537535e-01 2.98175295e+02] [ 6.12515228e-02 5.69806180e-01 8.19493239e-01 -1.71954269e+02] [-9.96111633e-01 -1.71918929e-02 8.64063275e-02 -2.97736927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.95, Z:-297.77 [[ 6.36668879e-02 -8.23525952e-01 5.63694540e-01 2.98176435e+02] [ 6.10220565e-02 5.66996060e-01 8.21457106e-01 -1.71951017e+02] [-9.96103828e-01 -1.79018174e-02 8.63521217e-02 -2.97765143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.95, Z:-297.79 [[ 6.37339850e-02 -8.25494286e-01 5.60800467e-01 2.98178672e+02] [ 6.08495944e-02 5.64111857e-01 8.23453180e-01 -1.71948518e+02] [-9.96110087e-01 -1.83574717e-02 8.61840891e-02 -2.97791652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.95, Z:-297.82 [[ 6.37405624e-02 -8.26823593e-01 5.58837979e-01 2.98180429e+02] [ 6.05872984e-02 5.62149868e-01 8.24813134e-01 -1.71946117e+02] [-9.96125655e-01 -1.87155696e-02 8.59267564e-02 -2.97819895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.94, Z:-297.85 [[ 6.37564259e-02 -8.28796154e-01 5.55906514e-01 2.98182008e+02] [ 6.04594689e-02 5.59224419e-01 8.26808746e-01 -1.71943062e+02] [-9.96132406e-01 -1.91045579e-02 8.57627256e-02 -2.97846880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.94, Z:-297.87 [[ 6.35939820e-02 -8.29661124e-01 5.54633415e-01 2.98183031e+02] [ 6.05205351e-02 5.57941597e-01 8.27670490e-01 -1.71940802e+02] [-9.96139082e-01 -1.90681512e-02 8.56932630e-02 -2.97873576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.94, Z:-297.90 [[ 6.29055688e-02 -8.30549848e-01 5.53380375e-01 2.98184230e+02] [ 6.07558006e-02 5.56637017e-01 8.28531209e-01 -1.71938579e+02] [-9.96168471e-01 -1.84981592e-02 8.54762891e-02 -2.97901833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-171.94, Z:-297.93 [[ 6.24752844e-02 -8.32506397e-01 5.50481550e-01 2.98186768e+02] [ 6.15259024e-02 5.53722548e-01 8.30425134e-01 -1.71936488e+02] [-9.96148283e-01 -1.80121722e-02 8.58146810e-02 -2.97929427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-171.93, Z:-297.96 [[ 6.06212469e-02 -8.34568344e-01 5.47558896e-01 2.98188993e+02] [ 6.36681118e-02 5.50683730e-01 8.32282284e-01 -1.71934649e+02] [-9.96128223e-01 -1.55919489e-02 8.65185250e-02 -2.97957034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-171.93, Z:-297.98 [[ 5.93595356e-02 -8.36581100e-01 5.44617764e-01 2.98192012e+02] [ 6.47475086e-02 5.47657618e-01 8.34193559e-01 -1.71932877e+02] [-9.96134632e-01 -1.42546989e-02 8.66752439e-02 -2.97983653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-171.93, Z:-298.02 [[ 6.34241156e-02 -8.47747703e-01 5.26593974e-01 2.98213168e+02] [ 6.86636938e-02 5.30112743e-01 8.45142460e-01 -1.71926760e+02] [-9.95621755e-01 -1.74445257e-02 9.18314206e-02 -2.98015569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-171.92, Z:-298.05 [[ 5.57206391e-02 -7.30027980e-01 6.81141952e-01 2.98093033e+02] [ 6.59013664e-02 6.83403249e-01 7.27060527e-01 -1.71924084e+02] [-9.96269151e-01 4.37590814e-03 8.61895072e-02 -2.98045351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.20, Y:-171.93, Z:-298.07 [[ 5.43241227e-02 -8.39023050e-01 5.41377144e-01 2.98197769e+02] [ 6.89321652e-02 5.44035447e-01 8.36225920e-01 -1.71926794e+02] [-9.96141178e-01 -8.10894074e-03 8.73899238e-02 -2.98069003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-171.92, Z:-298.10 [[ 5.82523275e-02 -8.52380332e-01 5.19667621e-01 2.98221571e+02] [ 7.33875787e-02 5.22799449e-01 8.49290880e-01 -1.71919384e+02] [-9.95600788e-01 -1.13360221e-02 9.30084135e-02 -2.98101566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-171.92, Z:-298.14 [[ 5.81284552e-02 -7.59376742e-01 6.48049417e-01 2.98131756e+02] [ 7.26447193e-02 6.50643617e-01 7.55900541e-01 -1.71915896e+02] [-9.95662507e-01 3.13803723e-03 9.29856186e-02 -2.98135974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-171.91, Z:-298.16 [[ 5.87869534e-02 -7.23389140e-01 6.87933315e-01 2.98102858e+02] [ 7.23434627e-02 6.90400327e-01 7.19801231e-01 -1.71910219e+02] [-9.95645779e-01 7.45255666e-03 9.29190072e-02 -2.98164436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-171.91, Z:-298.19 [[ 4.95402260e-02 -6.76920592e-01 7.34387009e-01 2.98053304e+02] [ 6.90250555e-02 7.35852246e-01 6.73614886e-01 -1.71905801e+02] [-9.96384117e-01 1.73200703e-02 8.31787680e-02 -2.98188934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:-171.90, Z:-298.22 [[ 5.85596781e-02 -8.73599344e-01 4.83109667e-01 2.98255494e+02] [ 7.90179640e-02 4.86478036e-01 8.70112224e-01 -1.71901539e+02] [-9.95151710e-01 -1.27791495e-02 9.75180387e-02 -2.98215993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-171.90, Z:-298.25 [[ 4.85643668e-02 -7.08152745e-01 7.04387104e-01 2.98080300e+02] [ 7.04540774e-02 7.05891336e-01 7.04807523e-01 -1.71904985e+02] [-9.96332136e-01 1.53984125e-02 8.41734141e-02 -2.98248548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-171.91, Z:-298.27 [[ 4.74294691e-02 -8.47882149e-01 5.28059000e-01 2.98211970e+02] [ 7.22502268e-02 5.30181281e-01 8.44800399e-01 -1.71909916e+02] [-9.96258175e-01 -1.91605197e-03 8.64058942e-02 -2.98271663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-171.91, Z:-298.30 [[ 4.71896299e-02 -8.49718132e-01 5.25121162e-01 2.98215081e+02] [ 7.25034964e-02 5.27233882e-01 8.46621330e-01 -1.71907682e+02] [-9.96251164e-01 -1.87862695e-03 8.64875073e-02 -2.98299127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-171.91, Z:-298.33 [[ 4.72364808e-02 -8.51550252e-01 5.22140673e-01 2.98217870e+02] [ 7.31295457e-02 5.24269577e-01 8.48406436e-01 -1.71905067e+02] [-9.96203184e-01 -1.89182408e-03 8.70381329e-02 -2.98326812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-171.90, Z:-298.35 [[ 4.77742574e-02 -8.53342810e-01 5.19156689e-01 2.98220547e+02] [ 7.32582338e-02 5.21343808e-01 8.50196369e-01 -1.71902894e+02] [-9.96168084e-01 -2.58499799e-03 8.74212004e-02 -2.98353352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:-171.90, Z:-298.38 [[ 4.75481540e-02 -8.54135708e-01 5.17871959e-01 2.98222549e+02] [ 7.34006778e-02 5.20044411e-01 8.50979525e-01 -1.71900827e+02] [-9.96168416e-01 -2.45035262e-03 8.74212916e-02 -2.98381790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-171.90, Z:-298.41 [[ 4.79531387e-02 -8.55773224e-01 5.15123952e-01 2.98225230e+02] [ 7.40102754e-02 5.17343771e-01 8.52571347e-01 -1.71898382e+02] [-9.96103898e-01 -2.75900650e-03 8.81442696e-02 -2.98409507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-171.88, Z:-298.44 [[ 5.83649747e-02 -8.83541008e-01 4.64702934e-01 2.98274925e+02] [ 8.27084187e-02 4.68175785e-01 8.79756075e-01 -1.71879548e+02] [-9.94863230e-01 -1.29120962e-02 1.00401347e-01 -2.98441088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:-171.89, Z:-298.47 [[ 5.14324237e-02 -7.36858371e-01 6.74087863e-01 2.98111347e+02] [ 7.26951230e-02 6.75952952e-01 7.33350548e-01 -1.71889578e+02] [-9.96027171e-01 1.12849040e-02 8.83319085e-02 -2.98473754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-171.89, Z:-298.50 [[ 5.08149969e-02 -8.57639798e-01 5.11734123e-01 2.98229351e+02] [ 7.50044204e-02 5.14226265e-01 8.54368589e-01 -1.71890882e+02] [-9.95887631e-01 -5.03241590e-03 9.04571821e-02 -2.98497073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-171.89, Z:-298.52 [[ 5.10528789e-02 -8.59374358e-01 5.08792018e-01 2.98232208e+02] [ 7.52126840e-02 5.11318039e-01 8.56093988e-01 -1.71888654e+02] [-9.95859757e-01 -5.43844943e-03 9.07401099e-02 -2.98524468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:-171.89, Z:-298.55 [[ 5.09045868e-02 -8.61119902e-01 5.05847050e-01 2.98235172e+02] [ 7.54615899e-02 5.08372224e-01 8.57824709e-01 -1.71886475e+02] [-9.95848518e-01 -5.49518968e-03 9.08599548e-02 -2.98552307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.28, Y:-171.87, Z:-298.58 [[ 6.07893242e-02 -8.87973694e-01 4.55858945e-01 2.98284450e+02] [ 8.42428321e-02 4.59638304e-01 8.84101677e-01 -1.71867830e+02] [-9.94589264e-01 -1.53410949e-02 1.02746521e-01 -2.98584576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-171.88, Z:-298.62 [[ 5.12644957e-02 -7.41679052e-01 6.68793044e-01 2.98121057e+02] [ 7.41848944e-02 6.70651514e-01 7.38053621e-01 -1.71879105e+02] [-9.95925978e-01 1.17783946e-02 8.94019938e-02 -2.98616634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.28, Y:-171.86, Z:-298.64 [[ 5.76502989e-02 -8.85172015e-01 4.61678403e-01 2.98282148e+02] [ 8.38673922e-02 4.65106908e-01 8.81272843e-01 -1.71864714e+02] [-9.94807873e-01 -1.20858791e-02 1.01050621e-01 -2.98643239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-171.87, Z:-298.68 [[ 5.85231771e-02 -7.96053822e-01 6.02389700e-01 2.98190933e+02] [ 8.22401511e-02 6.05217366e-01 7.91800794e-01 -1.71867319e+02] [-9.94892756e-01 3.20192189e-03 1.00886830e-01 -2.98677962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.86, Z:-298.71 [[ 5.53702256e-02 -7.38556586e-01 6.71913914e-01 2.98136559e+02] [ 7.98990541e-02 6.74065666e-01 7.34337537e-01 -1.71864529e+02] [-9.95263925e-01 1.30248510e-02 9.63331406e-02 -2.98707298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.86, Z:-298.73 [[ 5.51502931e-02 -7.39477384e-01 6.70918507e-01 2.98138630e+02] [ 8.08568103e-02 6.73041911e-01 7.35171247e-01 -1.71862615e+02] [-9.95198785e-01 1.37034208e-02 9.69102413e-02 -2.98734884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.86, Z:-298.77 [[ 5.55751928e-02 -7.42162900e-01 6.67911392e-01 2.98144290e+02] [ 8.29698653e-02 6.70064365e-01 7.37651509e-01 -1.71859285e+02] [-9.95001206e-01 1.44213934e-02 9.88161121e-02 -2.98765379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-171.86, Z:-298.79 [[ 5.55440681e-02 -7.38661376e-01 6.71784362e-01 2.98143513e+02] [ 8.31004450e-02 6.73908668e-01 7.34126299e-01 -1.71856144e+02] [-9.94992047e-01 1.50492182e-02 9.88147180e-02 -2.98794941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:-171.85, Z:-298.82 [[ 5.27915572e-02 -7.22582483e-01 6.89265991e-01 2.98127324e+02] [ 8.14349060e-02 6.91044697e-01 7.18209986e-01 -1.71854301e+02] [-9.95279563e-01 1.82148876e-02 9.53247622e-02 -2.98822710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-171.86, Z:-298.85 [[ 3.82337723e-02 -6.89251414e-01 7.23512728e-01 2.98078612e+02] [ 7.40975100e-02 7.24004349e-01 6.85804098e-01 -1.71859195e+02] [-9.96517806e-01 2.73896138e-02 7.87532310e-02 -2.98845350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.84, Z:-298.87 [[ 4.52387816e-02 -9.22721162e-01 3.82804271e-01 2.98331568e+02] [ 8.64665215e-02 3.85375228e-01 9.18699882e-01 -1.71839493e+02] [-9.95227106e-01 -8.46110965e-03 9.72183950e-02 -2.98870469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-171.85, Z:-298.91 [[ 4.82963311e-02 -8.38632584e-01 5.42552167e-01 2.98229119e+02] [ 8.24247887e-02 5.44679649e-01 8.34583869e-01 -1.71854659e+02] [-9.95426350e-01 4.41240895e-03 9.54301422e-02 -2.98905677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.20, Y:-171.85, Z:-298.94 [[ 4.88689056e-02 -8.09532638e-01 5.85037382e-01 2.98199054e+02] [ 8.04773847e-02 5.87024174e-01 8.05559439e-01 -1.71854665e+02] [-9.95557744e-01 7.71547028e-03 9.38362985e-02 -2.98935304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-171.86, Z:-298.96 [[ 4.88744778e-02 -8.06883432e-01 5.88685326e-01 2.98194175e+02] [ 7.74987467e-02 5.90676378e-01 8.03178287e-01 -1.71855650e+02] [-9.95793769e-01 6.36745563e-03 9.14014542e-02 -2.98962467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-171.85, Z:-298.99 [[ 4.99954353e-02 -8.24593627e-01 5.63512029e-01 2.98213704e+02] [ 7.78579572e-02 5.65718420e-01 8.20914617e-01 -1.71852948e+02] [-9.95710096e-01 2.83191180e-03 9.24845139e-02 -2.98989756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.20, Y:-171.85, Z:-299.02 [[ 4.86582137e-02 -8.13607542e-01 5.79374789e-01 2.98200676e+02] [ 7.57245520e-02 5.81397383e-01 8.10088190e-01 -1.71853423e+02] [-9.95940847e-01 4.45545209e-03 8.98998247e-02 -2.99018053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-171.85, Z:-299.05 [[ 4.96037303e-02 -8.38402318e-01 5.42790036e-01 2.98229144e+02] [ 7.60269376e-02 5.45051861e-01 8.34948126e-01 -1.71849987e+02] [-9.95871164e-01 -1.49877453e-04 9.07777662e-02 -2.99045256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-171.85, Z:-299.07 [[ 4.78375691e-02 -8.37759793e-01 5.43939423e-01 2.98228350e+02] [ 7.49208946e-02 5.46038304e-01 8.34403398e-01 -1.71849235e+02] [-9.96041378e-01 8.36598041e-04 8.88868582e-02 -2.99074135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-171.85, Z:-299.10 [[ 4.23027516e-02 -8.27854685e-01 5.59345241e-01 2.98210931e+02] [ 7.23002957e-02 5.60915129e-01 8.24710183e-01 -1.71851877e+02] [-9.96485396e-01 5.55331630e-03 8.35823918e-02 -2.99098896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:-171.84, Z:-299.12 [[ 4.04408692e-02 -9.15844070e-01 3.99492398e-01 2.98317430e+02] [ 7.49564948e-02 4.01473613e-01 9.12798150e-01 -1.71838123e+02] [-9.96366429e-01 -6.96980067e-03 8.48844032e-02 -2.99123134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:-171.84, Z:-299.15 [[ 3.83365241e-02 -9.17380698e-01 3.96160279e-01 2.98321748e+02] [ 7.50024900e-02 3.97975063e-01 9.14325148e-01 -1.71835835e+02] [-9.96446154e-01 -5.33904068e-03 8.40628172e-02 -2.99151423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.83, Z:-299.18 [[ 3.73184917e-02 -9.18949056e-01 3.92606626e-01 2.98325505e+02] [ 7.51425704e-02 3.94348513e-01 9.15883642e-01 -1.71833361e+02] [-9.96474247e-01 -4.67792507e-03 8.37686858e-02 -2.99178637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.83, Z:-299.21 [[ 3.56141807e-02 -9.18887629e-01 3.92908584e-01 2.98326653e+02] [ 7.64769921e-02 3.94511031e-01 9.15703181e-01 -1.71831429e+02] [-9.96435096e-01 -2.56355187e-03 8.43239490e-02 -2.99208377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:-171.83, Z:-299.24 [[ 3.48626552e-02 -9.01812703e-01 4.30718520e-01 2.98304909e+02] [ 7.62768676e-02 4.32124423e-01 8.98582396e-01 -1.71834926e+02] [-9.96477012e-01 1.52689127e-03 8.38524529e-02 -2.99235282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.83, Z:-299.26 [[ 3.34017272e-02 -9.21710901e-01 3.86436722e-01 2.98333649e+02] [ 7.75399413e-02 3.87876922e-01 9.18443820e-01 -1.71827811e+02] [-9.96429567e-01 -7.13329203e-04 8.44251683e-02 -2.99262489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:-171.83, Z:-299.29 [[ 3.23798289e-02 -9.23230945e-01 3.82878791e-01 2.98336966e+02] [ 7.88165788e-02 3.84245323e-01 9.19860576e-01 -1.71825800e+02] [-9.96363133e-01 3.92268309e-04 8.52077024e-02 -2.99289954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:-171.82, Z:-299.32 [[ 3.16080121e-02 -9.24736785e-01 3.79292515e-01 2.98340439e+02] [ 7.99162288e-02 3.80605383e-01 9.21277884e-01 -1.71823738e+02] [-9.96300321e-01 1.19186490e-03 8.59316560e-02 -2.99317266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:-171.82, Z:-299.35 [[ 3.06282160e-02 -9.26097239e-01 3.76039647e-01 2.98346636e+02] [ 8.26713253e-02 3.77274250e-01 9.22404245e-01 -1.71821378e+02] [-9.96106101e-01 2.83609953e-03 8.81169233e-02 -2.99346632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.83, Z:-299.38 [[ 3.10236589e-02 -8.99609989e-01 4.35590864e-01 2.98311012e+02] [ 8.32704026e-02 4.36611884e-01 8.95787979e-01 -1.71827574e+02] [-9.96043961e-01 8.48120584e-03 8.84561841e-02 -2.99375923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.83, Z:-299.40 [[ 2.99279664e-02 -9.01604920e-01 4.31523911e-01 2.98314737e+02] [ 8.38783644e-02 4.32459893e-01 8.97743204e-01 -1.71825302e+02] [-9.96026474e-01 9.32789139e-03 8.85677912e-02 -2.99403323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21655999499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.32, Y:-171.82, Z:-299.43 [[ 2.84616351e-02 -9.05066498e-01 4.24316591e-01 2.98319964e+02] [ 8.39429266e-02 4.25153231e-01 9.01220459e-01 -1.71823137e+02] [-9.96064014e-01 9.96816860e-03 8.80744868e-02 -2.99430871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.82, Z:-299.46 [[ 2.65715395e-02 -9.11999719e-01 4.09329288e-01 2.98330367e+02] [ 8.38119136e-02 4.10064621e-01 9.08197429e-01 -1.71819824e+02] [-9.96127259e-01 1.01744671e-02 8.73324899e-02 -2.99456461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-171.80, Z:-299.49 [[ 2.64273787e-02 -9.38562264e-01 3.44096600e-01 2.98375812e+02] [ 8.46183666e-02 3.45081721e-01 9.34750415e-01 -1.71804554e+02] [-9.96062913e-01 4.41388904e-03 8.85392111e-02 -2.99485252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.81, Z:-299.52 [[ 2.86759385e-02 -9.09048483e-01 4.15702474e-01 2.98334886e+02] [ 8.56423937e-02 4.16578642e-01 9.05056692e-01 -1.71812258e+02] [-9.95913185e-01 9.64840489e-03 8.97988715e-02 -2.99516230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.81, Z:-299.55 [[ 3.07641616e-02 -8.99303305e-01 4.36242056e-01 2.98326039e+02] [ 8.54998077e-02 4.37216635e-01 8.95282859e-01 -1.71811035e+02] [-9.95863118e-01 9.75598538e-03 9.03408629e-02 -2.99545981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.81, Z:-299.58 [[ 3.21333182e-02 -8.83856912e-01 4.66652343e-01 2.98307844e+02] [ 8.37000455e-02 4.67633066e-01 8.79950918e-01 -1.71813649e+02] [-9.95972767e-01 1.07830795e-02 8.90054658e-02 -2.99576193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:-171.81, Z:-299.60 [[ 3.28406548e-02 -8.75690457e-01 4.81754828e-01 2.98298466e+02] [ 8.32024347e-02 4.82737053e-01 8.71804045e-01 -1.71813128e+02] [-9.95991389e-01 1.14525589e-02 8.87129790e-02 -2.99604079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.81, Z:-299.63 [[ 3.51793678e-02 -8.85448620e-01 4.63403877e-01 2.98313514e+02] [ 8.40464365e-02 4.64669496e-01 8.81486504e-01 -1.71807330e+02] [-9.95840654e-01 7.93730662e-03 9.07655803e-02 -2.99633405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:-171.81, Z:-299.66 [[ 3.89294921e-02 -8.66787284e-01 4.97156212e-01 2.98291577e+02] [ 8.35373468e-02 4.98614792e-01 8.62788967e-01 -1.71808038e+02] [-9.95743946e-01 7.94317458e-03 9.18199305e-02 -2.99661507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.80, Z:-299.69 [[ 3.87434096e-02 -8.83437962e-01 4.66943590e-01 2.98311076e+02] [ 8.19722073e-02 4.68529358e-01 8.79636742e-01 -1.71804278e+02] [-9.95881271e-01 4.19627020e-03 9.05697845e-02 -2.99689230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.80, Z:-299.72 [[ 4.05230502e-02 -8.82746221e-01 4.68099340e-01 2.98311089e+02] [ 8.17574230e-02 4.69842605e-01 8.78956000e-01 -1.71801933e+02] [-9.95828101e-01 2.65261759e-03 9.12105117e-02 -2.99716931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:-171.81, Z:-299.74 [[ 3.88042437e-02 -8.68719814e-01 4.93781445e-01 2.98287410e+02] [ 7.63349626e-02 4.95286755e-01 8.65369288e-01 -1.71808444e+02] [-9.96326856e-01 4.11278738e-03 8.55329225e-02 -2.99742537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.39, Y:-171.78, Z:-299.77 [[ 3.73763205e-02 -9.43649665e-01 3.28828709e-01 2.98391216e+02] [ 7.87988219e-02 3.30817141e-01 9.40399258e-01 -1.71784257e+02] [-9.96189619e-01 -9.23734922e-03 8.67232094e-02 -2.99766230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.39, Y:-171.78, Z:-299.79 [[ 3.73828153e-02 -9.44918329e-01 3.25164384e-01 2.98394123e+02] [ 7.86649989e-02 3.27164687e-01 9.41687361e-01 -1.71781714e+02] [-9.96199951e-01 -9.62386872e-03 8.65623364e-02 -2.99793811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-171.78, Z:-299.82 [[ 3.71343227e-02 -9.46175753e-01 3.21515919e-01 2.98397160e+02] [ 7.85873384e-02 3.23506416e-01 9.42956854e-01 -1.71779389e+02] [-9.96215375e-01 -9.74898380e-03 8.63706257e-02 -2.99821126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-171.78, Z:-299.85 [[ 3.48666330e-02 -9.46785634e-01 3.19970752e-01 2.98399563e+02] [ 7.79898702e-02 3.21766732e-01 9.43601479e-01 -1.71777891e+02] [-9.96344267e-01 -7.94572904e-03 8.50586112e-02 -2.99848681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-171.78, Z:-299.88 [[ 3.33253387e-02 -9.48055820e-01 3.16353575e-01 2.98402926e+02] [ 7.77700629e-02 3.18029477e-01 9.44885744e-01 -1.71775825e+02] [-9.96414191e-01 -6.88580005e-03 8.43288008e-02 -2.99875545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-171.75, Z:-299.91 [[ 3.87451841e-02 -9.61220152e-01 2.73046937e-01 2.98439384e+02] [ 8.89611478e-02 2.75485195e-01 9.57180141e-01 -1.71750696e+02] [-9.95281229e-01 -1.27955519e-02 9.61849726e-02 -2.99905789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:-171.80, Z:-299.94 [[ 2.95232995e-02 -8.84380770e-01 4.65831545e-01 2.98314181e+02] [ 7.79600974e-02 4.66652370e-01 8.80998178e-01 -1.71796521e+02] [-9.96519241e-01 1.03062996e-02 8.27235287e-02 -2.99936941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.77, Z:-299.96 [[ 2.56100797e-02 -9.49474967e-01 3.12796116e-01 2.98410501e+02] [ 7.99933755e-02 3.13841775e-01 9.46099572e-01 -1.71771415e+02] [-9.96466349e-01 7.91931761e-04 8.39892205e-02 -2.99961563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-171.75, Z:-299.99 [[ 2.97114850e-02 -9.61951661e-01 2.71599391e-01 2.98445666e+02] [ 8.98024162e-02 2.73189436e-01 9.57759395e-01 -1.71747162e+02] [-9.95516325e-01 -4.06617228e-03 9.45024473e-02 -2.99992091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-171.79, Z:-300.02 [[ 2.15692610e-02 -8.89837782e-01 4.55766924e-01 2.98326189e+02] [ 8.25436539e-02 4.55901575e-01 8.86194279e-01 -1.71791957e+02] [-9.96354010e-01 1.85061116e-02 8.32839219e-02 -3.00023765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.77, Z:-300.05 [[ 1.68632858e-02 -9.51332297e-01 3.07705201e-01 2.98419534e+02] [ 8.29188167e-02 3.08019477e-01 9.47759712e-01 -1.71766292e+02] [-9.96413619e-01 9.53220825e-03 8.40775688e-02 -3.00047864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-171.74, Z:-300.08 [[ 2.05555957e-02 -9.62062559e-01 2.72053488e-01 2.98451053e+02] [ 9.15425516e-02 2.72779039e-01 9.57711625e-01 -1.71744628e+02] [-9.95588986e-01 5.21813748e-03 9.36767971e-02 -3.00078668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-171.78, Z:-300.11 [[ 1.99268837e-02 -9.04743442e-01 4.25490568e-01 2.98358829e+02] [ 8.93485241e-02 4.25483752e-01 9.00544512e-01 -1.71776535e+02] [-9.95801065e-01 2.00719085e-02 8.93160565e-02 -3.00112595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-171.78, Z:-300.14 [[ 1.75267281e-02 -9.01769832e-01 4.31861071e-01 2.98355561e+02] [ 8.92066952e-02 4.31615202e-01 8.97636053e-01 -1.71777236e+02] [-9.95858915e-01 2.27922758e-02 8.80087088e-02 -3.00142098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-171.77, Z:-300.17 [[ 1.68504636e-02 -9.05483194e-01 4.24047458e-01 2.98360953e+02] [ 8.91350381e-02 4.23779445e-01 9.01368919e-01 -1.71774201e+02] [-9.95877004e-01 2.26090021e-02 8.78511592e-02 -3.00170372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-171.78, Z:-300.20 [[ 1.20611041e-02 -9.04820256e-01 4.25622879e-01 2.98359721e+02] [ 8.85757571e-02 4.24947319e-01 9.00874082e-01 -1.71775626e+02] [-9.95996418e-01 2.68343326e-02 8.52704730e-02 -3.00198208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.39, Y:-171.76, Z:-300.23 [[ 1.12433862e-02 -9.25429728e-01 3.78752432e-01 2.98392460e+02] [ 9.01185830e-02 3.78172753e-01 9.21338163e-01 -1.71763693e+02] [-9.95867575e-01 2.37736717e-02 8.76503581e-02 -3.00225274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-171.77, Z:-300.25 [[ 1.01464280e-02 -9.13240749e-01 4.07293979e-01 2.98375319e+02] [ 8.97549527e-02 4.06502571e-01 9.09230284e-01 -1.71768005e+02] [-9.95912194e-01 2.73312122e-02 8.60924293e-02 -3.00254289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-171.76, Z:-300.28 [[ 9.95485805e-03 -9.16256632e-01 4.00468082e-01 2.98382929e+02] [ 9.11410229e-02 3.99652327e-01 9.12124625e-01 -1.71763662e+02] [-9.95788238e-01 2.74189994e-02 8.74870488e-02 -3.00282442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:-171.78, Z:-300.31 [[ 5.38659095e-03 -8.98047018e-01 4.39866501e-01 2.98350595e+02] [ 8.72846602e-02 4.38616264e-01 8.94425604e-01 -1.71775362e+02] [-9.96168848e-01 3.35756932e-02 8.07483751e-02 -3.00308114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:-171.74, Z:-300.33 [[ 2.21543734e-03 -9.64050796e-01 2.65708777e-01 2.98457606e+02] [ 8.42865626e-02 2.64943932e-01 9.60573000e-01 -1.71740099e+02] [-9.96439094e-01 2.02675901e-02 8.18434944e-02 -3.00332082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:-171.74, Z:-300.36 [[ 4.40125610e-03 -9.65068935e-01 2.61959118e-01 2.98460834e+02] [ 8.34414301e-02 2.61402520e-01 9.61616478e-01 -1.71736770e+02] [-9.96502964e-01 1.76259230e-02 8.16772315e-02 -3.00358697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.48, Y:-171.72, Z:-300.39 [[ 1.02665488e-02 -9.71386815e-01 2.37280960e-01 2.98481908e+02] [ 8.86669645e-02 2.37243096e-01 9.67395412e-01 -1.71719173e+02] [-9.96008417e-01 1.11071702e-02 8.85655881e-02 -3.00388757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.75, Z:-300.42 [[ 1.46515429e-02 -9.29811390e-01 3.67744629e-01 2.98406708e+02] [ 8.83152991e-02 3.67550100e-01 9.25800914e-01 -1.71747097e+02] [-9.95984809e-01 1.89130651e-02 8.75017470e-02 -3.00421390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.39, Y:-171.75, Z:-300.45 [[ 1.64473269e-02 -9.22040339e-01 3.86744230e-01 2.98394938e+02] [ 8.67610985e-02 3.86653699e-01 9.18134755e-01 -1.71749157e+02] [-9.96093368e-01 1.84534917e-02 8.63566524e-02 -3.00450871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.37, Y:-171.76, Z:-300.48 [[ 1.57090998e-02 -9.10384296e-01 4.13465425e-01 2.98369770e+02] [ 7.99295238e-02 4.13336465e-01 9.07063525e-01 -1.71759453e+02] [-9.96676726e-01 1.87989431e-02 7.92597270e-02 -3.00476434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:-171.71, Z:-300.50 [[ 2.05035129e-02 -9.73904496e-01 2.26030170e-01 2.98488240e+02] [ 8.60116869e-02 2.26957772e-01 9.70099046e-01 -1.71707943e+02] [-9.96083127e-01 -4.49202111e-04 8.84206003e-02 -3.00502230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.74, Z:-300.53 [[ 2.39730412e-02 -9.38158982e-01 3.45373737e-01 2.98419451e+02] [ 8.28822666e-02 3.46148824e-01 9.34511381e-01 -1.71735068e+02] [-9.96270959e-01 6.22227834e-03 8.60549829e-02 -3.00534130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.74, Z:-300.56 [[ 2.58088568e-02 -9.35688065e-01 3.51883144e-01 2.98414883e+02] [ 8.11668187e-02 3.52799614e-01 9.32171862e-01 -1.71735596e+02] [-9.96366323e-01 4.50294524e-03 8.50521783e-02 -3.00562994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.73, Z:-300.59 [[ 3.21349731e-02 -9.37485602e-01 3.46537285e-01 2.98418249e+02] [ 8.04242042e-02 3.48017449e-01 9.34032014e-01 -1.71731250e+02] [-9.96242586e-01 -2.14510822e-03 8.65800649e-02 -3.00592012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.73, Z:-300.62 [[ 3.57265357e-02 -9.32549839e-01 3.59269276e-01 2.98411662e+02] [ 8.03126786e-02 3.61015189e-01 9.29095209e-01 -1.71730387e+02] [-9.96129253e-01 -4.33947523e-03 8.77933975e-02 -3.00620589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-171.73, Z:-300.65 [[ 3.73626967e-02 -9.24331736e-01 3.79756330e-01 2.98397848e+02] [ 7.74682316e-02 3.81557187e-01 9.21093256e-01 -1.71733972e+02] [-9.96294486e-01 -4.99547664e-03 8.58623505e-02 -3.00648737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.73, Z:-300.68 [[ 4.17820508e-02 -9.29988370e-01 3.65206643e-01 2.98406326e+02] [ 7.56407797e-02 3.67421122e-01 9.26973674e-01 -1.71729767e+02] [-9.96259370e-01 -1.11063459e-02 8.56966534e-02 -3.00676748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.73, Z:-300.70 [[ 4.36155097e-02 -9.31613845e-01 3.60823131e-01 2.98409374e+02] [ 7.52876412e-02 3.63204801e-01 9.28662503e-01 -1.71726916e+02] [-9.96207538e-01 -1.33385659e-02 8.59803714e-02 -3.00703603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.72, Z:-300.73 [[ 4.41247922e-02 -9.36913073e-01 3.46766343e-01 2.98418074e+02] [ 7.43588873e-02 3.49221668e-01 9.34085104e-01 -1.71722544e+02] [-9.96254866e-01 -1.54311517e-02 8.50771471e-02 -3.00731827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.72, Z:-300.76 [[ 4.53752099e-02 -9.38767540e-01 3.41550284e-01 2.98422143e+02] [ 7.36485627e-02 3.44115665e-01 9.36034347e-01 -1.71719162e+02] [-9.96251464e-01 -1.73180674e-02 8.47532006e-02 -3.00760266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.42, Y:-171.72, Z:-300.79 [[ 4.60520969e-02 -9.36808740e-01 3.46797620e-01 2.98418448e+02] [ 7.00214000e-02 3.49339298e-01 9.34376294e-01 -1.71719929e+02] [-9.96481916e-01 -1.87467328e-02 8.16844667e-02 -3.00787905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-171.73, Z:-300.81 [[ 4.18292419e-02 -9.35456769e-01 3.50957189e-01 2.98408682e+02] [ 6.42202411e-02 3.53055562e-01 9.33395699e-01 -1.71726922e+02] [-9.97058712e-01 -1.65046792e-02 7.48433057e-02 -3.00813342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-171.67, Z:-300.84 [[ 4.64366014e-02 -9.87754235e-01 1.48947018e-01 2.98526758e+02] [ 7.49560726e-02 1.52133008e-01 9.85513640e-01 -1.71668097e+02] [-9.96105029e-01 -3.45994207e-02 8.11027180e-02 -3.00839091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-171.69, Z:-300.87 [[ 4.94105442e-02 -9.66807957e-01 2.50681019e-01 2.98473529e+02] [ 7.23057212e-02 2.53791555e-01 9.64552606e-01 -1.71692326e+02] [-9.96157859e-01 -2.95333973e-02 8.24457254e-02 -3.00871224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-171.70, Z:-300.90 [[ 5.06375764e-02 -9.53010764e-01 2.98674271e-01 2.98446447e+02] [ 7.02134848e-02 3.01715040e-01 9.50809182e-01 -1.71702023e+02] [-9.96245905e-01 -2.71757112e-02 8.21923251e-02 -3.00900561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-171.70, Z:-300.93 [[ 5.07917194e-02 -9.51838610e-01 3.02363130e-01 2.98444295e+02] [ 6.91172776e-02 3.05378160e-01 9.49719423e-01 -1.71701884e+02] [-9.96314711e-01 -2.73393660e-02 8.12991752e-02 -3.00929584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-171.70, Z:-300.96 [[ 5.06481558e-02 -9.48044135e-01 3.14081331e-01 2.98436670e+02] [ 6.73999734e-02 3.17012632e-01 9.46023380e-01 -1.71704722e+02] [-9.96439666e-01 -2.67452662e-02 7.99542547e-02 -3.00956648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-171.69, Z:-300.98 [[ 5.34817806e-02 -9.65102756e-01 2.56352042e-01 2.98472373e+02] [ 7.29548214e-02 2.59809788e-01 9.62900030e-01 -1.71686315e+02] [-9.95900243e-01 -3.27954907e-02 8.43039893e-02 -3.00984711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:-171.69, Z:-301.02 [[ 5.46845760e-02 -9.57263861e-01 2.83999116e-01 2.98458056e+02] [ 7.28807874e-02 2.87492628e-01 9.55005958e-01 -1.71689898e+02] [-9.95840343e-01 -3.15260167e-02 8.54875563e-02 -3.01015054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-171.70, Z:-301.04 [[ 5.34454584e-02 -9.46709000e-01 3.17625019e-01 2.98437786e+02] [ 7.03395231e-02 3.20858704e-01 9.44511537e-01 -1.71698115e+02] [-9.96090325e-01 -2.81382597e-02 8.37395001e-02 -3.01043566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-171.69, Z:-301.07 [[ 5.25212082e-02 -9.53682140e-01 2.96195712e-01 2.98450729e+02] [ 7.13513749e-02 2.99430787e-01 9.51446365e-01 -1.71691694e+02] [-9.96067520e-01 -2.88371414e-02 8.37729986e-02 -3.01070584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:-171.69, Z:-301.10 [[ 5.13874230e-02 -9.56009271e-01 2.88800289e-01 2.98455553e+02] [ 7.07122759e-02 2.91939614e-01 9.53819184e-01 -1.71688606e+02] [-9.96172228e-01 -2.85925842e-02 8.26036158e-02 -3.01098759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-171.68, Z:-301.13 [[ 5.08102672e-02 -9.61953783e-01 2.68445967e-01 2.98468996e+02] [ 7.16778184e-02 2.71612463e-01 9.59733797e-01 -1.71680784e+02] [-9.96132826e-01 -2.95227093e-02 8.27514503e-02 -3.01130334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-171.69, Z:-301.16 [[ 4.97592444e-02 -9.53256560e-01 2.98036823e-01 2.98451999e+02] [ 6.88522193e-02 3.00970556e-01 9.51144625e-01 -1.71687845e+02] [-9.96385161e-01 -2.68077411e-02 8.06098972e-02 -3.01161825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-171.70, Z:-301.19 [[ 4.29626887e-02 -9.50650544e-01 3.07274714e-01 2.98440672e+02] [ 6.14775355e-02 3.09491395e-01 9.48912846e-01 -1.71698083e+02] [-9.97183393e-01 -2.18773550e-02 7.17402351e-02 -3.01186842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.57, Y:-171.62, Z:-301.21 [[ 4.42498171e-02 -9.96556981e-01 7.01151773e-02 2.98573557e+02] [ 7.74752894e-02 7.33957209e-02 9.94289016e-01 -1.71619255e+02] [-9.96011814e-01 -3.85649135e-02 8.04562877e-02 -3.01213078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:-171.66, Z:-301.25 [[ 4.58315431e-02 -9.79121253e-01 1.98043030e-01 2.98508935e+02] [ 7.23625615e-02 2.00984602e-01 9.76918036e-01 -1.71657664e+02] [-9.96324811e-01 -3.04427602e-02 8.00631563e-02 -3.01245416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:-171.67, Z:-301.28 [[ 4.41265948e-02 -9.69990227e-01 2.39106261e-01 2.98485415e+02] [ 6.81588996e-02 2.41704768e-01 9.67953082e-01 -1.71669817e+02] [-9.96698153e-01 -2.64152538e-02 7.67790748e-02 -3.01275070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:-171.67, Z:-301.30 [[ 4.36858603e-02 -9.72622209e-01 2.28248951e-01 2.98491454e+02] [ 6.85697904e-02 2.30847388e-01 9.70570795e-01 -1.71665137e+02] [-9.96689385e-01 -2.67492374e-02 7.67772678e-02 -3.01302973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.48, Y:-171.68, Z:-301.33 [[ 4.01513352e-02 -9.68353838e-01 2.46330500e-01 2.98476207e+02] [ 6.18078593e-02 2.48464202e-01 9.66667124e-01 -1.71676528e+02] [-9.97280131e-01 -2.35878148e-02 6.98280472e-02 -3.01328817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.57, Y:-171.62, Z:-301.35 [[ 4.06172513e-02 -9.96276980e-01 7.60422192e-02 2.98565632e+02] [ 6.74698441e-02 7.86660649e-02 9.94615237e-01 -1.71624893e+02] [-9.96894207e-01 -3.52679803e-02 7.04138518e-02 -3.01352892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-171.61, Z:-301.38 [[ 4.37996052e-02 -9.97490841e-01 5.56202824e-02 2.98578430e+02] [ 7.31248216e-02 5.87253163e-02 9.95592335e-01 -1.71609170e+02] [-9.96360555e-01 -3.95393279e-02 7.55134855e-02 -3.01382774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:-171.66, Z:-301.41 [[ 4.32367242e-02 -9.81007560e-01 1.89089272e-01 2.98505792e+02] [ 6.23946168e-02 1.91548257e-01 9.79497921e-01 -1.71656857e+02] [-9.97114586e-01 -3.05521287e-02 6.94915099e-02 -3.01411848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.57, Y:-171.61, Z:-301.44 [[ 4.58099341e-02 -9.97136405e-01 6.01700894e-02 2.98573318e+02] [ 7.05269831e-02 6.33113789e-02 9.95498676e-01 -1.71611761e+02] [-9.96457422e-01 -4.13601139e-02 7.32253124e-02 -3.01438822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-171.64, Z:-301.47 [[ 4.66532094e-02 -9.89438456e-01 1.37240740e-01 2.98533934e+02] [ 6.70479805e-02 1.40182219e-01 9.87852982e-01 -1.71635920e+02] [-9.96658440e-01 -3.68847975e-02 7.28798007e-02 -3.01469197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-171.63, Z:-301.50 [[ 4.73493192e-02 -9.89347850e-01 1.37654909e-01 2.98534947e+02] [ 6.89238920e-02 1.40717009e-01 9.87647822e-01 -1.71632469e+02] [-9.96497636e-01 -3.72767399e-02 7.48525589e-02 -3.01498170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:-171.65, Z:-301.52 [[ 4.53424926e-02 -9.82967882e-01 1.78096046e-01 2.98510815e+02] [ 6.34894631e-02 1.80754556e-01 9.81476886e-01 -1.71647763e+02] [-9.96951928e-01 -3.31953861e-02 7.06039652e-02 -3.01524477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-171.60, Z:-301.55 [[ 4.55739986e-02 -9.98106086e-01 4.13189125e-02 2.98583219e+02] [ 7.20525265e-02 4.45384829e-02 9.96405920e-01 -1.71598464e+02] [-9.96359094e-01 -4.24330699e-02 7.39458619e-02 -3.01551974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.52, Y:-171.64, Z:-301.58 [[ 4.32279123e-02 -9.85167026e-01 1.66064078e-01 2.98516089e+02] [ 6.12956513e-02 1.68521585e-01 9.83790282e-01 -1.71644411e+02] [-9.97183128e-01 -3.23481942e-02 6.76712909e-02 -3.01580018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.64, Y:-171.55, Z:-301.61 [[ 4.25583958e-02 -9.95055692e-01 -8.97382453e-02 2.98642601e+02] [ 7.56570439e-02 -8.63519876e-02 9.93387813e-01 -1.71546367e+02] [-9.96225273e-01 -4.90663221e-02 7.16079701e-02 -3.01605552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:-171.62, Z:-301.64 [[ 4.46071305e-02 -9.91759694e-01 1.20095437e-01 2.98543223e+02] [ 6.66817621e-02 1.22902853e-01 9.90175960e-01 -1.71620802e+02] [-9.96776678e-01 -3.61607329e-02 7.16146275e-02 -3.01638529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:-171.62, Z:-301.67 [[ 4.42819434e-02 -9.90717147e-01 1.28524879e-01 2.98538887e+02] [ 6.62413710e-02 1.31279732e-01 9.89129776e-01 -1.71621079e+02] [-9.96820541e-01 -3.52869246e-02 7.14397837e-02 -3.01667790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-171.63, Z:-301.69 [[ 4.23023425e-02 -9.89501088e-01 1.38195909e-01 2.98531220e+02] [ 6.32088774e-02 1.40693187e-01 9.88033433e-01 -1.71626091e+02] [-9.97103380e-01 -3.30609204e-02 6.84969044e-02 -3.01692962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-171.59, Z:-301.72 [[ 3.97559930e-02 -9.98644943e-01 3.35818392e-02 2.98583528e+02] [ 6.67630426e-02 3.61881359e-02 9.97112388e-01 -1.71590149e+02] [-9.96976508e-01 -3.73991674e-02 6.81112701e-02 -3.01718857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-171.59, Z:-301.75 [[ 3.88368063e-02 -9.98684722e-01 3.34742856e-02 2.98584589e+02] [ 6.70895440e-02 3.60300161e-02 9.97096200e-01 -1.71587856e+02] [-9.96990820e-01 -3.64782574e-02 6.84005933e-02 -3.01749495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.57, Y:-171.60, Z:-301.78 [[ 3.81940819e-02 -9.96770029e-01 7.06450432e-02 2.98566668e+02] [ 6.60733258e-02 7.30610471e-02 9.95136372e-01 -1.71598173e+02] [-9.97083511e-01 -3.33405671e-02 6.86504104e-02 -3.01779461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:-171.60, Z:-301.81 [[ 3.71398558e-02 -9.96278823e-01 7.77761990e-02 2.98563252e+02] [ 6.54846211e-02 8.00889949e-02 9.94634364e-01 -1.71598285e+02] [-9.97162171e-01 -3.18474319e-02 6.82154350e-02 -3.01805099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.59, Y:-171.58, Z:-301.83 [[ 3.56674240e-02 -9.99141148e-01 2.10903154e-02 2.98590572e+02] [ 6.74275802e-02 2.34616170e-02 9.97448281e-01 -1.71576729e+02] [-9.97086434e-01 -3.41543418e-02 6.82064853e-02 -3.01831976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:-171.56, Z:-301.87 [[ 3.30511268e-02 -9.99422025e-01 -7.95232734e-03 2.98604715e+02] [ 6.98305689e-02 -5.62806228e-03 9.97542990e-01 -1.71563231e+02] [-9.97011191e-01 -3.35252354e-02 6.96041948e-02 -3.01865899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.55, Y:-171.60, Z:-301.90 [[ 3.28191728e-02 -9.93946055e-01 1.04852957e-01 2.98550879e+02] [ 6.74336805e-02 1.06872505e-01 9.91983350e-01 -1.71599416e+02] [-9.97183835e-01 -2.54854522e-02 7.05329079e-02 -3.01899824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:-171.61, Z:-301.93 [[ 2.76988101e-02 -9.88684659e-01 1.47429378e-01 2.98528324e+02] [ 6.61077774e-02 1.48974868e-01 9.86628730e-01 -1.71613489e+02] [-9.97427961e-01 -1.75822134e-02 6.94861719e-02 -3.01928871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.55, Y:-171.60, Z:-301.96 [[ 2.40467339e-02 -9.94892747e-01 9.80315080e-02 2.98553914e+02] [ 6.76263701e-02 9.94540707e-02 9.92741438e-01 -1.71597148e+02] [-9.97420888e-01 -1.72426741e-02 6.96725307e-02 -3.01955782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:-171.59, Z:-301.98 [[ 2.36441568e-02 -9.95446990e-01 9.23376611e-02 2.98556716e+02] [ 6.78077941e-02 9.37476311e-02 9.93284191e-01 -1.71593579e+02] [-9.97418196e-01 -1.72241541e-02 6.97156483e-02 -3.01984243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:-171.59, Z:-302.01 [[ 2.04414280e-02 -9.96009880e-01 8.68704095e-02 2.98559810e+02] [ 6.82842564e-02 8.80765131e-02 9.93770491e-01 -1.71590157e+02] [-9.97456469e-01 -1.43822066e-02 6.98122036e-02 -3.02012471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-170.52, Z:-302.06 [[-8.31113812e-02 9.29374727e-01 -3.59659723e-01 2.98081759e+02] [ 8.17038243e-02 -3.53338490e-01 -9.31920810e-01 -1.70524034e+02] [-9.93185272e-01 -1.06838800e-01 -4.65670194e-02 -3.02062440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-171.53, Z:-302.25 [[-3.71432894e-02 -2.57046802e-01 9.65684896e-01 2.97882254e+02] [ 9.82994059e-03 9.66210991e-01 2.57564929e-01 -1.71534449e+02] [-9.99261602e-01 1.90594339e-02 -3.33614997e-02 -3.02252099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-170.83, Z:-302.29 [[-5.27577013e-02 -2.86687169e-01 -9.56570485e-01 2.98795893e+02] [ 3.11674323e-02 -9.57910569e-01 2.85369819e-01 -1.70830215e+02] [-9.98120843e-01 -1.47583902e-02 5.94724626e-02 -3.02290537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-171.04, Z:-302.36 [[-8.36785343e-02 6.04204372e-01 7.92423485e-01 2.97655481e+02] [-4.28550462e-02 7.92294754e-01 -6.08631636e-01 -1.71036325e+02] [-9.95570865e-01 -8.48887482e-02 -4.04048574e-02 -3.02355442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:-171.41, Z:-302.58 [[-2.14473797e-02 -9.72194176e-01 -2.33191970e-01 2.98683210e+02] [-1.02926757e-02 -2.33018549e-01 9.72417820e-01 -1.71408293e+02] [-9.99716995e-01 2.32559835e-02 -5.00884208e-03 -3.02580793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.25, Y:-170.44, Z:-302.58 [[-2.63240390e-02 7.42729865e-01 -6.69073533e-01 2.98246732e+02] [-2.23427868e-02 -6.69575418e-01 -7.42407947e-01 -1.70441480e+02] [-9.99403745e-01 -4.59420843e-03 3.42205845e-02 -3.02580883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:-171.37, Z:-302.67 [[-1.43859059e-02 4.49746837e-02 9.98884540e-01 2.97727223e+02] [-8.54456291e-02 9.95278401e-01 -4.60429031e-02 -1.71365568e+02] [-9.96238972e-01 -8.60126868e-02 -1.04750913e-02 -3.02670473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-170.47, Z:-302.77 [[-2.45755414e-02 9.69622167e-01 -2.43369875e-01 2.97960133e+02] [-9.23683148e-02 -2.44604401e-01 -9.65213335e-01 -1.70471723e+02] [-9.95421588e-01 -1.24097505e-03 9.55736511e-02 -3.02767023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-171.59, Z:-302.79 [[ 1.64652273e-02 -6.80928790e-01 7.32164517e-01 2.98093497e+02] [-1.26374094e-01 7.24974128e-01 6.77083527e-01 -1.71592965e+02] [-9.91845999e-01 -1.03674962e-01 -7.41148952e-02 -3.02790009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.39, Z:-302.81 [[ 8.48609913e-02 -9.77118487e-01 -1.95033521e-01 2.98627792e+02] [-1.17329303e-01 -2.04177218e-01 9.71877306e-01 -1.71392587e+02] [-9.89460685e-01 -5.95913245e-02 -1.31971312e-01 -3.02812787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.39, Y:-170.47, Z:-303.03 [[ 5.74594795e-02 5.30161534e-01 -8.45947490e-01 2.98388563e+02] [-7.51575813e-02 -8.42645821e-01 -5.33197298e-01 -1.70466817e+02] [-9.95514815e-01 9.42166065e-02 -8.57233167e-03 -3.03027484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-170.98, Z:-303.07 [[ 6.69000356e-02 6.83726750e-01 7.26665065e-01 2.97593010e+02] [-6.29542621e-02 7.29738098e-01 -6.80822348e-01 -1.70979248e+02] [-9.95771634e-01 -1.99623614e-04 9.18630178e-02 -3.03073176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-170.90, Z:-303.11 [[ 6.69398957e-02 7.74250496e-01 6.29329182e-01 2.97608088e+02] [-6.54174569e-02 6.32792517e-01 -7.71553101e-01 -1.70902717e+02] [-9.95610168e-01 1.04785694e-02 9.30085635e-02 -3.03110033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-170.91, Z:-303.14 [[ 6.60494879e-02 7.68630423e-01 6.36274106e-01 2.97608637e+02] [-6.47491933e-02 6.39624146e-01 -7.65955935e-01 -1.70907200e+02] [-9.95713316e-01 9.39276221e-03 9.20150471e-02 -3.03141768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-170.94, Z:-303.17 [[ 6.56788768e-02 7.39652539e-01 6.69776385e-01 2.97606362e+02] [-6.66451141e-02 6.72978524e-01 -7.36653470e-01 -1.70936346e+02] [-9.95612733e-01 3.74524884e-03 9.34947014e-02 -3.03173542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-170.92, Z:-303.21 [[ 6.32623204e-02 7.61757423e-01 6.44766243e-01 2.97613502e+02] [-6.90348551e-02 6.47852999e-01 -7.58630793e-01 -1.70917381e+02] [-9.95606382e-01 3.48140015e-03 9.35724973e-02 -3.03206439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-170.94, Z:-303.24 [[ 6.29581742e-02 7.47492037e-01 6.61280517e-01 2.97616638e+02] [-7.28118889e-02 6.64269473e-01 -7.43938503e-01 -1.70935491e+02] [-9.95356568e-01 -1.31207367e-03 9.62475004e-02 -3.03235682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-170.93, Z:-303.27 [[ 6.07967883e-02 7.55132713e-01 6.52746763e-01 2.97619111e+02] [-7.42213931e-02 6.55566143e-01 -7.51481349e-01 -1.70930023e+02] [-9.95386827e-01 -2.76012161e-03 9.59033179e-02 -3.03270026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-170.90, Z:-303.30 [[ 5.71751399e-02 7.85622762e-01 6.16058341e-01 2.97630527e+02] [-7.69271294e-02 6.18699963e-01 -7.81852014e-01 -1.70903710e+02] [-9.95396012e-01 -2.68910134e-03 9.58099608e-02 -3.03301148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-170.93, Z:-303.33 [[ 5.54028743e-02 7.56119550e-01 6.52084157e-01 2.97626550e+02] [-7.85461305e-02 6.54363820e-01 -7.52089420e-01 -1.70932121e+02] [-9.95369794e-01 -9.55077173e-03 9.56439013e-02 -3.03332350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:-170.95, Z:-303.36 [[ 5.51916763e-02 7.49891430e-01 6.59254671e-01 2.97628320e+02] [-8.41206937e-02 6.61405851e-01 -7.45295921e-01 -1.70945072e+02] [-9.94925921e-01 -1.43228290e-02 9.95854849e-02 -3.03363246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-171.14, Z:-303.28 [[ 1.20583082e-01 -7.10252730e-01 -6.93542197e-01 2.98789635e+02] [-5.74231893e-04 -6.98689795e-01 7.15424518e-01 -1.71139602e+02] [-9.92703073e-01 -8.58698393e-02 -8.46580187e-02 -3.03283321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:-170.77, Z:-303.30 [[ 1.20412812e-01 -1.20723735e-01 -9.85356045e-01 2.98718957e+02] [ 8.15134876e-02 -9.88024025e-01 1.31011749e-01 -1.70771383e+02] [-9.89371672e-01 -9.60953009e-02 -1.09130139e-01 -3.03300800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-170.54, Z:-303.32 [[ 7.42679081e-02 4.54730450e-01 -8.87527180e-01 2.98474803e+02] [ 1.46916252e-01 -8.85263042e-01 -4.41276513e-01 -1.70543567e+02] [-9.86356879e-01 -9.76194838e-02 -1.32553928e-01 -3.03316590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-170.49, Z:-303.34 [[ 2.71367846e-03 8.30731519e-01 -5.56666668e-01 2.98193931e+02] [ 1.81822131e-01 -5.47799672e-01 -8.16612657e-01 -1.70487233e+02] [-9.83327691e-01 -9.89982959e-02 -1.52531928e-01 -3.03335697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-170.56, Z:-303.36 [[-7.64152765e-02 9.87282117e-01 -1.39408493e-01 2.97950296e+02] [ 1.82245047e-01 -1.23631987e-01 -9.75449576e-01 -1.70558875e+02] [-9.80279271e-01 -9.99457564e-02 -1.70479903e-01 -3.03355848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.70, Y:-171.41, Z:-303.56 [[-2.92862593e-02 -9.63911623e-01 -2.64606686e-01 2.98698634e+02] [ 1.99978093e-01 -2.65018446e-01 9.43278318e-01 -1.71409811e+02] [-9.79362587e-01 -2.52904471e-02 2.00522607e-01 -3.03562582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.70, Y:-171.41, Z:-303.57 [[-2.82974935e-02 -9.64718687e-01 -2.61757724e-01 2.98696870e+02] [ 2.00438110e-01 -2.62020311e-01 9.44017966e-01 -1.71409782e+02] [-9.79297614e-01 -2.57528813e-02 2.00780909e-01 -3.03569709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.70, Y:-171.41, Z:-303.58 [[-2.77323889e-02 -9.65506882e-01 -2.58896456e-01 2.98695647e+02] [ 2.00947599e-01 -2.59093634e-01 9.44717181e-01 -1.71410663e+02] [-9.79209363e-01 -2.58253568e-02 2.01201575e-01 -3.03575499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:-171.41, Z:-303.58 [[-2.73826027e-02 -9.66221596e-01 -2.56253821e-01 2.98694535e+02] [ 2.01873174e-01 -2.56413227e-01 9.45251014e-01 -1.71410925e+02] [-9.79028812e-01 -2.58473393e-02 2.02075482e-01 -3.03580974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-171.53, Z:-303.68 [[ 3.85926344e-05 -4.55967014e-01 8.89996675e-01 2.97954883e+02] [ 1.09265220e-01 8.84669860e-01 4.53233219e-01 -1.71531673e+02] [-9.94012631e-01 9.72281910e-02 4.98554778e-02 -3.03681929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.41, Z:-303.69 [[ 4.26975467e-03 -9.88982254e-01 -1.47972534e-01 2.98632130e+02] [ 1.39869677e-01 -1.45928621e-01 9.79357601e-01 -1.71414569e+02] [-9.90160716e-01 -2.48784872e-02 1.37705549e-01 -3.03687350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.69 [[ 2.92927761e-03 -9.89581955e-01 -1.43940870e-01 2.98631623e+02] [ 1.39323865e-01 -1.42133725e-01 9.79993298e-01 -1.71415518e+02] [-9.90242536e-01 -2.29250707e-02 1.37456033e-01 -3.03690265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.70 [[ 2.60821336e-03 -9.90215467e-01 -1.39522492e-01 2.98630405e+02] [ 1.39141023e-01 -1.37806397e-01 9.80637126e-01 -1.71416019e+02] [-9.90269142e-01 -2.19710132e-02 1.37420165e-01 -3.03696263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.70 [[ 1.50073632e-03 -9.91178337e-01 -1.32526422e-01 2.98628299e+02] [ 1.38479381e-01 -1.31043729e-01 9.81657273e-01 -1.71417324e+02] [-9.90364180e-01 -1.98253856e-02 1.37061101e-01 -3.03704755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.71 [[-2.41687344e-03 -9.91756030e-01 -1.28117666e-01 2.98628859e+02] [ 1.36969937e-01 -1.27238859e-01 9.82369334e-01 -1.71418276e+02] [-9.90572256e-01 -1.51740063e-02 1.36148281e-01 -3.03705742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.71 [[-4.60255603e-03 -9.92309403e-01 -1.23696665e-01 2.98627888e+02] [ 1.36448992e-01 -1.23164213e-01 9.82960960e-01 -1.71418735e+02] [-9.90636406e-01 -1.23541523e-02 1.35966488e-01 -3.03714202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.71 [[-7.38479155e-03 -9.92833984e-01 -1.19273406e-01 2.98627158e+02] [ 1.36026260e-01 -1.19165330e-01 9.83512319e-01 -1.71421039e+02] [-9.90677708e-01 -8.96128184e-03 1.35931504e-01 -3.03709436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.72 [[-1.40894495e-02 -9.93281728e-01 -1.14860337e-01 2.98627150e+02] [ 1.35259674e-01 -1.15709186e-01 9.84030591e-01 -1.71421187e+02] [-9.90710002e-01 -1.67152250e-03 1.35981242e-01 -3.03721568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.42, Z:-303.72 [[-1.73984139e-02 -9.93771154e-01 -1.10073563e-01 2.98626311e+02] [ 1.34579335e-01 -1.11415999e-01 9.84619154e-01 -1.71424341e+02] [-9.90750068e-01 2.31718455e-03 1.35679523e-01 -3.03715098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.43, Z:-303.72 [[-2.06999071e-02 -9.94185374e-01 -1.05673822e-01 2.98625573e+02] [ 1.34326174e-01 -1.07503704e-01 9.85088541e-01 -1.71425283e+02] [-9.90720946e-01 6.19648108e-03 1.35770434e-01 -3.03719693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-171.43, Z:-303.72 [[-2.78066129e-02 -9.94468140e-01 -1.01291223e-01 2.98625758e+02] [ 1.34009674e-01 -1.04124306e-01 9.85494564e-01 -1.71426444e+02] [-9.90589824e-01 1.38292621e-02 1.36163696e-01 -3.03721704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-171.43, Z:-303.73 [[-3.07765932e-02 -9.94816161e-01 -9.69206253e-02 2.98624591e+02] [ 1.33738755e-01 -1.00193211e-01 9.85938774e-01 -1.71427337e+02] [-9.90538615e-01 1.73817928e-02 1.36129080e-01 -3.03726279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-171.43, Z:-303.73 [[-3.29683226e-02 -9.95160995e-01 -9.25617815e-02 2.98623342e+02] [ 1.33285176e-01 -9.61625953e-02 9.86401448e-01 -1.71428512e+02] [-9.90529228e-01 2.01828879e-02 1.35810528e-01 -3.03729744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-171.43, Z:-303.73 [[-3.52167235e-02 -9.95702464e-01 -8.56527073e-02 2.98620937e+02] [ 1.33317260e-01 -8.96204806e-02 9.87013008e-01 -1.71431058e+02] [-9.90447520e-01 2.33403799e-02 1.35900464e-01 -3.03731399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:-170.43, Z:-303.71 [[-4.98149408e-02 9.29052252e-01 -3.66579302e-01 2.98065834e+02] [ 1.36790024e-01 -3.57229776e-01 -9.23945549e-01 -1.70428204e+02] [-9.89346734e-01 -9.61706845e-02 -1.09289700e-01 -3.03712684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:-171.25, Z:-303.90 [[-1.02050388e-01 -8.98671876e-01 -4.26584784e-01 2.98772739e+02] [ 1.46534753e-01 -4.37725766e-01 8.87087211e-01 -1.71247330e+02] [-9.83927479e-01 2.80180978e-02 1.76356746e-01 -3.03898417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:-171.25, Z:-303.91 [[-1.01074092e-01 -9.00183357e-01 -4.23620055e-01 2.98771135e+02] [ 1.47136816e-01 -4.34643624e-01 8.88501929e-01 -1.71247605e+02] [-9.83938405e-01 2.74744199e-02 1.76381323e-01 -3.03908810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:-171.25, Z:-303.94 [[-9.74300730e-02 -9.03294465e-01 -4.17811549e-01 2.98766721e+02] [ 1.49746277e-01 -4.28334822e-01 8.91125879e-01 -1.71247542e+02] [-9.83912310e-01 2.42567354e-02 1.76997677e-01 -3.03935393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:-171.25, Z:-303.98 [[-9.07543785e-02 -9.10492929e-01 -4.03443019e-01 2.98758073e+02] [ 1.53618919e-01 -4.13065119e-01 8.97651622e-01 -1.71249601e+02] [-9.83953693e-01 1.94893348e-02 1.77356407e-01 -3.03982835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.75, Y:-171.27, Z:-303.99 [[-8.87187766e-02 -9.23642181e-01 -3.72845948e-01 2.98747660e+02] [ 1.55947577e-01 -3.82586155e-01 9.10663597e-01 -1.71266893e+02] [-9.83773008e-01 2.26485383e-02 1.77982335e-01 -3.03990024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.75, Y:-171.27, Z:-304.00 [[-8.63302773e-02 -9.25002746e-01 -3.70022977e-01 2.98745486e+02] [ 1.57572219e-01 -3.79412230e-01 9.11711224e-01 -1.71267101e+02] [-9.83726628e-01 2.04029413e-02 1.78509498e-01 -3.04000933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.73, Y:-171.22, Z:-304.28 [[-8.06529137e-02 -9.25880551e-01 -3.69107454e-01 2.98726336e+02] [ 1.61213930e-01 -3.77555490e-01 9.11845338e-01 -1.71221985e+02] [-9.83618410e-01 1.40377200e-02 1.79715793e-01 -3.04282509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-171.03, Z:-304.02 [[-8.11598945e-02 4.68394462e-01 8.79783894e-01 2.97651049e+02] [ 1.05836247e-01 8.81755287e-01 -4.59680653e-01 -1.71029216e+02] [-9.91065972e-01 5.58053924e-02 -1.21136278e-01 -3.04018162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-171.00, Z:-304.15 [[-1.06841693e-01 -7.17215127e-01 -6.88612601e-01 2.98822077e+02] [ 9.80261228e-02 -6.96801039e-01 7.10534440e-01 -1.70999431e+02] [-9.89432025e-01 8.41267909e-03 1.44753221e-01 -3.04147054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-171.01, Z:-304.16 [[-1.02079501e-01 -7.28945246e-01 -6.76918462e-01 2.98818056e+02] [ 1.01709626e-01 -6.84554930e-01 7.21830798e-01 -1.71009108e+02] [-9.89562998e-01 4.83500418e-03 1.44019774e-01 -3.04157952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-171.01, Z:-304.17 [[-9.93368639e-02 -7.32059475e-01 -6.73959281e-01 2.98815610e+02] [ 1.03234193e-01 -6.81236431e-01 7.24747974e-01 -1.71011062e+02] [-9.89684237e-01 2.41854835e-03 1.43245460e-01 -3.04170581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.81, Y:-171.01, Z:-304.17 [[-9.64769060e-02 -7.35183987e-01 -6.70966998e-01 2.98814012e+02] [ 1.04928384e-01 -6.77867587e-01 7.27657591e-01 -1.71013761e+02] [-9.89788988e-01 -2.01329524e-04 1.42540235e-01 -3.04173377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-171.02, Z:-304.28 [[-7.37640931e-02 -7.43448762e-01 -6.64712567e-01 2.98797649e+02] [ 1.18387778e-01 -6.68343125e-01 7.34371705e-01 -1.71016122e+02] [-9.90223809e-01 -2.45235809e-02 1.37314971e-01 -3.04281566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-170.38, Z:-304.31 [[-1.11576615e-01 4.88795830e-01 -8.65233665e-01 2.98453718e+02] [ 1.77616850e-01 -8.46841407e-01 -5.01310170e-01 -1.70376599e+02] [-9.77754015e-01 -2.09614570e-01 7.66932185e-03 -3.04305549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-170.57, Z:-304.38 [[-1.78399591e-01 9.29006380e-01 3.24223274e-01 2.97746707e+02] [ 1.44686634e-01 3.50695182e-01 -9.25245193e-01 -1.70572561e+02] [-9.73262228e-01 -1.18152590e-01 -1.96978683e-01 -3.04380183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.81, Y:-170.91, Z:-304.64 [[-1.69836956e-01 -6.57844555e-01 -7.33754693e-01 2.98809657e+02] [ 1.59309267e-01 -7.53105948e-01 6.38319660e-01 -1.70911697e+02] [-9.72510137e-01 -8.48365452e-03 2.32705956e-01 -3.04636431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.81, Y:-170.92, Z:-304.64 [[-1.68588373e-01 -6.63181999e-01 -7.29223969e-01 2.98808038e+02] [ 1.60477132e-01 -7.48409539e-01 6.43529527e-01 -1.70915647e+02] [-9.72535372e-01 -8.53217516e-03 2.32598692e-01 -3.04642299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-170.91, Z:-304.68 [[-1.65329387e-01 -6.65741798e-01 -7.27635934e-01 2.98801016e+02] [ 1.65056727e-01 -7.46060999e-01 6.45096320e-01 -1.70913243e+02] [-9.72328376e-01 -1.34478263e-02 2.33230970e-01 -3.04675771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-170.92, Z:-304.68 [[-1.65308236e-01 -6.78797200e-01 -7.15477147e-01 2.98798528e+02] [ 1.66513162e-01 -7.34252975e-01 6.58138235e-01 -1.70923172e+02] [-9.72083615e-01 -1.03406910e-02 2.34406732e-01 -3.04683096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-170.92, Z:-304.69 [[-1.64856363e-01 -6.80627670e-01 -7.13840566e-01 2.98796626e+02] [ 1.67954996e-01 -7.32544768e-01 6.59673618e-01 -1.70924005e+02] [-9.71912290e-01 -1.11416962e-02 2.35079484e-01 -3.04692459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-170.93, Z:-304.70 [[-1.65300586e-01 -6.83865296e-01 -7.10636316e-01 2.98795252e+02] [ 1.69568925e-01 -7.29525761e-01 6.62599837e-01 -1.70927501e+02] [-9.71556533e-01 -1.09736949e-02 2.36553339e-01 -3.04696236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-170.93, Z:-304.70 [[-1.65443123e-01 -6.85658501e-01 -7.08873044e-01 2.98793534e+02] [ 1.70115281e-01 -7.27844932e-01 6.64306064e-01 -1.70928161e+02] [-9.71436753e-01 -1.06852675e-02 2.37057927e-01 -3.04703558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-170.94, Z:-304.73 [[-1.61596436e-01 -6.96805839e-01 -6.98819157e-01 2.98790505e+02] [ 1.60345343e-01 -7.17255541e-01 6.78110507e-01 -1.70940141e+02] [-9.73743274e-01 -2.47215589e-03 2.27635511e-01 -3.04731302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-170.91, Z:-304.74 [[-1.62554627e-01 -6.69556266e-01 -7.24755407e-01 2.98790299e+02] [ 1.61429611e-01 -7.42674583e-01 6.49903797e-01 -1.70914551e+02] [-9.73404579e-01 -1.13521145e-02 2.28811398e-01 -3.04744375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-170.91, Z:-304.75 [[-1.64435595e-01 -6.70299272e-01 -7.23643435e-01 2.98786366e+02] [ 1.72142028e-01 -7.41872457e-01 6.48068191e-01 -1.70907512e+02] [-9.71250770e-01 -1.80039695e-02 2.37376915e-01 -3.04751741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-170.94, Z:-304.77 [[-1.64171820e-01 -7.07597837e-01 -6.87279357e-01 2.98781022e+02] [ 1.71710428e-01 -7.06595400e-01 6.86468113e-01 -1.70936333e+02] [-9.71371784e-01 -5.31431327e-03 2.37504980e-01 -3.04765427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-170.94, Z:-304.78 [[-1.64380452e-01 -7.10752216e-01 -6.83966633e-01 2.98779286e+02] [ 1.71166229e-01 -7.03432854e-01 6.89843708e-01 -1.70937221e+02] [-9.71432545e-01 -3.67516840e-03 2.37287387e-01 -3.04775910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-170.94, Z:-304.78 [[-1.65136134e-01 -7.13846622e-01 -6.80553494e-01 2.98778391e+02] [ 1.70786347e-01 -7.00299840e-01 6.93117708e-01 -1.70939148e+02] [-9.71371238e-01 -1.77046708e-03 2.37560065e-01 -3.04781249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:-170.94, Z:-304.81 [[-1.63797745e-01 -7.15838319e-01 -6.78782586e-01 2.98772427e+02] [ 1.72527091e-01 -6.98258218e-01 6.94744459e-01 -1.70935188e+02] [-9.71290225e-01 -3.31080898e-03 2.37874625e-01 -3.04814311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-170.27, Z:-304.71 [[-2.06197120e-01 7.98562376e-01 -5.65491715e-01 2.98192573e+02] [ 2.01469630e-01 -5.30881223e-01 -8.23149510e-01 -1.70266948e+02] [-9.57545161e-01 -2.83660465e-01 -5.14198867e-02 -3.04714203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-170.59, Z:-304.80 [[-2.66257921e-01 8.47154342e-01 4.59821967e-01 2.97678704e+02] [ 1.62913323e-01 5.09730266e-01 -8.44768788e-01 -1.70585640e+02] [-9.50034720e-01 -1.50015256e-01 -2.73732450e-01 -3.04795091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:-170.74, Z:-305.14 [[-2.79111024e-01 -5.27330430e-01 -8.02508351e-01 2.98759022e+02] [ 1.71560299e-01 -8.49658974e-01 4.98644856e-01 -1.70737001e+02] [-9.44809028e-01 1.49870360e-03 3.27618153e-01 -3.05144997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-170.22, Z:-304.99 [[-3.29313867e-01 8.11037149e-01 -4.83498831e-01 2.98122461e+02] [ 1.91281072e-01 -4.44141218e-01 -8.75300023e-01 -1.70222364e+02] [-9.24642595e-01 -3.80732610e-01 -8.87419337e-03 -3.04986581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-171.33, Z:-305.37 [[-2.69129781e-01 -8.33595188e-01 4.82377678e-01 2.98180543e+02] [ 1.77994823e-01 4.49178883e-01 8.75531938e-01 -1.71326910e+02] [-9.46513077e-01 3.21492448e-01 2.74882136e-02 -3.05365581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:-170.17, Z:-305.24 [[-3.28843588e-01 8.09615555e-01 -4.86193940e-01 2.98042774e+02] [ 1.92280446e-01 -4.46643228e-01 -8.73806647e-01 -1.70171885e+02] [-9.24602685e-01 -3.80831301e-01 -8.79747829e-03 -3.05241951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-171.28, Z:-305.62 [[-2.68668900e-01 -8.32688128e-01 4.84197794e-01 2.98098181e+02] [ 1.78333961e-01 4.50989376e-01 8.74531635e-01 -1.71277172e+02] [-9.46580171e-01 3.21308363e-01 2.73297527e-02 -3.05618246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-170.12, Z:-305.49 [[-3.29167245e-01 8.08787970e-01 -4.87350947e-01 2.97963321e+02] [ 1.93753200e-01 -4.47281140e-01 -8.73154786e-01 -1.70122457e+02] [-9.24179973e-01 -3.81839760e-01 -9.47495698e-03 -3.05493448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:-171.23, Z:-305.87 [[-2.67626304e-01 -8.32520233e-01 4.85063113e-01 2.98016209e+02] [ 1.77924679e-01 4.52068183e-01 8.74057874e-01 -1.71226683e+02] [-9.46952465e-01 3.20225577e-01 2.71405579e-02 -3.05872785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:-170.07, Z:-305.75 [[-3.25402240e-01 8.15524717e-01 -4.78573734e-01 2.97878158e+02] [ 1.97984275e-01 -4.36138602e-01 -8.77829908e-01 -1.70069707e+02] [-9.24616466e-01 -3.80397892e-01 -1.95405921e-02 -3.05746339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-170.56, Z:-305.79 [[-3.65468981e-01 6.34206749e-01 6.81332682e-01 2.97366007e+02] [ 1.42555963e-01 7.61468260e-01 -6.32332102e-01 -1.70564285e+02] [-9.19842498e-01 -1.33969733e-01 -3.68702983e-01 -3.05794072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-170.42, Z:-306.21 [[-3.78011266e-01 -3.72499491e-01 -8.47556259e-01 2.98443440e+02] [ 1.53449225e-01 -9.28030749e-01 3.39429321e-01 -1.70424415e+02] [-9.12995519e-01 -1.74874379e-03 4.07965836e-01 -3.06214662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-170.42, Z:-306.25 [[-3.76392217e-01 -3.74995053e-01 -8.47176256e-01 2.98430387e+02] [ 1.57081316e-01 -9.27013877e-01 3.40544758e-01 -1.70420350e+02] [-9.13046745e-01 -4.89716509e-03 4.07825525e-01 -3.06246390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-170.42, Z:-306.25 [[-3.75780182e-01 -3.81999577e-01 -8.44313673e-01 2.98431779e+02] [ 1.58187026e-01 -9.24157969e-01 3.47719590e-01 -1.70424993e+02] [-9.13107945e-01 -2.89333774e-03 4.07707627e-01 -3.06246233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-170.42, Z:-306.25 [[-3.75542117e-01 -3.83615985e-01 -8.43686491e-01 2.98428654e+02] [ 1.59812074e-01 -9.23484656e-01 3.48763805e-01 -1.70424117e+02] [-9.12922899e-01 -3.85579003e-03 4.08113848e-01 -3.06252659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-171.13, Z:-306.28 [[-3.05612573e-01 -8.39074679e-01 4.50060705e-01 2.97905774e+02] [ 1.30898129e-01 4.31162944e-01 8.92728512e-01 -1.71127650e+02] [-9.43115388e-01 3.31741162e-01 -2.19355116e-02 -3.06279347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-169.98, Z:-306.19 [[-3.77550982e-01 8.19603155e-01 -4.30936103e-01 2.97713533e+02] [ 1.45886988e-01 -4.06919181e-01 -9.01739301e-01 -1.69978303e+02] [-9.14424542e-01 -4.03320529e-01 3.40633006e-02 -3.06189672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-171.09, Z:-306.55 [[-3.11535869e-01 -8.29926675e-01 4.62781933e-01 2.97792366e+02] [ 1.21171829e-01 4.48346147e-01 8.85608898e-01 -1.71094166e+02] [-9.42476944e-01 3.31975071e-01 -3.91121728e-02 -3.06545736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.25, Y:-170.33, Z:-306.64 [[-3.11162503e-01 -3.49724784e-01 -8.83668757e-01 2.98252257e+02] [ 1.28474270e-01 -9.36772462e-01 3.25502253e-01 -1.70331907e+02] [-9.41632762e-01 -1.22446024e-02 3.36419101e-01 -3.06643343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-169.95, Z:-306.44 [[-3.80581511e-01 8.46121803e-01 -3.73142879e-01 2.97581145e+02] [ 1.43026106e-01 -3.44794550e-01 -9.27717765e-01 -1.69947161e+02] [-9.13619859e-01 -4.06441401e-01 1.02049239e-02 -3.06443561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-171.04, Z:-306.82 [[-3.04070875e-01 -8.73378492e-01 3.80461447e-01 2.97755495e+02] [ 1.28930807e-01 3.57969102e-01 9.24789148e-01 -1.71038345e+02] [-9.43884395e-01 3.30254647e-01 3.75741605e-03 -3.06822502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-170.31, Z:-306.86 [[-3.17357262e-01 -3.71533778e-01 -8.72494711e-01 2.98170918e+02] [ 1.35487771e-01 -9.28381520e-01 3.46050311e-01 -1.70310772e+02] [-9.38577345e-01 -8.39078412e-03 3.44966900e-01 -3.06858475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-170.31, Z:-306.87 [[-3.17181515e-01 -3.73329680e-01 -8.71791739e-01 2.98168474e+02] [ 1.36727376e-01 -9.27655324e-01 3.47507157e-01 -1.70310605e+02] [-9.38456984e-01 -8.97495032e-03 3.45279508e-01 -3.06866352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-170.31, Z:-306.87 [[-3.17098058e-01 -3.75051360e-01 -8.71082831e-01 2.98167734e+02] [ 1.38180080e-01 -9.26952643e-01 3.48805193e-01 -1.70311061e+02] [-9.38272395e-01 -9.76084568e-03 3.45759510e-01 -3.06869477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-170.31, Z:-306.88 [[-3.16697558e-01 -3.76897349e-01 -8.70431528e-01 2.98166352e+02] [ 1.39527610e-01 -9.26195323e-01 3.50277418e-01 -1.70311573e+02] [-9.38208241e-01 -1.05172284e-02 3.45911383e-01 -3.06875399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-170.32, Z:-306.90 [[-3.07594060e-01 -3.91848424e-01 -8.67087485e-01 2.98166566e+02] [ 1.36577348e-01 -9.20013705e-01 3.67316499e-01 -1.70321776e+02] [-9.41664761e-01 -5.44013653e-03 3.36508370e-01 -3.06903426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-169.86, Z:-306.91 [[-3.77799649e-01 7.78053221e-01 -5.01897013e-01 2.97502872e+02] [ 1.66279500e-01 -4.76242629e-01 -8.63448948e-01 -1.69860031e+02] [-9.10833988e-01 -4.09665893e-01 5.05499978e-02 -3.06907160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-170.50, Z:-306.96 [[-4.05064886e-01 4.33431937e-01 8.05021238e-01 2.96941939e+02] [ 8.36827737e-02 8.94369817e-01 -4.39431250e-01 -1.70501341e+02] [-9.10450236e-01 -1.10631759e-01 -3.98548594e-01 -3.06963294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-170.94, Z:-307.20 [[-3.22523000e-01 -9.13472649e-01 2.48085941e-01 2.97702704e+02] [ 8.73376445e-02 2.32255280e-01 9.68725772e-01 -1.70939032e+02] [-9.42523766e-01 3.34103584e-01 4.87287988e-03 -3.07195414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-170.91, Z:-307.55 [[-2.58939755e-01 -9.37830152e-01 2.31138075e-01 2.97567679e+02] [ 6.60481400e-02 2.21547689e-01 9.72910204e-01 -1.70906792e+02] [-9.63632630e-01 2.67191370e-01 4.57443272e-03 -3.07551004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.93, Y:-170.13, Z:-307.40 [[-2.67196900e-01 -2.24310549e-01 -9.37171593e-01 2.97925701e+02] [ 8.38243171e-02 -9.74254766e-01 2.09287206e-01 -1.70129117e+02] [-9.59989219e-01 -2.26368760e-02 2.79120532e-01 -3.07404549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-169.79, Z:-307.39 [[-3.49494341e-01 8.67246695e-01 -3.54593960e-01 2.97210001e+02] [ 1.01367177e-01 -3.41239585e-01 -9.34494645e-01 -1.69792415e+02] [-9.31438888e-01 -3.62544779e-01 3.13509541e-02 -3.07394758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-170.46, Z:-307.45 [[-3.72197165e-01 3.80953234e-01 8.46371020e-01 2.96755324e+02] [ 1.29945729e-02 9.13936126e-01 -4.05649971e-01 -1.70461219e+02] [-9.28062719e-01 -1.39983540e-01 -3.45114760e-01 -3.07454280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-170.89, Z:-307.59 [[-2.82544124e-01 -9.03483390e-01 3.22314415e-01 2.97488270e+02] [ 8.18474664e-03 3.33722330e-01 9.42635887e-01 -1.70889595e+02] [-9.59219385e-01 2.68974293e-01 -8.68965009e-02 -3.07589591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-169.77, Z:-307.59 [[-3.85589727e-01 8.83563283e-01 -2.65775256e-01 2.97108007e+02] [ 2.32538233e-02 -2.78652545e-01 -9.60110420e-01 -1.69772708e+02] [-9.22377267e-01 -3.76389006e-01 8.68993345e-02 -3.07588741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-169.77, Z:-307.71 [[-4.44059903e-01 8.41506801e-01 -3.07696453e-01 2.97117553e+02] [ 4.64167000e-02 -3.21345916e-01 -9.45823605e-01 -1.69769876e+02] [-8.94793995e-01 -4.34284592e-01 1.03636867e-01 -3.07714150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-170.03, Z:-308.12 [[-4.23605099e-01 -1.35715360e-01 -8.95622723e-01 2.97693245e+02] [ 1.04962835e-01 -9.89407045e-01 1.00282115e-01 -1.70031086e+02] [-8.99745255e-01 -5.15270845e-02 4.33362938e-01 -3.08124663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-170.07, Z:-308.14 [[-4.21576314e-01 -2.02626299e-01 -8.83864240e-01 2.97710392e+02] [ 1.05645052e-01 -9.79051943e-01 1.74058654e-01 -1.70067577e+02] [-9.00617863e-01 -1.99968781e-02 4.34151575e-01 -3.08140463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:-170.07, Z:-308.15 [[-4.21400463e-01 -2.03701259e-01 -8.83700994e-01 2.97705948e+02] [ 1.05598250e-01 -9.78839756e-01 1.75276186e-01 -1.70066150e+02] [-9.00705646e-01 -1.94558125e-02 4.33994023e-01 -3.08151202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-170.07, Z:-308.25 [[-4.14167742e-01 -2.18740945e-01 -8.83525597e-01 2.97658337e+02] [ 1.38992661e-01 -9.74508066e-01 1.76110958e-01 -1.70068514e+02] [-8.99525498e-01 -4.98640960e-02 4.34013192e-01 -3.08249695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.11, Z:-308.26 [[-4.12829785e-01 -2.83600359e-01 -8.65530129e-01 2.97672665e+02] [ 1.39102759e-01 -9.58771793e-01 2.47804502e-01 -1.70106775e+02] [-9.00123320e-01 -1.80965492e-02 4.35259146e-01 -3.08264753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.11, Z:-308.27 [[-4.13075682e-01 -2.84463619e-01 -8.65129430e-01 2.97671746e+02] [ 1.38905923e-01 -9.58529329e-01 2.48850699e-01 -1.70106349e+02] [-9.00040902e-01 -1.73774295e-02 4.35458838e-01 -3.08269185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.10, Z:-308.28 [[-4.13679497e-01 -2.85233349e-01 -8.64587307e-01 2.97669348e+02] [ 1.38568147e-01 -9.58317022e-01 2.49854666e-01 -1.70104238e+02] [-8.99815616e-01 -1.64445087e-02 4.35960360e-01 -3.08278358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.10, Z:-308.28 [[-4.13874238e-01 -2.86305123e-01 -8.64139741e-01 2.97670342e+02] [ 1.38880814e-01 -9.58001927e-01 2.50887280e-01 -1.70103627e+02] [-8.99677851e-01 -1.61766486e-02 4.36254606e-01 -3.08277816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.10, Z:-308.28 [[-4.13798236e-01 -2.87419222e-01 -8.63806235e-01 2.97668168e+02] [ 1.39234328e-01 -9.57671000e-01 2.51952493e-01 -1.70102216e+02] [-8.99658170e-01 -1.60139840e-02 4.36301192e-01 -3.08283994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-170.10, Z:-308.29 [[-4.14022256e-01 -2.88590717e-01 -8.63308154e-01 2.97664641e+02] [ 1.39811450e-01 -9.57319420e-01 2.52966968e-01 -1.70100511e+02] [-8.99465580e-01 -1.59664097e-02 4.36699833e-01 -3.08293163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.10, Z:-308.29 [[-4.14127014e-01 -2.89745486e-01 -8.62871004e-01 2.97665039e+02] [ 1.39855050e-01 -9.56979899e-01 2.54224386e-01 -1.70100082e+02] [-8.99410574e-01 -1.53956817e-02 4.36833598e-01 -3.08293117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-170.10, Z:-308.29 [[-4.14503708e-01 -2.90261615e-01 -8.62516592e-01 2.97665429e+02] [ 1.38840348e-01 -9.56845846e-01 2.55282952e-01 -1.70098759e+02] [-8.99394260e-01 -1.39363731e-02 4.36916174e-01 -3.08294500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-170.10, Z:-308.30 [[-4.14372044e-01 -2.90881353e-01 -8.62371062e-01 2.97663230e+02] [ 1.37960265e-01 -9.56674468e-01 2.56399937e-01 -1.70098020e+02] [-8.99590337e-01 -1.27279741e-02 4.36549223e-01 -3.08300897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-170.10, Z:-308.31 [[-4.14057322e-01 -2.91541521e-01 -8.62299296e-01 2.97662269e+02] [ 1.36903948e-01 -9.56490590e-01 2.57649102e-01 -1.70097329e+02] [-8.99896574e-01 -1.13706811e-02 4.35955117e-01 -3.08305481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-169.74, Z:-308.10 [[-4.75649492e-01 7.53407402e-01 -4.54020757e-01 2.97039035e+02] [ 1.50915691e-01 -4.38598645e-01 -8.85920811e-01 -1.69744311e+02] [-8.66592185e-01 -4.89906640e-01 9.49182238e-02 -3.08097640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-170.89, Z:-308.45 [[-4.01346964e-01 -7.79286167e-01 4.81283372e-01 2.97092428e+02] [ 1.23907594e-01 4.74435591e-01 8.71526120e-01 -1.70894913e+02] [-9.07506211e-01 4.09419027e-01 -9.38538102e-02 -3.08448763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-170.87, Z:-308.54 [[-3.49527844e-01 -8.18178745e-01 4.56523634e-01 2.97041622e+02] [ 9.34841725e-02 4.54370439e-01 8.85894019e-01 -1.70865330e+02] [-9.32250501e-01 3.52322361e-01 -8.23283570e-02 -3.08540710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-170.84, Z:-308.64 [[-2.94973344e-01 -8.54707013e-01 4.27161150e-01 2.96996304e+02] [ 6.52899244e-02 4.27978326e-01 9.01427633e-01 -1.70837781e+02] [-9.53272234e-01 2.93786443e-01 -7.04384418e-02 -3.08642470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-169.66, Z:-308.60 [[-3.58635708e-01 8.49857919e-01 -3.86163108e-01 2.96716005e+02] [ 8.48959534e-02 -3.82273170e-01 -9.20141240e-01 -1.69662222e+02] [-9.29609115e-01 -3.62779190e-01 6.49473106e-02 -3.08599075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-170.82, Z:-308.90 [[-3.04665998e-01 -8.56173764e-01 4.17306980e-01 2.96912352e+02] [ 6.48606193e-02 4.18469432e-01 9.05911935e-01 -1.70816397e+02] [-9.50248246e-01 3.03067353e-01 -7.19614467e-02 -3.08904475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-170.79, Z:-309.01 [[-2.48160304e-01 -8.90068168e-01 3.82354704e-01 2.96873466e+02] [ 3.98409054e-02 3.84989867e-01 9.22060467e-01 -1.70792533e+02] [-9.67899357e-01 2.44052163e-01 -6.00780807e-02 -3.09011912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-169.89, Z:-309.07 [[-2.45764784e-01 -1.32440137e-01 -9.60239179e-01 2.97226148e+02] [ 1.94644350e-02 -9.91096595e-01 1.31714368e-01 -1.69885029e+02] [-9.69134050e-01 1.36802399e-02 2.46154513e-01 -3.09069802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-169.89, Z:-309.08 [[-2.46932917e-01 -1.38913110e-01 -9.59024130e-01 2.97226183e+02] [ 1.84874189e-02 -9.90166926e-01 1.38663888e-01 -1.69887784e+02] [-9.68856207e-01 1.65107974e-02 2.47072952e-01 -3.09079648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-170.50, Z:-308.96 [[-2.40538220e-01 9.26786749e-02 9.66204962e-01 2.96183569e+02] [-1.17229584e-02 9.95081161e-01 -9.83669375e-02 -1.70503418e+02] [-9.70568873e-01 -3.49877886e-02 -2.38268583e-01 -3.08963426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-169.73, Z:-309.23 [[-2.47849123e-01 1.34520774e-01 -9.59413870e-01 2.97089473e+02] [-5.49547287e-02 -9.90670595e-01 -1.24706654e-01 -1.69727545e+02] [-9.67238745e-01 2.18158940e-02 2.52929391e-01 -3.09226176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-169.74, Z:-309.33 [[-2.50520397e-01 1.27546623e-01 -9.59672543e-01 2.97065075e+02] [-3.60628989e-02 -9.91824737e-01 -1.22405715e-01 -1.69738634e+02] [-9.67439403e-01 3.94344562e-03 2.53072028e-01 -3.09329989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-169.68, Z:-309.26 [[-2.87174980e-01 9.56908722e-01 -4.30839846e-02 2.96303146e+02] [-1.30481333e-02 -4.88823060e-02 -9.98719313e-01 -1.69682717e+02] [-9.57789266e-01 -2.86245033e-01 2.65236477e-02 -3.09259105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-169.67, Z:-309.39 [[-3.48953001e-01 9.34471640e-01 -7.06721839e-02 2.96308501e+02] [-5.90011860e-03 -7.76018172e-02 -9.96966974e-01 -1.69674255e+02] [-9.37121653e-01 -3.47477643e-01 3.25928805e-02 -3.09390298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-170.54, Z:-309.45 [[-3.81469475e-01 -2.72429906e-02 9.23979902e-01 2.96133604e+02] [-3.50030489e-02 9.99274453e-01 1.50118307e-02 -1.70538641e+02] [-9.23718478e-01 -2.66155585e-02 -3.82146288e-01 -3.09450406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-170.71, Z:-309.82 [[-3.45844428e-01 -9.21051349e-01 1.79042020e-01 2.96751303e+02] [-7.76471809e-02 2.18256535e-01 9.72797512e-01 -1.70709909e+02] [-9.35073552e-01 3.22534491e-01 -1.46999847e-01 -3.09816991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-169.67, Z:-309.94 [[-3.01080371e-01 2.80291646e-01 -9.11475290e-01 2.96825631e+02] [-1.18786859e-01 -9.59405854e-01 -2.55793060e-01 -1.69673895e+02] [-9.46171386e-01 3.12570176e-02 3.22153235e-01 -3.09938829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-169.79, Z:-309.90 [[-3.42040624e-01 9.07073453e-01 2.45409784e-01 2.95970415e+02] [-9.56448425e-02 2.26199363e-01 -9.69373980e-01 -1.69793023e+02] [-9.34804940e-01 -3.55037461e-01 9.38752625e-03 -3.09901731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-170.68, Z:-310.11 [[-3.42881683e-01 -9.38116382e-01 4.86806463e-02 2.96713058e+02] [-9.80631256e-02 8.72848700e-02 9.91345033e-01 -1.70682229e+02] [-9.34246100e-01 3.35140277e-01 -1.21923008e-01 -3.10106633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-169.68, Z:-310.23 [[-3.03187082e-01 3.29047659e-01 -8.94318305e-01 2.96691477e+02] [-1.35377055e-01 -9.43846242e-01 -3.01375719e-01 -1.69682505e+02] [-9.43265947e-01 2.96969533e-02 3.30707491e-01 -3.10227483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-170.45, Z:-309.99 [[-3.10407010e-01 9.50597568e-02 9.45838851e-01 2.95852711e+02] [-1.40870140e-01 9.79401831e-01 -1.44663944e-01 -1.70449169e+02] [-9.40108022e-01 -1.78145154e-01 -2.90622112e-01 -3.09994458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-169.63, Z:-310.40 [[-3.07030884e-01 4.83014656e-01 -8.20017609e-01 2.96556137e+02] [-1.97087738e-01 -8.75226542e-01 -4.41740788e-01 -1.69633439e+02] [-9.31068451e-01 2.59873508e-02 3.63917844e-01 -3.10395444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-169.64, Z:-310.40 [[-3.11041926e-01 4.78968515e-01 -8.20878847e-01 2.96558295e+02] [-1.91705121e-01 -8.77588237e-01 -4.39417834e-01 -1.69639497e+02] [-9.30860928e-01 2.06893095e-02 3.64787453e-01 -3.10403004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-169.64, Z:-310.41 [[-3.13766703e-01 4.75727396e-01 -8.21726172e-01 2.96557485e+02] [-1.88285436e-01 -8.79418071e-01 -4.37232719e-01 -1.69643919e+02] [-9.30644428e-01 1.75300015e-02 3.65504649e-01 -3.10413524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-169.70, Z:-310.73 [[-3.30326028e-01 4.83567095e-01 -8.10584715e-01 2.96432327e+02] [-1.80154060e-01 -8.75304514e-01 -4.48761097e-01 -1.69702056e+02] [-9.26514560e-01 -2.20734350e-03 3.76252439e-01 -3.10733898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-170.70, Z:-310.37 [[-2.60167909e-01 -9.62705852e-01 7.42300558e-02 2.96540784e+02] [-1.70123239e-01 1.21378282e-01 9.77918911e-01 -1.70703850e+02] [-9.50458175e-01 2.41794861e-01 -1.95357372e-01 -3.10368508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-169.65, Z:-310.55 [[-2.54930188e-01 5.73313698e-01 -7.78666811e-01 2.96415172e+02] [-1.81056749e-01 -8.19332707e-01 -5.43978281e-01 -1.69649712e+02] [-9.49857386e-01 2.30639568e-03 3.12674956e-01 -3.10547210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-169.71, Z:-310.86 [[-2.77903577e-01 5.87507670e-01 -7.60002855e-01 2.96304439e+02] [-1.78528261e-01 -8.08972229e-01 -5.60081773e-01 -1.69707740e+02] [-9.43873541e-01 -1.99667401e-02 3.29702999e-01 -3.10864345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-170.67, Z:-310.54 [[-1.78494048e-01 -9.75551088e-01 -1.28218365e-01 2.96552244e+02] [-1.62803686e-01 -9.92329288e-02 9.81655635e-01 -1.70666068e+02] [-9.70378707e-01 1.96094110e-01 -1.41110826e-01 -3.10544618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-169.67, Z:-310.70 [[-2.00495506e-01 6.65148981e-01 -7.19290196e-01 2.96276539e+02] [-1.58453255e-01 -7.46548040e-01 -6.46187736e-01 -1.69670548e+02] [-9.66795800e-01 -1.55838645e-02 2.55074548e-01 -3.10696652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-169.69, Z:-310.76 [[-2.09020304e-01 6.53441945e-01 -7.27546656e-01 2.96272274e+02] [-1.48680095e-01 -7.56565990e-01 -6.36790493e-01 -1.69685426e+02] [-9.66542675e-01 -2.49304365e-02 2.55291463e-01 -3.10762604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.69, Z:-310.78 [[-2.11720487e-01 6.26937236e-01 -7.49749384e-01 2.96290253e+02] [-1.45106281e-01 -7.78802369e-01 -6.10254895e-01 -1.69693749e+02] [-9.66498113e-01 -2.04101184e-02 2.55860947e-01 -3.10775285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-169.97, Z:-310.73 [[-2.70987391e-01 8.46376855e-01 4.58488880e-01 2.95632220e+02] [-2.01347980e-01 4.15933576e-01 -8.86824814e-01 -1.69972248e+02] [-9.41288917e-01 -3.32634153e-01 5.77035157e-02 -3.10733092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-169.76, Z:-311.15 [[-2.93040688e-01 6.01468958e-01 -7.43210770e-01 2.96231926e+02] [-1.72301955e-01 -7.97830864e-01 -5.77735189e-01 -1.69759033e+02] [-9.40446273e-01 -4.12432493e-02 3.37431183e-01 -3.11149849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-170.65, Z:-310.99 [[-1.66313519e-01 -9.32029604e-01 -3.21963711e-01 2.96525178e+02] [-1.50733012e-01 -2.98644095e-01 9.42385942e-01 -1.70654949e+02] [-9.74484157e-01 2.05262082e-01 -9.08190785e-02 -3.10988293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-169.80, Z:-311.38 [[-2.32481956e-01 6.63882644e-01 -7.10782650e-01 2.96116097e+02] [-1.51839014e-01 -7.46619473e-01 -6.47691498e-01 -1.69798698e+02] [-9.60675312e-01 -4.26520493e-02 2.74378841e-01 -3.11381996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-170.67, Z:-311.12 [[-1.01824428e-01 -9.29864875e-01 -3.53529491e-01 2.96475969e+02] [-1.25981602e-01 -3.40462099e-01 9.31780122e-01 -1.70673759e+02] [-9.86792999e-01 1.39416190e-01 -8.24785082e-02 -3.11120229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-169.78, Z:-311.25 [[-1.60488153e-01 7.35577353e-01 -6.58156145e-01 2.96068479e+02] [-1.20012304e-01 -6.76394292e-01 -7.26696504e-01 -1.69776083e+02] [-9.79714550e-01 -3.76393443e-02 1.96831603e-01 -3.11252640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.78, Z:-311.26 [[-1.60273048e-01 7.08309132e-01 -6.87466889e-01 2.96090495e+02] [-1.18551179e-01 -7.05241938e-01 -6.98984568e-01 -1.69780936e+02] [-9.79927634e-01 -3.05283776e-02 1.97002158e-01 -3.11262153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.78, Z:-311.27 [[-1.60811449e-01 7.04775897e-01 -6.90963540e-01 2.96092605e+02] [-1.18494408e-01 -7.08797479e-01 -6.95388531e-01 -1.69783130e+02] [-9.79846291e-01 -2.99511218e-02 1.97494753e-01 -3.11270631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-169.79, Z:-311.28 [[-1.71409402e-01 7.10253234e-01 -6.82758494e-01 2.96079596e+02] [-1.23534945e-01 -7.03040436e-01 -7.00337963e-01 -1.69787605e+02] [-9.77424132e-01 -3.56999782e-02 2.08248835e-01 -3.11280588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-170.65, Z:-311.34 [[-5.50311635e-02 -8.74449164e-01 -4.81985716e-01 2.96464584e+02] [-8.08449298e-02 -4.77230084e-01 8.75051738e-01 -1.70646997e+02] [-9.95206345e-01 8.71212167e-02 -4.44322545e-02 -3.11343901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-169.81, Z:-311.40 [[-1.05754584e-01 7.95237261e-01 -5.97003908e-01 2.95971475e+02] [-8.99305428e-02 -6.05559081e-01 -7.90702660e-01 -1.69807254e+02] [-9.90317356e-01 -2.99315451e-02 1.35556767e-01 -3.11401074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.01655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-169.81, Z:-311.41 [[-1.06002314e-01 7.90426691e-01 -6.03315138e-01 2.95975348e+02] [-9.02182247e-02 -6.11876146e-01 -7.85791483e-01 -1.69808438e+02] [-9.90264703e-01 -2.88656950e-02 1.36171180e-01 -3.11408990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-169.81, Z:-311.42 [[-1.05920085e-01 7.85564545e-01 -6.09646849e-01 2.95979787e+02] [-8.98288504e-02 -6.18148138e-01 -7.80912068e-01 -1.69810098e+02] [-9.90308898e-01 -2.79503968e-02 1.36040663e-01 -3.11415889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.07655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-170.86, Z:-311.41 [[-3.29781218e-02 -4.01660244e-01 9.15194784e-01 2.95615449e+02] [-1.82278447e-01 9.02752451e-01 3.89631339e-01 -1.70857079e+02] [-9.82693753e-01 -1.53970974e-01 -1.02985086e-01 -3.11410916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.75, Z:-311.60 [[ 3.38569919e-02 -9.42718422e-01 -3.31866962e-01 2.96354238e+02] [-1.22123713e-01 -3.33471355e-01 9.34816910e-01 -1.70746860e+02] [-9.91937247e-01 8.87873713e-03 -1.26418611e-01 -3.11598904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.13655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-169.97, Z:-311.75 [[-1.41372807e-02 9.96433450e-01 8.31896414e-02 2.95521113e+02] [-1.51093361e-01 8.01137531e-02 -9.85267772e-01 -1.69968254e+02] [-9.88418400e-01 -2.64984096e-02 1.49421888e-01 -3.11752479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-170.86, Z:-311.62 [[ 1.14968648e-01 -9.89873812e-01 -8.32589109e-02 2.96244923e+02] [-1.21018146e-01 -9.71472636e-02 9.87885124e-01 -1.70858945e+02] [-9.85969989e-01 -1.03499978e-01 -1.30961583e-01 -3.11620322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.196559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-170.21, Z:-311.82 [[ 7.27967415e-02 8.31053988e-01 5.51407203e-01 2.95347481e+02] [-1.55160427e-01 5.55579407e-01 -8.16857861e-01 -1.70213305e+02] [-9.85203470e-01 -2.60919866e-02 1.69391062e-01 -3.11822541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-170.22, Z:-311.85 [[ 7.34127849e-02 8.31475061e-01 5.50690281e-01 2.95350458e+02] [-1.55879277e-01 5.54960240e-01 -8.17141837e-01 -1.70217235e+02] [-9.85044270e-01 -2.58525450e-02 1.70350908e-01 -3.11851766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-170.22, Z:-311.88 [[ 7.31159084e-02 8.31436466e-01 5.50788042e-01 2.95353393e+02] [-1.55990608e-01 5.55002931e-01 -8.17091596e-01 -1.70222009e+02] [-9.85048727e-01 -2.61753674e-02 1.70275824e-01 -3.11884258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-170.23, Z:-311.92 [[ 7.28904972e-02 8.32412648e-01 5.49341568e-01 2.95356857e+02] [-1.56148147e-01 5.53538928e-01 -8.18054040e-01 -1.70225746e+02] [-9.85040472e-01 -2.61503024e-02 1.70327420e-01 -3.11916102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-170.23, Z:-311.94 [[ 7.28447994e-02 8.33284942e-01 5.48023577e-01 2.95360076e+02] [-1.55783335e-01 5.52245448e-01 -8.18997264e-01 -1.70228688e+02] [-9.85101613e-01 -2.57132488e-02 1.70040116e-01 -3.11944174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-170.26, Z:-311.98 [[ 7.51124086e-02 8.16921626e-01 5.71836675e-01 2.95360710e+02] [-1.63997841e-01 5.75768248e-01 -8.00996650e-01 -1.70262148e+02] [-9.83596886e-01 -3.36151926e-02 1.77220723e-01 -3.11977010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-170.48, Z:-311.86 [[ 1.48266108e-01 -6.11242140e-01 -7.77431802e-01 2.96467532e+02] [-5.05712715e-02 -7.89778007e-01 6.11304545e-01 -1.70484895e+02] [-9.87653638e-01 -5.13200312e-02 -1.48008604e-01 -3.11857365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-170.40, Z:-311.87 [[ 1.81720116e-01 -4.69355042e-01 -8.64108583e-01 2.96464181e+02] [ 1.91597377e-02 -8.76882557e-01 4.80322690e-01 -1.70400861e+02] [-9.83163620e-01 -1.03840389e-01 -1.50354481e-01 -3.11868187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-170.16, Z:-311.89 [[ 1.71849407e-01 -3.20984475e-02 -9.84600158e-01 2.96383436e+02] [ 9.68390487e-02 -9.94077853e-01 4.93094465e-02 -1.70162162e+02] [-9.80351967e-01 -1.03821542e-01 -1.67723306e-01 -3.11888160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-170.01, Z:-311.91 [[ 1.30238541e-01 3.52166500e-01 -9.26831527e-01 2.96232322e+02] [ 1.65753452e-01 -9.29371522e-01 -3.29839911e-01 -1.70009898e+02] [-9.77529394e-01 -1.10667656e-01 -1.79412804e-01 -3.11910295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-169.93, Z:-311.93 [[ 7.52593459e-02 6.48100047e-01 -7.57827395e-01 2.96072141e+02] [ 2.16443757e-01 -7.52480822e-01 -6.22032726e-01 -1.69932717e+02] [-9.73390020e-01 -1.17213232e-01 -1.96908424e-01 -3.11926136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-169.92, Z:-311.95 [[ 8.63890990e-04 8.96998163e-01 -4.42033426e-01 2.95849498e+02] [ 2.39196371e-01 -4.29387238e-01 -8.70868358e-01 -1.69916730e+02] [-9.70970829e-01 -1.04980456e-01 -2.14929649e-01 -3.11948852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.55655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-169.97, Z:-311.97 [[-7.62122570e-02 9.88395126e-01 -1.31403073e-01 2.95681999e+02] [ 2.38522971e-01 -1.09887648e-01 -9.64899734e-01 -1.69970208e+02] [-9.68141769e-01 -1.04879838e-01 -2.27380156e-01 -3.11970393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-170.00, Z:-312.12 [[-9.26099158e-02 3.69787349e-01 -9.24489438e-01 2.96262530e+02] [ 3.28441882e-01 -8.65167536e-01 -3.78960506e-01 -1.69996936e+02] [-9.39973049e-01 -3.38736551e-01 -4.13305602e-02 -3.12122533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.61655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.82, Z:-312.40 [[-4.28903918e-02 -9.76253932e-01 -2.12340941e-01 2.96359001e+02] [ 3.23868626e-01 -2.14645517e-01 9.21431720e-01 -1.70821314e+02] [-9.45129371e-01 -2.92500013e-02 3.25384250e-01 -3.12400877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.82, Z:-312.41 [[-4.23144154e-02 -9.76615453e-01 -2.10788393e-01 2.96357405e+02] [ 3.23751803e-01 -2.12996598e-01 9.21855314e-01 -1.70820260e+02] [-9.45195356e-01 -2.92353537e-02 3.25193841e-01 -3.12406279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.67655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.82, Z:-312.41 [[-4.18215595e-02 -9.76944940e-01 -2.09355060e-01 2.96356482e+02] [ 3.23979321e-01 -2.11476523e-01 9.22125306e-01 -1.70820675e+02] [-9.45139332e-01 -2.92619917e-02 3.25354236e-01 -3.12406031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.82, Z:-312.42 [[-4.14692594e-02 -9.77271955e-01 -2.07893789e-01 2.96354316e+02] [ 3.24573066e-01 -2.09964434e-01 9.22262035e-01 -1.70817176e+02] [-9.44951123e-01 -2.92312007e-02 3.25903224e-01 -3.12418722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.73655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.82, Z:-312.42 [[-4.12691608e-02 -9.77594197e-01 -2.06413278e-01 2.96352966e+02] [ 3.25360134e-01 -2.08477947e-01 9.22321923e-01 -1.70817115e+02] [-9.44689176e-01 -2.90952002e-02 3.26673889e-01 -3.12421399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.82, Z:-312.42 [[-4.09975479e-02 -9.77909874e-01 -2.04967021e-01 2.96351780e+02] [ 3.25653832e-01 -2.07015843e-01 9.22547572e-01 -1.70817652e+02] [-9.44599800e-01 -2.89261077e-02 3.26947240e-01 -3.12422873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.79655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.81, Z:-312.44 [[-4.00023094e-02 -9.78316853e-01 -2.03214049e-01 2.96348841e+02] [ 3.26624567e-01 -2.05006982e-01 9.22652984e-01 -1.70813217e+02] [-9.44307263e-01 -2.94664505e-02 3.27743071e-01 -3.12439827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.81, Z:-312.45 [[-4.01141709e-02 -9.79825106e-01 -1.95789722e-01 2.96345440e+02] [ 3.26409126e-01 -1.98047469e-01 9.24247955e-01 -1.70814203e+02] [-9.44377009e-01 -2.68321117e-02 3.27768366e-01 -3.12447124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.85655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.46 [[-3.96206070e-02 -9.80128625e-01 -1.94365855e-01 2.96344273e+02] [ 3.26632812e-01 -1.96536411e-01 9.24491452e-01 -1.70811579e+02] [-9.44320504e-01 -2.68573532e-02 3.27929061e-01 -3.12456523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.46 [[-3.99958759e-02 -9.80839499e-01 -1.90667793e-01 2.96342998e+02] [ 3.26587265e-01 -1.93172372e-01 9.25216295e-01 -1.70812589e+02] [-9.44320437e-01 -2.52648369e-02 3.28055788e-01 -3.12458134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.91655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.46 [[-4.07513467e-02 -9.81086185e-01 -1.89233256e-01 2.96342526e+02] [ 3.26578724e-01 -1.92067046e-01 9.25449397e-01 -1.70812109e+02] [-9.44291091e-01 -2.40862462e-02 3.28228866e-01 -3.12460719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.47 [[-4.17971529e-02 -9.81311763e-01 -1.87830301e-01 2.96341564e+02] [ 3.26235427e-01 -1.91094910e-01 9.25771668e-01 -1.70808884e+02] [-9.44364042e-01 -2.25822785e-02 3.28125885e-01 -3.12472471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.97655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.47 [[-4.21051996e-02 -9.81997698e-01 -1.84140362e-01 2.96340184e+02] [ 3.26260150e-01 -1.87714179e-01 9.26454371e-01 -1.70809391e+02] [-9.44341817e-01 -2.10691160e-02 3.28290460e-01 -3.12473937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.48 [[-4.25565200e-02 -9.82242792e-01 -1.82723943e-01 2.96339617e+02] [ 3.26092928e-01 -1.86529490e-01 9.26752476e-01 -1.70808645e+02] [-9.44379344e-01 -2.01456254e-02 3.28240474e-01 -3.12478626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.03655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.81, Z:-312.48 [[-4.39804831e-02 -9.82442660e-01 -1.81306748e-01 2.96339706e+02] [ 3.25765244e-01 -1.85665916e-01 9.27041085e-01 -1.70807734e+02] [-9.44427193e-01 -1.82917220e-02 3.28211349e-01 -3.12482318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.80, Z:-312.51 [[-4.09503653e-02 -9.82832240e-01 -1.79899573e-01 2.96337610e+02] [ 3.26874647e-01 -1.83320846e-01 9.27117270e-01 -1.70798857e+02] [-9.44180085e-01 -2.08388185e-02 3.28769997e-01 -3.12511222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.09655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.80, Z:-312.51 [[-4.11447777e-02 -9.84830764e-01 -1.68568901e-01 2.96333335e+02] [ 3.26827370e-01 -1.72696345e-01 9.29171590e-01 -1.70802344e+02] [-9.44187999e-01 -1.68623721e-02 3.28975201e-01 -3.12514425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.80, Z:-312.52 [[-4.19518229e-02 -9.85038693e-01 -1.67149089e-01 2.96333827e+02] [ 3.26661044e-01 -1.71624897e-01 9.29428565e-01 -1.70801675e+02] [-9.44210044e-01 -1.56098735e-02 3.28973745e-01 -3.12516980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.15655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.80, Z:-312.53 [[-4.20340234e-02 -9.85293700e-01 -1.65618431e-01 2.96333283e+02] [ 3.26018443e-01 -1.70217845e-01 9.29912824e-01 -1.70799551e+02] [-9.44428460e-01 -1.49066856e-02 3.28378859e-01 -3.12525020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.80, Z:-312.53 [[-4.18821374e-02 -9.85533122e-01 -1.64226524e-01 2.96333197e+02] [ 3.25535548e-01 -1.68861749e-01 9.30329144e-01 -1.70798372e+02] [-9.44601764e-01 -1.44973986e-02 3.27898356e-01 -3.12529496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.21655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-169.96, Z:-312.37 [[-9.42425925e-02 3.25021912e-01 -9.40998985e-01 2.96273776e+02] [ 3.77420263e-01 -8.62984373e-01 -3.35874852e-01 -1.69958947e+02] [-9.21234106e-01 -3.86805802e-01 -4.13399710e-02 -3.12366085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.76, Z:-312.70 [[-6.46756655e-02 -9.80293698e-01 -1.86658308e-01 2.96347025e+02] [ 3.84908917e-01 -1.97081685e-01 9.01667308e-01 -1.70758732e+02] [-9.20685714e-01 -1.35305139e-02 3.90070175e-01 -3.12695129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.27655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.76, Z:-312.70 [[-6.40465549e-02 -9.80525273e-01 -1.85656210e-01 2.96347595e+02] [ 3.84688153e-01 -1.95918096e-01 9.02015036e-01 -1.70758356e+02] [-9.20821950e-01 -1.36487892e-02 3.89744335e-01 -3.12696963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.76, Z:-312.70 [[-6.30499293e-02 -9.80828353e-01 -1.84392108e-01 2.96347069e+02] [ 3.84910163e-01 -1.94363819e-01 9.02256545e-01 -1.70755423e+02] [-9.20797955e-01 -1.40871848e-02 3.89785426e-01 -3.12704578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.33655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.75, Z:-312.73 [[-5.97001782e-02 -9.81485388e-01 -1.81995390e-01 2.96345073e+02] [ 3.85228352e-01 -1.90850009e-01 9.02870639e-01 -1.70747453e+02] [-9.20888161e-01 -1.62082462e-02 3.89489778e-01 -3.12727514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.75, Z:-312.73 [[-5.85967440e-02 -9.82696975e-01 -1.75707360e-01 2.96342538e+02] [ 3.85443022e-01 -1.84632352e-01 9.04071110e-01 -1.70748259e+02] [-9.20869208e-01 -1.47495524e-02 3.89592547e-01 -3.12731957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.39655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.75, Z:-312.73 [[-5.72616846e-02 -9.82956122e-01 -1.74695053e-01 2.96342512e+02] [ 3.85423581e-01 -1.83181868e-01 9.04374406e-01 -1.70747801e+02] [-9.20961326e-01 -1.55455910e-02 3.89343770e-01 -3.12734332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.75, Z:-312.74 [[-5.59244245e-02 -9.83254017e-01 -1.73447387e-01 2.96342107e+02] [ 3.85341504e-01 -1.81515367e-01 9.04745322e-01 -1.70745929e+02] [-9.21077838e-01 -1.62391156e-02 3.89039724e-01 -3.12741059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.45655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-170.03, Z:-312.57 [[-8.66219763e-02 2.71683722e-02 -9.95870731e-01 2.96383293e+02] [ 4.48683513e-01 -8.91442835e-01 -6.33464781e-02 -1.70030585e+02] [-8.89482849e-01 -4.52317976e-01 6.50285395e-02 -3.12570977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.72, Z:-312.90 [[-5.48583708e-02 -9.87458100e-01 -1.48044113e-01 2.96325365e+02] [ 4.47491249e-01 -1.56857595e-01 8.80424487e-01 -1.70719972e+02] [-8.92604135e-01 -1.79497918e-02 4.50483811e-01 -3.12901129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.51655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-169.91, Z:-312.56 [[-1.59708873e-01 9.87066353e-01 1.38956932e-02 2.95603755e+02] [ 4.15113053e-01 7.99239506e-02 -9.06252347e-01 -1.69905559e+02] [-8.95641798e-01 -1.38968257e-01 -4.22508691e-01 -3.12560123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.59, Z:-313.03 [[-1.22734814e-01 -9.53698317e-01 -2.74582749e-01 2.96393348e+02] [ 4.46347834e-01 -3.00158331e-01 8.43017549e-01 -1.70593581e+02] [-8.86402717e-01 -1.90918131e-02 4.62521055e-01 -3.13029267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.57655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.60, Z:-313.02 [[-1.21248517e-01 -9.54086142e-01 -2.73894927e-01 2.96395247e+02] [ 4.46600169e-01 -2.98859404e-01 8.43345330e-01 -1.70596255e+02] [-8.86480167e-01 -2.00671496e-02 4.62331292e-01 -3.13022868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.59, Z:-313.03 [[-1.20237845e-01 -9.54458053e-01 -2.73043377e-01 2.96395304e+02] [ 4.46538569e-01 -2.97642300e-01 8.43808253e-01 -1.70594910e+02] [-8.86648841e-01 -2.04667133e-02 4.61990202e-01 -3.13025649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.63655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.59, Z:-313.03 [[-1.19354138e-01 -9.54767794e-01 -2.72347294e-01 2.96395152e+02] [ 4.46658044e-01 -2.96617108e-01 8.44105967e-01 -1.70592548e+02] [-8.86708059e-01 -2.08985699e-02 4.61857195e-01 -3.13030381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.59, Z:-313.03 [[-1.17534749e-01 -9.55171612e-01 -2.71721870e-01 2.96396283e+02] [ 4.46574034e-01 -2.95228925e-01 8.44636913e-01 -1.70591507e+02] [-8.86993357e-01 -2.20697440e-02 4.61254497e-01 -3.13031352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.696559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.59, Z:-313.04 [[-1.16201484e-01 -9.55530210e-01 -2.71033639e-01 2.96395839e+02] [ 4.46769009e-01 -2.94002451e-01 8.44961544e-01 -1.70588856e+02] [-8.87070836e-01 -2.29036448e-02 4.61064806e-01 -3.13037120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.59, Z:-313.04 [[-1.14405785e-01 -9.55998312e-01 -2.70145413e-01 2.96395228e+02] [ 4.47217272e-01 -2.92379950e-01 8.45287334e-01 -1.70586434e+02] [-8.87078366e-01 -2.41079338e-02 4.60988915e-01 -3.13042780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.59, Z:-313.04 [[-1.13032399e-01 -9.56649209e-01 -2.68413800e-01 2.96394818e+02] [ 4.47535897e-01 -2.90209117e-01 8.45866591e-01 -1.70586611e+02] [-8.87093737e-01 -2.45144808e-02 4.60937895e-01 -3.13044223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.59, Z:-313.05 [[-1.10595226e-01 -9.57160112e-01 -2.67606457e-01 2.96395255e+02] [ 4.48814411e-01 -2.88338401e-01 8.45828937e-01 -1.70585951e+02] [-8.86754938e-01 -2.65609921e-02 4.61476102e-01 -3.13046377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.58, Z:-313.05 [[-1.09615884e-01 -9.57480770e-01 -2.66861260e-01 2.96394301e+02] [ 4.49238291e-01 -2.87216654e-01 8.45985551e-01 -1.70582688e+02] [-8.86661895e-01 -2.71508422e-02 4.61620532e-01 -3.13053773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.58, Z:-313.05 [[-1.08756115e-01 -9.57793376e-01 -2.66090128e-01 2.96394661e+02] [ 4.49787064e-01 -2.86122813e-01 8.46064615e-01 -1.70582575e+02] [-8.86489540e-01 -2.76691971e-02 4.61920676e-01 -3.13053635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.58, Z:-313.06 [[-1.06821027e-01 -9.58193920e-01 -2.65431121e-01 2.96395092e+02] [ 4.49913365e-01 -2.84646371e-01 8.46495368e-01 -1.70581433e+02] [-8.86660720e-01 -2.89975044e-02 4.61510468e-01 -3.13056458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.58, Z:-313.06 [[-1.05178309e-01 -9.58576466e-01 -2.64704896e-01 2.96394609e+02] [ 4.50443762e-01 -2.83231773e-01 8.46687770e-01 -1.70579142e+02] [-8.86587808e-01 -3.01814814e-02 4.61574629e-01 -3.13061189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.58, Z:-313.07 [[-1.03422975e-01 -9.59221061e-01 -2.63056351e-01 2.96393602e+02] [ 4.50254523e-01 -2.80975270e-01 8.47539829e-01 -1.70576854e+02] [-8.86890384e-01 -3.07872210e-02 4.60952920e-01 -3.13067085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.58, Z:-313.07 [[-1.02708168e-01 -9.59491503e-01 -2.62349170e-01 2.96392973e+02] [ 4.50309013e-01 -2.80020295e-01 8.47826885e-01 -1.70576404e+02] [-8.86945785e-01 -3.10594495e-02 4.60828044e-01 -3.13068441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.07 [[-1.01985917e-01 -9.59747281e-01 -2.61694536e-01 2.96392130e+02] [ 4.49999002e-01 -2.79121238e-01 8.48287824e-01 -1.70574205e+02] [-8.87186436e-01 -3.12488682e-02 4.60351754e-01 -3.13073822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.08 [[-1.01617403e-01 -9.59986534e-01 -2.60959305e-01 2.96391606e+02] [ 4.50146648e-01 -2.78297176e-01 8.48480216e-01 -1.70572897e+02] [-8.87153819e-01 -3.12496004e-02 4.60414556e-01 -3.13077218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.05655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.08 [[-1.01600741e-01 -9.60216192e-01 -2.60119499e-01 2.96392718e+02] [ 4.50880547e-01 -2.77521624e-01 8.48344553e-01 -1.70574271e+02] [-8.86782962e-01 -3.10903869e-02 4.61139205e-01 -3.13075070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.08 [[-1.01023923e-01 -9.60472827e-01 -2.59395675e-01 2.96391669e+02] [ 4.51022538e-01 -2.76612133e-01 8.48566084e-01 -1.70572174e+02] [-8.86776656e-01 -3.12678211e-02 4.61139335e-01 -3.13080245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.11655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.09 [[-1.01598244e-01 -9.60756486e-01 -2.58117748e-01 2.96390768e+02] [ 4.52025158e-01 -2.75712705e-01 8.48325268e-01 -1.70568056e+02] [-8.86200346e-01 -3.04873580e-02 4.62298029e-01 -3.13089932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.08 [[-1.01618805e-01 -9.60968765e-01 -2.57318193e-01 2.96391780e+02] [ 4.52496823e-01 -2.75000118e-01 8.48305110e-01 -1.70570886e+02] [-8.85957247e-01 -3.02319136e-02 4.62780496e-01 -3.13084517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.17655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.09 [[-1.02070729e-01 -9.61146231e-01 -2.56475125e-01 2.96391315e+02] [ 4.53132353e-01 -2.74443113e-01 8.48146242e-01 -1.70569201e+02] [-8.85580395e-01 -2.96462716e-02 4.63539062e-01 -3.13088370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.09 [[-1.02271313e-01 -9.61333227e-01 -2.55693185e-01 2.96390724e+02] [ 4.52801249e-01 -2.73856612e-01 8.48512572e-01 -1.70568389e+02] [-8.85726599e-01 -2.89996983e-02 4.63300561e-01 -3.13091291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.23655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.10 [[-1.01761107e-01 -9.61579362e-01 -2.54970208e-01 2.96389902e+02] [ 4.52954444e-01 -2.72977898e-01 8.48713932e-01 -1.70565458e+02] [-8.85707033e-01 -2.91238196e-02 4.63330179e-01 -3.13098380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.57, Z:-313.10 [[-1.02108934e-01 -9.62057863e-01 -2.53018643e-01 2.96389540e+02] [ 4.52111253e-01 -2.71442380e-01 8.49655488e-01 -1.70565951e+02] [-8.86097726e-01 -2.76351594e-02 4.62673879e-01 -3.13099559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.29655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.10 [[-1.03433810e-01 -9.62106870e-01 -2.52293117e-01 2.96390052e+02] [ 4.51702322e-01 -2.71424936e-01 8.49878530e-01 -1.70564377e+02] [-8.86152616e-01 -2.60552126e-02 4.62660423e-01 -3.13101677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.10 [[-1.03708784e-01 -9.62263324e-01 -2.51582559e-01 2.96390461e+02] [ 4.51508248e-01 -2.70929664e-01 8.50139647e-01 -1.70564546e+02] [-8.86219380e-01 -2.54246516e-02 4.62567613e-01 -3.13101607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.35655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.11 [[-1.04176630e-01 -9.62418089e-01 -2.50796037e-01 2.96389717e+02] [ 4.51135274e-01 -2.70460918e-01 8.50486835e-01 -1.70562026e+02] [-8.86354440e-01 -2.45420861e-02 4.62356456e-01 -3.13107389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.11 [[-1.05173271e-01 -9.62479505e-01 -2.50143529e-01 2.96389872e+02] [ 4.50326168e-01 -2.70365137e-01 8.50945965e-01 -1.70561523e+02] [-8.86648141e-01 -2.31494057e-02 4.61864893e-01 -3.13109287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.41655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.11 [[-1.05126034e-01 -9.62676209e-01 -2.49405360e-01 2.96389203e+02] [ 4.50407668e-01 -2.69688637e-01 8.51117484e-01 -1.70560035e+02] [-8.86612345e-01 -2.28594808e-02 4.61948043e-01 -3.13112999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.12 [[-1.04799845e-01 -9.62896748e-01 -2.48690259e-01 2.96388511e+02] [ 4.50400334e-01 -2.68906325e-01 8.51368855e-01 -1.70558536e+02] [-8.86654686e-01 -2.27868519e-02 4.61870358e-01 -3.13116928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.47655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.55, Z:-313.13 [[-1.04462736e-01 -9.63109878e-01 -2.48005846e-01 2.96386622e+02] [ 4.50168737e-01 -2.68151843e-01 8.51729240e-01 -1.70552816e+02] [-8.86812069e-01 -2.26705119e-02 4.61573832e-01 -3.13129630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.12 [[-1.03361357e-01 -9.63404925e-01 -2.47320402e-01 2.96387886e+02] [ 4.50114523e-01 -2.67040263e-01 8.52107044e-01 -1.70555106e+02] [-8.86968627e-01 -2.32475641e-02 4.61244192e-01 -3.13124683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.53655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.55, Z:-313.13 [[-1.02828162e-01 -9.63697732e-01 -2.46400184e-01 2.96386892e+02] [ 4.50239088e-01 -2.65977840e-01 8.52373482e-01 -1.70553447e+02] [-8.86967380e-01 -2.32909962e-02 4.61244400e-01 -3.13129156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.55, Z:-313.13 [[-1.02020117e-01 -9.64045176e-01 -2.45374805e-01 2.96386238e+02] [ 4.50512778e-01 -2.64692019e-01 8.52629094e-01 -1.70552828e+02] [-8.86921718e-01 -2.35591652e-02 4.61318581e-01 -3.13131517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.59655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.56, Z:-313.13 [[-1.01137584e-01 -9.64332607e-01 -2.44609508e-01 2.96386651e+02] [ 4.50988697e-01 -2.63596369e-01 8.52716922e-01 -1.70555358e+02] [-8.86780911e-01 -2.40743944e-02 4.61562606e-01 -3.13127238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.55, Z:-313.13 [[-1.00156743e-01 -9.64626102e-01 -2.43854692e-01 2.96385456e+02] [ 4.51428997e-01 -2.62465363e-01 8.52832805e-01 -1.70552849e+02] [-8.86668194e-01 -2.46661228e-02 4.61747870e-01 -3.13133690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.65655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-170.55, Z:-313.13 [[-9.93017099e-02 -9.64921615e-01 -2.43033840e-01 2.96385030e+02] [ 4.52331322e-01 -2.61320454e-01 8.52706278e-01 -1.70553321e+02] [-8.86304432e-01 -2.52566265e-02 4.62413837e-01 -3.13134644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-170.55, Z:-313.14 [[-9.88733241e-02 -9.65227020e-01 -2.41993525e-01 2.96384203e+02] [ 4.52633785e-01 -2.60195001e-01 8.52889922e-01 -1.70552157e+02] [-8.86197903e-01 -2.52063835e-02 4.62620704e-01 -3.13138943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.71655999499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-169.84, Z:-312.78 [[-2.14750032e-01 9.69541862e-01 1.17775220e-01 2.95530914e+02] [ 4.04720495e-01 1.98088315e-01 -8.92727473e-01 -1.69843296e+02] [-8.88866551e-01 -1.44047208e-01 -4.34932934e-01 -3.12777765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.42, Z:-313.25 [[-1.68034843e-01 -9.17793039e-01 -3.59750233e-01 2.96437739e+02] [ 4.44525789e-01 -3.96275804e-01 8.03344453e-01 -1.70422665e+02] [-8.79864259e-01 -2.49283973e-02 4.74570817e-01 -3.13251929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.77655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.42, Z:-313.25 [[-1.67412023e-01 -9.18147416e-01 -3.59135820e-01 2.96437335e+02] [ 4.44516329e-01 -3.95444279e-01 8.03759327e-01 -1.70421043e+02] [-8.79987755e-01 -2.50827614e-02 4.74333645e-01 -3.13254827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.42, Z:-313.26 [[-1.66898738e-01 -9.18498968e-01 -3.58475185e-01 2.96435973e+02] [ 4.44253168e-01 -3.94631255e-01 8.04304231e-01 -1.70418402e+02] [-8.80218118e-01 -2.50163750e-02 4.73909534e-01 -3.13260597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.83655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.42, Z:-313.26 [[-1.65907933e-01 -9.18883679e-01 -3.57948798e-01 2.96435840e+02] [ 4.43513077e-01 -3.93724648e-01 8.05156539e-01 -1.70418120e+02] [-8.80778467e-01 -2.51731158e-02 4.72858971e-01 -3.13261057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.42, Z:-313.26 [[-1.65407527e-01 -9.19229949e-01 -3.57290710e-01 2.96435490e+02] [ 4.43645684e-01 -3.92908818e-01 8.05481948e-01 -1.70417994e+02] [-8.80805800e-01 -2.52777042e-02 4.72802476e-01 -3.13261348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.89655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.42, Z:-313.27 [[-1.64607720e-01 -9.19586076e-01 -3.56743252e-01 2.96434625e+02] [ 4.43353947e-01 -3.92061459e-01 8.06055265e-01 -1.70416646e+02] [-8.81102478e-01 -2.54806099e-02 4.72238459e-01 -3.13265579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.42, Z:-313.27 [[-1.63733826e-01 -9.19981042e-01 -3.56126545e-01 2.96434728e+02] [ 4.43437051e-01 -3.91108012e-01 8.06472631e-01 -1.70417108e+02] [-8.81223477e-01 -2.58728554e-02 4.71991292e-01 -3.13265450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.95655999499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.27 [[-1.62853272e-01 -9.20395989e-01 -3.55457501e-01 2.96433479e+02] [ 4.43772054e-01 -3.90098188e-01 8.06777397e-01 -1.70413810e+02] [-8.81218007e-01 -2.63557667e-02 4.71974785e-01 -3.13272619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.28 [[-1.62057885e-01 -9.20842608e-01 -3.54663409e-01 2.96431894e+02] [ 4.44707484e-01 -3.89000351e-01 8.06792402e-01 -1.70410699e+02] [-8.80893010e-01 -2.69744017e-02 4.72546173e-01 -3.13280114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.27 [[-1.61466830e-01 -9.21233286e-01 -3.53917641e-01 2.96433147e+02] [ 4.45296095e-01 -3.88051010e-01 8.06924904e-01 -1.70414959e+02] [-8.80704179e-01 -2.73065371e-02 4.72878952e-01 -3.13272486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.28 [[-1.60462632e-01 -9.21785161e-01 -3.52936058e-01 2.96431250e+02] [ 4.47251536e-01 -3.86656834e-01 8.06512589e-01 -1.70413322e+02] [-8.79896475e-01 -2.84360614e-02 4.74313803e-01 -3.13277975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.29 [[-1.59386204e-01 -9.22269351e-01 -3.52158037e-01 2.96428807e+02] [ 4.48257446e-01 -3.85435320e-01 8.06538825e-01 -1.70409930e+02] [-8.79580184e-01 -2.93063008e-02 4.74847176e-01 -3.13287100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.29 [[-1.58880542e-01 -9.23064750e-01 -3.50297646e-01 2.96428045e+02] [ 4.49144030e-01 -3.83540305e-01 8.06948868e-01 -1.70410792e+02] [-8.79219321e-01 -2.91256230e-02 4.75526113e-01 -3.13287745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.59119073e-01 -9.23332889e-01 -3.49481754e-01 2.96424288e+02] [ 4.49749707e-01 -3.82920083e-01 8.06906073e-01 -1.70402709e+02] [-8.78866498e-01 -2.87851706e-02 4.76198585e-01 -3.13305200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.30 [[-1.59208203e-01 -9.23629578e-01 -3.48656208e-01 2.96425333e+02] [ 4.50016206e-01 -3.82232217e-01 8.07083606e-01 -1.70405360e+02] [-8.78713925e-01 -2.84066132e-02 4.76502783e-01 -3.13299611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-170.41, Z:-313.30 [[-1.59111548e-01 -9.24019220e-01 -3.47666501e-01 2.96425552e+02] [ 4.49811225e-01 -3.81328058e-01 8.07625392e-01 -1.70407048e+02] [-8.78836377e-01 -2.78817683e-02 4.76307915e-01 -3.13296785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.41, Z:-313.30 [[-1.59975353e-01 -9.24080678e-01 -3.47106306e-01 2.96424783e+02] [ 4.48865949e-01 -3.81276541e-01 8.08175451e-01 -1.70406085e+02] [-8.79162810e-01 -2.65160485e-02 4.75783199e-01 -3.13299445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.30 [[-1.60722887e-01 -9.24220939e-01 -3.46386792e-01 2.96423527e+02] [ 4.47886938e-01 -3.81029452e-01 8.08834870e-01 -1.70404545e+02] [-8.79525693e-01 -2.51438442e-02 4.75186640e-01 -3.13304105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.61552221e-01 -9.24312054e-01 -3.45757295e-01 2.96422968e+02] [ 4.47298529e-01 -3.80886937e-01 8.09227513e-01 -1.70403660e+02] [-8.79673182e-01 -2.39242274e-02 4.74976552e-01 -3.13305757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.62153494e-01 -9.24482866e-01 -3.45018369e-01 2.96422426e+02] [ 4.46469683e-01 -3.80545907e-01 8.09845439e-01 -1.70403033e+02] [-8.79983561e-01 -2.27209743e-02 4.74460420e-01 -3.13307466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.63577521e-01 -9.24453726e-01 -3.44423725e-01 2.96422449e+02] [ 4.45449794e-01 -3.80722521e-01 8.10323912e-01 -1.70404058e+02] [-8.80236829e-01 -2.08727002e-02 4.74075369e-01 -3.13305905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.63775717e-01 -9.24644260e-01 -3.43817549e-01 2.96421104e+02] [ 4.44997120e-01 -3.80295192e-01 8.10773168e-01 -1.70401731e+02] [-8.80428917e-01 -2.02128620e-02 4.73747151e-01 -3.13311446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.64119912e-01 -9.24814950e-01 -3.43193769e-01 2.96421172e+02] [ 4.44574346e-01 -3.79920032e-01 8.11180880e-01 -1.70402491e+02] [-8.80578393e-01 -1.94442110e-02 4.73501444e-01 -3.13310796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.31 [[-1.64516856e-01 -9.25013007e-01 -3.42469181e-01 2.96420233e+02] [ 4.44661709e-01 -3.79469861e-01 8.11343694e-01 -1.70401811e+02] [-8.80460203e-01 -1.88032175e-02 4.73747053e-01 -3.13312550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.32 [[-1.64820707e-01 -9.25211474e-01 -3.41786284e-01 2.96419291e+02] [ 4.44564242e-01 -3.79016309e-01 8.11609064e-01 -1.70400846e+02] [-8.80452594e-01 -1.81759806e-02 4.73785673e-01 -3.13316224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.32 [[-1.65112146e-01 -9.25423812e-01 -3.41070003e-01 2.96418254e+02] [ 4.44655604e-01 -3.78523732e-01 8.11788875e-01 -1.70400090e+02] [-8.80351846e-01 -1.76224848e-02 4.73993750e-01 -3.13319213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.32 [[-1.66334734e-01 -9.25467072e-01 -3.40357833e-01 2.96418255e+02] [ 4.44330169e-01 -3.78482810e-01 8.11986123e-01 -1.70401394e+02] [-8.80286009e-01 -1.61697581e-02 4.74167778e-01 -3.13317666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.32 [[-1.66799234e-01 -9.25601570e-01 -3.39764255e-01 2.96418001e+02] [ 4.43714112e-01 -3.78192348e-01 8.12458205e-01 -1.70401511e+02] [-8.80508832e-01 -1.52407885e-02 4.73784672e-01 -3.13318669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-170.40, Z:-313.33 [[-1.67636487e-01 -9.25639811e-01 -3.39247621e-01 2.96416353e+02] [ 4.42578567e-01 -3.78152637e-01 8.13095809e-01 -1.70397366e+02] [-8.80921234e-01 -1.38392014e-02 4.73060521e-01 -3.13326741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.39, Z:-313.34 [[-1.67706669e-01 -9.26342522e-01 -3.37289201e-01 2.96413715e+02] [ 4.42362510e-01 -3.76468392e-01 8.13994447e-01 -1.70392943e+02] [-8.81016392e-01 -1.26917999e-02 4.72915463e-01 -3.13338382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.40, Z:-313.33 [[-1.68221325e-01 -9.26582574e-01 -3.36372294e-01 2.96414422e+02] [ 4.42034978e-01 -3.75909862e-01 8.14430386e-01 -1.70395834e+02] [-8.81082666e-01 -1.16837604e-02 4.72817962e-01 -3.13333854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.40, Z:-313.33 [[-1.68811578e-01 -9.26728197e-01 -3.35674693e-01 2.96414047e+02] [ 4.41898610e-01 -3.75576865e-01 8.14657988e-01 -1.70395746e+02] [-8.81038177e-01 -1.08104800e-02 4.72921625e-01 -3.13334558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.40, Z:-313.34 [[-1.69383564e-01 -9.26863509e-01 -3.35012303e-01 2.96413770e+02] [ 4.41151813e-01 -3.75272919e-01 8.15202622e-01 -1.70395183e+02] [-8.81302607e-01 -9.70935950e-03 4.72452582e-01 -3.13336320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.39, Z:-313.34 [[-1.68754938e-01 -9.27265899e-01 -3.34215086e-01 2.96412861e+02] [ 4.41141763e-01 -3.74275484e-01 8.15666480e-01 -1.70393746e+02] [-8.81428225e-01 -9.78848563e-03 4.72216549e-01 -3.13340197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.39, Z:-313.34 [[-1.68212427e-01 -9.27619888e-01 -3.33505507e-01 2.96411591e+02] [ 4.41540875e-01 -3.73391161e-01 8.15855807e-01 -1.70392361e+02] [-8.81332080e-01 -1.00192281e-02 4.72391130e-01 -3.13343440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.39, Z:-313.35 [[-1.67492960e-01 -9.27989197e-01 -3.32839538e-01 2.96410464e+02] [ 4.41772766e-01 -3.72463618e-01 8.16154199e-01 -1.70391807e+02] [-8.81352898e-01 -1.03393604e-02 4.72345389e-01 -3.13346459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.39, Z:-313.36 [[-1.64828457e-01 -9.28740165e-01 -3.32074217e-01 2.96406789e+02] [ 4.43391861e-01 -3.70513309e-01 8.16163921e-01 -1.70386632e+02] [-8.81042132e-01 -1.27119657e-02 4.72866967e-01 -3.13359579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-170.39, Z:-313.36 [[-1.63848224e-01 -9.29942989e-01 -3.29180492e-01 2.96405073e+02] [ 4.43739629e-01 -3.67502895e-01 8.17335160e-01 -1.70387983e+02] [-8.81049886e-01 -1.21515148e-02 4.72867254e-01 -3.13361087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.39, Z:-313.36 [[-1.62768034e-01 -9.30362583e-01 -3.28530108e-01 2.96404055e+02] [ 4.44027449e-01 -3.66417753e-01 8.17665980e-01 -1.70387383e+02] [-8.81105097e-01 -1.27865011e-02 4.72747621e-01 -3.13363700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.38, Z:-313.37 [[-1.61745459e-01 -9.30769447e-01 -3.27882056e-01 2.96401588e+02] [ 4.44280452e-01 -3.65362352e-01 8.18000753e-01 -1.70384187e+02] [-8.81165868e-01 -1.33636813e-02 4.72618372e-01 -3.13371622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.38, Z:-313.37 [[-1.61395393e-01 -9.31103049e-01 -3.27106466e-01 2.96400978e+02] [ 4.44482214e-01 -3.64512658e-01 8.18270177e-01 -1.70384373e+02] [-8.81128304e-01 -1.33279691e-02 4.72689409e-01 -3.13372096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.38, Z:-313.37 [[-1.61296450e-01 -9.31452751e-01 -3.26158286e-01 2.96400201e+02] [ 4.44551026e-01 -3.63631681e-01 8.18624692e-01 -1.70383295e+02] [-8.81111707e-01 -1.29527440e-02 4.72730775e-01 -3.13374369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.38, Z:-313.38 [[-1.62146136e-01 -9.31538562e-01 -3.25491226e-01 2.96399183e+02] [ 4.44149488e-01 -3.63451648e-01 8.18922543e-01 -1.70382028e+02] [-8.81158251e-01 -1.17816354e-02 4.72674656e-01 -3.13377026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.38, Z:-313.38 [[-1.62459730e-01 -9.31706196e-01 -3.24854431e-01 2.96397928e+02] [ 4.43790572e-01 -3.63044272e-01 8.19297739e-01 -1.70380204e+02] [-8.81281320e-01 -1.10644441e-02 4.72462500e-01 -3.13381358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-170.38, Z:-313.38 [[-1.62862370e-01 -9.31837831e-01 -3.24274736e-01 2.96397173e+02] [ 4.43092583e-01 -3.62732531e-01 8.19813438e-01 -1.70379892e+02] [-8.81558172e-01 -1.01669713e-02 4.71965911e-01 -3.13381970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-170.54, Z:-313.40 [[-1.32807874e-01 -3.55510206e-01 9.25188933e-01 2.95575409e+02] [ 3.68722738e-01 8.48737534e-01 3.79062185e-01 -1.70541025e+02] [-9.20003050e-01 3.91480639e-01 1.83656694e-02 -3.13404463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-170.32, Z:-313.44 [[-1.39498086e-01 -9.32931131e-01 -3.31933411e-01 2.96371177e+02] [ 3.86177382e-01 -3.59923950e-01 8.49306647e-01 -1.70320961e+02] [-9.11815394e-01 -9.70852414e-03 4.10485604e-01 -3.13442828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-170.32, Z:-313.44 [[-1.40229961e-01 -9.33125312e-01 -3.31078102e-01 2.96371174e+02] [ 3.86199613e-01 -3.59445151e-01 8.49499289e-01 -1.70322740e+02] [-9.11693708e-01 -8.73698255e-03 4.10777614e-01 -3.13440479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-170.32, Z:-313.45 [[-1.40149161e-01 -9.33434625e-01 -3.30239328e-01 2.96370063e+02] [ 3.86421806e-01 -3.58646314e-01 8.49735847e-01 -1.70321547e+02] [-9.11611979e-01 -8.52191214e-03 4.10963474e-01 -3.13445164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-170.32, Z:-313.45 [[-1.39510749e-01 -9.33850922e-01 -3.29331453e-01 2.96368473e+02] [ 3.86689683e-01 -3.57555326e-01 8.50073690e-01 -1.70319534e+02] [-9.11596314e-01 -8.75465833e-03 4.10993329e-01 -3.13451856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-170.32, Z:-313.46 [[-1.39431572e-01 -9.34559101e-01 -3.27350156e-01 2.96366484e+02] [ 3.86229455e-01 -3.55723112e-01 8.51051042e-01 -1.70318494e+02] [-9.11803512e-01 -7.76888723e-03 4.10553284e-01 -3.13458004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.31, Z:-313.47 [[-1.39279553e-01 -9.34853245e-01 -3.26574059e-01 2.96364250e+02] [ 3.86051895e-01 -3.54955476e-01 8.51452021e-01 -1.70314204e+02] [-9.11901936e-01 -7.48467710e-03 4.10339907e-01 -3.13469222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.32, Z:-313.46 [[-1.38558234e-01 -9.35253367e-01 -3.25734178e-01 2.96364496e+02] [ 3.86489892e-01 -3.53891213e-01 8.51696291e-01 -1.70318370e+02] [-9.11826288e-01 -7.88343311e-03 4.10500515e-01 -3.13460878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.32, Z:-313.46 [[-1.37978720e-01 -9.35714164e-01 -3.24655011e-01 2.96362940e+02] [ 3.87094128e-01 -3.52665574e-01 8.51930237e-01 -1.70317723e+02] [-9.11657835e-01 -8.12380539e-03 4.10869803e-01 -3.13463851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.32, Z:-313.47 [[-1.37429243e-01 -9.36099322e-01 -3.23776563e-01 2.96361812e+02] [ 3.87072539e-01 -3.51640526e-01 8.52363649e-01 -1.70318045e+02] [-9.11749995e-01 -8.18532496e-03 4.10664033e-01 -3.13465475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.32, Z:-313.47 [[-1.36287362e-01 -9.36486266e-01 -3.23139641e-01 2.96359525e+02] [ 3.86329155e-01 -3.50599587e-01 8.53129365e-01 -1.70317775e+02] [-9.12236559e-01 -8.56751460e-03 4.09574241e-01 -3.13468534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-170.31, Z:-313.48 [[-1.34643308e-01 -9.37034308e-01 -3.22238865e-01 2.96356787e+02] [ 3.86933923e-01 -3.49100603e-01 8.53469922e-01 -1.70312199e+02] [-9.12224380e-01 -9.77113431e-03 4.09574421e-01 -3.13483510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.31, Z:-313.49 [[-1.33629141e-01 -9.38414917e-01 -3.18623127e-01 2.96353469e+02] [ 3.86570620e-01 -3.45395799e-01 8.55140280e-01 -1.70311609e+02] [-9.12527484e-01 -8.89867864e-03 4.08918580e-01 -3.13491238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.31, Z:-313.49 [[-1.32779237e-01 -9.38862253e-01 -3.17659163e-01 2.96352160e+02] [ 3.86488452e-01 -3.44171226e-01 8.55670990e-01 -1.70312293e+02] [-9.12686338e-01 -9.15625741e-03 4.08558211e-01 -3.13492198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.31, Z:-313.50 [[-1.32296750e-01 -9.39244638e-01 -3.16728715e-01 2.96350199e+02] [ 3.86753515e-01 -3.43123708e-01 8.55971869e-01 -1.70311081e+02] [-9.12644120e-01 -9.25364764e-03 4.08650316e-01 -3.13497148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.31, Z:-313.50 [[-1.32282464e-01 -9.39530454e-01 -3.15885858e-01 2.96348302e+02] [ 3.86939561e-01 -3.42347905e-01 8.56198393e-01 -1.70311516e+02] [-9.12567327e-01 -8.96870205e-03 4.08828126e-01 -3.13499218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.31, Z:-313.50 [[-1.32126979e-01 -9.39827715e-01 -3.15065593e-01 2.96347489e+02] [ 3.87017978e-01 -3.41536141e-01 8.56487098e-01 -1.70312449e+02] [-9.12556599e-01 -8.77099648e-03 4.08856361e-01 -3.13498406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-170.31, Z:-313.50 [[-1.31811725e-01 -9.40136501e-01 -3.14275402e-01 2.96345461e+02] [ 3.86247298e-01 -3.40694510e-01 8.57169922e-01 -1.70311555e+02] [-9.12928636e-01 -8.40297914e-03 4.08032714e-01 -3.13502010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.31, Z:-313.51 [[-1.31214202e-01 -9.40458278e-01 -3.13561893e-01 2.96343396e+02] [ 3.85751798e-01 -3.39805125e-01 8.57745899e-01 -1.70309418e+02] [-9.13224170e-01 -8.40862036e-03 4.07370730e-01 -3.13509099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.31, Z:-313.51 [[-1.30089302e-01 -9.40917701e-01 -3.12651009e-01 2.96341717e+02] [ 3.86115795e-01 -3.38513275e-01 8.58092860e-01 -1.70308042e+02] [-9.13231278e-01 -9.09079145e-03 4.07340142e-01 -3.13513651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.31, Z:-313.52 [[-1.29332596e-01 -9.41698595e-01 -3.10607205e-01 2.96340088e+02] [ 3.86154566e-01 -3.36341118e-01 8.58929161e-01 -1.70308758e+02] [-9.13322359e-01 -8.85485197e-03 4.07141082e-01 -3.13516012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.31, Z:-313.52 [[-1.27974776e-01 -9.42143107e-01 -3.09820629e-01 2.96338021e+02] [ 3.86438014e-01 -3.35068872e-01 8.59298849e-01 -1.70306563e+02] [-9.13393737e-01 -9.75789051e-03 4.06960275e-01 -3.13523642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.31, Z:-313.53 [[-1.26454382e-01 -9.43147294e-01 -3.07380010e-01 2.96335239e+02] [ 3.87190305e-01 -3.32216813e-01 8.60067240e-01 -1.70305379e+02] [-9.13286897e-01 -1.02552887e-02 4.07187760e-01 -3.13530403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.30, Z:-313.53 [[-1.25444688e-01 -9.43580682e-01 -3.06462277e-01 2.96333793e+02] [ 3.87517206e-01 -3.30965684e-01 8.60402308e-01 -1.70304893e+02] [-9.13287494e-01 -1.08265066e-02 4.07171636e-01 -3.13532914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.30, Z:-313.54 [[-1.24084093e-01 -9.44017776e-01 -3.05669064e-01 2.96332347e+02] [ 3.87790425e-01 -3.29686065e-01 8.60770402e-01 -1.70304228e+02] [-9.13357391e-01 -1.17276218e-02 4.06989851e-01 -3.13536446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.30, Z:-313.54 [[-1.22840435e-01 -9.44458707e-01 -3.04808101e-01 2.96330962e+02] [ 3.88498653e-01 -3.28386233e-01 8.60947896e-01 -1.70304046e+02] [-9.13224520e-01 -1.26583223e-02 4.07260043e-01 -3.13537783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.30, Z:-313.54 [[-1.19811846e-01 -9.45099791e-01 -3.04025505e-01 2.96328209e+02] [ 3.89260345e-01 -3.26430699e-01 8.61347422e-01 -1.70302213e+02] [-9.13302527e-01 -1.51454480e-02 4.07000136e-01 -3.13544163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.30, Z:-313.55 [[-1.18084923e-01 -9.45622584e-01 -3.03074049e-01 2.96327019e+02] [ 3.90032049e-01 -3.24848833e-01 8.61596330e-01 -1.70302366e+02] [-9.13198200e-01 -1.64670562e-02 4.07182863e-01 -3.13545082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.30, Z:-313.55 [[-1.16255556e-01 -9.46103989e-01 -3.02277833e-01 2.96325478e+02] [ 3.90447470e-01 -3.23372614e-01 8.61963413e-01 -1.70301198e+02] [-9.13255396e-01 -1.78155796e-02 4.06997772e-01 -3.13549169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.30, Z:-313.55 [[-1.13679845e-01 -9.46707102e-01 -3.01367807e-01 2.96323574e+02] [ 3.91927997e-01 -3.21466592e-01 8.62004452e-01 -1.70300247e+02] [-9.12945419e-01 -2.01219484e-02 4.07585291e-01 -3.13552512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.30, Z:-313.55 [[-1.12594648e-01 -9.47109620e-01 -3.00509255e-01 2.96322640e+02] [ 3.92519962e-01 -3.20230393e-01 8.62195207e-01 -1.70300169e+02] [-9.12825572e-01 -2.08773156e-02 4.07815661e-01 -3.13554382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.30, Z:-313.56 [[-1.11538363e-01 -9.47491517e-01 -2.99698212e-01 2.96321322e+02] [ 3.92754312e-01 -3.19057099e-01 8.62523402e-01 -1.70298622e+02] [-9.12854448e-01 -2.15033165e-02 4.07718486e-01 -3.13559034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.57 [[-1.10065596e-01 -9.47931184e-01 -2.98851191e-01 2.96318964e+02] [ 3.93420523e-01 -3.17671111e-01 8.62731336e-01 -1.70293804e+02] [-9.12746327e-01 -2.26171533e-02 4.07900242e-01 -3.13571653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.30, Z:-313.57 [[-1.09550678e-01 -9.48828444e-01 -2.96181082e-01 2.96318186e+02] [ 3.93431021e-01 -3.15031109e-01 8.63694062e-01 -1.70295361e+02] [-9.12803747e-01 -2.19085555e-02 4.07810415e-01 -3.13570534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.57 [[-1.09425969e-01 -9.49107417e-01 -2.95332133e-01 2.96317448e+02] [ 3.93605928e-01 -3.14203442e-01 8.63915836e-01 -1.70293716e+02] [-9.12743300e-01 -2.17096510e-02 4.07956321e-01 -3.13574210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.58 [[-1.09836303e-01 -9.49311015e-01 -2.94524333e-01 2.96316553e+02] [ 3.93308961e-01 -3.13641937e-01 8.64255053e-01 -1.70291537e+02] [-9.12822024e-01 -2.09124798e-02 4.07821800e-01 -3.13579961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.58 [[-1.09753925e-01 -9.49612209e-01 -2.93582574e-01 2.96316772e+02] [ 3.93383103e-01 -3.12749353e-01 8.64544722e-01 -1.70293297e+02] [-9.12799984e-01 -2.06032479e-02 4.07886867e-01 -3.13577228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.58 [[-1.09761389e-01 -9.49876316e-01 -2.92724140e-01 2.96315618e+02] [ 3.93587823e-01 -3.11966292e-01 8.64734444e-01 -1.70291290e+02] [-9.12710832e-01 -2.02982034e-02 4.08101605e-01 -3.13583363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.59 [[-1.10860373e-01 -9.50139466e-01 -2.91453210e-01 2.96315478e+02] [ 3.94134284e-01 -3.11245528e-01 8.64745273e-01 -1.70290695e+02] [-9.12342120e-01 -1.90057188e-02 4.08987333e-01 -3.13586255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-170.29, Z:-313.59 [[-1.12491301e-01 -9.50237043e-01 -2.90508639e-01 2.96315612e+02] [ 3.93687704e-01 -3.11060150e-01 8.65015361e-01 -1.70288316e+02] [-9.12335300e-01 -1.70629758e-02 4.09088201e-01 -3.13592655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-170.28, Z:-313.60 [[-1.13102852e-01 -9.50492387e-01 -2.89433874e-01 2.96314707e+02] [ 3.93734566e-01 -3.10330634e-01 8.65256025e-01 -1.70284484e+02] [-9.12239462e-01 -1.60971967e-02 4.09340987e-01 -3.13602099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.54, Z:-313.38 [[-1.55438454e-01 2.40954793e-01 -9.58008181e-01 2.96205362e+02] [ 4.50893737e-01 -8.45573106e-01 -2.85833799e-01 -1.69542826e+02] [-8.78938977e-01 -4.76389453e-01 2.27895688e-02 -3.13383042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.53, Z:-313.48 [[-1.71034081e-01 2.25619990e-01 -9.59084440e-01 2.96201423e+02] [ 5.07263761e-01 -8.14335918e-01 -2.82029237e-01 -1.69529181e+02] [-8.44648341e-01 -5.34745391e-01 2.48303504e-02 -3.13479874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-170.30, Z:-313.87 [[-1.32724383e-01 -2.36810116e-01 9.62447509e-01 2.95445287e+02] [ 4.29843405e-01 8.61217997e-01 2.71179292e-01 -1.70296655e+02] [-8.93095116e-01 4.49693818e-01 -1.25133606e-02 -3.13872734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-170.15, Z:-313.95 [[-1.35380223e-01 -9.51941775e-01 -2.74734512e-01 2.96270751e+02] [ 4.50678229e-01 -3.06106079e-01 8.38563177e-01 -1.70148876e+02] [-8.82361224e-01 -1.02919930e-02 4.70460143e-01 -3.13947155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.27, Y:-170.15, Z:-313.94 [[-1.36315272e-01 -9.52005278e-01 -2.74051269e-01 2.96272908e+02] [ 4.50300773e-01 -3.05947462e-01 8.38823798e-01 -1.70152844e+02] [-8.82409973e-01 -9.06100415e-03 4.70394024e-01 -3.13939373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.94 [[-1.37687449e-01 -9.51980732e-01 -2.73449910e-01 2.96275018e+02] [ 4.49261187e-01 -3.06071273e-01 8.39335905e-01 -1.70152880e+02] [-8.82726771e-01 -7.28441173e-03 4.69830166e-01 -3.13938569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.94 [[-1.37804936e-01 -9.52162939e-01 -2.72755453e-01 2.96275415e+02] [ 4.49241598e-01 -3.05514263e-01 8.39549297e-01 -1.70151440e+02] [-8.82718407e-01 -6.83905821e-03 4.69852574e-01 -3.13940985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.94 [[-1.37596126e-01 -9.52381457e-01 -2.72097164e-01 2.96275960e+02] [ 4.49098822e-01 -3.04836894e-01 8.39871845e-01 -1.70150508e+02] [-8.82823626e-01 -6.63540306e-03 4.69657766e-01 -3.13942531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.95 [[-1.37564174e-01 -9.52581332e-01 -2.71412792e-01 2.96275905e+02] [ 4.49065232e-01 -3.04218603e-01 8.40113956e-01 -1.70149014e+02] [-8.82845692e-01 -6.31246593e-03 4.69620738e-01 -3.13945344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.95 [[-1.36834154e-01 -9.52882937e-01 -2.70722224e-01 2.96277141e+02] [ 4.49276990e-01 -3.03265561e-01 8.40345278e-01 -1.70148132e+02] [-8.82851404e-01 -6.64133072e-03 4.69605464e-01 -3.13947021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.95 [[-1.36397669e-01 -9.53150903e-01 -2.69998208e-01 2.96277088e+02] [ 4.49625232e-01 -3.02419658e-01 8.40463861e-01 -1.70146916e+02] [-8.82741653e-01 -6.76069575e-03 4.69810032e-01 -3.13950305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.15, Z:-313.95 [[-1.35498609e-01 -9.53482094e-01 -2.69280565e-01 2.96276982e+02] [ 4.50080193e-01 -3.01361312e-01 8.40600488e-01 -1.70145605e+02] [-8.82648258e-01 -7.29765180e-03 4.69977443e-01 -3.13954024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.14, Z:-313.96 [[-1.34062214e-01 -9.53916154e-01 -2.68460972e-01 2.96277145e+02] [ 4.50786005e-01 -2.99958213e-01 8.40724122e-01 -1.70144545e+02] [-8.82507394e-01 -8.30911199e-03 4.70225114e-01 -3.13956838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.14, Z:-313.96 [[-1.31776706e-01 -9.54475614e-01 -2.67602695e-01 2.96277774e+02] [ 4.51416239e-01 -2.98122264e-01 8.41038938e-01 -1.70142784e+02] [-8.82529478e-01 -9.97086182e-03 4.70151362e-01 -3.13960773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.14, Z:-313.97 [[-1.29965114e-01 -9.54921720e-01 -2.66896193e-01 2.96277533e+02] [ 4.52068042e-01 -2.96641548e-01 8.41212385e-01 -1.70140647e+02] [-8.82464478e-01 -1.13269760e-02 4.70242645e-01 -3.13965291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.14, Z:-313.97 [[-1.28334669e-01 -9.55348678e-01 -2.66156189e-01 2.96277453e+02] [ 4.52869367e-01 -2.95213392e-01 8.41283775e-01 -1.70139422e+02] [-8.82292213e-01 -1.25681105e-02 4.70534264e-01 -3.13968462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.14, Z:-313.97 [[-1.25049090e-01 -9.55979123e-01 -2.65455535e-01 2.96278140e+02] [ 4.53912827e-01 -2.93037253e-01 8.41482212e-01 -1.70138735e+02] [-8.82227789e-01 -1.52670877e-02 4.70575228e-01 -3.13970481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.14, Z:-313.98 [[-1.23261550e-01 -9.56418363e-01 -2.64708338e-01 2.96277739e+02] [ 4.54792146e-01 -2.91524278e-01 8.41532946e-01 -1.70135769e+02] [-8.82026470e-01 -1.66586176e-02 4.70905294e-01 -3.13976242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-313.98 [[-1.21454543e-01 -9.56835897e-01 -2.64033824e-01 2.96277812e+02] [ 4.55190166e-01 -2.90074333e-01 8.41818742e-01 -1.70134763e+02] [-8.82071827e-01 -1.79428900e-02 4.70773136e-01 -3.13979148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-313.98 [[-1.19679983e-01 -9.57240170e-01 -2.63377978e-01 2.96278289e+02] [ 4.55442889e-01 -2.88659038e-01 8.42168472e-01 -1.70133935e+02] [-8.82183924e-01 -1.91629190e-02 4.70514937e-01 -3.13981246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-313.99 [[-1.17435554e-01 -9.57716408e-01 -2.62655998e-01 2.96279384e+02] [ 4.56264490e-01 -2.86952046e-01 8.42307093e-01 -1.70131112e+02] [-8.82060999e-01 -2.09238049e-02 4.70670361e-01 -3.13985909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-313.99 [[-1.16323962e-01 -9.58041675e-01 -2.61963519e-01 2.96280307e+02] [ 4.56544464e-01 -2.85814650e-01 8.42542069e-01 -1.70131274e+02] [-8.82063426e-01 -2.15901633e-02 4.70635716e-01 -3.13985908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-313.99 [[-1.15451633e-01 -9.58342232e-01 -2.61249090e-01 2.96280639e+02] [ 4.56893038e-01 -2.84768397e-01 8.42707370e-01 -1.70129780e+02] [-8.81997547e-01 -2.20709480e-02 4.70736871e-01 -3.13989467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-314.00 [[-1.14726568e-01 -9.58627305e-01 -2.60521603e-01 2.96280319e+02] [ 4.57286451e-01 -2.83778463e-01 8.42827910e-01 -1.70126224e+02] [-8.81888267e-01 -2.24382460e-02 4.70924207e-01 -3.13997056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.13, Z:-313.99 [[-1.14066300e-01 -9.58893018e-01 -2.59832754e-01 2.96281683e+02] [ 4.57388582e-01 -2.82860242e-01 8.43081116e-01 -1.70128078e+02] [-8.81920951e-01 -2.26773913e-02 4.70851539e-01 -3.13993925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.12, Z:-314.01 [[-1.13363266e-01 -9.59156483e-01 -2.59167149e-01 2.96281418e+02] [ 4.57345909e-01 -2.81946164e-01 8.43410387e-01 -1.70121032e+02] [-8.82033724e-01 -2.29172791e-02 4.70628631e-01 -3.14006720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.12, Z:-314.00 [[-1.12844561e-01 -9.59395343e-01 -2.58508570e-01 2.96283308e+02] [ 4.57188515e-01 -2.81127806e-01 8.43768818e-01 -1.70124934e+02] [-8.82181822e-01 -2.29724270e-02 4.70348276e-01 -3.13999498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.12, Z:-314.00 [[-1.11914996e-01 -9.59678881e-01 -2.57859419e-01 2.96283503e+02] [ 4.57085280e-01 -2.80123841e-01 8.44158564e-01 -1.70122440e+02] [-8.82353716e-01 -2.33897420e-02 4.70005148e-01 -3.14004010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.12, Z:-314.00 [[-1.11345777e-01 -9.59946247e-01 -2.57109550e-01 2.96284229e+02] [ 4.56954926e-01 -2.79201007e-01 8.44534779e-01 -1.70122318e+02] [-8.82493237e-01 -2.34520940e-02 4.69740019e-01 -3.14004847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-170.12, Z:-314.01 [[-1.10822634e-01 -9.60193274e-01 -2.56412207e-01 2.96284757e+02] [ 4.57063718e-01 -2.78339624e-01 8.44760209e-01 -1.70116993e+02] [-8.82502749e-01 -2.35781647e-02 4.69715839e-01 -3.14014977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.01 [[-1.10690910e-01 -9.60405608e-01 -2.55672819e-01 2.96286223e+02] [ 4.57331874e-01 -2.77620323e-01 8.44851770e-01 -1.70119661e+02] [-8.82380348e-01 -2.34099182e-02 4.69954143e-01 -3.14010301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.01 [[-1.10653779e-01 -9.60632145e-01 -2.54836465e-01 2.96287187e+02] [ 4.57610809e-01 -2.76859885e-01 8.44950266e-01 -1.70119713e+02] [-8.82240380e-01 -2.31189807e-02 4.70231245e-01 -3.14011091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.01 [[-1.11627756e-01 -9.60707647e-01 -2.54126073e-01 2.96289337e+02] [ 4.57361814e-01 -2.76698011e-01 8.45138085e-01 -1.70119488e+02] [-8.82246800e-01 -2.18866940e-02 4.70278170e-01 -3.14012070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.01 [[-1.12003125e-01 -9.60844815e-01 -2.53441397e-01 2.96290356e+02] [ 4.57132532e-01 -2.76277252e-01 8.45399745e-01 -1.70118351e+02] [-8.82318054e-01 -2.11688947e-02 4.70177338e-01 -3.14013595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.02 [[-1.11624890e-01 -9.61073079e-01 -2.52741807e-01 2.96289715e+02] [ 4.57225165e-01 -2.75482150e-01 8.45609090e-01 -1.70117663e+02] [-8.82317988e-01 -2.11688931e-02 4.70177462e-01 -3.14015828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.02 [[-1.13715436e-01 -9.61025285e-01 -2.51990478e-01 2.96291322e+02] [ 4.56963758e-01 -2.75807666e-01 8.45644284e-01 -1.70115883e+02] [-8.82186445e-01 -1.89877071e-02 4.70517315e-01 -3.14020076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.12, Z:-314.02 [[-1.14443217e-01 -9.61128118e-01 -2.51267769e-01 2.96292000e+02] [ 4.56895224e-01 -2.75514782e-01 8.45776778e-01 -1.70115860e+02] [-8.82127828e-01 -1.80096287e-02 4.70665645e-01 -3.14020650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.11, Z:-314.03 [[-1.15013455e-01 -9.61235902e-01 -2.50594187e-01 2.96291554e+02] [ 4.56534236e-01 -2.75196856e-01 8.46075164e-01 -1.70112655e+02] [-8.82240555e-01 -1.70947980e-02 4.70488439e-01 -3.14027538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.11, Z:-314.04 [[-1.15616185e-01 -9.61333898e-01 -2.49940060e-01 2.96290387e+02] [ 4.56022565e-01 -2.74913473e-01 8.46443148e-01 -1.70107689e+02] [-8.82426381e-01 -1.61157799e-02 4.70174397e-01 -3.14038110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.11, Z:-314.03 [[-1.16313911e-01 -9.61396170e-01 -2.49376177e-01 2.96291433e+02] [ 4.54827676e-01 -2.74764808e-01 8.47134042e-01 -1.70111074e+02] [-8.82951221e-01 -1.48897134e-02 4.69228556e-01 -3.14031720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.11, Z:-314.03 [[-1.15972430e-01 -9.61608747e-01 -2.48714724e-01 2.96291150e+02] [ 4.54604400e-01 -2.74025805e-01 8.47493185e-01 -1.70111566e+02] [-8.83111111e-01 -1.47809639e-02 4.68931006e-01 -3.14031409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-170.11, Z:-314.03 [[-1.15835416e-01 -9.61806957e-01 -2.48011156e-01 2.96290522e+02] [ 4.54635731e-01 -2.73341077e-01 8.47697474e-01 -1.70113619e+02] [-8.83112965e-01 -1.45613436e-02 4.68934387e-01 -3.14028224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-169.79, Z:-313.80 [[-1.79394517e-01 6.46507347e-01 7.41515918e-01 2.95196058e+02] [ 3.79948435e-01 7.40791889e-01 -5.53955381e-01 -1.69786157e+02] [-9.07445202e-01 1.82361255e-01 -3.78533458e-01 -3.13803551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-169.98, Z:-314.13 [[-1.61667691e-01 -9.18125398e-01 -3.61813918e-01 2.96325089e+02] [ 4.07703827e-01 -3.96024683e-01 8.22764875e-01 -1.69975054e+02] [-8.98688571e-01 -1.44984212e-02 4.38347635e-01 -3.14128607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.98, Z:-314.13 [[-1.61287881e-01 -9.18886643e-01 -3.60046605e-01 2.96324056e+02] [ 4.07838157e-01 -3.94272686e-01 8.23539366e-01 -1.69975138e+02] [-8.98695865e-01 -1.40138245e-02 4.38348441e-01 -3.14131071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-169.98, Z:-314.12 [[-1.61501961e-01 -9.19149662e-01 -3.59278465e-01 2.96326581e+02] [ 4.07890606e-01 -3.93677043e-01 8.23798300e-01 -1.69982333e+02] [-8.98633613e-01 -1.35012703e-02 4.38492127e-01 -3.14116704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.97, Z:-314.14 [[-1.62754850e-01 -9.19240584e-01 -3.58479578e-01 2.96322003e+02] [ 4.07697396e-01 -3.93511947e-01 8.23972804e-01 -1.69973087e+02] [-8.98495238e-01 -1.20456199e-02 4.38817970e-01 -3.14139498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.97, Z:-314.14 [[-1.62387369e-01 -9.19591491e-01 -3.57745486e-01 2.96321295e+02] [ 4.07844179e-01 -3.92691089e-01 8.24291717e-01 -1.69972590e+02] [-8.98495113e-01 -1.20498513e-02 4.38818109e-01 -3.14141769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.98, Z:-314.12 [[-1.63176143e-01 -9.19766370e-01 -3.56936089e-01 2.96323945e+02] [ 4.07867956e-01 -3.92310736e-01 8.24461046e-01 -1.69981471e+02] [-8.98341404e-01 -1.10504194e-02 4.39158982e-01 -3.14123128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.98, Z:-314.13 [[-1.63482186e-01 -9.19990994e-01 -3.56216431e-01 2.96322847e+02] [ 4.07631145e-01 -3.91802512e-01 8.24819763e-01 -1.69981617e+02] [-8.98393246e-01 -1.03615741e-02 4.39069713e-01 -3.14125385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.98, Z:-314.13 [[-1.64788000e-01 -9.20061435e-01 -3.55431949e-01 2.96320829e+02] [ 4.07381999e-01 -3.91674234e-01 8.25003758e-01 -1.69980745e+02] [-8.98267678e-01 -8.84585881e-03 4.39359681e-01 -3.14128962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-169.98, Z:-314.13 [[-1.65332959e-01 -9.20240028e-01 -3.54715807e-01 2.96320783e+02] [ 4.07056328e-01 -3.91274060e-01 8.25354322e-01 -1.69982677e+02] [-8.98315178e-01 -7.93104212e-03 4.39280025e-01 -3.14126138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-169.97, Z:-314.16 [[-1.62325748e-01 -9.21033464e-01 -3.54044785e-01 2.96313898e+02] [ 4.08147615e-01 -3.89342820e-01 8.25728583e-01 -1.69969333e+02] [-8.98368452e-01 -1.04655244e-02 4.39117976e-01 -3.14157479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-170.15, Z:-314.18 [[-1.41508199e-01 -2.55255727e-01 9.56462202e-01 2.95411521e+02] [ 3.36948942e-01 8.96074486e-01 2.88991223e-01 -1.70145001e+02] [-9.30828040e-01 3.63173554e-01 -4.07937397e-02 -3.14175685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.48886446e-01 -9.15576670e-01 -3.73566846e-01 2.96293235e+02] [ 3.46107422e-01 -4.02131575e-01 8.47643704e-01 -1.69901208e+02] [-9.26305824e-01 -3.09159976e-03 3.76759822e-01 -3.14226196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.49703204e-01 -9.15773955e-01 -3.72755972e-01 2.96292392e+02] [ 3.45334185e-01 -4.01690173e-01 8.48168206e-01 -1.69901233e+02] [-9.26462763e-01 -1.75188208e-03 3.76382358e-01 -3.14227174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.50379709e-01 -9.15993952e-01 -3.71942231e-01 2.96291865e+02] [ 3.44632299e-01 -4.01191686e-01 8.48689466e-01 -1.69902542e+02] [-9.26614549e-01 -5.57630976e-04 3.76012191e-01 -3.14226109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.52153156e-01 -9.16101362e-01 -3.70955136e-01 2.96290318e+02] [ 3.43895370e-01 -4.00943459e-01 8.49105598e-01 -1.69902923e+02] [-9.26598830e-01 1.62434290e-03 3.76047830e-01 -3.14227210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.52651509e-01 -9.16364226e-01 -3.70100150e-01 2.96289139e+02] [ 3.43568821e-01 -4.00337636e-01 8.49523539e-01 -1.69903315e+02] [-9.26638000e-01 2.52617831e-03 3.75946321e-01 -3.14228783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.53348503e-01 -9.16600331e-01 -3.69226313e-01 2.96287540e+02] [ 3.43287944e-01 -3.99788722e-01 8.49895502e-01 -1.69903468e+02] [-9.26627015e-01 3.57926079e-03 3.75964845e-01 -3.14231048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-169.90, Z:-314.23 [[-1.54923666e-01 -9.16731515e-01 -3.68241750e-01 2.96285714e+02] [ 3.42643301e-01 -3.99465200e-01 8.50307663e-01 -1.69903796e+02] [-9.26603597e-01 5.55721156e-03 3.75998526e-01 -3.14233581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-169.90, Z:-314.23 [[-1.55660929e-01 -9.16971597e-01 -3.67331955e-01 2.96284571e+02] [ 3.42591788e-01 -3.98898564e-01 8.50594382e-01 -1.69903907e+02] [-9.26499078e-01 6.55940047e-03 3.76239860e-01 -3.14234346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-169.90, Z:-314.24 [[-1.56150195e-01 -9.17233214e-01 -3.66470119e-01 2.96283261e+02] [ 3.42326442e-01 -3.98281343e-01 8.50990352e-01 -1.69904290e+02] [-9.26514827e-01 7.42989776e-03 3.76184892e-01 -3.14235746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-169.90, Z:-314.24 [[-1.56690101e-01 -9.17536095e-01 -3.65480132e-01 2.96280078e+02] [ 3.42178802e-01 -3.97564954e-01 8.51384622e-01 -1.69904379e+02] [-9.26478213e-01 8.34398828e-03 3.76255895e-01 -3.14240184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-169.91, Z:-314.24 [[-1.56340880e-01 -9.17970775e-01 -3.64536948e-01 2.96278524e+02] [ 3.42832341e-01 -3.96564020e-01 8.51588495e-01 -1.69905131e+02] [-9.26295587e-01 8.16303923e-03 3.76709237e-01 -3.14241282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-169.91, Z:-314.24 [[-1.55785595e-01 -9.18412494e-01 -3.63661023e-01 2.96276576e+02] [ 3.43111426e-01 -3.95544388e-01 8.51950225e-01 -1.69905953e+02] [-9.26285808e-01 7.94532073e-03 3.76737938e-01 -3.14242737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-169.91, Z:-314.25 [[-1.54212697e-01 -9.19090278e-01 -3.62617573e-01 2.96272849e+02] [ 3.44975671e-01 -3.93996954e-01 8.51914425e-01 -1.69906192e+02] [-9.25856485e-01 6.28178073e-03 3.77823119e-01 -3.14247090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.55, Y:-170.14, Z:-314.33 [[-1.03618022e-01 -5.59679444e-01 8.22205707e-01 2.95546006e+02] [ 2.98378225e-01 7.71089242e-01 5.62487169e-01 -1.70140747e+02] [-9.48806482e-01 3.03612088e-01 8.70974170e-02 -3.14331599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-169.88, Z:-314.33 [[-1.13541050e-01 -9.37429881e-01 -3.29140773e-01 2.96225877e+02] [ 2.95561048e-01 -3.48154164e-01 8.89624834e-01 -1.69875242e+02] [-9.48552633e-01 3.72774589e-03 3.16597547e-01 -3.14328800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-170.02, Z:-314.40 [[-7.72808883e-02 -3.29476369e-01 9.40995742e-01 2.95378238e+02] [ 2.33819145e-01 9.11507048e-01 3.38354118e-01 -1.70018112e+02] [-9.69203937e-01 2.46171127e-01 6.59580866e-03 -3.14396397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.82, Z:-314.43 [[-8.78122199e-02 -9.37728523e-01 -3.36086642e-01 2.96200800e+02] [ 2.35764924e-01 -3.47368686e-01 9.07606686e-01 -1.69815978e+02] [-9.67834653e-01 4.61516424e-04 2.51586709e-01 -3.14431529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.82, Z:-314.43 [[-8.39561897e-02 -9.39276149e-01 -3.32733640e-01 2.96196917e+02] [ 2.36401064e-01 -3.43154261e-01 9.09043283e-01 -1.69819128e+02] [-9.68021640e-01 -2.33877610e-03 2.50855805e-01 -3.14431319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-169.82, Z:-314.44 [[-8.19103977e-02 -9.40204774e-01 -3.30614080e-01 2.96194265e+02] [ 2.36688399e-01 -3.40589412e-01 9.09932665e-01 -1.69819533e+02] [-9.68126690e-01 -3.71957073e-03 2.50433377e-01 -3.14438723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-169.82, Z:-314.44 [[-8.00666712e-02 -9.41049603e-01 -3.28656315e-01 2.96192060e+02] [ 2.37202643e-01 -3.38231003e-01 9.10678151e-01 -1.69820208e+02] [-9.68155067e-01 -5.04317857e-03 2.50300484e-01 -3.14442305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-169.82, Z:-314.45 [[-7.73175866e-02 -9.41897938e-01 -3.26879588e-01 2.96188926e+02] [ 2.38047401e-01 -3.35818790e-01 9.11350194e-01 -1.69820661e+02] [-9.68171176e-01 -7.34943875e-03 2.50181054e-01 -3.14447802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-169.82, Z:-314.46 [[-7.55630677e-02 -9.42655266e-01 -3.25101943e-01 2.96186797e+02] [ 2.38517996e-01 -3.33656434e-01 9.12021135e-01 -1.69820157e+02] [-9.68193880e-01 -8.62754897e-03 2.50052348e-01 -3.14455477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-169.82, Z:-314.46 [[-7.40672762e-02 -9.43444471e-01 -3.23151000e-01 2.96184875e+02] [ 2.38671952e-01 -3.31393929e-01 9.12805435e-01 -1.69820921e+02] [-9.68271521e-01 -9.51806768e-03 2.49719179e-01 -3.14458695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-169.82, Z:-314.49 [[-7.00510553e-02 -9.44410454e-01 -3.21219153e-01 2.96179143e+02] [ 2.39593176e-01 -3.28513101e-01 9.13605086e-01 -1.69816493e+02] [-9.68342894e-01 -1.29629166e-02 2.49286989e-01 -3.14487804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-169.82, Z:-314.49 [[-6.90323281e-02 -9.47987159e-01 -3.10732817e-01 2.96174256e+02] [ 2.39193898e-01 -3.18118567e-01 9.17380432e-01 -1.69822641e+02] [-9.68514748e-01 -1.09964867e-02 2.48713209e-01 -3.14489807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-169.82, Z:-314.50 [[-6.83870676e-02 -9.48678957e-01 -3.08757907e-01 2.96172198e+02] [ 2.39123070e-01 -3.16047886e-01 9.18114313e-01 -1.69822955e+02] [-9.68578013e-01 -1.10439928e-02 2.48464612e-01 -3.14495113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-168.96, Z:-314.39 [[-1.21830462e-01 5.14454544e-01 -8.48819098e-01 2.95914096e+02] [ 2.91039395e-01 -7.99082574e-01 -5.26082798e-01 -1.68964061e+02] [-9.48922235e-01 -3.11132708e-01 -5.23739400e-02 -3.14387270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-169.98, Z:-314.75 [[-6.43322284e-02 -5.64326667e-01 8.23041176e-01 2.95474250e+02] [ 2.27728273e-01 7.94685914e-01 5.62684753e-01 -1.69980305e+02] [-9.71597241e-01 2.23628510e-01 7.73892219e-02 -3.14754609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-169.76, Z:-314.76 [[-6.80411363e-02 -9.53270215e-01 -2.94357437e-01 2.96137995e+02] [ 2.40478751e-01 -3.02012530e-01 9.22474066e-01 -1.69763669e+02] [-9.68266685e-01 -8.02052520e-03 2.49790507e-01 -3.14757457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-169.76, Z:-314.76 [[-6.87666207e-02 -9.53782109e-01 -2.92524939e-01 2.96136694e+02] [ 2.40534941e-01 -3.00420013e-01 9.22979284e-01 -1.69764112e+02] [-9.68201474e-01 -6.89230262e-03 2.50076793e-01 -3.14761512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-169.77, Z:-314.76 [[-7.09334162e-02 -9.54309617e-01 -2.90278495e-01 2.96135476e+02] [ 2.40644530e-01 -2.98787962e-01 9.23480354e-01 -1.69765968e+02] [-9.68017903e-01 -4.34831575e-03 2.50843440e-01 -3.14761575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-169.77, Z:-314.77 [[-7.18680563e-02 -9.54843597e-01 -2.88285776e-01 2.96134261e+02] [ 2.40329555e-01 -2.97095054e-01 9.24108345e-01 -1.69766503e+02] [-9.68027214e-01 -2.86972175e-03 2.50828781e-01 -3.14765611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-169.77, Z:-314.77 [[-7.23774727e-02 -9.55408199e-01 -2.86280761e-01 2.96132884e+02] [ 2.40358954e-01 -2.95282277e-01 9.24681540e-01 -1.69766160e+02] [-9.67981960e-01 -1.88403155e-03 2.51012701e-01 -3.14771814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-169.77, Z:-314.77 [[-7.29695377e-02 -9.55957228e-01 -2.84290739e-01 2.96131473e+02] [ 2.40143049e-01 -2.93505047e-01 9.25303249e-01 -1.69767038e+02] [-9.67991096e-01 -7.51494506e-04 2.50983411e-01 -3.14773807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.13, Y:-169.77, Z:-314.78 [[-7.35880541e-02 -9.56512363e-01 -2.82256795e-01 2.96130169e+02] [ 2.40525639e-01 -2.91691694e-01 9.25777172e-01 -1.69767052e+02] [-9.67849273e-01 2.36144745e-04 2.51530771e-01 -3.14779285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-169.76, Z:-314.79 [[-7.26286359e-02 -9.57168317e-01 -2.80274678e-01 2.96127990e+02] [ 2.40756908e-01 -2.89531994e-01 9.26394805e-01 -1.69764811e+02] [-9.67864243e-01 -1.95273891e-04 2.51473198e-01 -3.14794193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-169.77, Z:-314.80 [[-7.19322295e-02 -9.58577492e-01 -2.75599250e-01 2.96125761e+02] [ 2.40969019e-01 -2.84831678e-01 9.27795693e-01 -1.69766735e+02] [-9.67863465e-01 3.27531963e-04 2.51476055e-01 -3.14797261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-169.77, Z:-314.80 [[-7.09558426e-02 -9.59276656e-01 -2.73410982e-01 2.96124590e+02] [ 2.41255857e-01 -2.82468210e-01 9.28443494e-01 -1.69766910e+02] [-9.67864081e-01 -8.35103267e-05 2.51473882e-01 -3.14801715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-169.77, Z:-314.81 [[-6.94139357e-02 -9.59958832e-01 -2.71405134e-01 2.96122669e+02] [ 2.41831930e-01 -2.80138754e-01 9.28999245e-01 -1.69766250e+02] [-9.67832126e-01 -1.14893360e-03 2.51594231e-01 -3.14810355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-169.77, Z:-314.82 [[-6.84712022e-02 -9.60605082e-01 -2.69350276e-01 2.96121325e+02] [ 2.42887026e-01 -2.77911299e-01 9.29392921e-01 -1.69765492e+02] [-9.67635048e-01 -1.78503697e-03 2.52347433e-01 -3.14818369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-169.77, Z:-314.82 [[-6.73630850e-02 -9.61248286e-01 -2.67327418e-01 2.96120381e+02] [ 2.43439672e-01 -2.75673355e-01 9.29914688e-01 -1.69766833e+02] [-9.67573946e-01 -2.43617664e-03 2.52576175e-01 -3.14818519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-169.73, Z:-314.99 [[-6.54945831e-02 -9.62965918e-01 -2.61547511e-01 2.96106651e+02] [ 2.43363732e-01 -2.69610327e-01 9.31710451e-01 -1.69728877e+02] [-9.67721320e-01 -2.62919101e-03 2.52008996e-01 -3.14986502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-168.99, Z:-314.76 [[-8.73649520e-02 1.88146026e-01 -9.78247636e-01 2.96055557e+02] [ 3.01276044e-01 -9.31025810e-01 -2.05970110e-01 -1.68993906e+02] [-9.49526256e-01 -3.12717146e-01 2.46551348e-02 -3.14756035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-169.77, Z:-315.05 [[-5.95036787e-02 -1.78938077e-01 9.82059304e-01 2.95233957e+02] [ 2.32640377e-01 9.54226654e-01 1.87962621e-01 -1.69770157e+02] [-9.70740834e-01 2.39651115e-01 -1.51517745e-02 -3.15046476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-169.69, Z:-315.10 [[-6.46063579e-02 -9.61528609e-01 -2.66999539e-01 2.96100534e+02] [ 2.42748045e-01 -2.74664532e-01 9.30393885e-01 -1.69694084e+02] [-9.67935641e-01 -4.70425561e-03 2.51154265e-01 -3.15096237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:-169.69, Z:-315.11 [[-6.12696993e-02 -9.62132558e-01 -2.65606785e-01 2.96098363e+02] [ 2.42975686e-01 -2.72478918e-01 9.30976936e-01 -1.69690774e+02] [-9.68095471e-01 -7.49531380e-03 2.50469519e-01 -3.15114152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.69, Z:-315.12 [[-5.99425544e-02 -9.64951342e-01 -2.55491285e-01 2.96093939e+02] [ 2.42460668e-01 -2.62361185e-01 9.34012545e-01 -1.69694930e+02] [-9.68307655e-01 -5.95948995e-03 2.49689347e-01 -3.15118292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.69, Z:-315.12 [[-5.91015213e-02 -9.65527099e-01 -2.53504303e-01 2.96093061e+02] [ 2.42248419e-01 -2.60229400e-01 9.34663770e-01 -1.69694619e+02] [-9.68412471e-01 -6.17096602e-03 2.49277367e-01 -3.15123612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.69, Z:-315.13 [[-5.84023489e-02 -9.66091158e-01 -2.51509522e-01 2.96092230e+02] [ 2.42107753e-01 -2.58125096e-01 9.35283524e-01 -1.69694233e+02] [-9.68490063e-01 -6.26965050e-03 2.48973271e-01 -3.15129439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.69, Z:-315.16 [[-5.47717177e-02 -9.66862773e-01 -2.49352037e-01 2.96089999e+02] [ 2.42450215e-01 -2.55131251e-01 9.36015992e-01 -1.69688358e+02] [-9.68616515e-01 -9.18825128e-03 2.48390064e-01 -3.15156747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-169.66, Z:-315.20 [[-5.00647040e-02 -9.65038581e-01 -2.57282068e-01 2.96092942e+02] [ 2.60049708e-01 -2.61315307e-01 9.29563586e-01 -1.69660926e+02] [-9.64296466e-01 -2.03678009e-02 2.64040675e-01 -3.15202841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-169.48, Z:-315.17 [[-7.54447379e-02 2.80068843e-01 9.57010729e-01 2.95078967e+02] [ 1.66090277e-01 9.49868358e-01 -2.64885113e-01 -1.69475118e+02] [-9.83220276e-01 1.38965989e-01 -1.18179281e-01 -3.15168460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-169.55, Z:-315.28 [[-7.41627576e-02 -9.11866331e-01 -4.03732188e-01 2.96143715e+02] [ 1.80200943e-01 -4.10436456e-01 8.93906894e-01 -1.69551542e+02] [-9.80830009e-01 -6.45832070e-03 1.94758272e-01 -3.15275738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-169.55, Z:-315.28 [[-7.43108670e-02 -9.13005635e-01 -4.01121684e-01 2.96143071e+02] [ 1.81727755e-01 -4.07896668e-01 8.94759929e-01 -1.69553391e+02] [-9.80537056e-01 -6.40455704e-03 1.96229620e-01 -3.15277136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-168.80, Z:-315.20 [[-1.49830121e-01 9.86134165e-01 7.13466470e-02 2.95271800e+02] [ 1.59146348e-01 9.52745491e-02 -9.82647037e-01 -1.68804395e+02] [-9.75819335e-01 -1.35875566e-01 -1.71214648e-01 -3.15198132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.36, Z:-315.45 [[-1.43006064e-01 -7.58414616e-01 -6.35890349e-01 2.96217799e+02] [ 1.78750591e-01 -6.51720106e-01 7.37095062e-01 -1.69362604e+02] [-9.73446194e-01 -8.25671233e-03 2.28766988e-01 -3.15449698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.37, Z:-315.46 [[-1.42039326e-01 -7.64400757e-01 -6.28900877e-01 2.96216091e+02] [ 1.79526954e-01 -6.44699381e-01 7.43056378e-01 -1.69366090e+02] [-9.73444864e-01 -7.36143124e-03 2.28803205e-01 -3.15456858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.37, Z:-315.46 [[-1.41389159e-01 -7.66115535e-01 -6.26957808e-01 2.96215297e+02] [ 1.80033204e-01 -6.42658168e-01 7.44700292e-01 -1.69366807e+02] [-9.73446019e-01 -7.58067435e-03 2.28791132e-01 -3.15461018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.47 [[-1.40668037e-01 -7.67658516e-01 -6.25230282e-01 2.96214460e+02] [ 1.80156042e-01 -6.40813282e-01 7.46258761e-01 -1.69367612e+02] [-9.73527762e-01 -7.66425756e-03 2.28440266e-01 -3.15466511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.47 [[-1.40194568e-01 -7.69196670e-01 -6.23443635e-01 2.96213616e+02] [ 1.80549947e-01 -6.38965327e-01 7.47746633e-01 -1.69368116e+02] [-9.73523086e-01 -7.73269867e-03 2.28457886e-01 -3.15471460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.48 [[-1.38992631e-01 -7.70802885e-01 -6.21726597e-01 2.96213395e+02] [ 1.80908123e-01 -6.37019306e-01 7.49318794e-01 -1.69368051e+02] [-9.73628933e-01 -8.32560148e-03 2.27985492e-01 -3.15477560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.48 [[-1.38120953e-01 -7.72348376e-01 -6.20000474e-01 2.96212823e+02] [ 1.81028814e-01 -6.35141955e-01 7.50881659e-01 -1.69368196e+02] [-9.73730543e-01 -8.52545953e-03 2.27543722e-01 -3.15482197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.49 [[-1.36820604e-01 -7.74130192e-01 -6.18063563e-01 2.96211761e+02] [ 1.81828347e-01 -6.32956331e-01 7.52532215e-01 -1.69367794e+02] [-9.73765154e-01 -9.41956348e-03 2.27360281e-01 -3.15489366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.50 [[-1.35992737e-01 -7.76774109e-01 -6.14921099e-01 2.96210373e+02] [ 1.82622497e-01 -6.29705905e-01 7.55062578e-01 -1.69368148e+02] [-9.73732509e-01 -9.61539988e-03 2.27491857e-01 -3.15498816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.50 [[-1.34210407e-01 -7.78675111e-01 -6.12905081e-01 2.96210094e+02] [ 1.84355481e-01 -6.27322938e-01 7.56623412e-01 -1.69368210e+02] [-9.73653236e-01 -1.14456750e-02 2.27746292e-01 -3.15503808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.52 [[-1.32678550e-01 -7.80483358e-01 -6.10935455e-01 2.96207324e+02] [ 1.85410093e-01 -6.25048146e-01 7.58246604e-01 -1.69366082e+02] [-9.73662929e-01 -1.26705393e-02 2.27639974e-01 -3.15523412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.52 [[-1.30635405e-01 -7.82374666e-01 -6.08953425e-01 2.96208314e+02] [ 1.86851361e-01 -6.22638842e-01 7.59873306e-01 -1.69368721e+02] [-9.73663679e-01 -1.45174192e-02 2.27526449e-01 -3.15517501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.52 [[-1.27350823e-01 -7.84615297e-01 -6.06762395e-01 2.96207545e+02] [ 1.89385019e-01 -6.19723958e-01 7.61626897e-01 -1.69368662e+02] [-9.73609307e-01 -1.79178960e-02 2.27516739e-01 -3.15524549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.54 [[-1.24794697e-01 -7.86559719e-01 -6.04772760e-01 2.96206031e+02] [ 1.91256956e-01 -6.17176485e-01 7.63226024e-01 -1.69367824e+02] [-9.73574373e-01 -2.04204372e-02 2.27455370e-01 -3.15535210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.37, Z:-315.54 [[-1.21346381e-01 -7.89516856e-01 -6.01612991e-01 2.96205593e+02] [ 1.93612418e-01 -6.13276644e-01 7.65771499e-01 -1.69368586e+02] [-9.73544702e-01 -2.35561459e-02 2.27279169e-01 -3.15540683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.37, Z:-315.55 [[-1.19834968e-01 -7.91181816e-01 -5.99725699e-01 2.96204500e+02] [ 1.95101889e-01 -6.11066747e-01 7.67158838e-01 -1.69368317e+02] [-9.73434555e-01 -2.50751620e-02 2.27588231e-01 -3.15548498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-169.35, Z:-315.69 [[-1.12848215e-01 -7.97245212e-01 -5.93013788e-01 2.96187436e+02] [ 1.96596132e-01 -6.02942539e-01 7.73181903e-01 -1.69349039e+02] [-9.73968809e-01 -2.93320190e-02 2.24776314e-01 -3.15687794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-168.74, Z:-315.44 [[-2.30552140e-01 9.72837299e-01 2.08158868e-02 2.95281123e+02] [ 1.63050256e-01 5.97132327e-02 -9.84809090e-01 -1.68742217e+02] [-9.59301999e-01 -2.23655808e-01 -1.72388384e-01 -3.15438723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-169.22, Z:-315.73 [[-1.87368803e-01 -6.53051095e-01 -7.33769173e-01 2.96228937e+02] [ 1.99277328e-01 -7.56736470e-01 6.22606185e-01 -1.69215638e+02] [-9.61863545e-01 -2.95665840e-02 2.71927084e-01 -3.15728326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-169.22, Z:-315.73 [[-1.86934213e-01 -6.54582851e-01 -7.32514089e-01 2.96227689e+02] [ 1.99693004e-01 -7.55409958e-01 6.24082126e-01 -1.69215837e+02] [-9.61861895e-01 -2.96156381e-02 2.71927582e-01 -3.15733966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-169.21, Z:-315.74 [[-1.85291313e-01 -6.56544050e-01 -7.31175109e-01 2.96226728e+02] [ 2.01204183e-01 -7.53643252e-01 6.25730554e-01 -1.69214247e+02] [-9.61864859e-01 -3.11730539e-02 2.71742957e-01 -3.15742639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-169.21, Z:-315.75 [[-1.84542696e-01 -6.58204212e-01 -7.29870679e-01 2.96225686e+02] [ 2.02254538e-01 -7.52164131e-01 6.27170011e-01 -1.69213440e+02] [-9.61788488e-01 -3.18800125e-02 2.71931185e-01 -3.15749568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.76 [[-1.83182290e-01 -6.60101307e-01 -7.28498808e-01 2.96224520e+02] [ 2.04468380e-01 -7.50415025e-01 6.28545919e-01 -1.69211765e+02] [-9.61580434e-01 -3.38164900e-02 2.72432587e-01 -3.15760228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.76 [[-1.82758528e-01 -6.64493049e-01 -7.24602173e-01 2.96224274e+02] [ 2.05321278e-01 -7.46560206e-01 6.32843608e-01 -1.69214217e+02] [-9.61479326e-01 -3.31186779e-02 2.72874806e-01 -3.15763929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.77 [[-1.82365313e-01 -6.66204668e-01 -7.23128089e-01 2.96223300e+02] [ 2.06182818e-01 -7.45020284e-01 6.34376404e-01 -1.69213451e+02] [-9.61369616e-01 -3.34083352e-02 2.73225813e-01 -3.15772702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.78 [[-1.81896060e-01 -6.67962225e-01 -7.21623371e-01 2.96223595e+02] [ 2.06442863e-01 -7.43451372e-01 6.36130020e-01 -1.69213417e+02] [-9.61402708e-01 -3.32644505e-02 2.73126910e-01 -3.15775350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.79 [[-1.80864311e-01 -6.69469160e-01 -7.20485354e-01 2.96221777e+02] [ 2.05587199e-01 -7.42118089e-01 6.37961319e-01 -1.69209253e+02] [-9.61780643e-01 -3.27381317e-02 2.71856966e-01 -3.15789806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.80 [[-1.79037118e-01 -6.71154954e-01 -7.19372461e-01 2.96220482e+02] [ 2.06294837e-01 -7.40541691e-01 6.39562698e-01 -1.69207493e+02] [-9.61970972e-01 -3.38973623e-02 2.71040251e-01 -3.15798187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.81 [[-1.78997033e-01 -6.77018144e-01 -7.13867281e-01 2.96219134e+02] [ 2.06399885e-01 -7.35279566e-01 6.45571876e-01 -1.69209612e+02] [-9.61955898e-01 -3.17866743e-02 2.71349328e-01 -3.15807506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.82 [[-1.79106025e-01 -6.78582019e-01 -7.12353477e-01 2.96217608e+02] [ 2.06796724e-01 -7.33852373e-01 6.47067082e-01 -1.69208611e+02] [-9.61850377e-01 -3.14187525e-02 2.71765920e-01 -3.15816820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-169.21, Z:-315.81 [[-1.78883590e-01 -6.79881591e-01 -7.11169237e-01 2.96218550e+02] [ 2.06058520e-01 -7.32686751e-01 6.48621624e-01 -1.69211268e+02] [-9.62050179e-01 -3.05147157e-02 2.71161031e-01 -3.15813035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.21, Z:-315.83 [[-1.78186020e-01 -6.81341572e-01 -7.09946058e-01 2.96214693e+02] [ 2.06114605e-01 -7.31330489e-01 6.50132667e-01 -1.69209440e+02] [-9.62167611e-01 -3.04856985e-02 2.70747318e-01 -3.15831171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.21, Z:-315.84 [[-1.77546437e-01 -6.84334251e-01 -7.07222663e-01 2.96213692e+02] [ 2.06082640e-01 -7.28560691e-01 6.53245180e-01 -1.69211815e+02] [-9.62292683e-01 -2.97649591e-02 2.70382764e-01 -3.15835253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.21, Z:-315.84 [[-1.76444938e-01 -6.85822085e-01 -7.06056125e-01 2.96212524e+02] [ 2.06056957e-01 -7.27152790e-01 6.54820090e-01 -1.69213998e+02] [-9.62500761e-01 -2.99480862e-02 2.69620841e-01 -3.15835519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.21, Z:-315.84 [[-1.75374885e-01 -6.87521414e-01 -7.04668685e-01 2.96210324e+02] [ 2.06658486e-01 -7.25523157e-01 6.56436150e-01 -1.69214919e+02] [-9.62567359e-01 -3.05033494e-02 2.69320674e-01 -3.15843614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.22, Z:-315.85 [[-1.74146168e-01 -6.89200912e-01 -7.03331512e-01 2.96209349e+02] [ 2.07951462e-01 -7.23876615e-01 6.57844082e-01 -1.69216051e+02] [-9.62511975e-01 -3.16977904e-02 2.69380676e-01 -3.15847090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.22, Z:-315.85 [[-1.71993977e-01 -6.91206688e-01 -7.01891292e-01 2.96208160e+02] [ 2.10002622e-01 -7.21857577e-01 6.59409234e-01 -1.69218143e+02] [-9.62453620e-01 -3.39845950e-02 2.69310372e-01 -3.15851712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-169.22, Z:-315.86 [[-1.70938908e-01 -6.92797919e-01 -7.00578999e-01 2.96206388e+02] [ 2.10879647e-01 -7.20292829e-01 6.60838873e-01 -1.69219057e+02] [-9.62449824e-01 -3.47747764e-02 2.69223050e-01 -3.15856399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.22, Z:-315.86 [[-1.69737859e-01 -6.94406130e-01 -6.99277617e-01 2.96204695e+02] [ 2.11802983e-01 -7.18697415e-01 6.62279036e-01 -1.69219697e+02] [-9.62459638e-01 -3.56952594e-02 2.69067451e-01 -3.15863226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.22, Z:-315.87 [[-1.68612554e-01 -6.95972738e-01 -6.97991228e-01 2.96203229e+02] [ 2.12505512e-01 -7.17144377e-01 6.63735904e-01 -1.69220504e+02] [-9.62502579e-01 -3.64127770e-02 2.68817588e-01 -3.15868492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.22, Z:-315.88 [[-1.67413642e-01 -6.97581036e-01 -6.96673074e-01 2.96200386e+02] [ 2.13476899e-01 -7.15530904e-01 6.65163994e-01 -1.69221649e+02] [-9.62496902e-01 -3.73660809e-02 2.68707071e-01 -3.15877409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-169.22, Z:-315.89 [[-1.66808571e-01 -6.99286252e-01 -6.95106926e-01 2.96197922e+02] [ 2.13720757e-01 -7.13866960e-01 6.66871353e-01 -1.69222537e+02] [-9.62547837e-01 -3.73189205e-02 2.68531114e-01 -3.15885961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-169.22, Z:-315.90 [[-1.65077216e-01 -7.01009683e-01 -6.93783063e-01 2.96194478e+02] [ 2.15213744e-01 -7.12085034e-01 6.68294807e-01 -1.69222236e+02] [-9.62513666e-01 -3.89914046e-02 2.68415933e-01 -3.15899720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-168.92, Z:-315.74 [[-2.75030357e-01 8.16540100e-01 5.07563363e-01 2.95060147e+02] [ 1.25537022e-01 5.53902020e-01 -8.23063186e-01 -1.68923775e+02] [-9.53204469e-01 -1.62649369e-01 -2.54845883e-01 -3.15737796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-168.54, Z:-315.90 [[-3.39266211e-01 8.72144341e-01 -3.52509131e-01 2.95445068e+02] [ 1.79821802e-01 -3.07695849e-01 -9.34337939e-01 -1.68544194e+02] [-9.23343142e-01 -3.80378119e-01 -5.24397622e-02 -3.15902760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-169.01, Z:-316.22 [[-2.89868163e-01 -4.97416129e-01 -8.17651297e-01 2.96166716e+02] [ 2.03253655e-01 -8.66836931e-01 4.55281986e-01 -1.69012211e+02] [-9.35234944e-01 -3.42188616e-02 3.52370075e-01 -3.16221359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-169.01, Z:-316.24 [[-2.89914170e-01 -4.98705813e-01 -8.16848999e-01 2.96161342e+02] [ 2.03301737e-01 -8.66116584e-01 4.56629464e-01 -1.69010468e+02] [-9.35210232e-01 -3.36834679e-02 3.52487228e-01 -3.16236834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-169.01, Z:-316.23 [[-2.91496191e-01 -4.99229568e-01 -8.15965569e-01 2.96164356e+02] [ 2.01578089e-01 -8.65913580e-01 4.57777180e-01 -1.69013732e+02] [-9.35091570e-01 -3.10404756e-02 3.53044253e-01 -3.16229185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-169.01, Z:-316.23 [[-2.92474725e-01 -4.99917742e-01 -8.15193711e-01 2.96163389e+02] [ 2.00223910e-01 -8.65587915e-01 4.58985782e-01 -1.69014366e+02] [-9.35076960e-01 -2.89795323e-02 3.53258072e-01 -3.16233567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-168.99, Z:-316.31 [[-2.99932132e-01 -4.87772279e-01 -8.19828592e-01 2.96127392e+02] [ 2.17847191e-01 -8.71707723e-01 4.38939912e-01 -1.68987198e+02] [-9.28753637e-01 -4.69451727e-02 3.67712977e-01 -3.16306006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-169.64, Z:-316.39 [[-2.17378168e-01 -8.66771962e-01 4.48835268e-01 2.95592813e+02] [ 1.52673974e-01 4.23978043e-01 8.92711195e-01 -1.69641725e+02] [-9.64073332e-01 2.62581388e-01 4.01699502e-02 -3.16389249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-168.47, Z:-316.27 [[-3.13466947e-01 8.27403664e-01 -4.65984603e-01 2.95413196e+02] [ 1.92914711e-01 -4.24996832e-01 -8.84399009e-01 -1.68465941e+02] [-9.29796961e-01 -3.67125142e-01 -2.63958789e-02 -3.16268601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-168.98, Z:-316.59 [[-2.87282381e-01 -5.42767778e-01 -7.89222385e-01 2.96061284e+02] [ 2.07648324e-01 -8.39651647e-01 5.01863811e-01 -1.68982449e+02] [-9.35067381e-01 -1.97040749e-02 3.53921944e-01 -3.16594156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-168.98, Z:-316.59 [[-2.89996766e-01 -5.44814485e-01 -7.86815768e-01 2.96061661e+02] [ 2.02643355e-01 -8.38459855e-01 5.05886095e-01 -1.68984299e+02] [-9.35327507e-01 -1.27376556e-02 3.53553682e-01 -3.16594453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-168.96, Z:-316.34 [[-3.43535218e-01 6.43467345e-01 6.84056526e-01 2.94898683e+02] [ 1.29748714e-01 7.53920527e-01 -6.44025706e-01 -1.68960774e+02] [-9.30133768e-01 -1.32490057e-01 -3.42487313e-01 -3.16342821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.83, Z:-316.73 [[-3.38870008e-01 -3.81872030e-01 -8.59849330e-01 2.96017621e+02] [ 1.45173196e-01 -9.24200998e-01 3.53238247e-01 -1.68831546e+02] [-9.29565415e-01 -5.12522725e-03 3.68621583e-01 -3.16733617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.83, Z:-316.74 [[-3.40008942e-01 -3.82075333e-01 -8.59309234e-01 2.96016009e+02] [ 1.42625131e-01 -9.24128933e-01 3.54462675e-01 -1.68831951e+02] [-9.29543970e-01 -2.03861279e-03 3.68705645e-01 -3.16738891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.83, Z:-316.74 [[-3.41049206e-01 -3.82826778e-01 -8.58562227e-01 2.96014822e+02] [ 1.41793640e-01 -9.23820028e-01 3.55599661e-01 -1.68833016e+02] [-9.29290053e-01 -4.61681530e-04 3.69350490e-01 -3.16742706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.84, Z:-316.75 [[-3.42682601e-01 -3.84102918e-01 -8.57340996e-01 2.96013261e+02] [ 1.42544272e-01 -9.23290284e-01 3.56673776e-01 -1.68835083e+02] [-9.28574050e-01 1.68492332e-05 3.71147187e-01 -3.16747453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.84, Z:-316.75 [[-3.42773938e-01 -3.85801179e-01 -8.56541580e-01 2.96011616e+02] [ 1.43997098e-01 -9.22581716e-01 3.57921517e-01 -1.68835703e+02] [-9.28316144e-01 -6.53333950e-04 3.71791218e-01 -3.16753185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.84, Z:-316.76 [[-3.42547734e-01 -3.87142559e-01 -8.56026687e-01 2.96009855e+02] [ 1.44535435e-01 -9.22019603e-01 3.59150886e-01 -1.68835701e+02] [-9.28315980e-01 -6.99867146e-04 3.71791544e-01 -3.16758627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.83, Z:-316.85 [[-3.36283196e-01 -3.93753911e-01 -8.55494868e-01 2.95977085e+02] [ 1.59276858e-01 -9.19092539e-01 3.60416131e-01 -1.68826955e+02] [-9.28194212e-01 -1.50586459e-02 3.71791262e-01 -3.16845345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.85, Z:-316.86 [[-3.35935787e-01 -4.28433550e-01 -8.38803815e-01 2.95979552e+02] [ 1.60004435e-01 -9.03573021e-01 3.97434746e-01 -1.68849606e+02] [-9.28194876e-01 -6.99777002e-04 3.72093782e-01 -3.16856131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.85, Z:-316.86 [[-3.35865107e-01 -4.30155252e-01 -8.37950529e-01 2.95978288e+02] [ 1.61614783e-01 -9.02753623e-01 3.98643398e-01 -1.68850510e+02] [-9.27941427e-01 -1.53478527e-03 3.72722889e-01 -3.16860634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.85, Z:-316.87 [[-3.35546132e-01 -4.32577496e-01 -8.36830630e-01 2.95975542e+02] [ 1.65420009e-01 -9.01586487e-01 3.99722439e-01 -1.68851758e+02] [-9.27386119e-01 -4.30321234e-03 3.74080832e-01 -3.16868350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-168.85, Z:-316.87 [[-3.35140854e-01 -4.34507557e-01 -8.35992698e-01 2.95973799e+02] [ 1.67915384e-01 -9.00647849e-01 4.00796552e-01 -1.68852691e+02] [-9.27084156e-01 -6.05273614e-03 3.74804393e-01 -3.16872996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-168.85, Z:-316.88 [[-3.34537986e-01 -4.36446145e-01 -8.35223981e-01 2.95971708e+02] [ 1.70349977e-01 -8.99696329e-01 4.01904716e-01 -1.68853274e+02] [-9.26857714e-01 -7.82799178e-03 3.75331188e-01 -3.16878803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-168.85, Z:-316.89 [[-3.32757143e-01 -4.39008819e-01 -8.34592080e-01 2.95968548e+02] [ 1.74312553e-01 -8.98411030e-01 4.03079092e-01 -1.68854074e+02] [-9.26762007e-01 -1.13524289e-02 3.75477436e-01 -3.16885669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-168.85, Z:-316.99 [[-3.16316468e-01 -4.51711916e-01 -8.34206352e-01 2.95925361e+02] [ 2.06918378e-01 -8.91037691e-01 4.04025516e-01 -1.68848341e+02] [-9.25812442e-01 -4.48127005e-02 3.75317392e-01 -3.16991683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.90, Z:-317.02 [[-3.13087771e-01 -5.24776215e-01 -7.91571836e-01 2.95924712e+02] [ 2.09498379e-01 -8.51105968e-01 4.81382448e-01 -1.68896973e+02] [-9.26329573e-01 -1.51180588e-02 3.76410637e-01 -3.17018804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.90, Z:-317.03 [[-3.11951289e-01 -5.28523876e-01 -7.89524481e-01 2.95922293e+02] [ 2.10694467e-01 -8.48784683e-01 4.84945773e-01 -1.68898438e+02] [-9.26441706e-01 -1.50689806e-02 3.76136533e-01 -3.17025665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.90, Z:-317.03 [[-3.10698504e-01 -5.29980107e-01 -7.89042157e-01 2.95919719e+02] [ 2.11482570e-01 -8.47862818e-01 4.86213703e-01 -1.68898144e+02] [-9.26683097e-01 -1.58027927e-02 3.75511264e-01 -3.17032007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.90, Z:-317.03 [[-3.09187898e-01 -5.31352300e-01 -7.88712607e-01 2.95917817e+02] [ 2.11819572e-01 -8.46993909e-01 4.87579519e-01 -1.68899202e+02] [-9.27111273e-01 -1.63110801e-02 3.74431083e-01 -3.17034398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.90, Z:-317.04 [[-3.08257021e-01 -5.32649566e-01 -7.88201782e-01 2.95916112e+02] [ 2.12206418e-01 -8.46173570e-01 4.88834046e-01 -1.68899765e+02] [-9.27332759e-01 -1.65749498e-02 3.73870601e-01 -3.17037827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-168.90, Z:-317.05 [[-3.07368556e-01 -5.34106278e-01 -7.87562730e-01 2.95911836e+02] [ 2.13226356e-01 -8.45239963e-01 4.90004007e-01 -1.68898806e+02] [-9.27393709e-01 -1.73173072e-02 3.73685722e-01 -3.17048792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-168.89, Z:-317.06 [[-3.11636715e-01 -5.29657589e-01 -7.88888709e-01 2.95905739e+02] [ 2.16151445e-01 -8.47982659e-01 4.83946240e-01 -1.68893902e+02] [-9.25289744e-01 -1.97040176e-02 3.78748784e-01 -3.17055197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-169.48, Z:-317.13 [[-2.31518853e-01 -9.10720307e-01 3.42034419e-01 2.95427270e+02] [ 1.76234492e-01 3.06506225e-01 9.35411855e-01 -1.69482913e+02] [-9.56734250e-01 2.76843742e-01 8.95383607e-02 -3.17132967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-168.90, Z:-317.14 [[-2.45339424e-01 -5.78071886e-01 -7.78229698e-01 2.95850934e+02] [ 1.95548720e-01 -8.15772897e-01 5.44311747e-01 -1.68901429e+02] [-9.49510013e-01 -1.86406905e-02 3.13182470e-01 -3.17144529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-168.90, Z:-317.15 [[-2.45343558e-01 -5.79918952e-01 -7.76852977e-01 2.95848047e+02] [ 1.98261356e-01 -8.14423166e-01 5.45350659e-01 -1.68902422e+02] [-9.48946244e-01 -2.02216537e-02 3.14788995e-01 -3.17154396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-168.90, Z:-317.16 [[-2.45365658e-01 -5.82368424e-01 -7.75011427e-01 2.95846345e+02] [ 1.99365627e-01 -8.12674955e-01 5.47551610e-01 -1.68904035e+02] [-9.48709145e-01 -2.01602783e-02 3.15506771e-01 -3.17159236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-168.91, Z:-317.16 [[-2.45372276e-01 -5.83956203e-01 -7.73813672e-01 2.95845172e+02] [ 2.00846042e-01 -8.11519263e-01 5.48723384e-01 -1.68905148e+02] [-9.48395125e-01 -2.07759077e-02 3.16409621e-01 -3.17162914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-168.91, Z:-317.27 [[-2.06829687e-01 -5.99537277e-01 -7.73160096e-01 2.95800487e+02] [ 2.53845744e-01 -7.96069713e-01 5.49395441e-01 -1.68909230e+02] [-9.44872383e-01 -8.26321124e-02 3.16840835e-01 -3.17270813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.30 [[-2.02142623e-01 -7.41278281e-01 -6.40035054e-01 2.95782847e+02] [ 2.53736481e-01 -6.70852075e-01 6.96832327e-01 -1.69022369e+02] [-9.45915513e-01 -2.15407282e-02 3.23697140e-01 -3.17302632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.31 [[-2.02047819e-01 -7.42548662e-01 -6.38590763e-01 2.95781342e+02] [ 2.53949740e-01 -6.69459003e-01 6.98093241e-01 -1.69021914e+02] [-9.45878538e-01 -2.11217414e-02 3.23832772e-01 -3.17307270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.31 [[-2.01838735e-01 -7.43659750e-01 -6.37362770e-01 2.95780355e+02] [ 2.53652575e-01 -6.68243610e-01 6.99364604e-01 -1.69022049e+02] [-9.46002905e-01 -2.05098409e-02 3.23508655e-01 -3.17310721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.32 [[-2.02211634e-01 -7.44447128e-01 -6.36324546e-01 2.95779118e+02] [ 2.52384606e-01 -6.67413126e-01 7.00615251e-01 -1.69021506e+02] [-9.46262366e-01 -1.89259651e-02 3.22845693e-01 -3.17315683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.32 [[-2.02721354e-01 -7.45345690e-01 -6.35109326e-01 2.95777976e+02] [ 2.52025995e-01 -6.66439967e-01 7.01669914e-01 -1.69021213e+02] [-9.46248884e-01 -1.78205849e-02 3.22948101e-01 -3.17318622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.32 [[-2.02698542e-01 -7.46260022e-01 -6.34042018e-01 2.95776660e+02] [ 2.51268098e-01 -6.65441501e-01 7.02888293e-01 -1.69020735e+02] [-9.46455305e-01 -1.68401001e-02 3.22395359e-01 -3.17323302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-169.02, Z:-317.33 [[-2.02537391e-01 -7.47205261e-01 -6.32979386e-01 2.95775798e+02] [ 2.50599176e-01 -6.64400336e-01 7.04110962e-01 -1.69020912e+02] [-9.46667132e-01 -1.60153156e-02 3.21814933e-01 -3.17325507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-169.02, Z:-317.33 [[-2.03284878e-01 -7.47903443e-01 -6.31914312e-01 2.95773788e+02] [ 2.49133283e-01 -6.63658866e-01 7.05329368e-01 -1.69019978e+02] [-9.46893799e-01 -1.40480924e-02 3.21239452e-01 -3.17330977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-169.02, Z:-317.34 [[-2.03319112e-01 -7.48858456e-01 -6.30771236e-01 2.95772122e+02] [ 2.48755166e-01 -6.62597087e-01 7.06460167e-01 -1.69019385e+02] [-9.46985853e-01 -1.32707494e-02 3.21001061e-01 -3.17337388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-168.34, Z:-317.19 [[-2.64363330e-01 6.09975677e-01 -7.47021890e-01 2.95349716e+02] [ 2.84109959e-01 -6.90949255e-01 -6.64733525e-01 -1.68337706e+02] [-9.21625500e-01 -3.87967526e-01 9.36148112e-03 -3.17193833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-168.33, Z:-317.31 [[-3.05480412e-01 5.92061405e-01 -7.45751306e-01 2.95340019e+02] [ 3.29627014e-01 -6.69011116e-01 -6.66160760e-01 -1.68327614e+02] [-8.93323989e-01 -4.49318840e-01 9.21035803e-03 -3.17307902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-168.31, Z:-317.41 [[-3.45232910e-01 5.70542932e-01 -7.45181186e-01 2.95328816e+02] [ 3.74221440e-01 -6.44464095e-01 -6.66801578e-01 -1.68314899e+02] [-8.60681446e-01 -5.09064626e-01 8.98081770e-03 -3.17412365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-168.94, Z:-317.84 [[-3.24964727e-01 -7.52776775e-01 -5.72472753e-01 2.95695079e+02] [ 3.88793286e-01 -6.58146359e-01 6.44734947e-01 -1.68937059e+02] [-8.62112352e-01 -1.30574468e-02 5.06548908e-01 -3.17838304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.94, Z:-317.84 [[-3.24536358e-01 -7.54676806e-01 -5.70209673e-01 2.95693757e+02] [ 3.89591849e-01 -6.55980485e-01 6.46457883e-01 -1.68938615e+02] [-8.61913188e-01 -1.23499539e-02 5.06905449e-01 -3.17840131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.94, Z:-317.84 [[-3.24318366e-01 -7.55548926e-01 -5.69177844e-01 2.95692002e+02] [ 3.91587481e-01 -6.54957614e-01 6.46289230e-01 -1.68938256e+02] [-8.61090496e-01 -1.32794512e-02 5.08278284e-01 -3.17843628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.94, Z:-317.85 [[-3.23851437e-01 -7.56224445e-01 -5.68546248e-01 2.95690986e+02] [ 3.92435777e-01 -6.54168359e-01 6.46573986e-01 -1.68937835e+02] [-8.60880019e-01 -1.37239738e-02 5.08622890e-01 -3.17846522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.94, Z:-317.85 [[-3.23420168e-01 -7.56906671e-01 -5.67883515e-01 2.95690928e+02] [ 3.93141711e-01 -6.53372537e-01 6.46949707e-01 -1.68937963e+02] [-8.60720042e-01 -1.40221139e-02 5.08885439e-01 -3.17847102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.92, Z:-317.86 [[-3.28191395e-01 -7.47606565e-01 -5.77386208e-01 2.95685456e+02] [ 4.03081554e-01 -6.63635964e-01 6.30168682e-01 -1.68915546e+02] [-8.54292496e-01 -2.59177908e-02 5.19146028e-01 -3.17856673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-169.31, Z:-317.86 [[-2.65006347e-01 -5.24257529e-01 8.09274786e-01 2.94888307e+02] [ 3.26502198e-01 7.40915535e-01 5.86890522e-01 -1.69307984e+02] [-9.07286036e-01 4.19759710e-01 -2.51760844e-02 -3.17858118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-168.47, Z:-317.56 [[-3.62245662e-01 8.65106761e-01 3.46941454e-01 2.94620130e+02] [ 2.78735198e-01 4.55732394e-01 -8.45348848e-01 -1.68473133e+02] [-8.89429463e-01 -2.09519158e-01 -4.06222787e-01 -3.17559176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-168.70, Z:-318.11 [[-3.54894145e-01 -6.38408855e-01 -6.82996545e-01 2.95607548e+02] [ 3.25794094e-01 -7.69208548e-01 5.49705756e-01 -1.68695858e+02] [-8.76303803e-01 -2.74288865e-02 4.80977444e-01 -3.18110896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-169.21, Z:-318.06 [[-2.95437812e-01 -5.58666812e-01 7.74988963e-01 2.94830687e+02] [ 2.46165052e-01 7.39292896e-01 6.26776500e-01 -1.69210351e+02] [-9.23103064e-01 3.75948676e-01 -8.08908302e-02 -3.18059393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-169.17, Z:-318.16 [[-2.55399034e-01 -6.02238579e-01 7.56359721e-01 2.94796392e+02] [ 1.96881489e-01 7.33516872e-01 6.50531073e-01 -1.69165852e+02] [-9.46577526e-01 3.15058236e-01 -6.87698725e-02 -3.18155171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-169.13, Z:-318.26 [[-2.11650271e-01 -6.46187792e-01 7.33243138e-01 2.94767519e+02] [ 1.48322379e-01 7.20312918e-01 6.77605912e-01 -1.69126200e+02] [-9.66025173e-01 2.52171841e-01 -5.66103137e-02 -3.18259993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-169.09, Z:-318.37 [[-1.63653688e-01 -6.94904414e-01 7.00232337e-01 2.94749522e+02] [ 1.00365345e-01 6.94391045e-01 7.12564295e-01 -1.69092934e+02] [-9.81399138e-01 1.86892835e-01 -4.38953345e-02 -3.18371807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.05, Z:-318.51 [[-1.03756350e-01 -7.19851466e-01 6.86329722e-01 2.94722396e+02] [ 6.05577930e-02 6.84201631e-01 7.26774299e-01 -1.69054876e+02] [-9.92757460e-01 1.16970062e-01 -2.73976477e-02 -3.18514538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-168.25, Z:-318.50 [[-2.04016981e-01 8.01898697e-01 5.61547462e-01 2.94247642e+02] [-6.05992291e-04 5.73508487e-01 -8.19199395e-01 -1.68253373e+02] [-9.78967162e-01 -1.67470881e-01 -1.16519526e-01 -3.18498284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-167.88, Z:-318.69 [[-2.78367065e-01 8.99202994e-01 -3.37558518e-01 2.94645581e+02] [ 4.15233938e-02 -3.39854366e-01 -9.39560971e-01 -1.67881847e+02] [-9.59576774e-01 -2.75559405e-01 5.72663024e-02 -3.18687905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-167.88, Z:-318.82 [[-3.40396072e-01 8.53007028e-01 -3.95612846e-01 2.94677065e+02] [ 7.11080691e-02 -3.96180776e-01 -9.15414898e-01 -1.67878283e+02] [-9.37589546e-01 -3.39734901e-01 7.42026973e-02 -3.18821568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-167.88, Z:-318.96 [[-3.97278037e-01 8.05639868e-01 -4.39448024e-01 2.94690288e+02] [ 1.03169077e-01 -4.36614304e-01 -8.93713652e-01 -1.67876017e+02] [-9.11880641e-01 -4.00390252e-01 9.03401520e-02 -3.18961387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-169.03, Z:-319.22 [[-2.84210255e-01 -8.29432608e-01 4.80901320e-01 2.94753528e+02] [ 6.28024228e-02 4.84402929e-01 8.72587909e-01 -1.69025235e+02] [-9.56702873e-01 2.78200200e-01 -8.55819025e-02 -3.19224298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.00, Z:-319.34 [[-2.22949237e-01 -8.69699035e-01 4.40360336e-01 2.94719238e+02] [ 3.39005293e-02 4.44540036e-01 8.95117261e-01 -1.69000341e+02] [-9.74240418e-01 2.14494159e-01 -6.96266043e-02 -3.19335671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-168.98, Z:-319.45 [[-1.60715248e-01 -9.08473314e-01 3.85806748e-01 2.94696822e+02] [ 9.51487896e-03 3.89443750e-01 9.21001103e-01 -1.68977207e+02] [-9.86954951e-01 1.51689826e-01 -5.39455354e-02 -3.19454722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-168.95, Z:-319.58 [[-9.67561160e-02 -9.46600350e-01 3.07548420e-01 2.94692924e+02] [-8.47816423e-03 3.09770840e-01 9.50773447e-01 -1.68952758e+02] [-9.95272011e-01 8.93856999e-02 -3.79976566e-02 -3.19577628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-168.92, Z:-319.71 [[-2.98594733e-02 -9.81776548e-01 1.87678507e-01 2.94716397e+02] [-1.65470766e-02 1.88222015e-01 9.81987101e-01 -1.68920896e+02] [-9.99417133e-01 2.62160870e-02 -2.18657419e-02 -3.19707814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-167.92, Z:-319.81 [[-1.66512478e-01 9.83979566e-01 6.37009362e-02 2.94095280e+02] [-4.14140439e-02 5.75668471e-02 -9.97482298e-01 -1.67921621e+02] [-9.85169261e-01 -1.68731362e-01 3.11649746e-02 -3.19810556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-167.88, Z:-319.95 [[-2.33634338e-01 9.70161675e-01 -6.48176016e-02 2.94168091e+02] [-3.17546558e-02 -7.42401313e-02 -9.96734691e-01 -1.67880748e+02] [-9.71805865e-01 -2.30813189e-01 4.81521939e-02 -3.19946282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-167.86, Z:-320.08 [[-2.97949310e-01 9.42317792e-01 -1.52523399e-01 2.94217436e+02] [-1.71163330e-02 -1.65028473e-01 -9.86140271e-01 -1.67860970e+02] [-9.54428227e-01 -2.91209172e-01 6.52991447e-02 -3.20081015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-168.02, Z:-320.28 [[-2.77270351e-01 3.03969097e-02 -9.60310981e-01 2.94933471e+02] [ 2.11105108e-02 -9.99065381e-01 -3.77188428e-02 -1.68016028e+02] [-9.60559992e-01 -3.07309722e-02 2.76369515e-01 -3.20283728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-168.01, Z:-320.29 [[-2.75757556e-01 2.90695700e-02 -9.60787557e-01 2.94933031e+02] [ 1.80691085e-02 -9.99209220e-01 -3.54181060e-02 -1.68014520e+02] [-9.61057375e-01 -2.71273850e-02 2.75014231e-01 -3.20286899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-168.01, Z:-320.29 [[-2.75113686e-01 2.72656971e-02 -9.61024995e-01 2.94932689e+02] [ 1.66639629e-02 -9.99312374e-01 -3.31223775e-02 -1.68014425e+02] [-9.61267274e-01 -2.51269042e-02 2.74470156e-01 -3.20290005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-168.01, Z:-320.30 [[-2.74539143e-01 2.60808268e-02 -9.61222165e-01 2.94931569e+02] [ 1.30004588e-02 -9.99440065e-01 -3.08309141e-02 -1.68013368e+02] [-9.61488038e-01 -2.09606219e-02 2.74046356e-01 -3.20296115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-168.01, Z:-320.30 [[-2.74553673e-01 2.42480931e-02 -9.61265994e-01 2.94930609e+02] [ 1.16373630e-02 -9.99524993e-01 -2.85370085e-02 -1.68013286e+02] [-9.61501353e-01 -1.90215418e-02 2.74141074e-01 -3.20302177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-168.02, Z:-320.31 [[-2.72684375e-01 1.97855307e-02 -9.61900080e-01 2.94931613e+02] [ 9.84945204e-03 -9.99678720e-01 -2.33547810e-02 -1.68016817e+02] [-9.62053128e-01 -1.58426726e-02 2.72401890e-01 -3.20314684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-168.01, Z:-320.33 [[-2.75263549e-01 2.70255076e-02 -9.60988866e-01 2.94920800e+02] [ 1.16063531e-02 -9.99438525e-01 -3.14313105e-02 -1.68010170e+02] [-9.61298742e-01 -1.98054701e-02 2.74795328e-01 -3.20331990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-167.95, Z:-320.22 [[-3.38450442e-01 9.34790675e-01 1.07785400e-01 2.94061336e+02] [-1.71636124e-02 1.08393604e-01 -9.93959877e-01 -1.67951568e+02] [-9.40827672e-01 -3.38256147e-01 -2.06414785e-02 -3.20217279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-168.50, Z:-320.27 [[-3.50230416e-01 3.77271671e-01 8.57324175e-01 2.93871367e+02] [-8.67439163e-02 8.98298149e-01 -4.30738818e-01 -1.68498320e+02] [-9.32638273e-01 -2.25225492e-01 -2.81885312e-01 -3.20269966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-167.91, Z:-320.67 [[-3.69600716e-01 1.96997663e-01 -9.08067856e-01 2.94786032e+02] [-6.68071529e-02 -9.80372190e-01 -1.85491710e-01 -1.67912307e+02] [-9.26785906e-01 -7.89244060e-03 3.75507116e-01 -3.20673033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-167.91, Z:-320.68 [[-3.69598499e-01 1.95306134e-01 -9.08434072e-01 2.94784805e+02] [-6.79968977e-02 -9.80724379e-01 -1.83183283e-01 -1.67912672e+02] [-9.26700260e-01 -5.93356765e-03 3.75754469e-01 -3.20679488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-168.70, Z:-320.77 [[-3.00074445e-01 -8.83208751e-01 -3.60413138e-01 2.94852177e+02] [-3.40538228e-02 -3.67665750e-01 9.29334296e-01 -1.68698959e+02] [-9.53307749e-01 2.91142918e-01 8.02504615e-02 -3.20772129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-167.95, Z:-320.78 [[-3.09748365e-01 1.53618062e-01 -9.38326937e-01 2.94733447e+02] [-4.59452705e-02 -9.88127627e-01 -1.46604316e-01 -1.67945681e+02] [-9.49707841e-01 -2.29876226e-03 3.13128940e-01 -3.20783552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-167.95, Z:-320.79 [[-3.09250617e-01 1.49841221e-01 -9.39101520e-01 2.94732369e+02] [-4.59678633e-02 -9.88709629e-01 -1.42619158e-01 -1.67946953e+02] [-9.49868945e-01 -9.36572426e-04 3.12646943e-01 -3.20791705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-168.70, Z:-320.89 [[-2.44692758e-01 -8.84898608e-01 -3.96333076e-01 2.94798020e+02] [-1.12296756e-02 -4.06145261e-01 9.13739526e-01 -1.68698073e+02] [-9.69535636e-01 2.28036137e-01 8.94436800e-02 -3.20894558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-167.99, Z:-320.90 [[-2.48876709e-01 8.61375902e-02 -9.64697206e-01 2.94696293e+02] [-1.63161808e-02 -9.96268878e-01 -8.47472994e-02 -1.67990015e+02] [-9.68397731e-01 -5.35145499e-03 2.49353556e-01 -3.20900043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-167.89, Z:-320.84 [[-3.02302809e-01 9.45759109e-01 -1.18965208e-01 2.93960146e+02] [-1.48690280e-02 -1.29468098e-01 -9.91472099e-01 -1.67889123e+02] [-9.53095968e-01 -2.97955903e-01 5.32010884e-02 -3.20838140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-168.23, Z:-321.08 [[-3.52217098e-01 7.57236823e-01 5.50032280e-01 2.93612889e+02] [-5.18317138e-02 5.71008691e-01 -8.19306138e-01 -1.68229774e+02] [-9.34481990e-01 -3.17082746e-01 -1.61870142e-01 -3.21075909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-168.33, Z:-320.98 [[-3.93101772e-01 5.97495950e-01 6.98905992e-01 2.93651831e+02] [-1.04880647e-01 7.26000441e-01 -6.79649476e-01 -1.68330882e+02] [-9.13493868e-01 -3.40473126e-01 -2.22726298e-01 -3.20976660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-167.91, Z:-321.42 [[-4.07580362e-01 2.33301585e-01 -8.82863873e-01 2.94549636e+02] [-9.39764508e-02 -9.72395864e-01 -2.13576007e-01 -1.67906462e+02] [-9.08320800e-01 -4.08097296e-03 4.18254313e-01 -3.21415531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-167.91, Z:-321.47 [[-4.09270304e-01 2.30236187e-01 -8.82886809e-01 2.94524984e+02] [-8.97221058e-02 -9.73104937e-01 -2.12171452e-01 -1.67914686e+02] [-9.07991059e-01 -7.62101099e-03 4.18920229e-01 -3.21473939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-167.91, Z:-321.45 [[-4.08540142e-01 2.23473021e-01 -8.84960316e-01 2.94539510e+02] [-8.65177599e-02 -9.74679925e-01 -2.06188555e-01 -1.67914845e+02] [-9.08630634e-01 -7.67151752e-03 4.17530260e-01 -3.21450587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-168.08, Z:-321.37 [[-4.59810158e-01 8.17064590e-01 3.47821900e-01 2.93598703e+02] [-1.25743563e-01 3.27830035e-01 -9.36331151e-01 -1.68084522e+02] [-8.79069494e-01 -4.74270939e-01 -4.79989678e-02 -3.21374552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-167.92, Z:-321.62 [[-4.66259767e-01 2.37600327e-01 -8.52143130e-01 2.94490632e+02] [-1.03424380e-01 -9.71291867e-01 -2.14232365e-01 -1.67915700e+02] [-8.78581372e-01 -1.17555571e-02 4.77447986e-01 -3.21619552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-167.95, Z:-321.89 [[-4.64344749e-01 2.28816828e-01 -8.55585655e-01 2.94359225e+02] [-1.00721719e-01 -9.73424835e-01 -2.05667757e-01 -1.67954545e+02] [-8.79908569e-01 -9.32468480e-03 4.75051535e-01 -3.21888953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-167.93, Z:-321.40 [[-5.27577821e-01 8.46932896e-01 6.60780860e-02 2.93779838e+02] [-1.19691071e-01 2.90038162e-03 -9.92806948e-01 -1.67927704e+02] [-8.41032515e-01 -5.31691883e-01 9.98401281e-02 -3.21397383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-168.90, Z:-321.78 [[-4.43452995e-01 -8.95462833e-01 -3.86750078e-02 2.94387107e+02] [-1.05042584e-01 9.07017109e-03 9.94426361e-01 -1.68901673e+02] [-8.90121058e-01 4.45043870e-01 -9.80839244e-02 -3.21778157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-167.96, Z:-321.65 [[-5.28926928e-01 8.45822286e-01 6.94331682e-02 2.93640075e+02] [-1.21182935e-01 5.70262090e-03 -9.92613810e-01 -1.67960141e+02] [-8.39970833e-01 -5.33434288e-01 9.94829578e-02 -3.21646294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-168.93, Z:-322.03 [[-4.41937431e-01 -8.96065619e-01 -4.19250966e-02 2.94246656e+02] [-1.07126954e-01 6.31697010e-03 9.94225282e-01 -1.68933369e+02] [-8.90626253e-01 4.43876675e-01 -9.87844856e-02 -3.22027355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-168.94, Z:-322.13 [[-3.80226349e-01 -9.22672422e-01 -6.40587610e-02 2.94174380e+02] [-1.05217377e-01 -2.56597650e-02 9.94118142e-01 -1.68938617e+02] [-9.18889127e-01 3.84730006e-01 -8.73246531e-02 -3.22125927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-168.02, Z:-322.03 [[-4.71457697e-01 8.76547442e-01 9.69134788e-02 2.93392363e+02] [-1.24509183e-01 4.26328606e-02 -9.91302125e-01 -1.68022499e+02] [-8.73055040e-01 -4.79423635e-01 8.90386153e-02 -3.22032881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-168.03, Z:-322.16 [[-5.30204043e-01 8.44588414e-01 7.45257253e-02 2.93374026e+02] [-1.25132994e-01 8.98768895e-03 -9.92099267e-01 -1.68025943e+02] [-8.38585360e-01 -5.35340670e-01 1.00920568e-01 -3.22160677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-168.03, Z:-322.29 [[-5.86040967e-01 8.08179008e-01 5.83324528e-02 2.93344064e+02] [-1.24981032e-01 -1.90299128e-02 -9.91976615e-01 -1.68032918e+02] [-8.00584615e-01 -5.88629385e-01 1.12159355e-01 -3.22286772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-168.10, Z:-322.91 [[-5.81374219e-01 1.87131123e-01 -7.91824450e-01 2.93865414e+02] [-1.01334944e-01 -9.82268045e-01 -1.57736224e-01 -1.68100433e+02] [-8.07301212e-01 -1.14642874e-02 5.90028240e-01 -3.22908189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-168.09, Z:-322.36 [[-6.35990210e-01 7.53462017e-01 1.66767632e-01 2.93256320e+02] [-1.35228235e-01 1.03947006e-01 -9.85346814e-01 -1.68094357e+02] [-7.59756394e-01 -6.49222619e-01 3.57800603e-02 -3.22363917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-168.99, Z:-322.89 [[-5.62571556e-01 -8.12753534e-01 -1.51475864e-01 2.93881970e+02] [-1.04259623e-01 -1.12012210e-01 9.88222240e-01 -1.68987984e+02] [-8.20148264e-01 5.71738540e-01 -2.17224941e-02 -3.22888759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:-168.13, Z:-322.58 [[-6.34371054e-01 7.54672348e-01 1.67460483e-01 2.93087368e+02] [-1.35776195e-01 1.04485098e-01 -9.85214540e-01 -1.68128220e+02] [-7.61011295e-01 -6.47728733e-01 3.61842182e-02 -3.22584545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-168.14, Z:-322.69 [[-6.83284281e-01 7.11213441e-01 1.65221161e-01 2.93038976e+02] [-1.42293684e-01 9.22385439e-02 -9.85517407e-01 -1.68137892e+02] [-7.16152985e-01 -6.96898481e-01 3.81760335e-02 -3.22693192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-168.15, Z:-322.79 [[-7.28395311e-01 6.65316982e-01 1.63687460e-01 2.92986015e+02] [-1.48098802e-01 8.03714329e-02 -9.85701363e-01 -1.68148643e+02] [-6.68959652e-01 -7.42222167e-01 3.99904734e-02 -3.22794390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-168.16, Z:-322.89 [[-7.71307359e-01 6.15420799e-01 1.62302799e-01 2.92928526e+02] [-1.53051160e-01 6.81792473e-02 -9.85863547e-01 -1.68159917e+02] [-6.17786614e-01 -7.85244440e-01 4.16037118e-02 -3.22890551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-169.08, Z:-323.49 [[-7.19405519e-01 -6.79513683e-01 -1.43933507e-01 2.93446279e+02] [-1.24699566e-01 -7.75026885e-02 9.89162955e-01 -1.69078142e+02] [-6.83304996e-01 7.29557735e-01 -2.89791994e-02 -3.23489197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-168.20, Z:-323.59 [[-7.32268225e-01 1.79495673e-01 -6.56935728e-01 2.93364567e+02] [-1.29960392e-01 -9.83744095e-01 -1.23926801e-01 -1.68198438e+02] [-6.68500968e-01 -5.37203347e-03 7.43691870e-01 -3.23586680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-168.21, Z:-323.62 [[-7.32687463e-01 1.75280429e-01 -6.57606154e-01 2.93326637e+02] [-1.24507512e-01 -9.84479714e-01 -1.23683352e-01 -1.68205716e+02] [-6.69079189e-01 -8.74433537e-03 7.43139674e-01 -3.23621266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-168.21, Z:-323.63 [[-7.32379076e-01 1.70414279e-01 -6.59226716e-01 2.93323217e+02] [-1.23897453e-01 -9.85364107e-01 -1.17076887e-01 -1.68209392e+02] [-6.69529918e-01 -4.06815129e-03 7.42773949e-01 -3.23628345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.516559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.31, Y:-168.21, Z:-323.64 [[-7.32048603e-01 1.69427182e-01 -6.59847916e-01 2.93313459e+02] [-1.23273208e-01 -9.85535424e-01 -1.16291207e-01 -1.68211457e+02] [-6.70006387e-01 -3.78924653e-03 7.42345662e-01 -3.23637700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:-168.22, Z:-323.10 [[-7.70323154e-01 6.15104163e-01 1.68074705e-01 2.92671811e+02] [-1.42801253e-01 9.04766229e-02 -9.85607317e-01 -1.68216973e+02] [-6.21457996e-01 -7.83237416e-01 1.81414077e-02 -3.23102081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-168.23, Z:-323.19 [[-8.10246614e-01 5.61440490e-01 1.68181451e-01 2.92609775e+02] [-1.48844474e-01 8.04293081e-02 -9.85584319e-01 -1.68228124e+02] [-5.66873661e-01 -8.23599237e-01 1.83997397e-02 -3.23191795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-168.24, Z:-323.28 [[-8.46324369e-01 5.05382863e-01 1.68295051e-01 2.92542044e+02] [-1.54119079e-01 7.01062020e-02 -9.85561987e-01 -1.68240123e+02] [-5.09884665e-01 -8.60042605e-01 1.85565540e-02 -3.23277193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-168.27, Z:-323.42 [[-8.78767866e-01 4.47748038e-01 1.65193017e-01 2.92349256e+02] [-1.55822744e-01 5.79830581e-02 -9.86081760e-01 -1.68269721e+02] [-4.51094570e-01 -8.92277793e-01 1.88156798e-02 -3.23420975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-169.07, Z:-323.27 [[-8.61478531e-01 -2.13355263e-01 4.60797430e-01 2.92514020e+02] [-2.18496160e-01 9.74894280e-01 4.29018769e-02 -1.69069852e+02] [-4.58382120e-01 -6.37234230e-02 -8.86467798e-01 -3.23267744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-169.27, Z:-323.80 [[-8.26839400e-01 -5.61212497e-01 3.71098291e-02 2.92728831e+02] [-2.37078282e-01 4.07601183e-01 8.81847585e-01 -1.69272513e+02] [-5.10029896e-01 7.20348394e-01 -4.70072012e-01 -3.23801391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-168.26, Z:-324.17 [[-8.35964738e-01 2.78371818e-01 -4.72939835e-01 2.92651552e+02] [-2.41039181e-01 -9.60470315e-01 -1.39272708e-01 -1.68264136e+02] [-4.93014269e-01 -2.43004194e-03 8.70017830e-01 -3.24172899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-168.27, Z:-324.18 [[-8.36132433e-01 2.78060188e-01 -4.72826697e-01 2.92648222e+02] [-2.40895165e-01 -9.60561057e-01 -1.38895558e-01 -1.68266493e+02] [-4.92800237e-01 -2.23341569e-03 8.70139609e-01 -3.24175606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-168.27, Z:-324.18 [[-8.36091401e-01 2.77739940e-01 -4.73087407e-01 2.92645075e+02] [-2.40627266e-01 -9.60653909e-01 -1.38717646e-01 -1.68268011e+02] [-4.93000698e-01 -2.14290208e-03 8.70026275e-01 -3.24177635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-168.27, Z:-324.18 [[-8.36280874e-01 2.77234045e-01 -4.73049241e-01 2.92642989e+02] [-2.40196015e-01 -9.60799986e-01 -1.38453100e-01 -1.68269261e+02] [-4.92889617e-01 -2.16113677e-03 8.70089165e-01 -3.24178880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-168.27, Z:-324.18 [[-8.36535256e-01 2.76498444e-01 -4.73029994e-01 2.92636514e+02] [-2.39531563e-01 -9.61011735e-01 -1.38134267e-01 -1.68271848e+02] [-4.92781285e-01 -2.24857004e-03 8.70150302e-01 -3.24183009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-168.28, Z:-324.19 [[-8.36969458e-01 2.74936780e-01 -4.73172160e-01 2.92627742e+02] [-2.37870226e-01 -9.61458041e-01 -1.37899204e-01 -1.68276556e+02] [-4.92848742e-01 -2.86385362e-03 8.70110290e-01 -3.24189263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-168.28, Z:-324.19 [[-8.36911083e-01 2.74114418e-01 -4.73752177e-01 2.92627214e+02] [-2.37209628e-01 -9.61693550e-01 -1.37393989e-01 -1.68277673e+02] [-4.93266086e-01 -2.60797424e-03 8.69874570e-01 -3.24190198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-168.28, Z:-324.19 [[-8.36581033e-01 2.73787333e-01 -4.74523625e-01 2.92624709e+02] [-2.36866029e-01 -9.61787030e-01 -1.37332422e-01 -1.68279962e+02] [-4.93990545e-01 -2.49117301e-03 8.69463706e-01 -3.24191815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-168.28, Z:-324.19 [[-8.36698397e-01 2.73310475e-01 -4.74591589e-01 2.92622149e+02] [-2.36451219e-01 -9.61922647e-01 -1.37097202e-01 -1.68280892e+02] [-4.93990499e-01 -2.49124952e-03 8.69463732e-01 -3.24193499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-168.28, Z:-324.19 [[-8.36551388e-01 2.73069517e-01 -4.74989278e-01 2.92620408e+02] [-2.36252707e-01 -9.61991423e-01 -1.36956782e-01 -1.68282273e+02] [-4.94334334e-01 -2.35388271e-03 8.69268673e-01 -3.24194789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-168.29, Z:-324.20 [[-8.36789484e-01 2.71549656e-01 -4.75441000e-01 2.92607108e+02] [-2.34567695e-01 -9.62419798e-01 -1.36843446e-01 -1.68286740e+02] [-4.94733622e-01 -2.98605764e-03 8.69039543e-01 -3.24203083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-168.29, Z:-324.21 [[-8.36461892e-01 2.71301875e-01 -4.76158373e-01 2.92603804e+02] [-2.34779059e-01 -9.62492353e-01 -1.35967879e-01 -1.68288929e+02] [-4.95187133e-01 -1.93993493e-03 8.68784173e-01 -3.24205804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-169.24, Z:-324.02 [[-7.94117107e-01 -5.91841057e-01 -1.38210650e-01 2.92632067e+02] [-2.39223418e-01 9.53333222e-02 9.66273105e-01 -1.69243367e+02] [-5.58704016e-01 8.00397227e-01 -2.17288062e-01 -3.24023095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-168.31, Z:-324.23 [[-7.98524265e-01 2.88679752e-01 -5.28226277e-01 2.92492824e+02] [-2.40965311e-01 -9.57425655e-01 -1.58971176e-01 -1.68309661e+02] [-5.51629149e-01 3.41867401e-04 8.34089423e-01 -3.24234420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-168.32, Z:-324.25 [[-7.99705796e-01 2.86511266e-01 -5.27619119e-01 2.92467474e+02] [-2.36771168e-01 -9.58067946e-01 -1.61385329e-01 -1.68318203e+02] [-5.51733681e-01 -4.13578830e-03 8.34010096e-01 -3.24251796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-168.34, Z:-324.29 [[-7.97229573e-01 2.85418139e-01 -5.31941250e-01 2.92419536e+02] [-2.38963950e-01 -9.58399378e-01 -1.56098891e-01 -1.68339375e+02] [-5.54365618e-01 2.66812962e-03 8.32268972e-01 -3.24293809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-168.34, Z:-324.31 [[-8.02244088e-01 2.90832920e-01 -5.21364207e-01 2.92378503e+02] [-2.36809239e-01 -9.56694219e-01 -1.69285426e-01 -1.68343369e+02] [-5.48019898e-01 -1.23443708e-02 8.36374204e-01 -3.24309207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-169.07, Z:-324.29 [[-7.63765702e-01 -5.00333584e-01 -4.07833616e-01 2.92568598e+02] [-2.01680331e-01 -4.15216385e-01 8.87085339e-01 -1.69073201e+02] [-6.13177786e-01 7.59777374e-01 2.16220591e-01 -3.24291801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:-168.53, Z:-323.62 [[-7.94857697e-01 4.43963929e-01 4.13639060e-01 2.91736939e+02] [-2.47318225e-01 3.85454339e-01 -8.88964931e-01 -1.68526121e+02] [-5.54107333e-01 -8.08901096e-01 -1.96580977e-01 -3.23623771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-168.39, Z:-324.42 [[-8.02216068e-01 2.80183326e-01 -5.27206492e-01 2.92244999e+02] [-2.31888978e-01 -9.59938419e-01 -1.57307765e-01 -1.68389535e+02] [-5.50160779e-01 -3.94144158e-03 8.35049449e-01 -3.24421364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-168.39, Z:-324.42 [[-8.02581153e-01 2.79517177e-01 -5.27004403e-01 2.92245075e+02] [-2.31373560e-01 -9.60132461e-01 -1.56881909e-01 -1.68389745e+02] [-5.49845223e-01 -3.97557877e-03 8.35257101e-01 -3.24421433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:-168.45, Z:-324.56 [[-8.07780216e-01 2.85084432e-01 -5.15963167e-01 2.92024748e+02] [-2.31393688e-01 -9.58373458e-01 -1.67264090e-01 -1.68448406e+02] [-5.42169793e-01 -1.57220027e-02 8.40121857e-01 -3.24563264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-169.29, Z:-324.33 [[-7.54734301e-01 -6.13354269e-01 -2.32750245e-01 2.92289436e+02] [-2.19602317e-01 -9.81099650e-02 9.70643734e-01 -1.69288706e+02] [-6.18183596e-01 7.83690612e-01 -6.06470626e-02 -3.24331506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-169.32, Z:-324.38 [[-7.11662594e-01 -6.61708317e-01 -2.35962828e-01 2.92187324e+02] [-2.12423249e-01 -1.17471353e-01 9.70091153e-01 -1.69315673e+02] [-6.69636257e-01 7.40501576e-01 -5.69622625e-02 -3.24377914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:-168.49, Z:-323.99 [[-7.57197670e-01 6.02348484e-01 2.52642023e-01 2.91409156e+02] [-2.39158138e-01 1.04262234e-01 -9.65366651e-01 -1.68488811e+02] [-6.07828161e-01 -7.91394775e-01 6.51094215e-02 -3.23992693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-168.51, Z:-324.09 [[-7.96910053e-01 5.50295068e-01 2.49218188e-01 2.91344406e+02] [-2.44540603e-01 8.33732256e-02 -9.66048031e-01 -1.68509882e+02] [-5.52389591e-01 -8.30797354e-01 6.81285262e-02 -3.24086453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-169.41, Z:-324.66 [[-7.53763249e-01 -6.13876457e-01 -2.34513666e-01 2.91879817e+02] [-2.22016295e-01 -9.79927713e-02 9.70106273e-01 -1.69411733e+02] [-6.18506046e-01 7.83296312e-01 -6.24272269e-02 -3.24663567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.40, Y:-168.63, Z:-325.03 [[-7.68839084e-01 2.91276447e-01 -5.69249062e-01 2.91402055e+02] [-2.22964147e-01 -9.56472755e-01 -1.88273362e-01 -1.68631971e+02] [-5.99310814e-01 -1.78297882e-02 8.00317841e-01 -3.25028835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.73, Y:-169.49, Z:-324.64 [[-7.05335070e-01 -6.94890591e-01 -1.40105335e-01 2.91730449e+02] [-2.26528616e-01 3.36699176e-02 9.73422376e-01 -1.69492281e+02] [-6.71704715e-01 7.18326808e-01 -1.81161177e-01 -3.24641057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-168.58, Z:-324.87 [[-7.21352725e-01 2.96147485e-01 -6.26056637e-01 2.91553256e+02] [-2.14032266e-01 -9.55039701e-01 -2.05156912e-01 -1.68582523e+02] [-6.58665647e-01 -1.39941767e-02 7.52305608e-01 -3.24871168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:-168.62, Z:-324.95 [[-7.31823697e-01 2.64520733e-01 -6.28062782e-01 2.91476042e+02] [-1.78853487e-01 -9.63841199e-01 -1.97538788e-01 -1.68624214e+02] [-6.57605890e-01 -3.22323476e-02 7.52672286e-01 -3.24951778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:-168.66, Z:-325.02 [[-7.35934875e-01 2.31618246e-01 -6.36201892e-01 2.91423392e+02] [-1.61151758e-01 -9.72582915e-01 -1.67668080e-01 -1.68657807e+02] [-6.57594077e-01 -2.08677340e-02 7.53083373e-01 -3.25020491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:-168.67, Z:-325.03 [[-7.36719028e-01 2.20725078e-01 -6.39160006e-01 2.91421010e+02] [-1.59020579e-01 -9.75268868e-01 -1.53502737e-01 -1.68665733e+02] [-6.57234760e-01 -1.14487929e-02 7.53598962e-01 -3.25031185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.40, Y:-169.59, Z:-324.93 [[-6.67024176e-01 -7.35574611e-01 -1.18358526e-01 2.91401624e+02] [-1.65308073e-01 -8.78365882e-03 9.86202864e-01 -1.69589313e+02] [-7.26465408e-01 6.77386773e-01 -1.15737509e-01 -3.24928336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-168.67, Z:-324.64 [[-7.40152224e-01 6.57966710e-01 1.38760564e-01 2.90696355e+02] [-1.83895887e-01 4.30326429e-04 -9.82945633e-01 -1.68667082e+02] [-6.46805217e-01 -7.53046893e-01 1.20678864e-01 -3.24642224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-168.68, Z:-324.74 [[-7.84068715e-01 6.06440507e-01 1.32159605e-01 2.90637945e+02] [-1.82560397e-01 -2.18212451e-02 -9.82952458e-01 -1.68683141e+02] [-5.93218300e-01 -7.94829381e-01 1.27821375e-01 -3.24743943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-168.70, Z:-324.84 [[-8.23744179e-01 5.52595114e-01 1.26823372e-01 2.90571759e+02] [-1.79842754e-01 -4.25366575e-02 -9.82775263e-01 -1.68700328e+02] [-5.37682165e-01 -8.32363666e-01 1.34419551e-01 -3.24840502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-168.72, Z:-324.92 [[-8.59469055e-01 4.96117090e-01 1.23210295e-01 2.90511751e+02] [-1.76285004e-01 -6.14109968e-02 -9.82421644e-01 -1.68716469e+02] [-4.79829700e-01 -8.66081129e-01 1.40238855e-01 -3.24922885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-169.72, Z:-325.43 [[-7.99492611e-01 -5.91546876e-01 -1.04325735e-01 2.90895227e+02] [-1.64811226e-01 4.90128329e-02 9.85106594e-01 -1.69723812e+02] [-5.77623429e-01 8.04779495e-01 -1.36678964e-01 -3.25432529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-168.76, Z:-325.05 [[-8.59949907e-01 4.95382044e-01 1.22812002e-01 2.90306632e+02] [-1.75619583e-01 -6.12763578e-02 -9.82549220e-01 -1.68759247e+02] [-4.79211769e-01 -8.66511303e-01 1.39693386e-01 -3.25052799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.69, Y:-169.76, Z:-325.56 [[-7.98969595e-01 -5.91984376e-01 -1.05839904e-01 2.90690736e+02] [-1.66272746e-01 4.83216533e-02 9.84895117e-01 -1.69764562e+02] [-5.77928163e-01 8.04499544e-01 -1.37038399e-01 -3.25564361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-168.80, Z:-325.18 [[-8.60250617e-01 4.94804692e-01 1.23033299e-01 2.90101913e+02] [-1.75866953e-01 -6.14590583e-02 -9.82493562e-01 -1.68801273e+02] [-4.78580913e-01 -8.66828184e-01 1.39889986e-01 -3.25183429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-169.72, Z:-325.08 [[-8.19710894e-01 -3.11548678e-01 4.80636527e-01 2.90113542e+02] [-2.56638016e-01 9.49960884e-01 1.78076522e-01 -1.69718534e+02] [-5.12065405e-01 2.26216603e-02 -8.58648520e-01 -3.25084034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-168.88, Z:-325.91 [[-8.42149927e-01 2.50193285e-01 -4.77689043e-01 2.90365506e+02] [-2.11113369e-01 -9.68112160e-01 -1.34870277e-01 -1.68875565e+02] [-4.96200209e-01 -1.27344509e-02 8.68114731e-01 -3.25906315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-168.88, Z:-325.91 [[-8.42600616e-01 2.49566964e-01 -4.77221680e-01 2.90362831e+02] [-2.10624059e-01 -9.68272956e-01 -1.34480437e-01 -1.68877246e+02] [-4.95642722e-01 -1.27989316e-02 8.68432196e-01 -3.25908416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-168.92, Z:-325.99 [[-8.50309809e-01 2.47126985e-01 -4.64652001e-01 2.90197293e+02] [-2.01805734e-01 -9.68512089e-01 -1.45803907e-01 -1.68915477e+02] [-4.86053160e-01 -3.02090547e-02 8.73406972e-01 -3.25994361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-169.84, Z:-325.73 [[-7.79019192e-01 -6.18905244e-01 -1.00426077e-01 2.90318046e+02] [-2.29985670e-01 1.33052527e-01 9.64055816e-01 -1.69843995e+02] [-5.83297257e-01 7.74114542e-01 -2.45989809e-01 -3.25725007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.136559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.17, Y:-168.92, Z:-325.99 [[-8.09669173e-01 2.58575013e-01 -5.26853673e-01 2.90168044e+02] [-2.06001186e-01 -9.65805675e-01 -1.57425885e-01 -1.68922040e+02] [-5.49544668e-01 -1.89304048e-02 8.35249842e-01 -3.25989432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-169.82, Z:-325.38 [[-7.52275293e-01 -3.51989675e-01 5.56942683e-01 2.89571855e+02] [-3.31493117e-01 9.32748962e-01 1.41745148e-01 -1.69819426e+02] [-5.69380539e-01 -7.79912928e-02 -8.18366153e-01 -3.25380762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-168.88, Z:-326.01 [[-7.96399492e-01 3.50324765e-01 -4.92971001e-01 2.90069804e+02] [-2.76125942e-01 -9.35846454e-01 -2.18965474e-01 -1.68875252e+02] [-5.38054192e-01 -3.82619102e-02 8.42041396e-01 -3.26008791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:-169.87, Z:-325.73 [[-7.14732962e-01 -6.94626085e-01 -8.15560918e-02 2.90140130e+02] [-3.09334768e-01 2.09377315e-01 9.27616915e-01 -1.69867249e+02] [-6.27270910e-01 6.88226520e-01 -3.64520867e-01 -3.25734431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-168.91, Z:-326.05 [[-7.49356708e-01 3.76353545e-01 -5.44814219e-01 2.89969512e+02] [-2.94085365e-01 -9.26334761e-01 -2.35409660e-01 -1.68905756e+02] [-5.93277610e-01 -1.61839200e-02 8.04835237e-01 -3.26054100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-168.91, Z:-326.06 [[-7.48733715e-01 3.75958647e-01 -5.45942231e-01 2.89967171e+02] [-2.94238845e-01 -9.26515949e-01 -2.34503088e-01 -1.68907475e+02] [-5.93987648e-01 -1.49429566e-02 8.04335366e-01 -3.26056877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-168.91, Z:-326.06 [[-7.48728438e-01 3.75770742e-01 -5.46078818e-01 2.89956426e+02] [-2.94271420e-01 -9.26597456e-01 -2.34139887e-01 -1.68912397e+02] [-5.93978163e-01 -1.46118027e-02 8.04348455e-01 -3.26064818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-168.91, Z:-326.06 [[-7.47195483e-01 3.76874358e-01 -5.47416321e-01 2.89955162e+02] [-2.95942046e-01 -9.26178556e-01 -2.33691221e-01 -1.68913789e+02] [-5.95077487e-01 -1.26095188e-02 8.03569403e-01 -3.26064978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-168.92, Z:-326.07 [[-7.46755802e-01 3.77174436e-01 -5.47809472e-01 2.89951051e+02] [-2.96501723e-01 -9.26065948e-01 -2.33427909e-01 -1.68915794e+02] [-5.95350738e-01 -1.18871926e-02 8.03377989e-01 -3.26067891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-168.92, Z:-326.07 [[-7.45676782e-01 3.78416833e-01 -5.48422134e-01 2.89947882e+02] [-2.98221112e-01 -9.25577751e-01 -2.33173744e-01 -1.68918308e+02] [-5.95844195e-01 -1.03211883e-02 8.03033728e-01 -3.26070264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-168.95, Z:-326.13 [[-7.49536452e-01 3.80217598e-01 -5.41876080e-01 2.89858287e+02] [-2.97057786e-01 -9.24733556e-01 -2.37959078e-01 -1.68951053e+02] [-5.91567223e-01 -1.73904943e-02 8.06068106e-01 -3.26134965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-169.94, Z:-325.72 [[-6.74789633e-01 -7.36002097e-01 5.44046390e-02 2.89928087e+02] [-3.33171254e-01 3.69580283e-01 8.67414163e-01 -1.69938061e+02] [-6.58525524e-01 5.67196023e-01 -4.94603685e-01 -3.25723202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-168.94, Z:-326.13 [[-6.98463424e-01 4.31302156e-01 -5.71075560e-01 2.89809272e+02] [-3.27562470e-01 -9.02162531e-01 -2.80723344e-01 -1.68940767e+02] [-6.36279556e-01 -9.01206665e-03 7.71405930e-01 -3.26127872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.61, Y:-169.03, Z:-326.31 [[-7.03810182e-01 4.33945091e-01 -5.62443673e-01 2.89608039e+02] [-3.26932260e-01 -9.00772828e-01 -2.85873416e-01 -1.69033042e+02] [-6.30687344e-01 -1.73196395e-02 7.75843737e-01 -3.26305702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-169.96, Z:-325.82 [[-6.27641696e-01 -7.78502001e-01 7.32708760e-04 2.89836038e+02] [-3.46507346e-01 2.80202740e-01 8.95220132e-01 -1.69959765e+02] [-6.97135971e-01 5.61623592e-01 -4.45623585e-01 -3.25818739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-168.97, Z:-326.19 [[-6.48141525e-01 4.83011167e-01 -5.88738292e-01 2.89669702e+02] [-3.52732356e-01 -8.75591972e-01 -3.30028157e-01 -1.68970749e+02] [-6.74901807e-01 -6.23790831e-03 7.37881183e-01 -3.26191436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-168.97, Z:-326.20 [[-6.47963415e-01 4.83152006e-01 -5.88818777e-01 2.89664868e+02] [-3.53495206e-01 -8.75520474e-01 -3.29401031e-01 -1.68974544e+02] [-6.74673663e-01 -5.29520194e-03 7.38097154e-01 -3.26197429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-168.98, Z:-326.20 [[-6.47304767e-01 4.84253994e-01 -5.88637926e-01 2.89658333e+02] [-3.55639316e-01 -8.74920793e-01 -3.28685692e-01 -1.68979689e+02] [-6.74178920e-01 -3.41702560e-03 7.38560159e-01 -3.26204942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-168.99, Z:-326.22 [[-6.48557163e-01 4.82388430e-01 -5.88791142e-01 2.89648506e+02] [-3.53551620e-01 -8.75944838e-01 -3.28210134e-01 -1.68986523e+02] [-6.74073333e-01 -4.69497141e-03 7.38649510e-01 -3.26216167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-168.99, Z:-326.22 [[-6.48305979e-01 4.80744028e-01 -5.90410482e-01 2.89645230e+02] [-3.54103059e-01 -8.76859261e-01 -3.25159746e-01 -1.68991021e+02] [-6.74025505e-01 -1.73684989e-03 7.38706033e-01 -3.26222605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-169.81, Z:-326.19 [[-6.03027796e-01 -6.42735092e-01 -4.72492411e-01 2.89871613e+02] [-3.13521044e-01 -3.53683715e-01 8.81256141e-01 -1.69809201e+02] [-7.33527118e-01 6.79558262e-01 1.17701340e-02 -3.26185591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-169.06, Z:-326.32 [[-6.10317789e-01 4.76310806e-01 -6.32961462e-01 2.89521435e+02] [-3.25286774e-01 -8.79252993e-01 -3.47998117e-01 -1.69063080e+02] [-7.22288523e-01 -6.49544888e-03 6.91561348e-01 -3.26321095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-169.07, Z:-326.34 [[-6.10834114e-01 4.69509037e-01 -6.37528783e-01 2.89514564e+02] [-3.24041198e-01 -8.82927154e-01 -3.39760126e-01 -1.69072892e+02] [-7.22411923e-01 -9.51485083e-04 6.91462297e-01 -3.26337191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-169.22, Z:-325.92 [[-6.41131025e-01 6.51061998e-01 4.06287194e-01 2.88888008e+02] [-3.49196231e-01 2.23940278e-01 -9.09897106e-01 -1.69221653e+02] [-6.83383495e-01 -7.25237221e-01 8.37733358e-02 -3.25924501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:-169.99, Z:-326.41 [[-6.05394117e-01 -6.98092990e-01 -3.82314191e-01 2.89615560e+02] [-3.04762821e-01 -2.40417076e-01 9.21585185e-01 -1.69991196e+02] [-7.35267017e-01 6.74437400e-01 -6.72057054e-02 -3.26410503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-169.17, Z:-326.55 [[-6.12002631e-01 4.66991942e-01 -6.38256458e-01 2.89332893e+02] [-3.20790238e-01 -8.84256618e-01 -3.39387472e-01 -1.69171478e+02] [-7.22873712e-01 -2.95958545e-03 6.90973833e-01 -3.26545526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-169.18, Z:-326.55 [[-6.12723776e-01 4.64745564e-01 -6.39203517e-01 2.89327372e+02] [-3.18509089e-01 -8.85436162e-01 -3.38459396e-01 -1.69176426e+02] [-7.23271412e-01 -3.78998936e-03 6.90553475e-01 -3.26553794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-169.18, Z:-326.56 [[-6.14748983e-01 4.61744756e-01 -6.39433709e-01 2.89326499e+02] [-3.14836862e-01 -8.86990033e-01 -3.37826037e-01 -1.69180347e+02] [-7.23160728e-01 -6.36090982e-03 6.90650491e-01 -3.26556951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-169.19, Z:-326.57 [[-6.16010421e-01 4.59718764e-01 -6.39679466e-01 2.89319164e+02] [-3.12558658e-01 -8.88030424e-01 -3.37207727e-01 -1.69186243e+02] [-7.23075547e-01 -7.78611849e-03 6.90725076e-01 -3.26567596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-169.21, Z:-326.63 [[-6.22175956e-01 4.50792597e-01 -6.40064930e-01 2.89273515e+02] [-3.00664301e-01 -8.92470756e-01 -3.36298867e-01 -1.69214718e+02] [-7.22840272e-01 -1.67923941e-02 6.90811087e-01 -3.26626346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.28, Z:-326.79 [[-6.19685205e-01 4.36112199e-01 -6.52530763e-01 2.89159223e+02] [-2.96491613e-01 -8.99879809e-01 -3.19857864e-01 -1.69284337e+02] [-7.26693175e-01 -4.74128798e-03 6.86945813e-01 -3.26785806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-169.45, Z:-326.15 [[-6.47865677e-01 5.36833930e-01 5.40443703e-01 2.88609380e+02] [-3.54118366e-01 4.15903198e-01 -8.37630415e-01 -1.69446265e+02] [-6.74440693e-01 -7.34053037e-01 -7.93466527e-02 -3.26154765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-169.27, Z:-326.79 [[-6.63293964e-01 4.48120542e-01 -5.99357236e-01 2.89177116e+02] [-3.23088490e-01 -8.93885879e-01 -3.10776226e-01 -1.69265256e+02] [-6.75022181e-01 -1.24905706e-02 7.37691698e-01 -3.26791696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-169.27, Z:-326.80 [[-6.63932607e-01 4.46776233e-01 -5.99653642e-01 2.89171368e+02] [-3.21732995e-01 -8.94550259e-01 -3.10270388e-01 -1.69269484e+02] [-6.75041756e-01 -1.30702653e-02 7.37663742e-01 -3.26798402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-169.27, Z:-326.80 [[-6.64225377e-01 4.45660411e-01 -6.00159518e-01 2.89170705e+02] [-3.20533753e-01 -8.95100476e-01 -3.09924590e-01 -1.69270977e+02] [-6.75324190e-01 -1.34883948e-02 7.37397655e-01 -3.26799745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.28, Z:-326.81 [[-6.65052366e-01 4.43916315e-01 -6.00536140e-01 2.89157426e+02] [-3.18535378e-01 -8.95949920e-01 -3.09530214e-01 -1.69278919e+02] [-6.75455819e-01 -1.45617946e-02 7.37256666e-01 -3.26814517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.28, Z:-326.82 [[-6.65042911e-01 4.42401312e-01 -6.01663532e-01 2.89152622e+02] [-3.17684542e-01 -8.96710606e-01 -3.08198996e-01 -1.69283935e+02] [-6.75865711e-01 -1.38263539e-02 7.36895090e-01 -3.26821819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.28, Z:-326.82 [[-6.65486058e-01 4.41685058e-01 -6.01699773e-01 2.89154968e+02] [-3.17258523e-01 -8.97063790e-01 -3.07609471e-01 -1.69283632e+02] [-6.75629585e-01 -1.38154330e-02 7.37111794e-01 -3.26819970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.29, Z:-326.82 [[-6.65619123e-01 4.41156007e-01 -6.01940662e-01 2.89151943e+02] [-3.16982948e-01 -8.97327016e-01 -3.07125442e-01 -1.69285884e+02] [-6.75627851e-01 -1.36236415e-02 7.37116953e-01 -3.26824009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.29, Z:-326.83 [[-6.66458611e-01 4.40414539e-01 -6.01554614e-01 2.89147979e+02] [-3.16725800e-01 -8.97691138e-01 -3.06325623e-01 -1.69288610e+02] [-6.74920504e-01 -1.36254833e-02 7.37764637e-01 -3.26828934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-169.98, Z:-326.86 [[-6.14204559e-01 -5.28256694e-01 -5.86257302e-01 2.89350680e+02] [-2.70744551e-01 -5.56749872e-01 7.85319660e-01 -1.69984591e+02] [-7.41249046e-01 6.41072885e-01 1.98935688e-01 -3.26864002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-169.61, Z:-326.37 [[-6.50283446e-01 4.71684390e-01 5.95521012e-01 2.88388039e+02] [-3.50904059e-01 5.08767878e-01 -7.86143490e-01 -1.69608538e+02] [-6.73793574e-01 -7.20186839e-01 -1.65327362e-01 -3.26366969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-169.64, Z:-326.47 [[-6.79850555e-01 4.15822345e-01 6.04065394e-01 2.88321307e+02] [-3.85693592e-01 4.97842826e-01 -7.76783737e-01 -1.69641640e+02] [-6.23733658e-01 -7.61081006e-01 -1.78078708e-01 -3.26467528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-169.68, Z:-326.56 [[-7.05188888e-01 3.58960657e-01 6.11437551e-01 2.88254915e+02] [-4.19927312e-01 4.83398204e-01 -7.68106261e-01 -1.69675886e+02] [-5.71287742e-01 -7.98419328e-01 -1.90149658e-01 -3.26559211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-169.47, Z:-327.30 [[-7.25246434e-01 4.75935070e-01 -4.97497155e-01 2.88741323e+02] [-3.85020840e-01 -8.79404836e-01 -2.80010870e-01 -1.69466664e+02] [-5.70768397e-01 -1.15301120e-02 8.21030142e-01 -3.27303790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-169.47, Z:-327.31 [[-7.25463113e-01 4.75276559e-01 -4.97810671e-01 2.88736938e+02] [-3.84391711e-01 -8.79759974e-01 -2.79759542e-01 -1.69469231e+02] [-5.70917055e-01 -1.16009333e-02 8.20925779e-01 -3.27307665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-169.47, Z:-327.31 [[-7.25475631e-01 4.74976641e-01 -4.98078608e-01 2.88734694e+02] [-3.84245371e-01 -8.79925298e-01 -2.79440448e-01 -1.69470314e+02] [-5.70999653e-01 -1.13428356e-02 8.20871937e-01 -3.27309020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-169.47, Z:-327.31 [[-7.25646657e-01 4.74287627e-01 -4.98485883e-01 2.88727841e+02] [-3.83570995e-01 -8.80296203e-01 -2.79198652e-01 -1.69473977e+02] [-5.71235696e-01 -1.13948421e-02 8.20706974e-01 -3.27314426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-169.48, Z:-327.32 [[-7.25710045e-01 4.73726850e-01 -4.98926651e-01 2.88724674e+02] [-3.83009595e-01 -8.80598148e-01 -2.79017118e-01 -1.69475525e+02] [-5.71531785e-01 -1.13918309e-02 8.20500850e-01 -3.27316844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-169.48, Z:-327.32 [[-7.25729883e-01 4.73143883e-01 -4.99450702e-01 2.88722153e+02] [-3.82416991e-01 -8.80911874e-01 -2.78839586e-01 -1.69476587e+02] [-5.71903298e-01 -1.13637858e-02 8.20242331e-01 -3.27318736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-169.48, Z:-327.32 [[-7.25825330e-01 4.72552122e-01 -4.99872066e-01 2.88718964e+02] [-3.81855721e-01 -8.81229777e-01 -2.78604179e-01 -1.69478300e+02] [-5.72157146e-01 -1.13389618e-02 8.20065625e-01 -3.27321708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-169.48, Z:-327.32 [[-7.26077884e-01 4.71981837e-01 -5.00044050e-01 2.88715543e+02] [-3.81391958e-01 -8.81535406e-01 -2.78272353e-01 -1.69480029e+02] [-5.72146031e-01 -1.13346220e-02 8.20073439e-01 -3.27324362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-169.48, Z:-327.33 [[-7.26254454e-01 4.71320321e-01 -5.00411453e-01 2.88710645e+02] [-3.80767240e-01 -8.81888889e-01 -2.78007727e-01 -1.69482045e+02] [-5.72337992e-01 -1.13640621e-02 8.19939072e-01 -3.27328117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-169.54, Z:-327.40 [[-7.42155885e-01 4.46239358e-01 -5.00075072e-01 2.88634983e+02] [-3.50507200e-01 -8.94377531e-01 -2.77909221e-01 -1.69537489e+02] [-5.71269940e-01 -3.09720503e-02 8.20177656e-01 -3.27395001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-169.55, Z:-327.40 [[-7.42438586e-01 4.33020200e-01 -5.11154041e-01 2.88640885e+02] [-3.49536879e-01 -9.01313589e-01 -2.55847188e-01 -1.69546843e+02] [-5.71497084e-01 -1.12836363e-02 8.20526516e-01 -3.27404247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-169.55, Z:-327.41 [[-7.42376876e-01 4.32693651e-01 -5.11520067e-01 2.88636346e+02] [-3.49515621e-01 -9.01476988e-01 -2.55299962e-01 -1.69548773e+02] [-5.71590242e-01 -1.07445345e-02 8.20468860e-01 -3.27408000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-169.55, Z:-327.41 [[-7.42083000e-01 4.32948518e-01 -5.11730790e-01 2.88631763e+02] [-3.50038764e-01 -9.01362096e-01 -2.54988697e-01 -1.69549287e+02] [-5.71651716e-01 -1.00971637e-02 8.20434253e-01 -3.27410739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-169.59, Z:-327.47 [[-7.51047045e-01 4.16889017e-01 -5.11988168e-01 2.88555971e+02] [-3.30554689e-01 -9.08684321e-01 -2.55002750e-01 -1.69593597e+02] [-5.71543467e-01 -2.22789715e-02 8.20269293e-01 -3.27473658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-169.61, Z:-327.49 [[-7.52010775e-01 4.06573539e-01 -5.18823431e-01 2.88542865e+02] [-3.27944199e-01 -9.13554687e-01 -2.40562749e-01 -1.69607483e+02] [-5.71780025e-01 -1.07606446e-02 8.20336402e-01 -3.27492512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-169.61, Z:-327.50 [[-7.51263981e-01 4.06371146e-01 -5.20062422e-01 2.88539658e+02] [-3.29147502e-01 -9.13673350e-01 -2.38459497e-01 -1.69608540e+02] [-5.72070234e-01 -7.96878422e-03 8.20165926e-01 -3.27495317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-169.61, Z:-327.50 [[-7.51490565e-01 4.06085033e-01 -5.19958534e-01 2.88536139e+02] [-3.29143270e-01 -9.13802938e-01 -2.37968273e-01 -1.69609230e+02] [-5.71774990e-01 -7.69005991e-03 8.20374441e-01 -3.27497734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-169.61, Z:-327.50 [[-7.51336346e-01 4.06444515e-01 -5.19900521e-01 2.88532925e+02] [-3.30097853e-01 -9.13651492e-01 -2.37226388e-01 -1.69610125e+02] [-5.71427251e-01 -6.61876167e-03 8.20626035e-01 -3.27500168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-169.61, Z:-327.51 [[-7.51047080e-01 4.07089318e-01 -5.19813977e-01 2.88521953e+02] [-3.31194271e-01 -9.13370740e-01 -2.36778899e-01 -1.69614219e+02] [-5.71173037e-01 -5.67268907e-03 8.20810077e-01 -3.27508537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-169.61, Z:-327.51 [[-7.50389029e-01 4.08938581e-01 -5.19312566e-01 2.88524409e+02] [-3.33888869e-01 -9.12553970e-01 -2.36142912e-01 -1.69611117e+02] [-5.70468691e-01 -3.80636461e-03 8.21310528e-01 -3.27505807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-169.61, Z:-327.51 [[-7.50305873e-01 4.09447014e-01 -5.19032022e-01 2.88517461e+02] [-3.34907720e-01 -9.12329226e-01 -2.35567831e-01 -1.69613590e+02] [-5.69980627e-01 -2.92009589e-03 8.21652942e-01 -3.27510803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-169.61, Z:-327.51 [[-7.50146963e-01 4.09849966e-01 -5.18943677e-01 2.88517541e+02] [-3.35706700e-01 -9.12150384e-01 -2.35122708e-01 -1.69612854e+02] [-5.69719708e-01 -2.16371600e-03 8.21836220e-01 -3.27510204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-169.62, Z:-327.52 [[-7.49583959e-01 4.11037494e-01 -5.18817952e-01 2.88510005e+02] [-3.37528649e-01 -9.11618155e-01 -2.34577813e-01 -1.69615012e+02] [-5.69384140e-01 -7.19843573e-04 8.22071276e-01 -3.27515321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-169.62, Z:-327.52 [[-7.49465130e-01 4.11237200e-01 -5.18831364e-01 2.88508723e+02] [-3.38047461e-01 -9.11528360e-01 -2.34179340e-01 -1.69615037e+02] [-5.69232758e-01 -1.19624160e-04 8.22176412e-01 -3.27515736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-169.62, Z:-327.52 [[-7.49479918e-01 4.10794776e-01 -5.19160384e-01 2.88503881e+02] [-3.37708336e-01 -9.11727838e-01 -2.33891917e-01 -1.69616733e+02] [-5.69414552e-01 2.74945442e-05 8.22050526e-01 -3.27519451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-169.62, Z:-327.52 [[-7.49270407e-01 4.10593665e-01 -5.19621690e-01 2.88499196e+02] [-3.37866874e-01 -9.11818118e-01 -2.33310299e-01 -1.69618858e+02] [-5.69596202e-01 7.50453409e-04 8.21924330e-01 -3.27522881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-169.64, Z:-327.55 [[-7.51322612e-01 4.05751709e-01 -5.20461222e-01 2.88462877e+02] [-3.31922283e-01 -9.13979658e-01 -2.33385481e-01 -1.69635365e+02] [-5.70387527e-01 -2.59511239e-03 8.21371618e-01 -3.27551099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-169.64, Z:-327.55 [[-7.51491281e-01 4.02692529e-01 -5.22589305e-01 2.88462273e+02] [-3.31071106e-01 -9.15335011e-01 -2.29246024e-01 -1.69637940e+02] [-5.70659949e-01 7.37831012e-04 8.21186141e-01 -3.27554472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-169.74, Z:-327.73 [[-7.68164692e-01 4.12411661e-01 -4.89734242e-01 2.88177376e+02] [-3.26404032e-01 -9.10296984e-01 -2.54597346e-01 -1.69736536e+02] [-5.50802518e-01 -3.57214610e-02 8.33870831e-01 -3.27733429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-170.67, Z:-327.57 [[-6.94645830e-01 -6.93781799e-01 -1.90089418e-01 2.88329180e+02] [-2.96741424e-01 3.56442080e-02 9.54292417e-01 -1.70666732e+02] [-6.55295124e-01 7.19302652e-01 -2.30633899e-01 -3.27571283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-170.17, Z:-326.87 [[-6.91596880e-01 9.23465060e-02 7.16355972e-01 2.87764210e+02] [-3.91574975e-01 7.85458240e-01 -4.79295726e-01 -1.70170040e+02] [-6.06928986e-01 -6.11986501e-01 -5.07059887e-01 -3.26866448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-170.41, Z:-327.71 [[-6.78923518e-01 -4.81919392e-01 -5.53910243e-01 2.88452706e+02] [-3.38596475e-01 -4.63902568e-01 8.18624966e-01 -1.70414551e+02] [-6.51471630e-01 7.43335797e-01 1.51778156e-01 -3.27711817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-170.48, Z:-327.76 [[-6.41813798e-01 -5.34818639e-01 -5.49585364e-01 2.88358482e+02] [-3.05061298e-01 -4.79460938e-01 8.22833406e-01 -1.70475776e+02] [-7.03571357e-01 6.95763057e-01 1.44572177e-01 -3.27763597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-170.53, Z:-327.82 [[-6.02178248e-01 -5.84507439e-01 -5.43812846e-01 2.88264872e+02] [-2.71312864e-01 -4.90795627e-01 8.27954698e-01 -1.70534598e+02] [-7.50846647e-01 6.46119730e-01 1.36962064e-01 -3.27823567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-170.11, Z:-327.36 [[-6.35895443e-01 5.36501318e-01 5.54800253e-01 2.87281921e+02] [-3.38145204e-01 4.52513504e-01 -8.25160197e-01 -1.70110107e+02] [-6.93754139e-01 -7.12318654e-01 -1.06335927e-01 -3.27363500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-170.62, Z:-328.03 [[-5.99119524e-01 -5.88212905e-01 -5.43195521e-01 2.88087042e+02] [-2.68412325e-01 -4.91620869e-01 8.28410372e-01 -1.70623615e+02] [-7.54327926e-01 6.42117201e-01 1.36656068e-01 -3.28032180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-169.94, Z:-328.07 [[-6.17757870e-01 4.19611607e-01 -6.65057376e-01 2.87783418e+02] [-2.72894408e-01 -9.07568685e-01 -3.19135902e-01 -1.69939261e+02] [-7.37498377e-01 -1.56582758e-02 6.75167359e-01 -3.28069944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-170.70, Z:-328.10 [[-5.49263213e-01 -6.55801339e-01 -5.17913628e-01 2.87983153e+02] [-2.34101598e-01 -4.74200887e-01 8.48722546e-01 -1.70699467e+02] [-8.02188484e-01 5.87416481e-01 1.06936962e-01 -3.28102623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-170.29, Z:-327.85 [[-6.09783492e-01 5.94107260e-01 5.24595708e-01 2.86879357e+02] [-3.08006784e-01 4.32233214e-01 -8.47529510e-01 -1.70288142e+02] [-7.30271123e-01 -6.78388541e-01 -8.05796121e-02 -3.27845130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-170.02, Z:-328.29 [[-6.22247117e-01 4.09195283e-01 -6.67358784e-01 2.87620844e+02] [-2.58958089e-01 -9.12105962e-01 -3.17810357e-01 -1.70015684e+02] [-7.38748424e-01 -2.49386232e-02 6.73519733e-01 -3.28293067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-170.88, Z:-327.71 [[-5.62832866e-01 -3.32113651e-01 7.56914584e-01 2.87112815e+02] [-3.76363434e-01 9.18264258e-01 1.23050061e-01 -1.70878102e+02] [-7.35914214e-01 -2.15618354e-01 -6.41824738e-01 -3.27708861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-170.02, Z:-328.42 [[-6.05892318e-01 4.92814959e-01 -6.24522149e-01 2.87472249e+02] [-3.22197634e-01 -8.69768132e-01 -3.73754038e-01 -1.70021830e+02] [-7.27381044e-01 -2.52351412e-02 6.85769644e-01 -3.28417763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-170.03, Z:-328.43 [[-6.10764471e-01 4.92538919e-01 -6.19977560e-01 2.87458299e+02] [-3.19457382e-01 -8.69711766e-01 -3.76229220e-01 -1.70025114e+02] [-7.24509311e-01 -3.17310322e-02 6.88534240e-01 -3.28426952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-171.07, Z:-328.13 [[-4.91876360e-01 -8.66254984e-01 8.75211430e-02 2.87494937e+02] [-3.67212556e-01 2.97547628e-01 8.81260658e-01 -1.71073199e+02] [-7.89438146e-01 4.01332422e-01 -4.64456351e-01 -3.28127818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-170.30, Z:-328.12 [[-5.89601253e-01 6.27535766e-01 5.08497026e-01 2.86710658e+02] [-4.15732134e-01 3.03980709e-01 -8.57182898e-01 -1.70296049e+02] [-6.92486213e-01 -7.16794665e-01 8.16593759e-02 -3.28121492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-170.11, Z:-328.67 [[-6.00347132e-01 5.39416847e-01 -5.90434405e-01 2.87259860e+02] [-3.62792923e-01 -8.41638839e-01 -4.00031699e-01 -1.70112407e+02] [-7.12716365e-01 -2.59524596e-02 7.00972077e-01 -3.28666843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-170.11, Z:-328.67 [[-6.01124480e-01 5.39149721e-01 -5.89887225e-01 2.87255808e+02] [-3.61982340e-01 -8.41770103e-01 -4.00489551e-01 -1.70114676e+02] [-7.12473259e-01 -2.72153147e-02 7.01171293e-01 -3.28672424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-170.12, Z:-328.68 [[-6.02554728e-01 5.37841656e-01 -5.89622042e-01 2.87249196e+02] [-3.61151140e-01 -8.42587734e-01 -3.99519417e-01 -1.70119144e+02] [-7.11686485e-01 -2.77896408e-02 7.01947350e-01 -3.28681625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-170.12, Z:-328.68 [[-6.12476664e-01 5.41020639e-01 -5.76341049e-01 2.87229725e+02] [-3.59646210e-01 -8.39981040e-01 -4.06308327e-01 -1.70120899e+02] [-7.03936744e-01 -4.15754948e-02 7.09044807e-01 -3.28684564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-171.10, Z:-328.50 [[-4.89240463e-01 -8.46805372e-01 -2.08720942e-01 2.87444844e+02] [-3.63969575e-01 -1.92426880e-02 9.31212042e-01 -1.71097425e+02] [-7.92571712e-01 5.31554683e-01 -2.98797090e-01 -3.28502131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-170.87, Z:-328.18 [[-5.00962578e-01 -1.05133784e-02 8.65405087e-01 2.86567024e+02] [-4.89832400e-01 8.27806903e-01 -2.73495797e-01 -1.70865655e+02] [-7.13512940e-01 -5.60914610e-01 -4.19850073e-01 -3.28180196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-170.20, Z:-328.90 [[-5.55368715e-01 6.39597154e-01 -5.31489483e-01 2.86990926e+02] [-4.22587731e-01 -7.67500552e-01 -4.82039950e-01 -1.70202748e+02] [-7.16229852e-01 -4.31089729e-02 6.96531705e-01 -3.28904706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-170.21, Z:-328.91 [[-5.55291756e-01 6.26803649e-01 -5.46596974e-01 2.86998817e+02] [-4.21653219e-01 -7.78691414e-01 -4.64594710e-01 -1.70209895e+02] [-7.16840030e-01 -2.75112389e-02 6.96694699e-01 -3.28914351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-170.22, Z:-328.93 [[-5.54892485e-01 6.26236903e-01 -5.47651049e-01 2.86990831e+02] [-4.21187950e-01 -7.79167679e-01 -4.64218094e-01 -1.70216465e+02] [-7.17422498e-01 -2.69271093e-02 6.96117727e-01 -3.28925860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-170.22, Z:-328.93 [[-5.53913749e-01 6.25907783e-01 -5.49016399e-01 2.86989547e+02] [-4.20775579e-01 -7.79461631e-01 -4.64098566e-01 -1.70216721e+02] [-7.18420122e-01 -2.60578835e-02 6.95121223e-01 -3.28927270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-170.25, Z:-328.98 [[-5.59590156e-01 6.20155229e-01 -5.49787549e-01 2.86953330e+02] [-4.13176556e-01 -7.83815415e-01 -4.63593064e-01 -1.70249629e+02] [-7.18431619e-01 -3.22627893e-02 6.94848992e-01 -3.28979156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-170.26, Z:-328.99 [[-5.59543300e-01 6.13999197e-01 -5.56701249e-01 2.86951917e+02] [-4.12322230e-01 -7.88897058e-01 -4.55666337e-01 -1.70257039e+02] [-7.18958743e-01 -2.54247455e-02 6.94587582e-01 -3.28990729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-170.27, Z:-329.00 [[-5.74812896e-01 6.21448705e-01 -5.32345416e-01 2.86916731e+02] [-4.13624561e-01 -7.81993952e-01 -4.66261923e-01 -1.70266164e+02] [-7.06048764e-01 -4.78222276e-02 7.06546656e-01 -3.28998073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-171.21, Z:-328.82 [[-4.54607626e-01 -8.26929208e-01 -3.30938048e-01 2.87256366e+02] [-4.12871748e-01 -1.33579490e-01 9.00940309e-01 -1.71208045e+02] [-7.89220391e-01 5.46209305e-01 -2.80689453e-01 -3.28824406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-170.33, Z:-329.09 [[-5.24330343e-01 6.54620812e-01 -5.44563387e-01 2.86798040e+02] [-4.06021854e-01 -7.54343092e-01 -5.15861176e-01 -1.70331799e+02] [-7.48481092e-01 -4.93770315e-02 6.61315329e-01 -3.29089258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-171.28, Z:-328.94 [[-4.00242508e-01 -8.51302063e-01 -3.39250251e-01 2.87155538e+02] [-3.98346135e-01 -1.71774346e-01 9.01007176e-01 -1.71279825e+02] [-8.25303757e-01 4.95760398e-01 -2.70361492e-01 -3.28941879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.68, Y:-170.40, Z:-329.19 [[-4.71148010e-01 6.88574215e-01 -5.51257747e-01 2.86683129e+02] [-3.95584864e-01 -7.23545537e-01 -5.65680538e-01 -1.70397733e+02] [-7.88373115e-01 -4.84500384e-02 6.13286577e-01 -3.29188814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-171.34, Z:-329.05 [[-3.44649829e-01 -8.71889583e-01 -3.47886547e-01 2.87070801e+02] [-3.82839678e-01 -2.07823618e-01 9.00135059e-01 -1.71342423e+02] [-8.57117423e-01 4.43416168e-01 -2.62167553e-01 -3.29053056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-170.47, Z:-329.33 [[-4.05482351e-01 7.15767389e-01 -5.68560558e-01 2.86582587e+02] [-3.74515013e-01 -6.97471193e-01 -6.10960260e-01 -1.70473239e+02] [-8.33860041e-01 -3.47991379e-02 5.50877892e-01 -3.29325731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-170.48, Z:-329.34 [[-4.05855433e-01 7.07435604e-01 -5.78633073e-01 2.86585151e+02] [-3.73211249e-01 -7.06213879e-01 -6.01643849e-01 -1.70480287e+02] [-8.34262987e-01 -2.82280528e-02 5.50643665e-01 -3.29340437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-170.49, Z:-329.36 [[-4.19687850e-01 7.13297685e-01 -5.61309649e-01 2.86557676e+02] [-3.75767223e-01 -6.99465555e-01 -6.07903719e-01 -1.70491903e+02] [-8.26233080e-01 -4.42080365e-02 5.61591085e-01 -3.29355789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-171.43, Z:-329.25 [[-2.91658440e-01 -8.89035260e-01 -3.52918773e-01 2.86962624e+02] [-3.46291273e-01 -2.45792445e-01 9.05355416e-01 -1.71428578e+02] [-8.91637656e-01 3.86267239e-01 -2.36177711e-01 -3.29250105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:-171.33, Z:-329.06 [[-3.09164087e-01 7.69350271e-02 9.47891644e-01 2.85959669e+02] [-4.75507223e-01 8.50679641e-01 -2.24136186e-01 -1.71326882e+02] [-8.23596047e-01 -5.20024182e-01 -2.26416434e-01 -3.29062425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:-170.59, Z:-329.61 [[-3.71893019e-01 8.07449575e-01 -4.57952800e-01 2.86350092e+02] [-4.26380788e-01 -5.86801306e-01 -6.88377550e-01 -1.70593514e+02] [-8.24557461e-01 -6.07405298e-02 5.62508295e-01 -3.29610809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-171.47, Z:-329.52 [[-2.49579204e-01 -8.41655658e-01 -4.78879916e-01 2.86886013e+02] [-3.78488854e-01 -3.70403698e-01 8.48261332e-01 -1.71467262e+02] [-8.91322842e-01 3.92959099e-01 -2.26112225e-01 -3.29519867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-171.52, Z:-329.33 [[-2.45664820e-01 -6.84966247e-02 9.66931750e-01 2.85885832e+02] [-5.10254215e-01 8.57258371e-01 -6.89109705e-02 -1.71522740e+02] [-8.24190167e-01 -5.10310002e-01 -2.45548915e-01 -3.29327473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-170.72, Z:-329.88 [[-3.04615520e-01 8.70306050e-01 -3.87010031e-01 2.86183957e+02] [-4.61985767e-01 -4.90327990e-01 -7.39018006e-01 -1.70718160e+02] [-8.32933692e-01 -4.63232283e-02 5.51430524e-01 -3.29881211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-171.42, Z:-329.86 [[-2.16678284e-01 -6.20978070e-01 -7.53283982e-01 2.86834362e+02] [-4.04121283e-01 -6.45344876e-01 6.48240681e-01 -1.71415239e+02] [-8.88671205e-01 4.44877767e-01 -1.11118234e-01 -3.29856821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-171.42, Z:-329.95 [[-2.81314507e-01 5.74543919e-01 7.68610066e-01 2.85602598e+02] [-5.06754110e-01 5.91223255e-01 -6.27419585e-01 -1.71415765e+02] [-8.14900252e-01 -5.65998541e-01 1.24832814e-01 -3.29952031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-170.86, Z:-330.15 [[-3.17992577e-01 8.60427921e-01 -3.98176485e-01 2.86111071e+02] [-4.65385259e-01 -5.07556579e-01 -7.25122665e-01 -1.70863050e+02] [-8.26012882e-01 -4.52781580e-02 5.61829696e-01 -3.30151264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-171.69, Z:-330.03 [[-2.00290530e-01 -8.07341280e-01 -5.55052936e-01 2.86728084e+02] [-4.21822827e-01 -4.40273828e-01 7.92606118e-01 -1.71685714e+02] [-8.84278919e-01 3.92885498e-01 -2.52372303e-01 -3.30034967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-170.95, Z:-330.26 [[-2.63232088e-01 8.89008255e-01 -3.74664104e-01 2.86023557e+02] [-4.38128828e-01 -4.56163371e-01 -7.74569628e-01 -1.70948924e+02] [-8.59506834e-01 -3.97404356e-02 5.09576982e-01 -3.30261531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-171.71, Z:-330.19 [[-1.56524612e-01 -7.53653012e-01 -6.38362894e-01 2.86686815e+02] [-3.75236460e-01 -5.52490899e-01 7.44279118e-01 -1.71709890e+02] [-9.13617888e-01 3.56035032e-01 -1.96319664e-01 -3.30192866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-171.96, Z:-330.03 [[-1.43838522e-01 -2.16689523e-01 9.65585900e-01 2.85700716e+02] [-4.92081867e-01 8.62212401e-01 1.20188236e-01 -1.71959871e+02] [-8.58583669e-01 -4.57859614e-01 -2.30648342e-01 -3.30026812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-171.10, Z:-330.54 [[-1.94996293e-01 9.42726138e-01 -2.70636054e-01 2.85868663e+02] [-4.68315719e-01 -3.31938566e-01 -8.18838919e-01 -1.71096544e+02] [-8.61775396e-01 -3.29274356e-02 5.06220259e-01 -3.30544605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-171.72, Z:-330.50 [[-1.16916164e-01 -6.09661641e-01 -7.83991897e-01 2.86627248e+02] [-3.90195535e-01 -6.97727779e-01 6.00769000e-01 -1.71723580e+02] [-9.13278739e-01 3.76149745e-01 -1.56311595e-01 -3.30498857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.80, Y:-172.21, Z:-330.30 [[-6.10017517e-02 -5.37046643e-01 8.41343978e-01 2.85797653e+02] [-4.87105217e-01 7.51742840e-01 4.44534824e-01 -1.72213962e+02] [-8.71210247e-01 -3.82705638e-01 -3.07455851e-01 -3.30296912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-171.28, Z:-330.83 [[-1.13812710e-01 9.83764805e-01 -1.38756897e-01 2.85713236e+02] [-4.86757286e-01 -1.76968209e-01 -8.55423636e-01 -1.71278218e+02] [-8.66091226e-01 -2.98171519e-02 4.98995918e-01 -3.30825919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-171.73, Z:-330.81 [[-6.73526849e-02 -4.22708762e-01 -9.03759326e-01 2.86554897e+02] [-3.90428339e-01 -8.22416423e-01 4.13759520e-01 -1.71733668e+02] [-9.18166286e-01 3.80721066e-01 -1.09645525e-01 -3.30807440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-172.41, Z:-330.59 [[ 1.30362816e-02 -7.32401706e-01 6.80747969e-01 2.85889214e+02] [-4.63150549e-01 5.98947504e-01 6.53263696e-01 -1.72407197e+02] [-8.86183742e-01 -3.23804925e-01 -3.31404204e-01 -3.30586043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-171.47, Z:-331.09 [[-2.21446293e-02 9.99747415e-01 3.83680492e-03 2.85584652e+02] [-4.81864136e-01 -7.31068151e-03 -8.76215446e-01 -1.71470627e+02] [-8.75966078e-01 -2.12522849e-02 4.81904317e-01 -3.31085053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-171.77, Z:-331.08 [[ 1.09815774e-03 -2.59457249e-01 -9.65753970e-01 2.86493580e+02] [-3.92505837e-01 -8.88364017e-01 2.38219523e-01 -1.71773646e+02] [-9.19748858e-01 3.78802468e-01 -1.02814048e-01 -3.31082050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:-172.41, Z:-330.81 [[ 9.31329099e-02 -9.95356181e-01 -2.43379188e-02 2.86307003e+02] [-3.88624871e-01 -5.88461173e-02 9.19515005e-01 -1.72409416e+02] [-9.16677136e-01 -7.61787876e-02 -3.92300677e-01 -3.30807269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-171.67, Z:-331.25 [[ 9.16627408e-02 9.74358828e-01 2.05481912e-01 2.85486209e+02] [-4.10990939e-01 2.24972926e-01 -8.83444186e-01 -1.71671182e+02] [-9.07019509e-01 -3.47228860e-03 4.21074285e-01 -3.31245240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-171.67, Z:-331.28 [[ 6.99839782e-02 1.00375211e-01 -9.92485295e-01 2.86380792e+02] [-3.42195548e-01 -9.32139080e-01 -1.18401616e-01 -1.71669702e+02] [-9.37018916e-01 3.47910266e-01 -3.08868508e-02 -3.31276325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-172.45, Z:-331.03 [[ 1.46205349e-01 -9.74751871e-01 -1.68768439e-01 2.86378159e+02] [-3.13572458e-01 -2.07468780e-01 9.26622371e-01 -1.72449185e+02] [-9.38241072e-01 -8.25560132e-02 -3.35988385e-01 -3.31029776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-172.64, Z:-331.21 [[ 1.92197098e-01 -4.20016655e-01 8.86930823e-01 2.85698531e+02] [-3.62272769e-01 8.09578004e-01 4.61889485e-01 -1.72637742e+02] [-9.12040962e-01 -4.10084704e-01 3.43794658e-03 -3.31206527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-171.94, Z:-331.59 [[ 2.03759075e-01 8.78245458e-01 4.32628194e-01 2.85443797e+02] [-3.80678158e-01 4.78197853e-01 -7.91461277e-01 -1.71941354e+02] [-9.01979146e-01 -3.42468638e-03 4.31766015e-01 -3.31589903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:-171.71, Z:-331.65 [[ 1.56744086e-01 3.48147392e-01 -9.24242763e-01 2.86307276e+02] [-3.38807876e-01 -8.60068613e-01 -3.81433092e-01 -1.71709376e+02] [-9.27707128e-01 3.72928109e-01 -1.68555907e-02 -3.31649296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-171.99, Z:-331.73 [[ 1.83580344e-01 8.92333849e-01 4.12357321e-01 2.85484473e+02] [-3.22323033e-01 4.50937743e-01 -8.32323864e-01 -1.71986535e+02] [-9.28658236e-01 1.98860387e-02 3.70403058e-01 -3.31728124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-171.79, Z:-331.75 [[ 1.38563322e-01 2.63051948e-01 -9.54779492e-01 2.86377887e+02] [-2.78137979e-01 -9.14941228e-01 -2.92441131e-01 -1.71787351e+02] [-9.50494330e-01 3.06082053e-01 -5.36125591e-02 -3.31750606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-172.04, Z:-331.84 [[ 1.68983448e-01 8.78279765e-01 4.47291010e-01 2.85500345e+02] [-2.58353046e-01 4.77419983e-01 -8.39835617e-01 -1.72044271e+02] [-9.51156295e-01 2.63593240e-02 3.07582327e-01 -3.31844858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:-171.85, Z:-331.87 [[ 1.29074532e-01 2.33270228e-01 -9.63807432e-01 2.86427627e+02] [-2.15282288e-01 -9.42165015e-01 -2.56863041e-01 -1.71846451e+02] [-9.67984143e-01 2.40645146e-01 -7.13905598e-02 -3.31871170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-172.15, Z:-331.97 [[ 1.53088120e-01 8.17319438e-01 5.55475439e-01 2.85498583e+02] [-1.92297992e-01 5.75994347e-01 -7.94513685e-01 -1.72150475e+02] [-9.69322191e-01 1.48137949e-02 2.45346778e-01 -3.31970373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-172.14, Z:-332.00 [[ 1.53035733e-01 8.32457953e-01 5.32535277e-01 2.85508588e+02] [-1.93063714e-01 5.53684365e-01 -8.10037053e-01 -1.72141564e+02] [-9.69178243e-01 2.11513755e-02 2.45450917e-01 -3.32004700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-172.15, Z:-332.04 [[ 1.51898907e-01 8.34187958e-01 5.30148255e-01 2.85514718e+02] [-1.94743621e-01 5.51117260e-01 -8.11384427e-01 -1.72147535e+02] [-9.69020972e-01 2.00054166e-02 2.46166893e-01 -3.32036857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-172.14, Z:-332.07 [[ 1.50506894e-01 8.43341220e-01 5.15871362e-01 2.85523203e+02] [-1.95007630e-01 5.36888657e-01 -8.20806064e-01 -1.72142978e+02] [-9.69185070e-01 2.29381197e-02 2.45263416e-01 -3.32069102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-172.15, Z:-332.10 [[ 1.46723790e-01 8.41290718e-01 5.20290359e-01 2.85528932e+02] [-1.97851949e-01 5.40313661e-01 -8.17872700e-01 -1.72151946e+02] [-9.69188700e-01 1.70609204e-02 2.45727877e-01 -3.32100792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-172.13, Z:-332.13 [[ 1.42815682e-01 8.59823922e-01 4.90210673e-01 2.85539939e+02] [-1.92271828e-01 5.09954080e-01 -8.38438060e-01 -1.72126279e+02] [-9.70894034e-01 2.54884015e-02 2.38149357e-01 -3.32133010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-172.18, Z:-332.16 [[ 1.40875868e-01 8.18934758e-01 5.56327108e-01 2.85530175e+02] [-1.97596584e-01 5.73883032e-01 -7.94741377e-01 -1.72182479e+02] [-9.70108025e-01 2.03154489e-03 2.42664981e-01 -3.32159174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-172.15, Z:-332.19 [[ 1.34106838e-01 8.52323421e-01 5.05529565e-01 2.85548697e+02] [-1.96003208e-01 5.22873584e-01 -8.29569743e-01 -1.72145163e+02] [-9.71389777e-01 1.21655583e-02 2.37179047e-01 -3.32194814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-172.17, Z:-332.22 [[ 1.31074728e-01 8.29488869e-01 5.42925071e-01 2.85544409e+02] [-1.97362160e-01 5.58521096e-01 -8.05668892e-01 -1.72174477e+02] [-9.71528483e-01 -1.55003403e-03 2.36917716e-01 -3.32221914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-172.18, Z:-332.25 [[ 1.30970147e-01 8.30100625e-01 5.42014551e-01 2.85548903e+02] [-1.97430705e-01 5.57611837e-01 -8.06281685e-01 -1.72180383e+02] [-9.71528660e-01 -1.41148450e-03 2.36917856e-01 -3.32254552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-172.19, Z:-332.29 [[ 1.27764309e-01 8.30828405e-01 5.41664511e-01 2.85554484e+02] [-1.98995890e-01 5.56508597e-01 -8.06659047e-01 -1.72185268e+02] [-9.71636206e-01 -4.72677579e-03 2.36433374e-01 -3.32285998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-172.19, Z:-332.32 [[ 1.24889437e-01 8.31841912e-01 5.40778755e-01 2.85560328e+02] [-2.00930710e-01 5.54957234e-01 -8.07247991e-01 -1.72190308e+02] [-9.71611794e-01 -7.84231182e-03 2.36450883e-01 -3.32318575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-172.19, Z:-332.35 [[ 1.22168552e-01 8.32896590e-01 5.39775986e-01 2.85565804e+02] [-2.02883408e-01 5.53322988e-01 -8.07881175e-01 -1.72194529e+02] [-9.71551938e-01 -1.08139186e-02 2.36579567e-01 -3.32350045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-172.20, Z:-332.38 [[ 1.18179715e-01 8.34181978e-01 5.38677996e-01 2.85572563e+02] [-2.07102555e-01 5.51255799e-01 -8.08223716e-01 -1.72198088e+02] [-9.71155027e-01 -1.60459411e-02 2.37908472e-01 -3.32382206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-172.20, Z:-332.41 [[ 1.15936925e-01 8.35110445e-01 5.37725928e-01 2.85577589e+02] [-2.08360150e-01 5.49779200e-01 -8.08905977e-01 -1.72202738e+02] [-9.71156361e-01 -1.82585830e-02 2.37743448e-01 -3.32413028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-172.21, Z:-332.45 [[ 1.13399760e-01 8.35810492e-01 5.37179035e-01 2.85582812e+02] [-2.09490277e-01 5.48625853e-01 -8.09396996e-01 -1.72208321e+02] [-9.71212808e-01 -2.07483595e-02 2.37308212e-01 -3.32445341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-172.23, Z:-332.47 [[ 1.10729450e-01 8.24385450e-01 5.55092441e-01 2.85584374e+02] [-2.17512613e-01 5.65088304e-01 -7.95841361e-01 -1.72234258e+02] [-9.69756285e-01 -3.26165315e-02 2.41886151e-01 -3.32473952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-172.50, Z:-332.28 [[ 1.98368483e-01 -6.83466583e-01 -7.02512188e-01 2.86702249e+02] [-1.19328199e-01 -7.28265026e-01 6.74826520e-01 -1.72497886e+02] [-9.72836433e-01 -5.00347992e-02 -2.26021665e-01 -3.32277397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-172.47, Z:-332.29 [[ 2.44647451e-01 -6.27201398e-01 -7.39436292e-01 2.86696370e+02] [-5.22011632e-02 -7.70024277e-01 6.35875500e-01 -1.72468607e+02] [-9.68205899e-01 -1.16965886e-01 -2.21125119e-01 -3.32291250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.61, Y:-172.64, Z:-332.58 [[ 2.34013393e-01 2.54346425e-01 9.38373928e-01 2.85613767e+02] [-1.13331202e-01 9.65730016e-01 -2.33498556e-01 -1.72638496e+02] [-9.65605391e-01 -5.17052559e-02 2.54819144e-01 -3.32579066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-172.59, Z:-332.62 [[ 2.31150420e-01 3.44886370e-01 9.09737806e-01 2.85604861e+02] [-1.14151008e-01 9.38216654e-01 -3.26678830e-01 -1.72586593e+02] [-9.66198236e-01 -2.83355392e-02 2.56238300e-01 -3.32618477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-172.61, Z:-332.65 [[ 2.36863378e-01 3.18451414e-01 9.17869510e-01 2.85624392e+02] [-1.20134805e-01 9.47104168e-01 -2.97592548e-01 -1.72613510e+02] [-9.64086806e-01 -3.97792980e-02 2.62591391e-01 -3.32646243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-172.54, Z:-332.68 [[ 2.28904199e-01 4.22736319e-01 8.76867648e-01 2.85608849e+02] [-1.14046678e-01 9.06227120e-01 -4.07118855e-01 -1.72541097e+02] [-9.66745170e-01 -6.81262631e-03 2.55650866e-01 -3.32681667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-172.62, Z:-332.70 [[ 2.39390223e-01 3.12158887e-01 9.19374325e-01 2.85643612e+02] [-1.20576999e-01 9.49135060e-01 -2.90867367e-01 -1.72623037e+02] [-9.63407239e-01 -4.12245929e-02 2.64852836e-01 -3.32704637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-172.55, Z:-332.74 [[ 2.29083130e-01 4.21866285e-01 8.77239851e-01 2.85624625e+02] [-1.13042974e-01 9.06637893e-01 -4.06483724e-01 -1.72547134e+02] [-9.66820669e-01 -6.04723771e-03 2.55384466e-01 -3.32743065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-172.60, Z:-332.77 [[ 2.31724026e-01 3.46118319e-01 9.09123801e-01 2.85642084e+02] [-1.13140378e-01 9.37807824e-01 -3.28200762e-01 -1.72598242e+02] [-9.66179709e-01 -2.68066088e-02 2.56472562e-01 -3.32768231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-172.63, Z:-332.80 [[ 2.40764792e-01 3.14546467e-01 9.18200868e-01 2.85667057e+02] [-1.18931566e-01 9.48461656e-01 -2.93727373e-01 -1.72630360e+02] [-9.63269224e-01 -3.84838568e-02 2.65765678e-01 -3.32797045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-172.56, Z:-332.84 [[ 2.30145733e-01 4.16710471e-01 8.79423291e-01 2.85648591e+02] [-1.11957054e-01 9.09019004e-01 -4.01435012e-01 -1.72560102e+02] [-9.66694657e-01 -6.06908570e-03 2.55860522e-01 -3.32836474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-172.61, Z:-332.86 [[ 2.31823452e-01 3.47812162e-01 9.08451753e-01 2.85664745e+02] [-1.12307663e-01 9.37217784e-01 -3.30166343e-01 -1.72606295e+02] [-9.66253008e-01 -2.54857918e-02 2.56331033e-01 -3.32861030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-172.63, Z:-332.89 [[ 2.37657551e-01 3.20269255e-01 9.17031348e-01 2.85685321e+02] [-1.17621245e-01 9.46621729e-01 -3.00120884e-01 -1.72634456e+02] [-9.64201292e-01 -3.65363741e-02 2.62642271e-01 -3.32887725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-172.56, Z:-332.92 [[ 2.29740361e-01 4.23886865e-01 8.76093198e-01 2.85668874e+02] [-1.12335134e-01 9.05703925e-01 -4.08755694e-01 -1.72562599e+02] [-9.66747218e-01 -4.50836619e-03 2.55694134e-01 -3.32923544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-172.61, Z:-332.95 [[ 2.32426697e-01 3.48435234e-01 9.08058764e-01 2.85686321e+02] [-1.13059523e-01 9.36977002e-01 -3.30592866e-01 -1.72613477e+02] [-9.66020380e-01 -2.58260823e-02 2.57172391e-01 -3.32949279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-172.63, Z:-332.98 [[ 2.38061666e-01 3.30390601e-01 9.13328361e-01 2.85705771e+02] [-1.17080930e-01 9.43268386e-01 -3.10703729e-01 -1.72634994e+02] [-9.64167361e-01 -3.29666865e-02 2.63238482e-01 -3.32978578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-172.61, Z:-333.01 [[ 2.35106748e-01 3.72188743e-01 8.97886605e-01 2.85705570e+02] [-1.15136751e-01 9.27940812e-01 -3.54498771e-01 -1.72611531e+02] [-9.65126078e-01 -2.00346930e-02 2.61017749e-01 -3.33014189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-172.60, Z:-333.05 [[ 2.30172888e-01 3.89581886e-01 8.91765886e-01 2.85703556e+02] [-1.10912252e-01 9.20901539e-01 -3.73682790e-01 -1.72596951e+02] [-9.66808623e-01 -1.28961156e-02 2.55175971e-01 -3.33045624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-172.64, Z:-333.07 [[ 2.35456663e-01 3.29743452e-01 9.14237068e-01 2.85726791e+02] [-1.15325570e-01 9.43517820e-01 -3.10602861e-01 -1.72644438e+02] [-9.65018224e-01 -3.23013975e-02 2.60185409e-01 -3.33073855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-172.59, Z:-333.11 [[ 2.30317542e-01 4.08741375e-01 8.83110593e-01 2.85717332e+02] [-1.10655830e-01 9.12622779e-01 -3.93541549e-01 -1.72590903e+02] [-9.66803557e-01 -7.08181376e-03 2.55422651e-01 -3.33109203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-172.63, Z:-333.14 [[ 2.32154128e-01 3.48851742e-01 9.07968570e-01 2.85733229e+02] [-1.11142098e-01 9.36871968e-01 -3.31539363e-01 -1.72631348e+02] [-9.66308385e-01 -2.39453004e-02 2.56270809e-01 -3.33135841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-172.63, Z:-333.17 [[ 2.32238354e-01 3.50039710e-01 9.07489696e-01 2.85740779e+02] [-1.11975074e-01 9.36417356e-01 -3.32541906e-01 -1.72633498e+02] [-9.66191974e-01 -2.43872410e-02 2.56667748e-01 -3.33167220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-172.63, Z:-333.20 [[ 2.32274817e-01 3.51432785e-01 9.06941788e-01 2.85748612e+02] [-1.14008695e-01 9.35853400e-01 -3.33437297e-01 -1.72634907e+02] [-9.65945354e-01 -2.59501625e-02 2.57441571e-01 -3.33197728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-172.64, Z:-333.23 [[ 2.32093891e-01 3.52705376e-01 9.06493985e-01 2.85756431e+02] [-1.15582312e-01 9.35339675e-01 -3.34335791e-01 -1.72636939e+02] [-9.65801820e-01 -2.71773759e-02 2.57853127e-01 -3.33229530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-172.64, Z:-333.26 [[ 2.32292074e-01 3.54265230e-01 9.05834720e-01 2.85764218e+02] [-1.18225502e-01 9.34688332e-01 -3.35231940e-01 -1.72638353e+02] [-9.65434163e-01 -2.92210417e-02 2.59003875e-01 -3.33261948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.77, Y:-172.64, Z:-333.29 [[ 2.32215087e-01 3.55487806e-01 9.05375377e-01 2.85771616e+02] [-1.19325253e-01 9.34200525e-01 -3.36200629e-01 -1.72640259e+02] [-9.65317377e-01 -2.99632876e-02 2.59354129e-01 -3.33294001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-172.64, Z:-333.33 [[ 2.32570620e-01 3.56795456e-01 9.04769534e-01 2.85779493e+02] [-1.20911166e-01 9.33668219e-01 -3.37111476e-01 -1.72643066e+02] [-9.65034402e-01 -3.09945144e-02 2.60284352e-01 -3.33325617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:-172.65, Z:-333.36 [[ 2.33585488e-01 3.54830990e-01 9.05280503e-01 2.85788430e+02] [-1.20936074e-01 9.34409062e-01 -3.35043535e-01 -1.72647835e+02] [-9.64786135e-01 -3.12197622e-02 2.61176264e-01 -3.33355609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.80, Y:-172.65, Z:-333.39 [[ 2.33087990e-01 3.57464388e-01 9.04372269e-01 2.85795589e+02] [-1.21064528e-01 9.33419959e-01 -3.37743336e-01 -1.72649641e+02] [-9.64890340e-01 -3.07634862e-02 2.60845240e-01 -3.33388135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.80, Y:-172.65, Z:-333.42 [[ 2.31944022e-01 3.60731412e-01 9.03368596e-01 2.85801398e+02] [-1.20890556e-01 9.32184888e-01 -3.41199074e-01 -1.72650535e+02] [-9.65187777e-01 -3.00696463e-02 2.59823733e-01 -3.33419183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-172.66, Z:-333.45 [[ 2.32533899e-01 3.58341161e-01 9.04167904e-01 2.85810290e+02] [-1.20422917e-01 9.33105648e-01 -3.38839446e-01 -1.72655118e+02] [-9.65104299e-01 -3.00908784e-02 2.60131182e-01 -3.33450132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-172.66, Z:-333.48 [[ 2.32018080e-01 3.57678347e-01 9.04562773e-01 2.85817798e+02] [-1.20446881e-01 9.33346927e-01 -3.38165731e-01 -1.72658956e+02] [-9.65225445e-01 -3.04912013e-02 2.59634603e-01 -3.33481418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-172.66, Z:-333.51 [[ 2.31301779e-01 3.59653366e-01 9.03962910e-01 2.85824974e+02] [-1.19549794e-01 9.32625282e-01 -3.40467223e-01 -1.72660427e+02] [-9.65508847e-01 -2.93179051e-02 2.58714373e-01 -3.33512511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-172.67, Z:-333.54 [[ 2.32107606e-01 3.55650957e-01 9.05338863e-01 2.85833920e+02] [-1.19077563e-01 9.34146340e-01 -3.36438923e-01 -1.72667478e+02] [-9.65373810e-01 -2.97155130e-02 2.59172520e-01 -3.33543276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-172.66, Z:-333.58 [[ 2.30084325e-01 3.71303629e-01 8.99552566e-01 2.85836721e+02] [-1.17277519e-01 9.28194840e-01 -3.53129329e-01 -1.72659846e+02] [-9.66078251e-01 -2.42477696e-02 2.57108651e-01 -3.33575192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-172.67, Z:-333.61 [[ 2.30298701e-01 3.62673389e-01 9.03011916e-01 2.85845418e+02] [-1.16733647e-01 9.31550605e-01 -3.44364235e-01 -1.72668870e+02] [-9.66093041e-01 -2.61052379e-02 2.56871082e-01 -3.33605638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-172.67, Z:-333.64 [[ 2.30107191e-01 3.63310693e-01 9.02804531e-01 2.85852320e+02] [-1.16841792e-01 9.31302420e-01 -3.44998259e-01 -1.72671930e+02] [-9.66125601e-01 -2.60987189e-02 2.56749256e-01 -3.33637258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-172.67, Z:-333.67 [[ 2.31373007e-01 3.64568557e-01 9.01973558e-01 2.85859424e+02] [-1.18492978e-01 9.30788958e-01 -3.45819795e-01 -1.72674279e+02] [-9.65622051e-01 -2.68641673e-02 2.58558254e-01 -3.33669672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-172.68, Z:-333.70 [[ 2.31794671e-01 3.65771947e-01 9.01377897e-01 2.85866445e+02] [-1.19651334e-01 9.30298766e-01 -3.46738754e-01 -1.72676464e+02] [-9.65378055e-01 -2.74788724e-02 2.59403397e-01 -3.33701054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-172.68, Z:-333.73 [[ 2.31946626e-01 3.66996215e-01 9.00841019e-01 2.85873488e+02] [-1.21132934e-01 9.29785833e-01 -3.47599076e-01 -1.72678975e+02] [-9.65156762e-01 -2.84970830e-02 2.60116015e-01 -3.33732743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:-172.68, Z:-333.76 [[ 2.32394126e-01 3.68529839e-01 9.00099288e-01 2.85880655e+02] [-1.23646892e-01 9.29121734e-01 -3.48488522e-01 -1.72681483e+02] [-9.64730230e-01 -3.03077941e-02 2.61490003e-01 -3.33764910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-172.68, Z:-333.80 [[ 2.31820862e-01 3.69723869e-01 8.99757383e-01 2.85887398e+02] [-1.24360763e-01 9.28628976e-01 -3.49546315e-01 -1.72684049e+02] [-9.64776393e-01 -3.08623860e-02 2.61254712e-01 -3.33796198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-172.69, Z:-333.83 [[ 2.31888627e-01 3.70617823e-01 8.99372055e-01 2.85895205e+02] [-1.25588534e-01 9.28242323e-01 -3.50133845e-01 -1.72687401e+02] [-9.64601050e-01 -3.17587612e-02 2.61794187e-01 -3.33828225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-172.69, Z:-333.86 [[ 2.31192399e-01 3.71821383e-01 8.99054466e-01 2.85902367e+02] [-1.26370393e-01 9.27737936e-01 -3.51187765e-01 -1.72690097e+02] [-9.64666056e-01 -3.24219245e-02 2.61473173e-01 -3.33859764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-172.69, Z:-333.89 [[ 2.30000774e-01 3.72936279e-01 8.98898312e-01 2.85909126e+02] [-1.26604788e-01 9.27278026e-01 -3.52316178e-01 -1.72693738e+02] [-9.64920138e-01 -3.27718363e-02 2.60490182e-01 -3.33891002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-172.70, Z:-333.92 [[ 2.29276153e-01 3.73865348e-01 8.98697473e-01 2.85916557e+02] [-1.26441635e-01 9.26909204e-01 -3.53343800e-01 -1.72696907e+02] [-9.65113962e-01 -3.26194707e-02 2.59790322e-01 -3.33923019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-172.70, Z:-333.95 [[ 2.28349797e-01 3.74977772e-01 8.98469833e-01 2.85923826e+02] [-1.26719935e-01 9.26449256e-01 -3.54448635e-01 -1.72700172e+02] [-9.65297067e-01 -3.29157650e-02 2.59071659e-01 -3.33954356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-172.70, Z:-333.99 [[ 2.27503145e-01 3.75919483e-01 8.98291078e-01 2.85930654e+02] [-1.26569932e-01 9.26070883e-01 -3.55489482e-01 -1.72703686e+02] [-9.65516634e-01 -3.28216659e-02 2.58264142e-01 -3.33985380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-172.71, Z:-334.02 [[ 2.27133336e-01 3.76906729e-01 8.97970916e-01 2.85938029e+02] [-1.26787255e-01 9.25667204e-01 -3.56462086e-01 -1.72706814e+02] [-9.65575186e-01 -3.28868447e-02 2.58036850e-01 -3.34017675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-172.71, Z:-334.05 [[ 2.27012504e-01 3.77937202e-01 8.97568267e-01 2.85945383e+02] [-1.26905392e-01 9.25251810e-01 -3.57497007e-01 -1.72709925e+02] [-9.65588082e-01 -3.27499621e-02 2.58005999e-01 -3.34048945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-172.71, Z:-334.08 [[ 2.26919056e-01 3.78734883e-01 8.97255610e-01 2.85952309e+02] [-1.27690629e-01 9.24905632e-01 -3.58112656e-01 -1.72713138e+02] [-9.65506523e-01 -3.33085468e-02 2.58239609e-01 -3.34080135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:-172.72, Z:-334.11 [[ 2.26877088e-01 3.79766894e-01 8.96829913e-01 2.85959442e+02] [-1.28275720e-01 9.24472265e-01 -3.59021409e-01 -1.72715695e+02] [-9.65438826e-01 -3.35877713e-02 2.58456447e-01 -3.34111709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-172.72, Z:-334.14 [[ 2.26767831e-01 3.80820567e-01 8.96410646e-01 2.85966146e+02] [-1.28553951e-01 9.24038555e-01 -3.60036985e-01 -1.72718172e+02] [-9.65427487e-01 -3.35923236e-02 2.58498208e-01 -3.34142380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-172.72, Z:-334.17 [[ 2.27133656e-01 3.81773003e-01 8.95912762e-01 2.85973279e+02] [-1.28807360e-01 9.23651743e-01 -3.60937835e-01 -1.72721052e+02] [-9.65307706e-01 -3.34190272e-02 2.58967570e-01 -3.34174317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-172.72, Z:-334.21 [[ 2.27376206e-01 3.82703590e-01 8.95454088e-01 2.85980334e+02] [-1.28653551e-01 9.23284872e-01 -3.61929979e-01 -1.72723967e+02] [-9.65271115e-01 -3.29090830e-02 2.59169187e-01 -3.34206137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-172.73, Z:-334.24 [[ 2.27629132e-01 3.83345753e-01 8.95115083e-01 2.85987488e+02] [-1.27238394e-01 9.23075347e-01 -3.62963215e-01 -1.72727717e+02] [-9.65399073e-01 -3.12720041e-02 2.58895138e-01 -3.34238196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-172.73, Z:-334.27 [[ 2.27545932e-01 3.84352345e-01 8.94704490e-01 2.85995000e+02] [-1.27350189e-01 9.22661814e-01 -3.63974047e-01 -1.72730310e+02] [-9.65403946e-01 -3.11199719e-02 2.58895286e-01 -3.34270709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-172.73, Z:-334.30 [[ 2.27687821e-01 3.84696218e-01 8.94520584e-01 2.86002526e+02] [-1.27018601e-01 9.22534280e-01 -3.64412922e-01 -1.72734094e+02] [-9.65414176e-01 -3.06483692e-02 2.58913396e-01 -3.34302665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-172.74, Z:-334.33 [[ 2.27902395e-01 3.85530079e-01 8.94106849e-01 2.86009852e+02] [-1.26474312e-01 9.22213816e-01 -3.65411995e-01 -1.72737356e+02] [-9.65435004e-01 -2.98032803e-02 2.58934389e-01 -3.34334504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-172.74, Z:-334.37 [[ 2.28335058e-01 3.85886386e-01 8.93842714e-01 2.86016497e+02] [-1.23782394e-01 9.22152294e-01 -3.66487471e-01 -1.72741158e+02] [-9.65681635e-01 -2.69600530e-02 2.58325639e-01 -3.34366299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-172.74, Z:-334.40 [[ 2.28671076e-01 3.86540314e-01 8.93474188e-01 2.86023284e+02] [-1.22422860e-01 9.21924294e-01 -3.67516313e-01 -1.72744474e+02] [-9.65775431e-01 -2.53413149e-02 2.58138791e-01 -3.34397013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-172.75, Z:-334.43 [[ 2.29104897e-01 3.86812967e-01 8.93245025e-01 2.86030065e+02] [-1.19674373e-01 9.21884420e-01 -3.68520231e-01 -1.72748737e+02] [-9.66017076e-01 -2.24687484e-02 2.57499835e-01 -3.34428785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-172.75, Z:-334.46 [[ 2.29360610e-01 3.87636417e-01 8.92822333e-01 2.86037251e+02] [-1.18956316e-01 9.21562860e-01 -3.69555531e-01 -1.72751938e+02] [-9.66045085e-01 -2.14453731e-02 2.57482020e-01 -3.34460026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-172.75, Z:-334.49 [[ 2.29436199e-01 3.88411433e-01 8.92466016e-01 2.86044541e+02] [-1.18295950e-01 9.21256618e-01 -3.70529772e-01 -1.72754974e+02] [-9.66108223e-01 -2.05621722e-02 2.57317116e-01 -3.34492075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-172.76, Z:-334.52 [[ 2.30016235e-01 3.89061082e-01 8.92033635e-01 2.86050898e+02] [-1.16848587e-01 9.21020822e-01 -3.71573752e-01 -1.72758169e+02] [-9.66146438e-01 -1.87648739e-02 2.57310979e-01 -3.34523105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-172.76, Z:-334.55 [[ 2.30098996e-01 3.89746236e-01 8.91713140e-01 2.86057704e+02] [-1.15719033e-01 9.20756806e-01 -3.72580207e-01 -1.72760847e+02] [-9.66262675e-01 -1.74578509e-02 2.56966274e-01 -3.34554306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-172.79, Z:-334.58 [[ 2.37946873e-01 3.60726108e-01 9.01808162e-01 2.86079319e+02] [-1.21420055e-01 9.32239585e-01 -3.40861447e-01 -1.72793107e+02] [-9.63658890e-01 -2.83906809e-02 2.65622878e-01 -3.34584454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-172.72, Z:-334.62 [[ 2.30581368e-01 4.69144891e-01 8.52487715e-01 2.86061468e+02] [-1.13451275e-01 8.83082516e-01 -4.55295594e-01 -1.72715791e+02] [-9.66416598e-01 8.26686296e-03 2.56847460e-01 -3.34622860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-172.77, Z:-334.65 [[ 2.33835761e-01 3.90194840e-01 8.90544117e-01 2.86078181e+02] [-1.11242390e-01 9.20659619e-01 -3.74180433e-01 -1.72771750e+02] [-9.65891281e-01 -1.15694894e-02 2.58689350e-01 -3.34647664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-172.77, Z:-334.68 [[ 2.34292162e-01 3.90821136e-01 8.90149438e-01 2.86085022e+02] [-1.09846627e-01 9.20413677e-01 -3.75196457e-01 -1.72774448e+02] [-9.65940423e-01 -9.87432487e-03 2.58576094e-01 -3.34680049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-172.78, Z:-334.71 [[ 2.35191711e-01 3.91438907e-01 8.89640625e-01 2.86092021e+02] [-1.08547905e-01 9.20168487e-01 -3.76174570e-01 -1.72777593e+02] [-9.65868631e-01 -8.09548490e-03 2.58905874e-01 -3.34711043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-172.81, Z:-334.74 [[ 2.43526480e-01 3.57701552e-01 9.01523407e-01 2.86116282e+02] [-1.13413478e-01 9.33632482e-01 -3.39805490e-01 -1.72813091e+02] [-9.63240488e-01 -1.94932707e-02 2.67932409e-01 -3.34740403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-172.73, Z:-334.78 [[ 2.35477965e-01 4.68830431e-01 8.51321417e-01 2.86096033e+02] [-1.05818420e-01 8.83113938e-01 -4.57069179e-01 -1.72732892e+02] [-9.66101749e-01 1.75442328e-02 2.57564768e-01 -3.34780669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-172.79, Z:-334.80 [[ 2.36700036e-01 3.92439927e-01 8.88799188e-01 2.86112008e+02] [-1.03346076e-01 9.19774909e-01 -3.78594381e-01 -1.72787109e+02] [-9.66070744e-01 -2.24060510e-03 2.58267881e-01 -3.34804376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-172.79, Z:-334.84 [[ 2.37017890e-01 3.92145982e-01 8.88844221e-01 2.86118902e+02] [-9.93924817e-02 9.19901665e-01 -3.79344251e-01 -1.72791618e+02] [-9.66407603e-01 1.56694102e-03 2.57009514e-01 -3.34836507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.156559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:286.14, Y:-172.82, Z:-334.86 [[ 2.42500977e-01 3.63652187e-01 8.99416680e-01 2.86139137e+02] [-1.02606835e-01 9.31503283e-01 -3.48960560e-01 -1.72822140e+02] [-9.64709860e-01 -7.66302181e-03 2.63203656e-01 -3.34862193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-172.78, Z:-334.90 [[ 2.41434396e-01 4.31730124e-01 8.69090635e-01 2.86134597e+02] [-1.01626747e-01 9.01908687e-01 -4.19800815e-01 -1.72781533e+02] [-9.65081052e-01 1.30315024e-02 2.61627107e-01 -3.34897647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:-172.78, Z:-334.93 [[ 2.41408902e-01 4.41134236e-01 8.64362382e-01 2.86139947e+02] [-1.00346910e-01 8.97279205e-01 -4.29907579e-01 -1.72777674e+02] [-9.65221342e-01 1.70474229e-02 2.60877645e-01 -3.34926814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-172.75, Z:-334.96 [[ 2.36260481e-01 4.67231833e-01 8.51983216e-01 2.86133824e+02] [-9.46531269e-02 8.83702255e-01 -4.58378785e-01 -1.72752750e+02] [-9.67068649e-01 2.76539166e-02 2.53008874e-01 -3.34955057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-172.81, Z:-334.98 [[ 2.35648909e-01 3.87031672e-01 8.91446059e-01 2.86151014e+02] [-9.46771428e-02 9.22057579e-01 -3.75294632e-01 -1.72809444e+02] [-9.67215504e-01 4.03820471e-03 2.53924915e-01 -3.34979348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-172.81, Z:-335.01 [[ 2.35354303e-01 3.88336805e-01 8.90956159e-01 2.86158208e+02] [-9.60896784e-02 9.21512805e-01 -3.76272408e-01 -1.72812178e+02] [-9.67147934e-01 2.94563930e-03 2.54197162e-01 -3.35011291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-172.81, Z:-335.04 [[ 2.33920556e-01 3.90048155e-01 8.90586105e-01 2.86165087e+02] [-9.89090989e-02 9.20794444e-01 -3.77299063e-01 -1.72814576e+02] [-9.67211540e-01 1.70937367e-04 2.53972060e-01 -3.35043210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-172.82, Z:-335.08 [[ 2.33563788e-01 3.91486035e-01 8.90048674e-01 2.86172386e+02] [-1.00907016e-01 9.20182884e-01 -3.78260801e-01 -1.72817062e+02] [-9.67091377e-01 -1.46413046e-03 2.54425088e-01 -3.35075126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.396559995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:286.19, Y:-172.84, Z:-335.10 [[ 2.37724407e-01 3.64462795e-01 9.00363247e-01 2.86191656e+02] [-1.06696867e-01 9.31124942e-01 -3.48743633e-01 -1.72844731e+02] [-9.65454756e-01 -1.31610637e-02 2.60238163e-01 -3.35100139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-172.78, Z:-335.14 [[ 2.31878084e-01 4.55010809e-01 8.59766083e-01 2.86177531e+02] [-1.04570132e-01 8.90393625e-01 -4.43017246e-01 -1.72780744e+02] [-9.67107875e-01 1.28201379e-02 2.54043308e-01 -3.35135995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-172.83, Z:-335.16 [[ 2.31265748e-01 3.92852774e-01 8.90046545e-01 2.86192629e+02] [-1.07222705e-01 9.19566498e-01 -3.78022152e-01 -1.72825060e+02] [-9.66964035e-01 -8.00962300e-03 2.54786971e-01 -3.35161272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-172.83, Z:-335.19 [[ 2.30977933e-01 3.94141748e-01 8.89551279e-01 2.86199672e+02] [-1.08794400e-01 9.19003103e-01 -3.78942049e-01 -1.72827677e+02] [-9.66857266e-01 -9.25094670e-03 2.55149852e-01 -3.35192214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-172.83, Z:-335.22 [[ 2.29749274e-01 3.95601875e-01 8.89221248e-01 2.86207021e+02] [-1.10960886e-01 9.18351486e-01 -3.79892392e-01 -1.72830597e+02] [-9.66903797e-01 -1.13887763e-02 2.54886922e-01 -3.35224592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-172.83, Z:-335.26 [[ 2.29484006e-01 3.96835391e-01 8.88739986e-01 2.86214302e+02] [-1.12067708e-01 9.17808796e-01 -3.80877727e-01 -1.72833592e+02] [-9.66839138e-01 -1.21937065e-02 2.55094872e-01 -3.35256492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:-172.84, Z:-335.29 [[ 2.28605771e-01 3.98115081e-01 8.88393935e-01 2.86220845e+02] [-1.13149162e-01 9.17240352e-01 -3.81925914e-01 -1.72836442e+02] [-9.66921232e-01 -1.32105606e-02 2.54732826e-01 -3.35288014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-172.84, Z:-335.32 [[ 2.28578406e-01 3.99209201e-01 8.87909864e-01 2.86227776e+02] [-1.13990756e-01 9.16757417e-01 -3.82834097e-01 -1.72839649e+02] [-9.66828847e-01 -1.37059088e-02 2.55057108e-01 -3.35318939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-172.84, Z:-335.35 [[ 2.28207443e-01 4.00159837e-01 8.87577302e-01 2.86234742e+02] [-1.14090837e-01 9.16343261e-01 -3.83794618e-01 -1.72842768e+02] [-9.66904672e-01 -1.36796485e-02 2.54770923e-01 -3.35350993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.24, Y:-172.85, Z:-335.38 [[ 2.28027892e-01 4.01238463e-01 8.87136391e-01 2.86241761e+02] [-1.14594041e-01 9.15867850e-01 -3.84778231e-01 -1.72846432e+02] [-9.66887525e-01 -1.39203745e-02 2.54822952e-01 -3.35382571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.25, Y:-172.85, Z:-335.41 [[ 2.27875919e-01 4.02275312e-01 8.86705779e-01 2.86248645e+02] [-1.14924177e-01 9.15411733e-01 -3.85763909e-01 -1.72850028e+02] [-9.66884171e-01 -1.39976267e-02 2.54831449e-01 -3.35414773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-172.85, Z:-335.45 [[ 2.27805034e-01 4.03320441e-01 8.86249112e-01 2.86255380e+02] [-1.15311886e-01 9.14950272e-01 -3.86741734e-01 -1.72853482e+02] [-9.66854713e-01 -1.40933427e-02 2.54937919e-01 -3.35445826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-172.86, Z:-335.48 [[ 2.27944855e-01 4.04458117e-01 8.85694516e-01 2.86262327e+02] [-1.16522144e-01 9.14435906e-01 -3.87594588e-01 -1.72857784e+02] [-9.66676644e-01 -1.48528314e-02 2.55569286e-01 -3.35477533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-172.86, Z:-335.51 [[ 2.27611567e-01 4.05639934e-01 8.85239639e-01 2.86269320e+02] [-1.17455560e-01 9.13900971e-01 -3.88573298e-01 -1.72861245e+02] [-9.66642212e-01 -1.55325404e-02 2.55659097e-01 -3.35509939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-172.86, Z:-335.54 [[ 2.27586021e-01 4.06822050e-01 8.84703579e-01 2.86276194e+02] [-1.18518882e-01 9.13363658e-01 -3.89512649e-01 -1.72864195e+02] [-9.66518431e-01 -1.62064455e-02 2.56084895e-01 -3.35541261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:-172.87, Z:-335.57 [[ 2.29626542e-01 4.00473299e-01 8.87069776e-01 2.86287903e+02] [-1.20800522e-01 9.16103676e-01 -3.82310461e-01 -1.72874372e+02] [-9.65753014e-01 -1.93698630e-02 2.58739103e-01 -3.35571212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:-172.87, Z:-335.60 [[ 2.26612355e-01 4.16306057e-01 8.80531719e-01 2.86288370e+02] [-1.22438202e-01 9.09055047e-01 -3.98281067e-01 -1.72866180e+02] [-9.66258623e-01 -1.75553097e-02 2.56974870e-01 -3.35604181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-172.87, Z:-335.64 [[ 2.26573033e-01 4.10187565e-01 8.83408638e-01 2.86296737e+02] [-1.23873921e-01 9.11766034e-01 -3.91583900e-01 -1.72873957e+02] [-9.66084837e-01 -2.07089398e-02 2.57393138e-01 -3.35635695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-172.88, Z:-335.67 [[ 2.26191878e-01 4.11468107e-01 8.82910659e-01 2.86303641e+02] [-1.25232293e-01 9.11163962e-01 -3.92552043e-01 -1.72876871e+02] [-9.65999020e-01 -2.17768422e-02 2.57626983e-01 -3.35666832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:-172.88, Z:-335.70 [[ 2.25898165e-01 4.12853417e-01 8.82338980e-01 2.86310561e+02] [-1.27407128e-01 9.10493072e-01 -3.93407917e-01 -1.72880806e+02] [-9.65783331e-01 -2.35461493e-02 2.58279183e-01 -3.35698429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-172.90, Z:-335.73 [[ 2.30650969e-01 3.94767838e-01 8.89358468e-01 2.86328038e+02] [-1.32614664e-01 9.18228157e-01 -3.73189501e-01 -1.72904026e+02] [-9.63957199e-01 -3.18654542e-02 2.64142219e-01 -3.35728725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-172.88, Z:-335.76 [[ 2.28431235e-01 4.40144857e-01 8.68384521e-01 2.86328452e+02] [-1.33705242e-01 8.97699430e-01 -4.19831682e-01 -1.72879048e+02] [-9.64335045e-01 -2.02048930e-02 2.63912265e-01 -3.35764834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-172.86, Z:-335.80 [[ 2.22391216e-01 4.65338033e-01 8.56739553e-01 2.86324523e+02] [-1.29627724e-01 8.85056605e-01 -4.47069860e-01 -1.72858857e+02] [-9.66301610e-01 -1.16327885e-02 2.57149524e-01 -3.35797407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-172.90, Z:-335.82 [[ 2.23737856e-01 4.16021751e-01 8.81400746e-01 2.86337745e+02] [-1.29820219e-01 9.08988494e-01 -3.96089167e-01 -1.72895624e+02] [-9.65964845e-01 -2.58034974e-02 2.57383172e-01 -3.35820750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-172.92, Z:-335.85 [[ 2.29918038e-01 3.92822292e-01 8.90409087e-01 2.86357907e+02] [-1.36354052e-01 9.18897709e-01 -3.70181811e-01 -1.72924484e+02] [-9.63610538e-01 -3.62994119e-02 2.64834069e-01 -3.35850824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-172.86, Z:-335.89 [[ 2.21599771e-01 4.76685157e-01 8.50684902e-01 2.86343739e+02] [-1.31284425e-01 8.79015968e-01 -4.58361568e-01 -1.72862930e+02] [-9.66259769e-01 -1.01088593e-02 2.57371074e-01 -3.35888813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-172.91, Z:-335.91 [[ 2.23842765e-01 4.16831141e-01 8.80991610e-01 2.86358724e+02] [-1.32245753e-01 9.08558588e-01 -3.96273079e-01 -1.72907013e+02] [-9.65611453e-01 -2.78045373e-02 2.58498415e-01 -3.35913324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-172.91, Z:-335.95 [[ 2.23513631e-01 4.17626109e-01 8.80698638e-01 2.86365695e+02] [-1.33033230e-01 9.08173414e-01 -3.96891937e-01 -1.72910067e+02] [-9.65579524e-01 -2.84514267e-02 2.58547288e-01 -3.35945236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-172.91, Z:-335.98 [[ 2.22864268e-01 4.18809348e-01 8.80301226e-01 2.86372733e+02] [-1.33823122e-01 9.07607083e-01 -3.97920540e-01 -1.72913299e+02] [-9.65620469e-01 -2.91223888e-02 2.58319563e-01 -3.35976178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-172.92, Z:-336.01 [[ 2.21946474e-01 4.19533773e-01 8.80188148e-01 2.86380013e+02] [-1.34114999e-01 9.07257824e-01 -3.98618122e-01 -1.72916536e+02] [-9.65791349e-01 -2.95745459e-02 2.57628447e-01 -3.36008198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-172.92, Z:-336.04 [[ 2.21316858e-01 4.20614471e-01 8.79830845e-01 2.86387314e+02] [-1.34443373e-01 9.06748776e-01 -3.99664406e-01 -1.72919406e+02] [-9.65890174e-01 -2.98349557e-02 2.57227618e-01 -3.36040233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-172.92, Z:-336.07 [[ 2.21026350e-01 4.21706480e-01 8.79381031e-01 2.86394872e+02] [-1.34934769e-01 9.06232632e-01 -4.00668222e-01 -1.72922306e+02] [-9.65888172e-01 -3.01008420e-02 2.57204157e-01 -3.36071852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.40, Y:-172.93, Z:-336.10 [[ 2.21478904e-01 4.22654448e-01 8.78811876e-01 2.86402220e+02] [-1.34944339e-01 9.05806147e-01 -4.01628247e-01 -1.72925063e+02] [-9.65783165e-01 -2.96385036e-02 2.57651777e-01 -3.36103575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:-172.93, Z:-336.13 [[ 2.21738402e-01 4.23547630e-01 8.78316279e-01 2.86408983e+02] [-1.34666782e-01 9.05409368e-01 -4.02614871e-01 -1.72927493e+02] [-9.65762362e-01 -2.90048488e-02 2.57801823e-01 -3.36134914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-172.93, Z:-336.17 [[ 2.22750194e-01 4.24388310e-01 8.77654211e-01 2.86416193e+02] [-1.34709467e-01 9.05035994e-01 -4.03439227e-01 -1.72930143e+02] [-9.65523542e-01 -2.83621647e-02 2.58766066e-01 -3.36167217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-172.93, Z:-336.20 [[ 2.23651362e-01 4.25047956e-01 8.77105640e-01 2.86422872e+02] [-1.33652199e-01 9.04774366e-01 -4.04376602e-01 -1.72932586e+02] [-9.65462147e-01 -2.67877193e-02 2.59162614e-01 -3.36199793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:-172.94, Z:-336.23 [[ 2.23566583e-01 4.26040253e-01 8.76645701e-01 2.86430168e+02] [-1.33763916e-01 9.04312025e-01 -4.05372640e-01 -1.72935484e+02] [-9.65466311e-01 -2.66357857e-02 2.59162762e-01 -3.36232325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-172.94, Z:-336.26 [[ 2.23733866e-01 4.26369218e-01 8.76443066e-01 2.86437404e+02] [-1.33397818e-01 9.04171926e-01 -4.05805558e-01 -1.72938860e+02] [-9.65478213e-01 -2.61231466e-02 2.59170603e-01 -3.36263596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-172.94, Z:-336.30 [[ 2.23729082e-01 4.27188743e-01 8.76045133e-01 2.86444494e+02] [-1.33059124e-01 9.03800957e-01 -4.06742057e-01 -1.72941850e+02] [-9.65526057e-01 -2.55657712e-02 2.59047918e-01 -3.36295438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:-172.95, Z:-336.33 [[ 2.25708205e-01 4.21934101e-01 8.78081671e-01 2.86454891e+02] [-1.32650434e-01 9.06256930e-01 -4.01375434e-01 -1.72951565e+02] [-9.65121582e-01 -2.58841861e-02 2.60519366e-01 -3.36326708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-172.93, Z:-336.36 [[ 2.23595140e-01 4.48845734e-01 8.65183634e-01 2.86455636e+02] [-1.30634088e-01 8.93448817e-01 -4.29748701e-01 -1.72934521e+02] [-9.65888166e-01 -1.69327538e-02 2.58405366e-01 -3.36359523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-172.95, Z:-336.39 [[ 2.24308992e-01 4.28651469e-01 8.75181921e-01 2.86465578e+02] [-1.29667378e-01 9.03209110e-01 -4.09145053e-01 -1.72951835e+02] [-9.65852912e-01 -2.17076311e-02 2.58180037e-01 -3.36388859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-172.95, Z:-336.42 [[ 2.24661769e-01 4.29499973e-01 8.74675290e-01 2.86472751e+02] [-1.29200591e-01 9.02825769e-01 -4.10137584e-01 -1.72954895e+02] [-9.65833473e-01 -2.08663290e-02 2.58322085e-01 -3.36419610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-172.96, Z:-336.45 [[ 2.25293152e-01 4.30157420e-01 8.74189676e-01 2.86479565e+02] [-1.28265107e-01 9.02542819e-01 -4.11052944e-01 -1.72957918e+02] [-9.65811088e-01 -1.95206187e-02 2.58510904e-01 -3.36450353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-172.96, Z:-336.48 [[ 2.25940948e-01 4.30957156e-01 8.73628421e-01 2.86486530e+02] [-1.28059799e-01 9.02176384e-01 -4.11920454e-01 -1.72961016e+02] [-9.65686997e-01 -1.88069823e-02 2.59026874e-01 -3.36482041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-172.96, Z:-336.51 [[ 2.26395031e-01 4.31859924e-01 8.73064886e-01 2.86493103e+02] [-1.27950020e-01 9.01756312e-01 -4.12873280e-01 -1.72963822e+02] [-9.65595196e-01 -1.82362106e-02 2.59409635e-01 -3.36512818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-172.97, Z:-336.55 [[ 2.26823598e-01 4.32688015e-01 8.72543487e-01 2.86500191e+02] [-1.27791944e-01 9.01370878e-01 -4.13762927e-01 -1.72966834e+02] [-9.65515549e-01 -1.76528322e-02 2.59746228e-01 -3.36545094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-172.98, Z:-336.58 [[ 2.29400887e-01 4.25289911e-01 8.75501985e-01 2.86511158e+02] [-1.28987143e-01 9.04839459e-01 -4.05743601e-01 -1.72978912e+02] [-9.64747402e-01 -1.98505578e-02 2.62427905e-01 -3.36576565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-172.96, Z:-336.61 [[ 2.28364008e-01 4.50647437e-01 8.62998707e-01 2.86514373e+02] [-1.27742910e-01 8.92627727e-01 -4.32316423e-01 -1.72963893e+02] [-9.65158862e-01 -1.15164548e-02 2.61411061e-01 -3.36609851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:-172.97, Z:-336.64 [[ 2.26294667e-01 4.44595085e-01 8.66675218e-01 2.86519582e+02] [-1.26522553e-01 8.95635007e-01 -4.26415265e-01 -1.72969891e+02] [-9.65806796e-01 -1.31584608e-02 2.58928731e-01 -3.36640487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-172.99, Z:-336.67 [[ 2.28263657e-01 4.28753662e-01 8.74108689e-01 2.86531660e+02] [-1.25399673e-01 9.03280581e-01 -4.10315872e-01 -1.72985351e+02] [-9.65489837e-01 -1.59527426e-02 2.59951698e-01 -3.36668565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-172.98, Z:-336.70 [[ 2.25890175e-01 4.37564375e-01 8.70351106e-01 2.86534877e+02] [-1.24374250e-01 8.99086697e-01 -4.19731054e-01 -1.72982237e+02] [-9.66180457e-01 -1.34361447e-02 2.57516592e-01 -3.36700855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-172.99, Z:-336.73 [[ 2.25821254e-01 4.35262351e-01 8.71522488e-01 2.86542899e+02] [-1.23810000e-01 9.00200607e-01 -4.17504434e-01 -1.72987932e+02] [-9.66269034e-01 -1.36218243e-02 2.57174261e-01 -3.36732818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-172.99, Z:-336.77 [[ 2.25498203e-01 4.36177395e-01 8.71148576e-01 2.86550535e+02] [-1.23487389e-01 8.99763941e-01 -4.18539980e-01 -1.72991421e+02] [-9.66385754e-01 -1.31958498e-02 2.56757559e-01 -3.36765049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-172.99, Z:-336.80 [[ 2.24821015e-01 4.37257274e-01 8.70782170e-01 2.86558293e+02] [-1.23814245e-01 8.99235355e-01 -4.19578132e-01 -1.72994697e+02] [-9.66501704e-01 -1.34852552e-02 2.56305684e-01 -3.36796928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-173.00, Z:-336.83 [[ 2.24766268e-01 4.38331855e-01 8.70255887e-01 2.86565540e+02] [-1.24404188e-01 8.98708151e-01 -4.20532112e-01 -1.72997374e+02] [-9.66438680e-01 -1.37420436e-02 2.56529596e-01 -3.36828429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-173.00, Z:-336.86 [[ 2.24642292e-01 4.39311824e-01 8.69793632e-01 2.86572527e+02] [-1.24541793e-01 8.98231128e-01 -4.21509411e-01 -1.72999603e+02] [-9.66449783e-01 -1.36368186e-02 2.56493381e-01 -3.36860071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-173.00, Z:-336.89 [[ 2.25016475e-01 4.40327391e-01 8.69183165e-01 2.86579660e+02] [-1.25079372e-01 8.97733247e-01 -4.22409952e-01 -1.73002202e+02] [-9.66293297e-01 -1.36676862e-02 2.57080645e-01 -3.36891856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-173.00, Z:-336.92 [[ 2.25380013e-01 4.41124323e-01 8.68684743e-01 2.86586734e+02] [-1.24414712e-01 8.97356844e-01 -4.23404859e-01 -1.73004328e+02] [-9.66294380e-01 -1.26501693e-02 2.57128652e-01 -3.36923672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-173.01, Z:-336.96 [[ 2.25386276e-01 4.41909457e-01 8.68283973e-01 2.86593653e+02] [-1.23567246e-01 8.96984290e-01 -4.24441185e-01 -1.73007098e+02] [-9.66401657e-01 -1.16282411e-02 2.56773484e-01 -3.36955103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:-173.01, Z:-336.99 [[ 2.25768338e-01 4.42405243e-01 8.67932174e-01 2.86601169e+02] [-1.21813934e-01 8.96763000e-01 -4.25414490e-01 -1.73010389e+02] [-9.66535060e-01 -9.68111024e-03 2.56351816e-01 -3.36987036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-173.01, Z:-337.02 [[ 2.25941789e-01 4.43196386e-01 8.67483297e-01 2.86608606e+02] [-1.21100417e-01 8.96382261e-01 -4.26419431e-01 -1.73013490e+02] [-9.66584190e-01 -8.70662006e-03 2.56201479e-01 -3.37018655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-173.02, Z:-337.05 [[ 2.25696499e-01 4.43998938e-01 8.67136687e-01 2.86615389e+02] [-1.20270242e-01 8.95993256e-01 -4.27470647e-01 -1.73016144e+02] [-9.66745137e-01 -7.81211114e-03 2.55622400e-01 -3.37049719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-173.02, Z:-337.08 [[ 2.26011245e-01 4.45425461e-01 8.66322732e-01 2.86622316e+02] [-1.19353065e-01 8.95296168e-01 -4.29184829e-01 -1.73018064e+02] [-9.66785273e-01 -6.39767572e-03 2.55509895e-01 -3.37081393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-173.02, Z:-337.11 [[ 2.25656489e-01 4.42832507e-01 8.67743349e-01 2.86629919e+02] [-1.19182627e-01 8.96575723e-01 -4.26553015e-01 -1.73023645e+02] [-9.66889162e-01 -7.16547632e-03 2.55096071e-01 -3.37111839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:-173.02, Z:-337.14 [[ 2.25228105e-01 4.45796435e-01 8.66335870e-01 2.86636802e+02] [-1.18678947e-01 8.95114100e-01 -4.29751155e-01 -1.73024404e+02] [-9.67050985e-01 -6.02379075e-03 2.54511504e-01 -3.37143729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:-173.03, Z:-337.18 [[ 2.25103308e-01 4.46850657e-01 8.65825035e-01 2.86643929e+02] [-1.19126759e-01 8.94587183e-01 -4.30723331e-01 -1.73026948e+02] [-9.67024982e-01 -6.18568392e-03 2.54606405e-01 -3.37175851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-173.03, Z:-337.21 [[ 2.24799293e-01 4.50856653e-01 8.63824957e-01 2.86649460e+02] [-1.19903536e-01 8.92577104e-01 -4.34659931e-01 -1.73026341e+02] [-9.66999700e-01 -5.86442151e-03 2.54710009e-01 -3.37208864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-173.03, Z:-337.24 [[ 2.24746082e-01 4.50346198e-01 8.64105029e-01 2.86657778e+02] [-1.20979030e-01 8.92826324e-01 -4.33849318e-01 -1.73030491e+02] [-9.66878107e-01 -7.03265391e-03 2.55141664e-01 -3.37238252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-173.03, Z:-337.27 [[ 2.24092523e-01 4.49898620e-01 8.64507821e-01 2.86665487e+02] [-1.22848176e-01 8.93032310e-01 -4.32899087e-01 -1.73034009e+02] [-9.66794118e-01 -9.19376048e-03 2.55391088e-01 -3.37269420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-173.03, Z:-337.30 [[ 2.23356639e-01 4.54699981e-01 8.62183124e-01 2.86671007e+02] [-1.24109548e-01 8.90596329e-01 -4.37532854e-01 -1.73034174e+02] [-9.66803306e-01 -9.27928995e-03 2.55353212e-01 -3.37303564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.68, Y:-173.03, Z:-337.34 [[ 2.22963051e-01 4.64195824e-01 8.57210426e-01 2.86677087e+02] [-1.24746634e-01 8.85703091e-01 -4.47178166e-01 -1.73030663e+02] [-9.66812161e-01 -7.22990718e-03 2.55385930e-01 -3.37336101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-173.04, Z:-337.36 [[ 2.23170647e-01 4.57949053e-01 8.60510039e-01 2.86686648e+02] [-1.25810490e-01 8.88922556e-01 -4.40441154e-01 -1.73038865e+02] [-9.66626393e-01 -9.96765229e-03 2.55996216e-01 -3.37364382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-173.05, Z:-337.40 [[ 2.22030437e-01 4.53488042e-01 8.63163415e-01 2.86694657e+02] [-1.27252447e-01 8.91165304e-01 -4.35466664e-01 -1.73045215e+02] [-9.66700212e-01 -1.31528028e-02 2.55573285e-01 -3.37396224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-173.04, Z:-337.43 [[ 2.20242198e-01 4.59413634e-01 8.60483868e-01 2.86698404e+02] [-1.26826290e-01 8.88143440e-01 -4.41719733e-01 -1.73043277e+02] [-9.67165170e-01 -1.18466516e-02 2.53872390e-01 -3.37429638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-173.05, Z:-337.46 [[ 2.20117592e-01 4.55030082e-01 8.62841741e-01 2.86708304e+02] [-1.28103320e-01 8.90360081e-01 -4.36862067e-01 -1.73051243e+02] [-9.67025225e-01 -1.43718653e-02 2.54274781e-01 -3.37458045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-173.05, Z:-337.49 [[ 2.18559919e-01 4.56225899e-01 8.62606221e-01 2.86715301e+02] [-1.28410744e-01 8.89737056e-01 -4.38039556e-01 -1.73054041e+02] [-9.67337709e-01 -1.50300171e-02 2.53045166e-01 -3.37489077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-173.06, Z:-337.52 [[ 2.16829377e-01 4.55488114e-01 8.63432452e-01 2.86722682e+02] [-1.30339982e-01 8.90063343e-01 -4.36805144e-01 -1.73059261e+02] [-9.67469126e-01 -1.78275831e-02 2.52360193e-01 -3.37522200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-173.05, Z:-337.55 [[ 2.14445737e-01 4.75533730e-01 8.53159245e-01 2.86727452e+02] [-1.30643867e-01 8.79595944e-01 -4.57431038e-01 -1.73048056e+02] [-9.67959300e-01 -1.33658872e-02 2.50751166e-01 -3.37553020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-173.06, Z:-337.58 [[ 2.13718938e-01 4.59428411e-01 8.62119337e-01 2.86736828e+02] [-1.32215424e-01 8.87992857e-01 -4.40440425e-01 -1.73062961e+02] [-9.67906657e-01 -1.98550134e-02 2.50524413e-01 -3.37583328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-173.07, Z:-337.61 [[ 2.12483166e-01 4.61098078e-01 8.61533207e-01 2.86743856e+02] [-1.35322351e-01 8.87056257e-01 -4.41383119e-01 -1.73065215e+02] [-9.67749330e-01 -2.27982161e-02 2.50881398e-01 -3.37614534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-173.07, Z:-337.65 [[ 2.12227198e-01 4.62330570e-01 8.60935573e-01 2.86750816e+02] [-1.36960182e-01 8.86381161e-01 -4.42233361e-01 -1.73067844e+02] [-9.67575075e-01 -2.40599455e-02 2.51435069e-01 -3.37646656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.76, Y:-173.07, Z:-337.68 [[ 2.12495674e-01 4.63636076e-01 8.60166947e-01 2.86757646e+02] [-1.38775016e-01 8.85666911e-01 -4.43097752e-01 -1.73070821e+02] [-9.67257506e-01 -2.52133263e-02 2.52541491e-01 -3.37677539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:-173.07, Z:-337.71 [[ 2.12480149e-01 4.64782023e-01 8.59552126e-01 2.86764083e+02] [-1.40018584e-01 8.85042667e-01 -4.43953008e-01 -1.73073531e+02] [-9.67081683e-01 -2.60220701e-02 2.53132119e-01 -3.37708367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:-173.08, Z:-337.74 [[ 2.13106825e-01 4.65846098e-01 8.58820642e-01 2.86771099e+02] [-1.41157264e-01 8.84470259e-01 -4.44732490e-01 -1.73076586e+02] [-9.66778211e-01 -2.64532430e-02 2.54244209e-01 -3.37740253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-173.08, Z:-337.77 [[ 2.12497813e-01 4.66837092e-01 8.58433346e-01 2.86777709e+02] [-1.41116809e-01 8.83948833e-01 -4.45780783e-01 -1.73079630e+02] [-9.66918159e-01 -2.64119331e-02 2.53715755e-01 -3.37772716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-173.08, Z:-337.80 [[ 2.13147756e-01 4.67495966e-01 8.57913490e-01 2.86785052e+02] [-1.40745544e-01 8.83625351e-01 -4.46538835e-01 -1.73083517e+02] [-9.66829213e-01 -2.55687504e-02 2.54140735e-01 -3.37804708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-173.08, Z:-337.84 [[ 2.12918702e-01 4.73207598e-01 8.54833431e-01 2.86791656e+02] [-1.40810141e-01 8.80622809e-01 -4.52411286e-01 -1.73083503e+02] [-9.66870276e-01 -2.40423927e-02 2.54133494e-01 -3.37837750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-173.09, Z:-337.87 [[ 2.11104447e-01 4.73783529e-01 8.54964373e-01 2.86798550e+02] [-1.39928725e-01 8.80315759e-01 -4.53281497e-01 -1.73086576e+02] [-9.67395919e-01 -2.39443346e-02 2.52134497e-01 -3.37867681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-173.09, Z:-337.90 [[ 2.11230899e-01 4.69300101e-01 8.57402427e-01 2.86806462e+02] [-1.39963844e-01 8.82678062e-01 -4.48653051e-01 -1.73093695e+02] [-9.67363236e-01 -2.52359520e-02 2.52133927e-01 -3.37898120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-173.10, Z:-337.93 [[ 2.10864016e-01 4.69877039e-01 8.57176723e-01 2.86813491e+02] [-1.39754427e-01 8.82376356e-01 -4.49311325e-01 -1.73097042e+02] [-9.67473548e-01 -2.50506510e-02 2.51728819e-01 -3.37929313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-173.10, Z:-337.96 [[ 2.10640909e-01 4.70569393e-01 8.56851710e-01 2.86820497e+02] [-1.40293517e-01 8.81996014e-01 -4.49889719e-01 -1.73100671e+02] [-9.67444126e-01 -2.54455606e-02 2.51802278e-01 -3.37960945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-173.10, Z:-337.99 [[ 2.10683992e-01 4.71608313e-01 8.56269732e-01 2.86827371e+02] [-1.40872999e-01 8.81435084e-01 -4.50807045e-01 -1.73103578e+02] [-9.67350533e-01 -2.56474574e-02 2.52141140e-01 -3.37992784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-173.11, Z:-338.02 [[ 2.10578402e-01 4.72603952e-01 8.55746599e-01 2.86834362e+02] [-1.41153827e-01 8.80901263e-01 -4.51761621e-01 -1.73106700e+02] [-9.67332587e-01 -2.56606675e-02 2.52208637e-01 -3.38024204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-173.11, Z:-338.06 [[ 2.10308313e-01 4.73543509e-01 8.55293492e-01 2.86841521e+02] [-1.41416730e-01 8.80393847e-01 -4.52667630e-01 -1.73109619e+02] [-9.67352946e-01 -2.57530436e-02 2.52121120e-01 -3.38055943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-173.11, Z:-338.09 [[ 2.09883998e-01 4.74567674e-01 8.54829942e-01 2.86848451e+02] [-1.41564966e-01 8.79841101e-01 -4.53694828e-01 -1.73112422e+02] [-9.67423417e-01 -2.57906876e-02 2.51846725e-01 -3.38087397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-173.12, Z:-338.12 [[ 2.10054662e-01 4.75112062e-01 8.54485558e-01 2.86855777e+02] [-1.41369390e-01 8.79559489e-01 -4.54301444e-01 -1.73115045e+02] [-9.67414975e-01 -2.53699656e-02 2.51921873e-01 -3.38119161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:286.86, Y:-173.13, Z:-338.15 [[ 2.12095210e-01 4.68269034e-01 8.57752723e-01 2.86864938e+02] [-1.43625344e-01 8.83127099e-01 -4.46607532e-01 -1.73126529e+02] [-9.66637152e-01 -2.84717114e-02 2.54562329e-01 -3.38147745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-173.09, Z:-338.18 [[ 2.09781149e-01 5.12527553e-01 8.32650813e-01 2.86864688e+02] [-1.40937646e-01 8.58557668e-01 -4.92965831e-01 -1.73094770e+02] [-9.67537312e-01 -1.39369076e-02 2.52343641e-01 -3.38177706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:-173.12, Z:-338.20 [[ 2.11134518e-01 4.74959862e-01 8.54304012e-01 2.86874609e+02] [-1.40955118e-01 8.79665896e-01 -4.54224136e-01 -1.73123622e+02] [-9.67240337e-01 -2.45161294e-02 2.52675859e-01 -3.38200252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-173.13, Z:-338.23 [[ 2.11261313e-01 4.74526055e-01 8.54513710e-01 2.86880899e+02] [-1.40743207e-01 8.79903479e-01 -4.53829502e-01 -1.73127087e+02] [-9.67243510e-01 -2.43903837e-02 2.52675883e-01 -3.38227909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-173.13, Z:-338.26 [[ 2.11310308e-01 4.73672368e-01 8.54975112e-01 2.86887430e+02] [-1.40590738e-01 8.80360836e-01 -4.52989011e-01 -1.73130520e+02] [-9.67254981e-01 -2.44803348e-02 2.52623267e-01 -3.38255413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:-173.14, Z:-338.29 [[ 2.13018957e-01 4.65258145e-01 8.59161092e-01 2.86898489e+02] [-1.43588452e-01 8.84703335e-01 -4.43488856e-01 -1.73143862e+02] [-9.66439486e-01 -2.88940778e-02 2.55264278e-01 -3.38286936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:-173.12, Z:-338.32 [[ 2.09545294e-01 5.04295760e-01 8.37721050e-01 2.86899022e+02] [-1.41162402e-01 8.63368617e-01 -4.84425234e-01 -1.73115719e+02] [-9.67555655e-01 -1.67456877e-02 2.52102431e-01 -3.38320624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-173.14, Z:-338.35 [[ 2.09689732e-01 4.74719562e-01 8.54793281e-01 2.86909381e+02] [-1.42195523e-01 8.79740691e-01 -4.53692352e-01 -1.73138097e+02] [-9.67373066e-01 -2.64131501e-02 2.51975586e-01 -3.38348154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-173.15, Z:-338.38 [[ 2.11706639e-01 4.67082953e-01 8.58495087e-01 2.86920698e+02] [-1.45761141e-01 8.83671295e-01 -4.44835623e-01 -1.73151374e+02] [-9.66402602e-01 -3.09605680e-02 2.55161624e-01 -3.38381043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-173.12, Z:-338.41 [[ 2.07651769e-01 5.10635161e-01 8.34345537e-01 2.86920689e+02] [-1.42513875e-01 8.59628951e-01 -4.90640257e-01 -1.73119455e+02] [-9.67765746e-01 -1.70234978e-02 2.51276068e-01 -3.38413904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:-173.15, Z:-338.44 [[ 2.07908101e-01 4.76834780e-01 8.54050827e-01 2.86931396e+02] [-1.44342184e-01 8.78527470e-01 -4.55362294e-01 -1.73145391e+02] [-9.67439691e-01 -2.86020518e-02 2.51480351e-01 -3.38442094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-173.15, Z:-338.47 [[ 2.07496713e-01 4.78029786e-01 8.53482652e-01 2.86938832e+02] [-1.45553633e-01 8.77846445e-01 -4.56289119e-01 -1.73147965e+02] [-9.67346502e-01 -2.95490083e-02 2.51729224e-01 -3.38473575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-173.16, Z:-338.51 [[ 2.09802754e-01 4.67107541e-01 8.58948980e-01 2.86950898e+02] [-1.50339561e-01 8.83465688e-01 -4.43718824e-01 -1.73164222e+02] [-9.66116360e-01 -3.60405816e-02 2.55578277e-01 -3.38506257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-173.12, Z:-338.54 [[ 2.04080835e-01 5.23997388e-01 8.26908550e-01 2.86950378e+02] [-1.48131541e-01 8.51488865e-01 -5.03014671e-01 -1.73121125e+02] [-9.67681797e-01 -1.98355839e-02 2.51393099e-01 -3.38540887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-173.15, Z:-338.57 [[ 2.04972350e-01 4.80782363e-01 8.52545984e-01 2.86960905e+02] [-1.49755049e-01 8.76189309e-01 -4.58111034e-01 -1.73153649e+02] [-9.67243383e-01 -3.37729700e-02 2.51594168e-01 -3.38567285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-173.16, Z:-338.60 [[ 2.04709708e-01 4.81614189e-01 8.52139489e-01 2.86968637e+02] [-1.50932856e-01 8.75695246e-01 -4.58668844e-01 -1.73156440e+02] [-9.67115923e-01 -3.47218819e-02 2.51954724e-01 -3.38599216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-173.16, Z:-338.63 [[ 2.03861300e-01 4.82889439e-01 8.51621019e-01 2.86976735e+02] [-1.52432783e-01 8.74936233e-01 -4.59620315e-01 -1.73158240e+02] [-9.67059883e-01 -3.61161671e-02 2.51973818e-01 -3.38631598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-173.17, Z:-338.67 [[ 2.05409140e-01 4.75748316e-01 8.55260560e-01 2.86987190e+02] [-1.55663221e-01 8.78652419e-01 -4.51374444e-01 -1.73170893e+02] [-9.66217391e-01 -4.04161769e-02 2.54539753e-01 -3.38665107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-173.14, Z:-338.70 [[ 2.01696270e-01 5.20945385e-01 8.29418182e-01 2.86988487e+02] [-1.52393521e-01 8.53200407e-01 -4.98823897e-01 -1.73138014e+02] [-9.67519937e-01 -2.57870379e-02 2.51476042e-01 -3.38697744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-173.16, Z:-338.73 [[ 2.03061277e-01 4.85443562e-01 8.50359140e-01 2.86999032e+02] [-1.53111210e-01 8.73511372e-01 -4.62098302e-01 -1.73164691e+02] [-9.67121024e-01 -3.63652456e-02 2.51703185e-01 -3.38726194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-173.17, Z:-338.76 [[ 2.02750615e-01 4.86408416e-01 8.49881781e-01 2.87006268e+02] [-1.53213587e-01 8.72976155e-01 -4.63074757e-01 -1.73166999e+02] [-9.67169988e-01 -3.63247439e-02 2.51520830e-01 -3.38757915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-173.17, Z:-338.79 [[ 2.02449976e-01 4.87367306e-01 8.49403977e-01 2.87013365e+02] [-1.53265454e-01 8.72444884e-01 -4.64057782e-01 -1.73169152e+02] [-9.67224745e-01 -3.62357996e-02 2.51323017e-01 -3.38788742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-173.17, Z:-338.82 [[ 2.02338852e-01 4.88216296e-01 8.48942776e-01 2.87020996e+02] [-1.53152147e-01 8.71982433e-01 -4.64963500e-01 -1.73171762e+02] [-9.67265945e-01 -3.59372279e-02 2.51207299e-01 -3.38821003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-173.17, Z:-338.85 [[ 2.02272980e-01 4.89041470e-01 8.48483401e-01 2.87028496e+02] [-1.52651790e-01 8.71546977e-01 -4.65943449e-01 -1.73173781e+02] [-9.67358813e-01 -3.52747401e-02 2.50943460e-01 -3.38853256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-173.18, Z:-338.89 [[ 2.01755986e-01 4.92093498e-01 8.46840311e-01 2.87034564e+02] [-1.52696778e-01 8.69851745e-01 -4.69085958e-01 -1.73175960e+02] [-9.67459672e-01 -3.46688871e-02 2.50638888e-01 -3.38887054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-173.17, Z:-338.92 [[ 2.01823132e-01 5.04402516e-01 8.39550788e-01 2.87041796e+02] [-1.52269791e-01 8.62926573e-01 -4.81841926e-01 -1.73169636e+02] [-9.67512963e-01 -3.05913765e-02 2.50963809e-01 -3.38916697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-173.18, Z:-338.95 [[ 2.01668232e-01 4.91346913e-01 8.47294598e-01 2.87050393e+02] [-1.53155302e-01 8.70246448e-01 -4.68203560e-01 -1.73181119e+02] [-9.67405488e-01 -3.53458762e-02 2.50753447e-01 -3.38947457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-173.18, Z:-338.98 [[ 2.01632322e-01 4.92379434e-01 8.46703549e-01 2.87057451e+02] [-1.53694168e-01 8.69654658e-01 -4.69125654e-01 -1.73183268e+02] [-9.67327509e-01 -3.55425026e-02 2.51026335e-01 -3.38978217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-173.19, Z:-339.01 [[ 2.01588459e-01 4.93453265e-01 8.46088630e-01 2.87064968e+02] [-1.54785113e-01 8.69017576e-01 -4.69946828e-01 -1.73185792e+02] [-9.67162686e-01 -3.62260674e-02 2.51563133e-01 -3.39010250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-173.19, Z:-339.04 [[ 2.01381367e-01 4.94538927e-01 8.45503870e-01 2.87072247e+02] [-1.55606591e-01 8.68378434e-01 -4.70856119e-01 -1.73188105e+02] [-9.67074007e-01 -3.67443258e-02 2.51828752e-01 -3.39042023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-173.19, Z:-339.07 [[ 2.00985661e-01 4.95913216e-01 8.44792783e-01 2.87079767e+02] [-1.57878783e-01 8.67515012e-01 -4.71690569e-01 -1.73189437e+02] [-9.66788009e-01 -3.85718158e-02 2.52652254e-01 -3.39072765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-173.19, Z:-339.11 [[ 1.99972614e-01 5.00637074e-01 8.42243120e-01 2.87085338e+02] [-1.57897737e-01 8.64836572e-01 -4.76577390e-01 -1.73187943e+02] [-9.66994963e-01 -3.76858569e-02 2.51993091e-01 -3.39105825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-173.20, Z:-339.13 [[ 2.00738775e-01 4.94014578e-01 8.45963085e-01 2.87095004e+02] [-1.60833069e-01 8.68442616e-01 -4.68977768e-01 -1.73196951e+02] [-9.66352248e-01 -4.19168166e-02 2.53783988e-01 -3.39134986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-173.20, Z:-339.16 [[ 2.00090781e-01 4.99467550e-01 8.42909157e-01 2.87101376e+02] [-1.61720343e-01 8.65342911e-01 -4.74371349e-01 -1.73195494e+02] [-9.66338559e-01 -4.13982242e-02 2.53921203e-01 -3.39162527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-173.20, Z:-339.19 [[ 1.99406110e-01 4.99403165e-01 8.43109531e-01 2.87108547e+02] [-1.62869499e-01 8.65312291e-01 -4.74033929e-01 -1.73196466e+02] [-9.66287085e-01 -4.27915652e-02 2.53886101e-01 -3.39188405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-173.20, Z:-339.22 [[ 1.99183584e-01 4.99078300e-01 8.43354463e-01 2.87115072e+02] [-1.63099326e-01 8.65479053e-01 -4.73650313e-01 -1.73198879e+02] [-9.66294215e-01 -4.32071778e-02 2.53788554e-01 -3.39215229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-173.20, Z:-339.25 [[ 1.98884391e-01 4.98840960e-01 8.43565466e-01 2.87122619e+02] [-1.63491578e-01 8.65587070e-01 -4.73317576e-01 -1.73202469e+02] [-9.66289554e-01 -4.37803717e-02 2.53708053e-01 -3.39246806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-173.20, Z:-339.28 [[ 1.98499241e-01 4.99717511e-01 8.43137273e-01 2.87130232e+02] [-1.63027712e-01 8.65105729e-01 -4.74356451e-01 -1.73204947e+02] [-9.66447110e-01 -4.32953444e-02 2.53190633e-01 -3.39277779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-173.21, Z:-339.31 [[ 1.98501824e-01 5.00437940e-01 8.42709258e-01 2.87137471e+02] [-1.62220661e-01 8.64735725e-01 -4.75306831e-01 -1.73207587e+02] [-9.66582373e-01 -4.23555796e-02 2.52832992e-01 -3.39309792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-173.21, Z:-339.34 [[ 1.98279620e-01 5.01188201e-01 8.42315605e-01 2.87144775e+02] [-1.61300230e-01 8.64346453e-01 -4.76327036e-01 -1.73210389e+02] [-9.66781996e-01 -4.14197567e-02 2.52224058e-01 -3.39341480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-173.21, Z:-339.37 [[ 1.98035263e-01 5.01985894e-01 8.41897973e-01 2.87151721e+02] [-1.60456972e-01 8.63924631e-01 -4.77375944e-01 -1.73213025e+02] [-9.66972386e-01 -4.05511294e-02 2.51634678e-01 -3.39372952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-173.22, Z:-339.40 [[ 1.98924320e-01 5.02436770e-01 8.41419282e-01 2.87159341e+02] [-1.58539936e-01 8.63767329e-01 -4.78300208e-01 -1.73215358e+02] [-9.67106097e-01 -3.82530156e-02 2.51480622e-01 -3.39404981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-173.22, Z:-339.44 [[ 1.99256203e-01 5.03122742e-01 8.40930718e-01 2.87166376e+02] [-1.57430907e-01 8.63427300e-01 -4.79279467e-01 -1.73218192e+02] [-9.67218939e-01 -3.68890788e-02 2.51250314e-01 -3.39437227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-173.22, Z:-339.47 [[ 2.00321625e-01 5.03830500e-01 8.40253577e-01 2.87173648e+02] [-1.56665868e-01 8.63074736e-01 -4.80164353e-01 -1.73221350e+02] [-9.67123080e-01 -3.54517530e-02 2.51825576e-01 -3.39469397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:-173.22, Z:-339.50 [[ 2.01243164e-01 5.04476492e-01 8.39645555e-01 2.87180291e+02] [-1.55565048e-01 8.62763394e-01 -4.81080910e-01 -1.73224165e+02] [-9.67109459e-01 -3.38052560e-02 2.52104145e-01 -3.39500379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-173.23, Z:-339.53 [[ 2.03943953e-01 5.04165212e-01 8.39180733e-01 2.87187264e+02] [-1.52009372e-01 8.63108540e-01 -4.81598172e-01 -1.73227290e+02] [-9.67109102e-01 -2.93443013e-02 2.52663605e-01 -3.39532857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-173.23, Z:-339.56 [[ 2.05462484e-01 5.04558928e-01 8.38573465e-01 2.87194067e+02] [-1.49766200e-01 8.62972155e-01 -4.82544449e-01 -1.73230225e+02] [-9.67137660e-01 -2.64451805e-02 2.52874276e-01 -3.39563976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-173.23, Z:-339.60 [[ 2.08585704e-01 5.04010438e-01 8.38132139e-01 2.87201075e+02] [-1.43678050e-01 8.63475791e-01 -4.83493719e-01 -1.73233492e+02] [-9.67392693e-01 -1.95713136e-02 2.52523943e-01 -3.39596443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-173.24, Z:-339.63 [[ 2.09955210e-01 5.04171296e-01 8.37693329e-01 2.87207597e+02] [-1.40269888e-01 8.63459581e-01 -4.84522353e-01 -1.73236835e+02] [-9.67596594e-01 -1.57751578e-02 2.52007889e-01 -3.39628152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-173.24, Z:-339.66 [[ 2.11830842e-01 5.04304863e-01 8.37140549e-01 2.87214503e+02] [-1.37008142e-01 8.63444302e-01 -4.85481931e-01 -1.73240674e+02] [-9.67655137e-01 -1.18550251e-02 2.51998006e-01 -3.39660529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-173.24, Z:-339.69 [[ 2.13623848e-01 5.04374476e-01 8.36642839e-01 2.87221180e+02] [-1.33370037e-01 8.63451057e-01 -4.86481968e-01 -1.73244382e+02] [-9.67769231e-01 -7.65893619e-03 2.51722180e-01 -3.39692871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-173.25, Z:-339.72 [[ 2.18098695e-01 5.03399354e-01 8.36075385e-01 2.87227196e+02] [-1.25731272e-01 8.64053050e-01 -4.87446381e-01 -1.73248491e+02] [-9.67793680e-01 1.19059797e-03 2.51741884e-01 -3.39723511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-173.25, Z:-339.76 [[ 2.20072029e-01 5.03112978e-01 8.35730598e-01 2.87233851e+02] [-1.22307246e-01 8.64205067e-01 -4.88047682e-01 -1.73252328e+02] [-9.67785741e-01 5.18973560e-03 2.51721726e-01 -3.39755687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-173.26, Z:-339.79 [[ 2.21920584e-01 5.03233326e-01 8.35169129e-01 2.87240646e+02] [-1.19106171e-01 8.64103191e-01 -4.89018808e-01 -1.73255730e+02] [-9.67762871e-01 9.04954226e-03 2.51700480e-01 -3.39787789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-173.26, Z:-339.82 [[ 2.23275049e-01 5.03500411e-01 8.34646984e-01 2.87247219e+02] [-1.16441687e-01 8.63908595e-01 -4.90003340e-01 -1.73258960e+02] [-9.67775587e-01 1.22178166e-02 2.51517671e-01 -3.39819148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-173.26, Z:-339.85 [[ 2.25563193e-01 5.03367953e-01 8.34111474e-01 2.87254269e+02] [-1.12645091e-01 8.63909454e-01 -4.90888520e-01 -1.73261426e+02] [-9.67694337e-01 1.67678191e-02 2.51568103e-01 -3.39850980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-173.26, Z:-339.88 [[ 2.26256367e-01 5.04018013e-01 8.33530983e-01 2.87261432e+02] [-1.11747570e-01 8.63502842e-01 -4.91808218e-01 -1.73264376e+02] [-9.67636573e-01 1.81296792e-02 2.51695804e-01 -3.39883493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-173.27, Z:-339.92 [[ 2.26787469e-01 5.04765326e-01 8.32934217e-01 2.87268929e+02] [-1.11255065e-01 8.63045837e-01 -4.92721213e-01 -1.73267260e+02] [-9.67568992e-01 1.90748462e-02 2.51885681e-01 -3.39915077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-173.27, Z:-339.95 [[ 2.26618880e-01 5.05530037e-01 8.32516225e-01 2.87276736e+02] [-1.10363754e-01 8.62576906e-01 -4.93741758e-01 -1.73268913e+02] [-9.67710559e-01 2.00115886e-02 2.51268405e-01 -3.39947489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-173.27, Z:-339.98 [[ 2.26253166e-01 5.06552122e-01 8.31994263e-01 2.87284347e+02] [-1.10755139e-01 8.61982474e-01 -4.94691332e-01 -1.73271541e+02] [-9.67751417e-01 1.97778399e-02 2.51129514e-01 -3.39979342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-173.27, Z:-340.01 [[ 2.25570230e-01 5.07617525e-01 8.31530228e-01 2.87291624e+02] [-1.11110116e-01 8.61363608e-01 -4.95688689e-01 -1.73273740e+02] [-9.67870143e-01 1.94211914e-02 2.50699430e-01 -3.40011166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-173.28, Z:-340.04 [[ 2.24748888e-01 5.08787795e-01 8.31037253e-01 2.87298689e+02] [-1.11881114e-01 8.60689889e-01 -4.96684539e-01 -1.73275897e+02] [-9.67972393e-01 1.86519241e-02 2.50362841e-01 -3.40042585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-173.28, Z:-340.07 [[ 2.23888377e-01 5.10089323e-01 8.30471479e-01 2.87306121e+02] [-1.13693714e-01 8.59953901e-01 -4.97547010e-01 -1.73277321e+02] [-9.67960606e-01 1.69756056e-02 2.50527633e-01 -3.40074265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-173.28, Z:-340.11 [[ 2.23487172e-01 5.11269303e-01 8.29853713e-01 2.87312797e+02] [-1.14848112e-01 8.59269875e-01 -4.98462830e-01 -1.73279563e+02] [-9.67917040e-01 1.60929157e-02 2.50754108e-01 -3.40105087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-173.28, Z:-340.14 [[ 2.22214302e-01 5.12760360e-01 8.29275357e-01 2.87320660e+02] [-1.17449338e-01 8.58424741e-01 -4.99312144e-01 -1.73281013e+02] [-9.67897958e-01 1.35564577e-02 2.50977620e-01 -3.40137431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-173.28, Z:-340.17 [[ 2.20988758e-01 5.14085601e-01 8.28782217e-01 2.87328257e+02] [-1.18926343e-01 8.57655035e-01 -5.00284286e-01 -1.73283411e+02] [-9.67998189e-01 1.19931646e-02 2.50670441e-01 -3.40169173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-173.29, Z:-340.20 [[ 2.20934684e-01 5.15017382e-01 8.28217943e-01 2.87335235e+02] [-1.19042310e-01 8.57093713e-01 -5.01217812e-01 -1.73287126e+02] [-9.67996278e-01 1.21434219e-02 2.50670587e-01 -3.40201701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-173.29, Z:-340.23 [[ 2.19549503e-01 5.15850916e-01 8.28067539e-01 2.87342936e+02] [-1.20503439e-01 8.56615729e-01 -5.01685574e-01 -1.73289662e+02] [-9.68130641e-01 1.03598318e-02 2.50231367e-01 -3.40233659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-173.29, Z:-340.26 [[ 2.16993724e-01 5.17642768e-01 8.27622915e-01 2.87350806e+02] [-1.23581714e-01 8.55569760e-01 -5.02720544e-01 -1.73290618e+02] [-9.68318793e-01 6.80814484e-03 2.49624448e-01 -3.40264654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-173.29, Z:-340.30 [[ 2.16085076e-01 5.18887895e-01 8.27080765e-01 2.87358359e+02] [-1.25119772e-01 8.54825634e-01 -5.03605181e-01 -1.73292991e+02] [-9.68324472e-01 5.33740667e-03 2.49638197e-01 -3.40296176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-173.30, Z:-340.33 [[ 2.15402990e-01 5.20147316e-01 8.26467375e-01 2.87365621e+02] [-1.26554858e-01 8.54066793e-01 -5.04533231e-01 -1.73295304e+02] [-9.68289946e-01 4.08450518e-03 2.49795711e-01 -3.40328260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-173.30, Z:-340.36 [[ 2.14536203e-01 5.21390839e-01 8.25909081e-01 2.87372443e+02] [-1.27830562e-01 8.53313169e-01 -5.05485888e-01 -1.73297882e+02] [-9.68314807e-01 2.86860128e-03 2.49716251e-01 -3.40359014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-173.30, Z:-340.39 [[ 2.13993277e-01 5.22564090e-01 8.25308215e-01 2.87379305e+02] [-1.29279109e-01 8.52598402e-01 -5.06322898e-01 -1.73300505e+02] [-9.68242629e-01 1.65458556e-03 2.50006946e-01 -3.40389860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-173.30, Z:-340.42 [[ 2.12602150e-01 5.23959824e-01 8.24782655e-01 2.87386985e+02] [-1.31494490e-01 8.51742750e-01 -5.07191765e-01 -1.73302372e+02] [-9.68250755e-01 -6.24314765e-04 2.49980170e-01 -3.40421767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-173.31, Z:-340.45 [[ 2.11420788e-01 5.25190856e-01 8.24303230e-01 2.87393879e+02] [-1.32578905e-01 8.50982469e-01 -5.08184682e-01 -1.73305114e+02] [-9.68361546e-01 -1.84441322e-03 2.49544613e-01 -3.40452664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-173.31, Z:-340.48 [[ 2.10783390e-01 5.26020875e-01 8.23937134e-01 2.87401371e+02] [-1.33681648e-01 8.50466687e-01 -5.08758912e-01 -1.73308362e+02] [-9.68348894e-01 -2.90734565e-03 2.49583589e-01 -3.40484998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-173.31, Z:-340.52 [[ 2.09520352e-01 5.27411591e-01 8.23370048e-01 2.87408831e+02] [-1.35631594e-01 8.49595886e-01 -5.09696872e-01 -1.73311636e+02] [-9.68351844e-01 -4.88312408e-03 2.49541303e-01 -3.40515998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-173.32, Z:-340.55 [[ 2.08796208e-01 5.28206606e-01 8.23044303e-01 2.87415696e+02] [-1.36509028e-01 8.49096037e-01 -5.10295214e-01 -1.73315401e+02] [-9.68384959e-01 -5.80527175e-03 2.49393003e-01 -3.40547467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-173.32, Z:-340.58 [[ 2.08394127e-01 5.29234700e-01 8.22485575e-01 2.87422642e+02] [-1.37390936e-01 8.48450690e-01 -5.11131253e-01 -1.73319243e+02] [-9.68346848e-01 -6.48531223e-03 2.49524192e-01 -3.40579851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-173.32, Z:-340.61 [[ 2.07178888e-01 5.30559948e-01 8.21938592e-01 2.87430002e+02] [-1.39054215e-01 8.47607732e-01 -5.12079152e-01 -1.73323517e+02] [-9.68370195e-01 -8.20203665e-03 2.49383024e-01 -3.40611901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-173.33, Z:-340.64 [[ 2.06966413e-01 5.31695890e-01 8.21257806e-01 2.87436946e+02] [-1.40253412e-01 8.46887289e-01 -5.12943369e-01 -1.73327212e+02] [-9.68242678e-01 -9.02216046e-03 2.49849388e-01 -3.40644093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-173.33, Z:-340.67 [[ 2.07078838e-01 5.33067578e-01 8.20339754e-01 2.87442918e+02] [-1.42940867e-01 8.46002557e-01 -5.13660960e-01 -1.73330388e+02] [-9.67825534e-01 -1.08917605e-02 2.51386368e-01 -3.40674953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-173.33, Z:-340.71 [[ 2.06396435e-01 5.34219088e-01 8.19762452e-01 2.87449272e+02] [-1.44307360e-01 8.45259369e-01 -5.14501687e-01 -1.73334611e+02] [-9.67768514e-01 -1.21064410e-02 2.51550267e-01 -3.40707259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-173.34, Z:-340.74 [[ 2.05809716e-01 5.35424762e-01 8.19123120e-01 2.87455914e+02] [-1.45707716e-01 8.44478508e-01 -5.15388505e-01 -1.73339034e+02] [-9.67683637e-01 -1.32805969e-02 2.51817401e-01 -3.40738894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-173.34, Z:-340.77 [[ 2.04887847e-01 5.36578012e-01 8.18599418e-01 2.87461909e+02] [-1.46622440e-01 8.43730719e-01 -5.16352916e-01 -1.73343458e+02] [-9.67741097e-01 -1.42306070e-02 2.51544548e-01 -3.40769539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-173.35, Z:-340.80 [[ 2.04212309e-01 5.37655223e-01 8.18061241e-01 2.87468428e+02] [-1.47607963e-01 8.43029026e-01 -5.17217508e-01 -1.73348486e+02] [-9.67734066e-01 -1.51301719e-02 2.51519096e-01 -3.40801667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-173.35, Z:-340.83 [[ 2.02888212e-01 5.38801901e-01 8.17636157e-01 2.87474143e+02] [-1.48389557e-01 8.42276944e-01 -5.18218187e-01 -1.73353885e+02] [-9.67893028e-01 -1.61883054e-02 2.50840639e-01 -3.40832485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.916559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:287.49, Y:-173.38, Z:-340.86 [[ 2.08153358e-01 5.19380000e-01 8.28804317e-01 2.87487655e+02] [-1.53026249e-01 8.54222891e-01 -4.96876463e-01 -1.73378733e+02] [-9.66051317e-01 -2.34023114e-02 2.57288136e-01 -3.40860530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-173.34, Z:-340.90 [[ 2.01793441e-01 5.70019783e-01 7.96465225e-01 2.87487142e+02] [-1.48048064e-01 8.21602598e-01 -5.50500628e-01 -1.73342379e+02] [-9.68174147e-01 -6.82771883e-03 2.50184340e-01 -3.40897366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-173.37, Z:-340.93 [[ 2.02216295e-01 5.40723786e-01 8.16533133e-01 2.87491876e+02] [-1.46969382e-01 8.41071118e-01 -5.20576003e-01 -1.73368786e+02] [-9.68250263e-01 -1.47364196e-02 2.49548126e-01 -3.40927077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-173.39, Z:-340.96 [[ 2.06374586e-01 5.25476982e-01 8.25398978e-01 2.87503233e+02] [-1.49683730e-01 8.50583901e-01 -5.04085120e-01 -1.73388986e+02] [-9.66956210e-01 -1.95184392e-02 2.54194255e-01 -3.40955525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-173.38, Z:-340.99 [[ 2.05871809e-01 5.46586226e-01 8.11702098e-01 2.87508611e+02] [-1.47954175e-01 8.37320502e-01 -5.26311636e-01 -1.73378729e+02] [-9.67329499e-01 -1.17419858e-02 2.53250401e-01 -3.40988720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-173.37, Z:-341.02 [[ 2.03836907e-01 5.56797873e-01 8.05249430e-01 2.87508488e+02] [-1.42977178e-01 8.30630227e-01 -5.38155138e-01 -1.73373352e+02] [-9.68508153e-01 -5.43641237e-03 2.48922485e-01 -3.41022141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-173.39, Z:-341.05 [[ 2.05457113e-01 5.41868743e-01 8.14963582e-01 2.87513932e+02] [-1.41823458e-01 8.40423918e-01 -5.23042776e-01 -1.73388963e+02] [-9.68335418e-01 -8.11809478e-03 2.49520771e-01 -3.41053231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-173.39, Z:-341.09 [[ 2.07182690e-01 5.42327233e-01 8.14221410e-01 2.87519634e+02] [-1.40417209e-01 8.40147364e-01 -5.23865837e-01 -1.73394172e+02] [-9.68172681e-01 -5.79476411e-03 2.50216067e-01 -3.41085290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-173.40, Z:-341.12 [[ 2.08961077e-01 5.42725196e-01 8.13501463e-01 2.87525152e+02] [-1.38664208e-01 8.39904396e-01 -5.24721681e-01 -1.73399476e+02] [-9.68043132e-01 -3.15712858e-03 2.50763887e-01 -3.41116246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-173.41, Z:-341.15 [[ 2.10883457e-01 5.43005658e-01 8.12817952e-01 2.87531133e+02] [-1.36733602e-01 8.39728976e-01 -5.25508486e-01 -1.73405233e+02] [-9.67900868e-01 -3.18479797e-04 2.51332069e-01 -3.41148192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-173.41, Z:-341.18 [[ 2.13992017e-01 5.42673279e-01 8.12227264e-01 2.87535790e+02] [-1.31905620e-01 8.39925776e-01 -5.26427201e-01 -1.73412696e+02] [-9.67888591e-01 5.51387798e-03 2.51319066e-01 -3.41179802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-173.42, Z:-341.21 [[ 2.15281022e-01 5.43007541e-01 8.11663041e-01 2.87541612e+02] [-1.29546718e-01 8.39685907e-01 -5.27394754e-01 -1.73418260e+02] [-9.67921345e-01 8.38979894e-03 2.51113285e-01 -3.41211132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-173.43, Z:-341.24 [[ 2.17469144e-01 5.42790627e-01 8.11224696e-01 2.87547124e+02] [-1.25084915e-01 8.39760690e-01 -5.28351916e-01 -1.73425027e+02] [-9.68019078e-01 1.34282665e-02 2.50516958e-01 -3.41243182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-173.43, Z:-341.28 [[ 2.18298172e-01 5.43308849e-01 8.10654922e-01 2.87553044e+02] [-1.23556981e-01 8.39391968e-01 -5.29296510e-01 -1.73430016e+02] [-9.68028709e-01 1.53823862e-02 2.50367333e-01 -3.41275087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:-173.43, Z:-341.31 [[ 2.19270625e-01 5.43901077e-01 8.09995069e-01 2.87559041e+02] [-1.22502388e-01 8.38976500e-01 -5.30199582e-01 -1.73434970e+02] [-9.67942952e-01 1.70308630e-02 2.50592082e-01 -3.41306358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-173.44, Z:-341.34 [[ 2.20048925e-01 5.44544840e-01 8.09351214e-01 2.87565230e+02] [-1.21967716e-01 8.38535639e-01 -5.31019640e-01 -1.73439979e+02] [-9.67833843e-01 1.81355820e-02 2.50935757e-01 -3.41338799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-173.45, Z:-341.37 [[ 2.20623768e-01 5.45351812e-01 8.08651071e-01 2.87570827e+02] [-1.21922838e-01 8.37997471e-01 -5.31878802e-01 -1.73446017e+02] [-9.67708621e-01 1.87520723e-02 2.51373001e-01 -3.41369911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-173.45, Z:-341.40 [[ 2.20629768e-01 5.46289325e-01 8.08016385e-01 2.87577482e+02] [-1.22548027e-01 8.37392083e-01 -5.32687976e-01 -1.73451072e+02] [-9.67628279e-01 1.85060112e-02 2.51700300e-01 -3.41402137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-173.46, Z:-341.43 [[ 2.20015843e-01 5.47376504e-01 8.07447826e-01 2.87584015e+02] [-1.23278105e-01 8.36695816e-01 -5.33612799e-01 -1.73455450e+02] [-9.67675327e-01 1.78626315e-02 2.51565873e-01 -3.41433870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-173.46, Z:-341.47 [[ 2.19475732e-01 5.48536265e-01 8.06807517e-01 2.87590896e+02] [-1.24512055e-01 8.35956985e-01 -5.34483553e-01 -1.73459823e+02] [-9.67639991e-01 1.68489070e-02 2.51771649e-01 -3.41465287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-173.48, Z:-341.50 [[ 2.19990813e-01 5.37632891e-01 8.13974764e-01 2.87602200e+02] [-1.31056935e-01 8.43140667e-01 -5.21476649e-01 -1.73478695e+02] [-9.66658224e-01 8.04303387e-03 2.55943720e-01 -3.41496332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-173.45, Z:-341.53 [[ 2.16557126e-01 5.82736917e-01 7.83275620e-01 2.87604979e+02] [-1.30210993e-01 8.12386930e-01 -5.68394733e-01 -1.73445810e+02] [-9.67547471e-01 2.10988335e-02 2.51806931e-01 -3.41531010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.61, Y:-173.47, Z:-341.56 [[ 2.13440647e-01 5.52711580e-01 8.05576191e-01 2.87611352e+02] [-1.33774899e-01 8.33345625e-01 -5.36320190e-01 -1.73472652e+02] [-9.67753774e-01 6.70665448e-03 2.51808766e-01 -3.41559025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-173.48, Z:-341.59 [[ 2.10423330e-01 5.54708842e-01 8.04996971e-01 2.87618240e+02] [-1.38377698e-01 8.32042914e-01 -5.37174276e-01 -1.73476401e+02] [-9.67767346e-01 1.64037215e-03 2.51840573e-01 -3.41590245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-173.48, Z:-341.62 [[ 2.07442454e-01 5.56745103e-01 8.04364668e-01 2.87625220e+02] [-1.43386726e-01 8.30674987e-01 -5.37977056e-01 -1.73480152e+02] [-9.67681701e-01 -3.73593532e-03 2.52147115e-01 -3.41622725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-173.48, Z:-341.65 [[ 2.05952462e-01 5.58264220e-01 8.03694373e-01 2.87631903e+02] [-1.46173985e-01 8.29637708e-01 -5.38826910e-01 -1.73484075e+02] [-9.67582942e-01 -6.50648032e-03 2.52469634e-01 -3.41654553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-173.49, Z:-341.69 [[ 2.04481213e-01 5.59810774e-01 8.02993980e-01 2.87638156e+02] [-1.48979337e-01 8.28568619e-01 -5.39702881e-01 -1.73487690e+02] [-9.67467101e-01 -9.27041105e-03 2.52826954e-01 -3.41685435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-173.49, Z:-341.72 [[ 2.04401105e-01 5.60672227e-01 8.02413137e-01 2.87644901e+02] [-1.49080922e-01 8.27987474e-01 -5.40566020e-01 -1.73491747e+02] [-9.67468380e-01 -9.13219857e-03 2.52827087e-01 -3.41717968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-173.50, Z:-341.75 [[ 2.03585409e-01 5.61659387e-01 8.01929993e-01 2.87651731e+02] [-1.52064539e-01 8.27283785e-01 -5.40812273e-01 -1.73496267e+02] [-9.67175970e-01 -1.18436269e-02 2.53831384e-01 -3.41750229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-173.52, Z:-341.78 [[ 2.06198914e-01 5.47627914e-01 8.10916565e-01 2.87663792e+02] [-1.60142091e-01 8.36438350e-01 -5.24142535e-01 -1.73519517e+02] [-9.65316797e-01 -2.17842528e-02 2.60170959e-01 -3.41781021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-173.48, Z:-341.82 [[ 1.98692353e-01 6.04491108e-01 7.71434929e-01 2.87665026e+02] [-1.59931591e-01 7.96576211e-01 -5.82999337e-01 -1.73476160e+02] [-9.66924627e-01 -7.53930541e-03 2.54950827e-01 -3.41815877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-173.51, Z:-341.84 [[ 1.98665857e-01 5.65812658e-01 8.00242409e-01 2.87670976e+02] [-1.62751275e-01 8.24227035e-01 -5.42366866e-01 -1.73509614e+02] [-9.66459466e-01 -2.24906942e-02 2.55832502e-01 -3.41843359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-173.51, Z:-341.87 [[ 1.97465821e-01 5.67204159e-01 7.99554058e-01 2.87677569e+02] [-1.64918223e-01 8.23210145e-01 -5.43255958e-01 -1.73513626e+02] [-9.66338051e-01 -2.45865506e-02 2.56098169e-01 -3.41874640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-173.52, Z:-341.91 [[ 1.96161595e-01 5.68446490e-01 7.98992626e-01 2.87684392e+02] [-1.66553222e-01 8.22298609e-01 -5.44136952e-01 -1.73518233e+02] [-9.66323265e-01 -2.63360240e-02 2.55980001e-01 -3.41906831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-173.52, Z:-341.94 [[ 1.95217645e-01 5.69728402e-01 7.98310478e-01 2.87690628e+02] [-1.68353479e-01 8.21355801e-01 -5.45006197e-01 -1.73523369e+02] [-9.66202452e-01 -2.80035205e-02 2.56258904e-01 -3.41938462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-173.53, Z:-341.97 [[ 1.94736336e-01 5.70691198e-01 7.97740131e-01 2.87696745e+02] [-1.68568915e-01 8.20681872e-01 -5.45954015e-01 -1.73528114e+02] [-9.66262014e-01 -2.81571040e-02 2.56017377e-01 -3.41970117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-173.53, Z:-342.00 [[ 1.95079150e-01 5.71524022e-01 7.97059858e-01 2.87703111e+02] [-1.68420415e-01 8.20122256e-01 -5.46840058e-01 -1.73532970e+02] [-9.66218758e-01 -2.75640586e-02 2.56245066e-01 -3.42000954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-173.54, Z:-342.03 [[ 1.95764722e-01 5.72243674e-01 7.96375132e-01 2.87709411e+02] [-1.68167506e-01 8.19648288e-01 -5.47627952e-01 -1.73538190e+02] [-9.66124145e-01 -2.67181859e-02 2.56691011e-01 -3.42032995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-173.54, Z:-342.06 [[ 1.97505870e-01 5.72724392e-01 7.95599273e-01 2.87714579e+02] [-1.66777533e-01 8.19385760e-01 -5.48445284e-01 -1.73544222e+02] [-9.66010707e-01 -2.43669212e-02 2.57351059e-01 -3.42063830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-173.56, Z:-342.10 [[ 1.99292117e-01 5.69103586e-01 7.97749184e-01 2.87722212e+02] [-1.67933408e-01 8.21870890e-01 -5.44358898e-01 -1.73555636e+02] [-9.65443433e-01 -2.54823019e-02 2.59363894e-01 -3.42096061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-173.54, Z:-342.13 [[ 1.99884667e-01 5.89684303e-01 7.82507855e-01 2.87725615e+02] [-1.64272440e-01 8.07488901e-01 -5.66547651e-01 -1.73544159e+02] [-9.65950664e-01 -1.53002858e-02 2.58273529e-01 -3.42128155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-173.56, Z:-342.16 [[ 2.01220452e-01 5.73491390e-01 7.94114573e-01 2.87731421e+02] [-1.63588436e-01 8.18985704e-01 -5.50001127e-01 -1.73561818e+02] [-9.65789394e-01 -1.92364854e-02 2.58613233e-01 -3.42158777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-173.58, Z:-342.19 [[ 2.03163525e-01 5.66876969e-01 7.98357742e-01 2.87739060e+02] [-1.65985378e-01 8.23500544e-01 -5.42490284e-01 -1.73577399e+02] [-9.64973283e-01 -2.23014728e-02 2.61398562e-01 -3.42190777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-173.56, Z:-342.23 [[ 2.01849841e-01 6.00758211e-01 7.73528418e-01 2.87745284e+02] [-1.66068317e-01 7.99342265e-01 -5.77471435e-01 -1.73557121e+02] [-9.65234664e-01 -1.18960456e-02 2.61114014e-01 -3.42225849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-173.55, Z:-342.25 [[ 2.02114595e-01 6.09091029e-01 7.66914473e-01 2.87749161e+02] [-1.62407741e-01 7.93078393e-01 -5.87069322e-01 -1.73551164e+02] [-9.65801955e-01 -5.89756862e-03 2.59213816e-01 -3.42254944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-173.58, Z:-342.28 [[ 2.04127842e-01 5.75117704e-01 7.92194074e-01 2.87754625e+02] [-1.61578145e-01 8.17927794e-01 -5.52165399e-01 -1.73581986e+02] [-9.65517647e-01 -1.52889177e-02 2.59888287e-01 -3.42283004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-173.59, Z:-342.31 [[ 2.05542553e-01 5.75541927e-01 7.91519898e-01 2.87758960e+02] [-1.59923274e-01 8.17670336e-01 -5.53027819e-01 -1.73589141e+02] [-9.65493038e-01 -1.29117037e-02 2.60108598e-01 -3.42314748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-173.60, Z:-342.35 [[ 2.05690685e-01 5.76344141e-01 7.90897448e-01 2.87764673e+02] [-1.59577347e-01 8.17115011e-01 -5.53947767e-01 -1.73595238e+02] [-9.65518727e-01 -1.22674210e-02 2.60044416e-01 -3.42345215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-173.60, Z:-342.37 [[ 2.05390604e-01 5.76834700e-01 7.90617751e-01 2.87769442e+02] [-1.59063701e-01 8.16774947e-01 -5.54596632e-01 -1.73600683e+02] [-9.65667354e-01 -1.18496477e-02 2.59511362e-01 -3.42372828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-173.61, Z:-342.40 [[ 2.04632887e-01 5.76768792e-01 7.90862278e-01 2.87775099e+02] [-1.59416063e-01 8.16809971e-01 -5.54443856e-01 -1.73609007e+02] [-9.65770108e-01 -1.26187035e-02 2.59092392e-01 -3.42403945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-173.61, Z:-342.43 [[ 2.03478486e-01 5.77840757e-01 7.90377482e-01 2.87780821e+02] [-1.59887564e-01 8.16040318e-01 -5.55440515e-01 -1.73614065e+02] [-9.65936060e-01 -1.33513347e-02 2.58436200e-01 -3.42434680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:-173.62, Z:-342.47 [[ 2.02267204e-01 5.78961185e-01 7.89868295e-01 2.87786965e+02] [-1.60970781e-01 8.15224032e-01 -5.56325611e-01 -1.73619162e+02] [-9.66010552e-01 -1.46192904e-02 2.58088920e-01 -3.42466412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:-173.62, Z:-342.50 [[ 2.00459282e-01 5.80559652e-01 7.89155604e-01 2.87792896e+02] [-1.64116989e-01 8.14022581e-01 -5.57165013e-01 -1.73624355e+02] [-9.65858007e-01 -1.78249434e-02 2.58458084e-01 -3.42498037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-173.63, Z:-342.53 [[ 1.98950513e-01 5.81915699e-01 7.88538403e-01 2.87798735e+02] [-1.66008794e-01 8.13006275e-01 -5.58087696e-01 -1.73628664e+02] [-9.65846662e-01 -1.98724761e-02 2.58351139e-01 -3.42528657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-173.63, Z:-342.56 [[ 1.97497279e-01 5.83221698e-01 7.87938624e-01 2.87804655e+02] [-1.68018184e-01 8.12015026e-01 -5.58928874e-01 -1.73633084e+02] [-9.65797450e-01 -2.20010847e-02 2.58362609e-01 -3.42560291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-173.64, Z:-342.59 [[ 1.95708515e-01 5.86459045e-01 7.85979622e-01 2.87810181e+02] [-1.71287926e-01 8.09600611e-01 -5.61433252e-01 -1.73638327e+02] [-9.65587191e-01 -2.47515513e-02 2.58899087e-01 -3.42594781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.596559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.82, Y:-173.63, Z:-342.63 [[ 1.94640644e-01 6.06122753e-01 7.71187544e-01 2.87817102e+02] [-1.71975271e-01 7.95133650e-01 -5.81538464e-01 -1.73626455e+02] [-9.65680861e-01 -1.94341657e-02 2.59003451e-01 -3.42626330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-173.65, Z:-342.66 [[ 1.93798868e-01 5.86571939e-01 7.86368463e-01 2.87823474e+02] [-1.75287424e-01 8.09370196e-01 -5.60530288e-01 -1.73646759e+02] [-9.65254535e-01 -2.92103668e-02 2.59673712e-01 -3.42655314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-173.65, Z:-342.69 [[ 1.92602954e-01 5.87665694e-01 7.85845490e-01 2.87829506e+02] [-1.76165047e-01 8.08536294e-01 -5.61457868e-01 -1.73651274e+02] [-9.65334128e-01 -3.03000638e-02 2.59252633e-01 -3.42686777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:-173.66, Z:-342.72 [[ 1.91909953e-01 5.88663226e-01 7.85268220e-01 2.87835943e+02] [-1.76880053e-01 8.07784358e-01 -5.62314750e-01 -1.73656021e+02] [-9.65341399e-01 -3.09844868e-02 2.59144641e-01 -3.42718886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:-173.66, Z:-342.75 [[ 1.91053447e-01 5.89722519e-01 7.84682058e-01 2.87841623e+02] [-1.77537088e-01 8.06983633e-01 -5.63256600e-01 -1.73660924e+02] [-9.65390679e-01 -3.16980523e-02 2.58874624e-01 -3.42749479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-173.67, Z:-342.78 [[ 1.90537000e-01 5.90606426e-01 7.84142654e-01 2.87847588e+02] [-1.77721568e-01 8.06330147e-01 -5.64133618e-01 -1.73665667e+02] [-9.65458801e-01 -3.18707349e-02 2.58599227e-01 -3.42781407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-173.67, Z:-342.81 [[ 1.90799214e-01 5.91454974e-01 7.83439004e-01 2.87853267e+02] [-1.77716959e-01 8.05725279e-01 -5.64998635e-01 -1.73669881e+02] [-9.65407863e-01 -3.14291018e-02 2.58843329e-01 -3.42812200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-173.68, Z:-342.84 [[ 1.90419748e-01 5.92161102e-01 7.82997796e-01 2.87858694e+02] [-1.76896082e-01 8.05233067e-01 -5.65957140e-01 -1.73675299e+02] [-9.65633520e-01 -3.07398261e-02 2.58083257e-01 -3.42844248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-173.68, Z:-342.88 [[ 1.89820192e-01 5.93167326e-01 7.82381504e-01 2.87864650e+02] [-1.77283192e-01 8.04478577e-01 -5.66908184e-01 -1.73679939e+02] [-9.65680571e-01 -3.10924695e-02 2.57864875e-01 -3.42875450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-173.68, Z:-342.91 [[ 1.89237712e-01 5.94226845e-01 7.81718328e-01 2.87870853e+02] [-1.78355468e-01 8.03661150e-01 -5.67730643e-01 -1.73684293e+02] [-9.65597440e-01 -3.19876906e-02 2.58066604e-01 -3.42907741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-173.69, Z:-342.94 [[ 1.88422098e-01 5.95302389e-01 7.81096779e-01 2.87876904e+02] [-1.79144512e-01 8.02832726e-01 -5.68653548e-01 -1.73688411e+02] [-9.65610872e-01 -3.27823063e-02 2.57916583e-01 -3.42939967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-173.69, Z:-342.97 [[ 1.88025967e-01 5.96252668e-01 7.80467162e-01 2.87882979e+02] [-1.79405413e-01 8.02121364e-01 -5.69574415e-01 -1.73692373e+02] [-9.65639650e-01 -3.29252534e-02 2.57790601e-01 -3.42972485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:-173.70, Z:-343.00 [[ 1.87248464e-01 5.97241190e-01 7.79898054e-01 2.87888777e+02] [-1.79716009e-01 8.01368941e-01 -5.70534817e-01 -1.73696524e+02] [-9.65732970e-01 -3.33283979e-02 2.57388906e-01 -3.43003519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-173.70, Z:-343.04 [[ 1.86412721e-01 5.98156014e-01 7.79396998e-01 2.87895114e+02] [-1.79923632e-01 8.00670502e-01 -5.71449241e-01 -1.73700676e+02] [-9.65855985e-01 -3.37065301e-02 2.56877570e-01 -3.43035733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-173.71, Z:-343.07 [[ 1.86197245e-01 5.99061649e-01 7.78752673e-01 2.87901492e+02] [-1.80096280e-01 7.99994162e-01 -5.72341394e-01 -1.73705027e+02] [-9.65865371e-01 -3.36820688e-02 2.56845484e-01 -3.43067333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-173.71, Z:-343.10 [[ 1.85915776e-01 5.99871999e-01 7.78195932e-01 2.87907630e+02] [-1.79686566e-01 7.99404909e-01 -5.73292708e-01 -1.73708976e+02] [-9.65995891e-01 -3.32471967e-02 2.56410923e-01 -3.43099377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-173.72, Z:-343.14 [[ 1.85768652e-01 6.02488714e-01 7.76207032e-01 2.87912583e+02] [-1.81048625e-01 7.97419903e-01 -5.75623918e-01 -1.73715002e+02] [-9.65769850e-01 -3.35983369e-02 2.57215373e-01 -3.43135989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:287.92, Y:-173.69, Z:-343.17 [[ 1.84293776e-01 6.41802836e-01 7.44395677e-01 2.87920115e+02] [-1.78363754e-01 7.66631849e-01 -6.16816001e-01 -1.73685890e+02] [-9.66551693e-01 -1.90978571e-02 2.55759841e-01 -3.43165805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-173.72, Z:-343.19 [[ 1.85775674e-01 6.01630286e-01 7.76870901e-01 2.87926641e+02] [-1.78119988e-01 7.98154960e-01 -5.75518835e-01 -1.73721909e+02] [-9.66312925e-01 -3.14588363e-02 2.55440156e-01 -3.43193035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-173.73, Z:-343.23 [[ 1.85362254e-01 6.02545450e-01 7.76260147e-01 2.87933248e+02] [-1.78157747e-01 7.97464960e-01 -5.76462882e-01 -1.73726260e+02] [-9.66385354e-01 -3.14422997e-02 2.55168042e-01 -3.43225061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-173.73, Z:-343.26 [[ 1.85097008e-01 6.03391822e-01 7.75665783e-01 2.87939783e+02] [-1.77872444e-01 7.96838520e-01 -5.77416458e-01 -1.73730563e+02] [-9.66488744e-01 -3.10915094e-02 2.54819204e-01 -3.43257354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-173.73, Z:-343.29 [[ 1.85748373e-01 6.04154054e-01 7.74916396e-01 2.87945932e+02] [-1.77630400e-01 7.96293509e-01 -5.78242241e-01 -1.73734667e+02] [-9.66408290e-01 -3.02411544e-02 2.55226350e-01 -3.43289100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-173.74, Z:-343.33 [[ 1.84732948e-01 6.10067962e-01 7.70513348e-01 2.87949819e+02] [-1.77959503e-01 7.91811333e-01 -5.84264690e-01 -1.73736073e+02] [-9.66542370e-01 -2.91872338e-02 2.54841033e-01 -3.43325846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-173.72, Z:-343.36 [[ 1.84496007e-01 6.32248672e-01 7.52477800e-01 2.87956512e+02] [-1.78324756e-01 7.74447429e-01 -6.06985553e-01 -1.73723742e+02] [-9.66520308e-01 -2.21990096e-02 2.55628049e-01 -3.43360813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-173.73, Z:-343.39 [[ 1.85256270e-01 6.29892575e-01 7.54264846e-01 2.87964473e+02] [-1.78616855e-01 7.76349198e-01 -6.04465005e-01 -1.73728910e+02] [-9.66320927e-01 -2.27434824e-02 2.56332987e-01 -3.43386752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-173.75, Z:-343.42 [[ 1.86012760e-01 6.07180157e-01 7.72483987e-01 2.87970934e+02] [-1.80435976e-01 7.93944102e-01 -5.80599364e-01 -1.73751536e+02] [-9.65837518e-01 -3.13850116e-02 2.57240878e-01 -3.43415941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-173.76, Z:-343.45 [[ 1.85363445e-01 6.08148747e-01 7.71877902e-01 2.87977535e+02] [-1.80752559e-01 7.93188934e-01 -5.81532310e-01 -1.73755556e+02] [-9.65903155e-01 -3.17240740e-02 2.56952676e-01 -3.43448279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-173.76, Z:-343.48 [[ 1.84937358e-01 6.09147401e-01 7.71192335e-01 2.87984177e+02] [-1.81393440e-01 7.92403818e-01 -5.82402446e-01 -1.73759450e+02] [-9.65864687e-01 -3.21812613e-02 2.57040411e-01 -3.43479945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-173.76, Z:-343.51 [[ 1.83960024e-01 6.10120203e-01 7.70656893e-01 2.87990377e+02] [-1.81607019e-01 7.91636329e-01 -5.83378791e-01 -1.73763120e+02] [-9.66011180e-01 -3.26383245e-02 2.56431549e-01 -3.43510709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-173.77, Z:-343.54 [[ 1.82747371e-01 6.11083323e-01 7.70182167e-01 2.87997229e+02] [-1.82002419e-01 7.90861535e-01 -5.84305701e-01 -1.73766859e+02] [-9.66166921e-01 -3.33946867e-02 2.55746509e-01 -3.43542410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-173.77, Z:-343.57 [[ 1.81998902e-01 6.12034251e-01 7.69604103e-01 2.88003836e+02] [-1.82215790e-01 7.90112095e-01 -5.85252325e-01 -1.73770777e+02] [-9.66267978e-01 -3.37187389e-02 2.55321839e-01 -3.43573803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-173.78, Z:-343.61 [[ 1.80714822e-01 6.12701645e-01 7.69375622e-01 2.88008949e+02] [-1.82647754e-01 7.89554379e-01 -5.85870020e-01 -1.73776915e+02] [-9.66427417e-01 -3.46493328e-02 2.54592758e-01 -3.43608997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-173.76, Z:-343.64 [[ 1.79085585e-01 6.42626130e-01 7.44956382e-01 2.88017036e+02] [-1.80294096e-01 7.65811216e-01 -6.17274024e-01 -1.73755584e+02] [-9.67172370e-01 -2.37663578e-02 2.53007446e-01 -3.43638994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-173.78, Z:-343.67 [[ 1.79977350e-01 6.13782007e-01 7.68687063e-01 2.88023516e+02] [-1.80444215e-01 7.88787499e-01 -5.87583328e-01 -1.73782707e+02] [-9.66978820e-01 -3.29534429e-02 2.52717296e-01 -3.43667927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-173.79, Z:-343.70 [[ 1.79349542e-01 6.14583044e-01 7.68193611e-01 2.88030053e+02] [-1.79954780e-01 7.88174789e-01 -5.88554822e-01 -1.73786463e+02] [-9.67186652e-01 -3.26830746e-02 2.51955944e-01 -3.43699979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-173.79, Z:-343.73 [[ 1.79405021e-01 6.15322569e-01 7.67588415e-01 2.88037528e+02] [-1.79297584e-01 7.87630880e-01 -5.89482802e-01 -1.73789838e+02] [-9.67298411e-01 -3.18705738e-02 2.51630784e-01 -3.43731871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-173.79, Z:-343.76 [[ 1.79314252e-01 6.16135130e-01 7.66957561e-01 2.88044085e+02] [-1.78811541e-01 7.87019677e-01 -5.90445985e-01 -1.73793307e+02] [-9.67405206e-01 -3.12654831e-02 2.51295916e-01 -3.43763163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-173.80, Z:-343.79 [[ 1.80489989e-01 6.16579784e-01 7.66324171e-01 2.88050959e+02] [-1.77094625e-01 7.86758647e-01 -5.91310684e-01 -1.73795506e+02] [-9.67502381e-01 -2.89862324e-02 2.51195025e-01 -3.43794362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-173.80, Z:-343.83 [[ 1.81520947e-01 6.17171250e-01 7.65604202e-01 2.88057369e+02] [-1.76309212e-01 7.86347927e-01 -5.92091209e-01 -1.73798712e+02] [-9.67452949e-01 -2.75061172e-02 2.51551597e-01 -3.43826068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-173.80, Z:-343.86 [[ 1.85489401e-01 6.17205199e-01 7.64625022e-01 2.88063839e+02] [-1.73442061e-01 7.86475681e-01 -5.92767961e-01 -1.73802105e+02] [-9.67218452e-01 -2.26659653e-02 2.52932245e-01 -3.43857217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-173.81, Z:-343.89 [[ 1.89506782e-01 6.16610749e-01 7.64119339e-01 2.88069928e+02] [-1.68874816e-01 7.87092888e-01 -5.93267294e-01 -1.73806579e+02] [-9.67247888e-01 -1.66123372e-02 2.53289468e-01 -3.43889426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-173.81, Z:-343.92 [[ 1.91551357e-01 6.16899655e-01 7.63375984e-01 2.88076381e+02] [-1.66718510e-01 7.86926558e-01 -5.94097240e-01 -1.73811186e+02] [-9.67219218e-01 -1.34687744e-02 2.53585441e-01 -3.43921197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-173.82, Z:-343.95 [[ 1.91457481e-01 6.17771130e-01 7.62694476e-01 2.88082794e+02] [-1.66814315e-01 7.86245191e-01 -5.94971835e-01 -1.73815640e+02] [-9.67221287e-01 -1.33165476e-02 2.53585592e-01 -3.43953741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-173.82, Z:-343.98 [[ 1.93415815e-01 6.17485078e-01 7.62431965e-01 2.88088948e+02] [-1.64029154e-01 7.86520232e-01 -5.95382533e-01 -1.73820055e+02] [-9.67307996e-01 -9.90467278e-03 2.53411007e-01 -3.43984895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-173.82, Z:-344.02 [[ 1.96341807e-01 6.21537845e-01 7.58380249e-01 2.88093731e+02] [-1.59895604e-01 7.83377046e-01 -6.00627838e-01 -1.73823041e+02] [-9.67410611e-01 -3.33331330e-03 2.53190834e-01 -3.44020975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-173.81, Z:-344.05 [[ 1.98795493e-01 6.41654975e-01 7.40782860e-01 2.88102842e+02] [-1.56826978e-01 7.66956508e-01 -6.22240319e-01 -1.73809650e+02] [-9.67411831e-01 7.52383318e-03 2.53096308e-01 -3.44049792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-173.83, Z:-344.08 [[ 2.00023993e-01 6.17158683e-01 7.60989857e-01 2.88108801e+02] [-1.54613883e-01 7.86836536e-01 -5.97480387e-01 -1.73832943e+02] [-9.67514832e-01 1.85081615e-03 2.52807486e-01 -3.44079028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-173.84, Z:-344.11 [[ 2.01304024e-01 6.17318363e-01 7.60522668e-01 2.88115607e+02] [-1.51319750e-01 7.86694906e-01 -5.98509363e-01 -1.73836211e+02] [-9.67770129e-01 5.40024369e-03 2.51777311e-01 -3.44110815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-173.84, Z:-344.14 [[ 2.01922492e-01 6.17964519e-01 7.59833640e-01 2.88122527e+02] [-1.50576093e-01 7.86178161e-01 -5.99375291e-01 -1.73840114e+02] [-9.67757277e-01 6.61457127e-03 2.51797736e-01 -3.44142293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-173.84, Z:-344.17 [[ 2.01777132e-01 6.18758182e-01 7.59226120e-01 2.88128992e+02] [-1.50112796e-01 7.85548878e-01 -6.00315841e-01 -1.73843804e+02] [-9.67859565e-01 7.16045275e-03 2.51389321e-01 -3.44173855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-173.85, Z:-344.21 [[ 2.01663012e-01 6.19584359e-01 7.58582396e-01 2.88135371e+02] [-1.50269788e-01 7.84896744e-01 -6.01129014e-01 -1.73848347e+02] [-9.67858988e-01 7.23347166e-03 2.51389452e-01 -3.44206374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-173.85, Z:-344.24 [[ 2.01621915e-01 6.20158993e-01 7.58123623e-01 2.88142223e+02] [-1.50331963e-01 7.84441740e-01 -6.01707120e-01 -1.73852329e+02] [-9.67857895e-01 7.34712911e-03 2.51390364e-01 -3.44238742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-173.86, Z:-344.27 [[ 2.01241733e-01 6.21163642e-01 7.57401806e-01 2.88150055e+02] [-1.51129561e-01 7.83651472e-01 -6.02536493e-01 -1.73855066e+02] [-9.67812803e-01 6.78968581e-03 2.51579568e-01 -3.44271073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-173.86, Z:-344.30 [[ 2.00660613e-01 6.22217961e-01 7.56690246e-01 2.88157255e+02] [-1.52099824e-01 7.82821209e-01 -6.03371029e-01 -1.73858693e+02] [-9.67781464e-01 5.98034780e-03 2.51720626e-01 -3.44302919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-173.86, Z:-344.33 [[ 1.99566906e-01 6.23314956e-01 7.56076395e-01 2.88163901e+02] [-1.52913019e-01 7.81955015e-01 -6.04287980e-01 -1.73861701e+02] [-9.67879465e-01 4.98195863e-03 2.51365315e-01 -3.44333940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-173.86, Z:-344.37 [[ 1.97083372e-01 6.29438414e-01 7.51641821e-01 2.88168937e+02] [-1.55043971e-01 7.77041592e-01 -6.10055516e-01 -1.73863653e+02] [-9.68049333e-01 3.69426548e-03 2.50732609e-01 -3.44370765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-173.84, Z:-344.40 [[ 1.95652077e-01 6.56300883e-01 7.28690206e-01 2.88180271e+02] [-1.56819295e-01 7.54427162e-01 -6.37375373e-01 -1.73843919e+02] [-9.68053704e-01 1.04311309e-02 2.50525883e-01 -3.44399235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-173.87, Z:-344.43 [[ 1.94454636e-01 6.26808398e-01 7.54518805e-01 2.88185577e+02] [-1.58420448e-01 7.79171781e-01 -6.06460466e-01 -1.73871056e+02] [-9.68034274e-01 -1.60215766e-03 2.50812832e-01 -3.44426767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-173.87, Z:-344.46 [[ 1.93145718e-01 6.28050536e-01 7.53821767e-01 2.88192496e+02] [-1.60438104e-01 7.78163951e-01 -6.07223583e-01 -1.73874390e+02] [-9.67964021e-01 -3.65910043e-03 2.51062272e-01 -3.44458871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-173.88, Z:-344.49 [[ 1.90961389e-01 6.29707477e-01 7.52995512e-01 2.88199802e+02] [-1.64320407e-01 7.76794777e-01 -6.07938055e-01 -1.73876220e+02] [-9.67746120e-01 -7.63983354e-03 2.51811598e-01 -3.44491333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-173.88, Z:-344.52 [[ 1.89879664e-01 6.30964195e-01 7.52216656e-01 2.88206227e+02] [-1.66357888e-01 7.75753111e-01 -6.08713532e-01 -1.73879596e+02] [-9.67610855e-01 -9.55485315e-03 2.52265611e-01 -3.44523059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-173.88, Z:-344.55 [[ 1.88572230e-01 6.32243650e-01 7.51470878e-01 2.88212421e+02] [-1.68423348e-01 7.74682346e-01 -6.09508686e-01 -1.73883036e+02] [-9.67509220e-01 -1.16288289e-02 2.52568170e-01 -3.44554525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-173.89, Z:-344.59 [[ 1.87720239e-01 6.33416452e-01 7.50696150e-01 2.88219064e+02] [-1.70507915e-01 7.73694088e-01 -6.10183997e-01 -1.73886940e+02] [-9.67309755e-01 -1.34557498e-02 2.53240558e-01 -3.44586489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-173.89, Z:-344.62 [[ 1.85345789e-01 6.35005500e-01 7.49943300e-01 2.88225715e+02] [-1.73953405e-01 7.72315735e-01 -6.10957133e-01 -1.73890794e+02] [-9.67154151e-01 -1.72168586e-02 2.53606839e-01 -3.44618800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-173.90, Z:-344.65 [[ 1.83993943e-01 6.32884390e-01 7.52066206e-01 2.88230743e+02] [-1.77849851e-01 7.73935741e-01 -6.07777015e-01 -1.73900790e+02] [-9.66703501e-01 -2.19275729e-02 2.54957883e-01 -3.44648899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-173.87, Z:-344.68 [[ 1.82070022e-01 6.69416307e-01 7.20230737e-01 2.88239609e+02] [-1.76693678e-01 7.42824297e-01 -6.45748719e-01 -1.73872739e+02] [-9.67279614e-01 -9.68873458e-03 2.53527665e-01 -3.44676931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-173.90, Z:-344.70 [[ 1.80370049e-01 6.36669201e-01 7.49745939e-01 2.88243604e+02] [-1.79964076e-01 7.70741853e-01 -6.11203671e-01 -1.73903774e+02] [-9.66995128e-01 -2.46844990e-02 2.53596330e-01 -3.44704943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-173.91, Z:-344.74 [[ 1.79340066e-01 6.37791171e-01 7.49039093e-01 2.88249951e+02] [-1.81218092e-01 7.69771271e-01 -6.12055712e-01 -1.73908189e+02] [-9.66952503e-01 -2.59733236e-02 2.53630129e-01 -3.44736861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-173.91, Z:-344.77 [[ 1.78324625e-01 6.38924382e-01 7.48315416e-01 2.88255773e+02] [-1.82512294e-01 7.68785691e-01 -6.12909311e-01 -1.73912328e+02] [-9.66896887e-01 -2.72799400e-02 2.53704975e-01 -3.44767684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-173.92, Z:-344.80 [[ 1.77503007e-01 6.39885755e-01 7.47689042e-01 2.88261712e+02] [-1.83192443e-01 7.67958690e-01 -6.13742600e-01 -1.73916805e+02] [-9.66919444e-01 -2.80298248e-02 2.53537212e-01 -3.44799670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-173.92, Z:-344.83 [[ 1.76626990e-01 6.40951115e-01 7.46983651e-01 2.88267100e+02] [-1.84316260e-01 7.67028685e-01 -6.14568558e-01 -1.73921856e+02] [-9.66866290e-01 -2.91318383e-02 2.53615680e-01 -3.44830266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-173.93, Z:-344.86 [[ 1.76202101e-01 6.41795436e-01 7.46358787e-01 2.88273101e+02] [-1.84637911e-01 7.66312973e-01 -6.15364338e-01 -1.73926917e+02] [-9.66882445e-01 -2.93776385e-02 2.53525724e-01 -3.44862701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-173.93, Z:-344.89 [[ 1.75029751e-01 6.42868422e-01 7.45710921e-01 2.88278335e+02] [-1.85513064e-01 7.65370234e-01 -6.16273728e-01 -1.73931893e+02] [-9.66927862e-01 -3.04728806e-02 2.53223052e-01 -3.44894345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-173.94, Z:-344.92 [[ 1.74524802e-01 6.43923996e-01 7.44918104e-01 2.88284008e+02] [-1.86735489e-01 7.64444375e-01 -6.17053203e-01 -1.73936692e+02] [-9.66783818e-01 -3.14115580e-02 2.53657965e-01 -3.44924889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-173.94, Z:-344.96 [[ 1.73897309e-01 6.44927170e-01 7.44196661e-01 2.88289741e+02] [-1.87923754e-01 7.63556085e-01 -6.17791848e-01 -1.73941896e+02] [-9.66666638e-01 -3.24198907e-02 2.53977483e-01 -3.44957273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-173.94, Z:-344.99 [[ 1.73250142e-01 6.49299294e-01 7.40536842e-01 2.88294444e+02] [-1.86688166e-01 7.59925977e-01 -6.22623512e-01 -1.73941024e+02] [-9.67022191e-01 -3.03798527e-02 2.52873778e-01 -3.44989016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-173.96, Z:-345.02 [[ 1.73332599e-01 6.32465532e-01 7.54945800e-01 2.88300240e+02] [-1.90057659e-01 7.73620728e-01 -6.04474198e-01 -1.73962969e+02] [-9.66350815e-01 -3.87081476e-02 2.54298609e-01 -3.45018670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-173.95, Z:-345.05 [[ 1.69847744e-01 6.52652152e-01 7.38374507e-01 2.88304623e+02] [-1.89474447e-01 7.56909096e-01 -6.25450282e-01 -1.73951209e+02] [-9.67083853e-01 -3.36717822e-02 2.52220208e-01 -3.45052468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-173.97, Z:-345.08 [[ 1.70198782e-01 6.40750274e-01 7.48646419e-01 2.88311385e+02] [-1.91982693e-01 7.66734331e-01 -6.12585595e-01 -1.73969009e+02] [-9.66527299e-01 -3.94658336e-02 2.53510212e-01 -3.45081388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-173.96, Z:-345.12 [[ 1.67305807e-01 6.57291442e-01 7.34831088e-01 2.88315889e+02] [-1.89898471e-01 7.52864196e-01 -6.30185745e-01 -1.73959126e+02] [-9.67443713e-01 -3.41095651e-02 2.50777192e-01 -3.45116222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-173.98, Z:-345.14 [[ 1.68265042e-01 6.40488773e-01 7.49307018e-01 2.88322652e+02] [-1.92302616e-01 7.66868976e-01 -6.12316648e-01 -1.73980553e+02] [-9.66802244e-01 -4.10622131e-02 2.52204907e-01 -3.45143628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-173.98, Z:-345.18 [[ 1.67221548e-01 6.50363404e-01 7.40988797e-01 2.88328445e+02] [-1.92228412e-01 7.58654763e-01 -6.22487902e-01 -1.73978843e+02] [-9.66998031e-01 -3.83457088e-02 2.51881748e-01 -3.45176743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-173.97, Z:-345.21 [[ 1.65781026e-01 6.57282243e-01 7.35184809e-01 2.88331697e+02] [-1.88924114e-01 7.52860292e-01 -6.30483196e-01 -1.73974505e+02] [-9.67896860e-01 -3.43719875e-02 2.48986417e-01 -3.45209076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-174.00, Z:-345.24 [[ 1.68019218e-01 6.35545418e-01 7.53559264e-01 2.88337428e+02] [-1.91629915e-01 7.70901527e-01 -6.07444493e-01 -1.74001715e+02] [-9.66978551e-01 -4.23421494e-02 2.51315786e-01 -3.45237248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-173.99, Z:-345.27 [[ 1.67693310e-01 6.52480550e-01 7.39018326e-01 2.88343831e+02] [-1.91035781e-01 7.56931748e-01 -6.24947725e-01 -1.73994211e+02] [-9.67152668e-01 -3.63793904e-02 2.51579522e-01 -3.45271631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-174.00, Z:-345.30 [[ 1.67925068e-01 6.53235231e-01 7.38298656e-01 2.88349291e+02] [-1.90802878e-01 7.56308833e-01 -6.25772491e-01 -1.73999489e+02] [-9.67158432e-01 -3.57866201e-02 2.51642374e-01 -3.45303671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-174.00, Z:-345.34 [[ 1.68295772e-01 6.54003154e-01 7.37534005e-01 2.88354841e+02] [-1.90731132e-01 7.55671385e-01 -6.26563958e-01 -1.74004722e+02] [-9.67108147e-01 -3.52226305e-02 2.51915061e-01 -3.45335341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-174.00, Z:-345.37 [[ 1.67454304e-01 6.61275142e-01 7.31214225e-01 2.88358425e+02] [-1.87114538e-01 7.49523535e-01 -6.34982378e-01 -1.73999912e+02] [-9.67960333e-01 -3.04902799e-02 2.49245134e-01 -3.45367955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-174.03, Z:-345.40 [[ 1.69392324e-01 6.38234217e-01 7.50974917e-01 2.88365451e+02] [-1.90496913e-01 7.68820190e-01 -6.10431357e-01 -1.74028972e+02] [-9.66962857e-01 -3.96560177e-02 2.51813887e-01 -3.45396059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-174.02, Z:-345.43 [[ 1.68489918e-01 6.56278403e-01 7.35465706e-01 2.88372116e+02] [-1.90168436e-01 7.53757953e-01 -6.29034907e-01 -1.74020282e+02] [-9.67185150e-01 -3.38763231e-02 2.51804053e-01 -3.45428727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-174.03, Z:-345.46 [[ 1.68273250e-01 6.57053564e-01 7.34822923e-01 2.88378029e+02] [-1.90284319e-01 7.53083720e-01 -6.29806946e-01 -1.74025239e+02] [-9.67200078e-01 -3.38456174e-02 2.51750835e-01 -3.45460848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-174.03, Z:-345.49 [[ 1.68121779e-01 6.57867412e-01 7.34129101e-01 2.88383948e+02] [-1.90238396e-01 7.52382448e-01 -6.30658389e-01 -1.74029751e+02] [-9.67235452e-01 -3.36321328e-02 2.51643517e-01 -3.45493162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-174.03, Z:-345.52 [[ 1.67507089e-01 6.58740225e-01 7.33486667e-01 2.88389677e+02] [-1.90305194e-01 7.51611035e-01 -6.31557428e-01 -1.74034331e+02] [-9.67328956e-01 -3.37959759e-02 2.51261863e-01 -3.45524560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-174.04, Z:-345.56 [[ 1.66949662e-01 6.59590221e-01 7.32849610e-01 2.88395933e+02] [-1.90647259e-01 7.50849492e-01 -6.32359600e-01 -1.74039327e+02] [-9.67357965e-01 -3.41435478e-02 2.51103136e-01 -3.45556960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-174.04, Z:-345.59 [[ 1.65993171e-01 6.60589913e-01 7.32166125e-01 2.88402544e+02] [-1.91466452e-01 7.49927028e-01 -6.33206168e-01 -1.74043634e+02] [-9.67360773e-01 -3.50773502e-02 2.50963572e-01 -3.45588488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-174.05, Z:-345.62 [[ 1.65194059e-01 6.61549461e-01 7.31480166e-01 2.88408653e+02] [-1.92089478e-01 7.49048077e-01 -6.34057261e-01 -1.74048163e+02] [-9.67374052e-01 -3.57671506e-02 2.50814983e-01 -3.45620010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-174.05, Z:-345.65 [[ 1.64387242e-01 6.62276365e-01 7.31004003e-01 2.88414911e+02] [-1.93211339e-01 7.48349090e-01 -6.34541581e-01 -1.74052994e+02] [-9.67288071e-01 -3.69277217e-02 2.50978347e-01 -3.45651484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-174.06, Z:-345.68 [[ 1.63397213e-01 6.63265745e-01 7.30328626e-01 2.88421155e+02] [-1.94028216e-01 7.47424441e-01 -6.35381583e-01 -1.74057519e+02] [-9.67292304e-01 -3.78847807e-02 2.50819340e-01 -3.45683009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-174.06, Z:-345.71 [[ 1.62401480e-01 6.64387182e-01 7.29530967e-01 2.88427407e+02] [-1.95725777e-01 7.46345112e-01 -6.36129227e-01 -1.74061607e+02] [-9.67117976e-01 -3.94796870e-02 2.51245248e-01 -3.45714427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-174.07, Z:-345.75 [[ 1.61931838e-01 6.65260970e-01 7.28838749e-01 2.88433609e+02] [-1.96406122e-01 7.45537579e-01 -6.36866040e-01 -1.74066137e+02] [-9.67058796e-01 -4.00195039e-02 2.51387597e-01 -3.45746535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-174.07, Z:-345.78 [[ 1.61546302e-01 6.66102772e-01 7.28155128e-01 2.88439694e+02] [-1.96516988e-01 7.44782612e-01 -6.37714618e-01 -1.74070305e+02] [-9.67100753e-01 -4.00744147e-02 2.51217387e-01 -3.45778495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-174.07, Z:-345.81 [[ 1.61687004e-01 6.66879645e-01 7.27412436e-01 2.88445501e+02] [-1.96459972e-01 7.44108891e-01 -6.38518158e-01 -1.74074787e+02] [-9.67088823e-01 -3.96673385e-02 2.51327894e-01 -3.45809324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-174.08, Z:-345.84 [[ 1.62273514e-01 6.67325812e-01 7.26872456e-01 2.88451271e+02] [-1.94735302e-01 7.43806528e-01 -6.39398163e-01 -1.74079470e+02] [-9.67339376e-01 -3.77903403e-02 2.50651992e-01 -3.45841497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-174.08, Z:-345.87 [[ 1.62442588e-01 6.67987363e-01 7.26226747e-01 2.88457349e+02] [-1.93936360e-01 7.43260489e-01 -6.40275357e-01 -1.74084577e+02] [-9.67471495e-01 -3.68337859e-02 2.50284195e-01 -3.45872956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-174.09, Z:-345.90 [[ 1.62520556e-01 6.68687098e-01 7.25565045e-01 2.88463523e+02] [-1.93280934e-01 7.42670137e-01 -6.41157974e-01 -1.74089647e+02] [-9.67589556e-01 -3.60365386e-02 2.49943630e-01 -3.45904172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-174.09, Z:-345.94 [[ 1.62394047e-01 6.69053225e-01 7.25255787e-01 2.88470019e+02] [-1.92282937e-01 7.42379003e-01 -6.41794895e-01 -1.74094414e+02] [-9.67809612e-01 -3.52306425e-02 2.49205450e-01 -3.45935749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-174.10, Z:-345.97 [[ 1.62378316e-01 6.69834076e-01 7.24538193e-01 2.88476155e+02] [-1.92085915e-01 7.41693836e-01 -6.42645513e-01 -1.74098899e+02] [-9.67851375e-01 -3.48218852e-02 2.49100687e-01 -3.45968117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-174.10, Z:-346.00 [[ 1.62513884e-01 6.70644780e-01 7.23757429e-01 2.88482229e+02] [-1.92227900e-01 7.40973161e-01 -6.43433920e-01 -1.74103237e+02] [-9.67800430e-01 -3.45594256e-02 2.49335064e-01 -3.46000190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-174.11, Z:-346.03 [[ 1.63465495e-01 6.71506903e-01 7.22743047e-01 2.88488389e+02] [-1.93189861e-01 7.40201729e-01 -6.44033445e-01 -1.74107015e+02] [-9.67448557e-01 -3.43493833e-02 2.50725767e-01 -3.46030907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-174.11, Z:-346.06 [[ 1.63994632e-01 6.72349685e-01 7.21839083e-01 2.88494227e+02] [-1.94169532e-01 7.39431863e-01 -6.44622923e-01 -1.74111284e+02] [-9.67162837e-01 -3.44444583e-02 2.51812680e-01 -3.46061938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-174.12, Z:-346.09 [[ 1.64351745e-01 6.73155867e-01 7.21006021e-01 2.88500341e+02] [-1.94881969e-01 7.38697145e-01 -6.45249987e-01 -1.74115902e+02] [-9.66958904e-01 -3.44631121e-02 2.52592106e-01 -3.46094427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-174.12, Z:-346.13 [[ 1.65376466e-01 6.74042569e-01 7.19942525e-01 2.88506820e+02] [-1.96220438e-01 7.37887715e-01 -6.45770284e-01 -1.74120203e+02] [-9.66513406e-01 -3.44722297e-02 2.54290191e-01 -3.46126389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-174.12, Z:-346.16 [[ 1.65436622e-01 6.74908940e-01 7.19116574e-01 2.88513343e+02] [-1.96751496e-01 7.37092678e-01 -6.46516228e-01 -1.74124832e+02] [-9.66395143e-01 -3.45298009e-02 2.54731466e-01 -3.46158527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-174.12, Z:-346.19 [[ 1.65058357e-01 6.80408781e-01 7.14002542e-01 2.88518425e+02] [-1.94559726e-01 7.32169373e-01 -6.52743841e-01 -1.74121149e+02] [-9.66903435e-01 -3.11753133e-02 2.53230820e-01 -3.46190668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-174.14, Z:-346.22 [[ 1.65508771e-01 6.66198625e-01 7.27176897e-01 2.88523167e+02] [-1.95213287e-01 7.44887410e-01 -6.37992570e-01 -1.74138213e+02] [-9.66694688e-01 -3.63612259e-02 2.53336223e-01 -3.46221403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-174.15, Z:-346.25 [[ 1.65715106e-01 6.62617898e-01 7.30394431e-01 2.88531200e+02] [-1.97824922e-01 7.47915909e-01 -6.33630091e-01 -1.74151162e+02] [-9.66128254e-01 -3.94881441e-02 2.55023298e-01 -3.46251876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-174.14, Z:-346.29 [[ 1.64457873e-01 6.78511030e-01 7.15944404e-01 2.88538603e+02] [-1.97551218e-01 7.33778087e-01 -6.50033257e-01 -1.74144124e+02] [-9.66399050e-01 -3.45326020e-02 2.54716264e-01 -3.46285374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-174.15, Z:-346.32 [[ 1.63889143e-01 6.79334146e-01 7.15293972e-01 2.88544584e+02] [-1.97357625e-01 7.33018336e-01 -6.50948605e-01 -1.74149209e+02] [-9.66535212e-01 -3.44853105e-02 2.54205521e-01 -3.46316365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-174.15, Z:-346.34 [[ 1.63886797e-01 6.80018403e-01 7.14644030e-01 2.88549986e+02] [-1.96929488e-01 7.32410034e-01 -6.51762471e-01 -1.74153434e+02] [-9.66622933e-01 -3.39192193e-02 2.53948010e-01 -3.46342999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-174.16, Z:-346.37 [[ 1.63361439e-01 6.79753706e-01 7.15016042e-01 2.88556660e+02] [-1.96386115e-01 7.32653619e-01 -6.51652644e-01 -1.74159337e+02] [-9.66822390e-01 -3.39643092e-02 2.53181539e-01 -3.46374806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-174.16, Z:-346.41 [[ 1.62758519e-01 6.80589716e-01 7.14357966e-01 2.88563090e+02] [-1.96314947e-01 7.31873978e-01 -6.52549555e-01 -1.74163794e+02] [-9.66938523e-01 -3.40311473e-02 2.52728658e-01 -3.46406312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-174.17, Z:-346.44 [[ 1.62404184e-01 6.81440259e-01 7.13627392e-01 2.88569178e+02] [-1.96464090e-01 7.31079458e-01 -6.53394741e-01 -1.74167904e+02] [-9.66967808e-01 -3.40881165e-02 2.52608903e-01 -3.46437276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-174.17, Z:-346.47 [[ 1.62149967e-01 6.82253448e-01 7.12907863e-01 2.88575395e+02] [-1.96824248e-01 7.30313143e-01 -6.54142897e-01 -1.74172560e+02] [-9.66937229e-01 -3.42483048e-02 2.52704273e-01 -3.46469285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-174.18, Z:-346.50 [[ 1.62234312e-01 6.83151100e-01 7.12028513e-01 2.88582049e+02] [-1.97676874e-01 7.29460974e-01 -6.54836270e-01 -1.74177580e+02] [-9.66749131e-01 -3.45146594e-02 2.53386773e-01 -3.46501539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-174.18, Z:-346.53 [[ 1.61925368e-01 6.84040249e-01 7.11244763e-01 2.88588007e+02] [-1.98223186e-01 7.28612514e-01 -6.55615264e-01 -1.74182211e+02] [-9.66689063e-01 -3.48244597e-02 2.53573487e-01 -3.46532099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-174.19, Z:-346.56 [[ 1.62328955e-01 6.84811429e-01 7.10410176e-01 2.88594878e+02] [-1.98791617e-01 7.27893845e-01 -6.56241147e-01 -1.74187155e+02] [-9.66504632e-01 -3.46966476e-02 2.54293018e-01 -3.46564246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-174.19, Z:-346.60 [[ 1.62379414e-01 6.85650836e-01 7.09588513e-01 2.88601040e+02] [-1.99350496e-01 7.27099162e-01 -6.56952196e-01 -1.74191907e+02] [-9.66381036e-01 -3.47813094e-02 2.54750770e-01 -3.46596196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-174.20, Z:-346.63 [[ 1.63291685e-01 6.86334592e-01 7.08717612e-01 2.88607675e+02] [-1.99323843e-01 7.26496400e-01 -6.57626784e-01 -1.74196337e+02] [-9.66232804e-01 -3.38793323e-02 2.55433670e-01 -3.46628323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-174.20, Z:-346.66 [[ 1.63588851e-01 6.87053293e-01 7.07952301e-01 2.88613610e+02] [-1.99105465e-01 7.25845926e-01 -6.58410742e-01 -1.74201293e+02] [-9.66227562e-01 -3.32485153e-02 2.55536366e-01 -3.46660339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-174.21, Z:-346.69 [[ 1.64038084e-01 6.87703539e-01 7.07216621e-01 2.88619650e+02] [-1.98531523e-01 7.25274139e-01 -6.59213666e-01 -1.74206141e+02] [-9.66269497e-01 -3.22686462e-02 2.55503411e-01 -3.46692035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-174.21, Z:-346.72 [[ 1.65271492e-01 6.88000820e-01 7.06640082e-01 2.88625866e+02] [-1.95946962e-01 7.25115827e-01 -6.60160454e-01 -1.74211035e+02] [-9.66586841e-01 -2.93582746e-02 2.54652645e-01 -3.46723861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-174.22, Z:-346.76 [[ 1.65872211e-01 6.88442076e-01 7.06069344e-01 2.88632020e+02] [-1.93996054e-01 7.24776786e-01 -6.61108267e-01 -1.74215841e+02] [-9.66877418e-01 -2.73151768e-02 2.53775374e-01 -3.46756019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-174.22, Z:-346.79 [[ 1.66509174e-01 6.88902902e-01 7.05469692e-01 2.88637655e+02] [-1.91997254e-01 7.24415294e-01 -6.62087258e-01 -1.74220688e+02] [-9.67166867e-01 -2.52046415e-02 2.52889258e-01 -3.46786927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-174.23, Z:-346.82 [[ 1.68769373e-01 6.88929870e-01 7.04906046e-01 2.88643653e+02] [-1.88421898e-01 7.24525846e-01 -6.62992826e-01 -1.74226359e+02] [-9.67478210e-01 -2.09268511e-02 2.52087246e-01 -3.46818883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-174.23, Z:-346.85 [[ 1.70121875e-01 6.89398662e-01 7.04122171e-01 2.88649459e+02] [-1.87136006e-01 7.24137024e-01 -6.63781354e-01 -1.74231473e+02] [-9.67490911e-01 -1.88428825e-02 2.52202860e-01 -3.46849772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-174.24, Z:-346.88 [[ 1.71194144e-01 6.89604963e-01 7.03660117e-01 2.88655337e+02] [-1.85916197e-01 7.23983851e-01 -6.64291014e-01 -1.74236480e+02] [-9.67536941e-01 -1.70990808e-02 2.52150528e-01 -3.46881552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-174.22, Z:-346.91 [[ 1.71832069e-01 7.03073114e-01 6.90044880e-01 2.88658815e+02] [-1.78405768e-01 7.11090131e-01 -6.80089853e-01 -1.74220117e+02] [-9.68836995e-01 -6.24674032e-03 2.47620388e-01 -3.46913927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-174.28, Z:-346.94 [[ 1.75215392e-01 6.43962861e-01 7.44722364e-01 2.88663278e+02] [-1.83672320e-01 7.64524825e-01 -6.17872375e-01 -1.74282164e+02] [-9.67245597e-01 -2.85241338e-02 2.52234670e-01 -3.46938192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-174.25, Z:-346.98 [[ 1.75077240e-01 6.90917505e-01 7.01413545e-01 2.88673418e+02] [-1.83096002e-01 7.22837810e-01 -6.66319259e-01 -1.74250560e+02] [-9.67379871e-01 -1.17686789e-02 2.53056682e-01 -3.46976136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-174.25, Z:-347.01 [[ 1.76135221e-01 6.91409955e-01 7.00663013e-01 2.88679729e+02] [-1.81891436e-01 7.22394268e-01 -6.67129692e-01 -1.74254869e+02] [-9.67415055e-01 -9.93956556e-03 2.53000624e-01 -3.47008120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-174.26, Z:-347.04 [[ 1.76355768e-01 6.92060186e-01 6.99965243e-01 2.88685659e+02] [-1.81134657e-01 7.21783903e-01 -6.67995684e-01 -1.74259653e+02] [-9.67516862e-01 -8.98307258e-03 2.52646839e-01 -3.47039906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-174.26, Z:-347.07 [[ 1.76362854e-01 6.92733523e-01 6.99297083e-01 2.88691432e+02] [-1.80391431e-01 7.21147238e-01 -6.68883841e-01 -1.74264507e+02] [-9.67654419e-01 -8.18093870e-03 2.52146776e-01 -3.47071330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-174.27, Z:-347.10 [[ 1.76416931e-01 6.93350878e-01 6.98671329e-01 2.88697513e+02] [-1.79671310e-01 7.20562311e-01 -6.69707530e-01 -1.74269247e+02] [-9.67778532e-01 -7.38344618e-03 2.51694652e-01 -3.47103866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-174.27, Z:-347.14 [[ 1.76448334e-01 6.94060712e-01 6.97958247e-01 2.88703541e+02] [-1.79340537e-01 7.19883797e-01 -6.70525384e-01 -1.74273925e+02] [-9.67834158e-01 -6.85912031e-03 2.51495518e-01 -3.47135673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-174.28, Z:-347.17 [[ 1.76287794e-01 6.94743824e-01 6.97318889e-01 2.88709198e+02] [-1.78455590e-01 7.19231655e-01 -6.71460669e-01 -1.74277897e+02] [-9.68026971e-01 -6.07013348e-03 2.50772680e-01 -3.47167030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-174.28, Z:-347.20 [[ 1.75707052e-01 6.95513279e-01 6.96698149e-01 2.88714595e+02] [-1.78272483e-01 7.18487574e-01 -6.72305383e-01 -1.74282550e+02] [-9.68166284e-01 -6.07331216e-03 2.50234213e-01 -3.47198902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-174.29, Z:-347.23 [[ 1.74533840e-01 6.96421647e-01 6.96085360e-01 2.88719841e+02] [-1.78511257e-01 7.17600951e-01 -6.73188388e-01 -1.74286844e+02] [-9.68334483e-01 -6.76491813e-03 2.49564753e-01 -3.47227263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-174.29, Z:-347.26 [[ 1.73506753e-01 6.96588180e-01 6.96175491e-01 2.88725711e+02] [-1.79231804e-01 7.17426865e-01 -6.73182482e-01 -1.74292253e+02] [-9.68385960e-01 -7.97508210e-03 2.49329162e-01 -3.47258931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-174.30, Z:-347.29 [[ 1.72179829e-01 6.97591634e-01 6.95499834e-01 2.88731573e+02] [-1.79966796e-01 7.16437648e-01 -6.74039353e-01 -1.74296622e+02] [-9.68486479e-01 -9.11089658e-03 2.48899443e-01 -3.47290314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-174.30, Z:-347.32 [[ 1.70810927e-01 6.98299666e-01 6.95126754e-01 2.88736891e+02] [-1.80610145e-01 7.15731220e-01 -6.74617518e-01 -1.74300336e+02] [-9.68609107e-01 -1.03149003e-02 2.48374717e-01 -3.47317665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-174.30, Z:-347.35 [[ 1.67551315e-01 6.98754813e-01 6.95462629e-01 2.88742586e+02] [-1.83449543e-01 7.15212539e-01 -6.74401430e-01 -1.74304919e+02] [-9.68644838e-01 -1.45854554e-02 2.48021052e-01 -3.47350261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-174.31, Z:-347.38 [[ 1.65751391e-01 6.99948004e-01 6.94693651e-01 2.88748126e+02] [-1.85245049e-01 7.13996808e-01 -6.75198363e-01 -1.74309263e+02] [-9.68612796e-01 -1.67734913e-02 2.48007867e-01 -3.47382012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-174.31, Z:-347.41 [[ 1.64231270e-01 7.01080681e-01 6.93912076e-01 2.88753809e+02] [-1.86868091e-01 7.12837931e-01 -6.75975148e-01 -1.74313701e+02] [-9.68559966e-01 -1.86537678e-02 2.48079887e-01 -3.47413898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-174.32, Z:-347.45 [[ 1.62857670e-01 7.02165738e-01 6.93138266e-01 2.88759321e+02] [-1.88291433e-01 7.11724164e-01 -6.76753316e-01 -1.74318462e+02] [-9.68516245e-01 -2.02975293e-02 2.48121532e-01 -3.47445766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-174.32, Z:-347.48 [[ 1.60097777e-01 7.03548397e-01 6.92378765e-01 2.88764474e+02] [-1.90873884e-01 7.10252751e-01 -6.77575228e-01 -1.74323411e+02] [-9.68470889e-01 -2.36787366e-02 2.47998902e-01 -3.47476526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-174.33, Z:-347.51 [[ 1.57926700e-01 7.04704573e-01 6.91701252e-01 2.88770219e+02] [-1.92621496e-01 7.09020495e-01 -6.78370767e-01 -1.74329044e+02] [-9.68481346e-01 -2.61036734e-02 2.47714516e-01 -3.47508783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-174.33, Z:-347.54 [[ 1.56459189e-01 7.05910694e-01 6.90804324e-01 2.88775928e+02] [-1.95061061e-01 7.07726857e-01 -6.79024211e-01 -1.74334485e+02] [-9.68231225e-01 -2.85094473e-02 2.48426059e-01 -3.47540210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-174.34, Z:-347.57 [[ 1.54616302e-01 7.07329623e-01 6.89767065e-01 2.88780712e+02] [-2.01177988e-01 7.06075902e-01 -6.78958200e-01 -1.74339583e+02] [-9.67275150e-01 -3.37879443e-02 2.51469995e-01 -3.47572013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-174.34, Z:-347.60 [[ 1.53758992e-01 7.08545379e-01 6.88710112e-01 2.88786093e+02] [-2.04252677e-01 7.04736018e-01 -6.79432108e-01 -1.74344425e+02] [-9.66767302e-01 -3.62020881e-02 2.53081790e-01 -3.47604447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-174.35, Z:-347.64 [[ 1.52160834e-01 7.09774473e-01 6.87798865e-01 2.88791381e+02] [-2.06901344e-01 7.03358062e-01 -6.80058285e-01 -1.74349462e+02] [-9.66456887e-01 -3.88282741e-02 2.53876841e-01 -3.47636519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-174.35, Z:-347.67 [[ 1.50245471e-01 7.10972957e-01 6.86981625e-01 2.88796987e+02] [-2.09035035e-01 7.02004617e-01 -6.80803843e-01 -1.74354747e+02] [-9.66297393e-01 -4.13155337e-02 2.54091271e-01 -3.47668902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-174.36, Z:-347.70 [[ 1.46304161e-01 7.12397363e-01 6.86356387e-01 2.88802882e+02] [-2.11725970e-01 7.00294610e-01 -6.81732773e-01 -1.74360474e+02] [-9.66316308e-01 -4.55791301e-02 2.53289038e-01 -3.47701052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-174.37, Z:-347.73 [[ 1.44550880e-01 7.13413797e-01 6.85671786e-01 2.88808825e+02] [-2.12638036e-01 6.99156486e-01 -6.82616491e-01 -1.74365022e+02] [-9.66379899e-01 -4.71270877e-02 2.52762594e-01 -3.47731622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-174.37, Z:-347.76 [[ 1.42668271e-01 7.14123843e-01 6.85326857e-01 2.88814507e+02] [-2.13376620e-01 6.98319425e-01 -6.83242563e-01 -1.74369992e+02] [-9.66496861e-01 -4.87556935e-02 2.52005357e-01 -3.47762511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-174.38, Z:-347.79 [[ 1.41224831e-01 7.15042605e-01 6.84667525e-01 2.88820633e+02] [-2.14296589e-01 6.97281753e-01 -6.84013983e-01 -1.74375120e+02] [-9.66505312e-01 -5.01221563e-02 2.51704689e-01 -3.47794332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-174.37, Z:-347.83 [[ 1.36391179e-01 7.25984786e-01 6.74050100e-01 2.88825392e+02] [-2.12219866e-01 6.86024716e-01 -6.95940240e-01 -1.74368763e+02] [-9.67657054e-01 -4.81267122e-02 2.47636114e-01 -3.47829505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-174.39, Z:-347.86 [[ 1.38217301e-01 7.11236052e-01 6.89230917e-01 2.88832656e+02] [-2.15344450e-01 7.00842848e-01 -6.80033875e-01 -1.74389728e+02] [-9.66707167e-01 -5.44296060e-02 2.50029343e-01 -3.47856476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-174.39, Z:-347.89 [[ 1.37177236e-01 7.17064710e-01 6.83374428e-01 2.88840178e+02] [-2.12897415e-01 6.95116485e-01 -6.86649665e-01 -1.74389181e+02] [-9.67397073e-01 -5.12959464e-02 2.48015381e-01 -3.47887869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-174.39, Z:-347.92 [[ 1.37296200e-01 7.17346691e-01 6.83054521e-01 2.88846446e+02] [-2.11457993e-01 6.94914622e-01 -6.87298469e-01 -1.74394772e+02] [-9.67695857e-01 -5.00738702e-02 2.47097828e-01 -3.47920118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-174.40, Z:-347.95 [[ 1.38208141e-01 7.17773603e-01 6.82421838e-01 2.88852458e+02] [-2.09250501e-01 6.94642423e-01 -6.88248597e-01 -1.74399535e+02] [-9.68045835e-01 -4.76755522e-02 2.46199724e-01 -3.47952020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-174.39, Z:-347.98 [[ 1.39927797e-01 7.26805779e-01 6.72438526e-01 2.88855659e+02] [-2.02227708e-01 6.85782407e-01 -6.99146941e-01 -1.74394532e+02] [-9.69290548e-01 -3.81556101e-02 2.42940288e-01 -3.47984920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-174.68, Z:-347.74 [[ 2.65865380e-01 -7.96230224e-01 -5.43445518e-01 2.89960912e+02] [-1.05122567e-01 -5.84318445e-01 8.04687021e-01 -1.74675050e+02] [-9.58261366e-01 -1.56810033e-01 -2.39051810e-01 -3.47740793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-174.42, Z:-347.77 [[ 2.85480884e-01 -4.50110080e-01 -8.46109674e-01 2.89992848e+02] [-3.06849322e-02 -8.86690186e-01 4.61344718e-01 -1.74418756e+02] [-9.57893052e-01 -1.05742280e-01 -2.66944696e-01 -3.47772734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-174.27, Z:-347.80 [[ 2.91138394e-01 -1.81690653e-01 -9.39269366e-01 2.89953953e+02] [ 4.51866802e-02 -9.78092626e-01 2.03206739e-01 -1.74271179e+02] [-9.55613206e-01 -1.01603748e-01 -2.76550319e-01 -3.47797294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-174.14, Z:-347.82 [[ 2.77039914e-01 9.01904883e-02 -9.56616204e-01 2.89879488e+02] [ 1.15164293e-01 -9.91524891e-01 -6.01296613e-02 -1.74144296e+02] [-9.53931901e-01 -9.35097124e-02 -2.85078694e-01 -3.47819372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-174.05, Z:-347.84 [[ 2.46446615e-01 3.48501062e-01 -9.04329075e-01 2.89776734e+02] [ 1.82837898e-01 -9.33072612e-01 -3.09751198e-01 -1.74047545e+02] [-9.51753313e-01 -8.90084926e-02 -2.93671788e-01 -3.47841919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-173.98, Z:-347.86 [[ 2.06165593e-01 5.73738160e-01 -7.92666558e-01 2.89655874e+02] [ 2.34271707e-01 -8.15451155e-01 -5.29297819e-01 -1.73982858e+02] [-9.50059217e-01 -7.65763490e-02 -3.02528589e-01 -3.47864573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.53, Y:-173.95, Z:-347.89 [[ 1.47449455e-01 7.58920985e-01 -6.34269341e-01 2.89529526e+02] [ 2.84787198e-01 -6.46697358e-01 -7.07586588e-01 -1.73954689e+02] [-9.47182617e-01 -7.62985316e-02 -3.11486154e-01 -3.47887991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-173.95, Z:-347.91 [[ 8.34614549e-02 8.92545621e-01 -4.43166448e-01 2.89401554e+02] [ 3.14618765e-01 -4.45573107e-01 -8.38140584e-01 -1.73954212e+02] [-9.45541759e-01 -6.94760478e-02 -3.17999781e-01 -3.47909897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-173.99, Z:-347.93 [[ 6.78316377e-03 9.72628105e-01 -2.32268291e-01 2.89282410e+02] [ 3.34081255e-01 -2.21131753e-01 -9.16237122e-01 -1.73987156e+02] [-9.42519869e-01 -7.13814955e-02 -3.26436791e-01 -3.47932042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-174.04, Z:-347.96 [[-7.01891288e-02 9.97421163e-01 -1.49836360e-02 2.89176866e+02] [ 3.34776670e-01 9.40359344e-03 -9.42250579e-01 -1.74044964e+02] [-9.39679768e-01 -7.11519190e-02 -3.34573366e-01 -3.47955181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-174.86, Z:-348.31 [[-7.59829788e-02 -9.77743784e-01 -1.95559912e-01 2.89947269e+02] [ 3.45110187e-01 -2.09792777e-01 9.14814708e-01 -1.74855730e+02] [-9.35481451e-01 2.02062889e-03 3.53370020e-01 -3.48313471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-174.86, Z:-348.32 [[-7.55590798e-02 -9.78025932e-01 -1.94309294e-01 2.89946462e+02] [ 3.45203807e-01 -2.08473035e-01 9.15081049e-01 -1.74855186e+02] [-9.35481244e-01 2.06637415e-03 3.53370305e-01 -3.48316633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-174.88, Z:-348.38 [[-4.49877882e-02 -3.14164666e-01 9.48301989e-01 2.89151455e+02] [ 2.82150383e-01 9.06618947e-01 3.13740733e-01 -1.74882056e+02] [-9.58314802e-01 2.81678271e-01 4.78548998e-02 -3.48384048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-174.81, Z:-348.40 [[-5.19674693e-02 -9.83956558e-01 -1.70671832e-01 2.89918471e+02] [ 2.85461429e-01 -1.78408088e-01 9.41638108e-01 -1.74805126e+02] [-9.56980227e-01 2.14324528e-04 2.90153062e-01 -3.48404647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-174.80, Z:-348.41 [[-5.14901508e-02 -9.84198923e-01 -1.69414416e-01 2.89917689e+02] [ 2.85548093e-01 -1.77066274e-01 9.41865076e-01 -1.74804537e+02] [-9.56980173e-01 1.20811514e-04 2.90153295e-01 -3.48408634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-174.80, Z:-348.41 [[-5.10107102e-02 -9.84494828e-01 -1.67832775e-01 2.89916774e+02] [ 2.85634504e-01 -1.75413564e-01 9.42148084e-01 -1.74804082e+02] [-9.56980061e-01 1.20811484e-04 2.90153662e-01 -3.48412654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-174.80, Z:-348.41 [[-4.87146837e-02 -9.84884479e-01 -1.66221064e-01 2.89916337e+02] [ 2.86615396e-01 -1.73203741e-01 9.42259030e-01 -1.74804006e+02] [-9.56806404e-01 -1.73966542e-03 2.90720620e-01 -3.48414773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-174.80, Z:-348.42 [[-4.81855484e-02 -9.85175989e-01 -1.64640287e-01 2.89915394e+02] [ 2.86705489e-01 -1.71537398e-01 9.42536410e-01 -1.74803317e+02] [-9.56806206e-01 -1.78664005e-03 2.90720987e-01 -3.48419579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-174.80, Z:-348.42 [[-4.76551034e-02 -9.85491667e-01 -1.62896180e-01 2.89914384e+02] [ 2.86794587e-01 -1.69714413e-01 9.42839267e-01 -1.74802693e+02] [-9.56806070e-01 -1.78663977e-03 2.90721433e-01 -3.48424401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-174.80, Z:-348.43 [[-4.71731196e-02 -9.85801700e-01 -1.61151188e-01 2.89913404e+02] [ 2.86874421e-01 -1.67904685e-01 9.43138952e-01 -1.74802300e+02] [-9.56806022e-01 -1.73934702e-03 2.90721880e-01 -3.48428436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-174.80, Z:-348.43 [[-4.66921544e-02 -9.86081816e-01 -1.59569721e-01 2.89912494e+02] [ 2.86953467e-01 -1.66251700e-01 9.43407696e-01 -1.74801837e+02] [-9.56805911e-01 -1.73934683e-03 2.90722246e-01 -3.48432456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-174.80, Z:-348.44 [[-4.47707882e-02 -9.86424860e-01 -1.57992318e-01 2.89911637e+02] [ 2.87193083e-01 -1.64183541e-01 9.43696931e-01 -1.74801321e+02] [-9.56825851e-01 -3.12424552e-03 2.90645023e-01 -3.48438236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-174.80, Z:-348.44 [[-4.42382637e-02 -9.86753182e-01 -1.56080539e-01 2.89910560e+02] [ 2.87275620e-01 -1.62199548e-01 9.44014844e-01 -1.74800759e+02] [-9.56825843e-01 -3.07655587e-03 2.90645558e-01 -3.48443074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-174.79, Z:-348.49 [[-3.61389569e-02 -9.87348282e-01 -1.54393477e-01 2.89906365e+02] [ 2.88069958e-01 -1.58228805e-01 9.44446581e-01 -1.74787980e+02] [-9.56927205e-01 -1.03448082e-02 2.90143603e-01 -3.48491759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-174.79, Z:-348.50 [[-3.46490048e-02 -9.90466126e-01 -1.33327793e-01 2.89897146e+02] [ 2.87956229e-01 -1.37644426e-01 9.47699964e-01 -1.74794878e+02] [-9.57016540e-01 -5.55570779e-03 2.89980133e-01 -3.48500738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-174.79, Z:-348.51 [[-3.37474329e-02 -9.90729446e-01 -1.31591317e-01 2.89896850e+02] [ 2.87558005e-01 -1.35724016e-01 9.48097772e-01 -1.74792916e+02] [-9.57168483e-01 -5.84427072e-03 2.89472520e-01 -3.48509227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-174.79, Z:-348.51 [[-3.27066124e-02 -9.90974247e-01 -1.30001231e-01 2.89897836e+02] [ 2.87527325e-01 -1.33901379e-01 9.48366205e-01 -1.74792823e+02] [-9.57213829e-01 -6.36106024e-03 2.89311635e-01 -3.48508823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-174.84, Z:-348.63 [[ 3.62396631e-02 -9.94816016e-01 9.50146415e-02 2.89757796e+02] [ 2.79903252e-01 1.01375877e-01 9.54660726e-01 -1.74837544e+02] [-9.59343972e-01 -8.00167595e-03 2.82126065e-01 -3.48632130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-174.83, Z:-348.66 [[ 3.70418991e-02 -9.94132149e-01 1.01632519e-01 2.89755492e+02] [ 2.79862692e-01 1.07952571e-01 9.53951317e-01 -1.74831955e+02] [-9.59325165e-01 -6.89301800e-03 2.82219268e-01 -3.48658860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-174.81, Z:-348.69 [[ 4.05256638e-02 -9.95631018e-01 8.41222072e-02 2.89768998e+02] [ 2.83834048e-01 9.21941972e-02 9.54430963e-01 -1.74813279e+02] [-9.58016651e-01 -1.48022017e-02 2.86330214e-01 -3.48686327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-174.83, Z:-348.72 [[ 3.94886598e-02 -9.87716364e-01 1.51185414e-01 2.89730883e+02] [ 2.79500133e-01 1.56182251e-01 9.47357789e-01 -1.74830182e+02] [-9.59333269e-01 4.84645401e-03 2.82234283e-01 -3.48718198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-174.81, Z:-348.74 [[ 4.24476415e-02 -9.94091538e-01 9.99010108e-02 2.89758431e+02] [ 2.80257290e-01 1.07823915e-01 9.53850017e-01 -1.74809329e+02] [-9.58985948e-01 -1.24906970e-02 2.83178271e-01 -3.48740360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.76, Y:-174.80, Z:-348.77 [[ 4.39705065e-02 -9.94125233e-01 9.89020537e-02 2.89760222e+02] [ 2.81013841e-01 1.07308193e-01 9.53685574e-01 -1.74801458e+02] [-9.58695893e-01 -1.41411917e-02 2.84081345e-01 -3.48766306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-174.78, Z:-348.79 [[ 4.82175456e-02 -9.95685906e-01 7.92757514e-02 2.89776050e+02] [ 2.85078390e-01 8.97851593e-02 9.54289755e-01 -1.74782263e+02] [-9.57290646e-01 -2.34137062e-02 2.88177755e-01 -3.48793986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-174.80, Z:-348.83 [[ 4.73246426e-02 -9.86566971e-01 1.56352137e-01 2.89734384e+02] [ 2.81416201e-01 1.63355597e-01 9.45579119e-01 -1.74802083e+02] [-9.58418124e-01 -7.49169628e-04 2.85366674e-01 -3.48826680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-174.78, Z:-348.85 [[ 4.67894715e-02 -9.94155102e-01 9.72953144e-02 2.89767071e+02] [ 2.82775859e-01 1.06600179e-01 9.53244048e-01 -1.74777909e+02] [-9.58044132e-01 -1.70890191e-02 2.86110829e-01 -3.48848223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-174.77, Z:-348.88 [[ 4.64810048e-02 -9.94262195e-01 9.63441980e-02 2.89769331e+02] [ 2.83009445e-01 1.05604036e-01 9.53285603e-01 -1.74770030e+02] [-9.57990172e-01 -1.70433546e-02 2.86294174e-01 -3.48875029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-174.76, Z:-348.90 [[ 4.60502209e-02 -9.94375385e-01 9.53780469e-02 2.89771276e+02] [ 2.82899111e-01 1.04552331e-01 9.53434268e-01 -1.74762736e+02] [-9.58043564e-01 -1.69234939e-02 2.86122570e-01 -3.48900841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-174.75, Z:-348.93 [[ 4.49011269e-02 -9.94466086e-01 9.49794330e-02 2.89774432e+02] [ 2.82353545e-01 1.03832070e-01 9.53674670e-01 -1.74754997e+02] [-9.58259028e-01 -1.60032878e-02 2.85453202e-01 -3.48927442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-174.75, Z:-348.95 [[ 4.46058488e-02 -9.94571855e-01 9.40060858e-02 2.89777126e+02] [ 2.82092889e-01 1.02809942e-01 9.53862526e-01 -1.74747308e+02] [-9.58349581e-01 -1.60293993e-02 2.85147573e-01 -3.48952991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-174.74, Z:-348.98 [[ 4.38147270e-02 -9.94668935e-01 9.33486938e-02 2.89779565e+02] [ 2.81881013e-01 1.01950323e-01 9.54017414e-01 -1.74739492e+02] [-9.58448415e-01 -1.54867881e-02 2.84845213e-01 -3.48979417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-174.73, Z:-349.01 [[ 4.34400418e-02 -9.94774019e-01 9.23992117e-02 2.89782262e+02] [ 2.81750791e-01 1.00930756e-01 9.54164281e-01 -1.74731085e+02] [-9.58503758e-01 -1.54153853e-02 2.84662802e-01 -3.49006483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-174.72, Z:-349.03 [[ 4.29356885e-02 -9.94886378e-01 9.14200262e-02 2.89786371e+02] [ 2.81839717e-01 9.98492981e-02 9.54251797e-01 -1.74723338e+02] [-9.58500340e-01 -1.52056637e-02 2.84685593e-01 -3.49033057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-174.72, Z:-349.06 [[ 4.27082405e-02 -9.94984979e-01 9.04483186e-02 2.89788988e+02] [ 2.81818149e-01 9.88521392e-02 9.54361978e-01 -1.74715676e+02] [-9.58516842e-01 -1.52691431e-02 2.84626626e-01 -3.49059788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-174.71, Z:-349.09 [[ 4.28041470e-02 -9.95070098e-01 8.94611945e-02 2.89791352e+02] [ 2.82363764e-01 9.79415161e-02 9.54294590e-01 -1.74707726e+02] [-9.58351976e-01 -1.55871663e-02 2.85164042e-01 -3.49085530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-174.70, Z:-349.11 [[ 4.30118544e-02 -9.95099128e-01 8.90376609e-02 2.89793534e+02] [ 2.82511978e-01 9.75970692e-02 9.54286013e-01 -1.74700203e+02] [-9.58298994e-01 -1.58914052e-02 2.85325254e-01 -3.49112531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-174.69, Z:-349.14 [[ 4.40531585e-02 -9.95139030e-01 8.80774077e-02 2.89797518e+02] [ 2.82242309e-01 9.69687345e-02 9.54429853e-01 -1.74692538e+02] [-9.58331153e-01 -1.71864787e-02 2.85142116e-01 -3.49139486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-174.68, Z:-349.17 [[ 4.46792262e-02 -9.95195337e-01 8.71206487e-02 2.89800037e+02] [ 2.81943683e-01 9.62241516e-02 9.54593459e-01 -1.74684662e+02] [-9.58390070e-01 -1.80873805e-02 2.84888260e-01 -3.49165264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-174.68, Z:-349.19 [[ 4.64769772e-02 -9.95148748e-01 8.67113631e-02 2.89803387e+02] [ 2.81545473e-01 9.63360452e-02 9.54699698e-01 -1.74676931e+02] [-9.58421638e-01 -1.99583643e-02 2.84657033e-01 -3.49191794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-174.67, Z:-349.22 [[ 4.72250784e-02 -9.95197842e-01 8.57382509e-02 2.89805554e+02] [ 2.81582326e-01 9.56164653e-02 9.54761167e-01 -1.74668810e+02] [-9.58374241e-01 -2.09462948e-02 2.84745618e-01 -3.49218291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-174.66, Z:-349.24 [[ 4.82623385e-02 -9.95232314e-01 8.47548746e-02 2.89807719e+02] [ 2.81385096e-01 9.49641704e-02 9.54884409e-01 -1.74661291e+02] [-9.58380496e-01 -2.22361960e-02 2.84626733e-01 -3.49244119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-174.65, Z:-349.27 [[ 4.91349954e-02 -9.95225814e-01 8.43287122e-02 2.89809291e+02] [ 2.81281090e-01 9.48014647e-02 9.54931218e-01 -1.74653797e+02] [-9.58366684e-01 -2.32004689e-02 2.84596271e-01 -3.49270386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-174.65, Z:-349.30 [[ 5.03326146e-02 -9.95201956e-01 8.39028922e-02 2.89811447e+02] [ 2.81480851e-01 9.47393004e-02 9.54878524e-01 -1.74646072e+02] [-9.58245876e-01 -2.44444753e-02 2.84898770e-01 -3.49297321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-174.64, Z:-349.32 [[ 5.07795550e-02 -9.95259451e-01 8.29461380e-02 2.89813537e+02] [ 2.81349106e-01 9.39453472e-02 9.54995787e-01 -1.74637980e+02] [-9.58260986e-01 -2.51574393e-02 2.84785859e-01 -3.49324536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.63, Z:-349.35 [[ 5.09638432e-02 -9.95332826e-01 8.19466371e-02 2.89815408e+02] [ 2.81342197e-01 9.30386406e-02 9.55086582e-01 -1.74630352e+02] [-9.58253231e-01 -2.56198360e-02 2.84770731e-01 -3.49350067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.62, Z:-349.38 [[ 5.16295314e-02 -9.95336196e-01 8.14877210e-02 2.89817769e+02] [ 2.82223752e-01 9.28123652e-02 9.54848479e-01 -1.74622552e+02] [-9.57958321e-01 -2.63006092e-02 2.85699375e-01 -3.49375645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.61, Z:-349.40 [[ 5.09816382e-02 -9.95404231e-01 8.10634870e-02 2.89818885e+02] [ 2.82479943e-01 9.22269484e-02 9.54829447e-01 -1.74614545e+02] [-9.57917509e-01 -2.57799602e-02 2.85883611e-01 -3.49402787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.61, Z:-349.43 [[ 5.06548887e-02 -9.95500166e-01 8.00843431e-02 2.89820371e+02] [ 2.82675135e-01 9.11994265e-02 9.54870375e-01 -1.74606427e+02] [-9.57877263e-01 -2.57310001e-02 2.86022841e-01 -3.49429327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.60, Z:-349.46 [[ 5.02765441e-02 -9.95597853e-01 7.91023695e-02 2.89822023e+02] [ 2.82855633e-01 9.01540089e-02 9.54916198e-01 -1.74597997e+02] [-9.57843912e-01 -2.56353355e-02 2.86143093e-01 -3.49455025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.59, Z:-349.48 [[ 4.98369879e-02 -9.95653698e-01 7.86764740e-02 2.89822849e+02] [ 2.83064130e-01 8.96250972e-02 9.54904205e-01 -1.74589889e+02] [-9.57805290e-01 -2.53190616e-02 2.86300492e-01 -3.49481870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.58, Z:-349.51 [[ 4.99633415e-02 -9.95722341e-01 7.77218371e-02 2.89823914e+02] [ 2.82817893e-01 8.87391324e-02 9.55059896e-01 -1.74582105e+02] [-9.57871444e-01 -2.57368576e-02 2.86041798e-01 -3.49507543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.57, Z:-349.53 [[ 5.07123171e-02 -9.95717591e-01 7.72964448e-02 2.89824085e+02] [ 2.83241969e-01 8.85574193e-02 9.54951083e-01 -1.74574103e+02] [-9.57706765e-01 -2.65341850e-02 2.86519963e-01 -3.49534237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.57, Z:-349.56 [[ 5.06938517e-02 -9.95793086e-01 7.63299605e-02 2.89824802e+02] [ 2.83824531e-01 8.76414843e-02 9.54862611e-01 -1.74566445e+02] [-9.57535257e-01 -2.67413483e-02 2.87073390e-01 -3.49560769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.56, Z:-349.59 [[ 5.02946296e-02 -9.96103976e-01 7.24383800e-02 2.89827588e+02] [ 2.85230198e-01 8.38352874e-02 9.54785515e-01 -1.74556767e+02] [-9.57138540e-01 -2.73589704e-02 2.88335399e-01 -3.49587780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.55, Z:-349.62 [[ 5.02183477e-02 -9.95215947e-01 8.38053535e-02 2.89821254e+02] [ 2.84747120e-01 9.46956541e-02 9.53913943e-01 -1.74553776e+02] [-9.57286371e-01 -2.40406490e-02 2.88140334e-01 -3.49615599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.54, Z:-349.64 [[ 4.99933207e-02 -9.96027561e-01 7.36869423e-02 2.89826906e+02] [ 2.85239109e-01 8.49452894e-02 9.54684738e-01 -1.74542408e+02] [-9.57151670e-01 -2.67094625e-02 2.88352712e-01 -3.49641602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.53, Z:-349.67 [[ 4.98470258e-02 -9.96103797e-01 7.27495687e-02 2.89827841e+02] [ 2.85335867e-01 8.40072913e-02 9.54738822e-01 -1.74533992e+02] [-9.57130460e-01 -2.68328294e-02 2.88411654e-01 -3.49668297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.53, Z:-349.69 [[ 5.03247201e-02 -9.96149723e-01 7.17854626e-02 2.89829170e+02] [ 2.85383534e-01 8.32225551e-02 9.54793300e-01 -1.74525440e+02] [-9.57091250e-01 -2.75633165e-02 2.88472880e-01 -3.49694244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.52, Z:-349.72 [[ 4.99848296e-02 -9.96195825e-01 7.13820382e-02 2.89829366e+02] [ 2.84950232e-01 8.27253034e-02 9.54965910e-01 -1.74517270e+02] [-9.57238153e-01 -2.73934800e-02 2.88001241e-01 -3.49721523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.51, Z:-349.75 [[ 4.94234129e-02 -9.96292123e-01 7.04225234e-02 2.89829881e+02] [ 2.84997706e-01 8.16449476e-02 9.55044716e-01 -1.74509315e+02] [-9.57253171e-01 -2.71313117e-02 2.87976141e-01 -3.49748688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.50, Z:-349.78 [[ 4.91524010e-02 -9.96373321e-01 6.94567948e-02 2.89830866e+02] [ 2.85046274e-01 8.06424271e-02 9.55115397e-01 -1.74501081e+02] [-9.57252664e-01 -2.71478144e-02 2.87976272e-01 -3.49776049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.49, Z:-349.80 [[ 4.87087817e-02 -9.96457362e-01 6.85578657e-02 2.89831607e+02] [ 2.84761832e-01 7.96447827e-02 9.55283941e-01 -1.74492969e+02] [-9.57359992e-01 -2.70080535e-02 2.87632424e-01 -3.49802440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.48, Z:-349.83 [[ 4.78217276e-02 -9.96565501e-01 6.76038829e-02 2.89831688e+02] [ 2.84439722e-01 7.84658754e-02 9.55477447e-01 -1.74484711e+02] [-9.57500458e-01 -2.64633525e-02 2.87215188e-01 -3.49829675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.48, Z:-349.86 [[ 4.78151013e-02 -9.96631617e-01 6.66268476e-02 2.89832193e+02] [ 2.84629974e-01 7.75325223e-02 9.55496984e-01 -1.74476657e+02] [-9.57444251e-01 -2.67231872e-02 2.87378457e-01 -3.49855369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.47, Z:-349.88 [[ 4.78881894e-02 -9.96655761e-01 6.62118915e-02 2.89832597e+02] [ 2.84332159e-01 7.71473487e-02 9.55616822e-01 -1.74468898e+02] [-9.57529083e-01 -2.69365893e-02 2.87075732e-01 -3.49881344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.46, Z:-349.91 [[ 4.81628476e-02 -9.96670250e-01 6.57932575e-02 2.89832795e+02] [ 2.84464349e-01 7.68286777e-02 9.55603154e-01 -1.74460778e+02] [-9.57476044e-01 -2.73087329e-02 2.87217441e-01 -3.49908294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.45, Z:-349.94 [[ 4.90825563e-02 -9.96688181e-01 6.48349682e-02 2.89832798e+02] [ 2.84770536e-01 7.61835083e-02 9.55563611e-01 -1.74452868e+02] [-9.57338313e-01 -2.84384161e-02 2.87566708e-01 -3.49935069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.44, Z:-349.96 [[ 4.93908833e-02 -9.96734246e-01 6.38857151e-02 2.89833229e+02] [ 2.84898164e-01 7.53660743e-02 9.55590389e-01 -1.74444825e+02] [-9.57284481e-01 -2.89965305e-02 2.87690153e-01 -3.49961709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.44, Z:-349.99 [[ 4.97874385e-02 -9.96774477e-01 6.29432493e-02 2.89833583e+02] [ 2.84736108e-01 7.45717407e-02 9.55701002e-01 -1.74436720e+02] [-9.57312154e-01 -2.96596890e-02 2.87530421e-01 -3.49988703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.43, Z:-350.02 [[ 5.08240422e-02 -9.96782150e-01 6.19859907e-02 2.89833568e+02] [ 2.84875140e-01 7.39569549e-02 9.55707342e-01 -1.74428668e+02] [-9.57216314e-01 -3.09146425e-02 2.87717246e-01 -3.50015624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.42, Z:-350.04 [[ 5.13974620e-02 -9.96811499e-01 6.10339036e-02 2.89834159e+02] [ 2.85134237e-01 7.32179385e-02 9.55686978e-01 -1.74420424e+02] [-9.57108545e-01 -3.17170296e-02 2.87988302e-01 -3.50042552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.41, Z:-350.07 [[ 5.15641674e-02 -9.96860256e-01 6.00896569e-02 2.89834514e+02] [ 2.85352601e-01 7.23680626e-02 9.55686537e-01 -1.74412355e+02] [-9.57034498e-01 -3.21324407e-02 2.88188266e-01 -3.50069529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.40, Z:-350.10 [[ 5.24673186e-02 -9.96870153e-01 5.91360982e-02 2.89834027e+02] [ 2.85925712e-01 7.17345409e-02 9.55562998e-01 -1.74404726e+02] [-9.56814333e-01 -3.32272973e-02 2.88794528e-01 -3.50096709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.40, Z:-350.12 [[ 5.23760499e-02 -9.96930501e-01 5.81921522e-02 2.89833995e+02] [ 2.86246225e-01 7.08144884e-02 9.55535665e-01 -1.74397240e+02] [-9.56723496e-01 -3.33898998e-02 2.89076575e-01 -3.50123551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.39, Z:-350.15 [[ 5.24231736e-02 -9.96982981e-01 5.72428817e-02 2.89834533e+02] [ 2.86711433e-01 6.99346577e-02 9.55460987e-01 -1.74389100e+02] [-9.56581604e-01 -3.36761086e-02 2.89512616e-01 -3.50150267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.38, Z:-350.18 [[ 5.22768820e-02 -9.97046083e-01 5.62693125e-02 2.89835070e+02] [ 2.86984772e-01 6.89688629e-02 9.55449128e-01 -1.74381114e+02] [-9.56507641e-01 -3.37994655e-02 2.89742520e-01 -3.50176565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.37, Z:-350.20 [[ 5.17908805e-02 -9.97094567e-01 5.58581134e-02 2.89835585e+02] [ 2.86673794e-01 6.84228790e-02 9.55581732e-01 -1.74373409e+02] [-9.56627326e-01 -3.34773620e-02 2.89384563e-01 -3.50202258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.37, Z:-350.23 [[ 5.02515257e-02 -9.97194721e-01 5.54749762e-02 2.89836345e+02] [ 2.85582674e-01 6.75728751e-02 9.55968850e-01 -1.74365143e+02] [-9.57035694e-01 -3.21962012e-02 2.88177175e-01 -3.50229535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.36, Z:-350.26 [[ 4.93622375e-02 -9.97291163e-01 5.45316946e-02 2.89837349e+02] [ 2.84968176e-01 6.63916234e-02 9.56234956e-01 -1.74357038e+02] [-9.57265119e-01 -3.16620994e-02 2.87473482e-01 -3.50255774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.35, Z:-350.28 [[ 4.79050611e-02 -9.97384355e-01 5.41253505e-02 2.89838162e+02] [ 2.84718910e-01 6.55746186e-02 9.56365574e-01 -1.74348881e+02] [-9.57413311e-01 -3.04042405e-02 2.87115543e-01 -3.50283153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.34, Z:-350.31 [[ 4.46228716e-02 -9.97586401e-01 5.31993615e-02 2.89839594e+02] [ 2.83789564e-01 6.37167012e-02 9.56767299e-01 -1.74340420e+02] [-9.57847735e-01 -2.75962807e-02 2.85947832e-01 -3.50310001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.33, Z:-350.34 [[ 4.31724740e-02 -9.97701479e-01 5.22292747e-02 2.89840460e+02] [ 2.83588840e-01 6.23656002e-02 9.56915828e-01 -1.74332489e+02] [-9.57973646e-01 -2.65007843e-02 2.85629483e-01 -3.50336202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.32, Z:-350.36 [[ 4.19080050e-02 -9.97777360e-01 5.18079120e-02 2.89841037e+02] [ 2.83741005e-01 6.16039730e-02 9.56920056e-01 -1.74324523e+02] [-9.57984740e-01 -2.54025814e-02 2.85692051e-01 -3.50362975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.32, Z:-350.39 [[ 3.89478086e-02 -9.97948372e-01 5.08145255e-02 2.89841843e+02] [ 2.84129379e-01 5.98142857e-02 9.56918360e-01 -1.74317090e+02] [-9.57994553e-01 -2.28319736e-02 2.85876086e-01 -3.50388958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.31, Z:-350.42 [[ 3.70748281e-02 -9.98041546e-01 5.03838189e-02 2.89842236e+02] [ 2.84422789e-01 5.88719780e-02 9.56889632e-01 -1.74309300e+02] [-9.57981803e-01 -2.11462123e-02 2.86048429e-01 -3.50415468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.30, Z:-350.44 [[ 3.54994964e-02 -9.98147108e-01 4.94179760e-02 2.89842809e+02] [ 2.84977133e-01 5.75065995e-02 9.56807726e-01 -1.74301210e+02] [-9.57876725e-01 -1.98831993e-02 2.86490556e-01 -3.50442818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.29, Z:-350.47 [[ 3.42415180e-02 -9.98239124e-01 4.84372843e-02 2.89843358e+02] [ 2.85232283e-01 5.62109815e-02 9.56808691e-01 -1.74293572e+02] [-9.57846576e-01 -1.89467048e-02 2.86654773e-01 -3.50469149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.28, Z:-350.50 [[ 3.19234638e-02 -9.98336962e-01 4.80021033e-02 2.89843753e+02] [ 2.86365296e-01 5.51490358e-02 9.56532018e-01 -1.74284799e+02] [-9.57588539e-01 -1.67896787e-02 2.87649608e-01 -3.50496211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.28, Z:-350.52 [[ 3.08005611e-02 -9.98419033e-01 4.70187129e-02 2.89844505e+02] [ 2.86711632e-01 5.38894784e-02 9.56500060e-01 -1.74276475e+02] [-9.57521679e-01 -1.59799266e-02 2.87918177e-01 -3.50522121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.27, Z:-350.55 [[ 2.94461722e-02 -9.98480022e-01 4.65893686e-02 2.89844398e+02] [ 2.87275268e-01 5.30967828e-02 9.56375267e-01 -1.74268974e+02] [-9.57395343e-01 -1.47776175e-02 2.88402113e-01 -3.50547899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.26, Z:-350.57 [[ 2.67590465e-02 -9.98586327e-01 4.59271190e-02 2.89843904e+02] [ 2.88128873e-01 5.16984236e-02 9.56195077e-01 -1.74260882e+02] [-9.57217690e-01 -1.23539395e-02 2.89104954e-01 -3.50574920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.25, Z:-350.60 [[ 2.51533638e-02 -9.98671937e-01 4.49629946e-02 2.89844231e+02] [ 2.88373524e-01 5.03137830e-02 9.56195186e-01 -1.74252807e+02] [-9.57187557e-01 -1.10853882e-02 2.89256107e-01 -3.50602172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.24, Z:-350.63 [[ 2.34119364e-02 -9.98756982e-01 4.40042187e-02 2.89844650e+02] [ 2.88793433e-01 4.88962737e-02 9.56141991e-01 -1.74244164e+02] [-9.57105133e-01 -9.67700617e-03 2.89579214e-01 -3.50629224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.24, Z:-350.65 [[ 2.15686776e-02 -9.98839929e-01 4.30533263e-02 2.89844087e+02] [ 2.88755655e-01 4.74518427e-02 9.56226173e-01 -1.74235835e+02] [-9.57159842e-01 -8.19264260e-03 2.89444152e-01 -3.50654965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.23, Z:-350.68 [[ 2.04000635e-02 -9.98892013e-01 4.24097234e-02 2.89843865e+02] [ 2.88698478e-01 4.64969943e-02 9.56290342e-01 -1.74227579e+02] [-9.57202709e-01 -7.26476107e-03 2.89327146e-01 -3.50682053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.22, Z:-350.71 [[ 1.94302793e-02 -9.98951268e-01 4.14587505e-02 2.89843512e+02] [ 2.88461330e-01 4.53043389e-02 9.56419144e-01 -1.74219756e+02] [-9.57294378e-01 -6.62424477e-03 2.89039087e-01 -3.50707952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.21, Z:-350.73 [[ 1.78380414e-02 -9.98997835e-01 4.10503270e-02 2.89842834e+02] [ 2.88338195e-01 4.44524209e-02 9.56496246e-01 -1.74211644e+02] [-9.57362465e-01 -5.22564251e-03 2.88842176e-01 -3.50734372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.20, Z:-350.76 [[ 1.58414642e-02 -9.99069184e-01 4.01224796e-02 2.89842024e+02] [ 2.87777795e-01 4.29852950e-02 9.56732045e-01 -1.74203191e+02] [-9.57566180e-01 -3.60967775e-03 2.88190877e-01 -3.50759732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.19, Z:-350.79 [[ 1.48773448e-02 -9.99109127e-01 3.94919760e-02 2.89841763e+02] [ 2.87502142e-01 4.21028380e-02 9.56854153e-01 -1.74194627e+02] [-9.57664442e-01 -2.88142142e-03 2.87872393e-01 -3.50786046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.19, Z:-350.82 [[ 1.50736757e-02 -9.99104307e-01 3.95394515e-02 2.89841901e+02] [ 2.87040418e-01 4.22033493e-02 9.56988336e-01 -1.74185990e+02] [-9.57799866e-01 -3.07591113e-03 2.87419478e-01 -3.50815443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.18, Z:-350.84 [[ 1.41665398e-02 -9.98156693e-01 5.90129281e-02 2.89829267e+02] [ 2.86913934e-01 6.05948744e-02 9.56037999e-01 -1.74184914e+02] [-9.57851608e-01 3.38788096e-03 2.87243483e-01 -3.50841019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-174.17, Z:-350.87 [[ 1.52716345e-02 -9.99082769e-01 4.00049770e-02 2.89839447e+02] [ 2.87294969e-01 4.27069825e-02 9.56889604e-01 -1.74170764e+02] [-9.57720407e-01 -3.12003960e-03 2.87683659e-01 -3.50868956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.17, Z:-350.89 [[ 1.56144779e-02 -9.98162476e-01 5.85479223e-02 2.89824551e+02] [ 2.87512661e-01 6.05642685e-02 9.55860052e-01 -1.74169278e+02] [-9.57649549e-01 1.90801325e-03 2.87930029e-01 -3.50894416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.16, Z:-350.92 [[ 1.77146026e-02 -9.98955698e-01 4.21153894e-02 2.89833457e+02] [ 2.86940207e-01 4.54294547e-02 9.56870672e-01 -1.74157370e+02] [-9.57784689e-01 -4.86598515e-03 2.87445320e-01 -3.50923842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.16, Z:-350.95 [[ 1.86553018e-02 -9.97470486e-01 6.85901497e-02 2.89818747e+02] [ 2.86472600e-01 7.10584148e-02 9.55449712e-01 -1.74158512e+02] [-9.57906796e-01 1.82499584e-03 2.87073580e-01 -3.50953566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.15, Z:-350.98 [[ 1.86392283e-02 -9.98112348e-01 5.85176960e-02 2.89820329e+02] [ 2.87870582e-01 6.14068778e-02 9.55698553e-01 -1.74145418e+02] [-9.57487915e-01 -9.67960318e-04 2.88471760e-01 -3.50975853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.13, Z:-351.00 [[ 2.09692985e-02 -9.99218029e-01 3.35204409e-02 2.89829526e+02] [ 2.88322754e-01 3.81472123e-02 9.56773108e-01 -1.74129406e+02] [-9.57303650e-01 -1.03981551e-02 2.88897214e-01 -3.50999471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.12, Z:-351.03 [[ 2.20781927e-02 -9.99208226e-01 3.30979677e-02 2.89828428e+02] [ 2.88048124e-01 3.80598151e-02 9.56859305e-01 -1.74121417e+02] [-9.57361390e-01 -1.15919166e-02 2.88660347e-01 -3.51026016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-174.11, Z:-351.05 [[ 2.30803432e-02 -9.99217542e-01 3.21185674e-02 2.89827380e+02] [ 2.87784761e-01 3.74077621e-02 9.56964258e-01 -1.74113409e+02] [-9.57416957e-01 -1.28438293e-02 2.88422965e-01 -3.51051362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.11, Z:-351.08 [[ 2.54148948e-02 -9.99174460e-01 3.16935751e-02 2.89824259e+02] [ 2.87779677e-01 3.76743275e-02 9.56955330e-01 -1.74105521e+02] [-9.57359358e-01 -1.52001523e-02 2.88499592e-01 -3.51077454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.10, Z:-351.10 [[ 2.63404952e-02 -9.99163805e-01 3.12708861e-02 2.89822887e+02] [ 2.88145256e-01 3.75428443e-02 9.56850483e-01 -1.74097398e+02] [-9.57224368e-01 -1.61933581e-02 2.88893208e-01 -3.51104594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.09, Z:-351.13 [[ 2.85519031e-02 -9.99133253e-01 3.02907761e-02 2.89820174e+02] [ 2.88301360e-01 3.72465060e-02 9.56815041e-01 -1.74089571e+02] [-9.57113951e-01 -1.85860184e-02 2.89114935e-01 -3.51131551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.08, Z:-351.16 [[ 2.94694015e-02 -9.99135917e-01 2.93082387e-02 2.89819420e+02] [ 2.88683969e-01 3.65788883e-02 9.56725431e-01 -1.74081591e+02] [-9.56970804e-01 -1.97333072e-02 2.89512480e-01 -3.51158149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.07, Z:-351.18 [[ 3.02164313e-02 -9.99142057e-01 2.83216913e-02 2.89818530e+02] [ 2.88707786e-01 3.58511362e-02 9.56745792e-01 -1.74074097e+02] [-9.56940323e-01 -2.07327507e-02 2.89543385e-01 -3.51184076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.07, Z:-351.21 [[ 3.06771793e-02 -9.99140037e-01 2.78944063e-02 2.89817702e+02] [ 2.88998749e-01 3.55819513e-02 9.56667993e-01 -1.74065982e+02] [-9.56837831e-01 -2.12864270e-02 2.89841775e-01 -3.51211042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.06, Z:-351.24 [[ 3.12238324e-02 -9.99148698e-01 2.69620562e-02 2.89816909e+02] [ 2.88755330e-01 3.48421612e-02 9.56768720e-01 -1.74057568e+02] [-9.56893637e-01 -2.20885488e-02 2.89597417e-01 -3.51237512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.05, Z:-351.26 [[ 3.12393269e-02 -9.99174030e-01 2.59877302e-02 2.89817042e+02] [ 2.88563695e-01 3.39091645e-02 9.56860054e-01 -1.74049519e+02] [-9.56950938e-01 -2.23925485e-02 2.89384649e-01 -3.51262813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.04, Z:-351.29 [[ 3.07992084e-02 -9.99198427e-01 2.55717253e-02 2.89816909e+02] [ 2.88082354e-01 3.33722124e-02 9.57023956e-01 -1.74041085e+02] [-9.57110216e-01 -2.21088174e-02 2.88879272e-01 -3.51289202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.03, Z:-351.32 [[ 2.99309123e-02 -9.99249017e-01 2.46077676e-02 2.89816543e+02] [ 2.87240691e-01 3.21789948e-02 9.57317762e-01 -1.74032080e+02] [-9.57390686e-01 -2.15850418e-02 2.87988124e-01 -3.51315459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.02, Z:-351.34 [[ 2.93094668e-02 -9.99290730e-01 2.36430304e-02 2.89816643e+02] [ 2.86407888e-01 3.10571577e-02 9.57604289e-01 -1.74024588e+02] [-9.57659374e-01 -2.12953207e-02 2.87115016e-01 -3.51340958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.02, Z:-351.37 [[ 2.84472812e-02 -9.99325424e-01 2.32260660e-02 2.89816583e+02] [ 2.86296095e-01 3.04074988e-02 9.57658567e-01 -1.74016479e+02] [-9.57718799e-01 -2.05932505e-02 2.86967977e-01 -3.51367597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.01, Z:-351.39 [[ 2.72782002e-02 -9.99380196e-01 2.22513636e-02 2.89817135e+02] [ 2.86244346e-01 2.91367218e-02 9.57713541e-01 -1.74008193e+02] [-9.57768278e-01 -1.97553747e-02 2.86861728e-01 -3.51394689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-174.00, Z:-351.42 [[ 2.43002267e-02 -9.99478255e-01 2.12771277e-02 2.89817652e+02] [ 2.86642766e-01 2.73557324e-02 9.57646902e-01 -1.74000385e+02] [-9.57729306e-01 -1.71721020e-02 2.87157962e-01 -3.51421784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.99, Z:-351.45 [[ 2.40277405e-02 -9.99505072e-01 2.03046562e-02 2.89818211e+02] [ 2.86666936e-01 2.63461172e-02 9.57667975e-01 -1.73992159e+02] [-9.57728947e-01 -1.71899240e-02 2.87158094e-01 -3.51449145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.98, Z:-351.48 [[ 2.22414399e-02 -9.99564523e-01 1.93928503e-02 2.89818909e+02] [ 2.87083502e-01 2.49662313e-02 9.57580153e-01 -1.73984662e+02] [-9.57647316e-01 -1.57305940e-02 2.87513769e-01 -3.51475172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.776559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.98, Z:-351.50 [[ 1.80994620e-02 -9.99656239e-01 1.89687487e-02 2.89819604e+02] [ 2.88242384e-01 2.33833211e-02 9.57271930e-01 -1.73977257e+02] [-9.57386410e-01 -1.18585095e-02 2.88566523e-01 -3.51502029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.97, Z:-351.53 [[ 1.56463041e-02 -9.99715381e-01 1.80097068e-02 2.89820649e+02] [ 2.88519538e-01 2.17598302e-02 9.57226716e-01 -1.73969201e+02] [-9.57346160e-01 -9.78090803e-03 2.88777881e-01 -3.51529063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.96, Z:-351.56 [[ 1.31230283e-02 -9.99768778e-01 1.70345964e-02 2.89821796e+02] [ 2.88605904e-01 2.00981768e-02 9.57237011e-01 -1.73961209e+02] [-9.57358041e-01 -7.64556328e-03 2.88802920e-01 -3.51555897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.95, Z:-351.58 [[ 1.06287231e-02 -9.99814432e-01 1.60664674e-02 2.89822982e+02] [ 2.88480306e-01 1.84501596e-02 9.57308051e-01 -1.73953056e+02] [-9.57426834e-01 -5.54010278e-03 2.88622875e-01 -3.51581356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.94, Z:-351.61 [[ 5.66230393e-03 -9.99861499e-01 1.56499731e-02 2.89824420e+02] [ 2.88363787e-01 1.66180248e-02 9.57376711e-01 -1.73944846e+02] [-9.57504185e-01 -9.08072409e-04 2.88417945e-01 -3.51608579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.94, Z:-351.64 [[ 3.03370174e-03 -9.99887493e-01 1.46900544e-02 2.89825600e+02] [ 2.88591081e-01 1.49404962e-02 9.57335871e-01 -1.73936685e+02] [-9.57447641e-01 1.33514719e-03 2.88603938e-01 -3.51635803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.93, Z:-351.66 [[ 3.05664575e-04 -9.99905624e-01 1.37349998e-02 2.89826785e+02] [ 2.88342271e-01 1.32397670e-02 9.57435869e-01 -1.73928898e+02] [-9.57527358e-01 3.66772681e-03 2.88319106e-01 -3.51662488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.92, Z:-351.69 [[-2.33147492e-03 -9.99915532e-01 1.27864835e-02 2.89827794e+02] [ 2.87761885e-01 1.15748144e-02 9.57632039e-01 -1.73921073e+02] [-9.57699150e-01 5.91215768e-03 2.87710591e-01 -3.51689792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.91, Z:-351.72 [[-6.78561169e-03 -9.99906944e-01 1.18346445e-02 2.89828869e+02] [ 2.87000372e-01 9.38962263e-03 9.57884451e-01 -1.73913650e+02] [-9.57906437e-01 9.89637930e-03 2.86909951e-01 -3.51715660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.91, Z:-351.74 [[-8.86945656e-03 -9.99895423e-01 1.14225958e-02 2.89829371e+02] [ 2.87036049e-01 8.39653439e-03 9.57882981e-01 -1.73905752e+02] [-9.57878719e-01 1.17745982e-02 2.86931559e-01 -3.51742608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.90, Z:-351.77 [[-1.04823279e-02 -9.99890114e-01 1.04824254e-02 2.89830187e+02] [ 2.86648250e-01 7.03830125e-03 9.58010043e-01 -1.73898093e+02] [-9.57978550e-01 1.30469442e-02 2.86542974e-01 -3.51769614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.89, Z:-351.80 [[-1.25839031e-02 -9.99875266e-01 9.54456086e-03 2.89831223e+02] [ 2.86278189e-01 5.54312939e-03 9.58130509e-01 -1.73890334e+02] [-9.58063904e-01 1.47894211e-02 2.86172726e-01 -3.51796789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.88, Z:-351.82 [[-1.30985360e-02 -9.99877652e-01 8.55035823e-03 2.89831965e+02] [ 2.86293399e-01 4.44288844e-03 9.58131698e-01 -1.73882754e+02] [-9.58052461e-01 1.49980336e-02 2.86200176e-01 -3.51822446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.87, Z:-351.85 [[-1.26522014e-02 -9.99888925e-01 7.87776912e-03 2.89832980e+02] [ 2.86253235e-01 3.92675519e-03 9.58145952e-01 -1.73874495e+02] [-9.58070461e-01 1.43776924e-02 2.86171757e-01 -3.51849757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.87, Z:-351.88 [[-1.20079310e-02 -9.99904094e-01 6.90012144e-03 2.89833461e+02] [ 2.86270006e-01 3.17410204e-03 9.58143731e-01 -1.73866657e+02] [-9.58073741e-01 1.34806216e-02 2.86204437e-01 -3.51875679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.86, Z:-351.90 [[-1.13061148e-02 -9.99915097e-01 6.47851948e-03 2.89833465e+02] [ 2.86307165e-01 2.97051567e-03 9.58133281e-01 -1.73858576e+02] [-9.58071177e-01 1.26876114e-02 2.86249271e-01 -3.51902772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.85, Z:-351.93 [[-1.03700711e-02 -9.99931113e-01 5.49821579e-03 2.89833640e+02] [ 2.85810770e-01 2.30512917e-03 9.58283304e-01 -1.73850996e+02] [-9.58229965e-01 1.15089153e-02 2.85767177e-01 -3.51928692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.84, Z:-351.95 [[-8.84496090e-03 -9.99948007e-01 5.07448102e-03 2.89833499e+02] [ 2.85605703e-01 2.33705053e-03 9.58344365e-01 -1.73843186e+02] [-9.58306396e-01 9.92581915e-03 2.85570182e-01 -3.51954647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.84, Z:-351.98 [[-8.38714373e-03 -9.99955057e-01 4.42049735e-03 2.89833750e+02] [ 2.85308240e-01 1.84391679e-03 9.58434040e-01 -1.73835454e+02] [-9.58399115e-01 9.29972836e-03 2.85279952e-01 -3.51981362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.83, Z:-352.01 [[-8.38498607e-03 -9.99958860e-01 3.45977540e-03 2.89834079e+02] [ 2.85140823e-01 9.25279708e-04 9.58485188e-01 -1.73827405e+02] [-9.58448957e-01 9.02340815e-03 2.85121334e-01 -3.52008192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.82, Z:-352.03 [[-8.28863175e-03 -9.99962537e-01 2.49469973e-03 2.89834454e+02] [ 2.84775764e-01 3.10043078e-05 9.58594160e-01 -1.73819993e+02] [-9.58558325e-01 8.65586401e-03 2.84764839e-01 -3.52034180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.81, Z:-352.06 [[-8.42936962e-03 -9.99962312e-01 2.07836635e-03 2.89834716e+02] [ 2.84643053e-01 -4.06985261e-04 9.58633489e-01 -1.73812175e+02] [-9.58596515e-01 8.67226855e-03 2.84635756e-01 -3.52060763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.80, Z:-352.09 [[-8.58711907e-03 -9.99962524e-01 1.10110733e-03 2.89834875e+02] [ 2.84285746e-01 -1.38557338e-03 9.58738596e-01 -1.73804802e+02] [-9.58701140e-01 8.54583159e-03 2.84286990e-01 -3.52086407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.80, Z:-352.11 [[-8.82900187e-03 -9.99960793e-01 6.79426060e-04 2.89834782e+02] [ 2.83581225e-01 -1.85227859e-03 9.58946431e-01 -1.73797305e+02] [-9.58907575e-01 8.65921231e-03 2.83586460e-01 -3.52113841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.78, Z:-352.17 [[-1.44970714e-03 -9.99998896e-01 -3.26610381e-04 2.89833317e+02] [ 2.83142714e-01 -7.23719487e-04 9.59077515e-01 -1.73782400e+02] [-9.59076692e-01 1.29790417e-03 2.83143451e-01 -3.52165024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.78, Z:-352.19 [[-8.01963579e-04 -9.99685456e-01 2.50668198e-02 2.89820904e+02] [ 2.83225624e-01 2.38133581e-02 9.58757618e-01 -1.73782779e+02] [-9.59052972e-01 7.86845437e-03 2.83117440e-01 -3.52194130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.78, Z:-352.22 [[-3.08466493e-04 -9.99709625e-01 2.40950467e-02 2.89820601e+02] [ 2.83012423e-01 2.30226771e-02 9.58839885e-01 -1.73775476e+02] [-9.59116194e-01 7.11496752e-03 2.82923142e-01 -3.52219923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.77, Z:-352.25 [[ 1.50538944e-03 -9.99718683e-01 2.36704316e-02 2.89819237e+02] [ 2.83568980e-01 2.31255901e-02 9.58672958e-01 -1.73768073e+02] [-9.58950660e-01 5.26902399e-03 2.83524020e-01 -3.52246947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.76, Z:-352.27 [[ 2.63991493e-03 -9.99738933e-01 2.26957506e-02 2.89818968e+02] [ 2.83983300e-01 2.25109194e-02 9.58564940e-01 -1.73760513e+02] [-9.58825592e-01 3.91468425e-03 2.83968588e-01 -3.52273154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.75, Z:-352.30 [[ 3.55675269e-03 -9.99745596e-01 2.22731636e-02 2.89818733e+02] [ 2.84394857e-01 2.23648439e-02 9.58446336e-01 -1.73752576e+02] [-9.58700639e-01 2.92541658e-03 2.84402052e-01 -3.52300065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.74, Z:-352.33 [[ 4.60560815e-03 -9.99762534e-01 2.12994033e-02 2.89818599e+02] [ 2.84831602e-01 2.17288668e-02 9.58331266e-01 -1.73744868e+02] [-9.58566506e-01 1.65304486e-03 2.84864038e-01 -3.52326459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.74, Z:-352.35 [[ 6.92160827e-03 -9.99763209e-01 2.06305120e-02 2.89818169e+02] [ 2.86406308e-01 2.17487129e-02 9.57861378e-01 -1.73736771e+02] [-9.58083252e-01 -7.21232459e-04 2.86489025e-01 -3.52353697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.73, Z:-352.38 [[ 7.85417665e-03 -9.99775517e-01 1.96781177e-02 2.89818154e+02] [ 2.87155743e-01 2.11048861e-02 9.57651379e-01 -1.73728679e+02] [-9.57851706e-01 -1.87087860e-03 2.87257043e-01 -3.52380071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.72, Z:-352.41 [[ 1.04980966e-02 -9.99769859e-01 1.87088129e-02 2.89817883e+02] [ 2.87295264e-01 2.09366785e-02 9.57613224e-01 -1.73720379e+02] [-9.57784538e-01 -4.67816275e-03 2.87448941e-01 -3.52407209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.71, Z:-352.43 [[ 1.18935326e-02 -9.99772267e-01 1.77188528e-02 2.89817967e+02] [ 2.87460862e-01 2.03907047e-02 9.57575309e-01 -1.73712292e+02] [-9.57718537e-01 -6.29547652e-03 2.87637915e-01 -3.52432768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.70, Z:-352.46 [[ 1.32270546e-02 -9.99762957e-01 1.72937916e-02 2.89817720e+02] [ 2.87263827e-01 2.03656215e-02 9.57634970e-01 -1.73704071e+02] [-9.57760168e-01 -7.69880930e-03 2.87465110e-01 -3.52459410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.70, Z:-352.49 [[ 1.67734972e-02 -9.99725864e-01 1.63354447e-02 2.89817732e+02] [ 2.86645950e-01 2.04600483e-02 9.57818086e-01 -1.73695442e+02] [-9.57889738e-01 -1.13834699e-02 2.86910556e-01 -3.52485992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.69, Z:-352.51 [[ 1.87037491e-02 -9.99706822e-01 1.53765871e-02 2.89818025e+02] [ 2.86108088e-01 2.00877502e-02 9.57986766e-01 -1.73687599e+02] [-9.58014787e-01 -1.35185782e-02 2.86399924e-01 -3.52512721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.68, Z:-352.54 [[ 2.26290334e-02 -9.99640232e-01 1.43990759e-02 2.89817438e+02] [ 2.86118962e-01 2.02759105e-02 9.57979555e-01 -1.73679377e+02] [-9.57926859e-01 -1.75583027e-02 2.86474850e-01 -3.52540055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.67, Z:-352.57 [[ 2.50375720e-02 -9.99596501e-01 1.34147291e-02 2.89817440e+02] [ 2.86740873e-01 2.00359890e-02 9.57798638e-01 -1.73671407e+02] [-9.57680945e-01 -2.01344012e-02 2.87126826e-01 -3.52565707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.66, Z:-352.59 [[ 2.70374046e-02 -9.99550008e-01 1.29908122e-02 2.89817177e+02] [ 2.86336174e-01 2.01949861e-02 9.57916363e-01 -1.73664159e+02] [-9.57747657e-01 -2.21798328e-02 2.86753345e-01 -3.52591698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.66, Z:-352.62 [[ 2.91075496e-02 -9.99497230e-01 1.25712938e-02 2.89817178e+02] [ 2.86388194e-01 2.03883102e-02 9.57896716e-01 -1.73655887e+02] [-9.57671422e-01 -2.42817561e-02 2.86837660e-01 -3.52618732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.65, Z:-352.65 [[ 3.33672053e-02 -9.99375742e-01 1.16084708e-02 2.89817165e+02] [ 2.86163837e-01 2.06818197e-02 9.57957473e-01 -1.73647775e+02] [-9.57599545e-01 -2.86424392e-02 2.86675292e-01 -3.52645338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.64, Z:-352.67 [[ 3.53078013e-02 -9.99319833e-01 1.06409648e-02 2.89817590e+02] [ 2.86149185e-01 2.03108361e-02 9.57969788e-01 -1.73639907e+02] [-9.57534335e-01 -3.07789035e-02 2.86671687e-01 -3.52671194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.63, Z:-352.70 [[ 3.66273654e-02 -9.99276686e-01 1.02244984e-02 2.89817730e+02] [ 2.85939182e-01 2.02832778e-02 9.58033075e-01 -1.73632029e+02] [-9.57547503e-01 -3.21666428e-02 2.86475282e-01 -3.52698417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.62, Z:-352.72 [[ 3.90713907e-02 -9.99193427e-01 9.26941729e-03 2.89818403e+02] [ 2.85194080e-01 2.00416083e-02 9.58260231e-01 -1.73624063e+02] [-9.57673098e-01 -3.47969770e-02 2.85747104e-01 -3.52724190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.62, Z:-352.75 [[ 3.95884416e-02 -9.99176827e-01 8.85571157e-03 2.89818597e+02] [ 2.85060613e-01 1.97878688e-02 9.58305216e-01 -1.73617100e+02] [-9.57691601e-01 -3.54133955e-02 2.85609329e-01 -3.52749869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.61, Z:-352.78 [[ 4.00056479e-02 -9.99163738e-01 8.44820071e-03 2.89819018e+02] [ 2.85722512e-01 1.95411879e-02 9.58113140e-01 -1.73609061e+02] [-9.57476994e-01 -3.59160958e-02 2.86265331e-01 -3.52776480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.60, Z:-352.80 [[ 4.00709236e-02 -9.99168863e-01 7.47692269e-03 2.89820624e+02] [ 2.86617863e-01 1.86624226e-02 9.57863203e-01 -1.73601965e+02] [-9.57206624e-01 -3.62394436e-02 2.87127465e-01 -3.52802707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.59, Z:-352.83 [[ 3.97108981e-02 -9.99186300e-01 7.05574425e-03 2.89821981e+02] [ 2.87477736e-01 1.81874821e-02 9.57614623e-01 -1.73594425e+02] [-9.56963738e-01 -3.59993674e-02 2.87966057e-01 -3.52828677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.59, Z:-352.86 [[ 3.86348955e-02 -9.99231308e-01 6.64372177e-03 2.89823290e+02] [ 2.88077546e-01 1.75043134e-02 9.57447088e-01 -1.73586476e+02] [-9.56827400e-01 -3.50769611e-02 2.88532380e-01 -3.52855337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.58, Z:-352.88 [[ 3.68949523e-02 -9.99302936e-01 5.69243607e-03 2.89826344e+02] [ 2.88774125e-01 1.61146911e-02 9.57261627e-01 -1.73578543e+02] [-9.56686086e-01 -3.36742938e-02 2.89167382e-01 -3.52880991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.57, Z:-352.91 [[ 3.58250701e-02 -9.99344111e-01 5.28325356e-03 2.89827849e+02] [ 2.88722404e-01 1.54112079e-02 9.57288811e-01 -1.73570423e+02] [-9.56742357e-01 -3.27695451e-02 2.89085141e-01 -3.52907901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.56, Z:-352.93 [[ 3.47140139e-02 -9.99387820e-01 4.34996987e-03 2.89829657e+02] [ 2.88277495e-01 1.41807936e-02 9.57441900e-01 -1.73562356e+02] [-9.56917459e-01 -3.19826530e-02 2.88593290e-01 -3.52934380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.55, Z:-352.96 [[ 3.29553802e-02 -9.99451067e-01 3.39229817e-03 2.89832979e+02] [ 2.88145053e-01 1.27510611e-02 9.57501874e-01 -1.73553604e+02] [-9.57019525e-01 -3.05773644e-02 2.88407097e-01 -3.52961008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-173.55, Z:-352.99 [[ 3.22856138e-02 -9.99475710e-01 2.43796207e-03 2.89834540e+02] [ 2.87440460e-01 1.16211891e-02 9.57728004e-01 -1.73546159e+02] [-9.57254209e-01 -3.02200675e-02 2.87664956e-01 -3.52987044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-173.54, Z:-353.01 [[ 3.12702791e-02 -9.99508911e-01 2.02653297e-03 2.89835931e+02] [ 2.86921971e-01 1.09186913e-02 9.57891729e-01 -1.73538180e+02] [-9.57443446e-01 -2.93720849e-02 2.87122497e-01 -3.53014079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-173.53, Z:-353.04 [[ 2.95055056e-02 -9.99564047e-01 1.06842261e-03 2.89839001e+02] [ 2.85969876e-01 9.46556618e-03 9.58191856e-01 -1.73530404e+02] [-9.57784243e-01 -2.79663985e-02 2.86124493e-01 -3.53039918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-173.52, Z:-353.07 [[ 2.82442526e-02 -9.99600837e-01 6.55185847e-04 2.89840374e+02] [ 2.85505495e-01 8.69524940e-03 9.58337626e-01 -1.73522356e+02] [-9.57960790e-01 -2.68804709e-02 2.85637122e-01 -3.53067293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-173.52, Z:-353.07 [[ 2.67725908e-02 -9.99641507e-01 -2.92647467e-04 2.89843440e+02] [ 2.85137211e-01 7.35600848e-03 9.58458481e-01 -1.73520907e+02] [-9.58112728e-01 -2.57438614e-02 2.85231930e-01 -3.53072802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-173.51, Z:-353.10 [[ 2.53515696e-02 -9.99677391e-01 1.55321110e-03 2.89844034e+02] [ 2.85333917e-01 8.72505704e-03 9.58388454e-01 -1.73513614e+02] [-9.58092821e-01 -2.38534678e-02 2.85463060e-01 -3.53099601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.51, Z:-353.13 [[ 2.41831124e-02 -9.99707374e-01 5.86549053e-04 2.89845964e+02] [ 2.85457101e-01 7.46755291e-03 9.58362394e-01 -1.73505507e+02] [-9.58086333e-01 -2.30087509e-02 2.85554158e-01 -3.53127000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.50, Z:-353.13 [[ 2.46577003e-02 -9.99695879e-01 -3.84116162e-04 2.89846370e+02] [ 2.85476562e-01 6.67310244e-03 9.58362459e-01 -1.73504066e+02] [-9.58068437e-01 -2.37406704e-02 2.85554286e-01 -3.53130772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.50, Z:-353.16 [[ 2.37239212e-02 -9.99717717e-01 1.28945922e-03 2.89846736e+02] [ 2.85787473e-01 8.01789932e-03 9.58259481e-01 -1.73497107e+02] [-9.57999319e-01 -2.23651611e-02 2.85897016e-01 -3.53157727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.49, Z:-353.18 [[ 2.29020075e-02 -9.99737664e-01 3.18802101e-04 2.89849359e+02] [ 2.85888348e-01 6.85470376e-03 9.58238418e-01 -1.73489587e+02] [-9.57989223e-01 -2.18544416e-02 2.85970336e-01 -3.53184683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.49, Z:-353.20 [[ 2.45773197e-02 -9.99697710e-01 -6.65908614e-04 2.89850714e+02] [ 2.85931631e-01 6.39127237e-03 9.58228707e-01 -1.73485930e+02] [-9.57934788e-01 -2.37410976e-02 2.86002277e-01 -3.53196693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.48, Z:-353.22 [[ 2.44778092e-02 -9.99687845e-01 5.00486849e-03 2.89848942e+02] [ 2.85978968e-01 1.17993028e-02 9.58163246e-01 -1.73480078e+02] [-9.57923205e-01 -2.20224500e-02 2.86178519e-01 -3.53223839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.47, Z:-353.25 [[ 2.44782160e-02 -9.99692209e-01 4.03787903e-03 2.89850048e+02] [ 2.85658717e-01 1.08651376e-02 9.58269819e-01 -1.73472459e+02] [-9.58018744e-01 -2.23032803e-02 2.85836753e-01 -3.53250170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.47, Z:-353.28 [[ 2.40934746e-02 -9.99703158e-01 3.61937562e-03 2.89851013e+02] [ 2.85355028e-01 1.03469522e-02 9.58366031e-01 -1.73465300e+02] [-9.58118997e-01 -2.20575606e-02 2.85519617e-01 -3.53276471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.46, Z:-353.30 [[ 2.36889185e-02 -9.99714235e-01 3.20681579e-03 2.89851747e+02] [ 2.85057789e-01 9.82912400e-03 9.58459934e-01 -1.73457753e+02] [-9.58217560e-01 -2.17907515e-02 2.85209170e-01 -3.53303712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.45, Z:-353.33 [[ 2.34058668e-02 -9.99723517e-01 2.24845680e-03 2.89852675e+02] [ 2.85342706e-01 8.83602324e-03 9.58384821e-01 -1.73449978e+02] [-9.58139711e-01 -2.17902467e-02 2.85470629e-01 -3.53329390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.44, Z:-353.36 [[ 2.28651815e-02 -9.99736875e-01 1.83446860e-03 2.89853880e+02] [ 2.85650820e-01 8.29160698e-03 9.58297896e-01 -1.73442365e+02] [-9.58060955e-01 -2.13876378e-02 2.85765247e-01 -3.53356429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-173.43, Z:-353.38 [[ 2.25232015e-02 -9.99745928e-01 8.86164799e-04 2.89854928e+02] [ 2.85889619e-01 7.29015570e-03 9.58234825e-01 -1.73434170e+02] [-9.57997824e-01 -2.13291707e-02 2.85981180e-01 -3.53382914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-172.42, Z:-353.21 [[-8.98639394e-02 9.69230293e-01 -2.29166121e-01 2.89285366e+02] [ 2.87990498e-01 -1.94979631e-01 -9.37573686e-01 -1.72424249e+02] [-9.53407544e-01 -1.50251730e-01 -2.61607477e-01 -3.53211321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-173.31, Z:-353.53 [[-4.50556843e-02 -9.76717844e-01 -2.09743267e-01 2.89976562e+02] [ 3.05070963e-01 -2.13379380e-01 9.28116883e-01 -1.73308039e+02] [-9.51263209e-01 -2.21696391e-02 3.07582207e-01 -3.53527914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-173.31, Z:-353.53 [[-4.43193105e-02 -9.77070136e-01 -2.08254048e-01 2.89976188e+02] [ 3.05037578e-01 -2.11738810e-01 9.28503502e-01 -1.73308857e+02] [-9.51308507e-01 -2.23746754e-02 3.07427225e-01 -3.53528219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.54 [[-4.22882079e-02 -9.77466177e-01 -2.06812910e-01 2.89974663e+02] [ 3.04723380e-01 -2.09753754e-01 9.29057062e-01 -1.73304989e+02] [-9.51501639e-01 -2.37325708e-02 3.06726908e-01 -3.53543989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.31, Z:-353.54 [[-4.14123253e-02 -9.78314303e-01 -2.02943698e-01 2.89973162e+02] [ 3.04786535e-01 -2.05806132e-01 9.29918816e-01 -1.73306732e+02] [-9.51519935e-01 -2.33444059e-02 3.06699937e-01 -3.53544806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.31, Z:-353.55 [[-4.07264193e-02 -9.78684448e-01 -2.01291109e-01 2.89972528e+02] [ 3.04874629e-01 -2.04022971e-01 9.30282800e-01 -1.73305624e+02] [-9.51521319e-01 -2.34814647e-02 3.06685183e-01 -3.53551416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.56 [[-4.00918357e-02 -9.79020342e-01 -1.99779418e-01 2.89973206e+02] [ 3.05185882e-01 -2.02383894e-01 9.30538735e-01 -1.73304877e+02] [-9.51448486e-01 -2.36628517e-02 3.06897128e-01 -3.53555149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.57 [[-3.90111565e-02 -9.79371567e-01 -1.98266142e-01 2.89972696e+02] [ 3.05684716e-01 -2.00601584e-01 9.30760903e-01 -1.73302499e+02] [-9.51333266e-01 -2.42968701e-02 3.07204620e-01 -3.53566124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.57 [[-3.87259822e-02 -9.80163599e-01 -1.94369796e-01 2.89971395e+02] [ 3.05944387e-01 -1.96804616e-01 9.31485896e-01 -1.73302480e+02] [-9.51261442e-01 -2.33936420e-02 3.07497003e-01 -3.53572657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.57 [[-3.82186214e-02 -9.80482323e-01 -1.92856818e-01 2.89971515e+02] [ 3.06203880e-01 -1.95204518e-01 9.31737291e-01 -1.73302794e+02] [-9.51198466e-01 -2.34437911e-02 3.07687939e-01 -3.53574242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.59 [[-3.71176513e-02 -9.80852660e-01 -1.91181432e-01 2.89971786e+02] [ 3.06777805e-01 -1.93259564e-01 9.31953926e-01 -1.73298920e+02] [-9.51057127e-01 -2.40582792e-02 3.08077167e-01 -3.53587749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.59 [[-3.64215398e-02 -9.81558033e-01 -1.87662728e-01 2.89970957e+02] [ 3.06654928e-01 -1.89704980e-01 9.32724383e-01 -1.73299096e+02] [-9.51123665e-01 -2.35764423e-02 3.07908956e-01 -3.53592740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.30, Z:-353.60 [[-3.57058848e-02 -9.81871643e-01 -1.86153608e-01 2.89970603e+02] [ 3.06827573e-01 -1.88046474e-01 9.33003411e-01 -1.73298100e+02] [-9.51095122e-01 -2.38033473e-02 3.07979659e-01 -3.53597320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-172.43, Z:-353.44 [[-9.61659927e-02 3.16239795e-01 -9.43792612e-01 2.89855786e+02] [ 3.73008715e-01 -8.67640943e-01 -3.28730425e-01 -1.72428264e+02] [-9.22830754e-01 -3.83655557e-01 -3.45226469e-02 -3.53437594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-173.33, Z:-353.83 [[-4.02117540e-02 -3.46354260e-01 9.37241560e-01 2.89180111e+02] [ 2.73990548e-01 8.98223719e-01 3.43690748e-01 -1.73334806e+02] [-9.60891354e-01 2.70615736e-01 5.87786424e-02 -3.53832763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.22, Z:-353.84 [[-3.20591933e-02 -9.83174946e-01 -1.79831126e-01 2.89951970e+02] [ 3.06572891e-01 -1.80923701e-01 9.34494343e-01 -1.73217257e+02] [-9.51307138e-01 -2.51722134e-02 3.07215053e-01 -3.53843242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.22, Z:-353.85 [[-3.07842718e-02 -9.83429525e-01 -1.78658046e-01 2.89952571e+02] [ 3.06310088e-01 -1.79424638e-01 9.34869472e-01 -1.73217205e+02] [-9.51433896e-01 -2.59454860e-02 3.06757841e-01 -3.53846329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.22, Z:-353.85 [[-3.01513611e-02 -9.83723436e-01 -1.77141460e-01 2.89952737e+02] [ 3.06514784e-01 -1.77783338e-01 9.35115914e-01 -1.73217158e+02] [-9.51388240e-01 -2.61014589e-02 3.06886186e-01 -3.53848271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.22, Z:-353.85 [[-2.97638495e-02 -9.84007535e-01 -1.75622564e-01 2.89952676e+02] [ 3.06736485e-01 -1.76214595e-01 9.35340123e-01 -1.73216005e+02] [-9.51328987e-01 -2.60305254e-02 3.07075837e-01 -3.53854507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.22, Z:-353.86 [[-3.00092786e-02 -9.84275670e-01 -1.74071388e-01 2.89953742e+02] [ 3.07399531e-01 -1.74797756e-01 9.35388301e-01 -1.73216300e+02] [-9.51107234e-01 -2.54391350e-02 3.07811434e-01 -3.53855263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.87 [[-2.84662050e-02 -9.84589126e-01 -1.72551232e-01 2.89952634e+02] [ 3.08127080e-01 -1.72858392e-01 9.35509315e-01 -1.73210809e+02] [-9.50919228e-01 -2.65373072e-02 3.08299195e-01 -3.53874362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.88 [[-2.91313308e-02 -9.85768006e-01 -1.65568127e-01 2.89950980e+02] [ 3.08137370e-01 -1.66427964e-01 9.36671284e-01 -1.73212784e+02] [-9.50895750e-01 -2.37312462e-02 3.08600229e-01 -3.53877467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.88 [[-2.94177827e-02 -9.86011898e-01 -1.64058317e-01 2.89950368e+02] [ 3.08097499e-01 -1.65082656e-01 9.36922434e-01 -1.73212103e+02] [-9.50899850e-01 -2.29837766e-02 3.08644165e-01 -3.53881329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.88 [[-2.97474816e-02 -9.86250525e-01 -1.62557648e-01 2.89949808e+02] [ 3.07886939e-01 -1.63763309e-01 9.37223139e-01 -1.73212143e+02] [-9.50957791e-01 -2.21693485e-02 3.08525201e-01 -3.53883152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.89 [[-2.98499022e-02 -9.86493181e-01 -1.61059578e-01 2.89949145e+02] [ 3.07689036e-01 -1.62375774e-01 9.37529501e-01 -1.73210575e+02] [-9.51018633e-01 -2.15711023e-02 3.08380036e-01 -3.53888842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.716559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.89 [[-3.01102400e-02 -9.86721356e-01 -1.59606824e-01 2.89948672e+02] [ 3.06617339e-01 -1.61098774e-01 9.38100737e-01 -1.73210113e+02] [-9.51356495e-01 -2.06917814e-02 3.07396599e-01 -3.53891602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.90 [[-3.00961959e-02 -9.87011706e-01 -1.57804030e-01 2.89947094e+02] [ 3.06229893e-01 -1.59388672e-01 9.38519315e-01 -1.73208352e+02] [-9.51481724e-01 -2.00784499e-02 3.07049482e-01 -3.53900247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.90 [[-2.97906545e-02 -9.87256347e-01 -1.56324732e-01 2.89946530e+02] [ 3.05689029e-01 -1.57899571e-01 9.38947253e-01 -1.73208307e+02] [-9.51665243e-01 -1.98149023e-02 3.06497366e-01 -3.53900871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-353.90 [[-2.95632901e-02 -9.87525029e-01 -1.54661985e-01 2.89945829e+02] [ 3.05616515e-01 -1.56250013e-01 9.39246762e-01 -1.73207920e+02] [-9.51695622e-01 -1.95000324e-02 3.06423223e-01 -3.53904503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-173.21, Z:-353.91 [[-2.95536170e-02 -9.87763307e-01 -1.53134688e-01 2.89944974e+02] [ 3.05977218e-01 -1.54787183e-01 9.39371529e-01 -1.73206728e+02] [-9.51580015e-01 -1.90938996e-02 3.06807590e-01 -3.53909830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-173.21, Z:-353.91 [[-2.96221247e-02 -9.87998825e-01 -1.51594366e-01 2.89944391e+02] [ 3.06573081e-01 -1.53331673e-01 9.39415959e-01 -1.73206614e+02] [-9.51386081e-01 -1.86472553e-02 3.07435854e-01 -3.53911954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-173.21, Z:-353.92 [[-2.91938435e-02 -9.88243322e-01 -1.50076165e-01 2.89943256e+02] [ 3.06806703e-01 -1.51751958e-01 9.39596185e-01 -1.73206274e+02] [-9.51324007e-01 -1.86139495e-02 3.07629898e-01 -3.53916414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-173.20, Z:-353.92 [[-2.84182878e-02 -9.88498018e-01 -1.48539791e-01 2.89941801e+02] [ 3.07478954e-01 -1.50039408e-01 9.39651462e-01 -1.73204445e+02] [-9.51130430e-01 -1.89695739e-02 3.08206199e-01 -3.53924349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.19, Z:-353.93 [[-2.41556774e-02 -9.86581207e-01 -1.61474535e-01 2.89948288e+02] [ 3.20773652e-01 -1.60630065e-01 9.33435722e-01 -1.73186964e+02] [-9.46847806e-01 -2.92490040e-02 3.20349385e-01 -3.53931866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.96, Z:-353.93 [[-6.36830285e-02 2.98707876e-01 9.52217452e-01 2.88929473e+02] [ 2.11050601e-01 9.36604579e-01 -2.79695381e-01 -1.72964103e+02] [-9.75398439e-01 1.83154217e-01 -1.22688293e-01 -3.53925632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-173.09, Z:-354.03 [[-4.74945275e-02 -9.63206360e-01 -2.64533132e-01 2.89986698e+02] [ 2.47536355e-01 -2.67920776e-01 9.31098389e-01 -1.73088209e+02] [-9.67713812e-01 -2.12594895e-02 2.51153363e-01 -3.54025055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-173.08, Z:-354.05 [[-4.58148938e-02 -9.63860926e-01 -2.62436869e-01 2.89983055e+02] [ 2.48610175e-01 -2.65448388e-01 9.31520335e-01 -1.73083794e+02] [-9.67519497e-01 -2.25669707e-02 2.51787123e-01 -3.54047502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-173.08, Z:-354.07 [[-4.29129476e-02 -9.64556383e-01 -2.60364098e-01 2.89980052e+02] [ 2.49866703e-01 -2.62683914e-01 9.31967699e-01 -1.73079828e+02] [-9.67328853e-01 -2.50628375e-02 2.52283064e-01 -3.54067872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-173.09, Z:-354.07 [[-4.18590500e-02 -9.67500415e-01 -2.49380769e-01 2.89975575e+02] [ 2.50216539e-01 -2.51796803e-01 9.34874352e-01 -1.73085624e+02] [-9.67284603e-01 -2.32662405e-02 2.52624580e-01 -3.54066551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-173.07, Z:-354.07 [[-3.89645383e-02 -9.65008663e-01 -2.59306856e-01 2.89979006e+02] [ 2.61075949e-01 -2.60321621e-01 9.29554734e-01 -1.73071771e+02] [-9.64531552e-01 -3.14791124e-02 2.62083864e-01 -3.54072024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.88, Z:-354.07 [[-7.98637559e-02 3.13774993e-01 9.46132673e-01 2.88927152e+02] [ 1.46261431e-01 9.42580011e-01 -3.00250755e-01 -1.72884130e+02] [-9.86016924e-01 1.14403566e-01 -1.21171159e-01 -3.54071410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.93, Z:-354.17 [[-6.79058158e-02 -9.01461650e-01 -4.27499350e-01 2.90033361e+02] [ 1.88991225e-01 -4.32353023e-01 8.81676347e-01 -1.72934856e+02] [-9.79628050e-01 -2.09226745e-02 1.99727626e-01 -3.54168134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.94, Z:-354.17 [[-6.82287952e-02 -9.02598677e-01 -4.25041715e-01 2.90031962e+02] [ 1.88486618e-01 -4.30024017e-01 8.82922499e-01 -1.72935599e+02] [-9.79702826e-01 -1.98739369e-02 1.99467792e-01 -3.54171981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.94, Z:-354.17 [[-6.86041673e-02 -9.03717968e-01 -4.22595908e-01 2.90030586e+02] [ 1.87894646e-01 -4.27717693e-01 8.84168071e-01 -1.72936756e+02] [-9.79790320e-01 -1.87458945e-02 1.99146984e-01 -3.54173944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-172.21, Z:-354.15 [[-1.11365804e-01 2.45281410e-01 -9.63034105e-01 2.89855961e+02] [ 2.48831235e-01 -9.31310635e-01 -2.65976537e-01 -1.72206162e+02] [-9.62123004e-01 -2.69253657e-01 4.26824814e-02 -3.54154105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-172.96, Z:-354.37 [[-8.82128305e-02 -9.24101557e-01 -3.71826316e-01 2.90007227e+02] [ 2.49023597e-01 -3.81887443e-01 8.90027656e-01 -1.72955107e+02] [-9.64471744e-01 -1.40816679e-02 2.63810466e-01 -3.54368780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-172.85, Z:-354.70 [[-8.54302742e-02 -9.15889606e-01 -3.92234493e-01 2.89981110e+02] [ 2.69591021e-01 -4.00237816e-01 8.75859791e-01 -1.72847431e+02] [-9.59177955e-01 -3.09179552e-02 2.81108040e-01 -3.54703043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.91, Z:-354.37 [[-9.67604747e-02 1.35571718e-01 9.86031298e-01 2.88961693e+02] [ 1.58102478e-01 9.80194868e-01 -1.19254461e-01 -1.72913174e+02] [-9.82670350e-01 1.44354873e-01 -1.16278345e-01 -3.54372552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.81, Z:-354.47 [[-1.04841990e-01 -8.50844884e-01 -5.14850600e-01 2.90037520e+02] [ 1.80946028e-01 -5.25382767e-01 8.31403321e-01 -1.72806982e+02] [-9.77888896e-01 -5.99419294e-03 2.09039177e-01 -3.54472498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.81, Z:-354.48 [[-1.06375547e-01 -8.52001178e-01 -5.12618997e-01 2.90036265e+02] [ 1.80291737e-01 -5.23525782e-01 8.32715825e-01 -1.72806797e+02] [-9.77844125e-01 -3.84036761e-03 2.09299114e-01 -3.54478278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.81, Z:-354.48 [[-1.09772936e-01 -8.52891096e-01 -5.10418144e-01 2.90035627e+02] [ 1.78157699e-01 -5.22088488e-01 8.34076402e-01 -1.72807152e+02] [-9.77859774e-01 6.24093410e-04 2.09260302e-01 -3.54479187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.81, Z:-354.48 [[-1.11174729e-01 -8.54040799e-01 -5.08187459e-01 2.90034700e+02] [ 1.77553769e-01 -5.20199316e-01 8.35384541e-01 -1.72808127e+02] [-9.77811249e-01 2.64305099e-03 2.09471181e-01 -3.54481854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.81, Z:-354.49 [[-1.10664284e-01 -8.55414976e-01 -5.05982841e-01 2.90033531e+02] [ 1.77872435e-01 -5.17936759e-01 8.36721525e-01 -1.72808614e+02] [-9.77811236e-01 2.59478847e-03 2.09471845e-01 -3.54487587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.81, Z:-354.50 [[-1.11789866e-01 -8.56704587e-01 -5.03547691e-01 2.90031876e+02] [ 1.77407328e-01 -5.15788924e-01 8.38145826e-01 -1.72808518e+02] [-9.77767695e-01 4.36315943e-03 2.09645646e-01 -3.54495351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-172.76, Z:-354.60 [[-1.14775497e-01 -8.43375839e-01 -5.24922642e-01 2.90023466e+02] [ 1.99645708e-01 -5.37216702e-01 8.19475324e-01 -1.72758551e+02] [-9.73122899e-01 -1.07428646e-02 2.30035680e-01 -3.54603375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-172.96, Z:-354.54 [[-8.42470413e-02 -9.34560865e-02 9.92052618e-01 2.89025497e+02] [ 1.12586378e-01 9.88323847e-01 1.02665873e-01 -1.72961463e+02] [-9.90064010e-01 1.20340907e-01 -7.27414777e-02 -3.54544562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.64, Z:-354.63 [[-1.05824679e-01 -7.38928273e-01 -6.65421780e-01 2.90042476e+02] [ 1.09088227e-01 -6.73767339e-01 7.30846996e-01 -1.72641241e+02] [-9.88382970e-01 4.75196622e-03 1.51909587e-01 -3.54633296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.65, Z:-354.64 [[-1.03378395e-01 -7.52123407e-01 -6.50863494e-01 2.90038925e+02] [ 1.11399724e-01 -6.59007663e-01 7.43840710e-01 -1.72652055e+02] [-9.88384039e-01 4.39104510e-03 1.51913495e-01 -3.54641001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.65, Z:-354.66 [[-1.00484665e-01 -7.56667789e-01 -6.46031492e-01 2.90035776e+02] [ 1.14165493e-01 -6.53798036e-01 7.48006931e-01 -1.72653600e+02] [-9.88366871e-01 1.40872206e-03 1.52082027e-01 -3.54661499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.66, Z:-354.67 [[-9.87605450e-02 -7.67052507e-01 -6.33937541e-01 2.90032885e+02] [ 1.16141188e-01 -6.41583102e-01 7.58209963e-01 -1.72661904e+02] [-9.88310467e-01 1.25497022e-03 1.52449486e-01 -3.54669579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.66, Z:-354.68 [[-9.53459300e-02 -7.70104140e-01 -6.30752540e-01 2.90030250e+02] [ 1.20120154e-01 -6.37909970e-01 7.60685230e-01 -1.72663899e+02] [-9.88170179e-01 -3.23785131e-03 1.53327147e-01 -3.54680648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.67, Z:-354.69 [[-9.29123217e-02 -7.75116973e-01 -6.24948781e-01 2.90027624e+02] [ 1.22395669e-01 -6.31794894e-01 7.65411335e-01 -1.72667779e+02] [-9.88122766e-01 -5.37488010e-03 1.53572491e-01 -3.54692646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.67, Z:-354.70 [[-9.08254210e-02 -7.79842927e-01 -6.19351073e-01 2.90025288e+02] [ 1.24704548e-01 -6.25932508e-01 7.69842368e-01 -1.72671365e+02] [-9.88028096e-01 -7.31463857e-03 1.54100543e-01 -3.54700351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-172.13, Z:-354.67 [[-1.62327550e-01 9.67577147e-01 1.93505121e-01 2.89022421e+02] [ 8.01461478e-02 2.08386925e-01 -9.74757141e-01 -1.72133251e+02] [-9.83476671e-01 -1.42721248e-01 -1.11374520e-01 -3.54673474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-172.45, Z:-354.89 [[-1.57232958e-01 -5.32570346e-01 -8.31652947e-01 2.90046239e+02] [ 1.16793547e-01 -8.46245691e-01 5.19834105e-01 -1.72451342e+02] [-9.80630952e-01 -1.53966437e-02 1.95258493e-01 -3.54885555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-172.46, Z:-354.90 [[-1.54388885e-01 -5.41404501e-01 -8.26465509e-01 2.90044728e+02] [ 1.20503192e-01 -8.40568391e-01 5.28132333e-01 -1.72456527e+02] [-9.80634006e-01 -1.80539698e-02 1.95015387e-01 -3.54897288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-172.02, Z:-354.84 [[-2.38661691e-01 9.70112012e-01 -4.38552456e-02 2.89133581e+02] [ 8.71162116e-02 -2.35900199e-02 -9.95918810e-01 -1.72022059e+02] [-9.67187346e-01 -2.41508170e-01 -7.88824492e-02 -3.54843278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.36, Z:-355.08 [[-2.20663415e-01 -4.20672976e-01 -8.79966991e-01 2.90030233e+02] [ 1.26011241e-01 -9.06941032e-01 4.01969069e-01 -1.72359344e+02] [-9.67175695e-01 -2.21858653e-02 2.53138229e-01 -3.55079783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.36, Z:-355.09 [[-2.18100696e-01 -4.27218669e-01 -8.77448742e-01 2.90027763e+02] [ 1.28577230e-01 -9.03834727e-01 4.08106216e-01 -1.72362190e+02] [-9.67419238e-01 -2.38116790e-02 2.52057575e-01 -3.55092679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.36, Z:-355.10 [[-2.17060966e-01 -4.29735028e-01 -8.76477235e-01 2.90026930e+02] [ 1.30446508e-01 -9.02600902e-01 4.10238126e-01 -1.72362964e+02] [-9.67402835e-01 -2.52867109e-02 2.51976857e-01 -3.55097199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-172.36, Z:-355.10 [[-2.15871138e-01 -4.32582392e-01 -8.75369708e-01 2.90026535e+02] [ 1.32936382e-01 -9.01180696e-01 4.12554569e-01 -1.72363776e+02] [-9.67330125e-01 -2.73098575e-02 2.52044840e-01 -3.55101454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-172.36, Z:-355.11 [[-2.15859512e-01 -4.34964129e-01 -8.74191556e-01 2.90023624e+02] [ 1.34534625e-01 -9.00008724e-01 4.14589834e-01 -1.72363146e+02] [-9.67111734e-01 -2.81158740e-02 2.52793180e-01 -3.55114643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-172.36, Z:-355.11 [[-2.15439630e-01 -4.37313829e-01 -8.73122203e-01 2.90024251e+02] [ 1.35829963e-01 -8.98846854e-01 4.16682798e-01 -1.72364314e+02] [-9.67024295e-01 -2.88261683e-02 2.53047555e-01 -3.55114574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-172.00, Z:-355.05 [[-3.19535073e-01 9.45271415e-01 -6.60249171e-02 2.89120077e+02] [ 9.00451090e-02 -3.90718582e-02 -9.95170974e-01 -1.71998690e+02] [-9.43286391e-01 -3.23937250e-01 -7.26322386e-02 -3.55049713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-172.28, Z:-355.35 [[-2.85605604e-01 -3.46325138e-01 -8.93581746e-01 2.89975836e+02] [ 1.53530130e-01 -9.36911326e-01 3.14047237e-01 -1.72275036e+02] [-9.45969311e-01 -4.74980712e-02 3.20758469e-01 -3.55352172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.216559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.85, Z:-355.18 [[-2.58664334e-01 -9.22772130e-02 9.61549623e-01 2.88990791e+02] [ 1.27641083e-02 9.95013297e-01 9.89222721e-02 -1.72845416e+02] [-9.65882933e-01 3.78609871e-02 -2.56196615e-01 -3.55183579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-172.14, Z:-355.42 [[-2.85862092e-01 -1.59633888e-01 -9.44880885e-01 2.89909784e+02] [ 7.48727500e-02 -9.86733419e-01 1.44052878e-01 -1.72144586e+02] [-9.55341267e-01 -2.95665732e-02 2.94021907e-01 -3.55420368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-172.14, Z:-355.42 [[-2.85751211e-01 -1.61505876e-01 -9.44596262e-01 2.89909640e+02] [ 7.47681410e-02 -9.86448687e-01 1.46043530e-01 -1.72144631e+02] [-9.55382631e-01 -2.88935909e-02 2.93954401e-01 -3.55424642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-171.89, Z:-355.33 [[-3.67452014e-01 8.88379683e-01 -2.75246357e-01 2.89197889e+02] [ 5.41505066e-02 -2.75012230e-01 -9.59914577e-01 -1.71887584e+02] [-9.28464722e-01 -3.67627275e-01 5.29475881e-02 -3.55329054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-171.88, Z:-355.45 [[-4.25549930e-01 8.54791172e-01 -2.97051020e-01 2.89198776e+02] [ 7.48806813e-02 -2.93869248e-01 -9.52908048e-01 -1.71884143e+02] [-9.01831548e-01 -4.27753336e-01 6.10486929e-02 -3.55449145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-172.98, Z:-355.79 [[-3.08820851e-01 -8.92780468e-01 3.27982803e-01 2.89471803e+02] [ 6.67758556e-02 3.23635842e-01 9.43822455e-01 -1.72980044e+02] [-9.48773243e-01 3.13373386e-01 -4.03293163e-02 -3.55791329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-171.86, Z:-355.70 [[-4.23509309e-01 8.56655213e-01 -2.94587357e-01 2.89092736e+02] [ 7.32557427e-02 -2.91739403e-01 -9.53688480e-01 -1.71864376e+02] [-9.02924948e-01 -4.25476165e-01 6.07994388e-02 -3.55704340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-172.96, Z:-356.04 [[-3.11448348e-01 -8.92842003e-01 3.25319971e-01 2.89375372e+02] [ 6.55477751e-02 3.21346748e-01 9.44690297e-01 -1.72959787e+02] [-9.47999692e-01 3.15546232e-01 -4.15591068e-02 -3.56044501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-172.94, Z:-356.15 [[-2.51959656e-01 -9.19215827e-01 3.02586508e-01 2.89325382e+02] [ 4.63672449e-02 3.00848120e-01 9.52544218e-01 -1.72939010e+02] [-9.66626303e-01 2.54032816e-01 -3.31800834e-02 -3.56146174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-172.92, Z:-356.26 [[-1.89857443e-01 -9.44029942e-01 2.69743620e-01 2.89282977e+02] [ 2.85918695e-02 2.69307992e-01 9.62629581e-01 -1.72918725e+02] [-9.81395260e-01 1.90474865e-01 -2.41385458e-02 -3.56263165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-171.83, Z:-356.25 [[-2.98827200e-01 9.27894911e-01 -2.22964881e-01 2.88806637e+02] [ 2.73587593e-02 -2.25214647e-01 -9.73924977e-01 -1.71832926e+02] [-9.53914987e-01 -2.97135316e-01 4.19142089e-02 -3.56249803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-171.83, Z:-356.38 [[-3.59243181e-01 8.97922423e-01 -2.54321959e-01 2.88817933e+02] [ 4.59147538e-02 -2.55178392e-01 -9.65803201e-01 -1.71827748e+02] [-9.32113819e-01 -3.58635344e-01 5.04432102e-02 -3.56375306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-172.90, Z:-356.74 [[-2.52879720e-01 -9.28460688e-01 2.72052565e-01 2.89183722e+02] [ 4.73832928e-02 2.68969412e-01 9.61982473e-01 -1.72904608e+02] [-9.66336728e-01 2.56156605e-01 -2.40233850e-02 -3.56736722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-172.11, Z:-356.56 [[-3.42845061e-01 8.23920547e-01 4.51234082e-01 2.88430478e+02] [-1.63090836e-02 4.75053986e-01 -8.79805503e-01 -1.72110184e+02] [-9.39250381e-01 -3.08996186e-01 -1.49432524e-01 -3.56558652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-171.96, Z:-357.22 [[-3.51193506e-01 -1.09469712e-02 -9.36238904e-01 2.89279164e+02] [ 2.27982851e-02 -9.99735162e-01 3.13751372e-03 -1.71956135e+02] [-9.36025299e-01 -2.02427670e-02 3.51350068e-01 -3.57218568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-172.84, Z:-356.96 [[-2.88601051e-01 -3.67813232e-01 8.83981256e-01 2.88554528e+02] [-7.07987636e-02 9.28937366e-01 3.63404603e-01 -1.72839871e+02] [-9.54828240e-01 4.22941701e-02 -2.94133022e-01 -3.56961784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-171.83, Z:-357.02 [[-3.26164264e-01 2.12265595e-01 -9.21173268e-01 2.89242100e+02] [-5.32009699e-02 -9.77041003e-01 -2.06302051e-01 -1.71831671e+02] [-9.43814881e-01 -1.82810453e-02 3.29968595e-01 -3.57016881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-171.84, Z:-357.03 [[-3.25742800e-01 1.86434862e-01 -9.26894639e-01 2.89250028e+02] [-5.36392584e-02 -9.82430466e-01 -1.78754606e-01 -1.71843059e+02] [-9.43935622e-01 -8.51008470e-03 3.30019878e-01 -3.57032866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-171.84, Z:-357.03 [[-3.24919692e-01 1.84928105e-01 -9.27485197e-01 2.89251729e+02] [-5.41935085e-02 -9.82725434e-01 -1.76957017e-01 -1.71843660e+02] [-9.44187618e-01 -7.23314261e-03 3.29328748e-01 -3.57030482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-171.85, Z:-357.04 [[-3.23619468e-01 1.82886376e-01 -9.28344232e-01 2.89248015e+02] [-5.54667703e-02 -9.83121705e-01 -1.74342053e-01 -1.71846249e+02] [-9.44560150e-01 -4.92822604e-03 3.28301440e-01 -3.57044197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-171.85, Z:-357.18 [[-3.27104683e-01 1.81272792e-01 -9.27438786e-01 2.89198838e+02] [-5.26840102e-02 -9.83400849e-01 -1.73629390e-01 -1.71852805e+02] [-9.43518374e-01 -7.93379216e-03 3.31225201e-01 -3.57183596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-172.88, Z:-356.96 [[-2.53486765e-01 -6.71649925e-01 6.96154321e-01 2.88749970e+02] [-9.91991423e-02 7.33914001e-01 6.71959649e-01 -1.72881378e+02] [-9.62239051e-01 1.01274966e-01 -2.52664582e-01 -3.56964960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-171.76, Z:-357.20 [[-2.82592667e-01 3.94660592e-01 -8.74290799e-01 2.89059327e+02] [-1.07559354e-01 -9.18730217e-01 -3.79954962e-01 -1.71761984e+02] [-9.53190626e-01 -1.33343325e-02 3.02075860e-01 -3.57200446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-172.88, Z:-357.12 [[-2.08190914e-01 -8.12628557e-01 5.44326530e-01 2.88804569e+02] [-1.33909314e-01 5.74961940e-01 8.07147485e-01 -1.72883152e+02] [-9.68878134e-01 9.51503802e-02 -2.28520384e-01 -3.57117422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-171.73, Z:-357.37 [[-2.27556306e-01 5.64763610e-01 -7.93259221e-01 2.88884311e+02] [-1.49875675e-01 -8.25237444e-01 -5.44536908e-01 -1.71728020e+02] [-9.62161842e-01 -5.02254629e-03 2.72432312e-01 -3.57372341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-172.89, Z:-357.35 [[-1.44480558e-01 -8.82800988e-01 4.46976268e-01 2.88805038e+02] [-1.62885362e-01 4.66772229e-01 8.69247977e-01 -1.72891763e+02] [-9.76009082e-01 5.27835417e-02 -2.11234870e-01 -3.57345220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-171.71, Z:-357.46 [[-1.69718967e-01 7.78610393e-01 -6.04120293e-01 2.88665244e+02] [-1.85325293e-01 -6.27292823e-01 -7.56411429e-01 -1.71709119e+02] [-9.67910124e-01 -1.64185965e-02 2.50759689e-01 -3.57461971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.85, Z:-357.53 [[-8.17149765e-02 -9.87039263e-01 1.38116457e-01 2.88933392e+02] [-1.72716261e-01 1.50507394e-01 9.73404653e-01 -1.72847841e+02] [-9.81576159e-01 5.56867802e-02 -1.82776440e-01 -3.57531184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-171.75, Z:-357.59 [[-9.70336692e-02 9.16343116e-01 -3.88458185e-01 2.88468514e+02] [-1.95114659e-01 -4.00240313e-01 -8.95398214e-01 -1.71751188e+02] [-9.75968615e-01 -1.10898879e-02 2.17628761e-01 -3.57588637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-171.78, Z:-357.79 [[-1.01522931e-01 8.96532854e-01 -4.31186661e-01 2.88477190e+02] [-1.90364775e-01 -4.42924079e-01 -8.76116152e-01 -1.71780529e+02] [-9.76449869e-01 -6.86312819e-03 2.15635226e-01 -3.57788002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-172.89, Z:-357.69 [[-4.97851567e-02 -4.47511951e-01 8.92891086e-01 2.88337425e+02] [-2.50309585e-01 8.71058707e-01 4.22613110e-01 -1.72886872e+02] [-9.66884973e-01 -2.02459337e-01 -1.55382325e-01 -3.57693774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-172.41, Z:-357.99 [[-1.59823416e-02 -6.08687079e-01 -7.93249396e-01 2.89164766e+02] [-1.78871913e-01 -7.78812010e-01 6.01212685e-01 -1.72408830e+02] [-9.83742550e-01 1.51498823e-01 -9.64297823e-02 -3.57989563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-171.94, Z:-358.10 [[-3.63773939e-02 9.97546285e-01 -5.98171799e-02 2.88222633e+02] [-1.94903248e-01 -6.57894034e-02 -9.78613549e-01 -1.71941361e+02] [-9.80147647e-01 -2.39408480e-02 1.96818258e-01 -3.58097238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-172.94, Z:-357.79 [[ 3.57882730e-02 -6.04646128e-01 7.95689801e-01 2.88400086e+02] [-2.48645062e-01 7.65774953e-01 5.93097256e-01 -1.72939552e+02] [-9.67933279e-01 -2.19070266e-01 -1.22936511e-01 -3.57794098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-171.96, Z:-358.08 [[ 6.76665150e-03 9.98046936e-01 6.21009420e-02 2.88149164e+02] [-2.49241345e-01 6.18257216e-02 -9.66465898e-01 -1.71957829e+02] [-9.68417763e-01 -8.93838442e-03 2.49172914e-01 -3.58082009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-172.89, Z:-357.84 [[ 1.12392267e-01 -9.81152722e-01 1.57185604e-01 2.88837422e+02] [-2.41380679e-01 1.26491045e-01 9.62151435e-01 -1.72890383e+02] [-9.63900071e-01 -1.46079948e-01 -2.22614695e-01 -3.57836099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-172.11, Z:-358.15 [[ 8.54734280e-02 9.37017296e-01 3.38663373e-01 2.88048031e+02] [-2.66773907e-01 3.49019559e-01 -8.98341266e-01 -1.72113783e+02] [-9.59961445e-01 -1.35622438e-02 2.79803664e-01 -3.58154928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-172.74, Z:-357.89 [[ 1.80901515e-01 -9.50760719e-01 -2.51651938e-01 2.89025189e+02] [-2.11729004e-01 -2.87522042e-01 9.34078104e-01 -1.72741232e+02] [-9.60440248e-01 -1.15694130e-01 -2.53316793e-01 -3.57894609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-172.56, Z:-357.93 [[ 2.34962089e-01 -7.82786952e-01 -5.76226869e-01 2.89113539e+02] [-1.62061034e-01 -6.16074213e-01 7.70836419e-01 -1.72555702e+02] [-9.58399206e-01 -8.77334132e-02 -2.71613347e-01 -3.57925279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-172.41, Z:-357.95 [[ 2.76547914e-01 -5.90837077e-01 -7.57913451e-01 2.89130460e+02] [-1.00534955e-01 -8.02131173e-01 5.88624077e-01 -1.72414283e+02] [-9.55726935e-01 -8.65859654e-02 -2.81227482e-01 -3.57951335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-172.28, Z:-357.98 [[ 3.00128549e-01 -3.64975588e-01 -8.81314742e-01 2.89111061e+02] [-3.26613983e-02 -9.27298193e-01 3.72895822e-01 -1.72279593e+02] [-9.53339440e-01 -8.31317099e-02 -2.90229274e-01 -3.57978031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-172.16, Z:-358.00 [[ 3.07672485e-01 -1.21097444e-01 -9.43754762e-01 2.89060647e+02] [ 4.20060985e-02 -9.89172198e-01 1.40619524e-01 -1.72156640e+02] [-9.50564638e-01 -8.29082139e-02 -2.99254237e-01 -3.58004780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.06, Z:-358.03 [[ 2.96674493e-01 1.23111941e-01 -9.47009871e-01 2.88982789e+02] [ 1.14375333e-01 -9.89098202e-01 -9.27525237e-02 -1.72055213e+02] [-9.48104703e-01 -8.07972611e-02 -3.07521177e-01 -3.58027347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-171.98, Z:-358.05 [[ 2.69753388e-01 3.54385390e-01 -8.95345802e-01 2.88885887e+02] [ 1.82521752e-01 -9.31776069e-01 -3.13813907e-01 -1.71976589e+02] [-9.45472855e-01 -7.87677197e-02 -3.16032793e-01 -3.58049435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-171.92, Z:-358.07 [[ 2.29921163e-01 5.59963434e-01 -7.95975635e-01 2.88775432e+02] [ 2.40874921e-01 -8.25182982e-01 -5.10932793e-01 -1.71923988e+02] [-9.42929229e-01 -7.42563065e-02 -3.24608179e-01 -3.58072234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-171.90, Z:-358.10 [[ 1.77115071e-01 7.32092186e-01 -6.57777534e-01 2.88661066e+02] [ 2.91677529e-01 -6.77363926e-01 -6.75353486e-01 -1.71899970e+02] [-9.39975782e-01 -7.22436453e-02 -3.33506199e-01 -3.58095680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-171.89, Z:-358.12 [[ 1.17018564e-01 8.77585291e-01 -4.64920114e-01 2.88524043e+02] [ 3.29105107e-01 -4.75951376e-01 -8.15573489e-01 -1.71894834e+02] [-9.37014666e-01 -5.75703455e-02 -3.44512948e-01 -3.58121324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-171.96, Z:-358.17 [[ 4.53223490e-02 9.89164559e-01 -1.39640112e-01 2.88329093e+02] [ 3.42792085e-01 -1.46695873e-01 -9.27886796e-01 -1.71955872e+02] [-9.38317362e-01 -5.81351602e-03 -3.45726383e-01 -3.58166488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-171.97, Z:-358.17 [[-3.07935568e-02 9.94008407e-01 -1.04876324e-01 2.88319667e+02] [ 3.51709146e-01 -8.74400029e-02 -9.32016589e-01 -1.71965943e+02] [-9.35602712e-01 -6.55860680e-02 -3.46909259e-01 -3.58171193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-172.82, Z:-358.53 [[-4.68784195e-02 -9.94274653e-01 -9.60225398e-02 2.89028801e+02] [ 3.70599459e-01 -1.06579239e-01 9.22657524e-01 -1.72816673e+02] [-9.27608999e-01 7.66682521e-03 3.73473915e-01 -3.58532877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-172.82, Z:-358.54 [[-4.58647968e-02 -9.94437442e-01 -9.48187427e-02 2.89026377e+02] [ 3.70663591e-01 -1.05083991e-01 9.22803260e-01 -1.72816077e+02] [-9.27634046e-01 7.17832831e-03 3.73421409e-01 -3.58536467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-172.82, Z:-358.54 [[-4.46130171e-02 -9.94584741e-01 -9.38662484e-02 2.89024921e+02] [ 3.70559992e-01 -1.03731878e-01 9.22997828e-01 -1.72816677e+02] [-9.27736477e-01 6.39464162e-03 3.73181105e-01 -3.58537615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-172.82, Z:-358.54 [[-4.27897757e-02 -9.94756950e-01 -9.28851189e-02 2.89022999e+02] [ 3.71234540e-01 -1.02144620e-01 9.22903783e-01 -1.72816855e+02] [-9.27552668e-01 5.00868151e-03 3.73658884e-01 -3.58539152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-172.82, Z:-358.55 [[-3.81013352e-02 -9.95036873e-01 -9.19233933e-02 2.89019598e+02] [ 3.71751849e-01 -9.95019269e-02 9.22984252e-01 -1.72816035e+02] [-9.27549918e-01 9.94240951e-04 3.73697954e-01 -3.58547013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-172.81, Z:-358.56 [[-3.51186099e-02 -9.95257219e-01 -9.07179803e-02 2.89017370e+02] [ 3.72021976e-01 -9.72692045e-02 9.23113401e-01 -1.72813499e+02] [-9.27559342e-01 -1.33062287e-03 3.73673516e-01 -3.58555685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-172.81, Z:-358.56 [[-2.85269881e-02 -9.95556188e-01 -8.97445684e-02 2.89014410e+02] [ 3.72844143e-01 -9.38993514e-02 9.23130628e-01 -1.72812753e+02] [-9.27455366e-01 -7.12660022e-03 3.73865959e-01 -3.58559566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-172.81, Z:-358.56 [[-2.22820524e-02 -9.95804263e-01 -8.87546010e-02 2.89011815e+02] [ 3.73980907e-01 -9.06335852e-02 9.22997202e-01 -1.72811350e+02] [-9.27168696e-01 -1.26262541e-02 3.74431284e-01 -3.58563745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-172.81, Z:-358.58 [[-1.57896990e-02 -9.96024469e-01 -8.76695030e-02 2.89008573e+02] [ 3.74623088e-01 -8.71867823e-02 9.23068799e-01 -1.72805660e+02] [-9.27042732e-01 -1.82680415e-02 3.74510416e-01 -3.58579722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.80, Z:-358.59 [[-9.53783485e-03 -9.96351763e-01 -8.48068018e-02 2.89002269e+02] [ 3.74584390e-01 -8.21952649e-02 9.23542351e-01 -1.72804766e+02] [-9.27143767e-01 -2.29587097e-02 3.74001782e-01 -3.58587952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.81, Z:-358.59 [[-6.88475102e-03 -9.96467742e-01 -8.36937288e-02 2.88999552e+02] [ 3.75207875e-01 -8.01548707e-02 9.23468596e-01 -1.72805116e+02] [-9.26915126e-01 -2.50446948e-02 3.74434390e-01 -3.58590583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.80, Z:-358.60 [[-6.12963890e-03 -9.96587637e-01 -8.23134883e-02 2.88998388e+02] [ 3.76003138e-01 -7.85713741e-02 9.23281203e-01 -1.72803693e+02] [-9.26598116e-01 -2.52907495e-02 3.75201692e-01 -3.58596598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.80, Z:-358.60 [[-5.68142540e-03 -9.96680499e-01 -8.12139446e-02 2.88997738e+02] [ 3.76010429e-01 -7.73843615e-02 9.23378480e-01 -1.72802926e+02] [-9.26598014e-01 -2.52911842e-02 3.75201915e-01 -3.58599723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.80, Z:-358.60 [[-5.23318659e-03 -9.96772043e-01 -8.01130901e-02 2.88997088e+02] [ 3.76017157e-01 -7.61961257e-02 9.23474552e-01 -1.72802159e+02] [-9.26597923e-01 -2.52911817e-02 3.75202139e-01 -3.58602848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.80, Z:-358.61 [[-4.83431249e-03 -9.96863678e-01 -7.89901030e-02 2.88996280e+02] [ 3.76667472e-01 -7.49883398e-02 9.23308380e-01 -1.72801980e+02] [-9.26335925e-01 -2.52894411e-02 3.75848639e-01 -3.58605003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.80, Z:-358.61 [[-4.18184383e-03 -9.96953008e-01 -7.78923102e-02 2.88995572e+02] [ 3.76688317e-01 -7.37257735e-02 9.23401550e-01 -1.72800017e+02] [-9.26330624e-01 -2.54796021e-02 3.75848860e-01 -3.58611187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.80, Z:-358.61 [[-3.72560002e-03 -9.97080154e-01 -7.62711393e-02 2.88994696e+02] [ 3.76680754e-01 -7.20529394e-02 9.23536672e-01 -1.72799430e+02] [-9.26335646e-01 -2.52891420e-02 3.75849344e-01 -3.58614376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.80, Z:-358.62 [[-3.17771933e-03 -9.97165478e-01 -7.51725524e-02 2.88994024e+02] [ 3.76692234e-01 -7.08291619e-02 9.23626651e-01 -1.72798061e+02] [-9.26333020e-01 -2.53818904e-02 3.75849567e-01 -3.58619030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.64 [[-8.35569661e-05 -9.97270292e-01 -7.38373774e-02 2.88992704e+02] [ 3.77387680e-01 -6.84089470e-02 9.23525178e-01 -1.72790476e+02] [-9.26055361e-01 -2.77881496e-02 3.76363238e-01 -3.58640891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.65 [[ 1.22484484e-03 -9.97822612e-01 -6.59434259e-02 2.88988829e+02] [ 3.77270385e-01 -6.06093608e-02 9.24117721e-01 -1.72789112e+02] [-9.26102347e-01 -2.60104025e-02 3.76374684e-01 -3.58652446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.66 [[ 7.05375600e-04 -9.98020286e-01 -6.28888837e-02 2.88989036e+02] [ 3.77941469e-01 -5.79583322e-02 9.24013570e-01 -1.72788487e+02] [-9.25829222e-01 -2.44200937e-02 3.77152371e-01 -3.58658019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.66 [[-3.63581894e-04 -9.98105093e-01 -6.15312268e-02 2.88989298e+02] [ 3.78016737e-01 -5.71027163e-02 9.24036052e-01 -1.72787639e+02] [-9.25798690e-01 -2.29238708e-02 3.77321192e-01 -3.58660753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.66 [[-1.68125067e-03 -9.98170237e-01 -6.04429592e-02 2.88989922e+02] [ 3.77552573e-01 -5.66031308e-02 9.24256534e-01 -1.72786614e+02] [-9.25986624e-01 -2.12664878e-02 3.76956905e-01 -3.58664420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.67 [[-5.49976614e-03 -9.98234824e-01 -5.91353360e-02 2.88991827e+02] [ 3.75523432e-01 -5.68697929e-02 9.25066473e-01 -1.72785594e+02] [-9.26796582e-01 -1.71190551e-02 3.75173338e-01 -3.58666080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.79, Z:-358.67 [[-9.81017410e-03 -9.98266157e-01 -5.80382638e-02 2.88994305e+02] [ 3.75215869e-01 -5.74749099e-02 9.25153872e-01 -1.72785446e+02] [-9.26885544e-01 -1.27009570e-02 3.75129143e-01 -3.58665555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.79, Z:-358.67 [[-1.19708810e-02 -9.98314163e-01 -5.67937477e-02 2.88995247e+02] [ 3.75963352e-01 -5.71238674e-02 9.24872111e-01 -1.72785590e+02] [-9.26557206e-01 -1.02808338e-02 3.76013362e-01 -3.58666529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.79, Z:-358.67 [[-1.36723602e-02 -9.98353840e-01 -5.57016815e-02 2.88995909e+02] [ 3.75786888e-01 -5.67535153e-02 9.24966623e-01 -1.72785391e+02] [-9.26605246e-01 -8.28548469e-03 3.75944237e-01 -3.58668011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.78, Z:-358.67 [[-1.46653471e-02 -9.98399581e-01 -5.46187156e-02 2.88996398e+02] [ 3.75405542e-01 -5.61263140e-02 9.25159725e-01 -1.72783350e+02] [-9.26744629e-01 -6.93638005e-03 3.75627848e-01 -3.58673733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.78, Z:-358.67 [[-1.61003898e-02 -9.98456114e-01 -5.31616919e-02 2.88996393e+02] [ 3.74714924e-01 -5.53189847e-02 9.25488269e-01 -1.72783723e+02] [-9.27000271e-01 -5.01975744e-03 3.75027064e-01 -3.58674448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.78, Z:-358.68 [[-1.87648133e-02 -9.98472572e-01 -5.19654235e-02 2.88996491e+02] [ 3.73661659e-01 -5.52118699e-02 9.25920415e-01 -1.72783775e+02] [-9.27375246e-01 -2.04276260e-03 3.74126958e-01 -3.58675363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.78, Z:-358.68 [[-1.93652398e-02 -9.98517108e-01 -5.08780135e-02 2.88995727e+02] [ 3.73554509e-01 -5.44282352e-02 9.26010041e-01 -1.72782760e+02] [-9.27406069e-01 -1.07330483e-03 3.74054584e-01 -3.58678627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.78, Z:-358.68 [[-2.05561377e-02 -9.98547886e-01 -4.97952232e-02 2.88994426e+02] [ 3.73228847e-01 -5.38694101e-02 9.26174019e-01 -1.72783156e+02] [-9.27511549e-01 4.53546950e-04 3.73794223e-01 -3.58680397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.78, Z:-358.68 [[-2.10067428e-02 -9.98591952e-01 -4.87117080e-02 2.88993825e+02] [ 3.72985213e-01 -5.30325282e-02 9.26320453e-01 -1.72782762e+02] [-9.27599454e-01 1.29022876e-03 3.73574072e-01 -3.58684118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.78, Z:-358.69 [[-2.14142129e-02 -9.98635897e-01 -4.76211756e-02 2.88993314e+02] [ 3.73117512e-01 -5.21734427e-02 9.26315958e-01 -1.72782116e+02] [-9.27536929e-01 2.06803256e-03 3.73725794e-01 -3.58686780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.78, Z:-358.69 [[-2.11402195e-02 -9.98692894e-01 -4.65359595e-02 2.88992530e+02] [ 3.73020264e-01 -5.10641774e-02 9.26416932e-01 -1.72781306e+02] [-9.27582327e-01 2.22580137e-03 3.73612195e-01 -3.58689245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.736559995 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.60, Z:-359.23 [[-2.36879042e-02 -9.99702952e-01 -5.73509063e-03 2.88959915e+02] [ 3.49359914e-01 -1.36528038e-02 9.36889135e-01 -1.72604364e+02] [-9.36689134e-01 2.01893293e-02 3.49579543e-01 -3.59229323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-172.09, Z:-358.54 [[-2.04548655e-02 -1.21515129e-01 -9.92378795e-01 2.89118605e+02] [ 4.26263263e-01 -8.98911104e-01 1.01284048e-01 -1.72092079e+02] [-9.04367862e-01 -4.20942871e-01 7.01845413e-02 -3.58538668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-172.09, Z:-358.65 [[-1.04661673e-02 -1.46038812e-01 -9.89223496e-01 2.89120286e+02] [ 4.86222005e-01 -8.65194371e-01 1.22584106e-01 -1.72089023e+02] [-8.73772637e-01 -4.79699246e-01 8.00625531e-02 -3.58645824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.72, Z:-359.03 [[-1.33301293e-03 -9.99998738e-01 8.64442472e-04 2.88954314e+02] [ 4.95664012e-01 9.00542718e-05 8.68514352e-01 -1.72723774e+02] [-8.68513334e-01 1.58621388e-03 4.95663266e-01 -3.59032072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.71, Z:-359.06 [[-7.71140465e-04 -9.99999636e-01 3.65546280e-04 2.88954350e+02] [ 4.95062202e-01 -6.41548787e-05 8.68857533e-01 -1.72710345e+02] [-8.68857193e-01 8.50979345e-04 4.95062071e-01 -3.59055435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.70, Z:-359.08 [[-3.94717168e-04 -9.99999911e-01 1.51423262e-04 2.88954346e+02] [ 4.94644917e-01 -6.36436202e-05 8.69095163e-01 -1.72696569e+02] [-8.69095076e-01 4.17947526e-04 4.94644897e-01 -3.59079831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.69, Z:-359.08 [[ 2.10777995e-03 -9.99997718e-01 -3.47393344e-04 2.88953368e+02] [ 4.94332517e-01 7.39966352e-04 8.69272578e-01 -1.72694311e+02] [-8.69270337e-01 -2.00396314e-03 4.94332949e-01 -3.59083918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.68, Z:-359.11 [[ 3.11277483e-03 -9.99994863e-01 -7.65278536e-04 2.88953087e+02] [ 4.93966878e-01 8.72217547e-04 8.69480283e-01 -1.72680781e+02] [-8.69475149e-01 -3.08451859e-03 4.93967055e-01 -3.59108627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.976559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.67, Z:-359.13 [[ 7.93166273e-03 -9.99955656e-01 5.07680041e-03 2.88949454e+02] [ 4.94390202e-01 8.33446149e-03 8.69200129e-01 -1.72669609e+02] [-8.69203898e-01 -4.38428189e-03 4.94434385e-01 -3.59134491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.67, Z:-359.13 [[ 1.13429285e-02 -9.99935598e-01 -3.71314938e-04 2.88952020e+02] [ 4.94380534e-01 5.28530554e-03 8.69229517e-01 -1.72667526e+02] [-8.69171574e-01 -1.00431792e-02 4.94408646e-01 -3.59134553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.036559995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.65, Z:-359.16 [[ 1.42089386e-02 -9.99898999e-01 3.14477758e-04 2.88951658e+02] [ 4.94434192e-01 7.29946151e-03 8.69184415e-01 -1.72654082e+02] [-8.69098922e-01 -1.21946995e-02 4.94487971e-01 -3.59158814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.65, Z:-359.16 [[ 2.09913089e-02 -9.99779640e-01 -1.90287477e-04 2.88951900e+02] [ 4.94174738e-01 1.02102071e-02 8.69302640e-01 -1.72650672e+02] [-8.69109138e-01 -1.83418355e-02 4.94280168e-01 -3.59163626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.096559995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.64, Z:-359.19 [[ 2.69781029e-02 -9.99635902e-01 4.96351523e-04 2.88950514e+02] [ 4.94782890e-01 1.37846061e-02 8.68907289e-01 -1.72637411e+02] [-8.68597763e-01 -2.31958840e-02 4.94974622e-01 -3.59187156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.62, Z:-359.21 [[ 2.93728329e-02 -9.99568513e-01 1.54268296e-04 2.88950157e+02] [ 4.95186261e-01 1.46853670e-02 8.68662712e-01 -1.72623752e+02] [-8.68290161e-01 -2.54386932e-02 4.95403945e-01 -3.59211986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.156559995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.63, Z:-359.22 [[ 3.39862072e-02 -9.99416255e-01 3.47675391e-03 2.88947002e+02] [ 4.92354935e-01 1.97701844e-02 8.70169959e-01 -1.72627037e+02] [-8.69730737e-01 -2.78619796e-02 4.92739439e-01 -3.59216935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.62, Z:-359.24 [[ 3.48124556e-02 -9.99306023e-01 1.32501061e-02 2.88942009e+02] [ 4.90622241e-01 2.86391786e-02 8.70901610e-01 -1.72618603e+02] [-8.70676697e-01 -2.38174269e-02 4.91278760e-01 -3.59244957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2165599949999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.60, Z:-359.27 [[ 3.81168106e-02 -9.99273253e-01 2.71603802e-04 2.88949582e+02] [ 4.96652836e-01 1.91804422e-02 8.67737328e-01 -1.72601287e+02] [-8.67111913e-01 -3.29404866e-02 4.97022993e-01 -3.59266202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.58, Z:-359.29 [[ 3.77933194e-02 -9.99242005e-01 -9.33170686e-03 2.88954106e+02] [ 4.97182761e-01 1.07022985e-02 8.67579831e-01 -1.72584331e+02] [-8.66822339e-01 -3.74282855e-02 4.97210374e-01 -3.59289582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.276559995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.60, Z:-359.29 [[ 3.28222190e-02 -9.99413910e-01 9.72308340e-03 2.88943544e+02] [ 4.88035970e-01 2.45159796e-02 8.72479145e-01 -1.72597851e+02] [-8.72206165e-01 -2.38914871e-02 4.88554606e-01 -3.59289802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.59, Z:-359.29 [[ 3.32078204e-02 -9.99282278e-01 -1.82255422e-02 2.88956830e+02] [ 4.88853654e-01 3.34665820e-04 8.72365745e-01 -1.72588276e+02] [-8.71733529e-01 -3.78789879e-02 4.88513906e-01 -3.59287220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3365599949999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.59, Z:-359.29 [[ 3.36161370e-02 -9.99294677e-01 -1.67363148e-02 2.88956059e+02] [ 4.88868544e-01 1.83514949e-03 8.72355535e-01 -1.72587547e+02] [-8.71709529e-01 -3.75070810e-02 4.88585424e-01 -3.59289573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.59, Z:-359.29 [[ 3.40235537e-02 -9.99292514e-01 -1.60271711e-02 2.88955658e+02] [ 4.88904371e-01 2.65510676e-03 8.72333346e-01 -1.72586578e+02] [-8.71673628e-01 -3.75156345e-02 4.88648814e-01 -3.59291793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.396559995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.58, Z:-359.29 [[ 3.55482125e-02 -9.98950932e-01 -2.88679775e-02 2.88962949e+02] [ 4.90641663e-01 -7.72011999e-03 8.71327239e-01 -1.72580097e+02] [-8.70636022e-01 -4.51379583e-02 4.89852510e-01 -3.59290299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.58, Z:-359.32 [[ 3.40753880e-02 -9.99307659e-01 1.49355379e-02 2.88944595e+02] [ 4.90476263e-01 2.97418205e-02 8.70946875e-01 -1.72581817e+02] [-8.70788093e-01 -2.23523258e-02 4.91150151e-01 -3.59322727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4565599949999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.55, Z:-359.34 [[ 3.07211123e-02 -9.99233648e-01 -2.42555050e-02 2.88965224e+02] [ 4.89158386e-01 -6.13221637e-03 8.72173417e-01 -1.72553429e+02] [-8.71653765e-01 -3.86589211e-02 4.88595130e-01 -3.59343912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.56, Z:-359.38 [[ 2.69968456e-02 -9.99292507e-01 2.61850210e-02 2.88939636e+02] [ 4.86578639e-01 3.60183184e-02 8.72893985e-01 -1.72563305e+02] [-8.73219559e-01 -1.08243123e-02 4.87206769e-01 -3.59376732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-172.49, Z:-359.38 [[ 2.92604114e-02 -9.94855959e-01 -9.69816943e-02 2.89005456e+02] [ 5.00436633e-01 -6.94079493e-02 8.62986508e-01 -1.72490741e+02] [-8.65278571e-01 -7.37845328e-02 4.95831461e-01 -3.59376910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.54, Z:-359.43 [[ 2.33224080e-02 -9.98757048e-01 4.40502409e-02 2.88936892e+02] [ 4.89751475e-01 4.98270806e-02 8.70437105e-01 -1.72535543e+02] [-8.71550089e-01 1.27298112e-03 4.90304825e-01 -3.59430218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5765599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.50, Z:-359.45 [[ 1.70021627e-02 -9.99669753e-01 -1.92694306e-02 2.88972702e+02] [ 4.92379076e-01 -8.40222775e-03 8.70340306e-01 -1.72500169e+02] [-8.70214785e-01 -2.42855320e-02 4.92073613e-01 -3.59445618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.49, Z:-359.47 [[ 9.54541722e-03 -9.99907365e-01 -9.70289337e-03 2.88971780e+02] [ 4.91826924e-01 -3.75381724e-03 8.70684895e-01 -1.72489847e+02] [-8.70640662e-01 -1.30831948e-02 4.91745532e-01 -3.59472459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.45, Z:-359.48 [[ 9.42279329e-03 -9.98383154e-01 -5.60561208e-02 2.88999696e+02] [ 5.00575577e-01 -4.38192045e-02 8.64583119e-01 -1.72446557e+02] [-8.65641556e-01 -3.62071130e-02 4.99353324e-01 -3.59484196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.45, Z:-359.52 [[ 5.73695936e-03 -9.99980582e-01 2.43365554e-03 2.88975063e+02] [ 4.99731786e-01 4.97498704e-03 8.66165914e-01 -1.72452111e+02] [-8.66161203e-01 -3.75298362e-03 4.99750624e-01 -3.59520446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.44, Z:-359.55 [[-7.25604485e-04 -9.99912742e-01 1.31902252e-02 2.88973711e+02] [ 4.99418057e-01 1.10651518e-02 8.66290464e-01 -1.72441897e+02] [-8.66360825e-01 7.21602086e-03 4.99366449e-01 -3.59546676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.43, Z:-359.57 [[-3.95619772e-03 -9.99926226e-01 1.14843831e-02 2.88976407e+02] [ 4.99463209e-01 7.97351577e-03 8.66298405e-01 -1.72427060e+02] [-8.66326065e-01 9.16327460e-03 4.99394817e-01 -3.59571017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.756559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.41, Z:-359.60 [[-7.36825240e-03 -9.99880331e-01 1.36027014e-02 2.88976458e+02] [ 5.00049199e-01 8.09586394e-03 8.65959154e-01 -1.72413081e+02] [-8.65965651e-01 1.31826256e-02 4.99929706e-01 -3.59595091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.40, Z:-359.62 [[-1.17803969e-02 -9.99892141e-01 8.77089507e-03 2.88981165e+02] [ 4.97855361e-01 1.74188590e-03 8.67258327e-01 -1.72397764e+02] [-8.67180063e-01 1.45832845e-02 4.97781142e-01 -3.59619056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.38, Z:-359.64 [[-1.29538435e-02 -9.99886225e-01 7.72882246e-03 2.88982559e+02] [ 4.97156383e-01 2.65941430e-04 8.67660913e-01 -1.72383245e+02] [-8.67564251e-01 1.50819771e-02 4.97096374e-01 -3.59643534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.37, Z:-359.67 [[-1.39799098e-02 -9.99890280e-01 4.89794616e-03 2.88984576e+02] [ 4.96428591e-01 -2.68854511e-03 8.68073399e-01 -1.72369587e+02] [-8.67964986e-01 1.45670683e-02 4.96411708e-01 -3.59666293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.876559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.36, Z:-359.69 [[-1.41464324e-02 -9.99888589e-01 4.76323233e-03 2.88985332e+02] [ 4.95347420e-01 -2.86994522e-03 8.68690219e-01 -1.72355985e+02] [-8.68579767e-01 1.46483223e-02 4.95332832e-01 -3.59690950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.34, Z:-359.71 [[-1.47251461e-02 -9.99890775e-01 1.26787284e-03 2.88985912e+02] [ 4.94436704e-01 -6.17930314e-03 8.69191672e-01 -1.72344244e+02] [-8.69088900e-01 1.34258573e-02 4.94473690e-01 -3.59713556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9365599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.33, Z:-359.74 [[-1.17892996e-02 -9.99918838e-01 -4.83004009e-03 2.88989254e+02] [ 4.95553834e-01 -1.00380300e-02 8.68519220e-01 -1.72326169e+02] [-8.68497213e-01 7.84568839e-03 4.95631956e-01 -3.59737341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.14, Y:-172.30, Z:-359.55 [[ 6.35677020e-03 -3.51879025e-03 9.99973605e-01 2.88137514e+02] [ 4.39322559e-01 8.98329312e-01 3.68369597e-04 -1.72298228e+02] [-8.98306897e-01 4.39308621e-01 7.25635693e-03 -3.59547831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.37, Z:-359.61 [[-6.55703643e-03 -9.99973007e-01 3.31516064e-03 2.88984278e+02] [ 4.35819913e-01 1.26073255e-04 9.00033881e-01 -1.72368056e+02] [-9.00010005e-01 7.34636797e-03 4.35807323e-01 -3.59608724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.35, Z:-359.63 [[-4.42209619e-03 -9.99973933e-01 -5.70777311e-03 2.88987963e+02] [ 4.35636951e-01 -7.06414920e-03 9.00094742e-01 -1.72353364e+02] [-9.00111600e-01 1.49378866e-03 4.35656833e-01 -3.59631972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.34, Z:-359.66 [[-1.78283439e-03 -9.99967080e-01 -7.91587686e-03 2.88987312e+02] [ 4.35833468e-01 -7.90150994e-03 8.99992641e-01 -1.72340100e+02] [-9.00025561e-01 -1.84546624e-03 4.35833208e-01 -3.59659235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.33, Z:-359.69 [[-4.94397630e-04 -9.99998045e-01 1.91458558e-03 2.88982320e+02] [ 4.35937038e-01 1.50755760e-03 8.99975903e-01 -1.72331229e+02] [-8.99977030e-01 1.27958472e-03 4.35935440e-01 -3.59686679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.116559995 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.06, Z:-360.26 [[ 2.19359702e-03 -9.99994749e-01 -2.38557157e-03 2.88983697e+02] [ 4.35250447e-01 -1.19299285e-03 9.00308628e-01 -1.72057624e+02] [-9.00306746e-01 -3.01323542e-03 4.35245544e-01 -3.60256602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.09, Y:-172.09, Z:-359.69 [[-7.05032083e-03 1.48559640e-01 9.88878317e-01 2.88090911e+02] [ 3.65497484e-01 9.20862317e-01 -1.35735709e-01 -1.72093546e+02] [-9.30785626e-01 3.60475557e-01 -6.07905493e-02 -3.59689465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.76 [[-6.22892155e-03 -9.99615714e-01 -2.70115743e-02 2.89001522e+02] [ 3.72835137e-01 -2.73859412e-02 9.27493380e-01 -1.72236506e+02] [-9.27876695e-01 -4.29358051e-03 3.72862447e-01 -3.59758444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.78 [[-5.11567256e-03 -9.99478939e-01 -3.18697326e-02 2.89003888e+02] [ 3.72653681e-01 -3.14799267e-02 9.27436385e-01 -1.72226183e+02] [-9.27956391e-01 -7.13191229e-03 3.72620547e-01 -3.59780354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.236559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.77 [[-3.77578426e-03 -9.99599560e-01 -2.80439421e-02 2.89001535e+02] [ 3.71024194e-01 -2.74427775e-02 9.28217615e-01 -1.72232508e+02] [-9.28615524e-01 -6.90023157e-03 3.70979239e-01 -3.59769667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.77 [[-3.29929159e-03 -9.99713114e-01 -2.37235156e-02 2.88999461e+02] [ 3.70967198e-01 -2.32544391e-02 9.28354765e-01 -1.72235489e+02] [-9.28640109e-01 -5.73773307e-03 3.70937496e-01 -3.59767105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2965599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.77 [[-2.87322849e-03 -9.99736708e-01 -2.27653033e-02 2.88999154e+02] [ 3.70855445e-01 -2.22072773e-02 9.28425051e-01 -1.72233848e+02] [-9.28686160e-01 -5.77505940e-03 3.70821608e-01 -3.59772230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.77 [[-3.29820904e-03 -9.99759390e-01 -2.16860284e-02 2.88998621e+02] [ 3.71059163e-01 -2.13614877e-02 9.28363498e-01 -1.72234909e+02] [-9.28603370e-01 -4.98486268e-03 3.71040337e-01 -3.59772777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.356559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.78 [[-5.17964029e-03 -9.99771917e-01 -2.07191877e-02 2.88998295e+02] [ 3.72074947e-01 -2.11586488e-02 9.27961500e-01 -1.72234405e+02] [-9.28188238e-01 -2.90258390e-03 3.72099678e-01 -3.59778015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.78 [[-6.49888735e-03 -9.99786048e-01 -1.96372645e-02 2.88998204e+02] [ 3.72725384e-01 -2.06444435e-02 9.27712022e-01 -1.72235630e+02] [-9.27918936e-01 -1.29021103e-03 3.72779805e-01 -3.59777017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.416559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.78 [[-8.40605316e-03 -9.99790177e-01 -1.86799275e-02 2.88998319e+02] [ 3.72776602e-01 -2.04671566e-02 9.27695371e-01 -1.72236353e+02] [-9.27883044e-01 8.34816721e-04 3.72870433e-01 -3.59777057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.78 [[-1.06760060e-02 -9.99785954e-01 -1.77219841e-02 2.88998480e+02] [ 3.73196247e-01 -2.04262457e-02 9.27527536e-01 -1.72235914e+02] [-9.27690996e-01 3.28851156e-03 3.73334436e-01 -3.59779001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.79 [[-1.33115966e-02 -9.99770754e-01 -1.67702648e-02 2.88998878e+02] [ 3.72944691e-01 -2.05257370e-02 9.27626515e-01 -1.72233914e+02] [-9.27758082e-01 6.09380875e-03 3.73132425e-01 -3.59785205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.78 [[-1.58285825e-02 -9.99751474e-01 -1.56985945e-02 2.88999354e+02] [ 3.72694934e-01 -2.04683476e-02 9.27728157e-01 -1.72235436e+02] [-9.27818917e-01 8.83383498e-03 3.72926295e-01 -3.59782063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.536559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.79 [[-1.98926734e-02 -9.99693283e-01 -1.47519815e-02 2.88998595e+02] [ 3.71710968e-01 -2.10922391e-02 9.28108870e-01 -1.72233053e+02] [-9.28135356e-01 1.29790933e-02 3.72016539e-01 -3.59788798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.79 [[-2.14195603e-02 -9.99692789e-01 -1.24711340e-02 2.88997204e+02] [ 3.71420775e-01 -1.95381150e-02 9.28259053e-01 -1.72234686e+02] [-9.28217545e-01 1.52508625e-02 3.71725169e-01 -3.59786967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.79 [[-2.40009408e-02 -9.99646918e-01 -1.14014979e-02 2.88996832e+02] [ 3.71703868e-01 -1.95103896e-02 9.28146314e-01 -1.72235600e+02] [-9.28041050e-01 1.80384038e-02 3.72040893e-01 -3.59786072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.24, Z:-359.79 [[-2.49604059e-02 -9.99633774e-01 -1.04544649e-02 2.88996129e+02] [ 3.71729473e-01 -1.89887517e-02 9.28146878e-01 -1.72235174e+02] [-9.28005483e-01 1.92806901e-02 3.72067303e-01 -3.59788521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-172.23, Z:-359.79 [[-2.55797923e-02 -9.99628674e-01 -9.39090910e-03 2.88995446e+02] [ 3.71968700e-01 -1.82370384e-02 9.28066106e-01 -1.72234144e+02] [-9.27892753e-01 2.02466140e-02 3.72297078e-01 -3.59792010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.23, Z:-359.80 [[-2.58336520e-02 -9.99630580e-01 -8.44541949e-03 2.88994775e+02] [ 3.72001430e-01 -1.74545274e-02 9.28068034e-01 -1.72232068e+02] [-9.27872598e-01 2.08336785e-02 3.72314920e-01 -3.59798579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7165599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.23, Z:-359.80 [[-2.61320081e-02 -9.99646480e-01 -4.90239143e-03 2.88991841e+02] [ 3.72312285e-01 -1.42837247e-02 9.27997596e-01 -1.72233406e+02] [-9.27739554e-01 2.24252202e-02 3.72553927e-01 -3.59799532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.23, Z:-359.80 [[-2.58168736e-02 -9.99605137e-01 -1.10932088e-02 2.88993349e+02] [ 3.72184693e-01 -1.99103960e-02 9.27945112e-01 -1.72229590e+02] [-9.27799571e-01 1.98279191e-02 3.72551755e-01 -3.59804035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.23, Z:-359.80 [[-2.52692456e-02 -9.99595988e-01 -1.30125516e-02 2.88992805e+02] [ 3.72682657e-01 -2.14979667e-02 9.27709801e-01 -1.72230753e+02] [-9.27614738e-01 1.85929745e-02 3.73075326e-01 -3.59799710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.23, Z:-359.81 [[-2.42099470e-02 -9.99697667e-01 -4.29568764e-03 2.88986588e+02] [ 3.73243325e-01 -1.30249995e-02 9.27642048e-01 -1.72230541e+02] [-9.27417543e-01 2.08548281e-02 3.73445815e-01 -3.59809717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.23, Z:-359.81 [[-2.32397685e-02 -9.99724305e-01 -3.35072729e-03 2.88985133e+02] [ 3.73064554e-01 -1.17817542e-02 9.27730580e-01 -1.72231123e+02] [-9.27514286e-01 2.03102064e-02 3.73235508e-01 -3.59810362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.23, Z:-359.81 [[-2.14323909e-02 -9.99767956e-01 -2.16475683e-03 2.88982568e+02] [ 3.72976804e-01 -1.00045388e-02 9.27786728e-01 -1.72230467e+02] [-9.27593099e-01 1.90772838e-02 3.73104678e-01 -3.59811579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.23, Z:-359.81 [[-2.06087357e-02 -9.99786874e-01 -1.21957319e-03 2.88980852e+02] [ 3.72438830e-01 -8.80915298e-03 9.28014934e-01 -1.72230474e+02] [-9.27827893e-01 1.86709980e-02 3.72540999e-01 -3.59813878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.23, Z:-359.82 [[-1.92614329e-02 -9.99814444e-01 -2.75005013e-04 2.88979180e+02] [ 3.72419898e-01 -7.42993373e-03 9.28034598e-01 -1.72228814e+02] [-9.27864439e-01 1.77728588e-02 3.72493905e-01 -3.59818976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.22, Z:-359.85 [[-1.89876774e-02 -9.99819302e-01 9.11791740e-04 2.88975750e+02] [ 3.71832568e-01 -6.21496275e-03 9.28279008e-01 -1.72219276e+02] [-9.28105603e-01 1.79648962e-02 3.71883386e-01 -3.59845523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.21, Z:-359.87 [[-1.92493378e-02 -9.99814683e-01 2.49350163e-04 2.88974748e+02] [ 3.71201678e-01 -6.91513975e-03 9.28526518e-01 -1.72208945e+02] [-9.28352722e-01 1.79660798e-02 3.71266000e-01 -3.59870537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.21, Z:-359.87 [[-1.92774900e-02 -9.99814171e-01 -3.88025872e-05 2.88973691e+02] [ 3.71198747e-01 -7.19314602e-03 9.28525578e-01 -1.72207728e+02] [-9.28353310e-01 1.78852391e-02 3.71268433e-01 -3.59872487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.20, Z:-359.90 [[-2.04489759e-02 -9.99790371e-01 1.02596692e-03 2.88970614e+02] [ 3.70583640e-01 -6.62655213e-03 9.28775460e-01 -1.72197615e+02] [-9.28573963e-01 1.93727135e-02 3.70641461e-01 -3.59898409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.19, Z:-359.92 [[-2.14533399e-02 -9.99769787e-01 3.56447779e-04 2.88969528e+02] [ 3.70516079e-01 -7.61949465e-03 9.28794799e-01 -1.72187125e+02] [-9.28578262e-01 2.00578202e-02 3.70594245e-01 -3.59923942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.19, Z:-359.93 [[-2.12752113e-02 -9.99773605e-01 -3.22177917e-04 2.88968609e+02] [ 3.70596354e-01 -8.18559420e-03 9.28757955e-01 -1.72185146e+02] [-9.28550326e-01 1.96401237e-02 3.70686603e-01 -3.59928528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-172.18, Z:-359.95 [[-2.18198703e-02 -9.99761643e-01 7.42324532e-04 2.88966991e+02] [ 3.70755525e-01 -7.40220430e-03 9.28701000e-01 -1.72175108e+02] [-9.28474143e-01 2.05393563e-02 3.70828668e-01 -3.59954656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.16, Z:-359.98 [[-2.22918311e-02 -9.99751504e-01 7.06284740e-05 2.88964058e+02] [ 3.71412205e-01 -8.21592607e-03 9.28431727e-01 -1.72164959e+02] [-9.28200435e-01 2.07226755e-02 3.71503059e-01 -3.59980819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.16, Z:-359.98 [[-2.15829378e-02 -9.99766880e-01 -6.01808529e-04 2.88962654e+02] [ 3.71983415e-01 -8.58909565e-03 9.28199637e-01 -1.72163730e+02] [-9.27988425e-01 1.98094122e-02 3.72082076e-01 -3.59984346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.15, Z:-360.01 [[-2.11971319e-02 -9.99775209e-01 4.61903925e-04 2.88960352e+02] [ 3.72224721e-01 -7.46307528e-03 9.28112633e-01 -1.72154370e+02] [-9.27900554e-01 1.98452580e-02 3.72299244e-01 -3.60009795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.14, Z:-360.04 [[-2.14421048e-02 -9.99770077e-01 1.72781878e-04 2.88960399e+02] [ 3.72217109e-01 -7.82255579e-03 9.28112726e-01 -1.72143719e+02] [-9.27897979e-01 1.99650027e-02 3.72299260e-01 -3.60036306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.14, Z:-360.04 [[-2.05306848e-02 -9.99789125e-01 -4.42811140e-04 2.88959180e+02] [ 3.72620574e-01 -8.06276183e-03 9.27948759e-01 -1.72142058e+02] [-9.27756648e-01 1.88864229e-02 3.72707532e-01 -3.60040011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.13, Z:-360.07 [[-1.92880824e-02 -9.99813691e-01 7.43508326e-04 2.88956061e+02] [ 3.72912460e-01 -6.50411849e-03 9.27843734e-01 -1.72132059e+02] [-9.27666032e-01 1.81735899e-02 3.72968435e-01 -3.60065831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.12, Z:-360.09 [[-1.84091227e-02 -9.99830534e-01 9.12818367e-05 2.88955142e+02] [ 3.72740657e-01 -6.77827578e-03 9.27910803e-01 -1.72121794e+02] [-9.27752934e-01 1.71160483e-02 3.72802272e-01 -3.60090780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.12, Z:-360.09 [[-1.69682388e-02 -9.99855966e-01 -3.54173064e-04 2.88953856e+02] [ 3.72612027e-01 -6.65218760e-03 9.27963375e-01 -1.72119954e+02] [-9.27832074e-01 1.56139350e-02 3.72671234e-01 -3.60094906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.11, Z:-360.12 [[-1.43906455e-02 -9.99896196e-01 7.11274332e-04 2.88950664e+02] [ 3.72493362e-01 -4.70082898e-03 9.28022951e-01 -1.72110151e+02] [-9.27923275e-01 1.36197943e-02 3.72522344e-01 -3.60120242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.10, Z:-360.15 [[-1.31258168e-02 -9.99913789e-01 3.56123148e-04 2.88949370e+02] [ 3.72581316e-01 -4.56034911e-03 9.27988344e-01 -1.72099364e+02] [-9.27906717e-01 1.23132898e-02 3.72609054e-01 -3.60146690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.10, Z:-360.15 [[-1.07753883e-02 -9.99941894e-01 -3.17231717e-04 2.88948420e+02] [ 3.72295106e-01 -4.30629871e-03 9.28104417e-01 -1.72097214e+02] [-9.28051855e-01 9.88258166e-03 3.72319876e-01 -3.60151379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-172.09, Z:-360.18 [[-6.59999384e-03 -9.99977838e-01 8.73341092e-04 2.88945068e+02] [ 3.71702839e-01 -1.64250637e-03 9.28350312e-01 -1.72087322e+02] [-9.28328304e-01 6.45172970e-03 3.71705442e-01 -3.60177748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.08, Z:-360.20 [[-4.55555542e-03 -9.99989601e-01 2.12045533e-04 2.88944165e+02] [ 3.71461945e-01 -1.49535799e-03 9.28446976e-01 -1.72076272e+02] [-9.28437004e-01 4.30835849e-03 3.71464894e-01 -3.60203472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.07, Z:-360.21 [[-1.87624322e-03 -9.99998133e-01 -4.63393225e-04 2.88943153e+02] [ 3.71148144e-01 -1.12666072e-03 9.28572984e-01 -1.72073685e+02] [-9.28571772e-01 1.57024122e-03 3.71149564e-01 -3.60208674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.06, Z:-360.24 [[ 2.18443208e-03 -9.99997428e-01 6.10114332e-04 2.88940052e+02] [ 3.71211849e-01 1.37741056e-03 9.28547180e-01 -1.72063541e+02] [-9.28545632e-01 -1.80186658e-03 3.71213903e-01 -3.60235136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.06, Z:-360.24 [[ 4.72691661e-03 -9.99988827e-01 -5.40536059e-05 2.88938825e+02] [ 3.70771563e-01 1.70242448e-03 9.28722537e-01 -1.72061148e+02] [-9.28712068e-01 -4.41003552e-03 3.70775468e-01 -3.60241302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.05, Z:-360.27 [[ 6.49750055e-03 -9.99978367e-01 1.02400886e-03 2.88936837e+02] [ 3.70789666e-01 3.36028683e-03 9.28710790e-01 -1.72051393e+02] [-9.28694140e-01 -5.65460698e-03 3.70803478e-01 -3.60267119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.04, Z:-360.29 [[ 9.84420873e-03 -9.99951479e-01 3.61063748e-04 2.88934786e+02] [ 3.71053846e-01 3.98820982e-03 9.28602788e-01 -1.72041316e+02] [-9.28559172e-01 -9.00738558e-03 3.71075103e-01 -3.60292243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.03, Z:-360.32 [[ 1.11424809e-02 -9.99937918e-01 7.43653601e-05 2.88933886e+02] [ 3.71810458e-01 4.21218573e-03 9.28299112e-01 -1.72030774e+02] [-9.28241794e-01 -1.03159053e-02 3.71834309e-01 -3.60318672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.03, Z:-360.33 [[ 1.28040384e-02 -9.99917857e-01 -5.80396225e-04 2.88933136e+02] [ 3.72410475e-01 4.23006386e-03 9.28058481e-01 -1.72028496e+02] [-9.27979792e-01 -1.20990421e-02 3.72434046e-01 -3.60325039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.02, Z:-360.35 [[ 1.45541299e-02 -9.99893803e-01 7.48984392e-04 2.88930946e+02] [ 3.73171166e-01 6.12669675e-03 9.27742284e-01 -1.72019274e+02] [-9.27648349e-01 -1.32229823e-02 3.73220704e-01 -3.60350273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.01, Z:-360.38 [[ 1.46321955e-02 -9.99892834e-01 4.67542737e-04 2.88930508e+02] [ 3.73736817e-01 5.90287614e-03 9.27516009e-01 -1.72008674e+02] [-9.27419372e-01 -1.33968577e-02 3.73783137e-01 -3.60376309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.01, Z:-360.38 [[ 1.50010601e-02 -9.99887463e-01 -1.74957341e-04 2.88930358e+02] [ 3.74000869e-01 5.44876512e-03 9.27412347e-01 -1.72006659e+02] [-9.27307025e-01 -1.39776026e-02 3.74040517e-01 -3.60381119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-172.00, Z:-360.41 [[ 1.44476034e-02 -9.99895096e-01 1.03119786e-03 2.88929461e+02] [ 3.74519825e-01 6.36770552e-03 9.27197041e-01 -1.71996948e+02] [-9.27106341e-01 -1.30095711e-02 3.74572535e-01 -3.60406319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.99, Z:-360.43 [[ 1.21549175e-02 -9.99925845e-01 7.50152464e-04 2.88929126e+02] [ 3.75216134e-01 5.25644409e-03 9.26922447e-01 -1.71986330e+02] [-9.26857654e-01 -1.09851965e-02 3.75252201e-01 -3.60431973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.98, Z:-360.46 [[ 1.08496035e-02 -9.99941135e-01 1.14879762e-04 2.88929539e+02] [ 3.75572118e-01 4.18152340e-03 9.26783739e-01 -1.71975411e+02] [-9.26729664e-01 -1.00120904e-02 3.75595378e-01 -3.60457522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.97, Z:-360.46 [[ 9.17058758e-03 -9.99957812e-01 -5.23309651e-04 2.88930541e+02] [ 3.75337513e-01 2.95714321e-03 9.26883492e-01 -1.71973534e+02] [-9.26842841e-01 -8.69648398e-03 3.75348797e-01 -3.60460657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.96, Z:-360.49 [[ 7.58474836e-03 -9.99970801e-01 9.32381586e-04 2.88930034e+02] [ 3.75675144e-01 3.71358889e-03 9.26743975e-01 -1.71963764e+02] [-9.26720377e-01 -6.67884726e-03 3.75692341e-01 -3.60486198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.95, Z:-360.51 [[ 5.80959823e-03 -9.99982953e-01 5.84822190e-04 2.88930313e+02] [ 3.75660868e-01 2.72447099e-03 9.26753198e-01 -1.71953331e+02] [-9.26738993e-01 -5.16436893e-03 3.75670292e-01 -3.60512358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.95, Z:-360.51 [[ 4.77292722e-03 -9.99988609e-01 -4.49864105e-05 2.88930698e+02] [ 3.76014292e-01 1.75302386e-03 9.26612205e-01 -1.71952616e+02] [-9.26601571e-01 -4.43956815e-03 3.76018376e-01 -3.60513370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.94, Z:-360.54 [[ 3.41122283e-03 -9.99993512e-01 1.15706882e-03 2.88930350e+02] [ 3.76275508e-01 2.35560473e-03 9.26504826e-01 -1.71942951e+02] [-9.26501541e-01 -2.72513776e-03 3.76281103e-01 -3.60538368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.93, Z:-360.56 [[ 6.15122301e-04 -9.99999429e-01 8.73540209e-04 2.88931424e+02] [ 3.76551504e-01 1.04086919e-03 9.26395100e-01 -1.71932486e+02] [-9.26395481e-01 -2.40913409e-04 3.76551930e-01 -3.60562914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.92, Z:-360.59 [[-9.28527619e-04 -9.99999466e-01 4.53537338e-04 2.88932277e+02] [ 3.76781880e-01 7.02602034e-05 9.26302008e-01 -1.71921623e+02] [-9.26301545e-01 1.03098165e-03 3.76781614e-01 -3.60589020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.92, Z:-360.60 [[-1.09620014e-03 -9.99999386e-01 -1.63552859e-04 2.88933175e+02] [ 3.76839392e-01 -5.64587227e-04 9.26278443e-01 -1.71918194e+02] [-9.26277967e-01 9.53753396e-04 3.76839779e-01 -3.60596640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.91, Z:-360.62 [[-2.68603475e-03 -9.99993546e-01 2.38624098e-03 2.88932568e+02] [ 3.76988481e-01 1.19758094e-03 9.26217173e-01 -1.71908306e+02] [-9.26214052e-01 3.38743687e-03 3.76982831e-01 -3.60622859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.90, Z:-360.65 [[-5.35207193e-03 -9.99984109e-01 1.77100249e-03 2.88933752e+02] [ 3.77890583e-01 -3.82820686e-04 9.25850183e-01 -1.71897614e+02] [-9.25834792e-01 5.62446193e-03 3.77886627e-01 -3.60647461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.89, Z:-360.67 [[-6.92920895e-03 -9.99975076e-01 1.35391700e-03 2.88934114e+02] [ 3.78002376e-01 -1.36583023e-03 9.25803618e-01 -1.71887081e+02] [-9.25778694e-01 6.92687055e-03 3.78002419e-01 -3.60673278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.88, Z:-360.70 [[-1.01195853e-02 -9.99948506e-01 7.60736542e-04 2.88934840e+02] [ 3.78020179e-01 -3.12128430e-03 9.25792094e-01 -1.71876869e+02] [-9.25742047e-01 9.65620584e-03 3.78032300e-01 -3.60699220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.87, Z:-360.73 [[-1.20499875e-02 -9.99927387e-01 1.38828358e-04 2.88935603e+02] [ 3.78083996e-01 -4.42770708e-03 9.25760708e-01 -1.71866306e+02] [-9.25692870e-01 1.12078937e-02 3.78109896e-01 -3.60725247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.87, Z:-360.73 [[-1.36156332e-02 -9.99907184e-01 -4.87342007e-04 2.88936536e+02] [ 3.78153127e-01 -5.60045929e-03 9.25726119e-01 -1.71865937e+02] [-9.25642926e-01 1.24200573e-02 3.78194282e-01 -3.60725074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.86, Z:-360.75 [[-1.59595061e-02 -9.99872468e-01 5.85604888e-04 2.88936774e+02] [ 3.78534651e-01 -5.49990873e-03 9.25570780e-01 -1.71855389e+02] [-9.25449519e-01 1.49933243e-02 3.78574152e-01 -3.60751232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.85, Z:-360.78 [[-1.59352297e-02 -9.99873024e-01 -6.92843318e-05 2.88937899e+02] [ 3.78520660e-01 -6.09671549e-03 9.25572763e-01 -1.71845422e+02] [-9.25455660e-01 1.47229890e-02 3.78569749e-01 -3.60775246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.84, Z:-360.80 [[-1.79195136e-02 -9.99783181e-01 1.06057655e-02 2.88933279e+02] [ 3.78760241e-01 3.02898599e-03 9.25489873e-01 -1.71838014e+02] [-9.25321334e-01 2.06013707e-02 3.78623840e-01 -3.60802953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.83, Z:-360.83 [[-1.97225497e-02 -9.99755481e-01 9.99998433e-03 2.88933833e+02] [ 3.79124780e-01 1.77655110e-03 9.25343852e-01 -1.71827188e+02] [-9.25135354e-01 2.20413820e-02 3.78997038e-01 -3.60829173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.82, Z:-360.86 [[-2.12202094e-02 -9.99730677e-01 9.39555212e-03 2.88934213e+02] [ 3.79041648e-01 6.51282526e-04 9.25379385e-01 -1.71816341e+02] [-9.25136278e-01 2.31980498e-02 3.78925743e-01 -3.60855119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.81, Z:-360.88 [[-2.28535703e-02 -9.99700180e-01 8.79002804e-03 2.88934141e+02] [ 3.79591310e-01 -5.43048880e-04 9.25154118e-01 -1.71805873e+02] [-9.24871965e-01 2.44796930e-02 3.79489912e-01 -3.60879611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.80, Z:-360.91 [[-2.30404669e-02 -9.99700502e-01 8.24885078e-03 2.88934109e+02] [ 3.79672822e-01 -1.11699553e-03 9.25120155e-01 -1.71795483e+02] [-9.24833869e-01 2.44470648e-02 3.79584847e-01 -3.60905359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.79, Z:-360.93 [[-2.23071701e-02 -9.99721862e-01 7.65436569e-03 2.88933543e+02] [ 3.79526234e-01 -1.38487587e-03 9.25179939e-01 -1.71785062e+02] [-9.24912011e-01 2.35431789e-02 3.79451566e-01 -3.60930918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.77, Z:-360.96 [[-2.18121291e-02 -9.99737854e-01 6.96093209e-03 2.88933219e+02] [ 3.79377001e-01 -1.83496584e-03 9.25240360e-01 -1.71774726e+02] [-9.24985039e-01 2.28222797e-02 3.79317573e-01 -3.60956528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.76, Z:-360.98 [[-2.07367698e-02 -9.99765382e-01 6.25832547e-03 2.88932740e+02] [ 3.79866365e-01 -2.08849614e-03 9.25039017e-01 -1.71764352e+02] [-9.24808916e-01 2.15596485e-02 3.79820551e-01 -3.60981222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.75, Z:-361.01 [[-1.80496655e-02 -9.99820376e-01 5.78149943e-03 2.88931053e+02] [ 3.80701863e-01 -1.52568258e-03 9.24696580e-01 -1.71754372e+02] [-9.24521661e-01 1.88914916e-02 3.80661017e-01 -3.61007441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.74, Z:-361.03 [[-1.65490106e-02 -9.99850118e-01 5.08644233e-03 2.88930568e+02] [ 3.81029106e-01 -1.60316548e-03 9.24561653e-01 -1.71743984e+02] [-9.24414924e-01 1.72386632e-02 3.80998527e-01 -3.61033196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.73, Z:-361.06 [[-1.46972625e-02 -9.99882337e-01 4.39357184e-03 2.88930124e+02] [ 3.80711733e-01 -1.53289770e-03 9.24692504e-01 -1.71733628e+02] [-9.24576967e-01 1.52631328e-02 3.80689466e-01 -3.61058762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.72, Z:-361.08 [[-1.01965143e-02 -9.99941159e-01 3.70271463e-03 2.88929864e+02] [ 3.80798521e-01 -4.59100151e-04 9.24657924e-01 -1.71722094e+02] [-9.24601816e-01 1.08382760e-02 3.80780795e-01 -3.61084830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.71, Z:-361.11 [[-8.01250584e-03 -9.99963358e-01 3.01384810e-03 2.88929555e+02] [ 3.80808536e-01 -2.64473978e-04 9.24653875e-01 -1.71711009e+02] [-9.24619197e-01 8.55649365e-03 3.80796701e-01 -3.61110874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.70, Z:-361.14 [[-5.99721273e-03 -9.99979330e-01 2.31809057e-03 2.88928942e+02] [ 3.80869209e-01 -1.40783014e-04 9.24628913e-01 -1.71700037e+02] [-9.24609474e-01 6.42808561e-03 3.80862180e-01 -3.61137237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.69, Z:-361.16 [[-1.50884823e-03 -9.99997543e-01 1.62394124e-03 2.88927602e+02] [ 3.80968528e-01 9.26654426e-04 9.24587542e-01 -1.71689864e+02] [-9.24586775e-01 2.01373277e-03 3.80966194e-01 -3.61162141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.68, Z:-361.19 [[ 3.60857230e-04 -9.99999056e-01 1.32601526e-03 2.88927282e+02] [ 3.81186965e-01 1.36345245e-03 9.24496965e-01 -1.71679169e+02] [-9.24497900e-01 1.71848316e-04 3.81187097e-01 -3.61187772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.67, Z:-361.21 [[ 2.47338782e-03 -9.99996744e-01 6.27444315e-04 2.88927262e+02] [ 3.80608921e-01 1.52161805e-03 9.24734845e-01 -1.71668849e+02] [-9.24732789e-01 -2.04841700e-03 3.80611446e-01 -3.61213112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.66, Z:-361.24 [[ 4.11450677e-03 -9.99991482e-01 3.27046646e-04 2.88926961e+02] [ 3.79870708e-01 1.86552697e-03 9.25037710e-01 -1.71658216e+02] [-9.25030441e-01 -3.68183848e-03 3.79875148e-01 -3.61239591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.66, Z:-361.24 [[ 6.43214796e-03 -9.99979249e-01 -3.59628433e-04 2.88926762e+02] [ 3.79821901e-01 2.11043759e-03 9.25057225e-01 -1.71656841e+02] [-9.25037270e-01 -6.08669970e-03 3.79827594e-01 -3.61241737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.65, Z:-361.27 [[ 9.45167645e-03 -9.99955071e-01 7.22192270e-04 2.88925783e+02] [ 3.80033741e-01 4.26014836e-03 9.24962814e-01 -1.71646621e+02] [-9.24924333e-01 -8.46799182e-03 3.80056932e-01 -3.61267876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.64, Z:-361.29 [[ 1.07780619e-02 -9.99941915e-01 2.78650554e-05 2.88925717e+02] [ 3.79789337e-01 4.11940923e-03 9.25063830e-01 -1.71635873e+02] [-9.25010213e-01 -9.95981242e-03 3.79811676e-01 -3.61294144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-170.97, Z:-361.14 [[ 3.04197641e-03 -1.70086191e-01 -9.85424494e-01 2.89117741e+02] [ 4.43328965e-01 -8.83067806e-01 1.53787770e-01 -1.70969003e+02] [-8.96353822e-01 -4.37335040e-01 7.27178635e-02 -3.61141410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.60, Z:-361.48 [[ 2.63564046e-02 -9.99375976e-01 2.35159033e-02 2.88909584e+02] [ 4.39296838e-01 3.27100113e-02 8.97746258e-01 -1.71598737e+02] [-8.97955248e-01 -1.33309016e-02 4.39884825e-01 -3.61475926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.59, Z:-361.50 [[ 2.71087929e-02 -9.99369426e-01 2.29317090e-02 2.88910562e+02] [ 4.39682209e-01 3.25224473e-02 8.97564396e-01 -1.71586266e+02] [-8.97744211e-01 -1.42492229e-02 4.40286601e-01 -3.61501607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.57, Z:-361.53 [[ 2.68392152e-02 -9.99389989e-01 2.23451654e-02 2.88911076e+02] [ 4.39699339e-01 3.18771853e-02 8.97579153e-01 -1.71573796e+02] [-8.97743921e-01 -1.42651656e-02 4.40286676e-01 -3.61527308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.56, Z:-361.55 [[ 2.73530958e-02 -9.99388454e-01 2.17836391e-02 2.88911750e+02] [ 4.40580959e-01 3.16139102e-02 8.97156051e-01 -1.71562270e+02] [-8.97296064e-01 -1.49425388e-02 4.41176262e-01 -3.61551414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.55, Z:-361.58 [[ 2.75101369e-02 -9.99389845e-01 2.15204440e-02 2.88912506e+02] [ 4.41555091e-01 3.14634399e-02 8.96682304e-01 -1.71550775e+02] [-8.96812296e-01 -1.51653913e-02 4.42151237e-01 -3.61577575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.54, Z:-361.60 [[ 2.72870122e-02 -9.99408602e-01 2.09252521e-02 2.88913560e+02] [ 4.41955370e-01 3.08375103e-02 8.96506831e-01 -1.71539342e+02] [-8.96621921e-01 -1.52149653e-02 4.42535462e-01 -3.61601523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-171.53, Z:-361.63 [[ 2.67754924e-02 -9.99427795e-01 2.06677232e-02 2.88914595e+02] [ 4.42432426e-01 3.03879427e-02 8.96286852e-01 -1.71527046e+02] [-8.96402042e-01 -1.48544508e-02 4.42992917e-01 -3.61627053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-171.52, Z:-361.65 [[ 2.60501709e-02 -9.99459169e-01 2.00688323e-02 2.88915757e+02] [ 4.43051199e-01 2.95394000e-02 8.96009519e-01 -1.71515416e+02] [-8.96117751e-01 -1.44496809e-02 4.43581090e-01 -3.61651058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-171.50, Z:-361.68 [[ 2.31289690e-02 -9.99536234e-01 1.98082999e-02 2.88918255e+02] [ 4.43830889e-01 2.80200928e-02 8.95672382e-01 -1.71503177e+02] [-8.95812030e-01 -1.19244434e-02 4.44273131e-01 -3.61676538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-171.49, Z:-361.70 [[ 2.10656775e-02 -9.99593529e-01 1.92097380e-02 2.88920374e+02] [ 4.44553836e-01 2.65752191e-02 8.95357831e-01 -1.71490887e+02] [-8.95504397e-01 -1.03215566e-02 4.44932963e-01 -3.61701034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-171.48, Z:-361.73 [[ 1.83002366e-02 -9.99652778e-01 1.89585113e-02 2.88922439e+02] [ 4.44486772e-01 2.51190146e-02 8.95433160e-01 -1.71478472e+02] [-8.95598465e-01 -7.95983125e-03 4.44792120e-01 -3.61726012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.47, Z:-361.75 [[ 1.23120411e-02 -9.99755107e-01 1.83885853e-02 2.88926668e+02] [ 4.43370621e-01 2.19416264e-02 8.96069784e-01 -1.71465658e+02] [-8.96253818e-01 -2.87948953e-03 4.43532189e-01 -3.61751048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.45, Z:-361.78 [[ 9.26517014e-03 -9.99798437e-01 1.78112725e-02 2.88929010e+02] [ 4.43116393e-01 2.00727577e-02 8.96239336e-01 -1.71452737e+02] [-8.96416209e-01 -4.11343122e-04 4.43213054e-01 -3.61776029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.44, Z:-361.80 [[ 6.36853392e-03 -9.99831375e-01 1.72238926e-02 2.88930994e+02] [ 4.42643008e-01 1.82634916e-02 8.96511914e-01 -1.71440489e+02] [-8.96675309e-01 1.91456908e-03 4.42684679e-01 -3.61800452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.93, Y:-171.43, Z:-361.83 [[ 1.45515042e-03 -9.99854726e-01 1.69826066e-02 2.88933898e+02] [ 4.41421217e-01 1.58807476e-02 8.97159468e-01 -1.71428141e+02] [-8.97298831e-01 6.19098088e-03 4.41380199e-01 -3.61825315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.42, Z:-361.85 [[-6.45922711e-04 -9.99865309e-01 1.63996237e-02 2.88935559e+02] [ 4.41392341e-01 1.44305508e-02 8.97198172e-01 -1.71415852e+02] [-8.97313983e-01 7.81818899e-03 4.41323568e-01 -3.61850169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.40, Z:-361.88 [[-3.04113939e-03 -9.99870187e-01 1.58227844e-02 2.88936989e+02] [ 4.41128918e-01 1.28587360e-02 8.97351620e-01 -1.71403648e+02] [-8.97438594e-01 9.70885913e-03 4.41032549e-01 -3.61875060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.39, Z:-361.90 [[-7.58176833e-03 -9.99855106e-01 1.52408475e-02 2.88939562e+02] [ 4.41930597e-01 1.03217658e-02 8.96989860e-01 -1.71390934e+02] [-8.97017204e-01 1.35361661e-02 4.41788307e-01 -3.61899823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.38, Z:-361.92 [[-9.94172452e-03 -9.99843109e-01 1.46601681e-02 2.88941097e+02] [ 4.41996575e-01 8.75695520e-03 8.96973992e-01 -1.71378840e+02] [-8.96961643e-01 1.53972124e-02 4.41840171e-01 -3.61924422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.37, Z:-361.95 [[-1.44792492e-02 -9.99791362e-01 1.44077706e-02 2.88943135e+02] [ 4.42531719e-01 6.51370047e-03 8.96729195e-01 -1.71366287e+02] [-8.96635951e-01 1.93598610e-02 4.42345077e-01 -3.61950074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.35, Z:-361.98 [[-1.47449022e-02 -9.99795582e-01 1.38340703e-02 2.88943523e+02] [ 4.42522334e-01 5.88179302e-03 8.96738194e-01 -1.71353801e+02] [-8.96636254e-01 1.93442021e-02 4.42345148e-01 -3.61975774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.34, Z:-362.00 [[-1.69624395e-02 -9.99767776e-01 1.32917017e-02 2.88944225e+02] [ 4.42972561e-01 4.40346163e-03 8.96524355e-01 -1.71342141e+02] [-8.96374690e-01 2.10950993e-02 4.42794999e-01 -3.61999744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.33, Z:-362.03 [[-2.05174576e-02 -9.99704435e-01 1.30413260e-02 2.88945164e+02] [ 4.43596250e-01 2.58723378e-03 8.96223004e-01 -1.71330320e+02] [-8.95991853e-01 2.41733008e-02 4.43412055e-01 -3.62025275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.32, Z:-362.05 [[-2.18953586e-02 -9.99682676e-01 1.24555287e-02 2.88945577e+02] [ 4.43672006e-01 1.44859825e-03 8.96188068e-01 -1.71318636e+02] [-8.95921729e-01 2.51485285e-02 4.43499501e-01 -3.62049745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.31, Z:-362.08 [[-2.28086633e-02 -9.99665336e-01 1.22057638e-02 2.88946200e+02] [ 4.43597901e-01 8.21517083e-04 8.96225545e-01 -1.71306220e+02] [-8.95935638e-01 2.58561579e-02 4.43430707e-01 -3.62075015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.29, Z:-362.10 [[-2.32948843e-02 -9.99661012e-01 1.16279255e-02 2.88947035e+02] [ 4.43140681e-01 1.01001363e-04 8.96452077e-01 -1.71293441e+02] [-8.96149366e-01 2.60355542e-02 4.42988109e-01 -3.62099994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.28, Z:-362.13 [[-2.31765931e-02 -9.99670277e-01 1.10536388e-02 2.88947246e+02] [ 4.42734183e-01 -3.49908739e-04 8.96652843e-01 -1.71281055e+02] [-8.96353328e-01 2.56751819e-02 4.42596313e-01 -3.62125245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.27, Z:-362.15 [[-2.27315257e-02 -9.99686798e-01 1.04682564e-02 2.88947231e+02] [ 4.42506025e-01 -6.71478498e-04 8.96765280e-01 -1.71268670e+02] [-8.96477382e-01 2.50171096e-02 4.42382694e-01 -3.62150712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.26, Z:-362.18 [[-2.06820072e-02 -9.99737273e-01 9.88124044e-03 2.88946778e+02] [ 4.42576192e-01 -2.92627651e-04 8.96730856e-01 -1.71256338e+02] [-8.96492370e-01 2.29193958e-02 4.42465968e-01 -3.62176004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.24, Z:-362.20 [[-1.93251940e-02 -9.99770085e-01 9.29049392e-03 2.88946888e+02] [ 4.42463416e-01 -2.19151933e-04 8.96786528e-01 -1.71243872e+02] [-8.96578308e-01 2.14412773e-02 4.42365922e-01 -3.62201304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.23, Z:-362.22 [[-1.49354237e-02 -9.99850641e-01 8.69647750e-03 2.88946747e+02] [ 4.42876880e-01 1.18272502e-03 8.96581658e-01 -1.71231559e+02] [-8.96458031e-01 1.72422958e-02 4.42793068e-01 -3.62224983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.22, Z:-362.25 [[-1.25627404e-02 -9.99886670e-01 8.29604205e-03 2.88946231e+02] [ 4.42791957e-01 1.87594948e-03 8.96622420e-01 -1.71219313e+02] [-8.96536369e-01 1.49374554e-02 4.42718209e-01 -3.62250088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.21, Z:-362.27 [[-6.17643670e-03 -9.99951159e-01 7.71562938e-03 2.88944942e+02] [ 4.42972354e-01 4.18147217e-03 8.96525521e-01 -1.71207366e+02] [-8.96513996e-01 8.95514364e-03 4.42924892e-01 -3.62274050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.20, Z:-362.30 [[ 7.91563407e-04 -9.99971820e-01 7.46550170e-03 2.88943149e+02] [ 4.43376915e-01 7.04254532e-03 8.96307600e-01 -1.71195897e+02] [-8.96334918e-01 2.60054681e-03 4.43369995e-01 -3.62299294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.18, Z:-362.32 [[ 4.17486154e-03 -9.99967541e-01 6.89115793e-03 2.88942653e+02] [ 4.43107557e-01 8.02763129e-03 8.96432513e-01 -1.71184141e+02] [-8.96458735e-01 -6.88957465e-04 4.43126689e-01 -3.62324340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.17, Z:-362.35 [[ 8.02506385e-03 -9.99947878e-01 6.31180841e-03 2.88942363e+02] [ 4.43424152e-01 9.21603741e-03 8.96264518e-01 -1.71172370e+02] [-8.96275973e-01 -4.39377170e-03 4.43474999e-01 -3.62348806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.16, Z:-362.37 [[ 7.76609733e-03 -9.99951457e-01 6.06388486e-03 2.88942482e+02] [ 4.43427582e-01 8.87898795e-03 8.96266223e-01 -1.71159984e+02] [-8.96276557e-01 -4.27159692e-03 4.43475012e-01 -3.62374553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.15, Z:-362.40 [[ 1.09309907e-02 -9.99924949e-01 5.53254612e-03 2.88942105e+02] [ 4.43457103e-01 9.80666138e-03 8.96241947e-01 -1.71148091e+02] [-8.96228939e-01 -7.34336551e-03 4.43531018e-01 -3.62399480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.14, Z:-362.43 [[ 1.74481474e-02 -9.99835476e-01 4.95819480e-03 2.88941709e+02] [ 4.42957551e-01 1.21756147e-02 8.96459906e-01 -1.71136200e+02] [-8.96372785e-01 -1.34452948e-02 4.43097115e-01 -3.62425402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.12, Z:-362.45 [[ 2.04004060e-02 -9.99782308e-01 4.37717545e-03 2.88941761e+02] [ 4.42762693e-01 1.29596955e-02 8.96545171e-01 -1.71124503e+02] [-8.96406728e-01 -1.63518355e-02 4.42930690e-01 -3.62449466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.11, Z:-362.48 [[ 2.30159424e-02 -9.99727160e-01 3.98402419e-03 2.88941811e+02] [ 4.42323986e-01 1.37569298e-02 8.96749819e-01 -1.71112384e+02] [-8.96559958e-01 -1.88773127e-02 4.42519931e-01 -3.62475087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.10, Z:-362.50 [[ 2.75268347e-02 -9.99615264e-01 3.40540950e-03 2.88942072e+02] [ 4.41745870e-01 1.52204115e-02 8.97011107e-01 -1.71100278e+02] [-8.96717826e-01 -2.31875509e-02 4.41994885e-01 -3.62500379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.09, Z:-362.53 [[ 2.90745275e-02 -9.99573256e-01 2.82447582e-03 2.88942463e+02] [ 4.41203356e-01 1.53686707e-02 8.97275545e-01 -1.71087973e+02] [-8.96936046e-01 -2.48416943e-02 4.41461912e-01 -3.62526140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.08, Z:-362.55 [[ 3.04652930e-02 -9.99533308e-01 2.24329574e-03 2.88942970e+02] [ 4.40913581e-01 1.54529439e-02 8.97416526e-01 -1.71076441e+02] [-8.97032374e-01 -2.63509578e-02 4.41178589e-01 -3.62550371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.06, Z:-362.58 [[ 3.20008230e-02 -9.99486131e-01 1.84953354e-03 2.88943812e+02] [ 4.40525954e-01 1.57654384e-02 8.97601434e-01 -1.71064741e+02] [-8.97169344e-01 -2.79092171e-02 4.40804088e-01 -3.62576412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-171.05, Z:-362.60 [[ 3.21851822e-02 -9.99481112e-01 1.27329820e-03 2.88944504e+02] [ 4.40764464e-01 1.53368173e-02 8.97491765e-01 -1.71052688e+02] [-8.97045596e-01 -2.83247114e-02 4.41029375e-01 -3.62601964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.04, Z:-362.63 [[ 3.21812247e-02 -9.99481811e-01 6.92269031e-04 2.88945863e+02] [ 4.40562394e-01 1.48068907e-02 8.97599874e-01 -1.71041505e+02] [-8.97144997e-01 -2.85808755e-02 4.40810603e-01 -3.62626964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.03, Z:-362.65 [[ 3.15766821e-02 -9.99501234e-01 4.42897713e-04 2.88946949e+02] [ 4.40948185e-01 1.43282916e-02 8.97418185e-01 -1.71029712e+02] [-8.96976929e-01 -2.81421938e-02 4.41180695e-01 -3.62652360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.03, Z:-362.66 [[ 3.14402624e-02 -9.99505622e-01 -1.47356332e-04 2.88948282e+02] [ 4.41257521e-01 1.37478297e-02 8.97275207e-01 -1.71028527e+02] [-8.96829588e-01 -2.82755901e-02 4.41471609e-01 -3.62655488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.02, Z:-362.68 [[ 3.01490389e-02 -9.99545193e-01 6.65079592e-04 2.88949229e+02] [ 4.41987135e-01 1.39283407e-02 8.96913248e-01 -1.71016701e+02] [-8.96514589e-01 -2.67471158e-02 4.42206043e-01 -3.62681012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-171.00, Z:-362.71 [[ 2.69316979e-02 -9.99637272e-01 9.14843628e-05 2.88953067e+02] [ 4.42708692e-01 1.20092764e-02 8.96585072e-01 -1.71004572e+02] [-8.96260954e-01 -2.41060574e-02 4.42871539e-01 -3.62706400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-171.01, Z:-362.70 [[ 2.53728293e-02 -9.99677930e-01 -5.06477155e-04 2.88955241e+02] [ 4.42660980e-01 1.07809140e-02 8.96624240e-01 -1.71005493e+02] [-8.96330004e-01 -2.29740914e-02 4.42791955e-01 -3.62704203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-170.99, Z:-362.73 [[ 2.29529189e-02 -9.99736502e-01 3.01937084e-04 2.88956924e+02] [ 4.42415224e-01 1.04282306e-02 8.96749699e-01 -1.70994100e+02] [-8.96516555e-01 -2.04494416e-02 4.42538006e-01 -3.62728499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-170.98, Z:-362.75 [[ 1.64322411e-02 -9.99864981e-01 4.66006089e-05 2.88961322e+02] [ 4.41212410e-01 7.29291153e-03 8.97373068e-01 -1.70981833e+02] [-8.97252245e-01 -1.47252899e-02 4.41272676e-01 -3.62753982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-170.82, Z:-363.06 [[ 1.75389821e-02 -9.99738963e-01 -1.46420685e-02 2.88973589e+02] [ 4.49015946e-01 -5.20889058e-03 8.93508561e-01 -1.70824029e+02] [-8.93351591e-01 -2.22457529e-02 4.48807377e-01 -3.63056840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-170.84, Z:-363.09 [[ 1.25841440e-02 -9.98973798e-01 4.35085067e-02 2.88945469e+02] [ 4.44273540e-01 4.45671648e-02 8.94781979e-01 -1.70837346e+02] [-8.95802803e-01 8.06961295e-03 4.44378465e-01 -3.63091582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-170.81, Z:-363.11 [[ 8.21873686e-03 -9.99953911e-01 4.96265600e-03 2.88966511e+02] [ 4.44215387e-01 8.09722386e-03 8.95883433e-01 -1.70813264e+02] [-8.95882326e-01 -5.15854203e-03 4.44261463e-01 -3.63110207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-170.80, Z:-363.14 [[ 1.06557879e-04 -9.99988876e-01 4.71554736e-03 2.88971459e+02] [ 4.43362407e-01 4.27398849e-03 8.96332254e-01 -1.70800987e+02] [-8.96342437e-01 1.99518516e-03 4.43357931e-01 -3.63135754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-170.79, Z:-363.16 [[-4.07569247e-03 -9.99983110e-01 4.14354393e-03 2.88974172e+02] [ 4.43428431e-01 1.90664485e-03 8.96307755e-01 -1.70788400e+02] [-8.96300516e-01 5.49043995e-03 4.43413170e-01 -3.63160930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.78, Z:-363.19 [[-8.13038958e-03 -9.99960555e-01 3.57573421e-03 2.88976559e+02] [ 4.43622231e-01 -4.02215128e-04 8.96213788e-01 -1.70776071e+02] [-8.96176999e-01 8.87284243e-03 4.43608002e-01 -3.63186387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.76, Z:-363.21 [[-1.53956617e-02 -9.99876954e-01 3.00838101e-03 2.88980793e+02] [ 4.44203776e-01 -4.14406373e-03 8.95916197e-01 -1.70763962e+02] [-8.95793491e-01 1.51295569e-02 4.44212920e-01 -3.63211997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.75, Z:-363.24 [[-1.86257694e-02 -9.99823551e-01 2.43891174e-03 2.88982983e+02] [ 4.44473582e-01 -6.09503093e-03 8.95771224e-01 -1.70751766e+02] [-8.95598301e-01 1.77684601e-02 4.44508679e-01 -3.63236538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.74, Z:-363.26 [[-2.02023573e-02 -9.99793502e-01 2.19523666e-03 2.88983236e+02] [ 4.44146758e-01 -7.00748753e-03 8.95926645e-01 -1.70739368e+02] [-8.95726254e-01 1.90748374e-02 4.44196610e-01 -3.63261244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.73, Z:-363.29 [[-2.05894578e-02 -9.99786696e-01 1.62391796e-03 2.88982877e+02] [ 4.43635109e-01 -7.68053063e-03 8.96174592e-01 -1.70727131e+02] [-8.95970962e-01 1.91721760e-02 4.43698618e-01 -3.63286185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.72, Z:-363.31 [[-2.14738633e-02 -9.99768859e-01 1.04934749e-03 2.88983424e+02] [ 4.44136740e-01 -8.59919022e-03 8.95917748e-01 -1.70715270e+02] [-8.95701641e-01 1.97048690e-02 4.44218739e-01 -3.63310643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.70, Z:-363.33 [[-2.20343148e-02 -9.99756894e-01 8.01226094e-04 2.88983796e+02] [ 4.44796193e-01 -9.08542138e-03 8.95585731e-01 -1.70703457e+02] [-8.95360730e-01 2.00900002e-02 4.44888251e-01 -3.63334747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.69, Z:-363.36 [[-2.22845245e-02 -9.99751510e-01 5.63639862e-04 2.88983828e+02] [ 4.44789104e-01 -9.40946390e-03 8.95585906e-01 -1.70690932e+02] [-8.95358059e-01 2.02084069e-02 4.44888263e-01 -3.63360436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.68, Z:-363.39 [[-2.33819171e-02 -9.99726604e-01 5.45921994e-05 2.88984308e+02] [ 4.45390591e-01 -1.03680453e-02 8.95276340e-01 -1.70678216e+02] [-8.95031009e-01 2.09575920e-02 4.45511248e-01 -3.63385565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.68, Z:-363.39 [[-2.32930698e-02 -9.99728536e-01 -5.36557886e-04 2.88984815e+02] [ 4.45444061e-01 -1.08590577e-02 8.95243916e-01 -1.70676729e+02] [-8.95006716e-01 2.06139725e-02 4.45576080e-01 -3.63388407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.66, Z:-363.41 [[-2.38723502e-02 -9.99714956e-01 3.42762217e-04 2.88983501e+02] [ 4.45402935e-01 -1.03288941e-02 8.95270651e-01 -1.70664555e+02] [-8.95011920e-01 2.15248818e-02 4.45522551e-01 -3.63413962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.66, Z:-363.42 [[-2.29232538e-02 -9.99737198e-01 -2.45103460e-04 2.88982562e+02] [ 4.45245228e-01 -1.04286629e-02 8.95347938e-01 -1.70661868e+02] [-8.95115194e-01 2.04151569e-02 4.45367276e-01 -3.63418606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.65, Z:-363.44 [[-2.14990706e-02 -9.99768521e-01 8.33124702e-04 2.88978834e+02] [ 4.44719456e-01 -8.81692733e-03 8.95626522e-01 -1.70650041e+02] [-8.95411858e-01 1.96256446e-02 4.44806069e-01 -3.63443909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.64, Z:-363.47 [[-2.03575480e-02 -9.99792732e-01 2.50924642e-04 2.88977941e+02] [ 4.44175927e-01 -8.81935830e-03 8.95896180e-01 -1.70638024e+02] [-8.95708276e-01 1.83497042e-02 4.44263404e-01 -3.63468305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.64, Z:-363.47 [[-1.84088890e-02 -9.99830542e-01 -5.56005699e-06 2.88977109e+02] [ 4.43783674e-01 -8.17593220e-03 8.96096649e-01 -1.70637195e+02] [-8.95944844e-01 1.64936763e-02 4.43858981e-01 -3.63469238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.62, Z:-363.49 [[-1.69369232e-02 -9.99856258e-01 7.77475987e-04 2.88975879e+02] [ 4.43426265e-01 -6.81441609e-03 8.96284950e-01 -1.70624845e+02] [-8.96150818e-01 1.55250626e-02 4.43477941e-01 -3.63494866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-170.61, Z:-363.52 [[-1.26405828e-02 -9.99920083e-01 2.06468087e-04 2.88973292e+02] [ 4.43277900e-01 -5.41865268e-03 8.96367861e-01 -1.70612789e+02] [-8.96295107e-01 1.14221349e-02 4.43310970e-01 -3.63519276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-169.73, Z:-363.20 [[-5.81803891e-02 9.98305791e-01 7.68220343e-04 2.88263063e+02] [ 4.26848757e-01 2.55719926e-02 -9.03961400e-01 -1.69725438e+02] [-9.02449545e-01 -5.22649121e-02 -4.27613374e-01 -3.63196595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.50, Z:-363.64 [[-7.53480055e-02 -9.87570873e-01 -1.37936391e-01 2.89059995e+02] [ 4.41316449e-01 -1.57071077e-01 8.83497860e-01 -1.70495433e+02] [-8.94182571e-01 5.69620315e-03 4.47666264e-01 -3.63635516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.49, Z:-363.64 [[-7.21440458e-02 -9.87922937e-01 -1.37125879e-01 2.89057634e+02] [ 4.42471269e-01 -1.54915989e-01 8.83300749e-01 -1.70494721e+02] [-8.93876061e-01 3.05062786e-03 4.48303782e-01 -3.63639190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.49, Z:-363.65 [[-6.88632351e-02 -9.88267735e-01 -1.36325855e-01 2.89054899e+02] [ 4.43479060e-01 -1.52730985e-01 8.83175843e-01 -1.70492547e+02] [-8.93635372e-01 3.60683633e-04 4.48793596e-01 -3.63646306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.49, Z:-363.65 [[-6.22606529e-02 -9.88822077e-01 -1.35478825e-01 2.89051527e+02] [ 4.45599520e-01 -1.49002160e-01 8.82745391e-01 -1.70489428e+02] [-8.93064768e-01 -5.40899485e-03 4.49895614e-01 -3.63654821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.49, Z:-363.66 [[-5.88821807e-02 -9.89167082e-01 -1.34466995e-01 2.89050163e+02] [ 4.46767322e-01 -1.46569915e-01 8.82562304e-01 -1.70488883e+02] [-8.92710395e-01 -8.10826637e-03 4.50557884e-01 -3.63656552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.49, Z:-363.66 [[-5.29392215e-02 -9.89617029e-01 -1.33624755e-01 2.89047899e+02] [ 4.48668221e-01 -1.43117151e-01 8.82164559e-01 -1.70487552e+02] [-8.92129064e-01 -1.32520762e-02 4.51586223e-01 -3.63660756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.49, Z:-363.66 [[-5.01449737e-02 -9.89879682e-01 -1.32754275e-01 2.89046609e+02] [ 4.49143744e-01 -1.41072711e-01 8.82251884e-01 -1.70486631e+02] [-8.92051220e-01 -1.53852546e-02 4.51672354e-01 -3.63663848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.49, Z:-363.67 [[-4.73938775e-02 -9.90119814e-01 -1.31971873e-01 2.89045360e+02] [ 4.49704608e-01 -1.39123389e-01 8.82275721e-01 -1.70485269e+02] [-8.91919047e-01 -1.75338919e-02 4.51855040e-01 -3.63667327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.46, Z:-363.68 [[-4.33376323e-02 -9.87540046e-01 -1.51282869e-01 2.89052514e+02] [ 4.63451898e-01 -1.54018592e-01 8.72634295e-01 -1.70457415e+02] [-8.85061686e-01 -3.22944285e-02 4.64352110e-01 -3.63683292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-170.35, Z:-363.65 [[-5.68329227e-02 6.86507459e-02 9.96020629e-01 2.88128616e+02] [ 3.48825874e-01 9.36124834e-01 -4.46184274e-02 -1.70350584e+02] [-9.35462735e-01 3.44901971e-01 -7.71498668e-02 -3.63652261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.40, Z:-363.74 [[-4.52577628e-02 -9.84851013e-01 -1.67392403e-01 2.89052305e+02] [ 3.90493450e-01 -1.71672838e-01 9.04457463e-01 -1.70401117e+02] [-9.19492578e-01 -2.44319156e-02 3.92347398e-01 -3.63743615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.40, Z:-363.75 [[-4.38200430e-02 -9.85070768e-01 -1.66479388e-01 2.89051669e+02] [ 3.90697137e-01 -1.70265466e-01 9.04635517e-01 -1.70398516e+02] [-9.19475693e-01 -2.54018533e-02 3.92325369e-01 -3.63750314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.39, Z:-363.76 [[-4.15508008e-02 -9.85362358e-01 -1.65331651e-01 2.89050520e+02] [ 3.91208027e-01 -1.68307586e-01 9.04781098e-01 -1.70393789e+02] [-9.19363807e-01 -2.70846901e-02 3.92474979e-01 -3.63763154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.39, Z:-363.77 [[-4.07425349e-02 -9.86063207e-01 -1.61305291e-01 2.89049137e+02] [ 3.92381226e-01 -1.64259883e-01 9.05016942e-01 -1.70393756e+02] [-9.18899897e-01 -2.64204835e-02 3.93605054e-01 -3.63767110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.39, Z:-363.77 [[-4.04673989e-02 -9.86246085e-01 -1.60253081e-01 2.89049182e+02] [ 3.92621937e-01 -1.63179095e-01 9.05108058e-01 -1.70393534e+02] [-9.18809232e-01 -2.62915064e-02 3.93825282e-01 -3.63768839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.36, Z:-363.77 [[-4.05425910e-02 -9.80431858e-01 -1.92638703e-01 2.89064492e+02] [ 4.15773230e-01 -1.91866676e-01 8.88999325e-01 -1.70360666e+02] [-9.08564208e-01 -4.40516798e-02 4.15416092e-01 -3.63768562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-170.31, Z:-363.78 [[-4.79527938e-02 -6.57305532e-03 9.98827975e-01 2.88144365e+02] [ 2.83829988e-01 9.58667370e-01 1.99351791e-02 -1.70309809e+02] [-9.57674824e-01 2.84453279e-01 -4.41051486e-02 -3.63782185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.32, Z:-363.84 [[-4.26257264e-02 -9.80020898e-01 -1.94273229e-01 2.89058622e+02] [ 3.30265387e-01 -1.97340210e-01 9.23028502e-01 -1.70316289e+02] [-9.42925141e-01 -2.48169629e-02 3.32078751e-01 -3.63844208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-170.27, Z:-363.88 [[-4.01830004e-02 -9.74411224e-01 -2.21151743e-01 2.89069239e+02] [ 3.52830761e-01 -2.20909645e-01 9.09235604e-01 -1.70274630e+02] [-9.34823930e-01 -4.14933233e-02 3.52679066e-01 -3.63877763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-170.26, Z:-363.91 [[-3.94453059e-02 -4.06172181e-02 9.98395868e-01 2.88147033e+02] [ 2.22246261e-01 9.73788658e-01 4.83967929e-02 -1.70257475e+02] [-9.74192316e-01 2.23798774e-01 -2.93843667e-02 -3.63914099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.23, Z:-363.96 [[-3.93631387e-02 -9.74275482e-01 -2.21895984e-01 2.89062584e+02] [ 2.65208964e-01 -2.24290169e-01 9.37740969e-01 -1.70233490e+02] [-9.63387123e-01 -2.19363762e-02 2.67215357e-01 -3.63962442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-170.22, Z:-363.96 [[-4.30111386e-02 -9.70803038e-01 -2.35990474e-01 2.89069602e+02] [ 2.74796368e-01 -2.38593884e-01 9.31428964e-01 -1.70217798e+02] [-9.60539951e-01 -2.47875048e-02 2.77035344e-01 -3.63962814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-170.30, Z:-364.04 [[-1.17293585e-02 -2.67656202e-01 9.63443086e-01 2.88239017e+02] [ 1.69351422e-01 9.49058507e-01 2.65721746e-01 -1.70295934e+02] [-9.85485930e-01 1.66277202e-01 3.41961108e-02 -3.64038317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-170.21, Z:-364.05 [[-2.84979255e-02 -9.87656890e-01 -1.54018621e-01 2.89025783e+02] [ 2.01170738e-01 -1.56595396e-01 9.66958229e-01 -1.70210209e+02] [-9.79141564e-01 -3.42773605e-03 2.03150309e-01 -3.64054114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.18, Z:-364.08 [[-3.09582082e-02 -9.76301466e-01 -2.14189254e-01 2.89050462e+02] [ 1.93958691e-01 -2.16086495e-01 9.56915176e-01 -1.70181560e+02] [-9.80521094e-01 -1.19194881e-02 1.96051805e-01 -3.64077221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.17, Z:-364.08 [[-3.19531584e-02 -9.73463174e-01 -2.26601954e-01 2.89056766e+02] [ 1.95178658e-01 -2.28430202e-01 9.53795017e-01 -1.70173907e+02] [-9.80247054e-01 -1.37511021e-02 1.97298302e-01 -3.64077167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.18, Z:-364.09 [[-3.09610008e-02 -9.76408742e-01 -2.13699285e-01 2.89053838e+02] [ 1.96327884e-01 -2.15577608e-01 9.56546735e-01 -1.70177910e+02] [-9.80049376e-01 -1.23394841e-02 1.98370761e-01 -3.64087292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-170.20, Z:-364.09 [[-3.47723579e-02 -9.82931999e-01 -1.80653174e-01 2.89040130e+02] [ 1.91629019e-01 -1.83965992e-01 9.64072006e-01 -1.70195912e+02] [-9.80851264e-01 -1.09533369e-03 1.94755226e-01 -3.64086221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.17, Z:-364.09 [[-3.81827596e-02 -9.74581857e-01 -2.20753892e-01 2.89056938e+02] [ 1.93268718e-01 -2.23946147e-01 9.55246212e-01 -1.70173511e+02] [-9.80402611e-01 -6.19088516e-03 1.96907068e-01 -3.64093340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.18, Z:-364.10 [[-3.74423463e-02 -9.77829995e-01 -2.06025657e-01 2.89052815e+02] [ 1.94688726e-01 -2.09357581e-01 9.58261814e-01 -1.70179166e+02] [-9.80150178e-01 -4.23130213e-03 1.98211315e-01 -3.64098998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-170.19, Z:-364.10 [[-4.14637482e-02 -9.83550693e-01 -1.75808966e-01 2.89039699e+02] [ 1.92310650e-01 -1.80526384e-01 9.64586356e-01 -1.70194630e+02] [-9.80457736e-01 6.18542926e-03 1.96632573e-01 -3.64097839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-170.18, Z:-364.10 [[-4.64788624e-02 -9.77819814e-01 -2.04225678e-01 2.89051325e+02] [ 1.94867154e-01 -2.09394232e-01 9.58217537e-01 -1.70176911e+02] [-9.79727772e-01 4.73998439e-03 2.00277370e-01 -3.64100868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-170.19, Z:-364.11 [[-4.60613116e-02 -9.82659948e-01 -1.79604518e-01 2.89042485e+02] [ 1.91612719e-01 -1.85148034e-01 9.63848936e-01 -1.70188985e+02] [-9.80389168e-01 9.98163601e-03 1.96818306e-01 -3.64112666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-170.19, Z:-364.12 [[-4.89803239e-02 -9.85258121e-01 -1.63912671e-01 2.89035897e+02] [ 1.91059513e-01 -1.70321526e-01 9.66688595e-01 -1.70194614e+02] [-9.80355645e-01 1.60316455e-02 1.96585340e-01 -3.64119793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-170.19, Z:-364.13 [[-5.11172632e-02 -9.85686668e-01 -1.60651228e-01 2.89033871e+02] [ 1.90598682e-01 -1.67533414e-01 9.67266612e-01 -1.70193782e+02] [-9.80336252e-01 1.88241095e-02 1.96434430e-01 -3.64131304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-170.15, Z:-364.37 [[-5.90706539e-02 -9.85524645e-01 -1.58908248e-01 2.89025897e+02] [ 1.90014400e-01 -1.67376336e-01 9.67408750e-01 -1.70150004e+02] [-9.80002646e-01 2.69506121e-02 1.97150904e-01 -3.64373289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-170.19, Z:-364.14 [[-5.96895074e-02 -9.84336023e-01 -1.65890797e-01 2.89033923e+02] [ 1.88923875e-01 -1.74323392e-01 9.66394911e-01 -1.70188624e+02] [-9.80175970e-01 2.63429041e-02 1.96369853e-01 -3.64144796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-170.12, Z:-364.45 [[-6.13887847e-02 -9.84127521e-01 -1.66506578e-01 2.89026582e+02] [ 2.08653653e-01 -1.75788734e-01 9.62061315e-01 -1.70117202e+02] [-9.76060997e-01 2.43175691e-02 2.16133259e-01 -3.64447256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.536559995 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:288.99, Y:-170.05, Z:-364.96 [[-6.75662072e-02 -9.90080120e-01 -1.23191577e-01 2.88992599e+02] [ 1.94754480e-01 -1.34186555e-01 9.71629899e-01 -1.70049436e+02] [-9.78522100e-01 4.16572356e-02 2.01889015e-01 -3.64958618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-170.09, Z:-364.21 [[-1.33146306e-02 1.85969880e-02 9.99738402e-01 2.88104699e+02] [ 1.49219838e-01 9.88667971e-01 -1.64037306e-02 -1.70093508e+02] [-9.88714398e-01 1.48962393e-01 -1.59387884e-02 -3.64208127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-170.03, Z:-364.39 [[-7.29145229e-02 -9.58121456e-01 -2.76923724e-01 2.89062288e+02] [ 1.34729088e-01 -2.84580229e-01 9.49137591e-01 -1.70029491e+02] [-9.88196107e-01 3.18962339e-02 1.49836862e-01 -3.64385200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-170.08, Z:-364.33 [[-1.19941252e-02 -6.29677430e-02 9.97943488e-01 2.88129993e+02] [ 8.28752364e-02 9.94518940e-01 6.37477270e-02 -1.70080463e+02] [-9.96487750e-01 8.34694007e-02 -6.70991810e-03 -3.64329154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-169.90, Z:-364.35 [[-6.49961574e-02 -8.67389239e-01 -4.93367416e-01 2.89122477e+02] [ 2.77510990e-02 -4.95792781e-01 8.67997347e-01 -1.69901087e+02] [-9.97499562e-01 4.27250043e-02 5.62956303e-02 -3.64346182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-169.91, Z:-364.36 [[-6.25579252e-02 -8.74339809e-01 -4.81265421e-01 2.89117049e+02] [ 2.93048045e-02 -4.83611175e-01 8.74792238e-01 -1.69908894e+02] [-9.97611014e-01 4.06217984e-02 5.58760689e-02 -3.64363150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-169.88, Z:-364.66 [[-6.34297430e-02 -8.75265380e-01 -4.79465517e-01 2.89104155e+02] [ 5.32267665e-02 -4.82716145e-01 8.74157900e-01 -1.69882542e+02] [-9.96565893e-01 2.99272118e-02 7.72061070e-02 -3.64656407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-170.15, Z:-364.71 [[ 3.18713000e-02 -3.95365316e-01 9.17970853e-01 2.88286339e+02] [ 1.91565263e-02 9.18510363e-01 3.94932579e-01 -1.70152788e+02] [-9.99308385e-01 4.99811808e-03 3.68479454e-02 -3.64710621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.87, Z:-364.76 [[ 5.30365982e-02 2.58219952e-01 9.64629243e-01 2.88026873e+02] [ 3.59081239e-03 9.65933245e-01 -2.58766445e-01 -1.69869183e+02] [-9.98586113e-01 1.71878946e-02 5.03025940e-02 -3.64760482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-169.65, Z:-364.80 [[ 5.35848159e-02 5.88339178e-01 8.06836836e-01 2.87973099e+02] [-3.61608388e-03 8.08106716e-01 -5.89025008e-01 -1.69651044e+02] [-9.98556754e-01 2.86452069e-02 4.54297334e-02 -3.64797737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-169.59, Z:-364.83 [[ 5.32501017e-02 6.67096358e-01 7.43065863e-01 2.87977725e+02] [-8.36347216e-03 7.44393458e-01 -6.67688874e-01 -1.69590065e+02] [-9.98546183e-01 2.93398897e-02 4.52182691e-02 -3.64826396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-169.59, Z:-364.86 [[ 4.92324599e-02 6.64844043e-01 7.45358010e-01 2.87982691e+02] [-1.29497821e-02 7.46625142e-01 -6.65118938e-01 -1.69587944e+02] [-9.98703393e-01 2.30932176e-02 4.53677779e-02 -3.64859310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-169.58, Z:-364.89 [[ 4.72175653e-02 6.70986549e-01 7.39964562e-01 2.87985768e+02] [-1.54361654e-02 7.41192507e-01 -6.71115037e-01 -1.69581657e+02] [-9.98765351e-01 2.02662027e-02 4.53547650e-02 -3.64887779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-169.58, Z:-364.92 [[ 4.56081473e-02 6.70264186e-01 7.40719797e-01 2.87988401e+02] [-1.77621959e-02 7.41918279e-01 -6.70255005e-01 -1.69580481e+02] [-9.98801483e-01 1.74122788e-02 4.57428819e-02 -3.64915335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-169.58, Z:-364.94 [[ 4.57657447e-02 6.68059941e-01 7.42698735e-01 2.87989014e+02] [-1.75102518e-02 7.43900012e-01 -6.68061497e-01 -1.69582795e+02] [-9.98798722e-01 1.75694900e-02 4.57430358e-02 -3.64943855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-169.59, Z:-364.97 [[ 4.02263348e-02 6.50241475e-01 7.58661892e-01 2.87990514e+02] [-1.78812419e-02 7.59623338e-01 -6.50117409e-01 -1.69594551e+02] [-9.99030582e-01 1.25860237e-02 4.21839879e-02 -3.64968005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-169.65, Z:-365.00 [[ 4.09970092e-02 5.62543029e-01 8.25750923e-01 2.87992406e+02] [-2.12967701e-02 8.26749971e-01 -5.62166286e-01 -1.69653346e+02] [-9.98932276e-01 5.46130878e-03 4.58746258e-02 -3.64997394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-169.59, Z:-365.03 [[ 4.11203745e-02 6.54571800e-01 7.54880701e-01 2.87998008e+02] [-2.51512585e-02 7.55958436e-01 -6.54136269e-01 -1.69585672e+02] [-9.98837589e-01 7.91212866e-03 4.75485986e-02 -3.65026713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-169.59, Z:-365.05 [[ 4.00673442e-02 6.48441776e-01 7.60209097e-01 2.88000092e+02] [-2.61854455e-02 7.61240173e-01 -6.47941140e-01 -1.69588766e+02] [-9.98853808e-01 6.05486682e-03 4.74806089e-02 -3.65054877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-169.59, Z:-365.08 [[ 3.87499959e-02 6.46260214e-01 7.62132648e-01 2.88004248e+02] [-2.75823730e-02 7.63106641e-01 -6.45683721e-01 -1.69587216e+02] [-9.98868185e-01 3.99881456e-03 4.73957695e-02 -3.65081774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-169.59, Z:-365.11 [[ 3.86585685e-02 6.43647693e-01 7.64344924e-01 2.88006380e+02] [-2.76800325e-02 7.65312967e-01 -6.43062889e-01 -1.69587968e+02] [-9.98869026e-01 3.70279840e-03 4.74020928e-02 -3.65109910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-169.59, Z:-365.14 [[ 3.90404437e-02 6.37611835e-01 7.69367917e-01 2.88008244e+02] [-2.78224549e-02 7.70350019e-01 -6.37013939e-01 -1.69591380e+02] [-9.98850216e-01 3.46360271e-03 4.78147331e-02 -3.65137963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-169.59, Z:-365.17 [[ 3.95228789e-02 6.31570254e-01 7.74310633e-01 2.88009832e+02] [-2.77139750e-02 7.75310850e-01 -6.30971490e-01 -1.69594444e+02] [-9.98834259e-01 3.47858426e-03 4.81458391e-02 -3.65165481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-169.60, Z:-365.19 [[ 4.04691346e-02 6.25502747e-01 7.79171716e-01 2.88012421e+02] [-2.74730010e-02 7.80212300e-01 -6.24911195e-01 -1.69596224e+02] [-9.98803025e-01 3.88342994e-03 4.87589542e-02 -3.65192501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-169.60, Z:-365.22 [[ 4.11426879e-02 6.22850583e-01 7.81258236e-01 2.88014149e+02] [-2.72021354e-02 7.82328722e-01 -6.22271496e-01 -1.69597408e+02] [-9.98782921e-01 4.35002960e-03 4.91299723e-02 -3.65220809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-169.60, Z:-365.25 [[ 4.18237225e-02 6.21252513e-01 7.82493509e-01 2.88015932e+02] [-2.66485976e-02 7.83593789e-01 -6.20701720e-01 -1.69597906e+02] [-9.98769557e-01 5.10770185e-03 4.93283174e-02 -3.65247551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-169.60, Z:-365.28 [[ 4.23567577e-02 6.18504595e-01 7.84638752e-01 2.88017703e+02] [-2.62836438e-02 7.85761567e-01 -6.17970816e-01 -1.69599541e+02] [-9.98756765e-01 5.55207464e-03 4.95388667e-02 -3.65275893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-169.60, Z:-365.30 [[ 4.26746413e-02 6.16894765e-01 7.85887857e-01 2.88020420e+02] [-2.51241826e-02 7.87018302e-01 -6.16417852e-01 -1.69599294e+02] [-9.98773073e-01 6.56062070e-03 4.90847004e-02 -3.65302500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-169.60, Z:-365.33 [[ 4.27562743e-02 6.12587178e-01 7.89245748e-01 2.88022022e+02] [-2.42159980e-02 7.90371491e-01 -6.12149076e-01 -1.69601983e+02] [-9.98792014e-01 7.06084036e-03 4.86277501e-02 -3.65330473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-169.61, Z:-365.36 [[ 4.25082938e-02 6.06438647e-01 7.93993207e-01 2.88023346e+02] [-2.37084121e-02 7.95100028e-01 -6.06014733e-01 -1.69606200e+02] [-9.98814776e-01 6.93633415e-03 4.81760430e-02 -3.65358475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.61, Z:-365.39 [[ 4.22294020e-02 6.04065508e-01 7.95815016e-01 2.88025287e+02] [-2.32515070e-02 7.96904026e-01 -6.03658298e-01 -1.69606727e+02] [-9.98837347e-01 6.98823048e-03 4.76982138e-02 -3.65385281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.61, Z:-365.41 [[ 4.25290648e-02 6.01307491e-01 7.97885067e-01 2.88026609e+02] [-2.31973042e-02 7.98986634e-01 -6.00901193e-01 -1.69608438e+02] [-9.98825893e-01 7.04698311e-03 4.79288671e-02 -3.65412760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.61, Z:-365.44 [[ 4.29422781e-02 5.98918496e-01 7.99657799e-01 2.88027908e+02] [-2.32868506e-02 8.00778691e-01 -5.98507486e-01 -1.69609848e+02] [-9.98806129e-01 7.07976319e-03 4.83341868e-02 -3.65439684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.61, Z:-365.47 [[ 4.35036248e-02 5.96139569e-01 8.01701347e-01 2.88028811e+02] [-2.33234685e-02 8.02848378e-01 -5.95726865e-01 -1.69611077e+02] [-9.98780982e-01 7.21782193e-03 4.88308570e-02 -3.65467243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.61, Z:-365.49 [[ 4.35241657e-02 5.93756227e-01 8.03466981e-01 2.88029763e+02] [-2.31908724e-02 8.04612839e-01 -5.93346748e-01 -1.69612682e+02] [-9.98783175e-01 7.19182193e-03 4.87898275e-02 -3.65494611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.61, Z:-365.52 [[ 4.29389279e-02 5.91006132e-01 8.05523433e-01 2.88030545e+02] [-2.29914690e-02 8.06638069e-01 -5.90598356e-01 -1.69614469e+02] [-9.98813116e-01 6.83949319e-03 4.82242730e-02 -3.65522693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.62, Z:-365.55 [[ 4.17163606e-02 5.88662771e-01 8.07301608e-01 2.88031560e+02] [-2.34592047e-02 8.08359316e-01 -5.88221797e-01 -1.69615519e+02] [-9.98854049e-01 5.59981894e-03 4.75313692e-02 -3.65549952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.62, Z:-365.58 [[ 4.10240846e-02 5.85918358e-01 8.09331022e-01 2.88032524e+02] [-2.38812425e-02 8.10356517e-01 -5.85450256e-01 -1.69617370e+02] [-9.98872720e-01 4.68973042e-03 4.72365927e-02 -3.65578443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.62, Z:-365.60 [[ 4.03720935e-02 5.79571037e-01 8.13921070e-01 2.88033288e+02] [-2.46661080e-02 8.14915035e-01 -5.79055325e-01 -1.69621638e+02] [-9.98880212e-01 3.30141072e-03 4.71955878e-02 -3.65604961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-169.62, Z:-365.63 [[ 3.78651908e-02 5.76916531e-01 8.15924962e-01 2.88034082e+02] [-2.66635304e-02 8.16803105e-01 -5.76300047e-01 -1.69623133e+02] [-9.98927066e-01 6.62712151e-05 4.63110369e-02 -3.65633168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.63, Z:-365.66 [[ 3.69272174e-02 5.70510115e-01 8.20459986e-01 2.88035024e+02] [-2.82917722e-02 8.21287706e-01 -5.69812319e-01 -1.69627854e+02] [-9.98917392e-01 -2.17068363e-03 4.64686119e-02 -3.65660516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.63, Z:-365.69 [[ 3.52756573e-02 5.67776072e-01 8.22426872e-01 2.88035795e+02] [-2.99336472e-02 8.23170102e-01 -5.67005255e-01 -1.69629840e+02] [-9.98929229e-01 -4.61675276e-03 4.60334751e-02 -3.65688813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.63, Z:-365.72 [[ 3.24205650e-02 5.61459875e-01 8.26868620e-01 2.88036821e+02] [-3.36422523e-02 8.27447753e-01 -5.60534044e-01 -1.69633319e+02] [-9.98907957e-01 -9.64489233e-03 4.57150985e-02 -3.65717080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.64, Z:-365.74 [[ 3.09351027e-02 5.55004422e-01 8.31271984e-01 2.88037568e+02] [-3.56546479e-02 8.31753463e-01 -5.53999027e-01 -1.69637647e+02] [-9.98885262e-01 -1.25006930e-02 4.55188661e-02 -3.65744706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.64, Z:-365.77 [[ 2.94888428e-02 5.48463429e-01 8.35654400e-01 2.88038449e+02] [-3.80231478e-02 8.36028395e-01 -5.47367119e-01 -1.69642058e+02] [-9.98841653e-01 -1.56329878e-02 4.55078159e-02 -3.65772602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.64, Z:-365.80 [[ 2.62922261e-02 5.46114368e-01 8.37297925e-01 2.88039249e+02] [-4.26619916e-02 8.37437370e-01 -5.44865677e-01 -1.69643536e+02] [-9.98743547e-01 -2.13950654e-02 4.53164192e-02 -3.65799461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.65, Z:-365.83 [[ 2.49527055e-02 5.43261695e-01 8.39192524e-01 2.88040005e+02] [-4.44127545e-02 8.39227497e-01 -5.41963758e-01 -1.69645983e+02] [-9.98701592e-01 -2.37473894e-02 4.50687449e-02 -3.65827050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.65, Z:-365.86 [[ 2.39530252e-02 5.36619583e-01 8.43484248e-01 2.88040558e+02] [-4.59509416e-02 8.43425560e-01 -5.35277344e-01 -1.69650953e+02] [-9.98656479e-01 -2.59373837e-02 4.48607688e-02 -3.65855292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.66, Z:-365.88 [[ 2.29619941e-02 5.29910752e-01 8.47742497e-01 2.88041073e+02] [-4.75166355e-02 8.47586223e-01 -5.28526030e-01 -1.69655959e+02] [-9.98606487e-01 -2.81458596e-02 4.46418459e-02 -3.65882506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.66, Z:-365.91 [[ 1.97945462e-02 5.19399098e-01 8.54302495e-01 2.88041621e+02] [-4.95114363e-02 8.53930782e-01 -5.18025904e-01 -1.69663670e+02] [-9.98577385e-01 -3.20436559e-02 4.26193677e-02 -3.65909498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.67, Z:-365.94 [[ 2.06061585e-02 5.13267169e-01 8.57981468e-01 2.88042111e+02] [-5.08516795e-02 8.57590991e-01 -5.11812270e-01 -1.69668371e+02] [-9.98493612e-01 -3.30833139e-02 4.37721535e-02 -3.65938794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.67, Z:-365.97 [[ 1.99266561e-02 5.17267670e-01 8.55591658e-01 2.88042366e+02] [-5.13177125e-02 8.55162719e-01 -5.15813160e-01 -1.69666744e+02] [-9.98483561e-01 -3.36285752e-02 4.35855270e-02 -3.65966102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.67, Z:-365.99 [[ 1.93090500e-02 5.12633274e-01 8.58390521e-01 2.88041964e+02] [-5.18861841e-02 8.57907477e-01 -5.11177646e-01 -1.69672056e+02] [-9.98466316e-01 -3.46682539e-02 4.31639628e-02 -3.65994226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.68, Z:-366.02 [[ 1.97308015e-02 5.05872046e-01 8.62382844e-01 2.88042122e+02] [-5.21146815e-02 8.61898559e-01 -5.04395613e-01 -1.69677823e+02] [-9.98446171e-01 -3.49906775e-02 4.33693099e-02 -3.66021289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.68, Z:-366.05 [[ 2.01890832e-02 5.02931139e-01 8.64090661e-01 2.88042023e+02] [-5.19940800e-02 8.63625474e-01 -5.01445566e-01 -1.69681102e+02] [-9.98443297e-01 -3.48038727e-02 4.35852484e-02 -3.66048954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.69, Z:-366.08 [[ 2.07804410e-02 4.96068498e-01 8.68034687e-01 2.88042026e+02] [-5.20233007e-02 8.67582490e-01 -4.94564656e-01 -1.69687114e+02] [-9.98429642e-01 -3.48807580e-02 4.38358674e-02 -3.66076690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.70, Z:-366.10 [[ 2.06587211e-02 4.84940280e-01 8.74303232e-01 2.88041215e+02] [-5.07339058e-02 8.73871699e-01 -4.83502146e-01 -1.69697095e+02] [-9.98498517e-01 -3.43682818e-02 4.26559862e-02 -3.66104385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.67, Z:-366.13 [[ 2.01831087e-02 5.25571168e-01 8.50510194e-01 2.88040548e+02] [-5.06951578e-02 8.50127177e-01 -5.24131457e-01 -1.69672460e+02] [-9.98510212e-01 -3.25381463e-02 4.38021225e-02 -3.66132622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.71, Z:-366.16 [[ 2.24854852e-02 4.74468061e-01 8.79985490e-01 2.88041457e+02] [-5.10255465e-02 8.79605497e-01 -4.72959368e-01 -1.69706808e+02] [-9.98444188e-01 -3.42670197e-02 4.39883485e-02 -3.66159082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.71, Z:-366.19 [[ 2.32301617e-02 4.71436113e-01 8.81594210e-01 2.88041395e+02] [-5.08521973e-02 8.81247849e-01 -4.69910931e-01 -1.69710385e+02] [-9.98435984e-01 -3.39148958e-02 4.44450923e-02 -3.66185953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.72, Z:-366.21 [[ 2.39498984e-02 4.68432178e-01 8.83174783e-01 2.88040221e+02] [-5.02933158e-02 8.82874116e-01 -4.66908854e-01 -1.69715730e+02] [-9.98447287e-01 -3.32353686e-02 4.47037529e-02 -3.66213640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.72, Z:-366.24 [[ 2.44496337e-02 4.61486262e-01 8.86810377e-01 2.88040507e+02] [-4.99044609e-02 8.86533013e-01 -4.59966044e-01 -1.69722096e+02] [-9.98454686e-01 -3.30097925e-02 4.47056305e-02 -3.66241854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.73, Z:-366.27 [[ 2.55281446e-02 4.54523072e-01 8.90369076e-01 2.88039698e+02] [-4.91647461e-02 8.90152382e-01 -4.53002830e-01 -1.69730149e+02] [-9.98464392e-01 -3.22104478e-02 4.50704501e-02 -3.66269716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.74, Z:-366.30 [[ 2.62000848e-02 4.47529213e-01 8.93885428e-01 2.88040201e+02] [-4.83056616e-02 8.93714578e-01 -4.46027821e-01 -1.69736682e+02] [-9.98488918e-01 -3.14937603e-02 4.50335925e-02 -3.66297719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.75, Z:-366.33 [[ 2.55641459e-02 4.37457770e-01 8.98875505e-01 2.88040646e+02] [-4.71092651e-02 8.98697584e-01 -4.36031387e-01 -1.69745225e+02] [-9.98562563e-01 -3.11985945e-02 4.35827502e-02 -3.66326131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.74, Z:-366.35 [[ 2.60987291e-02 4.49693952e-01 8.92801325e-01 2.88039906e+02] [-4.59011272e-02 8.92702641e-01 -4.48302445e-01 -1.69739873e+02] [-9.98604998e-01 -2.92804632e-02 4.39398637e-02 -3.66353098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.75, Z:-366.38 [[ 2.68181563e-02 4.31883415e-01 9.01530644e-01 2.88041364e+02] [-4.43773038e-02 9.01480268e-01 -4.30539174e-01 -1.69753900e+02] [-9.98654816e-01 -2.84612324e-02 4.33418602e-02 -3.66380967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.76, Z:-366.41 [[ 2.74814364e-02 4.24523171e-01 9.04999916e-01 2.88040730e+02] [-4.07476211e-02 9.05065111e-01 -4.23316401e-01 -1.69764058e+02] [-9.98791471e-01 -2.52432509e-02 4.21707986e-02 -3.66408573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.77, Z:-366.44 [[ 2.82701719e-02 4.17188854e-01 9.08380018e-01 2.88041248e+02] [-3.93094117e-02 9.08504270e-01 -4.16022550e-01 -1.69771576e+02] [-9.98827096e-01 -2.39468551e-02 4.20830203e-02 -3.66435550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.78, Z:-366.46 [[ 2.91226681e-02 4.13976284e-01 9.09821689e-01 2.88041215e+02] [-3.76987167e-02 9.10015074e-01 -4.12857569e-01 -1.69776335e+02] [-9.98864694e-01 -2.22755961e-02 4.21084416e-02 -3.66462329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.78, Z:-366.49 [[ 3.08337145e-02 4.10750442e-01 9.11226293e-01 2.88039741e+02] [-3.41904268e-02 9.11559672e-01 -4.09743796e-01 -1.69783582e+02] [-9.98939586e-01 -1.85212926e-02 4.21505037e-02 -3.66490084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.79, Z:-366.52 [[ 3.19507216e-02 4.03365769e-01 9.14480841e-01 2.88040455e+02] [-3.24768210e-02 9.14883816e-01 -4.02408821e-01 -1.69790743e+02] [-9.98961665e-01 -1.68421784e-02 4.23312360e-02 -3.66518149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.80, Z:-366.54 [[ 3.20861463e-02 3.95961838e-01 9.17706218e-01 2.88041034e+02] [-3.09892315e-02 9.18131663e-01 -3.95061915e-01 -1.69797941e+02] [-9.99004578e-01 -1.57629961e-02 4.17298599e-02 -3.66544810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.81, Z:-366.57 [[ 3.31712374e-02 3.92689539e-01 9.19072682e-01 2.88040224e+02] [-2.86730373e-02 9.19574141e-01 -3.91868927e-01 -1.69805588e+02] [-9.99038301e-01 -1.33538281e-02 4.17630139e-02 -3.66572778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.81, Z:-366.60 [[ 3.36040108e-02 3.89867697e-01 9.20257545e-01 2.88040121e+02] [-2.73681618e-02 9.20791242e-01 -3.89094426e-01 -1.69810176e+02] [-9.99060436e-01 -1.21106241e-02 4.16122410e-02 -3.66600530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.81, Z:-366.63 [[ 3.45838090e-02 3.87046272e-01 9.21411495e-01 2.88040616e+02] [-2.64714842e-02 9.21994300e-01 -3.86297516e-01 -1.69814907e+02] [-9.99051160e-01 -1.10314903e-02 4.21317640e-02 -3.66629256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.82, Z:-366.66 [[ 3.51471319e-02 3.85143516e-01 9.22187156e-01 2.88040409e+02] [-2.53653930e-02 9.22803804e-01 -3.84434307e-01 -1.69819004e+02] [-9.99060196e-01 -9.87987634e-03 4.22032236e-02 -3.66657705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.82, Z:-366.68 [[ 3.58401502e-02 3.82312353e-01 9.23337830e-01 2.88040717e+02] [-2.40647501e-02 9.23993673e-01 -3.81649814e-01 -1.69823837e+02] [-9.99067751e-01 -8.54150748e-03 4.23163232e-02 -3.66684664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.83, Z:-366.71 [[ 3.59772821e-02 3.79079917e-01 9.24664291e-01 2.88042208e+02] [-2.38098338e-02 9.25325798e-01 -3.78424707e-01 -1.69826155e+02] [-9.99068930e-01 -8.40141068e-03 4.23165371e-02 -3.66713182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.84, Z:-366.74 [[ 3.74904619e-02 3.72064067e-01 9.27449619e-01 2.88042261e+02] [-2.14630037e-02 9.28187798e-01 -3.71492599e-01 -1.69836341e+02] [-9.99066467e-01 -5.97842551e-03 4.27838017e-02 -3.66739674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.84, Z:-366.77 [[ 3.79716720e-02 3.68806734e-01 9.28730179e-01 2.88042692e+02] [-2.00893974e-02 9.29494355e-01 -3.68288828e-01 -1.69841110e+02] [-9.99076858e-01 -4.67308706e-03 4.27035598e-02 -3.66767366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-169.85, Z:-366.80 [[ 3.82640019e-02 3.61389127e-01 9.31629629e-01 2.88044213e+02] [-1.87229718e-02 9.32408013e-01 -3.60922079e-01 -1.69848264e+02] [-9.99092246e-01 -3.63255220e-03 4.24439404e-02 -3.66795220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.86, Z:-366.82 [[ 3.81100323e-02 3.53993076e-01 9.34471256e-01 2.88045419e+02] [-1.76065907e-02 9.35243301e-01 -3.53567500e-01 -1.69855233e+02] [-9.99118428e-01 -2.97838405e-03 4.18747636e-02 -3.66822583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.86, Z:-366.85 [[ 3.77266638e-02 3.50767191e-01 9.35702451e-01 2.88045402e+02] [-1.65314808e-02 9.36459992e-01 -3.50384636e-01 -1.69862011e+02] [-9.99151344e-01 -2.24970376e-03 4.11282124e-02 -3.66850547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.87, Z:-366.88 [[ 3.76460023e-02 3.43450751e-01 9.38415878e-01 2.88047061e+02] [-1.66095135e-02 9.39166888e-01 -3.43059297e-01 -1.69868907e+02] [-9.99153093e-01 -2.67182010e-03 4.10604287e-02 -3.66877670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.87, Z:-366.90 [[ 3.71735202e-02 3.40310445e-01 9.39578060e-01 2.88047151e+02] [-1.75095627e-02 9.40305393e-01 -3.39881132e-01 -1.69874822e+02] [-9.99155416e-01 -3.81702284e-03 4.09131486e-02 -3.66904730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.88, Z:-366.93 [[ 3.71649165e-02 3.37208846e-01 9.40695999e-01 2.88048188e+02] [-1.82148345e-02 9.41418534e-01 -3.36748221e-01 -1.69878715e+02] [-9.99143127e-01 -4.61940240e-03 4.11299445e-02 -3.66932602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.88, Z:-366.96 [[ 3.67853036e-02 3.29829365e-01 9.43323609e-01 2.88050172e+02] [-1.90920426e-02 9.44022157e-01 -3.29329108e-01 -1.69884759e+02] [-9.99140799e-01 -5.89550328e-03 4.10232579e-02 -3.66959668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.89, Z:-366.99 [[ 3.67745953e-02 3.26643152e-01 9.44432041e-01 2.88051490e+02] [-2.01089363e-02 9.45121823e-01 -3.26098713e-01 -1.69888328e+02] [-9.99121244e-01 -6.99937552e-03 4.13249189e-02 -3.66987360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.89, Z:-367.01 [[ 3.58554085e-02 3.19241093e-01 9.46994992e-01 2.88053290e+02] [-2.24174891e-02 9.47622802e-01 -3.18603956e-01 -1.69894897e+02] [-9.99105523e-01 -9.80557488e-03 4.11339863e-02 -3.67014011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-169.90, Z:-367.04 [[ 3.54222453e-02 3.16017956e-01 9.48091724e-01 2.88054354e+02] [-2.30976850e-02 9.48692552e-01 -3.15355257e-01 -1.69897639e+02] [-9.99105481e-01 -1.07281328e-02 4.09041035e-02 -3.67041880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-169.90, Z:-367.07 [[ 3.52467892e-02 3.08667727e-01 9.50516648e-01 2.88056976e+02] [-2.35739253e-02 9.51099777e-01 -3.07982929e-01 -1.69903040e+02] [-9.99100563e-01 -1.15519991e-02 4.07997233e-02 -3.67070295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-169.91, Z:-367.10 [[ 3.47080585e-02 3.01182761e-01 9.52934570e-01 2.88059883e+02] [-2.41033296e-02 9.53483978e-01 -3.00478508e-01 -1.69907946e+02] [-9.99106791e-01 -1.25398704e-02 4.03530851e-02 -3.67098350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-169.91, Z:-367.13 [[ 3.48826078e-02 2.93599421e-01 9.55291884e-01 2.88062598e+02] [-2.42446923e-02 9.55840900e-01 -2.92882857e-01 -1.69911902e+02] [-9.99097292e-01 -1.29442399e-02 4.04604509e-02 -3.67126494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-169.92, Z:-367.15 [[ 3.50579926e-02 2.86001419e-01 9.57587659e-01 2.88065291e+02] [-2.37342660e-02 9.58144690e-01 -2.85298858e-01 -1.69915233e+02] [-9.99103409e-01 -1.27256350e-02 4.03786632e-02 -3.67154582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-169.92, Z:-367.18 [[ 3.60040202e-02 2.78366914e-01 9.59799756e-01 2.88068523e+02] [-2.34255861e-02 9.60393636e-01 -2.77660414e-01 -1.69918647e+02] [-9.99077050e-01 -1.24869807e-02 4.10989400e-02 -3.67182518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-169.92, Z:-367.21 [[ 3.76053649e-02 2.70712984e-01 9.61925318e-01 2.88071492e+02] [-2.29729167e-02 9.62585998e-01 -2.70000818e-01 -1.69920599e+02] [-9.99028569e-01 -1.19447509e-02 4.24174646e-02 -3.67210521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-169.92, Z:-367.24 [[ 3.78948873e-02 2.67809610e-01 9.62726332e-01 2.88073163e+02] [-2.25533190e-02 9.63402134e-01 -2.67109859e-01 -1.69921794e+02] [-9.99027190e-01 -1.15905761e-02 4.25480108e-02 -3.67238020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-169.92, Z:-367.27 [[ 3.80967886e-02 2.62541730e-01 9.64168281e-01 2.88075917e+02] [-2.19326590e-02 9.64855977e-01 -2.61862372e-01 -1.69924826e+02] [-9.99033329e-01 -1.11706587e-02 4.25161524e-02 -3.67266335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-169.93, Z:-367.29 [[ 3.78601731e-02 2.55037511e-01 9.66189668e-01 2.88079376e+02] [-2.13093440e-02 9.66869067e-01 -2.54381839e-01 -1.69929876e+02] [-9.99055814e-01 -1.09579275e-02 4.20405122e-02 -3.67293917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-169.93, Z:-367.32 [[ 3.77726172e-02 2.47371223e-01 9.68184232e-01 2.88082394e+02] [-2.07304354e-02 9.68861132e-01 -2.46735397e-01 -1.69934385e+02] [-9.99071308e-01 -1.07510390e-02 4.17245338e-02 -3.67321075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-169.94, Z:-367.35 [[ 3.87622708e-02 2.44004897e-01 9.68999018e-01 2.88083882e+02] [-1.95513183e-02 9.69727367e-01 -2.43406204e-01 -1.69935435e+02] [-9.99057172e-01 -9.51023103e-03 4.23594522e-02 -3.67349332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-169.94, Z:-367.38 [[ 3.96740601e-02 2.36206177e-01 9.70892688e-01 2.88086625e+02] [-1.87302179e-02 9.71662778e-01 -2.35628149e-01 -1.69939502e+02] [-9.99037110e-01 -8.83670628e-03 4.29740006e-02 -3.67376531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-169.94, Z:-367.40 [[ 4.05192307e-02 2.32794239e-01 9.71681550e-01 2.88087989e+02] [-1.75591365e-02 9.72495915e-01 -2.32257125e-01 -1.69941025e+02] [-9.99024459e-01 -7.65100896e-03 4.34924521e-02 -3.67404252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-169.95, Z:-367.43 [[ 4.13479377e-02 2.25050162e-01 9.73469451e-01 2.88090973e+02] [-1.61491922e-02 9.74325925e-01 -2.24562231e-01 -1.69945385e+02] [-9.99014290e-01 -6.43556009e-03 4.39207460e-02 -3.67432172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-169.95, Z:-367.46 [[ 4.30731270e-02 2.17254715e-01 9.75164137e-01 2.88094212e+02] [-1.32686194e-02 9.76108317e-01 -2.16878990e-01 -1.69950706e+02] [-9.98983808e-01 -3.59742551e-03 4.49267077e-02 -3.67459751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-169.96, Z:-367.49 [[ 4.38251177e-02 2.09435921e-01 9.76839779e-01 2.88097701e+02] [-1.18336051e-02 9.77819441e-01 -2.09115057e-01 -1.69955863e+02] [-9.98969131e-01 -2.39504424e-03 4.53314341e-02 -3.67486341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-169.96, Z:-367.51 [[ 4.41383236e-02 2.06006971e-01 9.77554570e-01 2.88099766e+02] [-1.02859412e-02 9.78550040e-01 -2.05752325e-01 -1.69958673e+02] [-9.98972476e-01 -9.73506165e-04 4.53105339e-02 -3.67514712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-169.96, Z:-367.54 [[ 4.40734326e-02 1.98069158e-01 9.79196682e-01 2.88103338e+02] [-7.24688020e-03 9.80186696e-01 -1.97943234e-01 -1.69963964e+02] [-9.99002010e-01 1.62791676e-03 4.46355758e-02 -3.67542127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-169.97, Z:-367.57 [[ 4.37425900e-02 1.92692994e-01 9.80283630e-01 2.88105569e+02] [-5.65931708e-03 9.81254872e-01 -1.92631378e-01 -1.69967164e+02] [-9.99026805e-01 2.87845949e-03 4.40131403e-02 -3.67568995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-169.97, Z:-367.60 [[ 4.38438047e-02 1.89278885e-01 9.80944048e-01 2.88107555e+02] [-4.24897972e-03 9.81914682e-01 -1.89276264e-01 -1.69969514e+02] [-9.99029362e-01 4.13058020e-03 4.38551177e-02 -3.67596313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-169.97, Z:-367.62 [[ 4.38074922e-02 1.84073421e-01 9.81935782e-01 2.88109868e+02] [-2.54707803e-03 9.82896739e-01 -1.84139928e-01 -1.69972932e+02] [-9.99036744e-01 5.56564140e-03 4.35270906e-02 -3.67624147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-169.98, Z:-367.65 [[ 4.35778806e-02 1.76341792e-01 9.83363890e-01 2.88112615e+02] [ 6.27866539e-04 9.84293913e-01 -1.76536393e-01 -1.69978216e+02] [-9.99049836e-01 8.31050312e-03 4.27827235e-02 -3.67651638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-169.98, Z:-367.68 [[ 4.32095304e-02 1.68606381e-01 9.84735916e-01 2.88115878e+02] [ 1.76150315e-03 9.85642098e-01 -1.68838831e-01 -1.69983258e+02] [-9.99064479e-01 9.03006203e-03 4.22921315e-02 -3.67678319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-169.98, Z:-367.71 [[ 4.22896246e-02 1.65225614e-01 9.85348712e-01 2.88117852e+02] [ 3.30909521e-03 9.86202428e-01 -1.65510789e-01 -1.69984822e+02] [-9.99099914e-01 1.02600018e-02 4.11593832e-02 -3.67706446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-169.99, Z:-367.73 [[ 4.20104285e-02 1.57460508e-01 9.86631295e-01 2.88121029e+02] [ 4.04971426e-03 9.87468142e-01 -1.57766500e-01 -1.69988569e+02] [-9.99108965e-01 1.06234131e-02 4.08462897e-02 -3.67733394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-169.99, Z:-367.76 [[ 4.22085066e-02 1.54071347e-01 9.87157770e-01 2.88123106e+02] [ 4.84043168e-03 9.87995156e-01 -1.54409008e-01 -1.69989981e+02] [-9.99097099e-01 1.12956434e-02 4.09560282e-02 -3.67761383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-169.99, Z:-367.79 [[ 4.21063379e-02 1.46356999e-01 9.88335310e-01 2.88126247e+02] [ 5.39821116e-03 9.89164844e-01 -1.46709821e-01 -1.69994069e+02] [-9.99098552e-01 1.15126560e-02 4.08600432e-02 -3.67789362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-170.00, Z:-367.82 [[ 4.24439919e-02 1.38466466e-01 9.89457197e-01 2.88129762e+02] [ 6.01465735e-03 9.90296295e-01 -1.38841897e-01 -1.69997852e+02] [-9.99080743e-01 1.18442503e-02 4.11992995e-02 -3.67817164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-170.00, Z:-367.84 [[ 4.36492856e-02 1.35487972e-01 9.89817028e-01 2.88130914e+02] [ 5.94646537e-03 9.90708523e-01 -1.35872230e-01 -1.69998290e+02] [-9.99029219e-01 1.18166385e-02 4.24380448e-02 -3.67843829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-170.00, Z:-367.87 [[ 4.40368845e-02 1.32058960e-01 9.90263189e-01 2.88132434e+02] [ 5.81776997e-03 9.91174064e-01 -1.32439147e-01 -1.69999055e+02] [-9.99012966e-01 1.15933309e-02 4.28799292e-02 -3.67870653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-170.00, Z:-367.90 [[ 4.47693160e-02 1.28659631e-01 9.90677752e-01 2.88134217e+02] [ 5.60187034e-03 9.91624127e-01 -1.29035689e-01 -1.69999500e+02] [-9.98981645e-01 1.13264879e-02 4.36735994e-02 -3.67898402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-170.00, Z:-367.93 [[ 4.53235971e-02 1.20883767e-01 9.91631427e-01 2.88137119e+02] [ 4.51810889e-03 9.92616560e-01 -1.21210364e-01 -1.70000762e+02] [-9.98962141e-01 9.97398845e-03 4.44427870e-02 -3.67925582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-170.00, Z:-367.95 [[ 4.50204579e-02 1.17527843e-01 9.92048570e-01 2.88139436e+02] [ 3.97423984e-03 9.93026534e-01 -1.17824058e-01 -1.70001607e+02] [-9.98978160e-01 9.24713199e-03 4.42394254e-02 -3.67953638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-170.00, Z:-367.98 [[ 4.44165785e-02 1.09707676e-01 9.92970993e-01 2.88143184e+02] [ 3.78599464e-03 9.93926305e-01 -1.09982575e-01 -1.70004608e+02] [-9.99005923e-01 8.64443251e-03 4.37314531e-02 -3.67980170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-170.01, Z:-368.01 [[ 4.30573798e-02 1.06332507e-01 9.93397936e-01 2.88146229e+02] [ 3.66218259e-03 9.94296590e-01 -1.06587430e-01 -1.70005021e+02] [-9.99065889e-01 8.22738009e-03 4.24223968e-02 -3.68008604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-170.01, Z:-368.04 [[ 4.23951253e-02 9.87179143e-02 9.94211963e-01 2.88150065e+02] [ 3.69713361e-03 9.95084327e-01 -9.89621866e-02 -1.70008624e+02] [-9.99094082e-01 7.87124876e-03 4.18217514e-02 -3.68036963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-170.01, Z:-368.06 [[ 4.18936955e-02 9.09313940e-02 9.94975578e-01 2.88153933e+02] [ 3.84694191e-03 9.95827798e-01 -9.11712554e-02 -1.70012066e+02] [-9.99114668e-01 7.64711407e-03 4.13690988e-02 -3.68064664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-170.01, Z:-368.09 [[ 4.11096233e-02 8.31846852e-02 9.95685848e-01 2.88157254e+02] [ 3.24073933e-03 9.96511928e-01 -8.33875030e-02 -1.70014200e+02] [-9.99149387e-01 6.65478712e-03 4.06966501e-02 -3.68092608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-170.02, Z:-368.12 [[ 4.11500929e-02 7.53491991e-02 9.96307768e-01 2.88161023e+02] [ 2.53645310e-03 9.97141289e-01 -7.55169991e-02 -1.70017071e+02] [-9.99149757e-01 5.63461945e-03 4.08413370e-02 -3.68120766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-170.02, Z:-368.15 [[ 4.09487529e-02 7.24078192e-02 9.96534148e-01 2.88162718e+02] [ 1.45144253e-03 9.97365331e-01 -7.25278541e-02 -1.70017533e+02] [-9.99160194e-01 4.41633722e-03 4.07357708e-02 -3.68147401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-170.02, Z:-368.17 [[ 4.10871181e-02 6.90489248e-02 9.96766821e-01 2.88165482e+02] [-1.08626413e-03 9.97611731e-01 -6.90626780e-02 -1.70017390e+02] [-9.99154977e-01 1.75483436e-03 4.10639964e-02 -3.68174981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-170.02, Z:-368.20 [[ 4.12874996e-02 6.11839395e-02 9.97272214e-01 2.88169267e+02] [-2.60238764e-03 9.98126505e-01 -6.11286115e-02 -1.70020338e+02] [-9.99143919e-01 -7.14413617e-05 4.13693720e-02 -3.68202037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-170.02, Z:-368.23 [[ 4.15429170e-02 5.78105367e-02 9.97462845e-01 2.88171615e+02] [-4.18134773e-03 9.98325996e-01 -5.76864156e-02 -1.70021058e+02] [-9.99127971e-01 -1.77427704e-03 4.17151000e-02 -3.68229384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-170.02, Z:-368.26 [[ 4.12658476e-02 5.44809050e-02 9.97661747e-01 2.88173694e+02] [-5.92762659e-03 9.98508054e-01 -5.42819389e-02 -1.70021840e+02] [-9.99130619e-01 -3.67377609e-03 4.15272236e-02 -3.68257329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-170.02, Z:-368.29 [[ 4.19681814e-02 4.67428842e-02 9.98024937e-01 2.88177355e+02] [-9.57395124e-03 9.98877977e-01 -4.63802402e-02 -1.70023370e+02] [-9.99073076e-01 -7.60854775e-03 4.23686062e-02 -3.68285460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-170.03, Z:-368.31 [[ 4.20983309e-02 3.88763224e-02 9.98356831e-01 2.88180599e+02] [-1.13996387e-02 9.99196333e-01 -3.84283172e-02 -1.70026023e+02] [-9.99048437e-01 -9.76313920e-03 4.25076739e-02 -3.68313686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-170.03, Z:-368.35 [[ 4.27842292e-02 3.09943303e-02 9.98603456e-01 2.88184644e+02] [-1.36603230e-02 9.99443394e-01 -3.04351363e-02 -1.70028818e+02] [-9.98990944e-01 -1.23391019e-02 4.31838078e-02 -3.68346089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-170.02, Z:-368.37 [[ 4.32936427e-02 3.93304161e-02 9.98287924e-01 2.88182607e+02] [-1.74992673e-02 9.99101367e-01 -3.86035577e-02 -1.70023082e+02] [-9.98909123e-01 -1.57980186e-02 4.39429911e-02 -3.68373899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-170.02, Z:-368.40 [[ 4.37675769e-02 3.67591230e-02 9.98365247e-01 2.88184699e+02] [-1.88065313e-02 9.99176095e-01 -3.59645138e-02 -1.70023719e+02] [-9.98864712e-01 -1.72017076e-02 4.44228281e-02 -3.68402087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-170.03, Z:-368.43 [[ 4.36918516e-02 2.89334712e-02 9.98625994e-01 2.88188481e+02] [-1.99824871e-02 9.99405880e-01 -2.80817939e-02 -1.70027216e+02] [-9.98845194e-01 -1.87280855e-02 4.42440561e-02 -3.68429804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-170.03, Z:-368.46 [[ 4.37519414e-02 2.59038020e-02 9.98706544e-01 2.88190544e+02] [-1.98676791e-02 9.99488663e-01 -2.50537127e-02 -1.70028630e+02] [-9.98844854e-01 -1.87458326e-02 4.42442178e-02 -3.68458276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-170.03, Z:-368.49 [[ 4.41424348e-02 2.34793309e-02 9.98749301e-01 2.88193028e+02] [-2.18999918e-02 9.99506291e-01 -2.25291972e-02 -1.70029337e+02] [-9.98785180e-01 -2.08781079e-02 4.46348385e-02 -3.68485729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-170.03, Z:-368.51 [[ 4.41052484e-02 1.99956808e-02 9.98826762e-01 2.88195418e+02] [-2.24010333e-02 9.99568098e-01 -1.90213580e-02 -1.70030604e+02] [-9.98775711e-01 -2.15358099e-02 4.45341231e-02 -3.68512380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-170.03, Z:-368.54 [[ 4.38596966e-02 1.65425268e-02 9.98900732e-01 2.88197790e+02] [-2.26452937e-02 9.99622465e-01 -1.55601705e-02 -1.70031828e+02] [-9.98781016e-01 -2.19379361e-02 4.42177484e-02 -3.68540485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-170.04, Z:-368.57 [[ 4.35426420e-02 8.50995335e-03 9.99015325e-01 2.88201479e+02] [-2.25463561e-02 9.99717416e-01 -7.53323845e-03 -1.70035444e+02] [-9.98797127e-01 -2.21961381e-02 4.37222060e-02 -3.68568576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-170.04, Z:-368.60 [[ 4.39601812e-02 4.44774151e-04 9.99033185e-01 2.88205546e+02] [-2.20720985e-02 9.99756243e-01 5.26136391e-04 -1.70039292e+02] [-9.98789430e-01 -2.20738879e-02 4.39592827e-02 -3.68595256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-170.04, Z:-368.62 [[ 4.48745489e-02 -3.05243211e-03 9.98987967e-01 2.88208062e+02] [-2.15245701e-02 9.99760231e-01 4.02167567e-03 -1.70041219e+02] [-9.98760716e-01 -2.16832574e-02 4.47980870e-02 -3.68622195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-170.04, Z:-368.65 [[ 4.55235643e-02 -6.55320466e-03 9.98941770e-01 2.88210280e+02] [-2.01775282e-02 9.99768446e-01 7.47815385e-03 -1.70043265e+02] [-9.98759467e-01 -2.04966080e-02 4.53807957e-02 -3.68650443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-170.05, Z:-368.68 [[ 4.66503122e-02 -1.46215166e-02 9.98804265e-01 2.88214221e+02] [-1.72438461e-02 9.99732085e-01 1.54404928e-02 -1.70048909e+02] [-9.98762433e-01 -1.79435308e-02 4.63856827e-02 -3.68678127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-170.05, Z:-368.71 [[ 4.68426696e-02 -2.26780916e-02 9.98644816e-01 2.88218504e+02] [-1.52790635e-02 9.99609028e-01 2.34166711e-02 -1.70053614e+02] [-9.98785420e-01 -1.63552570e-02 4.64778554e-02 -3.68705021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-170.06, Z:-368.73 [[ 4.70960302e-02 -2.81753898e-02 9.98492920e-01 2.88222046e+02] [-1.31730595e-02 9.99497667e-01 2.88250769e-02 -1.70057166e+02] [-9.98803501e-01 -1.45107534e-02 4.67012162e-02 -3.68731510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-170.06, Z:-368.76 [[ 4.73847837e-02 -3.17101030e-02 9.98373253e-01 2.88225105e+02] [-1.02923403e-02 9.99427417e-01 3.22320801e-02 -1.70059539e+02] [-9.98823683e-01 -1.18029075e-02 4.70312807e-02 -3.68759686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-170.06, Z:-368.79 [[ 4.50855088e-02 -2.89211173e-02 9.98564403e-01 2.88222491e+02] [-2.90251255e-03 9.99572833e-01 2.90813736e-02 -1.70058908e+02] [-9.98978915e-01 -4.20949424e-03 4.49823059e-02 -3.68791210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.14, Z:-368.82 [[ 4.74492609e-02 -2.04032918e-01 9.77813447e-01 2.88302426e+02] [ 1.97485116e-03 9.78933298e-01 2.04170757e-01 -1.70137048e+02] [-9.98871697e-01 -7.75671551e-03 4.68525961e-02 -3.68818884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-170.07, Z:-368.85 [[ 4.65643194e-02 -3.77634062e-02 9.98201227e-01 2.88232850e+02] [ 8.36417533e-03 9.99264866e-01 3.74134713e-02 -1.70068904e+02] [-9.98880276e-01 6.60699724e-03 4.68459481e-02 -3.68848290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-170.07, Z:-368.88 [[ 4.61033314e-02 -4.14169927e-02 9.98077710e-01 2.88235733e+02] [ 1.32907549e-02 9.99077114e-01 4.08445365e-02 -1.70071818e+02] [-9.98848256e-01 1.13821370e-02 4.66112463e-02 -3.68876092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-170.08, Z:-368.90 [[ 4.55088041e-02 -4.94769787e-02 9.97737930e-01 2.88240237e+02] [ 1.85171233e-02 9.98642900e-01 4.86772527e-02 -1.70076552e+02] [-9.98792303e-01 1.62599927e-02 4.63632154e-02 -3.68904443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-170.08, Z:-368.93 [[ 4.49031277e-02 -5.77078398e-02 9.97323175e-01 2.88244765e+02] [ 2.88199128e-02 9.97989451e-01 5.64488147e-02 -1.70081884e+02] [-9.98575546e-01 2.62080386e-02 4.64759827e-02 -3.68932860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-170.09, Z:-368.96 [[ 4.41268511e-02 -6.57856837e-02 9.96857595e-01 2.88248896e+02] [ 3.38335912e-02 9.97355560e-01 6.43208698e-02 -1.70086100e+02] [-9.98452858e-01 3.08889949e-02 4.62359262e-02 -3.68959494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-170.09, Z:-368.99 [[ 4.37578903e-02 -6.94017642e-02 9.96628638e-01 2.88251330e+02] [ 3.87716297e-02 9.96950604e-01 6.77218810e-02 -1.70088141e+02] [-9.98289541e-01 3.56775499e-02 4.63152747e-02 -3.68987280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-170.09, Z:-369.01 [[ 4.21838821e-02 -7.75095300e-02 9.96098787e-01 2.88255493e+02] [ 4.60946677e-02 9.96075612e-01 7.55556592e-02 -1.70091949e+02] [-9.98045992e-01 4.27276116e-02 4.55911122e-02 -3.69014591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-170.09, Z:-369.04 [[ 4.14720047e-02 -8.09950826e-02 9.95851329e-01 2.88258059e+02] [ 4.89465564e-02 9.95676812e-01 7.89425203e-02 -1.70093294e+02] [-9.97940032e-01 4.54695887e-02 4.52571438e-02 -3.69042671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-170.10, Z:-369.07 [[ 4.03553828e-02 -8.88887079e-02 9.95223714e-01 2.88262129e+02] [ 5.09356722e-02 9.94923078e-01 8.67964630e-02 -1.70096277e+02] [-9.97886266e-01 4.71896844e-02 4.46781078e-02 -3.69069937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-170.10, Z:-369.10 [[ 4.00675095e-02 -9.23316227e-02 9.94921839e-01 2.88264345e+02] [ 5.21740591e-02 9.94556408e-01 9.01965551e-02 -1.70096831e+02] [-9.97833885e-01 4.82951595e-02 4.46667139e-02 -3.69097544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-170.10, Z:-369.12 [[ 3.99022028e-02 -1.00153117e-01 9.94171599e-01 2.88267292e+02] [ 5.25990890e-02 9.93795020e-01 9.80040559e-02 -1.70097577e+02] [-9.97818195e-01 4.83819427e-02 4.49225731e-02 -3.69124154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-170.10, Z:-369.15 [[ 4.01437554e-02 -1.03535016e-01 9.93815365e-01 2.88268949e+02] [ 5.24628886e-02 9.93463589e-01 1.01379205e-01 -1.70097479e+02] [-9.97815677e-01 4.80686828e-02 4.53131053e-02 -3.69152394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-170.10, Z:-369.18 [[ 4.02185415e-02 -1.11349042e-01 9.92967200e-01 2.88272914e+02] [ 5.15512148e-02 9.92678981e-01 1.09228723e-01 -1.70099718e+02] [-9.97860181e-01 4.67956455e-02 4.56642791e-02 -3.69179437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-170.10, Z:-369.21 [[ 4.00555761e-02 -1.14699935e-01 9.92592301e-01 2.88275114e+02] [ 5.06526280e-02 9.92345400e-01 1.12627343e-01 -1.70099815e+02] [-9.97912753e-01 4.57660555e-02 4.55588199e-02 -3.69207875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-170.10, Z:-369.24 [[ 3.94133425e-02 -1.22148873e-01 9.91728915e-01 2.88278775e+02] [ 4.75244435e-02 9.91606052e-01 1.20245021e-01 -1.70100280e+02] [-9.98092188e-01 4.23921066e-02 4.48875661e-02 -3.69235698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-170.10, Z:-369.26 [[ 3.88598611e-02 -1.29942578e-01 9.90759728e-01 2.88282985e+02] [ 4.56160824e-02 9.90705655e-01 1.28146319e-01 -1.70101809e+02] [-9.98202927e-01 4.02148292e-02 4.44261554e-02 -3.69263087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-170.10, Z:-369.29 [[ 3.78912494e-02 -1.33162757e-01 9.90369594e-01 2.88284582e+02] [ 4.17504195e-02 9.90426888e-01 1.31573102e-01 -1.70099214e+02] [-9.98409313e-01 3.63628768e-02 4.30881132e-02 -3.69291096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-170.10, Z:-369.32 [[ 3.74459039e-02 -1.40923385e-01 9.89312086e-01 2.88288798e+02] [ 3.92754156e-02 9.89449030e-01 1.39456300e-01 -1.70100393e+02] [-9.98526538e-01 3.36335762e-02 4.25856378e-02 -3.69317885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-170.10, Z:-369.34 [[ 3.71464714e-02 -1.44215616e-01 9.88848824e-01 2.88290728e+02] [ 3.65359475e-02 9.89066180e-01 1.42874829e-01 -1.70099574e+02] [-9.98641710e-01 3.08212329e-02 4.20093727e-02 -3.69344724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-170.10, Z:-369.37 [[ 3.75194547e-02 -1.47385637e-01 9.88367222e-01 2.88292839e+02] [ 3.36245761e-02 9.88689754e-01 1.46157309e-01 -1.70098607e+02] [-9.98730033e-01 2.77496863e-02 4.20508800e-02 -3.69372515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.10, Z:-369.40 [[ 3.82612223e-02 -1.54572769e-01 9.87240264e-01 2.88295531e+02] [ 2.65621438e-02 9.87771901e-01 1.53626572e-01 -1.70096413e+02] [-9.98914677e-01 2.03452774e-02 4.18991444e-02 -3.69400499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.10, Z:-369.43 [[ 3.89179739e-02 -1.62058529e-01 9.86013400e-01 2.88298877e+02] [ 2.29966569e-02 9.86644868e-01 1.61254637e-01 -1.70096672e+02] [-9.98977750e-01 1.63993081e-02 4.21250237e-02 -3.69428425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.10, Z:-369.46 [[ 3.94967174e-02 -1.69830454e-01 9.84681485e-01 2.88302126e+02] [ 1.91074494e-02 9.85398611e-01 1.69187716e-01 -1.70097118e+02] [-9.99036994e-01 1.21323922e-02 4.21650373e-02 -3.69455377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.09, Z:-369.48 [[ 4.07357303e-02 -1.72929542e-01 9.84091446e-01 2.88302554e+02] [ 1.10035609e-02 9.84926880e-01 1.72620865e-01 -1.70093257e+02] [-9.99109364e-01 3.79667315e-03 4.20245565e-02 -3.69482092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.09, Z:-369.51 [[ 4.15672767e-02 -1.76137973e-01 9.83487456e-01 2.88304254e+02] [ 7.02526401e-03 9.84365404e-01 1.75998286e-01 -1.70092332e+02] [-9.99111009e-01 -4.06510418e-04 4.21548049e-02 -3.69509473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-170.09, Z:-369.54 [[ 4.25110803e-02 -1.79324401e-01 9.82871084e-01 2.88306360e+02] [ 3.53801201e-03 9.83781260e-01 1.79337436e-01 -1.70091871e+02] [-9.99089731e-01 -4.14641843e-03 4.24560560e-02 -3.69537533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-170.09, Z:-369.56 [[ 4.47872234e-02 -1.86861217e-01 9.81364861e-01 2.88309772e+02] [-3.58204451e-03 9.82314249e-01 1.87205465e-01 -1.70091935e+02] [-9.98990127e-01 -1.18997056e-02 4.33257825e-02 -3.69564253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-170.09, Z:-369.59 [[ 4.54130657e-02 -1.90133384e-01 9.80707372e-01 2.88311752e+02] [-6.47314527e-03 9.81643600e-01 1.90614642e-01 -1.70091777e+02] [-9.98947322e-01 -1.50046566e-02 4.33486843e-02 -3.69591688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-170.09, Z:-369.62 [[ 4.60174973e-02 -1.93356468e-01 9.80048808e-01 2.88313916e+02] [-9.07217537e-03 9.80966786e-01 1.93963556e-01 -1.70092015e+02] [-9.98899437e-01 -1.78168921e-02 4.33874727e-02 -3.69619742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-170.09, Z:-369.65 [[ 4.68815344e-02 -2.00815542e-01 9.78506638e-01 2.88317834e+02] [-1.30947525e-02 9.79376006e-01 2.01621347e-01 -1.70093553e+02] [-9.98814622e-01 -2.22656204e-02 4.32850201e-02 -3.69646774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-170.10, Z:-369.68 [[ 4.72907934e-02 -2.05966409e-01 9.77415684e-01 2.88320928e+02] [-1.38849758e-02 9.78280388e-01 2.06820428e-01 -1.70095002e+02] [-9.98784656e-01 -2.33520953e-02 4.34038171e-02 -3.69675235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-170.10, Z:-369.70 [[ 4.77492635e-02 -2.13634819e-01 9.75745957e-01 2.88325180e+02] [-1.42531755e-02 9.76615024e-01 2.14522593e-01 -1.70097944e+02] [-9.98757656e-01 -2.41507742e-02 4.35876735e-02 -3.69702969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-170.10, Z:-369.73 [[ 4.78023378e-02 -2.21394469e-01 9.74012025e-01 2.88329631e+02] [-1.42336979e-02 9.74876783e-01 2.22289588e-01 -1.70101555e+02] [-9.98755395e-01 -2.44897549e-02 4.34501272e-02 -3.69730046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-170.10, Z:-369.76 [[ 4.79549511e-02 -2.24767840e-01 9.73231597e-01 2.88332547e+02] [-1.36844892e-02 9.74113303e-01 2.25645759e-01 -1.70103144e+02] [-9.98755755e-01 -2.41390086e-02 4.36377227e-02 -3.69758440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.11, Z:-369.78 [[ 4.79487920e-02 -2.32508323e-01 9.71411753e-01 2.88337222e+02] [-1.32661854e-02 9.72296343e-01 2.33374868e-01 -1.70106715e+02] [-9.98761694e-01 -2.40769715e-02 4.35359366e-02 -3.69784969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.11, Z:-369.81 [[ 4.88090839e-02 -2.35871375e-01 9.70557761e-01 2.88339999e+02] [-1.19849166e-02 9.71507659e-01 2.36704944e-01 -1.70109265e+02] [-9.98736219e-01 -2.31854053e-02 4.45915001e-02 -3.69812784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.11, Z:-369.84 [[ 4.94756699e-02 -2.43557325e-01 9.68623760e-01 2.88344458e+02] [-1.11427768e-02 9.69616502e-01 2.44376101e-01 -1.70112905e+02] [-9.98713170e-01 -2.28838297e-02 4.52585211e-02 -3.69840992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-170.12, Z:-369.87 [[ 4.99269543e-02 -2.51299597e-01 9.66620821e-01 2.88349218e+02] [-1.02024322e-02 9.67649003e-01 2.52093867e-01 -1.70116537e+02] [-9.98700761e-01 -2.24481624e-02 4.57479005e-02 -3.69867935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-170.12, Z:-369.90 [[ 4.96854923e-02 -2.54683254e-01 9.65747271e-01 2.88352167e+02] [-9.19897711e-03 9.66783821e-01 2.55429876e-01 -1.70118516e+02] [-9.98722549e-01 -2.15750462e-02 4.56923047e-02 -3.69895200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-170.12, Z:-369.92 [[ 4.90749792e-02 -2.59919313e-01 9.64382495e-01 2.88355849e+02] [-8.23995391e-03 9.65407667e-01 2.60614926e-01 -1.70121505e+02] [-9.98761107e-01 -2.07361394e-02 4.52356380e-02 -3.69923157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-170.13, Z:-369.95 [[ 4.73108998e-02 -2.67561393e-01 9.62378605e-01 2.88361223e+02] [-6.08565184e-03 9.63362384e-01 2.68134076e-01 -1.70126943e+02] [-9.98861674e-01 -1.85423655e-02 4.39492557e-02 -3.69949630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-170.14, Z:-369.98 [[ 5.59518219e-02 -3.07226006e-01 9.49990302e-01 2.88395366e+02] [-5.44390481e-03 9.51372809e-01 3.07993739e-01 -1.70144999e+02] [-9.98418628e-01 -2.24044676e-02 5.15585328e-02 -3.69982796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-170.01, Z:-370.01 [[ 4.21453854e-02 5.84291249e-03 9.99094403e-01 2.88252469e+02] [-5.81631200e-03 9.99967390e-01 -5.60266499e-03 -1.70011789e+02] [-9.99094559e-01 -5.57491830e-03 4.21779952e-02 -3.70012498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-170.13, Z:-370.04 [[ 4.45039052e-02 -2.67742718e-01 9.62462072e-01 2.88366801e+02] [ 8.91990461e-04 9.63426881e-01 2.67969868e-01 -1.70132619e+02] [-9.99008812e-01 -1.10671986e-02 4.31150826e-02 -3.70036550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-170.16, Z:-370.07 [[ 5.64051875e-02 -3.22079548e-01 9.45030804e-01 2.88414647e+02] [ 2.07731364e-03 9.46573540e-01 3.22481347e-01 -1.70155377e+02] [-9.98405799e-01 -1.62264955e-02 5.40607183e-02 -3.70070006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-170.02, Z:-370.10 [[ 4.17208981e-02 -1.08725997e-03 9.99128713e-01 2.88257797e+02] [ 2.75223541e-03 9.99995739e-01 9.73277606e-04 -1.70020566e+02] [-9.99125514e-01 2.70923140e-03 4.17237127e-02 -3.70100243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-170.14, Z:-370.13 [[ 4.21791738e-02 -2.66715580e-01 9.62851866e-01 2.88370699e+02] [ 1.04436360e-02 9.63774555e-01 2.66513671e-01 -1.70137334e+02] [-9.99055478e-01 -1.18565206e-03 4.34366949e-02 -3.70125655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-170.16, Z:-370.16 [[ 5.45846179e-02 -3.23308389e-01 9.44718056e-01 2.88421059e+02] [ 1.38459417e-02 9.46282706e-01 3.23043853e-01 -1.70158546e+02] [-9.98413146e-01 -4.55271418e-03 5.61289890e-02 -3.70157760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-170.06, Z:-370.19 [[ 4.24100392e-02 -7.03961176e-02 9.96617166e-01 2.88286710e+02] [ 1.48429402e-02 9.97448947e-01 6.98232442e-02 -1.70057433e+02] [-9.98990028e-01 1.18315224e-02 4.33467343e-02 -3.70188589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-170.14, Z:-370.21 [[ 4.05143982e-02 -2.74697626e-01 9.60676740e-01 2.88378179e+02] [ 1.97071344e-02 9.61498804e-01 2.74101584e-01 -1.70143049e+02] [-9.98984591e-01 7.82712489e-03 4.43680485e-02 -3.70214067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-170.15, Z:-370.24 [[ 4.03666721e-02 -2.82123221e-01 9.58528570e-01 2.88382837e+02] [ 2.00036474e-02 9.59346388e-01 2.81521512e-01 -1.70145457e+02] [-9.98984678e-01 7.80998096e-03 4.43691145e-02 -3.70242527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-170.17, Z:-370.27 [[ 5.00735012e-02 -3.33266461e-01 9.41502050e-01 2.88430888e+02] [ 2.63163208e-02 9.42797576e-01 3.32325417e-01 -1.70165706e+02] [-9.98398766e-01 8.13617277e-03 5.59795226e-02 -3.70274720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-170.06, Z:-370.31 [[ 4.14420546e-02 -7.87616351e-02 9.96031707e-01 2.88293958e+02] [ 2.86827573e-02 9.96571047e-01 7.76108755e-02 -1.70064412e+02] [-9.98729120e-01 2.53525816e-02 4.35590526e-02 -3.70305604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-170.15, Z:-370.33 [[ 3.60521915e-02 -2.90722064e-01 9.56128088e-01 2.88391283e+02] [ 3.30935683e-02 9.56572639e-01 2.89609394e-01 -1.70151599e+02] [-9.98801810e-01 2.12006368e-02 4.41075705e-02 -3.70331110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-170.15, Z:-370.36 [[ 3.46880585e-02 -2.98071649e-01 9.53913010e-01 2.88396267e+02] [ 3.62446111e-02 9.54234732e-01 2.96854181e-01 -1.70154510e+02] [-9.98740741e-01 2.42769109e-02 4.39040412e-02 -3.70359063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-170.16, Z:-370.39 [[ 3.29123867e-02 -3.05630341e-01 9.51581247e-01 2.88401934e+02] [ 4.05897935e-02 9.51720312e-01 3.04271125e-01 -1.70157735e+02] [-9.98633688e-01 2.86101974e-02 4.37288593e-02 -3.70387224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-170.16, Z:-370.41 [[ 3.18893907e-02 -3.13122099e-01 9.49177338e-01 2.88406943e+02] [ 4.22924124e-02 9.49232513e-01 3.11719408e-01 -1.70160271e+02] [-9.98596224e-01 3.02024574e-02 4.35131354e-02 -3.70414874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-170.16, Z:-370.44 [[ 3.02010878e-02 -3.20579056e-01 9.46740177e-01 2.88412299e+02] [ 4.38405974e-02 9.46685580e-01 3.19162050e-01 -1.70162123e+02] [-9.98581943e-01 3.18666139e-02 4.26453117e-02 -3.70443146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-170.16, Z:-370.47 [[ 2.95598793e-02 -3.27983879e-01 9.44220731e-01 2.88416928e+02] [ 4.38550733e-02 9.44149455e-01 3.26586188e-01 -1.70163800e+02] [-9.98600494e-01 3.17550211e-02 4.22927010e-02 -3.70469665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-170.16, Z:-370.50 [[ 2.91017303e-02 -3.31153309e-01 9.43128080e-01 2.88419462e+02] [ 4.30842698e-02 9.43066404e-01 3.29802219e-01 -1.70164089e+02] [-9.98647503e-01 3.10361694e-02 4.17123627e-02 -3.70496627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-170.16, Z:-370.52 [[ 3.03548253e-02 -3.34248200e-01 9.41996139e-01 2.88421510e+02] [ 4.03562672e-02 9.42071803e-01 3.32974610e-01 -1.70163610e+02] [-9.98724164e-01 2.79080617e-02 4.20854347e-02 -3.70523706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-170.16, Z:-370.55 [[ 3.14710240e-02 -3.37252927e-01 9.40887899e-01 2.88423870e+02] [ 3.86947704e-02 9.41059585e-01 3.36020195e-01 -1.70163588e+02] [-9.98755370e-01 2.58325416e-02 4.26660334e-02 -3.70551277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-170.18, Z:-370.59 [[ 5.02113686e-02 -4.02153381e-01 9.14194441e-01 2.88487546e+02] [ 3.34355605e-02 9.15512822e-01 4.00896915e-01 -1.70182229e+02] [-9.98178783e-01 1.04370208e-02 5.94153755e-02 -3.70585197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-170.08, Z:-370.62 [[ 5.67566537e-02 -1.25859333e-01 9.90423198e-01 2.88351461e+02] [ 2.42676859e-02 9.91903111e-01 1.24656724e-01 -1.70084365e+02] [-9.98093063e-01 1.69601806e-02 5.93514161e-02 -3.70624233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-169.99, Z:-370.66 [[ 5.68318341e-02 7.59958280e-02 9.95487206e-01 2.88272254e+02] [ 1.65164569e-02 9.96890735e-01 -7.70458896e-02 -1.69992297e+02] [-9.98247138e-01 2.08205807e-02 5.53999470e-02 -3.70658690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-169.94, Z:-370.69 [[ 5.66461338e-02 1.84970079e-01 9.81110231e-01 2.88239796e+02] [ 1.07924528e-02 9.82517253e-01 -1.85858468e-01 -1.69935514e+02] [-9.98335985e-01 2.11167495e-02 5.36595229e-02 -3.70690027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-169.88, Z:-370.72 [[ 5.21551751e-02 2.71630874e-01 9.60987256e-01 2.88214810e+02] [ 2.92554592e-03 9.62251261e-01 -2.72146932e-01 -1.69883408e+02] [-9.98634708e-01 1.70052832e-02 4.93917144e-02 -3.70720287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-169.87, Z:-370.75 [[ 4.89185147e-02 2.87073311e-01 9.56658713e-01 2.88209974e+02] [ 6.79712404e-04 9.57795634e-01 -2.87449234e-01 -1.69871269e+02] [-9.98802542e-01 1.47118424e-02 4.66588125e-02 -3.70748006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-169.89, Z:-370.78 [[ 4.73276052e-02 2.52475226e-01 9.66445217e-01 2.88217837e+02] [-1.83819967e-03 9.67549786e-01 -2.52673767e-01 -1.69888736e+02] [-9.98877730e-01 1.01819250e-02 4.62559141e-02 -3.70776030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-169.94, Z:-370.80 [[ 4.82942968e-02 1.51365670e-01 9.87297369e-01 2.88247442e+02] [-3.24688867e-03 9.88469311e-01 -1.51386521e-01 -1.69941927e+02] [-9.98827872e-01 4.10546091e-03 4.82288978e-02 -3.70804938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-169.89, Z:-370.83 [[ 3.75901300e-02 2.20246765e-01 9.74719624e-01 2.88216111e+02] [-7.72592314e-04 9.75415116e-01 -2.20374123e-01 -1.69892794e+02] [-9.99292943e-01 7.53083103e-03 3.68361420e-02 -3.70827155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-170.18, Z:-370.85 [[ 4.88388011e-02 -4.35465981e-01 8.98879386e-01 2.88482109e+02] [ 7.07007774e-04 8.99968171e-01 4.35955034e-01 -1.70176998e+02] [-9.98806424e-01 -2.06560065e-02 4.42612443e-02 -3.70851436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-170.18, Z:-370.88 [[ 5.03903310e-02 -4.42520893e-01 8.95341317e-01 2.88486751e+02] [-1.23461070e-03 8.96451920e-01 4.43139291e-01 -1.70177780e+02] [-9.98728837e-01 -2.34353335e-02 4.46261680e-02 -3.70879564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-170.19, Z:-370.91 [[ 6.48931345e-02 -4.85023438e-01 8.72090102e-01 2.88531243e+02] [-3.36233970e-03 8.73820922e-01 4.86236250e-01 -1.70187419e+02] [-9.97886555e-01 -3.44856575e-02 5.50741651e-02 -3.70913842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-170.10, Z:-370.95 [[ 5.79358580e-02 -2.17059137e-01 9.74437667e-01 2.88389470e+02] [-1.36358548e-02 9.75814068e-01 2.18176463e-01 -1.70098492e+02] [-9.98227179e-01 -2.59275312e-02 5.35748384e-02 -3.70948101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-170.02, Z:-370.97 [[ 4.25876325e-02 -3.75784501e-02 9.98385774e-01 2.88299734e+02] [-1.43145912e-02 9.99166874e-01 3.82184602e-02 -1.70015447e+02] [-9.98990183e-01 -1.59191179e-02 4.20142314e-02 -3.70973018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-170.17, Z:-371.00 [[ 5.51054092e-02 -4.49625223e-01 8.91515873e-01 2.88492809e+02] [-7.18938327e-03 8.92670737e-01 4.50652047e-01 -1.70174857e+02] [-9.98454659e-01 -3.12428148e-02 4.59584582e-02 -3.70997969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-170.18, Z:-371.03 [[ 5.75955093e-02 -4.56520931e-01 8.87846494e-01 2.88496894e+02] [-6.38646444e-03 8.89136091e-01 4.57598323e-01 -1.70176451e+02] [-9.98319573e-01 -3.20258086e-02 4.82946913e-02 -3.71025496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-170.18, Z:-371.05 [[ 5.91544947e-02 -4.63427374e-01 8.84158252e-01 2.88501635e+02] [-5.44937634e-03 8.85546161e-01 4.64519429e-01 -1.70178067e+02] [-9.98233966e-01 -3.22965232e-02 4.98586455e-02 -3.71053871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-170.18, Z:-371.08 [[ 5.98067459e-02 -4.70336786e-01 8.80458097e-01 2.88506235e+02] [-4.24343572e-03 8.81909203e-01 4.71400203e-01 -1.70179979e+02] [-9.98200955e-01 -3.19290795e-02 5.07482756e-02 -3.71082146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-170.19, Z:-371.11 [[ 6.73087085e-02 -5.01878031e-01 8.62315476e-01 2.88538606e+02] [-2.44603588e-03 8.64189880e-01 5.03159884e-01 -1.70188786e+02] [-9.97729199e-01 -3.59762965e-02 5.69398930e-02 -3.71114746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-170.09, Z:-371.14 [[ 5.36857885e-02 -2.17700609e-01 9.74537983e-01 2.88377287e+02] [-8.92424169e-03 9.75801836e-01 2.18474562e-01 -1.70092451e+02] [-9.98517999e-01 -2.04259917e-02 5.04438782e-02 -3.71143841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-170.18, Z:-371.17 [[ 5.93758644e-02 -4.78029221e-01 8.76334736e-01 2.88515911e+02] [-8.03187884e-04 8.77860427e-01 4.78915886e-01 -1.70183587e+02] [-9.98235374e-01 -2.91399061e-02 5.17397744e-02 -3.71169329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-170.19, Z:-371.20 [[ 5.90175375e-02 -4.85024603e-01 8.72506771e-01 2.88522043e+02] [ 2.05794080e-04 8.74036145e-01 4.85860859e-01 -1.70185472e+02] [-9.98256925e-01 -2.84947548e-02 5.16832762e-02 -3.71196487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-170.19, Z:-371.23 [[ 6.67480597e-02 -5.17373500e-01 8.53152600e-01 2.88561286e+02] [ 3.55943068e-03 8.55177530e-01 5.18322990e-01 -1.70193579e+02] [-9.97763513e-01 -3.15603164e-02 5.89229960e-02 -3.71229965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-170.10, Z:-371.26 [[ 5.01786666e-02 -2.39769114e-01 9.69532296e-01 2.88393604e+02] [-3.72239536e-03 9.70703557e-01 2.40251426e-01 -1.70103405e+02] [-9.98733320e-01 -1.56644787e-02 4.78160947e-02 -3.71259434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-170.20, Z:-371.29 [[ 6.16879310e-02 -5.18941418e-01 8.52581025e-01 2.88563861e+02] [ 4.97667844e-03 8.54357181e-01 5.19662429e-01 -1.70195276e+02] [-9.98083079e-01 -2.78138785e-02 5.52861314e-02 -3.71289787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-170.12, Z:-371.32 [[ 5.74588340e-02 -2.75263553e-01 9.59650175e-01 2.88429472e+02] [-2.17724870e-03 9.61201424e-01 2.75838871e-01 -1.70121168e+02] [-9.98345502e-01 -1.79387770e-02 5.46301958e-02 -3.71324567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-170.08, Z:-371.36 [[ 5.24230356e-02 -1.60767700e-01 9.85599093e-01 2.88375522e+02] [-4.05098750e-03 9.86913834e-01 1.61197625e-01 -1.70077222e+02] [-9.98616751e-01 -1.24431184e-02 5.10857511e-02 -3.71358523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.05, Z:-371.39 [[ 5.12203498e-02 -8.57095271e-02 9.95002690e-01 2.88343508e+02] [-5.03219847e-03 9.96275673e-01 8.60782273e-02 -1.70045600e+02] [-9.98674698e-01 -9.41600793e-03 5.05982811e-02 -3.71386965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-170.06, Z:-371.42 [[ 5.11248289e-02 -1.11475690e-01 9.92451219e-01 2.88354486e+02] [-3.50722860e-03 9.93724607e-01 1.11799392e-01 -1.70056110e+02] [-9.98686113e-01 -9.19647809e-03 5.04130298e-02 -3.71419600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.04, Z:-371.45 [[ 4.86719109e-02 -8.18563073e-02 9.95454966e-01 2.88340351e+02] [-3.84111722e-03 9.96613450e-01 8.21393775e-02 -1.70042417e+02] [-9.98807434e-01 -7.82153968e-03 4.81926613e-02 -3.71451168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-170.06, Z:-371.48 [[ 4.89187585e-02 -1.21407092e-01 9.91396628e-01 2.88357631e+02] [-3.44065708e-03 9.92558616e-01 1.21719164e-01 -1.70059732e+02] [-9.98796835e-01 -9.36540621e-03 4.81370151e-02 -3.71480118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-170.05, Z:-371.51 [[ 4.86391953e-02 -9.63262542e-02 9.94160692e-01 2.88348591e+02] [-4.00900516e-03 9.95311916e-01 9.66339387e-02 -1.70048438e+02] [-9.98808368e-01 -8.68579236e-03 4.80249982e-02 -3.71509299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.04, Z:-371.54 [[ 4.77057242e-02 -8.25101890e-02 9.95447755e-01 2.88343204e+02] [-3.55274402e-03 9.96562110e-01 8.27728164e-02 -1.70040803e+02] [-9.98855116e-01 -7.48530821e-03 4.72485796e-02 -3.71536969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-170.06, Z:-371.57 [[ 4.69838011e-02 -1.27998760e-01 9.90660810e-01 2.88360308e+02] [-2.03255735e-03 9.91741750e-01 1.28234821e-01 -1.70058812e+02] [-9.98893584e-01 -8.03853425e-03 4.63356323e-02 -3.71568507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-170.07, Z:-371.59 [[ 4.31712376e-02 -1.67068547e-01 9.84999668e-01 2.88369221e+02] [ 1.90930843e-03 9.85930848e-01 1.67142804e-01 -1.70070391e+02] [-9.99065863e-01 -5.33509356e-03 4.28828403e-02 -3.71594177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-170.21, Z:-371.62 [[ 4.93162554e-02 -6.23166810e-01 7.80532532e-01 2.88628674e+02] [ 1.35981159e-02 7.81829920e-01 6.23343459e-01 -1.70214293e+02] [-9.98690642e-01 -2.01271934e-02 4.70308185e-02 -3.71618944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-170.22, Z:-371.65 [[ 4.90168785e-02 -6.30028435e-01 7.75023559e-01 2.88634208e+02] [ 1.43251282e-02 7.76319939e-01 6.30176279e-01 -1.70215285e+02] [-9.98695217e-01 -1.97869623e-02 4.70780183e-02 -3.71645828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-170.22, Z:-371.68 [[ 5.52600446e-02 -6.47016654e-01 7.60470760e-01 2.88658502e+02] [ 1.60880691e-02 7.62112644e-01 6.47244538e-01 -1.70216709e+02] [-9.98342377e-01 -2.35322559e-02 5.25236274e-02 -3.71679172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-170.14, Z:-371.71 [[ 4.44012890e-02 -3.46412264e-01 9.37030986e-01 2.88458774e+02] [ 8.38326388e-03 9.38052195e-01 3.46392554e-01 -1.70136411e+02] [-9.98978602e-01 -7.52489786e-03 4.45547920e-02 -3.71707931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-170.21, Z:-371.74 [[ 5.41518206e-02 -6.49730373e-01 7.58233489e-01 2.88663763e+02] [ 1.70980573e-02 7.59839688e-01 6.49885609e-01 -1.70214891e+02] [-9.98386316e-01 -2.22281693e-02 5.22558296e-02 -3.71739294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.48, Y:-170.14, Z:-371.78 [[ 5.11081994e-02 -3.60054847e-01 9.31530171e-01 2.88479286e+02] [ 7.59052472e-03 9.32862263e-01 3.60153275e-01 -1.70141372e+02] [-9.98664276e-01 -1.13359826e-02 5.04099158e-02 -3.71777813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-170.09, Z:-371.81 [[ 4.63795697e-02 -2.14089207e-01 9.75712430e-01 2.88405358e+02] [ 4.28064840e-03 9.76797164e-01 2.14123741e-01 -1.70087935e+02] [-9.98914717e-01 -5.75428511e-03 4.62198727e-02 -3.71811948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-170.08, Z:-371.85 [[ 4.76892662e-02 -1.86580388e-01 9.81281556e-01 2.88396906e+02] [ 3.47216109e-03 9.82424341e-01 1.86628933e-01 -1.70076810e+02] [-9.98856185e-01 -5.49302921e-03 4.74989331e-02 -3.71846142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-170.04, Z:-371.88 [[ 4.55529545e-02 -1.03992213e-01 9.93534372e-01 2.88362082e+02] [ 1.71014703e-03 9.94573467e-01 1.04022565e-01 -1.70042082e+02] [-9.98960462e-01 -3.03944532e-03 4.54836019e-02 -3.71876005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.02, Z:-371.90 [[ 4.48761408e-02 -5.19764805e-02 9.97639503e-01 2.88342323e+02] [ 4.82788992e-04 9.98646592e-01 5.20072323e-02 -1.70018752e+02] [-9.98992442e-01 -1.85223451e-03 4.48404987e-02 -3.71903850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-170.01, Z:-371.93 [[ 4.30167899e-02 -3.45495111e-02 9.98476784e-01 2.88334113e+02] [ 2.27703724e-03 9.99402675e-01 3.44834487e-02 -1.70007545e+02] [-9.99071755e-01 7.90201544e-04 4.30697654e-02 -3.71931178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-170.02, Z:-371.96 [[ 3.80523596e-02 -6.21084068e-02 9.97343754e-01 2.88336905e+02] [ 4.97215917e-03 9.98066020e-01 6.19636787e-02 -1.70015967e+02] [-9.99263377e-01 2.60108771e-03 3.82875799e-02 -3.71956665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-170.12, Z:-371.98 [[ 3.94964777e-02 -3.47209368e-01 9.36955540e-01 2.88460753e+02] [ 1.17077437e-02 9.37783646e-01 3.47022712e-01 -1.70124193e+02] [-9.99151118e-01 -2.73653945e-03 4.11041891e-02 -3.71980301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-170.21, Z:-372.01 [[ 4.54662133e-02 -7.02737697e-01 7.09994755e-01 2.88698579e+02] [ 2.02038781e-02 7.11231231e-01 7.02667731e-01 -1.70214029e+02] [-9.98761547e-01 -1.76029935e-02 4.65350176e-02 -3.72009347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-170.16, Z:-372.04 [[ 4.82464547e-02 -4.66135250e-01 8.83396971e-01 2.88539631e+02] [ 1.53036600e-02 8.84668078e-01 4.65970160e-01 -1.70161340e+02] [-9.98718217e-01 -8.96220131e-03 4.98156737e-02 -3.72042924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-170.11, Z:-372.07 [[ 4.31336815e-02 -3.19857884e-01 9.46483185e-01 2.88453953e+02] [ 1.31689563e-02 9.47464611e-01 3.19589408e-01 -1.70114186e+02] [-9.98982514e-01 -1.32087201e-03 4.50798313e-02 -3.72072742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-170.13, Z:-372.10 [[ 4.34372733e-02 -3.83043969e-01 9.22708254e-01 2.88487935e+02] [ 1.49785719e-02 9.23725851e-01 3.82761275e-01 -1.70134872e+02] [-9.98943865e-01 -2.80525423e-03 4.58615839e-02 -3.72100038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-170.14, Z:-372.12 [[ 4.03129523e-02 -3.93296199e-01 9.18527607e-01 2.88489345e+02] [ 1.68612615e-02 9.19411755e-01 3.92934756e-01 -1.70135545e+02] [-9.99044826e-01 -3.52825887e-04 4.36956723e-02 -3.72124373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-170.21, Z:-372.15 [[ 4.54181562e-02 -7.29741351e-01 6.82213128e-01 2.88727782e+02] [ 2.66271998e-02 6.83559559e-01 7.29408885e-01 -1.70210761e+02] [-9.98613130e-01 -1.49629814e-02 5.04769835e-02 -3.72153922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-170.16, Z:-372.18 [[ 4.00638601e-02 -4.65780406e-01 8.83992930e-01 2.88532912e+02] [ 1.96474701e-02 8.84899421e-01 4.65367588e-01 -1.70156422e+02] [-9.99003936e-01 -1.27619730e-03 4.46038932e-02 -3.72181874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-170.21, Z:-372.21 [[ 3.96399796e-02 -7.21741887e-01 6.91026281e-01 2.88715137e+02] [ 2.63824327e-02 6.92084723e-01 7.21333975e-01 -1.70209680e+02] [-9.98865676e-01 -1.03627097e-02 4.64755310e-02 -3.72207564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-170.21, Z:-372.23 [[ 3.92150160e-02 -7.27675173e-01 6.84799989e-01 2.88720766e+02] [ 2.69544237e-02 6.85848108e-01 7.27245372e-01 -1.70209650e+02] [-9.98867179e-01 -1.00605498e-02 4.65096095e-02 -3.72234772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-170.21, Z:-372.26 [[ 3.88238914e-02 -7.30273301e-01 6.82051032e-01 2.88724296e+02] [ 2.90835775e-02 6.83102291e-01 7.29743383e-01 -1.70209104e+02] [-9.98822733e-01 -8.49499379e-03 4.77596494e-02 -3.72261316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-170.21, Z:-372.29 [[ 3.80980634e-02 -7.32828855e-01 6.79345572e-01 2.88727414e+02] [ 3.04423398e-02 6.80374751e-01 7.32231836e-01 -1.70208894e+02] [-9.98810193e-01 -7.21574615e-03 4.82299854e-02 -3.72289280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-170.21, Z:-372.32 [[ 3.63609952e-02 -7.38637831e-01 6.73121113e-01 2.88734369e+02] [ 3.32199170e-02 6.74087661e-01 7.37903965e-01 -1.70209013e+02] [-9.98786421e-01 -4.46989505e-03 4.90479856e-02 -3.72316242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-170.21, Z:-372.34 [[ 3.61241672e-02 -7.42489463e-01 6.68882981e-01 2.88738283e+02] [ 3.34698236e-02 6.69843243e-01 7.41747801e-01 -1.70208590e+02] [-9.98786672e-01 -4.40762625e-03 4.90485207e-02 -3.72344734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-170.21, Z:-372.37 [[ 3.35616293e-02 -7.47690983e-01 6.63198169e-01 2.88744764e+02] [ 3.58490990e-02 6.64045578e-01 7.46832185e-01 -1.70208568e+02] [-9.98793502e-01 -1.28984813e-03 4.90904996e-02 -3.72372764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-170.21, Z:-372.40 [[ 3.24766652e-02 -7.53354283e-01 6.56812447e-01 2.88750957e+02] [ 3.70020719e-02 6.57614861e-01 7.52445042e-01 -1.70208378e+02] [-9.98787321e-01 -1.33484328e-04 4.92328070e-02 -3.72400039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-170.21, Z:-372.43 [[ 3.02812629e-02 -7.55863594e-01 6.54028495e-01 2.88754811e+02] [ 3.93531549e-02 6.54722789e-01 7.54843956e-01 -1.70208212e+02] [-9.98766426e-01 2.88045639e-03 4.95714500e-02 -3.72427670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-170.21, Z:-372.46 [[ 2.88801167e-02 -7.61380452e-01 6.47661753e-01 2.88760469e+02] [ 4.04409748e-02 6.48291509e-01 7.60317465e-01 -1.70208036e+02] [-9.98764470e-01 4.23401554e-03 4.95137021e-02 -3.72455005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-170.21, Z:-372.48 [[ 2.75207918e-02 -7.63774756e-01 6.44895905e-01 2.88763372e+02] [ 4.14767979e-02 6.45457169e-01 7.62669469e-01 -1.70207981e+02] [-9.98760372e-01 5.75894948e-03 4.94424236e-02 -3.72482826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.79, Y:-170.20, Z:-372.51 [[ 2.93106386e-02 -7.80397855e-01 6.24595929e-01 2.88785321e+02] [ 4.55514664e-02 6.25258068e-01 7.79087551e-01 -1.70203936e+02] [-9.98531898e-01 5.61570681e-03 5.38749799e-02 -3.72512203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-170.20, Z:-372.54 [[ 2.78912188e-02 -7.30209791e-01 6.82653457e-01 2.88739882e+02] [ 4.54211877e-02 6.83139552e-01 7.28873973e-01 -1.70202010e+02] [-9.98578488e-01 1.06777473e-02 5.22205907e-02 -3.72543146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-170.21, Z:-372.57 [[ 2.12666479e-02 -7.31889119e-01 6.81091805e-01 2.88738332e+02] [ 4.60915764e-02 6.81239265e-01 7.30608397e-01 -1.70206044e+02] [-9.98710817e-01 1.58550034e-02 4.82215988e-02 -3.72570335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-170.21, Z:-372.60 [[ 1.77799306e-02 -7.79497475e-01 6.26152985e-01 2.88782409e+02] [ 4.76886639e-02 6.26200381e-01 7.78202335e-01 -1.70208496e+02] [-9.98703993e-01 1.60240157e-02 4.83069924e-02 -3.72597689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-170.21, Z:-372.62 [[ 1.14042732e-02 -7.81416179e-01 6.23906001e-01 2.88783177e+02] [ 5.03495008e-02 6.23603844e-01 7.80117410e-01 -1.70209390e+02] [-9.98666546e-01 2.25166837e-02 4.64556631e-02 -3.72624807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-170.20, Z:-372.65 [[ 7.26283027e-03 -8.72703364e-01 4.88196773e-01 2.88883869e+02] [ 5.10432122e-02 4.87896752e-01 8.71407683e-01 -1.70201614e+02] [-9.98670037e-01 1.85902454e-02 4.80890943e-02 -3.72654283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.83, Y:-170.21, Z:-372.69 [[ 6.36808349e-03 -8.29241289e-01 5.58854483e-01 2.88834235e+02] [ 5.15458674e-02 5.58395052e-01 8.27972216e-01 -1.70207851e+02] [-9.98650325e-01 2.35340428e-02 4.62998678e-02 -3.72687859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-170.21, Z:-372.72 [[ 3.58097936e-03 -8.34747256e-01 5.50621644e-01 2.88840504e+02] [ 5.21191501e-02 5.50032593e-01 8.33515292e-01 -1.70208142e+02] [-9.98634453e-01 2.57131310e-02 4.54759729e-02 -3.72716353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-170.21, Z:-372.74 [[ 5.16097445e-03 -8.15207177e-01 5.79146460e-01 2.88822387e+02] [ 5.39795785e-02 5.78536880e-01 8.13868100e-01 -1.70206617e+02] [-9.98528702e-01 2.70617293e-02 4.69903539e-02 -3.72744175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-170.21, Z:-372.77 [[ 5.77309891e-03 -7.91791074e-01 6.10764740e-01 2.88799031e+02] [ 5.49437558e-02 6.10103443e-01 7.90414431e-01 -1.70205712e+02] [-9.98472761e-01 2.89945680e-02 4.70261629e-02 -3.72772869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-170.20, Z:-372.80 [[ 5.31189480e-03 -7.96958401e-01 6.04010837e-01 2.88804066e+02] [ 5.49896407e-02 6.03338204e-01 7.95587300e-01 -1.70204763e+02] [-9.98472795e-01 2.89882629e-02 4.70293252e-02 -3.72801170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-170.21, Z:-372.83 [[ 1.12964523e-03 -7.93806663e-01 6.08169143e-01 2.88795551e+02] [ 5.24533691e-02 6.07379344e-01 7.92678356e-01 -1.70206630e+02] [-9.98622736e-01 3.10050752e-02 4.23239570e-02 -3.72831538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-170.18, Z:-372.86 [[-6.21524055e-03 -9.40175485e-01 3.40633864e-01 2.88975887e+02] [ 4.52472269e-02 3.40027144e-01 9.39326477e-01 -1.70180238e+02] [-9.98956485e-01 2.12508777e-02 4.04269830e-02 -3.72857534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-170.20, Z:-372.89 [[ 1.48436713e-03 -8.72771725e-01 4.88126328e-01 2.88886415e+02] [ 5.09788235e-02 4.87558214e-01 8.71600911e-01 -1.70195828e+02] [-9.98698631e-01 2.35903302e-02 4.52165912e-02 -3.72891938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-170.21, Z:-372.92 [[-2.04586446e-03 -7.84699861e-01 6.19872521e-01 2.88779257e+02] [ 4.93412652e-02 6.19039583e-01 7.83808289e-01 -1.70206060e+02] [-9.98779883e-01 3.21888600e-02 3.74516129e-02 -3.72922184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-169.80, Z:-372.94 [[-7.24446001e-03 -8.19043133e-01 -5.73686207e-01 2.89370746e+02] [ 1.86821667e-02 -5.73711987e-01 8.18844022e-01 -1.69797313e+02] [-9.99799227e-01 -4.78561857e-03 1.94577339e-02 -3.72938388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-169.11, Z:-372.93 [[-1.25850386e-02 3.91631161e-01 -9.20036223e-01 2.89108589e+02] [ 7.15219215e-02 -9.17399778e-01 -3.91487245e-01 -1.69106094e+02] [-9.97359630e-01 -7.07296406e-02 -1.64647015e-02 -3.72930172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-170.05, Z:-373.03 [[-3.19967556e-02 -9.93983694e-01 -1.04750293e-01 2.89211524e+02] [ 1.08400036e-01 -1.07636863e-01 9.88262990e-01 -1.70046861e+02] [-9.93592291e-01 2.02662738e-02 1.11191899e-01 -3.73033288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-170.05, Z:-373.04 [[-2.94043765e-02 -9.94971682e-01 -9.57430633e-02 2.89206242e+02] [ 1.08631224e-01 -9.83980696e-02 9.89200221e-01 -1.70049962e+02] [-9.93647141e-01 1.86861296e-02 1.10978325e-01 -3.73040924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-170.10, Z:-373.01 [[-4.55745989e-02 -9.98422392e-01 -3.27975960e-02 2.89167056e+02] [ 7.30834161e-02 -3.60761440e-02 9.96673129e-01 -1.70100459e+02] [-9.96283981e-01 4.30260177e-02 7.46122750e-02 -3.73009405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-169.76, Z:-373.04 [[-2.67937336e-02 -7.72249991e-01 -6.34753533e-01 2.89381467e+02] [ 9.93616171e-02 -6.33894377e-01 7.67010553e-01 -1.69756703e+02] [-9.94690588e-01 -4.25190611e-02 9.37164049e-02 -3.73037306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-170.08, Z:-373.06 [[-2.82852804e-02 -9.98690874e-01 -4.26201882e-02 2.89172309e+02] [ 9.32606968e-02 -4.50878348e-02 9.94620294e-01 -1.70082515e+02] [-9.95239863e-01 2.41583254e-02 9.44139289e-02 -3.73062283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-169.99, Z:-373.08 [[-1.81107585e-02 -9.70319564e-01 -2.41147142e-01 2.89260600e+02] [ 1.07813331e-01 -2.41675647e-01 9.64349090e-01 -1.69986784e+02] [-9.94006180e-01 -8.53378319e-03 1.08990314e-01 -3.73077039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-170.06, Z:-373.10 [[-1.40476610e-02 -9.98636273e-01 -5.02817751e-02 2.89177944e+02] [ 1.09658048e-01 -5.15220584e-02 9.92633160e-01 -1.70064617e+02] [-9.93870100e-01 8.43037280e-03 1.10232269e-01 -3.73098007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-170.07, Z:-373.11 [[-1.05517933e-02 -9.99106654e-01 -4.09213131e-02 2.89172434e+02] [ 1.09622222e-01 -4.18327370e-02 9.93092640e-01 -1.70067210e+02] [-9.93917315e-01 5.99302300e-03 1.09965702e-01 -3.73106690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-170.07, Z:-373.12 [[-5.21022184e-03 -9.99537119e-01 -2.99733536e-02 2.89164610e+02] [ 1.09677676e-01 -3.03641260e-02 9.93503310e-01 -1.70070486e+02] [-9.93953551e-01 1.88896487e-03 1.09785112e-01 -3.73117585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-169.03, Z:-373.14 [[-6.32943669e-02 8.23936546e-01 -5.63136211e-01 2.88822839e+02] [ 1.32671009e-01 -5.52312723e-01 -8.23012187e-01 -1.69029725e+02] [-9.89137112e-01 -1.26803885e-01 -7.43542088e-02 -3.73136175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-169.94, Z:-373.27 [[-6.24410908e-02 -9.32758740e-01 -3.55052452e-01 2.89317858e+02] [ 1.24373701e-01 -3.60245756e-01 9.24529166e-01 -1.69944792e+02] [-9.90268798e-01 1.35694219e-02 1.38504795e-01 -3.73273370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-169.84, Z:-373.29 [[-5.38866332e-02 -8.52181226e-01 -5.20464589e-01 2.89367546e+02] [ 1.39922548e-01 -5.22523461e-01 8.41065344e-01 -1.69840917e+02] [-9.88695055e-01 -2.75025518e-02 1.47396399e-01 -3.73291033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-169.91, Z:-373.31 [[-5.00696281e-02 -9.08964039e-01 -4.13856748e-01 2.89332799e+02] [ 1.35989077e-01 -4.16721971e-01 8.98804634e-01 -1.69906184e+02] [-9.89444290e-01 -1.12771837e-02 1.44474295e-01 -3.73311471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-169.89, Z:-373.32 [[-4.61039374e-02 -8.92511504e-01 -4.48662057e-01 2.89343067e+02] [ 1.38220001e-01 -4.50519011e-01 8.82002184e-01 -1.69886831e+02] [-9.89327882e-01 -2.13502965e-02 1.44133641e-01 -3.73317092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-169.87, Z:-373.35 [[-3.81370461e-02 -8.90498917e-01 -4.53384214e-01 2.89341410e+02] [ 1.59927163e-01 -4.53305079e-01 8.76890990e-01 -1.69868759e+02] [-9.86391843e-01 -3.90664191e-02 1.59702682e-01 -3.73352191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-169.93, Z:-373.38 [[-3.18796406e-02 -9.38871116e-01 -3.42789610e-01 2.89302697e+02] [ 1.59038116e-01 -3.43359364e-01 9.25640981e-01 -1.69925204e+02] [-9.86757603e-01 -2.50075120e-02 1.60262466e-01 -3.73380966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-169.93, Z:-373.39 [[-2.88527140e-02 -9.43757043e-01 -3.29378452e-01 2.89297302e+02] [ 1.59555517e-01 -3.29638968e-01 9.30526834e-01 -1.69930180e+02] [-9.86767226e-01 -2.57059245e-02 1.60092621e-01 -3.73391388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.96, Z:-373.39 [[-2.86664770e-02 -9.53585032e-01 -2.99756267e-01 2.89284040e+02] [ 1.38968669e-01 -3.00769267e-01 9.43517651e-01 -1.69957715e+02] [-9.89881782e-01 -1.46094025e-02 1.41140438e-01 -3.73386909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-169.89, Z:-373.39 [[-2.56240596e-02 -9.05589666e-01 -4.23380166e-01 2.89327881e+02] [ 1.43518524e-01 -4.22464424e-01 8.94944827e-01 -1.69891540e+02] [-9.89315845e-01 -3.78307771e-02 1.40794146e-01 -3.73394056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-169.90, Z:-373.41 [[-2.31764102e-02 -9.17178070e-01 -3.97803019e-01 2.89318040e+02] [ 1.46384940e-01 -3.96734544e-01 9.06186047e-01 -1.69902869e+02] [-9.88956169e-01 -3.72302317e-02 1.43455940e-01 -3.73405631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-169.89, Z:-373.43 [[-1.66814322e-02 -9.17651445e-01 -3.97035962e-01 2.89317135e+02] [ 1.63790502e-01 -3.94235013e-01 9.04296094e-01 -1.69889378e+02] [-9.86354095e-01 -4.99457657e-02 1.56878996e-01 -3.73433911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.94, Z:-373.45 [[-1.34761971e-02 -9.55757373e-01 -2.93847302e-01 2.89279603e+02] [ 1.60997955e-01 -2.92113651e-01 9.42734997e-01 -1.69940540e+02] [-9.86862732e-01 -3.46043320e-02 1.57811563e-01 -3.73447674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.94, Z:-373.46 [[-1.18457155e-02 -9.56879697e-01 -2.90242871e-01 2.89278060e+02] [ 1.61792014e-01 -2.88272602e-01 9.43780828e-01 -1.69940802e+02] [-9.86753780e-01 -3.57792196e-02 1.58230289e-01 -3.73456691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.94, Z:-373.46 [[-1.10320434e-02 -9.57977505e-01 -2.86631112e-01 2.89277381e+02] [ 1.62242490e-01 -2.84565120e-01 9.44828062e-01 -1.69942935e+02] [-9.86689246e-01 -3.60803611e-02 1.58563990e-01 -3.73456004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-169.94, Z:-373.49 [[-7.42094129e-03 -9.59082114e-01 -2.83030789e-01 2.89274422e+02] [ 1.63707551e-01 -2.80385092e-01 9.45824528e-01 -1.69939398e+02] [-9.86481002e-01 -3.93153691e-02 1.59089705e-01 -3.73491310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-169.97, Z:-373.50 [[-1.28194641e-02 -9.70495533e-01 -2.40778076e-01 2.89255549e+02] [ 1.43788382e-01 -2.40084387e-01 9.60043951e-01 -1.69970893e+02] [-9.89525423e-01 -2.23138410e-02 1.42623736e-01 -3.73496858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-169.92, Z:-373.52 [[-1.12169219e-02 -9.48650283e-01 -3.16127856e-01 2.89289548e+02] [ 1.61786824e-01 -3.13703982e-01 9.35636059e-01 -1.69917580e+02] [-9.86761980e-01 -4.06503653e-02 1.56997910e-01 -3.73517789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-169.95, Z:-373.53 [[-1.24399236e-02 -9.72389212e-01 -2.33033193e-01 2.89258887e+02] [ 1.58217926e-01 -2.32029478e-01 9.59754870e-01 -1.69954504e+02] [-9.87325851e-01 -2.49307512e-02 1.56735833e-01 -3.73530145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-169.96, Z:-373.53 [[-1.48096779e-02 -9.73213654e-01 -2.29425058e-01 2.89259228e+02] [ 1.57014600e-01 -2.28867102e-01 9.60711333e-01 -1.69955609e+02] [-9.87485235e-01 -2.17952583e-02 1.56198201e-01 -3.73530346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.06, Z:-373.51 [[-7.67070809e-02 4.64762223e-01 -8.82106626e-01 2.89092495e+02] [ 2.23753196e-01 -8.54123475e-01 -4.69475874e-01 -1.69061571e+02] [-9.71622628e-01 -2.33386301e-01 -3.84747144e-02 -3.73510094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-169.93, Z:-373.70 [[-5.59145311e-02 -9.54988852e-01 -2.91324318e-01 2.89293505e+02] [ 2.04136944e-01 -2.96551735e-01 9.32944359e-01 -1.69930649e+02] [-9.77344194e-01 -7.30490984e-03 2.11530057e-01 -3.73704032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-169.91, Z:-373.71 [[-5.81867591e-02 -9.44981442e-01 -3.21907403e-01 2.89306139e+02] [ 2.01393692e-01 -3.26935429e-01 9.23338403e-01 -1.69913967e+02] [-9.77780590e-01 -1.11040510e-02 2.09336614e-01 -3.73710142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-169.91, Z:-373.72 [[-5.69523735e-02 -9.41892703e-01 -3.31050695e-01 2.89308670e+02] [ 2.02094462e-01 -3.35600640e-01 9.20070670e-01 -1.69906780e+02] [-9.77708676e-01 -1.45033038e-02 2.09464552e-01 -3.73721341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-169.84, Z:-373.94 [[-6.17701170e-02 -9.35849707e-01 -3.46943480e-01 2.89305236e+02] [ 2.17350806e-01 -3.51877636e-01 9.10461837e-01 -1.69841559e+02] [-9.74137095e-01 -1.91691108e-02 2.25143211e-01 -3.73944743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-169.93, Z:-373.76 [[-6.36819283e-02 -9.58154256e-01 -2.79078902e-01 2.89291782e+02] [ 2.00964804e-01 -2.86230045e-01 9.36848712e-01 -1.69925790e+02] [-9.77526347e-01 3.57529555e-03 2.10782964e-01 -3.73755453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-169.91, Z:-373.76 [[-6.61623838e-02 -9.49495095e-01 -3.06727246e-01 2.89303706e+02] [ 2.02076642e-01 -3.13781299e-01 9.27742597e-01 -1.69909500e+02] [-9.77132319e-01 -6.00750216e-04 2.12631299e-01 -3.73758016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-169.92, Z:-373.76 [[-7.20678485e-02 -9.53734430e-01 -2.91885015e-01 2.89301508e+02] [ 1.99057134e-01 -3.00511962e-01 9.32774795e-01 -1.69915662e+02] [-9.77334376e-01 9.12127817e-03 2.11504893e-01 -3.73759522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-169.91, Z:-373.77 [[-7.47022855e-02 -9.51542699e-01 -2.98305316e-01 2.89304406e+02] [ 1.98592518e-01 -3.07344777e-01 9.30645045e-01 -1.69909656e+02] [-9.77231078e-01 1.02801082e-02 2.11928618e-01 -3.73767081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-169.90, Z:-373.77 [[-7.66885353e-02 -9.47752651e-01 -3.09651065e-01 2.89311324e+02] [ 2.02014628e-01 -3.18893925e-01 9.26011207e-01 -1.69898491e+02] [-9.76375419e-01 8.46039833e-03 2.15915407e-01 -3.73769578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-169.89, Z:-373.79 [[-7.44287946e-02 -9.51217285e-01 -2.99409471e-01 2.89308609e+02] [ 2.11143010e-01 -3.08466957e-01 9.27505669e-01 -1.69892541e+02] [-9.74617353e-01 5.81491218e-03 2.23801704e-01 -3.73791728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.91, Z:-373.85 [[-6.79248608e-02 -9.67881442e-01 -2.42057282e-01 2.89283499e+02] [ 2.14320565e-01 -2.51108997e-01 9.43933773e-01 -1.69909427e+02] [-9.74398742e-01 1.22387166e-02 2.24493441e-01 -3.73849493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-169.92, Z:-373.86 [[-6.75955279e-02 -9.75597578e-01 -2.08902395e-01 2.89270831e+02] [ 2.15310340e-01 -2.18711618e-01 9.51738770e-01 -1.69923747e+02] [-9.74203419e-01 1.93544390e-02 2.24840173e-01 -3.73857109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-169.93, Z:-373.85 [[-7.07168753e-02 -9.77270122e-01 -1.99855530e-01 2.89265795e+02] [ 2.10499774e-01 -2.10465743e-01 9.54669585e-01 -1.69932665e+02] [-9.75032804e-01 2.54417061e-02 2.20598619e-01 -3.73853789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.91, Z:-373.86 [[-6.91767359e-02 -9.68891135e-01 -2.37622700e-01 2.89281050e+02] [ 2.11326656e-01 -2.47019884e-01 9.45686111e-01 -1.69912529e+02] [-9.74964422e-01 1.52034677e-02 2.21840553e-01 -3.73857762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-169.91, Z:-373.87 [[-6.19158721e-02 -9.69515515e-01 -2.37078238e-01 2.89282695e+02] [ 2.18126473e-01 -2.44936169e-01 9.44683606e-01 -1.69906003e+02] [-9.73954448e-01 6.77786930e-03 2.26642437e-01 -3.73873122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-169.90, Z:-373.96 [[-4.70765996e-02 -9.78732119e-01 -1.99667806e-01 2.89261027e+02] [ 2.22767604e-01 -2.05142120e-01 9.53043181e-01 -1.69904674e+02] [-9.73734250e-01 3.86513614e-04 2.27687202e-01 -3.73961806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-169.93, Z:-373.97 [[-4.31706861e-02 -9.88800035e-01 -1.42866308e-01 2.89237177e+02] [ 2.24711402e-01 -1.48945748e-01 9.62974532e-01 -1.69927865e+02] [-9.73468581e-01 9.46858290e-03 2.28624733e-01 -3.73972445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.93, Z:-373.99 [[-3.67419745e-02 -9.89656708e-01 -1.38670935e-01 2.89234621e+02] [ 2.26408115e-01 -1.43400096e-01 9.63418797e-01 -1.69925652e+02] [-9.73339300e-01 4.00168388e-03 2.29335112e-01 -3.73986900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.93, Z:-373.99 [[-3.30755962e-02 -9.90103805e-01 -1.36383507e-01 2.89233353e+02] [ 2.27030865e-01 -1.40333971e-01 9.63723696e-01 -1.69925905e+02] [-9.73325737e-01 9.12470212e-04 2.29425753e-01 -3.73990278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.92, Z:-374.00 [[-2.60742680e-02 -9.90624288e-01 -1.34103141e-01 2.89231757e+02] [ 2.27646902e-01 -1.36508153e-01 9.64127799e-01 -1.69924101e+02] [-9.73394586e-01 -5.38923795e-03 2.29071900e-01 -3.74000620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.92, Z:-374.01 [[-2.24892725e-02 -9.91048347e-01 -1.31595617e-01 2.89230084e+02] [ 2.27942095e-01 -1.33244894e-01 9.64514489e-01 -1.69923255e+02] [-9.73414934e-01 -8.30495146e-03 2.28898217e-01 -3.74007998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.92, Z:-374.01 [[-1.65970538e-02 -9.91462692e-01 -1.29330073e-01 2.89228277e+02] [ 2.27466016e-01 -1.29700286e-01 9.65109863e-01 -1.69923143e+02] [-9.73644570e-01 -1.34002162e-02 2.27676711e-01 -3.74014760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.92, Z:-374.02 [[-1.60528643e-02 -9.91769980e-01 -1.27022094e-01 2.89227105e+02] [ 2.27505689e-01 -1.27329226e-01 9.65416195e-01 -1.69923050e+02] [-9.73644425e-01 -1.34005538e-02 2.27677312e-01 -3.74019665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.92, Z:-374.03 [[-1.28933197e-02 -9.92109435e-01 -1.24710191e-01 2.89225774e+02] [ 2.27930358e-01 -1.24353115e-01 9.65703917e-01 -1.69922495e+02] [-9.73592068e-01 -1.59741092e-02 2.27735183e-01 -3.74025836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-169.92, Z:-374.03 [[-7.79351728e-03 -9.92451029e-01 -1.22393696e-01 2.89224429e+02] [ 2.28650477e-01 -1.20923379e-01 9.65969200e-01 -1.69922565e+02] [-9.73477386e-01 -2.04570793e-02 2.27866819e-01 -3.74031799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-169.92, Z:-374.04 [[-5.04134554e-03 -9.92752689e-01 -1.20069495e-01 2.89223403e+02] [ 2.29263581e-01 -1.18020222e-01 9.66182921e-01 -1.69922562e+02] [-9.73351322e-01 -2.26567005e-02 2.28197017e-01 -3.74038213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-169.92, Z:-374.05 [[-2.45644089e-03 -9.93042303e-01 -1.17732541e-01 2.89222667e+02] [ 2.30226657e-01 -1.15131829e-01 9.66302411e-01 -1.69921851e+02] [-9.73133934e-01 -2.47315046e-02 2.28907624e-01 -3.74045565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-169.92, Z:-374.06 [[ 1.61895794e-03 -9.93322677e-01 -1.15357869e-01 2.89222216e+02] [ 2.32603997e-01 -1.11819855e-01 9.66121991e-01 -1.69920243e+02] [-9.72570182e-01 -2.83968123e-02 2.30869794e-01 -3.74056123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-169.90, Z:-374.06 [[ 5.59099374e-03 -9.91014247e-01 -1.33639449e-01 2.89231706e+02] [ 2.48742188e-01 -1.28062753e-01 9.60066276e-01 -1.69901571e+02] [-9.68553594e-01 -3.86094936e-02 2.45791054e-01 -3.74058085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-169.77, Z:-374.12 [[-2.03366767e-02 6.34384869e-02 9.97778522e-01 2.88305476e+02] [ 1.20401548e-01 9.90877231e-01 -6.05456858e-02 -1.69774946e+02] [-9.92516945e-01 1.18902781e-01 -2.77892419e-02 -3.74120877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-169.84, Z:-374.16 [[ 1.23962764e-03 -9.82441416e-01 -1.86567219e-01 2.89251125e+02] [ 1.70203423e-01 -1.83637860e-01 9.68146648e-01 -1.69836691e+02] [-9.85408168e-01 -3.29545207e-02 1.66987250e-01 -3.74163798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-169.81, Z:-374.18 [[ 3.35083570e-03 -9.77741350e-01 -2.09787094e-01 2.89262036e+02] [ 1.89807643e-01 -2.05352685e-01 9.60105897e-01 -1.69810710e+02] [-9.81815579e-01 -4.30363510e-02 1.84894678e-01 -3.74182315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-169.81, Z:-374.27 [[ 1.35608961e-02 -1.17601816e-01 9.92968235e-01 2.88378659e+02] [ 4.98274554e-02 9.91905263e-01 1.16795434e-01 -1.69813339e+02] [-9.98665773e-01 4.78932296e-02 1.93109235e-02 -3.74274404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:289.20, Y:-169.77, Z:-374.84 [[ 3.82430239e-03 -9.94522354e-01 -1.04454120e-01 2.89201266e+02] [ 1.13114289e-01 -1.03354261e-01 9.88191811e-01 -1.69769932e+02] [-9.93574624e-01 -1.55943978e-02 1.12099431e-01 -3.74842146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4565599949999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:288.33, Y:-169.71, Z:-374.84 [[ 4.97913009e-03 -3.36498847e-02 9.99421279e-01 2.88326330e+02] [-2.11848672e-02 9.99205816e-01 3.37481734e-02 -1.69711788e+02] [-9.99763177e-01 -2.13406436e-02 4.26230740e-03 -3.74838716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.83, Z:-374.71 [[-1.33998411e-01 9.87726622e-01 -8.02530071e-02 2.88475118e+02] [-1.45061013e-02 -8.29297163e-02 -9.96449816e-01 -1.68829741e+02] [-9.90875370e-01 -1.32358534e-01 2.54405126e-02 -3.74705371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.516559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:289.25, Y:-168.94, Z:-374.98 [[-1.26359750e-01 6.98828111e-04 -9.91984236e-01 2.89254095e+02] [ 5.58394565e-02 -9.98409166e-01 -7.81622919e-03 -1.68939097e+02] [-9.90411616e-01 -5.63795174e-02 1.26119710e-01 -3.74981026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.89, Z:-374.58 [[-3.81550860e-03 -9.57737290e-01 2.87619062e-01 2.89016274e+02] [ 9.55009421e-03 2.87573140e-01 9.57711066e-01 -1.69885265e+02] [-9.99947117e-01 6.40094394e-03 8.04924356e-03 -3.74578847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-168.79, Z:-374.68 [[-1.21349730e-01 9.80794848e-01 -1.52694825e-01 2.88512422e+02] [ 3.10143685e-03 -1.53456271e-01 -9.88150573e-01 -1.68793132e+02] [-9.92604969e-01 -1.20385378e-01 1.55800037e-02 -3.74679714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-168.98, Z:-375.09 [[-1.31299493e-01 -1.08615665e-01 -9.85374589e-01 2.89277424e+02] [ 4.70704648e-02 -9.93541685e-01 1.03243846e-01 -1.68978760e+02] [-9.90224628e-01 -3.28261752e-02 1.35564109e-01 -3.75091045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-169.86, Z:-375.18 [[ 1.13686361e-02 -9.61336120e-01 2.75142907e-01 2.89001685e+02] [ 2.47144605e-02 2.75346772e-01 9.61027237e-01 -1.69860555e+02] [-9.99629906e-01 -4.12556046e-03 2.68892208e-02 -3.75179046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-169.47, Z:-375.20 [[-2.42853709e-02 4.02855970e-01 9.14941139e-01 2.88182062e+02] [-1.19305073e-01 9.07502519e-01 -4.02747411e-01 -1.69467661e+02] [-9.92560588e-01 -1.18937990e-01 2.60237257e-02 -3.75201578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6965599949999 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:288.55, Y:-168.74, Z:-375.61 [[-9.97667490e-02 9.20394611e-01 -3.78048086e-01 2.88550368e+02] [-8.85795047e-02 -3.86650686e-01 -9.17962373e-01 -1.68738825e+02] [-9.91060173e-01 -5.80948095e-02 1.20102981e-01 -3.75611429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-169.22, Z:-375.38 [[-5.36584612e-02 -5.02934717e-01 -8.62657197e-01 2.89333154e+02] [ 3.97521462e-02 -8.64292831e-01 5.01415664e-01 -1.69216369e+02] [-9.97767777e-01 -7.38728206e-03 6.63693577e-02 -3.75382685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.756559995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:288.68, Y:-169.93, Z:-375.74 [[ 5.67049534e-02 -7.17102074e-01 6.94657588e-01 2.88678751e+02] [-4.60937833e-02 6.93154822e-01 7.19313392e-01 -1.69927867e+02] [-9.97326382e-01 -7.28080287e-02 6.25136424e-03 -3.75744332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-169.48, Z:-375.82 [[ 3.86656459e-02 4.35081307e-01 8.99560573e-01 2.88133122e+02] [-7.36655108e-02 8.99025275e-01 -4.31656053e-01 -1.69476774e+02] [-9.96533171e-01 -4.95763290e-02 6.68118796e-02 -3.75821738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-169.18, Z:-375.87 [[ 2.28863193e-02 8.04041543e-01 5.94132488e-01 2.88129579e+02] [-7.38366841e-02 5.94024517e-01 -8.01051195e-01 -1.69184868e+02] [-9.97007703e-01 -2.55356594e-02 7.29627962e-02 -3.75870590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:289.01, Y:-168.78, Z:-375.90 [[-1.74919666e-02 3.69305829e-01 -9.29143280e-01 2.89005241e+02] [ 2.61647346e-02 -9.28798141e-01 -3.69661222e-01 -1.68777637e+02] [-9.99504596e-01 -3.07768891e-02 6.58371702e-03 -3.75899474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-169.24, Z:-375.94 [[ 3.64024552e-03 -5.52198278e-01 -8.33704870e-01 2.89320531e+02] [ 4.08875553e-02 -8.32931007e-01 5.51864245e-01 -1.69244917e+02] [-9.99157123e-01 -3.60970753e-02 1.95459643e-02 -3.75939658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:289.18, Y:-169.70, Z:-375.98 [[ 2.50724155e-02 -9.84039349e-01 -1.76175862e-01 2.89179720e+02] [ 3.37283050e-02 -1.75298254e-01 9.83937459e-01 -1.69704320e+02] [-9.99116498e-01 -3.06118020e-02 2.87948286e-02 -3.75981240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9365599949999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:288.96, Y:-169.87, Z:-376.02 [[ 3.29150385e-02 -9.59467442e-01 2.79890744e-01 2.88955911e+02] [ 2.29931161e-02 2.80695298e-01 9.59521478e-01 -1.69869143e+02] [-9.99193633e-01 -2.51471260e-02 3.13002429e-02 -3.76016251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-169.92, Z:-376.05 [[ 3.38909760e-02 -8.35434727e-01 5.48543726e-01 2.88774963e+02] [ 1.26073995e-02 5.49172726e-01 8.35613769e-01 -1.69917534e+02] [-9.99346014e-01 -2.14040563e-02 2.91446590e-02 -3.76045522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-169.90, Z:-376.07 [[ 3.45320319e-02 -9.08617225e-01 4.16199804e-01 2.88864846e+02] [ 1.65528417e-02 4.16911041e-01 9.08796560e-01 -1.69901302e+02] [-9.99266502e-01 -2.44933024e-02 2.94369825e-02 -3.76071385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-169.90, Z:-376.10 [[ 3.46834411e-02 -9.11781409e-01 4.09208652e-01 2.88868696e+02] [ 1.68345386e-02 4.09929919e-01 9.11961655e-01 -1.69899628e+02] [-9.99256552e-01 -2.47411294e-02 2.95671996e-02 -3.76099378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-169.90, Z:-376.13 [[ 3.43472726e-02 -9.19192818e-01 3.92307059e-01 2.88878742e+02] [ 1.71654732e-02 3.93023353e-01 9.19368256e-01 -1.69895618e+02] [-9.99262534e-01 -2.48436558e-02 2.92776599e-02 -3.76126177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-169.89, Z:-376.15 [[ 3.35380260e-02 -9.22324436e-01 3.84958226e-01 2.88883310e+02] [ 1.69833148e-02 3.85645229e-01 9.22490826e-01 -1.69893556e+02] [-9.99293134e-01 -2.44006546e-02 2.85979059e-02 -3.76153049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-169.89, Z:-376.18 [[ 3.22501409e-02 -9.25378414e-01 3.77670121e-01 2.88888050e+02] [ 1.65876074e-02 3.78310183e-01 9.25530257e-01 -1.69891515e+02] [-9.99342174e-01 -2.35838375e-02 2.75503705e-02 -3.76181554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.89, Z:-376.21 [[ 3.10540200e-02 -9.32314704e-01 3.60312282e-01 2.88899225e+02] [ 1.70294702e-02 3.60927332e-01 9.32438447e-01 -1.69886983e+02] [-9.99372626e-01 -2.28200349e-02 2.70850700e-02 -3.76208562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.88, Z:-376.24 [[ 3.02000837e-02 -9.35226795e-01 3.52758837e-01 2.88904007e+02] [ 1.67457754e-02 3.53343679e-01 9.35343693e-01 -1.69884634e+02] [-9.99403589e-01 -2.23402376e-02 2.63321066e-02 -3.76235695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.88, Z:-376.26 [[ 2.77892362e-02 -9.38098595e-01 3.45251770e-01 2.88908048e+02] [ 1.76382062e-02 3.45791551e-01 9.38145563e-01 -1.69882339e+02] [-9.99458179e-01 -1.99807267e-02 2.61556595e-02 -3.76263576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.88, Z:-376.29 [[ 2.57229229e-02 -9.44346015e-01 3.27946544e-01 2.88918069e+02] [ 1.86179690e-02 3.28450750e-01 9.44337586e-01 -1.69878456e+02] [-9.99495724e-01 -1.81854243e-02 2.60305181e-02 -3.76291082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.87, Z:-376.32 [[ 2.41164129e-02 -9.50279776e-01 3.10462150e-01 2.88928552e+02] [ 1.99178883e-02 3.10947559e-01 9.50218340e-01 -1.69874035e+02] [-9.99510719e-01 -1.67321074e-02 2.64265061e-02 -3.76318367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-169.85, Z:-376.35 [[ 2.65569861e-02 -9.63684862e-01 2.65718295e-01 2.88963709e+02] [ 3.05894871e-02 2.66470984e-01 9.63357409e-01 -1.69849984e+02] [-9.99179168e-01 -1.74556829e-02 3.65552919e-02 -3.76350582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-169.91, Z:-376.38 [[ 2.17571020e-02 -8.48514288e-01 5.28725005e-01 2.88786922e+02] [ 1.93465345e-02 5.29108494e-01 8.48333610e-01 -1.69907268e+02] [-9.99576080e-01 -8.22828432e-03 2.79276784e-02 -3.76379939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.356559995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:288.96, Y:-169.85, Z:-376.41 [[ 2.22460925e-02 -9.61705732e-01 2.73179789e-01 2.88958876e+02] [ 3.04610322e-02 2.73772561e-01 9.61311974e-01 -1.69854506e+02] [-9.99288365e-01 -1.30640968e-02 3.53849190e-02 -3.76409657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:288.79, Y:-169.90, Z:-376.44 [[ 2.55238257e-02 -8.44177394e-01 5.35455938e-01 2.88792148e+02] [ 2.46965405e-02 5.35999437e-01 8.43857029e-01 -1.69900117e+02] [-9.99369109e-01 -8.31455045e-03 3.45290174e-02 -3.76443413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-169.91, Z:-376.47 [[ 1.78169735e-02 -7.12858476e-01 7.01081556e-01 2.88654940e+02] [ 2.21662606e-02 7.01302143e-01 7.12519446e-01 -1.69906735e+02] [-9.99595524e-01 2.84541639e-03 2.82964884e-02 -3.76470446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-169.86, Z:-376.50 [[ 9.38577652e-03 -9.68108554e-01 2.50355217e-01 2.88965195e+02] [ 2.92214549e-02 2.50524862e-01 9.67669055e-01 -1.69856866e+02] [-9.99528896e-01 -1.76658182e-03 3.06409108e-02 -3.76495212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-169.85, Z:-376.52 [[ 6.21968714e-03 -9.70118121e-01 2.42553391e-01 2.88969869e+02] [ 3.01108195e-02 2.42629785e-01 9.69651549e-01 -1.69854162e+02] [-9.99527215e-01 1.27255208e-03 3.07201330e-02 -3.76522643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-169.85, Z:-376.55 [[ 3.05756775e-03 -9.73087701e-01 2.30414793e-01 2.88977308e+02] [ 3.08613387e-02 2.30397939e-01 9.72606996e-01 -1.69850141e+02] [-9.99518999e-01 4.13709719e-03 3.07352464e-02 -3.76550156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.84, Z:-376.58 [[-2.02385291e-03 -9.77140433e-01 2.12585226e-01 2.88987632e+02] [ 3.23898601e-02 2.12410065e-01 9.76643672e-01 -1.69843732e+02] [-9.99473262e-01 8.86218885e-03 3.12195552e-02 -3.76578484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-169.84, Z:-376.61 [[-4.31899443e-03 -9.80904995e-01 1.94439545e-01 2.88997220e+02] [ 3.27866128e-02 1.94197916e-01 9.80414304e-01 -1.69837547e+02] [-9.99453043e-01 1.06094180e-02 3.13218125e-02 -3.76606744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-169.83, Z:-376.64 [[-7.40416835e-03 -9.84326727e-01 1.76198961e-01 2.89005920e+02] [ 3.38049642e-02 1.75856688e-01 9.83835174e-01 -1.69831112e+02] [-9.99401022e-01 1.32408808e-02 3.19730572e-02 -3.76635159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.82, Z:-376.66 [[-8.98038819e-03 -9.87446513e-01 1.57698247e-01 2.89015298e+02] [ 3.42719371e-02 1.57308018e-01 9.86954721e-01 -1.69824956e+02] [-9.99372196e-01 1.42678609e-02 3.24290177e-02 -3.76663098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.82, Z:-376.69 [[-1.17092360e-02 -9.90210616e-01 1.39089290e-01 2.89024476e+02] [ 3.48972686e-02 1.38609415e-01 9.89732091e-01 -1.69818132e+02] [-9.99322308e-01 1.64428430e-02 3.29326355e-02 -3.76691098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-169.81, Z:-376.72 [[-1.32883033e-02 -9.92633105e-01 1.20428151e-01 2.89033558e+02] [ 3.51035602e-02 1.19901431e-01 9.92165000e-01 -1.69811420e+02] [-9.99295332e-01 1.74116463e-02 3.32516693e-02 -3.76718514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7165599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.81, Z:-376.75 [[-1.42741382e-02 -9.93568171e-01 1.12332266e-01 2.89037170e+02] [ 3.49474817e-02 1.11779335e-01 9.93118348e-01 -1.69808350e+02] [-9.99287207e-01 1.81016384e-02 3.31271518e-02 -3.76746789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.80, Z:-376.78 [[-1.52062518e-02 -9.95496323e-01 9.35726518e-02 2.89045890e+02] [ 3.53796093e-02 9.29891780e-02 9.95038339e-01 -1.69801352e+02] [-9.99258252e-01 1.84413674e-02 3.38062541e-02 -3.76775187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.79, Z:-376.80 [[-1.57385191e-02 -9.97079774e-01 7.47276656e-02 2.89054320e+02] [ 3.54602862e-02 7.41333071e-02 9.96617690e-01 -1.69794626e+02] [-9.99247150e-01 1.83351509e-02 3.41899857e-02 -3.76802001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.79, Z:-376.83 [[-1.55570664e-02 -9.97959571e-01 6.19247263e-02 2.89058327e+02] [ 3.48617809e-02 6.13531947e-02 9.97507114e-01 -1.69789765e+02] [-9.99271051e-01 1.76770907e-02 3.38361722e-02 -3.76829974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.78, Z:-376.86 [[-1.47796738e-02 -9.98959663e-01 4.31410755e-02 2.89066477e+02] [ 3.43456099e-02 4.26131276e-02 9.98501127e-01 -1.69782581e+02] [-9.99300726e-01 1.62392275e-02 3.36800708e-02 -3.76857089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.78, Z:-376.89 [[-1.41100047e-02 -9.99438784e-01 3.03813309e-02 2.89071600e+02] [ 3.33011926e-02 2.98977903e-02 9.98998074e-01 -1.69777315e+02] [-9.99345755e-01 1.51076021e-02 3.28606455e-02 -3.76885512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.77, Z:-376.91 [[-1.14125134e-02 -9.99866584e-01 1.16862316e-02 2.89078666e+02] [ 3.17528935e-02 1.13187196e-02 9.99431659e-01 -1.69769658e+02] [-9.99430592e-01 1.17770989e-02 3.16194821e-02 -3.76913224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-169.74, Z:-377.03 [[ 3.00283238e-02 -2.49442226e-01 9.67924003e-01 2.88347223e+02] [-3.75214444e-02 9.67396872e-01 2.50470424e-01 -1.69737445e+02] [-9.98844553e-01 -4.38391137e-02 1.96898739e-02 -3.77034512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-169.60, Z:-377.03 [[ 7.87797038e-02 -9.45674804e-01 -3.15424990e-01 2.89195775e+02] [-1.33799733e-02 -3.17382904e-01 9.48203074e-01 -1.69598418e+02] [-9.96802255e-01 -7.04787793e-02 -3.76564347e-02 -3.77027399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-169.06, Z:-377.04 [[ 9.65272494e-02 -2.67099000e-01 -9.58822515e-01 2.89250796e+02] [ 5.00032704e-02 -9.60803164e-01 2.72684713e-01 -1.69057355e+02] [-9.94073520e-01 -7.42657668e-02 -7.93878631e-02 -3.77036495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-168.76, Z:-377.05 [[ 6.72777543e-02 4.09864053e-01 -9.09662114e-01 2.88988689e+02] [ 1.13118716e-01 -9.08982592e-01 -4.01191728e-01 -1.68764906e+02] [-9.91301094e-01 -7.59085322e-02 -1.07517603e-01 -3.77050291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-168.70, Z:-377.07 [[ 6.26288970e-03 8.36261885e-01 -5.48294479e-01 2.88674644e+02] [ 1.51529811e-01 -5.42767187e-01 -8.26100779e-01 -1.68698504e+02] [-9.88432847e-01 -7.79091805e-02 -1.30117896e-01 -3.77068298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.79, Z:-377.09 [[-6.68508709e-02 9.93766115e-01 -8.92181008e-02 2.88411542e+02] [ 1.55928199e-01 -7.79140065e-02 -9.84690715e-01 -1.68787125e+02] [-9.85503606e-01 -7.97390497e-02 -1.49747542e-01 -3.77087536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-169.59, Z:-377.29 [[-6.09126958e-02 -9.38586271e-01 -3.39625463e-01 2.89217789e+02] [ 1.86639353e-01 -3.44966240e-01 9.19871755e-01 -1.69585849e+02] [-9.80538319e-01 -7.35560823e-03 1.96189958e-01 -3.77286262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-169.59, Z:-377.30 [[-5.80388497e-02 -9.39819636e-01 -3.36705426e-01 2.89214489e+02] [ 1.87684778e-01 -3.41531994e-01 9.20939912e-01 -1.69586605e+02] [-9.80513088e-01 -9.74418978e-03 1.96211963e-01 -3.77296775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-169.59, Z:-377.31 [[-5.43020442e-02 -9.41788134e-01 -3.31792704e-01 2.89209746e+02] [ 1.88966322e-01 -3.35971059e-01 9.22721614e-01 -1.69589327e+02] [-9.80481013e-01 -1.25919770e-02 1.96210155e-01 -3.77306094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-169.59, Z:-377.31 [[-5.24684576e-02 -9.42829650e-01 -3.29118995e-01 2.89207916e+02] [ 1.89325218e-01 -3.32987385e-01 9.23729053e-01 -1.69591040e+02] [-9.80511613e-01 -1.38438867e-02 1.95972763e-01 -3.77307918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-169.59, Z:-377.32 [[-5.08092925e-02 -9.43941366e-01 -3.26179572e-01 2.89205345e+02] [ 1.89690960e-01 -3.29777417e-01 9.24804950e-01 -1.69590361e+02] [-9.80528304e-01 -1.48846310e-02 1.95812902e-01 -3.77322353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-169.59, Z:-377.32 [[-4.90169323e-02 -9.44949301e-01 -3.23524589e-01 2.89203333e+02] [ 1.89521202e-01 -3.26828751e-01 9.25885890e-01 -1.69592499e+02] [-9.80652362e-01 -1.59306828e-02 1.95108070e-01 -3.77323483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-169.59, Z:-377.37 [[-4.32672806e-02 -9.46303821e-01 -3.20370131e-01 2.89198228e+02] [ 1.91375691e-01 -3.22582592e-01 9.26992889e-01 -1.69587429e+02] [-9.80562740e-01 -2.12025938e-02 1.95056819e-01 -3.77365613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-169.60, Z:-377.37 [[-4.23486165e-02 -9.56008164e-01 -2.90267094e-01 2.89186327e+02] [ 1.90929766e-01 -2.92917199e-01 9.36880643e-01 -1.69602032e+02] [-9.80689767e-01 -1.57450293e-02 1.94935053e-01 -3.77373204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-169.60, Z:-377.42 [[-3.66586732e-02 -9.57122887e-01 -2.87353303e-01 2.89181174e+02] [ 1.92572771e-01 -2.88923036e-01 9.37784201e-01 -1.69595426e+02] [-9.80597710e-01 -2.09584973e-02 1.94907342e-01 -3.77422306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-169.61, Z:-377.43 [[-3.62067977e-02 -9.66253866e-01 -2.55034379e-01 2.89168430e+02] [ 1.91779247e-01 -2.57176597e-01 9.47143558e-01 -1.69610256e+02] [-9.80769998e-01 -1.46172658e-02 1.94618979e-01 -3.77429024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-169.61, Z:-377.43 [[-3.59930894e-02 -9.66982887e-01 -2.52286728e-01 2.89167230e+02] [ 1.91520900e-01 -2.54445437e-01 9.47933154e-01 -1.69611061e+02] [-9.80828345e-01 -1.41991384e-02 1.94355710e-01 -3.77432939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-169.61, Z:-377.44 [[-3.64921765e-02 -9.67680475e-01 -2.49525188e-01 2.89165560e+02] [ 1.91337734e-01 -2.51837728e-01 9.48666238e-01 -1.69612190e+02] [-9.80845652e-01 -1.31246884e-02 1.94343896e-01 -3.77437350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.61, Z:-377.45 [[-3.64702703e-02 -9.68391560e-01 -2.46754345e-01 2.89163760e+02] [ 1.91508050e-01 -2.49114854e-01 9.49350544e-01 -1.69612274e+02] [-9.80813227e-01 -1.26323725e-02 1.94540065e-01 -3.77446290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.61, Z:-377.45 [[-3.66299015e-02 -9.69214448e-01 -2.43478140e-01 2.89161940e+02] [ 1.91077438e-01 -2.45939244e-01 9.50264859e-01 -1.69613896e+02] [-9.80891260e-01 -1.17150711e-02 1.94203744e-01 -3.77451238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.61, Z:-377.46 [[-3.72141792e-02 -9.69948916e-01 -2.40445849e-01 2.89160186e+02] [ 1.90898807e-01 -2.43081604e-01 9.51035740e-01 -1.69614558e+02] [-9.80904048e-01 -1.05088112e-02 1.94208173e-01 -3.77457169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.62, Z:-377.46 [[-3.80503919e-02 -9.70656152e-01 -2.37442207e-01 2.89158817e+02] [ 1.90012960e-01 -2.40307076e-01 9.51917845e-01 -1.69616292e+02] [-9.81043956e-01 -8.89624943e-03 1.93581027e-01 -3.77458805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-169.62, Z:-377.47 [[-4.05620581e-02 -9.71274226e-01 -2.34480486e-01 2.89157384e+02] [ 1.87978175e-01 -2.37901140e-01 9.52925628e-01 -1.69616126e+02] [-9.81335277e-01 -5.42458918e-03 1.92228117e-01 -3.77468772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.62, Z:-377.47 [[-4.22313363e-02 -9.72802246e-01 -2.27754921e-01 2.89154833e+02] [ 1.86682391e-01 -2.31626761e-01 9.54724426e-01 -1.69618424e+02] [-9.81512200e-01 -2.19854492e-03 1.91386957e-01 -3.77473712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.62, Z:-377.47 [[-4.43028124e-02 -9.73409296e-01 -2.24747865e-01 2.89153693e+02] [ 1.85698291e-01 -2.29072008e-01 9.55532396e-01 -1.69619581e+02] [-9.81607562e-01 5.97478226e-04 1.90908977e-01 -3.77474997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.62, Z:-377.48 [[-4.94045909e-02 -9.73850556e-01 -2.21752746e-01 2.89152448e+02] [ 1.83829680e-01 -2.27097007e-01 9.56364783e-01 -1.69620758e+02] [-9.81715761e-01 6.48407447e-03 1.90242271e-01 -3.77479782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.62, Z:-377.48 [[-5.18688482e-02 -9.74468105e-01 -2.18452592e-01 2.89150940e+02] [ 1.83265861e-01 -2.24320209e-01 9.57128031e-01 -1.69622275e+02] [-9.81694070e-01 9.61022614e-03 1.90221967e-01 -3.77481684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.62, Z:-377.49 [[-5.44962541e-02 -9.74992019e-01 -2.15454685e-01 2.89149551e+02] [ 1.82259700e-01 -2.21863256e-01 9.57892529e-01 -1.69623319e+02] [-9.81739049e-01 1.29328485e-02 1.89792469e-01 -3.77486227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.63, Z:-377.49 [[-6.05856866e-02 -9.75292703e-01 -2.12446505e-01 2.89147951e+02] [ 1.80847023e-01 -2.20040421e-01 9.58580496e-01 -1.69625637e+02] [-9.81643382e-01 1.96559396e-02 1.89710082e-01 -3.77485597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-169.63, Z:-377.50 [[-6.34042063e-02 -9.75762674e-01 -2.09444769e-01 2.89146178e+02] [ 1.80195572e-01 -2.17610940e-01 9.59257544e-01 -1.69625606e+02] [-9.81585178e-01 2.30799432e-02 1.89625562e-01 -3.77495041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-169.63, Z:-377.50 [[-6.58344208e-02 -9.76240182e-01 -2.06448386e-01 2.89144510e+02] [ 1.79672824e-01 -2.15113377e-01 9.59918700e-01 -1.69626133e+02] [-9.81521016e-01 2.61025272e-02 1.89565695e-01 -3.77501332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-169.72, Z:-377.63 [[-3.25530338e-06 -9.91545420e-01 1.29760086e-01 2.88952529e+02] [ 1.80970416e-01 1.27616973e-01 9.75173634e-01 -1.69722455e+02] [-9.83488540e-01 2.34859111e-02 1.79439971e-01 -3.77630129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.73, Z:-377.66 [[-6.82335873e-03 -9.84995754e-01 1.72443630e-01 2.88929279e+02] [ 1.82098348e-01 1.68340304e-01 9.68762992e-01 -1.69729149e+02] [-9.83256647e-01 3.80119175e-02 1.78217453e-01 -3.77660993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.72, Z:-377.69 [[-1.02485960e-02 -9.85235866e-01 1.70895451e-01 2.88930183e+02] [ 1.82068722e-01 1.66209002e-01 9.69136496e-01 -1.69723661e+02] [-9.83232397e-01 4.10470049e-02 1.77677227e-01 -3.77688994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.72, Z:-377.72 [[-1.32951051e-02 -9.85470510e-01 1.69325466e-01 2.88931003e+02] [ 1.81843540e-01 1.64133674e-01 9.69532395e-01 -1.69718394e+02] [-9.83237595e-01 4.36807772e-02 1.77019272e-01 -3.77716184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.71, Z:-377.74 [[-1.54142996e-02 -9.85707332e-01 1.67760110e-01 2.88931589e+02] [ 1.81591360e-01 1.62230124e-01 9.69899977e-01 -1.69713234e+02] [-9.83253262e-01 4.54141152e-02 1.76495271e-01 -3.77742603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.71, Z:-377.77 [[-1.75377550e-02 -9.85784850e-01 1.67094752e-01 2.88929925e+02] [ 1.81276183e-01 1.61215833e-01 9.70128033e-01 -1.69707607e+02] [-9.83275837e-01 4.73041667e-02 1.75871952e-01 -3.77770556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.70, Z:-377.80 [[-1.75043793e-02 -9.86047292e-01 1.65542550e-01 2.88929758e+02] [ 1.81233170e-01 1.59696221e-01 9.70387374e-01 -1.69701972e+02] [-9.83284361e-01 4.69878297e-02 1.75909093e-01 -3.77798520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.70, Z:-377.83 [[-1.61930743e-02 -9.86329983e-01 1.63984600e-01 2.88929334e+02] [ 1.80809801e-01 1.58413654e-01 9.70676532e-01 -1.69696809e+02] [-9.83384767e-01 4.53682600e-02 1.75772923e-01 -3.77825526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.69, Z:-377.85 [[-1.14188131e-02 -9.86506955e-01 1.63320663e-01 2.88924625e+02] [ 1.79613099e-01 1.58651201e-01 9.70859893e-01 -1.69691675e+02] [-9.83671056e-01 4.04205981e-02 1.75377963e-01 -3.77852823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.69, Z:-377.88 [[-7.95687052e-03 -9.86800330e-01 1.61746085e-01 2.88923132e+02] [ 1.79033590e-01 1.57731786e-01 9.71116707e-01 -1.69686402e+02] [-9.83810786e-01 3.66850321e-02 1.75415354e-01 -3.77880234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.68, Z:-377.91 [[-4.03232816e-03 -9.87082799e-01 1.60160198e-01 2.88921654e+02] [ 1.78298887e-01 1.56885406e-01 9.71388942e-01 -1.69680596e+02] [-9.83968113e-01 3.24733440e-02 1.75363151e-01 -3.77908078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.67, Z:-377.94 [[ 5.79805262e-03 -9.87328340e-01 1.58584776e-01 2.88916897e+02] [ 1.76462514e-01 1.57108910e-01 9.71688104e-01 -1.69674411e+02] [-9.84290284e-01 2.23503695e-02 1.75137367e-01 -3.77936102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.67, Z:-377.96 [[ 1.11595945e-02 -9.87539960e-01 1.56972264e-01 2.88914944e+02] [ 1.76476072e-01 1.56462991e-01 9.71789858e-01 -1.69669308e+02] [-9.84241667e-01 1.68570678e-02 1.76023236e-01 -3.77962316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.66, Z:-377.99 [[ 1.64320219e-02 -9.87577123e-01 1.56273527e-01 2.88912838e+02] [ 1.76050288e-01 1.56710522e-01 9.71827201e-01 -1.69664293e+02] [-9.84244017e-01 1.15429135e-02 1.76438308e-01 -3.77989686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.66, Z:-378.02 [[ 2.17432860e-02 -9.87722621e-01 1.54697296e-01 2.88911273e+02] [ 1.75498978e-01 1.56102061e-01 9.72024823e-01 -1.69658806e+02] [-9.84239472e-01 6.01420361e-03 1.76738482e-01 -3.78017428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.65, Z:-378.05 [[ 2.14787694e-02 -9.87971526e-01 1.53136953e-01 2.88912789e+02] [ 1.75531179e-01 1.54519573e-01 9.72271828e-01 -1.69653588e+02] [-9.84239538e-01 5.99710750e-03 1.76738697e-01 -3.78045482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3365599949999 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.65, Z:-378.07 [[ 3.20488155e-02 -9.87170166e-01 1.56422306e-01 2.88905455e+02] [ 1.74473193e-01 1.59625357e-01 9.71637201e-01 -1.69648597e+02] [-9.84140223e-01 -3.84832232e-03 1.77350534e-01 -3.78073587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-169.64, Z:-378.10 [[ 3.69041054e-02 -9.87771656e-01 1.51476870e-01 2.88905852e+02] [ 1.72616817e-01 1.55602590e-01 9.72620825e-01 -1.69642675e+02] [-9.84297476e-01 -9.74624623e-03 1.76248373e-01 -3.78101092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-169.60, Z:-378.13 [[ 5.25324375e-02 -9.94899157e-01 8.61162593e-02 2.88943633e+02] [ 1.86772011e-01 9.45021907e-02 9.77847407e-01 -1.69600358e+02] [-9.80997737e-01 -3.52846009e-02 1.90783746e-01 -3.78126645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-169.65, Z:-378.16 [[ 4.96652151e-02 -9.63893124e-01 2.61616919e-01 2.88840718e+02] [ 1.67068266e-01 2.66267184e-01 9.49310266e-01 -1.69652081e+02] [-9.84693638e-01 -3.43981357e-03 1.74260170e-01 -3.78164445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.63, Z:-378.19 [[ 5.31331498e-02 -9.87605786e-01 1.47687780e-01 2.88901223e+02] [ 1.69219194e-01 1.54662560e-01 9.73367534e-01 -1.69626373e+02] [-9.84145179e-01 -2.67264759e-02 1.75339564e-01 -3.78186056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.62, Z:-378.21 [[ 5.84951604e-02 -9.87459064e-01 1.46638715e-01 2.88899736e+02] [ 1.67869970e-01 1.54528256e-01 9.73622458e-01 -1.69621500e+02] [-9.84072147e-01 -3.23359653e-02 1.74803878e-01 -3.78213502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.62, Z:-378.24 [[ 6.09048076e-02 -9.87933051e-01 1.42403972e-01 2.88901552e+02] [ 1.66781354e-01 1.50735675e-01 9.74403785e-01 -1.69615966e+02] [-9.84111063e-01 -3.55955478e-02 1.73949340e-01 -3.78240024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-169.58, Z:-378.26 [[ 6.71189835e-02 -9.95287022e-01 6.99913273e-02 2.88944765e+02] [ 1.82774099e-01 8.12274977e-02 9.79793714e-01 -1.69575057e+02] [-9.80861188e-01 -5.29701564e-02 1.87364596e-01 -3.78264096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-169.63, Z:-378.30 [[ 6.22908970e-02 -9.68375607e-01 2.41595793e-01 2.88847279e+02] [ 1.61514751e-01 2.48655840e-01 9.55030501e-01 -1.69626813e+02] [-9.84902447e-01 -2.04684224e-02 1.71895940e-01 -3.78304002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.60, Z:-378.33 [[ 6.33531990e-02 -9.87927094e-01 1.41373365e-01 2.88901018e+02] [ 1.66798713e-01 1.50147112e-01 9.74491680e-01 -1.69604604e+02] [-9.83953536e-01 -3.81562699e-02 1.74297268e-01 -3.78327547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-169.60, Z:-378.35 [[ 6.33425027e-02 -9.88163689e-01 1.39714895e-01 2.88902635e+02] [ 1.67871759e-01 1.48551148e-01 9.74552015e-01 -1.69600152e+02] [-9.83771721e-01 -3.82763783e-02 1.75294379e-01 -3.78354537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-169.56, Z:-378.38 [[ 6.82922409e-02 -9.94935454e-01 7.37537236e-02 2.88944789e+02] [ 1.85235446e-01 8.52859618e-02 9.78986279e-01 -1.69558112e+02] [-9.80318315e-01 -5.31953629e-02 1.90121682e-01 -3.78378164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-169.61, Z:-378.42 [[ 6.11990493e-02 -9.69636670e-01 2.36768672e-01 2.88853710e+02] [ 1.66331250e-01 2.43803744e-01 9.55454682e-01 -1.69609297e+02] [-9.84168985e-01 -1.90908891e-02 1.76201437e-01 -3.78416591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-169.56, Z:-378.44 [[ 6.37887605e-02 -9.93771920e-01 9.13693841e-02 2.88938383e+02] [ 1.82882904e-01 1.01645948e-01 9.77866016e-01 -1.69558474e+02] [-9.81063116e-01 -4.56669628e-02 1.88227764e-01 -3.78437614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-169.60, Z:-378.47 [[ 5.81428898e-02 -9.75923485e-01 2.10220733e-01 2.88872018e+02] [ 1.68047656e-01 2.17139974e-01 9.61566543e-01 -1.69596083e+02] [-9.84062696e-01 -2.05811562e-02 1.76626799e-01 -3.78473976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.58, Z:-378.50 [[ 5.42809415e-02 -9.89210698e-01 1.36072684e-01 2.88915402e+02] [ 1.71099487e-01 1.43472471e-01 9.74751566e-01 -1.69577097e+02] [-9.83757361e-01 -2.96284662e-02 1.77041264e-01 -3.78497450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.57, Z:-378.52 [[ 5.19480517e-02 -9.89482615e-01 1.35002053e-01 2.88918673e+02] [ 1.71088642e-01 1.42003979e-01 9.74968485e-01 -1.69572333e+02] [-9.83885195e-01 -2.75503953e-02 1.76666067e-01 -3.78524269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.57, Z:-378.55 [[ 4.88575872e-02 -9.90016511e-01 1.32212873e-01 2.88922697e+02] [ 1.70457005e-01 1.38693755e-01 9.75555458e-01 -1.69566862e+02] [-9.84153111e-01 -2.51266756e-02 1.75531491e-01 -3.78553251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-169.57, Z:-378.58 [[ 4.73679291e-02 -9.87960750e-01 1.47274697e-01 2.88917877e+02] [ 1.66602667e-01 1.53189069e-01 9.74051672e-01 -1.69567686e+02] [-9.84885694e-01 -2.16024533e-02 1.71853145e-01 -3.78579191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:288.93, Y:-169.56, Z:-378.61 [[ 4.34783029e-02 -9.90235218e-01 1.32453198e-01 2.88930880e+02] [ 1.68858484e-01 1.37954908e-01 9.75938141e-01 -1.69558675e+02] [-9.84680887e-01 -2.00662878e-02 1.73207664e-01 -3.78605126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-169.55, Z:-378.63 [[ 4.09946084e-02 -9.91308025e-01 1.25011363e-01 2.88937590e+02] [ 1.69267702e-01 1.30198389e-01 9.76932354e-01 -1.69551927e+02] [-9.84717161e-01 -1.88885731e-02 1.73133864e-01 -3.78632917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:288.95, Y:-169.55, Z:-378.66 [[ 3.82005975e-02 -9.92737489e-01 1.14074503e-01 2.88948760e+02] [ 1.66175726e-01 1.18879379e-01 9.78904143e-01 -1.69546563e+02] [-9.85355947e-01 -1.84383097e-02 1.69510136e-01 -3.78659128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-169.54, Z:-378.69 [[ 3.76453459e-02 -9.93451602e-01 1.07873739e-01 2.88955580e+02] [ 1.69518316e-01 1.12734448e-01 9.79057958e-01 -1.69537387e+02] [-9.84807783e-01 -1.85704009e-02 1.72652170e-01 -3.78685243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-169.55, Z:-378.71 [[ 3.53119670e-02 -9.88400059e-01 1.47710487e-01 2.88936221e+02] [ 1.67082008e-01 1.51561227e-01 9.74224203e-01 -1.69547096e+02] [-9.85310442e-01 -9.72200814e-03 1.70495791e-01 -3.78714622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-169.54, Z:-378.74 [[ 3.46872516e-02 -9.91355097e-01 1.26538006e-01 2.88950013e+02] [ 1.68277688e-01 1.30600045e-01 9.77049767e-01 -1.69537680e+02] [-9.85129136e-01 -1.25976480e-02 1.71353101e-01 -3.78739991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-169.53, Z:-378.77 [[ 3.43332116e-02 -9.91461893e-01 1.25795652e-01 2.88954510e+02] [ 1.69311549e-01 1.29820642e-01 9.76975025e-01 -1.69534038e+02] [-9.84964380e-01 -1.22440336e-02 1.72323108e-01 -3.78767579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-169.53, Z:-378.79 [[ 3.41951993e-02 -9.91678663e-01 1.24113326e-01 2.88957619e+02] [ 1.69809708e-01 1.28145356e-01 9.77109733e-01 -1.69529322e+02] [-9.84883420e-01 -1.23368144e-02 1.72778620e-01 -3.78793872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-169.53, Z:-378.82 [[ 3.40911096e-02 -9.91774993e-01 1.23370009e-01 2.88962145e+02] [ 1.70786185e-01 1.27407165e-01 9.77036076e-01 -1.69525346e+02] [-9.84718171e-01 -1.22383508e-02 1.73724919e-01 -3.78821416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-169.52, Z:-378.85 [[ 3.36789660e-02 -9.91993273e-01 1.21717191e-01 2.88966490e+02] [ 1.71078218e-01 1.25710881e-01 9.77204696e-01 -1.69521129e+02] [-9.84681660e-01 -1.20880835e-02 1.73942254e-01 -3.78847954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-169.52, Z:-378.88 [[ 3.29812654e-02 -9.92105107e-01 1.20994603e-01 2.88969346e+02] [ 1.71680564e-01 1.24884723e-01 9.77204989e-01 -1.69516333e+02] [-9.84600437e-01 -1.14570355e-02 1.74444020e-01 -3.78875124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-169.51, Z:-378.90 [[ 3.27130538e-02 -9.92310722e-01 1.19370376e-01 2.88970690e+02] [ 1.71733233e-01 1.23238700e-01 9.77404686e-01 -1.69511191e+02] [-9.84600200e-01 -1.14740314e-02 1.74444242e-01 -3.78903209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-169.51, Z:-378.93 [[ 3.09657777e-02 -9.92547332e-01 1.17859723e-01 2.88975750e+02] [ 1.71387822e-01 1.21442512e-01 9.77690100e-01 -1.69505849e+02] [-9.84716881e-01 -1.00752131e-02 1.73871087e-01 -3.78930330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-169.50, Z:-378.96 [[ 3.01046800e-02 -9.92764039e-01 1.16246597e-01 2.88978425e+02] [ 1.71228900e-01 1.19702281e-01 9.77932527e-01 -1.69500514e+02] [-9.84771228e-01 -9.53556897e-03 1.73593493e-01 -3.78958113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-169.50, Z:-378.99 [[ 2.95145677e-02 -9.92972742e-01 1.14603772e-01 2.88981058e+02] [ 1.71001834e-01 1.17979417e-01 9.78181593e-01 -1.69495305e+02] [-9.84828545e-01 -9.27315161e-03 1.73282272e-01 -3.78985493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-169.49, Z:-379.01 [[ 2.89582995e-02 -9.93179103e-01 1.12945499e-01 2.88983753e+02] [ 1.70736309e-01 1.16247011e-01 9.78435356e-01 -1.69489998e+02] [-9.84891126e-01 -9.04992642e-03 1.72938050e-01 -3.79013029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.48, Z:-379.04 [[ 2.88295438e-02 -9.93370685e-01 1.11281350e-01 2.88987304e+02] [ 1.70767717e-01 1.14585584e-01 9.78625838e-01 -1.69484962e+02] [-9.84889458e-01 -9.21007437e-03 1.72939094e-01 -3.79040149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.48, Z:-379.07 [[ 2.92232706e-02 -9.93543197e-01 1.09626259e-01 2.88989317e+02] [ 1.70657071e-01 1.13022055e-01 9.78826940e-01 -1.69480315e+02] [-9.84897032e-01 -9.89602822e-03 1.72858046e-01 -3.79066602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.48, Z:-379.09 [[ 2.98801819e-02 -9.93603634e-01 1.08899006e-01 2.88991004e+02] [ 1.71084133e-01 1.12423794e-01 9.78821286e-01 -1.69475344e+02] [-9.84803226e-01 -1.06164660e-02 1.73349060e-01 -3.79093349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.47, Z:-379.12 [[ 3.25484724e-02 -9.93599410e-01 1.08170284e-01 2.88993245e+02] [ 1.71796891e-01 1.12178650e-01 9.78724567e-01 -1.69470807e+02] [-9.84594549e-01 -1.32726711e-02 1.74348533e-01 -3.79120905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.47, Z:-379.15 [[ 3.40312464e-02 -9.93731129e-01 1.06490929e-01 2.88994774e+02] [ 1.72124525e-01 1.10788153e-01 9.78825384e-01 -1.69465859e+02] [-9.84487188e-01 -1.49809474e-02 1.74815757e-01 -3.79148686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-169.46, Z:-379.18 [[ 3.79542182e-02 -9.93769633e-01 1.04792149e-01 2.88996992e+02] [ 1.73544470e-01 1.09829286e-01 9.78682709e-01 -1.69460467e+02] [-9.84094403e-01 -1.89590391e-02 1.76631708e-01 -3.79176322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.43, Z:-379.20 [[ 4.19254749e-02 -9.96634249e-01 7.04445016e-02 2.89018149e+02] [ 1.81824583e-01 7.69399365e-02 9.80316310e-01 -1.69432611e+02] [-9.82436805e-01 -2.82916847e-02 1.84438350e-01 -3.79199958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-169.44, Z:-379.23 [[ 4.33854635e-02 -9.93730519e-01 1.03040564e-01 2.89002057e+02] [ 1.79185627e-01 1.09205130e-01 9.77735522e-01 -1.69439514e+02] [-9.82858185e-01 -2.39561208e-02 1.82800141e-01 -3.79229268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-169.45, Z:-379.26 [[ 4.34029297e-02 -9.90370969e-01 1.31459233e-01 2.88985729e+02] [ 1.71677158e-01 1.37019405e-01 9.75578104e-01 -1.69454474e+02] [-9.84196697e-01 -1.97744003e-02 1.75971117e-01 -3.79261403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-169.44, Z:-379.29 [[ 4.43872119e-02 -9.93997577e-01 9.99929590e-02 2.89003026e+02] [ 1.72367496e-01 1.06210531e-01 9.79289931e-01 -1.69441663e+02] [-9.84032124e-01 -2.62324137e-02 1.76047263e-01 -3.79285918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-169.44, Z:-379.31 [[ 4.57239537e-02 -9.94009806e-01 9.92664356e-02 2.89005078e+02] [ 1.72424591e-01 1.05732052e-01 9.79331657e-01 -1.69436861e+02] [-9.83960914e-01 -2.76629407e-02 1.76226222e-01 -3.79313604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.42, Z:-379.34 [[ 4.64125131e-02 -9.95827779e-01 7.85678854e-02 2.89017362e+02] [ 1.76964556e-01 8.56053449e-02 9.80487262e-01 -1.69418522e+02] [-9.83122284e-01 -3.16031469e-02 1.80199380e-01 -3.79337693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.41, Z:-379.37 [[ 4.63060071e-02 -9.96036701e-01 7.59384178e-02 2.89019993e+02] [ 1.76488208e-01 8.29816417e-02 9.80798634e-01 -1.69413223e+02] [-9.83212930e-01 -3.20146332e-02 1.79631281e-01 -3.79365448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-169.42, Z:-379.40 [[ 4.51358599e-02 -9.94126358e-01 9.83643123e-02 2.89009949e+02] [ 1.70760907e-01 1.04693298e-01 9.79734671e-01 -1.69423532e+02] [-9.84278145e-01 -2.74243877e-02 1.74483341e-01 -3.79396690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-169.42, Z:-379.42 [[ 4.44192950e-02 -9.94607287e-01 9.37191104e-02 2.89013506e+02] [ 1.71066645e-01 9.99987390e-02 9.80171646e-01 -1.69417349e+02] [-9.84257654e-01 -2.75063197e-02 1.74586005e-01 -3.79424256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.41, Z:-379.45 [[ 4.37855572e-02 -9.94791772e-01 9.20443091e-02 2.89015777e+02] [ 1.71165749e-01 9.82402415e-02 9.80332159e-01 -1.69412611e+02] [-9.84268821e-01 -2.71695566e-02 1.74575783e-01 -3.79450788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.41, Z:-379.48 [[ 4.23060581e-02 -9.94923881e-01 9.13053603e-02 2.89018736e+02] [ 1.72306583e-01 9.72834793e-02 9.80227711e-01 -1.69408123e+02] [-9.84134462e-01 -2.57370559e-02 1.75547615e-01 -3.79478952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-169.39, Z:-379.50 [[ 4.25419225e-02 -9.96648384e-01 6.98726276e-02 2.89032653e+02] [ 1.78701685e-01 7.63987171e-02 9.80932691e-01 -1.69389258e+02] [-9.82983160e-01 -2.92444062e-02 1.81352894e-01 -3.79503811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-169.39, Z:-379.53 [[ 4.13431693e-02 -9.95378126e-01 8.66783052e-02 2.89025386e+02] [ 1.78556050e-01 9.27164719e-02 9.79551629e-01 -1.69390630e+02] [-9.83060771e-01 -2.50208330e-02 1.81563979e-01 -3.79532758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-169.39, Z:-379.56 [[ 3.75980051e-02 -9.94974425e-01 9.28023953e-02 2.89023493e+02] [ 1.77158427e-01 9.80337179e-02 9.79287640e-01 -1.69392462e+02] [-9.83463920e-01 -2.03785354e-02 1.79953976e-01 -3.79560534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.38, Z:-379.59 [[ 3.51334157e-02 -9.97563271e-01 6.02757350e-02 2.89041132e+02] [ 1.78706557e-01 6.56118808e-02 9.81712304e-01 -1.69378350e+02] [-9.83274941e-01 -2.37192373e-02 1.80576267e-01 -3.79585655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.38, Z:-379.62 [[ 3.38900434e-02 -9.97634972e-01 5.97990549e-02 2.89044104e+02] [ 1.78357649e-01 6.49101143e-02 9.81822400e-01 -1.69376157e+02] [-9.83381927e-01 -2.26083849e-02 1.80135635e-01 -3.79615320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.38, Z:-379.64 [[ 3.05647870e-02 -9.96245901e-01 8.09932019e-02 2.89036304e+02] [ 1.79097236e-01 8.51782829e-02 9.80137154e-01 -1.69378529e+02] [-9.83356484e-01 -1.54520247e-02 1.81028344e-01 -3.79644499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.37, Z:-379.67 [[ 2.79449842e-02 -9.96459212e-01 7.92976486e-02 2.89039054e+02] [ 1.79450123e-01 8.30407589e-02 9.80256031e-01 -1.69373812e+02] [-9.83370089e-01 -1.31632666e-02 1.81135301e-01 -3.79671315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.37, Z:-379.70 [[ 2.22870658e-02 -9.96660448e-01 7.85572261e-02 2.89043598e+02] [ 1.80512464e-01 8.12969432e-02 9.80207150e-01 -1.69368372e+02] [-9.83320160e-01 -7.66538283e-03 1.81721503e-01 -3.79697903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-169.36, Z:-379.73 [[ 2.20204009e-02 -9.96723088e-01 7.78343626e-02 2.89044254e+02] [ 1.80539685e-01 8.05377578e-02 9.80264807e-01 -1.69363473e+02] [-9.83321170e-01 -7.53363269e-03 1.81721546e-01 -3.79726053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.36, Z:-379.75 [[ 1.46491348e-02 -9.96976773e-01 7.63067305e-02 2.89049583e+02] [ 1.81245784e-01 7.76983403e-02 9.80363674e-01 -1.69358117e+02] [-9.83328719e-01 -5.31206384e-04 1.81836051e-01 -3.79753114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.35, Z:-379.78 [[ 1.43556469e-02 -9.97108486e-01 7.46229337e-02 2.89050721e+02] [ 1.81269553e-01 7.59892473e-02 9.80493235e-01 -1.69352894e+02] [-9.83328666e-01 -5.48748777e-04 1.81836284e-01 -3.79781210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.35, Z:-379.81 [[ 1.05547726e-02 -9.97273081e-01 7.30410730e-02 2.89053961e+02] [ 1.81718086e-01 7.37418284e-02 9.80581807e-01 -1.69347443e+02] [-9.83294022e-01 2.92306598e-03 1.82000884e-01 -3.79808006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.34, Z:-379.84 [[ 3.89180171e-03 -9.97373251e-01 7.23287769e-02 2.89058147e+02] [ 1.81143806e-01 7.18358695e-02 9.80829511e-01 -1.69342576e+02] [-9.83448919e-01 9.28471596e-03 1.80947557e-01 -3.79835583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.34, Z:-379.86 [[ 1.05393609e-03 -9.97495991e-01 7.07151846e-02 2.89060492e+02] [ 1.80934375e-01 6.97382959e-02 9.81019532e-01 -1.69337208e+02] [-9.83494607e-01 1.17608758e-02 1.80554813e-01 -3.79863558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.33, Z:-379.89 [[-1.12325608e-03 -9.97611240e-01 6.90691798e-02 2.89062563e+02] [ 1.80116009e-01 6.77377873e-02 9.81310255e-01 -1.69332359e+02] [-9.83644734e-01 1.35427277e-02 1.79609668e-01 -3.79889934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.33, Z:-379.92 [[-5.08985019e-03 -9.97647264e-01 6.83668756e-02 2.89064878e+02] [ 1.79310214e-01 6.63491290e-02 9.81552668e-01 -1.69327103e+02] [-9.83779417e-01 1.72548351e-02 1.78550637e-01 -3.79917412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.32, Z:-379.95 [[-6.71017932e-03 -9.97748020e-01 6.67372691e-02 2.89066592e+02] [ 1.78871257e-01 6.44647832e-02 9.81758303e-01 -1.69321786e+02] [-9.83849606e-01 1.85251535e-02 1.78035872e-01 -3.79945252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.32, Z:-379.97 [[-8.20026795e-03 -9.97847069e-01 6.50690628e-02 2.89067943e+02] [ 1.78758886e-01 6.25602580e-02 9.81901968e-01 -1.69317070e+02] [-9.83858738e-01 1.96835324e-02 1.77861019e-01 -3.79972304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.31, Z:-380.00 [[-9.76934236e-03 -9.97879971e-01 6.43437966e-02 2.89068952e+02] [ 1.79207216e-01 6.15578864e-02 9.81883598e-01 -1.69311865e+02] [-9.83762844e-01 2.11232297e-02 1.78225911e-01 -3.80000285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.31, Z:-380.03 [[-1.19767631e-02 -9.97964143e-01 6.26428475e-02 2.89070499e+02] [ 1.79530470e-01 5.94832013e-02 9.81952422e-01 -1.69306683e+02] [-9.83679505e-01 2.30069114e-02 1.78452555e-01 -3.80026705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.30, Z:-380.05 [[-1.29827278e-02 -9.97997338e-01 6.19093063e-02 2.89071040e+02] [ 1.79742829e-01 5.85767189e-02 9.81968066e-01 -1.69301904e+02] [-9.83627960e-01 2.38763780e-02 1.78622379e-01 -3.80054782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.30, Z:-380.08 [[-1.52028060e-02 -9.98048076e-01 6.05715492e-02 2.89069785e+02] [ 1.80235363e-01 5.68508880e-02 9.81979221e-01 -1.69297277e+02] [-9.83506019e-01 2.58459747e-02 1.79019264e-01 -3.80081073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.29, Z:-380.11 [[-1.61064189e-02 -9.98997349e-01 4.17717608e-02 2.89078585e+02] [ 1.79097202e-01 3.82190541e-02 9.83088753e-01 -1.69287129e+02] [-9.83699535e-01 2.33152447e-02 1.78302058e-01 -3.80107254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.28, Z:-380.13 [[-1.51115143e-02 -9.99284319e-01 3.46769610e-02 2.89083107e+02] [ 1.79918736e-01 3.13973300e-02 9.83180277e-01 -1.69277596e+02] [-9.83565397e-01 2.10963777e-02 1.79315510e-01 -3.80134843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.28, Z:-380.16 [[-1.45033016e-02 -9.98243564e-01 5.74407712e-02 2.89069932e+02] [ 1.79944121e-01 5.39031525e-02 9.82198841e-01 -1.69281043e+02] [-9.83569910e-01 2.45812550e-02 1.78846286e-01 -3.80162511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.28, Z:-380.19 [[-1.40710915e-02 -9.98290114e-01 5.67349258e-02 2.89069511e+02] [ 1.79717580e-01 5.32915249e-02 9.82273692e-01 -1.69276359e+02] [-9.83617607e-01 2.40179265e-02 1.78660413e-01 -3.80188882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.27, Z:-380.22 [[-1.36944522e-02 -9.98334390e-01 5.60437946e-02 2.89069075e+02] [ 1.79164079e-01 5.26920342e-02 9.82407137e-01 -1.69271127e+02] [-9.83723892e-01 2.34945624e-02 1.78144073e-01 -3.80216441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.27, Z:-380.24 [[-1.31116521e-02 -9.98433077e-01 5.44010589e-02 2.89068840e+02] [ 1.78570982e-01 5.11930286e-02 9.82594361e-01 -1.69265739e+02] [-9.83839666e-01 2.25978859e-02 1.77619950e-01 -3.80243622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.26, Z:-380.27 [[-1.06845780e-02 -9.98549856e-01 5.27638518e-02 2.89066886e+02] [ 1.77752141e-01 5.00298011e-02 9.82802725e-01 -1.69260463e+02] [-9.84017285e-01 1.98797200e-02 1.76959828e-01 -3.80270586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.26, Z:-380.30 [[-9.24908439e-03 -9.98601278e-01 5.20571031e-02 2.89065640e+02] [ 1.77378126e-01 4.95953115e-02 9.82892316e-01 -1.69255669e+02] [-9.84099312e-01 1.83246454e-02 1.76671312e-01 -3.80298250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.25, Z:-380.33 [[-7.43376076e-03 -9.98699853e-01 5.04315706e-02 2.89064721e+02] [ 1.77487508e-01 4.83144409e-02 9.82936366e-01 -1.69250250e+02] [-9.84094977e-01 1.62578876e-02 1.76897590e-01 -3.80326022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.25, Z:-380.35 [[-3.02935565e-03 -9.98803546e-01 4.88088004e-02 2.89061041e+02] [ 1.77729383e-01 4.74941820e-02 9.82932637e-01 -1.69245564e+02] [-9.84074738e-01 1.16524105e-02 1.77372861e-01 -3.80353330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.24, Z:-380.38 [[-9.37718021e-04 -9.98885053e-01 4.71992736e-02 2.89059723e+02] [ 1.77934650e-01 4.62794352e-02 9.82953445e-01 -1.69240746e+02] [-9.84041859e-01 9.32011939e-03 1.77692865e-01 -3.80381074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.24, Z:-380.41 [[ 1.32821086e-03 -9.98962091e-01 4.55299590e-02 2.89059016e+02] [ 1.78260790e-01 4.50372791e-02 9.82952051e-01 -1.69235776e+02] [-9.83982381e-01 6.81063887e-03 1.78135591e-01 -3.80408944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.23, Z:-380.44 [[ 3.31817746e-03 -9.99032218e-01 4.38590662e-02 2.89058443e+02] [ 1.78204021e-01 4.37480153e-02 9.83020569e-01 -1.69230808e+02] [-9.83987966e-01 4.55402526e-03 1.78176722e-01 -3.80436444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.23, Z:-380.46 [[ 7.22929322e-03 -9.99083508e-01 4.21886464e-02 2.89056273e+02] [ 1.78085331e-01 4.28016306e-02 9.83083738e-01 -1.69225946e+02] [-9.83988492e-01 4.06178438e-04 1.78231542e-01 -3.80463062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.22, Z:-380.49 [[ 8.68327692e-03 -9.99102046e-01 4.14692908e-02 2.89055380e+02] [ 1.77947950e-01 4.23528253e-02 9.83128051e-01 -1.69221178e+02] [-9.84001589e-01 -1.15739783e-03 1.78155922e-01 -3.80490854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.22, Z:-380.52 [[ 9.79796771e-03 -9.99159988e-01 3.97909251e-02 2.89054917e+02] [ 1.77561447e-01 4.08989013e-02 9.83259484e-01 -1.69216004e+02] [-9.84060939e-01 -2.56861045e-03 1.77813019e-01 -3.80518803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.21, Z:-380.55 [[ 1.20502359e-02 -9.99200710e-01 3.81147321e-02 2.89053595e+02] [ 1.76586878e-01 3.96449192e-02 9.83486327e-01 -1.69210455e+02] [-9.84211292e-01 -5.12068073e-03 1.76923464e-01 -3.80545149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.21, Z:-380.57 [[ 1.30146603e-02 -9.99215891e-01 3.73928110e-02 2.89053112e+02] [ 1.76048080e-01 3.91016093e-02 9.83604665e-01 -1.69205450e+02] [-9.84295531e-01 -6.21834805e-03 1.76418933e-01 -3.80572531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.20, Z:-380.60 [[ 1.39089047e-02 -9.99264799e-01 3.57267966e-02 2.89053248e+02] [ 1.75413846e-01 3.76146321e-02 9.83775951e-01 -1.69200230e+02] [-9.84396528e-01 -7.41627119e-03 1.75808059e-01 -3.80599689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.20, Z:-380.63 [[ 1.60521746e-02 -9.99291609e-01 3.40383371e-02 2.89053421e+02] [ 1.75297994e-01 3.63280945e-02 9.83844949e-01 -1.69195099e+02] [-9.84384550e-01 -9.82599874e-03 1.75756959e-01 -3.80626662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.19, Z:-380.65 [[ 1.69158372e-02 -9.99302078e-01 3.33048166e-02 2.89053702e+02] [ 1.75965346e-01 3.57650571e-02 9.83746440e-01 -1.69189915e+02] [-9.84251010e-01 -1.07804010e-02 1.76447532e-01 -3.80654135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.19, Z:-380.68 [[ 1.76746894e-02 -9.99343268e-01 3.16328726e-02 2.89054481e+02] [ 1.76376498e-01 3.42579915e-02 9.83726446e-01 -1.69185115e+02] [-9.84164080e-01 -1.18077642e-02 1.76866165e-01 -3.80681444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.18, Z:-380.71 [[ 1.89827360e-02 -9.99371109e-01 2.99506537e-02 2.89055073e+02] [ 1.77140170e-01 3.28438451e-02 9.83637455e-01 -1.69180696e+02] [-9.84002549e-01 -1.33666662e-02 1.77652234e-01 -3.80709273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.18, Z:-380.74 [[ 1.92843428e-02 -9.99414037e-01 2.82789178e-02 2.89055972e+02] [ 1.77627719e-01 3.12589272e-02 9.83601176e-01 -1.69175379e+02] [-9.83908790e-01 -1.39449826e-02 1.78126444e-01 -3.80736679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.17, Z:-380.76 [[ 1.92029445e-02 -9.99462098e-01 2.65849998e-02 2.89056996e+02] [ 1.77220504e-01 2.95714389e-02 9.83726803e-01 -1.69170518e+02] [-9.83983811e-01 -1.41790441e-02 1.77693036e-01 -3.80764042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.17, Z:-380.79 [[ 1.90971555e-02 -9.99508263e-01 2.48702884e-02 2.89058374e+02] [ 1.76934581e-01 2.78607385e-02 9.83828203e-01 -1.69165290e+02] [-9.84037323e-01 -1.43879061e-02 1.77379637e-01 -3.80790545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.16, Z:-380.82 [[ 1.86771782e-02 -9.99534239e-01 2.41343923e-02 2.89060270e+02] [ 1.75951850e-01 2.70477783e-02 9.84027116e-01 -1.69160474e+02] [-9.84221575e-01 -1.41323588e-02 1.76375075e-01 -3.80818215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.16, Z:-380.85 [[ 1.82887442e-02 -9.99580370e-01 2.24634348e-02 2.89061957e+02] [ 1.75677410e-01 2.53303057e-02 9.84121854e-01 -1.69155431e+02] [-9.84277893e-01 -1.40520348e-02 1.76066950e-01 -3.80845088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.15, Z:-380.87 [[ 1.76370489e-02 -9.99608033e-01 2.17420032e-02 2.89063425e+02] [ 1.75577122e-01 2.45038915e-02 9.84160675e-01 -1.69150566e+02] [-9.84307680e-01 -1.35402916e-02 1.75940477e-01 -3.80873190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.15, Z:-380.90 [[ 1.59371297e-02 -9.99671640e-01 2.00653864e-02 2.89066978e+02] [ 1.74980663e-01 2.25467272e-02 9.84313676e-01 -1.69145143e+02] [-9.84442876e-01 -1.21760801e-02 1.75282537e-01 -3.80901192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.14, Z:-380.93 [[ 1.48244860e-02 -9.99721059e-01 1.83858613e-02 2.89069433e+02] [ 1.74571340e-01 2.06932419e-02 9.84427060e-01 -1.69139936e+02] [-9.84532926e-01 -1.13839808e-02 1.74829411e-01 -3.80928490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.13, Z:-380.96 [[ 1.31424079e-02 -9.99774150e-01 1.67011093e-02 2.89071685e+02] [ 1.74328750e-01 1.87377274e-02 9.84509210e-01 -1.69134520e+02] [-9.84599799e-01 -1.00273381e-02 1.74535637e-01 -3.80956239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.13, Z:-380.98 [[ 1.13786359e-02 -9.99822810e-01 1.49958440e-02 2.89073972e+02] [ 1.73788068e-01 1.67459565e-02 9.84640686e-01 -1.69129583e+02] [-9.84717337e-01 -8.59776908e-03 1.73947821e-01 -3.80983882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.12, Z:-381.01 [[ 7.47124911e-03 -9.99883703e-01 1.32951174e-02 2.89077535e+02] [ 1.73110152e-01 1.43880190e-02 9.84797370e-01 -1.69124530e+02] [-9.84874132e-01 -5.05614669e-03 1.73197516e-01 -3.81011592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.12, Z:-381.04 [[ 5.04581706e-03 -9.99920028e-01 1.15964280e-02 2.89079927e+02] [ 1.72704666e-01 1.22937056e-02 9.84896930e-01 -1.69119450e+02] [-9.84960729e-01 -2.96685252e-03 1.72752886e-01 -3.81037898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.10, Z:-381.06 [[ 2.84187733e-03 -9.99927080e-01 -1.17370410e-02 2.89093929e+02] [ 1.78508545e-01 -1.10413035e-02 9.83876410e-01 -1.69097814e+02] [-9.83934258e-01 -4.89121818e-03 1.78464150e-01 -3.81064506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.10, Z:-381.09 [[ 2.97192240e-04 -9.99824907e-01 1.87100892e-02 2.89081959e+02] [ 1.79363218e-01 1.84599631e-02 9.83609712e-01 -1.69102044e+02] [-9.83782876e-01 3.06358064e-03 1.79337299e-01 -3.81094730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.10, Z:-381.12 [[-5.82837499e-03 -9.99504101e-01 3.09448248e-02 2.89080261e+02] [ 1.81119850e-01 2.93783819e-02 9.83022131e-01 -1.69099709e+02] [-9.83443761e-01 1.13341436e-02 1.80858805e-01 -3.81123369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-169.13, Z:-381.16 [[-1.16939662e-02 -9.96489421e-01 8.28980453e-02 2.89052599e+02] [ 1.72281284e-01 7.96560964e-02 9.81821810e-01 -1.69126519e+02] [-9.84978381e-01 2.57631727e-02 1.70744981e-01 -3.81155037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.10, Z:-381.18 [[-1.84681294e-02 -9.99807921e-01 6.56118330e-03 2.89092598e+02] [ 1.71662132e-01 3.29410644e-03 9.85150375e-01 -1.69096155e+02] [-9.84982762e-01 1.93201913e-02 1.71568324e-01 -3.81177738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.09, Z:-381.21 [[-2.14566669e-02 -9.99752854e-01 5.81738527e-03 2.89093598e+02] [ 1.71888305e-01 2.04314441e-03 9.85114326e-01 -1.69091647e+02] [-9.84882745e-01 2.21372104e-02 1.71801985e-01 -3.81205322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-169.09, Z:-381.23 [[-2.38717521e-02 -9.99706485e-01 4.13316151e-03 2.89095118e+02] [ 1.71951028e-01 -3.31819365e-05 9.85105498e-01 -1.69086751e+02] [-9.84816218e-01 2.42268956e-02 1.71901350e-01 -3.81232613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-169.08, Z:-381.26 [[-2.59998773e-02 -9.99658972e-01 2.43855693e-03 2.89095840e+02] [ 1.71738843e-01 -2.06357175e-03 9.85140351e-01 -1.69081658e+02] [-9.84799358e-01 2.60323232e-02 1.71733928e-01 -3.81258859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-169.08, Z:-381.29 [[-2.60464135e-02 -9.99659278e-01 1.70674890e-03 2.89095562e+02] [ 1.71205577e-01 -2.77869537e-03 9.85231409e-01 -1.69076794e+02] [-9.84890976e-01 2.59539496e-02 1.71219618e-01 -3.81286627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-169.07, Z:-381.31 [[-2.59630484e-02 -9.99662903e-01 1.29202126e-05 2.89096188e+02] [ 1.70967579e-01 -4.42760219e-03 9.85266707e-01 -1.69071695e+02] [-9.84934519e-01 2.55827361e-02 1.71024900e-01 -3.81314296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-169.07, Z:-381.31 [[-2.42439255e-02 -9.99704631e-01 -1.69821102e-03 2.89096879e+02] [ 1.71260949e-01 -5.82685064e-03 9.85208473e-01 -1.69071222e+02] [-9.84927368e-01 2.35944836e-02 1.71351629e-01 -3.81313717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.07, Z:-381.34 [[-2.35798328e-02 -9.99720402e-01 1.76330948e-03 2.89094972e+02] [ 1.71509903e-01 -2.30764336e-03 9.85179693e-01 -1.69068064e+02] [-9.84900170e-01 2.35327975e-02 1.71516363e-01 -3.81340792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.06, Z:-381.37 [[-2.30969537e-02 -9.99732703e-01 1.02588483e-03 2.89094909e+02] [ 1.71071730e-01 -2.94126470e-03 9.85254187e-01 -1.69063426e+02] [-9.84987814e-01 2.29318702e-02 1.71093938e-01 -3.81368724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.06, Z:-381.37 [[-2.12442722e-02 -9.99774095e-01 -6.62900649e-04 2.89093813e+02] [ 1.70432192e-01 -4.27486947e-03 9.85360134e-01 -1.69061784e+02] [-9.85140370e-01 2.08202793e-02 1.70484507e-01 -3.81374817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.06, Z:-381.40 [[-2.03538853e-02 -9.99789717e-01 2.49844334e-03 2.89090759e+02] [ 1.70008438e-01 -9.98470954e-04 9.85442101e-01 -1.69058741e+02] [-9.85232384e-01 2.04823320e-02 1.69993010e-01 -3.81402330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.05, Z:-381.43 [[-1.97097724e-02 -9.99805408e-01 8.19644511e-04 2.89089633e+02] [ 1.69906993e-01 -2.54159847e-03 9.85456825e-01 -1.69053915e+02] [-9.85262979e-01 1.95623931e-02 1.69924025e-01 -3.81429394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.05, Z:-381.46 [[-1.88087358e-02 -9.99823096e-01 9.26107902e-05 2.89088597e+02] [ 1.69333472e-01 -3.09422298e-03 9.85553957e-01 -1.69049265e+02] [-9.85379321e-01 1.85527061e-02 1.69361714e-01 -3.81457388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.05, Z:-381.46 [[-1.82004777e-02 -9.99833112e-01 -1.57851817e-03 2.89089370e+02] [ 1.69305781e-01 -4.63793290e-03 9.85552658e-01 -1.69047604e+02] [-9.85395502e-01 1.76702770e-02 1.69361939e-01 -3.81463677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.04, Z:-381.49 [[-1.73880455e-02 -9.99846432e-01 2.18374574e-03 2.89086365e+02] [ 1.69014843e-01 -7.86629973e-04 9.85613192e-01 -1.69044201e+02] [-9.85460115e-01 1.75069724e-02 1.69002566e-01 -3.81491232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-169.04, Z:-381.52 [[-1.54277290e-02 -9.99880850e-01 5.21079599e-04 2.89085331e+02] [ 1.68251257e-01 -2.08233288e-03 9.85741943e-01 -1.69038869e+02] [-9.85623407e-01 1.52954318e-02 1.68263335e-01 -3.81518440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.04, Z:-381.52 [[-1.37799940e-02 -9.99904404e-01 -1.13765911e-03 2.89084656e+02] [ 1.68457886e-01 -3.44307162e-03 9.85702839e-01 -1.69037836e+02] [-9.85612527e-01 1.33913316e-02 1.68489228e-01 -3.81521046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.04, Z:-381.55 [[-1.21873465e-02 -9.99922178e-01 2.66591191e-03 2.89079568e+02] [ 1.69643484e-01 5.59810076e-04 9.85505340e-01 -1.69035509e+02] [-9.85430138e-01 1.24629496e-02 1.69623459e-01 -3.81549594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.03, Z:-381.58 [[-1.18500611e-02 -9.99929280e-01 1.00591615e-03 2.89078450e+02] [ 1.70476215e-01 -1.02903554e-03 9.85361254e-01 -1.69030945e+02] [-9.85290534e-01 1.18480759e-02 1.70476353e-01 -3.81577331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-169.03, Z:-381.59 [[-1.07450978e-02 -9.99942019e-01 -7.08778136e-04 2.89077554e+02] [ 1.71022858e-01 -2.53613783e-03 9.85263797e-01 -1.69029149e+02] [-9.85208468e-01 1.04655386e-02 1.71040193e-01 -3.81588666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.03, Z:-381.62 [[-1.06004203e-02 -9.99939977e-01 2.77005631e-03 2.89074286e+02] [ 1.71255848e-01 9.13802839e-04 9.85226167e-01 -1.69025990e+02] [-9.85169562e-01 1.09181998e-02 1.71235882e-01 -3.81616426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.02, Z:-381.64 [[-1.00816474e-02 -9.99948588e-01 1.08670468e-03 2.89072710e+02] [ 1.70813817e-01 -6.51384673e-04 9.85303108e-01 -1.69020730e+02] [-9.85251745e-01 1.01191027e-02 1.70811603e-01 -3.81643967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.02, Z:-381.65 [[-8.95595467e-03 -9.99959721e-01 -5.89354882e-04 2.89072468e+02] [ 1.70155821e-01 -2.10475169e-03 9.85414921e-01 -1.69018968e+02] [-9.85376470e-01 8.72504919e-03 1.70167817e-01 -3.81648625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.02, Z:-381.68 [[-8.91722099e-03 -9.99956070e-01 2.88797767e-03 2.89069488e+02] [ 1.69621891e-01 1.33362870e-03 9.85508313e-01 -1.69015391e+02] [-9.85468872e-01 9.27785965e-03 1.69602547e-01 -3.81676713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.01, Z:-381.70 [[-7.87720555e-03 -9.99968229e-01 1.22057986e-03 2.89067617e+02] [ 1.69761280e-01 -1.34385374e-04 9.85485205e-01 -1.69010156e+02] [-9.85453732e-01 7.97007673e-03 1.69756945e-01 -3.81703959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-169.01, Z:-381.71 [[-6.39325186e-03 -9.99979438e-01 -5.00533173e-04 2.89067171e+02] [ 1.70127061e-01 -1.58093349e-03 9.85420866e-01 -1.69008536e+02] [-9.85401395e-01 6.21488955e-03 1.70133670e-01 -3.81710796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.01, Z:-381.74 [[-5.59932809e-03 -9.99979888e-01 2.97857945e-03 2.89064326e+02] [ 1.70764425e-01 1.97869757e-03 9.85309898e-01 -1.69005307e+02] [-9.85295975e-01 6.02570880e-03 1.70749911e-01 -3.81738097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-169.00, Z:-381.77 [[-4.60462179e-03 -9.99987739e-01 1.82200803e-03 2.89063900e+02] [ 1.71068742e-01 1.00745454e-03 9.85258581e-01 -1.69000430e+02] [-9.85248336e-01 4.84843174e-03 1.71062006e-01 -3.81766142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.99, Z:-381.79 [[-1.73159344e-03 -9.99998494e-01 1.19313750e-04 2.89063141e+02] [ 1.71604427e-01 -1.79605530e-04 9.85165919e-01 -1.68994858e+02] [-9.85164414e-01 1.72638161e-03 1.71604479e-01 -3.81793800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.99, Z:-381.80 [[ 7.20878016e-04 -9.99998492e-01 -1.57995332e-03 2.89063154e+02] [ 1.71974930e-01 -1.43244167e-03 9.85100285e-01 -1.68992792e+02] [-9.85101063e-01 -9.81849503e-04 1.71973638e-01 -3.81800851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.99, Z:-381.83 [[ 2.50795880e-03 -9.99994393e-01 2.21893127e-03 2.89060458e+02] [ 1.72011412e-01 2.61726249e-03 9.85091480e-01 -1.68989553e+02] [-9.85091764e-01 -2.08888735e-03 1.72017012e-01 -3.81829108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.98, Z:-381.86 [[ 7.21491125e-03 -9.99973849e-01 4.95564146e-04 2.89059276e+02] [ 1.72448226e-01 1.73238309e-03 9.85017060e-01 -1.68984712e+02] [-9.84992160e-01 -7.02135151e-03 1.72456216e-01 -3.81855750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.98, Z:-381.86 [[ 1.04217007e-02 -9.99945660e-01 -2.57380860e-04 2.89058806e+02] [ 1.72440777e-01 1.54368509e-03 9.85018678e-01 -1.68983600e+02] [-9.84964754e-01 -1.03099528e-02 1.72447495e-01 -3.81860445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.98, Z:-381.89 [[ 1.27423104e-02 -9.99913503e-01 3.25882424e-03 2.89056608e+02] [ 1.72300433e-01 5.40601157e-03 9.85029612e-01 -1.68979996e+02] [-9.84962027e-01 -1.19900562e-02 1.72354414e-01 -3.81888382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.97, Z:-381.92 [[ 1.50152092e-02 -9.99886081e-01 1.53916844e-03 2.89056998e+02] [ 1.72014651e-01 4.09951604e-03 9.85085861e-01 -1.68974864e+02] [-9.84979951e-01 -1.45265107e-02 1.72056610e-01 -3.81915165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.97, Z:-381.94 [[ 1.85919062e-02 -9.99826839e-01 7.95960065e-04 2.89056803e+02] [ 1.71311145e-01 3.96987518e-03 9.85208979e-01 -1.68969941e+02] [-9.85041539e-01 -1.81805561e-02 1.71355288e-01 -3.81943141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.92, Z:-381.89 [[-8.43338255e-02 9.16572620e-01 -3.90873942e-01 2.88621121e+02] [ 1.87766643e-01 -3.70625917e-01 -9.09604374e-01 -1.67924915e+02] [-9.78586477e-01 -1.50103504e-01 -1.40845462e-01 -3.81893247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.82, Z:-382.11 [[-4.39624557e-02 -9.50387311e-01 -3.07946850e-01 2.89212827e+02] [ 2.03755478e-01 -3.10295457e-01 9.28547486e-01 -1.68822158e+02] [-9.78034257e-01 -2.19246300e-02 2.07287971e-01 -3.82114735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.82, Z:-382.12 [[-4.28775940e-02 -9.52878976e-01 -3.00305127e-01 2.89209737e+02] [ 2.03536814e-01 -3.02609116e-01 9.31128610e-01 -1.68824334e+02] [-9.78127945e-01 -2.11985945e-02 2.06921102e-01 -3.82124614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.82, Z:-382.13 [[-4.31835736e-02 -9.54211375e-01 -2.95999715e-01 2.89207890e+02] [ 2.03069277e-01 -2.98474699e-01 9.32564059e-01 -1.68824595e+02] [-9.78211658e-01 -1.98369993e-02 2.06660218e-01 -3.82134616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.14 [[-4.49853056e-02 -9.54893856e-01 -2.93520095e-01 2.89208196e+02] [ 2.02169988e-01 -2.96439970e-01 9.33408078e-01 -1.68825262e+02] [-9.78316727e-01 -1.73513064e-02 2.06386322e-01 -3.82136294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.14 [[-4.65047641e-02 -9.56220454e-01 -2.88928624e-01 2.89207122e+02] [ 2.01765934e-01 -2.92271663e-01 9.34808955e-01 -1.68826700e+02] [-9.78329093e-01 -1.48228837e-02 2.06524738e-01 -3.82139191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.14 [[-4.83591304e-02 -9.56955375e-01 -2.86177926e-01 2.89206729e+02] [ 2.01462683e-01 -2.89969667e-01 9.35590926e-01 -1.68826855e+02] [-9.78301683e-01 -1.24098092e-02 2.06813478e-01 -3.82144540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.15 [[-5.34280679e-02 -9.57440928e-01 -2.83641165e-01 2.89207699e+02] [ 2.00621979e-01 -2.88547171e-01 9.36211168e-01 -1.68827807e+02] [-9.78210746e-01 -6.88469806e-03 2.07500212e-01 -3.82146028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.15 [[-5.54799233e-02 -9.58131700e-01 -2.80901447e-01 2.89207265e+02] [ 2.00236343e-01 -2.86296128e-01 9.36984490e-01 -1.68827724e+02] [-9.78175539e-01 -4.26285104e-03 2.07736475e-01 -3.82152880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.16 [[-5.78067200e-02 -9.59391868e-01 -2.76089890e-01 2.89206295e+02] [ 1.99609961e-01 -2.82075339e-01 9.38397233e-01 -1.68828523e+02] [-9.78168823e-01 -8.64625938e-04 2.07810023e-01 -3.82159285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.16 [[-6.00946103e-02 -9.60031355e-01 -2.73365021e-01 2.89206541e+02] [ 1.98888717e-01 -2.79884805e-01 9.39205928e-01 -1.68829387e+02] [-9.78177855e-01 2.07199585e-03 2.07758973e-01 -3.82160423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.16 [[-6.50876697e-02 -9.60477883e-01 -2.70639670e-01 2.89208312e+02] [ 1.97444112e-01 -2.78248514e-01 9.39996589e-01 -1.68829771e+02] [-9.78151020e-01 7.74597831e-03 2.07751250e-01 -3.82160667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.17 [[-6.71055338e-02 -9.61105117e-01 -2.67906329e-01 2.89208150e+02] [ 1.97166284e-01 -2.75990492e-01 9.40720312e-01 -1.68829460e+02] [-9.78070705e-01 1.03054433e-02 2.08018014e-01 -3.82166982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.18 [[-6.81192441e-02 -9.61719376e-01 -2.65434758e-01 2.89207857e+02] [ 1.96824202e-01 -2.73778311e-01 9.41438086e-01 -1.68829048e+02] [-9.78069528e-01 1.18860663e-02 2.07939220e-01 -3.82175922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.18 [[-7.08058109e-02 -9.62833490e-01 -2.60649587e-01 2.89207776e+02] [ 1.95925730e-01 -2.69639615e-01 9.42818957e-01 -1.68831209e+02] [-9.78059122e-01 1.56891003e-02 2.07735906e-01 -3.82176644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.18 [[-7.14062666e-02 -9.63459474e-01 -2.58160776e-01 2.89207445e+02] [ 1.95901485e-01 -2.67326990e-01 9.43482320e-01 -1.68831831e+02] [-9.78020324e-01 1.67964706e-02 2.07831964e-01 -3.82180217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.18 [[-7.13961389e-02 -9.64121380e-01 -2.55680573e-01 2.89206976e+02] [ 1.95958628e-01 -2.64897070e-01 9.44155580e-01 -1.68832186e+02] [-9.78009615e-01 1.73062485e-02 2.07840531e-01 -3.82184422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.19 [[-7.05671713e-02 -9.64828759e-01 -2.53230606e-01 2.89206193e+02] [ 1.95724814e-01 -2.62321316e-01 9.44922920e-01 -1.68831656e+02] [-9.78116594e-01 1.71170243e-02 2.07352202e-01 -3.82193440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.83, Z:-382.20 [[-6.90609660e-02 -9.66048084e-01 -2.48961208e-01 2.89205381e+02] [ 1.95444898e-01 -2.57822794e-01 9.46218103e-01 -1.68832734e+02] [-9.78280060e-01 1.66885383e-02 2.06614660e-01 -3.82196415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.83, Z:-382.20 [[-6.69503000e-02 -9.66826084e-01 -2.46505538e-01 2.89204329e+02] [ 1.95522227e-01 -2.54982746e-01 9.46971414e-01 -1.68832153e+02] [-9.78411323e-01 1.52027086e-02 2.06107160e-01 -3.82204055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.83, Z:-382.21 [[-6.46749646e-02 -9.68064819e-01 -2.42214069e-01 2.89202473e+02] [ 1.95726208e-01 -2.50313534e-01 9.48174238e-01 -1.68832336e+02] [-9.78523582e-01 1.39154940e-02 2.05664675e-01 -3.82213270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.83, Z:-382.22 [[-6.20918114e-02 -9.68847771e-01 -2.39746956e-01 2.89201449e+02] [ 1.95901455e-01 -2.47368403e-01 9.48910688e-01 -1.68832965e+02] [-9.78655827e-01 1.19528058e-02 2.05158241e-01 -3.82217282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.83, Z:-382.23 [[-5.61780007e-02 -9.69816451e-01 -2.37276389e-01 2.89200092e+02] [ 1.96859399e-01 -2.43745711e-01 9.49649623e-01 -1.68833150e+02] [-9.78820928e-01 6.63933002e-03 2.04610630e-01 -3.82226016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.83, Z:-382.23 [[-5.27027912e-02 -9.70675040e-01 -2.34547187e-01 2.89198230e+02] [ 1.97531982e-01 -2.40366085e-01 9.50371118e-01 -1.68833255e+02] [-9.78878712e-01 3.75663989e-03 2.04407328e-01 -3.82233707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.83, Z:-382.24 [[-4.51559417e-02 -9.71650454e-01 -2.32069682e-01 2.89196212e+02] [ 1.98728937e-01 -2.36400814e-01 9.51115905e-01 -1.68833222e+02] [-9.79013662e-01 -3.17042685e-03 2.03769964e-01 -3.82244004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-168.71, Z:-382.64 [[-3.89753291e-02 -9.60521636e-01 -2.75461630e-01 2.89195595e+02] [ 2.33605115e-01 -2.76790630e-01 9.32102783e-01 -1.68710179e+02] [-9.71550088e-01 -2.80202333e-02 2.35170773e-01 -3.82642984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-168.78, Z:-382.61 [[ 1.40622015e-02 -1.50626216e-01 9.88490768e-01 2.88310683e+02] [ 1.01051531e-01 9.83741203e-01 1.48464925e-01 -1.68781010e+02] [-9.94781807e-01 9.78007613e-02 2.90545767e-02 -3.82613376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.84, Z:-382.31 [[-1.16183617e-01 9.76371013e-01 -1.82211449e-01 2.88486897e+02] [ 1.26666192e-01 -1.67390482e-01 -9.77719849e-01 -1.67844093e+02] [-9.85117781e-01 -1.36675059e-01 -1.04225166e-01 -3.82311868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-168.54, Z:-382.49 [[-8.73958508e-02 -7.95551522e-01 -5.99549616e-01 2.89322919e+02] [ 1.46209471e-01 -6.05578619e-01 7.82238664e-01 -1.68536179e+02] [-9.85385587e-01 -1.92954189e-02 1.69242226e-01 -3.82492743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-168.54, Z:-382.51 [[-8.45483608e-02 -7.97944443e-01 -5.96771515e-01 2.89320795e+02] [ 1.48239996e-01 -6.02323925e-01 7.84366492e-01 -1.68536116e+02] [-9.85330644e-01 -2.21485060e-02 1.69212782e-01 -3.82508892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-168.45, Z:-382.84 [[-6.49249996e-02 -7.78427469e-01 -6.24368017e-01 2.89277285e+02] [ 2.13002090e-01 -6.22078746e-01 7.53424279e-01 -1.68448785e+02] [-9.74892227e-01 -8.40756219e-02 2.06195140e-01 -3.82838673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-168.83, Z:-382.71 [[-2.35780727e-02 -3.71361233e-01 9.28189048e-01 2.88384659e+02] [ 6.77539489e-02 9.25718873e-01 3.72094036e-01 -1.68831161e+02] [-9.97423419e-01 7.16617336e-02 3.33452308e-03 -3.82705282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-168.53, Z:-382.98 [[-2.30150325e-02 -8.90848952e-01 -4.53716269e-01 2.89226108e+02] [ 1.50902422e-01 -4.51732256e-01 8.79298827e-01 -1.68529619e+02] [-9.88280713e-01 -4.82297928e-02 1.44827897e-01 -3.82982899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-168.71, Z:-382.81 [[-1.55775834e-02 -1.66366894e-01 9.85940868e-01 2.88272020e+02] [-5.07370082e-03 9.86060972e-01 1.66306998e-01 -1.68709831e+02] [-9.99865789e-01 -2.41170787e-03 -1.62045429e-02 -3.82813037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-168.21, Z:-383.28 [[-3.80446852e-02 -5.58608281e-01 -8.28558623e-01 2.89266066e+02] [ 7.43661834e-02 -8.28442356e-01 5.55115244e-01 -1.68213333e+02] [-9.96505029e-01 -4.04975577e-02 7.30593945e-02 -3.83280936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-168.83, Z:-382.94 [[ 3.86072748e-02 -6.19118014e-01 7.84348368e-01 2.88507229e+02] [-5.07119779e-02 7.82708149e-01 6.20319473e-01 -1.68826460e+02] [-9.97966820e-01 -6.37247015e-02 -1.17847048e-03 -3.82943959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-167.98, Z:-383.01 [[ 3.45602924e-04 8.87561057e-01 4.60689973e-01 2.88115266e+02] [-5.17385883e-02 4.60088852e-01 -8.86364128e-01 -1.67982050e+02] [-9.98660603e-01 -2.35291188e-02 4.60801641e-02 -3.83009141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-167.99, Z:-383.04 [[ 3.02371969e-03 8.84318039e-01 4.66875212e-01 2.88112006e+02] [-5.05588513e-02 4.66415435e-01 -8.83119723e-01 -1.67987987e+02] [-9.98716506e-01 -2.09343679e-02 4.61204138e-02 -3.83037330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-167.99, Z:-383.07 [[ 4.94058509e-03 8.81054675e-01 4.72988636e-01 2.88109516e+02] [-5.00899680e-02 4.72618693e-01 -8.79842353e-01 -1.67993579e+02] [-9.98732490e-01 -1.93450496e-02 4.64670133e-02 -3.83065679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-168.00, Z:-383.09 [[ 7.45699192e-03 8.77715389e-01 4.79124294e-01 2.88107430e+02] [-4.98204550e-02 4.78868684e-01 -8.76471737e-01 -1.67999383e+02] [-9.98730352e-01 -1.73343477e-02 4.72990999e-02 -3.83094631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-168.00, Z:-383.12 [[ 7.56112642e-03 8.76862605e-01 4.80681602e-01 2.88107618e+02] [-4.97986541e-02 4.80429086e-01 -8.75618631e-01 -1.68001321e+02] [-9.98730656e-01 -1.73166336e-02 4.72991626e-02 -3.83123111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.036559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:288.10, Y:-168.07, Z:-383.16 [[ 1.25436306e-02 8.39441642e-01 5.43305058e-01 2.88095331e+02] [-6.22068088e-02 5.42950447e-01 -8.37457536e-01 -1.68065898e+02] [-9.97984454e-01 -2.32925159e-02 5.90295556e-02 -3.83155126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.75, Z:-383.19 [[-8.96280534e-03 2.64771166e-01 -9.64269619e-01 2.89029092e+02] [ 3.33932263e-02 -9.63691254e-01 -2.64922744e-01 -1.67746440e+02] [-9.99402102e-01 -3.45745245e-02 -2.04186329e-04 -3.83190261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-167.73, Z:-383.19 [[-8.27266420e-02 9.94230244e-01 -6.82826894e-02 2.88329028e+02] [ 2.41128665e-02 -6.65005558e-02 -9.97494985e-01 -1.67727416e+02] [-9.96280519e-01 -8.41659019e-02 -1.84723734e-02 -3.83188751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-168.01, Z:-383.31 [[-1.22812954e-01 -3.23218967e-01 -9.38321095e-01 2.89213243e+02] [ 7.12616404e-02 -9.45910019e-01 3.16505947e-01 -1.68010927e+02] [-9.89868050e-01 -2.79952702e-02 1.39203117e-01 -3.83312263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-168.82, Z:-383.38 [[-1.47306276e-02 -7.99523856e-01 6.00453673e-01 2.88644727e+02] [-3.21031100e-03 6.00553552e-01 7.99578092e-01 -1.68823265e+02] [-9.99886345e-01 9.85064406e-03 -1.14132510e-02 -3.83377461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.67, Z:-383.82 [[-6.65947970e-02 4.65970189e-01 -8.82290721e-01 2.88849106e+02] [-1.81705386e-02 -8.84673400e-01 -4.65857067e-01 -1.67666302e+02] [-9.97614637e-01 -1.49919592e-02 6.73815747e-02 -3.83821417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-168.64, Z:-383.51 [[ 4.33840882e-02 -9.87061450e-01 -1.54361640e-01 2.89038807e+02] [ 1.07566151e-02 -1.54036661e-01 9.88006580e-01 -1.68638575e+02] [-9.99000559e-01 -4.45241733e-02 3.93469998e-03 -3.83508844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.83, Z:-383.50 [[ 3.70699907e-02 6.17762674e-02 -9.97401378e-01 2.89053746e+02] [ 7.31087186e-02 -9.95580459e-01 -5.89462842e-02 -1.67827798e+02] [-9.96634803e-01 -7.07335984e-02 -4.14225421e-02 -3.83503427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-167.63, Z:-383.51 [[-1.98559180e-02 8.73613510e-01 -4.86215156e-01 2.88512209e+02] [ 1.06958966e-01 -4.81664088e-01 -8.69804280e-01 -1.67631767e+02] [-9.94065150e-01 -6.92758326e-02 -8.38769147e-02 -3.83511703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.63, Z:-383.65 [[-3.37137932e-02 -9.81529042e-01 -1.88319195e-01 2.89061038e+02] [ 1.25949826e-01 -1.91096641e-01 9.73457095e-01 -1.68625883e+02] [-9.91463576e-01 9.10016124e-03 1.30066005e-01 -3.83649738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.63, Z:-383.65 [[-3.42640539e-02 -9.82385201e-01 -1.83698915e-01 2.89058080e+02] [ 1.26333178e-01 -1.86589857e-01 9.74281352e-01 -1.68628495e+02] [-9.91395936e-01 1.01755609e-02 1.30501170e-01 -3.83652211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-168.63, Z:-383.66 [[-3.54600665e-02 -9.83196686e-01 -1.79072222e-01 2.89053705e+02] [ 1.26933693e-01 -1.82164706e-01 9.75040439e-01 -1.68630933e+02] [-9.91277167e-01 1.18447004e-02 1.31260359e-01 -3.83657011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-167.65, Z:-383.65 [[-7.63580677e-02 9.42154341e-01 -3.26365811e-01 2.88440754e+02] [ 1.26900705e-01 -3.15476685e-01 -9.40409843e-01 -1.67651760e+02] [-9.88972020e-01 -1.13223930e-01 -9.54708602e-02 -3.83645787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-168.43, Z:-383.84 [[-1.01777957e-01 -8.54292492e-01 -5.09730896e-01 2.89188237e+02] [ 1.43567205e-01 -5.19641296e-01 8.42235942e-01 -1.68433908e+02] [-9.84393064e-01 1.25404138e-02 1.75536414e-01 -3.83836004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-168.44, Z:-383.84 [[-1.01479897e-01 -8.56088261e-01 -5.06768902e-01 2.89186261e+02] [ 1.44205684e-01 -5.16676894e-01 8.43948878e-01 -1.68435720e+02] [-9.84330509e-01 1.25648894e-02 1.75885111e-01 -3.83837797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-168.44, Z:-383.85 [[-1.01064277e-01 -8.59544388e-01 -5.00968519e-01 2.89181723e+02] [ 1.45577406e-01 -5.10903418e-01 8.47221881e-01 -1.68438312e+02] [-9.84171342e-01 1.26941688e-02 1.76764327e-01 -3.83848769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-168.35, Z:-384.27 [[-1.04087686e-01 -8.44232091e-01 -5.25773649e-01 2.89148418e+02] [ 1.64604644e-01 -5.35977657e-01 8.28029748e-01 -1.68345172e+02] [-9.80852214e-01 -3.57083883e-04 1.94753196e-01 -3.84272029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.25, Y:-168.65, Z:-383.92 [[-5.39381244e-02 -2.97154241e-01 9.53304797e-01 2.88253585e+02] [ 9.14108429e-02 9.49216422e-01 3.01051894e-01 -1.68648078e+02] [-9.94351415e-01 1.03380570e-01 -2.40358338e-02 -3.83924361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5765599949999 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:289.14, Y:-168.22, Z:-384.68 [[-8.25988888e-02 -7.55414219e-01 -6.50020601e-01 2.89138241e+02] [ 9.16992631e-02 -6.55243416e-01 7.49831522e-01 -1.68219001e+02] [-9.92355112e-01 2.32884035e-03 1.23393305e-01 -3.84678143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-168.67, Z:-384.03 [[-1.89801744e-02 -5.29541192e-01 8.48071860e-01 2.88353985e+02] [ 3.06313118e-02 8.47518507e-01 5.29881216e-01 -1.68668323e+02] [-9.99350527e-01 3.60347914e-02 1.34492258e-04 -3.84034988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.636559995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:289.14, Y:-168.05, Z:-384.59 [[-4.97358245e-02 -5.37914791e-01 -8.41530763e-01 2.89144846e+02] [ 3.31265522e-02 -8.42998398e-01 5.36895086e-01 -1.68048174e+02] [-9.98212893e-01 -1.17409296e-03 5.97464827e-02 -3.84585560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.66, Z:-384.16 [[ 2.98786041e-02 -6.63959671e-01 7.47171215e-01 2.88416803e+02] [-2.28939176e-02 7.46854274e-01 6.64593531e-01 -1.68659700e+02] [-9.99291318e-01 -3.69628032e-02 7.11432517e-03 -3.84160655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.99, Y:-167.89, Z:-384.23 [[ 3.26557123e-02 8.28704640e-01 5.58732695e-01 2.87986318e+02] [-5.50367160e-02 5.59673629e-01 -8.26883540e-01 -1.67894067e+02] [-9.97950181e-01 -3.74834166e-03 6.38857229e-02 -3.84227076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.75, Z:-384.23 [[ 1.57234332e-02 -6.83848043e-02 -9.97535108e-01 2.89044397e+02] [ 3.43730885e-02 -9.97031780e-01 6.88920976e-02 -1.67754812e+02] [-9.99285377e-01 -3.53715829e-02 -1.33261657e-02 -3.84229562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-167.49, Z:-384.23 [[-3.54743338e-02 6.76020986e-01 -7.36027988e-01 2.88648659e+02] [ 8.51903712e-02 -7.31765234e-01 -6.76211686e-01 -1.67488769e+02] [-9.95732983e-01 -8.66906565e-02 -3.16315946e-02 -3.84232784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-168.40, Z:-383.99 [[-1.26115535e-02 -9.23701040e-01 -3.82906434e-01 2.89045866e+02] [ 1.11036162e-01 -3.81862270e-01 9.17525028e-01 -1.68401872e+02] [-9.93736343e-01 -3.09450449e-02 1.07380095e-01 -3.83992342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-168.53, Z:-384.02 [[-7.43359961e-03 -9.93295664e-01 -1.15362327e-01 2.88940586e+02] [ 1.11193348e-01 -1.15471140e-01 9.87067604e-01 -1.68525820e+02] [-9.93770990e-01 -5.49005806e-03 1.11306237e-01 -3.84016366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-168.53, Z:-384.02 [[-5.91659493e-03 -9.94022193e-01 -1.09017766e-01 2.88935361e+02] [ 1.11276302e-01 -1.08997048e-01 9.87794122e-01 -1.68528260e+02] [-9.93771895e-01 -6.28671618e-03 1.11256005e-01 -3.84023130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-168.48, Z:-384.42 [[-4.20512110e-03 -9.92616405e-01 -1.21222895e-01 2.88936682e+02] [ 1.15588107e-01 -1.20893897e-01 9.85912803e-01 -1.68481668e+02] [-9.93288330e-01 -9.86604216e-03 1.15243024e-01 -3.84416655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-168.40, Z:-384.41 [[ 1.48864751e-02 -6.67531610e-02 9.97658463e-01 2.88085307e+02] [ 1.89003789e-02 9.97609542e-01 6.64678673e-02 -1.68399695e+02] [-9.99710542e-01 1.78666507e-02 1.61125496e-02 -3.84411133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.60, Z:-384.44 [[ 1.91804865e-02 -6.72158553e-01 7.40158760e-01 2.88412358e+02] [ 3.15624605e-02 7.40333045e-01 6.71498916e-01 -1.68596515e+02] [-9.99317727e-01 1.04815557e-02 3.54149257e-02 -3.84439556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:288.71, Y:-168.58, Z:-384.47 [[ 1.16603837e-02 -9.49300458e-01 3.14153905e-01 2.88707359e+02] [ 3.39574637e-02 3.14369981e-01 9.48692999e-01 -1.68584629e+02] [-9.99355255e-01 -3.94254524e-04 3.59015105e-02 -3.84466829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.58, Z:-384.49 [[ 1.12309678e-02 -9.61057487e-01 2.76120213e-01 2.88727508e+02] [ 3.83502796e-02 2.76348454e-01 9.60292033e-01 -1.68577814e+02] [-9.99201242e-01 -1.95721528e-04 3.99604839e-02 -3.84492822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.52, Z:-384.52 [[ 7.22634707e-03 -9.98822842e-01 4.79657168e-02 2.88849411e+02] [ 3.62375763e-02 4.81970338e-02 9.98180286e-01 -1.68518411e+02] [-9.99317076e-01 -5.47503587e-03 3.65432075e-02 -3.84520402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.55, Z:-384.55 [[ 7.80519485e-03 -9.87425673e-01 1.57891163e-01 2.88791929e+02] [ 4.04838625e-02 1.58078550e-01 9.86596285e-01 -1.68549165e+02] [-9.99149706e-01 -1.30853211e-03 4.12086391e-02 -3.84548241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.50, Z:-384.58 [[ 5.00243801e-03 -9.99707942e-01 2.36433199e-02 2.88862731e+02] [ 4.40586175e-02 2.38409976e-02 9.98744434e-01 -1.68500476e+02] [-9.99016423e-01 -3.95446513e-03 4.41650129e-02 -3.84577996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.54, Z:-384.61 [[ 7.05097342e-03 -9.87884234e-01 1.55032329e-01 2.88797735e+02] [ 4.83328701e-02 1.55191663e-01 9.86701313e-01 -1.68537153e+02] [-9.98806396e-01 5.35952702e-04 4.88415327e-02 -3.84610886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.56, Z:-384.64 [[ 6.02114180e-03 -9.73191842e-01 2.29916036e-01 2.88756883e+02] [ 4.40064454e-02 2.29955335e-01 9.72205728e-01 -1.68555379e+02] [-9.99013102e-01 4.26399895e-03 4.42113073e-02 -3.84644166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.56, Z:-384.68 [[ 6.41728066e-03 -9.60528914e-01 2.78106137e-01 2.88731881e+02] [ 4.61652732e-02 2.78099907e-01 9.59442135e-01 -1.68561395e+02] [-9.98913203e-01 6.68183634e-03 4.61277248e-02 -3.84676167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-168.57, Z:-384.71 [[ 6.29375342e-03 -9.40456152e-01 3.39856756e-01 2.88695484e+02] [ 4.46732665e-02 3.39788603e-01 9.39440261e-01 -1.68573893e+02] [-9.98981826e-01 9.26990606e-03 4.41517940e-02 -3.84705065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-168.57, Z:-384.74 [[ 1.89505876e-03 -9.43384789e-01 3.31694963e-01 2.88699053e+02] [ 4.32170977e-02 3.31462919e-01 9.42477913e-01 -1.68573467e+02] [-9.99063908e-01 1.25488426e-02 4.13984943e-02 -3.84736077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-168.09, Z:-384.85 [[-1.01278002e-02 4.35989447e-01 8.99894788e-01 2.87977931e+02] [-5.03562175e-02 8.98576714e-01 -4.35917584e-01 -1.68088278e+02] [-9.98679968e-01 -4.97301839e-02 1.28541740e-02 -3.84849247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.45, Z:-384.91 [[-3.92920394e-02 9.58381190e-01 -2.82774877e-01 2.88357452e+02] [-7.04447004e-02 -2.84946100e-01 -9.55951497e-01 -1.67445369e+02] [-9.96741531e-01 -1.76412924e-02 7.87089892e-02 -3.84909469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-168.01, Z:-385.23 [[-1.28558514e-02 -5.55347531e-01 -8.31519000e-01 2.89110066e+02] [ 1.35844515e-02 -8.31607978e-01 5.55196932e-01 -1.68008888e+02] [-9.99825080e-01 -4.15820030e-03 1.82351202e-02 -3.85233697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-168.44, Z:-385.27 [[-1.03838734e-02 -9.89235614e-01 -1.45962581e-01 2.88928136e+02] [ 3.04578884e-02 -1.46215621e-01 9.88783753e-01 -1.68437783e+02] [-9.99482112e-01 5.82169331e-03 3.16483124e-02 -3.85271632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.54, Z:-385.31 [[-7.57619700e-03 -9.89813186e-01 1.42170528e-01 2.88789828e+02] [ 2.94174050e-02 1.41892460e-01 9.89444868e-01 -1.68542333e+02] [-9.99538502e-01 1.16785172e-02 2.80427301e-02 -3.85305410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.57, Z:-385.34 [[-6.48375614e-03 -9.72677853e-01 2.32068427e-01 2.88737923e+02] [ 2.72813404e-02 2.31814863e-01 9.72377292e-01 -1.68567774e+02] [-9.99606767e-01 1.26357950e-02 2.50329246e-02 -3.85337431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.53, Z:-385.37 [[-5.95703635e-03 -9.96552140e-01 8.27547358e-02 2.88818386e+02] [ 2.83519074e-02 8.25546183e-02 9.96183168e-01 -1.68526686e+02] [-9.99580254e-01 8.28055395e-03 2.77623731e-02 -3.85369975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.56, Z:-385.40 [[-3.89103579e-03 -9.78576442e-01 2.05847047e-01 2.88751072e+02] [ 2.71330702e-02 2.05669501e-01 9.78245293e-01 -1.68561647e+02] [-9.99624258e-01 9.39164980e-03 2.57515159e-02 -3.85402275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-168.53, Z:-385.44 [[-2.88189836e-03 -9.95931489e-01 9.00675488e-02 2.88813022e+02] [ 2.87963274e-02 8.99479202e-02 9.95530082e-01 -1.68528438e+02] [-9.99581145e-01 5.46263113e-03 2.84199484e-02 -3.85435034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.55, Z:-385.47 [[ 4.12736640e-05 -9.82158093e-01 1.88057116e-01 2.88760452e+02] [ 2.79452486e-02 1.87984804e-01 9.81774300e-01 -1.68554929e+02] [-9.99609455e-01 5.21478142e-03 2.74544109e-02 -3.85467841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.55, Z:-385.50 [[ 1.82012042e-03 -9.83871993e-01 1.78864724e-01 2.88762982e+02] [ 2.56607114e-02 1.78852074e-01 9.83541287e-01 -1.68554631e+02] [-9.99669053e-01 2.79963248e-03 2.55723876e-02 -3.85498533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.51, Z:-385.53 [[ 1.14851603e-03 -9.99879518e-01 1.54800005e-02 2.88846791e+02] [ 2.57831532e-02 1.55044734e-02 9.99547318e-01 -1.68506953e+02] [-9.99666900e-01 -7.48872894e-04 2.57978539e-02 -3.85525175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.53, Z:-385.56 [[ 3.10391649e-03 -9.94845164e-01 1.01358105e-01 2.88803426e+02] [ 2.62547509e-02 1.01404726e-01 9.94498753e-01 -1.68531440e+02] [-9.99650466e-01 -4.25709278e-04 2.64341638e-02 -3.85559004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.55, Z:-385.59 [[ 4.74684331e-03 -9.87713388e-01 1.56204130e-01 2.88774814e+02] [ 2.62855257e-02 1.56275159e-01 9.87363735e-01 -1.68545052e+02] [-9.99643206e-01 -5.80953254e-04 2.67043794e-02 -3.85592207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.56, Z:-385.62 [[ 6.19231981e-03 -9.74633071e-01 2.23723116e-01 2.88736839e+02] [ 2.51165656e-02 2.23808414e-01 9.74309475e-01 -1.68560391e+02] [-9.99665351e-01 -4.14079555e-04 2.58653287e-02 -3.85624976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.55, Z:-385.66 [[ 6.01170873e-03 -9.81678284e-01 1.90451058e-01 2.88754846e+02] [ 2.47119883e-02 1.90542179e-01 9.81367921e-01 -1.68552270e+02] [-9.99676536e-01 -1.19327379e-03 2.54047063e-02 -3.85656828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.55, Z:-385.69 [[ 5.82771882e-03 -9.87012434e-01 1.60538134e-01 2.88770593e+02] [ 2.41042497e-02 1.60632866e-01 9.86719853e-01 -1.68545054e+02] [-9.99692464e-01 -1.88067459e-03 2.47273174e-02 -3.85688185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.55, Z:-385.72 [[ 6.69296167e-03 -9.86681143e-01 1.62528540e-01 2.88769427e+02] [ 2.38092501e-02 1.62643342e-01 9.86397619e-01 -1.68545141e+02] [-9.99694115e-01 -2.73223882e-03 2.45807037e-02 -3.85720672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.54, Z:-385.75 [[ 9.70828663e-03 -9.89813747e-01 1.42036948e-01 2.88780437e+02] [ 2.48445641e-02 1.42238557e-01 9.89520561e-01 -1.68538179e+02] [-9.99644185e-01 -6.07770317e-03 2.59723838e-02 -3.85752755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.54, Z:-385.79 [[ 1.24218099e-02 -9.84053366e-01 1.77439207e-01 2.88762838e+02] [ 2.56175081e-02 1.77707842e-01 9.83749799e-01 -1.68544844e+02] [-9.99594639e-01 -7.67440266e-03 2.74164481e-02 -3.85786536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-168.58, Z:-385.82 [[ 1.52337050e-02 -9.43588393e-01 3.30770130e-01 2.88675477e+02] [ 2.19519952e-02 3.31044401e-01 9.43359801e-01 -1.68576364e+02] [-9.99642958e-01 -7.10980062e-03 2.57566806e-02 -3.85819749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-168.59, Z:-385.85 [[ 1.77513215e-02 -9.24173172e-01 3.81561055e-01 2.88642707e+02] [ 1.71749684e-02 3.81846728e-01 9.24066067e-01 -1.68585581e+02] [-9.99694909e-01 -9.85009482e-03 2.26509291e-02 -3.85852171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-168.57, Z:-385.88 [[ 1.71631533e-02 -9.65888713e-01 2.58388119e-01 2.88715652e+02] [ 1.90047017e-02 2.58694645e-01 9.65772179e-01 -1.68565309e+02] [-9.99672070e-01 -1.16651069e-02 2.27964427e-02 -3.85884304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-168.56, Z:-385.92 [[ 1.89496436e-02 -9.69226804e-01 2.45439021e-01 2.88723052e+02] [ 1.79434203e-02 2.45773241e-01 9.69161260e-01 -1.68562736e+02] [-9.99659414e-01 -1.39612449e-02 2.20485593e-02 -3.85915886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.56, Z:-385.95 [[ 2.07420236e-02 -9.73519370e-01 2.27661602e-01 2.88733351e+02] [ 1.62919365e-02 2.28009477e-01 9.73522599e-01 -1.68560048e+02] [-9.99652110e-01 -1.64837804e-02 2.05898937e-02 -3.85947316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.56, Z:-385.98 [[ 2.40797370e-02 -9.69626394e-01 2.43402592e-01 2.88725109e+02] [ 1.67149145e-02 2.43829647e-01 9.69674025e-01 -1.68561280e+02] [-9.99570297e-01 -1.92810420e-02 2.20785760e-02 -3.85975247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.55, Z:-386.00 [[ 2.44139687e-02 -9.78194810e-01 2.06249539e-01 2.88746016e+02] [ 1.66570125e-02 2.06680427e-01 9.78266705e-01 -1.68554860e+02] [-9.99563156e-01 -2.04478715e-02 2.13396926e-02 -3.86004307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.55, Z:-386.04 [[ 2.70453973e-02 -9.77202766e-01 2.10578492e-01 2.88746026e+02] [ 2.01046982e-02 2.11144673e-01 9.77248038e-01 -1.68550722e+02] [-9.99432013e-01 -2.21964444e-02 2.53568582e-02 -3.86037731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-168.58, Z:-386.07 [[ 2.61943573e-02 -9.39618363e-01 3.41220144e-01 2.88668657e+02] [ 1.36690204e-02 3.41642019e-01 9.39730754e-01 -1.68578963e+02] [-9.99563412e-01 -1.99514980e-02 2.17927556e-02 -3.86069115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.55, Z:-386.10 [[ 2.70105055e-02 -9.81715934e-01 1.88425738e-01 2.88756827e+02] [ 1.48937121e-02 1.88868807e-01 9.81889378e-01 -1.68551313e+02] [-9.99524192e-01 -2.37149698e-02 1.97228364e-02 -3.86100693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-168.57, Z:-386.13 [[ 2.72151585e-02 -9.64351210e-01 2.63222491e-01 2.88715603e+02] [ 1.36063086e-02 2.63652993e-01 9.64521626e-01 -1.68567348e+02] [-9.99536995e-01 -2.26681225e-02 2.02966182e-02 -3.86129463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.56, Z:-386.16 [[ 2.73172414e-02 -9.69901937e-01 2.41958677e-01 2.88728766e+02] [ 1.48443954e-02 2.42415913e-01 9.70058848e-01 -1.68563168e+02] [-9.99516589e-01 -2.29076014e-02 2.10197419e-02 -3.86156197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.56, Z:-386.18 [[ 2.66790233e-02 -9.72181915e-01 2.32702717e-01 2.88736685e+02] [ 1.62627058e-02 2.33176874e-01 9.72298344e-01 -1.68561358e+02] [-9.99511758e-01 -2.21555944e-02 2.20312397e-02 -3.86184402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.52, Z:-386.22 [[ 3.20421810e-02 -9.87432288e-01 1.54760382e-01 2.88789677e+02] [ 3.24872891e-02 1.55787011e-01 9.87256291e-01 -1.68524234e+02] [-9.98958395e-01 -2.66060995e-02 3.70707537e-02 -3.86216981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-168.59, Z:-386.25 [[ 2.52691196e-02 -8.96457165e-01 4.42409339e-01 2.88612980e+02] [ 1.18070531e-02 4.42787416e-01 8.96548882e-01 -1.68594421e+02] [-9.99610957e-01 -1.74314504e-02 2.17733656e-02 -3.86246895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.56, Z:-386.27 [[ 2.11392001e-02 -9.75528852e-01 2.18852904e-01 2.88750606e+02] [ 1.68643314e-02 2.19218605e-01 9.75530009e-01 -1.68557708e+02] [-9.99634297e-01 -1.69311162e-02 2.10857478e-02 -3.86273135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.56, Z:-386.30 [[ 1.87304589e-02 -9.77581412e-01 2.09723039e-01 2.88757418e+02] [ 1.67658538e-02 2.10037444e-01 9.77549579e-01 -1.68555395e+02] [-9.99683988e-01 -1.47937664e-02 2.03240847e-02 -3.86301142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.55, Z:-386.33 [[ 1.60887773e-02 -9.81910166e-01 1.88662601e-01 2.88770991e+02] [ 1.70478718e-02 1.88928982e-01 9.81842762e-01 -1.68549800e+02] [-9.99725223e-01 -1.25803537e-02 1.97791150e-02 -3.86329093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.54, Z:-386.36 [[ 1.13226053e-02 -9.85837262e-01 1.67322119e-01 2.88786121e+02] [ 1.76480879e-02 1.67503800e-01 9.85713458e-01 -1.68544565e+02] [-9.99780148e-01 -8.20792898e-03 1.92947221e-02 -3.86355537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.50, Z:-386.39 [[ 1.60032047e-02 -9.95844553e-01 8.96522340e-02 2.88839066e+02] [ 3.56920190e-02 9.01755301e-02 9.95286116e-01 -1.68498089e+02] [-9.99234696e-01 -1.27278982e-02 3.69868002e-02 -3.86390078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.60, Z:-386.42 [[ 8.00060972e-03 -8.97058196e-01 4.41839998e-01 2.88626192e+02] [ 1.73482087e-02 4.41912157e-01 8.96890565e-01 -1.68596865e+02] [-9.99817498e-01 4.89461130e-04 1.90979195e-02 -3.86420024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.51, Z:-386.45 [[ 9.75729604e-03 -9.92645097e-01 1.20666923e-01 2.88824535e+02] [ 3.23343971e-02 1.20922768e-01 9.92135158e-01 -1.68512994e+02] [-9.99429478e-01 -5.77886426e-03 3.32764600e-02 -3.86451415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.60, Z:-386.48 [[ 1.03835512e-03 -8.98913519e-01 4.38124875e-01 2.88632240e+02] [ 2.23154111e-02 4.38036839e-01 8.98680005e-01 -1.68597945e+02] [-9.99750441e-01 8.84378774e-03 2.05144626e-02 -3.86481016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.55, Z:-386.51 [[-3.92244423e-03 -9.81748614e-01 1.90142771e-01 2.88782899e+02] [ 2.21227621e-02 1.90012505e-01 9.81532389e-01 -1.68550614e+02] [-9.99747567e-01 8.05648936e-03 2.09736776e-02 -3.86507915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.54, Z:-386.54 [[-6.72888642e-03 -9.85478573e-01 1.69666449e-01 2.88795481e+02] [ 2.26965458e-02 1.69476070e-01 9.85272921e-01 -1.68544884e+02] [-9.99719755e-01 1.04806319e-02 2.12265743e-02 -3.86535806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-168.54, Z:-386.56 [[-1.04622748e-02 -9.88795202e-01 1.48911350e-01 2.88809616e+02] [ 2.35960973e-02 1.48633904e-01 9.88610736e-01 -1.68538602e+02] [-9.99666827e-01 1.38568439e-02 2.17766590e-02 -3.86563939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.53, Z:-386.59 [[-1.18950407e-02 -9.91777116e-01 1.27423156e-01 2.88822106e+02] [ 2.38757602e-02 1.27114132e-01 9.91600699e-01 -1.68531888e+02] [-9.99644165e-01 1.48374554e-02 2.21674048e-02 -3.86590967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-168.53, Z:-386.62 [[-1.26047544e-02 -9.92922199e-01 1.18095841e-01 2.88828070e+02] [ 2.42128483e-02 1.17767508e-01 9.92745966e-01 -1.68528496e+02] [-9.99627360e-01 1.53727558e-02 2.25570440e-02 -3.86618906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.52, Z:-386.65 [[-1.32594009e-02 -9.95222594e-01 9.67273282e-02 2.88839719e+02] [ 2.41666406e-02 9.63886146e-02 9.95050355e-01 -1.68521558e+02] [-9.99620009e-01 1.55313462e-02 2.27731315e-02 -3.86645930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.52, Z:-386.67 [[-1.23457309e-02 -9.96091625e-01 8.74588861e-02 2.88845356e+02] [ 2.38780464e-02 8.71469254e-02 9.95909259e-01 -1.68519085e+02] [-9.99638646e-01 1.43835751e-02 2.27088295e-02 -3.86673989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.51, Z:-386.70 [[-1.18034371e-02 -9.97718841e-01 6.64664893e-02 2.88856363e+02] [ 2.35906520e-02 6.61747642e-02 9.97529138e-01 -1.68512261e+02] [-9.99652020e-01 1.33422603e-02 2.27557483e-02 -3.86701916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.50, Z:-386.73 [[-1.01466728e-02 -9.98931987e-01 4.50769481e-02 2.88868192e+02] [ 2.28279294e-02 4.48361163e-02 9.98733502e-01 -1.68504767e+02] [-9.99687917e-01 1.11628354e-02 2.23486115e-02 -3.86730297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.50, Z:-386.76 [[-9.55338185e-03 -9.99684096e-01 2.32474062e-02 2.88879586e+02] [ 2.24265463e-02 2.30284182e-02 9.99483238e-01 -1.68496797e+02] [-9.99702847e-01 1.00698040e-02 2.21994623e-02 -3.86758223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-168.49, Z:-386.79 [[-8.60228358e-03 -9.99961936e-01 1.45848746e-03 2.88890643e+02] [ 2.18493100e-02 1.27023249e-03 9.99760468e-01 -1.68488554e+02] [-9.99724266e-01 8.63209000e-03 2.18375514e-02 -3.86785170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-168.48, Z:-386.84 [[ 1.41273732e-04 -9.99967598e-01 -8.04874523e-03 2.88894345e+02] [ 2.15192097e-02 -8.04384150e-03 9.99736075e-01 -1.68484191e+02] [-9.99768425e-01 -3.14439087e-04 2.15173761e-02 -3.86843044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-168.60, Z:-386.87 [[ 7.29316549e-03 -8.67544266e-01 4.97306501e-01 2.88602268e+02] [ 2.25119902e-02 4.97336131e-01 8.67265809e-01 -1.68604267e+02] [-9.99719971e-01 4.87024600e-03 2.31573027e-02 -3.86874628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-168.60, Z:-386.90 [[ 8.45925797e-03 -8.76531474e-01 4.81270211e-01 2.88613317e+02] [ 2.17252024e-02 4.81334930e-01 8.76267482e-01 -1.68602398e+02] [-9.99728191e-01 3.04312008e-03 2.31145601e-02 -3.86901905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.60, Z:-386.93 [[ 9.27379622e-03 -8.80331816e-01 4.74267741e-01 2.88617882e+02] [ 2.08747283e-02 4.74355216e-01 8.80086004e-01 -1.68601497e+02] [-9.99739087e-01 1.73847197e-03 2.27757611e-02 -3.86929582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.60, Z:-386.96 [[ 1.00044504e-02 -8.88772774e-01 4.58238877e-01 2.88628496e+02] [ 2.02809789e-02 4.58347896e-01 8.88541439e-01 -1.68599301e+02] [-9.99744264e-01 4.04164181e-04 2.26107006e-02 -3.86957992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.60, Z:-386.99 [[ 8.26618763e-03 -8.89284435e-01 4.57279852e-01 2.88624390e+02] [ 1.47230246e-02 4.57354143e-01 8.89162764e-01 -1.68604322e+02] [-9.99857441e-01 -6.17443753e-04 1.68735317e-02 -3.86986288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-167.87, Z:-387.01 [[ 7.39289875e-03 -4.06454656e-01 -9.13641044e-01 2.89123130e+02] [ 1.58287666e-02 -9.13503974e-01 4.06521758e-01 -1.67871381e+02] [-9.99847386e-01 -1.74671851e-02 -3.19766504e-04 -3.87005361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-167.53, Z:-387.00 [[-1.82717428e-02 2.71211201e-01 -9.62346418e-01 2.88896391e+02] [ 9.28573974e-02 -9.57886810e-01 -2.71717434e-01 -1.67531421e+02] [-9.95511751e-01 -9.43257348e-02 -7.68170485e-03 -3.87001499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-168.44, Z:-387.09 [[-3.52842066e-03 -9.91698647e-01 -1.28535382e-01 2.88950797e+02] [ 9.53674990e-02 -1.28284032e-01 9.87141453e-01 -1.68442566e+02] [-9.95435880e-01 -8.77504766e-03 9.50284597e-02 -3.87094742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-168.45, Z:-387.19 [[ 1.12301216e-02 -9.94258716e-01 -1.06411889e-01 2.88936184e+02] [ 8.96343455e-02 -1.04989232e-01 9.90425639e-01 -1.68449327e+02] [-9.95911426e-01 -2.06607604e-02 8.79406875e-02 -3.87188594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.51, Z:-387.23 [[ 1.28182824e-02 -9.97877376e-01 6.38469567e-02 2.88854639e+02] [ 8.94645202e-02 6.47406491e-02 9.93883669e-01 -1.68508989e+02] [-9.95907522e-01 -7.02784416e-03 9.01044846e-02 -3.87226754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.51, Z:-387.26 [[ 1.15634871e-02 -9.97751978e-01 6.60096743e-02 2.88851158e+02] [ 8.60121386e-02 6.67619099e-02 9.94054707e-01 -1.68512505e+02] [-9.96226981e-01 -5.81710557e-03 8.65907819e-02 -3.87255983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-168.46, Z:-387.28 [[ 1.47551113e-02 -9.97575200e-01 -6.80147512e-02 2.88919190e+02] [ 9.11402868e-02 -6.63971742e-02 9.93622093e-01 -1.68458788e+02] [-9.95728746e-01 -2.08598885e-02 8.99395922e-02 -3.87283297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.49, Z:-387.31 [[ 1.67610001e-02 -9.99238404e-01 3.52375066e-02 2.88869988e+02] [ 9.25643458e-02 3.66418335e-02 9.95032270e-01 -1.68492002e+02] [-9.95565624e-01 -1.34159993e-02 9.31080029e-02 -3.87313849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.49, Z:-387.34 [[ 1.84987204e-02 -9.98496788e-01 5.15942095e-02 2.88861864e+02] [ 9.54727531e-02 5.31313109e-02 9.94013087e-01 -1.68491335e+02] [-9.95260142e-01 -1.34621289e-02 9.63120985e-02 -3.87340556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.49, Z:-387.37 [[ 1.94032207e-02 -9.98680483e-01 4.75479447e-02 2.88864770e+02] [ 9.56244700e-02 4.91925574e-02 9.94201214e-01 -1.68489237e+02] [-9.95228354e-01 -1.47439586e-02 9.64527860e-02 -3.87370231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.50, Z:-387.40 [[ 2.08381802e-02 -9.95453902e-01 9.29370744e-02 2.88840749e+02] [ 9.53782526e-02 9.45126251e-02 9.90944172e-01 -1.68502428e+02] [-9.95222970e-01 -1.17852975e-02 9.69141248e-02 -3.87399881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.50, Z:-387.43 [[ 2.09170225e-02 -9.96161641e-01 8.49968402e-02 2.88844099e+02] [ 9.58739898e-02 8.66222184e-02 9.91617249e-01 -1.68496636e+02] [-9.95173682e-01 -1.25926942e-02 9.73178699e-02 -3.87425468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.47, Z:-387.45 [[ 2.21404515e-02 -9.99268145e-01 3.11925479e-02 2.88874485e+02] [ 9.82867978e-02 3.32246424e-02 9.94603352e-01 -1.68474039e+02] [-9.94911808e-01 -1.89551516e-02 9.89504747e-02 -3.87454069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.50, Z:-387.48 [[ 2.21863552e-02 -9.91806682e-01 1.25806481e-01 2.88824089e+02] [ 9.46498351e-02 1.27356001e-01 9.87330673e-01 -1.68504039e+02] [-9.95263369e-01 -9.99770633e-03 9.66999044e-02 -3.87482196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.46, Z:-387.51 [[ 2.36796364e-02 -9.99552881e-01 1.82568641e-02 2.88883781e+02] [ 1.00401402e-01 2.05473943e-02 9.94734821e-01 -1.68460924e+02] [-9.94665187e-01 -2.17219441e-02 1.00843066e-01 -3.87510034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-168.49, Z:-387.54 [[ 2.53081565e-02 -9.92274411e-01 1.21453657e-01 2.88832791e+02] [ 9.88356513e-02 1.23380948e-01 9.87425266e-01 -1.68490451e+02] [-9.94781891e-01 -1.29859619e-02 1.01194632e-01 -3.87543082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.51, Z:-387.57 [[ 2.25209490e-02 -9.84369770e-01 1.74668151e-01 2.88799406e+02] [ 9.32341705e-02 1.76019016e-01 9.79961579e-01 -1.68510543e+02] [-9.95389470e-01 -5.78462465e-03 9.57410142e-02 -3.87569379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-168.45, Z:-387.60 [[ 2.39547036e-02 -9.99710383e-01 2.30710995e-03 2.88893669e+02] [ 1.02353214e-01 4.74818319e-03 9.94736787e-01 -1.68445318e+02] [-9.94459648e-01 -2.35924848e-02 1.02437312e-01 -3.87596230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.49, Z:-387.63 [[ 2.46764326e-02 -9.90006375e-01 1.38846864e-01 2.88822797e+02] [ 9.79283307e-02 1.40615004e-01 9.85209350e-01 -1.68491095e+02] [-9.94887489e-01 -1.07144106e-02 1.00419548e-01 -3.87629718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.50, Z:-387.65 [[ 2.22368205e-02 -9.89203530e-01 1.44851306e-01 2.88815154e+02] [ 9.45789718e-02 1.46318792e-01 9.84705859e-01 -1.68495831e+02] [-9.95268980e-01 -8.19683985e-03 9.68115174e-02 -3.87654033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.45, Z:-387.68 [[ 2.12752184e-02 -9.99659666e-01 1.50969065e-02 2.88882090e+02] [ 9.74197485e-02 1.71013246e-02 9.95096446e-01 -1.68451232e+02] [-9.95015959e-01 -1.97001574e-02 9.77504277e-02 -3.87678307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.45, Z:-387.71 [[ 2.14496090e-02 -9.99697214e-01 1.20579833e-02 2.88883025e+02] [ 9.71303755e-02 1.40874410e-02 9.95171962e-01 -1.68447969e+02] [-9.95040504e-01 -2.01748530e-02 9.74031358e-02 -3.87705749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.44, Z:-387.73 [[ 2.18613744e-02 -9.99721616e-01 8.87530340e-03 2.88884272e+02] [ 9.73906992e-02 1.09647231e-02 9.95185825e-01 -1.68443925e+02] [-9.95006097e-01 -2.08917579e-02 9.76032911e-02 -3.87732725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.44, Z:-387.76 [[ 2.19891816e-02 -9.99730080e-01 7.49955562e-03 2.88883785e+02] [ 9.64524982e-02 9.58774270e-03 9.95291410e-01 -1.68440405e+02] [-9.95094665e-01 -2.11622926e-02 9.66372903e-02 -3.87760565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.44, Z:-387.79 [[ 2.20545782e-02 -9.99747609e-01 4.27956292e-03 2.88884806e+02] [ 9.61264195e-02 6.38129552e-03 9.95348678e-01 -1.68436932e+02] [-9.95124770e-01 -2.15406162e-02 9.62428948e-02 -3.87787193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-168.43, Z:-387.82 [[ 2.17854772e-02 -9.99758495e-01 2.88860783e-03 2.88885415e+02] [ 9.61579019e-02 4.97123278e-03 9.95353678e-01 -1.68433915e+02] [-9.95127656e-01 -2.14064924e-02 9.62429800e-02 -3.87815616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-167.40, Z:-387.85 [[-8.98769338e-02 9.83745308e-01 -1.55458373e-01 2.88272538e+02] [ 9.41646646e-02 -1.46997397e-01 -9.84644495e-01 -1.67401505e+02] [-9.91491378e-01 -1.03135514e-01 -7.94223717e-02 -3.87846021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-168.13, Z:-387.98 [[-5.20795622e-02 -8.28157833e-01 -5.58070177e-01 2.89125432e+02] [ 1.17288288e-01 -5.60033343e-01 8.20125669e-01 -1.68134632e+02] [-9.91731404e-01 -2.27433099e-02 1.26299506e-01 -3.87981907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-168.14, Z:-388.00 [[-5.06614598e-02 -8.31158704e-01 -5.53722516e-01 2.89123414e+02] [ 1.17801335e-01 -5.55537189e-01 8.23104658e-01 -1.68135593e+02] [-9.91744051e-01 -2.35295678e-02 1.26055929e-01 -3.88003065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-168.14, Z:-388.01 [[-4.99707674e-02 -8.34139152e-01 -5.49285716e-01 2.89122126e+02] [ 1.18698943e-01 -5.51034955e-01 8.25996998e-01 -1.68138072e+02] [-9.91672065e-01 -2.39239300e-02 1.26547075e-01 -3.88006941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-168.14, Z:-388.00 [[-4.89475687e-02 -8.37152008e-01 -5.44775781e-01 2.89121273e+02] [ 1.20462917e-01 -5.46396084e-01 8.28818439e-01 -1.68142053e+02] [-9.91510374e-01 -2.50566321e-02 1.27590533e-01 -3.88002782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-168.14, Z:-388.02 [[-4.79894979e-02 -8.40118253e-01 -5.40276159e-01 2.89118944e+02] [ 1.22128640e-01 -5.41776167e-01 8.31602778e-01 -1.68144171e+02] [-9.91353420e-01 -2.60749925e-02 1.28602066e-01 -3.88015928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-168.15, Z:-388.03 [[-4.55970082e-02 -8.43109636e-01 -5.35805053e-01 2.89116319e+02] [ 1.24276888e-01 -5.36983672e-01 8.34388274e-01 -1.68146153e+02] [-9.91199358e-01 -2.85425754e-02 1.29263890e-01 -3.88031249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-168.15, Z:-388.06 [[-4.22168233e-02 -8.52337450e-01 -5.21285537e-01 2.89110334e+02] [ 1.27266805e-01 -5.22088096e-01 8.43342861e-01 -1.68154006e+02] [-9.90969677e-01 -3.07390881e-02 1.30515165e-01 -3.88055102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-168.16, Z:-388.07 [[-4.15867815e-02 -8.63449794e-01 -5.02717607e-01 2.89104268e+02] [ 1.29394310e-01 -5.03569985e-01 8.54209800e-01 -1.68163536e+02] [-9.90720774e-01 -2.95249617e-02 1.32667346e-01 -3.88065695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-168.25, Z:-388.13 [[-4.59960413e-02 -1.02204645e-02 9.98889336e-01 2.88052068e+02] [ 6.68199737e-03 9.99922140e-01 1.05387191e-02 -1.68251069e+02] [-9.98919274e-01 7.15931527e-03 -4.59241669e-02 -3.88132338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-167.83, Z:-388.26 [[-4.93135410e-02 -5.18213976e-01 -8.53828115e-01 2.89137569e+02] [ 7.63884510e-02 -8.54321147e-01 5.14101334e-01 -1.67826139e+02] [-9.95857911e-01 -3.98704500e-02 8.17151638e-02 -3.88257712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-167.92, Z:-388.28 [[-4.28506995e-02 -6.49162032e-01 -7.59442213e-01 2.89137816e+02] [ 7.59642966e-02 -7.60056958e-01 6.45401306e-01 -1.67922587e+02] [-9.96189361e-01 -3.00345961e-02 8.18821094e-02 -3.88280415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.93, Z:-388.28 [[-4.78079846e-02 -6.61495551e-01 -7.48423699e-01 2.89133322e+02] [ 8.31188603e-02 -7.49316374e-01 6.56975058e-01 -1.67926669e+02] [-9.95392210e-01 -3.07994714e-02 9.08060620e-02 -3.88281735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-168.45, Z:-388.40 [[ 2.18613187e-02 -6.79519391e-01 7.33331767e-01 2.88393046e+02] [-1.41591548e-02 7.33223062e-01 6.79840761e-01 -1.68453949e+02] [-9.99660743e-01 -2.52455735e-02 6.40780275e-03 -3.88398197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-167.52, Z:-388.52 [[-8.59942369e-02 9.34208214e-01 3.46208037e-01 2.88022812e+02] [-5.56871779e-02 3.42445002e-01 -9.37886112e-01 -1.67521726e+02] [-9.94738121e-01 -9.99321491e-02 2.25751224e-02 -3.88524137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-167.28, Z:-388.59 [[-8.98054949e-02 5.30749023e-01 -8.42757645e-01 2.88746504e+02] [-8.74478286e-03 -8.46564356e-01 -5.32214544e-01 -1.67278730e+02] [-9.95920932e-01 -4.04260579e-02 8.06674159e-02 -3.88591815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.34, Z:-388.60 [[-9.91527297e-02 3.34464438e-01 -9.37177825e-01 2.88854445e+02] [-8.17690829e-03 -9.42060960e-01 -3.35342043e-01 -1.67340993e+02] [-9.95038630e-01 -2.55868619e-02 9.61428008e-02 -3.88600923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-168.23, Z:-388.71 [[ 1.11452786e-02 -9.67334583e-01 -2.53257946e-01 2.88969893e+02] [ 9.39350205e-03 -2.53161215e-01 9.67378500e-01 -1.68234937e+02] [-9.99893767e-01 -1.31606819e-02 6.26510711e-03 -3.88709108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-168.05, Z:-388.83 [[ 5.22561711e-02 -8.14582233e-01 -5.77689431e-01 2.89042578e+02] [ 6.21517669e-02 -5.74705511e-01 8.15996773e-01 -1.68051153e+02] [-9.96697773e-01 -7.85452859e-02 2.05958156e-02 -3.88831163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-168.47, Z:-388.91 [[ 6.94596577e-02 -8.59849751e-01 5.05800121e-01 2.88547936e+02] [ 4.86673697e-02 5.09341732e-01 8.59187108e-01 -1.68470626e+02] [-9.96396931e-01 -3.50628809e-02 7.72253281e-02 -3.88911769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-168.47, Z:-388.95 [[ 7.02767106e-02 -6.88591322e-01 7.21736223e-01 2.88386103e+02] [ 4.91294509e-02 7.25036328e-01 6.86956054e-01 -1.68467633e+02] [-9.96316958e-01 -1.28185074e-02 8.47832818e-02 -3.88953757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-168.46, Z:-388.99 [[ 7.08430746e-02 -6.19846070e-01 7.81519103e-01 2.88333543e+02] [ 4.71270901e-02 7.84692585e-01 6.18091081e-01 -1.68456275e+02] [-9.96373573e-01 -6.95675138e-03 8.48015769e-02 -3.88985395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.45, Z:-389.02 [[ 6.78309780e-02 -5.99880111e-01 7.97209390e-01 2.88320559e+02] [ 5.15170761e-02 8.00089727e-01 5.97664136e-01 -1.68451666e+02] [-9.96365871e-01 5.29754007e-04 8.51749380e-02 -3.89018620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-168.45, Z:-389.05 [[ 6.48401838e-02 -5.76868887e-01 8.14259195e-01 2.88302893e+02] [ 5.25438719e-02 8.16818011e-01 5.74497587e-01 -1.68446692e+02] [-9.96511361e-01 5.53380169e-03 8.32735549e-02 -3.89050906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.45, Z:-389.08 [[ 6.46819314e-02 -5.97903845e-01 7.98953841e-01 2.88322441e+02] [ 5.47684038e-02 8.01550674e-01 5.95413251e-01 -1.68448391e+02] [-9.96401862e-01 5.24494752e-03 8.45920849e-02 -3.89082831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-168.44, Z:-389.11 [[ 6.42861058e-02 -5.72697230e-01 8.17242424e-01 2.88306510e+02] [ 5.52947693e-02 8.19722478e-01 5.70085562e-01 -1.68441495e+02] [-9.96398407e-01 8.54065053e-03 8.43639272e-02 -3.89111890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-168.45, Z:-389.14 [[ 5.38165126e-02 -5.67174769e-01 8.21837310e-01 2.88289805e+02] [ 5.33696777e-02 8.23487392e-01 5.64818725e-01 -1.68446364e+02] [-9.97123593e-01 1.34646183e-02 7.45871543e-02 -3.89141394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-168.45, Z:-389.17 [[ 5.95693047e-02 -6.21018709e-01 7.81528798e-01 2.88344298e+02] [ 5.84427529e-02 7.83745872e-01 6.18325846e-01 -1.68449037e+02] [-9.96511888e-01 8.84145366e-03 8.29812396e-02 -3.89167024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-168.44, Z:-389.20 [[ 5.21400976e-02 -5.56558182e-01 8.29170911e-01 2.88286101e+02] [ 5.59416864e-02 8.30624333e-01 5.54016015e-01 -1.68441313e+02] [-9.97071682e-01 1.74987700e-02 7.44436371e-02 -3.89198328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.45, Z:-389.23 [[ 5.10198104e-02 -5.98680164e-01 7.99361645e-01 2.88317171e+02] [ 5.66867895e-02 8.00849647e-01 5.96176527e-01 -1.68449197e+02] [-9.97087552e-01 1.48964320e-02 7.47964536e-02 -3.89225051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.45, Z:-389.25 [[ 5.14516581e-02 -6.02194540e-01 7.96689690e-01 2.88320765e+02] [ 5.65538807e-02 7.98223082e-01 5.99701235e-01 -1.68448064e+02] [-9.97072909e-01 1.42002709e-02 7.51263393e-02 -3.89253095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.45, Z:-389.28 [[ 5.25829342e-02 -6.05730910e-01 7.93930160e-01 2.88323925e+02] [ 5.61651597e-02 7.95565475e-01 6.03258692e-01 -1.68446704e+02] [-9.97035862e-01 1.28701022e-02 7.58541403e-02 -3.89279655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.44, Z:-389.31 [[ 5.56653719e-02 -6.07070013e-01 7.92696263e-01 2.88324225e+02] [ 5.35351022e-02 7.94599927e-01 6.04768508e-01 -1.68443310e+02] [-9.97013219e-01 8.77241149e-03 7.67312556e-02 -3.89307669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.33, Y:-168.44, Z:-389.33 [[ 5.78496276e-02 -6.10444282e-01 7.89943795e-01 2.88327689e+02] [ 5.20596199e-02 7.92036949e-01 6.08249347e-01 -1.68441563e+02] [-9.96967009e-01 5.93717553e-03 7.75985398e-02 -3.89334389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.33, Y:-168.44, Z:-389.36 [[ 6.20691729e-02 -6.11601067e-01 7.88727807e-01 2.88329644e+02] [ 4.77156036e-02 7.91166285e-01 6.09736936e-01 -1.68438231e+02] [-9.96930609e-01 -2.11243931e-04 7.82899510e-02 -3.89362658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-168.44, Z:-389.39 [[ 6.87431499e-02 -6.28799417e-01 7.74522868e-01 2.88350966e+02] [ 4.74660828e-02 7.77541694e-01 6.27037388e-01 -1.68435019e+02] [-9.96504566e-01 -6.34095861e-03 8.32973103e-02 -3.89393689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-168.43, Z:-389.42 [[ 7.13193727e-02 -6.07407952e-01 7.91182107e-01 2.88336822e+02] [ 4.39130542e-02 7.94344937e-01 6.05877681e-01 -1.68428702e+02] [-9.96486423e-01 -8.46759335e-03 8.33253210e-02 -3.89422312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9565599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.32, Y:-168.42, Z:-389.45 [[ 7.29742706e-02 -5.86603950e-01 8.06579545e-01 2.88320021e+02] [ 3.70497308e-02 8.09772022e-01 5.85573727e-01 -1.68421339e+02] [-9.96645410e-01 -1.28482606e-02 8.08260411e-02 -3.89453855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-168.42, Z:-389.48 [[ 6.98102050e-02 -5.78165665e-01 8.12927425e-01 2.88308359e+02] [ 3.31423457e-02 8.15809946e-01 5.77369654e-01 -1.68419892e+02] [-9.97009589e-01 -1.33639722e-02 7.61136260e-02 -3.89482098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-168.43, Z:-389.51 [[ 7.09418158e-02 -6.17517889e-01 7.83351081e-01 2.88337414e+02] [ 3.24906446e-02 7.86343578e-01 6.16934466e-01 -1.68426038e+02] [-9.96951161e-01 -1.83148697e-02 7.58481955e-02 -3.89508925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-168.42, Z:-389.54 [[ 7.16471628e-02 -6.20987565e-01 7.80538998e-01 2.88340880e+02] [ 3.09268157e-02 7.83556953e-01 6.20549783e-01 -1.68424529e+02] [-9.96950458e-01 -2.03210456e-02 7.53448006e-02 -3.89536567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-168.42, Z:-389.56 [[ 7.32564813e-02 -6.24384924e-01 7.77674067e-01 2.88344171e+02] [ 2.82172150e-02 7.80754660e-01 6.24200248e-01 -1.68422501e+02] [-9.96913876e-01 -2.37829174e-02 7.48137429e-02 -3.89563213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.35, Y:-168.42, Z:-389.59 [[ 7.43073524e-02 -6.29181444e-01 7.73698345e-01 2.88349949e+02] [ 2.80222522e-02 7.76854278e-01 6.29056583e-01 -1.68420359e+02] [-9.96841598e-01 -2.50627591e-02 7.53570657e-02 -3.89591209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.42, Z:-389.62 [[ 7.38274083e-02 -6.43565101e-01 7.61822469e-01 2.88360076e+02] [ 2.69382554e-02 7.64915329e-01 6.43567300e-01 -1.68422680e+02] [-9.96907139e-01 -2.69907376e-02 7.38082374e-02 -3.89618719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.42, Z:-389.65 [[ 7.59248132e-02 -6.35808449e-01 7.68103534e-01 2.88355324e+02] [ 2.57126126e-02 7.71319321e-01 6.35928744e-01 -1.68417104e+02] [-9.96781964e-01 -2.85328224e-02 7.49105717e-02 -3.89648654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.42, Z:-389.68 [[ 7.60607259e-02 -6.43955786e-01 7.61272429e-01 2.88360096e+02] [ 2.57091572e-02 7.64496828e-01 6.44114616e-01 -1.68418214e+02] [-9.96771692e-01 -2.94201527e-02 7.47037442e-02 -3.89676349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-168.42, Z:-389.70 [[ 7.68126841e-02 -6.36262745e-01 7.67638933e-01 2.88354504e+02] [ 2.57518837e-02 7.70922808e-01 6.36407782e-01 -1.68415370e+02] [-9.96712924e-01 -2.91160414e-02 7.56016143e-02 -3.89703812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.41, Z:-389.73 [[ 7.89034415e-02 -6.37743653e-01 7.66196633e-01 2.88355401e+02] [ 2.73112309e-02 7.69687321e-01 6.37836598e-01 -1.68414078e+02] [-9.96508075e-01 -2.94017295e-02 7.81485426e-02 -3.89731113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.41, Z:-389.76 [[ 7.89656744e-02 -6.39305186e-01 7.64887770e-01 2.88357336e+02] [ 2.84986817e-02 7.68417867e-01 6.39313543e-01 -1.68413337e+02] [-9.96469893e-01 -2.86855320e-02 7.88979901e-02 -3.89758835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.41, Z:-389.79 [[ 7.87495363e-02 -6.42954494e-01 7.61845148e-01 2.88361090e+02] [ 2.95048295e-02 7.65386913e-01 6.42893723e-01 -1.68413003e+02] [-9.96457714e-01 -2.81494713e-02 7.92441272e-02 -3.89785344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-168.41, Z:-389.81 [[ 8.02982495e-02 -6.56510657e-01 7.50030632e-01 2.88377746e+02] [ 3.33151816e-02 7.53807672e-01 6.56250023e-01 -1.68411350e+02] [-9.96213978e-01 -2.77083213e-02 8.24012083e-02 -3.89812719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-168.41, Z:-389.84 [[ 7.50224859e-02 -6.27759490e-01 7.74783614e-01 2.88352784e+02] [ 3.11475454e-02 7.78069354e-01 6.27405698e-01 -1.68407770e+02] [-9.96695268e-01 -2.29369273e-02 7.79258644e-02 -3.89842098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-168.41, Z:-389.87 [[ 7.33555476e-02 -6.49460527e-01 7.56848722e-01 2.88370463e+02] [ 3.24110038e-02 7.60044895e-01 6.49061850e-01 -1.68411142e+02] [-9.96779058e-01 -2.30820606e-02 7.68031770e-02 -3.89868905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.39, Y:-168.41, Z:-389.90 [[ 7.54003973e-02 -6.65265606e-01 7.42789643e-01 2.88390828e+02] [ 3.60182821e-02 7.46241090e-01 6.64700623e-01 -1.68408618e+02] [-9.96502616e-01 -2.33646842e-02 8.02285990e-02 -3.89896757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.41, Z:-389.93 [[ 6.93148085e-02 -6.30700875e-01 7.72924229e-01 2.88360032e+02] [ 3.39707077e-02 7.75830640e-01 6.30026039e-01 -1.68405697e+02] [-9.97016273e-01 -1.74133512e-02 7.52019073e-02 -3.89926914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-168.41, Z:-389.96 [[ 6.93198947e-02 -6.67866985e-01 7.41045506e-01 2.88395686e+02] [ 4.02409397e-02 7.44099815e-01 6.66855406e-01 -1.68408212e+02] [-9.96782534e-01 -1.64059790e-02 7.84565159e-02 -3.89957458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-168.40, Z:-389.99 [[ 6.63239678e-02 -6.48568178e-01 7.58261465e-01 2.88380666e+02] [ 4.15218516e-02 7.61070446e-01 6.47338947e-01 -1.68404701e+02] [-9.96933833e-01 -1.14496675e-02 7.74069634e-02 -3.89986707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-168.41, Z:-390.01 [[ 6.24777684e-02 -6.60383903e-01 7.48324548e-01 2.88388795e+02] [ 4.35943272e-02 7.50879482e-01 6.58998891e-01 -1.68406962e+02] [-9.97093809e-01 -8.55007488e-03 7.57022664e-02 -3.90014160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.41, Z:-390.04 [[ 5.74619818e-02 -6.91837147e-01 7.19763491e-01 2.88414695e+02] [ 5.00277089e-02 7.22044384e-01 6.90035605e-01 -1.68411584e+02] [-9.97093451e-01 -3.64269501e-03 7.61011287e-02 -3.90040255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.41, Z:-390.07 [[ 5.39586164e-02 -6.94177267e-01 7.17778789e-01 2.88416729e+02] [ 5.19702801e-02 7.19804084e-01 6.92229132e-01 -1.68413798e+02] [-9.97189830e-01 -4.85614839e-05 7.49162195e-02 -3.90070222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-168.41, Z:-390.10 [[ 5.31063292e-02 -6.69652147e-01 7.40773730e-01 2.88400350e+02] [ 5.61139283e-02 7.42649610e-01 6.67325097e-01 -1.68406708e+02] [-9.97011005e-01 6.12853771e-03 7.70162072e-02 -3.90102770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.41, Z:-390.13 [[ 4.67281798e-02 -6.85565800e-01 7.26509471e-01 2.88412927e+02] [ 6.07820364e-02 7.27907691e-01 6.82975796e-01 -1.68410950e+02] [-9.97056679e-01 1.22445093e-02 7.56838868e-02 -3.90134147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-168.41, Z:-390.16 [[ 4.44912051e-02 -6.63774829e-01 7.46608002e-01 2.88397186e+02] [ 6.35108439e-02 7.47715595e-01 6.60974857e-01 -1.68406355e+02] [-9.96988919e-01 1.80101363e-02 7.54236675e-02 -3.90163294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-168.41, Z:-390.19 [[ 4.42181156e-02 -6.67118061e-01 7.43638522e-01 2.88401008e+02] [ 6.36971307e-02 7.44734682e-01 6.64313878e-01 -1.68405718e+02] [-9.96989184e-01 1.79929322e-02 7.54242706e-02 -3.90191721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.40, Z:-390.22 [[ 4.34096039e-02 -6.75489634e-01 7.36090593e-01 2.88411894e+02] [ 6.69992140e-02 7.37094762e-01 6.72459975e-01 -1.68403850e+02] [-9.96808262e-01 2.01262700e-02 7.72542662e-02 -3.90223912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-168.40, Z:-390.25 [[ 3.93639746e-02 -6.62464456e-01 7.48058368e-01 2.88400342e+02] [ 6.79911041e-02 7.48679285e-01 6.59436531e-01 -1.68402603e+02] [-9.96909067e-01 2.49032716e-02 7.45126821e-02 -3.90251594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.40, Z:-390.28 [[ 3.70501725e-02 -6.72841926e-01 7.38857921e-01 2.88409541e+02] [ 6.96760371e-02 7.39305526e-01 6.69755620e-01 -1.68403054e+02] [-9.96881405e-01 2.66661307e-02 7.42723562e-02 -3.90279624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-168.40, Z:-390.31 [[ 3.48080747e-02 -6.76303178e-01 7.35800523e-01 2.88412903e+02] [ 7.27479500e-02 7.36008140e-01 6.73052564e-01 -1.68401757e+02] [-9.96742762e-01 3.01003157e-02 7.48186961e-02 -3.90307337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-168.40, Z:-390.34 [[ 3.64125288e-02 -6.85598456e-01 7.27068693e-01 2.88425015e+02] [ 7.49951082e-02 7.27374285e-01 6.82130767e-01 -1.68399668e+02] [-9.96518872e-01 2.96884892e-02 7.79020675e-02 -3.90340062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-168.39, Z:-390.37 [[ 3.70219639e-02 -6.55781351e-01 7.54042568e-01 2.88402191e+02] [ 7.63801590e-02 7.54209508e-01 6.52176426e-01 -1.68392991e+02] [-9.96391211e-01 3.34490391e-02 7.80110010e-02 -3.90373412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-168.39, Z:-390.40 [[ 3.46764505e-02 -6.37583598e-01 7.69600350e-01 2.88384791e+02] [ 7.55275084e-02 7.69533162e-01 6.34124837e-01 -1.68390069e+02] [-9.96540586e-01 3.61367984e-02 7.48397791e-02 -3.90401908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.40, Z:-390.43 [[ 3.24383468e-02 -6.79341908e-01 7.33104580e-01 2.88417193e+02] [ 7.48302388e-02 7.33082673e-01 6.76010525e-01 -1.68396009e+02] [-9.96668545e-01 3.29297270e-02 7.46153072e-02 -3.90427851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.39, Z:-390.46 [[ 3.76878441e-02 -6.94241001e-01 7.18755215e-01 2.88437617e+02] [ 7.51274639e-02 7.19199089e-01 6.90730436e-01 -1.68391800e+02] [-9.96461485e-01 2.79661156e-02 7.92616289e-02 -3.90461164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.38, Z:-390.49 [[ 3.63276583e-02 -6.00744170e-01 7.98615517e-01 2.88359270e+02] [ 7.21060091e-02 7.98635757e-01 5.97479415e-01 -1.68375906e+02] [-9.96735183e-01 3.58799497e-02 7.23298314e-02 -3.90491108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.39, Z:-390.52 [[ 4.00188480e-02 -6.96620126e-01 7.16323176e-01 2.88440063e+02] [ 6.95137306e-02 7.17101508e-01 6.93493524e-01 -1.68387222e+02] [-9.96777976e-01 2.20414842e-02 7.71222400e-02 -3.90519504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-168.37, Z:-390.55 [[ 4.49945235e-02 -6.05237901e-01 7.94772028e-01 2.88372893e+02] [ 6.78149326e-02 7.95593066e-01 6.02023926e-01 -1.68367179e+02] [-9.96682812e-01 2.68096318e-02 7.68414984e-02 -3.90551246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-168.36, Z:-390.58 [[ 4.20470694e-02 -5.57555272e-01 8.29074281e-01 2.88331643e+02] [ 6.26911823e-02 8.29645297e-01 5.54759856e-01 -1.68356308e+02] [-9.97146860e-01 2.86496207e-02 6.98379526e-02 -3.90577953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.38, Z:-390.60 [[ 4.06473738e-02 -6.83451975e-01 7.28862943e-01 2.88421679e+02] [ 5.90281642e-02 7.29834291e-01 6.81070910e-01 -1.68380947e+02] [-9.97428427e-01 1.53396976e-02 7.00087626e-02 -3.90602801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.38, Z:-390.63 [[ 4.56292336e-02 -6.86353501e-01 7.25835274e-01 2.88421658e+02] [ 5.24234381e-02 7.27236082e-01 6.84382542e-01 -1.68377290e+02] [-9.97581955e-01 6.82292966e-03 6.91642353e-02 -3.90629965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.37, Z:-390.66 [[ 4.81648192e-02 -6.87570111e-01 7.24518801e-01 2.88422336e+02] [ 4.91804273e-02 7.26113340e-01 6.85813898e-01 -1.68374936e+02] [-9.97627905e-01 2.60004182e-03 6.87881096e-02 -3.90657601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.37, Z:-390.69 [[ 5.05489119e-02 -6.90587028e-01 7.21480675e-01 2.88424474e+02] [ 4.64402300e-02 7.23248094e-01 6.89025036e-01 -1.68372908e+02] [-9.97641275e-01 -1.32373734e-03 6.86304246e-02 -3.90685113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-168.37, Z:-390.71 [[ 5.29540020e-02 -6.93577250e-01 7.18433345e-01 2.88426845e+02] [ 4.37559651e-02 7.20363347e-01 6.92215331e-01 -1.68371484e+02] [-9.97637855e-01 -5.21982761e-03 6.84942640e-02 -3.90712656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-168.37, Z:-390.74 [[ 5.76133191e-02 -6.96389022e-01 7.15348192e-01 2.88428716e+02] [ 4.01493791e-02 7.17574913e-01 6.95323142e-01 -1.68368857e+02] [-9.97531319e-01 -1.13390883e-02 6.93014593e-02 -3.90740898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-168.37, Z:-390.77 [[ 5.96617725e-02 -6.99429236e-01 7.12207285e-01 2.88431699e+02] [ 3.89664657e-02 7.14566277e-01 6.98481675e-01 -1.68367118e+02] [-9.97457812e-01 -1.39204540e-02 6.98865760e-02 -3.90768468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-168.37, Z:-390.80 [[ 6.13244816e-02 -7.02518154e-01 7.09018724e-01 2.88434776e+02] [ 3.78202601e-02 7.11481066e-01 7.01686768e-01 -1.68365770e+02] [-9.97401091e-01 -1.62153047e-02 7.02006268e-02 -3.90796194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.36, Z:-390.82 [[ 6.46581023e-02 -7.05582835e-01 7.05671448e-01 2.88436619e+02] [ 3.63839279e-02 7.08347861e-01 7.04925186e-01 -1.68363847e+02] [-9.97243972e-01 -1.99040257e-02 7.14723035e-02 -3.90823284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.36, Z:-390.85 [[ 6.59289850e-02 -7.06912697e-01 7.04221420e-01 2.88438043e+02] [ 3.58243290e-02 7.06978840e-01 7.06326793e-01 -1.68362617e+02] [-9.97181020e-01 -2.13391487e-02 7.19350704e-02 -3.90849952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.36, Z:-390.88 [[ 6.69689668e-02 -7.08264890e-01 7.02763121e-01 2.88439654e+02] [ 3.61732079e-02 7.05604775e-01 7.07681708e-01 -1.68361410e+02] [-9.97099121e-01 -2.19715164e-02 7.28738359e-02 -3.90878129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.36, Z:-390.91 [[ 6.78399019e-02 -7.11353418e-01 6.99552759e-01 2.88443107e+02] [ 3.67240723e-02 7.02473361e-01 7.10761929e-01 -1.68360756e+02] [-9.97020105e-01 -2.25275934e-02 7.37795182e-02 -3.90905652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-168.36, Z:-390.93 [[ 6.84986057e-02 -7.14498014e-01 6.96276187e-01 2.88447004e+02] [ 3.82521090e-02 6.99283208e-01 7.13820545e-01 -1.68360590e+02] [-9.96917608e-01 -2.22616795e-02 7.52309806e-02 -3.90933542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-168.36, Z:-390.96 [[ 6.80173374e-02 -7.17811905e-01 6.92906711e-01 2.88451348e+02] [ 3.88869591e-02 6.95894777e-01 7.17090137e-01 -1.68360310e+02] [-9.96925998e-01 -2.18295269e-02 7.52464320e-02 -3.90960213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-168.36, Z:-390.99 [[ 6.75081117e-02 -7.19274725e-01 6.91438012e-01 2.88454704e+02] [ 3.96121846e-02 6.94404807e-01 7.18493451e-01 -1.68359758e+02] [-9.96932059e-01 -2.11147660e-02 7.53700005e-02 -3.90986715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-168.36, Z:-391.01 [[ 6.51078696e-02 -7.20845557e-01 6.90030904e-01 2.88459504e+02] [ 4.08501996e-02 6.92843811e-01 7.19929659e-01 -1.68359952e+02] [-9.97041738e-01 -1.86851862e-02 7.45562694e-02 -3.91013833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-168.36, Z:-391.04 [[ 6.34734214e-02 -7.23106399e-01 6.87814118e-01 2.88463739e+02] [ 4.18336621e-02 6.90525949e-01 7.22096849e-01 -1.68359619e+02] [-9.97106348e-01 -1.70601742e-02 7.40802333e-02 -3.91042151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-168.36, Z:-391.07 [[ 6.12274829e-02 -7.26485983e-01 6.84448181e-01 2.88470044e+02] [ 4.35122801e-02 6.87025569e-01 7.25329269e-01 -1.68360705e+02] [-9.97174948e-01 -1.46281845e-02 7.36759079e-02 -3.91070509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-168.36, Z:-391.10 [[ 5.99910256e-02 -7.29764638e-01 6.81061415e-01 2.88474842e+02] [ 4.43408280e-02 6.83565016e-01 7.28541529e-01 -1.68360662e+02] [-9.97213602e-01 -1.35071265e-02 7.33661346e-02 -3.91098704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.36, Z:-391.13 [[ 5.93544721e-02 -7.33003010e-01 6.77630898e-01 2.88479664e+02] [ 4.49107463e-02 6.80101174e-01 7.31741360e-01 -1.68360719e+02] [-9.97226189e-01 -1.29992127e-02 7.32867584e-02 -3.91125196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.36, Z:-391.15 [[ 5.85878265e-02 -7.34448189e-01 6.76131144e-01 2.88483500e+02] [ 4.59052789e-02 6.78560190e-01 7.33108979e-01 -1.68361370e+02] [-9.97226239e-01 -1.19132729e-02 7.34704156e-02 -3.91152466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-168.36, Z:-391.18 [[ 5.79234689e-02 -7.35850600e-01 6.74661964e-01 2.88486573e+02] [ 4.67017069e-02 6.77054019e-01 7.34450002e-01 -1.68361159e+02] [-9.97228069e-01 -1.10340265e-02 7.35827965e-02 -3.91179963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-168.36, Z:-391.21 [[ 5.74081443e-02 -7.39014153e-01 6.71239440e-01 2.88491303e+02] [ 4.76895019e-02 6.73610697e-01 7.37546162e-01 -1.68361173e+02] [-9.97211119e-01 -1.03300819e-02 7.39139569e-02 -3.91207762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-168.36, Z:-391.23 [[ 5.67612490e-02 -7.42167316e-01 6.67806735e-01 2.88496086e+02] [ 4.86085618e-02 6.70146202e-01 7.40635724e-01 -1.68361304e+02] [-9.97203775e-01 -9.57828376e-03 7.41140212e-02 -3.91234300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-168.36, Z:-391.26 [[ 5.59486551e-02 -7.43571629e-01 6.66311474e-01 2.88499435e+02] [ 4.96275864e-02 6.68602966e-01 7.41961708e-01 -1.68361247e+02] [-9.97199504e-01 -8.44432948e-03 7.43091020e-02 -3.91262324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-168.36, Z:-391.29 [[ 5.43203111e-02 -7.46765236e-01 6.62865738e-01 2.88505535e+02] [ 5.12426973e-02 6.65055928e-01 7.45033421e-01 -1.68362739e+02] [-9.97207847e-01 -6.50341889e-03 7.43923099e-02 -3.91288802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-168.36, Z:-391.32 [[ 5.33492026e-02 -7.48920145e-01 6.60509257e-01 2.88509782e+02] [ 5.24646662e-02 6.62639825e-01 7.47098334e-01 -1.68362573e+02] [-9.97196732e-01 -5.20370264e-03 7.46431517e-02 -3.91316562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-168.36, Z:-391.34 [[ 5.10065585e-02 -7.52080729e-01 6.57094292e-01 2.88516286e+02] [ 5.36170241e-02 6.59064020e-01 7.50173202e-01 -1.68363845e+02] [-9.97258014e-01 -3.03231278e-03 7.39409180e-02 -3.91343947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-168.36, Z:-391.37 [[ 4.99415891e-02 -7.54197773e-01 6.54745414e-01 2.88520624e+02] [ 5.45552132e-02 6.56644733e-01 7.52224317e-01 -1.68363638e+02] [-9.97261032e-01 -1.84750210e-03 7.39393018e-02 -3.91372359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.36, Z:-391.40 [[ 4.84489354e-02 -7.57217075e-01 6.51363955e-01 2.88525453e+02] [ 5.52667533e-02 6.53163038e-01 7.55197744e-01 -1.68363558e+02] [-9.97295486e-01 -5.89755720e-04 7.34939831e-02 -3.91400732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.36, Z:-391.43 [[ 4.63355840e-02 -7.60232718e-01 6.47996318e-01 2.88531216e+02] [ 5.60613031e-02 6.49649737e-01 7.58163802e-01 -1.68364860e+02] [-9.97351565e-01 1.19755553e-03 7.27215368e-02 -3.91427544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.36, Z:-391.45 [[ 4.58524482e-02 -7.61523615e-01 6.46513215e-01 2.88534698e+02] [ 5.65829775e-02 6.48134774e-01 7.59420622e-01 -1.68364622e+02] [-9.97344434e-01 1.76034791e-03 7.28078397e-02 -3.91454347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-168.36, Z:-391.48 [[ 4.51943179e-02 -7.62802360e-01 6.45050412e-01 2.88537387e+02] [ 5.71067081e-02 6.46627028e-01 7.60665702e-01 -1.68364658e+02] [-9.97344623e-01 2.45893797e-03 7.27849992e-02 -3.91480921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.36, Z:-391.51 [[ 5.47480565e-02 -7.85103125e-01 6.16940624e-01 2.88576534e+02] [ 6.31652924e-02 6.19352944e-01 7.82567618e-01 -1.68357118e+02] [-9.96500274e-01 -3.87482126e-03 8.34996384e-02 -3.91513892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-168.34, Z:-391.55 [[ 5.71681767e-02 -6.37645398e-01 7.68205797e-01 2.88453748e+02] [ 5.99974309e-02 7.70267752e-01 6.34892037e-01 -1.68342480e+02] [-9.96560138e-01 9.79475404e-03 8.22918887e-02 -3.91548953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-168.33, Z:-391.58 [[ 5.79592297e-02 -5.88637509e-01 8.06316694e-01 2.88421902e+02] [ 5.96962576e-02 8.08272680e-01 5.85774387e-01 -1.68334437e+02] [-9.96532531e-01 1.41830568e-02 8.19863182e-02 -3.91579211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-168.32, Z:-391.60 [[ 4.64599266e-02 -5.22242288e-01 8.51530662e-01 2.88359709e+02] [ 5.67253011e-02 8.52454931e-01 5.19714181e-01 -1.68322049e+02] [-9.97308235e-01 2.41574505e-02 6.92293445e-02 -3.91603210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-168.36, Z:-391.63 [[ 4.77811008e-02 -7.77539714e-01 6.27015917e-01 2.88572124e+02] [ 6.13698586e-02 6.28832179e-01 7.75115367e-01 -1.68360179e+02] [-9.96970765e-01 1.44401276e-03 7.77637960e-02 -3.91629156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2965599949999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.35, Z:-391.66 [[ 5.06639298e-02 -6.69344804e-01 7.41222436e-01 2.88483540e+02] [ 6.10741124e-02 7.42862985e-01 6.66651737e-01 -1.68348627e+02] [-9.96846588e-01 1.14943056e-02 7.85159979e-02 -3.91661194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-168.34, Z:-391.69 [[ 4.89678141e-02 -6.15817990e-01 7.86365282e-01 2.88440198e+02] [ 5.91015588e-02 7.87716731e-01 6.13196019e-01 -1.68341053e+02] [-9.97050229e-01 1.64485452e-02 7.49685696e-02 -3.91691065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-168.35, Z:-391.71 [[ 4.30267428e-02 -6.33782892e-01 7.72313372e-01 2.88445529e+02] [ 5.75778766e-02 7.73317475e-01 6.31399138e-01 -1.68345658e+02] [-9.97413399e-01 1.73011157e-02 6.97652052e-02 -3.91714916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.36, Z:-391.74 [[ 4.49888936e-02 -7.83010394e-01 6.20379498e-01 2.88581213e+02] [ 5.70828146e-02 6.22008556e-01 7.80926955e-01 -1.68359185e+02] [-9.97355279e-01 2.79968241e-04 7.26799139e-02 -3.91740934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.35, Z:-391.77 [[ 4.29041727e-02 -6.72272527e-01 7.39059457e-01 2.88476457e+02] [ 5.36213691e-02 7.40223886e-01 6.70218881e-01 -1.68349730e+02] [-9.97639204e-01 1.08741933e-02 6.78068667e-02 -3.91769000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.36, Z:-391.80 [[ 4.56219656e-02 -7.83213139e-01 6.20077266e-01 2.88581002e+02] [ 5.38235521e-02 6.21749157e-01 7.81364838e-01 -1.68358715e+02] [-9.97507725e-01 -2.27263871e-03 7.05207319e-02 -3.91797237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-168.35, Z:-391.83 [[ 4.60984566e-02 -6.91940451e-01 7.20481329e-01 2.88499866e+02] [ 5.29523133e-02 7.21926687e-01 6.89940513e-01 -1.68350139e+02] [-9.97532448e-01 6.34596022e-03 6.99195536e-02 -3.91829455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-168.35, Z:-391.86 [[ 4.60743444e-02 -6.90191562e-01 7.22158405e-01 2.88499243e+02] [ 5.25821022e-02 7.23599596e-01 6.88214173e-01 -1.68349028e+02] [-9.97553145e-01 6.26359026e-03 6.96311002e-02 -3.91857906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-168.35, Z:-391.89 [[ 4.59992575e-02 -6.90853553e-01 7.21529928e-01 2.88500072e+02] [ 5.16586442e-02 7.22973170e-01 6.88942073e-01 -1.68349225e+02] [-9.97604858e-01 5.58243398e-03 6.89447869e-02 -3.91885060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-168.35, Z:-391.91 [[ 4.59181486e-02 -7.10021682e-01 7.02681105e-01 2.88517774e+02] [ 5.15485467e-02 7.04170068e-01 7.08157654e-01 -1.68351237e+02] [-9.97614290e-01 3.70490132e-03 6.89347717e-02 -3.91913867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.35, Z:-391.94 [[ 4.91977973e-02 -7.17117348e-01 6.95213842e-01 2.88528216e+02] [ 5.12773920e-02 6.96952293e-01 7.15281854e-01 -1.68348581e+02] [-9.97471907e-01 4.58460995e-04 7.10604250e-02 -3.91943207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-168.34, Z:-391.97 [[ 4.89396386e-02 -6.71631170e-01 7.39267532e-01 2.88490950e+02] [ 5.05898687e-02 7.40871246e-01 6.69739101e-01 -1.68341544e+02] [-9.97519713e-01 4.62265779e-03 7.02357037e-02 -3.91973689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-168.34, Z:-392.00 [[ 5.03944769e-02 -6.68354291e-01 7.42134044e-01 2.88489676e+02] [ 5.00453330e-02 7.43834604e-01 6.66487469e-01 -1.68338556e+02] [-9.97474742e-01 3.55305799e-03 7.09331688e-02 -3.92000399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-168.34, Z:-392.03 [[ 4.48033982e-02 -6.74399038e-01 7.37006508e-01 2.88485539e+02] [ 4.71565453e-02 7.38352668e-01 6.72764148e-01 -1.68339892e+02] [-9.97882215e-01 4.61256076e-03 6.48830374e-02 -3.92025530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.34, Z:-392.06 [[ 5.16547065e-02 -8.20839028e-01 5.68819023e-01 2.88629373e+02] [ 5.19146804e-02 5.71016371e-01 8.19295533e-01 -1.68344257e+02] [-9.97314723e-01 -1.27904125e-02 7.21092789e-02 -3.92057572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.34, Z:-392.09 [[ 5.44510529e-02 -7.18951747e-01 6.92923855e-01 2.88532589e+02] [ 4.88932897e-02 6.95040694e-01 7.17305988e-01 -1.68337268e+02] [-9.97318670e-01 -5.17873948e-03 7.29976137e-02 -3.92094629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-168.33, Z:-392.13 [[ 5.46777627e-02 -6.72896771e-01 7.37712870e-01 2.88494364e+02] [ 4.73997963e-02 7.39734364e-01 6.71227480e-01 -1.68329609e+02] [-9.97378364e-01 -1.73377713e-03 7.23421899e-02 -3.92127737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.33, Z:-392.16 [[ 5.46141825e-02 -6.55380512e-01 7.53321761e-01 2.88479634e+02] [ 4.75417879e-02 7.55298862e-01 6.53653889e-01 -1.68325424e+02] [-9.97375090e-01 1.15490591e-04 7.24079912e-02 -3.92159087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-168.33, Z:-392.18 [[ 4.77074221e-02 -6.64403182e-01 7.45850128e-01 2.88477153e+02] [ 4.47860565e-02 7.47372229e-01 6.62894381e-01 -1.68329132e+02] [-9.97856809e-01 1.77870398e-03 6.54112008e-02 -3.92184198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.34, Z:-392.21 [[ 4.96678729e-02 -8.10652791e-01 5.83416793e-01 2.88615177e+02] [ 4.94381214e-02 5.85417154e-01 8.09223472e-01 -1.68339238e+02] [-9.97541465e-01 -1.13493783e-02 6.91535758e-02 -3.92211649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.34, Z:-392.24 [[ 4.55529903e-02 -7.29546781e-01 6.82412206e-01 2.88534070e+02] [ 4.77245987e-02 6.83930655e-01 7.27984355e-01 -1.68335025e+02] [-9.97821271e-01 -5.94015576e-04 6.59724139e-02 -3.92241219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-168.34, Z:-392.27 [[ 4.52977314e-02 -8.03592948e-01 5.93453022e-01 2.88604054e+02] [ 4.90992271e-02 5.95135772e-01 8.02123855e-01 -1.68338475e+02] [-9.97766196e-01 -7.19630627e-03 6.64140930e-02 -3.92266649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.34, Z:-392.30 [[ 4.48987077e-02 -7.83928250e-01 6.19225811e-01 2.88584586e+02] [ 4.99424708e-02 6.20837219e-01 7.82347044e-01 -1.68336431e+02] [-9.97742379e-01 -4.20070431e-03 6.70261025e-02 -3.92295304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.34, Z:-392.33 [[ 4.45492529e-02 -8.13442356e-01 5.79936977e-01 2.88615080e+02] [ 5.04477006e-02 5.81604453e-01 8.11905961e-01 -1.68335317e+02] [-9.97732626e-01 -6.91331703e-03 6.69463403e-02 -3.92325518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.33, Z:-392.36 [[ 4.81102746e-02 -8.24001616e-01 5.64541176e-01 2.88631530e+02] [ 5.27480004e-02 5.66502931e-01 8.22369794e-01 -1.68332429e+02] [-9.97448269e-01 -9.78601840e-03 7.07190492e-02 -3.92358334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.33, Z:-392.39 [[ 4.47492363e-02 -7.76928080e-01 6.27997025e-01 2.88581423e+02] [ 4.80724482e-02 6.29573192e-01 7.75452536e-01 -1.68332907e+02] [-9.97840942e-01 -4.51155430e-03 6.55217545e-02 -3.92391085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-168.33, Z:-392.42 [[ 4.78671035e-02 -8.26077206e-01 5.61520427e-01 2.88635609e+02] [ 4.96633561e-02 5.63437826e-01 8.24664397e-01 -1.68330194e+02] [-9.97618310e-01 -1.15873071e-02 6.79959032e-02 -3.92420258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.33, Z:-392.45 [[ 4.91913948e-02 -8.36196923e-01 5.46218741e-01 2.88649730e+02] [ 4.78790238e-02 5.48226312e-01 8.34958388e-01 -1.68328309e+02] [-9.97641121e-01 -1.49203476e-02 6.70043093e-02 -3.92454058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-168.33, Z:-392.49 [[ 4.68832426e-02 -7.65088926e-01 6.42215616e-01 2.88573612e+02] [ 4.27612602e-02 6.43870443e-01 7.63938694e-01 -1.68329620e+02] [-9.97984687e-01 -8.35397408e-03 6.29029008e-02 -3.92487390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-168.33, Z:-392.51 [[ 4.86225820e-02 -8.24456308e-01 5.63832991e-01 2.88637712e+02] [ 4.12569752e-02 5.65676692e-01 8.23594404e-01 -1.68327034e+02] [-9.97964782e-01 -1.67832427e-02 6.15192348e-02 -3.92512326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.33, Z:-392.54 [[ 4.88350246e-02 -8.14685638e-01 5.77842930e-01 2.88625028e+02] [ 4.13248429e-02 5.79685863e-01 8.13791471e-01 -1.68328393e+02] [-9.97951601e-01 -1.58622582e-02 6.19757294e-02 -3.92541926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.33, Z:-392.57 [[ 5.15269811e-02 -8.13367868e-01 5.79463270e-01 2.88624788e+02] [ 4.00961973e-02 5.81451119e-01 8.12592697e-01 -1.68325817e+02] [-9.97866356e-01 -1.86361749e-02 6.25733794e-02 -3.92574324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.32, Z:-392.61 [[ 5.29527099e-02 -8.06863380e-01 5.88360006e-01 2.88618139e+02] [ 3.95770659e-02 5.90419418e-01 8.06125652e-01 -1.68324795e+02] [-9.97812441e-01 -1.94009751e-02 6.31975933e-02 -3.92606381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-168.32, Z:-392.64 [[ 5.54845919e-02 -7.88079067e-01 6.13068384e-01 2.88601701e+02] [ 3.80869094e-02 6.15237900e-01 7.87420925e-01 -1.68321161e+02] [-9.97732854e-01 -2.03398487e-02 6.41517198e-02 -3.92639448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3165599949999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:288.59, Y:-168.32, Z:-392.67 [[ 5.70361954e-02 -7.74217161e-01 6.30344874e-01 2.88586387e+02] [ 3.54774648e-02 6.32545658e-01 7.73710114e-01 -1.68319912e+02] [-9.97741561e-01 -2.17664432e-02 6.35452598e-02 -3.92668075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-168.32, Z:-392.70 [[ 5.77253794e-02 -7.74195024e-01 6.30309325e-01 2.88587286e+02] [ 3.58342324e-02 6.32562083e-01 7.73680244e-01 -1.68317423e+02] [-9.97689174e-01 -2.20743347e-02 6.42575707e-02 -3.92695830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.32, Z:-392.73 [[ 5.91411513e-02 -8.03705339e-01 5.92081120e-01 2.88617544e+02] [ 3.66744717e-02 5.94468217e-01 8.03282343e-01 -1.68316495e+02] [-9.97575715e-01 -2.57927803e-02 6.46330035e-02 -3.92726841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.32, Z:-392.76 [[ 5.79814518e-02 -8.16138194e-01 5.74940518e-01 2.88629635e+02] [ 3.56935349e-02 5.77235923e-01 8.15796948e-01 -1.68316627e+02] [-9.97679369e-01 -2.67794320e-02 6.25998339e-02 -3.92756040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-168.31, Z:-392.79 [[ 5.93920682e-02 -7.80634955e-01 6.22158862e-01 2.88595266e+02] [ 3.63714474e-02 6.24537512e-01 7.80147431e-01 -1.68313397e+02] [-9.97571902e-01 -2.37057511e-02 6.54853977e-02 -3.92785099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.31, Z:-392.82 [[ 5.99888851e-02 -8.09310918e-01 5.84309140e-01 2.88626812e+02] [ 3.93464285e-02 5.86825582e-01 8.08756820e-01 -1.68311203e+02] [-9.97423276e-01 -2.55259422e-02 6.70465066e-02 -3.92817278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.496559995 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.31, Z:-392.85 [[ 5.98360232e-02 -7.99212594e-01 5.98062606e-01 2.88617677e+02] [ 3.96849614e-02 6.00567076e-01 7.98588937e-01 -1.68310549e+02] [-9.97419046e-01 -2.40502948e-02 6.76522665e-02 -3.92846917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.31, Z:-392.88 [[ 5.72968332e-02 -7.56930874e-01 6.50978283e-01 2.88578044e+02] [ 3.77484771e-02 6.53225747e-01 7.56221645e-01 -1.68307820e+02] [-9.97643286e-01 -1.87556666e-02 6.60007545e-02 -3.92875426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.31, Z:-392.90 [[ 5.72462905e-02 -8.02922385e-01 5.93328329e-01 2.88624477e+02] [ 3.94760041e-02 5.95658617e-01 8.02267074e-01 -1.68308554e+02] [-9.97579324e-01 -2.25045824e-02 6.57954136e-02 -3.92900753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.31, Z:-392.93 [[ 5.63036360e-02 -8.09806479e-01 5.83989184e-01 2.88633127e+02] [ 4.15637798e-02 5.86311109e-01 8.09018996e-01 -1.68307586e+02] [-9.97548171e-01 -2.12779132e-02 6.66700655e-02 -3.92930175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.31, Z:-392.96 [[ 5.06090755e-02 -7.61391193e-01 6.46314299e-01 2.88581546e+02] [ 4.03688524e-02 6.48174251e-01 7.60421263e-01 -1.68305643e+02] [-9.97902339e-01 -1.23932505e-02 6.35399882e-02 -3.92956641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.29, Z:-392.98 [[ 5.36812008e-02 -9.10675370e-01 4.09620188e-01 2.88756277e+02] [ 4.61495432e-02 4.12035928e-01 9.09998139e-01 -1.68292479e+02] [-9.97491127e-01 -2.99460082e-02 6.41458358e-02 -3.92984188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-168.30, Z:-393.02 [[ 5.14511130e-02 -8.52841222e-01 5.19629323e-01 2.88681695e+02] [ 4.40263373e-02 5.21749608e-01 8.51961870e-01 -1.68302142e+02] [-9.97704598e-01 -2.09570107e-02 6.43920734e-02 -3.93019925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-168.30, Z:-393.05 [[ 5.21444639e-02 -8.73340583e-01 4.84311037e-01 2.88710288e+02] [ 4.58527535e-02 4.86553157e-01 8.72446875e-01 -1.68296932e+02] [-9.97586327e-01 -2.32862800e-02 6.54161241e-02 -3.93051496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-168.30, Z:-393.09 [[ 5.20414096e-02 -8.46244783e-01 5.30246602e-01 2.88682323e+02] [ 4.49423979e-02 5.32412771e-01 8.45290969e-01 -1.68298192e+02] [-9.97633135e-01 -2.01595797e-02 6.57397808e-02 -3.93085791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.30, Z:-393.11 [[ 4.96794525e-02 -8.01573205e-01 5.95829128e-01 2.88633095e+02] [ 4.56092745e-02 5.97764143e-01 8.00373553e-01 -1.68297992e+02] [-9.97723281e-01 -1.25867856e-02 6.62557677e-02 -3.93114545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-168.30, Z:-393.14 [[ 5.05142911e-02 -8.32002457e-01 5.52467391e-01 2.88668372e+02] [ 4.48367864e-02 5.54505092e-01 8.30971579e-01 -1.68296251e+02] [-9.97716377e-01 -1.72050779e-02 6.53147481e-02 -3.93141527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.30, Z:-393.17 [[ 4.60592703e-02 -8.00628487e-01 5.97388123e-01 2.88630505e+02] [ 4.38787648e-02 5.99067126e-01 7.99495612e-01 -1.68297101e+02] [-9.97974548e-01 -1.06115316e-02 6.27231838e-02 -3.93172186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.28, Z:-393.20 [[ 4.88100441e-02 -9.01587633e-01 4.29834062e-01 2.88752261e+02] [ 4.67506880e-02 4.31937579e-01 9.00691013e-01 -1.68284544e+02] [-9.97713362e-01 -2.38677300e-02 6.32327344e-02 -3.93200007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-168.29, Z:-393.23 [[ 4.79730803e-02 -8.52779798e-01 5.20062688e-01 2.88688965e+02] [ 4.57118245e-02 5.21991049e-01 8.51725175e-01 -1.68292424e+02] [-9.97802091e-01 -1.70868659e-02 6.40236390e-02 -3.93234564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.29, Z:-393.27 [[ 4.90207757e-02 -8.82710504e-01 4.67353325e-01 2.88727493e+02] [ 4.72165207e-02 4.69440772e-01 8.81700608e-01 -1.68286191e+02] [-9.97681093e-01 -2.11548498e-02 6.46908696e-02 -3.93265055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-168.29, Z:-393.30 [[ 4.98197054e-02 -8.64714310e-01 4.99787113e-01 2.88704510e+02] [ 4.73719089e-02 5.01891161e-01 8.63632541e-01 -1.68288133e+02] [-9.97634151e-01 -1.93500492e-02 6.59672373e-02 -3.93297986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-168.29, Z:-393.33 [[ 4.89180082e-02 -8.71312738e-01 4.88283874e-01 2.88711107e+02] [ 4.65193123e-02 4.90326168e-01 8.70296617e-01 -1.68287697e+02] [-9.97718889e-01 -1.98585471e-02 6.45186489e-02 -3.93329441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-168.27, Z:-393.36 [[ 5.62586572e-02 -9.30936848e-01 3.60820660e-01 2.88805390e+02] [ 5.20906645e-02 3.63637644e-01 9.30082914e-01 -1.68265388e+02] [-9.97056431e-01 -3.35298278e-02 6.89508846e-02 -3.93360832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.28, Z:-393.39 [[ 5.28074119e-02 -7.90544492e-01 6.10123581e-01 2.88627772e+02] [ 4.50882361e-02 6.12240515e-01 7.89384952e-01 -1.68284200e+02] [-9.97586301e-01 -1.41759802e-02 6.79750938e-02 -3.93392174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-168.28, Z:-393.42 [[ 5.66273050e-02 -8.64671037e-01 4.99136600e-01 2.88713931e+02] [ 5.12455715e-02 5.01797075e-01 8.63466031e-01 -1.68277588e+02] [-9.97079355e-01 -2.33172140e-02 7.27259774e-02 -3.93422665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.28, Z:-393.46 [[ 5.63926496e-02 -8.09027488e-01 5.85059308e-01 2.88653049e+02] [ 4.97002918e-02 5.87540041e-01 8.07667370e-01 -1.68278895e+02] [-9.97170873e-01 -1.64688847e-02 7.33418419e-02 -3.93457029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.28, Z:-393.49 [[ 5.53422778e-02 -8.04118763e-01 5.91887022e-01 2.88649314e+02] [ 4.90238067e-02 5.94268902e-01 8.02770913e-01 -1.68277718e+02] [-9.97263204e-01 -1.54106159e-02 7.23091575e-02 -3.93489624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-168.28, Z:-393.52 [[ 5.02129191e-02 -7.93400267e-01 6.06625650e-01 2.88635805e+02] [ 4.77667621e-02 6.08604559e-01 7.92034612e-01 -1.68278088e+02] [-9.97595609e-01 -1.07938268e-02 6.84579734e-02 -3.93519688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-168.28, Z:-393.55 [[ 4.71076236e-02 -8.51773157e-01 5.21788618e-01 2.88696944e+02] [ 4.75932904e-02 5.23689203e-01 8.50578919e-01 -1.68277468e+02] [-9.97755356e-01 -1.52351144e-02 6.52084410e-02 -3.93548624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.27, Z:-393.58 [[ 4.82204020e-02 -9.07019379e-01 4.18318825e-01 2.88772717e+02] [ 4.99801661e-02 4.20472443e-01 9.05927650e-01 -1.68265047e+02] [-9.97585473e-01 -2.27765511e-02 6.56083294e-02 -3.93577874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-168.27, Z:-393.61 [[ 5.09235115e-02 -8.51614213e-01 5.21689590e-01 2.88707522e+02] [ 5.18507345e-02 5.23917306e-01 8.50189483e-01 -1.68269517e+02] [-9.97355652e-01 -1.62446455e-02 7.08365314e-02 -3.93614338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-168.27, Z:-393.65 [[ 4.96544589e-02 -8.08837960e-01 5.85931387e-01 2.88662015e+02] [ 5.13171359e-02 5.87946281e-01 8.07270538e-01 -1.68270182e+02] [-9.97447235e-01 -1.00162612e-02 7.07014019e-02 -3.93649175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-168.27, Z:-393.68 [[ 4.74650657e-02 -8.03781387e-01 5.93028287e-01 2.88655662e+02] [ 4.98424662e-02 5.94863726e-01 8.02279799e-01 -1.68270349e+02] [-9.97628586e-01 -8.52227104e-03 6.82976925e-02 -3.93680726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-168.27, Z:-393.71 [[ 4.65425489e-02 -8.30000291e-01 5.55817693e-01 2.88684433e+02] [ 4.87493759e-02 5.57644976e-01 8.28646836e-01 -1.68268995e+02] [-9.97726059e-01 -1.14715703e-02 6.64162148e-02 -3.93710012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-168.27, Z:-393.74 [[ 4.55733544e-02 -8.28851333e-01 5.57609665e-01 2.88682050e+02] [ 4.78436466e-02 5.59360062e-01 8.27542933e-01 -1.68269263e+02] [-9.97814640e-01 -1.10358276e-02 6.51471846e-02 -3.93738587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.26, Z:-393.77 [[ 5.21763095e-02 -8.61420063e-01 5.05206005e-01 2.88727213e+02] [ 4.98355311e-02 5.07510776e-01 8.60203018e-01 -1.68261928e+02] [-9.97393630e-01 -1.97050092e-02 6.94093657e-02 -3.93768127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-168.26, Z:-393.80 [[ 4.73143387e-02 -7.41750659e-01 6.69004719e-01 2.88593598e+02] [ 4.60602020e-02 6.70662511e-01 7.40331179e-01 -1.68262387e+02] [-9.97817524e-01 -4.21378762e-03 6.58971384e-02 -3.93801641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.25, Z:-393.82 [[ 4.98811179e-02 -9.23838305e-01 3.79518987e-01 2.88804090e+02] [ 4.72359348e-02 3.81748954e-01 9.23058234e-01 -1.68251688e+02] [-9.97637530e-01 -2.81162425e-02 6.26804305e-02 -3.93821864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.26, Z:-393.86 [[ 5.96183302e-02 -8.70267038e-01 4.88959035e-01 2.88739295e+02] [ 4.94469004e-02 4.91803649e-01 8.69300969e-01 -1.68256087e+02] [-9.96995817e-01 -2.76487635e-02 7.23525199e-02 -3.93856335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.26, Z:-393.89 [[ 6.08714972e-02 -7.54375968e-01 6.53614229e-01 2.88616815e+02] [ 4.53275116e-02 6.56242166e-01 7.53187650e-01 -1.68255317e+02] [-9.97115880e-01 -1.62209534e-02 7.41404286e-02 -3.93890117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-168.25, Z:-393.92 [[ 6.06917694e-02 -7.57161213e-01 6.50402496e-01 2.88620560e+02] [ 4.55751045e-02 6.53026191e-01 7.55962766e-01 -1.68254086e+02] [-9.97115550e-01 -1.62385561e-02 7.41410164e-02 -3.93918534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-168.25, Z:-393.95 [[ 5.71292607e-02 -7.45589301e-01 6.63952440e-01 2.88602195e+02] [ 4.16294083e-02 6.66239200e-01 7.44575262e-01 -1.68253543e+02] [-9.97498491e-01 -1.48970870e-02 6.91001944e-02 -3.93948420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.24, Z:-393.97 [[ 6.50064503e-02 -8.96420385e-01 4.38411513e-01 2.88777370e+02] [ 4.93646536e-02 4.41691718e-01 8.95807768e-01 -1.68242731e+02] [-9.96663079e-01 -3.65912507e-02 7.29642925e-02 -3.93973861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-168.25, Z:-394.01 [[ 5.99892254e-02 -7.47368521e-01 6.61695993e-01 2.88608404e+02] [ 4.14970525e-02 6.64183983e-01 7.46416527e-01 -1.68248454e+02] [-9.97336096e-01 -1.73185160e-02 7.08574734e-02 -3.94011942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-168.25, Z:-394.04 [[ 6.07168221e-02 -8.43948886e-01 5.32976308e-01 2.88709079e+02] [ 4.52495495e-02 5.35739748e-01 8.43169853e-01 -1.68248546e+02] [-9.97128851e-01 -2.70776561e-02 7.07167218e-02 -3.94040553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-168.25, Z:-394.07 [[ 6.11259151e-02 -8.24188492e-01 5.63007062e-01 2.88690997e+02] [ 4.56085202e-02 5.65778993e-01 8.23294598e-01 -1.68245914e+02] [-9.97087501e-01 -2.46467168e-02 7.21737762e-02 -3.94074770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-168.24, Z:-394.11 [[ 5.95908304e-02 -8.00613510e-01 5.96210484e-01 2.88668032e+02] [ 4.51480857e-02 5.98822353e-01 7.99608304e-01 -1.68243596e+02] [-9.97201376e-01 -2.07315608e-02 7.18304887e-02 -3.94107621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-168.24, Z:-394.14 [[ 6.08397198e-02 -8.12463967e-01 5.79828278e-01 2.88685233e+02] [ 4.69366489e-02 5.82590464e-01 8.11409454e-01 -1.68239835e+02] [-9.97043369e-01 -2.21507276e-02 7.35789765e-02 -3.94140733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.24, Z:-394.17 [[ 5.74056029e-02 -7.72536760e-01 6.32369790e-01 2.88646756e+02] [ 4.74926823e-02 6.34810377e-01 7.71206995e-01 -1.68236036e+02] [-9.97220659e-01 -1.42386650e-02 7.31315154e-02 -3.94173528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-168.24, Z:-394.21 [[ 5.69898210e-02 -7.81628879e-01 6.21134813e-01 2.88657787e+02] [ 4.78110169e-02 6.23568820e-01 7.80305090e-01 -1.68236092e+02] [-9.97229295e-01 -1.47723604e-02 7.29075469e-02 -3.94206522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.23, Z:-394.24 [[ 5.54740652e-02 -7.45769786e-01 6.63890092e-01 2.88627444e+02] [ 5.03536675e-02 6.66157498e-01 7.44109331e-01 -1.68229662e+02] [-9.97189619e-01 -7.84946855e-03 7.45067083e-02 -3.94236205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.876559995 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:288.61, Y:-168.23, Z:-394.27 [[ 5.37052807e-02 -7.29280697e-01 6.82103664e-01 2.88613951e+02] [ 5.09661179e-02 6.84201078e-01 7.27510371e-01 -1.68226404e+02] [-9.97255332e-01 -4.30697288e-03 7.39138169e-02 -3.94265976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-168.22, Z:-394.29 [[ 5.19852175e-02 -7.22369231e-01 6.89550746e-01 2.88607552e+02] [ 5.17975777e-02 6.91505365e-01 7.20511861e-01 -1.68224998e+02] [-9.97303639e-01 -1.73890751e-03 7.33650332e-02 -3.94293426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.22, Z:-394.32 [[ 5.60321465e-02 -7.59483092e-01 6.48109429e-01 2.88648453e+02] [ 5.61172897e-02 6.50498720e-01 7.57431360e-01 -1.68221917e+02] [-9.96850665e-01 -6.07036030e-03 7.90689722e-02 -3.94320826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.21, Z:-394.35 [[ 5.90086879e-02 -7.33008162e-01 6.77655524e-01 2.88628267e+02] [ 6.00670005e-02 6.80215595e-01 7.30546850e-01 -1.68214240e+02] [-9.96448659e-01 -2.40387634e-03 8.41682314e-02 -3.94348910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-168.21, Z:-394.38 [[ 4.99188216e-02 -6.68525426e-01 7.42012039e-01 2.88560805e+02] [ 5.41380688e-02 7.43657212e-01 6.66365530e-01 -1.68213376e+02] [-9.97284905e-01 6.90691681e-03 7.33151672e-02 -3.94379428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.22, Z:-394.40 [[ 5.11413508e-02 -7.68116777e-01 6.38264192e-01 2.88652229e+02] [ 5.70088948e-02 6.40303713e-01 7.66003356e-01 -1.68221251e+02] [-9.97062961e-01 -2.78771018e-03 7.65354853e-02 -3.94404548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0565599949999 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:288.63, Y:-168.22, Z:-394.43 [[ 5.12983260e-02 -7.39626238e-01 6.71059990e-01 2.88627523e+02] [ 5.74290920e-02 6.73017476e-01 7.37393638e-01 -1.68216156e+02] [-9.97030783e-01 7.11306729e-04 7.70007331e-02 -3.94433227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-168.21, Z:-394.46 [[ 4.70693621e-02 -7.00816819e-01 7.11786668e-01 2.88587876e+02] [ 5.67441149e-02 7.13301759e-01 6.98556159e-01 -1.68211531e+02] [-9.97278587e-01 7.50911165e-03 7.33418889e-02 -3.94462423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-168.22, Z:-394.49 [[ 4.53610473e-02 -7.63930017e-01 6.43702808e-01 2.88644044e+02] [ 5.83235568e-02 6.45292168e-01 7.61706230e-01 -1.68216448e+02] [-9.97266633e-01 2.99124496e-03 7.38262443e-02 -3.94488682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.21, Z:-394.52 [[ 4.34657990e-02 -7.66947373e-01 6.40236247e-01 2.88648024e+02] [ 6.00701633e-02 6.41688733e-01 7.64609146e-01 -1.68213758e+02] [-9.97247361e-01 5.22474847e-03 7.39621674e-02 -3.94516437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1765599949999 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:288.68, Y:-168.21, Z:-394.54 [[ 4.53609771e-02 -7.91182034e-01 6.09896197e-01 2.88678730e+02] [ 6.22443966e-02 6.11576827e-01 7.88732794e-01 -1.68208675e+02] [-9.97029597e-01 2.18493051e-03 7.69883707e-02 -3.94544110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-168.20, Z:-394.57 [[ 4.71942203e-02 -7.52206526e-01 6.57235154e-01 2.88646079e+02] [ 6.35348563e-02 6.58896500e-01 7.49545679e-01 -1.68202395e+02] [-9.96863094e-01 6.38311711e-03 7.88874401e-02 -3.94571611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-168.20, Z:-394.60 [[ 4.80177042e-02 -6.89478854e-01 7.22712398e-01 2.88593837e+02] [ 6.07304890e-02 7.24223671e-01 6.86885640e-01 -1.68195224e+02] [-9.96998550e-01 1.09080058e-02 7.66479459e-02 -3.94603390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-168.19, Z:-394.63 [[ 4.90394198e-02 -6.39960468e-01 7.66841401e-01 2.88553513e+02] [ 5.87875955e-02 7.68283495e-01 6.37404494e-01 -1.68185403e+02] [-9.97065271e-01 1.38228156e-02 7.52979140e-02 -3.94633999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.18, Z:-394.66 [[ 4.81510009e-02 -6.11588860e-01 7.89709154e-01 2.88527444e+02] [ 5.52027136e-02 7.91047272e-01 6.09259283e-01 -1.68179140e+02] [-9.97313462e-01 1.42576439e-02 7.18510826e-02 -3.94663859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-168.18, Z:-394.69 [[ 4.65565929e-02 -6.18978030e-01 7.84027220e-01 2.88530460e+02] [ 5.41986246e-02 7.85287420e-01 6.16754552e-01 -1.68178667e+02] [-9.97444230e-01 1.37792063e-02 7.01080646e-02 -3.94691475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-168.18, Z:-394.72 [[ 4.64273234e-02 -6.60702843e-01 7.49210423e-01 2.88561670e+02] [ 5.42917573e-02 7.50579586e-01 6.58545891e-01 -1.68183724e+02] [-9.97445191e-01 1.01014273e-02 7.07181195e-02 -3.94718990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-168.18, Z:-394.75 [[ 4.52620501e-02 -6.74209927e-01 7.37151491e-01 2.88572104e+02] [ 5.44375690e-02 7.38475936e-01 6.72078748e-01 -1.68184972e+02] [-9.97490801e-01 9.70907327e-03 7.01272842e-02 -3.94747014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-168.19, Z:-394.78 [[ 4.37322522e-02 -6.76442849e-01 7.35195595e-01 2.88571141e+02] [ 5.11684021e-02 7.36450374e-01 6.74553660e-01 -1.68185543e+02] [-9.97732071e-01 8.11903299e-03 6.68191332e-02 -3.94776515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-168.19, Z:-394.80 [[ 4.29216568e-02 -6.88521912e-01 7.23944272e-01 2.88578585e+02] [ 4.91911328e-02 7.25189601e-01 6.86789833e-01 -1.68186306e+02] [-9.97866707e-01 6.13348134e-03 6.49955119e-02 -3.94804040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-168.19, Z:-394.83 [[ 3.92849604e-02 -6.91663217e-01 7.21150946e-01 2.88568910e+02] [ 4.41931431e-02 7.22204545e-01 6.90266297e-01 -1.68188029e+02] [-9.98250298e-01 4.75284272e-03 5.89385485e-02 -3.94830262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-168.20, Z:-394.86 [[ 3.89869762e-02 -8.57699154e-01 5.12671608e-01 2.88723621e+02] [ 4.69049287e-02 5.14066968e-01 8.56466626e-01 -1.68197378e+02] [-9.98138239e-01 -9.34421875e-03 6.02722343e-02 -3.94855463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.20, Z:-394.88 [[ 4.05812087e-02 -8.60718276e-01 5.07461540e-01 2.88725625e+02] [ 4.62349779e-02 5.08953487e-01 8.59551438e-01 -1.68195167e+02] [-9.98105953e-01 -1.14191632e-02 6.04492382e-02 -3.94882048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.19, Z:-394.91 [[ 4.40762961e-02 -8.61878171e-01 5.05196297e-01 2.88725288e+02] [ 4.44092137e-02 5.06878189e-01 8.60873001e-01 -1.68192559e+02] [-9.98040631e-01 -1.55087229e-02 6.06166450e-02 -3.94910278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.19, Z:-394.94 [[ 4.53991504e-02 -8.64893057e-01 4.99898907e-01 2.88728546e+02] [ 4.38363843e-02 5.01657649e-01 8.63954845e-01 -1.68190561e+02] [-9.98006658e-01 -1.73090554e-02 6.06886154e-02 -3.94936854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.19, Z:-394.96 [[ 4.67660837e-02 -8.66153044e-01 4.97586011e-01 2.88730098e+02] [ 4.37000987e-02 4.99428143e-01 8.65252467e-01 -1.68188670e+02] [-9.97949515e-01 -1.87199115e-02 6.12072718e-02 -3.94964746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.19, Z:-394.99 [[ 4.74793685e-02 -8.69180400e-01 4.92210465e-01 2.88733495e+02] [ 4.35892201e-02 4.94099693e-01 8.68311852e-01 -1.68186065e+02] [-9.97920683e-01 -1.97718282e-02 6.13464372e-02 -3.94993011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.18, Z:-395.02 [[ 4.99722494e-02 -8.71761275e-01 4.87375680e-01 2.88734984e+02] [ 4.31320050e-02 4.89413802e-01 8.70984363e-01 -1.68184281e+02] [-9.97818824e-01 -2.25035576e-02 6.20579202e-02 -3.95022746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.18, Z:-395.05 [[ 5.07214298e-02 -8.71874821e-01 4.87095097e-01 2.88734120e+02] [ 4.35491599e-02 4.89189800e-01 8.71089439e-01 -1.68183132e+02] [-9.97762901e-01 -2.29703196e-02 6.27818221e-02 -3.95049502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-168.18, Z:-395.08 [[ 5.17618769e-02 -8.73364622e-01 4.84308730e-01 2.88734155e+02] [ 4.41727993e-02 4.86486485e-01 8.72570722e-01 -1.68181614e+02] [-9.97682050e-01 -2.37726260e-02 6.37604137e-02 -3.95077889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.18, Z:-395.11 [[ 5.08729833e-02 -8.89319934e-01 4.54446910e-01 2.88754062e+02] [ 4.51132715e-02 4.56617964e-01 8.88518333e-01 -1.68178162e+02] [-9.97685688e-01 -2.46999915e-02 6.33496497e-02 -3.95106751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.18, Z:-395.14 [[ 4.92490807e-02 -8.73826809e-01 4.83736743e-01 2.88735334e+02] [ 4.52380469e-02 4.85778977e-01 8.72910250e-01 -1.68177247e+02] [-9.97761518e-01 -2.11067219e-02 6.34543862e-02 -3.95137805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.18, Z:-395.17 [[ 4.73446325e-02 -8.80026988e-01 4.72557918e-01 2.88742570e+02] [ 4.56721377e-02 4.74500831e-01 8.79069404e-01 -1.68175626e+02] [-9.97833925e-01 -2.00364876e-02 6.26577813e-02 -3.95167230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.17, Z:-395.20 [[ 4.72966306e-02 -8.85388376e-01 4.62439674e-01 2.88749806e+02] [ 4.60049467e-02 4.64397319e-01 8.84431272e-01 -1.68173789e+02] [-9.97820913e-01 -2.05561066e-02 6.26966735e-02 -3.95197219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.17, Z:-395.23 [[ 4.75598986e-02 -8.86536520e-01 4.60207621e-01 2.88752811e+02] [ 4.72468540e-02 4.62209911e-01 8.85511001e-01 -1.68171217e+02] [-9.97750365e-01 -2.03714511e-02 6.38687180e-02 -3.95225294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.17, Z:-395.25 [[ 4.73912213e-02 -8.81887635e-01 4.69071713e-01 2.88747623e+02] [ 4.71119029e-02 4.71050158e-01 8.80847443e-01 -1.68170535e+02] [-9.97764772e-01 -1.96455751e-02 6.38710468e-02 -3.95253977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.17, Z:-395.28 [[ 4.55660128e-02 -8.84598926e-01 4.64121189e-01 2.88751823e+02] [ 4.80927327e-02 4.66007573e-01 8.83472711e-01 -1.68169083e+02] [-9.97803000e-01 -1.79354726e-02 6.37768868e-02 -3.95281740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-168.17, Z:-395.31 [[ 4.34920488e-02 -8.87153971e-01 4.59419496e-01 2.88755259e+02] [ 4.84888736e-02 4.61187128e-01 8.85977010e-01 -1.68168152e+02] [-9.97876381e-01 -1.62562215e-02 6.30750698e-02 -3.95309803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.16, Z:-395.34 [[ 4.31850463e-02 -9.10391641e-01 4.11487682e-01 2.88788512e+02] [ 5.04988148e-02 4.13334525e-01 9.09177892e-01 -1.68162962e+02] [-9.97790019e-01 -1.84832491e-02 6.38235695e-02 -3.95337242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.17, Z:-395.37 [[ 4.20723121e-02 -8.91053194e-01 4.51944826e-01 2.88765410e+02] [ 5.06690956e-02 4.53666162e-01 8.89730103e-01 -1.68165790e+02] [-9.97828925e-01 -1.45333669e-02 6.42356438e-02 -3.95366242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.16, Z:-395.39 [[ 4.13234374e-02 -8.93814041e-01 4.46529767e-01 2.88770045e+02] [ 5.15038510e-02 4.48222924e-01 8.92436868e-01 -1.68164596e+02] [-9.97817482e-01 -1.38805565e-02 6.45569771e-02 -3.95392843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-168.16, Z:-395.42 [[ 3.90718733e-02 -8.95086247e-01 4.44177891e-01 2.88773868e+02] [ 5.28396904e-02 4.45746157e-01 8.93598529e-01 -1.68164077e+02] [-9.97838342e-01 -1.14443463e-02 6.47122176e-02 -3.95419784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.16, Z:-395.45 [[ 3.72729413e-02 -8.96308726e-01 4.41861286e-01 2.88776955e+02] [ 5.33447597e-02 4.43322707e-01 8.94773331e-01 -1.68163028e+02] [-9.97880286e-01 -9.77984975e-03 6.43373149e-02 -3.95448091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.16, Z:-395.48 [[ 3.47830220e-02 -8.98919304e-01 4.36731298e-01 2.88781774e+02] [ 5.39633958e-02 4.38047542e-01 8.97330654e-01 -1.68161951e+02] [-9.97936919e-01 -7.64436802e-03 6.37453555e-02 -3.95476329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.16, Z:-395.50 [[ 3.23594259e-02 -9.01590842e-01 4.31377817e-01 2.88787064e+02] [ 5.49109144e-02 4.32555690e-01 8.99933534e-01 -1.68160669e+02] [-9.97966763e-01 -5.43398211e-03 6.35044314e-02 -3.95503425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.16, Z:-395.53 [[ 3.16024841e-02 -9.07024062e-01 4.19891218e-01 2.88800140e+02] [ 5.81248757e-02 4.21057854e-01 9.05169477e-01 -1.68155725e+02] [-9.97808991e-01 -4.19947922e-03 6.60271350e-02 -3.95532584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.16, Z:-395.56 [[ 2.48834080e-02 -8.59454396e-01 5.10606460e-01 2.88742805e+02] [ 6.01764326e-02 5.11126149e-01 8.57396558e-01 -1.68163184e+02] [-9.97877554e-01 9.39152684e-03 6.44374601e-02 -3.95562034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.16, Z:-395.59 [[ 2.01309243e-02 -8.89941166e-01 4.55630844e-01 2.88781399e+02] [ 6.22739168e-02 4.55954432e-01 8.87821781e-01 -1.68158841e+02] [-9.97856054e-01 1.05012443e-02 6.45989063e-02 -3.95590081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-168.16, Z:-395.62 [[ 1.77685320e-02 -8.90761906e-01 4.54122787e-01 2.88786417e+02] [ 6.55365228e-02 4.54255352e-01 8.88457674e-01 -1.68155188e+02] [-9.97691958e-01 1.39750398e-02 6.64488887e-02 -3.95619665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.16, Z:-395.65 [[ 9.19183972e-03 -8.59254458e-01 5.11465821e-01 2.88745558e+02] [ 6.54814827e-02 5.10906799e-01 8.57138506e-01 -1.68163746e+02] [-9.97811448e-01 2.56128606e-02 6.09614293e-02 -3.95646608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.15, Z:-395.67 [[ 5.29218228e-03 -9.18137880e-01 3.96225726e-01 2.88824573e+02] [ 6.63239976e-02 3.95681078e-01 9.15989963e-01 -1.68149525e+02] [-9.97784105e-01 2.14316882e-02 6.29885909e-02 -3.95674876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.16, Z:-395.71 [[ 5.79165303e-03 -8.87140932e-01 4.61462266e-01 2.88784955e+02] [ 6.77087238e-02 4.60758857e-01 8.84938871e-01 -1.68155929e+02] [-9.97688321e-01 2.61197622e-02 6.27357357e-02 -3.95705740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-168.16, Z:-395.73 [[ 7.09501088e-03 -8.58643713e-01 5.12523790e-01 2.88751396e+02] [ 6.84242980e-02 5.11752271e-01 8.56403952e-01 -1.68158401e+02] [-9.97631082e-01 2.89928852e-02 6.23829812e-02 -3.95734862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-168.16, Z:-395.76 [[ 3.11668803e-03 -8.53461151e-01 5.21147148e-01 2.88742251e+02] [ 6.94180046e-02 5.20077129e-01 8.51293675e-01 -1.68159610e+02] [-9.97582792e-01 3.35237783e-02 6.08664883e-02 -3.95760175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.14, Z:-395.79 [[ 2.51924514e-04 -9.23830172e-01 3.82802495e-01 2.88835672e+02] [ 6.89025177e-02 3.81908773e-01 9.21627979e-01 -1.68143487e+02] [-9.97623366e-01 2.61438750e-02 6.37504370e-02 -3.95789283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-168.15, Z:-395.82 [[ 9.43020570e-04 -8.81907569e-01 4.71421416e-01 2.88776983e+02] [ 6.94832985e-02 4.70340039e-01 8.79745599e-01 -1.68154738e+02] [-9.97582669e-01 3.19262968e-02 6.17213872e-02 -3.95821693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.14, Z:-395.85 [[ 6.96990674e-04 -9.25131278e-01 3.79646722e-01 2.88836164e+02] [ 6.82817300e-02 3.78804777e-01 9.22954249e-01 -1.68142733e+02] [-9.97665836e-01 2.52796445e-02 6.34335875e-02 -3.95848167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.14, Z:-395.88 [[ 2.92427668e-03 -9.24111617e-01 3.82111461e-01 2.88836443e+02] [ 6.92628624e-02 3.81382596e-01 9.21818839e-01 -1.68140629e+02] [-9.97594158e-01 2.37704802e-02 6.51218840e-02 -3.95877713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-168.15, Z:-395.90 [[ 5.74624842e-03 -8.96732567e-01 4.42535518e-01 2.88797061e+02] [ 6.91338000e-02 4.41840208e-01 8.94425933e-01 -1.68147340e+02] [-9.97590847e-01 2.54545684e-02 6.45334535e-02 -3.95904631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.14, Z:-395.93 [[ 6.66243684e-03 -9.26439555e-01 3.76384595e-01 2.88838461e+02] [ 6.62231173e-02 3.75975439e-01 9.24260227e-01 -1.68137773e+02] [-9.97782597e-01 1.87675358e-02 6.38566279e-02 -3.95932101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.14, Z:-395.96 [[ 7.95836891e-03 -9.28712754e-01 3.70714559e-01 2.88842263e+02] [ 6.44883762e-02 3.70431234e-01 9.26618557e-01 -1.68135547e+02] [-9.97886724e-01 1.65324076e-02 6.28392059e-02 -3.95958584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-168.13, Z:-395.99 [[ 9.15292806e-03 -9.29674720e-01 3.68267754e-01 2.88844053e+02] [ 6.29465636e-02 3.68088449e-01 9.27657600e-01 -1.68133274e+02] [-9.97974927e-01 1.46904063e-02 6.18889160e-02 -3.95986874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.13, Z:-396.01 [[ 1.05506512e-02 -9.31885896e-01 3.62598070e-01 2.88847794e+02] [ 6.13010702e-02 3.62538988e-01 9.29950354e-01 -1.68130856e+02] [-9.98063556e-01 1.24160679e-02 6.09506251e-02 -3.96014567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.13, Z:-396.04 [[ 1.39649581e-02 -9.34013505e-01 3.56964639e-01 2.88850906e+02] [ 5.84645771e-02 3.57151408e-01 9.32214978e-01 -1.68127779e+02] [-9.98191802e-01 7.85144356e-03 5.95943090e-02 -3.96042059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.13, Z:-396.07 [[ 1.59526908e-02 -9.36129175e-01 3.51294293e-01 2.88853987e+02] [ 5.71656654e-02 3.51618229e-01 9.34396440e-01 -1.68125504e+02] [-9.98237246e-01 5.17583452e-03 5.91237041e-02 -3.96070062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.12, Z:-396.10 [[ 1.79895372e-02 -9.38200853e-01 3.45623403e-01 2.88856729e+02] [ 5.60788281e-02 3.46081980e-01 9.36526790e-01 -1.68123020e+02] [-9.98264264e-01 2.53447192e-03 5.88390590e-02 -3.96098075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.12, Z:-396.13 [[ 2.27242299e-02 -9.40226149e-01 3.39791697e-01 2.88858710e+02] [ 5.36473587e-02 3.40536583e-01 9.38699524e-01 -1.68119929e+02] [-9.98301343e-01 -3.10229669e-03 5.81790811e-02 -3.96125073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.12, Z:-396.15 [[ 2.50762384e-02 -9.41593779e-01 3.35815930e-01 2.88860591e+02] [ 5.25660245e-02 3.36698793e-01 9.40143997e-01 -1.68118024e+02] [-9.98302557e-01 -5.92276663e-03 5.79389808e-02 -3.96151544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.12, Z:-396.18 [[ 2.74135620e-02 -9.42411683e-01 3.33329741e-01 2.88861681e+02] [ 5.20494358e-02 3.34348427e-01 9.41011151e-01 -1.68115849e+02] [-9.98268177e-01 -8.44684255e-03 5.82176778e-02 -3.96180036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-168.11, Z:-396.21 [[ 2.96256700e-02 -9.44334970e-01 3.27648874e-01 2.88864394e+02] [ 5.15267981e-02 3.28799745e-01 9.42992957e-01 -1.68113538e+02] [-9.98232092e-01 -1.10541007e-02 5.83994700e-02 -3.96207856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.11, Z:-396.23 [[ 3.38954680e-02 -9.46158012e-01 3.21925633e-01 2.88866001e+02] [ 5.09985962e-02 3.23328517e-01 9.44911538e-01 -1.68111573e+02] [-9.98123359e-01 -1.56104634e-02 5.92121017e-02 -3.96234633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.11, Z:-396.26 [[ 3.68833960e-02 -9.47359052e-01 3.18041572e-01 2.88866992e+02] [ 4.99465285e-02 3.19607961e-01 9.46232580e-01 -1.68109643e+02] [-9.98070619e-01 -1.90151985e-02 5.91055229e-02 -3.96262770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.11, Z:-396.29 [[ 3.78973695e-02 -9.49248185e-01 3.12236565e-01 2.88870205e+02] [ 4.96067111e-02 3.13862898e-01 9.48171533e-01 -1.68107612e+02] [-9.98049580e-01 -2.04441779e-02 5.89836587e-02 -3.96290526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-168.11, Z:-396.32 [[ 3.86312093e-02 -9.51134539e-01 3.06350646e-01 2.88873770e+02] [ 4.95825926e-02 3.08026408e-01 9.50084890e-01 -1.68105539e+02] [-9.98022643e-01 -2.15132689e-02 5.90591490e-02 -3.96318785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.10, Z:-396.35 [[ 3.93748208e-02 -9.52974011e-01 3.00483207e-01 2.88877799e+02] [ 4.97479459e-02 3.02213084e-01 9.51941381e-01 -1.68103430e+02] [-9.97985353e-01 -2.25340990e-02 5.93080856e-02 -3.96346371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-168.10, Z:-396.37 [[ 3.99843287e-02 -9.54816795e-01 2.94493025e-01 2.88882169e+02] [ 5.03214756e-02 2.96278954e-01 9.53774885e-01 -1.68101279e+02] [-9.97932364e-01 -2.33167249e-02 5.98943051e-02 -3.96374668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-168.10, Z:-396.40 [[ 4.16545173e-02 -9.55546419e-01 2.91883440e-01 2.88885613e+02] [ 5.16349998e-02 2.93805403e-01 9.54469597e-01 -1.68101512e+02] [-9.97796937e-01 -2.46865689e-02 6.15779613e-02 -3.96404445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-168.11, Z:-396.43 [[ 4.28680774e-02 -9.34690656e-01 3.52867831e-01 2.88850125e+02] [ 5.10590614e-02 3.54780587e-01 9.33554341e-01 -1.68109589e+02] [-9.97775175e-01 -2.20025794e-02 6.29331893e-02 -3.96430762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-168.10, Z:-396.46 [[ 4.25176614e-02 -9.58776423e-01 2.80962667e-01 2.88895226e+02] [ 5.38348955e-02 2.83006971e-01 9.57605795e-01 -1.68096823e+02] [-9.97644252e-01 -2.55895632e-02 6.36484231e-02 -3.96457387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-168.09, Z:-396.49 [[ 4.22009190e-02 -9.60509066e-01 2.75029847e-01 2.88898920e+02] [ 5.40929548e-02 2.77067864e-01 9.59326509e-01 -1.68094430e+02] [-9.97643741e-01 -2.56072833e-02 6.36492919e-02 -3.96485837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-168.09, Z:-396.51 [[ 4.16000668e-02 -9.62109711e-01 2.69470478e-01 2.88905822e+02] [ 5.37341067e-02 2.71468000e-01 9.60946289e-01 -1.68091944e+02] [-9.97688368e-01 -2.54956744e-02 6.29911928e-02 -3.96512821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-168.09, Z:-396.54 [[ 4.08751457e-02 -9.62856647e-01 2.66901293e-01 2.88909259e+02] [ 5.35346360e-02 2.68851323e-01 9.61692783e-01 -1.68090074e+02] [-9.97729054e-01 -2.50208691e-02 6.25355172e-02 -3.96539956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-168.09, Z:-396.57 [[ 3.92640387e-02 -9.63615248e-01 2.64393626e-01 2.88914076e+02] [ 5.20988759e-02 2.66211994e-01 9.62505523e-01 -1.68088605e+02] [-9.97869752e-01 -2.40172434e-02 6.06558293e-02 -3.96568182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-168.09, Z:-396.60 [[ 3.87220501e-02 -9.65234994e-01 2.58499533e-01 2.88919131e+02] [ 5.17942850e-02 2.60284565e-01 9.64141741e-01 -1.68086496e+02] [-9.97906787e-01 -2.39447463e-02 6.00724083e-02 -3.96595350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-168.09, Z:-396.62 [[ 3.80089264e-02 -9.65942863e-01 2.55948640e-01 2.88922390e+02] [ 5.16372163e-02 2.57690097e-01 9.64846833e-01 -1.68085011e+02] [-9.97942343e-01 -2.34563170e-02 5.96731245e-02 -3.96623708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-168.08, Z:-396.66 [[ 3.85056141e-02 -9.66986265e-01 2.51902524e-01 2.88928331e+02] [ 5.14251825e-02 2.53673059e-01 9.65922062e-01 -1.68084747e+02] [-9.97934251e-01 -2.42392889e-02 5.94952820e-02 -3.96655289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-168.11, Z:-396.68 [[ 3.79306065e-02 -8.99443386e-01 4.35388177e-01 2.88819313e+02] [ 4.57584215e-02 4.36808042e-01 8.98390172e-01 -1.68113373e+02] [-9.98232155e-01 -1.41538084e-02 5.77255035e-02 -3.96682254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-168.08, Z:-396.71 [[ 3.78467891e-02 -9.69394980e-01 2.42571626e-01 2.88938534e+02] [ 5.09094960e-02 2.44300785e-01 9.68362200e-01 -1.68079599e+02] [-9.97985894e-01 -2.43002007e-02 5.85974101e-02 -3.96706151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-168.08, Z:-396.73 [[ 3.81513297e-02 -9.70381763e-01 2.38544986e-01 2.88942228e+02] [ 5.10293261e-02 2.40299241e-01 9.69356633e-01 -1.68077806e+02] [-9.97968178e-01 -2.48094546e-02 5.86856630e-02 -3.96733707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-168.08, Z:-396.76 [[ 3.89235152e-02 -9.71801810e-01 2.32564406e-01 2.88947286e+02] [ 5.15867987e-02 2.34384697e-01 9.70774235e-01 -1.68075076e+02] [-9.97909696e-01 -2.57886925e-02 5.92552207e-02 -3.96761553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-168.07, Z:-396.79 [[ 3.94902530e-02 -9.73183948e-01 2.26613158e-01 2.88952114e+02] [ 5.21447181e-02 2.28488161e-01 9.72149211e-01 -1.68072635e+02] [-9.97858431e-01 -2.65737391e-02 5.97694579e-02 -3.96789476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-168.07, Z:-396.82 [[ 3.98696810e-02 -9.74542438e-01 2.20629654e-01 2.88956897e+02] [ 5.28899201e-02 2.22553970e-01 9.73484662e-01 -1.68070152e+02] [-9.97804122e-01 -2.71434382e-02 6.04166275e-02 -3.96817675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-168.07, Z:-396.85 [[ 4.03186585e-02 -9.75858497e-01 2.14649947e-01 2.88961759e+02] [ 5.37422699e-02 2.16631614e-01 9.74773057e-01 -1.68068055e+02] [-9.97740535e-01 -2.77657666e-02 6.11791468e-02 -3.96845911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-168.07, Z:-396.87 [[ 4.15463782e-02 -9.77125762e-01 2.08564484e-01 2.88967785e+02] [ 5.45409835e-02 2.10651448e-01 9.76038549e-01 -1.68066119e+02] [-9.97646821e-01 -2.91755545e-02 6.20452048e-02 -3.96872781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-168.06, Z:-396.90 [[ 4.18800194e-02 -9.77670556e-01 2.05928018e-01 2.88970789e+02] [ 5.49051780e-02 2.08049437e-01 9.76576087e-01 -1.68064418e+02] [-9.97612894e-01 -2.95925110e-02 6.23922903e-02 -3.96900049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-168.06, Z:-396.93 [[ 4.22437004e-02 -9.78188785e-01 2.03376920e-01 2.88975623e+02] [ 5.55707751e-02 2.05543935e-01 9.77068872e-01 -1.68062653e+02] [-9.97560704e-01 -2.99731916e-02 6.30416454e-02 -3.96928478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-168.06, Z:-396.96 [[ 4.22808676e-02 -9.79431589e-01 1.97296959e-01 2.88980643e+02] [ 5.61492671e-02 1.99490825e-01 9.78289666e-01 -1.68060065e+02] [-9.97526736e-01 -3.02848562e-02 6.34290111e-02 -3.96955667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-168.06, Z:-396.98 [[ 4.19943257e-02 -9.79970910e-01 1.94662510e-01 2.88983567e+02] [ 5.66198295e-02 1.96855484e-01 9.78796257e-01 -1.68058478e+02] [-9.97512241e-01 -3.00821307e-02 6.37525992e-02 -3.96983534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-168.06, Z:-397.01 [[ 4.15881461e-02 -9.81173758e-01 1.88596084e-01 2.88988596e+02] [ 5.71569244e-02 1.90786614e-01 9.79966098e-01 -1.68056101e+02] [-9.97498628e-01 -2.99754012e-02 6.40153359e-02 -3.97010282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-168.05, Z:-397.04 [[ 4.01709093e-02 -9.81733217e-01 1.85973623e-01 2.88993968e+02] [ 5.73536900e-02 1.88082508e-01 9.80477192e-01 -1.68054021e+02] [-9.97545414e-01 -2.87203869e-02 6.38614680e-02 -3.97038132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-168.05, Z:-397.07 [[ 4.00954163e-02 -9.82871594e-01 1.79877144e-01 2.88999173e+02] [ 5.71394752e-02 1.81982730e-01 9.81640141e-01 -1.68050697e+02] [-9.97560744e-01 -2.90811844e-02 6.34574404e-02 -3.97065329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-168.05, Z:-397.09 [[ 3.96240906e-02 -9.83369216e-01 1.77242538e-01 2.89002128e+02] [ 5.67607309e-02 1.79310586e-01 9.82153722e-01 -1.68048339e+02] [-9.97601198e-01 -2.88565321e-02 6.29217743e-02 -3.97092845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-168.04, Z:-397.12 [[ 3.81072018e-02 -9.84491182e-01 1.71245304e-01 2.89008095e+02] [ 5.51104411e-02 1.73179503e-01 9.83347192e-01 -1.68044745e+02] [-9.97752815e-01 -2.80352056e-02 6.08551295e-02 -3.97120709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-168.04, Z:-397.15 [[ 3.73930028e-02 -9.85553182e-01 1.65186831e-01 2.89012541e+02] [ 5.45209533e-02 1.67068289e-01 9.84436718e-01 -1.68041267e+02] [-9.97812221e-01 -2.78049015e-02 5.99804840e-02 -3.97147158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-168.04, Z:-397.18 [[ 3.66077306e-02 -9.86017993e-01 1.62568114e-01 2.89014852e+02] [ 5.41914177e-02 1.64396502e-01 9.84904605e-01 -1.68039206e+02] [-9.97859291e-01 -2.72453258e-02 5.94518958e-02 -3.97175365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-168.04, Z:-397.20 [[ 3.43546538e-02 -9.87079422e-01 1.56505506e-01 2.89019091e+02] [ 5.49396545e-02 1.58226399e-01 9.85873238e-01 -1.68036944e+02] [-9.97898488e-01 -2.52709754e-02 5.96656155e-02 -3.97203244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-168.03, Z:-397.23 [[ 3.32653091e-02 -9.88075885e-01 1.50331181e-01 2.89022874e+02] [ 5.55784584e-02 1.52010489e-01 9.86815001e-01 -1.68034073e+02] [-9.97900022e-01 -2.44715308e-02 5.99724104e-02 -3.97229765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-168.03, Z:-397.26 [[ 3.21130686e-02 -9.88516776e-01 1.47659523e-01 2.89024852e+02] [ 5.61407868e-02 1.49286468e-01 9.87198948e-01 -1.68032322e+02] [-9.97906290e-01 -2.34122658e-02 6.02901562e-02 -3.97258052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-168.03, Z:-397.28 [[ 3.03777942e-02 -9.89461649e-01 1.41572719e-01 2.89029049e+02] [ 5.75685722e-02 1.43134946e-01 9.88027453e-01 -1.68029672e+02] [-9.97879276e-01 -2.18639554e-02 6.13100183e-02 -3.97284636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-168.03, Z:-397.31 [[ 2.90273780e-02 -9.89875615e-01 1.38937679e-01 2.89031193e+02] [ 5.82553438e-02 1.40435286e-01 9.88374547e-01 -1.68027931e+02] [-9.97879615e-01 -2.05960594e-02 6.17420124e-02 -3.97312675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-168.02, Z:-397.34 [[ 2.78947643e-02 -9.90748969e-01 1.32809497e-01 2.89035407e+02] [ 5.90956247e-02 1.34263299e-01 9.89182023e-01 -1.68024742e+02] [-9.97862510e-01 -1.97445392e-02 6.22941724e-02 -3.97340200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-168.02, Z:-397.37 [[ 2.69916166e-02 -9.91572846e-01 1.26707313e-01 2.89039679e+02] [ 5.99070539e-02 1.28130205e-01 9.89946360e-01 -1.68021122e+02] [-9.97838964e-01 -1.91295907e-02 6.28606493e-02 -3.97367655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-168.02, Z:-397.39 [[ 2.52330370e-02 -9.92377275e-01 1.20626023e-01 2.89044522e+02] [ 6.03425508e-02 1.21956401e-01 9.90699456e-01 -1.68017389e+02] [-9.97858743e-01 -1.77194742e-02 6.29599066e-02 -3.97394558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-168.01, Z:-397.42 [[ 2.40850522e-02 -9.92721875e-01 1.17996563e-01 2.89046243e+02] [ 6.00843583e-02 1.19254868e-01 9.91043968e-01 -1.68014943e+02] [-9.97902691e-01 -1.67795979e-02 6.25193166e-02 -3.97422393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-168.01, Z:-397.45 [[ 2.33350199e-02 -9.93421266e-01 1.12114521e-01 2.89049267e+02] [ 5.94436176e-02 1.13325383e-01 9.91778107e-01 -1.68011461e+02] [-9.97958884e-01 -1.64786692e-02 6.16970039e-02 -3.97450132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-168.01, Z:-397.48 [[ 2.31037349e-02 -9.94070688e-01 1.06252927e-01 2.89052262e+02] [ 5.89333746e-02 1.07450703e-01 9.92462193e-01 -1.68007671e+02] [-9.97994527e-01 -1.66677399e-02 6.10664528e-02 -3.97478505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.00, Z:-397.51 [[ 2.27737692e-02 -9.94685271e-01 1.00411987e-01 2.89055289e+02] [ 5.90673216e-02 1.01601311e-01 9.93070101e-01 -1.68004412e+02] [-9.97994192e-01 -1.66848822e-02 6.10672396e-02 -3.97506954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.00, Z:-397.53 [[ 2.30348372e-02 -9.95215914e-01 9.49456713e-02 2.89056611e+02] [ 5.85319018e-02 9.61504951e-02 9.93644352e-01 -1.68000879e+02] [-9.98019746e-01 -1.73310852e-02 6.04666911e-02 -3.97534758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-168.00, Z:-397.56 [[ 2.28839126e-02 -9.95774907e-01 8.89306490e-02 2.89058651e+02] [ 5.82998591e-02 9.01317519e-02 9.94222004e-01 -1.67997701e+02] [-9.98036799e-01 -1.75670451e-02 6.01161039e-02 -3.97562440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.99, Z:-397.59 [[ 2.33806668e-02 -9.96284356e-01 8.28904507e-02 2.89060487e+02] [ 5.87584524e-02 8.41392388e-02 9.94720078e-01 -1.67994185e+02] [-9.97998391e-01 -1.83867041e-02 6.05073584e-02 -3.97589186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.99, Z:-397.62 [[ 2.38568404e-02 -9.96487268e-01 8.02743846e-02 2.89061466e+02] [ 5.86597011e-02 8.15542041e-02 9.94941180e-01 -1.67991499e+02] [-9.97992931e-01 -1.90272816e-02 6.03992709e-02 -3.97617195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.99, Z:-397.65 [[ 2.46895689e-02 -9.96926343e-01 7.43524782e-02 2.89064125e+02] [ 5.89008924e-02 7.56965960e-02 9.95389728e-01 -1.67987980e+02] [-9.97958471e-01 -2.01963160e-02 6.05887676e-02 -3.97645341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.98, Z:-397.67 [[ 2.65740475e-02 -9.97317992e-01 6.81956210e-02 2.89065312e+02] [ 5.91418997e-02 6.96687479e-02 9.95815496e-01 -1.67984663e+02] [-9.97895814e-01 -2.24296297e-02 6.08346613e-02 -3.97672645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.98, Z:-397.70 [[ 2.74631994e-02 -9.97472522e-01 6.55312219e-02 2.89065375e+02] [ 5.96656444e-02 6.70747688e-02 9.95962342e-01 -1.67982740e+02] [-9.97840560e-01 -2.34423498e-02 6.13569285e-02 -3.97700074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.99, Z:-397.73 [[ 2.96611915e-02 -9.96688778e-01 7.57079509e-02 2.89058311e+02] [ 5.78700635e-02 7.73265492e-02 9.95324902e-01 -1.67989296e+02] [-9.97883395e-01 -2.51412986e-02 5.99720405e-02 -3.97730630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-168.01, Z:-397.76 [[ 3.02606342e-02 -9.88164598e-01 1.50382917e-01 2.89019659e+02] [ 5.60611586e-02 1.51892895e-01 9.86805804e-01 -1.68011788e+02] [-9.97968657e-01 -2.14307289e-02 5.99940275e-02 -3.97759426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.99, Z:-397.78 [[ 3.14182942e-02 -9.94565922e-01 9.92548163e-02 2.89043981e+02] [ 6.12749212e-02 1.01033640e-01 9.92994254e-01 -1.67989605e+02] [-9.97626320e-01 -2.51163546e-02 6.41162531e-02 -3.97784504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.97, Z:-397.81 [[ 3.11863641e-02 -9.98388633e-01 4.74083116e-02 2.89069143e+02] [ 6.30622861e-02 4.93023090e-02 9.96791067e-01 -1.67970776e+02] [-9.97522210e-01 -2.80966126e-02 6.44982294e-02 -3.97811369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.97, Z:-397.84 [[ 3.10589343e-02 -9.98663740e-01 4.13046888e-02 2.89070803e+02] [ 6.30481909e-02 4.31998114e-02 9.97075073e-01 -1.67966549e+02] [-9.97527077e-01 -2.83639033e-02 6.43056822e-02 -3.97838034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.96, Z:-397.87 [[ 3.02381857e-02 -9.98794483e-01 3.86682318e-02 2.89071544e+02] [ 6.26873819e-02 4.05047656e-02 9.97210939e-01 -1.67964009e+02] [-9.97575032e-01 -2.77298393e-02 6.38366019e-02 -3.97866532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.97, Z:-397.90 [[ 2.96716675e-02 -9.98637271e-01 4.29324184e-02 2.89070986e+02] [ 6.01900740e-02 4.46584653e-02 9.97187433e-01 -1.67966912e+02] [-9.97745833e-01 -2.70041086e-02 6.14331424e-02 -3.97897574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-168.02, Z:-397.92 [[ 2.91570059e-02 -9.71027587e-01 2.37181985e-01 2.88968061e+02] [ 5.44293648e-02 2.38473154e-01 9.69622606e-01 -1.68019630e+02] [-9.98091836e-01 -1.53616272e-02 5.98055779e-02 -3.97923766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.95, Z:-397.95 [[ 2.54349609e-02 -9.99413358e-01 2.29347360e-02 2.89078274e+02] [ 5.94521944e-02 2.44138063e-02 9.97932564e-01 -1.67951955e+02] [-9.97907060e-01 -2.40188554e-02 6.00382815e-02 -3.97949127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.96, Z:-397.98 [[ 2.30142003e-02 -9.99295803e-01 2.96351924e-02 2.89074773e+02] [ 5.68513322e-02 3.09032348e-02 9.97904262e-01 -1.67956215e+02] [-9.98117364e-01 -2.12811684e-02 5.75225109e-02 -3.97980835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-168.01, Z:-398.01 [[ 2.42917154e-02 -9.80312238e-01 1.95953641e-01 2.88989578e+02] [ 5.32379529e-02 1.97001873e-01 9.78956578e-01 -1.68007059e+02] [-9.98286348e-01 -1.33483639e-02 5.69753301e-02 -3.98010849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.99, Z:-398.04 [[ 2.21156239e-02 -9.90526112e-01 1.35531990e-01 2.89020509e+02] [ 5.48838797e-02 1.36563596e-01 9.89109774e-01 -1.67988292e+02] [-9.98247794e-01 -1.44362583e-02 5.73841051e-02 -3.98037605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.98, Z:-398.06 [[ 1.95259437e-02 -9.93490543e-01 1.12228692e-01 2.89030011e+02] [ 5.84720625e-02 1.13192687e-01 9.91851014e-01 -1.67975350e+02] [-9.98098069e-01 -1.28045840e-02 6.03016351e-02 -3.98063025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-167.94, Z:-398.08 [[ 1.88230623e-02 -9.99814708e-01 -4.03014142e-03 2.89085583e+02] [ 6.13199886e-02 -2.86884233e-03 9.98114036e-01 -1.67935400e+02] [-9.97940655e-01 -1.90346909e-02 6.12546261e-02 -3.98079250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.95, Z:-398.11 [[ 1.81328571e-02 -9.99229587e-01 3.48056347e-02 2.89066451e+02] [ 6.11962340e-02 3.58552640e-02 9.97481539e-01 -1.67948269e+02] [-9.97961032e-01 -1.59572164e-02 6.17992460e-02 -3.98108004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.94, Z:-398.14 [[ 1.48706172e-02 -9.99475448e-01 2.87696737e-02 2.89067782e+02] [ 6.21267576e-02 2.96408443e-02 9.97628030e-01 -1.67944947e+02] [-9.97957480e-01 -1.30479780e-02 6.25349465e-02 -3.98136396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.94, Z:-398.16 [[ 1.29124508e-02 -9.99658181e-01 2.27330056e-02 2.89069987e+02] [ 6.23164628e-02 2.34952244e-02 9.97779852e-01 -1.67941592e+02] [-9.97972909e-01 -1.14671428e-02 6.25985428e-02 -3.98163464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.94, Z:-398.19 [[ 9.95392897e-03 -9.99753829e-01 1.98292845e-02 2.89070356e+02] [ 6.23337138e-02 2.04120746e-02 9.97846609e-01 -1.67938585e+02] [-9.98005725e-01 -8.69646132e-03 6.25215494e-02 -3.98189992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-167.91, Z:-398.22 [[ 6.53951741e-03 -9.98440318e-01 -5.54451632e-02 2.89104755e+02] [ 6.24293207e-02 -5.49305515e-02 9.96536610e-01 -1.67909401e+02] [-9.98027963e-01 -9.97827238e-03 6.19727315e-02 -3.98217163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.93, Z:-398.25 [[ 6.03814561e-03 -9.99904881e-01 1.24003725e-02 2.89073279e+02] [ 6.13853802e-02 1.27478440e-02 9.98032729e-01 -1.67933028e+02] [-9.98095875e-01 -5.26506537e-03 6.14565146e-02 -3.98246462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.93, Z:-398.27 [[ 3.95382716e-03 -9.99971817e-01 6.38222924e-03 2.89075362e+02] [ 6.02798693e-02 6.60900607e-03 9.98159636e-01 -1.67929262e+02] [-9.98173685e-01 -3.56183074e-03 6.03043013e-02 -3.98273795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.93, Z:-398.30 [[ 3.31174232e-03 -9.99987380e-01 3.77788624e-03 2.89075943e+02] [ 5.97336535e-02 3.96898301e-03 9.98206461e-01 -1.67927312e+02] [-9.98208857e-01 -3.08013563e-03 5.97460439e-02 -3.98301933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.93, Z:-398.31 [[ 3.75987182e-03 -9.99990732e-01 -2.09734453e-03 2.89077971e+02] [ 5.95764671e-02 -1.86963289e-03 9.98221994e-01 -1.67925321e+02] [-9.98216664e-01 -3.87813913e-03 5.95688854e-02 -3.98305074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.93, Z:-398.33 [[ 3.76375854e-03 -9.99927972e-01 1.13966806e-02 2.89070340e+02] [ 5.84446726e-02 1.15972389e-02 9.98223284e-01 -1.67929238e+02] [-9.98283554e-01 -3.09099615e-03 5.84841122e-02 -3.98333334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.93, Z:-398.36 [[ 4.12727709e-03 -9.99976521e-01 5.47012049e-03 2.89072430e+02] [ 5.78427847e-02 5.69973991e-03 9.98309434e-01 -1.67925924e+02] [-9.98317173e-01 -3.80389266e-03 5.78649510e-02 -3.98360310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.92, Z:-398.39 [[ 4.85019360e-03 -9.99984027e-01 2.90181872e-03 2.89072863e+02] [ 5.74068699e-02 3.17550373e-03 9.98345816e-01 -1.67923727e+02] [-9.98339084e-01 -4.67558616e-03 5.74213548e-02 -3.98387553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.92, Z:-398.46 [[ 1.58062538e-02 -9.99874458e-01 -1.10906111e-03 2.89072072e+02] [ 5.69757840e-02 -2.06711734e-04 9.98375539e-01 -1.67919465e+02] [-9.98250431e-01 -1.58437668e-02 5.69653638e-02 -3.98455018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.98, Z:-398.49 [[ 1.91433962e-02 -9.78439896e-01 2.05642653e-01 2.88967586e+02] [ 5.51042636e-02 2.06400238e-01 9.76914767e-01 -1.67981094e+02] [-9.98297075e-01 -7.36967952e-03 5.78674115e-02 -3.98485800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.98, Z:-398.51 [[ 2.19693293e-02 -9.78902365e-01 2.03144060e-01 2.88967558e+02] [ 5.43669000e-02 2.04062209e-01 9.77447111e-01 -1.67979352e+02] [-9.98279314e-01 -1.04295447e-02 5.77029969e-02 -3.98512639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.98, Z:-398.54 [[ 2.33025845e-02 -9.79366894e-01 2.00742316e-01 2.88968460e+02] [ 5.40492995e-02 2.01737342e-01 9.77947196e-01 -1.67977465e+02] [-9.98266329e-01 -1.19387156e-02 5.76350960e-02 -3.98540823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.97, Z:-398.57 [[ 2.42538754e-02 -9.80465638e-01 1.95189351e-01 2.88970887e+02] [ 5.32772367e-02 1.96237009e-01 9.79108049e-01 -1.67974952e+02] [-9.98285173e-01 -1.33480154e-02 5.69960078e-02 -3.98568454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.97, Z:-398.60 [[ 2.67320994e-02 -9.81528047e-01 1.89441518e-01 2.88972511e+02] [ 5.20590092e-02 1.90619003e-01 9.80282743e-01 -1.67972492e+02] [-9.98286159e-01 -1.63428780e-02 5.61930237e-02 -3.98595751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.97, Z:-398.62 [[ 2.77840756e-02 -9.81976066e-01 1.86952004e-01 2.88973161e+02] [ 5.13944261e-02 1.88180141e-01 9.80788890e-01 -1.67970982e+02] [-9.98291870e-01 -1.76420218e-02 5.56965077e-02 -3.98623295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.97, Z:-398.65 [[ 2.97143806e-02 -9.82989810e-01 1.81240417e-01 2.88975281e+02] [ 5.05484600e-02 1.82566251e-01 9.81893282e-01 -1.67968656e+02] [-9.98279474e-01 -2.00149267e-02 5.51134641e-02 -3.98650788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.97, Z:-398.68 [[ 3.03655612e-02 -9.84027906e-01 1.75405282e-01 2.88977941e+02] [ 4.98544353e-02 1.76758840e-01 9.82990767e-01 -1.67966384e+02] [-9.98294780e-01 -2.11043350e-02 5.44255369e-02 -3.98677641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.96, Z:-398.71 [[ 3.07740609e-02 -9.84715503e-01 1.71430265e-01 2.88979692e+02] [ 4.95251344e-02 1.72803051e-01 9.83710510e-01 -1.67964453e+02] [-9.98298662e-01 -2.17826602e-02 5.40860192e-02 -3.98705170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.96, Z:-398.73 [[ 3.14520401e-02 -9.85692896e-01 1.65590712e-01 2.88982651e+02] [ 4.92435260e-02 1.66999645e-01 9.84726456e-01 -1.67961920e+02] [-9.98291463e-01 -2.28173855e-02 5.37914733e-02 -3.98733497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-167.96, Z:-398.76 [[ 3.13582975e-02 -9.86656054e-01 1.59770113e-01 2.88985706e+02] [ 4.91142216e-02 1.61176707e-01 9.85702725e-01 -1.67959338e+02] [-9.98300782e-01 -2.30629746e-02 5.35130712e-02 -3.98761953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-167.96, Z:-398.79 [[ 3.14003620e-02 -9.87589335e-01 1.53887373e-01 2.88989012e+02] [ 4.88145371e-02 1.55294833e-01 9.86661368e-01 -1.67956708e+02] [-9.98314158e-01 -2.34695832e-02 5.30850301e-02 -3.98789280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-167.96, Z:-398.82 [[ 3.07278999e-02 -9.88003285e-01 1.51344987e-01 2.88989965e+02] [ 4.81066062e-02 1.52702874e-01 9.87100596e-01 -1.67955603e+02] [-9.98369446e-01 -2.30508347e-02 5.22217236e-02 -3.98817515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-167.95, Z:-398.85 [[ 2.96852728e-02 -9.88896705e-01 1.45609378e-01 2.88992628e+02] [ 4.81047151e-02 1.46918173e-01 9.87978232e-01 -1.67952898e+02] [-9.98401082e-01 -2.23239057e-02 5.19319004e-02 -3.98845315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-167.95, Z:-398.87 [[ 2.88886299e-02 -9.89763065e-01 1.39765955e-01 2.88995642e+02] [ 4.76193256e-02 1.41028269e-01 9.88859660e-01 -1.67950471e+02] [-9.98447719e-01 -2.19112402e-02 5.12059631e-02 -3.98872173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-167.95, Z:-398.90 [[ 2.74691711e-02 -9.90157748e-01 1.37233664e-01 2.88996743e+02] [ 4.72340929e-02 1.38417803e-01 9.89246912e-01 -1.67948768e+02] [-9.98506077e-01 -2.06916850e-02 5.05714254e-02 -3.98899925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-167.95, Z:-398.93 [[ 2.56006487e-02 -9.90976783e-01 1.31566040e-01 2.88999561e+02] [ 4.66704316e-02 1.32650461e-01 9.90063496e-01 -1.67946221e+02] [-9.98582234e-01 -1.92060239e-02 4.96452520e-02 -3.98927470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-167.94, Z:-398.96 [[ 2.34468817e-02 -9.91794515e-01 1.25673718e-01 2.89002587e+02] [ 4.64674848e-02 1.26653585e-01 9.90858033e-01 -1.67943616e+02] [-9.98644590e-01 -1.73927895e-02 4.90558282e-02 -3.98955106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.94, Z:-398.98 [[ 1.75547650e-02 -9.92642345e-01 1.19804025e-01 2.89006349e+02] [ 4.79984500e-02 1.20521001e-01 9.91549715e-01 -1.67941108e+02] [-9.98693136e-01 -1.16560147e-02 4.97610118e-02 -3.98982601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.94, Z:-399.01 [[ 1.37892482e-02 -9.93388917e-01 1.13966294e-01 2.89009602e+02] [ 4.86139334e-02 1.14508388e-01 9.92232087e-01 -1.67938725e+02] [-9.98722455e-01 -8.14178468e-03 4.98715273e-02 -3.99009690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.94, Z:-399.04 [[ 1.00602678e-02 -9.93720916e-01 1.11433983e-01 2.89011288e+02] [ 4.95713732e-02 1.11798223e-01 9.92493746e-01 -1.67937041e+02] [-9.98719916e-01 -4.46081729e-03 5.03848305e-02 -3.99037228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.93, Z:-399.07 [[ 2.71699556e-03 -9.94397803e-01 1.05667533e-01 2.89014605e+02] [ 5.09420022e-02 1.05668359e-01 9.93095721e-01 -1.67934926e+02] [-9.98697918e-01 2.68467905e-03 5.09437155e-02 -3.99065200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.93, Z:-399.09 [[-1.29212053e-03 -9.94994719e-01 9.99191648e-02 2.89017583e+02] [ 5.20633824e-02 9.97168002e-02 9.93652839e-01 -1.67931702e+02] [-9.98642947e-01 6.48604891e-03 5.16739444e-02 -3.99092366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.93, Z:-399.12 [[-5.36076154e-03 -9.95227557e-01 9.74339344e-02 2.89018711e+02] [ 5.24010248e-02 9.70218895e-02 9.93901849e-01 -1.67929617e+02] [-9.98611734e-01 1.04337088e-02 5.16308327e-02 -3.99120527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.93, Z:-399.15 [[-1.16164951e-02 -9.95728723e-01 9.15934903e-02 2.89020787e+02] [ 5.21004185e-02 9.08725275e-02 9.94498733e-01 -1.67926452e+02] [-9.98574285e-01 1.63246488e-02 5.08222629e-02 -3.99147223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.92, Z:-399.18 [[-1.43214120e-02 -9.95922625e-01 8.90675132e-02 2.89021564e+02] [ 5.17484289e-02 8.82190348e-02 9.94756001e-01 -1.67924392e+02] [-9.98557458e-01 1.88554144e-02 5.02740100e-02 -3.99175199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.92, Z:-399.20 [[-1.81022890e-02 -9.96358348e-01 8.33207637e-02 2.89023252e+02] [ 5.07870782e-02 8.23105262e-02 9.95311836e-01 -1.67920502e+02] [-9.98545432e-01 2.22490406e-02 4.91121204e-02 -3.99203261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.92, Z:-399.23 [[-1.97271965e-02 -9.96788453e-01 7.76119660e-02 2.89025222e+02] [ 5.00794015e-02 7.65444941e-02 9.95807709e-01 -1.67917738e+02] [-9.98550395e-01 2.35312552e-02 4.84085609e-02 -3.99231272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.91, Z:-399.26 [[-1.99150043e-02 -9.97221011e-01 7.17889193e-02 2.89028165e+02] [ 4.99566089e-02 7.07209548e-02 9.96244390e-01 -1.67914595e+02] [-9.98552818e-01 2.34265422e-02 4.84093719e-02 -3.99259695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.91, Z:-399.29 [[-2.27016345e-02 -9.97956084e-01 5.97351707e-02 2.89031396e+02] [ 5.22832397e-02 5.84837063e-02 9.96918311e-01 -1.67905889e+02] [-9.98374228e-01 2.57548233e-02 5.08487014e-02 -3.99285246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.88, Z:-399.31 [[-2.15886264e-02 -9.99218317e-01 -3.31162662e-02 2.89076839e+02] [ 4.75414642e-02 -3.41125450e-02 9.98286604e-01 -1.67877519e+02] [-9.98635940e-01 1.99772408e-02 4.82407448e-02 -3.99314231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.91, Z:-399.34 [[-2.13413939e-02 -9.97794554e-01 6.28535791e-02 2.89029277e+02] [ 5.01637708e-02 6.17200206e-02 9.96832100e-01 -1.67908692e+02] [-9.98512965e-01 2.44267590e-02 4.87359461e-02 -3.99343744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.89, Z:-399.37 [[-1.80592818e-02 -9.99230169e-01 3.48271636e-02 2.89041843e+02] [ 5.66754151e-02 3.37537745e-02 9.97821918e-01 -1.67890160e+02] [-9.98229312e-01 1.99937911e-02 5.60222157e-02 -3.99374327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.91, Z:-399.40 [[-1.68398954e-02 -9.95731171e-01 9.07516021e-02 2.89011704e+02] [ 5.57799170e-02 8.96875368e-02 9.94406731e-01 -1.67908390e+02] [-9.98301066e-01 2.18078222e-02 5.40314733e-02 -3.99401954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.90, Z:-399.43 [[-1.41467373e-02 -9.98075649e-01 6.03727420e-02 2.89021929e+02] [ 5.25514955e-02 5.95531868e-02 9.96840889e-01 -1.67902021e+02] [-9.98518007e-01 1.72747240e-02 5.16078847e-02 -3.99428255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.87, Z:-399.45 [[-1.25428559e-02 -9.99667348e-01 -2.25359642e-02 2.89060171e+02] [ 5.08921283e-02 -2.31467478e-02 9.98435887e-01 -1.67874827e+02] [-9.98625389e-01 1.13763342e-02 5.11655253e-02 -3.99454514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.87, Z:-399.48 [[-1.07910846e-02 -9.99215934e-01 -3.80929200e-02 2.89065760e+02] [ 5.01243772e-02 -3.85877815e-02 9.97997260e-01 -1.67868566e+02] [-9.98684685e-01 8.86008895e-03 5.05014803e-02 -3.99482788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.87, Z:-399.51 [[-7.11525199e-03 -9.99098783e-01 -4.18449012e-02 2.89064585e+02] [ 4.94925698e-02 -4.21465279e-02 9.97884841e-01 -1.67866683e+02] [-9.98749147e-01 5.02919041e-03 4.97478494e-02 -3.99511839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.87, Z:-399.54 [[-4.75999532e-03 -9.99755172e-01 -2.16087410e-02 2.89054776e+02] [ 4.88929411e-02 -2.18158198e-02 9.98565747e-01 -1.67873288e+02] [-9.98792683e-01 3.69665338e-03 4.89848140e-02 -3.99542063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.89, Z:-399.57 [[-4.72009061e-03 -9.99578050e-01 2.86608268e-02 2.89028160e+02] [ 4.98355038e-02 2.83903980e-02 9.98353849e-01 -1.67887403e+02] [-9.98746286e-01 6.14064736e-03 4.96804704e-02 -3.99569237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.87, Z:-399.60 [[-3.01717871e-03 -9.99703587e-01 -2.41585187e-02 2.89053414e+02] [ 4.84757863e-02 -2.42764446e-02 9.98529295e-01 -1.67870466e+02] [-9.98819801e-01 1.84163814e-03 4.85346638e-02 -3.99597555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.89, Z:-399.63 [[-2.29673737e-03 -9.99672735e-01 2.54783997e-02 2.89027607e+02] [ 4.92320780e-02 2.53345340e-02 9.98466005e-01 -1.67885036e+02] [-9.98784725e-01 3.54756875e-03 4.91577793e-02 -3.99626203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.88, Z:-399.65 [[-2.29703014e-03 -9.99808031e-01 1.94582631e-02 2.89029695e+02] [ 4.89891390e-02 1.93224424e-02 9.98612391e-01 -1.67882180e+02] [-9.98796670e-01 3.24708631e-03 4.89353504e-02 -3.99652636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.88, Z:-399.68 [[-2.50202435e-03 -9.99854871e-01 1.68516342e-02 2.89029670e+02] [ 4.95693683e-02 1.67069642e-02 9.98630940e-01 -1.67879911e+02] [-9.98767549e-01 3.33392379e-03 4.95203731e-02 -3.99679322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.88, Z:-399.71 [[-3.21461044e-03 -9.99891547e-01 1.43722180e-02 2.89029787e+02] [ 4.95123906e-02 1.41955172e-02 9.98672624e-01 -1.67877989e+02] [-9.98768336e-01 3.92194632e-03 4.94613878e-02 -3.99707049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.87, Z:-399.74 [[-3.63411034e-03 -9.99955167e-01 8.74394344e-03 2.89031677e+02] [ 5.00012413e-02 8.55135936e-03 9.98712546e-01 -1.67874840e+02] [-9.98742544e-01 4.06663962e-03 4.99679231e-02 -3.99735253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.87, Z:-399.76 [[-4.34449902e-03 -9.99986780e-01 2.75057729e-03 2.89033453e+02] [ 5.08074631e-02 2.52631646e-03 9.98705272e-01 -1.67871519e+02] [-9.98699017e-01 4.47862392e-03 5.07958159e-02 -3.99762537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.87, Z:-399.79 [[-5.00353855e-03 -9.99987470e-01 1.57611488e-04 2.89034249e+02] [ 5.13447312e-02 -9.95029928e-05 9.98680985e-01 -1.67869526e+02] [-9.98668455e-01 5.00503132e-03 5.13445857e-02 -3.99790415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-166.84, Z:-399.87 [[-4.96569191e-02 7.30771408e-01 -6.80813733e-01 2.88840361e+02] [ 8.56072212e-02 -6.76031910e-01 -7.31882682e-01 -1.66841334e+02] [-9.95090747e-01 -9.46256110e-02 -2.89896477e-02 -3.99867765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.67, Z:-400.05 [[-4.79569469e-02 -8.81678625e-01 -4.69407002e-01 2.89237364e+02] [ 1.01184045e-01 -4.71818435e-01 8.75870512e-01 -1.67669828e+02] [-9.93711186e-01 -5.49242374e-03 1.11838782e-01 -4.00046691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.72, Z:-400.06 [[-4.74027228e-02 -9.29506590e-01 -3.65746471e-01 2.89202242e+02] [ 1.02767705e-01 -3.68753300e-01 9.23828882e-01 -1.67723636e+02] [-9.93575252e-01 6.20507898e-03 1.13003169e-01 -4.00059537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.73, Z:-400.07 [[-4.73702404e-02 -9.32751752e-01 -3.57393661e-01 2.89199197e+02] [ 1.02896483e-01 -3.60448559e-01 9.27086377e-01 -1.67727150e+02] [-9.93563473e-01 7.14175396e-03 1.13051409e-01 -4.00066320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.73, Z:-400.07 [[-4.77305539e-02 -9.34812843e-01 -3.51918660e-01 2.89197090e+02] [ 1.03618591e-01 -3.55053302e-01 9.29085755e-01 -1.67728816e+02] [-9.93471178e-01 7.88046181e-03 1.13810881e-01 -4.00070245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.73, Z:-400.08 [[-4.71876261e-02 -9.36888585e-01 -3.46429081e-01 2.89194926e+02] [ 1.04128705e-01 -3.49539608e-01 9.31117219e-01 -1.67730625e+02] [-9.93443778e-01 7.86399969e-03 1.14050939e-01 -4.00077407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.73, Z:-400.08 [[-4.63566761e-02 -9.38935028e-01 -3.40957582e-01 2.89192842e+02] [ 1.04853419e-01 -3.44012640e-01 9.33092206e-01 -1.67732229e+02] [-9.93406674e-01 7.50448506e-03 1.14397830e-01 -4.00083829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.73, Z:-400.09 [[-4.52702208e-02 -9.40956590e-01 -3.35486667e-01 2.89190556e+02] [ 1.05335074e-01 -3.38455027e-01 9.35068296e-01 -1.67733560e+02] [-9.93405823e-01 6.99223544e-03 1.14437666e-01 -4.00092943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.74, Z:-400.10 [[-4.32061670e-02 -9.42986966e-01 -3.30013346e-01 2.89188435e+02] [ 1.05889132e-01 -3.32783530e-01 9.37039281e-01 -1.67735061e+02] [-9.93438835e-01 5.54104876e-03 1.14230372e-01 -4.00101993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-167.71, Z:-400.38 [[-3.95368976e-02 -9.47133780e-01 -3.18393525e-01 2.89174864e+02] [ 1.04163973e-01 -3.20813282e-01 9.41397209e-01 -1.67712970e+02] [-9.93773969e-01 4.05479043e-03 1.11341180e-01 -4.00381675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-166.93, Z:-400.34 [[-6.24575619e-02 3.21807413e-01 -9.44742845e-01 2.89078684e+02] [ 1.60170565e-01 -9.31089748e-01 -3.27745743e-01 -1.66933076e+02] [-9.85111386e-01 -1.71790195e-01 6.60952052e-03 -4.00341017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.88, Z:-400.38 [[-1.19414705e-02 -5.41401096e-01 8.40679638e-01 2.88486985e+02] [ 1.10566725e-01 8.34869094e-01 5.39229632e-01 -1.67883954e+02] [-9.93796961e-01 9.93903895e-02 4.98913816e-02 -4.00382012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-167.77, Z:-400.39 [[-1.51265242e-02 -9.84542629e-01 -1.74490686e-01 2.89109180e+02] [ 1.16766446e-01 -1.75055987e-01 9.77609840e-01 -1.67772201e+02] [-9.93044201e-01 -5.58681836e-03 1.17609532e-01 -4.00389434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-167.77, Z:-400.40 [[-1.14370579e-02 -9.85412602e-01 -1.69797518e-01 2.89107142e+02] [ 1.17983245e-01 -1.69952326e-01 9.78364023e-01 -1.67773366e+02] [-9.92949721e-01 -8.84365624e-03 1.18205931e-01 -4.00397050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-167.78, Z:-400.41 [[-4.34126752e-03 -9.86426321e-01 -1.64147088e-01 2.89105061e+02] [ 1.20910378e-01 -1.63462113e-01 9.79112260e-01 -1.67775076e+02] [-9.92653935e-01 -1.55964982e-02 1.19978812e-01 -4.00407956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-167.77, Z:-400.48 [[ 9.12267235e-03 -9.87222612e-01 -1.59085799e-01 2.89099994e+02] [ 1.23353872e-01 -1.56766258e-01 9.79902119e-01 -1.67769770e+02] [-9.92320815e-01 -2.85631753e-02 1.20347604e-01 -4.00479042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.80, Z:-400.49 [[ 1.43811883e-02 -9.97528604e-01 -6.87740224e-02 2.89060541e+02] [ 1.22377174e-01 -6.65081032e-02 9.90252745e-01 -1.67801978e+02] [-9.92379468e-01 -2.26573817e-02 1.21118266e-01 -4.00492329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.80, Z:-400.51 [[ 2.12002493e-02 -9.97781419e-01 -6.31093476e-02 2.89057861e+02] [ 1.23700972e-01 -6.00206482e-02 9.90502696e-01 -1.67802198e+02] [-9.92093050e-01 -2.88055918e-02 1.22154078e-01 -4.00506612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.80, Z:-400.53 [[ 2.73399513e-02 -9.98120382e-01 -5.48473398e-02 2.89055195e+02] [ 1.24836934e-01 -5.10291424e-02 9.90864151e-01 -1.67801708e+02] [-9.91800518e-01 -3.39371514e-02 1.23207154e-01 -4.00534515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.54 [[ 2.86780150e-02 -9.99155003e-01 -2.94423531e-02 2.89043319e+02] [ 1.24083885e-01 -2.56682484e-02 9.91939681e-01 -1.67809375e+02] [-9.91857228e-01 -3.21001826e-02 1.23242920e-01 -4.00543461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.55 [[ 3.02433059e-02 -9.99329351e-01 -2.06444036e-02 2.89041927e+02] [ 1.23855483e-01 -1.67479620e-02 9.92158921e-01 -1.67810882e+02] [-9.91839282e-01 -3.25630884e-02 1.23265905e-01 -4.00551862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.57 [[ 3.09195238e-02 -9.99446060e-01 -1.23108493e-02 2.89039490e+02] [ 1.23526582e-01 -8.40139669e-03 9.92305699e-01 -1.67811687e+02] [-9.91859449e-01 -3.22023368e-02 1.23198389e-01 -4.00566153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.56 [[ 3.05753320e-02 -9.99529238e-01 -2.54017440e-03 2.89036193e+02] [ 1.22740714e-01 1.23245266e-03 9.92438007e-01 -1.67814835e+02] [-9.91967674e-01 -3.06559044e-02 1.22720615e-01 -4.00564883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.81, Z:-400.59 [[ 2.89679008e-02 -9.99575230e-01 3.19688117e-03 2.89034880e+02] [ 1.22284905e-01 6.71800660e-03 9.92472302e-01 -1.67813258e+02] [-9.92072207e-01 -2.83589089e-02 1.22427568e-01 -4.00592989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.62 [[ 2.52056082e-02 -9.99682030e-01 7.18897320e-04 2.89039385e+02] [ 1.22065159e-01 3.79144841e-03 9.92514847e-01 -1.67808869e+02] [-9.92201983e-01 -2.49291881e-02 1.22121912e-01 -4.00619659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.62 [[ 2.38558897e-02 -9.99715342e-01 -3.61668845e-04 2.89042032e+02] [ 1.21774345e-01 2.54678426e-03 9.92554544e-01 -1.67807853e+02] [-9.92271085e-01 -2.37223137e-02 1.21800437e-01 -4.00623245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.81, Z:-400.65 [[ 2.16737950e-02 -9.99750829e-01 5.34103666e-03 2.89041684e+02] [ 1.21962592e-01 7.94636651e-03 9.92502887e-01 -1.67806166e+02] [-9.92298026e-01 -2.08598974e-02 1.22104430e-01 -4.00649990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.80, Z:-400.68 [[ 1.92710220e-02 -9.99805139e-01 4.27921777e-03 2.89044264e+02] [ 1.22343729e-01 6.60595324e-03 9.92465805e-01 -1.67802537e+02] [-9.92300680e-01 -1.86022949e-02 1.22447192e-01 -4.00678095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.80, Z:-400.70 [[ 1.72448144e-02 -9.99849768e-01 1.74854815e-03 2.89047795e+02] [ 1.22843483e-01 3.85428376e-03 9.92418573e-01 -1.67798510e+02] [-9.92276219e-01 -1.68992763e-02 1.22891494e-01 -4.00704886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.80, Z:-400.73 [[ 1.27704862e-02 -9.99918239e-01 6.55756266e-04 2.89051892e+02] [ 1.22739292e-01 2.21841824e-03 9.92436469e-01 -1.67795370e+02] [-9.92356781e-01 -1.25934091e-02 1.22757587e-01 -4.00732860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.79, Z:-400.73 [[ 1.12998915e-02 -9.99934478e-01 -1.83081038e-03 2.89054854e+02] [ 1.23046534e-01 -4.26513173e-04 9.92400811e-01 -1.67794515e+02] [-9.92336567e-01 -1.14392964e-02 1.23033652e-01 -4.00733915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.79, Z:-400.76 [[ 5.83928797e-03 -9.99977206e-01 3.38981960e-03 2.89056667e+02] [ 1.24036241e-01 4.08799032e-03 9.92269268e-01 -1.67793330e+02] [-9.92260507e-01 -5.37368552e-03 1.24057285e-01 -4.00761941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.79, Z:-400.79 [[ 2.36747232e-03 -9.99996771e-01 9.23525080e-04 2.89060249e+02] [ 1.24500784e-01 1.21109499e-03 9.92218770e-01 -1.67789535e+02] [-9.92216685e-01 -2.23407088e-03 1.24503249e-01 -4.00789937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.79, Z:-400.80 [[-4.04841316e-04 -9.99998727e-01 -1.54372784e-03 2.89063983e+02] [ 1.24728924e-01 -1.58216813e-03 9.92189595e-01 -1.67787983e+02] [-9.92190774e-01 2.09131826e-04 1.24729406e-01 -4.00797050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.79, Z:-400.82 [[-8.34285834e-03 -9.99956813e-01 4.09491240e-03 2.89066305e+02] [ 1.25067498e-01 3.01945129e-03 9.92143641e-01 -1.67786419e+02] [-9.92113158e-01 8.78945429e-03 1.25036905e-01 -4.00824423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.78, Z:-400.85 [[-1.28855163e-02 -9.99912455e-01 3.00760251e-03 2.89069241e+02] [ 1.25095579e-01 1.37217302e-03 9.92143746e-01 -1.67782598e+02] [-9.92061016e-01 1.31605222e-02 1.25066946e-01 -4.00852081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-167.78, Z:-400.88 [[-2.17303292e-02 -9.99763719e-01 5.46753576e-04 2.89074397e+02] [ 1.24494371e-01 -2.16331611e-03 9.92217956e-01 -1.67777932e+02] [-9.91982331e-01 2.16292906e-02 1.24511965e-01 -4.00879642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.78, Z:-400.88 [[-2.53561056e-02 -9.99676662e-01 -1.90755799e-03 2.89077033e+02] [ 1.24273048e-01 -5.04545817e-03 9.92235231e-01 -1.67776614e+02] [-9.91924028e-01 2.49221632e-02 1.24360799e-01 -4.00882061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.77, Z:-400.91 [[-2.89034037e-02 -9.99577051e-01 3.21125129e-03 2.89076219e+02] [ 1.24653990e-01 -4.16896801e-04 9.92200186e-01 -1.67774955e+02] [-9.91779197e-01 2.90782578e-02 1.24613318e-01 -4.00909289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.77, Z:-400.94 [[-3.25489761e-02 -9.99467862e-01 2.13486210e-03 2.89078158e+02] [ 1.24618099e-01 -1.93900699e-03 9.92202887e-01 -1.67771050e+02] [-9.91670759e-01 3.25612305e-02 1.24614897e-01 -4.00936723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.77, Z:-400.94 [[-3.69060597e-02 -9.99318679e-01 -3.46156599e-04 2.89081173e+02] [ 1.24123594e-01 -4.92774558e-03 9.92254529e-01 -1.67769441e+02] [-9.91580192e-01 3.65772387e-02 1.24220889e-01 -4.00938387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.77, Z:-400.97 [[-3.89634466e-02 -9.99229354e-01 4.74848885e-03 2.89079182e+02] [ 1.23379793e-01 -9.51672087e-05 9.92359520e-01 -1.67767983e+02] [-9.91594311e-01 3.92516148e-02 1.23288419e-01 -4.00965059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.76, Z:-400.99 [[-3.91798762e-02 -9.99225369e-01 3.68775556e-03 2.89079679e+02] [ 1.23517978e-01 -1.18082042e-03 9.92341632e-01 -1.67763991e+02] [-9.91568579e-01 3.93353264e-02 1.23468562e-01 -4.00991764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.76, Z:-401.02 [[-3.76352390e-02 -9.99288048e-01 2.64307913e-03 2.89079861e+02] [ 1.23969297e-01 -2.04438463e-03 9.92283948e-01 -1.67760205e+02] [-9.91572086e-01 3.76725042e-02 1.23957978e-01 -4.01019929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.76, Z:-401.05 [[-3.78402339e-02 -9.99283788e-01 1.69550739e-04 2.89080942e+02] [ 1.23875906e-01 -4.52248926e-03 9.92287412e-01 -1.67756135e+02] [-9.91575956e-01 3.75693910e-02 1.23958317e-01 -4.01048207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.75, Z:-401.06 [[-3.55586609e-02 -9.99366637e-01 -1.38088377e-03 2.89081130e+02] [ 1.24241408e-01 -5.79168771e-03 9.92235118e-01 -1.67754227e+02] [-9.91614670e-01 3.51109891e-02 1.24368663e-01 -4.01057485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.75, Z:-401.09 [[-3.37057359e-02 -9.99424928e-01 3.70625890e-03 2.89078408e+02] [ 1.24322146e-01 -5.13159629e-04 9.92241775e-01 -1.67752912e+02] [-9.91669263e-01 3.39050093e-02 1.24267949e-01 -4.01085296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.75, Z:-401.11 [[-3.39967334e-02 -9.99421167e-01 1.24638653e-03 2.89079494e+02] [ 1.24238591e-01 -2.98871183e-03 9.92247872e-01 -1.67748847e+02] [-9.91669801e-01 3.38880357e-02 1.24268284e-01 -4.01113600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.75, Z:-401.12 [[-2.75605938e-02 -9.99619561e-01 -1.07119980e-03 2.89079469e+02] [ 1.23998768e-01 -4.48210668e-03 9.92272249e-01 -1.67746377e+02] [-9.91899551e-01 2.72147849e-02 1.24075124e-01 -4.01123345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.75, Z:-401.15 [[-2.44027164e-02 -9.99694070e-01 4.03413825e-03 2.89075906e+02] [ 1.24206673e-01 9.72214682e-04 9.92255893e-01 -1.67745236e+02] [-9.91956254e-01 2.47148060e-02 1.24144949e-01 -4.01151801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.74, Z:-401.18 [[-2.10918128e-02 -9.99776330e-01 1.55719283e-03 2.89075619e+02] [ 1.24691694e-01 -1.08517774e-03 9.92194942e-01 -1.67741648e+02] [-9.91971329e-01 2.11213590e-02 1.24686693e-01 -4.01179272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-166.69, Z:-401.19 [[-5.35024739e-02 8.21044044e-01 -5.68352147e-01 2.88700943e+02] [ 1.29132898e-01 -5.58699329e-01 -8.19255610e-01 -1.66689920e+02] [-9.90182902e-01 -1.17225162e-01 -7.61320002e-02 -4.01186302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.58, Z:-401.36 [[-6.90986959e-02 -9.35568823e-01 -3.46318276e-01 2.89236305e+02] [ 1.59129229e-01 -3.53039732e-01 9.21976592e-01 -1.67581199e+02] [-9.84836666e-01 8.59801999e-03 1.73270930e-01 -4.01356988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.58, Z:-401.37 [[-6.53577009e-02 -9.37064358e-01 -3.42985073e-01 2.89233671e+02] [ 1.60646363e-01 -3.49117371e-01 9.23206265e-01 -1.67581686e+02] [-9.84845733e-01 5.23933432e-03 1.73353490e-01 -4.01368278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.58, Z:-401.38 [[-5.91792052e-02 -9.38573996e-01 -3.39965697e-01 2.89230731e+02] [ 1.62387063e-01 -3.45077678e-01 9.24419730e-01 -1.67582844e+02] [-9.84950894e-01 -4.99606134e-04 1.72833697e-01 -4.01377570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.58, Z:-401.38 [[-5.60482927e-02 -9.39870049e-01 -3.36901885e-01 2.89228643e+02] [ 1.63479732e-01 -3.41517267e-01 9.25548666e-01 -1.67583411e+02] [-9.84953281e-01 -3.20120728e-03 1.72791163e-01 -4.01383880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.59, Z:-401.39 [[-5.28800795e-02 -9.41237879e-01 -3.33579003e-01 2.89226681e+02] [ 1.63797864e-01 -3.37697512e-01 9.26893009e-01 -1.67585107e+02] [-9.85075610e-01 -5.62535234e-03 1.72030226e-01 -4.01388377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-167.58, Z:-401.40 [[-4.72085407e-02 -9.42713158e-01 -3.30247264e-01 2.89223462e+02] [ 1.65066717e-01 -3.33432982e-01 9.28210873e-01 -1.67584581e+02] [-9.85151934e-01 -1.06933508e-02 1.71351451e-01 -4.01403283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-167.61, Z:-401.41 [[-4.04458709e-02 -9.51041573e-01 -3.06405057e-01 2.89214838e+02] [ 1.50631932e-01 -3.08954904e-01 9.39072355e-01 -1.67607974e+02] [-9.87762195e-01 -8.17278632e-03 1.55753179e-01 -4.01405018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.54, Z:-401.51 [[-2.59017993e-02 -9.22235764e-01 -3.85759371e-01 2.89231550e+02] [ 1.75355706e-01 -3.84097134e-01 9.06487599e-01 -1.67539518e+02] [-9.84164353e-01 -4.41654469e-02 1.71668110e-01 -4.01510901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-167.64, Z:-401.51 [[-2.10063254e-02 -9.77053809e-01 -2.11954215e-01 2.89169200e+02] [ 1.59382461e-01 -2.12562423e-01 9.64061434e-01 -1.67638784e+02] [-9.86993397e-01 -1.35303963e-02 1.60190396e-01 -4.01511465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.58, Z:-401.59 [[-4.81035368e-03 -9.57847529e-01 -2.87236787e-01 2.89191330e+02] [ 1.81376668e-01 -2.83311476e-01 9.41720294e-01 -1.67579582e+02] [-9.83401935e-01 -4.75680436e-02 1.75094021e-01 -4.01594795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.65, Z:-401.61 [[ 1.36802410e-03 -9.90326436e-01 -1.38750416e-01 2.89133202e+02] [ 1.79928083e-01 -1.36242335e-01 9.74199113e-01 -1.67646468e+02] [-9.83678816e-01 -2.62978243e-02 1.78001155e-01 -4.01614329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.65, Z:-401.62 [[ 3.10446391e-03 -9.90759835e-01 -1.35592447e-01 2.89131994e+02] [ 1.80777509e-01 -1.32803012e-01 9.74516728e-01 -1.67647035e+02] [-9.83519118e-01 -2.75374168e-02 1.78694812e-01 -4.01620807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.66, Z:-401.63 [[ 4.22121448e-03 -9.92457911e-01 -1.22513165e-01 2.89126458e+02] [ 1.74179821e-01 -1.19911735e-01 9.77385577e-01 -1.67657524e+02] [-9.84704814e-01 -2.54650753e-02 1.72359968e-01 -4.01627870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-166.87, Z:-401.63 [[-4.03745953e-02 3.79073944e-02 -9.98465283e-01 2.89167635e+02] [ 2.57273522e-01 -9.65192660e-01 -4.70474577e-02 -1.66869716e+02] [-9.65494809e-01 -2.58778202e-01 2.92166941e-02 -4.01625856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-166.92, Z:-401.75 [[-2.07473918e-02 -5.95840570e-02 -9.98007658e-01 2.89208193e+02] [ 3.19426853e-01 -9.46298488e-01 4.98563599e-02 -1.66921927e+02] [-9.47383783e-01 -3.17756056e-01 3.86659733e-02 -4.01745214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-166.63, Z:-402.05 [[-1.23094798e-01 9.83179598e-01 -1.34927942e-01 2.88419349e+02] [ 2.92589094e-01 -9.39631490e-02 -9.51610503e-01 -1.66632307e+02] [-9.48282285e-01 -1.56616746e-01 -2.76101253e-01 -4.02052783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-167.55, Z:-402.11 [[-6.82725504e-02 -9.64031609e-01 -2.56869452e-01 2.89210811e+02] [ 3.05884519e-01 -2.65296699e-01 9.14358968e-01 -1.67548011e+02] [-9.49617565e-01 -1.61467700e-02 3.12994827e-01 -4.02105764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-167.48, Z:-402.17 [[-5.65294111e-02 -9.46037481e-01 -3.19088562e-01 2.89224529e+02] [ 3.30927736e-01 -3.19287076e-01 8.87999210e-01 -1.67479984e+02] [-9.41961390e-01 -5.53971830e-02 3.31119152e-01 -4.02170678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.53, Z:-402.18 [[-5.55093441e-02 -9.73372985e-01 -2.22404462e-01 2.89190921e+02] [ 3.28169302e-01 -2.28158850e-01 9.16650668e-01 -1.67527199e+02] [-9.42986544e-01 -2.21036397e-02 3.32096082e-01 -4.02181219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.53, Z:-402.18 [[-5.68986364e-02 -9.73566330e-01 -2.21203858e-01 2.89192053e+02] [ 3.27190882e-01 -2.27510306e-01 9.17161484e-01 -1.67526884e+02] [-9.43243697e-01 -2.01906477e-02 3.31487053e-01 -4.02182704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.53, Z:-402.18 [[-6.05398118e-02 -9.73610829e-01 -2.20038371e-01 2.89195278e+02] [ 3.25298845e-01 -2.27652099e-01 9.17799097e-01 -1.67525609e+02] [-9.43671337e-01 -1.60148433e-02 3.30496493e-01 -4.02182754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.19 [[-6.20570357e-02 -9.73881027e-01 -2.18413988e-01 2.89196032e+02] [ 3.24223910e-01 -2.26637936e-01 9.18430238e-01 -1.67524820e+02] [-9.43942679e-01 -1.38199793e-02 3.29819993e-01 -4.02186037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.19 [[-6.33760720e-02 -9.74062643e-01 -2.17222101e-01 2.89197008e+02] [ 3.23234624e-01 -2.25961452e-01 9.18945483e-01 -1.67524403e+02] [-9.44194287e-01 -1.19745491e-02 3.29171322e-01 -4.02187822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.19 [[-6.62408698e-02 -9.74165609e-01 -2.15901628e-01 2.89199676e+02] [ 3.21692767e-01 -2.25673226e-01 9.19557154e-01 -1.67523689e+02] [-9.44524172e-01 -8.54172655e-03 3.28330821e-01 -4.02188182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.20 [[-6.70787650e-02 -9.74375132e-01 -2.14694066e-01 2.89199927e+02] [ 3.21037761e-01 -2.24813434e-01 9.19996563e-01 -1.67521770e+02] [-9.44687882e-01 -7.21266897e-03 3.27891418e-01 -4.02195331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.21 [[-6.80254159e-02 -9.74612869e-01 -2.13312678e-01 2.89200058e+02] [ 3.20750559e-01 -2.23821260e-01 9.20338592e-01 -1.67519284e+02] [-9.44717747e-01 -5.81374521e-03 3.27833156e-01 -4.02205034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.20 [[-7.03744593e-02 -9.74730361e-01 -2.12009810e-01 2.89202651e+02] [ 3.20943904e-01 -2.23360738e-01 9.20383068e-01 -1.67522079e+02] [-9.44479987e-01 -3.27179534e-03 3.28552659e-01 -4.02197342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.52, Z:-402.20 [[-7.11789238e-02 -9.75015372e-01 -2.10424772e-01 2.89202661e+02] [ 3.21449065e-01 -2.22127279e-01 9.20505280e-01 -1.67521235e+02] [-9.44247880e-01 -2.12027095e-03 3.29228560e-01 -4.02203455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.53, Z:-402.21 [[-7.38365445e-02 -9.76320548e-01 -2.03338026e-01 2.89201170e+02] [ 3.18548615e-01 -2.16302630e-01 9.22897585e-01 -1.67527553e+02] [-9.45026426e-01 3.37052221e-03 3.26976597e-01 -4.02207782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-166.78, Z:-402.07 [[-8.50836984e-02 1.75882579e-02 -9.96218559e-01 2.89179037e+02] [ 3.71868863e-01 -9.27036864e-01 -4.81269308e-02 -1.66779220e+02] [-9.24377798e-01 -3.74557481e-01 7.23351994e-02 -4.02069356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.52, Z:-402.37 [[-7.51467986e-02 -9.82219484e-01 -1.72040240e-01 2.89181454e+02] [ 3.85801919e-01 -1.87730179e-01 9.03279724e-01 -1.67515000e+02] [-9.19516089e-01 1.50512500e-03 3.93049483e-01 -4.02365872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.51, Z:-402.37 [[-7.57051088e-02 -9.82321470e-01 -1.71211174e-01 2.89181187e+02] [ 3.84745540e-01 -1.87184435e-01 9.03843381e-01 -1.67514155e+02] [-9.19912825e-01 2.55282597e-03 3.92114623e-01 -4.02369641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.51, Z:-402.37 [[-7.68028823e-02 -9.82386729e-01 -1.70345627e-01 2.89180985e+02] [ 3.84050808e-01 -1.86815725e-01 9.04215053e-01 -1.67514264e+02] [-9.20112110e-01 4.02494658e-03 3.91634403e-01 -4.02369511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.52, Z:-402.38 [[-8.12801426e-02 -9.82675369e-01 -1.66561273e-01 2.89178535e+02] [ 3.78955442e-01 -1.85032942e-01 9.06727954e-01 -1.67516288e+02] [-9.21838550e-01 1.05796766e-02 3.87429683e-01 -4.02375024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.51, Z:-402.37 [[-8.06410489e-02 -9.80673451e-01 -1.78259932e-01 2.89184148e+02] [ 3.80505142e-01 -1.95586260e-01 9.03859420e-01 -1.67509313e+02] [-9.21256130e-01 5.05935084e-03 3.88923572e-01 -4.02369631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.51, Z:-402.37 [[-8.25344375e-02 -9.82328945e-01 -1.67981873e-01 2.89179049e+02] [ 3.78446568e-01 -1.86824116e-01 9.06573188e-01 -1.67513718e+02] [-9.21936149e-01 1.12513450e-02 3.87178441e-01 -4.02373259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.51, Z:-402.37 [[-8.37295375e-02 -9.82439837e-01 -1.66737312e-01 2.89178223e+02] [ 3.78198496e-01 -1.86135406e-01 9.06818344e-01 -1.67513999e+02] [-9.21930183e-01 1.28676800e-02 3.87142300e-01 -4.02374521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.51, Z:-402.39 [[-8.33043570e-02 -9.82622698e-01 -1.65870485e-01 2.89176370e+02] [ 3.77957452e-01 -1.85167148e-01 9.07117022e-01 -1.67509066e+02] [-9.22067540e-01 1.28748144e-02 3.86814802e-01 -4.02388686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-167.51, Z:-402.39 [[-8.43397508e-02 -9.83221903e-01 -1.61745160e-01 2.89173841e+02] [ 3.77891703e-01 -1.81758532e-01 9.07833518e-01 -1.67509440e+02] [-9.22000362e-01 1.54442987e-02 3.86880869e-01 -4.02393271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-167.47, Z:-402.41 [[-5.76031425e-02 -3.93088639e-02 9.97565382e-01 2.88252319e+02] [ 3.28679287e-01 9.42772226e-01 5.61289174e-02 -1.67473298e+02] [-9.42683300e-01 3.31112281e-01 -4.13866336e-02 -4.02414492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-167.38, Z:-402.65 [[-8.47321740e-02 -9.79320743e-01 -1.83715381e-01 2.89159186e+02] [ 3.09164075e-01 -2.01118442e-01 9.29499299e-01 -1.67381732e+02] [-9.47226495e-01 2.19603004e-02 3.19811995e-01 -4.02650953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-167.33, Z:-402.78 [[-8.09697844e-02 -9.76653203e-01 -1.98978430e-01 2.89155086e+02] [ 3.13981864e-01 -2.14463170e-01 9.24889690e-01 -1.67330134e+02] [-9.45970022e-01 1.24125005e-02 3.24016430e-01 -4.02780152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-166.51, Z:-402.25 [[-1.10043317e-01 9.34536752e-01 -3.38425069e-01 2.88533365e+02] [ 3.20983775e-01 -2.88834108e-01 -9.01966892e-01 -1.66507295e+02] [-9.40669913e-01 -2.07884385e-01 -2.68186871e-01 -4.02254121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.31, Z:-402.67 [[-1.39755119e-01 -9.34390048e-01 -3.27694590e-01 2.89236253e+02] [ 3.33780230e-01 -3.56028594e-01 8.72831254e-01 -1.67308226e+02] [-9.32233482e-01 1.26046606e-02 3.61637744e-01 -4.02669179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.20, Z:-402.98 [[-1.37299550e-01 -9.35779549e-01 -3.24754475e-01 2.89195273e+02] [ 3.39396916e-01 -3.52457090e-01 8.72114519e-01 -1.67197172e+02] [-9.30568948e-01 9.52026387e-03 3.65992893e-01 -4.02976407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.21, Z:-402.63 [[-1.26506643e-01 2.40931638e-01 9.62261926e-01 2.88170104e+02] [ 2.82961029e-01 9.38516784e-01 -1.97785999e-01 -1.67207905e+02] [-9.50751874e-01 2.47261382e-01 -1.86902872e-01 -4.02631567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-167.18, Z:-402.77 [[-1.50658838e-01 -8.89790941e-01 -4.30783003e-01 2.89255087e+02] [ 2.70535259e-01 -4.56231458e-01 8.47740250e-01 -1.67177106e+02] [-9.50848352e-01 1.11775694e-02 3.09455124e-01 -4.02772508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-167.18, Z:-402.78 [[-1.48492102e-01 -8.90780224e-01 -4.29488868e-01 2.89252828e+02] [ 2.71377572e-01 -4.54336302e-01 8.48488502e-01 -1.67177751e+02] [-9.50949162e-01 9.44019454e-03 3.09203127e-01 -4.02776345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-166.39, Z:-402.72 [[-1.98166236e-01 9.72506573e-01 -1.22315606e-01 2.88389653e+02] [ 2.64656682e-01 -6.70664298e-02 -9.62007762e-01 -1.66390513e+02] [-9.43762143e-01 -2.23009100e-01 -2.44090061e-01 -4.02716413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-166.96, Z:-403.19 [[-2.08878093e-01 -7.92083694e-01 -5.73561997e-01 2.89237364e+02] [ 2.82453001e-01 -6.10367349e-01 7.40048648e-01 -1.66956893e+02] [-9.36263982e-01 -7.42435691e-03 3.51218784e-01 -4.03189989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-167.11, Z:-403.00 [[-2.06393733e-01 1.51635107e-01 9.66648034e-01 2.88156902e+02] [ 2.11221261e-01 9.71530662e-01 -1.07302149e-01 -1.67107454e+02] [-9.55398977e-01 1.82030126e-01 -2.32546399e-01 -4.03003183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-166.90, Z:-403.01 [[-2.13254193e-01 -7.01121250e-01 -6.80405499e-01 2.89288613e+02] [ 2.16795485e-01 -7.13022263e-01 6.66782551e-01 -1.66895784e+02] [-9.52639684e-01 -5.31466491e-03 3.04054909e-01 -4.03013402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-166.90, Z:-403.02 [[-2.08690409e-01 -7.12089941e-01 -6.70355301e-01 2.89283832e+02] [ 2.20241734e-01 -7.02059860e-01 6.77204203e-01 -1.66904341e+02] [-9.52859849e-01 -6.31419189e-03 3.03345083e-01 -4.03023231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-166.86, Z:-403.25 [[-2.03200727e-01 -7.15486725e-01 -6.68422181e-01 2.89235482e+02] [ 2.24777721e-01 -6.98519837e-01 6.79371043e-01 -1.66856697e+02] [-9.52987115e-01 -1.21977242e-02 3.02765214e-01 -4.03245234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-166.58, Z:-402.85 [[-2.74352120e-01 8.40522554e-01 4.67175289e-01 2.88177279e+02] [ 1.70797856e-01 5.20683800e-01 -8.36490569e-01 -1.66575489e+02] [-9.46339795e-01 -1.49700423e-01 -2.86410155e-01 -4.02849131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-166.74, Z:-403.20 [[-2.63873375e-01 -5.61466107e-01 -7.84300104e-01 2.89275623e+02] [ 1.91348370e-01 -8.27429789e-01 5.27963773e-01 -1.66738398e+02] [-9.45387034e-01 -1.07589639e-02 3.25772316e-01 -4.03195038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-166.74, Z:-403.20 [[-2.61536018e-01 -5.63846646e-01 -7.83374669e-01 2.89273162e+02] [ 1.95104927e-01 -8.25753396e-01 5.29212053e-01 -1.66741732e+02] [-9.45268734e-01 -1.44322444e-02 3.25973514e-01 -4.03200847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-166.74, Z:-403.21 [[-2.60227944e-01 -5.65632550e-01 -7.82522355e-01 2.89270569e+02] [ 1.96861850e-01 -8.24502258e-01 5.30510544e-01 -1.66742420e+02] [-9.45265481e-01 -1.59951301e-02 3.25909998e-01 -4.03209868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-166.74, Z:-403.22 [[-2.59162719e-01 -5.67449203e-01 -7.81560034e-01 2.89267839e+02] [ 1.98918590e-01 -8.23218982e-01 5.31734805e-01 -1.66742799e+02] [-9.45127547e-01 -1.76609825e-02 3.26223865e-01 -4.03218817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-167.31, Z:-403.42 [[-2.00842527e-01 -7.84949572e-01 5.86102762e-01 2.88591374e+02] [ 1.31691958e-01 5.71229047e-01 8.10157148e-01 -1.67308503e+02] [-9.70731429e-01 2.39899029e-01 -1.13555398e-02 -4.03421017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-166.68, Z:-403.29 [[-2.05744111e-01 -5.29953799e-01 -8.22689694e-01 2.89215243e+02] [ 1.64983653e-01 -8.47426086e-01 5.04628004e-01 -1.66682714e+02] [-9.64598235e-01 -3.19061113e-02 2.61786640e-01 -4.03292167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-167.28, Z:-403.34 [[-1.49876114e-01 -6.77948526e-01 7.19668637e-01 2.88479903e+02] [ 8.72996903e-02 7.15973109e-01 6.92648014e-01 -1.67282707e+02] [-9.84843091e-01 1.66638242e-01 -4.81225711e-02 -4.03343762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.63, Z:-403.44 [[-1.56776583e-01 -5.10168525e-01 -8.45664933e-01 2.89160963e+02] [ 1.20789822e-01 -8.59729820e-01 4.96260472e-01 -1.66629919e+02] [-9.80219834e-01 -2.43456955e-02 1.96408669e-01 -4.03442532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.65, Z:-403.45 [[-1.55947051e-01 -5.37660242e-01 -8.28614495e-01 2.89161567e+02] [ 1.20092464e-01 -8.42975042e-01 5.24376658e-01 -1.66648635e+02] [-9.80437819e-01 -1.77353631e-02 1.96028415e-01 -4.03450178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.65, Z:-403.46 [[-1.55741263e-01 -5.39993947e-01 -8.27134328e-01 2.89160883e+02] [ 1.19235425e-01 -8.41505980e-01 5.26925610e-01 -1.66649713e+02] [-9.80575123e-01 -1.65596533e-02 1.95443612e-01 -4.03457224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.65, Z:-403.46 [[-1.56372326e-01 -5.42269305e-01 -8.25525104e-01 2.89160296e+02] [ 1.18417365e-01 -8.40071295e-01 5.29393566e-01 -1.66650595e+02] [-9.80573824e-01 -1.49740046e-02 1.95578004e-01 -4.03462656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.65, Z:-403.47 [[-1.57852770e-01 -5.44155471e-01 -8.24000805e-01 2.89160670e+02] [ 1.15292034e-01 -8.38911809e-01 5.31916087e-01 -1.66651400e+02] [-9.80709055e-01 -1.10363006e-02 1.95161344e-01 -4.03466767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.65, Z:-403.47 [[-1.58553414e-01 -5.48249993e-01 -8.21147222e-01 2.89160235e+02] [ 1.12877986e-01 -8.36279820e-01 5.36558126e-01 -1.66654133e+02] [-9.80876840e-01 -7.61632196e-03 1.94480375e-01 -4.03473014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.66, Z:-403.48 [[-1.59793226e-01 -5.50250592e-01 -8.19567209e-01 2.89160449e+02] [ 1.10640115e-01 -8.34987211e-01 5.39031652e-01 -1.66655667e+02] [-9.80930624e-01 -4.54340346e-03 1.94305089e-01 -4.03475304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-166.65, Z:-403.56 [[-1.55914483e-01 -5.53674281e-01 -8.18007007e-01 2.89146357e+02] [ 1.15940138e-01 -8.32668226e-01 5.41499316e-01 -1.66650715e+02] [-9.80942689e-01 -1.04122598e-02 1.94018109e-01 -4.03558002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-166.10, Z:-403.50 [[-2.04218757e-01 8.96800032e-01 -3.92484906e-01 2.88434924e+02] [ 1.44694779e-01 -3.68877369e-01 -9.18146452e-01 -1.66102609e+02] [-9.68172567e-01 -2.44293244e-01 -5.44306052e-02 -4.03503754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-166.65, Z:-403.60 [[-2.45777089e-01 5.80192625e-01 7.76511520e-01 2.87970362e+02] [ 9.77106061e-02 8.11832412e-01 -5.75656818e-01 -1.66649664e+02] [-9.64389061e-01 -6.56098454e-02 -2.56220780e-01 -4.03595784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-166.45, Z:-403.88 [[-2.59969954e-01 -3.24419525e-01 -9.09487545e-01 2.89106019e+02] [ 7.14972914e-02 -9.45753922e-01 3.16919007e-01 -1.66451534e+02] [-9.62966126e-01 1.73635236e-02 2.69062721e-01 -4.03882368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-166.14, Z:-403.75 [[-3.00180153e-01 9.52589571e-01 -4.96486202e-02 2.88223054e+02] [ 8.32651076e-02 -2.56828815e-02 -9.96196422e-01 -1.66138381e+02] [-9.50241442e-01 -3.03172392e-01 -7.16079818e-02 -4.03747307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-166.40, Z:-404.06 [[-3.28083643e-01 -2.54334016e-01 -9.09766636e-01 2.89071874e+02] [ 6.74727310e-02 -9.66923489e-01 2.45980481e-01 -1.66396160e+02] [-9.42235933e-01 1.93177330e-02 3.34392392e-01 -4.04061312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-166.74, Z:-403.85 [[-3.29715209e-01 3.59823496e-01 8.72820103e-01 2.87958824e+02] [ 5.01282056e-02 9.29887165e-01 -3.64413259e-01 -1.66744798e+02] [-9.42748664e-01 -7.63996882e-02 -3.24635247e-01 -4.03845693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-166.25, Z:-404.21 [[-3.47730706e-01 -5.55650816e-02 -9.35946514e-01 2.88977575e+02] [-2.45951897e-03 -9.98184884e-01 6.01738175e-02 -1.66253855e+02] [-9.37591226e-01 2.32262622e-02 3.46962871e-01 -4.04208115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-166.26, Z:-404.22 [[-3.48268951e-01 -7.41267341e-02 -9.34459183e-01 2.88981233e+02] [-1.76009119e-03 -9.96815011e-01 7.97291393e-02 -1.66263605e+02] [-9.37393002e-01 2.94119171e-02 3.47029249e-01 -4.04216667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-166.26, Z:-404.22 [[-3.48670208e-01 -7.50538101e-02 -9.34235523e-01 2.88981886e+02] [-3.54761563e-03 -9.96675682e-01 8.13940954e-02 -1.66263805e+02] [-9.37238764e-01 3.16940047e-02 3.47244855e-01 -4.04215687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-166.26, Z:-404.22 [[-3.48447411e-01 -7.66004451e-02 -9.34193114e-01 2.88979748e+02] [-3.27792367e-03 -9.96549478e-01 8.29360830e-02 -1.66264189e+02] [-9.37322601e-01 3.19610771e-02 3.46993995e-01 -4.04222748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-166.26, Z:-404.23 [[-3.54010431e-01 -7.13502336e-02 -9.32515822e-01 2.88969140e+02] [ 2.00782772e-03 -9.97141301e-01 7.55327375e-02 -1.66257346e+02] [-9.35239319e-01 2.48670458e-02 3.53141681e-01 -4.04232805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-167.15, Z:-404.16 [[-3.18886893e-01 -6.77516355e-01 6.62784081e-01 2.88353596e+02] [ 7.89166645e-03 6.97369934e-01 7.16667913e-01 -1.67153781e+02] [-9.47759923e-01 2.33766475e-01 -2.17035399e-01 -4.04160025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-166.99, Z:-404.43 [[-2.60192166e-01 -9.57656705e-01 -1.23262612e-01 2.88759195e+02] [-3.54093722e-03 -1.26712370e-01 9.91933182e-01 -1.66991500e+02] [-9.65550361e-01 2.58529708e-01 2.95785636e-02 -4.04425605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-166.63, Z:-404.32 [[-2.47913192e-01 4.41918315e-01 8.62117888e-01 2.87761880e+02] [-5.08559258e-02 8.82735022e-01 -4.67110861e-01 -1.66632543e+02] [-9.67446497e-01 -1.59646748e-01 -1.96367492e-01 -4.04318780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-166.07, Z:-404.62 [[-2.63600448e-01 2.91495721e-01 -9.19535235e-01 2.88665863e+02] [-8.77425839e-02 -9.56543650e-01 -2.78074604e-01 -1.66065050e+02] [-9.60633147e-01 7.38180753e-03 2.77721922e-01 -4.04616061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-167.10, Z:-404.62 [[-2.14315349e-01 -9.39331880e-01 2.67814397e-01 2.88469470e+02] [-7.39168236e-02 2.88995815e-01 9.54472484e-01 -1.67100058e+02] [-9.73963672e-01 1.84762114e-01 -1.31368668e-01 -4.04624941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-166.37, Z:-404.66 [[-2.41415044e-01 7.50301337e-01 6.15440234e-01 2.87692355e+02] [-1.20419157e-01 6.06134974e-01 -7.86193119e-01 -1.66371004e+02] [-9.62921598e-01 -2.63909640e-01 -5.59794470e-02 -4.04660264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-166.40, Z:-404.79 [[-2.91618431e-01 6.89741130e-01 6.62733630e-01 2.87673501e+02] [-1.65923344e-01 6.45869175e-01 -7.45199606e-01 -1.66403933e+02] [-9.42034041e-01 -3.27276920e-01 -7.39032002e-02 -4.04787320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-166.69, Z:-405.21 [[-2.60878203e-01 -6.66882222e-01 -6.98004774e-01 2.88738550e+02] [-1.30241598e-01 -6.92118494e-01 7.09935995e-01 -1.66685475e+02] [-9.56545707e-01 2.76116084e-01 9.37028232e-02 -4.05214126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-166.76, Z:-405.33 [[-2.08732963e-01 -7.28660781e-01 -6.52291358e-01 2.88674784e+02] [-8.22555296e-02 -6.51539232e-01 7.54142332e-01 -1.66761411e+02] [-9.74507352e-01 2.11068934e-01 7.60613357e-02 -4.05328359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:287.67, Y:-167.16, Z:-405.67 [[-1.74993012e-01 -3.71786221e-01 9.11675629e-01 2.87673348e+02] [-1.46550165e-01 9.25484292e-01 3.49287666e-01 -1.67155628e+02] [-9.73601815e-01 -7.24833130e-02 -2.16438616e-01 -4.05673260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-166.07, Z:-405.71 [[-1.90079798e-01 6.45112189e-01 -7.40067520e-01 2.88154353e+02] [-1.38944610e-01 -7.63899619e-01 -6.30199784e-01 -1.66068575e+02] [-9.71886859e-01 -1.69598552e-02 2.34836747e-01 -4.05708660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.18, Z:-405.35 [[-1.24886404e-01 -7.95563676e-01 5.92859025e-01 2.88003381e+02] [-1.87141324e-01 6.05699673e-01 7.73373151e-01 -1.67176892e+02] [-9.74362105e-01 -1.43646312e-02 -2.24526494e-01 -4.05354479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-166.02, Z:-405.60 [[-1.40586611e-01 8.13114142e-01 -5.64872372e-01 2.88008290e+02] [-1.79215274e-01 -5.82013545e-01 -7.93184795e-01 -1.66016654e+02] [-9.73713146e-01 -1.02774055e-02 2.27545786e-01 -4.05596065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-166.04, Z:-405.71 [[-1.48426891e-01 8.14322609e-01 -5.61113310e-01 2.87992747e+02] [-1.76403502e-01 -5.80099845e-01 -7.95214421e-01 -1.66038897e+02] [-9.73062826e-01 -1.90488512e-02 2.29751776e-01 -4.05712402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-166.79, Z:-405.68 [[-7.30499381e-02 -7.49102052e-01 -6.58414628e-01 2.88541727e+02] [-1.24370868e-01 -6.48182756e-01 7.51259610e-01 -1.66793900e+02] [-9.89543124e-01 1.36767067e-01 -4.58167623e-02 -4.05675312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-166.78, Z:-405.81 [[-2.65508052e-02 -6.85765653e-01 -7.27337971e-01 2.88520872e+02] [-7.26701916e-02 -7.24345289e-01 6.85596781e-01 -1.66778613e+02] [-9.97002557e-01 7.10589363e-02 -3.06027708e-02 -4.05810093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-166.73, Z:-405.94 [[ 1.08120861e-02 -5.72343386e-01 -8.19942771e-01 2.88505036e+02] [-1.41443540e-02 -8.19996201e-01 5.72194169e-01 -1.66728379e+02] [-9.99841506e-01 5.41094819e-03 -1.69612970e-02 -4.05938976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-167.19, Z:-405.92 [[ 1.02285606e-01 -9.93180800e-01 -5.59424165e-02 2.88274278e+02] [-2.37583959e-02 -5.86604243e-02 9.97995237e-01 -1.67194298e+02] [-9.94471314e-01 -1.00751446e-01 -2.95964997e-02 -4.05924734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-166.88, Z:-406.04 [[ 7.64367124e-02 3.43488604e-01 9.36041136e-01 2.87342619e+02] [-5.46425216e-02 9.38819883e-01 -3.40046206e-01 -1.66884968e+02] [-9.95576026e-01 -2.51556339e-02 9.05293888e-02 -4.06040740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-166.88, Z:-406.07 [[ 7.69223856e-02 3.46235771e-01 9.34988630e-01 2.87344299e+02] [-5.54707028e-02 9.37800849e-01 -3.42713537e-01 -1.66884786e+02] [-9.95492817e-01 -2.55021335e-02 9.13438200e-02 -4.06069369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-166.90, Z:-406.10 [[ 8.02694569e-02 3.32930422e-01 9.39528684e-01 2.87352219e+02] [-5.82160958e-02 9.42527063e-01 -3.29019181e-01 -1.66898323e+02] [-9.95071706e-01 -2.82855009e-02 9.50380449e-02 -4.06098917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-166.83, Z:-406.13 [[ 7.51708868e-02 4.32331492e-01 8.98575995e-01 2.87336354e+02] [-5.55688824e-02 9.01541474e-01 -4.29109625e-01 -1.66834417e+02] [-9.95621131e-01 -1.76763128e-02 9.17938499e-02 -4.06127867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-166.89, Z:-406.16 [[ 7.70527723e-02 3.42209269e-01 9.36459122e-01 2.87351372e+02] [-5.52583098e-02 9.39273597e-01 -3.38691052e-01 -1.66894813e+02] [-9.95494545e-01 -2.56500637e-02 9.12835404e-02 -4.06157608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-166.89, Z:-406.19 [[ 7.69354327e-02 3.44912091e-01 9.35476664e-01 2.87353568e+02] [-5.53657494e-02 9.38287787e-01 -3.41395170e-01 -1.66894225e+02] [-9.95497651e-01 -2.55279814e-02 9.12838933e-02 -4.06191035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.90, Z:-406.22 [[ 7.73600631e-02 3.46104797e-01 9.35001011e-01 2.87355270e+02] [-5.34150611e-02 9.37903319e-01 -3.42759677e-01 -1.66896726e+02] [-9.95571319e-01 -2.34272259e-02 9.10434688e-02 -4.06221065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.90, Z:-406.25 [[ 7.78665925e-02 3.45950931e-01 9.35015907e-01 2.87357009e+02] [-5.15356690e-02 9.38006314e-01 -3.42765560e-01 -1.66898864e+02] [-9.95630890e-01 -2.14966842e-02 9.08681682e-02 -4.06250006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.90, Z:-406.28 [[ 7.86681229e-02 3.45017669e-01 9.35293609e-01 2.87358859e+02] [-4.94956492e-02 9.38395915e-01 -3.41998960e-01 -1.66901910e+02] [-9.95671385e-01 -1.93885482e-02 9.08987186e-02 -4.06279013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.91, Z:-406.31 [[ 8.04130593e-02 3.43755942e-01 9.35609744e-01 2.87360696e+02] [-4.35547587e-02 9.38964698e-01 -3.41245188e-01 -1.66906988e+02] [-9.95809582e-01 -1.33096871e-02 9.04772310e-02 -4.06307897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.91, Z:-406.34 [[ 8.16919221e-02 3.42713397e-01 9.35881380e-01 2.87362712e+02] [-4.03218934e-02 9.39387608e-01 -3.40477705e-01 -1.66910282e+02] [-9.95841641e-01 -9.92223107e-03 9.05592323e-02 -4.06335396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-166.92, Z:-406.36 [[ 8.52326534e-02 3.40937353e-01 9.36214247e-01 2.87364212e+02] [-3.33391985e-02 9.40083224e-01 -3.39311112e-01 -1.66915005e+02] [-9.95803140e-01 -2.29224626e-03 9.14923656e-02 -4.06364210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.92, Z:-406.39 [[ 8.73993251e-02 3.39840203e-01 9.36413368e-01 2.87365757e+02] [-2.99463434e-02 9.40481925e-01 -3.38521735e-01 -1.66917501e+02] [-9.95723142e-01 1.54441495e-03 9.23744570e-02 -4.06391335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.92, Z:-406.42 [[ 8.91219455e-02 3.37603890e-01 9.37059706e-01 2.87368041e+02] [-2.72055917e-02 9.41277519e-01 -3.36536012e-01 -1.66921334e+02] [-9.95649102e-01 4.49948035e-03 9.30731973e-02 -4.06423936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.92, Z:-406.45 [[ 9.18364937e-02 3.40138285e-01 9.35880337e-01 2.87368328e+02] [-2.20530114e-02 9.40316276e-01 -3.39586464e-01 -1.66923130e+02] [-9.95529871e-01 1.05474504e-02 9.38564232e-02 -4.06453394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.93, Z:-406.48 [[ 9.29808527e-02 3.39700673e-01 9.35926287e-01 2.87370179e+02] [-1.96332098e-02 9.40441228e-01 -3.39388913e-01 -1.66925438e+02] [-9.95474308e-01 1.31814334e-02 9.41124418e-02 -4.06481529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.93, Z:-406.51 [[ 9.57548487e-02 3.38218015e-01 9.36183520e-01 2.87372072e+02] [-1.69392054e-02 9.40922670e-01 -3.38197565e-01 -1.66929598e+02] [-9.95260806e-01 1.65258517e-02 9.58270523e-02 -4.06514014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-166.94, Z:-406.54 [[ 9.76408598e-02 3.33432793e-01 9.37704023e-01 2.87377616e+02] [-1.69933340e-02 9.42627363e-01 -3.33413980e-01 -1.66937353e+02] [-9.95076625e-01 1.66201099e-02 9.77050809e-02 -4.06543600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.90, Z:-406.57 [[ 9.86688587e-02 3.91529708e-01 9.14860068e-01 2.87368360e+02] [-1.62796708e-02 9.19858245e-01 -3.91912978e-01 -1.66902202e+02] [-9.94987150e-01 2.37759855e-02 9.71353379e-02 -4.06574068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.90, Z:-406.60 [[ 9.80331720e-02 3.95004275e-01 9.13433698e-01 2.87367100e+02] [-1.27915126e-02 9.18279185e-01 -3.95726818e-01 -1.66900391e+02] [-9.95100937e-01 2.71101566e-02 9.50745235e-02 -4.06600178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-166.94, Z:-406.63 [[ 9.68913961e-02 3.31743113e-01 9.38380821e-01 2.87381485e+02] [-1.17303026e-02 9.43131950e-01 -3.32211568e-01 -1.66941446e+02] [-9.95225832e-01 2.11809516e-02 9.52728184e-02 -4.06631430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-166.94, Z:-406.66 [[ 9.63947077e-02 3.33136921e-01 9.37938085e-01 2.87383792e+02] [-1.20431099e-02 9.42647707e-01 -3.33571978e-01 -1.66943032e+02] [-9.95270327e-01 2.08588819e-02 9.48782547e-02 -4.06663791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-166.94, Z:-406.70 [[ 9.43722471e-02 3.41584403e-01 9.35101051e-01 2.87383246e+02] [-1.17738452e-02 9.39610396e-01 -3.42043389e-01 -1.66939049e+02] [-9.95467355e-01 2.12696681e-02 9.26949064e-02 -4.06696344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-166.95, Z:-406.73 [[ 9.29573720e-02 3.31027226e-01 9.39031364e-01 2.87386601e+02] [-1.25600172e-02 9.43429785e-01 -3.31334405e-01 -1.66947033e+02] [-9.95590866e-01 1.90057255e-02 9.18564611e-02 -4.06729093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-166.95, Z:-406.76 [[ 9.26680769e-02 3.32640966e-01 9.38489539e-01 2.87389061e+02] [-1.55682257e-02 9.42914090e-01 -3.32671984e-01 -1.66947748e+02] [-9.95575340e-01 1.62174560e-02 9.25566651e-02 -4.06757144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-166.95, Z:-406.79 [[ 9.20597891e-02 3.37716007e-01 9.36735232e-01 2.87389915e+02] [-1.78394220e-02 9.41138446e-01 -3.37550264e-01 -1.66945473e+02] [-9.95593667e-01 1.43639910e-02 9.26656652e-02 -4.06789725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-166.96, Z:-406.82 [[ 9.25046840e-02 3.25317616e-01 9.41069249e-01 2.87397301e+02] [-2.16425862e-02 9.45555331e-01 -3.24740996e-01 -1.66955760e+02] [-9.95477012e-01 9.67289086e-03 9.45090116e-02 -4.06820518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-166.94, Z:-406.85 [[ 9.14183159e-02 3.44770962e-01 9.34224639e-01 2.87395312e+02] [-2.44813170e-02 9.38647649e-01 -3.44007639e-01 -1.66944549e+02] [-9.95511606e-01 8.57754946e-03 9.42500345e-02 -4.06849391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-166.95, Z:-406.88 [[ 8.94113747e-02 3.42166331e-01 9.35375758e-01 2.87398051e+02] [-3.06861439e-02 9.39637737e-01 -3.40792141e-01 -1.66947851e+02] [-9.95521957e-01 1.76761868e-03 9.45140671e-02 -4.06879924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-166.93, Z:-406.91 [[ 8.81629424e-02 3.77680152e-01 9.21729352e-01 2.87393833e+02] [-3.40148971e-02 9.25934353e-01 -3.76149651e-01 -1.66925518e+02] [-9.95525129e-01 1.80993093e-03 9.44798486e-02 -4.06906920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-166.94, Z:-406.94 [[ 8.53489204e-02 3.47497560e-01 9.33788524e-01 2.87399803e+02] [-3.88836595e-02 9.37656004e-01 -3.45382800e-01 -1.66942874e+02] [-9.95592097e-01 -6.83106588e-03 9.35399045e-02 -4.06938211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-166.95, Z:-406.97 [[ 8.61171042e-02 3.32332647e-01 9.39222474e-01 2.87408145e+02] [-4.37885586e-02 9.43076246e-01 -3.29681294e-01 -1.66954574e+02] [-9.95322263e-01 -1.27360000e-02 9.57673629e-02 -4.06968984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-166.95, Z:-407.00 [[ 8.48648429e-02 3.46928438e-01 9.34044227e-01 2.87408286e+02] [-4.72117793e-02 9.37773202e-01 -3.44023937e-01 -1.66946567e+02] [-9.95273333e-01 -1.49023526e-02 9.59630843e-02 -4.07002069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-166.94, Z:-407.03 [[ 8.35649481e-02 3.50251562e-01 9.32920545e-01 2.87410350e+02] [-4.99506452e-02 9.36490430e-01 -3.47117570e-01 -1.66944838e+02] [-9.95249633e-01 -1.75931214e-02 9.57530657e-02 -4.07032794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-166.94, Z:-407.06 [[ 8.16280988e-02 3.52189091e-01 9.32362428e-01 2.87413196e+02] [-5.49946673e-02 9.35650672e-01 -3.48616417e-01 -1.66944376e+02] [-9.95144432e-01 -2.28180662e-02 9.57439074e-02 -4.07061171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-166.95, Z:-407.09 [[ 8.01320946e-02 3.51689765e-01 9.32680629e-01 2.87415916e+02] [-5.79466094e-02 9.35750730e-01 -3.47868886e-01 -1.66945669e+02] [-9.95098507e-01 -2.61702176e-02 9.53628954e-02 -4.07088714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-166.95, Z:-407.12 [[ 7.95223208e-02 3.50618249e-01 9.33136134e-01 2.87418511e+02] [-5.86273322e-02 9.36125327e-01 -3.46745163e-01 -1.66946835e+02] [-9.95107550e-01 -2.71333020e-02 9.49986711e-02 -4.07115233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-166.95, Z:-407.14 [[ 7.94306750e-02 3.49336865e-01 9.33624401e-01 2.87421308e+02] [-5.89706702e-02 9.36590070e-01 -3.45429445e-01 -1.66948174e+02] [-9.95094582e-01 -2.76187627e-02 9.49946105e-02 -4.07142834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-166.95, Z:-407.17 [[ 7.88092856e-02 3.46417956e-01 9.34763979e-01 2.87424075e+02] [-5.96060297e-02 9.37640264e-01 -3.42458548e-01 -1.66950297e+02] [-9.95106134e-01 -2.87286560e-02 9.45433583e-02 -4.07170387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-166.95, Z:-407.20 [[ 7.85112425e-02 3.43480394e-01 9.35872429e-01 2.87426868e+02] [-5.99578930e-02 9.38697696e-01 -3.39487388e-01 -1.66952554e+02] [-9.95108555e-01 -2.94593623e-02 9.42926832e-02 -4.07198775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-166.95, Z:-407.23 [[ 7.88492075e-02 3.42775840e-01 9.36102305e-01 2.87429433e+02] [-6.06381965e-02 9.38936264e-01 -3.38705921e-01 -1.66953382e+02] [-9.95040608e-01 -3.00568621e-02 9.48196890e-02 -4.07228314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-166.95, Z:-407.26 [[ 7.92504955e-02 3.42473895e-01 9.36178931e-01 2.87431465e+02] [-6.15868340e-02 9.39020854e-01 -3.38300011e-01 -1.66953609e+02] [-9.94950462e-01 -3.08458529e-02 9.55097509e-02 -4.07256039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-166.95, Z:-407.28 [[ 7.98181942e-02 3.41419469e-01 9.36515778e-01 2.87433467e+02] [-6.26452552e-02 9.39374294e-01 -3.37122394e-01 -1.66954409e+02] [-9.94838996e-01 -3.17597692e-02 9.63674696e-02 -4.07284778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.95, Z:-407.31 [[ 8.18076844e-02 3.40781251e-01 9.36576554e-01 2.87435314e+02] [-6.40404830e-02 9.39581789e-01 -3.36280950e-01 -1.66954661e+02] [-9.94588518e-01 -3.24684491e-02 9.86888064e-02 -4.07311796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.96, Z:-407.34 [[ 8.34860112e-02 3.38822262e-01 9.37139030e-01 2.87437747e+02] [-6.40205382e-02 9.40302991e-01 -3.34262854e-01 -1.66956753e+02] [-9.94450329e-01 -3.20898727e-02 1.00193730e-01 -4.07340026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.96, Z:-407.37 [[ 8.36253495e-02 3.37568274e-01 9.37579043e-01 2.87440135e+02] [-6.26996868e-02 9.40792829e-01 -3.33133009e-01 -1.66958449e+02] [-9.94522775e-01 -3.09275480e-02 9.98395542e-02 -4.07369568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.96, Z:-407.40 [[ 8.38842963e-02 3.36804573e-01 9.37830531e-01 2.87442280e+02] [-5.83635252e-02 9.41192550e-01 -3.32791652e-01 -1.66960748e+02] [-9.94764859e-01 -2.68191023e-02 9.86083769e-02 -4.07396067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-166.96, Z:-407.42 [[ 8.38029499e-02 3.34813554e-01 9.38550451e-01 2.87445006e+02] [-5.53895147e-02 9.41972570e-01 -3.31088626e-01 -1.66963981e+02] [-9.94941741e-01 -2.42396505e-02 9.74852404e-02 -4.07422842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-166.97, Z:-407.45 [[ 8.37274768e-02 3.33203368e-01 9.39130037e-01 2.87447543e+02] [-5.19913146e-02 9.42616322e-01 -3.29805053e-01 -1.66966869e+02] [-9.95131455e-01 -2.12128602e-02 9.62465673e-02 -4.07450663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-166.97, Z:-407.48 [[ 8.45160528e-02 3.31730247e-01 9.39580800e-01 2.87449705e+02] [-4.82890701e-02 9.43210211e-01 -3.28668013e-01 -1.66969622e+02] [-9.95251326e-01 -1.75937600e-02 9.57353492e-02 -4.07477344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-166.97, Z:-407.51 [[ 8.52122421e-02 3.30067516e-01 9.40103350e-01 2.87452161e+02] [-4.44418828e-02 9.43855199e-01 -3.27356506e-01 -1.66972758e+02] [-9.95371184e-01 -1.38851811e-02 9.50968395e-02 -4.07507167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-166.98, Z:-407.53 [[ 8.74645675e-02 3.29304063e-01 9.40164232e-01 2.87453958e+02] [-3.59238112e-02 9.44209941e-01 -3.27379088e-01 -1.66976637e+02] [-9.95519678e-01 -5.14021203e-03 9.44147711e-02 -4.07534364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-166.98, Z:-407.56 [[ 8.90137732e-02 3.27352369e-01 9.40700258e-01 2.87455924e+02] [-3.20384543e-02 9.44901650e-01 -3.25782764e-01 -1.66979998e+02] [-9.95514985e-01 -1.13942919e-03 9.45971251e-02 -4.07561024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-166.98, Z:-407.59 [[ 9.09456432e-02 3.25648494e-01 9.41106768e-01 2.87458178e+02] [-2.80619428e-02 9.45485833e-01 -3.24451950e-01 -1.66983113e+02] [-9.95460405e-01 3.09820697e-03 9.51261466e-02 -4.07588907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-166.99, Z:-407.62 [[ 9.36727611e-02 3.22033738e-01 9.42082632e-01 2.87460603e+02] [-2.19708467e-02 9.46681426e-01 -3.21421156e-01 -1.66987565e+02] [-9.95360586e-01 9.41005410e-03 9.57536170e-02 -4.07615732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-166.99, Z:-407.64 [[ 9.46086745e-02 3.20537632e-01 9.42499244e-01 2.87463004e+02] [-2.00827187e-02 9.47167694e-01 -3.20109425e-01 -1.66989158e+02] [-9.95311953e-01 1.13571811e-02 9.60475472e-02 -4.07643246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-166.99, Z:-407.67 [[ 9.51349156e-02 3.17475846e-01 9.43482080e-01 2.87465634e+02] [-1.90082752e-02 9.48187394e-01 -3.17142478e-01 -1.66991308e+02] [-9.95282891e-01 1.22373558e-02 9.62403960e-02 -4.07670668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-166.99, Z:-407.70 [[ 9.52987330e-02 3.14486682e-01 9.44466134e-01 2.87468661e+02] [-1.85137618e-02 9.49180158e-01 -3.14188270e-01 -1.66993498e+02] [-9.95276541e-01 1.24561230e-02 9.62779980e-02 -4.07698192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-166.99, Z:-407.72 [[ 9.52177576e-02 3.13352400e-01 9.44851233e-01 2.87471436e+02] [-1.84611221e-02 9.49556411e-01 -3.13052408e-01 -1.66994354e+02] [-9.95285269e-01 1.23651344e-02 9.61994690e-02 -4.07724987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-167.00, Z:-407.76 [[ 9.46595995e-02 3.11370722e-01 9.45562179e-01 2.87474711e+02] [-1.91727896e-02 9.50221230e-01 -3.10985558e-01 -1.66995994e+02] [-9.95325055e-01 1.13087037e-02 9.59174065e-02 -4.07756998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-166.99, Z:-407.78 [[ 9.35787866e-02 3.14264170e-01 9.44712148e-01 2.87476915e+02] [-2.11435961e-02 9.49289229e-01 -3.13692377e-01 -1.66993541e+02] [-9.95387341e-01 9.38033993e-03 9.54780089e-02 -4.07784928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-166.99, Z:-407.81 [[ 9.32110436e-02 3.13428329e-01 9.45026129e-01 2.87479606e+02] [-2.22966693e-02 9.49577485e-01 -3.12738642e-01 -1.66993815e+02] [-9.95396685e-01 8.07976015e-03 9.54995161e-02 -4.07812960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-166.99, Z:-407.84 [[ 9.28266050e-02 3.12415522e-01 9.45399261e-01 2.87482459e+02] [-2.34971949e-02 9.49921842e-01 -3.11602913e-01 -1.66993883e+02] [-9.95404995e-01 6.71080977e-03 9.55189080e-02 -4.07840083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-166.99, Z:-407.87 [[ 9.15776593e-02 3.11389383e-01 9.45859495e-01 2.87485915e+02] [-2.63083223e-02 9.50275842e-01 -3.10296143e-01 -1.66992833e+02] [-9.95450353e-01 3.53221808e-03 9.52161695e-02 -4.07871492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-166.99, Z:-407.90 [[ 9.10940385e-02 3.11897935e-01 9.45738629e-01 2.87488640e+02] [-2.75761432e-02 9.50113015e-01 -3.10684429e-01 -1.66992160e+02] [-9.95460412e-01 2.22167545e-03 9.51505737e-02 -4.07899556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-166.99, Z:-407.93 [[ 9.02575267e-02 3.11053089e-01 9.46097011e-01 2.87491166e+02] [-2.85312190e-02 9.50392049e-01 -3.09743316e-01 -1.66992011e+02] [-9.95509693e-01 9.63364654e-04 9.46547596e-02 -4.07927833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-166.99, Z:-407.96 [[ 8.91039176e-02 3.10173539e-01 9.46495044e-01 2.87494655e+02] [-3.12214004e-02 9.50677738e-01 -3.08605028e-01 -1.66991599e+02] [-9.95532881e-01 -2.05298373e-03 9.43931630e-02 -4.07960815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-166.99, Z:-407.99 [[ 8.83144714e-02 3.13411953e-01 9.45501720e-01 2.87496643e+02] [-3.25510027e-02 9.49611715e-01 -3.11733899e-01 -1.66990106e+02] [-9.95560639e-01 -3.24641454e-03 9.40663299e-02 -4.07991555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-166.99, Z:-408.02 [[ 8.76330964e-02 3.16075712e-01 9.44678032e-01 2.87499190e+02] [-3.43183196e-02 9.48721411e-01 -3.14245028e-01 -1.66988425e+02] [-9.95561497e-01 -4.88149775e-03 9.39865822e-02 -4.08024040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-166.99, Z:-408.06 [[ 8.98124879e-02 3.08691630e-01 9.46912454e-01 2.87506758e+02] [-3.52082196e-02 9.51144545e-01 -3.06731864e-01 -1.66993468e+02] [-9.95336174e-01 -5.79074986e-03 9.62931406e-02 -4.08055572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-166.99, Z:-408.09 [[ 8.73070184e-02 3.10640839e-01 9.46509247e-01 2.87505216e+02] [-3.48766825e-02 9.50508070e-01 -3.08736176e-01 -1.66991533e+02] [-9.95570742e-01 -6.05626751e-03 9.38201475e-02 -4.08088581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-166.98, Z:-408.12 [[ 8.77463567e-02 3.23123627e-01 9.42280053e-01 2.87505182e+02] [-3.40896690e-02 9.46348622e-01 -3.21344333e-01 -1.66983427e+02] [-9.95559376e-01 -3.92522072e-03 9.40538213e-02 -4.08121945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-166.98, Z:-408.15 [[ 8.82607394e-02 3.26103134e-01 9.41204966e-01 2.87506818e+02] [-3.30961872e-02 9.45330850e-01 -3.24429078e-01 -1.66982093e+02] [-9.95547430e-01 -2.51594548e-03 9.42283702e-02 -4.08149525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-166.98, Z:-408.18 [[ 8.86578671e-02 3.25006356e-01 9.41546946e-01 2.87509489e+02] [-3.14923980e-02 9.45711331e-01 -3.23478449e-01 -1.66983563e+02] [-9.95564168e-01 -9.72661865e-04 9.40799791e-02 -4.08177279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-166.99, Z:-408.21 [[ 8.94056374e-02 3.23669878e-01 9.41936538e-01 2.87512521e+02] [-2.93116710e-02 9.46169302e-01 -3.22342177e-01 -1.66985328e+02] [-9.95563890e-01 1.20947382e-03 9.40801745e-02 -4.08205412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-166.99, Z:-408.23 [[ 9.09041315e-02 3.22106325e-01 9.42329005e-01 2.87515331e+02] [-2.47364400e-02 9.46685181e-01 -3.21209087e-01 -1.66987565e+02] [-9.95552383e-01 5.88936813e-03 9.40253579e-02 -4.08233102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-166.99, Z:-408.26 [[ 9.16738048e-02 3.18848269e-01 9.43361911e-01 2.87518251e+02] [-2.21265208e-02 9.47769463e-01 -3.18187779e-01 -1.66990086e+02] [-9.95543234e-01 8.29616735e-03 9.39406356e-02 -4.08259755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-166.99, Z:-408.29 [[ 9.32356006e-02 3.17091080e-01 9.43801022e-01 2.87521587e+02] [-1.75098912e-02 9.48305739e-01 -3.16874784e-01 -1.66991801e+02] [-9.95490094e-01 1.30181576e-02 9.39680855e-02 -4.08292864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-166.99, Z:-408.32 [[ 9.46134302e-02 3.19917950e-01 9.42709289e-01 2.87523309e+02] [-1.52983103e-02 9.47312677e-01 -3.19944767e-01 -1.66990370e+02] [-9.95396534e-01 1.58492126e-02 9.45227059e-02 -4.08320928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-166.99, Z:-408.35 [[ 9.70795365e-02 3.18576457e-01 9.42912830e-01 2.87526006e+02] [-1.20610684e-02 9.47694694e-01 -3.18950306e-01 -1.66991287e+02] [-9.95203544e-01 1.95910117e-02 9.58441341e-02 -4.08349549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-166.99, Z:-408.38 [[ 9.82396658e-02 3.17680658e-01 9.43094888e-01 2.87529094e+02] [-1.11822354e-02 9.47971572e-01 -3.18158541e-01 -1.66992457e+02] [-9.95099958e-01 2.07098797e-02 9.66807903e-02 -4.08382141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-166.99, Z:-408.41 [[ 9.91253858e-02 3.20621419e-01 9.42006403e-01 2.87531071e+02] [-1.02321373e-02 9.46947166e-01 -3.21226351e-01 -1.66990861e+02] [-9.95022342e-01 2.22029471e-02 9.71471456e-02 -4.08411171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-166.99, Z:-408.44 [[ 1.00533989e-01 3.19903571e-01 9.42101174e-01 2.87534300e+02] [-9.36425424e-03 9.47160817e-01 -3.20622360e-01 -1.66990453e+02] [-9.94889556e-01 2.34113700e-02 9.82175140e-02 -4.08438777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-166.99, Z:-408.47 [[ 1.00539765e-01 3.18768029e-01 9.42485384e-01 2.87536865e+02] [-9.25978335e-03 9.47544009e-01 -3.19491171e-01 -1.66991834e+02] [-9.94889950e-01 2.33943568e-02 9.82175749e-02 -4.08467162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-166.99, Z:-408.50 [[ 1.00423276e-01 3.17840081e-01 9.42811142e-01 2.87539946e+02] [-9.31085801e-03 9.47860174e-01 -3.18550465e-01 -1.66992200e+02] [-9.94901238e-01 2.32115005e-02 9.81465874e-02 -4.08496201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-166.99, Z:-408.52 [[ 1.00066426e-01 3.17152476e-01 9.43080600e-01 2.87543267e+02] [-9.85883141e-03 9.48107545e-01 -3.17796928e-01 -1.66992586e+02] [-9.94931914e-01 2.25031302e-02 9.80004863e-02 -4.08523219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-166.99, Z:-408.55 [[ 9.86655246e-02 3.16111191e-01 9.43577675e-01 2.87547902e+02] [-1.21071346e-02 9.48515437e-01 -3.16499421e-01 -1.66992704e+02] [-9.95047000e-01 1.98035594e-02 9.74129739e-02 -4.08551465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-166.99, Z:-408.58 [[ 9.76040019e-02 3.13323717e-01 9.44617228e-01 2.87551651e+02] [-1.39276207e-02 9.49486180e-01 -3.13499626e-01 -1.66994237e+02] [-9.95127871e-01 1.74425476e-02 9.70375048e-02 -4.08580481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-166.99, Z:-408.61 [[ 9.66295328e-02 3.12800719e-01 9.44890705e-01 2.87554662e+02] [-1.61442073e-02 9.49700869e-01 -3.12742104e-01 -1.66993705e+02] [-9.95189479e-01 1.49656119e-02 9.68190709e-02 -4.08608884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:-166.99, Z:-408.64 [[ 9.48069129e-02 3.12672420e-01 9.45117774e-01 2.87558504e+02] [-2.25223668e-02 9.49824838e-01 -3.11970384e-01 -1.66990974e+02] [-9.95240872e-01 8.29065981e-03 9.70920836e-02 -4.08637386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:-166.99, Z:-408.67 [[ 9.33614144e-02 3.12258874e-01 9.45398351e-01 2.87561412e+02] [-2.59328530e-02 9.49986210e-01 -3.11213253e-01 -1.66989816e+02] [-9.95294496e-01 4.53843296e-03 9.67898196e-02 -4.08665313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-166.99, Z:-408.69 [[ 9.23691173e-02 3.11482167e-01 9.45751979e-01 2.87565039e+02] [-2.97574520e-02 9.50251868e-01 -3.10057867e-01 -1.66989314e+02] [-9.95280081e-01 4.96602363e-04 9.70428419e-02 -4.08694452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-166.99, Z:-408.72 [[ 9.07106530e-02 3.11090331e-01 9.46041428e-01 2.87568026e+02] [-3.35239279e-02 9.50373308e-01 -3.09300376e-01 -1.66988448e+02] [-9.95312877e-01 -3.65818556e-03 9.66379531e-02 -4.08721129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-166.99, Z:-408.75 [[ 8.80617709e-02 3.10465431e-01 9.46496878e-01 2.87572330e+02] [-4.10078863e-02 9.50512743e-01 -3.07967335e-01 -1.66986485e+02] [-9.95270555e-01 -1.16936874e-02 9.64353664e-02 -4.08748268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-166.99, Z:-408.78 [[ 8.70607679e-02 3.09475129e-01 9.46913706e-01 2.87575970e+02] [-4.46332759e-02 9.50780092e-01 -3.06635105e-01 -1.66986553e+02] [-9.95202639e-01 -1.55679730e-02 9.65885337e-02 -4.08780620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-166.98, Z:-408.81 [[ 8.59222155e-02 3.12852447e-01 9.45907352e-01 2.87578405e+02] [-4.73682618e-02 9.49627562e-01 -3.09780149e-01 -1.66983545e+02] [-9.95175171e-01 -1.81889904e-02 9.64133807e-02 -4.08808556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-166.98, Z:-408.84 [[ 8.41230538e-02 3.12187462e-01 9.46288698e-01 2.87582027e+02] [-5.15455813e-02 9.49746783e-01 -3.08746016e-01 -1.66981633e+02] [-9.95121282e-01 -2.28043433e-02 9.59874838e-02 -4.08836750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-166.98, Z:-408.86 [[ 8.35117919e-02 3.09278178e-01 9.47297624e-01 2.87585286e+02] [-5.30489478e-02 9.50650165e-01 -3.05696046e-01 -1.66982662e+02] [-9.95093759e-01 -2.47239176e-02 9.57973807e-02 -4.08863581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-166.98, Z:-408.89 [[ 8.28851224e-02 3.08124515e-01 9.47728516e-01 2.87588450e+02] [-5.49828030e-02 9.50966186e-01 -3.04368533e-01 -1.66981997e+02] [-9.95041179e-01 -2.68811471e-02 9.57624982e-02 -4.08892586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-166.98, Z:-408.93 [[ 8.28548542e-02 3.07396207e-01 9.47967639e-01 2.87591399e+02] [-5.55456079e-02 9.51184110e-01 -3.03584377e-01 -1.66982546e+02] [-9.95012442e-01 -2.75019995e-02 9.58847300e-02 -4.08925829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-166.98, Z:-408.95 [[ 8.30310617e-02 3.10508664e-01 9.46937280e-01 2.87593438e+02] [-5.52708930e-02 9.50190703e-01 -3.06729126e-01 -1.66980786e+02] [-9.95013051e-01 -2.68700241e-02 9.60574340e-02 -4.08954111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-166.98, Z:-408.98 [[ 8.44593896e-02 3.09456610e-01 9.47155330e-01 2.87595680e+02] [-5.43470789e-02 9.50567458e-01 -3.05725210e-01 -1.66981112e+02] [-9.94943720e-01 -2.56537608e-02 9.71024100e-02 -4.08982686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-166.98, Z:-409.01 [[ 8.50822811e-02 3.08603543e-01 9.47377886e-01 2.87598148e+02] [-5.34805999e-02 9.50869444e-01 -3.04937905e-01 -1.66981886e+02] [-9.94937602e-01 -2.47215251e-02 9.74064439e-02 -4.09011667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-166.98, Z:-409.04 [[ 8.53150324e-02 3.07733357e-01 9.47639977e-01 2.87600364e+02] [-5.24057998e-02 9.51177123e-01 -3.04163959e-01 -1.66982836e+02] [-9.94974863e-01 -2.37120729e-02 9.72767198e-02 -4.09038404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-166.98, Z:-409.07 [[ 8.57238876e-02 3.06330386e-01 9.48057546e-01 2.87603037e+02] [-5.17811279e-02 9.51644118e-01 -3.02807178e-01 -1.66984863e+02] [-9.94972427e-01 -2.31336805e-02 9.74407663e-02 -4.09066722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-166.99, Z:-409.10 [[ 8.68811714e-02 3.05451209e-01 9.48235847e-01 2.87606356e+02] [-5.07041515e-02 9.51957210e-01 -3.02004238e-01 -1.66987222e+02] [-9.94927511e-01 -2.18410120e-02 9.81948019e-02 -4.09099321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-166.99, Z:-409.13 [[ 8.71752645e-02 3.08535379e-01 9.47209794e-01 2.87608369e+02] [-5.02642733e-02 9.50980802e-01 -3.05137703e-01 -1.66986665e+02] [-9.94924106e-01 -2.10103519e-02 9.84103096e-02 -4.09132716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-166.99, Z:-409.16 [[ 8.85190572e-02 3.11610196e-01 9.46077937e-01 2.87610018e+02] [-4.97197920e-02 9.50004694e-01 -3.08251560e-01 -1.66986226e+02] [-9.94832810e-01 -1.97526608e-02 9.95867140e-02 -4.09164279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-166.99, Z:-409.19 [[ 8.89109197e-02 3.14488649e-01 9.45088217e-01 2.87611345e+02] [-4.93235383e-02 9.49072100e-01 -3.11174128e-01 -1.66985324e+02] [-9.94817590e-01 -1.89483170e-02 9.98945662e-02 -4.09192529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-166.99, Z:-409.22 [[ 8.93410779e-02 3.13317873e-01 9.45436451e-01 2.87613802e+02] [-4.91055577e-02 9.49463597e-01 -3.10012134e-01 -1.66987387e+02] [-9.94789835e-01 -1.87293659e-02 1.00211750e-01 -4.09220952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-166.99, Z:-409.25 [[ 8.93651593e-02 3.12508108e-01 9.45702147e-01 2.87615938e+02] [-4.86535534e-02 9.49737332e-01 -3.09243968e-01 -1.66989400e+02] [-9.94809881e-01 -1.83761335e-02 1.00078058e-01 -4.09249565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-166.99, Z:-409.28 [[ 8.91321155e-02 3.11676049e-01 9.45998682e-01 2.87618367e+02] [-4.79192369e-02 9.50021018e-01 -3.08486323e-01 -1.66991659e+02] [-9.94866430e-01 -1.78354964e-02 9.96126615e-02 -4.09277919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-167.00, Z:-409.31 [[ 8.88847618e-02 3.10516868e-01 9.46403072e-01 2.87621862e+02] [-4.77471829e-02 9.50399885e-01 -3.07343887e-01 -1.66995843e+02] [-9.94896832e-01 -1.78698923e-02 9.93023731e-02 -4.09308148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-167.00, Z:-409.34 [[ 8.84524313e-02 3.10677814e-01 9.46390756e-01 2.87624536e+02] [-4.94628709e-02 9.50312641e-01 -3.07342333e-01 -1.66998167e+02] [-9.94851543e-01 -1.96260273e-02 9.94244802e-02 -4.09335108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-167.00, Z:-409.36 [[ 8.79988106e-02 3.08942441e-01 9.47000938e-01 2.87627257e+02] [-5.03216129e-02 9.50853942e-01 -3.05523347e-01 -1.67000141e+02] [-9.94848704e-01 -2.07689235e-02 9.92204979e-02 -4.09364248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-167.00, Z:-409.39 [[ 8.69652278e-02 3.08276820e-01 9.47313281e-01 2.87629731e+02] [-5.14489894e-02 9.51036822e-01 -3.04765425e-01 -1.67001588e+02] [-9.94881928e-01 -2.22343164e-02 9.85676647e-02 -4.09391238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-167.00, Z:-409.42 [[ 8.62409991e-02 3.07046891e-01 9.47778823e-01 2.87632599e+02] [-5.26700690e-02 9.51397951e-01 -3.03426767e-01 -1.67003514e+02] [-9.94881075e-01 -2.37517484e-02 9.82216908e-02 -4.09419484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-167.01, Z:-409.45 [[ 8.46090570e-02 3.04300521e-01 9.48811098e-01 2.87635841e+02] [-5.61572721e-02 9.52168331e-01 -3.00369490e-01 -1.67006230e+02] [-9.94830472e-01 -2.78686638e-02 9.76507518e-02 -4.09447744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-167.01, Z:-409.47 [[ 8.38849719e-02 3.01603024e-01 9.49736241e-01 2.87639000e+02] [-6.03626248e-02 9.52883190e-01 -2.97270887e-01 -1.67008661e+02] [-9.94645497e-01 -3.23920124e-02 9.81381298e-02 -4.09474320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-167.01, Z:-409.50 [[ 8.34785889e-02 2.99647861e-01 9.50390701e-01 2.87641329e+02] [-6.17655710e-02 9.53441706e-01 -2.95184564e-01 -1.67010573e+02] [-9.94593555e-01 -3.40598335e-02 9.80998895e-02 -4.09502658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-167.01, Z:-409.53 [[ 8.29348089e-02 2.96698316e-01 9.51363194e-01 2.87644054e+02] [-6.29777471e-02 9.54304209e-01 -2.92125454e-01 -1.67013153e+02] [-9.94563030e-01 -3.56873419e-02 9.78304287e-02 -4.09530221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-167.01, Z:-409.56 [[ 8.27520616e-02 2.95599901e-01 9.51720965e-01 2.87646486e+02] [-6.37376666e-02 9.54611104e-01 -2.90955580e-01 -1.67014590e+02] [-9.94529842e-01 -3.65832995e-02 9.78368848e-02 -4.09559701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-167.02, Z:-409.59 [[ 8.23658029e-02 2.95306436e-01 9.51845567e-01 2.87648881e+02] [-6.48722945e-02 9.54653901e-01 -2.90564134e-01 -1.67016480e+02] [-9.94488542e-01 -3.78158578e-02 9.77880411e-02 -4.09586542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-167.02, Z:-409.61 [[ 8.24268832e-02 2.93935467e-01 9.52264538e-01 2.87651612e+02] [-6.47523762e-02 9.55076600e-01 -2.89198578e-01 -1.67018862e+02] [-9.94491297e-01 -3.78236542e-02 9.77570074e-02 -4.09614488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-167.02, Z:-409.64 [[ 8.23242843e-02 2.90681695e-01 9.53271664e-01 2.87654231e+02] [-6.28804610e-02 9.56127666e-01 -2.86122238e-01 -1.67022209e+02] [-9.94619907e-01 -3.63873532e-02 9.69907247e-02 -4.09641227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-167.02, Z:-409.67 [[ 8.21000493e-02 2.89225533e-01 9.53733806e-01 2.87656671e+02] [-6.15489626e-02 9.56609188e-01 -2.84799205e-01 -1.67023930e+02] [-9.94721724e-01 -3.53192976e-02 9.63391930e-02 -4.09669649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-167.03, Z:-409.70 [[ 8.17499889e-02 2.86051755e-01 9.54720552e-01 2.87659555e+02] [-5.98753242e-02 9.57606223e-01 -2.81789402e-01 -1.67026976e+02] [-9.94852695e-01 -3.41279220e-02 9.54117397e-02 -4.09697840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-167.03, Z:-409.73 [[ 8.09174271e-02 2.82722637e-01 9.55782549e-01 2.87662007e+02] [-5.65279396e-02 9.58685356e-01 -2.78795587e-01 -1.67030615e+02] [-9.95116557e-01 -3.14689965e-02 9.35560806e-02 -4.09725853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-167.03, Z:-409.75 [[ 8.12389553e-02 2.79572733e-01 9.56681410e-01 2.87664515e+02] [-5.49145620e-02 9.59651582e-01 -2.75777506e-01 -1.67033112e+02] [-9.95180699e-01 -3.01318641e-02 9.33137061e-02 -4.09752686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-167.03, Z:-409.78 [[ 8.18739403e-02 2.78073307e-01 9.57064206e-01 2.87666333e+02] [-5.26141580e-02 9.60155074e-01 -2.74470371e-01 -1.67034466e+02] [-9.95252937e-01 -2.78831565e-02 9.32422721e-02 -4.09780534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-167.04, Z:-409.81 [[ 8.43266122e-02 2.74618545e-01 9.57848463e-01 2.87667822e+02] [-4.76867442e-02 9.61283138e-01 -2.71405055e-01 -1.67038266e+02] [-9.95296437e-01 -2.27900058e-02 9.41574147e-02 -4.09808280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-167.04, Z:-409.83 [[ 8.60201891e-02 2.71096711e-01 9.58700736e-01 2.87669427e+02] [-4.28592135e-02 9.62383599e-01 -2.68292556e-01 -1.67042394e+02] [-9.95371094e-01 -1.80105831e-02 9.44034110e-02 -4.09834804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-167.04, Z:-409.86 [[ 8.68631797e-02 2.69558641e-01 9.59058355e-01 2.87671638e+02] [-4.06700219e-02 9.62854063e-01 -2.66941947e-01 -1.67044615e+02] [-9.95389742e-01 -1.58174980e-02 9.45995213e-02 -4.09862893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-167.05, Z:-409.89 [[ 8.73657733e-02 2.68200536e-01 9.59393399e-01 2.87673906e+02] [-3.85584061e-02 9.63264640e-01 -2.65771484e-01 -1.67046632e+02] [-9.95429792e-01 -1.37733491e-02 9.44977454e-02 -4.09889491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-167.05, Z:-409.92 [[ 8.77458356e-02 2.66699754e-01 9.59777010e-01 2.87676420e+02] [-3.69384600e-02 9.63701791e-01 -2.64413329e-01 -1.67048636e+02] [-9.95457794e-01 -1.22515162e-02 9.44122970e-02 -4.09917104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-167.05, Z:-409.94 [[ 8.81015907e-02 2.65415134e-01 9.60100472e-01 2.87678513e+02] [-3.55743808e-02 9.64071903e-01 -2.63248608e-01 -1.67049992e+02] [-9.95476054e-01 -1.09623586e-02 9.43782472e-02 -4.09943564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-167.05, Z:-409.98 [[ 8.81865378e-02 2.63893076e-01 9.60512144e-01 2.87680714e+02] [-3.35939421e-02 9.64508342e-01 -2.61906673e-01 -1.67052358e+02] [-9.95537333e-01 -9.17074666e-03 9.39218601e-02 -4.09976042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-167.05, Z:-410.00 [[ 8.87124175e-02 2.66981920e-01 9.59609692e-01 2.87682233e+02] [-3.28195623e-02 9.63668512e-01 -2.65077113e-01 -1.67052009e+02] [-9.95516441e-01 -7.97833852e-03 9.42515931e-02 -4.10003692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-167.05, Z:-410.03 [[ 8.91607757e-02 2.65908227e-01 9.59866225e-01 2.87683826e+02] [-3.18186126e-02 9.63972968e-01 -2.64090312e-01 -1.67054160e+02] [-9.95508881e-01 -6.99511455e-03 9.44094085e-02 -4.10031132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-167.06, Z:-410.06 [[ 8.93723576e-02 2.63728857e-01 9.60447641e-01 2.87685864e+02] [-3.12655555e-02 9.64574153e-01 -2.61952606e-01 -1.67056250e+02] [-9.95507432e-01 -6.61760704e-03 9.44518954e-02 -4.10059389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-167.06, Z:-410.09 [[ 9.03467786e-02 2.62550426e-01 9.60679308e-01 2.87687652e+02] [-3.12532036e-02 9.64896614e-01 -2.60763804e-01 -1.67058507e+02] [-9.95419860e-01 -6.46513639e-03 9.53808427e-02 -4.10086086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-167.06, Z:-410.11 [[ 9.08487288e-02 2.60445668e-01 9.61204745e-01 2.87690480e+02] [-3.13734561e-02 9.65465537e-01 -2.58634884e-01 -1.67060703e+02] [-9.95370391e-01 -6.65966441e-03 9.58823975e-02 -4.10113756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-167.06, Z:-410.15 [[ 9.13064007e-02 2.57509412e-01 9.61952205e-01 2.87693841e+02] [-3.30809678e-02 9.66238474e-01 -2.55516850e-01 -1.67064470e+02] [-9.95273224e-01 -8.49198596e-03 9.67424178e-02 -4.10145105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-167.06, Z:-410.17 [[ 9.13417369e-02 2.60354226e-01 9.61182794e-01 2.87695778e+02] [-3.40904745e-02 9.65469565e-01 -2.58275741e-01 -1.67064150e+02] [-9.95235915e-01 -9.17582278e-03 9.70632661e-02 -4.10172726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-167.07, Z:-410.20 [[ 9.08637861e-02 2.59481124e-01 9.61464154e-01 2.87698412e+02] [-3.51314577e-02 9.65692199e-01 -2.57302073e-01 -1.67065800e+02] [-9.95243464e-01 -1.03981967e-02 9.68623995e-02 -4.10200404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-167.07, Z:-410.23 [[ 9.08274720e-02 2.58451583e-01 9.61744847e-01 2.87701083e+02] [-3.65502710e-02 9.65951058e-01 -2.56130108e-01 -1.67067436e+02] [-9.95195683e-01 -1.18883845e-02 9.71813680e-02 -4.10227530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-167.07, Z:-410.26 [[ 9.01161662e-02 2.57233376e-01 9.62138279e-01 2.87703587e+02] [-3.78324715e-02 9.66255854e-01 -2.54790755e-01 -1.67068822e+02] [-9.95212430e-01 -1.34393030e-02 9.68070475e-02 -4.10256086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-167.07, Z:-410.29 [[ 9.01426408e-02 2.56444440e-01 9.62346379e-01 2.87706211e+02] [-3.77755969e-02 9.66465296e-01 -2.54003615e-01 -1.67069854e+02] [-9.95212193e-01 -1.34566522e-02 9.68070758e-02 -4.10285303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-167.07, Z:-410.32 [[ 8.93934139e-02 2.56134900e-01 9.62498691e-01 2.87709142e+02] [-4.08195068e-02 9.66497887e-01 -2.53407975e-01 -1.67070559e+02] [-9.95159578e-01 -1.66357179e-02 9.68538459e-02 -4.10318182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-167.09, Z:-410.35 [[ 9.51018799e-02 2.35080952e-01 9.67312038e-01 2.87725934e+02] [-4.54112583e-02 9.71729209e-01 -2.31689799e-01 -1.67086470e+02] [-9.94431219e-01 -2.18927213e-02 1.03088596e-01 -4.10347626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-167.08, Z:-410.38 [[ 9.58436637e-02 2.44445853e-01 9.64914617e-01 2.87726082e+02] [-4.76579949e-02 9.69392444e-01 -2.40846436e-01 -1.67082222e+02] [-9.94254851e-01 -2.29022911e-02 1.04559923e-01 -4.10380749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-167.07, Z:-410.41 [[ 9.50334309e-02 2.67801212e-01 9.58775864e-01 2.87722066e+02] [-5.03722539e-02 9.63194757e-01 -2.64042604e-01 -1.67069719e+02] [-9.94198815e-01 -2.32028267e-02 1.05025453e-01 -4.10413975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-167.04, Z:-410.45 [[ 8.82212886e-02 3.04331787e-01 9.48472017e-01 2.87706573e+02] [-4.79703483e-02 9.52377920e-01 -3.01123136e-01 -1.67044774e+02] [-9.94945149e-01 -1.89330619e-02 9.86189092e-02 -4.10446974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-167.08, Z:-410.48 [[ 9.38598149e-02 2.47932454e-01 9.64219806e-01 2.87731024e+02] [-5.06817397e-02 9.68429468e-01 -2.44081395e-01 -1.67083130e+02] [-9.94294572e-01 -2.59589026e-02 1.03462259e-01 -4.10476509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-167.05, Z:-410.51 [[ 8.80531513e-02 2.92402271e-01 9.52232931e-01 2.87714890e+02] [-4.86381429e-02 9.56067865e-01 -2.89082287e-01 -1.67054686e+02] [-9.94927622e-01 -2.08602350e-02 9.84066918e-02 -4.10510337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-167.08, Z:-410.54 [[ 9.44985640e-02 2.50026241e-01 9.63616573e-01 2.87737107e+02] [-5.15474460e-02 9.67878590e-01 -2.46077011e-01 -1.67084463e+02] [-9.94189561e-01 -2.64180490e-02 1.04351351e-01 -4.10540041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-167.05, Z:-410.57 [[ 8.90000981e-02 3.07796180e-01 9.47280579e-01 2.87716484e+02] [-4.92343120e-02 9.51251615e-01 -3.04460749e-01 -1.67046878e+02] [-9.94814035e-01 -1.95416710e-02 9.98156202e-02 -4.10573420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-167.09, Z:-410.60 [[ 9.63524218e-02 2.52141907e-01 9.62881441e-01 2.87740819e+02] [-5.26701036e-02 9.67318632e-01 -2.48033312e-01 -1.67085304e+02] [-9.93952751e-01 -2.68164549e-02 1.06483833e-01 -4.10604521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-167.04, Z:-410.64 [[ 8.97988074e-02 3.27494780e-01 9.40576070e-01 2.87717276e+02] [-5.00250700e-02 9.44682578e-01 -3.24148606e-01 -1.67036824e+02] [-9.94702803e-01 -1.79442255e-02 1.01214318e-01 -4.10638231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-167.09, Z:-410.67 [[ 9.82365486e-02 2.50829442e-01 9.63033837e-01 2.87746033e+02] [-5.30159622e-02 9.67659457e-01 -2.46626201e-01 -1.67089884e+02] [-9.93749912e-01 -2.68284587e-02 1.08357490e-01 -4.10665652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1765599949999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:287.73, Y:-167.04, Z:-410.70 [[ 9.59969054e-02 3.33075826e-01 9.38000580e-01 2.87729855e+02] [-5.37288498e-02 9.42712790e-01 -3.29250370e-01 -1.67043661e+02] [-9.93930483e-01 -1.87906757e-02 1.08393292e-01 -4.10698237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-167.03, Z:-410.73 [[ 9.56004232e-02 3.62362304e-01 9.27121416e-01 2.87726003e+02] [-5.26446724e-02 9.31924434e-01 -3.58811075e-01 -1.67026339e+02] [-9.94026709e-01 -1.45055125e-02 1.08168815e-01 -4.10727086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-167.00, Z:-410.75 [[ 9.20885471e-02 3.89859882e-01 9.16258136e-01 2.87715933e+02] [-4.61022907e-02 9.20850633e-01 -3.87180438e-01 -1.67003784e+02] [-9.94683004e-01 -6.58671498e-03 1.02773230e-01 -4.10754299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-167.08, Z:-410.78 [[ 9.53141823e-02 2.65124378e-01 9.59491673e-01 2.87743666e+02] [-4.27359391e-02 9.64081155e-01 -2.62147221e-01 -1.67081006e+02] [-9.94529460e-01 -1.60184297e-02 1.03220946e-01 -4.10778245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-167.09, Z:-410.81 [[ 9.53021366e-02 2.61653276e-01 9.60445244e-01 2.87747099e+02] [-3.95760676e-02 9.65069898e-01 -2.58986150e-01 -1.67085855e+02] [-9.94661368e-01 -1.33287124e-02 1.02328431e-01 -4.10806468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:287.76, Y:-167.10, Z:-410.84 [[ 9.64487527e-02 2.48579554e-01 9.63797615e-01 2.87755943e+02] [-3.99819143e-02 9.68497975e-01 -2.45790802e-01 -1.67097869e+02] [-9.94534607e-01 -1.48282574e-02 1.03349108e-01 -4.10835175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-167.06, Z:-410.86 [[ 9.45336186e-02 3.07158856e-01 9.46951336e-01 2.87741411e+02] [-3.83471337e-02 9.51628746e-01 -3.04847876e-01 -1.67062212e+02] [-9.94782837e-01 -7.49449665e-03 1.01739571e-01 -4.10864261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-167.09, Z:-410.89 [[ 9.54954054e-02 2.55589244e-01 9.62057569e-01 2.87755812e+02] [-3.67748348e-02 9.66720564e-01 -2.53177729e-01 -1.67093876e+02] [-9.94750340e-01 -1.12021983e-02 1.01716624e-01 -4.10890876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-167.10, Z:-410.92 [[ 9.52722896e-02 2.52436400e-01 9.62911759e-01 2.87758516e+02] [-3.66046665e-02 9.67546023e-01 -2.50029582e-01 -1.67096398e+02] [-9.94778010e-01 -1.14261730e-02 1.01420675e-01 -4.10920051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-167.10, Z:-410.95 [[ 9.52623973e-02 2.51668222e-01 9.63113795e-01 2.87760891e+02] [-3.69720421e-02 9.67740813e-01 -2.49220358e-01 -1.67098012e+02] [-9.94765371e-01 -1.18669549e-02 1.01493998e-01 -4.10948203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-167.10, Z:-410.97 [[ 9.49779917e-02 2.50499602e-01 9.63446486e-01 2.87763270e+02] [-3.72610091e-02 9.68038022e-01 -2.48020172e-01 -1.67099978e+02] [-9.94781784e-01 -1.23425304e-02 1.01276175e-01 -4.10974957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-167.10, Z:-411.00 [[ 9.45133332e-02 2.49124373e-01 9.63848679e-01 2.87765960e+02] [-3.73333176e-02 9.68388578e-01 -2.46636952e-01 -1.67101794e+02] [-9.94823328e-01 -1.26731884e-02 1.00826272e-01 -4.11002885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-167.11, Z:-411.03 [[ 9.34216028e-02 2.46092477e-01 9.64733589e-01 2.87769310e+02] [-3.80886501e-02 9.69145318e-01 -2.43529480e-01 -1.67105231e+02] [-9.94897813e-01 -1.39944857e-02 9.99124392e-02 -4.11030692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-167.11, Z:-411.06 [[ 9.32671081e-02 2.44965509e-01 9.65035308e-01 2.87771741e+02] [-3.87870933e-02 9.69418374e-01 -2.42329481e-01 -1.67106608e+02] [-9.94885324e-01 -1.48295446e-02 9.99163483e-02 -4.11059001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-167.11, Z:-411.09 [[ 9.30170083e-02 2.44000085e-01 9.65303991e-01 2.87773338e+02] [-4.12179865e-02 9.69619822e-01 -2.41119220e-01 -1.67107198e+02] [-9.94810994e-01 -1.73596984e-02 1.00248327e-01 -4.11086287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-167.11, Z:-411.12 [[ 9.28490946e-02 2.42723765e-01 9.65641869e-01 2.87775713e+02] [-4.24599218e-02 9.69914350e-01 -2.39715059e-01 -1.67108587e+02] [-9.94774447e-01 -1.87437521e-02 1.00361701e-01 -4.11119032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-167.11, Z:-411.15 [[ 9.13419880e-02 2.46176616e-01 9.64911247e-01 2.87776318e+02] [-4.44743097e-02 9.69003556e-01 -2.43010583e-01 -1.67107051e+02] [-9.94825953e-01 -2.07166919e-02 9.94592463e-02 -4.11146494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-167.11, Z:-411.17 [[ 9.09892383e-02 2.45204966e-01 9.65191941e-01 2.87778654e+02] [-4.48465675e-02 9.69237997e-01 -2.42005144e-01 -1.67108510e+02] [-9.94841567e-01 -2.12656818e-02 9.91868282e-02 -4.11172972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-167.11, Z:-411.20 [[ 9.03877411e-02 2.43775503e-01 9.65610460e-01 2.87781446e+02] [-4.45096950e-02 9.69599288e-01 -2.40616100e-01 -1.67110575e+02] [-9.94911525e-01 -2.12302813e-02 9.84902627e-02 -4.11200028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-167.11, Z:-411.23 [[ 9.00557513e-02 2.42347692e-01 9.66000806e-01 2.87783811e+02] [-4.40332689e-02 9.69962345e-01 -2.39236536e-01 -1.67112397e+02] [-9.94962830e-01 -2.09915473e-02 9.80220488e-02 -4.11227567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:-167.11, Z:-411.26 [[ 9.01750138e-02 2.39189228e-01 9.66776593e-01 2.87786971e+02] [-4.38383067e-02 9.70743834e-01 -2.36081790e-01 -1.67114670e+02] [-9.94960637e-01 -2.10931701e-02 9.80224894e-02 -4.11255920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:-167.12, Z:-411.28 [[ 8.94904146e-02 2.37164746e-01 9.67338797e-01 2.87789979e+02] [-4.31772109e-02 9.71246431e-01 -2.34128382e-01 -1.67116639e+02] [-9.95051353e-01 -2.08147453e-02 9.71573581e-02 -4.11283684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:-167.12, Z:-411.31 [[ 8.90089892e-02 2.35884424e-01 9.67696201e-01 2.87792750e+02] [-4.23881794e-02 9.71569357e-01 -2.32929662e-01 -1.67118253e+02] [-9.95128455e-01 -2.02860464e-02 9.64771177e-02 -4.11310846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-167.12, Z:-411.34 [[ 8.82008743e-02 2.34617243e-01 9.68078176e-01 2.87795642e+02] [-4.38036463e-02 9.71839223e-01 -2.31537829e-01 -1.67120055e+02] [-9.95139109e-01 -2.19835151e-02 9.59941598e-02 -4.11339196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-167.12, Z:-411.37 [[ 8.80849304e-02 2.33477542e-01 9.68364230e-01 2.87797900e+02] [-4.45407350e-02 9.72093830e-01 -2.30325226e-01 -1.67120795e+02] [-9.95116661e-01 -2.28434731e-02 9.60260786e-02 -4.11369206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-167.12, Z:-411.40 [[ 8.82148817e-02 2.33095474e-01 9.68444441e-01 2.87800067e+02] [-4.48088495e-02 9.72179141e-01 -2.29912776e-01 -1.67120997e+02] [-9.95093112e-01 -2.31131529e-02 9.62054079e-02 -4.11397243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-167.12, Z:-411.43 [[ 8.85291678e-02 2.31980560e-01 9.68683440e-01 2.87801778e+02] [-4.58868590e-02 9.72419223e-01 -2.28681550e-01 -1.67121652e+02] [-9.95016072e-01 -2.42048531e-02 9.67323238e-02 -4.11426010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-167.12, Z:-411.45 [[ 8.85757803e-02 2.31313547e-01 9.68838673e-01 2.87803751e+02] [-4.74556424e-02 9.72537251e-01 -2.27857977e-01 -1.67122279e+02] [-9.94938336e-01 -2.57941635e-02 9.71203788e-02 -4.11454982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-167.12, Z:-411.48 [[ 8.83627810e-02 2.30537366e-01 9.69043106e-01 2.87805692e+02] [-4.78866605e-02 9.72706849e-01 -2.27042404e-01 -1.67123088e+02] [-9.94936625e-01 -2.63421399e-02 9.69907469e-02 -4.11483622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-167.12, Z:-411.51 [[ 8.82023262e-02 2.29718863e-01 9.69252080e-01 2.87807817e+02] [-4.78904774e-02 9.72897158e-01 -2.26224717e-01 -1.67123813e+02] [-9.94950678e-01 -2.64643986e-02 9.68131385e-02 -4.11510292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-167.13, Z:-411.54 [[ 8.83807480e-02 2.28310241e-01 9.69568604e-01 2.87810570e+02] [-4.80028043e-02 9.73222948e-01 -2.24795070e-01 -1.67125192e+02] [-9.94929432e-01 -2.66744555e-02 9.69737040e-02 -4.11541105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-167.13, Z:-411.57 [[ 8.82561725e-02 2.28633326e-01 9.69503817e-01 2.87812078e+02] [-4.70620050e-02 9.73171993e-01 -2.25214211e-01 -1.67125397e+02] [-9.94985435e-01 -2.57502493e-02 9.66483779e-02 -4.11568584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-167.13, Z:-411.60 [[ 8.81006471e-02 2.27588409e-01 9.69763782e-01 2.87814828e+02] [-4.67289699e-02 9.73421805e-01 -2.24201679e-01 -1.67126533e+02] [-9.95014914e-01 -2.55637496e-02 9.63940629e-02 -4.11596122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-167.13, Z:-411.62 [[ 8.75544945e-02 2.26320283e-01 9.70109963e-01 2.87817404e+02] [-4.61668990e-02 9.73725286e-01 -2.22997053e-01 -1.67127549e+02] [-9.95089357e-01 -2.52625744e-02 9.57025308e-02 -4.11624214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-167.13, Z:-411.65 [[ 8.62119490e-02 2.25042742e-01 9.70527312e-01 2.87820637e+02] [-4.54703951e-02 9.74027930e-01 -2.21815319e-01 -1.67128605e+02] [-9.95238636e-01 -2.50071294e-02 9.42056286e-02 -4.11651202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-167.13, Z:-411.68 [[ 8.58361333e-02 2.23612431e-01 9.70891157e-01 2.87823766e+02] [-4.51428396e-02 9.74359807e-01 -2.20420257e-01 -1.67129682e+02] [-9.95286030e-01 -2.49087612e-02 9.37297784e-02 -4.11679316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-167.11, Z:-411.71 [[ 7.86097438e-02 2.48560603e-01 9.65421222e-01 2.87810568e+02] [-3.82780443e-02 9.68456458e-01 -2.46225263e-01 -1.67106372e+02] [-9.96170317e-01 -1.75987315e-02 8.56445278e-02 -4.11706606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-167.29, Z:-411.73 [[ 8.66295116e-02 -1.15352731e-01 9.89539830e-01 2.87937419e+02] [-3.90776589e-02 9.92116068e-01 1.19074112e-01 -1.67294774e+02] [-9.95473889e-01 -4.89842321e-02 8.14388158e-02 -4.11729248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-167.24, Z:-411.77 [[ 9.14395997e-02 1.44480147e-02 9.95705807e-01 2.87898709e+02] [-4.43409112e-02 9.98962081e-01 -1.04232632e-02 -1.67241398e+02] [-9.94822941e-01 -4.31974038e-02 9.19853310e-02 -4.11769355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-167.13, Z:-411.81 [[ 8.58717665e-02 2.34139520e-01 9.68403183e-01 2.87830801e+02] [-4.52268049e-02 9.71907629e-01 -2.30976399e-01 -1.67126130e+02] [-9.95279145e-01 -2.39634304e-02 9.40488074e-02 -4.11805113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-167.13, Z:-411.83 [[ 8.75010104e-02 2.33875252e-01 9.68321197e-01 2.87833191e+02] [-4.54253134e-02 9.71975174e-01 -2.30652989e-01 -1.67127019e+02] [-9.95128190e-01 -2.38039243e-02 9.56726664e-02 -4.11833777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-167.12, Z:-411.86 [[ 8.81527347e-02 2.46287708e-01 9.65179496e-01 2.87831921e+02] [-4.76463768e-02 9.68885109e-01 -2.42881594e-01 -1.67119555e+02] [-9.94966793e-01 -2.45766292e-02 9.71445889e-02 -4.11861055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:-167.13, Z:-411.89 [[ 8.98535018e-02 2.29003061e-01 9.69269801e-01 2.87839335e+02] [-4.61377225e-02 9.73118699e-01 -2.25635344e-01 -1.67127318e+02] [-9.94885752e-01 -2.44457754e-02 9.80038024e-02 -4.11889848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-167.16, Z:-411.92 [[ 9.26067656e-02 1.59320141e-01 9.82873888e-01 2.87860574e+02] [-4.42716028e-02 9.86798388e-01 -1.55785000e-01 -1.67164803e+02] [-9.94718057e-01 -2.90866574e-02 9.84375651e-02 -4.11919014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-167.19, Z:-411.95 [[ 9.12165043e-02 1.12321598e-01 9.89476330e-01 2.87878707e+02] [-4.61893070e-02 9.93026462e-01 -1.08466558e-01 -1.67194440e+02] [-9.94759316e-01 -3.58092857e-02 9.57684593e-02 -4.11947626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-167.14, Z:-411.98 [[ 8.81411745e-02 2.22055867e-01 9.71041876e-01 2.87848485e+02] [-4.67706832e-02 9.74683354e-01 -2.18643232e-01 -1.67135062e+02] [-9.95009365e-01 -2.61448207e-02 9.62954402e-02 -4.11979912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-167.14, Z:-412.01 [[ 9.01101548e-02 2.10482998e-01 9.73435703e-01 2.87857325e+02] [-4.59393989e-02 9.77250079e-01 -2.07055196e-01 -1.67140636e+02] [-9.94871716e-01 -2.60612754e-02 9.77296183e-02 -4.12008557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-167.17, Z:-412.04 [[ 8.83959455e-02 1.63890478e-01 9.82510086e-01 2.87870524e+02] [-4.54998896e-02 9.86006087e-01 -1.60380036e-01 -1.67167711e+02] [-9.95045686e-01 -3.05271555e-02 9.46159390e-02 -4.12038374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-167.14, Z:-412.07 [[ 8.67806441e-02 2.22361104e-01 9.71094568e-01 2.87856217e+02] [-4.48302826e-02 9.74656129e-01 -2.19170428e-01 -1.67135411e+02] [-9.95218250e-01 -2.45146930e-02 9.45497977e-02 -4.12068568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-167.14, Z:-412.10 [[ 8.44783232e-02 2.09755800e-01 9.74097489e-01 2.87861236e+02] [-4.31034922e-02 9.77446251e-01 -2.06738762e-01 -1.67142543e+02] [-9.95492593e-01 -2.45220595e-02 9.16142278e-02 -4.12095194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-167.17, Z:-412.12 [[ 8.54803219e-02 1.66225628e-01 9.82375771e-01 2.87875884e+02] [-4.28100592e-02 9.85686802e-01 -1.63060811e-01 -1.67167051e+02] [-9.95419717e-01 -2.81170743e-02 9.13729541e-02 -4.12122096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-167.16, Z:-412.15 [[ 8.70083379e-02 1.75543715e-01 9.80619168e-01 2.87876380e+02] [-4.14801275e-02 9.84136964e-01 -1.72492999e-01 -1.67162060e+02] [-9.95343633e-01 -2.56678790e-02 9.29096972e-02 -4.12151938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-167.14, Z:-412.18 [[ 8.59059387e-02 2.16630747e-01 9.72466601e-01 2.87867708e+02] [-3.98927165e-02 9.76040056e-01 -2.13902734e-01 -1.67139548e+02] [-9.95504265e-01 -2.04188192e-02 9.24896262e-02 -4.12180224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-167.14, Z:-412.21 [[ 8.59082536e-02 2.15108227e-01 9.72804309e-01 2.87870668e+02] [-3.86219738e-02 9.76399157e-01 -2.12492423e-01 -1.67140383e+02] [-9.95554175e-01 -1.93167695e-02 9.21886506e-02 -4.12208589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-167.14, Z:-412.24 [[ 8.67620018e-02 2.11888934e-01 9.73434864e-01 2.87873870e+02] [-3.70829255e-02 9.77129246e-01 -2.09387903e-01 -1.67141239e+02] [-9.95538654e-01 -1.79308989e-02 9.26351510e-02 -4.12236675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-167.14, Z:-412.26 [[ 8.76454038e-02 2.08716218e-01 9.74040976e-01 2.87876869e+02] [-3.60274079e-02 9.77828271e-01 -2.06285964e-01 -1.67142629e+02] [-9.95500030e-01 -1.70121549e-02 9.32216580e-02 -4.12263924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-167.14, Z:-412.29 [[ 8.85377433e-02 2.07374621e-01 9.74246804e-01 2.87879467e+02] [-3.35051962e-02 9.78154466e-01 -2.05161502e-01 -1.67143485e+02] [-9.95509151e-01 -1.44777939e-02 9.35517164e-02 -4.12294842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-167.10, Z:-412.32 [[ 8.70178369e-02 2.84502639e-01 9.54717835e-01 2.87862227e+02] [-3.43410172e-02 9.58640189e-01 -2.82541472e-01 -1.67099365e+02] [-9.95614680e-01 -8.19983389e-03 9.31889056e-02 -4.12322205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:-167.15, Z:-412.35 [[ 9.22253749e-02 1.89935028e-01 9.77455455e-01 2.87893666e+02] [-3.25963267e-02 9.81688807e-01 -1.87682090e-01 -1.67153160e+02] [-9.95204481e-01 -1.45524063e-02 9.67278024e-02 -4.12349067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-167.17, Z:-412.38 [[ 8.95279954e-02 1.61277227e-01 9.82839964e-01 2.87900521e+02] [-3.03909242e-02 9.86785517e-01 -1.59156321e-01 -1.67170488e+02] [-9.95520532e-01 -1.56204684e-02 9.32462933e-02 -4.12381787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-167.15, Z:-412.41 [[ 9.25307662e-02 1.91332174e-01 9.77154060e-01 2.87900066e+02] [-2.96833291e-02 9.81458168e-01 -1.89364105e-01 -1.67154451e+02] [-9.95267279e-01 -1.14831798e-02 9.64944522e-02 -4.12412768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-167.17, Z:-412.45 [[ 8.93496931e-02 1.71958786e-01 9.81043734e-01 2.87902970e+02] [-2.82822173e-02 9.85024207e-01 -1.70080654e-01 -1.67166038e+02] [-9.95598689e-01 -1.25494379e-02 9.28749863e-02 -4.12446069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.90, Y:-167.15, Z:-412.48 [[ 8.99465599e-02 2.05499145e-01 9.74515119e-01 2.87898806e+02] [-2.46730643e-02 9.78640772e-01 -2.04091840e-01 -1.67146089e+02] [-9.95640927e-01 -5.68691524e-03 9.30956644e-02 -4.12476177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-167.19, Z:-412.50 [[ 9.06571775e-02 1.31208180e-01 9.87200937e-01 2.87922991e+02] [-2.28232111e-02 9.91296260e-01 -1.29656573e-01 -1.67186479e+02] [-9.95620599e-01 -1.07767965e-02 9.28627130e-02 -4.12504858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-167.20, Z:-412.54 [[ 9.15319170e-02 1.19584963e-01 9.88595643e-01 2.87926686e+02] [-2.22440102e-02 9.92760943e-01 -1.18029291e-01 -1.67195172e+02] [-9.95553671e-01 -1.11868842e-02 9.35293614e-02 -4.12535426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-167.14, Z:-412.57 [[ 9.14292918e-02 2.13196129e-01 9.72722003e-01 2.87901886e+02] [-2.26167848e-02 9.77005920e-01 -2.12009231e-01 -1.67144692e+02] [-9.95554703e-01 -2.61599036e-03 9.41487703e-02 -4.12565264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-167.15, Z:-412.59 [[ 9.15680330e-02 2.11171785e-01 9.73150437e-01 2.87905242e+02] [-2.25351582e-02 9.77445229e-01 -2.09983314e-01 -1.67145919e+02] [-9.95543802e-01 -2.70234010e-03 9.42615266e-02 -4.12594862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.91, Y:-167.15, Z:-412.62 [[ 9.25122119e-02 2.07389041e-01 9.73874364e-01 2.87911299e+02] [-2.21029436e-02 9.78255486e-01 -2.06222366e-01 -1.67145392e+02] [-9.95466198e-01 -2.44740291e-03 9.50844871e-02 -4.12624657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-167.19, Z:-412.66 [[ 9.22409606e-02 1.37306306e-01 9.86224408e-01 2.87932585e+02] [-2.29246741e-02 9.90477277e-01 -1.35754278e-01 -1.67185323e+02] [-9.95472784e-01 -1.00867682e-02 9.45102777e-02 -4.12656590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-167.14, Z:-412.69 [[ 9.28873762e-02 2.15738290e-01 9.72023110e-01 2.87913312e+02] [-2.38094169e-02 9.76445900e-01 -2.14444669e-01 -1.67141052e+02] [-9.95391906e-01 -3.22410081e-03 9.58361005e-02 -4.12686709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-167.14, Z:-412.72 [[ 9.47031258e-02 2.09716343e-01 9.73165132e-01 2.87919198e+02] [-2.41517224e-02 9.77754995e-01 -2.08355141e-01 -1.67141861e+02] [-9.95212546e-01 -3.77173101e-03 9.76614652e-02 -4.12715893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-167.18, Z:-412.75 [[ 9.87601721e-02 1.49003564e-01 9.83892457e-01 2.87943941e+02] [-2.60079660e-02 9.88774825e-01 -1.47132362e-01 -1.67176919e+02] [-9.94771338e-01 -1.10582241e-02 1.01526851e-01 -4.12747698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-167.14, Z:-412.78 [[ 9.78708227e-02 2.16005088e-01 9.71474706e-01 2.87927885e+02] [-2.73655248e-02 9.76376136e-01 -2.14337980e-01 -1.67141493e+02] [-9.94822814e-01 -5.60748064e-03 1.01469828e-01 -4.12783128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-167.12, Z:-412.82 [[ 9.41456557e-02 2.42739369e-01 9.65512400e-01 2.87918926e+02] [-2.61601940e-02 9.70088224e-01 -2.41338935e-01 -1.67124257e+02] [-9.95214670e-01 -2.53697940e-03 9.76797009e-02 -4.12815752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-167.14, Z:-412.85 [[ 9.70157975e-02 2.12741630e-01 9.72280275e-01 2.87933504e+02] [-2.67306936e-02 9.77092970e-01 -2.11127446e-01 -1.67141759e+02] [-9.94923819e-01 -5.50702852e-03 1.00480185e-01 -4.12845784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-167.13, Z:-412.88 [[ 9.51437572e-02 2.29736173e-01 9.68591222e-01 2.87929535e+02] [-2.58081925e-02 9.73247430e-01 -2.28305447e-01 -1.67130061e+02] [-9.95128938e-01 -3.27575076e-03 9.85274926e-02 -4.12877229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-167.16, Z:-412.91 [[ 9.67674702e-02 1.82419464e-01 9.78447339e-01 2.87947818e+02] [-2.56839918e-02 9.83191128e-01 -1.80763764e-01 -1.67155782e+02] [-9.94975572e-01 -7.63838126e-03 9.98261782e-02 -4.12907737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-167.14, Z:-412.94 [[ 9.75135901e-02 2.12743729e-01 9.72230017e-01 2.87944554e+02] [-2.67948070e-02 9.77092756e-01 -2.11120306e-01 -1.67140104e+02] [-9.94873428e-01 -5.46361671e-03 1.00980250e-01 -4.12940777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-167.13, Z:-412.97 [[ 9.90074005e-02 2.31019128e-01 9.67898599e-01 2.87946209e+02] [-2.84530740e-02 9.72937189e-01 -2.29311249e-01 -1.67132001e+02] [-9.94679827e-01 -4.83617985e-03 1.02901186e-01 -4.12974231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-167.09, Z:-413.01 [[ 9.34269065e-02 2.98401892e-01 9.49856686e-01 2.87927367e+02] [-2.64503779e-02 9.54436645e-01 -2.97239076e-01 -1.67089298e+02] [-9.95274731e-01 2.64605906e-03 9.70629059e-02 -4.13005306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-167.12, Z:-413.03 [[ 9.41982543e-02 2.34622198e-01 9.67511816e-01 2.87944777e+02] [-2.58365563e-02 9.72081916e-01 -2.33214968e-01 -1.67124978e+02] [-9.95218148e-01 -3.02873065e-03 9.76302492e-02 -4.13030077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-167.12, Z:-413.06 [[ 9.44994923e-02 2.33297762e-01 9.67802666e-01 2.87948380e+02] [-2.70206440e-02 9.72396062e-01 -2.31766656e-01 -1.67123925e+02] [-9.95158144e-01 -4.24881998e-03 9.81947900e-02 -4.13057896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-167.12, Z:-413.09 [[ 9.46312977e-02 2.32130074e-01 9.68070527e-01 2.87951437e+02] [-2.75801661e-02 9.72672494e-01 -2.30537533e-01 -1.67123809e+02] [-9.95130269e-01 -4.88348005e-03 9.84474463e-02 -4.13085795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-167.12, Z:-413.11 [[ 9.47346813e-02 2.30931564e-01 9.68347021e-01 2.87954276e+02] [-2.78437802e-02 9.72955890e-01 -2.29306694e-01 -1.67123339e+02] [-9.95113091e-01 -5.23914501e-03 9.86026738e-02 -4.13112762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-167.12, Z:-413.14 [[ 9.51464529e-02 2.29503153e-01 9.68646197e-01 2.87957754e+02] [-2.77597965e-02 9.73293986e-01 -2.27877623e-01 -1.67122559e+02] [-9.95076151e-01 -5.20767375e-03 9.89764312e-02 -4.13140304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-167.12, Z:-413.17 [[ 9.58263675e-02 2.26227166e-01 9.69349564e-01 2.87961532e+02] [-2.72498840e-02 9.74062302e-01 -2.24633202e-01 -1.67124268e+02] [-9.95025000e-01 -4.88887944e-03 9.95055162e-02 -4.13167913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-167.13, Z:-413.20 [[ 9.54296098e-02 2.22924743e-01 9.70153467e-01 2.87965091e+02] [-2.64940782e-02 9.74824917e-01 -2.21392060e-01 -1.67125320e+02] [-9.95083541e-01 -4.57596392e-03 9.89333471e-02 -4.13196042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-167.13, Z:-413.22 [[ 9.53570454e-02 2.21626322e-01 9.70458040e-01 2.87967713e+02] [-2.57394387e-02 9.75123527e-01 -2.20162640e-01 -1.67125559e+02] [-9.95110303e-01 -3.98498638e-03 9.86894356e-02 -4.13223362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-167.13, Z:-413.25 [[ 9.59043612e-02 2.19324967e-01 9.70926832e-01 2.87971050e+02] [-2.51646466e-02 9.75645460e-01 -2.17905203e-01 -1.67126083e+02] [-9.95072407e-01 -3.53497122e-03 9.90878899e-02 -4.13251731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-167.13, Z:-413.28 [[ 9.55958922e-02 2.18488576e-01 9.71145802e-01 2.87973428e+02] [-2.49796448e-02 9.75833206e-01 -2.17084248e-01 -1.67126403e+02] [-9.95106750e-01 -3.50651478e-03 9.87434130e-02 -4.13280403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-167.13, Z:-413.31 [[ 9.52741397e-02 2.17607508e-01 9.71375216e-01 2.87976290e+02] [-2.43353465e-02 9.76031641e-01 -2.16263789e-01 -1.67126314e+02] [-9.95153571e-01 -3.03440606e-03 9.82861290e-02 -4.13307312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-167.13, Z:-413.34 [[ 9.58709487e-02 2.16110683e-01 9.71650623e-01 2.87978858e+02] [-2.37725704e-02 9.76365660e-01 -2.14813788e-01 -1.67126672e+02] [-9.95109856e-01 -2.50423124e-03 9.87426085e-02 -4.13335033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-167.13, Z:-413.36 [[ 9.66518284e-02 2.12921285e-01 9.72277199e-01 2.87981658e+02] [-2.43453052e-02 9.77064038e-01 -2.11549455e-01 -1.67128298e+02] [-9.95020467e-01 -3.22374344e-03 9.96186594e-02 -4.13362129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-167.13, Z:-413.39 [[ 9.66976822e-02 2.11505565e-01 9.72581593e-01 2.87984305e+02] [-2.41562056e-02 9.77371642e-01 -2.10145548e-01 -1.67129468e+02] [-9.95020621e-01 -3.17329344e-03 9.96187443e-02 -4.13390540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-167.13, Z:-413.42 [[ 9.74890705e-02 2.09524240e-01 9.72931382e-01 2.87986874e+02] [-2.44115182e-02 9.77797329e-01 -2.08126071e-01 -1.67130484e+02] [-9.94937163e-01 -3.46071496e-03 1.00439357e-01 -4.13418295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-167.13, Z:-413.45 [[ 9.75662315e-02 2.06288046e-01 9.73614951e-01 2.87989959e+02] [-2.41056025e-02 9.78485129e-01 -2.04904302e-01 -1.67132628e+02] [-9.94937059e-01 -3.47783448e-03 1.00439804e-01 -4.13446677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-167.13, Z:-413.47 [[ 9.72360482e-02 2.03426519e-01 9.74249867e-01 2.87992490e+02] [-2.55382172e-02 9.79076140e-01 -2.01885391e-01 -1.67133625e+02] [-9.94933641e-01 -5.25006709e-03 1.00396645e-01 -4.13474362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.14, Z:-413.50 [[ 9.68908114e-02 2.00267028e-01 9.74938608e-01 2.87995822e+02] [-2.64235073e-02 9.79719681e-01 -1.98623125e-01 -1.67135405e+02] [-9.94944204e-01 -6.51654160e-03 1.00217592e-01 -4.13501766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.14, Z:-413.53 [[ 9.64834724e-02 1.99085356e-01 9.75220980e-01 2.87998295e+02] [-2.68305054e-02 9.79956288e-01 -1.97397565e-01 -1.67136196e+02] [-9.94972896e-01 -7.12006928e-03 9.98911462e-02 -4.13530052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.14, Z:-413.56 [[ 9.58379407e-02 1.95842035e-01 9.75941078e-01 2.88001363e+02] [-2.72500400e-02 9.80602888e-01 -1.94101551e-01 -1.67138437e+02] [-9.95023881e-01 -7.99214048e-03 9.93156646e-02 -4.13558185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.14, Z:-413.59 [[ 9.53026810e-02 1.92560618e-01 9.76646204e-01 2.88004535e+02] [-2.73104267e-02 9.81248364e-01 -1.90803009e-01 -1.67140722e+02] [-9.95073635e-01 -8.48858624e-03 9.87745125e-02 -4.13585796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-167.14, Z:-413.62 [[ 9.34155364e-02 1.92514727e-01 9.76837560e-01 2.88006331e+02] [-2.90517579e-02 9.81237118e-01 -1.90603553e-01 -1.67144388e+02] [-9.95203262e-01 -1.05735151e-02 9.72556828e-02 -4.13617537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-167.09, Z:-413.64 [[ 9.16077518e-02 2.94353624e-01 9.51295939e-01 2.87987379e+02] [-2.88590228e-02 9.55696375e-01 -2.92936162e-01 -1.67085898e+02] [-9.95376902e-01 -6.18247915e-04 9.60439543e-02 -4.13644354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-167.15, Z:-413.67 [[ 9.38581939e-02 1.83499289e-01 9.78528819e-01 2.88015193e+02] [-3.07861832e-02 9.82932526e-01 -1.81372158e-01 -1.67151793e+02] [-9.95109467e-01 -1.31019044e-02 9.79055143e-02 -4.13673886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-167.06, Z:-413.70 [[ 8.92539483e-02 3.42767056e-01 9.35170829e-01 2.87983164e+02] [-3.06818922e-02 9.39418748e-01 -3.41395720e-01 -1.67058621e+02] [-9.95536214e-01 1.77810539e-03 9.43635742e-02 -4.13700861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-167.15, Z:-413.73 [[ 9.08702289e-02 1.82530586e-01 9.78991924e-01 2.88019025e+02] [-2.95082285e-02 9.83120958e-01 -1.80561474e-01 -1.67148747e+02] [-9.95425470e-01 -1.24806549e-02 9.47225808e-02 -4.13725049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-167.16, Z:-413.76 [[ 9.25078634e-02 1.76685189e-01 9.79910526e-01 2.88024119e+02] [-3.27867739e-02 9.84137374e-01 -1.74352105e-01 -1.67156519e+02] [-9.95172007e-01 -1.59991642e-02 9.68333831e-02 -4.13757130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-167.07, Z:-413.78 [[ 8.82589467e-02 3.25680888e-01 9.41351325e-01 2.87992467e+02] [-3.25385519e-02 9.45477573e-01 -3.24057712e-01 -1.67069518e+02] [-9.95565970e-01 -2.02921661e-03 9.40440392e-02 -4.13784343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-167.15, Z:-413.81 [[ 9.13486601e-02 1.79872929e-01 9.79439203e-01 2.88024764e+02] [-3.41661680e-02 9.83538509e-01 -1.77439211e-01 -1.67154752e+02] [-9.95232684e-01 -1.72548502e-02 9.59904937e-02 -4.13812182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-167.09, Z:-413.84 [[ 8.89107550e-02 2.95239560e-01 9.51277289e-01 2.88001627e+02] [-3.45112930e-02 9.55399393e-01 -2.93293317e-01 -1.67089135e+02] [-9.95441534e-01 -6.75287898e-03 9.51343804e-02 -4.13838499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-167.16, Z:-413.86 [[ 9.13853432e-02 1.73298853e-01 9.80620328e-01 2.88031563e+02] [-3.38606055e-02 9.84712197e-01 -1.70866467e-01 -1.67157450e+02] [-9.95239759e-01 -1.75897074e-02 9.58562662e-02 -4.13861714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-167.16, Z:-413.89 [[ 9.01532924e-02 1.71900932e-01 9.80980353e-01 2.88034254e+02] [-3.40239396e-02 9.84947974e-01 -1.69469352e-01 -1.67160290e+02] [-9.95346550e-01 -1.80985963e-02 9.46450495e-02 -4.13889573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-167.16, Z:-413.92 [[ 8.97772092e-02 1.68668623e-01 9.81575748e-01 2.88037423e+02] [-3.36420282e-02 9.85506702e-01 -1.66267118e-01 -1.67163203e+02] [-9.95393524e-01 -1.80952011e-02 9.41503959e-02 -4.13917621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-167.17, Z:-413.95 [[ 8.87206055e-02 1.65452284e-01 9.82219016e-01 2.88040587e+02] [-3.35181379e-02 9.86045116e-01 -1.63069197e-01 -1.67167325e+02] [-9.95492435e-01 -1.84545545e-02 9.30281722e-02 -4.13945284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-167.17, Z:-413.97 [[ 8.88273776e-02 1.62230553e-01 9.82746633e-01 2.88043787e+02] [-3.32446447e-02 9.86579982e-01 -1.59858478e-01 -1.67169301e+02] [-9.95492085e-01 -1.84712533e-02 9.30286097e-02 -4.13973666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-167.17, Z:-414.00 [[ 8.77941183e-02 1.59215970e-01 9.83332328e-01 2.88047018e+02] [-3.31367818e-02 9.87064511e-01 -1.56861739e-01 -1.67172301e+02] [-9.95587338e-01 -1.88129307e-02 9.19343633e-02 -4.14001295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.19, Z:-414.03 [[ 9.08153475e-02 1.47748182e-01 9.84846713e-01 2.88055545e+02] [-3.70019307e-02 9.88750986e-01 -1.44921860e-01 -1.67185749e+02] [-9.95180099e-01 -2.32801007e-02 9.52607324e-02 -4.14034756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-167.08, Z:-414.06 [[ 8.35266619e-02 3.32233009e-01 9.39491631e-01 2.88010786e+02] [-3.53479749e-02 9.43180645e-01 -3.30394902e-01 -1.67078498e+02] [-9.95878415e-01 -5.61234328e-03 9.05244949e-02 -4.14062376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-167.18, Z:-414.09 [[ 8.76713423e-02 1.53724677e-01 9.84216673e-01 2.88053911e+02] [-3.66572893e-02 9.87849761e-01 -1.51026797e-01 -1.67179341e+02] [-9.95474751e-01 -2.28379933e-02 9.22412444e-02 -4.14085117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.18, Z:-414.11 [[ 8.77723506e-02 1.52433886e-01 9.84408414e-01 2.88056175e+02] [-3.78532207e-02 9.88019038e-01 -1.49617896e-01 -1.67180683e+02] [-9.95421091e-01 -2.41307145e-02 9.24908670e-02 -4.14112309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.18, Z:-414.14 [[ 8.81156906e-02 1.51285747e-01 9.84554848e-01 2.88058562e+02] [-4.00847128e-02 9.88137403e-01 -1.48248737e-01 -1.67182744e+02] [-9.95303391e-01 -2.64025585e-02 9.31346554e-02 -4.14140107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.19, Z:-414.17 [[ 8.85430239e-02 1.48127053e-01 9.84996705e-01 2.88061906e+02] [-4.08276173e-02 9.88589348e-01 -1.44997263e-01 -1.67185417e+02] [-9.95235268e-01 -2.73765724e-02 9.35803650e-02 -4.14168457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-167.19, Z:-414.20 [[ 8.87008502e-02 1.45062973e-01 9.85438427e-01 2.88065689e+02] [-4.25640634e-02 9.88986402e-01 -1.41754001e-01 -1.67189419e+02] [-9.95148461e-01 -2.93705634e-02 9.38984043e-02 -4.14195501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-167.19, Z:-414.22 [[ 8.88599525e-02 1.43758350e-01 9.85615263e-01 2.88068113e+02] [-4.35157681e-02 9.89145218e-01 -1.40349973e-01 -1.67190965e+02] [-9.95093105e-01 -3.04183133e-02 9.41511522e-02 -4.14223230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-167.19, Z:-414.25 [[ 8.94658548e-02 1.40675228e-01 9.86005244e-01 2.88070799e+02] [-4.44460090e-02 9.89552845e-01 -1.37148532e-01 -1.67193667e+02] [-9.94997695e-01 -3.15538874e-02 9.47836435e-02 -4.14250156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.22, Z:-414.29 [[ 9.89366145e-02 1.06739330e-01 9.89352446e-01 2.88096256e+02] [-5.03077558e-02 9.93495540e-01 -1.02155476e-01 -1.67220979e+02] [-9.93821250e-01 -3.96651843e-02 1.03662901e-01 -4.14287584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-167.09, Z:-414.32 [[ 8.29435182e-02 3.29110934e-01 9.40641465e-01 2.88030192e+02] [-4.63064526e-02 9.44147149e-01 -3.26254307e-01 -1.67091624e+02] [-9.95477818e-01 -1.64970894e-02 9.35508461e-02 -4.14321338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.22, Z:-414.35 [[ 9.93487938e-02 1.08574744e-01 9.89111390e-01 2.88103220e+02] [-5.10083212e-02 9.93277973e-01 -1.03908708e-01 -1.67224204e+02] [-9.93744418e-01 -4.01297067e-02 1.04219184e-01 -4.14349581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.13, Z:-414.39 [[ 8.95115073e-02 2.88242715e-01 9.53364478e-01 2.88056071e+02] [-5.24877666e-02 9.57241976e-01 -2.84486965e-01 -1.67130382e+02] [-9.94601792e-01 -2.45751151e-02 1.00813389e-01 -4.14388899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-167.06, Z:-414.42 [[ 7.80551344e-02 3.85619899e-01 9.19350145e-01 2.88027943e+02] [-4.52516902e-02 9.22583592e-01 -3.83134181e-01 -1.67062396e+02] [-9.95921523e-01 -1.16965579e-02 8.94623385e-02 -4.14416409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-167.21, Z:-414.44 [[ 8.63078177e-02 1.35092066e-01 9.87066915e-01 2.88089556e+02] [-4.42352344e-02 9.90306466e-01 -1.31667568e-01 -1.67205741e+02] [-9.95285991e-01 -3.22991958e-02 9.14470191e-02 -4.14438465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.09, Y:-167.21, Z:-414.47 [[ 8.64669540e-02 1.31655772e-01 9.87517202e-01 2.88092890e+02] [-4.39416486e-02 9.90768984e-01 -1.28241772e-01 -1.67208427e+02] [-9.95285184e-01 -3.23044585e-02 9.14539478e-02 -4.14465063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.21, Z:-414.49 [[ 8.65682545e-02 1.30139326e-01 9.87709316e-01 2.88096045e+02] [-4.34698462e-02 9.90980412e-01 -1.26760386e-01 -1.67210192e+02] [-9.95297096e-01 -3.19621468e-02 9.14445810e-02 -4.14492991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.21, Z:-414.52 [[ 8.61899701e-02 1.28814725e-01 9.87916017e-01 2.88098441e+02] [-4.32529698e-02 9.91154931e-01 -1.25463476e-01 -1.67211351e+02] [-9.95339374e-01 -3.19166084e-02 9.09992332e-02 -4.14521211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.21, Z:-414.55 [[ 8.69079712e-02 1.27577420e-01 9.88013667e-01 2.88101731e+02] [-4.37908349e-02 9.91296771e-01 -1.24149408e-01 -1.67212998e+02] [-9.95253419e-01 -3.24763701e-02 9.17383129e-02 -4.14549162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.21, Z:-414.58 [[ 8.74964414e-02 1.26325736e-01 9.88122554e-01 2.88104303e+02] [-4.40440619e-02 9.91447331e-01 -1.22850769e-01 -1.67213978e+02] [-9.95190682e-01 -3.27719258e-02 9.23120118e-02 -4.14576691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-167.22, Z:-414.61 [[ 8.76472552e-02 1.22883305e-01 9.88543197e-01 2.88107656e+02] [-4.37569215e-02 9.91879318e-01 -1.19418388e-01 -1.67215925e+02] [-9.95190078e-01 -3.27889131e-02 9.23124948e-02 -4.14605077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-167.22, Z:-414.63 [[ 8.88390617e-02 1.19732605e-01 9.88823404e-01 2.88110674e+02] [-4.41549716e-02 9.92246208e-01 -1.16180035e-01 -1.67217245e+02] [-9.95066812e-01 -3.33401441e-02 9.34370119e-02 -4.14632055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.11, Y:-167.22, Z:-414.66 [[ 8.89074141e-02 1.18224069e-01 9.88998757e-01 2.88113696e+02] [-4.38648484e-02 9.92432265e-01 -1.14691216e-01 -1.67218087e+02] [-9.95073538e-01 -3.31853811e-02 9.34204672e-02 -4.14659784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-167.22, Z:-414.69 [[ 8.82236816e-02 1.14790067e-01 9.89464412e-01 2.88117139e+02] [-4.38006026e-02 9.92824007e-01 -1.11274426e-01 -1.67219184e+02] [-9.95137221e-01 -3.35220980e-02 9.26184632e-02 -4.14686897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-167.22, Z:-414.71 [[ 8.75554235e-02 1.13306274e-01 9.89694769e-01 2.88119792e+02] [-4.39652460e-02 9.92981638e-01 -1.09793097e-01 -1.67219688e+02] [-9.95188980e-01 -3.38991929e-02 9.19224660e-02 -4.14714666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-167.22, Z:-414.74 [[ 8.73744807e-02 1.09874088e-01 9.90097664e-01 2.88122900e+02] [-4.36848202e-02 9.93365287e-01 -1.06381593e-01 -1.67221250e+02] [-9.95217231e-01 -3.39572020e-02 9.15946059e-02 -4.14742188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-167.22, Z:-414.77 [[ 8.80386098e-02 1.06425514e-01 9.90415475e-01 2.88125981e+02] [-4.30563226e-02 9.93753505e-01 -1.02956902e-01 -1.67222721e+02] [-9.95186091e-01 -3.35794656e-02 9.20709684e-02 -4.14768935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-167.22, Z:-414.80 [[ 8.82140843e-02 1.04857189e-01 9.90567133e-01 2.88128037e+02] [-4.20220811e-02 9.93950380e-01 -1.01473086e-01 -1.67222930e+02] [-9.95214761e-01 -3.26743370e-02 9.20867399e-02 -4.14797011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-167.22, Z:-414.82 [[ 8.78468480e-02 1.03489357e-01 9.90743602e-01 2.88130032e+02] [-4.12890516e-02 9.94112235e-01 -1.00180231e-01 -1.67223115e+02] [-9.95277924e-01 -3.21063461e-02 9.16026038e-02 -4.14824817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-167.26, Z:-414.86 [[ 9.83316225e-02 5.66526271e-02 9.93539819e-01 2.88160928e+02] [-4.71534803e-02 9.97522113e-01 -5.22128747e-02 -1.67256258e+02] [-9.94035936e-01 -4.17146836e-02 1.00759336e-01 -4.14860330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-167.11, Z:-414.90 [[ 8.59659672e-02 3.38543280e-01 9.37015635e-01 2.88082629e+02] [-4.95072338e-02 9.40786970e-01 -3.35363849e-01 -1.67105191e+02] [-9.95067277e-01 -1.75591745e-02 9.76360032e-02 -4.14899420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-167.03, Z:-414.92 [[ 7.72360969e-02 4.46170422e-01 8.91608962e-01 2.88059057e+02] [-4.08732509e-02 8.94945490e-01 -4.44299388e-01 -1.67026332e+02] [-9.96174665e-01 -2.12700619e-03 8.73585322e-02 -4.14921895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-167.22, Z:-414.94 [[ 8.80841316e-02 1.13268764e-01 9.89652147e-01 2.88134998e+02] [-3.94049747e-02 9.93132446e-01 -1.10159850e-01 -1.67218419e+02] [-9.95333328e-01 -2.92938831e-02 9.19425619e-02 -4.14941618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-167.22, Z:-414.97 [[ 8.82171097e-02 1.09748922e-01 9.90036825e-01 2.88138319e+02] [-3.80329769e-02 9.93558179e-01 -1.06750352e-01 -1.67220759e+02] [-9.95374922e-01 -2.82368401e-02 9.18229091e-02 -4.14969674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-167.22, Z:-415.00 [[ 8.67345231e-02 1.08127335e-01 9.90346203e-01 2.88140579e+02] [-3.43237391e-02 9.93826627e-01 -1.05501260e-01 -1.67222099e+02] [-9.95639997e-01 -2.48417833e-02 8.99104131e-02 -4.14997145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-167.22, Z:-415.03 [[ 8.59221273e-02 1.06648656e-01 9.90577333e-01 2.88143620e+02] [-3.19772119e-02 9.94037184e-01 -1.04247469e-01 -1.67223101e+02] [-9.95788555e-01 -2.27187369e-02 8.88201161e-02 -4.15025356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-167.22, Z:-415.05 [[ 8.42906165e-02 1.02997977e-01 9.91103682e-01 2.88146721e+02] [-2.88014944e-02 9.94479663e-01 -1.00899330e-01 -1.67224716e+02] [-9.96024882e-01 -2.00404004e-02 8.67917995e-02 -4.15053710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-167.23, Z:-415.08 [[ 8.38865358e-02 1.01992626e-01 9.91241925e-01 2.88148994e+02] [-2.70372732e-02 9.94614834e-01 -1.00051575e-01 -1.67225050e+02] [-9.96108445e-01 -1.84074987e-02 8.61923954e-02 -4.15080663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.25, Z:-415.12 [[ 9.09279902e-02 7.43365258e-02 9.93079142e-01 2.88169925e+02] [-3.03437775e-02 9.96953903e-01 -7.18482423e-02 -1.67245829e+02] [-9.95395075e-01 -2.36007562e-02 9.29066658e-02 -4.15117682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-167.12, Z:-415.15 [[ 8.01892688e-02 2.86208286e-01 9.54806000e-01 2.88104084e+02] [-2.30867507e-02 9.58167065e-01 -2.85276845e-01 -1.67124112e+02] [-9.96512259e-01 8.32773540e-04 8.34423356e-02 -4.15151065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-167.22, Z:-415.17 [[ 8.29186435e-02 1.04769233e-01 9.91033756e-01 2.88154715e+02] [-2.29964156e-02 9.94394705e-01 -1.03200459e-01 -1.67222863e+02] [-9.96290953e-01 -1.42329821e-02 8.48631769e-02 -4.15174703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.24, Z:-415.21 [[ 8.89332951e-02 8.29759724e-02 9.92575366e-01 2.88172158e+02] [-2.55459607e-02 9.96386213e-01 -8.10056659e-02 -1.67239907e+02] [-9.95709934e-01 -1.81521905e-02 9.07316101e-02 -4.15211405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-167.13, Z:-415.24 [[ 8.08074228e-02 2.76128935e-01 9.57717584e-01 2.88113145e+02] [-2.09330939e-02 9.61118080e-01 -2.75343136e-01 -1.67129335e+02] [-9.96509893e-01 2.20177705e-03 8.34457080e-02 -4.15243402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.23, Z:-415.27 [[ 8.86227904e-02 9.09920161e-02 9.91900426e-01 2.88172087e+02] [-2.18908200e-02 9.95756118e-01 -8.93898509e-02 -1.67233463e+02] [-9.95824680e-01 -1.37915357e-02 9.02385756e-02 -4.15274377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-167.15, Z:-415.31 [[ 8.54037835e-02 2.39712053e-01 9.67080310e-01 2.88129956e+02] [-2.16978862e-02 9.70843848e-01 -2.38728767e-01 -1.67153653e+02] [-9.96110132e-01 -5.95258555e-04 8.81149826e-02 -4.15311926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-167.14, Z:-415.34 [[ 8.43956914e-02 2.55984194e-01 9.62989854e-01 2.88124784e+02] [-1.85400745e-02 9.66673903e-01 -2.55338659e-01 -1.67139862e+02] [-9.96259822e-01 3.69557897e-03 8.63290785e-02 -4.15342543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-167.18, Z:-415.37 [[ 8.50076539e-02 1.90395789e-01 9.78020011e-01 2.88143871e+02] [-1.83871311e-02 9.81705626e-01 -1.89515110e-01 -1.67176614e+02] [-9.96210626e-01 -1.87274730e-03 8.69533244e-02 -4.15374243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-167.18, Z:-415.41 [[ 8.65768074e-02 1.88419220e-01 9.78265125e-01 2.88146306e+02] [-1.60731140e-02 9.82088548e-01 -1.87733156e-01 -1.67176549e+02] [-9.96115511e-01 5.29570476e-04 8.80545748e-02 -4.15406406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-167.17, Z:-415.44 [[ 8.62617182e-02 1.95765453e-01 9.76849427e-01 2.88144177e+02] [-1.37802433e-02 9.80644900e-01 -1.95309206e-01 -1.67170481e+02] [-9.96177204e-01 3.38648492e-03 8.72898095e-02 -4.15438461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.21, Z:-415.47 [[ 8.64941372e-02 1.18491908e-01 9.89180687e-01 2.88169792e+02] [-1.24600637e-02 9.92952730e-01 -1.17854243e-01 -1.67211171e+02] [-9.96174438e-01 -2.13155330e-03 8.73610064e-02 -4.15466463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.21, Z:-415.50 [[ 8.48770648e-02 1.20173408e-01 9.89117908e-01 2.88169330e+02] [-1.07521851e-02 9.92752802e-01 -1.19692377e-01 -1.67210009e+02] [-9.96333415e-01 -4.76041166e-04 8.55540706e-02 -4.15500133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-167.20, Z:-415.53 [[ 8.31225324e-02 1.40580645e-01 9.86573731e-01 2.88163318e+02] [-8.24321924e-03 9.90062915e-01 -1.40383310e-01 -1.67196986e+02] [-9.96505240e-01 3.53647269e-03 8.34553738e-02 -4.15530885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-167.22, Z:-415.56 [[ 8.52575649e-02 9.31356094e-02 9.91996424e-01 2.88181138e+02] [-7.24828590e-03 9.95653168e-01 -9.28559731e-02 -1.67222014e+02] [-9.96332580e-01 7.26400452e-04 8.55620381e-02 -4.15558233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-167.19, Z:-415.59 [[ 8.50716453e-02 1.44144928e-01 9.85893024e-01 2.88168575e+02] [-6.13343309e-03 9.89537064e-01 -1.44148467e-01 -1.67194393e+02] [-9.96355959e-01 6.21603834e-03 8.50656494e-02 -4.15589062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-167.22, Z:-415.62 [[ 8.37127880e-02 1.01432879e-01 9.91314047e-01 2.88183345e+02] [-5.68452325e-03 9.94838314e-01 -1.01313451e-01 -1.67216422e+02] [-9.96473710e-01 2.84608371e-03 8.38572864e-02 -4.15620848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.22, Z:-415.65 [[ 8.64024084e-02 1.05207486e-01 9.90689663e-01 2.88188891e+02] [-7.95177233e-03 9.94449584e-01 -1.04913266e-01 -1.67216389e+02] [-9.96228585e-01 1.18702025e-03 8.67594251e-02 -4.15654546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-167.18, Z:-415.69 [[ 8.57816629e-02 1.63814805e-01 9.82754403e-01 2.88175925e+02] [-1.01018862e-02 9.86482580e-01 -1.63554490e-01 -1.67183763e+02] [-9.96262746e-01 4.10230301e-03 8.62769547e-02 -4.15686146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-167.20, Z:-415.71 [[ 8.42298782e-02 1.31996977e-01 9.87664987e-01 2.88183166e+02] [-1.08806296e-02 9.91250063e-01 -1.31548186e-01 -1.67198825e+02] [-9.96386943e-01 3.33870799e-04 8.49290822e-02 -4.15713035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.21, Z:-415.74 [[ 8.44463996e-02 1.10551129e-01 9.90276352e-01 2.88192729e+02] [-1.28839886e-02 9.93864339e-01 -1.09852990e-01 -1.67209151e+02] [-9.96344724e-01 -3.48201974e-03 8.53526045e-02 -4.15741503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.20, Z:-415.77 [[ 8.26235990e-02 1.24136941e-01 9.88819175e-01 2.88189156e+02] [-1.39010619e-02 9.92258748e-01 -1.23407204e-01 -1.67200177e+02] [-9.96483869e-01 -3.54928922e-03 8.37096241e-02 -4.15774792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.20, Z:-415.81 [[ 8.00109313e-02 1.13446202e-01 9.90317227e-01 2.88192702e+02] [-1.69592744e-02 9.93513535e-01 -1.12442162e-01 -1.67203465e+02] [-9.96649705e-01 -7.79845952e-03 8.14159084e-02 -4.15807228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-167.22, Z:-415.84 [[ 8.06074019e-02 8.46267922e-02 9.93146894e-01 2.88204166e+02] [-1.74218855e-02 9.96356623e-01 -8.34862723e-02 -1.67218882e+02] [-9.96593661e-01 -1.05728799e-02 8.17880770e-02 -4.15839877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.22, Z:-415.87 [[ 8.53221025e-02 8.59532431e-02 9.92638997e-01 2.88211933e+02] [-2.08585608e-02 9.96207733e-01 -8.44693684e-02 -1.67219767e+02] [-9.96135061e-01 -1.34979168e-02 8.67913992e-02 -4.15867255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.18, Z:-415.90 [[ 8.04798465e-02 1.61229773e-01 9.83629989e-01 2.88188869e+02] [-2.09487624e-02 9.86886662e-01 -1.60049573e-01 -1.67178486e+02] [-9.96536073e-01 -7.72506592e-03 8.28020513e-02 -4.15899322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.21, Z:-415.93 [[ 8.03922179e-02 1.06912935e-01 9.91012975e-01 2.88205391e+02] [-2.26446289e-02 9.94170289e-01 -1.05416593e-01 -1.67206226e+02] [-9.96506052e-01 -1.39664473e-02 8.23445582e-02 -4.15930383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.21, Z:-415.96 [[ 8.20134093e-02 9.79992819e-02 9.91801362e-01 2.88211926e+02] [-2.48765919e-02 9.95045047e-01 -9.62627091e-02 -1.67210751e+02] [-9.96320709e-01 -1.67778048e-02 8.40449249e-02 -4.15963243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-167.21, Z:-415.99 [[ 8.62953249e-02 9.84976577e-02 9.91388586e-01 2.88220782e+02] [-2.96072380e-02 9.94914739e-01 -9.62708332e-02 -1.67211518e+02] [-9.95829568e-01 -2.10445550e-02 8.87727343e-02 -4.15993018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.19, Z:-416.03 [[ 8.28408398e-02 1.45326059e-01 9.85909596e-01 2.88205006e+02] [-2.97681726e-02 9.89229453e-01 -1.43314152e-01 -1.67185615e+02] [-9.96118091e-01 -1.74764623e-02 8.62746898e-02 -4.16027895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.18, Z:-416.06 [[ 8.21244633e-02 1.46920991e-01 9.85733126e-01 2.88206874e+02] [-3.04045538e-02 9.88983105e-01 -1.44872295e-01 -1.67184364e+02] [-9.96158188e-01 -1.80732164e-02 8.56867738e-02 -4.16060162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-167.20, Z:-416.09 [[ 8.61092572e-02 1.22796072e-01 9.88689193e-01 2.88220950e+02] [-3.30556719e-02 9.92180936e-01 -1.20350787e-01 -1.67198886e+02] [-9.95737173e-01 -2.23184687e-02 8.94950701e-02 -4.16085475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.756559995 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:288.22, Y:-167.19, Z:-416.12 [[ 8.20228684e-02 1.39275195e-01 9.86850885e-01 2.88215219e+02] [-3.38275210e-02 9.90005890e-01 -1.36908864e-01 -1.67192373e+02] [-9.96056197e-01 -2.21530613e-02 8.59144574e-02 -4.16117943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-167.12, Z:-416.15 [[ 8.03974272e-02 2.71433150e-01 9.59093478e-01 2.88189042e+02] [-3.19878286e-02 9.62415245e-01 -2.69691817e-01 -1.67117975e+02] [-9.96249483e-01 -8.99678952e-03 8.60582666e-02 -4.16145049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-167.20, Z:-416.18 [[ 8.34746945e-02 1.31882937e-01 9.87744333e-01 2.88222282e+02] [-3.21384698e-02 9.91044403e-01 -1.29607524e-01 -1.67195348e+02] [-9.95991513e-01 -2.09256430e-02 8.69656446e-02 -4.16176192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.17, Z:-416.20 [[ 8.36025428e-02 1.84890707e-01 9.79196631e-01 2.88212335e+02] [-3.09844677e-02 9.82643855e-01 -1.82896194e-01 -1.67166879e+02] [-9.96017358e-01 -1.50492995e-02 8.78802651e-02 -4.16204913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-167.16, Z:-416.23 [[ 8.19169083e-02 1.91954993e-01 9.77978988e-01 2.88212612e+02] [-3.00450787e-02 9.81306535e-01 -1.90091497e-01 -1.67163373e+02] [-9.96186184e-01 -1.38117480e-02 8.61529003e-02 -4.16233051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-167.17, Z:-416.26 [[ 8.17032754e-02 1.82769779e-01 9.79754961e-01 2.88217568e+02] [-3.04468055e-02 9.83040466e-01 -1.80843673e-01 -1.67168532e+02] [-9.96191531e-01 -1.50548883e-02 8.58823818e-02 -4.16259585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-167.20, Z:-416.29 [[ 8.25502679e-02 1.25854599e-01 9.88608150e-01 2.88235129e+02] [-3.06527960e-02 9.91845225e-01 -1.23707139e-01 -1.67198974e+02] [-9.96115385e-01 -2.00915464e-02 8.57348844e-02 -4.16285533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-167.20, Z:-416.31 [[ 8.42942024e-02 1.31719099e-01 9.87696596e-01 2.88235934e+02] [-3.07896545e-02 9.91095445e-01 -1.29544650e-01 -1.67195953e+02] [-9.95965102e-01 -1.94909740e-02 8.75991856e-02 -4.16313794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.996559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.24, Y:-167.20, Z:-416.34 [[ 8.38330208e-02 1.21264945e-01 9.89073727e-01 2.88240819e+02] [-3.09391319e-02 9.92405966e-01 -1.19051119e-01 -1.67200984e+02] [-9.95999395e-01 -2.06206676e-02 8.69482221e-02 -4.16342868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-167.19, Z:-416.37 [[ 8.25659277e-02 1.44831351e-01 9.86005450e-01 2.88236400e+02] [-3.11170478e-02 9.89275852e-01 -1.42706058e-01 -1.67188697e+02] [-9.96099692e-01 -1.88989207e-02 8.61872025e-02 -4.16372851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-167.17, Z:-416.40 [[ 8.27747117e-02 1.74912568e-01 9.81098334e-01 2.88231584e+02] [-3.29631789e-02 9.84418633e-01 -1.72723434e-01 -1.67172756e+02] [-9.96022980e-01 -1.80429874e-02 8.72506428e-02 -4.16400383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-167.20, Z:-416.43 [[ 8.40276347e-02 1.17797169e-01 9.89476217e-01 2.88248886e+02] [-3.41197017e-02 9.92745843e-01 -1.15288928e-01 -1.67203047e+02] [-9.95879110e-01 -2.40731774e-02 8.74372893e-02 -4.16425667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-167.20, Z:-416.45 [[ 8.42301228e-02 1.16636778e-01 9.89596457e-01 2.88251557e+02] [-3.68595576e-02 9.92810711e-01 -1.13878295e-01 -1.67202788e+02] [-9.95764359e-01 -2.68841048e-02 8.79237481e-02 -4.16453260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-167.19, Z:-416.48 [[ 8.14767849e-02 1.26857922e-01 9.88568966e-01 2.88246986e+02] [-3.62685284e-02 9.91587130e-01 -1.24256015e-01 -1.67194609e+02] [-9.96015124e-01 -2.57299611e-02 8.53922815e-02 -4.16484770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-167.21, Z:-416.51 [[ 7.75020569e-02 8.46425635e-02 9.93392706e-01 2.88254298e+02] [-3.49563253e-02 9.96007719e-01 -8.21381706e-02 -1.67211897e+02] [-9.96379188e-01 -2.83594814e-02 8.01514399e-02 -4.16512627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-167.35, Z:-416.54 [[ 9.49938739e-02 -1.91681775e-01 9.76849150e-01 2.88369299e+02] [-4.10762061e-02 9.79696183e-01 1.96234896e-01 -1.67346688e+02] [-9.94630036e-01 -5.87663699e-02 8.51915756e-02 -4.16540222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-167.20, Z:-416.58 [[ 8.48790396e-02 1.27127744e-01 9.88247988e-01 2.88260410e+02] [-4.42219882e-02 9.91330551e-01 -1.23726128e-01 -1.67197778e+02] [-9.95409446e-01 -3.32005360e-02 8.97650267e-02 -4.16578948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-167.20, Z:-416.61 [[ 8.50368286e-02 1.24168662e-01 9.88610581e-01 2.88263841e+02] [-4.64759135e-02 9.91618866e-01 -1.20548805e-01 -1.67199715e+02] [-9.95293287e-01 -3.56954918e-02 9.00949756e-02 -4.16605405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-167.19, Z:-416.64 [[ 8.19959646e-02 1.35361724e-01 9.87397522e-01 2.88258645e+02] [-4.47684901e-02 9.90233863e-01 -1.32032869e-01 -1.67190834e+02] [-9.95626659e-01 -3.33781337e-02 8.72551208e-02 -4.16636426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-167.26, Z:-416.67 [[ 9.04660629e-02 7.66352274e-03 9.95870053e-01 2.88304610e+02] [-4.93459650e-02 9.98776609e-01 -3.20324131e-03 -1.67259119e+02] [-9.94676263e-01 -4.88523841e-02 9.07335514e-02 -4.16665709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-167.19, Z:-416.70 [[ 8.27045555e-02 1.39972746e-01 9.86695286e-01 2.88263677e+02] [-4.72808664e-02 9.89523417e-01 -1.36410875e-01 -1.67190212e+02] [-9.95451896e-01 -3.53700072e-02 8.84561271e-02 -4.16696597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-167.25, Z:-416.72 [[ 8.88890892e-02 3.91596638e-02 9.95271446e-01 2.88299852e+02] [-4.90889800e-02 9.98184830e-01 -3.48900873e-02 -1.67245231e+02] [-9.94831142e-01 -4.57555120e-02 9.06500483e-02 -4.16722379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-167.20, Z:-416.75 [[ 8.51265262e-02 1.23978322e-01 9.88626750e-01 2.88277491e+02] [-4.86078166e-02 9.91563696e-01 -1.20161212e-01 -1.67203137e+02] [-9.95183779e-01 -3.78260812e-02 9.04346885e-02 -4.16753161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-167.21, Z:-416.78 [[ 8.48091147e-02 1.20740554e-01 9.89054666e-01 2.88281043e+02] [-4.78214469e-02 9.91980233e-01 -1.16997121e-01 -1.67205896e+02] [-9.95248976e-01 -3.73756030e-02 8.99029533e-02 -4.16779534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-167.21, Z:-416.81 [[ 8.43308296e-02 1.18460973e-01 9.89371169e-01 2.88283922e+02] [-4.64510071e-02 9.92296004e-01 -1.14851839e-01 -1.67208186e+02] [-9.95354517e-01 -3.62717363e-02 8.91837767e-02 -4.16807482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-167.21, Z:-416.83 [[ 8.45558638e-02 1.15023427e-01 9.89757504e-01 2.88286871e+02] [-4.35617469e-02 9.92791840e-01 -1.11654540e-01 -1.67211631e+02] [-9.95466062e-01 -3.36745198e-02 8.89569931e-02 -4.16834385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-167.21, Z:-416.86 [[ 8.50538382e-02 1.13543480e-01 9.89885712e-01 2.88289540e+02] [-4.23192064e-02 9.93000906e-01 -1.10264616e-01 -1.67213261e+02] [-9.95477237e-01 -3.25127490e-02 8.92636084e-02 -4.16863560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-167.22, Z:-416.89 [[ 8.67782478e-02 1.12548723e-01 9.89849646e-01 2.88291391e+02] [-3.98994162e-02 9.93193281e-01 -1.09430997e-01 -1.67216089e+02] [-9.95428336e-01 -2.99981928e-02 9.06782010e-02 -4.16890224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-167.22, Z:-416.92 [[ 8.82608805e-02 1.11048487e-01 9.89887999e-01 2.88294196e+02] [-3.86621406e-02 9.93399355e-01 -1.07995189e-01 -1.67218291e+02] [-9.95346802e-01 -2.87394385e-02 9.19716740e-02 -4.16917860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-167.22, Z:-416.95 [[ 8.89441918e-02 1.07774096e-01 9.90188707e-01 2.88297304e+02] [-3.77058291e-02 9.93780570e-01 -1.04778097e-01 -1.67221399e+02] [-9.95322662e-01 -2.80164830e-02 9.24547213e-02 -4.16945810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-167.22, Z:-416.97 [[ 8.97192471e-02 1.10567556e-01 9.89810726e-01 2.88298269e+02] [-3.41235590e-02 9.93576478e-01 -1.07895156e-01 -1.67219458e+02] [-9.95382358e-01 -2.40955925e-02 9.29158921e-02 -4.16970983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-167.27, Z:-417.00 [[ 9.33512892e-02 9.82548182e-03 9.95584751e-01 2.88333622e+02] [-3.49389868e-02 9.99367741e-01 -6.58675226e-03 -1.67272972e+02] [-9.95020002e-01 -3.41698406e-02 9.36355594e-02 -4.16998355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7165599949999 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:288.31, Y:-167.23, Z:-417.03 [[ 9.05691149e-02 9.89766955e-02 9.90959560e-01 2.88307361e+02] [-3.46989671e-02 9.94758496e-01 -9.61848070e-02 -1.67229682e+02] [-9.95285495e-01 -2.56739004e-02 9.35287856e-02 -4.17028921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-167.23, Z:-417.06 [[ 9.16547527e-02 9.51652079e-02 9.91233065e-01 2.88310502e+02] [-3.48539793e-02 9.95119610e-01 -9.23155562e-02 -1.67233126e+02] [-9.95180690e-01 -2.60872573e-02 9.45243279e-02 -4.17055830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-167.24, Z:-417.08 [[ 9.17832238e-02 9.33673885e-02 9.91392138e-01 2.88313183e+02] [-3.47570685e-02 9.95288254e-01 -9.05165029e-02 -1.67235375e+02] [-9.95172239e-01 -2.61499880e-02 9.45959413e-02 -4.17082515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-167.24, Z:-417.11 [[ 9.23987128e-02 8.89857156e-02 9.91737879e-01 2.88317732e+02] [-3.31420900e-02 9.95721654e-01 -8.62553699e-02 -1.67236581e+02] [-9.95170377e-01 -2.48983809e-02 9.49525718e-02 -4.17108344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.29, Z:-417.13 [[ 9.84439357e-02 -1.49889830e-02 9.95029709e-01 2.88360186e+02] [-3.34211308e-02 9.99272715e-01 1.83594412e-02 -1.67290657e+02] [-9.94581228e-01 -3.50623937e-02 9.78713902e-02 -4.17133262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-167.26, Z:-417.17 [[ 9.39237702e-02 6.30407139e-02 9.93581498e-01 2.88329499e+02] [-3.46298670e-02 9.97596185e-01 -6.00218584e-02 -1.67255020e+02] [-9.94976933e-01 -2.87701159e-02 9.58810864e-02 -4.17165913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-167.24, Z:-417.19 [[ 9.36685803e-02 8.92363911e-02 9.91596220e-01 2.88323472e+02] [-3.50719708e-02 9.95652680e-01 -8.62884595e-02 -1.67242722e+02] [-9.94985504e-01 -2.66947162e-02 9.63910690e-02 -4.17193170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-167.24, Z:-417.22 [[ 9.39264005e-02 8.79191336e-02 9.91689496e-01 2.88326302e+02] [-3.51028019e-02 9.95766186e-01 -8.49558464e-02 -1.67244227e+02] [-9.94960112e-01 -2.68314831e-02 9.66149415e-02 -4.17220132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-167.25, Z:-417.25 [[ 9.20906303e-02 8.09766360e-02 9.92452568e-01 2.88330535e+02] [-3.69209002e-02 9.96280181e-01 -7.78630144e-02 -1.67248829e+02] [-9.95065909e-01 -2.94717882e-02 9.47378001e-02 -4.17246135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.28, Z:-417.27 [[ 9.74951420e-02 1.59231661e-02 9.95108612e-01 2.88361685e+02] [-3.73308927e-02 9.99226869e-01 -1.23315934e-02 -1.67284272e+02] [-9.94535621e-01 -3.59460223e-02 9.80141916e-02 -4.17273232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-167.23, Z:-417.30 [[ 9.07831887e-02 1.27835620e-01 9.87631747e-01 2.88322140e+02] [-3.73406124e-02 9.91466471e-01 -1.24899622e-01 -1.67226808e+02] [-9.95170383e-01 -2.55399884e-02 9.47819481e-02 -4.17304871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-167.25, Z:-417.33 [[ 9.13458353e-02 8.87763356e-02 9.91854173e-01 2.88336400e+02] [-3.74324698e-02 9.95620478e-01 -8.56660583e-02 -1.67247332e+02] [-9.95115445e-01 -2.93023137e-02 9.42689018e-02 -4.17330210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-167.25, Z:-417.36 [[ 9.21268317e-02 8.32071547e-02 9.92264691e-01 2.88343115e+02] [-3.94354363e-02 9.96025624e-01 -7.98611470e-02 -1.67251437e+02] [-9.94966077e-01 -3.17730366e-02 9.50419955e-02 -4.17363020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-167.25, Z:-417.40 [[ 9.16864858e-02 9.44817822e-02 9.91295507e-01 2.88342319e+02] [-3.96307740e-02 9.95046105e-01 -9.11737441e-02 -1.67246056e+02] [-9.94998990e-01 -3.09264080e-02 9.49766667e-02 -4.17396684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-167.24, Z:-417.43 [[ 9.00153143e-02 9.99373041e-02 9.90913608e-01 2.88340955e+02] [-4.02267717e-02 9.94505648e-01 -9.66453454e-02 -1.67243444e+02] [-9.95127655e-01 -3.11616943e-02 9.35408936e-02 -4.17427886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-167.25, Z:-417.46 [[ 9.03613924e-02 9.22463577e-02 9.91627666e-01 2.88345668e+02] [-4.01846546e-02 9.95227874e-01 -8.89194687e-02 -1.67247851e+02] [-9.95097991e-01 -3.18133282e-02 9.36370645e-02 -4.17455523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-167.25, Z:-417.48 [[ 9.04600222e-02 8.90802881e-02 9.91908104e-01 2.88349025e+02] [-4.05642070e-02 9.95494621e-01 -8.57030084e-02 -1.67250027e+02] [-9.95073630e-01 -3.24832697e-02 9.36659367e-02 -4.17482765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-167.25, Z:-417.51 [[ 9.02223434e-02 8.68800550e-02 9.92124884e-01 2.88351830e+02] [-4.04132490e-02 9.95686551e-01 -8.35168291e-02 -1.67251278e+02] [-9.95101351e-01 -3.25599059e-02 9.33442793e-02 -4.17510308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-167.25, Z:-417.54 [[ 9.02333567e-02 8.37011197e-02 9.92397130e-01 2.88354984e+02] [-4.00916709e-02 9.95959602e-01 -8.03562661e-02 -1.67252950e+02] [-9.95113360e-01 -3.25360435e-02 9.32244957e-02 -4.17538558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.26, Z:-417.57 [[ 9.02777702e-02 8.05227177e-02 9.92656041e-01 2.88358446e+02] [-4.02879174e-02 9.96205441e-01 -7.71466279e-02 -1.67255115e+02] [-9.95101406e-01 -3.30274190e-02 9.31792986e-02 -4.17565578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.26, Z:-417.59 [[ 9.02661474e-02 7.91437493e-02 9.92767994e-01 2.88361176e+02] [-4.03279278e-02 9.96310281e-01 -7.57593766e-02 -1.67255982e+02] [-9.95100840e-01 -3.31977689e-02 9.31247941e-02 -4.17592785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-167.26, Z:-417.62 [[ 9.09857191e-02 7.77364547e-02 9.92813498e-01 2.88363998e+02] [-3.96889873e-02 9.96439631e-01 -7.43831075e-02 -1.67257334e+02] [-9.95060995e-01 -3.26359618e-02 9.37470575e-02 -4.17620678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-167.26, Z:-417.65 [[ 9.12788381e-02 7.44251729e-02 9.93040315e-01 2.88367259e+02] [-3.89915649e-02 9.96705672e-01 -7.11158310e-02 -1.67259453e+02] [-9.95061723e-01 -3.22288255e-02 9.38800896e-02 -4.17648221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-167.26, Z:-417.68 [[ 9.14051332e-02 7.11663728e-02 9.93267562e-01 2.88370747e+02] [-3.87096035e-02 9.96943113e-01 -6.78674825e-02 -1.67261166e+02] [-9.95061138e-01 -3.22455572e-02 9.38805401e-02 -4.17676597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-167.26, Z:-417.70 [[ 9.23273435e-02 6.81024177e-02 9.93397062e-01 2.88374258e+02] [-3.81975493e-02 9.97166246e-01 -6.48106950e-02 -1.67263312e+02] [-9.94995783e-01 -3.19615339e-02 9.46670559e-02 -4.17704344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-167.27, Z:-417.73 [[ 9.28664386e-02 6.48459138e-02 9.93564710e-01 2.88377503e+02] [-3.78874522e-02 9.97384406e-01 -6.15539479e-02 -1.67265110e+02] [-9.94957469e-01 -3.19273395e-02 9.50803842e-02 -4.17731331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-167.27, Z:-417.76 [[ 9.32876090e-02 6.34219206e-02 9.93617171e-01 2.88380448e+02] [-3.75140718e-02 9.97484371e-01 -6.01466826e-02 -1.67265748e+02] [-9.94932217e-01 -3.16636857e-02 9.54321465e-02 -4.17759488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-167.27, Z:-417.79 [[ 9.29803320e-02 6.00650155e-02 9.93854543e-01 2.88383643e+02] [-3.63903108e-02 9.97716806e-01 -5.68939315e-02 -1.67267643e+02] [-9.95002715e-01 -3.08766590e-02 9.49538245e-02 -4.17787635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-167.27, Z:-417.82 [[ 9.30070447e-02 5.87527385e-02 9.93930483e-01 2.88386314e+02] [-3.54969651e-02 9.97818533e-01 -5.56609386e-02 -1.67268781e+02] [-9.95032490e-01 -3.01046563e-02 9.48896969e-02 -4.17815506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-167.27, Z:-417.84 [[ 9.32280736e-02 5.74302686e-02 9.93987068e-01 2.88389308e+02] [-3.44452848e-02 9.97923455e-01 -5.44270105e-02 -1.67270035e+02] [-9.95048767e-01 -2.91640422e-02 9.50126833e-02 -4.17843857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-167.27, Z:-417.87 [[ 9.36266782e-02 5.60999614e-02 9.94025573e-01 2.88392223e+02] [-3.32520544e-02 9.98030410e-01 -5.31939917e-02 -1.67271528e+02] [-9.95051931e-01 -2.80730156e-02 9.53077110e-02 -4.17870660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.42, Y:-167.30, Z:-417.90 [[ 1.01243963e-01 2.16670090e-02 9.94625659e-01 2.88418196e+02] [-3.33726904e-02 9.99274117e-01 -1.83712311e-02 -1.67295940e+02] [-9.94301727e-01 -3.13333579e-02 1.01893558e-01 -4.17901412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-167.19, Z:-417.93 [[ 9.01055133e-02 2.14372580e-01 9.72586959e-01 2.88349624e+02] [-3.02985295e-02 9.76697410e-01 -2.12471571e-01 -1.67191001e+02] [-9.95471243e-01 -1.03230947e-02 9.45009954e-02 -4.17932813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-167.28, Z:-417.96 [[ 9.49830351e-02 5.19832099e-02 9.94120701e-01 2.88401305e+02] [-2.67879511e-02 9.98407477e-01 -4.96479195e-02 -1.67277699e+02] [-9.95118399e-01 -2.19147466e-02 9.62242961e-02 -4.17956416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-167.28, Z:-417.98 [[ 9.51266647e-02 4.86272711e-02 9.94276776e-01 2.88404414e+02] [-2.53464585e-02 9.98600682e-01 -4.64137382e-02 -1.67280038e+02] [-9.95142439e-01 -2.07862109e-02 9.62260814e-02 -4.17984754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-167.28, Z:-418.01 [[ 9.55430278e-02 4.52924263e-02 9.94394351e-01 2.88407682e+02] [-2.42001552e-02 9.98774741e-01 -4.31667529e-02 -1.67282631e+02] [-9.95131088e-01 -1.99402154e-02 9.65220466e-02 -4.18011524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-167.28, Z:-418.04 [[ 9.55024598e-02 4.37702658e-02 9.94466412e-01 2.88410593e+02] [-2.29036281e-02 9.98864938e-01 -4.17643376e-02 -1.67284330e+02] [-9.95165667e-01 -1.87882919e-02 9.63965564e-02 -4.18039538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-167.29, Z:-418.07 [[ 9.58931145e-02 4.04722378e-02 9.94568504e-01 2.88414300e+02] [-2.15541738e-02 9.99023204e-01 -3.85753295e-02 -1.67286898e+02] [-9.95158243e-01 -1.77379939e-02 9.66717921e-02 -4.18067072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-167.30, Z:-418.10 [[ 9.93166027e-02 2.48086631e-02 9.94746572e-01 2.88429169e+02] [-2.22735599e-02 9.99494098e-01 -2.27032479e-02 -1.67300603e+02] [-9.94806565e-01 -1.99017379e-02 9.98189354e-02 -4.18101692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-167.25, Z:-418.14 [[ 9.53774091e-02 1.33740992e-01 9.86415986e-01 2.88391766e+02] [-2.22141676e-02 9.90972659e-01 -1.32210891e-01 -1.67245805e+02] [-9.95193288e-01 -9.30247781e-03 9.74873496e-02 -4.18137227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-167.25, Z:-418.17 [[ 9.36724709e-02 1.25000602e-01 9.87724819e-01 2.88393794e+02] [-2.02377279e-02 9.92121040e-01 -1.23637685e-01 -1.67247950e+02] [-9.95397359e-01 -8.40785875e-03 9.54641574e-02 -4.18166375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-167.29, Z:-418.19 [[ 9.54218694e-02 4.11545845e-02 9.94585827e-01 2.88424875e+02] [-1.89148509e-02 9.99039573e-01 -3.95241587e-02 -1.67291624e+02] [-9.95257201e-01 -1.50409735e-02 9.61086565e-02 -4.18190279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-167.29, Z:-418.22 [[ 9.54250818e-02 3.97278638e-02 9.94643529e-01 2.88427727e+02] [-1.87615590e-02 9.99097569e-01 -3.81058014e-02 -1.67292795e+02] [-9.95259794e-01 -1.50248141e-02 9.60843239e-02 -4.18219883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-167.29, Z:-418.25 [[ 9.56293300e-02 3.93113249e-02 9.94640463e-01 2.88430341e+02] [-1.86857950e-02 9.99114700e-01 -3.76916221e-02 -1.67293371e+02] [-9.95241615e-01 -1.49812232e-02 9.62792327e-02 -4.18248720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-167.29, Z:-418.28 [[ 9.56298291e-02 3.84920039e-02 9.94672459e-01 2.88432908e+02] [-1.87286629e-02 9.99144759e-01 -3.68644620e-02 -1.67294261e+02] [-9.95240761e-01 -1.51035430e-02 9.62689463e-02 -4.18275940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:288.44, Y:-167.30, Z:-418.31 [[ 9.64378394e-02 3.28192353e-02 9.94797789e-01 2.88439369e+02] [-1.87823655e-02 9.99338286e-01 -3.11482272e-02 -1.67299647e+02] [-9.95161779e-01 -1.56807880e-02 9.69904480e-02 -4.18307409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-167.24, Z:-418.34 [[ 9.39341803e-02 1.55123106e-01 9.83419133e-01 2.88398843e+02] [-1.99940008e-02 9.87881438e-01 -1.53917198e-01 -1.67235100e+02] [-9.95377622e-01 -5.20439717e-03 9.58973646e-02 -4.18336306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-167.30, Z:-418.36 [[ 9.57610004e-02 3.47620308e-02 9.94797181e-01 2.88441004e+02] [-1.87257696e-02 9.99276077e-01 -3.31159637e-02 -1.67296822e+02] [-9.95228203e-01 -1.54571250e-02 9.63426226e-02 -4.18360322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-167.30, Z:-418.39 [[ 9.61735398e-02 3.15791632e-02 9.94863512e-01 2.88443903e+02] [-1.88746787e-02 9.99374740e-01 -2.98977427e-02 -1.67298131e+02] [-9.95185609e-01 -1.59023573e-02 9.67094529e-02 -4.18388494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-167.30, Z:-418.42 [[ 9.67381643e-02 3.03593992e-02 9.94846739e-01 2.88446881e+02] [-1.88480697e-02 9.99411334e-01 -2.86659230e-02 -1.67298432e+02] [-9.95131387e-01 -1.59778519e-02 9.72534339e-02 -4.18415134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-167.31, Z:-418.45 [[ 1.00247971e-01 1.89090578e-02 9.94782786e-01 2.88459183e+02] [-2.02149440e-02 9.99651721e-01 -1.69644723e-02 -1.67306926e+02] [-9.94757106e-01 -1.84088244e-02 1.00595303e-01 -4.18448932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-167.25, Z:-418.48 [[ 9.55299708e-02 1.18899025e-01 9.88300079e-01 2.88421799e+02] [-1.98072869e-02 9.92871261e-01 -1.17534379e-01 -1.67253847e+02] [-9.95229469e-01 -8.34748748e-03 9.72040297e-02 -4.18481744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-167.30, Z:-418.51 [[ 9.71823915e-02 3.35428206e-02 9.94701192e-01 2.88453622e+02] [-1.80367608e-02 9.99327137e-01 -3.19366213e-02 -1.67297056e+02] [-9.95103139e-01 -1.48375103e-02 9.77220049e-02 -4.18507397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-167.30, Z:-418.54 [[ 9.74562571e-02 3.02471950e-02 9.94780069e-01 2.88457435e+02] [-1.72431562e-02 9.99439346e-01 -2.86995933e-02 -1.67298467e+02] [-9.95090424e-01 -1.43561932e-02 9.79231750e-02 -4.18535183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-167.30, Z:-418.56 [[ 9.76442606e-02 2.89257447e-02 9.94800935e-01 2.88460379e+02] [-1.62986519e-02 9.99489958e-01 -2.74622998e-02 -1.67299354e+02] [-9.95087912e-01 -1.35323781e-02 9.80659086e-02 -4.18562255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.48, Y:-167.31, Z:-418.60 [[ 1.02376374e-01 1.09639163e-02 9.94685312e-01 2.88477384e+02] [-1.65302022e-02 9.99819937e-01 -9.31916838e-03 -1.67310782e+02] [-9.94608381e-01 -1.54882867e-02 1.02539175e-01 -4.18595448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-167.26, Z:-418.63 [[ 9.69274089e-02 1.01902486e-01 9.90061089e-01 2.88440297e+02] [-1.43396502e-02 9.94784622e-01 -1.00984800e-01 -1.67262758e+02] [-9.95188149e-01 -4.40893466e-03 9.78831418e-02 -4.18625745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-167.30, Z:-418.65 [[ 9.78288715e-02 2.91388407e-02 9.94776578e-01 2.88467703e+02] [-1.17296541e-02 9.99535600e-01 -2.81247171e-02 -1.67298855e+02] [-9.95134125e-01 -8.91697587e-03 9.81252283e-02 -4.18651052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-167.30, Z:-418.68 [[ 9.82616345e-02 2.57308815e-02 9.94827911e-01 2.88471283e+02] [-1.02344085e-02 9.99638940e-01 -2.48444391e-02 -1.67300359e+02] [-9.95107988e-01 -7.74022002e-03 9.84894965e-02 -4.18678109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-167.30, Z:-418.71 [[ 9.86767060e-02 2.40700050e-02 9.94828399e-01 2.88474876e+02] [-7.67468416e-03 9.99696102e-01 -2.34265303e-02 -1.67301451e+02] [-9.95089949e-01 -5.32334091e-03 9.88314480e-02 -4.18706273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-167.30, Z:-418.73 [[ 9.87236445e-02 2.07763826e-02 9.94897977e-01 2.88478615e+02] [-6.07844138e-03 9.99775962e-01 -2.02750860e-02 -1.67303075e+02] [-9.95096324e-01 -4.04579865e-03 9.88278146e-02 -4.18734526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-167.30, Z:-418.76 [[ 9.87918710e-02 1.74661793e-02 9.94954823e-01 2.88482733e+02] [-4.77068441e-03 9.99842774e-01 -1.70782913e-02 -1.67304904e+02] [-9.95096682e-01 -3.05941911e-03 9.88596640e-02 -4.18762246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.31, Z:-418.79 [[ 9.88603010e-02 1.41171387e-02 9.95001180e-01 2.88486599e+02] [-2.84957455e-03 9.99899281e-01 -1.39035081e-02 -1.67306306e+02] [-9.95097242e-01 -1.46082504e-03 9.88905717e-02 -4.18790026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.31, Z:-418.82 [[ 9.92027568e-02 1.09033640e-02 9.95007502e-01 2.88490226e+02] [-2.25629646e-03 9.99939860e-01 -1.07324593e-02 -1.67307473e+02] [-9.95064682e-01 -1.18034236e-03 9.92213920e-02 -4.18817732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-167.32, Z:-418.85 [[ 1.04950639e-01 -1.28235227e-02 9.94394751e-01 2.88510293e+02] [-2.84811280e-03 9.99908883e-01 1.31952281e-02 -1.67319197e+02] [-9.94473354e-01 -4.21699604e-03 1.04904553e-01 -4.18848827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.30, Z:-418.88 [[ 1.01572341e-01 3.34289523e-02 9.94266345e-01 2.88490651e+02] [-2.16999274e-03 9.99440336e-01 -3.33812285e-02 -1.67295096e+02] [-9.94825789e-01 1.23305878e-03 1.01588036e-01 -4.18880489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-167.32, Z:-418.91 [[ 1.02903311e-01 -2.79500197e-02 9.94298600e-01 2.88517990e+02] [-2.15135367e-03 9.99596548e-01 2.83215974e-02 -1.67324799e+02] [-9.94689037e-01 -5.05347409e-03 1.02801664e-01 -4.18910858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-167.32, Z:-418.94 [[ 1.06333769e-01 -1.93267597e-02 9.94142649e-01 2.88522547e+02] [-4.36585342e-03 9.99792372e-01 1.99035668e-02 -1.67322663e+02] [-9.94320908e-01 -6.45670236e-03 1.06227313e-01 -4.18941164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-167.29, Z:-418.97 [[ 1.02657047e-01 4.94171290e-02 9.93488540e-01 2.88495282e+02] [-4.56842408e-03 9.98778096e-01 -4.92081822e-02 -1.67287781e+02] [-9.94706319e-01 5.12889708e-04 1.02757368e-01 -4.18970304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-167.30, Z:-419.00 [[ 9.81184927e-02 1.76029302e-02 9.95019044e-01 2.88502736e+02] [-4.61992975e-03 9.99840833e-01 -1.72326630e-02 -1.67302302e+02] [-9.95164016e-01 -2.90607517e-03 9.81841998e-02 -4.19000840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-167.33, Z:-419.03 [[ 1.08681716e-01 -3.63860465e-02 9.93410459e-01 2.88542587e+02] [-7.85079357e-03 9.99267308e-01 3.74594651e-02 -1.67330919e+02] [-9.94045597e-01 -1.18702194e-02 1.08316427e-01 -4.19028179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-167.29, Z:-419.06 [[ 1.09379383e-01 5.36077564e-02 9.92553454e-01 2.88514721e+02] [-1.11358475e-02 9.98548068e-01 -5.27043549e-02 -1.67289886e+02] [-9.93937696e-01 -5.28815410e-03 1.09817539e-01 -4.19061495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.876559995 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.25, Z:-419.10 [[ 1.07287620e-01 1.26796798e-01 9.86109496e-01 2.88491268e+02] [-1.37991333e-02 9.91928710e-01 -1.26043719e-01 -1.67253990e+02] [-9.94132260e-01 -8.45257371e-05 1.08171357e-01 -4.19096098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-167.24, Z:-419.12 [[ 1.03288940e-01 1.46478346e-01 9.83806632e-01 2.88484190e+02] [-1.29159505e-02 9.89211048e-01 -1.45926972e-01 -1.67240056e+02] [-9.94567531e-01 2.36584450e-03 1.04066467e-01 -4.19121379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9365599949999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:288.50, Y:-167.26, Z:-419.15 [[ 1.03666658e-01 1.05227423e-01 9.89030037e-01 2.88501356e+02] [-1.38479199e-02 9.94444018e-01 -1.04351951e-01 -1.67262444e+02] [-9.94515691e-01 -2.87819067e-03 1.04547869e-01 -4.19151410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:288.49, Y:-167.25, Z:-419.18 [[ 1.01537575e-01 1.31810113e-01 9.86060959e-01 2.88492906e+02] [-1.32445695e-02 9.91274951e-01 -1.31143253e-01 -1.67245900e+02] [-9.94743536e-01 2.56015060e-04 1.02397423e-01 -4.19178667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-167.30, Z:-419.20 [[ 1.02840928e-01 3.39677735e-02 9.94117666e-01 2.88528830e+02] [-1.33731489e-02 9.99373646e-01 -3.27639190e-02 -1.67295195e+02] [-9.94607914e-01 -9.92501171e-03 1.03230769e-01 -4.19203679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:288.52, Y:-167.28, Z:-419.23 [[ 1.01107600e-01 6.68927658e-02 9.92624104e-01 2.88518998e+02] [-1.58771703e-02 9.97718439e-01 -6.56188411e-02 -1.67278335e+02] [-9.94748797e-01 -9.12549840e-03 1.01938985e-01 -4.19233954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:-167.26, Z:-419.26 [[ 9.46944095e-02 1.00541592e-01 9.90416255e-01 2.88499588e+02] [-1.42930355e-02 9.94921653e-01 -9.96323877e-02 -1.67257231e+02] [-9.95403776e-01 -4.72142459e-03 9.56505630e-02 -4.19263007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-167.31, Z:-419.29 [[ 9.61794776e-02 -1.07130608e-03 9.95363431e-01 2.88537392e+02] [-1.42913723e-02 9.99894854e-01 2.45712277e-03 -1.67306819e+02] [-9.95261405e-01 -1.44614341e-02 9.61540543e-02 -4.19288321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-167.31, Z:-419.32 [[ 9.62282382e-02 -3.95799004e-03 9.95351426e-01 2.88540367e+02] [-1.66013957e-02 9.99846612e-01 5.58084898e-03 -1.67307001e+02] [-9.95220840e-01 -1.70612582e-02 9.61477698e-02 -4.19316398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-167.31, Z:-419.34 [[ 9.67872555e-02 -7.12499109e-03 9.95279590e-01 2.88543621e+02] [-1.76531838e-02 9.99804789e-01 8.87409278e-03 -1.67308009e+02] [-9.95148528e-01 -1.84287526e-02 9.66425828e-02 -4.19344217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-167.31, Z:-419.37 [[ 9.71477610e-02 -1.03388079e-02 9.95216269e-01 2.88546873e+02] [-1.88879644e-02 9.99746809e-01 1.22296168e-02 -1.67309134e+02] [-9.95090728e-01 -1.99856893e-02 9.69278850e-02 -4.19370602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-167.31, Z:-419.40 [[ 9.75648220e-02 -1.16941609e-02 9.95160466e-01 2.88549621e+02] [-1.97201493e-02 9.99711932e-01 1.36809947e-02 -1.67309340e+02] [-9.95033779e-01 -2.09594967e-02 9.73061060e-02 -4.19398693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-167.31, Z:-419.43 [[ 9.76707952e-02 -1.49534357e-02 9.95106432e-01 2.88552934e+02] [-2.07832002e-02 9.99638418e-01 1.70614318e-02 -1.67310908e+02] [-9.95001746e-01 -2.23478998e-02 9.73246989e-02 -4.19426743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-167.31, Z:-419.45 [[ 9.74851183e-02 -1.83306440e-02 9.95068158e-01 2.88556675e+02] [-2.08966741e-02 9.99572250e-01 2.04608274e-02 -1.67312524e+02] [-9.95017578e-01 -2.27882412e-02 9.70603696e-02 -4.19453072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-167.31, Z:-419.48 [[ 9.75131009e-02 -1.98172925e-02 9.95036919e-01 2.88559608e+02] [-2.06120557e-02 9.99547070e-01 2.19270880e-02 -1.67313082e+02] [-9.95020773e-01 -2.26479347e-02 9.70604592e-02 -4.19481509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-167.31, Z:-419.51 [[ 9.72495261e-02 -2.29997866e-02 9.94994241e-01 2.88563068e+02] [-2.02294660e-02 9.99480729e-01 2.50806974e-02 -1.67314315e+02] [-9.95054420e-01 -2.25672881e-02 9.67337539e-02 -4.19508109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-167.32, Z:-419.54 [[ 9.61230883e-02 -2.45478138e-02 9.95066710e-01 2.88565912e+02] [-1.94763488e-02 9.99458068e-01 2.65375548e-02 -1.67315324e+02] [-9.95178890e-01 -2.19311380e-02 9.55928943e-02 -4.19536239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-167.34, Z:-419.57 [[ 1.03942220e-01 -6.10316313e-02 9.92708998e-01 2.88595639e+02] [-2.12590928e-02 9.97751079e-01 6.35675645e-02 -1.67336050e+02] [-9.94356106e-01 -2.77114465e-02 1.02410985e-01 -4.19565059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-167.27, Z:-419.60 [[ 9.23631641e-02 7.83064434e-02 9.92641500e-01 2.88532718e+02] [-1.93188275e-02 9.96856153e-01 -7.68413490e-02 -1.67265736e+02] [-9.95537960e-01 -1.20793597e-02 9.35855772e-02 -4.19597066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-167.32, Z:-419.62 [[ 9.47055745e-02 -3.03864388e-02 9.95041466e-01 2.88574026e+02] [-1.74472192e-02 9.99329862e-01 3.21779802e-02 -1.67318682e+02] [-9.95352424e-01 -2.04081407e-02 9.41119498e-02 -4.19621637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-167.34, Z:-419.66 [[ 1.05873415e-01 -7.13554552e-02 9.91816122e-01 2.88607899e+02] [-2.07469572e-02 9.97046384e-01 7.39464182e-02 -1.67342760e+02] [-9.94163158e-01 -2.84061265e-02 1.04080297e-01 -4.19655249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-167.26, Z:-419.69 [[ 9.31785098e-02 9.31540405e-02 9.91282044e-01 2.88534799e+02] [-2.01326443e-02 9.95586261e-01 -9.16660941e-02 -1.67259923e+02] [-9.95445851e-01 -1.14158188e-02 9.46426813e-02 -4.19689785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-167.32, Z:-419.71 [[ 9.61624680e-02 -2.89366790e-02 9.94944947e-01 2.88580439e+02] [-1.89843594e-02 9.99342194e-01 3.08994253e-02 -1.67319079e+02] [-9.95184593e-01 -2.18597574e-02 9.55498674e-02 -4.19712952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-167.32, Z:-419.74 [[ 9.59110675e-02 -3.03210506e-02 9.94927988e-01 2.88582353e+02] [-1.97988848e-02 9.99280084e-01 3.23622961e-02 -1.67319123e+02] [-9.95192982e-01 -2.28023670e-02 9.52416965e-02 -4.19740710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-167.34, Z:-419.77 [[ 1.04021276e-01 -6.35068012e-02 9.92545445e-01 2.88610075e+02] [-2.20991292e-02 9.97565334e-01 6.61440373e-02 -1.67337927e+02] [-9.94329524e-01 -2.88147771e-02 1.02364573e-01 -4.19773907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-167.26, Z:-419.81 [[ 9.24235666e-02 8.11171235e-02 9.92410145e-01 2.88546690e+02] [-2.13521712e-02 9.96608412e-01 -7.94717428e-02 -1.67264986e+02] [-9.95490818e-01 -1.38450494e-02 9.38421306e-02 -4.19807642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-167.33, Z:-419.84 [[ 1.00821284e-01 -5.52911342e-02 9.93366981e-01 2.88610219e+02] [-2.02600243e-02 9.98133411e-01 5.76127163e-02 -1.67334757e+02] [-9.94698246e-01 -2.59342272e-02 9.95128921e-02 -4.19837184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-167.29, Z:-419.87 [[ 9.80349666e-02 3.83413429e-02 9.94444109e-01 2.88577143e+02] [-2.10190615e-02 9.99114432e-01 -3.64492944e-02 -1.67292253e+02] [-9.94960976e-01 -1.73289765e-02 9.87540490e-02 -4.19871932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-167.28, Z:-419.90 [[ 9.56121457e-02 5.84368090e-02 9.93701895e-01 2.88571637e+02] [-1.85618914e-02 9.98206420e-01 -5.69157167e-02 -1.67283560e+02] [-9.95245585e-01 -1.30031529e-02 9.65253554e-02 -4.19903713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-167.28, Z:-419.94 [[ 9.47188127e-02 5.93164918e-02 9.93735327e-01 2.88572899e+02] [-1.73266993e-02 9.98170293e-01 -5.79297063e-02 -1.67283012e+02] [-9.95353270e-01 -1.17311202e-02 9.55732641e-02 -4.19935255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-167.27, Z:-419.97 [[ 8.77429419e-02 7.96928772e-02 9.92950261e-01 2.88558783e+02] [-1.39329966e-02 9.96795422e-01 -7.87702830e-02 -1.67268922e+02] [-9.96045706e-01 -6.92323624e-03 8.85721234e-02 -4.19965468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.33, Z:-420.00 [[ 9.49265457e-02 -4.48408519e-02 9.94473855e-01 2.88615240e+02] [-1.34823669e-02 9.98835457e-01 4.63244630e-02 -1.67331697e+02] [-9.95392976e-01 -1.78052826e-02 9.42114388e-02 -4.19995812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-167.30, Z:-420.03 [[ 9.36992782e-02 2.47781004e-02 9.95292164e-01 2.88590568e+02] [-1.33357977e-02 9.99631806e-01 -2.36306720e-02 -1.67299143e+02] [-9.95511226e-01 -1.10588380e-02 9.39952144e-02 -4.20030228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-167.27, Z:-420.06 [[ 8.77923712e-02 6.86263866e-02 9.93772066e-01 2.88568299e+02] [-1.10551635e-02 9.97629781e-01 -6.79161453e-02 -1.67274147e+02] [-9.96077448e-01 -5.02379325e-03 8.83429600e-02 -4.20061571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-167.32, Z:-420.09 [[ 8.87400561e-02 -2.52470228e-02 9.95734799e-01 2.88604565e+02] [-9.28251620e-03 9.99614339e-01 2.61726486e-02 -1.67320010e+02] [-9.96011565e-01 -1.15654867e-02 8.84714767e-02 -4.20086967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.33, Z:-420.12 [[ 9.41386320e-02 -4.63445338e-02 9.94479815e-01 2.88623521e+02] [-9.97195540e-03 9.98821896e-01 4.74908396e-02 -1.67332616e+02] [-9.95509155e-01 -1.43876310e-02 9.35655813e-02 -4.20120649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-167.29, Z:-420.15 [[ 9.26063982e-02 3.99162309e-02 9.94902382e-01 2.88592747e+02] [-1.17273661e-02 9.99170551e-01 -3.89958794e-02 -1.67293066e+02] [-9.95633730e-01 -8.05631657e-03 9.29976982e-02 -4.20154847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-167.25, Z:-420.18 [[ 8.86327973e-02 1.15203819e-01 9.89379759e-01 2.88564077e+02] [-9.83174662e-03 9.93341775e-01 -1.14784389e-01 -1.67250317e+02] [-9.96015845e-01 4.46330362e-04 8.91753149e-02 -4.20181003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.32, Z:-420.21 [[ 9.30346001e-02 -3.12498891e-02 9.95172351e-01 2.88621731e+02] [-9.02253029e-03 9.99439838e-01 3.22273741e-02 -1.67322966e+02] [-9.95621995e-01 -1.19772335e-02 9.27005326e-02 -4.20210084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-167.30, Z:-420.24 [[ 9.13570294e-02 1.39036928e-02 9.95721136e-01 2.88603301e+02] [-9.77817979e-03 9.99866845e-01 -1.30644369e-02 -1.67299627e+02] [-9.95770195e-01 -8.54281214e-03 9.14808175e-02 -4.20242277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.32, Z:-420.27 [[ 9.18221015e-02 -2.05790172e-02 9.95562758e-01 2.88618338e+02] [-9.35898009e-03 9.99724434e-01 2.15282335e-02 -1.67315684e+02] [-9.95731445e-01 -1.12942197e-02 9.16041999e-02 -4.20269401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.32, Z:-420.30 [[ 9.19648242e-02 -2.38847977e-02 9.95475759e-01 2.88621840e+02] [-9.30674700e-03 9.99648001e-01 2.48446869e-02 -1.67317136e+02] [-9.95718763e-01 -1.15494783e-02 9.17101629e-02 -4.20296887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-167.32, Z:-420.33 [[ 9.39105187e-02 -3.25849928e-02 9.95047252e-01 2.88631570e+02] [-9.00772728e-03 9.99395523e-01 3.35775173e-02 -1.67322029e+02] [-9.95539891e-01 -1.21163963e-02 9.35602352e-02 -4.20328802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.30, Z:-420.36 [[ 9.04221830e-02 8.49791018e-03 9.95867267e-01 2.88615765e+02] [-9.10862314e-03 9.99928826e-01 -7.70552866e-03 -1.67301731e+02] [-9.95861869e-01 -8.37422892e-03 9.04931516e-02 -4.20360919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-167.32, Z:-420.39 [[ 9.24806053e-02 -2.88721859e-02 9.95295803e-01 2.88635481e+02] [-7.55858843e-03 9.99530357e-01 2.96973513e-02 -1.67319723e+02] [-9.95685797e-01 -1.02694604e-02 9.22189395e-02 -4.20392735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-167.31, Z:-420.42 [[ 9.14673001e-02 -6.28337946e-03 9.95788257e-01 2.88629015e+02] [-6.66481978e-03 9.99953833e-01 6.92185552e-03 -1.67309468e+02] [-9.95785777e-01 -7.26987271e-03 9.14211997e-02 -4.20423124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.29, Z:-420.45 [[ 8.98299541e-02 3.65102020e-02 9.95287689e-01 2.88615101e+02] [-3.35275264e-03 9.99333278e-01 -3.63560030e-02 -1.67288276e+02] [-9.95951474e-01 -7.10953505e-05 8.98924722e-02 -4.20451484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-167.31, Z:-420.48 [[ 8.77319767e-02 -1.64738974e-04 9.96144103e-01 2.88629036e+02] [-1.64910796e-03 9.99998592e-01 3.10615947e-04 -1.67305647e+02] [-9.96142751e-01 -1.67000012e-03 8.77315815e-02 -4.20481078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-167.32, Z:-420.51 [[ 8.92784424e-02 -2.71527442e-02 9.95636524e-01 2.88643612e+02] [ 5.38628700e-05 9.99628464e-01 2.72567815e-02 -1.67319881e+02] [-9.96006705e-01 -2.37981516e-03 8.92467347e-02 -4.20510044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-167.29, Z:-420.54 [[ 8.95360101e-02 3.16985907e-02 9.95479032e-01 2.88624407e+02] [ 2.09216821e-03 9.99485220e-01 -3.20143331e-02 -1.67292433e+02] [-9.95981388e-01 4.94914523e-03 8.94236000e-02 -4.20539456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-167.27, Z:-420.57 [[ 8.86612548e-02 6.52524724e-02 9.93922178e-01 2.88613154e+02] [ 4.29120975e-03 9.97817599e-01 -6.58910031e-02 -1.67273083e+02] [-9.96052593e-01 1.01071076e-02 8.81877483e-02 -4.20566834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-167.32, Z:-420.59 [[ 8.78302674e-02 -2.46010836e-02 9.95831628e-01 2.88646024e+02] [ 6.98134054e-03 9.99685645e-01 2.40805538e-02 -1.67315607e+02] [-9.96110990e-01 4.83723824e-03 8.79744060e-02 -4.20593570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-167.32, Z:-420.62 [[ 8.95857741e-02 -3.75802072e-02 9.95269872e-01 2.88654923e+02] [ 7.61108605e-03 9.99284550e-01 3.70467111e-02 -1.67320905e+02] [-9.95950029e-01 4.25622634e-03 8.98077061e-02 -4.20620281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-167.32, Z:-420.65 [[ 8.96249664e-02 -3.57193030e-02 9.95334867e-01 2.88656294e+02] [ 9.27355727e-03 9.99343301e-01 3.50281147e-02 -1.67318903e+02] [-9.95932411e-01 6.09090129e-03 8.98973547e-02 -4.20649991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-167.32, Z:-420.68 [[ 8.97207563e-02 -3.62226352e-02 9.95308046e-01 2.88658944e+02] [ 1.01169354e-02 9.99320005e-01 3.54566659e-02 -1.67318923e+02] [-9.95915576e-01 6.88826833e-03 9.00262087e-02 -4.20676723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-167.32, Z:-420.71 [[ 8.99241781e-02 -3.78216634e-02 9.95230207e-01 2.88662468e+02] [ 1.13515910e-02 9.99252683e-01 3.69488545e-02 -1.67319256e+02] [-9.95883921e-01 7.97485089e-03 9.02863122e-02 -4.20705089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-167.32, Z:-420.73 [[ 8.94457069e-02 -4.09669794e-02 9.95148819e-01 2.88666181e+02] [ 1.29762846e-02 9.99116857e-01 3.99639993e-02 -1.67319499e+02] [-9.95907165e-01 9.33872616e-03 8.98983127e-02 -4.20731802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-167.32, Z:-420.76 [[ 8.97119073e-02 -4.25352424e-02 9.95059057e-01 2.88669111e+02] [ 1.38895006e-02 9.99043894e-01 4.14533392e-02 -1.67319270e+02] [-9.95870903e-01 1.01020152e-02 9.02169265e-02 -4.20759244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-167.32, Z:-420.79 [[ 8.98761782e-02 -4.59804520e-02 9.94890984e-01 2.88672532e+02] [ 1.45413134e-02 9.98887826e-01 4.48515433e-02 -1.67319661e+02] [-9.95846787e-01 1.04359363e-02 9.04448364e-02 -4.20787606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-167.32, Z:-420.82 [[ 9.04849147e-02 -4.94145972e-02 9.94671141e-01 2.88675550e+02] [ 1.49705774e-02 9.98722900e-01 4.82540173e-02 -1.67319054e+02] [-9.95785299e-01 1.05245407e-02 9.11091215e-02 -4.20815384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-167.32, Z:-420.84 [[ 8.96330383e-02 -5.28596826e-02 9.94571150e-01 2.88678656e+02] [ 1.57117188e-02 9.98541402e-01 5.16547182e-02 -1.67319735e+02] [-9.95850923e-01 1.09964529e-02 9.03328162e-02 -4.20842409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-167.32, Z:-420.87 [[ 9.10579261e-02 -5.11679873e-02 9.94530186e-01 2.88679702e+02] [ 1.41382145e-02 9.98644873e-01 5.00852085e-02 -1.67316940e+02] [-9.95745231e-01 9.50022591e-03 9.16579550e-02 -4.20870871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-167.34, Z:-420.90 [[ 9.20014794e-02 -9.59556246e-02 9.91124738e-01 2.88702258e+02] [ 1.22880207e-02 9.95379745e-01 9.52269330e-02 -1.67337270e+02] [-9.95683048e-01 3.41794254e-03 9.27555137e-02 -4.20901733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-167.31, Z:-420.93 [[ 9.11497044e-02 -4.90233134e-02 9.94629804e-01 2.88684618e+02] [ 1.09859843e-02 9.98776277e-01 4.82209090e-02 -1.67314216e+02] [-9.95776601e-01 6.53166582e-03 9.15767318e-02 -4.20934137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-167.34, Z:-420.97 [[ 9.19769632e-02 -9.80924088e-02 9.90917816e-01 2.88708518e+02] [ 9.07926853e-03 9.95177310e-01 9.76713250e-02 -1.67335863e+02] [-9.95719742e-01 1.32970709e-05 9.24239942e-02 -4.20966272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-167.31, Z:-421.00 [[ 9.17058058e-02 -3.95183744e-02 9.95001680e-01 2.88686825e+02] [ 4.68466477e-03 9.99218280e-01 3.92540755e-02 -1.67306593e+02] [-9.95775125e-01 1.06142269e-03 9.18192479e-02 -4.20999138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-167.33, Z:-421.03 [[ 9.17315347e-02 -9.51713877e-02 9.91225369e-01 2.88710606e+02] [ 2.70434126e-03 9.95442433e-01 9.53260149e-02 -1.67330506e+02] [-9.95780102e-01 -6.06378998e-03 9.15708380e-02 -4.21029410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-167.34, Z:-421.06 [[ 9.46531094e-02 -1.12664786e-01 9.89114470e-01 2.88723312e+02] [-1.30007983e-03 9.93560473e-01 1.13295617e-01 -1.67338484e+02] [-9.95509467e-01 -1.20097102e-02 9.38971149e-02 -4.21061102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-167.30, Z:-421.09 [[ 9.47688764e-02 -3.72314658e-02 9.94802834e-01 2.88695863e+02] [-7.51337003e-03 9.99245171e-01 3.81134781e-02 -1.67302705e+02] [-9.95470949e-01 -1.10862933e-02 9.44176084e-02 -4.21089973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-167.30, Z:-421.12 [[ 9.28223084e-02 -3.09658429e-02 9.95201053e-01 2.88693800e+02] [-9.52732509e-03 9.99442894e-01 3.19864412e-02 -1.67297479e+02] [-9.95637107e-01 -1.24506593e-02 9.24755748e-02 -4.21121325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-167.33, Z:-421.15 [[ 9.58451104e-02 -1.07884632e-01 9.89532527e-01 2.88729297e+02] [-1.26112548e-02 9.93897745e-01 1.09582067e-01 -1.67332950e+02] [-9.95316367e-01 -2.29821521e-02 9.38996785e-02 -4.21151918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-167.29, Z:-421.19 [[ 9.07141789e-02 -1.84341336e-02 9.95706343e-01 2.88692523e+02] [-1.42703528e-02 9.99701952e-01 1.98082124e-02 -1.67288773e+02] [-9.95774721e-01 -1.60059665e-02 9.04240801e-02 -4.21185411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-167.35, Z:-421.21 [[ 9.61074641e-02 -1.51776367e-01 9.83731310e-01 2.88752988e+02] [-1.89555599e-02 9.87847908e-01 1.54263401e-01 -1.67349782e+02] [-9.95190455e-01 -3.34730421e-02 9.20625514e-02 -4.21214509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-167.29, Z:-421.25 [[ 9.34665778e-02 -2.61460991e-02 9.95279047e-01 2.88705681e+02] [-2.18823934e-02 9.99359696e-01 2.83082721e-02 -1.67293709e+02] [-9.95381917e-01 -2.44249650e-02 9.28345916e-02 -4.21246043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-167.29, Z:-421.27 [[ 9.34500351e-02 -2.93410190e-02 9.95191537e-01 2.88708939e+02] [-2.29972841e-02 9.99235367e-01 3.16197231e-02 -1.67294862e+02] [-9.95358335e-01 -2.58415667e-02 9.27038164e-02 -4.21273918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-167.30, Z:-421.30 [[ 9.38011119e-02 -3.24358629e-02 9.95062443e-01 2.88712321e+02] [-2.48564086e-02 9.99081304e-01 3.49099931e-02 -1.67295900e+02] [-9.95280619e-01 -2.80082749e-02 9.29086981e-02 -4.21301896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-167.30, Z:-421.33 [[ 9.38122045e-02 -3.57700680e-02 9.94947121e-01 2.88715634e+02] [-2.53212654e-02 9.98945365e-01 3.83013193e-02 -1.67297153e+02] [-9.95267855e-01 -2.87864513e-02 9.28075235e-02 -4.21329560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-167.30, Z:-421.36 [[ 9.42871309e-02 -3.90741882e-02 9.94777937e-01 2.88719351e+02] [-2.57829421e-02 9.98798459e-01 4.16758726e-02 -1.67298396e+02] [-9.95211122e-01 -2.95778004e-02 9.31663935e-02 -4.21357153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-167.30, Z:-421.39 [[ 9.43759792e-02 -4.24883702e-02 9.94629536e-01 2.88722963e+02] [-2.54776835e-02 9.98658534e-01 4.50779443e-02 -1.67299779e+02] [-9.95210562e-01 -2.95951317e-02 9.31668717e-02 -4.21385534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-167.30, Z:-421.41 [[ 9.47713887e-02 -4.56234777e-02 9.94453057e-01 2.88726165e+02] [-2.57977956e-02 9.98501227e-01 4.82677297e-02 -1.67300720e+02] [-9.95164739e-01 -3.02290964e-02 9.34523627e-02 -4.21413235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-167.30, Z:-421.44 [[ 9.50651537e-02 -4.90380679e-02 9.94262483e-01 2.88729104e+02] [-2.54619066e-02 9.98339384e-01 5.16736530e-02 -1.67302122e+02] [-9.95145370e-01 -3.02281823e-02 9.36586842e-02 -4.21441038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-167.30, Z:-421.47 [[ 9.52095709e-02 -5.25070745e-02 9.94071499e-01 2.88732282e+02] [-2.43340981e-02 9.98186750e-01 5.50550993e-02 -1.67303881e+02] [-9.95159781e-01 -2.94316058e-02 9.37592198e-02 -4.21467567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-167.31, Z:-421.50 [[ 9.53068384e-02 -5.51363885e-02 9.93919808e-01 2.88735915e+02] [-2.07044371e-02 9.98139088e-01 5.73557932e-02 -1.67306777e+02] [-9.95232602e-01 -2.60449495e-02 9.39879129e-02 -4.21500353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-167.31, Z:-421.53 [[ 9.52425155e-02 -5.40842338e-02 9.93983782e-01 2.88737981e+02] [-1.81326977e-02 9.98263039e-01 5.60545316e-02 -1.67307325e+02] [-9.95288937e-01 -2.33623820e-02 9.40963899e-02 -4.21531938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-167.31, Z:-421.56 [[ 9.50187490e-02 -5.39799593e-02 9.94010866e-01 2.88740188e+02] [-1.47461277e-02 9.98342843e-01 5.56248091e-02 -1.67308293e+02] [-9.95366259e-01 -1.99432110e-02 9.40652926e-02 -4.21559257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-167.31, Z:-421.59 [[ 9.47865234e-02 -5.58222724e-02 9.93931280e-01 2.88743565e+02] [-1.09332673e-02 9.98307982e-01 5.71107356e-02 -1.67310216e+02] [-9.95437582e-01 -1.62802444e-02 9.40158231e-02 -4.21586935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-167.31, Z:-421.61 [[ 9.42548757e-02 -5.95699900e-02 9.93764275e-01 2.88747645e+02] [-7.17268726e-03 9.98141657e-01 6.05126898e-02 -1.67313115e+02] [-9.95522260e-01 -1.28315764e-02 9.36524409e-02 -4.21614091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-167.32, Z:-421.64 [[ 9.26731024e-02 -6.18629540e-02 9.93772947e-01 2.88750784e+02] [ 1.50004101e-03 9.98075587e-01 6.19909113e-02 -1.67315783e+02] [-9.95695459e-01 -4.25418990e-03 9.25875580e-02 -4.21640783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-167.32, Z:-421.67 [[ 9.16702942e-02 -6.37624820e-02 9.93745895e-01 2.88753769e+02] [ 6.35077331e-03 9.97964980e-01 6.34473532e-02 -1.67317360e+02] [-9.95769163e-01 4.94817365e-04 9.18886844e-02 -4.21669068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-167.32, Z:-421.70 [[ 9.05443733e-02 -6.75292476e-02 9.93600280e-01 2.88757576e+02] [ 1.11974658e-02 9.97704370e-01 6.67877809e-02 -1.67319582e+02] [-9.95829470e-01 5.07854734e-03 9.10926733e-02 -4.21696930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-167.32, Z:-421.72 [[ 8.95881474e-02 -7.12420664e-02 9.93427668e-01 2.88761373e+02] [ 1.58221977e-02 9.97414404e-01 7.01011095e-02 -1.67321881e+02] [-9.95853213e-01 9.43798045e-03 9.04837146e-02 -4.21724238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.32, Z:-421.76 [[ 8.81017171e-02 -7.42181208e-02 9.93342719e-01 2.88765420e+02] [ 2.41652991e-02 9.97086184e-01 7.23545430e-02 -1.67324446e+02] [-9.95818320e-01 1.76298644e-02 8.96385080e-02 -4.21756620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.32, Z:-421.79 [[ 8.78200904e-02 -7.32731592e-02 9.93437807e-01 2.88767054e+02] [ 2.79974932e-02 9.97078564e-01 7.10667075e-02 -1.67324138e+02] [-9.95742824e-01 2.15726836e-02 8.96149944e-02 -4.21785054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-167.32, Z:-421.82 [[ 8.50751385e-02 -6.23987885e-02 9.94418731e-01 2.88759929e+02] [ 3.33460847e-02 9.97656296e-01 5.97490972e-02 -1.67316876e+02] [-9.95816378e-01 2.80768085e-02 8.69565028e-02 -4.21816513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.37, Z:-421.85 [[ 8.50025871e-02 -1.71497791e-01 9.81510605e-01 2.88813253e+02] [ 3.88000150e-02 9.84898427e-01 1.68729510e-01 -1.67366212e+02] [-9.95624989e-01 2.37401814e-02 9.03730312e-02 -4.21846158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.32, Z:-421.88 [[ 8.71633883e-02 -6.22232478e-02 9.94248868e-01 2.88766752e+02] [ 4.21438781e-02 9.97384224e-01 5.87248167e-02 -1.67317152e+02] [-9.95302184e-01 3.67828490e-02 8.95577173e-02 -4.21882325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-167.33, Z:-421.91 [[ 8.62351674e-02 -1.01465492e-01 9.91094471e-01 2.88786072e+02] [ 4.46800287e-02 9.94193261e-01 9.78951262e-02 -1.67334475e+02] [-9.95272421e-01 3.58401268e-02 9.02679033e-02 -4.21914301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-167.33, Z:-421.95 [[ 8.83419735e-02 -8.95347627e-02 9.92058074e-01 2.88787180e+02] [ 4.63188839e-02 9.95243928e-01 8.56976316e-02 -1.67329336e+02] [-9.95012692e-01 3.83803248e-02 9.20689630e-02 -4.21946761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.31, Z:-421.98 [[ 8.79163668e-02 -5.08609905e-02 9.94828564e-01 2.88774357e+02] [ 5.02707876e-02 9.97649623e-01 4.65626186e-02 -1.67309959e+02] [-9.94858563e-01 4.59171992e-02 9.02665523e-02 -4.21980387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.31, Z:-422.01 [[ 8.75589733e-02 -4.61113065e-02 9.95091540e-01 2.88774913e+02] [ 5.19617974e-02 9.97779589e-01 4.16637034e-02 -1.67306169e+02] [-9.94803196e-01 4.80587139e-02 8.97605827e-02 -4.22012253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-167.30, Z:-422.04 [[ 8.69570841e-02 -4.34782660e-02 9.95262833e-01 2.88775701e+02] [ 5.32969733e-02 9.97819436e-01 3.89333432e-02 -1.67302997e+02] [-9.94785353e-01 4.96589666e-02 8.90847286e-02 -4.22044573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-167.31, Z:-422.08 [[ 8.84356093e-02 -6.10327211e-02 9.94210315e-01 2.88787698e+02] [ 5.30366902e-02 9.96993705e-01 5.64859426e-02 -1.67308738e+02] [-9.94668916e-01 4.77342557e-02 9.14067193e-02 -4.22077141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.28, Z:-422.11 [[ 9.05016985e-02 -1.18386481e-02 9.95825933e-01 2.88771393e+02] [ 5.21943290e-02 9.98611506e-01 7.12828875e-03 -1.67283457e+02] [-9.94527624e-01 5.13313441e-02 9.09939477e-02 -4.22110172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-167.28, Z:-422.14 [[ 9.04314858e-02 -1.35474853e-02 9.95810530e-01 2.88774384e+02] [ 5.09649740e-02 9.98660265e-01 8.95802630e-03 -1.67281753e+02] [-9.94597767e-01 4.99413702e-02 9.10007788e-02 -4.22141297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-167.28, Z:-422.17 [[ 9.14844681e-02 -2.30142121e-02 9.95540526e-01 2.88783263e+02] [ 4.59616655e-02 9.98765053e-01 1.88651409e-02 -1.67281490e+02] [-9.94745253e-01 4.40308333e-02 9.24292612e-02 -4.22172177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-167.27, Z:-422.20 [[ 9.06789066e-02 -3.29556411e-03 9.95874729e-01 2.88778036e+02] [ 4.32145940e-02 9.99065615e-01 -6.28761158e-04 -1.67268267e+02] [-9.94942126e-01 4.30933375e-02 9.07365941e-02 -4.22204563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-167.28, Z:-422.24 [[ 8.92145013e-02 -2.55853725e-02 9.95683766e-01 2.88788166e+02] [ 3.94429209e-02 9.98976606e-01 2.21358516e-02 -1.67275519e+02] [-9.95231143e-01 3.72978371e-02 9.01323616e-02 -4.22235650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-167.26, Z:-422.27 [[ 8.52896608e-02 -1.63299418e-02 9.96222368e-01 2.88781290e+02] [ 3.02956002e-02 9.99445865e-01 1.37890814e-02 -1.67264304e+02] [-9.95895502e-01 2.90050885e-02 8.57371242e-02 -4.22267365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-167.27, Z:-422.30 [[ 8.59787842e-02 -4.83450935e-02 9.95123309e-01 2.88795856e+02] [ 2.68109949e-02 9.98572523e-01 4.61961897e-02 -1.67274488e+02] [-9.95936152e-01 2.27083538e-02 8.71522315e-02 -4.22297108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.29, Z:-422.33 [[ 8.56571033e-02 -8.94091684e-02 9.92304823e-01 2.88812791e+02] [ 2.19498072e-02 9.95892936e-01 8.78377292e-02 -1.67289690e+02] [-9.96082861e-01 1.42569741e-02 8.72678181e-02 -4.22327396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-167.29, Z:-422.36 [[ 9.06854309e-02 -1.05696994e-01 9.90254663e-01 2.88825925e+02] [ 1.21223967e-02 9.94395292e-01 1.05028809e-01 -1.67291444e+02] [-9.95805805e-01 2.47967701e-03 9.14584665e-02 -4.22360128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-167.25, Z:-422.39 [[ 8.70149461e-02 -3.01481007e-02 9.95750717e-01 2.88796625e+02] [ 8.92833385e-03 9.99525431e-01 2.94821729e-02 -1.67252303e+02] [-9.96166996e-01 6.32500515e-03 8.72428237e-02 -4.22394049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.27, Z:-422.43 [[ 8.58344822e-02 -8.06023160e-02 9.93043659e-01 2.88814836e+02] [ 4.73528240e-03 9.96743897e-01 8.04933553e-02 -1.67274062e+02] [-9.96298158e-01 -2.20676331e-03 8.59366710e-02 -4.22425840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-167.25, Z:-422.46 [[ 8.51990082e-02 -3.21401129e-02 9.95845441e-01 2.88800987e+02] [ 4.54259386e-04 9.99480744e-01 3.22185755e-02 -1.67246521e+02] [-9.96363851e-01 -2.29261854e-03 8.51693680e-02 -4.22458977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-167.24, Z:-422.49 [[ 8.54952940e-02 -3.11898968e-02 9.95850262e-01 2.88803016e+02] [-5.36784540e-04 9.99508307e-01 3.13505500e-02 -1.67243830e+02] [-9.96338430e-01 -3.21488152e-03 8.54365142e-02 -4.22486180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.24, Z:-422.52 [[ 8.58067963e-02 -3.26184400e-02 9.95777702e-01 2.88806127e+02] [-1.31948379e-03 9.99459332e-01 3.28527390e-02 -1.67242592e+02] [-9.96310922e-01 -4.13290082e-03 8.57173638e-02 -4.22518872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.24, Z:-422.55 [[ 8.56276484e-02 -3.12412357e-02 9.95837281e-01 2.88807422e+02] [-2.16949884e-03 9.99500051e-01 3.15426891e-02 -1.67239708e+02] [-9.96324846e-01 -4.86139411e-03 8.55170611e-02 -4.22546231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.24, Z:-422.57 [[ 8.75945758e-02 -3.48446531e-02 9.95546604e-01 2.88810096e+02] [-3.77905169e-04 9.99386810e-01 3.50123129e-02 -1.67237298e+02] [-9.96156136e-01 -3.44311090e-03 8.75276957e-02 -4.22572682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-167.24, Z:-422.60 [[ 8.78751552e-02 -3.64673817e-02 9.95463755e-01 2.88812130e+02] [ 1.00957213e-03 9.99332413e-01 3.65199838e-02 -1.67236116e+02] [-9.96130984e-01 -2.20420679e-03 8.78533073e-02 -4.22600685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-167.24, Z:-422.63 [[ 8.84534717e-02 -3.99863753e-02 9.95277385e-01 2.88815184e+02] [ 2.74694753e-03 9.99199909e-01 3.98998371e-02 -1.67235977e+02] [-9.96076522e-01 -7.95304358e-04 8.84925413e-02 -4.22628877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-167.24, Z:-422.66 [[ 8.87565812e-02 -4.35636723e-02 9.95100234e-01 2.88818307e+02] [ 4.79542272e-03 9.99050222e-01 4.33088745e-02 -1.67236082e+02] [-9.96041803e-01 9.27978632e-04 8.88811884e-02 -4.22655885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-167.23, Z:-422.69 [[ 8.87305645e-02 -4.55028860e-02 9.95015766e-01 2.88821416e+02] [ 1.00463963e-02 9.98946054e-01 4.47867335e-02 -1.67234808e+02] [-9.96004998e-01 6.02237052e-03 8.90941873e-02 -4.22688154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-167.24, Z:-422.72 [[ 9.34077690e-02 -6.26546923e-02 9.93654557e-01 2.88836281e+02] [ 1.29258385e-02 9.98010157e-01 6.17142498e-02 -1.67242706e+02] [-9.95544028e-01 7.07922791e-03 9.40317667e-02 -4.22719634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-167.22, Z:-422.75 [[ 8.95840681e-02 -1.53902442e-02 9.95860349e-01 2.88819220e+02] [ 2.18598374e-02 9.99670128e-01 1.34826879e-02 -1.67217274e+02] [-9.95739345e-01 2.05615112e-02 8.98909450e-02 -4.22751328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-167.25, Z:-422.78 [[ 8.60955958e-02 -8.48728220e-02 9.92665176e-01 2.88841130e+02] [ 2.44059846e-02 9.96245464e-01 8.30621625e-02 -1.67250671e+02] [-9.95987900e-01 1.70756846e-02 8.78437516e-02 -4.22783404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-167.23, Z:-422.81 [[ 8.70879351e-02 -3.91438646e-02 9.95431288e-01 2.88828954e+02] [ 2.77327974e-02 9.98935720e-01 3.68553941e-02 -1.67228792e+02] [-9.95814533e-01 2.43964341e-02 8.80808180e-02 -4.22812096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-167.23, Z:-422.84 [[ 8.65017786e-02 -4.28438660e-02 9.95330018e-01 2.88832561e+02] [ 3.10239388e-02 9.98706159e-01 4.02929744e-02 -1.67229696e+02] [-9.95768526e-01 2.73936436e-02 8.77190445e-02 -4.22844582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-167.23, Z:-422.88 [[ 8.64180948e-02 -4.17412057e-02 9.95384139e-01 2.88834768e+02] [ 3.32969220e-02 9.98684729e-01 3.89888151e-02 -1.67228466e+02] [-9.95702379e-01 2.97738890e-02 8.76942852e-02 -4.22877445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-167.22, Z:-422.91 [[ 8.61926023e-02 -3.85196979e-02 9.95533560e-01 2.88836224e+02] [ 3.62607345e-02 9.98711510e-01 3.55032317e-02 -1.67224802e+02] [-9.95618398e-01 3.30386622e-02 8.74782965e-02 -4.22909679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-167.22, Z:-422.94 [[ 8.64847846e-02 -3.74919959e-02 9.95547454e-01 2.88838191e+02] [ 3.68239878e-02 9.98729067e-01 3.44128562e-02 -1.67222752e+02] [-9.95572386e-01 3.36838388e-02 8.77554731e-02 -4.22937607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-167.22, Z:-422.97 [[ 8.62767876e-02 -4.08953836e-02 9.95431506e-01 2.88841006e+02] [ 3.67711833e-02 9.98607083e-01 3.78387864e-02 -1.67222784e+02] [-9.95592385e-01 3.33385855e-02 8.76603828e-02 -4.22965104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-167.22, Z:-422.99 [[ 8.65725537e-02 -4.40463431e-02 9.95271376e-01 2.88844138e+02] [ 3.38339759e-02 9.98575853e-01 4.12495746e-02 -1.67221324e+02] [-9.95670857e-01 3.01029067e-02 8.79395246e-02 -4.22991796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.22, Z:-423.02 [[ 8.64019214e-02 -4.53483462e-02 9.95227731e-01 2.88846740e+02] [ 3.19405220e-02 9.98576049e-01 4.27279592e-02 -1.67220423e+02] [-9.95748217e-01 2.80963155e-02 8.77273391e-02 -4.23019742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.22, Z:-423.05 [[ 8.65456036e-02 -4.84439183e-02 9.95069367e-01 2.88850254e+02] [ 2.94241325e-02 9.98505598e-01 4.60520601e-02 -1.67220379e+02] [-9.95813275e-01 2.52934495e-02 8.78416899e-02 -4.23048054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-167.23, Z:-423.08 [[ 9.11007655e-02 -6.81706528e-02 9.93505618e-01 2.88865955e+02] [ 2.22490939e-02 9.97544488e-01 6.64076259e-02 -1.67227401e+02] [-9.95593104e-01 1.60548142e-02 9.23938017e-02 -4.23080067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.20, Z:-423.11 [[ 9.10292234e-02 -1.05336870e-02 9.95792510e-01 2.88849449e+02] [ 1.85141569e-02 9.99789132e-01 8.88351373e-03 -1.67197864e+02] [-9.95676105e-01 1.76275994e-02 9.12050506e-02 -4.23111470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-167.20, Z:-423.14 [[ 8.71968870e-02 -2.68571639e-02 9.95828999e-01 2.88851323e+02] [ 1.47480306e-02 9.99561768e-01 2.56664668e-02 -1.67203698e+02] [-9.96081924e-01 1.24484805e-02 8.75547648e-02 -4.23140143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-167.21, Z:-423.17 [[ 8.70608541e-02 -4.80558071e-02 9.95043239e-01 2.88859511e+02] [ 1.12278818e-02 9.98819715e-01 4.72558144e-02 -1.67212039e+02] [-9.96139720e-01 7.05809626e-03 8.74976624e-02 -4.23168144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-167.21, Z:-423.20 [[ 8.68588900e-02 -5.08833339e-02 9.94920308e-01 2.88862825e+02] [ 4.44350884e-03 9.98704604e-01 5.06889458e-02 -1.67210825e+02] [-9.96210715e-01 1.81516087e-05 8.69724738e-02 -4.23195958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-167.21, Z:-423.22 [[ 8.74036064e-02 -5.40835381e-02 9.94703765e-01 2.88865812e+02] [ 1.61704027e-03 9.98531526e-01 5.41495715e-02 -1.67211235e+02] [-9.96171669e-01 -3.12439180e-03 8.73627118e-02 -4.23222969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-167.21, Z:-423.25 [[ 8.73325751e-02 -5.53658202e-02 9.94639456e-01 2.88868167e+02] [-8.78354439e-04 9.98449671e-01 5.56550352e-02 -1.67210792e+02] [-9.96178824e-01 -5.73414353e-03 8.71485501e-02 -4.23250787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-167.21, Z:-423.28 [[ 8.73415481e-02 -5.87378134e-02 9.94445234e-01 2.88871441e+02] [-6.85223213e-04 9.98256382e-01 5.90231051e-02 -1.67212135e+02] [-9.96178189e-01 -5.83658634e-03 8.71490093e-02 -4.23279158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-167.21, Z:-423.31 [[ 8.76832688e-02 -6.06286926e-02 9.94301668e-01 2.88874186e+02] [-2.93761599e-03 9.98126044e-01 6.11209443e-02 -1.67212440e+02] [-9.96144073e-01 -8.28016067e-03 8.73408504e-02 -4.23306587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-167.21, Z:-423.33 [[ 8.82627353e-02 -6.36354952e-02 9.94062480e-01 2.88877460e+02] [-6.84287878e-03 9.97894994e-01 6.44884146e-02 -1.67213292e+02] [-9.96073725e-01 -1.24941729e-02 8.76414918e-02 -4.23333451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-167.21, Z:-423.36 [[ 8.84388242e-02 -6.49425416e-02 9.93962293e-01 2.88879849e+02] [-8.48371096e-03 9.97787043e-01 6.59472863e-02 -1.67213461e+02] [-9.96045481e-01 -1.42647893e-02 8.76921590e-02 -4.23360938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-167.21, Z:-423.39 [[ 8.88013957e-02 -6.81082540e-02 9.93718058e-01 2.88883066e+02] [-9.87315758e-03 9.97550257e-01 6.92532011e-02 -1.67214349e+02] [-9.96000418e-01 -1.59609159e-02 8.79114115e-02 -4.23388369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-167.22, Z:-423.42 [[ 8.92464539e-02 -7.12556587e-02 9.93457448e-01 2.88885927e+02] [-1.23838794e-02 9.97281164e-01 7.26424103e-02 -1.67216014e+02] [-9.95932583e-01 -1.87859348e-02 8.81213859e-02 -4.23416267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-167.22, Z:-423.44 [[ 8.91595813e-02 -7.46111859e-02 9.93218878e-01 2.88889261e+02] [-1.34150506e-02 9.97009926e-01 7.61002181e-02 -1.67217810e+02] [-9.95927008e-01 -2.01091451e-02 8.78920747e-02 -4.23444099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-167.22, Z:-423.47 [[ 8.91443383e-02 -7.79649070e-02 9.92962618e-01 2.88892223e+02] [-1.42851359e-02 9.96729065e-01 7.95431031e-02 -1.67219560e+02] [-9.95916273e-01 -2.12754233e-02 8.77390137e-02 -4.23470769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-167.22, Z:-423.50 [[ 8.93953645e-02 -7.92645129e-02 9.92837150e-01 2.88894845e+02] [-1.63162242e-02 9.96577920e-01 8.10322802e-02 -1.67221510e+02] [-9.95862566e-01 -2.34432638e-02 8.77961488e-02 -4.23499043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-167.22, Z:-423.53 [[ 8.97976955e-02 -8.26337367e-02 9.92526090e-01 2.88898235e+02] [-1.70273865e-02 9.96279108e-01 8.44867317e-02 -1.67223830e+02] [-9.95814462e-01 -2.44868392e-02 8.80565314e-02 -4.23527139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-167.23, Z:-423.55 [[ 9.02584728e-02 -8.60080415e-02 9.92197574e-01 2.88901393e+02] [-1.77474138e-02 9.95966848e-01 8.79492299e-02 -1.67226019e+02] [-9.95760231e-01 -2.55471041e-02 8.83680263e-02 -4.23554392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-167.23, Z:-423.58 [[ 9.14587154e-02 -8.73274904e-02 9.91972385e-01 2.88904178e+02] [-1.92540118e-02 9.95806074e-01 8.94401839e-02 -1.67229020e+02] [-9.95622713e-01 -2.72795323e-02 8.93937398e-02 -4.23582436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-167.23, Z:-423.61 [[ 9.20653244e-02 -9.07571786e-02 9.91608345e-01 2.88907614e+02] [-1.93117484e-02 9.95487657e-01 9.29052220e-02 -1.67232091e+02] [-9.95565685e-01 -2.77030403e-02 8.98972143e-02 -4.23610074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-167.23, Z:-423.64 [[ 9.08962939e-02 -9.18942845e-02 9.91611468e-01 2.88908609e+02] [-1.79365321e-02 9.95420853e-01 9.38914628e-02 -1.67232382e+02] [-9.95698822e-01 -2.63204570e-02 8.88318016e-02 -4.23640258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-167.27, Z:-423.67 [[ 9.43127640e-02 -1.70729025e-01 9.80793914e-01 2.88941136e+02] [-1.91454077e-02 9.84692022e-01 1.73248593e-01 -1.67271510e+02] [-9.95358506e-01 -3.51172530e-02 8.96003495e-02 -4.23671672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-167.24, Z:-423.70 [[ 9.13045875e-02 -8.97079552e-02 9.91774145e-01 2.88916941e+02] [-1.97225932e-02 9.95575902e-01 9.18675306e-02 -1.67239292e+02] [-9.95627687e-01 -2.79482850e-02 8.91313735e-02 -4.23701989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-167.24, Z:-423.73 [[ 9.10027314e-02 -9.31746235e-02 9.91482220e-01 2.88920874e+02] [-1.91007704e-02 9.95266912e-01 9.52834455e-02 -1.67242710e+02] [-9.95667446e-01 -2.76091280e-02 8.87923003e-02 -4.23728672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-167.24, Z:-423.76 [[ 8.76054586e-02 -8.60075517e-02 9.92435381e-01 2.88917186e+02] [-1.71842464e-02 9.95987046e-01 8.78322587e-02 -1.67239821e+02] [-9.96007021e-01 -2.47488394e-02 8.57759270e-02 -4.23760674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-167.29, Z:-423.79 [[ 9.23136130e-02 -1.76523110e-01 9.79958054e-01 2.88957494e+02] [-1.68422557e-02 9.83742832e-01 1.78791442e-01 -1.67285710e+02] [-9.95587533e-01 -3.30095881e-02 8.78398077e-02 -4.23791837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-167.25, Z:-423.82 [[ 8.97434075e-02 -9.02574452e-02 9.91866783e-01 2.88928964e+02] [-1.68203211e-02 9.95605875e-01 9.21195842e-02 -1.67249825e+02] [-9.95822875e-01 -2.49506431e-02 8.78309046e-02 -4.23822435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-167.25, Z:-423.85 [[ 8.97991542e-02 -9.36698933e-02 9.91545291e-01 2.88932903e+02] [-1.60197351e-02 9.95302849e-01 9.54756895e-02 -1.67253636e+02] [-9.95831050e-01 -2.44579291e-02 8.78767871e-02 -4.23850525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-167.26, Z:-423.88 [[ 8.98244040e-02 -9.72652233e-02 9.91196778e-01 2.88936593e+02] [-1.37708704e-02 9.95003408e-01 9.88867105e-02 -1.67259262e+02] [-9.95862410e-01 -2.25320822e-02 8.80361613e-02 -4.23877114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-167.26, Z:-423.91 [[ 8.88393206e-02 -9.61131589e-02 9.91397920e-01 2.88937368e+02] [-1.27023917e-02 9.95143233e-01 9.76145194e-02 -1.67260371e+02] [-9.95964972e-01 -2.12651323e-02 8.71869817e-02 -4.23909742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.27, Z:-423.94 [[ 8.97364305e-02 -1.06488285e-01 9.90256340e-01 2.88945797e+02] [-1.27557242e-02 9.94063235e-01 1.08053579e-01 -1.67267408e+02] [-9.95883861e-01 -2.23277793e-02 8.78453512e-02 -4.23941554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-167.27, Z:-423.97 [[ 8.90434276e-02 -9.46769190e-02 9.91517801e-01 2.88944785e+02] [-1.14173170e-02 9.95309646e-01 9.60643245e-02 -1.67266185e+02] [-9.95962305e-01 -1.98743698e-02 8.75448259e-02 -4.23969782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.27, Z:-424.00 [[ 8.89602352e-02 -9.82257370e-02 9.91179994e-01 2.88948576e+02] [-1.05884911e-02 9.94975996e-01 9.95522566e-02 -1.67269463e+02] [-9.95978896e-01 -1.93512927e-02 8.74732362e-02 -4.23996761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.27, Z:-424.03 [[ 9.03674882e-02 -1.04397128e-01 9.90421606e-01 2.88954812e+02] [-9.49071519e-03 9.94355143e-01 1.05677695e-01 -1.67274215e+02] [-9.95863265e-01 -1.89496373e-02 8.88665732e-02 -4.24029226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-167.26, Z:-424.06 [[ 8.83294664e-02 -7.20984886e-02 9.93478592e-01 2.88944105e+02] [-8.37743298e-03 9.97287981e-01 7.31197742e-02 -1.67261195e+02] [-9.96056085e-01 -1.47814310e-02 8.74859150e-02 -4.24057353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-167.28, Z:-424.09 [[ 8.84552902e-02 -1.02708336e-01 9.90770740e-01 2.88958306e+02] [-3.66988912e-03 9.94629343e-01 1.03435984e-01 -1.67279473e+02] [-9.96073388e-01 -1.27854787e-02 8.76032990e-02 -4.24088749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-167.28, Z:-424.12 [[ 8.80495565e-02 -1.02094281e-01 9.90870341e-01 2.88960636e+02] [-7.65241826e-04 9.94726566e-01 1.02559607e-01 -1.67281452e+02] [-9.96115802e-01 -9.78858334e-03 8.75071062e-02 -4.24115286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-167.29, Z:-424.14 [[ 8.68610262e-02 -1.05122098e-01 9.90658623e-01 2.88964535e+02] [ 6.38867806e-03 9.94455414e-01 1.04964828e-01 -1.67287404e+02] [-9.96199953e-01 -2.78835369e-03 8.70510090e-02 -4.24143298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.30, Z:-424.17 [[ 9.06133390e-02 -1.24906138e-01 9.88022105e-01 2.88980498e+02] [ 9.97286695e-03 9.92167533e-01 1.24515574e-01 -1.67299404e+02] [-9.95836214e-01 -1.42935896e-03 9.11492853e-02 -4.24172431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.26, Z:-424.20 [[ 8.65906438e-02 -4.49192843e-02 9.95230787e-01 2.88947365e+02] [ 1.34341418e-02 9.98944807e-01 4.39180695e-02 -1.67264470e+02] [-9.96153394e-01 9.56717762e-03 8.71027260e-02 -4.24201986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-167.31, Z:-424.23 [[ 9.10493910e-02 -1.39404042e-01 9.86040832e-01 2.88994603e+02] [ 1.95479303e-02 9.90212965e-01 1.38188865e-01 -1.67312262e+02] [-9.95654502e-01 6.69304550e-03 9.28833479e-02 -4.24228816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.27, Z:-424.26 [[ 8.64852586e-02 -3.76893535e-02 9.95539960e-01 2.88949596e+02] [ 2.19367022e-02 9.99113912e-01 3.59189561e-02 -1.67267094e+02] [-9.96011587e-01 1.87324034e-02 8.72354052e-02 -4.24258931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.31, Z:-424.28 [[ 8.56854655e-02 -1.19479623e-01 9.89132256e-01 2.88983173e+02] [ 2.43956066e-02 9.92737425e-01 1.17801784e-01 -1.67305671e+02] [-9.96023522e-01 1.40365807e-02 8.79779463e-02 -4.24284799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.33, Z:-424.32 [[ 9.46259215e-02 -1.62086338e-01 9.82229074e-01 2.89017601e+02] [ 2.51551784e-02 9.86730564e-01 1.60405771e-01 -1.67329617e+02] [-9.95195032e-01 9.52960369e-03 9.74475997e-02 -4.24315032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-167.28, Z:-424.35 [[ 9.70825896e-02 -4.23801039e-02 9.94373621e-01 2.88973539e+02] [ 2.30223754e-02 9.98921302e-01 4.03262072e-02 -1.67279803e+02] [-9.95010021e-01 1.89778702e-02 9.79535574e-02 -4.24349359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.25, Z:-424.38 [[ 9.62957379e-02 2.18561237e-02 9.95112778e-01 2.88950708e+02] [ 2.20516119e-02 9.99466662e-01 -2.40856552e-02 -1.67250041e+02] [-9.95108465e-01 2.42631867e-02 9.57624169e-02 -4.24379376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-167.25, Z:-424.41 [[ 9.60619746e-02 1.76322294e-02 9.95219173e-01 2.88953169e+02] [ 2.10966900e-02 9.99582428e-01 -1.97458579e-02 -1.67252658e+02] [-9.95151761e-01 2.28926564e-02 9.56498801e-02 -4.24405062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-167.25, Z:-424.43 [[ 8.66062496e-02 2.45512621e-02 9.95940055e-01 2.88938875e+02] [ 2.28075884e-02 9.99385419e-01 -2.66195268e-02 -1.67245596e+02] [-9.95981512e-01 2.50204082e-02 8.59930679e-02 -4.24431770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.32, Z:-424.46 [[ 8.47628892e-02 -1.45237791e-01 9.85759219e-01 2.89006037e+02] [ 2.28953366e-02 9.89342320e-01 1.43796999e-01 -1.67323637e+02] [-9.96138071e-01 1.03806400e-02 8.71847816e-02 -4.24455811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.34, Z:-424.49 [[ 8.92422693e-02 -1.69496416e-01 9.81481932e-01 2.89026162e+02] [ 2.10006945e-02 9.85514928e-01 1.68283382e-01 -1.67335237e+02] [-9.95788526e-01 5.59381127e-03 9.15091311e-02 -4.24485292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-167.29, Z:-424.51 [[ 8.64457926e-02 -6.46372665e-02 9.94157507e-01 2.88978323e+02] [ 1.78402942e-02 9.97833488e-01 6.33249865e-02 -1.67289956e+02] [-9.96096807e-01 1.22618837e-02 8.74116546e-02 -4.24514626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.33, Z:-424.54 [[ 8.62136407e-02 -1.52028828e-01 9.84608777e-01 2.89016160e+02] [ 1.74133093e-02 9.88367474e-01 1.51084459e-01 -1.67328675e+02] [-9.96124483e-01 4.11975590e-03 8.78580833e-02 -4.24540024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.33, Z:-424.57 [[ 8.65143398e-02 -1.55401560e-01 9.84055702e-01 2.89020049e+02] [ 1.61074519e-02 9.87848278e-01 1.54584377e-01 -1.67330377e+02] [-9.96120384e-01 2.47686457e-03 8.79661647e-02 -4.24567620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.33, Z:-424.60 [[ 8.61856282e-02 -1.59253611e-01 9.83468518e-01 2.89024399e+02] [ 1.40626335e-02 9.87237693e-01 1.58631585e-01 -1.67333733e+02] [-9.96179843e-01 1.58394515e-04 8.73252259e-02 -4.24597845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-167.32, Z:-424.63 [[ 8.64560048e-02 -1.17332100e-01 9.89322262e-01 2.89008873e+02] [ 1.23360555e-02 9.93090482e-01 1.16700968e-01 -1.67315895e+02] [-9.96179292e-01 2.11483484e-03 8.73060507e-02 -4.24626056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-167.33, Z:-424.65 [[ 8.73189380e-02 -1.45237745e-01 9.85536098e-01 2.89024103e+02] [ 1.29302391e-02 9.89396778e-01 1.44661066e-01 -1.67326902e+02] [-9.96096487e-01 1.11566742e-04 8.82710347e-02 -4.24653092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-167.33, Z:-424.68 [[ 8.40284152e-02 -1.55798908e-01 9.84208274e-01 2.89026204e+02] [ 1.29936966e-02 9.87788760e-01 1.55256336e-01 -1.67331739e+02] [-9.96378638e-01 -2.57440162e-04 8.50267277e-02 -4.24681136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.35, Z:-424.71 [[ 8.65779448e-02 -2.08237155e-01 9.74238958e-01 2.89055577e+02] [ 1.43400177e-02 9.78070109e-01 2.07781680e-01 -1.67354259e+02] [-9.96141869e-01 -4.01870688e-03 8.76654244e-02 -4.24707408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.34, Z:-424.74 [[ 8.67824293e-02 -1.73168145e-01 9.81061468e-01 2.89042327e+02] [ 1.56161876e-02 9.84892212e-01 1.72462941e-01 -1.67339849e+02] [-9.96104886e-01 3.53686948e-04 8.81755650e-02 -4.24736021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.34, Z:-424.76 [[ 8.61865363e-02 -1.76791143e-01 9.80467630e-01 2.89045777e+02] [ 1.72754290e-02 9.84246792e-01 1.75954005e-01 -1.67341518e+02] [-9.96129229e-01 1.77313264e-03 8.78829647e-02 -4.24762421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.34, Z:-424.79 [[ 8.57595783e-02 -1.78481062e-01 9.80198860e-01 2.89048715e+02] [ 1.94303990e-02 9.83935906e-01 1.77461523e-01 -1.67342136e+02] [-9.96126375e-01 3.82662955e-03 8.78498866e-02 -4.24790832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.34, Z:-424.82 [[ 8.50503125e-02 -1.82402532e-01 9.79538545e-01 2.89052394e+02] [ 2.47870315e-02 9.83183733e-01 1.80929131e-01 -1.67344050e+02] [-9.96068295e-01 8.89177369e-03 8.81413010e-02 -4.24819739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.34, Z:-424.85 [[ 8.50804883e-02 -1.78384086e-01 9.80275690e-01 2.89052793e+02] [ 2.79819079e-02 9.83882749e-01 1.76611858e-01 -1.67342066e+02] [-9.95981086e-01 1.24037609e-02 8.87007518e-02 -4.24847413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.35, Z:-424.88 [[ 8.45070215e-02 -1.87130367e-01 9.78693409e-01 2.89058880e+02] [ 3.03219089e-02 9.82234949e-01 1.85189326e-01 -1.67346788e+02] [-9.95961418e-01 1.40260541e-02 8.86798999e-02 -4.24875586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.33, Z:-424.90 [[ 8.49913439e-02 -1.55998956e-01 9.84093897e-01 2.89047434e+02] [ 3.36063127e-02 9.87554452e-01 1.53645112e-01 -1.67333393e+02] [-9.95814786e-01 2.00132627e-02 8.91761297e-02 -4.24903955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.35, Z:-424.93 [[ 8.36966477e-02 -1.84827603e-01 9.79200505e-01 2.89062134e+02] [ 3.84794841e-02 9.82514904e-01 1.82164194e-01 -1.67347153e+02] [-9.95748061e-01 2.24325978e-02 8.93452746e-02 -4.24932887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-167.32, Z:-424.96 [[ 8.54607918e-02 -1.32141337e-01 9.87539934e-01 2.89041523e+02] [ 4.28768565e-02 9.90735627e-01 1.28858424e-01 -1.67321683e+02] [-9.95418519e-01 3.13302650e-02 9.03348562e-02 -4.24961121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.35, Z:-424.99 [[ 8.40398135e-02 -2.06163147e-01 9.74902080e-01 2.89078224e+02] [ 4.49074688e-02 9.78152692e-01 2.02979383e-01 -1.67354328e+02] [-9.95449963e-01 2.67220353e-02 9.14620350e-02 -4.24988293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-167.33, Z:-425.02 [[ 8.62843151e-02 -1.47369358e-01 9.85310758e-01 2.89054665e+02] [ 4.67649124e-02 9.88508122e-01 1.43752342e-01 -1.67328513e+02] [-9.95172377e-01 3.36743989e-02 9.21844613e-02 -4.25016257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-167.34, Z:-425.05 [[ 8.25122739e-02 -1.72315602e-01 9.81579879e-01 2.89064137e+02] [ 4.67870177e-02 9.84522240e-01 1.68899183e-01 -1.67338569e+02] [-9.95491185e-01 3.19889395e-02 8.92973018e-02 -4.25046567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.35, Z:-425.08 [[ 8.11909160e-02 -2.11148368e-01 9.74076179e-01 2.89083467e+02] [ 4.72543348e-02 9.77019146e-01 2.07847579e-01 -1.67353460e+02] [-9.95577753e-01 2.91539866e-02 8.93027551e-02 -4.25077386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-167.36, Z:-425.11 [[ 8.07170872e-02 -2.27645464e-01 9.70392856e-01 2.89093830e+02] [ 4.71989432e-02 9.73350370e-01 2.24413272e-01 -1.67359555e+02] [-9.95618909e-01 2.76875317e-02 8.93106320e-02 -4.25110260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-167.36, Z:-425.14 [[ 8.17762018e-02 -2.26851541e-01 9.70490098e-01 2.89097121e+02] [ 4.51158332e-02 9.73595859e-01 2.23775925e-01 -1.67359253e+02] [-9.95629055e-01 2.54849241e-02 8.98515677e-02 -4.25141954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-167.35, Z:-425.17 [[ 8.33341681e-02 -2.05491289e-01 9.75104480e-01 2.89088991e+02] [ 4.15105302e-02 9.78374571e-01 2.02632856e-01 -1.67349685e+02] [-9.95656714e-01 2.35908635e-02 9.00620833e-02 -4.25170764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.34, Z:-425.20 [[ 8.02766296e-02 -1.92815447e-01 9.77945738e-01 2.89079157e+02] [ 3.97921437e-02 9.80949973e-01 1.90141356e-01 -1.67343392e+02] [-9.95978036e-01 2.36506501e-02 8.64198977e-02 -4.25199816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.34, Z:-425.23 [[ 7.81224774e-02 -2.03145395e-01 9.76027063e-01 2.89082051e+02] [ 3.86193049e-02 9.78900994e-01 2.00652421e-01 -1.67344341e+02] [-9.96195477e-01 2.20180225e-02 8.43195047e-02 -4.25226385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.43, Z:-425.25 [[ 7.70390782e-02 -4.27202320e-01 9.00868003e-01 2.89203028e+02] [ 3.00779542e-02 9.04137862e-01 4.26180764e-01 -1.67425782e+02] [-9.96574281e-01 -5.73630674e-03 8.25033193e-02 -4.25251328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.33, Z:-425.28 [[ 8.60118361e-02 -1.74014783e-01 9.80979520e-01 2.89083261e+02] [ 2.48491364e-02 9.84696830e-01 1.72495432e-01 -1.67330983e+02] [-9.95984179e-01 9.53984508e-03 8.90196994e-02 -4.25284970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-167.35, Z:-425.31 [[ 8.66476875e-02 -2.14456977e-01 9.72882513e-01 2.89103902e+02] [ 1.67182399e-02 9.76730817e-01 2.13816302e-01 -1.67345705e+02] [-9.96098729e-01 -2.26180493e-03 8.82168098e-02 -4.25310930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-167.33, Z:-425.34 [[ 7.93685266e-02 -1.83904926e-01 9.79734462e-01 2.89079888e+02] [ 1.36181771e-02 9.82943286e-01 1.83404039e-01 -1.67331301e+02] [-9.96752317e-01 -1.21431098e-03 8.05192101e-02 -4.25340370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.40, Z:-425.36 [[ 8.94319377e-02 -3.73749694e-01 9.23208045e-01 2.89188488e+02] [ 1.05261053e-02 9.27225189e-01 3.74356314e-01 -1.67401249e+02] [-9.95937312e-01 -2.37616255e-02 8.68576740e-02 -4.25364025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-167.34, Z:-425.40 [[ 8.94787461e-02 -2.16150437e-01 9.72251276e-01 2.89110869e+02] [ 1.05612618e-03 9.76186985e-01 2.16928224e-01 -1.67341894e+02] [-9.95988172e-01 -1.83836454e-02 8.75762695e-02 -4.25395810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-167.33, Z:-425.42 [[ 8.24537233e-02 -1.83798806e-01 9.79499557e-01 2.89085314e+02] [-4.33752786e-03 9.82770759e-01 1.84777763e-01 -1.67327587e+02] [-9.96585455e-01 -1.94842212e-02 8.02358758e-02 -4.25424854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-167.39, Z:-425.45 [[ 8.63360831e-02 -3.35085757e-01 9.38223649e-01 2.89161647e+02] [-3.05329504e-03 9.41646624e-01 3.36589236e-01 -1.67386486e+02] [-9.96261391e-01 -3.19244699e-02 8.02749654e-02 -4.25450792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-167.36, Z:-425.48 [[ 9.32668688e-02 -2.73040083e-01 9.57470837e-01 2.89145053e+02] [-7.40532621e-03 9.61445749e-01 2.74894950e-01 -1.67361868e+02] [-9.95613606e-01 -3.27289752e-02 8.76490836e-02 -4.25480244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-167.34, Z:-425.51 [[ 9.21943488e-02 -2.22620008e-01 9.70536210e-01 2.89122895e+02] [-9.01306590e-03 9.74460870e-01 2.24376420e-01 -1.67342370e+02] [-9.95700239e-01 -2.94337448e-02 8.78332966e-02 -4.25509483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.34, Z:-425.54 [[ 9.24026834e-02 -2.25997782e-01 9.69735400e-01 2.89126487e+02] [-9.21958153e-03 9.73666089e-01 2.27792334e-01 -1.67343805e+02] [-9.95679036e-01 -2.99891775e-02 8.78857543e-02 -4.25537089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.35, Z:-425.56 [[ 9.27839011e-02 -2.29403291e-01 9.68899003e-01 2.89130057e+02] [-8.90489276e-03 9.72866576e-01 2.31195433e-01 -1.67345572e+02] [-9.95646449e-01 -3.00791559e-02 8.82235444e-02 -4.25564266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.35, Z:-425.59 [[ 9.35317774e-02 -2.31001312e-01 9.68447314e-01 2.89132723e+02] [-6.93926180e-03 9.72536515e-01 2.32646887e-01 -1.67348266e+02] [-9.95592112e-01 -2.84801863e-02 8.93600903e-02 -4.25591836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-167.34, Z:-425.62 [[ 8.30215286e-02 -2.03698393e-01 9.75507248e-01 2.89107477e+02] [-3.50443074e-03 9.78820877e-01 2.04688570e-01 -1.67336397e+02] [-9.96541592e-01 -2.04121555e-02 8.05493585e-02 -4.25622037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-167.44, Z:-425.65 [[ 9.96792824e-02 -4.95590816e-01 8.62817352e-01 2.89285457e+02] [ 1.24556685e-03 8.67197490e-01 4.97962812e-01 -1.67439177e+02] [-9.95018839e-01 -4.85618790e-02 8.70589150e-02 -4.25645350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-167.35, Z:-425.68 [[ 9.38883189e-02 -2.30091003e-01 9.68629503e-01 2.89140655e+02] [-2.76069279e-03 9.72863270e-01 2.31364295e-01 -1.67352041e+02] [-9.95578908e-01 -2.43964932e-02 9.07052863e-02 -4.25681886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-167.36, Z:-425.71 [[ 9.24840642e-02 -2.31940871e-01 9.68323360e-01 2.89145114e+02] [ 8.97671984e-04 9.72510325e-01 2.32858032e-01 -1.67356726e+02] [-9.95713760e-01 -2.06664204e-02 9.01499141e-02 -4.25709894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-167.36, Z:-425.74 [[ 9.09659706e-02 -2.35581863e-01 9.67587917e-01 2.89149778e+02] [ 3.05875537e-03 9.71677750e-01 2.36290065e-01 -1.67360183e+02] [-9.95849304e-01 -1.85347404e-02 8.91101969e-02 -4.25737473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-167.35, Z:-425.77 [[ 7.98260388e-02 -2.12408098e-01 9.73915090e-01 2.89129796e+02] [ 9.75687828e-03 9.77152680e-01 2.12314494e-01 -1.67353699e+02] [-9.96761058e-01 -7.44585404e-03 8.00746677e-02 -4.25768838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-167.44, Z:-425.80 [[ 8.96545982e-02 -4.52926652e-01 8.87028467e-01 2.89279953e+02] [ 1.19742449e-02 8.91040856e-01 4.53765150e-01 -1.67439647e+02] [-9.95900934e-01 -3.00606361e-02 8.53093645e-02 -4.25795615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-167.37, Z:-425.83 [[ 8.63994008e-02 -2.32493101e-01 9.68752859e-01 2.89159445e+02] [ 1.18528071e-02 9.72560090e-01 2.32349700e-01 -1.67367756e+02] [-9.96190070e-01 -8.59243412e-03 8.67843049e-02 -4.25830501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-167.37, Z:-425.86 [[ 8.46434972e-02 -2.34427111e-01 9.68441742e-01 2.89163958e+02] [ 1.68447541e-02 9.72127469e-01 2.33847041e-01 -1.67372489e+02] [-9.96268906e-01 -3.48046827e-03 8.62331358e-02 -4.25858520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-167.38, Z:-425.89 [[ 8.38610443e-02 -2.37966943e-01 9.67646144e-01 2.89168360e+02] [ 1.92220774e-02 9.71272396e-01 2.37192843e-01 -1.67375289e+02] [-9.96292044e-01 -1.29107044e-03 8.60261364e-02 -4.25886085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-167.38, Z:-425.91 [[ 8.36048617e-02 -2.41520854e-01 9.66787414e-01 2.89172674e+02] [ 2.09991566e-02 9.70395611e-01 2.40606303e-01 -1.67378102e+02] [-9.96277704e-01 1.85863599e-04 8.62015251e-02 -4.25912968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.38, Z:-425.94 [[ 8.30742247e-02 -2.43102058e-01 9.66436787e-01 2.89175972e+02] [ 2.22407635e-02 9.69999730e-01 2.42086497e-01 -1.67379502e+02] [-9.96295148e-01 1.38314396e-03 8.59887510e-02 -4.25941289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.38, Z:-425.97 [[ 8.30026950e-02 -2.46331655e-01 9.65624807e-01 2.89179160e+02] [ 2.07477267e-02 9.69185535e-01 2.45456577e-01 -1.67379213e+02] [-9.96333320e-01 -3.39037748e-04 8.55558332e-02 -4.25968624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-167.38, Z:-426.00 [[ 8.36009930e-02 -2.48474940e-01 9.65023875e-01 2.89182280e+02] [ 1.92918980e-02 9.68636062e-01 2.47733731e-01 -1.67378878e+02] [-9.96312550e-01 -2.09364379e-03 8.57724898e-02 -4.25996817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.38, Z:-426.02 [[ 8.52953336e-02 -2.51527165e-01 9.64084432e-01 2.89186101e+02] [ 1.69352326e-02 9.67836893e-01 2.51007863e-01 -1.67379148e+02] [-9.96211777e-01 -5.08280530e-03 8.68116416e-02 -4.26024914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.38, Z:-426.05 [[ 8.57413663e-02 -2.54834222e-01 9.63175964e-01 2.89190081e+02] [ 1.59767055e-02 9.66963408e-01 2.54414056e-01 -1.67379706e+02] [-9.96189321e-01 -6.42543008e-03 8.69801751e-02 -4.26051444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-167.38, Z:-426.08 [[ 8.60199874e-02 -2.56250239e-01 9.62775351e-01 2.89193167e+02] [ 1.54140858e-02 9.66583877e-01 2.55886723e-01 -1.67379685e+02] [-9.96174165e-01 -7.17107083e-03 8.70953961e-02 -4.26079609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.38, Z:-426.11 [[ 8.60285117e-02 -2.59599098e-01 9.61877021e-01 2.89197119e+02] [ 1.52614889e-02 9.65686377e-01 2.59262238e-01 -1.67380342e+02] [-9.96175779e-01 -7.62426898e-03 8.70384305e-02 -4.26106794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.38, Z:-426.13 [[ 8.53319165e-02 -2.61097888e-01 9.61533337e-01 2.89199959e+02] [ 1.55680280e-02 9.65284879e-01 2.60734998e-01 -1.67379818e+02] [-9.96230947e-01 -7.27983919e-03 8.64343879e-02 -4.26134822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-167.38, Z:-426.16 [[ 8.48243721e-02 -2.64472117e-01 9.60655675e-01 2.89203627e+02] [ 1.60147724e-02 9.64367813e-01 2.64080004e-01 -1.67379946e+02] [-9.96267210e-01 -7.01573857e-03 8.60373549e-02 -4.26162860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-167.38, Z:-426.19 [[ 8.47093113e-02 -2.67858514e-01 9.59727122e-01 2.89207380e+02] [ 1.66980968e-02 9.63435465e-01 2.67419668e-01 -1.67380049e+02] [-9.96265781e-01 -6.62731944e-03 8.60846821e-02 -4.26190605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-167.38, Z:-426.22 [[ 8.47008947e-02 -2.71181758e-01 9.58794145e-01 2.89211670e+02] [ 1.69811493e-02 9.62505187e-01 2.70731242e-01 -1.67380584e+02] [-9.96261712e-01 -6.64975193e-03 8.61300284e-02 -4.26218729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-167.38, Z:-426.25 [[ 8.45435682e-02 -2.74517117e-01 9.57858412e-01 2.89216229e+02] [ 1.70707856e-02 9.61558031e-01 2.74070688e-01 -1.67381038e+02] [-9.96273544e-01 -6.81951832e-03 8.59797698e-02 -4.26246866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-167.38, Z:-426.28 [[ 8.50417732e-02 -2.77807306e-01 9.56865193e-01 2.89220953e+02] [ 1.69695831e-02 9.60608688e-01 2.77385979e-01 -1.67381515e+02] [-9.96232869e-01 -7.35179207e-03 8.64061403e-02 -4.26275164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-167.38, Z:-426.30 [[ 8.45919960e-02 -2.81067333e-01 9.55952587e-01 2.89224975e+02] [ 1.62061284e-02 9.59652551e-01 2.80721113e-01 -1.67382094e+02] [-9.96283873e-01 -8.25446893e-03 8.57339381e-02 -4.26303102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.38, Z:-426.33 [[ 8.45087116e-02 -2.84239626e-01 9.55021525e-01 2.89229539e+02] [ 1.47237653e-02 9.58701725e-01 2.84032063e-01 -1.67382305e+02] [-9.96313951e-01 -9.94167093e-03 8.52037252e-02 -4.26330087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-167.38, Z:-426.36 [[ 8.43822536e-02 -2.85606467e-01 9.54624838e-01 2.89232492e+02] [ 1.39438458e-02 9.58286384e-01 2.85469395e-01 -1.67382012e+02] [-9.96335889e-01 -1.07774094e-02 8.48448172e-02 -4.26357946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.38, Z:-426.39 [[ 8.46554574e-02 -2.88885735e-01 9.53613384e-01 2.89236772e+02] [ 1.34049099e-02 9.57292500e-01 2.88810281e-01 -1.67382366e+02] [-9.96320110e-01 -1.16662649e-02 8.49125217e-02 -4.26385587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.38, Z:-426.41 [[ 8.45921178e-02 -2.92150530e-01 9.52623872e-01 2.89240530e+02] [ 1.25810566e-02 9.56287633e-01 2.92156945e-01 -1.67382912e+02] [-9.96336234e-01 -1.27291599e-02 8.45699584e-02 -4.26412447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.38, Z:-426.44 [[ 8.51795508e-02 -2.93469505e-01 9.52166001e-01 2.89244182e+02] [ 1.13085556e-02 9.55862358e-01 2.93597119e-01 -1.67382511e+02] [-9.96301441e-01 -1.42408485e-02 8.47386425e-02 -4.26440476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-167.38, Z:-426.47 [[ 8.57424780e-02 -2.96755570e-01 9.51096399e-01 2.89248546e+02] [ 1.09686014e-02 9.54835223e-01 2.96933304e-01 -1.67383072e+02] [-9.96256954e-01 -1.50275999e-02 8.51249316e-02 -4.26467501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-167.38, Z:-426.50 [[ 8.64068534e-02 -2.98939450e-01 9.50352072e-01 2.89252442e+02] [ 1.03210886e-02 9.54137207e-01 2.99191687e-01 -1.67383334e+02] [-9.96206470e-01 -1.60435443e-02 8.55293744e-02 -4.26495821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-167.38, Z:-426.52 [[ 8.70329034e-02 -3.02229884e-01 9.49253586e-01 2.89256520e+02] [ 1.07788863e-02 9.53099221e-01 3.02466015e-01 -1.67383502e+02] [-9.96147122e-01 -1.60925990e-02 8.62086940e-02 -4.26522200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-167.38, Z:-426.55 [[ 8.73559155e-02 -3.03681002e-01 9.48760662e-01 2.89259546e+02] [ 1.13547415e-02 9.52643204e-01 3.03878259e-01 -1.67383387e+02] [-9.96112450e-01 -1.57726315e-02 8.66672385e-02 -4.26549887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-167.38, Z:-426.58 [[ 8.76198742e-02 -3.07144786e-01 9.47620619e-01 2.89263643e+02] [ 1.34942299e-02 9.51557936e-01 3.07173240e-01 -1.67384567e+02] [-9.96062580e-01 -1.41270702e-02 8.75200690e-02 -4.26577310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-167.39, Z:-426.61 [[ 8.76096193e-02 -3.10557384e-01 9.46508672e-01 2.89268015e+02] [ 1.51012028e-02 9.50467019e-01 3.10458371e-01 -1.67385627e+02] [-9.96040415e-01 -1.29057203e-02 8.79598437e-02 -4.26605001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-167.39, Z:-426.63 [[ 8.71329193e-02 -3.13981772e-01 9.45422287e-01 2.89272395e+02] [ 1.66455636e-02 9.49358129e-01 3.13754790e-01 -1.67387210e+02] [-9.96057619e-01 -1.16012839e-02 8.79467488e-02 -4.26631669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-167.39, Z:-426.66 [[ 8.68835681e-02 -3.16400064e-01 9.44638685e-01 2.89276347e+02] [ 1.88853782e-02 9.48577132e-01 3.15982227e-01 -1.67388132e+02] [-9.96039451e-01 -9.61380454e-03 8.83911007e-02 -4.26658869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-167.38, Z:-426.69 [[ 7.63613600e-02 -2.92232877e-01 9.53293705e-01 2.89251678e+02] [ 2.51960100e-02 9.56345520e-01 2.91150145e-01 -1.67378005e+02] [-9.96761809e-01 1.78657664e-03 8.03909470e-02 -4.26687539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-167.46, Z:-426.71 [[ 7.52316661e-02 -5.71616772e-01 8.17064540e-01 2.89429482e+02] [ 2.54605628e-02 8.20220609e-01 5.71480457e-01 -1.67458941e+02] [-9.96840988e-01 -2.21905038e-02 7.62602477e-02 -4.26707730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.43, Z:-426.74 [[ 7.42765226e-02 -4.65573662e-01 8.81886707e-01 2.89360092e+02] [ 2.73975202e-02 8.84948396e-01 4.64882472e-01 -1.67430920e+02] [-9.96861261e-01 -1.03683446e-02 7.84864533e-02 -4.26742356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.44, Z:-426.77 [[ 7.38407692e-02 -4.94022969e-01 8.66307594e-01 2.89380573e+02] [ 2.75287452e-02 8.69357753e-01 4.93415916e-01 -1.67437993e+02] [-9.96890019e-01 -1.25858497e-02 7.77938776e-02 -4.26773199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-167.44, Z:-426.81 [[ 7.50373356e-02 -5.04563385e-01 8.60107661e-01 2.89392205e+02] [ 2.76079375e-02 8.63259945e-01 5.04004037e-01 -1.67439364e+02] [-9.96798475e-01 -1.40733215e-02 7.87066806e-02 -4.26805536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.43, Z:-426.84 [[ 7.53762347e-02 -4.66954525e-01 8.81062935e-01 2.89369753e+02] [ 2.78781979e-02 8.84218023e-01 4.66241669e-01 -1.67428362e+02] [-9.96765383e-01 -1.05810947e-02 7.96668759e-02 -4.26839405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.43, Z:-426.87 [[ 7.63559105e-02 -4.82350549e-01 8.72644099e-01 2.89382592e+02] [ 2.73053354e-02 8.75882453e-01 4.81751334e-01 -1.67432300e+02] [-9.96706674e-01 -1.29567220e-02 8.00495457e-02 -4.26870424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.42, Z:-426.90 [[ 7.71694767e-02 -4.48875508e-01 8.90255947e-01 2.89363951e+02] [ 2.73040993e-02 8.93535207e-01 4.48162159e-01 -1.67422309e+02] [-9.96644048e-01 -1.02768025e-02 8.12097858e-02 -4.26904503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.42, Z:-426.94 [[ 7.82765256e-02 -4.49369229e-01 8.89910154e-01 2.89366420e+02] [ 2.72504203e-02 8.93279987e-01 4.48673913e-01 -1.67421920e+02] [-9.96559181e-01 -1.08702093e-02 8.21683541e-02 -4.26936498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.42, Z:-426.97 [[ 8.10571944e-02 -4.57279550e-01 8.85621333e-01 2.89376234e+02] [ 2.72371991e-02 8.89229547e-01 4.56649700e-01 -1.67423043e+02] [-9.96337225e-01 -1.28928990e-02 8.45334664e-02 -4.26968642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-167.41, Z:-427.00 [[ 8.11458392e-02 -4.09798453e-01 9.08559619e-01 2.89347175e+02] [ 2.71936639e-02 9.12136675e-01 4.08983118e-01 -1.67408615e+02] [-9.96331199e-01 -8.48021349e-03 8.51600174e-02 -4.27002702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.42, Z:-427.03 [[ 8.43780668e-02 -4.59559637e-01 8.84129675e-01 2.89384257e+02] [ 2.63158103e-02 8.88012199e-01 4.59066241e-01 -1.67421948e+02] [-9.96086251e-01 -1.54685331e-02 8.70224369e-02 -4.27032617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-167.39, Z:-427.07 [[ 8.56884532e-02 -3.64952098e-01 9.27074676e-01 2.89329636e+02] [ 2.49616542e-02 9.30991363e-01 3.64186763e-01 -1.67392590e+02] [-9.96009239e-01 -8.06528291e-03 8.88850178e-02 -4.27068884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-167.40, Z:-427.10 [[ 8.52211841e-02 -3.84109738e-01 9.19345995e-01 2.89343072e+02] [ 2.36796993e-02 9.23222921e-01 3.83534496e-01 -1.67397659e+02] [-9.96080630e-01 -1.09154271e-02 8.77737537e-02 -4.27100040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-167.39, Z:-427.13 [[ 8.63087517e-02 -3.73786318e-01 9.23490437e-01 2.89341581e+02] [ 2.21015832e-02 9.27439653e-01 3.73319180e-01 -1.67393338e+02] [-9.96023253e-01 -1.18101117e-02 8.83074281e-02 -4.27133102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-167.39, Z:-427.17 [[ 8.56757144e-02 -3.56240342e-01 9.30458215e-01 2.89334753e+02] [ 2.19734318e-02 9.34340528e-01 3.55703453e-01 -1.67387101e+02] [-9.96080740e-01 -1.00297873e-02 8.78781151e-02 -4.27165318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-167.39, Z:-427.19 [[ 9.16545266e-02 -3.66876297e-01 9.25743610e-01 2.89354957e+02] [ 2.20372910e-02 9.30176280e-01 3.66451151e-01 -1.67390166e+02] [-9.95546988e-01 -1.31860255e-02 9.33398263e-02 -4.27193874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-167.35, Z:-427.22 [[ 9.00570587e-02 -2.57358668e-01 9.62110307e-01 2.89296769e+02] [ 2.22073145e-02 9.66314410e-01 2.56404554e-01 -1.67352874e+02] [-9.95688988e-01 -1.72515381e-03 9.27386785e-02 -4.27224812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-167.35, Z:-427.25 [[ 8.70008988e-02 -2.59014785e-01 9.61947080e-01 2.89299918e+02] [ 2.52885390e-02 9.65871490e-01 2.57784317e-01 -1.67353605e+02] [-9.95887209e-01 1.89876898e-03 9.05817933e-02 -4.27252385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-167.35, Z:-427.28 [[ 8.53386777e-02 -2.62175991e-01 9.61239336e-01 2.89304065e+02] [ 2.67943913e-02 9.65013741e-01 2.60826650e-01 -1.67354543e+02] [-9.95991652e-01 3.49722148e-03 8.93778427e-02 -4.27280108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-167.35, Z:-427.31 [[ 7.91348716e-02 -2.52958145e-01 9.64235370e-01 2.89294328e+02] [ 2.98556058e-02 9.67436309e-01 2.51347630e-01 -1.67349028e+02] [-9.96416738e-01 8.89746869e-03 8.41101668e-02 -4.27310636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.39, Z:-427.34 [[ 8.18624583e-02 -3.77743392e-01 9.22284375e-01 2.89374076e+02] [ 2.89546964e-02 9.25901117e-01 3.76654680e-01 -1.67391859e+02] [-9.96222949e-01 -4.12941400e-03 8.67339867e-02 -4.27339868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-167.35, Z:-427.37 [[ 8.20177453e-02 -2.59769366e-01 9.62181358e-01 2.89310241e+02] [ 3.05226939e-02 9.65635875e-01 2.58100217e-01 -1.67351162e+02] [-9.96163368e-01 8.19956922e-03 8.71281381e-02 -4.27372168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-167.35, Z:-427.40 [[ 8.14136377e-02 -2.62867198e-01 9.61391000e-01 2.89314198e+02] [ 3.11438773e-02 9.64792985e-01 2.61160020e-01 -1.67351538e+02] [-9.96193695e-01 8.67945614e-03 8.67340102e-02 -4.27400136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-167.35, Z:-427.43 [[ 8.13971862e-02 -2.65961146e-01 9.60541080e-01 2.89317867e+02] [ 3.20964126e-02 9.63938634e-01 2.64182003e-01 -1.67351851e+02] [-9.96164805e-01 9.32625109e-03 8.69982912e-02 -4.27427268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-167.35, Z:-427.46 [[ 8.07985860e-02 -2.67359962e-01 9.60203228e-01 2.89320880e+02] [ 3.31525278e-02 9.63540805e-01 2.65499581e-01 -1.67351577e+02] [-9.96178949e-01 1.03811734e-02 8.67163931e-02 -4.27455197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-167.35, Z:-427.48 [[ 8.01376649e-02 -2.70311769e-01 9.59431864e-01 2.89324136e+02] [ 3.28739886e-02 9.62720659e-01 2.68492521e-01 -1.67351435e+02] [-9.96241565e-01 1.00239884e-02 8.60364116e-02 -4.27482727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-167.35, Z:-427.51 [[ 7.99535789e-02 -2.73309856e-01 9.58597490e-01 2.89327447e+02] [ 3.25773754e-02 9.61878949e-01 2.71528271e-01 -1.67351440e+02] [-9.96266099e-01 9.51893326e-03 8.58093822e-02 -4.27510722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-167.37, Z:-427.54 [[ 9.71936747e-02 -3.44428120e-01 9.33767990e-01 2.89394598e+02] [ 3.18366896e-02 9.38805764e-01 3.42972540e-01 -1.67372319e+02] [-9.94756159e-01 -3.60667986e-03 1.02211433e-01 -4.27541483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5765599949999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:289.31, Y:-167.32, Z:-427.58 [[ 9.38024838e-02 -1.94297651e-01 9.76447396e-01 2.89313902e+02] [ 3.17780730e-02 9.80856367e-01 1.92122205e-01 -1.67317212e+02] [-9.95083538e-01 1.30080767e-02 9.81811684e-02 -4.27578449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.35, Z:-427.60 [[ 9.74796548e-02 -2.66550535e-01 9.58878788e-01 2.89358553e+02] [ 2.88970728e-02 9.63819115e-01 2.64986176e-01 -1.67345096e+02] [-9.94817911e-01 1.87802911e-03 1.01655285e-01 -4.27603056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-167.27, Z:-427.64 [[ 7.55411579e-02 -8.05704323e-02 9.93882256e-01 2.89239323e+02] [ 2.90974613e-02 9.96483885e-01 7.85697510e-02 -1.67269368e+02] [-9.96718050e-01 2.29842005e-02 7.76199415e-02 -4.27635508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.36, Z:-427.66 [[ 7.91861210e-02 -3.30632737e-01 9.40431577e-01 2.89374529e+02] [ 2.81979106e-02 9.43759401e-01 3.29428401e-01 -1.67364441e+02] [-9.96460956e-01 4.32048281e-04 8.40557985e-02 -4.27656565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-167.33, Z:-427.69 [[ 7.27548553e-02 -2.37751009e-01 9.68597537e-01 2.89317180e+02] [ 2.98785815e-02 9.71254958e-01 2.36159009e-01 -1.67331064e+02] [-9.96902203e-01 1.17586059e-02 7.77671768e-02 -4.27688592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-167.35, Z:-427.71 [[ 7.06317011e-02 -2.99479742e-01 9.51484654e-01 2.89351213e+02] [ 3.01205807e-02 9.54072334e-01 2.98058269e-01 -1.67352241e+02] [-9.97047598e-01 7.60690771e-03 7.64082557e-02 -4.27713058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-167.35, Z:-427.74 [[ 6.83454242e-02 -3.00919356e-01 9.51197374e-01 2.89353663e+02] [ 3.13037357e-02 9.53604133e-01 2.99431518e-01 -1.67351330e+02] [-9.97170487e-01 9.31125709e-03 7.45943789e-02 -4.27741256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.35, Z:-427.77 [[ 6.43997662e-02 -3.04138137e-01 9.50448665e-01 2.89356630e+02] [ 3.24914219e-02 9.52559808e-01 3.02612162e-01 -1.67350326e+02] [-9.97395096e-01 1.13932760e-02 7.12265095e-02 -4.27767851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.35, Z:-427.79 [[ 6.22061281e-02 -3.05520975e-01 9.50151215e-01 2.89359264e+02] [ 3.28297459e-02 9.52106125e-01 3.04000222e-01 -1.67349184e+02] [-9.97523236e-01 1.22825462e-02 6.92570115e-02 -4.27794418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.35, Z:-427.82 [[ 5.82955396e-02 -3.07665971e-01 9.49706945e-01 2.89361897e+02] [ 3.34322792e-02 9.51392850e-01 3.06159972e-01 -1.67347631e+02] [-9.97739401e-01 1.39031070e-02 6.57479342e-02 -4.27821559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.35, Z:-427.85 [[ 5.64503428e-02 -3.09008601e-01 9.49382454e-01 2.89364696e+02] [ 3.38325122e-02 9.50944684e-01 3.07505398e-01 -1.67346930e+02] [-9.97832010e-01 1.47612083e-02 6.41356907e-02 -4.27849768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.35, Z:-427.88 [[ 5.46170433e-02 -3.12079650e-01 9.48484724e-01 2.89368490e+02] [ 3.42371896e-02 9.49929325e-01 3.10583470e-01 -1.67346697e+02] [-9.97920234e-01 1.55103005e-02 6.25670612e-02 -4.27877291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.35, Z:-427.90 [[ 5.15593731e-02 -3.15236654e-01 9.47611462e-01 2.89371727e+02] [ 3.47081061e-02 9.48865930e-01 3.13765509e-01 -1.67346155e+02] [-9.98066620e-01 1.67122462e-02 5.98641998e-02 -4.27904128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.35, Z:-427.93 [[ 5.01678969e-02 -3.16630076e-01 9.47221504e-01 2.89374412e+02] [ 3.53885217e-02 9.48383745e-01 3.15144291e-01 -1.67345537e+02] [-9.98113638e-01 1.77106424e-02 5.87834883e-02 -4.27932056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.35, Z:-427.96 [[ 4.91735922e-02 -3.19711617e-01 9.46238046e-01 2.89377782e+02] [ 3.60234301e-02 9.47335462e-01 3.18210362e-01 -1.67345700e+02] [-9.98140406e-01 1.84391935e-02 5.81009968e-02 -4.27960214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.35, Z:-427.99 [[ 4.80136697e-02 -3.22849308e-01 9.45231724e-01 2.89380092e+02] [ 3.72321354e-02 9.46243958e-01 3.21303812e-01 -1.67345862e+02] [-9.98152521e-01 1.97660204e-02 5.74530140e-02 -4.27988063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-167.35, Z:-428.02 [[ 4.92888123e-02 -3.26629300e-01 9.43866470e-01 2.89386051e+02] [ 3.73907448e-02 9.44956059e-01 3.25053808e-01 -1.67347944e+02] [-9.98084438e-01 1.92703542e-02 5.87886746e-02 -4.28022697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-167.32, Z:-428.05 [[ 4.94747826e-02 -2.56395390e-01 9.65304952e-01 2.89348445e+02] [ 4.18360457e-02 9.66172288e-01 2.54481540e-01 -1.67320144e+02] [-9.97898788e-01 2.77941232e-02 5.85277332e-02 -4.28053955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-167.34, Z:-428.08 [[ 4.78502011e-02 -3.22845252e-01 9.45241399e-01 2.89384178e+02] [ 4.26802173e-02 9.46121952e-01 3.20985436e-01 -1.67342811e+02] [-9.97942262e-01 2.49838906e-02 5.90512312e-02 -4.28079539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.35, Z:-428.11 [[ 5.05606831e-02 -3.34423444e-01 9.41065661e-01 2.89396785e+02] [ 4.26933180e-02 9.42133229e-01 3.32509036e-01 -1.67346608e+02] [-9.97808047e-01 2.33653315e-02 6.19125460e-02 -4.28111743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-167.31, Z:-428.14 [[ 4.88953153e-02 -2.30678858e-01 9.71800655e-01 2.89338434e+02] [ 4.86605865e-02 9.72359208e-01 2.28363128e-01 -1.67305233e+02] [-9.97617861e-01 3.61225027e-02 5.87687786e-02 -4.28140051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.35, Z:-428.17 [[ 5.21801981e-02 -3.43012026e-01 9.37880577e-01 2.89407159e+02] [ 4.54955276e-02 9.39001414e-01 3.40890748e-01 -1.67347370e+02] [-9.97600814e-01 2.48816249e-02 6.46027929e-02 -4.28172906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-167.29, Z:-428.21 [[ 4.93557829e-02 -1.92552696e-01 9.80044624e-01 2.89322842e+02] [ 5.63046955e-02 9.80216492e-01 1.89750917e-01 -1.67286615e+02] [-9.97192954e-01 4.58158091e-02 5.92209733e-02 -4.28206090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.34, Z:-428.23 [[ 5.23914715e-02 -3.42121262e-01 9.38194103e-01 2.89411256e+02] [ 5.16423709e-02 9.39155506e-01 3.39587987e-01 -1.67344160e+02] [-9.97290429e-01 3.06590535e-02 6.68716920e-02 -4.28233115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-167.29, Z:-428.27 [[ 4.86254016e-02 -2.14467030e-01 9.75520099e-01 2.89338980e+02] [ 5.90259058e-02 9.75585515e-01 2.11539229e-01 -1.67294225e+02] [-9.97071468e-01 4.72947775e-02 6.00973482e-02 -4.28268988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-167.31, Z:-428.30 [[ 5.02793472e-02 -2.64508437e-01 9.63071791e-01 2.89366739e+02] [ 6.07230757e-02 9.63317087e-01 2.61405622e-01 -1.67310919e+02] [-9.96887504e-01 4.53373773e-02 6.44967201e-02 -4.28300589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-167.30, Z:-428.33 [[ 5.46233476e-02 -2.44066010e-01 9.68219021e-01 2.89360527e+02] [ 6.25426264e-02 9.68598990e-01 2.40633367e-01 -1.67301394e+02] [-9.96546391e-01 4.74107604e-02 6.81726486e-02 -4.28334513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-167.28, Z:-428.37 [[ 5.65814245e-02 -1.96985608e-01 9.78772299e-01 2.89336953e+02] [ 6.56032196e-02 9.78957708e-01 1.93230495e-01 -1.67279226e+02] [-9.96240312e-01 5.32773574e-02 6.83137117e-02 -4.28368023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-167.27, Z:-428.40 [[ 5.59441667e-02 -1.97659682e-01 9.78673030e-01 2.89328463e+02] [ 6.94672341e-02 9.78603312e-01 1.93674626e-01 -1.67272620e+02] [-9.96014334e-01 5.71507429e-02 6.84780183e-02 -4.28396113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.32, Z:-428.42 [[ 5.27618707e-02 -3.35234280e-01 9.40656240e-01 2.89398003e+02] [ 6.79722079e-02 9.40989249e-01 3.31540364e-01 -1.67324334e+02] [-9.96291104e-01 4.64457917e-02 7.24349673e-02 -4.28420475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.32, Z:-428.45 [[ 5.51116737e-02 -3.38515136e-01 9.39345627e-01 2.89399729e+02] [ 7.01338581e-02 9.39764191e-01 3.34551202e-01 -1.67323304e+02] [-9.96014029e-01 4.74422562e-02 7.55333499e-02 -4.28448790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.32, Z:-428.48 [[ 5.90464967e-02 -3.41910885e-01 9.37875502e-01 2.89400436e+02] [ 7.33775539e-02 9.38459727e-01 3.37504187e-01 -1.67320807e+02] [-9.95554743e-01 4.88905704e-02 8.05013436e-02 -4.28476955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.32, Z:-428.51 [[ 6.07611246e-02 -3.45092064e-01 9.36599997e-01 2.89402877e+02] [ 7.43398696e-02 9.37292232e-01 3.40524384e-01 -1.67319135e+02] [-9.95380163e-01 4.89360771e-02 8.26050291e-02 -4.28505307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.32, Z:-428.54 [[ 6.28061884e-02 -3.48194144e-01 9.35316107e-01 2.89405352e+02] [ 7.44166762e-02 9.36191312e-01 3.43522903e-01 -1.67316971e+02] [-9.95247477e-01 4.80277518e-02 8.47100588e-02 -4.28537885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.31, Z:-428.57 [[ 6.49317346e-02 -3.47021786e-01 9.35606621e-01 2.89404921e+02] [ 7.38398621e-02 9.36685702e-01 3.42297487e-01 -1.67313126e+02] [-9.95154031e-01 4.68590943e-02 8.64446683e-02 -4.28569449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-167.30, Z:-428.60 [[ 6.56975590e-02 -3.32511376e-01 9.40808172e-01 2.89388703e+02] [ 7.38506815e-02 9.41879593e-01 3.27732984e-01 -1.67299611e+02] [-9.95102963e-01 4.79480676e-02 8.64353819e-02 -4.28599189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-167.36, Z:-428.63 [[ 6.61079468e-02 -4.98556043e-01 8.64333044e-01 2.89492648e+02] [ 6.83464482e-02 8.66455975e-01 4.94553138e-01 -1.67355513e+02] [-9.95468986e-01 2.63802011e-02 9.13541603e-02 -4.28628269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.29, Z:-428.66 [[ 7.62488889e-02 -3.36731770e-01 9.38508296e-01 2.89395498e+02] [ 6.80079001e-02 9.40812833e-01 3.32033340e-01 -1.67290699e+02] [-9.94766823e-01 3.85088052e-02 9.46363538e-02 -4.28664096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.44, Y:-167.32, Z:-428.69 [[ 7.86167412e-02 -4.20865054e-01 9.03710139e-01 2.89444882e+02] [ 6.36951704e-02 9.06784244e-01 4.16755635e-01 -1.67319228e+02] [-9.94867998e-01 2.47980013e-02 9.80954936e-02 -4.28694708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.28, Z:-428.73 [[ 8.54228598e-02 -3.33958560e-01 9.38709015e-01 2.89398248e+02] [ 6.06103043e-02 9.42149679e-01 3.29667064e-01 -1.67282285e+02] [-9.94499536e-01 2.87343357e-02 1.00722450e-01 -4.28730641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.28, Z:-428.76 [[ 8.90762312e-02 -3.32517578e-01 9.38880975e-01 2.89397533e+02] [ 5.76892170e-02 9.42768058e-01 3.28420983e-01 -1.67276580e+02] [-9.94352744e-01 2.49088049e-02 1.03160904e-01 -4.28759691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.27, Z:-428.79 [[ 9.23478472e-02 -3.32394551e-01 9.38608405e-01 2.89397144e+02] [ 5.46982372e-02 9.42906587e-01 3.28535037e-01 -1.67271148e+02] [-9.94223304e-01 2.10007217e-02 1.05256789e-01 -4.28788975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.27, Z:-428.82 [[ 9.21974511e-02 -3.35082230e-01 9.37667067e-01 2.89400808e+02] [ 5.49455089e-02 9.41955192e-01 3.31212027e-01 -1.67271340e+02] [-9.94223627e-01 2.09836896e-02 1.05257131e-01 -4.28818184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.26, Z:-428.85 [[ 9.80565391e-02 -3.36916528e-01 9.36414528e-01 2.89400188e+02] [ 4.92901451e-02 9.41438476e-01 3.33562703e-01 -1.67261877e+02] [-9.93959454e-01 1.34480037e-02 1.08920863e-01 -4.28846466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.26, Z:-428.88 [[ 1.00332812e-01 -3.39611429e-01 9.35199125e-01 2.89402272e+02] [ 4.64324623e-02 9.40516267e-01 3.36560809e-01 -1.67257438e+02] [-9.93869888e-01 9.65550585e-03 1.10133637e-01 -4.28878812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.25, Z:-428.91 [[ 1.02152155e-01 -3.38564126e-01 9.35381885e-01 2.89402017e+02] [ 4.41033675e-02 9.40917611e-01 3.35751311e-01 -1.67251388e+02] [-9.93790637e-01 6.95577105e-03 1.11048579e-01 -4.28906109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-167.24, Z:-428.94 [[ 1.03014782e-01 -3.31929043e-01 9.37662554e-01 2.89392952e+02] [ 4.13848173e-02 9.43291763e-01 3.29375086e-01 -1.67236234e+02] [-9.93818521e-01 4.87449094e-03 1.10909818e-01 -4.28935875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.46, Y:-167.28, Z:-428.97 [[ 1.06289815e-01 -4.45210969e-01 8.89094859e-01 2.89455797e+02] [ 4.17218008e-02 8.95369522e-01 4.43365211e-01 -1.67276940e+02] [-9.93459494e-01 -1.00305678e-02 1.13743664e-01 -4.28966411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.23, Z:-429.00 [[ 1.08406021e-01 -3.35848580e-01 9.35656917e-01 2.89402112e+02] [ 3.81070026e-02 9.41915847e-01 3.33680076e-01 -1.67228707e+02] [-9.93376057e-01 -5.17848926e-04 1.14907532e-01 -4.28997730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-167.22, Z:-429.03 [[ 1.08304101e-01 -3.38784143e-01 9.34609826e-01 2.89403192e+02] [ 3.78694902e-02 9.40863520e-01 3.36662649e-01 -1.67219802e+02] [-9.93396257e-01 -1.06874794e-03 1.14728960e-01 -4.29025645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.22, Z:-429.05 [[ 1.08110800e-01 -3.41864558e-01 9.33509871e-01 2.89405645e+02] [ 3.84020039e-02 9.39748826e-01 3.39701973e-01 -1.67215744e+02] [-9.93396870e-01 -8.76802453e-04 1.14725282e-01 -4.29054810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.21, Z:-429.08 [[ 1.07625781e-01 -3.42327131e-01 9.33396393e-01 2.89406763e+02] [ 3.90685821e-02 9.39580820e-01 3.40090472e-01 -1.67211476e+02] [-9.93423544e-01 -1.36029015e-04 1.14497355e-01 -4.29082071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.21, Z:-429.11 [[ 1.07230193e-01 -3.43755073e-01 9.32917004e-01 2.89408755e+02] [ 4.00531685e-02 9.39059039e-01 3.41414507e-01 -1.67208353e+02] [-9.93427113e-01 7.56338293e-04 1.14463962e-01 -4.29109651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.20, Z:-429.14 [[ 1.06345457e-01 -3.47043967e-01 9.31799940e-01 2.89411475e+02] [ 4.23822321e-02 9.37844499e-01 3.44458187e-01 -1.67204585e+02] [-9.93425584e-01 2.86019827e-03 1.14443999e-01 -4.29137744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-167.20, Z:-429.16 [[ 1.06219178e-01 -3.50189280e-01 9.30636854e-01 2.89414622e+02] [ 4.36406153e-02 9.36671631e-01 3.47479140e-01 -1.67203283e+02] [-9.93384610e-01 3.70461635e-03 1.14774966e-01 -4.29164699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-167.20, Z:-429.19 [[ 1.06534112e-01 -3.52321859e-01 9.29795564e-01 2.89417113e+02] [ 4.46663073e-02 9.35869035e-01 3.49505467e-01 -1.67201616e+02] [-9.93305293e-01 4.29627996e-03 1.15438893e-01 -4.29192943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-167.20, Z:-429.22 [[ 1.07970700e-01 -3.55249491e-01 9.28515012e-01 2.89419756e+02] [ 4.46322304e-02 9.34765385e-01 3.52450903e-01 -1.67199391e+02] [-9.93151696e-01 3.38732503e-03 1.16782851e-01 -4.29221082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-167.20, Z:-429.25 [[ 1.08786542e-01 -3.58102951e-01 9.27322902e-01 2.89423587e+02] [ 4.35625895e-02 9.33680507e-01 3.55447623e-01 -1.67198822e+02] [-9.93110160e-01 1.72866916e-03 1.17171765e-01 -4.29248162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-167.19, Z:-429.28 [[ 1.05224139e-01 -3.52296725e-01 9.29954245e-01 2.89417145e+02] [ 4.27926835e-02 9.35883555e-01 3.49700955e-01 -1.67192298e+02] [-9.93527386e-01 2.99825567e-03 1.13553264e-01 -4.29277284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.50, Y:-167.25, Z:-429.31 [[ 1.08517150e-01 -4.92956784e-01 8.63259890e-01 2.89495393e+02] [ 3.94836850e-02 8.69840180e-01 4.91751054e-01 -1.67248116e+02] [-9.93310156e-01 -1.92787413e-02 1.13856328e-01 -4.29309088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-167.19, Z:-429.34 [[ 1.09488218e-01 -3.52069778e-01 9.29547848e-01 2.89430287e+02] [ 3.19329375e-02 9.35933160e-01 3.50726969e-01 -1.67192084e+02] [-9.93475021e-01 -8.71727761e-03 1.13716276e-01 -4.29340749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-167.19, Z:-429.37 [[ 1.08778712e-01 -3.54864482e-01 9.28567925e-01 2.89434282e+02] [ 2.96690705e-02 9.34853797e-01 3.53791076e-01 -1.67192372e+02] [-9.93623137e-01 -1.09351904e-02 1.12220691e-01 -4.29369050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.44, Y:-167.19, Z:-429.40 [[ 1.07955122e-01 -3.57692748e-01 9.27578347e-01 2.89438555e+02] [ 2.77048916e-02 9.33751258e-01 3.56848745e-01 -1.67193408e+02] [-9.93769657e-01 -1.28251922e-02 1.10713070e-01 -4.29396035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.44, Y:-167.19, Z:-429.42 [[ 1.07266649e-01 -3.58924749e-01 9.27182232e-01 2.89442727e+02] [ 2.67901828e-02 9.33267683e-01 3.58181126e-01 -1.67194384e+02] [-9.93869283e-01 -1.35815078e-02 1.09724157e-01 -4.29423404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:-167.20, Z:-429.45 [[ 1.05818467e-01 -3.62042276e-01 9.26135974e-01 2.89448489e+02] [ 2.70413799e-02 9.32068421e-01 3.61271675e-01 -1.67197905e+02] [-9.94017714e-01 -1.31852202e-02 1.08420174e-01 -4.29451711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:-167.20, Z:-429.48 [[ 1.04885174e-01 -3.65185034e-01 9.25007563e-01 2.89453277e+02] [ 2.76548958e-02 9.30849215e-01 3.64355522e-01 -1.67199772e+02] [-9.94099747e-01 -1.26345044e-02 1.07731435e-01 -4.29484840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.46, Y:-167.20, Z:-429.51 [[ 1.01870206e-01 -3.64351713e-01 9.25672885e-01 2.89457978e+02] [ 2.96319030e-02 9.31212172e-01 3.63271030e-01 -1.67202791e+02] [-9.94356280e-01 -9.57704556e-03 1.05659211e-01 -4.29514435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.46, Y:-167.20, Z:-429.54 [[ 1.00092807e-01 -3.64955693e-01 9.25628852e-01 2.89462431e+02] [ 3.12654351e-02 9.30994979e-01 3.63690556e-01 -1.67204659e+02] [-9.94486753e-01 -7.46261985e-03 1.04596399e-01 -4.29543599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-167.21, Z:-429.58 [[ 9.85668419e-02 -3.67820735e-01 9.24658037e-01 2.89468457e+02] [ 3.27269584e-02 9.29878289e-01 3.66408672e-01 -1.67207253e+02] [-9.94592140e-01 -5.85450053e-03 1.03692820e-01 -4.29576756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-167.21, Z:-429.61 [[ 9.66787674e-02 -3.66861599e-01 9.25238230e-01 2.89471646e+02] [ 3.41310004e-02 9.30268029e-01 3.65289568e-01 -1.67208005e+02] [-9.94730260e-01 -3.73643880e-03 1.02458520e-01 -4.29607401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-167.21, Z:-429.63 [[ 9.49613330e-02 -3.66425380e-01 9.25588886e-01 2.89474877e+02] [ 3.57240177e-02 9.30446125e-01 3.64683154e-01 -1.67208912e+02] [-9.94839756e-01 -1.56504474e-03 1.01446591e-01 -4.29634852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:-167.21, Z:-429.66 [[ 9.18031554e-02 -3.69672733e-01 9.24615732e-01 2.89481384e+02] [ 3.73065828e-02 9.29161739e-01 3.67786191e-01 -1.67214062e+02] [-9.95078087e-01 7.30320497e-04 9.90912059e-02 -4.29662406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-167.22, Z:-429.69 [[ 9.02148048e-02 -3.72739113e-01 9.23540385e-01 2.89485932e+02] [ 3.77461104e-02 9.27935114e-01 3.70825639e-01 -1.67216623e+02] [-9.95206773e-01 1.40609466e-03 9.77829369e-02 -4.29690479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-167.22, Z:-429.72 [[ 8.99388754e-02 -3.75808935e-01 9.22322418e-01 2.89490756e+02] [ 3.81171987e-02 9.26695906e-01 3.73874013e-01 -1.67219206e+02] [-9.95217603e-01 1.53053863e-03 9.76707715e-02 -4.29717276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-167.22, Z:-429.75 [[ 9.15813201e-02 -3.69146668e-01 9.24847879e-01 2.89490504e+02] [ 3.85907021e-02 9.29368850e-01 3.67129811e-01 -1.67218222e+02] [-9.95049556e-01 2.06829621e-03 9.93584552e-02 -4.29745524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-167.24, Z:-429.77 [[ 8.89281068e-02 -4.10482057e-01 9.07522051e-01 2.89516109e+02] [ 3.84968426e-02 9.11867592e-01 4.08675285e-01 -1.67237359e+02] [-9.95293818e-01 -1.40598579e-03 9.68929217e-02 -4.29773308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.50, Y:-167.23, Z:-429.80 [[ 8.88543372e-02 -3.80443128e-01 9.20525900e-01 2.89504096e+02] [ 3.79545647e-02 9.24803400e-01 3.78547384e-01 -1.67227433e+02] [-9.95321234e-01 1.30258295e-03 9.66123465e-02 -4.29800658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-167.23, Z:-429.83 [[ 8.86103851e-02 -3.82435526e-01 9.19723474e-01 2.89508439e+02] [ 3.75031413e-02 9.23981861e-01 3.80593006e-01 -1.67229593e+02] [-9.95360093e-01 7.68026591e-04 9.62169220e-02 -4.29828085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-167.23, Z:-429.86 [[ 8.77457142e-02 -3.85359308e-01 9.18585267e-01 2.89513569e+02] [ 3.66484289e-02 9.22766603e-01 3.83612681e-01 -1.67232384e+02] [-9.95468524e-01 4.33818348e-06 9.50916278e-02 -4.29858520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:289.52, Y:-167.23, Z:-429.89 [[ 8.95917699e-02 -3.76462097e-01 9.22089803e-01 2.89515253e+02] [ 3.60152697e-02 9.26431949e-01 3.74735565e-01 -1.67233094e+02] [-9.95327190e-01 -3.63909586e-04 9.65590620e-02 -4.29885954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-167.25, Z:-429.91 [[ 8.68389286e-02 -4.19912714e-01 9.03400417e-01 2.89540485e+02] [ 3.52595219e-02 9.07553415e-01 4.18453779e-01 -1.67250695e+02] [-9.95598195e-01 -4.48461105e-03 9.36168878e-02 -4.29913305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.53, Y:-167.24, Z:-429.94 [[ 8.73896640e-02 -3.92589763e-01 9.15552470e-01 2.89529759e+02] [ 3.45410132e-02 9.19710153e-01 3.91075635e-01 -1.67242507e+02] [-9.95575193e-01 -2.55185845e-03 9.39336095e-02 -4.29942469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.53, Y:-167.24, Z:-429.97 [[ 9.09252702e-02 -3.83767635e-01 9.18942326e-01 2.89528862e+02] [ 3.46490772e-02 9.23425104e-01 3.82211355e-01 -1.67240863e+02] [-9.95254760e-01 -2.91216712e-03 9.72598715e-02 -4.29969783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.56, Y:-167.27, Z:-430.00 [[ 8.85430195e-02 -4.37590587e-01 8.94804231e-01 2.89563181e+02] [ 3.18595823e-02 8.99117097e-01 4.36547148e-01 -1.67266765e+02] [-9.95562706e-01 -1.01451136e-02 9.35519960e-02 -4.30002540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:-167.20, Z:-430.03 [[ 8.68717879e-02 -2.68611986e-01 9.59323143e-01 2.89479865e+02] [ 3.11701386e-02 9.63225038e-01 2.66881902e-01 -1.67203153e+02] [-9.95731749e-01 6.71772736e-03 9.20497540e-02 -4.30034379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-167.23, Z:-430.06 [[ 8.70879369e-02 -3.46556974e-01 9.33977492e-01 2.89521523e+02] [ 3.16177071e-02 9.38028778e-01 3.45112058e-01 -1.67232434e+02] [-9.95698756e-01 -5.24870309e-04 9.26483279e-02 -4.30060750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.156559995 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:289.55, Y:-167.26, Z:-430.09 [[ 8.69352239e-02 -4.04536184e-01 9.10380548e-01 2.89554599e+02] [ 3.02766255e-02 9.14491135e-01 4.03471548e-01 -1.67257754e+02] [-9.95753781e-01 -7.51263838e-03 9.17494821e-02 -4.30091871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:-167.20, Z:-430.12 [[ 8.36221005e-02 -2.59417683e-01 9.62138145e-01 2.89482817e+02] [ 3.15276159e-02 9.65725229e-01 2.57644702e-01 -1.67204704e+02] [-9.95998672e-01 8.78913070e-03 8.89347932e-02 -4.30122174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:-167.28, Z:-430.15 [[ 8.86540867e-02 -4.50365673e-01 8.88431885e-01 2.89592247e+02] [ 3.34131635e-02 8.92786598e-01 4.49238968e-01 -1.67275046e+02] [-9.95501890e-01 -1.01415507e-02 9.41973223e-02 -4.30147603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-167.26, Z:-430.18 [[ 8.76856427e-02 -4.13468159e-01 9.06286549e-01 2.89574898e+02] [ 3.43612565e-02 9.10504897e-01 4.12068121e-01 -1.67264221e+02] [-9.95555389e-01 -4.99131346e-03 9.40454926e-02 -4.30176681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-167.27, Z:-430.20 [[ 8.54212999e-02 -4.16498092e-01 9.05114656e-01 2.89580544e+02] [ 3.71009981e-02 9.09134696e-01 4.14846504e-01 -1.67268496e+02] [-9.95653915e-01 -1.85607041e-03 9.31119624e-02 -4.30204002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-167.27, Z:-430.23 [[ 8.52120292e-02 -4.17830949e-01 9.04519877e-01 2.89584777e+02] [ 3.89639643e-02 9.08524769e-01 4.16010281e-01 -1.67269836e+02] [-9.95600683e-01 -2.05399982e-04 9.36975894e-02 -4.30231334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:-167.27, Z:-430.26 [[ 8.43015240e-02 -4.19838498e-01 9.03675212e-01 2.89589064e+02] [ 4.08034503e-02 9.07597335e-01 4.17854228e-01 -1.67271523e+02] [-9.95604506e-01 1.64731835e-03 9.36426978e-02 -4.30259452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-167.27, Z:-430.29 [[ 8.09855039e-02 -4.08657767e-01 9.09087552e-01 2.89581262e+02] [ 4.16018923e-02 9.12674574e-01 4.06564145e-01 -1.67271276e+02] [-9.95846690e-01 4.89396037e-03 9.09143467e-02 -4.30291395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:-167.25, Z:-430.32 [[ 8.10166146e-02 -3.54696535e-01 9.31464802e-01 2.89554215e+02] [ 4.51549112e-02 9.34883484e-01 3.52070882e-01 -1.67253818e+02] [-9.95689380e-01 1.35366195e-02 9.17573854e-02 -4.30319657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-167.26, Z:-430.35 [[ 8.19219979e-02 -3.79300899e-01 9.21639634e-01 2.89570722e+02] [ 4.74230812e-02 9.25184012e-01 3.76544281e-01 -1.67262599e+02] [-9.95509838e-01 1.28597314e-02 9.37805399e-02 -4.30347978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-167.26, Z:-430.37 [[ 8.46733522e-02 -3.81644045e-01 9.20422863e-01 2.89577743e+02] [ 4.96008372e-02 9.24209434e-01 3.78651131e-01 -1.67260850e+02] [-9.95173442e-01 1.35920840e-02 9.71857751e-02 -4.30372648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:-167.28, Z:-430.40 [[ 8.27990639e-02 -4.24658579e-01 9.01559430e-01 2.89601578e+02] [ 5.04286288e-02 9.05292207e-01 4.21785459e-01 -1.67277724e+02] [-9.95289540e-01 1.05409646e-02 9.63722971e-02 -4.30403060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-167.25, Z:-430.43 [[ 8.59459303e-02 -3.60526756e-01 9.28780790e-01 2.89570183e+02] [ 5.30011904e-02 9.32564677e-01 3.57091021e-01 -1.67254492e+02] [-9.94889024e-01 1.85359675e-02 9.92584859e-02 -4.30429724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:-167.28, Z:-430.45 [[ 8.52005973e-02 -4.37795468e-01 8.95028484e-01 2.89618246e+02] [ 5.40665061e-02 8.99002780e-01 4.34592699e-01 -1.67281554e+02] [-9.94895809e-01 1.13635054e-02 1.00265645e-01 -4.30454501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5765599949999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:289.61, Y:-167.28, Z:-430.49 [[ 8.22958359e-02 -4.26367740e-01 9.00798504e-01 2.89612448e+02] [ 5.48519053e-02 9.04432193e-01 4.23076443e-01 -1.67281767e+02] [-9.95097314e-01 1.45930847e-02 9.78180862e-02 -4.30486766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:-167.26, Z:-430.51 [[ 8.58040435e-02 -3.78372957e-01 9.21667821e-01 2.89591165e+02] [ 5.57474079e-02 9.25453533e-01 3.74737220e-01 -1.67263542e+02] [-9.94751171e-01 1.92266232e-02 1.00500967e-01 -4.30512267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.63, Y:-167.29, Z:-430.54 [[ 8.48671594e-02 -4.43185817e-01 8.92403438e-01 2.89632108e+02] [ 5.66002886e-02 8.96332732e-01 4.39754523e-01 -1.67285027e+02] [-9.94783380e-01 1.31895750e-02 1.01153658e-01 -4.30537994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.64, Y:-167.29, Z:-430.57 [[ 8.56172053e-02 -4.45943296e-01 8.90956941e-01 2.89636555e+02] [ 5.72710223e-02 8.94964684e-01 4.42445754e-01 -1.67285842e+02] [-9.94680715e-01 1.31450459e-02 1.02164004e-01 -4.30565678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:-167.28, Z:-430.59 [[ 8.12076793e-02 -4.30771306e-01 8.98799975e-01 2.89621283e+02] [ 5.74300678e-02 9.02302473e-01 4.27261085e-01 -1.67282852e+02] [-9.95041256e-01 1.69212623e-02 9.80131151e-02 -4.30593493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:-167.31, Z:-430.62 [[ 7.93704579e-02 -5.39019852e-01 8.38545127e-01 2.89693478e+02] [ 5.75627595e-02 8.42273577e-01 5.35968050e-01 -1.67314073e+02] [-9.95181822e-01 5.72894190e-03 9.78791096e-02 -4.30617661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-167.31, Z:-430.65 [[ 8.28288882e-02 -5.09820202e-01 8.56284262e-01 2.89679274e+02] [ 5.55796362e-02 8.60262666e-01 5.06812638e-01 -1.67305958e+02] [-9.95012703e-01 5.61324042e-03 9.95902215e-02 -4.30649888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:289.63, Y:-167.28, Z:-430.68 [[ 8.37074926e-02 -4.30682632e-01 8.98613113e-01 2.89630187e+02] [ 5.34726392e-02 9.02420115e-01 4.27526155e-01 -1.67281216e+02] [-9.95054638e-01 1.22640723e-02 9.85690620e-02 -4.30680982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-167.29, Z:-430.71 [[ 8.75180545e-02 -4.62151232e-01 8.82471999e-01 2.89657947e+02] [ 5.33607280e-02 8.86774215e-01 4.59112322e-01 -1.67288204e+02] [-9.94732739e-01 6.90873108e-03 1.02269480e-01 -4.30706116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-167.29, Z:-430.73 [[ 8.73756294e-02 -4.55889816e-01 8.85736967e-01 2.89657362e+02] [ 5.24481457e-02 8.90009618e-01 4.52915082e-01 -1.67285647e+02] [-9.94793793e-01 6.88152121e-03 1.01675726e-01 -4.30733693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-167.28, Z:-430.76 [[ 8.67435860e-02 -4.57090157e-01 8.85180286e-01 2.89660498e+02] [ 5.26645824e-02 8.89391004e-01 4.54103605e-01 -1.67284876e+02] [-9.94837671e-01 7.22707500e-03 1.01221427e-01 -4.30760231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:289.65, Y:-167.28, Z:-430.79 [[ 8.30358904e-02 -4.42037155e-01 8.93145114e-01 2.89647881e+02] [ 5.25103331e-02 8.96935938e-01 4.39031420e-01 -1.67281101e+02] [-9.95162151e-01 1.04439826e-02 9.76893924e-02 -4.30789706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:-167.29, Z:-430.82 [[ 8.50917579e-02 -4.85830968e-01 8.69900950e-01 2.89685458e+02] [ 5.58564566e-02 8.74020447e-01 4.82667913e-01 -1.67290514e+02] [-9.94806237e-01 7.51852350e-03 1.01508733e-01 -4.30816388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-167.28, Z:-430.85 [[ 8.47858318e-02 -4.62351351e-01 8.82633894e-01 2.89672602e+02] [ 5.71490251e-02 8.86621851e-01 4.58950632e-01 -1.67281990e+02] [-9.94758942e-01 1.15291555e-02 1.01595900e-01 -4.30845301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-167.28, Z:-430.87 [[ 8.39208017e-02 -4.65135435e-01 8.81252703e-01 2.89675710e+02] [ 5.88141535e-02 8.85142696e-01 4.61587806e-01 -1.67280956e+02] [-9.94735238e-01 1.30933129e-02 1.01638432e-01 -4.30872906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-167.28, Z:-430.90 [[ 7.78110686e-02 -4.53866273e-01 8.87665953e-01 2.89662650e+02] [ 6.05502303e-02 8.90873192e-01 4.50198429e-01 -1.67275969e+02] [-9.95127684e-01 1.87179571e-02 9.68015024e-02 -4.30904174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-167.31, Z:-430.93 [[ 8.06530714e-02 -5.72770860e-01 8.15738086e-01 2.89752483e+02] [ 6.26722307e-02 8.19699007e-01 5.69355539e-01 -1.67306219e+02] [-9.94769960e-01 5.20385254e-03 1.02008070e-01 -4.30933429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-167.27, Z:-430.97 [[ 7.45007685e-02 -4.39592302e-01 8.95102365e-01 2.89654189e+02] [ 6.36081283e-02 8.97863785e-01 4.35654255e-01 -1.67268155e+02] [-9.95190254e-01 2.44792093e-02 9.48531855e-02 -4.30968273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-167.32, Z:-430.99 [[ 7.80435351e-02 -6.42224310e-01 7.62533371e-01 2.89808620e+02] [ 6.35696681e-02 7.66515474e-01 6.39071926e-01 -1.67317162e+02] [-9.94921155e-01 -1.40143897e-03 1.00647564e-01 -4.30992409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-167.27, Z:-431.03 [[ 8.23785837e-02 -4.58402433e-01 8.84918628e-01 2.89682424e+02] [ 6.46489260e-02 8.88524411e-01 4.54252009e-01 -1.67269391e+02] [-9.94502029e-01 1.97884018e-02 1.02830608e-01 -4.31028492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:-167.27, Z:-431.06 [[ 8.23386475e-02 -4.61087041e-01 8.83526506e-01 2.89685969e+02] [ 6.55411849e-02 8.87122898e-01 4.56855903e-01 -1.67267487e+02] [-9.94446932e-01 2.02904769e-02 1.03264691e-01 -4.31055960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:-167.27, Z:-431.08 [[ 8.20113222e-02 -4.63722172e-01 8.82176791e-01 2.89689847e+02] [ 6.54159866e-02 8.85754394e-01 4.59521384e-01 -1.67266894e+02] [-9.94482223e-01 2.00225088e-02 1.02976732e-01 -4.31082658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-167.26, Z:-431.11 [[ 7.31052616e-02 -4.37721102e-01 8.96133839e-01 2.89662169e+02] [ 6.54583657e-02 8.98706565e-01 4.33637767e-01 -1.67258240e+02] [-9.95173765e-01 2.69582542e-02 9.43526865e-02 -4.31113134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-167.31, Z:-431.14 [[ 7.86937237e-02 -6.62815020e-01 7.44636521e-01 2.89836152e+02] [ 6.45245947e-02 7.48773204e-01 6.59678154e-01 -1.67310770e+02] [-9.94808461e-01 -3.86516066e-03 1.01691622e-01 -4.31138078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-167.26, Z:-431.18 [[ 7.81476536e-02 -4.41571987e-01 8.93816046e-01 2.89674383e+02] [ 6.30973115e-02 8.96951145e-01 4.37604129e-01 -1.67255715e+02] [-9.94943050e-01 2.21996536e-02 9.79566326e-02 -4.31178303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-167.29, Z:-431.21 [[ 7.66179224e-02 -5.58479788e-01 8.25972167e-01 2.89752557e+02] [ 6.08565071e-02 8.29482140e-01 5.55207947e-01 -1.67288189e+02] [-9.95201577e-01 7.72690168e-03 9.75403274e-02 -4.31206813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-167.28, Z:-431.24 [[ 8.30142679e-02 -5.40664516e-01 8.37132315e-01 2.89747274e+02] [ 5.85784683e-02 8.41226702e-01 5.37499952e-01 -1.67279859e+02] [-9.94825208e-01 4.41776374e-03 1.01505118e-01 -4.31239121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:-167.26, Z:-431.27 [[ 8.54016355e-02 -4.82831497e-01 8.71539045e-01 2.89711331e+02] [ 5.74222312e-02 8.75666033e-01 4.79491070e-01 -1.67261984e+02] [-9.94690529e-01 9.09639496e-03 1.02508573e-01 -4.31270786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:-167.25, Z:-431.30 [[ 8.93938352e-02 -4.63418960e-01 8.81618744e-01 2.89707228e+02] [ 5.42510408e-02 8.86114108e-01 4.60281015e-01 -1.67253538e+02] [-9.94517756e-01 6.68244925e-03 1.04354099e-01 -4.31299731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-167.25, Z:-431.33 [[ 8.89980426e-02 -4.55546638e-01 8.85752002e-01 2.89703818e+02] [ 5.20514604e-02 8.90192867e-01 4.52600602e-01 -1.67249650e+02] [-9.94670797e-01 5.82411763e-03 1.02937290e-01 -4.31327878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.476559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.71, Y:-167.25, Z:-431.36 [[ 9.06440369e-02 -4.65884163e-01 8.80190664e-01 2.89713791e+02] [ 5.00143003e-02 8.84843376e-01 4.63196254e-01 -1.67251117e+02] [-9.94626678e-01 2.03614187e-03 1.03506646e-01 -4.31355616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:289.71, Y:-167.25, Z:-431.38 [[ 9.09278002e-02 -4.55887043e-01 8.85380788e-01 2.89707913e+02] [ 4.59567814e-02 8.90037470e-01 4.53565073e-01 -1.67246110e+02] [-9.94796517e-01 -5.52423077e-04 1.01880250e-01 -4.31384067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-167.26, Z:-431.41 [[ 9.38390830e-02 -4.90903849e-01 8.66145275e-01 2.89734006e+02] [ 4.42154116e-02 8.71180718e-01 4.88967436e-01 -1.67255399e+02] [-9.94605059e-01 -7.58728596e-03 1.03456316e-01 -4.31409969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-167.25, Z:-431.44 [[ 9.46160275e-02 -4.63169957e-01 8.81204516e-01 2.89719335e+02] [ 4.25226523e-02 8.86247996e-01 4.61255151e-01 -1.67245542e+02] [-9.94605264e-01 -6.17097678e-03 1.03548480e-01 -4.31439320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-167.25, Z:-431.47 [[ 9.71362968e-02 -4.65615201e-01 8.79640281e-01 2.89723310e+02] [ 3.86944653e-02 8.84918325e-01 4.64136075e-01 -1.67245129e+02] [-9.94518616e-01 -1.10472491e-02 1.03974420e-01 -4.31465979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-167.24, Z:-431.49 [[ 9.79616888e-02 -4.66804017e-01 8.78918379e-01 2.89726260e+02] [ 3.73906530e-02 8.84269083e-01 4.65478386e-01 -1.67244330e+02] [-9.94487530e-01 -1.27357166e-02 1.04078600e-01 -4.31494117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-167.24, Z:-431.52 [[ 9.85658173e-02 -4.69308570e-01 8.77515952e-01 2.89730171e+02] [ 3.61968952e-02 8.82917169e-01 4.68131453e-01 -1.67243941e+02] [-9.94472003e-01 -1.43784063e-02 1.04012965e-01 -4.31521199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-167.24, Z:-431.55 [[ 9.86435593e-02 -4.70243430e-01 8.77006593e-01 2.89734125e+02] [ 3.37271278e-02 8.82378401e-01 4.69330203e-01 -1.67243131e+02] [-9.94551119e-01 -1.67174882e-02 1.02900906e-01 -4.31549295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-167.24, Z:-431.58 [[ 9.81931331e-02 -4.72790404e-01 8.75686783e-01 2.89738711e+02] [ 3.28104437e-02 8.80998865e-01 4.71979316e-01 -1.67242940e+02] [-9.94626354e-01 -1.76134560e-02 1.02020502e-01 -4.31576695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:289.74, Y:-167.24, Z:-431.60 [[ 9.80938125e-02 -4.75366203e-01 8.74302338e-01 2.89744135e+02] [ 3.27539499e-02 8.79605588e-01 4.74574744e-01 -1.67241954e+02] [-9.94638016e-01 -1.79159910e-02 1.01853986e-01 -4.31604144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-167.24, Z:-431.63 [[ 9.84851083e-02 -4.78048790e-01 8.72794385e-01 2.89747342e+02] [ 3.16563177e-02 8.78119304e-01 4.77393303e-01 -1.67242508e+02] [-9.94634888e-01 -1.93866748e-02 1.01614939e-01 -4.31632001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-167.24, Z:-431.66 [[ 1.00745501e-01 -4.80911774e-01 8.70961658e-01 2.89751380e+02] [ 3.18273467e-02 8.76525358e-01 4.80302318e-01 -1.67242777e+02] [-9.94403019e-01 -2.06678989e-02 1.03612132e-01 -4.31660003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-167.25, Z:-431.69 [[ 1.09966974e-01 -5.15689911e-01 8.49688873e-01 2.89788706e+02] [ 3.48611842e-02 8.56348626e-01 5.15220078e-01 -1.67248552e+02] [-9.93323695e-01 -2.70360325e-02 1.12147628e-01 -4.31688209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-167.22, Z:-431.72 [[ 1.00418553e-01 -4.15186336e-01 9.04177206e-01 2.89715930e+02] [ 3.13753089e-02 9.09640254e-01 4.14210332e-01 -1.67222074e+02] [-9.94450453e-01 -1.32255630e-02 1.04371357e-01 -4.31720634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-167.25, Z:-431.74 [[ 1.02262257e-01 -5.00175170e-01 8.59864658e-01 2.89777610e+02] [ 3.76969262e-02 8.65723925e-01 4.99100218e-01 -1.67246556e+02] [-9.94042943e-01 -1.86248602e-02 1.07385949e-01 -4.31744815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-167.24, Z:-431.77 [[ 9.80653923e-02 -4.74793979e-01 8.74616405e-01 2.89759021e+02] [ 3.83554411e-02 8.80002724e-01 4.73417433e-01 -1.67241560e+02] [-9.94440566e-01 -1.28795683e-02 1.04508745e-01 -4.31774006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-167.25, Z:-431.80 [[ 9.67540937e-02 -4.89848713e-01 8.66421885e-01 2.89771355e+02] [ 4.11474616e-02 8.71730417e-01 4.88255023e-01 -1.67245812e+02] [-9.94457406e-01 -1.15896109e-02 1.04499518e-01 -4.31799926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-167.25, Z:-431.83 [[ 9.56972825e-02 -4.91277548e-01 8.65729981e-01 2.89774923e+02] [ 4.41776888e-02 8.70960776e-01 4.89362502e-01 -1.67246123e+02] [-9.94429667e-01 -8.58471188e-03 1.05052086e-01 -4.31827626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-167.25, Z:-431.85 [[ 9.27952863e-02 -4.94428440e-01 8.64250862e-01 2.89780329e+02] [ 4.98073418e-02 8.69214443e-01 4.91920197e-01 -1.67247689e+02] [-9.94438668e-01 -2.60183744e-03 1.05285169e-01 -4.31854376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-167.25, Z:-431.88 [[ 9.09030359e-02 -4.95821609e-01 8.63653617e-01 2.89783900e+02] [ 5.23500796e-02 8.68424308e-01 4.93050394e-01 -1.67246745e+02] [-9.94482834e-01 3.92557849e-04 1.04898707e-01 -4.31882514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-167.25, Z:-431.91 [[ 8.86252567e-02 -4.98589256e-01 8.62295957e-01 2.89787477e+02] [ 5.43231653e-02 8.66833457e-01 4.95629651e-01 -1.67245835e+02] [-9.94582605e-01 2.91734080e-03 1.03908284e-01 -4.31910575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-167.24, Z:-431.94 [[ 8.72638283e-02 -5.01286309e-01 8.60869944e-01 2.89791024e+02] [ 5.60188827e-02 8.65268425e-01 4.98169085e-01 -1.67244596e+02] [-9.94608923e-01 4.75283091e-03 1.03588134e-01 -4.31938020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-167.24, Z:-431.97 [[ 8.67144909e-02 -5.04075004e-01 8.59295634e-01 2.89794464e+02] [ 5.95494292e-02 8.63625011e-01 5.00605339e-01 -1.67242764e+02] [-9.94451840e-01 7.76082741e-03 1.04906182e-01 -4.31965980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-167.24, Z:-431.99 [[ 8.67982022e-02 -5.06735701e-01 8.57720818e-01 2.89798532e+02] [ 6.15442219e-02 8.62053195e-01 5.03067191e-01 -1.67241696e+02] [-9.94323077e-01 9.12243260e-03 1.06011322e-01 -4.31994045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-167.24, Z:-432.02 [[ 8.66825917e-02 -5.09429925e-01 8.56135083e-01 2.89802662e+02] [ 6.33531506e-02 8.60449132e-01 5.05582506e-01 -1.67241279e+02] [-9.94219547e-01 1.04136529e-02 1.06859951e-01 -4.32020980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-167.24, Z:-432.05 [[ 8.62276725e-02 -5.10810451e-01 8.55358096e-01 2.89807095e+02] [ 6.66907133e-02 8.59589546e-01 5.06614411e-01 -1.67239302e+02] [-9.94040813e-01 1.33602600e-02 1.08186719e-01 -4.32048633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.24, Z:-432.08 [[ 8.61125933e-02 -5.17978763e-01 8.51047955e-01 2.89816053e+02] [ 6.78523550e-02 8.55286780e-01 5.13693081e-01 -1.67236870e+02] [-9.93972172e-01 1.35101645e-02 1.08797042e-01 -4.32079710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.24, Z:-432.11 [[ 8.42003931e-02 -5.26160827e-01 8.46206286e-01 2.89820540e+02] [ 6.84881253e-02 8.50269612e-01 5.21872554e-01 -1.67237503e+02] [-9.94092385e-01 1.40132079e-02 1.07628804e-01 -4.32111422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-167.23, Z:-432.14 [[ 7.80822411e-02 -4.97284082e-01 8.64066957e-01 2.89795442e+02] [ 7.11678770e-02 8.67282255e-01 4.92703383e-01 -1.67225606e+02] [-9.94403488e-01 2.30224265e-02 1.03109994e-01 -4.32142412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.25, Z:-432.17 [[ 7.30929721e-02 -6.16822637e-01 7.83700997e-01 2.89879455e+02] [ 7.23135291e-02 7.87012376e-01 6.12684481e-01 -1.67253156e+02] [-9.94700041e-01 1.18892552e-02 1.02129695e-01 -4.32169743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.25, Z:-432.20 [[ 7.21434811e-02 -6.08552457e-01 7.90227325e-01 2.89875016e+02] [ 7.39237082e-02 7.93375140e-01 6.04227748e-01 -1.67249497e+02] [-9.94650996e-01 1.48254411e-02 1.02223299e-01 -4.32202239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-167.25, Z:-432.23 [[ 7.72785924e-02 -6.32883103e-01 7.70381072e-01 2.89904784e+02] [ 7.64566056e-02 7.74178260e-01 6.28333040e-01 -1.67250315e+02] [-9.94073643e-01 1.03440289e-02 1.08215500e-01 -4.32234973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-167.22, Z:-432.27 [[ 8.02508302e-02 -5.02650998e-01 8.60756515e-01 2.89814156e+02] [ 7.98392323e-02 8.64008603e-01 4.97106458e-01 -1.67216088e+02] [-9.93572092e-01 2.88289334e-02 1.09468678e-01 -4.32268934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.21, Z:-432.30 [[ 8.00490327e-02 -5.05329315e-01 8.59205701e-01 2.89816846e+02] [ 8.11549152e-02 8.62414229e-01 4.99655459e-01 -1.67213884e+02] [-9.93481772e-01 2.97318296e-02 1.10045382e-01 -4.32295953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.21, Z:-432.32 [[ 7.90757345e-02 -5.06520109e-01 8.58594437e-01 2.89817939e+02] [ 8.19685814e-02 8.61678671e-01 5.00790396e-01 -1.67211329e+02] [-9.93492919e-01 3.07773997e-02 1.09656609e-01 -4.32324009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-167.21, Z:-432.35 [[ 7.44133686e-02 -4.97976478e-01 8.63991943e-01 2.89807579e+02] [ 8.22299437e-02 8.66507615e-01 4.92344178e-01 -1.67206040e+02] [-9.93831418e-01 3.44090201e-02 1.05428328e-01 -4.32354538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-167.22, Z:-432.38 [[ 6.64253912e-02 -5.61146107e-01 8.25047098e-01 2.89843229e+02] [ 8.15095207e-02 8.27161431e-01 5.56021731e-01 -1.67220656e+02] [-9.94456568e-01 3.03152325e-02 1.00683272e-01 -4.32383107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-167.24, Z:-432.41 [[ 6.38353983e-02 -6.45241552e-01 7.61307022e-01 2.89907950e+02] [ 8.03947047e-02 7.63708447e-01 6.40535791e-01 -1.67237477e+02] [-9.94716911e-01 2.03161959e-02 1.00625637e-01 -4.32411926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.22, Z:-432.44 [[ 7.25943693e-02 -5.87249262e-01 8.06144132e-01 2.89876714e+02] [ 8.41860152e-02 8.09000113e-01 5.81748685e-01 -1.67219222e+02] [-9.93802180e-01 2.56343833e-02 1.08167028e-01 -4.32444611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.20, Z:-432.48 [[ 7.62774480e-02 -5.03220108e-01 8.60785266e-01 2.89823176e+02] [ 8.50081050e-02 8.63439210e-01 4.97238728e-01 -1.67195807e+02] [-9.93456276e-01 3.52456230e-02 1.08638727e-01 -4.32476551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.19, Z:-432.50 [[ 7.49285983e-02 -5.05757961e-01 8.59415261e-01 2.89824914e+02] [ 8.71468945e-02 8.61861679e-01 4.99599705e-01 -1.67192580e+02] [-9.93373608e-01 3.74610654e-02 1.08653323e-01 -4.32504078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-167.19, Z:-432.54 [[ 6.76863524e-02 -4.87740784e-01 8.70360549e-01 2.89804888e+02] [ 8.65164537e-02 8.71944457e-01 4.81900162e-01 -1.67186257e+02] [-9.93948420e-01 4.26824439e-02 1.01216343e-01 -4.32536094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.21, Z:-432.57 [[ 6.13968365e-02 -5.97182538e-01 7.99752115e-01 2.89878291e+02] [ 8.38286570e-02 8.01517977e-01 5.92065612e-01 -1.67213921e+02] [-9.94586942e-01 3.06911901e-02 9.92716783e-02 -4.32565576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-167.20, Z:-432.60 [[ 6.33708484e-02 -5.64624328e-01 8.22911602e-01 2.89859975e+02] [ 8.41129105e-02 8.24656816e-01 5.59344397e-01 -1.67201597e+02] [-9.94439115e-01 3.37713609e-02 9.97513976e-02 -4.32599255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-167.19, Z:-432.63 [[ 6.64856759e-02 -5.48820894e-01 8.33291834e-01 2.89855775e+02] [ 8.39517588e-02 8.35255269e-01 5.43415806e-01 -1.67190919e+02] [-9.94249344e-01 3.38269479e-02 1.01606990e-01 -4.32633777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-167.17, Z:-432.67 [[ 7.00048668e-02 -4.81721210e-01 8.73523895e-01 2.89816974e+02] [ 8.52286357e-02 8.75358607e-01 4.75902709e-01 -1.67166481e+02] [-9.93899089e-01 4.11337440e-02 1.02335804e-01 -4.32667065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.17, Z:-432.69 [[ 7.02119421e-02 -4.96447385e-01 8.65222675e-01 2.89826887e+02] [ 8.46971499e-02 8.67197990e-01 4.90707693e-01 -1.67168082e+02] [-9.93929915e-01 3.88283545e-02 1.02935334e-01 -4.32694113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.17, Z:-432.73 [[ 7.35175517e-02 -5.00733298e-01 8.62473961e-01 2.89832746e+02] [ 8.31052702e-02 8.64882295e-01 4.95047604e-01 -1.67167803e+02] [-9.93825278e-01 3.52814437e-02 1.05197605e-01 -4.32728968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-167.14, Z:-432.76 [[ 7.75656400e-02 -4.40239290e-01 8.94523862e-01 2.89796154e+02] [ 8.15663088e-02 8.97021364e-01 4.34395684e-01 -1.67142874e+02] [-9.93645062e-01 3.92688303e-02 1.05486730e-01 -4.32757817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.16, Z:-432.78 [[ 7.72683613e-02 -4.97917819e-01 8.63775113e-01 2.89830703e+02] [ 7.94763377e-02 8.66684326e-01 4.92485320e-01 -1.67157924e+02] [-9.93837568e-01 3.05961490e-02 1.06539962e-01 -4.32783617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.15, Z:-432.82 [[ 8.15280790e-02 -4.97861394e-01 8.63416009e-01 2.89830324e+02] [ 7.25723121e-02 8.66965675e-01 4.93055554e-01 -1.67153410e+02] [-9.94025368e-01 2.24622239e-02 1.06812998e-01 -4.32819081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-167.13, Z:-432.85 [[ 8.44751821e-02 -4.48511670e-01 8.89775941e-01 2.89803118e+02] [ 6.97140465e-02 8.93439887e-01 4.43739924e-01 -1.67131691e+02] [-9.93983851e-01 2.45448705e-02 1.06741061e-01 -4.32849567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-167.15, Z:-432.88 [[ 9.07989796e-02 -5.10972604e-01 8.54788011e-01 2.89848635e+02] [ 6.60775023e-02 8.59533278e-01 5.06790201e-01 -1.67148048e+02] [-9.93674650e-01 1.04662236e-02 1.11808538e-01 -4.32883360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-167.10, Z:-432.92 [[ 8.98524458e-02 -3.87070997e-01 9.17661474e-01 2.89772341e+02] [ 5.76077406e-02 9.21865653e-01 3.83203688e-01 -1.67100854e+02] [-9.94287628e-01 1.84326156e-02 1.05130169e-01 -4.32915140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.13, Z:-432.94 [[ 8.98918930e-02 -4.92205912e-01 8.65824917e-01 2.89830904e+02] [ 5.56118026e-02 8.70468732e-01 4.89072095e-01 -1.67133961e+02] [-9.94397695e-01 4.18646794e-03 1.05620540e-01 -4.32940131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-167.13, Z:-432.97 [[ 9.11277607e-02 -4.94470453e-01 8.64404247e-01 2.89833777e+02] [ 5.29383288e-02 8.69193909e-01 4.91629416e-01 -1.67132148e+02] [-9.94431126e-01 9.59028441e-04 1.05384134e-01 -4.32967439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-167.13, Z:-432.99 [[ 9.23635468e-02 -4.95079762e-01 8.63924189e-01 2.89835692e+02] [ 4.75062261e-02 8.68835998e-01 4.92815551e-01 -1.67129472e+02] [-9.94591441e-01 -4.47641435e-03 1.03768145e-01 -4.32994941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-167.13, Z:-433.02 [[ 9.36590505e-02 -4.97358711e-01 8.62474518e-01 2.89839473e+02] [ 4.54000501e-02 8.67514812e-01 4.95335125e-01 -1.67127575e+02] [-9.94568659e-01 -7.23623121e-03 1.03830724e-01 -4.33022834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-167.13, Z:-433.05 [[ 9.44454271e-02 -4.99649348e-01 8.61063639e-01 2.89842756e+02] [ 4.27754697e-02 8.66167776e-01 4.97919315e-01 -1.67126084e+02] [-9.94610638e-01 -1.01938008e-02 1.03178321e-01 -4.33049475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-167.12, Z:-433.08 [[ 9.56575045e-02 -5.00281179e-01 8.60562830e-01 2.89844896e+02] [ 3.76069746e-02 8.65726403e-01 4.99102706e-01 -1.67123392e+02] [-9.94703653e-01 -1.53797548e-02 1.01627289e-01 -4.33077388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-167.12, Z:-433.10 [[ 9.61743220e-02 -5.02652107e-01 8.59122435e-01 2.89848201e+02] [ 3.56466785e-02 8.64309090e-01 5.01696234e-01 -1.67122170e+02] [-9.94726000e-01 -1.76254339e-02 1.01042219e-01 -4.33104220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-167.12, Z:-433.13 [[ 9.64144434e-02 -5.03622456e-01 8.58527039e-01 2.89850740e+02] [ 3.40690894e-02 8.63709773e-01 5.02836678e-01 -1.67120968e+02] [-9.94758037e-01 -1.92314840e-02 1.00432056e-01 -4.33131773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-167.12, Z:-433.16 [[ 9.70427717e-02 -5.06059211e-01 8.57022039e-01 2.89854695e+02] [ 3.31781480e-02 8.62252456e-01 5.05390851e-01 -1.67120398e+02] [-9.94727054e-01 -2.06101250e-02 1.00465476e-01 -4.33158401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-167.12, Z:-433.19 [[ 9.75184457e-02 -5.07047803e-01 8.56383488e-01 2.89858540e+02] [ 3.20990977e-02 8.61639555e-01 5.06504615e-01 -1.67120890e+02] [-9.94715940e-01 -2.19044055e-02 1.00301527e-01 -4.33185459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-167.12, Z:-433.21 [[ 9.77379180e-02 -5.08165009e-01 8.55695987e-01 2.89861752e+02] [ 3.28065939e-02 8.60990443e-01 5.07562002e-01 -1.67120142e+02] [-9.94671316e-01 -2.15355825e-02 1.00822576e-01 -4.33212858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-167.12, Z:-433.24 [[ 9.81302049e-02 -5.10696230e-01 8.54142742e-01 2.89865039e+02] [ 3.36475325e-02 8.59497095e-01 5.10031948e-01 -1.67120157e+02] [-9.94604598e-01 -2.13097439e-02 1.01526294e-01 -4.33240640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-167.12, Z:-433.27 [[ 9.85757910e-02 -5.13253189e-01 8.52557316e-01 2.89868358e+02] [ 3.49762288e-02 8.57987603e-01 5.12478230e-01 -1.67119938e+02] [-9.94514694e-01 -2.06987071e-02 1.02528468e-01 -4.33268264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-167.12, Z:-433.30 [[ 9.90571763e-02 -5.15989706e-01 8.50847988e-01 2.89872052e+02] [ 3.78394817e-02 8.56388162e-01 5.14944162e-01 -1.67120763e+02] [-9.94362031e-01 -1.88132677e-02 1.04356176e-01 -4.33296162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.12, Z:-433.33 [[ 9.88511755e-02 -5.18616033e-01 8.49273722e-01 2.89876547e+02] [ 3.88159374e-02 8.54813779e-01 5.17481136e-01 -1.67121439e+02] [-9.94344894e-01 -1.81882630e-02 1.04629914e-01 -4.33325182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.12, Z:-433.35 [[ 9.76905786e-02 -5.19096399e-01 8.49114527e-01 2.89879865e+02] [ 3.99819435e-02 8.54553765e-01 5.17821695e-01 -1.67121361e+02] [-9.94413393e-01 -1.66370520e-02 1.04236335e-01 -4.33352403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-167.12, Z:-433.38 [[ 9.50331159e-02 -5.21192007e-01 8.48131828e-01 2.89886344e+02] [ 4.23735515e-02 8.53333541e-01 5.19640598e-01 -1.67123768e+02] [-9.94571862e-01 -1.34447075e-02 1.03179702e-01 -4.33379099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-167.12, Z:-433.41 [[ 9.29282881e-02 -5.22532048e-01 8.47540319e-01 2.89890493e+02] [ 4.40382568e-02 8.52547752e-01 5.20790708e-01 -1.67124299e+02] [-9.94698429e-01 -1.10719908e-02 1.02237204e-01 -4.33407069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-167.12, Z:-433.43 [[ 9.09813781e-02 -5.25297857e-01 8.46040513e-01 2.89895464e+02] [ 4.57948867e-02 8.50872160e-01 5.23373094e-01 -1.67124859e+02] [-9.94799084e-01 -8.87287592e-03 1.01469478e-01 -4.33433482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-167.13, Z:-433.46 [[ 8.75047943e-02 -5.26828680e-01 8.45455175e-01 2.89900246e+02] [ 4.93560276e-02 8.49961264e-01 5.24528201e-01 -1.67126139e+02] [-9.94940648e-01 -4.17042334e-03 1.00377856e-01 -4.33461051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-167.13, Z:-433.49 [[ 8.60287782e-02 -5.29558588e-01 8.43899729e-01 2.89905247e+02] [ 5.16399389e-02 8.48271536e-01 5.27037681e-01 -1.67127018e+02] [-9.94953449e-01 -1.76147735e-03 1.00322137e-01 -4.33488972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-167.13, Z:-433.52 [[ 8.53332188e-02 -5.30493044e-01 8.43383289e-01 2.89909290e+02] [ 5.39827140e-02 8.47689145e-01 5.27739501e-01 -1.67127651e+02] [-9.94888993e-01 4.94408615e-04 1.00973498e-01 -4.33516454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-167.14, Z:-433.54 [[ 8.25736486e-02 -5.56976945e-01 8.26412896e-01 2.89929984e+02] [ 5.63581303e-02 8.30527550e-01 5.54118895e-01 -1.67135339e+02] [-9.94990128e-01 8.19466754e-04 9.99698693e-02 -4.33543969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-167.13, Z:-433.57 [[ 7.97786314e-02 -5.35587584e-01 8.40702867e-01 2.89920757e+02] [ 6.04580751e-02 8.44438238e-01 5.32230103e-01 -1.67130395e+02] [-9.94977483e-01 8.36668784e-03 9.97487213e-02 -4.33572583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-167.13, Z:-433.61 [[ 8.18052873e-02 -5.47416003e-01 8.32852697e-01 2.89935690e+02] [ 6.34916722e-02 8.36818529e-01 5.43786316e-01 -1.67131674e+02] [-9.94623900e-01 8.39461465e-03 1.03212538e-01 -4.33605030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-167.12, Z:-433.64 [[ 7.78912789e-02 -4.95446498e-01 8.65139131e-01 2.89901347e+02] [ 6.48297415e-02 8.68456009e-01 4.91509171e-01 -1.67117112e+02] [-9.94851775e-01 1.78024683e-02 9.97648176e-02 -4.33637718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-167.13, Z:-433.66 [[ 7.53340714e-02 -5.36396904e-01 8.40596894e-01 2.89929698e+02] [ 6.92813781e-02 8.43770798e-01 5.32213239e-01 -1.67130098e+02] [-9.94748646e-01 1.81439211e-02 1.00727006e-01 -4.33664262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-167.13, Z:-433.69 [[ 7.45012495e-02 -5.39036871e-01 8.38980820e-01 2.89934279e+02] [ 7.15688653e-02 8.42039598e-01 5.34646811e-01 -1.67130875e+02] [-9.94649416e-01 2.02130498e-02 1.01311259e-01 -4.33691590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-167.13, Z:-433.72 [[ 7.37516881e-02 -5.40279121e-01 8.38247672e-01 2.89938306e+02] [ 7.38456939e-02 8.41187842e-01 5.35676982e-01 -1.67131166e+02] [-9.94538839e-01 2.23938994e-02 1.01936310e-01 -4.33719023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-167.13, Z:-433.75 [[ 7.17759616e-02 -5.43055339e-01 8.36623637e-01 2.89943431e+02] [ 7.77066510e-02 8.39282191e-01 5.38114375e-01 -1.67132586e+02] [-9.94389203e-01 2.63875443e-02 1.02439298e-01 -4.33746416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-167.13, Z:-433.77 [[ 7.02616443e-02 -5.45654739e-01 8.35059403e-01 2.89947634e+02] [ 7.90488720e-02 8.37541336e-01 5.40625366e-01 -1.67132507e+02] [-9.94391561e-01 2.80252767e-02 1.01980423e-01 -4.33773978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-167.13, Z:-433.80 [[ 6.94757612e-02 -5.48213025e-01 8.33448018e-01 2.89952027e+02] [ 8.02084328e-02 8.35831707e-01 5.43094803e-01 -1.67132004e+02] [-9.94353924e-01 2.91176346e-02 1.02041352e-01 -4.33800922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-167.13, Z:-433.83 [[ 6.79298317e-02 -5.49322046e-01 8.32845020e-01 2.89955479e+02] [ 8.04967610e-02 8.35069426e-01 5.44223599e-01 -1.67131138e+02] [-9.94437434e-01 3.00723090e-02 1.00944771e-01 -4.33829261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.14, Z:-433.86 [[ 7.52692036e-02 -5.72618199e-01 8.16359569e-01 2.89985729e+02] [ 7.97286432e-02 8.19516828e-01 5.67481728e-01 -1.67135126e+02] [-9.93970769e-01 2.23733431e-02 1.07338451e-01 -4.33859521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-167.09, Z:-433.89 [[ 7.37476313e-02 -4.06884180e-01 9.10497969e-01 2.89874655e+02] [ 8.03862230e-02 9.12438612e-01 4.01240371e-01 -1.67085002e+02] [-9.94031862e-01 4.36009658e-02 9.99980687e-02 -4.33891194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.13, Z:-433.92 [[ 7.96181256e-02 -5.75741724e-01 8.13745920e-01 2.89994126e+02] [ 7.67138758e-02 8.17455397e-01 5.70860452e-01 -1.67133135e+02] [-9.93869174e-01 1.69747642e-02 1.09251646e-01 -4.33917920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.09, Z:-433.95 [[ 7.68611208e-02 -4.12944518e-01 9.07507131e-01 2.89883349e+02] [ 7.47456546e-02 9.10024838e-01 4.07759587e-01 -1.67085042e+02] [-9.94236117e-01 3.64913557e-02 1.00811337e-01 -4.33949111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-167.13, Z:-433.97 [[ 7.46905744e-02 -5.53446846e-01 8.29528726e-01 2.89970978e+02] [ 7.16453415e-02 8.32680801e-01 5.49098924e-01 -1.67125740e+02] [-9.94629712e-01 1.84193548e-02 1.01845296e-01 -4.33972062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-167.12, Z:-434.00 [[ 7.59758763e-02 -5.55585403e-01 8.27980994e-01 2.89974183e+02] [ 6.85350153e-02 8.31327000e-01 5.51541813e-01 -1.67124479e+02] [-9.94751536e-01 1.48418175e-02 1.01237851e-01 -4.33999827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-167.12, Z:-434.03 [[ 8.08714385e-02 -5.57383329e-01 8.26307228e-01 2.89976978e+02] [ 6.25923371e-02 8.30226390e-01 5.53901021e-01 -1.67122566e+02] [-9.94757262e-01 6.92572819e-03 1.02029528e-01 -4.34027968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-167.12, Z:-434.06 [[ 8.39302587e-02 -5.59456312e-01 8.24599507e-01 2.89980244e+02] [ 5.97464759e-02 8.28855826e-01 5.56262868e-01 -1.67121489e+02] [-9.94678878e-01 2.57962807e-03 1.02991627e-01 -4.34055920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-167.12, Z:-434.08 [[ 8.70568005e-02 -5.61464641e-01 8.22908604e-01 2.89982996e+02] [ 5.65098836e-02 8.27497991e-01 5.58617677e-01 -1.67120623e+02] [-9.94599290e-01 -2.12899821e-03 1.03767629e-01 -4.34082957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-167.12, Z:-434.11 [[ 9.18520489e-02 -5.61812093e-01 8.22149849e-01 2.89983708e+02] [ 5.05470429e-02 8.27206291e-01 5.59620182e-01 -1.67119107e+02] [-9.94488913e-01 -9.84501674e-03 1.04378533e-01 -4.34111104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.12, Z:-434.14 [[ 9.37359653e-02 -5.63924341e-01 8.20489431e-01 2.89987150e+02] [ 4.84488193e-02 8.25725279e-01 5.61987967e-01 -1.67118565e+02] [-9.94417559e-01 -1.29267404e-02 1.04721625e-01 -4.34138702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.12, Z:-434.17 [[ 9.53238878e-02 -5.66109970e-01 8.18799645e-01 2.89991009e+02] [ 4.70210684e-02 8.24187798e-01 5.64361137e-01 -1.67118188e+02] [-9.94335143e-01 -1.52962636e-02 1.05183881e-01 -4.34166888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.12, Z:-434.19 [[ 9.79836747e-02 -5.68186548e-01 8.17045437e-01 2.89994964e+02] [ 4.48491875e-02 8.22683021e-01 5.66728504e-01 -1.67118608e+02] [-9.94176921e-01 -1.88863174e-02 1.06092211e-01 -4.34193980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-167.12, Z:-434.22 [[ 9.84479306e-02 -5.69726863e-01 8.15916237e-01 2.89998442e+02] [ 4.39823392e-02 8.21589006e-01 5.68381086e-01 -1.67118359e+02] [-9.94169784e-01 -2.00700370e-02 1.05941658e-01 -4.34221586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-167.12, Z:-434.25 [[ 9.87178452e-02 -5.72034872e-01 8.14267089e-01 2.90003320e+02] [ 4.29967992e-02 8.19951682e-01 5.70815657e-01 -1.67118579e+02] [-9.94186131e-01 -2.13388132e-02 1.05539532e-01 -4.34249819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-167.12, Z:-434.28 [[ 9.85999580e-02 -5.74472940e-01 8.12563160e-01 2.90007152e+02] [ 4.32762512e-02 8.18244912e-01 5.73238545e-01 -1.67117570e+02] [-9.94185704e-01 -2.13566091e-02 1.05539949e-01 -4.34278169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-167.12, Z:-434.30 [[ 9.95968790e-02 -5.76447876e-01 8.11041496e-01 2.90012569e+02] [ 4.03177333e-02 8.16762792e-01 5.75563222e-01 -1.67118144e+02] [-9.94210713e-01 -2.46249458e-02 1.04588097e-01 -4.34304523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-167.12, Z:-434.33 [[ 9.94160462e-02 -5.77365537e-01 8.10410690e-01 2.90015119e+02] [ 3.83590671e-02 8.16063856e-01 5.76687407e-01 -1.67117236e+02] [-9.94306307e-01 -2.62453838e-02 1.03277045e-01 -4.34332951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-167.12, Z:-434.36 [[ 9.97132892e-02 -5.79614721e-01 8.08766985e-01 2.90018885e+02] [ 3.66032893e-02 8.14404479e-01 5.79142076e-01 -1.67117590e+02] [-9.94342727e-01 -2.81446293e-02 1.02422755e-01 -4.34359801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-167.12, Z:-434.39 [[ 1.00290891e-01 -5.80639014e-01 8.07960440e-01 2.90022663e+02] [ 3.71189070e-02 8.13672881e-01 5.80136734e-01 -1.67117560e+02] [-9.94265520e-01 -2.81918212e-02 1.03156663e-01 -4.34387301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-167.12, Z:-434.41 [[ 1.00200788e-01 -5.82995854e-01 8.06272681e-01 2.90027483e+02] [ 3.76327248e-02 8.11991814e-01 5.82454352e-01 -1.67118096e+02] [-9.94255289e-01 -2.80201474e-02 1.03301942e-01 -4.34414907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-167.12, Z:-434.44 [[ 1.00780693e-01 -5.85344426e-01 8.04496834e-01 2.90032396e+02] [ 3.87672221e-02 8.10310057e-01 5.84717636e-01 -1.67118420e+02] [-9.94153084e-01 -2.77401409e-02 1.04355786e-01 -4.34442447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-167.12, Z:-434.47 [[ 1.01464822e-01 -5.87720905e-01 8.02676166e-01 2.90038123e+02] [ 3.97420575e-02 8.08590696e-01 5.87027814e-01 -1.67120136e+02] [-9.94044998e-01 -2.76626703e-02 1.05400749e-01 -4.34470162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-167.12, Z:-434.50 [[ 1.08391751e-01 -6.06411832e-01 7.87728328e-01 2.90064126e+02] [ 4.25954779e-02 7.94502281e-01 6.05765425e-01 -1.67121834e+02] [-9.93195275e-01 -3.21063103e-02 1.11947895e-01 -4.34499784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-167.10, Z:-434.53 [[ 1.01053678e-01 -4.95707455e-01 8.62590444e-01 2.89980894e+02] [ 3.93389251e-02 8.68341652e-01 4.94403909e-01 -1.67095868e+02] [-9.94102914e-01 -1.60279525e-02 1.07249716e-01 -4.34530032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-167.12, Z:-434.55 [[ 1.03559941e-01 -5.92651363e-01 7.98773873e-01 2.90048699e+02] [ 4.36133700e-02 8.05025270e-01 5.91635182e-01 -1.67121362e+02] [-9.93666550e-01 -2.64324838e-02 1.09215892e-01 -4.34553569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-167.12, Z:-434.58 [[ 1.04188852e-01 -5.94289837e-01 7.97473682e-01 2.90053327e+02] [ 4.50066875e-02 8.03833547e-01 5.93149245e-01 -1.67122224e+02] [-9.93538666e-01 -2.59078899e-02 1.10497511e-01 -4.34581335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-167.13, Z:-434.61 [[ 1.03369863e-01 -5.96840181e-01 7.95673595e-01 2.90061948e+02] [ 4.67327941e-02 8.01989860e-01 5.95506768e-01 -1.67125975e+02] [-9.93544522e-01 -2.43734027e-02 1.10793591e-01 -4.34609053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-167.13, Z:-434.64 [[ 1.01858599e-01 -5.99360457e-01 7.93972209e-01 2.90067765e+02] [ 4.76130082e-02 8.00145907e-01 5.97912643e-01 -1.67126864e+02] [-9.93658808e-01 -2.30991389e-02 1.10039096e-01 -4.34635320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-167.13, Z:-434.66 [[ 9.95174182e-02 -6.00627522e-01 7.93311328e-01 2.90072727e+02] [ 4.87707160e-02 7.99255197e-01 5.99009639e-01 -1.67127431e+02] [-9.93839877e-01 -2.09215313e-02 1.08832848e-01 -4.34663060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.13, Z:-434.69 [[ 1.00249741e-01 -6.20546440e-01 7.77735241e-01 2.90105851e+02] [ 5.37332910e-02 7.83908997e-01 6.18546214e-01 -1.67133424e+02] [-9.93510303e-01 -2.02188234e-02 1.11930676e-01 -4.34694796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-167.10, Z:-434.73 [[ 9.60258170e-02 -4.84112725e-01 8.69720594e-01 2.90013648e+02] [ 5.15448409e-02 8.75004530e-01 4.81362859e-01 -1.67102635e+02] [-9.94043345e-01 -1.39365209e-03 1.08976538e-01 -4.34729488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-167.09, Z:-434.75 [[ 8.55458964e-02 -4.34507010e-01 8.96596653e-01 2.89973304e+02] [ 5.09462716e-02 9.00625881e-01 4.31598772e-01 -1.67085527e+02] [-9.95030842e-01 8.75675277e-03 9.91813604e-02 -4.34754466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-167.13, Z:-434.78 [[ 8.48876756e-02 -6.09041902e-01 7.88582300e-01 2.90094997e+02] [ 5.27258409e-02 7.93075830e-01 6.06836645e-01 -1.67128466e+02] [-9.94994507e-01 -9.93428742e-03 9.94346102e-02 -4.34775196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-167.13, Z:-434.80 [[ 8.50642672e-02 -6.10538185e-01 7.87405356e-01 2.90098496e+02] [ 5.23697662e-02 7.91917015e-01 6.08378870e-01 -1.67127049e+02] [-9.94998230e-01 -1.05150683e-02 9.93375825e-02 -4.34802988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-167.13, Z:-434.83 [[ 8.55392228e-02 -6.12804472e-01 7.85591319e-01 2.90101664e+02] [ 5.34236388e-02 7.90167997e-01 6.10557493e-01 -1.67125747e+02] [-9.94901481e-01 -1.02574666e-02 1.00328601e-01 -4.34831147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-167.12, Z:-434.86 [[ 8.64416916e-02 -6.15087275e-01 7.83706245e-01 2.90104406e+02] [ 5.48785806e-02 7.88396178e-01 6.12715112e-01 -1.67123966e+02] [-9.94744276e-01 -9.95544448e-03 1.01905416e-01 -4.34858723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.12, Z:-434.89 [[ 8.71653315e-02 -6.17450195e-01 7.81765605e-01 2.90106285e+02] [ 5.65368208e-02 7.86553788e-01 6.14928229e-01 -1.67122811e+02] [-9.94588253e-01 -9.40188105e-03 1.03468893e-01 -4.34885807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.12, Z:-434.91 [[ 8.67686765e-02 -6.18511135e-01 7.80970661e-01 2.90108525e+02] [ 5.71982822e-02 7.85727063e-01 6.15923161e-01 -1.67121035e+02] [-9.94585116e-01 -8.77265716e-03 1.03554272e-01 -4.34912354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.12, Z:-434.94 [[ 8.58360487e-02 -6.20149441e-01 7.79773585e-01 2.90111456e+02] [ 5.79670817e-02 7.84444908e-01 6.17483607e-01 -1.67119116e+02] [-9.94621531e-01 -7.80115383e-03 1.03281905e-01 -4.34940693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-167.12, Z:-434.97 [[ 8.30551580e-02 -6.22656955e-01 7.78074648e-01 2.90115391e+02] [ 5.97822766e-02 7.82479195e-01 6.19800282e-01 -1.67117105e+02] [-9.94750180e-01 -4.96253652e-03 1.02212783e-01 -4.34968548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.12, Z:-435.00 [[ 9.20676871e-02 -6.51458170e-01 7.53077549e-01 2.90156113e+02] [ 6.37259838e-02 7.58594184e-01 6.48439560e-01 -1.67116557e+02] [-9.93711497e-01 -1.17097228e-02 1.11356825e-01 -4.35000846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-167.07, Z:-435.03 [[ 8.17487443e-02 -4.70123345e-01 8.78806681e-01 2.90011800e+02] [ 6.10336283e-02 8.82464454e-01 4.66402598e-01 -1.67074459e+02] [-9.94782408e-01 1.55089337e-02 1.00833695e-01 -4.35032976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-167.11, Z:-435.06 [[ 8.13781293e-02 -6.26636004e-01 7.75051558e-01 2.90120689e+02] [ 6.65151735e-02 7.79311621e-01 6.23096405e-01 -1.67109688e+02] [-9.94461328e-01 8.46269034e-04 1.05099724e-01 -4.35055446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-167.11, Z:-435.08 [[ 8.10439592e-02 -6.28339922e-01 7.73705900e-01 2.90123884e+02] [ 6.84022911e-02 7.77935499e-01 6.24609867e-01 -1.67107816e+02] [-9.94360600e-01 2.30239962e-03 1.06026863e-01 -4.35082909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:-167.11, Z:-435.11 [[ 7.88864302e-02 -6.47967404e-01 7.57571894e-01 2.90141159e+02] [ 7.02578897e-02 7.61664252e-01 6.44151688e-01 -1.67109219e+02] [-9.94404727e-01 2.41057539e-03 1.05609796e-01 -4.35110943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-167.11, Z:-435.15 [[ 8.95290357e-02 -6.78331975e-01 7.29280662e-01 2.90187864e+02] [ 7.52958036e-02 7.34735382e-01 6.74162044e-01 -1.67105332e+02] [-9.93133976e-01 -5.44530417e-03 1.16855701e-01 -4.35146040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.04, Z:-435.18 [[ 7.89043925e-02 -4.20186615e-01 9.04000722e-01 2.89987915e+02] [ 7.15794583e-02 9.06875400e-01 4.15275078e-01 -1.67044317e+02] [-9.94309046e-01 3.19408542e-02 1.01633183e-01 -4.35181183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-167.10, Z:-435.20 [[ 7.62113353e-02 -6.30661355e-01 7.72306991e-01 2.90132031e+02] [ 7.23323650e-02 7.76015750e-01 6.26552141e-01 -1.67097871e+02] [-9.94464610e-01 8.11241581e-03 1.04758424e-01 -4.35201566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.10, Z:-435.23 [[ 8.46854228e-02 -6.52925653e-01 7.52672884e-01 2.90162542e+02] [ 7.32812991e-02 7.57421974e-01 6.48800281e-01 -1.67095419e+02] [-9.93709329e-01 2.12920582e-04 1.11989840e-01 -4.35230308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.08, Z:-435.27 [[ 8.70537378e-02 -5.76969285e-01 8.12113348e-01 2.90108297e+02] [ 6.96543207e-02 8.16738332e-01 5.72788594e-01 -1.67078859e+02] [-9.93765527e-01 6.70381562e-03 1.11288528e-01 -4.35265290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-167.06, Z:-435.30 [[ 8.66509523e-02 -5.31944929e-01 8.42333785e-01 2.90077182e+02] [ 6.68581716e-02 8.46712857e-01 5.27832665e-01 -1.67064885e+02] [-9.93992755e-01 1.05796936e-02 1.08933341e-01 -4.35295419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-167.06, Z:-435.32 [[ 8.07607470e-02 -5.03828018e-01 8.60020366e-01 2.90048999e+02] [ 6.38008115e-02 8.63682428e-01 4.99982119e-01 -1.67055434e+02] [-9.94689478e-01 1.44910679e-02 1.01896274e-01 -4.35320951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.09, Z:-435.35 [[ 8.75442111e-02 -6.53474991e-01 7.51868637e-01 2.90163543e+02] [ 6.27172473e-02 7.56884727e-01 6.50532133e-01 -1.67086212e+02] [-9.94184368e-01 -9.79519117e-03 1.07245029e-01 -4.35348951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.07, Z:-435.38 [[ 8.57277586e-02 -5.93547193e-01 8.00220270e-01 2.90114981e+02] [ 5.88265324e-02 8.04791314e-01 5.90635574e-01 -1.67073643e+02] [-9.94580409e-01 -3.55968024e-03 1.03909279e-01 -4.35380768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-167.08, Z:-435.41 [[ 8.70384029e-02 -6.42804527e-01 7.61069416e-01 2.90153625e+02] [ 5.78953876e-02 7.65941378e-01 6.40298313e-01 -1.67081952e+02] [-9.94521212e-01 -1.16681337e-02 1.03881732e-01 -4.35406737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.08, Z:-435.43 [[ 8.92712671e-02 -6.44637629e-01 7.59258169e-01 2.90156516e+02] [ 5.39098704e-02 7.64311634e-01 6.42589645e-01 -1.67079338e+02] [-9.94547318e-01 -1.64332823e-02 1.02983399e-01 -4.35434742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.08, Z:-435.46 [[ 9.04638132e-02 -6.46669223e-01 7.57387097e-01 2.90159587e+02] [ 5.24142087e-02 7.62542905e-01 6.44810878e-01 -1.67077426e+02] [-9.94519507e-01 -1.86342054e-02 1.02877195e-01 -4.35461178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.08, Z:-435.49 [[ 9.30306155e-02 -6.47346920e-01 7.56496709e-01 2.90160007e+02] [ 5.08750262e-02 7.61889831e-01 6.45705519e-01 -1.67075170e+02] [-9.94362628e-01 -2.15835920e-02 1.03812871e-01 -4.35487844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.07, Z:-435.52 [[ 9.38570010e-02 -6.48229976e-01 7.55637983e-01 2.90162435e+02] [ 5.09469042e-02 7.61121183e-01 6.46605721e-01 -1.67073681e+02] [-9.94281286e-01 -2.21910578e-02 1.04461862e-01 -4.35516108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:-167.07, Z:-435.55 [[ 9.41980218e-02 -6.50468817e-01 7.53669060e-01 2.90168232e+02] [ 5.11824319e-02 7.59198283e-01 6.48843838e-01 -1.67073267e+02] [-9.94236939e-01 -2.25451906e-02 1.04807552e-01 -4.35546220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-167.07, Z:-435.57 [[ 9.33422179e-02 -6.23323464e-01 7.76373035e-01 2.90149950e+02] [ 5.01229246e-02 7.81730625e-01 6.21598683e-01 -1.67066991e+02] [-9.94371622e-01 -1.91073126e-02 1.04211265e-01 -4.35573748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:-167.07, Z:-435.60 [[ 9.25565527e-02 -6.43380888e-01 7.59930469e-01 2.90167498e+02] [ 5.22273731e-02 7.65292939e-01 6.41559833e-01 -1.67068887e+02] [-9.94336757e-01 -1.96913944e-02 1.04434970e-01 -4.35600946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-167.07, Z:-435.63 [[ 9.17753533e-02 -6.54891157e-01 7.50129894e-01 2.90178622e+02] [ 5.38318243e-02 7.55470415e-01 6.52967524e-01 -1.67069421e+02] [-9.94323599e-01 -1.95454645e-02 1.04587550e-01 -4.35628776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.07, Z:-435.66 [[ 8.53770338e-02 -6.40134327e-01 7.63504293e-01 2.90161565e+02] [ 5.58347384e-02 7.68172013e-01 6.37804233e-01 -1.67069493e+02] [-9.94783014e-01 -1.18237711e-02 1.01325981e-01 -4.35657195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-167.08, Z:-435.68 [[ 8.85032673e-02 -7.18689462e-01 6.89675742e-01 2.90234187e+02] [ 6.06437600e-02 6.94996114e-01 7.16451489e-01 -1.67078277e+02] [-9.94228096e-01 -2.15837675e-02 1.05093458e-01 -4.35682501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-167.07, Z:-435.71 [[ 8.57553419e-02 -6.59631117e-01 7.46681197e-01 2.90187540e+02] [ 5.94582788e-02 7.51494509e-01 6.57054576e-01 -1.67069121e+02] [-9.94540464e-01 -1.19495610e-02 1.03665199e-01 -4.35713038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-167.07, Z:-435.74 [[ 8.26007814e-02 -6.65371288e-01 7.41928676e-01 2.90196736e+02] [ 6.31841514e-02 7.46471448e-01 6.62410855e-01 -1.67070969e+02] [-9.94577737e-01 -7.83752044e-03 1.03700045e-01 -4.35740083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-167.07, Z:-435.77 [[ 8.10597711e-02 -6.64138080e-01 7.43202479e-01 2.90198539e+02] [ 6.46570141e-02 7.47589496e-01 6.61006366e-01 -1.67071766e+02] [-9.94609865e-01 -5.52777156e-03 1.03540619e-01 -4.35774038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-167.07, Z:-435.81 [[ 7.99446510e-02 -6.35480649e-01 7.67966925e-01 2.90179870e+02] [ 6.94255490e-02 7.72111656e-01 6.31683214e-01 -1.67065577e+02] [-9.94378673e-01 2.81683122e-03 1.05844790e-01 -4.35805258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-167.07, Z:-435.83 [[ 7.85766419e-02 -6.65512961e-01 7.42238647e-01 2.90206487e+02] [ 7.16615198e-02 7.46385328e-01 6.61644594e-01 -1.67070316e+02] [-9.94329089e-01 1.20013919e-03 1.06340123e-01 -4.35831499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-167.07, Z:-435.86 [[ 7.94983298e-02 -6.71485219e-01 7.36741214e-01 2.90217141e+02] [ 7.26879907e-02 7.41017791e-01 6.67539579e-01 -1.67070056e+02] [-9.94181307e-01 4.83956836e-04 1.07718588e-01 -4.35863189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-167.06, Z:-435.89 [[ 8.17091507e-02 -6.15239573e-01 7.84094307e-01 2.90177220e+02] [ 7.22559232e-02 7.88311474e-01 6.11018905e-01 -1.67056803e+02] [-9.94033549e-01 6.72962233e-03 1.08866964e-01 -4.35892711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.05, Z:-435.92 [[ 8.04876420e-02 -5.95221403e-01 7.99520619e-01 2.90161607e+02] [ 7.03785446e-02 8.03514735e-01 5.91109915e-01 -1.67051406e+02] [-9.94267871e-01 8.69205436e-03 1.06563822e-01 -4.35921632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:-167.05, Z:-435.95 [[ 7.85343299e-02 -6.07664088e-01 7.90301661e-01 2.90169730e+02] [ 6.98620561e-02 7.94155831e-01 6.03685191e-01 -1.67051261e+02] [-9.94460483e-01 7.80208709e-03 1.04821159e-01 -4.35946110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.22, Y:-167.06, Z:-435.97 [[ 7.84878454e-02 -6.73599718e-01 7.34917055e-01 2.90223345e+02] [ 7.00788215e-02 7.39095564e-01 6.69945301e-01 -1.67060836e+02] [-9.94448901e-01 -1.08044208e-03 1.05215093e-01 -4.35969720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-167.06, Z:-436.00 [[ 8.04165906e-02 -6.82685545e-01 7.26273791e-01 2.90235951e+02] [ 7.10915399e-02 7.30706254e-01 6.78980385e-01 -1.67058260e+02] [-9.94222895e-01 -2.96936545e-03 1.07294072e-01 -4.35999446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-167.05, Z:-436.03 [[ 7.76549144e-02 -6.26225862e-01 7.75764709e-01 2.90187519e+02] [ 6.93023500e-02 7.79622786e-01 6.22403001e-01 -1.67047671e+02] [-9.94568700e-01 5.42966559e-03 1.03940465e-01 -4.36028387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-167.05, Z:-436.05 [[ 7.62090441e-02 -6.77695062e-01 7.31383336e-01 2.90229043e+02] [ 7.12687918e-02 7.35342653e-01 6.73937639e-01 -1.67054129e+02] [-9.94541573e-01 7.64663452e-04 1.04338269e-01 -4.36053833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-167.05, Z:-436.08 [[ 7.60134691e-02 -6.79830745e-01 7.29419022e-01 2.90232708e+02] [ 7.14777411e-02 7.33368665e-01 6.76063113e-01 -1.67052570e+02] [-9.94541545e-01 7.47321454e-04 1.04338662e-01 -4.36082186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-167.05, Z:-436.11 [[ 7.54651335e-02 -6.81918986e-01 7.27524234e-01 2.90236221e+02] [ 7.30045386e-02 7.31425120e-01 6.78002678e-01 -1.67050583e+02] [-9.94472398e-01 1.94700839e-03 1.04980275e-01 -4.36108507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-167.05, Z:-436.14 [[ 7.48269912e-02 -6.82934584e-01 7.26636963e-01 2.90238954e+02] [ 7.43246899e-02 7.30472492e-01 6.78885689e-01 -1.67048553e+02] [-9.94422829e-01 3.20809340e-03 1.05417960e-01 -4.36136423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-167.05, Z:-436.16 [[ 7.43134225e-02 -6.85199500e-01 7.24554456e-01 2.90241868e+02] [ 7.71036562e-02 7.28336386e-01 6.80867928e-01 -1.67045697e+02] [-9.94249738e-01 5.26817165e-03 1.06956556e-01 -4.36164336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-167.04, Z:-436.19 [[ 7.35588574e-02 -6.87448863e-01 7.22497858e-01 2.90244674e+02] [ 7.83042503e-02 7.26205168e-01 6.83004026e-01 -1.67043611e+02] [-9.94212019e-01 6.33365740e-03 1.07248990e-01 -4.36192468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-167.04, Z:-436.22 [[ 7.29565435e-02 -6.89677703e-01 7.20431822e-01 2.90248398e+02] [ 7.94644625e-02 7.24080032e-01 6.85122986e-01 -1.67041601e+02] [-9.94164344e-01 7.26452252e-03 1.07631244e-01 -4.36220530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-167.04, Z:-436.25 [[ 7.16812404e-02 -6.91914261e-01 7.18412455e-01 2.90251881e+02] [ 8.05791881e-02 7.21928153e-01 6.87260312e-01 -1.67039532e+02] [-9.94167388e-01 8.62542065e-03 1.07502595e-01 -4.36247386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-167.04, Z:-436.28 [[ 6.80189919e-02 -6.93111146e-01 7.17614350e-01 2.90253928e+02] [ 8.28527123e-02 7.20719867e-01 6.88257439e-01 -1.67036477e+02] [-9.94237821e-01 1.26417181e-02 1.06448777e-01 -4.36275136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-167.03, Z:-436.30 [[ 6.59788827e-02 -6.95353897e-01 7.15632410e-01 2.90257369e+02] [ 8.42344563e-02 7.18516523e-01 6.90390153e-01 -1.67034210e+02] [-9.94259193e-01 1.47297360e-02 1.05979675e-01 -4.36302513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-167.03, Z:-436.33 [[ 6.41846972e-02 -6.97584287e-01 7.13622090e-01 2.90260878e+02] [ 8.55530532e-02 7.16310327e-01 6.92517285e-01 -1.67031951e+02] [-9.94264049e-01 1.66035363e-02 1.05656627e-01 -4.36329398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-167.03, Z:-436.36 [[ 6.29266497e-02 -6.98651372e-01 7.12689622e-01 2.90264828e+02] [ 8.77613354e-02 7.15212200e-01 6.93375409e-01 -1.67029558e+02] [-9.94151993e-01 1.89148015e-02 1.06320485e-01 -4.36357169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-167.03, Z:-436.38 [[ 6.32342528e-02 -7.00793147e-01 7.10556398e-01 2.90268616e+02] [ 8.86280760e-02 7.13111454e-01 6.95425854e-01 -1.67027508e+02] [-9.94055579e-01 1.90005122e-02 1.07203018e-01 -4.36383724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-167.02, Z:-436.41 [[ 6.36682690e-02 -7.01699964e-01 7.09622091e-01 2.90270429e+02] [ 8.88842212e-02 7.12226016e-01 6.96300005e-01 -1.67024990e+02] [-9.94005003e-01 1.87419909e-02 1.07716252e-01 -4.36412035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-167.02, Z:-436.44 [[ 6.77739420e-02 -7.07596025e-01 7.03359480e-01 2.90277964e+02] [ 8.78055640e-02 7.06475241e-01 7.02269832e-01 -1.67020002e+02] [-9.93829400e-01 1.41632810e-02 1.10011480e-01 -4.36440635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-167.01, Z:-436.47 [[ 7.30457929e-02 -7.00437404e-01 7.09966024e-01 2.90277481e+02] [ 8.71953827e-02 7.13626999e-01 6.95078032e-01 -1.67014041e+02] [-9.93509576e-01 1.11332332e-02 1.13202358e-01 -4.36474293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-167.00, Z:-436.51 [[ 7.23260724e-02 -6.42875425e-01 7.62548443e-01 2.90223529e+02] [ 8.09641987e-02 7.65811898e-01 6.37947440e-01 -1.67003252e+02] [-9.94089401e-01 1.55988909e-02 1.07438060e-01 -4.36506586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-167.01, Z:-436.53 [[ 7.25137462e-02 -7.03659076e-01 7.06827887e-01 2.90272258e+02] [ 7.99208958e-02 7.10514136e-01 6.99129683e-01 -1.67010726e+02] [-9.94160152e-01 5.79380550e-03 1.07759105e-01 -4.36530651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-167.01, Z:-436.56 [[ 7.33468416e-02 -7.04420435e-01 7.05983067e-01 2.90274227e+02] [ 7.80639310e-02 7.09772989e-01 7.00091656e-01 -1.67008105e+02] [-9.94246581e-01 3.76230163e-03 1.07049435e-01 -4.36558280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-167.01, Z:-436.59 [[ 7.52383592e-02 -7.06225829e-01 7.03977463e-01 2.90278604e+02] [ 7.51938109e-02 7.07986630e-01 7.02211380e-01 -1.67005387e+02] [-9.94326446e-01 1.01516163e-04 1.06371564e-01 -4.36585552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-167.00, Z:-436.61 [[ 7.63680841e-02 -7.08153110e-01 7.01916725e-01 2.90281981e+02] [ 7.43051624e-02 7.06057030e-01 7.04245848e-01 -1.67003218e+02] [-9.94307125e-01 -1.62586988e-03 1.06539654e-01 -4.36613247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-167.00, Z:-436.64 [[ 7.79399438e-02 -7.10061506e-01 6.99812848e-01 2.90284395e+02] [ 7.36840530e-02 7.04131063e-01 7.06236579e-01 -1.67000910e+02] [-9.94231374e-01 -3.47899227e-03 1.07200145e-01 -4.36639783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-167.00, Z:-436.67 [[ 7.93885395e-02 -7.10806998e-01 6.98892604e-01 2.90285397e+02] [ 7.28131864e-02 7.03367536e-01 7.07087229e-01 -1.66998308e+02] [-9.94180919e-01 -5.24602502e-03 1.07595444e-01 -4.36667720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-167.00, Z:-436.70 [[ 8.29324012e-02 -7.12493375e-01 6.96760653e-01 2.90287402e+02] [ 7.06742606e-02 7.01613714e-01 7.09043966e-01 -1.66995434e+02] [-9.94045958e-01 -9.55967473e-03 1.08541452e-01 -4.36695754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-166.99, Z:-436.72 [[ 8.45368681e-02 -7.14320928e-01 6.94693551e-01 2.90290362e+02] [ 6.93681798e-02 6.99716749e-01 7.11044673e-01 -1.66993681e+02] [-9.94002804e-01 -1.19198626e-02 1.08703005e-01 -4.36722133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-166.99, Z:-436.75 [[ 8.69516783e-02 -7.14867559e-01 6.93832674e-01 2.90292491e+02] [ 6.64753427e-02 6.99081755e-01 7.11945032e-01 -1.66990761e+02] [-9.93992170e-01 -1.57820506e-02 1.08307398e-01 -4.36750355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-166.99, Z:-436.78 [[ 8.70772188e-02 -7.16756761e-01 6.91865090e-01 2.90296206e+02] [ 6.52357637e-02 6.97115105e-01 7.13985172e-01 -1.66988779e+02] [-9.94063304e-01 -1.70374955e-02 1.07461019e-01 -4.36778074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-166.99, Z:-436.81 [[ 8.65762751e-02 -7.18806487e-01 6.89798364e-01 2.90300471e+02] [ 6.44297174e-02 6.94988499e-01 7.16128339e-01 -1.66986620e+02] [-9.94159625e-01 -1.75562105e-02 1.06482014e-01 -4.36805989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-166.98, Z:-436.83 [[ 8.52066538e-02 -7.20906147e-01 6.87774784e-01 2.90304509e+02] [ 6.34871146e-02 6.92810688e-01 7.18319384e-01 -1.66984937e+02] [-9.94338580e-01 -1.75407545e-02 1.04800332e-01 -4.36832369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-166.98, Z:-436.86 [[ 8.24837055e-02 -7.22044364e-01 6.86912203e-01 2.90307592e+02] [ 6.48419503e-02 6.91688694e-01 7.19278995e-01 -1.66983141e+02] [-9.94480749e-01 -1.47880698e-02 1.03871811e-01 -4.36859769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-166.98, Z:-436.89 [[ 8.09006473e-02 -7.24284350e-01 6.84738831e-01 2.90311253e+02] [ 6.68421714e-02 6.89386548e-01 7.21303204e-01 -1.66982077e+02] [-9.94478361e-01 -1.25844659e-02 1.04184557e-01 -4.36886492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-166.98, Z:-436.92 [[ 8.02106875e-02 -7.26078496e-01 6.82917465e-01 2.90317219e+02] [ 6.96650944e-02 6.87533153e-01 7.22803527e-01 -1.66981742e+02] [-9.94340495e-01 -1.04010582e-02 1.05729834e-01 -4.36916948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-166.98, Z:-436.95 [[ 7.66586960e-02 -6.85233068e-01 7.24278321e-01 2.90285398e+02] [ 7.43207020e-02 7.28322079e-01 6.81192617e-01 -1.66976517e+02] [-9.94283600e-01 1.60953552e-03 1.06759224e-01 -4.36951724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-166.97, Z:-436.98 [[ 7.40170900e-02 -6.82961125e-01 7.26694965e-01 2.90284626e+02] [ 7.66225324e-02 7.30434406e-01 6.78671177e-01 -1.66974637e+02] [-9.94309035e-01 5.44794290e-03 1.06394840e-01 -4.36979474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-166.98, Z:-437.01 [[ 6.97070172e-02 -7.28668036e-01 6.81310374e-01 2.90328271e+02] [ 8.08055355e-02 6.84851797e-01 7.24188153e-01 -1.66982399e+02] [-9.94289393e-01 4.57265349e-03 1.06619387e-01 -4.37012478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-166.98, Z:-437.05 [[ 6.83211302e-02 -6.82306946e-01 7.27866372e-01 2.90292388e+02] [ 8.23349534e-02 7.30938486e-01 6.77458401e-01 -1.66975100e+02] [-9.94260116e-01 1.36441201e-02 1.06116254e-01 -4.37047932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-166.97, Z:-437.08 [[ 6.41207601e-02 -6.72873269e-01 7.36973603e-01 2.90284394e+02] [ 8.36845987e-02 7.39517672e-01 6.67915040e-01 -1.66973592e+02] [-9.94427180e-01 1.88461202e-02 1.03727565e-01 -4.37079807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-166.98, Z:-437.11 [[ 6.18258272e-02 -7.12529754e-01 6.98912667e-01 2.90323923e+02] [ 8.71509954e-02 7.01431631e-01 7.07388416e-01 -1.66980786e+02] [-9.94274746e-01 1.71760607e-02 1.05464268e-01 -4.37107432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-166.97, Z:-437.14 [[ 6.13005670e-02 -6.47706967e-01 7.59419466e-01 2.90272993e+02] [ 9.08011633e-02 7.61314278e-01 6.41993550e-01 -1.66969000e+02] [-9.93980578e-01 2.96016023e-02 1.05481543e-01 -4.37137005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-166.98, Z:-437.17 [[ 5.87914914e-02 -6.91752968e-01 7.19737029e-01 2.90312444e+02] [ 9.26646460e-02 7.21652887e-01 6.86025054e-01 -1.66975724e+02] [-9.93960172e-01 2.63617410e-02 1.06528093e-01 -4.37166340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-166.98, Z:-437.20 [[ 5.68988355e-02 -6.90037478e-01 7.21533646e-01 2.90314998e+02] [ 9.63220253e-02 7.23127220e-01 6.83965709e-01 -1.66976505e+02] [-9.93722592e-01 3.05827297e-02 1.07610904e-01 -4.37197575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-166.98, Z:-437.23 [[ 5.39140785e-02 -6.77671954e-01 7.33385297e-01 2.90302750e+02] [ 9.59212273e-02 7.34571789e-01 6.71716760e-01 -1.66976539e+02] [-9.93927759e-01 3.41322277e-02 1.04606887e-01 -4.37226913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-166.98, Z:-437.25 [[ 5.47006655e-02 -7.24571809e-01 6.87025131e-01 2.90349762e+02] [ 9.88927490e-02 6.88603696e-01 7.18362843e-01 -1.66977950e+02] [-9.93593509e-01 2.86468782e-02 1.09321978e-01 -4.37253982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-166.97, Z:-437.28 [[ 5.49466010e-02 -6.93760888e-01 7.18106330e-01 2.90326371e+02] [ 9.87393959e-02 7.19443014e-01 6.87497114e-01 -1.66972077e+02] [-9.93595191e-01 3.31297556e-02 1.08032479e-01 -4.37280171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-166.98, Z:-437.31 [[ 5.39309989e-02 -7.42228938e-01 6.67972792e-01 2.90372463e+02] [ 9.62788118e-02 6.69694794e-01 7.36368979e-01 -1.66975937e+02] [-9.93892267e-01 2.45985121e-02 1.07578229e-01 -4.37311467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-166.97, Z:-437.34 [[ 5.39001051e-02 -6.85585562e-01 7.25993950e-01 2.90321286e+02] [ 9.31405264e-02 7.27332964e-01 6.79934998e-01 -1.66970393e+02] [-9.94192950e-01 3.09708908e-02 1.03059123e-01 -4.37342728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-166.97, Z:-437.37 [[ 5.58208941e-02 -7.13421434e-01 6.98508329e-01 2.90349659e+02] [ 9.26563172e-02 7.00281610e-01 7.07827998e-01 -1.66967299e+02] [-9.94132202e-01 2.52096175e-02 1.05193348e-01 -4.37366929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8365599949999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:290.36, Y:-166.97, Z:-437.40 [[ 5.37116998e-02 -7.26715562e-01 6.84835414e-01 2.90356414e+02] [ 8.75759140e-02 6.86610982e-01 7.21731126e-01 -1.66970471e+02] [-9.94708758e-01 2.12096817e-02 1.00521822e-01 -4.37395796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-166.97, Z:-437.42 [[ 5.72758165e-02 -7.53051246e-01 6.55464188e-01 2.90387524e+02] [ 8.76609999e-02 6.57799596e-01 7.48074355e-01 -1.66965694e+02] [-9.94502403e-01 1.46120766e-02 1.03689234e-01 -4.37421257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-166.96, Z:-437.45 [[ 5.80153105e-02 -7.44152599e-01 6.65485638e-01 2.90380806e+02] [ 8.51233018e-02 6.67868094e-01 7.39395857e-01 -1.66962377e+02] [-9.94679972e-01 1.37520546e-02 1.02091301e-01 -4.37449966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-166.96, Z:-437.48 [[ 5.86416931e-02 -7.45459603e-01 6.63966213e-01 2.90383207e+02] [ 8.45469322e-02 6.66429867e-01 7.40758428e-01 -1.66959938e+02] [-9.94692399e-01 1.26969780e-02 1.02106898e-01 -4.37477843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-166.96, Z:-437.51 [[ 5.90514559e-02 -7.47656078e-01 6.61455452e-01 2.90385709e+02] [ 8.38599253e-02 6.63984939e-01 7.43028609e-01 -1.66957602e+02] [-9.94726313e-01 1.15926836e-02 1.01907660e-01 -4.37506035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-166.96, Z:-437.53 [[ 6.21885055e-02 -7.49272663e-01 6.59335321e-01 2.90388174e+02] [ 8.28753931e-02 6.62209253e-01 7.44721810e-01 -1.66955375e+02] [-9.94617645e-01 8.32953758e-03 1.03278070e-01 -4.37533074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-166.95, Z:-437.56 [[ 6.32182792e-02 -7.50038464e-01 6.58365971e-01 2.90390317e+02] [ 8.22797094e-02 6.61356763e-01 7.45544956e-01 -1.66953443e+02] [-9.94602181e-01 7.03809153e-03 1.03522783e-01 -4.37561101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-166.95, Z:-437.59 [[ 5.76047640e-02 -7.34656141e-01 6.75989678e-01 2.90368303e+02] [ 7.83028457e-02 6.78352903e-01 7.30551849e-01 -1.66954654e+02] [-9.95263963e-01 1.08486487e-02 9.66020254e-02 -4.37592515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.95, Z:-437.62 [[ 6.44277981e-02 -8.43978628e-01 5.32493318e-01 2.90488590e+02] [ 8.01119486e-02 5.36254019e-01 8.40246215e-01 -1.66947849e+02] [-9.94701530e-01 -1.14761363e-02 1.02162438e-01 -4.37617165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-166.95, Z:-437.65 [[ 6.01202294e-02 -7.25118619e-01 6.85994567e-01 2.90354821e+02] [ 7.28712928e-02 6.88592220e-01 7.21478018e-01 -1.66949297e+02] [-9.95527666e-01 6.61388699e-03 9.42386534e-02 -4.37653431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-166.95, Z:-437.68 [[ 6.22916288e-02 -8.82380238e-01 4.66395613e-01 2.90521467e+02] [ 7.12537874e-02 4.70042419e-01 8.79763049e-01 -1.66949418e+02] [-9.95511251e-01 -2.15694194e-02 9.21526417e-02 -4.37675124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:-166.94, Z:-437.71 [[ 7.45264915e-02 -8.09818544e-01 5.81927597e-01 2.90450335e+02] [ 7.32136916e-02 5.86418924e-01 8.06692383e-01 -1.66943896e+02] [-9.94527806e-01 -1.75148854e-02 1.02993550e-01 -4.37708150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-166.94, Z:-437.74 [[ 7.51233884e-02 -7.57897818e-01 6.48033467e-01 2.90400712e+02] [ 7.04587261e-02 6.52279933e-01 7.54696268e-01 -1.66940438e+02] [-9.94681881e-01 -1.10357283e-02 1.02401993e-01 -4.37739167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-166.94, Z:-437.77 [[ 7.51194098e-02 -7.59829416e-01 6.45768018e-01 2.90404482e+02] [ 6.97272410e-02 6.50015101e-01 7.56715588e-01 -1.66938463e+02] [-9.94733726e-01 -1.18164061e-02 1.01809559e-01 -4.37766748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:-166.94, Z:-437.79 [[ 7.46859071e-02 -7.61763770e-01 6.43535527e-01 2.90409433e+02] [ 6.82375130e-02 6.47729238e-01 7.58808590e-01 -1.66937357e+02] [-9.94869668e-01 -1.27590439e-02 1.00357111e-01 -4.37793050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:-166.94, Z:-437.82 [[ 7.48400883e-02 -7.63074786e-01 6.41962485e-01 2.90413289e+02] [ 6.78966068e-02 6.46173260e-01 7.60164567e-01 -1.66936330e+02] [-9.94881406e-01 -1.33037090e-02 1.00169853e-01 -4.37819960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-166.94, Z:-437.85 [[ 7.44377478e-02 -7.64322710e-01 6.40523081e-01 2.90418509e+02] [ 6.55527668e-02 6.44666185e-01 7.61648439e-01 -1.66936175e+02] [-9.95068770e-01 -1.47073343e-02 9.80909672e-02 -4.37848187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-166.93, Z:-437.88 [[ 7.43197629e-02 -7.66251923e-01 6.38227674e-01 2.90421940e+02] [ 6.57102746e-02 6.42369552e-01 7.63572864e-01 -1.66934211e+02] [-9.95067200e-01 -1.48104385e-02 9.80913770e-02 -4.37876521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-166.93, Z:-437.90 [[ 7.49190244e-02 -7.67363864e-01 6.36820101e-01 2.90425641e+02] [ 6.47332757e-02 6.41010385e-01 7.64797548e-01 -1.66932403e+02] [-9.95086299e-01 -1.60744350e-02 9.76978492e-02 -4.37903936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-166.93, Z:-437.93 [[ 7.56126661e-02 -7.69127272e-01 6.34606937e-01 2.90429166e+02] [ 6.25503624e-02 6.38834023e-01 7.66797589e-01 -1.66930996e+02] [-9.95173441e-01 -1.82847162e-02 9.64131333e-02 -4.37932275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-166.93, Z:-437.96 [[ 7.56419348e-02 -7.62422162e-01 6.42643560e-01 2.90418264e+02] [ 5.86519530e-02 6.46776097e-01 7.60421349e-01 -1.66933432e+02] [-9.95408583e-01 -1.98274423e-02 9.36409442e-02 -4.37960330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-166.93, Z:-437.99 [[ 8.29034589e-02 -8.09116109e-01 5.81771552e-01 2.90471962e+02] [ 6.19350375e-02 5.86835916e-01 8.07333673e-01 -1.66929291e+02] [-9.94631121e-01 -3.08987110e-02 9.87633638e-02 -4.37985384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-166.93, Z:-438.02 [[ 8.73507939e-02 -7.73122960e-01 6.28212326e-01 2.90438765e+02] [ 5.88149487e-02 6.33525224e-01 7.71483372e-01 -1.66929060e+02] [-9.94439863e-01 -3.04414093e-02 1.00810118e-01 -4.38015210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-166.93, Z:-438.04 [[ 8.93221888e-02 -7.74884433e-01 6.25760068e-01 2.90443520e+02] [ 5.89690720e-02 6.31283626e-01 7.73306946e-01 -1.66927698e+02] [-9.94255599e-01 -3.21729785e-02 1.02081851e-01 -4.38043005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5565599949999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:290.45, Y:-166.93, Z:-438.07 [[ 9.12396226e-02 -7.74265124e-01 6.26249830e-01 2.90445420e+02] [ 6.00542145e-02 6.32006363e-01 7.72632803e-01 -1.66926676e+02] [-9.94016510e-01 -3.28857838e-02 1.04161906e-01 -4.38071155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-166.93, Z:-438.10 [[ 9.08154734e-02 -7.71537323e-01 6.29668730e-01 2.90444614e+02] [ 5.99461307e-02 6.35370139e-01 7.69877424e-01 -1.66925453e+02] [-9.94061875e-01 -3.21705787e-02 1.03952117e-01 -4.38099244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-166.93, Z:-438.13 [[ 8.70642382e-02 -7.80137145e-01 6.19520665e-01 2.90455673e+02] [ 6.15620192e-02 6.24906928e-01 7.78268238e-01 -1.66925039e+02] [-9.94298716e-01 -2.96203881e-02 1.02433863e-01 -4.38126702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-166.92, Z:-438.15 [[ 8.28393804e-02 -7.82380028e-01 6.17267470e-01 2.90460806e+02] [ 6.20300747e-02 6.22243421e-01 7.80362348e-01 -1.66923571e+02] [-9.94630538e-01 -2.63555861e-02 1.00077351e-01 -4.38153641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-166.92, Z:-438.18 [[ 7.45152451e-02 -7.84318652e-01 6.15866650e-01 2.90466853e+02] [ 6.37532627e-02 6.20067013e-01 7.81954232e-01 -1.66922158e+02] [-9.95179883e-01 -1.90040029e-02 9.62073185e-02 -4.38181404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-166.92, Z:-438.21 [[ 7.07891661e-02 -7.86444246e-01 6.13591348e-01 2.90470791e+02] [ 6.45469905e-02 6.17456850e-01 7.83951991e-01 -1.66920380e+02] [-9.95400713e-01 -1.58898328e-02 9.44718648e-02 -4.38208313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-166.92, Z:-438.24 [[ 6.54948649e-02 -7.85730657e-01 6.15091666e-01 2.90469002e+02] [ 6.54120194e-02 6.18470013e-01 7.83081165e-01 -1.66918458e+02] [-9.95706629e-01 -1.10534071e-02 9.19028389e-02 -4.38239337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.91, Z:-438.27 [[ 6.48977272e-02 -8.23802270e-01 5.63150162e-01 2.90514297e+02] [ 6.76799688e-02 5.66674042e-01 8.21157690e-01 -1.66914417e+02] [-9.95594148e-01 -1.51772824e-02 9.25307693e-02 -4.38269711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-166.91, Z:-438.30 [[ 6.40397536e-02 -7.86321924e-01 6.14489008e-01 2.90476200e+02] [ 6.79576124e-02 6.17759730e-01 7.83424967e-01 -1.66913807e+02] [-9.95630792e-01 -8.41113601e-03 9.29977414e-02 -4.38299621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-166.91, Z:-438.33 [[ 6.37401802e-02 -7.88263199e-01 6.12028037e-01 2.90479248e+02] [ 6.96318691e-02 6.15293325e-01 7.85216866e-01 -1.66910178e+02] [-9.95534325e-01 -7.43320840e-03 9.41071474e-02 -4.38332289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-166.91, Z:-438.36 [[ 6.46965733e-02 -7.90615207e-01 6.08885825e-01 2.90481633e+02] [ 7.20217565e-02 6.12272306e-01 7.87359822e-01 -1.66907584e+02] [-9.95302577e-01 -7.08645586e-03 9.65534160e-02 -4.38361551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.91, Z:-438.39 [[ 6.49261458e-02 -8.09028532e-01 5.84172432e-01 2.90501103e+02] [ 7.19853952e-02 5.87679623e-01 8.05885081e-01 -1.66907478e+02] [-9.95290258e-01 -1.02711289e-02 9.63940114e-02 -4.38389912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.90, Z:-438.42 [[ 6.41454778e-02 -7.96279061e-01 6.01518922e-01 2.90489497e+02] [ 7.67744086e-02 6.04911520e-01 7.92582957e-01 -1.66901828e+02] [-9.94982939e-01 -4.65935291e-03 9.99361924e-02 -4.38421420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.90, Z:-438.45 [[ 6.11163991e-02 -8.00942734e-01 5.95613569e-01 2.90495171e+02] [ 7.51404467e-02 5.98727727e-01 7.97420230e-01 -1.66903680e+02] [-9.95298297e-01 -3.98078342e-03 9.67752775e-02 -4.38453403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.90, Z:-438.48 [[ 6.19939581e-02 -7.99492048e-01 5.97469008e-01 2.90500761e+02] [ 8.05198460e-02 6.00675468e-01 7.95427896e-01 -1.66896294e+02] [-9.94823253e-01 -1.20361116e-03 1.01613226e-01 -4.38480282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-166.90, Z:-438.51 [[ 5.56732452e-02 -7.79165540e-01 6.24340893e-01 2.90475993e+02] [ 8.03464249e-02 6.26778956e-01 7.75043607e-01 -1.66899265e+02] [-9.95211004e-01 7.01436590e-03 9.74979841e-02 -4.38509998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.89, Z:-438.54 [[ 5.26374723e-02 -7.96439550e-01 6.02422891e-01 2.90494792e+02] [ 8.54657942e-02 6.04638691e-01 7.91901289e-01 -1.66892532e+02] [-9.94949695e-01 9.80286865e-03 9.98949910e-02 -4.38538925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.89, Z:-438.57 [[ 4.98220227e-02 -8.09082753e-01 5.85579086e-01 2.90507995e+02] [ 8.39064441e-02 5.87625224e-01 8.04770964e-01 -1.66894337e+02] [-9.95227348e-01 9.03854158e-03 9.71639341e-02 -4.38567304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.89, Z:-438.60 [[ 4.95713882e-02 -7.98862416e-01 5.99467695e-01 2.90501601e+02] [ 8.80196468e-02 6.01364521e-01 7.94111614e-01 -1.66887809e+02] [-9.94884526e-01 1.33997197e-02 1.00126062e-01 -4.38597436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.89, Z:-438.63 [[ 4.32125800e-02 -8.06311269e-01 5.89910850e-01 2.90508955e+02] [ 8.68344005e-02 5.91259115e-01 8.01793269e-01 -1.66890782e+02] [-9.95285115e-01 1.65769992e-02 9.55653875e-02 -4.38630286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.89, Z:-438.66 [[ 3.80005683e-02 -7.86398696e-01 6.16549307e-01 2.90486426e+02] [ 8.96276294e-02 6.17190431e-01 7.81692306e-01 -1.66887321e+02] [-9.95250142e-01 2.55551009e-02 9.39366380e-02 -4.38661376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-166.88, Z:-438.69 [[ 3.73460036e-02 -8.39937838e-01 5.41396069e-01 2.90547351e+02] [ 8.88995248e-02 5.42418435e-01 8.35391595e-01 -1.66882932e+02] [-9.95340219e-01 1.69313158e-02 9.49272354e-02 -4.38691794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.88, Z:-438.72 [[ 3.89364125e-02 -7.85992491e-01 6.17008720e-01 2.90491617e+02] [ 9.19134902e-02 6.17676365e-01 7.81042776e-01 -1.66881561e+02] [-9.95005460e-01 2.63004212e-02 9.62934149e-02 -4.38722298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.88, Z:-438.75 [[ 3.99629923e-02 -7.86788470e-01 6.15927644e-01 2.90489487e+02] [ 9.22694741e-02 6.16692063e-01 7.81778257e-01 -1.66877662e+02] [-9.94931808e-01 2.55891213e-02 9.72414185e-02 -4.38750762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.87, Z:-438.78 [[ 4.14477059e-02 -7.88566510e-01 6.13551096e-01 2.90490534e+02] [ 9.20829868e-02 6.14480121e-01 7.83539983e-01 -1.66874913e+02] [-9.94888341e-01 2.40216827e-02 9.80823508e-02 -4.38778383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.87, Z:-438.81 [[ 4.35964596e-02 -7.90299730e-01 6.11167477e-01 2.90492652e+02] [ 9.13459602e-02 6.12339896e-01 7.85299794e-01 -1.66872305e+02] [-9.94864445e-01 2.15913893e-02 9.88865393e-02 -4.38805786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.87, Z:-438.83 [[ 4.33396290e-02 -7.92106923e-01 6.08841769e-01 2.90495993e+02] [ 9.14645710e-02 6.10000949e-01 7.87104234e-01 -1.66870224e+02] [-9.94864769e-01 2.15746458e-02 9.88869347e-02 -4.38834146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.87, Z:-438.86 [[ 4.61303801e-02 -7.93677776e-01 6.06586825e-01 2.90498336e+02] [ 9.06969361e-02 6.08052970e-01 7.88698708e-01 -1.66867321e+02] [-9.94809557e-01 1.86325954e-02 1.00033857e-01 -4.38861723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.87, Z:-438.89 [[ 4.58698554e-02 -7.95510805e-01 6.04200725e-01 2.90501707e+02] [ 9.08259655e-02 6.05653379e-01 7.90528070e-01 -1.66865227e+02] [-9.94809831e-01 1.86157059e-02 1.00034270e-01 -4.38890083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.86, Z:-438.92 [[ 4.77443957e-02 -7.97099774e-01 6.01957161e-01 2.90502795e+02] [ 8.93098485e-02 6.03637314e-01 7.92240964e-01 -1.66862227e+02] [-9.94858896e-01 1.59356368e-02 1.00009159e-01 -4.38916785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.86, Z:-438.94 [[ 4.89548890e-02 -7.97782344e-01 6.00954866e-01 2.90503167e+02] [ 8.76277616e-02 6.02786790e-01 7.93075949e-01 -1.66859099e+02] [-9.94949644e-01 1.38353847e-02 9.94172414e-02 -4.38944326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.86, Z:-438.97 [[ 5.09943322e-02 -7.99442103e-01 5.98574892e-01 2.90505782e+02] [ 8.60384092e-02 6.00643041e-01 7.94874411e-01 -1.66855070e+02] [-9.94985915e-01 1.09663418e-02 9.94121176e-02 -4.38972493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.85, Z:-439.00 [[ 5.26694128e-02 -8.01212562e-01 5.96057349e-01 2.90509179e+02] [ 8.63906654e-02 5.98303825e-01 7.96598510e-01 -1.66852577e+02] [-9.94868125e-01 9.53741523e-03 1.00729598e-01 -4.38999700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.85, Z:-439.03 [[ 5.74476525e-02 -8.01813043e-01 5.94807205e-01 2.90508501e+02] [ 8.67468308e-02 5.97546777e-01 7.97127867e-01 -1.66849797e+02] [-9.94572649e-01 5.80451520e-03 1.03882400e-01 -4.39027529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.85, Z:-439.06 [[ 5.88133789e-02 -7.89198763e-01 6.11315220e-01 2.90485755e+02] [ 7.97878503e-02 6.14132367e-01 7.85159433e-01 -1.66850023e+02] [-9.95075317e-01 2.59764810e-03 9.90876724e-02 -4.39057029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.84, Z:-439.08 [[ 5.79262416e-02 -8.94576160e-01 4.43145624e-01 2.90609118e+02] [ 8.07417385e-02 4.46634888e-01 8.91065681e-01 -1.66841689e+02] [-9.95050412e-01 -1.58357379e-02 9.81015148e-02 -4.39081972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-166.84, Z:-439.12 [[ 6.02864609e-02 -8.65913661e-01 4.96547152e-01 2.90570839e+02] [ 7.88905907e-02 5.00029214e-01 8.62407711e-01 -1.66843459e+02] [-9.95058701e-01 -1.28186106e-02 9.84574319e-02 -4.39115427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.83, Z:-439.15 [[ 6.39669325e-02 -8.95305078e-01 4.40836760e-01 2.90610772e+02] [ 7.90291819e-02 4.44898709e-01 8.92087175e-01 -1.66834842e+02] [-9.94817883e-01 -2.22251116e-02 9.92140336e-02 -4.39146327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.83, Z:-439.18 [[ 7.23917144e-02 -8.76736167e-01 4.75492516e-01 2.90596620e+02] [ 8.11788925e-02 4.80341026e-01 8.73316945e-01 -1.66828948e+02] [-9.94067114e-01 -2.46209550e-02 1.05945182e-01 -4.39178333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.83, Z:-439.21 [[ 7.41488713e-02 -7.97347737e-01 5.98947854e-01 2.90509689e+02] [ 7.73950121e-02 6.03390804e-01 7.93681013e-01 -1.66830771e+02] [-9.94239386e-01 -1.24949748e-02 1.06451485e-01 -4.39210848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-166.83, Z:-439.24 [[ 6.75696433e-02 -7.82302960e-01 6.19222433e-01 2.90488161e+02] [ 7.16214648e-02 6.22842944e-01 7.79061636e-01 -1.66833428e+02] [-9.95140547e-01 -8.29129914e-03 9.81149595e-02 -4.39241134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.83, Z:-439.27 [[ 6.91001921e-02 -8.95079375e-01 4.40520233e-01 2.90620119e+02] [ 7.33200613e-02 4.44938107e-01 8.92554900e-01 -1.66825629e+02] [-9.94911721e-01 -2.93767445e-02 9.63725834e-02 -4.39267612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.83, Z:-439.30 [[ 7.16629398e-02 -8.58086756e-01 5.08479638e-01 2.90575659e+02] [ 7.20050109e-02 5.12910902e-01 8.55416674e-01 -1.66828255e+02] [-9.94826468e-01 -2.46885917e-02 9.85432492e-02 -4.39302683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.83, Z:-439.33 [[ 7.24399309e-02 -8.62879228e-01 5.00191858e-01 2.90582914e+02] [ 7.20197045e-02 5.04725718e-01 8.60270372e-01 -1.66825607e+02] [-9.94769128e-01 -2.62942565e-02 9.87066031e-02 -4.39334913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-166.82, Z:-439.37 [[ 7.45625714e-02 -8.66799676e-01 4.93050449e-01 2.90591488e+02] [ 7.35686318e-02 4.97860829e-01 8.64130922e-01 -1.66821652e+02] [-9.94498909e-01 -2.81587767e-02 1.00891050e-01 -4.39366200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.81, Z:-439.40 [[ 8.11311351e-02 -8.60287358e-01 5.03312428e-01 2.90595978e+02] [ 7.76204645e-02 5.08896983e-01 8.57320783e-01 -1.66814287e+02] [-9.93676407e-01 -3.04880638e-02 1.08063294e-01 -4.39396762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-166.82, Z:-439.43 [[ 8.11975573e-02 -7.90249817e-01 6.07381415e-01 2.90521881e+02] [ 7.51337785e-02 6.12512752e-01 7.86881849e-01 -1.66815284e+02] [-9.93862099e-01 -1.82580233e-02 1.09108994e-01 -4.39428600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-166.82, Z:-439.46 [[ 7.57391425e-02 -7.78549949e-01 6.22995633e-01 2.90504976e+02] [ 7.16941184e-02 6.27425114e-01 7.75369383e-01 -1.66818663e+02] [-9.94546900e-01 -1.40606895e-02 1.03338092e-01 -4.39459612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.81, Z:-439.48 [[ 8.15712679e-02 -8.64300075e-01 4.96317951e-01 2.90609258e+02] [ 7.75553112e-02 5.01971945e-01 8.61399640e-01 -1.66808944e+02] [-9.93645461e-01 -3.17733677e-02 1.07977549e-01 -4.39484181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:-166.81, Z:-439.52 [[ 8.15288914e-02 -7.90128452e-01 6.07494913e-01 2.90530656e+02] [ 7.43715445e-02 6.12647652e-01 7.86849241e-01 -1.66810567e+02] [-9.93892305e-01 -1.89706113e-02 1.08711557e-01 -4.39515558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-166.82, Z:-439.54 [[ 7.38845506e-02 -7.77375873e-01 6.24682179e-01 2.90512247e+02] [ 7.23934142e-02 6.28922460e-01 7.74090262e-01 -1.66815253e+02] [-9.94635746e-01 -1.19704353e-02 1.02744547e-01 -4.39542507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.80, Z:-439.57 [[ 7.87004239e-02 -8.70013105e-01 4.86706729e-01 2.90626318e+02] [ 7.93015984e-02 4.92137524e-01 8.66897868e-01 -1.66804225e+02] [-9.93739151e-01 -2.96286081e-02 1.07724862e-01 -4.39566561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-166.81, Z:-439.60 [[ 7.71017350e-02 -7.92658188e-01 6.04771295e-01 2.90545451e+02] [ 7.79130852e-02 6.09512150e-01 7.88938838e-01 -1.66809130e+02] [-9.93974282e-01 -1.37089558e-02 1.08752889e-01 -4.39598820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-166.81, Z:-439.63 [[ 6.87946996e-02 -7.78281964e-01 6.24134981e-01 2.90524035e+02] [ 7.48960531e-02 6.27880788e-01 7.74697552e-01 -1.66814012e+02] [-9.94815496e-01 -6.54983871e-03 1.01485117e-01 -4.39630427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.81, Z:-439.66 [[ 6.84827031e-02 -8.73474906e-01 4.82028743e-01 2.90634823e+02] [ 7.77622389e-02 4.86366602e-01 8.70287632e-01 -1.66807972e+02] [-9.94617089e-01 -2.21160153e-02 1.01231064e-01 -4.39656415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.81, Z:-439.69 [[ 6.80627958e-02 -8.45972539e-01 5.28864746e-01 2.90604993e+02] [ 7.77023271e-02 5.32978724e-01 8.42553279e-01 -1.66809730e+02] [-9.94650594e-01 -1.62525103e-02 1.02010057e-01 -4.39688223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.80, Z:-439.72 [[ 7.24962905e-02 -8.58831405e-01 5.07102460e-01 2.90633675e+02] [ 8.18652311e-02 5.11848701e-01 8.55166061e-01 -1.66799916e+02] [-9.94003205e-01 -2.04823071e-02 1.07415564e-01 -4.39717695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-166.80, Z:-439.75 [[ 7.29428188e-02 -7.92897512e-01 6.04973454e-01 2.90562432e+02] [ 8.02592913e-02 6.09288724e-01 7.88876224e-01 -1.66802307e+02] [-9.94101500e-01 -8.98811477e-03 1.08080629e-01 -4.39750737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-166.80, Z:-439.78 [[ 6.98226472e-02 -7.94776625e-01 6.02872220e-01 2.90567415e+02] [ 8.11207402e-02 6.06869366e-01 7.90650997e-01 -1.66801261e+02] [-9.94255613e-01 -6.29990486e-03 1.06846094e-01 -4.39777240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-166.80, Z:-439.80 [[ 6.77927760e-02 -7.95692140e-01 6.01895471e-01 2.90570228e+02] [ 8.20620844e-02 6.05686263e-01 7.91460653e-01 -1.66799115e+02] [-9.94318839e-01 -4.26251777e-03 1.06357309e-01 -4.39804845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-166.80, Z:-439.83 [[ 6.60659877e-02 -7.97506803e-01 5.99681736e-01 2.90573037e+02] [ 8.21994052e-02 6.03301914e-01 7.93265440e-01 -1.66796760e+02] [-9.94423724e-01 -3.11438281e-03 1.05412322e-01 -4.39831326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.79, Z:-439.86 [[ 6.40688331e-02 -7.98404187e-01 5.98703548e-01 2.90575672e+02] [ 8.35875267e-02 6.02121307e-01 7.94017038e-01 -1.66794180e+02] [-9.94438691e-01 -8.27596290e-04 1.05313841e-01 -4.39859222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.79, Z:-439.89 [[ 6.32817124e-02 -8.00205541e-01 5.96377830e-01 2.90579651e+02] [ 8.46959470e-02 5.99725826e-01 7.95710707e-01 -1.66791785e+02] [-9.94395304e-01 1.56848933e-04 1.05725843e-01 -4.39886691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.79, Z:-439.91 [[ 6.16826297e-02 -8.02082948e-01 5.94018685e-01 2.90582216e+02] [ 8.65561796e-02 5.97208482e-01 7.97402067e-01 -1.66788709e+02] [-9.94335598e-01 2.23013150e-03 1.06262625e-01 -4.39914948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.79, Z:-439.95 [[ 5.89584546e-02 -8.00818545e-01 5.95997952e-01 2.90579172e+02] [ 8.70686612e-02 5.98886541e-01 7.96086653e-01 -1.66788142e+02] [-9.94456107e-01 4.95670492e-03 1.05035624e-01 -4.39946951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.78, Z:-439.97 [[ 5.93394456e-02 -8.17449366e-01 5.72935742e-01 2.90601038e+02] [ 8.89087159e-02 5.75994044e-01 8.12604518e-01 -1.66783421e+02] [-9.94270622e-01 2.71947953e-03 1.06857541e-01 -4.39974649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.78, Z:-440.00 [[ 5.58471482e-02 -8.01427227e-01 5.95479215e-01 2.90582277e+02] [ 9.14107580e-02 5.98009289e-01 7.96259357e-01 -1.66782478e+02] [-9.94246031e-01 9.96439213e-03 1.06656184e-01 -4.40003906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-166.78, Z:-440.03 [[ 5.36767539e-02 -8.07791823e-01 5.87018890e-01 2.90588681e+02] [ 9.33531081e-02 5.89351224e-01 8.02465160e-01 -1.66779749e+02] [-9.94185095e-01 1.17263130e-02 1.07044338e-01 -4.40030462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.78, Z:-440.06 [[ 4.62933566e-02 -8.06765127e-01 5.89055987e-01 2.90584301e+02] [ 9.62828467e-02 5.90546300e-01 8.01239466e-01 -1.66779200e+02] [-9.94276892e-01 1.96239230e-02 1.05016013e-01 -4.40057558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.78, Z:-440.09 [[ 4.05641119e-02 -8.38781259e-01 5.42955387e-01 2.90619117e+02] [ 9.64268954e-02 5.44152516e-01 8.33426598e-01 -1.66776709e+02] [-9.94513151e-01 1.85482926e-02 1.02954136e-01 -4.40087102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-166.77, Z:-440.12 [[ 3.93343131e-02 -8.66872001e-01 4.96976605e-01 2.90657928e+02] [ 9.83733106e-02 4.98304864e-01 8.61402899e-01 -1.66768493e+02] [-9.94371914e-01 1.50065425e-02 1.04877548e-01 -4.40118950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.77, Z:-440.15 [[ 3.61215864e-02 -8.26455803e-01 5.61841647e-01 2.90614377e+02] [ 1.01409061e-01 5.62337766e-01 8.20665851e-01 -1.66769393e+02] [-9.94188832e-01 2.73320816e-02 1.04122639e-01 -4.40150443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.76, Z:-440.18 [[ 3.75896256e-02 -8.37397268e-01 5.45300684e-01 2.90633161e+02] [ 1.02669220e-01 5.46034939e-01 8.31447459e-01 -1.66762264e+02] [-9.94005056e-01 2.47317974e-02 1.06500173e-01 -4.40177338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.76, Z:-440.21 [[ 3.28426821e-02 -7.96668459e-01 6.03523590e-01 2.90581876e+02] [ 1.00563148e-01 6.03418975e-01 7.91057896e-01 -1.66764635e+02] [-9.94388461e-01 3.47117691e-02 9.99333857e-02 -4.40206899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-166.76, Z:-440.23 [[ 3.30844536e-02 -8.61783714e-01 5.06195860e-01 2.90655634e+02] [ 9.70403613e-02 5.06849984e-01 8.56554880e-01 -1.66755932e+02] [-9.94730409e-01 2.07827790e-02 1.00396658e-01 -4.40230052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-166.75, Z:-440.26 [[ 3.24235409e-02 -8.57349483e-01 5.13712544e-01 2.90649123e+02] [ 9.69573672e-02 5.14256708e-01 8.52138080e-01 -1.66753199e+02] [-9.94760264e-01 2.21788819e-02 9.98003720e-02 -4.40260357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.75, Z:-440.29 [[ 3.56962231e-02 -8.31025556e-01 5.55087656e-01 2.90616950e+02] [ 9.81404319e-02 5.55671863e-01 8.25589024e-01 -1.66751226e+02] [-9.94532169e-01 2.50061323e-02 1.01392594e-01 -4.40290330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.75, Z:-440.32 [[ 3.89425920e-02 -8.35325374e-01 5.48374867e-01 2.90625990e+02] [ 9.98912511e-02 5.49296489e-01 8.29635526e-01 -1.66745525e+02] [-9.94235994e-01 2.24696937e-02 1.04832726e-01 -4.40319930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-166.74, Z:-440.35 [[ 3.92840322e-02 -8.07080808e-01 5.89132696e-01 2.90594862e+02] [ 9.98545411e-02 5.89807330e-01 8.01346607e-01 -1.66744447e+02] [-9.94226250e-01 2.73474491e-02 1.03760694e-01 -4.40353137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.74, Z:-440.38 [[ 4.10936708e-02 -8.35319280e-01 5.48227153e-01 2.90628271e+02] [ 1.00019189e-01 5.49373662e-01 8.29569009e-01 -1.66738708e+02] [-9.94136546e-01 2.07431996e-02 1.06123737e-01 -4.40383528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.73, Z:-440.42 [[ 4.53762048e-02 -8.13794313e-01 5.79378819e-01 2.90604074e+02] [ 1.00107989e-01 5.80761025e-01 8.07895428e-01 -1.66733412e+02] [-9.93941342e-01 2.13412201e-02 1.07820043e-01 -4.40415076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.73, Z:-440.44 [[ 4.65788091e-02 -8.09504739e-01 5.85262754e-01 2.90598115e+02] [ 9.86255362e-02 5.86762809e-01 8.03730309e-01 -1.66730982e+02] [-9.94033912e-01 2.02850523e-02 1.07168552e-01 -4.40444129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-166.73, Z:-440.47 [[ 4.94238194e-02 -8.07048124e-01 5.88413640e-01 2.90592643e+02] [ 9.65020353e-02 5.90235902e-01 8.01441787e-01 -1.66725457e+02] [-9.94104946e-01 1.71727997e-02 1.07053499e-01 -4.40470190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.72, Z:-440.50 [[ 4.98360405e-02 -8.24560163e-01 5.63575112e-01 2.90610789e+02] [ 9.49568878e-02 5.65631926e-01 8.19172579e-01 -1.66721375e+02] [-9.94233151e-01 1.26910208e-02 1.06486522e-01 -4.40497788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.72, Z:-440.53 [[ 5.08891126e-02 -8.23857819e-01 5.64507389e-01 2.90610128e+02] [ 9.39704004e-02 5.66682041e-01 8.18560339e-01 -1.66717792e+02] [-9.94273535e-01 1.13911761e-02 1.06256195e-01 -4.40525940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.71, Z:-440.55 [[ 5.52944634e-02 -8.33838849e-01 5.49231551e-01 2.90623178e+02] [ 9.21670473e-02 5.51987112e-01 8.28743304e-01 -1.66713471e+02] [-9.94207100e-01 4.79613403e-03 1.07374296e-01 -4.40552739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-166.71, Z:-440.58 [[ 5.68532620e-02 -8.16266462e-01 5.74871090e-01 2.90603448e+02] [ 9.13301212e-02 5.77640275e-01 8.11166149e-01 -1.66710619e+02] [-9.94196417e-01 6.38560467e-03 1.07390449e-01 -4.40581749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.71, Z:-440.61 [[ 6.11265578e-02 -8.31492607e-01 5.52162647e-01 2.90618038e+02] [ 8.89760656e-02 5.55534040e-01 8.26719535e-01 -1.66706482e+02] [-9.94156328e-01 -1.40525955e-03 1.07940824e-01 -4.40609730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.70, Z:-440.64 [[ 6.29060018e-02 -8.24742855e-01 5.61998272e-01 2.90612602e+02] [ 8.79753134e-02 5.65503871e-01 8.20040070e-01 -1.66703230e+02] [-9.94134387e-01 -2.14346799e-03 1.08130599e-01 -4.40638470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.70, Z:-440.67 [[ 6.28969894e-02 -8.19030661e-01 5.70291807e-01 2.90607558e+02] [ 8.69963208e-02 5.73747492e-01 8.14398831e-01 -1.66700712e+02] [-9.94221107e-01 -1.60994567e-03 1.07339644e-01 -4.40666818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.70, Z:-440.69 [[ 6.69731746e-02 -8.30414781e-01 5.53105673e-01 2.90624202e+02] [ 8.75565621e-02 5.57103191e-01 8.25814679e-01 -1.66695641e+02] [-9.93905651e-01 -6.87939941e-03 1.10019233e-01 -4.40694703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-166.70, Z:-440.73 [[ 6.58310917e-02 -7.92138551e-01 6.06780671e-01 2.90583918e+02] [ 8.46062151e-02 6.10341096e-01 7.87607475e-01 -1.66695306e+02] [-9.94237424e-01 -5.11643985e-04 1.07199265e-01 -4.40725123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.69, Z:-440.75 [[ 6.73902763e-02 -8.19261718e-01 5.69446037e-01 2.90614033e+02] [ 8.50206103e-02 5.73382942e-01 8.14864098e-01 -1.66693288e+02] [-9.94097604e-01 -6.49926715e-03 1.08294566e-01 -4.40749984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.69, Z:-440.78 [[ 6.69746820e-02 -8.25426219e-01 5.60522924e-01 2.90621897e+02] [ 8.50800817e-02 5.64462799e-01 8.21062195e-01 -1.66691175e+02] [-9.94120602e-01 -7.30104330e-03 1.08032047e-01 -4.40777952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-166.69, Z:-440.81 [[ 6.39700779e-02 -8.24640170e-01 5.62028842e-01 2.90622502e+02] [ 8.33929495e-02 5.65629803e-01 8.20431924e-01 -1.66690593e+02] [-9.94461384e-01 -5.61385127e-03 1.04952559e-01 -4.40807364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.69, Z:-440.83 [[ 6.29428436e-02 -8.12178203e-01 5.80004108e-01 2.90612169e+02] [ 8.38247310e-02 5.83405174e-01 8.07843932e-01 -1.66687080e+02] [-9.94490630e-01 -2.22930595e-03 1.04801800e-01 -4.40833588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.69, Z:-440.86 [[ 6.14230604e-02 -8.29596698e-01 5.54974347e-01 2.90633031e+02] [ 8.48064452e-02 5.58351306e-01 8.25258557e-01 -1.66685443e+02] [-9.94502426e-01 -3.62450463e-03 1.04650793e-01 -4.40860747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-166.69, Z:-440.89 [[ 5.99535105e-02 -8.27759254e-01 5.57871127e-01 2.90634349e+02] [ 8.40219172e-02 5.61077874e-01 8.23487667e-01 -1.66686392e+02] [-9.94658682e-01 -2.49757481e-03 1.03188508e-01 -4.40890850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-166.68, Z:-440.92 [[ 6.04885079e-02 -8.03617668e-01 5.92064004e-01 2.90612560e+02] [ 8.64550353e-02 5.95139034e-01 7.98958733e-01 -1.66683177e+02] [-9.94417753e-01 2.85909268e-03 1.05475866e-01 -4.40917371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-166.68, Z:-440.94 [[ 6.01663172e-02 -8.33540678e-01 5.49172062e-01 2.90645209e+02] [ 8.70103519e-02 5.52454121e-01 8.28989531e-01 -1.66681352e+02] [-9.94388864e-01 -2.09359275e-03 1.05765798e-01 -4.40943606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-166.68, Z:-440.97 [[ 6.10899197e-02 -8.35044271e-01 5.46780658e-01 2.90650228e+02] [ 8.68274795e-02 5.50173093e-01 8.30524266e-01 -1.66680642e+02] [-9.94348536e-01 -3.26107432e-03 1.06114819e-01 -4.40971553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-166.68, Z:-441.00 [[ 6.15676455e-02 -8.36586487e-01 5.44364286e-01 2.90654487e+02] [ 8.67771669e-02 5.47820338e-01 8.32083290e-01 -1.66678839e+02] [-9.94323463e-01 -3.99101853e-03 1.06324614e-01 -4.40998654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-166.68, Z:-441.03 [[ 6.23502564e-02 -8.37224799e-01 5.43292813e-01 2.90657902e+02] [ 8.68890282e-02 5.46838563e-01 8.32717169e-01 -1.66677219e+02] [-9.94264926e-01 -4.71394433e-03 1.06841174e-01 -4.41026255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-166.68, Z:-441.05 [[ 6.54417688e-02 -8.38608171e-01 5.40789894e-01 2.90663374e+02] [ 8.68913255e-02 5.44682129e-01 8.34129052e-01 -1.66676907e+02] [-9.94066030e-01 -7.59692983e-03 1.08512738e-01 -4.41053514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-166.68, Z:-441.08 [[ 6.68733470e-02 -8.39553514e-01 5.39145483e-01 2.90666817e+02] [ 8.61679725e-02 5.43195780e-01 8.35172692e-01 -1.66675878e+02] [-9.94033720e-01 -9.39372010e-03 1.08667944e-01 -4.41081017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-166.67, Z:-441.11 [[ 6.85606898e-02 -8.40904126e-01 5.36823698e-01 2.90671925e+02] [ 8.39849344e-02 5.41044647e-01 8.36789831e-01 -1.66674673e+02] [-9.94105609e-01 -1.22857850e-02 1.07717672e-01 -4.41109236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:-166.67, Z:-441.14 [[ 6.90684431e-02 -8.42394299e-01 5.34416874e-01 2.90676041e+02] [ 8.28621151e-02 5.38689328e-01 8.38419750e-01 -1.66673169e+02] [-9.94164685e-01 -1.36254344e-02 1.07009007e-01 -4.41137056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-166.68, Z:-441.17 [[ 6.92782337e-02 -8.38045879e-01 5.41183547e-01 2.90673379e+02] [ 8.04788852e-02 5.45413785e-01 8.34294284e-01 -1.66675618e+02] [-9.94345853e-01 -1.42445858e-02 1.05230302e-01 -4.41167667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-166.67, Z:-441.19 [[ 7.37442406e-02 -8.14579408e-01 5.75345266e-01 2.90654284e+02] [ 8.10166427e-02 5.79902570e-01 8.10647465e-01 -1.66673557e+02] [-9.93980931e-01 -1.31680399e-02 1.08758964e-01 -4.41194625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-166.67, Z:-441.22 [[ 7.48717581e-02 -8.46389972e-01 5.27274345e-01 2.90695248e+02] [ 8.05519578e-02 5.32163941e-01 8.42800642e-01 -1.66671158e+02] [-9.93934405e-01 -2.06289850e-02 1.08022419e-01 -4.41219152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-166.67, Z:-441.25 [[ 7.43691594e-02 -8.47441475e-01 5.25654045e-01 2.90700069e+02] [ 7.97540559e-02 5.30479638e-01 8.43937583e-01 -1.66669302e+02] [-9.94036478e-01 -2.08398866e-02 1.07038219e-01 -4.41246768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-166.67, Z:-441.27 [[ 7.35406763e-02 -8.48981359e-01 5.23280441e-01 2.90704658e+02] [ 7.93014253e-02 5.28017848e-01 8.45522582e-01 -1.66667721e+02] [-9.94134323e-01 -2.06834177e-02 1.06156222e-01 -4.41274235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-166.67, Z:-441.30 [[ 7.22054877e-02 -8.50607898e-01 5.20819136e-01 2.90711056e+02] [ 8.09837372e-02 5.25457969e-01 8.46956645e-01 -1.66667046e+02] [-9.94096576e-01 -1.89770376e-02 1.06826355e-01 -4.41302002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-166.67, Z:-441.33 [[ 7.08523828e-02 -8.52236387e-01 5.18336842e-01 2.90716089e+02] [ 8.31189511e-02 5.22879851e-01 8.48344212e-01 -1.66665551e+02] [-9.94017696e-01 -1.70235943e-02 1.07884278e-01 -4.41329362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-166.66, Z:-441.36 [[ 6.76583347e-02 -8.53907810e-01 5.16007561e-01 2.90720095e+02] [ 8.34601754e-02 5.20223944e-01 8.49942026e-01 -1.66663022e+02] [-9.94211622e-01 -1.44395805e-02 1.06464781e-01 -4.41356796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-166.66, Z:-441.38 [[ 6.67994362e-02 -8.55415778e-01 5.13616279e-01 2.90722444e+02] [ 8.34881334e-02 5.17752816e-01 8.51446859e-01 -1.66660228e+02] [-9.94267352e-01 -1.39953057e-02 1.06002663e-01 -4.41383590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-166.66, Z:-441.41 [[ 6.62271602e-02 -8.56065127e-01 5.12607513e-01 2.90724077e+02] [ 8.30727308e-02 5.16682350e-01 8.52137472e-01 -1.66657367e+02] [-9.94340427e-01 -1.38509390e-02 1.05334073e-01 -4.41411677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.65, Z:-441.44 [[ 6.61501338e-02 -8.57487986e-01 5.10233784e-01 2.90726796e+02] [ 8.20676671e-02 5.14296877e-01 8.53676531e-01 -1.66653178e+02] [-9.94429011e-01 -1.45971205e-02 1.04392846e-01 -4.41438269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.65, Z:-441.47 [[ 6.58962745e-02 -8.58094624e-01 5.09245812e-01 2.90727962e+02] [ 8.08718720e-02 5.13268975e-01 8.54408977e-01 -1.66650012e+02] [-9.94543826e-01 -1.51187063e-02 1.03218232e-01 -4.41465384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.65, Z:-441.49 [[ 6.55353553e-02 -8.59041928e-01 5.07692903e-01 2.90729923e+02] [ 7.94884360e-02 5.11664116e-01 8.55500684e-01 -1.66647003e+02] [-9.94679197e-01 -1.57098265e-02 1.01815989e-01 -4.41492760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.64, Z:-441.52 [[ 6.53270468e-02 -8.60471806e-01 5.05292637e-01 2.90732945e+02] [ 7.96635313e-02 5.09255283e-01 8.56920521e-01 -1.66644355e+02] [-9.94678892e-01 -1.57266912e-02 1.01816366e-01 -4.41521104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.63, Z:-441.55 [[ 6.79718138e-02 -8.72556221e-01 4.83761794e-01 2.90754600e+02] [ 8.25688303e-02 4.88139638e-01 8.68851013e-01 -1.66634909e+02] [-9.94264663e-01 -1.91137338e-02 1.05225683e-01 -4.41551479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-166.64, Z:-441.58 [[ 6.24968785e-02 -8.03380475e-01 5.92177299e-01 2.90671310e+02] [ 7.81848199e-02 5.95454727e-01 7.99575389e-01 -1.66644174e+02] [-9.94978027e-01 -3.67169048e-03 1.00026219e-01 -4.41581405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.63, Z:-441.61 [[ 6.26092255e-02 -8.73669608e-01 4.82474353e-01 2.90758361e+02] [ 8.31692066e-02 4.86308562e-01 8.69820019e-01 -1.66629429e+02] [-9.94566724e-01 -1.43317486e-02 1.03109810e-01 -4.41605289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.63, Z:-441.64 [[ 6.12703719e-02 -8.49913206e-01 5.23348339e-01 2.90733989e+02] [ 8.25760547e-02 5.26852283e-01 8.45936089e-01 -1.66629854e+02] [-9.94699521e-01 -8.61477766e-03 1.02462915e-01 -4.41639143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-166.64, Z:-441.67 [[ 5.41445201e-02 -8.21647485e-01 5.67418524e-01 2.90697938e+02] [ 7.73334771e-02 5.69995827e-01 8.18000178e-01 -1.66636294e+02] [-9.95533980e-01 -4.09779611e-04 9.44030074e-02 -4.41669301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.63, Z:-441.69 [[ 5.30615078e-02 -8.64975202e-01 4.99001380e-01 2.90748805e+02] [ 7.79157061e-02 5.01768102e-01 8.61485876e-01 -1.66629100e+02] [-9.95546895e-01 -6.83169473e-03 9.40197257e-02 -4.41693895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.63, Z:-441.72 [[ 5.19633684e-02 -8.65677873e-01 4.97897207e-01 2.90749933e+02] [ 7.85700278e-02 5.00569245e-01 8.62123646e-01 -1.66627205e+02] [-9.95553393e-01 -5.67905122e-03 9.40275986e-02 -4.41721590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.62, Z:-441.75 [[ 5.39147004e-02 -8.72601217e-01 4.85448578e-01 2.90763317e+02] [ 8.10022504e-02 4.88375401e-01 8.68865987e-01 -1.66620253e+02] [-9.95254661e-01 -7.52222213e-03 9.70132757e-02 -4.41753652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.63, Z:-441.79 [[ 5.16696041e-02 -8.49301459e-01 5.25373471e-01 2.90733607e+02] [ 7.87116642e-02 5.27902974e-01 8.45649410e-01 -1.66625045e+02] [-9.95557495e-01 -2.34134996e-03 9.41264689e-02 -4.41785972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.62, Z:-441.81 [[ 5.03634049e-02 -8.65860341e-01 4.97744309e-01 2.90754841e+02] [ 8.00936999e-02 5.00273158e-01 8.62155303e-01 -1.66621279e+02] [-9.95514202e-01 -3.55489330e-03 9.45454179e-02 -4.41811448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.62, Z:-441.84 [[ 4.71220385e-02 -8.61784714e-01 5.05080806e-01 2.90749211e+02] [ 7.89927744e-02 5.07273905e-01 8.58156936e-01 -1.66621435e+02] [-9.95760842e-01 -5.40370056e-04 9.19785460e-02 -4.41844093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-166.61, Z:-441.87 [[ 4.72600829e-02 -8.81917158e-01 4.69029435e-01 2.90776477e+02] [ 7.85859514e-02 4.71381433e-01 8.78421193e-01 -1.66614866e+02] [-9.95786490e-01 -4.65513410e-03 9.15838246e-02 -4.41874645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.62, Z:-441.91 [[ 4.65308912e-02 -8.64647837e-01 5.00218947e-01 2.90756530e+02] [ 7.83816385e-02 5.02377727e-01 8.61088229e-01 -1.66615425e+02] [-9.95836932e-01 -8.59222085e-04 9.11485975e-02 -4.41908152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-166.61, Z:-441.94 [[ 4.78937696e-02 -8.72920223e-01 4.85506408e-01 2.90770407e+02] [ 7.91198020e-02 4.87852335e-01 8.69333168e-01 -1.66609288e+02] [-9.95713937e-01 -3.22247155e-03 9.24303625e-02 -4.41938700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.61, Z:-441.97 [[ 4.21692017e-02 -8.55017407e-01 5.16881990e-01 2.90746160e+02] [ 7.52702101e-02 5.18590679e-01 8.51703061e-01 -1.66612637e+02] [-9.96271125e-01 2.99017782e-03 8.62258948e-02 -4.41971399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.60, Z:-442.00 [[ 4.48217629e-02 -8.84910745e-01 4.63598947e-01 2.90787085e+02] [ 7.78804337e-02 4.65748198e-01 8.81483553e-01 -1.66601147e+02] [-9.95954641e-01 -3.40435980e-03 8.97928879e-02 -4.41997156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.60, Z:-442.03 [[ 4.37816251e-02 -8.64122481e-01 5.01373621e-01 2.90761544e+02] [ 7.89703524e-02 5.03277911e-01 8.60508587e-01 -1.66603384e+02] [-9.95915083e-01 1.91918724e-03 9.02743816e-02 -4.42027112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.61, Z:-442.06 [[ 3.92378582e-02 -8.56244032e-01 5.15079167e-01 2.90747726e+02] [ 7.89098633e-02 5.16521509e-01 8.52630497e-01 -1.66608067e+02] [-9.96109243e-01 7.18943211e-03 8.78332972e-02 -4.42055281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-166.59, Z:-442.08 [[ 4.31009386e-02 -8.98556863e-01 4.36735472e-01 2.90807088e+02] [ 8.21436677e-02 4.38848857e-01 8.94798357e-01 -1.66592607e+02] [-9.95688067e-01 -2.69159548e-03 9.27255540e-02 -4.42080947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-166.60, Z:-442.11 [[ 4.23766408e-02 -8.66994167e-01 4.96513176e-01 2.90765137e+02] [ 8.23859227e-02 4.98299463e-01 8.63081807e-01 -1.66597303e+02] [-9.95699141e-01 4.33118845e-03 9.25443718e-02 -4.42111758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.60, Z:-442.14 [[ 3.83011543e-02 -8.60656689e-01 5.07743129e-01 2.90753264e+02] [ 7.98027116e-02 5.09127526e-01 8.56983483e-01 -1.66599708e+02] [-9.96074570e-01 7.69582184e-03 8.81829095e-02 -4.42142809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.59, Z:-442.17 [[ 4.15981304e-02 -8.95869756e-01 4.42365206e-01 2.90803685e+02] [ 8.20355716e-02 4.44315999e-01 8.92106192e-01 -1.66585740e+02] [-9.95760895e-01 -8.20267165e-04 9.19759024e-02 -4.42168021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.59, Z:-442.20 [[ 3.88548660e-02 -8.63955631e-01 5.02066696e-01 2.90758612e+02] [ 8.32997402e-02 5.03497740e-01 8.59971615e-01 -1.66592503e+02] [-9.95766766e-01 8.40794347e-03 9.15306168e-02 -4.42199240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.58, Z:-442.23 [[ 4.11395215e-02 -8.86083007e-01 4.61697352e-01 2.90788662e+02] [ 8.59414525e-02 4.63514144e-01 8.81911960e-01 -1.66583837e+02] [-9.95450454e-01 3.39750496e-03 9.52200107e-02 -4.42227366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.59, Z:-442.26 [[ 3.94846633e-02 -8.60071861e-01 5.08642661e-01 2.90753079e+02] [ 8.61819946e-02 5.10074011e-01 8.55802061e-01 -1.66588448e+02] [-9.95496673e-01 1.00447828e-02 9.42628090e-02 -4.42261107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.58, Z:-442.29 [[ 4.22917252e-02 -8.94390396e-01 4.45283313e-01 2.90800919e+02] [ 8.86088447e-02 4.47283488e-01 8.89992109e-01 -1.66577612e+02] [-9.95168269e-01 1.81673821e-03 9.81672901e-02 -4.42292499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.59, Z:-442.33 [[ 4.00347460e-02 -8.54389019e-01 5.18089397e-01 2.90743709e+02] [ 8.89090122e-02 5.19494414e-01 8.49835714e-01 -1.66585513e+02] [-9.95234850e-01 1.20398596e-02 9.67607107e-02 -4.42326595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.57, Z:-442.36 [[ 4.11147731e-02 -9.01218721e-01 4.31409773e-01 2.90804663e+02] [ 9.04623271e-02 4.33359148e-01 8.96669625e-01 -1.66573103e+02] [-9.95050824e-01 2.15996381e-03 9.93438058e-02 -4.42356114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-166.58, Z:-442.39 [[ 4.06400010e-02 -8.80603881e-01 4.72107186e-01 2.90773627e+02] [ 9.35832869e-02 4.73775198e-01 8.75659312e-01 -1.66576504e+02] [-9.94781664e-01 8.59454696e-03 1.01664030e-01 -4.42389806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.57, Z:-442.42 [[ 4.09139756e-02 -8.95133360e-01 4.43917012e-01 2.90794641e+02] [ 9.55099170e-02 4.45758307e-01 8.90043475e-01 -1.66570732e+02] [-9.94587303e-01 5.98325998e-03 1.03731857e-01 -4.42421814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-166.57, Z:-442.46 [[ 4.01273821e-02 -8.82960774e-01 4.67728624e-01 2.90778547e+02] [ 9.77387962e-02 4.69329343e-01 8.77597343e-01 -1.66570919e+02] [-9.94402796e-01 1.04995488e-02 1.05132481e-01 -4.42455092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.56, Z:-442.48 [[ 4.03703357e-02 -8.97283914e-01 4.39604155e-01 2.90796825e+02] [ 1.01756795e-01 4.41367389e-01 8.91538212e-01 -1.66564399e+02] [-9.93989834e-01 8.74101317e-03 1.09122885e-01 -4.42484564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-166.56, Z:-442.52 [[ 4.36531697e-02 -8.84630540e-01 4.64244772e-01 2.90782320e+02] [ 1.05907325e-01 4.66166956e-01 8.78334792e-01 -1.66561754e+02] [-9.93417354e-01 1.08248245e-02 1.14038520e-01 -4.42517472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.56, Z:-442.55 [[ 4.41314062e-02 -8.58155207e-01 5.11490038e-01 2.90746644e+02] [ 1.06993975e-01 5.13104053e-01 8.51631681e-01 -1.66564137e+02] [-9.93279774e-01 1.71426486e-02 1.14461440e-01 -4.42551210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.55, Z:-442.58 [[ 4.76639263e-02 -8.92568052e-01 4.48386466e-01 2.90790425e+02] [ 1.12079846e-01 4.50840905e-01 8.85539715e-01 -1.66554578e+02] [-9.92555418e-01 8.04678619e-03 1.21527737e-01 -4.42581656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.56, Z:-442.62 [[ 5.03333933e-02 -8.61577251e-01 5.05124926e-01 2.90749891e+02] [ 1.13142478e-01 5.07429096e-01 8.54233277e-01 -1.66555546e+02] [-9.92303043e-01 1.41546264e-02 1.23021613e-01 -4.42616220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.55, Z:-442.65 [[ 5.04095641e-02 -8.65968852e-01 4.97550825e-01 2.90754653e+02] [ 1.13130103e-01 4.99928838e-01 8.58645874e-01 -1.66552393e+02] [-9.92300587e-01 1.30040120e-02 1.23168341e-01 -4.42648693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.55, Z:-442.68 [[ 5.18874768e-02 -8.56279506e-01 5.13899891e-01 2.90744188e+02] [ 1.12251031e-01 5.16332780e-01 8.48999509e-01 -1.66550590e+02] [-9.92324239e-01 1.36333503e-02 1.22909463e-01 -4.42680765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.54, Z:-442.71 [[ 5.07260312e-02 -8.55981146e-01 5.14512534e-01 2.90741639e+02] [ 1.13014172e-01 5.16786483e-01 8.48622135e-01 -1.66544233e+02] [-9.92297670e-01 1.50999752e-02 1.22952528e-01 -4.42708717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.54, Z:-442.74 [[ 5.10884555e-02 -8.68627437e-01 4.92824864e-01 2.90759177e+02] [ 1.14252367e-01 4.95312856e-01 8.61168724e-01 -1.66537393e+02] [-9.92137272e-01 1.23106273e-02 1.24547510e-01 -4.42737620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-166.54, Z:-442.77 [[ 4.92222597e-02 -8.47342136e-01 5.28761264e-01 2.90730935e+02] [ 1.13146586e-01 5.30725622e-01 8.39957240e-01 -1.66535150e+02] [-9.92358312e-01 1.84829386e-02 1.21997385e-01 -4.42766393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.53, Z:-442.79 [[ 4.80228379e-02 -8.70816968e-01 4.89256186e-01 2.90759187e+02] [ 1.12946974e-01 4.91413955e-01 8.63571251e-01 -1.66530128e+02] [-9.92439816e-01 1.37888636e-02 1.21955234e-01 -4.42793703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.53, Z:-442.82 [[ 4.89604529e-02 -8.65935610e-01 4.97753346e-01 2.90752626e+02] [ 1.11524370e-01 4.99974267e-01 8.58829463e-01 -1.66528282e+02] [-9.92554880e-01 1.34629489e-02 1.21051890e-01 -4.42821597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.52, Z:-442.85 [[ 5.09751855e-02 -8.59723180e-01 5.08210178e-01 2.90743064e+02] [ 1.10305876e-01 5.10605042e-01 8.52710446e-01 -1.66523052e+02] [-9.92589615e-01 1.25914955e-02 1.20860705e-01 -4.42850270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.52, Z:-442.88 [[ 5.24942564e-02 -8.61058638e-01 5.05788864e-01 2.90744339e+02] [ 1.09353808e-01 5.08397837e-01 8.54150680e-01 -1.66519111e+02] [-9.92615786e-01 1.04719332e-02 1.20848007e-01 -4.42877121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.51, Z:-442.90 [[ 5.31098633e-02 -8.62910784e-01 5.02557779e-01 2.90745448e+02] [ 1.08728493e-01 5.05272977e-01 8.56082551e-01 -1.66513770e+02] [-9.92651730e-01 9.17592293e-03 1.20657968e-01 -4.42903238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.51, Z:-442.93 [[ 5.39490650e-02 -8.74593903e-01 4.81845414e-01 2.90758387e+02] [ 1.06683590e-01 4.84834601e-01 8.68074894e-01 -1.66510525e+02] [-9.92828339e-01 4.57316978e-03 1.19461191e-01 -4.42930416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.51, Z:-442.96 [[ 5.50087499e-02 -8.63377382e-01 5.01551128e-01 2.90741378e+02] [ 1.04088906e-01 5.04533360e-01 8.57094854e-01 -1.66505906e+02] [-9.93045587e-01 5.05819175e-03 1.17621757e-01 -4.42958524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-166.50, Z:-442.99 [[ 5.32535724e-02 -8.64909042e-01 4.99095588e-01 2.90743257e+02] [ 1.04111277e-01 5.01889894e-01 8.58642753e-01 -1.66501466e+02] [-9.93138912e-01 6.23568499e-03 1.16774215e-01 -4.42985351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.50, Z:-443.01 [[ 4.70072412e-02 -8.76746946e-01 4.78649257e-01 2.90755450e+02] [ 1.02876344e-01 4.80880149e-01 8.70730004e-01 -1.66501166e+02] [-9.93582798e-01 8.31107021e-03 1.12801369e-01 -4.43011320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-166.49, Z:-443.04 [[ 4.14944040e-02 -9.20166570e-01 3.89322102e-01 2.90813829e+02] [ 1.01969567e-01 3.91523197e-01 9.14500844e-01 -1.66494869e+02] [-9.93921738e-01 1.75233857e-03 1.10075008e-01 -4.43036892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-166.47, Z:-443.07 [[ 4.43251794e-02 -9.46500573e-01 3.19643465e-01 2.90867774e+02] [ 1.08085670e-01 3.22623318e-01 9.40335941e-01 -1.66474261e+02] [-9.93152942e-01 -7.13168117e-03 1.16603485e-01 -4.43066219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-166.48, Z:-443.10 [[ 4.71286700e-02 -8.87262358e-01 4.58851170e-01 2.90784556e+02] [ 1.10821181e-01 4.61170139e-01 8.80363998e-01 -1.66482701e+02] [-9.92722295e-01 9.36004414e-03 1.20061798e-01 -4.43104416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.48, Z:-443.13 [[ 4.33463521e-02 -8.65483846e-01 4.99057918e-01 2.90757068e+02] [ 1.10486794e-01 5.00616114e-01 8.58589643e-01 -1.66484823e+02] [-9.92931902e-01 1.79225804e-02 1.17324418e-01 -4.43133958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-166.48, Z:-443.16 [[ 4.35573047e-02 -8.73244051e-01 4.85332451e-01 2.90771902e+02] [ 1.14430445e-01 4.86957135e-01 8.65897466e-01 -1.66476090e+02] [-9.92475911e-01 1.78206486e-02 1.21136246e-01 -4.43162305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-166.48, Z:-443.19 [[ 4.11753961e-02 -8.56407607e-01 5.14655805e-01 2.90753467e+02] [ 1.15175669e-01 5.15727255e-01 8.48975832e-01 -1.66475101e+02] [-9.92491386e-01 2.43189107e-02 1.19872593e-01 -4.43192500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.47, Z:-443.22 [[ 3.77249301e-02 -8.62223873e-01 5.05120603e-01 2.90762790e+02] [ 1.15699921e-01 5.05849644e-01 8.54827273e-01 -1.66472963e+02] [-9.92567558e-01 2.61941146e-02 1.18842376e-01 -4.43220776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-166.47, Z:-443.25 [[ 2.89465655e-02 -8.59150316e-01 5.10903935e-01 2.90760805e+02] [ 1.15360372e-01 5.10574223e-01 8.52059826e-01 -1.66473679e+02] [-9.92901849e-01 3.42738623e-02 1.13891270e-01 -4.43250235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.47, Z:-443.28 [[ 2.54035676e-02 -8.79113433e-01 4.75935112e-01 2.90786818e+02] [ 1.15029085e-01 4.75497050e-01 8.72164471e-01 -1.66471862e+02] [-9.93037244e-01 3.25902913e-02 1.13202935e-01 -4.43277804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.47, Z:-443.31 [[ 2.45398739e-02 -8.74077164e-01 4.85166885e-01 2.90786907e+02] [ 1.20716716e-01 4.84352697e-01 8.66504437e-01 -1.66465325e+02] [-9.92383630e-01 3.73038434e-02 1.17401679e-01 -4.43309678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-166.47, Z:-443.34 [[ 2.26029531e-02 -8.59417717e-01 5.10774210e-01 2.90769034e+02] [ 1.19790394e-01 5.09552091e-01 8.52060402e-01 -1.66465518e+02] [-9.92541872e-01 4.19267628e-02 1.14467369e-01 -4.43342103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.46, Z:-443.37 [[ 2.12924486e-02 -8.79793896e-01 4.74878229e-01 2.90795150e+02] [ 1.17637146e-01 4.73891108e-01 8.72690506e-01 -1.66460655e+02] [-9.92828351e-01 3.72816020e-02 1.13586745e-01 -4.43369868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-166.46, Z:-443.40 [[ 2.26796494e-02 -8.70680152e-01 4.91326476e-01 2.90783658e+02] [ 1.14508050e-01 4.90480919e-01 8.63896044e-01 -1.66456938e+02] [-9.93163401e-01 3.66679771e-02 1.10823821e-01 -4.43402679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.45, Z:-443.43 [[ 2.25083917e-02 -8.74771569e-01 4.84012474e-01 2.90790135e+02] [ 1.14193623e-01 4.83216131e-01 8.68021882e-01 -1.66453904e+02] [-9.93203498e-01 3.57333616e-02 1.10769753e-01 -4.43434871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.45, Z:-443.46 [[ 2.44823625e-02 -8.73042493e-01 4.87029177e-01 2.90788828e+02] [ 1.12222644e-01 4.86496009e-01 8.66445446e-01 -1.66452195e+02] [-9.93381443e-01 3.34430707e-02 1.09885709e-01 -4.43463396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.45, Z:-443.49 [[ 2.57352277e-02 -8.68852483e-01 4.94401720e-01 2.90785231e+02] [ 1.10634596e-01 4.94002883e-01 8.62392682e-01 -1.66449840e+02] [-9.93527898e-01 3.25040627e-02 1.08838421e-01 -4.43491560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.45, Z:-443.52 [[ 2.83596089e-02 -8.70148599e-01 4.91972711e-01 2.90789053e+02] [ 1.08725051e-01 4.91935833e-01 8.63815952e-01 -1.66445387e+02] [-9.93667246e-01 2.89922755e-02 1.08558059e-01 -4.43523665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.44, Z:-443.55 [[ 3.06283343e-02 -8.69726346e-01 4.92582976e-01 2.90789184e+02] [ 1.08119775e-01 4.92805352e-01 8.63396201e-01 -1.66443397e+02] [-9.93665950e-01 2.68135732e-02 1.09128424e-01 -4.43550718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.44, Z:-443.58 [[ 3.18766145e-02 -8.70324347e-01 4.91446245e-01 2.90789368e+02] [ 1.07961246e-01 4.91817489e-01 8.63979124e-01 -1.66440703e+02] [-9.93643926e-01 2.55164197e-02 1.09638778e-01 -4.43583041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.44, Z:-443.61 [[ 3.41654476e-02 -8.69910214e-01 4.92025347e-01 2.90788862e+02] [ 1.08020218e-01 4.92642923e-01 8.63501351e-01 -1.66438726e+02] [-9.93561450e-01 2.36467749e-02 1.10799257e-01 -4.43609746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.44, Z:-443.64 [[ 3.63311555e-02 -8.70119450e-01 4.91499939e-01 2.90790314e+02] [ 1.07285500e-01 4.92378229e-01 8.63743886e-01 -1.66436396e+02] [-9.93564225e-01 2.13500034e-02 1.11239871e-01 -4.43640634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.43, Z:-443.67 [[ 3.66831518e-02 -8.65149900e-01 5.00169968e-01 2.90786100e+02] [ 1.06681423e-01 5.01036959e-01 8.58825384e-01 -1.66433573e+02] [-9.93616335e-01 2.18544220e-02 1.10675037e-01 -4.43667983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.43, Z:-443.70 [[ 3.58684902e-02 -8.71796076e-01 4.88554043e-01 2.90795704e+02] [ 1.05599089e-01 4.89438059e-01 8.65620713e-01 -1.66430436e+02] [-9.93761684e-01 2.05423536e-02 1.09616275e-01 -4.43695589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.43, Z:-443.72 [[ 3.55823972e-02 -8.73146536e-01 4.86157402e-01 2.90800231e+02] [ 1.04023246e-01 4.87058921e-01 8.67152104e-01 -1.66427778e+02] [-9.93938156e-01 1.97163203e-02 1.08158261e-01 -4.43723435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.43, Z:-443.76 [[ 3.53003462e-02 -8.72804658e-01 4.86791449e-01 2.90801896e+02] [ 1.02348179e-01 4.87691232e-01 8.66996028e-01 -1.66426583e+02] [-9.94122093e-01 1.92169583e-02 1.06545637e-01 -4.43756800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.42, Z:-443.79 [[ 3.61860846e-02 -8.71478104e-01 4.89097620e-01 2.90802516e+02] [ 1.01579228e-01 4.90090829e-01 8.65732430e-01 -1.66424251e+02] [-9.94169114e-01 1.83546919e-02 1.06258541e-01 -4.43788602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-166.42, Z:-443.82 [[ 4.03724796e-02 -8.73690907e-01 4.84803323e-01 2.90807024e+02] [ 1.01021582e-01 4.86281838e-01 8.67942748e-01 -1.66420535e+02] [-9.94064738e-01 1.39345976e-02 1.07894041e-01 -4.43815425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:-166.42, Z:-443.85 [[ 4.34884594e-02 -8.78101358e-01 4.76494238e-01 2.90815058e+02] [ 1.01092522e-01 4.78365205e-01 8.72322780e-01 -1.66416426e+02] [-9.93926082e-01 1.02340304e-02 1.09572847e-01 -4.43846960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-166.42, Z:-443.88 [[ 4.53574557e-02 -8.52714317e-01 5.20404645e-01 2.90784254e+02] [ 9.85449343e-02 5.22219195e-01 8.47098583e-01 -1.66416999e+02] [-9.94098384e-01 1.28610051e-02 1.07717210e-01 -4.43875084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-166.42, Z:-443.90 [[ 4.92881356e-02 -8.70560655e-01 4.89586382e-01 2.90802515e+02] [ 9.27722112e-02 4.92053403e-01 8.65607744e-01 -1.66417498e+02] [-9.94466690e-01 2.75581938e-03 1.05016232e-01 -4.43903410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-166.41, Z:-443.93 [[ 5.38920628e-02 -8.74847273e-01 4.81391623e-01 2.90811617e+02] [ 9.27422204e-02 4.84393690e-01 8.69920475e-01 -1.66410985e+02] [-9.94230620e-01 -2.23648092e-03 1.07240254e-01 -4.43929066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-166.41, Z:-443.96 [[ 5.56943085e-02 -8.75350513e-01 4.80270366e-01 2.90813414e+02] [ 9.02964897e-02 4.83461688e-01 8.70695894e-01 -1.66409658e+02] [-9.94356419e-01 -5.12607762e-03 1.05967143e-01 -4.43961133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:-166.41, Z:-443.99 [[ 6.07430002e-02 -8.76492643e-01 4.77567728e-01 2.90816698e+02] [ 8.87016815e-02 4.81298315e-01 8.72057305e-01 -1.66406980e+02] [-9.94204355e-01 -1.06103166e-02 1.06981875e-01 -4.43989175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-166.41, Z:-444.02 [[ 6.23876473e-02 -8.73210786e-01 4.83332913e-01 2.90814223e+02] [ 8.81168068e-02 4.87204295e-01 8.68831056e-01 -1.66405220e+02] [-9.94154520e-01 -1.16145726e-02 1.07340076e-01 -4.44021781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:-166.40, Z:-444.05 [[ 6.44787997e-02 -8.75945825e-01 4.78080952e-01 2.90820857e+02] [ 8.87033673e-02 4.82212369e-01 8.71552032e-01 -1.66402125e+02] [-9.93968912e-01 -1.37892387e-02 1.08791819e-01 -4.44048236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-166.40, Z:-444.08 [[ 6.58577147e-02 -8.76652514e-01 4.76595354e-01 2.90826620e+02] [ 8.79042995e-02 4.80872466e-01 8.72372917e-01 -1.66401830e+02] [-9.93949494e-01 -1.55577059e-02 1.08730687e-01 -4.44079220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-166.40, Z:-444.11 [[ 6.76373419e-02 -8.76042314e-01 4.77467333e-01 2.90830232e+02] [ 8.83441784e-02 4.81942192e-01 8.71737936e-01 -1.66398746e+02] [-9.93790972e-01 -1.67805776e-02 1.09990527e-01 -4.44106050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-166.40, Z:-444.14 [[ 6.84820879e-02 -8.75527281e-01 4.78290899e-01 2.90831970e+02] [ 8.65925779e-02 4.82823497e-01 8.71425955e-01 -1.66400031e+02] [-9.93887282e-01 -1.82606270e-02 1.08878925e-01 -4.44137199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-166.40, Z:-444.16 [[ 6.74222765e-02 -8.41169232e-01 5.36552477e-01 2.90791249e+02] [ 8.59161897e-02 5.40673437e-01 8.36833701e-01 -1.66399626e+02] [-9.94018433e-01 -1.03226887e-02 1.08723489e-01 -4.44164502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-166.39, Z:-444.19 [[ 7.19398701e-02 -9.00494303e-01 4.28876049e-01 2.90868584e+02] [ 8.95860083e-02 4.34085904e-01 8.96406033e-01 -1.66390040e+02] [-9.93377573e-01 -2.60660403e-02 1.11899774e-01 -4.44188714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-166.39, Z:-444.22 [[ 7.22133532e-02 -8.81153191e-01 4.67283945e-01 2.90846474e+02] [ 8.82249537e-02 4.72313889e-01 8.77003961e-01 -1.66391593e+02] [-9.93479536e-01 -2.21052924e-02 1.11847069e-01 -4.44217657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-166.39, Z:-444.25 [[ 7.20406738e-02 -8.82450107e-01 4.64856914e-01 2.90852787e+02] [ 8.77631335e-02 4.69868529e-01 8.78362794e-01 -1.66389953e+02] [-9.93532976e-01 -2.24805482e-02 1.11296232e-01 -4.44245252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.86, Y:-166.39, Z:-444.27 [[ 7.08563371e-02 -8.83816730e-01 4.62436339e-01 2.90859547e+02] [ 8.72282967e-02 4.67315716e-01 8.79776816e-01 -1.66388067e+02] [-9.93665237e-01 -2.20002284e-02 1.10206108e-01 -4.44273096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-166.39, Z:-444.30 [[ 6.80887976e-02 -8.91627939e-01 4.47619855e-01 2.90875648e+02] [ 8.42294228e-02 4.52196647e-01 8.87932203e-01 -1.66385741e+02] [-9.94117357e-01 -2.27554740e-02 1.05890833e-01 -4.44299675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-166.38, Z:-444.33 [[ 6.84537729e-02 -8.84664669e-01 4.61175134e-01 2.90868984e+02] [ 8.67410545e-02 4.65786588e-01 8.80635478e-01 -1.66384941e+02] [-9.93876285e-01 -2.02800035e-02 1.08621596e-01 -4.44328785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-166.38, Z:-444.36 [[ 6.82657296e-02 -8.86974069e-01 4.56745872e-01 2.90873568e+02] [ 8.71672602e-02 4.61365800e-01 8.82917588e-01 -1.66383267e+02] [-9.93851930e-01 -2.04597270e-02 1.08810572e-01 -4.44355505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-166.38, Z:-444.38 [[ 6.94013640e-02 -8.87771985e-01 4.55021267e-01 2.90879049e+02] [ 8.69760263e-02 4.59768916e-01 8.83769039e-01 -1.66382833e+02] [-9.93790029e-01 -2.17588351e-02 1.09123469e-01 -4.44383647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-166.38, Z:-444.41 [[ 7.00036027e-02 -8.89022983e-01 4.52479426e-01 2.90884194e+02] [ 8.67551320e-02 4.57299352e-01 8.85071099e-01 -1.66380647e+02] [-9.93767097e-01 -2.27032532e-02 1.09139908e-01 -4.44411160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-166.38, Z:-444.44 [[ 7.06478130e-02 -8.90244243e-01 4.49971192e-01 2.90888629e+02] [ 8.60971182e-02 4.54857020e-01 8.86392902e-01 -1.66378540e+02] [-9.93778734e-01 -2.38804971e-02 1.08782118e-01 -4.44437642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-166.38, Z:-444.47 [[ 7.26267107e-02 -8.90962565e-01 4.48231045e-01 2.90892257e+02] [ 8.56991035e-02 4.53330503e-01 8.87213119e-01 -1.66377576e+02] [-9.93670481e-01 -2.60223718e-02 1.09278596e-01 -4.44465416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-166.38, Z:-444.49 [[ 7.40551332e-02 -8.92130015e-01 4.45667896e-01 2.90895717e+02] [ 8.61571759e-02 4.50947588e-01 8.88382358e-01 -1.66376004e+02] [-9.93525429e-01 -2.73917865e-02 1.10258386e-01 -4.44493801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-166.37, Z:-444.52 [[ 7.52344740e-02 -8.93293775e-01 4.43132040e-01 2.90900621e+02] [ 8.64320419e-02 4.48560854e-01 8.89563186e-01 -1.66374173e+02] [-9.93412943e-01 -2.86250113e-02 1.10956445e-01 -4.44521437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-166.37, Z:-444.55 [[ 7.70147357e-02 -8.94417258e-01 4.40552492e-01 2.90907915e+02] [ 8.66889576e-02 4.46198526e-01 8.90725491e-01 -1.66372560e+02] [-9.93254124e-01 -3.04079519e-02 1.11899961e-01 -4.44548131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.276559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:290.91, Y:-166.37, Z:-444.58 [[ 7.65900894e-02 -8.94251427e-01 4.40962973e-01 2.90909210e+02] [ 8.70015207e-02 4.46569117e-01 8.90509270e-01 -1.66371417e+02] [-9.93259631e-01 -2.98397353e-02 1.12004003e-01 -4.44577192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-166.37, Z:-444.60 [[ 7.52403504e-02 -8.90333620e-01 4.49048922e-01 2.90907283e+02] [ 8.76264983e-02 4.54486731e-01 8.86432969e-01 -1.66371622e+02] [-9.93307851e-01 -2.73469426e-02 1.12212558e-01 -4.44604697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-166.37, Z:-444.63 [[ 7.32082994e-02 -8.97101903e-01 4.35716329e-01 2.90920129e+02] [ 8.88086260e-02 4.41017011e-01 8.93094073e-01 -1.66368399e+02] [-9.93354707e-01 -2.66865297e-02 1.11956493e-01 -4.44632193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-166.37, Z:-444.66 [[ 7.04749960e-02 -8.98542338e-01 4.33191577e-01 2.90926523e+02] [ 8.99122557e-02 4.38225735e-01 8.94356748e-01 -1.66366341e+02] [-9.93453100e-01 -2.40805564e-02 1.11673925e-01 -4.44659285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-166.37, Z:-444.69 [[ 6.28066133e-02 -8.99596829e-01 4.32181530e-01 2.90933541e+02] [ 9.16548321e-02 4.36405576e-01 8.95069587e-01 -1.66365239e+02] [-9.93808191e-01 -1.66047639e-02 1.09861553e-01 -4.44687373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.36, Z:-444.71 [[ 5.90323638e-02 -9.01076674e-01 4.29623100e-01 2.90937535e+02] [ 9.33619286e-02 4.33470822e-01 8.96318357e-01 -1.66363328e+02] [-9.93880642e-01 -1.28013502e-02 1.09715063e-01 -4.44714372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.36, Z:-444.74 [[ 5.55455086e-02 -9.01838492e-01 4.28488076e-01 2.90940021e+02] [ 9.56554925e-02 4.31983151e-01 8.96794617e-01 -1.66361725e+02] [-9.93863534e-01 -8.82567517e-03 1.10260529e-01 -4.44741930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.36, Z:-444.77 [[ 5.42852715e-02 -9.03033293e-01 4.26126719e-01 2.90941014e+02] [ 9.55498102e-02 4.29495473e-01 8.97999929e-01 -1.66358312e+02] [-9.93943330e-01 -8.03184282e-03 1.09599938e-01 -4.44770008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.36, Z:-444.80 [[ 5.09169098e-02 -9.04422436e-01 4.23588865e-01 2.90944003e+02] [ 9.75741851e-02 4.26614871e-01 8.99154620e-01 -1.66355811e+02] [-9.93924920e-01 -4.45083635e-03 1.09970193e-01 -4.44796834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.35, Z:-444.82 [[ 4.84155541e-02 -9.05062770e-01 4.22513096e-01 2.90946265e+02] [ 9.84158579e-02 4.25273409e-01 8.99698198e-01 -1.66352690e+02] [-9.93966928e-01 -1.97739792e-03 1.09662377e-01 -4.44824965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.35, Z:-444.85 [[ 4.23543031e-02 -9.06503283e-01 4.20068935e-01 2.90948336e+02] [ 1.00340094e-01 4.22179902e-01 9.00941727e-01 -1.66348996e+02] [-9.94051296e-01 3.99099748e-03 1.08839760e-01 -4.44852271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.35, Z:-444.88 [[ 3.92572114e-02 -9.07784660e-01 4.17595356e-01 2.90952397e+02] [ 1.01494738e-01 4.19378639e-01 9.02119934e-01 -1.66346148e+02] [-9.94061210e-01 6.96901852e-03 1.08599003e-01 -4.44878897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.34, Z:-444.91 [[ 3.46730257e-02 -9.05812826e-01 4.22256918e-01 2.90950001e+02] [ 1.01973761e-01 4.23512372e-01 9.00132558e-01 -1.66344887e+02] [-9.94182646e-01 1.18488066e-02 1.07053596e-01 -4.44909947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-166.33, Z:-444.94 [[ 3.30015982e-02 -9.23072501e-01 3.83207585e-01 2.90978246e+02] [ 1.03720955e-01 3.84509273e-01 9.17275631e-01 -1.66333340e+02] [-9.94058780e-01 9.47509471e-03 1.08431381e-01 -4.44940145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.34, Z:-444.97 [[ 2.66370063e-02 -9.07947869e-01 4.18235744e-01 2.90953673e+02] [ 1.07199913e-01 4.18566009e-01 9.01837388e-01 -1.66336004e+02] [-9.93880601e-01 2.08125872e-02 1.08481278e-01 -4.44973282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.34, Z:-445.01 [[ 2.15809126e-02 -9.00087504e-01 4.35174390e-01 2.90939178e+02] [ 1.07094031e-01 4.34852517e-01 8.94110819e-01 -1.66338914e+02] [-9.94014654e-01 2.73088523e-02 1.05778514e-01 -4.45005591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.33, Z:-445.03 [[ 1.93448694e-02 -9.20839906e-01 3.89460709e-01 2.90970030e+02] [ 1.08624587e-01 3.89163516e-01 9.14741743e-01 -1.66327336e+02] [-9.93894600e-01 2.46094490e-02 1.07554172e-01 -4.45033446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.33, Z:-445.07 [[ 1.67928610e-02 -9.08565725e-01 4.17404267e-01 2.90951394e+02] [ 1.10566520e-01 4.16590264e-01 9.02345608e-01 -1.66329351e+02] [-9.93726846e-01 3.09979729e-02 1.07452693e-01 -4.45066320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.32, Z:-445.09 [[ 1.24525799e-02 -9.18255722e-01 3.95792069e-01 2.90966106e+02] [ 1.14811240e-01 3.94517935e-01 9.11687434e-01 -1.66320725e+02] [-9.93309273e-01 3.40885175e-02 1.10338844e-01 -4.45092539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.33, Z:-445.13 [[ 8.75472684e-03 -9.02283873e-01 4.31053556e-01 2.90940012e+02] [ 1.15029922e-01 4.29117144e-01 8.95894298e-01 -1.66327007e+02] [-9.93323448e-01 4.17407470e-02 1.07546447e-01 -4.45125403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-166.31, Z:-445.15 [[ 8.15815214e-03 -9.31861208e-01 3.62723220e-01 2.90987639e+02] [ 1.16538651e-01 3.61149521e-01 9.25197150e-01 -1.66308969e+02] [-9.93152651e-01 3.47233757e-02 1.11544161e-01 -4.45150671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.32, Z:-445.18 [[ 7.67062985e-03 -9.02703093e-01 4.30195638e-01 2.90938620e+02] [ 1.16681068e-01 4.28077538e-01 8.96178079e-01 -1.66320559e+02] [-9.93139814e-01 4.33214361e-02 1.08611985e-01 -4.45181802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.31, Z:-445.21 [[ 8.50126566e-03 -9.21139193e-01 3.89140484e-01 2.90967577e+02] [ 1.16604063e-01 3.87412903e-01 9.14502452e-01 -1.66308621e+02] [-9.93142095e-01 3.76009332e-02 1.10702072e-01 -4.45209650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.31, Z:-445.24 [[ 9.81341606e-03 -8.99072553e-01 4.37689664e-01 2.90936959e+02] [ 1.18480785e-01 4.35672813e-01 8.92273222e-01 -1.66312553e+02] [-9.92907851e-01 4.31015666e-02 1.10798260e-01 -4.45240013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-166.31, Z:-445.27 [[ 9.83011613e-03 -9.04512564e-01 4.26333661e-01 2.90944526e+02] [ 1.17579448e-01 4.24442113e-01 8.97788375e-01 -1.66305294e+02] [-9.93014825e-01 4.13027124e-02 1.10524403e-01 -4.45266241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.30, Z:-445.29 [[ 9.90436210e-03 -9.16273001e-01 4.00431881e-01 2.90959821e+02] [ 1.10377479e-01 3.99006204e-01 9.10280650e-01 -1.66296792e+02] [-9.93840387e-01 3.51829125e-02 1.05087806e-01 -4.45291334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.30, Z:-445.32 [[ 8.72432490e-03 -9.12320875e-01 4.09383081e-01 2.90950444e+02] [ 1.07333952e-01 4.07887772e-01 9.06701157e-01 -1.66300397e+02] [-9.94184746e-01 3.60303485e-02 1.01481551e-01 -4.45321676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.29, Z:-445.35 [[ 1.31120063e-02 -9.22822148e-01 3.85003063e-01 2.90969067e+02] [ 1.09271717e-01 3.84052558e-01 9.16822406e-01 -1.66287877e+02] [-9.93925434e-01 3.00485645e-02 1.05874060e-01 -4.45347826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.29, Z:-445.38 [[ 1.88129586e-02 -9.14454138e-01 4.04252028e-01 2.90955457e+02] [ 1.07882771e-01 4.03819589e-01 9.08455308e-01 -1.66287341e+02] [-9.93985604e-01 2.65210966e-02 1.06250887e-01 -4.45375134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.28, Z:-445.40 [[ 2.14098668e-02 -9.14859865e-01 4.03203479e-01 2.90955409e+02] [ 1.06414208e-01 4.03090203e-01 9.08952312e-01 -1.66283984e+02] [-9.94091361e-01 2.34460312e-02 1.05984196e-01 -4.45403294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.28, Z:-445.43 [[ 2.44468536e-02 -9.15898286e-01 4.00665298e-01 2.90956201e+02] [ 1.04181150e-01 4.00936933e-01 9.10162548e-01 -1.66280430e+02] [-9.94257834e-01 1.94911609e-02 1.05220983e-01 -4.45429793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.28, Z:-445.46 [[ 3.09832746e-02 -9.16172682e-01 3.99584351e-01 2.90955166e+02] [ 1.00425857e-01 4.00606715e-01 9.10729876e-01 -1.66276064e+02] [-9.94462007e-01 1.19112069e-02 1.04419534e-01 -4.45457797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.28, Z:-445.49 [[ 3.42474433e-02 -9.13976570e-01 4.04319111e-01 2.90952248e+02] [ 9.85661899e-02 4.05673001e-01 9.08688133e-01 -1.66277229e+02] [-9.94541009e-01 8.73194888e-03 1.03980451e-01 -4.45488223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-166.28, Z:-445.51 [[ 3.84384169e-02 -8.93590867e-01 4.47233554e-01 2.90924606e+02] [ 1.00031476e-01 4.48757113e-01 8.88037588e-01 -1.66276694e+02] [-9.94241516e-01 1.06026733e-02 1.06636726e-01 -4.45514495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.27, Z:-445.54 [[ 4.13128728e-02 -9.18511422e-01 3.93230230e-01 2.90959666e+02] [ 9.92357604e-02 3.95392314e-01 9.13135906e-01 -1.66268333e+02] [-9.94205970e-01 1.29823336e-03 1.07483972e-01 -4.45539447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-166.27, Z:-445.57 [[ 4.43772645e-02 -9.18849174e-01 3.92105667e-01 2.90959864e+02] [ 9.81272825e-02 3.94603503e-01 9.13596799e-01 -1.66265715e+02] [-9.94183934e-01 -2.06666320e-03 1.07675596e-01 -4.45567379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-166.27, Z:-445.60 [[ 4.67645929e-02 -9.15384179e-01 3.99856072e-01 2.90951384e+02] [ 9.40187368e-02 4.02550527e-01 9.10556725e-01 -1.66267766e+02] [-9.94471493e-01 -4.98785172e-03 1.04888376e-01 -4.45596327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.26, Z:-445.62 [[ 5.03457182e-02 -9.24674165e-01 3.77416213e-01 2.90969097e+02] [ 9.58393959e-02 3.80624472e-01 9.19749869e-01 -1.66258513e+02] [-9.94122789e-01 -1.01341259e-02 1.07783026e-01 -4.45622990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.26, Z:-445.65 [[ 5.09690776e-02 -9.21102886e-01 3.85968427e-01 2.90965951e+02] [ 9.57833586e-02 3.89197724e-01 9.16160837e-01 -1.66257263e+02] [-9.94096425e-01 -9.72652060e-03 1.08063377e-01 -4.45651098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-166.26, Z:-445.68 [[ 5.06197756e-02 -9.22197777e-01 3.83391313e-01 2.90971494e+02] [ 9.66319752e-02 3.86604830e-01 9.17168996e-01 -1.66255164e+02] [-9.94032142e-01 -9.37902888e-03 1.08683642e-01 -4.45678931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-166.25, Z:-445.71 [[ 4.99306164e-02 -9.23318011e-01 3.80776555e-01 2.90975774e+02] [ 9.70412991e-02 3.83933176e-01 9.18247408e-01 -1.66252554e+02] [-9.94027122e-01 -8.89760755e-03 1.08769999e-01 -4.45706728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-166.25, Z:-445.73 [[ 4.92380552e-02 -9.24411892e-01 3.78204003e-01 2.90979891e+02] [ 9.67372021e-02 3.81296837e-01 9.19377309e-01 -1.66250515e+02] [-9.94091308e-01 -8.68195357e-03 1.08199335e-01 -4.45734243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-166.25, Z:-445.76 [[ 4.76819972e-02 -9.25551932e-01 3.75606242e-01 2.90984337e+02] [ 9.71596849e-02 3.78548440e-01 9.20467856e-01 -1.66248587e+02] [-9.94125959e-01 -7.39596164e-03 1.07976280e-01 -4.45761754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-166.25, Z:-445.79 [[ 4.62822494e-02 -9.26675693e-01 3.73001492e-01 2.90987733e+02] [ 9.73557682e-02 3.75808440e-01 9.21569244e-01 -1.66246509e+02] [-9.94172927e-01 -6.33845079e-03 1.07610484e-01 -4.45788483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-166.24, Z:-445.82 [[ 4.42424507e-02 -9.27227458e-01 3.71876116e-01 2.90990475e+02] [ 9.79598020e-02 3.74473216e-01 9.22048637e-01 -1.66244084e+02] [-9.94206459e-01 -4.36478063e-03 1.07398631e-01 -4.45816282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:-166.24, Z:-445.84 [[ 4.03640132e-02 -9.28464011e-01 3.69222598e-01 2.90997566e+02] [ 1.00634294e-01 3.71422361e-01 9.22994133e-01 -1.66242458e+02] [-9.94104363e-01 -9.92920177e-05 1.08427417e-01 -4.45842710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:-166.24, Z:-445.87 [[ 3.78485441e-02 -9.29024702e-01 3.68076882e-01 2.91002394e+02] [ 1.02019262e-01 3.70008563e-01 9.23409840e-01 -1.66240738e+02] [-9.94062150e-01 2.60121391e-03 1.08782700e-01 -4.45869086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:-166.24, Z:-445.90 [[ 3.50699626e-02 -9.29582707e-01 3.66941533e-01 2.91007418e+02] [ 1.03668245e-01 3.68570418e-01 9.23801246e-01 -1.66238486e+02] [-9.93993457e-01 5.64250956e-03 1.09293958e-01 -4.45896908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:-166.24, Z:-445.92 [[ 2.81798048e-02 -9.30815676e-01 3.64400983e-01 2.91013985e+02] [ 1.06029781e-01 3.65272549e-01 9.24842500e-01 -1.66237509e+02] [-9.93963573e-01 1.25754752e-02 1.08987491e-01 -4.45924622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.23, Z:-445.95 [[ 2.69141325e-02 -9.37612060e-01 3.46639951e-01 2.91031536e+02] [ 1.10459266e-01 3.47431507e-01 9.31176728e-01 -1.66227800e+02] [-9.93516170e-01 1.32277805e-02 1.12918757e-01 -4.45953589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-166.24, Z:-445.98 [[ 2.44298894e-02 -9.02759028e-01 4.29452346e-01 2.90979227e+02] [ 1.12251449e-01 4.29341015e-01 8.96139445e-01 -1.66240776e+02] [-9.93379481e-01 2.63140607e-02 1.11824763e-01 -4.45983289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-166.24, Z:-446.01 [[ 2.00507880e-02 -9.11483595e-01 4.10847444e-01 2.90989839e+02] [ 1.09013664e-01 4.10473160e-01 9.05332981e-01 -1.66239695e+02] [-9.93838008e-01 2.66353457e-02 1.07594477e-01 -4.46009418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.23, Z:-446.03 [[ 1.91067833e-02 -9.35341190e-01 3.53230504e-01 2.91028015e+02] [ 1.07355186e-01 3.53171749e-01 9.29378599e-01 -1.66227022e+02] [-9.94037120e-01 2.01636910e-02 1.07161703e-01 -4.46034068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.22, Z:-446.06 [[ 1.96148720e-02 -9.36988393e-01 3.48809415e-01 2.91032990e+02] [ 1.07504969e-01 3.48830441e-01 9.30999466e-01 -1.66221710e+02] [-9.94011035e-01 1.92373099e-02 1.07573172e-01 -4.46062605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.22, Z:-446.09 [[ 2.05427843e-02 -9.32564412e-01 3.60418662e-01 2.91026937e+02] [ 1.06771918e-01 3.60479453e-01 9.26636024e-01 -1.66222224e+02] [-9.94071301e-01 1.94469080e-02 1.06976943e-01 -4.46090086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.22, Z:-446.12 [[ 2.22585408e-02 -9.36919373e-01 3.48836131e-01 2.91033872e+02] [ 1.05832311e-01 3.49170221e-01 9.31063735e-01 -1.66217009e+02] [-9.94134840e-01 1.61940139e-02 1.06928362e-01 -4.46117522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-166.21, Z:-446.15 [[ 2.31206731e-02 -9.37886419e-01 3.46171200e-01 2.91035567e+02] [ 1.05771207e-01 3.46615181e-01 9.32024875e-01 -1.66214012e+02] [-9.94121666e-01 1.50659033e-02 1.07215355e-01 -4.46145534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-166.21, Z:-446.17 [[ 2.42415431e-02 -9.38840572e-01 3.43497786e-01 2.91037463e+02] [ 1.05505355e-01 3.44082515e-01 9.32992949e-01 -1.66211031e+02] [-9.94123216e-01 1.36236671e-02 1.07393799e-01 -4.46171942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.21, Z:-446.20 [[ 2.56237612e-02 -9.37459517e-01 3.47149934e-01 2.91033154e+02] [ 1.03569044e-01 3.47884724e-01 9.31799159e-01 -1.66210060e+02] [-9.94292148e-01 1.20777876e-02 1.06005901e-01 -4.46200046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-166.20, Z:-446.23 [[ 2.81843622e-02 -9.46637452e-01 3.21065687e-01 2.91049833e+02] [ 1.04197017e-01 3.22225756e-01 9.40911018e-01 -1.66200758e+02] [-9.94157243e-01 6.93510989e-03 1.07718526e-01 -4.46226617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0765599949999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:291.03, Y:-166.21, Z:-446.26 [[ 3.14365844e-02 -9.35380043e-01 3.52244114e-01 2.91027012e+02] [ 1.00159204e-01 3.53592488e-01 9.30021767e-01 -1.66206470e+02] [-9.94474673e-01 6.04378237e-03 1.04802661e-01 -4.46256490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-166.19, Z:-446.28 [[ 3.84976438e-02 -9.52608914e-01 3.01751864e-01 2.91058293e+02] [ 1.01242729e-01 3.04140193e-01 9.47232101e-01 -1.66190494e+02] [-9.94116614e-01 -5.91602192e-03 1.08153407e-01 -4.46282057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-166.19, Z:-446.31 [[ 4.70693857e-02 -9.40727930e-01 3.35880091e-01 2.91038580e+02] [ 9.85698021e-02 3.38985948e-01 9.35613446e-01 -1.66194417e+02] [-9.94016331e-01 -1.09311161e-02 1.08683226e-01 -4.46310539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-166.19, Z:-446.34 [[ 4.68104334e-02 -9.41391479e-01 3.34052191e-01 2.91040569e+02] [ 9.86855005e-02 3.37141101e-01 9.36267617e-01 -1.66191423e+02] [-9.94017080e-01 -1.08609852e-02 1.08683410e-01 -4.46338912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-166.19, Z:-446.37 [[ 4.86245655e-02 -9.42184847e-01 3.31546927e-01 2.91042548e+02] [ 9.80512927e-02 3.34838975e-01 9.37159967e-01 -1.66188302e+02] [-9.93992754e-01 -1.30603914e-02 1.08663842e-01 -4.46366623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-166.19, Z:-446.39 [[ 4.84427721e-02 -9.43134693e-01 3.28862051e-01 2.91045033e+02] [ 9.81556194e-02 3.32150026e-01 9.38105450e-01 -1.66185138e+02] [-9.93991334e-01 -1.31647702e-02 1.08664238e-01 -4.46394940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-166.18, Z:-446.42 [[ 4.99782334e-02 -9.43642965e-01 3.27169880e-01 2.91045736e+02] [ 9.80678266e-02 3.30632888e-01 9.38650411e-01 -1.66182660e+02] [-9.93923980e-01 -1.48272504e-02 1.09065462e-01 -4.46422174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-166.18, Z:-446.45 [[ 5.16670581e-02 -9.44191955e-01 3.25318408e-01 2.91047384e+02] [ 9.81400762e-02 3.28977180e-01 9.39224436e-01 -1.66180290e+02] [-9.93830489e-01 -1.66001902e-02 1.09660354e-01 -4.46448736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-166.18, Z:-446.48 [[ 5.33060242e-02 -9.44717171e-01 3.23524242e-01 2.91051137e+02] [ 9.75568264e-02 3.27361915e-01 9.39849372e-01 -1.66177860e+02] [-9.93801355e-01 -1.85376351e-02 1.09613971e-01 -4.46476588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-166.17, Z:-446.50 [[ 5.30561997e-02 -9.45579760e-01 3.21035756e-01 2.91054461e+02] [ 9.67775960e-02 3.24844165e-01 9.40803043e-01 -1.66174878e+02] [-9.93890908e-01 -1.88463654e-02 1.08745933e-01 -4.46504871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-166.17, Z:-446.53 [[ 5.12005039e-02 -9.46575092e-01 3.18393001e-01 2.91058605e+02] [ 9.61873876e-02 3.22002998e-01 9.41839719e-01 -1.66172032e+02] [-9.94045520e-01 -1.75972772e-02 1.07535301e-01 -4.46533007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.06, Y:-166.17, Z:-446.56 [[ 5.01045174e-02 -9.47225333e-01 3.16628656e-01 2.91062072e+02] [ 9.64573633e-02 3.20134274e-01 9.42448950e-01 -1.66169774e+02] [-9.94075206e-01 -1.66797845e-02 1.07407031e-01 -4.46560992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-166.16, Z:-446.59 [[ 4.96614549e-02 -9.50989237e-01 3.05210110e-01 2.91071967e+02] [ 9.74157760e-02 3.08742206e-01 9.46143973e-01 -1.66164642e+02] [-9.94003977e-01 -1.72546066e-02 1.07973942e-01 -4.46588163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-166.16, Z:-446.62 [[ 4.78765669e-02 -9.48888495e-01 3.11959065e-01 2.91069487e+02] [ 9.80209165e-02 3.15273013e-01 9.43925223e-01 -1.66164568e+02] [-9.94032059e-01 -1.46133856e-02 1.08105109e-01 -4.46616298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.16, Z:-446.64 [[ 4.69667678e-02 -9.49873437e-01 3.09086682e-01 2.91075944e+02] [ 9.95452405e-02 3.12338604e-01 9.44740886e-01 -1.66162698e+02] [-9.93923975e-01 -1.36033177e-02 1.09224914e-01 -4.46642970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.16, Z:-446.67 [[ 4.59570697e-02 -9.50322812e-01 3.07854676e-01 2.91079347e+02] [ 1.00016781e-01 3.11009106e-01 9.45129610e-01 -1.66160478e+02] [-9.93923836e-01 -1.26447537e-02 1.09341296e-01 -4.46670219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.16, Z:-446.70 [[ 4.73938791e-02 -9.50616590e-01 3.06727761e-01 2.91080831e+02] [ 9.80999197e-02 3.10018024e-01 9.45655979e-01 -1.66157601e+02] [-9.94047396e-01 -1.47283364e-02 1.07948368e-01 -4.46697073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.15, Z:-446.73 [[ 4.83362438e-02 -9.50942135e-01 3.05569409e-01 2.91082059e+02] [ 9.76452434e-02 3.08960403e-01 9.46049088e-01 -1.66154787e+02] [-9.94046787e-01 -1.58910600e-02 1.07788962e-01 -4.46725379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.15, Z:-446.75 [[ 4.91047522e-02 -9.51744237e-01 3.02938329e-01 2.91083858e+02] [ 9.75596327e-02 3.06424348e-01 9.46882378e-01 -1.66151792e+02] [-9.94017526e-01 -1.69418724e-02 1.07898710e-01 -4.46753230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.15, Z:-446.78 [[ 4.91516289e-02 -9.52587252e-01 3.00269287e-01 2.91085526e+02] [ 9.76872611e-02 3.03776198e-01 9.47722122e-01 -1.66148686e+02] [-9.94002674e-01 -1.72496018e-02 1.07986735e-01 -4.46781236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.15, Z:-446.81 [[ 4.90204888e-02 -9.53454664e-01 2.97525118e-01 2.91087880e+02] [ 9.83001370e-02 3.01042552e-01 9.48530688e-01 -1.66145601e+02] [-9.93948729e-01 -1.72506782e-02 1.08481977e-01 -4.46808867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.14, Z:-446.84 [[ 4.79538797e-02 -9.54358217e-01 2.94789450e-01 2.91092742e+02] [ 9.88766962e-02 2.98214956e-01 9.49363597e-01 -1.66142688e+02] [-9.93943572e-01 -1.63778608e-02 1.08664352e-01 -4.46836920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.14, Z:-446.86 [[ 4.78226385e-02 -9.55191814e-01 2.92098604e-01 2.91094762e+02] [ 9.79455615e-02 2.95508267e-01 9.50306020e-01 -1.66139105e+02] [-9.94042083e-01 -1.68363794e-02 1.07688783e-01 -4.46863431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.14, Z:-446.89 [[ 4.71821758e-02 -9.55577095e-01 2.90940299e-01 2.91094908e+02] [ 9.75064138e-02 2.94279672e-01 9.50732336e-01 -1.66136311e+02] [-9.94115859e-01 -1.64890751e-02 1.07059651e-01 -4.46891081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.13, Z:-446.92 [[ 4.56830412e-02 -9.56461822e-01 2.88260027e-01 2.91094545e+02] [ 9.80694916e-02 2.91461401e-01 9.51542236e-01 -1.66134175e+02] [-9.94130492e-01 -1.51998289e-02 1.07114568e-01 -4.46919093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.13, Z:-446.95 [[ 4.51293841e-02 -9.57301706e-01 2.85546462e-01 2.91096403e+02] [ 9.95513735e-02 2.88724501e-01 9.52222499e-01 -1.66131233e+02] [-9.94008482e-01 -1.45466724e-02 1.08330659e-01 -4.46946397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.13, Z:-446.97 [[ 4.44592457e-02 -9.57686361e-01 2.84359298e-01 2.91098073e+02] [ 1.00725565e-01 2.87487453e-01 9.52473267e-01 -1.66128794e+02] [-9.93920387e-01 -1.37039921e-02 1.09244975e-01 -4.46973957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.13, Z:-447.00 [[ 4.41926007e-02 -9.58489091e-01 2.81683645e-01 2.91100390e+02] [ 1.00845543e-01 2.84798877e-01 9.53267946e-01 -1.66125491e+02] [-9.93920113e-01 -1.37208497e-02 1.09245356e-01 -4.47002299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.12, Z:-447.03 [[ 4.21419759e-02 -9.59319970e-01 2.79158109e-01 2.91103347e+02] [ 1.01950145e-01 2.82076820e-01 9.53959557e-01 -1.66122208e+02] [-9.93896485e-01 -1.17415310e-02 1.09690084e-01 -4.47029672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-166.11, Z:-447.06 [[ 4.18268319e-02 -9.65509710e-01 2.56985441e-01 2.91119181e+02] [ 1.06613629e-01 2.60055044e-01 9.59690006e-01 -1.66108395e+02] [-9.93420379e-01 -1.27426420e-02 1.13813773e-01 -4.47056201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-166.10, Z:-447.09 [[ 4.12173397e-02 -9.62956714e-01 2.66487333e-01 2.91116724e+02] [ 1.08822736e-01 2.69453893e-01 9.56844926e-01 -1.66104385e+02] [-9.93206294e-01 -1.04387217e-02 1.15897757e-01 -4.47085425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.13, Z:-447.12 [[ 3.65985520e-02 -9.43260071e-01 3.30031793e-01 2.91075102e+02] [ 1.00872926e-01 3.32053266e-01 9.37851417e-01 -1.66125566e+02] [-9.94225930e-01 -1.03273131e-03 1.07302072e-01 -4.47115833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:-166.11, Z:-447.14 [[ 3.29791210e-02 -9.61767778e-01 2.71873350e-01 2.91111331e+02] [ 1.00995482e-01 2.73835812e-01 9.56459022e-01 -1.66109622e+02] [-9.94340128e-01 -4.08519773e-03 1.06165065e-01 -4.47141205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:-166.11, Z:-447.17 [[ 3.15972701e-02 -9.62583210e-01 2.69137838e-01 2.91113893e+02] [ 1.00402905e-01 2.70967063e-01 9.57338032e-01 -1.66106315e+02] [-9.94445006e-01 -3.22704759e-03 1.05207970e-01 -4.47167850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-166.10, Z:-447.20 [[ 3.02450683e-02 -9.62956277e-01 2.67956050e-01 2.91115805e+02] [ 1.00280125e-01 2.69649433e-01 9.57722862e-01 -1.66103377e+02] [-9.94499438e-01 -2.09572714e-03 1.04720941e-01 -4.47195654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-166.10, Z:-447.22 [[ 2.90072647e-02 -9.63754377e-01 2.65209502e-01 2.91118669e+02] [ 1.00256541e-01 2.66788352e-01 9.58526265e-01 -1.66100202e+02] [-9.94538689e-01 -1.21523773e-03 1.04361481e-01 -4.47222750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-166.10, Z:-447.25 [[ 2.57494813e-02 -9.64164840e-01 2.64051370e-01 2.91120371e+02] [ 9.98597064e-02 2.65298618e-01 9.58981065e-01 -1.66097433e+02] [-9.94668288e-01 1.67482724e-03 1.03112520e-01 -4.47251117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-166.09, Z:-447.28 [[ 2.42625987e-02 -9.64943737e-01 2.61332949e-01 2.91122179e+02] [ 1.00253157e-01 2.62440646e-01 9.59726113e-01 -1.66094701e+02] [-9.94666090e-01 2.91400368e-03 1.03106148e-01 -4.47277809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-166.08, Z:-447.31 [[ 2.50601592e-02 -9.70082276e-01 2.41479537e-01 2.91137622e+02] [ 1.05694066e-01 2.42772602e-01 9.64308160e-01 -1.66081089e+02] [-9.94082870e-01 1.35723830e-03 1.08615861e-01 -4.47306061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.10, Z:-447.34 [[ 2.02816870e-02 -9.53402918e-01 3.01017488e-01 2.91101997e+02] [ 1.02658649e-01 3.01473941e-01 9.47931783e-01 -1.66099690e+02] [-9.94509857e-01 1.16763930e-02 1.03989456e-01 -4.47336250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:-166.09, Z:-447.36 [[ 1.79228903e-02 -9.66503567e-01 2.56026612e-01 2.91130407e+02] [ 1.02031127e-01 2.56498954e-01 9.61144076e-01 -1.66085788e+02] [-9.94619736e-01 8.89620377e-03 1.03210650e-01 -4.47362600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-166.07, Z:-447.39 [[ 1.99024386e-02 -9.72930821e-01 2.30237944e-01 2.91150662e+02] [ 1.07671348e-01 2.31030023e-01 9.66970532e-01 -1.66067787e+02] [-9.93987311e-01 5.54495821e-03 1.09354834e-01 -4.47391187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-166.10, Z:-447.42 [[ 1.43890878e-02 -9.45089235e-01 3.26495471e-01 2.91087671e+02] [ 1.02896285e-01 3.26195301e-01 9.39685575e-01 -1.66095912e+02] [-9.94588010e-01 2.00739527e-02 1.01939824e-01 -4.47421603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:-166.08, Z:-447.45 [[ 1.20633643e-02 -9.68191286e-01 2.49920205e-01 2.91134265e+02] [ 1.02080869e-01 2.49824991e-01 9.62895098e-01 -1.66075430e+02] [-9.94702957e-01 1.38963173e-02 1.01847537e-01 -4.47446777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.05, Z:-447.48 [[ 1.51315405e-02 -9.75495948e-01 2.19496452e-01 2.91158705e+02] [ 1.08891847e-01 2.19823616e-01 9.69443213e-01 -1.66054584e+02] [-9.93938430e-01 9.23220486e-03 1.09549826e-01 -4.47476000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-166.09, Z:-447.51 [[ 1.00743619e-02 -9.39174210e-01 3.43293331e-01 2.91078745e+02] [ 1.03744537e-01 3.42439739e-01 9.33794461e-01 -1.66090385e+02] [-9.94552954e-01 2.62074243e-02 1.00884055e-01 -4.47507903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-166.07, Z:-447.53 [[ 5.78113888e-03 -9.69498005e-01 2.45031014e-01 2.91137554e+02] [ 1.03258184e-01 2.44304012e-01 9.64185302e-01 -1.66066135e+02] [-9.94637786e-01 1.97273684e-02 1.01520959e-01 -4.47532178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-166.06, Z:-447.56 [[ 3.73412247e-03 -9.70207997e-01 2.42244709e-01 2.91139778e+02] [ 1.03845017e-01 2.41312896e-01 9.64875276e-01 -1.66063098e+02] [-9.94586481e-01 2.15529435e-02 1.01652358e-01 -4.47558846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-166.06, Z:-447.59 [[ 1.84237530e-03 -9.70517642e-01 2.41023056e-01 2.91141728e+02] [ 1.05006535e-01 2.39878728e-01 9.65107157e-01 -1.66059878e+02] [-9.94469825e-01 2.35309063e-02 1.02352641e-01 -4.47586657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-166.06, Z:-447.61 [[-1.28908427e-04 -9.71200276e-01 2.38264574e-01 2.91144228e+02] [ 1.06182191e-01 2.36904299e-01 9.65713050e-01 -1.66056262e+02] [-9.94346683e-01 2.54239429e-02 1.03093634e-01 -4.47614927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.04, Z:-447.64 [[ 2.03987327e-03 -9.77044912e-01 2.13023658e-01 2.91164434e+02] [ 1.13247900e-01 2.11879371e-01 9.70712133e-01 -1.66038452e+02] [-9.93564669e-01 2.21443523e-02 1.11080492e-01 -4.47641740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-166.04, Z:-447.67 [[ 1.66389062e-03 -9.71957578e-01 2.35150373e-01 2.91154002e+02] [ 1.14940987e-01 2.33778077e-01 9.65472102e-01 -1.66040584e+02] [-9.93370928e-01 2.54219759e-02 1.12106745e-01 -4.47674414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.06, Z:-447.70 [[ 3.01086297e-03 -9.44126731e-01 3.29568887e-01 2.91096767e+02] [ 1.16705049e-01 3.27650033e-01 9.37563538e-01 -1.66062104e+02] [-9.93162054e-01 3.56394778e-02 1.11170866e-01 -4.47704395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.06, Z:-447.73 [[ 3.48125053e-03 -9.49302471e-01 3.14344875e-01 2.91104957e+02] [ 1.14613045e-01 3.12654049e-01 9.42926983e-01 -1.66057724e+02] [-9.93404113e-01 3.27454582e-02 1.09890874e-01 -4.47731620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-166.06, Z:-447.76 [[ 1.73236791e-03 -9.50139809e-01 3.11819408e-01 2.91101796e+02] [ 1.09775880e-01 3.10116035e-01 9.44339611e-01 -1.66061295e+02] [-9.93954856e-01 3.25943064e-02 1.04839669e-01 -4.47758495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-166.04, Z:-447.78 [[ 1.74031202e-03 -9.74962103e-01 2.22364272e-01 2.91154481e+02] [ 1.07544919e-01 2.21257417e-01 9.69267376e-01 -1.66037099e+02] [-9.94198703e-01 2.22273199e-02 1.05237277e-01 -4.47783128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.03, Z:-447.81 [[ 3.30022080e-03 -9.75599066e-01 2.19534898e-01 2.91155945e+02] [ 1.06979242e-01 2.18620662e-01 9.69928063e-01 -1.66033826e+02] [-9.94255777e-01 2.02847001e-02 1.05090345e-01 -4.47809617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.03, Z:-447.84 [[ 5.75844079e-03 -9.75862318e-01 2.18310733e-01 2.91157029e+02] [ 1.06264000e-01 2.17675370e-01 9.70219251e-01 -1.66029982e+02] [-9.94321277e-01 1.76116217e-02 1.04952505e-01 -4.47837320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.02, Z:-447.87 [[ 6.92797664e-03 -9.77900615e-01 2.08955475e-01 2.91163962e+02] [ 1.07446415e-01 2.08478704e-01 9.72106938e-01 -1.66021139e+02] [-9.94186739e-01 1.57167824e-02 1.06516250e-01 -4.47865642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.02, Z:-447.89 [[ 7.65847413e-03 -9.77702923e-01 2.09853145e-01 2.91162783e+02] [ 1.06623433e-01 2.09461333e-01 9.71986314e-01 -1.66018943e+02] [-9.94269979e-01 1.49313306e-02 1.05850196e-01 -4.47892679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.02, Z:-447.92 [[ 8.67870954e-03 -9.78485848e-01 2.06131331e-01 2.91161710e+02] [ 1.03919460e-01 2.05905464e-01 9.73038378e-01 -1.66018497e+02] [-9.94547850e-01 1.29763392e-02 1.03470715e-01 -4.47920837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-166.00, Z:-447.95 [[ 1.11270506e-02 -9.87024299e-01 1.60184964e-01 2.91189335e+02] [ 1.04289201e-01 1.60466748e-01 9.81516268e-01 -1.66002172e+02] [-9.94484767e-01 5.78418086e-03 1.04721497e-01 -4.47947968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.01, Z:-447.98 [[ 1.21775131e-02 -9.77815562e-01 2.09113450e-01 2.91162631e+02] [ 1.04623242e-01 2.09227043e-01 9.72254093e-01 -1.66012549e+02] [-9.94437371e-01 1.00384901e-02 1.04850099e-01 -4.47977885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-166.01, Z:-448.01 [[ 1.28427028e-02 -9.78404807e-01 2.06298565e-01 2.91164194e+02] [ 1.04153010e-01 2.06502239e-01 9.72886929e-01 -1.66008633e+02] [-9.94478364e-01 8.99211878e-03 1.04555852e-01 -4.48005358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-166.01, Z:-448.03 [[ 1.29599527e-02 -9.78994331e-01 2.03475156e-01 2.91165426e+02] [ 1.04545627e-01 2.03703608e-01 9.73434668e-01 -1.66005745e+02] [-9.94435645e-01 8.65677044e-03 1.04989565e-01 -4.48033123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-166.00, Z:-448.06 [[ 1.29671959e-02 -9.79582046e-01 2.00626186e-01 2.91166991e+02] [ 1.04521046e-01 2.00871778e-01 9.74025605e-01 -1.66002960e+02] [-9.94438134e-01 8.33927793e-03 1.04991684e-01 -4.48060626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-166.00, Z:-448.09 [[ 1.29777860e-02 -9.80167204e-01 1.97746883e-01 2.91169597e+02] [ 1.04351837e-01 1.98011275e-01 9.74629278e-01 -1.65999117e+02] [-9.94455766e-01 7.98672033e-03 1.04851996e-01 -4.48088709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-165.99, Z:-448.12 [[ 1.23125260e-02 -9.80747008e-01 1.94894092e-01 2.91172975e+02] [ 1.03256461e-01 1.95113935e-01 9.75330024e-01 -1.65994749e+02] [-9.94578557e-01 8.11529800e-03 1.03670811e-01 -4.48115561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-165.99, Z:-448.14 [[ 1.17258987e-02 -9.80999722e-01 1.93654455e-01 2.91173849e+02] [ 1.03083386e-01 1.93821847e-01 9.75605918e-01 -1.65992093e+02] [-9.94603599e-01 8.52270076e-03 1.03397508e-01 -4.48143118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-165.99, Z:-448.17 [[ 1.12026543e-02 -9.81568993e-01 1.90779487e-01 2.91175440e+02] [ 1.03681664e-01 1.90903311e-01 9.76117840e-01 -1.65988992e+02] [-9.94547441e-01 8.84522407e-03 1.03909330e-01 -4.48169781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-165.99, Z:-448.20 [[ 1.05152448e-02 -9.81821112e-01 1.89517108e-01 2.91176713e+02] [ 1.04931837e-01 1.89564613e-01 9.76245137e-01 -1.65986751e+02] [-9.94423823e-01 9.62092164e-03 1.05017611e-01 -4.48198080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-165.98, Z:-448.23 [[ 1.03535754e-02 -9.82363264e-01 1.86695529e-01 2.91179577e+02] [ 1.05590773e-01 1.86735754e-01 9.76719175e-01 -1.65983846e+02] [-9.94355768e-01 9.60078946e-03 1.05661879e-01 -4.48226442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-165.98, Z:-448.25 [[ 1.01170105e-02 -9.82897033e-01 1.83877864e-01 2.91182592e+02] [ 1.06065027e-01 1.83904712e-01 9.77204823e-01 -1.65980718e+02] [-9.94307727e-01 9.61661906e-03 1.06111566e-01 -4.48253863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.98, Z:-448.28 [[ 1.07732283e-02 -9.83415004e-01 1.81049353e-01 2.91185940e+02] [ 1.07160842e-01 1.81152595e-01 9.77599249e-01 -1.65978310e+02] [-9.94183329e-01 8.86950114e-03 1.07335178e-01 -4.48281647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.97, Z:-448.31 [[ 1.11969389e-02 -9.83931226e-01 1.78196439e-01 2.91188418e+02] [ 1.08073770e-01 1.78354495e-01 9.78013157e-01 -1.65974998e+02] [-9.94079820e-01 8.30760735e-03 1.08334181e-01 -4.48309765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.97, Z:-448.34 [[ 1.19377971e-02 -9.84429381e-01 1.75374694e-01 2.91190503e+02] [ 1.08100918e-01 1.75629837e-01 9.78503118e-01 -1.65971715e+02] [-9.94068248e-01 7.27699371e-03 1.08514353e-01 -4.48337837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.97, Z:-448.37 [[ 1.32629430e-02 -9.84909161e-01 1.72563145e-01 2.91192603e+02] [ 1.07916056e-01 1.72980224e-01 9.78995387e-01 -1.65968579e+02] [-9.94071536e-01 5.63797406e-03 1.08581739e-01 -4.48366157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.97, Z:-448.39 [[ 1.47004195e-02 -9.85376945e-01 1.69753276e-01 2.91194011e+02] [ 1.08362217e-01 1.70341716e-01 9.79408663e-01 -1.65965312e+02] [-9.94002781e-01 3.99712309e-03 1.09281725e-01 -4.48393543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-165.96, Z:-448.42 [[ 1.65705821e-02 -9.85828590e-01 1.66935340e-01 2.91195134e+02] [ 1.07997858e-01 1.67746188e-01 9.79896770e-01 -1.65962077e+02] [-9.94013017e-01 1.79119924e-03 1.09247028e-01 -4.48421040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-165.96, Z:-448.45 [[ 1.80752817e-02 -9.86273949e-01 1.64124894e-01 2.91197528e+02] [ 1.07666581e-01 1.65117214e-01 9.80379627e-01 -1.65958652e+02] [-9.94022732e-01 -4.98717003e-05 1.09173284e-01 -4.48448849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-165.95, Z:-448.48 [[ 1.82224289e-02 -9.86742372e-01 1.61268208e-01 2.91201775e+02] [ 1.05532074e-01 1.62292188e-01 9.81083191e-01 -1.65954276e+02] [-9.94248925e-01 -8.58750239e-04 1.07090327e-01 -4.48476827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-165.95, Z:-448.50 [[ 1.69791331e-02 -9.87229993e-01 1.58393969e-01 2.91204564e+02] [ 1.04154884e-01 1.59301321e-01 9.81720352e-01 -1.65950444e+02] [-9.94416145e-01 -1.71255160e-04 1.05529623e-01 -4.48503876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.95, Z:-448.53 [[ 1.56659383e-02 -9.87449876e-01 1.57153811e-01 2.91205735e+02] [ 1.03286934e-01 1.57930439e-01 9.82033495e-01 -1.65947291e+02] [-9.94528224e-01 8.47459127e-04 1.04464799e-01 -4.48530645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.94, Z:-448.56 [[ 1.39815228e-02 -9.87666475e-01 1.55946950e-01 2.91205882e+02] [ 1.01445778e-01 1.56558585e-01 9.82444993e-01 -1.65944406e+02] [-9.94742817e-01 2.08408263e-03 1.02383522e-01 -4.48558733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.94, Z:-448.59 [[ 1.30394205e-02 -9.88121171e-01 1.53122581e-01 2.91207273e+02] [ 1.01050937e-01 1.53653819e-01 9.82944155e-01 -1.65940814e+02] [-9.94795799e-01 2.65615809e-03 1.01854127e-01 -4.48586360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.94, Z:-448.61 [[ 1.21811439e-02 -9.88564585e-01 1.50305295e-01 2.91208874e+02] [ 1.00804941e-01 1.50764710e-01 9.83416680e-01 -1.65937282e+02] [-9.94831636e-01 3.17237614e-03 1.01488681e-01 -4.48613913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.93, Z:-448.64 [[ 1.13371183e-02 -9.89003593e-01 1.47456311e-01 2.91210209e+02] [ 1.00734450e-01 1.47845210e-01 9.83867046e-01 -1.65934219e+02] [-9.94848753e-01 3.69971340e-03 1.01302872e-01 -4.48641492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.93, Z:-448.67 [[ 1.06384543e-02 -9.89433742e-01 1.44594929e-01 2.91211193e+02] [ 1.01879198e-01 1.44923131e-01 9.84183883e-01 -1.65931173e+02] [-9.94739892e-01 4.26102007e-03 1.02344474e-01 -4.48669268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-165.93, Z:-448.70 [[ 1.01432398e-02 -9.89851335e-01 1.41744309e-01 2.91213214e+02] [ 1.02546943e-01 1.42033941e-01 9.84535669e-01 -1.65927871e+02] [-9.94676450e-01 4.54906419e-03 1.02946913e-01 -4.48697285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.93, Z:-448.73 [[ 1.06278040e-02 -9.89995524e-01 1.40697950e-01 2.91216003e+02] [ 1.03405975e-01 1.41039627e-01 9.84588761e-01 -1.65925142e+02] [-9.94582452e-01 4.08499228e-03 1.03870393e-01 -4.48727212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.94, Z:-448.76 [[ 1.07597238e-02 -9.80920756e-01 1.94110019e-01 2.91186795e+02] [ 1.03633735e-01 1.94169816e-01 9.75478412e-01 -1.65937993e+02] [-9.94557327e-01 9.62046789e-03 1.03745695e-01 -4.48757585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-165.93, Z:-448.78 [[ 9.39933271e-03 -9.82048914e-01 1.88392099e-01 2.91188772e+02] [ 1.04450735e-01 1.88334020e-01 9.76534864e-01 -1.65933364e+02] [-9.94485644e-01 1.04989171e-02 1.04345945e-01 -4.48782049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.92, Z:-448.81 [[ 8.50206927e-03 -9.91169720e-01 1.32326494e-01 2.91219060e+02] [ 1.04884806e-01 1.32485262e-01 9.85620025e-01 -1.65915882e+02] [-9.94448034e-01 5.49922891e-03 1.05085043e-01 -4.48810958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-165.93, Z:-448.84 [[ 7.58314647e-03 -9.80102302e-01 1.98348111e-01 2.91180186e+02] [ 1.05525855e-01 1.98030595e-01 9.74498937e-01 -1.65932446e+02] [-9.94387646e-01 1.35410859e-02 1.04927829e-01 -4.48838282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.91, Z:-448.86 [[ 5.89238104e-03 -9.91890738e-01 1.26956855e-01 2.91219762e+02] [ 1.05323994e-01 1.26868481e-01 9.86311941e-01 -1.65909610e+02] [-9.94420503e-01 7.55987715e-03 1.05217451e-01 -4.48863446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.91, Z:-448.89 [[ 5.04152684e-03 -9.92259134e-01 1.24082210e-01 2.91221823e+02] [ 1.05722107e-01 1.23917256e-01 9.86644490e-01 -1.65905884e+02] [-9.94382934e-01 8.14403804e-03 1.05528459e-01 -4.48890043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.90, Z:-448.92 [[ 3.61804984e-03 -9.92506090e-01 1.22141605e-01 2.91223329e+02] [ 1.04955203e-01 1.21844689e-01 9.86984436e-01 -1.65901874e+02] [-9.94470369e-01 9.24843800e-03 1.04609518e-01 -4.48916515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.90, Z:-448.94 [[ 3.05638664e-03 -9.92653762e-01 1.20951097e-01 2.91223679e+02] [ 1.04112582e-01 1.20610220e-01 9.87225276e-01 -1.65898904e+02] [-9.94560822e-01 9.57518884e-03 1.03716377e-01 -4.48944079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.90, Z:-448.97 [[ 2.41831320e-03 -9.92984638e-01 1.18218696e-01 2.91224710e+02] [ 1.03500804e-01 1.17832670e-01 9.87624952e-01 -1.65895287e+02] [-9.94626430e-01 9.84734366e-03 1.03059665e-01 -4.48972300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.89, Z:-449.00 [[ 2.23197993e-03 -9.93321706e-01 1.15356003e-01 2.91224281e+02] [ 1.01818756e-01 1.14982518e-01 9.88135599e-01 -1.65891809e+02] [-9.94800462e-01 9.53990594e-03 1.01395419e-01 -4.48998850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.89, Z:-449.03 [[ 2.15124375e-03 -9.93465121e-01 1.14115840e-01 2.91224276e+02] [ 1.01211218e-01 1.13746419e-01 9.88341055e-01 -1.65889275e+02] [-9.94862635e-01 9.42364064e-03 1.00794511e-01 -4.49027125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.89, Z:-449.06 [[ 1.77554386e-03 -9.93789901e-01 1.11258615e-01 2.91225680e+02] [ 1.01068632e-01 1.10867421e-01 9.88682733e-01 -1.65885915e+02] [-9.94877872e-01 9.48930642e-03 1.00637836e-01 -4.49055067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.136559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.89, Z:-449.08 [[ 1.23762835e-03 -9.93014545e-01 1.17985513e-01 2.91222499e+02] [ 9.84150740e-02 1.17533786e-01 9.88180288e-01 -1.65888231e+02] [-9.95144684e-01 1.03885530e-02 9.78730631e-02 -4.49084304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.88, Z:-449.11 [[ 2.46464658e-03 -9.93649995e-01 1.12488280e-01 2.91226265e+02] [ 9.96220623e-02 1.12173002e-01 9.88682286e-01 -1.65880671e+02] [-9.95022296e-01 8.76956206e-03 9.92659285e-02 -4.49110575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.88, Z:-449.14 [[ 2.84200750e-03 -9.94540399e-01 1.04313560e-01 2.91229903e+02] [ 9.95893137e-02 1.04076884e-01 9.89570599e-01 -1.65876005e+02] [-9.95024568e-01 7.57614880e-03 9.93413830e-02 -4.49137387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-165.88, Z:-449.17 [[ 3.18965423e-03 -9.94035493e-01 1.09010391e-01 2.91224496e+02] [ 9.78856356e-02 1.08797796e-01 9.89232754e-01 -1.65878342e+02] [-9.95192559e-01 7.51524098e-03 9.76488233e-02 -4.49166199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-165.87, Z:-449.19 [[ 5.43626071e-03 -9.96072118e-01 8.83786315e-02 2.91235962e+02] [ 9.92276629e-02 8.84810726e-02 9.91123086e-01 -1.65866480e+02] [-9.95049907e-01 3.38160156e-03 9.93189146e-02 -4.49192691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.87, Z:-449.22 [[ 6.63390733e-03 -9.95139131e-01 9.82552842e-02 2.91230343e+02] [ 9.93988263e-02 9.84270482e-02 9.90167657e-01 -1.65866968e+02] [-9.95025560e-01 3.19777945e-03 9.95686176e-02 -4.49220535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.87, Z:-449.25 [[ 6.64019606e-03 -9.95101163e-01 9.86386454e-02 2.91229043e+02] [ 9.91483110e-02 9.88099303e-02 9.90154640e-01 -1.65866478e+02] [-9.95050511e-01 3.20503415e-03 9.93187169e-02 -4.49248882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-165.86, Z:-449.28 [[ 1.04810707e-02 -9.96586060e-01 8.18924480e-02 2.91239050e+02] [ 1.01459840e-01 8.25341756e-02 9.91410112e-01 -1.65857794e+02] [-9.94784423e-01 -2.08224484e-03 1.01978509e-01 -4.49276415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.86, Z:-449.30 [[ 1.16356369e-02 -9.95744430e-01 9.14201407e-02 2.91234655e+02] [ 1.01954862e-01 9.21312663e-02 9.90513521e-01 -1.65858236e+02] [-9.94720975e-01 -2.20452788e-03 1.02592992e-01 -4.49304306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-165.86, Z:-449.33 [[ 1.17600650e-02 -9.95767135e-01 9.11565314e-02 2.91234816e+02] [ 1.01224867e-01 9.18800553e-02 9.90611721e-01 -1.65857012e+02] [-9.94794063e-01 -2.42235045e-03 1.01876912e-01 -4.49332334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-165.85, Z:-449.36 [[ 1.32421710e-02 -9.96826174e-01 7.84998393e-02 2.91242749e+02] [ 1.02532710e-01 7.94465747e-02 9.91551958e-01 -1.65848600e+02] [-9.94641487e-01 -5.08149929e-03 1.03259334e-01 -4.49359779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-165.85, Z:-449.39 [[ 1.44118213e-02 -9.96311393e-01 8.45925937e-02 2.91241107e+02] [ 1.02120882e-01 8.56256155e-02 9.91080007e-01 -1.65848442e+02] [-9.94667595e-01 -5.64459767e-03 1.02978219e-01 -4.49388222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-165.85, Z:-449.42 [[ 1.46480216e-02 -9.96545102e-01 8.17514180e-02 2.91243234e+02] [ 1.01463662e-01 8.28195798e-02 9.91385920e-01 -1.65845323e+02] [-9.94731401e-01 -6.22704415e-03 1.02326258e-01 -4.49416214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.84, Z:-449.44 [[ 1.51421912e-02 -9.96772642e-01 7.88353586e-02 2.91245412e+02] [ 1.01199328e-01 7.99673156e-02 9.91647077e-01 -1.65841643e+02] [-9.94750929e-01 -7.03762432e-03 1.02083602e-01 -4.49442566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.84, Z:-449.47 [[ 1.90139188e-02 -9.96859995e-01 7.68675514e-02 2.91247269e+02] [ 9.92212848e-02 7.83832745e-02 9.91973386e-01 -1.65838160e+02] [-9.94883716e-01 -1.12344042e-02 1.00400103e-01 -4.49470325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.83, Z:-449.50 [[ 2.03914811e-02 -9.97053247e-01 7.39527582e-02 2.91250335e+02] [ 9.87989593e-02 7.56156478e-02 9.92230336e-01 -1.65834162e+02] [-9.94898464e-01 -1.29265906e-02 1.00049738e-01 -4.49498073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.83, Z:-449.52 [[ 2.15217283e-02 -9.97240972e-01 7.10440597e-02 2.91251354e+02] [ 9.85422466e-02 7.28304253e-02 9.92464183e-01 -1.65830322e+02] [-9.94900116e-01 -1.43587033e-02 9.98378024e-02 -4.49524951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.83, Z:-449.55 [[ 2.28616853e-02 -9.97300032e-01 6.97853098e-02 2.91249733e+02] [ 9.80663872e-02 7.17039944e-02 9.92593331e-01 -1.65828102e+02] [-9.94917246e-01 -1.58487632e-02 9.94408853e-02 -4.49553009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.82, Z:-449.58 [[ 2.36093796e-02 -9.97479670e-01 6.69096860e-02 2.91251578e+02] [ 9.85088106e-02 6.89237962e-02 9.92746455e-01 -1.65824200e+02] [-9.94856076e-01 -1.68469343e-02 9.98877839e-02 -4.49580730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.82, Z:-449.61 [[ 2.42850213e-02 -9.97652347e-01 6.40314994e-02 2.91253165e+02] [ 9.94207723e-02 6.61430517e-02 9.92844704e-01 -1.65820762e+02] [-9.94749088e-01 -1.77451936e-02 1.00793652e-01 -4.49607421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.82, Z:-449.64 [[ 2.45574142e-02 -9.97724921e-01 6.27846770e-02 2.91253278e+02] [ 9.97823641e-02 6.49362901e-02 9.92888089e-01 -1.65818235e+02] [-9.94706195e-01 -1.81179605e-02 1.01150019e-01 -4.49635765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.82, Z:-449.66 [[ 2.48802661e-02 -9.97898107e-01 5.98359533e-02 2.91252186e+02] [ 9.99759274e-02 6.20381530e-02 9.93053917e-01 -1.65815358e+02] [-9.94678735e-01 -1.87252908e-02 1.01309314e-01 -4.49662207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.81, Z:-449.69 [[ 2.47188087e-02 -9.97977814e-01 5.85599153e-02 2.91251883e+02] [ 1.00014087e-01 6.07526645e-02 9.93129547e-01 -1.65812670e+02] [-9.94678925e-01 -1.86921628e-02 1.01313574e-01 -4.49689910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.81, Z:-449.72 [[ 2.44381962e-02 -9.98150421e-01 5.56642691e-02 2.91252971e+02] [ 1.00191171e-01 5.78459792e-02 9.93285242e-01 -1.65809883e+02] [-9.94668037e-01 -1.86970313e-02 1.01419511e-01 -4.49717583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.81, Z:-449.75 [[ 2.35371593e-02 -9.98329630e-01 5.27631761e-02 2.91255616e+02] [ 1.00494185e-01 5.48731747e-02 9.93423300e-01 -1.65806075e+02] [-9.94659198e-01 -1.80799701e-02 1.01617881e-01 -4.49745615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.80, Z:-449.77 [[ 2.29025023e-02 -9.98493517e-01 4.98615362e-02 2.91258143e+02] [ 9.99941087e-02 5.19123818e-02 9.93632871e-01 -1.65802163e+02] [-9.94724411e-01 -1.77708193e-02 1.01032393e-01 -4.49772545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.80, Z:-449.80 [[ 2.24329868e-02 -9.98566137e-01 4.86048549e-02 2.91259833e+02] [ 9.99697819e-02 5.06139507e-02 9.93702305e-01 -1.65798920e+02] [-9.94737555e-01 -1.74326939e-02 1.00961861e-01 -4.49800518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.80, Z:-449.83 [[ 2.18530426e-02 -9.98715511e-01 4.57140415e-02 2.91262255e+02] [ 1.00308571e-01 4.76845087e-02 9.93813050e-01 -1.65795017e+02] [-9.94716359e-01 -1.71323287e-02 1.01221777e-01 -4.49828062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.79, Z:-449.86 [[ 2.01902314e-02 -9.98878288e-01 4.28313039e-02 2.91264935e+02] [ 1.01304812e-01 4.46634596e-02 9.93852358e-01 -1.65791729e+02] [-9.94650536e-01 -1.57270918e-02 1.02092943e-01 -4.49855798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.79, Z:-449.88 [[ 1.92121683e-02 -9.99019372e-01 3.98896897e-02 2.91266579e+02] [ 1.01432275e-01 4.16387480e-02 9.93970678e-01 -1.65788365e+02] [-9.94656919e-01 -1.50502299e-02 1.02132779e-01 -4.49883021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.79, Z:-449.91 [[ 1.80932926e-02 -9.99117925e-01 3.78946572e-02 2.91267221e+02] [ 1.01603782e-01 3.95419849e-02 9.94038783e-01 -1.65785764e+02] [-9.94660397e-01 -1.41351941e-02 1.02229605e-01 -4.49911358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.78, Z:-449.94 [[ 1.68056657e-02 -9.99246516e-01 3.49852872e-02 2.91268637e+02] [ 1.02058794e-01 3.65218287e-02 9.94107720e-01 -1.65783111e+02] [-9.94636402e-01 -1.31360858e-02 1.02595668e-01 -4.49939000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.78, Z:-449.97 [[ 1.51044655e-02 -9.99371295e-01 3.20760152e-02 2.91270388e+02] [ 1.02331925e-01 3.34562776e-02 9.94187535e-01 -1.65779565e+02] [-9.94635628e-01 -1.17342709e-02 1.02772927e-01 -4.49965755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.78, Z:-449.99 [[ 1.45458291e-02 -9.99419144e-01 3.08187201e-02 2.91271571e+02] [ 1.01539546e-01 3.21390752e-02 9.94312225e-01 -1.65775889e+02] [-9.94725158e-01 -1.13337769e-02 1.01948055e-01 -4.49993858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.77, Z:-450.02 [[ 1.42835921e-02 -9.99508191e-01 2.79169494e-02 2.91273937e+02] [ 1.00692426e-01 2.92157046e-02 9.94488551e-01 -1.65771674e+02] [-9.94815065e-01 -1.13938434e-02 1.01060210e-01 -4.50020982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.77, Z:-450.05 [[ 1.38421990e-02 -9.99567487e-01 2.59467353e-02 2.91274942e+02] [ 1.00041652e-01 2.72034784e-02 9.94611300e-01 -1.65767417e+02] [-9.94886959e-01 -1.11718533e-02 1.00374938e-01 -4.50048553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.76, Z:-450.08 [[ 1.36396232e-02 -9.99640786e-01 2.30707411e-02 2.91275399e+02] [ 1.00015928e-01 2.43211179e-02 9.94688543e-01 -1.65764113e+02] [-9.94892343e-01 -1.12597354e-02 1.00311732e-01 -4.50076151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.76, Z:-450.10 [[ 1.42139414e-02 -9.99695466e-01 2.01727407e-02 2.91276055e+02] [ 1.00265043e-01 2.14981081e-02 9.94728482e-01 -1.65760753e+02] [-9.94859229e-01 -1.21163916e-02 1.00540081e-01 -4.50104428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.76, Z:-450.13 [[ 1.51203698e-02 -9.99736269e-01 1.72849027e-02 2.91276432e+02] [ 1.01416566e-01 1.87311303e-02 9.94667696e-01 -1.65758445e+02] [-9.94729136e-01 -1.32867679e-02 1.01673041e-01 -4.50132420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.76, Z:-450.16 [[ 1.56242462e-02 -9.99774284e-01 1.43966804e-02 2.91277818e+02] [ 1.02753268e-01 1.59276785e-02 9.94579346e-01 -1.65755192e+02] [-9.94584159e-01 -1.40602466e-02 1.02978932e-01 -4.50160083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.75, Z:-450.19 [[ 1.58794625e-02 -9.99807861e-01 1.14927802e-02 2.91279284e+02] [ 1.03983599e-01 1.30832064e-02 9.94492957e-01 -1.65751964e+02] [-9.94452238e-01 -1.45969529e-02 1.04171373e-01 -4.50188457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.76, Z:-450.22 [[ 1.48785691e-02 -9.99555357e-01 2.58402061e-02 2.91271107e+02] [ 1.00716880e-01 2.72098172e-02 9.94542979e-01 -1.65760282e+02] [-9.94803869e-01 -1.21948315e-02 1.01076940e-01 -4.50217431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-165.73, Z:-450.24 [[ 1.52854956e-02 -9.98911779e-01 -4.40637250e-02 2.91308406e+02] [ 1.06493416e-01 -4.21917999e-02 9.93417840e-01 -1.65725778e+02] [-9.94195909e-01 -1.98773807e-02 1.05732605e-01 -4.50243096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-165.74, Z:-450.27 [[ 1.54131748e-02 -9.99870834e-01 4.55517936e-03 2.91285064e+02] [ 1.05829489e-01 6.16147612e-03 9.94365202e-01 -1.65740940e+02] [-9.94264831e-01 -1.48442524e-02 1.05910787e-01 -4.50271445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.76, Z:-450.30 [[ 1.09381894e-02 -9.99535319e-01 2.84517406e-02 2.91269154e+02] [ 9.80749952e-02 2.93886458e-02 9.94744994e-01 -1.65756110e+02] [-9.95118913e-01 -8.09030478e-03 9.83508802e-02 -4.50301424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.37, Y:-165.66, Z:-450.33 [[ 1.14952878e-02 -9.84000899e-01 -1.77792265e-01 2.91370423e+02] [ 1.04793562e-01 -1.75639378e-01 9.78861133e-01 -1.65658888e+02] [-9.94427558e-01 -2.98837753e-02 1.01097934e-01 -4.50325415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-165.73, Z:-450.36 [[ 1.22458268e-02 -9.99914008e-01 4.69218920e-03 2.91285237e+02] [ 1.01240000e-01 5.90827413e-03 9.94844488e-01 -1.65731043e+02] [-9.94786662e-01 -1.17076560e-02 1.01303646e-01 -4.50359574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-165.73, Z:-450.39 [[ 1.15699661e-02 -9.99927134e-01 3.44410341e-03 2.91285931e+02] [ 1.00082126e-01 4.58505570e-03 9.94968615e-01 -1.65727679e+02] [-9.94911908e-01 -1.11670600e-02 1.00127882e-01 -4.50386838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-165.72, Z:-450.41 [[ 1.04788398e-02 -9.99942648e-01 2.21250929e-03 2.91286879e+02] [ 9.91306354e-02 3.24055964e-03 9.95069151e-01 -1.65724066e+02] [-9.95019252e-01 -1.02078428e-02 9.91589074e-02 -4.50413837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-165.72, Z:-450.44 [[ 9.79825493e-03 -9.99951505e-01 9.91195440e-04 2.91286975e+02] [ 9.91422100e-02 1.95782578e-03 9.95071349e-01 -1.65721056e+02] [-9.95025033e-01 -9.65169345e-03 9.91565854e-02 -4.50441296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-165.69, Z:-450.83 [[ 1.00702501e-02 -9.99948472e-01 1.28203295e-03 2.91285612e+02] [ 9.76442427e-02 2.25932169e-03 9.95218819e-01 -1.65686292e+02] [-9.95170434e-01 -9.89691932e-03 9.76619632e-02 -4.50831112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.69, Z:-450.86 [[ 9.06646556e-03 -9.99518131e-01 2.96867785e-02 2.91269483e+02] [ 9.82060279e-02 3.04345039e-02 9.94700617e-01 -1.65693283e+02] [-9.95124804e-01 -6.10299829e-03 9.84346388e-02 -4.50858419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.68, Z:-450.89 [[ 8.72912400e-03 -9.99948222e-01 5.23034338e-03 2.91281772e+02] [ 9.84151802e-02 6.06424805e-03 9.95126965e-01 -1.65681851e+02] [-9.95107157e-01 -8.17184150e-03 9.84630200e-02 -4.50886030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.68, Z:-450.91 [[ 7.69531697e-03 -9.99967060e-01 2.58094694e-03 2.91282625e+02] [ 9.89618423e-02 3.32991571e-03 9.95085657e-01 -1.65678829e+02] [-9.95061473e-01 -7.40208428e-03 9.89842072e-02 -4.50914094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.68, Z:-450.92 [[ 7.81515510e-03 -9.99969434e-01 -2.31554849e-04 2.91283384e+02] [ 9.92453062e-02 5.45222498e-04 9.95062848e-01 -1.65677611e+02] [-9.95032307e-01 -7.79955122e-03 9.92465337e-02 -4.50921961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.68, Z:-450.95 [[ 5.67416348e-03 -9.99940030e-01 9.36693602e-03 2.91277972e+02] [ 9.95141761e-02 9.88523247e-03 9.94987041e-01 -1.65679399e+02] [-9.95019966e-01 -4.71357621e-03 9.95642987e-02 -4.50950777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.68, Z:-450.98 [[ 4.33611663e-03 -9.99969258e-01 6.53308929e-03 2.91279955e+02] [ 9.97850932e-02 6.93321785e-03 9.94984857e-01 -1.65676340e+02] [-9.94999565e-01 -3.66246546e-03 9.98120889e-02 -4.50977804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.67, Z:-451.01 [[ 2.71049798e-03 -9.99982246e-01 5.30661627e-03 2.91281408e+02] [ 1.00088123e-01 5.55127453e-03 9.94963090e-01 -1.65672904e+02] [-9.94974885e-01 -2.16571619e-03 1.00101392e-01 -4.51005221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.67, Z:-451.03 [[ 2.05742573e-03 -9.99994889e-01 2.44724833e-03 2.91282344e+02] [ 9.96694830e-02 2.64012998e-03 9.95017097e-01 -1.65669266e+02] [-9.95018473e-01 -1.80325781e-03 9.96744054e-02 -4.51033032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.67, Z:-451.04 [[ 1.40826747e-03 -9.99998892e-01 -4.81777634e-04 2.91281804e+02] [ 1.00716907e-01 -3.37491856e-04 9.94915067e-01 -1.65669003e+02] [-9.94914128e-01 -1.44962968e-03 1.00716320e-01 -4.51041442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.67, Z:-451.07 [[-4.04353089e-04 -9.99948210e-01 1.01693053e-02 2.91276252e+02] [ 1.01117970e-01 1.00762976e-02 9.94823414e-01 -1.65670700e+02] [-9.94874360e-01 1.43055943e-03 1.01108659e-01 -4.51070105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.67, Z:-451.10 [[-1.88001871e-03 -9.99971472e-01 7.31580858e-03 2.91277796e+02] [ 1.00598011e-01 7.08958792e-03 9.94901894e-01 -1.65667006e+02] [-9.94925377e-01 2.60638996e-03 1.00581813e-01 -4.51098340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.66, Z:-451.13 [[-2.71491005e-03 -9.99986319e-01 4.47112574e-03 2.91278409e+02] [ 9.94569615e-02 4.17895852e-03 9.95033090e-01 -1.65663211e+02] [-9.95038161e-01 3.14610991e-03 9.94442553e-02 -4.51126353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.66, Z:-451.15 [[-4.78973291e-03 -9.99987200e-01 1.63023256e-03 2.91278217e+02] [ 9.90545395e-02 1.14778391e-03 9.95081344e-01 -1.65660461e+02] [-9.95070478e-01 4.92765579e-03 9.90477740e-02 -4.51153456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.66, Z:-451.18 [[-6.46068550e-03 -9.99979050e-01 3.99951310e-04 2.91278965e+02] [ 9.91105749e-02 -2.42345223e-04 9.95076397e-01 -1.65657980e+02] [-9.95055453e-01 6.46851505e-03 9.91100642e-02 -4.51181696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.66, Z:-451.19 [[-7.24742724e-03 -9.99970765e-01 -2.43799126e-03 2.91280826e+02] [ 9.90230980e-02 -3.14375136e-03 9.95080169e-01 -1.65656016e+02] [-9.95058742e-01 6.97035368e-03 9.90429872e-02 -4.51190768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.66, Z:-451.22 [[-8.13046712e-03 -9.99941747e-01 7.09921010e-03 2.91275371e+02] [ 9.92081347e-02 6.25780396e-03 9.95047027e-01 -1.65656704e+02] [-9.95033488e-01 8.79449653e-03 9.91514766e-02 -4.51217566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.65, Z:-451.25 [[-8.19908171e-03 -9.99949396e-01 5.82922773e-03 2.91274862e+02] [ 9.99965108e-02 4.98031021e-03 9.94975324e-01 -1.65654772e+02] [-9.94954005e-01 8.74078641e-03 9.99506166e-02 -4.51245481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.65, Z:-451.27 [[-7.99015181e-03 -9.99963736e-01 2.94694337e-03 2.91275126e+02] [ 1.01108972e-01 2.12403564e-03 9.94873090e-01 -1.65651945e+02] [-9.94843271e-01 8.24714943e-03 1.01088334e-01 -4.51273750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.65, Z:-451.30 [[-6.07892465e-03 -9.99981521e-01 6.74211968e-05 2.91275378e+02] [ 1.02222640e-01 -5.54345964e-04 9.94761391e-01 -1.65648870e+02] [-9.94742971e-01 6.05397151e-03 1.02224121e-01 -4.51302123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.65, Z:-451.30 [[-3.45758570e-03 -9.99989921e-01 -2.86403953e-03 2.91275947e+02] [ 1.02706557e-01 -3.20402786e-03 9.94706538e-01 -1.65647275e+02] [-9.94705689e-01 3.14512746e-03 1.02716600e-01 -4.51303699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.65, Z:-451.33 [[-2.90425877e-03 -9.99936703e-01 1.08699062e-02 2.91266862e+02] [ 1.01471126e-01 1.05191640e-02 9.94782870e-01 -1.65652536e+02] [-9.94834245e-01 3.99208850e-03 1.01434153e-01 -4.51332292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.64, Z:-451.36 [[-1.57135637e-04 -9.99727597e-01 -2.33389738e-02 2.91284581e+02] [ 1.02619861e-01 -2.32318803e-02 9.94449317e-01 -1.65635082e+02] [-9.94720634e-01 -2.23877883e-03 1.02595558e-01 -4.51358981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.64, Z:-451.39 [[ 2.02757813e-03 -9.99994089e-01 2.77689942e-03 2.91270876e+02] [ 1.02534524e-01 2.97016563e-03 9.94725012e-01 -1.65641837e+02] [-9.94727380e-01 -1.73215462e-03 1.02539941e-01 -4.51387013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.64, Z:-451.42 [[ 4.88281164e-03 -9.99986945e-01 1.50596073e-03 2.91270054e+02] [ 1.00523516e-01 1.98919293e-03 9.94932694e-01 -1.65638305e+02] [-9.94922701e-01 -4.70668448e-03 1.00531916e-01 -4.51415358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.64, Z:-451.42 [[ 6.81347993e-03 -9.99975873e-01 -1.35279693e-03 2.91270612e+02] [ 9.95641433e-02 -6.67712594e-04 9.95030922e-01 -1.65636533e+02] [-9.95007818e-01 -6.91431329e-03 9.95571916e-02 -4.51421601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.64, Z:-451.45 [[ 7.53210281e-03 -9.99883486e-01 1.32771361e-02 2.91262796e+02] [ 9.62257884e-02 1.39406346e-02 9.95261903e-01 -1.65641467e+02] [-9.95331033e-01 -6.21881209e-03 9.63195791e-02 -4.51454165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.63, Z:-451.48 [[ 9.17426988e-03 -9.99938071e-01 -6.29978866e-03 2.91274643e+02] [ 9.73168977e-02 -5.37731638e-03 9.95238919e-01 -1.65628292e+02] [-9.95211161e-01 -9.74366633e-03 9.72615380e-02 -4.51480905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.64, Z:-451.51 [[ 8.01157689e-03 -9.99697334e-01 2.32606040e-02 2.91258256e+02] [ 9.23260440e-02 2.39014918e-02 9.95441922e-01 -1.65641861e+02] [-9.95696599e-01 -5.82749995e-03 9.24895887e-02 -4.51512652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-165.60, Z:-451.54 [[ 1.08009037e-02 -9.98246226e-01 -5.82049254e-02 2.91300821e+02] [ 9.63998928e-02 -5.68976934e-02 9.93715107e-01 -1.65602417e+02] [-9.95284081e-01 -1.63439697e-02 9.56162827e-02 -4.51538836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.62, Z:-451.57 [[ 1.14356596e-02 -9.99908429e-01 7.23602213e-03 2.91266966e+02] [ 9.51023481e-02 8.29129233e-03 9.95432970e-01 -1.65624664e+02] [-9.95401813e-01 -1.06952699e-02 9.51884559e-02 -4.51569051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.62, Z:-451.60 [[ 1.14716035e-02 -9.99924656e-01 4.36868719e-03 2.91268387e+02] [ 9.49668548e-02 5.43870960e-03 9.95465578e-01 -1.65621337e+02] [-9.95414335e-01 -1.10047059e-02 9.50220903e-02 -4.51595851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.62, Z:-451.62 [[ 1.15882806e-02 -9.99927967e-01 3.12612410e-03 2.91269367e+02] [ 9.48546202e-02 4.21150630e-03 9.95482227e-01 -1.65618212e+02] [-9.95423685e-01 -1.12394000e-02 9.48965917e-02 -4.51623430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.61, Z:-451.65 [[ 1.18909298e-02 -9.99929278e-01 2.09788047e-04 2.91270621e+02] [ 9.50773407e-02 1.33949022e-03 9.95468988e-01 -1.65614547e+02] [-9.95398867e-01 -1.18171058e-02 9.50865445e-02 -4.51650413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.61, Z:-451.66 [[ 1.36533456e-02 -9.99906232e-01 -1.05476155e-03 2.91270151e+02] [ 9.49312147e-02 2.46153721e-04 9.95483804e-01 -1.65614470e+02] [-9.95390200e-01 -1.36918142e-02 9.49256741e-02 -4.51662587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.63, Z:-451.70 [[ 1.20590476e-02 -9.99412196e-01 3.20911604e-02 2.91251970e+02] [ 9.14480013e-02 3.30612858e-02 9.95260878e-01 -1.65629439e+02] [-9.95736834e-01 -9.06722581e-03 9.17929354e-02 -4.51695618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.61, Z:-451.73 [[ 1.14890492e-02 -9.99708218e-01 -2.12480937e-02 2.91279832e+02] [ 9.27033453e-02 -2.00930758e-02 9.95491014e-01 -1.65608479e+02] [-9.95627486e-01 -1.34070146e-02 9.24454457e-02 -4.51726007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-165.60, Z:-451.76 [[ 9.96887561e-03 -9.99649459e-01 -2.45271609e-02 2.91283364e+02] [ 9.48394647e-02 -2.34726037e-02 9.95215812e-01 -1.65602632e+02] [-9.95442664e-01 -1.22473255e-02 9.45722240e-02 -4.51755501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.61, Z:-451.78 [[ 8.22780035e-03 -9.99891913e-01 1.21846507e-02 2.91265419e+02] [ 9.69085826e-02 1.29250199e-02 9.95209360e-01 -1.65609040e+02] [-9.95259278e-01 -7.00758670e-03 9.70044525e-02 -4.51782886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.61, Z:-451.81 [[ 4.87968260e-03 -9.99861447e-01 1.59146192e-02 2.91264012e+02] [ 9.70996220e-02 1.63133651e-02 9.95140964e-01 -1.65607532e+02] [-9.95262705e-01 -3.31066854e-03 9.71657726e-02 -4.51809606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.60, Z:-451.84 [[-2.69699019e-03 -9.99899477e-01 1.39198374e-02 2.91266780e+02] [ 9.82094496e-02 1.35877503e-02 9.95073001e-01 -1.65604053e+02] [-9.95162113e-01 4.05076169e-03 9.81629312e-02 -4.51837073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.62, Z:-451.87 [[-8.50522194e-03 -9.99479748e-01 3.11110078e-02 2.91255981e+02] [ 9.41646805e-02 3.01733478e-02 9.95099283e-01 -1.65615080e+02] [-9.95520303e-01 1.13930984e-02 9.38590601e-02 -4.51869345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-165.56, Z:-451.90 [[-9.69360304e-03 -9.97083142e-01 -7.57049728e-02 2.91312954e+02] [ 9.89289142e-02 -7.62933772e-02 9.92165506e-01 -1.65564589e+02] [-9.95047287e-01 2.12824779e-03 9.93799103e-02 -4.51897119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.61, Z:-451.93 [[-1.48324465e-02 -9.99235187e-01 3.61806651e-02 2.91254687e+02] [ 9.57089651e-02 3.45996739e-02 9.94807849e-01 -1.65610970e+02] [-9.95298846e-01 1.82182482e-02 9.51225678e-02 -4.51933186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-165.56, Z:-451.96 [[-1.78274432e-02 -9.96756235e-01 -7.84805070e-02 2.91313756e+02] [ 9.85854968e-02 -7.98628707e-02 9.91918758e-01 -1.65556734e+02] [-9.94968885e-01 9.94633552e-03 9.96894594e-02 -4.51958636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-165.60, Z:-451.99 [[-2.10913017e-02 -9.99188940e-01 3.43018881e-02 2.91254015e+02] [ 9.60421866e-02 3.21259329e-02 9.94858695e-01 -1.65603578e+02] [-9.95153785e-01 2.42772932e-02 9.52867129e-02 -4.51993943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-165.57, Z:-452.02 [[-2.19634900e-02 -9.98444853e-01 -5.12394466e-02 2.91298088e+02] [ 9.68533842e-02 -5.31356963e-02 9.93879278e-01 -1.65566649e+02] [-9.95056293e-01 1.68663438e-02 9.78698083e-02 -4.52019475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.58, Z:-452.05 [[-2.18235650e-02 -9.99760232e-01 1.79202509e-03 2.91269574e+02] [ 9.99089627e-02 -3.97406327e-04 9.94996503e-01 -1.65577579e+02] [-9.94757222e-01 2.18934102e-02 9.98936805e-02 -4.52047900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.58, Z:-452.08 [[-2.19333481e-02 -9.99683511e-01 1.23210040e-02 2.91262918e+02] [ 9.99568972e-02 1.00694672e-02 9.94940815e-01 -1.65578217e+02] [-9.94749992e-01 2.30539526e-02 9.97044048e-02 -4.52075741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.57, Z:-452.10 [[-2.16944029e-02 -9.99721042e-01 9.33764404e-03 2.91263633e+02] [ 9.99040944e-02 7.12531823e-03 9.94971558e-01 -1.65573862e+02] [-9.94760536e-01 2.25181827e-02 9.97216458e-02 -4.52102444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.57, Z:-452.13 [[-2.12695669e-02 -9.99741396e-01 8.04657040e-03 2.91261577e+02] [ 9.98337720e-02 5.88433139e-03 9.94986730e-01 -1.65569686e+02] [-9.94776771e-01 2.19662563e-02 9.96827973e-02 -4.52130741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.57, Z:-452.16 [[-2.10476431e-02 -9.99765370e-01 5.11868172e-03 2.91260568e+02] [ 9.97563822e-02 2.99419192e-03 9.95007386e-01 -1.65565965e+02] [-9.94789255e-01 2.14531815e-02 9.96699557e-02 -4.52158970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-165.57, Z:-452.19 [[-2.16096986e-02 -9.99747427e-01 6.17286056e-03 2.91256480e+02] [ 9.86969313e-02 4.01087402e-03 9.95109456e-01 -1.65566628e+02] [-9.94882876e-01 2.21132578e-02 9.85853293e-02 -4.52188243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-165.55, Z:-452.21 [[-1.82122509e-02 -9.99508545e-01 -2.55143783e-02 2.91270054e+02] [ 9.98819166e-02 -2.72097412e-02 9.94627183e-01 -1.65550637e+02] [-9.94832607e-01 1.55659748e-02 1.00328380e-01 -4.52214665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-164.44, Z:-452.33 [[-4.54502988e-02 8.10276944e-01 -5.84282076e-01 2.90954607e+02] [ 1.18947148e-01 -5.76335947e-01 -8.08510020e-01 -1.64444502e+02] [-9.91859792e-01 -1.06245708e-01 -7.01854904e-02 -4.52332172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-164.95, Z:-452.39 [[-8.51425097e-02 6.53657902e-01 7.51985439e-01 2.90353047e+02] [ 8.94135466e-02 7.56693470e-01 -6.47626598e-01 -1.64950224e+02] [-9.92348714e-01 1.20971312e-02 -1.22872652e-01 -4.52385445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-165.07, Z:-452.53 [[-1.12223313e-01 -6.32550090e-01 -7.66346078e-01 2.91554969e+02] [ 7.65901143e-02 -7.74429827e-01 6.28006685e-01 -1.65071294e+02] [-9.90726946e-01 1.17824573e-02 1.35356165e-01 -4.52528441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-165.08, Z:-452.54 [[-1.10486109e-01 -6.39293661e-01 -7.60983860e-01 2.91552898e+02] [ 7.79757830e-02 -7.68887157e-01 6.34611942e-01 -1.65076566e+02] [-9.90814108e-01 1.07774921e-02 1.34800774e-01 -4.52536247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-165.08, Z:-452.58 [[-1.05200297e-01 -6.43737555e-01 -7.57980777e-01 2.91546851e+02] [ 8.37494021e-02 -7.65237556e-01 6.38276993e-01 -1.65077527e+02] [-9.90918228e-01 3.66649247e-03 1.34415854e-01 -4.52580631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-165.10, Z:-452.59 [[-1.01703207e-01 -6.76359139e-01 -7.29516808e-01 2.91540802e+02] [ 8.83972367e-02 -7.36562651e-01 6.70567960e-01 -1.65104705e+02] [-9.90879602e-01 3.71164237e-03 1.34699063e-01 -4.52592514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.54, Y:-165.11, Z:-452.61 [[-9.87603916e-02 -6.80249792e-01 -7.26296499e-01 2.91537990e+02] [ 9.11649616e-02 -7.32980278e-01 6.74113389e-01 -1.65106297e+02] [-9.90926503e-01 3.62909780e-04 1.34404366e-01 -4.52611380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-165.11, Z:-452.64 [[-9.55413889e-02 -6.92097441e-01 -7.15452986e-01 2.91533706e+02] [ 9.42271898e-02 -7.21801564e-01 6.85655700e-01 -1.65112879e+02] [-9.90955640e-01 -1.90662642e-03 1.34176321e-01 -4.52636708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-165.12, Z:-452.67 [[-9.19629576e-02 -7.04815037e-01 -7.03404989e-01 2.91528414e+02] [ 9.80112639e-02 -7.09375199e-01 6.97983252e-01 -1.65120399e+02] [-9.90927145e-01 -4.75300781e-03 1.34316054e-01 -4.52668457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.52, Y:-165.14, Z:-452.67 [[-8.93794225e-02 -7.23086727e-01 -6.84950293e-01 2.91524700e+02] [ 1.01305563e-01 -6.90736180e-01 7.15975358e-01 -1.65135240e+02] [-9.90832227e-01 -5.39581107e-03 1.34990309e-01 -4.52674851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.50, Y:-165.13, Z:-452.93 [[-8.44429215e-02 -7.33127784e-01 -6.74828159e-01 2.91503037e+02] [ 9.66631393e-02 -6.80079942e-01 7.26737580e-01 -1.65125200e+02] [-9.91728607e-01 -3.86316399e-03 1.28294370e-01 -4.52928329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-164.45, Z:-452.94 [[-1.24599236e-01 4.97150675e-01 -8.58671204e-01 2.91187236e+02] [ 1.57919803e-01 -8.44447077e-01 -5.11830510e-01 -1.64448138e+02] [-9.79559272e-01 -1.99374877e-01 2.67075238e-02 -4.52940783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-164.65, Z:-452.76 [[-1.91997504e-01 9.20010163e-01 3.41640540e-01 2.90481164e+02] [ 1.20568189e-01 3.67592297e-01 -9.22138392e-01 -1.64651718e+02] [-9.73961124e-01 -1.35857288e-01 -1.81500763e-01 -4.52758518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-165.00, Z:-453.02 [[-1.85324563e-01 -5.69137821e-01 -8.01084856e-01 2.91553193e+02] [ 1.40274568e-01 -8.22179700e-01 5.51673442e-01 -1.64996335e+02] [-9.72613928e-01 -1.01331921e-02 2.32205655e-01 -4.53016100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-165.00, Z:-453.03 [[-1.84092072e-01 -5.73249512e-01 -7.98432907e-01 2.91550992e+02] [ 1.43421104e-01 -8.19288349e-01 5.55154922e-01 -1.64996614e+02] [-9.72389066e-01 -1.23125089e-02 2.33040567e-01 -4.53032820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-165.56, Z:-453.11 [[-1.15905939e-01 -8.23092135e-01 5.55954270e-01 2.90901169e+02] [ 9.26973961e-02 5.48319959e-01 8.31115164e-01 -1.65559801e+02] [-9.88925177e-01 1.47866697e-01 1.27449578e-02 -4.53108220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-164.36, Z:-453.12 [[-1.99729668e-01 8.01280002e-01 -5.63966681e-01 2.90925824e+02] [ 1.31795451e-01 -5.48364605e-01 -8.25788241e-01 -1.64356819e+02] [-9.70946970e-01 -2.39262655e-01 3.91962140e-03 -4.53122819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-164.31, Z:-453.48 [[-2.46122981e-01 7.61058154e-01 -6.00178277e-01 2.90905791e+02] [ 1.78007253e-01 -5.73200477e-01 -7.99846630e-01 -1.64313630e+02] [-9.52752274e-01 -3.03696723e-01 5.60393825e-03 -4.53484105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-164.72, Z:-453.53 [[-3.01047908e-01 7.29220004e-01 6.14498448e-01 2.90269872e+02] [ 1.14628341e-01 6.67392350e-01 -7.35831363e-01 -1.64723233e+02] [-9.46694513e-01 -1.51081555e-01 -2.84506350e-01 -4.53533986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-165.43, Z:-453.55 [[-2.36130555e-01 -5.38594098e-01 8.08800815e-01 2.90632937e+02] [ 6.05881485e-02 8.22558190e-01 5.65444162e-01 -1.65434761e+02] [-9.69830623e-01 1.82522388e-01 -1.61598702e-01 -4.53548501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-164.65, Z:-454.10 [[-2.53694180e-01 -2.72943007e-01 -9.27977035e-01 2.91327200e+02] [ 8.27882905e-02 -9.61969727e-01 2.60308169e-01 -1.64647803e+02] [-9.63735110e-01 -1.07869650e-02 2.66642606e-01 -4.54097022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-164.28, Z:-453.61 [[-3.34226743e-01 8.87105657e-01 -3.18333219e-01 2.90714854e+02] [ 8.07437310e-02 -3.09564286e-01 -9.47444142e-01 -1.64282637e+02] [-9.39027654e-01 -3.42364581e-01 3.18364425e-02 -4.53614649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-165.45, Z:-453.92 [[-2.47190094e-01 -8.97799586e-01 3.64490002e-01 2.90905580e+02] [ 6.48396128e-02 3.59994203e-01 9.30698661e-01 -1.65451801e+02] [-9.66795161e-01 2.53692880e-01 -3.07740232e-02 -4.53923227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-164.61, Z:-453.98 [[-2.66406137e-01 -2.18022534e-01 -9.38879090e-01 2.91339069e+02] [ 7.96065059e-02 -9.75730582e-01 2.03991754e-01 -1.64606165e+02] [-9.60567840e-01 -2.03962286e-02 2.77296628e-01 -4.53983426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-164.63, Z:-453.99 [[-2.66599333e-01 -2.55233919e-01 -9.29397892e-01 2.91347057e+02] [ 7.97736649e-02 -9.66833092e-01 2.42631272e-01 -1.64626135e+02] [-9.60500369e-01 -9.45614066e-03 2.78118002e-01 -4.53993454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-164.64, Z:-454.02 [[-2.60581455e-01 -2.66467883e-01 -9.27950523e-01 2.91349770e+02] [ 7.24116606e-02 -9.63843727e-01 2.56440678e-01 -1.64635134e+02] [-9.62732495e-01 -3.70753328e-04 2.70455182e-01 -4.54021396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-164.61, Z:-454.01 [[-2.66669729e-01 -2.30405822e-01 -9.35842088e-01 2.91337116e+02] [ 7.92343262e-02 -9.72958226e-01 2.16965924e-01 -1.64605383e+02] [-9.60525469e-01 -1.62925730e-02 2.77714557e-01 -4.54012963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-164.63, Z:-454.03 [[-2.62326035e-01 -2.68271834e-01 -9.26938657e-01 2.91341558e+02] [ 8.08903769e-02 -9.63311273e-01 2.55906503e-01 -1.64626426e+02] [-9.61582965e-01 -7.84947907e-03 2.74402236e-01 -4.54026435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-164.62, Z:-454.08 [[-2.58798091e-01 -2.73695148e-01 -9.26344706e-01 2.91327055e+02] [ 8.95182346e-02 -9.61685672e-01 2.59127680e-01 -1.64624739e+02] [-9.61774419e-01 -1.58629938e-02 2.73383123e-01 -4.54081322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-164.64, Z:-454.11 [[-2.57670642e-01 -3.02637254e-01 -9.17614588e-01 2.91326340e+02] [ 9.27761259e-02 -9.53044009e-01 2.88270197e-01 -1.64639985e+02] [-9.61768387e-01 -1.08539597e-02 2.73648974e-01 -4.54108224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-164.64, Z:-454.12 [[-2.57484312e-01 -3.10657523e-01 -9.14982914e-01 2.91326059e+02] [ 9.45918304e-02 -9.50465968e-01 2.96085847e-01 -1.64644137e+02] [-9.61641417e-01 -1.03124483e-02 2.74115739e-01 -4.54117888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-164.62, Z:-454.52 [[-2.50982977e-01 -3.21719914e-01 -9.12964316e-01 2.91228567e+02] [ 9.03916358e-02 -9.46821574e-01 3.08801328e-01 -1.64620798e+02] [-9.63761847e-01 -5.02046133e-03 2.66716887e-01 -4.54522372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-164.23, Z:-454.06 [[-3.18760436e-01 7.58178309e-01 -5.68821093e-01 2.90755333e+02] [ 1.18977379e-01 -5.63373527e-01 -8.17590761e-01 -1.64230564e+02] [-9.40338326e-01 -3.28292430e-01 8.93751236e-02 -4.54055428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-164.68, Z:-454.38 [[-3.03684279e-01 -3.77386643e-01 -8.74845804e-01 2.91295139e+02] [ 1.48120759e-01 -9.25746736e-01 3.47927035e-01 -1.64679770e+02] [-9.41188663e-01 -2.39228539e-02 3.37033526e-01 -4.54381694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-164.70, Z:-454.39 [[-3.02610090e-01 -4.12426929e-01 -8.59261987e-01 2.91297334e+02] [ 1.49958748e-01 -9.10904514e-01 3.84402576e-01 -1.64703289e+02] [-9.41243596e-01 -1.25297531e-02 3.37495923e-01 -4.54393636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-164.70, Z:-454.40 [[-3.02023644e-01 -4.15060277e-01 -8.58199677e-01 2.91295849e+02] [ 1.50115347e-01 -9.09716064e-01 3.87146052e-01 -1.64704926e+02] [-9.41406979e-01 -1.19016808e-02 3.37062678e-01 -4.54399572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-164.70, Z:-454.43 [[-3.01123238e-01 -4.17249331e-01 -8.57454250e-01 2.91286670e+02] [ 1.52558862e-01 -9.08687353e-01 3.88604024e-01 -1.64702266e+02] [-9.41302602e-01 -1.37945428e-02 3.37281962e-01 -4.54428573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-164.70, Z:-454.45 [[-3.01549596e-01 -4.25474879e-01 -8.53251996e-01 2.91279714e+02] [ 1.52858673e-01 -9.04907589e-01 3.97210879e-01 -1.64704179e+02] [-9.41117457e-01 -1.06481876e-02 3.37912043e-01 -4.54454116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-164.71, Z:-454.44 [[-3.01484459e-01 -4.27110169e-01 -8.52457638e-01 2.91284117e+02] [ 1.53586129e-01 -9.04135944e-01 3.98684708e-01 -1.64707436e+02] [-9.41019884e-01 -1.07284256e-02 3.38181133e-01 -4.54441492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-164.71, Z:-454.45 [[-3.01513306e-01 -4.30099574e-01 -8.50943055e-01 2.91282592e+02] [ 1.53839505e-01 -9.02728573e-01 4.01764272e-01 -1.64709402e+02] [-9.40969252e-01 -9.77138430e-03 3.38350982e-01 -4.54448389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-164.71, Z:-454.45 [[-3.01183300e-01 -4.31540776e-01 -8.50330041e-01 2.91281660e+02] [ 1.53319084e-01 -9.02050026e-01 4.03483593e-01 -1.64710702e+02] [-9.41159858e-01 -8.84930340e-03 3.37845840e-01 -4.54451971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-164.79, Z:-454.22 [[-3.26227995e-01 5.74436012e-01 7.50732019e-01 2.90084760e+02] [ 6.31061359e-02 8.05643449e-01 -5.89029921e-01 -1.64791168e+02] [-9.43182332e-01 -1.44782253e-01 -2.99073884e-01 -4.54215708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-164.53, Z:-454.60 [[-3.43107366e-01 -2.04965823e-01 -9.16660432e-01 2.91204135e+02] [ 9.75378193e-02 -9.78400136e-01 1.82262307e-01 -1.64526421e+02] [-9.34218234e-01 -2.68735193e-02 3.55688213e-01 -4.54601967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-164.28, Z:-454.39 [[-4.04750806e-01 9.14172273e-01 -2.15833417e-02 2.90324570e+02] [ 8.08936935e-02 1.22852275e-02 -9.96647021e-01 -1.64275906e+02] [-9.10841916e-01 -4.05139641e-01 -7.89232274e-02 -4.54388085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-165.25, Z:-454.87 [[-3.34158778e-01 -9.42510239e-01 -3.51583191e-03 2.90904874e+02] [ 9.82826642e-02 -3.85546988e-02 9.94411410e-01 -1.65254914e+02] [-9.37378488e-01 3.31945756e-01 1.05515808e-01 -4.54866387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-164.48, Z:-455.19 [[-3.60387013e-01 -2.33885368e-01 -9.03005446e-01 2.90977395e+02] [ 1.09941861e-01 -9.71958827e-01 2.07867328e-01 -1.64477212e+02] [-9.26301241e-01 -2.43654133e-02 3.75995131e-01 -4.55189323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-165.35, Z:-454.85 [[-2.82102503e-01 -7.53461757e-01 5.93896926e-01 2.90457234e+02] [ 5.48943095e-02 6.05348678e-01 7.94065232e-01 -1.65351176e+02] [-9.57812504e-01 2.56609351e-01 -1.29409614e-01 -4.54847223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:-164.46, Z:-455.00 [[-2.88803966e-01 -1.74121671e-01 -9.41421220e-01 2.91012657e+02] [ 5.35476092e-02 -9.84720831e-01 1.65703164e-01 -1.64455098e+02] [-9.55889598e-01 -2.55512487e-03 2.93715080e-01 -4.55004670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-164.41, Z:-455.37 [[-3.13212092e-01 -1.48514650e-01 -9.37998712e-01 2.90877995e+02] [ 7.09503629e-02 -9.88595516e-01 1.32834303e-01 -1.64405120e+02] [-9.47029161e-01 -2.49460391e-02 3.20177238e-01 -4.55369946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-165.32, Z:-455.01 [[-2.27819410e-01 -8.07833041e-01 5.43602884e-01 2.90419565e+02] [ 2.23742200e-02 5.53793270e-01 8.32353536e-01 -1.65321351e+02] [-9.73446306e-01 2.01788982e-01 -1.08090222e-01 -4.55008601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-164.39, Z:-455.23 [[-2.29377178e-01 -7.93117280e-02 -9.70100902e-01 2.90891314e+02] [ 4.60325123e-02 -9.96443330e-01 7.05811472e-02 -1.64388111e+02] [-9.72248486e-01 -2.84664773e-02 2.32212278e-01 -4.55227363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-164.41, Z:-455.62 [[-2.52800813e-01 -1.81845245e-01 -9.50275779e-01 2.90814983e+02] [ 7.66663178e-02 -9.82855170e-01 1.67684198e-01 -1.64412344e+02] [-9.64476036e-01 -3.04634433e-02 2.62407992e-01 -4.55616797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-165.27, Z:-455.41 [[-1.26060911e-01 -9.12202945e-01 3.89864636e-01 2.90430923e+02] [ 7.40546911e-02 3.83249941e-01 9.20671161e-01 -1.65274976e+02] [-9.89254542e-01 1.44931951e-01 1.92400705e-02 -4.55406983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-164.57, Z:-455.35 [[-1.92688043e-01 6.70154629e-01 7.16773389e-01 2.89679832e+02] [-2.30678138e-02 7.27166705e-01 -6.86073218e-01 -1.64574207e+02] [-9.80988886e-01 -1.48732501e-01 -1.24657327e-01 -4.55353663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-164.27, Z:-455.59 [[-2.20714323e-01 7.17103031e-02 -9.72698730e-01 2.90753034e+02] [-1.09639611e-02 -9.97412890e-01 -7.10444820e-02 -1.64274867e+02] [-9.75276873e-01 -5.01590371e-03 2.20929540e-01 -4.55593467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-164.28, Z:-455.60 [[-2.20760620e-01 6.62599331e-02 -9.73074699e-01 2.90753625e+02] [-9.95438650e-03 -9.97790782e-01 -6.56845914e-02 -1.64277702e+02] [-9.75277222e-01 -4.81420950e-03 2.20932489e-01 -4.55600938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-164.28, Z:-455.62 [[-2.20859700e-01 6.15958339e-02 -9.73358591e-01 2.90751837e+02] [-8.07968104e-03 -9.98085010e-01 -6.13272468e-02 -1.64280191e+02] [-9.75272122e-01 -5.68029038e-03 2.20934430e-01 -4.55617930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-164.28, Z:-455.63 [[-2.23172468e-01 5.23365611e-02 -9.73372968e-01 2.90752955e+02] [-4.41267011e-03 -9.98601625e-01 -5.26813361e-02 -1.64284690e+02] [-9.74768987e-01 -7.46184998e-03 2.23091333e-01 -4.55627153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.21, Z:-455.59 [[-2.81566017e-01 9.52765943e-01 1.13831618e-01 2.89870147e+02] [-6.56457772e-02 9.92263322e-02 -9.92897158e-01 -1.64212271e+02] [-9.57293691e-01 -2.87038663e-01 3.46062977e-02 -4.55591438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-164.21, Z:-455.84 [[-3.17579098e-01 2.01995325e-01 -9.26467163e-01 2.90644288e+02] [-2.16561626e-03 -9.77199109e-01 -2.12313944e-01 -1.64208955e+02] [-9.48229311e-01 -6.54200985e-02 3.10775456e-01 -4.55839963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:-165.23, Z:-455.87 [[-1.97648532e-01 -9.62829376e-01 1.84104998e-01 2.90447620e+02] [-6.54654439e-03 1.89102212e-01 9.81935587e-01 -1.65227840e+02] [-9.80251091e-01 1.92872876e-01 -4.36789798e-02 -4.55868280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-164.24, Z:-456.11 [[-2.46733472e-01 1.44095533e-01 -9.58310530e-01 2.90582019e+02] [-5.69331321e-03 -9.89081937e-01 -1.47256608e-01 -1.64238768e+02] [-9.69066654e-01 -3.08771721e-02 2.44860002e-01 -4.56114114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-165.25, Z:-456.06 [[-1.39378790e-01 -9.47597969e-01 2.87457200e-01 2.90314992e+02] [-1.46027358e-02 2.92225988e-01 9.56237801e-01 -1.65248522e+02] [-9.90131463e-01 1.29081606e-01 -5.45676275e-02 -4.56064365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-165.26, Z:-456.17 [[-8.41647553e-02 -8.98445964e-01 4.30942159e-01 2.90180556e+02] [-4.35702919e-02 4.35381204e-01 8.99191213e-01 -1.65259799e+02] [-9.95498832e-01 5.69039327e-02 -7.57893054e-02 -4.56167377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-164.06, Z:-456.26 [[-7.57176059e-02 6.12368056e-01 -7.86938504e-01 2.90254985e+02] [-7.70363226e-02 -7.90437782e-01 -6.07678795e-01 -1.64063637e+02] [-9.94149008e-01 1.46108650e-02 1.07024640e-01 -4.56256785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-164.07, Z:-456.26 [[-7.40705427e-02 5.99433760e-01 -7.96989788e-01 2.90262942e+02] [-7.72636749e-02 -8.00232400e-01 -5.94691879e-01 -1.64067728e+02] [-9.94255440e-01 1.75292096e-02 1.05588103e-01 -4.56262962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.09, Z:-456.61 [[-8.71471920e-02 6.03893118e-01 -7.92286860e-01 2.90221553e+02] [-7.73238805e-02 -7.97013787e-01 -5.98990853e-01 -1.64088242e+02] [-9.93190004e-01 9.06232361e-03 1.16152873e-01 -4.56612294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-165.20, Z:-456.33 [[-3.07954690e-02 -9.90328562e-01 1.35281106e-01 2.90310443e+02] [-5.55712468e-02 1.36832355e-01 9.89034248e-01 -1.65201441e+02] [-9.97979697e-01 2.29400337e-02 -5.92476095e-02 -4.56334375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-164.10, Z:-456.42 [[ 6.14840543e-03 9.86469952e-01 -1.63826835e-01 2.89761320e+02] [-7.76665765e-02 -1.62863964e-01 -9.83586922e-01 -1.64104705e+02] [-9.96960431e-01 1.87713606e-02 7.56143903e-02 -4.56417287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-164.13, Z:-456.84 [[-2.91355687e-03 9.83375899e-01 -1.81558125e-01 2.89761762e+02] [-8.10372061e-02 -1.81193941e-01 -9.80102917e-01 -1.64129533e+02] [-9.96706819e-01 1.18573776e-02 8.02179542e-02 -4.56838357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.356559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:290.44, Y:-165.13, Z:-456.92 [[ 4.50247922e-02 -9.81982498e-01 -1.83529676e-01 2.90444562e+02] [-4.43424591e-02 -1.85499436e-01 9.81643370e-01 -1.65128649e+02] [-9.98001260e-01 -3.60601316e-02 -5.18955923e-02 -4.56915532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:289.39, Y:-164.68, Z:-457.04 [[ 7.93716924e-02 5.99685800e-01 7.96289568e-01 2.89386647e+02] [-5.06166464e-02 8.00203824e-01 -5.97588315e-01 -1.64684376e+02] [-9.95559184e-01 7.12608842e-03 9.38676159e-02 -4.57040466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.416559995 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:290.61, Y:-164.87, Z:-456.96 [[ 1.06959575e-01 -7.74547739e-01 -6.23406327e-01 2.90610122e+02] [-3.00169911e-03 -6.27251910e-01 7.78810652e-01 -1.64867848e+02] [-9.94258839e-01 -8.14299785e-02 -6.94155572e-02 -4.56960158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-164.24, Z:-456.99 [[ 1.01655551e-01 1.97623699e-01 -9.74992832e-01 2.90444773e+02] [ 6.03693961e-02 -9.79489161e-01 -1.92240784e-01 -1.64236175e+02] [-9.92986246e-01 -3.93173856e-02 -1.11500934e-01 -4.56985639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-164.07, Z:-457.01 [[ 5.48052033e-02 7.36410830e-01 -6.74311115e-01 2.90107927e+02] [ 1.17903665e-01 -6.75374298e-01 -7.27989206e-01 -1.64072291e+02] [-9.91511531e-01 -3.96061552e-02 -1.23839561e-01 -4.57012699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-164.13, Z:-457.04 [[-1.69740710e-02 9.89515416e-01 -1.43426364e-01 2.89754578e+02] [ 1.34993132e-01 -1.39865601e-01 -9.80925312e-01 -1.64129787e+02] [-9.90701133e-01 -3.60118700e-02 -1.31203697e-01 -4.57040521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.536559995 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:289.47, Y:-164.89, Z:-457.68 [[-3.57334324e-02 1.34849558e-01 9.90221550e-01 2.89466051e+02] [ 6.47619992e-02 9.89084091e-01 -1.32357637e-01 -1.64885008e+02] [-9.97260751e-01 5.93991345e-02 -4.40764965e-02 -4.57683851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:290.59, Y:-164.84, Z:-457.79 [[-1.02619006e-02 -8.49375477e-01 -5.27689295e-01 2.90586858e+02] [ 7.23333649e-02 -5.26965127e-01 8.46803188e-01 -1.64841625e+02] [-9.97327718e-01 -2.94797322e-02 6.68458501e-02 -4.57789356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-164.04, Z:-457.21 [[-1.03203566e-01 7.43302375e-01 -6.60946748e-01 2.90132260e+02] [ 1.15349693e-01 -6.51067624e-01 -7.50203571e-01 -1.64041590e+02] [-9.87949124e-01 -1.53663688e-01 -1.85472002e-02 -4.57205715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-164.87, Z:-457.34 [[-6.17872509e-02 -8.26636609e-01 -5.59333758e-01 2.90635016e+02] [ 1.35991811e-01 -5.62150757e-01 8.15777393e-01 -1.64870166e+02] [-9.88781353e-01 -2.56601683e-02 1.47149559e-01 -4.57344589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-164.87, Z:-457.35 [[-6.10599520e-02 -8.30940102e-01 -5.53001112e-01 2.90632794e+02] [ 1.36251826e-01 -5.55787561e-01 8.20082695e-01 -1.64873883e+02] [-9.88790737e-01 -2.52732011e-02 1.47153468e-01 -4.57351375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-164.87, Z:-457.38 [[-5.71458481e-02 -8.33884136e-01 -5.48973223e-01 2.90629266e+02] [ 1.40612022e-01 -5.51113253e-01 8.22497685e-01 -1.64874096e+02] [-9.88414190e-01 -3.01899071e-02 1.48747969e-01 -4.57383142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-164.89, Z:-457.39 [[-5.54058458e-02 -8.50879251e-01 -5.22431520e-01 2.90620996e+02] [ 1.40730642e-01 -5.24666850e-01 8.39594892e-01 -1.64891184e+02] [-9.88496373e-01 -2.70036582e-02 1.48814394e-01 -4.57393454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-164.89, Z:-457.40 [[-5.46532644e-02 -8.54885048e-01 -5.15930786e-01 2.90618610e+02] [ 1.40955277e-01 -5.18134217e-01 8.43604494e-01 -1.64894790e+02] [-9.88506262e-01 -2.66174275e-02 1.48818285e-01 -4.57400239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-164.89, Z:-457.48 [[-4.35423076e-02 -8.57851836e-01 -5.12049114e-01 2.90609363e+02] [ 1.47467997e-01 -5.12439685e-01 8.45966169e-01 -1.64889368e+02] [-9.88107918e-01 -3.86755378e-02 1.48818498e-01 -4.57483048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-164.13, Z:-457.46 [[-1.51612474e-01 9.87724652e-01 3.75988042e-02 2.89696329e+02] [ 9.89576544e-02 5.30151137e-02 -9.93678409e-01 -1.64131188e+02] [-9.83473965e-01 -1.46933352e-01 -1.05780667e-01 -4.57461630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.70, Z:-457.66 [[-1.18438273e-01 -6.86933043e-01 -7.17004442e-01 2.90672826e+02] [ 1.49489478e-01 -7.26192321e-01 6.71042181e-01 -1.64704452e+02] [-9.81644168e-01 -2.77075432e-02 1.88698226e-01 -4.57664960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.71, Z:-457.67 [[-1.17796710e-01 -6.91659405e-01 -7.12552596e-01 2.90671375e+02] [ 1.49910042e-01 -7.21710865e-01 6.75766533e-01 -1.64707673e+02] [-9.81657229e-01 -2.72157153e-02 1.88701855e-01 -4.57671741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.71, Z:-457.68 [[-1.17437361e-01 -6.94407690e-01 -7.09934100e-01 2.90670134e+02] [ 1.51399165e-01 -7.19043474e-01 6.78273378e-01 -1.64708254e+02] [-9.81471731e-01 -2.78287940e-02 1.89575313e-01 -4.57683987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:290.60, Y:-164.66, Z:-458.23 [[-1.12020258e-01 -7.07094758e-01 -6.98189420e-01 2.90604711e+02] [ 1.45058456e-01 -7.06721238e-01 6.92461649e-01 -1.64657925e+02] [-9.83061293e-01 -2.37085463e-02 1.81737169e-01 -4.58228303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-164.02, Z:-457.64 [[-1.94378130e-01 7.22412161e-01 -6.63579544e-01 2.90163450e+02] [ 1.71516080e-01 -6.41030835e-01 -7.48105409e-01 -1.64015740e+02] [-9.65815395e-01 -2.59229893e-01 6.97072803e-04 -4.57635711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:-164.30, Z:-457.71 [[-2.46872090e-01 8.75981187e-01 4.14380420e-01 2.89551039e+02] [ 1.09105798e-01 4.50022975e-01 -8.86326829e-01 -1.64299160e+02] [-9.62886336e-01 -1.73598050e-01 -2.06672739e-01 -4.57710115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:-164.54, Z:-458.02 [[-2.31792574e-01 -5.10282887e-01 -8.28180885e-01 2.90679598e+02] [ 1.60119841e-01 -8.59769240e-01 4.84931429e-01 -1.64535059e+02] [-9.59496660e-01 -2.02046873e-02 2.80994539e-01 -4.58024390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.52, Z:-458.05 [[-2.32753612e-01 -5.01579303e-01 -8.33213033e-01 2.90669995e+02] [ 1.65276278e-01 -8.64680723e-01 4.74353243e-01 -1.64521204e+02] [-9.58389017e-01 -2.73029183e-02 2.84156722e-01 -4.58049700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.54, Z:-458.05 [[-2.31307941e-01 -5.21658836e-01 -8.21199546e-01 2.90672438e+02] [ 1.62262087e-01 -8.52953760e-01 4.96125891e-01 -1.64538832e+02] [-9.59253695e-01 -1.84916939e-02 2.81940429e-01 -4.58049457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-164.53, Z:-458.07 [[-2.31712872e-01 -5.13845139e-01 -8.25997771e-01 2.90664723e+02] [ 1.65296319e-01 -8.57556487e-01 4.87107789e-01 -1.64527392e+02] [-9.58637717e-01 -2.36652463e-02 2.83643586e-01 -4.58073162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.54, Z:-458.07 [[-2.31151240e-01 -5.25328038e-01 -8.18901433e-01 2.90666482e+02] [ 1.64624308e-01 -8.50678377e-01 4.99244565e-01 -1.64536654e+02] [-9.58888910e-01 -1.94100814e-02 2.83117126e-01 -4.58069462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-164.54, Z:-458.08 [[-2.28469375e-01 -5.33151904e-01 -8.14586270e-01 2.90666855e+02] [ 1.55896296e-01 -8.45954604e-01 5.09957992e-01 -1.64544526e+02] [-9.60988080e-01 -1.04811989e-02 2.76391126e-01 -4.58082051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-164.52, Z:-458.09 [[-2.31912974e-01 -5.05876292e-01 -8.30846285e-01 2.90661422e+02] [ 1.63833076e-01 -8.62244477e-01 4.79263169e-01 -1.64517185e+02] [-9.58840496e-01 -2.49727555e-02 2.82844950e-01 -4.58086162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-165.16, Z:-458.16 [[-1.48877285e-01 -8.69594337e-01 4.70787896e-01 2.90071401e+02] [ 1.17120671e-01 4.57236011e-01 8.81599670e-01 -1.65161568e+02] [-9.81895261e-01 1.86389160e-01 3.37754166e-02 -4.58164419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-163.93, Z:-458.13 [[-2.48241387e-01 8.38530100e-01 -4.85019056e-01 2.89945824e+02] [ 1.39170481e-01 -4.64625559e-01 -8.74502526e-01 -1.63933984e+02] [-9.58648940e-01 -2.84588056e-01 -1.35934452e-03 -4.58127068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-165.13, Z:-458.43 [[-1.58206618e-01 -8.47143146e-01 5.07266356e-01 2.89983082e+02] [ 1.10073855e-01 4.95402955e-01 8.61660988e-01 -1.65132133e+02] [-9.81251452e-01 1.92157234e-01 1.48722860e-02 -4.58425989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-164.47, Z:-458.48 [[-1.67147283e-01 -5.25473072e-01 -8.34230086e-01 2.90555095e+02] [ 1.23390058e-01 -8.50630032e-01 5.11080661e-01 -1.64472951e+02] [-9.78180290e-01 -1.75099547e-02 2.07018651e-01 -4.58479249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-164.46, Z:-458.49 [[-1.71487020e-01 -5.13551837e-01 -8.40747710e-01 2.90548518e+02] [ 1.35241243e-01 -8.57581689e-01 4.96249385e-01 -1.64457382e+02] [-9.75859625e-01 -2.86034371e-02 2.16517517e-01 -4.58490027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-164.50, Z:-458.49 [[-1.69131953e-01 -5.66928017e-01 -8.06217717e-01 2.90551719e+02] [ 1.30430518e-01 -8.23682524e-01 5.51846880e-01 -1.64504179e+02] [-9.76924901e-01 -1.18204539e-02 2.13255749e-01 -4.58488011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-164.48, Z:-458.50 [[-1.71020845e-01 -5.37420640e-01 -8.25791091e-01 2.90545869e+02] [ 1.38182698e-01 -8.42938159e-01 5.19962309e-01 -1.64476889e+02] [-9.75529299e-01 -2.51856473e-02 2.18422230e-01 -4.58503747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-164.50, Z:-458.61 [[-1.56587493e-01 -5.73460493e-01 -8.04128983e-01 2.90523773e+02] [ 1.54422878e-01 -8.18374630e-01 5.53549041e-01 -1.64497935e+02] [-9.75517264e-01 -3.74970557e-02 2.16702651e-01 -4.58610938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-164.55, Z:-458.63 [[-1.53385024e-01 -6.45991948e-01 -7.47774991e-01 2.90517807e+02] [ 1.58019185e-01 -7.63026321e-01 6.26754155e-01 -1.64550078e+02] [-9.75450138e-01 -2.20280938e-02 2.19115932e-01 -4.58631185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-164.57, Z:-458.62 [[-1.55317672e-01 -6.65437873e-01 -7.30115647e-01 2.90517814e+02] [ 1.51013988e-01 -7.46391645e-01 6.48146810e-01 -1.64570826e+02] [-9.76253654e-01 -9.58902210e-03 2.16418240e-01 -4.58621199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-164.54, Z:-458.64 [[-1.55307635e-01 -6.41885184e-01 -7.50908083e-01 2.90516945e+02] [ 1.55475845e-01 -7.66540489e-01 6.23091438e-01 -1.64543838e+02] [-9.75554612e-01 -1.99772111e-02 2.18847232e-01 -4.58642016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-164.57, Z:-458.63 [[-1.56947539e-01 -6.69058324e-01 -7.26449193e-01 2.90516209e+02] [ 1.51155561e-01 -7.43171979e-01 6.51803196e-01 -1.64571398e+02] [-9.75971038e-01 -7.50792773e-03 2.17770900e-01 -4.58634027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-164.55, Z:-458.65 [[-1.56779277e-01 -6.50323755e-01 -7.43302948e-01 2.90515992e+02] [ 1.55340295e-01 -7.59479569e-01 6.31712100e-01 -1.64549838e+02] [-9.75340787e-01 -1.64255326e-02 2.20092142e-01 -4.58649517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-164.57, Z:-458.66 [[-1.57504115e-01 -6.73399229e-01 -7.22305982e-01 2.90513824e+02] [ 1.54080828e-01 -7.39235345e-01 6.55583865e-01 -1.64567297e+02] [-9.75423781e-01 -8.03634748e-03 2.20190519e-01 -4.58659999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.88, Z:-458.58 [[-2.18689736e-01 8.73377366e-01 -4.35185910e-01 2.89824450e+02] [ 1.54353445e-01 -4.09404123e-01 -8.99201467e-01 -1.63882402e+02] [-9.63509114e-01 -2.63818576e-01 -4.52763255e-02 -4.58580055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-163.89, Z:-458.68 [[-2.78014710e-01 9.03949369e-01 -3.24935932e-01 2.89755380e+02] [ 1.73369099e-01 -2.85497250e-01 -9.42568022e-01 -1.63889769e+02] [-9.44802083e-01 -3.18381625e-01 -7.73444523e-02 -4.58684579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-163.90, Z:-458.80 [[-3.41100863e-01 9.19367824e-01 -1.95992362e-01 2.89666681e+02] [ 1.84436286e-01 -1.38989806e-01 -9.72967158e-01 -1.63902870e+02] [-9.21755639e-01 -3.68028040e-01 -1.22155245e-01 -4.58795047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-164.38, Z:-459.20 [[-3.44446849e-01 -5.04848419e-01 -7.91507702e-01 2.90479234e+02] [ 2.03713472e-01 -8.63205382e-01 4.61927797e-01 -1.64375225e+02] [-9.16437226e-01 -2.13120818e-03 4.00172798e-01 -4.59195919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-164.38, Z:-459.20 [[-3.43695528e-01 -5.05819529e-01 -7.91214249e-01 2.90477575e+02] [ 2.02112418e-01 -8.62639151e-01 4.63685525e-01 -1.64376008e+02] [-9.17073582e-01 -5.47583493e-04 3.98717626e-01 -4.59199495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-164.38, Z:-459.21 [[-3.38413936e-01 -5.08214407e-01 -7.91955886e-01 2.90476036e+02] [ 1.99070429e-01 -8.61230382e-01 4.67603672e-01 -1.64378043e+02] [-9.19699392e-01 5.88601417e-04 3.92622823e-01 -4.59212046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-164.36, Z:-459.23 [[-3.40185241e-01 -4.93320323e-01 -8.00567962e-01 2.90465551e+02] [ 2.07781127e-01 -8.69734094e-01 4.47648980e-01 -1.64357283e+02] [-9.17115590e-01 -1.40593374e-02 3.98373355e-01 -4.59228750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-164.38, Z:-459.23 [[-3.39783677e-01 -5.14453579e-01 -7.87327485e-01 2.90468212e+02] [ 2.09367211e-01 -8.57502713e-01 4.69951559e-01 -1.64375565e+02] [-9.16903716e-01 -5.15869076e-03 3.99075136e-01 -4.59226664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-164.39, Z:-459.23 [[-3.32702605e-01 -5.26906858e-01 -7.82098549e-01 2.90471547e+02] [ 2.04226929e-01 -8.49920965e-01 4.85721849e-01 -1.64390521e+02] [-9.20652127e-01 1.87533969e-03 3.90379489e-01 -4.59229870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-164.35, Z:-459.25 [[-3.36453335e-01 -4.92382839e-01 -8.02719312e-01 2.90457589e+02] [ 2.16609144e-01 -8.70023375e-01 4.42876738e-01 -1.64351356e+02] [-9.16449471e-01 -2.48689875e-02 3.99376891e-01 -4.59245895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-164.38, Z:-459.26 [[-3.34347590e-01 -5.23492545e-01 -7.83688232e-01 2.90455393e+02] [ 2.19764671e-01 -8.51926345e-01 4.75315677e-01 -1.64375804e+02] [-9.16468864e-01 -1.33063352e-02 3.99884687e-01 -4.59258115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:-164.38, Z:-459.26 [[-3.32997164e-01 -5.25232740e-01 -7.83098626e-01 2.90453723e+02] [ 2.21316354e-01 -8.50832986e-01 4.76552518e-01 -1.64377138e+02] [-9.16587126e-01 -1.46218957e-02 3.99567566e-01 -4.59262673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-164.39, Z:-459.26 [[-3.26670367e-01 -5.36482965e-01 -7.78121134e-01 2.90458541e+02] [ 2.13551249e-01 -8.43893944e-01 4.92177687e-01 -1.64393443e+02] [-9.20696658e-01 -5.38887457e-03 3.90241751e-01 -4.59262662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-164.36, Z:-459.28 [[-3.30882459e-01 -5.05307560e-01 -7.96982477e-01 2.90442662e+02] [ 2.25501951e-01 -8.62425583e-01 4.53178755e-01 -1.64355397e+02] [-9.16332728e-01 -2.97722030e-02 3.99309338e-01 -4.59284587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-164.98, Z:-459.37 [[-2.51887319e-01 -9.00443238e-01 3.54619167e-01 2.89922005e+02] [ 1.90322218e-01 3.13186802e-01 9.30425430e-01 -1.64975019e+02] [-9.48857330e-01 3.01854273e-01 9.24865703e-02 -4.59367090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-164.37, Z:-459.39 [[-2.69616987e-01 -5.70101682e-01 -7.76073935e-01 2.90379714e+02] [ 2.07902302e-01 -8.21373853e-01 5.31151227e-01 -1.64369020e+02] [-9.40257046e-01 -1.81401644e-02 3.39981796e-01 -4.59387157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-164.38, Z:-459.39 [[-2.67610748e-01 -5.78383159e-01 -7.70621443e-01 2.90381189e+02] [ 2.04099303e-01 -8.15670671e-01 5.41317681e-01 -1.64378267e+02] [-9.41662340e-01 -1.24208698e-02 3.36329838e-01 -4.59390584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-164.37, Z:-459.42 [[-2.63676151e-01 -5.73343063e-01 -7.75727155e-01 2.90373655e+02] [ 2.03444874e-01 -8.19151009e-01 5.36285193e-01 -1.64370340e+02] [-9.42913077e-01 -1.64120975e-02 3.32634293e-01 -4.59422489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-164.35, Z:-459.45 [[-2.66640433e-01 -5.63601710e-01 -7.81828621e-01 2.90362801e+02] [ 2.12127880e-01 -8.25623395e-01 5.22826713e-01 -1.64350531e+02] [-9.40162030e-01 -2.64409068e-02 3.39700216e-01 -4.59448719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2165599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.37, Y:-164.39, Z:-459.44 [[-2.64521503e-01 -5.99078471e-01 -7.55733657e-01 2.90369004e+02] [ 2.01880555e-01 -8.00683247e-01 5.64048384e-01 -1.64389311e+02] [-9.43012522e-01 -3.36500355e-03 3.32740231e-01 -4.59440899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-164.36, Z:-459.45 [[-2.67203993e-01 -5.69422509e-01 -7.77405963e-01 2.90365786e+02] [ 2.03448667e-01 -8.21889504e-01 5.32077328e-01 -1.64357409e+02] [-9.41918609e-01 -1.59890202e-02 3.35460408e-01 -4.59454384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-164.36, Z:-459.47 [[-2.70128616e-01 -5.80493728e-01 -7.68152044e-01 2.90361522e+02] [ 2.06344588e-01 -8.14177730e-01 5.42712203e-01 -1.64359559e+02] [-9.40453317e-01 -1.19019203e-02 3.39714443e-01 -4.59465990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-164.38, Z:-459.46 [[-2.69165687e-01 -5.95859746e-01 -7.56637956e-01 2.90364739e+02] [ 2.00200102e-01 -8.03088407e-01 5.61220928e-01 -1.64375230e+02] [-9.42056130e-01 -4.17579025e-04 3.35455025e-01 -4.59464775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-164.35, Z:-459.47 [[-2.69763055e-01 -5.75520536e-01 -7.72012958e-01 2.90359954e+02] [ 2.06142152e-01 -8.17665056e-01 5.37521412e-01 -1.64354912e+02] [-9.40602630e-01 -1.41409941e-02 3.39214865e-01 -4.59468984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-164.36, Z:-459.49 [[-2.68111057e-01 -5.94040675e-01 -7.58440596e-01 2.90354500e+02] [ 2.09845792e-01 -8.04371217e-01 5.55834228e-01 -1.64362828e+02] [-9.40255925e-01 -1.01302656e-02 3.40317753e-01 -4.59491208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-164.94, Z:-459.57 [[-1.94012538e-01 -8.72466827e-01 4.48509500e-01 2.89776655e+02] [ 1.77105513e-01 4.18533082e-01 8.90765792e-01 -1.64935169e+02] [-9.64879667e-01 2.52253237e-01 7.33180192e-02 -4.59572581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-164.37, Z:-459.57 [[-2.10233756e-01 -6.42237887e-01 -7.37110755e-01 2.90301394e+02] [ 1.77865831e-01 -7.66504160e-01 6.17118400e-01 -1.64372480e+02] [-9.61335277e-01 -1.36769773e-03 2.75377224e-01 -4.59574643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-164.35, Z:-459.58 [[-2.11250333e-01 -6.23699408e-01 -7.52577136e-01 2.90300755e+02] [ 1.78491648e-01 -7.81622610e-01 5.97667824e-01 -1.64354831e+02] [-9.60996373e-01 -8.07120645e-03 2.76443172e-01 -4.59583411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-164.35, Z:-459.58 [[-2.12056767e-01 -6.19165427e-01 -7.56086041e-01 2.90299791e+02] [ 1.84199215e-01 -7.85137856e-01 5.91294510e-01 -1.64348506e+02] [-9.59740890e-01 -1.38824528e-02 2.80543581e-01 -4.59580599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-164.38, Z:-459.59 [[-2.09094930e-01 -6.50040688e-01 -7.30565818e-01 2.90297523e+02] [ 1.79332285e-01 -7.59899315e-01 6.24814343e-01 -1.64376717e+02] [-9.61311210e-01 -3.68526551e-04 2.75464376e-01 -4.59592100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-164.35, Z:-459.61 [[-2.08883258e-01 -6.21811700e-01 -7.54796658e-01 2.90294279e+02] [ 1.86677373e-01 -7.82983160e-01 5.93370820e-01 -1.64345780e+02] [-9.59957990e-01 -1.69582270e-02 2.79630248e-01 -4.59608606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-164.37, Z:-459.68 [[-2.00946335e-01 -6.55565340e-01 -7.27911159e-01 2.90276524e+02] [ 1.86882579e-01 -7.55075491e-01 6.28439261e-01 -1.64367458e+02] [-9.61610874e-01 -9.75134804e-03 2.74243394e-01 -4.59676177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-164.36, Z:-459.69 [[-2.01186078e-01 -6.58352891e-01 -7.25324502e-01 2.90272521e+02] [ 1.94520933e-01 -7.52569375e-01 6.29127128e-01 -1.64360517e+02] [-9.60044670e-01 -1.45191790e-02 2.79469900e-01 -4.59691467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-164.38, Z:-459.70 [[-2.02317847e-01 -6.83871937e-01 -7.00989774e-01 2.90269024e+02] [ 1.93588656e-01 -7.29595889e-01 6.55906449e-01 -1.64379911e+02] [-9.59995271e-01 -3.00208750e-03 2.80000119e-01 -4.59699093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-164.37, Z:-459.74 [[-1.99860048e-01 -6.86037406e-01 -6.99577472e-01 2.90260663e+02] [ 1.96429188e-01 -7.27541192e-01 6.57342672e-01 -1.64373758e+02] [-9.59933089e-01 -6.04089749e-03 2.80164188e-01 -4.59738045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-164.38, Z:-459.74 [[-2.00715358e-01 -6.98226517e-01 -6.87163063e-01 2.90257766e+02] [ 1.96647210e-01 -7.15876595e-01 6.69963115e-01 -1.64383776e+02] [-9.59709966e-01 -6.56812633e-04 2.80991724e-01 -4.59743806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-164.37, Z:-459.81 [[-1.94658613e-01 -7.01439082e-01 -6.85632000e-01 2.90243005e+02] [ 2.03138833e-01 -7.12677792e-01 6.71435015e-01 -1.64374403e+02] [-9.59605460e-01 -8.57787566e-03 2.81218387e-01 -4.59809028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-164.38, Z:-459.87 [[-1.88830678e-01 -7.25524282e-01 -6.61783569e-01 2.90226646e+02] [ 2.08704131e-01 -6.88161978e-01 6.94892566e-01 -1.64383849e+02] [-9.59575719e-01 -6.89993003e-03 2.81366008e-01 -4.59869756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.40, Z:-459.88 [[-1.87782252e-01 -7.44300618e-01 -6.40901253e-01 2.90220685e+02] [ 2.08736225e-01 -6.67844628e-01 7.14431761e-01 -1.64399044e+02] [-9.59774460e-01 3.78296582e-04 2.80771870e-01 -4.59881273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.40, Z:-459.88 [[-1.87442621e-01 -7.45625959e-01 -6.39458516e-01 2.90219673e+02] [ 2.08352600e-01 -6.66364018e-01 7.15924710e-01 -1.64397895e+02] [-9.59924194e-01 9.61959628e-04 2.80258125e-01 -4.59882694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.40, Z:-459.89 [[-1.87427271e-01 -7.46970114e-01 -6.37892364e-01 2.90218266e+02] [ 2.08510824e-01 -6.64856078e-01 7.17279327e-01 -1.64397738e+02] [-9.59892835e-01 1.43024438e-03 2.80363514e-01 -4.59887439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.40, Z:-459.89 [[-1.87156613e-01 -7.48385133e-01 -6.36311320e-01 2.90216995e+02] [ 2.08999054e-01 -6.63262716e-01 7.18611136e-01 -1.64398137e+02] [-9.59839465e-01 1.50436224e-03 2.80545788e-01 -4.59890553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-164.40, Z:-459.91 [[-1.85707807e-01 -7.50055837e-01 -6.34766769e-01 2.90211849e+02] [ 2.10353694e-01 -6.61374486e-01 7.19954938e-01 -1.64395691e+02] [-9.59824950e-01 1.75717776e-04 2.80599421e-01 -4.59909932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-164.40, Z:-459.92 [[-1.84593651e-01 -7.54421692e-01 -6.29899274e-01 2.90208298e+02] [ 2.11454561e-01 -6.56389882e-01 7.24181809e-01 -1.64396992e+02] [-9.59797975e-01 4.84290183e-04 2.80691312e-01 -4.59921700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-164.43, Z:-459.90 [[-1.83049932e-01 -7.66708524e-01 -6.15346050e-01 2.90208701e+02] [ 1.94744935e-01 -6.41797467e-01 7.41734738e-01 -1.64425037e+02] [-9.63621883e-01 1.59389664e-02 2.66793585e-01 -4.59904662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.37, Z:-459.91 [[-1.81898929e-01 -7.11440430e-01 -6.78796947e-01 2.90217037e+02] [ 1.98686187e-01 -7.02666590e-01 6.83215531e-01 -1.64368996e+02] [-9.63035087e-01 -1.05914037e-02 2.69167686e-01 -4.59911581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-164.37, Z:-459.92 [[-1.79759747e-01 -7.21628019e-01 -6.68535291e-01 2.90211541e+02] [ 2.04855998e-01 -6.92167248e-01 6.92053843e-01 -1.64374134e+02] [-9.62143676e-01 -1.25500408e-02 2.72253638e-01 -4.59920628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-164.37, Z:-459.94 [[-1.78485407e-01 -7.27454272e-01 -6.62535464e-01 2.90206158e+02] [ 2.18690667e-01 -6.85834742e-01 6.94121818e-01 -1.64366590e+02] [-9.59331722e-01 -2.09997069e-02 2.81498953e-01 -4.59939241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-164.41, Z:-459.95 [[-1.76155192e-01 -7.67071078e-01 -6.16904620e-01 2.90195108e+02] [ 2.14569931e-01 -6.41556699e-01 7.36454172e-01 -1.64406220e+02] [-9.60691987e-01 -2.63895573e-03 2.77603931e-01 -4.59947448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-164.39, Z:-459.95 [[-1.75124647e-01 -7.47186760e-01 -6.41126590e-01 2.90199116e+02] [ 2.15409922e-01 -6.64491057e-01 7.15576831e-01 -1.64386354e+02] [-9.60692419e-01 -1.27898887e-02 2.77320204e-01 -4.59948265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-164.39, Z:-459.96 [[-1.72681800e-01 -7.52066407e-01 -6.36063767e-01 2.90196781e+02] [ 2.15254153e-01 -6.58969519e-01 7.20711331e-01 -1.64389118e+02] [-9.61169416e-01 -1.24616379e-02 2.75677460e-01 -4.59958212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-164.39, Z:-459.96 [[-1.68628043e-01 -7.55878125e-01 -6.32623777e-01 2.90195970e+02] [ 2.14372449e-01 -6.54575868e-01 7.24965438e-01 -1.64393532e+02] [-9.62085774e-01 -1.33676051e-02 2.72419292e-01 -4.59963444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-164.38, Z:-459.97 [[-1.67589774e-01 -7.48845154e-01 -6.41205586e-01 2.90196044e+02] [ 2.17867138e-01 -6.62455620e-01 7.16719235e-01 -1.64383912e+02] [-9.61481970e-01 -1.95828115e-02 2.74169539e-01 -4.59971057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-164.40, Z:-459.99 [[-1.63073610e-01 -7.64383286e-01 -6.23798997e-01 2.90191993e+02] [ 2.10754672e-01 -6.44657142e-01 7.34846676e-01 -1.64401824e+02] [-9.63840996e-01 -1.16344522e-02 2.66223916e-01 -4.59986045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-164.35, Z:-460.01 [[-1.67824791e-01 -7.26881376e-01 -6.65941668e-01 2.90192239e+02] [ 2.32975755e-01 -6.85631550e-01 6.89660551e-01 -1.64349153e+02] [-9.57892028e-01 -3.94061249e-02 2.84411709e-01 -4.60005164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-164.40, Z:-460.01 [[-1.65125142e-01 -7.81230134e-01 -6.02007612e-01 2.90179713e+02] [ 2.34764273e-01 -6.23976158e-01 7.45345216e-01 -1.64399417e+02] [-9.57924540e-01 -1.82546444e-02 2.86439076e-01 -4.60014113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-164.77, Z:-460.07 [[-1.04835002e-01 -5.70463792e-01 8.14604619e-01 2.89359091e+02] [ 1.51887916e-01 8.00323859e-01 5.80010157e-01 -1.64772474e+02] [-9.82822305e-01 1.84533964e-01 2.74460353e-03 -4.60068670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-164.75, Z:-460.18 [[-8.36278076e-02 -6.54934240e-01 7.51044294e-01 2.89367811e+02] [ 9.72019077e-02 7.44728962e-01 6.60250379e-01 -1.64754304e+02] [-9.91745017e-01 1.28218230e-01 1.38080721e-03 -4.60182536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-164.24, Z:-460.20 [[-7.35437054e-02 -6.83238203e-01 -7.26482541e-01 2.90134890e+02] [ 1.06914967e-01 -7.29658510e-01 6.75401842e-01 -1.64242032e+02] [-9.91544509e-01 -2.80003029e-02 1.26710181e-01 -4.60204771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-164.24, Z:-460.26 [[-8.13922549e-02 -7.04458253e-01 -7.05063026e-01 2.90122298e+02] [ 1.35288967e-01 -7.08671591e-01 6.92446006e-01 -1.64236374e+02] [-9.87457440e-01 -3.90275064e-02 1.52985808e-01 -4.60256603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-164.38, Z:-460.27 [[-7.30184267e-02 -8.38666957e-01 -5.39727751e-01 2.90092117e+02] [ 1.08135772e-01 -5.44639468e-01 8.31669709e-01 -1.64380771e+02] [-9.91450939e-01 2.36333666e-03 1.30458616e-01 -4.60267828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-164.27, Z:-460.27 [[-7.28297265e-02 -7.25870469e-01 -6.83964833e-01 2.90126611e+02] [ 1.10834651e-01 -6.87428702e-01 7.17744704e-01 -1.64267147e+02] [-9.91166742e-01 -2.35338530e-02 1.30516844e-01 -4.60265333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-164.31, Z:-460.29 [[-7.12720003e-02 -7.77069715e-01 -6.25366261e-01 2.90113783e+02] [ 1.12635799e-01 -6.29220467e-01 7.69021964e-01 -1.64310589e+02] [-9.91076929e-01 -1.56288945e-02 1.32371669e-01 -4.60294251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-164.32, Z:-460.32 [[-7.05335686e-02 -7.84648861e-01 -6.15914913e-01 2.90110559e+02] [ 1.11975157e-01 -6.19778252e-01 7.76747374e-01 -1.64315992e+02] [-9.91204611e-01 -1.41804048e-02 1.31576351e-01 -4.60318071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-164.32, Z:-460.33 [[-7.10587883e-02 -7.90309753e-01 -6.08573038e-01 2.90109064e+02] [ 1.14115400e-01 -6.12550527e-01 7.82150578e-01 -1.64317195e+02] [-9.90922966e-01 -1.38688834e-02 1.33713612e-01 -4.60332100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-164.32, Z:-460.35 [[-7.09316590e-02 -8.01189317e-01 -5.94192206e-01 2.90105250e+02] [ 1.15720492e-01 -5.98279987e-01 7.92887019e-01 -1.64324994e+02] [-9.90745915e-01 -1.25194225e-02 1.35151014e-01 -4.60346843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-164.32, Z:-460.37 [[-6.83150618e-02 -8.04128169e-01 -5.90517519e-01 2.90100584e+02] [ 1.23193560e-01 -5.94169646e-01 7.94849532e-01 -1.64321909e+02] [-9.90028484e-01 -1.84477603e-02 1.39654148e-01 -4.60372980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.656559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.09, Y:-164.35, Z:-460.39 [[-6.46133817e-02 -8.32432422e-01 -5.50346594e-01 2.90088927e+02] [ 1.25640954e-01 -5.53896516e-01 8.23051032e-01 -1.64349055e+02] [-9.89969425e-01 -1.59659604e-02 1.40376730e-01 -4.60391915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:290.08, Y:-164.35, Z:-460.41 [[-6.14257956e-02 -8.39204134e-01 -5.40336277e-01 2.90084025e+02] [ 1.28117511e-01 -5.43509559e-01 8.29568118e-01 -1.64354555e+02] [-9.89854926e-01 -1.82696574e-02 1.40902252e-01 -4.60414550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-164.36, Z:-460.44 [[-5.89493415e-02 -8.45645300e-01 -5.30479973e-01 2.90078650e+02] [ 1.31183900e-01 -5.33357999e-01 8.35655449e-01 -1.64359303e+02] [-9.89603840e-01 -2.03290932e-02 1.42376151e-01 -4.60438382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-164.33, Z:-460.48 [[-5.74012419e-02 -8.39301054e-01 -5.40628189e-01 2.90074874e+02] [ 1.57405853e-01 -5.42356393e-01 8.25271434e-01 -1.64332240e+02] [-9.85864339e-01 -3.77264361e-02 1.63242829e-01 -4.60476562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-164.43, Z:-460.51 [[-4.93014268e-02 -9.14318821e-01 -4.01983163e-01 2.90032220e+02] [ 1.39120500e-01 -4.04835593e-01 9.03744228e-01 -1.64430594e+02] [-9.89047449e-01 -1.13682187e-02 1.47159464e-01 -4.60505114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-164.36, Z:-460.53 [[-4.95583545e-02 -8.68779391e-01 -4.92713242e-01 2.90058001e+02] [ 1.60322618e-01 -4.93842083e-01 8.54644169e-01 -1.64357012e+02] [-9.85819775e-01 -3.66383180e-02 1.63758987e-01 -4.60528944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.02, Y:-164.44, Z:-460.55 [[-4.72797137e-02 -9.28064268e-01 -3.69406745e-01 2.90017370e+02] [ 1.43625769e-01 -3.72293632e-01 9.16934616e-01 -1.64441916e+02] [-9.88502032e-01 -9.70392184e-03 1.50895881e-01 -4.60546022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-164.37, Z:-460.56 [[-4.95684037e-02 -8.84720620e-01 -4.63478585e-01 2.90047469e+02] [ 1.60028421e-01 -4.65088926e-01 8.70679732e-01 -1.64372471e+02] [-9.85867069e-01 -3.10115415e-02 1.64634159e-01 -4.60556444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.896559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.02, Y:-164.43, Z:-460.56 [[-4.86898112e-02 -9.27575945e-01 -3.70448605e-01 2.90018239e+02] [ 1.58135176e-01 -3.73369533e-01 9.14105278e-01 -1.64427743e+02] [-9.86216289e-01 -1.40733419e-02 1.64861677e-01 -4.60559471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-164.46, Z:-460.55 [[-5.24850615e-02 -9.37310319e-01 -3.44520950e-01 2.90009303e+02] [ 1.37049467e-01 -3.48492848e-01 9.27237930e-01 -1.64456398e+02] [-9.89172767e-01 1.44972712e-03 1.46748548e-01 -4.60554563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-164.35, Z:-460.77 [[-5.62355540e-02 -8.89221331e-01 -4.54007694e-01 2.90035113e+02] [ 1.56818253e-01 -4.56949912e-01 8.75559715e-01 -1.64346514e+02] [-9.86025151e-01 -2.19591080e-02 1.65142967e-01 -4.60772890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-164.43, Z:-460.58 [[-5.42394179e-02 -9.29114447e-01 -3.65792879e-01 2.90015518e+02] [ 1.57070052e-01 -3.69710365e-01 9.15774669e-01 -1.64426934e+02] [-9.86096894e-01 -7.78402172e-03 1.65988930e-01 -4.60582755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-164.44, Z:-460.59 [[-5.62405368e-02 -9.39279650e-01 -3.38512543e-01 2.90004713e+02] [ 1.56124680e-01 -3.43151808e-01 9.26213756e-01 -1.64442536e+02] [-9.86134923e-01 -7.59403525e-04 1.65943776e-01 -4.60585644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-164.47, Z:-460.58 [[-5.90677749e-02 -9.46619489e-01 -3.16895157e-01 2.89995674e+02] [ 1.40344769e-01 -3.22171294e-01 9.36220595e-01 -1.64465965e+02] [-9.88339185e-01 1.08258898e-02 1.51883035e-01 -4.60582059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-164.39, Z:-460.60 [[-5.74527051e-02 -9.05038871e-01 -4.21430692e-01 2.90031689e+02] [ 1.54362582e-01 -4.25104542e-01 8.91884702e-01 -1.64392758e+02] [-9.86342425e-01 -1.38119412e-02 1.64127543e-01 -4.60597129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-164.46, Z:-460.60 [[-5.93668784e-02 -9.47327114e-01 -3.14717194e-01 2.89992888e+02] [ 1.47825666e-01 -3.20140272e-01 9.35765878e-01 -1.64458559e+02] [-9.87230037e-01 9.03022014e-03 1.59044991e-01 -4.60603634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-164.45, Z:-460.61 [[-5.99056257e-02 -9.36540128e-01 -3.45403974e-01 2.90002331e+02] [ 1.38624783e-01 -3.50477864e-01 9.26255060e-01 -1.64447607e+02] [-9.88531479e-01 7.60633800e-03 1.50823268e-01 -4.60612233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.02, Y:-164.42, Z:-460.61 [[-5.89215989e-02 -9.18544921e-01 -3.90900849e-01 2.90017790e+02] [ 1.39738331e-01 -3.95314998e-01 9.07854201e-01 -1.64422845e+02] [-9.88433834e-01 -1.13161116e-03 1.51648526e-01 -4.60610385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-164.43, Z:-460.63 [[-5.69714768e-02 -9.25692233e-01 -3.73962753e-01 2.90009061e+02] [ 1.43717781e-01 -3.78273947e-01 9.14469256e-01 -1.64429299e+02] [-9.87977454e-01 -1.64643281e-03 1.54589259e-01 -4.60630368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-164.42, Z:-460.66 [[-5.35465197e-02 -9.28549370e-01 -3.67326608e-01 2.90005082e+02] [ 1.58974177e-01 -3.71089729e-01 9.14887766e-01 -1.64418125e+02] [-9.85829591e-01 -9.40638935e-03 1.67485935e-01 -4.60658193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-164.46, Z:-460.67 [[-5.11332629e-02 -9.57794642e-01 -2.82868897e-01 2.89972884e+02] [ 1.59702445e-01 -2.87436464e-01 9.44391555e-01 -1.64462028e+02] [-9.85840007e-01 3.11496705e-03 1.67659711e-01 -4.60666718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-164.48, Z:-460.70 [[-4.89643370e-02 -9.63138014e-01 -2.64514008e-01 2.89960557e+02] [ 1.47305334e-01 -2.68899182e-01 9.51837365e-01 -1.64477274e+02] [-9.87878349e-01 7.64176115e-03 1.55041837e-01 -4.60697025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-164.45, Z:-460.70 [[-4.80965271e-02 -9.47694205e-01 -3.15535131e-01 2.89980225e+02] [ 1.47178664e-01 -3.19176597e-01 9.36196956e-01 -1.64450156e+02] [-9.87939859e-01 -1.41221667e-03 1.54831653e-01 -4.60703707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-164.44, Z:-460.73 [[-4.28292466e-02 -9.47080233e-01 -3.18126841e-01 2.89978775e+02] [ 1.61861843e-01 -3.20790022e-01 9.33217288e-01 -1.64435559e+02] [-9.85883563e-01 -1.15236035e-02 1.67035347e-01 -4.60729690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-164.48, Z:-460.75 [[-3.98223782e-02 -9.72246399e-01 -2.30545260e-01 2.89942472e+02] [ 1.62959873e-01 -2.33958499e-01 9.58492306e-01 -1.64476366e+02] [-9.85828716e-01 5.99816712e-04 1.67753934e-01 -4.60753345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-164.47, Z:-460.84 [[-2.29992628e-02 -9.74407718e-01 -2.23608213e-01 2.89931511e+02] [ 1.67476560e-01 -2.24261874e-01 9.60030319e-01 -1.64468337e+02] [-9.85607749e-01 -1.53691447e-02 1.68348311e-01 -4.60839935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-164.51, Z:-460.85 [[-1.96013668e-02 -9.92995601e-01 -1.16514043e-01 2.89885131e+02] [ 1.68269136e-01 -1.18150568e-01 9.78634733e-01 -1.64513407e+02] [-9.85546186e-01 -4.23138924e-04 1.69406424e-01 -4.60854043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.51, Z:-460.86 [[-1.85326535e-02 -9.93444447e-01 -1.12803687e-01 2.89883529e+02] [ 1.67913064e-01 -1.14313163e-01 9.79151522e-01 -1.64513845e+02] [-9.85627589e-01 -7.94936858e-04 1.68930828e-01 -4.60860593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.51, Z:-460.87 [[-1.70777302e-02 -9.93886985e-01 -1.09073425e-01 2.89880954e+02] [ 1.68314193e-01 -1.10390229e-01 9.79532710e-01 -1.64514460e+02] [-9.85585452e-01 -1.63041018e-03 1.69170500e-01 -4.60866523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.52, Z:-460.87 [[-1.53224713e-02 -9.94317430e-01 -1.05347382e-01 2.89878565e+02] [ 1.68685534e-01 -1.06420175e-01 9.79908127e-01 -1.64515186e+02] [-9.85550817e-01 -2.75596524e-03 1.69357587e-01 -4.60874366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.52, Z:-460.88 [[-1.37192346e-02 -9.94949334e-01 -9.94364351e-02 2.89875538e+02] [ 1.68475201e-01 -1.00324146e-01 9.80587157e-01 -1.64517244e+02] [-9.85610415e-01 -3.29966813e-03 1.69000660e-01 -4.60880095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.52, Z:-460.89 [[-1.24082702e-02 -9.95332893e-01 -9.56998800e-02 2.89873476e+02] [ 1.68786408e-01 -9.64187836e-02 9.80925362e-01 -1.64517611e+02] [-9.85574545e-01 -3.98125210e-03 1.69195054e-01 -4.60885432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.52, Z:-460.89 [[-1.09042674e-02 -9.95700183e-01 -9.19904437e-02 2.89872784e+02] [ 1.67370037e-01 -9.25154934e-02 9.81543761e-01 -1.64517141e+02] [-9.85833844e-01 -4.69342837e-03 1.67659190e-01 -4.60892620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.52, Z:-460.90 [[-9.93999432e-03 -9.96076846e-01 -8.79324393e-02 2.89871417e+02] [ 1.67067267e-01 -8.83550493e-02 9.81978571e-01 -1.64516823e+02] [-9.85895393e-01 -4.92977087e-03 1.67290085e-01 -4.60900591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-164.53, Z:-460.91 [[-1.13101780e-02 -9.97291540e-01 -7.26750539e-02 2.89862926e+02] [ 1.58070781e-01 -7.35490346e-02 9.84684806e-01 -1.64528149e+02] [-9.87363007e-01 -3.50842088e-04 1.58474505e-01 -4.60907884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.50, Z:-460.95 [[-2.30880905e-03 -9.92999298e-01 -1.18097684e-01 2.89884235e+02] [ 1.68053294e-01 -1.16803678e-01 9.78833485e-01 -1.64497381e+02] [-9.85775208e-01 -1.75867652e-02 1.67146480e-01 -4.60952308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.53, Z:-460.97 [[ 5.11015208e-04 -9.99258408e-01 -3.85016050e-02 2.89847489e+02] [ 1.68065234e-01 -3.78681380e-02 9.85048263e-01 -1.64527020e+02] [-9.85775743e-01 -6.97415591e-03 1.67921247e-01 -4.60965350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.53, Z:-460.98 [[ 3.90600656e-03 -9.99386952e-01 -3.47917130e-02 2.89845895e+02] [ 1.68074792e-01 -3.36409199e-02 9.85200057e-01 -1.64525771e+02] [-9.85766508e-01 -9.69580782e-03 1.67840353e-01 -4.60983843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.53, Z:-460.99 [[ 5.60641096e-03 -9.99772855e-01 -2.05622571e-02 2.89840196e+02] [ 1.67165900e-01 -1.93362133e-02 9.85739150e-01 -1.64530167e+02] [-9.85912841e-01 -8.96376701e-03 1.67019523e-01 -4.60990286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.53, Z:-461.00 [[ 6.38821963e-03 -9.99838078e-01 -1.68228859e-02 2.89838927e+02] [ 1.67165789e-01 -1.55187340e-02 9.85806659e-01 -1.64529707e+02] [-9.85908104e-01 -9.10976044e-03 1.67039584e-01 -4.61001199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.53, Z:-461.00 [[ 6.81639371e-03 -9.99891264e-01 -1.30765622e-02 2.89837885e+02] [ 1.67539920e-01 -1.17500727e-02 9.85795268e-01 -1.64531168e+02] [-9.85841728e-01 -8.91041485e-03 1.67441609e-01 -4.61003825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-163.80, Z:-461.01 [[-2.90837271e-03 -1.88721277e-01 -9.82026385e-01 2.90019286e+02] [ 2.28898334e-01 -9.56083369e-01 1.83057762e-01 -1.63804164e+02] [-9.73445989e-01 -2.24251804e-01 4.59786327e-02 -4.61012858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-164.55, Z:-461.21 [[ 2.08675067e-02 -9.98484149e-01 5.09308593e-02 2.89803129e+02] [ 2.33969489e-01 5.44044619e-02 9.70720574e-01 -1.64549534e+02] [-9.72019972e-01 -8.34025094e-03 2.34750112e-01 -4.61210094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:289.78, Y:-164.57, Z:-461.24 [[ 1.84455558e-02 -9.95385411e-01 9.41681756e-02 2.89779093e+02] [ 2.26102412e-01 9.58970726e-02 9.69371678e-01 -1.64569510e+02] [-9.73928879e-01 3.41105229e-03 2.26827917e-01 -4.61243244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.52, Z:-461.26 [[ 1.93300703e-02 -9.99692095e-01 -1.55583676e-02 2.89840457e+02] [ 2.33789928e-01 -1.06103911e-02 9.72229237e-01 -1.64516724e+02] [-9.72094964e-01 -2.24306492e-02 2.33512843e-01 -4.61264821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:289.78, Y:-164.56, Z:-461.30 [[ 1.72282099e-02 -9.95546376e-01 9.26854983e-02 2.89784617e+02] [ 2.26438179e-01 9.41756222e-02 9.69462069e-01 -1.64556567e+02] [-9.73873164e-01 4.28543937e-03 2.27052186e-01 -4.61301973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.50, Z:-461.32 [[ 1.79773617e-02 -9.99636782e-01 -2.00778341e-02 2.89846004e+02] [ 2.34938712e-01 -1.52954203e-02 9.71889835e-01 -1.64500160e+02] [-9.71843926e-01 -2.21890756e-02 2.34578407e-01 -4.61317315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-164.55, Z:-461.36 [[ 1.44579276e-02 -9.95423043e-01 9.44665742e-02 2.89781712e+02] [ 2.22971726e-01 9.53071176e-02 9.70154711e-01 -1.64550795e+02] [-9.74717691e-01 7.03694856e-03 2.23329138e-01 -4.61356240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.47, Z:-461.37 [[ 2.04808572e-02 -9.97432209e-01 -6.86259668e-02 2.89869275e+02] [ 2.35335880e-01 -6.19021960e-02 9.69940793e-01 -1.64469168e+02] [-9.71698286e-01 -3.60153712e-02 2.33463776e-01 -4.61370634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-164.50, Z:-461.41 [[ 2.65278233e-02 -9.98549852e-01 4.68451494e-02 2.89813686e+02] [ 2.33342488e-01 5.17525281e-02 9.71016457e-01 -1.64504943e+02] [-9.72032694e-01 -1.48279893e-02 2.34376989e-01 -4.61408543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-164.50, Z:-461.44 [[ 2.82580853e-02 -9.98560048e-01 4.55994581e-02 2.89815077e+02] [ 2.33501582e-01 5.09496891e-02 9.71020669e-01 -1.64498361e+02] [-9.71945725e-01 -1.67916393e-02 2.34605092e-01 -4.61435744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-164.49, Z:-461.46 [[ 2.96810738e-02 -9.98574351e-01 4.43655187e-02 2.89815984e+02] [ 2.33551857e-01 5.00847688e-02 9.71053575e-01 -1.64491806e+02] [-9.71891231e-01 -1.84602635e-02 2.34705464e-01 -4.61462599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-164.49, Z:-461.49 [[ 3.04504867e-02 -9.98604693e-01 4.31443530e-02 2.89816747e+02] [ 2.31381462e-01 4.90342972e-02 9.71626604e-01 -1.64486449e+02] [-9.72386439e-01 -1.96036996e-02 2.32551732e-01 -4.61488828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-164.48, Z:-461.52 [[ 3.29155011e-02 -9.98584092e-01 4.17897275e-02 2.89817819e+02] [ 2.32115853e-01 4.83068210e-02 9.71487870e-01 -1.64479168e+02] [-9.72131062e-01 -2.22769518e-02 2.33377241e-01 -4.61515680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-164.50, Z:-461.55 [[ 2.84708584e-02 -9.96565197e-01 7.77638669e-02 2.89792842e+02] [ 2.22639057e-01 8.21632852e-02 9.71432471e-01 -1.64501080e+02] [-9.74485126e-01 -1.03442423e-02 2.24213595e-01 -4.61547548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.46, Z:-461.57 [[ 2.87898607e-02 -9.99504403e-01 -1.27315199e-02 2.89840482e+02] [ 2.24116644e-01 -5.95809364e-03 9.74544114e-01 -1.64464498e+02] [-9.74136989e-01 -3.09103348e-02 2.23834040e-01 -4.61571093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.81, Y:-164.48, Z:-461.60 [[ 2.80915286e-02 -9.98517981e-01 4.66123050e-02 2.89808920e+02] [ 2.24742242e-01 5.17458333e-02 9.73043315e-01 -1.64476905e+02] [-9.74013239e-01 -1.68585202e-02 2.25862790e-01 -4.61603829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.45, Z:-461.63 [[ 2.73400619e-02 -9.99471992e-01 -1.75573056e-02 2.89842444e+02] [ 2.25836071e-01 -1.09340419e-02 9.74103955e-01 -1.64448519e+02] [-9.73781593e-01 -3.05971353e-02 2.25417890e-01 -4.61625667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.45, Z:-461.66 [[ 2.61149323e-02 -9.99642859e-01 -5.67136342e-03 2.89837627e+02] [ 2.25784942e-01 3.71578799e-04 9.74177100e-01 -1.64447205e+02] [-9.73827074e-01 -2.67210774e-02 2.25714009e-01 -4.61655562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.40, Z:-461.68 [[ 3.03556061e-02 -9.97901374e-01 -5.71960242e-02 2.89869076e+02] [ 2.38012763e-01 -4.83598908e-02 9.70057341e-01 -1.64403146e+02] [-9.70787547e-01 -4.30600624e-02 2.36045270e-01 -4.61678239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-164.43, Z:-461.71 [[ 3.13491263e-02 -9.98756411e-01 3.87667942e-02 2.89822258e+02] [ 2.36264361e-01 4.50914357e-02 9.70642011e-01 -1.64432168e+02] [-9.71182982e-01 -2.12695671e-02 2.37384122e-01 -4.61713542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-164.46, Z:-461.75 [[ 2.44393789e-02 -9.96627995e-01 7.83285148e-02 2.89794348e+02] [ 2.25053432e-01 8.18255890e-02 9.70904488e-01 -1.64456213e+02] [-9.74039871e-01 -6.10020159e-03 2.26294318e-01 -4.61745087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.41, Z:-461.77 [[ 2.39553392e-02 -9.99277276e-01 -2.95138642e-02 2.89851032e+02] [ 2.26964504e-01 -2.33152426e-02 9.73623908e-01 -1.64412729e+02] [-9.73608369e-01 -3.00220905e-02 2.26241946e-01 -4.61765330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.41, Z:-461.79 [[ 2.31749187e-02 -9.99461611e-01 -2.32252314e-02 2.89848715e+02] [ 2.25946059e-01 -1.73940989e-02 9.73984509e-01 -1.64408311e+02] [-9.73864108e-01 -2.78196614e-02 2.25421305e-01 -4.61792055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.37, Z:-461.82 [[ 2.69802423e-02 -9.97603977e-01 -6.37053440e-02 2.89874783e+02] [ 2.36893479e-01 -5.55324354e-02 9.69947230e-01 -1.64367752e+02] [-9.71160927e-01 -4.12607919e-02 2.34827598e-01 -4.61815722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-164.43, Z:-461.86 [[ 2.07227314e-02 -9.96424627e-01 8.19056294e-02 2.89794925e+02] [ 2.22760879e-01 8.44655357e-02 9.71207066e-01 -1.64429888e+02] [-9.74652840e-01 -1.88069312e-03 2.23714782e-01 -4.61856379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-164.38, Z:-461.88 [[ 2.01960333e-02 -9.99085498e-01 -3.76866967e-02 2.89856178e+02] [ 2.24028858e-01 -3.22136911e-02 9.74049972e-01 -1.64383098e+02] [-9.74373230e-01 -2.81148533e-02 2.23173395e-01 -4.61875942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.38, Z:-461.90 [[ 2.02755751e-02 -9.99376884e-01 -2.88919588e-02 2.89851837e+02] [ 2.24435238e-01 -2.36107897e-02 9.74202933e-01 -1.64379186e+02] [-9.74278053e-01 -2.62368983e-02 2.23816667e-01 -4.61903980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.38, Z:-461.93 [[ 1.87747570e-02 -9.99661084e-01 -1.80340096e-02 2.89847104e+02] [ 2.24936993e-01 -1.33515955e-02 9.74281830e-01 -1.64376251e+02] [-9.74192413e-01 -2.23484205e-02 2.24610085e-01 -4.61932388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.33, Z:-461.96 [[ 2.24271815e-02 -9.97665552e-01 -6.45016872e-02 2.89876185e+02] [ 2.36840795e-01 -5.73794059e-02 9.69852588e-01 -1.64334033e+02] [-9.71289586e-01 -3.70276909e-02 2.35001044e-01 -4.61955652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-164.40, Z:-462.00 [[ 1.49210959e-02 -9.96810210e-01 7.84013171e-02 2.89797715e+02] [ 2.25328433e-01 7.97452782e-02 9.71013794e-01 -1.64395400e+02] [-9.74168598e-01 3.17745604e-03 2.25799570e-01 -4.61995379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-164.31, Z:-462.01 [[ 1.96519688e-02 -9.95743247e-01 -9.00510236e-02 2.89889676e+02] [ 2.38684303e-01 -8.27917146e-02 9.67561541e-01 -1.64309434e+02] [-9.70898349e-01 -4.05082550e-02 2.36041263e-01 -4.62010301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.35, Z:-462.05 [[ 2.02791233e-02 -9.99067618e-01 3.81136722e-02 2.89827443e+02] [ 2.38148855e-01 4.18511791e-02 9.70326544e-01 -1.64350770e+02] [-9.71016931e-01 -1.06006442e-02 2.38775515e-01 -4.62049165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:289.82, Y:-164.35, Z:-462.08 [[ 1.91898916e-02 -9.98738543e-01 4.64011902e-02 2.89823188e+02] [ 2.40654226e-01 4.96592884e-02 9.69339723e-01 -1.64347183e+02] [-9.70421193e-01 -7.43488177e-03 2.41303607e-01 -4.62077983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.34, Z:-462.10 [[ 1.93080875e-02 -9.99184081e-01 3.54735213e-02 2.89828378e+02] [ 2.39074075e-01 3.90648862e-02 9.70215193e-01 -1.64336776e+02] [-9.70809345e-01 -1.02522005e-02 2.39633278e-01 -4.62102919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-164.37, Z:-462.13 [[ 1.17930891e-02 -9.96366601e-01 8.43476094e-02 2.89792802e+02] [ 2.24641946e-01 8.48371769e-02 9.70741289e-01 -1.64366694e+02] [-9.74370012e-01 7.49997258e-03 2.24826224e-01 -4.62133674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-164.26, Z:-462.15 [[ 1.88072238e-02 -9.91065799e-01 -1.32041173e-01 2.89907949e+02] [ 2.40703530e-01 -1.23692158e-01 9.62684819e-01 -1.64257846e+02] [-9.70416457e-01 -4.98882053e-02 2.36226730e-01 -4.62145675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.31, Z:-462.19 [[ 2.24237326e-02 -9.99105427e-01 3.58541824e-02 2.89827443e+02] [ 2.38786928e-01 4.01776147e-02 9.70240466e-01 -1.64314872e+02] [-9.70813051e-01 -1.31949027e-02 2.39474247e-01 -4.62187704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-164.34, Z:-462.22 [[ 1.58262047e-02 -9.96647135e-01 8.02746531e-02 2.89795166e+02] [ 2.26603650e-01 8.17708833e-02 9.70548458e-01 -1.64341989e+02] [-9.73858469e-01 2.83043080e-03 2.27138001e-01 -4.62217479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.28, Z:-462.23 [[ 1.68427804e-02 -9.97512424e-01 -6.84491410e-02 2.89871663e+02] [ 2.28864655e-01 -6.27950924e-02 9.71430773e-01 -1.64282903e+02] [-9.73312535e-01 -3.20271842e-02 2.27237692e-01 -4.62234317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-164.25, Z:-462.26 [[ 2.18843640e-02 -9.96603815e-01 -7.93845700e-02 2.89881026e+02] [ 2.42733731e-01 -7.17311349e-02 9.67437326e-01 -1.64254175e+02] [-9.69846076e-01 -4.04410635e-02 2.40339573e-01 -4.62261849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-164.32, Z:-462.30 [[ 1.72775811e-02 -9.97099261e-01 7.41252258e-02 2.89797023e+02] [ 2.31848840e-01 7.61109618e-02 9.69769682e-01 -1.64318859e+02] [-9.72598376e-01 4.30573273e-04 2.32491320e-01 -4.62301722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-164.23, Z:-462.32 [[ 2.04274624e-02 -9.95334565e-01 -9.42964648e-02 2.89889874e+02] [ 2.43808677e-01 -8.65095667e-02 9.65957258e-01 -1.64233731e+02] [-9.69608193e-01 -4.27223520e-02 2.40904033e-01 -4.62317475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.27, Z:-462.36 [[ 1.91651224e-02 -9.99212858e-01 3.47327205e-02 2.89829201e+02] [ 2.41203606e-01 3.83337853e-02 9.69717145e-01 -1.64273447e+02] [-9.70285277e-01 -1.02070904e-02 2.41748416e-01 -4.62356064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-164.29, Z:-462.38 [[ 1.29318001e-02 -9.98204653e-01 5.84828077e-02 2.89811478e+02] [ 2.34618541e-01 5.98839840e-02 9.70241232e-01 -1.64285851e+02] [-9.72001496e-01 1.17418537e-03 2.34971727e-01 -4.62384411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.25, Z:-462.41 [[ 1.26252638e-02 -9.99626196e-01 -2.42501844e-02 2.89854058e+02] [ 2.35379094e-01 -2.05995250e-02 9.71685310e-01 -1.64250385e+02] [-9.71821632e-01 -1.79757698e-02 2.35031034e-01 -4.62406098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.25, Z:-462.43 [[ 1.05833891e-02 -9.99824241e-01 -1.54751289e-02 2.89850352e+02] [ 2.35129769e-01 -1.25537500e-02 9.71882912e-01 -1.64247395e+02] [-9.71906366e-01 -1.39244785e-02 2.34955582e-01 -4.62434249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-164.22, Z:-462.46 [[ 1.18631303e-02 -9.98806644e-01 -4.73767334e-02 2.89871976e+02] [ 2.41815595e-01 -4.31080617e-02 9.69364180e-01 -1.64216493e+02] [-9.70249702e-01 -2.29561266e-02 2.41015627e-01 -4.62460159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.24, Z:-462.49 [[ 8.59727724e-03 -9.99392383e-01 3.37779837e-02 2.89833658e+02] [ 2.40927985e-01 3.48543416e-02 9.69916945e-01 -1.64238624e+02] [-9.70504916e-01 -2.00583320e-04 2.41081246e-01 -4.62494246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters Centerline goodness : 0.996930 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.23, Z:-462.52 [[ 7.66161178e-03 -9.99438047e-01 3.26326611e-02 2.89835417e+02] [ 2.39759456e-01 3.35177347e-02 9.70253557e-01 -1.64231912e+02] [-9.70802093e-01 3.90282972e-04 2.39881522e-01 -4.62520517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.23, Z:-462.55 [[ 4.35304218e-03 -9.99157094e-01 4.08185233e-02 2.89830407e+02] [ 2.38905890e-01 4.06759934e-02 9.70190414e-01 -1.64228731e+02] [-9.71032969e-01 5.52850584e-03 2.38881579e-01 -4.62548102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.20, Z:-462.57 [[ 3.33024286e-03 -9.99979569e-01 -5.45634032e-03 2.89854575e+02] [ 2.41137939e-01 -4.49231552e-03 9.70480455e-01 -1.64201301e+02] [-9.70485139e-01 -4.54766626e-03 2.41118051e-01 -4.62571728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.21, Z:-462.60 [[ 3.23717976e-03 -9.99713349e-01 2.37221583e-02 2.89839589e+02] [ 2.41026715e-01 2.38029375e-02 9.70226542e-01 -1.64205879e+02] [-9.70513083e-01 2.57687616e-03 2.41034679e-01 -4.62602217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-164.19, Z:-462.63 [[ 4.98204162e-03 -9.99977126e-01 4.57448285e-03 2.89849897e+02] [ 2.43531789e-01 5.65009797e-03 9.69876458e-01 -1.64190492e+02] [-9.69880120e-01 -3.71793289e-03 2.43554368e-01 -4.62629125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.19, Z:-462.66 [[ 6.45685065e-03 -9.99342420e-01 3.56796284e-02 2.89833456e+02] [ 2.45297974e-01 3.61730866e-02 9.68772632e-01 -1.64194661e+02] [-9.69426229e-01 2.49692038e-03 2.45370236e-01 -4.62658871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.19, Z:-462.69 [[ 6.32824826e-03 -9.99384344e-01 3.45092248e-02 2.89834448e+02] [ 2.45963695e-01 3.50053184e-02 9.68646731e-01 -1.64187409e+02] [-9.69258384e-01 2.35817945e-03 2.46033788e-01 -4.62686464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.18, Z:-462.71 [[ 5.97673786e-03 -9.99426043e-01 3.33446050e-02 2.89835124e+02] [ 2.46974296e-01 3.37875026e-02 9.68432807e-01 -1.64180005e+02] [-9.69003599e-01 2.44719134e-03 2.47034483e-01 -4.62713855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.17, Z:-462.74 [[ 4.86032375e-03 -9.99470367e-01 3.21770612e-02 2.89834724e+02] [ 2.48544791e-01 3.23750988e-02 9.68079201e-01 -1.64172535e+02] [-9.68608210e-01 3.29226261e-03 2.48570507e-01 -4.62741420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.17, Z:-462.77 [[ 3.70987545e-03 -9.99511912e-01 3.10189313e-02 2.89834617e+02] [ 2.49545010e-01 3.09631264e-02 9.67868056e-01 -1.64165466e+02] [-9.68356094e-01 4.14994957e-03 2.49538079e-01 -4.62768967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.15, Z:-462.79 [[ 2.70272092e-03 -9.99833701e-01 1.80351462e-02 2.89840864e+02] [ 2.52396645e-01 1.81333464e-02 9.67453935e-01 -1.64149860e+02] [-9.67620085e-01 1.93725241e-03 2.52403681e-01 -4.62793392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.16, Z:-462.82 [[ 3.05972825e-04 -9.99250193e-01 3.87163822e-02 2.89828307e+02] [ 2.50404319e-01 3.75594917e-02 9.67412509e-01 -1.64155657e+02] [-9.68141304e-01 9.39874738e-03 2.50228056e-01 -4.62823509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.14, Z:-462.85 [[-1.24287351e-03 -9.99777132e-01 2.10746872e-02 2.89836989e+02] [ 2.52512740e-01 2.00779745e-02 9.67385234e-01 -1.64139735e+02] [-9.67592772e-01 6.52396448e-03 2.52431508e-01 -4.62847796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.13, Z:-462.87 [[-2.05312169e-03 -9.99858027e-01 1.67245499e-02 2.89840626e+02] [ 2.54498878e-01 1.56514484e-02 9.66946407e-01 -1.64129199e+02] [-9.67070890e-01 6.24163783e-03 2.54430612e-01 -4.62874597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.13, Z:-462.90 [[-4.34580827e-03 -9.99303805e-01 3.70542742e-02 2.89830227e+02] [ 2.53306190e-01 3.47460327e-02 9.66761960e-01 -1.64131959e+02] [-9.67376394e-01 1.35874391e-02 2.52978840e-01 -4.62903796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.12, Z:-462.93 [[-8.55676139e-03 -9.99810152e-01 1.75054643e-02 2.89841774e+02] [ 2.54683338e-01 1.47497794e-02 9.66912013e-01 -1.64116107e+02] [-9.66986649e-01 1.27319855e-02 2.54508777e-01 -4.62931026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.12, Z:-462.96 [[-1.12191410e-02 -9.99326673e-01 3.49332563e-02 2.89832978e+02] [ 2.54109999e-01 3.09392282e-02 9.66680336e-01 -1.64116095e+02] [-9.67110252e-01 1.97222127e-02 2.53591788e-01 -4.62960014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.12, Z:-462.99 [[-1.45691250e-02 -9.99098879e-01 3.98644045e-02 2.89829539e+02] [ 2.51426663e-01 3.49270909e-02 9.67245952e-01 -1.64115854e+02] [-9.67766694e-01 2.41149014e-02 2.50691240e-01 -4.62987880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.10, Z:-463.01 [[-1.97972014e-02 -9.99525848e-01 2.35828215e-02 2.89837672e+02] [ 2.50622884e-01 1.78731225e-02 9.67919791e-01 -1.64102328e+02] [-9.67882349e-01 2.50724978e-02 2.50150213e-01 -4.63013949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.09, Z:-463.04 [[-2.16503223e-02 -9.99513895e-01 2.24329698e-02 2.89837973e+02] [ 2.50373942e-01 1.63026308e-02 9.68011939e-01 -1.64094826e+02] [-9.67907099e-01 2.65744015e-02 2.49899277e-01 -4.63040649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.09, Z:-463.07 [[-2.31342641e-02 -9.99505894e-01 2.12784712e-02 2.89838386e+02] [ 2.50252889e-01 1.48168931e-02 9.68067121e-01 -1.64086503e+02] [-9.67904075e-01 2.77205193e-02 2.49786459e-01 -4.63066340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.08, Z:-463.09 [[-2.37173561e-02 -9.99508576e-01 2.04961827e-02 2.89838566e+02] [ 2.50182578e-01 1.39154964e-02 9.68098671e-01 -1.64079310e+02] [-9.67908139e-01 2.80885287e-02 2.49729593e-01 -4.63093277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.07, Z:-463.12 [[-2.36408263e-02 -9.99533288e-01 1.93473082e-02 2.89838882e+02] [ 2.50394696e-01 1.28157798e-02 9.68059013e-01 -1.64072010e+02] [-9.67855159e-01 2.77301783e-02 2.49974858e-01 -4.63120013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.06, Z:-463.15 [[-2.05420922e-02 -9.99623925e-01 1.81667638e-02 2.89838601e+02] [ 2.51153508e-01 1.24284753e-02 9.67867475e-01 -1.64064043e+02] [-9.67729269e-01 2.44446693e-02 2.50803749e-01 -4.63145613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.06, Z:-463.17 [[-1.82404110e-02 -9.99677667e-01 1.76592408e-02 2.89837378e+02] [ 2.51612219e-01 1.25042037e-02 9.67747351e-01 -1.64057500e+02] [-9.67656230e-01 2.20953902e-02 2.51303035e-01 -4.63172590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-164.05, Z:-463.20 [[-1.53615938e-02 -9.99745823e-01 1.65018429e-02 2.89835958e+02] [ 2.52006726e-01 1.20998561e-02 9.67649835e-01 -1.64050831e+02] [-9.67603551e-01 1.90232192e-02 2.51756799e-01 -4.63198519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.04, Z:-463.23 [[-1.24817465e-02 -9.99793970e-01 1.60069888e-02 2.89833820e+02] [ 2.51466505e-01 1.23551622e-02 9.67787139e-01 -1.64044595e+02] [-9.67785515e-01 1.61048952e-02 2.51260481e-01 -4.63225646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.04, Z:-463.25 [[-6.17388964e-03 -9.99870514e-01 1.48606504e-02 2.89831605e+02] [ 2.51390866e-01 1.28317483e-02 9.67800588e-01 -1.64036952e+02] [-9.67865960e-01 9.71092579e-03 2.51279092e-01 -4.63252380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.03, Z:-463.28 [[-3.37107714e-03 -9.99900422e-01 1.37033510e-02 2.89831540e+02] [ 2.51135111e-01 1.24177357e-02 9.67872386e-01 -1.64029791e+02] [-9.67946172e-01 6.70416504e-03 2.51068243e-01 -4.63278890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.02, Z:-463.31 [[ 2.57735010e-03 -9.99913261e-01 1.29161588e-02 2.89830193e+02] [ 2.51721526e-01 1.31490160e-02 9.67710379e-01 -1.64022297e+02] [-9.67796275e-01 7.57146764e-04 2.51733582e-01 -4.63306321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.02, Z:-463.33 [[ 5.45419487e-03 -9.99915980e-01 1.17594277e-02 2.89829231e+02] [ 2.52073415e-01 1.27546343e-02 9.67624055e-01 -1.64015797e+02] [-9.67692743e-01 -2.31337106e-03 2.52121802e-01 -4.63333307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.01, Z:-463.36 [[ 8.13069178e-03 -9.99910671e-01 1.06086194e-02 2.89828104e+02] [ 2.51877855e-01 1.23147973e-02 9.67680677e-01 -1.64009141e+02] [-9.67724877e-01 -5.19583701e-03 2.51955483e-01 -4.63360703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.00, Z:-463.39 [[ 1.24074931e-02 -9.99878211e-01 9.46667353e-03 2.89825793e+02] [ 2.50844151e-01 1.22771054e-02 9.67949629e-01 -1.64002834e+02] [-9.67947967e-01 -9.63516867e-03 2.50965929e-01 -4.63387789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-164.00, Z:-463.41 [[ 1.32955666e-02 -9.99877148e-01 8.30165571e-03 2.89825385e+02] [ 2.50013556e-01 1.13629288e-02 9.68175659e-01 -1.63995974e+02] [-9.68151047e-01 -1.07969174e-02 2.50133918e-01 -4.63414666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.99, Z:-463.44 [[ 1.35637520e-02 -9.99882641e-01 7.12241892e-03 2.89825424e+02] [ 2.49054034e-01 1.02769134e-02 9.68435064e-01 -1.63989366e+02] [-9.68394606e-01 -1.13617458e-02 2.49164198e-01 -4.63440798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.98, Z:-463.47 [[ 1.22622952e-02 -9.99902946e-01 6.61317965e-03 2.89825259e+02] [ 2.48193196e-01 9.45028749e-03 9.68664457e-01 -1.63981789e+02] [-9.68632941e-01 -1.02367033e-02 2.48284990e-01 -4.63467243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.97, Z:-463.49 [[ 1.05551686e-02 -9.99925613e-01 6.11208315e-03 2.89825402e+02] [ 2.48133245e-01 8.54042676e-03 9.68688265e-01 -1.63974758e+02] [-9.68668406e-01 -8.70805695e-03 2.48204933e-01 -4.63494558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.97, Z:-463.52 [[ 8.77578057e-03 -9.99949210e-01 4.95619313e-03 2.89825618e+02] [ 2.47781725e-01 6.97634652e-03 9.68790765e-01 -1.63967979e+02] [-9.68776136e-01 -7.27384109e-03 2.47830363e-01 -4.63520929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.96, Z:-463.55 [[ 4.87421221e-03 -9.99978172e-01 4.46062446e-03 2.89824776e+02] [ 2.46572078e-01 5.52479524e-03 9.69108708e-01 -1.63961828e+02] [-9.69112198e-01 -3.62377606e-03 2.46593625e-01 -4.63548394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.96, Z:-463.57 [[ 2.86384350e-03 -9.99990487e-01 3.29010708e-03 2.89824730e+02] [ 2.46311987e-01 3.89415112e-03 9.69182770e-01 -1.63955494e+02] [-9.69186362e-01 -1.96519497e-03 2.46320796e-01 -4.63574667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.95, Z:-463.60 [[ 8.61755159e-04 -9.99996509e-01 2.49797987e-03 2.89825001e+02] [ 2.46020142e-01 2.63321314e-03 9.69261139e-01 -1.63948734e+02] [-9.69264333e-01 -2.20712427e-04 2.46021552e-01 -4.63602253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.94, Z:-463.63 [[-9.61253527e-04 -9.99998650e-01 1.33280434e-03 2.89825731e+02] [ 2.45997432e-01 1.05538266e-03 9.69269905e-01 -1.63941778e+02] [-9.69270003e-01 1.25958056e-03 2.45996086e-01 -4.63628714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.94, Z:-463.66 [[-4.20743234e-03 -9.99990804e-01 8.30335948e-04 2.89825531e+02] [ 2.46512030e-01 -2.32473287e-04 9.69139704e-01 -1.63935951e+02] [-9.69130598e-01 4.28227752e-03 2.46510741e-01 -4.63655731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.93, Z:-463.66 [[-5.09535218e-03 -9.99986958e-01 -3.49236769e-04 2.89825784e+02] [ 2.47262381e-01 -1.59830176e-03 9.68947243e-01 -1.63934191e+02] [-9.68935164e-01 4.85077433e-03 2.47267300e-01 -4.63663189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.93, Z:-463.69 [[-6.21697234e-03 -9.99978946e-01 1.85952517e-03 2.89824715e+02] [ 2.48376596e-01 2.57109169e-04 9.68663513e-01 -1.63928596e+02] [-9.68643596e-01 6.48401679e-03 2.48369768e-01 -4.63690464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.92, Z:-463.72 [[-7.86679151e-03 -9.99968811e-01 6.99878791e-04 2.89824905e+02] [ 2.48170434e-01 -1.27436134e-03 9.68715547e-01 -1.63922184e+02] [-9.68684443e-01 7.79437247e-03 2.48172719e-01 -4.63717220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.92, Z:-463.74 [[-8.69317752e-03 -9.99962193e-01 2.01214897e-04 2.89824876e+02] [ 2.48147134e-01 -1.96234030e-03 9.68720367e-01 -1.63915581e+02] [-9.68683348e-01 8.47118902e-03 2.48154811e-01 -4.63744863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.91, Z:-463.75 [[-8.88005181e-03 -9.99960121e-01 -9.49173347e-04 2.89826008e+02] [ 2.47494227e-01 -3.11752509e-03 9.68884353e-01 -1.63914693e+02] [-9.68848674e-01 8.36882832e-03 2.47512041e-01 -4.63746945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.91, Z:-463.77 [[-1.02942083e-02 -9.99946227e-01 1.25404429e-03 2.89826007e+02] [ 2.46623259e-01 -1.32355484e-03 9.69110528e-01 -1.63907818e+02] [-9.69056757e-01 1.02855021e-02 2.46623623e-01 -4.63774079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.90, Z:-463.80 [[-1.08261699e-02 -9.99941387e-01 1.32324411e-04 2.89826418e+02] [ 2.46148960e-01 -2.53674652e-03 9.69228691e-01 -1.63901033e+02] [-9.69171545e-01 1.05256059e-02 2.46161996e-01 -4.63801075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.90, Z:-463.81 [[-9.24281464e-03 -9.99956772e-01 -1.01232578e-03 2.89827187e+02] [ 2.44525375e-01 -3.24183186e-03 9.69637474e-01 -1.63899573e+02] [-9.69598840e-01 8.71464010e-03 2.44544769e-01 -4.63805505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.89, Z:-463.83 [[-8.17389029e-03 -9.99965883e-01 1.19183204e-03 2.89826474e+02] [ 2.44000182e-01 -8.38650623e-04 9.69774823e-01 -1.63893407e+02] [-9.69740738e-01 8.21764024e-03 2.43998712e-01 -4.63833124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.89, Z:-463.86 [[-7.14990135e-03 -9.99974436e-01 7.35453555e-05 2.89827003e+02] [ 2.42942804e-01 -1.66571779e-03 9.70039184e-01 -1.63886571e+02] [-9.70014264e-01 6.95355178e-03 2.42948504e-01 -4.63860178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.88, Z:-463.88 [[-5.12215614e-03 -9.99986288e-01 -1.08975701e-03 2.89827297e+02] [ 2.42328835e-01 -2.29855058e-03 9.70191452e-01 -1.63882166e+02] [-9.70180653e-01 4.70539255e-03 2.42337285e-01 -4.63877496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.88, Z:-463.90 [[-1.38810842e-03 -9.99998408e-01 1.12136143e-03 2.89825529e+02] [ 2.41287410e-01 7.53297140e-04 9.70453409e-01 -1.63877288e+02] [-9.70452708e-01 1.61766494e-03 2.41285980e-01 -4.63904598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.87, Z:-463.93 [[ 7.59703348e-04 -9.99999529e-01 6.04465859e-04 2.89825673e+02] [ 2.41551095e-01 7.70073831e-04 9.70387797e-01 -1.63870417e+02] [-9.70387805e-01 -5.91197470e-04 2.41551566e-01 -4.63932101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.87, Z:-463.94 [[ 3.60544323e-03 -9.99993345e-01 -5.58318247e-04 2.89825881e+02] [ 2.41234743e-01 3.27931067e-04 9.70466739e-01 -1.63869350e+02] [-9.70460097e-01 -3.63364849e-03 2.41234320e-01 -4.63937692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.86, Z:-463.97 [[ 5.76239647e-03 -9.99981667e-01 1.86016198e-03 2.89824281e+02] [ 2.40950706e-01 3.19385897e-03 9.70532100e-01 -1.63864139e+02] [-9.70520248e-01 -5.14438340e-03 2.40964693e-01 -4.63965829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.86, Z:-463.99 [[ 1.01658986e-02 -9.99948087e-01 6.91912540e-04 2.89824853e+02] [ 2.40277297e-01 3.11443533e-03 9.70699295e-01 -1.63858063e+02] [-9.70651057e-01 -9.70177970e-03 2.40296484e-01 -4.63993115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.86, Z:-464.00 [[ 1.26670566e-02 -9.99919648e-01 -4.93028459e-04 2.89825748e+02] [ 2.40240679e-01 2.56476073e-03 9.70709966e-01 -1.63856461e+02] [-9.70630703e-01 -1.24144836e-02 2.40253864e-01 -4.63999074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.85, Z:-464.03 [[ 1.24272769e-02 -9.99920903e-01 1.93680858e-03 2.89824506e+02] [ 2.40213080e-01 4.86565489e-03 9.70707990e-01 -1.63850644e+02] [-9.70640633e-01 -1.15980103e-02 2.40254547e-01 -4.64027062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.84, Z:-464.05 [[ 1.35906518e-02 -9.99907285e-01 8.45796756e-04 2.89825468e+02] [ 2.40423464e-01 4.08887132e-03 9.70659487e-01 -1.63844013e+02] [-9.70572951e-01 -1.29885457e-02 2.40456744e-01 -4.64053980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-163.62, Z:-464.12 [[ 3.74350964e-03 5.98098545e-02 9.98202769e-01 2.88977996e+02] [ 1.49890524e-01 9.86898868e-01 -5.96946795e-02 -1.63619632e+02] [-9.88695513e-01 1.49844604e-01 -5.27046500e-03 -4.64123035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.78, Z:-464.15 [[ 1.19175770e-02 -9.99626514e-01 -2.45927517e-02 2.89839690e+02] [ 1.74436936e-01 -2.21389857e-02 9.84419433e-01 -1.63782034e+02] [-9.84596225e-01 -1.60217787e-02 1.74107943e-01 -4.64154375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.78, Z:-464.16 [[ 1.26999941e-02 -9.99670212e-01 -2.23198806e-02 2.89840488e+02] [ 1.72599314e-01 -1.97949844e-02 9.84793194e-01 -1.63782218e+02] [-9.84910243e-01 -1.63592639e-02 1.72290997e-01 -4.64163745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.78, Z:-464.20 [[ 1.84773042e-02 -9.99650630e-01 -1.88999093e-02 2.89839426e+02] [ 1.72054637e-01 -1.54420641e-02 9.84966367e-01 -1.63776193e+02] [-9.84914103e-01 -2.14513403e-02 1.71709199e-01 -4.64204221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.78, Z:-464.23 [[ 1.78993800e-02 -9.99698316e-01 1.68192966e-02 2.89823673e+02] [ 1.70926505e-01 1.96338913e-02 9.85088138e-01 -1.63783544e+02] [-9.85121181e-01 -1.47576034e-02 1.71226374e-01 -4.64233634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.78, Z:-464.26 [[ 1.63020372e-02 -9.99752241e-01 1.51558469e-02 2.89826929e+02] [ 1.70112957e-01 1.77101074e-02 9.85265413e-01 -1.63778744e+02] [-9.85289717e-01 -1.34836275e-02 1.70359521e-01 -4.64261184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.77, Z:-464.29 [[ 1.57915658e-02 -9.99784196e-01 1.34977283e-02 2.89828968e+02] [ 1.70963474e-01 1.60004864e-02 9.85147438e-01 -1.63773486e+02] [-9.85150809e-01 -1.32494021e-02 1.71179252e-01 -4.64288185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.77, Z:-464.32 [[ 1.53469321e-02 -9.99800545e-01 1.27805628e-02 2.89830251e+02] [ 1.70845112e-01 1.52161433e-02 9.85180398e-01 -1.63769591e+02] [-9.85178369e-01 -1.29360000e-02 1.71044557e-01 -4.64315261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.77, Z:-464.34 [[ 1.54530584e-02 -9.99807460e-01 1.20932026e-02 2.89832779e+02] [ 1.70882985e-01 1.45574948e-02 9.85183782e-01 -1.63765284e+02] [-9.85170142e-01 -1.31575800e-02 1.71075041e-01 -4.64342888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.76, Z:-464.37 [[ 1.53569661e-02 -9.99827374e-01 1.04588061e-02 2.89834905e+02] [ 1.70756918e-01 1.29288524e-02 9.85228359e-01 -1.63759974e+02] [-9.85193503e-01 -1.33442051e-02 1.70925988e-01 -4.64370649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.76, Z:-464.40 [[ 1.53705616e-02 -9.99842941e-01 8.82266011e-03 2.89837040e+02] [ 1.70673165e-01 1.13177578e-02 9.85262695e-01 -1.63755155e+02] [-9.85207804e-01 -1.36382496e-02 1.70820320e-01 -4.64398084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.75, Z:-464.43 [[ 1.52099008e-02 -9.99858467e-01 7.19066228e-03 2.89838948e+02] [ 1.71068321e-01 9.68762677e-03 9.85211541e-01 -1.63749981e+02] [-9.85141761e-01 -1.37548752e-02 1.71191457e-01 -4.64425882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.75, Z:-464.45 [[ 1.52483668e-02 -9.99868373e-01 5.54284880e-03 2.89841521e+02] [ 1.70954524e-01 8.06890831e-03 9.85245880e-01 -1.63745423e+02] [-9.85160920e-01 -1.40758155e-02 1.71055060e-01 -4.64452449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.74, Z:-464.48 [[ 1.49132645e-02 -9.99877128e-01 4.82938036e-03 2.89842881e+02] [ 1.70893142e-01 7.30767976e-03 9.85262469e-01 -1.63740858e+02] [-9.85176699e-01 -1.38681719e-02 1.70981126e-01 -4.64480603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.74, Z:-464.51 [[ 1.47833441e-02 -9.99885740e-01 3.15599360e-03 2.89845168e+02] [ 1.71207799e-01 5.64101254e-03 9.85218792e-01 -1.63735655e+02] [-9.85124024e-01 -1.40244977e-02 1.71271630e-01 -4.64507773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.73, Z:-464.53 [[ 1.50471885e-02 -9.99885683e-01 1.48459504e-03 2.89847707e+02] [ 1.71205753e-01 4.03929014e-03 9.85227017e-01 -1.63730621e+02] [-9.85120385e-01 -1.45707254e-02 1.71246961e-01 -4.64534954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.73, Z:-464.54 [[ 1.61391922e-02 -9.99869737e-01 -1.86610991e-04 2.89851575e+02] [ 1.72507458e-01 2.60065707e-03 9.85004779e-01 -1.63729658e+02] [-9.84875984e-01 -1.59293732e-02 1.72526959e-01 -4.64537155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.73, Z:-464.56 [[ 1.64916117e-02 -9.99858667e-01 3.26700323e-03 2.89851106e+02] [ 1.72928641e-01 6.07045256e-03 9.84915649e-01 -1.63726946e+02] [-9.84796279e-01 -1.56778880e-02 1.73004312e-01 -4.64563643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.72, Z:-464.59 [[ 1.68602489e-02 -9.99854586e-01 2.55722602e-03 2.89852052e+02] [ 1.73649216e-01 5.44689808e-03 9.84792507e-01 -1.63722599e+02] [-9.84663233e-01 -1.61597864e-02 1.73715801e-01 -4.64591749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.72, Z:-464.62 [[ 1.87211473e-02 -9.99824243e-01 1.00093369e-03 2.89853918e+02] [ 1.75045116e-01 4.26326516e-03 9.84551183e-01 -1.63718537e+02] [-9.84382408e-01 -1.82567192e-02 1.75094164e-01 -4.64619686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.72, Z:-464.62 [[ 2.03625905e-02 -9.99792412e-01 -7.05525808e-04 2.89855957e+02] [ 1.75144243e-01 2.87236938e-03 9.84538594e-01 -1.63717290e+02] [-9.84332190e-01 -2.01713250e-02 1.75166374e-01 -4.64624286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.71, Z:-464.65 [[ 2.09979119e-02 -9.99775726e-01 2.75433352e-03 2.89855798e+02] [ 1.74710432e-01 6.38190007e-03 9.84599176e-01 -1.63713571e+02] [-9.84395933e-01 -2.01933160e-02 1.74805255e-01 -4.64651938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.71, Z:-464.68 [[ 2.11095199e-02 -9.99776563e-01 1.10081468e-03 2.89856851e+02] [ 1.74722168e-01 4.77323655e-03 9.84606206e-01 -1.63707429e+02] [-9.84391463e-01 -2.05922275e-02 1.74783889e-01 -4.64679654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.70, Z:-464.69 [[ 2.12772084e-02 -9.99773445e-01 -5.81923706e-04 2.89857191e+02] [ 1.74674107e-01 3.14431527e-03 9.84621282e-01 -1.63704770e+02] [-9.84396382e-01 -2.10516393e-02 1.74701436e-01 -4.64692388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.70, Z:-464.72 [[ 2.05254030e-02 -9.99784253e-01 3.18664133e-03 2.89854904e+02] [ 1.75323847e-01 6.73725556e-03 9.84487764e-01 -1.63701225e+02] [-9.84296834e-01 -1.96483139e-02 1.75424307e-01 -4.64720348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.70, Z:-464.75 [[ 1.95742470e-02 -9.99807286e-01 1.49675204e-03 2.89854713e+02] [ 1.75842784e-01 4.91634919e-03 9.84405986e-01 -1.63696112e+02] [-9.84223635e-01 -1.90058128e-02 1.75905130e-01 -4.64746497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.69, Z:-464.77 [[ 1.93431900e-02 -9.99812611e-01 7.64048062e-04 2.89855004e+02] [ 1.75850343e-01 4.15442023e-03 9.84408146e-01 -1.63690929e+02] [-9.84226853e-01 -1.89072357e-02 1.75897751e-01 -4.64773202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.69, Z:-464.80 [[ 1.92247536e-02 -9.99815186e-01 5.25133983e-05 2.89855648e+02] [ 1.75970236e-01 3.43531296e-03 9.84389493e-01 -1.63685556e+02] [-9.84207745e-01 -1.89154047e-02 1.76003757e-01 -4.64800490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.68, Z:-464.81 [[ 2.11479071e-02 -9.99775084e-01 -1.59608869e-03 2.89857989e+02] [ 1.74570504e-01 2.12070120e-03 9.84642393e-01 -1.63681600e+02] [-9.84417546e-01 -2.11017559e-02 1.74576089e-01 -4.64813113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.68, Z:-464.84 [[ 2.15596917e-02 -9.99765790e-01 1.88280336e-03 2.89856662e+02] [ 1.73650470e-01 5.59933064e-03 9.84791431e-01 -1.63677745e+02] [-9.84571325e-01 -2.09048499e-02 1.73730520e-01 -4.64840811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.67, Z:-464.87 [[ 2.19072001e-02 -9.99759981e-01 2.34146354e-04 2.89857368e+02] [ 1.72899055e-01 4.01931699e-03 9.84931349e-01 -1.63672291e+02] [-9.84695888e-01 -2.15366044e-02 1.72945608e-01 -4.64867913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.67, Z:-464.87 [[ 2.34760371e-02 -9.99723388e-01 -1.42220981e-03 2.89857939e+02] [ 1.72915752e-01 2.65933079e-03 9.84933029e-01 -1.63673210e+02] [-9.84656802e-01 -2.33682468e-02 1.72930352e-01 -4.64865229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.67, Z:-464.89 [[ 2.29132922e-02 -9.99735356e-01 2.04930462e-03 2.89855839e+02] [ 1.73114035e-01 5.98652328e-03 9.84883593e-01 -1.63670538e+02] [-9.84635218e-01 -2.22121622e-02 1.73205392e-01 -4.64892175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.67, Z:-464.92 [[ 2.17738207e-02 -9.99762041e-01 1.32749009e-03 2.89856088e+02] [ 1.73090044e-01 5.07747540e-03 9.84892916e-01 -1.63665935e+02] [-9.84665292e-01 -2.12151065e-02 1.73159412e-01 -4.64920065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.67, Z:-464.91 [[ 1.97901708e-02 -9.99804105e-01 -3.18953261e-04 2.89857362e+02] [ 1.73241010e-01 3.11495043e-03 9.84874535e-01 -1.63666251e+02] [-9.84680609e-01 -1.95460910e-02 1.73268718e-01 -4.64913324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.66, Z:-464.94 [[ 1.83408561e-02 -9.99826816e-01 3.15454155e-03 2.89855577e+02] [ 1.73213262e-01 6.28476325e-03 9.84864289e-01 -1.63663343e+02] [-9.84713552e-01 -1.75168457e-02 1.73298532e-01 -4.64939827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.66, Z:-464.97 [[ 1.70489491e-02 -9.99852577e-01 2.03917761e-03 2.89856044e+02] [ 1.73292089e-01 4.96348005e-03 9.84857967e-01 -1.63658359e+02] [-9.84722898e-01 -1.64374200e-02 1.73351164e-01 -4.64967074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.65, Z:-464.99 [[ 1.62506937e-02 -9.99867862e-01 4.15883400e-04 2.89856447e+02] [ 1.73512831e-01 3.22970356e-03 9.84826313e-01 -1.63653070e+02] [-9.84697523e-01 -1.59319497e-02 1.73542389e-01 -4.64994933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.65, Z:-465.01 [[ 1.69643650e-02 -9.99855371e-01 -1.20279424e-03 2.89856527e+02] [ 1.72929396e-01 1.74921904e-03 9.84932670e-01 -1.63651135e+02] [-9.84788116e-01 -1.69167558e-02 1.72934060e-01 -4.65005066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.65, Z:-465.03 [[ 1.72016382e-02 -9.99849505e-01 2.25207203e-03 2.89854713e+02] [ 1.72094214e-01 5.17952347e-03 9.85066878e-01 -1.63647943e+02] [-9.84930295e-01 -1.65571955e-02 1.72157411e-01 -4.65032816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.64, Z:-465.06 [[ 1.73717903e-02 -9.99848883e-01 6.57452414e-04 2.89855560e+02] [ 1.71584895e-01 3.62898278e-03 9.85162654e-01 -1.63642684e+02] [-9.85016165e-01 -1.70012301e-02 1.71622008e-01 -4.65060054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.64, Z:-465.06 [[ 1.80456488e-02 -9.99836731e-01 -9.31102229e-04 2.89856495e+02] [ 1.71378051e-01 2.17565869e-03 9.85202939e-01 -1.63641671e+02] [-9.85040059e-01 -1.79381967e-02 1.71389331e-01 -4.65062874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.64, Z:-465.09 [[ 1.71618979e-02 -9.99849528e-01 2.52817918e-03 2.89855798e+02] [ 1.71832163e-01 5.44032232e-03 9.85111218e-01 -1.63638437e+02] [-9.84976739e-01 -1.64719556e-02 1.71899673e-01 -4.65090528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.63, Z:-465.12 [[ 1.62561764e-02 -9.99867459e-01 8.94983616e-04 2.89856923e+02] [ 1.71890595e-01 3.67642769e-03 9.85109185e-01 -1.63633451e+02] [-9.84981909e-01 -1.58602694e-02 1.71927577e-01 -4.65117323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.63, Z:-465.15 [[ 1.52475814e-02 -9.99883731e-01 1.88208768e-04 2.89857737e+02] [ 1.71775720e-01 2.80490089e-03 9.85132090e-01 -1.63628627e+02] [-9.85018078e-01 -1.49885520e-02 1.71798516e-01 -4.65145196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.63, Z:-465.15 [[ 1.55568170e-02 -9.99877920e-01 -1.45950183e-03 2.89858634e+02] [ 1.71819784e-01 1.23532419e-03 9.85127624e-01 -1.63627354e+02] [-9.85005557e-01 -1.55762215e-02 1.71818026e-01 -4.65147657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.62, Z:-465.18 [[ 1.53767285e-02 -9.99879760e-01 2.00561316e-03 2.89856897e+02] [ 1.72078104e-01 4.62222836e-03 9.85072465e-01 -1.63623572e+02] [-9.84963290e-01 -1.48020697e-02 1.72128488e-01 -4.65175533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.63, Z:-465.20 [[ 1.08643359e-02 -9.99820780e-01 1.55040266e-02 2.89843366e+02] [ 1.67865771e-01 1.71085368e-02 9.85661393e-01 -1.63632386e+02] [-9.85749993e-01 -8.10596104e-03 1.68021559e-01 -4.65202195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-163.58, Z:-465.23 [[ 1.32834692e-02 -9.96016301e-01 -8.81763995e-02 2.89896874e+02] [ 1.73792174e-01 -8.45422133e-02 9.81146724e-01 -1.63580972e+02] [-9.84692759e-01 -2.83574005e-02 1.71976824e-01 -4.65225472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.62, Z:-465.22 [[ 8.29801370e-03 -9.99960674e-01 3.12944994e-03 2.89850159e+02] [ 1.69321524e-01 4.48944027e-03 9.85550641e-01 -1.63622076e+02] [-9.85525933e-01 -7.64822950e-03 1.69352119e-01 -4.65219723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-163.60, Z:-465.24 [[ 1.21209906e-02 -9.98968989e-01 -4.37497616e-02 2.89876754e+02] [ 1.74450792e-01 -4.09693169e-02 9.83813212e-01 -1.63595523e+02] [-9.84591287e-01 -1.95569713e-02 1.73774343e-01 -4.65243360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.62, Z:-465.27 [[ 7.48390482e-03 -9.99906247e-01 1.14668012e-02 2.89845147e+02] [ 1.70877958e-01 1.25772428e-02 9.85211925e-01 -1.63616476e+02] [-9.85263779e-01 -5.41380871e-03 1.70956064e-01 -4.65271374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-163.59, Z:-465.30 [[ 4.43317488e-03 -9.98436330e-01 -5.57247036e-02 2.89877144e+02] [ 1.68719918e-01 -5.41795501e-02 9.84173849e-01 -1.63589968e+02] [-9.85654065e-01 -1.37648822e-02 1.68215908e-01 -4.65295498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-163.56, Z:-465.32 [[ 3.45292419e-03 -9.94729513e-01 -1.02475724e-01 2.89904154e+02] [ 1.73001246e-01 -1.00336918e-01 9.79797465e-01 -1.63556824e+02] [-9.84915553e-01 -2.11115942e-02 1.71742989e-01 -4.65324196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.59, Z:-465.36 [[ 7.63202424e-04 -9.99986260e-01 5.18626689e-03 2.89852795e+02] [ 1.71782168e-01 5.24027710e-03 9.85121021e-01 -1.63594144e+02] [-9.85134663e-01 1.39061418e-04 1.71783807e-01 -4.65358642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.59, Z:-465.38 [[-2.68503018e-03 -9.99989965e-01 3.58629203e-03 2.89853525e+02] [ 1.70554508e-01 3.07581620e-03 9.85343442e-01 -1.63589175e+02] [-9.85344585e-01 3.25733514e-03 1.70544537e-01 -4.65384953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.58, Z:-465.41 [[-9.22886186e-03 -9.99953225e-01 2.89412883e-03 2.89853743e+02] [ 1.70306538e-01 1.28017084e-03 9.85390300e-01 -1.63583892e+02] [-9.85347914e-01 9.58692002e-03 1.70286758e-01 -4.65412315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.58, Z:-465.44 [[-1.20207194e-02 -9.99926866e-01 1.32860817e-03 2.89854418e+02] [ 1.70745274e-01 -7.43437937e-04 9.85314924e-01 -1.63579034e+02] [-9.85241876e-01 1.20710478e-02 1.70741724e-01 -4.65438830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.57, Z:-465.47 [[-1.69246110e-02 -9.99856733e-01 2.65960158e-04 2.89855231e+02] [ 1.70823002e-01 -2.62943951e-03 9.85298223e-01 -1.63573803e+02] [-9.85156363e-01 1.67212213e-02 1.70843031e-01 -4.65466773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.57, Z:-465.48 [[-1.81579234e-02 -9.99834160e-01 -1.39347621e-03 2.89855535e+02] [ 1.70610271e-01 -4.47170156e-03 9.85328442e-01 -1.63571449e+02] [-9.85171267e-01 1.76537770e-02 1.70663174e-01 -4.65476415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.57, Z:-465.50 [[-1.94750515e-02 -9.99808343e-01 1.99973520e-03 2.89852995e+02] [ 1.71185688e-01 -1.36389671e-03 9.85237839e-01 -1.63568474e+02] [-9.85046285e-01 1.95298837e-02 1.71179441e-01 -4.65504777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.56, Z:-465.53 [[-1.96566047e-02 -9.99806730e-01 3.48628166e-04 2.89853729e+02] [ 1.71153356e-01 -3.02139548e-03 9.85239768e-01 -1.63563120e+02] [-9.85048297e-01 1.94261375e-02 1.71179668e-01 -4.65532832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.56, Z:-465.54 [[-1.97332346e-02 -9.99805048e-01 -6.82332110e-04 2.89853290e+02] [ 1.72042845e-01 -4.06790730e-03 9.85081069e-01 -1.63562166e+02] [-9.84891801e-01 1.93214455e-02 1.72089577e-01 -4.65539438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.56, Z:-465.57 [[-1.91769694e-02 -9.99814004e-01 2.04952298e-03 2.89850941e+02] [ 1.75150291e-01 -1.34126224e-03 9.84540795e-01 -1.63559055e+02] [-9.84354926e-01 1.92394832e-02 1.75143435e-01 -4.65566164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.55, Z:-465.59 [[-1.94752928e-02 -9.99753500e-01 -1.06607565e-02 2.89856471e+02] [ 1.76373817e-01 -1.39309452e-02 9.84224672e-01 -1.63549145e+02] [-9.84130576e-01 1.72877853e-02 1.76601650e-01 -4.65594177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.55, Z:-465.62 [[-1.86074980e-02 -9.99826418e-01 9.45696983e-04 2.89849558e+02] [ 1.77793793e-01 -2.37808325e-03 9.84064892e-01 -1.63548533e+02] [-9.83891828e-01 1.84791246e-02 1.77807182e-01 -4.65621241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.54, Z:-465.65 [[-1.74917273e-02 -9.99846982e-01 2.27493895e-04 2.89848243e+02] [ 1.78280545e-01 -2.89502926e-03 9.83975440e-01 -1.63544263e+02] [-9.83824215e-01 1.72519878e-02 1.78303904e-01 -4.65648563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.54, Z:-465.66 [[-1.27871125e-02 -9.99917211e-01 -1.43580036e-03 2.89844796e+02] [ 1.78566019e-01 -3.69636391e-03 9.83920990e-01 -1.63541986e+02] [-9.83844839e-01 1.23251232e-02 1.78598502e-01 -4.65661172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.54, Z:-465.69 [[-1.10679499e-02 -9.99928416e-01 4.54574637e-03 2.89839615e+02] [ 1.78504408e-01 2.49722415e-03 9.83935943e-01 -1.63539641e+02] [-9.83876861e-01 1.17015895e-02 1.78463991e-01 -4.65689291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.53, Z:-465.72 [[-9.29329027e-03 -9.99952511e-01 2.93438567e-03 2.89838497e+02] [ 1.78538289e-01 1.22808672e-03 9.83932199e-01 -1.63534394e+02] [-9.83889076e-01 9.66786772e-03 1.78518397e-01 -4.65717007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.53, Z:-465.74 [[-5.70627754e-03 -9.99982843e-01 1.32336150e-03 2.89836354e+02] [ 1.77155493e-01 2.91536256e-04 9.84182832e-01 -1.63529192e+02] [-9.84166332e-01 5.85046115e-03 1.77150790e-01 -4.65743951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.52, Z:-465.77 [[-3.69480668e-03 -9.99993148e-01 2.30131893e-04 2.89835758e+02] [ 1.76838801e-01 -4.26883154e-04 9.84239735e-01 -1.63523624e+02] [-9.84232893e-01 3.67727180e-03 1.76839166e-01 -4.65771483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.52, Z:-465.78 [[ 2.78225523e-03 -9.99995101e-01 -1.43451335e-03 2.89833330e+02] [ 1.76037581e-01 -9.22333618e-04 9.84383015e-01 -1.63520735e+02] [-9.84379515e-01 -2.99133306e-03 1.76034152e-01 -4.65782896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.52, Z:-465.81 [[ 6.18728549e-03 -9.99978879e-01 1.98991413e-03 2.89829829e+02] [ 1.76012220e-01 3.04794039e-03 9.84383263e-01 -1.63517099e+02] [-9.84368537e-01 -5.74041108e-03 1.76027360e-01 -4.65809480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.51, Z:-465.84 [[ 9.40081489e-03 -9.99955436e-01 8.66146230e-04 2.89828414e+02] [ 1.75643398e-01 2.50398090e-03 9.84450673e-01 -1.63512218e+02] [-9.84408971e-01 -9.10250568e-03 1.75659110e-01 -4.65836667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.51, Z:-465.84 [[ 1.38000200e-02 -9.99904463e-01 -7.90488711e-04 2.89827409e+02] [ 1.75454212e-01 1.64320338e-03 9.84486221e-01 -1.63511078e+02] [-9.84390867e-01 -1.37246241e-02 1.75460126e-01 -4.65838467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.51, Z:-465.87 [[ 1.68076659e-02 -9.99854376e-01 2.95439897e-03 2.89823219e+02] [ 1.75070037e-01 5.85209071e-03 9.84538590e-01 -1.63507724e+02] [-9.84412507e-01 -1.60305690e-02 1.75142903e-01 -4.65866875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.50, Z:-465.89 [[ 1.97113603e-02 -9.99804874e-01 1.29461432e-03 2.89821888e+02] [ 1.75074819e-01 4.72648958e-03 9.84543787e-01 -1.63503100e+02] [-9.84357796e-01 -1.91800430e-02 1.75133823e-01 -4.65893807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.50, Z:-465.92 [[ 2.40749436e-02 -9.99682193e-01 7.47736701e-03 2.89815673e+02] [ 1.77663627e-01 1.16388377e-02 9.84022445e-01 -1.63501462e+02] [-9.83796744e-01 -2.23618287e-02 1.77887369e-01 -4.65922988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-162.63, Z:-465.69 [[-3.07600661e-02 2.13274312e-01 -9.76508006e-01 2.89896289e+02] [ 2.56257396e-01 -9.42633730e-01 -2.13948122e-01 -1.62628326e+02] [-9.66119022e-01 -2.56818457e-01 -2.56576438e-02 -4.65692160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.51, Z:-465.91 [[ 1.34577068e-02 -9.97936534e-01 -6.27818748e-02 2.89853732e+02] [ 2.47113882e-01 -5.75206118e-02 9.67277679e-01 -1.63511640e+02] [-9.68892987e-01 -2.85316122e-02 2.45829876e-01 -4.65908099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.51, Z:-465.91 [[ 1.47248384e-02 -9.98068133e-01 -6.03587642e-02 2.89851352e+02] [ 2.47791303e-01 -5.48398794e-02 9.67260078e-01 -1.63512070e+02] [-9.68701528e-01 -2.91991252e-02 2.46505095e-01 -4.65914849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.54, Z:-465.91 [[ 7.11185799e-03 -9.99522810e-01 -3.00594942e-02 2.89830788e+02] [ 2.28723913e-01 -2.76373982e-02 9.73098939e-01 -1.63537187e+02] [-9.73465353e-01 -1.37958666e-02 2.28418215e-01 -4.65914044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-163.47, Z:-465.93 [[ 1.52003130e-02 -9.89348042e-01 -1.44773626e-01 2.89889446e+02] [ 2.51486941e-01 -1.36352963e-01 9.58207800e-01 -1.63474266e+02] [-9.67741323e-01 -5.09737347e-02 2.46735505e-01 -4.65931274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.53, Z:-465.93 [[ 8.26511874e-03 -9.99675557e-01 -2.40929254e-02 2.89828392e+02] [ 2.32056254e-01 -2.15185193e-02 9.72464317e-01 -1.63531980e+02] [-9.72667252e-01 -1.36284471e-02 2.31803112e-01 -4.65932738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.50, Z:-465.93 [[ 6.43597807e-03 -9.94605424e-01 -1.03530815e-01 2.89867729e+02] [ 2.35842332e-01 -9.91025599e-02 9.66724923e-01 -1.63500006e+02] [-9.71770020e-01 -3.06387694e-02 2.33932241e-01 -4.65931981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.49, Z:-465.96 [[ 1.16594725e-02 -9.95156851e-01 -9.76058344e-02 2.89869269e+02] [ 2.47915589e-01 -9.16877904e-02 9.64433103e-01 -1.63485726e+02] [-9.68711473e-01 -3.54427892e-02 2.45645866e-01 -4.65958433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.51, Z:-465.97 [[ 9.73768638e-03 -9.99391553e-01 -3.34918039e-02 2.89840330e+02] [ 2.45695618e-01 -3.00753431e-02 9.68880352e-01 -1.63507085e+02] [-9.69298118e-01 -1.76634425e-02 2.45253261e-01 -4.65968234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.51, Z:-465.97 [[ 7.32674599e-03 -9.99483059e-01 -3.13039075e-02 2.89840557e+02] [ 2.45281211e-01 -2.85521168e-02 9.69031426e-01 -1.63506902e+02] [-9.69424286e-01 -1.47781074e-02 2.44945220e-01 -4.65970693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.52, Z:-465.96 [[-5.22005266e-03 -9.99894927e-01 -1.35235517e-02 2.89829900e+02] [ 2.34721426e-01 -1.43710714e-02 9.71956442e-01 -1.63524217e+02] [-9.72048663e-01 1.89939646e-03 2.34771781e-01 -4.65960898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.49, Z:-465.97 [[-1.31863073e-03 -9.96708309e-01 -8.10605256e-02 2.89867528e+02] [ 2.45852951e-01 -7.88957326e-02 9.66090984e-01 -1.63486928e+02] [-9.69306241e-01 -1.86550521e-02 2.45147713e-01 -4.65974664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.51, Z:-465.98 [[-3.25468738e-03 -9.99743127e-01 -2.24295943e-02 2.89841225e+02] [ 2.45964735e-01 -2.25409787e-02 9.69016642e-01 -1.63507240e+02] [-9.69273313e-01 -2.36304300e-03 2.45974918e-01 -4.65980491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.53, Z:-465.97 [[-1.43762439e-02 -9.99894164e-01 -2.23280861e-03 2.89827573e+02] [ 2.34298435e-01 -5.53954024e-03 9.72148938e-01 -1.63527370e+02] [-9.72058418e-01 1.34527066e-02 2.34353276e-01 -4.65965738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-163.48, Z:-465.98 [[-1.08393056e-02 -9.95583995e-01 -9.32470809e-02 2.89876862e+02] [ 2.46901117e-01 -9.30299102e-02 9.64564811e-01 -1.63480097e+02] [-9.68980055e-01 -1.25675957e-02 2.46819180e-01 -4.65983159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.52, Z:-465.98 [[-1.69710708e-02 -9.99855735e-01 7.01619920e-04 2.89829510e+02] [ 2.39623918e-01 -3.38598831e-03 9.70859883e-01 -1.63522950e+02] [-9.70717447e-01 1.66446567e-02 2.39646812e-01 -4.65984506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.50, Z:-465.99 [[-1.85812325e-02 -9.98747411e-01 -4.64580109e-02 2.89856055e+02] [ 2.42028502e-01 -4.95771795e-02 9.69001707e-01 -1.63503604e+02] [-9.70091203e-01 6.76108321e-03 2.42646545e-01 -4.65989860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.49, Z:-466.07 [[-5.38470731e-03 -9.99121299e-01 -4.15648337e-02 2.89851552e+02] [ 2.45457725e-01 -4.16143946e-02 9.68513680e-01 -1.63485202e+02] [-9.69392341e-01 -4.98724682e-03 2.45466122e-01 -4.66072678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.48, Z:-466.10 [[-2.53011251e-03 -9.99890359e-01 -1.45899909e-02 2.89844030e+02] [ 2.50332481e-01 -1.47587907e-02 9.68047430e-01 -1.63479754e+02] [-9.68156624e-01 -1.20307972e-03 2.50342376e-01 -4.66104354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-163.50, Z:-466.14 [[-5.80118530e-03 -9.98231280e-01 5.91663505e-02 2.89805328e+02] [ 2.46594779e-01 5.59120580e-02 9.67504448e-01 -1.63503841e+02] [-9.69101316e-01 2.02027857e-02 2.45834266e-01 -4.66137204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.46, Z:-466.16 [[-3.69333165e-03 -9.99892500e-01 -1.41897100e-02 2.89847171e+02] [ 2.49223347e-01 -1.46624339e-02 9.68335033e-01 -1.63464616e+02] [-9.68438993e-01 3.99754135e-05 2.49250709e-01 -4.66159549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.48, Z:-466.19 [[-2.71283901e-03 -9.99103675e-01 4.22431925e-02 2.89820474e+02] [ 2.48990999e-01 4.02380455e-02 9.67669563e-01 -1.63477013e+02] [-9.68502000e-01 1.31433064e-02 2.48658662e-01 -4.66191268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-163.47, Z:-466.22 [[-1.81645734e-03 -9.99152473e-01 4.11222213e-02 2.89823496e+02] [ 2.47456136e-01 3.93942305e-02 9.68097906e-01 -1.63469389e+02] [-9.68897395e-01 1.19344545e-02 2.47174853e-01 -4.66217933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.46, Z:-466.24 [[-1.10630154e-03 -9.99199942e-01 3.99781355e-02 2.89825054e+02] [ 2.46879002e-01 3.84677826e-02 9.68282494e-01 -1.63462282e+02] [-9.69045683e-01 1.09409746e-02 2.46638927e-01 -4.66244721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.45, Z:-466.27 [[ 2.48132310e-04 -9.99245592e-01 3.88353505e-02 2.89826516e+02] [ 2.46289820e-01 3.77001426e-02 9.68462712e-01 -1.63454915e+02] [-9.69196194e-01 9.32444457e-03 2.46113371e-01 -4.66272150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.45, Z:-466.30 [[ 3.70825783e-03 -9.99282240e-01 3.76995072e-02 2.89828614e+02] [ 2.45333848e-01 3.74567154e-02 9.68714766e-01 -1.63447356e+02] [-9.69431561e-01 5.65672105e-03 2.45296656e-01 -4.66298952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-163.46, Z:-466.33 [[ 7.93409480e-04 -9.97621795e-01 6.89211453e-02 2.89806676e+02] [ 2.37072230e-01 6.71440111e-02 9.69168943e-01 -1.63464577e+02] [-9.71491703e-01 1.55703418e-02 2.36561697e-01 -4.66327934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-163.39, Z:-466.35 [[ 1.08560617e-02 -9.97564400e-01 -6.89014834e-02 2.89881245e+02] [ 2.45553756e-01 -6.41360412e-02 9.67258973e-01 -1.63393866e+02] [-9.69322185e-01 -2.74196412e-02 2.44259420e-01 -4.66345467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.43, Z:-466.38 [[ 1.55487513e-02 -9.99227192e-01 3.61006272e-02 2.89830055e+02] [ 2.45155250e-01 3.88127686e-02 9.68706598e-01 -1.63425470e+02] [-9.69359139e-01 -6.21191968e-03 2.45569282e-01 -4.66381669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.42, Z:-466.41 [[ 2.24627709e-02 -9.99113422e-01 3.56060958e-02 2.89829510e+02] [ 2.45031888e-01 4.00307920e-02 9.68688242e-01 -1.63418747e+02] [-9.69254764e-01 -1.30347932e-02 2.45713851e-01 -4.66409306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.41, Z:-466.44 [[ 2.78559800e-02 -9.99017380e-01 3.44720099e-02 2.89829741e+02] [ 2.44157165e-01 4.02407222e-02 9.68900389e-01 -1.63411517e+02] [-9.69335506e-01 -1.85730816e-02 2.45038196e-01 -4.66436119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.40, Z:-466.46 [[ 2.95955646e-02 -9.99005894e-01 3.33365567e-02 2.89829601e+02] [ 2.43791316e-01 3.95582771e-02 9.69020607e-01 -1.63404783e+02] [-9.69376035e-01 -2.05515490e-02 2.44719711e-01 -4.66463517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.40, Z:-466.49 [[ 3.08000551e-02 -9.99007300e-01 3.21833997e-02 2.89829840e+02] [ 2.43727107e-01 3.87332288e-02 9.69070087e-01 -1.63397944e+02] [-9.69354658e-01 -2.20034452e-02 2.44678145e-01 -4.66491239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.39, Z:-466.52 [[ 3.15146985e-02 -9.99021293e-01 3.10367593e-02 2.89831079e+02] [ 2.43472905e-01 3.77898945e-02 9.69171228e-01 -1.63391388e+02] [-9.69395569e-01 -2.29865290e-02 2.44425554e-01 -4.66517077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-163.41, Z:-466.55 [[ 2.68122887e-02 -9.97298133e-01 6.83925105e-02 2.89807330e+02] [ 2.33069650e-01 7.27682586e-02 9.69733633e-01 -1.63412102e+02] [-9.72090345e-01 -1.00605596e-02 2.34391010e-01 -4.66548003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-163.34, Z:-466.56 [[ 3.07364866e-02 -9.97000844e-01 -7.10252438e-02 2.89883356e+02] [ 2.46002895e-01 -6.13273019e-02 9.67327007e-01 -1.63339360e+02] [-9.68781629e-01 -4.72046492e-02 2.43380108e-01 -4.66563924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.37, Z:-466.60 [[ 3.14215301e-02 -9.99062850e-01 2.97675849e-02 2.89836095e+02] [ 2.43471965e-01 3.65358265e-02 9.69219550e-01 -1.63369339e+02] [-9.69398829e-01 -2.32067888e-02 2.44391807e-01 -4.66599964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-163.39, Z:-466.63 [[ 2.63863174e-02 -9.97345562e-01 6.78645101e-02 2.89810984e+02] [ 2.33515155e-01 7.21594594e-02 9.69671947e-01 -1.63391119e+02] [-9.71995080e-01 -9.73868025e-03 2.34799326e-01 -4.66631041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-163.32, Z:-466.65 [[ 3.04755402e-02 -9.96626715e-01 -7.61999492e-02 2.89887970e+02] [ 2.47320290e-01 -6.63460009e-02 9.66659652e-01 -1.63317072e+02] [-9.68454395e-01 -4.83052686e-02 2.44464078e-01 -4.66646377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-163.35, Z:-466.68 [[ 3.21109660e-02 -9.99085470e-01 2.82331243e-02 2.89839034e+02] [ 2.46709816e-01 3.52966377e-02 9.68446392e-01 -1.63348635e+02] [-9.68557253e-01 -2.41323603e-02 2.47617601e-01 -4.66683309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-163.37, Z:-466.71 [[ 2.72261397e-02 -9.97438657e-01 6.61427508e-02 2.89814349e+02] [ 2.36821818e-01 7.07196081e-02 9.68975832e-01 -1.63371452e+02] [-9.71171542e-01 -1.07174249e-02 2.38140658e-01 -4.66714557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.33, Z:-466.73 [[ 2.71923565e-02 -9.98817490e-01 -4.03013372e-02 2.89868829e+02] [ 2.39578749e-01 -3.26294088e-02 9.70328473e-01 -1.63327246e+02] [-9.70496058e-01 -3.60408617e-02 2.38408174e-01 -4.66734985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.32, Z:-466.76 [[ 2.76972662e-02 -9.99256319e-01 -2.68266749e-02 2.89863615e+02] [ 2.41384887e-01 -1.93569100e-02 9.70236387e-01 -1.63324881e+02] [-9.70034122e-01 -3.33484494e-02 2.40669240e-01 -4.66763950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.32, Z:-466.79 [[ 2.86449306e-02 -9.99330741e-01 -2.27494626e-02 2.89863581e+02] [ 2.43229589e-01 -1.51064068e-02 9.69851104e-01 -1.63319774e+02] [-9.69545685e-01 -3.33146600e-02 2.42634083e-01 -4.66790603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-163.30, Z:-466.82 [[ 2.96130487e-02 -9.98627275e-01 -4.32045535e-02 2.89877936e+02] [ 2.49110548e-01 -3.44864134e-02 9.67860849e-01 -1.63295927e+02] [-9.68022212e-01 -3.94240205e-02 2.47747340e-01 -4.66815373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.31, Z:-466.85 [[ 2.98338739e-02 -9.99367552e-01 1.93503486e-02 2.89848788e+02] [ 2.47672517e-01 2.61462040e-02 9.68490940e-01 -1.63312112e+02] [-9.68384358e-01 -2.41012870e-02 2.48295920e-01 -4.66848502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.31, Z:-466.88 [[ 2.95523279e-02 -9.99397876e-01 1.81809316e-02 2.89849416e+02] [ 2.47708081e-01 2.49438485e-02 9.68513558e-01 -1.63305088e+02] [-9.68383894e-01 -2.41182665e-02 2.48296079e-01 -4.66876208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-163.32, Z:-466.91 [[ 2.25112460e-02 -9.98732160e-01 4.50257224e-02 2.89834085e+02] [ 2.38725042e-01 4.91042216e-02 9.69844900e-01 -1.63319823e+02] [-9.70826245e-01 -1.10836497e-02 2.39527774e-01 -4.66906007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.29, Z:-466.93 [[ 1.93854665e-02 -9.99348858e-01 -3.04312988e-02 2.89873532e+02] [ 2.38542851e-01 -2.49350358e-02 9.70811801e-01 -1.63286919e+02] [-9.70938470e-01 -2.60788085e-02 2.37904148e-01 -4.66927047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-163.25, Z:-466.95 [[ 2.08080702e-02 -9.97523120e-01 -6.71911476e-02 2.89897531e+02] [ 2.47139020e-01 -5.99880916e-02 9.67121364e-01 -1.63250688e+02] [-9.68756589e-01 -3.67294837e-02 2.45278650e-01 -4.66950406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.27, Z:-466.99 [[ 1.95500430e-02 -9.99703825e-01 1.44933859e-02 2.89860327e+02] [ 2.43694427e-01 1.88236041e-02 9.69669376e-01 -1.63274009e+02] [-9.69655002e-01 -1.54251206e-02 2.43990253e-01 -4.66985391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.27, Z:-467.01 [[ 1.87408258e-02 -9.99735346e-01 1.33423859e-02 2.89861225e+02] [ 2.42763245e-01 1.74953648e-02 9.69927791e-01 -1.63266731e+02] [-9.69904525e-01 -1.49382069e-02 2.43026874e-01 -4.67012528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.26, Z:-467.04 [[ 1.80374176e-02 -9.99762997e-01 1.21902233e-02 2.89862007e+02] [ 2.42429773e-01 1.62015739e-02 9.70033667e-01 -1.63259862e+02] [-9.70001267e-01 -1.45416293e-02 2.42664551e-01 -4.67038591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.25, Z:-467.07 [[ 1.71770515e-02 -9.99784080e-01 1.16936597e-02 2.89862149e+02] [ 2.42139365e-01 1.55068131e-02 9.70117553e-01 -1.63253371e+02] [-9.70089417e-01 -1.38322639e-02 2.42353444e-01 -4.67065458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.25, Z:-467.09 [[ 1.57502400e-02 -9.99820679e-01 1.05137747e-02 2.89862662e+02] [ 2.42114413e-01 1.40157748e-02 9.70146468e-01 -1.63246029e+02] [-9.70119859e-01 -1.27345034e-02 2.42291748e-01 -4.67093089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.24, Z:-467.12 [[ 1.49698321e-02 -9.99844464e-01 9.32484500e-03 2.89862889e+02] [ 2.42596586e-01 1.26791159e-02 9.70044399e-01 -1.63239446e+02] [-9.70011753e-01 -1.22592262e-02 2.42748658e-01 -4.67119009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.24, Z:-467.15 [[ 1.31931418e-02 -9.99830071e-01 1.28751537e-02 2.89859805e+02] [ 2.42316718e-01 1.56893896e-02 9.70070333e-01 -1.63237029e+02] [-9.70107494e-01 -9.67841052e-03 2.42482533e-01 -4.67146974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.22, Z:-467.17 [[ 1.35870620e-02 -9.99897477e-01 -4.51961061e-03 2.89868632e+02] [ 2.44690026e-01 -1.05770785e-03 9.69600780e-01 -1.63222039e+02] [-9.69506154e-01 -1.42799296e-02 2.44650568e-01 -4.67172455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.22, Z:-467.20 [[ 1.33715492e-02 -9.99884386e-01 7.23985138e-03 2.89862531e+02] [ 2.44587423e-01 1.02912643e-02 9.69572629e-01 -1.63219480e+02] [-9.69535040e-01 -1.11939115e-02 2.44696755e-01 -4.67201119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.21, Z:-467.23 [[ 1.33535348e-02 -9.99892477e-01 6.05957033e-03 2.89862891e+02] [ 2.44501417e-01 9.14133589e-03 9.69605844e-01 -1.63212337e+02] [-9.69556982e-01 -1.14660918e-02 2.44597196e-01 -4.67228289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.21, Z:-467.25 [[ 1.33319650e-02 -9.99899192e-01 4.88517694e-03 2.89862967e+02] [ 2.44187334e-01 7.99343509e-03 9.69695133e-01 -1.63205083e+02] [-9.69636429e-01 -1.17350432e-02 2.44269286e-01 -4.67254645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.20, Z:-467.28 [[ 1.31748789e-02 -9.99903616e-01 4.37969583e-03 2.89861608e+02] [ 2.43684587e-01 7.45877608e-03 9.69825855e-01 -1.63198501e+02] [-9.69765046e-01 -1.17100738e-02 2.43759368e-01 -4.67281690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.19, Z:-467.31 [[ 1.27843612e-02 -9.99913154e-01 3.20086828e-03 2.89861210e+02] [ 2.43726080e-01 6.22070186e-03 9.69824160e-01 -1.63191294e+02] [-9.69759846e-01 -1.16184472e-02 2.43784441e-01 -4.67308891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.19, Z:-467.34 [[ 1.09299150e-02 -9.99938222e-01 2.02211213e-03 2.89860018e+02] [ 2.43646767e-01 4.62447569e-03 9.69853013e-01 -1.63185391e+02] [-9.69802449e-01 -1.01077299e-02 2.43682261e-01 -4.67336041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.18, Z:-467.36 [[ 9.87654119e-03 -9.99950880e-01 8.32219690e-04 2.89860073e+02] [ 2.44229102e-01 3.21931052e-03 9.69712216e-01 -1.63179083e+02] [-9.69667262e-01 -9.37415037e-03 2.44248901e-01 -4.67362588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.17, Z:-467.39 [[ 8.47985730e-03 -9.99964045e-01 2.55203335e-05 2.89860767e+02] [ 2.43907783e-01 2.09312798e-03 9.69796170e-01 -1.63172500e+02] [-9.69761355e-01 -8.21750853e-03 2.43916763e-01 -4.67389831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.17, Z:-467.39 [[ 5.44651840e-03 -9.99984512e-01 -1.14475087e-03 2.89862891e+02] [ 2.42890582e-01 2.12441530e-04 9.70053669e-01 -1.63169739e+02] [-9.70038402e-01 -5.56146437e-03 2.42887977e-01 -4.67393171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.16, Z:-467.42 [[ 4.41867627e-03 -9.99988314e-01 1.96138434e-03 2.89861863e+02] [ 2.43014150e-01 2.97641410e-03 9.70018177e-01 -1.63164661e+02] [-9.70012679e-01 -3.80955216e-03 2.43024462e-01 -4.67419592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-163.15, Z:-467.45 [[ 1.74926986e-03 -9.99869752e-01 -1.60442772e-02 2.89870073e+02] [ 2.42270364e-01 -1.51425786e-02 9.70090601e-01 -1.63151301e+02] [-9.70207200e-01 -5.58400313e-03 2.42212320e-01 -4.67446917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.16, Z:-467.45 [[ 1.05134977e-03 -9.99999034e-01 -9.08828314e-04 2.89862453e+02] [ 2.42074942e-01 -6.27292525e-04 9.70257352e-01 -1.63156581e+02] [-9.70256985e-01 -1.24008441e-03 2.42074048e-01 -4.67451828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.15, Z:-467.48 [[-5.96343674e-04 -9.99998665e-01 1.52107739e-03 2.89859912e+02] [ 2.40591841e-01 1.33292280e-03 9.70625463e-01 -1.63151295e+02] [-9.70626195e-01 9.44785161e-04 2.40590725e-01 -4.67479865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.14, Z:-467.51 [[-1.13489586e-03 -9.99999293e-01 3.55973400e-04 2.89860065e+02] [ 2.40125200e-01 7.30412609e-05 9.70741924e-01 -1.63144697e+02] [-9.70741263e-01 1.18716917e-03 2.40124947e-01 -4.67505985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.14, Z:-467.52 [[-2.18343417e-04 -9.99999963e-01 -1.62179043e-04 2.89859825e+02] [ 2.38912527e-01 -2.09647496e-04 9.71041070e-01 -1.63139899e+02] [-9.71041069e-01 1.73273818e-04 2.38912564e-01 -4.67524880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.14, Z:-467.55 [[-9.97528230e-04 -9.99978733e-01 6.44499911e-03 2.89856666e+02] [ 2.38527713e-01 6.02103829e-03 9.71117026e-01 -1.63135356e+02] [-9.71135179e-01 2.50602754e-03 2.38516634e-01 -4.67552645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.13, Z:-467.58 [[-1.84849869e-03 -9.99984443e-01 5.26280033e-03 2.89857334e+02] [ 2.38503926e-01 4.67006334e-03 9.71130304e-01 -1.63128129e+02] [-9.71139774e-01 3.05033164e-03 2.38491583e-01 -4.67579054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.12, Z:-467.61 [[-2.21681223e-03 -9.99986252e-01 4.75205178e-03 2.89857628e+02] [ 2.39146431e-01 4.08403653e-03 9.70974925e-01 -1.63122180e+02] [-9.70980984e-01 3.28890531e-03 2.39134090e-01 -4.67605368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.12, Z:-467.63 [[-3.63105683e-03 -9.99985583e-01 3.95592438e-03 2.89856234e+02] [ 2.40598136e-01 2.96611771e-03 9.70620286e-01 -1.63117401e+02] [-9.70618026e-01 4.47616544e-03 2.40583897e-01 -4.67632199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.11, Z:-467.66 [[-3.95468812e-03 -9.99986204e-01 3.45734866e-03 2.89854781e+02] [ 2.40046943e-01 2.40697232e-03 9.70758297e-01 -1.63111388e+02] [-9.70753226e-01 4.66897228e-03 2.40034113e-01 -4.67659357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.10, Z:-467.69 [[-4.45393294e-03 -9.99987392e-01 2.31897098e-03 2.89854428e+02] [ 2.39027055e-01 1.18715356e-03 9.71012182e-01 -1.63104938e+02] [-9.71002693e-01 4.87911994e-03 2.39018754e-01 -4.67685298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.10, Z:-467.71 [[-6.47994034e-03 -9.99977336e-01 1.82698867e-03 2.89855691e+02] [ 2.37242040e-01 2.37520255e-04 9.71450543e-01 -1.63097474e+02] [-9.71428960e-01 6.72838008e-03 2.37235124e-01 -4.67712866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.09, Z:-467.74 [[-7.77989335e-03 -9.99969488e-01 7.05031254e-04 2.89855909e+02] [ 2.37622580e-01 -1.16387689e-03 9.71356863e-01 -1.63090499e+02] [-9.71326404e-01 7.72458414e-03 2.37624384e-01 -4.67739800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-163.09, Z:-467.75 [[-7.93303811e-03 -9.99968437e-01 -4.38186974e-04 2.89855411e+02] [ 2.38127564e-01 -2.31472893e-03 9.71231129e-01 -1.63089425e+02] [-9.71201488e-01 7.60046915e-03 2.38138411e-01 -4.67745259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.09, Z:-467.77 [[-9.32531091e-03 -9.99954954e-01 1.76865393e-03 2.89852435e+02] [ 2.38497598e-01 -5.06471263e-04 9.71142955e-01 -1.63085065e+02] [-9.71098313e-01 9.47802971e-03 2.38491578e-01 -4.67772832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.08, Z:-467.80 [[-9.64732036e-03 -9.99953285e-01 5.98395758e-04 2.89852466e+02] [ 2.38386749e-01 -1.71873034e-03 9.71168783e-01 -1.63078403e+02] [-9.71122385e-01 9.51182598e-03 2.38392193e-01 -4.67799215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.07, Z:-467.83 [[-1.03270044e-02 -9.99946671e-01 9.26903282e-05 2.89851505e+02] [ 2.38139021e-01 -2.36936561e-03 9.71228188e-01 -1.63071526e+02] [-9.71176173e-01 1.00519509e-02 2.38150790e-01 -4.67826754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-163.07, Z:-467.84 [[-1.07776308e-02 -9.99941350e-01 -1.06725698e-03 2.89849787e+02] [ 2.37987857e-01 -3.60174205e-03 9.71261452e-01 -1.63068986e+02] [-9.71208331e-01 1.02139031e-02 2.38012717e-01 -4.67837681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-163.02, Z:-467.86 [[-5.65494276e-03 -9.98042587e-01 -6.22817540e-02 2.89885953e+02] [ 2.51017732e-01 -6.17053040e-02 9.66013744e-01 -1.63017951e+02] [-9.67965971e-01 -1.01710722e-02 2.50875326e-01 -4.67862603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-162.77, Z:-467.53 [[-1.81661453e-02 3.50448342e-01 9.36405869e-01 2.88912309e+02] [ 1.56600205e-01 9.25998660e-01 -3.43515440e-01 -1.62770769e+02] [-9.87494996e-01 1.40400999e-01 -7.17021083e-02 -4.67534368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-163.00, Z:-467.62 [[-3.88521934e-02 -9.80056992e-01 -1.94881499e-01 2.89948878e+02] [ 1.57844842e-01 -1.98599539e-01 9.67286529e-01 -1.63000545e+02] [-9.86699302e-01 6.82016378e-03 1.62412969e-01 -4.67618868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-163.01, Z:-467.63 [[-3.73192879e-02 -9.82843609e-01 -1.80625887e-01 2.89942001e+02] [ 1.58464258e-01 -1.84285164e-01 9.70014462e-01 -1.63005566e+02] [-9.86659186e-01 7.57750186e-03 1.62622974e-01 -4.67628123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-163.01, Z:-467.63 [[-3.55193607e-02 -9.83571864e-01 -1.76988030e-01 2.89939608e+02] [ 1.58708891e-01 -1.80403896e-01 9.70703828e-01 -1.63007014e+02] [-9.86686304e-01 6.38920555e-03 1.62509430e-01 -4.67631851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-162.93, Z:-468.03 [[-2.85268620e-02 -9.80648033e-01 -1.93689581e-01 2.89938371e+02] [ 1.72221308e-01 -1.95692613e-01 9.65424374e-01 -1.62929030e+02] [-9.84645134e-01 -5.81694492e-03 1.74470983e-01 -4.68028078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-162.70, Z:-467.69 [[-4.23406720e-02 3.61334485e-01 9.31474453e-01 2.88921500e+02] [ 8.41481627e-02 9.30287609e-01 -3.57049089e-01 -1.62697643e+02] [-9.95553291e-01 6.32641655e-02 -6.97946356e-02 -4.67688494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-162.77, Z:-467.78 [[-5.28156745e-02 -8.59847165e-01 -5.07812325e-01 2.90061424e+02] [ 9.55511192e-02 -5.10540266e-01 8.54528303e-01 -1.62771821e+02] [-9.94022378e-01 -3.38954728e-03 1.09123887e-01 -4.67776960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-162.78, Z:-467.78 [[-5.01767309e-02 -8.70858417e-01 -4.88966168e-01 2.90055026e+02] [ 9.65511891e-02 -4.91519390e-01 8.65497867e-01 -1.62784214e+02] [-9.94062455e-01 -3.78241137e-03 1.08745252e-01 -4.67781350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-162.79, Z:-467.80 [[-4.46099664e-02 -8.78317863e-01 -4.75991263e-01 2.90050333e+02] [ 9.34886555e-02 -4.78045020e-01 8.73345768e-01 -1.62792847e+02] [-9.94620441e-01 -5.53985783e-03 1.03438328e-01 -4.67799283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-161.96, Z:-467.82 [[-1.00365891e-01 6.47520268e-01 -7.55409949e-01 2.89655316e+02] [ 1.41206748e-01 -7.42288084e-01 -6.55033629e-01 -1.61960164e+02] [-9.84879354e-01 -1.72412016e-01 -1.69338267e-02 -4.67823067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-162.76, Z:-467.98 [[-8.42387186e-02 -8.43442476e-01 -5.30573867e-01 2.90075651e+02] [ 1.38755789e-01 -5.37207854e-01 8.31958264e-01 -1.62763695e+02] [-9.86737386e-01 -3.53709719e-03 1.62286227e-01 -4.67982294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-162.05, Z:-467.99 [[-1.17338123e-01 3.43677752e-01 -9.31728162e-01 2.89850926e+02] [ 2.11120724e-01 -9.08130754e-01 -3.61561300e-01 -1.62049608e+02] [-9.70391573e-01 -2.39132048e-01 3.40008624e-02 -4.67985039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-162.13, Z:-468.03 [[-1.91936335e-01 9.58765295e-01 2.09593778e-01 2.89083513e+02] [ 1.86899575e-01 2.45365131e-01 -9.51243661e-01 -1.62127594e+02] [-9.63446414e-01 -1.43405234e-01 -2.26287310e-01 -4.68026807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-162.86, Z:-468.28 [[-1.77644028e-01 -9.22578014e-02 9.79760735e-01 2.89041182e+02] [ 1.07123245e-01 9.87866871e-01 1.12444015e-01 -1.62860021e+02] [-9.78247009e-01 1.24930157e-01 -1.65605695e-01 -4.68283537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-162.44, Z:-468.45 [[-1.64051494e-01 -5.57643035e-01 -8.13708396e-01 2.90088266e+02] [ 1.26022583e-01 -8.29972653e-01 5.43381730e-01 -1.62436390e+02] [-9.78368753e-01 -1.34030490e-02 2.06433869e-01 -4.68450899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-161.87, Z:-468.40 [[-2.38533090e-01 7.07266124e-01 -6.65489740e-01 2.89567191e+02] [ 1.67251487e-01 -6.45112500e-01 -7.45558048e-01 -1.61867603e+02] [-9.56623701e-01 -2.89144414e-01 3.55893669e-02 -4.68402188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-163.01, Z:-468.66 [[-1.69333625e-01 -6.82193996e-01 7.11292820e-01 2.89316895e+02] [ 1.09790195e-01 7.04165955e-01 7.01495846e-01 -1.63009569e+02] [-9.79424442e-01 1.96879811e-01 -4.43407620e-02 -4.68663664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-162.37, Z:-468.72 [[-1.72310271e-01 -5.26226876e-01 -8.32703096e-01 2.90032532e+02] [ 1.26697394e-01 -8.50165287e-01 5.11044768e-01 -1.62374099e+02] [-9.76860758e-01 -1.74430498e-02 2.13163785e-01 -4.68722701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-161.82, Z:-468.69 [[-2.32918052e-01 7.15418523e-01 -6.58730232e-01 2.89510526e+02] [ 1.65953525e-01 -6.38184979e-01 -7.51784118e-01 -1.61819399e+02] [-9.58232022e-01 -2.84422696e-01 2.99185758e-02 -4.68685363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-162.22, Z:-468.72 [[-2.80711447e-01 7.50018979e-01 5.98892824e-01 2.88862456e+02] [ 1.11561047e-01 6.45249356e-01 -7.55782642e-01 -1.62222300e+02] [-9.53286534e-01 -1.45343728e-01 -2.64801783e-01 -4.68720485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-162.86, Z:-468.99 [[-2.44208075e-01 -4.13122971e-01 8.77320823e-01 2.89076410e+02] [ 5.15592844e-02 8.97901650e-01 4.37166178e-01 -1.62862606e+02] [-9.68351205e-01 1.51993545e-01 -1.97974509e-01 -4.68986911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-162.10, Z:-469.19 [[-2.48245912e-01 -2.28640719e-01 -9.41327461e-01 2.89911419e+02] [ 6.58176628e-02 -9.73481465e-01 2.19093296e-01 -1.62101129e+02] [-9.66458485e-01 -7.56695825e-03 2.56711392e-01 -4.69188278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-161.74, Z:-469.12 [[-3.13076707e-01 8.68040567e-01 -3.85342120e-01 2.89241700e+02] [ 8.58772487e-02 -3.78202972e-01 -9.21730769e-01 -1.61742144e+02] [-9.45837234e-01 -3.21664555e-01 4.38616057e-02 -4.69121257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-162.33, Z:-469.14 [[-3.43057940e-01 5.07348895e-01 7.90511448e-01 2.88751635e+02] [ 2.57963137e-02 8.46354894e-01 -5.31994307e-01 -1.62326812e+02] [-9.38959957e-01 -1.62112590e-01 -3.03436498e-01 -4.69142480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-162.85, Z:-469.41 [[-3.04914556e-01 -5.91590107e-01 7.46356657e-01 2.89093998e+02] [-2.35497869e-02 7.88119338e-01 6.15071798e-01 -1.62853152e+02] [-9.52088505e-01 1.69967804e-01 -2.54240879e-01 -4.69407901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-161.89, Z:-469.72 [[-3.02363857e-01 6.63780298e-02 -9.50878570e-01 2.89679213e+02] [-1.48723679e-02 -9.97779451e-01 -6.49228719e-02 -1.61892789e+02] [-9.53076550e-01 -5.48851403e-03 3.02679642e-01 -4.69718177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-161.91, Z:-469.83 [[-3.05435437e-01 4.32072223e-02 -9.51232006e-01 2.89651391e+02] [ 5.69760876e-03 -9.98869186e-01 -4.72004877e-02 -1.61907989e+02] [-9.52195742e-01 -1.98364494e-02 3.04843869e-01 -4.69827818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-161.74, Z:-469.72 [[-3.60658111e-01 9.17443183e-01 -1.67999207e-01 2.88936480e+02] [ 1.95411899e-02 -1.72649557e-01 -9.84789456e-01 -1.61735824e+02] [-9.32493361e-01 -3.58455209e-01 4.43395316e-02 -4.69724776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-162.44, Z:-469.74 [[-3.82423901e-01 2.71222696e-01 8.83283765e-01 2.88596855e+02] [-3.11485099e-02 9.51620708e-01 -3.05692326e-01 -1.62438600e+02] [-9.23461818e-01 -1.44417025e-01 -3.55474321e-01 -4.69737102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-162.85, Z:-470.05 [[-3.42553316e-01 -7.73355625e-01 5.33458811e-01 2.89063678e+02] [-6.98391320e-02 5.87202459e-01 8.06421582e-01 -1.62851634e+02] [-9.36898992e-01 2.38986087e-01 -2.55158635e-01 -4.70049816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-161.79, Z:-470.28 [[-3.38519050e-01 2.40716194e-01 -9.09648595e-01 2.89410554e+02] [-9.44816136e-02 -9.70534267e-01 -2.21667455e-01 -1.61789241e+02] [-9.36204079e-01 1.09064108e-02 3.51287593e-01 -4.70284706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-161.76, Z:-470.17 [[-3.85470341e-01 9.22449423e-01 2.23534981e-02 2.88680881e+02] [-8.79562923e-02 -1.26179981e-02 -9.96044415e-01 -1.61763800e+02] [-9.18518539e-01 -3.85911711e-01 8.59990950e-02 -4.70171871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-161.76, Z:-470.30 [[-4.45398756e-01 8.95069224e-01 -2.17032797e-02 2.88684675e+02] [-7.95499883e-02 -6.37065122e-02 -9.94793084e-01 -1.61755073e+02] [-8.91791314e-01 -4.41353106e-01 9.95775476e-02 -4.70300920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-162.42, Z:-470.26 [[-4.65336493e-01 2.44264674e-01 8.50762433e-01 2.88426499e+02] [-1.30593618e-01 9.31702386e-01 -3.38933578e-01 -1.62422132e+02] [-8.75446889e-01 -2.68822307e-01 -4.01655714e-01 -4.70257760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-161.79, Z:-470.80 [[-4.80742937e-01 2.81926773e-01 -8.30303272e-01 2.89238780e+02] [-1.50884815e-01 -9.59376534e-01 -2.38391355e-01 -1.61793572e+02] [-8.63782381e-01 1.06751954e-02 5.03751962e-01 -4.70804479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-161.90, Z:-470.49 [[-5.21789075e-01 7.87238451e-01 3.28621033e-01 2.88439929e+02] [-1.61783783e-01 2.86909457e-01 -9.44197528e-01 -1.61902831e+02] [-8.37593081e-01 -5.45837508e-01 -2.23438058e-02 -4.70493725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-162.55, Z:-470.49 [[-5.23098526e-01 -1.48813705e-02 8.52142287e-01 2.88388261e+02] [-2.20448608e-01 9.68183733e-01 -1.18417361e-01 -1.62549999e+02] [-8.23268087e-01 -2.49797528e-01 -5.09736061e-01 -4.70494832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-161.78, Z:-471.13 [[-5.39681176e-01 3.87470949e-01 -7.47402497e-01 2.89021586e+02] [-2.26046051e-01 -9.21881483e-01 -3.14702580e-01 -1.61780078e+02] [-8.10954630e-01 -8.91675061e-04 5.85108360e-01 -4.71131643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-161.78, Z:-471.14 [[-5.40779451e-01 3.85203764e-01 -7.47780479e-01 2.89018579e+02] [-2.23282796e-01 -9.22827342e-01 -3.13902040e-01 -1.61781765e+02] [-8.10988519e-01 -2.78525637e-03 5.85055437e-01 -4.71136631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-161.81, Z:-471.23 [[-5.49942871e-01 3.71454862e-01 -7.48053557e-01 2.88961979e+02] [-2.00769606e-01 -9.28187649e-01 -3.13303772e-01 -1.61812975e+02] [-8.10712282e-01 -2.21127584e-02 5.85027027e-01 -4.71228224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-161.86, Z:-471.34 [[-5.63746622e-01 3.25790316e-01 -7.58979852e-01 2.88913899e+02] [-1.62915647e-01 -9.44727771e-01 -2.84513499e-01 -1.61861329e+02] [-8.09721086e-01 -3.67438299e-02 5.85663430e-01 -4.71335809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-162.77, Z:-471.34 [[-4.92903683e-01 -8.29581925e-01 -2.62373377e-01 2.88978821e+02] [-1.46401698e-01 -2.18174046e-01 9.64866119e-01 -1.62768193e+02] [-8.57678554e-01 5.13997972e-01 -1.39134117e-02 -4.71338999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-161.91, Z:-471.44 [[-5.09649765e-01 2.89251308e-01 -8.10302905e-01 2.88836509e+02] [-1.42140137e-01 -9.57159478e-01 -2.52273492e-01 -1.61906762e+02] [-8.48559543e-01 -1.33945601e-02 5.28930324e-01 -4.71436499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-161.91, Z:-471.44 [[-5.05389243e-01 2.83216011e-01 -8.15089200e-01 2.88845873e+02] [-1.42676140e-01 -9.59027538e-01 -2.44764583e-01 -1.61910535e+02] [-8.51014238e-01 -7.40760622e-03 5.25090368e-01 -4.71435139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-161.91, Z:-471.44 [[-5.10857169e-01 2.94110466e-01 -8.07789568e-01 2.88825175e+02] [-1.35747116e-01 -9.55464897e-01 -2.62029676e-01 -1.61905426e+02] [-8.48880247e-01 -2.42046338e-02 5.28030740e-01 -4.71444525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-161.91, Z:-471.46 [[-5.11183099e-01 2.79635201e-01 -8.12709046e-01 2.88826930e+02] [-1.33387732e-01 -9.59945936e-01 -2.46397062e-01 -1.61914454e+02] [-8.49058038e-01 -1.75485971e-02 5.28008044e-01 -4.71458873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-161.92, Z:-471.47 [[-5.11503000e-01 2.77609043e-01 -8.13202251e-01 2.88824685e+02] [-1.31839263e-01 -9.60523739e-01 -2.44974602e-01 -1.61916393e+02] [-8.49107231e-01 -1.80932589e-02 5.27910545e-01 -4.71465598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-161.92, Z:-471.48 [[-5.12857810e-01 2.75101266e-01 -8.13201181e-01 2.88815528e+02] [-1.28842318e-01 -9.61200546e-01 -2.43912211e-01 -1.61919168e+02] [-8.48749977e-01 -2.03175570e-02 5.28403892e-01 -4.71482714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-161.92, Z:-471.49 [[-5.13484943e-01 2.71777336e-01 -8.13922781e-01 2.88815213e+02] [-1.28474520e-01 -9.62176789e-01 -2.40229316e-01 -1.61921144e+02] [-8.48426492e-01 -1.87857978e-02 5.28979756e-01 -4.71487041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-161.93, Z:-471.51 [[-5.14016919e-01 2.69833575e-01 -8.14233658e-01 2.88803892e+02] [-1.26355195e-01 -9.62697068e-01 -2.39267048e-01 -1.61925274e+02] [-8.48422638e-01 -2.01046583e-02 5.28937455e-01 -4.71508263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-161.93, Z:-471.51 [[-5.11338484e-01 2.65322704e-01 -8.17396365e-01 2.88811880e+02] [-1.28241115e-01 -9.64055585e-01 -2.32703772e-01 -1.61927909e+02] [-8.49757125e-01 -1.41665727e-02 5.26984001e-01 -4.71506300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-161.92, Z:-471.52 [[-5.14613290e-01 2.72491313e-01 -8.12970876e-01 2.88794827e+02] [-1.25854651e-01 -9.61892751e-01 -2.42740483e-01 -1.61923742e+02] [-8.48135466e-01 -2.26013127e-02 5.29297093e-01 -4.71518612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-161.93, Z:-471.52 [[-5.07648230e-01 2.57827981e-01 -8.22081509e-01 2.88810018e+02] [-1.28360027e-01 -9.66157186e-01 -2.23749852e-01 -1.61932796e+02] [-8.51948929e-01 -8.06381197e-03 5.23562792e-01 -4.71523641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-161.92, Z:-471.53 [[-5.16479229e-01 2.80020972e-01 -8.09220280e-01 2.88780803e+02] [-1.24152290e-01 -9.59522036e-01 -2.52791754e-01 -1.61921750e+02] [-8.47251684e-01 -3.00951397e-02 5.30338446e-01 -4.71532955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-161.94, Z:-471.54 [[-5.10415426e-01 2.53666542e-01 -8.21662570e-01 2.88802397e+02] [-1.25720596e-01 -9.67247459e-01 -2.20514592e-01 -1.61935653e+02] [-8.50688207e-01 -9.25414101e-03 5.25589132e-01 -4.71540594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-161.92, Z:-471.55 [[-5.19673669e-01 2.75332719e-01 -8.08783761e-01 2.88774652e+02] [-1.21553575e-01 -9.60846260e-01 -2.48996370e-01 -1.61924289e+02] [-8.45673699e-01 -3.10862998e-02 5.32794178e-01 -4.71549331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-161.92, Z:-471.29 [[-5.72875021e-01 8.15806969e-01 7.92035300e-02 2.88100203e+02] [-1.46747164e-01 -7.01597339e-03 -9.89149153e-01 -1.61917216e+02] [-8.06399082e-01 -5.78281735e-01 1.23736635e-01 -4.71286986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-162.40, Z:-471.20 [[-5.87169856e-01 3.79409835e-01 7.15038277e-01 2.87870278e+02] [-2.13305997e-01 7.79602586e-01 -5.88829652e-01 -1.62399018e+02] [-7.80853451e-01 -4.98264975e-01 -3.76828746e-01 -4.71197887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-162.80, Z:-471.33 [[-5.57491732e-01 -2.38679878e-01 7.95131992e-01 2.87966684e+02] [-2.79042115e-01 9.55928564e-01 9.13021255e-02 -1.62804245e+02] [-7.81881363e-01 -1.70975133e-01 -5.99524009e-01 -4.71325235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-161.92, Z:-471.99 [[-5.84502039e-01 4.00882540e-01 -7.05443517e-01 2.88475134e+02] [-2.49815420e-01 -9.16102157e-01 -3.13606592e-01 -1.61920847e+02] [-7.71977735e-01 -7.07302341e-03 6.35610218e-01 -4.71994060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-161.92, Z:-471.99 [[-5.86536304e-01 4.12562086e-01 -6.96970365e-01 2.88460942e+02] [-2.50045351e-01 -9.10741493e-01 -3.28674999e-01 -1.61916275e+02] [-7.70358674e-01 -1.85056195e-02 6.37342181e-01 -4.71994810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-161.92, Z:-472.00 [[-5.86016925e-01 4.08626098e-01 -6.99720570e-01 2.88459056e+02] [-2.50902179e-01 -9.12600352e-01 -3.22813716e-01 -1.61919692e+02] [-7.70475348e-01 -1.36128856e-02 6.37324429e-01 -4.72000972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-161.92, Z:-472.00 [[-5.84813423e-01 4.07709444e-01 -7.01260486e-01 2.88457905e+02] [-2.51092009e-01 -9.13034180e-01 -3.21436448e-01 -1.61919632e+02] [-7.71327468e-01 -1.18994455e-02 6.36327227e-01 -4.72003649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-161.92, Z:-472.01 [[-5.84604423e-01 4.09114961e-01 -7.00615884e-01 2.88449667e+02] [-2.52404919e-01 -9.12410274e-01 -3.22178909e-01 -1.61919887e+02] [-7.71057342e-01 -1.15083202e-02 6.36661710e-01 -4.72010968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-161.92, Z:-472.02 [[-5.84235973e-01 4.06619189e-01 -7.02373949e-01 2.88449022e+02] [-2.52586717e-01 -9.13555079e-01 -3.18774322e-01 -1.61921439e+02] [-7.71277044e-01 -8.82909645e-03 6.36438346e-01 -4.72015508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-161.92, Z:-472.02 [[-5.81818784e-01 4.04451025e-01 -7.05624738e-01 2.88450161e+02] [-2.53132271e-01 -9.14546332e-01 -3.15482266e-01 -1.61923475e+02] [-7.72923642e-01 -4.93711558e-03 6.34479842e-01 -4.72020975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-161.92, Z:-472.03 [[-5.85361865e-01 4.08624093e-01 -7.00269832e-01 2.88435682e+02] [-2.49556830e-01 -9.12582032e-01 -3.23906504e-01 -1.61924251e+02] [-7.71409668e-01 -1.48453960e-02 6.36165653e-01 -4.72029000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-161.93, Z:-472.04 [[-5.82357326e-01 3.98708120e-01 -7.08443209e-01 2.88442908e+02] [-2.48042048e-01 -9.17057597e-01 -3.12218685e-01 -1.61930569e+02] [-7.74167351e-01 -6.09913409e-03 6.32951588e-01 -4.72037153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-161.93, Z:-472.04 [[-5.89898112e-01 4.04403096e-01 -6.98912264e-01 2.88423369e+02] [-2.42037748e-01 -9.14306368e-01 -3.24748508e-01 -1.61928638e+02] [-7.70349236e-01 -2.24053813e-02 6.37228416e-01 -4.72042861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-162.28, Z:-471.62 [[-6.19011177e-01 5.20322007e-01 5.88294290e-01 2.87609686e+02] [-3.01855526e-01 5.33901726e-01 -7.89830481e-01 -1.62283193e+02] [-7.25057518e-01 -6.66493778e-01 -1.73429062e-01 -4.71622905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-162.75, Z:-471.54 [[-5.99804042e-01 -1.63141870e-01 7.83338906e-01 2.87747995e+02] [-3.69981176e-01 9.24597884e-01 -9.07341335e-02 -1.62748662e+02] [-7.09470959e-01 -3.44243349e-01 -6.14936969e-01 -4.71542245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-163.05, Z:-471.83 [[-5.40457950e-01 -7.58238275e-01 3.64664125e-01 2.88063635e+02] [-4.07392619e-01 6.15054364e-01 6.75084723e-01 -1.63052627e+02] [-7.36163337e-01 2.16293433e-01 -6.41311697e-01 -4.71832376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-162.95, Z:-472.28 [[-4.87374207e-01 -7.92790172e-01 -3.65991975e-01 2.88331321e+02] [-3.82842242e-01 -1.82700284e-01 9.05567460e-01 -1.62945601e+02] [-7.84791820e-01 5.81467411e-01 -2.14470161e-01 -4.72276486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-162.04, Z:-472.50 [[-5.23885130e-01 5.96089029e-01 -6.08458906e-01 2.87930269e+02] [-3.70471905e-01 -8.02682969e-01 -4.67387012e-01 -1.62041813e+02] [-7.67003871e-01 -1.94401757e-02 6.41347910e-01 -4.72497682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-162.06, Z:-472.53 [[-5.27024402e-01 5.92885340e-01 -6.08877865e-01 2.87909084e+02] [-3.66061854e-01 -8.04952290e-01 -4.66958809e-01 -1.62060345e+02] [-7.66970664e-01 -2.32117268e-02 6.41262206e-01 -4.72532422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-162.15, Z:-472.71 [[-5.16617925e-01 5.82571349e-01 -6.27468360e-01 2.87819349e+02] [-3.65066370e-01 -8.12760997e-01 -4.54033156e-01 -1.62145966e+02] [-7.74488518e-01 -5.49407005e-03 6.32564108e-01 -4.72707503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-162.07, Z:-472.56 [[-5.31317291e-01 6.01973582e-01 -5.96095414e-01 2.87877283e+02] [-3.61211567e-01 -7.97437301e-01 -4.83342483e-01 -1.62074854e+02] [-7.66308124e-01 -4.14916601e-02 6.41132047e-01 -4.72562049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-162.09, Z:-472.59 [[-5.18877896e-01 5.72868165e-01 -6.34498065e-01 2.87903600e+02] [-3.60379096e-01 -8.19643990e-01 -4.45320825e-01 -1.62093138e+02] [-7.75172649e-01 -2.40729369e-03 6.31744861e-01 -4.72593578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-162.17, Z:-472.76 [[-5.23841464e-01 5.89939631e-01 -6.14460213e-01 2.87768969e+02] [-3.59810877e-01 -8.07086498e-01 -4.68131944e-01 -1.62170661e+02] [-7.72092128e-01 -2.41374551e-02 6.35052069e-01 -4.72760964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-162.14, Z:-472.67 [[-5.46555662e-01 5.77827413e-01 -6.06129020e-01 2.87823729e+02] [-3.39122539e-01 -8.14519263e-01 -4.70695521e-01 -1.62136318e+02] [-7.65684538e-01 -5.17092901e-02 6.41134414e-01 -4.72667369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-162.16, Z:-472.71 [[-5.47075617e-01 5.38195345e-01 -6.41134962e-01 2.87834238e+02] [-3.35870722e-01 -8.42689001e-01 -4.20792237e-01 -1.62164125e+02] [-7.66745804e-01 -1.48667104e-02 6.41778664e-01 -4.72712185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-163.04, Z:-472.68 [[-4.80587815e-01 -7.37884545e-01 -4.73879469e-01 2.88124634e+02] [-3.11654413e-01 -3.61388180e-01 8.78789002e-01 -1.63042905e+02] [-8.19699262e-01 5.70021914e-01 -5.62862191e-02 -4.72681407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-163.20, Z:-473.08 [[-4.31327467e-01 -7.57166501e-01 -4.90566516e-01 2.87882680e+02] [-2.94339862e-01 -3.95896813e-01 8.69844675e-01 -1.63203125e+02] [-8.52830969e-01 5.19581181e-01 -5.21031137e-02 -4.73079454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.656559995 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:287.41, Y:-162.43, Z:-473.35 [[-4.40810736e-01 5.51481014e-01 -7.08205186e-01 2.87414181e+02] [-2.83170419e-01 -8.34148192e-01 -4.73298328e-01 -1.62432288e+02] [-8.51763118e-01 -8.09222506e-03 5.23864589e-01 -4.73352491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-162.60, Z:-472.47 [[-4.82676194e-01 6.47059308e-01 5.90201613e-01 2.86979228e+02] [-3.32979916e-01 4.87709172e-01 -8.07009380e-01 -1.62595040e+02] [-8.10029671e-01 -5.86049500e-01 -1.99478529e-02 -4.72469308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-163.09, Z:-473.00 [[-4.36406921e-01 -6.85436929e-01 -5.82859516e-01 2.87966993e+02] [-2.87654078e-01 -5.07515059e-01 8.12209084e-01 -1.63091781e+02] [-8.52528082e-01 5.22115582e-01 2.43143564e-02 -4.72997136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-162.33, Z:-473.06 [[-4.39346061e-01 5.48974375e-01 -7.11057083e-01 2.87572614e+02] [-2.86555442e-01 -8.35836862e-01 -4.68254971e-01 -1.62334557e+02] [-8.51387701e-01 -1.96870051e-03 5.24533228e-01 -4.73062991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-162.34, Z:-473.08 [[-4.49659248e-01 5.60869795e-01 -6.95148641e-01 2.87542331e+02] [-2.84957441e-01 -8.27678782e-01 -4.83473980e-01 -1.62340047e+02] [-8.46525733e-01 -1.93107682e-02 5.31997441e-01 -4.73083278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-162.38, Z:-473.18 [[-4.59202955e-01 5.34255263e-01 -7.09721044e-01 2.87511035e+02] [-2.69611855e-01 -8.45070598e-01 -4.61698096e-01 -1.62381337e+02] [-8.46429025e-01 -2.06639228e-02 5.32100469e-01 -4.73181309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-162.40, Z:-473.23 [[-4.62962240e-01 5.09665335e-01 -7.25194602e-01 2.87503952e+02] [-2.62929031e-01 -8.60295488e-01 -4.36760801e-01 -1.62403460e+02] [-8.46483484e-01 -1.15290450e-02 5.32290139e-01 -4.73229941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-162.41, Z:-473.24 [[-4.63107637e-01 5.00273808e-01 -7.31612899e-01 2.87506088e+02] [-2.62620860e-01 -8.65852433e-01 -4.25828425e-01 -1.62409411e+02] [-8.46499616e-01 -5.06758675e-03 5.32365212e-01 -4.73239960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-162.43, Z:-473.30 [[-4.67151992e-01 4.95321404e-01 -7.32410898e-01 2.87477724e+02] [-2.55364644e-01 -8.68636205e-01 -4.24570420e-01 -1.62429154e+02] [-8.46497440e-01 -1.13070693e-02 5.32272707e-01 -4.73297305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-163.31, Z:-473.31 [[-4.05105131e-01 -7.98923425e-01 -4.44534807e-01 2.87721156e+02] [-2.20657571e-01 -3.86408577e-01 8.95543772e-01 -1.63308309e+02] [-8.87242959e-01 4.60879348e-01 -1.97524055e-02 -4.73312874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-163.35, Z:-473.41 [[-3.50443879e-01 -8.21193858e-01 -4.50366224e-01 2.87647489e+02] [-1.93683415e-01 -4.06923821e-01 8.92692410e-01 -1.63345003e+02] [-9.16338269e-01 4.00067059e-01 -1.64476686e-02 -4.73411343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-163.38, Z:-473.52 [[-2.94269580e-01 -8.39436529e-01 -4.56893563e-01 2.87580278e+02] [-1.65041170e-01 -4.26245267e-01 8.89424750e-01 -1.63378797e+02] [-9.41364343e-01 3.37136896e-01 -1.31105708e-02 -4.73515620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-162.55, Z:-473.59 [[-3.05199406e-01 5.08340434e-01 -8.05259788e-01 2.87250141e+02] [-1.72962872e-01 -8.61130737e-01 -4.78056166e-01 -1.62549445e+02] [-9.36449234e-01 -6.62241275e-03 3.50740611e-01 -4.73585350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-162.55, Z:-473.59 [[-3.06385472e-01 5.02119844e-01 -8.08704894e-01 2.87252932e+02] [-1.71427450e-01 -8.64777399e-01 -4.71988008e-01 -1.62554183e+02] [-9.36344259e-01 -5.97605079e-03 3.51032356e-01 -4.73594088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-163.49, Z:-473.63 [[-2.32145935e-01 -9.15101020e-01 -3.29694387e-01 2.87463132e+02] [-1.39957793e-01 -3.04001289e-01 9.42334884e-01 -1.63491525e+02] [-9.62559131e-01 2.64902511e-01 -5.75028554e-02 -4.73626619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-163.50, Z:-473.75 [[-1.69509562e-01 -9.13578951e-01 -3.69648494e-01 2.87419568e+02] [-1.14384930e-01 -3.54303781e-01 9.28108247e-01 -1.63499525e+02] [-9.78868018e-01 1.99605439e-01 -4.44417853e-02 -4.73749594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-162.59, Z:-473.81 [[-1.87944158e-01 5.91632519e-01 -7.83994870e-01 2.87071933e+02] [-1.25663132e-01 -8.06143817e-01 -5.78222209e-01 -1.62593626e+02] [-9.74107679e-01 -1.01542351e-02 2.25856416e-01 -4.73813276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-162.60, Z:-473.82 [[-1.88490525e-01 5.87657964e-01 -7.86847787e-01 2.87072786e+02] [-1.23706704e-01 -8.09035127e-01 -5.74594479e-01 -1.62596424e+02] [-9.74252520e-01 -1.09672690e-02 2.25192686e-01 -4.73824336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-162.60, Z:-473.84 [[-1.89350851e-01 5.83533016e-01 -7.89705942e-01 2.87073172e+02] [-1.21046096e-01 -8.11992834e-01 -5.70977654e-01 -1.62599880e+02] [-9.74419878e-01 -1.25242829e-02 2.24385927e-01 -4.73839239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-162.61, Z:-473.86 [[-1.96063421e-01 5.81463846e-01 -7.89594156e-01 2.87067684e+02] [-1.19327615e-01 -8.13385959e-01 -5.69354198e-01 -1.62605126e+02] [-9.73303681e-01 -1.74091445e-02 2.28859927e-01 -4.73863789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-163.49, Z:-473.94 [[-1.10841093e-01 -8.88248431e-01 -4.45790285e-01 2.87382582e+02] [-7.14100382e-02 -4.40276725e-01 8.95017883e-01 -1.63487154e+02] [-9.91269317e-01 1.31038661e-01 -1.46291011e-02 -4.73941992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-163.67, Z:-473.94 [[-7.59322582e-02 -2.60312647e-01 9.62533957e-01 2.86443356e+02] [-1.70857376e-01 9.54440401e-01 2.44645209e-01 -1.63665180e+02] [-9.82365538e-01 -1.45879563e-01 -1.16949151e-01 -4.73941586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-162.61, Z:-474.15 [[-1.28468281e-01 8.88006332e-01 -4.41520844e-01 2.86705213e+02] [-1.67650202e-01 -4.58248842e-01 -8.72869640e-01 -1.62607051e+02] [-9.77440183e-01 -3.81150041e-02 2.07744882e-01 -4.74154433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-163.34, Z:-474.24 [[-5.01146273e-02 -7.05515626e-01 -7.06920240e-01 2.87384044e+02] [-9.07155912e-02 -7.01668372e-01 7.06705156e-01 -1.63337424e+02] [-9.94615104e-01 9.95449529e-02 -2.88374182e-02 -4.74238596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-162.65, Z:-474.30 [[-8.40405913e-02 9.03615709e-01 -4.20018843e-01 2.86651553e+02] [-1.19294036e-01 -4.27602177e-01 -8.96060997e-01 -1.62653949e+02] [-9.89295766e-01 -2.51997531e-02 1.43731905e-01 -4.74295371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-163.33, Z:-474.39 [[-9.73970467e-03 -6.60988126e-01 -7.50333150e-01 2.87357957e+02] [-2.92846108e-02 -7.49858341e-01 6.60949984e-01 -1.63331092e+02] [-9.99523661e-01 2.84106719e-02 -1.20533812e-02 -4.74388474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-163.82, Z:-474.47 [[ 5.42030210e-02 -4.87206460e-01 8.71603062e-01 2.86491354e+02] [-1.30605927e-01 8.61928093e-01 4.89920457e-01 -1.63820056e+02] [-9.89951577e-01 -1.40391695e-01 -1.69129450e-02 -4.74473719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-162.99, Z:-474.62 [[ 1.19368826e-02 9.07771521e-01 4.19295094e-01 2.86201960e+02] [-1.45272984e-01 4.16450367e-01 -8.97476937e-01 -1.62993087e+02] [-9.89319600e-01 -5.01991727e-02 1.36845797e-01 -4.74624535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-162.92, Z:-474.66 [[ 1.23133490e-02 2.40341626e-02 -9.99635304e-01 2.87221447e+02] [-3.00400479e-02 -9.99250960e-01 -2.43949504e-02 -1.62915459e+02] [-9.99472850e-01 3.03294759e-02 -1.15821384e-02 -4.74658657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-163.58, Z:-474.62 [[ 1.10803928e-01 -8.93681404e-01 -4.34805747e-01 2.87269473e+02] [ 3.65625271e-03 -4.37130230e-01 8.99390791e-01 -1.63577018e+02] [-9.93835561e-01 -1.01245792e-01 -4.51682214e-02 -4.74623067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-163.04, Z:-474.63 [[ 1.00683487e-01 -1.80232000e-01 -9.78457593e-01 2.87282127e+02] [ 8.34569537e-02 -9.78458966e-01 1.88819990e-01 -1.63037287e+02] [-9.91412009e-01 -1.00670145e-01 -8.34730472e-02 -4.74631093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-162.76, Z:-474.65 [[ 5.03154058e-02 4.74859457e-01 -8.78622135e-01 2.87003025e+02] [ 1.40334271e-01 -8.74369993e-01 -4.64524928e-01 -1.62756719e+02] [-9.88824885e-01 -9.99280370e-02 -1.10633337e-01 -4.74646178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-162.71, Z:-474.66 [[-2.36762496e-02 8.29533306e-01 -5.57955132e-01 2.86713430e+02] [ 1.66386002e-01 -5.47057809e-01 -8.20392255e-01 -1.62709782e+02] [-9.85776412e-01 -1.12259736e-01 -1.25070453e-01 -4.74663960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-163.69, Z:-474.88 [[ 3.17473694e-02 -9.81366437e-01 -1.89504671e-01 2.87204889e+02] [ 1.99269723e-01 -1.79579203e-01 9.63349826e-01 -1.63689055e+02] [-9.79430284e-01 -6.83463662e-02 1.89855451e-01 -4.74877561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.79, Z:-474.93 [[ 3.90965069e-02 -9.95460642e-01 8.67731148e-02 2.87080257e+02] [ 1.95003683e-01 9.27708044e-02 9.76405214e-01 -1.63786562e+02] [-9.80022973e-01 -2.12529562e-02 1.97745506e-01 -4.74929809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.81, Z:-474.96 [[ 3.76618589e-02 -9.86359375e-01 1.60239722e-01 2.87043122e+02] [ 1.90047247e-01 1.64496773e-01 9.67896098e-01 -1.63805187e+02] [-9.81052307e-01 -5.99964823e-03 1.93650138e-01 -4.74963875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-163.80, Z:-474.99 [[ 3.64670950e-02 -9.86396405e-01 1.60288128e-01 2.87045028e+02] [ 1.89650056e-01 1.64311005e-01 9.68005553e-01 -1.63799390e+02] [-9.81174300e-01 -4.90169807e-03 1.93062078e-01 -4.74993318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.80, Z:-475.02 [[ 3.52340457e-02 -9.84867114e-01 1.69691865e-01 2.87041044e+02] [ 1.91002476e-01 1.73303516e-01 9.66169729e-01 -1.63795836e+02] [-9.80956990e-01 -1.63050203e-03 1.94218241e-01 -4.75022709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-163.80, Z:-475.05 [[ 3.37453445e-02 -9.81407709e-01 1.88944859e-01 2.87028877e+02] [ 1.89954296e-01 1.91904546e-01 9.62855135e-01 -1.63799301e+02] [-9.81212830e-01 3.39900948e-03 1.92898495e-01 -4.75051087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.79, Z:-475.08 [[ 3.40029439e-02 -9.85045543e-01 1.68905528e-01 2.87040638e+02] [ 1.91291098e-01 1.72293293e-01 9.66293298e-01 -1.63787518e+02] [-9.80944196e-01 -5.46692866e-04 1.94288923e-01 -4.75079734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-163.79, Z:-475.11 [[ 3.39309098e-02 -9.83337918e-01 1.78592365e-01 2.87034468e+02] [ 1.90561172e-01 1.81782426e-01 9.64697667e-01 -1.63786107e+02] [-9.81088749e-01 1.29970094e-03 1.93554069e-01 -4.75108148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.78, Z:-475.14 [[ 3.30658748e-02 -9.83848412e-01 1.75923136e-01 2.87035147e+02] [ 1.89441516e-01 1.78998129e-01 9.65438544e-01 -1.63781470e+02] [-9.81335091e-01 1.40407552e-03 1.92300465e-01 -4.75135088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-163.78, Z:-475.16 [[ 3.27610290e-02 -9.83371692e-01 1.78624831e-01 2.87031204e+02] [ 1.85798430e-01 1.81597649e-01 9.65661036e-01 -1.63779009e+02] [-9.82041577e-01 1.55216404e-03 1.88658243e-01 -4.75164404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.77, Z:-475.19 [[ 3.23900336e-02 -9.87027632e-01 1.57249288e-01 2.87040435e+02] [ 1.85035809e-01 1.60533901e-01 9.69531132e-01 -1.63768724e+02] [-9.82197860e-01 -2.30639668e-03 1.87835155e-01 -4.75191294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-163.78, Z:-475.22 [[ 2.84521207e-02 -9.83592587e-01 1.78146290e-01 2.87020254e+02] [ 1.79551244e-01 1.80348645e-01 9.67075859e-01 -1.63778909e+02] [-9.83337088e-01 4.47102891e-03 1.81736574e-01 -4.75216016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.74, Z:-475.24 [[ 2.79947439e-02 -9.98344020e-01 5.02544668e-02 2.87087069e+02] [ 1.82670582e-01 5.45369492e-02 9.81660420e-01 -1.63736396e+02] [-9.82775535e-01 -1.83013194e-02 1.83894831e-01 -4.75235025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.73, Z:-475.26 [[ 2.76657869e-02 -9.98407498e-01 4.91637224e-02 2.87087371e+02] [ 1.83014092e-01 5.34102652e-02 9.81658386e-01 -1.63731372e+02] [-9.82720940e-01 -1.81606977e-02 1.84200278e-01 -4.75262993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.73, Z:-475.29 [[ 2.64365873e-02 -9.98516048e-01 4.76110114e-02 2.87087992e+02] [ 1.83302055e-01 5.16621896e-02 9.81698210e-01 -1.63726111e+02] [-9.82701106e-01 -1.72255542e-02 1.84395815e-01 -4.75290759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.72, Z:-475.32 [[ 2.30237367e-02 -9.98675474e-01 4.60131015e-02 2.87089479e+02] [ 1.83923902e-01 4.94709621e-02 9.81694770e-01 -1.63720849e+02] [-9.82670802e-01 -1.41393727e-02 1.84819296e-01 -4.75318049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.72, Z:-475.35 [[ 2.06570577e-02 -9.98799200e-01 4.44234621e-02 2.87090927e+02] [ 1.84723155e-01 4.74808313e-02 9.81642973e-01 -1.63715518e+02] [-9.82573479e-01 -1.20718134e-02 1.85482154e-01 -4.75345517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.71, Z:-475.37 [[ 1.74703764e-02 -9.98928965e-01 4.28451642e-02 2.87091966e+02] [ 1.84734055e-01 4.53388381e-02 9.81742186e-01 -1.63710094e+02] [-9.82633256e-01 -9.23644465e-03 1.85328285e-01 -4.75373040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.70, Z:-475.40 [[ 1.13711031e-02 -9.99249700e-01 3.70234369e-02 2.87099792e+02] [ 1.84072964e-01 3.84848850e-02 9.82158876e-01 -1.63700581e+02] [-9.82846805e-01 -4.35321612e-03 1.84372469e-01 -4.75404656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-163.73, Z:-475.43 [[ 6.59821615e-03 -9.92310026e-01 1.23601278e-01 2.87052582e+02] [ 1.82730714e-01 1.22719235e-01 9.75473975e-01 -1.63725444e+02] [-9.83140860e-01 1.61493616e-02 1.82135247e-01 -4.75432800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.69, Z:-475.45 [[ 1.55917789e-03 -9.99236625e-01 3.90350622e-02 2.87098300e+02] [ 1.82330330e-01 3.86648445e-02 9.82476809e-01 -1.63693569e+02] [-9.83236096e-01 5.58541964e-03 1.82251429e-01 -4.75454364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.69, Z:-475.48 [[-5.56219509e-03 -9.99248618e-01 3.83570332e-02 2.87102577e+02] [ 1.82204647e-01 3.67027964e-02 9.82575377e-01 -1.63687748e+02] [-9.83244898e-01 1.24541056e-02 1.81863593e-01 -4.75482326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.68, Z:-475.51 [[-7.54623782e-03 -9.99351946e-01 3.51957609e-02 2.87108886e+02] [ 1.82653671e-01 3.32270919e-02 9.82615691e-01 -1.63679473e+02] [-9.83148357e-01 1.38436866e-02 1.82284562e-01 -4.75514433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-163.70, Z:-475.54 [[-1.00203188e-02 -9.92532723e-01 1.21566389e-01 2.87062805e+02] [ 1.84348107e-01 1.17655035e-01 9.75793558e-01 -1.63701968e+02] [-9.82809935e-01 3.21882961e-02 1.81792587e-01 -4.75544756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.68, Z:-475.57 [[-1.18486367e-02 -9.97545164e-01 6.90163394e-02 2.87088448e+02] [ 1.83455085e-01 6.56809364e-02 9.80831406e-01 -1.63680539e+02] [-9.82956684e-01 2.42829134e-02 1.82226503e-01 -4.75568356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.67, Z:-475.59 [[-1.23922450e-02 -9.98593740e-01 5.15458493e-02 2.87095550e+02] [ 1.80697401e-01 4.84646604e-02 9.82343945e-01 -1.63674015e+02] [-9.83460666e-01 2.14876479e-02 1.79842708e-01 -4.75594064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.65, Z:-475.62 [[-1.15256912e-02 -9.99821580e-01 1.49654987e-02 2.87116704e+02] [ 1.82954712e-01 1.26052613e-02 9.83040529e-01 -1.63651508e+02] [-9.83053779e-01 1.40682301e-02 1.82776785e-01 -4.75621790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.67, Z:-475.65 [[-9.29528918e-03 -9.97811783e-01 6.54617693e-02 2.87089201e+02] [ 1.80637758e-01 6.27120402e-02 9.81548369e-01 -1.63668326e+02] [-9.83505769e-01 2.09486432e-02 1.79659557e-01 -4.75650691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.65, Z:-475.68 [[-8.06017959e-03 -9.99776387e-01 1.95501660e-02 2.87112082e+02] [ 1.80070693e-01 1.77800245e-02 9.83492967e-01 -1.63647577e+02] [-9.83620648e-01 1.14475419e-02 1.79887117e-01 -4.75675522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.64, Z:-475.70 [[-5.78484383e-03 -9.99822255e-01 1.79442208e-02 2.87112172e+02] [ 1.79914691e-01 1.66110681e-02 9.83541955e-01 -1.63642643e+02] [-9.83665207e-01 8.91806554e-03 1.79786620e-01 -4.75701770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.62, Z:-475.73 [[-1.22061359e-03 -9.99995228e-01 -2.83784052e-03 2.87125173e+02] [ 1.85090462e-01 -3.01473206e-03 9.82716863e-01 -1.63622229e+02] [-9.82720729e-01 6.74260345e-04 1.85093258e-01 -4.75730949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.64, Z:-475.76 [[ 7.10092889e-03 -9.96852446e-01 7.89606119e-02 2.87081654e+02] [ 1.87062675e-01 7.88928869e-02 9.79174891e-01 -1.63644516e+02] [-9.82322316e-01 7.81753201e-03 1.87034098e-01 -4.75761992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-163.66, Z:-475.79 [[ 6.87137349e-03 -9.93858547e-01 1.10444436e-01 2.87058543e+02] [ 1.78214851e-01 1.09895996e-01 9.77835537e-01 -1.63662648e+02] [-9.83967607e-01 1.29637654e-02 1.77875489e-01 -4.75790195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.62, Z:-475.81 [[ 5.37853949e-03 -9.99971874e-01 5.22712770e-03 2.87112065e+02] [ 1.78775101e-01 6.10454013e-03 9.83871027e-01 -1.63623394e+02] [-9.83875264e-01 -4.35730889e-03 1.78802906e-01 -4.75812484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.62, Z:-475.84 [[ 8.80538591e-03 -9.99954331e-01 3.71491581e-03 2.87112361e+02] [ 1.79002826e-01 5.23129077e-03 9.83834652e-01 -1.63618252e+02] [-9.83809155e-01 -7.99806336e-03 1.79040715e-01 -4.75839485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.61, Z:-475.87 [[ 1.60075631e-02 -9.99867316e-01 3.01801376e-03 2.87111287e+02] [ 1.80552156e-01 5.85933875e-03 9.83547959e-01 -1.63613255e+02] [-9.83435141e-01 -1.51992971e-02 1.80621993e-01 -4.75867152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.61, Z:-475.89 [[ 1.93320791e-02 -9.99812159e-01 1.38468303e-03 2.87111303e+02] [ 1.81370743e-01 4.86888921e-03 9.83402739e-01 -1.63608086e+02] [-9.83224758e-01 -1.87600785e-02 1.81430800e-01 -4.75894858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.60, Z:-475.90 [[ 2.42987577e-02 -9.99690748e-01 -5.28942024e-03 2.87115063e+02] [ 1.85456512e-01 -6.91511594e-04 9.82652230e-01 -1.63601581e+02] [-9.82352000e-01 -2.48581859e-02 1.85382356e-01 -4.75899098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.61, Z:-475.93 [[ 2.84643518e-02 -9.99048075e-01 3.30563843e-02 2.87094076e+02] [ 1.80026741e-01 3.76526564e-02 9.82940817e-01 -1.63613294e+02] [-9.83249792e-01 -2.20277401e-02 1.80927127e-01 -4.75927785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.60, Z:-475.95 [[ 2.93910434e-02 -9.99542887e-01 7.08405940e-03 2.87106635e+02] [ 1.80065906e-01 1.22656571e-02 9.83578072e-01 -1.63599556e+02] [-9.83215356e-01 -2.76327883e-02 1.80344096e-01 -4.75954184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.59, Z:-475.98 [[ 3.05422140e-02 -9.99518817e-01 5.41363815e-03 2.87107523e+02] [ 1.80872710e-01 1.08534997e-02 9.83446625e-01 -1.63593597e+02] [-9.83032164e-01 -2.90574579e-02 1.81117167e-01 -4.75981627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.59, Z:-476.01 [[ 2.93790443e-02 -9.99468072e-01 1.41578842e-02 2.87102755e+02] [ 1.78882721e-01 1.91924852e-02 9.83683191e-01 -1.63594785e+02] [-9.83431667e-01 -2.63670712e-02 1.79351425e-01 -4.76009329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.58, Z:-476.04 [[ 2.89998500e-02 -9.99436099e-01 -1.69261196e-02 2.87118658e+02] [ 1.79059618e-01 -1.14651958e-02 9.83771418e-01 -1.63579798e+02] [-9.83410729e-01 -3.15600080e-02 1.78626157e-01 -4.76035820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.56, Z:-476.06 [[ 3.03194400e-02 -9.98405460e-01 -4.76158561e-02 2.87135665e+02] [ 1.83877322e-01 -4.12534521e-02 9.82083135e-01 -1.63557827e+02] [-9.82481482e-01 -3.85316868e-02 1.82333340e-01 -4.76062012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.57, Z:-476.09 [[ 3.12043748e-02 -9.99512732e-01 7.65856044e-04 2.87111923e+02] [ 1.81734813e-01 6.42713956e-03 9.83326573e-01 -1.63570836e+02] [-9.82852352e-01 -3.05449083e-02 1.81846814e-01 -4.76092896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.56, Z:-476.14 [[ 3.74566122e-02 -9.99297813e-01 -9.40164131e-04 2.87111511e+02] [ 1.81749240e-01 5.88735580e-03 9.83327287e-01 -1.63562030e+02] [-9.82631272e-01 -3.70029830e-02 1.81842139e-01 -4.76143732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.57, Z:-476.17 [[ 3.83254359e-02 -9.98702520e-01 3.35326449e-02 2.87094496e+02] [ 1.80855848e-01 3.99356741e-02 9.82698481e-01 -1.63569387e+02] [-9.82762598e-01 -3.15977727e-02 1.82151743e-01 -4.76174008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.56, Z:-476.20 [[ 3.90711522e-02 -9.98727760e-01 3.18795633e-02 2.87095617e+02] [ 1.81860326e-01 3.84783882e-02 9.82571237e-01 -1.63564147e+02] [-9.82547845e-01 -3.25925626e-02 1.83132351e-01 -4.76201880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.56, Z:-476.23 [[ 4.00391694e-02 -9.98740878e-01 3.02245389e-02 2.87097314e+02] [ 1.84243577e-01 3.71096172e-02 9.82179811e-01 -1.63559443e+02] [-9.82064748e-01 -3.37569867e-02 1.85497431e-01 -4.76228645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.55, Z:-476.26 [[ 3.95663998e-02 -9.98792982e-01 2.91046197e-02 2.87099027e+02] [ 1.85276917e-01 3.59557010e-02 9.82028335e-01 -1.63554836e+02] [-9.81889487e-01 -3.34629115e-02 1.86475923e-01 -4.76256549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.55, Z:-476.28 [[ 3.70854144e-02 -9.98934315e-01 2.74755650e-02 2.87102702e+02] [ 1.86236908e-01 3.39216050e-02 9.81919110e-01 -1.63549775e+02] [-9.81804709e-01 -3.12979128e-02 1.87296435e-01 -4.76284297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.56, Z:-476.31 [[ 3.11508888e-02 -9.98185777e-01 5.15245358e-02 2.87086732e+02] [ 1.78599051e-01 5.62787444e-02 9.82311092e-01 -1.63562414e+02] [-9.83428697e-01 -2.13976304e-02 1.80028166e-01 -4.76314701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.49, Z:-476.34 [[ 3.16320474e-02 -9.94161336e-01 -1.03163230e-01 2.87168294e+02] [ 1.89748653e-01 -9.53647788e-02 9.77190364e-01 -1.63488842e+02] [-9.81323016e-01 -5.04856158e-02 1.85624192e-01 -4.76336590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.55, Z:-476.37 [[ 2.80840189e-02 -9.98146080e-01 5.39971330e-02 2.87088931e+02] [ 1.77960797e-01 5.81480148e-02 9.82318056e-01 -1.63553406e+02] [-9.83636743e-01 -1.79780661e-02 1.79263901e-01 -4.76371895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.48, Z:-476.39 [[ 2.73304549e-02 -9.94319884e-01 -1.02864058e-01 2.87172904e+02] [ 1.88003347e-01 -9.59533447e-02 9.77470049e-01 -1.63477854e+02] [-9.81788057e-01 -4.60534882e-02 1.84313017e-01 -4.76393593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.54, Z:-476.43 [[ 2.32358138e-02 -9.98355038e-01 5.24148364e-02 2.87094829e+02] [ 1.76869609e-01 5.57071267e-02 9.82656531e-01 -1.63541744e+02] [-9.83959978e-01 -1.35622325e-02 1.77873066e-01 -4.76428729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.49, Z:-476.45 [[ 2.02591333e-02 -9.97254656e-01 -7.12230265e-02 2.87157242e+02] [ 1.78154279e-01 -6.64967353e-02 9.81753145e-01 -1.63491219e+02] [-9.83793993e-01 -3.25781548e-02 1.76318018e-01 -4.76448909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.49, Z:-476.48 [[ 1.81896229e-02 -9.97860184e-01 -6.28027890e-02 2.87154975e+02] [ 1.77878222e-01 -5.85814513e-02 9.82307259e-01 -1.63488312e+02] [-9.83884381e-01 -2.90390470e-02 1.76432021e-01 -4.76476869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.49, Z:-476.51 [[ 1.47126652e-02 -9.98897145e-01 -4.45873403e-02 2.87147873e+02] [ 1.76893401e-01 -4.12885297e-02 9.83363606e-01 -1.63492504e+02] [-9.84120045e-01 -2.23551058e-02 1.76090849e-01 -4.76505988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.48, Z:-476.53 [[ 1.49023109e-02 -9.97757736e-01 -6.52489127e-02 2.87157885e+02] [ 1.78432653e-01 -6.15550161e-02 9.82024831e-01 -1.63478693e+02] [-9.83839270e-01 -2.62769760e-02 1.77115248e-01 -4.76532999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.48, Z:-476.56 [[ 1.46419779e-02 -9.99018765e-01 -4.17985661e-02 2.87146134e+02] [ 1.78108768e-01 -3.85286415e-02 9.83256228e-01 -1.63484580e+02] [-9.83901865e-01 -2.18415071e-02 1.77369866e-01 -4.76563120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.47, Z:-476.59 [[ 1.57311985e-02 -9.97469735e-01 -6.93300585e-02 2.87158909e+02] [ 1.79490256e-01 -6.53951313e-02 9.81583784e-01 -1.63468119e+02] [-9.83633965e-01 -2.78855593e-02 1.78007354e-01 -4.76589525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.45, Z:-476.62 [[ 1.93903849e-02 -9.96505017e-01 -8.12512446e-02 2.87168664e+02] [ 1.87851054e-01 -7.61880905e-02 9.79238151e-01 -1.63446521e+02] [-9.82006107e-01 -3.42509366e-02 1.85717201e-01 -4.76618644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.48, Z:-476.65 [[ 2.07118278e-02 -9.99412455e-01 2.73086969e-02 2.87116933e+02] [ 1.85906984e-01 3.06880476e-02 9.82087999e-01 -1.63483123e+02] [-9.82349028e-01 -1.52639600e-02 1.86433361e-01 -4.76654286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.50, Z:-476.68 [[ 1.45546738e-02 -9.98204531e-01 5.81022966e-02 2.87094841e+02] [ 1.76580395e-01 5.97611525e-02 9.82470340e-01 -1.63501476e+02] [-9.84178605e-01 -4.03980887e-03 1.77133154e-01 -4.76681564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-163.41, Z:-476.70 [[ 1.69871195e-02 -9.92152792e-01 -1.23872013e-01 2.87187826e+02] [ 1.88315896e-01 -1.18497911e-01 9.74933520e-01 -1.63412975e+02] [-9.81961588e-01 -3.98883813e-02 1.84825204e-01 -4.76701193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.47, Z:-476.74 [[ 1.76100503e-02 -9.99519341e-01 2.55141948e-02 2.87115767e+02] [ 1.86336742e-01 2.83519251e-02 9.82076773e-01 -1.63467587e+02] [-9.82328105e-01 -1.25401895e-02 1.86746456e-01 -4.76739407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.48, Z:-476.77 [[ 1.18654148e-02 -9.98545851e-01 5.25870356e-02 2.87095492e+02] [ 1.78368710e-01 5.38608970e-02 9.82488477e-01 -1.63484262e+02] [-9.83892177e-01 -2.27775158e-03 1.78748417e-01 -4.76766995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.41, Z:-476.79 [[ 1.30142051e-02 -9.94926549e-01 -9.97586720e-02 2.87173824e+02] [ 1.87321207e-01 -9.55749338e-02 9.77638071e-01 -1.63409863e+02] [-9.82212500e-01 -3.14100972e-02 1.85127010e-01 -4.76787177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.47, Z:-476.82 [[ 8.86425591e-03 -9.98747295e-01 4.92469893e-02 2.87096977e+02] [ 1.78923285e-01 5.00382922e-02 9.82589755e-01 -1.63471825e+02] [-9.83823095e-01 1.01506080e-04 1.79142699e-01 -4.76823240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.42, Z:-476.84 [[ 4.23228635e-03 -9.97614760e-01 -6.88975892e-02 2.87157017e+02] [ 1.80410410e-01 -6.70059233e-02 9.81306420e-01 -1.63421112e+02] [-9.83582316e-01 -1.65830121e-02 1.79696500e-01 -4.76844091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.41, Z:-476.87 [[ 4.74749707e-03 -9.98240052e-01 -5.91122613e-02 2.87156865e+02] [ 1.86509044e-01 -5.71917510e-02 9.80787174e-01 -1.63410054e+02] [-9.82441773e-01 -1.56812556e-02 1.85909281e-01 -4.76873615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.45, Z:-476.91 [[-3.43007154e-04 -9.99222825e-01 3.94160914e-02 2.87105482e+02] [ 1.81216535e-01 3.87013798e-02 9.82681419e-01 -1.63449555e+02] [-9.83443160e-01 7.47991427e-03 1.81062423e-01 -4.76906718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.42, Z:-476.93 [[-3.61684096e-03 -9.99472781e-01 -3.22657447e-02 2.87141065e+02] [ 1.80253899e-01 -3.23890507e-02 9.83086711e-01 -1.63419121e+02] [-9.83613466e-01 -2.26035803e-03 1.80276012e-01 -4.76930724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.41, Z:-476.96 [[-9.00979051e-03 -9.99463767e-01 -3.14801888e-02 2.87140094e+02] [ 1.79043864e-01 -3.25851325e-02 9.83301329e-01 -1.63414342e+02] [-9.83799837e-01 3.22300433e-03 1.79241440e-01 -4.76956714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.39, Z:-476.98 [[-8.40312994e-03 -9.98516715e-01 -5.37936549e-02 2.87154525e+02] [ 1.83316836e-01 -5.44221225e-02 9.81546316e-01 -1.63391750e+02] [-9.83017968e-01 -1.61322134e-03 1.83502241e-01 -4.76984769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.43, Z:-477.02 [[-1.36853256e-02 -9.99154174e-01 3.87769010e-02 2.87105479e+02] [ 1.78439636e-01 3.57176250e-02 9.83302368e-01 -1.63429230e+02] [-9.83855685e-01 2.03761491e-02 1.77799899e-01 -4.77017713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.39, Z:-477.04 [[-1.87206427e-02 -9.98740559e-01 -4.65492691e-02 2.87146543e+02] [ 1.74915155e-01 -4.91109690e-02 9.83357921e-01 -1.63394768e+02] [-9.84405519e-01 1.02669197e-02 1.75614248e-01 -4.77040035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.37, Z:-477.07 [[-1.73536655e-02 -9.96672140e-01 -7.96460622e-02 2.87165683e+02] [ 1.81104495e-01 -8.14737321e-02 9.80083258e-01 -1.63365851e+02] [-9.83310740e-01 2.58377709e-03 1.81915673e-01 -4.77067525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.40, Z:-477.10 [[-1.85471610e-02 -9.99687289e-01 1.67728007e-02 2.87119383e+02] [ 1.83009081e-01 1.30978620e-02 9.83023968e-01 -1.63397802e+02] [-9.82936254e-01 2.13018787e-02 1.82708924e-01 -4.77101818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.42, Z:-477.13 [[-2.74197114e-02 -9.98626061e-01 4.46559086e-02 2.87097599e+02] [ 1.75132066e-01 3.91826816e-02 9.83764950e-01 -1.63415937e+02] [-9.84163055e-01 3.47952326e-02 1.73817068e-01 -4.77128779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.36, Z:-477.15 [[-2.64915410e-02 -9.96299922e-01 -8.17597980e-02 2.87161512e+02] [ 1.75796105e-01 -8.51570126e-02 9.80736464e-01 -1.63357845e+02] [-9.84070083e-01 1.16081662e-02 1.77401586e-01 -4.77153971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.38, Z:-477.19 [[-2.79832222e-02 -9.99473121e-01 -1.64444758e-02 2.87130226e+02] [ 1.76736709e-01 -2.11386765e-02 9.84031144e-01 -1.63377847e+02] [-9.83860292e-01 2.46300196e-02 1.77235119e-01 -4.77189519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.38, Z:-477.22 [[-3.07212783e-02 -9.99393909e-01 -1.63712604e-02 2.87128431e+02] [ 1.75082226e-01 -2.15063256e-02 9.84318898e-01 -1.63375584e+02] [-9.84074396e-01 2.73732181e-02 1.75636812e-01 -4.77216891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.36, Z:-477.24 [[-3.35491458e-02 -9.98451997e-01 -4.43628711e-02 2.87139460e+02] [ 1.72929577e-01 -4.95175460e-02 9.83688657e-01 -1.63362976e+02] [-9.84362645e-01 2.53302617e-02 1.74323153e-01 -4.77243664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.35, Z:-477.27 [[-3.29213891e-02 -9.97150052e-01 -6.78819269e-02 2.87149189e+02] [ 1.74798545e-01 -7.26163736e-02 9.81922772e-01 -1.63346688e+02] [-9.84053683e-01 2.04605996e-02 1.76691010e-01 -4.77271530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.35, Z:-477.30 [[-3.20465195e-02 -9.98911647e-01 -3.38901591e-02 2.87131653e+02] [ 1.76593709e-01 -3.90329915e-02 9.83509577e-01 -1.63354188e+02] [-9.83762005e-01 2.55332699e-02 1.77652384e-01 -4.77304662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.35, Z:-477.33 [[-3.11997979e-02 -9.98524725e-01 -4.44403636e-02 2.87135161e+02] [ 1.76626452e-01 -4.92702304e-02 9.83044018e-01 -1.63345410e+02] [-9.83783345e-01 2.28214309e-02 1.77903100e-01 -4.77331615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.32, Z:-477.36 [[-2.43028094e-02 -9.96988091e-01 -7.36486250e-02 2.87149358e+02] [ 1.85164693e-01 -7.68847996e-02 9.79695241e-01 -1.63317756e+02] [-9.82406947e-01 1.01722217e-02 1.86475510e-01 -4.77359821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.37, Z:-477.39 [[-2.57587287e-02 -9.98387100e-01 5.05933480e-02 2.87082214e+02] [ 1.81215011e-01 4.51082195e-02 9.82408453e-01 -1.63368294e+02] [-9.83106102e-01 3.44738669e-02 1.79760799e-01 -4.77393959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.30, Z:-477.42 [[-1.89308207e-02 -9.95562886e-01 -9.21746343e-02 2.87153006e+02] [ 1.85482455e-01 -9.40878449e-02 9.78132781e-01 -1.63300501e+02] [-9.82465207e-01 1.42007875e-03 1.86440609e-01 -4.77415312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.36, Z:-477.45 [[-2.09340071e-02 -9.98480757e-01 5.09700359e-02 2.87076833e+02] [ 1.80808663e-01 4.63596227e-02 9.82425067e-01 -1.63357879e+02] [-9.83295477e-01 2.97819174e-02 1.79563479e-01 -4.77450877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.31, Z:-477.47 [[-1.80317247e-02 -9.97944492e-01 -6.14950972e-02 2.87129690e+02] [ 1.79056780e-01 -6.37338852e-02 9.81772204e-01 -1.63312932e+02] [-9.83673486e-01 6.69193200e-03 1.79837960e-01 -4.77473448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.30, Z:-477.50 [[-1.10593715e-02 -9.97824415e-01 -6.49932912e-02 2.87129443e+02] [ 1.87166062e-01 -6.59141998e-02 9.80114373e-01 -1.63295118e+02] [-9.82266031e-01 -1.32508938e-03 1.87487836e-01 -4.77502495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.32, Z:-477.54 [[-8.93473460e-03 -9.99708987e-01 2.24078764e-02 2.87085685e+02] [ 1.87904722e-01 2.03310528e-02 9.81976814e-01 -1.63319963e+02] [-9.82146622e-01 1.29842480e-02 1.87668387e-01 -4.77535921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.31, Z:-477.56 [[-7.40763145e-03 -9.99754668e-01 2.08741738e-02 2.87084685e+02] [ 1.87492953e-01 1.91159180e-02 9.82079923e-01 -1.63314400e+02] [-9.82238016e-01 1.11886466e-02 1.87305351e-01 -4.77561890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.31, Z:-477.59 [[-7.58541748e-03 -9.99766986e-01 2.02097681e-02 2.87085036e+02] [ 1.87488878e-01 1.84300013e-02 9.82093812e-01 -1.63309076e+02] [-9.82237437e-01 1.12386983e-02 1.87305391e-01 -4.77589937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.30, Z:-477.62 [[-7.76561416e-03 -9.99784238e-01 1.92658359e-02 2.87085520e+02] [ 1.87481580e-01 1.74690830e-02 9.82112768e-01 -1.63303661e+02] [-9.82237422e-01 1.12386982e-02 1.87305471e-01 -4.77617967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.30, Z:-477.65 [[-7.94580374e-03 -9.99800567e-01 1.83218861e-02 2.87085999e+02] [ 1.87474110e-01 1.65081488e-02 9.82130816e-01 -1.63298246e+02] [-9.82237406e-01 1.12386980e-02 1.87305551e-01 -4.77645997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.29, Z:-477.67 [[-4.47591993e-03 -9.99838941e-01 1.73798285e-02 2.87082643e+02] [ 1.86848727e-01 1.62377099e-02 9.82254494e-01 -1.63293105e+02] [-9.82378501e-01 7.64389129e-03 1.86745955e-01 -4.77672213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.29, Z:-477.70 [[-3.03521742e-03 -9.99861713e-01 1.63506214e-02 2.87081213e+02] [ 1.87039752e-01 1.54945096e-02 9.82230142e-01 -1.63288396e+02] [-9.82347657e-01 6.03949821e-03 1.86966858e-01 -4.77699822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.28, Z:-477.73 [[ 6.45738021e-05 -9.99890727e-01 1.47827626e-02 2.87079132e+02] [ 1.87806549e-01 1.45318447e-02 9.82098532e-01 -1.63284184e+02] [-9.82206035e-01 2.71288179e-03 1.87786966e-01 -4.77726624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.28, Z:-477.75 [[ 1.35986135e-03 -9.99899597e-01 1.41048174e-02 2.87079109e+02] [ 1.88353625e-01 1.41084810e-02 9.81999930e-01 -1.63278630e+02] [-9.82100332e-01 1.32130973e-03 1.88353899e-01 -4.77754197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.27, Z:-477.78 [[ 2.29439583e-03 -9.99918463e-01 1.25620124e-02 2.87079617e+02] [ 1.88321068e-01 1.27693282e-02 9.82024501e-01 -1.63272912e+02] [-9.82104837e-01 1.12538667e-04 1.88335011e-01 -4.77780262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.27, Z:-477.81 [[ 3.06700715e-03 -9.99929003e-01 1.15144855e-02 2.87079786e+02] [ 1.88665445e-01 1.18863555e-02 9.81969482e-01 -1.63267344e+02] [-9.82036630e-01 -8.39321896e-04 1.88688506e-01 -4.77807539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.26, Z:-477.83 [[ 4.93658007e-03 -9.99986805e-01 -1.42117559e-03 2.87085230e+02] [ 1.86252997e-01 -4.76860888e-04 9.82501702e-01 -1.63258659e+02] [-9.82489415e-01 -5.11489654e-03 1.86248186e-01 -4.77833831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.26, Z:-477.86 [[ 5.32176942e-03 -9.99940228e-01 9.55086113e-03 2.87078515e+02] [ 1.89648763e-01 1.03868952e-02 9.81797056e-01 -1.63257064e+02] [-9.81837576e-01 -3.41358855e-03 1.89692704e-01 -4.77862593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.25, Z:-477.89 [[ 5.30108392e-03 -9.99960928e-01 7.07399703e-03 2.87079798e+02] [ 1.89873594e-01 7.95192949e-03 9.81776342e-01 -1.63251429e+02] [-9.81794234e-01 -3.86131354e-03 1.89908329e-01 -4.77889666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.25, Z:-477.92 [[ 4.95701282e-03 -9.99971771e-01 5.64678798e-03 2.87080945e+02] [ 1.90197325e-01 6.48658353e-03 9.81724453e-01 -1.63246121e+02] [-9.81733368e-01 -3.79241673e-03 1.90224110e-01 -4.77917624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.24, Z:-477.94 [[ 4.69442035e-03 -9.99980404e-01 4.14175132e-03 2.87082174e+02] [ 1.90479152e-01 4.96015550e-03 9.81678710e-01 -1.63240787e+02] [-9.81680017e-01 -3.81949524e-03 1.90498705e-01 -4.77943894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.24, Z:-477.97 [[ 4.54887362e-03 -9.99984786e-01 3.12033860e-03 2.87083279e+02] [ 1.90209143e-01 3.92864503e-03 9.81735732e-01 -1.63235383e+02] [-9.81733054e-01 -3.87227484e-03 1.90224120e-01 -4.77971920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.23, Z:-478.00 [[ 4.69785934e-03 -9.99987679e-01 1.60354829e-03 2.87084811e+02] [ 1.90014246e-01 2.46701940e-03 9.81778234e-01 -1.63229481e+02] [-9.81770093e-01 -4.30755903e-03 1.90023495e-01 -4.77999072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.22, Z:-478.03 [[ 5.80107621e-03 -9.99983170e-01 8.84705177e-05 2.87086284e+02] [ 1.89200655e-01 1.18445989e-03 9.81937732e-01 -1.63223695e+02] [-9.81921310e-01 -5.67955694e-03 1.89204342e-01 -4.78026818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.22, Z:-478.04 [[ 7.85988197e-03 -9.99968084e-01 -1.43281470e-03 2.87086715e+02] [ 1.89535188e-01 8.28834539e-05 9.81873926e-01 -1.63221704e+02] [-9.81842470e-01 -7.98898197e-03 1.89529790e-01 -4.78036414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.22, Z:-478.06 [[ 8.84664858e-03 -9.99949727e-01 4.72026196e-03 2.87083673e+02] [ 1.89791964e-01 6.31371242e-03 9.81804027e-01 -1.63218944e+02] [-9.81784471e-01 -7.78980742e-03 1.89838277e-01 -4.78064256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.21, Z:-478.09 [[ 1.13371031e-02 -9.99930403e-01 3.26495506e-03 2.87086913e+02] [ 1.90405573e-01 5.36419748e-03 9.81690859e-01 -1.63212384e+02] [-9.81640050e-01 -1.05078649e-02 1.90453136e-01 -4.78091956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.21, Z:-478.12 [[ 1.25619304e-02 -9.99919512e-01 1.77970915e-03 2.87089281e+02] [ 1.90207775e-01 4.13691283e-03 9.81735142e-01 -1.63206520e+02] [-9.81663486e-01 -1.19939740e-02 1.90244433e-01 -4.78118616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.20, Z:-478.15 [[ 1.52055437e-02 -9.99883742e-01 1.13767593e-03 2.87091699e+02] [ 1.89995725e-01 4.00639785e-03 9.81776743e-01 -1.63201336e+02] [-9.81667162e-01 -1.47122956e-02 1.90034556e-01 -4.78145897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.20, Z:-478.15 [[ 1.69760040e-02 -9.99855838e-01 -3.44081710e-04 2.87092805e+02] [ 1.89719737e-01 2.88326753e-03 9.81834053e-01 -1.63200214e+02] [-9.81691518e-01 -1.67328979e-02 1.89741333e-01 -4.78152770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.20, Z:-478.18 [[ 1.76227912e-02 -9.99840685e-01 2.83584872e-03 2.87091596e+02] [ 1.89381735e-01 6.12288601e-03 9.81884448e-01 -1.63196578e+02] [-9.81745382e-01 -1.67664867e-02 1.89459466e-01 -4.78180866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.19, Z:-478.21 [[ 1.83638635e-02 -9.99830515e-01 1.30759476e-03 2.87093290e+02] [ 1.88724749e-01 4.75060298e-03 9.82018534e-01 -1.63190943e+02] [-9.81858308e-01 -1.77868788e-02 1.88780002e-01 -4.78208713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-162.13, Z:-478.14 [[-8.52012993e-02 9.28984135e-01 -3.60179421e-01 2.86646894e+02] [ 2.02108549e-01 -3.37864667e-01 -9.19238599e-01 -1.62130076e+02] [-9.75649975e-01 -1.51115663e-01 -1.58969127e-01 -4.78138865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-163.05, Z:-478.38 [[-4.47527021e-02 -9.56132826e-01 -2.89494758e-01 2.87251294e+02] [ 2.18282334e-01 -2.92141863e-01 9.31131545e-01 -1.63047299e+02] [-9.74858974e-01 -2.15209387e-02 2.21781042e-01 -4.78377770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-163.05, Z:-478.38 [[-4.17827251e-02 -9.57028971e-01 -2.86966467e-01 2.87253072e+02] [ 2.18875301e-01 -2.89008287e-01 9.31969856e-01 -1.63046576e+02] [-9.74857839e-01 -2.38696317e-02 2.21545558e-01 -4.78383079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-162.19, Z:-478.28 [[-1.53218555e-01 9.88060750e-01 -1.61254284e-02 2.86470934e+02] [ 1.94553198e-01 1.41625963e-02 -9.80789720e-01 -1.62187340e+02] [-9.68851448e-01 -1.53412437e-01 -1.94400352e-01 -4.78276952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.87, Z:-478.58 [[-1.07395086e-01 -8.48387829e-01 -5.18367039e-01 2.87344421e+02] [ 2.27318695e-01 -5.28524772e-01 8.17916729e-01 -1.62868221e+02] [-9.67880420e-01 -2.99942810e-02 2.49615378e-01 -4.78582312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.88, Z:-478.60 [[-1.04621838e-01 -8.60507771e-01 -4.98578626e-01 2.87339294e+02] [ 2.28419918e-01 -5.08719136e-01 8.30077817e-01 -1.62877782e+02] [-9.67924900e-01 -2.70410217e-02 2.49780246e-01 -4.78595732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.88, Z:-478.61 [[-1.02974546e-01 -8.62763140e-01 -4.95011119e-01 2.87337959e+02] [ 2.29484595e-01 -5.04837561e-01 8.32151343e-01 -1.62877643e+02] [-9.67849711e-01 -2.79070189e-02 2.49976268e-01 -4.78605928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.88, Z:-478.61 [[-1.01598082e-01 -8.65094970e-01 -4.91211280e-01 2.87336968e+02] [ 2.30690658e-01 -5.00794455e-01 8.34258194e-01 -1.62878274e+02] [-9.67708453e-01 -2.85588216e-02 2.50449084e-01 -4.78613152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.88, Z:-478.62 [[-9.95543535e-02 -8.68782584e-01 -4.85083242e-01 2.87337597e+02] [ 2.28435252e-01 -4.94439626e-01 8.38657733e-01 -1.62883500e+02] [-9.68455609e-01 -2.73180842e-02 2.47684186e-01 -4.78615531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.87, Z:-478.63 [[-9.68592026e-02 -8.62412631e-01 -4.96852844e-01 2.87340821e+02] [ 2.33819767e-01 -5.04945800e-01 8.30877883e-01 -1.62867588e+02] [-9.67443338e-01 -3.56958472e-02 2.50557768e-01 -4.78630406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.87, Z:-478.65 [[-9.55423996e-02 -8.70978832e-01 -4.81941411e-01 2.87335873e+02] [ 2.34129497e-01 -4.90236241e-01 8.39554529e-01 -1.62871707e+02] [-9.67499369e-01 -3.26236458e-02 2.50760182e-01 -4.78651803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-162.87, Z:-478.66 [[-9.49686415e-02 -8.72171966e-01 -4.79892716e-01 2.87334574e+02] [ 2.34363982e-01 -4.88110182e-01 8.40727051e-01 -1.62871826e+02] [-9.67499086e-01 -3.26268621e-02 2.50760856e-01 -4.78657496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-162.87, Z:-478.66 [[-9.40923197e-02 -8.73397238e-01 -4.77832502e-01 2.87333009e+02] [ 2.34764716e-01 -4.85891732e-01 8.41899491e-01 -1.62871665e+02] [-9.67487552e-01 -3.29619357e-02 2.50761535e-01 -4.78664710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-162.88, Z:-478.66 [[-9.44221528e-02 -8.75263242e-01 -4.74340293e-01 2.87334549e+02] [ 2.36376214e-01 -4.82554288e-01 8.43366851e-01 -1.62875402e+02] [-9.67062947e-01 -3.24902491e-02 2.52455226e-01 -4.78656560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-162.87, Z:-478.67 [[-9.42462820e-02 -8.76359111e-01 -4.72347698e-01 2.87333893e+02] [ 2.37468021e-01 -4.80553485e-01 8.44202160e-01 -1.62874347e+02] [-9.66812587e-01 -3.26045580e-02 2.53397643e-01 -4.78666874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-163.17, Z:-478.81 [[-3.42730830e-02 -6.62508883e-01 7.48269561e-01 2.86628810e+02] [ 1.53233359e-01 7.36373285e-01 6.58994630e-01 -1.63166100e+02] [-9.87595511e-01 1.37245636e-01 7.62806786e-02 -4.78805420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-162.33, Z:-478.70 [[-1.48795093e-01 8.44284628e-01 5.14823743e-01 2.86206198e+02] [ 9.92211669e-02 5.30738808e-01 -8.41707478e-01 -1.62329719e+02] [-9.83877625e-01 -7.41605301e-02 -1.62742236e-01 -4.78703791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:286.10, Y:-162.40, Z:-479.27 [[-1.93589693e-01 6.78297336e-01 7.08827028e-01 2.86097580e+02] [ 3.97869052e-02 7.27328294e-01 -6.85135428e-01 -1.62403286e+02] [-9.80275488e-01 -1.04433123e-01 -1.67790613e-01 -4.79267551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-162.33, Z:-478.93 [[-1.86863085e-01 -3.43822725e-01 -9.20254379e-01 2.87372711e+02] [ 9.81393171e-02 -9.38601735e-01 3.30749842e-01 -1.62326984e+02] [-9.77471668e-01 -2.85082002e-02 2.09132544e-01 -4.78931607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-162.34, Z:-478.94 [[-1.86314801e-01 -3.71944163e-01 -9.09364797e-01 2.87376018e+02] [ 9.76943593e-02 -9.27997898e-01 3.59549321e-01 -1.62343109e+02] [-9.77620891e-01 -2.18504508e-02 2.09236591e-01 -4.78944340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-162.34, Z:-478.95 [[-1.87027206e-01 -3.76959271e-01 -9.07150777e-01 2.87375715e+02] [ 9.46824058e-02 -9.26063162e-01 3.65297498e-01 -1.62344503e+02] [-9.77781196e-01 -1.75706476e-02 2.08890417e-01 -4.78954407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-162.35, Z:-478.98 [[-1.85988359e-01 -3.80263911e-01 -9.05984375e-01 2.87372239e+02] [ 9.70718515e-02 -9.24673100e-01 3.68180273e-01 -1.62345078e+02] [-9.77745052e-01 -1.94683357e-02 2.08891355e-01 -4.78975188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-162.35, Z:-478.98 [[-1.86179859e-01 -3.91764556e-01 -9.01031405e-01 2.87372831e+02] [ 9.72092674e-02 -9.19910990e-01 3.79886995e-01 -1.62351887e+02] [-9.77694952e-01 -1.68612957e-02 2.09352044e-01 -4.78983653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-162.36, Z:-479.00 [[-1.85952218e-01 -3.98787036e-01 -8.97992579e-01 2.87371090e+02] [ 9.69793499e-02 -9.16919193e-01 3.87110061e-01 -1.62355450e+02] [-9.77761105e-01 -1.51027621e-02 2.09177265e-01 -4.79000165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-162.36, Z:-479.00 [[-1.85809256e-01 -4.01688785e-01 -8.96727963e-01 2.87371251e+02] [ 9.74442342e-02 -9.15654694e-01 3.89975773e-01 -1.62357694e+02] [-9.77742063e-01 -1.49198615e-02 2.09279373e-01 -4.79000666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-162.31, Z:-479.24 [[-2.04290999e-01 -3.75220584e-01 -9.04143076e-01 2.87311369e+02] [ 1.11968294e-01 -9.26516995e-01 3.59206570e-01 -1.62312751e+02] [-9.72485624e-01 -2.78526892e-02 2.31291891e-01 -4.79236198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-163.08, Z:-479.07 [[-9.26511714e-02 -8.47625379e-01 5.22443277e-01 2.86792676e+02] [ 5.76784685e-02 5.19250211e-01 8.52673685e-01 -1.63081674e+02] [-9.94026637e-01 1.09134944e-01 7.80593426e-04 -4.79074258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-162.39, Z:-479.08 [[-1.70107079e-01 6.63599572e-01 7.28491037e-01 2.86130356e+02] [-2.64180034e-02 7.35928685e-01 -6.76543464e-01 -1.62389662e+02] [-9.85071404e-01 -1.34330111e-01 -1.07655703e-01 -4.79081723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-162.62, Z:-479.21 [[-1.74542161e-01 2.96242069e-01 9.39029111e-01 2.86153138e+02] [-9.52108308e-02 9.44121624e-01 -3.15545966e-01 -1.62619305e+02] [-9.80035679e-01 -1.44481817e-01 -1.36583575e-01 -4.79211012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-161.89, Z:-479.46 [[-2.28609758e-01 4.30969896e-01 -8.72927561e-01 2.86966265e+02] [-6.05229763e-02 -9.01230404e-01 -4.29092913e-01 -1.61889245e+02] [-9.71634987e-01 -4.52626531e-02 2.32113646e-01 -4.79458849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-162.79, Z:-479.54 [[-1.13809256e-01 -9.49750322e-01 -2.91584943e-01 2.87146900e+02] [-1.57223239e-02 -2.91733386e-01 9.56370451e-01 -1.62793363e+02] [-9.93378207e-01 1.13428202e-01 1.82696774e-02 -4.79537382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-162.86, Z:-479.54 [[-8.06094154e-02 -1.69346017e-01 9.82254574e-01 2.86229152e+02] [-1.34314276e-01 9.78318847e-01 1.57644880e-01 -1.62860219e+02] [-9.87654696e-01 -1.19223150e-01 -1.01607298e-01 -4.79541140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-161.83, Z:-479.73 [[-1.55752758e-01 8.25676024e-01 -5.42217836e-01 2.86586373e+02] [-1.31654990e-01 -5.61371405e-01 -8.17024546e-01 -1.61829005e+02] [-9.78983167e-01 -5.58681424e-02 1.96139513e-01 -4.79729631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-162.54, Z:-479.84 [[-7.81890619e-02 -6.99819330e-01 -7.10027729e-01 2.87194158e+02] [-3.13437274e-02 -7.10130411e-01 7.03372142e-01 -1.62536995e+02] [-9.96445704e-01 7.72509236e-02 3.35894843e-02 -4.79843029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-162.99, Z:-479.86 [[-1.79878328e-02 -4.57470038e-01 8.89043082e-01 2.86303629e+02] [-1.35560045e-01 8.82092182e-01 4.51150592e-01 -1.62991192e+02] [-9.90605831e-01 -1.12403499e-01 -7.78815857e-02 -4.79862628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-161.88, Z:-480.05 [[-6.17860558e-02 9.57251989e-01 -2.82579393e-01 2.86360176e+02] [-1.40544185e-01 -2.88643673e-01 -9.47065025e-01 -1.61882366e+02] [-9.88144633e-01 -1.88005219e-02 1.52370355e-01 -4.80048739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-161.89, Z:-480.07 [[-7.48841105e-02 9.53825332e-01 -2.90877304e-01 2.86356577e+02] [-1.54739743e-01 -2.99277803e-01 -9.41535134e-01 -1.61893822e+02] [-9.85113182e-01 -2.54957418e-02 1.70005839e-01 -4.80069728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-162.44, Z:-480.16 [[-2.40736341e-02 -5.28977449e-01 -8.48294358e-01 2.87152469e+02] [-3.75737562e-02 -8.47461980e-01 5.29524698e-01 -1.62437568e+02] [-9.99003840e-01 4.46211892e-02 5.25819888e-04 -4.80158606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-163.07, Z:-480.22 [[ 5.69424382e-02 -6.04431771e-01 7.94619276e-01 2.86362352e+02] [-1.26375335e-01 7.85144899e-01 6.06281091e-01 -1.63069846e+02] [-9.90346825e-01 -1.34943401e-01 -3.16772029e-02 -4.80222498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-162.12, Z:-480.39 [[ 2.46030202e-02 9.65229078e-01 2.60245113e-01 2.86050898e+02] [-1.46058744e-01 2.61001116e-01 -9.54224953e-01 -1.62116436e+02] [-9.88969936e-01 -1.45342584e-02 1.47401562e-01 -4.80387680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-162.88, Z:-480.26 [[ 1.23687412e-01 -9.70738846e-01 -2.05833713e-01 2.86981557e+02] [-8.20811028e-02 -2.16724115e-01 9.72776105e-01 -1.62879866e+02] [-9.88920683e-01 -1.03425101e-01 -1.06485360e-01 -4.80264437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-162.52, Z:-480.46 [[ 1.14764365e-01 5.75410306e-01 8.09772882e-01 2.85919580e+02] [-1.34569273e-01 8.16649998e-01 -5.61225349e-01 -1.62524837e+02] [-9.84235872e-01 -4.45618766e-02 1.71154865e-01 -4.80463347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.536559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:287.13, Y:-162.61, Z:-480.32 [[ 1.69418931e-01 -7.40677736e-01 -6.50148996e-01 2.87128129e+02] [-2.85733096e-02 -6.63099485e-01 7.47985721e-01 -1.62606669e+02] [-9.85129835e-01 -1.08146033e-01 -1.33505220e-01 -4.80321657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-162.78, Z:-480.54 [[ 1.82652077e-01 1.68714448e-01 9.68593647e-01 2.86010923e+02] [-8.56826949e-02 9.84149777e-01 -1.55266519e-01 -1.62784672e+02] [-9.79436927e-01 -5.46319617e-02 1.94212909e-01 -4.80541194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-162.67, Z:-480.59 [[ 1.77742559e-01 3.60812360e-01 9.15544660e-01 2.85971857e+02] [-8.90145161e-02 9.32439679e-01 -3.50189463e-01 -1.62672234e+02] [-9.80042856e-01 -1.92531935e-02 1.97851752e-01 -4.80587283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-162.67, Z:-480.62 [[ 1.77417611e-01 3.62273568e-01 9.15030520e-01 2.85977128e+02] [-8.98400629e-02 9.31860610e-01 -3.51517519e-01 -1.62673386e+02] [-9.80026405e-01 -1.98410009e-02 1.97875164e-01 -4.80618364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.656559995 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:285.99, Y:-162.70, Z:-480.65 [[ 1.81340227e-01 3.37762359e-01 9.23597483e-01 2.85993764e+02] [-9.49830897e-02 9.40793220e-01 -3.25401798e-01 -1.62698566e+02] [-9.78822729e-01 -2.87177067e-02 2.02685368e-01 -4.80646605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:285.98, Y:-162.64, Z:-480.68 [[ 1.77037226e-01 4.33725874e-01 8.83481571e-01 2.85980718e+02] [-9.57150774e-02 9.00993193e-01 -4.23142871e-01 -1.62636369e+02] [-9.79538894e-01 -9.65046696e-03 2.01023441e-01 -4.80681837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-162.62, Z:-480.71 [[ 1.74558957e-01 4.45403464e-01 8.78148578e-01 2.85979829e+02] [-9.17215228e-02 8.95318869e-01 -4.35879897e-01 -1.62623515e+02] [-9.80365408e-01 -4.45838456e-03 1.97139012e-01 -4.80707186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:286.00, Y:-162.70, Z:-480.73 [[ 1.78991141e-01 3.46661614e-01 9.20753983e-01 2.86004194e+02] [-9.35231284e-02 9.37624845e-01 -3.34832905e-01 -1.62695244e+02] [-9.79395526e-01 -2.61796691e-02 2.00247420e-01 -4.80730738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-162.64, Z:-480.76 [[ 1.76023495e-01 4.23416564e-01 8.88669873e-01 2.85995756e+02] [-9.14481661e-02 9.05895418e-01 -4.13510248e-01 -1.62643971e+02] [-9.80129054e-01 -8.47971124e-03 1.98179546e-01 -4.80762170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-162.65, Z:-480.79 [[ 1.73577485e-01 4.08263498e-01 8.96209670e-01 2.85998038e+02] [-8.72377231e-02 9.12820377e-01 -3.98934254e-01 -1.62650209e+02] [-9.80948743e-01 -8.93728672e-03 1.94061043e-01 -4.80790307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-162.69, Z:-480.82 [[ 1.75242248e-01 3.50507103e-01 9.20018981e-01 2.86012883e+02] [-8.64524628e-02 9.36348424e-01 -3.40261078e-01 -1.62690757e+02] [-9.80722247e-01 -1.99097904e-02 1.94390005e-01 -4.80818596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-162.69, Z:-480.85 [[ 1.76096317e-01 3.51778270e-01 9.19370511e-01 2.86017682e+02] [-8.58302562e-02 9.35895663e-01 -3.41661346e-01 -1.62693071e+02] [-9.80623911e-01 -1.87445020e-02 1.95000998e-01 -4.80849914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-162.69, Z:-480.88 [[ 1.76801448e-01 3.53016584e-01 9.18760328e-01 2.86022653e+02] [-8.55693149e-02 9.35444251e-01 -3.42960559e-01 -1.62693985e+02] [-9.80519832e-01 -1.79817684e-02 1.95595285e-01 -4.80882907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-162.72, Z:-480.91 [[ 1.85083030e-01 3.25675621e-01 9.27189119e-01 2.86043055e+02] [-9.02122743e-02 9.45136740e-01 -3.13971796e-01 -1.62720833e+02] [-9.78573461e-01 -2.55329877e-02 2.04308710e-01 -4.80914079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-162.65, Z:-480.95 [[ 1.77725807e-01 4.24465001e-01 8.87830502e-01 2.86020710e+02] [-8.57806398e-02 9.05441486e-01 -4.15713120e-01 -1.62650889e+02] [-9.80334239e-01 -2.27571872e-03 1.97331198e-01 -4.80951049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-162.72, Z:-480.98 [[ 1.86053934e-01 3.33161886e-01 9.24330618e-01 2.86049836e+02] [-8.79629834e-02 9.42627026e-01 -3.22050934e-01 -1.62718712e+02] [-9.78594118e-01 -2.13880356e-02 2.04685380e-01 -4.80977189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-162.67, Z:-481.01 [[ 1.79073344e-01 4.05415394e-01 8.96421271e-01 2.86034592e+02] [-8.42411228e-02 9.14121513e-01 -3.96592099e-01 -1.62668506e+02] [-9.80222511e-01 -4.49646101e-03 1.97847444e-01 -4.81013445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-162.72, Z:-481.04 [[ 1.85424654e-01 3.35736349e-01 9.23525204e-01 2.86060585e+02] [-8.40011665e-02 9.41798605e-01 -3.25513735e-01 -1.62721030e+02] [-9.79061541e-01 -1.72189228e-02 2.02834925e-01 -4.81041229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-162.67, Z:-481.08 [[ 1.78690736e-01 4.06357979e-01 8.96070764e-01 2.86045923e+02] [-7.96991558e-02 9.13713931e-01 -3.98465679e-01 -1.62671533e+02] [-9.80672048e-01 -2.13957744e-04 1.95658603e-01 -4.81077009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-162.72, Z:-481.10 [[ 1.83009791e-01 3.42094969e-01 9.21671552e-01 2.86068748e+02] [-8.22983056e-02 9.39545304e-01 -3.32387742e-01 -1.62720952e+02] [-9.79660352e-01 -1.50217960e-02 2.00099826e-01 -4.81100349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-162.73, Z:-481.13 [[ 1.85089022e-01 3.36886798e-01 9.23173515e-01 2.86077346e+02] [-7.69519380e-02 9.41488770e-01 -3.28142189e-01 -1.62728028e+02] [-9.79704268e-01 -1.03044743e-02 2.00183328e-01 -4.81134018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-162.68, Z:-481.17 [[ 1.79409697e-01 4.05428332e-01 8.96348162e-01 2.86061782e+02] [-7.19928632e-02 9.14099552e-01 -3.99047663e-01 -1.62680144e+02] [-9.81136682e-01 7.06234949e-03 1.93186270e-01 -4.81170142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-162.74, Z:-481.20 [[ 1.86694743e-01 3.31671592e-01 9.24737275e-01 2.86090452e+02] [-7.40469019e-02 9.43360165e-01 -3.23401693e-01 -1.62737630e+02] [-9.79623463e-01 -8.09653436e-03 2.00679637e-01 -4.81197278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-162.67, Z:-481.23 [[ 1.80769617e-01 4.30406649e-01 8.84348609e-01 2.86068913e+02] [-6.85499476e-02 9.02488895e-01 -4.25223118e-01 -1.62666442e+02] [-9.81133656e-01 1.62453692e-02 1.92646925e-01 -4.81233714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-162.71, Z:-481.26 [[ 1.81619090e-01 3.59118535e-01 9.15449826e-01 2.86085939e+02] [-6.24870093e-02 9.33265429e-01 -3.53710351e-01 -1.62713887e+02] [-9.81381618e-01 7.03683038e-03 1.91939061e-01 -4.81261662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-162.72, Z:-481.29 [[ 1.82363769e-01 3.60178223e-01 9.14885295e-01 2.86091608e+02] [-6.07234237e-02 9.32838047e-01 -3.55142005e-01 -1.62715468e+02] [-9.81354228e-01 9.21006718e-03 1.91987117e-01 -4.81294551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-162.72, Z:-481.33 [[ 1.83410378e-01 3.61194581e-01 9.14275182e-01 2.86096967e+02] [-5.88458769e-02 9.32418378e-01 -3.56557334e-01 -1.62717075e+02] [-9.81273558e-01 1.15949906e-02 1.92270019e-01 -4.81326581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-162.72, Z:-481.36 [[ 1.85124427e-01 3.61893391e-01 9.13653173e-01 2.86102340e+02] [-5.53127673e-02 9.32086674e-01 -3.57987333e-01 -1.62719379e+02] [-9.81157197e-01 1.57355146e-02 1.92569336e-01 -4.81358171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:-162.77, Z:-481.39 [[ 1.98054340e-01 3.03541034e-01 9.32007145e-01 2.86140446e+02] [-6.40004039e-02 9.52817959e-01 -2.96718530e-01 -1.62774271e+02] [-9.78099395e-01 -8.82440995e-04 2.08136481e-01 -4.81385145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-162.69, Z:-481.42 [[ 1.96960413e-01 4.33847046e-01 8.79194709e-01 2.86117948e+02] [-6.55423082e-02 9.00581504e-01 -4.29717537e-01 -1.62689485e+02] [-9.78218177e-01 2.70128927e-02 2.05814241e-01 -4.81423953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-162.69, Z:-481.45 [[ 1.96171378e-01 4.31365927e-01 8.80590840e-01 2.86122873e+02] [-6.48469187e-02 9.01781267e-01 -4.27300156e-01 -1.62692711e+02] [-9.78423052e-01 2.67204577e-02 2.04876425e-01 -4.81454696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-162.68, Z:-481.48 [[ 1.92344331e-01 4.39516157e-01 8.77399115e-01 2.86124139e+02] [-6.25464732e-02 8.97766895e-01 -4.36007502e-01 -1.62683495e+02] [-9.79332220e-01 2.89853510e-02 2.00170558e-01 -4.81484749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-162.71, Z:-481.51 [[ 1.91431615e-01 4.04906451e-01 8.94094348e-01 2.86134949e+02] [-6.25241440e-02 9.14121892e-01 -4.00589439e-01 -1.62708190e+02] [-9.79512465e-01 2.07829994e-02 2.00308259e-01 -4.81510064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-162.67, Z:-481.54 [[ 1.82040640e-01 4.46103801e-01 8.76271992e-01 2.86121330e+02] [-5.82761939e-02 8.94490690e-01 -4.43272254e-01 -1.62671151e+02] [-9.81562576e-01 2.96277683e-02 1.88830889e-01 -4.81540609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:-162.73, Z:-481.57 [[ 1.80966983e-01 3.60270418e-01 9.15126318e-01 2.86139514e+02] [-5.80852363e-02 9.32780424e-01 -3.55734150e-01 -1.62729252e+02] [-9.81772406e-01 1.12208076e-02 1.89728852e-01 -4.81566386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-162.73, Z:-481.60 [[ 1.80502567e-01 3.61494786e-01 9.14735122e-01 2.86145523e+02] [-5.99263388e-02 9.32325177e-01 -3.56621086e-01 -1.62730422e+02] [-9.81747247e-01 9.55429476e-03 1.89950147e-01 -4.81599168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-162.73, Z:-481.63 [[ 1.78326052e-01 3.63609515e-01 9.14323761e-01 2.86151515e+02] [-6.31267125e-02 9.31531174e-01 -3.58140601e-01 -1.62729484e+02] [-9.81944417e-01 6.14754629e-03 1.89069750e-01 -4.81631451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-162.73, Z:-481.66 [[ 1.77152458e-01 3.65435725e-01 9.13823691e-01 2.86157091e+02] [-6.49939093e-02 9.30826564e-01 -3.59635511e-01 -1.62729502e+02] [-9.82035029e-01 4.31734050e-03 1.88649310e-01 -4.81663958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-162.73, Z:-481.70 [[ 1.76402362e-01 3.67213298e-01 9.13256043e-01 2.86162911e+02] [-6.67772618e-02 9.30132801e-01 -3.61100776e-01 -1.62729785e+02] [-9.82050408e-01 2.71429207e-03 1.88599122e-01 -4.81696154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:286.19, Y:-162.77, Z:-481.72 [[ 1.83163558e-01 3.20054149e-01 9.29524853e-01 2.86190847e+02] [-7.63307831e-02 9.47296347e-01 -3.11132196e-01 -1.62770445e+02] [-9.80114648e-01 -1.39632800e-02 1.97940153e-01 -4.81720611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-162.72, Z:-481.75 [[ 1.81952412e-01 3.97120378e-01 8.99549179e-01 2.86182373e+02] [-7.91970341e-02 9.17766427e-01 -3.89143437e-01 -1.62724714e+02] [-9.80112825e-01 -4.36039975e-04 1.98440571e-01 -4.81754169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:286.18, Y:-162.70, Z:-481.79 [[ 1.78482707e-01 4.39592695e-01 8.80285287e-01 2.86178322e+02] [-7.83432967e-02 8.98159310e-01 -4.32634004e-01 -1.62695489e+02] [-9.80819174e-01 8.25323666e-03 1.94745046e-01 -4.81786912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-162.74, Z:-481.81 [[ 1.79571096e-01 3.78693279e-01 9.07934812e-01 2.86193020e+02] [-7.82960932e-02 9.25511049e-01 -3.70538825e-01 -1.62736636e+02] [-9.80624262e-01 -4.54968554e-03 1.95845238e-01 -4.81808212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.19, Y:-162.72, Z:-481.84 [[ 1.77234610e-01 4.08198715e-01 8.95523144e-01 2.86191992e+02] [-7.91563353e-02 9.12893094e-01 -4.00450338e-01 -1.62717233e+02] [-9.80980208e-01 8.73294098e-05 1.94107766e-01 -4.81840367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-162.69, Z:-481.87 [[ 1.70540466e-01 4.42618820e-01 8.80343416e-01 2.86180367e+02] [-7.41395006e-02 8.96663015e-01 -4.36461651e-01 -1.62686522e+02] [-9.82557522e-01 9.16615189e-03 1.85732866e-01 -4.81871472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:286.21, Y:-162.76, Z:-481.89 [[ 1.76210540e-01 3.32380740e-01 9.26538121e-01 2.86208246e+02] [-7.74451512e-02 9.43030108e-01 -3.23568330e-01 -1.62762702e+02] [-9.81301225e-01 -1.47397347e-02 1.91913121e-01 -4.81890918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-162.72, Z:-481.92 [[ 1.73027380e-01 3.93752720e-01 9.02784759e-01 2.86196054e+02] [-7.53241085e-02 9.19215709e-01 -3.86482546e-01 -1.62721729e+02] [-9.82032487e-01 -1.12939482e-03 1.88708558e-01 -4.81924797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-162.75, Z:-481.96 [[ 1.74148256e-01 3.60309711e-01 9.16432920e-01 2.86206571e+02] [-7.52208650e-02 9.32802132e-01 -3.52451420e-01 -1.62745509e+02] [-9.81842251e-01 -7.55607692e-03 1.89548672e-01 -4.81955063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-162.75, Z:-481.99 [[ 1.74550595e-01 3.61662296e-01 9.15823385e-01 2.86211366e+02] [-7.48364319e-02 9.32284633e-01 -3.53899521e-01 -1.62746974e+02] [-9.81800183e-01 -6.76358254e-03 1.89796353e-01 -4.81987467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:-162.75, Z:-482.02 [[ 1.74722378e-01 3.63039282e-01 9.15245634e-01 2.86216180e+02] [-7.44933069e-02 9.31753939e-01 -3.55366495e-01 -1.62748333e+02] [-9.81795721e-01 -6.08919474e-03 1.89842261e-01 -4.82019818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:-162.75, Z:-482.05 [[ 1.74632943e-01 3.64396030e-01 9.14723384e-01 2.86221098e+02] [-7.38814377e-02 9.31229221e-01 -3.56866462e-01 -1.62750414e+02] [-9.81857866e-01 -5.26043824e-03 1.89545402e-01 -4.82052204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-162.75, Z:-482.08 [[ 1.74403992e-01 3.65829691e-01 9.14194665e-01 2.86225901e+02] [-7.37314406e-02 9.30668881e-01 -3.58356119e-01 -1.62751858e+02] [-9.81909834e-01 -4.90615183e-03 1.89285519e-01 -4.82084884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-162.75, Z:-482.12 [[ 1.74262887e-01 3.67279565e-01 9.13640064e-01 2.86231050e+02] [-7.37741801e-02 9.30098726e-01 -3.59824582e-01 -1.62753958e+02] [-9.81931676e-01 -4.69897609e-03 1.89177438e-01 -4.82117431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-162.79, Z:-482.14 [[ 1.83713142e-01 3.30525481e-01 9.25744235e-01 2.86257259e+02] [-7.88937288e-02 9.43693041e-01 -3.21277487e-01 -1.62787966e+02] [-9.79808788e-01 -1.40125179e-02 1.99445202e-01 -4.82144704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-162.73, Z:-482.18 [[ 1.73460853e-01 4.16512202e-01 8.92428663e-01 2.86233029e+02] [-7.39546452e-02 9.09115783e-01 -4.09925852e-01 -1.62729225e+02] [-9.82060101e-01 5.10684307e-03 1.88499012e-01 -4.82183548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-162.78, Z:-482.21 [[ 1.81016710e-01 3.43691793e-01 9.21471053e-01 2.86260412e+02] [-7.73638537e-02 9.39022219e-01 -3.35040454e-01 -1.62783546e+02] [-9.80432448e-01 -1.06406310e-02 1.96568035e-01 -4.82208730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.24, Y:-162.74, Z:-482.24 [[ 1.74109420e-01 4.02842191e-01 8.98556664e-01 2.86244130e+02] [-7.43787146e-02 9.15267042e-01 -3.95921771e-01 -1.62742215e+02] [-9.81913294e-01 2.10022033e-03 1.89319499e-01 -4.82244852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.25, Y:-162.76, Z:-482.27 [[ 1.75425017e-01 3.72364108e-01 9.11356700e-01 2.86252957e+02] [-7.64416188e-02 9.28069056e-01 -3.64478402e-01 -1.62764544e+02] [-9.81520628e-01 -5.72695163e-03 1.91270645e-01 -4.82274666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-162.77, Z:-482.30 [[ 1.73537156e-01 3.69163926e-01 9.13018538e-01 2.86259069e+02] [-7.83979821e-02 9.29321132e-01 -3.60854529e-01 -1.62768671e+02] [-9.81701896e-01 -8.95714228e-03 1.90213453e-01 -4.82301454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-162.80, Z:-482.33 [[ 1.75276741e-01 3.23872446e-01 9.29722917e-01 2.86270631e+02] [-7.69996584e-02 9.45959052e-01 -3.15011943e-01 -1.62801363e+02] [-9.81503498e-01 -1.63740805e-02 1.90742687e-01 -4.82332916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-162.76, Z:-482.37 [[ 1.70537915e-01 3.88430963e-01 9.05559610e-01 2.86260180e+02] [-7.45806860e-02 9.21474365e-01 -3.81212166e-01 -1.62762435e+02] [-9.82524575e-01 -2.52612913e-03 1.86115764e-01 -4.82368285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-162.80, Z:-482.40 [[ 1.71176002e-01 3.39363342e-01 9.24949349e-01 2.86274107e+02] [-7.43480618e-02 9.40578171e-01 -3.31338302e-01 -1.62795899e+02] [-9.82431240e-01 -1.20510255e-02 1.86235417e-01 -4.82397902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-162.81, Z:-482.43 [[ 1.73764690e-01 3.31393126e-01 9.27353454e-01 2.86284635e+02] [-7.64093439e-02 9.43377197e-01 -3.22801916e-01 -1.62808075e+02] [-9.81818438e-01 -1.47668942e-02 1.89247177e-01 -4.82429697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-162.78, Z:-482.46 [[ 1.72914333e-01 3.80921192e-01 9.08294930e-01 2.86278612e+02] [-7.70458663e-02 9.24591340e-01 -3.73088178e-01 -1.62780012e+02] [-9.81918820e-01 -5.46807636e-03 1.89223498e-01 -4.82460377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-162.76, Z:-482.49 [[ 1.66675087e-01 4.07015849e-01 8.98085471e-01 2.86269770e+02] [-7.21531905e-02 9.13418980e-01 -4.00574193e-01 -1.62757665e+02] [-9.83368361e-01 1.96600646e-03 1.81611680e-01 -4.82493739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:-162.81, Z:-482.52 [[ 1.66164192e-01 3.27146210e-01 9.30249869e-01 2.86286654e+02] [-7.14537557e-02 9.44879064e-01 -3.19527644e-01 -1.62811958e+02] [-9.83505883e-01 -1.33757941e-02 1.80380892e-01 -4.82521034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:-162.81, Z:-482.55 [[ 1.63561377e-01 3.37835709e-01 9.26884410e-01 2.86288223e+02] [-7.16306228e-02 9.41124002e-01 -3.30385632e-01 -1.62809026e+02] [-9.83929230e-01 -1.23549787e-02 1.78130920e-01 -4.82551774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-162.84, Z:-482.58 [[ 1.65268422e-01 2.99418940e-01 9.39699232e-01 2.86302558e+02] [-7.21206327e-02 9.53919692e-01 -2.91265918e-01 -1.62838455e+02] [-9.83608135e-01 -1.96346445e-02 1.79247086e-01 -4.82583136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:-162.80, Z:-482.62 [[ 1.64157003e-01 3.63700890e-01 9.16937371e-01 2.86293339e+02] [-7.16934072e-02 9.31488009e-01 -3.56637272e-01 -1.62799832e+02] [-9.83825459e-01 -7.19385856e-03 1.78985236e-01 -4.82619029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-162.82, Z:-482.65 [[ 1.64530120e-01 3.38770875e-01 9.26371488e-01 2.86303165e+02] [-7.20810433e-02 9.40788832e-01 -3.31241146e-01 -1.62818602e+02] [-9.83734803e-01 -1.22746780e-02 1.79207058e-01 -4.82649843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.636559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.31, Y:-162.82, Z:-482.68 [[ 1.63286617e-01 3.46316782e-01 9.23797688e-01 2.86307572e+02] [-7.54801675e-02 9.38005744e-01 -3.38301593e-01 -1.62816408e+02] [-9.83687057e-01 -1.44882815e-02 1.79303833e-01 -4.82681057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:-162.83, Z:-482.71 [[ 1.63704980e-01 3.29016915e-01 9.30026101e-01 2.86314804e+02] [-7.74539440e-02 9.44120849e-01 -3.20369646e-01 -1.62828316e+02] [-9.83464065e-01 -1.95880831e-02 1.80040942e-01 -4.82713981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-162.82, Z:-482.75 [[ 1.64232805e-01 3.54098164e-01 9.20674794e-01 2.86316601e+02] [-8.07929915e-02 9.35040956e-01 -3.45211391e-01 -1.62816046e+02] [-9.83107359e-01 -1.76890358e-02 1.82173049e-01 -4.82747450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-162.81, Z:-482.78 [[ 1.64666969e-01 3.63464597e-01 9.16939625e-01 2.86320730e+02] [-8.48261556e-02 9.31404029e-01 -3.53964771e-01 -1.62812665e+02] [-9.82694924e-01 -1.94941572e-02 1.84202783e-01 -4.82780724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-162.82, Z:-482.81 [[ 1.64610565e-01 3.59764899e-01 9.18407633e-01 2.86327125e+02] [-8.66782624e-02 9.32783226e-01 -3.49860447e-01 -1.62817646e+02] [-9.82542743e-01 -2.20152518e-02 1.84729770e-01 -4.82811910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-162.81, Z:-482.84 [[ 1.66564625e-01 3.69097079e-01 9.14343246e-01 2.86333306e+02] [-8.86812954e-02 9.29146687e-01 -3.58917904e-01 -1.62814614e+02] [-9.82034548e-01 -2.13021176e-02 1.87494976e-01 -4.82843795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-162.81, Z:-482.87 [[ 1.65473248e-01 3.82026880e-01 9.09216183e-01 2.86335523e+02] [-8.97100043e-02 9.23934146e-01 -3.71884135e-01 -1.62806908e+02] [-9.82125613e-01 -2.00289119e-02 1.87158018e-01 -4.82874443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:-162.84, Z:-482.90 [[ 1.66530761e-01 3.36131700e-01 9.26975181e-01 2.86350584e+02] [-8.72131997e-02 9.41439170e-01 -3.25708685e-01 -1.62838794e+02] [-9.82171759e-01 -2.66039563e-02 1.86093703e-01 -4.82904873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-162.84, Z:-482.94 [[ 1.69997426e-01 3.56560179e-01 9.18676066e-01 2.86361326e+02] [-9.10352516e-02 9.33941174e-01 -3.45639214e-01 -1.62835396e+02] [-9.81230584e-01 -2.48741300e-02 1.91227141e-01 -4.82935909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.35, Y:-162.80, Z:-482.97 [[ 1.60034066e-01 4.07003595e-01 8.99298155e-01 2.86349034e+02] [-8.32177469e-02 9.13359661e-01 -3.98558574e-01 -1.62797118e+02] [-9.83597430e-01 -1.10546172e-02 1.80038582e-01 -4.82968008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-162.83, Z:-483.00 [[ 1.63017705e-01 3.67762405e-01 9.15519547e-01 2.86361198e+02] [-8.09667924e-02 9.29789086e-01 -3.59077477e-01 -1.62825784e+02] [-9.83295279e-01 -1.55906950e-02 1.81348625e-01 -4.82996594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-162.83, Z:-483.03 [[ 1.64071918e-01 3.69268056e-01 9.14724827e-01 2.86365007e+02] [-7.83739505e-02 9.29239539e-01 -3.61069804e-01 -1.62825903e+02] [-9.83330021e-01 -1.24491829e-02 1.81403110e-01 -4.83029194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-162.84, Z:-483.06 [[ 1.66537474e-01 3.47879418e-01 9.22629492e-01 2.86374949e+02] [-7.57172269e-02 9.37445371e-01 -3.39798584e-01 -1.62843124e+02] [-9.83123681e-01 -1.32697487e-02 1.82460249e-01 -4.83058999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-162.84, Z:-483.09 [[ 1.67756776e-01 3.65282386e-01 9.15656291e-01 2.86377369e+02] [-7.50771823e-02 9.30855575e-01 -3.57590989e-01 -1.62836012e+02] [-9.82965453e-01 -8.75658292e-03 1.83581702e-01 -4.83092861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-162.83, Z:-483.13 [[ 1.68031150e-01 3.79271171e-01 9.09900495e-01 2.86379255e+02] [-7.34671389e-02 9.25275476e-01 -3.72112717e-01 -1.62828682e+02] [-9.83040239e-01 -4.32125838e-03 1.83339070e-01 -4.83125006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-162.84, Z:-483.15 [[ 1.68462948e-01 3.59009705e-01 9.18004503e-01 2.86386894e+02] [-7.17631557e-02 9.33310425e-01 -3.51826235e-01 -1.62842762e+02] [-9.83092206e-01 -6.60921540e-03 1.82991895e-01 -4.83154492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-162.84, Z:-483.19 [[ 1.71902731e-01 3.63924530e-01 9.15427980e-01 2.86394343e+02] [-7.49984470e-02 9.31398839e-01 -3.56190169e-01 -1.62844064e+02] [-9.82254898e-01 -7.42561416e-03 1.87403778e-01 -4.83187193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.40, Y:-162.83, Z:-483.22 [[ 1.72739315e-01 3.83528488e-01 9.07230416e-01 2.86397525e+02] [-7.68895496e-02 9.23516334e-01 -3.75773308e-01 -1.62832449e+02] [-9.81961876e-01 -4.84571446e-03 1.89016911e-01 -4.83220569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.40, Y:-162.84, Z:-483.25 [[ 1.72407285e-01 3.80019120e-01 9.08769056e-01 2.86403563e+02] [-7.76400143e-02 9.24956412e-01 -3.72058683e-01 -1.62836770e+02] [-9.81961179e-01 -6.41121512e-03 1.88973914e-01 -4.83252362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:-162.84, Z:-483.28 [[ 1.72927946e-01 3.77654718e-01 9.09655341e-01 2.86410764e+02] [-7.95058743e-02 9.25907822e-01 -3.69287856e-01 -1.62840548e+02] [-9.81720297e-01 -8.46275276e-03 1.90141107e-01 -4.83283234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-162.84, Z:-483.32 [[ 1.73083200e-01 3.85668604e-01 9.06257101e-01 2.86415049e+02] [-7.99013314e-02 9.22610095e-01 -3.77367712e-01 -1.62838105e+02] [-9.81660829e-01 -7.09513788e-03 1.90503742e-01 -4.83315987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-162.84, Z:-483.35 [[ 1.72991455e-01 3.89199818e-01 9.04763758e-01 2.86420071e+02] [-8.18927125e-02 9.21116345e-01 -3.80576224e-01 -1.62839259e+02] [-9.81512883e-01 -8.25712370e-03 1.91217885e-01 -4.83348602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:-162.85, Z:-483.38 [[ 1.75278180e-01 3.83581654e-01 9.06720836e-01 2.86432496e+02] [-8.81498582e-02 9.23393999e-01 -3.73594868e-01 -1.62850418e+02] [-9.80564716e-01 -1.44442847e-02 1.95663488e-01 -4.83379183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:-162.81, Z:-483.41 [[ 1.72744971e-01 4.38078295e-01 8.82182851e-01 2.86427268e+02] [-8.71353027e-02 8.98932754e-01 -4.29333604e-01 -1.62812506e+02] [-9.81104793e-01 -2.70404866e-03 1.93458198e-01 -4.83414836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-162.84, Z:-483.44 [[ 1.73910328e-01 4.02486781e-01 8.98754465e-01 2.86440552e+02] [-9.13849444e-02 9.15319940e-01 -3.92222130e-01 -1.62840544e+02] [-9.80512106e-01 -1.39211475e-02 1.95964823e-01 -4.83444020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-162.82, Z:-483.48 [[ 1.73105387e-01 4.32769197e-01 8.84728968e-01 2.86441792e+02] [-9.26445849e-02 9.01462080e-01 -4.22827506e-01 -1.62822791e+02] [-9.80536336e-01 -8.77162891e-03 1.96141665e-01 -4.83477325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:-162.83, Z:-483.51 [[ 1.73073119e-01 4.33280576e-01 8.84484956e-01 2.86447541e+02] [-9.30056293e-02 9.01214106e-01 -4.23276609e-01 -1.62825378e+02] [-9.80507852e-01 -9.00427708e-03 1.96273469e-01 -4.83510058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-162.84, Z:-483.54 [[ 1.75361291e-01 4.18352799e-01 8.91195463e-01 2.86460297e+02] [-9.74610884e-02 9.08153011e-01 -4.07135659e-01 -1.62844932e+02] [-9.79668186e-01 -1.54610451e-02 2.00028004e-01 -4.83541166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-162.82, Z:-483.57 [[ 1.77465849e-01 4.66456686e-01 8.66558730e-01 2.86462247e+02] [-1.01194333e-01 8.84517339e-01 -4.55399588e-01 -1.62818542e+02] [-9.78910404e-01 -6.87295793e-03 2.04174393e-01 -4.83573045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-162.81, Z:-483.60 [[ 1.74754217e-01 4.76830301e-01 8.61448680e-01 2.86466714e+02] [-1.00831548e-01 8.78978711e-01 -4.66078775e-01 -1.62814430e+02] [-9.79435533e-01 -5.41197289e-03 2.01684774e-01 -4.83603159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-162.77, Z:-483.64 [[ 1.64922275e-01 5.29972310e-01 8.31823295e-01 2.86456134e+02] [-9.31375017e-02 8.47971524e-01 -5.21794691e-01 -1.62766175e+02] [-9.81899205e-01 8.58162382e-03 1.89209689e-01 -4.83635343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:286.48, Y:-162.86, Z:-483.65 [[ 1.69870886e-01 4.06475123e-01 8.97731506e-01 2.86479606e+02] [-9.68226314e-02 9.13447804e-01 -3.95270145e-01 -1.62858314e+02] [-9.80698353e-01 -1.97758370e-02 1.94524179e-01 -4.83654940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-162.80, Z:-483.69 [[ 1.64893544e-01 4.90020044e-01 8.55973408e-01 2.86468752e+02] [-9.38557395e-02 8.71710554e-01 -4.80948864e-01 -1.62798228e+02] [-9.81835638e-01 -1.03265470e-03 1.89730636e-01 -4.83688625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-162.84, Z:-483.72 [[ 1.66066706e-01 4.29366645e-01 8.87730890e-01 2.86480959e+02] [-9.43366921e-02 9.03019496e-01 -4.19113801e-01 -1.62842288e+02] [-9.81591788e-01 -1.41447471e-02 1.90466503e-01 -4.83716006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-162.84, Z:-483.75 [[ 1.66070285e-01 4.30540325e-01 8.87161592e-01 2.86486160e+02] [-9.46080129e-02 9.02460564e-01 -4.20254988e-01 -1.62844265e+02] [-9.81565069e-01 -1.41407296e-02 1.90604448e-01 -4.83748942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:-162.90, Z:-483.78 [[ 1.77117064e-01 3.73850170e-01 9.10420560e-01 2.86515566e+02] [-1.04271230e-01 9.26967388e-01 -3.60359504e-01 -1.62899230e+02] [-9.78650630e-01 -3.11048544e-02 2.03163559e-01 -4.83776400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-162.81, Z:-483.82 [[ 1.72780799e-01 5.05140838e-01 8.45564621e-01 2.86500708e+02] [-1.04668140e-01 8.63031294e-01 -4.94187784e-01 -1.62814167e+02] [-9.79383161e-01 -3.11751608e-03 2.01987389e-01 -4.83816479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-162.75, Z:-483.85 [[ 1.64186169e-01 5.75449883e-01 8.01186829e-01 2.86487934e+02] [-9.30370065e-02 8.17622113e-01 -5.68188521e-01 -1.62747871e+02] [-9.82032086e-01 1.87486724e-02 1.87780377e-01 -4.83846644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-162.92, Z:-483.86 [[ 1.81611012e-01 3.62901901e-01 9.13958233e-01 2.86537537e+02] [-1.03519728e-01 9.31305190e-01 -3.49219570e-01 -1.62916840e+02] [-9.77906492e-01 -3.11905879e-02 2.06702784e-01 -4.83864702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:286.52, Y:-162.83, Z:-483.91 [[ 1.76763788e-01 5.00709465e-01 8.47375121e-01 2.86519951e+02] [-1.04208293e-01 8.65613670e-01 -4.89748513e-01 -1.62827632e+02] [-9.78721204e-01 -1.73371224e-03 2.05187230e-01 -4.83907614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-162.78, Z:-483.94 [[ 1.71123770e-01 5.52592982e-01 8.15694583e-01 2.86510711e+02] [-9.67968897e-02 8.33330713e-01 -5.44233668e-01 -1.62778723e+02] [-9.80483053e-01 1.41746183e-02 1.96091975e-01 -4.83937649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-162.86, Z:-483.96 [[ 1.74068114e-01 4.34313219e-01 8.83782959e-01 2.86525997e+02] [-9.72922615e-02 9.00678267e-01 -4.23453511e-01 -1.62864841e+02] [-9.79915561e-01 -1.22754887e-02 1.99034683e-01 -4.83956823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.896559995 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:286.54, Y:-162.90, Z:-483.98 [[ 1.78822445e-01 4.02378416e-01 8.97838596e-01 2.86544574e+02] [-1.02429558e-01 9.15202584e-01 -3.89759433e-01 -1.62897793e+02] [-9.78534986e-01 -2.22674764e-02 2.04874207e-01 -4.83983844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-162.82, Z:-484.02 [[ 1.71954087e-01 5.06414968e-01 8.44970812e-01 2.86527873e+02] [-9.80571151e-02 8.62286052e-01 -4.96837566e-01 -1.62820168e+02] [-9.80212525e-01 2.57784984e-03 1.97931201e-01 -4.84019067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-162.87, Z:-484.04 [[ 1.73001889e-01 4.32417734e-01 8.84921041e-01 2.86541239e+02] [-9.79824110e-02 9.01567715e-01 -4.21396609e-01 -1.62873572e+02] [-9.80035608e-01 -1.38042876e-02 1.98342250e-01 -4.84044651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-162.88, Z:-484.07 [[ 1.73151139e-01 4.33260535e-01 8.84479504e-01 2.86546011e+02] [-9.83528083e-02 9.01161675e-01 -4.22178114e-01 -1.62875409e+02] [-9.79972147e-01 -1.38904219e-02 1.98649560e-01 -4.84072194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-162.88, Z:-484.10 [[ 1.73442391e-01 4.32818313e-01 8.84638935e-01 2.86550624e+02] [-9.85902429e-02 9.01371205e-01 -4.21675129e-01 -1.62877859e+02] [-9.79896781e-01 -1.40804251e-02 1.99007639e-01 -4.84099092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-162.88, Z:-484.13 [[ 1.73816858e-01 4.32298721e-01 8.84819482e-01 2.86555624e+02] [-9.88438289e-02 9.01617590e-01 -4.21088612e-01 -1.62880958e+02] [-9.79804877e-01 -1.42666461e-02 1.99446397e-01 -4.84125835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-162.88, Z:-484.15 [[ 1.74183031e-01 4.31721930e-01 8.85029066e-01 2.86560469e+02] [-9.86872975e-02 9.01896657e-01 -4.20527333e-01 -1.62884195e+02] [-9.79755627e-01 -1.40924012e-02 1.99700564e-01 -4.84153196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-162.89, Z:-484.18 [[ 1.74506058e-01 4.30420901e-01 8.85598941e-01 2.86565696e+02] [-9.83092021e-02 9.02521318e-01 -4.19273861e-01 -1.62888102e+02] [-9.79736157e-01 -1.38966966e-02 1.99809773e-01 -4.84180689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-162.89, Z:-484.21 [[ 1.74429075e-01 4.29085733e-01 8.86261774e-01 2.86571903e+02] [-9.75379967e-02 9.03162573e-01 -4.18071413e-01 -1.62891827e+02] [-9.79826942e-01 -1.35203883e-02 1.99389975e-01 -4.84208205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-162.89, Z:-484.24 [[ 1.74174197e-01 4.27784784e-01 8.86940543e-01 2.86577235e+02] [-9.68816723e-02 9.03782500e-01 -4.16882639e-01 -1.62894230e+02] [-9.79937391e-01 -1.33180841e-02 1.98860097e-01 -4.84235646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-162.90, Z:-484.26 [[ 1.74503316e-01 4.27185805e-01 8.87164517e-01 2.86582145e+02] [-9.61610845e-02 9.04075434e-01 -4.16414043e-01 -1.62895941e+02] [-9.79949814e-01 -1.26450708e-02 1.98842811e-01 -4.84262233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-162.95, Z:-484.29 [[ 1.86158779e-01 3.61195462e-01 9.13719184e-01 2.86616069e+02] [-1.03703790e-01 9.32004067e-01 -3.47295181e-01 -1.62954767e+02] [-9.77031439e-01 -3.01040953e-02 2.10958077e-01 -4.84287034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:-162.88, Z:-484.33 [[ 1.81906196e-01 4.79782919e-01 8.58323067e-01 2.86601660e+02] [-1.05113654e-01 8.77372631e-01 -4.68154233e-01 -1.62880405e+02] [-9.77681572e-01 -5.06131812e-03 2.10031254e-01 -4.84328003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-162.87, Z:-484.36 [[ 1.83037755e-01 5.00512504e-01 8.46158622e-01 2.86606047e+02] [-1.07159817e-01 8.65728495e-01 -4.88907912e-01 -1.62871059e+02] [-9.77248154e-01 -1.18559658e-03 2.12095829e-01 -4.84359011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-162.77, Z:-484.39 [[ 1.72354736e-01 6.05226765e-01 7.77170771e-01 2.86586778e+02] [-9.20334361e-02 7.95420908e-01 -5.99028736e-01 -1.62771972e+02] [-9.80726104e-01 3.17197433e-02 1.92795660e-01 -4.84390198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-162.90, Z:-484.41 [[ 1.75316128e-01 4.22088285e-01 8.89441249e-01 2.86605133e+02] [-9.07239507e-02 9.06515727e-01 -4.12308623e-01 -1.62904948e+02] [-9.80323120e-01 -8.40927249e-03 1.97220344e-01 -4.84405516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.376559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.65, Y:-162.98, Z:-484.43 [[ 1.90314414e-01 3.39308139e-01 9.21222238e-01 2.86647214e+02] [-1.01122470e-01 9.40156742e-01 -3.25391375e-01 -1.62979738e+02] [-9.76501239e-01 -3.12295990e-02 2.13237057e-01 -4.84429250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.62, Y:-162.87, Z:-484.47 [[ 1.85316928e-01 5.03085307e-01 8.44134356e-01 2.86623980e+02] [-1.01297214e-01 8.64217170e-01 -4.92815947e-01 -1.62871740e+02] [-9.77443866e-01 5.81867830e-03 2.11115211e-01 -4.84472580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4365599949999 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:286.62, Y:-162.86, Z:-484.50 [[ 1.83552203e-01 5.17211260e-01 8.35943241e-01 2.86624117e+02] [-9.73850937e-02 8.55775666e-01 -5.08098566e-01 -1.62856053e+02] [-9.78174183e-01 1.18542002e-02 2.07448176e-01 -4.84502590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:286.64, Y:-162.90, Z:-484.52 [[ 1.85199388e-01 4.54214219e-01 8.71430221e-01 2.86635600e+02] [-9.63018559e-02 8.90890854e-01 -4.43891248e-01 -1.62900998e+02] [-9.77970930e-01 -1.71196017e-03 2.08734113e-01 -4.84523673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.496559995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:286.64, Y:-162.90, Z:-484.55 [[ 1.85101219e-01 4.50310518e-01 8.73474657e-01 2.86640561e+02] [-9.53097947e-02 8.92870231e-01 -4.40112250e-01 -1.62904481e+02] [-9.78086695e-01 -1.78537643e-03 2.08190371e-01 -4.84550863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:286.65, Y:-162.92, Z:-484.58 [[ 1.84827287e-01 4.32515333e-01 8.82479099e-01 2.86648248e+02] [-9.58259639e-02 9.01602415e-01 -4.21818054e-01 -1.62920604e+02] [-9.78088063e-01 -6.60092364e-03 2.08086927e-01 -4.84579242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-162.86, Z:-484.61 [[ 1.78148015e-01 5.06430699e-01 8.43677209e-01 2.86633914e+02] [-8.90877781e-02 8.62172067e-01 -4.98721060e-01 -1.62861231e+02] [-9.79962577e-01 1.36848389e-02 1.98711028e-01 -4.84612429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-162.92, Z:-484.64 [[ 1.79138713e-01 4.20836040e-01 8.89272933e-01 2.86648148e+02] [-8.83119601e-02 9.07123919e-01 -4.11493855e-01 -1.62922097e+02] [-9.79852193e-01 -4.81895633e-03 1.99665867e-01 -4.84637635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:-162.92, Z:-484.67 [[ 1.78986330e-01 4.22029913e-01 8.88737670e-01 2.86653580e+02] [-8.82062204e-02 9.06570646e-01 -4.12733966e-01 -1.62922980e+02] [-9.79889564e-01 -4.51845327e-03 1.99489416e-01 -4.84669457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-162.92, Z:-484.70 [[ 1.78195216e-01 4.23216060e-01 8.88332501e-01 2.86658667e+02] [-8.78381777e-02 9.06018808e-01 -4.14022190e-01 -1.62924089e+02] [-9.80066793e-01 -4.25273431e-03 1.98622745e-01 -4.84701926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-162.93, Z:-484.73 [[ 1.77626354e-01 4.24405906e-01 8.87878655e-01 2.86664056e+02] [-8.71692378e-02 9.05464833e-01 -4.15373279e-01 -1.62925486e+02] [-9.80229770e-01 -3.61446433e-03 1.97829557e-01 -4.84734861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-162.93, Z:-484.77 [[ 1.77398589e-01 4.25669874e-01 8.87318939e-01 2.86669737e+02] [-8.70760665e-02 9.04872348e-01 -4.16681883e-01 -1.62927629e+02] [-9.80279297e-01 -3.34546490e-03 1.97588736e-01 -4.84767063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-162.93, Z:-484.80 [[ 1.77036697e-01 4.26750095e-01 8.86872237e-01 2.86674955e+02] [-8.58075805e-02 9.04367171e-01 -4.18039566e-01 -1.62930212e+02] [-9.80456561e-01 -2.09201669e-03 1.96724570e-01 -4.84799464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.68, Y:-162.93, Z:-484.83 [[ 1.77141789e-01 4.27958827e-01 8.86268599e-01 2.86680631e+02] [-8.53415665e-02 9.03797225e-01 -4.19365464e-01 -1.62932143e+02] [-9.80478252e-01 -1.34840184e-03 1.96622934e-01 -4.84831225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-162.93, Z:-484.86 [[ 1.76640877e-01 4.29118144e-01 8.85807891e-01 2.86685160e+02] [-8.48417983e-02 9.03247970e-01 -4.20648277e-01 -1.62933184e+02] [-9.80611988e-01 -8.49853814e-04 1.95957668e-01 -4.84858904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-162.94, Z:-484.89 [[ 1.76424785e-01 4.28641499e-01 8.86081690e-01 2.86690936e+02] [-8.46493590e-02 9.03474241e-01 -4.20200883e-01 -1.62935732e+02] [-9.80667518e-01 -8.72396820e-04 1.95679477e-01 -4.84891283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-162.94, Z:-484.92 [[ 1.76799211e-01 4.30050842e-01 8.85323846e-01 2.86696009e+02] [-8.55825710e-02 9.02803797e-01 -4.21450979e-01 -1.62936029e+02] [-9.80519078e-01 -1.25609051e-03 1.96419855e-01 -4.84922411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-162.94, Z:-484.95 [[ 1.77118561e-01 4.30863220e-01 8.84864906e-01 2.86700323e+02] [-8.58018896e-02 9.02416529e-01 -4.22235057e-01 -1.62936289e+02] [-9.80442273e-01 -1.13741532e-03 1.96803595e-01 -4.84949446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-162.96, Z:-484.98 [[ 1.83069017e-01 4.07797206e-01 8.94531818e-01 2.86718409e+02] [-9.20871879e-02 9.13021775e-01 -3.97380407e-01 -1.62964300e+02] [-9.78777648e-01 -9.62687911e-03 2.04698897e-01 -4.84981751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-162.91, Z:-485.02 [[ 1.80925155e-01 4.88698495e-01 8.53486889e-01 2.86711689e+02] [-9.11582540e-02 8.72405496e-01 -4.80207063e-01 -1.62910410e+02] [-9.79263122e-01 9.07916271e-03 2.02389001e-01 -4.85020128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-162.93, Z:-485.05 [[ 1.83981920e-01 4.65105360e-01 8.65925896e-01 2.86722717e+02] [-9.31934031e-02 8.85249767e-01 -4.55683924e-01 -1.62933086e+02] [-9.78501734e-01 3.13902207e-03 2.06214703e-01 -4.85050297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-162.91, Z:-485.08 [[ 1.84104515e-01 5.03463087e-01 8.44174418e-01 2.86722704e+02] [-9.27097138e-02 8.63920842e-01 -4.95020897e-01 -1.62906653e+02] [-9.78524622e-01 1.28724133e-02 2.05727646e-01 -4.85084341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-162.92, Z:-485.12 [[ 1.85085327e-01 4.95143425e-01 8.48867722e-01 2.86729427e+02] [-9.25005635e-02 8.68734674e-01 -4.86563164e-01 -1.62915805e+02] [-9.78359376e-01 1.15349595e-02 2.06591087e-01 -4.85115849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-162.91, Z:-485.15 [[ 1.82633723e-01 5.06296320e-01 8.42798291e-01 2.86729934e+02] [-8.86518202e-02 8.62204154e-01 -4.98743273e-01 -1.62906267e+02] [-9.79176071e-01 1.63717381e-02 2.02351645e-01 -4.85146812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-162.94, Z:-485.18 [[ 1.84710410e-01 4.71964947e-01 8.62050552e-01 2.86740694e+02] [-8.89524520e-02 8.81571895e-01 -4.63592985e-01 -1.62935630e+02] [-9.78759177e-01 8.94893986e-03 2.04817945e-01 -4.85176289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-162.93, Z:-485.21 [[ 1.83764771e-01 4.91443386e-01 8.51301302e-01 2.86743752e+02] [-8.93482504e-02 8.70815843e-01 -4.83421822e-01 -1.62925188e+02] [-9.78901118e-01 1.27736186e-02 2.03934881e-01 -4.85210290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-162.92, Z:-485.24 [[ 1.82621937e-01 4.99205430e-01 8.47020169e-01 2.86747424e+02] [-8.89741398e-02 8.66364303e-01 -4.91422931e-01 -1.62921377e+02] [-9.79149034e-01 1.43817168e-02 2.02633501e-01 -4.85242101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-162.93, Z:-485.27 [[ 1.80698040e-01 4.91816894e-01 8.51741957e-01 2.86752299e+02] [-8.76790032e-02 8.70604600e-01 -4.84107450e-01 -1.62927636e+02] [-9.79622688e-01 1.27973817e-02 2.00438560e-01 -4.85273470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:-162.93, Z:-485.30 [[ 1.78531165e-01 4.88694088e-01 8.53993391e-01 2.86758223e+02] [-8.99964174e-02 8.72409675e-01 -4.80418572e-01 -1.62932822e+02] [-9.79809812e-01 8.91334165e-03 1.99733033e-01 -4.85304284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:-162.93, Z:-485.34 [[ 1.75790409e-01 4.98902909e-01 8.48642221e-01 2.86760314e+02] [-8.95608941e-02 8.66596777e-01 -4.90906175e-01 -1.62925357e+02] [-9.80345132e-01 1.02914410e-02 1.97021592e-01 -4.85336361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:-162.94, Z:-485.37 [[ 1.74688031e-01 4.77614809e-01 8.61027401e-01 2.86767210e+02] [-9.23684163e-02 8.78566262e-01 -4.68603670e-01 -1.62942643e+02] [-9.80281678e-01 2.32771518e-03 1.97591534e-01 -4.85367101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:-162.94, Z:-485.40 [[ 1.73053625e-01 4.82431099e-01 8.58669132e-01 2.86771106e+02] [-9.31162959e-02 8.75931726e-01 -4.73363462e-01 -1.62941492e+02] [-9.80500790e-01 1.96117404e-03 1.96505357e-01 -4.85398683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-162.94, Z:-485.43 [[ 1.71864751e-01 4.81680010e-01 8.59329317e-01 2.86775924e+02] [-9.38937256e-02 8.76347025e-01 -4.72440325e-01 -1.62944094e+02] [-9.80635751e-01 5.10207780e-04 1.95839894e-01 -4.85429918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-162.95, Z:-485.46 [[ 1.70417938e-01 4.80620809e-01 8.60210070e-01 2.86780820e+02] [-9.41894002e-02 8.76928242e-01 -4.71301618e-01 -1.62946007e+02] [-9.80859869e-01 -7.04420595e-04 1.94713689e-01 -4.85461440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-162.95, Z:-485.49 [[ 1.68914394e-01 4.74874727e-01 8.63690871e-01 2.86785542e+02] [-9.44096321e-02 8.80048536e-01 -4.65404551e-01 -1.62949854e+02] [-9.81098746e-01 -2.92720979e-03 1.93485613e-01 -4.85492524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-162.96, Z:-485.52 [[ 1.68738198e-01 4.61397236e-01 8.70999433e-01 2.86792163e+02] [-9.47784383e-02 8.87170940e-01 -4.51602448e-01 -1.62962231e+02] [-9.81093506e-01 -6.34938280e-03 1.93430135e-01 -4.85523496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-162.96, Z:-485.55 [[ 1.67392467e-01 4.60977404e-01 8.71481265e-01 2.86797152e+02] [-9.38740709e-02 8.87389829e-01 -4.51361220e-01 -1.62964731e+02] [-9.81410934e-01 -6.25502579e-03 1.91816198e-01 -4.85553193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-162.97, Z:-485.59 [[ 1.69135037e-01 4.53262621e-01 8.75183601e-01 2.86802866e+02] [-9.02882473e-02 8.91368536e-01 -4.44196089e-01 -1.62972983e+02] [-9.81448609e-01 -3.88967147e-03 1.91685938e-01 -4.85585328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-162.97, Z:-485.62 [[ 1.69818383e-01 4.66299432e-01 8.68174266e-01 2.86805976e+02] [-8.83151434e-02 8.84626290e-01 -4.57861074e-01 -1.62966931e+02] [-9.81510139e-01 1.08029259e-03 1.91407108e-01 -4.85618328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-162.98, Z:-485.65 [[ 1.73297021e-01 4.59259536e-01 8.71234080e-01 2.86812593e+02] [-8.55555533e-02 8.88294598e-01 -4.51234922e-01 -1.62977695e+02] [-9.81146467e-01 3.65875400e-03 1.93231011e-01 -4.85648762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-162.98, Z:-485.68 [[ 1.75448647e-01 4.63859760e-01 8.68361615e-01 2.86818098e+02] [-8.38334137e-02 8.85878929e-01 -4.56278953e-01 -1.62978709e+02] [-9.80912703e-01 7.25580651e-03 1.94313207e-01 -4.85681012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-162.97, Z:-485.71 [[ 1.77565530e-01 4.75981038e-01 8.61343447e-01 2.86820298e+02] [-7.76889901e-02 8.79300387e-01 -4.69888551e-01 -1.62971787e+02] [-9.81037667e-01 1.65191072e-02 1.93111926e-01 -4.85712529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-162.99, Z:-485.74 [[ 1.78788347e-01 4.52691898e-01 8.73558683e-01 2.86828084e+02] [-7.50847959e-02 8.91552894e-01 -4.46649427e-01 -1.62990823e+02] [-9.81018349e-01 1.42647373e-02 1.93389547e-01 -4.85742156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-162.99, Z:-485.77 [[ 1.78957086e-01 4.50946051e-01 8.74426681e-01 2.86834811e+02] [-7.41793766e-02 8.92428824e-01 -4.45048553e-01 -1.62993864e+02] [-9.81056462e-01 1.47801660e-02 1.93157359e-01 -4.85774591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-162.99, Z:-485.81 [[ 1.78581010e-01 4.58944780e-01 8.70332415e-01 2.86839083e+02] [-7.43160098e-02 8.88316182e-01 -4.53179314e-01 -1.62990902e+02] [-9.81114649e-01 1.62495876e-02 1.92743346e-01 -4.85807958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-162.99, Z:-485.84 [[ 1.79377546e-01 4.60851430e-01 8.69160317e-01 2.86843796e+02] [-7.19424766e-02 8.87269675e-01 -4.55605975e-01 -1.62989671e+02] [-9.81146256e-01 1.91959359e-02 1.92311050e-01 -4.85839380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-162.98, Z:-485.87 [[ 1.75546598e-01 4.73777747e-01 8.62970474e-01 2.86841066e+02] [-6.80140725e-02 8.80324952e-01 -4.69469983e-01 -1.62977004e+02] [-9.82118872e-01 2.37197218e-02 1.86761604e-01 -4.85869443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-163.03, Z:-485.90 [[ 1.81095078e-01 4.07666172e-01 8.94993221e-01 2.86861320e+02] [-7.12022986e-02 9.13086840e-01 -4.01500506e-01 -1.63030227e+02] [-9.80884706e-01 8.98419068e-03 1.94382301e-01 -4.85898319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-162.99, Z:-485.93 [[ 1.80220614e-01 4.63394292e-01 8.67632561e-01 2.86858601e+02] [-7.18935930e-02 8.85921827e-01 -4.58229012e-01 -1.62994115e+02] [-9.80995332e-01 2.02050918e-02 1.92976457e-01 -4.85933863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-162.99, Z:-485.96 [[ 1.79294047e-01 4.66748042e-01 8.66025352e-01 2.86861940e+02] [-7.09434429e-02 8.84132288e-01 -4.61819364e-01 -1.62991323e+02] [-9.81234260e-01 2.13626424e-02 1.91632369e-01 -4.85964189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:-163.01, Z:-486.00 [[ 1.80362135e-01 4.43162850e-01 8.78109440e-01 2.86872309e+02] [-7.25440344e-02 8.96312290e-01 -4.37449017e-01 -1.63010868e+02] [-9.80921436e-01 1.51976373e-02 1.93809619e-01 -4.85995561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-163.00, Z:-486.03 [[ 1.79116052e-01 4.62378557e-01 8.68402850e-01 2.86877209e+02] [-7.43023208e-02 8.86514278e-01 -4.56696398e-01 -1.62998493e+02] [-9.81018147e-01 1.72773085e-02 1.93144737e-01 -4.86028699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-162.99, Z:-486.06 [[ 1.78029585e-01 4.75759836e-01 8.61369865e-01 2.86881236e+02] [-7.41625220e-02 8.79351050e-01 -4.70363319e-01 -1.62990196e+02] [-9.81226471e-01 1.98572250e-02 1.91834052e-01 -4.86061562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-163.00, Z:-486.09 [[ 1.76188229e-01 4.70591928e-01 8.64581370e-01 2.86888094e+02] [-7.51225769e-02 8.82188067e-01 -4.64866447e-01 -1.62997033e+02] [-9.81485765e-01 1.69544155e-02 1.90783231e-01 -4.86092182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-163.00, Z:-486.12 [[ 1.74230350e-01 4.72254888e-01 8.64071239e-01 2.86893430e+02] [-7.42194882e-02 8.81294542e-01 -4.66702686e-01 -1.62997313e+02] [-9.81903892e-01 1.71828473e-02 1.88598773e-01 -4.86124890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-162.98, Z:-486.16 [[ 1.69211921e-01 4.89183487e-01 8.55609048e-01 2.86892444e+02] [-7.08438180e-02 8.71919100e-01 -4.84497923e-01 -1.62981302e+02] [-9.83030254e-01 2.13682127e-02 1.82194732e-01 -4.86155613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-163.03, Z:-486.18 [[ 1.70707911e-01 4.30334972e-01 8.86380630e-01 2.86906355e+02] [-7.28490047e-02 9.02635208e-01 -4.24196539e-01 -1.63025666e+02] [-9.82624970e-01 7.84175824e-03 1.85436445e-01 -4.86184485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-163.01, Z:-486.22 [[ 1.68970648e-01 4.60993381e-01 8.71168194e-01 2.86909363e+02] [-7.54438398e-02 8.87333611e-01 -4.54914596e-01 -1.63005726e+02] [-9.82729438e-01 1.11429404e-02 1.84712446e-01 -4.86219208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-163.00, Z:-486.25 [[ 1.65947291e-01 4.65909691e-01 8.69131553e-01 2.86912129e+02] [-7.43813068e-02 8.84754890e-01 -4.60082825e-01 -1.63000045e+02] [-9.83325439e-01 1.17023577e-02 1.81477649e-01 -4.86248470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-163.03, Z:-486.28 [[ 1.66118258e-01 4.30923666e-01 8.86966470e-01 2.86924803e+02] [-7.84556081e-02 9.02388028e-01 -4.23722272e-01 -1.63027255e+02] [-9.82979879e-01 8.00511747e-04 1.83711505e-01 -4.86279190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:-163.01, Z:-486.31 [[ 1.65888033e-01 4.58847985e-01 8.72891567e-01 2.86927146e+02] [-7.88466291e-02 8.88493381e-01 -4.52064953e-01 -1.63011297e+02] [-9.82987472e-01 6.16760794e-03 1.83569036e-01 -4.86314001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:-163.00, Z:-486.35 [[ 1.62989829e-01 4.69121869e-01 8.67962550e-01 2.86928872e+02] [-7.75006830e-02 8.83095782e-01 -4.62747754e-01 -1.63002286e+02] [-9.83579158e-01 8.15548708e-03 1.80292896e-01 -4.86346165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-163.02, Z:-486.38 [[ 1.62458574e-01 4.40668692e-01 8.82846711e-01 2.86937417e+02] [-7.86603439e-02 8.97669267e-01 -4.33592479e-01 -1.63022831e+02] [-9.83574991e-01 9.95790023e-04 1.80497220e-01 -4.86376356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-163.01, Z:-486.41 [[ 1.60071533e-01 4.49720490e-01 8.78708476e-01 2.86939373e+02] [-7.75606467e-02 8.93165091e-01 -4.42990368e-01 -1.63014547e+02] [-9.84053581e-01 2.75694982e-03 1.77850918e-01 -4.86406966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-163.03, Z:-486.44 [[ 1.59421056e-01 4.23490736e-01 8.91762594e-01 2.86947150e+02] [-7.87484940e-02 9.05892099e-01 -4.16122795e-01 -1.63032899e+02] [-9.84064836e-01 -3.88622582e-03 1.77767533e-01 -4.86437623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-163.05, Z:-486.47 [[ 1.61593159e-01 4.02153393e-01 9.01199367e-01 2.86960358e+02] [-8.48558286e-02 9.15481204e-01 -3.93311141e-01 -1.63052248e+02] [-9.83202492e-01 -1.29156295e-02 1.82060559e-01 -4.86467517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-163.03, Z:-486.50 [[ 1.61098159e-01 4.42932023e-01 8.81962928e-01 2.86961665e+02] [-8.65375184e-02 8.96532816e-01 -4.34442364e-01 -1.63027032e+02] [-9.83137143e-01 -6.33501787e-03 1.82760025e-01 -4.86501259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-163.03, Z:-486.53 [[ 1.60834943e-01 4.44452513e-01 8.81245758e-01 2.86967439e+02] [-8.81785987e-02 8.95769887e-01 -4.35684341e-01 -1.63027217e+02] [-9.83034412e-01 -7.63374977e-03 1.83262299e-01 -4.86533265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-163.03, Z:-486.57 [[ 1.59929431e-01 4.46150351e-01 8.80552350e-01 2.86973912e+02] [-9.02725805e-02 8.94906575e-01 -4.37027554e-01 -1.63025468e+02] [-9.82992085e-01 -9.59616478e-03 1.83397043e-01 -4.86566146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-163.03, Z:-486.60 [[ 1.59933090e-01 4.47622486e-01 8.79804249e-01 2.86979967e+02] [-9.11168039e-02 8.94166088e-01 -4.38365983e-01 -1.63026346e+02] [-9.82913595e-01 -1.00557250e-02 1.83792676e-01 -4.86598985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-163.03, Z:-486.63 [[ 1.59948709e-01 4.48603601e-01 8.79301552e-01 2.86984714e+02] [-8.86251826e-02 8.93698706e-01 -4.39827467e-01 -1.63026112e+02] [-9.83138845e-01 -7.57842524e-03 1.82703530e-01 -4.86626901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-163.03, Z:-486.65 [[ 1.61004728e-01 4.47608302e-01 8.79615988e-01 2.86989802e+02] [-9.14388441e-02 8.94175303e-01 -4.38280122e-01 -1.63029478e+02] [-9.82708713e-01 -9.86589735e-03 1.84895237e-01 -4.86654037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-163.04, Z:-486.69 [[ 1.62179118e-01 4.43314350e-01 8.81572641e-01 2.86996963e+02] [-9.29962321e-02 8.96290361e-01 -4.33607299e-01 -1.63037422e+02] [-9.82369398e-01 -1.16608846e-02 1.86586144e-01 -4.86688155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-163.01, Z:-486.72 [[ 1.61179909e-01 4.80229947e-01 8.62206608e-01 2.86998626e+02] [-9.16388176e-02 8.77137403e-01 -4.71415213e-01 -1.63012513e+02] [-9.82661368e-01 -3.02893306e-03 1.85384631e-01 -4.86717465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-163.04, Z:-486.74 [[ 1.61789725e-01 4.47379628e-01 8.79588286e-01 2.87005712e+02] [-9.14647009e-02 8.94292826e-01 -4.38034873e-01 -1.63035577e+02] [-9.82577373e-01 -9.58173774e-03 1.85606834e-01 -4.86742289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-163.04, Z:-486.77 [[ 1.61928594e-01 4.46735797e-01 8.79889913e-01 2.87010267e+02] [-9.09973208e-02 8.94618327e-01 -4.37467185e-01 -1.63037004e+02] [-9.82597892e-01 -9.22917865e-03 1.85516048e-01 -4.86769634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-163.04, Z:-486.80 [[ 1.62243450e-01 4.45292677e-01 8.80563169e-01 2.87015043e+02] [-9.01617297e-02 8.95343486e-01 -4.36154680e-01 -1.63039476e+02] [-9.82622982e-01 -8.62985817e-03 1.85411974e-01 -4.86795843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-163.04, Z:-486.82 [[ 1.62628519e-01 4.44266431e-01 8.81010388e-01 2.87019994e+02] [-8.93684569e-02 8.95859446e-01 -4.35257546e-01 -1.63042945e+02] [-9.82631795e-01 -7.94924859e-03 1.85395701e-01 -4.86823051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-163.05, Z:-486.85 [[ 1.63008338e-01 4.42773469e-01 8.81691520e-01 2.87025798e+02] [-8.80357640e-02 8.96607141e-01 -4.33987717e-01 -1.63047494e+02] [-9.82689161e-01 -6.87677017e-03 1.85134340e-01 -4.86854933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-163.05, Z:-486.89 [[ 1.63528203e-01 4.44030556e-01 8.80962765e-01 2.87030545e+02] [-8.74853383e-02 8.95992372e-01 -4.35366495e-01 -1.63049145e+02] [-9.82651944e-01 -5.87662497e-03 1.85366186e-01 -4.86886465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.05, Z:-486.92 [[ 1.64227903e-01 4.45176087e-01 8.80254195e-01 2.87035528e+02] [-8.69313080e-02 8.95430105e-01 -4.36632425e-01 -1.63050377e+02] [-9.82584421e-01 -4.81442073e-03 1.85754348e-01 -4.86919291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-163.05, Z:-486.95 [[ 1.64944138e-01 4.46461441e-01 8.79468938e-01 2.87040479e+02] [-8.66203910e-02 8.94794220e-01 -4.37995675e-01 -1.63051466e+02] [-9.82491903e-01 -3.93512424e-03 1.86263726e-01 -4.86952103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-163.05, Z:-486.98 [[ 1.66749215e-01 4.47598518e-01 8.78550093e-01 2.87045332e+02] [-8.59115430e-02 8.94231852e-01 -4.39281917e-01 -1.63053158e+02] [-9.82249411e-01 -2.22767952e-03 1.87566338e-01 -4.86983164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-163.06, Z:-487.02 [[ 1.66559277e-01 4.48694271e-01 8.78027026e-01 2.87050605e+02] [-8.46172121e-02 8.93684864e-01 -4.40644178e-01 -1.63055750e+02] [-9.82393981e-01 -9.02823290e-04 1.86818763e-01 -4.87015795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-163.06, Z:-487.05 [[ 1.67446114e-01 4.49194649e-01 8.77602397e-01 2.87055782e+02] [-8.43479774e-02 8.93433907e-01 -4.41204343e-01 -1.63058533e+02] [-9.82266368e-01 -1.46034292e-04 1.87490696e-01 -4.87047546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-163.06, Z:-487.08 [[ 1.68342407e-01 4.49848745e-01 8.77095742e-01 2.87061399e+02] [-8.39771214e-02 8.93104449e-01 -4.41941496e-01 -1.63060100e+02] [-9.82144937e-01 7.41519670e-04 1.88124355e-01 -4.87078786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-163.06, Z:-487.11 [[ 1.67177145e-01 4.47831504e-01 8.78350014e-01 2.87064557e+02] [-8.26492003e-02 8.94117426e-01 -4.40139908e-01 -1.63061675e+02] [-9.82456570e-01 9.86406869e-04 1.86488914e-01 -4.87110692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-163.08, Z:-487.14 [[ 1.68370715e-01 4.24766202e-01 8.89508278e-01 2.87073579e+02] [-8.42928210e-02 9.05289939e-01 -4.16347026e-01 -1.63081983e+02] [-9.82113040e-01 -4.87851559e-03 1.88229056e-01 -4.87140846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.06, Z:-487.17 [[ 1.67828361e-01 4.53845562e-01 8.75133045e-01 2.87076578e+02] [-8.41058061e-02 8.91079489e-01 -4.45986052e-01 -1.63064872e+02] [-9.82221897e-01 1.24533781e-03 1.87719457e-01 -4.87173819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-163.07, Z:-487.20 [[ 1.67026954e-01 4.46109363e-01 8.79254476e-01 2.87082213e+02] [-8.45960966e-02 8.94977623e-01 -4.38016615e-01 -1.63074362e+02] [-9.82316394e-01 -1.22091548e-03 1.87224497e-01 -4.87204640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.07, Z:-487.24 [[ 1.67164551e-01 4.56737145e-01 8.73754653e-01 2.87086696e+02] [-8.52272621e-02 8.89601533e-01 -4.48715307e-01 -1.63070657e+02] [-9.82238427e-01 5.41575956e-04 1.87636297e-01 -4.87238125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.07, Z:-487.27 [[ 1.66932069e-01 4.58287730e-01 8.72986851e-01 2.87091264e+02] [-8.65684935e-02 8.88803779e-01 -4.50037487e-01 -1.63072166e+02] [-9.82160669e-01 -4.47467820e-04 1.88043132e-01 -4.87269552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-163.07, Z:-487.30 [[ 1.65271370e-01 4.64894227e-01 8.69803847e-01 2.87094092e+02] [-8.60683912e-02 8.85365995e-01 -4.56858061e-01 -1.63068243e+02] [-9.82485423e-01 6.42939818e-04 1.86338349e-01 -4.87301840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-163.08, Z:-487.33 [[ 1.65819904e-01 4.46625609e-01 8.79220862e-01 2.87102309e+02] [-8.75878279e-02 8.94710202e-01 -4.37974916e-01 -1.63084670e+02] [-9.82258689e-01 -4.38408687e-03 1.87479727e-01 -4.87331591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.08, Z:-487.37 [[ 1.64076899e-01 4.62500399e-01 8.71304856e-01 2.87106715e+02] [-8.78585776e-02 8.86616710e-01 -4.54083340e-01 -1.63078372e+02] [-9.82527171e-01 -2.04701881e-03 1.86107948e-01 -4.87365245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-163.08, Z:-487.40 [[ 1.63178325e-01 4.63913342e-01 8.70722255e-01 2.87111297e+02] [-8.77960669e-02 8.85878066e-01 -4.55534743e-01 -1.63080712e+02] [-9.82682393e-01 -2.11259301e-03 1.85285866e-01 -4.87397347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.08, Z:-487.43 [[ 1.62846045e-01 4.65333503e-01 8.70026377e-01 2.87116091e+02] [-8.80960608e-02 8.85132602e-01 -4.56923802e-01 -1.63082932e+02] [-9.82710664e-01 -2.23766239e-03 1.85134393e-01 -4.87430075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-163.08, Z:-487.46 [[ 1.62620610e-01 4.66755461e-01 8.69306549e-01 2.87121091e+02] [-8.85208438e-02 8.84383097e-01 -4.58290953e-01 -1.63084719e+02] [-9.82709824e-01 -2.42419488e-03 1.85136506e-01 -4.87462823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.09, Z:-487.49 [[ 1.61656960e-01 4.68373265e-01 8.68615860e-01 2.87125198e+02] [-8.99257234e-02 8.83522516e-01 -4.59675243e-01 -1.63086148e+02] [-9.82741264e-01 -3.80120738e-03 1.84946368e-01 -4.87494854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.09, Z:-487.53 [[ 1.60968543e-01 4.69819414e-01 8.67962468e-01 2.87129978e+02] [-9.09508251e-02 8.82749810e-01 -4.60956311e-01 -1.63088445e+02] [-9.82759928e-01 -4.74243678e-03 1.84825414e-01 -4.87527839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-163.09, Z:-487.56 [[ 1.59278034e-01 4.71432503e-01 8.67399506e-01 2.87134526e+02] [-9.19257142e-02 8.81881170e-01 -4.62423253e-01 -1.63090016e+02] [-9.82944643e-01 -6.08245263e-03 1.83801068e-01 -4.87559701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.09, Z:-487.59 [[ 1.58704397e-01 4.72801542e-01 8.66759261e-01 2.87139280e+02] [-9.24254768e-02 8.81144853e-01 -4.63725436e-01 -1.63091264e+02] [-9.82990562e-01 -6.51537209e-03 1.83540471e-01 -4.87590852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-163.09, Z:-487.62 [[ 1.58277355e-01 4.74233334e-01 8.66054862e-01 2.87143712e+02] [-9.35194384e-02 8.80368120e-01 -4.64979665e-01 -1.63093062e+02] [-9.82955947e-01 -7.39721265e-03 1.83692373e-01 -4.87623247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.10, Z:-487.66 [[ 1.58265851e-01 4.75755763e-01 8.65221575e-01 2.87148088e+02] [-9.48456782e-02 8.79538583e-01 -4.66279077e-01 -1.63095319e+02] [-9.82830717e-01 -8.26647213e-03 1.84324300e-01 -4.87655841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-163.10, Z:-487.69 [[ 1.58160143e-01 4.77401431e-01 8.64333988e-01 2.87152034e+02] [-9.70462103e-02 8.78629150e-01 -4.67539142e-01 -1.63098545e+02] [-9.82632893e-01 -9.93428031e-03 1.85294112e-01 -4.87687117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.10, Z:-487.72 [[ 1.57549862e-01 4.78779638e-01 8.63682870e-01 2.87156655e+02] [-9.77785480e-02 8.77871251e-01 -4.68808514e-01 -1.63100956e+02] [-9.82658332e-01 -1.05889402e-02 1.85122872e-01 -4.87720035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-163.10, Z:-487.75 [[ 1.56723037e-01 4.80267526e-01 8.63006949e-01 2.87161367e+02] [-9.86993568e-02 8.77046746e-01 -4.70156827e-01 -1.63103266e+02] [-9.82698492e-01 -1.14938252e-02 1.84855525e-01 -4.87752044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.11, Z:-487.78 [[ 1.55852545e-01 4.81973808e-01 8.62212986e-01 2.87165545e+02] [-1.00614933e-01 8.76085273e-01 -4.71541335e-01 -1.63105434e+02] [-9.82642671e-01 -1.32605844e-02 1.85033882e-01 -4.87784052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.11, Z:-487.82 [[ 1.55440090e-01 4.83454401e-01 8.61458194e-01 2.87170156e+02] [-1.01844167e-01 8.75253725e-01 -4.72819925e-01 -1.63107965e+02] [-9.82581368e-01 -1.42393207e-02 1.85286529e-01 -4.87816842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-163.11, Z:-487.85 [[ 1.55033795e-01 4.85089066e-01 8.60612062e-01 2.87173929e+02] [-1.03681427e-01 8.74323410e-01 -4.74139998e-01 -1.63112123e+02] [-9.82453401e-01 -1.57217630e-02 1.85844403e-01 -4.87848822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:-163.12, Z:-487.88 [[ 1.55039287e-01 4.86073802e-01 8.60055276e-01 2.87178333e+02] [-1.04739074e-01 8.73762985e-01 -4.74939967e-01 -1.63115452e+02] [-9.82340341e-01 -1.64470390e-02 1.86378510e-01 -4.87881796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:-163.11, Z:-487.91 [[ 1.54506617e-01 4.91274988e-01 8.57191106e-01 2.87180315e+02] [-1.04430083e-01 8.70869991e-01 -4.80291388e-01 -1.63114360e+02] [-9.82457156e-01 -1.53083409e-02 1.85859064e-01 -4.87914974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-163.12, Z:-487.95 [[ 1.54548710e-01 4.93508361e-01 8.55899640e-01 2.87186716e+02] [-1.06354202e-01 8.69584413e-01 -4.82194704e-01 -1.63118032e+02] [-9.82244104e-01 -1.65059539e-02 1.86879838e-01 -4.87945042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-163.12, Z:-487.98 [[ 1.54274828e-01 4.90253460e-01 8.57817476e-01 2.87191492e+02] [-1.06988137e-01 8.71395801e-01 -4.78772281e-01 -1.63124334e+02] [-9.82218314e-01 -1.79137818e-02 1.86885742e-01 -4.87976947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7965599949999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:287.20, Y:-163.14, Z:-488.01 [[ 1.56620954e-01 4.78708194e-01 8.63891395e-01 2.87199319e+02] [-1.09336591e-01 8.77713610e-01 -4.66545098e-01 -1.63139549e+02] [-9.81588196e-01 -2.13842012e-02 1.89808665e-01 -4.88005811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-163.10, Z:-488.04 [[ 1.52597570e-01 5.40081544e-01 8.27662919e-01 2.87197307e+02] [-1.07018725e-01 8.41576680e-01 -5.29429585e-01 -1.63098003e+02] [-9.82476959e-01 -7.78576250e-03 1.86221395e-01 -4.88035188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-163.16, Z:-488.06 [[ 1.57762941e-01 4.68318685e-01 8.69360952e-01 2.87211377e+02] [-1.11977141e-01 8.83191702e-01 -4.55448721e-01 -1.63159855e+02] [-9.81107524e-01 -2.54956244e-02 1.91775907e-01 -4.88061088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-163.09, Z:-488.09 [[ 1.51530139e-01 5.65262592e-01 8.10874108e-01 2.87204973e+02] [-1.06362303e-01 8.24908299e-01 -5.55169667e-01 -1.63088014e+02] [-9.82713426e-01 -2.12150108e-03 1.85121100e-01 -4.88093570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-163.17, Z:-488.12 [[ 1.60051249e-01 4.62668304e-01 8.71964242e-01 2.87223755e+02] [-1.12094963e-01 8.86156551e-01 -4.49623494e-01 -1.63174105e+02] [-9.80723364e-01 -2.57799974e-02 1.93693249e-01 -4.88118764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-163.11, Z:-488.16 [[ 1.52637659e-01 5.48957448e-01 8.21795270e-01 2.87213097e+02] [-1.06060239e-01 8.35835679e-01 -5.38637117e-01 -1.63108646e+02] [-9.82574664e-01 -4.94349369e-03 1.85802560e-01 -4.88155730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-163.16, Z:-488.18 [[ 1.55410461e-01 4.90591488e-01 8.57419139e-01 2.87219519e+02] [-1.05945519e-01 8.71236243e-01 -4.79294227e-01 -1.63155041e+02] [-9.82152298e-01 -1.63523791e-02 1.87375197e-01 -4.88184136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-163.16, Z:-488.22 [[ 1.56088090e-01 4.91870621e-01 8.56562782e-01 2.87223433e+02] [-1.05900733e-01 8.70526810e-01 -4.80591415e-01 -1.63158951e+02] [-9.82049664e-01 -1.56960300e-02 1.87968327e-01 -4.88216122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-163.17, Z:-488.25 [[ 1.58029946e-01 4.92487567e-01 8.55851934e-01 2.87227069e+02] [-1.05365779e-01 8.70204946e-01 -4.81291392e-01 -1.63165810e+02] [-9.81796613e-01 -1.41190528e-02 1.89409777e-01 -4.88248617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-163.17, Z:-488.28 [[ 1.57905894e-01 4.93852536e-01 8.55087950e-01 2.87232061e+02] [-1.05540590e-01 8.69432418e-01 -4.82647339e-01 -1.63167861e+02] [-9.81797796e-01 -1.40336273e-02 1.89409992e-01 -4.88281631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-163.17, Z:-488.31 [[ 1.57790565e-01 4.94802263e-01 8.54560038e-01 2.87237087e+02] [-1.05713120e-01 8.68892271e-01 -4.83581387e-01 -1.63170204e+02] [-9.81797777e-01 -1.40336270e-02 1.89410094e-01 -4.88314615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-163.18, Z:-488.35 [[ 1.59100486e-01 4.95560669e-01 8.53877426e-01 2.87241264e+02] [-1.05239250e-01 8.68479168e-01 -4.84426089e-01 -1.63176304e+02] [-9.81637273e-01 -1.27889933e-02 1.90327891e-01 -4.88347252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-163.18, Z:-488.38 [[ 1.59362460e-01 4.96955909e-01 8.53017251e-01 2.87245464e+02] [-1.05857330e-01 8.67680017e-01 -4.85721745e-01 -1.63180950e+02] [-9.81528315e-01 -1.28923164e-02 1.90882047e-01 -4.88379472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-163.18, Z:-488.41 [[ 1.58927998e-01 4.98419513e-01 8.52244027e-01 2.87249445e+02] [-1.06549992e-01 8.66832478e-01 -4.87081671e-01 -1.63183751e+02] [-9.81523811e-01 -1.33956792e-02 1.90870545e-01 -4.88410886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-163.19, Z:-488.44 [[ 1.58720621e-01 4.99766181e-01 8.51493705e-01 2.87253691e+02] [-1.07201862e-01 8.66050830e-01 -4.88327474e-01 -1.63186702e+02] [-9.81486386e-01 -1.37740706e-02 1.91035990e-01 -4.88443830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-163.19, Z:-488.48 [[ 1.58638132e-01 5.01247002e-01 8.50638223e-01 2.87258280e+02] [-1.08259305e-01 8.65184160e-01 -4.89628729e-01 -1.63189782e+02] [-9.81383649e-01 -1.44157159e-02 1.91515851e-01 -4.88476065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-163.19, Z:-488.51 [[ 1.58600725e-01 5.02831119e-01 8.49709760e-01 2.87261975e+02] [-1.09947603e-01 8.64244527e-01 -4.90910300e-01 -1.63193420e+02] [-9.81201985e-01 -1.55648222e-02 1.92354885e-01 -4.88507415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-163.20, Z:-488.54 [[ 1.58512568e-01 5.04196145e-01 8.48916965e-01 2.87266323e+02] [-1.10759137e-01 8.63440660e-01 -4.92140874e-01 -1.63196182e+02] [-9.81124956e-01 -1.60147969e-02 1.92710526e-01 -4.88539872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-163.20, Z:-488.57 [[ 1.58408782e-01 5.05665548e-01 8.48061915e-01 2.87270645e+02] [-1.11793841e-01 8.62569032e-01 -4.93433686e-01 -1.63198727e+02] [-9.81024360e-01 -1.66438697e-02 1.93168803e-01 -4.88571711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-163.20, Z:-488.60 [[ 1.57494145e-01 5.07037455e-01 8.47412894e-01 2.87275274e+02] [-1.12420275e-01 8.61749370e-01 -4.94721847e-01 -1.63202476e+02] [-9.81100034e-01 -1.73505961e-02 1.92721770e-01 -4.88604374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-163.21, Z:-488.64 [[ 1.56645775e-01 5.08379367e-01 8.46765919e-01 2.87280087e+02] [-1.12328038e-01 8.60957399e-01 -4.96119713e-01 -1.63205652e+02] [-9.81246408e-01 -1.74004970e-02 1.91970596e-01 -4.88636732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-163.21, Z:-488.67 [[ 1.55967915e-01 5.09702635e-01 8.46095286e-01 2.87284694e+02] [-1.12154020e-01 8.60176744e-01 -4.97511251e-01 -1.63208578e+02] [-9.81374284e-01 -1.72971947e-02 1.91325173e-01 -4.88669024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-163.21, Z:-488.70 [[ 1.55082702e-01 5.10991536e-01 8.45480340e-01 2.87288953e+02] [-1.11642786e-01 8.59417319e-01 -4.98936629e-01 -1.63212401e+02] [-9.81572842e-01 -1.70153402e-02 1.90329279e-01 -4.88701388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-163.22, Z:-488.73 [[ 1.54410943e-01 5.12281861e-01 8.44822204e-01 2.87293230e+02] [-1.11174104e-01 8.58655721e-01 -5.00350548e-01 -1.63215558e+02] [-9.81731929e-01 -1.66627514e-02 1.89538316e-01 -4.88733440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-163.22, Z:-488.76 [[ 1.54144747e-01 5.13593693e-01 8.44073999e-01 2.87297279e+02] [-1.11032290e-01 8.57877106e-01 -5.01715759e-01 -1.63218689e+02] [-9.81789808e-01 -1.63826203e-02 1.89262733e-01 -4.88764507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-163.26, Z:-488.80 [[ 1.63017271e-01 4.79408246e-01 8.62318446e-01 2.87316783e+02] [-1.19257555e-01 8.77176112e-01 -4.65123322e-01 -1.63258905e+02] [-9.79389098e-01 -2.70148553e-02 2.00167912e-01 -4.88795506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-163.16, Z:-488.83 [[ 1.54105376e-01 5.96498340e-01 7.87680941e-01 2.87301230e+02] [-1.10434334e-01 8.02607323e-01 -5.86195993e-01 -1.63162473e+02] [-9.81863428e-01 3.34893377e-03 1.89560000e-01 -4.88834528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-163.23, Z:-488.86 [[ 1.56861588e-01 5.15035228e-01 8.42693987e-01 2.87310524e+02] [-1.09596119e-01 8.57064435e-01 -5.03417565e-01 -1.63225157e+02] [-9.81520827e-01 -1.33891114e-02 1.90886350e-01 -4.88860350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-163.23, Z:-488.89 [[ 1.57632441e-01 5.16313098e-01 8.41767663e-01 2.87315050e+02] [-1.09642778e-01 8.56305175e-01 -5.04697838e-01 -1.63226881e+02] [-9.81392111e-01 -1.27369932e-02 1.91591478e-01 -4.88891710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-163.23, Z:-488.92 [[ 1.58897369e-01 5.17334157e-01 8.40902489e-01 2.87320531e+02] [-1.08798209e-01 8.55711433e-01 -5.05886246e-01 -1.63228489e+02] [-9.81282108e-01 -1.11046912e-02 1.92255325e-01 -4.88924151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-163.23, Z:-488.96 [[ 1.58671992e-01 5.18639307e-01 8.40140743e-01 2.87325916e+02] [-1.08691420e-01 8.54924525e-01 -5.07237845e-01 -1.63230265e+02] [-9.81330410e-01 -1.08316507e-02 1.92024220e-01 -4.88956915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-163.23, Z:-488.99 [[ 1.58037401e-01 5.20100953e-01 8.39356408e-01 2.87331507e+02] [-1.09341234e-01 8.54028743e-01 -5.08605349e-01 -1.63231605e+02] [-9.81360624e-01 -1.13975980e-02 1.91836963e-01 -4.88988448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-163.23, Z:-489.02 [[ 1.56949076e-01 5.21506093e-01 8.38688490e-01 2.87336499e+02] [-1.10018705e-01 8.53159752e-01 -5.09915995e-01 -1.63232887e+02] [-9.81459562e-01 -1.22405776e-02 1.91278060e-01 -4.89019955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-163.23, Z:-489.05 [[ 1.56388617e-01 5.22837032e-01 8.37964223e-01 2.87340841e+02] [-1.10606092e-01 8.52337392e-01 -5.11162657e-01 -1.63233773e+02] [-9.81483007e-01 -1.27439264e-02 1.91124827e-01 -4.89047388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-163.24, Z:-489.08 [[ 1.55838644e-01 5.21819021e-01 8.38700916e-01 2.87346272e+02] [-1.11720153e-01 8.52937441e-01 -5.09917963e-01 -1.63237244e+02] [-9.81444305e-01 -1.42348709e-02 1.91218315e-01 -4.89079824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-163.24, Z:-489.11 [[ 1.54300353e-01 5.23461188e-01 8.37961685e-01 2.87351336e+02] [-1.13350570e-01 8.51897576e-01 -5.11294600e-01 -1.63239202e+02] [-9.81500407e-01 -1.60904979e-02 1.90782721e-01 -4.89110846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-163.24, Z:-489.14 [[ 1.53808721e-01 5.24854506e-01 8.37180163e-01 2.87356166e+02] [-1.14377218e-01 8.51023686e-01 -5.12519792e-01 -1.63240457e+02] [-9.81458471e-01 -1.69243242e-02 1.90926263e-01 -4.89142216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-163.24, Z:-489.17 [[ 1.53804842e-01 5.26120057e-01 8.36386129e-01 2.87361211e+02] [-1.14904649e-01 8.50238474e-01 -5.13703669e-01 -1.63242847e+02] [-9.81397469e-01 -1.70945431e-02 1.91224434e-01 -4.89174562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-163.25, Z:-489.21 [[ 1.53977138e-01 5.27487730e-01 8.35492511e-01 2.87366359e+02] [-1.15462853e-01 8.49389067e-01 -5.14982080e-01 -1.63245119e+02] [-9.81304933e-01 -1.71728822e-02 1.91691736e-01 -4.89207409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-163.25, Z:-489.24 [[ 1.53935831e-01 5.28817973e-01 8.34658799e-01 2.87371282e+02] [-1.15657088e-01 8.48563840e-01 -5.16297247e-01 -1.63246941e+02] [-9.81288540e-01 -1.70575605e-02 1.91785927e-01 -4.89239420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-163.25, Z:-489.27 [[ 1.54101766e-01 5.30032313e-01 8.33857538e-01 2.87376541e+02] [-1.15790218e-01 8.47810922e-01 -5.17502915e-01 -1.63249158e+02] [-9.81246794e-01 -1.68044326e-02 1.92021717e-01 -4.89272322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-163.25, Z:-489.30 [[ 1.54218768e-01 5.31230304e-01 8.33073187e-01 2.87381709e+02] [-1.15320714e-01 8.47075223e-01 -5.18810852e-01 -1.63252071e+02] [-9.81283702e-01 -1.60602243e-02 1.91896756e-01 -4.89302211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-163.26, Z:-489.33 [[ 1.54531500e-01 5.31278584e-01 8.32984443e-01 2.87386572e+02] [-1.15261632e-01 8.47049278e-01 -5.18866339e-01 -1.63255422e+02] [-9.81241444e-01 -1.58299528e-02 1.92131832e-01 -4.89332530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-163.26, Z:-489.37 [[ 1.55035774e-01 5.31433837e-01 8.32791682e-01 2.87391736e+02] [-1.15533388e-01 8.46953233e-01 -5.18962674e-01 -1.63258592e+02] [-9.81129933e-01 -1.57574641e-02 1.92706402e-01 -4.89365212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-163.26, Z:-489.40 [[ 1.55497460e-01 5.32684344e-01 8.31906203e-01 2.87396650e+02] [-1.15727110e-01 8.46174131e-01 -5.20188981e-01 -1.63260568e+02] [-9.81034034e-01 -1.53860355e-02 1.93223948e-01 -4.89396906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:287.40, Y:-163.27, Z:-489.43 [[ 1.55855249e-01 5.27929706e-01 8.34864879e-01 2.87401989e+02] [-1.17021872e-01 8.49109443e-01 -5.15091288e-01 -1.63269776e+02] [-9.80823645e-01 -1.74177699e-02 1.94117486e-01 -4.89427108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-163.09, Z:-489.26 [[ 1.82836011e-01 -4.94517677e-01 -8.49719519e-01 2.88602126e+02] [-6.14813096e-03 -8.64846675e-01 5.01998435e-01 -1.63091263e+02] [-9.83124201e-01 -8.65592045e-02 -1.61165476e-01 -4.89259537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-162.88, Z:-489.28 [[ 1.85461224e-01 -1.25866652e-01 -9.74557192e-01 2.88527931e+02] [ 6.64550003e-02 -9.87885610e-01 1.40234643e-01 -1.62882071e+02] [-9.80401891e-01 -9.07722869e-02 -1.74850006e-01 -4.89282971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-162.72, Z:-489.30 [[ 1.61019238e-01 2.58167508e-01 -9.52587184e-01 2.88380923e+02] [ 1.34408384e-01 -9.61925403e-01 -2.37978794e-01 -1.62718112e+02] [-9.77756203e-01 -8.97165398e-02 -1.89588373e-01 -4.89302633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.62, Z:-489.32 [[ 1.13681044e-01 5.84033982e-01 -8.03729387e-01 2.88195686e+02] [ 1.89871347e-01 -8.06834475e-01 -5.59434538e-01 -1.62624800e+02] [-9.75205359e-01 -8.90080791e-02 -2.02613104e-01 -4.89323726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-162.60, Z:-489.35 [[ 5.10022436e-02 8.21585595e-01 -5.67799155e-01 2.88003120e+02] [ 2.27204844e-01 -5.63176105e-01 -7.94487655e-01 -1.62602085e+02] [-9.72510530e-01 -8.84860657e-02 -2.15391472e-01 -4.89345108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-162.64, Z:-489.37 [[-2.04456172e-02 9.58699593e-01 -2.83684803e-01 2.87822462e+02] [ 2.42625749e-01 -2.70504485e-01 -9.31643746e-01 -1.62642181e+02] [-9.69904491e-01 -8.78772694e-02 -2.27074576e-01 -4.89365955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-163.64, Z:-489.63 [[ 9.24410525e-03 -9.99883404e-01 -1.21542339e-02 2.88430438e+02] [ 2.75199352e-01 -9.14149050e-03 9.61343721e-01 -1.63640524e+02] [-9.61342740e-01 -1.22315998e-02 2.75082760e-01 -4.89628838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-162.71, Z:-489.50 [[-4.24874043e-02 2.73006303e-01 -9.61073556e-01 2.88409358e+02] [ 3.25180193e-01 -9.05786663e-01 -2.71676948e-01 -1.62709356e+02] [-9.44697127e-01 -3.24064933e-01 -5.02917181e-02 -4.89496562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-163.59, Z:-489.81 [[-6.24040090e-03 -9.97093431e-01 -7.59325177e-02 2.88469906e+02] [ 3.47210233e-01 -7.33702660e-02 9.34912754e-01 -1.63587017e+02] [-9.37766555e-01 -2.05303168e-02 3.46658903e-01 -4.89807706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-163.30, Z:-489.80 [[-2.34079952e-02 3.41122774e-01 9.39727258e-01 2.87491553e+02] [ 2.34690307e-01 9.15591653e-01 -3.26515521e-01 -1.63303467e+02] [-9.71788313e-01 2.12901805e-01 -1.01490374e-01 -4.89800839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.53, Z:-489.72 [[-1.11119416e-01 6.31351663e-01 -7.67494334e-01 2.88203196e+02] [ 3.03514515e-01 -7.13819961e-01 -6.31141825e-01 -1.62532591e+02] [-9.46325216e-01 -3.03077782e-01 -1.12305136e-01 -4.89715496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-163.31, Z:-490.38 [[-7.85111213e-02 -9.60250194e-01 -2.67872298e-01 2.88537405e+02] [ 3.40195501e-01 -2.78378874e-01 8.98205001e-01 -1.63305378e+02] [-9.37071516e-01 -2.06098689e-02 3.48528633e-01 -4.90384376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-163.23, Z:-490.00 [[-9.29678757e-02 3.37377828e-01 9.36767407e-01 2.87504643e+02] [ 2.28803000e-01 9.22902593e-01 -3.09677238e-01 -1.63227643e+02] [-9.69023303e-01 1.85545158e-01 -1.62993353e-01 -4.89998539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:288.54, Y:-163.12, Z:-490.77 [[-1.08005138e-01 -9.12296798e-01 -3.95030939e-01 2.88540066e+02] [ 2.72414754e-01 -4.09305004e-01 8.70781038e-01 -1.63117892e+02] [-9.56098892e-01 -1.35634296e-02 2.92730151e-01 -4.90774411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-163.02, Z:-490.05 [[-1.35803808e-01 5.50088923e-01 8.23989990e-01 2.87488800e+02] [ 1.71786739e-01 8.32171395e-01 -5.27238168e-01 -1.63023656e+02] [-9.75728775e-01 6.99496024e-02 -2.07510026e-01 -4.90052104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-163.08, Z:-490.25 [[-1.54113923e-01 -7.87982493e-01 -5.96097719e-01 2.88668939e+02] [ 2.08529878e-01 -6.15655670e-01 7.59923277e-01 -1.63080132e+02] [-9.65797178e-01 -7.18942683e-03 2.59199004e-01 -4.90250950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-163.08, Z:-490.26 [[-1.53448461e-01 -7.89227744e-01 -5.94620163e-01 2.88667725e+02] [ 2.07533689e-01 -6.14065625e-01 7.61480910e-01 -1.63080033e+02] [-9.66117663e-01 -6.55564187e-03 2.58018770e-01 -4.90256283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-163.08, Z:-490.27 [[-1.52332185e-01 -7.90660367e-01 -5.93001762e-01 2.88665605e+02] [ 2.06760893e-01 -6.12222031e-01 7.63173714e-01 -1.63079342e+02] [-9.66459952e-01 -6.35365427e-03 2.56738763e-01 -4.90266404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-163.08, Z:-490.27 [[-1.51938788e-01 -7.93413164e-01 -5.89415097e-01 2.88664020e+02] [ 2.04236062e-01 -6.08671024e-01 7.66685865e-01 -1.63082353e+02] [-9.67058548e-01 -3.89049683e-03 2.54524318e-01 -4.90268134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-163.39, Z:-490.41 [[-7.57462899e-02 -9.96553624e-01 3.38138223e-02 2.88396962e+02] [ 2.03732834e-01 1.77282929e-02 9.78865997e-01 -1.63393855e+02] [-9.76091918e-01 8.10344534e-02 2.01687842e-01 -4.90405741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-163.20, Z:-490.39 [[-8.29209662e-02 -9.24085649e-01 -3.73081530e-01 2.88560810e+02] [ 2.04374449e-01 -3.82182424e-01 9.01203462e-01 -1.63204856e+02] [-9.75374389e-01 -1.51967000e-03 2.20550431e-01 -4.90389350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-163.21, Z:-490.39 [[-8.35411450e-02 -9.25073432e-01 -3.70486199e-01 2.88559640e+02] [ 2.04947594e-01 -3.79787865e-01 9.02085174e-01 -1.63206523e+02] [-9.75201190e-01 -5.69026538e-04 2.21319487e-01 -4.90391365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-163.21, Z:-490.40 [[-8.39759954e-02 -9.25967047e-01 -3.68148151e-01 2.88558160e+02] [ 2.05112629e-01 -3.77604197e-01 9.02963942e-01 -1.63207451e+02] [-9.75129141e-01 3.15460753e-04 2.21637224e-01 -4.90395798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-163.21, Z:-490.40 [[-8.51335540e-02 -9.26771749e-01 -3.65850246e-01 2.88555622e+02] [ 2.04504304e-01 -3.75618901e-01 9.03929439e-01 -1.63207623e+02] [-9.75156535e-01 2.13677595e-03 2.21506583e-01 -4.90404524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-163.21, Z:-490.41 [[-8.52131348e-02 -9.27848671e-01 -3.63091676e-01 2.88554179e+02] [ 2.04524828e-01 -3.72945932e-01 9.05030898e-01 -1.63209805e+02] [-9.75145280e-01 2.85925738e-03 2.21547982e-01 -4.90405136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-163.21, Z:-490.41 [[-8.64195714e-02 -9.28663334e-01 -3.60716052e-01 2.88552150e+02] [ 2.04829719e-01 -3.70897705e-01 9.05803333e-01 -1.63211285e+02] [-9.74975099e-01 4.39376816e-03 2.22270671e-01 -4.90407394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-163.21, Z:-490.42 [[-8.67164968e-02 -9.29546119e-01 -3.58363310e-01 2.88550128e+02] [ 2.05262318e-01 -3.68671140e-01 9.06614015e-01 -1.63211159e+02] [-9.74857749e-01 5.05990775e-03 2.22770661e-01 -4.90416054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-163.21, Z:-490.42 [[-8.61921090e-02 -9.30483659e-01 -3.56049268e-01 2.88548960e+02] [ 2.05483740e-01 -3.66298465e-01 9.07525133e-01 -1.63211534e+02] [-9.74857607e-01 5.05917020e-03 2.22771299e-01 -4.90420976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-163.21, Z:-490.43 [[-8.64323885e-02 -9.31356306e-01 -3.53701672e-01 2.88547178e+02] [ 2.05768064e-01 -3.64063984e-01 9.08359466e-01 -1.63212311e+02] [-9.74776357e-01 5.73117008e-03 2.23110304e-01 -4.90426599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-162.45, Z:-490.32 [[-1.34020836e-01 9.89557243e-01 5.30554368e-02 2.87657274e+02] [ 1.70831691e-01 7.58072245e-02 -9.82379661e-01 -1.62450953e+02] [-9.76142894e-01 -1.22595793e-01 -1.79207484e-01 -4.90322716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-163.03, Z:-490.58 [[-1.55650210e-01 -7.96737526e-01 -5.83936921e-01 2.88623789e+02] [ 1.96337167e-01 -6.04300087e-01 7.72187233e-01 -1.63030210e+02] [-9.68103677e-01 5.54258385e-03 2.50488624e-01 -4.90582576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-162.99, Z:-490.85 [[-1.46546828e-01 -8.06707797e-01 -5.72491535e-01 2.88585166e+02] [ 1.92823285e-01 -5.90934108e-01 7.83336493e-01 -1.62993863e+02] [-9.70228431e-01 4.40578004e-03 2.42151566e-01 -4.90849947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-162.31, Z:-490.54 [[-1.84589880e-01 5.97558950e-01 -7.80288330e-01 2.88194265e+02] [ 2.29335965e-01 -7.45825241e-01 -6.25419640e-01 -1.62307489e+02] [-9.55683835e-01 -2.94394313e-01 6.30033282e-04 -4.90543058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-163.02, Z:-490.81 [[-1.88642783e-01 -8.05998955e-01 -5.61052213e-01 2.88606193e+02] [ 2.49641250e-01 -5.91899778e-01 7.66377126e-01 -1.63023590e+02] [-9.49785843e-01 4.50973750e-03 3.12868208e-01 -4.90811712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-163.02, Z:-490.82 [[-1.87171138e-01 -8.07145406e-01 -5.59895757e-01 2.88603460e+02] [ 2.50350148e-01 -5.90342575e-01 7.67346368e-01 -1.63023278e+02] [-9.49890398e-01 3.45510715e-03 3.12564063e-01 -4.90819153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-163.03, Z:-490.82 [[-1.83858662e-01 -8.08792611e-01 -5.58614809e-01 2.88601506e+02] [ 2.52343425e-01 -5.88093880e-01 7.68419407e-01 -1.63026019e+02] [-9.50009889e-01 3.17789929e-04 3.12219651e-01 -4.90818638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-162.28, Z:-490.66 [[-2.33673452e-01 7.12874231e-01 -6.61216340e-01 2.88092673e+02] [ 2.76741081e-01 -6.03154753e-01 -7.48076680e-01 -1.62284544e+02] [-9.32100366e-01 -3.57791385e-01 -5.63403320e-02 -4.90655230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-162.27, Z:-490.76 [[-2.84213430e-01 7.21486054e-01 -6.31411593e-01 2.88068271e+02] [ 3.16028656e-01 -5.51266606e-01 -7.72159969e-01 -1.62272394e+02] [-9.05178775e-01 -4.19002391e-01 -7.13328951e-02 -4.90758529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-162.92, Z:-491.25 [[-2.22652681e-01 -7.80398490e-01 -5.84297853e-01 2.88531003e+02] [ 3.77902301e-01 -6.21570876e-01 6.86177453e-01 -1.62916648e+02] [-8.98674377e-01 -6.80282537e-02 4.33308806e-01 -4.91247825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-163.29, Z:-491.31 [[-1.74641413e-01 -5.22144970e-01 8.34784408e-01 2.87719906e+02] [ 3.11986371e-01 7.74784400e-01 5.49885113e-01 -1.63288607e+02] [-9.33897682e-01 3.56474071e-01 2.75926720e-02 -4.91306016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-162.94, Z:-491.34 [[-1.78075827e-01 -8.61547906e-01 -4.75420031e-01 2.88462202e+02] [ 3.29654295e-01 -5.07456007e-01 7.96125899e-01 -1.62942163e+02] [-9.27155351e-01 -1.49534774e-02 3.74378616e-01 -4.91344627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-162.93, Z:-491.38 [[-1.72390430e-01 -8.63305332e-01 -4.74326305e-01 2.88453252e+02] [ 3.34070778e-01 -5.04237403e-01 7.96329930e-01 -1.62930754e+02] [-9.26648938e-01 -2.11788986e-02 3.75330786e-01 -4.91383188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-162.94, Z:-491.40 [[-1.69805977e-01 -8.71666909e-01 -4.59742026e-01 2.88447953e+02] [ 3.34819538e-01 -4.89795456e-01 8.04982166e-01 -1.62939094e+02] [-9.26855872e-01 -1.72398296e-02 3.75021308e-01 -4.91396950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-162.15, Z:-491.15 [[-2.53460708e-01 6.80948928e-01 -6.87070759e-01 2.87998478e+02] [ 3.63271175e-01 -5.91275984e-01 -7.20018586e-01 -1.62151869e+02] [-8.96544323e-01 -4.32089422e-01 -9.75038872e-02 -4.91149937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-162.88, Z:-491.55 [[-2.14906708e-01 -8.47567839e-01 -4.85225583e-01 2.88446494e+02] [ 3.81773327e-01 -5.30207728e-01 7.57052767e-01 -1.62878446e+02] [-8.98923931e-01 -2.25504672e-02 4.37523991e-01 -4.91554957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-162.88, Z:-491.56 [[-2.13268000e-01 -8.48339973e-01 -4.84598856e-01 2.88445397e+02] [ 3.82520297e-01 -5.28916604e-01 7.57578675e-01 -1.62877069e+02] [-8.98996654e-01 -2.38016093e-02 4.37308244e-01 -4.91558791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-162.14, Z:-491.29 [[-2.89174574e-01 5.53963502e-01 -7.80706414e-01 2.88075923e+02] [ 4.17990209e-01 -6.60627078e-01 -6.23583234e-01 -1.62139927e+02] [-8.61198148e-01 -5.06652053e-01 -4.05147668e-02 -4.91291455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-162.53, Z:-491.35 [[-3.32633268e-01 7.47288359e-01 5.75252308e-01 2.87350822e+02] [ 3.38649386e-01 6.63952909e-01 -6.66695678e-01 -1.62529035e+02] [-8.80154363e-01 -2.69563209e-02 -4.73921570e-01 -4.91348032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-162.69, Z:-491.81 [[-3.09467688e-01 -7.54959145e-01 -5.78157798e-01 2.88434656e+02] [ 3.81372851e-01 -6.55502971e-01 6.51820991e-01 -1.62692389e+02] [-8.71082372e-01 -1.87761526e-02 4.90777910e-01 -4.91814390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-162.25, Z:-491.39 [[-3.97614113e-01 8.99589543e-01 1.80670064e-01 2.87470519e+02] [ 3.29035359e-01 3.23601770e-01 -8.87140140e-01 -1.62250320e+02] [-8.56527145e-01 -2.93292600e-01 -4.24665398e-01 -4.91394890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-162.57, Z:-491.94 [[-3.75985207e-01 -6.71961074e-01 -6.38046581e-01 2.88421871e+02] [ 3.58050861e-01 -7.40442753e-01 5.68809380e-01 -1.62569159e+02] [-8.54654729e-01 -1.45892151e-02 5.18991762e-01 -4.91941148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-162.57, Z:-491.95 [[-3.75618050e-01 -6.72571261e-01 -6.37619777e-01 2.88419933e+02] [ 3.58441288e-01 -7.39886060e-01 5.69287679e-01 -1.62567899e+02] [-8.54652516e-01 -1.47145266e-02 5.18991868e-01 -4.91945422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-162.57, Z:-491.95 [[-3.75345478e-01 -6.73283038e-01 -6.37028825e-01 2.88418892e+02] [ 3.58721849e-01 -7.39240913e-01 5.69948689e-01 -1.62567637e+02] [-8.54654554e-01 -1.45884950e-02 5.18992070e-01 -4.91947631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-162.57, Z:-491.95 [[-3.75386293e-01 -6.73633285e-01 -6.36634375e-01 2.88416204e+02] [ 3.58555111e-01 -7.38930725e-01 5.70455621e-01 -1.62566337e+02] [-8.54706595e-01 -1.41272882e-02 5.18919124e-01 -4.91953709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-162.57, Z:-491.95 [[-3.75374787e-01 -6.74029385e-01 -6.36221783e-01 2.88416423e+02] [ 3.58502617e-01 -7.38576220e-01 5.70947494e-01 -1.62567324e+02] [-8.54733668e-01 -1.37678802e-02 5.18884190e-01 -4.91953113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-162.57, Z:-491.96 [[-3.75155986e-01 -6.74548327e-01 -6.35800708e-01 2.88414765e+02] [ 3.58703251e-01 -7.38103790e-01 5.71432211e-01 -1.62566258e+02] [-8.54745555e-01 -1.36875664e-02 5.18866734e-01 -4.91956308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-161.97, Z:-491.62 [[-4.27713846e-01 6.76197003e-01 -5.99848713e-01 2.87897005e+02] [ 3.88087835e-01 -4.61963191e-01 -7.97482190e-01 -1.61967234e+02] [-8.16363092e-01 -5.73888163e-01 -6.48357777e-02 -4.91615146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-162.37, Z:-491.60 [[-4.90534145e-01 7.33856321e-01 4.69926754e-01 2.87335316e+02] [ 3.16584656e-01 6.52494919e-01 -6.88494398e-01 -1.62368431e+02] [-8.11880785e-01 -1.88958411e-01 -5.52398688e-01 -4.91599182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-162.40, Z:-492.21 [[-4.75208733e-01 -5.73482149e-01 -6.67304192e-01 2.88339617e+02] [ 3.45005218e-01 -8.19123430e-01 4.58266523e-01 -1.62395989e+02] [-8.09412169e-01 -1.24511742e-02 5.87108941e-01 -4.92208323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-162.40, Z:-492.21 [[-4.74924975e-01 -5.73736443e-01 -6.67287616e-01 2.88340184e+02] [ 3.44109062e-01 -8.18958986e-01 4.59233202e-01 -1.62396776e+02] [-8.09960013e-01 -1.15183986e-02 5.86371985e-01 -4.92209390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-162.39, Z:-492.21 [[-4.74809425e-01 -5.73199376e-01 -6.67831181e-01 2.88338322e+02] [ 3.41676561e-01 -8.19359563e-01 4.60333611e-01 -1.62393997e+02] [-8.11056803e-01 -9.61152418e-03 5.84888435e-01 -4.92213082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-162.39, Z:-492.21 [[-4.74229614e-01 -5.73245520e-01 -6.68203448e-01 2.88337370e+02] [ 3.40514787e-01 -8.19336378e-01 4.61234842e-01 -1.62392950e+02] [-8.11884199e-01 -8.80193400e-03 5.83752151e-01 -4.92214816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-162.39, Z:-492.21 [[-4.73085679e-01 -5.73545987e-01 -6.68756265e-01 2.88337703e+02] [ 3.39615952e-01 -8.19129984e-01 4.62262992e-01 -1.62393806e+02] [-8.12927393e-01 -8.43029403e-03 5.82304031e-01 -4.92214036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-161.90, Z:-491.79 [[-5.36343760e-01 6.87219560e-01 -4.89963924e-01 2.87770782e+02] [ 3.63080002e-01 -3.36193746e-01 -8.68991759e-01 -1.61898210e+02] [-7.61910942e-01 -6.43974410e-01 -6.92002616e-02 -4.91793448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-162.93, Z:-492.36 [[-4.60260266e-01 -7.48109808e-01 4.78008580e-01 2.87714706e+02] [ 3.24633028e-01 3.59317411e-01 8.74931080e-01 -1.62927329e+02] [-8.26301328e-01 5.57873384e-01 7.74816255e-02 -4.92357512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-162.33, Z:-492.41 [[-4.65029715e-01 -5.83092673e-01 -6.66145854e-01 2.88213529e+02] [ 3.55162753e-01 -8.12126090e-01 4.62936964e-01 -1.62329405e+02] [-8.10929580e-01 -2.13107514e-02 5.84755563e-01 -4.92406619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-162.33, Z:-492.41 [[-4.64796567e-01 -5.83627053e-01 -6.65840532e-01 2.88212314e+02] [ 3.55467871e-01 -8.11742184e-01 4.63375895e-01 -1.62328967e+02] [-8.10929555e-01 -2.13093908e-02 5.84755646e-01 -4.92408664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-162.33, Z:-492.41 [[-4.64562470e-01 -5.84160259e-01 -6.65536252e-01 2.88211099e+02] [ 3.55773960e-01 -8.11358524e-01 4.63812714e-01 -1.62328526e+02] [-8.10929467e-01 -2.13104880e-02 5.84755729e-01 -4.92410709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-162.33, Z:-492.41 [[-4.64328138e-01 -5.84694465e-01 -6.65230609e-01 2.88209885e+02] [ 3.56079875e-01 -8.10973641e-01 4.64250877e-01 -1.62328086e+02] [-8.10929407e-01 -2.13104864e-02 5.84755813e-01 -4.92412754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-162.33, Z:-492.42 [[-4.63452233e-01 -5.85601765e-01 -6.65043307e-01 2.88205373e+02] [ 3.56931321e-01 -8.10300963e-01 4.64771321e-01 -1.62326145e+02] [-8.11056139e-01 -2.19754797e-02 5.84555402e-01 -4.92420175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.33, Z:-492.42 [[-4.63202153e-01 -5.86726458e-01 -6.64225736e-01 2.88204112e+02] [ 3.57225100e-01 -8.09500937e-01 4.65938258e-01 -1.62326196e+02] [-8.11069660e-01 -2.14545006e-02 5.84555995e-01 -4.92422397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.33, Z:-492.42 [[-4.62966900e-01 -5.87258190e-01 -6.63919776e-01 2.88202899e+02] [ 3.57530140e-01 -8.09115243e-01 4.66374017e-01 -1.62325751e+02] [-8.11069571e-01 -2.14555978e-02 5.84556078e-01 -4.92424442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.32, Z:-492.43 [[-4.62815029e-01 -5.87789464e-01 -6.63555420e-01 2.88199537e+02] [ 3.57884535e-01 -8.08729588e-01 4.66770944e-01 -1.62324699e+02] [-8.10999944e-01 -2.14476151e-02 5.84652966e-01 -4.92428617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.32, Z:-492.43 [[-4.62578838e-01 -5.88321485e-01 -6.63248558e-01 2.88198324e+02] [ 3.58189988e-01 -8.08342606e-01 4.67206767e-01 -1.62324253e+02] [-8.10999847e-01 -2.14490299e-02 5.84653049e-01 -4.92430662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.33, Z:-492.43 [[-4.62066800e-01 -5.88674824e-01 -6.63291960e-01 2.88197578e+02] [ 3.57857815e-01 -8.08092777e-01 4.67892988e-01 -1.62325143e+02] [-8.11438264e-01 -2.11663962e-02 5.84054729e-01 -4.92430993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-162.32, Z:-492.43 [[-4.61151979e-01 -5.89406673e-01 -6.63278694e-01 2.88195399e+02] [ 3.58242304e-01 -8.07549051e-01 4.68537065e-01 -1.62324313e+02] [-8.11788953e-01 -2.15476932e-02 5.83553248e-01 -4.92433707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-162.33, Z:-492.43 [[-4.60668562e-01 -5.90100669e-01 -6.62997493e-01 2.88193802e+02] [ 3.58806994e-01 -8.07034253e-01 4.68991743e-01 -1.62325844e+02] [-8.11814028e-01 -2.18383857e-02 5.83507557e-01 -4.92434613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-162.32, Z:-492.45 [[-4.61157097e-01 -5.90249818e-01 -6.62524931e-01 2.88186171e+02] [ 3.58477637e-01 -8.06946496e-01 4.69394436e-01 -1.62322355e+02] [-8.11682152e-01 -2.10357963e-02 5.83720464e-01 -4.92447460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-162.32, Z:-492.45 [[-4.61681051e-01 -5.90806725e-01 -6.61663073e-01 2.88183157e+02] [ 3.57169034e-01 -8.06592313e-01 4.70998006e-01 -1.62321934e+02] [-8.11961137e-01 -1.88747066e-02 5.83406254e-01 -4.92451715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-162.32, Z:-492.45 [[-4.61588151e-01 -5.91145471e-01 -6.61425288e-01 2.88183374e+02] [ 3.57066563e-01 -8.06351848e-01 4.71487187e-01 -1.62322817e+02] [-8.12059018e-01 -1.85399557e-02 5.83280740e-01 -4.92450370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-162.86, Z:-492.47 [[-4.05105948e-01 -8.01916331e-01 4.39112023e-01 2.87642430e+02] [ 3.09913089e-01 3.31407194e-01 8.91135876e-01 -1.62856433e+02] [-8.60141296e-01 4.97091007e-01 1.14269342e-01 -4.92474798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-162.82, Z:-492.54 [[-3.50695818e-01 -8.18342016e-01 4.55333712e-01 2.87565383e+02] [ 2.85112803e-01 3.69833396e-01 8.84270292e-01 -1.62816791e+02] [-8.92033146e-01 4.39931364e-01 1.03620761e-01 -4.92540664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-161.70, Z:-492.24 [[-4.38585458e-01 7.62456678e-01 -4.75712738e-01 2.87466172e+02] [ 3.28505488e-01 -3.56691312e-01 -8.74560148e-01 -1.61696412e+02] [-8.36496826e-01 -5.39843609e-01 -9.40315808e-02 -4.92243656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-161.68, Z:-492.34 [[-4.90635127e-01 7.41153037e-01 -4.58224123e-01 2.87434401e+02] [ 3.49844831e-01 -3.14075359e-01 -8.82590088e-01 -1.61676451e+02] [-7.98051230e-01 -5.93337041e-01 -1.05192155e-01 -4.92341842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-162.17, Z:-492.87 [[-4.60169661e-01 -5.96258721e-01 -6.57814123e-01 2.87975720e+02] [ 3.61053207e-01 -8.02568088e-01 4.74894774e-01 -1.62172311e+02] [-8.11100773e-01 -1.89737310e-02 5.84598608e-01 -4.92867586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-162.17, Z:-492.87 [[-4.59666954e-01 -5.97273255e-01 -6.57244970e-01 2.87974264e+02] [ 3.62450141e-01 -8.01793068e-01 4.75139739e-01 -1.62172390e+02] [-8.10762719e-01 -1.98124957e-02 5.85039552e-01 -4.92870859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-162.17, Z:-492.88 [[-4.58849591e-01 -5.98185792e-01 -6.56986158e-01 2.87970012e+02] [ 3.63376882e-01 -8.01095176e-01 4.75608832e-01 -1.62170134e+02] [-8.10810887e-01 -2.05006633e-02 5.84949082e-01 -4.92877790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-162.17, Z:-492.88 [[-4.57876346e-01 -5.99242816e-01 -6.56701834e-01 2.87967639e+02] [ 3.64225271e-01 -8.00289389e-01 4.76315909e-01 -1.62169268e+02] [-8.10980397e-01 -2.10936156e-02 5.84692959e-01 -4.92881471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-162.17, Z:-492.88 [[-4.56252300e-01 -6.00497249e-01 -6.56686297e-01 2.87966863e+02] [ 3.65283266e-01 -7.99319069e-01 4.77134323e-01 -1.62171365e+02] [-8.11419728e-01 -2.21828830e-02 5.84042760e-01 -4.92880609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-162.17, Z:-492.89 [[-4.54959005e-01 -6.01952633e-01 -6.56250967e-01 2.87963089e+02] [ 3.67325274e-01 -7.98176326e-01 4.77479525e-01 -1.62170481e+02] [-8.11224042e-01 -2.38239566e-02 5.84249923e-01 -4.92886786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-162.17, Z:-492.89 [[-4.54711687e-01 -6.02658407e-01 -6.55774448e-01 2.87961857e+02] [ 3.67621343e-01 -7.97648338e-01 4.78133536e-01 -1.62170162e+02] [-8.11228593e-01 -2.36637763e-02 5.84250114e-01 -4.92888883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-162.17, Z:-492.90 [[-4.54152842e-01 -6.03838083e-01 -6.55076153e-01 2.87958213e+02] [ 3.69428879e-01 -7.96721447e-01 4.78285730e-01 -1.62167780e+02] [-8.10720359e-01 -2.47892256e-02 5.84908535e-01 -4.92895464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-162.17, Z:-492.90 [[-4.53398010e-01 -6.05960964e-01 -6.53637173e-01 2.87955138e+02] [ 3.73465035e-01 -7.95022486e-01 4.77978152e-01 -1.62166203e+02] [-8.09292353e-01 -2.73962869e-02 5.86766846e-01 -4.92901077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-162.17, Z:-492.90 [[-4.53149603e-01 -6.06530636e-01 -6.53280969e-01 2.87953923e+02] [ 3.73763664e-01 -7.94589331e-01 4.78464752e-01 -1.62165769e+02] [-8.09293619e-01 -2.73565764e-02 5.86766953e-01 -4.92903134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-162.17, Z:-492.90 [[-4.52739347e-01 -6.07381026e-01 -6.52775132e-01 2.87954015e+02] [ 3.74810027e-01 -7.93920066e-01 4.78757112e-01 -1.62167108e+02] [-8.09039262e-01 -2.79144828e-02 5.87091351e-01 -4.92903330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-162.14, Z:-492.98 [[-4.40439383e-01 -6.17349705e-01 -6.51837780e-01 2.87908153e+02] [ 3.92522482e-01 -7.85397430e-01 4.78619868e-01 -1.62143087e+02] [-8.07427552e-01 -4.50579446e-02 5.88243598e-01 -4.92976469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-162.16, Z:-492.99 [[-4.39182241e-01 -6.35667510e-01 -6.34858863e-01 2.87903293e+02] [ 3.92892825e-01 -7.71395873e-01 5.00583296e-01 -1.62156638e+02] [-8.07932044e-01 -2.95841989e-02 5.88532572e-01 -4.92986641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-162.16, Z:-492.99 [[-4.38922360e-01 -6.36178305e-01 -6.34526852e-01 2.87902097e+02] [ 3.93183200e-01 -7.70974697e-01 5.01003979e-01 -1.62156123e+02] [-8.07932010e-01 -2.95834490e-02 5.88532656e-01 -4.92988684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-162.13, Z:-493.05 [[-4.37055074e-01 -6.38356061e-01 -6.33627969e-01 2.87870654e+02] [ 3.92996232e-01 -7.69202402e-01 5.03866675e-01 -1.62132199e+02] [-8.09034501e-01 -2.87959173e-02 5.87055339e-01 -4.93047847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-161.61, Z:-492.56 [[-5.35465687e-01 6.98583345e-01 -4.74613325e-01 2.87353568e+02] [ 3.91633197e-01 -2.92508084e-01 -8.72388938e-01 -1.61606672e+02] [-7.48264617e-01 -6.53008676e-01 -1.16960386e-01 -4.92555533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-162.07, Z:-493.19 [[-4.80773927e-01 -6.27179356e-01 -6.12782577e-01 2.87814463e+02] [ 4.23984825e-01 -7.77999853e-01 4.63630345e-01 -1.62070092e+02] [-7.67524136e-01 -3.69091319e-02 6.39956574e-01 -4.93188074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-162.07, Z:-493.20 [[-4.79578285e-01 -6.37395743e-01 -6.03101431e-01 2.87804834e+02] [ 4.23878755e-01 -7.70063980e-01 4.76789543e-01 -1.62072213e+02] [-7.68330313e-01 -2.69839718e-02 6.39484477e-01 -4.93204367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-162.07, Z:-493.21 [[-4.80074473e-01 -6.37766569e-01 -6.02314124e-01 2.87803021e+02] [ 4.21260416e-01 -7.69868842e-01 4.79418009e-01 -1.62071039e+02] [-7.69459656e-01 -2.35747501e-02 6.38260189e-01 -4.93207635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-162.07, Z:-493.21 [[-4.80332463e-01 -6.37617232e-01 -6.02266545e-01 2.87803898e+02] [ 4.20346524e-01 -7.70021371e-01 4.79974883e-01 -1.62071196e+02] [-7.69798366e-01 -2.26131311e-02 6.37886449e-01 -4.93206800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-162.05, Z:-493.21 [[-4.85491120e-01 -6.29720925e-01 -6.06423886e-01 2.87801042e+02] [ 4.28345109e-01 -7.76031892e-01 4.62920047e-01 -1.62052459e+02] [-7.62114715e-01 -3.50151332e-02 6.46494471e-01 -4.93205788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-162.54, Z:-493.01 [[-4.69007398e-01 -3.15053068e-01 8.25090071e-01 2.86938638e+02] [ 3.24895752e-01 8.07158594e-01 4.92887161e-01 -1.62536926e+02] [-8.21264154e-01 4.99235984e-01 -2.76203949e-01 -4.93006253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-161.99, Z:-493.25 [[-4.65573493e-01 -5.96178284e-01 -6.54073984e-01 2.87756770e+02] [ 3.66024742e-01 -8.02600094e-01 4.71019084e-01 -1.61987405e+02] [-8.05771190e-01 -2.01132608e-02 5.91885332e-01 -4.93253739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-161.94, Z:-493.32 [[-4.70530859e-01 -5.87660149e-01 -6.58222045e-01 2.87709506e+02] [ 3.77188460e-01 -8.08325383e-01 4.52038650e-01 -1.61937583e+02] [-7.97702687e-01 -3.55756256e-02 6.02000664e-01 -4.93323687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-162.48, Z:-493.08 [[-4.43946334e-01 -3.51882032e-01 8.24069590e-01 2.86878848e+02] [ 2.72697331e-01 8.22985708e-01 4.98327894e-01 -1.62478679e+02] [-8.53550127e-01 4.45952419e-01 -2.69404197e-01 -4.93083677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-161.90, Z:-493.32 [[-4.45977301e-01 -5.48128774e-01 -7.07572678e-01 2.87694488e+02] [ 3.12314969e-01 -8.36157197e-01 4.50888569e-01 -1.61895263e+02] [-8.38786986e-01 -1.98994719e-02 5.44095951e-01 -4.93324448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-161.89, Z:-493.32 [[-4.46513655e-01 -5.48448921e-01 -7.06986094e-01 2.87694621e+02] [ 3.12081840e-01 -8.35966356e-01 4.51403564e-01 -1.61894468e+02] [-8.38588386e-01 -1.90796655e-02 5.44431341e-01 -4.93324762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-161.89, Z:-493.33 [[-4.47955053e-01 -5.47792904e-01 -7.06582766e-01 2.87694791e+02] [ 3.10001092e-01 -8.36449431e-01 4.51942111e-01 -1.61891609e+02] [-8.38591434e-01 -1.65916770e-02 5.44508148e-01 -4.93327932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-162.48, Z:-493.34 [[-3.86276310e-01 -7.89350304e-01 4.77196720e-01 2.87122480e+02] [ 2.63152700e-01 4.01541490e-01 8.77220092e-01 -1.62477361e+02] [-8.84048228e-01 4.64424945e-01 5.26136984e-02 -4.93339331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.85, Z:-493.39 [[-3.99796840e-01 -5.55212324e-01 -7.29315955e-01 2.87631873e+02] [ 2.79027768e-01 -8.31628589e-01 4.80143097e-01 -1.61854308e+02] [-8.73101364e-01 -1.15397103e-02 4.87402138e-01 -4.93392264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.85, Z:-493.39 [[-4.01190790e-01 -5.55016605e-01 -7.28699196e-01 2.87632870e+02] [ 2.77263805e-01 -8.31789329e-01 4.80885948e-01 -1.61853324e+02] [-8.73023901e-01 -9.11489842e-03 4.87592234e-01 -4.93391505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.85, Z:-493.40 [[-4.02478677e-01 -5.54709727e-01 -7.28222517e-01 2.87631523e+02] [ 2.75314819e-01 -8.32017346e-01 4.81610720e-01 -1.61850998e+02] [-8.73047917e-01 -6.65240503e-03 4.87589049e-01 -4.93396757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.85, Z:-493.40 [[-4.05506812e-01 -5.53339232e-01 -7.27584992e-01 2.87633264e+02] [ 2.70788864e-01 -8.32954916e-01 4.82555177e-01 -1.61849708e+02] [-8.73062207e-01 -1.34250276e-03 4.87606994e-01 -4.93396107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.85, Z:-493.40 [[-4.07130512e-01 -5.52932794e-01 -7.26986982e-01 2.87633697e+02] [ 2.68998479e-01 -8.33225099e-01 4.83089798e-01 -1.61848428e+02] [-8.72859992e-01 1.12220460e-03 4.87969442e-01 -4.93397091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.84, Z:-493.40 [[-4.10491575e-01 -5.51189252e-01 -7.26420729e-01 2.87633726e+02] [ 2.64463422e-01 -8.34355560e-01 4.83642325e-01 -1.61844331e+02] [-8.72671625e-01 6.41938812e-03 4.88265324e-01 -4.93400551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.84, Z:-493.40 [[-4.12241383e-01 -5.50791179e-01 -7.25731438e-01 2.87633962e+02] [ 2.62455916e-01 -8.34592522e-01 4.84326558e-01 -1.61843087e+02] [-8.72452826e-01 9.18694120e-03 4.88611979e-01 -4.93401906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-161.84, Z:-493.41 [[-4.15510603e-01 -5.49490425e-01 -7.24852545e-01 2.87633489e+02] [ 2.59284943e-01 -8.35391965e-01 4.84656150e-01 -1.61839925e+02] [-8.71849906e-01 1.34364182e-02 4.89588812e-01 -4.93405964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-161.83, Z:-493.43 [[-4.14929994e-01 -5.52158013e-01 -7.23156020e-01 2.87620955e+02] [ 2.60785313e-01 -8.33631284e-01 4.86877708e-01 -1.61832023e+02] [-8.71678909e-01 1.34316950e-02 4.89893324e-01 -4.93434935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-161.75, Z:-493.67 [[-4.17988202e-01 -5.53799470e-01 -7.20133328e-01 2.87514870e+02] [ 2.64781395e-01 -8.32553205e-01 4.86565488e-01 -1.61754273e+02] [-8.69009020e-01 1.27007265e-02 4.94633213e-01 -4.93667205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-162.24, Z:-493.23 [[-3.83580359e-01 -1.48815754e-02 9.23387593e-01 2.86566200e+02] [ 2.28355354e-01 9.67292508e-01 1.10449248e-01 -1.62236576e+02] [-8.94829559e-01 2.53226663e-01 -3.67636120e-01 -4.93228599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-161.67, Z:-493.57 [[-4.14824789e-01 -4.38545207e-01 -7.97244314e-01 2.87537517e+02] [ 1.99662641e-01 -8.98704783e-01 3.90467084e-01 -1.61671794e+02] [-8.87724746e-01 2.79552074e-03 4.60366116e-01 -4.93574305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-162.24, Z:-493.39 [[-3.78668248e-01 -1.79826261e-01 9.07894748e-01 2.86560102e+02] [ 1.74358483e-01 9.49518935e-01 2.60792853e-01 -1.62238311e+02] [-9.08960658e-01 2.57053124e-01 -3.28198438e-01 -4.93390120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-161.57, Z:-493.68 [[-3.98858930e-01 -3.49822709e-01 -8.47664808e-01 2.87472184e+02] [ 1.26431189e-01 -9.36527183e-01 3.27004571e-01 -1.61571746e+02] [-9.08254760e-01 2.32574236e-02 4.17770731e-01 -4.93675053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-161.57, Z:-493.68 [[-3.97550855e-01 -3.53000390e-01 -8.46961653e-01 2.87472087e+02] [ 1.28241970e-01 -9.35354153e-01 3.29646183e-01 -1.61571198e+02] [-9.08574331e-01 2.24350914e-02 4.17120308e-01 -4.93677917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-161.72, Z:-493.36 [[-4.01403809e-01 5.88920690e-01 7.01460906e-01 2.86334395e+02] [ 1.09410704e-01 7.91217481e-01 -6.01667845e-01 -1.61716166e+02] [-9.09342774e-01 -1.64764433e-01 -3.82031937e-01 -4.93355114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-161.43, Z:-494.03 [[-4.35109464e-01 -2.13950303e-01 -8.74588488e-01 2.87297301e+02] [ 7.46119331e-02 -9.76584407e-01 2.01781951e-01 -1.61425933e+02] [-8.97280789e-01 2.25424988e-02 4.40884363e-01 -4.94034598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-161.13, Z:-493.63 [[-4.70409074e-01 7.95650179e-01 -3.81649179e-01 2.86743111e+02] [ 1.04325240e-01 -3.79313130e-01 -9.19368149e-01 -1.61127843e+02] [-8.76259977e-01 -4.72294762e-01 9.54259427e-02 -4.93625336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-161.45, Z:-494.02 [[-4.87629772e-01 -2.42738224e-01 -8.38627069e-01 2.87343794e+02] [ 1.11859884e-01 -9.70024995e-01 2.15728709e-01 -1.61454995e+02] [-8.65854822e-01 1.13870140e-02 5.00165737e-01 -4.94019107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-161.41, Z:-494.27 [[-4.90057085e-01 -2.42166747e-01 -8.37376451e-01 2.87199503e+02] [ 1.28213086e-01 -9.70211977e-01 2.05548349e-01 -1.61410887e+02] [-8.62209637e-01 -6.63219433e-03 5.06508199e-01 -4.94267434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-162.22, Z:-493.84 [[-4.40056936e-01 -4.34742654e-01 7.85715418e-01 2.86536509e+02] [ 7.04744292e-02 8.55571470e-01 5.12865299e-01 -1.62224183e+02] [-8.95200116e-01 2.81062777e-01 -3.45861919e-01 -4.93837529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-161.93, Z:-494.01 [[-4.48541107e-01 1.02458525e-01 8.87869994e-01 2.86114005e+02] [-1.80392468e-02 9.92167218e-01 -1.23607435e-01 -1.61925308e+02] [-8.93580137e-01 -7.14595218e-02 -4.43179507e-01 -4.94014427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-161.24, Z:-494.41 [[-4.66123427e-01 1.54914954e-02 -8.84584063e-01 2.87038316e+02] [ 5.67715903e-03 -9.99773728e-01 -2.05003093e-02 -1.61242636e+02] [-8.84701487e-01 -1.45775988e-02 4.65930008e-01 -4.94405420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-161.40, Z:-493.82 [[-5.13350561e-01 6.99819540e-01 4.96713010e-01 2.86193124e+02] [-6.18991501e-02 5.47096687e-01 -8.34777642e-01 -1.61396836e+02] [-8.55943747e-01 -4.59279683e-01 -2.37534156e-01 -4.93823654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-161.20, Z:-494.37 [[-5.18569976e-01 6.86337311e-02 -8.52276124e-01 2.87068354e+02] [-1.76657277e-02 -9.97420403e-01 -6.95734235e-02 -1.61203513e+02] [-8.54852679e-01 -2.10226106e-02 5.18444739e-01 -4.94365319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-161.21, Z:-494.38 [[-5.19564387e-01 6.30532259e-02 -8.52101601e-01 2.87063596e+02] [-1.06000380e-02 -9.97672308e-01 -6.73617502e-02 -1.61206230e+02] [-8.54365546e-01 -2.59664570e-02 5.19023368e-01 -4.94375730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-161.21, Z:-494.39 [[-5.20052508e-01 6.06871320e-02 -8.51975623e-01 2.87058484e+02] [-7.70590092e-03 -9.97765447e-01 -6.63681551e-02 -1.61207676e+02] [-8.54099531e-01 -2.79496858e-02 5.19358072e-01 -4.94385561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-162.04, Z:-494.42 [[-4.17897435e-01 -8.99964369e-01 -1.24200916e-01 2.86959659e+02] [-1.10411588e-02 -1.31669515e-01 9.91232178e-01 -1.62043516e+02] [-9.08427117e-01 4.15604707e-01 4.50877033e-02 -4.94422853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-162.05, Z:-494.51 [[-3.55591817e-01 -9.27230052e-01 -1.17468675e-01 2.86876927e+02] [-2.81319857e-03 -1.24620770e-01 9.92200459e-01 -1.62054074e+02] [-9.34637120e-01 3.53148827e-01 4.17056437e-02 -4.94514642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-162.06, Z:-494.61 [[-2.91867374e-01 -9.50206787e-01 -1.09181030e-01 2.86801224e+02] [ 4.69156404e-03 -1.15572235e-01 9.93287999e-01 -1.62063513e+02] [-9.56447294e-01 2.89396130e-01 3.81897206e-02 -4.94608773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-162.07, Z:-494.71 [[-2.26930665e-01 -9.68853769e-01 -9.91203681e-02 2.86730309e+02] [ 1.11311496e-02 -1.04349150e-01 9.94478432e-01 -1.62072687e+02] [-9.73847304e-01 2.24574329e-01 3.44644783e-02 -4.94710669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-161.18, Z:-494.63 [[-3.52681738e-01 9.31421609e-01 8.98297149e-02 2.85933270e+02] [-3.05107803e-02 8.45007929e-02 -9.95956178e-01 -1.61179946e+02] [-9.35245788e-01 -3.53996330e-01 -1.38348637e-03 -4.94632558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-161.19, Z:-494.76 [[-4.14497563e-01 9.02765758e-01 1.14916302e-01 2.85908139e+02] [-4.19745369e-02 1.07175301e-01 -9.93353710e-01 -1.61190975e+02] [-9.09081904e-01 -4.16566251e-01 -6.53072656e-03 -4.94758260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-161.23, Z:-495.10 [[-4.03071148e-01 4.53654761e-02 -9.14043557e-01 2.86721688e+02] [ 1.03872498e-02 -9.98479506e-01 -5.41366968e-02 -1.61234591e+02] [-9.15109696e-01 -3.13153393e-02 4.01987058e-01 -4.95095447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-161.24, Z:-495.10 [[-4.03243687e-01 3.67196543e-02 -9.14355618e-01 2.86723763e+02] [ 1.01085995e-02 -9.98954892e-01 -4.45751154e-02 -1.61237984e+02] [-9.15036800e-01 -2.72174886e-02 4.02451069e-01 -4.95099736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-161.24, Z:-495.11 [[-4.03768124e-01 3.56177309e-02 -9.14167752e-01 2.86720696e+02] [ 9.35931557e-03 -9.99028739e-01 -4.30578851e-02 -1.61237340e+02] [-9.14813481e-01 -2.59413860e-02 4.03042602e-01 -4.95108407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-161.23, Z:-495.20 [[-4.08697878e-01 3.74349232e-02 -9.11901679e-01 2.86674970e+02] [ 1.63286546e-02 -9.98698610e-01 -4.83162749e-02 -1.61234436e+02] [-9.12523654e-01 -3.46368865e-02 4.07554740e-01 -4.95203561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-162.21, Z:-495.13 [[-3.00920129e-01 -8.95545512e-01 3.27788517e-01 2.86368597e+02] [-2.47739519e-02 3.50945197e-01 9.36068224e-01 -1.62205962e+02] [-9.53327503e-01 2.73561154e-01 -1.27792676e-01 -4.95133995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-161.20, Z:-495.29 [[-3.47369500e-01 9.57221212e-02 -9.32829945e-01 2.86590833e+02] [-8.61933776e-03 -9.95060228e-01 -9.88981768e-02 -1.61201573e+02] [-9.37688721e-01 -2.63138339e-02 3.46478636e-01 -4.95293180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-161.21, Z:-495.31 [[-3.46188664e-01 7.52113574e-02 -9.35145262e-01 2.86594602e+02] [-8.72288450e-03 -9.96996279e-01 -7.69566853e-02 -1.61208443e+02] [-9.38124363e-01 -1.84843679e-02 3.45804869e-01 -4.95308608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-161.72, Z:-495.06 [[-3.47815389e-01 3.95639419e-01 8.49996415e-01 2.85577999e+02] [-1.11575758e-01 8.82692174e-01 -4.56514378e-01 -1.61718751e+02] [-9.30900266e-01 -2.53621720e-01 -2.62870154e-01 -4.95062380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-161.13, Z:-495.47 [[-3.76690194e-01 2.29703785e-01 -8.97407750e-01 2.86480427e+02] [-7.17625515e-02 -9.73092686e-01 -2.18953785e-01 -1.61127408e+02] [-9.23555431e-01 -1.80774739e-02 3.83038602e-01 -4.95470295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-161.14, Z:-495.32 [[-4.36556202e-01 8.97813605e-01 5.78741076e-02 2.85737299e+02] [-1.07770756e-01 1.16784530e-02 -9.94107176e-01 -1.61144022e+02] [-8.93198828e-01 -4.40220790e-01 9.16597495e-02 -4.95320905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:-161.16, Z:-495.67 [[-4.36864753e-01 1.96209399e-01 -8.77867336e-01 2.86448730e+02] [-6.94027158e-02 -9.80363901e-01 -1.84580295e-01 -1.61156984e+02] [-8.96845835e-01 -1.97102476e-02 4.41903898e-01 -4.95665622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-162.01, Z:-495.72 [[-3.43310714e-01 -9.07556573e-01 -2.41823947e-01 2.86474663e+02] [-4.94035563e-02 -2.39666717e-01 9.69597418e-01 -1.62013199e+02] [-9.37921661e-01 3.44820145e-01 3.74436294e-02 -4.95723341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-161.26, Z:-495.55 [[-4.33160074e-01 8.67372604e-01 2.45024726e-01 2.85545914e+02] [-1.04465289e-01 2.21705972e-01 -9.69501658e-01 -1.61256565e+02] [-8.95242623e-01 -4.45545989e-01 -5.42384494e-03 -4.95554455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-162.04, Z:-495.99 [[-3.42352877e-01 -9.09428180e-01 -2.36082386e-01 2.86358449e+02] [-5.13572851e-02 -2.32777619e-01 9.71173007e-01 -1.62041210e+02] [-9.38166796e-01 3.44608423e-01 3.29863251e-02 -4.95987248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-161.20, Z:-496.03 [[-3.74559590e-01 1.86040373e-01 -9.08346902e-01 2.86267420e+02] [-4.95591650e-02 -9.82280222e-01 -1.80746935e-01 -1.61204597e+02] [-9.25877423e-01 -2.26835838e-02 3.77142482e-01 -4.96029697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-161.57, Z:-495.75 [[-4.03095798e-01 6.07125102e-01 6.84772144e-01 2.85311737e+02] [-1.39597278e-01 6.98707653e-01 -7.01655340e-01 -1.61572850e+02] [-9.04448107e-01 -3.78426646e-01 -1.96893107e-01 -4.95752657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-161.17, Z:-496.20 [[-4.19499077e-01 2.69081948e-01 -8.66957571e-01 2.86179081e+02] [-1.00498802e-01 -9.62951853e-01 -2.50247316e-01 -1.61168647e+02] [-9.02175435e-01 -1.78503206e-02 4.30999827e-01 -4.96203869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-161.17, Z:-496.21 [[-4.19020409e-01 2.65381223e-01 -8.68328684e-01 2.86179479e+02] [-1.00956735e-01 -9.64020924e-01 -2.45909324e-01 -1.61171105e+02] [-9.02346738e-01 -1.53773970e-02 4.30736464e-01 -4.96208700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-161.17, Z:-496.21 [[-4.18601485e-01 2.64461749e-01 -8.68811130e-01 2.86177896e+02] [-1.01501082e-01 -9.64291428e-01 -2.44621283e-01 -1.61172603e+02] [-9.02480098e-01 -1.42135624e-02 4.30496978e-01 -4.96214389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-161.17, Z:-496.22 [[-4.17416668e-01 2.64300508e-01 -8.69430024e-01 2.86177018e+02] [-1.03708193e-01 -9.64372758e-01 -2.43371722e-01 -1.61174557e+02] [-9.02777900e-01 -1.14203961e-02 4.29955391e-01 -4.96218518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-161.18, Z:-496.22 [[-4.17086734e-01 2.63542839e-01 -8.69818273e-01 2.86175620e+02] [-1.04690474e-01 -9.64596911e-01 -2.42059298e-01 -1.61176135e+02] [-9.02817014e-01 -9.89803497e-03 4.29911000e-01 -4.96223265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-161.18, Z:-496.23 [[-4.15833576e-01 2.63866951e-01 -8.70319866e-01 2.86172257e+02] [-1.08091273e-01 -9.64540091e-01 -2.40787646e-01 -1.61177927e+02] [-9.02994305e-01 -6.05360607e-03 4.29609869e-01 -4.96232146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-161.18, Z:-496.24 [[-4.15172156e-01 2.62329307e-01 -8.71100118e-01 2.86170019e+02] [-1.09887254e-01 -9.64973165e-01 -2.38225904e-01 -1.61179212e+02] [-9.03081875e-01 -3.18196266e-03 4.29456636e-01 -4.96238250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-161.18, Z:-496.25 [[-4.14575420e-01 2.61474940e-01 -8.71641025e-01 2.86165764e+02] [-1.10529994e-01 -9.65208394e-01 -2.36972312e-01 -1.61180651e+02] [-9.03277555e-01 -1.90041847e-03 4.29052499e-01 -4.96249812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-161.18, Z:-496.25 [[-4.13965222e-01 2.59706853e-01 -8.72459251e-01 2.86166549e+02] [-1.13611824e-01 -9.65684420e-01 -2.33550756e-01 -1.61182252e+02] [-9.03175037e-01 2.43979614e-03 4.29265535e-01 -4.96252451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-161.21, Z:-496.44 [[-4.13737015e-01 2.56559771e-01 -8.73498006e-01 2.86085891e+02] [-1.14833127e-01 -9.66513512e-01 -2.29488527e-01 -1.61205889e+02] [-9.03125149e-01 5.35860982e-03 4.29343976e-01 -4.96439482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-161.42, Z:-495.98 [[-4.40013315e-01 7.53018676e-01 4.89235277e-01 2.85298825e+02] [-1.57446677e-01 4.71677737e-01 -8.67600516e-01 -1.61419628e+02] [-8.84080781e-01 -4.58784248e-01 -8.89841968e-02 -4.95977180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.09, Y:-161.17, Z:-496.43 [[-4.64113384e-01 3.21543743e-01 -8.25353493e-01 2.86087379e+02] [-1.51902452e-01 -9.46874504e-01 -2.83468373e-01 -1.61168459e+02] [-8.72653661e-01 -6.18824654e-03 4.88300414e-01 -4.96432563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-161.18, Z:-496.45 [[-4.66239165e-01 2.98466697e-01 -8.32789693e-01 2.86091341e+02] [-1.48965439e-01 -9.54413775e-01 -2.58657386e-01 -1.61179751e+02] [-8.72026570e-01 3.46067833e-03 4.89446304e-01 -4.96451933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-161.19, Z:-496.46 [[-4.67707922e-01 2.92446684e-01 -8.34100855e-01 2.86090322e+02] [-1.47999893e-01 -9.56266309e-01 -2.52291060e-01 -1.61185829e+02] [-8.71404230e-01 5.44830956e-03 4.90535406e-01 -4.96461736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-161.18, Z:-496.46 [[-4.75176121e-01 2.98833406e-01 -8.27590629e-01 2.86077169e+02] [-1.44914234e-01 -9.54295733e-01 -2.61380027e-01 -1.61183067e+02] [-8.67875290e-01 -4.27188584e-03 4.96763759e-01 -4.96464892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-162.14, Z:-496.45 [[-4.00872923e-01 -9.10232615e-01 -1.03814675e-01 2.86086731e+02] [-1.17461014e-01 -6.13166028e-02 9.91182720e-01 -1.62137676e+02] [-9.08572402e-01 4.09532492e-01 -8.23366796e-02 -4.96454881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-161.26, Z:-496.37 [[-4.52800934e-01 8.79643211e-01 1.45599229e-01 2.85273334e+02] [-1.51481826e-01 8.50281659e-02 -9.84796155e-01 -1.61257272e+02] [-8.78649288e-01 -4.67972256e-01 9.47491271e-02 -4.96369099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:-162.18, Z:-496.72 [[-3.94342155e-01 -9.12603344e-01 -1.07932395e-01 2.85958010e+02] [-1.20784520e-01 -6.49593497e-02 9.90551050e-01 -1.62176569e+02] [-9.10991418e-01 4.03652599e-01 -8.46121468e-02 -4.96722095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-161.24, Z:-496.84 [[-4.08239380e-01 3.17517329e-01 -8.55875782e-01 2.85859338e+02] [-1.30821667e-01 -9.48232400e-01 -2.89380384e-01 -1.61240334e+02] [-9.03452434e-01 -6.16937191e-03 4.28643953e-01 -4.96841220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-161.24, Z:-496.84 [[-4.09618512e-01 3.12200107e-01 -8.57171959e-01 2.85861011e+02] [-1.25365755e-01 -9.49966563e-01 -2.86089070e-01 -1.61243197e+02] [-9.03601739e-01 -9.72736897e-03 4.28263092e-01 -4.96843297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-161.25, Z:-496.85 [[-4.10426560e-01 3.09215378e-01 -8.57867058e-01 2.85859012e+02] [-1.22334512e-01 -9.50919962e-01 -2.84227889e-01 -1.61246037e+02] [-9.03650544e-01 -1.17079268e-02 4.28110521e-01 -4.96851809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-161.29, Z:-497.20 [[-4.19485610e-01 3.14238254e-01 -8.51637331e-01 2.85695001e+02] [-1.16416958e-01 -9.49048365e-01 -2.92838340e-01 -1.61291519e+02] [-9.00266025e-01 -2.36964423e-02 4.34694794e-01 -4.97200192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-162.31, Z:-496.75 [[-3.16163181e-01 -9.05515231e-01 2.82989416e-01 2.85651374e+02] [-1.49944090e-01 3.42236172e-01 9.27572732e-01 -1.62307341e+02] [-9.36780451e-01 2.50831755e-01 -2.43979134e-01 -4.96753626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-161.22, Z:-496.98 [[-3.55793041e-01 4.09540033e-01 -8.40052542e-01 2.85709580e+02] [-1.36624635e-01 -9.12006387e-01 -3.86753227e-01 -1.61223824e+02] [-9.24524213e-01 -2.28322347e-02 3.80438784e-01 -4.96980103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.33, Y:-162.33, Z:-496.80 [[-2.66563951e-01 -7.14667119e-01 6.46679650e-01 2.85327584e+02] [-2.06762796e-01 6.97738040e-01 6.85864982e-01 -1.62325381e+02] [-9.41378142e-01 4.91175871e-02 -3.33758381e-01 -4.96798750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-161.19, Z:-497.12 [[-3.12441878e-01 5.61087618e-01 -7.66525119e-01 2.85549040e+02] [-1.86650224e-01 -8.27453302e-01 -5.29606200e-01 -1.61190318e+02] [-9.31419222e-01 -2.23990707e-02 3.63258193e-01 -4.97116539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.80, Y:-161.61, Z:-496.93 [[-3.43633992e-01 6.64410079e-01 6.63682851e-01 2.84795251e+02] [-2.65164095e-01 6.09315538e-01 -7.47276775e-01 -1.61614032e+02] [-9.00890494e-01 -4.32774564e-01 -3.32038333e-02 -4.96931737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-161.21, Z:-497.31 [[-3.59926306e-01 5.74350146e-01 -7.35238032e-01 2.85503673e+02] [-2.27864231e-01 -8.18303341e-01 -5.27690756e-01 -1.61208156e+02] [-9.04727001e-01 -2.23953356e-02 4.25402753e-01 -4.97305657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-161.21, Z:-497.32 [[-3.60489590e-01 5.72336823e-01 -7.36530934e-01 2.85499694e+02] [-2.27037115e-01 -8.19714129e-01 -5.25854443e-01 -1.61211990e+02] [-9.04710674e-01 -2.23451944e-02 4.25440111e-01 -4.97319752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-161.21, Z:-497.32 [[-3.59561699e-01 5.70845273e-01 -7.38140271e-01 2.85498827e+02] [-2.27190669e-01 -8.20795487e-01 -5.24098435e-01 -1.61211362e+02] [-9.05041317e-01 -2.07471421e-02 4.24817339e-01 -4.97321876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-161.22, Z:-497.34 [[-3.57956230e-01 5.69841309e-01 -7.39694680e-01 2.85488966e+02] [-2.28238226e-01 -8.21553438e-01 -5.22453118e-01 -1.61215571e+02] [-9.05414076e-01 -1.81887467e-02 4.24139741e-01 -4.97344896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-162.07, Z:-497.37 [[-2.75921732e-01 -8.26095475e-01 -4.91358793e-01 2.85810123e+02] [-1.90081473e-01 -4.54210650e-01 8.70380215e-01 -1.62067398e+02] [-9.42197555e-01 3.33555019e-01 -3.16988558e-02 -4.97365893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-162.10, Z:-497.47 [[-2.22004542e-01 -8.32782550e-01 -5.07136282e-01 2.85755406e+02] [-1.58778820e-01 -4.82295902e-01 8.61498665e-01 -1.62096617e+02] [-9.62030805e-01 2.71779117e-01 -2.51563503e-02 -4.97474700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.64, Y:-161.64, Z:-497.43 [[-2.84789510e-01 7.98916929e-01 5.29742085e-01 2.84640857e+02] [-2.23190871e-01 4.82175174e-01 -8.47167596e-01 -1.61639754e+02] [-9.32245016e-01 -3.59498042e-01 4.09925336e-02 -4.97426170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0565599949999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:285.58, Y:-162.24, Z:-498.15 [[-2.25844294e-01 -8.37390614e-01 -4.97766325e-01 2.85583390e+02] [-1.68974795e-01 -4.69548456e-01 8.66586272e-01 -1.62238973e+02] [-9.59396620e-01 2.79823528e-01 -3.54530678e-02 -4.98154574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-161.33, Z:-497.78 [[-2.40644458e-01 6.36558441e-01 -7.32723411e-01 2.85244288e+02] [-1.79564279e-01 -7.71073913e-01 -6.10902358e-01 -1.61327675e+02] [-9.53858960e-01 -1.54393155e-02 2.99857821e-01 -4.97775737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-161.38, Z:-497.90 [[-2.80550012e-01 5.88219231e-01 -7.58478627e-01 2.85257985e+02] [-1.26985349e-01 -8.06014093e-01 -5.78114179e-01 -1.61378822e+02] [-9.51402340e-01 -6.58742670e-02 3.00822488e-01 -4.97898337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-161.43, Z:-497.95 [[-2.82548994e-01 4.06879583e-01 -8.68685830e-01 2.85373279e+02] [-1.22818042e-01 -9.13477157e-01 -3.87911347e-01 -1.61432915e+02] [-9.51357869e-01 -2.91366856e-03 3.08074205e-01 -4.97947346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-162.44, Z:-497.97 [[-2.07650698e-01 -9.73510356e-01 -9.57014878e-02 2.85452655e+02] [-9.99316731e-02 -7.62106166e-02 9.92071370e-01 -1.62435393e+02] [-9.73085222e-01 2.15567922e-01 -8.14593310e-02 -4.97974543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-161.45, Z:-498.24 [[-2.19244447e-01 4.76880283e-01 -8.51185684e-01 2.85231780e+02] [-1.08058767e-01 -8.78912741e-01 -4.64581207e-01 -1.61452102e+02] [-9.69667559e-01 -9.87877463e-03 2.44227833e-01 -4.98240791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-161.84, Z:-498.34 [[-2.58336273e-01 7.80812765e-01 5.68853054e-01 2.84368481e+02] [-1.44560339e-01 5.50966424e-01 -8.21911375e-01 -1.61843378e+02] [-9.55177826e-01 -2.94563112e-01 -2.94600543e-02 -4.98335608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:284.92, Y:-162.69, Z:-498.78 [[-2.06832828e-01 -8.60941395e-01 4.64758104e-01 2.84922279e+02] [-1.63565945e-01 4.98772591e-01 8.51159259e-01 -1.62690928e+02] [-9.64606844e-01 1.00029079e-01 -2.43983238e-01 -4.98784789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:-161.39, Z:-498.38 [[-2.10323486e-01 6.55314317e-01 -7.25484099e-01 2.85057063e+02] [-1.85690027e-01 -7.55352050e-01 -6.28460416e-01 -1.61388915e+02] [-9.59835010e-01 2.53517656e-03 2.80553609e-01 -4.98384868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:-161.44, Z:-498.69 [[-2.09308771e-01 6.34857250e-01 -7.43737931e-01 2.85009522e+02] [-1.84504678e-01 -7.72563957e-01 -6.07538440e-01 -1.61444941e+02] [-9.60285302e-01 1.00600031e-02 2.78838545e-01 -4.98688826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-162.32, Z:-498.44 [[-2.08727162e-01 6.97986682e-02 9.75479942e-01 2.84374918e+02] [-2.23776127e-01 9.67578523e-01 -1.17115528e-01 -1.62324073e+02] [-9.52027950e-01 -2.42734315e-01 -1.86340643e-01 -4.98437360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-162.54, Z:-498.42 [[-1.60034864e-01 -9.50674547e-01 2.65719302e-01 2.85091926e+02] [-2.44201821e-01 2.98950959e-01 9.22493249e-01 -1.62544104e+02] [-9.56427892e-01 8.27419441e-02 -2.79999032e-01 -4.98422934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-161.40, Z:-498.69 [[-1.42965876e-01 8.66916569e-01 -4.77510650e-01 2.84769055e+02] [-2.73314647e-01 -4.98286898e-01 -8.22805731e-01 -1.61401487e+02] [-9.51241222e-01 1.28775128e-02 3.08179019e-01 -4.98689229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-161.41, Z:-498.70 [[-1.43228897e-01 8.65185820e-01 -4.80561109e-01 2.84769825e+02] [-2.73289683e-01 -5.01263090e-01 -8.21004302e-01 -1.61406508e+02] [-9.51208827e-01 1.37408523e-02 3.08241719e-01 -4.98703596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-161.41, Z:-498.71 [[-1.44192249e-01 8.63450668e-01 -4.83385497e-01 2.84772309e+02] [-2.72415684e-01 -5.04252031e-01 -8.19462986e-01 -1.61407661e+02] [-9.51313981e-01 1.35215797e-02 3.07926739e-01 -4.98706349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-161.41, Z:-498.72 [[-1.46120997e-01 8.61426894e-01 -4.86407608e-01 2.84773867e+02] [-2.70505347e-01 -5.07738442e-01 -8.17941643e-01 -1.61413185e+02] [-9.51564770e-01 1.20574100e-02 3.07211828e-01 -4.98723801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.42, Z:-498.74 [[-1.47768097e-01 8.58616903e-01 -4.90858027e-01 2.84776264e+02] [-2.69272781e-01 -5.12484565e-01 -8.15384412e-01 -1.61416653e+02] [-9.51660002e-01 1.16869033e-02 3.06931030e-01 -4.98735813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.42, Z:-498.75 [[-1.51014276e-01 8.56041052e-01 -4.94356557e-01 2.84779896e+02] [-2.66249561e-01 -5.16833737e-01 -8.13630174e-01 -1.61420764e+02] [-9.52000977e-01 8.75244460e-03 3.05969827e-01 -4.98747239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.42, Z:-498.76 [[-1.53189381e-01 8.53675954e-01 -4.97765385e-01 2.84782257e+02] [-2.64417231e-01 -5.20753793e-01 -8.11725948e-01 -1.61424515e+02] [-9.52164136e-01 7.26994926e-03 3.05500583e-01 -4.98759717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-162.28, Z:-498.76 [[-1.07652927e-01 -8.34949114e-01 -5.39695121e-01 2.85364006e+02] [-2.17484267e-01 -5.09924163e-01 8.32272757e-01 -1.62282207e+02] [-9.70108984e-01 2.06971796e-01 -1.26693467e-01 -4.98763740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-161.51, Z:-498.99 [[-1.20746947e-01 9.07279137e-01 -4.02820980e-01 2.84665300e+02] [-2.15532603e-01 -4.20070956e-01 -8.81524866e-01 -1.61514780e+02] [-9.69002514e-01 -1.96203821e-02 2.46270519e-01 -4.98987469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-161.51, Z:-499.02 [[-1.23538034e-01 8.66212219e-01 -4.84163965e-01 2.84716854e+02] [-2.14221168e-01 -4.99676285e-01 -8.39305011e-01 -1.61511858e+02] [-9.68941508e-01 3.20792400e-05 2.47290019e-01 -4.99017903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-161.52, Z:-499.05 [[-1.28313037e-01 8.60282681e-01 -4.93405992e-01 2.84720121e+02] [-2.10372464e-01 -5.09807059e-01 -8.34170360e-01 -1.61519984e+02] [-9.69164171e-01 -3.23589822e-03 2.46394679e-01 -4.99053543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:-161.52, Z:-499.08 [[-1.32676372e-01 8.52017037e-01 -5.06422699e-01 2.84727518e+02] [-2.06969783e-01 -5.23491645e-01 -8.26510742e-01 -1.61524664e+02] [-9.69309285e-01 -4.84425046e-03 2.45796753e-01 -4.99076618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:-161.59, Z:-499.42 [[-1.30186769e-01 8.37361244e-01 -5.30921419e-01 2.84706031e+02] [-1.96161064e-01 -5.46646855e-01 -8.14062684e-01 -1.61592537e+02] [-9.71891065e-01 -1.83407976e-03 2.35423860e-01 -4.99419221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.20, Y:-162.05, Z:-499.03 [[-1.79893362e-01 6.30551213e-01 7.55012282e-01 2.84201649e+02] [-2.65544629e-01 7.07910231e-01 -6.54483884e-01 -1.62046412e+02] [-9.47166526e-01 -3.18226763e-01 4.00911362e-02 -4.99033870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:-161.54, Z:-499.29 [[-1.88284723e-01 8.23651724e-01 -5.34926819e-01 2.84760362e+02] [-2.47552711e-01 -5.66883638e-01 -7.85722977e-01 -1.61544279e+02] [-9.50403345e-01 -1.55170488e-02 3.10632746e-01 -4.99286882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:-161.61, Z:-499.54 [[-1.80793813e-01 8.11819363e-01 -5.55214300e-01 2.84734837e+02] [-2.38992581e-01 -5.83859427e-01 -7.75880607e-01 -1.61607641e+02] [-9.54042003e-01 -7.58231485e-03 2.99576977e-01 -4.99543927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.22, Y:-161.98, Z:-499.21 [[-2.37058120e-01 7.15997221e-01 6.56621221e-01 2.84217509e+02] [-3.09170644e-01 5.85146334e-01 -7.49678118e-01 -1.61975831e+02] [-9.20986949e-01 -3.80725291e-01 8.26516319e-02 -4.99208533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.58, Z:-499.49 [[-2.44053231e-01 7.90443901e-01 -5.61815326e-01 2.84784444e+02] [-2.83974457e-01 -6.12189291e-01 -7.37958522e-01 -1.61576163e+02] [-9.27252138e-01 -2.05599601e-02 3.73872652e-01 -4.99486883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.58, Z:-499.50 [[-2.44627619e-01 7.88059066e-01 -5.64907282e-01 2.84784981e+02] [-2.83671438e-01 -6.15285152e-01 -7.35496226e-01 -1.61579428e+02] [-9.27193531e-01 -1.96746297e-02 3.74065590e-01 -4.99495561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.58, Z:-499.51 [[-2.45888439e-01 7.86136515e-01 -5.67034616e-01 2.84783349e+02] [-2.82617582e-01 -6.17722936e-01 -7.33856714e-01 -1.61583927e+02] [-9.27181847e-01 -2.01929295e-02 3.74066929e-01 -4.99509438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.60, Z:-499.55 [[-2.49214432e-01 7.82832460e-01 -5.70145163e-01 2.84777210e+02] [-2.80412325e-01 -6.21830767e-01 -7.31228709e-01 -1.61596185e+02] [-9.26963373e-01 -2.23570165e-02 3.74485072e-01 -4.99547631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-161.62, Z:-499.61 [[-2.56344105e-01 7.72959182e-01 -5.80363509e-01 2.84770526e+02] [-2.74291567e-01 -6.33915338e-01 -7.23128951e-01 -1.61617338e+02] [-9.26850493e-01 -2.61810278e-02 3.74516645e-01 -4.99611472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.62, Z:-499.63 [[-2.55369562e-01 7.59377622e-01 -5.98441320e-01 2.84780646e+02] [-2.74265910e-01 -6.50434505e-01 -7.08317137e-01 -1.61622891e+02] [-9.27127067e-01 -1.67505840e-02 3.74372569e-01 -4.99628478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.62, Z:-499.63 [[-2.54839027e-01 7.58046002e-01 -6.00352671e-01 2.84780752e+02] [-2.74879622e-01 -6.52027472e-01 -7.06612602e-01 -1.61623122e+02] [-9.27091292e-01 -1.50477529e-02 3.74533445e-01 -4.99630848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.63, Z:-499.64 [[-2.55326997e-01 7.56377069e-01 -6.02247337e-01 2.84779604e+02] [-2.74668134e-01 -6.53973797e-01 -7.04894098e-01 -1.61625846e+02] [-9.27019709e-01 -1.45603405e-02 3.74729844e-01 -4.99641148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-161.63, Z:-499.67 [[-2.52992549e-01 7.48437017e-01 -6.13055302e-01 2.84782994e+02] [-2.70745841e-01 -6.63121742e-01 -6.97829668e-01 -1.61632779e+02] [-9.28811854e-01 -1.05635327e-02 3.70401069e-01 -4.99671703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-162.15, Z:-499.48 [[-2.87217047e-01 5.65612267e-01 7.73038894e-01 2.84145241e+02] [-3.38286761e-01 6.95140542e-01 -6.34304103e-01 -1.62151960e+02] [-8.96140857e-01 -4.43691775e-01 -8.31707239e-03 -4.99484252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.75, Y:-161.67, Z:-499.86 [[-2.92515174e-01 7.48500661e-01 -5.95131611e-01 2.84750694e+02] [-3.22657274e-01 -6.63110873e-01 -6.75408213e-01 -1.61665689e+02] [-9.00181735e-01 -5.54360732e-03 4.35479175e-01 -4.99861075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:-162.27, Z:-499.59 [[-3.14266528e-01 4.05270307e-01 8.58482689e-01 2.84119473e+02] [-3.87277132e-01 7.70900662e-01 -5.05696146e-01 -1.62272573e+02] [-8.66748506e-01 -4.91394086e-01 -8.53163525e-02 -4.99589361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.91, Y:-162.82, Z:-499.82 [[-2.43362102e-01 -9.67883970e-01 6.30516263e-02 2.84908054e+02] [-3.88242318e-01 1.56777210e-01 9.08123785e-01 -1.62819217e+02] [-8.88843513e-01 1.96523604e-01 -4.13927147e-01 -4.99818226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-161.76, Z:-500.16 [[-2.51953074e-01 8.48006699e-01 -4.66266326e-01 2.84535846e+02] [-3.94328802e-01 -5.29959053e-01 -7.50765076e-01 -1.61756550e+02] [-8.83755874e-01 -5.29532715e-03 4.67918278e-01 -5.00157121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-161.79, Z:-500.25 [[-2.51634167e-01 8.42786406e-01 -4.75805969e-01 2.84514286e+02] [-3.94263134e-01 -5.38248130e-01 -7.44879542e-01 -1.61794004e+02] [-8.83876025e-01 1.55609524e-04 4.67721230e-01 -5.00248642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.40, Y:-162.92, Z:-499.90 [[-2.04359886e-01 -6.55076610e-01 7.27400627e-01 2.84396239e+02] [-4.34207471e-01 7.26642165e-01 5.32404955e-01 -1.62924824e+02] [-8.77325999e-01 -2.07040571e-01 -4.32935668e-01 -4.99904636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-162.55, Z:-500.24 [[-1.69472684e-01 -6.89399335e-01 -7.04278046e-01 2.85085770e+02] [-4.00871422e-01 -6.04606925e-01 6.88296861e-01 -1.62546085e+02] [-9.00322782e-01 3.98972458e-01 -1.73896134e-01 -5.00241864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-161.90, Z:-500.43 [[-1.58400469e-01 9.29906512e-01 -3.31938503e-01 2.84315520e+02] [-4.07607177e-01 -3.67784489e-01 -8.35817539e-01 -1.61901818e+02] [-8.99314006e-01 2.90662593e-03 4.37293804e-01 -5.00434367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-161.90, Z:-500.44 [[-1.55291307e-01 9.27106612e-01 -3.41112798e-01 2.84317154e+02] [-4.09084233e-01 -3.74655174e-01 -8.32035811e-01 -1.61900139e+02] [-8.99185576e-01 1.03359384e-02 4.37445389e-01 -5.00437616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-161.90, Z:-500.45 [[-1.54232286e-01 9.26487415e-01 -3.43268803e-01 2.84315044e+02] [-4.09489127e-01 -3.76122359e-01 -8.31174245e-01 -1.61903657e+02] [-8.99183550e-01 1.23709391e-02 4.37396734e-01 -5.00448061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-161.91, Z:-500.46 [[-1.50357885e-01 9.26166868e-01 -3.45843084e-01 2.84312462e+02] [-4.10424608e-01 -3.76726987e-01 -8.30438690e-01 -1.61905949e+02] [-8.99413224e-01 1.70795074e-02 4.36765546e-01 -5.00455925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.40, Y:-161.96, Z:-500.59 [[-2.08326839e-01 8.55423487e-01 -4.74184127e-01 2.84400203e+02] [-3.79395575e-01 -5.17537983e-01 -7.66950737e-01 -1.61961748e+02] [-9.01475971e-01 2.01269370e-02 4.32360938e-01 -5.00593525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:-161.99, Z:-500.66 [[-2.15430615e-01 8.53123977e-01 -4.75151691e-01 2.84383824e+02] [-3.75028550e-01 -5.21543919e-01 -7.66384712e-01 -1.61989621e+02] [-9.01633649e-01 1.30927197e-02 4.32302375e-01 -5.00662678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-161.99, Z:-500.67 [[-2.13239733e-01 8.42410695e-01 -4.94846480e-01 2.84392370e+02] [-3.76931714e-01 -5.38218965e-01 -7.53818830e-01 -1.61990266e+02] [-9.01360804e-01 2.57792060e-02 4.32300975e-01 -5.00670357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-161.99, Z:-500.68 [[-2.13059399e-01 8.41313400e-01 -4.96787133e-01 2.84389981e+02] [-3.77139592e-01 -5.39871708e-01 -7.52531905e-01 -1.61994155e+02] [-9.01316493e-01 2.70241014e-02 4.32317334e-01 -5.00680552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-162.04, Z:-500.78 [[-2.27799489e-01 8.36297436e-01 -4.98712333e-01 2.84367934e+02] [-3.67323324e-01 -5.48144277e-01 -7.51406299e-01 -1.62037009e+02] [-9.01765473e-01 1.20187012e-02 4.32058541e-01 -5.00783320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-162.04, Z:-500.80 [[-2.30146377e-01 8.15654426e-01 -5.30792335e-01 2.84389217e+02] [-3.67602036e-01 -5.77888933e-01 -7.28637855e-01 -1.62040059e+02] [-9.01055708e-01 2.74269805e-02 4.32835272e-01 -5.00796476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-162.05, Z:-500.81 [[-2.31838854e-01 8.13935226e-01 -5.32691462e-01 2.84387641e+02] [-3.66432134e-01 -5.80347025e-01 -7.27272179e-01 -1.62045139e+02] [-9.01098351e-01 2.65853207e-02 4.32799010e-01 -5.00809896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-162.05, Z:-500.82 [[-2.35089955e-01 8.11912248e-01 -5.34351209e-01 2.84386599e+02] [-3.64716415e-01 -5.83275172e-01 -7.25790611e-01 -1.62049663e+02] [-9.00952080e-01 2.42605753e-02 4.33239858e-01 -5.00819964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:-162.07, Z:-500.86 [[-2.43406188e-01 8.07553038e-01 -5.37225761e-01 2.84378652e+02] [-3.58397856e-01 -5.89568269e-01 -7.23850974e-01 -1.62066401e+02] [-9.01279315e-01 1.63507550e-02 4.32929843e-01 -5.00860779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.81, Y:-162.64, Z:-500.63 [[-2.79973926e-01 5.33210165e-01 7.98311669e-01 2.83809108e+02] [-3.77682058e-01 7.03333317e-01 -6.02227954e-01 -1.62643735e+02] [-8.82593261e-01 -4.70116119e-01 4.46892225e-03 -5.00630996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:-162.78, Z:-501.10 [[-2.71732245e-01 -5.41235196e-01 -7.95755018e-01 2.84919504e+02] [-3.45923146e-01 -7.16672684e-01 6.05571995e-01 -1.62780047e+02] [-8.98052763e-01 4.39823517e-01 7.51729532e-03 -5.01097162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.59, Y:-163.31, Z:-500.95 [[-2.01718538e-01 -9.77113201e-01 6.75235011e-02 2.84593491e+02] [-3.42470546e-01 1.34953701e-01 9.29785687e-01 -1.63305237e+02] [-9.17618415e-01 1.64430199e-01 -3.61855155e-01 -5.00954486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-162.25, Z:-501.28 [[-1.94846338e-01 8.75946580e-01 -4.41307708e-01 2.84148025e+02] [-3.55599218e-01 -4.82407178e-01 -8.00520150e-01 -1.62245171e+02] [-9.14102894e-01 9.50255573e-04 4.05481191e-01 -5.01282560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.14, Y:-162.26, Z:-501.30 [[-2.03433660e-01 8.76127755e-01 -4.37052517e-01 2.84139688e+02] [-3.55431598e-01 -4.82019507e-01 -8.00828055e-01 -1.62255172e+02] [-9.12295525e-01 -7.57310734e-03 4.09462480e-01 -5.01301681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-163.11, Z:-501.25 [[-1.36192245e-01 -8.36559878e-01 -5.30678098e-01 2.84766265e+02] [-3.09056967e-01 -4.73058895e-01 8.25044892e-01 -1.63111728e+02] [-9.41241448e-01 2.76374479e-01 -1.94117705e-01 -5.01246037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:-162.33, Z:-501.43 [[-1.55261960e-01 9.15519174e-01 -3.71104252e-01 2.84040265e+02] [-3.16122083e-01 -4.01951552e-01 -8.59361262e-01 -1.62331960e+02] [-9.35927643e-01 -1.61118645e-02 3.51823614e-01 -5.01432820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:-163.51, Z:-501.26 [[-6.15108400e-02 -7.02656526e-01 7.08865448e-01 2.84066460e+02] [-3.70699330e-01 6.75493154e-01 6.37409606e-01 -1.63506666e+02] [-9.26713776e-01 -2.23568346e-01 -3.02024455e-01 -5.01263687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.86, Y:-162.47, Z:-501.71 [[-1.31312689e-01 9.77887776e-01 -1.62765094e-01 2.83860697e+02] [-3.74888790e-01 -2.00977846e-01 -9.05022818e-01 -1.62467360e+02] [-9.17722928e-01 -5.78221704e-02 3.92990106e-01 -5.01714210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-163.07, Z:-501.73 [[-4.59793409e-02 -6.06241166e-01 -7.93950596e-01 2.84715821e+02] [-2.81797376e-01 -7.54640113e-01 5.92544124e-01 -1.63065399e+02] [-9.58371608e-01 2.50977983e-01 -1.36139315e-01 -5.01730990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:-163.51, Z:-501.68 [[-2.11473607e-02 -2.19865755e-01 9.75300897e-01 2.83705892e+02] [-4.04067677e-01 8.94176290e-01 1.92816167e-01 -1.63510236e+02] [-9.14484610e-01 -3.90010015e-01 -1.07750114e-01 -5.01675844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:-162.66, Z:-502.15 [[-8.16958749e-02 9.94406543e-01 -6.69433449e-02 2.83755193e+02] [-3.95503878e-01 -9.39990357e-02 -9.13641540e-01 -1.62657394e+02] [-9.14823735e-01 -4.81643924e-02 4.00970977e-01 -5.02152629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:-163.22, Z:-502.09 [[ 4.76006293e-03 -6.34022298e-01 -7.73300115e-01 2.84681022e+02] [-2.86497449e-01 -7.41756459e-01 6.06396378e-01 -1.63215741e+02] [-9.58069180e-01 2.18662025e-01 -1.85176578e-01 -5.02089348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:-163.66, Z:-502.04 [[ 4.75949171e-02 -2.31116623e-01 9.71761200e-01 2.83684262e+02] [-4.15859653e-01 8.79955423e-01 2.29650176e-01 -1.63657235e+02] [-9.08182511e-01 -4.15046457e-01 -5.42306731e-02 -5.02043163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:-162.84, Z:-502.44 [[-3.19991417e-03 9.92965852e-01 1.18357839e-01 2.83641925e+02] [-4.11843394e-01 1.06545963e-01 -9.05004407e-01 -1.62839089e+02] [-9.11249022e-01 -5.16408306e-02 4.08605488e-01 -5.02440417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-163.59, Z:-502.10 [[ 1.22996956e-01 -9.67302791e-01 -2.21804101e-01 2.84540739e+02] [-3.59861350e-01 -2.51761731e-01 8.98396260e-01 -1.63588205e+02] [-9.24862994e-01 -3.06812822e-02 -3.79060815e-01 -5.02099969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:-162.97, Z:-502.51 [[ 7.61911529e-02 9.46427922e-01 3.13797861e-01 2.83574654e+02] [-4.06126477e-01 3.16880401e-01 -8.57116151e-01 -1.62969864e+02] [-9.10635049e-01 -6.21369518e-02 4.08512920e-01 -5.02507620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.62, Y:-163.51, Z:-502.18 [[ 1.85798699e-01 -8.93675204e-01 -4.08440294e-01 2.84617399e+02] [-3.27626280e-01 -4.48235994e-01 8.31712399e-01 -1.63511612e+02] [-9.26358389e-01 -2.07153073e-02 -3.76073147e-01 -5.02180000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:-163.08, Z:-502.58 [[ 1.52850777e-01 8.73764763e-01 4.61705295e-01 2.83546861e+02] [-3.75297156e-01 4.83517448e-01 -7.90798914e-01 -1.63081448e+02] [-9.14214791e-01 -5.24024559e-02 4.01827448e-01 -5.02582726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:-163.08, Z:-502.62 [[ 1.51507288e-01 8.98587602e-01 4.11808042e-01 2.83561755e+02] [-3.84270677e-01 4.37390857e-01 -8.13034615e-01 -1.63083058e+02] [-9.10703898e-01 -3.50650857e-02 4.11568768e-01 -5.02624611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:-163.35, Z:-502.32 [[ 2.23703559e-01 -6.86940400e-01 -6.91425776e-01 2.84708515e+02] [-2.85173639e-01 -7.24490879e-01 6.27526065e-01 -1.63349979e+02] [-9.32004674e-01 5.67965912e-02 -3.57968482e-01 -5.02323130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:-163.46, Z:-502.30 [[ 2.87866772e-01 -7.87523037e-01 -5.44922185e-01 2.84680927e+02] [-2.42092034e-01 -6.10368513e-01 7.54215967e-01 -1.63463561e+02] [-9.26565793e-01 -8.51923959e-02 -3.66357868e-01 -5.02295763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:-163.36, Z:-502.32 [[ 3.38841291e-01 -6.68245568e-01 -6.62294829e-01 2.84704824e+02] [-1.82729340e-01 -7.37274924e-01 6.50411927e-01 -1.63363502e+02] [-9.22928257e-01 -9.93657200e-02 -3.71927259e-01 -5.02322161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:-163.46, Z:-502.76 [[ 3.39832814e-01 4.82152017e-01 8.07491852e-01 2.83566121e+02] [-2.21222880e-01 8.75479784e-01 -4.29645883e-01 -1.63462667e+02] [-9.14097422e-01 -3.26279032e-02 4.04179816e-01 -5.02759176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:283.58, Y:-163.47, Z:-502.80 [[ 3.38308861e-01 4.99315360e-01 7.97641076e-01 2.83579853e+02] [-2.27874856e-01 8.65862358e-01 -4.45371112e-01 -1.63469698e+02] [-9.13028020e-01 -3.10893513e-02 4.06710324e-01 -5.02798140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5765599949999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:284.72, Y:-163.11, Z:-502.47 [[ 3.60277114e-01 -2.97380431e-01 -8.84174915e-01 2.84716733e+02] [-1.16542387e-01 -9.54748644e-01 2.73629125e-01 -1.63105818e+02] [-9.25536749e-01 4.46154361e-03 -3.78631511e-01 -5.02472099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:283.67, Y:-163.63, Z:-502.86 [[ 3.74807304e-01 2.36217925e-01 8.96504644e-01 2.83673644e+02] [-1.60538536e-01 9.68924553e-01 -1.88182329e-01 -1.63632367e+02] [-9.13097401e-01 -7.33914320e-02 4.01082079e-01 -5.02860781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:-163.52, Z:-502.92 [[ 3.72046067e-01 4.10067921e-01 8.32722057e-01 2.83650470e+02] [-1.60362487e-01 9.12028882e-01 -3.77474756e-01 -1.63521115e+02] [-9.14256855e-01 6.90061852e-03 4.05076270e-01 -5.02920073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:-163.53, Z:-502.95 [[ 3.72462722e-01 3.96244519e-01 8.39203076e-01 2.83664702e+02] [-1.60096778e-01 9.18144792e-01 -3.62462637e-01 -1.63534546e+02] [-9.14133766e-01 6.50112047e-04 4.05412179e-01 -5.02946981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6965599949999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:283.68, Y:-163.54, Z:-502.98 [[ 3.71075770e-01 3.92568357e-01 8.41541952e-01 2.83676694e+02] [-1.61712466e-01 9.19716754e-01 -3.57729186e-01 -1.63543452e+02] [-9.14413392e-01 -3.34319072e-03 4.04767800e-01 -5.02978983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:-163.53, Z:-503.01 [[ 3.72587543e-01 4.12083054e-01 8.31484263e-01 2.83686210e+02] [-1.61133326e-01 9.11116566e-01 -3.79345035e-01 -1.63529139e+02] [-9.13900746e-01 7.35940961e-03 4.05870996e-01 -5.03005407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.756559995 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:283.70, Y:-163.54, Z:-503.04 [[ 3.69584608e-01 3.95638011e-01 8.40760240e-01 2.83697129e+02] [-1.60030128e-01 9.18406169e-01 -3.61829334e-01 -1.63543232e+02] [-9.15312830e-01 -8.20416206e-04 4.02742785e-01 -5.03035638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:283.71, Y:-163.55, Z:-503.06 [[ 3.71115368e-01 3.92015210e-01 8.41782311e-01 2.83710531e+02] [-1.60357398e-01 9.19956035e-01 -3.57723915e-01 -1.63548770e+02] [-9.14635932e-01 -2.22917923e-03 4.04272361e-01 -5.03061966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8165599949999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:283.72, Y:-163.55, Z:-503.09 [[ 3.69776275e-01 3.89382461e-01 8.43591611e-01 2.83720684e+02] [-1.59118588e-01 9.21071867e-01 -3.55398214e-01 -1.63553253e+02] [-9.15394331e-01 -2.81327841e-03 4.02548512e-01 -5.03092036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:283.73, Y:-163.56, Z:-503.12 [[ 3.70180314e-01 3.83344175e-01 8.46175974e-01 2.83733783e+02] [-1.59666551e-01 9.23585589e-01 -3.48563125e-01 -1.63562876e+02] [-9.15135579e-01 -6.07479163e-03 4.03100446e-01 -5.03122126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.876559995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:283.74, Y:-163.55, Z:-503.15 [[ 3.70715710e-01 4.01126574e-01 8.37655857e-01 2.83740633e+02] [-1.56428789e-01 9.16003543e-01 -3.69415137e-01 -1.63550185e+02] [-9.15477961e-01 5.91450351e-03 4.02324648e-01 -5.03152490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:283.75, Y:-163.56, Z:-503.18 [[ 3.70304364e-01 3.87776668e-01 8.44099481e-01 2.83752586e+02] [-1.53463633e-01 9.21750399e-01 -3.56125140e-01 -1.63561660e+02] [-9.16146054e-01 2.33612029e-03 4.00837812e-01 -5.03180946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9365599949999 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:283.76, Y:-163.57, Z:-503.20 [[ 3.71099722e-01 3.79922511e-01 8.47315692e-01 2.83763606e+02] [-1.51588788e-01 9.25017938e-01 -3.48371431e-01 -1.63570291e+02] [-9.16136363e-01 8.36982239e-04 4.00865893e-01 -5.03204208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.77, Y:-163.57, Z:-503.23 [[ 3.69646288e-01 3.82748412e-01 8.46678968e-01 2.83770071e+02] [-1.46231381e-01 9.23826375e-01 -3.53781306e-01 -1.63568333e+02] [-9.17593595e-01 6.96291206e-03 3.97458819e-01 -5.03230652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.79, Y:-163.59, Z:-503.26 [[ 3.69856873e-01 3.54367498e-01 8.58853637e-01 2.83786726e+02] [-1.45111612e-01 9.35092641e-01 -3.23333222e-01 -1.63592211e+02] [-9.17686501e-01 -5.04262114e-03 3.97273279e-01 -5.03255888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:-163.60, Z:-503.29 [[ 3.69337357e-01 3.54762592e-01 8.58914094e-01 2.83798158e+02] [-1.44412733e-01 9.34946310e-01 -3.24068450e-01 -1.63596515e+02] [-9.18005926e-01 -4.34754631e-03 3.96542834e-01 -5.03285232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.81, Y:-163.60, Z:-503.32 [[ 3.68856144e-01 3.55202276e-01 8.58939164e-01 2.83810387e+02] [-1.43968744e-01 9.34781422e-01 -3.24740965e-01 -1.63600912e+02] [-9.18269103e-01 -3.87769247e-03 3.95937896e-01 -5.03315959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.82, Y:-163.61, Z:-503.35 [[ 3.68537032e-01 3.55745316e-01 8.58851399e-01 2.83822143e+02] [-1.43799269e-01 9.34576090e-01 -3.25406364e-01 -1.63605003e+02] [-9.18423773e-01 -3.57790774e-03 3.95581815e-01 -5.03346799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.83, Y:-163.61, Z:-503.38 [[ 3.68569304e-01 3.56389171e-01 8.58570572e-01 2.83833318e+02] [-1.44051335e-01 9.34330954e-01 -3.25998285e-01 -1.63609129e+02] [-9.18371320e-01 -3.52527584e-03 3.95704045e-01 -5.03377103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:-163.61, Z:-503.41 [[ 3.68316306e-01 3.57062125e-01 8.58399521e-01 2.83844695e+02] [-1.44277948e-01 9.34073917e-01 -3.26634032e-01 -1.63613830e+02] [-9.18437245e-01 -3.54348168e-03 3.95550845e-01 -5.03406587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1765599949999 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:283.86, Y:-163.63, Z:-503.44 [[ 3.70415304e-01 3.44868709e-01 8.62472073e-01 2.83862573e+02] [-1.47266680e-01 9.38581412e-01 -3.12053615e-01 -1.63632255e+02] [-9.17117783e-01 -1.14239641e-02 3.98452588e-01 -5.03435321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:283.87, Y:-163.61, Z:-503.47 [[ 3.69340081e-01 3.86952321e-01 8.44899879e-01 2.83866303e+02] [-1.46980408e-01 9.22064538e-01 -3.58041545e-01 -1.63607131e+02] [-9.17597224e-01 8.05536406e-03 3.97429801e-01 -5.03469644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.236559995 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:283.88, Y:-163.61, Z:-503.50 [[ 3.68154503e-01 3.88421394e-01 8.44743205e-01 2.83876924e+02] [-1.46527745e-01 9.21440846e-01 -3.59828274e-01 -1.63608182e+02] [-9.18145894e-01 8.69408200e-03 3.96147108e-01 -5.03499432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.89, Y:-163.62, Z:-503.53 [[ 3.67561714e-01 3.81320393e-01 8.48229418e-01 2.83888448e+02] [-1.46263552e-01 9.24427241e-01 -3.52194903e-01 -1.63615729e+02] [-9.18425479e-01 5.38831464e-03 3.95557336e-01 -5.03526106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.90, Y:-163.63, Z:-503.56 [[ 3.66553019e-01 3.72533804e-01 8.52559352e-01 2.83900576e+02] [-1.46564114e-01 9.28018438e-01 -3.42491956e-01 -1.63625149e+02] [-9.18780630e-01 5.86854727e-04 3.94768046e-01 -5.03555046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:-163.62, Z:-503.58 [[ 3.62858679e-01 3.78658793e-01 8.51440601e-01 2.83906014e+02] [-1.45367387e-01 9.25531134e-01 -3.49657608e-01 -1.63620387e+02] [-9.20435713e-01 3.10460278e-03 3.90881644e-01 -5.03584933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.92, Y:-163.64, Z:-503.61 [[ 3.62572838e-01 3.56380955e-01 8.61123424e-01 2.83921328e+02] [-1.47596793e-01 9.34293071e-01 -3.24517556e-01 -1.63640443e+02] [-9.20193525e-01 -9.43780448e-03 3.91349977e-01 -5.03611864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.93, Y:-163.64, Z:-503.64 [[ 3.61365840e-01 3.65680167e-01 8.57725332e-01 2.83928826e+02] [-1.46511589e-01 9.30729300e-01 -3.35078086e-01 -1.63636253e+02] [-9.20841509e-01 -4.58092732e-03 3.89910158e-01 -5.03644094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.94, Y:-163.65, Z:-503.67 [[ 3.59289374e-01 3.55404516e-01 8.62901371e-01 2.83941161e+02] [-1.49530810e-01 9.34620877e-01 -3.22683054e-01 -1.63648239e+02] [-9.21168651e-01 -1.30937482e-02 3.88943275e-01 -5.03674106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:-163.65, Z:-503.70 [[ 3.59412477e-01 3.61991171e-01 8.60107588e-01 2.83951759e+02] [-1.50079583e-01 9.32120942e-01 -3.29585601e-01 -1.63646947e+02] [-9.21031373e-01 -1.06274107e-02 3.89343381e-01 -5.03704755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.476559995 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:283.96, Y:-163.66, Z:-503.74 [[ 3.58812586e-01 3.54811311e-01 8.63343768e-01 2.83964747e+02] [-1.52474567e-01 9.34791806e-01 -3.20804902e-01 -1.63658727e+02] [-9.20871889e-01 -1.65291304e-02 3.89514766e-01 -5.03735121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:-163.64, Z:-503.77 [[ 3.58448859e-01 3.83015591e-01 8.51359778e-01 2.83971427e+02] [-1.51651163e-01 9.23736897e-01 -3.51727266e-01 -1.63641844e+02] [-9.21149467e-01 -3.03346361e-03 3.89197197e-01 -5.03769042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:-163.68, Z:-503.79 [[ 3.61171858e-01 3.43645503e-01 8.66869458e-01 2.83993550e+02] [-1.54402372e-01 9.38825937e-01 -3.07840491e-01 -1.63676245e+02] [-9.19627532e-01 -2.26633786e-02 3.92137189e-01 -5.03788361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.00, Y:-163.66, Z:-503.82 [[ 3.59630607e-01 3.69310407e-01 8.56898857e-01 2.83998024e+02] [-1.52119886e-01 9.29259759e-01 -3.36653889e-01 -1.63661099e+02] [-9.20611409e-01 -9.28031398e-03 3.90369708e-01 -5.03824026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:-163.68, Z:-503.85 [[ 3.63492128e-01 3.47785228e-01 8.64244704e-01 2.84015228e+02] [-1.52672605e-01 9.37398156e-01 -3.13010818e-01 -1.63681752e+02] [-9.19001931e-01 -1.81695213e-02 3.93834128e-01 -5.03850413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:-163.68, Z:-503.88 [[ 3.63221999e-01 3.61370170e-01 8.58767361e-01 2.84024959e+02] [-1.52846974e-01 9.32342116e-01 -3.27682744e-01 -1.63677340e+02] [-9.19079747e-01 -1.22384112e-02 3.93881505e-01 -5.03883539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:-163.68, Z:-503.91 [[ 3.65046171e-01 3.60519607e-01 8.58351272e-01 2.84036046e+02] [-1.50254068e-01 9.32705361e-01 -3.27848174e-01 -1.63681560e+02] [-9.18784527e-01 -9.29104935e-03 3.94650058e-01 -5.03914388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:-163.69, Z:-503.95 [[ 3.66884799e-01 3.59531450e-01 8.57981748e-01 2.84046764e+02] [-1.46314760e-01 9.33119402e-01 -3.28451172e-01 -1.63687307e+02] [-9.18687942e-01 -5.03165150e-03 3.94952082e-01 -5.03945382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.06, Y:-163.69, Z:-503.98 [[ 3.66806995e-01 3.60202212e-01 8.57733639e-01 2.84058698e+02] [-1.46507121e-01 9.32861125e-01 -3.29098442e-01 -1.63691591e+02] [-9.18688354e-01 -4.94847531e-03 3.94952175e-01 -5.03976324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:-163.70, Z:-504.01 [[ 3.69192125e-01 3.58429388e-01 8.57452943e-01 2.84070401e+02] [-1.41070390e-01 9.33556587e-01 -3.29501509e-01 -1.63697668e+02] [-9.18583866e-01 6.88140968e-04 3.95225514e-01 -5.04006112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.08, Y:-163.70, Z:-504.04 [[ 3.70261058e-01 3.57994007e-01 8.57173868e-01 2.84082054e+02] [-1.38504110e-01 9.33717272e-01 -3.30134317e-01 -1.63701875e+02] [-9.18544153e-01 3.51377735e-03 3.95302787e-01 -5.04036297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:-163.71, Z:-504.06 [[ 3.71924651e-01 3.50280706e-01 8.59636831e-01 2.84095614e+02] [-1.36626934e-01 9.36641399e-01 -3.22546076e-01 -1.63711564e+02] [-9.18153111e-01 2.51329249e-03 3.96217805e-01 -5.04063217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:-163.71, Z:-504.09 [[ 3.71090953e-01 3.55727721e-01 8.57758295e-01 2.84104181e+02] [-1.30563160e-01 9.34526433e-01 -3.31079457e-01 -1.63708450e+02] [-9.19371941e-01 1.08689574e-02 3.93239240e-01 -5.04094307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:-163.72, Z:-504.12 [[ 3.71245701e-01 3.43976370e-01 8.62471383e-01 2.84118460e+02] [-1.28818109e-01 9.38949646e-01 -3.19028929e-01 -1.63720431e+02] [-9.19555612e-01 7.33618612e-03 3.92891405e-01 -5.04122549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:-163.73, Z:-504.15 [[ 3.71689613e-01 3.43852682e-01 8.62329499e-01 2.84130320e+02] [-1.27143215e-01 9.38978949e-01 -3.19614043e-01 -1.63725171e+02] [-9.19609392e-01 9.15787547e-03 3.92727258e-01 -5.04152455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.14, Y:-163.73, Z:-504.18 [[ 3.72518881e-01 3.44145960e-01 8.61854536e-01 2.84142383e+02] [-1.25426582e-01 9.38847452e-01 -3.20676838e-01 -1.63729555e+02] [-9.19509574e-01 1.13587078e-02 3.92903454e-01 -5.04182419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-163.73, Z:-504.21 [[ 3.72020930e-01 3.46617095e-01 8.61078985e-01 2.84153418e+02] [-1.23093355e-01 9.37891924e-01 -3.24355924e-01 -1.63733012e+02] [-9.20026333e-01 1.46740913e-02 3.91581686e-01 -5.04214736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.16, Y:-163.71, Z:-504.25 [[ 3.70758524e-01 3.67145091e-01 8.53078308e-01 2.84155879e+02] [-1.16947605e-01 9.29688239e-01 -3.49289331e-01 -1.63712782e+02] [-9.21336732e-01 2.97365325e-02 3.87626578e-01 -5.04246758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:-163.75, Z:-504.27 [[ 3.71711384e-01 3.21848261e-01 8.70772269e-01 2.84177349e+02] [-1.18154231e-01 9.46753643e-01 -2.99494771e-01 -1.63749014e+02] [-9.20798689e-01 8.44018823e-03 3.89946841e-01 -5.04269951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:-163.73, Z:-504.30 [[ 3.70517658e-01 3.42638674e-01 8.63316514e-01 2.84182951e+02] [-1.17808698e-01 9.39300747e-01 -3.22234725e-01 -1.63734397e+02] [-9.21323926e-01 1.76874611e-02 3.88393329e-01 -5.04304087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.20, Y:-163.75, Z:-504.33 [[ 3.70021439e-01 3.29711101e-01 8.68547480e-01 2.84198246e+02] [-1.19706634e-01 9.44031407e-01 -3.07367899e-01 -1.63748069e+02] [-9.21278707e-01 9.76181656e-03 3.88780466e-01 -5.04331889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:-163.75, Z:-504.36 [[ 3.69570548e-01 3.37979812e-01 8.65556039e-01 2.84208610e+02] [-1.21421707e-01 9.41082495e-01 -3.15627164e-01 -1.63746117e+02] [-9.21235246e-01 1.15492121e-02 3.88834459e-01 -5.04362970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-163.77, Z:-504.39 [[ 3.72765794e-01 3.20966060e-01 8.70647145e-01 2.84230784e+02] [-1.28653385e-01 9.47087669e-01 -2.94063350e-01 -1.63769776e+02] [-9.18963530e-01 -2.39494447e-03 3.94335257e-01 -5.04388939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-163.72, Z:-504.43 [[ 3.68189274e-01 3.83220249e-01 8.47100289e-01 2.84226427e+02] [-1.28591168e-01 9.23337613e-01 -3.61817585e-01 -1.63720668e+02] [-9.20815383e-01 2.42877385e-02 3.89241745e-01 -5.04428839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.25, Y:-163.76, Z:-504.45 [[ 3.67286011e-01 3.34827812e-01 8.67750726e-01 2.84246746e+02] [-1.32547526e-01 9.42277025e-01 -3.07481970e-01 -1.63758525e+02] [-9.20615088e-01 -2.08438539e-03 3.90465768e-01 -5.04450308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:-163.75, Z:-504.48 [[ 3.66084600e-01 3.51176660e-01 8.61775504e-01 2.84255858e+02] [-1.36189830e-01 9.36308531e-01 -3.23695327e-01 -1.63751121e+02] [-9.20562000e-01 1.13481517e-03 3.90594824e-01 -5.04483202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.28, Y:-163.77, Z:-504.51 [[ 3.67731053e-01 3.31833712e-01 8.68711840e-01 2.84279349e+02] [-1.47453819e-01 9.43155188e-01 -2.97851747e-01 -1.63774760e+02] [-9.18167329e-01 -1.85655415e-02 3.95757598e-01 -5.04507282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.29, Y:-163.75, Z:-504.54 [[ 3.65441444e-01 3.74627000e-01 8.52119218e-01 2.84286120e+02] [-1.51138168e-01 9.27168955e-01 -3.42804584e-01 -1.63750328e+02] [-9.18482338e-01 -3.51273527e-03 3.95446400e-01 -5.04544554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:-163.75, Z:-504.58 [[ 3.62898459e-01 3.76606556e-01 8.52333392e-01 2.84298720e+02] [-1.54335368e-01 9.26347952e-01 -3.43598699e-01 -1.63752709e+02] [-9.18958815e-01 -6.85374914e-03 3.94293955e-01 -5.04575203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-163.75, Z:-504.61 [[ 3.58614788e-01 3.79523094e-01 8.52852657e-01 2.84311941e+02] [-1.59700985e-01 9.25095754e-01 -3.44519145e-01 -1.63754082e+02] [-9.19723344e-01 -1.26517491e-02 3.92363229e-01 -5.04605766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-163.74, Z:-504.64 [[ 3.53015343e-01 3.98552386e-01 8.46484591e-01 2.84315103e+02] [-1.56717386e-01 9.17139661e-01 -3.66462145e-01 -1.63737497e+02] [-9.22398953e-01 -3.29209233e-03 3.86224460e-01 -5.04639556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:-163.77, Z:-504.66 [[ 3.51937902e-01 3.60884184e-01 8.63656366e-01 2.84333050e+02] [-1.61005285e-01 9.32274321e-01 -3.23947355e-01 -1.63767573e+02] [-9.22072129e-01 -2.50438870e-02 3.86206929e-01 -5.04663663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:-163.79, Z:-504.69 [[ 3.55061209e-01 3.50241917e-01 8.66753793e-01 2.84353127e+02] [-1.66400337e-01 9.36037140e-01 -3.10073218e-01 -1.63785400e+02] [-9.19914380e-01 -3.41331516e-02 3.90630851e-01 -5.04689211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.36, Y:-163.77, Z:-504.72 [[ 3.52984136e-01 3.85001106e-01 8.52746356e-01 2.84360779e+02] [-1.67438574e-01 9.22695004e-01 -3.47272592e-01 -1.63766600e+02] [-9.20525135e-01 -2.02009176e-02 3.90160735e-01 -5.04724328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-163.77, Z:-504.76 [[ 3.52898600e-01 3.85597439e-01 8.52512284e-01 2.84372736e+02] [-1.67611132e-01 9.22447375e-01 -3.47846732e-01 -1.63771238e+02] [-9.20526527e-01 -2.01359246e-02 3.90160810e-01 -5.04755220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-163.74, Z:-504.79 [[ 3.45102557e-01 4.18588994e-01 8.40052069e-01 2.84369104e+02] [-1.58558517e-01 9.08175649e-01 -3.87396679e-01 -1.63738481e+02] [-9.25074820e-01 4.94174197e-04 3.79784589e-01 -5.04791551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.41, Y:-163.83, Z:-504.80 [[ 3.55339460e-01 3.07712571e-01 8.82636302e-01 2.84407067e+02] [-1.70196784e-01 9.49775900e-01 -2.62600066e-01 -1.63829597e+02] [-9.19112029e-01 -5.69096945e-02 3.89864546e-01 -5.04802762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.41, Y:-163.78, Z:-504.85 [[ 3.55077954e-01 3.87628619e-01 8.50684254e-01 2.84407171e+02] [-1.70150548e-01 9.21579724e-01 -3.48912027e-01 -1.63781178e+02] [-9.19221648e-01 -2.08534235e-02 3.93187865e-01 -5.04845559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.42, Y:-163.79, Z:-504.88 [[ 3.55023368e-01 3.88014262e-01 8.50531211e-01 2.84419159e+02] [-1.70258687e-01 9.21418494e-01 -3.49284895e-01 -1.63785985e+02] [-9.19222708e-01 -2.08060274e-02 3.93187896e-01 -5.04876434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:-163.79, Z:-504.91 [[ 3.56395772e-01 3.88226759e-01 8.49860011e-01 2.84430309e+02] [-1.70654254e-01 9.21334977e-01 -3.49312162e-01 -1.63790447e+02] [-9.18618081e-01 -2.05388492e-02 3.94612438e-01 -5.04907412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.44, Y:-163.80, Z:-504.94 [[ 3.58897945e-01 3.88302041e-01 8.48771931e-01 2.84440961e+02] [-1.70153402e-01 9.21336927e-01 -3.49551266e-01 -1.63795530e+02] [-9.17736392e-01 -1.89682007e-02 3.96736842e-01 -5.04938367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.45, Y:-163.80, Z:-504.97 [[ 3.59595995e-01 3.88550325e-01 8.48362756e-01 2.84452169e+02] [-1.69546712e-01 9.21252570e-01 -3.50068015e-01 -1.63801149e+02] [-9.17575410e-01 -1.79540597e-02 3.97156164e-01 -5.04968901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:-163.81, Z:-505.00 [[ 3.60636664e-01 3.88645839e-01 8.47877119e-01 2.84463445e+02] [-1.68576580e-01 9.21239407e-01 -3.50570808e-01 -1.63806708e+02] [-9.17345700e-01 -1.65035386e-02 3.97749293e-01 -5.04999366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:-163.79, Z:-505.04 [[ 3.57120540e-01 4.13377930e-01 8.37605878e-01 2.84461692e+02] [-1.59071705e-01 9.10554528e-01 -3.81558179e-01 -1.63785537e+02] [-9.20413555e-01 3.02286768e-03 3.90934457e-01 -5.05035855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:-163.82, Z:-505.06 [[ 3.58640803e-01 3.65295261e-01 8.59032099e-01 2.84478465e+02] [-1.57236035e-01 9.30742480e-01 -3.30144310e-01 -1.63824891e+02] [-9.20137818e-01 -1.66675808e-02 3.91239809e-01 -5.05059157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.49, Y:-163.83, Z:-505.09 [[ 3.60796393e-01 3.65162701e-01 8.58185390e-01 2.84490570e+02] [-1.52264583e-01 9.30880393e-01 -3.32080096e-01 -1.63833382e+02] [-9.20131219e-01 -1.08579401e-02 3.91459635e-01 -5.05089491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-163.83, Z:-505.12 [[ 3.60523715e-01 3.73131854e-01 8.54865644e-01 2.84499389e+02] [-1.48303368e-01 9.27772339e-01 -3.42409985e-01 -1.63833054e+02] [-9.20884771e-01 -3.33253447e-03 3.89820642e-01 -5.05120368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:-163.86, Z:-505.14 [[ 3.65430615e-01 3.46196622e-01 8.64065023e-01 2.84522009e+02] [-1.44959216e-01 9.38105370e-01 -3.14555465e-01 -1.63863494e+02] [-9.19482078e-01 -1.03059916e-02 3.92996814e-01 -5.05142281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.53, Y:-163.84, Z:-505.18 [[ 3.66480587e-01 3.81673336e-01 8.48538416e-01 2.84528861e+02] [-1.42527787e-01 9.24254841e-01 -3.54173431e-01 -1.63844808e+02] [-9.19444294e-01 8.85738428e-03 3.93120513e-01 -5.05178407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-163.85, Z:-505.21 [[ 3.68510955e-01 3.80423453e-01 8.48220297e-01 2.84539166e+02] [-1.38059620e-01 9.24712053e-01 -3.54749433e-01 -1.63850566e+02] [-9.19314537e-01 1.36240802e-02 3.93287639e-01 -5.05207790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:-163.85, Z:-505.24 [[ 3.68593100e-01 3.88242529e-01 8.44634161e-01 2.84546294e+02] [-1.35738379e-01 9.21348401e-01 -3.64269429e-01 -1.63849280e+02] [-9.19627218e-01 1.96179263e-02 3.92302075e-01 -5.05242280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.56, Y:-163.86, Z:-505.27 [[ 3.70988895e-01 3.77366142e-01 8.48505766e-01 2.84561516e+02] [-1.35280246e-01 9.25925167e-01 -3.52649742e-01 -1.63862977e+02] [-9.18730915e-01 1.60430693e-02 3.94558139e-01 -5.05266350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.57, Y:-163.87, Z:-505.30 [[ 3.70992605e-01 3.80429701e-01 8.47135012e-01 2.84573129e+02] [-1.35434039e-01 9.24647726e-01 -3.55927245e-01 -1.63866033e+02] [-9.18706758e-01 1.73154600e-02 3.94560600e-01 -5.05297655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:-163.87, Z:-505.33 [[ 3.72303698e-01 3.80192982e-01 8.46665963e-01 2.84584354e+02] [-1.34633440e-01 9.24720826e-01 -3.56041052e-01 -1.63872038e+02] [-9.18293958e-01 1.85658492e-02 3.95463672e-01 -5.05326732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:-163.88, Z:-505.36 [[ 3.72762892e-01 3.80673819e-01 8.46247759e-01 2.84595834e+02] [-1.34750512e-01 9.24516882e-01 -3.56526063e-01 -1.63876913e+02] [-9.18090478e-01 1.88673673e-02 3.95921579e-01 -5.05356982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:-163.88, Z:-505.39 [[ 3.73001914e-01 3.81325876e-01 8.45848774e-01 2.84607450e+02] [-1.35182884e-01 9.24248710e-01 -3.57057294e-01 -1.63881496e+02] [-9.17929823e-01 1.88387774e-02 3.96295269e-01 -5.05387237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.62, Y:-163.89, Z:-505.42 [[ 3.72328920e-01 3.82344358e-01 8.45685501e-01 2.84618898e+02] [-1.36240232e-01 9.23845247e-01 -3.57698978e-01 -1.63886190e+02] [-9.18046717e-01 1.79652849e-02 3.96064987e-01 -5.05416584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:-163.89, Z:-505.45 [[ 3.71653209e-01 3.83102734e-01 8.45639514e-01 2.84630928e+02] [-1.36638390e-01 9.23537445e-01 -3.58341372e-01 -1.63890915e+02] [-9.18261315e-01 1.76318989e-02 3.95582196e-01 -5.05447339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:-163.91, Z:-505.48 [[ 3.73563844e-01 3.73787880e-01 8.48959761e-01 2.84648197e+02] [-1.41224992e-01 9.27466201e-01 -3.46210842e-01 -1.63909738e+02] [-9.16790901e-01 9.43751777e-03 3.99256029e-01 -5.05478738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:-163.87, Z:-505.51 [[ 3.70942789e-01 4.25366355e-01 8.25508881e-01 2.84649628e+02] [-1.39333257e-01 9.04359130e-01 -4.03386672e-01 -1.63872038e+02] [-9.18143611e-01 3.46125355e-02 3.94733178e-01 -5.05512865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-163.92, Z:-505.53 [[ 3.73056032e-01 3.70767089e-01 8.50506298e-01 2.84673729e+02] [-1.44235633e-01 9.28713681e-01 -3.41594760e-01 -1.63923751e+02] [-9.16528930e-01 4.76067131e-03 3.99940067e-01 -5.05534575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-163.88, Z:-505.57 [[ 3.69261405e-01 4.27219258e-01 8.25305834e-01 2.84672416e+02] [-1.41485489e-01 9.03561252e-01 -4.04424183e-01 -1.63881781e+02] [-9.18492173e-01 3.25694428e-02 3.94095623e-01 -5.05570561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.69, Y:-163.91, Z:-505.59 [[ 3.66559248e-01 3.87660078e-01 8.45786014e-01 2.84688688e+02] [-1.43190590e-01 9.21736714e-01 -3.60413492e-01 -1.63914901e+02] [-9.19309944e-01 1.10043003e-02 3.93380391e-01 -5.05593383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:-163.95, Z:-505.62 [[ 3.69710300e-01 3.65582333e-01 8.54203636e-01 2.84711973e+02] [-1.50871659e-01 9.30761284e-01 -3.33048308e-01 -1.63946818e+02] [-9.16816250e-01 -5.74373009e-03 3.99268047e-01 -5.05621460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:-163.88, Z:-505.66 [[ 3.65629556e-01 4.53720152e-01 8.12682627e-01 2.84705713e+02] [-1.46635883e-01 8.90314308e-01 -4.31089725e-01 -1.63877821e+02] [-9.19137066e-01 3.84507104e-02 3.92056880e-01 -5.05661836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-163.93, Z:-505.68 [[ 3.63438849e-01 3.91388680e-01 8.45415344e-01 2.84724035e+02] [-1.49603186e-01 9.20211987e-01 -3.61702620e-01 -1.63927181e+02] [-9.19527645e-01 4.97995544e-03 3.92993779e-01 -5.05681425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4565599949999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:284.74, Y:-163.95, Z:-505.71 [[ 3.64072889e-01 3.79899143e-01 8.50369081e-01 2.84741913e+02] [-1.55549975e-01 9.25007998e-01 -3.46647383e-01 -1.63948363e+02] [-9.18289245e-01 -6.06997514e-03 3.95863637e-01 -5.05712445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:-163.90, Z:-505.75 [[ 3.60302820e-01 4.45077062e-01 8.19809909e-01 2.84742577e+02] [-1.56434235e-01 8.95219638e-01 -4.17265060e-01 -1.63899212e+02] [-9.19625037e-01 2.20954418e-02 3.92175450e-01 -5.05748120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:-163.94, Z:-505.77 [[ 3.59733312e-01 3.96381958e-01 8.44673480e-01 2.84759563e+02] [-1.58379250e-01 9.18080598e-01 -3.63378631e-01 -1.63938072e+02] [-9.19515066e-01 -3.05935334e-03 3.93042851e-01 -5.05771285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-163.94, Z:-505.80 [[ 3.58948439e-01 3.97665244e-01 8.44404152e-01 2.84770799e+02] [-1.60262039e-01 9.17518645e-01 -3.63971999e-01 -1.63941290e+02] [-9.19495567e-01 -4.67875027e-03 3.93072528e-01 -5.05801354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-163.94, Z:-505.83 [[ 3.58471178e-01 3.98917933e-01 8.44015934e-01 2.84782336e+02] [-1.62299154e-01 9.16964763e-01 -3.64464824e-01 -1.63944954e+02] [-9.19324426e-01 -6.33293732e-03 3.93449482e-01 -5.05831609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.79, Y:-163.95, Z:-505.86 [[ 3.58195582e-01 4.00106467e-01 8.43570234e-01 2.84794365e+02] [-1.64096955e-01 9.16436401e-01 -3.64988372e-01 -1.63949367e+02] [-9.19112678e-01 -7.69008425e-03 3.93919723e-01 -5.05862315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:-163.95, Z:-505.89 [[ 3.56603102e-01 4.01815308e-01 8.43432680e-01 2.84805641e+02] [-1.66929838e-01 9.15661638e-01 -3.65647635e-01 -1.63954367e+02] [-9.19221767e-01 -1.04030003e-02 3.93602745e-01 -5.05891902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.82, Y:-163.96, Z:-505.92 [[ 3.56167930e-01 4.02829411e-01 8.43132772e-01 2.84817266e+02] [-1.68255325e-01 9.15203608e-01 -3.66186429e-01 -1.63959591e+02] [-9.19148819e-01 -1.14377161e-02 3.93744368e-01 -5.05922072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:-163.96, Z:-505.95 [[ 3.55458341e-01 4.03844428e-01 8.42946645e-01 2.84828607e+02] [-1.69398933e-01 9.14743510e-01 -3.66808277e-01 -1.63964585e+02] [-9.19213452e-01 -1.24092006e-02 3.93564026e-01 -5.05952383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:284.84, Y:-163.97, Z:-505.99 [[ 3.53675390e-01 4.10374729e-01 8.40539292e-01 2.84838153e+02] [-1.70936935e-01 9.11842360e-01 -3.73261402e-01 -1.63967559e+02] [-9.19616378e-01 -1.16658385e-02 3.92644400e-01 -5.05987875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.85, Y:-163.96, Z:-506.01 [[ 3.54289226e-01 4.20839876e-01 8.35088584e-01 2.84849220e+02] [-1.72130046e-01 9.07102599e-01 -3.84104311e-01 -1.63963336e+02] [-9.19157436e-01 -7.65981697e-03 3.93815865e-01 -5.06014129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.86, Y:-163.98, Z:-506.04 [[ 3.54346220e-01 4.07110648e-01 8.41843024e-01 2.84861268e+02] [-1.75107881e-01 9.13219857e-01 -3.67922169e-01 -1.63979030e+02] [-9.18572799e-01 -1.70415183e-02 3.94884287e-01 -5.06042129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:-163.98, Z:-506.07 [[ 3.54376322e-01 4.08052188e-01 8.41374372e-01 2.84872667e+02] [-1.76312861e-01 9.12785372e-01 -3.68424538e-01 -1.63984606e+02] [-9.18330658e-01 -1.77841897e-02 3.95414371e-01 -5.06072902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.88, Y:-163.99, Z:-506.10 [[ 3.54468481e-01 4.08935462e-01 8.40906584e-01 2.84883665e+02] [-1.77370631e-01 9.12378194e-01 -3.68925046e-01 -1.63989970e+02] [-9.18091365e-01 -1.83798309e-02 3.95942454e-01 -5.06101921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:-164.00, Z:-506.13 [[ 3.54092552e-01 4.09972288e-01 8.40560044e-01 2.84894787e+02] [-1.78829360e-01 9.11889405e-01 -3.69428983e-01 -1.63995832e+02] [-9.17953444e-01 -1.95047632e-02 3.96208329e-01 -5.06132049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.91, Y:-164.00, Z:-506.16 [[ 3.54301054e-01 4.10739869e-01 8.40097329e-01 2.84906442e+02] [-1.79573915e-01 9.11537752e-01 -3.69935314e-01 -1.64000783e+02] [-9.17727613e-01 -1.97910943e-02 3.96716953e-01 -5.06162770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:-164.01, Z:-506.19 [[ 3.54347688e-01 4.11346667e-01 8.39780707e-01 2.84917045e+02] [-1.79784237e-01 9.11266212e-01 -3.70501713e-01 -1.64005788e+02] [-9.17668428e-01 -1.96929080e-02 3.96858722e-01 -5.06192603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.93, Y:-164.01, Z:-506.22 [[ 3.54424952e-01 4.11716894e-01 8.39566646e-01 2.84928255e+02] [-1.79406383e-01 9.11111436e-01 -3.71065089e-01 -1.64011394e+02] [-9.17712538e-01 -1.91088882e-02 3.96785266e-01 -5.06223223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.94, Y:-164.02, Z:-506.25 [[ 3.54754553e-01 4.11839895e-01 8.39367088e-01 2.84939578e+02] [-1.78279161e-01 9.11082611e-01 -3.71678646e-01 -1.64017527e+02] [-9.17804853e-01 -1.77869682e-02 3.96633175e-01 -5.06252644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-164.02, Z:-506.28 [[ 3.55655951e-01 4.12523455e-01 8.38649655e-01 2.84948596e+02] [-1.72082873e-01 9.10881536e-01 -3.75076409e-01 -1.64020747e+02] [-9.18638302e-01 -1.09190853e-02 3.94948660e-01 -5.06282053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.96, Y:-164.04, Z:-506.31 [[ 3.56840233e-01 4.00232650e-01 8.44084637e-01 2.84962611e+02] [-1.71810370e-01 9.16275496e-01 -3.61829258e-01 -1.64038352e+02] [-9.18229952e-01 -1.59072566e-02 3.95728081e-01 -5.06309655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.97, Y:-164.04, Z:-506.34 [[ 3.57845855e-01 4.09373046e-01 8.39261612e-01 2.84972689e+02] [-1.69393263e-01 9.12324983e-01 -3.72785524e-01 -1.64037719e+02] [-9.18287682e-01 -8.76550850e-03 3.95816750e-01 -5.06341991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:-164.04, Z:-506.37 [[ 3.58966092e-01 4.08984676e-01 8.38972515e-01 2.84983669e+02] [-1.67097112e-01 9.12520376e-01 -3.73343164e-01 -1.64043591e+02] [-9.18271148e-01 -6.17234790e-03 3.95904031e-01 -5.06372504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.99, Y:-164.05, Z:-506.40 [[ 3.62161464e-01 4.07446273e-01 8.38347547e-01 2.84993554e+02] [-1.62185013e-01 9.13228983e-01 -3.73776466e-01 -1.64049505e+02] [-9.17897105e-01 -5.99975614e-04 3.96818024e-01 -5.06402084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.00, Y:-164.06, Z:-506.43 [[ 3.63991425e-01 4.07064959e-01 8.37740033e-01 2.85003919e+02] [-1.60324917e-01 9.13397270e-01 -3.74167540e-01 -1.64055061e+02] [-9.17499953e-01 1.88317527e-03 3.97731429e-01 -5.06431263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:-164.06, Z:-506.46 [[ 3.65563136e-01 4.06596313e-01 8.37283125e-01 2.85014137e+02] [-1.58126908e-01 9.13596600e-01 -3.74615982e-01 -1.64060468e+02] [-9.17256493e-01 4.54880172e-03 3.98271056e-01 -5.06460719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.02, Y:-164.07, Z:-506.49 [[ 3.69002702e-01 4.05352370e-01 8.36376985e-01 2.85023757e+02] [-1.54513060e-01 9.14115299e-01 -3.74858553e-01 -1.64067583e+02] [-9.16494801e-01 9.09265131e-03 3.99943251e-01 -5.06490446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:-164.07, Z:-506.52 [[ 3.70723409e-01 4.04912293e-01 8.35829043e-01 2.85034937e+02] [-1.53050205e-01 9.14288014e-01 -3.75037414e-01 -1.64073771e+02] [-9.16045735e-01 1.11113423e-02 4.00919879e-01 -5.06520722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.04, Y:-164.08, Z:-506.55 [[ 3.72773715e-01 4.04006981e-01 8.35355084e-01 2.85044851e+02] [-1.49889165e-01 9.14636942e-01 -3.75463051e-01 -1.64080216e+02] [-9.15736314e-01 1.47520798e-02 4.01508879e-01 -5.06550240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.05, Y:-164.07, Z:-506.58 [[ 3.71836054e-01 4.14712002e-01 8.30513037e-01 2.85048726e+02] [-1.45464833e-01 9.09639600e-01 -3.89096108e-01 -1.64069971e+02] [-9.16830372e-01 2.38695209e-02 3.98562812e-01 -5.06581893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.07, Y:-164.11, Z:-506.61 [[ 3.74017266e-01 3.77363990e-01 8.47176194e-01 2.85071034e+02] [-1.48677501e-01 9.26057320e-01 -3.46861414e-01 -1.64110390e+02] [-9.15426723e-01 3.77611854e-03 4.02466962e-01 -5.06605097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.07, Y:-164.09, Z:-506.64 [[ 3.73267244e-01 4.11124200e-01 8.31654049e-01 2.85074789e+02] [-1.46782760e-01 9.11325827e-01 -3.84629769e-01 -1.64086820e+02] [-9.16038419e-01 2.14972174e-02 4.00514025e-01 -5.06640975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-164.10, Z:-506.67 [[ 3.72997507e-01 3.94288501e-01 8.39886562e-01 2.85088373e+02] [-1.46705778e-01 9.18889240e-01 -3.66223947e-01 -1.64104328e+02] [-9.16160616e-01 1.33844077e-02 4.00587797e-01 -5.06667941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:-164.12, Z:-506.70 [[ 3.73080557e-01 3.90754254e-01 8.41499858e-01 2.85104166e+02] [-1.49200611e-01 9.20448770e-01 -3.61266163e-01 -1.64117320e+02] [-9.15723799e-01 9.22908786e-03 4.01702313e-01 -5.06696976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.11, Y:-164.11, Z:-506.73 [[ 3.72816035e-01 4.08405204e-01 8.33194691e-01 2.85113569e+02] [-1.50532739e-01 9.12656149e-01 -3.79998223e-01 -1.64110096e+02] [-9.15613510e-01 1.62463516e-02 4.01731200e-01 -5.06729552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-164.11, Z:-506.76 [[ 3.71716617e-01 4.09382271e-01 8.33206405e-01 2.85125106e+02] [-1.51930285e-01 9.12242503e-01 -3.80435020e-01 -1.64113944e+02] [-9.15829649e-01 1.48247320e-02 4.01293262e-01 -5.06758950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:-164.12, Z:-506.79 [[ 3.69802688e-01 4.11707770e-01 8.32912171e-01 2.85137288e+02] [-1.56520737e-01 9.11255381e-01 -3.80939483e-01 -1.64116771e+02] [-9.15831443e-01 1.05044182e-02 4.01425492e-01 -5.06789402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-164.12, Z:-506.82 [[ 3.68585835e-01 4.13302712e-01 8.32661607e-01 2.85149090e+02] [-1.59118613e-01 9.10557349e-01 -3.81531888e-01 -1.64120735e+02] [-9.15874309e-01 8.13528904e-03 4.01382695e-01 -5.06819342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-164.11, Z:-506.85 [[ 3.65099427e-01 4.23917529e-01 8.28852422e-01 2.85154607e+02] [-1.58770797e-01 9.05621614e-01 -3.93244613e-01 -1.64112449e+02] [-9.17329953e-01 1.19758233e-02 3.97947656e-01 -5.06851635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-164.13, Z:-506.88 [[ 3.64582662e-01 4.04864276e-01 8.38548985e-01 2.85170638e+02] [-1.61508362e-01 9.14376789e-01 -3.71254815e-01 -1.64132058e+02] [-9.17057540e-01 -7.96040751e-05 3.98754890e-01 -5.06877432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-164.14, Z:-506.90 [[ 3.62845469e-01 4.01379652e-01 8.40974162e-01 2.85187947e+02] [-1.68574908e-01 9.15861981e-01 -3.64388985e-01 -1.64142730e+02] [-9.16474586e-01 -9.55025019e-03 3.99978908e-01 -5.06904414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-164.13, Z:-506.94 [[ 3.60796375e-01 4.25124208e-01 8.30117693e-01 2.85193833e+02] [-1.68966189e-01 9.05134891e-01 -3.90104160e-01 -1.64125482e+02] [-9.17211210e-01 4.86343561e-04 3.98401005e-01 -5.06937528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-164.14, Z:-506.96 [[ 3.61364239e-01 4.11278502e-01 8.36818906e-01 2.85211049e+02] [-1.74048644e-01 9.11444174e-01 -3.72795639e-01 -1.64144641e+02] [-9.16036547e-01 -1.09321830e-02 4.00945796e-01 -5.06964450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-164.14, Z:-507.00 [[ 3.59415256e-01 4.23612471e-01 8.31488514e-01 2.85222480e+02] [-1.76947889e-01 9.05801152e-01 -3.84985346e-01 -1.64139305e+02] [-9.16247848e-01 -8.76053052e-03 4.00516085e-01 -5.06996094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-164.14, Z:-507.03 [[ 3.58908590e-01 4.24583693e-01 8.31211954e-01 2.85234517e+02] [-1.78134606e-01 9.05336758e-01 -3.85530047e-01 -1.64143116e+02] [-9.16216506e-01 -9.69756780e-03 4.00566188e-01 -5.07026048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-164.14, Z:-507.06 [[ 3.57786144e-01 4.31284838e-01 8.28240583e-01 2.85242797e+02] [-1.76338972e-01 9.02200729e-01 -3.93622168e-01 -1.64138771e+02] [-9.17002531e-01 -5.21853533e-03 3.98847245e-01 -5.07058046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-164.16, Z:-507.08 [[ 3.58982180e-01 4.11122064e-01 8.37920308e-01 2.85259539e+02] [-1.78617000e-01 9.11429065e-01 -3.70665654e-01 -1.64161877e+02] [-9.16093752e-01 -1.66044470e-02 4.00620182e-01 -5.07082876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-164.16, Z:-507.11 [[ 3.58567456e-01 4.25480502e-01 8.30900549e-01 2.85270274e+02] [-1.76896238e-01 9.04930448e-01 -3.87051167e-01 -1.64155521e+02] [-9.16589930e-01 -8.19922909e-03 3.99744509e-01 -5.07114831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-164.16, Z:-507.15 [[ 3.59285357e-01 4.25244471e-01 8.30711245e-01 2.85281795e+02] [-1.75483166e-01 9.05054556e-01 -3.87404065e-01 -1.64160063e+02] [-9.16580434e-01 -6.58723116e-03 3.99796095e-01 -5.07145194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-164.16, Z:-507.17 [[ 3.60796856e-01 4.24735383e-01 8.30316496e-01 2.85293242e+02] [-1.72987584e-01 9.05310101e-01 -3.87929010e-01 -1.64164567e+02] [-9.16461087e-01 -3.67087719e-03 4.00106986e-01 -5.07174460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-164.17, Z:-507.20 [[ 3.60901955e-01 4.24832235e-01 8.30221266e-01 2.85304410e+02] [-1.71818971e-01 9.05268860e-01 -3.88544120e-01 -1.64169769e+02] [-9.16639526e-01 -2.42143133e-03 3.99707538e-01 -5.07204464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-164.18, Z:-507.24 [[ 3.61608915e-01 4.24974304e-01 8.29840849e-01 2.85316392e+02] [-1.70942353e-01 9.05204670e-01 -3.89079962e-01 -1.64175102e+02] [-9.16524798e-01 -1.16016389e-03 3.99976186e-01 -5.07235152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.33, Y:-164.18, Z:-507.26 [[ 3.61766397e-01 4.25296385e-01 8.29607171e-01 2.85327759e+02] [-1.70353641e-01 9.05054066e-01 -3.89688049e-01 -1.64180118e+02] [-9.16572262e-01 -3.50561008e-04 3.99868936e-01 -5.07264575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:-164.18, Z:-507.29 [[ 3.61899153e-01 4.25630726e-01 8.29377772e-01 2.85338863e+02] [-1.69904210e-01 9.04896892e-01 -3.90248862e-01 -1.64184744e+02] [-9.16603274e-01 3.15957989e-04 3.99797871e-01 -5.07294117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-164.19, Z:-507.32 [[ 3.61997356e-01 4.26398000e-01 8.28940686e-01 2.85350439e+02] [-1.70776497e-01 9.04535643e-01 -3.90705335e-01 -1.64190161e+02] [-9.16402369e-01 -1.29288320e-04 4.00258267e-01 -5.07323918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-164.20, Z:-507.35 [[ 3.61836993e-01 4.27397014e-01 8.28496097e-01 2.85362129e+02] [-1.72115262e-01 9.04063441e-01 -3.91210469e-01 -1.64195704e+02] [-9.16215219e-01 -1.04240260e-03 4.00685146e-01 -5.07354709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-164.20, Z:-507.39 [[ 3.61963028e-01 4.28412793e-01 8.27916207e-01 2.85374078e+02] [-1.73640029e-01 9.03580929e-01 -3.91651179e-01 -1.64201118e+02] [-9.15877670e-01 -1.99614812e-03 4.01452499e-01 -5.07385357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-164.21, Z:-507.42 [[ 3.61079900e-01 4.30135714e-01 8.27408348e-01 2.85384932e+02] [-1.76841890e-01 9.02751845e-01 -3.92130148e-01 -1.64205852e+02] [-9.15613593e-01 -4.73014119e-03 4.02031558e-01 -5.07415055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-164.21, Z:-507.45 [[ 3.60347239e-01 4.31248608e-01 8.27148418e-01 2.85396852e+02] [-1.78884217e-01 9.02209401e-01 -3.92452077e-01 -1.64211376e+02] [-9.15505491e-01 -6.54477442e-03 4.02252236e-01 -5.07445637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-164.22, Z:-507.48 [[ 3.58763028e-01 4.33216119e-01 8.26808856e-01 2.85408489e+02] [-1.82549272e-01 9.01235273e-01 -3.93002222e-01 -1.64216774e+02] [-9.15404202e-01 -9.93868806e-03 4.02413182e-01 -5.07476056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-164.22, Z:-507.51 [[ 3.57924282e-01 4.34492260e-01 8.26502682e-01 2.85419667e+02] [-1.84433576e-01 9.00601318e-01 -3.93575307e-01 -1.64222352e+02] [-9.15354830e-01 -1.15646856e-02 4.02482041e-01 -5.07505208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-164.23, Z:-507.53 [[ 3.57506603e-01 4.35418558e-01 8.26195926e-01 2.85431247e+02] [-1.86063481e-01 9.00135516e-01 -3.93873627e-01 -1.64227567e+02] [-9.15188183e-01 -1.29124679e-02 4.02819883e-01 -5.07534530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-164.23, Z:-507.57 [[ 3.56611065e-01 4.36531659e-01 8.25995556e-01 2.85442701e+02] [-1.87588073e-01 8.99575421e-01 -3.94429687e-01 -1.64232492e+02] [-9.15226346e-01 -1.42889238e-02 4.02686681e-01 -5.07565465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-164.24, Z:-507.60 [[ 3.56058494e-01 4.37712218e-01 8.25609086e-01 2.85454097e+02] [-1.89347444e-01 8.98978020e-01 -3.94950713e-01 -1.64237583e+02] [-9.15079174e-01 -1.57014145e-02 4.02968450e-01 -5.07595760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-164.24, Z:-507.63 [[ 3.55424196e-01 4.39085637e-01 8.25152982e-01 2.85465500e+02] [-1.91667497e-01 8.98272666e-01 -3.95436200e-01 -1.64244342e+02] [-9.14842725e-01 -1.76074136e-02 4.03426285e-01 -5.07626444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-164.25, Z:-507.66 [[ 3.55340479e-01 4.40111145e-01 8.24642543e-01 2.85476575e+02] [-1.93127651e-01 8.97751091e-01 -3.95909951e-01 -1.64250828e+02] [-9.14568125e-01 -1.85784452e-02 4.04004934e-01 -5.07655624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-164.26, Z:-507.69 [[ 3.55248349e-01 4.40912347e-01 8.24254156e-01 2.85487956e+02] [-1.94015809e-01 8.97346901e-01 -3.96391733e-01 -1.64256790e+02] [-9.14415921e-01 -1.91008280e-02 4.04324970e-01 -5.07685832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-164.26, Z:-507.72 [[ 3.54747478e-01 4.41617094e-01 8.24092573e-01 2.85499385e+02] [-1.94394062e-01 8.96994662e-01 -3.97003181e-01 -1.64263699e+02] [-9.14530030e-01 -1.93628254e-02 4.04054335e-01 -5.07716127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-164.27, Z:-507.75 [[ 3.54385124e-01 4.42098882e-01 8.23990147e-01 2.85510182e+02] [-1.94049749e-01 8.96765901e-01 -3.97687835e-01 -1.64269513e+02] [-9.14743614e-01 -1.89604290e-02 4.03589672e-01 -5.07745527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-164.28, Z:-507.78 [[ 3.54181765e-01 4.42464763e-01 8.23881188e-01 2.85521556e+02] [-1.93532490e-01 8.96597711e-01 -3.98318616e-01 -1.64276036e+02] [-9.14931939e-01 -1.83705877e-02 4.03189867e-01 -5.07775320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-164.28, Z:-507.81 [[ 3.53971248e-01 4.42758821e-01 8.23813682e-01 2.85532930e+02] [-1.92705938e-01 8.96469625e-01 -3.99007058e-01 -1.64282904e+02] [-9.15187837e-01 -1.75167621e-02 4.02646726e-01 -5.07805684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-164.29, Z:-507.83 [[ 3.53935375e-01 4.43036426e-01 8.23679838e-01 2.85543903e+02] [-1.91890675e-01 8.96349918e-01 -3.99668355e-01 -1.64289735e+02] [-9.15372995e-01 -1.65997105e-02 4.02264503e-01 -5.07834661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-164.30, Z:-507.87 [[ 3.54659291e-01 4.42856829e-01 8.23465006e-01 2.85555131e+02] [-1.90114870e-01 8.96473394e-01 -4.00239667e-01 -1.64297967e+02] [-9.15463338e-01 -1.46042262e-02 4.02136287e-01 -5.07865119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-164.30, Z:-507.89 [[ 3.55063242e-01 4.43053711e-01 8.23184975e-01 2.85565905e+02] [-1.89265635e-01 8.96393657e-01 -4.00820322e-01 -1.64304153e+02] [-9.15482721e-01 -1.34840644e-02 4.02131281e-01 -5.07894758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-164.31, Z:-507.92 [[ 3.55670352e-01 4.43213271e-01 8.22836920e-01 2.85577068e+02] [-1.88509395e-01 8.96330761e-01 -4.01317050e-01 -1.64310525e+02] [-9.15403085e-01 -1.23759132e-02 4.02348143e-01 -5.07924861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:-164.32, Z:-507.95 [[ 3.56743648e-01 4.43053954e-01 8.22458001e-01 2.85587487e+02] [-1.86873445e-01 8.96435332e-01 -4.01848245e-01 -1.64317585e+02] [-9.15320865e-01 -1.03387508e-02 4.02592629e-01 -5.07954845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-164.32, Z:-507.98 [[ 3.57068486e-01 4.43405231e-01 8.22127665e-01 2.85598436e+02] [-1.86475995e-01 8.96269613e-01 -4.02402142e-01 -1.64323825e+02] [-9.15275259e-01 -9.62195076e-03 4.02714065e-01 -5.07984955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-164.33, Z:-508.02 [[ 3.57574475e-01 4.43801565e-01 8.21693779e-01 2.85609742e+02] [-1.86301158e-01 8.96079753e-01 -4.02905640e-01 -1.64330439e+02] [-9.15113312e-01 -9.01372992e-03 4.03095993e-01 -5.08015494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-164.34, Z:-508.05 [[ 3.58449141e-01 4.44052076e-01 8.21177184e-01 2.85620823e+02] [-1.85826424e-01 8.95965215e-01 -4.03379317e-01 -1.64338609e+02] [-9.14867615e-01 -8.00544980e-03 4.03674572e-01 -5.08045711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-164.34, Z:-508.08 [[ 3.58816094e-01 4.44560199e-01 8.20741884e-01 2.85632122e+02] [-1.85918876e-01 8.95716144e-01 -4.03889540e-01 -1.64344680e+02] [-9.14704970e-01 -7.66934145e-03 4.04049501e-01 -5.08076140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-164.35, Z:-508.11 [[ 3.58877341e-01 4.45154497e-01 8.20392911e-01 2.85642744e+02] [-1.86124078e-01 8.95421968e-01 -4.04446939e-01 -1.64350345e+02] [-9.14639209e-01 -7.54803208e-03 4.04200625e-01 -5.08105895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-164.36, Z:-508.14 [[ 3.59880033e-01 4.45523840e-01 8.19752932e-01 2.85653842e+02] [-1.86199383e-01 8.95243059e-01 -4.04808171e-01 -1.64356677e+02] [-9.14229813e-01 -6.95511221e-03 4.05136366e-01 -5.08136557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-164.36, Z:-508.17 [[ 3.60227777e-01 4.46081555e-01 8.19296768e-01 2.85665093e+02] [-1.86417842e-01 8.94967051e-01 -4.05317612e-01 -1.64362807e+02] [-9.14048323e-01 -6.72487292e-03 4.05549552e-01 -5.08167257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-164.37, Z:-508.20 [[ 3.60366348e-01 4.46665496e-01 8.18917597e-01 2.85676239e+02] [-1.86624403e-01 8.94676903e-01 -4.05862750e-01 -1.64368957e+02] [-9.13951546e-01 -6.57073100e-03 4.05770129e-01 -5.08197874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-164.38, Z:-508.23 [[ 3.59913970e-01 4.47596672e-01 8.18608059e-01 2.85688256e+02] [-1.87628195e-01 8.94205662e-01 -4.06438058e-01 -1.64375570e+02] [-9.13924283e-01 -7.31121720e-03 4.05818865e-01 -5.08227698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-164.38, Z:-508.26 [[ 3.59527937e-01 4.48298190e-01 8.18393790e-01 2.85699674e+02] [-1.87958392e-01 8.93852824e-01 -4.07061141e-01 -1.64381235e+02] [-9.14008373e-01 -7.47412845e-03 4.05626469e-01 -5.08257089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-164.39, Z:-508.29 [[ 3.59145680e-01 4.48816376e-01 8.18277607e-01 2.85711621e+02] [-1.88356467e-01 8.93590027e-01 -4.07453929e-01 -1.64386870e+02] [-9.14076705e-01 -7.79256039e-03 4.05466465e-01 -5.08287234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-164.40, Z:-508.31 [[ 3.55089191e-01 4.33784074e-01 8.28096035e-01 2.85723038e+02] [-1.88311492e-01 9.00855581e-01 -3.91149594e-01 -1.64403200e+02] [-9.15669399e-01 -1.70470072e-02 4.01570606e-01 -5.08310542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-164.40, Z:-508.34 [[ 3.58353633e-01 4.48937354e-01 8.18558444e-01 2.85734360e+02] [-1.87658976e-01 8.93532288e-01 -4.07902145e-01 -1.64397992e+02] [-9.14530909e-01 -7.43662415e-03 4.04447665e-01 -5.08344423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-164.40, Z:-508.37 [[ 3.57977093e-01 4.49522710e-01 8.18401939e-01 2.85746268e+02] [-1.87198523e-01 8.93242398e-01 -4.08747761e-01 -1.64403531e+02] [-9.14772712e-01 -6.88129863e-03 4.03910304e-01 -5.08374407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-164.41, Z:-508.40 [[ 3.57873367e-01 4.50087208e-01 8.18137005e-01 2.85758049e+02] [-1.87268091e-01 8.92959311e-01 -4.09334010e-01 -1.64408983e+02] [-9.14799058e-01 -6.72121407e-03 4.03853327e-01 -5.08404332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.77, Y:-164.41, Z:-508.43 [[ 3.58072862e-01 4.50532495e-01 8.17804559e-01 2.85770177e+02] [-1.87097280e-01 8.92738242e-01 -4.09893936e-01 -1.64413075e+02] [-9.14755942e-01 -6.23711370e-03 4.03958742e-01 -5.08434953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-164.42, Z:-508.47 [[ 3.58357851e-01 4.51100125e-01 8.17366703e-01 2.85781946e+02] [-1.87349508e-01 8.92452752e-01 -4.10400106e-01 -1.64417706e+02] [-9.14592703e-01 -6.06314949e-03 4.04330837e-01 -5.08465422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:-164.42, Z:-508.49 [[ 3.58365094e-01 4.54123456e-01 8.15687653e-01 2.85792032e+02] [-1.86514836e-01 8.90930878e-01 -4.14070510e-01 -1.64417026e+02] [-9.14760447e-01 -3.74943188e-03 4.03979289e-01 -5.08494237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-164.43, Z:-508.52 [[ 3.59663065e-01 4.41099229e-01 8.22237162e-01 2.85806938e+02] [-1.89287020e-01 8.97374407e-01 -3.98609580e-01 -1.64434921e+02] [-9.13680964e-01 -1.22736790e-02 4.06246788e-01 -5.08522581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-164.43, Z:-508.56 [[ 3.59430132e-01 4.52832398e-01 8.15936762e-01 2.85817450e+02] [-1.89538806e-01 8.91569626e-01 -4.11313314e-01 -1.64432533e+02] [-9.13720428e-01 -6.81328083e-03 4.06286301e-01 -5.08555418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-164.43, Z:-508.59 [[ 3.58558148e-01 4.56454568e-01 8.14300486e-01 2.85827142e+02] [-1.88159186e-01 8.89737285e-01 -4.15889029e-01 -1.64432052e+02] [-9.14347951e-01 -4.09771621e-03 4.04908673e-01 -5.08585112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-164.45, Z:-508.61 [[ 3.60036045e-01 4.41973599e-01 8.21604153e-01 2.85841591e+02] [-1.90687748e-01 8.96933288e-01 -3.98934657e-01 -1.64450444e+02] [-9.13242700e-01 -1.30389896e-02 4.07207263e-01 -5.08611904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-164.45, Z:-508.64 [[ 3.59998187e-01 4.54199690e-01 8.14925731e-01 2.85852307e+02] [-1.91150605e-01 8.90868975e-01 -4.12084841e-01 -1.64446610e+02] [-9.13160858e-01 -7.42375111e-03 4.07531761e-01 -5.08642972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-164.45, Z:-508.67 [[ 3.59911558e-01 4.54667032e-01 8.14703357e-01 2.85864276e+02] [-1.91063429e-01 8.90632808e-01 -4.12635392e-01 -1.64451845e+02] [-9.13213248e-01 -7.14776987e-03 4.07419284e-01 -5.08673423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-164.45, Z:-508.70 [[ 3.58384481e-01 4.57780775e-01 8.13632181e-01 2.85874608e+02] [-1.89580666e-01 8.89051565e-01 -4.16709114e-01 -1.64453453e+02] [-9.14122385e-01 -4.90685090e-03 4.05408668e-01 -5.08704472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-164.47, Z:-508.73 [[ 3.59300737e-01 4.50042781e-01 8.17535611e-01 2.85888560e+02] [-1.91001330e-01 8.92954383e-01 -4.07616196e-01 -1.64465936e+02] [-9.13466733e-01 -9.69358919e-03 4.06797938e-01 -5.08731761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-164.47, Z:-508.76 [[ 3.58370471e-01 4.56251637e-01 8.14496807e-01 2.85900072e+02] [-1.91173915e-01 8.89821455e-01 -4.14331163e-01 -1.64467327e+02] [-9.13796005e-01 -7.22648929e-03 4.06109146e-01 -5.08763222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-164.47, Z:-508.79 [[ 3.57916908e-01 4.57045953e-01 8.14250873e-01 2.85912593e+02] [-1.91778353e-01 8.89410238e-01 -4.14934323e-01 -1.64472302e+02] [-9.13847116e-01 -7.64368159e-03 4.05986482e-01 -5.08793216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.46, Z:-508.83 [[ 3.53240876e-01 4.76060938e-01 8.05348910e-01 2.85916403e+02] [-1.87069782e-01 8.79403258e-01 -4.37783973e-01 -1.64456195e+02] [-9.16638304e-01 3.98674905e-03 3.99697793e-01 -5.08828564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-164.48, Z:-508.85 [[ 3.52943781e-01 4.45794536e-01 8.22616508e-01 2.85928981e+02] [-1.87697607e-01 8.95059763e-01 -4.04521481e-01 -1.64482206e+02] [-9.16624403e-01 -1.16298090e-02 3.99580345e-01 -5.08853112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-164.48, Z:-508.88 [[ 3.52597922e-01 4.50553595e-01 8.20168375e-01 2.85938496e+02] [-1.87313952e-01 8.92702910e-01 -4.09871930e-01 -1.64482568e+02] [-9.16835966e-01 -9.10898871e-03 3.99160165e-01 -5.08883870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-164.50, Z:-508.91 [[ 3.54815006e-01 4.33669172e-01 8.28273724e-01 2.85954609e+02] [-1.90101511e-01 9.00872010e-01 -3.90244844e-01 -1.64504136e+02] [-9.15405772e-01 -1.89913598e-02 4.02084072e-01 -5.08910914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-164.50, Z:-508.94 [[ 3.55697709e-01 4.49467970e-01 8.19425216e-01 2.85965969e+02] [-1.89600107e-01 8.93236347e-01 -4.07652582e-01 -1.64498073e+02] [-9.15167165e-01 -1.03620188e-02 4.02941297e-01 -5.08943238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-164.50, Z:-508.97 [[ 3.55366251e-01 4.51595217e-01 8.18398795e-01 2.85977742e+02] [-1.89538531e-01 8.92173234e-01 -4.10002520e-01 -1.64502664e+02] [-9.15308677e-01 -9.41704694e-03 4.02642951e-01 -5.08973953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-164.53, Z:-509.00 [[ 3.60101320e-01 4.34666744e-01 8.25464634e-01 2.85997230e+02] [-1.93109553e-01 9.00390730e-01 -3.89878487e-01 -1.64525449e+02] [-9.12707916e-01 -1.90093485e-02 4.08170191e-01 -5.08996481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-164.50, Z:-509.03 [[ 3.57438508e-01 4.69818628e-01 8.07160560e-01 2.86002644e+02] [-1.90055448e-01 8.82762951e-01 -4.29660912e-01 -1.64502623e+02] [-9.14394138e-01 1.72093637e-04 4.04825062e-01 -5.09034274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-164.53, Z:-509.06 [[ 3.60766097e-01 4.47256938e-01 8.18418631e-01 2.86020488e+02] [-1.91270913e-01 8.94342307e-01 -4.04434514e-01 -1.64527290e+02] [-9.12832548e-01 -1.06334182e-02 4.08195626e-01 -5.09057361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-164.52, Z:-509.09 [[ 3.60854090e-01 4.60877330e-01 8.10787526e-01 2.86031136e+02] [-1.90596617e-01 8.87458410e-01 -4.19631387e-01 -1.64523307e+02] [-9.12938802e-01 -3.10765694e-03 4.08084657e-01 -5.09089152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-164.53, Z:-509.12 [[ 3.61386243e-01 4.60983406e-01 8.10490150e-01 2.86043234e+02] [-1.89692347e-01 8.87406706e-01 -4.20150154e-01 -1.64528663e+02] [-9.12916643e-01 -1.90729290e-03 4.08141599e-01 -5.09118946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-164.53, Z:-509.15 [[ 3.62761239e-01 4.60476569e-01 8.10163942e-01 2.86055828e+02] [-1.87313902e-01 8.87671459e-01 -4.20657680e-01 -1.64532454e+02] [-9.12862413e-01 8.43331727e-04 4.08266461e-01 -5.09148993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-164.54, Z:-509.18 [[ 3.63341804e-01 4.60631176e-01 8.09815814e-01 2.86067723e+02] [-1.86448983e-01 8.87589260e-01 -4.21215008e-01 -1.64537006e+02] [-9.12808584e-01 2.05568629e-03 4.08382497e-01 -5.09179864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-164.56, Z:-509.21 [[ 3.65464651e-01 4.48629210e-01 8.15577967e-01 2.86084792e+02] [-1.87980544e-01 8.93706988e-01 -4.07371005e-01 -1.64556649e+02] [-9.11646260e-01 -4.43308732e-03 4.10951875e-01 -5.09208710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-164.52, Z:-509.24 [[ 3.64828175e-01 4.91482589e-01 7.90787751e-01 2.86090602e+02] [-1.83471605e-01 8.70623418e-01 -4.56457046e-01 -1.64523693e+02] [-9.12819025e-01 2.14412932e-02 4.07801052e-01 -5.09243650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-164.55, Z:-509.27 [[ 3.65029571e-01 4.60094742e-01 8.09361626e-01 2.86104738e+02] [-1.82084460e-01 8.87843134e-01 -4.22587054e-01 -1.64551600e+02] [-9.13016244e-01 6.88459678e-03 4.07865101e-01 -5.09268596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-164.56, Z:-509.30 [[ 3.65683895e-01 4.60417024e-01 8.08882842e-01 2.86116823e+02] [-1.81803317e-01 8.87669755e-01 -4.23072050e-01 -1.64555822e+02] [-9.12810409e-01 7.65305085e-03 4.08311876e-01 -5.09298081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:-164.59, Z:-509.32 [[ 3.71343591e-01 4.36872905e-01 8.19296040e-01 2.86139758e+02] [-1.87164350e-01 8.99498038e-01 -3.94807277e-01 -1.64585139e+02] [-9.09435783e-01 -6.73385867e-03 4.15789865e-01 -5.09323698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-164.55, Z:-509.36 [[ 3.71159271e-01 4.87700286e-01 7.90183034e-01 2.86147065e+02] [-1.87781043e-01 8.72808176e-01 -4.50493249e-01 -1.64552267e+02] [-9.09383899e-01 1.88233516e-02 4.15531715e-01 -5.09361948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-164.53, Z:-509.39 [[ 3.68147834e-01 5.05692588e-01 7.80219314e-01 2.86150726e+02] [-1.83450978e-01 8.62166492e-01 -4.72244301e-01 -1.64533847e+02] [-9.11489392e-01 3.07237208e-02 4.10174526e-01 -5.09393546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-164.59, Z:-509.41 [[ 3.71688943e-01 4.43085301e-01 8.15795775e-01 2.86172933e+02] [-1.85531939e-01 8.96477654e-01 -4.02375093e-01 -1.64589348e+02] [-9.09629172e-01 -1.79779851e-03 4.15417306e-01 -5.09412677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.18, Y:-164.57, Z:-509.45 [[ 3.71173872e-01 4.81612229e-01 7.93901517e-01 2.86182113e+02] [-1.86276032e-01 8.76217843e-01 -4.44458695e-01 -1.64566624e+02] [-9.09687417e-01 1.70866307e-02 4.14941984e-01 -5.09447765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-164.56, Z:-509.48 [[ 3.68808282e-01 4.93972092e-01 7.87383023e-01 2.86188472e+02] [-1.83288994e-01 8.69115097e-01 -4.59395356e-01 -1.64555869e+02] [-9.11254957e-01 2.51101697e-02 4.11076493e-01 -5.09478782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-164.58, Z:-509.50 [[ 3.68626758e-01 4.62697963e-01 8.06241222e-01 2.86202160e+02] [-1.82477363e-01 8.86463375e-01 -4.25305417e-01 -1.64583019e+02] [-9.11491265e-01 9.65818520e-03 4.11206024e-01 -5.09503995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:-164.59, Z:-509.53 [[ 3.67697843e-01 4.63341013e-01 8.06296101e-01 2.86215035e+02] [-1.82331918e-01 8.86127517e-01 -4.26067009e-01 -1.64585307e+02] [-9.11895481e-01 9.65040543e-03 4.10309032e-01 -5.09533831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-164.59, Z:-509.56 [[ 3.67231743e-01 4.63895433e-01 8.06189726e-01 2.86227590e+02] [-1.82795498e-01 8.85841747e-01 -4.26462432e-01 -1.64589509e+02] [-9.11990490e-01 9.24269025e-03 4.10107205e-01 -5.09564498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.24, Y:-164.59, Z:-509.60 [[ 3.66707801e-01 4.64727079e-01 8.05949211e-01 2.86239966e+02] [-1.83467991e-01 8.85410807e-01 -4.27068144e-01 -1.64593664e+02] [-9.12066272e-01 8.74333781e-03 4.09949594e-01 -5.09595167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.25, Y:-164.60, Z:-509.63 [[ 3.66123012e-01 4.65764618e-01 8.05616075e-01 2.86252382e+02] [-1.84764981e-01 8.84875049e-01 -4.27619047e-01 -1.64598299e+02] [-9.12039386e-01 7.71153450e-03 4.10030109e-01 -5.09625753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-164.60, Z:-509.65 [[ 3.64537088e-01 4.67534239e-01 8.05310156e-01 2.86265494e+02] [-1.87812441e-01 8.83961711e-01 -4.28180079e-01 -1.64600450e+02] [-9.12052191e-01 4.84025295e-03 4.10045575e-01 -5.09654737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-164.60, Z:-509.68 [[ 3.63454509e-01 4.69013328e-01 8.04939326e-01 2.86277571e+02] [-1.90351947e-01 8.83187334e-01 -4.28656355e-01 -1.64604163e+02] [-9.11957760e-01 2.57531736e-03 4.10276019e-01 -5.09684019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-164.64, Z:-509.71 [[ 3.69693143e-01 4.36779721e-01 8.20091736e-01 2.86304455e+02] [-1.99835007e-01 8.99343737e-01 -3.88904632e-01 -1.64643288e+02] [-9.07410023e-01 -2.01076623e-02 4.19765091e-01 -5.09705444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-164.57, Z:-509.75 [[ 3.58369156e-01 5.24908784e-01 7.72037769e-01 2.86302882e+02] [-1.99536470e-01 8.50921385e-01 -4.85919741e-01 -1.64571741e+02] [-9.12006987e-01 2.00889563e-02 4.09682425e-01 -5.09751241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-164.61, Z:-509.77 [[ 3.57405805e-01 4.74735850e-01 8.04292834e-01 2.86315261e+02] [-2.02072369e-01 8.80082751e-01 -4.29675587e-01 -1.64611948e+02] [-9.11826655e-01 -8.95680934e-03 4.10477682e-01 -5.09773365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-164.65, Z:-509.80 [[ 3.63254332e-01 4.43799213e-01 8.19199944e-01 2.86341187e+02] [-2.11843114e-01 8.95575161e-01 -3.91238580e-01 -1.64650706e+02] [-9.07286496e-01 -3.14227584e-02 4.19337364e-01 -5.09795709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-164.58, Z:-509.84 [[ 3.52231148e-01 5.30737566e-01 7.70876680e-01 2.86340657e+02] [-2.09937572e-01 8.47478453e-01 -4.87551523e-01 -1.64581282e+02] [-9.12063284e-01 9.89485415e-03 4.09930064e-01 -5.09839271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:-164.62, Z:-509.86 [[ 3.53020531e-01 4.79299585e-01 8.03522503e-01 2.86352600e+02] [-2.11390714e-01 8.77469431e-01 -4.30536135e-01 -1.64622720e+02] [-9.11422224e-01 -1.78691005e-02 4.11084206e-01 -5.09862077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-164.63, Z:-509.89 [[ 3.52199133e-01 4.80719415e-01 8.03034629e-01 2.86365283e+02] [-2.13819949e-01 8.76648547e-01 -4.31008531e-01 -1.64625912e+02] [-9.11173310e-01 -1.99039925e-02 4.11542259e-01 -5.09892536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-164.67, Z:-509.91 [[ 3.59534144e-01 4.47220006e-01 8.18980748e-01 2.86390535e+02] [-2.21669168e-01 8.93478582e-01 -3.90587768e-01 -1.64666678e+02] [-9.06420421e-01 -4.11131424e-02 4.20370943e-01 -5.09914120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-164.60, Z:-509.96 [[ 3.49690122e-01 5.35647551e-01 7.68634191e-01 2.86389610e+02] [-2.15360212e-01 8.44420448e-01 -4.90483523e-01 -1.64597597e+02] [-9.11776726e-01 5.98402066e-03 4.10642659e-01 -5.09958955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.40, Y:-164.64, Z:-509.98 [[ 3.51399250e-01 4.82497251e-01 8.02318496e-01 2.86400713e+02] [-2.15556898e-01 8.75643877e-01 -4.32184017e-01 -1.64640062e+02] [-9.11072879e-01 -2.10761466e-02 4.11706213e-01 -5.09981461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:-164.64, Z:-510.01 [[ 3.51574230e-01 4.83258105e-01 8.01783740e-01 2.86412836e+02] [-2.16405989e-01 8.75216081e-01 -4.32626004e-01 -1.64644655e+02] [-9.10804045e-01 -2.14106487e-02 4.12283368e-01 -5.10011315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.43, Y:-164.68, Z:-510.04 [[ 3.56915149e-01 4.58016615e-01 8.14145169e-01 2.86433658e+02] [-2.21447058e-01 8.88189895e-01 -4.02591494e-01 -1.64677204e+02] [-9.07509106e-01 -3.65990493e-02 4.18434860e-01 -5.10035678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-164.63, Z:-510.08 [[ 3.50586662e-01 5.26848142e-01 7.74286787e-01 2.86436325e+02] [-2.17185634e-01 8.49959424e-01 -4.79999352e-01 -1.64626703e+02] [-9.10999118e-01 1.17404035e-04 4.12408285e-01 -5.10076390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:-164.66, Z:-510.10 [[ 3.52245789e-01 4.84768356e-01 8.00576383e-01 2.86447299e+02] [-2.17205036e-01 8.74389207e-01 -4.33895711e-01 -1.64662472e+02] [-9.10354259e-01 -2.10512847e-02 4.13294044e-01 -5.10100728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-164.67, Z:-510.13 [[ 3.52476841e-01 4.85140237e-01 8.00249353e-01 2.86458463e+02] [-2.16833820e-01 8.74198782e-01 -4.34464711e-01 -1.64668925e+02] [-9.10353322e-01 -2.03823749e-02 4.13329636e-01 -5.10129732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-164.68, Z:-510.16 [[ 3.52087020e-01 4.85606404e-01 8.00138208e-01 2.86469943e+02] [-2.16579719e-01 8.73946432e-01 -4.35098678e-01 -1.64675404e+02] [-9.10564636e-01 -2.01011111e-02 4.12877693e-01 -5.10159718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-164.68, Z:-510.19 [[ 3.51868809e-01 4.86128661e-01 7.99917037e-01 2.86481127e+02] [-2.16471993e-01 8.73661954e-01 -4.35723153e-01 -1.64682194e+02] [-9.10674595e-01 -1.98422485e-02 4.12647631e-01 -5.10188566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-164.69, Z:-510.22 [[ 3.51159239e-01 4.86579245e-01 7.99954891e-01 2.86492919e+02] [-2.16018258e-01 8.73417768e-01 -4.36437298e-01 -1.64689925e+02] [-9.11056146e-01 -1.95458726e-02 4.11818719e-01 -5.10218417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-164.70, Z:-510.25 [[ 3.51115448e-01 4.87047887e-01 7.99688876e-01 2.86504262e+02] [-2.15841914e-01 8.73165109e-01 -4.37029702e-01 -1.64696321e+02] [-9.11114817e-01 -1.91584983e-02 4.11707107e-01 -5.10248659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:-164.70, Z:-510.28 [[ 3.51113288e-01 4.87600988e-01 7.99352698e-01 2.86515231e+02] [-2.15945854e-01 8.72860383e-01 -4.37586722e-01 -1.64702693e+02] [-9.11091020e-01 -1.89743880e-02 4.11768291e-01 -5.10278579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-164.71, Z:-510.31 [[ 3.51651502e-01 4.87904839e-01 7.98930591e-01 2.86525702e+02] [-2.15525720e-01 8.72708468e-01 -4.38096558e-01 -1.64710051e+02] [-9.10982923e-01 -1.81327779e-02 4.12045286e-01 -5.10308210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-164.72, Z:-510.34 [[ 3.51945723e-01 4.88291186e-01 7.98564917e-01 2.86536516e+02] [-2.15366180e-01 8.72502748e-01 -4.38584501e-01 -1.64717131e+02] [-9.10907030e-01 -1.76259362e-02 4.12235018e-01 -5.10338561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-164.72, Z:-510.37 [[ 3.52651717e-01 4.88612484e-01 7.98056769e-01 2.86547488e+02] [-2.15124786e-01 8.72338055e-01 -4.39030345e-01 -1.64724295e+02] [-9.10690998e-01 -1.68569863e-02 4.12744169e-01 -5.10368170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-164.73, Z:-510.40 [[ 3.52968083e-01 4.88754009e-01 7.97830215e-01 2.86558115e+02] [-2.14740573e-01 8.72270308e-01 -4.39352929e-01 -1.64731618e+02] [-9.10659112e-01 -1.62489564e-02 4.12838895e-01 -5.10398118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-164.74, Z:-510.43 [[ 3.54188904e-01 4.88857594e-01 7.97225485e-01 2.86568810e+02] [-2.14101786e-01 8.72235683e-01 -4.39733258e-01 -1.64740196e+02] [-9.10335458e-01 -1.49387590e-02 4.13601484e-01 -5.10428354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-164.75, Z:-510.46 [[ 3.54116792e-01 4.89401278e-01 7.96923890e-01 2.86580325e+02] [-2.14211549e-01 8.71933112e-01 -4.40279527e-01 -1.64746323e+02] [-9.10337690e-01 -1.47999270e-02 4.13601562e-01 -5.10459181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-164.75, Z:-510.49 [[ 3.54315713e-01 4.89450147e-01 7.96805453e-01 2.86590930e+02] [-2.13788722e-01 8.71914608e-01 -4.40521621e-01 -1.64753524e+02] [-9.10359686e-01 -1.42642873e-02 4.13571967e-01 -5.10489637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:-164.76, Z:-510.52 [[ 3.54800499e-01 4.89794240e-01 7.96378182e-01 2.86601722e+02] [-2.13525417e-01 8.71732345e-01 -4.41009767e-01 -1.64760753e+02] [-9.10232664e-01 -1.35764975e-02 4.13874590e-01 -5.10520215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-164.77, Z:-510.55 [[ 3.54501505e-01 4.90374913e-01 7.96153960e-01 2.86611845e+02] [-2.13620629e-01 8.71406639e-01 -4.41606948e-01 -1.64769395e+02] [-9.10326815e-01 -1.35245824e-02 4.13669162e-01 -5.10549526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-164.78, Z:-510.58 [[ 3.54314964e-01 4.91125638e-01 7.95774160e-01 2.86622883e+02] [-2.14422790e-01 8.70976220e-01 -4.42067067e-01 -1.64776373e+02] [-9.10210840e-01 -1.40011394e-02 4.13908437e-01 -5.10579706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-164.78, Z:-510.61 [[ 3.53229086e-01 4.92070297e-01 7.95673322e-01 2.86633715e+02] [-2.15282483e-01 8.70427781e-01 -4.42728959e-01 -1.64783202e+02] [-9.10429934e-01 -1.49097831e-02 4.13394525e-01 -5.10610444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:-164.79, Z:-510.64 [[ 3.52858722e-01 4.93036276e-01 7.95239557e-01 2.86644796e+02] [-2.16536042e-01 8.69865218e-01 -4.43223019e-01 -1.64790122e+02] [-9.10276258e-01 -1.58029180e-02 4.13699653e-01 -5.10640544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-164.80, Z:-510.67 [[ 3.52163601e-01 4.94696310e-01 7.94516431e-01 2.86655256e+02] [-2.19806351e-01 8.68870418e-01 -4.43564387e-01 -1.64798925e+02] [-9.09761489e-01 -1.84325261e-02 4.14721926e-01 -5.10671129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-164.81, Z:-510.70 [[ 3.51828910e-01 4.95699257e-01 7.94039461e-01 2.86665631e+02] [-2.21148007e-01 8.68278250e-01 -4.44056798e-01 -1.64805970e+02] [-9.09565818e-01 -1.93682245e-02 4.15108293e-01 -5.10700581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.68, Y:-164.81, Z:-510.73 [[ 3.51250111e-01 4.96516747e-01 7.93784908e-01 2.86676140e+02] [-2.21901460e-01 8.67797418e-01 -4.44620495e-01 -1.64812925e+02] [-9.09606015e-01 -1.99690316e-02 4.14991730e-01 -5.10730882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-164.82, Z:-510.76 [[ 3.51401030e-01 4.96901771e-01 7.93477124e-01 2.86686192e+02] [-2.21588310e-01 8.67590182e-01 -4.45180746e-01 -1.64822104e+02] [-9.09624064e-01 -1.93882820e-02 4.14979708e-01 -5.10760701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-164.83, Z:-510.79 [[ 3.51294451e-01 4.97128385e-01 7.93382366e-01 2.86696357e+02] [-2.20595378e-01 8.67482301e-01 -4.45883547e-01 -1.64830297e+02] [-9.09906527e-01 -1.83800675e-02 4.14405942e-01 -5.10790127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.71, Y:-164.84, Z:-510.82 [[ 3.51292061e-01 4.97056729e-01 7.93428318e-01 2.86707135e+02] [-2.19343042e-01 8.67547065e-01 -4.46375090e-01 -1.64838709e+02] [-9.10210150e-01 -1.72249562e-02 4.13788331e-01 -5.10820468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-164.88, Z:-510.84 [[ 3.59901607e-01 4.64320986e-01 8.09244620e-01 2.86731840e+02] [-2.24643282e-01 8.84975158e-01 -4.07865622e-01 -1.64884124e+02] [-9.05541953e-01 -3.49998744e-02 4.22810572e-01 -5.10839910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-164.86, Z:-510.88 [[ 3.56626120e-01 5.13675832e-01 7.80355656e-01 2.86738640e+02] [-2.23585451e-01 8.57931588e-01 -4.62561279e-01 -1.64857403e+02] [-9.07098317e-01 -9.51473757e-03 4.20811256e-01 -5.10879201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-164.87, Z:-510.91 [[ 3.57701268e-01 5.06856681e-01 7.84312507e-01 2.86750962e+02] [-2.23898035e-01 8.61934027e-01 -4.54905928e-01 -1.64872173e+02] [-9.06597746e-01 -1.28856022e-02 4.21799109e-01 -5.10907290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-164.83, Z:-510.95 [[ 3.49192121e-01 5.52648083e-01 7.56733083e-01 2.86745808e+02] [-2.13118617e-01 8.33243811e-01 -5.10181544e-01 -1.64831075e+02] [-9.12494010e-01 1.68774677e-02 4.08741769e-01 -5.10947596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.76, Y:-164.88, Z:-510.97 [[ 3.51067256e-01 4.95785305e-01 7.94322802e-01 2.86756994e+02] [-2.11868049e-01 8.68376912e-01 -4.48367561e-01 -1.64879733e+02] [-9.12065629e-01 -1.08844526e-02 4.09899765e-01 -5.10968502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:-164.89, Z:-511.00 [[ 3.51712487e-01 4.95951788e-01 7.93933341e-01 2.86766971e+02] [-2.11070145e-01 8.68295971e-01 -4.48900323e-01 -1.64887360e+02] [-9.12002040e-01 -9.69177617e-03 4.10071152e-01 -5.10997821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-164.90, Z:-511.03 [[ 3.53202699e-01 4.95662662e-01 7.93452191e-01 2.86776592e+02] [-2.09383334e-01 8.68483329e-01 -4.49327639e-01 -1.64897964e+02] [-9.11814934e-01 -7.43193079e-03 4.10534156e-01 -5.11028182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-164.91, Z:-511.06 [[ 3.54159831e-01 4.95904869e-01 7.92873997e-01 2.86787422e+02] [-2.09143287e-01 8.68352068e-01 -4.49692975e-01 -1.64905692e+02] [-9.11498711e-01 -6.56108581e-03 4.11250596e-01 -5.11058511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-164.91, Z:-511.09 [[ 3.54194908e-01 4.96353439e-01 7.92577587e-01 2.86797898e+02] [-2.08988149e-01 8.68098668e-01 -4.50253990e-01 -1.64912811e+02] [-9.11520664e-01 -6.16165255e-03 4.11208114e-01 -5.11089022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:286.82, Y:-164.96, Z:-511.11 [[ 3.60770742e-01 4.57238542e-01 8.12882149e-01 2.86823427e+02] [-2.16913280e-01 8.88814435e-01 -4.03679983e-01 -1.64961096e+02] [-9.07079435e-01 -3.06890057e-02 4.19839355e-01 -5.11108847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-164.88, Z:-511.16 [[ 3.52501860e-01 5.56862366e-01 7.52094904e-01 2.86817455e+02] [-2.11611795e-01 8.30297480e-01 -5.15583692e-01 -1.64883263e+02] [-9.11571658e-01 2.25920576e-02 4.10520051e-01 -5.11158394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:286.85, Y:-164.97, Z:-511.17 [[ 3.59631416e-01 4.59787342e-01 8.11948795e-01 2.86845070e+02] [-2.18361472e-01 8.87475653e-01 -4.05838925e-01 -1.64973945e+02] [-9.07184387e-01 -3.13459065e-02 4.19563966e-01 -5.11168301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-164.90, Z:-511.22 [[ 3.50959554e-01 5.56206891e-01 7.53300263e-01 2.86839094e+02] [-2.13949354e-01 8.30823329e-01 -5.13768693e-01 -1.64900390e+02] [-9.11621119e-01 1.91439265e-02 4.10585490e-01 -5.11216892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-164.95, Z:-511.24 [[ 3.51655428e-01 4.99935709e-01 7.91456093e-01 2.86851942e+02] [-2.13766938e-01 8.66002177e-01 -4.52044164e-01 -1.64949498e+02] [-9.11395719e-01 -1.02233611e-02 4.11404092e-01 -5.11237307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.036559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.87, Y:-164.99, Z:-511.26 [[ 3.55909562e-01 4.70356734e-01 8.07522710e-01 2.86874388e+02] [-2.19819747e-01 8.81994851e-01 -4.16850527e-01 -1.64988149e+02] [-9.08299325e-01 -2.91483488e-02 4.17304099e-01 -5.11258894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:-164.93, Z:-511.30 [[ 3.50046380e-01 5.47288513e-01 7.60225503e-01 2.86871831e+02] [-2.17285937e-01 8.36875819e-01 -5.02419829e-01 -1.64930432e+02] [-9.11182942e-01 1.06839313e-02 4.11863449e-01 -5.11303936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-165.00, Z:-511.32 [[ 3.55551345e-01 4.81603987e-01 8.01024869e-01 2.86894125e+02] [-2.23492674e-01 8.75971766e-01 -4.27462851e-01 -1.64995812e+02] [-9.07542983e-01 -2.70381982e-02 4.19087903e-01 -5.11320330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-164.95, Z:-511.36 [[ 3.49810078e-01 5.40750267e-01 7.64998077e-01 2.86893040e+02] [-2.19379403e-01 8.41167856e-01 -4.94276558e-01 -1.64950048e+02] [-9.10771973e-01 5.07809954e-03 4.12878464e-01 -5.11361168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-165.01, Z:-511.38 [[ 3.54122309e-01 4.84756404e-01 7.99755350e-01 2.86914202e+02] [-2.24970381e-01 8.74215160e-01 -4.30274541e-01 -1.65008640e+02] [-9.07736591e-01 -2.75514521e-02 4.18634924e-01 -5.11379476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-164.97, Z:-511.42 [[ 3.49386568e-01 5.41340841e-01 7.64773901e-01 2.86914864e+02] [-2.21169263e-01 8.40795994e-01 -4.94111580e-01 -1.64965602e+02] [-9.10501611e-01 3.49146862e-03 4.13490782e-01 -5.11419896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-165.03, Z:-511.44 [[ 3.54195182e-01 4.83138404e-01 8.00701602e-01 2.86937279e+02] [-2.27079060e-01 8.75016292e-01 -4.27529637e-01 -1.65026107e+02] [-9.07182933e-01 -3.03936297e-02 4.19637169e-01 -5.11438159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-165.00, Z:-511.48 [[ 3.51463344e-01 5.31172218e-01 7.70927748e-01 2.86943535e+02] [-2.27682224e-01 8.47236250e-01 -4.79949519e-01 -1.64997461e+02] [-9.08093785e-01 -6.84188154e-03 4.18710957e-01 -5.11476542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-164.98, Z:-511.51 [[ 3.48596584e-01 5.47939075e-01 7.60423035e-01 2.86947019e+02] [-2.22792145e-01 8.36502693e-01 -5.00626512e-01 -1.64981074e+02] [-9.10408745e-01 5.10041312e-03 4.13678503e-01 -5.11508433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-165.02, Z:-511.53 [[ 3.49856725e-01 5.06487229e-01 7.88080554e-01 2.86960227e+02] [-2.22374748e-01 8.62100001e-01 -4.55338402e-01 -1.65018610e+02] [-9.10027331e-01 -1.59460125e-02 4.14241452e-01 -5.11531505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-165.03, Z:-511.56 [[ 3.49444879e-01 5.06939877e-01 7.87972232e-01 2.86971463e+02] [-2.21992974e-01 8.61840744e-01 -4.56014969e-01 -1.65025468e+02] [-9.10278747e-01 -1.55722038e-02 4.13702925e-01 -5.11561929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-165.03, Z:-511.59 [[ 3.49547672e-01 5.06844713e-01 7.87987857e-01 2.86982423e+02] [-2.20069253e-01 8.61927792e-01 -4.56782229e-01 -1.65032639e+02] [-9.10706291e-01 -1.37447343e-02 4.12825791e-01 -5.11590788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-165.04, Z:-511.62 [[ 3.50324301e-01 5.06837946e-01 7.87647244e-01 2.86993563e+02] [-2.19434262e-01 8.61947490e-01 -4.57050467e-01 -1.65039432e+02] [-9.10561085e-01 -1.27209062e-02 4.13178763e-01 -5.11621003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-165.05, Z:-511.65 [[ 3.51360953e-01 5.06907331e-01 7.87140673e-01 2.87004529e+02] [-2.18647373e-01 8.61925571e-01 -4.57468727e-01 -1.65045931e+02] [-9.10350925e-01 -1.13695926e-02 4.13680947e-01 -5.11650995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-165.05, Z:-511.68 [[ 3.53091394e-01 5.06618333e-01 7.86552180e-01 2.87014725e+02] [-2.17028363e-01 8.62123095e-01 -4.57867294e-01 -1.65052650e+02] [-9.10068765e-01 -9.03513055e-03 4.14358793e-01 -5.11680689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-165.06, Z:-511.71 [[ 3.54189496e-01 5.06797057e-01 7.85943093e-01 2.87025903e+02] [-2.16700344e-01 8.62028050e-01 -4.58201486e-01 -1.65059212e+02] [-9.09720156e-01 -8.02398519e-03 4.15144377e-01 -5.11710496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-165.07, Z:-511.74 [[ 3.56037646e-01 5.06537285e-01 7.85275222e-01 2.87036879e+02] [-2.15291890e-01 8.62198521e-01 -4.58544559e-01 -1.65065921e+02] [-9.09333051e-01 -5.80426130e-03 4.16028501e-01 -5.11739313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-165.07, Z:-511.77 [[ 3.56937535e-01 5.06663074e-01 7.84785401e-01 2.87047487e+02] [-2.14717782e-01 8.62131365e-01 -4.58939847e-01 -1.65072344e+02] [-9.09115983e-01 -4.69452355e-03 4.16516616e-01 -5.11768326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-165.08, Z:-511.80 [[ 3.58046835e-01 5.06686473e-01 7.84264804e-01 2.87058788e+02] [-2.14023374e-01 8.62123660e-01 -4.59278554e-01 -1.65079082e+02] [-9.08843474e-01 -3.40776622e-03 4.17123396e-01 -5.11798283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-165.09, Z:-511.83 [[ 3.59009361e-01 5.06683918e-01 7.83826311e-01 2.87069753e+02] [-2.12965963e-01 8.62129867e-01 -4.59758188e-01 -1.65085512e+02] [-9.08712153e-01 -1.87083142e-03 4.17419121e-01 -5.11828592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-165.08, Z:-511.86 [[ 3.56541067e-01 5.20436850e-01 7.75902025e-01 2.87075665e+02] [-2.08255661e-01 8.53857911e-01 -4.77028560e-01 -1.65079013e+02] [-9.10773324e-01 8.49428269e-03 4.12819331e-01 -5.11863509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-165.10, Z:-511.89 [[ 3.56710479e-01 5.01403020e-01 7.88259250e-01 2.87088833e+02] [-2.07681017e-01 8.65213370e-01 -4.56370923e-01 -1.65100602e+02] [-9.10838202e-01 -9.14192024e-04 4.12762565e-01 -5.11890362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-165.11, Z:-511.92 [[ 3.56045997e-01 5.03942142e-01 7.86939366e-01 2.87100185e+02] [-2.07283997e-01 8.63737308e-01 -4.59337793e-01 -1.65105427e+02] [-9.11188560e-01 4.25444695e-04 4.11989352e-01 -5.11921146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-165.12, Z:-511.95 [[ 3.56358043e-01 4.94672527e-01 7.92658840e-01 2.87114352e+02] [-2.09694676e-01 8.69054835e-01 -4.48075704e-01 -1.65122676e+02] [-9.10514738e-01 -6.54095761e-03 4.13424875e-01 -5.11947970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-165.11, Z:-511.98 [[ 3.55910852e-01 5.21903188e-01 7.75206119e-01 2.87124253e+02] [-2.10117121e-01 8.52974614e-01 -4.77791903e-01 -1.65109306e+02] [-9.10592258e-01 7.16724576e-03 4.13243717e-01 -5.11983644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-165.12, Z:-512.01 [[ 3.55958905e-01 5.20554599e-01 7.76090309e-01 2.87136209e+02] [-2.11075578e-01 8.53810167e-01 -4.75873198e-01 -1.65117271e+02] [-9.10351777e-01 5.57759218e-03 4.13797695e-01 -5.12013557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-165.12, Z:-512.05 [[ 3.55248993e-01 5.24075653e-01 7.74043191e-01 2.87147172e+02] [-2.13220911e-01 8.51656807e-01 -4.78766673e-01 -1.65120955e+02] [-9.10129109e-01 5.03918383e-03 4.14294112e-01 -5.12045036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-165.13, Z:-512.08 [[ 3.55238418e-01 5.24270127e-01 7.73916339e-01 2.87159361e+02] [-2.14752328e-01 8.51543959e-01 -4.78282682e-01 -1.65127681e+02] [-9.09773106e-01 3.70404755e-03 4.15089359e-01 -5.12075163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-165.13, Z:-512.10 [[ 3.54464875e-01 5.26609411e-01 7.72681810e-01 2.87170671e+02] [-2.14803035e-01 8.50095648e-01 -4.80829538e-01 -1.65128821e+02] [-9.10062805e-01 4.46278401e-03 4.14446348e-01 -5.12101187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-165.15, Z:-512.13 [[ 3.52250945e-01 5.08295883e-01 7.85846402e-01 2.87185283e+02] [-2.18970702e-01 8.61119048e-01 -4.58830924e-01 -1.65152508e+02] [-9.09929175e-01 -1.04537117e-02 4.14631905e-01 -5.12131271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-165.14, Z:-512.16 [[ 3.51094052e-01 5.33170128e-01 7.69715909e-01 2.87195879e+02] [-2.20618759e-01 8.46007832e-01 -4.85384498e-01 -1.65140754e+02] [-9.09978203e-01 6.01841504e-04 4.14655650e-01 -5.12163880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-165.14, Z:-512.19 [[ 3.49001089e-01 5.40641639e-01 7.65444223e-01 2.87205001e+02] [-2.18567329e-01 8.41236393e-01 -4.94519620e-01 -1.65135961e+02] [-9.11277434e-01 5.28678723e-03 4.11759016e-01 -5.12191723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-165.17, Z:-512.22 [[ 3.50402224e-01 5.06077165e-01 7.88101633e-01 2.87221219e+02] [-2.21778840e-01 8.62352516e-01 -4.55150837e-01 -1.65171704e+02] [-9.09962872e-01 -1.52984004e-02 4.14407446e-01 -5.12215746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-165.15, Z:-512.25 [[ 3.47757903e-01 5.36496296e-01 7.68918829e-01 2.87227681e+02] [-2.19849733e-01 8.43901905e-01 -4.89382949e-01 -1.65150612e+02] [-9.11444203e-01 1.14018865e-03 4.11422124e-01 -5.12248683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-165.17, Z:-512.28 [[ 3.48223068e-01 5.14827550e-01 7.83385785e-01 2.87240062e+02] [-2.19793079e-01 8.57235094e-01 -4.65659743e-01 -1.65172277e+02] [-9.11280252e-01 -1.00293095e-02 4.11664566e-01 -5.12275455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-165.18, Z:-512.31 [[ 3.48613444e-01 5.15217362e-01 7.82955769e-01 2.87251674e+02] [-2.19631706e-01 8.57007404e-01 -4.66154721e-01 -1.65177425e+02] [-9.11169897e-01 -9.45410895e-03 4.11922371e-01 -5.12306267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-165.18, Z:-512.34 [[ 3.48536867e-01 5.15782142e-01 7.82617937e-01 2.87262885e+02] [-2.19747147e-01 8.56669211e-01 -4.66721603e-01 -1.65183856e+02] [-9.11171358e-01 -9.30837324e-03 4.11922457e-01 -5.12337136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-165.19, Z:-512.37 [[ 3.48672983e-01 5.15958745e-01 7.82440876e-01 2.87273895e+02] [-2.19669144e-01 8.56565460e-01 -4.66948692e-01 -1.65189887e+02] [-9.11138090e-01 -9.06572403e-03 4.12001450e-01 -5.12366358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-165.20, Z:-512.40 [[ 3.48668652e-01 5.16291439e-01 7.82223319e-01 2.87285067e+02] [-2.19185745e-01 8.56371379e-01 -4.67531464e-01 -1.65195799e+02] [-9.11256155e-01 -8.43863616e-03 4.11753578e-01 -5.12396826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-165.20, Z:-512.43 [[ 3.48736369e-01 5.16644813e-01 7.81959770e-01 2.87295623e+02] [-2.18697690e-01 8.56164693e-01 -4.68138162e-01 -1.65201773e+02] [-9.11347500e-01 -7.75599237e-03 4.11564794e-01 -5.12426042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-165.21, Z:-512.46 [[ 3.50061303e-01 5.16378622e-01 7.81543475e-01 2.87306858e+02] [-2.17539324e-01 8.56338935e-01 -4.68359127e-01 -1.65208293e+02] [-9.11116747e-01 -6.06203373e-03 4.12103779e-01 -5.12456676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-165.21, Z:-512.49 [[ 3.50574289e-01 5.16644643e-01 7.81137620e-01 2.87317780e+02] [-2.17033893e-01 8.56184392e-01 -4.68875864e-01 -1.65214808e+02] [-9.11040041e-01 -5.15751525e-03 4.12285633e-01 -5.12486731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-165.22, Z:-512.52 [[ 3.50858213e-01 5.16685811e-01 7.80982898e-01 2.87328784e+02] [-2.15666368e-01 8.56167129e-01 -4.69537927e-01 -1.65221160e+02] [-9.11255470e-01 -3.69050696e-03 4.11825021e-01 -5.12516923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-165.23, Z:-512.55 [[ 3.50715626e-01 5.17083312e-01 7.80783836e-01 2.87339427e+02] [-2.15224478e-01 8.55929289e-01 -4.70173878e-01 -1.65226635e+02] [-9.11414820e-01 -3.14646760e-03 4.11476763e-01 -5.12546033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-165.23, Z:-512.58 [[ 3.50314003e-01 5.17560556e-01 7.80647917e-01 2.87350054e+02] [-2.15010368e-01 8.55641594e-01 -4.70795078e-01 -1.65232443e+02] [-9.11619790e-01 -2.92128789e-03 4.11024117e-01 -5.12575820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-165.24, Z:-512.61 [[ 3.50095491e-01 5.18064100e-01 7.80411901e-01 2.87361191e+02] [-2.15015832e-01 8.55337262e-01 -4.71345266e-01 -1.65238849e+02] [-9.11702440e-01 -2.78506217e-03 4.10841703e-01 -5.12606262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-165.25, Z:-512.63 [[ 3.49836617e-01 5.18892493e-01 7.79977514e-01 2.87372415e+02] [-2.15915531e-01 8.54832984e-01 -4.71848550e-01 -1.65245950e+02] [-9.11589175e-01 -3.33935881e-03 4.11088827e-01 -5.12634866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-165.25, Z:-512.67 [[ 3.49215496e-01 5.19715756e-01 7.79707683e-01 2.87383561e+02] [-2.16705465e-01 8.54329881e-01 -4.72397286e-01 -1.65252500e+02] [-9.11639885e-01 -3.99846331e-03 4.10970477e-01 -5.12665169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-165.26, Z:-512.70 [[ 3.48520219e-01 5.20658813e-01 7.79389541e-01 2.87394767e+02] [-2.17753302e-01 8.53750904e-01 -4.72961830e-01 -1.65258277e+02] [-9.11656271e-01 -4.87788508e-03 4.10924628e-01 -5.12695105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-165.26, Z:-512.72 [[ 3.47786619e-01 5.21734121e-01 7.78998058e-01 2.87405865e+02] [-2.19229444e-01 8.53086267e-01 -4.73478904e-01 -1.65263996e+02] [-9.11582645e-01 -6.10968363e-03 4.11071470e-01 -5.12724722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-165.27, Z:-512.75 [[ 3.45886921e-01 5.23337346e-01 7.78768426e-01 2.87417378e+02] [-2.21912142e-01 8.52079597e-01 -4.74041519e-01 -1.65269401e+02] [-9.11656316e-01 -8.85340853e-03 4.10858100e-01 -5.12754676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-165.28, Z:-512.78 [[ 3.44873978e-01 5.24524748e-01 7.78418736e-01 2.87428708e+02] [-2.23607840e-01 8.51331832e-01 -4.74587869e-01 -1.65276073e+02] [-9.11625731e-01 -1.03875265e-02 4.10890041e-01 -5.12784907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-165.28, Z:-512.81 [[ 3.43054373e-01 5.25992751e-01 7.78232179e-01 2.87440571e+02] [-2.25788714e-01 8.50394456e-01 -4.75235442e-01 -1.65282840e+02] [-9.11774728e-01 -1.26844466e-02 4.10494764e-01 -5.12813936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-165.29, Z:-512.84 [[ 3.42175187e-01 5.26988303e-01 7.77945673e-01 2.87451684e+02] [-2.27052245e-01 8.49759867e-01 -4.75768269e-01 -1.65289373e+02] [-9.11791325e-01 -1.38382150e-02 4.10420619e-01 -5.12843505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-165.30, Z:-512.87 [[ 3.41386621e-01 5.27927028e-01 7.77655598e-01 2.87463011e+02] [-2.28199000e-01 8.49159707e-01 -4.76290887e-01 -1.65295666e+02] [-9.11800632e-01 -1.48608931e-02 4.10364182e-01 -5.12873590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:-165.30, Z:-512.90 [[ 3.39828267e-01 5.29451329e-01 7.77301768e-01 2.87473931e+02] [-2.30774734e-01 8.48163025e-01 -4.76825446e-01 -1.65301156e+02] [-9.11734485e-01 -1.73428433e-02 4.10413760e-01 -5.12903316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-165.31, Z:-512.93 [[ 3.39197380e-01 5.30523320e-01 7.76846281e-01 2.87485162e+02] [-2.32471017e-01 8.47463739e-01 -4.77244631e-01 -1.65307402e+02] [-9.11538460e-01 -1.87141171e-02 4.10788776e-01 -5.12933239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-165.31, Z:-512.96 [[ 3.38378855e-01 5.31477849e-01 7.76550736e-01 2.87495812e+02] [-2.33554593e-01 8.46843453e-01 -4.77816302e-01 -1.65313093e+02] [-9.11565688e-01 -1.96840580e-02 4.10683011e-01 -5.12963532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-165.32, Z:-512.99 [[ 3.37527044e-01 5.32889621e-01 7.75953702e-01 2.87506418e+02] [-2.36111554e-01 8.45903948e-01 -4.78223635e-01 -1.65320129e+02] [-9.11222711e-01 -2.17982248e-02 4.11336855e-01 -5.12992721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-165.33, Z:-513.02 [[ 3.37303693e-01 5.33592226e-01 7.75567892e-01 2.87516625e+02] [-2.37288810e-01 8.45438641e-01 -4.78463714e-01 -1.65327272e+02] [-9.10999582e-01 -2.26460049e-02 4.11785040e-01 -5.13021885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-165.33, Z:-513.05 [[ 3.37455284e-01 5.34270755e-01 7.75034639e-01 2.87527716e+02] [-2.38097373e-01 8.45001842e-01 -4.78833508e-01 -1.65334693e+02] [-9.10732437e-01 -2.29488144e-02 4.12358800e-01 -5.13052079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-165.34, Z:-513.08 [[ 3.37227339e-01 5.35054297e-01 7.74593197e-01 2.87538832e+02] [-2.38949550e-01 8.44492073e-01 -4.79308097e-01 -1.65341850e+02] [-9.10593671e-01 -2.34529015e-02 4.12636798e-01 -5.13082458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:-165.35, Z:-513.11 [[ 3.35979467e-01 5.36089043e-01 7.74420000e-01 2.87549886e+02] [-2.40099997e-01 8.43800455e-01 -4.79950814e-01 -1.65348827e+02] [-9.10752321e-01 -2.46846211e-02 4.12214605e-01 -5.13112502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:-165.36, Z:-513.14 [[ 3.34983657e-01 5.36930531e-01 7.74268399e-01 2.87560473e+02] [-2.40705477e-01 8.43244914e-01 -4.80623437e-01 -1.65355472e+02] [-9.10959287e-01 -2.53696477e-02 4.11715384e-01 -5.13141895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-165.36, Z:-513.17 [[ 3.33835628e-01 5.37976501e-01 7.74038150e-01 2.87570597e+02] [-2.42044089e-01 8.42536503e-01 -4.81193205e-01 -1.65362088e+02] [-9.11026033e-01 -2.67119231e-02 4.11482735e-01 -5.13172065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-165.37, Z:-513.20 [[ 3.33390523e-01 5.38834482e-01 7.73633091e-01 2.87580981e+02] [-2.42980095e-01 8.41966685e-01 -4.81718564e-01 -1.65369280e+02] [-9.10939862e-01 -2.73770383e-02 4.11629767e-01 -5.13202489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-165.37, Z:-513.24 [[ 3.31393671e-01 5.49035216e-01 7.67293012e-01 2.87588361e+02] [-2.44512743e-01 8.35439953e-01 -4.92192648e-01 -1.65373501e+02] [-9.11258335e-01 -2.45033908e-02 4.11105620e-01 -5.13237668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-165.38, Z:-513.27 [[ 3.31212019e-01 5.54969938e-01 7.63090406e-01 2.87599114e+02] [-2.44745567e-01 8.31589022e-01 -4.98557224e-01 -1.65376055e+02] [-9.11261876e-01 -2.16348495e-02 4.11258711e-01 -5.13268605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-165.39, Z:-513.29 [[ 3.32273600e-01 5.46240737e-01 7.68905269e-01 2.87611196e+02] [-2.44363127e-01 8.37244647e-01 -4.89191234e-01 -1.65389439e+02] [-9.10978000e-01 -2.53467637e-02 4.11675387e-01 -5.13291903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-165.40, Z:-513.32 [[ 3.31750612e-01 5.40876736e-01 7.72912600e-01 2.87622011e+02] [-2.44372431e-01 8.40618158e-01 -4.83366556e-01 -1.65400615e+02] [-9.11166091e-01 -2.85213804e-02 4.11050952e-01 -5.13320853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-165.41, Z:-513.35 [[ 3.30888424e-01 5.41267554e-01 7.73008594e-01 2.87632036e+02] [-2.43524031e-01 8.40383130e-01 -4.84202687e-01 -1.65408868e+02] [-9.11706585e-01 -2.80291044e-02 4.09884706e-01 -5.13350733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-165.42, Z:-513.38 [[ 3.30544430e-01 5.41538553e-01 7.72965960e-01 2.87641957e+02] [-2.42542414e-01 8.40236430e-01 -4.84949398e-01 -1.65416689e+02] [-9.12092954e-01 -2.71797081e-02 4.09081540e-01 -5.13379766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-165.43, Z:-513.41 [[ 3.30501434e-01 5.41589476e-01 7.72948667e-01 2.87652305e+02] [-2.41629019e-01 8.40230467e-01 -4.85415471e-01 -1.65425065e+02] [-9.12350930e-01 -2.63363194e-02 4.08561108e-01 -5.13409793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-165.43, Z:-513.44 [[ 3.30493506e-01 5.41662033e-01 7.72901213e-01 2.87662220e+02] [-2.40139254e-01 8.40226572e-01 -4.86160926e-01 -1.65432830e+02] [-9.12747052e-01 -2.49308912e-02 4.07763742e-01 -5.13439288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-165.44, Z:-513.47 [[ 3.31649575e-01 5.40942031e-01 7.72910266e-01 2.87671543e+02] [-2.36681362e-01 8.40786129e-01 -4.86888712e-01 -1.65441073e+02] [-9.13230799e-01 -2.14570198e-02 4.06877259e-01 -5.13470379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-165.45, Z:-513.50 [[ 3.32634951e-01 5.40799790e-01 7.72586291e-01 2.87681219e+02] [-2.35021690e-01 8.40926864e-01 -4.87449295e-01 -1.65448145e+02] [-9.13301043e-01 -1.94318629e-02 4.06821347e-01 -5.13499456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-165.46, Z:-513.53 [[ 3.33607286e-01 5.40658126e-01 7.72266126e-01 2.87690992e+02] [-2.33484823e-01 8.41059825e-01 -4.87958203e-01 -1.65456150e+02] [-9.13340581e-01 -1.75260078e-02 4.06819153e-01 -5.13529570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-165.47, Z:-513.56 [[ 3.36705191e-01 5.39377547e-01 7.71816997e-01 2.87700545e+02] [-2.29139404e-01 8.41972857e-01 -4.88443283e-01 -1.65465994e+02] [-9.13304302e-01 -1.23922972e-02 4.07089281e-01 -5.13559844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-165.47, Z:-513.59 [[ 3.37846462e-01 5.39002845e-01 7.71580003e-01 2.87710592e+02] [-2.26805289e-01 8.42247262e-01 -4.89059209e-01 -1.65474352e+02] [-9.13465450e-01 -9.77150192e-03 4.06798954e-01 -5.13590014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-165.48, Z:-513.62 [[ 3.38988544e-01 5.38592014e-01 7.71365938e-01 2.87720831e+02] [-2.24367030e-01 8.42537022e-01 -4.89684391e-01 -1.65482462e+02] [-9.13644462e-01 -7.07168597e-03 4.06452689e-01 -5.13620697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-165.49, Z:-513.65 [[ 3.41487672e-01 5.37556560e-01 7.70985807e-01 2.87730075e+02] [-2.20625258e-01 8.43223369e-01 -4.90202861e-01 -1.65490932e+02] [-9.13625014e-01 -2.70070894e-03 4.06548940e-01 -5.13650606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-165.50, Z:-513.68 [[ 3.42530766e-01 5.37493655e-01 7.70566834e-01 2.87740411e+02] [-2.19476470e-01 8.43267126e-01 -4.90643081e-01 -1.65498054e+02] [-9.13511222e-01 -1.06093802e-03 4.06812145e-01 -5.13681070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-165.51, Z:-513.71 [[ 3.43663295e-01 5.37101513e-01 7.70335969e-01 2.87750083e+02] [-2.17112755e-01 8.43516134e-01 -4.91266307e-01 -1.65505685e+02] [-9.13650694e-01 1.58043278e-03 4.06497123e-01 -5.13711262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-165.51, Z:-513.74 [[ 3.44032393e-01 5.37241474e-01 7.70073575e-01 2.87760333e+02] [-2.16103808e-01 8.43423821e-01 -4.91869295e-01 -1.65512634e+02] [-9.13750982e-01 2.80313844e-03 4.06265044e-01 -5.13740767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-165.52, Z:-513.77 [[ 3.44179769e-01 5.37390459e-01 7.69903749e-01 2.87770772e+02] [-2.15107109e-01 8.43324596e-01 -4.92475945e-01 -1.65519882e+02] [-9.13930642e-01 3.88848724e-03 4.05851773e-01 -5.13771468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-165.53, Z:-513.80 [[ 3.45200722e-01 5.37214461e-01 7.69569415e-01 2.87780314e+02] [-2.13460286e-01 8.43424919e-01 -4.93020397e-01 -1.65527904e+02] [-9.13931709e-01 5.91848995e-03 4.05824844e-01 -5.13800389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-165.55, Z:-513.83 [[ 3.47554894e-01 5.25036902e-01 7.76879558e-01 2.87796289e+02] [-2.18411363e-01 8.51071274e-01 -4.77466401e-01 -1.65554484e+02] [-9.11867355e-01 -3.73353839e-03 4.10468012e-01 -5.13829308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-165.53, Z:-513.87 [[ 3.46035265e-01 5.68160061e-01 7.46628248e-01 2.87802510e+02] [-2.17922884e-01 8.22699209e-01 -5.25048216e-01 -1.65529358e+02] [-9.12561895e-01 1.89778178e-02 4.08498017e-01 -5.13868441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-165.54, Z:-513.90 [[ 3.46076951e-01 5.62606948e-01 7.50802348e-01 2.87813782e+02] [-2.18170569e-01 8.26574486e-01 -5.18821957e-01 -1.65541284e+02] [-9.12486902e-01 1.57493453e-02 4.08802656e-01 -5.13897782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-165.54, Z:-513.93 [[ 3.44894757e-01 5.71022414e-01 7.44970476e-01 2.87822630e+02] [-2.17543695e-01 8.20686904e-01 -5.28344344e-01 -1.65540375e+02] [-9.13083976e-01 2.01595642e-02 4.07272936e-01 -5.13930011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-165.55, Z:-513.96 [[ 3.44423189e-01 5.68809966e-01 7.46878765e-01 2.87832118e+02] [-2.17007140e-01 8.22246351e-01 -5.26135762e-01 -1.65546692e+02] [-9.13389604e-01 1.91353318e-02 4.06636534e-01 -5.13957501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:-165.56, Z:-513.99 [[ 3.44249344e-01 5.60691567e-01 7.53071946e-01 2.87843153e+02] [-2.17013706e-01 8.27895692e-01 -5.17198003e-01 -1.65559203e+02] [-9.13453579e-01 1.46181391e-02 4.06680304e-01 -5.13985107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-165.58, Z:-514.01 [[ 3.41934086e-01 5.54032442e-01 7.59031708e-01 2.87854680e+02] [-2.21241092e-01 8.32475118e-01 -5.07973973e-01 -1.65576431e+02] [-9.13309071e-01 5.76461201e-03 4.07226362e-01 -5.14014487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-165.56, Z:-514.05 [[ 3.40947234e-01 5.76744791e-01 7.42374857e-01 2.87863755e+02] [-2.19832464e-01 8.16710125e-01 -5.33533748e-01 -1.65561678e+02] [-9.14017873e-01 1.87087621e-02 4.05242287e-01 -5.14047276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-165.58, Z:-514.07 [[ 3.40052202e-01 5.59440769e-01 7.55903781e-01 2.87875309e+02] [-2.21111497e-01 8.28835213e-01 -5.13947366e-01 -1.65582179e+02] [-9.14042781e-01 7.62991728e-03 4.05546025e-01 -5.14072982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:-165.59, Z:-514.10 [[ 3.37041839e-01 5.62748861e-01 7.54795680e-01 2.87885246e+02] [-2.23726176e-01 8.26611704e-01 -5.16391023e-01 -1.65585778e+02] [-9.14521403e-01 5.17782878e-03 4.04504380e-01 -5.14102023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.916559995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:287.90, Y:-165.60, Z:-514.13 [[ 3.36425363e-01 5.54754714e-01 7.60963325e-01 2.87897197e+02] [-2.27994414e-01 8.32007209e-01 -5.05749495e-01 -1.65602649e+02] [-9.13693889e-01 -3.34843005e-03 4.06389304e-01 -5.14128327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-165.58, Z:-514.16 [[ 3.33525435e-01 5.84385600e-01 7.39766352e-01 2.87902409e+02] [-2.26411230e-01 8.11383795e-01 -5.38882447e-01 -1.65577992e+02] [-9.15149572e-01 1.22395933e-02 4.02928596e-01 -5.14156171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-165.62, Z:-514.18 [[ 3.30178968e-01 5.39944386e-01 7.74236339e-01 2.87915097e+02] [-2.30583865e-01 8.41524487e-01 -4.88536201e-01 -1.65619504e+02] [-9.15321217e-01 -1.72220294e-02 4.02356150e-01 -5.14176716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-165.62, Z:-514.21 [[ 3.29697542e-01 5.54737019e-01 7.63915159e-01 2.87924315e+02] [-2.34190441e-01 8.31923434e-01 -5.03048942e-01 -1.65615304e+02] [-9.14578793e-01 -1.30476281e-02 4.04197218e-01 -5.14207956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:-165.63, Z:-514.24 [[ 3.29800646e-01 5.48578183e-01 7.68305611e-01 2.87935651e+02] [-2.34271624e-01 8.35940171e-01 -4.96307200e-01 -1.65627104e+02] [-9.14520825e-01 -1.63097677e-02 4.04209910e-01 -5.14237543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-165.63, Z:-514.27 [[ 3.28022082e-01 5.49832324e-01 7.68170508e-01 2.87946215e+02] [-2.36914841e-01 8.35056310e-01 -4.96540348e-01 -1.65633272e+02] [-9.14479563e-01 -1.91147951e-02 4.04180347e-01 -5.14267690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-165.64, Z:-514.30 [[ 3.24456218e-01 5.52307283e-01 7.67909388e-01 2.87957518e+02] [-2.41864919e-01 8.33282502e-01 -4.97133416e-01 -1.65638703e+02] [-9.14455862e-01 -2.44323137e-02 4.03947445e-01 -5.14298502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-165.64, Z:-514.33 [[ 3.22679724e-01 5.53589667e-01 7.67734509e-01 2.87967781e+02] [-2.43622122e-01 8.32370820e-01 -4.97802250e-01 -1.65644541e+02] [-9.14617984e-01 -2.64064178e-02 4.03455876e-01 -5.14327642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-165.65, Z:-514.36 [[ 3.21059796e-01 5.54886931e-01 7.67477101e-01 2.87978325e+02] [-2.45534866e-01 8.31440174e-01 -4.98417362e-01 -1.65650919e+02] [-9.14676575e-01 -2.84206104e-02 4.03186101e-01 -5.14358369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-165.66, Z:-514.39 [[ 3.20033572e-01 5.58025955e-01 7.65627550e-01 2.87988533e+02] [-2.48224098e-01 8.29287628e-01 -5.00666383e-01 -1.65656027e+02] [-9.14310292e-01 -2.98171570e-02 4.03915372e-01 -5.14389077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:-165.66, Z:-514.42 [[ 3.18954513e-01 5.56534267e-01 7.67162061e-01 2.87998696e+02] [-2.48641785e-01 8.30222727e-01 -4.98906290e-01 -1.65664055e+02] [-9.14573825e-01 -3.16201315e-02 4.03180959e-01 -5.14418596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-165.67, Z:-514.45 [[ 3.18417931e-01 5.57249384e-01 7.66865793e-01 2.88008853e+02] [-2.48845398e-01 8.29738097e-01 -4.99610506e-01 -1.65670699e+02] [-9.14705411e-01 -3.17460797e-02 4.02872433e-01 -5.14449371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-165.68, Z:-514.48 [[ 3.18360409e-01 5.57792611e-01 7.66494653e-01 2.88018891e+02] [-2.48966220e-01 8.29378428e-01 -5.00147223e-01 -1.65677769e+02] [-9.14692556e-01 -3.16042019e-02 4.02912773e-01 -5.14479180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-165.70, Z:-514.51 [[ 3.21028354e-01 5.48653126e-01 7.71958900e-01 2.88032764e+02] [-2.52484200e-01 8.35183499e-01 -4.88590066e-01 -1.65700104e+02] [-9.12793802e-01 -3.80561608e-02 4.06643829e-01 -5.14508611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-165.67, Z:-514.54 [[ 3.16913764e-01 5.87802627e-01 7.44347861e-01 2.88037136e+02] [-2.47191685e-01 8.08866768e-01 -5.33508034e-01 -1.65670548e+02] [-9.15675673e-01 -1.49205626e-02 4.01640934e-01 -5.14544009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-165.71, Z:-514.57 [[ 3.21502060e-01 5.51256542e-01 7.69904312e-01 2.88052566e+02] [-2.51054864e-01 8.33597087e-01 -4.92023731e-01 -1.65712549e+02] [-9.13021293e-01 -3.51015797e-02 4.06398817e-01 -5.14566833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-165.70, Z:-514.60 [[ 3.18519605e-01 5.75823355e-01 7.52975913e-01 2.88059854e+02] [-2.47053333e-01 8.17323866e-01 -5.20525071e-01 -1.65699138e+02] [-9.15155676e-01 -2.02277687e-02 4.02592754e-01 -5.14602632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-165.70, Z:-514.63 [[ 3.19329192e-01 5.81837132e-01 7.47993596e-01 2.88066808e+02] [-2.42296310e-01 8.13212768e-01 -5.29128994e-01 -1.65698109e+02] [-9.16144839e-01 -1.22697535e-02 4.00659566e-01 -5.14632231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-165.74, Z:-514.66 [[ 3.21166630e-01 5.44728834e-01 7.74675734e-01 2.88082695e+02] [-2.45088964e-01 8.37952457e-01 -4.87613658e-01 -1.65742036e+02] [-9.14758654e-01 -3.32592379e-02 4.02629393e-01 -5.14655665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-165.71, Z:-514.69 [[ 3.18079315e-01 5.90631267e-01 7.41606537e-01 2.88085270e+02] [-2.37740897e-01 8.06929966e-01 -5.40687799e-01 -1.65707248e+02] [-9.17771657e-01 -4.32859857e-03 3.97084938e-01 -5.14692930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-165.74, Z:-514.72 [[ 3.18966789e-01 5.56554512e-01 7.67142271e-01 2.88096776e+02] [-2.37373046e-01 8.30535758e-01 -5.03849572e-01 -1.65740792e+02] [-9.17558840e-01 -2.13876174e-02 3.97024364e-01 -5.14716961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-165.75, Z:-514.75 [[ 3.19016098e-01 5.56945969e-01 7.66837608e-01 2.88106658e+02] [-2.36988595e-01 8.30288037e-01 -5.04438481e-01 -1.65747841e+02] [-9.17641071e-01 -2.08077715e-02 3.96865093e-01 -5.14746249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-165.75, Z:-514.78 [[ 3.19475403e-01 5.57152344e-01 7.66496401e-01 2.88116280e+02] [-2.36301427e-01 8.30174079e-01 -5.04948150e-01 -1.65754988e+02] [-9.17658489e-01 -1.98056799e-02 3.96876092e-01 -5.14777316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-165.76, Z:-514.81 [[ 3.19411300e-01 5.57618919e-01 7.66183766e-01 2.88126721e+02] [-2.36165335e-01 8.29868485e-01 -5.05513831e-01 -1.65761779e+02] [-9.17715836e-01 -1.94792163e-02 3.96759630e-01 -5.14808237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-165.77, Z:-514.84 [[ 3.19516804e-01 5.58221494e-01 7.65700839e-01 2.88137187e+02] [-2.36630640e-01 8.29462206e-01 -5.05962834e-01 -1.65768522e+02] [-9.17559236e-01 -1.95246518e-02 3.97119422e-01 -5.14839239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.15, Y:-165.78, Z:-514.87 [[ 3.21744865e-01 5.53190238e-01 7.68414473e-01 2.88150706e+02] [-2.39874151e-01 8.32716106e-01 -4.99043364e-01 -1.65783819e+02] [-9.15937025e-01 -2.37581298e-02 4.00618170e-01 -5.14867521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-165.77, Z:-514.90 [[ 3.18978128e-01 5.73554457e-01 7.54511921e-01 2.88157392e+02] [-2.36143060e-01 8.19088001e-01 -5.22810961e-01 -1.65770673e+02] [-9.17872218e-01 -1.14074926e-02 3.96712062e-01 -5.14900953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-165.79, Z:-514.93 [[ 3.19083348e-01 5.59254923e-01 7.65127276e-01 2.88169015e+02] [-2.35881908e-01 8.28787681e-01 -5.07415712e-01 -1.65788181e+02] [-9.17902796e-01 -1.85717776e-02 3.96370466e-01 -5.14928140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-165.79, Z:-514.96 [[ 3.18822315e-01 5.59772741e-01 7.64857379e-01 2.88179588e+02] [-2.35771403e-01 8.28442745e-01 -5.08029983e-01 -1.65794493e+02] [-9.18021883e-01 -1.83602021e-02 3.96104438e-01 -5.14957548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-165.80, Z:-514.99 [[ 3.18023702e-01 5.59889472e-01 7.65104375e-01 2.88190658e+02] [-2.34577552e-01 8.28378194e-01 -5.08687468e-01 -1.65800553e+02] [-9.18604538e-01 -1.77016395e-02 3.94781402e-01 -5.14988186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-165.81, Z:-515.02 [[ 3.17579121e-01 5.60364728e-01 7.64941092e-01 2.88201753e+02] [-2.34275008e-01 8.28062107e-01 -5.09341112e-01 -1.65807387e+02] [-9.18835526e-01 -1.74504777e-02 3.94254687e-01 -5.15018924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-165.81, Z:-515.05 [[ 3.17116238e-01 5.60945958e-01 7.64707084e-01 2.88212768e+02] [-2.34306968e-01 8.27668328e-01 -5.09966061e-01 -1.65814114e+02] [-9.18987234e-01 -1.74576797e-02 3.93900613e-01 -5.15049391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-165.82, Z:-515.08 [[ 3.17410807e-01 5.61317586e-01 7.64312075e-01 2.88224247e+02] [-2.34009030e-01 8.27429530e-01 -5.10490104e-01 -1.65819492e+02] [-9.18961454e-01 -1.68208514e-02 3.93988458e-01 -5.15079781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-165.83, Z:-515.11 [[ 3.17883519e-01 5.61811687e-01 7.63752379e-01 2.88235412e+02] [-2.34270242e-01 8.27100255e-01 -5.10903731e-01 -1.65825715e+02] [-9.18731475e-01 -1.65165785e-02 3.94537299e-01 -5.15110612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-165.83, Z:-515.14 [[ 3.18704981e-01 5.62196102e-01 7.63126908e-01 2.88246161e+02] [-2.34316958e-01 8.26851773e-01 -5.11284372e-01 -1.65831699e+02] [-9.18434918e-01 -1.58646999e-02 3.95253859e-01 -5.15140296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-165.84, Z:-515.17 [[ 3.20790581e-01 5.62414689e-01 7.62091281e-01 2.88257443e+02] [-2.34666812e-01 8.26722731e-01 -5.11332586e-01 -1.65838068e+02] [-9.17619142e-01 -1.48068536e-02 3.97184928e-01 -5.15170961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-165.85, Z:-515.20 [[ 3.23392309e-01 5.57140766e-01 7.64860498e-01 2.88270412e+02] [-2.37616063e-01 8.30208286e-01 -5.04274537e-01 -1.65851879e+02] [-9.15945425e-01 -1.86646337e-02 4.00868570e-01 -5.15198554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-165.85, Z:-515.23 [[ 3.22318298e-01 5.68606727e-01 7.56833737e-01 2.88278464e+02] [-2.34111141e-01 8.22547077e-01 -5.18274329e-01 -1.65846174e+02] [-9.17225648e-01 -1.01339099e-02 3.98239143e-01 -5.15231500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-165.86, Z:-515.26 [[ 3.23433124e-01 5.62849035e-01 7.60652337e-01 2.88289394e+02] [-2.33641517e-01 8.26471799e-01 -5.12206996e-01 -1.65856629e+02] [-9.16952919e-01 -1.20552568e-02 3.98813258e-01 -5.15259735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-165.86, Z:-515.29 [[ 3.24568513e-01 5.62369448e-01 7.60523428e-01 2.88300540e+02] [-2.30915606e-01 8.26835354e-01 -5.12856004e-01 -1.65861935e+02] [-9.17242205e-01 -9.15981764e-03 3.98224603e-01 -5.15289870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.31, Y:-165.87, Z:-515.32 [[ 3.24698011e-01 5.62371068e-01 7.60466951e-01 2.88311222e+02] [-2.29185695e-01 8.26850781e-01 -5.13606564e-01 -1.65868372e+02] [-9.17630165e-01 -7.52111677e-03 3.97364208e-01 -5.15319814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-165.87, Z:-515.35 [[ 3.25652592e-01 5.61578291e-01 7.60644604e-01 2.88321740e+02] [-2.25076704e-01 8.27415552e-01 -5.14513345e-01 -1.65873943e+02] [-9.18308699e-01 -3.65077603e-03 3.95848210e-01 -5.15349401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-165.88, Z:-515.38 [[ 3.25581190e-01 5.62080164e-01 7.60304398e-01 2.88332509e+02] [-2.25178090e-01 8.27075249e-01 -5.15015884e-01 -1.65881009e+02] [-9.18309162e-01 -3.52440749e-03 3.95848282e-01 -5.15380286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-165.89, Z:-515.41 [[ 3.27186079e-01 5.60749172e-01 7.60598209e-01 2.88342686e+02] [-2.20547112e-01 8.27985200e-01 -5.15557446e-01 -1.65887017e+02] [-9.18862471e-01 9.35480878e-04 3.94576842e-01 -5.15410699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-165.89, Z:-515.44 [[ 3.27643191e-01 5.60604588e-01 7.60508012e-01 2.88353005e+02] [-2.18492694e-01 8.28078227e-01 -5.16282279e-01 -1.65893218e+02] [-9.19190340e-01 2.99092906e-03 3.93802200e-01 -5.15441028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-165.90, Z:-515.47 [[ 3.28304504e-01 5.60174731e-01 7.60539561e-01 2.88363647e+02] [-2.15517980e-01 8.28353797e-01 -5.17089922e-01 -1.65898528e+02] [-9.19656541e-01 5.85300024e-03 3.92680009e-01 -5.15471995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-165.90, Z:-515.50 [[ 3.29276734e-01 5.63621620e-01 7.57566830e-01 2.88373090e+02] [-2.16247670e-01 8.25998311e-01 -5.20541771e-01 -1.65900635e+02] [-9.19137518e-01 7.58023258e-03 3.93863888e-01 -5.15500700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-165.92, Z:-515.53 [[ 3.29029387e-01 5.50707113e-01 7.67112337e-01 2.88383417e+02] [-2.15867042e-01 8.34697823e-01 -5.06636915e-01 -1.65915984e+02] [-9.19315551e-01 1.10416251e-03 3.93519629e-01 -5.15528315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-165.92, Z:-515.56 [[ 3.29323734e-01 5.50750506e-01 7.66954861e-01 2.88394094e+02] [-2.16334661e-01 8.34669461e-01 -5.06484161e-01 -1.65921481e+02] [-9.19100208e-01 8.78335234e-04 3.94022888e-01 -5.15559030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-165.93, Z:-515.59 [[ 3.28686470e-01 5.46739127e-01 7.70091898e-01 2.88405944e+02] [-2.15772834e-01 8.37302355e-01 -5.02361274e-01 -1.65932099e+02] [-9.19460325e-01 -1.04555756e-03 3.93181407e-01 -5.15589056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-165.93, Z:-515.62 [[ 3.29310433e-01 5.61856919e-01 7.58861939e-01 2.88415806e+02] [-2.17985299e-01 8.27218585e-01 -5.17872399e-01 -1.65929137e+02] [-9.18714890e-01 5.12003746e-03 3.94888258e-01 -5.15624750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-165.92, Z:-515.65 [[ 3.27981007e-01 5.78702903e-01 7.46680259e-01 2.88424530e+02] [-2.18331076e-01 8.15437927e-01 -5.36090038e-01 -1.65919965e+02] [-9.19108264e-01 1.28038460e-02 3.93796980e-01 -5.15654618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-165.94, Z:-515.68 [[ 3.26765808e-01 5.57614786e-01 7.63079195e-01 2.88436993e+02] [-2.19585078e-01 8.30099840e-01 -5.12558922e-01 -1.65941790e+02] [-9.19242351e-01 -7.40737024e-05 3.93692131e-01 -5.15681611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-165.94, Z:-515.71 [[ 3.24827180e-01 5.65607697e-01 7.58007412e-01 2.88448850e+02] [-2.21259566e-01 8.24673306e-01 -5.20536399e-01 -1.65943110e+02] [-9.19527872e-01 1.36797932e-03 3.93022418e-01 -5.15710823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-165.95, Z:-515.74 [[ 3.21570255e-01 5.66926263e-01 7.58410959e-01 2.88460434e+02] [-2.22661467e-01 8.23767653e-01 -5.21371965e-01 -1.65947597e+02] [-9.20333875e-01 -1.21118118e-03 3.91131808e-01 -5.15740187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-165.95, Z:-515.77 [[ 3.19855098e-01 5.67831635e-01 7.58458932e-01 2.88471646e+02] [-2.23192404e-01 8.23141578e-01 -5.22133214e-01 -1.65953896e+02] [-9.20802838e-01 -2.27530181e-03 3.90021738e-01 -5.15770726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-165.96, Z:-515.80 [[ 3.19054862e-01 5.72121735e-01 7.55566486e-01 2.88481659e+02] [-2.23073927e-01 8.20168588e-01 -5.26841068e-01 -1.65956361e+02] [-9.21109124e-01 -4.55978623e-04 3.89304218e-01 -5.15802367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-165.97, Z:-515.83 [[ 3.17507965e-01 5.66566105e-01 7.60389072e-01 2.88493699e+02] [-2.24648448e-01 8.23996808e-01 -5.20156069e-01 -1.65969046e+02] [-9.21260966e-01 -5.66653030e-03 3.88903746e-01 -5.15829249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-165.97, Z:-515.86 [[ 3.17348031e-01 5.69318104e-01 7.58397735e-01 2.88505780e+02] [-2.26098111e-01 8.22097915e-01 -5.22527188e-01 -1.65972786e+02] [-9.20961384e-01 -5.64932123e-03 3.89612903e-01 -5.15860377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-165.98, Z:-515.89 [[ 3.15605172e-01 5.73792916e-01 7.55748017e-01 2.88516243e+02] [-2.26987462e-01 8.18983802e-01 -5.27012547e-01 -1.65975205e+02] [-9.21341450e-01 -5.21743864e-03 3.88719321e-01 -5.15890321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-165.99, Z:-515.92 [[ 3.17428959e-01 5.63971173e-01 7.62348590e-01 2.88529949e+02] [-2.30043990e-01 8.25709025e-01 -5.15057636e-01 -1.65991197e+02] [-9.19955770e-01 -1.18795021e-02 3.91842136e-01 -5.15917928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-165.98, Z:-515.95 [[ 3.13908150e-01 5.85558621e-01 7.47383954e-01 2.88538265e+02] [-2.29459665e-01 8.10626565e-01 -5.38732618e-01 -1.65976505e+02] [-9.21308817e-01 -2.38191193e-03 3.88824370e-01 -5.15951174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-165.99, Z:-515.98 [[ 3.13566658e-01 5.72966446e-01 7.57222162e-01 2.88549258e+02] [-2.30716210e-01 8.19515123e-01 -5.24561715e-01 -1.65993070e+02] [-9.21111275e-01 -1.02183632e-02 3.89165265e-01 -5.15979082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:-166.00, Z:-516.01 [[ 3.12689737e-01 5.73801698e-01 7.56952271e-01 2.88560052e+02] [-2.31422426e-01 8.18920959e-01 -5.25178184e-01 -1.65998003e+02] [-9.21232212e-01 -1.09579025e-02 3.88858760e-01 -5.16008613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-166.00, Z:-516.04 [[ 3.12410051e-01 5.74424299e-01 7.56595457e-01 2.88571014e+02] [-2.31840567e-01 8.18481328e-01 -5.25678863e-01 -1.66004079e+02] [-9.21221967e-01 -1.11821588e-02 3.88876649e-01 -5.16039079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-166.01, Z:-516.07 [[ 3.12128286e-01 5.75110075e-01 7.56190674e-01 2.88582043e+02] [-2.32367703e-01 8.17995599e-01 -5.26201911e-01 -1.66010434e+02] [-9.21184663e-01 -1.14717892e-02 3.88956571e-01 -5.16069189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.896559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:288.59, Y:-166.02, Z:-516.10 [[ 3.11888189e-01 5.75857899e-01 7.55720476e-01 2.88592894e+02] [-2.33156968e-01 8.17462668e-01 -5.26680753e-01 -1.66016980e+02] [-9.21066548e-01 -1.19359887e-02 3.89222233e-01 -5.16098980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:288.60, Y:-166.02, Z:-516.13 [[ 3.11812684e-01 5.76360569e-01 7.55368350e-01 2.88603585e+02] [-2.33251528e-01 8.17110197e-01 -5.27185595e-01 -1.66024198e+02] [-9.21068171e-01 -1.18076662e-02 3.89222307e-01 -5.16129860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-166.03, Z:-516.16 [[ 3.11309726e-01 5.76968459e-01 7.55111682e-01 2.88614778e+02] [-2.34417607e-01 8.16665496e-01 -5.27357425e-01 -1.66029670e+02] [-9.20942257e-01 -1.28399779e-02 3.89487477e-01 -5.16160527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-166.04, Z:-516.19 [[ 3.10899075e-01 5.77730597e-01 7.54698035e-01 2.88625181e+02] [-2.35133727e-01 8.16118563e-01 -5.27885045e-01 -1.66035646e+02] [-9.20898418e-01 -1.33359896e-02 3.89574455e-01 -5.16190301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-166.03, Z:-516.22 [[ 3.09595611e-01 5.87236444e-01 7.47866243e-01 2.88633418e+02] [-2.32949466e-01 8.09382430e-01 -5.39105397e-01 -1.66030819e+02] [-9.21892133e-01 -7.31037724e-03 3.87377664e-01 -5.16222314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-166.06, Z:-516.25 [[ 3.10791002e-01 5.61195255e-01 7.67117226e-01 2.88646529e+02] [-2.36934808e-01 8.27350305e-01 -5.09267483e-01 -1.66061659e+02] [-9.20473166e-01 -2.34810208e-02 3.90099720e-01 -5.16245903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-166.06, Z:-516.28 [[ 3.10365879e-01 5.79472029e-01 7.53581574e-01 2.88657428e+02] [-2.36757668e-01 8.14868325e-01 -5.29089236e-01 -1.66055297e+02] [-9.20662168e-01 -1.42049705e-02 3.90101770e-01 -5.16279181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-166.06, Z:-516.31 [[ 3.10170875e-01 5.80075458e-01 7.53197512e-01 2.88667782e+02] [-2.37024093e-01 8.14438098e-01 -5.29632103e-01 -1.66062038e+02] [-9.20659333e-01 -1.42495040e-02 3.90106837e-01 -5.16308344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-166.07, Z:-516.34 [[ 3.10047962e-01 5.80486445e-01 7.52931437e-01 2.88678672e+02] [-2.36735580e-01 8.14151978e-01 -5.30200738e-01 -1.66068948e+02] [-9.20774960e-01 -1.38580021e-02 3.89847957e-01 -5.16338601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-166.08, Z:-516.37 [[ 3.09807054e-01 5.80854190e-01 7.52746969e-01 2.88689068e+02] [-2.36075163e-01 8.13900038e-01 -5.30881574e-01 -1.66075303e+02] [-9.21025573e-01 -1.32340068e-02 3.89277220e-01 -5.16367723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:-166.07, Z:-516.40 [[ 3.08107923e-01 5.92845224e-01 7.44045730e-01 2.88696344e+02] [-2.32520887e-01 8.05301058e-01 -5.45366155e-01 -1.66067549e+02] [-9.22498534e-01 -4.97453970e-03 3.85968534e-01 -5.16401499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-166.10, Z:-516.42 [[ 3.10856748e-01 5.60800034e-01 7.67379570e-01 2.88710033e+02] [-2.37127735e-01 8.27608669e-01 -5.08757632e-01 -1.66104665e+02] [-9.20401282e-01 -2.38162361e-02 3.90248982e-01 -5.16424215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-166.07, Z:-516.46 [[ 3.08460090e-01 6.04153092e-01 7.34745817e-01 2.88714236e+02] [-2.29320601e-01 7.96858618e-01 -5.58952954e-01 -1.66065666e+02] [-9.23181691e-01 3.92232563e-03 3.84343831e-01 -5.16462838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-166.11, Z:-516.49 [[ 3.09161803e-01 5.56600128e-01 7.71113012e-01 2.88722640e+02] [-2.30289141e-01 8.30520437e-01 -5.07151571e-01 -1.66109165e+02] [-9.22705745e-01 -2.07870591e-02 3.84944161e-01 -5.16485231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-166.15, Z:-516.51 [[ 3.14249289e-01 5.34191805e-01 7.84784365e-01 2.88741033e+02] [-2.37820520e-01 8.44600706e-01 -4.79678066e-01 -1.66145306e+02] [-9.19069521e-01 -3.58993342e-02 3.92456944e-01 -5.16508236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-166.10, Z:-516.55 [[ 3.12699894e-01 5.98127694e-01 7.37876710e-01 2.88746511e+02] [-2.30398997e-01 8.01396603e-01 -5.51978067e-01 -1.66096961e+02] [-9.21485257e-01 2.59742957e-03 3.88404653e-01 -5.16549956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-166.12, Z:-516.58 [[ 3.12494681e-01 5.75411126e-01 7.55810234e-01 2.88754058e+02] [-2.28340827e-01 8.17829770e-01 -5.28218642e-01 -1.66119402e+02] [-9.22066994e-01 -7.51681761e-03 3.86957305e-01 -5.16576740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-166.14, Z:-516.60 [[ 3.14184530e-01 5.58949624e-01 7.67374354e-01 2.88763996e+02] [-2.27876464e-01 8.29075769e-01 -5.10593465e-01 -1.66139888e+02] [-9.21607508e-01 -1.44459865e-02 3.87854245e-01 -5.16602362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-166.15, Z:-516.63 [[ 3.14954630e-01 5.53817472e-01 7.70772203e-01 2.88775793e+02] [-2.27775947e-01 8.32474862e-01 -5.05077937e-01 -1.66153616e+02] [-9.21369469e-01 -1.64867333e-02 3.88338111e-01 -5.16629613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-166.17, Z:-516.66 [[ 3.18276255e-01 5.50495715e-01 7.71786689e-01 2.88790844e+02] [-2.32128843e-01 8.34594697e-01 -4.99567706e-01 -1.66172803e+02] [-9.19138959e-01 -2.01534125e-02 3.93417608e-01 -5.16657520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-166.16, Z:-516.69 [[ 3.19992576e-01 5.82519226e-01 7.47178762e-01 2.88800410e+02] [-2.29746614e-01 8.12816839e-01 -5.35299243e-01 -1.66156917e+02] [-9.19141580e-01 -3.70006778e-04 3.93927174e-01 -5.16692396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-166.16, Z:-516.72 [[ 3.20712920e-01 5.82580156e-01 7.46822325e-01 2.88810469e+02] [-2.28785573e-01 8.12772677e-01 -5.35777694e-01 -1.66164948e+02] [-9.19130233e-01 9.68655535e-04 3.93952633e-01 -5.16722828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-166.17, Z:-516.75 [[ 3.21413936e-01 5.82696653e-01 7.46429965e-01 2.88820211e+02] [-2.27903111e-01 8.12686608e-01 -5.36284112e-01 -1.66172920e+02] [-9.19104593e-01 2.25547604e-03 3.94007182e-01 -5.16753269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-166.18, Z:-516.78 [[ 3.23575404e-01 5.82277002e-01 7.45823338e-01 2.88830027e+02] [-2.26019907e-01 8.12974629e-01 -5.36644439e-01 -1.66181908e+02] [-9.18811166e-01 5.07401969e-03 3.94664788e-01 -5.16783493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-166.19, Z:-516.81 [[ 3.24507332e-01 5.82304650e-01 7.45396731e-01 2.88839743e+02] [-2.24972421e-01 8.12943794e-01 -5.37131080e-01 -1.66189574e+02] [-9.18739572e-01 6.60926668e-03 3.94808709e-01 -5.16813008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-166.20, Z:-516.84 [[ 3.26969114e-01 5.81784458e-01 7.44726825e-01 2.88849299e+02] [-2.23116778e-01 8.13286967e-01 -5.37385534e-01 -1.66197745e+02] [-9.18319172e-01 9.54742211e-03 3.95725593e-01 -5.16842938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-166.21, Z:-516.87 [[ 3.27566046e-01 5.81577720e-01 7.44625974e-01 2.88858805e+02] [-2.22737422e-01 8.13427459e-01 -5.37330262e-01 -1.66205817e+02] [-9.18198522e-01 1.01550792e-02 3.95990338e-01 -5.16872134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-166.18, Z:-516.91 [[ 3.26204363e-01 6.03071022e-01 7.27939596e-01 2.88862060e+02] [-2.13727542e-01 7.97174202e-01 -5.64653725e-01 -1.66183361e+02] [-9.20820966e-01 2.86117679e-02 3.88934591e-01 -5.16907413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-166.26, Z:-516.92 [[ 3.29046172e-01 5.25221825e-01 7.84774268e-01 2.88878790e+02] [-2.19355536e-01 8.50832463e-01 -4.77459181e-01 -1.66264711e+02] [-9.18483405e-01 -1.50384647e-02 3.95173479e-01 -5.16920579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-166.23, Z:-516.96 [[ 3.29431636e-01 5.81170098e-01 7.44121035e-01 2.88887044e+02] [-2.20789067e-01 8.13680514e-01 -5.37751066e-01 -1.66230491e+02] [-9.18001626e-01 1.28584244e-02 3.96368107e-01 -5.16958126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-166.24, Z:-516.99 [[ 3.30560833e-01 5.75705666e-01 7.47858624e-01 2.88897481e+02] [-2.20599783e-01 8.17585160e-01 -5.31874272e-01 -1.66242280e+02] [-9.17641145e-01 1.08393522e-02 3.97262177e-01 -5.16988053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-166.25, Z:-517.02 [[ 3.29493075e-01 5.79527289e-01 7.45374023e-01 2.88908067e+02] [-2.21310274e-01 8.14870833e-01 -5.35730612e-01 -1.66246959e+02] [-9.17854060e-01 1.15605979e-02 3.96749640e-01 -5.17018479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-166.24, Z:-517.05 [[ 3.26458114e-01 5.94061688e-01 7.35197804e-01 2.88915012e+02] [-2.18850694e-01 8.04182851e-01 -5.52624933e-01 -1.66237490e+02] [-9.19526766e-01 1.95103440e-02 3.92542829e-01 -5.17051548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-166.26, Z:-517.08 [[ 3.24610429e-01 5.74909989e-01 7.51070285e-01 2.88924134e+02] [-2.19277518e-01 8.18179099e-01 -5.31507604e-01 -1.66258726e+02] [-9.20079040e-01 7.84008372e-03 3.91654304e-01 -5.17076949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-166.29, Z:-517.10 [[ 3.24227900e-01 5.56481958e-01 7.64986340e-01 2.88939729e+02] [-2.27471807e-01 8.30807414e-01 -5.07952378e-01 -1.66288903e+02] [-9.18222656e-01 -9.32049244e-03 3.95954899e-01 -5.17100661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-166.27, Z:-517.14 [[ 3.22842443e-01 5.88386048e-01 7.41332999e-01 2.88950158e+02] [-2.29476860e-01 8.08565893e-01 -5.41813222e-01 -1.66272267e+02] [-9.18211919e-01 4.80153575e-03 3.96060371e-01 -5.17135839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-166.28, Z:-517.17 [[ 3.21502091e-01 5.89441304e-01 7.41077158e-01 2.88960880e+02] [-2.31399814e-01 8.07806321e-01 -5.42128283e-01 -1.66279461e+02] [-9.18199614e-01 2.81025946e-03 3.96108029e-01 -5.17166588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-166.29, Z:-517.20 [[ 3.20337784e-01 5.90577503e-01 7.40676661e-01 2.88971547e+02] [-2.33083879e-01 8.06980051e-01 -5.42637174e-01 -1.66286563e+02] [-9.18180597e-01 1.18740073e-03 3.96160297e-01 -5.17196756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-166.29, Z:-517.23 [[ 3.18808833e-01 5.92206443e-01 7.40035443e-01 2.88982260e+02] [-2.36434067e-01 8.05784116e-01 -5.42964908e-01 -1.66293044e+02] [-9.17856122e-01 -1.86758075e-03 3.96908872e-01 -5.17226885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-166.30, Z:-517.26 [[ 3.18230395e-01 5.93181947e-01 7.39502937e-01 2.88992366e+02] [-2.37952827e-01 8.05062655e-01 -5.43371488e-01 -1.66299658e+02] [-9.17664355e-01 -3.04949133e-03 3.97344727e-01 -5.17255981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-166.31, Z:-517.29 [[ 3.17139681e-01 5.94376584e-01 7.39012110e-01 2.89002776e+02] [-2.40084139e-01 8.04171426e-01 -5.43753550e-01 -1.66306235e+02] [-9.17486801e-01 -4.97925864e-03 3.97735060e-01 -5.17285334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-166.30, Z:-517.32 [[ 3.14258991e-01 6.07293746e-01 7.29681844e-01 2.89009545e+02] [-2.38293074e-01 7.94475636e-01 -5.58591868e-01 -1.66300242e+02] [-9.18943795e-01 1.66438765e-03 3.94385005e-01 -5.17320561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-166.33, Z:-517.34 [[ 3.16706083e-01 5.83454163e-01 7.47849247e-01 2.89023008e+02] [-2.41378809e-01 8.12053807e-01 -5.31323711e-01 -1.66329423e+02] [-9.17296859e-01 -1.22415097e-02 3.98015851e-01 -5.17341859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-166.33, Z:-517.37 [[ 3.16995861e-01 5.95747612e-01 7.37969110e-01 2.89033843e+02] [-2.41260412e-01 8.03153793e-01 -5.44736082e-01 -1.66327484e+02] [-9.17227909e-01 -5.36364850e-03 3.98326742e-01 -5.17374664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-166.33, Z:-517.40 [[ 3.17080336e-01 5.96010879e-01 7.37720200e-01 2.89043579e+02] [-2.40501772e-01 8.02963733e-01 -5.45351392e-01 -1.66334666e+02] [-9.17397928e-01 -4.50281253e-03 3.97945683e-01 -5.17404324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-166.32, Z:-517.44 [[ 3.15898204e-01 6.11784772e-01 7.25208740e-01 2.89048505e+02] [-2.33973157e-01 7.90974057e-01 -5.65346445e-01 -1.66320265e+02] [-9.19491646e-01 8.91254774e-03 3.93008499e-01 -5.17438627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-166.38, Z:-517.46 [[ 3.19541501e-01 5.63039657e-01 7.62154560e-01 2.89063387e+02] [-2.39018539e-01 8.26207846e-01 -5.10147757e-01 -1.66375777e+02] [-9.16931496e-01 -1.91556890e-02 3.98584611e-01 -5.17457302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-166.36, Z:-517.49 [[ 3.21187002e-01 5.95379263e-01 7.36452607e-01 2.89072787e+02] [-2.37167881e-01 8.03444453e-01 -5.46102928e-01 -1.66358817e+02] [-9.16837121e-01 7.38258235e-04 3.99260753e-01 -5.17493221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-166.37, Z:-517.52 [[ 3.21919891e-01 5.95585953e-01 7.35965323e-01 2.89083085e+02] [-2.36855704e-01 8.03289992e-01 -5.46465520e-01 -1.66366532e+02] [-9.16660766e-01 1.60053618e-03 3.99662957e-01 -5.17523504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-166.36, Z:-517.56 [[ 3.21139728e-01 6.05125000e-01 7.28486795e-01 2.89090067e+02] [-2.32952300e-01 7.96071660e-01 -5.58572410e-01 -1.66360789e+02] [-9.17933822e-01 9.67711759e-03 3.96615497e-01 -5.17556987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-166.39, Z:-517.58 [[ 3.22960143e-01 5.78003597e-01 7.49405489e-01 2.89102688e+02] [-2.36379721e-01 8.16006033e-01 -5.27502400e-01 -1.66394980e+02] [-9.16417685e-01 -6.78200980e-03 4.00165754e-01 -5.17579571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-166.38, Z:-517.61 [[ 3.22513381e-01 6.01330058e-01 7.31017976e-01 2.89111253e+02] [-2.34596340e-01 7.98969270e-01 -5.53726163e-01 -1.66381356e+02] [-9.17033084e-01 7.08995543e-03 3.98748111e-01 -5.17614630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-166.40, Z:-517.64 [[ 3.22670743e-01 5.87189216e-01 7.42355990e-01 2.89122427e+02] [-2.37512779e-01 8.09444000e-01 -5.37017776e-01 -1.66403842e+02] [-9.16226649e-01 -3.03910948e-03 4.00648839e-01 -5.17639992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-166.40, Z:-517.67 [[ 3.22106134e-01 5.97590140e-01 7.34257218e-01 2.89133012e+02] [-2.38381929e-01 8.01800377e-01 -5.47987419e-01 -1.66404098e+02] [-9.16199593e-01 1.47645695e-03 4.00719510e-01 -5.17672501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-166.41, Z:-517.70 [[ 3.20608740e-01 6.01199395e-01 7.31962651e-01 2.89141846e+02] [-2.39616552e-01 7.99097840e-01 -5.51386026e-01 -1.66409910e+02] [-9.16402719e-01 1.38881242e-03 4.00255078e-01 -5.17704830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-166.42, Z:-517.73 [[ 3.20186728e-01 6.02658458e-01 7.30946812e-01 2.89152656e+02] [-2.40669667e-01 7.97998620e-01 -5.52518157e-01 -1.66416965e+02] [-9.16274288e-01 9.92254917e-04 4.00550177e-01 -5.17734219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-166.43, Z:-517.76 [[ 3.18718368e-01 6.00822646e-01 7.33096685e-01 2.89162405e+02] [-2.41988967e-01 7.99379529e-01 -5.49939733e-01 -1.66427016e+02] [-9.16438728e-01 -2.12541570e-03 4.00169390e-01 -5.17763721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-166.43, Z:-517.79 [[ 3.17453150e-01 6.03598760e-01 7.31363134e-01 2.89173471e+02] [-2.43765635e-01 7.97282650e-01 -5.52194432e-01 -1.66433353e+02] [-9.16407012e-01 -2.98533703e-03 4.00236524e-01 -5.17792423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:-166.44, Z:-517.82 [[ 3.14925712e-01 6.02986255e-01 7.32959325e-01 2.89183573e+02] [-2.46944577e-01 7.97714004e-01 -5.50155199e-01 -1.66442825e+02] [-9.16427941e-01 -7.74231248e-03 4.00124837e-01 -5.17821731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-166.45, Z:-517.85 [[ 3.13692841e-01 6.04168521e-01 7.32514300e-01 2.89194132e+02] [-2.49058419e-01 7.96797030e-01 -5.50531014e-01 -1.66450901e+02] [-9.16278727e-01 -9.74121612e-03 4.00422781e-01 -5.17852395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-166.46, Z:-517.88 [[ 3.11080419e-01 6.06123288e-01 7.32013342e-01 2.89204369e+02] [-2.53140706e-01 7.95248786e-01 -5.50907571e-01 -1.66458616e+02] [-9.16050630e-01 -1.39258162e-02 4.00820803e-01 -5.17882724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-166.47, Z:-517.91 [[ 3.09386414e-01 6.07356149e-01 7.31709338e-01 2.89214309e+02] [-2.54919689e-01 7.94270524e-01 -5.51498221e-01 -1.66465859e+02] [-9.16130994e-01 -1.59010596e-02 4.00563550e-01 -5.17911864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-166.47, Z:-517.94 [[ 3.08003428e-01 6.08318383e-01 7.31493427e-01 2.89224447e+02] [-2.55994981e-01 7.93506496e-01 -5.52099639e-01 -1.66473278e+02] [-9.16297145e-01 -1.72100644e-02 4.00129173e-01 -5.17941792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-166.48, Z:-517.97 [[ 3.06697505e-01 6.09409207e-01 7.31134091e-01 2.89234426e+02] [-2.57552095e-01 7.92632592e-01 -5.52630521e-01 -1.66481176e+02] [-9.16298837e-01 -1.88147150e-02 4.00053057e-01 -5.17971645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-166.49, Z:-518.00 [[ 3.06408892e-01 6.09968316e-01 7.30788782e-01 2.89244030e+02] [-2.57700589e-01 7.92202143e-01 -5.53178245e-01 -1.66488849e+02] [-9.16353642e-01 -1.88259670e-02 3.99926975e-01 -5.18000835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-166.50, Z:-518.03 [[ 3.06325320e-01 6.10446119e-01 7.30424763e-01 2.89254515e+02] [-2.57790649e-01 7.91837078e-01 -5.53658760e-01 -1.66496559e+02] [-9.16356252e-01 -1.86969768e-02 3.99927047e-01 -5.18031666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-166.49, Z:-518.06 [[ 3.05502047e-01 6.18661497e-01 7.23827639e-01 2.89261756e+02] [-2.55375153e-01 7.85555719e-01 -5.63636180e-01 -1.66494602e+02] [-9.17306945e-01 -1.26555874e-02 3.97979654e-01 -5.18064562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-166.52, Z:-518.09 [[ 3.06635877e-01 6.03269717e-01 7.36233718e-01 2.89270931e+02] [-2.56010567e-01 7.97264376e-01 -5.46651721e-01 -1.66517976e+02] [-9.16751345e-01 -2.08605815e-02 3.98913283e-01 -5.18091073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-166.52, Z:-518.12 [[ 3.06752475e-01 6.08672564e-01 7.31724421e-01 2.89282103e+02] [-2.56951447e-01 7.93202022e-01 -5.52092843e-01 -1.66524261e+02] [-9.16449056e-01 -1.86618029e-02 3.99715980e-01 -5.18120318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-166.53, Z:-518.15 [[ 3.06800571e-01 6.11213405e-01 7.29583157e-01 2.89291865e+02] [-2.56329909e-01 7.91289559e-01 -5.55117836e-01 -1.66530386e+02] [-9.16606997e-01 -1.67035153e-02 3.99440365e-01 -5.18151585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-166.53, Z:-518.19 [[ 3.06765053e-01 6.19687110e-01 7.22414762e-01 2.89297913e+02] [-2.53514431e-01 7.84789574e-01 -5.65540236e-01 -1.66528926e+02] [-9.17401567e-01 -9.65458653e-03 3.97845640e-01 -5.18185730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-166.55, Z:-518.21 [[ 3.08419071e-01 6.03735772e-01 7.35105975e-01 2.89309218e+02] [-2.55881036e-01 7.96949819e-01 -5.47170798e-01 -1.66553169e+02] [-9.16189157e-01 -1.93417688e-02 4.00279058e-01 -5.18208832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-166.55, Z:-518.24 [[ 3.08372294e-01 6.17777471e-01 7.23365416e-01 2.89316276e+02] [-2.54770404e-01 7.86280041e-01 -5.62899404e-01 -1.66549691e+02] [-9.16514359e-01 -1.07095188e-02 3.99858395e-01 -5.18244427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-166.56, Z:-518.27 [[ 3.08955581e-01 6.14378016e-01 7.26006958e-01 2.89327391e+02] [-2.56136085e-01 7.88898464e-01 -5.58599606e-01 -1.66562701e+02] [-9.15937091e-01 -1.33741139e-02 4.01098963e-01 -5.18270172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-166.57, Z:-518.30 [[ 3.09030344e-01 6.12567405e-01 7.27503554e-01 2.89335088e+02] [-2.56869240e-01 7.90276833e-01 -5.56309914e-01 -1.66574764e+02] [-9.15706525e-01 -1.49566410e-02 4.01569245e-01 -5.18298642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:-166.58, Z:-518.33 [[ 3.08634089e-01 6.13237516e-01 7.27107110e-01 2.89344110e+02] [-2.57580479e-01 7.89747227e-01 -5.56732984e-01 -1.66583177e+02] [-9.15640375e-01 -1.54618202e-02 4.01700928e-01 -5.18327800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-166.59, Z:-518.36 [[ 3.06736264e-01 6.14340899e-01 7.26978765e-01 2.89352867e+02] [-2.58981716e-01 7.88850744e-01 -5.57353545e-01 -1.66591785e+02] [-9.15882818e-01 -1.73136636e-02 4.01072190e-01 -5.18358159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-166.60, Z:-518.39 [[ 3.06081256e-01 6.15256476e-01 7.26480374e-01 2.89362185e+02] [-2.60390456e-01 7.88110988e-01 -5.57743562e-01 -1.66599613e+02] [-9.15702504e-01 -1.84537061e-02 4.01432915e-01 -5.18387616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-166.61, Z:-518.42 [[ 3.05034531e-01 6.16202938e-01 7.26118362e-01 2.89371517e+02] [-2.61779331e-01 7.87338061e-01 -5.58184880e-01 -1.66608061e+02] [-9.15655785e-01 -1.98171163e-02 4.01474489e-01 -5.18417823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-166.62, Z:-518.45 [[ 3.03316878e-01 6.17417010e-01 7.25806522e-01 2.89379612e+02] [-2.63718456e-01 7.86329792e-01 -5.58693149e-01 -1.66618454e+02] [-9.15669945e-01 -2.19475137e-02 4.01331358e-01 -5.18448020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-166.63, Z:-518.48 [[ 3.02230861e-01 6.18184436e-01 7.25606305e-01 2.89388885e+02] [-2.64323193e-01 7.85703485e-01 -5.59288193e-01 -1.66627485e+02] [-9.15854659e-01 -2.27604235e-02 4.00864325e-01 -5.18478367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-166.64, Z:-518.51 [[ 3.01488894e-01 6.18886378e-01 7.25316551e-01 2.89397841e+02] [-2.64718852e-01 7.85137748e-01 -5.59895210e-01 -1.66636037e+02] [-9.15984921e-01 -2.32027768e-02 4.00541203e-01 -5.18507353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-166.65, Z:-518.54 [[ 2.99814474e-01 6.19516776e-01 7.25472429e-01 2.89406542e+02] [-2.64929399e-01 7.84612047e-01 -5.60532201e-01 -1.66645866e+02] [-9.16473510e-01 -2.41433079e-02 3.99366255e-01 -5.18538021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-166.65, Z:-518.57 [[ 2.99378744e-01 6.20072726e-01 7.25177346e-01 2.89415891e+02] [-2.64955309e-01 7.84172619e-01 -5.61134554e-01 -1.66654049e+02] [-9.16608451e-01 -2.41478297e-02 3.99056174e-01 -5.18567566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-166.66, Z:-518.60 [[ 2.99091810e-01 6.20417873e-01 7.25000518e-01 2.89425388e+02] [-2.64964098e-01 7.83899341e-01 -5.61512110e-01 -1.66662381e+02] [-9.16699578e-01 -2.41554352e-02 3.98846336e-01 -5.18598241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-166.67, Z:-518.63 [[ 2.99805159e-01 6.20606123e-01 7.24544620e-01 2.89434217e+02] [-2.64367620e-01 7.83783045e-01 -5.61955425e-01 -1.66671898e+02] [-9.16638766e-01 -2.30690012e-02 3.99050365e-01 -5.18628885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.44, Y:-166.68, Z:-518.66 [[ 3.00888279e-01 6.20739704e-01 7.23980983e-01 2.89443481e+02] [-2.63755613e-01 7.83714885e-01 -5.62337938e-01 -1.66680090e+02] [-9.16460158e-01 -2.17531537e-02 3.99534204e-01 -5.18658276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:-166.69, Z:-518.69 [[ 3.01765883e-01 6.20816414e-01 7.23549813e-01 2.89452721e+02] [-2.62911730e-01 7.83690362e-01 -5.62767127e-01 -1.66688258e+02] [-9.16414084e-01 -2.04058137e-02 3.99710932e-01 -5.18689017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.46, Y:-166.70, Z:-518.72 [[ 3.02863135e-01 6.20757910e-01 7.23141438e-01 2.89461987e+02] [-2.61581554e-01 7.83782346e-01 -5.63258666e-01 -1.66696006e+02] [-9.16432765e-01 -1.85701757e-02 3.99757597e-01 -5.18718656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-166.70, Z:-518.75 [[ 3.05333985e-01 6.20101018e-01 7.22665819e-01 2.89471226e+02] [-2.58959621e-01 7.84377749e-01 -5.63641253e-01 -1.66704180e+02] [-9.16357502e-01 -1.50424363e-02 4.00078309e-01 -5.18748034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:-166.71, Z:-518.78 [[ 3.06167069e-01 6.20074203e-01 7.22336285e-01 2.89481342e+02] [-2.57743913e-01 7.84427694e-01 -5.64128769e-01 -1.66711528e+02] [-9.16422283e-01 -1.34601291e-02 3.99986280e-01 -5.18778588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-166.72, Z:-518.81 [[ 3.06248163e-01 6.20420005e-01 7.22004903e-01 2.89492319e+02] [-2.57350197e-01 7.84164006e-01 -5.64674851e-01 -1.66718204e+02] [-9.16505831e-01 -1.28774678e-02 3.99813997e-01 -5.18809062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.50, Y:-166.72, Z:-518.84 [[ 3.06455612e-01 6.20743871e-01 7.21638417e-01 2.89503052e+02] [-2.56973705e-01 7.83917917e-01 -5.65187770e-01 -1.66724469e+02] [-9.16542128e-01 -1.22371336e-02 3.99750897e-01 -5.18838602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-166.73, Z:-518.87 [[ 3.07570482e-01 6.20775399e-01 7.21136812e-01 2.89513600e+02] [-2.56212933e-01 7.83913769e-01 -5.65538801e-01 -1.66731565e+02] [-9.16381652e-01 -1.08215366e-02 4.00159422e-01 -5.18868709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-166.74, Z:-518.90 [[ 3.08487714e-01 6.20866148e-01 7.20666745e-01 2.89523956e+02] [-2.55417672e-01 7.83859330e-01 -5.65973818e-01 -1.66739698e+02] [-9.16295336e-01 -9.47505313e-03 4.00391159e-01 -5.18899172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.53, Y:-166.75, Z:-518.93 [[ 3.11206890e-01 6.20137728e-01 7.20124621e-01 2.89533505e+02] [-2.52673774e-01 7.84472229e-01 -5.66356148e-01 -1.66748677e+02] [-9.16136581e-01 -5.70267077e-03 4.00825703e-01 -5.18929151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-166.76, Z:-518.96 [[ 3.12446626e-01 6.20030776e-01 7.19679750e-01 2.89543431e+02] [-2.51356804e-01 7.84568292e-01 -5.66808920e-01 -1.66757192e+02] [-9.16076887e-01 -3.79886739e-03 4.00984670e-01 -5.18959007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:-166.77, Z:-518.99 [[ 3.13366259e-01 6.19885968e-01 7.19404597e-01 2.89553563e+02] [-2.49657583e-01 7.84689833e-01 -5.67391362e-01 -1.66765151e+02] [-9.16227417e-01 -1.80350468e-03 4.00654550e-01 -5.18989793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.56, Y:-166.77, Z:-519.02 [[ 3.15322892e-01 6.19235151e-01 7.19110076e-01 2.89564159e+02] [-2.46661622e-01 7.85203704e-01 -5.67990482e-01 -1.66772532e+02] [-9.16367567e-01 1.72354384e-03 4.00334249e-01 -5.19020362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-166.78, Z:-519.05 [[ 3.16122734e-01 6.19366201e-01 7.18645897e-01 2.89574052e+02] [-2.45928916e-01 7.85096625e-01 -5.68456029e-01 -1.66779773e+02] [-9.16288920e-01 2.96606726e-03 4.00506950e-01 -5.19049717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-166.79, Z:-519.08 [[ 3.17266915e-01 6.19527888e-01 7.18002020e-01 2.89584748e+02] [-2.45738960e-01 7.84964480e-01 -5.68720607e-01 -1.66787426e+02] [-9.15944359e-01 3.99516303e-03 4.01285398e-01 -5.19079850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:-166.82, Z:-519.10 [[ 3.21822327e-01 6.02163014e-01 7.30636774e-01 2.89601755e+02] [-2.52121416e-01 7.98331011e-01 -5.46902540e-01 -1.66819879e+02] [-9.12614476e-01 -8.20372965e-03 4.08738935e-01 -5.19104622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.61, Y:-166.77, Z:-519.15 [[ 3.19046209e-01 6.52606276e-01 6.87251457e-01 2.89607039e+02] [-2.47235339e-01 7.57350538e-01 -6.04396269e-01 -1.66774968e+02] [-9.14923059e-01 2.29174918e-02 4.02977152e-01 -5.19145559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:-166.81, Z:-519.17 [[ 3.19219351e-01 6.20599220e-01 7.16209197e-01 2.89616486e+02] [-2.47760493e-01 7.84116725e-01 -5.69012917e-01 -1.66810049e+02] [-9.14720583e-01 4.19159055e-03 4.04065201e-01 -5.19168207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.63, Y:-166.82, Z:-519.20 [[ 3.18957907e-01 6.21374734e-01 7.15653054e-01 2.89627234e+02] [-2.48945172e-01 7.83505987e-01 -5.69337043e-01 -1.66817648e+02] [-9.14490106e-01 3.43617907e-03 4.04593670e-01 -5.19198471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.64, Y:-166.82, Z:-519.23 [[ 3.17848999e-01 6.22906902e-01 7.14813966e-01 2.89638549e+02] [-2.52398793e-01 7.82295752e-01 -5.69480646e-01 -1.66824222e+02] [-9.13929353e-01 5.90671355e-04 4.05872872e-01 -5.19228029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-166.83, Z:-519.26 [[ 3.16839503e-01 6.24004881e-01 7.14304303e-01 2.89649370e+02] [-2.54320885e-01 7.81419643e-01 -5.69828246e-01 -1.66831550e+02] [-9.13747020e-01 -1.11840466e-03 4.06282085e-01 -5.19258064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:-166.84, Z:-519.29 [[ 3.15883435e-01 6.25198737e-01 7.13683540e-01 2.89660151e+02] [-2.56546400e-01 7.80459851e-01 -5.70145916e-01 -1.66838994e+02] [-9.13455856e-01 -2.99329303e-03 4.06926824e-01 -5.19288509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-166.88, Z:-519.31 [[ 3.17424218e-01 6.03489708e-01 7.31465679e-01 2.89678760e+02] [-2.69746298e-01 7.96954764e-01 -5.40462801e-01 -1.66881285e+02] [-9.09108795e-01 -2.57541773e-02 4.15761857e-01 -5.19312264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-166.81, Z:-519.36 [[ 3.11210422e-01 6.77198446e-01 6.66746082e-01 2.89683777e+02] [-2.63177134e-01 7.35560186e-01 -6.24250759e-01 -1.66813057e+02] [-9.13173516e-01 1.88010191e-02 4.07137142e-01 -5.19356894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:-166.86, Z:-519.38 [[ 3.09378317e-01 6.29779762e-01 7.12504392e-01 2.89692265e+02] [-2.65701700e-01 7.76671226e-01 -5.71125567e-01 -1.66863286e+02] [-9.13064983e-01 -1.26197611e-02 4.07618790e-01 -5.19376411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-166.87, Z:-519.41 [[ 3.07943922e-01 6.30975744e-01 7.12067519e-01 2.89703291e+02] [-2.67610760e-01 7.75666363e-01 -5.71599663e-01 -1.66871518e+02] [-9.12992345e-01 -1.45362881e-02 4.07717640e-01 -5.19406538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:-166.88, Z:-519.44 [[ 3.06483266e-01 6.32152930e-01 7.11653484e-01 2.89713574e+02] [-2.69428831e-01 7.74670026e-01 -5.72096544e-01 -1.66878737e+02] [-9.12949129e-01 -1.64019491e-02 4.07743625e-01 -5.19435716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-166.89, Z:-519.47 [[ 3.05330532e-01 6.33306880e-01 7.11122817e-01 2.89724254e+02] [-2.71517133e-01 7.73684424e-01 -5.72442887e-01 -1.66886541e+02] [-9.12716666e-01 -1.82977375e-02 4.08183146e-01 -5.19466200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-166.89, Z:-519.50 [[ 3.03773195e-01 6.34782957e-01 7.10473394e-01 2.89735318e+02] [-2.74533421e-01 7.72403239e-01 -5.72734351e-01 -1.66894304e+02] [-9.12333956e-01 -2.10673475e-02 4.08904537e-01 -5.19495787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:-166.90, Z:-519.53 [[ 3.03227048e-01 6.35633880e-01 7.09945722e-01 2.89745974e+02] [-2.75726129e-01 7.71678270e-01 -5.73138508e-01 -1.66902299e+02] [-9.12155940e-01 -2.19594881e-02 4.09254593e-01 -5.19526326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-166.91, Z:-519.56 [[ 3.03317319e-01 6.36510025e-01 7.09121705e-01 2.89756522e+02] [-2.77468734e-01 7.70929406e-01 -5.73305288e-01 -1.66910233e+02] [-9.11597338e-01 -2.28656786e-02 4.10447871e-01 -5.19555100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-166.93, Z:-519.58 [[ 3.01529241e-01 6.32475141e-01 7.13481123e-01 2.89766217e+02] [-2.78677970e-01 7.74094738e-01 -5.68432869e-01 -1.66925250e+02] [-9.11821642e-01 -2.74323392e-02 4.09669087e-01 -5.19584577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-166.93, Z:-519.62 [[ 3.02864107e-01 6.43148929e-01 7.03301349e-01 2.89777822e+02] [-2.79557162e-01 7.65451074e-01 -5.79596796e-01 -1.66925625e+02] [-9.11109832e-01 -2.10738631e-02 4.11624546e-01 -5.19615732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:-166.92, Z:-519.65 [[ 3.05317312e-01 6.52712443e-01 6.93359795e-01 2.89786959e+02] [-2.77839278e-01 7.57506292e-01 -5.90753378e-01 -1.66921189e+02] [-9.10816488e-01 -1.22753521e-02 4.12628939e-01 -5.19645892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-166.94, Z:-519.67 [[ 3.06999346e-01 6.36563200e-01 7.07487593e-01 2.89796592e+02] [-2.77595102e-01 7.70954166e-01 -5.73210811e-01 -1.66943065e+02] [-9.10325415e-01 -2.04197469e-02 4.13389251e-01 -5.19672695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-166.95, Z:-519.70 [[ 3.09344571e-01 6.36012822e-01 7.06960838e-01 2.89805931e+02] [-2.75255783e-01 7.71487923e-01 -5.73620640e-01 -1.66952196e+02] [-9.10241831e-01 -1.71486278e-02 4.13721808e-01 -5.19702254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-166.96, Z:-519.73 [[ 3.10678462e-01 6.35764797e-01 7.06598908e-01 2.89815081e+02] [-2.73532910e-01 7.71738723e-01 -5.74107211e-01 -1.66960893e+02] [-9.10306894e-01 -1.49153107e-02 4.13665195e-01 -5.19731190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-166.97, Z:-519.76 [[ 3.10130679e-01 6.32449230e-01 7.09807674e-01 2.89823136e+02] [-2.70396299e-01 7.74464960e-01 -5.71917710e-01 -1.66972580e+02] [-9.11430087e-01 -1.45601403e-02 4.11197274e-01 -5.19761343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-166.97, Z:-519.79 [[ 3.14864310e-01 6.40505261e-01 7.00438061e-01 2.89833648e+02] [-2.69538989e-01 7.67931572e-01 -5.81059235e-01 -1.66973543e+02] [-9.10059998e-01 -5.84055161e-03 4.14435385e-01 -5.19790985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-166.99, Z:-519.82 [[ 3.19374804e-01 6.32970860e-01 7.05228775e-01 2.89842856e+02] [-2.64888639e-01 7.74168997e-01 -5.74888140e-01 -1.66986907e+02] [-9.09853694e-01 -3.20230298e-03 4.14916861e-01 -5.19819169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:-166.99, Z:-519.85 [[ 3.21025604e-01 6.32625180e-01 7.04789290e-01 2.89853365e+02] [-2.63173113e-01 7.74457709e-01 -5.75287033e-01 -1.66994499e+02] [-9.09770561e-01 -7.99723746e-04 4.15110692e-01 -5.19849195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-167.00, Z:-519.88 [[ 3.22702322e-01 6.32185149e-01 7.04418305e-01 2.89863820e+02] [-2.61017572e-01 7.74814922e-01 -5.75787863e-01 -1.67002427e+02] [-9.09798350e-01 1.94252507e-03 4.15046008e-01 -5.19879680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:-167.01, Z:-519.91 [[ 3.22617850e-01 6.32678485e-01 7.04013961e-01 2.89873988e+02] [-2.61123197e-01 7.74411770e-01 -5.76282124e-01 -1.67010486e+02] [-9.09797999e-01 2.08452325e-03 4.15046089e-01 -5.19910524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:-167.02, Z:-519.94 [[ 3.26336744e-01 6.31185998e-01 7.03639514e-01 2.89884902e+02] [-2.57461429e-01 7.75600657e-01 -5.76330837e-01 -1.67018546e+02] [-9.09515224e-01 6.91789366e-03 4.15613042e-01 -5.19940041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-167.03, Z:-519.97 [[ 3.28252315e-01 6.30752734e-01 7.03136833e-01 2.89895368e+02] [-2.55524581e-01 7.75923838e-01 -5.76757650e-01 -1.67026343e+02] [-9.09372095e-01 9.65328914e-03 4.15871624e-01 -5.19969673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-167.03, Z:-520.00 [[ 3.30548278e-01 6.30106936e-01 7.02640082e-01 2.89906268e+02] [-2.53222699e-01 7.76402128e-01 -5.77129102e-01 -1.67034124e+02] [-9.09184305e-01 1.28446133e-02 4.16195766e-01 -5.20000214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-167.04, Z:-520.03 [[ 3.34309314e-01 6.28333264e-01 7.02448996e-01 2.89917097e+02] [-2.47656378e-01 7.77707477e-01 -5.77786638e-01 -1.67040772e+02] [-9.09342401e-01 1.91934804e-02 4.15605593e-01 -5.20030115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-167.05, Z:-520.06 [[ 3.36659879e-01 6.27335650e-01 7.02217992e-01 2.89927946e+02] [-2.44688772e-01 7.78415221e-01 -5.78097871e-01 -1.67048163e+02] [-9.09278577e-01 2.27975015e-02 4.15563164e-01 -5.20060025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-167.06, Z:-520.09 [[ 3.38209689e-01 6.26788053e-01 7.01962209e-01 2.89938510e+02] [-2.42123639e-01 7.78763765e-01 -5.78708167e-01 -1.67055552e+02] [-9.09390098e-01 2.57630651e-02 4.15145655e-01 -5.20090460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-167.06, Z:-520.12 [[ 3.41029878e-01 6.25613338e-01 7.01645618e-01 2.89950691e+02] [-2.38264466e-01 7.79541989e-01 -5.79261886e-01 -1.67061683e+02] [-9.09356183e-01 3.03683916e-02 4.14908537e-01 -5.20120419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-167.07, Z:-520.15 [[ 3.41918513e-01 6.25656621e-01 7.01174388e-01 2.89961717e+02] [-2.37465391e-01 7.79453893e-01 -5.79708390e-01 -1.67068029e+02] [-9.09231499e-01 3.17083807e-02 4.15081510e-01 -5.20149702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-167.07, Z:-520.18 [[ 3.41880266e-01 6.25750921e-01 7.01108885e-01 2.89972970e+02] [-2.36683295e-01 7.79349438e-01 -5.80168486e-01 -1.67074364e+02] [-9.09449780e-01 3.24073950e-02 4.14548983e-01 -5.20179935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-167.08, Z:-520.21 [[ 3.40836659e-01 6.26289228e-01 7.01136345e-01 2.89985845e+02] [-2.36042861e-01 7.78911658e-01 -5.81016693e-01 -1.67079031e+02] [-9.10007769e-01 3.25335597e-02 4.13312748e-01 -5.20210251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-167.09, Z:-520.24 [[ 3.39429539e-01 6.27101810e-01 7.01092653e-01 2.89997011e+02] [-2.36146685e-01 7.78282796e-01 -5.81816666e-01 -1.67085172e+02] [-9.10506634e-01 3.19250574e-02 4.12260184e-01 -5.20239591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-167.09, Z:-520.27 [[ 3.37487844e-01 6.28062818e-01 7.01169774e-01 2.90008037e+02] [-2.36477620e-01 7.77551698e-01 -5.82659155e-01 -1.67090963e+02] [-9.11142300e-01 3.08294222e-02 4.10937047e-01 -5.20268891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-167.09, Z:-520.30 [[ 3.33901667e-01 6.29801067e-01 7.01327522e-01 2.90021396e+02] [-2.38493683e-01 7.76266457e-01 -5.83550470e-01 -1.67094726e+02] [-9.11937739e-01 2.75862912e-02 4.09400240e-01 -5.20299639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-167.10, Z:-520.33 [[ 3.31970284e-01 6.31216884e-01 7.00971452e-01 2.90032925e+02] [-2.40615480e-01 7.75195575e-01 -5.84102741e-01 -1.67099866e+02] [-9.12085479e-01 2.52401703e-02 4.09222448e-01 -5.20329666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:-167.10, Z:-520.36 [[ 3.29818334e-01 6.32671526e-01 7.00675822e-01 2.90044691e+02] [-2.42849396e-01 7.74088422e-01 -5.84646291e-01 -1.67104830e+02] [-9.12274102e-01 2.26683651e-02 4.08952452e-01 -5.20360528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-167.11, Z:-520.39 [[ 3.27254873e-01 6.34222622e-01 7.00475491e-01 2.90056492e+02] [-2.45011993e-01 7.72893685e-01 -5.85324248e-01 -1.67110031e+02] [-9.12618963e-01 1.99253164e-02 4.08325374e-01 -5.20391289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-167.11, Z:-520.42 [[ 3.22697438e-01 6.36722468e-01 7.00321971e-01 2.90069857e+02] [-2.49356644e-01 7.70956998e-01 -5.86043148e-01 -1.67112566e+02] [-9.13064964e-01 1.44846866e-02 4.07556826e-01 -5.20420600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-167.12, Z:-520.45 [[ 3.20242825e-01 6.38149470e-01 7.00149832e-01 2.90081634e+02] [-2.51343218e-01 7.69820453e-01 -5.86688211e-01 -1.67118680e+02] [-9.13384432e-01 1.19047784e-02 4.06924018e-01 -5.20450790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-167.12, Z:-520.48 [[ 3.17703349e-01 6.39631850e-01 6.99954055e-01 2.90093019e+02] [-2.53414625e-01 7.68626002e-01 -5.87362833e-01 -1.67124885e+02] [-9.13698862e-01 9.22854517e-03 4.06287120e-01 -5.20481082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-167.13, Z:-520.51 [[ 3.13220029e-01 6.41972157e-01 6.99832097e-01 2.90105689e+02] [-2.57454370e-01 7.66717360e-01 -5.88100109e-01 -1.67127961e+02] [-9.14117313e-01 4.02990152e-03 4.05429771e-01 -5.20510435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-167.13, Z:-520.54 [[ 3.10953139e-01 6.43213580e-01 6.99703105e-01 2.90117409e+02] [-2.59576952e-01 7.65685579e-01 -5.88511172e-01 -1.67133439e+02] [-9.14290955e-01 1.37259687e-03 4.05055756e-01 -5.20541429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-167.14, Z:-520.57 [[ 3.06271122e-01 6.45647710e-01 6.99526293e-01 2.90129992e+02] [-2.64076953e-01 7.63623427e-01 -5.89188106e-01 -1.67136099e+02] [-9.14582617e-01 -4.27746994e-03 4.04376484e-01 -5.20572053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:-167.14, Z:-520.60 [[ 3.04079744e-01 6.47077338e-01 6.99161232e-01 2.90141020e+02] [-2.66468074e-01 7.62392357e-01 -5.89705570e-01 -1.67141659e+02] [-9.14620290e-01 -6.98662826e-03 4.04253525e-01 -5.20601130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-167.15, Z:-520.63 [[ 3.01581092e-01 6.48463141e-01 6.98959512e-01 2.90151475e+02] [-2.68584553e-01 7.61184192e-01 -5.90305822e-01 -1.67147286e+02] [-9.14828499e-01 -9.70465355e-03 4.03725943e-01 -5.20630725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-167.15, Z:-520.66 [[ 2.99405921e-01 6.49664145e-01 6.98779359e-01 2.90162646e+02] [-2.70812086e-01 7.60120358e-01 -5.90658832e-01 -1.67153963e+02] [-9.14886282e-01 -1.23911438e-02 4.03521438e-01 -5.20661558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:-167.16, Z:-520.69 [[ 2.95782353e-01 6.51539265e-01 6.98576686e-01 2.90174652e+02] [-2.74141416e-01 7.58432939e-01 -5.91291773e-01 -1.67159414e+02] [-9.15073376e-01 -1.66151298e-02 4.02944976e-01 -5.20692378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-167.17, Z:-520.72 [[ 2.94576529e-01 6.52550607e-01 6.98142088e-01 2.90185167e+02] [-2.75575782e-01 7.57529757e-01 -5.91782608e-01 -1.67166051e+02] [-9.15031506e-01 -1.80657853e-02 4.02977630e-01 -5.20721905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-167.17, Z:-520.75 [[ 2.93086235e-01 6.53632679e-01 6.97756963e-01 2.90195996e+02] [-2.77241558e-01 7.56551187e-01 -5.92256211e-01 -1.67171487e+02] [-9.15006873e-01 -1.98650840e-02 4.02948882e-01 -5.20752196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-167.18, Z:-520.78 [[ 2.92829301e-01 6.54188865e-01 6.97343480e-01 2.90205482e+02] [-2.77490432e-01 7.56068600e-01 -5.92755711e-01 -1.67178481e+02] [-9.15013694e-01 -1.99299027e-02 4.02930190e-01 -5.20781602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-167.19, Z:-520.81 [[ 2.92564107e-01 6.54466028e-01 6.97194708e-01 2.90215105e+02] [-2.77275541e-01 7.55832671e-01 -5.93157019e-01 -1.67186470e+02] [-9.15163656e-01 -1.97785860e-02 4.02596932e-01 -5.20811831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-167.20, Z:-520.84 [[ 2.93172678e-01 6.54361698e-01 6.97036978e-01 2.90224420e+02] [-2.75385450e-01 7.55970993e-01 -5.93860852e-01 -1.67195348e+02] [-9.15539532e-01 -1.78500655e-02 4.01831731e-01 -5.20842190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-167.20, Z:-520.87 [[ 2.93824977e-01 6.54356823e-01 6.96766841e-01 2.90234110e+02] [-2.73921878e-01 7.56012687e-01 -5.94484333e-01 -1.67203924e+02] [-9.15769451e-01 -1.61853361e-02 4.01378060e-01 -5.20872784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-167.21, Z:-520.90 [[ 2.95915033e-01 6.53496836e-01 6.96689442e-01 2.90243448e+02] [-2.69922010e-01 7.56835643e-01 -5.95266259e-01 -1.67212751e+02] [-9.16284018e-01 -1.19035796e-02 4.00352224e-01 -5.20903415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:-167.22, Z:-520.93 [[ 2.97087642e-01 6.53202022e-01 6.96466834e-01 2.90252860e+02] [-2.67633623e-01 7.57125889e-01 -5.95930057e-01 -1.67221547e+02] [-9.16575789e-01 -9.35448694e-03 3.99751569e-01 -5.20934232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-167.23, Z:-520.96 [[ 2.98397132e-01 6.52992403e-01 6.96103493e-01 2.90262042e+02] [-2.65821835e-01 7.57331627e-01 -5.96479303e-01 -1.67230619e+02] [-9.16677644e-01 -7.05179460e-03 3.99565225e-01 -5.20964502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-167.24, Z:-520.99 [[ 3.00156808e-01 6.52741960e-01 6.95581645e-01 2.90270621e+02] [-2.64183890e-01 7.57566379e-01 -5.96908749e-01 -1.67239373e+02] [-9.16576654e-01 -4.59524018e-03 3.99832616e-01 -5.20993473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-167.25, Z:-521.02 [[ 3.03472916e-01 6.51620220e-01 6.95194418e-01 2.90278082e+02] [-2.60253493e-01 7.58545289e-01 -5.97391968e-01 -1.67249019e+02] [-9.16609136e-01 3.65507196e-04 3.99784389e-01 -5.21022680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-167.26, Z:-521.05 [[ 3.04825556e-01 6.51413253e-01 6.94796484e-01 2.90287116e+02] [-2.58703512e-01 7.58719028e-01 -5.97844402e-01 -1.67258234e+02] [-9.16599080e-01 2.49196173e-03 3.99799847e-01 -5.21052493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-167.27, Z:-521.08 [[ 3.06322822e-01 6.51174109e-01 6.94362015e-01 2.90295750e+02] [-2.57010719e-01 7.58913050e-01 -5.98328064e-01 -1.67266881e+02] [-9.16576139e-01 4.82306029e-03 3.99831113e-01 -5.21081594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-167.28, Z:-521.11 [[ 3.08882122e-01 6.50188061e-01 6.94152231e-01 2.90304770e+02] [-2.53780249e-01 7.59722819e-01 -5.98679232e-01 -1.67276428e+02] [-9.16617379e-01 8.75918609e-03 3.99669684e-01 -5.21111539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-167.28, Z:-521.14 [[ 3.09953836e-01 6.50055980e-01 6.93798128e-01 2.90313844e+02] [-2.52234254e-01 7.59810545e-01 -5.99221008e-01 -1.67284867e+02] [-9.16682334e-01 1.07311972e-02 3.99472578e-01 -5.21141661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-167.29, Z:-521.17 [[ 3.12330797e-01 6.49270936e-01 6.93467176e-01 2.90322492e+02] [-2.49037416e-01 7.60416409e-01 -5.99789338e-01 -1.67294811e+02] [-9.16749605e-01 1.46334086e-02 3.99194220e-01 -5.21171638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-167.30, Z:-521.20 [[ 3.13523829e-01 6.49033219e-01 6.93151275e-01 2.90331394e+02] [-2.47127393e-01 7.60571496e-01 -6.00382421e-01 -1.67303210e+02] [-9.16859237e-01 1.69375281e-02 3.98851175e-01 -5.21200729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.34, Y:-167.31, Z:-521.23 [[ 3.14775132e-01 6.48733176e-01 6.92864982e-01 2.90340795e+02] [-2.45766108e-01 7.60783843e-01 -6.00672094e-01 -1.67312227e+02] [-9.16796399e-01 1.87939080e-02 3.98912463e-01 -5.21230689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-167.32, Z:-521.26 [[ 3.15841248e-01 6.48697562e-01 6.92413012e-01 2.90350393e+02] [-2.44674731e-01 7.60771588e-01 -6.01132986e-01 -1.67320823e+02] [-9.16721649e-01 2.04466248e-02 3.99002949e-01 -5.21261327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-167.33, Z:-521.29 [[ 3.17447566e-01 6.48266562e-01 6.92082010e-01 2.90359889e+02] [-2.42381914e-01 7.61058113e-01 -6.01698892e-01 -1.67329176e+02] [-9.16775900e-01 2.32596862e-02 3.98724135e-01 -5.21292251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-167.34, Z:-521.32 [[ 3.16261379e-01 6.46223762e-01 6.94531201e-01 2.90368045e+02] [-2.41988601e-01 7.62843392e-01 -5.99592758e-01 -1.67338153e+02] [-9.17289626e-01 2.15593992e-02 3.97636687e-01 -5.21319125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-167.35, Z:-521.35 [[ 3.17432553e-01 6.42464866e-01 6.97477935e-01 2.90377997e+02] [-2.41269709e-01 7.66031501e-01 -5.95805896e-01 -1.67349585e+02] [-9.17074425e-01 2.08478883e-02 3.98170647e-01 -5.21350254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-167.35, Z:-521.38 [[ 3.15879749e-01 6.49519191e-01 6.91624758e-01 2.90388364e+02] [-2.41909246e-01 7.59989949e-01 -6.03237262e-01 -1.67351484e+02] [-9.17442042e-01 2.32400114e-02 3.97190132e-01 -5.21381482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-167.36, Z:-521.41 [[ 3.13755990e-01 6.49912826e-01 6.92221422e-01 2.90397831e+02] [-2.43281293e-01 7.59724171e-01 -6.03020229e-01 -1.67359175e+02] [-9.17807927e-01 2.07966867e-02 3.96479642e-01 -5.21410362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:-167.37, Z:-521.44 [[ 3.11965768e-01 6.47295867e-01 6.95474961e-01 2.90408051e+02] [-2.45327364e-01 7.62064134e-01 -5.99226785e-01 -1.67368096e+02] [-9.17873545e-01 1.63192052e-02 3.96537312e-01 -5.21440016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-167.37, Z:-521.47 [[ 3.10032656e-01 6.52824748e-01 6.91158159e-01 2.90418421e+02] [-2.46849265e-01 7.57321977e-01 -6.04589831e-01 -1.67371736e+02] [-9.18120467e-01 1.68307077e-02 3.95943853e-01 -5.21471202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-167.38, Z:-521.50 [[ 3.08451505e-01 6.53950891e-01 6.90800913e-01 2.90428617e+02] [-2.48430857e-01 7.56387661e-01 -6.05111408e-01 -1.67378831e+02] [-9.18226431e-01 1.50312614e-02 3.95770493e-01 -5.21502003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-167.38, Z:-521.53 [[ 3.05456828e-01 6.55637500e-01 6.90532834e-01 2.90439106e+02] [-2.51201646e-01 7.54987353e-01 -6.05715965e-01 -1.67384851e+02] [-9.18473657e-01 1.15570927e-02 3.95313261e-01 -5.21533175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:-167.39, Z:-521.56 [[ 3.03878136e-01 6.56753641e-01 6.90168627e-01 2.90449152e+02] [-2.52736782e-01 7.54041564e-01 -6.06255259e-01 -1.67392435e+02] [-9.18576179e-01 9.79672017e-03 3.95122547e-01 -5.21563960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-167.40, Z:-521.59 [[ 3.02187659e-01 6.57826659e-01 6.89888908e-01 2.90459213e+02] [-2.53997684e-01 7.53125183e-01 -6.06867066e-01 -1.67400109e+02] [-9.18786044e-01 8.15755358e-03 3.94671584e-01 -5.21594604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-167.41, Z:-521.62 [[ 3.00731512e-01 6.58831192e-01 6.89566544e-01 2.90468794e+02] [-2.55142851e-01 7.52260579e-01 -6.07458761e-01 -1.67407360e+02] [-9.18946507e-01 6.74401807e-03 3.94324530e-01 -5.21623881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-167.41, Z:-521.65 [[ 2.97823261e-01 6.60238136e-01 6.89483073e-01 2.90478421e+02] [-2.56946003e-01 7.51045798e-01 -6.08201415e-01 -1.67413897e+02] [-9.19391134e-01 3.97660956e-03 3.93324459e-01 -5.21654917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-167.42, Z:-521.69 [[ 2.96277281e-01 6.61165106e-01 6.89260818e-01 2.90488114e+02] [-2.57730593e-01 7.50235388e-01 -6.08869283e-01 -1.67421299e+02] [-9.19670981e-01 2.75053620e-03 3.92680176e-01 -5.21685250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-167.43, Z:-521.71 [[ 2.94995212e-01 6.62113200e-01 6.88900526e-01 2.90497458e+02] [-2.58808031e-01 7.49402359e-01 -6.09437862e-01 -1.67428986e+02] [-9.19780533e-01 1.48826284e-03 3.92430321e-01 -5.21714955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-167.44, Z:-521.75 [[ 2.92527763e-01 6.63135482e-01 6.88969405e-01 2.90506622e+02] [-2.59973778e-01 7.48499099e-01 -6.10051419e-01 -1.67436678e+02] [-9.20239720e-01 -6.57001957e-04 3.91354603e-01 -5.21745951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-167.44, Z:-521.78 [[ 2.91541383e-01 6.63956621e-01 6.88596564e-01 2.90515961e+02] [-2.60761803e-01 7.47769502e-01 -6.10609575e-01 -1.67444704e+02] [-9.20329780e-01 -1.54172211e-03 3.91140280e-01 -5.21775735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-167.45, Z:-521.81 [[ 2.89870140e-01 6.64952905e-01 6.88340713e-01 2.90524646e+02] [-2.61905366e-01 7.46878820e-01 -6.11209954e-01 -1.67452088e+02] [-9.20532933e-01 -3.10861143e-03 3.90652602e-01 -5.21805280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:-167.46, Z:-521.84 [[ 2.89789530e-01 6.65406748e-01 6.87935962e-01 2.90534515e+02] [-2.61993174e-01 7.46475035e-01 -6.11665431e-01 -1.67460594e+02] [-9.20533327e-01 -2.98028819e-03 3.90652675e-01 -5.21836110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.54, Y:-167.47, Z:-521.87 [[ 2.89343319e-01 6.65931812e-01 6.87615638e-01 2.90543883e+02] [-2.63113144e-01 7.46002360e-01 -6.11761353e-01 -1.67468769e+02] [-9.20354235e-01 -3.91165181e-03 3.91066211e-01 -5.21866464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-167.48, Z:-521.90 [[ 2.89884118e-01 6.69202647e-01 6.84203928e-01 2.90553808e+02] [-2.64458302e-01 7.43074898e-01 -6.14736937e-01 -1.67475214e+02] [-9.19798350e-01 -2.74093441e-03 3.92381807e-01 -5.21899034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-167.48, Z:-521.93 [[ 2.87838168e-01 6.69620754e-01 6.84658481e-01 2.90562044e+02] [-2.65966285e-01 7.42684977e-01 -6.14557531e-01 -1.67483299e+02] [-9.20006046e-01 -5.20295913e-03 3.91869627e-01 -5.21927198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-167.49, Z:-521.96 [[ 2.85813382e-01 6.68843769e-01 6.86264325e-01 2.90570127e+02] [-2.69291917e-01 7.43338429e-01 -6.12315150e-01 -1.67493504e+02] [-9.19669818e-01 -9.79757211e-03 3.92570291e-01 -5.21957164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-167.50, Z:-521.99 [[ 2.84299760e-01 6.69782537e-01 6.85977405e-01 2.90579026e+02] [-2.70296333e-01 7.42473384e-01 -6.12921827e-01 -1.67501737e+02] [-9.19844302e-01 -1.11636484e-02 3.92124768e-01 -5.21987883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-167.51, Z:-522.02 [[ 2.83107489e-01 6.70654517e-01 6.85618457e-01 2.90587733e+02] [-2.71262248e-01 7.41667797e-01 -6.13470189e-01 -1.67509895e+02] [-9.19927683e-01 -1.23043997e-02 3.91894959e-01 -5.22017994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-167.52, Z:-522.05 [[ 2.81619207e-01 6.71552621e-01 6.85352245e-01 2.90595423e+02] [-2.72254347e-01 7.40830863e-01 -6.14041695e-01 -1.67517975e+02] [-9.20091405e-01 -1.36641932e-02 3.91465321e-01 -5.22048584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:-167.53, Z:-522.08 [[ 2.81412705e-01 6.72089010e-01 6.84911127e-01 2.90603780e+02] [-2.72563232e-01 7.40342592e-01 -6.14493394e-01 -1.67526550e+02] [-9.20063136e-01 -1.37553425e-02 3.91528564e-01 -5.22079134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-167.54, Z:-522.11 [[ 2.81113569e-01 6.72551073e-01 6.84580321e-01 2.90611793e+02] [-2.72335060e-01 7.39927133e-01 -6.15094670e-01 -1.67535767e+02] [-9.20222134e-01 -1.35237645e-02 3.91162794e-01 -5.22109621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-167.55, Z:-522.14 [[ 2.81232570e-01 6.72749277e-01 6.84336651e-01 2.90618132e+02] [-2.71230073e-01 7.39766009e-01 -6.15776339e-01 -1.67546735e+02] [-9.20512080e-01 -1.24363173e-02 3.90516131e-01 -5.22139269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-167.56, Z:-522.17 [[ 2.81262543e-01 6.73042078e-01 6.84036361e-01 2.90626243e+02] [-2.70636867e-01 7.39510517e-01 -6.16343963e-01 -1.67556079e+02] [-9.20677505e-01 -1.17709873e-02 3.90146608e-01 -5.22170057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:-167.56, Z:-522.20 [[ 2.81724271e-01 6.73248755e-01 6.83642852e-01 2.90634126e+02] [-2.69891918e-01 7.39338343e-01 -6.16876946e-01 -1.67564476e+02] [-9.20755010e-01 -1.07204727e-02 3.89993954e-01 -5.22199382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-167.57, Z:-522.23 [[ 2.82568563e-01 6.73219738e-01 6.83322905e-01 2.90640523e+02] [-2.69171902e-01 7.39380851e-01 -6.17140538e-01 -1.67574382e+02] [-9.20707062e-01 -9.54681052e-03 3.90137622e-01 -5.22229543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-167.60, Z:-522.25 [[ 2.86029985e-01 6.58955340e-01 6.95675720e-01 2.90650547e+02] [-2.73578916e-01 7.51947865e-01 -5.99774112e-01 -1.67602554e+02] [-9.18336226e-01 -1.87688295e-02 3.95355924e-01 -5.22254425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-167.59, Z:-522.29 [[ 2.85506116e-01 6.82363391e-01 6.72953535e-01 2.90660854e+02] [-2.73167247e-01 7.30993953e-01 -6.25321914e-01 -1.67592678e+02] [-9.18621747e-01 -5.29563349e-03 3.95102573e-01 -5.22287847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-167.59, Z:-522.32 [[ 2.82089743e-01 6.93577079e-01 6.62854594e-01 2.90666017e+02] [-2.68524463e-01 7.20378421e-01 -6.39491629e-01 -1.67586235e+02] [-9.21042882e-01 2.40135573e-03 3.89453776e-01 -5.22320706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-167.61, Z:-522.35 [[ 2.81781650e-01 6.74434429e-01 6.82449488e-01 2.90669689e+02] [-2.68821632e-01 7.38278127e-01 -6.18611621e-01 -1.67613507e+02] [-9.21050504e-01 -9.14378200e-03 3.89335793e-01 -5.22347310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:-167.62, Z:-522.38 [[ 2.81650473e-01 6.74976791e-01 6.81967259e-01 2.90677656e+02] [-2.69137555e-01 7.37781817e-01 -6.19066205e-01 -1.67622991e+02] [-9.20998365e-01 -9.18271148e-03 3.89458201e-01 -5.22376709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.69, Y:-167.63, Z:-522.41 [[ 2.81810204e-01 6.75235710e-01 6.81644882e-01 2.90685942e+02] [-2.69174878e-01 7.37547735e-01 -6.19328850e-01 -1.67632684e+02] [-9.20938594e-01 -8.94848884e-03 3.89604968e-01 -5.22407458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.69, Y:-167.66, Z:-522.43 [[ 2.86096899e-01 6.64255926e-01 6.90588611e-01 2.90694797e+02] [-2.72117469e-01 7.47364422e-01 -6.06134064e-01 -1.67658570e+02] [-9.18749502e-01 -1.45081494e-02 3.94574285e-01 -5.22433443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-167.65, Z:-522.47 [[ 2.86473237e-01 6.81582383e-01 6.73333898e-01 2.90704262e+02] [-2.70487644e-01 7.31735617e-01 -6.25619230e-01 -1.67653475e+02] [-9.19113442e-01 -2.90533324e-03 3.93982284e-01 -5.22466090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-167.65, Z:-522.50 [[ 2.84664809e-01 6.90353013e-01 6.65115527e-01 2.90709353e+02] [-2.65461139e-01 7.23456407e-01 -6.37292093e-01 -1.67650276e+02] [-9.21138606e-01 4.85230651e-03 3.89204476e-01 -5.22498805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-167.67, Z:-522.53 [[ 2.85900666e-01 6.74632609e-01 6.80537767e-01 2.90714840e+02] [-2.63738399e-01 7.38151084e-01 -6.20946886e-01 -1.67673782e+02] [-9.21250708e-01 -1.95481293e-03 3.88964410e-01 -5.22525143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-167.69, Z:-522.55 [[ 2.91351232e-01 6.67177053e-01 6.85557612e-01 2.90723239e+02] [-2.61531257e-01 7.44899027e-01 -6.13780777e-01 -1.67693751e+02] [-9.20171648e-01 -4.68958480e-04 3.91514903e-01 -5.22552744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:-167.71, Z:-522.58 [[ 2.94050203e-01 6.63039786e-01 6.88413190e-01 2.90733519e+02] [-2.63498566e-01 7.48580035e-01 -6.08437702e-01 -1.67713439e+02] [-9.18750774e-01 -2.48465866e-03 3.94830144e-01 -5.22581413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-167.70, Z:-522.62 [[ 2.94407698e-01 6.87444716e-01 6.63885435e-01 2.90743077e+02] [-2.60498793e-01 7.26093897e-01 -6.36339557e-01 -1.67700435e+02] [-9.19491428e-01 1.44019097e-02 3.92846151e-01 -5.22616819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-167.70, Z:-522.65 [[ 2.93656661e-01 6.93528655e-01 6.57863034e-01 2.90746020e+02] [-2.53288479e-01 7.20059150e-01 -6.46033875e-01 -1.67698021e+02] [-9.21743301e-01 2.30830229e-02 3.87112984e-01 -5.22649069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-167.73, Z:-522.67 [[ 2.94209519e-01 6.71767686e-01 6.79830078e-01 2.90751007e+02] [-2.52638109e-01 7.40673995e-01 -6.22556037e-01 -1.67726765e+02] [-9.21745488e-01 1.14109269e-02 3.87627458e-01 -5.22673723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-167.74, Z:-522.70 [[ 2.95101827e-01 6.71907503e-01 6.79304953e-01 2.90759324e+02] [-2.52202266e-01 7.40529613e-01 -6.22904414e-01 -1.67736469e+02] [-9.21579584e-01 1.24979817e-02 3.87988236e-01 -5.22704163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-167.75, Z:-522.73 [[ 2.96375529e-01 6.72037024e-01 6.78621974e-01 2.90767742e+02] [-2.52013797e-01 7.40391495e-01 -6.23144830e-01 -1.67746041e+02] [-9.21222336e-01 1.36627783e-02 3.88796524e-01 -5.22734875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-167.76, Z:-522.77 [[ 2.98779063e-01 6.71778827e-01 6.77823192e-01 2.90774809e+02] [-2.51097594e-01 7.40578384e-01 -6.23292592e-01 -1.67756003e+02] [-9.20695970e-01 1.60270038e-02 3.89951363e-01 -5.22765356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-167.79, Z:-522.79 [[ 3.02313827e-01 6.56285677e-01 6.91299833e-01 2.90786567e+02] [-2.56067877e-01 7.54491216e-01 -6.04294835e-01 -1.67788700e+02] [-9.18169697e-01 5.66700351e-03 3.96146807e-01 -5.22791519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-167.75, Z:-522.83 [[ 3.01622334e-01 7.02977041e-01 6.44086366e-01 2.90795496e+02] [-2.51103707e-01 7.10269114e-01 -6.57620494e-01 -1.67747250e+02] [-9.19766762e-01 3.66205540e-02 3.90753169e-01 -5.22831022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-167.78, Z:-522.85 [[ 2.99553532e-01 6.72417123e-01 6.76847763e-01 2.90801324e+02] [-2.50855239e-01 7.39973408e-01 -6.24108167e-01 -1.67783576e+02] [-9.20510364e-01 1.71629988e-02 3.90341006e-01 -5.22854802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-167.79, Z:-522.88 [[ 2.99036098e-01 6.73057827e-01 6.76439631e-01 2.90811014e+02] [-2.51250111e-01 7.39398309e-01 -6.24630709e-01 -1.67791199e+02] [-9.20570906e-01 1.68315970e-02 3.90212639e-01 -5.22883888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:-167.81, Z:-522.91 [[ 2.99937725e-01 6.67781823e-01 6.81252374e-01 2.90822574e+02] [-2.54919760e-01 7.44268345e-01 -6.17317217e-01 -1.67810775e+02] [-9.19267794e-01 1.14920296e-02 3.93464937e-01 -5.22912747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-167.79, Z:-522.95 [[ 2.98283521e-01 6.89135584e-01 6.60393131e-01 2.90832228e+02] [-2.52620712e-01 7.24216103e-01 -6.41633705e-01 -1.67794843e+02] [-9.20439958e-01 2.45597776e-02 3.90111651e-01 -5.22947739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.84, Y:-167.83, Z:-522.97 [[ 2.98667241e-01 6.69170343e-01 6.80447596e-01 2.90841808e+02] [-2.55844073e-01 7.43033242e-01 -6.18421710e-01 -1.67826652e+02] [-9.19424651e-01 1.06138218e-02 3.93122955e-01 -5.22973942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-167.81, Z:-523.01 [[ 2.97523438e-01 6.90630021e-01 6.59173709e-01 2.90851198e+02] [-2.53821179e-01 7.22812619e-01 -6.42741570e-01 -1.67810038e+02] [-9.20355699e-01 2.39184335e-02 3.90350222e-01 -5.23006988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.86, Y:-167.85, Z:-523.03 [[ 2.97816205e-01 6.68562499e-01 6.81417415e-01 2.90860150e+02] [-2.57922080e-01 7.43613377e-01 -6.16859260e-01 -1.67845554e+02] [-9.19120073e-01 7.95808703e-03 3.93897144e-01 -5.23032683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-167.83, Z:-523.07 [[ 2.97241103e-01 6.91418882e-01 6.58473732e-01 2.90873036e+02] [-2.57139496e-01 7.22132182e-01 -6.42187194e-01 -1.67830035e+02] [-9.19525425e-01 2.15648267e-02 3.92438469e-01 -5.23068188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.88, Y:-167.83, Z:-523.10 [[ 2.96153382e-01 6.91287266e-01 6.59101730e-01 2.90881659e+02] [-2.54683444e-01 7.22227100e-01 -6.43058597e-01 -1.67832212e+02] [-9.20559350e-01 2.25816798e-02 3.89949420e-01 -5.23096838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-167.85, Z:-523.12 [[ 2.95386152e-01 6.75585727e-01 6.75522721e-01 2.90889797e+02] [-2.55629197e-01 7.37182596e-01 -6.25472248e-01 -1.67854352e+02] [-9.20543717e-01 1.20725101e-02 3.90452968e-01 -5.23123179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-167.86, Z:-523.15 [[ 2.94431440e-01 6.76718916e-01 6.74804887e-01 2.90900743e+02] [-2.58002843e-01 7.36171910e-01 -6.25687983e-01 -1.67861768e+02] [-9.20187296e-01 1.01206345e-02 3.91347560e-01 -5.23153663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-167.87, Z:-523.18 [[ 2.93502866e-01 6.77669439e-01 6.74255292e-01 2.90910521e+02] [-2.59529872e-01 7.35314458e-01 -6.26064608e-01 -1.67869466e+02] [-9.20054517e-01 8.76236725e-03 3.91692363e-01 -5.23183807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-167.88, Z:-523.21 [[ 2.92739167e-01 6.78597324e-01 6.73653808e-01 2.90920360e+02] [-2.61085727e-01 7.34472286e-01 -6.26406182e-01 -1.67876808e+02] [-9.19857610e-01 7.49222990e-03 3.92180881e-01 -5.23213281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-167.88, Z:-523.24 [[ 2.90770363e-01 6.80089132e-01 6.73001760e-01 2.90930409e+02] [-2.64322332e-01 7.33116722e-01 -6.26636719e-01 -1.67883154e+02] [-9.19557666e-01 4.31799143e-03 3.92931360e-01 -5.23243124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-167.89, Z:-523.27 [[ 2.89525126e-01 6.81112669e-01 6.72503334e-01 2.90940276e+02] [-2.66080874e-01 7.32174038e-01 -6.26994535e-01 -1.67890198e+02] [-9.19443403e-01 2.59039695e-03 3.93213834e-01 -5.23273697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-167.90, Z:-523.30 [[ 2.87642879e-01 6.82278669e-01 6.72129000e-01 2.90950156e+02] [-2.67819516e-01 7.31092044e-01 -6.27516637e-01 -1.67897049e+02] [-9.19529380e-01 4.91428277e-04 3.93020963e-01 -5.23304811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-167.90, Z:-523.34 [[ 2.85939658e-01 6.83457357e-01 6.71658063e-01 2.90960172e+02] [-2.69813932e-01 7.29988534e-01 -6.27946799e-01 -1.67904107e+02] [-9.19477544e-01 -1.66781016e-03 3.93138989e-01 -5.23335465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-167.91, Z:-523.37 [[ 2.82651908e-01 6.85164374e-01 6.71310420e-01 2.90969978e+02] [-2.72841771e-01 7.28367649e-01 -6.28520434e-01 -1.67910508e+02] [-9.19600602e-01 -5.50902402e-03 3.92815967e-01 -5.23365371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-167.92, Z:-523.40 [[ 2.81471522e-01 6.86169824e-01 6.70779215e-01 2.90979476e+02] [-2.74617580e-01 7.27405742e-01 -6.28860932e-01 -1.67918880e+02] [-9.19434047e-01 -7.20132104e-03 3.93178298e-01 -5.23395528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-167.93, Z:-523.43 [[ 2.80105170e-01 6.87339489e-01 6.70153356e-01 2.90988973e+02] [-2.76931559e-01 7.26276019e-01 -6.29151854e-01 -1.67926639e+02] [-9.19157226e-01 -9.35792720e-03 3.93779664e-01 -5.23426179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:-167.95, Z:-523.45 [[ 2.81728237e-01 6.77820980e-01 6.79108180e-01 2.90999755e+02] [-2.82160316e-01 7.35008697e-01 -6.16561248e-01 -1.67950439e+02] [-9.17068567e-01 -1.79146653e-02 3.98326886e-01 -5.23453252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-167.48, Z:-523.39 [[ 2.50578432e-01 3.81228484e-01 -8.89873751e-01 2.91896116e+02] [-2.02971194e-01 -8.78081415e-01 -4.33330964e-01 -1.67475092e+02] [-9.46579708e-01 2.89202131e-01 -1.42649864e-01 -5.23393732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.02, Y:-167.99, Z:-523.55 [[ 2.56420033e-01 6.38715618e-01 7.25459252e-01 2.91021343e+02] [-2.20947644e-01 7.69414487e-01 -5.99319185e-01 -1.67992380e+02] [-9.40973382e-01 -6.61106775e-03 3.38415999e-01 -5.23550294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-168.01, Z:-523.58 [[ 2.56303270e-01 6.30115913e-01 7.32981971e-01 2.91028105e+02] [-2.20817933e-01 7.76429113e-01 -5.90251873e-01 -1.68006352e+02] [-9.41035639e-01 -1.05720785e-02 3.38142215e-01 -5.23578719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-168.01, Z:-523.61 [[ 2.56807207e-01 6.30544931e-01 7.32436447e-01 2.91036170e+02] [-2.20656242e-01 7.76089537e-01 -5.90758710e-01 -1.68013245e+02] [-9.40936173e-01 -9.90557932e-03 3.38439061e-01 -5.23609827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-168.02, Z:-523.64 [[ 2.57514779e-01 6.30994076e-01 7.31800939e-01 2.91043961e+02] [-2.20640403e-01 7.75732933e-01 -5.91232804e-01 -1.68020530e+02] [-9.40746486e-01 -9.21366896e-03 3.38985483e-01 -5.23641264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:-168.03, Z:-523.67 [[ 2.58710012e-01 6.31337829e-01 7.31082537e-01 2.91051855e+02] [-2.20487105e-01 7.75465303e-01 -5.91640940e-01 -1.68027978e+02] [-9.40454447e-01 -8.13083704e-03 3.39822488e-01 -5.23672641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-168.04, Z:-523.70 [[ 2.60838744e-01 6.31295733e-01 7.30362134e-01 2.91058330e+02] [-2.19197777e-01 7.75521504e-01 -5.92046224e-01 -1.68035707e+02] [-9.40167796e-01 -5.66516272e-03 3.40664676e-01 -5.23704031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-168.04, Z:-523.74 [[ 2.62053392e-01 6.31513605e-01 7.29738711e-01 2.91066028e+02] [-2.18474493e-01 7.75353669e-01 -5.92533193e-01 -1.68043498e+02] [-9.39998359e-01 -4.15396197e-03 3.41153673e-01 -5.23735342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-168.05, Z:-523.77 [[ 2.61972460e-01 6.32107110e-01 7.29253750e-01 2.91074741e+02] [-2.18568972e-01 7.74870656e-01 -5.93129894e-01 -1.68050209e+02] [-9.39998955e-01 -4.00854534e-03 3.41153773e-01 -5.23766948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-168.06, Z:-523.80 [[ 2.63364094e-01 6.31821648e-01 7.28999835e-01 2.91081958e+02] [-2.17095869e-01 7.75111237e-01 -5.93356515e-01 -1.68057945e+02] [-9.39951455e-01 -1.99405117e-03 3.41302338e-01 -5.23797457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-168.07, Z:-523.83 [[ 2.64244973e-01 6.31637214e-01 7.28840878e-01 2.91089937e+02] [-2.14368510e-01 7.75263731e-01 -5.94148373e-01 -1.68065408e+02] [-9.40330121e-01 7.60188055e-04 3.40262672e-01 -5.23828022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-168.07, Z:-523.86 [[ 2.64325521e-01 6.31947417e-01 7.28542711e-01 2.91098658e+02] [-2.13216992e-01 7.75008917e-01 -5.94894691e-01 -1.68071469e+02] [-9.40569260e-01 1.90816413e-03 3.39596563e-01 -5.23858660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:-168.08, Z:-523.89 [[ 2.64686292e-01 6.32146723e-01 7.28238757e-01 2.91107137e+02] [-2.11943944e-01 7.74841712e-01 -5.95567029e-01 -1.68077937e+02] [-9.40755511e-01 3.29263403e-03 3.39069649e-01 -5.23889619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-168.08, Z:-523.92 [[ 2.65400694e-01 6.32219877e-01 7.27915173e-01 2.91115580e+02] [-2.10230953e-01 7.74771444e-01 -5.96265173e-01 -1.68084552e+02] [-9.40938584e-01 5.21888998e-03 3.38537066e-01 -5.23919494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-168.09, Z:-523.95 [[ 2.67328946e-01 6.31678346e-01 7.27679670e-01 2.91124322e+02] [-2.06712254e-01 7.75176392e-01 -5.96968681e-01 -1.68090795e+02] [-9.41172290e-01 9.16670332e-03 3.37802742e-01 -5.23950515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:-168.10, Z:-523.98 [[ 2.68687171e-01 6.31590986e-01 7.27255134e-01 2.91132404e+02] [-2.04828932e-01 7.75215044e-01 -5.97567356e-01 -1.68096666e+02] [-9.41197276e-01 1.15957902e-02 3.37658444e-01 -5.23980973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-168.10, Z:-524.01 [[ 2.69825312e-01 6.31607427e-01 7.26819344e-01 2.91141330e+02] [-2.03462727e-01 7.75170834e-01 -5.98091212e-01 -1.68102829e+02] [-9.41168009e-01 1.34995020e-02 3.37669281e-01 -5.24012063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-168.11, Z:-524.04 [[ 2.74012258e-01 6.28694842e-01 7.27777492e-01 2.91150406e+02] [-2.00957051e-01 7.77465230e-01 -5.95956442e-01 -1.68110779e+02] [-9.40496436e-01 1.70473521e-02 3.39375665e-01 -5.24043419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-168.11, Z:-524.08 [[ 2.75281509e-01 6.39322328e-01 7.17974270e-01 2.91159012e+02] [-1.99084173e-01 7.68550321e-01 -6.08026230e-01 -1.68106174e+02] [-9.40524100e-01 2.44410644e-02 3.38846648e-01 -5.24075522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-168.12, Z:-524.11 [[ 2.76847712e-01 6.30363093e-01 7.25256999e-01 2.91167143e+02] [-1.97672850e-01 7.75975315e-01 -5.98988944e-01 -1.68119607e+02] [-9.40362052e-01 2.24651008e-02 3.39432660e-01 -5.24105283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-168.13, Z:-524.14 [[ 2.81309714e-01 6.28447812e-01 7.25202174e-01 2.91177244e+02] [-1.96937394e-01 7.77442986e-01 -5.97325762e-01 -1.68127355e+02] [-9.39191412e-01 2.52141126e-02 3.42467138e-01 -5.24136644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-168.12, Z:-524.17 [[ 2.81247866e-01 6.37741874e-01 7.17066901e-01 2.91186313e+02] [-1.95208271e-01 7.69626103e-01 -6.07922193e-01 -1.68123368e+02] [-9.39570843e-01 3.09994296e-02 3.40948188e-01 -5.24167417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-168.14, Z:-524.20 [[ 2.81453270e-01 6.30307132e-01 7.23530909e-01 2.91195249e+02] [-1.94206865e-01 7.75824544e-01 -6.00316559e-01 -1.68135014e+02] [-9.39716846e-01 2.84463886e-02 3.40768327e-01 -5.24197295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:-168.14, Z:-524.23 [[ 2.81730246e-01 6.30145006e-01 7.23564330e-01 2.91206150e+02] [-1.94461868e-01 7.75959792e-01 -6.00059150e-01 -1.68142021e+02] [-9.39581104e-01 2.83491406e-02 3.41150518e-01 -5.24228279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-168.14, Z:-524.26 [[ 2.80076141e-01 6.38823129e-01 7.16562883e-01 2.91215151e+02] [-1.93787446e-01 7.68693634e-01 -6.09554364e-01 -1.68139566e+02] [-9.40214753e-01 3.18607430e-02 3.39088649e-01 -5.24257921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-168.15, Z:-524.29 [[ 2.78567927e-01 6.32437383e-01 7.22788258e-01 2.91224152e+02] [-1.94269718e-01 7.74126126e-01 -6.02484869e-01 -1.68151536e+02] [-9.40563229e-01 2.74170903e-02 3.38510142e-01 -5.24287691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-168.16, Z:-524.32 [[ 2.75261863e-01 6.34218519e-01 7.22494137e-01 2.91234151e+02] [-1.97196762e-01 7.72794298e-01 -6.03243244e-01 -1.68155761e+02] [-9.40927385e-01 2.35763547e-02 3.37786636e-01 -5.24317444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.24, Y:-168.16, Z:-524.35 [[ 2.73359221e-01 6.35506575e-01 7.22084573e-01 2.91243524e+02] [-1.99249187e-01 7.71804645e-01 -6.03835534e-01 -1.68160555e+02] [-9.41049679e-01 2.11892465e-02 3.37604085e-01 -5.24348793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-168.17, Z:-524.38 [[ 2.71310937e-01 6.36984820e-01 7.21554374e-01 2.91252768e+02] [-2.01979061e-01 7.70660555e-01 -6.04389583e-01 -1.68165371e+02] [-9.41060484e-01 1.82386294e-02 3.37746233e-01 -5.24379033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-168.17, Z:-524.41 [[ 2.68818436e-01 6.38387324e-01 7.21247720e-01 2.91262049e+02] [-2.05008172e-01 7.69574770e-01 -6.04753110e-01 -1.68170423e+02] [-9.41120767e-01 1.47071086e-02 3.37750504e-01 -5.24409866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-168.18, Z:-524.44 [[ 2.63360491e-01 6.41293401e-01 7.20683027e-01 2.91272131e+02] [-2.11955828e-01 7.67266879e-01 -6.05290230e-01 -1.68175001e+02] [-9.41124848e-01 6.65656386e-03 3.37993656e-01 -5.24439565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-168.18, Z:-524.47 [[ 2.60476807e-01 6.43047457e-01 7.20167897e-01 2.91281653e+02] [-2.15692063e-01 7.65822372e-01 -6.05799496e-01 -1.68181172e+02] [-9.41078513e-01 2.46221885e-03 3.38179199e-01 -5.24470614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-168.18, Z:-524.50 [[ 2.58367923e-01 6.48638128e-01 7.15901247e-01 2.91290285e+02] [-2.20381022e-01 7.61096943e-01 -6.10052169e-01 -1.68182981e+02] [-9.40573347e-01 -1.53136434e-04 3.39590569e-01 -5.24497263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.30, Y:-168.20, Z:-524.52 [[ 2.52333345e-01 6.39425472e-01 7.26266445e-01 2.91297698e+02] [-2.26051566e-01 7.68739637e-01 -5.98280921e-01 -1.68195940e+02] [-9.40865863e-01 -1.32074412e-02 3.38521773e-01 -5.24522676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-168.20, Z:-524.55 [[ 2.50326715e-01 6.47655637e-01 7.19637903e-01 2.91307205e+02] [-2.29411170e-01 7.61814605e-01 -6.05812697e-01 -1.68196456e+02] [-9.40588673e-01 -1.34418709e-02 3.39281985e-01 -5.24554250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:-168.20, Z:-524.59 [[ 2.48002636e-01 6.48850578e-01 7.19366124e-01 2.91316126e+02] [-2.31896487e-01 7.60737487e-01 -6.06219841e-01 -1.68203156e+02] [-9.40594871e-01 -1.64743586e-02 3.39131071e-01 -5.24585669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-168.21, Z:-524.62 [[ 2.46609106e-01 6.50023391e-01 7.18786157e-01 2.91325313e+02] [-2.33965314e-01 7.59687923e-01 -6.06740877e-01 -1.68209957e+02] [-9.40448925e-01 -1.85432033e-02 3.39428887e-01 -5.24616897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-168.22, Z:-524.65 [[ 2.44502425e-01 6.51333331e-01 7.18319884e-01 2.91333908e+02] [-2.36219659e-01 7.58496057e-01 -6.07358217e-01 -1.68216624e+02] [-9.40435451e-01 -2.11807209e-02 3.39311863e-01 -5.24647573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-168.23, Z:-524.68 [[ 2.45383521e-01 6.47169104e-01 7.21774950e-01 2.91343476e+02] [-2.39130884e-01 7.61939519e-01 -6.01884199e-01 -1.68230670e+02] [-9.39469716e-01 -2.49062174e-02 3.41725522e-01 -5.24678061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-168.22, Z:-524.71 [[ 2.43941296e-01 6.64841154e-01 7.06030371e-01 2.91351213e+02] [-2.36764282e-01 7.46822568e-01 -6.21448893e-01 -1.68219292e+02] [-9.40444214e-01 -1.55657258e-02 3.39591503e-01 -5.24710200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:-168.23, Z:-524.74 [[ 2.45369739e-01 6.59940288e-01 7.10121473e-01 2.91356303e+02] [-2.34913458e-01 7.51159251e-01 -6.16907973e-01 -1.68227128e+02] [-9.40536740e-01 -1.54465425e-02 3.39340604e-01 -5.24741313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:-168.25, Z:-524.77 [[ 2.47735703e-01 6.38763089e-01 7.28428951e-01 2.91362803e+02] [-2.36686204e-01 7.68987554e-01 -5.93833127e-01 -1.68254984e+02] [-9.39471480e-01 -2.52954163e-02 3.41692083e-01 -5.24766928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.37, Y:-168.24, Z:-524.80 [[ 2.47983899e-01 6.59622130e-01 7.09508725e-01 2.91370376e+02] [-2.33842558e-01 7.51486203e-01 -6.16916643e-01 -1.68242458e+02] [-9.40117889e-01 -1.29279410e-02 3.40604205e-01 -5.24801642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.38, Y:-168.27, Z:-524.83 [[ 2.53645086e-01 6.39492695e-01 7.25750139e-01 2.91376334e+02] [-2.33961119e-01 7.68568168e-01 -5.95453748e-01 -1.68270440e+02] [-9.38576776e-01 -1.87633975e-02 3.44559966e-01 -5.24827748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.38, Y:-168.27, Z:-524.86 [[ 2.55987506e-01 6.51428016e-01 7.14221211e-01 2.91384623e+02] [-2.32579488e-01 7.58640204e-01 -6.08581813e-01 -1.68267839e+02] [-9.38284167e-01 -1.03238636e-02 3.45711208e-01 -5.24860023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:-168.28, Z:-524.89 [[ 2.62427563e-01 6.50029046e-01 7.13157776e-01 2.91389658e+02] [-2.28259594e-01 7.59903199e-01 -6.08641673e-01 -1.68276486e+02] [-9.37565641e-01 -3.06075328e-03 3.47794911e-01 -5.24890688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.40, Y:-168.28, Z:-524.92 [[ 2.65619630e-01 6.49437865e-01 7.12514331e-01 2.91396355e+02] [-2.25497710e-01 7.60413866e-01 -6.09033280e-01 -1.68284914e+02] [-9.37335050e-01 1.10084422e-03 3.48427601e-01 -5.24921895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.40, Y:-168.29, Z:-524.95 [[ 2.68834423e-01 6.48700734e-01 7.11979923e-01 2.91402860e+02] [-2.21921590e-01 7.61020924e-01 -6.09588354e-01 -1.68293270e+02] [-9.37272032e-01 5.87461686e-03 3.48549319e-01 -5.24952523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:-168.30, Z:-524.98 [[ 2.72194494e-01 6.47787555e-01 7.11534567e-01 2.91409331e+02] [-2.17874220e-01 7.61740828e-01 -6.10148945e-01 -1.68302329e+02] [-9.37251824e-01 1.10541448e-02 3.48477868e-01 -5.24982276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:-168.31, Z:-525.01 [[ 2.74765854e-01 6.46961285e-01 7.11297983e-01 2.91417052e+02] [-2.13679178e-01 7.62358012e-01 -6.10861253e-01 -1.68311028e+02] [-9.37467298e-01 1.58542450e-02 3.47712106e-01 -5.25013048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-168.32, Z:-525.04 [[ 2.77608911e-01 6.45576041e-01 7.11452646e-01 2.91425830e+02] [-2.06729271e-01 7.63354966e-01 -6.12006703e-01 -1.68318271e+02] [-9.38187775e-01 2.28204271e-02 3.45373605e-01 -5.25043289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-168.33, Z:-525.07 [[ 2.79419446e-01 6.45168806e-01 7.11113201e-01 2.91434357e+02] [-2.03914774e-01 7.63591346e-01 -6.12655712e-01 -1.68325995e+02] [-9.38266241e-01 2.61814322e-02 3.44921722e-01 -5.25073718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.44, Y:-168.33, Z:-525.10 [[ 2.81027087e-01 6.44945519e-01 7.10682105e-01 2.91443037e+02] [-2.01677059e-01 7.63677268e-01 -6.13288997e-01 -1.68333309e+02] [-9.38269759e-01 2.90225441e-02 3.44684713e-01 -5.25104096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.45, Y:-168.34, Z:-525.13 [[ 2.82453742e-01 6.45788706e-01 7.09349583e-01 2.91451633e+02] [-1.98955347e-01 7.62817786e-01 -6.15244500e-01 -1.68337782e+02] [-9.38422428e-01 3.26492186e-02 3.43943854e-01 -5.25134914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.46, Y:-168.35, Z:-525.16 [[ 2.85304613e-01 6.40344448e-01 7.13134115e-01 2.91460590e+02] [-1.95568059e-01 7.67299996e-01 -6.10740412e-01 -1.68349683e+02] [-9.38272035e-01 3.47808024e-02 3.44145149e-01 -5.25164932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.47, Y:-168.35, Z:-525.20 [[ 2.86074508e-01 6.43222057e-01 7.10230077e-01 2.91469863e+02] [-1.94012842e-01 7.64737058e-01 -6.14439784e-01 -1.68353524e+02] [-9.38360481e-01 3.79818032e-02 3.43565117e-01 -5.25195688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:-168.36, Z:-525.23 [[ 2.87205761e-01 6.43571728e-01 7.09456328e-01 2.91479020e+02] [-1.92541554e-01 7.64332094e-01 -6.15405720e-01 -1.68358724e+02] [-9.38317964e-01 4.01482438e-02 3.43434881e-01 -5.25227282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.49, Y:-168.37, Z:-525.26 [[ 2.90478526e-01 6.39367822e-01 7.11920652e-01 2.91490091e+02] [-1.94455858e-01 7.67919074e-01 -6.10317307e-01 -1.68371454e+02] [-9.36914695e-01 3.88469308e-02 3.47392819e-01 -5.25256728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.50, Y:-168.36, Z:-525.29 [[ 2.89847718e-01 6.56359391e-01 6.96549101e-01 2.91500869e+02] [-1.89559693e-01 7.52743455e-01 -6.30431926e-01 -1.68355137e+02] [-9.38112692e-01 5.06916209e-02 3.42600258e-01 -5.25290297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:-168.37, Z:-525.32 [[ 2.88902636e-01 6.43588703e-01 7.08751613e-01 2.91509420e+02] [-1.88531277e-01 7.64069623e-01 -6.16971287e-01 -1.68370681e+02] [-9.38611328e-01 4.46227844e-02 3.42078328e-01 -5.25319237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.52, Y:-168.37, Z:-525.35 [[ 2.87936081e-01 6.44395710e-01 7.08411591e-01 2.91519725e+02] [-1.88793500e-01 7.63418733e-01 -6.17696409e-01 -1.68374853e+02] [-9.38855595e-01 4.41135793e-02 3.41473520e-01 -5.25349935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-168.38, Z:-525.38 [[ 2.84908440e-01 6.45795352e-01 7.08361168e-01 2.91531854e+02] [-1.89841659e-01 7.62366075e-01 -6.18674480e-01 -1.68376785e+02] [-9.39567627e-01 4.17891211e-02 3.39803390e-01 -5.25379944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-168.38, Z:-525.41 [[ 2.83093768e-01 6.46949628e-01 7.08035378e-01 2.91541890e+02] [-1.92075047e-01 7.61522112e-01 -6.19024433e-01 -1.68382495e+02] [-9.39662224e-01 3.92460308e-02 3.39845044e-01 -5.25410961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-168.39, Z:-525.44 [[ 2.80849926e-01 6.48393249e-01 7.07608306e-01 2.91552229e+02] [-1.94333196e-01 7.60429121e-01 -6.19662942e-01 -1.68387796e+02] [-9.39871229e-01 3.65205077e-02 3.39570795e-01 -5.25442247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.56, Y:-168.39, Z:-525.47 [[ 2.75814889e-01 6.51146793e-01 7.07060111e-01 2.91564230e+02] [-2.00506777e-01 7.58386418e-01 -6.20199220e-01 -1.68389993e+02] [-9.40065519e-01 2.92898347e-02 3.39733610e-01 -5.25473721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:-168.39, Z:-525.51 [[ 2.73209413e-01 6.52941785e-01 7.06416054e-01 2.91574750e+02] [-2.04331305e-01 7.56987859e-01 -6.20659406e-01 -1.68393910e+02] [-9.40002838e-01 2.52270783e-02 3.40232656e-01 -5.25505428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.58, Y:-168.40, Z:-525.54 [[ 2.70556378e-01 6.54747606e-01 7.05765414e-01 2.91584961e+02] [-2.08180312e-01 7.55552346e-01 -6.21129302e-01 -1.68397226e+02] [-9.39925638e-01 2.11240305e-02 3.40725067e-01 -5.25536501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.60, Y:-168.40, Z:-525.57 [[ 2.64852966e-01 6.57669812e-01 7.05211546e-01 2.91596595e+02] [-2.14983383e-01 7.53193380e-01 -6.21676666e-01 -1.68397397e+02] [-9.40018644e-01 1.30441449e-02 3.40873583e-01 -5.25566949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:-168.40, Z:-525.60 [[ 2.62694955e-01 6.59175763e-01 7.04612428e-01 2.91606479e+02] [-2.18136259e-01 7.51926028e-01 -6.22112386e-01 -1.68402459e+02] [-9.39897831e-01 9.72426648e-03 3.41317309e-01 -5.25597405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.62, Y:-168.41, Z:-525.63 [[ 2.60624871e-01 6.60484153e-01 7.04155778e-01 2.91616270e+02] [-2.20396262e-01 7.50806516e-01 -6.22667699e-01 -1.68408545e+02] [-9.39946894e-01 7.08938741e-03 3.41247090e-01 -5.25628345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:-168.41, Z:-525.66 [[ 2.57029604e-01 6.62049466e-01 7.04007306e-01 2.91627705e+02] [-2.22443878e-01 7.49451135e-01 -6.23571742e-01 -1.68413782e+02] [-9.40454413e-01 3.67428208e-03 3.39899979e-01 -5.25659484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.64, Y:-168.42, Z:-525.69 [[ 2.55547985e-01 6.62919269e-01 7.03728123e-01 2.91637255e+02] [-2.22806304e-01 7.48685802e-01 -6.24361210e-01 -1.68419445e+02] [-9.40772331e-01 2.75918685e-03 3.39027740e-01 -5.25690333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:-168.43, Z:-525.72 [[ 2.55467859e-01 6.63494821e-01 7.03214616e-01 2.91645711e+02] [-2.22900181e-01 7.48175235e-01 -6.24939459e-01 -1.68426560e+02] [-9.40771855e-01 2.90527995e-03 3.39027841e-01 -5.25721929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:-168.43, Z:-525.75 [[ 2.54873364e-01 6.63825571e-01 7.03118183e-01 2.91655413e+02] [-2.22850149e-01 7.47882615e-01 -6.25307448e-01 -1.68432535e+02] [-9.40944940e-01 2.68422079e-03 3.38548985e-01 -5.25753221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:-168.44, Z:-525.78 [[ 2.54479522e-01 6.64300711e-01 7.02812022e-01 2.91664687e+02] [-2.22136355e-01 7.47458572e-01 -6.26067987e-01 -1.68437736e+02] [-9.41220279e-01 3.20138107e-03 3.37778238e-01 -5.25784097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.67, Y:-168.44, Z:-525.81 [[ 2.55828555e-01 6.64269246e-01 7.02351848e-01 2.91674697e+02] [-2.20272643e-01 7.47472253e-01 -6.26709817e-01 -1.68441973e+02] [-9.41292576e-01 5.62136917e-03 3.37545089e-01 -5.25814513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:-168.45, Z:-525.84 [[ 2.58806126e-01 6.59730338e-01 7.05531906e-01 2.91684752e+02] [-2.19964882e-01 7.51480133e-01 -6.22007283e-01 -1.68453385e+02] [-9.40550286e-01 5.78705339e-03 3.39605168e-01 -5.25842810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:-168.45, Z:-525.88 [[ 2.60952675e-01 6.64800154e-01 6.99960325e-01 2.91692015e+02] [-2.15329762e-01 7.46900264e-01 -6.29104991e-01 -1.68452960e+02] [-9.41029646e-01 1.34443399e-02 3.38056880e-01 -5.25875729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.70, Y:-168.46, Z:-525.91 [[ 2.63206094e-01 6.63302851e-01 7.00536852e-01 2.91700388e+02] [-2.13716501e-01 7.48188254e-01 -6.28123868e-01 -1.68460075e+02] [-9.40769796e-01 1.56097448e-02 3.38686472e-01 -5.25907079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-168.47, Z:-525.94 [[ 2.65868610e-01 6.63110527e-01 6.99713021e-01 2.91709006e+02] [-2.12442884e-01 7.48294557e-01 -6.28429214e-01 -1.68465816e+02] [-9.40309472e-01 1.84305496e-02 3.39821147e-01 -5.25937273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:-168.47, Z:-525.97 [[ 2.68099835e-01 6.62922359e-01 6.99039645e-01 2.91717234e+02] [-2.11011839e-01 7.48391485e-01 -6.28795824e-01 -1.68471435e+02] [-9.39998129e-01 2.10744156e-02 3.40528100e-01 -5.25967497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.73, Y:-168.48, Z:-526.00 [[ 2.74517472e-01 6.57715927e-01 7.01462698e-01 2.91727628e+02] [-2.09882888e-01 7.52883096e-01 -6.23791806e-01 -1.68481339e+02] [-9.38397214e-01 2.40167325e-02 3.44722883e-01 -5.25996253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.73, Y:-168.48, Z:-526.03 [[ 2.74218002e-01 6.61253799e-01 6.98246304e-01 2.91733930e+02] [-2.08649134e-01 7.49693001e-01 -6.28033394e-01 -1.68483865e+02] [-9.38759834e-01 2.65295764e-02 3.43549349e-01 -5.26028127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:-168.49, Z:-526.06 [[ 2.77796332e-01 6.58173789e-01 6.99740282e-01 2.91744002e+02] [-2.09697193e-01 7.52391168e-01 -6.24447450e-01 -1.68493335e+02] [-9.37473352e-01 2.67356380e-02 3.47028703e-01 -5.26055699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.75, Y:-168.50, Z:-526.09 [[ 2.76422207e-01 6.60325408e-01 6.98255769e-01 2.91750460e+02] [-2.09322635e-01 7.50489881e-01 -6.26856421e-01 -1.68498114e+02] [-9.37963111e-01 2.71162975e-02 3.45673124e-01 -5.26088387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.76, Y:-168.50, Z:-526.12 [[ 2.76063673e-01 6.63624595e-01 6.95263436e-01 2.91759786e+02] [-2.11073300e-01 7.47574794e-01 -6.29745973e-01 -1.68502318e+02] [-9.37676336e-01 2.70984386e-02 3.46451676e-01 -5.26118984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-168.51, Z:-526.15 [[ 2.75491468e-01 6.64298443e-01 6.94846767e-01 2.91768788e+02] [-2.12315987e-01 7.47014040e-01 -6.29993607e-01 -1.68509383e+02] [-9.37564063e-01 2.60307866e-02 3.46837174e-01 -5.26149362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:-168.52, Z:-526.18 [[ 2.76253945e-01 6.61021309e-01 6.97663663e-01 2.91779222e+02] [-2.14834251e-01 7.50016682e-01 -6.25556729e-01 -1.68520732e+02] [-9.36765714e-01 2.29304636e-02 3.49205085e-01 -5.26178172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:-168.52, Z:-526.21 [[ 2.71626443e-01 6.68499208e-01 6.92335095e-01 2.91787540e+02] [-2.16575829e-01 7.43388894e-01 -6.32825302e-01 -1.68520214e+02] [-9.37717434e-01 2.19490391e-02 3.46704851e-01 -5.26210006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-168.54, Z:-526.24 [[ 2.72195057e-01 6.60118223e-01 7.00109836e-01 2.91796940e+02] [-2.20772011e-01 7.51015561e-01 -6.22282369e-01 -1.68538244e+02] [-9.36573313e-01 1.48175284e-02 3.50158351e-01 -5.26238439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:-168.54, Z:-526.27 [[ 2.68242821e-01 6.72810646e-01 6.89471989e-01 2.91806928e+02] [-2.25110657e-01 7.39664374e-01 -6.34209591e-01 -1.68538401e+02] [-9.36680832e-01 1.49146771e-02 3.49866505e-01 -5.26270282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-168.53, Z:-526.30 [[ 2.63853878e-01 6.86791644e-01 6.77272744e-01 2.91815264e+02] [-2.23963657e-01 7.26587303e-01 -6.49546897e-01 -1.68530791e+02] [-9.38201157e-01 1.97009871e-02 3.45529246e-01 -5.26302203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-168.55, Z:-526.33 [[ 2.61024823e-01 6.71828614e-01 6.93189985e-01 2.91819967e+02] [-2.25574913e-01 7.40653959e-01 -6.32888357e-01 -1.68550906e+02] [-9.38606414e-01 8.83330046e-03 3.44876749e-01 -5.26330292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-168.56, Z:-526.36 [[ 2.58428401e-01 6.73260821e-01 6.92773144e-01 2.91828641e+02] [-2.28067154e-01 7.39383024e-01 -6.33480953e-01 -1.68558192e+02] [-9.38722608e-01 5.71067055e-03 3.44626252e-01 -5.26361644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:-168.56, Z:-526.39 [[ 2.55659614e-01 6.74751110e-01 6.92350418e-01 2.91836683e+02] [-2.30572395e-01 7.38041161e-01 -6.34138482e-01 -1.68564851e+02] [-9.38868752e-01 2.48670571e-03 3.44266298e-01 -5.26391955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-168.57, Z:-526.42 [[ 2.49995467e-01 6.77012314e-01 6.92211379e-01 2.91845130e+02] [-2.35741945e-01 7.35957800e-01 -6.34658847e-01 -1.68571853e+02] [-9.39110218e-01 -4.52142189e-03 3.43586314e-01 -5.26423095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-168.58, Z:-526.45 [[ 2.47085044e-01 6.78537221e-01 6.91763125e-01 2.91852857e+02] [-2.38502399e-01 7.34522277e-01 -6.35290193e-01 -1.68579531e+02] [-9.39183468e-01 -8.01645965e-03 3.43322224e-01 -5.26452742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:-168.59, Z:-526.48 [[ 2.44104742e-01 6.79920647e-01 6.91462789e-01 2.91860569e+02] [-2.40705513e-01 7.33200286e-01 -6.35986004e-01 -1.68588140e+02] [-9.39400730e-01 -1.11917061e-02 3.42638315e-01 -5.26484036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-168.60, Z:-526.51 [[ 2.41726849e-01 6.81226315e-01 6.91012907e-01 2.91867968e+02] [-2.42854271e-01 7.31940393e-01 -6.36620032e-01 -1.68596465e+02] [-9.39462577e-01 -1.39272815e-02 3.42368365e-01 -5.26514683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-168.61, Z:-526.54 [[ 2.38362867e-01 6.82855224e-01 6.90573592e-01 2.91874381e+02] [-2.45990725e-01 7.30332554e-01 -6.37262053e-01 -1.68605656e+02] [-9.39506097e-01 -1.79750880e-02 3.42060213e-01 -5.26544796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-168.61, Z:-526.58 [[ 2.37460279e-01 6.83681160e-01 6.90067161e-01 2.91881500e+02] [-2.47047113e-01 7.29532570e-01 -6.37769514e-01 -1.68613478e+02] [-9.39457471e-01 -1.90341736e-02 3.42136465e-01 -5.26576141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:-168.62, Z:-526.61 [[ 2.37155190e-01 6.84501194e-01 6.89358783e-01 2.91888747e+02] [-2.48416900e-01 7.28739827e-01 -6.38143642e-01 -1.68621924e+02] [-9.39173285e-01 -1.99092950e-02 3.42866096e-01 -5.26607415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:-168.63, Z:-526.64 [[ 2.36933630e-01 6.85374674e-01 6.88566635e-01 2.91893802e+02] [-2.50026911e-01 7.27891131e-01 -6.38483395e-01 -1.68631035e+02] [-9.38801895e-01 -2.08820006e-02 3.43824001e-01 -5.26637850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-168.64, Z:-526.67 [[ 2.37148019e-01 6.86012071e-01 6.87857729e-01 2.91900672e+02] [-2.50918068e-01 7.27284153e-01 -6.38825394e-01 -1.68639769e+02] [-9.38509957e-01 -2.10997558e-02 3.44606820e-01 -5.26669055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-168.65, Z:-526.70 [[ 2.37901226e-01 6.86514634e-01 6.87095819e-01 2.91907693e+02] [-2.51482450e-01 7.26820069e-01 -6.39131571e-01 -1.68648423e+02] [-9.38168207e-01 -2.07423560e-02 3.45557767e-01 -5.26700217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-168.66, Z:-526.73 [[ 2.37515943e-01 6.87391922e-01 6.86351603e-01 2.91912498e+02] [-2.52895669e-01 7.25963253e-01 -6.39547603e-01 -1.68658430e+02] [-9.37885898e-01 -2.16725954e-02 3.46266286e-01 -5.26730765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-168.67, Z:-526.76 [[ 2.37926536e-01 6.87814562e-01 6.85785748e-01 2.91919056e+02] [-2.53649584e-01 7.25560631e-01 -6.39705917e-01 -1.68667500e+02] [-9.37578185e-01 -2.17462565e-02 3.47094005e-01 -5.26761495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-168.68, Z:-526.79 [[ 2.38310320e-01 6.88251313e-01 6.85214070e-01 2.91925625e+02] [-2.53625568e-01 7.25161671e-01 -6.40167652e-01 -1.68676297e+02] [-9.37487207e-01 -2.12292492e-02 3.47371640e-01 -5.26793019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-168.69, Z:-526.82 [[ 2.39923304e-01 6.88168631e-01 6.84734068e-01 2.91930429e+02] [-2.51683391e-01 7.25312274e-01 -6.40763276e-01 -1.68687604e+02] [-9.37599210e-01 -1.86021498e-02 3.47219931e-01 -5.26824389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-168.70, Z:-526.86 [[ 2.41294157e-01 6.88132972e-01 6.84288056e-01 2.91936559e+02] [-2.49802849e-01 7.25404349e-01 -6.41394627e-01 -1.68696961e+02] [-9.37750322e-01 -1.61723299e-02 3.46933407e-01 -5.26855525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-168.71, Z:-526.89 [[ 2.43614188e-01 6.87915484e-01 6.83684441e-01 2.91942659e+02] [-2.47718372e-01 7.25674619e-01 -6.41897154e-01 -1.68706653e+02] [-9.37703437e-01 -1.29859423e-02 3.47193936e-01 -5.26886486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-168.72, Z:-526.92 [[ 2.46060235e-01 6.87606750e-01 6.83118817e-01 2.91948525e+02] [-2.45245118e-01 7.26021811e-01 -6.42454016e-01 -1.68716196e+02] [-9.37714878e-01 -9.44916891e-03 3.47277296e-01 -5.26916062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-168.74, Z:-526.95 [[ 2.52796632e-01 6.79866417e-01 6.88386170e-01 2.91952623e+02] [-2.40957931e-01 7.33317855e-01 -6.35754826e-01 -1.68738319e+02] [-9.37034225e-01 -5.15542843e-03 3.49199489e-01 -5.26946185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:-168.72, Z:-526.98 [[ 2.54783109e-01 7.02218911e-01 6.64811378e-01 2.91960519e+02] [-2.35208771e-01 7.11855907e-01 -6.61768844e-01 -1.68723688e+02] [-9.37956503e-01 1.22380562e-02 3.46536908e-01 -5.26978603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:-168.76, Z:-527.01 [[ 2.59347817e-01 6.76586576e-01 6.89180176e-01 2.91963971e+02] [-2.34241381e-01 7.36356196e-01 -6.34752336e-01 -1.68760049e+02] [-9.36947002e-01 3.18711673e-03 3.49456946e-01 -5.27005855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-168.74, Z:-527.04 [[ 2.65033527e-01 7.02198808e-01 6.60813184e-01 2.91970331e+02] [-2.25042977e-01 7.11440643e-01 -6.65738590e-01 -1.68742595e+02] [-9.37610201e-01 2.77316801e-02 3.46580533e-01 -5.27039984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-168.77, Z:-527.07 [[ 2.67941215e-01 6.81179464e-01 6.81323743e-01 2.91973041e+02] [-2.21668558e-01 7.31796260e-01 -6.44466667e-01 -1.68769938e+02] [-9.37587626e-01 2.16511297e-02 3.47074449e-01 -5.27067832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-168.78, Z:-527.10 [[ 2.70632549e-01 6.80766587e-01 6.80672371e-01 2.91978782e+02] [-2.19439258e-01 7.32067829e-01 -6.44921008e-01 -1.68779337e+02] [-9.37339019e-01 2.51703763e-02 3.47508297e-01 -5.27097880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-168.79, Z:-527.13 [[ 2.75070050e-01 6.79811407e-01 6.79847717e-01 2.91982959e+02] [-2.16474588e-01 7.32761290e-01 -6.45135369e-01 -1.68791213e+02] [-9.36736473e-01 3.02876645e-02 3.48722579e-01 -5.27128592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:-168.80, Z:-527.16 [[ 2.77013288e-01 6.80832974e-01 6.78033997e-01 2.91989502e+02] [-2.16051783e-01 7.31713345e-01 -6.46465163e-01 -1.68799595e+02] [-9.36261323e-01 3.25889867e-02 3.49789497e-01 -5.27160421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-168.81, Z:-527.19 [[ 2.77435688e-01 6.82658164e-01 6.76023129e-01 2.91996136e+02] [-2.16063570e-01 7.29953967e-01 -6.48447176e-01 -1.68806948e+02] [-9.36133523e-01 3.38384179e-02 3.50012841e-01 -5.27190638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-168.82, Z:-527.22 [[ 2.77481908e-01 6.80647649e-01 6.78028442e-01 2.92002178e+02] [-2.16125957e-01 7.31877006e-01 -6.46255073e-01 -1.68817319e+02] [-9.36105422e-01 3.27845449e-02 3.50188253e-01 -5.27220096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-168.84, Z:-527.25 [[ 2.75586093e-01 6.72118395e-01 6.87247531e-01 2.92011057e+02] [-2.21584956e-01 7.40095682e-01 -6.34947627e-01 -1.68841493e+02] [-9.35388910e-01 2.26990217e-02 3.52891403e-01 -5.27250177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:-168.82, Z:-527.28 [[ 2.73222924e-01 7.01397042e-01 6.58324710e-01 2.92023228e+02] [-2.24186554e-01 7.11947984e-01 -6.65485129e-01 -1.68823127e+02] [-9.35462251e-01 3.42382448e-02 3.51764295e-01 -5.27284684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-168.84, Z:-527.31 [[ 2.70149625e-01 6.97066936e-01 6.64166295e-01 2.92030297e+02] [-2.25901618e-01 7.16448256e-01 -6.60053298e-01 -1.68836153e+02] [-9.35942113e-01 2.82769106e-02 3.51016776e-01 -5.27314357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-168.83, Z:-527.34 [[ 2.66134408e-01 7.09623656e-01 6.52385425e-01 2.92037606e+02] [-2.25233739e-01 7.03837514e-01 -6.73708035e-01 -1.68827030e+02] [-9.37252495e-01 3.23576808e-02 3.47146570e-01 -5.27344772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-168.86, Z:-527.37 [[ 2.59910157e-01 6.88151114e-01 6.77417711e-01 2.92042303e+02] [-2.29699533e-01 7.25450371e-01 -6.48814214e-01 -1.68856021e+02] [-9.37915153e-01 1.30308725e-02 3.46619909e-01 -5.27371706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-168.88, Z:-527.40 [[ 2.58488507e-01 6.80614601e-01 6.85527138e-01 2.92051592e+02] [-2.36060889e-01 7.32634706e-01 -6.38374220e-01 -1.68877234e+02] [-9.36727788e-01 3.18625332e-03 3.50044139e-01 -5.27400707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-168.85, Z:-527.44 [[ 2.51844677e-01 7.13511380e-01 6.53816312e-01 2.92061976e+02] [-2.39361648e-01 7.00526470e-01 -6.72286150e-01 -1.68850058e+02] [-9.37699451e-01 1.28131385e-02 3.47211123e-01 -5.27436317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-168.87, Z:-527.46 [[ 2.49352102e-01 6.93465294e-01 6.75965543e-01 2.92067057e+02] [-2.42088599e-01 7.20488244e-01 -6.49838288e-01 -1.68874874e+02] [-9.37665526e-01 -1.60500806e-03 3.47535300e-01 -5.27463685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-168.88, Z:-527.49 [[ 2.46696095e-01 6.94935706e-01 6.75429790e-01 2.92075348e+02] [-2.44862508e-01 7.19054910e-01 -6.50386338e-01 -1.68880180e+02] [-9.37647796e-01 -4.93966271e-03 3.47551739e-01 -5.27494230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-168.89, Z:-527.52 [[ 2.44441439e-01 6.96338550e-01 6.74804421e-01 2.92083877e+02] [-2.47885538e-01 7.17666647e-01 -6.50774419e-01 -1.68886403e+02] [-9.37443941e-01 -8.19802128e-03 3.48039724e-01 -5.27524953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-168.89, Z:-527.56 [[ 2.40242828e-01 6.98316718e-01 6.74267859e-01 2.92092701e+02] [-2.52321742e-01 7.15658423e-01 -6.51280862e-01 -1.68892758e+02] [-9.37345786e-01 -1.36668847e-02 3.48132294e-01 -5.27555647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-168.90, Z:-527.59 [[ 2.38590306e-01 6.99419473e-01 6.73711413e-01 2.92101058e+02] [-2.54251402e-01 7.14537009e-01 -6.51761526e-01 -1.68899755e+02] [-9.37246441e-01 -1.57880895e-02 3.48309985e-01 -5.27587015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-168.91, Z:-527.62 [[ 2.37156535e-01 7.00405252e-01 6.73193331e-01 2.92109188e+02] [-2.55754754e-01 7.13531284e-01 -6.52274952e-01 -1.68906622e+02] [-9.37201304e-01 -1.74811279e-02 3.48350580e-01 -5.27618354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-168.91, Z:-527.65 [[ 2.37055172e-01 7.00954004e-01 6.72657661e-01 2.92117271e+02] [-2.55838966e-01 7.12995756e-01 -6.52827293e-01 -1.68914060e+02] [-9.37203963e-01 -1.73359543e-02 3.48350679e-01 -5.27649966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-168.92, Z:-527.68 [[ 2.36212144e-01 7.01564935e-01 6.72317235e-01 2.92124904e+02] [-2.57258665e-01 7.12359565e-01 -6.52963881e-01 -1.68921427e+02] [-9.37028176e-01 -1.87214368e-02 3.48751639e-01 -5.27679940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-168.93, Z:-527.71 [[ 2.35508679e-01 7.02296299e-01 6.71800246e-01 2.92132317e+02] [-2.58055519e-01 7.11618541e-01 -6.53457268e-01 -1.68929444e+02] [-9.36986132e-01 -1.94669024e-02 3.48823779e-01 -5.27711181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:-168.93, Z:-527.74 [[ 2.35068786e-01 7.04278950e-01 6.69875978e-01 2.92139219e+02] [-2.56332419e-01 7.09708677e-01 -6.56206739e-01 -1.68934282e+02] [-9.37569388e-01 -1.74572080e-02 3.47359884e-01 -5.27742427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-168.95, Z:-527.77 [[ 2.36726963e-01 6.96638072e-01 6.77241273e-01 2.92146676e+02] [-2.57562138e-01 7.17111734e-01 -6.47620650e-01 -1.68951521e+02] [-9.36814865e-01 -2.11224408e-02 3.49187274e-01 -5.27771682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-168.95, Z:-527.80 [[ 2.37235778e-01 7.08769654e-01 6.64352890e-01 2.92154597e+02] [-2.55095954e-01 7.05328024e-01 -6.61391286e-01 -1.68947528e+02] [-9.37360784e-01 -1.25680581e-02 3.48133314e-01 -5.27803726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-168.96, Z:-527.83 [[ 2.37911297e-01 7.02914350e-01 6.70305626e-01 2.92160939e+02] [-2.54207901e-01 7.11127768e-01 -6.55496484e-01 -1.68960425e+02] [-9.37430828e-01 -1.44469674e-02 3.47871711e-01 -5.27832741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-168.97, Z:-527.86 [[ 2.38651155e-01 7.03179354e-01 6.69764453e-01 2.92168683e+02] [-2.53686113e-01 7.10886904e-01 -6.55959729e-01 -1.68968185e+02] [-9.37384117e-01 -1.33643934e-02 3.48040818e-01 -5.27863865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-168.98, Z:-527.90 [[ 2.38986443e-01 7.03524976e-01 6.69281771e-01 2.92176315e+02] [-2.53118742e-01 7.10560499e-01 -6.56532315e-01 -1.68975751e+02] [-9.37452070e-01 -1.25054372e-02 3.47889683e-01 -5.27895326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-168.98, Z:-527.93 [[ 2.40117803e-01 7.03920417e-01 6.68460535e-01 2.92183386e+02] [-2.53499105e-01 7.10181724e-01 -6.56795344e-01 -1.68983455e+02] [-9.37060107e-01 -1.17458925e-02 3.48970470e-01 -5.27925830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-168.99, Z:-527.96 [[ 2.40617645e-01 7.04464954e-01 6.67706730e-01 2.92191249e+02] [-2.54354698e-01 7.09641721e-01 -6.57048183e-01 -1.68990661e+02] [-9.36699972e-01 -1.17369571e-02 3.49936290e-01 -5.27957397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-169.00, Z:-527.99 [[ 2.40621316e-01 7.05225897e-01 6.66901655e-01 2.92198563e+02] [-2.55739612e-01 7.08874519e-01 -6.57338700e-01 -1.68997454e+02] [-9.36321864e-01 -1.23834672e-02 3.50924517e-01 -5.27988089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-169.00, Z:-528.02 [[ 2.40840460e-01 7.05783306e-01 6.66232540e-01 2.92206336e+02] [-2.57284296e-01 7.08306742e-01 -6.57347968e-01 -1.69004239e+02] [-9.35842222e-01 -1.30951836e-02 3.52175883e-01 -5.28019381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-169.01, Z:-528.05 [[ 2.40054604e-01 7.06150904e-01 6.66126631e-01 2.92213673e+02] [-2.60738581e-01 7.07878267e-01 -6.56447829e-01 -1.69013429e+02] [-9.35087792e-01 -1.61015891e-02 3.54050222e-01 -5.28052785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-169.01, Z:-528.08 [[ 2.39923613e-01 7.19726655e-01 6.51483079e-01 2.92224255e+02] [-2.60898470e-01 6.94198927e-01 -6.70835179e-01 -1.69006539e+02] [-9.35076814e-01 -9.02173837e-03 3.54330298e-01 -5.28082890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:-169.02, Z:-528.11 [[ 2.38802305e-01 7.11033034e-01 6.61366376e-01 2.92228773e+02] [-2.60888253e-01 7.03008039e-01 -6.61601857e-01 -1.69022537e+02] [-9.35366655e-01 -1.45506695e-02 3.53380106e-01 -5.28114033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-169.03, Z:-528.14 [[ 2.38418038e-01 7.14574250e-01 6.57678098e-01 2.92238767e+02] [-2.60201726e-01 6.99449161e-01 -6.65631980e-01 -1.69027423e+02] [-9.35655867e-01 -1.24303060e-02 3.52694750e-01 -5.28141769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-169.04, Z:-528.17 [[ 2.38194515e-01 7.08436283e-01 6.64365416e-01 2.92245857e+02] [-2.58961608e-01 7.05616692e-01 -6.59578631e-01 -1.69040891e+02] [-9.36056760e-01 -1.49371244e-02 3.51531825e-01 -5.28171911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-169.05, Z:-528.20 [[ 2.37675654e-01 7.08836536e-01 6.64124272e-01 2.92253654e+02] [-2.57897866e-01 7.05227562e-01 -6.60411066e-01 -1.69048386e+02] [-9.36482234e-01 -1.43126000e-02 3.50422852e-01 -5.28201561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-169.06, Z:-528.23 [[ 2.37923920e-01 7.08719812e-01 6.64159948e-01 2.92261470e+02] [-2.54779218e-01 7.05390699e-01 -6.61446530e-01 -1.69056492e+02] [-9.37272510e-01 -1.18402011e-02 3.48396400e-01 -5.28232062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-169.06, Z:-528.26 [[ 2.38393133e-01 7.08881824e-01 6.63818705e-01 2.92268948e+02] [-2.53387111e-01 7.05251241e-01 -6.62129639e-01 -1.69064423e+02] [-9.37530632e-01 -1.03559449e-02 3.47748570e-01 -5.28262902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-169.07, Z:-528.29 [[ 2.39529870e-01 7.08947122e-01 6.63339596e-01 2.92276399e+02] [-2.51915046e-01 7.05212076e-01 -6.62732780e-01 -1.69072230e+02] [-9.37637591e-01 -8.36092814e-03 3.47513804e-01 -5.28293310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-169.08, Z:-528.32 [[ 2.40853339e-01 7.09020746e-01 6.62781450e-01 2.92283801e+02] [-2.50886822e-01 7.05157167e-01 -6.63181101e-01 -1.69080227e+02] [-9.37574249e-01 -6.55374878e-03 3.47723420e-01 -5.28324910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-169.09, Z:-528.36 [[ 2.42818372e-01 7.08864050e-01 6.62231831e-01 2.92290725e+02] [-2.49166879e-01 7.05334562e-01 -6.63640733e-01 -1.69088790e+02] [-9.37526055e-01 -3.86207615e-03 3.47893633e-01 -5.28355525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.30, Y:-169.09, Z:-528.39 [[ 2.42678744e-01 7.09295427e-01 6.61820992e-01 2.92298530e+02] [-2.48556319e-01 7.04903701e-01 -6.64327125e-01 -1.69094881e+02] [-9.37724258e-01 -3.28171692e-03 3.47365005e-01 -5.28385396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:-169.10, Z:-528.42 [[ 2.42423383e-01 7.09835008e-01 6.61335894e-01 2.92306575e+02] [-2.48664778e-01 7.04360384e-01 -6.64862601e-01 -1.69101925e+02] [-9.37761554e-01 -3.27270286e-03 3.47264392e-01 -5.28416984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:-169.11, Z:-528.45 [[ 2.42587729e-01 7.10413871e-01 6.60653711e-01 2.92314135e+02] [-2.49183441e-01 7.03776723e-01 -6.65286357e-01 -1.69108804e+02] [-9.37581360e-01 -3.23365856e-03 3.47750970e-01 -5.28446777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-169.12, Z:-528.48 [[ 2.42163231e-01 7.11042902e-01 6.60132533e-01 2.92322342e+02] [-2.49623101e-01 7.03139649e-01 -6.65794970e-01 -1.69116154e+02] [-9.37574145e-01 -3.55326936e-03 3.47767303e-01 -5.28478191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:-169.12, Z:-528.51 [[ 2.41902024e-01 7.11673147e-01 6.59548893e-01 2.92330294e+02] [-2.50073571e-01 7.02500691e-01 -6.66300223e-01 -1.69122907e+02] [-9.37521530e-01 -3.75637410e-03 3.47906985e-01 -5.28508400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:-169.13, Z:-528.53 [[ 2.40685010e-01 7.08766236e-01 6.63114732e-01 2.92335892e+02] [-2.50252148e-01 7.05414965e-01 -6.63146734e-01 -1.69131342e+02] [-9.37787070e-01 -6.33640822e-03 3.47153080e-01 -5.28533539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:-169.14, Z:-528.56 [[ 2.41831083e-01 7.09648836e-01 6.61752414e-01 2.92343833e+02] [-2.50349974e-01 7.04537214e-01 -6.64042321e-01 -1.69137213e+02] [-9.37466062e-01 -5.08362628e-03 3.48039565e-01 -5.28561755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-169.14, Z:-528.59 [[ 2.41618359e-01 7.12106436e-01 6.59185097e-01 2.92352068e+02] [-2.50342405e-01 7.02060446e-01 -6.66663192e-01 -1.69142559e+02] [-9.37522933e-01 -3.94391548e-03 3.47901131e-01 -5.28593277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:-169.15, Z:-528.62 [[ 2.41739605e-01 7.12397515e-01 6.58826035e-01 2.92360146e+02] [-2.49148543e-01 7.01770556e-01 -6.67415231e-01 -1.69149486e+02] [-9.37809665e-01 -2.80485190e-03 3.47138540e-01 -5.28624474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-169.16, Z:-528.66 [[ 2.41822736e-01 7.12801157e-01 6.58358774e-01 2.92367909e+02] [-2.48586885e-01 7.01363004e-01 -6.68052766e-01 -1.69157376e+02] [-9.37937271e-01 -2.10900924e-03 3.46798540e-01 -5.28655668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-169.16, Z:-528.69 [[ 2.41572830e-01 7.13217109e-01 6.57999942e-01 2.92374940e+02] [-2.47732619e-01 7.00941708e-01 -6.68811835e-01 -1.69164953e+02] [-9.38227647e-01 -1.44128125e-03 3.46015614e-01 -5.28685630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-169.17, Z:-528.72 [[ 2.41686271e-01 7.13486686e-01 6.57665945e-01 2.92382680e+02] [-2.46592368e-01 7.00668693e-01 -6.69518922e-01 -1.69173635e+02] [-9.38498775e-01 -3.61871127e-04 3.45282375e-01 -5.28716950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:-169.18, Z:-528.75 [[ 2.41922081e-01 7.13916673e-01 6.57112388e-01 2.92390395e+02] [-2.46388933e-01 7.00230638e-01 -6.70051900e-01 -1.69181030e+02] [-9.38491449e-01 1.95130046e-04 3.45302420e-01 -5.28747313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-169.17, Z:-528.78 [[ 2.40517427e-01 7.25572346e-01 6.44745019e-01 2.92396811e+02] [-2.41467103e-01 6.88088408e-01 -6.84271862e-01 -1.69170679e+02] [-9.40130313e-01 8.89459559e-03 3.40699105e-01 -5.28781899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-169.22, Z:-528.80 [[ 2.43272339e-01 6.91659486e-01 6.80018914e-01 2.92401508e+02] [-2.44748317e-01 7.22167140e-01 -6.46972089e-01 -1.69215790e+02] [-9.38571697e-01 -9.04307132e-03 3.44965785e-01 -5.28804142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:-169.20, Z:-528.84 [[ 2.43445734e-01 7.14481677e-01 6.55934531e-01 2.92412428e+02] [-2.44739839e-01 6.99648213e-01 -6.71263577e-01 -1.69203294e+02] [-9.38528948e-01 2.88294267e-03 3.45188503e-01 -5.28838435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5565599949999 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:292.42, Y:-169.21, Z:-528.87 [[ 2.45213241e-01 7.17483054e-01 6.51988139e-01 2.92419740e+02] [-2.45184476e-01 6.96554302e-01 -6.74312003e-01 -1.69207728e+02] [-9.37952578e-01 5.49286140e-03 3.46720045e-01 -5.28865463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-169.22, Z:-528.89 [[ 2.45229893e-01 7.10800462e-01 6.59260952e-01 2.92424298e+02] [-2.43676007e-01 7.03386863e-01 -6.67734172e-01 -1.69220050e+02] [-9.38341251e-01 3.10230312e-03 3.45696504e-01 -5.28890316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-169.21, Z:-528.92 [[ 2.44587834e-01 7.22278945e-01 6.46907967e-01 2.92430766e+02] [-2.39307351e-01 6.91499504e-01 -6.81586698e-01 -1.69211549e+02] [-9.39632260e-01 1.18979823e-02 3.41979027e-01 -5.28924594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:-169.25, Z:-528.95 [[ 2.45726797e-01 6.96011558e-01 6.74674924e-01 2.92436045e+02] [-2.42563505e-01 7.18022796e-01 -6.52385017e-01 -1.69249204e+02] [-9.38499487e-01 -3.34303348e-03 3.45264445e-01 -5.28948162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-169.24, Z:-528.98 [[ 2.45478060e-01 7.14194612e-01 6.55489571e-01 2.92447012e+02] [-2.43073986e-01 6.99925370e-01 -6.71579864e-01 -1.69240669e+02] [-9.38432501e-01 5.52565932e-03 3.45418453e-01 -5.28982282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-169.24, Z:-529.02 [[ 2.44328217e-01 7.17465604e-01 6.52339505e-01 2.92454230e+02] [-2.42799324e-01 6.96562908e-01 -6.75165612e-01 -1.69243544e+02] [-9.38803606e-01 6.57441917e-03 3.44390137e-01 -5.29015100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-169.26, Z:-529.04 [[ 2.43824238e-01 7.12809454e-01 6.57611149e-01 2.92462107e+02] [-2.44710955e-01 7.01353925e-01 -6.69491763e-01 -1.69257502e+02] [-9.38438218e-01 2.31366712e-03 3.45439369e-01 -5.29043511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-169.26, Z:-529.08 [[ 2.42365156e-01 7.21713269e-01 6.48374189e-01 2.92469747e+02] [-2.43600314e-01 6.92159548e-01 -6.79392410e-01 -1.69255009e+02] [-9.39104903e-01 6.71689137e-03 3.43564935e-01 -5.29077564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-169.26, Z:-529.11 [[ 2.41456754e-01 7.20265895e-01 6.50319673e-01 2.92476527e+02] [-2.44112104e-01 6.93680972e-01 -6.77654772e-01 -1.69264072e+02] [-9.39206003e-01 4.87341799e-03 3.43319579e-01 -5.29108477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-169.28, Z:-529.13 [[ 2.41591979e-01 7.11107542e-01 6.60272201e-01 2.92484224e+02] [-2.48102569e-01 7.03077634e-01 -6.66428507e-01 -1.69283431e+02] [-9.38124955e-01 -2.81144728e-03 3.46285525e-01 -5.29134671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-169.27, Z:-529.17 [[ 2.40501750e-01 7.25450379e-01 6.44888096e-01 2.92493000e+02] [-2.46396813e-01 6.88254778e-01 -6.82344467e-01 -1.69274192e+02] [-9.38854365e-01 5.20666691e-03 3.44275139e-01 -5.29168777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:-169.30, Z:-529.19 [[ 2.40880415e-01 7.08392190e-01 6.63443390e-01 2.92499233e+02] [-2.49420450e-01 7.05795534e-01 -6.63055129e-01 -1.69300483e+02] [-9.37958456e-01 -5.75935461e-03 3.46699820e-01 -5.29194321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-169.30, Z:-529.23 [[ 2.40004392e-01 7.19913398e-01 6.51246951e-01 2.92509508e+02] [-2.50559640e-01 6.94062871e-01 -6.74904880e-01 -1.69296994e+02] [-9.37879395e-01 -1.19606606e-03 3.46959379e-01 -5.29227667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-169.30, Z:-529.26 [[ 2.39761688e-01 7.20566033e-01 6.50614268e-01 2.92517664e+02] [-2.51206893e-01 6.93384672e-01 -6.75361232e-01 -1.69304174e+02] [-9.37768324e-01 -1.51303931e-03 3.47258234e-01 -5.29258402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-169.31, Z:-529.29 [[ 2.39568716e-01 7.21236208e-01 6.49942430e-01 2.92525505e+02] [-2.52012539e-01 6.92686601e-01 -6.75777295e-01 -1.69311649e+02] [-9.37601467e-01 -1.89854290e-03 3.47706608e-01 -5.29288466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-169.32, Z:-529.32 [[ 2.38801201e-01 7.21990028e-01 6.49387701e-01 2.92533755e+02] [-2.52947099e-01 6.91897897e-01 -6.76235954e-01 -1.69318708e+02] [-9.37545600e-01 -2.77477775e-03 3.47851332e-01 -5.29319709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-169.33, Z:-529.35 [[ 2.38260969e-01 7.22665619e-01 6.48834428e-01 2.92541729e+02] [-2.53420252e-01 6.91190502e-01 -6.76781993e-01 -1.69325673e+02] [-9.37555271e-01 -3.17705053e-03 3.47821821e-01 -5.29349990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-169.33, Z:-529.38 [[ 2.37731776e-01 7.23286411e-01 6.48336618e-01 2.92549667e+02] [-2.53788353e-01 6.90539180e-01 -6.77308727e-01 -1.69333023e+02] [-9.37590035e-01 -3.52247536e-03 3.47724773e-01 -5.29381379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-169.34, Z:-529.41 [[ 2.37611475e-01 7.23831213e-01 6.47772462e-01 2.92557335e+02] [-2.53868027e-01 6.89968798e-01 -6.77859929e-01 -1.69340075e+02] [-9.37598961e-01 -3.38141939e-03 3.47702105e-01 -5.29411075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-169.35, Z:-529.44 [[ 2.38158658e-01 7.23910506e-01 6.47482844e-01 2.92565207e+02] [-2.53002253e-01 6.89890122e-01 -6.78263577e-01 -1.69348425e+02] [-9.37694147e-01 -2.28027569e-03 3.47454294e-01 -5.29442081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-169.36, Z:-529.47 [[ 2.38329008e-01 7.24252946e-01 6.47037058e-01 2.92572560e+02] [-2.52238636e-01 6.89532958e-01 -6.78910870e-01 -1.69356274e+02] [-9.37856575e-01 -1.40359101e-03 3.47020281e-01 -5.29472894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-169.36, Z:-529.50 [[ 2.39096609e-01 7.24521211e-01 6.46453268e-01 2.92580218e+02] [-2.51653449e-01 6.89252464e-01 -6.79412675e-01 -1.69364420e+02] [-9.37818401e-01 -2.36927823e-04 3.47126188e-01 -5.29503781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:-169.37, Z:-529.53 [[ 2.40223267e-01 7.24613329e-01 6.45932121e-01 2.92587027e+02] [-2.50348348e-01 6.89153702e-01 -6.79994764e-01 -1.69373414e+02] [-9.37879783e-01 1.64252431e-03 3.46956503e-01 -5.29533629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:-169.38, Z:-529.56 [[ 2.40753976e-01 7.24938678e-01 6.45369225e-01 2.92594585e+02] [-2.50050133e-01 6.88809062e-01 -6.80453530e-01 -1.69381611e+02] [-9.37823253e-01 2.44723275e-03 3.47104533e-01 -5.29564610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-169.39, Z:-529.60 [[ 2.40611149e-01 7.25482664e-01 6.44810964e-01 2.92602346e+02] [-2.50188509e-01 6.88235799e-01 -6.80982521e-01 -1.69389371e+02] [-9.37823003e-01 2.52769358e-03 3.47104633e-01 -5.29596204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-169.40, Z:-529.63 [[ 2.40731837e-01 7.25763563e-01 6.44449714e-01 2.92609971e+02] [-2.49953397e-01 6.87937917e-01 -6.81369739e-01 -1.69397190e+02] [-9.37854723e-01 2.94499412e-03 3.47015627e-01 -5.29627319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-169.40, Z:-529.66 [[ 2.40270414e-01 7.26425146e-01 6.43876258e-01 2.92617874e+02] [-2.50495664e-01 6.87240879e-01 -6.81873813e-01 -1.69404454e+02] [-9.37828369e-01 2.54589290e-03 3.47090000e-01 -5.29658647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-169.41, Z:-529.69 [[ 2.39357478e-01 7.27172290e-01 6.43372722e-01 2.92625648e+02] [-2.51054613e-01 6.86452555e-01 -6.82462066e-01 -1.69411869e+02] [-9.37912351e-01 1.83070931e-03 3.46867511e-01 -5.29690283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-169.42, Z:-529.72 [[ 2.38377382e-01 7.28073405e-01 6.42717155e-01 2.92633558e+02] [-2.52446108e-01 6.85498963e-01 -6.82907121e-01 -1.69420121e+02] [-9.37788455e-01 5.38167514e-04 3.47206745e-01 -5.29721084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-169.43, Z:-529.75 [[ 2.37107266e-01 7.28984016e-01 6.42154537e-01 2.92641441e+02] [-2.53597695e-01 6.84530254e-01 -6.83451930e-01 -1.69427906e+02] [-9.37799741e-01 -7.97491855e-04 3.47175763e-01 -5.29752062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-169.44, Z:-529.78 [[ 2.34483917e-01 7.30415348e-01 6.41491007e-01 2.92649256e+02] [-2.56552833e-01 6.82990228e-01 -6.83889606e-01 -1.69435483e+02] [-9.37655553e-01 -4.21522134e-03 3.47540351e-01 -5.29783007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-169.44, Z:-529.81 [[ 2.32822947e-01 7.31496470e-01 6.40863784e-01 2.92656714e+02] [-2.58415569e-01 6.81816356e-01 -6.84359445e-01 -1.69442266e+02] [-9.37557928e-01 -6.27459616e-03 3.47772570e-01 -5.29812861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-169.45, Z:-529.84 [[ 2.31344778e-01 7.32561362e-01 6.40182352e-01 2.92664570e+02] [-2.60604172e-01 6.80648744e-01 -6.84691721e-01 -1.69449510e+02] [-9.37318014e-01 -8.43433768e-03 3.48373079e-01 -5.29843799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:-169.46, Z:-529.88 [[ 2.28684421e-01 7.34013656e-01 6.39474306e-01 2.92672481e+02] [-2.63838658e-01 6.79027710e-01 -6.85062429e-01 -1.69455944e+02] [-9.37065952e-01 -1.20549374e-02 3.48944237e-01 -5.29875374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:-169.46, Z:-529.91 [[ 2.27525871e-01 7.34888194e-01 6.38882869e-01 2.92679874e+02] [-2.65054613e-01 6.78056725e-01 -6.85554615e-01 -1.69463382e+02] [-9.37004819e-01 -1.33574405e-02 3.49060953e-01 -5.29906351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-169.47, Z:-529.94 [[ 2.26579260e-01 7.35689060e-01 6.38297303e-01 2.92687382e+02] [-2.65997013e-01 6.77167687e-01 -6.86068154e-01 -1.69471610e+02] [-9.36967144e-01 -1.43363617e-02 3.49123246e-01 -5.29937680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-169.48, Z:-529.97 [[ 2.24945240e-01 7.36566491e-01 6.37863186e-01 2.92693747e+02] [-2.66764274e-01 6.76183364e-01 -6.86740767e-01 -1.69480637e+02] [-9.37142711e-01 -1.56800431e-02 3.48593854e-01 -5.29968183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:-169.49, Z:-530.00 [[ 2.24179637e-01 7.37130328e-01 6.37481270e-01 2.92701010e+02] [-2.66665416e-01 6.75563623e-01 -6.87388789e-01 -1.69489221e+02] [-9.37354280e-01 -1.58956394e-02 3.48014773e-01 -5.29998958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-169.50, Z:-530.03 [[ 2.23606234e-01 7.37644121e-01 6.37088223e-01 2.92708425e+02] [-2.66298143e-01 6.75004905e-01 -6.88079702e-01 -1.69497660e+02] [-9.37595622e-01 -1.57964998e-02 3.47368565e-01 -5.30029805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-169.51, Z:-530.06 [[ 2.23159760e-01 7.38127056e-01 6.36685299e-01 2.92715584e+02] [-2.65842250e-01 6.74482444e-01 -6.88767981e-01 -1.69505517e+02] [-9.37831339e-01 -1.55525546e-02 3.46742698e-01 -5.30060528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-169.51, Z:-530.09 [[ 2.22640382e-01 7.38548836e-01 6.36377936e-01 2.92722464e+02] [-2.64863512e-01 6.74032567e-01 -6.89584961e-01 -1.69513311e+02] [-9.38231624e-01 -1.50238358e-02 3.45681507e-01 -5.30090920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-169.52, Z:-530.12 [[ 2.22450012e-01 7.38948816e-01 6.35980062e-01 2.92729261e+02] [-2.64287190e-01 6.73604635e-01 -6.90223932e-01 -1.69520983e+02] [-9.38439275e-01 -1.45410616e-02 3.45138065e-01 -5.30121259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-169.53, Z:-530.15 [[ 2.22272712e-01 7.39397949e-01 6.35519878e-01 2.92736416e+02] [-2.64147025e-01 6.73116026e-01 -6.90754056e-01 -1.69529711e+02] [-9.38520746e-01 -1.43349080e-02 3.44925093e-01 -5.30152259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-169.54, Z:-530.18 [[ 2.21905315e-01 7.39894062e-01 6.35070711e-01 2.92743094e+02] [-2.63795046e-01 6.72575624e-01 -6.91414640e-01 -1.69537857e+02] [-9.38706666e-01 -1.40999241e-02 3.44428494e-01 -5.30182271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-169.55, Z:-530.21 [[ 2.21663859e-01 7.40415297e-01 6.34547336e-01 2.92749644e+02] [-2.63947345e-01 6.72001463e-01 -6.91914614e-01 -1.69546706e+02] [-9.38720903e-01 -1.41146208e-02 3.44389089e-01 -5.30213800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-169.55, Z:-530.24 [[ 2.21461111e-01 7.41029455e-01 6.33900878e-01 2.92756858e+02] [-2.64574737e-01 6.71318349e-01 -6.92337983e-01 -1.69554284e+02] [-9.38592129e-01 -1.43882190e-02 3.44728581e-01 -5.30244699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-169.56, Z:-530.27 [[ 2.21206997e-01 7.41816359e-01 6.33068681e-01 2.92763861e+02] [-2.66171321e-01 6.70428534e-01 -6.92588195e-01 -1.69560646e+02] [-9.38200561e-01 -1.52993723e-02 3.45753723e-01 -5.30274871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-169.57, Z:-530.31 [[ 2.20754795e-01 7.42532246e-01 6.32386895e-01 2.92770983e+02] [-2.67345676e-01 6.69616791e-01 -6.92921094e-01 -1.69567887e+02] [-9.37973139e-01 -1.61002481e-02 3.46333903e-01 -5.30306642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-169.58, Z:-530.34 [[ 2.20496054e-01 7.43249999e-01 6.31633540e-01 2.92778053e+02] [-2.68520112e-01 6.68804138e-01 -6.93251739e-01 -1.69575303e+02] [-9.37698480e-01 -1.67470360e-02 3.47046247e-01 -5.30337285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-169.58, Z:-530.37 [[ 2.19836838e-01 7.43936985e-01 6.31054298e-01 2.92784905e+02] [-2.69325920e-01 6.68021642e-01 -6.93693473e-01 -1.69583467e+02] [-9.37622159e-01 -1.74599001e-02 3.47217278e-01 -5.30367039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-169.59, Z:-530.40 [[ 2.19233556e-01 7.44393271e-01 6.30726015e-01 2.92792350e+02] [-2.68760395e-01 6.67517862e-01 -6.94397404e-01 -1.69592155e+02] [-9.37925636e-01 -1.72789609e-02 3.46405744e-01 -5.30398231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-169.60, Z:-530.43 [[ 2.19272621e-01 7.44668675e-01 6.30387248e-01 2.92799690e+02] [-2.67539374e-01 6.67236988e-01 -6.95138465e-01 -1.69600453e+02] [-9.38265528e-01 -1.62285759e-02 3.45534994e-01 -5.30429630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-169.61, Z:-530.46 [[ 2.19367703e-01 7.45039534e-01 6.29915791e-01 2.92806480e+02] [-2.66887261e-01 6.66840490e-01 -6.95769323e-01 -1.69607933e+02] [-9.38429007e-01 -1.54871818e-02 3.45124827e-01 -5.30460036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-169.61, Z:-530.49 [[ 2.19716286e-01 7.46619821e-01 6.27920056e-01 2.92813437e+02] [-2.65746186e-01 6.65113218e-01 -6.97856269e-01 -1.69614180e+02] [-9.38671252e-01 -1.35369722e-02 3.44547576e-01 -5.30492212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-169.62, Z:-530.52 [[ 2.20549450e-01 7.45273871e-01 6.29225553e-01 2.92820652e+02] [-2.64915225e-01 6.66631148e-01 -6.96722927e-01 -1.69623807e+02] [-9.38710746e-01 -1.30295700e-02 3.44459528e-01 -5.30521214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-169.63, Z:-530.55 [[ 2.22016107e-01 7.44824365e-01 6.29242016e-01 2.92826978e+02] [-2.62397113e-01 6.67180560e-01 -6.97149809e-01 -1.69633027e+02] [-9.39072204e-01 -1.03328012e-02 3.43564594e-01 -5.30551515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-169.64, Z:-530.58 [[ 2.22987536e-01 7.44939922e-01 6.28761537e-01 2.92834076e+02] [-2.61153837e-01 6.67075846e-01 -6.97716626e-01 -1.69641662e+02] [-9.39188603e-01 -8.62137731e-03 3.43293518e-01 -5.30582689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-169.65, Z:-530.61 [[ 2.23249793e-01 7.46299600e-01 6.27053775e-01 2.92840767e+02] [-2.59973368e-01 6.65575089e-01 -6.99588200e-01 -1.69649200e+02] [-9.39453766e-01 -6.83436056e-03 3.42607521e-01 -5.30614721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-169.65, Z:-530.65 [[ 2.23547091e-01 7.51688081e-01 6.20477015e-01 2.92849869e+02] [-2.59219792e-01 6.59511460e-01 -7.05584676e-01 -1.69651468e+02] [-9.39591293e-01 -3.10852063e-03 3.42284296e-01 -5.30647148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:-169.67, Z:-530.68 [[ 2.24596645e-01 7.48188369e-01 6.24316035e-01 2.92856992e+02] [-2.61097956e-01 6.63463355e-01 -7.01173469e-01 -1.69665582e+02] [-9.38820646e-01 -5.52643214e-03 3.44362098e-01 -5.30676111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-169.67, Z:-530.71 [[ 2.26000841e-01 7.54922491e-01 6.15642471e-01 2.92866402e+02] [-2.61187086e-01 6.55813626e-01 -7.08300638e-01 -1.69668125e+02] [-9.38458804e-01 -7.21323346e-04 3.45390437e-01 -5.30708027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-169.67, Z:-530.74 [[ 2.26351437e-01 7.61538311e-01 6.07309170e-01 2.92875772e+02] [-2.61446232e-01 6.48112380e-01 -7.15259541e-01 -1.69669626e+02] [-9.38302134e-01 3.12133048e-03 3.45802490e-01 -5.30739676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-169.68, Z:-530.77 [[ 2.27505631e-01 7.59725818e-01 6.09145196e-01 2.92883389e+02] [-2.62302639e-01 6.50239001e-01 -7.13012320e-01 -1.69679551e+02] [-9.37783831e-01 2.43392567e-03 3.47211121e-01 -5.30769740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-169.68, Z:-530.80 [[ 2.27404924e-01 7.64954609e-01 6.02603889e-01 2.92891770e+02] [-2.62175396e-01 6.44061258e-01 -7.18643971e-01 -1.69681372e+02] [-9.37843837e-01 5.43526395e-03 3.47014979e-01 -5.30801519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:-169.69, Z:-530.83 [[ 2.27584580e-01 7.62864860e-01 6.05179696e-01 2.92898924e+02] [-2.62131324e-01 6.46542918e-01 -7.16428241e-01 -1.69691079e+02] [-9.37812576e-01 4.41146569e-03 3.47113974e-01 -5.30831299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-169.68, Z:-530.86 [[ 2.26646641e-01 7.70251003e-01 5.96107954e-01 2.92907119e+02] [-2.58439081e-01 6.37655813e-01 -7.25675069e-01 -1.69683485e+02] [-9.39063652e-01 1.04142249e-02 3.43585509e-01 -5.30860520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-169.73, Z:-530.89 [[ 2.28303931e-01 7.39885843e-01 6.32808229e-01 2.92908846e+02] [-2.61364331e-01 6.72692224e-01 -6.92223850e-01 -1.69725657e+02] [-9.37851802e-01 -7.35607292e-03 3.46958047e-01 -5.30887070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-169.70, Z:-530.92 [[ 2.27208498e-01 7.66815016e-01 6.00309112e-01 2.92921844e+02] [-2.59314870e-01 6.41814439e-01 -7.21685543e-01 -1.69704698e+02] [-9.38686368e-01 8.30400893e-03 3.44672231e-01 -5.30922401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-169.72, Z:-530.95 [[ 2.26897395e-01 7.58386056e-01 6.11038593e-01 2.92927126e+02] [-2.57832919e-01 6.51791566e-01 -7.13225028e-01 -1.69717288e+02] [-9.39169718e-01 4.28303727e-03 3.43426699e-01 -5.30949140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-169.74, Z:-530.98 [[ 2.26502196e-01 7.46634103e-01 6.25487228e-01 2.92931711e+02] [-2.57839898e-01 6.65229991e-01 -7.00705106e-01 -1.69736408e+02] [-9.39263191e-01 -2.56431811e-03 3.43188115e-01 -5.30977805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:-169.75, Z:-531.01 [[ 2.26000333e-01 7.46132877e-01 6.26266381e-01 2.92940010e+02] [-2.59786631e-01 6.65781055e-01 -6.99461574e-01 -1.69747960e+02] [-9.38847568e-01 -4.61708435e-03 3.44302086e-01 -5.31010249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:-169.74, Z:-531.04 [[ 2.24451524e-01 7.59256196e-01 6.10861312e-01 2.92950640e+02] [-2.58963761e-01 6.50788752e-01 -7.13730881e-01 -1.69740506e+02] [-9.39446265e-01 2.00704123e-03 3.42690367e-01 -5.31040744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-169.75, Z:-531.07 [[ 2.23230699e-01 7.53205421e-01 6.18748454e-01 2.92955405e+02] [-2.58602163e-01 6.57782047e-01 -7.07423282e-01 -1.69752644e+02] [-9.39836675e-01 -2.09109491e-03 3.41617697e-01 -5.31071681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-169.77, Z:-531.10 [[ 2.22167513e-01 7.47637437e-01 6.25843318e-01 2.92963136e+02] [-2.61188888e-01 6.64061090e-01 -7.00573503e-01 -1.69766209e+02] [-9.39373175e-01 -7.81864757e-03 3.42807392e-01 -5.31099289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-169.76, Z:-531.13 [[ 2.20383747e-01 7.57760562e-01 6.14190471e-01 2.92970957e+02] [-2.59548021e-01 6.52527860e-01 -7.11928519e-01 -1.69761301e+02] [-9.40247749e-01 -2.51444687e-03 3.40481789e-01 -5.31133920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:-169.79, Z:-531.16 [[ 2.20698019e-01 7.41813664e-01 6.33249455e-01 2.92976223e+02] [-2.62662600e-01 6.70476275e-01 -6.93880338e-01 -1.69787394e+02] [-9.39308652e-01 -1.31929324e-02 3.42819491e-01 -5.31158099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-169.79, Z:-531.19 [[ 2.19016722e-01 7.51268173e-01 6.22597629e-01 2.92986084e+02] [-2.63263688e-01 6.59924522e-01 -7.03698697e-01 -1.69786842e+02] [-9.39533877e-01 -9.78556623e-03 3.42316136e-01 -5.31190807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-169.79, Z:-531.22 [[ 2.18170519e-01 7.51932422e-01 6.22092644e-01 2.92993667e+02] [-2.63606870e-01 6.59159205e-01 -7.04287271e-01 -1.69794600e+02] [-9.39634526e-01 -1.03331755e-02 3.42023658e-01 -5.31221956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-169.80, Z:-531.26 [[ 2.16769111e-01 7.53099578e-01 6.21170008e-01 2.93000359e+02] [-2.65027921e-01 6.57800719e-01 -7.05023699e-01 -1.69803594e+02] [-9.39559127e-01 -1.18000361e-02 3.42183292e-01 -5.31255076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:-169.81, Z:-531.29 [[ 2.16903895e-01 7.62088981e-01 6.10059903e-01 2.93010936e+02] [-2.67135714e-01 6.47421050e-01 -7.13781826e-01 -1.69806391e+02] [-9.38930887e-01 -8.14672964e-03 3.44009331e-01 -5.31287565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-169.79, Z:-531.32 [[ 2.16471451e-01 7.76190408e-01 5.92172747e-01 2.93021727e+02] [-2.63270106e-01 6.30494867e-01 -7.30181535e-01 -1.69794016e+02] [-9.40121781e-01 2.16207455e-03 3.40831870e-01 -5.31316753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-169.83, Z:-531.35 [[ 2.16610021e-01 7.49745612e-01 6.25269235e-01 2.93021519e+02] [-2.66865317e-01 6.61554743e-01 -7.00805411e-01 -1.69832849e+02] [-9.39075610e-01 -1.50611973e-02 3.43380487e-01 -5.31345009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:-169.82, Z:-531.38 [[ 2.15344572e-01 7.72457132e-01 5.97441792e-01 2.93034419e+02] [-2.67241776e-01 6.35056778e-01 -7.24765287e-01 -1.69819508e+02] [-9.39259575e-01 -3.58713480e-03 3.43188846e-01 -5.31380321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-169.83, Z:-531.41 [[ 2.15180538e-01 7.72293832e-01 5.97711948e-01 2.93041641e+02] [-2.68155897e-01 6.35250013e-01 -7.24258128e-01 -1.69828370e+02] [-9.39036608e-01 -4.43373009e-03 3.43788585e-01 -5.31410710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:-169.83, Z:-531.44 [[ 2.15100572e-01 7.74682560e-01 5.94641635e-01 2.93049692e+02] [-2.67975110e-01 6.32343205e-01 -7.26864094e-01 -1.69834382e+02] [-9.39106535e-01 -3.00027496e-03 3.43613030e-01 -5.31442737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:-169.85, Z:-531.47 [[ 2.14782572e-01 7.71309149e-01 5.99124898e-01 2.93056202e+02] [-2.70223153e-01 6.36425134e-01 -7.22455879e-01 -1.69847257e+02] [-9.38534973e-01 -6.72648730e-03 3.45118617e-01 -5.31473124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-169.83, Z:-531.50 [[ 2.13749622e-01 7.84686840e-01 5.81874266e-01 2.93066124e+02] [-2.66094696e-01 6.19885333e-01 -7.38197661e-01 -1.69833720e+02] [-9.39949314e-01 2.95581510e-03 3.41301261e-01 -5.31502098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:-169.87, Z:-531.53 [[ 2.14401502e-01 7.54665846e-01 6.20089878e-01 2.93064807e+02] [-2.66444776e-01 6.55963995e-01 -7.06199985e-01 -1.69870982e+02] [-9.39701643e-01 -1.38093709e-02 3.41716438e-01 -5.31527984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-169.90, Z:-531.56 [[ 2.16097706e-01 7.43598168e-01 6.32742876e-01 2.93070842e+02] [-2.73315195e-01 6.68216800e-01 -6.91942998e-01 -1.69899440e+02] [-9.37336965e-01 -2.34109481e-02 3.47636795e-01 -5.31559136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-169.61, Z:-531.52 [[ 1.94812265e-01 1.40201559e-01 -9.70768615e-01 2.94116212e+02] [-1.72916951e-01 -9.69320406e-01 -1.74693096e-01 -1.69612997e+02] [-9.65478073e-01 2.01894707e-01 -1.64592278e-01 -5.31520535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-170.26, Z:-531.38 [[ 2.79136076e-01 -8.05254821e-01 -5.23113492e-01 2.94232220e+02] [-1.19553931e-01 -5.69672045e-01 8.13130137e-01 -1.70261195e+02] [-9.52780095e-01 -1.64433681e-01 -2.55287399e-01 -5.31380189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.19, Z:-531.75 [[ 2.76911432e-01 4.16057423e-01 8.66150264e-01 2.93108718e+02] [-1.59504415e-01 9.08796326e-01 -3.85548415e-01 -1.70192098e+02] [-9.47564457e-01 -3.13920275e-02 3.18019087e-01 -5.31751972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.16, Z:-531.79 [[ 2.76180346e-01 4.65855332e-01 8.40656426e-01 2.93112261e+02] [-1.59394209e-01 8.84764700e-01 -4.37932542e-01 -1.70163350e+02] [-9.47796340e-01 -1.30474047e-02 3.18609263e-01 -5.31789408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:-170.17, Z:-531.82 [[ 2.76840458e-01 4.61752475e-01 8.42700429e-01 2.93120907e+02] [-1.56414647e-01 8.86934345e-01 -4.34605483e-01 -1.70172922e+02] [-9.48100110e-01 -1.14943094e-02 3.17764161e-01 -5.31820305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:-170.17, Z:-531.85 [[ 2.76730020e-01 4.79313828e-01 8.32873790e-01 2.93127986e+02] [-1.56508526e-01 8.77629485e-01 -4.53069055e-01 -1.70166084e+02] [-9.48116859e-01 -4.97404047e-03 3.17883125e-01 -5.31852176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-170.19, Z:-531.88 [[ 2.79185072e-01 4.59281055e-01 8.43277302e-01 2.93141085e+02] [-1.57896036e-01 8.88200368e-01 -4.31472998e-01 -1.70191042e+02] [-9.47166584e-01 -1.26893231e-02 3.20490942e-01 -5.31881948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-170.16, Z:-531.91 [[ 2.76508879e-01 4.96812716e-01 8.22629908e-01 2.93143217e+02] [-1.52518112e-01 8.67841707e-01 -4.72851982e-01 -1.70164405e+02] [-9.48831421e-01 5.28181086e-03 3.15738875e-01 -5.31914741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:-170.19, Z:-531.94 [[ 2.76781784e-01 4.65925649e-01 8.40419618e-01 2.93153958e+02] [-1.51058854e-01 8.84810022e-01 -4.40786170e-01 -1.70191960e+02] [-9.48985283e-01 -4.95124159e-03 3.15281491e-01 -5.31941776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:-170.19, Z:-531.98 [[ 2.76369787e-01 4.71162547e-01 8.37630942e-01 2.93161200e+02] [-1.49703899e-01 8.82044294e-01 -4.46751168e-01 -1.70193593e+02] [-9.49320011e-01 -1.92809276e-03 3.14305264e-01 -5.31975622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-170.20, Z:-532.00 [[ 2.76415807e-01 4.72446215e-01 8.36892392e-01 2.93170979e+02] [-1.49125441e-01 8.81359058e-01 -4.48294339e-01 -1.70197196e+02] [-9.49397654e-01 -8.86306131e-04 3.14075325e-01 -5.32003307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-170.21, Z:-532.03 [[ 2.76097990e-01 4.67066179e-01 8.40011360e-01 2.93180160e+02] [-1.49033803e-01 8.84217366e-01 -4.42660791e-01 -1.70206086e+02] [-9.49504516e-01 -2.97233275e-03 3.13739287e-01 -5.32033768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-170.21, Z:-532.07 [[ 2.75600851e-01 4.69104383e-01 8.39038288e-01 2.93188576e+02] [-1.49265908e-01 8.83138687e-01 -4.44731096e-01 -1.70209986e+02] [-9.49612479e-01 -2.67154317e-03 3.13415066e-01 -5.32066994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-170.21, Z:-532.10 [[ 2.75450370e-01 4.74409423e-01 8.36099751e-01 2.93197539e+02] [-1.49955937e-01 8.80303207e-01 -4.50088304e-01 -1.70209858e+02] [-9.49547424e-01 -1.40113178e-03 3.13620353e-01 -5.32096998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:-170.22, Z:-532.13 [[ 2.75750691e-01 4.69876956e-01 8.38556619e-01 2.93206826e+02] [-1.51718071e-01 8.82719994e-01 -4.44732548e-01 -1.70219223e+02] [-9.49180269e-01 -4.58888533e-03 3.14699473e-01 -5.32128881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-170.22, Z:-532.16 [[ 2.76528774e-01 4.80343612e-01 8.32347194e-01 2.93215867e+02] [-1.53258687e-01 8.77078789e-01 -4.55241226e-01 -1.70217377e+02] [-9.48706284e-01 -1.67714035e-03 3.16154353e-01 -5.32160247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-170.22, Z:-532.19 [[ 2.77069855e-01 4.82118983e-01 8.31139929e-01 2.93225865e+02] [-1.54246175e-01 8.76104216e-01 -4.56781698e-01 -1.70221141e+02] [-9.48388324e-01 -1.63971617e-03 3.17107077e-01 -5.32191256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-170.22, Z:-532.22 [[ 2.77049113e-01 4.86338108e-01 8.28685123e-01 2.93234926e+02] [-1.54754126e-01 8.73770558e-01 -4.61059836e-01 -1.70222346e+02] [-9.48311631e-01 -5.06223668e-04 3.17340187e-01 -5.32223025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-170.23, Z:-532.25 [[ 2.77690300e-01 4.84761393e-01 8.29394049e-01 2.93245126e+02] [-1.55799413e-01 8.74644695e-01 -4.59045969e-01 -1.70226927e+02] [-9.47952868e-01 -1.74649325e-03 3.18405888e-01 -5.32253642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.23, Z:-532.28 [[ 2.78248504e-01 4.85659765e-01 8.28681099e-01 2.93255305e+02] [-1.56467490e-01 8.74146208e-01 -4.59767693e-01 -1.70231278e+02] [-9.47679110e-01 -1.73197922e-03 3.19219839e-01 -5.32284431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.23, Z:-532.31 [[ 2.78738881e-01 4.88178020e-01 8.27034979e-01 2.93264761e+02] [-1.56212415e-01 8.72744032e-01 -4.62510039e-01 -1.70233380e+02] [-9.47577077e-01 -2.73600636e-04 3.19527163e-01 -5.32314700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.24, Z:-532.35 [[ 2.78317184e-01 4.89428865e-01 8.26437494e-01 2.93272934e+02] [-1.54923693e-01 8.72042430e-01 -4.64263557e-01 -1.70236375e+02] [-9.47912546e-01 1.17777717e-03 3.18528521e-01 -5.32346570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.22, Z:-532.38 [[ 2.75591493e-01 5.03751488e-01 8.18708597e-01 2.93275998e+02] [-1.49354355e-01 8.63786729e-01 -4.81212805e-01 -1.70223450e+02] [-9.49601288e-01 1.03404612e-02 3.13289753e-01 -5.32377569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-170.27, Z:-532.40 [[ 2.79827374e-01 4.55271654e-01 8.45236276e-01 2.93294119e+02] [-1.50758232e-01 8.90323474e-01 -4.29646444e-01 -1.70267652e+02] [-9.48139545e-01 -7.19949049e-03 3.17772829e-01 -5.32401053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.25, Z:-532.44 [[ 2.80482833e-01 4.81826857e-01 8.30163996e-01 2.93301647e+02] [-1.49713368e-01 8.76256505e-01 -4.57996119e-01 -1.70252601e+02] [-9.48111432e-01 4.17340133e-03 3.17910828e-01 -5.32435039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.24, Z:-532.47 [[ 2.76886933e-01 4.97678892e-01 8.21978921e-01 2.93303033e+02] [-1.44634696e-01 8.67263692e-01 -4.76376420e-01 -1.70238758e+02] [-9.49954963e-01 1.30157347e-02 3.12115619e-01 -5.32467953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-170.26, Z:-532.50 [[ 2.77479646e-01 4.70721216e-01 8.37512139e-01 2.93314014e+02] [-1.44196979e-01 8.82274769e-01 -4.48105415e-01 -1.70262835e+02] [-9.49848555e-01 3.57341188e-03 3.12689868e-01 -5.32495182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.27, Z:-532.53 [[ 2.77841718e-01 4.71239926e-01 8.37100300e-01 2.93323046e+02] [-1.43687178e-01 8.81993985e-01 -4.48821352e-01 -1.70266638e+02] [-9.49819970e-01 4.42071602e-03 3.12765859e-01 -5.32526731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.27, Z:-532.56 [[ 2.78060795e-01 4.71900556e-01 8.36655281e-01 2.93331923e+02] [-1.43644962e-01 8.81638628e-01 -4.49532484e-01 -1.70270377e+02] [-9.49762244e-01 4.81604354e-03 3.12935276e-01 -5.32557848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-170.27, Z:-532.59 [[ 2.78359341e-01 4.72603748e-01 8.36158941e-01 2.93341241e+02] [-1.43691471e-01 8.81259787e-01 -4.50259869e-01 -1.70273027e+02] [-9.49667752e-01 5.18513226e-03 3.13216022e-01 -5.32588442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.28, Z:-532.62 [[ 2.78267207e-01 4.73461660e-01 8.35704145e-01 2.93350438e+02] [-1.44369452e-01 8.80801176e-01 -4.50939851e-01 -1.70276869e+02] [-9.49591925e-01 4.83162342e-03 3.13451483e-01 -5.32618984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.28, Z:-532.65 [[ 2.77452283e-01 4.74320988e-01 8.35487781e-01 2.93359619e+02] [-1.44671787e-01 8.80340652e-01 -4.51741532e-01 -1.70280425e+02] [-9.49784347e-01 4.46520861e-03 3.12873388e-01 -5.32650242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.29, Z:-532.68 [[ 2.78485076e-01 4.70244885e-01 8.37446005e-01 2.93371888e+02] [-1.45510091e-01 8.82531923e-01 -4.47173588e-01 -1.70288569e+02] [-9.49353926e-01 2.67432629e-03 3.14197345e-01 -5.32679488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.29, Z:-532.71 [[ 2.76321531e-01 4.77685325e-01 8.33944328e-01 2.93378320e+02] [-1.47032009e-01 8.78525978e-01 -4.54503789e-01 -1.70285639e+02] [-9.49751546e-01 2.97267289e-03 3.12990677e-01 -5.32712299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.29, Z:-532.74 [[ 2.76148177e-01 4.77132789e-01 8.34317976e-01 2.93387227e+02] [-1.48766269e-01 8.78830558e-01 -4.53349145e-01 -1.70290499e+02] [-9.49531875e-01 1.07316797e-03 3.13668722e-01 -5.32742400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.30, Z:-532.77 [[ 2.76895742e-01 4.74303542e-01 8.35682295e-01 2.93398078e+02] [-1.50388102e-01 8.80360662e-01 -4.49831661e-01 -1.70297035e+02] [-9.49058569e-01 -1.12020230e-03 3.15097728e-01 -5.32771618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.30, Z:-532.80 [[ 2.74787265e-01 4.80548745e-01 8.32805417e-01 2.93404928e+02] [-1.53748303e-01 8.76963116e-01 -4.55298970e-01 -1.70295230e+02] [-9.49132983e-01 -2.93206087e-03 3.14861850e-01 -5.32804228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.30, Z:-532.84 [[ 2.74469537e-01 4.80648483e-01 8.32852634e-01 2.93414376e+02] [-1.55813989e-01 8.76899310e-01 -4.54719255e-01 -1.70300053e+02] [-9.48888020e-01 -4.96350748e-03 3.15573905e-01 -5.32835773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.30, Z:-532.87 [[ 2.73640097e-01 4.81761538e-01 8.32482383e-01 2.93423106e+02] [-1.56957457e-01 8.76281700e-01 -4.55515905e-01 -1.70303576e+02] [-9.48939120e-01 -6.01690116e-03 3.15401875e-01 -5.32866368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-170.30, Z:-532.90 [[ 2.71896830e-01 4.90518262e-01 8.27927502e-01 2.93429913e+02] [-1.55820233e-01 8.71427199e-01 -4.65117932e-01 -1.70296617e+02] [-9.49627384e-01 -2.54376500e-03 3.13370963e-01 -5.32896983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.33, Z:-532.92 [[ 2.73556429e-01 4.56128304e-01 8.46825750e-01 2.93443104e+02] [-1.59683371e-01 8.89727143e-01 -4.27652701e-01 -1.70330468e+02] [-9.48508356e-01 -1.82368449e-02 3.16226685e-01 -5.32923603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.32, Z:-532.96 [[ 2.72926117e-01 4.84279610e-01 8.31254831e-01 2.93450671e+02] [-1.60541421e-01 8.74869737e-01 -4.56978551e-01 -1.70315613e+02] [-9.48545090e-01 -8.72945035e-03 3.16521736e-01 -5.32958817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.32, Z:-532.99 [[ 2.72529220e-01 4.85275205e-01 8.30804309e-01 2.93459723e+02] [-1.61493846e-01 8.74310617e-01 -4.57712446e-01 -1.70319391e+02] [-9.48497529e-01 -9.42976716e-03 3.16644150e-01 -5.32990602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.32, Z:-533.02 [[ 2.72737287e-01 4.86115333e-01 8.30244696e-01 2.93468669e+02] [-1.62135435e-01 8.73841990e-01 -4.58380057e-01 -1.70323300e+02] [-9.48328252e-01 -9.59475195e-03 3.17145815e-01 -5.33021999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.33, Z:-533.05 [[ 2.73298788e-01 4.85435184e-01 8.30457979e-01 2.93478015e+02] [-1.61363807e-01 8.74227785e-01 -4.57916478e-01 -1.70326819e+02] [-9.48298210e-01 -8.85784217e-03 3.17257064e-01 -5.33051454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.34, Z:-533.08 [[ 2.73193064e-01 4.76354699e-01 8.35734258e-01 2.93486753e+02] [-1.62153133e-01 8.79155617e-01 -4.48097938e-01 -1.70339370e+02] [-9.48194026e-01 -1.30996796e-02 3.17421624e-01 -5.33082359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.34, Z:-533.12 [[ 2.72945870e-01 4.87723934e-01 8.29232125e-01 2.93494979e+02] [-1.61794684e-01 8.72955953e-01 -4.60185163e-01 -1.70336180e+02] [-9.48326438e-01 -8.55971011e-03 3.17180862e-01 -5.33115207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-170.34, Z:-533.15 [[ 2.73026938e-01 4.88255440e-01 8.28892585e-01 2.93503823e+02] [-1.61112931e-01 8.72666905e-01 -4.60971904e-01 -1.70341121e+02] [-9.48419166e-01 -7.68756619e-03 3.16925838e-01 -5.33146737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.35, Z:-533.18 [[ 2.73128410e-01 4.88437509e-01 8.28751876e-01 2.93512344e+02] [-1.58963115e-01 8.72580981e-01 -4.61880027e-01 -1.70346682e+02] [-9.48752655e-01 -5.58842282e-03 3.15970204e-01 -5.33176820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:-170.35, Z:-533.21 [[ 2.73924760e-01 4.86553977e-01 8.29596561e-01 2.93522381e+02] [-1.58526951e-01 8.73633219e-01 -4.60037177e-01 -1.70354363e+02] [-9.48596032e-01 -5.49784028e-03 3.16441689e-01 -5.33207208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-170.36, Z:-533.24 [[ 2.75102084e-01 4.85895521e-01 8.29592904e-01 2.93531816e+02] [-1.58308931e-01 8.74002898e-01 -4.59409640e-01 -1.70360562e+02] [-9.48291688e-01 -4.94741677e-03 3.17361619e-01 -5.33236249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-170.36, Z:-533.27 [[ 2.74742978e-01 4.97774347e-01 8.22640259e-01 2.93536166e+02] [-1.56590217e-01 8.67306002e-01 -4.72503760e-01 -1.70355601e+02] [-9.48681085e-01 9.99672947e-04 3.16232827e-01 -5.33268630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-170.37, Z:-533.30 [[ 2.76759733e-01 4.86909995e-01 8.28445959e-01 2.93546212e+02] [-1.55972886e-01 8.73450759e-01 -4.61255059e-01 -1.70368371e+02] [-9.48196451e-01 -1.55828020e-03 3.17680756e-01 -5.33297627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-170.38, Z:-533.33 [[ 2.78380121e-01 4.80093403e-01 8.31874289e-01 2.93556029e+02] [-1.57439385e-01 8.77204757e-01 -4.53568798e-01 -1.70380540e+02] [-9.47479471e-01 -4.70523948e-03 3.19781976e-01 -5.33327955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-170.37, Z:-533.36 [[ 2.77498343e-01 4.98500865e-01 8.21274350e-01 2.93560244e+02] [-1.56767544e-01 8.66885399e-01 -4.73216274e-01 -1.70370286e+02] [-9.47849464e-01 2.56756845e-03 3.18708018e-01 -5.33361143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-170.38, Z:-533.39 [[ 2.79110574e-01 4.88378413e-01 8.26791275e-01 2.93569448e+02] [-1.56313811e-01 8.72631947e-01 -4.62687235e-01 -1.70383105e+02] [-9.47450938e-01 -9.79952457e-05 3.19901095e-01 -5.33389787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-170.39, Z:-533.42 [[ 2.78279177e-01 4.89272688e-01 8.26542762e-01 2.93576263e+02] [-1.56624325e-01 8.72130735e-01 -4.63526484e-01 -1.70387979e+02] [-9.47644195e-01 -4.66933623e-04 3.19327828e-01 -5.33420556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-170.38, Z:-533.45 [[ 2.76757259e-01 4.98752431e-01 8.21371677e-01 2.93581835e+02] [-1.53561638e-01 8.66728864e-01 -4.74552314e-01 -1.70382274e+02] [-9.48590661e-01 5.20461747e-03 3.16462745e-01 -5.33451360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-170.41, Z:-533.48 [[ 2.77650726e-01 4.67866865e-01 8.39053438e-01 2.93593942e+02] [-1.56189619e-01 8.83757337e-01 -4.41109705e-01 -1.70414755e+02] [-9.47900247e-01 -8.57700674e-03 3.18451813e-01 -5.33478698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-170.40, Z:-533.51 [[ 2.77203640e-01 4.93786028e-01 8.24216901e-01 2.93601254e+02] [-1.57167034e-01 8.69583412e-01 -4.68105986e-01 -1.70401794e+02] [-9.47869540e-01 2.20957161e-04 3.18658572e-01 -5.33513198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-170.41, Z:-533.54 [[ 2.76467337e-01 4.94742951e-01 8.23890299e-01 2.93609513e+02] [-1.57830374e-01 8.69039269e-01 -4.68892654e-01 -1.70406704e+02] [-9.47974359e-01 -4.01410211e-04 3.18346437e-01 -5.33544743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-170.41, Z:-533.58 [[ 2.75555489e-01 4.95698218e-01 8.23621545e-01 2.93617765e+02] [-1.58368595e-01 8.68494256e-01 -4.69720252e-01 -1.70411557e+02] [-9.48150073e-01 -1.00179319e-03 3.17821390e-01 -5.33576638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.42, Z:-533.61 [[ 2.75454502e-01 4.96462305e-01 8.23194993e-01 2.93626556e+02] [-1.58543913e-01 8.68057794e-01 -4.70467315e-01 -1.70416178e+02] [-9.48150117e-01 -9.20215038e-04 3.17821504e-01 -5.33608578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.42, Z:-533.64 [[ 2.74445518e-01 4.97464259e-01 8.22927074e-01 2.93634729e+02] [-1.60119245e-01 8.67480862e-01 -4.70997646e-01 -1.70422079e+02] [-9.48177982e-01 -2.50326880e-03 3.17729835e-01 -5.33638717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-170.43, Z:-533.67 [[ 2.74068524e-01 4.98226076e-01 8.22591771e-01 2.93643069e+02] [-1.61261523e-01 8.67040291e-01 -4.71418981e-01 -1.70427086e+02] [-9.48093437e-01 -3.45129737e-03 3.17973148e-01 -5.33669886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-170.43, Z:-533.70 [[ 2.72649552e-01 5.00898909e-01 8.21439289e-01 2.93650391e+02] [-1.62190788e-01 8.65496493e-01 -4.73930342e-01 -1.70430795e+02] [-9.48344015e-01 -4.01299003e-03 3.17218420e-01 -5.33702384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-170.44, Z:-533.73 [[ 2.71992229e-01 5.02933530e-01 8.20413367e-01 2.93658914e+02] [-1.64322574e-01 8.64307483e-01 -4.75363720e-01 -1.70436200e+02] [-9.48165766e-01 -5.51719805e-03 3.17728251e-01 -5.33731531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-170.45, Z:-533.76 [[ 2.68176159e-01 4.91053359e-01 8.28823350e-01 2.93665920e+02] [-1.64344757e-01 8.71045792e-01 -4.62893108e-01 -1.70449871e+02] [-9.49248307e-01 -1.20758761e-02 3.14295760e-01 -5.33756429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-170.45, Z:-533.79 [[ 2.69885258e-01 5.04947286e-01 8.19872055e-01 2.93674065e+02] [-1.66262690e-01 8.63116555e-01 -4.76850638e-01 -1.70445229e+02] [-9.48429579e-01 -7.61917610e-03 3.16896328e-01 -5.33789273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-170.45, Z:-533.82 [[ 2.69194715e-01 5.02656767e-01 8.21504948e-01 2.93681945e+02] [-1.67708342e-01 8.64426079e-01 -4.73963570e-01 -1.70452366e+02] [-9.48371297e-01 -1.01847443e-02 3.16998665e-01 -5.33818953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-170.46, Z:-533.85 [[ 2.68054159e-01 5.04072152e-01 8.21010495e-01 2.93689567e+02] [-1.70266413e-01 8.63570083e-01 -4.74611484e-01 -1.70458699e+02] [-9.48238533e-01 -1.25689299e-02 3.17310110e-01 -5.33850065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-170.46, Z:-533.88 [[ 2.65441210e-01 5.13837019e-01 8.15789484e-01 2.93694387e+02] [-1.69826519e-01 8.57831987e-01 -4.85060033e-01 -1.70455877e+02] [-9.49052115e-01 -9.78776668e-03 3.14967113e-01 -5.33883529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.48, Z:-533.91 [[ 2.66903084e-01 4.98037976e-01 8.25058130e-01 2.93705916e+02] [-1.72340544e-01 8.66980851e-01 -4.67592708e-01 -1.70475476e+02] [-9.48188526e-01 -1.73890311e-02 3.17231998e-01 -5.33909994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.48, Z:-533.94 [[ 2.65731388e-01 5.06863614e-01 8.20046405e-01 2.93713345e+02] [-1.73879233e-01 8.61877737e-01 -4.76374620e-01 -1.70476071e+02] [-9.48236701e-01 -1.60013507e-02 3.17161024e-01 -5.33941712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.48, Z:-533.97 [[ 2.65039532e-01 5.07754163e-01 8.19719316e-01 2.93721570e+02] [-1.74550450e-01 8.61341439e-01 -4.77098592e-01 -1.70481153e+02] [-9.48307011e-01 -1.66323880e-02 3.16918249e-01 -5.33973006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.476559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.73, Y:-170.49, Z:-534.00 [[ 2.64623171e-01 5.08601525e-01 8.19328424e-01 2.93729977e+02] [-1.75044515e-01 8.60834702e-01 -4.77831595e-01 -1.70486300e+02] [-9.48332218e-01 -1.69736345e-02 3.16824716e-01 -5.34004005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:-170.49, Z:-534.04 [[ 2.63100048e-01 5.09509045e-01 8.19255087e-01 2.93737793e+02] [-1.75232196e-01 8.60285279e-01 -4.78751414e-01 -1.70492434e+02] [-9.48721267e-01 -1.76003478e-02 3.15623487e-01 -5.34035660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-170.50, Z:-534.07 [[ 2.62826485e-01 5.10341479e-01 8.18824654e-01 2.93745891e+02] [-1.75586010e-01 8.59788739e-01 -4.79513167e-01 -1.70497766e+02] [-9.48731676e-01 -1.77453943e-02 3.15584076e-01 -5.34066866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-170.50, Z:-534.10 [[ 2.62729104e-01 5.11175583e-01 8.18335470e-01 2.93753649e+02] [-1.76055442e-01 8.59289873e-01 -4.80234730e-01 -1.70503012e+02] [-9.48671650e-01 -1.79007720e-02 3.15755702e-01 -5.34096921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-170.51, Z:-534.13 [[ 2.63250675e-01 5.11972042e-01 8.17669683e-01 2.93760595e+02] [-1.76890755e-01 8.58811989e-01 -4.80782308e-01 -1.70509298e+02] [-9.48371627e-01 -1.80719399e-02 3.16645957e-01 -5.34128032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-170.51, Z:-534.16 [[ 2.63713136e-01 5.12708243e-01 8.17059141e-01 2.93768569e+02] [-1.77257814e-01 8.58376862e-01 -4.81423754e-01 -1.70514338e+02] [-9.48174588e-01 -1.78723492e-02 3.17246797e-01 -5.34158696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.52, Z:-534.19 [[ 2.63998989e-01 5.13463686e-01 8.16492240e-01 2.93776696e+02] [-1.77828232e-01 8.57923723e-01 -4.82020752e-01 -1.70519331e+02] [-9.47988214e-01 -1.79423804e-02 3.17799335e-01 -5.34190578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.52, Z:-534.22 [[ 2.64999559e-01 5.14192379e-01 8.15709158e-01 2.93784597e+02] [-1.78398455e-01 8.57493477e-01 -4.82575309e-01 -1.70523383e+02] [-9.47601828e-01 -1.76390092e-02 3.18966519e-01 -5.34221175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.53, Z:-534.25 [[ 2.65224267e-01 5.14880311e-01 8.15202033e-01 2.93793435e+02] [-1.78613665e-01 8.57084575e-01 -4.83221678e-01 -1.70527874e+02] [-9.47498415e-01 -1.74441075e-02 3.19284288e-01 -5.34253044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.53, Z:-534.28 [[ 2.65042328e-01 5.15560454e-01 8.14831260e-01 2.93801966e+02] [-1.78418647e-01 8.56682579e-01 -4.84005935e-01 -1.70532208e+02] [-9.47586065e-01 -1.70990308e-02 3.19042744e-01 -5.34283403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.53, Z:-534.32 [[ 2.63735058e-01 5.23077755e-01 8.10452640e-01 2.93807859e+02] [-1.75247688e-01 8.52200338e-01 -4.92993743e-01 -1.70527300e+02] [-9.48542074e-01 -1.20102180e-02 3.16423273e-01 -5.34315069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-170.55, Z:-534.34 [[ 2.65548887e-01 4.97466168e-01 8.25839694e-01 2.93821492e+02] [-1.75329235e-01 8.67228124e-01 -4.66020429e-01 -1.70554800e+02] [-9.48020806e-01 -2.10426354e-02 3.17511826e-01 -5.34341865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.55, Z:-534.38 [[ 2.64948653e-01 5.16019398e-01 8.14571171e-01 2.93829263e+02] [-1.73639978e-01 8.56483443e-01 -4.86091832e-01 -1.70545761e+02] [-9.48499536e-01 -1.26527442e-02 3.16525732e-01 -5.34375912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-170.55, Z:-534.41 [[ 2.65413233e-01 5.16097894e-01 8.14370174e-01 2.93837954e+02] [-1.71209758e-01 8.56469135e-01 -4.86978274e-01 -1.70550168e+02] [-9.48811380e-01 -1.01776425e-02 3.15679237e-01 -5.34406811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.56, Z:-534.44 [[ 2.68486426e-01 5.14961593e-01 8.14082058e-01 2.93846276e+02] [-1.66186942e-01 8.57201847e-01 -4.87428861e-01 -1.70556455e+02] [-9.48839786e-01 -4.42177526e-03 3.15726953e-01 -5.34438387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.56, Z:-534.47 [[ 2.70408591e-01 5.14883475e-01 8.13495053e-01 2.93854798e+02] [-1.64016268e-01 8.57258948e-01 -4.88063274e-01 -1.70561983e+02] [-9.48671628e-01 -1.44992001e-03 3.16259450e-01 -5.34469235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-170.57, Z:-534.50 [[ 2.71216938e-01 5.15031353e-01 8.13132263e-01 2.93863394e+02] [-1.62189828e-01 8.57171056e-01 -4.88827413e-01 -1.70566504e+02] [-9.48754885e-01 6.96492719e-04 3.16012156e-01 -5.34500279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-170.57, Z:-534.53 [[ 2.72173282e-01 5.15229361e-01 8.12687154e-01 2.93872136e+02] [-1.60617416e-01 8.57048038e-01 -4.89561749e-01 -1.70570959e+02] [-9.48748518e-01 2.71391688e-03 3.16020386e-01 -5.34532053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-170.58, Z:-534.56 [[ 2.73747550e-01 5.15221280e-01 8.12163353e-01 2.93881346e+02] [-1.58528548e-01 8.57039831e-01 -4.90256493e-01 -1.70575794e+02] [-9.48646920e-01 5.45543672e-03 3.16289835e-01 -5.34563376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-170.58, Z:-534.60 [[ 2.74425489e-01 5.15529472e-01 8.11738884e-01 2.93890532e+02] [-1.57242864e-01 8.56842375e-01 -4.91015098e-01 -1.70579701e+02] [-9.48665027e-01 7.10691098e-03 3.16202718e-01 -5.34595155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-170.58, Z:-534.63 [[ 2.75653604e-01 5.15473022e-01 8.11358524e-01 2.93899703e+02] [-1.54767383e-01 8.56847545e-01 -4.91791970e-01 -1.70582842e+02] [-9.48716052e-01 9.99239378e-03 3.15971525e-01 -5.34626233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-170.59, Z:-534.66 [[ 2.76552983e-01 5.15824480e-01 8.10828930e-01 2.93908531e+02] [-1.53853773e-01 8.56617806e-01 -4.92478376e-01 -1.70586934e+02] [-9.48602901e-01 1.14472740e-02 3.16261752e-01 -5.34658094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-170.59, Z:-534.69 [[ 2.77285219e-01 5.16305987e-01 8.10272198e-01 2.93916924e+02] [-1.53355927e-01 8.56313149e-01 -4.93163007e-01 -1.70590846e+02] [-9.48469750e-01 1.24867682e-02 3.16621562e-01 -5.34688949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-170.59, Z:-534.72 [[ 2.77795523e-01 5.16806702e-01 8.09778044e-01 2.93926104e+02] [-1.53016115e-01 8.55999265e-01 -4.93813049e-01 -1.70594152e+02] [-9.48375304e-01 1.32699635e-02 3.16872517e-01 -5.34720011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.60, Z:-534.75 [[ 2.77617508e-01 5.17640798e-01 8.09306199e-01 2.93935065e+02] [-1.53525799e-01 8.55498686e-01 -4.94521818e-01 -1.70598438e+02] [-9.48345058e-01 1.30385340e-02 3.16972630e-01 -5.34751663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.60, Z:-534.78 [[ 2.76847834e-01 5.18664021e-01 8.08914649e-01 2.93943969e+02] [-1.54401787e-01 8.54890746e-01 -4.95299810e-01 -1.70602708e+02] [-9.48427839e-01 1.22248125e-02 3.16757303e-01 -5.34783503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.61, Z:-534.81 [[ 2.75255101e-01 5.20281212e-01 8.08419501e-01 2.93954034e+02] [-1.57327202e-01 8.53943886e-01 -4.96012088e-01 -1.70605169e+02] [-9.48410661e-01 9.34347873e-03 3.16906798e-01 -5.34813660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-170.61, Z:-534.84 [[ 2.73694419e-01 5.21596024e-01 8.08102068e-01 2.93963014e+02] [-1.59193535e-01 8.53161213e-01 -4.96762885e-01 -1.70608558e+02] [-9.48550886e-01 7.31660465e-03 3.16540178e-01 -5.34844690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-170.61, Z:-534.87 [[ 2.72345442e-01 5.23049561e-01 8.07618175e-01 2.93971868e+02] [-1.61609742e-01 8.52287790e-01 -4.97481472e-01 -1.70611999e+02] [-9.48530575e-01 4.96784675e-03 3.16646599e-01 -5.34874769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-170.62, Z:-534.91 [[ 2.70379271e-01 5.20565610e-01 8.09880544e-01 2.93983524e+02] [-1.68405694e-01 8.53815659e-01 -4.92583336e-01 -1.70621728e+02] [-9.47910635e-01 -3.20417174e-03 3.18520268e-01 -5.34906875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-170.60, Z:-534.94 [[ 2.67182855e-01 5.49153614e-01 7.91860866e-01 2.93990289e+02] [-1.69711189e-01 8.35705493e-01 -5.22297274e-01 -1.70601535e+02] [-9.48583910e-01 5.16122783e-03 3.16483692e-01 -5.34939193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-170.62, Z:-534.97 [[ 2.65633055e-01 5.27819269e-01 8.06750209e-01 2.93999561e+02] [-1.72242953e-01 8.49332481e-01 -4.98965631e-01 -1.70622320e+02] [-9.48562832e-01 -6.41527367e-03 3.16523931e-01 -5.34967303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-170.63, Z:-535.00 [[ 2.63920923e-01 5.29298650e-01 8.06342784e-01 2.94008428e+02] [-1.74710191e-01 8.48387939e-01 -4.99714172e-01 -1.70626328e+02] [-9.48589529e-01 -8.99127617e-03 3.16381197e-01 -5.34997584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-170.63, Z:-535.03 [[ 2.60613752e-01 5.31196680e-01 8.06170304e-01 2.94018137e+02] [-1.78346091e-01 8.47143675e-01 -5.00539974e-01 -1.70629891e+02] [-9.48827247e-01 -1.33297215e-02 3.15514143e-01 -5.35028581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-170.63, Z:-535.06 [[ 2.59298720e-01 5.32795015e-01 8.05539351e-01 2.94026868e+02] [-1.79903898e-01 8.46114488e-01 -5.01721896e-01 -1.70634818e+02] [-9.48893440e-01 -1.48238237e-02 3.15248304e-01 -5.35060724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-170.63, Z:-535.09 [[ 2.57163480e-01 5.40379492e-01 8.01159753e-01 2.94036002e+02] [-1.80514613e-01 8.41311641e-01 -5.09518594e-01 -1.70633206e+02] [-9.49358425e-01 -1.35914675e-02 3.13901024e-01 -5.35089869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-170.64, Z:-535.12 [[ 2.56971411e-01 5.33482156e-01 8.05830307e-01 2.94044813e+02] [-1.80668401e-01 8.45649794e-01 -5.02230380e-01 -1.70643653e+02] [-9.49381179e-01 -1.65292232e-02 3.13691189e-01 -5.35119443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-170.65, Z:-535.15 [[ 2.56446221e-01 5.33920130e-01 8.05707534e-01 2.94053111e+02] [-1.80402364e-01 8.45375590e-01 -5.02787331e-01 -1.70648563e+02] [-9.49573759e-01 -1.64136328e-02 3.13113829e-01 -5.35150530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-170.65, Z:-535.18 [[ 2.56589283e-01 5.34563745e-01 8.05235085e-01 2.94061355e+02] [-1.80265468e-01 8.44977406e-01 -5.03505258e-01 -1.70652940e+02] [-9.49561110e-01 -1.59620261e-02 3.13175530e-01 -5.35180682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-170.66, Z:-535.21 [[ 2.56827958e-01 5.35141032e-01 8.04775419e-01 2.94069962e+02] [-1.80101840e-01 8.44621275e-01 -5.04160916e-01 -1.70657032e+02] [-9.49527634e-01 -1.54589148e-02 3.13302242e-01 -5.35212695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-170.66, Z:-535.24 [[ 2.56794883e-01 5.35921632e-01 8.04266369e-01 2.94078455e+02] [-1.80432771e-01 8.44126032e-01 -5.04871525e-01 -1.70661316e+02] [-9.49473751e-01 -1.54675853e-02 3.13465071e-01 -5.35243730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-170.67, Z:-535.27 [[ 2.56835408e-01 5.36787338e-01 8.03675885e-01 2.94086784e+02] [-1.81157863e-01 8.43570530e-01 -5.05539899e-01 -1.70665815e+02] [-9.49324708e-01 -1.57516598e-02 3.13902028e-01 -5.35274296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-170.67, Z:-535.31 [[ 2.57250277e-01 5.37399731e-01 8.03133753e-01 2.94095531e+02] [-1.82163323e-01 8.43172551e-01 -5.05842439e-01 -1.70670076e+02] [-9.49019925e-01 -1.61734056e-02 3.14800893e-01 -5.35306159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-170.67, Z:-535.34 [[ 2.57320035e-01 5.38262567e-01 8.02533369e-01 2.94103225e+02] [-1.82932313e-01 8.42616080e-01 -5.06491768e-01 -1.70674521e+02] [-9.48853081e-01 -1.64788056e-02 3.15287616e-01 -5.35336335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-170.68, Z:-535.37 [[ 2.58779155e-01 5.38945143e-01 8.01605565e-01 2.94111181e+02] [-1.83896942e-01 8.42184149e-01 -5.06860704e-01 -1.70679346e+02] [-9.48269616e-01 -1.62478269e-02 3.17050066e-01 -5.35368425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-170.67, Z:-535.40 [[ 2.56563194e-01 5.53522828e-01 7.92330617e-01 2.94113863e+02] [-1.79075148e-01 8.32800264e-01 -5.23808946e-01 -1.70666463e+02] [-9.49793356e-01 -7.49662624e-03 3.12788078e-01 -5.35401499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-170.72, Z:-535.42 [[ 2.61140359e-01 5.03937137e-01 8.23318331e-01 2.94127410e+02] [-1.83890147e-01 8.63265108e-01 -4.70061450e-01 -1.70716244e+02] [-9.47623410e-01 -2.86481134e-02 3.18102434e-01 -5.35424754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-170.70, Z:-535.46 [[ 2.60734868e-01 5.40554706e-01 7.99886203e-01 2.94134227e+02] [-1.83410012e-01 8.41191109e-01 -5.08682893e-01 -1.70695374e+02] [-9.47828094e-01 -1.40757715e-02 3.18470998e-01 -5.35460550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-170.69, Z:-535.49 [[ 2.58908384e-01 5.51348440e-01 7.93083442e-01 2.94137855e+02] [-1.77855818e-01 8.34254010e-01 -5.21907611e-01 -1.70686858e+02] [-9.49385989e-01 -5.92824818e-03 3.14055886e-01 -5.35492758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-170.72, Z:-535.52 [[ 2.60879805e-01 5.19618221e-01 8.13596111e-01 2.94146019e+02] [-1.74791478e-01 8.54275592e-01 -4.89551991e-01 -1.70718832e+02] [-9.49415434e-01 -1.44954388e-02 3.13688087e-01 -5.35520433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-170.72, Z:-535.55 [[ 2.60678014e-01 5.31454307e-01 8.05979710e-01 2.94154142e+02] [-1.75270434e-01 8.47022520e-01 -5.01829777e-01 -1.70715673e+02] [-9.49382562e-01 -1.04484242e-02 3.13948375e-01 -5.35552886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-170.73, Z:-535.58 [[ 2.63339316e-01 5.23331465e-01 8.10417536e-01 2.94165257e+02] [-1.75842113e-01 8.52035132e-01 -4.93067628e-01 -1.70731214e+02] [-9.48542016e-01 -1.26614404e-02 3.16398059e-01 -5.35580970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-170.73, Z:-535.61 [[ 2.64231074e-01 5.39087700e-01 7.99728949e-01 2.94172460e+02] [-1.72189902e-01 8.42245241e-01 -5.10855744e-01 -1.70726267e+02] [-9.48963950e-01 -2.72128764e-03 3.15372823e-01 -5.35614121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-170.73, Z:-535.64 [[ 2.64818137e-01 5.39333266e-01 7.99369115e-01 2.94180220e+02] [-1.70529336e-01 8.42092013e-01 -5.11664721e-01 -1.70732194e+02] [-9.49100153e-01 -8.17786560e-04 3.14973382e-01 -5.35644909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-170.74, Z:-535.68 [[ 2.66008779e-01 5.39238052e-01 7.99037955e-01 2.94187762e+02] [-1.67956509e-01 8.42150756e-01 -5.12418496e-01 -1.70739094e+02] [-9.49225969e-01 2.10419312e-03 3.14588035e-01 -5.35675759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-170.74, Z:-535.71 [[ 2.65940075e-01 5.39962306e-01 7.98571590e-01 2.94196273e+02] [-1.68067400e-01 8.41686186e-01 -5.13144924e-01 -1.70744158e+02] [-9.49225593e-01 2.25194874e-03 3.14588149e-01 -5.35707727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-170.75, Z:-535.74 [[ 2.66569746e-01 5.39744098e-01 7.98509161e-01 2.94203932e+02] [-1.66149009e-01 8.41818537e-01 -5.13552390e-01 -1.70751112e+02] [-9.49386685e-01 4.22602419e-03 3.14081300e-01 -5.35739151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-170.76, Z:-535.77 [[ 2.66921921e-01 5.40343741e-01 7.97985795e-01 2.94212107e+02] [-1.65998514e-01 8.41430708e-01 -5.14236189e-01 -1.70756770e+02] [-9.49314058e-01 4.79645559e-03 3.14292559e-01 -5.35770079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-170.76, Z:-535.80 [[ 2.66935437e-01 5.40994897e-01 7.97539964e-01 2.94219772e+02] [-1.65857334e-01 8.41009887e-01 -5.14969626e-01 -1.70761704e+02] [-9.49334934e-01 5.18579013e-03 3.14223313e-01 -5.35800324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-170.77, Z:-535.83 [[ 2.66840768e-01 5.41732591e-01 7.97070765e-01 2.94228042e+02] [-1.66251863e-01 8.40535582e-01 -5.15616382e-01 -1.70766870e+02] [-9.49292538e-01 5.07297180e-03 3.14353212e-01 -5.35831935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-170.77, Z:-535.86 [[ 2.66733091e-01 5.42710264e-01 7.96441478e-01 2.94236036e+02] [-1.67425545e-01 8.39908670e-01 -5.16257797e-01 -1.70771979e+02] [-9.49116508e-01 4.35838997e-03 3.14894997e-01 -5.35862339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-170.78, Z:-535.89 [[ 2.66149970e-01 5.43608320e-01 7.96023987e-01 2.94244227e+02] [-1.68145414e-01 8.39330681e-01 -5.16963372e-01 -1.70777037e+02] [-9.49152945e-01 3.74200283e-03 3.14793082e-01 -5.35893721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-170.78, Z:-535.93 [[ 2.64873774e-01 5.44853867e-01 7.95597981e-01 2.94252580e+02] [-1.69895236e-01 8.38528737e-01 -5.17692154e-01 -1.70781899e+02] [-9.49198342e-01 1.95476786e-03 3.14672348e-01 -5.35925408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-170.79, Z:-535.96 [[ 2.64141782e-01 5.45812294e-01 7.95184292e-01 2.94260561e+02] [-1.70638891e-01 8.37906535e-01 -5.18454441e-01 -1.70786576e+02] [-9.49268923e-01 1.25611439e-03 3.14462929e-01 -5.35955789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-170.79, Z:-535.99 [[ 2.63921054e-01 5.46471162e-01 7.94804974e-01 2.94269067e+02] [-1.71548749e-01 8.37477716e-01 -5.18846897e-01 -1.70791869e+02] [-9.49166321e-01 5.86821171e-04 3.14774445e-01 -5.35987162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-170.80, Z:-536.02 [[ 2.63620172e-01 5.47457015e-01 7.94226178e-01 2.94276812e+02] [-1.72696311e-01 8.36833779e-01 -5.19504775e-01 -1.70796527e+02] [-9.49041827e-01 -2.07993037e-04 3.15150072e-01 -5.36017589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-170.80, Z:-536.05 [[ 2.63223164e-01 5.47911835e-01 7.94044197e-01 2.94284797e+02] [-1.72565552e-01 8.36536073e-01 -5.20027431e-01 -1.70801268e+02] [-9.49175799e-01 -1.41409570e-04 3.14746380e-01 -5.36048017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-170.81, Z:-536.08 [[ 2.63263751e-01 5.48579023e-01 7.93569942e-01 2.94293164e+02] [-1.72752076e-01 8.36098711e-01 -5.20668479e-01 -1.70806426e+02] [-9.49130612e-01 -1.77181379e-05 3.14882648e-01 -5.36079618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-170.81, Z:-536.11 [[ 2.63172295e-01 5.49249393e-01 7.93136462e-01 2.94301217e+02] [-1.72577051e-01 8.35658412e-01 -5.21432814e-01 -1.70811597e+02] [-9.49187813e-01 3.49518813e-04 3.14709982e-01 -5.36110354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-170.82, Z:-536.14 [[ 2.62229281e-01 5.49694932e-01 7.93140143e-01 2.94309467e+02] [-1.71035472e-01 8.35364409e-01 -5.22410922e-01 -1.70817170e+02] [-9.49727683e-01 1.33634170e-03 3.13074341e-01 -5.36141817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-170.80, Z:-536.18 [[ 2.58300373e-01 5.68826149e-01 7.80844241e-01 2.94311705e+02] [-1.64278182e-01 8.22363881e-01 -5.44729591e-01 -1.70798785e+02] [-9.51994536e-01 1.24281844e-02 3.05862623e-01 -5.36175376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:-170.84, Z:-536.20 [[ 2.58062348e-01 5.24235092e-01 8.11530279e-01 2.94321050e+02] [-1.63992327e-01 8.51561248e-01 -4.97945738e-01 -1.70838761e+02] [-9.52108366e-01 -4.58369257e-03 3.05726428e-01 -5.36201079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-170.84, Z:-536.23 [[ 2.57736911e-01 5.27243921e-01 8.09682365e-01 2.94329001e+02] [-1.64557807e-01 8.49703928e-01 -5.00923111e-01 -1.70841931e+02] [-9.52098951e-01 -4.13317843e-03 3.05762169e-01 -5.36232961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-170.86, Z:-536.26 [[ 2.60875347e-01 5.15545401e-01 8.16184411e-01 2.94342864e+02] [-1.69171258e-01 8.56791700e-01 -4.87123258e-01 -1.70862093e+02] [-9.50434184e-01 -1.09964950e-02 3.10731297e-01 -5.36259734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-170.82, Z:-536.30 [[ 2.58054698e-01 5.67073769e-01 7.82198896e-01 2.94345702e+02] [-1.65627082e-01 8.23600997e-01 -5.42447295e-01 -1.70821437e+02] [-9.51827423e-01 1.04277523e-02 3.06456880e-01 -5.36297781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-170.87, Z:-536.32 [[ 2.60531338e-01 5.15595340e-01 8.16262744e-01 2.94359877e+02] [-1.72201801e-01 8.56719544e-01 -4.86187373e-01 -1.70871592e+02] [-9.49984190e-01 -1.38948681e-02 3.11988735e-01 -5.36320282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-170.82, Z:-536.36 [[ 2.56471737e-01 5.74775079e-01 7.77081628e-01 2.94361400e+02] [-1.68422133e-01 8.18249242e-01 -5.49638211e-01 -1.70823455e+02] [-9.51764799e-01 1.00889213e-02 3.06662649e-01 -5.36360269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-170.88, Z:-536.38 [[ 2.60504629e-01 5.11169105e-01 8.19050355e-01 2.94377148e+02] [-1.75853470e-01 8.59272285e-01 -4.80340189e-01 -1.70883577e+02] [-9.49322335e-01 -1.89020045e-02 3.13735269e-01 -5.36380372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-170.86, Z:-536.42 [[ 2.59858694e-01 5.55947977e-01 7.89553865e-01 2.94385008e+02] [-1.77783891e-01 8.31209782e-01 -5.26766729e-01 -1.70855620e+02] [-9.49139793e-01 -3.48504347e-03 3.14835683e-01 -5.36418021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-170.86, Z:-536.45 [[ 2.59389481e-01 5.56965009e-01 7.88991176e-01 2.94393392e+02] [-1.78981108e-01 8.30524295e-01 -5.27442090e-01 -1.70859984e+02] [-9.49043129e-01 -4.40158474e-03 3.15115480e-01 -5.36448766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-170.86, Z:-536.48 [[ 2.58657565e-01 5.58281640e-01 7.88300625e-01 2.94402607e+02] [-1.81613820e-01 8.29625198e-01 -5.27956866e-01 -1.70864180e+02] [-9.48742686e-01 -6.60625106e-03 3.15980495e-01 -5.36480107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-170.87, Z:-536.51 [[ 2.57876947e-01 5.59364628e-01 7.87788482e-01 2.94410968e+02] [-1.82944739e-01 8.28885087e-01 -5.28659376e-01 -1.70868179e+02] [-9.48699480e-01 -7.79269260e-03 3.16083172e-01 -5.36510544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-170.87, Z:-536.54 [[ 2.57567452e-01 5.60400540e-01 7.87153252e-01 2.94419638e+02] [-1.84580773e-01 8.28172970e-01 -5.29206453e-01 -1.70872391e+02] [-9.48466629e-01 -8.98699788e-03 3.16749567e-01 -5.36541523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-170.88, Z:-536.57 [[ 2.57151443e-01 5.61323869e-01 7.86631203e-01 2.94427899e+02] [-1.85673578e-01 8.27538042e-01 -5.29817055e-01 -1.70876315e+02] [-9.48366205e-01 -9.81340988e-03 3.17025612e-01 -5.36572607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-170.88, Z:-536.60 [[ 2.57126425e-01 5.62232808e-01 7.85989995e-01 2.94436615e+02] [-1.87962882e-01 8.26899618e-01 -5.30006582e-01 -1.70880453e+02] [-9.47921915e-01 -1.14582472e-02 3.18296641e-01 -5.36604487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-170.89, Z:-536.63 [[ 2.56879537e-01 5.62976730e-01 7.85538099e-01 2.94444578e+02] [-1.88063516e-01 8.26394257e-01 -5.30758557e-01 -1.70885005e+02] [-9.47968891e-01 -1.13900443e-02 3.18159157e-01 -5.36634801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-170.89, Z:-536.67 [[ 2.56519063e-01 5.63443473e-01 7.85321223e-01 2.94452379e+02] [-1.87046669e-01 8.26087540e-01 -5.31594695e-01 -1.70891312e+02] [-9.48267639e-01 -1.05275457e-02 3.17297426e-01 -5.36665400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-170.91, Z:-536.69 [[ 2.57689831e-01 5.56018538e-01 7.90214741e-01 2.94462376e+02] [-1.87877902e-01 8.31059179e-01 -5.23490721e-01 -1.70905930e+02] [-9.47785759e-01 -1.35656526e-02 3.18619096e-01 -5.36694580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-170.89, Z:-536.73 [[ 2.55984266e-01 5.77540031e-01 7.75190021e-01 2.94468749e+02] [-1.85832545e-01 8.16352207e-01 -5.46841239e-01 -1.70893073e+02] [-9.48650790e-01 -4.07278090e-03 3.16299054e-01 -5.36727610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-170.91, Z:-536.76 [[ 2.55594019e-01 5.65417777e-01 7.84203058e-01 2.94476202e+02] [-1.85149298e-01 8.24759546e-01 -5.34313979e-01 -1.70908810e+02] [-9.48889580e-01 -8.62718862e-03 3.15490311e-01 -5.36756181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-170.92, Z:-536.78 [[ 2.55727842e-01 5.59011292e-01 7.88739277e-01 2.94483543e+02] [-1.84021060e-01 8.29098126e-01 -5.27951274e-01 -1.70918681e+02] [-9.49072980e-01 -1.01327980e-02 3.14893325e-01 -5.36783008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-170.92, Z:-536.81 [[ 2.55316532e-01 5.64590856e-01 7.84888931e-01 2.94491465e+02] [-1.84075039e-01 8.25330295e-01 -5.33803600e-01 -1.70920815e+02] [-9.49173245e-01 -8.18957663e-03 3.14647553e-01 -5.36814992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-170.93, Z:-536.85 [[ 2.55110243e-01 5.65283254e-01 7.84457524e-01 2.94499324e+02] [-1.84075399e-01 8.24857740e-01 -5.34533401e-01 -1.70926348e+02] [-9.49228640e-01 -8.03438585e-03 3.14484399e-01 -5.36846728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-170.93, Z:-536.88 [[ 2.55451771e-01 5.65927876e-01 7.83881389e-01 2.94506422e+02] [-1.84162489e-01 8.24419270e-01 -5.35179452e-01 -1.70932441e+02] [-9.49119892e-01 -7.64900880e-03 3.14822049e-01 -5.36878078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-170.94, Z:-536.91 [[ 2.55719639e-01 5.66565590e-01 7.83333198e-01 2.94513986e+02] [-1.84175099e-01 8.23984798e-01 -5.35843807e-01 -1.70937943e+02] [-9.49045309e-01 -7.24468421e-03 3.15056369e-01 -5.36909201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-170.94, Z:-536.94 [[ 2.56068202e-01 5.67233355e-01 7.82735841e-01 2.94521502e+02] [-1.84298908e-01 8.23528409e-01 -5.36502444e-01 -1.70944097e+02] [-9.48927283e-01 -6.87614494e-03 3.15419927e-01 -5.36940899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-170.95, Z:-536.97 [[ 2.56027761e-01 5.67936914e-01 7.82238741e-01 2.94529055e+02] [-1.84355908e-01 8.23045093e-01 -5.37224044e-01 -1.70949530e+02] [-9.48927123e-01 -6.66606401e-03 3.15424918e-01 -5.36971184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-170.96, Z:-537.00 [[ 2.56001535e-01 5.68658501e-01 7.81722920e-01 2.94536802e+02] [-1.84734030e-01 8.22546274e-01 -5.37857756e-01 -1.70955705e+02] [-9.48860660e-01 -6.71841433e-03 3.15623686e-01 -5.37002454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-170.96, Z:-537.03 [[ 2.55785740e-01 5.69377823e-01 7.81269832e-01 2.94544700e+02] [-1.84762285e-01 8.22049623e-01 -5.38606829e-01 -1.70961579e+02] [-9.48913354e-01 -6.58125300e-03 3.15468119e-01 -5.37034275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-170.97, Z:-537.07 [[ 2.55302367e-01 5.70281077e-01 7.80768976e-01 2.94551840e+02] [-1.85487472e-01 8.21418657e-01 -5.39319746e-01 -1.70967715e+02] [-9.48902049e-01 -7.13325641e-03 3.15490123e-01 -5.37065106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-170.97, Z:-537.10 [[ 2.54966720e-01 5.71119292e-01 7.80265804e-01 2.94559755e+02] [-1.86231924e-01 8.20831526e-01 -5.39956736e-01 -1.70973554e+02] [-9.48846480e-01 -7.63940398e-03 3.15645366e-01 -5.37096941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-170.98, Z:-537.13 [[ 2.53911788e-01 5.72238966e-01 7.79789311e-01 2.94566785e+02] [-1.87610884e-01 8.20037424e-01 -5.40685472e-01 -1.70979459e+02] [-9.48857713e-01 -9.01054722e-03 3.15575427e-01 -5.37128091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-170.98, Z:-537.16 [[ 2.53256524e-01 5.73247279e-01 7.79261631e-01 2.94574010e+02] [-1.88753942e-01 8.19321612e-01 -5.41372372e-01 -1.70984728e+02] [-9.48806136e-01 -9.98261950e-03 3.15701227e-01 -5.37158988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-170.99, Z:-537.19 [[ 2.52691276e-01 5.74278243e-01 7.78685828e-01 2.94581610e+02] [-1.90288284e-01 8.18583182e-01 -5.41951975e-01 -1.70990506e+02] [-9.48650351e-01 -1.12282541e-02 3.16127250e-01 -5.37190230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-171.00, Z:-537.22 [[ 2.51546360e-01 5.75597991e-01 7.78081860e-01 2.94588759e+02] [-1.92593556e-01 8.17623537e-01 -5.42585914e-01 -1.70996811e+02] [-9.48489405e-01 -1.33680405e-02 3.16526688e-01 -5.37221482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-171.00, Z:-537.25 [[ 2.50341411e-01 5.79255779e-01 7.75752486e-01 2.94595197e+02] [-1.92917475e-01 8.15043999e-01 -5.46338840e-01 -1.70999618e+02] [-9.48742339e-01 -1.28849748e-02 3.15787827e-01 -5.37254291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-171.01, Z:-537.28 [[ 2.49902169e-01 5.78363075e-01 7.76559759e-01 2.94604033e+02] [-1.94617393e-01 8.15642019e-01 -5.44841415e-01 -1.71007654e+02] [-9.48510926e-01 -1.49749840e-02 3.16390224e-01 -5.37282787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-171.01, Z:-537.31 [[ 2.49230481e-01 5.78359285e-01 7.76778414e-01 2.94611789e+02] [-1.95262515e-01 8.15626489e-01 -5.44633804e-01 -1.71014100e+02] [-9.48555068e-01 -1.59363619e-02 3.16210871e-01 -5.37314310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-171.02, Z:-537.34 [[ 2.47949492e-01 5.80256452e-01 7.75772840e-01 2.94618621e+02] [-1.96718104e-01 8.14252442e-01 -5.46163848e-01 -1.71020325e+02] [-9.48590026e-01 -1.71875132e-02 3.16040428e-01 -5.37344244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.03, Z:-537.37 [[ 2.47414234e-01 5.74922789e-01 7.79903830e-01 2.94625755e+02] [-1.96211972e-01 8.17981470e-01 -5.40746869e-01 -1.71032238e+02] [-9.48834579e-01 -1.92379961e-02 3.15186993e-01 -5.37374366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-171.03, Z:-537.41 [[ 2.47324541e-01 5.81013992e-01 7.75405257e-01 2.94633073e+02] [-1.96384331e-01 8.13716619e-01 -5.47081765e-01 -1.71033949e+02] [-9.48822305e-01 -1.69706964e-02 3.15354133e-01 -5.37405482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-171.04, Z:-537.44 [[ 2.47465410e-01 5.81586377e-01 7.74931066e-01 2.94640433e+02] [-1.96188541e-01 8.13317614e-01 -5.47744936e-01 -1.71039844e+02] [-9.48826079e-01 -1.64846700e-02 3.15368559e-01 -5.37436030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-171.05, Z:-537.47 [[ 2.47736901e-01 5.82120538e-01 7.74443095e-01 2.94648229e+02] [-1.96001378e-01 8.12946201e-01 -5.48362958e-01 -1.71045787e+02] [-9.48793912e-01 -1.59421739e-02 3.15493200e-01 -5.37466331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.05, Z:-537.50 [[ 2.47861100e-01 5.82646321e-01 7.74007842e-01 2.94656121e+02] [-1.95731405e-01 8.12579503e-01 -5.49002521e-01 -1.71051512e+02] [-9.48817207e-01 -1.54212732e-02 3.15449032e-01 -5.37497586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-171.06, Z:-537.53 [[ 2.47771665e-01 5.83364384e-01 7.73495441e-01 2.94664381e+02] [-1.95832930e-01 8.12067010e-01 -5.49724144e-01 -1.71056945e+02] [-9.48819617e-01 -1.52698118e-02 3.15449152e-01 -5.37529557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-171.07, Z:-537.56 [[ 2.49999819e-01 5.76571579e-01 7.77859438e-01 2.94674103e+02] [-1.96948106e-01 8.16855908e-01 -5.42178817e-01 -1.71070581e+02] [-9.48003974e-01 -1.76533367e-02 3.17768510e-01 -5.37559844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-171.05, Z:-537.59 [[ 2.47659055e-01 6.02384677e-01 7.58813346e-01 2.94680639e+02] [-1.94910192e-01 7.98177555e-01 -5.70019831e-01 -1.71052257e+02] [-9.49038993e-01 -6.72988250e-03 3.15086812e-01 -5.37592624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-171.09, Z:-537.62 [[ 2.50788719e-01 5.70461040e-01 7.82099240e-01 2.94693397e+02] [-1.98822021e-01 8.21048488e-01 -5.35116048e-01 -1.71088258e+02] [-9.47404255e-01 -2.12974834e-02 3.19329916e-01 -5.37618986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-171.07, Z:-537.66 [[ 2.48260317e-01 6.03717660e-01 7.57556468e-01 2.94700859e+02] [-1.97578814e-01 7.97157690e-01 -5.70528026e-01 -1.71065211e+02] [-9.48329809e-01 -8.03764001e-03 3.17184440e-01 -5.37655081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-171.08, Z:-537.68 [[ 2.47947392e-01 5.97010606e-01 7.62955062e-01 2.94709450e+02] [-1.98206950e-01 8.02150014e-01 -5.63266686e-01 -1.71075964e+02] [-9.48280600e-01 -1.15624902e-02 3.17222656e-01 -5.37684903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-171.07, Z:-537.72 [[ 2.44819748e-01 6.08644523e-01 7.54728518e-01 2.94714868e+02] [-1.96753871e-01 7.93407809e-01 -5.76013857e-01 -1.71066998e+02] [-9.49395179e-01 -7.47618994e-03 3.13995066e-01 -5.37715861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-171.09, Z:-537.74 [[ 2.44994295e-01 5.86666251e-01 7.71881147e-01 2.94722462e+02] [-1.97523269e-01 8.09649068e-01 -5.52677975e-01 -1.71090200e+02] [-9.49190368e-01 -1.70615364e-02 3.14239638e-01 -5.37744296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-171.10, Z:-537.78 [[ 2.45193531e-01 5.87530121e-01 7.71160482e-01 2.94730351e+02] [-1.98553210e-01 8.09013784e-01 -5.53238935e-01 -1.71095502e+02] [-9.48923999e-01 -1.74657810e-02 3.15020938e-01 -5.37776081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-171.10, Z:-537.81 [[ 2.46408223e-01 5.88282842e-01 7.70198861e-01 2.94737834e+02] [-1.99698729e-01 8.08468230e-01 -5.53624005e-01 -1.71100767e+02] [-9.48368813e-01 -1.73902258e-02 3.16692556e-01 -5.37806782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-171.11, Z:-537.84 [[ 2.47028235e-01 5.88845990e-01 7.69569653e-01 2.94746112e+02] [-1.99789327e-01 8.08069487e-01 -5.54173193e-01 -1.71106384e+02] [-9.48188418e-01 -1.68553778e-02 3.17261123e-01 -5.37838534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:294.76, Y:-171.14, Z:-537.86 [[ 2.51780073e-01 5.66359039e-01 7.84757436e-01 2.94758672e+02] [-2.01848038e-01 8.23778796e-01 -5.29760196e-01 -1.71135611e+02] [-9.46501011e-01 -2.50186877e-02 3.21729546e-01 -5.37861468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.14, Z:-537.89 [[ 2.53441790e-01 5.70346349e-01 7.81327269e-01 2.94769027e+02] [-2.04004462e-01 8.21045749e-01 -5.33166070e-01 -1.71143209e+02] [-9.45594754e-01 -2.42676865e-02 3.24440504e-01 -5.37888399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.03, Z:-537.93 [[ 2.40525991e-01 6.85261239e-01 6.87433111e-01 2.94765661e+02] [-1.87318431e-01 7.27681674e-01 -6.59841789e-01 -1.71029776e+02] [-9.52396479e-01 2.99402085e-02 3.03388416e-01 -5.37934873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-171.12, Z:-537.95 [[ 2.43724385e-01 5.79051157e-01 7.78009115e-01 2.94766887e+02] [-1.85596487e-01 8.15221162e-01 -5.48605870e-01 -1.71122331e+02] [-9.51920358e-01 -1.06871304e-02 3.06159137e-01 -5.37951157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.18, Z:-537.97 [[ 2.54608373e-01 5.28830829e-01 8.09637284e-01 2.94789909e+02] [-1.91867271e-01 8.48209339e-01 -4.93688027e-01 -1.71182520e+02] [-9.47819354e-01 -2.96457911e-02 3.17426527e-01 -5.37973871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.07, Z:-538.02 [[ 2.45799071e-01 6.54562876e-01 7.14933743e-01 2.94785552e+02] [-1.80776701e-01 7.55576813e-01 -6.29621683e-01 -1.71071949e+02] [-9.52314339e-01 2.55170614e-02 3.04049796e-01 -5.38022223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-171.14, Z:-538.04 [[ 2.49143983e-01 5.77530883e-01 7.77422250e-01 2.94790402e+02] [-1.76475974e-01 8.16368815e-01 -5.49907436e-01 -1.71140496e+02] [-9.52251808e-01 -1.90220331e-04 3.05313703e-01 -5.38043770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-171.15, Z:-538.07 [[ 2.49323145e-01 5.77964470e-01 7.77042496e-01 2.94798590e+02] [-1.75377328e-01 8.16061278e-01 -5.50714793e-01 -1.71145608e+02] [-9.52407876e-01 1.03030772e-03 3.04824829e-01 -5.38074552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-171.15, Z:-538.11 [[ 2.49665433e-01 5.78426091e-01 7.76588970e-01 2.94806869e+02] [-1.74774382e-01 8.15732499e-01 -5.51393151e-01 -1.71150290e+02] [-9.52429046e-01 1.93595253e-03 3.04754270e-01 -5.38106315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.15, Z:-538.14 [[ 2.50595666e-01 5.79030691e-01 7.75838431e-01 2.94815514e+02] [-1.75015169e-01 8.15301809e-01 -5.51953487e-01 -1.71153935e+02] [-9.52140485e-01 2.53365727e-03 3.05650254e-01 -5.38138250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-171.16, Z:-538.17 [[ 2.50752593e-01 5.79841038e-01 7.75182242e-01 2.94823614e+02] [-1.75683720e-01 8.14726164e-01 -5.52590725e-01 -1.71158353e+02] [-9.51976033e-01 2.37665668e-03 3.06163329e-01 -5.38169554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-171.16, Z:-538.20 [[ 2.50777286e-01 5.80701291e-01 7.74530028e-01 2.94832000e+02] [-1.76471956e-01 8.14114106e-01 -5.53241241e-01 -1.71163068e+02] [-9.51823724e-01 2.05750745e-03 3.06638819e-01 -5.38201543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.84, Y:-171.17, Z:-538.23 [[ 2.50181307e-01 5.81622201e-01 7.74031607e-01 2.94840933e+02] [-1.77110597e-01 8.13457639e-01 -5.54002263e-01 -1.71167882e+02] [-9.51861939e-01 1.51181043e-03 3.06523351e-01 -5.38232771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-171.17, Z:-538.26 [[ 2.49650852e-01 5.82465687e-01 7.73568469e-01 2.94849245e+02] [-1.77435406e-01 8.12854339e-01 -5.54783291e-01 -1.71172713e+02] [-9.51940717e-01 1.24368581e-03 3.06279814e-01 -5.38263766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-171.18, Z:-538.29 [[ 2.49405079e-01 5.83300926e-01 7.73018199e-01 2.94857661e+02] [-1.77941734e-01 8.12255530e-01 -5.55497698e-01 -1.71177026e+02] [-9.51910629e-01 9.91748426e-04 3.06374233e-01 -5.38294888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.18, Z:-538.33 [[ 2.49247078e-01 5.84132972e-01 7.72440655e-01 2.94866045e+02] [-1.78493584e-01 8.11657626e-01 -5.56194155e-01 -1.71180711e+02] [-9.51848693e-01 7.54067113e-04 3.06567279e-01 -5.38325949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.87, Y:-171.18, Z:-538.36 [[ 2.49074490e-01 5.85117093e-01 7.71751182e-01 2.94874655e+02] [-1.80031637e-01 8.10948774e-01 -5.56732158e-01 -1.71184387e+02] [-9.51604176e-01 -2.71850405e-04 3.07326240e-01 -5.38356064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-171.19, Z:-538.39 [[ 2.48729384e-01 5.85984009e-01 7.71204535e-01 2.94882984e+02] [-1.80913584e-01 8.10322127e-01 -5.57358346e-01 -1.71189519e+02] [-9.51527177e-01 -8.89978378e-04 3.07563390e-01 -5.38387476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-171.19, Z:-538.42 [[ 2.48455586e-01 5.86880347e-01 7.70610979e-01 2.94891954e+02] [-1.81823671e-01 8.09672330e-01 -5.58006157e-01 -1.71194375e+02] [-9.51425233e-01 -1.47557061e-03 3.07876352e-01 -5.38418545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-171.20, Z:-538.45 [[ 2.48324450e-01 5.87633251e-01 7.70079301e-01 2.94899936e+02] [-1.82009869e-01 8.09126173e-01 -5.58737187e-01 -1.71199212e+02] [-9.51423867e-01 -1.41392859e-03 3.07880863e-01 -5.38448859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-171.20, Z:-538.48 [[ 2.48605076e-01 5.88193159e-01 7.69561125e-01 2.94908422e+02] [-1.81778194e-01 8.08720061e-01 -5.59400171e-01 -1.71203739e+02] [-9.51394873e-01 -8.19709740e-04 3.07972602e-01 -5.38480862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.21, Z:-538.51 [[ 2.48967114e-01 5.88811742e-01 7.68970811e-01 2.94916761e+02] [-1.81731878e-01 8.08270151e-01 -5.60065074e-01 -1.71208406e+02] [-9.51309046e-01 -3.08724643e-04 3.08238551e-01 -5.38512633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-171.21, Z:-538.54 [[ 2.49120829e-01 5.89525824e-01 7.68373683e-01 2.94924426e+02] [-1.81937305e-01 8.07749524e-01 -5.60749074e-01 -1.71213494e+02] [-9.51229536e-01 -1.01562697e-04 3.08483970e-01 -5.38543418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-171.22, Z:-538.57 [[ 2.49206484e-01 5.90170775e-01 7.67850627e-01 2.94932405e+02] [-1.81993643e-01 8.07278410e-01 -5.61408838e-01 -1.71219288e+02] [-9.51196322e-01 1.62789555e-04 3.08586344e-01 -5.38574905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:-171.23, Z:-538.61 [[ 2.49269897e-01 5.90883070e-01 7.67282032e-01 2.94940903e+02] [-1.82213412e-01 8.06757155e-01 -5.62086440e-01 -1.71225800e+02] [-9.51137630e-01 3.02152019e-04 3.08767094e-01 -5.38605954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-171.23, Z:-538.64 [[ 2.49246114e-01 5.91627998e-01 7.66715519e-01 2.94949198e+02] [-1.82553813e-01 8.06211029e-01 -5.62759169e-01 -1.71231190e+02] [-9.51078588e-01 2.98694956e-04 3.08948913e-01 -5.38637270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.28, Z:-538.67 [[ 2.53772457e-01 5.62327638e-01 7.87011543e-01 2.94967048e+02] [-1.93389997e-01 8.26715914e-01 -5.28338061e-01 -1.71278152e+02] [-9.47734060e-01 -1.81225124e-02 3.18546269e-01 -5.38666689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.18, Z:-538.71 [[ 2.47570306e-01 6.73055692e-01 6.96925375e-01 2.94971535e+02] [-1.84974885e-01 7.38921195e-01 -6.47904128e-01 -1.71176390e+02] [-9.51048493e-01 3.14881319e-02 3.07433346e-01 -5.38708854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-171.25, Z:-538.73 [[ 2.47993201e-01 5.93849365e-01 7.65403360e-01 2.94973787e+02] [-1.84070897e-01 8.04575772e-01 -5.64602278e-01 -1.71245683e+02] [-9.51113704e-01 -8.70956581e-04 3.08839707e-01 -5.38729709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-171.25, Z:-538.76 [[ 2.46686603e-01 5.94972907e-01 7.64952914e-01 2.94981807e+02] [-1.85281604e-01 8.03742587e-01 -5.65392413e-01 -1.71249782e+02] [-9.51218401e-01 -2.25696871e-03 3.08510063e-01 -5.38759861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-171.26, Z:-538.79 [[ 2.45843858e-01 5.95981145e-01 7.64439188e-01 2.94989859e+02] [-1.86501856e-01 8.02991198e-01 -5.66058471e-01 -1.71255062e+02] [-9.51198116e-01 -3.40732879e-03 3.08562044e-01 -5.38791094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-171.26, Z:-538.82 [[ 2.44807853e-01 5.96974482e-01 7.63996455e-01 2.94997719e+02] [-1.87374088e-01 8.02248211e-01 -5.66823393e-01 -1.71259736e+02] [-9.51293891e-01 -4.39032120e-03 3.08254212e-01 -5.38821411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-171.28, Z:-538.85 [[ 2.45125122e-01 5.86907710e-01 7.71656021e-01 2.95008909e+02] [-1.93432140e-01 8.09543018e-01 -5.54278007e-01 -1.71283171e+02] [-9.49998780e-01 -1.33956116e-02 3.11966145e-01 -5.38853425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.23, Z:-538.89 [[ 2.41218838e-01 6.50694180e-01 7.20007331e-01 2.95016665e+02] [-1.91501951e-01 7.59242624e-01 -6.21994888e-01 -1.71227167e+02] [-9.51388709e-01 1.21540753e-02 3.07752829e-01 -5.38887103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-171.27, Z:-538.91 [[ 2.41553508e-01 5.99528864e-01 7.63031483e-01 2.95021266e+02] [-1.92567053e-01 8.00293505e-01 -5.67845257e-01 -1.71273262e+02] [-9.51088762e-01 -9.76971001e-03 3.08763210e-01 -5.38911717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-171.28, Z:-538.94 [[ 2.41081917e-01 6.00613864e-01 7.62327027e-01 2.95028931e+02] [-1.94220223e-01 7.99463341e-01 -5.68451292e-01 -1.71278273e+02] [-9.50872239e-01 -1.10159981e-02 3.09387514e-01 -5.38942229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-171.28, Z:-538.97 [[ 2.41074779e-01 6.01581838e-01 7.61565653e-01 2.95036401e+02] [-1.96929692e-01 7.98706942e-01 -5.68582376e-01 -1.71283498e+02] [-9.50316604e-01 -1.29040182e-02 3.11017426e-01 -5.38974127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-171.29, Z:-539.01 [[ 2.41194133e-01 6.02523123e-01 7.60783331e-01 2.95043795e+02] [-1.98349691e-01 7.97984911e-01 -5.69102347e-01 -1.71288637e+02] [-9.49990942e-01 -1.36369915e-02 3.11979554e-01 -5.39005517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-171.29, Z:-539.04 [[ 2.42007405e-01 6.03457262e-01 7.59784014e-01 2.95050725e+02] [-2.00132057e-01 7.97268216e-01 -5.69482705e-01 -1.71294817e+02] [-9.49410120e-01 -1.42381064e-02 3.13715955e-01 -5.39036880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-171.30, Z:-539.07 [[ 2.42129525e-01 6.04163503e-01 7.59183611e-01 2.95057847e+02] [-2.00305947e-01 7.96737116e-01 -5.70164446e-01 -1.71300511e+02] [-9.49342310e-01 -1.40153450e-02 3.13931122e-01 -5.39067411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.31, Z:-539.10 [[ 2.42157047e-01 6.04737431e-01 7.58717737e-01 2.95065364e+02] [-2.00001978e-01 7.96310390e-01 -5.70866859e-01 -1.71306466e+02] [-9.49399375e-01 -1.35056158e-02 3.13780855e-01 -5.39099117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-171.31, Z:-539.13 [[ 2.41699732e-01 6.04992474e-01 7.58660231e-01 2.95072374e+02] [-1.97569226e-01 7.96145962e-01 -5.71942312e-01 -1.71313140e+02] [-9.50025074e-01 -1.16496113e-02 3.11956160e-01 -5.39129846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-171.32, Z:-539.16 [[ 2.41146768e-01 6.05394907e-01 7.58515156e-01 2.95079536e+02] [-1.96035382e-01 7.95855340e-01 -5.72873815e-01 -1.71319756e+02] [-9.50483227e-01 -1.05491393e-02 3.10596765e-01 -5.39160979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.32, Z:-539.20 [[ 2.39790403e-01 6.09341250e-01 7.55780262e-01 2.95085187e+02] [-1.94769587e-01 7.92859940e-01 -5.77440840e-01 -1.71324522e+02] [-9.51086416e-01 -8.73823789e-03 3.08801348e-01 -5.39195657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-171.32, Z:-539.23 [[ 2.38825591e-01 6.23931981e-01 7.44090868e-01 2.95092337e+02] [-1.92454132e-01 7.81477292e-01 -5.93510446e-01 -1.71320542e+02] [-9.51800265e-01 -1.45787949e-03 3.06715064e-01 -5.39228833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-171.33, Z:-539.26 [[ 2.38959136e-01 6.24045523e-01 7.43952765e-01 2.95099768e+02] [-1.91626101e-01 7.81387721e-01 -5.93896175e-01 -1.71326399e+02] [-9.51933805e-01 -6.43851150e-04 3.06303145e-01 -5.39260029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-171.33, Z:-539.29 [[ 2.39080660e-01 6.22865566e-01 7.44901956e-01 2.95106812e+02] [-1.92161426e-01 7.82327468e-01 -5.92484362e-01 -1.71333691e+02] [-9.51795369e-01 -1.48986962e-03 3.06730103e-01 -5.39291575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.34, Z:-539.32 [[ 2.40036216e-01 6.19848403e-01 7.47108140e-01 2.95115211e+02] [-1.94187950e-01 7.84712474e-01 -5.88657263e-01 -1.71341292e+02] [-9.51143341e-01 -3.78033631e-03 3.08726504e-01 -5.39318278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-171.36, Z:-539.35 [[ 2.39671901e-01 6.06959473e-01 7.57731864e-01 2.95121295e+02] [-1.96636445e-01 7.94651799e-01 -5.74336684e-01 -1.71360143e+02] [-9.50732080e-01 -1.13453352e-02 3.09806060e-01 -5.39350966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-171.34, Z:-539.38 [[ 2.36641907e-01 6.32401731e-01 7.37610099e-01 2.95129765e+02] [-1.98324385e-01 7.74629320e-01 -6.00513826e-01 -1.71344187e+02] [-9.51140393e-01 -4.17933208e-03 3.08730444e-01 -5.39381038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-171.37, Z:-539.41 [[ 2.36126486e-01 6.09506673e-01 7.56799774e-01 2.95136007e+02] [-2.00058325e-01 7.92631189e-01 -5.75944846e-01 -1.71368824e+02] [-9.50905331e-01 -1.54082629e-02 3.09098101e-01 -5.39408194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.39, Z:-539.44 [[ 2.37380546e-01 5.99408751e-01 7.64434187e-01 2.95145693e+02] [-2.06397448e-01 8.00081156e-01 -5.63267466e-01 -1.71390038e+02] [-9.49236835e-01 -2.40685271e-02 3.13640138e-01 -5.39440453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-171.36, Z:-539.48 [[ 2.35679817e-01 6.40333101e-01 7.31046198e-01 2.95154922e+02] [-2.06457582e-01 7.68055014e-01 -6.06190368e-01 -1.71363480e+02] [-9.49647456e-01 -8.06319532e-03 3.13216689e-01 -5.39478144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-171.37, Z:-539.51 [[ 2.35441635e-01 6.39251193e-01 7.32069087e-01 2.95163420e+02] [-2.09215574e-01 7.68920461e-01 -6.04144162e-01 -1.71371453e+02] [-9.49102776e-01 -1.09195650e-02 3.14777196e-01 -5.39509086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.37, Z:-539.54 [[ 2.33180959e-01 6.47387623e-01 7.25614158e-01 2.95169290e+02] [-2.09522421e-01 7.62105600e-01 -6.12613590e-01 -1.71367092e+02] [-9.49593069e-01 -9.18261071e-03 3.13350736e-01 -5.39541471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-171.37, Z:-539.57 [[ 2.31303908e-01 6.46218810e-01 7.27254943e-01 2.95174441e+02] [-2.07150478e-01 7.63098510e-01 -6.12184077e-01 -1.71368288e+02] [-9.50572029e-01 -9.05063945e-03 3.10372203e-01 -5.39568905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-171.40, Z:-539.60 [[ 2.32317071e-01 6.11528761e-01 7.56347376e-01 2.95179684e+02] [-2.07531142e-01 7.90881431e-01 -5.75705990e-01 -1.71402184e+02] [-9.50241866e-01 -2.32193049e-02 3.10646520e-01 -5.39595406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-171.43, Z:-539.63 [[ 2.34719622e-01 5.98986475e-01 7.65585986e-01 2.95189636e+02] [-2.10991359e-01 8.00205794e-01 -5.61385192e-01 -1.71427143e+02] [-9.48888479e-01 -2.97639081e-02 3.14204972e-01 -5.39626776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-171.40, Z:-539.66 [[ 2.32804985e-01 6.38818965e-01 7.33288598e-01 2.95198265e+02] [-2.09226442e-01 7.69249368e-01 -6.03721547e-01 -1.71402452e+02] [-9.49750565e-01 -1.28739786e-02 3.12742907e-01 -5.39663570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-171.42, Z:-539.69 [[ 2.34668204e-01 6.29868239e-01 7.40403157e-01 2.95207760e+02] [-2.07470731e-01 7.76575606e-01 -5.94883371e-01 -1.71422356e+02] [-9.49677171e-01 -1.40117718e-02 3.12916827e-01 -5.39692991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.42, Z:-539.73 [[ 2.33582512e-01 6.44934727e-01 7.27666412e-01 2.95215100e+02] [-2.04160112e-01 7.64216727e-01 -6.11793628e-01 -1.71416444e+02] [-9.50661800e-01 -5.65616386e-03 3.10177609e-01 -5.39726463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.42, Z:-539.76 [[ 2.33804932e-01 6.51623826e-01 7.21610451e-01 2.95222406e+02] [-2.02047063e-01 7.58541678e-01 -6.19509086e-01 -1.71416621e+02] [-9.51058483e-01 -9.54992679e-04 3.09009465e-01 -5.39757385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-171.39, Z:-539.79 [[ 2.30239395e-01 6.71872332e-01 7.03972578e-01 2.95224625e+02] [-1.91545614e-01 7.40544639e-01 -6.44130355e-01 -1.71391378e+02] [-9.54096483e-01 1.34613236e-02 2.99196748e-01 -5.39787489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-171.48, Z:-539.81 [[ 2.37076483e-01 5.87737607e-01 7.73536843e-01 2.95233476e+02] [-1.97590968e-01 8.08765451e-01 -5.53946076e-01 -1.71477054e+02] [-9.51184814e-01 -2.15163065e-02 3.07870911e-01 -5.39808478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-171.44, Z:-539.85 [[ 2.34557819e-01 6.44693053e-01 7.27566833e-01 2.95240674e+02] [-1.97087107e-01 7.64441316e-01 -6.13829086e-01 -1.71435270e+02] [-9.51913495e-01 5.84369008e-04 3.06366377e-01 -5.39847876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.44, Z:-539.88 [[ 2.32974777e-01 6.46328984e-01 7.26623422e-01 2.95247385e+02] [-1.97657984e-01 7.63058829e-01 -6.15363750e-01 -1.71435810e+02] [-9.52183845e-01 -2.58688694e-04 3.05525544e-01 -5.39878286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-171.43, Z:-539.91 [[ 2.30550749e-01 6.48637757e-01 7.25338137e-01 2.95251759e+02] [-1.94139766e-01 7.61094971e-01 -6.18905644e-01 -1.71430678e+02] [-9.53496777e-01 1.87218333e-03 3.01397398e-01 -5.39906566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-171.47, Z:-539.93 [[ 2.31027286e-01 6.09871229e-01 7.58078807e-01 2.95257414e+02] [-1.95704072e-01 7.92361021e-01 -5.77809596e-01 -1.71467402e+02] [-9.53061545e-01 -1.48693265e-02 3.02411299e-01 -5.39932894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.47, Z:-539.97 [[ 2.30713128e-01 6.11043445e-01 7.57230059e-01 2.95265338e+02] [-1.98113559e-01 7.91422945e-01 -5.78273932e-01 -1.71471176e+02] [-9.52639738e-01 -1.66021540e-02 3.03647655e-01 -5.39965122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-171.47, Z:-540.00 [[ 2.32530803e-01 6.18643294e-01 7.50473118e-01 2.95272891e+02] [-1.99728735e-01 7.85552475e-01 -5.85675458e-01 -1.71469884e+02] [-9.51860209e-01 -1.37034616e-02 3.06225990e-01 -5.39995327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-171.49, Z:-540.02 [[ 2.32092634e-01 6.02011819e-01 7.64012290e-01 2.95281446e+02] [-2.02431608e-01 7.98156838e-01 -5.67421454e-01 -1.71492132e+02] [-9.51396055e-01 -2.29658965e-02 3.07112544e-01 -5.40024760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-171.49, Z:-540.06 [[ 2.32483057e-01 6.19408050e-01 7.49856851e-01 2.95292082e+02] [-2.05761159e-01 7.84853565e-01 -5.84523076e-01 -1.71488893e+02] [-9.50586121e-01 -1.83997030e-02 3.09915274e-01 -5.40057679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-171.48, Z:-540.09 [[ 2.30545799e-01 6.42652267e-01 7.30648136e-01 2.95300359e+02] [-2.04925804e-01 7.66101712e-01 -6.09174508e-01 -1.71475512e+02] [-9.51238167e-01 -9.28603239e-03 3.08317564e-01 -5.40092618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-171.49, Z:-540.12 [[ 2.31514217e-01 6.33117743e-01 7.38622427e-01 2.95309056e+02] [-2.05195538e-01 7.73948567e-01 -5.99081303e-01 -1.71492437e+02] [-9.50944772e-01 -1.28661875e-02 3.09093032e-01 -5.40121674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.48, Z:-540.15 [[ 2.30472524e-01 6.49160505e-01 7.24895203e-01 2.95316655e+02] [-2.03133648e-01 7.60634053e-01 -6.16581348e-01 -1.71484468e+02] [-9.51640235e-01 -5.14554732e-03 3.07171591e-01 -5.40154881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-171.50, Z:-540.18 [[ 2.30897154e-01 6.41076938e-01 7.31919985e-01 2.95324158e+02] [-2.01616723e-01 7.67444274e-01 -6.08588517e-01 -1.71499655e+02] [-9.51859864e-01 -7.04595230e-03 3.06452530e-01 -5.40184745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.49, Z:-540.22 [[ 2.28972703e-01 6.53431500e-01 7.21525313e-01 2.95330153e+02] [-1.97625219e-01 7.56985651e-01 -6.22829831e-01 -1.71492962e+02] [-9.53160938e-01 1.94318185e-05 3.02463593e-01 -5.40216939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-171.50, Z:-540.25 [[ 2.28152343e-01 6.48985451e-01 7.25785363e-01 2.95335811e+02] [-1.95842018e-01 7.60800194e-01 -6.18731742e-01 -1.71499784e+02] [-9.53725544e-01 -9.74172819e-04 3.00676967e-01 -5.40246273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-171.51, Z:-540.28 [[ 2.27452786e-01 6.42692557e-01 7.31581511e-01 2.95341653e+02] [-1.95403471e-01 7.66115309e-01 -6.12278382e-01 -1.71508970e+02] [-9.53982554e-01 -3.68914239e-03 2.99839418e-01 -5.40275299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.52, Z:-540.31 [[ 2.26289785e-01 6.37178176e-01 7.36747518e-01 2.95347997e+02] [-1.93986878e-01 7.70696395e-01 -6.06956471e-01 -1.71517186e+02] [-9.54548073e-01 -5.57130151e-03 2.98004926e-01 -5.40305774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-171.51, Z:-540.34 [[ 2.22895235e-01 6.40387984e-01 7.34997241e-01 2.95351938e+02] [-1.91547133e-01 7.68037935e-01 -6.11087086e-01 -1.71514811e+02] [-9.55838590e-01 -4.57821414e-03 2.93856478e-01 -5.40336071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-171.54, Z:-540.37 [[ 2.23382290e-01 6.19843378e-01 7.52259622e-01 2.95358630e+02] [-1.92749905e-01 7.84611696e-01 -5.89263914e-01 -1.71536907e+02] [-9.55483033e-01 -1.33668482e-02 2.94743110e-01 -5.40365080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-171.53, Z:-540.40 [[ 2.21385870e-01 6.25695077e-01 7.47993294e-01 2.95363976e+02] [-1.92706332e-01 7.79970312e-01 -5.95407912e-01 -1.71533605e+02] [-9.55956362e-01 -1.23281450e-02 2.93249810e-01 -5.40395723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-171.55, Z:-540.42 [[ 2.21086505e-01 6.11301557e-01 7.59888916e-01 2.95370533e+02] [-1.93438602e-01 7.91176332e-01 -5.80190933e-01 -1.71549490e+02] [-9.55877746e-01 -1.87194641e-02 2.93167729e-01 -5.40423107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-171.56, Z:-540.45 [[ 2.22387326e-01 6.05900283e-01 7.63825062e-01 2.95379706e+02] [-1.96327549e-01 7.95225521e-01 -5.73647857e-01 -1.71562475e+02] [-9.54986581e-01 -2.23878897e-02 2.95802995e-01 -5.40454403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.55, Z:-540.49 [[ 2.20233955e-01 6.24303813e-01 7.49494333e-01 2.95385889e+02] [-1.94736106e-01 7.81032235e-01 -5.93351917e-01 -1.71550131e+02] [-9.55811098e-01 -1.52773682e-02 2.93584312e-01 -5.40486491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-171.57, Z:-540.52 [[ 2.21044779e-01 6.07915829e-01 7.62612320e-01 2.95393637e+02] [-1.97126033e-01 7.93665019e-01 -5.75532071e-01 -1.71570961e+02] [-9.55133778e-01 -2.31123819e-02 2.95271544e-01 -5.40516545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-171.58, Z:-540.55 [[ 2.22585387e-01 6.11007255e-01 7.59688015e-01 2.95404004e+02] [-2.00801051e-01 7.91261466e-01 -5.77567512e-01 -1.71579878e+02] [-9.54009792e-01 -2.39880630e-02 2.98814139e-01 -5.40548283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-171.55, Z:-540.58 [[ 2.18804141e-01 6.48793097e-01 7.28829380e-01 2.95408780e+02] [-1.95031656e-01 7.60934975e-01 -6.18821960e-01 -1.71546790e+02] [-9.56079181e-01 -6.74399367e-03 2.93030916e-01 -5.40581319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-171.58, Z:-540.61 [[ 2.20013983e-01 6.11512200e-01 7.60030708e-01 2.95413768e+02] [-1.94990918e-01 7.90966783e-01 -5.79956973e-01 -1.71583211e+02] [-9.55809808e-01 -2.06004421e-02 2.93263078e-01 -5.40607618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-171.59, Z:-540.64 [[ 2.19741012e-01 6.12217754e-01 7.59541513e-01 2.95420922e+02] [-1.94768440e-01 7.90428145e-01 -5.80765531e-01 -1.71589074e+02] [-9.55917958e-01 -2.03167100e-02 2.92930178e-01 -5.40638646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.63, Z:-540.67 [[ 2.25260446e-01 5.84558248e-01 7.79454544e-01 2.95437097e+02] [-2.03793757e-01 8.10588804e-01 -5.49011744e-01 -1.71632265e+02] [-9.52746470e-01 -3.51773399e-02 3.01722917e-01 -5.40667175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-171.58, Z:-540.71 [[ 2.21657630e-01 6.55582163e-01 7.21858658e-01 2.95444791e+02] [-2.01613902e-01 7.55088996e-01 -6.23852901e-01 -1.71578795e+02] [-9.54054364e-01 -7.25498553e-03 2.99545715e-01 -5.40708154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.56, Z:-540.74 [[ 2.17888981e-01 6.71795130e-01 7.07965886e-01 2.95446781e+02] [-1.92621836e-01 7.40726924e-01 -6.43599606e-01 -1.71556748e+02] [-9.56776474e-01 3.86357396e-03 2.90798646e-01 -5.40738411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-171.61, Z:-540.76 [[ 2.20137600e-01 6.13251913e-01 7.58591806e-01 2.95449821e+02] [-1.93977250e-01 7.89658537e-01 -5.82075786e-01 -1.71610086e+02] [-9.55987586e-01 -1.90127859e-02 2.92790455e-01 -5.40762133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.62, Z:-540.79 [[ 2.20160396e-01 6.14011481e-01 7.57970515e-01 2.95456952e+02] [-1.94249998e-01 7.89070054e-01 -5.82782453e-01 -1.71615416e+02] [-9.55926953e-01 -1.89301557e-02 2.92993704e-01 -5.40792847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-171.62, Z:-540.82 [[ 2.19981069e-01 6.14492250e-01 7.57632895e-01 2.95464730e+02] [-1.94345608e-01 7.88695545e-01 -5.83257338e-01 -1.71621191e+02] [-9.55948803e-01 -1.89370531e-02 2.92921960e-01 -5.40823970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-171.63, Z:-540.85 [[ 2.20055768e-01 6.15128648e-01 7.57094582e-01 2.95472379e+02] [-1.93951644e-01 7.88213915e-01 -5.84039026e-01 -1.71626583e+02] [-9.56011621e-01 -1.83185826e-02 2.92756231e-01 -5.40854547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-171.63, Z:-540.89 [[ 2.20810082e-01 6.15253733e-01 7.56773250e-01 2.95480377e+02] [-1.91501796e-01 7.88171383e-01 -5.84904208e-01 -1.71631736e+02] [-9.56331517e-01 -1.57706906e-02 2.91858383e-01 -5.40886395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-171.64, Z:-540.92 [[ 2.21633007e-01 6.15598443e-01 7.56252185e-01 2.95487830e+02] [-1.90067412e-01 7.87936849e-01 -5.85687545e-01 -1.71636996e+02] [-9.56427305e-01 -1.39312038e-02 2.91638016e-01 -5.40917985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-171.64, Z:-540.95 [[ 2.24076694e-01 6.15492991e-01 7.55617637e-01 2.95494654e+02] [-1.87342877e-01 7.88076789e-01 -5.86376689e-01 -1.71643217e+02] [-9.56395463e-01 -1.01662324e-02 2.91897869e-01 -5.40948687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-171.65, Z:-540.98 [[ 2.25187468e-01 6.17465824e-01 7.53675368e-01 2.95501876e+02] [-1.86660050e-01 7.86555710e-01 -5.88632433e-01 -1.71650081e+02] [-9.56268074e-01 -8.12843423e-03 2.92378690e-01 -5.40982687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-171.65, Z:-541.01 [[ 2.26716395e-01 6.27746682e-01 7.44670249e-01 2.95509300e+02] [-1.83873175e-01 7.78417232e-01 -6.00214353e-01 -1.71645213e+02] [-9.56446722e-01 -8.46448737e-04 2.91905724e-01 -5.41011883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-171.66, Z:-541.04 [[ 2.29523113e-01 6.15071987e-01 7.54324593e-01 2.95515903e+02] [-1.81131349e-01 7.88469085e-01 -5.87799231e-01 -1.71661162e+02] [-9.56300463e-01 -1.71832155e-03 2.92380698e-01 -5.41041286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-171.67, Z:-541.07 [[ 2.30402674e-01 6.15388065e-01 7.53798472e-01 2.95522891e+02] [-1.79645882e-01 7.88224265e-01 -5.88582930e-01 -1.71665935e+02] [-9.56369157e-01 1.94289509e-04 2.92160910e-01 -5.41071942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-171.67, Z:-541.10 [[ 2.32668493e-01 6.15537006e-01 7.52980456e-01 2.95530318e+02] [-1.78626040e-01 7.88103850e-01 -5.89054377e-01 -1.71670606e+02] [-9.56011564e-01 2.55247726e-03 2.93317873e-01 -5.41102740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-171.68, Z:-541.13 [[ 2.32992872e-01 6.16070371e-01 7.52443765e-01 2.95537927e+02] [-1.78271322e-01 7.87684364e-01 -5.89722543e-01 -1.71675735e+02] [-9.55998775e-01 3.26200468e-03 2.93352522e-01 -5.41133843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.68, Z:-541.17 [[ 2.32945116e-01 6.16813972e-01 7.51849119e-01 2.95545309e+02] [-1.78574923e-01 7.87102169e-01 -5.90407633e-01 -1.71680803e+02] [-9.55953749e-01 3.27117622e-03 2.93499113e-01 -5.41165180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-171.69, Z:-541.20 [[ 2.33103694e-01 6.17558153e-01 7.51188789e-01 2.95553236e+02] [-1.78953669e-01 7.86518078e-01 -5.91070976e-01 -1.71685398e+02] [-9.55844262e-01 3.35283803e-03 2.93854566e-01 -5.41197118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-171.69, Z:-541.23 [[ 2.32885727e-01 6.18466127e-01 7.50509086e-01 2.95561091e+02] [-1.79928324e-01 7.85806593e-01 -5.91721046e-01 -1.71690638e+02] [-9.55714412e-01 2.76554330e-03 2.94282713e-01 -5.41228495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.69, Z:-541.26 [[ 2.31796629e-01 6.19579545e-01 7.49927670e-01 2.95569058e+02] [-1.81363404e-01 7.84932770e-01 -5.92442286e-01 -1.71694698e+02] [-9.55707925e-01 1.31668947e-03 2.94313826e-01 -5.41258972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-171.69, Z:-541.29 [[ 2.26554920e-01 6.23930056e-01 7.47919884e-01 2.95572768e+02] [-1.76801321e-01 7.81473097e-01 -5.98365350e-01 -1.71690756e+02] [-9.57817394e-01 3.32939075e-03 2.87358233e-01 -5.41290743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-171.70, Z:-541.32 [[ 2.27812989e-01 6.20783957e-01 7.50152332e-01 2.95579918e+02] [-1.79632160e-01 7.83981437e-01 -5.94226719e-01 -1.71697950e+02] [-9.56991917e-01 6.21081364e-04 2.90113918e-01 -5.41322639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-171.71, Z:-541.35 [[ 2.26223546e-01 6.09063073e-01 7.60174375e-01 2.95589047e+02] [-1.82877181e-01 7.93085560e-01 -5.81008804e-01 -1.71714338e+02] [-9.56754328e-01 -7.58067450e-03 2.90798365e-01 -5.41352472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-171.71, Z:-541.39 [[ 2.25161313e-01 6.21578567e-01 7.50294921e-01 2.95597767e+02] [-1.83893218e-01 7.83340133e-01 -5.93768912e-01 -1.71709310e+02] [-9.56810152e-01 -4.28035933e-03 2.90681976e-01 -5.41385557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-171.73, Z:-541.41 [[ 2.26042745e-01 6.03377343e-01 7.64748625e-01 2.95609375e+02] [-1.89426986e-01 7.97308565e-01 -5.73076320e-01 -1.71733267e+02] [-9.55521896e-01 -1.53242828e-02 2.94521768e-01 -5.41411610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-171.72, Z:-541.45 [[ 2.25639240e-01 6.25930512e-01 7.46523896e-01 2.95617750e+02] [-1.89611663e-01 7.79847934e-01 -5.96560656e-01 -1.71721612e+02] [-9.55580635e-01 -6.94214455e-03 2.94648020e-01 -5.41446750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.73, Z:-541.48 [[ 2.24675037e-01 6.26559335e-01 7.46287162e-01 2.95625596e+02] [-1.90783334e-01 7.79329753e-01 -5.96864185e-01 -1.71725702e+02] [-9.55574616e-01 -8.27867013e-03 2.94633020e-01 -5.41477829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-171.73, Z:-541.51 [[ 2.23474452e-01 6.27746378e-01 7.45649820e-01 2.95633321e+02] [-1.93078370e-01 7.78347608e-01 -5.97407519e-01 -1.71727906e+02] [-9.55395160e-01 -1.04635341e-02 2.95145053e-01 -5.41505007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-171.71, Z:-541.54 [[ 2.19625467e-01 6.44432964e-01 7.32441677e-01 2.95638060e+02] [-1.89845868e-01 7.64651391e-01 -6.15846407e-01 -1.71710229e+02] [-9.56934272e-01 -3.79547139e-03 2.90279854e-01 -5.41539413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-171.77, Z:-541.56 [[ 2.21890857e-01 5.91067061e-01 7.75502532e-01 2.95648250e+02] [-1.98343788e-01 8.06061056e-01 -5.57606775e-01 -1.71765582e+02] [-9.54685388e-01 -3.00882648e-02 2.96092059e-01 -5.41562266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.74, Z:-541.60 [[ 2.20125773e-01 6.30103320e-01 7.44657270e-01 2.95657389e+02] [-1.99379376e-01 7.76328640e-01 -5.97964637e-01 -1.71740602e+02] [-9.54878269e-01 -1.68418742e-02 2.96519549e-01 -5.41597893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-171.75, Z:-541.63 [[ 2.20255201e-01 6.30686372e-01 7.44125223e-01 2.95663869e+02] [-1.99197823e-01 7.75864987e-01 -5.98626553e-01 -1.71745132e+02] [-9.54886315e-01 -1.63775126e-02 2.96519651e-01 -5.41625348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-171.75, Z:-541.65 [[ 2.20416787e-01 6.30056776e-01 7.44610568e-01 2.95670270e+02] [-1.99019138e-01 7.76376349e-01 -5.98022698e-01 -1.71750616e+02] [-9.54886288e-01 -1.63775122e-02 2.96519737e-01 -5.41652643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-171.76, Z:-541.68 [[ 2.19733230e-01 6.29798505e-01 7.45030973e-01 2.95677567e+02] [-2.00328115e-01 7.76550173e-01 -5.97359587e-01 -1.71756736e+02] [-9.54770105e-01 -1.79908988e-02 2.96800225e-01 -5.41683852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.76, Z:-541.72 [[ 2.19463456e-01 6.30687156e-01 7.44358451e-01 2.95685019e+02] [-2.01353511e-01 7.75813143e-01 -5.97972183e-01 -1.71761990e+02] [-9.54616444e-01 -1.86461462e-02 2.97253707e-01 -5.41715630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-171.77, Z:-541.75 [[ 2.19601671e-01 6.31509125e-01 7.43620422e-01 2.95692261e+02] [-2.02304239e-01 7.75135631e-01 -5.98529655e-01 -1.71767256e+02] [-9.54383624e-01 -1.89994512e-02 2.97978053e-01 -5.41747286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-171.77, Z:-541.78 [[ 2.20197777e-01 6.32150520e-01 7.42898822e-01 2.95699275e+02] [-2.02514271e-01 7.74624188e-01 -5.99120470e-01 -1.71772951e+02] [-9.54201713e-01 -1.85226178e-02 2.98590026e-01 -5.41779113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-171.78, Z:-541.81 [[ 2.20510789e-01 6.32790514e-01 7.42260842e-01 2.95706210e+02] [-2.02529115e-01 7.74112113e-01 -5.99776954e-01 -1.71778743e+02] [-9.54126276e-01 -1.80721422e-02 2.98858575e-01 -5.41811275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-171.78, Z:-541.84 [[ 2.21179557e-01 6.33273211e-01 7.41649947e-01 2.95712788e+02] [-2.01913747e-01 7.73742906e-01 -6.00460451e-01 -1.71784665e+02] [-9.54101904e-01 -1.69397430e-02 2.99002680e-01 -5.41841804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-171.77, Z:-541.87 [[ 2.20906017e-01 6.45444725e-01 7.31164577e-01 2.95715662e+02] [-1.95229475e-01 7.63776421e-01 -6.15248755e-01 -1.71774879e+02] [-9.55555328e-01 -6.83272488e-03 2.94732641e-01 -5.41874116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-171.82, Z:-541.90 [[ 2.24646750e-01 6.04948336e-01 7.63918417e-01 2.95724113e+02] [-1.98181363e-01 7.95935615e-01 -5.72023290e-01 -1.71821311e+02] [-9.54074413e-01 -2.28912196e-02 2.98693835e-01 -5.41899179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-171.81, Z:-541.93 [[ 2.24824091e-01 6.33251580e-01 7.40571782e-01 2.95732150e+02] [-1.96772865e-01 7.73876381e-01 -6.01993178e-01 -1.71805882e+02] [-9.54324142e-01 -1.03818622e-02 2.98592781e-01 -5.41934392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.80, Z:-541.97 [[ 2.24666130e-01 6.41748759e-01 7.33269160e-01 2.95736220e+02] [-1.90072759e-01 7.66913139e-01 -6.12957245e-01 -1.71802068e+02] [-9.55718304e-01 -1.66376021e-03 2.94278364e-01 -5.41967067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:295.74, Y:-171.83, Z:-541.99 [[ 2.24153658e-01 6.20772188e-01 7.51263621e-01 2.95739461e+02] [-1.89338662e-01 7.83930902e-01 -5.91272537e-01 -1.71826766e+02] [-9.55984314e-01 -9.70734701e-03 2.93257155e-01 -5.41992053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-171.91, Z:-541.70 [[ 2.69013463e-01 -6.94283772e-01 -6.67534120e-01 2.96929372e+02] [-1.12754455e-01 -7.11020048e-01 6.94072708e-01 -1.71913011e+02] [-9.56513560e-01 -1.11447457e-01 -2.69557554e-01 -5.41703754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-171.70, Z:-541.74 [[ 2.95560289e-01 -3.87706027e-01 -8.73114055e-01 2.96927825e+02] [-4.59908881e-02 -9.18660256e-01 3.92362298e-01 -1.71698377e+02] [-9.54216408e-01 -7.58114236e-02 -2.89350435e-01 -5.41736628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-171.57, Z:-541.76 [[ 3.06368651e-01 -1.42615879e-01 -9.41168933e-01 2.96882586e+02] [ 2.78588352e-02 -9.86946409e-01 1.58621156e-01 -1.71565075e+02] [-9.51505194e-01 -7.48164196e-02 -2.98396328e-01 -5.41761945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-171.45, Z:-541.79 [[ 2.99446713e-01 1.17142797e-01 -9.46894520e-01 2.96806275e+02] [ 1.01192151e-01 -9.90736113e-01 -9.05654645e-02 -1.71450631e+02] [-9.48731687e-01 -6.86987627e-02 -3.08526604e-01 -5.41789217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-171.35, Z:-541.82 [[ 2.69505192e-01 4.01305371e-01 -8.75397596e-01 2.96677854e+02] [ 1.71057070e-01 -9.14526291e-01 -3.66580335e-01 -1.71346740e+02] [-9.47684774e-01 -5.09476441e-02 -3.15115705e-01 -5.41819047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-171.31, Z:-541.84 [[ 2.27845711e-01 5.52629039e-01 -8.01677914e-01 2.96597829e+02] [ 2.35471694e-01 -8.30168362e-01 -5.05345004e-01 -1.71308212e+02] [-9.44795964e-01 -7.36317644e-02 -3.19278797e-01 -5.41835847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-171.28, Z:-541.86 [[ 1.72597127e-01 7.30367552e-01 -6.60888395e-01 2.96474306e+02] [ 2.87989794e-01 -6.79057399e-01 -6.75235461e-01 -1.71275657e+02] [-9.41951225e-01 -7.37854120e-02 -3.27541757e-01 -5.41857862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-171.28, Z:-541.88 [[ 1.07586577e-01 8.68590811e-01 -4.83709759e-01 2.96353132e+02] [ 3.26545285e-01 -4.90413800e-01 -8.07999060e-01 -1.71275016e+02] [-9.39038500e-01 -7.10232883e-02 -3.36396176e-01 -5.41880711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-171.31, Z:-541.91 [[ 3.31503040e-02 9.66650844e-01 -2.53943306e-01 2.96217749e+02] [ 3.47548953e-01 -2.49375264e-01 -9.03892528e-01 -1.71307400e+02] [-9.37075655e-01 -5.82934179e-02 -3.44225355e-01 -5.41907525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-171.36, Z:-541.93 [[-4.51100135e-02 9.97448523e-01 -5.53310955e-02 2.96116199e+02] [ 3.49958307e-01 -3.60992309e-02 -9.36069457e-01 -1.71362329e+02] [-9.35678508e-01 -6.15896823e-02 -3.47436960e-01 -5.41931152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-172.25, Z:-542.32 [[-3.59541312e-02 -9.94080821e-01 -1.02521322e-01 2.96864450e+02] [ 3.70470138e-01 -1.08536380e-01 9.22481290e-01 -1.72245380e+02] [-9.28148252e-01 -4.81407510e-03 3.72179591e-01 -5.42318214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-171.40, Z:-542.10 [[-6.26067179e-02 1.70023872e-01 -9.83449176e-01 2.96874155e+02] [ 4.25716306e-01 -8.86691871e-01 -1.80397208e-01 -1.71399229e+02] [-9.02688222e-01 -4.29964428e-01 -1.68690669e-02 -5.42100224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-171.29, Z:-542.31 [[-1.28914609e-01 9.85245069e-01 1.12575212e-01 2.96041328e+02] [ 4.02816336e-01 1.55762096e-01 -9.01929692e-01 -1.71294029e+02] [-9.06156732e-01 -7.09247791e-02 -4.16952819e-01 -5.42307788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-172.19, Z:-542.62 [[-8.27908533e-02 -4.00621602e-01 9.12495483e-01 2.96151519e+02] [ 3.51459296e-01 8.45069474e-01 4.02906872e-01 -1.72191871e+02] [-9.32535274e-01 3.54062024e-01 7.08381631e-02 -5.42619540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.03, Z:-542.64 [[-8.71056097e-02 -9.66910963e-01 -2.39782823e-01 2.96923701e+02] [ 3.66814909e-01 -2.54917075e-01 8.94686597e-01 -1.72030552e+02] [-9.26207015e-01 -1.00236929e-02 3.76882064e-01 -5.42637958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.03, Z:-542.64 [[-8.51024503e-02 -9.67308016e-01 -2.38899090e-01 2.96922819e+02] [ 3.66907291e-01 -2.53344498e-01 8.95095305e-01 -1.72030930e+02] [-9.26356634e-01 -1.14790143e-02 3.76472601e-01 -5.42639911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.03, Z:-542.65 [[-8.36934014e-02 -9.67748006e-01 -2.37611472e-01 2.96921646e+02] [ 3.67286835e-01 -2.51618285e-01 8.95426502e-01 -1.72028816e+02] [-9.26334602e-01 -1.23302760e-02 3.76499892e-01 -5.42647639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.03, Z:-542.65 [[-8.26383189e-02 -9.68212803e-01 -2.36082351e-01 2.96920786e+02] [ 3.67518617e-01 -2.49803550e-01 8.95839412e-01 -1.72028782e+02] [-9.26337398e-01 -1.27339962e-02 3.76479576e-01 -5.42650627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.03, Z:-542.65 [[-8.32542814e-02 -9.69499267e-01 -2.30520922e-01 2.96917585e+02] [ 3.64086532e-01 -2.44924523e-01 8.98583872e-01 -1.72034853e+02] [-9.27636632e-01 -9.11860859e-03 3.73372641e-01 -5.42649322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.88, Y:-171.87, Z:-543.09 [[-8.04147744e-02 -9.68165269e-01 -2.37043194e-01 2.96875624e+02] [ 3.64225687e-01 -2.49909136e-01 8.97153874e-01 -1.71865442e+02] [-9.27832481e-01 -1.41927939e-02 3.72727047e-01 -5.43087312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-172.02, Z:-542.69 [[-7.57264422e-02 -9.67118145e-01 -2.42792093e-01 2.96915514e+02] [ 3.66631734e-01 -2.53440198e-01 8.95181120e-01 -1.72015846e+02] [-9.27279180e-01 -2.12264046e-02 3.73768327e-01 -5.42685549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-172.02, Z:-542.69 [[-7.46181327e-02 -9.71231561e-01 -2.26144618e-01 2.96906721e+02] [ 3.64897189e-01 -2.37641968e-01 9.00209052e-01 -1.72024622e+02] [-9.28052895e-01 -1.53476171e-02 3.72132066e-01 -5.42691526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-172.01, Z:-542.70 [[-7.06547893e-02 -9.67606997e-01 -2.42372853e-01 2.96913417e+02] [ 3.72418215e-01 -2.50998731e-01 8.93478769e-01 -1.72008299e+02] [-9.25371587e-01 -2.71355110e-02 3.78088733e-01 -5.42699854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-171.20, Z:-542.42 [[-1.71185151e-01 9.82109154e-01 7.84681766e-02 2.96067932e+02] [ 3.39130627e-01 1.33513675e-01 -9.31216686e-01 -1.71200686e+02] [-9.25033006e-01 -1.32799507e-01 -3.55918852e-01 -5.42420962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-172.08, Z:-542.88 [[-1.09694834e-01 -4.68617448e-01 8.76564163e-01 2.96164145e+02] [ 2.85985739e-01 8.29714472e-01 4.79360045e-01 -1.72078902e+02] [-9.51934452e-01 3.03268170e-01 4.30025163e-02 -5.42879551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-171.83, Z:-542.91 [[-1.08978336e-01 -9.20932484e-01 -3.74175204e-01 2.96945205e+02] [ 3.11571515e-01 -3.89094575e-01 8.66907494e-01 -1.71826668e+02] [-9.43952813e-01 -2.21081991e-02 3.29339209e-01 -5.42911334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-171.84, Z:-542.91 [[-1.09320683e-01 -9.27567460e-01 -3.57306025e-01 2.96939346e+02] [ 3.11461007e-01 -3.73323371e-01 8.73854508e-01 -1.71835643e+02] [-9.43949696e-01 -1.57565226e-02 3.29713061e-01 -5.42914617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-171.84, Z:-542.92 [[-1.11422736e-01 -9.27853708e-01 -3.55910761e-01 2.96939363e+02] [ 3.11272964e-01 -3.72704224e-01 8.74185737e-01 -1.71835354e+02] [-9.43765922e-01 -1.33812310e-02 3.30343499e-01 -5.42919295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-171.84, Z:-542.92 [[-1.12417150e-01 -9.28311285e-01 -3.54401668e-01 2.96938970e+02] [ 3.11359914e-01 -3.71609444e-01 8.74620732e-01 -1.71835321e+02] [-9.43619303e-01 -1.20241024e-02 3.30814197e-01 -5.42922095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-171.83, Z:-542.93 [[-1.13880712e-01 -9.28085658e-01 -3.54525309e-01 2.96937959e+02] [ 3.12607742e-01 -3.72195151e-01 8.73926295e-01 -1.71831050e+02] [-9.43031062e-01 -1.13040079e-02 3.32512610e-01 -5.42929489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-171.81, Z:-543.00 [[-1.02541194e-01 -9.31840996e-01 -3.48077092e-01 2.96924281e+02] [ 3.13781135e-01 -3.62357142e-01 8.77632441e-01 -1.71814881e+02] [-9.43942108e-01 -1.92265462e-02 3.29550659e-01 -5.43003586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-171.83, Z:-543.02 [[-1.03330653e-01 -9.43208647e-01 -3.15721752e-01 2.96912048e+02] [ 3.09542007e-01 -3.32152647e-01 8.90987298e-01 -1.71830777e+02] [-9.45254739e-01 -5.66284515e-03 3.26284247e-01 -5.43018881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-171.82, Z:-543.03 [[-1.02157237e-01 -9.41375174e-01 -3.21522443e-01 2.96912744e+02] [ 3.07956969e-01 -3.37263419e-01 8.89615587e-01 -1.71824791e+02] [-9.45899786e-01 -8.13440681e-03 3.24356944e-01 -5.43030352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-171.81, Z:-543.05 [[-1.00570687e-01 -9.39761726e-01 -3.26700834e-01 2.96911893e+02] [ 3.14935976e-01 -3.41550261e-01 8.85527385e-01 -1.71809468e+02] [-9.43769499e-01 -1.38317492e-02 3.30314721e-01 -5.43051735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.82, Z:-543.06 [[-1.00307760e-01 -9.49237442e-01 -2.98138614e-01 2.96900588e+02] [ 3.14392725e-01 -3.14536401e-01 8.95669619e-01 -1.71822930e+02] [-9.43978585e-01 -3.88999829e-03 3.29983788e-01 -5.43060044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.82, Z:-543.06 [[-1.00180208e-01 -9.49792322e-01 -2.96409296e-01 2.96899624e+02] [ 3.14184749e-01 -3.12863287e-01 8.96328348e-01 -1.71822832e+02] [-9.44061370e-01 -3.33292003e-03 3.29752971e-01 -5.43063556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.82, Z:-543.07 [[-1.00209463e-01 -9.50208015e-01 -2.95064046e-01 2.96898617e+02] [ 3.14269782e-01 -3.11603115e-01 8.96737421e-01 -1.71821619e+02] [-9.44029961e-01 -2.86813839e-03 3.29847247e-01 -5.43069452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.82, Z:-543.07 [[-9.97814408e-02 -9.50670082e-01 -2.93717652e-01 2.96896715e+02] [ 3.14506300e-01 -3.10190632e-01 8.97144113e-01 -1.71821102e+02] [-9.43996532e-01 -2.85771956e-03 3.29942998e-01 -5.43074763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-171.84, Z:-543.09 [[-1.00071179e-01 -9.53120068e-01 -2.85565923e-01 2.96892528e+02] [ 2.99830120e-01 -3.02552398e-01 9.04745238e-01 -1.71835322e+02] [-9.48729497e-01 4.91765745e-03 3.16050880e-01 -5.43085249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.82, Z:-543.09 [[-9.76025501e-02 -9.45199338e-01 -3.11563724e-01 2.96901743e+02] [ 3.04156577e-01 -3.26409622e-01 8.94955605e-01 -1.71817067e+02] [-9.47608843e-01 -7.41420633e-03 3.19347006e-01 -5.43085543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-171.06, Z:-542.97 [[-1.09338351e-01 1.33279685e-01 -9.85028756e-01 2.96839819e+02] [ 3.69341122e-01 -9.14574559e-01 -1.64743778e-01 -1.71055509e+02] [-9.22839239e-01 -3.81824439e-01 5.07724059e-02 -5.42965789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-171.05, Z:-543.06 [[-1.17208923e-01 1.32053159e-01 -9.84288592e-01 2.96831833e+02] [ 4.30811515e-01 -8.86246667e-01 -1.70200719e-01 -1.71049323e+02] [-8.94798026e-01 -4.43991902e-01 4.69859955e-02 -5.43058188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-170.98, Z:-543.03 [[-1.89862066e-01 9.81757715e-01 -1.02070936e-02 2.96050993e+02] [ 4.14294377e-01 7.06864139e-02 -9.07393851e-01 -1.70981214e+02] [-8.90119411e-01 -1.76508412e-01 -4.20157369e-01 -5.43029100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.67, Z:-543.55 [[-1.84656274e-01 -9.23656035e-01 -3.35799925e-01 2.96899020e+02] [ 4.26107127e-01 -3.83133832e-01 8.19537176e-01 -1.71670667e+02] [-8.85626771e-01 8.24593967e-03 4.64324485e-01 -5.43547327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5965599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.81, Y:-170.95, Z:-543.29 [[-1.98526452e-01 1.66231088e-01 -9.65895685e-01 2.96805370e+02] [ 4.85035537e-01 -8.39704718e-01 -2.44205887e-01 -1.70946288e+02] [-8.51661773e-01 -5.16975060e-01 8.60756134e-02 -5.43290187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.05, Y:-170.92, Z:-543.20 [[-2.64001790e-01 9.64443136e-01 -1.23487834e-02 2.96047777e+02] [ 4.78952675e-01 1.19971627e-01 -8.69604015e-01 -1.70919943e+02] [-8.37202120e-01 -2.35491500e-01 -4.93595344e-01 -5.43199786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-171.47, Z:-543.62 [[-2.84889187e-01 2.43961376e-01 9.26995684e-01 2.95790208e+02] [ 4.16710232e-01 9.02428706e-01 -1.09430401e-01 -1.71471966e+02] [-8.63244307e-01 3.55113049e-01 -3.58753381e-01 -5.43624310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-171.39, Z:-543.85 [[-2.85187614e-01 -8.27261620e-01 -4.84051895e-01 2.96905268e+02] [ 4.23987007e-01 -5.61810648e-01 7.10354710e-01 -1.71388257e+02] [-8.59594697e-01 -2.64734925e-03 5.10969617e-01 -5.43851985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-171.39, Z:-543.86 [[-2.85429568e-01 -8.28774594e-01 -4.81313447e-01 2.96900861e+02] [ 4.22953381e-01 -5.59582570e-01 7.12725603e-01 -1.71387129e+02] [-8.60023488e-01 -1.40189420e-04 5.10254428e-01 -5.43860517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:296.77, Y:-171.21, Z:-544.27 [[-2.78975993e-01 -8.38909442e-01 -4.67336436e-01 2.96768628e+02] [ 4.12202713e-01 -5.44155320e-01 7.30742028e-01 -1.71211957e+02] [-8.67329994e-01 1.12221362e-02 4.97607018e-01 -5.44274259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-170.66, Z:-543.60 [[-3.02567726e-01 4.49430593e-01 -8.40514671e-01 2.96590336e+02] [ 4.65595337e-01 -6.99779991e-01 -5.41783118e-01 -1.70660718e+02] [-8.31669257e-01 -5.55265798e-01 2.47805225e-03 -5.43604120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-170.92, Z:-543.52 [[-3.68433800e-01 8.78869095e-01 3.03060472e-01 2.95878156e+02] [ 4.28069740e-01 4.49759133e-01 -7.83883295e-01 -1.70920769e+02] [-8.25235017e-01 -1.59078084e-01 -5.41923731e-01 -5.43518286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-170.89, Z:-543.87 [[-4.25156368e-01 7.29576982e-01 5.35685999e-01 2.95677832e+02] [ 3.76679937e-01 6.80773163e-01 -6.28219807e-01 -1.70892606e+02] [-8.23015363e-01 -6.53094832e-02 -5.64252057e-01 -5.43874083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-171.10, Z:-543.67 [[-4.64169749e-01 5.65721909e-01 6.81546158e-01 2.95803675e+02] [ 3.21933298e-01 8.24588753e-01 -4.65201398e-01 -1.71095529e+02] [-8.25169919e-01 3.47998612e-03 -5.64873874e-01 -5.43674999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-171.55, Z:-544.21 [[-4.14398961e-01 -6.80599695e-01 6.04199931e-01 2.96203265e+02] [ 2.97707175e-01 5.25988216e-01 7.96684903e-01 -1.71554908e+02] [-8.60025546e-01 5.10020050e-01 -1.53495579e-02 -5.44209097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-170.42, Z:-543.89 [[-4.88402158e-01 8.19509114e-01 -2.99780162e-01 2.96091830e+02] [ 2.98683588e-01 -1.65791916e-01 -9.39841027e-01 -1.70421878e+02] [-8.19909414e-01 -5.48559799e-01 -1.63800793e-01 -5.43892532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-170.86, Z:-544.46 [[-4.80318392e-01 -5.42281753e-01 -6.89365463e-01 2.96752015e+02] [ 3.18664267e-01 -8.40149757e-01 4.38863840e-01 -1.70862365e+02] [-8.17158080e-01 -8.88176621e-03 5.76345198e-01 -5.44460504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-170.86, Z:-544.46 [[-4.79479206e-01 -5.44954779e-01 -6.87840083e-01 2.96750214e+02] [ 3.19482879e-01 -8.38426921e-01 4.41555193e-01 -1.70863633e+02] [-8.17331256e-01 -8.03659659e-03 5.76111996e-01 -5.44463622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-170.35, Z:-544.09 [[-5.34989069e-01 6.44639166e-01 -5.46101677e-01 2.96226536e+02] [ 3.35656118e-01 -4.31003240e-01 -8.37598459e-01 -1.70349839e+02] [-7.75320364e-01 -6.31408388e-01 1.42049422e-02 -5.44088489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-170.83, Z:-544.61 [[-5.23184665e-01 -5.47921248e-01 -6.52732803e-01 2.96691358e+02] [ 3.50751829e-01 -8.36484979e-01 4.21029730e-01 -1.70828122e+02] [-7.76692321e-01 -8.67092636e-03 6.29820494e-01 -5.44612603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-170.83, Z:-544.62 [[-5.22118943e-01 -5.49103938e-01 -6.52592273e-01 2.96686986e+02] [ 3.52052579e-01 -8.35698122e-01 4.21506383e-01 -1.70827161e+02] [-7.76820952e-01 -9.67032505e-03 6.29647278e-01 -5.44618726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-170.35, Z:-544.13 [[-5.85749474e-01 7.06725618e-01 -3.96782630e-01 2.96090130e+02] [ 3.50017657e-01 -2.20977994e-01 -9.10305644e-01 -1.70352322e+02] [-7.31016548e-01 -6.72091978e-01 -1.17928701e-01 -5.44126084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-170.75, Z:-544.81 [[-5.61163582e-01 -5.44787187e-01 -6.23139114e-01 2.96579213e+02] [ 3.85817664e-01 -8.38226396e-01 3.85384535e-01 -1.70752500e+02] [-7.32284210e-01 -2.41543119e-02 6.80570646e-01 -5.44811780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-170.76, Z:-544.82 [[-5.60901972e-01 -5.58495308e-01 -6.11123531e-01 2.96576247e+02] [ 3.86724938e-01 -8.29444305e-01 4.03070672e-01 -1.70763590e+02] [-7.32006012e-01 -1.02535747e-02 6.81221009e-01 -5.44819282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-170.76, Z:-544.82 [[-5.61288219e-01 -5.58950326e-01 -6.10352414e-01 2.96574979e+02] [ 3.87394552e-01 -8.29138210e-01 4.03057428e-01 -1.70763590e+02] [-7.31355588e-01 -1.02158142e-02 6.81919820e-01 -5.44821298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-170.62, Z:-545.14 [[-5.56369636e-01 -5.67006544e-01 -6.07417820e-01 2.96341858e+02] [ 3.81759544e-01 -8.23712161e-01 4.19234929e-01 -1.70619777e+02] [-7.38046394e-01 1.36203436e-03 6.74748595e-01 -5.45138905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-170.27, Z:-544.38 [[-6.13754215e-01 5.40822776e-01 -5.75166488e-01 2.96127710e+02] [ 3.97732209e-01 -4.17515051e-01 -8.17000779e-01 -1.70269015e+02] [-6.81993294e-01 -7.30199909e-01 4.11489856e-02 -5.44379980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.85, Y:-171.33, Z:-544.87 [[-5.62821920e-01 -5.80192361e-01 5.88734500e-01 2.95849457e+02] [ 3.66454597e-01 4.63288570e-01 8.06892019e-01 -1.71327585e+02] [-7.40906550e-01 6.69880978e-01 -4.81348045e-02 -5.44867824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.67, Z:-545.00 [[-5.63716106e-01 -5.48846159e-01 -6.17245531e-01 2.96444308e+02] [ 3.82979897e-01 -8.35795511e-01 3.93411061e-01 -1.70669678e+02] [-7.31813194e-01 -1.46204785e-02 6.81348436e-01 -5.44995412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-170.68, Z:-545.00 [[-5.64423054e-01 -5.55990531e-01 -6.10164851e-01 2.96443180e+02] [ 3.81064211e-01 -8.31179068e-01 4.04884458e-01 -1.70676117e+02] [-7.32268177e-01 -3.98586554e-03 6.81004721e-01 -5.44999551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-171.26, Z:-544.98 [[-5.11020438e-01 -7.19543256e-01 4.70229322e-01 2.95885628e+02] [ 3.59145150e-01 3.18280904e-01 8.77332336e-01 -1.71260157e+02] [-7.80943579e-01 6.17215335e-01 9.57724240e-02 -5.44983878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-170.55, Z:-545.25 [[-5.17898503e-01 -5.67535517e-01 -6.40066073e-01 2.96240703e+02] [ 3.54073941e-01 -8.23343141e-01 4.43551256e-01 -1.70547586e+02] [-7.78725102e-01 3.08381452e-03 6.27357717e-01 -5.45254905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-170.28, Z:-544.46 [[-5.67428805e-01 8.23192835e-01 -1.94449931e-02 2.95551076e+02] [ 3.34041760e-01 2.08543006e-01 -9.19198519e-01 -1.70277367e+02] [-7.52622517e-01 -5.28075157e-01 -3.93314092e-01 -5.44464870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-170.55, Z:-545.18 [[-5.78916935e-01 -5.07682199e-01 -6.38054831e-01 2.96326830e+02] [ 3.35591077e-01 -8.61520333e-01 3.81000452e-01 -1.70548025e+02] [-7.43124358e-01 6.44210617e-03 6.69122326e-01 -5.45176926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-170.12, Z:-544.62 [[-6.15926506e-01 7.18552526e-01 -3.22981125e-01 2.95695703e+02] [ 3.40100117e-01 -1.27278760e-01 -9.31736029e-01 -1.70119630e+02] [-7.10609914e-01 -6.83726835e-01 -1.65985437e-01 -5.44622876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-170.48, Z:-545.32 [[-6.31198171e-01 -4.83526822e-01 -6.06457486e-01 2.96251219e+02] [ 3.43045462e-01 -8.75300817e-01 3.40834697e-01 -1.70480391e+02] [-6.95635451e-01 7.09174878e-03 7.18359957e-01 -5.45317354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-170.48, Z:-545.32 [[-6.31836383e-01 -4.84126076e-01 -6.05313744e-01 2.96252746e+02] [ 3.43121329e-01 -8.74960208e-01 3.41631948e-01 -1.70481269e+02] [-6.95018374e-01 8.15943805e-03 7.18945675e-01 -5.45316891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-170.47, Z:-545.33 [[-6.31905479e-01 -4.85246933e-01 -6.04343346e-01 2.96242142e+02] [ 3.44823704e-01 -8.74345861e-01 3.41490744e-01 -1.70474446e+02] [-6.94112440e-01 7.39796093e-03 7.19828585e-01 -5.45330329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.616559995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:295.95, Y:-170.32, Z:-545.68 [[-6.26147663e-01 -4.95456288e-01 -6.02048313e-01 2.95945163e+02] [ 3.38657613e-01 -8.68327955e-01 3.62377682e-01 -1.70318536e+02] [-7.02317681e-01 2.30136946e-02 7.11491563e-01 -5.45681537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-170.02, Z:-544.87 [[-6.55969332e-01 5.09953397e-01 -5.56463628e-01 2.95804253e+02] [ 3.67437724e-01 -4.28241104e-01 -8.25590138e-01 -1.70023767e+02] [-6.59313094e-01 -7.46027540e-01 9.35369152e-02 -5.44871658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-170.01, Z:-544.95 [[-6.89046347e-01 4.60332600e-01 -5.59740144e-01 2.95773561e+02] [ 3.96109200e-01 -4.07561207e-01 -8.22794849e-01 -1.70007675e+02] [-6.06887661e-01 -7.88662006e-01 9.84865833e-02 -5.44945394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-170.40, Z:-545.59 [[-6.97311534e-01 -5.06292468e-01 -5.07370241e-01 2.96088947e+02] [ 4.06139651e-01 -8.62348715e-01 3.02333057e-01 -1.70401358e+02] [-5.90599025e-01 4.75715536e-03 8.06951152e-01 -5.45585868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-170.40, Z:-545.59 [[-6.96253267e-01 -5.07876103e-01 -5.07240823e-01 2.96086682e+02] [ 4.07825149e-01 -8.61421319e-01 3.02707714e-01 -1.70400375e+02] [-5.90686073e-01 3.89567088e-03 8.06892054e-01 -5.45587807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-170.42, Z:-545.60 [[-6.90526570e-01 -5.17043442e-01 -5.05805432e-01 2.96090891e+02] [ 3.99572128e-01 -8.55589647e-01 3.29102524e-01 -1.70420911e+02] [-6.02922192e-01 2.51482842e-02 7.97403533e-01 -5.45599938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-170.38, Z:-545.58 [[-6.94376255e-01 -4.95594100e-01 -5.21754832e-01 2.96085387e+02] [ 4.10871889e-01 -8.68291208e-01 2.77947242e-01 -1.70383440e+02] [-5.90784146e-01 -2.13744288e-02 8.06546481e-01 -5.45582474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-170.00, Z:-544.94 [[-7.17203637e-01 5.10796941e-01 -4.74031042e-01 2.95660112e+02] [ 4.30320377e-01 -2.10418806e-01 -8.77808805e-01 -1.70001383e+02] [-5.48127099e-01 -8.33552884e-01 -6.88931993e-02 -5.44939179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-170.63, Z:-544.81 [[-7.63862032e-01 4.85298357e-01 4.25441302e-01 2.95225057e+02] [ 3.63190500e-01 8.68161508e-01 -3.38213331e-01 -1.70626687e+02] [-5.33486136e-01 -1.03832083e-01 -8.39411366e-01 -5.44809417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-171.02, Z:-545.33 [[-7.45413113e-01 -2.66273415e-01 6.11111904e-01 2.95331946e+02] [ 3.10268298e-01 6.72809461e-01 6.71610760e-01 -1.71022997e+02] [-5.89993962e-01 6.90236117e-01 -4.18904795e-01 -5.45329916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-170.24, Z:-545.71 [[-7.43387317e-01 -4.01698057e-01 -5.34802738e-01 2.95950296e+02] [ 3.19990249e-01 -9.15722629e-01 2.43019151e-01 -1.70237867e+02] [-5.87351290e-01 9.52569358e-03 8.09276049e-01 -5.45713617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-170.23, Z:-545.72 [[-7.41346841e-01 -3.94776473e-01 -5.42730502e-01 2.95942488e+02] [ 3.19649033e-01 -9.18775572e-01 2.31680694e-01 -1.70229255e+02] [-5.90109615e-01 -1.72752967e-03 8.07321286e-01 -5.45718209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-170.22, Z:-545.71 [[-7.43762036e-01 -3.88458472e-01 -5.43983501e-01 2.95942356e+02] [ 3.27221231e-01 -9.21215819e-01 2.10446382e-01 -1.70216599e+02] [-5.82875887e-01 -2.14809213e-02 8.12277213e-01 -5.45706456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-169.92, Z:-545.01 [[-7.91743148e-01 5.45356811e-01 -2.75188547e-01 2.95422203e+02] [ 3.15210461e-01 -2.11410171e-02 -9.48786289e-01 -1.69923683e+02] [-5.23244831e-01 -8.37937352e-01 -1.55163916e-01 -5.45012594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-170.60, Z:-544.96 [[-8.12710875e-01 3.05496613e-01 4.96158092e-01 2.95103987e+02] [ 2.28809273e-01 9.50455990e-01 -2.10427490e-01 -1.70598293e+02] [-5.35861316e-01 -5.74911371e-02 -8.42346377e-01 -5.44964174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-170.93, Z:-545.58 [[-7.70671829e-01 -4.71327605e-01 4.28853380e-01 2.95327481e+02] [ 2.16193770e-01 4.39685253e-01 8.71743731e-01 -1.70925280e+02] [-5.99437391e-01 7.64543764e-01 -2.36954946e-01 -5.45582682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-170.07, Z:-545.84 [[-7.82013830e-01 -2.81559210e-01 -5.56038471e-01 2.95745652e+02] [ 2.34580183e-01 -9.59506363e-01 1.55947674e-01 -1.70069229e+02] [-5.77430955e-01 -8.48236839e-03 8.16395457e-01 -5.45842988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-170.02, Z:-545.97 [[-7.82366302e-01 -2.80239953e-01 -5.56209078e-01 2.95569543e+02] [ 2.35308955e-01 -9.59861464e-01 1.52629178e-01 -1.70018009e+02] [-5.76656454e-01 -1.14690517e-02 8.16906234e-01 -5.45973489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-170.07, Z:-545.84 [[-7.82497506e-01 -2.80553110e-01 -5.55866535e-01 2.95745213e+02] [ 2.34629419e-01 -9.59788291e-01 1.54128104e-01 -1.70068520e+02] [-5.76755311e-01 -9.81778517e-03 8.16857957e-01 -5.45842753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-170.07, Z:-545.85 [[-7.82270320e-01 -2.81123918e-01 -5.55897913e-01 2.95740093e+02] [ 2.35522298e-01 -9.59613270e-01 1.53855838e-01 -1.70066198e+02] [-5.76699570e-01 -1.05694987e-02 8.16887931e-01 -5.45846479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-170.06, Z:-545.89 [[-7.77621905e-01 -2.93826591e-01 -5.55850796e-01 2.95684444e+02] [ 2.51045440e-01 -9.55653183e-01 1.53958373e-01 -1.70057403e+02] [-5.76437647e-01 -1.98224046e-02 8.16900675e-01 -5.45886468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-169.99, Z:-546.08 [[-7.76685677e-01 -3.02579740e-01 -5.52453492e-01 2.95439490e+02] [ 2.51532519e-01 -9.53088977e-01 1.68382879e-01 -1.69989661e+02] [-5.77486581e-01 -8.17944795e-03 8.16359201e-01 -5.46077014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-169.75, Z:-545.32 [[-8.23731977e-01 4.70399123e-01 -3.16528506e-01 2.95209250e+02] [ 2.37603702e-01 -2.20486347e-01 -9.46007533e-01 -1.69748418e+02] [-5.14791327e-01 -8.54465000e-01 6.98530815e-02 -5.45321454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-170.02, Z:-546.01 [[-8.17475529e-01 -2.97650503e-01 -4.93090192e-01 2.95564513e+02] [ 2.69779727e-01 -9.54271519e-01 1.28781860e-01 -1.70016865e+02] [-5.08873912e-01 -2.77497186e-02 8.60393686e-01 -5.46010044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-170.84, Z:-545.84 [[-7.68430757e-01 -5.10558519e-01 3.85803279e-01 2.95111254e+02] [ 2.36628075e-01 3.33452623e-01 9.12587806e-01 -1.70837670e+02] [-5.94576594e-01 7.92552426e-01 -1.35422772e-01 -5.45837558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-170.00, Z:-546.03 [[-7.81251507e-01 -2.93325273e-01 -5.51004871e-01 2.95508654e+02] [ 2.43747605e-01 -9.55989113e-01 1.63315404e-01 -1.70002501e+02] [-5.74659193e-01 -6.71571217e-03 8.18365268e-01 -5.46026835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-169.95, Z:-546.09 [[-7.89868214e-01 -2.82553700e-01 -5.44308379e-01 2.95396207e+02] [ 2.51527557e-01 -9.58713734e-01 1.32672017e-01 -1.69950863e+02] [-5.59322888e-01 -3.21151477e-02 8.28327547e-01 -5.46087384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-170.81, Z:-545.84 [[-7.33019813e-01 -5.37095796e-01 4.17384786e-01 2.94998668e+02] [ 2.08818283e-01 4.06297852e-01 8.89559992e-01 -1.70812325e+02] [-6.47361475e-01 7.39222673e-01 -1.85668954e-01 -5.45840190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-169.96, Z:-546.06 [[-7.46439334e-01 -2.74601551e-01 -6.06153700e-01 2.95411894e+02] [ 2.18536605e-01 -9.61523133e-01 1.66478281e-01 -1.69959065e+02] [-6.28545999e-01 -8.20083442e-03 7.77729178e-01 -5.46057063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-169.96, Z:-546.06 [[-7.44965155e-01 -2.76533414e-01 -6.07088288e-01 2.95409350e+02] [ 2.20571610e-01 -9.60957797e-01 1.67057707e-01 -1.69958960e+02] [-6.29583262e-01 -9.45427106e-03 7.76875494e-01 -5.46058622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-169.96, Z:-546.07 [[-7.44494104e-01 -2.77996701e-01 -6.06997829e-01 2.95397914e+02] [ 2.22191885e-01 -9.60527317e-01 1.67385898e-01 -1.69956135e+02] [-6.29570724e-01 -1.02521772e-02 7.76875535e-01 -5.46068502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-169.95, Z:-546.08 [[-7.43406921e-01 -2.80612008e-01 -6.07126883e-01 2.95387827e+02] [ 2.24381384e-01 -9.59761610e-01 1.68850962e-01 -1.69954413e+02] [-6.30078682e-01 -1.07029962e-02 7.76457533e-01 -5.46077390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-169.95, Z:-546.08 [[-7.43046449e-01 -2.82439511e-01 -6.06720608e-01 2.95383115e+02] [ 2.25734516e-01 -9.59226777e-01 1.70082094e-01 -1.69954008e+02] [-6.30020557e-01 -1.05788869e-02 7.76506397e-01 -5.46081360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-170.69, Z:-546.06 [[-6.83635521e-01 -7.07396886e-01 1.79533060e-01 2.95041345e+02] [ 2.13934205e-01 4.09520059e-02 9.75989287e-01 -1.70689366e+02] [-6.97764022e-01 7.05629208e-01 1.23340145e-01 -5.46061379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-170.67, Z:-546.11 [[-6.33258624e-01 -7.51354251e-01 1.85607933e-01 2.94947383e+02] [ 2.09809384e-01 6.41797654e-02 9.75633630e-01 -1.70669924e+02] [-7.44958749e-01 6.56770697e-01 1.16998782e-01 -5.46106302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-170.65, Z:-546.15 [[-5.80597035e-01 -7.90934883e-01 1.93207387e-01 2.94860960e+02] [ 2.04118792e-01 8.83226713e-02 9.74953653e-01 -1.70652619e+02] [-7.88189445e-01 6.05492459e-01 1.10164792e-01 -5.46149480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-169.60, Z:-545.70 [[-6.64438534e-01 7.21989090e-01 -1.93010852e-01 2.94458286e+02] [ 1.97350025e-01 -7.95903218e-02 -9.77096898e-01 -1.69598399e+02] [-7.20815096e-01 -6.87311527e-01 -8.96016883e-02 -5.45704355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-170.60, Z:-546.33 [[-5.77072269e-01 -7.93426173e-01 1.93552333e-01 2.94712553e+02] [ 2.10348587e-01 8.46023008e-02 9.73958892e-01 -1.70598429e+02] [-7.89139448e-01 6.02758127e-01 1.18074432e-01 -5.46334246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-170.28, Z:-545.83 [[-6.13522373e-01 2.32052021e-01 7.54812664e-01 2.93995539e+02] [ 1.10470482e-01 9.71671239e-01 -2.08928877e-01 -1.70276715e+02] [-7.81912124e-01 -4.47980213e-02 -6.21776943e-01 -5.45834898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-169.77, Z:-546.47 [[-6.17268688e-01 -2.25045101e-01 -7.53879347e-01 2.94911096e+02] [ 1.56238418e-01 -9.74195813e-01 1.62886691e-01 -1.69768675e+02] [-7.71082955e-01 -1.72400621e-02 6.36501262e-01 -5.46469926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-169.77, Z:-546.48 [[-6.17401613e-01 -2.26589332e-01 -7.53307721e-01 2.94901931e+02] [ 1.57928779e-01 -9.73823405e-01 1.63482344e-01 -1.69767338e+02] [-7.70632045e-01 -1.80347053e-02 6.37025118e-01 -5.46481227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-169.46, Z:-546.08 [[-6.80893077e-01 6.78139581e-01 -2.76606810e-01 2.94282497e+02] [ 1.47464571e-01 -2.43002379e-01 -9.58751294e-01 -1.69459241e+02] [-7.17383313e-01 -6.93596823e-01 6.54570752e-02 -5.46077085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-169.45, Z:-546.17 [[-7.25013500e-01 6.28795990e-01 -2.81017843e-01 2.94242411e+02] [ 1.64168047e-01 -2.38483985e-01 -9.57169912e-01 -1.69451481e+02] [-6.68882858e-01 -7.40095259e-01 6.96758990e-02 -5.46171913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-169.44, Z:-546.26 [[-7.65488215e-01 5.76897295e-01 -2.84986499e-01 2.94198484e+02] [ 1.80788202e-01 -2.32231293e-01 -9.55711386e-01 -1.69442271e+02] [-6.17530096e-01 -7.83107999e-01 7.34740931e-02 -5.46260557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-170.53, Z:-546.78 [[-6.89399420e-01 -6.57770164e-01 3.03425198e-01 2.94242553e+02] [ 1.77000758e-01 2.53215138e-01 9.51079821e-01 -1.70527376e+02] [-7.02423784e-01 7.09380367e-01 -5.81405519e-02 -5.46776686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-169.96, Z:-546.19 [[-7.41422514e-01 4.15456243e-01 5.26961826e-01 2.93687246e+02] [ 8.69993524e-02 8.38178153e-01 -5.38412943e-01 -1.69959937e+02] [-6.65374908e-01 -3.53346140e-01 -6.57588577e-01 -5.46190052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-169.62, Z:-547.01 [[-7.45836237e-01 -1.54531094e-01 -6.47957135e-01 2.94459294e+02] [ 1.34381568e-01 -9.87625265e-01 8.08574627e-02 -1.69618144e+02] [-6.52433830e-01 -2.67670702e-02 7.57372842e-01 -5.47005060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-170.48, Z:-546.85 [[-6.78925430e-01 -6.62007378e-01 3.17500380e-01 2.94064362e+02] [ 9.65170059e-02 3.48213712e-01 9.32433203e-01 -1.70482564e+02] [-7.27835646e-01 6.63696800e-01 -1.72516174e-01 -5.46847478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-169.83, Z:-546.36 [[-7.33931409e-01 4.38381599e-01 5.18812356e-01 2.93499514e+02] [ 1.67126877e-02 7.75255650e-01 -6.31426452e-01 -1.69830463e+02] [-6.79017947e-01 -4.54752957e-01 -5.76311006e-01 -5.46356678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-169.54, Z:-547.16 [[-7.35748139e-01 -6.23383465e-02 -6.74380165e-01 2.94264923e+02] [ 5.38022035e-02 -9.97987707e-01 3.35538226e-02 -1.69539325e+02] [-6.75114804e-01 -1.15959762e-02 7.37621539e-01 -5.47160160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-170.39, Z:-547.08 [[-6.70320391e-01 -7.33767664e-01 1.10704963e-01 2.93994874e+02] [ 3.69627648e-02 1.15983270e-01 9.92563164e-01 -1.70392978e+02] [-7.41150678e-01 6.69427290e-01 -5.06238691e-02 -5.47076947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-170.38, Z:-547.13 [[-6.19083818e-01 -7.77217950e-01 1.12549923e-01 2.93901358e+02] [ 3.37418455e-02 1.16859400e-01 9.92575120e-01 -1.70381831e+02] [-7.84599716e-01 6.18284837e-01 -4.61209954e-02 -5.47134524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-170.04, Z:-546.68 [[-6.37900855e-01 1.41928548e-01 7.56927200e-01 2.93187413e+02] [-6.05179276e-02 9.70593360e-01 -2.32993800e-01 -1.70044904e+02] [-7.67736986e-01 -1.94434610e-01 -6.10553113e-01 -5.46677608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-169.45, Z:-547.36 [[-6.60762407e-01 7.20330113e-02 -7.47130702e-01 2.93945627e+02] [-3.31453226e-02 -9.97213654e-01 -6.68305011e-02 -1.69446688e+02] [-7.49862940e-01 -1.93951946e-02 6.61308852e-01 -5.47363951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.37, Z:-547.25 [[-5.82234353e-01 -8.01439980e-01 1.36737405e-01 2.93708362e+02] [-4.46902177e-02 1.99478499e-01 9.78882584e-01 -1.70371486e+02] [-8.11791810e-01 5.63828243e-01 -1.51959762e-01 -5.47253521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.03, Z:-546.89 [[-5.87539869e-01 9.62028586e-02 8.03456229e-01 2.92999317e+02] [-1.33993090e-01 9.67634215e-01 -2.13845452e-01 -1.70031229e+02] [-7.98024282e-01 -2.33300312e-01 -5.55633162e-01 -5.46894520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:-169.32, Z:-547.23 [[-6.54570377e-01 7.54865918e-01 4.14133762e-02 2.93082671e+02] [-1.37738014e-01 -6.52163288e-02 -9.88319316e-01 -1.69320622e+02] [-7.43347739e-01 -6.52628744e-01 1.46662409e-01 -5.47225853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-169.41, Z:-547.70 [[-6.67760273e-01 1.94519143e-01 -7.18511323e-01 2.93644121e+02] [-1.20301651e-01 -9.80764844e-01 -1.53713478e-01 -1.69413718e+02] [-7.34590859e-01 -1.62056558e-02 6.78316774e-01 -5.47700195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-170.32, Z:-547.63 [[-6.01611539e-01 -7.95951243e-01 -6.72694198e-02 2.93553082e+02] [-1.01488504e-01 -7.36678091e-03 9.94809436e-01 -1.70320228e+02] [-7.92315366e-01 6.05315909e-01 -7.63479605e-02 -5.47631796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-170.10, Z:-547.38 [[-5.95279203e-01 3.52974615e-02 8.02743271e-01 2.92631500e+02] [-1.84387341e-01 9.66374322e-01 -1.79226055e-01 -1.70104009e+02] [-7.82076709e-01 -2.54705241e-01 -5.68754131e-01 -5.47382429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-170.13, Z:-547.91 [[-5.69910938e-01 -6.84312900e-01 -4.54881718e-01 2.93530261e+02] [-1.45693128e-01 -4.60658164e-01 8.75538445e-01 -1.70132274e+02] [-8.08687229e-01 5.65252077e-01 1.62834439e-01 -5.47913394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-170.33, Z:-547.48 [[-5.31317491e-01 -3.93438348e-01 7.50271944e-01 2.92749555e+02] [-2.04888894e-01 9.19004500e-01 3.36825282e-01 -1.70327402e+02] [-8.22023275e-01 2.52387744e-02 -5.68894313e-01 -5.47484196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-170.44, Z:-547.82 [[-4.82120430e-01 -8.53116462e-01 1.99379520e-01 2.93068262e+02] [-2.27538396e-01 3.41694501e-01 9.11850397e-01 -1.70438681e+02] [-8.46041470e-01 3.94255209e-01 -3.58854651e-01 -5.47820971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:-169.40, Z:-548.14 [[-4.81365162e-01 4.64030125e-01 -7.43615240e-01 2.93088848e+02] [-2.58396033e-01 -8.85794920e-01 -3.85485213e-01 -1.69398022e+02] [-8.37567353e-01 6.58807579e-03 5.46294359e-01 -5.48141479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-170.26, Z:-548.14 [[-4.38965040e-01 -8.02229050e-01 -4.04645827e-01 2.93245840e+02] [-2.07458067e-01 -3.47692320e-01 9.14369292e-01 -1.70257431e+02] [-8.74225854e-01 4.85323193e-01 -1.38041154e-02 -5.48136991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:-170.37, Z:-547.85 [[-3.98104217e-01 -3.65862037e-01 8.41224109e-01 2.92410982e+02] [-2.61371638e-01 9.24253690e-01 2.78280405e-01 -1.70366853e+02] [-8.79316723e-01 -1.09087521e-01 -4.63575252e-01 -5.47854039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.50, Z:-548.16 [[-3.50308245e-01 -9.27380420e-01 1.31338079e-01 2.92853174e+02] [-2.88813555e-01 2.40341807e-01 9.26726792e-01 -1.70504875e+02] [-8.90994312e-01 2.86707819e-01 -3.52033752e-01 -5.48164022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.10, Z:-548.54 [[-3.13330618e-01 -5.38578858e-01 -7.82148795e-01 2.93114301e+02] [-2.52252747e-01 -7.46832107e-01 6.15313218e-01 -1.70096106e+02] [-9.15528523e-01 3.90095653e-01 9.81473697e-02 -5.48539043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-169.50, Z:-548.58 [[-2.97482486e-01 6.52209128e-01 -6.97228387e-01 2.92686514e+02] [-2.63718777e-01 -7.58011987e-01 -5.96548602e-01 -1.69502376e+02] [-9.17581918e-01 6.40945642e-03 3.97495084e-01 -5.48576668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-169.51, Z:-548.59 [[-2.90256611e-01 6.30742886e-01 -7.19662777e-01 2.92708344e+02] [-2.59693265e-01 -7.75735364e-01 -5.75146984e-01 -1.69510510e+02] [-9.21037734e-01 1.99513625e-02 3.88961997e-01 -5.48588534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-169.51, Z:-548.61 [[-2.93699339e-01 6.48696463e-01 -7.02092300e-01 2.92685966e+02] [-2.55483632e-01 -7.61035398e-01 -5.96282850e-01 -1.69514260e+02] [-9.21123668e-01 4.24521209e-03 3.89246922e-01 -5.48613528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-169.54, Z:-548.68 [[-3.11495431e-01 6.46692433e-01 -6.96246719e-01 2.92660091e+02] [-2.48394027e-01 -7.62638532e-01 -5.97229333e-01 -1.69535856e+02] [-9.17208266e-01 -1.30906818e-02 3.98192956e-01 -5.48675812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-169.55, Z:-548.69 [[-3.09189970e-01 6.05785737e-01 -7.33092903e-01 2.92692108e+02] [-2.43869843e-01 -7.95594254e-01 -5.54578473e-01 -1.69549882e+02] [-9.19200230e-01 7.30915006e-03 3.93722636e-01 -5.48689191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-169.57, Z:-548.75 [[-3.17082346e-01 6.13311561e-01 -7.23400108e-01 2.92663787e+02] [-2.34650604e-01 -7.89778333e-01 -5.66735633e-01 -1.69566509e+02] [-9.18911247e-01 -9.95559156e-03 3.94338695e-01 -5.48752972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-169.59, Z:-548.83 [[-3.29457615e-01 5.94320113e-01 -7.33649292e-01 2.92649113e+02] [-2.24582521e-01 -8.04057178e-01 -5.50504083e-01 -1.69592781e+02] [-9.17071628e-01 -1.66029547e-02 3.98376669e-01 -5.48826620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:-170.62, Z:-548.75 [[-2.48209030e-01 -9.67707774e-01 -4.39766094e-02 2.92703843e+02] [-2.08967096e-01 9.15946269e-03 9.77879776e-01 -1.70622754e+02] [-9.45899059e-01 2.51908255e-01 -2.04492545e-01 -5.48745889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-169.62, Z:-548.95 [[-2.68259200e-01 6.53295096e-01 -7.07984830e-01 2.92540336e+02] [-2.19283919e-01 -7.57039212e-01 -6.15472335e-01 -1.69616277e+02] [-9.38057336e-01 -9.85642816e-03 3.46339842e-01 -5.48953556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-169.62, Z:-548.96 [[-2.70458194e-01 6.49663043e-01 -7.10485957e-01 2.92542081e+02] [-2.17438953e-01 -7.60141060e-01 -6.12295575e-01 -1.69620386e+02] [-9.37855355e-01 -1.11130326e-02 3.46848431e-01 -5.48961139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-170.72, Z:-548.80 [[-1.80184951e-01 -8.69917710e-01 4.59104086e-01 2.92352280e+02] [-2.49307988e-01 4.91892092e-01 8.34198835e-01 -1.70718452e+02] [-9.51514010e-01 3.58517600e-02 -3.05508987e-01 -5.48796940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-169.62, Z:-549.11 [[-2.18678505e-01 7.86664658e-01 -5.77354681e-01 2.92374928e+02] [-2.51176632e-01 -6.17116558e-01 -7.45706010e-01 -1.69621938e+02] [-9.42915697e-01 -1.80518709e-02 3.32541905e-01 -5.49105262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-170.73, Z:-548.97 [[-1.11771640e-01 -9.68936665e-01 2.20610152e-01 2.92431386e+02] [-2.62160146e-01 2.42887599e-01 9.33958068e-01 -1.70728610e+02] [-9.58529686e-01 4.65548351e-02 -2.81164522e-01 -5.48967702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-169.66, Z:-549.26 [[-1.58256594e-01 8.93775355e-01 -4.19667089e-01 2.92210180e+02] [-2.70851433e-01 -4.48015060e-01 -8.52010567e-01 -1.69656812e+02] [-9.49523223e-01 -2.11688577e-02 3.12981673e-01 -5.49256668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-169.66, Z:-549.26 [[-1.62630524e-01 8.94645194e-01 -4.16126531e-01 2.92207197e+02] [-2.74031986e-01 -4.46103487e-01 -8.51996567e-01 -1.69660240e+02] [-9.47870130e-01 -2.45286683e-02 3.17711443e-01 -5.49259500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-170.42, Z:-549.26 [[-8.07325627e-02 -7.08751345e-01 -7.00823647e-01 2.92763148e+02] [-1.99276708e-01 -6.77445744e-01 7.08065009e-01 -1.70421942e+02] [-9.76612025e-01 1.96821732e-01 -8.65457036e-02 -5.49264921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-169.74, Z:-549.46 [[-1.23925018e-01 9.28339487e-01 -3.50468810e-01 2.92121332e+02] [-2.21978051e-01 -3.70176255e-01 -9.02050600e-01 -1.69739422e+02] [-9.67144423e-01 -3.39902532e-02 2.51945089e-01 -5.49459577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-169.74, Z:-549.48 [[-1.23977069e-01 9.05217732e-01 -4.06461000e-01 2.92154129e+02] [-2.20673766e-01 -4.24515402e-01 -8.78117169e-01 -1.69738911e+02] [-9.67436187e-01 -1.91711137e-02 2.52387981e-01 -5.49477676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-169.80, Z:-549.61 [[-1.74675611e-01 7.48904294e-01 -6.39242356e-01 2.92320264e+02] [-1.72696142e-01 -6.62461889e-01 -7.28917202e-01 -1.69796516e+02] [-9.69362922e-01 -1.69293687e-02 2.45048817e-01 -5.49613226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-169.80, Z:-549.65 [[-1.74876573e-01 7.46126048e-01 -6.42428287e-01 2.92316621e+02] [-1.70098069e-01 -6.65566566e-01 -7.26696494e-01 -1.69802349e+02] [-9.69785972e-01 -1.78063815e-02 2.43306600e-01 -5.49651178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-169.81, Z:-549.68 [[-1.80827558e-01 7.39043040e-01 -6.48935111e-01 2.92315411e+02] [-1.72800657e-01 -6.73421985e-01 -7.18778661e-01 -1.69810046e+02] [-9.68215538e-01 -1.78385765e-02 2.49480377e-01 -5.49675067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-170.60, Z:-549.74 [[-1.07643026e-01 -7.63429868e-01 -6.36857768e-01 2.92694467e+02] [-1.09090917e-01 -6.27641753e-01 7.70820992e-01 -1.70597029e+02] [-9.88186294e-01 1.52448902e-01 -1.57220068e-02 -5.49735532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-170.62, Z:-549.86 [[-6.34474504e-02 -7.54410027e-01 -6.53329880e-01 2.92660570e+02] [-6.16469531e-02 -6.50436029e-01 7.57055233e-01 -1.70615362e+02] [-9.96079351e-01 8.83090208e-02 -5.23857188e-03 -5.49858806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:-170.93, Z:-549.92 [[-5.65970405e-03 -5.41652749e-01 8.40583290e-01 2.91843343e+02] [-1.36827937e-01 8.33110015e-01 5.35915869e-01 -1.70925533e+02] [-9.90578661e-01 -1.11982152e-01 -7.88283845e-02 -5.49921541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-169.90, Z:-550.07 [[-2.55223934e-02 9.90824069e-01 -1.32726301e-01 2.91879769e+02] [-1.50282378e-01 -1.35063562e-01 -9.79373801e-01 -1.69902699e+02] [-9.88313622e-01 -5.04953930e-03 1.52350542e-01 -5.50073148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-169.90, Z:-550.08 [[-2.66105206e-02 9.89819356e-01 -1.39819605e-01 2.91883466e+02] [-1.50097158e-01 -1.42239766e-01 -9.78385758e-01 -1.69902409e+02] [-9.88313070e-01 -5.04882914e-03 1.52354146e-01 -5.50082292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:-169.91, Z:-550.18 [[-4.06833817e-02 9.88339744e-01 -1.46729045e-01 2.91887752e+02] [-1.47950836e-01 -1.51190616e-01 -9.77369914e-01 -1.69914872e+02] [-9.88157585e-01 -1.80540284e-02 1.52376637e-01 -5.50180098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-169.92, Z:-550.26 [[-5.04474556e-02 9.73894255e-01 -2.21325632e-01 2.91919092e+02] [-1.66587131e-01 -2.26708650e-01 -9.59610294e-01 -1.69922118e+02] [-9.84735387e-01 -1.15398957e-02 1.73675124e-01 -5.50259934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-170.44, Z:-550.28 [[-1.77031526e-02 -4.35986320e-01 -8.99779155e-01 2.92653069e+02] [-6.70294244e-02 -8.97378110e-01 4.36141702e-01 -1.70439551e+02] [-9.97593933e-01 6.80327619e-02 -1.33374904e-02 -5.50275431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:-169.98, Z:-550.37 [[-1.85114860e-02 9.95811176e-01 -8.95400838e-02 2.91836478e+02] [-8.60729107e-02 -9.08101679e-02 -9.92141607e-01 -1.69978176e+02] [-9.96116850e-01 -1.06590399e-02 8.73933975e-02 -5.50368427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-169.95, Z:-550.38 [[-2.24352714e-02 9.78446786e-01 -2.05276752e-01 2.91896133e+02] [-8.48231696e-02 -2.06451013e-01 -9.74773312e-01 -1.69953984e+02] [-9.96143408e-01 -4.45707911e-03 8.76267422e-02 -5.50381278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-169.95, Z:-550.40 [[-2.51915383e-02 9.75383869e-01 -2.19070066e-01 2.91903198e+02] [-8.40190335e-02 -2.20430052e-01 -9.71777441e-01 -1.69953027e+02] [-9.96145666e-01 -6.07451344e-03 8.75037821e-02 -5.50401708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-169.95, Z:-550.41 [[-2.78941338e-02 9.69997428e-01 -2.41509642e-01 2.91915266e+02] [-8.31746816e-02 -2.43018070e-01 -9.66449269e-01 -1.69949910e+02] [-9.96144513e-01 -6.87077765e-03 8.74580057e-02 -5.50412060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-169.96, Z:-550.44 [[-4.04832999e-02 9.71561838e-01 -2.33299589e-01 2.91904730e+02] [-9.59033984e-02 -2.36191255e-01 -9.66962372e-01 -1.69962068e+02] [-9.94567062e-01 -1.67716043e-02 1.02737883e-01 -5.50438971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-170.50, Z:-550.54 [[ 6.25982323e-03 -4.75048762e-01 -8.79937207e-01 2.92640233e+02] [ 4.18485623e-03 -8.79934297e-01 4.75076962e-01 -1.70504599e+02] [-9.99971650e-01 -6.65630851e-03 -3.52022238e-03 -5.50535015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-170.70, Z:-550.54 [[ 6.92497013e-02 -7.41514931e-01 -6.67353045e-01 2.92603647e+02] [ 6.48447132e-02 -6.64198471e-01 7.44738581e-01 -1.70698141e+02] [-9.95489649e-01 -9.48472412e-02 2.08777727e-03 -5.50542538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-171.10, Z:-550.65 [[ 9.30998236e-02 -7.07276084e-01 7.00780254e-01 2.91931194e+02] [ 3.43271879e-02 7.05698853e-01 7.07679852e-01 -1.71098741e+02] [-9.95064856e-01 -4.18290539e-02 8.99792378e-02 -5.50646426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:-171.04, Z:-550.68 [[ 9.16964884e-02 -4.70828751e-01 8.77446318e-01 2.91776346e+02] [ 2.61969781e-02 8.81994261e-01 4.70531446e-01 -1.71035603e+02] [-9.95442350e-01 -2.01596393e-02 9.32100670e-02 -5.50682881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:-171.04, Z:-550.72 [[ 9.44510186e-02 -4.77482319e-01 8.73550022e-01 2.91787217e+02] [ 2.39794117e-02 8.78309343e-01 4.77491032e-01 -1.71038109e+02] [-9.95240671e-01 -2.41522987e-02 9.44069572e-02 -5.50716707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.75, Y:-171.01, Z:-550.75 [[ 9.09773919e-02 -4.07464382e-01 9.08678101e-01 2.91749439e+02] [ 1.90318703e-02 9.13006874e-01 4.07499984e-01 -1.71014872e+02] [-9.95671081e-01 -1.97794419e-02 9.08177934e-02 -5.50747695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:-171.04, Z:-550.78 [[ 9.13653932e-02 -4.64230220e-01 8.80989596e-01 2.91783306e+02] [ 1.79739525e-02 8.85314524e-01 4.64645167e-01 -1.71035630e+02] [-9.95655212e-01 -2.66176233e-02 8.92311614e-02 -5.50780461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-171.03, Z:-550.81 [[ 9.13958589e-02 -4.37459537e-01 8.94581439e-01 2.91773601e+02] [ 1.47372929e-02 8.98837129e-01 4.38034962e-01 -1.71027723e+02] [-9.95705584e-01 -2.68508729e-02 8.85969608e-02 -5.50810666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:-171.04, Z:-550.84 [[ 9.22289085e-02 -4.66939360e-01 8.79466579e-01 2.91792952e+02] [ 1.44081060e-02 8.83764403e-01 4.67710258e-01 -1.71038014e+02] [-9.95633585e-01 -3.04649589e-02 8.82363381e-02 -5.50836804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-171.04, Z:-550.86 [[ 9.22041883e-02 -4.68917410e-01 8.78416103e-01 2.91796599e+02] [ 1.37867016e-02 8.82690692e-01 4.69752137e-01 -1.71039038e+02] [-9.95644673e-01 -3.12026538e-02 8.78526032e-02 -5.50864368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-171.04, Z:-550.89 [[ 9.27770043e-02 -4.71771276e-01 8.76826261e-01 2.91801049e+02] [ 1.21716523e-02 8.81096043e-01 4.72780725e-01 -1.71041581e+02] [-9.95612514e-01 -3.31907549e-02 8.74876873e-02 -5.50891627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-171.04, Z:-550.92 [[ 9.32246873e-02 -4.73012326e-01 8.76109866e-01 2.91804033e+02] [ 1.17790845e-02 8.80404316e-01 4.74077520e-01 -1.71042047e+02] [-9.95575417e-01 -3.38759564e-02 8.76470691e-02 -5.50918900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:-171.04, Z:-550.95 [[ 9.38214948e-02 -4.74243776e-01 8.75380128e-01 2.91807131e+02] [ 1.16691025e-02 8.79721928e-01 4.75345308e-01 -1.71042408e+02] [-9.95520647e-01 -3.43827069e-02 8.80708255e-02 -5.50947105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:-171.04, Z:-550.97 [[ 9.49880871e-02 -4.77099504e-01 8.73700936e-01 2.91811622e+02] [ 1.08554113e-02 8.78113647e-01 4.78328949e-01 -1.71044983e+02] [-9.95419220e-01 -3.59511688e-02 8.85894469e-02 -5.50974986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-171.05, Z:-551.00 [[ 9.54438384e-02 -4.80054047e-01 8.72031299e-01 2.91816163e+02] [ 1.06518847e-02 8.76472919e-01 4.81333314e-01 -1.71046237e+02] [-9.95377823e-01 -3.66515223e-02 8.87674200e-02 -5.51003003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-171.05, Z:-551.03 [[ 9.70267601e-02 -4.82936485e-01 8.70263270e-01 2.91821270e+02] [ 1.10040549e-02 8.74855917e-01 4.84258233e-01 -1.71049176e+02] [-9.95220940e-01 -3.74095825e-02 9.01986948e-02 -5.51030533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-171.05, Z:-551.06 [[ 9.74923409e-02 -4.85941269e-01 8.68536888e-01 2.91825207e+02] [ 1.18873650e-02 8.73200484e-01 4.87216180e-01 -1.71050564e+02] [-9.95165280e-01 -3.71752309e-02 9.09069205e-02 -5.51058313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-171.05, Z:-551.08 [[ 9.83501757e-02 -4.89011763e-01 8.66714912e-01 2.91829572e+02] [ 1.42251477e-02 8.71539178e-01 4.90119482e-01 -1.71053808e+02] [-9.95050194e-01 -3.58741896e-02 9.26722958e-02 -5.51084990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-171.06, Z:-551.11 [[ 9.80576791e-02 -4.91162571e-01 8.65531063e-01 2.91833794e+02] [ 1.57906506e-02 8.70380895e-01 4.92125750e-01 -1.71055378e+02] [-9.95055449e-01 -3.45894103e-02 9.31033070e-02 -5.51111783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:-171.06, Z:-551.14 [[ 9.74699187e-02 -4.92618563e-01 8.64769661e-01 2.91837935e+02] [ 1.78283929e-02 8.69631809e-01 4.93378826e-01 -1.71057027e+02] [-9.95078773e-01 -3.26721408e-02 9.35455389e-02 -5.51139321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:-171.06, Z:-551.17 [[ 9.65410681e-02 -4.95774339e-01 8.63068726e-01 2.91843492e+02] [ 1.98072146e-02 8.67904267e-01 4.96336435e-01 -1.71058998e+02] [-9.95131899e-01 -3.08218622e-02 9.36083137e-02 -5.51166208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-171.06, Z:-551.19 [[ 9.49248682e-02 -4.97294775e-01 8.62372991e-01 2.91847963e+02] [ 2.17007520e-02 8.67112609e-01 4.97639227e-01 -1.71060293e+02] [-9.95247882e-01 -2.85241956e-02 9.31022208e-02 -5.51194228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-171.06, Z:-551.22 [[ 9.19086555e-02 -5.00625137e-01 8.60771324e-01 2.91854893e+02] [ 2.54436695e-02 8.65328519e-01 5.00558862e-01 -1.71063592e+02] [-9.95442323e-01 -2.41045109e-02 9.22689213e-02 -5.51221897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-171.06, Z:-551.25 [[ 8.14743922e-02 -4.74432640e-01 8.76513316e-01 2.91828894e+02] [ 2.58376506e-02 8.80146907e-01 4.73997720e-01 -1.71059525e+02] [-9.96340474e-01 -1.59716314e-02 8.39676590e-02 -5.51250148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-171.10, Z:-551.27 [[ 8.06846065e-02 -6.17382949e-01 7.82514082e-01 2.91931345e+02] [ 3.29343566e-02 7.86296310e-01 6.16971184e-01 -1.71099105e+02] [-9.96195424e-01 -2.40084794e-02 8.37751185e-02 -5.51274847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-171.09, Z:-551.30 [[ 8.75938158e-02 -6.15634595e-01 7.83148369e-01 2.91947048e+02] [ 3.71468342e-02 7.87642055e-01 6.15012281e-01 -1.71094178e+02] [-9.95463428e-01 -2.47797898e-02 9.18614493e-02 -5.51303592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-171.07, Z:-551.34 [[ 8.52491454e-02 -5.06005514e-01 8.58307056e-01 2.91874325e+02] [ 3.75362143e-02 8.62462500e-01 5.04727123e-01 -1.71067642e+02] [-9.95652357e-01 -1.08099582e-02 9.25177225e-02 -5.51335701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-171.07, Z:-551.36 [[ 8.27139011e-02 -5.09332977e-01 8.56585273e-01 2.91881026e+02] [ 4.29785840e-02 8.60554026e-01 5.07542718e-01 -1.71070467e+02] [-9.95646148e-01 -5.16601609e-03 9.30701907e-02 -5.51363849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-171.07, Z:-551.40 [[ 7.19501122e-02 -4.83818691e-01 8.72205627e-01 2.91853719e+02] [ 4.42865619e-02 8.75159290e-01 4.81803816e-01 -1.71065819e+02] [-9.96424549e-01 3.96114991e-03 8.43944755e-02 -5.51395867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-171.11, Z:-551.42 [[ 7.24607384e-02 -6.81300284e-01 7.28408790e-01 2.92003553e+02] [ 4.67843786e-02 7.31846524e-01 6.79861667e-01 -1.71111873e+02] [-9.96273388e-01 -1.51851259e-02 8.49043500e-02 -5.51422853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:-171.08, Z:-551.46 [[ 6.85034011e-02 -5.33739649e-01 8.42869665e-01 2.91892608e+02] [ 5.01156356e-02 8.45628709e-01 5.31413690e-01 -1.71080662e+02] [-9.96391342e-01 5.83730380e-03 8.46771444e-02 -5.51455573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:-171.11, Z:-551.48 [[ 7.48756211e-02 -6.78993621e-01 7.30315893e-01 2.92017554e+02] [ 5.31976771e-02 7.34048681e-01 6.77010000e-01 -1.71106768e+02] [-9.95772890e-01 -1.18404352e-02 9.10832343e-02 -5.51481272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-171.07, Z:-551.52 [[ 6.85220082e-02 -4.87963071e-01 8.70170544e-01 2.91870067e+02] [ 5.35621556e-02 8.72762003e-01 4.85198497e-01 -1.71065659e+02] [-9.96210736e-01 1.33614346e-02 8.59397591e-02 -5.51515721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-171.10, Z:-551.54 [[ 7.14489572e-02 -6.61349190e-01 7.46667460e-01 2.92009180e+02] [ 5.54280738e-02 7.50056490e-01 6.59047033e-01 -1.71102957e+02] [-9.95902995e-01 -5.70188414e-03 9.02480657e-02 -5.51539670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-171.07, Z:-551.57 [[ 7.32477545e-02 -5.11242559e-01 8.56309414e-01 2.91901729e+02] [ 5.58303456e-02 8.59371387e-01 5.08294984e-01 -1.71069311e+02] [-9.95749838e-01 1.05765843e-02 9.14898732e-02 -5.51574085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-171.07, Z:-551.60 [[ 7.34394798e-02 -5.14108507e-01 8.54575384e-01 2.91905610e+02] [ 5.58285203e-02 8.57664865e-01 5.11169400e-01 -1.71068692e+02] [-9.95735818e-01 1.01696644e-02 9.16883787e-02 -5.51601115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-171.07, Z:-551.63 [[ 7.42022752e-02 -5.15286614e-01 8.53799583e-01 2.91907973e+02] [ 5.52549220e-02 8.56969008e-01 5.12397319e-01 -1.71067826e+02] [-9.95711261e-01 9.15558252e-03 9.20611718e-02 -5.51628646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-171.07, Z:-551.66 [[ 7.54855038e-02 -5.18025445e-01 8.52027921e-01 2.91911503e+02] [ 5.45320275e-02 8.55331688e-01 5.15202835e-01 -1.71067051e+02] [-9.95654657e-01 7.57246439e-03 9.28141211e-02 -5.51655715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-171.07, Z:-551.68 [[ 7.76163058e-02 -5.19006578e-01 8.51239027e-01 2.91912193e+02] [ 5.20870260e-02 8.54759644e-01 5.16403808e-01 -1.71065165e+02] [-9.95621741e-01 4.25715347e-03 9.33767950e-02 -5.51683130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-171.06, Z:-551.71 [[ 7.89367801e-02 -5.20778793e-01 8.50034372e-01 2.91914656e+02] [ 5.10176279e-02 8.53688128e-01 5.18279637e-01 -1.71063916e+02] [-9.95573295e-01 2.45541150e-03 9.39562907e-02 -5.51711475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-171.06, Z:-551.74 [[ 8.02223533e-02 -5.23450735e-01 8.48271008e-01 2.91917681e+02] [ 5.01819781e-02 8.52055595e-01 5.21040336e-01 -1.71063006e+02] [-9.95513005e-01 7.68835239e-04 9.46216983e-02 -5.51738694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-171.06, Z:-551.77 [[ 8.09017735e-02 -5.25255391e-01 8.47090124e-01 2.91920208e+02] [ 4.94028101e-02 8.50944514e-01 5.22927143e-01 -1.71061546e+02] [-9.95496994e-01 -4.57100802e-04 9.47920127e-02 -5.51766207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-171.06, Z:-551.79 [[ 8.14061826e-02 -5.27913975e-01 8.45387408e-01 2.91923547e+02] [ 4.82962645e-02 8.49295572e-01 5.25703816e-01 -1.71060208e+02] [-9.95510173e-01 -1.96648705e-03 9.46341834e-02 -5.51794194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-171.06, Z:-551.82 [[ 8.09194801e-02 -5.30757500e-01 8.43651891e-01 2.91927650e+02] [ 4.83988599e-02 8.47521516e-01 5.28549743e-01 -1.71059221e+02] [-9.95544870e-01 -1.93818072e-03 9.42690583e-02 -5.51822291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-171.06, Z:-551.85 [[ 8.00852902e-02 -5.33616198e-01 8.41926422e-01 2.91931821e+02] [ 4.85949763e-02 8.45725162e-01 5.31401429e-01 -1.71058268e+02] [-9.95602770e-01 -1.64404310e-03 9.36612115e-02 -5.51849810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-171.06, Z:-551.88 [[ 7.80186534e-02 -5.36546107e-01 8.40256726e-01 2.91935154e+02] [ 4.92175834e-02 8.43870942e-01 5.34284065e-01 -1.71056625e+02] [-9.95736270e-01 -3.28717796e-04 9.22451773e-02 -5.51877491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-171.06, Z:-551.90 [[ 7.70588085e-02 -5.39414594e-01 8.38506908e-01 2.91938505e+02] [ 4.98411856e-02 8.42040220e-01 5.37107181e-01 -1.71055409e+02] [-9.95779994e-01 4.03339090e-04 9.17716790e-02 -5.51904738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-171.05, Z:-551.93 [[ 7.48148895e-02 -5.40833520e-01 8.37795820e-01 2.91940250e+02] [ 5.17784818e-02 8.41123937e-01 5.38358163e-01 -1.71053195e+02] [-9.95852259e-01 3.10258913e-03 9.09321330e-02 -5.51932968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-171.05, Z:-551.96 [[ 7.37747506e-02 -5.43803807e-01 8.35963340e-01 2.91943307e+02] [ 5.33599324e-02 8.39199331e-01 5.41199780e-01 -1.71051885e+02] [-9.95846376e-01 4.68006856e-03 9.09290557e-02 -5.51959942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-171.05, Z:-551.99 [[ 7.21525619e-02 -5.45211450e-01 8.35187693e-01 2.91945330e+02] [ 5.53577432e-02 8.38268529e-01 5.42440221e-01 -1.71050442e+02] [-9.95856178e-01 7.09565420e-03 9.06648974e-02 -5.51988401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-171.05, Z:-552.02 [[ 6.36127413e-02 -5.28454096e-01 8.46575270e-01 2.91924711e+02] [ 5.75552337e-02 8.48824101e-01 5.25533101e-01 -1.71045535e+02] [-9.96313612e-01 1.52942363e-02 8.44113270e-02 -5.52018651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-171.08, Z:-552.04 [[ 5.52709586e-02 -6.89554493e-01 7.22121682e-01 2.92043077e+02] [ 6.10310048e-02 7.24208050e-01 6.86875474e-01 -1.71080860e+02] [-9.96604404e-01 6.10754590e-03 8.21118767e-02 -5.52044044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-171.08, Z:-552.08 [[ 5.50046751e-02 -7.19844883e-01 6.91952187e-01 2.92073399e+02] [ 6.41260061e-02 6.94117426e-01 7.16999898e-01 -1.71083045e+02] [-9.96424780e-01 4.93378375e-03 8.43404809e-02 -5.52075725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-171.07, Z:-552.11 [[ 6.26131864e-02 -6.86699043e-01 7.24240301e-01 2.92059633e+02] [ 6.93337808e-02 7.26903807e-01 6.83230329e-01 -1.71073257e+02] [-9.95626645e-01 7.43509025e-03 9.31252044e-02 -5.52111706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-171.04, Z:-552.15 [[ 6.16947523e-02 -5.27834266e-01 8.47103739e-01 2.91937577e+02] [ 7.79442207e-02 8.48676493e-01 5.23137562e-01 -1.71037259e+02] [-9.95046962e-01 3.37519985e-02 9.35005166e-02 -5.52148877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-171.06, Z:-552.18 [[ 5.89792038e-02 -6.06952282e-01 7.92546769e-01 2.91995498e+02] [ 7.66480783e-02 7.94338486e-01 6.02620479e-01 -1.71055734e+02] [-9.95312276e-01 2.52051108e-02 9.33711775e-02 -5.52179196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-171.05, Z:-552.21 [[ 5.49146904e-02 -5.83748372e-01 8.10075438e-01 2.91975048e+02] [ 7.90293441e-02 8.11295507e-01 5.79270198e-01 -1.71049809e+02] [-9.95358599e-01 3.22092869e-02 9.06852925e-02 -5.52211175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-171.07, Z:-552.24 [[ 5.10446850e-02 -6.70912779e-01 7.39777320e-01 2.92044239e+02] [ 7.93946773e-02 7.41124619e-01 6.66656422e-01 -1.71066330e+02] [-9.95535497e-01 2.47051145e-02 9.10973763e-02 -5.52239807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-171.06, Z:-552.27 [[ 5.77053083e-02 -6.53849130e-01 7.54421244e-01 2.92042925e+02] [ 8.39398076e-02 7.56182288e-01 6.48954895e-01 -1.71059016e+02] [-9.94798576e-01 2.58778317e-02 9.85197023e-02 -5.52274917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-171.03, Z:-552.31 [[ 6.35950437e-02 -5.24394064e-01 8.49097483e-01 2.91951956e+02] [ 8.68035855e-02 8.50501749e-01 5.18759976e-01 -1.71027563e+02] [-9.94193547e-01 4.07141426e-02 9.96069809e-02 -5.52307080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-171.02, Z:-552.34 [[ 5.74436592e-02 -5.08506414e-01 8.59139950e-01 2.91933872e+02] [ 8.73355960e-02 8.59821354e-01 5.03070306e-01 -1.71021946e+02] [-9.94521352e-01 4.61353003e-02 9.38019956e-02 -5.52336990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-171.06, Z:-552.37 [[ 5.32997720e-02 -6.57227599e-01 7.51805173e-01 2.92045738e+02] [ 8.20774887e-02 7.53211227e-01 6.52637827e-01 -1.71055250e+02] [-9.95199689e-01 2.69208332e-02 9.40895775e-02 -5.52365477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-171.04, Z:-552.40 [[ 6.18962002e-02 -5.93799803e-01 8.02228555e-01 2.92006827e+02] [ 8.08755504e-02 8.04110512e-01 5.88952825e-01 -1.71038712e+02] [-9.94800485e-01 2.84267340e-02 9.77952710e-02 -5.52401200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-171.01, Z:-552.44 [[ 6.58980731e-02 -5.09294850e-01 8.58065382e-01 2.91947749e+02] [ 7.57313422e-02 8.60007021e-01 5.04631239e-01 -1.71013805e+02] [-9.94948344e-01 3.17282168e-02 9.52423881e-02 -5.52435995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-171.02, Z:-552.47 [[ 6.74158737e-02 -5.52740167e-01 8.30622302e-01 2.91979216e+02] [ 7.09718887e-02 8.33064101e-01 5.48604771e-01 -1.71023464e+02] [-9.95197514e-01 2.19661636e-02 9.53907578e-02 -5.52467710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-171.02, Z:-552.50 [[ 7.23305167e-02 -5.40750753e-01 8.38067372e-01 2.91976079e+02] [ 6.60149856e-02 8.41021295e-01 5.36959219e-01 -1.71017639e+02] [-9.95193608e-01 1.64864677e-02 9.65291580e-02 -5.52499464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:-171.01, Z:-552.53 [[ 7.89505844e-02 -5.08994228e-01 8.57141576e-01 2.91956505e+02] [ 5.68820099e-02 8.60724782e-01 5.05882680e-01 -1.71005953e+02] [-9.95254361e-01 8.81620237e-03 9.69073393e-02 -5.52527156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:-171.01, Z:-552.56 [[ 7.87928840e-02 -5.10863315e-01 8.56043430e-01 2.91959788e+02] [ 5.71109977e-02 8.59616054e-01 5.07738687e-01 -1.71005144e+02] [-9.95253744e-01 8.88329894e-03 9.69075417e-02 -5.52555556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-171.00, Z:-552.59 [[ 7.94698028e-02 -4.97542002e-01 8.63791935e-01 2.91944032e+02] [ 4.80773153e-02 8.67437162e-01 4.95218479e-01 -1.70999183e+02] [-9.95677218e-01 2.17388233e-03 9.28555440e-02 -5.52586745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-171.02, Z:-552.62 [[ 8.08582165e-02 -5.92306745e-01 8.01644977e-01 2.92007436e+02] [ 4.42468629e-02 8.05618676e-01 5.90779793e-01 -1.71024285e+02] [-9.95743021e-01 -1.22991250e-02 9.13486047e-02 -5.52615104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-171.02, Z:-552.65 [[ 8.37806907e-02 -5.99920059e-01 7.95661184e-01 2.92012049e+02] [ 3.77420519e-02 7.99805895e-01 5.99071004e-01 -1.71024993e+02] [-9.95769217e-01 -2.01606968e-02 8.96505043e-02 -5.52646212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-171.03, Z:-552.68 [[ 8.84362811e-02 -6.43229400e-01 7.60549119e-01 2.92050363e+02] [ 3.63057141e-02 7.65114972e-01 6.42869329e-01 -1.71033112e+02] [-9.95419971e-01 -2.92406938e-02 9.10168255e-02 -5.52677927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-171.02, Z:-552.71 [[ 8.81904964e-02 -5.74854164e-01 8.13489475e-01 2.92002308e+02] [ 3.33961002e-02 8.17918759e-01 5.74363652e-01 -1.71015768e+02] [-9.95543639e-01 -2.34860396e-02 9.13305487e-02 -5.52712144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-171.03, Z:-552.74 [[ 9.14074962e-02 -6.20707030e-01 7.78695995e-01 2.92040416e+02] [ 3.31982154e-02 7.83434438e-01 6.20587110e-01 -1.71025409e+02] [-9.95260041e-01 -3.08749965e-02 9.22181461e-02 -5.52743758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-171.02, Z:-552.78 [[ 9.80214545e-02 -5.88561561e-01 8.02488058e-01 2.92030827e+02] [ 3.18237021e-02 8.07812680e-01 5.88579583e-01 -1.71015141e+02] [-9.94675347e-01 -3.21552859e-02 9.79131817e-02 -5.52777633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-170.99, Z:-552.81 [[ 9.59890034e-02 -4.93116065e-01 8.64651755e-01 2.91969592e+02] [ 2.97302241e-02 8.69695671e-01 4.92692150e-01 -1.70989180e+02] [-9.94938302e-01 -2.15867380e-02 9.81416718e-02 -5.52809504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-170.99, Z:-552.84 [[ 9.54452573e-02 -4.95922458e-01 8.63105508e-01 2.91974728e+02] [ 3.05969848e-02 8.68115818e-01 4.95417755e-01 -1.70990957e+02] [-9.94964335e-01 -2.08768490e-02 9.80312694e-02 -5.52836105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-170.99, Z:-552.86 [[ 9.49273406e-02 -4.97188750e-01 8.62433851e-01 2.91978173e+02] [ 3.14961265e-02 8.67412401e-01 4.96592107e-01 -1.70991114e+02] [-9.94985826e-01 -1.99768425e-02 9.80006721e-02 -5.52863796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-170.99, Z:-552.89 [[ 9.48211166e-02 -4.99963219e-01 8.60840134e-01 2.91982664e+02] [ 3.24499868e-02 8.65829131e-01 4.99286405e-01 -1.70991897e+02] [-9.94965303e-01 -1.94086434e-02 9.83226848e-02 -5.52891392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-170.99, Z:-552.92 [[ 8.86313892e-02 -4.85803712e-01 8.69562666e-01 2.91966762e+02] [ 3.41218560e-02 8.73966798e-01 4.84786277e-01 -1.70989688e+02] [-9.95479872e-01 -1.32961891e-02 9.40374158e-02 -5.52922321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-171.02, Z:-552.95 [[ 9.63877957e-02 -6.21600533e-01 7.77381612e-01 2.92073367e+02] [ 3.76531197e-02 7.82736236e-01 6.21213512e-01 -1.71023309e+02] [-9.94631407e-01 -3.06065582e-02 9.88514197e-02 -5.52947503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-170.99, Z:-552.98 [[ 8.97586106e-02 -4.86320476e-01 8.69158090e-01 2.91974946e+02] [ 3.62234744e-02 8.73697292e-01 4.85119473e-01 -1.70990013e+02] [-9.95304603e-01 -1.20597240e-02 9.60380723e-02 -5.52984631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-171.02, Z:-553.01 [[ 9.46636338e-02 -5.96673573e-01 7.96881072e-01 2.92063836e+02] [ 4.06836478e-02 8.02125755e-01 5.95767668e-01 -1.71020000e+02] [-9.94677655e-01 -2.39775035e-02 1.00206996e-01 -5.53009670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-170.99, Z:-553.04 [[ 8.77445625e-02 -4.84596620e-01 8.70325805e-01 2.91982230e+02] [ 4.07151739e-02 8.74710216e-01 4.82933031e-01 -1.70993171e+02] [-9.95310588e-01 -6.93928101e-03 9.64815009e-02 -5.53042680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-171.02, Z:-553.07 [[ 9.15574275e-02 -5.79940961e-01 8.09497201e-01 2.92058879e+02] [ 4.41708769e-02 8.14476682e-01 5.78512461e-01 -1.71017217e+02] [-9.94819668e-01 -1.72109115e-02 1.00187891e-01 -5.53067781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-171.00, Z:-553.10 [[ 8.77111328e-02 -5.04041095e-01 8.59214369e-01 2.92011480e+02] [ 4.81831665e-02 8.63675732e-01 5.01739586e-01 -1.71000701e+02] [-9.94979970e-01 -2.60847847e-03 1.00040273e-01 -5.53099307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-171.00, Z:-553.13 [[ 8.19368703e-02 -4.93564563e-01 8.65840846e-01 2.92001266e+02] [ 5.13252303e-02 8.69698940e-01 4.90906788e-01 -1.71000023e+02] [-9.95315061e-01 4.21611501e-03 9.65927241e-02 -5.53127699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-171.01, Z:-553.15 [[ 7.63627689e-02 -5.33795049e-01 8.42158876e-01 2.92026576e+02] [ 5.40390169e-02 8.45599369e-01 5.31075787e-01 -1.71010462e+02] [-9.95614640e-01 4.95502015e-03 9.34180689e-02 -5.53152859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-171.04, Z:-553.18 [[ 8.31434574e-02 -6.79415200e-01 7.29028224e-01 2.92153781e+02] [ 5.49148238e-02 7.33573278e-01 6.77388078e-01 -1.71036185e+02] [-9.95023381e-01 -1.62859303e-02 9.83017846e-02 -5.53178567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-171.00, Z:-553.22 [[ 8.31378847e-02 -5.01902466e-01 8.60919280e-01 2.92025235e+02] [ 5.44899880e-02 8.64907189e-01 4.98965325e-01 -1.70997471e+02] [-9.95047202e-01 5.42855958e-03 9.92552135e-02 -5.53215306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-171.00, Z:-553.24 [[ 8.29012010e-02 -5.04584454e-01 8.59372980e-01 2.92030324e+02] [ 5.55551712e-02 8.63340341e-01 5.01554662e-01 -1.70997425e+02] [-9.95008047e-01 6.16312919e-03 9.96042269e-02 -5.53241864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-170.99, Z:-553.27 [[ 7.51300734e-02 -4.82793696e-01 8.72505426e-01 2.92008595e+02] [ 5.65137885e-02 8.75633545e-01 4.79658301e-01 -1.70993271e+02] [-9.95571024e-01 1.32718237e-02 9.30709134e-02 -5.53270022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-171.02, Z:-553.29 [[ 7.99533769e-02 -6.15440530e-01 7.84117601e-01 2.92115611e+02] [ 5.85468642e-02 7.88177322e-01 6.12657143e-01 -1.71021107e+02] [-9.95077747e-01 -3.07638079e-03 9.90495515e-02 -5.53293524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:-170.99, Z:-553.33 [[ 7.46648034e-02 -4.86617061e-01 8.70418867e-01 2.92015475e+02] [ 5.89855835e-02 8.73482113e-01 4.83269800e-01 -1.70991638e+02] [-9.95462640e-01 1.52589201e-02 9.39217615e-02 -5.53326594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-171.01, Z:-553.35 [[ 7.37216575e-02 -5.85728300e-01 8.07147741e-01 2.92086832e+02] [ 6.05508854e-02 8.10485837e-01 5.82620201e-01 -1.71013246e+02] [-9.95438952e-01 5.92178346e-03 9.52167264e-02 -5.53351299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-171.02, Z:-553.38 [[ 7.25372323e-02 -6.09326091e-01 7.89594874e-01 2.92106231e+02] [ 5.97055137e-02 7.92913458e-01 6.06402095e-01 -1.71016496e+02] [-9.95577019e-01 3.15643794e-03 9.38958750e-02 -5.53383559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-171.01, Z:-553.42 [[ 7.46133747e-02 -6.07478439e-01 7.90824121e-01 2.92110615e+02] [ 6.02464032e-02 7.94332102e-01 6.04488943e-01 -1.71012685e+02] [-9.95390986e-01 2.54134881e-03 9.58661897e-02 -5.53416475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-171.00, Z:-553.45 [[ 7.54138160e-02 -5.76026388e-01 8.13944934e-01 2.92091482e+02] [ 5.97593200e-02 8.17413043e-01 5.72943924e-01 -1.71003169e+02] [-9.95360025e-01 5.43290818e-03 9.60671821e-02 -5.53450852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-171.00, Z:-553.48 [[ 7.66961290e-02 -5.67702134e-01 8.19653580e-01 2.92089073e+02] [ 5.93736902e-02 8.23216578e-01 5.64614232e-01 -1.70998964e+02] [-9.95285119e-01 5.36213180e-03 9.68440955e-02 -5.53484106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-170.99, Z:-553.52 [[ 7.83297174e-02 -5.53504617e-01 8.29154445e-01 2.92080965e+02] [ 5.84236226e-02 8.32829074e-01 5.50438383e-01 -1.70992489e+02] [-9.95214116e-01 5.32652335e-03 9.75730109e-02 -5.53518113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-170.99, Z:-553.55 [[ 7.89214584e-02 -5.47614403e-01 8.33000522e-01 2.92078797e+02] [ 5.77265071e-02 8.36715238e-01 5.44587240e-01 -1.70988596e+02] [-9.95208046e-01 5.10659134e-03 9.76466536e-02 -5.53550544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-170.99, Z:-553.58 [[ 8.01925082e-02 -5.64284569e-01 8.21676388e-01 2.92093176e+02] [ 5.71868114e-02 8.25578006e-01 5.61382780e-01 -1.70990729e+02] [-9.95137594e-01 1.97035945e-03 9.84748062e-02 -5.53582798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-170.98, Z:-553.62 [[ 8.10349557e-02 -5.46109555e-01 8.33785158e-01 2.92082159e+02] [ 5.64529425e-02 8.37708206e-01 5.43192439e-01 -1.70984235e+02] [-9.95111251e-01 3.05205029e-03 9.87131387e-02 -5.53615494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-170.98, Z:-553.65 [[ 8.44387345e-02 -5.62203756e-01 8.22676751e-01 2.92098021e+02] [ 5.58380905e-02 8.26997730e-01 5.59425475e-01 -1.70984677e+02] [-9.94862909e-01 -1.30048027e-03 1.01223026e-01 -5.53647623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-170.97, Z:-553.68 [[ 8.49754870e-02 -5.25557190e-01 8.46503873e-01 2.92073634e+02] [ 5.51984915e-02 8.50755130e-01 5.22655561e-01 -1.70973637e+02] [-9.94852900e-01 2.31282593e-03 1.01303296e-01 -5.53680418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-170.98, Z:-553.71 [[ 8.57261515e-02 -5.54235219e-01 8.27933783e-01 2.92095909e+02] [ 5.43751028e-02 8.32357011e-01 5.51566093e-01 -1.70978981e+02] [-9.94833843e-01 -2.26465389e-03 1.01491360e-01 -5.53710642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-170.98, Z:-553.74 [[ 8.78054815e-02 -5.61415467e-01 8.22862608e-01 2.92103911e+02] [ 5.14445325e-02 8.27506483e-01 5.59094340e-01 -1.70977951e+02] [-9.94808352e-01 -6.75976553e-03 1.01541361e-01 -5.53743588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-170.98, Z:-553.78 [[ 9.68726487e-02 -5.78769402e-01 8.09717031e-01 2.92131156e+02] [ 5.06614082e-02 8.15356052e-01 5.76739048e-01 -1.70976917e+02] [-9.94006595e-01 -1.48488342e-02 1.08306973e-01 -5.53775750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-170.94, Z:-553.81 [[ 9.78599496e-02 -4.63916966e-01 8.80456972e-01 2.92057189e+02] [ 4.80152963e-02 8.85874004e-01 4.61434480e-01 -1.70944920e+02] [-9.94041227e-01 -2.88055258e-03 1.08966696e-01 -5.53809528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-170.94, Z:-553.84 [[ 9.81830172e-02 -4.66173756e-01 8.79228141e-01 2.92061377e+02] [ 4.63612737e-02 8.84680250e-01 4.63887365e-01 -1.70943841e+02] [-9.94087887e-01 -4.78372463e-03 1.08472985e-01 -5.53837276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-170.94, Z:-553.86 [[ 9.91694893e-02 -4.68320993e-01 8.77975432e-01 2.92065134e+02] [ 4.39268421e-02 8.83525040e-01 4.66319565e-01 -1.70942616e+02] [-9.94100521e-01 -7.67798489e-03 1.08190589e-01 -5.53864754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-170.94, Z:-553.89 [[ 9.94374190e-02 -4.70645196e-01 8.76701374e-01 2.92068995e+02] [ 4.29845834e-02 8.82277389e-01 4.68763197e-01 -1.70941620e+02] [-9.94114946e-01 -8.92795906e-03 1.07961874e-01 -5.53892110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-170.94, Z:-553.92 [[ 1.00426006e-01 -4.72868501e-01 8.75391340e-01 2.92072533e+02] [ 4.12731668e-02 8.81061950e-01 4.71196739e-01 -1.70940400e+02] [-9.94088096e-01 -1.11902336e-02 1.07998313e-01 -5.53920269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-170.94, Z:-553.95 [[ 1.01511436e-01 -4.75198409e-01 8.74003376e-01 2.92075569e+02] [ 4.10406494e-02 8.79794028e-01 4.73580124e-01 -1.70939371e+02] [-9.93987472e-01 -1.22041325e-02 1.08811607e-01 -5.53948070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-170.93, Z:-553.98 [[ 9.43412739e-02 -4.51978251e-01 8.87026146e-01 2.92048260e+02] [ 3.89034627e-02 8.91993260e-01 4.50371563e-01 -1.70931101e+02] [-9.94779496e-01 -7.98023838e-03 1.01735300e-01 -5.53977992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-170.98, Z:-554.00 [[ 9.96777039e-02 -6.30093017e-01 7.70095543e-01 2.92174833e+02] [ 3.95866986e-02 7.75848470e-01 6.29676143e-01 -1.70976248e+02] [-9.94231989e-01 -3.22791320e-02 1.02278096e-01 -5.54004126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-170.96, Z:-554.04 [[ 1.00449361e-01 -5.46742763e-01 8.31253437e-01 2.92116091e+02] [ 3.78988516e-02 8.36975421e-01 5.45926572e-01 -1.70955273e+02] [-9.94220098e-01 -2.33344244e-02 1.04794569e-01 -5.54040033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-170.97, Z:-554.07 [[ 1.01731001e-01 -5.94940274e-01 7.97306010e-01 2.92152576e+02] [ 3.83334354e-02 8.03213165e-01 5.94457028e-01 -1.70966657e+02] [-9.94073112e-01 -2.99112300e-02 1.04517784e-01 -5.54070149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-170.96, Z:-554.10 [[ 1.02304920e-01 -5.85826819e-01 8.03953134e-01 2.92149335e+02] [ 3.82327618e-02 8.09912141e-01 5.85303836e-01 -1.70962894e+02] [-9.94018088e-01 -2.91421133e-02 1.05255774e-01 -5.54103238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.96, Z:-554.13 [[ 1.04340272e-01 -5.93519658e-01 7.98027270e-01 2.92160428e+02] [ 3.94257315e-02 8.04244775e-01 5.92989000e-01 -1.70963106e+02] [-9.93759890e-01 -3.04098244e-02 1.07315065e-01 -5.54134369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-170.95, Z:-554.17 [[ 1.04470309e-01 -5.51102660e-01 8.27871858e-01 2.92133249e+02] [ 3.98627983e-02 8.34078325e-01 5.50203876e-01 -1.70951981e+02] [-9.93728792e-01 -2.44786799e-02 1.09104914e-01 -5.54168445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.96, Z:-554.20 [[ 1.05020544e-01 -5.78645512e-01 8.08789254e-01 2.92157623e+02] [ 4.17012632e-02 8.15133769e-01 5.77769802e-01 -1.70957935e+02] [-9.93595335e-01 -2.69501653e-02 1.09736040e-01 -5.54199259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.95, Z:-554.23 [[ 1.03108049e-01 -5.65584312e-01 8.18219480e-01 2.92155275e+02] [ 4.49256648e-02 8.24412390e-01 5.64203772e-01 -1.70954975e+02] [-9.93655079e-01 -2.14148960e-02 1.10412804e-01 -5.54232409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:-170.95, Z:-554.26 [[ 1.01548269e-01 -5.38623606e-01 8.36404544e-01 2.92140916e+02] [ 4.56345792e-02 8.42387734e-01 5.36936115e-01 -1.70948812e+02] [-9.93783394e-01 -1.63559638e-02 1.10122878e-01 -5.54263022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-170.94, Z:-554.29 [[ 9.73963124e-02 -5.02876502e-01 8.58853411e-01 2.92122064e+02] [ 4.98045560e-02 8.64337682e-01 5.00439684e-01 -1.70939105e+02] [-9.93998725e-01 -5.96616705e-03 1.09228844e-01 -5.54290410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.95, Z:-554.32 [[ 9.60300381e-02 -5.50142985e-01 8.29530547e-01 2.92158788e+02] [ 5.12701116e-02 8.35009645e-01 5.47841462e-01 -1.70951308e+02] [-9.94057145e-01 -1.00791128e-02 1.08391900e-01 -5.54319983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-170.95, Z:-554.35 [[ 1.01374224e-01 -5.45951792e-01 8.31660933e-01 2.92169216e+02] [ 5.28981012e-02 8.37743015e-01 5.43496487e-01 -1.70948803e+02] [-9.93441019e-01 -1.11032507e-02 1.13805362e-01 -5.54350989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-170.92, Z:-554.39 [[ 9.36583575e-02 -4.33228427e-01 8.96404620e-01 2.92088471e+02] [ 5.42247255e-02 9.01245538e-01 4.29902501e-01 -1.70918549e+02] [-9.94126648e-01 8.34333236e-03 1.07900869e-01 -5.54385469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-170.96, Z:-554.41 [[ 1.00759035e-01 -5.83115059e-01 8.06116893e-01 2.92203510e+02] [ 5.50422083e-02 8.12266536e-01 5.80683588e-01 -1.70957292e+02] [-9.93387121e-01 -1.41386640e-02 1.13939133e-01 -5.54412524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-170.92, Z:-554.45 [[ 1.02583546e-01 -4.47377387e-01 8.88442508e-01 2.92114806e+02] [ 5.42619485e-02 8.94341341e-01 4.44082432e-01 -1.70922080e+02] [-9.93243302e-01 2.65307105e-03 1.16020275e-01 -5.54447663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-170.92, Z:-554.48 [[ 9.69453635e-02 -4.31268332e-01 8.97000124e-01 2.92096982e+02] [ 5.39387696e-02 9.02197353e-01 4.27937549e-01 -1.70916724e+02] [-9.93827050e-01 6.89652179e-03 1.10725934e-01 -5.54477734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-170.96, Z:-554.50 [[ 1.05606222e-01 -5.92337007e-01 7.98739129e-01 2.92221074e+02] [ 5.39453180e-02 8.05460561e-01 5.90189112e-01 -1.70957710e+02] [-9.92943719e-01 -1.92394060e-02 1.17015455e-01 -5.54504870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:-170.92, Z:-554.54 [[ 1.07624267e-01 -4.44205351e-01 8.89437251e-01 2.92122932e+02] [ 5.13235544e-02 8.95923114e-01 4.41234253e-01 -1.70919069e+02] [-9.92866008e-01 -1.83843205e-03 1.19221266e-01 -5.54540206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-170.91, Z:-554.57 [[ 1.01617954e-01 -4.30577317e-01 8.96814900e-01 2.92107626e+02] [ 4.99080567e-02 9.02552762e-01 4.27677096e-01 -1.70913588e+02] [-9.93570822e-01 1.29861746e-03 1.13204842e-01 -5.54570489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-170.94, Z:-554.60 [[ 1.01522573e-01 -5.43730666e-01 8.33096711e-01 2.92184142e+02] [ 4.84180909e-02 8.39131638e-01 5.41769124e-01 -1.70944807e+02] [-9.93654294e-01 -1.46648429e-02 1.11517203e-01 -5.54598067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-170.94, Z:-554.63 [[ 1.04442449e-01 -5.35217742e-01 8.38232512e-01 2.92182496e+02] [ 4.44266134e-02 8.44511522e-01 5.33691451e-01 -1.70941053e+02] [-9.93538148e-01 -1.85002105e-02 1.11980763e-01 -5.54630821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-170.94, Z:-554.66 [[ 1.12806592e-01 -5.32374529e-01 8.38958899e-01 2.92194395e+02] [ 4.35845099e-02 8.46186931e-01 5.31100808e-01 -1.70937705e+02] [-9.92660598e-01 -2.33460596e-02 1.18658747e-01 -5.54664093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-170.90, Z:-554.70 [[ 1.05828658e-01 -4.15077572e-01 9.03609930e-01 2.92110871e+02] [ 3.95965906e-02 9.09751245e-01 4.13261156e-01 -1.70904703e+02] [-9.93595695e-01 -7.95500097e-03 1.12713410e-01 -5.54700823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-170.94, Z:-554.73 [[ 1.14693322e-01 -5.49151832e-01 8.27815020e-01 2.92213855e+02] [ 4.16026655e-02 8.35238261e-01 5.48312197e-01 -1.70939571e+02] [-9.92529425e-01 -2.84484358e-02 1.18642430e-01 -5.54727144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:-170.91, Z:-554.76 [[ 1.13935632e-01 -4.31164882e-01 8.95050566e-01 2.92138821e+02] [ 3.93360445e-02 9.02168569e-01 4.29586486e-01 -1.70906570e+02] [-9.92709095e-01 -1.37374590e-02 1.19749467e-01 -5.54761404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:-170.91, Z:-554.79 [[ 1.12183871e-01 -4.33557091e-01 8.94115780e-01 2.92143335e+02] [ 3.90137107e-02 9.01023739e-01 4.32011750e-01 -1.70905783e+02] [-9.92921301e-01 -1.35819760e-02 1.17995002e-01 -5.54788451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-170.90, Z:-554.81 [[ 1.10989119e-01 -4.34644661e-01 8.93736781e-01 2.92146357e+02] [ 3.91594007e-02 9.00507211e-01 4.33074248e-01 -1.70904386e+02] [-9.93049826e-01 -1.30683326e-02 1.16966927e-01 -5.54814951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-170.90, Z:-554.84 [[ 1.08564740e-01 -4.36436220e-01 8.93161309e-01 2.92149946e+02] [ 4.02446018e-02 8.99664854e-01 4.34722351e-01 -1.70902262e+02] [-9.93274418e-01 -1.12505976e-02 1.15236082e-01 -5.54843140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-170.90, Z:-554.87 [[ 1.06114099e-01 -4.39044096e-01 8.92177157e-01 2.92153879e+02] [ 4.26006781e-02 8.98426526e-01 4.37052582e-01 -1.70900870e+02] [-9.93440980e-01 -8.37008887e-03 1.14039297e-01 -5.54870573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.90, Z:-554.90 [[ 1.04717157e-01 -4.41607116e-01 8.91076581e-01 2.92158095e+02] [ 4.52286530e-02 8.97190414e-01 4.39321898e-01 -1.70900042e+02] [-9.93473042e-01 -5.70234687e-03 1.13924525e-01 -5.54897280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-170.89, Z:-554.93 [[ 9.40166775e-02 -4.11754161e-01 9.06432223e-01 2.92127715e+02] [ 4.57444169e-02 9.11290055e-01 4.09216182e-01 -1.70891331e+02] [-9.94519136e-01 2.99106767e-03 1.04511917e-01 -5.54930128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-170.93, Z:-554.96 [[ 9.51746655e-02 -5.51580471e-01 8.28674102e-01 2.92223325e+02] [ 4.52288907e-02 8.33989328e-01 5.49923765e-01 -1.70930303e+02] [-9.94432567e-01 -1.48588000e-02 1.04322028e-01 -5.54957658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-170.91, Z:-554.99 [[ 9.54641642e-02 -4.94656246e-01 8.63829724e-01 2.92187178e+02] [ 4.70774058e-02 8.69065558e-01 4.92451798e-01 -1.70913328e+02] [-9.94319019e-01 -6.34463683e-03 1.06251750e-01 -5.54992076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.92, Z:-555.02 [[ 1.05443063e-01 -5.55605447e-01 8.24732895e-01 2.92246814e+02] [ 4.97749853e-02 8.31265525e-01 5.53642555e-01 -1.70924085e+02] [-9.93178842e-01 -1.73266990e-02 1.15306436e-01 -5.55020973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-170.89, Z:-555.05 [[ 1.05876355e-01 -4.33929112e-01 8.94704266e-01 2.92167553e+02] [ 5.19647018e-02 9.00946586e-01 4.30807288e-01 -1.70889331e+02] [-9.93020578e-01 8.80734959e-04 1.17937937e-01 -5.55054376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:-170.88, Z:-555.09 [[ 9.74753027e-02 -4.09870853e-01 9.06920310e-01 2.92142332e+02] [ 5.31731655e-02 9.12103020e-01 4.06498089e-01 -1.70881581e+02] [-9.93816472e-01 8.60029949e-03 1.10701649e-01 -5.55086864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-170.91, Z:-555.12 [[ 9.77251101e-02 -5.13482880e-01 8.52516941e-01 2.92212502e+02] [ 5.56667048e-02 8.58096403e-01 5.10462321e-01 -1.70910664e+02] [-9.93655383e-01 -2.42817764e-03 1.12441465e-01 -5.55115834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-170.90, Z:-555.15 [[ 9.81785381e-02 -4.74924525e-01 8.74532830e-01 2.92190796e+02] [ 5.60925710e-02 8.80022225e-01 4.71608425e-01 -1.70899138e+02] [-9.93586734e-01 2.75296919e-03 1.13039033e-01 -5.55146022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.88, Z:-555.18 [[ 9.72746524e-02 -4.27064369e-01 8.98973674e-01 2.92161241e+02] [ 5.73189515e-02 9.04161997e-01 4.23326848e-01 -1.70882747e+02] [-9.93605646e-01 1.03492564e-02 1.12430926e-01 -5.55175887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-170.89, Z:-555.20 [[ 9.98997093e-02 -4.74711773e-01 8.74453418e-01 2.92198042e+02] [ 5.88664763e-02 8.80130234e-01 4.71068477e-01 -1.70894796e+02] [-9.93254643e-01 4.41638754e-03 1.15869364e-01 -5.55203411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-170.89, Z:-555.23 [[ 1.06266253e-01 -4.62799795e-01 8.80070357e-01 2.92201760e+02] [ 5.97617065e-02 8.86454580e-01 4.58940972e-01 -1.70887035e+02] [-9.92540187e-01 3.82456914e-03 1.21857912e-01 -5.55233824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-170.87, Z:-555.26 [[ 9.87674044e-02 -4.07129474e-01 9.08014643e-01 2.92157385e+02] [ 5.96036814e-02 9.13258225e-01 4.02997289e-01 -1.70869919e+02] [-9.93323916e-01 1.43180192e-02 1.14466560e-01 -5.55264232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:-170.90, Z:-555.29 [[ 9.77931357e-02 -5.11378600e-01 8.53773056e-01 2.92225718e+02] [ 5.94476876e-02 8.59354846e-01 5.07912611e-01 -1.70898260e+02] [-9.93429653e-01 1.08446694e-03 1.14439280e-01 -5.55286740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-170.89, Z:-555.32 [[ 9.86659475e-02 -4.96136963e-01 8.62619931e-01 2.92218304e+02] [ 5.86308116e-02 8.68242043e-01 4.92664371e-01 -1.70891895e+02] [-9.93391896e-01 1.96690967e-03 1.14754837e-01 -5.55319557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-170.90, Z:-555.35 [[ 1.07260493e-01 -5.35051028e-01 8.37983046e-01 2.92261067e+02] [ 5.83707534e-02 8.44780524e-01 5.31919845e-01 -1.70897705e+02] [-9.92516016e-01 -8.14028319e-03 1.21842907e-01 -5.55349110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-170.86, Z:-555.39 [[ 9.88470049e-02 -4.04343552e-01 9.09250000e-01 2.92167897e+02] [ 5.63784082e-02 9.14532755e-01 4.00563746e-01 -1.70858409e+02] [-9.93504275e-01 1.16675411e-02 1.13195070e-01 -5.55387053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-170.90, Z:-555.41 [[ 1.06599527e-01 -5.51171581e-01 8.27554487e-01 2.92279655e+02] [ 5.52651453e-02 8.34294670e-01 5.48541856e-01 -1.70897185e+02] [-9.92764980e-01 -1.27393836e-02 1.19395995e-01 -5.55411860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-170.85, Z:-555.45 [[ 9.79610808e-02 -3.97366799e-01 9.12416162e-01 2.92169012e+02] [ 5.44184082e-02 9.17593004e-01 3.93778765e-01 -1.70851646e+02] [-9.93701295e-01 1.10772418e-02 1.11512471e-01 -5.55449848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.30, Y:-170.90, Z:-555.47 [[ 1.07197094e-01 -5.73011465e-01 8.12506396e-01 2.92300071e+02] [ 5.22718176e-02 8.19333277e-01 5.70929627e-01 -1.70897815e+02] [-9.92862750e-01 -1.87308109e-02 1.17782497e-01 -5.55471931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-170.85, Z:-555.51 [[ 1.01120283e-01 -4.01823215e-01 9.10116911e-01 2.92180244e+02] [ 5.12503652e-02 9.15695327e-01 3.98591856e-01 -1.70848292e+02] [-9.93553264e-01 6.33810269e-03 1.13188957e-01 -5.55511837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.88, Z:-555.54 [[ 1.03015300e-01 -5.08842174e-01 8.54673908e-01 2.92252313e+02] [ 4.99850251e-02 8.60807922e-01 5.06469366e-01 -1.70879702e+02] [-9.93423044e-01 -9.45319713e-03 1.14110876e-01 -5.55538155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-170.87, Z:-555.57 [[ 1.09623161e-01 -4.75402114e-01 8.72912133e-01 2.92242492e+02] [ 4.95426832e-02 8.79726652e-01 4.72891680e-01 -1.70866366e+02] [-9.92737773e-01 -8.59347123e-03 1.19991112e-01 -5.55568558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-170.84, Z:-555.60 [[ 1.06106999e-01 -4.09473318e-01 9.06130734e-01 2.92197342e+02] [ 4.86815794e-02 9.12321576e-01 4.06570346e-01 -1.70844372e+02] [-9.93162328e-01 9.71915920e-04 1.16737512e-01 -5.55603721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-170.86, Z:-555.63 [[ 1.11335594e-01 -4.62696495e-01 8.79497776e-01 2.92239570e+02] [ 4.84649836e-02 8.86474889e-01 4.60231916e-01 -1.70858483e+02] [-9.92600388e-01 -8.61534838e-03 1.21120786e-01 -5.55633439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-170.84, Z:-555.67 [[ 1.07634174e-01 -4.05464607e-01 9.07751804e-01 2.92201340e+02] [ 4.81841173e-02 9.14110654e-01 4.02591609e-01 -1.70839548e+02] [-9.93022243e-01 4.06603972e-04 1.17926500e-01 -5.55668036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-170.85, Z:-555.70 [[ 1.05895926e-01 -4.43892734e-01 8.89800704e-01 2.92224361e+02] [ 4.71708230e-02 8.96067232e-01 4.41405063e-01 -1.70852546e+02] [-9.93257754e-01 -4.77036655e-03 1.15828655e-01 -5.55696177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-170.84, Z:-555.72 [[ 1.08268035e-01 -4.24949385e-01 8.98719118e-01 2.92217428e+02] [ 4.91030108e-02 9.05215750e-01 4.22105841e-01 -1.70843251e+02] [-9.92908318e-01 -1.57075545e-03 1.18872225e-01 -5.55724242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-170.86, Z:-555.75 [[ 1.13654893e-01 -4.76018793e-01 8.72060018e-01 2.92260214e+02] [ 4.92303102e-02 8.79367628e-01 4.73591545e-01 -1.70856188e+02] [-9.92299825e-01 -1.08942111e-02 1.23378986e-01 -5.55752335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-170.83, Z:-555.79 [[ 1.10481110e-01 -4.03282049e-01 9.08381811e-01 2.92213139e+02] [ 4.72416794e-02 9.15074755e-01 4.00507699e-01 -1.70834458e+02] [-9.92754828e-01 -1.33505278e-03 1.20150196e-01 -5.55786099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:-170.84, Z:-555.81 [[ 1.14376542e-01 -4.21415615e-01 8.99625970e-01 2.92232343e+02] [ 4.82384398e-02 9.06856507e-01 4.18669713e-01 -1.70836051e+02] [-9.92265620e-01 -4.48944072e-03 1.24051543e-01 -5.55811123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-170.84, Z:-555.84 [[ 1.14882180e-01 -4.24558213e-01 8.98082629e-01 2.92237023e+02] [ 4.68377368e-02 9.05377896e-01 4.22015511e-01 -1.70835821e+02] [-9.92274313e-01 -6.41790406e-03 1.23897132e-01 -5.55839049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-170.84, Z:-555.87 [[ 1.15179120e-01 -4.26594880e-01 8.97078914e-01 2.92241320e+02] [ 4.63771806e-02 9.04413784e-01 4.24128358e-01 -1.70835128e+02] [-9.92261522e-01 -7.24674024e-03 1.23953852e-01 -5.55867199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.83, Z:-555.89 [[ 1.15597147e-01 -4.28644312e-01 8.96047629e-01 2.92245555e+02] [ 4.59504117e-02 9.03437020e-01 4.26251229e-01 -1.70834390e+02] [-9.92232765e-01 -8.09966851e-03 1.24131125e-01 -5.55893809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-170.83, Z:-555.93 [[ 1.11845791e-01 -4.17321764e-01 9.01849802e-01 2.92235759e+02] [ 4.53076315e-02 9.08741887e-01 4.14892035e-01 -1.70830305e+02] [-9.92692167e-01 -5.54324944e-03 1.20546816e-01 -5.55927545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.84, Z:-555.95 [[ 1.10184726e-01 -4.42499213e-01 8.89974030e-01 2.92251100e+02] [ 4.40002201e-02 8.96719972e-01 4.40405805e-01 -1.70838281e+02] [-9.92936708e-01 -9.36693962e-03 1.18274907e-01 -5.55954999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.84, Z:-555.98 [[ 1.11091685e-01 -4.39943674e-01 8.91127489e-01 2.92254223e+02] [ 4.46088331e-02 8.97981463e-01 4.37766312e-01 -1.70835247e+02] [-9.92808486e-01 -8.88003960e-03 1.19383647e-01 -5.55983843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-170.84, Z:-556.01 [[ 1.15869204e-01 -4.64353768e-01 8.78037531e-01 2.92281501e+02] [ 4.50009914e-02 8.85538143e-01 4.62381994e-01 -1.70839728e+02] [-9.92244546e-01 -1.40632743e-02 1.23502980e-01 -5.56012677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-170.83, Z:-556.04 [[ 1.15571840e-01 -4.30308565e-01 8.95252863e-01 2.92263457e+02] [ 4.47831099e-02 9.02633111e-01 4.28074690e-01 -1.70827704e+02] [-9.92289082e-01 -9.38117231e-03 1.23589525e-01 -5.56042744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.82, Z:-556.08 [[ 1.09536830e-01 -4.13323628e-01 9.03971936e-01 2.92248016e+02] [ 4.47762855e-02 9.10572909e-01 4.10916126e-01 -1.70822851e+02] [-9.92973699e-01 -4.53394426e-03 1.18248366e-01 -5.56076981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-170.83, Z:-556.11 [[ 1.09154344e-01 -4.51417756e-01 8.85611280e-01 2.92273670e+02] [ 4.55922089e-02 8.92270761e-01 4.49192876e-01 -1.70833854e+02] [-9.92978691e-01 -8.65437927e-03 1.17976362e-01 -5.56107539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.29, Y:-170.84, Z:-556.14 [[ 1.09860471e-01 -4.65461190e-01 8.78223524e-01 2.92287116e+02] [ 4.54935165e-02 8.85000532e-01 4.63362061e-01 -1.70838489e+02] [-9.92905341e-01 -1.09516980e-02 1.18402042e-01 -5.56136260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-170.82, Z:-556.16 [[ 1.07488842e-01 -4.09858304e-01 9.05793751e-01 2.92254870e+02] [ 4.82134791e-02 9.12149201e-01 4.07012648e-01 -1.70818983e+02] [-9.93036560e-01 -7.78500625e-05 1.17806556e-01 -5.56164261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-170.83, Z:-556.20 [[ 1.07823194e-01 -4.49909392e-01 8.86541425e-01 2.92282188e+02] [ 4.95772194e-02 8.93064022e-01 4.47189839e-01 -1.70831078e+02] [-9.92933159e-01 -4.26517829e-03 1.18598272e-01 -5.56195721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.30, Y:-170.84, Z:-556.23 [[ 1.08603477e-01 -4.64711642e-01 8.78776635e-01 2.92298099e+02] [ 5.18077264e-02 8.85449973e-01 4.61837963e-01 -1.70835744e+02] [-9.92734226e-01 -4.62978926e-03 1.20238600e-01 -5.56227680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-170.82, Z:-556.26 [[ 1.10457978e-01 -4.32898932e-01 8.94649400e-01 2.92285697e+02] [ 5.30566423e-02 9.01442463e-01 4.29635285e-01 -1.70824399e+02] [-9.92463615e-01 1.04483665e-05 1.22539676e-01 -5.56261834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-170.82, Z:-556.29 [[ 1.12398107e-01 -4.23260328e-01 8.99009099e-01 2.92287653e+02] [ 5.38348721e-02 9.06007301e-01 4.19824460e-01 -1.70818936e+02] [-9.92203846e-01 1.21056519e-03 1.24619671e-01 -5.56292789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-170.82, Z:-556.32 [[ 1.10550184e-01 -4.17988555e-01 9.01700740e-01 2.92284284e+02] [ 5.50060701e-02 9.08444386e-01 4.14370764e-01 -1.70818323e+02] [-9.92347212e-01 3.79024965e-03 1.23420602e-01 -5.56324392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:-170.81, Z:-556.36 [[ 1.11034559e-01 -4.06067985e-01 9.07072279e-01 2.92280863e+02] [ 5.49797465e-02 9.13828107e-01 4.02362297e-01 -1.70812750e+02] [-9.92294591e-01 5.19448382e-03 1.23792015e-01 -5.56357840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-170.81, Z:-556.39 [[ 1.13467024e-01 -4.12749226e-01 9.03749584e-01 2.92291907e+02] [ 5.48857900e-02 9.10839140e-01 4.09096091e-01 -1.70811795e+02] [-9.92024589e-01 3.18409371e-03 1.26004274e-01 -5.56386641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-170.81, Z:-556.42 [[ 1.11814600e-01 -4.17515276e-01 9.01764098e-01 2.92294529e+02] [ 5.32710708e-02 9.08668248e-01 4.14106518e-01 -1.70813880e+02] [-9.92300201e-01 1.73478418e-03 1.23843863e-01 -5.56420661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-170.81, Z:-556.45 [[ 1.15032970e-01 -4.04460512e-01 9.07292186e-01 2.92294087e+02] [ 5.26766901e-02 9.14553951e-01 4.01018999e-01 -1.70805901e+02] [-9.91964003e-01 1.66274302e-03 1.26509498e-01 -5.56450612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:-170.81, Z:-556.48 [[ 1.16651076e-01 -4.21456289e-01 8.99314807e-01 2.92306738e+02] [ 5.09166204e-02 9.06843707e-01 4.18380196e-01 -1.70809206e+02] [-9.91866939e-01 -3.01442941e-03 1.27243424e-01 -5.56477531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:-170.81, Z:-556.50 [[ 1.17635797e-01 -4.23325787e-01 8.98307908e-01 2.92310594e+02] [ 4.98955488e-02 9.05965682e-01 4.20400543e-01 -1.70807589e+02] [-9.91802528e-01 -4.63258700e-03 1.27696068e-01 -5.56504009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.31, Y:-170.81, Z:-556.53 [[ 1.18186781e-01 -4.23979278e-01 8.97927312e-01 2.92313068e+02] [ 4.80481663e-02 9.05647487e-01 4.21300371e-01 -1.70805118e+02] [-9.91828240e-01 -6.64837401e-03 1.27406988e-01 -5.56531968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:292.31, Y:-170.80, Z:-556.56 [[ 1.18073527e-01 -4.19885538e-01 8.99863755e-01 2.92313427e+02] [ 4.64027807e-02 9.07545868e-01 4.17381456e-01 -1.70804668e+02] [-9.91920070e-01 -7.52552013e-03 1.26640998e-01 -5.56564548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-170.77, Z:-556.59 [[ 1.17547620e-01 -3.38531510e-01 9.33583940e-01 2.92269827e+02] [ 4.62149879e-02 9.40947694e-01 3.35382785e-01 -1.70772317e+02] [-9.91991296e-01 3.72212238e-03 1.26251392e-01 -5.56591552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-170.80, Z:-556.61 [[ 1.16347511e-01 -4.28708276e-01 8.95919902e-01 2.92324958e+02] [ 4.70493679e-02 9.03412401e-01 4.26183518e-01 -1.70801094e+02] [-9.92093551e-01 -7.43292646e-03 1.25280238e-01 -5.56614401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:-170.80, Z:-556.64 [[ 1.15885782e-01 -4.29738567e-01 8.95486041e-01 2.92328838e+02] [ 4.80361419e-02 9.02930116e-01 4.27094528e-01 -1.70799588e+02] [-9.92100305e-01 -6.47848855e-03 1.25279745e-01 -5.56641807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:-170.80, Z:-556.67 [[ 1.14118470e-01 -4.32067289e-01 8.94591992e-01 2.92333049e+02] [ 4.95238014e-02 9.01829221e-01 4.29245209e-01 -1.70798073e+02] [-9.92232013e-01 -4.68121014e-03 1.24312985e-01 -5.56668867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:-170.80, Z:-556.70 [[ 1.13247091e-01 -4.33136659e-01 8.94185513e-01 2.92336494e+02] [ 5.07447758e-02 9.01322073e-01 4.30166814e-01 -1.70796637e+02] [-9.92270157e-01 -3.33989694e-03 1.24051525e-01 -5.56696795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:-170.80, Z:-556.72 [[ 1.12345795e-01 -4.35370794e-01 8.93213689e-01 2.92340702e+02] [ 5.18802407e-02 9.00248480e-01 4.32274352e-01 -1.70795798e+02] [-9.92313893e-01 -2.22406453e-03 1.23726273e-01 -5.56724868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-170.79, Z:-556.75 [[ 1.12080081e-01 -4.37570019e-01 8.92171808e-01 2.92345362e+02] [ 5.30349405e-02 8.99183304e-01 4.34346268e-01 -1.70794891e+02] [-9.92282899e-01 -1.36528620e-03 1.23987038e-01 -5.56752373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-170.79, Z:-556.78 [[ 1.11791581e-01 -4.39814534e-01 8.91103708e-01 2.92349317e+02] [ 5.47047191e-02 8.98088623e-01 4.36399151e-01 -1.70793561e+02] [-9.92224791e-01 -3.81732034e-05 1.24458678e-01 -5.56780184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-170.79, Z:-556.81 [[ 1.12009258e-01 -4.41963049e-01 8.90012691e-01 2.92353326e+02] [ 5.57189338e-02 8.97033127e-01 4.38436961e-01 -1.70792316e+02] [-9.92143803e-01 4.81559277e-04 1.25101725e-01 -5.56807824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-170.79, Z:-556.84 [[ 1.14243706e-01 -4.54974039e-01 8.83146080e-01 2.92367542e+02] [ 5.80595482e-02 8.90504658e-01 4.51254410e-01 -1.70793089e+02] [-9.91754740e-01 -2.77913647e-04 1.28150140e-01 -5.56835534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-170.78, Z:-556.86 [[ 1.13324478e-01 -4.25991335e-01 8.97601774e-01 2.92347854e+02] [ 5.79396248e-02 9.04717596e-01 4.22053398e-01 -1.70783260e+02] [-9.91867210e-01 4.17772910e-03 1.27208427e-01 -5.56864386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:-170.79, Z:-556.89 [[ 1.13564416e-01 -4.47181804e-01 8.87204349e-01 2.92363143e+02] [ 5.86971461e-02 8.94441410e-01 4.43316150e-01 -1.70788077e+02] [-9.91795225e-01 1.73142376e-03 1.27825012e-01 -5.56890582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-170.79, Z:-556.92 [[ 1.14062841e-01 -4.48141551e-01 8.86655976e-01 2.92366350e+02] [ 5.96473460e-02 8.93959844e-01 4.44159872e-01 -1.70786301e+02] [-9.91681331e-01 2.22453910e-03 1.28698053e-01 -5.56916899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-170.79, Z:-556.95 [[ 1.15732946e-01 -4.59636871e-01 8.80533833e-01 2.92380402e+02] [ 6.12209492e-02 8.88106154e-01 4.55543033e-01 -1.70785871e+02] [-9.91391891e-01 1.18577970e-03 1.30922547e-01 -5.56947410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-170.78, Z:-556.98 [[ 1.13445842e-01 -4.45427140e-01 8.88101742e-01 2.92371456e+02] [ 6.07083442e-02 8.95309901e-01 4.41287524e-01 -1.70779625e+02] [-9.91687722e-01 3.85295130e-03 1.28610330e-01 -5.56979257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-170.79, Z:-557.01 [[ 1.15081207e-01 -4.87078456e-01 8.65742972e-01 2.92403468e+02] [ 6.09848184e-02 8.73353678e-01 4.83253769e-01 -1.70789651e+02] [-9.91482308e-01 -2.81624901e-03 1.30210986e-01 -5.57010797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-170.78, Z:-557.04 [[ 1.16232360e-01 -4.53937522e-01 8.83419926e-01 2.92384721e+02] [ 6.09407463e-02 8.91032165e-01 4.49830975e-01 -1.70777248e+02] [-9.91350727e-01 1.55135397e-03 1.31230062e-01 -5.57044290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-170.77, Z:-557.08 [[ 1.13263083e-01 -4.38139281e-01 8.91742925e-01 2.92372899e+02] [ 5.98589983e-02 8.98897207e-01 4.34051508e-01 -1.70771421e+02] [-9.91760240e-01 4.21682633e-03 1.28038447e-01 -5.57076585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-170.78, Z:-557.11 [[ 1.16405851e-01 -4.79915084e-01 8.69558043e-01 2.92404694e+02] [ 5.87734895e-02 8.77304211e-01 4.76322368e-01 -1.70783286e+02] [-9.91461222e-01 -4.33974993e-03 1.30329627e-01 -5.57106939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-170.77, Z:-557.14 [[ 1.12585574e-01 -4.30122001e-01 8.95722922e-01 2.92372189e+02] [ 5.77941587e-02 9.02762860e-01 4.26238260e-01 -1.70766070e+02] [-9.91959840e-01 3.77927351e-03 1.26496614e-01 -5.57139936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-170.79, Z:-557.17 [[ 1.16847846e-01 -4.99166546e-01 8.58591487e-01 2.92425058e+02] [ 5.68289875e-02 8.66457601e-01 4.96005737e-01 -1.70785519e+02] [-9.91522590e-01 -9.16431687e-03 1.29610833e-01 -5.57169312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:-170.76, Z:-557.20 [[ 1.16931836e-01 -4.36204678e-01 8.92217701e-01 2.92388733e+02] [ 5.50601899e-02 8.99846270e-01 4.32718229e-01 -1.70764631e+02] [-9.91612486e-01 -1.47286078e-03 1.29238189e-01 -5.57200934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:-170.76, Z:-557.23 [[ 1.17347126e-01 -4.37970581e-01 8.91297606e-01 2.92392398e+02] [ 5.24011043e-02 8.98978911e-01 4.34845998e-01 -1.70762636e+02] [-9.91707505e-01 -4.32294947e-03 1.28442734e-01 -5.57228741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-170.76, Z:-557.26 [[ 1.18048792e-01 -4.39845053e-01 8.90281311e-01 2.92396786e+02] [ 5.08573955e-02 8.98051559e-01 4.36940411e-01 -1.70761375e+02] [-9.91704597e-01 -6.30289903e-03 1.28383276e-01 -5.57260206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-170.75, Z:-557.29 [[ 1.13004661e-01 -4.23232319e-01 8.98946245e-01 2.92382329e+02] [ 4.94000213e-02 9.06015913e-01 4.20350811e-01 -1.70754979e+02] [-9.92365651e-01 -3.09363715e-03 1.23291706e-01 -5.57291997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-170.77, Z:-557.32 [[ 1.13157164e-01 -4.89503701e-01 8.64628003e-01 2.92425776e+02] [ 4.85454997e-02 8.71901849e-01 4.87268408e-01 -1.70774393e+02] [-9.92390443e-01 -1.31641125e-02 1.22425142e-01 -5.57321080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-170.78, Z:-557.35 [[ 1.21349217e-01 -5.14444697e-01 8.48893999e-01 2.92455054e+02] [ 4.80340064e-02 8.57255659e-01 5.12645560e-01 -1.70778044e+02] [-9.91446974e-01 -2.14333575e-02 1.28738143e-01 -5.57351729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.39, Y:-170.75, Z:-557.39 [[ 1.15799780e-01 -4.17874626e-01 9.01094450e-01 2.92390564e+02] [ 4.61055644e-02 9.08481057e-01 4.15375067e-01 -1.70747722e+02] [-9.92201939e-01 -6.55487335e-03 1.24468252e-01 -5.57388290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-170.76, Z:-557.42 [[ 1.16691381e-01 -4.72302805e-01 8.73677963e-01 2.92427027e+02] [ 4.68342909e-02 8.81325996e-01 4.70181920e-01 -1.70763235e+02] [-9.92063340e-01 -1.39480897e-02 1.24963115e-01 -5.57418569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-170.77, Z:-557.45 [[ 1.22221287e-01 -4.87597503e-01 8.64471302e-01 2.92447558e+02] [ 4.74666653e-02 8.72876301e-01 4.85627304e-01 -1.70765023e+02] [-9.91367174e-01 -1.83204242e-02 1.29828692e-01 -5.57449013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-170.74, Z:-557.48 [[ 1.17244940e-01 -4.09573968e-01 9.04711440e-01 2.92396451e+02] [ 4.60266057e-02 9.12256646e-01 4.07025015e-01 -1.70741149e+02] [-9.92035874e-01 -6.08082654e-03 1.25808775e-01 -5.57481942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-170.75, Z:-557.51 [[ 1.22119264e-01 -4.55229425e-01 8.81959782e-01 2.92434106e+02] [ 4.77140090e-02 8.90275910e-01 4.52915200e-01 -1.70752600e+02] [-9.91367873e-01 -1.32278341e-02 1.30440660e-01 -5.57507129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-170.74, Z:-557.54 [[ 1.21719560e-01 -4.28175602e-01 8.95460777e-01 2.92420532e+02] [ 4.73996913e-02 9.03647028e-01 4.25646942e-01 -1.70743151e+02] [-9.91432105e-01 -9.36499406e-03 1.30286910e-01 -5.57535046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-170.74, Z:-557.56 [[ 1.22559234e-01 -4.28224511e-01 8.95322848e-01 2.92423957e+02] [ 4.81172053e-02 9.03626741e-01 4.25609502e-01 -1.70742331e+02] [-9.91294088e-01 -9.08194101e-03 1.31352768e-01 -5.57564195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-170.74, Z:-557.59 [[ 1.22337816e-01 -4.28699184e-01 8.95125951e-01 2.92427481e+02] [ 4.85626591e-02 9.03405886e-01 4.26027551e-01 -1.70740765e+02] [-9.91299716e-01 -8.64958381e-03 1.31339476e-01 -5.57591174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-170.74, Z:-557.62 [[ 1.19092032e-01 -4.21789812e-01 8.98838385e-01 2.92421239e+02] [ 4.89163132e-02 9.06674247e-01 4.18985685e-01 -1.70737556e+02] [-9.91677509e-01 -5.92999653e-03 1.28610081e-01 -5.57623554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-170.75, Z:-557.65 [[ 1.20959904e-01 -4.60599900e-01 8.79327262e-01 2.92449458e+02] [ 4.89601484e-02 8.87521717e-01 4.58157295e-01 -1.70748678e+02] [-9.91449245e-01 -1.23666691e-02 1.29905581e-01 -5.57654049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:-170.74, Z:-557.69 [[ 1.21894735e-01 -4.42856404e-01 8.88267910e-01 2.92443657e+02] [ 4.90463767e-02 8.96535691e-01 4.40247894e-01 -1.70741316e+02] [-9.91330483e-01 -1.00975781e-02 1.31003483e-01 -5.57686979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-170.74, Z:-557.72 [[ 1.22706944e-01 -4.42186169e-01 8.88489954e-01 2.92448346e+02] [ 4.89207211e-02 8.96862111e-01 4.39596539e-01 -1.70740386e+02] [-9.91236485e-01 -1.04759785e-02 1.31683275e-01 -5.57718924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:-170.73, Z:-557.75 [[ 1.23237001e-01 -4.25262264e-01 8.96640758e-01 2.92443745e+02] [ 4.85029994e-02 9.05029430e-01 4.22574478e-01 -1.70734174e+02] [-9.91191253e-01 -8.58704535e-03 1.32159608e-01 -5.57746623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-170.74, Z:-557.77 [[ 1.23465938e-01 -4.31858630e-01 8.93450774e-01 2.92452181e+02] [ 5.09098517e-02 9.01910369e-01 4.28912431e-01 -1.70735657e+02] [-9.91042052e-01 -7.47062932e-03 1.33341069e-01 -5.57774458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:-170.73, Z:-557.81 [[ 1.21243929e-01 -4.13260861e-01 9.02505053e-01 2.92442233e+02] [ 5.12259788e-02 9.10606000e-01 4.10088541e-01 -1.70728428e+02] [-9.91300060e-01 -3.48904143e-03 1.31575142e-01 -5.57806987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-170.73, Z:-557.84 [[ 1.20590274e-01 -4.28412418e-01 8.95500299e-01 2.92456484e+02] [ 5.25544967e-02 9.03573494e-01 4.25197562e-01 -1.70733211e+02] [-9.91310250e-01 -4.21212311e-03 1.31477174e-01 -5.57838251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-170.73, Z:-557.87 [[ 1.21828769e-01 -4.33611587e-01 8.92826267e-01 2.92466187e+02] [ 5.54718552e-02 9.01095319e-01 4.30058251e-01 -1.70733028e+02] [-9.90999811e-01 -2.86673805e-03 1.33832573e-01 -5.57870299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-170.72, Z:-557.90 [[ 1.18462048e-01 -4.04069840e-01 9.07024976e-01 2.92449434e+02] [ 5.68621761e-02 9.14718576e-01 4.00070768e-01 -1.70722416e+02] [-9.91329126e-01 4.18221144e-03 1.31335726e-01 -5.57904388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-170.73, Z:-557.94 [[ 1.18384375e-01 -4.24869190e-01 8.97480535e-01 2.92465538e+02] [ 5.69583007e-02 9.05253857e-01 4.21035873e-01 -1.70727581e+02] [-9.91332887e-01 1.27489748e-03 1.31367739e-01 -5.57936588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-170.73, Z:-557.97 [[ 1.17580755e-01 -4.25192890e-01 8.97432879e-01 2.92470105e+02] [ 5.93640033e-02 9.05094915e-01 4.21045259e-01 -1.70727214e+02] [-9.91287386e-01 3.76838886e-03 1.31662896e-01 -5.57965292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-170.73, Z:-558.00 [[ 1.15059455e-01 -4.23962549e-01 8.98341293e-01 2.92474758e+02] [ 6.43726443e-02 9.05628834e-01 4.19156985e-01 -1.70726907e+02] [-9.91270642e-01 9.60063051e-03 1.31492750e-01 -5.57996570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-170.73, Z:-558.03 [[ 1.13817076e-01 -4.33772364e-01 8.93804906e-01 2.92485012e+02] [ 6.71377205e-02 9.00952689e-01 4.28691940e-01 -1.70728784e+02] [-9.91230649e-01 1.12155611e-02 1.31666288e-01 -5.58028126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.49, Y:-170.73, Z:-558.06 [[ 1.10732735e-01 -4.32034717e-01 8.95033108e-01 2.92485889e+02] [ 6.89914068e-02 9.01740469e-01 4.26736818e-01 -1.70727309e+02] [-9.91452695e-01 1.44958582e-02 1.29658872e-01 -5.58060526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-170.72, Z:-558.09 [[ 1.10770727e-01 -4.20784900e-01 9.00372097e-01 2.92482577e+02] [ 7.12034589e-02 9.06979311e-01 4.15112753e-01 -1.70720855e+02] [-9.91292043e-01 1.81272663e-02 1.30428098e-01 -5.58093548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-170.72, Z:-558.13 [[ 1.10255627e-01 -4.18573045e-01 9.01465642e-01 2.92484772e+02] [ 7.04368906e-02 9.08005503e-01 4.12994736e-01 -1.70718827e+02] [-9.91404227e-01 1.79614434e-02 1.29595699e-01 -5.58125478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-170.72, Z:-558.16 [[ 1.09844460e-01 -4.16769127e-01 9.02351201e-01 2.92486485e+02] [ 7.21758433e-02 9.08792625e-01 4.10958164e-01 -1.70715369e+02] [-9.91324792e-01 1.99864811e-02 1.29906499e-01 -5.58158529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-170.71, Z:-558.19 [[ 1.07465992e-01 -4.09267755e-01 9.06063445e-01 2.92483298e+02] [ 7.30655323e-02 9.12127997e-01 4.03340980e-01 -1.70711206e+02] [-9.91520292e-01 2.28565694e-02 1.27926106e-01 -5.58190573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-170.72, Z:-558.22 [[ 1.08638572e-01 -4.47496973e-01 8.87662166e-01 2.92513125e+02] [ 7.23451436e-02 8.94138525e-01 4.41907772e-01 -1.70721860e+02] [-9.91445329e-01 1.62098177e-02 1.29512165e-01 -5.58220519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-170.71, Z:-558.25 [[ 1.06793291e-01 -4.02074723e-01 9.09357526e-01 2.92483947e+02] [ 7.31311881e-02 9.15286973e-01 3.96108050e-01 -1.70705010e+02] [-9.91588131e-01 2.42007139e-02 1.27150711e-01 -5.58254047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-170.72, Z:-558.28 [[ 1.09351056e-01 -4.53736895e-01 8.84401027e-01 2.92521777e+02] [ 7.10805043e-02 8.91028275e-01 4.48348274e-01 -1.70717115e+02] [-9.91458476e-01 1.38363139e-02 1.29686730e-01 -5.58283625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-170.69, Z:-558.32 [[ 1.04183040e-01 -3.87273980e-01 9.16059364e-01 2.92474523e+02] [ 7.01197210e-02 9.21639849e-01 3.81658504e-01 -1.70692318e+02] [-9.92083222e-01 2.44714839e-02 1.23174785e-01 -5.58317296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-170.73, Z:-558.34 [[ 1.03861897e-01 -5.01573884e-01 8.58857581e-01 2.92549647e+02] [ 6.67376289e-02 8.65096143e-01 4.97146611e-01 -1.70726121e+02] [-9.92350137e-01 5.68352827e-03 1.23324379e-01 -5.58343920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-170.71, Z:-558.38 [[ 1.08872597e-01 -4.51471702e-01 8.85618462e-01 2.92522645e+02] [ 6.21725303e-02 8.92262688e-01 4.47215688e-01 -1.70706512e+02] [-9.92109537e-01 6.37160726e-03 1.25212094e-01 -5.58379725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-170.70, Z:-558.41 [[ 1.14611033e-01 -4.45101514e-01 8.88115394e-01 2.92528721e+02] [ 5.94776046e-02 8.95477251e-01 4.41115527e-01 -1.70701134e+02] [-9.91628320e-01 2.26627008e-03 1.29105144e-01 -5.58411991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-170.68, Z:-558.45 [[ 1.13281804e-01 -3.88444385e-01 9.14482473e-01 2.92493361e+02] [ 5.65120365e-02 9.21436269e-01 3.84397700e-01 -1.70680250e+02] [-9.91954446e-01 8.13400191e-03 1.26333746e-01 -5.58446338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-170.69, Z:-558.48 [[ 1.15854601e-01 -4.27383939e-01 8.96616239e-01 2.92517770e+02] [ 5.08497198e-02 9.04063168e-01 4.24363163e-01 -1.70689603e+02] [-9.91963718e-01 -3.57174038e-03 1.26472231e-01 -5.58476718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-170.69, Z:-558.51 [[ 1.15756343e-01 -4.26586382e-01 8.97008656e-01 2.92518095e+02] [ 4.76917977e-02 9.04424911e-01 4.23958810e-01 -1.70686571e+02] [-9.92132028e-01 -6.29596608e-03 1.25037592e-01 -5.58509385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-170.69, Z:-558.54 [[ 1.20481425e-01 -4.51642683e-01 8.84026647e-01 2.92538879e+02] [ 4.22714491e-02 8.92039879e-01 4.49975531e-01 -1.70689905e+02] [-9.91815180e-01 -1.68446058e-02 1.26565826e-01 -5.58540963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-170.68, Z:-558.58 [[ 1.23764675e-01 -4.29441713e-01 8.94573709e-01 2.92533409e+02] [ 3.90969702e-02 9.02915161e-01 4.28036959e-01 -1.70679764e+02] [-9.91541090e-01 -1.80007334e-02 1.28538871e-01 -5.58575154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-170.66, Z:-558.61 [[ 1.22991944e-01 -3.88216083e-01 9.13324288e-01 2.92512630e+02] [ 3.59229218e-02 9.21450042e-01 3.86832476e-01 -1.70663249e+02] [-9.91757292e-01 -1.47680011e-02 1.27276788e-01 -5.58608947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-170.66, Z:-558.64 [[ 1.21618536e-01 -3.94285429e-01 9.10905007e-01 2.92517210e+02] [ 3.35724955e-02 9.18826253e-01 3.93231745e-01 -1.70663063e+02] [-9.92008982e-01 -1.72429148e-02 1.24983449e-01 -5.58639631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-170.67, Z:-558.67 [[ 1.21147771e-01 -4.14450769e-01 9.01972160e-01 2.92529457e+02] [ 3.00534316e-02 9.09779835e-01 4.14001743e-01 -1.70666540e+02] [-9.92179424e-01 -2.30480299e-02 1.22673467e-01 -5.58670993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-170.68, Z:-558.70 [[ 1.28935911e-01 -4.56754741e-01 8.80199204e-01 2.92566732e+02] [ 2.94351885e-02 8.88979825e-01 4.56999387e-01 -1.70677139e+02] [-9.91215971e-01 -3.30148026e-02 1.28066085e-01 -5.58701639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-170.65, Z:-558.73 [[ 1.27502133e-01 -3.80678020e-01 9.15875238e-01 2.92525644e+02] [ 2.70106892e-02 9.24402062e-01 3.80461892e-01 -1.70649678e+02] [-9.91470438e-01 -2.37712813e-02 1.28145610e-01 -5.58731871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-170.65, Z:-558.76 [[ 1.27577739e-01 -3.81436178e-01 9.15549214e-01 2.92527747e+02] [ 2.58434353e-02 9.24057202e-01 3.81379608e-01 -1.70646446e+02] [-9.91491824e-01 -2.49946111e-02 1.27746749e-01 -5.58759930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-170.64, Z:-558.79 [[ 1.24312715e-01 -3.72628421e-01 9.19616447e-01 2.92520528e+02] [ 2.54674810e-02 9.27698500e-01 3.72460602e-01 -1.70640996e+02] [-9.91916204e-01 -2.28812741e-02 1.24814626e-01 -5.58792136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-170.66, Z:-558.82 [[ 1.30528494e-01 -4.31914677e-01 8.92419197e-01 2.92562768e+02] [ 2.61565666e-02 9.01307008e-01 4.32390461e-01 -1.70659574e+02] [-9.91099463e-01 -3.30966536e-02 1.28943652e-01 -5.58821610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-170.64, Z:-558.85 [[ 1.30760658e-01 -3.79489482e-01 9.15909048e-01 2.92536027e+02] [ 2.66194696e-02 9.24852009e-01 3.79394473e-01 -1.70640349e+02] [-9.91056534e-01 -2.52288577e-02 1.31036066e-01 -5.58851939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-170.64, Z:-558.88 [[ 1.31000383e-01 -3.81630508e-01 9.14984730e-01 2.92540081e+02] [ 2.80160315e-02 9.23994797e-01 3.81377395e-01 -1.70639814e+02] [-9.90986378e-01 -2.43263438e-02 1.31735445e-01 -5.58879604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-170.64, Z:-558.91 [[ 1.31109635e-01 -3.83809575e-01 9.14057150e-01 2.92544607e+02] [ 2.95580868e-02 9.23119610e-01 3.83375149e-01 -1.70639490e+02] [-9.90927133e-01 -2.32463951e-02 1.32374552e-01 -5.58907757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-170.64, Z:-558.94 [[ 1.29635683e-01 -3.86256490e-01 9.13236286e-01 2.92549734e+02] [ 3.26094739e-02 9.22170592e-01 3.85406307e-01 -1.70640178e+02] [-9.91025334e-01 -2.01822549e-02 1.32141835e-01 -5.58939990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-170.64, Z:-558.97 [[ 1.28769517e-01 -3.86039159e-01 9.13450699e-01 2.92552980e+02] [ 3.48541943e-02 9.22312147e-01 3.84870742e-01 -1.70639379e+02] [-9.91061853e-01 -1.77220313e-02 1.32220773e-01 -5.58966377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-170.64, Z:-558.99 [[ 1.27895271e-01 -3.87321868e-01 9.13030432e-01 2.92557281e+02] [ 3.77015930e-02 9.21823896e-01 3.85771039e-01 -1.70639435e+02] [-9.91070830e-01 -1.49155897e-02 1.32499568e-01 -5.58994404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-170.64, Z:-559.03 [[ 1.24376250e-01 -3.85891105e-01 9.14121766e-01 2.92559325e+02] [ 4.30679756e-02 9.22506660e-01 3.83570870e-01 -1.70640629e+02] [-9.91300004e-01 -8.33773234e-03 1.31357467e-01 -5.59027396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-170.64, Z:-559.06 [[ 1.24258363e-01 -3.91084981e-01 9.11927847e-01 2.92568450e+02] [ 4.63840711e-02 9.20335278e-01 3.88370305e-01 -1.70641554e+02] [-9.91165162e-01 -5.95933209e-03 1.32499468e-01 -5.59057407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-170.64, Z:-559.08 [[ 1.22580259e-01 -3.88516645e-01 9.13251825e-01 2.92570555e+02] [ 4.97925910e-02 9.21440027e-01 3.85316721e-01 -1.70640507e+02] [-9.91208746e-01 -1.75904900e-03 1.32295608e-01 -5.59084372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-170.64, Z:-559.11 [[ 1.20709464e-01 -3.89863011e-01 9.12927192e-01 2.92574635e+02] [ 5.30807301e-02 9.20871034e-01 3.86236943e-01 -1.70640751e+02] [-9.91267704e-01 1.83638774e-03 1.31852062e-01 -5.59111566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-170.64, Z:-559.14 [[ 1.18388434e-01 -3.91569178e-01 9.12500826e-01 2.92579737e+02] [ 5.96164485e-02 9.20108744e-01 3.87099185e-01 -1.70642635e+02] [-9.91176098e-01 8.57199216e-03 1.32274197e-01 -5.59139566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-170.64, Z:-559.17 [[ 1.17228575e-01 -3.93931463e-01 9.11633404e-01 2.92584728e+02] [ 6.23652192e-02 9.19071118e-01 3.89125763e-01 -1.70643336e+02] [-9.91144813e-01 1.12375584e-02 1.32309019e-01 -5.59167466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-170.64, Z:-559.20 [[ 1.13854221e-01 -3.91598337e-01 9.13065145e-01 2.92584961e+02] [ 6.56874544e-02 9.19997389e-01 3.86380594e-01 -1.70643688e+02] [-9.91323547e-01 1.59858634e-02 1.30468684e-01 -5.59199591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-170.65, Z:-559.23 [[ 1.15885261e-01 -4.10694049e-01 9.04378795e-01 2.92603497e+02] [ 6.66334586e-02 9.11676588e-01 4.05469827e-01 -1.70649182e+02] [-9.91025019e-01 1.32739103e-02 1.33015844e-01 -5.59229610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:-170.64, Z:-559.26 [[ 1.14504267e-01 -3.88115986e-01 9.14469657e-01 2.92591752e+02] [ 6.66692212e-02 9.21451090e-01 3.82731112e-01 -1.70641804e+02] [-9.91183125e-01 1.71426346e-02 1.31385472e-01 -5.59263961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-170.64, Z:-559.29 [[ 1.15423825e-01 -3.93385494e-01 9.12099333e-01 2.92599232e+02] [ 6.69603445e-02 9.19229264e-01 3.87986950e-01 -1.70642715e+02] [-9.91056836e-01 1.62915477e-02 1.32442186e-01 -5.59291858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-170.65, Z:-559.32 [[ 1.19736987e-01 -4.02779588e-01 9.07431351e-01 2.92613990e+02] [ 6.64631780e-02 9.15208614e-01 3.97461745e-01 -1.70645257e+02] [-9.90578467e-01 1.27198998e-02 1.36354333e-01 -5.59321144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-170.62, Z:-559.35 [[ 1.19747367e-01 -3.42023321e-01 9.32030373e-01 2.92579882e+02] [ 6.44675340e-02 9.39482974e-01 3.36475375e-01 -1.70623792e+02] [-9.90709092e-01 1.97936594e-02 1.34550013e-01 -5.59350333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-170.64, Z:-559.37 [[ 1.19285523e-01 -3.95366163e-01 9.10745059e-01 2.92613254e+02] [ 6.39446668e-02 9.18449384e-01 3.90335508e-01 -1.70641783e+02] [-9.90798690e-01 1.16759141e-02 1.34839272e-01 -5.59374242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-170.64, Z:-559.41 [[ 1.19225364e-01 -3.92357241e-01 9.12053238e-01 2.92615007e+02] [ 6.12772717e-02 9.19762094e-01 3.87663239e-01 -1.70641912e+02] [-9.90974474e-01 9.66884342e-03 1.33701551e-01 -5.59407921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-170.63, Z:-559.44 [[ 1.19949224e-01 -3.71573326e-01 9.20622315e-01 2.92607141e+02] [ 5.99565500e-02 9.28336160e-01 3.66874893e-01 -1.70634360e+02] [-9.90967909e-01 1.11909791e-02 1.33631457e-01 -5.59441213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.62, Y:-170.64, Z:-559.47 [[ 1.22102058e-01 -3.78807300e-01 9.17385479e-01 2.92617030e+02] [ 5.89384180e-02 9.25437738e-01 3.74287665e-01 -1.70635003e+02] [-9.90766042e-01 8.36795468e-03 1.35324155e-01 -5.59467268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-170.64, Z:-559.49 [[ 1.22151653e-01 -3.95378665e-01 9.10359646e-01 2.92630392e+02] [ 5.79088245e-02 9.18504938e-01 3.91146069e-01 -1.70639976e+02] [-9.90820641e-01 4.93871821e-03 1.35092810e-01 -5.59492955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-170.64, Z:-559.52 [[ 1.22566012e-01 -3.95918522e-01 9.10069281e-01 2.92635286e+02] [ 5.50984777e-02 9.18283268e-01 3.92071418e-01 -1.70639828e+02] [-9.90929730e-01 2.08880161e-03 1.34364826e-01 -5.59520405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-170.64, Z:-559.55 [[ 1.22225836e-01 -3.97806665e-01 9.09291319e-01 2.92639423e+02] [ 5.38251651e-02 9.17468947e-01 3.94149190e-01 -1.70639268e+02] [-9.91041723e-01 7.67540935e-04 1.33550419e-01 -5.59548185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-170.64, Z:-559.58 [[ 1.21906678e-01 -3.99701811e-01 9.08502738e-01 2.92643816e+02] [ 5.26885145e-02 9.16645119e-01 3.96214142e-01 -1.70638923e+02] [-9.91142110e-01 -4.33490278e-04 1.32804856e-01 -5.59576275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-170.64, Z:-559.60 [[ 1.21720138e-01 -4.01563130e-01 9.07706594e-01 2.92648963e+02] [ 5.10344425e-02 9.15828802e-01 3.98312806e-01 -1.70639148e+02] [-9.91251579e-01 -2.15838970e-03 1.31968359e-01 -5.59604430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-170.64, Z:-559.63 [[ 1.21528439e-01 -4.03545873e-01 9.06852561e-01 2.92653813e+02] [ 5.05991442e-02 9.14955219e-01 4.00370670e-01 -1.70638843e+02] [-9.91297415e-01 -2.77045899e-03 1.31612155e-01 -5.59632177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-170.64, Z:-559.66 [[ 1.20953867e-01 -4.05591694e-01 9.06016302e-01 2.92658597e+02] [ 5.02828686e-02 9.14049025e-01 4.02474861e-01 -1.70638482e+02] [-9.91383778e-01 -3.12379214e-03 1.30952078e-01 -5.59660012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-170.64, Z:-559.69 [[ 1.20369770e-01 -4.07627486e-01 9.05180066e-01 2.92663081e+02] [ 4.99434063e-02 9.13141637e-01 4.04571386e-01 -1.70638184e+02] [-9.91472024e-01 -3.49038894e-03 1.30272954e-01 -5.59687745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:-170.64, Z:-559.72 [[ 1.20672739e-01 -4.09644404e-01 9.04228706e-01 2.92667911e+02] [ 4.99136442e-02 9.12236806e-01 4.06611164e-01 -1.70638014e+02] [-9.91436694e-01 -3.93353287e-03 1.30528959e-01 -5.59715623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:292.65, Y:-170.63, Z:-559.75 [[ 1.15553283e-01 -3.81965898e-01 9.16923929e-01 2.92645513e+02] [ 4.90286674e-02 9.24175661e-01 3.78808047e-01 -1.70630008e+02] [-9.92090535e-01 1.18304470e-03 1.25518811e-01 -5.59747290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:-170.65, Z:-559.77 [[ 1.22020216e-01 -4.50676571e-01 8.84308597e-01 2.92698736e+02] [ 5.04906160e-02 8.92631185e-01 4.47951187e-01 -1.70648036e+02] [-9.91242536e-01 -1.00098147e-02 1.31673988e-01 -5.59769631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-170.63, Z:-559.81 [[ 1.12563897e-01 -3.79196607e-01 9.18443957e-01 2.92643379e+02] [ 4.90676860e-02 9.25312070e-01 3.76018531e-01 -1.70626325e+02] [-9.92432230e-01 2.73980856e-03 1.22763032e-01 -5.59805869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.916559995 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:292.72, Y:-170.66, Z:-559.83 [[ 1.12720433e-01 -4.96222593e-01 8.60846817e-01 2.92717305e+02] [ 4.82128554e-02 8.68079382e-01 4.94078644e-01 -1.70663871e+02] [-9.92456359e-01 -1.41888756e-02 1.21774592e-01 -5.59830194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:292.67, Y:-170.64, Z:-559.86 [[ 1.13007700e-01 -4.12858102e-01 9.03757405e-01 2.92668004e+02] [ 4.82884069e-02 9.10791370e-01 4.10033303e-01 -1.70636276e+02] [-9.92420017e-01 -2.69591527e-03 1.22862698e-01 -5.59862274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-170.65, Z:-559.88 [[ 1.21816802e-01 -4.84584937e-01 8.66220587e-01 2.92727584e+02] [ 5.01514289e-02 8.74610381e-01 4.82225585e-01 -1.70653404e+02] [-9.91284773e-01 -1.53009785e-02 1.30844867e-01 -5.59884567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-170.62, Z:-559.92 [[ 1.10811332e-01 -3.87970420e-01 9.14986230e-01 2.92653734e+02] [ 4.66423294e-02 9.21671825e-01 3.85156514e-01 -1.70623709e+02] [-9.92746363e-01 -2.61709668e-06 1.20227527e-01 -5.59921596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-170.67, Z:-559.95 [[ 1.12180908e-01 -5.30459245e-01 8.40254981e-01 2.92747545e+02] [ 4.66618641e-02 8.47471832e-01 5.28785557e-01 -1.70666739e+02] [-9.92591615e-01 -2.01117803e-02 1.19822377e-01 -5.59947976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-170.65, Z:-559.98 [[ 1.14388139e-01 -4.86599337e-01 8.66104173e-01 2.92723595e+02] [ 4.67083197e-02 8.73496877e-01 4.84583883e-01 -1.70652276e+02] [-9.92337486e-01 -1.49763779e-02 1.22645920e-01 -5.59982356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-170.65, Z:-560.01 [[ 1.16417152e-01 -4.85754162e-01 8.66308225e-01 2.92727975e+02] [ 4.71738572e-02 8.73959017e-01 4.83704728e-01 -1.70650258e+02] [-9.92079470e-01 -1.54444265e-02 1.24658717e-01 -5.60013987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-170.65, Z:-560.04 [[ 1.27740004e-01 -5.11653639e-01 8.49642893e-01 2.92764792e+02] [ 4.87343418e-02 8.58864172e-01 5.09879690e-01 -1.70652419e+02] [-9.90609638e-01 -2.37252464e-02 1.34646416e-01 -5.60043641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:-170.61, Z:-560.08 [[ 1.17036710e-01 -3.81293654e-01 9.17015571e-01 2.92671766e+02] [ 4.56687624e-02 9.24450790e-01 3.78556602e-01 -1.70613112e+02] [-9.92076999e-01 -2.42605285e-03 1.25607888e-01 -5.60082548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.79, Y:-170.66, Z:-560.11 [[ 1.28696578e-01 -5.37587969e-01 8.33328487e-01 2.92789440e+02] [ 4.71547424e-02 8.42683401e-01 5.36340485e-01 -1.70655318e+02] [-9.90562275e-01 -2.97297950e-02 1.33800292e-01 -5.60106167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-170.62, Z:-560.14 [[ 1.27898776e-01 -4.09494007e-01 9.03303140e-01 2.92709999e+02] [ 4.42057831e-02 9.12231769e-01 4.07282517e-01 -1.70616577e+02] [-9.90801570e-01 -1.21597127e-02 1.34775330e-01 -5.60141333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-170.62, Z:-560.17 [[ 1.27569779e-01 -4.11478387e-01 9.02447499e-01 2.92714237e+02] [ 4.37115689e-02 9.11330007e-01 4.09349382e-01 -1.70615258e+02] [-9.90865909e-01 -1.27732142e-02 1.34244534e-01 -5.60169202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-170.61, Z:-560.20 [[ 1.26977312e-01 -4.13420452e-01 9.01643107e-01 2.92718172e+02] [ 4.25709401e-02 9.10434720e-01 4.11456359e-01 -1.70613496e+02] [-9.90991664e-01 -1.38618279e-02 1.33204251e-01 -5.60196014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-170.61, Z:-560.22 [[ 1.26685439e-01 -4.14759807e-01 9.01068866e-01 2.92722170e+02] [ 4.20684146e-02 9.09817009e-01 4.12871963e-01 -1.70612031e+02] [-9.91050477e-01 -1.43983272e-02 1.32708855e-01 -5.60223715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-170.61, Z:-560.25 [[ 1.26623184e-01 -4.16751632e-01 9.00158123e-01 2.92726341e+02] [ 4.15713970e-02 9.08894616e-01 4.14948666e-01 -1.70610904e+02] [-9.91079406e-01 -1.51212906e-02 1.32412078e-01 -5.60250895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-170.60, Z:-560.28 [[ 1.14596774e-01 -3.81865599e-01 9.17085734e-01 2.92692324e+02] [ 4.07332094e-02 9.24197332e-01 3.79736878e-01 -1.70598344e+02] [-9.92576639e-01 -6.16077617e-03 1.21464645e-01 -5.60282787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-170.65, Z:-560.31 [[ 1.21068079e-01 -5.71935492e-01 8.11315175e-01 2.92822180e+02] [ 4.06058329e-02 8.19496638e-01 5.71643619e-01 -1.70653749e+02] [-9.91813333e-01 -3.62636665e-02 1.22438801e-01 -5.60307617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-170.63, Z:-560.34 [[ 1.30965409e-01 -4.85240508e-01 8.64517039e-01 2.92780658e+02] [ 4.04171258e-02 8.73916211e-01 4.84393345e-01 -1.70625846e+02] [-9.90562728e-01 -2.84974785e-02 1.34064821e-01 -5.60343559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-170.60, Z:-560.37 [[ 1.31534207e-01 -4.10297896e-01 9.02415863e-01 2.92737191e+02] [ 3.82342705e-02 9.11747515e-01 4.08967737e-01 -1.70601310e+02] [-9.90574022e-01 -1.92900347e-02 1.35613427e-01 -5.60374050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-170.59, Z:-560.40 [[ 1.23339079e-01 -3.79500659e-01 9.16933325e-01 2.92709857e+02] [ 3.67479908e-02 9.25101263e-01 3.77938140e-01 -1.70591225e+02] [-9.91683950e-01 -1.29190848e-02 1.28047024e-01 -5.60404108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-170.62, Z:-560.43 [[ 1.25038723e-01 -4.78723716e-01 8.69016065e-01 2.92771930e+02] [ 3.86363799e-02 8.77575254e-01 4.77879592e-01 -1.70621112e+02] [-9.91399288e-01 -2.61778188e-02 1.28227040e-01 -5.60427328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-170.62, Z:-560.45 [[ 1.28562491e-01 -5.02114521e-01 8.55191612e-01 2.92793673e+02] [ 4.01644928e-02 8.64276656e-01 5.01410685e-01 -1.70624747e+02] [-9.90887733e-01 -3.01142692e-02 1.31280735e-01 -5.60454587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-170.62, Z:-560.49 [[ 1.40093745e-01 -5.18475882e-01 8.43538086e-01 2.92823056e+02] [ 4.13098899e-02 8.54258534e-01 5.18204449e-01 -1.70624540e+02] [-9.89276117e-01 -3.77507364e-02 1.41094459e-01 -5.60485392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-170.58, Z:-560.52 [[ 1.27749898e-01 -3.70843535e-01 9.19866858e-01 2.92719622e+02] [ 3.80613666e-02 9.28616020e-01 3.69084840e-01 -1.70578596e+02] [-9.91075828e-01 -1.21391609e-02 1.32745413e-01 -5.60520057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.63, Z:-560.54 [[ 1.40183761e-01 -5.52725476e-01 8.21488321e-01 2.92852930e+02] [ 4.27023365e-02 8.32284058e-01 5.52702232e-01 -1.70630473e+02] [-9.89204238e-01 -4.24004070e-02 1.40275379e-01 -5.60540613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-170.59, Z:-560.58 [[ 1.37775478e-01 -4.05737979e-01 9.03545577e-01 2.92762162e+02] [ 4.12522111e-02 9.13804299e-01 4.04054400e-01 -1.70587313e+02] [-9.89604049e-01 -1.83955351e-02 1.42637412e-01 -5.60576793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-170.59, Z:-560.60 [[ 1.37121780e-01 -4.06798108e-01 9.03168266e-01 2.92766038e+02] [ 4.27393662e-02 9.13361384e-01 4.04900393e-01 -1.70586804e+02] [-9.89631732e-01 -1.69198232e-02 1.42628032e-01 -5.60603430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-170.59, Z:-560.63 [[ 1.34980213e-01 -4.08644873e-01 9.02657028e-01 2.92771067e+02] [ 4.61949010e-02 9.12598935e-01 4.06237881e-01 -1.70587849e+02] [-9.89770869e-01 -1.31359236e-02 1.42060108e-01 -5.60630009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-170.58, Z:-560.66 [[ 1.24839760e-01 -3.84842146e-01 9.14500715e-01 2.92748102e+02] [ 4.81225835e-02 9.22975148e-01 3.81839094e-01 -1.70579674e+02] [-9.91009209e-01 -3.66056378e-03 1.33743594e-01 -5.60661224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-170.62, Z:-560.69 [[ 1.24695616e-01 -5.08894549e-01 8.51749577e-01 2.92830957e+02] [ 5.07979256e-02 8.60598317e-01 5.06744618e-01 -1.70618126e+02] [-9.90893826e-01 -1.99217209e-02 1.33163625e-01 -5.60687667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.61, Z:-560.72 [[ 1.23703816e-01 -4.72969164e-01 8.72351727e-01 2.92813210e+02] [ 5.23269520e-02 8.80989994e-01 4.70232412e-01 -1.70606576e+02] [-9.90938573e-01 -1.25220368e-02 1.33730859e-01 -5.60721559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.60, Z:-560.75 [[ 1.20780182e-01 -4.60324470e-01 8.79496180e-01 2.92810145e+02] [ 5.54250338e-02 8.87727290e-01 4.57021142e-01 -1.70601550e+02] [-9.91130775e-01 -6.45299138e-03 1.32733363e-01 -5.60754864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-170.61, Z:-560.79 [[ 1.27434723e-01 -4.84336198e-01 8.65551177e-01 2.92840410e+02] [ 5.72051359e-02 8.74802467e-01 4.81090652e-01 -1.70605311e+02] [-9.90195922e-01 -1.17936813e-02 1.39186728e-01 -5.60785470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-170.58, Z:-560.82 [[ 1.26897554e-01 -3.99781241e-01 9.07784099e-01 2.92790934e+02] [ 5.85432941e-02 9.16605806e-01 3.95482589e-01 -1.70578056e+02] [-9.90186696e-01 2.95889821e-03 1.39719546e-01 -5.60818745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-170.58, Z:-560.85 [[ 1.25595552e-01 -4.02146610e-01 9.06919987e-01 2.92794273e+02] [ 6.24843984e-02 9.15550281e-01 3.97320253e-01 -1.70576806e+02] [-9.90111841e-01 6.76669345e-03 1.40116931e-01 -5.60846972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-170.57, Z:-560.88 [[ 1.19925736e-01 -3.90125801e-01 9.12918221e-01 2.92781863e+02] [ 6.49519034e-02 9.20667862e-01 3.84905103e-01 -1.70570779e+02] [-9.90655878e-01 1.31357482e-02 1.35751184e-01 -5.60878213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.60, Z:-560.91 [[ 1.24065129e-01 -4.78378084e-01 8.69345876e-01 2.92848490e+02] [ 6.62520075e-02 8.78153182e-01 4.73769628e-01 -1.70596650e+02] [-9.90059855e-01 -1.18238039e-03 1.40641696e-01 -5.60905969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-170.57, Z:-560.94 [[ 1.19604459e-01 -3.90994914e-01 9.12588489e-01 2.92790391e+02] [ 7.01382716e-02 9.20217764e-01 3.85071278e-01 -1.70565486e+02] [-9.90341051e-01 1.79511374e-02 1.37485855e-01 -5.60941191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.59, Z:-560.97 [[ 1.22028676e-01 -4.77479699e-01 8.70127657e-01 2.92854691e+02] [ 7.08133490e-02 8.78633709e-01 4.72216343e-01 -1.70591353e+02] [-9.89997208e-01 3.99271859e-03 1.41030444e-01 -5.60970401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.56, Z:-561.01 [[ 1.22937927e-01 -3.99557832e-01 9.08427105e-01 2.92810395e+02] [ 7.28554889e-02 9.16534444e-01 3.93264149e-01 -1.70564706e+02] [-9.89736502e-01 1.78368215e-02 1.41786826e-01 -5.61007313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.56, Z:-561.03 [[ 1.20680199e-01 -3.99714866e-01 9.08660726e-01 2.92812394e+02] [ 7.76136831e-02 9.16347841e-01 3.92788430e-01 -1.70561375e+02] [-9.89652669e-01 2.31227197e-02 1.41608383e-01 -5.61033754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.56, Z:-561.06 [[ 1.16545773e-01 -3.95172127e-01 9.11183885e-01 2.92808356e+02] [ 8.09202606e-02 9.18163912e-01 3.87849124e-01 -1.70555837e+02] [-9.89883324e-01 2.85310614e-02 1.38985554e-01 -5.61063871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.57, Z:-561.09 [[ 1.16182687e-01 -4.54973946e-01 8.82893137e-01 2.92851859e+02] [ 8.07681145e-02 8.90296854e-01 4.48160711e-01 -1.70573233e+02] [-9.89938430e-01 1.92410982e-02 1.40184469e-01 -5.61094029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.55, Z:-561.13 [[ 1.11706117e-01 -3.89558441e-01 9.14202365e-01 2.92808768e+02] [ 8.42121880e-02 9.20361813e-01 3.81893232e-01 -1.70546356e+02] [-9.90166678e-01 3.43271712e-02 1.35615613e-01 -5.61127019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.57, Z:-561.16 [[ 1.13056051e-01 -4.73075222e-01 8.73738041e-01 2.92868841e+02] [ 8.23420503e-02 8.80812085e-01 4.66250852e-01 -1.70570852e+02] [-9.90170751e-01 1.92329014e-02 1.38535120e-01 -5.61156384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-170.54, Z:-561.19 [[ 1.14663106e-01 -3.95792261e-01 9.11153587e-01 2.92824415e+02] [ 8.25859397e-02 9.17825941e-01 3.88297702e-01 -1.70541453e+02] [-9.89965623e-01 3.07250546e-02 1.37927649e-01 -5.61188391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-170.54, Z:-561.22 [[ 1.16345214e-01 -4.04680318e-01 9.07026809e-01 2.92833899e+02] [ 8.28107285e-02 9.14001353e-01 3.97169877e-01 -1.70539628e+02] [-9.89750562e-01 2.89027364e-02 1.39851555e-01 -5.61219231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-170.54, Z:-561.25 [[ 1.18026068e-01 -4.01979180e-01 9.08010234e-01 2.92835968e+02] [ 8.09907313e-02 9.15251806e-01 3.94657615e-01 -1.70535374e+02] [-9.89702152e-01 2.69605263e-02 1.40580160e-01 -5.61252164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-170.53, Z:-561.29 [[ 1.22216252e-01 -3.98967648e-01 9.08783805e-01 2.92841797e+02] [ 7.85493129e-02 9.16664023e-01 3.91863592e-01 -1.70530510e+02] [-9.89390314e-01 2.34922440e-02 1.43369876e-01 -5.61285557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-170.51, Z:-561.32 [[ 1.23572069e-01 -3.58225547e-01 9.25421202e-01 2.92821075e+02] [ 7.56020477e-02 9.33256935e-01 3.51163528e-01 -1.70512829e+02] [-9.89451502e-01 2.65697340e-02 1.42407076e-01 -5.61320126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.50, Z:-561.35 [[ 1.21278278e-01 -3.37980739e-01 9.33306273e-01 2.92805201e+02] [ 6.88547373e-02 9.40846286e-01 3.31763911e-01 -1.70499522e+02] [-9.90227552e-01 2.40268025e-02 1.37375792e-01 -5.61351533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.52, Z:-561.38 [[ 1.28180141e-01 -4.07722092e-01 9.04064460e-01 2.92853321e+02] [ 6.23148711e-02 9.13094050e-01 4.02959195e-01 -1.70517429e+02] [-9.89791245e-01 4.68529374e-03 1.42447674e-01 -5.61381325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.49, Z:-561.42 [[ 1.24592665e-01 -3.30809473e-01 9.35436668e-01 2.92806884e+02] [ 5.84040358e-02 9.43593316e-01 3.25915055e-01 -1.70486628e+02] [-9.90487575e-01 1.40266515e-02 1.36885414e-01 -5.61415245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-170.50, Z:-561.44 [[ 1.25200784e-01 -3.87818287e-01 9.13193156e-01 2.92839561e+02] [ 5.61666387e-02 9.21730134e-01 3.83743234e-01 -1.70503955e+02] [-9.90540293e-01 3.24603657e-03 1.37183785e-01 -5.61440199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-170.50, Z:-561.47 [[ 1.25798895e-01 -3.89455408e-01 9.12413899e-01 2.92843160e+02] [ 5.38750668e-02 9.21045103e-01 3.85711543e-01 -1.70501098e+02] [-9.90591801e-01 6.34273851e-04 1.36848392e-01 -5.61468154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.50, Z:-561.50 [[ 1.32353935e-01 -4.13991692e-01 9.00607192e-01 2.92868730e+02] [ 4.96800894e-02 9.10229292e-01 4.11113760e-01 -1.70504944e+02] [-9.89956729e-01 -9.67027822e-03 1.41039573e-01 -5.61498263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-170.46, Z:-561.53 [[ 1.30564720e-01 -3.11841993e-01 9.41120303e-01 2.92815884e+02] [ 4.84234055e-02 9.50118944e-01 3.08105771e-01 -1.70463875e+02] [-9.90256547e-01 5.34450636e-03 1.39152465e-01 -5.61530777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-170.46, Z:-561.56 [[ 1.24440586e-01 -3.10484076e-01 9.42398100e-01 2.92808355e+02] [ 4.82489546e-02 9.50550616e-01 3.06798901e-01 -1.70459637e+02] [-9.91053268e-01 7.29148828e-03 1.33267607e-01 -5.61557058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-170.50, Z:-561.59 [[ 1.31681770e-01 -4.20215431e-01 8.97818970e-01 2.92877303e+02] [ 4.91081418e-02 9.07359097e-01 4.17477976e-01 -1.70495415e+02] [-9.90074897e-01 -1.08840175e-02 1.40118651e-01 -5.61585372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-170.47, Z:-561.62 [[ 1.31899960e-01 -3.56554780e-01 9.24916801e-01 2.92847687e+02] [ 4.78148539e-02 9.34271384e-01 3.53342214e-01 -1.70470555e+02] [-9.90109156e-01 -2.38106218e-03 1.40278973e-01 -5.61620636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-170.46, Z:-561.65 [[ 1.24807233e-01 -3.21371191e-01 9.38692555e-01 2.92823267e+02] [ 4.64967556e-02 9.46945041e-01 3.18014373e-01 -1.70455358e+02] [-9.91090917e-01 3.95566421e-03 1.33128308e-01 -5.61651670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.48, Z:-561.68 [[ 1.25416577e-01 -3.97277371e-01 9.09088210e-01 2.92865649e+02] [ 4.54579369e-02 9.17662097e-01 3.94752900e-01 -1.70480493e+02] [-9.91062187e-01 -8.18328287e-03 1.33149448e-01 -5.61680199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.48, Z:-561.71 [[ 1.26186898e-01 -3.96695974e-01 9.09235487e-01 2.92868196e+02] [ 4.50846908e-02 9.17908321e-01 3.94222886e-01 -1.70477672e+02] [-9.90981452e-01 -8.75316252e-03 1.33712919e-01 -5.61708982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.48, Z:-561.74 [[ 1.26891313e-01 -3.97124603e-01 9.08950298e-01 2.92870842e+02] [ 4.50006076e-02 9.17718817e-01 3.94673433e-01 -1.70475453e+02] [-9.90895323e-01 -9.17731442e-03 1.34321394e-01 -5.61736385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-170.47, Z:-561.76 [[ 1.26801507e-01 -3.99093588e-01 9.08100042e-01 2.92875231e+02] [ 4.52574016e-02 9.16864095e-01 3.96625766e-01 -1.70474598e+02] [-9.90895123e-01 -9.19449644e-03 1.34321688e-01 -5.61764625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-170.47, Z:-561.79 [[ 1.28172815e-01 -4.00867807e-01 9.07125532e-01 2.92878427e+02] [ 4.56347913e-02 9.16084926e-01 3.98379058e-01 -1.70473161e+02] [-9.90701365e-01 -9.66488108e-03 1.35710703e-01 -5.61791478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-170.47, Z:-561.82 [[ 1.33797744e-01 -4.15068601e-01 8.99897894e-01 2.92894339e+02] [ 4.86502380e-02 9.09718775e-01 4.12365014e-01 -1.70474851e+02] [-9.89813780e-01 -1.13932618e-02 1.41911506e-01 -5.61822564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-170.46, Z:-561.85 [[ 1.29415088e-01 -3.66810059e-01 9.21250300e-01 2.92865316e+02] [ 4.80945747e-02 9.30291777e-01 3.63653850e-01 -1.70457499e+02] [-9.90423469e-01 -2.75515346e-03 1.38035366e-01 -5.61852619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-170.47, Z:-561.88 [[ 1.29162630e-01 -4.02772191e-01 9.06141036e-01 2.92887530e+02] [ 5.05149908e-02 9.15281600e-01 3.99634618e-01 -1.70469706e+02] [-9.90335928e-01 -5.84415219e-03 1.38566212e-01 -5.61879836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-170.47, Z:-561.91 [[ 1.27383652e-01 -4.05111334e-01 9.05349773e-01 2.92893048e+02] [ 5.51048551e-02 9.14266525e-01 4.01347949e-01 -1.70469908e+02] [-9.90321594e-01 -1.23599931e-03 1.38786210e-01 -5.61910745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:-170.47, Z:-561.94 [[ 1.25830469e-01 -4.05228388e-01 9.05514576e-01 2.92896515e+02] [ 5.75413869e-02 9.14214031e-01 4.01125535e-01 -1.70468876e+02] [-9.90381584e-01 1.63075055e-03 1.38353383e-01 -5.61937988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-170.47, Z:-561.97 [[ 1.23572988e-01 -4.10800400e-01 9.03312099e-01 2.92905837e+02] [ 6.32822932e-02 9.11698445e-01 4.05957260e-01 -1.70469328e+02] [-9.90315641e-01 6.99830945e-03 1.38657693e-01 -5.61969650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-170.47, Z:-562.00 [[ 1.21913893e-01 -4.02456317e-01 9.07284914e-01 2.92905189e+02] [ 6.49984853e-02 9.15378579e-01 3.97312539e-01 -1.70465880e+02] [-9.90410117e-01 1.05342268e-02 1.37756417e-01 -5.62002832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-170.46, Z:-562.04 [[ 1.20327871e-01 -3.99342241e-01 9.08871266e-01 2.92908249e+02] [ 6.66992510e-02 9.16706647e-01 3.93954481e-01 -1.70464008e+02] [-9.90490996e-01 1.32173288e-02 1.36941187e-01 -5.62035460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-170.46, Z:-562.07 [[ 1.16761187e-01 -3.92955514e-01 9.12114461e-01 2.92908175e+02] [ 6.93456204e-02 9.19380507e-01 3.87208819e-01 -1.70461882e+02] [-9.90736095e-01 1.80401818e-02 1.34597703e-01 -5.62066909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-170.46, Z:-562.10 [[ 1.16318321e-01 -4.02156435e-01 9.08152107e-01 2.92917105e+02] [ 7.04254066e-02 9.15396857e-01 3.96344367e-01 -1.70464346e+02] [-9.90712022e-01 1.78548702e-02 1.34799456e-01 -5.62098327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-170.46, Z:-562.13 [[ 1.17214310e-01 -4.01862617e-01 9.08166968e-01 2.92919980e+02] [ 7.23968068e-02 9.15495301e-01 3.95761362e-01 -1.70463228e+02] [-9.90464289e-01 1.93594934e-02 1.36402721e-01 -5.62125686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-170.46, Z:-562.15 [[ 1.17497087e-01 -4.02759537e-01 9.07732995e-01 2.92923569e+02] [ 7.29163139e-02 9.15096151e-01 3.96588258e-01 -1.70462222e+02] [-9.90392673e-01 1.95905788e-02 1.36888873e-01 -5.62153458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-170.46, Z:-562.19 [[ 1.18047451e-01 -4.04627530e-01 9.06830393e-01 2.92928463e+02] [ 7.27621173e-02 9.14285361e-01 3.98482061e-01 -1.70461290e+02] [-9.90338565e-01 1.89431078e-02 1.37370612e-01 -5.62186499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-170.46, Z:-562.22 [[ 1.18994589e-01 -4.03698530e-01 9.07120601e-01 2.92931856e+02] [ 7.13997731e-02 9.14725791e-01 3.97716985e-01 -1.70460183e+02] [-9.90324371e-01 1.74420360e-02 1.37671403e-01 -5.62218082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:-170.46, Z:-562.25 [[ 1.19040518e-01 -4.03198592e-01 9.07336900e-01 2.92935473e+02] [ 7.13189614e-02 9.14946598e-01 3.97223274e-01 -1.70458370e+02] [-9.90324675e-01 1.74246612e-02 1.37671422e-01 -5.62250474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-170.45, Z:-562.28 [[ 1.16560837e-01 -3.90272121e-01 9.13291434e-01 2.92927214e+02] [ 6.84758583e-02 9.20529285e-01 3.84625652e-01 -1.70452855e+02] [-9.90820180e-01 1.77061269e-02 1.34021882e-01 -5.62283206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-170.47, Z:-562.31 [[ 1.19253407e-01 -4.38666589e-01 8.90702110e-01 2.92961732e+02] [ 6.57231375e-02 8.98624076e-01 4.33768648e-01 -1.70468678e+02] [-9.90686173e-01 6.81134819e-03 1.35994527e-01 -5.62313785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:-170.45, Z:-562.35 [[ 1.23223060e-01 -3.95381541e-01 9.10213994e-01 2.92943793e+02] [ 6.06147739e-02 9.18490147e-01 3.90770647e-01 -1.70451429e+02] [-9.90526086e-01 7.02046047e-03 1.37145129e-01 -5.62346135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:-170.45, Z:-562.37 [[ 1.24463798e-01 -3.96449748e-01 9.09580321e-01 2.92947836e+02] [ 5.73776574e-02 9.18050262e-01 3.92290099e-01 -1.70450352e+02] [-9.90563762e-01 3.36367226e-03 1.37011381e-01 -5.62373340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:-170.45, Z:-562.40 [[ 1.25522432e-01 -3.96854879e-01 9.09258118e-01 2.92951712e+02] [ 5.41476668e-02 9.17881361e-01 3.93143533e-01 -1.70448904e+02] [-9.90612008e-01 -1.14126658e-04 1.36703466e-01 -5.62400839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-170.45, Z:-562.43 [[ 1.27411364e-01 -3.97832435e-01 9.08567938e-01 2.92956491e+02] [ 4.65885570e-02 9.17423030e-01 3.95176531e-01 -1.70447745e+02] [-9.90755192e-01 -8.02111174e-03 1.35424559e-01 -5.62433047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-170.45, Z:-562.46 [[ 1.28411065e-01 -3.96601633e-01 9.08965205e-01 2.92959805e+02] [ 4.28621515e-02 9.17916362e-01 3.94452012e-01 -1.70445905e+02] [-9.90794345e-01 -1.16917986e-02 1.34869817e-01 -5.62462818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-170.44, Z:-562.49 [[ 1.28934704e-01 -3.96056982e-01 9.09128544e-01 2.92962733e+02] [ 3.94386857e-02 9.18103512e-01 3.94373593e-01 -1.70444207e+02] [-9.90868524e-01 -1.49936077e-02 1.33995372e-01 -5.62490469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-170.44, Z:-562.52 [[ 1.30692229e-01 -3.97070088e-01 9.08435406e-01 2.92967103e+02] [ 3.25204071e-02 9.17518335e-01 3.96361612e-01 -1.70443498e+02] [-9.90889482e-01 -2.22586931e-02 1.32825397e-01 -5.62517786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-170.44, Z:-562.55 [[ 1.31572047e-01 -3.98572830e-01 9.07649985e-01 2.92971392e+02] [ 2.94761141e-02 9.16777869e-01 3.98308294e-01 -1.70442821e+02] [-9.90868284e-01 -2.56522429e-02 1.32370719e-01 -5.62545522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:-170.44, Z:-562.57 [[ 1.32598203e-01 -4.00098121e-01 9.06829207e-01 2.92975868e+02] [ 2.66170915e-02 9.16015379e-01 4.00259112e-01 -1.70442201e+02] [-9.90812418e-01 -2.89364830e-02 1.32111441e-01 -5.62572799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:-170.44, Z:-562.60 [[ 1.34641169e-01 -4.01373829e-01 9.05964020e-01 2.92979868e+02] [ 2.22228346e-02 9.15282318e-01 4.02199483e-01 -1.70441805e+02] [-9.90645194e-01 -3.40195200e-02 1.32154346e-01 -5.62600587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:-170.44, Z:-562.63 [[ 1.35143872e-01 -4.03121837e-01 9.05112655e-01 2.92983837e+02] [ 2.08584372e-02 9.14448112e-01 4.04165283e-01 -1.70441377e+02] [-9.90606410e-01 -3.57412257e-02 1.31990550e-01 -5.62628291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-170.44, Z:-562.66 [[ 1.35719005e-01 -4.04878956e-01 9.04241883e-01 2.92987847e+02] [ 1.97479543e-02 9.13610820e-01 4.06109946e-01 -1.70441495e+02] [-9.90550539e-01 -3.72599103e-02 1.31989882e-01 -5.62655707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-170.44, Z:-562.68 [[ 1.35569721e-01 -4.06830179e-01 9.03388099e-01 2.92992251e+02] [ 1.97660095e-02 9.12735178e-01 4.08073278e-01 -1.70441416e+02] [-9.90570621e-01 -3.74660027e-02 1.31780662e-01 -5.62682154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.44, Z:-562.71 [[ 1.35450292e-01 -4.07791681e-01 9.02972404e-01 2.92996197e+02] [ 2.07996054e-02 9.12340975e-01 4.08902582e-01 -1.70440972e+02] [-9.90565795e-01 -3.66045044e-02 1.32058758e-01 -5.62709727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.44, Z:-562.74 [[ 1.35253160e-01 -4.09942527e-01 9.02027554e-01 2.93000345e+02] [ 2.29479934e-02 9.11444963e-01 4.10781535e-01 -1.70441142e+02] [-9.90545290e-01 -3.48597785e-02 1.32683170e-01 -5.62737367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.44, Z:-562.77 [[ 1.33990268e-01 -4.10563671e-01 9.01933523e-01 2.93004399e+02] [ 2.77695696e-02 9.11338743e-01 4.10719547e-01 -1.70443390e+02] [-9.90593488e-01 -2.99861165e-02 1.33511699e-01 -5.62771438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.43, Z:-562.80 [[ 1.32423688e-01 -3.87219197e-01 9.12428222e-01 2.92995765e+02] [ 3.00410299e-02 9.21680211e-01 3.86785632e-01 -1.70433859e+02] [-9.90737858e-01 -2.38092963e-02 1.33684756e-01 -5.62802279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:-170.44, Z:-562.84 [[ 1.30478187e-01 -4.09538887e-01 9.02913807e-01 2.93011856e+02] [ 3.67984102e-02 9.12072128e-01 4.08375208e-01 -1.70443362e+02] [-9.90768045e-01 -2.00582640e-02 1.34075898e-01 -5.62835158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:-170.44, Z:-562.87 [[ 1.29128075e-01 -3.93510970e-01 9.10206052e-01 2.93007695e+02] [ 3.89403224e-02 9.19194946e-01 3.91872813e-01 -1.70436846e+02] [-9.90863054e-01 -1.51580651e-02 1.34017318e-01 -5.62866170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-170.44, Z:-562.89 [[ 1.28160129e-01 -4.09323180e-01 9.03343520e-01 2.93019758e+02] [ 4.21748779e-02 9.12280312e-01 4.07389141e-01 -1.70442072e+02] [-9.90856327e-01 -1.41126422e-02 1.34181118e-01 -5.62892318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-170.44, Z:-562.92 [[ 1.25795624e-01 -4.10863956e-01 9.02976340e-01 2.93024237e+02] [ 4.72459985e-02 9.11655234e-01 4.08231002e-01 -1.70443897e+02] [-9.90930511e-01 -8.69165491e-03 1.34093917e-01 -5.62918662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:-170.44, Z:-562.95 [[ 1.25067694e-01 -4.12020522e-01 9.02550365e-01 2.93028773e+02] [ 4.98798903e-02 9.11153891e-01 4.09036163e-01 -1.70444137e+02] [-9.90893571e-01 -6.13809673e-03 1.34507455e-01 -5.62946877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:-170.44, Z:-562.97 [[ 1.24286547e-01 -4.14191972e-01 9.01663942e-01 2.93033756e+02] [ 5.22672369e-02 9.10181011e-01 4.10899822e-01 -1.70444717e+02] [-9.90868806e-01 -3.94183714e-03 1.34771925e-01 -5.62973278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-170.45, Z:-563.00 [[ 1.22275709e-01 -4.15594565e-01 9.01293409e-01 2.93039060e+02] [ 5.66812720e-02 9.09549671e-01 4.11711828e-01 -1.70446502e+02] [-9.90876322e-01 7.44101126e-04 1.34772260e-01 -5.63001374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-170.45, Z:-563.03 [[ 1.20826606e-01 -4.15665895e-01 9.01455931e-01 2.93042759e+02] [ 5.84985257e-02 9.09512403e-01 4.11539928e-01 -1.70446702e+02] [-9.90948462e-01 3.00887021e-03 1.34209139e-01 -5.63034718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-170.44, Z:-563.07 [[ 1.18602138e-01 -4.01968134e-01 9.07940060e-01 2.93040640e+02] [ 6.17619911e-02 9.15609856e-01 3.97295920e-01 -1.70441773e+02] [-9.91019167e-01 8.95604023e-03 1.33419639e-01 -5.63065945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-170.45, Z:-563.10 [[ 1.24476378e-01 -4.35279452e-01 8.91648714e-01 2.93074463e+02] [ 6.31313708e-02 9.00291404e-01 4.30685289e-01 -1.70452359e+02] [-9.90212130e-01 2.68086077e-03 1.39544801e-01 -5.63098939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-170.42, Z:-563.14 [[ 1.25073693e-01 -3.39353904e-01 9.32306548e-01 2.93024785e+02] [ 6.33672007e-02 9.40499239e-01 3.33834960e-01 -1.70419455e+02] [-9.90121795e-01 1.73236849e-02 1.39135620e-01 -5.63135614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-170.41, Z:-563.16 [[ 1.18348129e-01 -3.06657558e-01 9.44433620e-01 2.93002155e+02] [ 6.55488206e-02 9.51456036e-01 3.00723733e-01 -1.70405374e+02] [-9.90806274e-01 2.63164187e-02 1.32704083e-01 -5.63161357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-170.44, Z:-563.18 [[ 1.17030716e-01 -4.14147243e-01 9.02654903e-01 2.93065943e+02] [ 6.65202770e-02 9.10128336e-01 4.08951665e-01 -1.70444079e+02] [-9.90898009e-01 1.21849481e-02 1.34062160e-01 -5.63182649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-170.44, Z:-563.21 [[ 1.16970214e-01 -4.14940446e-01 9.02298396e-01 2.93069949e+02] [ 6.61611429e-02 9.09772536e-01 4.09800727e-01 -1.70443082e+02] [-9.90929196e-01 1.17626144e-02 1.33869222e-01 -5.63210490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-170.44, Z:-563.24 [[ 1.17130236e-01 -4.16784349e-01 9.01427376e-01 2.93074004e+02] [ 6.56178108e-02 9.08939758e-01 4.11731489e-01 -1.70442343e+02] [-9.90946422e-01 1.09234844e-02 1.33812805e-01 -5.63238602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:-170.44, Z:-563.27 [[ 1.19677597e-01 -4.18331105e-01 9.00375677e-01 2.93078565e+02] [ 6.31343524e-02 9.08264902e-01 4.13604790e-01 -1.70441978e+02] [-9.90803374e-01 7.34540786e-03 1.35110025e-01 -5.63265623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-170.45, Z:-563.30 [[ 1.26230251e-01 -4.35122601e-01 8.91478685e-01 2.93100878e+02] [ 6.09521981e-02 9.00371212e-01 4.30832345e-01 -1.70447352e+02] [-9.90126635e-01 -4.64895252e-05 1.40175763e-01 -5.63296586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:-170.40, Z:-563.33 [[ 1.23661437e-01 -3.18952648e-01 9.39668589e-01 2.93030147e+02] [ 5.97631284e-02 9.47611749e-01 3.13783908e-01 -1.70404285e+02] [-9.90523204e-01 1.73545657e-02 1.36244638e-01 -5.63327132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:-170.44, Z:-563.35 [[ 1.25125915e-01 -4.20286244e-01 8.98722971e-01 2.93090698e+02] [ 5.76522225e-02 9.07391534e-01 4.16313375e-01 -1.70439445e+02] [-9.90464400e-01 -2.78215249e-04 1.37768632e-01 -5.63350646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-170.44, Z:-563.38 [[ 1.26174558e-01 -4.21983443e-01 8.97780572e-01 2.93095648e+02] [ 5.63547757e-02 9.06600933e-01 4.18209144e-01 -1.70439238e+02] [-9.90406038e-01 -2.17313110e-03 1.38170754e-01 -5.63377607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-170.44, Z:-563.41 [[ 1.26548953e-01 -4.22714020e-01 8.97384098e-01 2.93099854e+02] [ 5.57339391e-02 9.06258118e-01 4.19034548e-01 -1.70438464e+02] [-9.90393402e-01 -3.01363259e-03 1.38245533e-01 -5.63405567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-170.44, Z:-563.43 [[ 1.26771369e-01 -4.24549794e-01 8.96485634e-01 2.93104722e+02] [ 5.55018572e-02 9.05397417e-01 4.20921681e-01 -1.70437849e+02] [-9.90377990e-01 -3.60420023e-03 1.38341772e-01 -5.63432976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.44, Z:-563.46 [[ 1.25823384e-01 -4.26540936e-01 8.95673660e-01 2.93109253e+02] [ 5.57286935e-02 9.04462254e-01 4.22897558e-01 -1.70438232e+02] [-9.90486138e-01 -3.29567914e-03 1.37573071e-01 -5.63460038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.44, Z:-563.49 [[ 1.25557313e-01 -4.27474164e-01 8.95265994e-01 2.93113590e+02] [ 5.65469997e-02 9.04023892e-01 4.23725430e-01 -1.70437695e+02] [-9.90473522e-01 -2.57722035e-03 1.37679192e-01 -5.63488322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:-170.44, Z:-563.52 [[ 1.24473270e-01 -4.29494399e-01 8.94450092e-01 2.93118243e+02] [ 5.72970430e-02 9.03067857e-01 4.25658894e-01 -1.70437488e+02] [-9.90567239e-01 -1.73380923e-03 1.37016569e-01 -5.63516454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:-170.44, Z:-563.54 [[ 1.22682115e-01 -4.31608001e-01 8.93679827e-01 2.93123372e+02] [ 5.84331127e-02 9.02061237e-01 4.27634302e-01 -1.70437285e+02] [-9.90724316e-01 -2.42586543e-04 1.35886979e-01 -5.63542883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:-170.44, Z:-563.58 [[ 1.22161629e-01 -4.32137353e-01 8.93495296e-01 2.93129397e+02] [ 5.74591505e-02 9.01807265e-01 4.28301416e-01 -1.70437539e+02] [-9.90845590e-01 -9.82518137e-04 1.34996490e-01 -5.63577224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-170.42, Z:-563.61 [[ 1.20968409e-01 -3.79575675e-01 9.17218050e-01 2.93100468e+02] [ 5.96807987e-02 9.25113135e-01 3.74971852e-01 -1.70417822e+02] [-9.90860659e-01 9.38055726e-03 1.34562844e-01 -5.63608059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.42, Z:-563.64 [[ 1.20953530e-01 -3.85986134e-01 9.14540840e-01 2.93108107e+02] [ 5.97181397e-02 9.22465615e-01 3.81432738e-01 -1.70418152e+02] [-9.90860226e-01 8.47904168e-03 1.34625846e-01 -5.63640977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.41, Z:-563.67 [[ 1.19287802e-01 -3.86027471e-01 9.14742156e-01 2.93109292e+02] [ 6.22353255e-02 9.22416065e-01 3.81150058e-01 -1.70414268e+02] [-9.90907253e-01 1.14627231e-02 1.34057530e-01 -5.63670285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-170.43, Z:-563.70 [[ 1.19293916e-01 -4.33591052e-01 8.93178460e-01 2.93142454e+02] [ 6.30977269e-02 9.01094874e-01 4.29006650e-01 -1.70430153e+02] [-9.90851976e-01 5.17964706e-03 1.34853746e-01 -5.63702878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-170.41, Z:-563.73 [[ 1.18815719e-01 -3.81609002e-01 9.16655549e-01 2.93113828e+02] [ 6.60922300e-02 9.24187287e-01 3.76177718e-01 -1.70408816e+02] [-9.90714208e-01 1.58879834e-02 1.35029367e-01 -5.63733788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:-170.42, Z:-563.76 [[ 1.17607248e-01 -4.32906399e-01 8.93734068e-01 2.93147107e+02] [ 6.84528473e-02 9.01373097e-01 4.27598817e-01 -1.70424523e+02] [-9.90698109e-01 1.08899214e-02 1.35641685e-01 -5.63759442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-170.42, Z:-563.79 [[ 1.15633024e-01 -4.27224661e-01 8.96720744e-01 2.93143719e+02] [ 7.29267319e-02 9.03991621e-01 4.21284750e-01 -1.70421990e+02] [-9.90611274e-01 1.66804836e-02 1.35687383e-01 -5.63794275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:-170.41, Z:-563.83 [[ 1.15792788e-01 -4.06601612e-01 9.06237915e-01 2.93134311e+02] [ 7.56354194e-02 9.13335500e-01 4.00121916e-01 -1.70412356e+02] [-9.90389476e-01 2.22124527e-02 1.36511147e-01 -5.63827997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:-170.40, Z:-563.86 [[ 1.09795315e-01 -3.93466121e-01 9.12759224e-01 2.93121995e+02] [ 8.06005648e-02 9.18811365e-01 3.86379639e-01 -1.70403967e+02] [-9.90680846e-01 3.11462347e-02 1.32594775e-01 -5.63859367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-170.43, Z:-563.89 [[ 1.12930576e-01 -4.76234488e-01 8.72036351e-01 2.93183829e+02] [ 8.37588195e-02 8.79089722e-01 4.69239513e-01 -1.70426468e+02] [-9.90066233e-01 2.00492470e-02 1.39164947e-01 -5.63885154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:-170.41, Z:-563.92 [[ 1.13833754e-01 -4.32038565e-01 8.94642138e-01 2.93159440e+02] [ 8.72726569e-02 9.01362926e-01 4.24179630e-01 -1.70409906e+02] [-9.89659214e-01 2.97918368e-02 1.40310679e-01 -5.63915920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-170.40, Z:-563.95 [[ 1.06931577e-01 -4.09489314e-01 9.06026567e-01 2.93139184e+02] [ 9.12324982e-02 9.11448055e-01 4.01172126e-01 -1.70400983e+02] [-9.90071851e-01 3.97610992e-02 1.34821311e-01 -5.63951247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-170.42, Z:-563.98 [[ 1.10474731e-01 -4.81140164e-01 8.69654803e-01 2.93195924e+02] [ 9.34128669e-02 8.76164004e-01 4.72874904e-01 -1.70418692e+02] [-9.89479343e-01 2.89962206e-02 1.41738665e-01 -5.63977406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-170.40, Z:-564.01 [[ 1.12647289e-01 -4.32135905e-01 8.94745298e-01 2.93168723e+02] [ 9.50182601e-02 9.01034970e-01 4.23210956e-01 -1.70400057e+02] [-9.89081452e-01 3.73435744e-02 1.42559949e-01 -5.64007741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-170.40, Z:-564.04 [[ 1.13750356e-01 -4.34010727e-01 8.93697681e-01 2.93171671e+02] [ 9.53666540e-02 9.00152343e-01 4.25007013e-01 -1.70395246e+02] [-9.88921664e-01 3.68842584e-02 1.43782800e-01 -5.64035722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-170.39, Z:-564.07 [[ 1.13123868e-01 -4.26759582e-01 8.97262085e-01 2.93167495e+02] [ 9.24533601e-02 9.03662084e-01 4.18147360e-01 -1.70393024e+02] [-9.89270118e-01 3.56524478e-02 1.41681108e-01 -5.64067483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:-170.37, Z:-564.09 [[ 1.16945470e-01 -3.84314928e-01 9.15765141e-01 2.93148283e+02] [ 9.22508045e-02 9.22309204e-01 3.75280589e-01 -1.70371569e+02] [-9.88844551e-01 4.05927061e-02 1.43313245e-01 -5.64093284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-170.39, Z:-564.12 [[ 1.17865779e-01 -4.36878505e-01 8.91765009e-01 2.93182498e+02] [ 8.59232819e-02 8.99143449e-01 4.29136631e-01 -1.70385180e+02] [-9.89305235e-01 2.60428532e-02 1.43516278e-01 -5.64118591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-170.38, Z:-564.15 [[ 1.19672069e-01 -4.38198094e-01 8.90876550e-01 2.93186157e+02] [ 8.15931290e-02 8.98630641e-01 4.31051659e-01 -1.70382404e+02] [-9.89454980e-01 2.11045612e-02 1.43294942e-01 -5.64145204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-170.38, Z:-564.18 [[ 1.23918810e-01 -4.37676902e-01 8.90552109e-01 2.93188212e+02] [ 7.15148568e-02 8.99074855e-01 4.31914379e-01 -1.70376756e+02] [-9.89711955e-01 1.01653906e-02 1.42712687e-01 -5.64177329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-170.37, Z:-564.20 [[ 1.25780592e-01 -4.36503343e-01 8.90867035e-01 2.93189763e+02] [ 6.62649163e-02 8.99690029e-01 4.31470523e-01 -1.70373042e+02] [-9.89842515e-01 4.76261186e-03 1.42088402e-01 -5.64204353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-170.37, Z:-564.24 [[ 1.26278574e-01 -4.25682448e-01 8.96017955e-01 2.93183297e+02] [ 6.00714000e-02 9.04872413e-01 4.21422999e-01 -1.70369257e+02] [-9.90174302e-01 6.08357813e-04 1.39837338e-01 -5.64236848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-170.35, Z:-564.26 [[ 1.29682082e-01 -3.95203789e-01 9.09393492e-01 2.93172474e+02] [ 5.58044196e-02 9.18593471e-01 3.91244044e-01 -1.70352902e+02] [-9.89984053e-01 1.08339307e-05 1.41179232e-01 -5.64261993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-170.37, Z:-564.29 [[ 1.31067842e-01 -4.38882694e-01 8.88933745e-01 2.93201023e+02] [ 5.13052988e-02 8.98470235e-01 4.36026379e-01 -1.70365506e+02] [-9.90044942e-01 -1.15420253e-02 1.40277563e-01 -5.64291444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-170.36, Z:-564.32 [[ 1.32473206e-01 -4.37659732e-01 8.89328291e-01 2.93204402e+02] [ 4.34290928e-02 8.98937260e-01 4.35919393e-01 -1.70362384e+02] [-9.90234701e-01 -1.91249187e-02 1.38092266e-01 -5.64318574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:-170.36, Z:-564.35 [[ 1.32700963e-01 -4.38648465e-01 8.88807054e-01 2.93208789e+02] [ 4.06349404e-02 8.98391482e-01 4.37311728e-01 -1.70360547e+02] [-9.90322804e-01 -2.19150657e-02 1.37041869e-01 -5.64346299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:-170.36, Z:-564.38 [[ 1.33241043e-01 -4.37147237e-01 8.89465636e-01 2.93211035e+02] [ 3.80306514e-02 8.99061939e-01 4.36166596e-01 -1.70359777e+02] [-9.90353722e-01 -2.42883348e-02 1.36416945e-01 -5.64377837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-170.34, Z:-564.40 [[ 1.31913893e-01 -3.86627090e-01 9.12753098e-01 2.93186140e+02] [ 3.52010357e-02 9.22046128e-01 3.85476101e-01 -1.70337694e+02] [-9.90635963e-01 -1.87197987e-02 1.35240368e-01 -5.64404824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-170.36, Z:-564.43 [[ 1.33243375e-01 -4.42400186e-01 8.86864295e-01 2.93220274e+02] [ 3.57225332e-02 8.96405631e-01 4.41792763e-01 -1.70355074e+02] [-9.90439349e-01 -2.71849195e-02 1.35243767e-01 -5.64430108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-170.35, Z:-564.46 [[ 1.34171568e-01 -4.44251321e-01 8.85798371e-01 2.93222895e+02] [ 3.61517011e-02 8.95480060e-01 4.43631059e-01 -1.70354292e+02] [-9.90298463e-01 -2.74995568e-02 1.36208405e-01 -5.64456907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-170.35, Z:-564.49 [[ 1.35087197e-01 -4.45094081e-01 8.85235962e-01 2.93226509e+02] [ 3.71107816e-02 8.95071299e-01 4.44376147e-01 -1.70353498e+02] [-9.90138495e-01 -2.71777297e-02 1.37430462e-01 -5.64488638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-170.35, Z:-564.52 [[ 1.35816176e-01 -4.44759338e-01 8.85292662e-01 2.93229110e+02] [ 3.89717549e-02 8.95279207e-01 4.43797638e-01 -1.70352521e+02] [-9.89967256e-01 -2.57734893e-02 1.38926450e-01 -5.64516434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-170.35, Z:-564.55 [[ 1.36359514e-01 -4.45884050e-01 8.84643147e-01 2.93233561e+02] [ 4.40928334e-02 8.94830853e-01 4.44222429e-01 -1.70353277e+02] [-9.89677677e-01 -2.15675316e-02 1.41678991e-01 -5.64549322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-170.35, Z:-564.58 [[ 1.37717609e-01 -4.47466304e-01 8.83633276e-01 2.93240502e+02] [ 4.70797545e-02 8.94082882e-01 4.45420359e-01 -1.70354731e+02] [-9.89351988e-01 -1.97409893e-02 1.44197561e-01 -5.64583497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:-170.33, Z:-564.61 [[ 1.34178491e-01 -3.91110179e-01 9.10510275e-01 2.93210667e+02] [ 4.98546319e-02 9.20319730e-01 3.87976945e-01 -1.70333874e+02] [-9.89702303e-01 -6.66500628e-03 1.42985766e-01 -5.64613983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-170.35, Z:-564.64 [[ 1.32750270e-01 -4.44569156e-01 8.85853053e-01 2.93245284e+02] [ 5.53495367e-02 8.95693732e-01 4.41213291e-01 -1.70352250e+02] [-9.89602847e-01 -9.53962749e-03 1.43510282e-01 -5.64638825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.36, Z:-564.67 [[ 1.30706348e-01 -4.52447331e-01 8.82160566e-01 2.93258287e+02] [ 6.36632608e-02 8.91787926e-01 4.47952323e-01 -1.70358847e+02] [-9.89374974e-01 -2.38899398e-03 1.45366615e-01 -5.64670221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-170.33, Z:-564.70 [[ 1.25768820e-01 -3.60048018e-01 9.24417454e-01 2.93204832e+02] [ 6.90722131e-02 9.32733221e-01 3.53889485e-01 -1.70325486e+02] [-9.89652077e-01 1.93432964e-02 1.42178070e-01 -5.64698756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-170.36, Z:-564.73 [[ 1.22700731e-01 -4.48339504e-01 8.85401728e-01 2.93261429e+02] [ 7.46247283e-02 8.93785337e-01 4.42243057e-01 -1.70355883e+02] [-9.89634115e-01 1.18093170e-02 1.43125328e-01 -5.64725197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.36, Z:-564.76 [[ 1.16544941e-01 -4.49387709e-01 8.85701961e-01 2.93267103e+02] [ 8.43370769e-02 8.93035957e-01 4.42011354e-01 -1.70359722e+02] [-9.89598168e-01 2.31833270e-02 1.41978869e-01 -5.64755291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-170.35, Z:-564.78 [[ 1.12001012e-01 -4.18063010e-01 9.01487156e-01 2.93252875e+02] [ 9.50839775e-02 9.07541260e-01 4.09057330e-01 -1.70350335e+02] [-9.89148528e-01 3.99021494e-02 1.41396634e-01 -5.64782360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.36, Z:-564.81 [[ 1.08676499e-01 -4.46889647e-01 8.87963435e-01 2.93275113e+02] [ 9.94488715e-02 8.93660417e-01 4.37585398e-01 -1.70359705e+02] [-9.89090158e-01 4.07517126e-02 1.41562556e-01 -5.64813683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.36, Z:-564.85 [[ 1.06935503e-01 -4.43698788e-01 8.89773108e-01 2.93277602e+02] [ 1.03653734e-01 8.95003125e-01 4.33849409e-01 -1.70357988e+02] [-9.88848169e-01 4.58344002e-02 1.41698645e-01 -5.64845996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-170.36, Z:-564.88 [[ 1.05131213e-01 -4.48133463e-01 8.87763385e-01 2.93284885e+02] [ 1.06265117e-01 8.92661536e-01 4.38021811e-01 -1.70358421e+02] [-9.88764458e-01 4.82885157e-02 1.41467545e-01 -5.64876711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.36, Z:-564.91 [[ 1.03987784e-01 -4.61318180e-01 8.81119786e-01 2.93300595e+02] [ 1.09260281e-01 8.85859400e-01 4.50904994e-01 -1.70361678e+02] [-9.88558917e-01 4.93827840e-02 1.42522310e-01 -5.64910056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.34, Z:-564.94 [[ 1.03751093e-01 -4.16170700e-01 9.03348028e-01 2.93274266e+02] [ 1.09521650e-01 9.07506695e-01 4.05507838e-01 -1.70344527e+02] [-9.88554864e-01 5.68642846e-02 1.39734513e-01 -5.64942598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.35, Z:-564.97 [[ 1.01284210e-01 -4.53085465e-01 8.85694683e-01 2.93300097e+02] [ 1.08444968e-01 8.89996039e-01 4.42884567e-01 -1.70354693e+02] [-9.88929319e-01 5.11919181e-02 1.39277384e-01 -5.64968120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.136559995 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:293.31, Y:-170.35, Z:-565.00 [[ 1.02579553e-01 -4.57414127e-01 8.83317470e-01 2.93308116e+02] [ 1.07398764e-01 8.87903776e-01 4.47316878e-01 -1.70354488e+02] [-9.88909976e-01 4.89816393e-02 1.40206484e-01 -5.64998056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:-170.33, Z:-565.03 [[ 1.05077365e-01 -3.97712329e-01 9.11473341e-01 2.93273589e+02] [ 1.06683110e-01 9.15766187e-01 3.87286723e-01 -1.70331765e+02] [-9.88725170e-01 5.65437424e-02 1.38655486e-01 -5.65025951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.35, Z:-565.06 [[ 1.05812614e-01 -4.63111540e-01 8.79961018e-01 2.93318546e+02] [ 1.01037158e-01 8.85356223e-01 4.53801554e-01 -1.70348736e+02] [-9.89239700e-01 4.08908316e-02 1.40473330e-01 -5.65055703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-170.33, Z:-565.09 [[ 1.06672502e-01 -4.19749926e-01 9.01349531e-01 2.93291785e+02] [ 9.78471335e-02 9.06553387e-01 4.10593344e-01 -1.70331201e+02] [-9.89467996e-01 4.43954487e-02 1.37775645e-01 -5.65088350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-170.34, Z:-565.12 [[ 1.06574067e-01 -4.54031303e-01 8.84588913e-01 2.93314779e+02] [ 9.46094240e-02 8.90249732e-01 4.45538406e-01 -1.70338607e+02] [-9.89793426e-01 3.62076077e-02 1.37833174e-01 -5.65118869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.33, Z:-565.15 [[ 1.09657150e-01 -4.51231116e-01 8.85644280e-01 2.93315447e+02] [ 8.72358314e-02 8.91948354e-01 4.43641796e-01 -1.70332295e+02] [-9.90133940e-01 2.86114201e-02 1.37172036e-01 -5.65151038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.33, Z:-565.18 [[ 1.10942642e-01 -4.49086581e-01 8.86573727e-01 2.93316668e+02] [ 8.43349917e-02 8.93117131e-01 4.41847711e-01 -1.70328250e+02] [-9.90242061e-01 2.57494356e-02 1.36958487e-01 -5.65178610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.32, Z:-565.21 [[ 1.13788790e-01 -4.50114860e-01 8.85691099e-01 2.93319571e+02] [ 7.79207804e-02 8.92778493e-01 4.43705888e-01 -1.70323938e+02] [-9.90444579e-01 1.85249855e-02 1.36661486e-01 -5.65206491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-170.32, Z:-565.23 [[ 1.15297074e-01 -4.51546004e-01 8.84767083e-01 2.93323831e+02] [ 7.46325808e-02 8.92127417e-01 4.45576761e-01 -1.70320888e+02] [-9.90523378e-01 1.46587540e-02 1.36559724e-01 -5.65234172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.32, Z:-565.26 [[ 1.16937846e-01 -4.52938508e-01 8.83839493e-01 2.93327051e+02] [ 7.11255352e-02 8.91479448e-01 4.47443351e-01 -1.70318037e+02] [-9.90589066e-01 1.05404954e-02 1.36463180e-01 -5.65261826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.32, Z:-565.29 [[ 1.24750343e-01 -4.69638460e-01 8.74000612e-01 2.93346853e+02] [ 6.87468239e-02 8.82856268e-01 4.64584421e-01 -1.70318767e+02] [-9.89803630e-01 2.12770005e-03 1.42422775e-01 -5.65294015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-170.29, Z:-565.33 [[ 1.25036703e-01 -3.98853175e-01 9.08450311e-01 2.93299293e+02] [ 6.13431982e-02 9.16992168e-01 3.94160343e-01 -1.70290686e+02] [-9.90253925e-01 6.44273783e-03 1.39124606e-01 -5.65327879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.31, Z:-565.35 [[ 1.26592635e-01 -4.51498963e-01 8.83245714e-01 2.93331730e+02] [ 5.91761619e-02 8.92260800e-01 4.47625789e-01 -1.70305251e+02] [-9.90188107e-01 -4.39903672e-03 1.39671621e-01 -5.65353739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.30, Z:-565.38 [[ 1.28997532e-01 -4.52601277e-01 8.82333112e-01 2.93334400e+02] [ 5.38627788e-02 8.91651651e-01 4.49506546e-01 -1.70301836e+02] [-9.90181013e-01 -1.04603219e-02 1.39399225e-01 -5.65381694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-170.30, Z:-565.41 [[ 1.31006116e-01 -4.56907006e-01 8.79814404e-01 2.93342314e+02] [ 5.18146651e-02 8.89405667e-01 4.54172654e-01 -1.70301025e+02] [-9.90026585e-01 -1.39121067e-02 1.40192066e-01 -5.65410635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:-170.29, Z:-565.44 [[ 1.29743516e-01 -4.29713854e-01 8.93595336e-01 2.93327398e+02] [ 4.95363061e-02 9.02896467e-01 4.26994290e-01 -1.70289195e+02] [-9.90309434e-01 -1.11343285e-02 1.38431399e-01 -5.65437672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.30, Z:-565.46 [[ 1.30942598e-01 -4.56212410e-01 8.80184227e-01 2.93345540e+02] [ 4.73967890e-02 8.89694028e-01 4.54090389e-01 -1.70295104e+02] [-9.90256321e-01 -1.77418694e-02 1.38121851e-01 -5.65464427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.29, Z:-565.49 [[ 1.30849582e-01 -4.58103447e-01 8.79215343e-01 2.93349917e+02] [ 4.76602173e-02 8.88721469e-01 4.55963436e-01 -1.70293930e+02] [-9.90255972e-01 -1.77590308e-02 1.38122142e-01 -5.65492661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.29, Z:-565.53 [[ 1.32310459e-01 -4.61816245e-01 8.77051708e-01 2.93356847e+02] [ 4.67096471e-02 8.86752810e-01 4.59877878e-01 -1.70292760e+02] [-9.90107141e-01 -1.98798774e-02 1.38897945e-01 -5.65525153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-170.29, Z:-565.56 [[ 1.32200215e-01 -4.54060519e-01 8.81108477e-01 2.93354339e+02] [ 4.52184371e-02 8.90747590e-01 4.52243323e-01 -1.70288828e+02] [-9.90191091e-01 -1.99443162e-02 1.38288930e-01 -5.65557044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.29, Z:-565.58 [[ 1.32595354e-01 -4.57144580e-01 8.79452844e-01 2.93359197e+02] [ 4.48159298e-02 8.89145056e-01 4.55425737e-01 -1.70288135e+02] [-9.90156556e-01 -2.09738397e-02 1.38383863e-01 -5.65584570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-170.29, Z:-565.61 [[ 1.34080719e-01 -4.58628582e-01 8.78454429e-01 2.93363192e+02] [ 4.33980545e-02 8.88325864e-01 4.57158363e-01 -1.70286783e+02] [-9.90019682e-01 -2.31729089e-02 1.39010959e-01 -5.65610807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.29, Z:-565.64 [[ 1.35191705e-01 -4.59248197e-01 8.77960305e-01 2.93366774e+02] [ 4.29287052e-02 8.87977980e-01 4.57877969e-01 -1.70285178e+02] [-9.89889049e-01 -2.42116043e-02 1.39762188e-01 -5.65641810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.28, Z:-565.67 [[ 1.38111397e-01 -4.58758728e-01 8.77761740e-01 2.93368625e+02] [ 4.28326888e-02 8.88192454e-01 4.57470791e-01 -1.70283627e+02] [-9.89490072e-01 -2.55850346e-02 1.42319370e-01 -5.65669034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-170.28, Z:-565.70 [[ 1.39340291e-01 -4.59493196e-01 8.77183154e-01 2.93372209e+02] [ 4.30574745e-02 8.87798356e-01 4.58214070e-01 -1.70282587e+02] [-9.89308009e-01 -2.60783905e-02 1.43490698e-01 -5.65697220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.28, Z:-565.72 [[ 1.40427292e-01 -4.61319669e-01 8.76050420e-01 2.93376748e+02] [ 4.41168746e-02 8.86854737e-01 4.59937363e-01 -1.70282821e+02] [-9.89107617e-01 -2.59391519e-02 1.44890591e-01 -5.65723834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-170.28, Z:-565.75 [[ 1.40621317e-01 -4.62224471e-01 8.75542223e-01 2.93380791e+02] [ 4.53794746e-02 8.86409102e-01 4.60672994e-01 -1.70282338e+02] [-9.89022926e-01 -2.50487972e-02 1.45623519e-01 -5.65751551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.28, Z:-565.78 [[ 1.40168361e-01 -4.64285518e-01 8.74523750e-01 2.93385952e+02] [ 4.70488208e-02 8.85368895e-01 4.62502247e-01 -1.70282279e+02] [-9.89009221e-01 -2.36828707e-02 1.45944793e-01 -5.65779670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-170.28, Z:-565.81 [[ 1.37373229e-01 -4.66768334e-01 8.73645190e-01 2.93392374e+02] [ 5.07574826e-02 8.84165649e-01 4.64407991e-01 -1.70283745e+02] [-9.89218011e-01 -1.94531949e-02 1.45152676e-01 -5.65807475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.28, Z:-565.83 [[ 1.35466748e-01 -4.69058212e-01 8.72715964e-01 2.93397794e+02] [ 5.34692876e-02 8.83013037e-01 4.66292840e-01 -1.70283696e+02] [-9.89338059e-01 -1.65036736e-02 1.44699113e-01 -5.65834067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:-170.28, Z:-565.86 [[ 1.32792338e-01 -4.70818818e-01 8.72178787e-01 2.93402203e+02] [ 5.62908311e-02 8.82134125e-01 4.67622420e-01 -1.70284130e+02] [-9.89544106e-01 -1.30010055e-02 1.43643435e-01 -5.65861478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.29, Z:-565.89 [[ 1.27863848e-01 -4.73750084e-01 8.71327547e-01 2.93409546e+02] [ 6.30077277e-02 8.80644328e-01 4.69569584e-01 -1.70286295e+02] [-9.89788292e-01 -5.14060498e-03 1.42452489e-01 -5.65887617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.29, Z:-565.91 [[ 1.21841722e-01 -4.75661759e-01 8.71148946e-01 2.93416457e+02] [ 6.98891838e-02 8.79621082e-01 4.70512757e-01 -1.70288441e+02] [-9.90085904e-01 3.55580448e-03 1.40418159e-01 -5.65914912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-170.29, Z:-565.94 [[ 1.19223236e-01 -4.77994134e-01 8.70234123e-01 2.93421809e+02] [ 7.35235899e-02 8.78329578e-01 4.72367901e-01 -1.70288707e+02] [-9.90141456e-01 7.66550717e-03 1.39861139e-01 -5.65942075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-170.28, Z:-565.97 [[ 1.11665447e-01 -4.62534801e-01 8.79541009e-01 2.93406633e+02] [ 7.77525568e-02 8.86429677e-01 4.56286058e-01 -1.70284046e+02] [-9.90699434e-01 1.74351758e-02 1.34946829e-01 -5.65969608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.31, Z:-565.99 [[ 1.11439041e-01 -5.61477496e-01 8.19953878e-01 2.93484874e+02] [ 8.43774396e-02 8.27459628e-01 5.55149541e-01 -1.70312980e+02] [-9.90182704e-01 7.32027641e-03 1.39587341e-01 -5.65994586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.29, Z:-566.03 [[ 1.12028561e-01 -4.82288488e-01 8.68819553e-01 2.93435784e+02] [ 8.82223087e-02 8.75698104e-01 4.74731139e-01 -1.70289612e+02] [-9.89780999e-01 2.34658203e-02 1.40651803e-01 -5.66026751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-170.29, Z:-566.05 [[ 1.09845199e-01 -4.84769781e-01 8.67716712e-01 2.93440804e+02] [ 9.39026398e-02 8.74156172e-01 4.76480096e-01 -1.70291102e+02] [-9.89503071e-01 2.91418390e-02 1.41543020e-01 -5.66053744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.29, Z:-566.08 [[ 1.08720320e-01 -4.86004938e-01 8.67167280e-01 2.93445992e+02] [ 9.78376601e-02 8.73334291e-01 4.77194938e-01 -1.70291759e+02] [-9.89246018e-01 3.29608315e-02 1.42498769e-01 -5.66081502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.29, Z:-566.11 [[ 1.08047412e-01 -4.87894736e-01 8.66189635e-01 2.93451089e+02] [ 9.88779386e-02 8.72244131e-01 4.78971115e-01 -1.70291250e+02] [-9.89216311e-01 3.38954559e-02 1.42485747e-01 -5.66108752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-170.29, Z:-566.14 [[ 1.07847533e-01 -4.89731637e-01 8.65177342e-01 2.93455489e+02] [ 9.90903260e-02 8.71214790e-01 4.80797148e-01 -1.70289913e+02] [-9.89216871e-01 3.38779186e-02 1.42486033e-01 -5.66136985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-170.29, Z:-566.17 [[ 1.05608079e-01 -4.86048030e-01 8.67527663e-01 2.93453416e+02] [ 9.85724126e-02 8.73226395e-01 4.77241180e-01 -1.70287182e+02] [-9.89510189e-01 3.51137704e-02 1.40130689e-01 -5.66168123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.29, Z:-566.20 [[ 1.04783933e-01 -5.07918621e-01 8.55008188e-01 2.93470829e+02] [ 9.84460253e-02 8.60815923e-01 4.99303843e-01 -1.70291875e+02] [-9.89610382e-01 3.18531372e-02 1.40202248e-01 -5.66195068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.29, Z:-566.22 [[ 1.07696864e-01 -5.12801955e-01 8.51725038e-01 2.93480575e+02] [ 9.70634905e-02 8.58038493e-01 5.04329876e-01 -1.70290704e+02] [-9.89434214e-01 2.83566593e-02 1.42182402e-01 -5.66221708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.28, Z:-566.25 [[ 1.09790078e-01 -4.92944067e-01 8.63106184e-01 2.93470990e+02] [ 9.64732427e-02 8.69540528e-01 4.84347172e-01 -1.70283437e+02] [-9.89261873e-01 3.00901386e-02 1.43022835e-01 -5.66250904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-170.28, Z:-566.28 [[ 1.11517885e-01 -4.94315741e-01 8.62099594e-01 2.93474968e+02] [ 9.31658440e-02 8.68890433e-01 4.86157938e-01 -1.70282691e+02] [-9.89385611e-01 2.61029310e-02 1.42950167e-01 -5.66277181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.28, Z:-566.30 [[ 1.12706698e-01 -4.94855200e-01 8.61635382e-01 2.93478978e+02] [ 9.14211875e-02 8.68646934e-01 4.86923681e-01 -1.70280961e+02] [-9.89413648e-01 2.38921693e-02 1.43142578e-01 -5.66304569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-170.28, Z:-566.33 [[ 1.14132275e-01 -4.96050523e-01 8.60759956e-01 2.93482684e+02] [ 8.66208435e-02 8.68090692e-01 4.88789709e-01 -1.70279058e+02] [-9.89682097e-01 1.87730720e-02 1.42045480e-01 -5.66332084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.28, Z:-566.36 [[ 1.14463241e-01 -4.97548932e-01 8.59850701e-01 2.93487118e+02] [ 8.42692487e-02 8.67282757e-01 4.90631545e-01 -1.70276997e+02] [-9.89846887e-01 1.62996959e-02 1.41200069e-01 -5.66359809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.27, Z:-566.39 [[ 1.16690607e-01 -4.98705084e-01 8.58880982e-01 2.93491314e+02] [ 7.96457105e-02 8.66702632e-01 4.92425739e-01 -1.70274424e+02] [-9.89969627e-01 1.09447276e-02 1.40855777e-01 -5.66387980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-170.27, Z:-566.42 [[ 1.16575032e-01 -5.00516787e-01 8.57842181e-01 2.93495679e+02] [ 7.98012072e-02 8.65658943e-01 4.94233105e-01 -1.70273010e+02] [-9.89970722e-01 1.08416018e-02 1.40856063e-01 -5.66416187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.27, Z:-566.45 [[ 1.19306295e-01 -4.95090544e-01 8.60611040e-01 2.93493214e+02] [ 7.43260885e-02 8.68823569e-01 4.89511224e-01 -1.70270776e+02] [-9.90071533e-01 5.56408194e-03 1.40454264e-01 -5.66450714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-170.26, Z:-566.48 [[ 1.23513876e-01 -4.81687578e-01 8.67595182e-01 2.93490085e+02] [ 7.01786836e-02 8.76340672e-01 4.76552180e-01 -1.70262005e+02] [-9.89858210e-01 2.02588093e-03 1.42044433e-01 -5.66480429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-170.26, Z:-566.51 [[ 1.23338627e-01 -4.98043755e-01 8.58335599e-01 2.93503723e+02] [ 7.05049527e-02 8.67151851e-01 4.93028112e-01 -1.70264966e+02] [-9.89856876e-01 -2.92499730e-04 1.42067870e-01 -5.66507857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.26, Z:-566.53 [[ 1.25217586e-01 -4.98624910e-01 8.57725921e-01 2.93507114e+02] [ 6.71938834e-02 8.66807510e-01 4.94094851e-01 -1.70262258e+02] [-9.89851271e-01 -4.23542901e-03 1.42044088e-01 -5.66534332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.26, Z:-566.56 [[ 1.25431343e-01 -4.99628101e-01 8.57110693e-01 2.93509879e+02] [ 6.59701416e-02 8.66222038e-01 4.95285092e-01 -1.70258878e+02] [-9.89906520e-01 -5.58056038e-03 1.41611930e-01 -5.66562489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-170.26, Z:-566.59 [[ 1.25413029e-01 -5.01465462e-01 8.56039697e-01 2.93513668e+02] [ 6.62151649e-02 8.65159144e-01 4.97106836e-01 -1.70256765e+02] [-9.89892481e-01 -5.66086436e-03 1.41706847e-01 -5.66590546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:-170.26, Z:-566.62 [[ 1.25325315e-01 -5.03287845e-01 8.54982404e-01 2.93518023e+02] [ 6.63906025e-02 8.64099595e-01 4.98923017e-01 -1.70255338e+02] [-9.89891839e-01 -5.76488733e-03 1.41707137e-01 -5.66618754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:-170.25, Z:-566.65 [[ 1.23953676e-01 -5.04594249e-01 8.54412155e-01 2.93522313e+02] [ 6.73113831e-02 8.63345001e-01 5.00104577e-01 -1.70254470e+02] [-9.90002356e-01 -4.47813679e-03 1.40979723e-01 -5.66646948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-170.25, Z:-566.67 [[ 1.23188442e-01 -5.06515123e-01 8.53385633e-01 2.93527391e+02] [ 6.81679388e-02 8.62223321e-01 5.01920390e-01 -1.70253641e+02] [-9.90039262e-01 -3.65725127e-03 1.40744039e-01 -5.66674339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:-170.25, Z:-566.71 [[ 1.20143419e-01 -4.96144576e-01 8.59887271e-01 2.93520747e+02] [ 6.84001721e-02 8.68239892e-01 4.91407068e-01 -1.70252286e+02] [-9.90397383e-01 -2.22887843e-04 1.38249683e-01 -5.66705204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:-170.24, Z:-566.73 [[ 1.22222291e-01 -4.81080954e-01 8.68114525e-01 2.93517192e+02] [ 7.09266528e-02 8.76669525e-01 4.75836058e-01 -1.70242672e+02] [-9.89965212e-01 3.41468450e-03 1.41270019e-01 -5.66730492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-170.25, Z:-566.76 [[ 1.22198107e-01 -5.10943992e-01 8.50884164e-01 2.93538909e+02] [ 7.21407824e-02 8.59613899e-01 5.05825714e-01 -1.70249847e+02] [-9.89880463e-01 -4.27495444e-04 1.41903091e-01 -5.66755552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-170.25, Z:-566.78 [[ 1.23288733e-01 -5.11801626e-01 8.50211141e-01 2.93541652e+02] [ 7.37923617e-02 8.59103606e-01 5.06454027e-01 -1.70248170e+02] [-9.89623452e-01 2.99012586e-04 1.43684846e-01 -5.66783221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-170.25, Z:-566.81 [[ 1.23134773e-01 -5.13593809e-01 8.49152064e-01 2.93546219e+02] [ 7.41947204e-02 8.58033344e-01 5.08206577e-01 -1.70247132e+02] [-9.89612536e-01 4.24698392e-04 1.43759690e-01 -5.66811278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-170.25, Z:-566.84 [[ 1.22671041e-01 -5.15311080e-01 8.48178228e-01 2.93552371e+02] [ 7.34395673e-02 8.57003158e-01 5.10051191e-01 -1.70246790e+02] [-9.89726450e-01 -2.78668400e-04 1.42973692e-01 -5.66837709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-170.25, Z:-566.87 [[ 1.21639198e-01 -5.15976090e-01 8.47922509e-01 2.93557304e+02] [ 7.18570345e-02 8.56602114e-01 5.10949494e-01 -1.70245410e+02] [-9.89969935e-01 -1.22228955e-03 1.41272905e-01 -5.66865238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-170.24, Z:-566.90 [[ 1.17151143e-01 -4.99668733e-01 8.58257984e-01 2.93542819e+02] [ 6.88954002e-02 8.66215810e-01 4.94897559e-01 -1.70241593e+02] [-9.90721471e-01 1.15221252e-03 1.35903050e-01 -5.66898045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-170.25, Z:-566.92 [[ 1.22662582e-01 -5.39924668e-01 8.32727593e-01 2.93579976e+02] [ 6.87298933e-02 8.41670780e-01 5.35599197e-01 -1.70247657e+02] [-9.90065701e-01 -8.46470170e-03 1.40350476e-01 -5.66921681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-170.24, Z:-566.95 [[ 1.24022975e-01 -5.18519584e-01 8.46023488e-01 2.93569663e+02] [ 6.71839774e-02 8.55037647e-01 5.14195426e-01 -1.70239924e+02] [-9.90002331e-01 -6.93282364e-03 1.40880521e-01 -5.66950175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-170.24, Z:-566.98 [[ 1.24434433e-01 -5.13846889e-01 8.48809429e-01 2.93567919e+02] [ 6.47916630e-02 8.57840366e-01 5.09815601e-01 -1.70238726e+02] [-9.90110152e-01 -8.44284094e-03 1.40037874e-01 -5.66981052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-170.23, Z:-567.01 [[ 1.24951284e-01 -5.05915945e-01 8.53484758e-01 2.93566386e+02] [ 6.43644833e-02 8.62547745e-01 5.01865123e-01 -1.70234298e+02] [-9.90072922e-01 -7.77458622e-03 1.40339467e-01 -5.67008624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-170.23, Z:-567.04 [[ 1.24955852e-01 -5.08392417e-01 8.52011259e-01 2.93571073e+02] [ 6.45899543e-02 8.61088460e-01 5.04336001e-01 -1.70232988e+02] [-9.90057661e-01 -7.98836633e-03 1.40435085e-01 -5.67035844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-170.23, Z:-567.07 [[ 1.25573008e-01 -5.11414878e-01 8.50109547e-01 2.93577392e+02] [ 6.43669346e-02 8.59286807e-01 5.07427907e-01 -1.70231368e+02] [-9.89994100e-01 -9.00030296e-03 1.40821437e-01 -5.67068846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-170.23, Z:-567.10 [[ 1.25695866e-01 -5.06482334e-01 8.53039386e-01 2.93577877e+02] [ 6.42146271e-02 8.62209614e-01 5.02464987e-01 -1.70227721e+02] [-9.89988400e-01 -8.38016535e-03 1.40899758e-01 -5.67101329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-170.23, Z:-567.13 [[ 1.26850404e-01 -5.09662575e-01 8.50971818e-01 2.93585844e+02] [ 6.40887911e-02 8.60320683e-01 5.05708364e-01 -1.70225419e+02] [-9.89849282e-01 -9.61155537e-03 1.41795685e-01 -5.67131473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-170.22, Z:-567.16 [[ 1.21092037e-01 -5.04505132e-01 8.54875015e-01 2.93578349e+02] [ 6.39582344e-02 8.63388353e-01 5.00469676e-01 -1.70224089e+02] [-9.90578651e-01 -5.92659608e-03 1.36816712e-01 -5.67162016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-170.24, Z:-567.19 [[ 1.20306351e-01 -5.53262574e-01 8.24273563e-01 2.93614931e+02] [ 6.50618820e-02 8.32913313e-01 5.49565614e-01 -1.70236958e+02] [-9.90602510e-01 -1.24874442e-02 1.36201065e-01 -5.67187725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.24, Z:-567.21 [[ 1.25001777e-01 -5.60589642e-01 8.18604794e-01 2.93630810e+02] [ 6.71484790e-02 8.27964570e-01 5.56745680e-01 -1.70235438e+02] [-9.89881628e-01 -1.46261324e-02 1.41139784e-01 -5.67214513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-170.22, Z:-567.24 [[ 1.24702415e-01 -5.24618963e-01 8.42154530e-01 2.93608910e+02] [ 6.86234243e-02 8.51307763e-01 5.20159512e-01 -1.70224198e+02] [-9.89818233e-01 -7.07361987e-03 1.42161284e-01 -5.67244785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:-170.22, Z:-567.27 [[ 1.24615862e-01 -5.26335504e-01 8.41095609e-01 2.93613184e+02] [ 6.87913351e-02 8.50246719e-01 5.21869974e-01 -1.70222607e+02] [-9.89817478e-01 -7.17318671e-03 1.42161550e-01 -5.67272993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-170.22, Z:-567.30 [[ 1.24528757e-01 -5.27411526e-01 8.40434216e-01 2.93617027e+02] [ 6.89491029e-02 8.49579677e-01 5.22934407e-01 -1.70220837e+02] [-9.89817463e-01 -7.17318659e-03 1.42161653e-01 -5.67301237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-170.22, Z:-567.33 [[ 1.23989435e-01 -5.28606260e-01 8.39763087e-01 2.93620854e+02] [ 6.99723842e-02 8.48844431e-01 5.23991410e-01 -1.70219073e+02] [-9.89813359e-01 -6.20917377e-03 1.42235582e-01 -5.67329454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.22, Z:-567.36 [[ 1.23232690e-01 -5.30435850e-01 8.38720164e-01 2.93625325e+02] [ 7.06939813e-02 8.47707269e-01 5.25732581e-01 -1.70217610e+02] [-9.89856588e-01 -5.49497245e-03 1.41963869e-01 -5.67356162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.22, Z:-567.38 [[ 1.22626492e-01 -5.31286882e-01 8.38270238e-01 2.93629573e+02] [ 7.14215187e-02 8.47178994e-01 5.26485251e-01 -1.70215881e+02] [-9.89879644e-01 -4.69050583e-03 1.41831904e-01 -5.67383695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-170.21, Z:-567.41 [[ 1.22072841e-01 -5.33084958e-01 8.37208845e-01 2.93634409e+02] [ 7.16804908e-02 8.46049882e-01 5.28262723e-01 -1.70214271e+02] [-9.89929355e-01 -4.47499071e-03 1.41491504e-01 -5.67410209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-170.21, Z:-567.44 [[ 1.22291266e-01 -5.34281842e-01 8.36413630e-01 2.93638757e+02] [ 7.20463651e-02 8.45294515e-01 5.29420915e-01 -1.70211397e+02] [-9.89875835e-01 -4.48299201e-03 1.41865201e-01 -5.67437695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-170.21, Z:-567.47 [[ 1.22615023e-01 -5.36050130e-01 8.35233988e-01 2.93642489e+02] [ 7.24250476e-02 8.44173423e-01 5.31155198e-01 -1.70209296e+02] [-9.89808147e-01 -4.63574555e-03 1.42331800e-01 -5.67465124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-170.21, Z:-567.49 [[ 1.22728831e-01 -5.37827466e-01 8.34073888e-01 2.93646558e+02] [ 7.27985710e-02 8.43041926e-01 5.32898375e-01 -1.70207317e+02] [-9.89766640e-01 -4.68260773e-03 1.42618621e-01 -5.67492711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-170.21, Z:-567.52 [[ 1.22592430e-01 -5.39671456e-01 8.32902045e-01 2.93650168e+02] [ 7.36067460e-02 8.41865057e-01 5.34644997e-01 -1.70205082e+02] [-9.89723771e-01 -4.23622006e-03 1.42929743e-01 -5.67520087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-170.20, Z:-567.55 [[ 1.22697999e-01 -5.41484324e-01 8.31709040e-01 2.93654675e+02] [ 7.43992645e-02 8.40701650e-01 5.36363202e-01 -1.70202522e+02] [-9.89651429e-01 -3.93215070e-03 1.43438446e-01 -5.67548173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-170.20, Z:-567.57 [[ 1.21797220e-01 -5.43308358e-01 8.30651230e-01 2.93658832e+02] [ 7.46447899e-02 8.39525742e-01 5.38167895e-01 -1.70200581e+02] [-9.89744206e-01 -3.54356725e-03 1.42807040e-01 -5.67574621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-170.20, Z:-567.60 [[ 1.19353324e-01 -5.44292744e-01 8.30361483e-01 2.93662502e+02] [ 7.53397183e-02 8.38893464e-01 5.39056289e-01 -1.70198024e+02] [-9.89989248e-01 -1.77895980e-03 1.41131585e-01 -5.67601998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-170.20, Z:-567.63 [[ 1.18015774e-01 -5.46175313e-01 8.29315865e-01 2.93666513e+02] [ 7.57002445e-02 8.37670229e-01 5.40904853e-01 -1.70195696e+02] [-9.90122089e-01 -1.05589130e-03 1.40203905e-01 -5.67629966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-170.19, Z:-567.66 [[ 1.17387982e-01 -5.48013039e-01 8.28191869e-01 2.93670535e+02] [ 7.62048107e-02 8.36469580e-01 5.42689109e-01 -1.70193515e+02] [-9.90158012e-01 -5.92974627e-04 1.39952706e-01 -5.67656786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:-170.19, Z:-567.68 [[ 1.16351937e-01 -5.48927022e-01 8.27732657e-01 2.93673076e+02] [ 7.71568974e-02 8.35870042e-01 5.43477769e-01 -1.70190337e+02] [-9.90206564e-01 6.30592779e-04 1.39608604e-01 -5.67684781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-170.19, Z:-567.71 [[ 1.16397880e-01 -5.50700365e-01 8.26547423e-01 2.93677056e+02] [ 7.74889568e-02 8.34702801e-01 5.45221695e-01 -1.70188524e+02] [-9.90175235e-01 5.85647964e-04 1.39830834e-01 -5.67712916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-170.19, Z:-567.74 [[ 1.16472585e-01 -5.52486955e-01 8.25343747e-01 2.93680981e+02] [ 7.80982829e-02 8.33521203e-01 5.46939726e-01 -1.70186469e+02] [-9.90118576e-01 7.54445617e-04 1.40230652e-01 -5.67740872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-170.18, Z:-567.77 [[ 1.16361193e-01 -5.54251812e-01 8.24175346e-01 2.93684794e+02] [ 7.82978244e-02 8.32348761e-01 5.48693895e-01 -1.70184600e+02] [-9.90115914e-01 6.84460530e-04 1.40249806e-01 -5.67768424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-170.18, Z:-567.80 [[ 1.17506636e-01 -5.55929577e-01 8.22881824e-01 2.93688030e+02] [ 7.82483950e-02 8.31229345e-01 5.50395281e-01 -1.70181812e+02] [-9.89984535e-01 -2.85915787e-04 1.41175561e-01 -5.67795319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-170.18, Z:-567.82 [[ 1.18043384e-01 -5.56572377e-01 8.22370323e-01 2.93690369e+02] [ 7.74203901e-02 8.30797959e-01 5.51163165e-01 -1.70178330e+02] [-9.89985779e-01 -1.39293404e-03 1.41160253e-01 -5.67822241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-170.18, Z:-567.85 [[ 1.18593486e-01 -5.57283146e-01 8.21809638e-01 2.93693236e+02] [ 7.73861746e-02 8.30320456e-01 5.51887054e-01 -1.70175664e+02] [-9.89922707e-01 -1.85350558e-03 1.41596608e-01 -5.67849654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-170.17, Z:-567.88 [[ 1.19307800e-01 -5.58845677e-01 8.20644356e-01 2.93695921e+02] [ 7.63371770e-02 8.29264683e-01 5.53617848e-01 -1.70172583e+02] [-9.89918322e-01 -3.40525377e-03 1.41598446e-01 -5.67877757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-170.17, Z:-567.91 [[ 1.20188977e-01 -5.60467900e-01 8.19408533e-01 2.93699866e+02] [ 7.58903593e-02 8.28163602e-01 5.55324862e-01 -1.70170042e+02] [-9.89846081e-01 -4.55871921e-03 1.42070247e-01 -5.67905588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-170.17, Z:-567.93 [[ 1.20722469e-01 -5.62090628e-01 8.18217704e-01 2.93703438e+02] [ 7.52238899e-02 8.27056001e-01 5.57063495e-01 -1.70167568e+02] [-9.89832032e-01 -5.70056228e-03 1.42126886e-01 -5.67932029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.17, Z:-567.96 [[ 1.21761349e-01 -5.63122809e-01 8.17353581e-01 2.93706261e+02] [ 7.45679410e-02 8.26343406e-01 5.58208023e-01 -1.70165146e+02] [-9.89754412e-01 -7.01978817e-03 1.42607596e-01 -5.67958681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-170.15, Z:-567.98 [[ 1.05378984e-01 -5.18641941e-01 8.48472632e-01 2.93652594e+02] [ 7.21080769e-02 8.54962447e-01 5.13653230e-01 -1.70150610e+02] [-9.91814345e-01 7.05347454e-03 1.27493347e-01 -5.67984666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-170.20, Z:-568.00 [[ 1.25385913e-01 -8.64591908e-01 4.86579084e-01 2.93977775e+02] [ 7.96347683e-02 4.97638068e-01 8.63721400e-01 -1.70195307e+02] [-9.88906809e-01 -6.95498840e-02 1.31248380e-01 -5.67999288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.15, Z:-568.05 [[ 1.27075867e-01 -5.55846839e-01 8.21514465e-01 2.93710029e+02] [ 7.21508877e-02 8.31214856e-01 5.51249592e-01 -1.70152585e+02] [-9.89265371e-01 -1.07775221e-02 1.45732192e-01 -5.68053445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.15, Z:-568.08 [[ 1.27062034e-01 -5.56558003e-01 8.21034975e-01 2.93712891e+02] [ 7.19463839e-02 8.30735034e-01 5.51999113e-01 -1.70150127e+02] [-9.89282041e-01 -1.10676326e-02 1.45597219e-01 -5.68080815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.15, Z:-568.11 [[ 1.26733057e-01 -5.58262838e-01 8.19927641e-01 2.93716756e+02] [ 7.17155353e-02 8.29586137e-01 5.53754209e-01 -1.70147937e+02] [-9.89341000e-01 -1.13774141e-02 1.45172105e-01 -5.68108720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.15, Z:-568.14 [[ 1.26537835e-01 -5.59966096e-01 8.18795547e-01 2.93720368e+02] [ 7.16742864e-02 8.28434274e-01 5.55481278e-01 -1.70145367e+02] [-9.89368977e-01 -1.16028117e-02 1.44963450e-01 -5.68136519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.14, Z:-568.16 [[ 1.26276390e-01 -5.61691725e-01 8.17653154e-01 2.93724000e+02] [ 7.18820053e-02 8.27265480e-01 5.57193686e-01 -1.70143350e+02] [-9.89387311e-01 -1.15858589e-02 1.44839626e-01 -5.68163228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-170.14, Z:-568.19 [[ 1.17522274e-01 -5.43040837e-01 8.31441619e-01 2.93700810e+02] [ 7.21439816e-02 8.39699916e-01 5.38237213e-01 -1.70135341e+02] [-9.90446243e-01 -3.27135249e-03 1.37860572e-01 -5.68192206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-170.17, Z:-568.22 [[ 1.27736950e-01 -7.07022465e-01 6.95559131e-01 2.93839009e+02] [ 7.60054815e-02 7.06220002e-01 7.03900900e-01 -1.70168893e+02] [-9.88891520e-01 -3.70478474e-02 1.43947972e-01 -5.68217943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-170.13, Z:-568.26 [[ 1.19663688e-01 -5.42830541e-01 8.31273484e-01 2.93709309e+02] [ 7.31842008e-02 8.39834833e-01 5.37886164e-01 -1.70129239e+02] [-9.90113466e-01 -3.52935654e-03 1.40224353e-01 -5.68257460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.16, Z:-568.28 [[ 1.20546404e-01 -6.67084116e-01 7.35164843e-01 2.93803494e+02] [ 7.50222788e-02 7.44569281e-01 6.63316097e-01 -1.70157499e+02] [-9.89868791e-01 -2.48066282e-02 1.39801320e-01 -5.68283459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.15, Z:-568.32 [[ 1.19297212e-01 -6.34920572e-01 7.63311236e-01 2.93781287e+02] [ 7.50394182e-02 7.72368506e-01 6.30726547e-01 -1.70147979e+02] [-9.90018819e-01 -1.79654873e-02 1.39785479e-01 -5.68317549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-170.15, Z:-568.35 [[ 1.25836956e-01 -6.65716342e-01 7.35518057e-01 2.93819614e+02] [ 7.67127726e-02 7.45721372e-01 6.61826855e-01 -1.70150777e+02] [-9.89080488e-01 -2.68586470e-02 1.44908254e-01 -5.68350981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:-170.12, Z:-568.39 [[ 1.17208967e-01 -5.33593267e-01 8.37580016e-01 2.93717334e+02] [ 7.62188274e-02 8.45739007e-01 5.28125196e-01 -1.70115520e+02] [-9.90178140e-01 1.93835805e-03 1.39798049e-01 -5.68386973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-170.15, Z:-568.41 [[ 1.17810940e-01 -6.63568503e-01 7.38781039e-01 2.93815190e+02] [ 7.79598219e-02 7.47846131e-01 6.59278720e-01 -1.70146713e+02] [-9.89971135e-01 -2.00750076e-02 1.39836138e-01 -5.68412549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.14, Z:-568.45 [[ 1.18322881e-01 -6.30840513e-01 7.66837625e-01 2.93795447e+02] [ 7.93309919e-02 7.75799677e-01 6.25972408e-01 -1.70136898e+02] [-9.89801136e-01 -1.32328693e-02 1.41840056e-01 -5.68447773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.13, Z:-568.48 [[ 1.16800448e-01 -6.20657424e-01 7.75333488e-01 2.93792362e+02] [ 8.14939592e-02 7.84033729e-01 6.15345307e-01 -1.70132450e+02] [-9.89806239e-01 -8.68761196e-03 1.42155322e-01 -5.68479833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.13, Z:-568.51 [[ 1.17827925e-01 -6.10504769e-01 7.83198894e-01 2.93790396e+02] [ 8.21730512e-02 7.91982290e-01 6.04988961e-01 -1.70127279e+02] [-9.89628299e-01 -6.92675124e-03 1.43484670e-01 -5.68513277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.12, Z:-568.55 [[ 1.16066715e-01 -5.98217007e-01 7.92883932e-01 2.93783147e+02] [ 8.24050264e-02 8.01326784e-01 5.92524090e-01 -1.70122157e+02] [-9.89817119e-01 -3.43470344e-03 1.42303456e-01 -5.68545280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.12, Z:-568.58 [[ 1.19510512e-01 -6.14116806e-01 7.80113958e-01 2.93802099e+02] [ 8.37439937e-02 7.89180610e-01 6.08424940e-01 -1.70122244e+02] [-9.89294790e-01 -7.38331787e-03 1.45743973e-01 -5.68577872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.11, Z:-568.61 [[ 1.20667487e-01 -5.77194431e-01 8.07642214e-01 2.93779280e+02] [ 8.31823252e-02 8.16604899e-01 5.71171726e-01 -1.70110538e+02] [-9.89201728e-01 -1.74029974e-03 1.46550036e-01 -5.68612863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.11, Z:-568.64 [[ 1.20419856e-01 -5.73403655e-01 8.10374794e-01 2.93778487e+02] [ 8.25977403e-02 8.19271814e-01 5.67425157e-01 -1.70107209e+02] [-9.89280886e-01 -1.39412891e-03 1.46018440e-01 -5.68644891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.11, Z:-568.68 [[ 1.21270600e-01 -5.86093027e-01 8.01116974e-01 2.93790815e+02] [ 8.16050778e-02 8.10228273e-01 5.80405683e-01 -1.70108352e+02] [-9.89259346e-01 -5.01093252e-03 1.46085036e-01 -5.68677212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.10, Z:-568.71 [[ 1.22663511e-01 -5.78309506e-01 8.06543104e-01 2.93789492e+02] [ 8.10533384e-02 8.15802936e-01 5.72621975e-01 -1.70103370e+02] [-9.89132964e-01 -4.86681101e-03 1.46943169e-01 -5.68709952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.10, Z:-568.74 [[ 1.23980942e-01 -5.78218632e-01 8.06406808e-01 2.93793461e+02] [ 7.94889705e-02 8.15852582e-01 5.72770519e-01 -1.70101102e+02] [-9.89095663e-01 -6.91218130e-03 1.47112175e-01 -5.68742733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.10, Z:-568.78 [[ 1.25297491e-01 -5.69742214e-01 8.12215703e-01 2.93792055e+02] [ 7.90363402e-02 8.21797704e-01 5.64271026e-01 -1.70096094e+02] [-9.88966024e-01 -6.50718692e-03 1.47999529e-01 -5.68775737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-170.09, Z:-568.81 [[ 1.22952824e-01 -5.57968583e-01 8.20703152e-01 2.93783664e+02] [ 7.80305176e-02 8.29852949e-01 5.52499159e-01 -1.70091000e+02] [-9.89340104e-01 -3.89144030e-03 1.45571341e-01 -5.68806895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.10, Z:-568.84 [[ 1.22048607e-01 -5.86130207e-01 8.00971609e-01 2.93805632e+02] [ 7.75876774e-02 8.10169414e-01 5.81038444e-01 -1.70096896e+02] [-9.89486882e-01 -8.76940613e-03 1.44356530e-01 -5.68837619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.10, Z:-568.87 [[ 1.25053948e-01 -6.02022355e-01 7.88625763e-01 2.93825813e+02] [ 7.79384674e-02 7.98370023e-01 5.97102086e-01 -1.70097769e+02] [-9.89083973e-01 -1.32056897e-02 1.46760023e-01 -5.68869596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-170.08, Z:-568.90 [[ 1.24363070e-01 -5.51333490e-01 8.24963763e-01 2.93794269e+02] [ 7.71340608e-02 8.34274075e-01 5.45927747e-01 -1.70082095e+02] [-9.89234130e-01 -4.26044570e-03 1.46279476e-01 -5.68904608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.08, Z:-568.94 [[ 1.23668649e-01 -5.64776343e-01 8.15925087e-01 2.93808520e+02] [ 7.67833654e-02 8.25218004e-01 5.59570871e-01 -1.70084097e+02] [-9.89348462e-01 -6.55189984e-03 1.45419024e-01 -5.68936832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.08, Z:-568.97 [[ 1.24002561e-01 -5.58710608e-01 8.20040134e-01 2.93809636e+02] [ 7.61011326e-02 8.29339249e-01 5.53538641e-01 -1.70079682e+02] [-9.89359380e-01 -6.23422592e-03 1.45358701e-01 -5.68966852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-170.08, Z:-569.00 [[ 1.24056140e-01 -5.65349735e-01 8.15469037e-01 2.93818595e+02] [ 7.70731432e-02 8.24824625e-01 5.60110765e-01 -1.70079143e+02] [-9.89277415e-01 -6.63441785e-03 1.45897841e-01 -5.69000247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.07, Z:-569.03 [[ 1.24277124e-01 -5.38834094e-01 8.33194465e-01 2.93804994e+02] [ 7.70984811e-02 8.42409441e-01 5.33293689e-01 -1.70068972e+02] [-9.89247704e-01 -2.03817832e-03 1.46235513e-01 -5.69034422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.07, Z:-569.07 [[ 1.22928868e-01 -5.31567815e-01 8.38047822e-01 2.93801939e+02] [ 7.68158877e-02 8.47015689e-01 5.25988347e-01 -1.70065676e+02] [-9.89438130e-01 -2.83764549e-04 1.44955533e-01 -5.69068178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-170.07, Z:-569.09 [[ 1.25035328e-01 -5.47128842e-01 8.27657053e-01 2.93819608e+02] [ 7.68257821e-02 8.37038120e-01 5.41724086e-01 -1.70067204e+02] [-9.89173375e-01 -4.14924822e-03 1.46692937e-01 -5.69093606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.06, Z:-569.12 [[ 1.27054224e-01 -5.28168316e-01 8.39580523e-01 2.93810073e+02] [ 7.81501379e-02 8.49139365e-01 5.22355142e-01 -1.70061061e+02] [-9.88812308e-01 -7.54093837e-04 1.49163170e-01 -5.69123972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.05, Z:-569.15 [[ 1.26325240e-01 -5.14791219e-01 8.47957508e-01 2.93805075e+02] [ 7.84443279e-02 8.57312639e-01 5.08784362e-01 -1.70054898e+02] [-9.88882410e-01 2.24515006e-03 1.48682676e-01 -5.69153632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:-170.05, Z:-569.18 [[ 1.26343280e-01 -5.02432532e-01 8.55335564e-01 2.93800656e+02] [ 7.87300600e-02 8.64603951e-01 4.96247504e-01 -1.70048916e+02] [-9.88857398e-01 4.64308269e-03 1.48793443e-01 -5.69181670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-170.05, Z:-569.21 [[ 1.26628966e-01 -5.08086528e-01 8.51946703e-01 2.93807522e+02] [ 8.01901823e-02 8.61292752e-01 5.01741297e-01 -1.70047158e+02] [-9.88703515e-01 4.78277980e-03 1.49808162e-01 -5.69209000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.05, Z:-569.24 [[ 1.28527994e-01 -5.28411408e-01 8.39203157e-01 2.93827441e+02] [ 8.01228729e-02 8.48988440e-01 5.22301592e-01 -1.70049964e+02] [-9.88463899e-01 1.08992089e-04 1.51456621e-01 -5.69238799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-170.04, Z:-569.27 [[ 1.28916606e-01 -5.16485804e-01 8.46535837e-01 2.93822934e+02] [ 8.03851629e-02 8.56292727e-01 5.10197012e-01 -1.70044611e+02] [-9.88391994e-01 2.27605386e-03 1.51908148e-01 -5.69268036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.04, Z:-569.30 [[ 1.28707689e-01 -5.17979674e-01 8.45654414e-01 2.93827493e+02] [ 8.06735486e-02 8.55389651e-01 5.11664268e-01 -1.70043502e+02] [-9.88395725e-01 2.36681716e-03 1.51882483e-01 -5.69295593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-170.04, Z:-569.32 [[ 1.28498263e-01 -5.19665396e-01 8.44651451e-01 2.93832434e+02] [ 8.09053795e-02 8.54366572e-01 5.13334277e-01 -1.70042693e+02] [-9.88404025e-01 2.37428295e-03 1.51828347e-01 -5.69323385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-170.04, Z:-569.35 [[ 1.28451589e-01 -5.21342826e-01 8.43624233e-01 2.93837468e+02] [ 8.13075501e-02 8.53343824e-01 5.14969320e-01 -1.70041634e+02] [-9.88377090e-01 2.44439218e-03 1.52002478e-01 -5.69350602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-170.04, Z:-569.38 [[ 1.28664533e-01 -5.22939027e-01 8.42603236e-01 2.93843018e+02] [ 8.10423803e-02 8.52368159e-01 5.16624287e-01 -1.70041313e+02] [-9.88371171e-01 1.81534928e-03 1.52049775e-01 -5.69377087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.04, Z:-569.41 [[ 1.28961546e-01 -5.23981326e-01 8.41910025e-01 2.93847499e+02] [ 8.05881470e-02 8.51729069e-01 5.17748147e-01 -1.70040207e+02] [-9.88369602e-01 1.07836744e-03 1.52066982e-01 -5.69405108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.04, Z:-569.44 [[ 1.28417332e-01 -5.22457943e-01 8.42939314e-01 2.93849537e+02] [ 7.86513108e-02 8.52665055e-01 5.16503896e-01 -1.70038802e+02] [-9.88596460e-01 -2.97702431e-05 1.50588973e-01 -5.69438047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.04, Z:-569.47 [[ 1.26214247e-01 -5.15601028e-01 8.47481884e-01 2.93846127e+02] [ 7.67454785e-02 8.56828516e-01 5.09857849e-01 -1.70035730e+02] [-9.89029876e-01 6.89078286e-04 1.47714013e-01 -5.69469777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.88, Y:-170.04, Z:-569.50 [[ 1.29676529e-01 -5.54281594e-01 8.22165380e-01 2.93880340e+02] [ 7.59377884e-02 8.32282951e-01 5.49125252e-01 -1.70044668e+02] [-9.88644249e-01 -8.77523578e-03 1.50018482e-01 -5.69500142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8165599949999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:293.85, Y:-170.03, Z:-569.53 [[ 1.28787834e-01 -5.06551276e-01 8.52537095e-01 2.93852036e+02] [ 7.14740865e-02 8.62202102e-01 5.01496750e-01 -1.70031827e+02] [-9.89093094e-01 -3.65237001e-03 1.47246431e-01 -5.69531761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-170.03, Z:-569.56 [[ 1.31331766e-01 -5.14622695e-01 8.47298914e-01 2.93863845e+02] [ 7.19391693e-02 8.57395942e-01 5.09604704e-01 -1.70030515e+02] [-9.88724796e-01 -5.97330598e-03 1.49624853e-01 -5.69558423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-170.03, Z:-569.59 [[ 1.33035848e-01 -5.21585357e-01 8.42763418e-01 2.93873781e+02] [ 7.01450757e-02 8.53144470e-01 5.16937309e-01 -1.70030523e+02] [-9.88625881e-01 -9.65548950e-03 1.50085442e-01 -5.69588529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-170.03, Z:-569.62 [[ 1.34643116e-01 -5.21185796e-01 8.42755360e-01 2.93877541e+02] [ 6.78498416e-02 8.53352919e-01 5.16899598e-01 -1.70028711e+02] [-9.88568475e-01 -1.24161546e-02 1.50260469e-01 -5.69621048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-170.03, Z:-569.65 [[ 1.35936555e-01 -5.21700273e-01 8.42229231e-01 2.93882432e+02] [ 6.52559801e-02 8.52989262e-01 5.17832962e-01 -1.70027108e+02] [-9.88566088e-01 -1.54319349e-02 1.49996484e-01 -5.69652471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-170.02, Z:-569.68 [[ 1.36866389e-01 -5.18532216e-01 8.44033135e-01 2.93884214e+02] [ 6.39832717e-02 8.54899662e-01 5.14832699e-01 -1.70024533e+02] [-9.88520982e-01 -1.64592908e-02 1.50184417e-01 -5.69679071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-170.02, Z:-569.71 [[ 1.37896935e-01 -5.19032896e-01 8.43557520e-01 2.93888399e+02] [ 6.28548461e-02 8.54563275e-01 5.15529706e-01 -1.70023334e+02] [-9.88450152e-01 -1.80682883e-02 1.50465389e-01 -5.69705377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-170.02, Z:-569.73 [[ 1.39438909e-01 -5.19813925e-01 8.42822801e-01 2.93892952e+02] [ 6.11054995e-02 8.54032654e-01 5.16618181e-01 -1.70022604e+02] [-9.88343518e-01 -2.05355670e-02 1.50848871e-01 -5.69733432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-170.02, Z:-569.76 [[ 1.40451038e-01 -5.21195322e-01 8.41801011e-01 2.93897583e+02] [ 6.03339798e-02 8.53154162e-01 5.18158071e-01 -1.70021706e+02] [-9.88247599e-01 -2.19866337e-02 1.51272176e-01 -5.69760871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-170.02, Z:-569.79 [[ 1.41070741e-01 -5.27670664e-01 8.37653100e-01 2.93906022e+02] [ 6.08406563e-02 8.49136234e-01 5.24658052e-01 -1.70021918e+02] [-9.88128261e-01 -2.30505359e-02 1.51892108e-01 -5.69789024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-170.02, Z:-569.82 [[ 1.42419911e-01 -5.22842324e-01 8.40447782e-01 2.93908068e+02] [ 6.08201928e-02 8.52121400e-01 5.19798060e-01 -1.70020271e+02] [-9.87935966e-01 -2.29133973e-02 1.53158425e-01 -5.69821121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-170.02, Z:-569.85 [[ 1.42621453e-01 -5.21787221e-01 8.41069092e-01 2.93911127e+02] [ 6.10780127e-02 8.52776095e-01 5.18692980e-01 -1.70018919e+02] [-9.87890985e-01 -2.26059180e-02 1.53493893e-01 -5.69849007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-170.02, Z:-569.88 [[ 1.43427909e-01 -5.23428451e-01 8.39911359e-01 2.93915887e+02] [ 6.17183201e-02 8.51764954e-01 5.20276189e-01 -1.70018329e+02] [-9.87734420e-01 -2.27842079e-02 1.54471991e-01 -5.69875243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-170.02, Z:-569.90 [[ 1.43713012e-01 -5.24182884e-01 8.39391967e-01 2.93920437e+02] [ 6.23603979e-02 8.51307852e-01 5.20947331e-01 -1.70017452e+02] [-9.87652647e-01 -2.25220928e-02 1.55032269e-01 -5.69903326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-170.02, Z:-569.93 [[ 1.44166620e-01 -5.25934839e-01 8.38217472e-01 2.93925922e+02] [ 6.38147957e-02 8.50244484e-01 5.22505492e-01 -1.70018137e+02] [-9.87493624e-01 -2.18371739e-02 1.56139298e-01 -5.69931509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:-170.02, Z:-569.96 [[ 1.43981137e-01 -5.27682594e-01 8.37150233e-01 2.93931263e+02] [ 6.45810758e-02 8.49171917e-01 5.24152974e-01 -1.70017605e+02] [-9.87470869e-01 -2.14040783e-02 1.56343048e-01 -5.69961192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.02, Z:-569.99 [[ 1.42701616e-01 -5.28203967e-01 8.37040512e-01 2.93937396e+02] [ 6.63821370e-02 8.48898976e-01 5.24370042e-01 -1.70018444e+02] [-9.87537169e-01 -1.92639145e-02 1.56202564e-01 -5.69989123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-170.02, Z:-570.02 [[ 1.41705674e-01 -5.30053051e-01 8.36040230e-01 2.93942931e+02] [ 6.74675866e-02 8.47770446e-01 5.26054556e-01 -1.70018255e+02] [-9.87607021e-01 -1.81392985e-02 1.55895282e-01 -5.70015586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.02, Z:-570.04 [[ 1.40750167e-01 -5.31380161e-01 8.35358914e-01 2.93948489e+02] [ 6.86478459e-02 8.46965732e-01 5.27196854e-01 -1.70017774e+02] [-9.87662323e-01 -1.68574552e-02 1.55688671e-01 -5.70043661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.02, Z:-570.07 [[ 1.39412305e-01 -5.33250372e-01 8.34390946e-01 2.93953999e+02] [ 6.99810354e-02 8.45818409e-01 5.28860921e-01 -1.70017313e+02] [-9.87758505e-01 -1.53381778e-02 1.55234907e-01 -5.70070983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-170.02, Z:-570.10 [[ 1.37490975e-01 -5.35208139e-01 8.33455746e-01 2.93960884e+02] [ 7.17961651e-02 8.44618565e-01 5.30532554e-01 -1.70018254e+02] [-9.87897537e-01 -1.31045118e-02 1.54553322e-01 -5.70098491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-170.01, Z:-570.13 [[ 1.31572454e-01 -5.23576470e-01 8.41757905e-01 2.93949515e+02] [ 7.23433123e-02 8.51947078e-01 5.18606423e-01 -1.70014564e+02] [-9.88663307e-01 -7.33876469e-03 1.49970024e-01 -5.70125538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-170.03, Z:-570.15 [[ 1.31233999e-01 -5.81703102e-01 8.02744753e-01 2.93994423e+02] [ 7.23638376e-02 8.13208762e-01 5.77455613e-01 -1.70028762e+02] [-9.88706788e-01 -1.76921181e-02 1.48814906e-01 -5.70154001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-170.03, Z:-570.19 [[ 1.31723744e-01 -5.83499350e-01 8.01359697e-01 2.94000109e+02] [ 7.23812597e-02 8.11907356e-01 5.79281796e-01 -1.70026621e+02] [-9.88640384e-01 -1.83017424e-02 1.49181894e-01 -5.70187091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-170.02, Z:-570.22 [[ 1.31865700e-01 -5.78655718e-01 8.04840976e-01 2.93999830e+02] [ 7.06417689e-02 8.15352440e-01 5.74639139e-01 -1.70023136e+02] [-9.88747277e-01 -1.89198019e-02 1.48394283e-01 -5.70219442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-170.02, Z:-570.25 [[ 1.32706716e-01 -5.84145175e-01 8.00726759e-01 2.94006724e+02] [ 7.00395596e-02 8.11379333e-01 5.80308572e-01 -1.70022284e+02] [-9.88677595e-01 -2.09282953e-02 1.48588757e-01 -5.70247503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-170.02, Z:-570.28 [[ 1.34175281e-01 -5.77376929e-01 8.05377475e-01 2.94004496e+02] [ 7.04341051e-02 8.16227494e-01 5.73421063e-01 -1.70016390e+02] [-9.88451330e-01 -2.02128904e-02 1.50184580e-01 -5.70275316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-170.02, Z:-570.30 [[ 1.41778505e-01 -6.00580998e-01 7.86893462e-01 2.94034568e+02] [ 7.20667330e-02 7.99076373e-01 5.96894745e-01 -1.70015770e+02] [-9.87271615e-01 -2.79180033e-02 1.56573764e-01 -5.70302135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-170.00, Z:-570.33 [[ 1.41492453e-01 -5.34699636e-01 8.33112349e-01 2.93990384e+02] [ 6.98812875e-02 8.44874659e-01 5.30380444e-01 -1.69996964e+02] [-9.87469742e-01 -1.68258667e-02 1.56908887e-01 -5.70334180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-169.99, Z:-570.36 [[ 1.41588820e-01 -5.36107631e-01 8.32190612e-01 2.93994380e+02] [ 6.91424949e-02 8.43962469e-01 5.31927313e-01 -1.69994513e+02] [-9.87507935e-01 -1.77752256e-02 1.56563469e-01 -5.70362247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-169.99, Z:-570.40 [[ 1.35169706e-01 -5.16341629e-01 8.45647961e-01 2.93975091e+02] [ 6.56434647e-02 8.56272448e-01 5.12336247e-01 -1.69987512e+02] [-9.88645582e-01 -1.37410779e-02 1.49636549e-01 -5.70395202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-170.00, Z:-570.42 [[ 1.38417697e-01 -5.94074242e-01 7.92411721e-01 2.94035093e+02] [ 6.58045250e-02 8.03862362e-01 5.91164164e-01 -1.70004342e+02] [-9.88185360e-01 -2.96833051e-02 1.50361550e-01 -5.70423322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-170.00, Z:-570.45 [[ 1.45691810e-01 -5.87015512e-01 7.96358390e-01 2.94042631e+02] [ 6.61750526e-02 8.08926676e-01 5.84173343e-01 -1.69996890e+02] [-9.87114360e-01 -3.24102132e-02 1.56699774e-01 -5.70454597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:-169.98, Z:-570.49 [[ 1.45614477e-01 -5.31850932e-01 8.34224796e-01 2.94005652e+02] [ 6.39743414e-02 8.46509344e-01 5.28516049e-01 -1.69979730e+02] [-9.87270838e-01 -2.35906064e-02 1.57288829e-01 -5.70485772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-169.97, Z:-570.52 [[ 1.39227439e-01 -5.14800657e-01 8.45929078e-01 2.93988172e+02] [ 6.27288929e-02 8.57118381e-01 5.11285797e-01 -1.69973909e+02] [-9.88271626e-01 -1.81208176e-02 1.51627272e-01 -5.70518247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-169.99, Z:-570.55 [[ 1.41476780e-01 -5.85805400e-01 7.98007741e-01 2.94042673e+02] [ 6.41592014e-02 8.09847162e-01 5.83121918e-01 -1.69989739e+02] [-9.87860272e-01 -3.12986716e-02 1.52159375e-01 -5.70547525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-169.98, Z:-570.58 [[ 1.46955552e-01 -5.78519979e-01 8.02320821e-01 2.94050014e+02] [ 6.49196227e-02 8.15019344e-01 5.75785474e-01 -1.69982974e+02] [-9.87010389e-01 -3.25285073e-02 1.57328916e-01 -5.70579003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-169.97, Z:-570.61 [[ 1.40573988e-01 -5.14842544e-01 8.45680855e-01 2.94002709e+02] [ 6.27172475e-02 8.57077616e-01 5.11355559e-01 -1.69965084e+02] [-9.88081728e-01 -1.88445146e-02 1.52772325e-01 -5.70613841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-169.98, Z:-570.64 [[ 1.40232615e-01 -5.66140967e-01 8.12292570e-01 2.94040521e+02] [ 6.37623552e-02 8.23860061e-01 5.63195314e-01 -1.69976694e+02] [-9.88063346e-01 -2.71846643e-02 1.51630532e-01 -5.70642409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-169.97, Z:-570.68 [[ 1.40757851e-01 -5.69353093e-01 8.09953259e-01 2.94047251e+02] [ 6.38384882e-02 8.21615202e-01 5.66456624e-01 -1.69974930e+02] [-9.87983742e-01 -2.80270255e-02 1.51995431e-01 -5.70675411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-169.97, Z:-570.71 [[ 1.47570208e-01 -5.85370640e-01 7.97222835e-01 2.94072247e+02] [ 6.48721146e-02 8.10040690e-01 5.82774132e-01 -1.69973975e+02] [-9.86921802e-01 -3.42825685e-02 1.57512104e-01 -5.70706470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-169.96, Z:-570.74 [[ 1.46281064e-01 -5.24349376e-01 8.38844194e-01 2.94032913e+02] [ 6.37244921e-02 8.51199210e-01 5.20959782e-01 -1.69956355e+02] [-9.87188452e-01 -2.27516313e-02 1.57928224e-01 -5.70738165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-169.95, Z:-570.77 [[ 1.45915593e-01 -5.26083052e-01 8.37821737e-01 2.94037381e+02] [ 6.46744696e-02 8.50146936e-01 5.22558513e-01 -1.69954751e+02] [-9.87180760e-01 -2.20637589e-02 1.58073837e-01 -5.70765447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-169.95, Z:-570.80 [[ 1.40338923e-01 -5.15582831e-01 8.45268792e-01 2.94027763e+02] [ 6.67449412e-02 8.56702013e-01 5.11475095e-01 -1.69951177e+02] [-9.87851254e-01 -1.53624481e-02 1.54641184e-01 -5.70797411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.136559995 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:294.07, Y:-169.96, Z:-570.82 [[ 1.38491402e-01 -5.66664740e-01 8.12226079e-01 2.94065232e+02] [ 6.80844285e-02 8.23636454e-01 5.63016432e-01 -1.69964338e+02] [-9.88020568e-01 -2.26729867e-02 1.52647612e-01 -5.70821569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-169.96, Z:-570.85 [[ 1.38914879e-01 -5.44933372e-01 8.26891938e-01 2.94059544e+02] [ 7.19003910e-02 8.38333938e-01 5.40394802e-01 -1.69955528e+02] [-9.87690736e-01 -1.56150248e-02 1.55637980e-01 -5.70851151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-169.95, Z:-570.88 [[ 1.30688152e-01 -5.19428806e-01 8.44460966e-01 2.94037697e+02] [ 7.26487557e-02 8.54493560e-01 5.14356797e-01 -1.69948050e+02] [-9.88758194e-01 -5.87130069e-03 1.49408040e-01 -5.70882825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-169.97, Z:-570.91 [[ 1.31578844e-01 -5.97497524e-01 7.91001717e-01 2.94099660e+02] [ 7.52919472e-02 8.01657939e-01 5.93022488e-01 -1.69965560e+02] [-9.88442275e-01 -1.84731537e-02 1.50467977e-01 -5.70910456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-169.96, Z:-570.94 [[ 1.33629705e-01 -5.81047261e-01 8.02824503e-01 2.94098935e+02] [ 7.75052112e-02 8.13736085e-01 5.76043858e-01 -1.69958904e+02] [-9.87995974e-01 -1.47534882e-02 1.53773504e-01 -5.70944348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-169.94, Z:-570.98 [[ 1.32417062e-01 -5.31292519e-01 8.36775944e-01 2.94067617e+02] [ 7.78787476e-02 8.47176874e-01 5.25572303e-01 -1.69944618e+02] [-9.88129861e-01 -4.42767772e-03 1.53557069e-01 -5.70975603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-169.94, Z:-571.00 [[ 1.31744724e-01 -5.33013106e-01 8.35787268e-01 2.94072138e+02] [ 7.87123053e-02 8.46099039e-01 5.27181932e-01 -1.69943261e+02] [-9.88153683e-01 -3.66669538e-03 1.53423774e-01 -5.71002860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-169.94, Z:-571.03 [[ 1.31671965e-01 -5.34664858e-01 8.34743064e-01 2.94076600e+02] [ 7.93701566e-02 8.45057481e-01 5.28751579e-01 -1.69941763e+02] [-9.88110759e-01 -3.36807166e-03 1.53706813e-01 -5.71029339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-169.94, Z:-571.06 [[ 1.31534151e-01 -5.35379616e-01 8.34306559e-01 2.94080515e+02] [ 7.95928930e-02 8.44605354e-01 5.29440050e-01 -1.69939654e+02] [-9.88111198e-01 -3.23457484e-03 1.53706861e-01 -5.71057573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-169.94, Z:-571.09 [[ 1.32093599e-01 -5.36910411e-01 8.33233756e-01 2.94084453e+02] [ 8.07190046e-02 8.43634419e-01 5.30815796e-01 -1.69937510e+02] [-9.87945203e-01 -2.85956967e-03 1.54777581e-01 -5.71085598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-169.94, Z:-571.11 [[ 1.32685794e-01 -5.38490826e-01 8.32119048e-01 2.94088389e+02] [ 8.09836962e-02 8.42625102e-01 5.32376350e-01 -1.69935786e+02] [-9.87844179e-01 -3.25070233e-03 1.55413358e-01 -5.71112003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-169.93, Z:-571.14 [[ 1.33710795e-01 -5.39154822e-01 8.31524805e-01 2.94091782e+02] [ 8.14414059e-02 8.42199213e-01 5.32980097e-01 -1.69933367e+02] [-9.87668325e-01 -3.54464362e-03 1.56520653e-01 -5.71138257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-169.93, Z:-571.17 [[ 1.34685842e-01 -5.39810164e-01 8.30942063e-01 2.94094411e+02] [ 8.18706447e-02 8.41778043e-01 5.33579351e-01 -1.69930688e+02] [-9.87500340e-01 -3.83582183e-03 1.57570191e-01 -5.71166053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-169.93, Z:-571.19 [[ 1.34903374e-01 -5.41424517e-01 8.29855753e-01 2.94098785e+02] [ 8.22429328e-02 8.40740110e-01 5.35156209e-01 -1.69928352e+02] [-9.87439709e-01 -3.94460742e-03 1.57947018e-01 -5.71193688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-169.93, Z:-571.22 [[ 1.34782750e-01 -5.43116401e-01 8.28769078e-01 2.94103346e+02] [ 8.30648220e-02 8.39650114e-01 5.36738224e-01 -1.69926219e+02] [-9.87387384e-01 -3.50149796e-03 1.58284219e-01 -5.71220218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.92, Z:-571.25 [[ 1.34430713e-01 -5.43897340e-01 8.28313990e-01 2.94107323e+02] [ 8.36663047e-02 8.39146595e-01 5.37431802e-01 -1.69923910e+02] [-9.87384592e-01 -2.94536960e-03 1.58312956e-01 -5.71248154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.92, Z:-571.27 [[ 1.33558453e-01 -5.45560036e-01 8.27361099e-01 2.94111852e+02] [ 8.39319704e-02 8.38067848e-01 5.39071152e-01 -1.69921921e+02] [-9.87480412e-01 -2.55546183e-03 1.57720974e-01 -5.71274944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-169.92, Z:-571.31 [[ 1.24907248e-01 -5.22173662e-01 8.43642606e-01 2.94089595e+02] [ 8.27486538e-02 8.52822036e-01 5.15603759e-01 -1.69916213e+02] [-9.88711707e-01 5.40764340e-03 1.49732821e-01 -5.71308191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-169.93, Z:-571.33 [[ 1.31121732e-01 -6.17653942e-01 7.75442261e-01 2.94171526e+02] [ 8.57674089e-02 7.86330393e-01 6.11823884e-01 -1.69933201e+02] [-9.87649251e-01 -1.37157338e-02 1.56079581e-01 -5.71330658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.91, Z:-571.37 [[ 1.28478712e-01 -5.36739027e-01 8.33909130e-01 2.94113910e+02] [ 8.33279589e-02 8.43747211e-01 5.30233058e-01 -1.69913765e+02] [-9.88205278e-01 1.36428554e-03 1.53128922e-01 -5.71369383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-169.91, Z:-571.40 [[ 1.30763254e-01 -5.49136728e-01 8.25439171e-01 2.94129858e+02] [ 8.29978555e-02 8.35728866e-01 5.42833877e-01 -1.69913019e+02] [-9.87933362e-01 -2.47304297e-03 1.54859797e-01 -5.71401592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.90, Z:-571.44 [[ 1.29099115e-01 -5.10299830e-01 8.50251434e-01 2.94105098e+02] [ 8.11685583e-02 8.59987391e-01 5.03818769e-01 -1.69900593e+02] [-9.88304145e-01 3.97112591e-03 1.52443913e-01 -5.71436134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-169.90, Z:-571.46 [[ 1.28845459e-01 -5.22966418e-01 8.42558588e-01 2.94116106e+02] [ 7.97178843e-02 8.52353095e-01 5.16855164e-01 -1.69902684e+02] [-9.88455314e-01 5.72547312e-04 1.51511602e-01 -5.71463016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.90, Z:-571.49 [[ 1.30752894e-01 -5.13754490e-01 8.47915093e-01 2.94113199e+02] [ 7.90818976e-02 8.57936980e-01 5.07631946e-01 -1.69895612e+02] [-9.88255905e-01 6.80388437e-04 1.52806423e-01 -5.71491670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-169.90, Z:-571.52 [[ 1.33806384e-01 -5.36497696e-01 8.33226304e-01 2.94134766e+02] [ 7.85598266e-02 8.43883477e-01 5.30743848e-01 -1.69898402e+02] [-9.87888762e-01 -5.55880117e-03 1.55064163e-01 -5.71523553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.89, Z:-571.55 [[ 1.33105370e-01 -5.02354326e-01 8.54355366e-01 2.94112728e+02] [ 7.59729547e-02 8.64661042e-01 4.96577681e-01 -1.69888017e+02] [-9.88185747e-01 -1.18925454e-03 1.53256371e-01 -5.71554907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.916559995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:294.12, Y:-169.89, Z:-571.58 [[ 1.34806477e-01 -5.14092348e-01 8.47075127e-01 2.94124811e+02] [ 7.51406133e-02 8.57720775e-01 5.08595085e-01 -1.69888503e+02] [-9.88018776e-01 -4.91216676e-03 1.54255530e-01 -5.71582838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-169.88, Z:-571.61 [[ 1.37338538e-01 -4.94409693e-01 8.58310655e-01 2.94114856e+02] [ 7.38450594e-02 8.69220869e-01 4.88878296e-01 -1.69877451e+02] [-9.87767702e-01 -3.75982891e-03 1.55887236e-01 -5.71611599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-169.88, Z:-571.64 [[ 1.35849366e-01 -5.15898353e-01 8.45809576e-01 2.94127913e+02] [ 7.14279953e-02 8.56602466e-01 5.11009057e-01 -1.69882951e+02] [-9.88151300e-01 -9.00577385e-03 1.53218487e-01 -5.71638512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-169.88, Z:-571.67 [[ 1.36691968e-01 -5.17595426e-01 8.44636183e-01 2.94131705e+02] [ 7.10108425e-02 8.55565668e-01 5.12800983e-01 -1.69880218e+02] [-9.88065163e-01 -1.01174485e-02 1.53703842e-01 -5.71666322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-169.88, Z:-571.69 [[ 1.41176600e-01 -5.41266486e-01 8.28914808e-01 2.94155427e+02] [ 7.20141832e-02 8.40697436e-01 5.36695238e-01 -1.69880833e+02] [-9.87361699e-01 -1.60751859e-02 1.57665669e-01 -5.71689692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-169.88, Z:-571.72 [[ 1.37526253e-01 -5.30357867e-01 8.36544716e-01 2.94145204e+02] [ 6.92279349e-02 8.47651069e-01 5.26018211e-01 -1.69877991e+02] [-9.88075920e-01 -1.44290504e-02 1.53289855e-01 -5.71720472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-169.88, Z:-571.75 [[ 1.39655550e-01 -5.47461422e-01 8.25095339e-01 2.94162430e+02] [ 6.94887168e-02 8.36625364e-01 5.43350089e-01 -1.69879948e+02] [-9.87758901e-01 -1.85470390e-02 1.54881767e-01 -5.71752506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-169.87, Z:-571.78 [[ 1.39024209e-01 -5.26754138e-01 8.38571612e-01 2.94150732e+02] [ 6.80470456e-02 8.49874752e-01 5.22572967e-01 -1.69873011e+02] [-9.87948313e-01 -1.55879729e-02 1.53997228e-01 -5.71780813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-169.87, Z:-571.81 [[ 1.38920408e-01 -5.21696785e-01 8.41744370e-01 2.94150734e+02] [ 6.97230920e-02 8.53029496e-01 5.17184077e-01 -1.69867713e+02] [-9.87846046e-01 -1.31584027e-02 1.54877518e-01 -5.71808117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-169.88, Z:-571.83 [[ 1.44064530e-01 -5.73657292e-01 8.06326685e-01 2.94196505e+02] [ 7.15363437e-02 8.18732150e-01 5.69701868e-01 -1.69876684e+02] [-9.86979211e-01 -2.43921689e-02 1.58987608e-01 -5.71834007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-169.87, Z:-571.86 [[ 1.43624855e-01 -5.47715381e-01 8.24244965e-01 2.94181950e+02] [ 7.09314044e-02 8.36435374e-01 5.43456163e-01 -1.69868233e+02] [-9.87086945e-01 -1.95889596e-02 1.58983130e-01 -5.71861996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-169.87, Z:-571.89 [[ 1.42973493e-01 -5.48456523e-01 8.23865294e-01 2.94186502e+02] [ 7.11076894e-02 8.35958193e-01 5.44166883e-01 -1.69866473e+02] [-9.87168819e-01 -1.92182823e-02 1.58519339e-01 -5.71890030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-169.86, Z:-571.92 [[ 1.42587105e-01 -5.50047234e-01 8.22871167e-01 2.94191245e+02] [ 7.11021758e-02 8.34910217e-01 5.45774139e-01 -1.69864774e+02] [-9.87225100e-01 -1.93124238e-02 1.58156986e-01 -5.71917458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:294.19, Y:-169.86, Z:-571.95 [[ 1.40156582e-01 -5.41042383e-01 8.29234148e-01 2.94186235e+02] [ 7.02527272e-02 8.40824089e-01 5.36730292e-01 -1.69862282e+02] [-9.87633883e-01 -1.69703227e-02 1.55856733e-01 -5.71948139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-169.86, Z:-571.97 [[ 1.41929382e-01 -5.29028346e-01 8.36651098e-01 2.94184134e+02] [ 7.07162003e-02 8.48466619e-01 5.24503208e-01 -1.69855446e+02] [-9.87347593e-01 -1.52776298e-02 1.57833218e-01 -5.71973574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-169.86, Z:-572.00 [[ 1.42566571e-01 -5.53709042e-01 8.20415181e-01 2.94205283e+02] [ 7.10961957e-02 8.32469745e-01 5.49490178e-01 -1.69859516e+02] [-9.87228496e-01 -2.00105323e-02 1.58048964e-01 -5.72003926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-169.86, Z:-572.04 [[ 1.39488753e-01 -5.42203109e-01 8.28588363e-01 2.94197467e+02] [ 7.03373232e-02 8.40080531e-01 5.37882295e-01 -1.69855851e+02] [-9.87722405e-01 -1.67478431e-02 1.55318901e-01 -5.72037590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-169.86, Z:-572.07 [[ 1.36679557e-01 -5.48905248e-01 8.24634299e-01 2.94202189e+02] [ 7.03024846e-02 8.35722373e-01 5.44633524e-01 -1.69856596e+02] [-9.88117533e-01 -1.64664283e-02 1.52815566e-01 -5.72068166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-169.87, Z:-572.10 [[ 1.44641774e-01 -6.15689200e-01 7.74600262e-01 2.94264275e+02] [ 7.29859399e-02 7.87338554e-01 6.12185474e-01 -1.69867590e+02] [-9.86788635e-01 -3.20126650e-02 1.58818700e-01 -5.72095465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-169.85, Z:-572.13 [[ 1.43533654e-01 -5.49867464e-01 8.22826751e-01 2.94220682e+02] [ 7.17935911e-02 8.35030668e-01 5.45499280e-01 -1.69849985e+02] [-9.87037877e-01 -1.92238174e-02 1.59331963e-01 -5.72127841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-169.85, Z:-572.16 [[ 1.43242275e-01 -5.51541145e-01 8.21756665e-01 2.94225618e+02] [ 7.27131625e-02 8.33940128e-01 5.47043563e-01 -1.69848127e+02] [-9.87012891e-01 -1.86072383e-02 1.59559782e-01 -5.72155444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-169.85, Z:-572.18 [[ 1.41927540e-01 -5.53320314e-01 8.20788160e-01 2.94230578e+02] [ 7.37778583e-02 8.32788624e-01 5.48652838e-01 -1.69847097e+02] [-9.87123802e-01 -1.73129550e-02 1.59018428e-01 -5.72182765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-169.85, Z:-572.21 [[ 1.41500800e-01 -5.54941888e-01 8.19766445e-01 2.94235122e+02] [ 7.42514065e-02 8.31715663e-01 5.50214308e-01 -1.69845607e+02] [-9.87149559e-01 -1.69869533e-02 1.58893648e-01 -5.72208936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.22, Y:-169.84, Z:-572.24 [[ 1.37487057e-01 -5.41043752e-01 8.29680039e-01 2.94224506e+02] [ 7.35783832e-02 8.40899008e-01 5.36167026e-01 -1.69842604e+02] [-9.87766942e-01 -1.26695107e-02 1.55421855e-01 -5.72239429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-169.85, Z:-572.26 [[ 1.41131716e-01 -5.67408878e-01 8.11251505e-01 2.94251148e+02] [ 7.53536638e-02 8.23233236e-01 5.62680072e-01 -1.69845137e+02] [-9.87118870e-01 -1.82812309e-02 1.58940657e-01 -5.72263898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-169.84, Z:-572.30 [[ 1.35060038e-01 -5.41094411e-01 8.30045556e-01 2.94229371e+02] [ 7.37411926e-02 8.40887193e-01 5.36163189e-01 -1.69837885e+02] [-9.88089582e-01 -1.12056714e-02 1.53471203e-01 -5.72296347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-169.85, Z:-572.32 [[ 1.42197567e-01 -6.20687124e-01 7.71055994e-01 2.94299382e+02] [ 7.61400445e-02 7.83522510e-01 6.16680769e-01 -1.69852497e+02] [-9.86905540e-01 -2.89822673e-02 1.58674140e-01 -5.72323367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-169.83, Z:-572.36 [[ 1.35007776e-01 -5.38451461e-01 8.31770957e-01 2.94236225e+02] [ 7.33544437e-02 8.42584485e-01 5.33545229e-01 -1.69832676e+02] [-9.88125511e-01 -1.10186591e-02 1.53253265e-01 -5.72359851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-169.85, Z:-572.39 [[ 1.41540670e-01 -6.22408960e-01 7.69787845e-01 2.94309291e+02] [ 7.57871636e-02 7.82147397e-01 6.18467263e-01 -1.69848460e+02] [-9.87027125e-01 -2.91982335e-02 1.57876276e-01 -5.72386300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-169.83, Z:-572.42 [[ 1.39768878e-01 -5.52841475e-01 8.21480958e-01 2.94262520e+02] [ 7.49061802e-02 8.33150485e-01 5.47950120e-01 -1.69831288e+02] [-9.87346811e-01 -1.50523730e-02 1.57859752e-01 -5.72417968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8165599949999 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:294.26, Y:-169.83, Z:-572.45 [[ 1.36683426e-01 -5.42342304e-01 8.28964696e-01 2.94255788e+02] [ 7.39746917e-02 8.40070011e-01 5.37410572e-01 -1.69828404e+02] [-9.87848868e-01 -1.21327104e-02 1.54943252e-01 -5.72447878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-169.83, Z:-572.47 [[ 1.38513183e-01 -5.60863133e-01 8.16239330e-01 2.94275419e+02] [ 7.57170557e-02 8.27768970e-01 5.55936562e-01 -1.69829390e+02] [-9.87461911e-01 -1.52013041e-02 1.57123820e-01 -5.72472362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-169.82, Z:-572.50 [[ 1.33385815e-01 -5.44183860e-01 8.28294725e-01 2.94261027e+02] [ 7.51372950e-02 8.38910292e-01 5.39058354e-01 -1.69824126e+02] [-9.88211825e-01 -9.66691275e-03 1.52787236e-01 -5.72500570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-169.83, Z:-572.53 [[ 1.33182236e-01 -5.83921228e-01 8.00811146e-01 2.94291211e+02] [ 7.50873406e-02 8.11631786e-01 5.79323516e-01 -1.69832289e+02] [-9.88243079e-01 -1.70248221e-02 1.51940028e-01 -5.72530425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-169.83, Z:-572.56 [[ 1.34895630e-01 -6.00380273e-01 7.88255477e-01 2.94308898e+02] [ 7.49521124e-02 7.99430276e-01 5.96064942e-01 -1.69832899e+02] [-9.88020926e-01 -2.13251427e-02 1.52839420e-01 -5.72561872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-169.82, Z:-572.59 [[ 1.34792904e-01 -5.77332125e-01 8.05306458e-01 2.94294348e+02] [ 7.41345435e-02 8.16321615e-01 5.72820295e-01 -1.69824906e+02] [-9.88096626e-01 -1.75110845e-02 1.52834615e-01 -5.72594598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-169.83, Z:-572.62 [[ 1.41701968e-01 -6.15354655e-01 7.75409054e-01 2.94335031e+02] [ 7.50618626e-02 7.87737296e-01 6.11421024e-01 -1.69828752e+02] [-9.87059405e-01 -2.84359147e-02 1.57813592e-01 -5.72624285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-169.81, Z:-572.66 [[ 1.40773016e-01 -5.49015446e-01 8.23871955e-01 2.94290420e+02] [ 7.36641480e-02 8.35660369e-01 5.44284246e-01 -1.69810972e+02] [-9.87297600e-01 -1.59307091e-02 1.58081185e-01 -5.72656541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-169.81, Z:-572.69 [[ 1.35718165e-01 -5.38065313e-01 8.31905222e-01 2.94280896e+02] [ 7.22214547e-02 8.42813368e-01 5.33338250e-01 -1.69806771e+02] [-9.88111654e-01 -1.23022833e-02 1.53244943e-01 -5.72688820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.82, Z:-572.72 [[ 1.40300766e-01 -5.91214599e-01 7.94217221e-01 2.94328522e+02] [ 7.33828786e-02 8.06154318e-01 5.87137266e-01 -1.69815637e+02] [-9.87385765e-01 -2.40938621e-02 1.56489097e-01 -5.72716716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-169.80, Z:-572.75 [[ 1.39129637e-01 -5.47740181e-01 8.24999174e-01 2.94300466e+02] [ 7.21636238e-02 8.36494705e-01 5.43202559e-01 -1.69802595e+02] [-9.87641309e-01 -1.60406450e-02 1.55908121e-01 -5.72746829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-169.80, Z:-572.77 [[ 1.39598729e-01 -5.48390813e-01 8.24487544e-01 2.94304181e+02] [ 7.26231522e-02 8.36068386e-01 5.43797326e-01 -1.69800055e+02] [-9.87541428e-01 -1.60365314e-02 1.56539954e-01 -5.72774824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-169.80, Z:-572.80 [[ 1.39803881e-01 -5.49881251e-01 8.23459462e-01 2.94308034e+02] [ 7.27189619e-02 8.35082734e-01 5.45296965e-01 -1.69798084e+02] [-9.87505356e-01 -1.63535151e-02 1.56734601e-01 -5.72802353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:-169.79, Z:-572.83 [[ 1.36568055e-01 -5.38056095e-01 8.31772087e-01 2.94296781e+02] [ 7.19929808e-02 8.42809391e-01 5.33375422e-01 -1.69794060e+02] [-9.88011223e-01 -1.29602921e-02 1.53837101e-01 -5.72833188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.80, Z:-572.86 [[ 1.39905995e-01 -5.80977808e-01 8.01804901e-01 2.94333350e+02] [ 7.30437548e-02 8.13618495e-01 5.76792472e-01 -1.69801552e+02] [-9.87466922e-01 -2.21298842e-02 1.56266906e-01 -5.72862838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.79, Z:-572.90 [[ 1.39982667e-01 -5.64449272e-01 8.13512060e-01 2.94325764e+02] [ 7.27451154e-02 8.25243939e-01 5.60071950e-01 -1.69794801e+02] [-9.87478102e-01 -1.92213364e-02 1.56580775e-01 -5.72896323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-169.79, Z:-572.93 [[ 1.44290936e-01 -5.75330329e-01 8.05093248e-01 2.94341506e+02] [ 7.34305522e-02 8.17589610e-01 5.71099978e-01 -1.69793087e+02] [-9.86807013e-01 -2.32861084e-02 1.60217594e-01 -5.72926934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.78, Z:-572.96 [[ 1.43448638e-01 -5.47449173e-01 8.24452480e-01 2.94325423e+02] [ 7.28197761e-02 8.36648784e-01 5.42877604e-01 -1.69783190e+02] [-9.86975060e-01 -1.78386079e-02 1.59881255e-01 -5.72956615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.78, Z:-572.98 [[ 1.42426566e-01 -5.49025749e-01 8.23580840e-01 2.94329790e+02] [ 7.26068582e-02 8.35616880e-01 5.44493043e-01 -1.69780944e+02] [-9.87138753e-01 -1.77526571e-02 1.58877078e-01 -5.72983103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.78, Z:-573.01 [[ 1.41754317e-01 -5.50148467e-01 8.22947373e-01 2.94334485e+02] [ 7.29739967e-02 8.34888017e-01 5.45560991e-01 -1.69778322e+02] [-9.87208443e-01 -1.72818665e-02 1.58495513e-01 -5.73010454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.77, Z:-573.04 [[ 1.36157253e-01 -5.41555656e-01 8.29565353e-01 2.94327744e+02] [ 7.30201133e-02 8.40571838e-01 5.36756041e-01 -1.69774998e+02] [-9.87992543e-01 -1.25082721e-02 1.53994408e-01 -5.73038215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-169.78, Z:-573.06 [[ 1.38923608e-01 -5.69158380e-01 8.10406669e-01 2.94354792e+02] [ 7.54250899e-02 8.22046230e-01 5.64403271e-01 -1.69777472e+02] [-9.87426598e-01 -1.72839431e-02 1.57130450e-01 -5.73064419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-169.77, Z:-573.09 [[ 1.34282153e-01 -5.42265495e-01 8.29407280e-01 2.94334939e+02] [ 7.50144835e-02 8.40148737e-01 5.37143302e-01 -1.69770416e+02] [-9.88099758e-01 -9.91120008e-03 1.53494747e-01 -5.73094621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-169.77, Z:-573.12 [[ 1.37515322e-01 -5.72756383e-01 8.08108694e-01 2.94363782e+02] [ 7.83425949e-02 8.19593114e-01 5.67564591e-01 -1.69773505e+02] [-9.87396564e-01 -1.47394952e-02 1.57577832e-01 -5.73119637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:-169.77, Z:-573.15 [[ 1.36040283e-01 -5.56651022e-01 8.19531989e-01 2.94355153e+02] [ 8.14377815e-02 8.30706166e-01 5.50722393e-01 -1.69767472e+02] [-9.87350459e-01 -8.17956328e-03 1.58341926e-01 -5.73148890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-169.76, Z:-573.18 [[ 1.28997281e-01 -5.37647016e-01 8.33243894e-01 2.94336514e+02] [ 8.14378776e-02 8.43169734e-01 5.31443950e-01 -1.69763412e+02] [-9.88295287e-01 -6.97210394e-04 1.52551435e-01 -5.73178168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-169.77, Z:-573.20 [[ 1.30278645e-01 -5.99922262e-01 7.89379981e-01 2.94386907e+02] [ 8.56679516e-02 7.99998984e-01 5.93854046e-01 -1.69774560e+02] [-9.87769445e-01 -9.74193420e-03 1.55616895e-01 -5.73202279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-169.77, Z:-573.23 [[ 1.30156122e-01 -5.85184062e-01 8.00386780e-01 2.94379832e+02] [ 8.64209564e-02 8.10877066e-01 5.78800313e-01 -1.69768510e+02] [-9.87720002e-01 -6.16421339e-03 1.56112781e-01 -5.73234234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-169.77, Z:-573.27 [[ 1.33523795e-01 -5.96001590e-01 7.91803954e-01 2.94397017e+02] [ 8.76482673e-02 8.02929109e-01 5.89595308e-01 -1.69766896e+02] [-9.87162184e-01 -9.32475812e-03 1.59448648e-01 -5.73266321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-169.75, Z:-573.30 [[ 1.35761608e-01 -5.61189847e-01 8.16477031e-01 2.94378446e+02] [ 8.83494900e-02 8.27681293e-01 5.54200366e-01 -1.69754694e+02] [-9.86794383e-01 -3.10380360e-03 1.61948180e-01 -5.73298775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-169.75, Z:-573.33 [[ 1.33828022e-01 -5.49654852e-01 8.24602695e-01 2.94371989e+02] [ 8.81713536e-02 8.35391844e-01 5.42536892e-01 -1.69749954e+02] [-9.87074401e-01 9.96966877e-05 1.60262650e-01 -5.73332766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-169.75, Z:-573.36 [[ 1.31411575e-01 -5.48199654e-01 8.25958920e-01 2.94371494e+02] [ 8.86607185e-02 8.36344766e-01 5.40986792e-01 -1.69746611e+02] [-9.87355192e-01 2.13818464e-03 1.58509158e-01 -5.73363667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.776559995 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:294.40, Y:-169.75, Z:-573.39 [[ 1.32017530e-01 -5.81166015e-01 8.03005252e-01 2.94399951e+02] [ 8.80659648e-02 8.13768893e-01 5.74477654e-01 -1.69753335e+02] [-9.87327584e-01 -5.12368872e-03 1.58612705e-01 -5.73391637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-169.74, Z:-573.42 [[ 1.33213237e-01 -5.27673545e-01 8.38936746e-01 2.94367305e+02] [ 8.91901899e-02 8.49429189e-01 5.20110723e-01 -1.69735150e+02] [-9.87066028e-01 5.53929480e-03 1.60218515e-01 -5.73419635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-169.74, Z:-573.45 [[ 1.28997698e-01 -5.47839306e-01 8.26578301e-01 2.94379366e+02] [ 8.93029789e-02 8.36573591e-01 5.40527155e-01 -1.69739120e+02] [-9.87615599e-01 4.08914608e-03 1.56839749e-01 -5.73449727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-169.74, Z:-573.48 [[ 1.30627322e-01 -5.84701229e-01 8.00662835e-01 2.94412019e+02] [ 9.02866780e-02 8.11242503e-01 5.77697080e-01 -1.69744692e+02] [-9.87311916e-01 -3.17383490e-03 1.58761167e-01 -5.73480068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-169.74, Z:-573.51 [[ 1.33533490e-01 -5.74307631e-01 8.07675400e-01 2.94412029e+02] [ 9.06446781e-02 8.18635699e-01 5.67114745e-01 -1.69738134e+02] [-9.86890242e-01 -2.51733472e-03 1.61373213e-01 -5.73512083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-169.73, Z:-573.54 [[ 1.33224526e-01 -5.56099600e-01 8.20368491e-01 2.94401836e+02] [ 9.10164547e-02 8.31114156e-01 5.48603013e-01 -1.69730250e+02] [-9.86897781e-01 1.57965530e-03 1.61339003e-01 -5.73540756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-169.73, Z:-573.57 [[ 1.32907733e-01 -5.57632375e-01 8.19378831e-01 2.94405905e+02] [ 9.11288544e-02 8.30086578e-01 5.50137987e-01 -1.69727753e+02] [-9.86930122e-01 1.55146168e-03 1.61141325e-01 -5.73567791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-169.72, Z:-573.60 [[ 1.28259865e-01 -5.44337134e-01 8.29003312e-01 2.94393798e+02] [ 9.09334473e-02 8.38841026e-01 5.36727902e-01 -1.69722162e+02] [-9.87562917e-01 6.54348094e-03 1.57088089e-01 -5.73599186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-169.73, Z:-573.63 [[ 1.33327994e-01 -6.07329972e-01 7.83181940e-01 2.94449748e+02] [ 9.16732439e-02 7.94406777e-01 6.00428089e-01 -1.69732884e+02] [-9.86823015e-01 -8.25704346e-03 1.61592570e-01 -5.73625322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-169.71, Z:-573.66 [[ 1.26135844e-01 -5.34690172e-01 8.35581336e-01 2.94390948e+02] [ 9.01140420e-02 8.45002256e-01 5.27115401e-01 -1.69713346e+02] [-9.87911539e-01 8.80946549e-03 1.54768166e-01 -5.73661492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-169.73, Z:-573.69 [[ 1.29335390e-01 -6.33187955e-01 7.63115569e-01 2.94470484e+02] [ 9.05865941e-02 7.73906003e-01 6.26788296e-01 -1.69732750e+02] [-9.87454518e-01 -1.19378685e-02 1.57451775e-01 -5.73687521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-169.72, Z:-573.72 [[ 1.34532694e-01 -5.87678920e-01 7.97831085e-01 2.94446453e+02] [ 9.06147224e-02 8.09073268e-01 5.80680135e-01 -1.69716056e+02] [-9.86757278e-01 -5.82522083e-03 1.62099169e-01 -5.73722516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-169.70, Z:-573.76 [[ 1.30830606e-01 -5.43161842e-01 8.29372393e-01 2.94413755e+02] [ 8.95473502e-02 8.39617635e-01 5.35745741e-01 -1.69702316e+02] [-9.87352331e-01 4.17615996e-03 1.58486388e-01 -5.73756880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-169.71, Z:-573.79 [[ 1.28077313e-01 -5.67833513e-01 8.13118259e-01 2.94430683e+02] [ 8.92056527e-02 8.23143120e-01 5.60783163e-01 -1.69705923e+02] [-9.87744174e-01 7.11144189e-04 1.56079918e-01 -5.73785522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-169.71, Z:-573.82 [[ 1.31188420e-01 -5.99661151e-01 7.89427706e-01 2.94461223e+02] [ 9.02549678e-02 8.00227404e-01 5.92866041e-01 -1.69709168e+02] [-9.87240416e-01 -6.52738691e-03 1.59102966e-01 -5.73816870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-169.70, Z:-573.85 [[ 1.34767626e-01 -5.76415705e-01 8.05966886e-01 2.94452863e+02] [ 9.03369002e-02 8.17147235e-01 5.69306281e-01 -1.69698294e+02] [-9.86750694e-01 -3.91550574e-03 1.62196601e-01 -5.73849900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-169.68, Z:-573.88 [[ 1.25750402e-01 -5.20257761e-01 8.44700360e-01 2.94405138e+02] [ 8.90112655e-02 8.53942055e-01 5.12698704e-01 -1.69682649e+02] [-9.88060641e-01 1.07157799e-02 1.53692359e-01 -5.73884211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-169.71, Z:-573.91 [[ 1.30088560e-01 -6.46304495e-01 7.51909215e-01 2.94505728e+02] [ 8.98814547e-02 7.62918044e-01 6.40216668e-01 -1.69709093e+02] [-9.87420017e-01 -1.57021704e-02 1.57337698e-01 -5.73908515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-169.68, Z:-573.95 [[ 1.29757791e-01 -5.54183275e-01 8.22218835e-01 2.94440778e+02] [ 8.93369930e-02 8.32390968e-01 5.46940745e-01 -1.69684611e+02] [-9.87512946e-01 2.48473570e-03 1.57518280e-01 -5.73946837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-169.69, Z:-573.98 [[ 1.31275479e-01 -5.85993511e-01 7.99611377e-01 2.94467572e+02] [ 8.98250591e-02 8.10304889e-01 5.79083280e-01 -1.69687988e+02] [-9.87268053e-01 -4.19429588e-03 1.59010064e-01 -5.73977210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-169.68, Z:-574.01 [[ 1.33838554e-01 -5.70690306e-01 8.10185051e-01 2.94462674e+02] [ 9.04267762e-02 8.21162552e-01 5.63484748e-01 -1.69679780e+02] [-9.86868907e-01 -2.15356189e-03 1.61508894e-01 -5.74010992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.46, Y:-169.67, Z:-574.04 [[ 1.35459838e-01 -5.62528169e-01 8.15605721e-01 2.94461916e+02] [ 9.05093198e-02 8.26776956e-01 5.55200800e-01 -1.69674011e+02] [-9.86640104e-01 -1.38749159e-03 1.62909115e-01 -5.74042828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-169.66, Z:-574.07 [[ 1.34254376e-01 -5.36440056e-01 8.33191352e-01 2.94443028e+02] [ 9.05946413e-02 8.43926454e-01 5.28753960e-01 -1.69663935e+02] [-9.86797028e-01 4.49513866e-03 1.61899414e-01 -5.74072989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-169.67, Z:-574.10 [[ 1.36376487e-01 -5.65115506e-01 8.13662042e-01 2.94468823e+02] [ 9.24761193e-02 8.25011423e-01 5.57498268e-01 -1.69666955e+02] [-9.86331395e-01 -7.85347308e-04 1.64771849e-01 -5.74099605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-169.66, Z:-574.13 [[ 1.39207085e-01 -5.57604322e-01 8.18351274e-01 2.94471094e+02] [ 9.30891297e-02 8.30106797e-01 5.49779155e-01 -1.69660426e+02] [-9.85878188e-01 -3.53545944e-04 1.67463649e-01 -5.74130670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-169.65, Z:-574.16 [[ 1.39205219e-01 -5.42309244e-01 8.28566588e-01 2.94463922e+02] [ 9.40561801e-02 8.40171324e-01 5.34102594e-01 -1.69652232e+02] [-9.85786662e-01 3.58193966e-03 1.67963769e-01 -5.74159506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-169.65, Z:-574.19 [[ 1.33791784e-01 -5.24410089e-01 8.40888707e-01 2.94448161e+02] [ 9.25120268e-02 8.51421166e-01 5.16259163e-01 -1.69646607e+02] [-9.86681957e-01 8.72108419e-03 1.62427397e-01 -5.74189665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-169.66, Z:-574.21 [[ 1.37839857e-01 -5.80320395e-01 8.02638408e-01 2.94495851e+02] [ 9.42576561e-02 8.14381674e-01 5.72623772e-01 -1.69655464e+02] [-9.85959263e-01 -3.27556395e-03 1.66953894e-01 -5.74212782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-169.64, Z:-574.25 [[ 1.28474881e-01 -5.18965670e-01 8.45085108e-01 2.94446390e+02] [ 9.08637362e-02 8.54722648e-01 5.11070423e-01 -1.69636576e+02] [-9.87541385e-01 1.11278785e-02 1.56965550e-01 -5.74246339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.66, Z:-574.27 [[ 1.28165805e-01 -6.20328411e-01 7.73799838e-01 2.94518940e+02] [ 8.93328110e-02 7.84283921e-01 6.13936788e-01 -1.69660712e+02] [-9.87721203e-01 -9.55998795e-03 1.55934061e-01 -5.74272688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.65, Z:-574.30 [[ 1.32869476e-01 -6.11798136e-01 7.79774803e-01 2.94519856e+02] [ 8.72849331e-02 7.90916546e-01 6.05666871e-01 -1.69654506e+02] [-9.87282656e-01 -1.24120484e-02 1.58489427e-01 -5.74303179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:294.48, Y:-169.63, Z:-574.34 [[ 1.34682065e-01 -5.48524097e-01 8.25216369e-01 2.94480241e+02] [ 8.61247479e-02 8.36132613e-01 5.41723897e-01 -1.69634514e+02] [-9.87138931e-01 -1.88894159e-03 1.59853567e-01 -5.74335055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-169.63, Z:-574.36 [[ 1.38057653e-01 -5.54951715e-01 8.20346682e-01 2.94490325e+02] [ 8.64305248e-02 8.31868825e-01 5.48200713e-01 -1.69631724e+02] [-9.86645757e-01 -4.78030951e-03 1.62810625e-01 -5.74361023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-169.63, Z:-574.39 [[ 1.38690418e-01 -5.45713547e-01 8.26414964e-01 2.94486981e+02] [ 8.60580197e-02 8.37963972e-01 5.38897392e-01 -1.69625971e+02] [-9.86589573e-01 -3.62026963e-03 1.63180601e-01 -5.74389464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-169.62, Z:-574.42 [[ 1.39309827e-01 -5.47120260e-01 8.25380029e-01 2.94490491e+02] [ 8.57275850e-02 8.37041795e-01 5.40381175e-01 -1.69623327e+02] [-9.86531071e-01 -4.52257142e-03 1.63511446e-01 -5.74415997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-169.62, Z:-574.44 [[ 1.39684660e-01 -5.48068279e-01 8.24687430e-01 2.94494131e+02] [ 8.54190676e-02 8.36417553e-01 5.41395660e-01 -1.69620497e+02] [-9.86504830e-01 -5.18063748e-03 1.63650183e-01 -5.74443966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-169.62, Z:-574.47 [[ 1.39893436e-01 -5.49395360e-01 8.23768514e-01 2.94497491e+02] [ 8.41802866e-02 8.35536384e-01 5.42948092e-01 -1.69616977e+02] [-9.86581728e-01 -6.60980454e-03 1.63134315e-01 -5.74470923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-169.61, Z:-574.50 [[ 1.39892113e-01 -5.50019613e-01 8.23352065e-01 2.94501185e+02] [ 8.40409528e-02 8.35123640e-01 5.43604290e-01 -1.69613916e+02] [-9.86593794e-01 -6.85066065e-03 1.63051383e-01 -5.74498978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-169.61, Z:-574.53 [[ 1.39947978e-01 -5.51480940e-01 8.22364479e-01 2.94505059e+02] [ 8.40314533e-02 8.34156596e-01 5.45088514e-01 -1.69611323e+02] [-9.86586681e-01 -7.17955287e-03 1.63080274e-01 -5.74526399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-169.61, Z:-574.55 [[ 1.40086917e-01 -5.52990510e-01 8.21326459e-01 2.94508447e+02] [ 8.44791497e-02 8.33156622e-01 5.46546720e-01 -1.69608072e+02] [-9.86528727e-01 -7.17908399e-03 1.63430510e-01 -5.74554225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-169.61, Z:-574.58 [[ 1.40075902e-01 -5.54522290e-01 8.20294930e-01 2.94512544e+02] [ 8.48214859e-02 8.32137817e-01 5.48043765e-01 -1.69605616e+02] [-9.86500916e-01 -7.18908994e-03 1.63597860e-01 -5.74581231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.60, Z:-574.61 [[ 1.39225733e-01 -5.54488097e-01 8.20462763e-01 2.94515597e+02] [ 8.52432707e-02 8.32167447e-01 5.47933322e-01 -1.69602206e+02] [-9.86584908e-01 -6.34748921e-03 1.63125502e-01 -5.74613695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.60, Z:-574.65 [[ 1.38663927e-01 -5.49542101e-01 8.23878508e-01 2.94516040e+02] [ 8.51274409e-02 8.35450149e-01 5.42933115e-01 -1.69597586e+02] [-9.86674026e-01 -5.15056876e-03 1.62627911e-01 -5.74646652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.59, Z:-574.68 [[ 1.38673997e-01 -5.48603899e-01 8.24501840e-01 2.94519532e+02] [ 8.52501480e-02 8.36068223e-01 5.41961566e-01 -1.69593883e+02] [-9.86662017e-01 -4.86707241e-03 1.62709485e-01 -5.74677394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.59, Z:-574.71 [[ 1.38248091e-01 -5.52103238e-01 8.22234444e-01 2.94524912e+02] [ 8.53783632e-02 8.33759471e-01 5.45486645e-01 -1.69592467e+02] [-9.86710697e-01 -5.21145641e-03 1.62403326e-01 -5.74705086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-169.59, Z:-574.73 [[ 1.38203302e-01 -5.53667315e-01 8.21189596e-01 2.94529074e+02] [ 8.58236148e-02 8.32722219e-01 5.46999098e-01 -1.69589953e+02] [-9.86678344e-01 -5.11962175e-03 1.62602690e-01 -5.74731954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-169.59, Z:-574.76 [[ 1.37425275e-01 -5.50051950e-01 8.23745802e-01 2.94528955e+02] [ 8.52549591e-02 8.35118576e-01 5.43423000e-01 -1.69587458e+02] [-9.86836302e-01 -4.45164032e-03 1.61661056e-01 -5.74760724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-169.58, Z:-574.79 [[ 1.37368355e-01 -5.46751776e-01 8.25949412e-01 2.94530298e+02] [ 8.54534965e-02 8.37286989e-01 5.40044627e-01 -1.69584050e+02] [-9.86827054e-01 -3.60477674e-03 1.61738587e-01 -5.74788189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-169.58, Z:-574.81 [[ 1.37964132e-01 -5.52660973e-01 8.21907384e-01 2.94538044e+02] [ 8.58320855e-02 8.33392470e-01 5.45976047e-01 -1.69582237e+02] [-9.86711078e-01 -4.77908673e-03 1.62414313e-01 -5.74814341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.53, Y:-169.58, Z:-574.85 [[ 1.34443377e-01 -5.44091403e-01 8.28184474e-01 2.94531567e+02] [ 8.40989443e-02 8.39021854e-01 5.37559017e-01 -1.69579458e+02] [-9.87346113e-01 -2.62180937e-03 1.58558444e-01 -5.74847715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-169.58, Z:-574.87 [[ 1.34188167e-01 -5.61765856e-01 8.16341019e-01 2.94545284e+02] [ 8.32222068e-02 8.27269801e-01 5.55606642e-01 -1.69583072e+02] [-9.87455113e-01 -6.61813601e-03 1.57761213e-01 -5.74874238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-169.59, Z:-574.90 [[ 1.39466893e-01 -5.86940436e-01 7.97527373e-01 2.94572393e+02] [ 8.53567707e-02 8.09526794e-01 5.80844722e-01 -1.69585391e+02] [-9.86541032e-01 -1.29342476e-02 1.63001527e-01 -5.74902084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-169.56, Z:-574.94 [[ 1.31900820e-01 -5.11865699e-01 8.48879073e-01 2.94516313e+02] [ 8.26702045e-02 8.59058165e-01 5.05158101e-01 -1.69564995e+02] [-9.87809603e-01 3.54623870e-03 1.55626518e-01 -5.74936923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-169.59, Z:-574.96 [[ 1.42140553e-01 -6.31667187e-01 7.62097519e-01 2.94612997e+02] [ 8.59099194e-02 7.74882132e-01 6.26240503e-01 -1.69593770e+02] [-9.86111327e-01 -2.35424347e-02 1.64408652e-01 -5.74962073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:-169.56, Z:-575.00 [[ 1.37820405e-01 -5.05775840e-01 8.51584603e-01 2.94527755e+02] [ 8.39570926e-02 8.62660537e-01 4.98766483e-01 -1.69558364e+02] [-9.86892468e-01 2.75636890e-03 1.61355693e-01 -5.74996577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-169.58, Z:-575.02 [[ 1.42040978e-01 -5.82416344e-01 8.00384634e-01 2.94587176e+02] [ 8.58470795e-02 8.12784536e-01 5.76204458e-01 -1.69576169e+02] [-9.86131147e-01 -1.31339617e-02 1.65447453e-01 -5.75022449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-169.57, Z:-575.05 [[ 1.41756034e-01 -5.58475571e-01 8.17318949e-01 2.94575783e+02] [ 8.44898119e-02 8.29469818e-01 5.52124345e-01 -1.69568484e+02] [-9.86289359e-01 -9.21183305e-03 1.64767847e-01 -5.75051926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-169.57, Z:-575.08 [[ 1.41986639e-01 -5.59780388e-01 8.16385762e-01 2.94581670e+02] [ 8.33122412e-02 8.28573262e-01 5.53647378e-01 -1.69568326e+02] [-9.86356358e-01 -1.05956030e-02 1.64282891e-01 -5.75079344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-169.57, Z:-575.11 [[ 1.42759482e-01 -5.61120182e-01 8.15330529e-01 2.94586978e+02] [ 8.26264764e-02 8.27649052e-01 5.55130536e-01 -1.69567262e+02] [-9.86302487e-01 -1.18822589e-02 1.64518133e-01 -5.75106118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-169.57, Z:-575.13 [[ 1.43137072e-01 -5.61638895e-01 8.14907069e-01 2.94591610e+02] [ 8.18383860e-02 8.27282462e-01 5.55793314e-01 -1.69565999e+02] [-9.86313468e-01 -1.28639486e-02 1.64378410e-01 -5.75133646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-169.56, Z:-575.16 [[ 1.43570249e-01 -5.63009104e-01 8.13884717e-01 2.94596709e+02] [ 8.13811173e-02 8.26335937e-01 5.57266573e-01 -1.69564890e+02] [-9.86288344e-01 -1.37720529e-02 1.64455566e-01 -5.75161355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-169.56, Z:-575.19 [[ 1.40972646e-01 -5.48642669e-01 8.24086121e-01 2.94587158e+02] [ 7.83995897e-02 8.35971393e-01 5.43143935e-01 -1.69562737e+02] [-9.86904361e-01 -1.19604236e-02 1.60862459e-01 -5.75190782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-169.57, Z:-575.21 [[ 1.45495902e-01 -5.86828749e-01 7.96531834e-01 2.94622664e+02] [ 7.90351362e-02 8.09420023e-01 5.81887165e-01 -1.69569395e+02] [-9.86196933e-01 -2.17081958e-02 1.64147386e-01 -5.75214350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-169.56, Z:-575.24 [[ 1.45195020e-01 -5.66217709e-01 8.11366694e-01 2.94612979e+02] [ 7.76312318e-02 8.24048260e-01 5.61175425e-01 -1.69562964e+02] [-9.86352776e-01 -1.84924810e-02 1.63603882e-01 -5.75243541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-169.56, Z:-575.27 [[ 1.45173067e-01 -5.67594786e-01 8.10407885e-01 2.94618575e+02] [ 7.68203331e-02 8.23078653e-01 5.62707888e-01 -1.69562323e+02] [-9.86419494e-01 -1.94342264e-02 1.63091673e-01 -5.75271108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-169.56, Z:-575.30 [[ 1.45535196e-01 -5.69005611e-01 8.09352903e-01 2.94624492e+02] [ 7.67570074e-02 8.22090844e-01 5.64158670e-01 -1.69561591e+02] [-9.86371060e-01 -1.99814362e-02 1.63318320e-01 -5.75298806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-169.56, Z:-575.33 [[ 1.45921735e-01 -5.70327941e-01 8.08351957e-01 2.94631768e+02] [ 7.57695677e-02 8.21140998e-01 5.65673434e-01 -1.69562367e+02] [-9.86390298e-01 -2.12955708e-02 1.63035821e-01 -5.75329319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-169.56, Z:-575.36 [[ 1.38934412e-01 -5.48499430e-01 8.24527504e-01 2.94611883e+02] [ 7.38898991e-02 8.36023212e-01 5.43696121e-01 -1.69558016e+02] [-9.87541145e-01 -1.46138466e-02 1.56680961e-01 -5.75358128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-169.58, Z:-575.38 [[ 1.48052590e-01 -6.42202439e-01 7.52101362e-01 2.94694587e+02] [ 7.60721219e-02 7.65624183e-01 6.38774329e-01 -1.69578034e+02] [-9.86049422e-01 -3.73582470e-02 1.62206345e-01 -5.75380717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-169.56, Z:-575.41 [[ 1.47161995e-01 -5.71234665e-01 8.07486412e-01 2.94647042e+02] [ 7.31209052e-02 8.20423867e-01 5.67060854e-01 -1.69560950e+02] [-9.86405941e-01 -2.44056691e-02 1.62504409e-01 -5.75412490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-169.56, Z:-575.44 [[ 1.47776276e-01 -5.71718814e-01 8.07031456e-01 2.94651472e+02] [ 7.22592841e-02 8.20050810e-01 5.67710547e-01 -1.69559935e+02] [-9.86377599e-01 -2.55786351e-02 1.62496047e-01 -5.75439401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-169.56, Z:-575.47 [[ 1.49470467e-01 -5.71984921e-01 8.06530737e-01 2.94656998e+02] [ 7.06786627e-02 8.19788221e-01 5.68288483e-01 -1.69560398e+02] [-9.86236841e-01 -2.79378310e-02 1.62961258e-01 -5.75466745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:-169.56, Z:-575.49 [[ 1.50438680e-01 -5.73225171e-01 8.05469495e-01 2.94662364e+02] [ 7.01331282e-02 8.18877084e-01 5.69668031e-01 -1.69559656e+02] [-9.86128566e-01 -2.92100111e-02 1.63392862e-01 -5.75492948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-169.56, Z:-575.52 [[ 1.51053195e-01 -5.73660689e-01 8.05044314e-01 2.94667979e+02] [ 6.91812626e-02 8.18526864e-01 5.70287406e-01 -1.69559823e+02] [-9.86101864e-01 -3.04497525e-02 1.63327668e-01 -5.75520562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-169.56, Z:-575.55 [[ 1.50928450e-01 -5.75151932e-01 8.04003022e-01 2.94673481e+02] [ 6.95880349e-02 8.17483723e-01 5.71732339e-01 -1.69558629e+02] [-9.86092343e-01 -3.03416855e-02 1.63405244e-01 -5.75548575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-169.56, Z:-575.58 [[ 1.50447375e-01 -5.76824937e-01 8.02893878e-01 2.94678025e+02] [ 7.10918527e-02 8.16347426e-01 5.73169110e-01 -1.69557300e+02] [-9.86058587e-01 -2.91525745e-02 1.63824880e-01 -5.75575432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-169.55, Z:-575.61 [[ 1.46184294e-01 -5.68289845e-01 8.09738726e-01 2.94671691e+02] [ 7.12839241e-02 8.22455317e-01 5.64345510e-01 -1.69554944e+02] [-9.86685743e-01 -2.47770959e-02 1.60739980e-01 -5.75609161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-169.56, Z:-575.64 [[ 1.46991893e-01 -5.94751656e-01 7.90356787e-01 2.94699022e+02] [ 7.67595984e-02 8.03485369e-01 5.90355169e-01 -1.69557711e+02] [-9.86154829e-01 -2.61099544e-02 1.63758734e-01 -5.75637849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-169.55, Z:-575.67 [[ 1.45486934e-01 -5.76512875e-01 8.04031378e-01 2.94689427e+02] [ 7.82376231e-02 8.16837200e-01 5.71538156e-01 -1.69551531e+02] [-9.86261845e-01 -2.02458301e-02 1.63944137e-01 -5.75666442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-169.55, Z:-575.69 [[ 1.44555791e-01 -5.78235016e-01 8.02961948e-01 2.94694601e+02] [ 8.01043625e-02 8.15660395e-01 5.72958473e-01 -1.69549789e+02] [-9.86248911e-01 -1.85037106e-02 1.64227581e-01 -5.75694121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-169.55, Z:-575.72 [[ 1.43469752e-01 -5.79964956e-01 8.01908399e-01 2.94700153e+02] [ 8.19756216e-02 8.14470851e-01 5.74384219e-01 -1.69548534e+02] [-9.86253734e-01 -1.66698221e-02 1.64394919e-01 -5.75721697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-169.55, Z:-575.75 [[ 1.43053665e-01 -5.81467282e-01 8.00894156e-01 2.94704879e+02] [ 8.24052483e-02 8.13404941e-01 5.75831380e-01 -1.69546645e+02] [-9.86278371e-01 -1.63769076e-02 1.64276514e-01 -5.75749754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-169.55, Z:-575.78 [[ 1.43091268e-01 -5.82865676e-01 7.99870297e-01 2.94710165e+02] [ 8.22789605e-02 8.12395033e-01 5.77273317e-01 -1.69545189e+02] [-9.86283459e-01 -1.67902746e-02 1.64204218e-01 -5.75776066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-169.54, Z:-575.80 [[ 1.42951396e-01 -5.83855477e-01 7.99173123e-01 2.94714586e+02] [ 8.24502235e-02 8.11684405e-01 5.78247687e-01 -1.69543060e+02] [-9.86289440e-01 -1.67693116e-02 1.64170433e-01 -5.75804201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.54, Z:-575.83 [[ 1.42469566e-01 -5.85335284e-01 7.98176063e-01 2.94719014e+02] [ 8.24291695e-02 8.10617209e-01 5.79745783e-01 -1.69541144e+02] [-9.86360915e-01 -1.68031399e-02 1.63736983e-01 -5.75830383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.54, Z:-575.86 [[ 1.41550925e-01 -5.86077308e-01 7.97794914e-01 2.94722722e+02] [ 8.27606230e-02 8.10094486e-01 5.80428810e-01 -1.69538704e+02] [-9.86465415e-01 -1.61342309e-02 1.63173747e-01 -5.75858458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.54, Z:-575.89 [[ 1.39880036e-01 -5.83751112e-01 7.99792608e-01 2.94724072e+02] [ 8.24322661e-02 8.11795282e-01 5.78094578e-01 -1.69536161e+02] [-9.86731218e-01 -1.49351735e-02 1.61673881e-01 -5.75892377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.53, Z:-575.92 [[ 1.40260657e-01 -5.71706761e-01 8.08380064e-01 2.94720112e+02] [ 8.36525889e-02 8.20374334e-01 5.65674992e-01 -1.69528726e+02] [-9.86574474e-01 -1.17188610e-02 1.62890994e-01 -5.75922261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-169.53, Z:-575.96 [[ 1.39553117e-01 -5.82876674e-01 8.00487170e-01 2.94731274e+02] [ 8.36709886e-02 8.12447740e-01 5.76998991e-01 -1.69529603e+02] [-9.86673245e-01 -1.35444549e-02 1.62149482e-01 -5.75955129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-169.52, Z:-575.99 [[ 1.38875839e-01 -5.67097696e-01 8.11858180e-01 2.94723921e+02] [ 8.62782722e-02 8.23613589e-01 5.60550368e-01 -1.69520566e+02] [-9.86544252e-01 -7.80118155e-03 1.63308237e-01 -5.75985114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-169.52, Z:-576.02 [[ 1.37754671e-01 -5.82580140e-01 8.01014377e-01 2.94738611e+02] [ 8.66756735e-02 8.12712441e-01 5.76182103e-01 -1.69522381e+02] [-9.86666599e-01 -9.94331558e-03 1.62450461e-01 -5.76017591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-169.51, Z:-576.05 [[ 1.35328394e-01 -5.64871238e-01 8.14006579e-01 2.94730328e+02] [ 8.90393418e-02 8.25173572e-01 5.57817687e-01 -1.69514939e+02] [-9.86791884e-01 -3.00996174e-03 1.61965178e-01 -5.76051747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-169.51, Z:-576.08 [[ 1.34018184e-01 -5.63877563e-01 8.14911787e-01 2.94733585e+02] [ 9.06842488e-02 8.25858113e-01 5.56538179e-01 -1.69511961e+02] [-9.86820902e-01 -6.86572844e-04 1.61814818e-01 -5.76083919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:-169.51, Z:-576.11 [[ 1.32092779e-01 -5.63843622e-01 8.15249574e-01 2.94737113e+02] [ 9.32785368e-02 8.25877507e-01 5.56080443e-01 -1.69508176e+02] [-9.86838696e-01 2.59107647e-03 1.61686963e-01 -5.76113299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-169.51, Z:-576.14 [[ 1.28923634e-01 -5.81542304e-01 8.03235486e-01 2.94752610e+02] [ 9.81490678e-02 8.13501195e-01 5.73221220e-01 -1.69510533e+02] [-9.86785416e-01 4.93505147e-03 1.61957365e-01 -5.76140497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-169.50, Z:-576.17 [[ 1.28345878e-01 -5.72346848e-01 8.09905193e-01 2.94749256e+02] [ 9.97822986e-02 8.19967865e-01 5.63645449e-01 -1.69504561e+02] [-9.86696928e-01 8.47263167e-03 1.62349580e-01 -5.76174100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-169.50, Z:-576.21 [[ 1.27679126e-01 -5.72719543e-01 8.09747100e-01 2.94752783e+02] [ 1.01699154e-01 8.19685708e-01 5.63713245e-01 -1.69501008e+02] [-9.86587717e-01 1.03761805e-02 1.62901848e-01 -5.76206630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-169.50, Z:-576.24 [[ 1.26485025e-01 -5.72528484e-01 8.10069548e-01 2.94755184e+02] [ 1.05252758e-01 8.19764304e-01 5.62946129e-01 -1.69496583e+02] [-9.86368793e-01 1.40577991e-02 1.63948111e-01 -5.76237668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-169.50, Z:-576.26 [[ 1.25446573e-01 -5.82019629e-01 8.03440296e-01 2.94764681e+02] [ 1.07055483e-01 8.13050326e-01 5.72265927e-01 -1.69495953e+02] [-9.86307397e-01 1.42238894e-02 1.64302769e-01 -5.76263680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-169.49, Z:-576.29 [[ 1.24433597e-01 -5.82919978e-01 8.02944941e-01 2.94768560e+02] [ 1.08988479e-01 8.12367509e-01 5.72870441e-01 -1.69493390e+02] [-9.86224007e-01 1.62274181e-02 1.64617373e-01 -5.76291358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-169.49, Z:-576.32 [[ 1.23114629e-01 -5.84655245e-01 8.01885922e-01 2.94772759e+02] [ 1.11154762e-01 8.11072481e-01 5.74287427e-01 -1.69490798e+02] [-9.86147761e-01 1.84302552e-02 1.64842102e-01 -5.76319194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-169.49, Z:-576.35 [[ 1.18533617e-01 -5.78199167e-01 8.07239435e-01 2.94767784e+02] [ 1.13719178e-01 8.15526576e-01 5.67436651e-01 -1.69486949e+02] [-9.86416611e-01 2.45382866e-02 1.62419649e-01 -5.76351898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-169.49, Z:-576.38 [[ 1.15711274e-01 -5.88673932e-01 8.00046188e-01 2.94776431e+02] [ 1.14381535e-01 8.07995222e-01 5.77979745e-01 -1.69486582e+02] [-9.86675106e-01 2.46317387e-02 1.60827585e-01 -5.76383805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-169.49, Z:-576.41 [[ 1.14570306e-01 -6.08296948e-01 7.85397013e-01 2.94795351e+02] [ 1.15494441e-01 7.93397984e-01 5.97645943e-01 -1.69486644e+02] [-9.86678610e-01 2.22365107e-02 1.61154766e-01 -5.76414798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-169.48, Z:-576.45 [[ 1.13632724e-01 -5.86696765e-01 8.01794556e-01 2.94782178e+02] [ 1.15049729e-01 8.09363064e-01 5.75929674e-01 -1.69478131e+02] [-9.86838976e-01 2.68017888e-02 1.59469433e-01 -5.76446647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-169.48, Z:-576.47 [[ 1.13065920e-01 -5.98630025e-01 7.93005795e-01 2.94794693e+02] [ 1.13843888e-01 8.00672742e-01 5.88185965e-01 -1.69477842e+02] [-9.87043903e-01 2.37750758e-02 1.58679169e-01 -5.76473347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-169.47, Z:-576.50 [[ 1.17368498e-01 -6.00788614e-01 7.90745014e-01 2.94804745e+02] [ 1.11827039e-01 7.99179509e-01 5.90598701e-01 -1.69470946e+02] [-9.86772187e-01 1.91089906e-02 1.60982910e-01 -5.76501149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-169.46, Z:-576.53 [[ 1.19047455e-01 -5.83719069e-01 8.03181021e-01 2.94795656e+02] [ 1.09811383e-01 8.11711606e-01 5.73642510e-01 -1.69463185e+02] [-9.86797428e-01 1.99077379e-02 1.60731199e-01 -5.76529528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-169.46, Z:-576.56 [[ 1.15295737e-01 -5.65082338e-01 8.16938703e-01 2.94777400e+02] [ 1.05188753e-01 8.24744592e-01 5.55636287e-01 -1.69457953e+02] [-9.87746030e-01 2.18702681e-02 1.54529842e-01 -5.76563060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-169.46, Z:-576.59 [[ 1.17101753e-01 -6.04979294e-01 7.87583160e-01 2.94808722e+02] [ 1.01115565e-01 7.96181140e-01 5.96549441e-01 -1.69464288e+02] [-9.87958917e-01 9.77993109e-03 1.54407030e-01 -5.76593097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-169.46, Z:-576.63 [[ 1.17702116e-01 -5.94033812e-01 7.95782661e-01 2.94805207e+02] [ 1.01377225e-01 8.04354007e-01 5.85437690e-01 -1.69458574e+02] [-9.87860754e-01 1.17669833e-02 1.54895668e-01 -5.76626251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-169.45, Z:-576.65 [[ 1.28484542e-01 -6.14012910e-01 7.78768174e-01 2.94829847e+02] [ 9.68352604e-02 7.89292046e-01 6.06334065e-01 -1.69453531e+02] [-9.86972469e-01 -2.49233587e-03 1.60869927e-01 -5.76654839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-169.44, Z:-576.69 [[ 1.30884627e-01 -5.78426373e-01 8.05165912e-01 2.94807207e+02] [ 9.36050441e-02 8.15734330e-01 5.70802591e-01 -1.69441364e+02] [-9.86968748e-01 6.58306674e-04 1.60910709e-01 -5.76685223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-169.44, Z:-576.71 [[ 1.34962237e-01 -5.78919303e-01 8.04137821e-01 2.94809853e+02] [ 8.77917912e-02 8.15357829e-01 5.72262363e-01 -1.69436699e+02] [-9.86953796e-01 -6.63710882e-03 1.60866879e-01 -5.76712222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-169.43, Z:-576.74 [[ 1.36697181e-01 -5.79155189e-01 8.03674777e-01 2.94812805e+02] [ 8.55440880e-02 8.15161235e-01 5.72882510e-01 -1.69433161e+02] [-9.86912402e-01 -9.56179820e-03 1.60973545e-01 -5.76739271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-169.43, Z:-576.77 [[ 1.37619955e-01 -5.79526626e-01 8.03249425e-01 2.94815735e+02] [ 8.40174172e-02 8.14872998e-01 5.73518152e-01 -1.69429670e+02] [-9.86915306e-01 -1.14406005e-02 1.60833116e-01 -5.76766902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-169.43, Z:-576.79 [[ 1.38641635e-01 -5.80711505e-01 8.02217330e-01 2.94818684e+02] [ 8.26062193e-02 8.13998379e-01 5.74963349e-01 -1.69426429e+02] [-9.86891438e-01 -1.34457178e-02 1.60824448e-01 -5.76793963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-169.42, Z:-576.82 [[ 1.38239727e-01 -5.81394786e-01 8.01791669e-01 2.94822310e+02] [ 8.28953391e-02 8.13516024e-01 5.75604067e-01 -1.69423825e+02] [-9.86923574e-01 -1.31065565e-02 1.60655151e-01 -5.76820412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-169.42, Z:-576.85 [[ 1.36552544e-01 -5.82663910e-01 8.01159267e-01 2.94826104e+02] [ 8.43952118e-02 8.12637055e-01 5.76626799e-01 -1.69421790e+02] [-9.87031332e-01 -1.11258505e-02 1.60141702e-01 -5.76848171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-169.42, Z:-576.88 [[ 1.35684882e-01 -5.84310116e-01 8.00107056e-01 2.94830596e+02] [ 8.59903817e-02 8.11473343e-01 5.78028259e-01 -1.69419924e+02] [-9.87013307e-01 -9.62818468e-03 1.60349714e-01 -5.76875434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-169.42, Z:-576.90 [[ 1.35143913e-01 -5.85929143e-01 7.99013868e-01 2.94835436e+02] [ 8.75064445e-02 8.10318896e-01 5.79418596e-01 -1.69418355e+02] [-9.86954277e-01 -8.38603333e-03 1.60782242e-01 -5.76901974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:-169.42, Z:-576.94 [[ 1.30724840e-01 -5.75459182e-01 8.07315147e-01 2.94826848e+02] [ 8.81261167e-02 8.17824261e-01 5.68680285e-01 -1.69415128e+02] [-9.87494204e-01 -3.19509062e-03 1.57622929e-01 -5.76935629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-169.42, Z:-576.96 [[ 1.33483037e-01 -6.12283474e-01 7.79288924e-01 2.94862475e+02] [ 9.21271456e-02 7.90586928e-01 6.05379962e-01 -1.69420160e+02] [-9.86759782e-01 -9.01429161e-03 1.61937873e-01 -5.76963687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-169.41, Z:-576.99 [[ 1.32359868e-01 -5.85710144e-01 7.99640227e-01 2.94846765e+02] [ 9.33609240e-02 8.10518413e-01 5.78224558e-01 -1.69411694e+02] [-9.86795117e-01 -1.87857553e-03 1.61962550e-01 -5.76993772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-169.41, Z:-577.02 [[ 1.31414724e-01 -5.87339724e-01 7.98600163e-01 2.94851533e+02] [ 9.49335604e-02 8.09340424e-01 5.79616854e-01 -1.69409816e+02] [-9.86771397e-01 -3.56231880e-04 1.62117499e-01 -5.77021331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-169.41, Z:-577.05 [[ 1.29320311e-01 -5.89132271e-01 7.97621103e-01 2.94857212e+02] [ 9.68883241e-02 8.08033804e-01 5.81114467e-01 -1.69409097e+02] [-9.86858100e-01 2.13026839e-03 1.61575221e-01 -5.77048351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-169.41, Z:-577.08 [[ 1.28228313e-01 -5.89936296e-01 7.97203027e-01 2.94861811e+02] [ 9.79038014e-02 8.07442420e-01 5.81765918e-01 -1.69407483e+02] [-9.86900373e-01 3.45034449e-03 1.61293985e-01 -5.77075308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-169.41, Z:-577.10 [[ 1.25444908e-01 -5.90974752e-01 7.96876664e-01 2.94866798e+02] [ 1.00112733e-01 8.06662152e-01 5.82471986e-01 -1.69406132e+02] [-9.87036482e-01 6.70935642e-03 1.60355757e-01 -5.77103115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-169.40, Z:-577.13 [[ 1.24555250e-01 -5.92622434e-01 7.95791832e-01 2.94871615e+02] [ 1.01862059e-01 8.05437229e-01 5.83862134e-01 -1.69404340e+02] [-9.86970167e-01 8.33790068e-03 1.60687177e-01 -5.77130461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-169.40, Z:-577.16 [[ 1.23139675e-01 -5.94260291e-01 7.94790115e-01 2.94875973e+02] [ 1.03314668e-01 8.04210110e-01 5.85296659e-01 -1.69402734e+02] [-9.86996808e-01 1.00402362e-02 1.60425976e-01 -5.77158272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-169.40, Z:-577.19 [[ 1.21908864e-01 -5.95928760e-01 7.93729892e-01 2.94880252e+02] [ 1.05329872e-01 8.02946394e-01 5.86670867e-01 -1.69400808e+02] [-9.86936597e-01 1.20830892e-02 1.60655383e-01 -5.77186305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-169.40, Z:-577.22 [[ 1.20073603e-01 -5.95664093e-01 7.94208171e-01 2.94883727e+02] [ 1.07908532e-01 8.03087197e-01 5.86009132e-01 -1.69399579e+02] [-9.86883012e-01 1.53376099e-02 1.60706811e-01 -5.77219368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-169.39, Z:-577.25 [[ 1.19388305e-01 -5.89097949e-01 7.99193368e-01 2.94884148e+02] [ 1.08832469e-01 8.07865018e-01 5.79231911e-01 -1.69394935e+02] [-9.86864695e-01 1.78246712e-02 1.60562619e-01 -5.77250398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-169.39, Z:-577.28 [[ 1.17981420e-01 -5.96339183e-01 7.94015090e-01 2.94893272e+02] [ 1.09888529e-01 8.02529201e-01 5.86405484e-01 -1.69394614e+02] [-9.86916864e-01 1.80681982e-02 1.60214371e-01 -5.77277295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-169.39, Z:-577.30 [[ 1.16652044e-01 -5.97965672e-01 7.92987614e-01 2.94898602e+02] [ 1.11380229e-01 8.01278319e-01 5.87832885e-01 -1.69392857e+02] [-9.86907668e-01 1.97512345e-02 1.60072308e-01 -5.77303844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:-169.39, Z:-577.34 [[ 1.10520434e-01 -5.81718483e-01 8.05846660e-01 2.94882547e+02] [ 1.10368559e-01 8.12982436e-01 5.71732752e-01 -1.69388594e+02] [-9.87726691e-01 2.57519828e-02 1.54054602e-01 -5.77336875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-169.40, Z:-577.37 [[ 1.11468668e-01 -6.39153462e-01 7.60958335e-01 2.94932220e+02] [ 1.09424912e-01 7.68968344e-01 6.29852264e-01 -1.69398467e+02] [-9.87725126e-01 1.30590064e-02 1.55655188e-01 -5.77365912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-169.39, Z:-577.40 [[ 1.15772764e-01 -6.17859913e-01 7.77718327e-01 2.94926006e+02] [ 1.09121173e-01 7.86155614e-01 6.08318929e-01 -1.69388410e+02] [-9.87263509e-01 1.44387725e-02 1.58437007e-01 -5.77398182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-169.38, Z:-577.43 [[ 1.10319826e-01 -5.75714374e-01 8.10174361e-01 2.94890566e+02] [ 1.07141799e-01 8.17288441e-01 5.66180394e-01 -1.69378134e+02] [-9.88104332e-01 2.43426159e-02 1.51846192e-01 -5.77433001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-169.39, Z:-577.46 [[ 1.16850451e-01 -6.56862941e-01 7.44900697e-01 2.94964208e+02] [ 1.06011992e-01 7.54003127e-01 6.48259780e-01 -1.69390630e+02] [-9.87475281e-01 3.21895895e-03 1.57740954e-01 -5.77459323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-169.37, Z:-577.49 [[ 1.20182417e-01 -5.92254956e-01 7.96737255e-01 2.94919158e+02] [ 1.03871242e-01 8.05651063e-01 5.83212765e-01 -1.69373100e+02] [-9.87302867e-01 1.26661682e-02 1.58343350e-01 -5.77492284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-169.37, Z:-577.52 [[ 1.15716400e-01 -5.76237992e-01 8.09048510e-01 2.94903530e+02] [ 1.00897171e-01 8.17126199e-01 5.67560161e-01 -1.69368340e+02] [-9.88144461e-01 1.59546867e-02 1.52695685e-01 -5.77524600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-169.38, Z:-577.55 [[ 1.22987598e-01 -6.42312787e-01 7.56510631e-01 2.94964404e+02] [ 9.94787239e-02 7.66437548e-01 6.34568727e-01 -1.69378724e+02] [-9.87409760e-01 -2.78737147e-03 1.58158770e-01 -5.77554269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-169.36, Z:-577.59 [[ 1.26601985e-01 -5.73907632e-01 8.09074760e-01 2.94917923e+02] [ 9.61351839e-02 8.18896983e-01 5.65831917e-01 -1.69358508e+02] [-9.87284135e-01 6.14510689e-03 1.58846699e-01 -5.77589203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0965599949999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:294.93, Y:-169.36, Z:-577.62 [[ 1.27778969e-01 -5.86662380e-01 7.99687306e-01 2.94931346e+02] [ 9.35969064e-02 8.09831178e-01 5.79148583e-01 -1.69360364e+02] [-9.87376400e-01 8.45249142e-04 1.58389177e-01 -5.77619025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-169.35, Z:-577.65 [[ 1.26649718e-01 -5.47521115e-01 8.27152028e-01 2.94904339e+02] [ 9.25470676e-02 8.36751718e-01 5.39705107e-01 -1.69346794e+02] [-9.87620823e-01 8.19699525e-03 1.56645842e-01 -5.77647043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-169.36, Z:-577.67 [[ 1.30102520e-01 -6.03456428e-01 7.86710667e-01 2.94946876e+02] [ 8.87604011e-02 7.97357478e-01 5.96944422e-01 -1.69359765e+02] [-9.87519582e-01 -7.83521915e-03 1.57301252e-01 -5.77671923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-169.36, Z:-577.70 [[ 1.35121762e-01 -6.03097398e-01 7.86139707e-01 2.94953742e+02] [ 8.85588088e-02 7.97591673e-01 5.96661428e-01 -1.69355059e+02] [-9.86863439e-01 -1.10023474e-02 1.61181579e-01 -5.77698126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-169.35, Z:-577.73 [[ 1.31785264e-01 -5.75769407e-01 8.06921455e-01 2.94931796e+02] [ 8.58396842e-02 8.17591782e-01 5.69363879e-01 -1.69346787e+02] [-9.87554653e-01 -5.76788599e-03 1.57170413e-01 -5.77730701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-169.36, Z:-577.76 [[ 1.38950619e-01 -6.30345067e-01 7.63778648e-01 2.94981351e+02] [ 8.50403455e-02 7.76006469e-01 6.24965679e-01 -1.69355468e+02] [-9.86641204e-01 -2.18873680e-02 1.61431342e-01 -5.77756463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-169.34, Z:-577.79 [[ 1.41209630e-01 -5.86153488e-01 7.97799429e-01 2.94952568e+02] [ 8.12657594e-02 8.10018005e-01 5.80746682e-01 -1.69342559e+02] [-9.86638595e-01 -1.71732478e-02 1.62016551e-01 -5.77786806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-169.34, Z:-577.81 [[ 1.41810643e-01 -5.86541962e-01 7.97407216e-01 2.94956563e+02] [ 7.98755960e-02 8.09701716e-01 5.81380272e-01 -1.69340609e+02] [-9.86665917e-01 -1.87525332e-02 1.61674709e-01 -5.77814225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-169.34, Z:-577.84 [[ 1.37701698e-01 -5.75419576e-01 8.06182705e-01 2.94946995e+02] [ 7.83611660e-02 8.17714249e-01 5.70265670e-01 -1.69336693e+02] [-9.87369115e-01 -1.53531344e-02 1.57691190e-01 -5.77842020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-169.35, Z:-577.87 [[ 1.44500113e-01 -6.32844433e-01 7.60675779e-01 2.94999346e+02] [ 7.95326888e-02 7.73684768e-01 6.28559012e-01 -1.69347558e+02] [-9.86303335e-01 -3.03282579e-02 1.62129355e-01 -5.77866134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-169.34, Z:-577.90 [[ 1.43186336e-01 -5.89780791e-01 7.94768075e-01 2.94971298e+02] [ 7.89293621e-02 8.07289971e-01 5.84853023e-01 -1.69335815e+02] [-9.86543374e-01 -2.10124242e-02 1.62143915e-01 -5.77896702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-169.33, Z:-577.93 [[ 1.37998739e-01 -5.80744659e-01 8.02304175e-01 2.94963202e+02] [ 7.88046273e-02 8.13924429e-01 5.75601299e-01 -1.69332086e+02] [-9.87292347e-01 -1.62069719e-02 1.58085911e-01 -5.77927546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-169.34, Z:-577.96 [[ 1.43445250e-01 -6.44170191e-01 7.51311004e-01 2.95021660e+02] [ 8.11126629e-02 7.64260467e-01 6.39786429e-01 -1.69344891e+02] [-9.86328645e-01 -3.08334879e-02 1.61879893e-01 -5.77956017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-169.33, Z:-577.99 [[ 1.41814146e-01 -5.89096909e-01 7.95520949e-01 2.94984247e+02] [ 8.09025690e-02 8.07852142e-01 5.83806210e-01 -1.69330952e+02] [-9.86581736e-01 -1.84322908e-02 1.62224315e-01 -5.77986527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.99, Y:-169.33, Z:-578.02 [[ 1.42403798e-01 -5.93427690e-01 7.92189836e-01 2.94993302e+02] [ 8.28756604e-02 8.04684567e-01 5.87889763e-01 -1.69328567e+02] [-9.86332998e-01 -1.80644791e-02 1.63770850e-01 -5.78017770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-169.33, Z:-578.05 [[ 1.43575538e-01 -6.00386155e-01 7.86716295e-01 2.95003479e+02] [ 8.34583239e-02 7.99466251e-01 5.94885218e-01 -1.69331209e+02] [-9.86113976e-01 -1.97529420e-02 1.64891019e-01 -5.78050589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-169.33, Z:-578.08 [[ 1.44085002e-01 -5.88211553e-01 7.95767982e-01 2.94998796e+02] [ 8.42102753e-02 8.08530432e-01 5.82397776e-01 -1.69327065e+02] [-9.85975731e-01 -1.69029438e-02 1.66030566e-01 -5.78079455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-169.33, Z:-578.11 [[ 1.45860998e-01 -5.89619889e-01 7.94401004e-01 2.95004705e+02] [ 8.61585089e-02 8.07508827e-01 5.83529095e-01 -1.69327909e+02] [-9.85546184e-01 -1.66697305e-02 1.68584814e-01 -5.78106416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-169.33, Z:-578.13 [[ 1.46136645e-01 -5.90270715e-01 7.93866843e-01 2.95009643e+02] [ 8.69470016e-02 8.07040191e-01 5.84060227e-01 -1.69327057e+02] [-9.85436096e-01 -1.63282603e-02 1.69260415e-01 -5.78133488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-169.33, Z:-578.16 [[ 1.46326759e-01 -5.90946913e-01 7.93328574e-01 2.95014946e+02] [ 8.79448862e-02 8.06556286e-01 5.84579041e-01 -1.69326154e+02] [-9.85319327e-01 -1.57703654e-02 1.69991526e-01 -5.78160953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-169.33, Z:-578.19 [[ 1.46246532e-01 -5.92420107e-01 7.92243882e-01 2.95020762e+02] [ 8.88211103e-02 8.05483502e-01 5.85924175e-01 -1.69325074e+02] [-9.85252639e-01 -1.53213972e-02 1.70418580e-01 -5.78188725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-169.32, Z:-578.21 [[ 1.46202627e-01 -5.93792245e-01 7.91224091e-01 2.95025916e+02] [ 8.87872524e-02 8.04466814e-01 5.87324415e-01 -1.69322903e+02] [-9.85262207e-01 -1.56177592e-02 1.70336343e-01 -5.78214999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-169.32, Z:-578.24 [[ 1.45426587e-01 -5.94668200e-01 7.90709074e-01 2.95030823e+02] [ 8.76041789e-02 8.03805964e-01 5.88405881e-01 -1.69319861e+02] [-9.85482935e-01 -1.63004396e-02 1.68990177e-01 -5.78242281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-169.32, Z:-578.27 [[ 1.44665801e-01 -5.96095222e-01 7.89773571e-01 2.95035584e+02] [ 8.75785154e-02 8.02751034e-01 5.89848100e-01 -1.69317027e+02] [-9.85597184e-01 -1.61636511e-02 1.68335756e-01 -5.78269373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-169.31, Z:-578.30 [[ 1.42724408e-01 -5.97707336e-01 7.88907906e-01 2.95039607e+02] [ 8.82435843e-02 8.01578073e-01 5.91342256e-01 -1.69313279e+02] [-9.85820883e-01 -1.47829119e-02 1.67148593e-01 -5.78295788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-169.31, Z:-578.32 [[ 1.41340943e-01 -5.98550486e-01 7.88517631e-01 2.95042943e+02] [ 8.94403428e-02 8.00977228e-01 5.91976271e-01 -1.69310282e+02] [-9.85912351e-01 -1.31451969e-02 1.66745437e-01 -5.78323806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-169.31, Z:-578.35 [[ 1.40302953e-01 -6.00148993e-01 7.87487312e-01 2.95047398e+02] [ 9.05102751e-02 7.99798503e-01 5.93405633e-01 -1.69308058e+02] [-9.85962967e-01 -1.19808696e-02 1.66533742e-01 -5.78349936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:-169.31, Z:-578.38 [[ 1.39297590e-01 -6.01004172e-01 7.87013447e-01 2.95051489e+02] [ 9.20407780e-02 7.99179436e-01 5.94003976e-01 -1.69305718e+02] [-9.85963831e-01 -1.03059923e-02 1.66640661e-01 -5.78376418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-169.30, Z:-578.40 [[ 1.37726056e-01 -6.01975902e-01 7.86547231e-01 2.95056130e+02] [ 9.45286787e-02 7.98478707e-01 5.94555367e-01 -1.69303755e+02] [-9.85949219e-01 -7.53449490e-03 1.66875309e-01 -5.78403629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-169.30, Z:-578.43 [[ 1.37298603e-01 -6.08921228e-01 7.81257980e-01 2.95065631e+02] [ 9.69822569e-02 7.93201772e-01 6.01186652e-01 -1.69300318e+02] [-9.85770529e-01 -6.77392556e-03 1.67960051e-01 -5.78429345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-169.30, Z:-578.46 [[ 1.37049137e-01 -6.26449236e-01 7.67319287e-01 2.95082273e+02] [ 9.73518108e-02 7.79396488e-01 6.18921433e-01 -1.69301367e+02] [-9.85768816e-01 -1.01227265e-02 1.67801584e-01 -5.78455183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-169.30, Z:-578.48 [[ 1.36121524e-01 -6.23315461e-01 7.70031666e-01 2.95082663e+02] [ 9.58766781e-02 7.81906284e-01 6.15979079e-01 -1.69299637e+02] [-9.86041882e-01 -1.00199329e-02 1.66195691e-01 -5.78484371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-169.29, Z:-578.51 [[ 1.35780947e-01 -6.06589039e-01 7.83334712e-01 2.95072734e+02] [ 9.56768083e-02 7.94989878e-01 5.99030084e-01 -1.69292862e+02] [-9.86108251e-01 -6.38990730e-03 1.65980982e-01 -5.78513638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-169.29, Z:-578.54 [[ 1.36948802e-01 -6.12761465e-01 7.78311257e-01 2.95081104e+02] [ 9.73160915e-02 7.90235887e-01 6.05026298e-01 -1.69288680e+02] [-9.85786287e-01 -7.11541698e-03 1.67853409e-01 -5.78540422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-169.29, Z:-578.57 [[ 1.37031423e-01 -6.16738279e-01 7.75149202e-01 2.95084424e+02] [ 9.67836488e-02 7.87122903e-01 6.09155531e-01 -1.69287315e+02] [-9.85827224e-01 -8.45168094e-03 1.67550752e-01 -5.78568038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-169.28, Z:-578.59 [[ 1.37585806e-01 -6.09399493e-01 7.80834428e-01 2.95081836e+02] [ 9.73094428e-02 7.92834240e-01 6.01618434e-01 -1.69282634e+02] [-9.85698239e-01 -6.79159375e-03 1.68383063e-01 -5.78594928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-169.28, Z:-578.62 [[ 1.37698249e-01 -6.10055422e-01 7.80302233e-01 2.95085563e+02] [ 9.80206430e-02 7.92332646e-01 6.02163542e-01 -1.69279691e+02] [-9.85612067e-01 -6.43113907e-03 1.68900843e-01 -5.78622597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-169.28, Z:-578.65 [[ 1.37283094e-01 -6.11538525e-01 7.79213696e-01 2.95089706e+02] [ 9.88783877e-02 7.91193356e-01 6.03519791e-01 -1.69276623e+02] [-9.85584302e-01 -5.80567021e-03 1.69085415e-01 -5.78648869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-169.27, Z:-578.68 [[ 1.36569599e-01 -6.12237886e-01 7.78789776e-01 2.95093738e+02] [ 9.93701496e-02 7.90657048e-01 6.04141545e-01 -1.69274005e+02] [-9.85633968e-01 -5.11891163e-03 1.68817886e-01 -5.78676370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-169.27, Z:-578.70 [[ 1.35756981e-01 -6.13713715e-01 7.77769580e-01 2.95098529e+02] [ 9.99875207e-02 7.89516171e-01 6.05530108e-01 -1.69271689e+02] [-9.85683792e-01 -4.43768751e-03 1.68546044e-01 -5.78702878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-169.27, Z:-578.73 [[ 1.34478091e-01 -6.14484336e-01 7.77383203e-01 2.95102935e+02] [ 1.00783046e-01 7.88922654e-01 6.06171448e-01 -1.69269153e+02] [-9.85778079e-01 -3.16973218e-03 1.68022415e-01 -5.78730314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-169.27, Z:-578.76 [[ 1.34417721e-01 -6.18447908e-01 7.74244187e-01 2.95112041e+02] [ 1.02871804e-01 7.85822359e-01 6.09836545e-01 -1.69266499e+02] [-9.85570529e-01 -2.32494216e-03 1.69249302e-01 -5.78763265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.356559995 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:295.10, Y:-169.26, Z:-578.79 [[ 1.33669432e-01 -6.03189925e-01 7.86316983e-01 2.95104495e+02] [ 1.02796877e-01 7.97596392e-01 5.94367562e-01 -1.69261172e+02] [-9.85680113e-01 1.38215577e-03 1.68620297e-01 -5.78794001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-169.25, Z:-578.82 [[ 1.32364252e-01 -5.79759074e-01 8.03964627e-01 2.95089425e+02] [ 1.03389735e-01 8.14752459e-01 5.70516427e-01 -1.69252746e+02] [-9.85794232e-01 7.60570966e-03 1.67785236e-01 -5.78821413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-169.26, Z:-578.85 [[ 1.31258780e-01 -6.15582917e-01 7.77064222e-01 2.95119558e+02] [ 1.05031392e-01 7.88069587e-01 6.06559752e-01 -1.69258852e+02] [-9.85768502e-01 1.99984403e-03 1.68096583e-01 -5.78845137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-169.26, Z:-578.87 [[ 1.28850080e-01 -6.10722452e-01 7.81291075e-01 2.95117702e+02] [ 1.05139327e-01 7.91831227e-01 6.01621999e-01 -1.69256844e+02] [-9.86074733e-01 4.62537516e-03 1.66238464e-01 -5.78874305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-169.26, Z:-578.90 [[ 1.29392510e-01 -6.20202198e-01 7.73696848e-01 2.95130797e+02] [ 1.06415185e-01 7.84435163e-01 6.11013326e-01 -1.69255054e+02] [-9.85866820e-01 3.27254549e-03 1.67498966e-01 -5.78901007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-169.25, Z:-578.93 [[ 1.28093192e-01 -6.18310104e-01 7.75425528e-01 2.95133572e+02] [ 1.07279378e-01 7.85917133e-01 6.08954346e-01 -1.69252314e+02] [-9.85942833e-01 5.18426240e-03 1.67002557e-01 -5.78928494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:-169.25, Z:-578.96 [[ 1.21719202e-01 -5.99849353e-01 7.90800348e-01 2.95114573e+02] [ 1.05704987e-01 8.00027315e-01 5.90578319e-01 -1.69248527e+02] [-9.86919901e-01 1.17068185e-02 1.60785755e-01 -5.78961918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-169.26, Z:-578.99 [[ 1.20944532e-01 -6.53835660e-01 7.46907859e-01 2.95157478e+02] [ 1.04529015e-01 7.56636590e-01 6.45426026e-01 -1.69257859e+02] [-9.87140368e-01 1.27940662e-05 1.59855856e-01 -5.78990420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-169.26, Z:-579.02 [[ 1.22288280e-01 -6.65082182e-01 7.36689397e-01 2.95170430e+02] [ 1.03825160e-01 7.46760253e-01 6.56939465e-01 -1.69257231e+02] [-9.87049093e-01 -3.84910267e-03 1.60372291e-01 -5.79022741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-169.25, Z:-579.06 [[ 1.23640996e-01 -6.56993089e-01 7.43688769e-01 2.95167263e+02] [ 1.02665887e-01 7.53886596e-01 6.48933522e-01 -1.69252706e+02] [-9.87001834e-01 -3.88332009e-03 1.60662068e-01 -5.79055171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-169.25, Z:-579.09 [[ 1.28496140e-01 -6.65570043e-01 7.35190628e-01 2.95180716e+02] [ 1.00568597e-01 7.46259899e-01 6.58013769e-01 -1.69250085e+02] [-9.86597537e-01 -1.06151392e-02 1.62826962e-01 -5.79087218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-169.24, Z:-579.12 [[ 1.37310370e-01 -6.66996554e-01 7.32298750e-01 2.95197092e+02] [ 1.01486589e-01 7.44884049e-01 6.59430228e-01 -1.69242113e+02] [-9.85315348e-01 -1.62281065e-02 1.69971510e-01 -5.79117860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-169.23, Z:-579.15 [[ 1.38841014e-01 -6.11098810e-01 7.79282630e-01 2.95156521e+02] [ 9.90184165e-02 7.91527089e-01 6.03059053e-01 -1.69228233e+02] [-9.85351981e-01 -6.56599835e-03 1.70406460e-01 -5.79148744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-169.23, Z:-579.18 [[ 1.40351765e-01 -6.11734272e-01 7.78513046e-01 2.95160095e+02] [ 9.76571653e-02 7.91015058e-01 6.03952197e-01 -1.69225245e+02] [-9.85273800e-01 -8.73837937e-03 1.70760594e-01 -5.79175020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-169.22, Z:-579.21 [[ 1.36255458e-01 -5.95219141e-01 7.91927159e-01 2.95143097e+02] [ 9.41319805e-02 8.03544332e-01 5.87754777e-01 -1.69221258e+02] [-9.86191473e-01 -5.53912465e-03 1.65516458e-01 -5.79208277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-169.23, Z:-579.24 [[ 1.44192018e-01 -6.51381221e-01 7.44923598e-01 2.95196387e+02] [ 9.35682172e-02 7.58392493e-01 6.45047142e-01 -1.69228265e+02] [-9.85116060e-01 -2.33094762e-02 1.70302724e-01 -5.79237631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-169.21, Z:-579.27 [[ 1.46490835e-01 -6.05327300e-01 7.82380531e-01 2.95166988e+02] [ 9.20483034e-02 7.95822670e-01 5.98492596e-01 -1.69213900e+02] [-9.84920071e-01 -1.56568795e-02 1.72300078e-01 -5.79270878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-169.21, Z:-579.30 [[ 1.49469398e-01 -6.09776924e-01 7.78351464e-01 2.95175437e+02] [ 9.16603909e-02 7.92349917e-01 6.03141760e-01 -1.69211867e+02] [-9.84508645e-01 -1.88072359e-02 1.74324456e-01 -5.79303723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-169.20, Z:-579.34 [[ 1.50344810e-01 -5.88436405e-01 7.94442594e-01 2.95165367e+02] [ 9.11880756e-02 8.08404631e-01 5.81521012e-01 -1.69203625e+02] [-9.84419206e-01 -1.49849747e-02 1.75197824e-01 -5.79337470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-169.20, Z:-579.37 [[ 1.47146000e-01 -5.74000438e-01 8.05525637e-01 2.95156152e+02] [ 9.06047903e-02 8.18788530e-01 5.66900445e-01 -1.69197341e+02] [-9.84956256e-01 -1.04326514e-02 1.72488646e-01 -5.79367429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-169.20, Z:-579.39 [[ 1.51037378e-01 -6.22721020e-01 7.67727974e-01 2.95205027e+02] [ 9.43259333e-02 7.82172612e-01 6.15880365e-01 -1.69204125e+02] [-9.84017443e-01 -2.06042977e-02 1.76876042e-01 -5.79394777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-169.18, Z:-579.43 [[ 1.42646571e-01 -5.43320357e-01 8.27317923e-01 2.95142115e+02] [ 9.23094072e-02 8.39525455e-01 5.35421314e-01 -1.69184069e+02] [-9.85459755e-01 -6.78751756e-06 1.69909008e-01 -5.79426455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-169.20, Z:-579.46 [[ 1.44861186e-01 -6.16947822e-01 7.73557122e-01 2.95204368e+02] [ 9.52705788e-02 7.86868101e-01 6.09722978e-01 -1.69198207e+02] [-9.84854687e-01 -1.46279590e-02 1.72763622e-01 -5.79456321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-169.18, Z:-579.49 [[ 1.37898648e-01 -5.63796150e-01 8.14320492e-01 2.95164743e+02] [ 9.56716305e-02 8.25912975e-01 5.55621001e-01 -1.69182691e+02] [-9.85814842e-01 1.28798456e-03 1.67831579e-01 -5.79488510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-169.19, Z:-579.51 [[ 1.36326362e-01 -6.09370288e-01 7.81078086e-01 2.95201188e+02] [ 9.74756268e-02 7.92864036e-01 6.01552261e-01 -1.69190473e+02] [-9.85856798e-01 -5.87135515e-03 1.67487020e-01 -5.79512880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-169.19, Z:-579.54 [[ 1.35130753e-01 -6.10934850e-01 7.80063003e-01 2.95205703e+02] [ 9.87060928e-02 7.91668218e-01 6.02924987e-01 -1.69187993e+02] [-9.85898974e-01 -4.47673643e-03 1.67281715e-01 -5.79539804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-169.19, Z:-579.57 [[ 1.33495673e-01 -6.11886697e-01 7.79598342e-01 2.95209654e+02] [ 1.00986523e-01 7.90943298e-01 6.03498485e-01 -1.69185465e+02] [-9.85890779e-01 -1.83551067e-03 1.67379817e-01 -5.79567070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-169.18, Z:-579.60 [[ 1.41504376e-01 -6.34861133e-01 7.59557669e-01 2.95243500e+02] [ 1.04256928e-01 7.72568629e-01 6.26313186e-01 -1.69184183e+02] [-9.84432326e-01 -9.43690723e-03 1.75510514e-01 -5.79600500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-169.16, Z:-579.64 [[ 1.32965382e-01 -5.26479941e-01 8.39725597e-01 2.95156404e+02] [ 1.01375400e-01 8.50029372e-01 5.16887894e-01 -1.69158002e+02] [-9.85922530e-01 1.63993222e-02 1.66396595e-01 -5.79635925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-169.18, Z:-579.66 [[ 1.33306270e-01 -6.12546064e-01 7.79112802e-01 2.95220729e+02] [ 1.03249030e-01 7.90434892e-01 6.03781683e-01 -1.69176734e+02] [-9.85682036e-01 -4.52429171e-05 1.68614714e-01 -5.79658052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-169.17, Z:-579.68 [[ 1.34180884e-01 -6.13845127e-01 7.77939362e-01 2.95224392e+02] [ 1.03707915e-01 7.89426315e-01 6.05021290e-01 -1.69174012e+02] [-9.85515174e-01 -5.03822409e-04 1.69586519e-01 -5.79684322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-169.17, Z:-579.71 [[ 1.34761665e-01 -6.14391877e-01 7.77407175e-01 2.95227217e+02] [ 1.03926688e-01 7.89000612e-01 6.05538833e-01 -1.69171038e+02] [-9.85412877e-01 -8.10068692e-04 1.70178749e-01 -5.79710689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-169.17, Z:-579.74 [[ 1.39892079e-01 -6.24351606e-01 7.68514983e-01 2.95243558e+02] [ 1.04480354e-01 7.81121762e-01 6.15575055e-01 -1.69169278e+02] [-9.84639052e-01 -5.81935706e-03 1.74505224e-01 -5.79741441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-169.15, Z:-579.77 [[ 1.37217035e-01 -5.42611717e-01 8.28700193e-01 2.95181779e+02] [ 1.02606311e-01 8.39899357e-01 5.32954984e-01 -1.69146417e+02] [-9.85212378e-01 1.18993675e-02 1.70923886e-01 -5.79771411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-169.16, Z:-579.79 [[ 1.37063718e-01 -6.16154493e-01 7.75607619e-01 2.95237685e+02] [ 1.03423071e-01 7.87619453e-01 6.07420173e-01 -1.69161386e+02] [-9.85148317e-01 -3.03954545e-03 1.71678641e-01 -5.79794509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-169.16, Z:-579.82 [[ 1.37132888e-01 -6.17397412e-01 7.74606356e-01 2.95242058e+02] [ 1.02823903e-01 7.86642051e-01 6.08786933e-01 -1.69158536e+02] [-9.85201409e-01 -3.83666154e-03 1.71357707e-01 -5.79823591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-169.16, Z:-579.85 [[ 1.36864171e-01 -6.17585656e-01 7.74503813e-01 2.95245956e+02] [ 1.02803140e-01 7.86494802e-01 6.08980658e-01 -1.69155898e+02] [-9.85240942e-01 -3.72620865e-03 1.71132704e-01 -5.79850575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-169.15, Z:-579.88 [[ 1.36253574e-01 -6.18237342e-01 7.74091437e-01 2.95250005e+02] [ 1.02965858e-01 7.85984300e-01 6.09611935e-01 -1.69153208e+02] [-9.85308579e-01 -3.35681576e-03 1.70750508e-01 -5.79878498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-169.15, Z:-579.91 [[ 1.35077445e-01 -6.19687336e-01 7.73137562e-01 2.95254387e+02] [ 1.03228522e-01 7.84844041e-01 6.11034945e-01 -1.69151161e+02] [-9.85443025e-01 -2.72719074e-03 1.69984135e-01 -5.79906005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-169.15, Z:-579.94 [[ 1.35735823e-01 -6.20622594e-01 7.72271573e-01 2.95262278e+02] [ 1.02845498e-01 7.84100920e-01 6.12052736e-01 -1.69150703e+02] [-9.85392607e-01 -3.65282685e-03 1.70258823e-01 -5.79937888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-169.13, Z:-579.97 [[ 1.32368667e-01 -5.61059838e-01 8.17123243e-01 2.95219880e+02] [ 1.03678003e-01 8.27692365e-01 5.51521732e-01 -1.69132320e+02] [-9.85763363e-01 1.17135096e-02 1.67730098e-01 -5.79965350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-169.15, Z:-579.99 [[ 1.32152744e-01 -6.22152337e-01 7.71661922e-01 2.95270599e+02] [ 1.03962765e-01 7.82895756e-01 6.13405232e-01 -1.69145904e+02] [-9.85762343e-01 -8.39077628e-04 1.68142500e-01 -5.79993013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-169.13, Z:-580.02 [[ 1.31465633e-01 -5.75554219e-01 8.07127083e-01 2.95240055e+02] [ 1.03300160e-01 8.17714860e-01 5.66278628e-01 -1.69133292e+02] [-9.85923863e-01 8.93017829e-03 1.66956245e-01 -5.80023988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:-169.13, Z:-580.05 [[ 1.29103757e-01 -5.73856121e-01 8.08715879e-01 2.95241167e+02] [ 1.03717845e-01 8.18882291e-01 5.64512535e-01 -1.69128639e+02] [-9.86192085e-01 1.09975794e-02 1.65239900e-01 -5.80048044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6765599949999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:295.28, Y:-169.14, Z:-580.08 [[ 1.28025056e-01 -6.18414204e-01 7.75353763e-01 2.95277513e+02] [ 1.03237209e-01 7.85849819e-01 6.09739404e-01 -1.69138180e+02] [-9.86383122e-01 1.98343735e-03 1.64451824e-01 -5.80076181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-169.13, Z:-580.10 [[ 1.28167946e-01 -5.88174932e-01 7.98513135e-01 2.95258702e+02] [ 1.03403348e-01 8.08690624e-01 5.79074454e-01 -1.69126726e+02] [-9.86347163e-01 8.35014806e-03 1.64467473e-01 -5.80102127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-169.13, Z:-580.13 [[ 1.27136488e-01 -6.20132565e-01 7.74126550e-01 2.95284401e+02] [ 1.02785557e-01 7.84494932e-01 6.11557709e-01 -1.69133118e+02] [-9.86545206e-01 1.81772927e-03 1.63478601e-01 -5.80130053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-169.13, Z:-580.16 [[ 1.28952289e-01 -6.08699241e-01 7.82851545e-01 2.95279857e+02] [ 1.03356437e-01 7.93393077e-01 5.99870713e-01 -1.69125687e+02] [-9.86249844e-01 3.55804489e-03 1.65222838e-01 -5.80155909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-169.13, Z:-580.18 [[ 1.28918186e-01 -6.26227376e-01 7.68907911e-01 2.95296139e+02] [ 1.03306808e-01 7.79640453e-01 6.17647526e-01 -1.69126955e+02] [-9.86259502e-01 -1.92576947e-04 1.65203384e-01 -5.80182540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-169.12, Z:-580.21 [[ 1.27761445e-01 -6.24566131e-01 7.70450622e-01 2.95295866e+02] [ 1.03473989e-01 7.80971248e-01 6.15935909e-01 -1.69124396e+02] [-9.86392491e-01 1.02873698e-03 1.64404364e-01 -5.80214460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-169.12, Z:-580.25 [[ 1.31782758e-01 -6.44994683e-01 7.52738443e-01 2.95320919e+02] [ 1.04259243e-01 7.64167947e-01 6.36535435e-01 -1.69124136e+02] [-9.85780561e-01 -5.40445503e-03 1.67950817e-01 -5.80245346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:-169.11, Z:-580.28 [[ 1.31879781e-01 -6.10611193e-01 7.80872393e-01 2.95298676e+02] [ 1.03796844e-01 7.91928717e-01 6.01726784e-01 -1.69113637e+02] [-9.85816382e-01 1.69649346e-03 1.67818901e-01 -5.80280964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-169.11, Z:-580.31 [[ 1.30123831e-01 -6.01235358e-01 7.88405881e-01 2.95292732e+02] [ 1.02856913e-01 7.99061930e-01 5.92385421e-01 -1.69109332e+02] [-9.86148186e-01 4.00953451e-03 1.65818212e-01 -5.80311548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-169.11, Z:-580.34 [[ 1.30931923e-01 -6.24265053e-01 7.70162305e-01 2.95313432e+02] [ 1.03232615e-01 7.81211829e-01 6.15671264e-01 -1.69112246e+02] [-9.86001957e-01 -1.10515402e-03 1.66730081e-01 -5.80337547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-169.11, Z:-580.36 [[ 1.31523436e-01 -6.25529016e-01 7.69035133e-01 2.95317879e+02] [ 1.03369862e-01 7.80199168e-01 6.16931058e-01 -1.69109828e+02] [-9.85908849e-01 -1.64583654e-03 1.67275323e-01 -5.80364744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-169.11, Z:-580.39 [[ 1.31994500e-01 -6.26771512e-01 7.67942005e-01 2.95322188e+02] [ 1.03223803e-01 7.79199612e-01 6.18217446e-01 -1.69107456e+02] [-9.85861196e-01 -2.33140791e-03 1.67547802e-01 -5.80392021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-169.11, Z:-580.42 [[ 1.35242831e-01 -6.31173617e-01 7.63759937e-01 2.95331052e+02] [ 1.01937800e-01 7.75615265e-01 6.22920256e-01 -1.69105225e+02] [-9.85554698e-01 -6.38949102e-03 1.69236854e-01 -5.80424960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-169.10, Z:-580.46 [[ 1.34837694e-01 -6.06714495e-01 7.83400484e-01 2.95314184e+02] [ 1.00158422e-01 7.94916716e-01 5.98394273e-01 -1.69096965e+02] [-9.85792619e-01 -2.22194729e-03 1.67952303e-01 -5.80456327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-169.10, Z:-580.48 [[ 1.35639723e-01 -6.25038022e-01 7.68719283e-01 2.95331160e+02] [ 9.95812360e-02 7.80561535e-01 6.17095833e-01 -1.69098299e+02] [-9.85741063e-01 -7.15269173e-03 1.68117210e-01 -5.80481543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-169.10, Z:-580.51 [[ 1.36637315e-01 -6.25346848e-01 7.68291328e-01 2.95335338e+02] [ 9.79189001e-02 7.80293033e-01 6.17701119e-01 -1.69095628e+02] [-9.85769818e-01 -9.17078023e-03 1.67850420e-01 -5.80509263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-169.09, Z:-580.54 [[ 1.36499003e-01 -6.26556237e-01 7.67329984e-01 2.95340013e+02] [ 9.70103375e-02 7.79311218e-01 6.19082402e-01 -1.69093124e+02] [-9.85878804e-01 -1.00651902e-02 1.67157637e-01 -5.80536817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-169.09, Z:-580.56 [[ 1.36665175e-01 -6.27810404e-01 7.66274577e-01 2.95344646e+02] [ 9.66334133e-02 7.78292168e-01 6.20421860e-01 -1.69090223e+02] [-9.85892800e-01 -1.07423344e-02 1.67032898e-01 -5.80564763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-169.09, Z:-580.60 [[ 1.38379626e-01 -6.27642454e-01 7.66104450e-01 2.95348685e+02] [ 9.49924945e-02 7.78391552e-01 6.20550577e-01 -1.69087508e+02] [-9.85813119e-01 -1.30973837e-02 1.67334854e-01 -5.80597961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-169.08, Z:-580.63 [[ 1.39034809e-01 -6.10072755e-01 7.80051636e-01 2.95338957e+02] [ 9.41508261e-02 7.92277471e-01 6.02853242e-01 -1.69080090e+02] [-9.85801676e-01 -1.03750794e-02 1.67593001e-01 -5.80631920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-169.08, Z:-580.66 [[ 1.42755546e-01 -6.16326608e-01 7.74443262e-01 2.95350895e+02] [ 9.26788848e-02 7.87343234e-01 6.09509028e-01 -1.69078514e+02] [-9.85409295e-01 -1.52362563e-02 1.69518076e-01 -5.80661557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-169.07, Z:-580.69 [[ 1.41947790e-01 -5.78016177e-01 8.03584547e-01 2.95324832e+02] [ 9.22044989e-02 8.15996054e-01 5.70656438e-01 -1.69065534e+02] [-9.85570472e-01 -6.90930964e-03 1.69124528e-01 -5.80691503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-169.06, Z:-580.72 [[ 1.39445127e-01 -5.82659054e-01 8.00664401e-01 2.95327723e+02] [ 9.16169837e-02 8.12687492e-01 5.75452316e-01 -1.69064616e+02] [-9.85982447e-01 -6.88956365e-03 1.66706775e-01 -5.80718662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-169.07, Z:-580.75 [[ 1.40136479e-01 -6.15779832e-01 7.75356025e-01 2.95356530e+02] [ 9.22513832e-02 7.87797171e-01 6.08987110e-01 -1.69068164e+02] [-9.85825263e-01 -1.38136436e-02 1.67205663e-01 -5.80745900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-169.07, Z:-580.77 [[ 1.40904615e-01 -6.31590233e-01 7.62390758e-01 2.95372381e+02] [ 9.26530332e-02 7.75106481e-01 6.25000287e-01 -1.69069355e+02] [-9.85678094e-01 -1.74276087e-02 1.67734831e-01 -5.80770975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-169.07, Z:-580.80 [[ 1.41497436e-01 -6.30611175e-01 7.63091097e-01 2.95375725e+02] [ 9.28338191e-02 7.75902693e-01 6.23984690e-01 -1.69067226e+02] [-9.85576155e-01 -1.74515727e-02 1.68330285e-01 -5.80803763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-169.06, Z:-580.83 [[ 1.41636909e-01 -6.21699380e-01 7.70343344e-01 2.95373177e+02] [ 9.26857434e-02 7.83098582e-01 6.14952001e-01 -1.69061930e+02] [-9.85570058e-01 -1.57000551e-02 1.68538332e-01 -5.80834758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-169.06, Z:-580.86 [[ 1.41743055e-01 -6.31064147e-01 7.62670931e-01 2.95384287e+02] [ 9.36556675e-02 7.75542968e-01 6.24308994e-01 -1.69061717e+02] [-9.85463101e-01 -1.70630088e-02 1.69030563e-01 -5.80861245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-169.06, Z:-580.89 [[ 1.41462853e-01 -6.32035899e-01 7.61917899e-01 2.95388806e+02] [ 9.43419105e-02 7.74762189e-01 6.25174499e-01 -1.69059301e+02] [-9.85437905e-01 -1.65581778e-02 1.69227544e-01 -5.80888698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-169.06, Z:-580.92 [[ 1.41251281e-01 -6.33397310e-01 7.60825817e-01 2.95393999e+02] [ 9.49922126e-02 7.73656883e-01 6.26443539e-01 -1.69056482e+02] [-9.85405782e-01 -1.62134245e-02 1.69447838e-01 -5.80916519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-169.05, Z:-580.95 [[ 1.41707010e-01 -6.38738415e-01 7.56262097e-01 2.95403407e+02] [ 9.60941329e-02 7.69239592e-01 6.31693255e-01 -1.69053180e+02] [-9.85233496e-01 -1.68430122e-02 1.70385657e-01 -5.80948399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-169.05, Z:-580.98 [[ 1.40610747e-01 -6.21220545e-01 7.70917410e-01 2.95392215e+02] [ 9.49007841e-02 7.83524862e-01 6.14070543e-01 -1.69046550e+02] [-9.85506194e-01 -1.31842511e-02 1.69126333e-01 -5.80980872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-169.05, Z:-581.01 [[ 1.40664494e-01 -6.32831051e-01 7.61405517e-01 2.95404335e+02] [ 9.54297238e-02 7.74137446e-01 6.25783015e-01 -1.69045025e+02] [-9.85447446e-01 -1.53647330e-02 1.69284544e-01 -5.81007551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-169.04, Z:-581.03 [[ 1.41184980e-01 -6.34084932e-01 7.60265152e-01 2.95408321e+02] [ 9.54416643e-02 7.73098457e-01 6.27064323e-01 -1.69041990e+02] [-9.85371854e-01 -1.59710923e-02 1.69668011e-01 -5.81034624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-169.04, Z:-581.06 [[ 1.41590313e-01 -6.34586760e-01 7.59770904e-01 2.95411390e+02] [ 9.52257391e-02 7.72675158e-01 6.27618642e-01 -1.69038689e+02] [-9.85334584e-01 -1.65149738e-02 1.69832311e-01 -5.81060989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-169.04, Z:-581.09 [[ 1.42523145e-01 -6.35033107e-01 7.59223357e-01 2.95414940e+02] [ 9.51328712e-02 7.72291348e-01 6.28104936e-01 -1.69035386e+02] [-9.85209059e-01 -1.72923929e-02 1.70481914e-01 -5.81089093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-169.03, Z:-581.12 [[ 1.44003382e-01 -6.36094008e-01 7.58055037e-01 2.95418631e+02] [ 9.40343578e-02 7.71368835e-01 6.29402622e-01 -1.69032399e+02] [-9.85099267e-01 -1.93528873e-02 1.70894412e-01 -5.81115906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-169.03, Z:-581.14 [[ 1.44514705e-01 -6.36555689e-01 7.57570033e-01 2.95421795e+02] [ 9.34831433e-02 7.70965602e-01 6.29978525e-01 -1.69029724e+02] [-9.85076851e-01 -2.02211331e-02 1.70923094e-01 -5.81143672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-169.03, Z:-581.17 [[ 1.42516540e-01 -6.32764274e-01 7.61116554e-01 2.95418385e+02] [ 9.34950870e-02 7.74133704e-01 6.26079609e-01 -1.69026143e+02] [-9.85366787e-01 -1.80660410e-02 1.69487208e-01 -5.81174842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-169.03, Z:-581.20 [[ 1.45849443e-01 -6.67882326e-01 7.29836378e-01 2.95452646e+02] [ 9.52012820e-02 7.43776448e-01 6.61614171e-01 -1.69029632e+02] [-9.84715520e-01 -2.70146994e-02 1.72062634e-01 -5.81204843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-169.02, Z:-581.24 [[ 1.47214599e-01 -6.53543857e-01 7.42434030e-01 2.95447185e+02] [ 9.42832792e-02 7.56466412e-01 6.47201074e-01 -1.69024072e+02] [-9.84600693e-01 -2.52783314e-02 1.72981157e-01 -5.81237950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:-169.02, Z:-581.27 [[ 1.44117936e-01 -6.32830792e-01 7.60759626e-01 2.95431529e+02] [ 9.54546353e-02 7.74090603e-01 6.25837161e-01 -1.69016739e+02] [-9.84945904e-01 -1.75763271e-02 1.71966972e-01 -5.81270347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-169.02, Z:-581.30 [[ 1.45824959e-01 -6.57524127e-01 7.39186786e-01 2.95458914e+02] [ 9.59363215e-02 7.53050917e-01 6.50930517e-01 -1.69018891e+02] [-9.84647807e-01 -2.40070549e-02 1.72894065e-01 -5.81301090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-169.01, Z:-581.33 [[ 1.44397751e-01 -6.33544021e-01 7.60112665e-01 2.95443514e+02] [ 9.60117930e-02 7.73509136e-01 6.26470552e-01 -1.69011621e+02] [-9.84850763e-01 -1.74811588e-02 1.72520677e-01 -5.81330791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-169.01, Z:-581.36 [[ 1.42189118e-01 -6.35230564e-01 7.59120798e-01 2.95448805e+02] [ 9.76584876e-02 7.72174136e-01 6.27861388e-01 -1.69010067e+02] [-9.85010190e-01 -1.51404678e-02 1.71830415e-01 -5.81358124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-169.01, Z:-581.39 [[ 1.41531987e-01 -6.36708924e-01 7.58004250e-01 2.95453392e+02] [ 9.86021344e-02 7.70971451e-01 6.29190465e-01 -1.69007759e+02] [-9.85010820e-01 -1.43097399e-02 1.71897980e-01 -5.81385420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-169.01, Z:-581.41 [[ 1.41084645e-01 -6.38108408e-01 7.56910023e-01 2.95457327e+02] [ 9.89499057e-02 7.69818067e-01 6.30546636e-01 -1.69005125e+02] [-9.85040121e-01 -1.40642730e-02 1.71750275e-01 -5.81412397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-169.00, Z:-581.44 [[ 1.40714334e-01 -6.38733150e-01 7.56451875e-01 2.95461011e+02] [ 9.91327754e-02 7.69304177e-01 6.31144814e-01 -1.69002370e+02] [-9.85074702e-01 -1.38219484e-02 1.71571515e-01 -5.81439324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-169.00, Z:-581.47 [[ 1.40083822e-01 -6.39501486e-01 7.55919554e-01 2.95464853e+02] [ 1.00560533e-01 7.68688706e-01 6.31668626e-01 -1.68999977e+02] [-9.85019849e-01 -1.24708820e-02 1.71989462e-01 -5.81467163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-169.00, Z:-581.49 [[ 1.39607602e-01 -6.40956599e-01 7.54774374e-01 2.95469485e+02] [ 1.01756871e-01 7.67490086e-01 6.32933256e-01 -1.68997403e+02] [-9.84964597e-01 -1.15588155e-02 1.72369188e-01 -5.81494427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:-168.99, Z:-581.52 [[ 1.38176407e-01 -6.42486861e-01 7.53735971e-01 2.95473788e+02] [ 1.02867959e-01 7.66230044e-01 6.34278885e-01 -1.68994951e+02] [-9.85050995e-01 -1.01070960e-02 1.71966227e-01 -5.81521615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-168.99, Z:-581.55 [[ 1.35904007e-01 -6.44241943e-01 7.52650264e-01 2.95478966e+02] [ 1.05528589e-01 7.64790164e-01 6.35578258e-01 -1.68992270e+02] [-9.85085691e-01 -6.95151174e-03 1.71923992e-01 -5.81548518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-168.99, Z:-581.58 [[ 1.33877565e-01 -6.45125262e-01 7.52256734e-01 2.95482858e+02] [ 1.07026185e-01 7.64062603e-01 6.36202589e-01 -1.68989333e+02] [-9.85201600e-01 -4.66208499e-03 1.71336136e-01 -5.81576389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-168.99, Z:-581.60 [[ 1.31980567e-01 -6.46698906e-01 7.51240078e-01 2.95487539e+02] [ 1.08391732e-01 7.62740548e-01 6.37556342e-01 -1.68986156e+02] [-9.85308258e-01 -2.71683494e-03 1.70763745e-01 -5.81604314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:-168.98, Z:-581.63 [[ 1.28900500e-01 -6.48464921e-01 7.50251896e-01 2.95492271e+02] [ 1.10787975e-01 7.61244158e-01 6.38931418e-01 -1.68982724e+02] [-9.85449484e-01 7.60308462e-04 1.69966868e-01 -5.81632048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-168.98, Z:-581.66 [[ 1.27683096e-01 -6.49977320e-01 7.49150526e-01 2.95496472e+02] [ 1.12289301e-01 7.59949886e-01 6.40208781e-01 -1.68979841e+02] [-9.85438045e-01 2.37774962e-03 1.70018253e-01 -5.81659788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-168.98, Z:-581.69 [[ 1.25630893e-01 -6.51154943e-01 7.48474528e-01 2.95498679e+02] [ 1.15373488e-01 7.58922352e-01 6.40878946e-01 -1.68975282e+02] [-9.85345542e-01 5.83992270e-03 1.70470109e-01 -5.81690401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-168.98, Z:-581.72 [[ 1.24812199e-01 -6.69136785e-01 7.32583018e-01 2.95516346e+02] [ 1.16251449e-01 7.43133539e-01 6.58967484e-01 -1.68975088e+02] [-9.85346394e-01 2.91665652e-03 1.70540251e-01 -5.81720850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-168.97, Z:-581.75 [[ 1.23048560e-01 -6.62114737e-01 7.39231444e-01 2.95511869e+02] [ 1.16287739e-01 7.49380384e-01 6.51848296e-01 -1.68970673e+02] [-9.85563906e-01 5.75455930e-03 1.69206003e-01 -5.81753685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-168.97, Z:-581.79 [[ 1.22540809e-01 -6.73475548e-01 7.28981781e-01 2.95524727e+02] [ 1.16829430e-01 7.39199276e-01 6.63276198e-01 -1.68968888e+02] [-9.85563105e-01 3.88812420e-03 1.69263841e-01 -5.81785462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-168.97, Z:-581.82 [[ 1.21779702e-01 -6.67318926e-01 7.34748361e-01 2.95522510e+02] [ 1.17315839e-01 7.44746324e-01 6.56955027e-01 -1.68965067e+02] [-9.85599664e-01 6.19383281e-03 1.68982065e-01 -5.81815697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-168.96, Z:-581.84 [[ 1.21876864e-01 -6.52444940e-01 7.47971678e-01 2.95514297e+02] [ 1.19022824e-01 7.57758729e-01 6.41588089e-01 -1.68957619e+02] [-9.85382970e-01 1.08309569e-02 1.70009097e-01 -5.81844757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-168.96, Z:-581.87 [[ 1.23332535e-01 -6.70922615e-01 7.31198967e-01 2.95536843e+02] [ 1.19746289e-01 7.41501978e-01 6.60178494e-01 -1.68956648e+02] [-9.85114162e-01 6.13687578e-03 1.71791812e-01 -5.81874856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-168.95, Z:-581.91 [[ 1.20523422e-01 -6.38701067e-01 7.59957269e-01 2.95509589e+02] [ 1.19030695e-01 7.69312478e-01 6.27686231e-01 -1.68948765e+02] [-9.85548476e-01 1.48073494e-02 1.68745204e-01 -5.81909409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-168.95, Z:-581.94 [[ 1.20968420e-01 -6.66346884e-01 7.35763870e-01 2.95536476e+02] [ 1.19150509e-01 7.45595110e-01 6.55660803e-01 -1.68950103e+02] [-9.85479476e-01 8.35238824e-03 1.69589032e-01 -5.81939970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-168.94, Z:-581.97 [[ 1.23324836e-01 -6.67008005e-01 7.34772963e-01 2.95543894e+02] [ 1.18746452e-01 7.45023885e-01 6.56383036e-01 -1.68944089e+02] [-9.85236147e-01 6.30335188e-03 1.71084783e-01 -5.81970891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-168.94, Z:-582.01 [[ 1.21415635e-01 -6.39252050e-01 7.59351737e-01 2.95521749e+02] [ 1.17666719e-01 7.68886627e-01 6.28464715e-01 -1.68936042e+02] [-9.85602753e-01 1.30449852e-02 1.68573550e-01 -5.82005545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-168.94, Z:-582.04 [[ 1.20239108e-01 -6.54812444e-01 7.46165679e-01 2.95537520e+02] [ 1.16602144e-01 7.55731452e-01 6.44417499e-01 -1.68935392e+02] [-9.85873469e-01 9.52033250e-03 1.67221010e-01 -5.82036060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-168.93, Z:-582.07 [[ 1.21456358e-01 -6.64113354e-01 7.37700350e-01 2.95553769e+02] [ 1.14276181e-01 7.47616219e-01 6.54225453e-01 -1.68931338e+02] [-9.85996606e-01 4.84173790e-03 1.66695081e-01 -5.82065348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:-168.92, Z:-582.10 [[ 1.18067574e-01 -6.35833984e-01 7.62741891e-01 2.95529439e+02] [ 1.12888788e-01 7.71729231e-01 6.25851512e-01 -1.68923805e+02] [-9.86567874e-01 1.22122383e-02 1.62894726e-01 -5.82095601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-168.93, Z:-582.12 [[ 1.21125884e-01 -6.73846236e-01 7.28875690e-01 2.95568626e+02] [ 1.12172906e-01 7.38870500e-01 6.64445350e-01 -1.68926077e+02] [-9.86278743e-01 1.27857374e-03 1.65083634e-01 -5.82121408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:-168.92, Z:-582.15 [[ 1.21276249e-01 -6.44450084e-01 7.54967655e-01 2.95548766e+02] [ 1.12471814e-01 7.64605058e-01 6.34609484e-01 -1.68917235e+02] [-9.86226223e-01 7.94952373e-03 1.65210903e-01 -5.82151927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-168.91, Z:-582.18 [[ 1.18936213e-01 -6.34777240e-01 7.63486760e-01 2.95537726e+02] [ 1.10183336e-01 7.72633515e-01 6.25217629e-01 -1.68912343e+02] [-9.86769380e-01 9.76250045e-03 1.61835978e-01 -5.82183682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-168.92, Z:-582.21 [[ 1.24743837e-01 -6.85247245e-01 7.17548039e-01 2.95587728e+02] [ 1.09146848e-01 7.28285189e-01 6.76526163e-01 -1.68916200e+02] [-9.86167299e-01 -6.07436264e-03 1.65641666e-01 -5.82212347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-168.90, Z:-582.24 [[ 1.26937996e-01 -6.42356866e-01 7.55820350e-01 2.95556096e+02] [ 1.07894835e-01 7.66404784e-01 6.33231721e-01 -1.68903936e+02] [-9.86025076e-01 1.16794659e-03 1.66592875e-01 -5.82243766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-168.90, Z:-582.27 [[ 1.30703372e-01 -6.42994299e-01 7.54635648e-01 2.95558711e+02] [ 1.04960591e-01 7.65861983e-01 6.34380562e-01 -1.68899738e+02] [-9.85849838e-01 -3.70867507e-03 1.67589805e-01 -5.82270949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-168.90, Z:-582.30 [[ 1.32681487e-01 -6.44018465e-01 7.53416114e-01 2.95562479e+02] [ 1.03953777e-01 7.64986321e-01 6.35601716e-01 -1.68896227e+02] [-9.85692262e-01 -6.01213007e-03 1.68447674e-01 -5.82297737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-168.89, Z:-582.33 [[ 1.33968105e-01 -6.44376478e-01 7.52882130e-01 2.95565588e+02] [ 1.03073873e-01 7.64670466e-01 6.36124874e-01 -1.68892827e+02] [-9.85610635e-01 -7.61796665e-03 1.68859832e-01 -5.82325008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-168.89, Z:-582.35 [[ 1.35960223e-01 -6.45384109e-01 7.51660941e-01 2.95568920e+02] [ 1.02273629e-01 7.63795682e-01 6.37303901e-01 -1.68889289e+02] [-9.85421191e-01 -9.77288837e-03 1.69851606e-01 -5.82352306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-168.89, Z:-582.38 [[ 1.36891542e-01 -6.46604427e-01 7.50442150e-01 2.95572905e+02] [ 1.02422462e-01 7.62752566e-01 6.38528122e-01 -1.68886416e+02] [-9.85276786e-01 -1.05469667e-02 1.70641193e-01 -5.82379060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-168.88, Z:-582.41 [[ 1.37191763e-01 -6.47168767e-01 7.49900665e-01 2.95576145e+02] [ 1.02769714e-01 7.62273002e-01 6.39044801e-01 -1.68883553e+02] [-9.85198866e-01 -1.06046060e-02 1.71086926e-01 -5.82405319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:-168.88, Z:-582.43 [[ 1.37199747e-01 -6.48142453e-01 7.49057802e-01 2.95580899e+02] [ 1.03876032e-01 7.61453754e-01 6.39842129e-01 -1.68881368e+02] [-9.85081722e-01 -9.97702617e-03 1.71797728e-01 -5.82433427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-168.88, Z:-582.46 [[ 1.37145283e-01 -6.49515760e-01 7.47877296e-01 2.95586326e+02] [ 1.04988760e-01 7.60290055e-01 6.41043207e-01 -1.68879126e+02] [-9.84971336e-01 -9.39734227e-03 1.72462048e-01 -5.82461042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-168.88, Z:-582.49 [[ 1.36851183e-01 -6.50874209e-01 7.46749301e-01 2.95591560e+02] [ 1.05723816e-01 7.59132843e-01 6.42292613e-01 -1.68877153e+02] [-9.84933616e-01 -8.94931793e-03 1.72701133e-01 -5.82487536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-168.87, Z:-582.51 [[ 1.36035984e-01 -6.51550677e-01 7.46308198e-01 2.95595785e+02] [ 1.06301750e-01 7.58561654e-01 6.42871803e-01 -1.68874763e+02] [-9.84984340e-01 -8.11983112e-03 1.72452658e-01 -5.82514701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-168.87, Z:-582.54 [[ 1.34732133e-01 -6.52989100e-01 7.45286850e-01 2.95601619e+02] [ 1.07090214e-01 7.57335145e-01 6.44185660e-01 -1.68872827e+02] [-9.85078138e-01 -6.97957970e-03 1.71966122e-01 -5.82541751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-168.87, Z:-582.57 [[ 1.34312426e-01 -6.54329839e-01 7.44185887e-01 2.95606429e+02] [ 1.07506225e-01 7.56179675e-01 6.45472471e-01 -1.68870686e+02] [-9.85090140e-01 -6.69035802e-03 1.71908857e-01 -5.82567961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-168.87, Z:-582.60 [[ 1.33704486e-01 -6.54913382e-01 7.43781939e-01 2.95610761e+02] [ 1.07342787e-01 7.55675605e-01 6.46089705e-01 -1.68868643e+02] [-9.85190660e-01 -6.54546572e-03 1.71337445e-01 -5.82595626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-168.87, Z:-582.62 [[ 1.33945765e-01 -6.56156991e-01 7.42641593e-01 2.95616984e+02] [ 1.07728403e-01 7.54594687e-01 6.47287764e-01 -1.68867104e+02] [-9.85115792e-01 -6.69786206e-03 1.71761507e-01 -5.82622871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-168.87, Z:-582.65 [[ 1.34164785e-01 -6.57382234e-01 7.41517639e-01 2.95622215e+02] [ 1.07977931e-01 7.53525364e-01 6.48490780e-01 -1.68865081e+02] [-9.85058667e-01 -6.93708545e-03 1.72079342e-01 -5.82650854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-168.86, Z:-582.68 [[ 1.34391041e-01 -6.58634163e-01 7.40364835e-01 2.95627454e+02] [ 1.08401550e-01 7.52430232e-01 6.49690580e-01 -1.68862872e+02] [-9.84981295e-01 -7.05589710e-03 1.72516846e-01 -5.82678211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-168.86, Z:-582.70 [[ 1.34304732e-01 -6.59832266e-01 7.39312937e-01 2.95632846e+02] [ 1.07946015e-01 7.51374236e-01 6.50987262e-01 -1.68861314e+02] [-9.85043094e-01 -7.62478426e-03 1.72139379e-01 -5.82704840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-168.86, Z:-582.73 [[ 1.34115683e-01 -6.60660877e-01 7.38606924e-01 2.95637172e+02] [ 1.07692519e-01 7.50643091e-01 6.51872128e-01 -1.68858764e+02] [-9.85096597e-01 -7.88383590e-03 1.71821245e-01 -5.82732586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-168.86, Z:-582.76 [[ 1.34672172e-01 -6.61763487e-01 7.37517792e-01 2.95642239e+02] [ 1.07151055e-01 7.49659513e-01 6.53092080e-01 -1.68856340e+02] [-9.85079721e-01 -8.92751893e-03 1.71866931e-01 -5.82759948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-168.85, Z:-582.79 [[ 1.35415233e-01 -6.62859596e-01 7.36396545e-01 2.95646943e+02] [ 1.06802604e-01 7.48677608e-01 6.54274440e-01 -1.68853573e+02] [-9.85015695e-01 -9.94965749e-03 1.72177483e-01 -5.82788025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-168.85, Z:-582.81 [[ 1.36874931e-01 -6.63790167e-01 7.35287609e-01 2.95651816e+02] [ 1.05477247e-01 7.47819978e-01 6.55469169e-01 -1.68851611e+02] [-9.84956752e-01 -1.21611845e-02 1.72372567e-01 -5.82814208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-168.85, Z:-582.85 [[ 1.38691282e-01 -6.64102396e-01 7.34665050e-01 2.95657104e+02] [ 1.05178166e-01 7.47516248e-01 6.55863562e-01 -1.68848162e+02] [-9.84734625e-01 -1.36918354e-02 1.73523059e-01 -5.82846721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-168.85, Z:-582.88 [[ 1.40364565e-01 -6.68329070e-01 7.30502597e-01 2.95665868e+02] [ 1.04463518e-01 7.43685509e-01 6.60317527e-01 -1.68846111e+02] [-9.84573594e-01 -1.63743114e-02 1.74203099e-01 -5.82877481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-168.84, Z:-582.91 [[ 1.39732228e-01 -6.49480978e-01 7.47428500e-01 2.95652223e+02] [ 1.02755042e-01 7.60269653e-01 6.41429229e-01 -1.68841803e+02] [-9.84843290e-01 -1.28262884e-02 1.72971618e-01 -5.82906091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-168.84, Z:-582.94 [[ 1.38493871e-01 -6.59359961e-01 7.38961359e-01 2.95661690e+02] [ 1.02124228e-01 7.51682253e-01 6.51570743e-01 -1.68841750e+02] [-9.85083798e-01 -1.47726959e-02 1.71440012e-01 -5.82936401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-168.84, Z:-582.97 [[ 1.41133942e-01 -6.78863345e-01 7.20573223e-01 2.95684983e+02] [ 1.03168804e-01 7.33981174e-01 6.71288191e-01 -1.68841874e+02] [-9.84600126e-01 -2.04008711e-02 1.73627176e-01 -5.82966512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-168.84, Z:-583.00 [[ 1.41624095e-01 -6.60795248e-01 7.37083616e-01 2.95675582e+02] [ 1.03697222e-01 7.50395244e-01 6.52804614e-01 -1.68837293e+02] [-9.84474226e-01 -1.60193394e-02 1.74796679e-01 -5.82996045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.68, Y:-168.84, Z:-583.02 [[ 1.41322026e-01 -6.62109984e-01 7.35960905e-01 2.95680830e+02] [ 1.03928701e-01 7.49236905e-01 6.54097000e-01 -1.68835298e+02] [-9.84493225e-01 -1.59508524e-02 1.74695908e-01 -5.83022081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.83, Z:-583.05 [[ 1.40900332e-01 -6.62728375e-01 7.35485008e-01 2.95685522e+02] [ 1.04251049e-01 7.48698048e-01 6.54662472e-01 -1.68833049e+02] [-9.84519586e-01 -1.55670757e-02 1.74581932e-01 -5.83050042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.83, Z:-583.08 [[ 1.39627462e-01 -6.64143641e-01 7.34450404e-01 2.95691665e+02] [ 1.04440943e-01 7.47456580e-01 6.56049351e-01 -1.68831555e+02] [-9.84680792e-01 -1.48958127e-02 1.73729254e-01 -5.83076693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-168.83, Z:-583.10 [[ 1.38745337e-01 -6.64813731e-01 7.34011196e-01 2.95695881e+02] [ 1.04798875e-01 7.46874495e-01 6.56654921e-01 -1.68829344e+02] [-9.84767448e-01 -1.41842603e-02 1.73297084e-01 -5.83104365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-168.83, Z:-583.13 [[ 1.37900785e-01 -6.66174882e-01 7.32935468e-01 2.95700400e+02] [ 1.04968714e-01 7.45667822e-01 6.57997772e-01 -1.68827289e+02] [-9.84867982e-01 -1.38031155e-02 1.72755698e-01 -5.83130596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-168.83, Z:-583.16 [[ 1.35953827e-01 -6.67312532e-01 7.32263984e-01 2.95705272e+02] [ 1.05918711e-01 7.44680677e-01 6.58962758e-01 -1.68825360e+02] [-9.85036945e-01 -1.20280520e-02 1.71923071e-01 -5.83158578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-168.82, Z:-583.19 [[ 1.35017747e-01 -6.68707053e-01 7.31164198e-01 2.95710588e+02] [ 1.06557585e-01 7.43441081e-01 6.60258162e-01 -1.68822990e+02] [-9.85096792e-01 -1.12354787e-02 1.71633549e-01 -5.83186017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-168.82, Z:-583.22 [[ 1.26619656e-01 -6.49646152e-01 7.49618129e-01 2.95688454e+02] [ 1.03714746e-01 7.60228861e-01 6.41323109e-01 -1.68821569e+02] [-9.86514427e-01 -3.45765749e-03 1.63637802e-01 -5.83220118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-168.82, Z:-583.24 [[ 1.33841574e-01 -7.25878830e-01 6.74675002e-01 2.95768820e+02] [ 1.08886047e-01 6.87449940e-01 7.18022569e-01 -1.68824086e+02] [-9.85002671e-01 -2.26385770e-02 1.71047458e-01 -5.83244733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-168.81, Z:-583.28 [[ 1.32648959e-01 -6.69031955e-01 7.31300552e-01 2.95722268e+02] [ 1.09118051e-01 7.43193065e-01 6.60119170e-01 -1.68813093e+02] [-9.85138318e-01 -7.76602984e-03 1.71587249e-01 -5.83277288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-168.81, Z:-583.30 [[ 1.32581876e-01 -6.70331124e-01 7.30122065e-01 2.95725902e+02] [ 1.10152331e-01 7.42026735e-01 6.61258488e-01 -1.68809544e+02] [-9.85032238e-01 -7.24624367e-03 1.72217832e-01 -5.83304562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-168.81, Z:-583.33 [[ 1.32197592e-01 -6.71597211e-01 7.29027422e-01 2.95729116e+02] [ 1.10291607e-01 7.40881682e-01 6.62517996e-01 -1.68806182e+02] [-9.85068301e-01 -7.17767798e-03 1.72014310e-01 -5.83332479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-168.80, Z:-583.36 [[ 1.32393409e-01 -6.72813347e-01 7.27869622e-01 2.95732581e+02] [ 1.10356929e-01 7.39773749e-01 6.63744038e-01 -1.68802832e+02] [-9.85034687e-01 -7.54987972e-03 1.72190783e-01 -5.83359151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-168.80, Z:-583.39 [[ 1.33415861e-01 -6.73469899e-01 7.27075308e-01 2.95735960e+02] [ 1.09517717e-01 7.39159417e-01 6.64566946e-01 -1.68798927e+02] [-9.84990395e-01 -9.03614344e-03 1.72372476e-01 -5.83386337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-168.80, Z:-583.41 [[ 1.33802117e-01 -6.74563593e-01 7.25989637e-01 2.95739644e+02] [ 1.08749072e-01 7.38147140e-01 6.65817122e-01 -1.68795548e+02] [-9.85023164e-01 -1.01370417e-02 1.72123815e-01 -5.83413479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-168.79, Z:-583.44 [[ 1.34067683e-01 -6.75655783e-01 7.24924216e-01 2.95743270e+02] [ 1.07613120e-01 7.37128645e-01 6.67128756e-01 -1.68792158e+02] [-9.85111807e-01 -1.14290502e-02 1.71534556e-01 -5.83440763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-168.79, Z:-583.47 [[ 1.27391567e-01 -6.55202331e-01 7.44635008e-01 2.95717318e+02] [ 1.01998411e-01 7.55425461e-01 6.47247014e-01 -1.68789512e+02] [-9.86593996e-01 -6.50222368e-03 1.63064430e-01 -5.83474886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-168.79, Z:-583.50 [[ 1.36868193e-01 -7.36521047e-01 6.62422709e-01 2.95802285e+02] [ 1.06340820e-01 6.75775896e-01 7.29396030e-01 -1.68791731e+02] [-9.84864827e-01 -2.93885422e-02 1.70814478e-01 -5.83499093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-168.78, Z:-583.53 [[ 1.36429536e-01 -6.74682003e-01 7.25390361e-01 2.95750536e+02] [ 1.04425256e-01 7.37951754e-01 6.66725261e-01 -1.68779461e+02] [-9.85130625e-01 -1.52119439e-02 1.71132257e-01 -5.83532890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:-168.78, Z:-583.56 [[ 1.31990847e-01 -6.61868560e-01 7.37908142e-01 2.95735665e+02] [ 1.02468886e-01 7.49543452e-01 6.53976101e-01 -1.68777664e+02] [-9.85940436e-01 -1.07062344e-02 1.66753809e-01 -5.83562774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:-168.78, Z:-583.59 [[ 1.33749685e-01 -6.87076883e-01 7.14168313e-01 2.95762166e+02] [ 1.03825723e-01 7.26392329e-01 6.79392673e-01 -1.68777830e+02] [-9.85561384e-01 -1.67195146e-02 1.68490999e-01 -5.83590047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:-168.77, Z:-583.62 [[ 1.35670575e-01 -6.74651368e-01 7.25561180e-01 2.95758928e+02] [ 1.05747963e-01 7.38009537e-01 6.66452768e-01 -1.68769091e+02] [-9.85094342e-01 -1.36914131e-02 1.71469186e-01 -5.83616906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-168.77, Z:-583.64 [[ 1.34373471e-01 -6.78261413e-01 7.22430084e-01 2.95765092e+02] [ 1.06444901e-01 7.34703395e-01 6.69985376e-01 -1.68766376e+02] [-9.85197063e-01 -1.31292614e-02 1.70922114e-01 -5.83644319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-168.76, Z:-583.67 [[ 1.33323797e-01 -6.79648229e-01 7.21320352e-01 2.95769619e+02] [ 1.07077235e-01 7.33435742e-01 6.71272283e-01 -1.68763521e+02] [-9.85271146e-01 -1.22595806e-02 1.70559291e-01 -5.83671785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-168.76, Z:-583.70 [[ 1.31177475e-01 -6.81242957e-01 7.20208653e-01 2.95773178e+02] [ 1.08799156e-01 7.31990884e-01 6.72571253e-01 -1.68760754e+02] [-9.85370597e-01 -9.86810506e-03 1.70139374e-01 -5.83698429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-168.76, Z:-583.73 [[ 1.29858368e-01 -6.82002093e-01 7.19729081e-01 2.95776396e+02] [ 1.09936398e-01 7.31303262e-01 6.73134109e-01 -1.68757838e+02] [-9.85419095e-01 -8.28767437e-03 1.69942702e-01 -5.83726241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-168.76, Z:-583.75 [[ 1.28860349e-01 -6.83453311e-01 7.18530850e-01 2.95780613e+02] [ 1.11491893e-01 7.29962701e-01 6.74332272e-01 -1.68755152e+02] [-9.85375344e-01 -6.78432752e-03 1.70262752e-01 -5.83753490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-168.75, Z:-583.78 [[ 1.27089742e-01 -6.85063014e-01 7.17312251e-01 2.95784866e+02] [ 1.14083586e-01 7.28472740e-01 6.75508995e-01 -1.68752741e+02] [-9.85308649e-01 -4.01671068e-03 1.70735858e-01 -5.83780531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-168.75, Z:-583.81 [[ 1.25870168e-01 -6.85833720e-01 7.16790632e-01 2.95788042e+02] [ 1.15614953e-01 7.27754892e-01 6.76022188e-01 -1.68750122e+02] [-9.85286701e-01 -2.21931065e-03 1.70895264e-01 -5.83808049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-168.75, Z:-583.84 [[ 1.24872916e-01 -6.87267572e-01 7.15590693e-01 2.95792598e+02] [ 1.17109231e-01 7.26403952e-01 6.77216898e-01 -1.68747486e+02] [-9.85237120e-01 -7.63773070e-04 1.71193556e-01 -5.83835853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-168.75, Z:-583.86 [[ 1.22777805e-01 -6.88886197e-01 7.14395841e-01 2.95797693e+02] [ 1.19610712e-01 7.24866311e-01 6.78426200e-01 -1.68745159e+02] [-9.85199923e-01 2.15371557e-03 1.71395663e-01 -5.83863906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-168.74, Z:-583.89 [[ 1.21890331e-01 -6.90239488e-01 7.13240630e-01 2.95802174e+02] [ 1.20268070e-01 7.23575047e-01 6.79687239e-01 -1.68742566e+02] [-9.85230094e-01 2.93277161e-03 1.71210573e-01 -5.83890670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-168.74, Z:-583.92 [[ 1.21704717e-01 -6.90798459e-01 7.12730981e-01 2.95805938e+02] [ 1.20459352e-01 7.23040850e-01 6.80221635e-01 -1.68739384e+02] [-9.85229672e-01 3.06893083e-03 1.71210617e-01 -5.83918823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-168.74, Z:-583.95 [[ 1.20638410e-01 -6.92054458e-01 7.11693052e-01 2.95810286e+02] [ 1.20989374e-01 7.21834739e-01 6.81407500e-01 -1.68736594e+02] [-9.85295867e-01 3.90337975e-03 1.70812231e-01 -5.83946811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-168.73, Z:-583.97 [[ 1.19851135e-01 -6.93322663e-01 7.10590874e-01 2.95814580e+02] [ 1.20952750e-01 7.20615478e-01 6.82703277e-01 -1.68734091e+02] [-9.85396437e-01 4.12515758e-03 1.70225866e-01 -5.83973125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-168.73, Z:-584.00 [[ 1.19728901e-01 -6.94143012e-01 7.09810164e-01 2.95819037e+02] [ 1.20863402e-01 7.19826286e-01 6.83551136e-01 -1.68731231e+02] [-9.85422259e-01 3.94924498e-03 1.70080496e-01 -5.84000883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-168.73, Z:-584.03 [[ 1.19954332e-01 -6.95274811e-01 7.08663457e-01 2.95823036e+02] [ 1.20482645e-01 7.18736692e-01 6.84763828e-01 -1.68728467e+02] [-9.85441470e-01 3.24126037e-03 1.69984128e-01 -5.84027996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-168.73, Z:-584.06 [[ 1.21751968e-01 -6.95553025e-01 7.08083644e-01 2.95825894e+02] [ 1.19536441e-01 7.18473736e-01 6.85205466e-01 -1.68725337e+02] [-9.85336236e-01 1.21668459e-03 1.70619524e-01 -5.84055724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-168.72, Z:-584.09 [[ 1.21901488e-01 -6.90913099e-01 7.12586217e-01 2.95822842e+02] [ 1.17817827e-01 7.22937174e-01 6.80794244e-01 -1.68723619e+02] [-9.85524727e-01 9.65527979e-04 1.69528997e-01 -5.84085524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-168.72, Z:-584.11 [[ 1.24847912e-01 -6.90841923e-01 7.12144954e-01 2.95827278e+02] [ 1.18239594e-01 7.23005421e-01 6.80648632e-01 -1.68718062e+02] [-9.85105272e-01 -7.73830134e-04 1.71950586e-01 -5.84111700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-168.72, Z:-584.14 [[ 1.26382574e-01 -6.97392299e-01 7.05458310e-01 2.95835496e+02] [ 1.17429820e-01 7.16678216e-01 6.87446414e-01 -1.68715704e+02] [-9.85006438e-01 -4.03940457e-03 1.72470290e-01 -5.84137634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-168.71, Z:-584.17 [[ 1.28466629e-01 -6.97496897e-01 7.04978301e-01 2.95838342e+02] [ 1.15061846e-01 7.16550961e-01 6.87979281e-01 -1.68712297e+02] [-9.85016293e-01 -7.26627488e-03 1.72308167e-01 -5.84165022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-168.71, Z:-584.19 [[ 1.29651387e-01 -6.98528005e-01 7.03739401e-01 2.95842718e+02] [ 1.14569156e-01 7.15529598e-01 6.89123576e-01 -1.68708722e+02] [-9.84918487e-01 -8.71899785e-03 1.72799169e-01 -5.84192305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-168.71, Z:-584.22 [[ 1.29952632e-01 -6.99596310e-01 7.02621745e-01 2.95846798e+02] [ 1.13520494e-01 7.14468938e-01 6.90396432e-01 -1.68705542e+02] [-9.85000209e-01 -9.95686596e-03 1.72265637e-01 -5.84219999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-168.70, Z:-584.25 [[ 1.30340916e-01 -7.00698285e-01 7.01450753e-01 2.95850821e+02] [ 1.12798350e-01 7.13372489e-01 6.91647471e-01 -1.68702263e+02] [-9.85031867e-01 -1.10274775e-02 1.72019234e-01 -5.84246479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-168.70, Z:-584.27 [[ 1.25424463e-01 -6.89459080e-01 7.13382703e-01 2.95837229e+02] [ 1.10364329e-01 7.24294273e-01 6.80600853e-01 -1.68700032e+02] [-9.85945444e-01 -6.63199314e-03 1.66935909e-01 -5.84274711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-168.70, Z:-584.30 [[ 1.30251519e-01 -7.39159220e-01 6.60816305e-01 2.95891627e+02] [ 1.12627875e-01 6.73210579e-01 7.30823151e-01 -1.68700019e+02] [-9.85063198e-01 -2.07644894e-02 1.70936633e-01 -5.84298212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:-168.69, Z:-584.33 [[ 1.29607949e-01 -7.02238946e-01 7.00044458e-01 2.95861238e+02] [ 1.12097361e-01 7.11850254e-01 6.93327771e-01 -1.68691401e+02] [-9.85208588e-01 -1.13876542e-02 1.70980584e-01 -5.84329122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:-168.69, Z:-584.36 [[ 1.27712611e-01 -7.03629649e-01 6.98995569e-01 2.95864582e+02] [ 1.12675075e-01 7.10497196e-01 6.94620805e-01 -1.68688290e+02] [-9.85390185e-01 -9.95245839e-03 1.70020976e-01 -5.84356950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-168.69, Z:-584.38 [[ 1.21295228e-01 -6.88548372e-01 7.14974550e-01 2.95844922e+02] [ 1.11231568e-01 7.25184643e-01 6.79510685e-01 -1.68687785e+02] [-9.86364540e-01 -2.89366336e-03 1.64549751e-01 -5.84384384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-168.69, Z:-584.41 [[ 1.20185776e-01 -7.40465349e-01 6.61261255e-01 2.95895091e+02] [ 1.12558349e-01 6.71958059e-01 7.31985645e-01 -1.68692568e+02] [-9.86349835e-01 -1.35437874e-02 1.64105358e-01 -5.84410067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-168.68, Z:-584.44 [[ 1.24188571e-01 -7.31928329e-01 6.69968745e-01 2.95899018e+02] [ 1.16350372e-01 6.81279406e-01 7.22717761e-01 -1.68682954e+02] [-9.85413512e-01 -1.18021734e-02 1.69767249e-01 -5.84438203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-168.68, Z:-584.47 [[ 1.21603922e-01 -7.07966326e-01 6.95698331e-01 2.95881383e+02] [ 1.19002246e-01 7.06243135e-01 6.97896195e-01 -1.68677141e+02] [-9.85419176e-01 -2.07725026e-03 1.70131518e-01 -5.84466500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-168.67, Z:-584.49 [[ 1.19950434e-01 -7.08743256e-01 6.95194139e-01 2.95885301e+02] [ 1.20501986e-01 7.05466510e-01 6.98424137e-01 -1.68674473e+02] [-9.85439580e-01 -4.00381540e-06 1.70025984e-01 -5.84493091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-168.67, Z:-584.52 [[ 1.18301497e-01 -7.09498344e-01 6.94706309e-01 2.95888931e+02] [ 1.21967339e-01 7.04704132e-01 6.98939235e-01 -1.68671729e+02] [-9.85458636e-01 2.04592192e-03 1.69903179e-01 -5.84520969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-168.67, Z:-584.55 [[ 1.15911078e-01 -7.10984183e-01 6.93589298e-01 2.95892320e+02] [ 1.24012409e-01 7.03191178e-01 7.00102199e-01 -1.68668071e+02] [-9.85487465e-01 4.86407915e-03 1.69678509e-01 -5.84548947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-168.66, Z:-584.58 [[ 1.15179522e-01 -7.12258882e-01 6.92402313e-01 2.95895725e+02] [ 1.24770206e-01 7.01894370e-01 7.01267915e-01 -1.68664380e+02] [-9.85477587e-01 5.61947614e-03 1.69712545e-01 -5.84575502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-168.66, Z:-584.61 [[ 1.12441164e-01 -7.08738450e-01 6.96453010e-01 2.95891993e+02] [ 1.25222097e-01 7.05416857e-01 6.97643523e-01 -1.68661570e+02] [-9.85736482e-01 8.76745683e-03 1.68067607e-01 -5.84608579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.66, Z:-584.64 [[ 1.13819681e-01 -7.28129639e-01 6.75923302e-01 2.95915566e+02] [ 1.28099623e-01 6.85421201e-01 7.16790251e-01 -1.68658724e+02] [-9.85208388e-01 5.00068187e-03 1.71287554e-01 -5.84637617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-168.65, Z:-584.67 [[ 1.13359672e-01 -7.11834972e-01 6.93138195e-01 2.95903537e+02] [ 1.29705856e-01 7.02267482e-01 6.99997697e-01 -1.68653035e+02] [-9.85051255e-01 1.05525732e-02 1.71937976e-01 -5.84666370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-168.65, Z:-584.70 [[ 1.11863471e-01 -7.11636142e-01 6.93585298e-01 2.95905401e+02] [ 1.31117915e-01 7.02433686e-01 6.99567730e-01 -1.68649940e+02] [-9.85035358e-01 1.26853840e-02 1.71884918e-01 -5.84699068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-168.65, Z:-584.73 [[ 1.11272780e-01 -7.13707565e-01 6.91548899e-01 2.95911500e+02] [ 1.32857386e-01 7.00307168e-01 7.01369222e-01 -1.68646224e+02] [-9.84869171e-01 1.38340760e-02 1.72746447e-01 -5.84727710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-168.64, Z:-584.76 [[ 1.10260711e-01 -6.90504665e-01 7.14874732e-01 2.95893175e+02] [ 1.33325689e-01 7.23035284e-01 6.77823162e-01 -1.68638155e+02] [-9.84919711e-01 2.05739024e-02 1.71784394e-01 -5.84755152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.64, Z:-584.78 [[ 1.08986447e-01 -7.13974011e-01 6.91637959e-01 2.95915728e+02] [ 1.33826380e-01 6.99986960e-01 7.01504637e-01 -1.68638192e+02] [-9.84993632e-01 1.61049061e-02 1.71837649e-01 -5.84781112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.63, Z:-584.81 [[ 1.09589576e-01 -7.15135142e-01 6.90341838e-01 2.95918774e+02] [ 1.34553747e-01 6.98805426e-01 7.02542715e-01 -1.68634301e+02] [-9.84827606e-01 1.58967230e-02 1.72805904e-01 -5.84808686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-168.63, Z:-584.84 [[ 1.10787738e-01 -7.18785119e-01 6.86348330e-01 2.95925346e+02] [ 1.35552876e-01 6.95074422e-01 7.06043176e-01 -1.68631063e+02] [-9.84556497e-01 1.48155641e-02 1.74439113e-01 -5.84836555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-168.63, Z:-584.87 [[ 1.12608772e-01 -7.14497144e-01 6.90516542e-01 2.95925881e+02] [ 1.35341803e-01 6.99489387e-01 7.01710192e-01 -1.68626155e+02] [-9.84378921e-01 1.44370304e-02 1.75469973e-01 -5.84865341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-168.62, Z:-584.89 [[ 1.14322161e-01 -7.04569515e-01 7.00365792e-01 2.95917700e+02] [ 1.31964809e-01 7.09510581e-01 6.92228303e-01 -1.68621130e+02] [-9.84639900e-01 1.32866027e-02 1.74091165e-01 -5.84892850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-168.62, Z:-584.92 [[ 1.15520963e-01 -7.18138808e-01 6.86244534e-01 2.95931738e+02] [ 1.30735565e-01 6.95852310e-01 7.06185369e-01 -1.68619225e+02] [-9.84663963e-01 8.13735333e-03 1.74271812e-01 -5.84919208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-168.62, Z:-584.95 [[ 1.15595426e-01 -7.17480843e-01 6.86919892e-01 2.95931863e+02] [ 1.29466564e-01 6.96539431e-01 7.05741617e-01 -1.68615211e+02] [-9.84822881e-01 7.35265556e-03 1.73406552e-01 -5.84950806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-168.61, Z:-584.98 [[ 1.16911634e-01 -7.24863056e-01 6.78900008e-01 2.95941116e+02] [ 1.27707713e-01 6.88885178e-01 7.13532026e-01 -1.68611875e+02] [-9.84897157e-01 3.28057262e-03 1.73109295e-01 -5.84982431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-168.61, Z:-585.01 [[ 1.20616808e-01 -7.26652375e-01 6.76334171e-01 2.95948040e+02] [ 1.23855612e-01 6.87000424e-01 7.16023886e-01 -1.68606627e+02] [-9.84942320e-01 -2.59673359e-03 1.72863773e-01 -5.85012630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-168.60, Z:-585.04 [[ 1.21628541e-01 -7.17087177e-01 6.86288918e-01 2.95942619e+02] [ 1.22229725e-01 6.96980450e-01 7.06596170e-01 -1.68601452e+02] [-9.85021011e-01 -2.05735602e-03 1.72422084e-01 -5.85039834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-168.60, Z:-585.07 [[ 1.21673577e-01 -7.16169422e-01 6.87238605e-01 2.95944293e+02] [ 1.20717445e-01 6.97920316e-01 7.05928134e-01 -1.68597837e+02] [-9.85201928e-01 -2.93111226e-03 1.71372604e-01 -5.85072165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-168.59, Z:-585.10 [[ 1.23272096e-01 -7.20995844e-01 6.81886342e-01 2.95953435e+02] [ 1.19393514e-01 6.92911270e-01 7.11069027e-01 -1.68594060e+02] [-9.85164544e-01 -6.24216279e-03 1.71498852e-01 -5.85103307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-168.59, Z:-585.13 [[ 1.23654092e-01 -7.15594269e-01 6.87484187e-01 2.95951590e+02] [ 1.17764150e-01 6.98487560e-01 7.05865946e-01 -1.68589691e+02] [-9.85312778e-01 -6.32222166e-03 1.70642196e-01 -5.85131759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-168.59, Z:-585.16 [[ 1.23624412e-01 -7.16704059e-01 6.86332498e-01 2.95955242e+02] [ 1.17247207e-01 6.97342885e-01 7.07082734e-01 -1.68586750e+02] [-9.85378149e-01 -6.94211893e-03 1.70240154e-01 -5.85158189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-168.58, Z:-585.19 [[ 1.22691499e-01 -7.15899780e-01 6.87338563e-01 2.95956523e+02] [ 1.16998141e-01 6.98175170e-01 7.06302249e-01 -1.68583492e+02] [-9.85524343e-01 -6.23994757e-03 1.69419102e-01 -5.85187018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-168.58, Z:-585.22 [[ 1.20706407e-01 -7.11919916e-01 6.91809220e-01 2.95954039e+02] [ 1.15238467e-01 7.02242291e-01 7.02549543e-01 -1.68580383e+02] [-9.85976703e-01 -5.07919774e-03 1.66805704e-01 -5.85219559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-168.58, Z:-585.25 [[ 1.20855936e-01 -7.27401142e-01 6.75486063e-01 2.95972123e+02] [ 1.15253641e-01 6.86154058e-01 7.18268200e-01 -1.68579208e+02] [-9.85956612e-01 -8.95474761e-03 1.66761421e-01 -5.85250605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.57, Z:-585.28 [[ 1.22307148e-01 -7.24584876e-01 6.78246061e-01 2.95975547e+02] [ 1.15680635e-01 6.89126386e-01 7.15348037e-01 -1.68574578e+02] [-9.85727626e-01 -9.03224366e-03 1.68105522e-01 -5.85282025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-168.57, Z:-585.31 [[ 1.19310381e-01 -7.03683446e-01 7.00424615e-01 2.95956281e+02] [ 1.14851855e-01 7.10509615e-01 6.94251495e-01 -1.68569292e+02] [-9.86191708e-01 -2.38634401e-03 1.65590522e-01 -5.85314488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-168.57, Z:-585.34 [[ 1.23792018e-01 -7.41619226e-01 6.59299977e-01 2.95997600e+02] [ 1.16906018e-01 6.70683243e-01 7.32473188e-01 -1.68570525e+02] [-9.85397645e-01 -1.35981993e-02 1.69724983e-01 -5.85344467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.56, Z:-585.38 [[ 1.25884983e-01 -7.14494401e-01 6.88222873e-01 2.95978146e+02] [ 1.17160239e-01 6.99594267e-01 7.04869732e-01 -1.68562428e+02] [-9.85102253e-01 -8.10015786e-03 1.71778747e-01 -5.85376823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.56, Z:-585.40 [[ 1.27072085e-01 -7.13090315e-01 6.89459852e-01 2.95980116e+02] [ 1.18187624e-01 7.01027887e-01 7.03272058e-01 -1.68559199e+02] [-9.84827077e-01 -7.88062547e-03 1.73359525e-01 -5.85404958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-168.56, Z:-585.43 [[ 1.28167655e-01 -7.14176629e-01 6.88131379e-01 2.95984670e+02] [ 1.18796640e-01 6.99913699e-01 7.04278476e-01 -1.68556554e+02] [-9.84611807e-01 -8.51802512e-03 1.74548081e-01 -5.85432581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-168.55, Z:-585.46 [[ 1.30029764e-01 -7.15173850e-01 6.86744948e-01 2.95988646e+02] [ 1.19001970e-01 6.98875318e-01 7.05274288e-01 -1.68554242e+02] [-9.84342822e-01 -9.98264735e-03 1.75981690e-01 -5.85459766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-168.55, Z:-585.49 [[ 1.30213049e-01 -7.15959188e-01 6.85891393e-01 2.95992342e+02] [ 1.19195311e-01 6.98067901e-01 7.06040851e-01 -1.68551212e+02] [-9.84295200e-01 -1.01806941e-02 1.76236527e-01 -5.85486832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-168.55, Z:-585.51 [[ 1.29009313e-01 -7.16638022e-01 6.85409762e-01 2.95997039e+02] [ 1.19989741e-01 6.97388345e-01 7.06577638e-01 -1.68548554e+02] [-9.84357181e-01 -8.91295603e-03 1.75958802e-01 -5.85514754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-168.55, Z:-585.54 [[ 1.27626351e-01 -7.17997326e-01 6.84245098e-01 2.96001925e+02] [ 1.20831437e-01 6.96003761e-01 7.07798368e-01 -1.68546026e+02] [-9.84434497e-01 -7.65540445e-03 1.75585069e-01 -5.85541951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.54, Z:-585.57 [[ 1.25341130e-01 -7.18794093e-01 6.83830866e-01 2.96006297e+02] [ 1.22158535e-01 6.95203196e-01 7.08357119e-01 -1.68542860e+02] [-9.84564317e-01 -5.25050495e-03 1.74944387e-01 -5.85574992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.54, Z:-585.61 [[ 1.24067446e-01 -7.19525437e-01 6.83293798e-01 2.96011940e+02] [ 1.23021246e-01 6.94455153e-01 7.08941333e-01 -1.68539743e+02] [-9.84618221e-01 -3.89688630e-03 1.74676193e-01 -5.85605647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.54, Z:-585.63 [[ 1.19761523e-01 -7.19413015e-01 6.84179868e-01 2.96016757e+02] [ 1.27284735e-01 6.94578783e-01 7.08067024e-01 -1.68538271e+02] [-9.84609452e-01 2.28646806e-03 1.74754108e-01 -5.85634703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.53, Z:-585.66 [[ 1.17593920e-01 -7.16265039e-01 6.87848867e-01 2.96018116e+02] [ 1.30131484e-01 6.97796364e-01 7.04376342e-01 -1.68534513e+02] [-9.84498587e-01 6.68041879e-03 1.75265242e-01 -5.85661182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-168.53, Z:-585.69 [[ 1.15196761e-01 -7.23255425e-01 6.80904763e-01 2.96028104e+02] [ 1.30967063e-01 6.90542743e-01 7.11335609e-01 -1.68533624e+02] [-9.84671181e-01 7.23253912e-03 1.74270926e-01 -5.85688535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-168.53, Z:-585.72 [[ 1.15017787e-01 -7.33158021e-01 6.70261312e-01 2.96046942e+02] [ 1.36095380e-01 6.80007014e-01 7.20464092e-01 -1.68528423e+02] [-9.83996421e-01 8.35328297e-03 1.77992321e-01 -5.85719728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.52, Z:-585.76 [[ 1.15581513e-01 -7.03558863e-01 7.01174614e-01 2.96024498e+02] [ 1.35851746e-01 7.10469065e-01 6.90491138e-01 -1.68520436e+02] [-9.83964032e-01 1.54477852e-02 1.77696789e-01 -5.85755235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.52, Z:-585.79 [[ 1.13446247e-01 -7.00599823e-01 7.04478415e-01 2.96024168e+02] [ 1.35448112e-01 7.13341874e-01 6.87602487e-01 -1.68515764e+02] [-9.84268133e-01 1.74143499e-02 1.75820881e-01 -5.85787507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-168.51, Z:-585.82 [[ 1.13785327e-01 -7.10079727e-01 6.94866664e-01 2.96037836e+02] [ 1.35864034e-01 7.03959677e-01 6.97123904e-01 -1.68512217e+02] [-9.84171664e-01 1.50849166e-02 1.76574578e-01 -5.85818623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.51, Z:-585.85 [[ 1.09807606e-01 -6.85996428e-01 7.19271291e-01 2.96014398e+02] [ 1.33448856e-01 7.27270486e-01 6.73252585e-01 -1.68507069e+02] [-9.84953650e-01 2.20576764e-02 1.71405269e-01 -5.85850268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-168.51, Z:-585.88 [[ 1.14914934e-01 -7.39540376e-01 6.63230420e-01 2.96074025e+02] [ 1.36690845e-01 6.73074397e-01 7.26833178e-01 -1.68506089e+02] [-9.83925897e-01 7.13353959e-03 1.78434699e-01 -5.85879586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-168.50, Z:-585.92 [[ 1.18064182e-01 -6.97606739e-01 7.06686413e-01 2.96043388e+02] [ 1.37348532e-01 7.16295679e-01 6.84146096e-01 -1.68495050e+02] [-9.83461351e-01 1.62891923e-02 1.80384125e-01 -5.85915072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.49, Z:-585.95 [[ 1.17106598e-01 -6.71773771e-01 7.31441075e-01 2.96022031e+02] [ 1.35129263e-01 7.40437405e-01 6.58401498e-01 -1.68488128e+02] [-9.83883188e-01 2.17359337e-02 1.77486400e-01 -5.85946305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:296.03, Y:-168.49, Z:-585.98 [[ 1.18159709e-01 -6.82141299e-01 7.21610373e-01 2.96034327e+02] [ 1.33242650e-01 7.31021005e-01 6.69219461e-01 -1.68487191e+02] [-9.84014573e-01 1.70745016e-02 1.77267543e-01 -5.85976834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-168.48, Z:-586.01 [[ 1.18693568e-01 -6.62299723e-01 7.39777611e-01 2.96019540e+02] [ 1.33225639e-01 7.48930135e-01 6.49118312e-01 -1.68478227e+02] [-9.83952624e-01 2.15111766e-02 1.77128494e-01 -5.86006005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-168.47, Z:-586.03 [[ 1.15106503e-01 -6.50078312e-01 7.51098317e-01 2.96002389e+02] [ 1.30229011e-01 7.59473775e-01 6.37369587e-01 -1.68472056e+02] [-9.84779619e-01 2.44494073e-02 1.72079426e-01 -5.86031383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-168.48, Z:-586.05 [[ 1.15159409e-01 -7.24402671e-01 6.79690430e-01 2.96067278e+02] [ 1.29664642e-01 6.89350502e-01 7.12729237e-01 -1.68481622e+02] [-9.84847903e-01 6.05433868e-03 1.73314609e-01 -5.86053199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-168.48, Z:-586.08 [[ 1.16554003e-01 -7.25387710e-01 6.78400940e-01 2.96070966e+02] [ 1.28994332e-01 6.88327032e-01 7.13839169e-01 -1.68477652e+02] [-9.84771865e-01 4.30906315e-03 1.73798174e-01 -5.86079649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-168.47, Z:-586.11 [[ 1.18118288e-01 -7.25703995e-01 6.77791842e-01 2.96073883e+02] [ 1.28375926e-01 6.88001975e-01 7.14263889e-01 -1.68473724e+02] [-9.84666284e-01 2.64452787e-03 1.74428538e-01 -5.86106899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-168.47, Z:-586.13 [[ 1.21406193e-01 -7.26402400e-01 6.76461448e-01 2.96076383e+02] [ 1.26418318e-01 6.87268356e-01 7.15318542e-01 -1.68468978e+02] [-9.84519652e-01 -1.32698244e-03 1.75269204e-01 -5.86134518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-168.46, Z:-586.16 [[ 1.23048616e-01 -7.27318313e-01 6.75179317e-01 2.96079373e+02] [ 1.25371420e-01 6.86291309e-01 7.16439981e-01 -1.68464958e+02] [-9.84449616e-01 -3.50875816e-03 1.75632125e-01 -5.86161124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-168.46, Z:-586.19 [[ 1.25007249e-01 -7.27560225e-01 6.74558601e-01 2.96081909e+02] [ 1.24489664e-01 6.86020664e-01 7.16852825e-01 -1.68460706e+02] [-9.84314742e-01 -5.63622603e-03 1.76331283e-01 -5.86189065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.45, Z:-586.22 [[ 1.41162809e-01 -7.67376044e-01 6.25465482e-01 2.96139273e+02] [ 1.30138540e-01 6.40693283e-01 7.56687569e-01 -1.68449382e+02] [-9.81395446e-01 -2.54189779e-02 1.90307262e-01 -5.86216880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-168.43, Z:-586.25 [[ 1.30792368e-01 -6.28910510e-01 7.66397369e-01 2.96005786e+02] [ 1.18323456e-01 7.77414859e-01 6.17758607e-01 -1.68430932e+02] [-9.84323583e-01 9.88467472e-03 1.76094795e-01 -5.86254814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.44, Z:-586.27 [[ 1.43741247e-01 -7.64383435e-01 6.28535138e-01 2.96140914e+02] [ 1.27339063e-01 6.44137150e-01 7.54236101e-01 -1.68440312e+02] [-9.81388413e-01 -2.83777624e-02 1.89924947e-01 -5.86274381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-168.43, Z:-586.31 [[ 1.41993305e-01 -6.74520825e-01 7.24471917e-01 2.96062896e+02] [ 1.20075935e-01 7.38220106e-01 6.63786746e-01 -1.68425219e+02] [-9.82557719e-01 -7.26163100e-03 1.85816032e-01 -5.86311712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-168.42, Z:-586.34 [[ 1.37311304e-01 -6.59471026e-01 7.39082926e-01 2.96047114e+02] [ 1.15113515e-01 7.51718878e-01 6.49359382e-01 -1.68419992e+02] [-9.83816286e-01 -4.08594973e-03 1.79133527e-01 -5.86339982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-168.42, Z:-586.36 [[ 1.37173775e-01 -7.03550102e-01 6.97280869e-01 2.96086286e+02] [ 1.15918512e-01 7.10500107e-01 6.94083926e-01 -1.68424626e+02] [-9.83740949e-01 -1.43823518e-02 1.79016463e-01 -5.86364148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-168.42, Z:-586.39 [[ 1.32299157e-01 -6.93031602e-01 7.08663623e-01 2.96073807e+02] [ 1.12507412e-01 7.20827012e-01 6.83922876e-01 -1.68422852e+02] [-9.84804049e-01 -1.07525103e-02 1.73335998e-01 -5.86391900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-168.43, Z:-586.42 [[ 1.31543739e-01 -7.30634336e-01 6.69977397e-01 2.96108305e+02] [ 1.13572018e-01 6.82507776e-01 7.22000369e-01 -1.68425467e+02] [-9.84783043e-01 -1.88839434e-02 1.72759240e-01 -5.86416291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-168.42, Z:-586.44 [[ 1.31093257e-01 -7.31803928e-01 6.68788135e-01 2.96111931e+02] [ 1.13830986e-01 6.81259462e-01 7.23137644e-01 -1.68422275e+02] [-9.84813213e-01 -1.86696560e-02 1.72610484e-01 -5.86442846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-168.42, Z:-586.47 [[ 1.30987535e-01 -7.32333552e-01 6.68228879e-01 2.96115685e+02] [ 1.14379722e-01 6.80698848e-01 7.23578854e-01 -1.68419021e+02] [-9.84763700e-01 -1.83479769e-02 1.72927172e-01 -5.86470215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.396559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.12, Y:-168.42, Z:-586.50 [[ 1.30836457e-01 -7.33563171e-01 6.66908462e-01 2.96119690e+02] [ 1.15810778e-01 6.79394227e-01 7.24576668e-01 -1.68415914e+02] [-9.84616517e-01 -1.75658558e-02 1.73844055e-01 -5.86498116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-168.41, Z:-586.52 [[ 1.30931730e-01 -7.34755256e-01 6.65576138e-01 2.96123537e+02] [ 1.16787952e-01 6.78112287e-01 7.25619942e-01 -1.68413031e+02] [-9.84488424e-01 -1.72754004e-02 1.74596976e-01 -5.86524651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-168.41, Z:-586.55 [[ 1.30960717e-01 -7.35572619e-01 6.64666994e-01 2.96127290e+02] [ 1.17537165e-01 6.77232639e-01 7.26320156e-01 -1.68410004e+02] [-9.84395401e-01 -1.69963341e-02 1.75147992e-01 -5.86552123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-168.41, Z:-586.58 [[ 1.30332591e-01 -7.29997458e-01 6.70907689e-01 2.96124832e+02] [ 1.17225347e-01 6.83278997e-01 7.20685805e-01 -1.68406940e+02] [-9.84515939e-01 -1.52814622e-02 1.74627728e-01 -5.86584584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.40, Z:-586.61 [[ 1.31893626e-01 -7.40801608e-01 6.58647895e-01 2.96138842e+02] [ 1.20288217e-01 6.71503397e-01 7.31172985e-01 -1.68403538e+02] [-9.83938421e-01 -1.72094755e-02 1.77676723e-01 -5.86609573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.40, Z:-586.64 [[ 1.31443647e-01 -7.37513230e-01 6.62417393e-01 2.96138747e+02] [ 1.20902970e-01 6.75153323e-01 7.27702180e-01 -1.68399801e+02] [-9.83923290e-01 -1.55635982e-02 1.77912155e-01 -5.86636781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.40, Z:-586.66 [[ 1.30540861e-01 -7.38438127e-01 6.61564975e-01 2.96142400e+02] [ 1.21987606e-01 6.74167728e-01 7.28434553e-01 -1.68396631e+02] [-9.83909604e-01 -1.43877460e-02 1.78086735e-01 -5.86664030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-168.39, Z:-586.69 [[ 1.27962567e-01 -7.39952313e-01 6.60375769e-01 2.96147882e+02] [ 1.23934368e-01 6.72560728e-01 7.29590529e-01 -1.68393025e+02] [-9.84005007e-01 -1.15170235e-02 1.77768119e-01 -5.86691671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-168.39, Z:-586.72 [[ 1.25643592e-01 -7.41369192e-01 6.59230922e-01 2.96152575e+02] [ 1.25183545e-01 6.71033050e-01 7.30782954e-01 -1.68389541e+02] [-9.84145705e-01 -9.29333139e-03 1.77118226e-01 -5.86718960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-168.39, Z:-586.75 [[ 1.23176429e-01 -7.42834643e-01 6.58045789e-01 2.96157276e+02] [ 1.26640812e-01 6.69440111e-01 7.31991832e-01 -1.68386381e+02] [-9.84271138e-01 -6.82868700e-03 1.76532425e-01 -5.86745480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-168.38, Z:-586.78 [[ 1.18525285e-01 -7.43782394e-01 6.57829391e-01 2.96163449e+02] [ 1.29801316e-01 6.68420334e-01 7.32370040e-01 -1.68382947e+02] [-9.84430483e-01 -1.41724708e-03 1.75768645e-01 -5.86779934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.37, Z:-586.81 [[ 1.14886008e-01 -7.19010338e-01 6.85438063e-01 2.96142824e+02] [ 1.32247559e-01 6.94935191e-01 7.06806666e-01 -1.68374346e+02] [-9.84536332e-01 9.44531466e-03 1.74925692e-01 -5.86810984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-168.37, Z:-586.84 [[ 1.12701434e-01 -7.43631974e-01 6.59021907e-01 2.96169258e+02] [ 1.34551056e-01 6.68560019e-01 7.31384655e-01 -1.68374856e+02] [-9.84476714e-01 6.24399421e-03 1.75404140e-01 -5.86844015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-168.37, Z:-586.87 [[ 1.07350109e-01 -7.20572119e-01 6.85019544e-01 2.96150249e+02] [ 1.39897952e-01 6.93093769e-01 7.07141846e-01 -1.68365749e+02] [-9.84329476e-01 1.99210766e-02 1.75210255e-01 -5.86874477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-168.37, Z:-586.90 [[ 1.07754817e-01 -7.51278720e-01 6.51129161e-01 2.96186046e+02] [ 1.42630062e-01 6.59849506e-01 7.37736603e-01 -1.68365427e+02] [-9.83893066e-01 1.33759200e-02 1.78256894e-01 -5.86903849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-168.35, Z:-586.93 [[ 1.03998809e-01 -6.88458558e-01 7.17780651e-01 2.96129233e+02] [ 1.44379548e-01 7.24499779e-01 6.73984136e-01 -1.68351781e+02] [-9.84042069e-01 3.35392982e-02 1.74746450e-01 -5.86932943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-168.36, Z:-586.96 [[ 9.85721459e-02 -7.46533764e-01 6.58005222e-01 2.96180552e+02] [ 1.46933931e-01 6.64896489e-01 7.32340822e-01 -1.68355241e+02] [-9.84222511e-01 2.44948876e-02 1.75231414e-01 -5.86956521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-168.35, Z:-586.98 [[ 9.71230782e-02 -7.47787875e-01 6.56795556e-01 2.96183590e+02] [ 1.48224732e-01 6.63423656e-01 7.33415626e-01 -1.68350576e+02] [-9.84173022e-01 2.61217623e-02 1.75274405e-01 -5.86983804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-168.35, Z:-587.01 [[ 9.56939369e-02 -7.49016458e-01 6.55604314e-01 2.96186376e+02] [ 1.48980003e-01 6.61985455e-01 7.34561240e-01 -1.68345957e+02] [-9.84198979e-01 2.73788754e-02 1.74936468e-01 -5.87011426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-168.34, Z:-587.05 [[ 9.97045291e-02 -7.59734596e-01 6.42543656e-01 2.96206275e+02] [ 1.51048285e-01 6.49834018e-01 7.44916213e-01 -1.68339629e+02] [-9.83485344e-01 2.27835974e-02 1.79548003e-01 -5.87045683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-168.33, Z:-587.08 [[ 1.00999234e-01 -7.05640351e-01 7.01335048e-01 2.96161434e+02] [ 1.51849994e-01 7.07613959e-01 6.90089896e-01 -1.68326432e+02] [-9.83229746e-01 3.67991721e-02 1.78619951e-01 -5.87082147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-168.32, Z:-587.11 [[ 9.93851863e-02 -6.98364726e-01 7.08808362e-01 2.96153050e+02] [ 1.51862342e-01 7.14635765e-01 6.82812970e-01 -1.68320186e+02] [-9.83392299e-01 3.97798035e-02 1.77079511e-01 -5.87109155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-168.32, Z:-587.13 [[ 9.64560584e-02 -7.12758051e-01 6.94746133e-01 2.96161914e+02] [ 1.51046522e-01 7.00398633e-01 6.97586341e-01 -1.68318618e+02] [-9.83809523e-01 3.76525580e-02 1.75217316e-01 -5.87133249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.32, Z:-587.16 [[ 1.00874364e-01 -7.63507933e-01 6.37871460e-01 2.96216944e+02] [ 1.51754264e-01 6.45447505e-01 7.48577425e-01 -1.68318597e+02] [-9.83257345e-01 2.12874426e-02 1.80974691e-01 -5.87160464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-168.30, Z:-587.19 [[ 1.00919674e-01 -6.86614107e-01 7.19983533e-01 2.96142719e+02] [ 1.48694479e-01 7.25959455e-01 6.71470641e-01 -1.68301457e+02] [-9.83720068e-01 3.92929787e-02 1.75359319e-01 -5.87191465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.31, Z:-587.22 [[ 1.05753787e-01 -7.63917562e-01 6.36589424e-01 2.96218116e+02] [ 1.48116163e-01 6.45139041e-01 7.49571357e-01 -1.68306693e+02] [-9.83299415e-01 1.50191729e-02 1.81374435e-01 -5.87217891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-168.29, Z:-587.25 [[ 1.07868846e-01 -6.94478886e-01 7.11381325e-01 2.96157523e+02] [ 1.46627733e-01 7.18844616e-01 6.79531254e-01 -1.68289949e+02] [-9.83292744e-01 3.10079786e-02 1.79370804e-01 -5.87249989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-168.29, Z:-587.28 [[ 1.09339777e-01 -7.06907582e-01 6.98803609e-01 2.96168299e+02] [ 1.44724521e-01 7.06848737e-01 6.92401383e-01 -1.68286993e+02] [-9.83412236e-01 2.54270049e-02 1.79593545e-01 -5.87276369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:-168.28, Z:-587.31 [[ 1.12406271e-01 -7.07822897e-01 6.97389115e-01 2.96166745e+02] [ 1.38732578e-01 7.06142331e-01 6.94345937e-01 -1.68281450e+02] [-9.83929928e-01 1.87017522e-02 1.77572921e-01 -5.87305414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-168.27, Z:-587.33 [[ 1.11461466e-01 -7.02552266e-01 7.02848956e-01 2.96158246e+02] [ 1.36789073e-01 7.11370301e-01 6.89377287e-01 -1.68274810e+02] [-9.84309449e-01 1.93030538e-02 1.75391850e-01 -5.87329786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-168.28, Z:-587.36 [[ 1.11751459e-01 -7.54990271e-01 6.46143407e-01 2.96202370e+02] [ 1.34459845e-01 6.55724650e-01 7.42930504e-01 -1.68280809e+02] [-9.84597462e-01 3.85677475e-03 1.74794061e-01 -5.87356871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-168.27, Z:-587.38 [[ 1.14917300e-01 -7.54391757e-01 6.46287158e-01 2.96204001e+02] [ 1.33261132e-01 6.56423982e-01 7.42528806e-01 -1.68274092e+02] [-9.84396000e-01 7.95552343e-04 1.75965571e-01 -5.87382731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-168.27, Z:-587.41 [[ 1.18409763e-01 -7.56718560e-01 6.42927794e-01 2.96205557e+02] [ 1.29193316e-01 6.53719889e-01 7.45626846e-01 -1.68267841e+02] [-9.84524360e-01 -5.22752436e-03 1.75169797e-01 -5.87409407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-168.26, Z:-587.44 [[ 1.19690928e-01 -7.56947795e-01 6.42420515e-01 2.96207226e+02] [ 1.27647381e-01 6.53434540e-01 7.46143048e-01 -1.68262450e+02] [-9.84571088e-01 -7.30325768e-03 1.74832590e-01 -5.87437333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-168.26, Z:-587.46 [[ 1.20431918e-01 -7.57830975e-01 6.41239710e-01 2.96208729e+02] [ 1.26155337e-01 6.52387402e-01 7.47312190e-01 -1.68257643e+02] [-9.84673034e-01 -9.10442902e-03 1.74172688e-01 -5.87464311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-168.25, Z:-587.49 [[ 1.21934366e-01 -7.58036699e-01 6.40712396e-01 2.96208614e+02] [ 1.24687044e-01 6.52114114e-01 7.47796980e-01 -1.68251441e+02] [-9.84675150e-01 -1.12936155e-02 1.74032476e-01 -5.87491672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-168.25, Z:-587.52 [[ 1.22246515e-01 -7.59036282e-01 6.39468304e-01 2.96211137e+02] [ 1.24509253e-01 6.50939113e-01 7.48849596e-01 -1.68247061e+02] [-9.84658944e-01 -1.19245326e-02 1.74082078e-01 -5.87519693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.24, Z:-587.55 [[ 1.22045666e-01 -7.60153175e-01 6.38178664e-01 2.96215046e+02] [ 1.24708128e-01 6.49634160e-01 7.49948893e-01 -1.68243659e+02] [-9.84658691e-01 -1.19419461e-02 1.74082313e-01 -5.87547791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.24, Z:-587.57 [[ 1.22469113e-01 -7.61148039e-01 6.36910496e-01 2.96218049e+02] [ 1.25024445e-01 6.48460897e-01 7.50911016e-01 -1.68239384e+02] [-9.84565998e-01 -1.23340249e-02 1.74578542e-01 -5.87573856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.24, Z:-587.60 [[ 1.22520980e-01 -7.61651840e-01 6.36297952e-01 2.96220285e+02] [ 1.25611113e-01 6.47873000e-01 7.51320454e-01 -1.68235507e+02] [-9.84484869e-01 -1.21264242e-02 1.75049970e-01 -5.87601200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.23, Z:-587.63 [[ 1.22884970e-01 -7.62766934e-01 6.34890454e-01 2.96222169e+02] [ 1.26903742e-01 6.46564584e-01 7.52229805e-01 -1.68231073e+02] [-9.84273704e-01 -1.18677632e-02 1.76251048e-01 -5.87629266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-168.23, Z:-587.66 [[ 1.23128980e-01 -7.63858178e-01 6.33529745e-01 2.96224776e+02] [ 1.27798224e-01 6.45276715e-01 7.53183627e-01 -1.68227158e+02] [-9.84127466e-01 -1.17747553e-02 1.77071982e-01 -5.87656582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-168.22, Z:-587.68 [[ 1.23101824e-01 -7.64931055e-01 6.32239213e-01 2.96227684e+02] [ 1.28061162e-01 6.44002568e-01 7.54228766e-01 -1.68223578e+02] [-9.84096682e-01 -1.18816489e-02 1.77235850e-01 -5.87684098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-168.22, Z:-587.71 [[ 1.24429650e-01 -7.65929976e-01 6.30768210e-01 2.96230564e+02] [ 1.29293698e-01 6.42804508e-01 7.55040068e-01 -1.68219600e+02] [-9.83768470e-01 -1.23950170e-02 1.79013859e-01 -5.87711302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:-168.22, Z:-587.74 [[ 1.24617937e-01 -7.67014414e-01 6.29411836e-01 2.96233850e+02] [ 1.30199465e-01 6.41512731e-01 7.55982483e-01 -1.68216270e+02] [-9.83625167e-01 -1.22598936e-02 1.79808859e-01 -5.87738911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-168.21, Z:-587.77 [[ 1.24308746e-01 -7.68156193e-01 6.28079135e-01 2.96237489e+02] [ 1.31056630e-01 6.40154008e-01 7.56985472e-01 -1.68212669e+02] [-9.83550454e-01 -1.17859801e-02 1.80248704e-01 -5.87766207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-168.21, Z:-587.79 [[ 1.21858150e-01 -7.69582927e-01 6.26811543e-01 2.96242323e+02] [ 1.33026689e-01 6.38483563e-01 7.58051872e-01 -1.68208879e+02] [-9.83592645e-01 -8.99213492e-03 1.80179495e-01 -5.87793729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-168.21, Z:-587.82 [[ 1.19215815e-01 -7.70969769e-01 6.25614262e-01 2.96246562e+02] [ 1.34154812e-01 6.36837709e-01 7.59236602e-01 -1.68205671e+02] [-9.83763222e-01 -6.58384642e-03 1.79350431e-01 -5.87821388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:-168.20, Z:-587.85 [[ 1.16094707e-01 -7.72415655e-01 6.24416587e-01 2.96250923e+02] [ 1.35729658e-01 6.35107561e-01 7.60405054e-01 -1.68202263e+02] [-9.83920464e-01 -3.52715222e-03 1.78572339e-01 -5.87848549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-168.20, Z:-587.88 [[ 1.09419971e-01 -7.74299590e-01 6.23287587e-01 2.96256250e+02] [ 1.39356695e-01 6.32809426e-01 7.61663930e-01 -1.68199354e+02] [-9.84178328e-01 3.51805315e-03 1.77145820e-01 -5.87875135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-168.20, Z:-587.90 [[ 1.05883565e-01 -7.75471518e-01 6.22440837e-01 2.96260405e+02] [ 1.41887528e-01 6.31336939e-01 7.62418257e-01 -1.68196066e+02] [-9.84203536e-01 7.58902847e-03 1.76877943e-01 -5.87903065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-168.19, Z:-587.93 [[ 1.02413448e-01 -7.76954395e-01 6.21170954e-01 2.96264792e+02] [ 1.44282162e-01 6.29453141e-01 7.63525639e-01 -1.68193075e+02] [-9.84222609e-01 1.14285954e-02 1.76565126e-01 -5.87929778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-168.19, Z:-587.96 [[ 9.55736573e-02 -7.78462441e-01 6.20372391e-01 2.96269589e+02] [ 1.48791419e-01 6.27395815e-01 7.64353063e-01 -1.68189907e+02] [-9.84239193e-01 1.92540707e-02 1.75791044e-01 -5.87957629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-168.19, Z:-587.98 [[ 9.28627552e-02 -7.79841270e-01 6.19050969e-01 2.96273661e+02] [ 1.51164231e-01 6.25572705e-01 7.65381059e-01 -1.68186559e+02] [-9.84137127e-01 2.25029696e-02 1.75976511e-01 -5.87983951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-168.18, Z:-588.01 [[ 9.06103365e-02 -7.80845927e-01 6.18117631e-01 2.96277500e+02] [ 1.53524079e-01 6.24203582e-01 7.66028880e-01 -1.68183075e+02] [-9.83981770e-01 2.54858056e-02 1.76437949e-01 -5.88011185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-168.18, Z:-588.04 [[ 8.83795538e-02 -7.82136173e-01 6.16807961e-01 2.96281561e+02] [ 1.55512131e-01 6.22472219e-01 7.67036057e-01 -1.68179528e+02] [-9.83872467e-01 2.81308159e-02 1.76645480e-01 -5.88038743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-168.17, Z:-588.07 [[ 9.05082153e-02 -7.95643062e-01 5.98966094e-01 2.96303791e+02] [ 1.59523099e-01 6.05251170e-01 7.79886788e-01 -1.68173447e+02] [-9.83036441e-01 2.49627659e-02 1.81703650e-01 -5.88067070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-168.17, Z:-588.10 [[ 8.62811399e-02 -7.47135641e-01 6.59047721e-01 2.96256839e+02] [ 1.59852228e-01 6.63325913e-01 7.31058137e-01 -1.68165232e+02] [-9.83363021e-01 4.22737169e-02 1.76663812e-01 -5.88098218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-168.17, Z:-588.12 [[ 8.39091300e-02 -7.85043730e-01 6.13730885e-01 2.96292160e+02] [ 1.59543306e-01 6.18541483e-01 7.69384408e-01 -1.68168168e+02] [-9.83618418e-01 3.33582781e-02 1.77149750e-01 -5.88122107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-168.16, Z:-588.15 [[ 8.33591660e-02 -7.85547622e-01 6.13160813e-01 2.96295181e+02] [ 1.59899319e-01 6.17873566e-01 7.69847040e-01 -1.68164197e+02] [-9.83607370e-01 3.38701892e-02 1.77113955e-01 -5.88149966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-168.16, Z:-588.18 [[ 8.34714252e-02 -7.86502667e-01 6.11919992e-01 2.96298140e+02] [ 1.59049172e-01 6.16706071e-01 7.70958483e-01 -1.68159509e+02] [-9.83735677e-01 3.29723644e-02 1.76569932e-01 -5.88176421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.15, Z:-588.21 [[ 8.62972957e-02 -7.94759312e-01 6.00758199e-01 2.96312362e+02] [ 1.59913026e-01 6.06239132e-01 7.79039112e-01 -1.68153371e+02] [-9.83351718e-01 2.88400925e-02 1.79409164e-01 -5.88205908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-168.15, Z:-588.23 [[ 8.78141134e-02 -7.64217472e-01 6.38952532e-01 2.96282211e+02] [ 1.55985526e-01 6.44066921e-01 7.48896733e-01 -1.68145855e+02] [-9.83848158e-01 3.39036442e-02 1.75765030e-01 -5.88234301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-168.15, Z:-588.26 [[ 8.88343661e-02 -7.87594873e-01 6.09756321e-01 2.96304482e+02] [ 1.53605712e-01 6.15685884e-01 7.72875267e-01 -1.68145571e+02] [-9.84130957e-01 2.50041692e-02 1.75673136e-01 -5.88260021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.14, Z:-588.29 [[ 9.12332941e-02 -7.88313389e-01 6.08472256e-01 2.96306938e+02] [ 1.51194491e-01 6.14902157e-01 7.73973878e-01 -1.68141395e+02] [-9.84284873e-01 2.13854669e-02 1.75288191e-01 -5.88286460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.14, Z:-588.31 [[ 9.72592085e-02 -7.88018396e-01 6.07920763e-01 2.96307714e+02] [ 1.46222068e-01 6.15502149e-01 7.74452201e-01 -1.68135728e+02] [-9.84459117e-01 1.35688232e-02 1.75088932e-01 -5.88313707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.13, Z:-588.34 [[ 1.00970315e-01 -7.88586509e-01 6.06577541e-01 2.96309963e+02] [ 1.43818220e-01 6.14858794e-01 7.75412783e-01 -1.68131002e+02] [-9.84439594e-01 8.94322921e-03 1.75495595e-01 -5.88340534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.13, Z:-588.37 [[ 1.04392367e-01 -7.88586848e-01 6.05997539e-01 2.96311543e+02] [ 1.41361631e-01 6.14905630e-01 7.75827271e-01 -1.68126143e+02] [-9.84438481e-01 4.67435578e-03 1.75667377e-01 -5.88368102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.12, Z:-588.40 [[ 1.11358377e-01 -7.88664257e-01 6.04655275e-01 2.96311694e+02] [ 1.36324213e-01 6.14810613e-01 7.76803463e-01 -1.68120075e+02] [-9.84385606e-01 -4.07441819e-03 1.75978346e-01 -5.88396114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:-168.12, Z:-588.42 [[ 1.14799091e-01 -7.89223405e-01 6.03280686e-01 2.96314354e+02] [ 1.33986807e-01 6.14047910e-01 7.77812766e-01 -1.68115314e+02] [-9.84311284e-01 -8.46054610e-03 1.76237666e-01 -5.88423815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-168.11, Z:-588.45 [[ 1.17761624e-01 -7.89832880e-01 6.01910477e-01 2.96316786e+02] [ 1.31746846e-01 6.13196336e-01 7.78866498e-01 -1.68110756e+02] [-9.84263668e-01 -1.24207770e-02 1.76268987e-01 -5.88450667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-168.11, Z:-588.48 [[ 1.21975334e-01 -7.89562932e-01 6.01425302e-01 2.96317782e+02] [ 1.27271790e-01 6.13389769e-01 7.79458070e-01 -1.68105672e+02] [-9.84339326e-01 -1.85301839e-02 1.75307510e-01 -5.88477952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-168.10, Z:-588.51 [[ 1.23652795e-01 -7.90287691e-01 6.00129446e-01 2.96320908e+02] [ 1.25839768e-01 6.12376370e-01 7.80486730e-01 -1.68101643e+02] [-9.84314147e-01 -2.09892157e-02 1.75171669e-01 -5.88505688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-168.10, Z:-588.53 [[ 1.26305014e-01 -7.90902667e-01 5.98765409e-01 2.96323231e+02] [ 1.23955130e-01 6.11451768e-01 7.81512547e-01 -1.68097729e+02] [-9.84216526e-01 -2.44889089e-02 1.75265867e-01 -5.88532636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-168.09, Z:-588.56 [[ 1.26945680e-01 -7.91262833e-01 5.98153763e-01 2.96326635e+02] [ 1.23797734e-01 6.10956209e-01 7.81924953e-01 -1.68094418e+02] [-9.84153908e-01 -2.52119139e-02 1.75514797e-01 -5.88560549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-168.09, Z:-588.59 [[ 1.26624537e-01 -7.92343779e-01 5.96789378e-01 2.96331048e+02] [ 1.24285256e-01 6.09563786e-01 7.82933692e-01 -1.68091546e+02] [-9.84133833e-01 -2.49664953e-02 1.75662381e-01 -5.88586929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-168.09, Z:-588.62 [[ 1.26421361e-01 -7.92814506e-01 5.96207010e-01 2.96334199e+02] [ 1.24464482e-01 6.08957042e-01 7.83377248e-01 -1.68087872e+02] [-9.84137304e-01 -2.48290211e-02 1.75662425e-01 -5.88615066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-168.09, Z:-588.64 [[ 1.25126311e-01 -7.93941962e-01 5.94978628e-01 2.96338688e+02] [ 1.25202060e-01 6.07533325e-01 7.84364522e-01 -1.68085071e+02] [-9.84209251e-01 -2.36520893e-02 1.75421573e-01 -5.88642827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-168.08, Z:-588.67 [[ 1.24012085e-01 -7.95150362e-01 5.93596585e-01 2.96343775e+02] [ 1.26405615e-01 6.05999951e-01 7.85357040e-01 -1.68082441e+02] [-9.84196435e-01 -2.23598229e-02 1.75662787e-01 -5.88670460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-168.08, Z:-588.70 [[ 1.20751909e-01 -7.96674234e-01 5.92223894e-01 2.96349972e+02] [ 1.29159347e-01 6.04126901e-01 7.86351417e-01 -1.68081260e+02] [-9.84244299e-01 -1.84621838e-02 1.75847400e-01 -5.88697307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-168.08, Z:-588.73 [[ 1.19118055e-01 -7.97386264e-01 5.91596176e-01 2.96354419e+02] [ 1.30919364e-01 6.03250088e-01 7.86733406e-01 -1.68078838e+02] [-9.84210856e-01 -1.62627578e-02 1.76251280e-01 -5.88725320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-168.08, Z:-588.75 [[ 1.17642697e-01 -7.98654521e-01 5.90178915e-01 2.96359354e+02] [ 1.32909385e-01 6.01621753e-01 7.87646089e-01 -1.68076817e+02] [-9.84121584e-01 -1.42204933e-02 1.76925086e-01 -5.88752716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-168.08, Z:-588.78 [[ 1.15425633e-01 -8.00108018e-01 5.88645974e-01 2.96366360e+02] [ 1.36678262e-01 5.99763193e-01 7.88418141e-01 -1.68075986e+02] [-9.83867865e-01 -1.05485542e-02 1.78585419e-01 -5.88779553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:-168.07, Z:-588.81 [[ 1.13750780e-01 -8.00809598e-01 5.88017643e-01 2.96371350e+02] [ 1.38448142e-01 5.98861278e-01 7.88794828e-01 -1.68073690e+02] [-9.83815467e-01 -8.31607696e-03 1.78991539e-01 -5.88807566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-168.07, Z:-588.83 [[ 1.12080183e-01 -8.02042974e-01 5.86655862e-01 2.96376683e+02] [ 1.40094739e-01 5.97232820e-01 7.89738199e-01 -1.68071567e+02] [-9.83774109e-01 -6.32660200e-03 1.79299965e-01 -5.88834712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-168.06, Z:-588.86 [[ 1.16010431e-01 -8.21836666e-01 5.57786765e-01 2.96409013e+02] [ 1.47970825e-01 5.69611962e-01 8.08484290e-01 -1.68062482e+02] [-9.82164047e-01 -1.12564432e-02 1.87688779e-01 -5.88860359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-168.06, Z:-588.89 [[ 1.10033013e-01 -7.83470619e-01 6.11609782e-01 2.96375135e+02] [ 1.47118016e-01 6.21406205e-01 7.69552219e-01 -1.68060009e+02] [-9.82979667e-01 5.30266895e-03 1.83637840e-01 -5.88893270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-168.06, Z:-588.92 [[ 1.04792432e-01 -7.92560316e-01 6.00721809e-01 2.96383318e+02] [ 1.45688060e-01 6.09765210e-01 7.79077261e-01 -1.68064034e+02] [-9.83764980e-01 5.87659442e-03 1.79365355e-01 -5.88921655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-168.06, Z:-588.95 [[ 1.02709134e-01 -8.10032744e-01 5.77319485e-01 2.96406266e+02] [ 1.49347460e-01 5.86367773e-01 7.96158383e-01 -1.68060508e+02] [-9.83435900e-01 4.44846057e-03 1.81201659e-01 -5.88948793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-168.06, Z:-588.98 [[ 9.75935577e-02 -8.11600159e-01 5.76004062e-01 2.96413495e+02] [ 1.50285054e-01 5.84148176e-01 7.97612256e-01 -1.68062644e+02] [-9.83813956e-01 8.72298367e-03 1.78980472e-01 -5.88978009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-168.06, Z:-589.01 [[ 9.53545591e-02 -8.07131788e-01 5.82619760e-01 2.96413753e+02] [ 1.51386561e-01 5.90236971e-01 7.92907578e-01 -1.68059888e+02] [-9.83864634e-01 1.25934492e-02 1.78470692e-01 -5.89006465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-168.06, Z:-589.03 [[ 9.09424466e-02 -8.08489895e-01 5.81440935e-01 2.96421721e+02] [ 1.53406362e-01 5.88264765e-01 7.93984291e-01 -1.68058931e+02] [-9.83969491e-01 1.69898645e-02 1.77525730e-01 -5.89033991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-168.06, Z:-589.06 [[ 8.90707304e-02 -8.09610018e-01 5.80170686e-01 2.96427685e+02] [ 1.54584563e-01 5.86664452e-01 7.94939264e-01 -1.68056189e+02] [-9.83956309e-01 1.88796110e-02 1.77407842e-01 -5.89061994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-168.05, Z:-589.09 [[ 8.76300837e-02 -8.10763577e-01 5.78777497e-01 2.96433288e+02] [ 1.55913522e-01 5.85014856e-01 7.95894837e-01 -1.68053573e+02] [-9.83875979e-01 2.04949070e-02 1.77673906e-01 -5.89088544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-168.05, Z:-589.12 [[ 8.55740635e-02 -8.11344394e-01 5.78271004e-01 2.96438053e+02] [ 1.56417519e-01 5.84143047e-01 7.96436100e-01 -1.68050911e+02] [-9.83976951e-01 2.22974425e-02 1.76895971e-01 -5.89116598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-168.05, Z:-589.14 [[ 8.22432487e-02 -8.12522237e-01 5.77099353e-01 2.96445005e+02] [ 1.57668852e-01 5.82376425e-01 7.97482434e-01 -1.68049047e+02] [-9.84061269e-01 2.54030461e-02 1.76005977e-01 -5.89144093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-168.05, Z:-589.17 [[ 8.07676653e-02 -8.13574524e-01 5.75823826e-01 2.96449859e+02] [ 1.58017068e-01 5.80856689e-01 7.98521204e-01 -1.68046283e+02] [-9.84127629e-01 2.64952992e-02 1.75473099e-01 -5.89171269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-168.04, Z:-589.20 [[ 7.88136729e-02 -8.14636589e-01 5.74591710e-01 2.96454338e+02] [ 1.58265122e-01 5.79299406e-01 7.99602620e-01 -1.68043643e+02] [-9.84246187e-01 2.79182079e-02 1.74585273e-01 -5.89198232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-168.04, Z:-589.23 [[ 7.83407688e-02 -8.15051667e-01 5.74067508e-01 2.96457572e+02] [ 1.58007482e-01 5.78709952e-01 8.00080263e-01 -1.68040338e+02] [-9.84325332e-01 2.80280588e-02 1.74120844e-01 -5.89225542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-168.04, Z:-589.25 [[ 7.85513862e-02 -8.15949220e-01 5.72762212e-01 2.96461635e+02] [ 1.57803837e-01 5.77470902e-01 8.01015172e-01 -1.68036770e+02] [-9.84341216e-01 2.74632226e-02 1.74121058e-01 -5.89253163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-168.03, Z:-589.28 [[ 8.01236967e-02 -8.16652899e-01 5.71540231e-01 2.96465498e+02] [ 1.55709352e-01 5.76599022e-01 8.02052470e-01 -1.68033790e+02] [-9.84548014e-01 2.47307501e-02 1.73359739e-01 -5.89280907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-168.03, Z:-589.31 [[ 7.98862266e-02 -8.17525871e-01 5.70324155e-01 2.96468963e+02] [ 1.55831812e-01 5.75360539e-01 8.02917615e-01 -1.68030010e+02] [-9.84547936e-01 2.47325879e-02 1.73359920e-01 -5.89309014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-168.03, Z:-589.34 [[ 8.14032524e-02 -8.18220133e-01 5.69112753e-01 2.96472029e+02] [ 1.54524418e-01 5.74464239e-01 8.03811571e-01 -1.68026314e+02] [-9.84629735e-01 2.25089407e-02 1.73198247e-01 -5.89335721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:-168.02, Z:-589.36 [[ 8.78161978e-02 -8.16584897e-01 5.70506286e-01 2.96472131e+02] [ 1.51319495e-01 5.77007765e-01 8.02598560e-01 -1.68022988e+02] [-9.84576420e-01 1.58475691e-02 1.74235842e-01 -5.89360164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-168.02, Z:-589.39 [[ 8.72708015e-02 -8.46464032e-01 5.25245133e-01 2.96505826e+02] [ 1.50397820e-01 5.32408664e-01 8.33019514e-01 -1.68019917e+02] [-9.84766116e-01 6.29744259e-03 1.73770076e-01 -5.89388940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-168.01, Z:-589.42 [[ 8.99113983e-02 -8.16260801e-01 5.70643712e-01 2.96476216e+02] [ 1.49476361e-01 5.77534154e-01 8.02565336e-01 -1.68014757e+02] [-9.84668857e-01 1.31379736e-02 1.73938597e-01 -5.89418613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-168.01, Z:-589.45 [[ 9.13484459e-02 -8.16527871e-01 5.70033067e-01 2.96478565e+02] [ 1.48638667e-01 5.77193857e-01 8.02965627e-01 -1.68010872e+02] [-9.84663398e-01 1.13792933e-02 1.74093376e-01 -5.89446135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-168.01, Z:-589.47 [[ 9.26313902e-02 -8.17279385e-01 5.68747601e-01 2.96481401e+02] [ 1.47939189e-01 5.76160319e-01 8.03836602e-01 -1.68006907e+02] [-9.84648883e-01 9.67955711e-03 1.74278181e-01 -5.89473353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-168.00, Z:-589.50 [[ 9.40726573e-02 -8.17968906e-01 5.67518461e-01 2.96483836e+02] [ 1.45852783e-01 5.75219161e-01 8.04891224e-01 -1.68002854e+02] [-9.84823487e-01 7.05589082e-03 1.73415437e-01 -5.89501031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-168.00, Z:-589.53 [[ 9.45124909e-02 -8.18836669e-01 5.66192457e-01 2.96486649e+02] [ 1.45341191e-01 5.73993871e-01 8.05857912e-01 -1.67998788e+02] [-9.84857009e-01 6.12744735e-03 1.73260287e-01 -5.89529022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-167.99, Z:-589.56 [[ 9.53047987e-02 -8.19668787e-01 5.64854030e-01 2.96489795e+02] [ 1.44242194e-01 5.72819471e-01 8.06890354e-01 -1.67994690e+02] [-9.84942224e-01 4.57526157e-03 1.72823268e-01 -5.89556456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-167.99, Z:-589.58 [[ 9.51962798e-02 -8.20613685e-01 5.63498756e-01 2.96493038e+02] [ 1.43883731e-01 5.71468115e-01 8.07911917e-01 -1.67990921e+02] [-9.85005147e-01 4.16809451e-03 1.72474597e-01 -5.89582780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-167.99, Z:-589.61 [[ 9.49120422e-02 -8.21034575e-01 5.62933328e-01 2.96495542e+02] [ 1.43624964e-01 5.70863561e-01 8.08385220e-01 -1.67987416e+02] [-9.85070340e-01 4.12578692e-03 1.72102888e-01 -5.89609723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-167.98, Z:-589.64 [[ 9.40901667e-02 -8.21524511e-01 5.62356221e-01 2.96498157e+02] [ 1.44010994e-01 5.70152286e-01 8.08818400e-01 -1.67983994e+02] [-9.85092825e-01 4.88362000e-03 1.71954285e-01 -5.89636482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-167.98, Z:-589.66 [[ 9.35842216e-02 -8.22214889e-01 5.61430912e-01 2.96501192e+02] [ 1.44660932e-01 5.69150913e-01 8.09407470e-01 -1.67980230e+02] [-9.85045790e-01 5.46935115e-03 1.72205918e-01 -5.89662934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-167.98, Z:-589.69 [[ 9.28344030e-02 -8.22708120e-01 5.60832527e-01 2.96503969e+02] [ 1.45548020e-01 5.68427379e-01 8.09756808e-01 -1.67976447e+02] [-9.84986065e-01 6.45477371e-03 1.72513154e-01 -5.89690677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-167.97, Z:-589.72 [[ 9.14909311e-02 -8.23787371e-01 5.59467405e-01 2.96507707e+02] [ 1.47371143e-01 5.66838254e-01 8.10540647e-01 -1.67973080e+02] [-9.84840675e-01 8.29223239e-03 1.73263046e-01 -5.89718105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-167.97, Z:-589.75 [[ 9.04395742e-02 -8.24821400e-01 5.58113198e-01 2.96511329e+02] [ 1.48040918e-01 5.65317962e-01 8.11479814e-01 -1.67969320e+02] [-9.84837332e-01 9.23370133e-03 1.73234433e-01 -5.89746177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-167.97, Z:-589.77 [[ 8.91962145e-02 -8.25850860e-01 5.56789360e-01 2.96514625e+02] [ 1.48528876e-01 5.63795765e-01 8.12449081e-01 -1.67965354e+02] [-9.84877255e-01 1.02319156e-02 1.72951148e-01 -5.89773992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-167.96, Z:-589.80 [[ 8.75337055e-02 -8.26901640e-01 5.55492150e-01 2.96517501e+02] [ 1.49061203e-01 5.62226947e-01 8.13438147e-01 -1.67961734e+02] [-9.84945993e-01 1.15990729e-02 1.72472761e-01 -5.89801954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-167.96, Z:-589.83 [[ 8.70564046e-02 -8.27872178e-01 5.54119878e-01 2.96520703e+02] [ 1.48975839e-01 5.60795843e-01 8.14441049e-01 -1.67958374e+02] [-9.85001209e-01 1.16481646e-02 1.72153822e-01 -5.89828181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-167.95, Z:-589.86 [[ 8.68568305e-02 -8.28318890e-01 5.53483249e-01 2.96523756e+02] [ 1.49465336e-01 5.60129360e-01 8.14809925e-01 -1.67954427e+02] [-9.84944671e-01 1.19547523e-02 1.72456022e-01 -5.89856060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-167.95, Z:-589.88 [[ 8.64877427e-02 -8.29219272e-01 5.52191334e-01 2.96527051e+02] [ 1.49376416e-01 5.58796035e-01 8.15741183e-01 -1.67950913e+02] [-9.84990638e-01 1.19327490e-02 1.72194811e-01 -5.89883550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-167.95, Z:-589.91 [[ 8.69641400e-02 -8.30124939e-01 5.50753869e-01 2.96530327e+02] [ 1.49339737e-01 5.57464336e-01 8.16658532e-01 -1.67947022e+02] [-9.84954253e-01 1.12294312e-02 1.72450047e-01 -5.89910225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:-167.94, Z:-589.94 [[ 8.75624829e-02 -8.30483839e-01 5.50117629e-01 2.96532993e+02] [ 1.49244023e-01 5.56942610e-01 8.17031915e-01 -1.67943061e+02] [-9.84915749e-01 1.05604250e-02 1.72712027e-01 -5.89937538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-167.94, Z:-589.96 [[ 8.91053209e-02 -8.31279559e-01 5.48666143e-01 2.96535850e+02] [ 1.48845799e-01 5.55785088e-01 8.17892330e-01 -1.67939162e+02] [-9.84837636e-01 8.78809189e-03 1.73255879e-01 -5.89964784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-167.94, Z:-589.99 [[ 9.00697090e-02 -8.32117165e-01 5.47237126e-01 2.96539359e+02] [ 1.48282545e-01 5.54550590e-01 8.18832052e-01 -1.67935370e+02] [-9.84834877e-01 7.39374909e-03 1.73336661e-01 -5.89991767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-167.93, Z:-590.02 [[ 9.12819115e-02 -8.32642976e-01 5.46235561e-01 2.96542400e+02] [ 1.47913560e-01 5.53777670e-01 8.19421668e-01 -1.67931373e+02] [-9.84778753e-01 5.99727032e-03 1.73709071e-01 -5.90018899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-167.93, Z:-590.05 [[ 9.41582869e-02 -8.33252329e-01 5.44816275e-01 2.96546046e+02] [ 1.46360332e-01 5.52887240e-01 8.20301380e-01 -1.67927268e+02] [-9.84740001e-01 2.50131834e-03 1.74014003e-01 -5.90046302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-167.92, Z:-590.07 [[ 9.58061909e-02 -8.33994846e-01 5.43390993e-01 2.96549386e+02] [ 1.45558795e-01 5.51772074e-01 8.21194384e-01 -1.67923035e+02] [-9.84699858e-01 4.19832013e-04 1.74258465e-01 -5.90074255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-167.92, Z:-590.10 [[ 9.72714429e-02 -8.34729908e-01 5.42000228e-01 2.96552010e+02] [ 1.44516175e-01 5.50657140e-01 8.22126383e-01 -1.67919106e+02] [-9.84709775e-01 -1.64161986e-03 1.74195188e-01 -5.90101882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-167.91, Z:-590.13 [[ 1.00465177e-01 -8.35270937e-01 5.40582288e-01 2.96554202e+02] [ 1.42467968e-01 5.49809319e-01 8.23050783e-01 -1.67914768e+02] [-9.84687578e-01 -5.67228197e-03 1.74236044e-01 -5.90128837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-167.91, Z:-590.16 [[ 1.01582879e-01 -8.35521344e-01 5.39986114e-01 2.96557117e+02] [ 1.41553300e-01 5.49410631e-01 8.23474725e-01 -1.67910707e+02] [-9.84704820e-01 -7.21411673e-03 1.74081516e-01 -5.90156644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-167.91, Z:-590.18 [[ 1.02458086e-01 -8.36304381e-01 5.38606836e-01 2.96560537e+02] [ 1.40643962e-01 5.48196103e-01 8.24439391e-01 -1.67906895e+02] [-9.84744442e-01 -8.71868282e-03 1.73788285e-01 -5.90183548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-167.90, Z:-590.21 [[ 1.02867120e-01 -8.36631928e-01 5.38019862e-01 2.96563705e+02] [ 1.40116292e-01 5.47683668e-01 8.24869702e-01 -1.67902733e+02] [-9.84777021e-01 -9.46662278e-03 1.73564405e-01 -5.90211559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-167.90, Z:-590.24 [[ 1.03242809e-01 -8.37416321e-01 5.36726027e-01 2.96567949e+02] [ 1.38891213e-01 5.46460409e-01 8.25887554e-01 -1.67898350e+02] [-9.84911241e-01 -1.07204222e-02 1.72727877e-01 -5.90238737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-167.89, Z:-590.27 [[ 1.03375466e-01 -8.38281371e-01 5.35348350e-01 2.96571348e+02] [ 1.38566878e-01 5.45120934e-01 8.26826698e-01 -1.67894610e+02] [-9.84943010e-01 -1.12920454e-02 1.72510163e-01 -5.90266306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-167.89, Z:-590.29 [[ 1.03955681e-01 -8.39127688e-01 5.33908175e-01 2.96574681e+02] [ 1.38820670e-01 5.43803825e-01 8.27651026e-01 -1.67890688e+02] [-9.84846200e-01 -1.19215358e-02 1.73019765e-01 -5.90292523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-167.89, Z:-590.32 [[ 1.05157052e-01 -8.39397707e-01 5.33248051e-01 2.96576966e+02] [ 1.38782491e-01 5.43360790e-01 8.27948351e-01 -1.67887001e+02] [-9.84724030e-01 -1.30591149e-02 1.73631924e-01 -5.90319768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-167.88, Z:-590.35 [[ 1.06177889e-01 -8.40201078e-01 5.31778529e-01 2.96580604e+02] [ 1.38907822e-01 5.42090911e-01 8.28759351e-01 -1.67883531e+02] [-9.84596807e-01 -1.41277208e-02 1.74268570e-01 -5.90346424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-167.88, Z:-590.37 [[ 1.07288284e-01 -8.40712286e-01 5.30746717e-01 2.96583924e+02] [ 1.39143166e-01 5.41270958e-01 8.29255648e-01 -1.67880022e+02] [-9.84443195e-01 -1.51196365e-02 1.75051402e-01 -5.90373604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-167.88, Z:-590.40 [[ 1.10256868e-01 -8.41270662e-01 5.29251450e-01 2.96587724e+02] [ 1.38551675e-01 5.40308309e-01 8.29982147e-01 -1.67876910e+02] [-9.84198586e-01 -1.81825574e-02 1.76132161e-01 -5.90400279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-167.87, Z:-590.43 [[ 1.11474640e-01 -8.41514180e-01 5.28608824e-01 2.96590914e+02] [ 1.38297254e-01 5.39884704e-01 8.30300172e-01 -1.67873178e+02] [-9.84097187e-01 -1.94522635e-02 1.76562554e-01 -5.90427415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-167.87, Z:-590.45 [[ 1.14395165e-01 -8.41991920e-01 5.27222299e-01 2.96595314e+02] [ 1.36993557e-01 5.39006174e-01 8.31086704e-01 -1.67869886e+02] [-9.83944364e-01 -2.28462428e-02 1.77007169e-01 -5.90454844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-167.87, Z:-590.48 [[ 1.15370806e-01 -8.42714512e-01 5.25853428e-01 2.96599301e+02] [ 1.36066956e-01 5.37805710e-01 8.32016107e-01 -1.67866388e+02] [-9.83959024e-01 -2.44390934e-02 1.76712677e-01 -5.90482254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-167.86, Z:-590.51 [[ 1.16742707e-01 -8.43438192e-01 5.24388365e-01 2.96603620e+02] [ 1.35860467e-01 5.36597516e-01 8.32829538e-01 -1.67862854e+02] [-9.83825734e-01 -2.59831264e-02 1.77233753e-01 -5.90510070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-167.86, Z:-590.54 [[ 1.17672840e-01 -8.44210276e-01 5.22936051e-01 2.96608181e+02] [ 1.35624288e-01 5.35322594e-01 8.33688055e-01 -1.67859472e+02] [-9.83747506e-01 -2.71796115e-02 1.77488348e-01 -5.90538079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-167.86, Z:-590.56 [[ 1.18674117e-01 -8.44964313e-01 5.21489947e-01 2.96614263e+02] [ 1.35282664e-01 5.34063266e-01 8.34550795e-01 -1.67857227e+02] [-9.83674263e-01 -2.84910298e-02 1.77688510e-01 -5.90564407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-167.85, Z:-590.59 [[ 1.18997044e-01 -8.45297343e-01 5.20876287e-01 2.96618993e+02] [ 1.35078426e-01 5.33508792e-01 8.34938434e-01 -1.67853908e+02] [-9.83663318e-01 -2.89960564e-02 1.77667404e-01 -5.90591612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-167.85, Z:-590.62 [[ 1.19395808e-01 -8.46095536e-01 5.19487233e-01 2.96625859e+02] [ 1.34515852e-01 5.32190880e-01 8.35869818e-01 -1.67851304e+02] [-9.83692089e-01 -2.99200840e-02 1.77354622e-01 -5.90619008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-167.85, Z:-590.65 [[ 1.19157157e-01 -8.47001977e-01 5.18062953e-01 2.96630568e+02] [ 1.34176513e-01 5.30730918e-01 8.36852052e-01 -1.67848042e+02] [-9.83767369e-01 -3.02050313e-02 1.76888159e-01 -5.90645848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-167.85, Z:-590.67 [[ 1.19044935e-01 -8.47371527e-01 5.17484105e-01 2.96634735e+02] [ 1.33579744e-01 5.30120634e-01 8.37334202e-01 -1.67845015e+02] [-9.83862163e-01 -3.05550011e-02 1.76299848e-01 -5.90673970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:-167.84, Z:-590.70 [[ 1.19715384e-01 -8.48160743e-01 5.16034477e-01 2.96641269e+02] [ 1.33426630e-01 5.28802066e-01 8.38191929e-01 -1.67843096e+02] [-9.83801586e-01 -3.14917274e-02 1.76472972e-01 -5.90701146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-167.84, Z:-590.73 [[ 1.19866797e-01 -8.49018462e-01 5.14586827e-01 2.96646390e+02] [ 1.33444170e-01 5.27398813e-01 8.39072789e-01 -1.67840313e+02] [-9.83780771e-01 -3.19083555e-02 1.76514171e-01 -5.90728630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-167.84, Z:-590.75 [[ 1.20174604e-01 -8.49866669e-01 5.13112766e-01 2.96651511e+02] [ 1.33756125e-01 5.26006854e-01 8.39896475e-01 -1.67837747e+02] [-9.83700851e-01 -3.23022515e-02 1.76887538e-01 -5.90754842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-167.84, Z:-590.78 [[ 1.20318945e-01 -8.50234776e-01 5.12468708e-01 2.96658271e+02] [ 1.33949039e-01 5.25402374e-01 8.40244012e-01 -1.67836347e+02] [-9.83656956e-01 -3.24525822e-02 1.77103991e-01 -5.90781401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-167.83, Z:-590.81 [[ 1.20127465e-01 -8.50645524e-01 5.11831598e-01 2.96662998e+02] [ 1.34375358e-01 5.24752695e-01 8.40581866e-01 -1.67833644e+02] [-9.83622212e-01 -3.21994144e-02 1.77343008e-01 -5.90808844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-167.83, Z:-590.83 [[ 1.19838572e-01 -8.51535767e-01 5.10417039e-01 2.96667971e+02] [ 1.34525703e-01 5.23308335e-01 8.41457796e-01 -1.67830924e+02] [-9.83636900e-01 -3.21748895e-02 1.77265972e-01 -5.90834935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-167.83, Z:-590.86 [[ 1.19323621e-01 -8.51903840e-01 5.09923251e-01 2.96674608e+02] [ 1.33347432e-01 5.22690244e-01 8.42029318e-01 -1.67828906e+02] [-9.83859917e-01 -3.24770312e-02 1.75968482e-01 -5.90862388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-167.83, Z:-590.89 [[ 1.19311611e-01 -8.52736527e-01 5.08532355e-01 2.96679738e+02] [ 1.32920452e-01 5.21299058e-01 8.42958745e-01 -1.67825766e+02] [-9.83919150e-01 -3.29804150e-02 1.75543155e-01 -5.90889461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-167.82, Z:-590.92 [[ 1.19282777e-01 -8.53561768e-01 5.07152766e-01 2.96684555e+02] [ 1.32224686e-01 5.19906546e-01 8.43927613e-01 -1.67822745e+02] [-9.84016388e-01 -3.36079142e-02 1.74877834e-01 -5.90916856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-167.82, Z:-590.94 [[ 1.19441936e-01 -8.54374404e-01 5.05744996e-01 2.96688983e+02] [ 1.31793564e-01 5.18527648e-01 8.44842905e-01 -1.67819701e+02] [-9.84054917e-01 -3.42557365e-02 1.74534994e-01 -5.90944486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-167.82, Z:-590.97 [[ 1.20515957e-01 -8.55107083e-01 5.04249720e-01 2.96694592e+02] [ 1.31821288e-01 5.17238650e-01 8.45628362e-01 -1.67817909e+02] [-9.83920247e-01 -3.54408641e-02 1.75056828e-01 -5.90970954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-167.82, Z:-591.00 [[ 1.11707828e-01 -8.37863950e-01 5.34327018e-01 2.96665269e+02] [ 1.25633312e-01 5.45285418e-01 8.28782290e-01 -1.67824784e+02] [-9.85767535e-01 -2.54521961e-02 1.66176273e-01 -5.90998743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.81, Z:-591.02 [[ 1.13917910e-01 -9.09241353e-01 4.00378412e-01 2.96759354e+02] [ 1.30509763e-01 4.13205293e-01 9.01237254e-01 -1.67811500e+02] [-9.84880659e-01 -5.04137730e-02 1.65736357e-01 -5.91020006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-167.80, Z:-591.05 [[ 1.21891578e-01 -9.10398686e-01 3.95369039e-01 2.96776974e+02] [ 1.37639536e-01 4.09994795e-01 9.01642738e-01 -1.67797348e+02] [-9.82953611e-01 -5.54842451e-02 1.75281766e-01 -5.91050170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-167.81, Z:-591.09 [[ 1.13343689e-01 -8.40313906e-01 5.30118616e-01 2.96680245e+02] [ 1.27963394e-01 5.41459581e-01 8.30931340e-01 -1.67812232e+02] [-9.85280964e-01 -2.63450464e-02 1.68900446e-01 -5.91089047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-167.79, Z:-591.11 [[ 1.21086492e-01 -9.18070147e-01 3.77472208e-01 2.96798764e+02] [ 1.40003918e-01 3.92264188e-01 9.09135694e-01 -1.67788073e+02] [-9.82719169e-01 -5.72364639e-02 1.76031312e-01 -5.91110692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-167.81, Z:-591.15 [[ 1.13667647e-01 -8.43378436e-01 5.25159480e-01 2.96695778e+02] [ 1.30964939e-01 5.36692042e-01 8.33552540e-01 -1.67805001e+02] [-9.84849151e-01 -2.59704766e-02 1.71457527e-01 -5.91148022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.80, Z:-591.17 [[ 1.13868009e-01 -8.90535976e-01 4.40431324e-01 2.96762320e+02] [ 1.35274730e-01 4.53083555e-01 8.81144733e-01 -1.67795436e+02] [-9.84243275e-01 -4.07549676e-02 1.72058736e-01 -5.91171361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-167.79, Z:-591.21 [[ 1.13292717e-01 -8.77656886e-01 4.65707152e-01 2.96750389e+02] [ 1.35197447e-01 4.77982990e-01 8.67902017e-01 -1.67793881e+02] [-9.84320279e-01 -3.53645597e-02 1.72808961e-01 -5.91206061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.79, Z:-591.24 [[ 1.13449866e-01 -8.77784838e-01 4.65427660e-01 2.96756033e+02] [ 1.36299978e-01 4.77773419e-01 8.67844961e-01 -1.67788907e+02] [-9.84150113e-01 -3.50191147e-02 1.73845385e-01 -5.91236825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-167.79, Z:-591.27 [[ 1.12628083e-01 -8.70693459e-01 4.78756530e-01 2.96752879e+02] [ 1.36409663e-01 4.90809111e-01 8.60522412e-01 -1.67787251e+02] [-9.84229302e-01 -3.16119723e-02 1.74049891e-01 -5.91268410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-167.79, Z:-591.30 [[ 1.11437049e-01 -8.64898106e-01 4.89421138e-01 2.96748893e+02] [ 1.35618292e-01 5.01116581e-01 8.54686990e-01 -1.67785867e+02] [-9.84474206e-01 -2.88693369e-02 1.73138957e-01 -5.91298557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-167.78, Z:-591.33 [[ 1.10541707e-01 -8.63660588e-01 4.91803742e-01 2.96750640e+02] [ 1.36122334e-01 5.03329619e-01 8.53305341e-01 -1.67782730e+02] [-9.84505582e-01 -2.73803554e-02 1.73202410e-01 -5.91326435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.78, Z:-591.35 [[ 1.09806477e-01 -8.68372529e-01 4.83602821e-01 2.96762658e+02] [ 1.36497840e-01 4.95109558e-01 8.58041296e-01 -1.67779009e+02] [-9.84535869e-01 -2.82077508e-02 1.72897211e-01 -5.91353526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-167.78, Z:-591.38 [[ 1.08189482e-01 -8.59320571e-01 4.99863174e-01 2.96754595e+02] [ 1.36219776e-01 5.10886129e-01 8.48787097e-01 -1.67777398e+02] [-9.84753375e-01 -2.37385869e-02 1.72328962e-01 -5.91382161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.77, Z:-591.41 [[ 1.07607847e-01 -8.62544779e-01 4.94405760e-01 2.96762963e+02] [ 1.37701032e-01 5.05430940e-01 8.51808658e-01 -1.67773184e+02] [-9.84611079e-01 -2.35811127e-02 1.73161641e-01 -5.91410079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.77, Z:-591.44 [[ 1.04376156e-01 -8.58724834e-01 5.01694407e-01 2.96761756e+02] [ 1.39217553e-01 5.12098531e-01 8.47569211e-01 -1.67770661e+02] [-9.84745699e-01 -1.86213481e-02 1.73000446e-01 -5.91439487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.77, Z:-591.47 [[ 1.02652907e-01 -8.56989241e-01 5.05006754e-01 2.96762322e+02] [ 1.40063369e-01 5.15083608e-01 8.45618785e-01 -1.67767375e+02] [-9.84806902e-01 -1.60722793e-02 1.72907630e-01 -5.91467098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.76, Z:-591.50 [[ 1.01510993e-01 -8.55275581e-01 5.08133053e-01 2.96763388e+02] [ 1.41002778e-01 5.17984370e-01 8.43688574e-01 -1.67763220e+02] [-9.84791214e-01 -1.39954932e-02 1.73177340e-01 -5.91495790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.76, Z:-591.52 [[ 1.00475392e-01 -8.52519434e-01 5.12947668e-01 2.96762744e+02] [ 1.41671149e-01 5.22562211e-01 8.40748489e-01 -1.67759191e+02] [-9.84801493e-01 -1.18046482e-02 1.73282050e-01 -5.91524443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-167.76, Z:-591.55 [[ 1.00021419e-01 -8.54241694e-01 5.10163546e-01 2.96766895e+02] [ 1.40573663e-01 5.19724049e-01 8.42689717e-01 -1.67756501e+02] [-9.85004955e-01 -1.25714633e-02 1.72067421e-01 -5.91552515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-167.75, Z:-591.58 [[ 1.01512341e-01 -8.49904043e-01 5.17067077e-01 2.96765233e+02] [ 1.41886455e-01 5.26807393e-01 8.38058593e-01 -1.67751806e+02] [-9.84664145e-01 -1.17084747e-02 1.74067323e-01 -5.91582362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.74, Z:-591.61 [[ 1.02417525e-01 -8.44036751e-01 5.26414868e-01 2.96760354e+02] [ 1.45023679e-01 5.36212791e-01 8.31531103e-01 -1.67743444e+02] [-9.84113196e-01 -8.82073716e-03 1.77322902e-01 -5.91606874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-167.74, Z:-591.64 [[ 1.01296854e-01 -8.53115814e-01 5.11793274e-01 2.96771210e+02] [ 1.44177490e-01 5.21597155e-01 8.40921673e-01 -1.67742231e+02] [-9.84353493e-01 -1.13936503e-02 1.75836247e-01 -5.91638146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-167.74, Z:-591.67 [[ 1.00458030e-01 -8.32890401e-01 5.44244213e-01 2.96747144e+02] [ 1.43826030e-01 5.53422492e-01 8.20388699e-01 -1.67739455e+02] [-9.84490862e-01 -4.13814790e-03 1.75387053e-01 -5.91666129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.73, Z:-591.69 [[ 1.00115227e-01 -8.43601211e-01 5.27554677e-01 2.96761568e+02] [ 1.44134310e-01 5.36922198e-01 8.31227920e-01 -1.67734937e+02] [-9.84480697e-01 -7.17984235e-03 1.75345967e-01 -5.91693754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-167.73, Z:-591.72 [[ 9.84076456e-02 -8.43808636e-01 5.27544237e-01 2.96762709e+02] [ 1.45079466e-01 5.36618348e-01 8.31259705e-01 -1.67730020e+02] [-9.84514034e-01 -5.26647436e-03 1.75226654e-01 -5.91721309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-167.72, Z:-591.75 [[ 9.83427085e-02 -8.65180896e-01 4.91722207e-01 2.96792061e+02] [ 1.47080358e-01 5.01327297e-01 8.52665415e-01 -1.67721304e+02] [-9.84223593e-01 -1.15307482e-02 1.76553000e-01 -5.91747356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-167.71, Z:-591.77 [[ 1.00446238e-01 -8.67388860e-01 4.87388059e-01 2.96799462e+02] [ 1.50035526e-01 4.97468956e-01 8.54408555e-01 -1.67711571e+02] [-9.83564891e-01 -1.26966008e-02 1.80108029e-01 -5.91772237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-167.71, Z:-591.80 [[ 9.75356849e-02 -8.61680622e-01 4.97989253e-01 2.96791299e+02] [ 1.49181483e-01 5.07379981e-01 8.48711046e-01 -1.67711200e+02] [-9.83987640e-01 -8.48883778e-03 1.78034447e-01 -5.91804221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-167.71, Z:-591.83 [[ 9.71349573e-02 -8.49623707e-01 5.18367010e-01 2.96778874e+02] [ 1.50718245e-01 5.27380313e-01 8.36154302e-01 -1.67706070e+02] [-9.83793073e-01 -3.09244624e-03 1.79280858e-01 -5.91834020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-167.70, Z:-591.86 [[ 9.55117247e-02 -8.51673506e-01 5.15295789e-01 2.96781890e+02] [ 1.51225633e-01 5.24068428e-01 8.38142643e-01 -1.67701411e+02] [-9.83874138e-01 -2.12651776e-03 1.78849544e-01 -5.91861702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-167.70, Z:-591.89 [[ 9.24100407e-02 -8.55412540e-01 5.09636901e-01 2.96785712e+02] [ 1.50582839e-01 5.17946172e-01 8.42054969e-01 -1.67697564e+02] [-9.84268862e-01 -1.07176249e-03 1.76673876e-01 -5.91888920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-167.69, Z:-591.92 [[ 9.29220061e-02 -8.73466050e-01 4.77935728e-01 2.96811883e+02] [ 1.52342839e-01 4.86833099e-01 8.60107664e-01 -1.67688989e+02] [-9.83949775e-01 -7.11284404e-03 1.78303806e-01 -5.91915498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-167.68, Z:-591.95 [[ 9.59385108e-02 -8.71548609e-01 4.80831389e-01 2.96816893e+02] [ 1.54595862e-01 4.90244521e-01 8.57764787e-01 -1.67681069e+02] [-9.83308660e-01 -7.95813324e-03 1.81771138e-01 -5.91945195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-167.68, Z:-591.98 [[ 9.72475836e-02 -8.43787151e-01 5.27793664e-01 2.96788515e+02] [ 1.55319442e-01 5.36676342e-01 8.29369867e-01 -1.67677980e+02] [-9.83066009e-01 1.32240172e-03 1.83247026e-01 -5.91977556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-167.67, Z:-592.01 [[ 9.72716721e-02 -8.33121016e-01 5.44470013e-01 2.96779113e+02] [ 1.56495005e-01 5.53062310e-01 8.18310085e-01 -1.67672080e+02] [-9.82877172e-01 5.60844740e-03 1.84176574e-01 -5.92006338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-167.67, Z:-592.04 [[ 9.85768895e-02 -8.33410769e-01 5.43791401e-01 2.96783803e+02] [ 1.56965467e-01 5.52634308e-01 8.18509111e-01 -1.67666714e+02] [-9.82672091e-01 4.67038900e-03 1.85293682e-01 -5.92035800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-167.67, Z:-592.06 [[ 9.16179843e-02 -8.02174067e-01 5.90019416e-01 2.96740018e+02] [ 1.52111547e-01 5.96831667e-01 7.87815993e-01 -1.67668981e+02] [-9.84107831e-01 1.75706527e-02 1.76700452e-01 -5.92061591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-167.66, Z:-592.08 [[ 9.18638170e-02 -8.79642520e-01 4.66679844e-01 2.96833115e+02] [ 1.54156269e-01 4.75574390e-01 8.66062841e-01 -1.67657925e+02] [-9.83766682e-01 -7.61821485e-03 1.79290487e-01 -5.92082597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-167.66, Z:-592.11 [[ 9.25657063e-02 -8.65768455e-01 4.91809487e-01 2.96818470e+02] [ 1.53303821e-01 5.00432695e-01 8.52094511e-01 -1.67655877e+02] [-9.83834096e-01 -3.47845651e-03 1.79048518e-01 -5.92113246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-167.65, Z:-592.14 [[ 9.35381024e-02 -8.61078287e-01 4.99794766e-01 2.96812391e+02] [ 1.52247410e-01 5.08462442e-01 8.47517948e-01 -1.67652262e+02] [-9.83906169e-01 -3.18276222e-03 1.78657550e-01 -5.92138177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-167.65, Z:-592.16 [[ 9.37338648e-02 -8.80296042e-01 4.65072942e-01 2.96838261e+02] [ 1.52540433e-01 4.74312342e-01 8.67040494e-01 -1.67645057e+02] [-9.83842152e-01 -1.03286287e-02 1.78739868e-01 -5.92163743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-167.64, Z:-592.19 [[ 9.39884349e-02 -8.81009529e-01 4.63668400e-01 2.96841130e+02] [ 1.52022049e-01 4.72968722e-01 8.67865131e-01 -1.67640904e+02] [-9.83898100e-01 -1.10814651e-02 1.78386464e-01 -5.92189960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-167.64, Z:-592.22 [[ 9.43950411e-02 -8.81267383e-01 4.63095428e-01 2.96843906e+02] [ 1.51156678e-01 4.72466616e-01 8.68289672e-01 -1.67636481e+02] [-9.83992497e-01 -1.19622727e-02 1.77807956e-01 -5.92216344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-167.63, Z:-592.24 [[ 9.45576390e-02 -8.81545774e-01 4.62532055e-01 2.96846621e+02] [ 1.50386580e-01 4.71930786e-01 8.68714689e-01 -1.67632236e+02] [-9.84094878e-01 -1.25849960e-02 1.77197315e-01 -5.92242642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-167.63, Z:-592.27 [[ 9.48229372e-02 -8.81838354e-01 4.61919612e-01 2.96849029e+02] [ 1.50300471e-01 4.71373210e-01 8.69032258e-01 -1.67627947e+02] [-9.84082506e-01 -1.29774562e-02 1.77237712e-01 -5.92269240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-167.62, Z:-592.30 [[ 9.52536082e-02 -8.82115727e-01 4.61300981e-01 2.96851478e+02] [ 1.50289128e-01 4.70839885e-01 8.69323289e-01 -1.67623649e+02] [-9.84042646e-01 -1.34776579e-02 1.77421601e-01 -5.92296479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6965599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.85, Y:-167.62, Z:-592.32 [[ 9.46005399e-02 -8.82894202e-01 4.59944089e-01 2.96853847e+02] [ 1.49542579e-01 4.69376588e-01 8.70242860e-01 -1.67619777e+02] [-9.84219363e-01 -1.35442193e-02 1.76433554e-01 -5.92323234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-167.62, Z:-592.35 [[ 9.67824061e-02 -8.83578369e-01 4.58172928e-01 2.96857116e+02] [ 1.50399408e-01 4.68030978e-01 8.70819742e-01 -1.67615078e+02] [-9.83876610e-01 -1.53710927e-02 1.78186828e-01 -5.92350586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-167.61, Z:-592.38 [[ 9.77134042e-02 -8.84341377e-01 4.56500186e-01 2.96859814e+02] [ 1.50467004e-01 4.66549858e-01 8.71602496e-01 -1.67610579e+02] [-9.83774248e-01 -1.64790315e-02 1.78652373e-01 -5.92378522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-167.61, Z:-592.41 [[ 9.93650006e-02 -8.84956284e-01 4.54949416e-01 2.96861809e+02] [ 1.50038004e-01 4.65309648e-01 8.72339114e-01 -1.67605941e+02] [-9.83674333e-01 -1.84202742e-02 1.79012568e-01 -5.92405903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-167.60, Z:-592.43 [[ 1.00067347e-01 -8.85607991e-01 4.53525097e-01 2.96864340e+02] [ 1.49695328e-01 4.64024953e-01 8.73081985e-01 -1.67601644e+02] [-9.83655344e-01 -1.94764101e-02 1.79005124e-01 -5.92433147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-167.60, Z:-592.46 [[ 1.00976479e-01 -8.86250427e-01 4.52066292e-01 2.96867238e+02] [ 1.49269642e-01 4.62741098e-01 8.73835940e-01 -1.67597396e+02] [-9.83627127e-01 -2.07571028e-02 1.79016251e-01 -5.92459509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-167.59, Z:-592.49 [[ 1.00889249e-01 -8.86579418e-01 4.51440246e-01 2.96870084e+02] [ 1.49201565e-01 4.62106727e-01 8.74183200e-01 -1.67593127e+02] [-9.83646406e-01 -2.08400950e-02 1.78900637e-01 -5.92486086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-167.59, Z:-592.51 [[ 1.00867899e-01 -8.86898815e-01 4.50817213e-01 2.96873400e+02] [ 1.49197657e-01 4.61488489e-01 8.74510397e-01 -1.67588864e+02] [-9.83649189e-01 -2.09491544e-02 1.78872599e-01 -5.92513599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-167.59, Z:-592.54 [[ 9.54837585e-02 -8.78417719e-01 4.68257582e-01 2.96857879e+02] [ 1.44713654e-01 4.77658853e-01 8.66544851e-01 -1.67592121e+02] [-9.84855731e-01 -1.49776935e-02 1.72727701e-01 -5.92541423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.57, Z:-592.56 [[ 1.00356667e-01 -9.23312072e-01 3.70706566e-01 2.96932277e+02] [ 1.50138153e-01 3.82374496e-01 9.11728183e-01 -1.67569395e+02] [-9.83558374e-01 -3.58408031e-02 1.76998199e-01 -5.92563833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-167.58, Z:-592.60 [[ 9.95351744e-02 -8.86416052e-01 4.52061203e-01 2.96879833e+02] [ 1.47164264e-01 4.62435139e-01 8.74354860e-01 -1.67577502e+02] [-9.84091169e-01 -2.05018093e-02 1.76477328e-01 -5.92598041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-167.57, Z:-592.62 [[ 9.95561006e-02 -8.92194581e-01 4.40542180e-01 2.96889936e+02] [ 1.47944639e-01 4.51093105e-01 8.80129192e-01 -1.67571785e+02] [-9.83972036e-01 -2.24463766e-02 1.76904476e-01 -5.92624740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-167.57, Z:-592.65 [[ 9.94655367e-02 -8.94692723e-01 4.35467035e-01 2.96897009e+02] [ 1.49322019e-01 4.46102559e-01 8.82437217e-01 -1.67566321e+02] [-9.83773115e-01 -2.27472743e-02 1.77969155e-01 -5.92651593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-167.56, Z:-592.68 [[ 9.89125730e-02 -8.90200258e-01 4.44701927e-01 2.96893207e+02] [ 1.49595164e-01 4.55117019e-01 8.77775476e-01 -1.67563887e+02] [-9.83787370e-01 -2.02977730e-02 1.78186449e-01 -5.92678461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-167.56, Z:-592.71 [[ 9.63306899e-02 -8.90810723e-01 4.44045779e-01 2.96897102e+02] [ 1.51350325e-01 4.54042255e-01 8.78031155e-01 -1.67560814e+02] [-9.83775115e-01 -1.73748737e-02 1.78562697e-01 -5.92706143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-167.56, Z:-592.73 [[ 9.45549201e-02 -8.91718522e-01 4.42603032e-01 2.96901421e+02] [ 1.52287519e-01 4.52318431e-01 8.78758527e-01 -1.67557147e+02] [-9.83802764e-01 -1.56880245e-02 1.78566535e-01 -5.92733515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-167.55, Z:-592.76 [[ 9.24132631e-02 -8.92660766e-01 4.41153653e-01 2.96905867e+02] [ 1.53333188e-01 4.50522890e-01 8.79498755e-01 -1.67553207e+02] [-9.83843851e-01 -1.36338541e-02 1.78508811e-01 -5.92760653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-167.55, Z:-592.79 [[ 8.96677866e-02 -8.93618294e-01 4.39779527e-01 2.96909880e+02] [ 1.53728922e-01 4.48684619e-01 8.80368975e-01 -1.67549446e+02] [-9.84036131e-01 -1.13339046e-02 1.77607534e-01 -5.92788101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-167.54, Z:-592.82 [[ 8.94294695e-02 -8.94355729e-01 4.38326590e-01 2.96912954e+02] [ 1.53869182e-01 4.47212467e-01 8.81093233e-01 -1.67544883e+02] [-9.84035896e-01 -1.13507465e-02 1.77607758e-01 -5.92816164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-167.54, Z:-592.84 [[ 8.48126648e-02 -8.95441645e-01 4.37025254e-01 2.96917961e+02] [ 1.55290924e-01 4.45124963e-01 8.81900503e-01 -1.67541528e+02] [-9.84221287e-01 -6.93027607e-03 1.76806195e-01 -5.92843451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-167.54, Z:-592.87 [[ 8.27816480e-02 -8.96333236e-01 4.35584584e-01 2.96921930e+02] [ 1.55988772e-01 4.43351429e-01 8.82670388e-01 -1.67537217e+02] [-9.84283852e-01 -5.12260512e-03 1.76519282e-01 -5.92870088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-167.53, Z:-592.90 [[ 8.07204181e-02 -8.95390565e-01 4.37904043e-01 2.96923101e+02] [ 1.56213711e-01 4.45273074e-01 8.81662728e-01 -1.67534917e+02] [-9.84419367e-01 -2.76156843e-03 1.75814911e-01 -5.92899605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-167.53, Z:-592.93 [[ 7.79438171e-02 -8.90070179e-01 4.49110052e-01 2.96917025e+02] [ 1.56786050e-01 4.55818570e-01 8.76154990e-01 -1.67532721e+02] [-9.84552130e-01 2.12332682e-03 1.75078827e-01 -5.92926768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.53, Z:-592.95 [[ 7.58469596e-02 -8.97208077e-01 4.35045866e-01 2.96929721e+02] [ 1.58871828e-01 4.41602856e-01 8.83032650e-01 -1.67526757e+02] [-9.84381522e-01 2.14119029e-03 1.76035321e-01 -5.92954552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.52, Z:-592.98 [[ 7.44337062e-02 -8.93549941e-01 4.42750637e-01 2.96925917e+02] [ 1.59536529e-01 4.48933786e-01 8.79207912e-01 -1.67523718e+02] [-9.84381897e-01 5.19219638e-03 1.75969661e-01 -5.92982748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.52, Z:-593.01 [[ 7.27409450e-02 -8.97430223e-01 4.35118088e-01 2.96932809e+02] [ 1.60672127e-01 4.41119800e-01 8.82948351e-01 -1.67518021e+02] [-9.84323739e-01 5.68485134e-03 1.76279494e-01 -5.93010752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.51, Z:-593.04 [[ 7.17796362e-02 -8.94435393e-01 4.41398925e-01 2.96929620e+02] [ 1.61167223e-01 4.47125895e-01 8.79831552e-01 -1.67513997e+02] [-9.84313370e-01 7.98505029e-03 1.76248203e-01 -5.93039069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.51, Z:-593.07 [[ 7.11179453e-02 -8.96839706e-01 4.36601396e-01 2.96934354e+02] [ 1.61587464e-01 4.42286736e-01 8.82197220e-01 -1.67508377e+02] [-9.84292502e-01 7.80925865e-03 1.76372578e-01 -5.93067308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-167.51, Z:-593.10 [[ 6.76621754e-02 -8.90517546e-01 4.49889242e-01 2.96922213e+02] [ 1.60712591e-01 4.54762229e-01 8.75992453e-01 -1.67508481e+02] [-9.84679285e-01 1.30313107e-02 1.73887584e-01 -5.93095977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-167.49, Z:-593.12 [[ 6.98066977e-02 -9.14215063e-01 3.99171446e-01 2.96961036e+02] [ 1.63236049e-01 4.05222432e-01 8.99526972e-01 -1.67492448e+02] [-9.84114331e-01 2.36616245e-03 1.77520095e-01 -5.93119387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-167.49, Z:-593.15 [[ 6.95410936e-02 -9.00848405e-01 4.28527932e-01 2.96943487e+02] [ 1.62608558e-01 4.34058917e-01 8.86087645e-01 -1.67492894e+02] [-9.84237011e-01 8.06280512e-03 1.76670592e-01 -5.93151679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-167.49, Z:-593.18 [[ 7.02755821e-02 -8.95416151e-01 4.39649018e-01 2.96936871e+02] [ 1.61420162e-01 4.45137790e-01 8.80792756e-01 -1.67488659e+02] [-9.84380452e-01 9.06999223e-03 1.75820538e-01 -5.93179739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-167.48, Z:-593.21 [[ 7.06849844e-02 -8.93458334e-01 4.43549138e-01 2.96935087e+02] [ 1.60696565e-01 4.49052887e-01 8.78935787e-01 -1.67483884e+02] [-9.84469526e-01 9.14926052e-03 1.75316982e-01 -5.93208575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.48, Z:-593.24 [[ 6.89997767e-02 -8.88750277e-01 4.53168817e-01 2.96925799e+02] [ 1.58678523e-01 4.58245791e-01 8.74546695e-01 -1.67482327e+02] [-9.84916320e-01 1.15646319e-02 1.72644438e-01 -5.93236362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-167.47, Z:-593.26 [[ 7.08252173e-02 -9.06079648e-01 4.17137220e-01 2.96947607e+02] [ 1.57435987e-01 4.23099925e-01 8.92300602e-01 -1.67472684e+02] [-9.84986141e-01 2.47502592e-03 1.72615688e-01 -5.93261609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-167.47, Z:-593.29 [[ 7.27571514e-02 -9.09252476e-01 4.09836958e-01 2.96953549e+02] [ 1.55855180e-01 4.16243011e-01 8.95796249e-01 -1.67467818e+02] [-9.85096726e-01 -1.30037061e-03 1.71996364e-01 -5.93289206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-167.46, Z:-593.32 [[ 7.69856099e-02 -9.01899146e-01 4.25030759e-01 2.96944126e+02] [ 1.56883297e-01 4.31943350e-01 8.88151211e-01 -1.67460106e+02] [-9.84612029e-01 -1.69463608e-03 1.74746334e-01 -5.93315317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-167.45, Z:-593.34 [[ 7.82663036e-02 -9.04904367e-01 4.18356872e-01 2.96949206e+02] [ 1.56646113e-01 4.25594019e-01 8.91252897e-01 -1.67454515e+02] [-9.84548821e-01 -4.22109199e-03 1.75059422e-01 -5.93341275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-167.46, Z:-593.37 [[ 7.50493683e-02 -8.96003178e-01 4.37659568e-01 2.96930419e+02] [ 1.51400087e-01 4.44047638e-01 8.83119306e-01 -1.67459322e+02] [-9.85619402e-01 -1.58495403e-05 1.68980454e-01 -5.93369298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:-167.43, Z:-593.39 [[ 8.15868261e-02 -9.41320283e-01 3.27505290e-01 2.97007593e+02] [ 1.54240348e-01 3.36566941e-01 9.28941661e-01 -1.67432386e+02] [-9.84659081e-01 -2.52748717e-02 1.72648997e-01 -5.93389412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.44, Z:-593.42 [[ 8.40997982e-02 -9.18693658e-01 3.85913444e-01 2.96969947e+02] [ 1.55099269e-01 3.94633924e-01 9.05653511e-01 -1.67436019e+02] [-9.84312674e-01 -1.63103843e-02 1.75677349e-01 -5.93424066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-167.44, Z:-593.46 [[ 8.49382101e-02 -8.97373686e-01 4.33019594e-01 2.96938281e+02] [ 1.52390223e-01 4.41176956e-01 8.84386857e-01 -1.67438336e+02] [-9.84663760e-01 -9.13028431e-03 1.74223757e-01 -5.93456732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-167.43, Z:-593.48 [[ 8.88250759e-02 -9.05298691e-01 4.15384624e-01 2.96948229e+02] [ 1.50219830e-01 4.24438697e-01 8.92908615e-01 -1.67431432e+02] [-9.84654309e-01 -1.69136678e-02 1.73694615e-01 -5.93483442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-167.43, Z:-593.51 [[ 9.07474294e-02 -9.07763301e-01 4.09549378e-01 2.96953209e+02] [ 1.49927651e-01 4.19012228e-01 8.95516863e-01 -1.67425433e+02] [-9.84523542e-01 -1.98630772e-02 1.74123102e-01 -5.93511140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-167.43, Z:-593.54 [[ 9.11481909e-02 -9.00112984e-01 4.26014815e-01 2.96940175e+02] [ 1.46102149e-01 4.35253636e-01 8.88374040e-01 -1.67425194e+02] [-9.85061505e-01 -1.87320063e-02 1.71181023e-01 -5.93540830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-167.42, Z:-593.57 [[ 9.11155059e-02 -9.10572343e-01 4.03182307e-01 2.96954586e+02] [ 1.44929865e-01 4.12680929e-01 8.99271808e-01 -1.67420091e+02] [-9.85237687e-01 -2.35044486e-02 1.69570758e-01 -5.93565604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.41, Z:-593.59 [[ 9.27964857e-02 -9.19400134e-01 3.82220102e-01 2.96970304e+02] [ 1.45935658e-01 3.92289805e-01 9.08191331e-01 -1.67411150e+02] [-9.84932280e-01 -2.84974219e-02 1.70576378e-01 -5.93593442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.40, Z:-593.62 [[ 9.62625505e-02 -9.16329372e-01 3.88682395e-01 2.96970429e+02] [ 1.47628782e-01 3.99320765e-01 9.04847318e-01 -1.67401994e+02] [-9.84347126e-01 -2.97222020e-02 1.73716225e-01 -5.93619997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-167.40, Z:-593.65 [[ 9.83315299e-02 -9.08069137e-01 4.07113441e-01 2.96958786e+02] [ 1.46425550e-01 4.17845647e-01 8.96640716e-01 -1.67399491e+02] [-9.84322340e-01 -2.85562438e-02 1.74051925e-01 -5.93648047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-167.39, Z:-593.68 [[ 9.96845908e-02 -9.08240407e-01 4.06401705e-01 2.96960297e+02] [ 1.46788302e-01 4.17390475e-01 8.96793391e-01 -1.67394724e+02] [-9.84132195e-01 -2.97414660e-02 1.74926466e-01 -5.93675523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-167.39, Z:-593.70 [[ 1.00821576e-01 -9.08795753e-01 4.04876882e-01 2.96961688e+02] [ 1.46998023e-01 4.16091238e-01 8.97362615e-01 -1.67390281e+02] [-9.83985056e-01 -3.09574117e-02 1.75542153e-01 -5.93701997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-167.39, Z:-593.73 [[ 1.03255457e-01 -9.08852552e-01 4.04135312e-01 2.96962881e+02] [ 1.47423422e-01 4.15803334e-01 8.97426277e-01 -1.67385605e+02] [-9.83668971e-01 -3.30851500e-02 1.76920117e-01 -5.93729414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.38, Z:-593.76 [[ 1.03949530e-01 -9.09443002e-01 4.02626281e-01 2.96965219e+02] [ 1.48016877e-01 4.14457025e-01 8.97951212e-01 -1.67381061e+02] [-9.83506736e-01 -3.37461215e-02 1.77695526e-01 -5.93757322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.38, Z:-593.78 [[ 1.04087593e-01 -9.10087982e-01 4.01130451e-01 2.96966869e+02] [ 1.48608547e-01 4.13025178e-01 8.98513051e-01 -1.67376293e+02] [-9.83402905e-01 -3.39126478e-02 1.78237649e-01 -5.93784995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.37, Z:-593.81 [[ 1.03212496e-01 -9.10831408e-01 3.99666519e-01 2.96969547e+02] [ 1.48943692e-01 4.11434830e-01 8.99186943e-01 -1.67371829e+02] [-9.83444435e-01 -3.32795219e-02 1.78127808e-01 -5.93812505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.37, Z:-593.84 [[ 1.01942231e-01 -9.11612183e-01 3.98209756e-01 2.96973129e+02] [ 1.49399953e-01 4.09784947e-01 8.99864407e-01 -1.67367162e+02] [-9.83507720e-01 -3.22416666e-02 1.77969209e-01 -5.93839904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-167.36, Z:-593.87 [[ 9.79949624e-02 -9.12645989e-01 3.96830298e-01 2.96978313e+02] [ 1.49989933e-01 4.07739053e-01 9.00695223e-01 -1.67362579e+02] [-9.83819093e-01 -2.87430447e-02 1.76844084e-01 -5.93867705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-167.36, Z:-593.89 [[ 9.53227872e-02 -9.13566912e-01 3.95359410e-01 2.96982223e+02] [ 1.50483601e-01 4.05828329e-01 9.01475487e-01 -1.67358375e+02] [-9.84006226e-01 -2.64360481e-02 1.76161526e-01 -5.93894055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-167.35, Z:-593.92 [[ 9.02550895e-02 -9.14342277e-01 3.94755898e-01 2.96986825e+02] [ 1.51931145e-01 4.04375085e-01 9.01885646e-01 -1.67354866e+02] [-9.84261625e-01 -2.14240543e-02 1.75413978e-01 -5.93920679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-167.35, Z:-593.95 [[ 9.00252901e-02 -9.14645536e-01 3.94105304e-01 2.96989091e+02] [ 1.52049301e-01 4.03695529e-01 9.02170123e-01 -1.67350332e+02] [-9.84264425e-01 -2.12946911e-02 1.75414021e-01 -5.93948798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:-167.35, Z:-593.98 [[ 8.49676292e-02 -9.15710122e-01 3.92753708e-01 2.96993474e+02] [ 1.54280778e-01 4.01516374e-01 9.02763559e-01 -1.67346773e+02] [-9.84366773e-01 -1.61113316e-02 1.75392364e-01 -5.93976328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-167.36, Z:-594.01 [[ 7.32824496e-02 -8.99777790e-01 4.30150685e-01 2.96960205e+02] [ 1.47616235e-01 4.36345660e-01 8.87587693e-01 -1.67358384e+02] [-9.86326077e-01 -1.54737564e-03 1.64798289e-01 -5.94008244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-167.31, Z:-594.03 [[ 8.01773692e-02 -9.70922553e-01 2.25568140e-01 2.97102512e+02] [ 1.60383756e-01 2.35914144e-01 9.58447478e-01 -1.67308796e+02] [-9.83792987e-01 -4.06683317e-02 1.74635181e-01 -5.94027405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-167.35, Z:-594.07 [[ 7.11800210e-02 -9.00856799e-01 4.28241090e-01 2.96969902e+02] [ 1.52546530e-01 4.34111152e-01 8.87849686e-01 -1.67349780e+02] [-9.85729659e-01 2.12953313e-03 1.68322620e-01 -5.94066738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-167.33, Z:-594.09 [[ 7.11227911e-02 -9.50856276e-01 3.01353431e-01 2.97054510e+02] [ 1.54516275e-01 3.08974281e-01 9.38434662e-01 -1.67329010e+02] [-9.85426948e-01 -2.01800827e-02 1.68897883e-01 -5.94088941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-167.32, Z:-594.12 [[ 7.34849613e-02 -9.47564297e-01 3.11001388e-01 2.97054029e+02] [ 1.56671072e-01 3.18940963e-01 9.34735705e-01 -1.67323001e+02] [-9.84913263e-01 -1.99640963e-02 1.71893278e-01 -5.94121842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-167.31, Z:-594.15 [[ 8.02885168e-02 -9.45167394e-01 3.16563345e-01 2.97060770e+02] [ 1.63544721e-01 3.25775946e-01 9.31194479e-01 -1.67308304e+02] [-9.83263382e-01 -2.29919596e-02 1.80733206e-01 -5.94149674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-167.33, Z:-594.19 [[ 7.27425716e-02 -9.00117796e-01 4.29530526e-01 2.96980221e+02] [ 1.55324713e-01 4.35640927e-01 8.86617852e-01 -1.67330709e+02] [-9.85181583e-01 2.22184297e-03 1.71500179e-01 -5.94186256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.07, Y:-167.31, Z:-594.21 [[ 7.62885458e-02 -9.51846829e-01 2.96930417e-01 2.97069455e+02] [ 1.58028712e-01 3.05576674e-01 9.38962099e-01 -1.67305004e+02] [-9.84483105e-01 -2.47085217e-02 1.73731128e-01 -5.94208624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-167.31, Z:-594.24 [[ 7.94782592e-02 -9.32336207e-01 3.52749776e-01 2.97038410e+02] [ 1.59360038e-01 3.61201729e-01 9.18769661e-01 -1.67308190e+02] [-9.84016049e-01 -1.68079956e-02 1.77284818e-01 -5.94239861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-167.30, Z:-594.27 [[ 8.16632387e-02 -9.29834500e-01 3.58802060e-01 2.97038119e+02] [ 1.60940759e-01 3.67582580e-01 9.15959125e-01 -1.67303205e+02] [-9.83579782e-01 -1.70543129e-02 1.79666254e-01 -5.94268659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-167.30, Z:-594.30 [[ 8.34900601e-02 -9.25221893e-01 3.70126813e-01 2.97033252e+02] [ 1.60831795e-01 3.79065131e-01 9.11286322e-01 -1.67301028e+02] [-9.83444225e-01 -1.65551900e-02 1.80453269e-01 -5.94296784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-167.30, Z:-594.33 [[ 8.42174089e-02 -9.26215662e-01 3.67466972e-01 2.97037480e+02] [ 1.60206425e-01 3.76565468e-01 9.12432107e-01 -1.67296451e+02] [-9.83484280e-01 -1.79720979e-02 1.80099068e-01 -5.94325389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-167.29, Z:-594.35 [[ 8.44998532e-02 -9.23142550e-01 3.75056805e-01 2.97034322e+02] [ 1.58480837e-01 3.84062889e-01 9.09604047e-01 -1.67293029e+02] [-9.83739599e-01 -1.74220922e-02 1.78753661e-01 -5.94354418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-167.28, Z:-594.38 [[ 8.81406732e-02 -9.32910411e-01 3.49155247e-01 2.97057424e+02] [ 1.62479221e-01 3.59289867e-01 9.18972956e-01 -1.67277305e+02] [-9.82767381e-01 -2.42684225e-02 1.83246608e-01 -5.94378927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-167.28, Z:-594.41 [[ 8.78801780e-02 -9.16638407e-01 3.89937309e-01 2.97033729e+02] [ 1.61025351e-01 3.99375700e-01 9.02535255e-01 -1.67278692e+02] [-9.83029964e-01 -1.65251669e-02 1.82699228e-01 -5.94408542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-167.28, Z:-594.44 [[ 8.27712391e-02 -9.09303580e-01 4.07818490e-01 2.97018803e+02] [ 1.56552158e-01 4.16005891e-01 8.95784863e-01 -1.67282733e+02] [-9.84195277e-01 -1.03003586e-02 1.76786760e-01 -5.94436732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-167.27, Z:-594.46 [[ 7.97479954e-02 -9.30003065e-01 3.58795982e-01 2.97051581e+02] [ 1.55645704e-01 3.67144975e-01 9.17049062e-01 -1.67273213e+02] [-9.84588580e-01 -1.72877709e-02 1.74030058e-01 -5.94461854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-167.26, Z:-594.49 [[ 7.97889006e-02 -9.41093669e-01 3.28597682e-01 2.97074075e+02] [ 1.56680080e-01 3.37391370e-01 9.28234031e-01 -1.67263139e+02] [-9.84421192e-01 -2.25780616e-02 1.74370718e-01 -5.94488750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-167.26, Z:-594.52 [[ 7.80964548e-02 -9.29989407e-01 3.59194442e-01 2.97056312e+02] [ 1.57108237e-01 3.67273475e-01 9.16748164e-01 -1.67263119e+02] [-9.84488672e-01 -1.51623763e-02 1.74791752e-01 -5.94517673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-167.24, Z:-594.54 [[ 8.07379669e-02 -9.44303849e-01 3.19016648e-01 2.97088887e+02] [ 1.63368671e-01 3.28270272e-01 9.30349024e-01 -1.67244345e+02] [-9.83255846e-01 -2.29971630e-02 1.80773539e-01 -5.94543659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-167.25, Z:-594.58 [[ 8.07157483e-02 -9.18989735e-01 3.85931128e-01 2.97049174e+02] [ 1.62577689e-01 3.94147737e-01 9.04552960e-01 -1.67250148e+02] [-9.83388765e-01 -1.02678784e-02 1.81221156e-01 -5.94576375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:-167.25, Z:-594.60 [[ 7.93753760e-02 -9.19680916e-01 3.84560220e-01 2.97051530e+02] [ 1.63574902e-01 3.92564868e-01 9.05061366e-01 -1.67245779e+02] [-9.83332498e-01 -8.93518576e-03 1.81596700e-01 -5.94603738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-167.25, Z:-594.63 [[ 7.23646621e-02 -9.09615420e-01 4.09100409e-01 2.97029909e+02] [ 1.60558070e-01 4.15450346e-01 8.95333523e-01 -1.67253500e+02] [-9.84370084e-01 8.93864017e-04 1.76110020e-01 -5.94632540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-167.24, Z:-594.66 [[ 7.19127943e-02 -9.42352781e-01 3.26802365e-01 2.97084736e+02] [ 1.62584226e-01 3.34343517e-01 9.28321486e-01 -1.67236618e+02] [-9.84070587e-01 -1.36252826e-02 1.77255274e-01 -5.94656281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.11, Y:-167.22, Z:-594.68 [[ 7.73035162e-02 -9.51576112e-01 2.97534990e-01 2.97112948e+02] [ 1.69789654e-01 3.06633528e-01 9.36561452e-01 -1.67216000e+02] [-9.82443708e-01 -2.18811304e-02 1.85271628e-01 -5.94682958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-167.24, Z:-594.72 [[ 7.24683126e-02 -9.10609906e-01 4.06863543e-01 2.97039181e+02] [ 1.66083892e-01 4.13258230e-01 8.95340034e-01 -1.67236142e+02] [-9.83445212e-01 2.68969920e-03 1.81185764e-01 -5.94718124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-167.21, Z:-594.74 [[ 7.64764472e-02 -9.46825524e-01 3.12526448e-01 2.97107155e+02] [ 1.71619784e-01 3.21266418e-01 9.31307972e-01 -1.67208915e+02] [-9.82190411e-01 -1.75874033e-02 1.87063306e-01 -5.94740739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-167.22, Z:-594.77 [[ 7.67565089e-02 -9.20156033e-01 3.83954832e-01 2.97064329e+02] [ 1.71483760e-01 3.91535794e-01 9.04042611e-01 -1.67215427e+02] [-9.82192323e-01 -3.54913660e-03 1.87844737e-01 -5.94773540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-167.21, Z:-594.80 [[ 7.59494072e-02 -9.20830256e-01 3.82496179e-01 2.97066652e+02] [ 1.72451235e-01 3.89954030e-01 9.04542108e-01 -1.67210427e+02] [-9.82085668e-01 -2.73749833e-03 1.88415093e-01 -5.94800956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-167.21, Z:-594.83 [[ 7.49760803e-02 -9.21487077e-01 3.81103863e-01 2.97069298e+02] [ 1.72596230e-01 3.88403398e-01 9.05181386e-01 -1.67205862e+02] [-9.82134985e-01 -2.08986249e-03 1.88166159e-01 -5.94828743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-167.20, Z:-594.86 [[ 7.35251209e-02 -9.22166210e-01 3.79741410e-01 2.97072913e+02] [ 1.72622131e-01 3.86792418e-01 9.05866008e-01 -1.67200709e+02] [-9.82240122e-01 -1.05213632e-03 1.87625256e-01 -5.94855342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-167.20, Z:-594.88 [[ 7.25096899e-02 -9.22475468e-01 3.79185120e-01 2.97075778e+02] [ 1.72309740e-01 3.86055528e-01 9.06239749e-01 -1.67195655e+02] [-9.82370449e-01 -3.73873839e-04 1.86944274e-01 -5.94883007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.08, Y:-167.19, Z:-594.91 [[ 7.15612806e-02 -9.23100137e-01 3.77842720e-01 2.97078697e+02] [ 1.72065792e-01 3.84559650e-01 9.06921848e-01 -1.67190568e+02] [-9.82482746e-01 1.13318150e-04 1.86353538e-01 -5.94909630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-167.18, Z:-594.94 [[ 7.10848154e-02 -9.23505915e-01 3.76940014e-01 2.97081604e+02] [ 1.71672520e-01 3.83584127e-01 9.07409369e-01 -1.67184997e+02] [-9.82586126e-01 2.07214607e-04 1.85807595e-01 -5.94936026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-167.18, Z:-594.96 [[ 7.09132736e-02 -9.23898258e-01 3.76009728e-01 2.97083809e+02] [ 1.71714048e-01 3.82638173e-01 9.07800812e-01 -1.67180176e+02] [-9.82591265e-01 1.91025180e-04 1.85780435e-01 -5.94963590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-167.18, Z:-594.99 [[ 7.13502250e-02 -9.24436791e-01 3.74600807e-01 2.97086348e+02] [ 1.71621073e-01 3.81334952e-01 9.08366590e-01 -1.67175531e+02] [-9.82575876e-01 -5.22768062e-04 1.85861169e-01 -5.94989849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-167.17, Z:-595.02 [[ 7.28285730e-02 -9.24600147e-01 3.73912512e-01 2.97088020e+02] [ 1.72250875e-01 3.80935032e-01 9.08415179e-01 -1.67170523e+02] [-9.82357183e-01 -1.75182392e-03 1.87006139e-01 -5.95017036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-167.17, Z:-595.04 [[ 7.45731875e-02 -9.25754286e-01 3.70699126e-01 2.97091635e+02] [ 1.71010965e-01 3.78099392e-01 9.09833007e-01 -1.67165919e+02] [-9.82442919e-01 -4.45553219e-03 1.86510211e-01 -5.95043125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-167.18, Z:-595.08 [[ 6.83297322e-02 -9.17716385e-01 3.91315327e-01 2.97071322e+02] [ 1.65492472e-01 3.97224307e-01 9.02676626e-01 -1.67175060e+02] [-9.83841090e-01 3.08008862e-03 1.79017384e-01 -5.95075518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-167.14, Z:-595.10 [[ 7.46733451e-02 -9.57377322e-01 2.79020705e-01 2.97150718e+02] [ 1.72878792e-01 2.87993652e-01 9.41898392e-01 -1.67138979e+02] [-9.82108352e-01 -2.20979412e-02 1.87015684e-01 -5.95096503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-167.15, Z:-595.13 [[ 7.54071078e-02 -9.24700265e-01 3.73153035e-01 2.97095324e+02] [ 1.71922269e-01 3.80670992e-01 9.08588097e-01 -1.67150201e+02] [-9.82220190e-01 -4.36068421e-03 1.87681866e-01 -5.95129250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-167.14, Z:-595.16 [[ 7.46079523e-02 -9.25000603e-01 3.72568837e-01 2.97098091e+02] [ 1.71620631e-01 3.79945884e-01 9.08948560e-01 -1.67144743e+02] [-9.82333962e-01 -3.87429200e-03 1.87096171e-01 -5.95157127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-167.15, Z:-595.19 [[ 7.18280276e-02 -9.18186765e-01 3.89581569e-01 2.97086836e+02] [ 1.67885271e-01 3.96147378e-01 9.02708032e-01 -1.67148259e+02] [-9.83186285e-01 5.65270063e-04 1.82604519e-01 -5.95188043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-167.13, Z:-595.21 [[ 7.35282739e-02 -9.27890231e-01 3.65531547e-01 2.97106726e+02] [ 1.70903229e-01 3.72825237e-01 9.12027099e-01 -1.67134149e+02] [-9.82540421e-01 -4.58925675e-03 1.85992633e-01 -5.95211563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-167.13, Z:-595.24 [[ 7.34141263e-02 -9.26443486e-01 3.69205679e-01 2.97106689e+02] [ 1.70137292e-01 3.76412177e-01 9.10695984e-01 -1.67129928e+02] [-9.82681875e-01 -4.04229566e-03 1.85256557e-01 -5.95239242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-167.13, Z:-595.27 [[ 7.06440079e-02 -9.18985330e-01 3.87911571e-01 2.97092979e+02] [ 1.66514238e-01 3.94291016e-01 9.03774089e-01 -1.67134327e+02] [-9.83505177e-01 7.46575766e-04 1.80878440e-01 -5.95269452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-167.12, Z:-595.29 [[ 7.41455594e-02 -9.36563247e-01 3.42566375e-01 2.97126496e+02] [ 1.70291642e-01 3.50357301e-01 9.21005168e-01 -1.67116335e+02] [-9.82600220e-01 -9.95225280e-03 1.85466331e-01 -5.95292156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-167.12, Z:-595.32 [[ 7.51932880e-02 -9.27775399e-01 3.65484308e-01 2.97113750e+02] [ 1.70143680e-01 3.73084305e-01 9.12063172e-01 -1.67115063e+02] [-9.82546232e-01 -6.39618363e-03 1.85908556e-01 -5.95321692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-167.11, Z:-595.35 [[ 7.80291485e-02 -9.28129693e-01 3.63987261e-01 2.97115138e+02] [ 1.70169141e-01 3.72141865e-01 9.12443366e-01 -1.67110292e+02] [-9.82320679e-01 -9.25777938e-03 1.86976945e-01 -5.95349658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-167.11, Z:-595.38 [[ 7.91723503e-02 -9.28614982e-01 3.62499591e-01 2.97117331e+02] [ 1.70247331e-01 3.70894326e-01 9.12936605e-01 -1.67105577e+02] [-9.82215651e-01 -1.05647487e-02 1.87458798e-01 -5.95377615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-167.10, Z:-595.40 [[ 8.03851347e-02 -9.29093017e-01 3.61004702e-01 2.97119477e+02] [ 1.70279932e-01 3.69652880e-01 9.13433902e-01 -1.67101032e+02] [-9.82111488e-01 -1.19546512e-02 1.87920492e-01 -5.95404406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-167.10, Z:-595.43 [[ 8.27814677e-02 -9.29158435e-01 3.60294090e-01 2.97121676e+02] [ 1.70545276e-01 3.69409974e-01 9.13482665e-01 -1.67096555e+02] [-9.81866354e-01 -1.41729807e-02 1.89043882e-01 -5.95430753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-167.09, Z:-595.46 [[ 8.34384139e-02 -9.29482119e-01 3.59306305e-01 2.97124261e+02] [ 1.70607089e-01 3.68564215e-01 9.13812694e-01 -1.67091639e+02] [-9.81800006e-01 -1.49468790e-02 1.89328652e-01 -5.95458726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-167.09, Z:-595.49 [[ 8.46820524e-02 -9.29932036e-01 3.57848234e-01 2.97127190e+02] [ 1.70034829e-01 3.67357154e-01 9.14405205e-01 -1.67086711e+02] [-9.81792802e-01 -1.65870461e-02 1.89229393e-01 -5.95485361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-167.08, Z:-595.51 [[ 8.46606246e-02 -9.30304427e-01 3.56884088e-01 2.97129864e+02] [ 1.69607831e-01 3.66397712e-01 9.14869335e-01 -1.67081517e+02] [-9.81868506e-01 -1.69230731e-02 1.88806376e-01 -5.95512770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-167.08, Z:-595.54 [[ 8.47661643e-02 -9.30834438e-01 3.55474257e-01 2.97132949e+02] [ 1.68850639e-01 3.65017759e-01 9.15560756e-01 -1.67076706e+02] [-9.81989898e-01 -1.75865182e-02 1.88113144e-01 -5.95539014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-167.07, Z:-595.57 [[ 8.39159781e-02 -9.31093340e-01 3.54997606e-01 2.97136098e+02] [ 1.66793493e-01 3.64352667e-01 9.16202524e-01 -1.67071949e+02] [-9.82414393e-01 -1.76727402e-02 1.85875321e-01 -5.95567002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-167.07, Z:-595.59 [[ 8.33332351e-02 -9.31678535e-01 3.53596775e-01 2.97139339e+02] [ 1.66471964e-01 3.62860086e-01 9.16853120e-01 -1.67066950e+02] [-9.82518528e-01 -1.75403870e-02 1.85336660e-01 -5.95593663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-167.06, Z:-595.62 [[ 8.28351244e-02 -9.32080611e-01 3.52652912e-01 2.97142397e+02] [ 1.66185475e-01 3.61833772e-01 9.17310585e-01 -1.67062431e+02] [-9.82609144e-01 -1.73797449e-02 1.84870804e-01 -5.95620971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-167.06, Z:-595.65 [[ 8.18957195e-02 -9.32680591e-01 3.51283370e-01 2.97145718e+02] [ 1.65640974e-01 3.60302802e-01 9.18011416e-01 -1.67058886e+02] [-9.82779812e-01 -1.69942859e-02 1.83997379e-01 -5.95647579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.15, Y:-167.05, Z:-595.67 [[ 8.17160983e-02 -9.33061565e-01 3.50312139e-01 2.97148272e+02] [ 1.65755721e-01 3.59315733e-01 9.18377507e-01 -1.67054530e+02] [-9.82775417e-01 -1.69799853e-02 1.84022172e-01 -5.95674806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-167.05, Z:-595.70 [[ 8.20904754e-02 -9.33583010e-01 3.48832219e-01 2.97151200e+02] [ 1.65912168e-01 3.57930900e-01 9.18889887e-01 -1.67050085e+02] [-9.82717816e-01 -1.75565979e-02 1.84275499e-01 -5.95701289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-167.05, Z:-595.73 [[ 8.42636551e-02 -9.33652598e-01 3.48127077e-01 2.97154195e+02] [ 1.66272628e-01 3.57646008e-01 9.18935659e-01 -1.67046200e+02] [-9.82472926e-01 -1.95488734e-02 1.85377431e-01 -5.95729071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-167.04, Z:-595.76 [[ 8.55726449e-02 -9.34089801e-01 3.46631745e-01 2.97157118e+02] [ 1.66496746e-01 3.56422400e-01 9.19370386e-01 -1.67041642e+02] [-9.82321819e-01 -2.09598981e-02 1.86022919e-01 -5.95756944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-167.04, Z:-595.78 [[ 8.73748807e-02 -9.34479701e-01 3.45127976e-01 2.97160249e+02] [ 1.66676419e-01 3.55282964e-01 9.19778771e-01 -1.67036990e+02] [-9.82132680e-01 -2.28408653e-02 1.86798537e-01 -5.95783902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-167.03, Z:-595.81 [[ 9.02122106e-02 -9.34463101e-01 3.44442259e-01 2.97163050e+02] [ 1.66554598e-01 3.55137496e-01 9.19857013e-01 -1.67033092e+02] [-9.81896799e-01 -2.56138925e-02 1.87676865e-01 -5.95811998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-167.03, Z:-595.84 [[ 9.09716676e-02 -9.34925390e-01 3.42984942e-01 2.97165809e+02] [ 1.66647186e-01 3.53848419e-01 9.20336901e-01 -1.67028905e+02] [-9.81811016e-01 -2.65671071e-02 1.87992866e-01 -5.95838162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-167.03, Z:-595.86 [[ 8.68545019e-02 -9.33005956e-01 3.49222253e-01 2.97160760e+02] [ 1.64097262e-01 3.59157465e-01 9.18737179e-01 -1.67029826e+02] [-9.82613039e-01 -2.24900444e-02 1.84298166e-01 -5.95864640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-167.01, Z:-595.89 [[ 8.93125254e-02 -9.54357019e-01 2.85001672e-01 2.97207738e+02] [ 1.68317339e-01 2.96491731e-01 9.40086127e-01 -1.67010276e+02] [-9.81678433e-01 -3.59907430e-02 1.87115259e-01 -5.95889436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-167.02, Z:-595.92 [[ 8.74845125e-02 -9.36362943e-01 3.39957201e-01 2.97177909e+02] [ 1.67084158e-01 3.50223732e-01 9.21643218e-01 -1.67016369e+02] [-9.82053636e-01 -2.38280450e-02 1.87090566e-01 -5.95920444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:-167.01, Z:-595.95 [[ 8.19136084e-02 -9.37353446e-01 3.38612874e-01 2.97184577e+02] [ 1.67634049e-01 3.47872386e-01 9.22433536e-01 -1.67012456e+02] [-9.82440322e-01 -1.87968126e-02 1.85627836e-01 -5.95948230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:-167.01, Z:-595.98 [[ 7.87387410e-02 -9.38133344e-01 3.37203261e-01 2.97189615e+02] [ 1.68446750e-01 3.45910036e-01 9.23023261e-01 -1.67007552e+02] [-9.82560890e-01 -1.58768959e-02 1.85262034e-01 -5.95976055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:-167.00, Z:-596.00 [[ 7.53305020e-02 -9.38903524e-01 3.35835507e-01 2.97193996e+02] [ 1.68807533e-01 3.43938949e-01 9.23693681e-01 -1.67003402e+02] [-9.82766164e-01 -1.28907452e-02 1.84403082e-01 -5.96002693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-167.00, Z:-596.03 [[ 6.97822300e-02 -9.39549320e-01 3.35227559e-01 2.97199362e+02] [ 1.70737366e-01 3.42337089e-01 9.23934018e-01 -1.66999688e+02] [-9.82842405e-01 -7.23830560e-03 1.84305222e-01 -5.96030297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-167.00, Z:-596.06 [[ 6.76422023e-02 -9.40211517e-01 3.33806585e-01 2.97203276e+02] [ 1.71857933e-01 3.40552017e-01 9.24385837e-01 -1.66995382e+02] [-9.82796715e-01 -5.16018410e-03 1.84618496e-01 -5.96057491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.776559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:-166.99, Z:-596.08 [[ 6.49830793e-02 -9.40948785e-01 3.32253793e-01 2.97208522e+02] [ 1.74470418e-01 3.38542318e-01 9.24634615e-01 -1.66991507e+02] [-9.82515788e-01 -2.11714639e-03 1.86167250e-01 -5.96083978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-166.99, Z:-596.11 [[ 6.38411515e-02 -9.41257408e-01 3.31600361e-01 2.97211577e+02] [ 1.75313330e-01 3.37688721e-01 9.24787307e-01 -1.66987301e+02] [-9.82440606e-01 -9.05522914e-04 1.86573408e-01 -5.96111255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-166.98, Z:-596.14 [[ 6.29660561e-02 -9.41829084e-01 3.30141260e-01 2.97214896e+02] [ 1.76442780e-01 3.36092213e-01 9.25154025e-01 -1.66982903e+02] [-9.82294875e-01 -2.25840152e-06 1.87341343e-01 -5.96138665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-166.98, Z:-596.17 [[ 6.23213619e-02 -9.42367174e-01 3.28725048e-01 2.97218057e+02] [ 1.76897700e-01 3.34580174e-01 9.25615099e-01 -1.66978493e+02] [-9.82254169e-01 4.65111222e-04 1.87554077e-01 -5.96166093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.896559995 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:297.23, Y:-166.97, Z:-596.19 [[ 6.18821317e-02 -9.46368736e-01 3.17106950e-01 2.97228443e+02] [ 1.77571584e-01 3.23086276e-01 9.29560967e-01 -1.66970287e+02] [-9.82160341e-01 -1.21403077e-03 1.88041463e-01 -5.96191756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-166.97, Z:-596.22 [[ 6.11574532e-02 -9.44679997e-01 3.22241320e-01 2.97226742e+02] [ 1.77249704e-01 3.27993241e-01 9.27902460e-01 -1.66968526e+02] [-9.82263869e-01 3.69027392e-04 1.87503482e-01 -5.96219831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-166.96, Z:-596.25 [[ 6.14180863e-02 -9.43679746e-01 3.25109759e-01 2.97227533e+02] [ 1.76633408e-01 3.30859935e-01 9.27001803e-01 -1.66964332e+02] [-9.82358620e-01 4.90568066e-04 1.87006154e-01 -5.96246048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.95, Z:-596.27 [[ 6.35872642e-02 -9.51816681e-01 3.00002777e-01 2.97248435e+02] [ 1.79988970e-01 3.06619413e-01 9.34659567e-01 -1.66945730e+02] [-9.81611242e-01 -5.43525387e-03 1.90813594e-01 -5.96270990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.016559995 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:297.23, Y:-166.95, Z:-596.30 [[ 6.26248776e-02 -9.41984988e-01 3.29761137e-01 2.97230292e+02] [ 1.75961207e-01 3.35654997e-01 9.25404439e-01 -1.66950950e+02] [-9.82403063e-01 7.18276829e-05 1.86773168e-01 -5.96301491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:297.24, Y:-166.94, Z:-596.33 [[ 6.22480997e-02 -9.46322211e-01 3.17174160e-01 2.97239510e+02] [ 1.75849909e-01 3.23217943e-01 9.29842444e-01 -1.66943721e+02] [-9.82446937e-01 -2.10587796e-03 1.86530378e-01 -5.96328609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.94, Z:-596.36 [[ 6.35448163e-02 -9.48641640e-01 3.09904977e-01 2.97245851e+02] [ 1.76598531e-01 3.16320713e-01 9.32069829e-01 -1.66936842e+02] [-9.82229614e-01 -4.49944236e-03 1.87629262e-01 -5.96355899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-166.94, Z:-596.39 [[ 6.26148527e-02 -9.37299880e-01 3.42853198e-01 2.97223942e+02] [ 1.74556438e-01 3.48517089e-01 9.20904929e-01 -1.66944278e+02] [-9.82654278e-01 2.18490636e-03 1.85434074e-01 -5.96386836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-166.92, Z:-596.41 [[ 6.56413759e-02 -9.53039942e-01 2.95645190e-01 2.97258145e+02] [ 1.78575277e-01 3.02720825e-01 9.36200284e-01 -1.66922993e+02] [-9.81734221e-01 -8.65855304e-03 1.90060384e-01 -5.96410065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-166.93, Z:-596.44 [[ 6.60386452e-02 -9.38407736e-01 3.39160462e-01 2.97230411e+02] [ 1.76196179e-01 3.45528130e-01 9.21718622e-01 -1.66930838e+02] [-9.82137365e-01 -1.11027162e-03 1.88162067e-01 -5.96440915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:-166.93, Z:-596.47 [[ 6.53702496e-02 -9.43647723e-01 3.24431358e-01 2.97239504e+02] [ 1.75882359e-01 3.30932643e-01 9.27118645e-01 -1.66925203e+02] [-9.82238325e-01 -3.54422459e-03 1.87604137e-01 -5.96468293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.92, Z:-596.50 [[ 6.56373406e-02 -9.46256739e-01 3.16685843e-01 2.97245022e+02] [ 1.75132309e-01 3.23368355e-01 9.29925579e-01 -1.66918252e+02] [-9.82354526e-01 -5.57591899e-03 1.86945167e-01 -5.96495811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.91, Z:-596.52 [[ 6.54379618e-02 -9.46749491e-01 3.15251129e-01 2.97246983e+02] [ 1.74722266e-01 3.21918712e-01 9.30505493e-01 -1.66913206e+02] [-9.82440839e-01 -5.80899112e-03 1.86483921e-01 -5.96523453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.91, Z:-596.55 [[ 6.50154141e-02 -9.47258177e-01 3.13807173e-01 2.97249204e+02] [ 1.74433999e-01 3.20419031e-01 9.31077024e-01 -1.66908009e+02] [-9.82520115e-01 -5.79571818e-03 1.86066208e-01 -5.96550688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.90, Z:-596.58 [[ 6.39746782e-02 -9.47801054e-01 3.12378622e-01 2.97251157e+02] [ 1.74302643e-01 3.18820644e-01 9.31650141e-01 -1.66902956e+02] [-9.82611739e-01 -5.15359867e-03 1.85600676e-01 -5.96577853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-166.90, Z:-596.61 [[ 6.33696381e-02 -9.48326200e-01 3.10904660e-01 2.97253463e+02] [ 1.74245490e-01 3.17259228e-01 9.32193699e-01 -1.66897873e+02] [-9.82661080e-01 -4.89904257e-03 1.85346166e-01 -5.96605366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-166.89, Z:-596.63 [[ 6.31327646e-02 -9.48832079e-01 3.09405786e-01 2.97255707e+02] [ 1.74643184e-01 3.15743916e-01 9.32633657e-01 -1.66892893e+02] [-9.82605726e-01 -4.84412942e-03 1.85640842e-01 -5.96632293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-166.89, Z:-596.66 [[ 6.27483649e-02 -9.49072149e-01 3.08746982e-01 2.97256948e+02] [ 1.75106392e-01 3.15027139e-01 9.32789179e-01 -1.66888248e+02] [-9.82547909e-01 -4.46742579e-03 1.85956037e-01 -5.96660329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-166.88, Z:-596.69 [[ 6.14507907e-02 -9.49100672e-01 3.08920239e-01 2.97256582e+02] [ 1.74419322e-01 3.14954000e-01 9.32942591e-01 -1.66884592e+02] [-9.82752105e-01 -3.44840131e-03 1.84895668e-01 -5.96687737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.88, Z:-596.71 [[ 6.23929785e-02 -9.54560528e-01 2.91412619e-01 2.97269321e+02] [ 1.75564133e-01 2.97925667e-01 9.38305671e-01 -1.66875151e+02] [-9.82488856e-01 -7.38208192e-03 1.86175061e-01 -5.96714259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-166.87, Z:-596.74 [[ 6.25979881e-02 -9.50185599e-01 3.05333946e-01 2.97261484e+02] [ 1.75296181e-01 3.11645577e-01 9.33888796e-01 -1.66873258e+02] [-9.82523659e-01 -4.93568512e-03 1.86072293e-01 -5.96742749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-166.87, Z:-596.77 [[ 6.27802526e-02 -9.50650341e-01 3.03846293e-01 2.97263600e+02] [ 1.75514230e-01 3.10218545e-01 9.34322861e-01 -1.66868277e+02] [-9.82473102e-01 -5.32767711e-03 1.86328261e-01 -5.96769653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.86, Z:-596.80 [[ 6.30640800e-02 -9.50845444e-01 3.03176292e-01 2.97265261e+02] [ 1.76035034e-01 3.09615956e-01 9.34424757e-01 -1.66863574e+02] [-9.82361740e-01 -5.55898888e-03 1.86907755e-01 -5.96796963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.86, Z:-596.82 [[ 6.34558016e-02 -9.51295166e-01 3.01680076e-01 2.97267267e+02] [ 1.76735657e-01 3.08223186e-01 9.34752895e-01 -1.66858644e+02] [-9.82210705e-01 -5.99786785e-03 1.87686326e-01 -5.96824092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.85, Z:-596.85 [[ 6.36152420e-02 -9.51760428e-01 3.00175262e-01 2.97269082e+02] [ 1.77304522e-01 3.06778146e-01 9.35120461e-01 -1.66853712e+02] [-9.82097861e-01 -6.26548304e-03 1.88267194e-01 -5.96850979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.85, Z:-596.88 [[ 6.38650118e-02 -9.51948610e-01 2.99524796e-01 2.97270743e+02] [ 1.77511744e-01 3.06187494e-01 9.35274719e-01 -1.66849155e+02] [-9.82044216e-01 -6.56216195e-03 1.88536726e-01 -5.96878596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.84, Z:-596.91 [[ 6.34433290e-02 -9.52437977e-01 2.98055101e-01 2.97272843e+02] [ 1.77534014e-01 3.04664166e-01 9.35767824e-01 -1.66843983e+02] [-9.82067522e-01 -6.45330751e-03 1.88419046e-01 -5.96905848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-166.84, Z:-596.93 [[ 6.29201817e-02 -9.52933783e-01 2.96577573e-01 2.97275151e+02] [ 1.77512496e-01 3.03113780e-01 9.36275253e-01 -1.66838620e+02] [-9.82105068e-01 -6.26438367e-03 1.88229629e-01 -5.96933849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-166.83, Z:-596.96 [[ 6.25567158e-02 -9.53422413e-01 2.95080261e-01 2.97277191e+02] [ 1.77711906e-01 3.01575465e-01 9.36734070e-01 -1.66833589e+02] [-9.82092224e-01 -6.15973122e-03 1.88300085e-01 -5.96961808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-166.83, Z:-596.99 [[ 6.03931204e-02 -9.52042335e-01 2.99946769e-01 2.97273671e+02] [ 1.76145037e-01 3.05944310e-01 9.35612636e-01 -1.66832849e+02] [-9.82509846e-01 -3.67043186e-03 1.86174464e-01 -5.96990333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.82, Z:-597.02 [[ 6.13689562e-02 -9.58835521e-01 2.77251322e-01 2.97290876e+02] [ 1.77936809e-01 2.83835107e-01 9.42218724e-01 -1.66819908e+02] [-9.82126440e-01 -8.48976407e-03 1.88030797e-01 -5.97015542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.28, Y:-166.82, Z:-597.04 [[ 6.09037326e-02 -9.54600424e-01 2.91596925e-01 2.97283764e+02] [ 1.77671226e-01 2.97841868e-01 9.37935583e-01 -1.66818056e+02] [-9.82203477e-01 -5.31539463e-03 1.87744709e-01 -5.97043062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.856559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.81, Z:-597.07 [[ 6.02112986e-02 -9.54838962e-01 2.90959030e-01 2.97285563e+02] [ 1.77683361e-01 2.97085195e-01 9.38173231e-01 -1.66813018e+02] [-9.82243973e-01 -4.79005031e-03 1.87546881e-01 -5.97070704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.81, Z:-597.10 [[ 5.97062603e-02 -9.55324333e-01 2.89466027e-01 2.97288134e+02] [ 1.77741035e-01 2.95523801e-01 9.38655319e-01 -1.66807709e+02] [-9.82264367e-01 -4.59360748e-03 1.87444957e-01 -5.97097184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.916559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.80, Z:-597.12 [[ 5.87109457e-02 -9.55574661e-01 2.88842676e-01 2.97289441e+02] [ 1.77612557e-01 2.94724359e-01 9.38930952e-01 -1.66802596e+02] [-9.82347599e-01 -3.82343777e-03 1.87025605e-01 -5.97124445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.80, Z:-597.15 [[ 5.86239126e-02 -9.56024342e-01 2.87368568e-01 2.97291209e+02] [ 1.77430806e-01 2.93258883e-01 9.39424045e-01 -1.66797792e+02] [-9.82385640e-01 -4.08467654e-03 1.86820153e-01 -5.97151154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.976559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.79, Z:-597.18 [[ 5.85037349e-02 -9.56226328e-01 2.86720285e-01 2.97292202e+02] [ 1.77590437e-01 2.92600062e-01 9.39599298e-01 -1.66793206e+02] [-9.82363960e-01 -4.05128742e-03 1.86934848e-01 -5.97178515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.79, Z:-597.20 [[ 5.91179543e-02 -9.56632894e-01 2.85234244e-01 2.97293717e+02] [ 1.77905783e-01 2.91256314e-01 9.39957069e-01 -1.66788068e+02] [-9.82270126e-01 -4.82351757e-03 1.87409001e-01 -5.97204938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.036559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.29, Y:-166.79, Z:-597.23 [[ 5.75237563e-02 -9.54964217e-01 2.91091674e-01 2.97289649e+02] [ 1.76738900e-01 2.96710142e-01 9.38470273e-01 -1.66787976e+02] [-9.82575381e-01 -2.53711288e-03 1.85847207e-01 -5.97233457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-166.78, Z:-597.26 [[ 5.73772161e-02 -9.57536133e-01 2.82546296e-01 2.97296416e+02] [ 1.77269631e-01 2.88286850e-01 9.40992120e-01 -1.66780291e+02] [-9.82488337e-01 -3.90463080e-03 1.86283173e-01 -5.97261049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0965599949999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.30, Y:-166.77, Z:-597.29 [[ 5.75457345e-02 -9.58272761e-01 2.80003221e-01 2.97300325e+02] [ 1.78300945e-01 2.85823706e-01 9.41548502e-01 -1.66772367e+02] [-9.82291841e-01 -4.25726113e-03 1.87308874e-01 -5.97286790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-166.77, Z:-597.31 [[ 5.67894403e-02 -9.58140086e-01 2.80611002e-01 2.97301312e+02] [ 1.78658755e-01 2.86280495e-01 9.41341876e-01 -1.66767464e+02] [-9.82270843e-01 -3.32466601e-03 1.87437824e-01 -5.97314837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.156559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.30, Y:-166.77, Z:-597.34 [[ 5.40840138e-02 -9.57329470e-01 2.83892946e-01 2.97298587e+02] [ 1.77893740e-01 2.88998525e-01 9.40655979e-01 -1.66765940e+02] [-9.82562332e-01 -3.71673007e-04 1.85933120e-01 -5.97343095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.75, Z:-597.37 [[ 5.41620191e-02 -9.63191135e-01 2.63304602e-01 2.97313947e+02] [ 1.79098316e-01 2.68786186e-01 9.46402546e-01 -1.66753491e+02] [-9.82339182e-01 -4.10166211e-03 1.87063913e-01 -5.97368069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.75, Z:-597.40 [[ 5.33549562e-02 -9.59350541e-01 2.77127748e-01 2.97306824e+02] [ 1.79252072e-01 2.82216529e-01 9.42455583e-01 -1.66751884e+02] [-9.82355304e-01 -6.08953383e-04 1.87023223e-01 -5.97395616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.75, Z:-597.42 [[ 5.01870116e-02 -9.58960215e-01 2.79063738e-01 2.97306051e+02] [ 1.79201717e-01 2.83527528e-01 9.42071593e-01 -1.66748256e+02] [-9.82531429e-01 2.72894310e-03 1.86076716e-01 -5.97424079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.276559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.74, Z:-597.45 [[ 5.00483548e-02 -9.60735752e-01 2.72913865e-01 2.97312093e+02] [ 1.79323562e-01 2.77459763e-01 9.43853347e-01 -1.66740597e+02] [-9.82516271e-01 1.70157909e-03 1.86168962e-01 -5.97449859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.74, Z:-597.48 [[ 4.90541834e-02 -9.60636776e-01 2.73442265e-01 2.97313018e+02] [ 1.79443796e-01 2.77793616e-01 9.43732288e-01 -1.66735684e+02] [-9.82544458e-01 2.77350130e-03 1.86007249e-01 -5.97477659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.74, Z:-597.51 [[ 4.57158111e-02 -9.58022484e-01 2.83024709e-01 2.97305729e+02] [ 1.78529320e-01 2.86595032e-01 9.41270721e-01 -1.66736777e+02] [-9.82871989e-01 7.49725435e-03 1.84137027e-01 -5.97507072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.72, Z:-597.53 [[ 4.71139324e-02 -9.67299047e-01 2.49224458e-01 2.97329352e+02] [ 1.80875841e-01 2.53638438e-01 9.50237588e-01 -1.66720071e+02] [-9.82376815e-01 3.09254103e-04 1.86910933e-01 -5.97531559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-166.72, Z:-597.56 [[ 4.63591007e-02 -9.61857348e-01 2.69594650e-01 2.97318526e+02] [ 1.81450816e-01 2.73503477e-01 9.44601212e-01 -1.66720109e+02] [-9.82306691e-01 5.12730645e-03 1.87209176e-01 -5.97560219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-166.72, Z:-597.59 [[ 4.60411415e-02 -9.62299261e-01 2.68067800e-01 2.97320773e+02] [ 1.81676664e-01 2.71943323e-01 9.45008158e-01 -1.66715093e+02] [-9.82279901e-01 5.19240913e-03 1.87347900e-01 -5.97586662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-166.71, Z:-597.61 [[ 4.59178951e-02 -9.62595889e-01 2.67021913e-01 2.97322706e+02] [ 1.81973974e-01 2.70891583e-01 9.45252994e-01 -1.66710159e+02] [-9.82230635e-01 5.18701061e-03 1.87606170e-01 -5.97612899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.31, Y:-166.72, Z:-597.64 [[ 4.35947486e-02 -9.57075309e-01 2.86542058e-01 2.97309264e+02] [ 1.78715399e-01 2.89659208e-01 9.40296948e-01 -1.66716135e+02] [-9.82934537e-01 1.02174692e-02 1.83671716e-01 -5.97643287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.516559995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.70, Z:-597.67 [[ 4.40906918e-02 -9.66132146e-01 2.54253196e-01 2.97330147e+02] [ 1.80017656e-01 2.58018069e-01 9.49220902e-01 -1.66702506e+02] [-9.82674745e-01 3.91825805e-03 1.85297039e-01 -5.97668901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:297.32, Y:-166.70, Z:-597.70 [[ 4.44827553e-02 -9.61240356e-01 2.72099728e-01 2.97320312e+02] [ 1.80095965e-01 2.75622853e-01 9.44244400e-01 -1.66701864e+02] [-9.82642726e-01 7.00147058e-03 1.85375974e-01 -5.97698012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-166.69, Z:-597.72 [[ 4.70161464e-02 -9.66954353e-01 2.50576856e-01 2.97335386e+02] [ 1.81382765e-01 2.54948322e-01 9.49790317e-01 -1.66687473e+02] [-9.82288030e-01 7.94842470e-04 1.87375542e-01 -5.97721673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.69, Z:-597.75 [[ 4.78255834e-02 -9.64017517e-01 2.61501321e-01 2.97329752e+02] [ 1.80936694e-01 2.65830975e-01 9.46887430e-01 -1.66685389e+02] [-9.82331220e-01 2.02974076e-03 1.87139664e-01 -5.97748646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.68, Z:-597.78 [[ 4.82455059e-02 -9.64171081e-01 2.60857235e-01 2.97331015e+02] [ 1.80639280e-01 2.65277378e-01 9.47099447e-01 -1.66680231e+02] [-9.82365422e-01 1.42777101e-03 1.86965611e-01 -5.97776440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.67, Z:-597.80 [[ 4.89372608e-02 -9.64546182e-01 2.59337247e-01 2.97332962e+02] [ 1.81052972e-01 2.63913460e-01 9.47401450e-01 -1.66674504e+02] [-9.82255041e-01 5.90547655e-04 1.87549155e-01 -5.97804121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6965599949999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:297.32, Y:-166.68, Z:-597.83 [[ 5.03073394e-02 -9.60373763e-01 2.74137569e-01 2.97324682e+02] [ 1.82367514e-01 2.78703584e-01 9.42903178e-01 -1.66675651e+02] [-9.81942596e-01 2.55883673e-03 1.89161811e-01 -5.97834782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.67, Z:-597.86 [[ 5.00555099e-02 -9.60959967e-01 2.72122009e-01 2.97326305e+02] [ 1.80520453e-01 2.76681067e-01 9.43853777e-01 -1.66668195e+02] [-9.82296703e-01 1.87850614e-03 1.87322340e-01 -5.97859669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-166.66, Z:-597.89 [[ 4.98563551e-02 -9.65540148e-01 2.55434073e-01 2.97336894e+02] [ 1.80486608e-01 2.60251440e-01 9.48521888e-01 -1.66659332e+02] [-9.82313050e-01 -1.18741477e-03 1.87242254e-01 -5.97885800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-166.65, Z:-597.91 [[ 4.95090145e-02 -9.65950380e-01 2.53946297e-01 2.97338627e+02] [ 1.80460222e-01 2.58724819e-01 9.48944454e-01 -1.66654146e+02] [-9.82335465e-01 -1.15409960e-03 1.87124831e-01 -5.97912155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.66, Z:-597.94 [[ 4.74162032e-02 -9.62950263e-01 2.65477861e-01 2.97330818e+02] [ 1.78231364e-01 2.69667960e-01 9.46315366e-01 -1.66656198e+02] [-9.82845504e-01 2.44579962e-03 1.84414570e-01 -5.97942739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-166.64, Z:-597.97 [[ 4.81045471e-02 -9.68109114e-01 2.45867233e-01 2.97344796e+02] [ 1.80351892e-01 2.50524945e-01 9.51162682e-01 -1.66642243e+02] [-9.82425136e-01 -1.41262951e-03 1.86651699e-01 -5.97966473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-166.64, Z:-597.99 [[ 4.72874021e-02 -9.66636405e-01 2.51749802e-01 2.97342292e+02] [ 1.80156393e-01 2.56152031e-01 9.49699853e-01 -1.66639096e+02] [-9.82500675e-01 4.45497366e-04 1.86258492e-01 -5.97994506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-166.63, Z:-598.02 [[ 4.63650505e-02 -9.67064014e-01 2.50274799e-01 2.97344074e+02] [ 1.80237733e-01 2.54531092e-01 9.50120141e-01 -1.66633660e+02] [-9.82529715e-01 1.05659424e-03 1.86102773e-01 -5.98022304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-166.63, Z:-598.05 [[ 4.60966825e-02 -9.67465026e-01 2.48770014e-01 2.97346159e+02] [ 1.80306677e-01 2.53002656e-01 9.50515207e-01 -1.66628405e+02] [-9.82529693e-01 1.03929689e-03 1.86102987e-01 -5.98050334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-166.62, Z:-598.08 [[ 4.46777742e-02 -9.67891582e-01 2.47365684e-01 2.97348056e+02] [ 1.80537912e-01 2.51358622e-01 9.50907412e-01 -1.66623253e+02] [-9.82552777e-01 2.17445731e-03 1.85971269e-01 -5.98078286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-166.62, Z:-598.10 [[ 4.39476844e-02 -9.68305809e-01 2.45870821e-01 2.97350269e+02] [ 1.80634722e-01 2.49754028e-01 9.51311738e-01 -1.66618001e+02] [-9.82567910e-01 2.60485938e-03 1.85885762e-01 -5.98104436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-166.62, Z:-598.13 [[ 4.19306428e-02 -9.66850829e-01 2.51875557e-01 2.97347795e+02] [ 1.79624140e-01 2.55284616e-01 9.50034175e-01 -1.66616670e+02] [-9.82841284e-01 5.40738663e-03 1.84373997e-01 -5.98134251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-166.61, Z:-598.16 [[ 4.22681573e-02 -9.66245708e-01 2.54131136e-01 2.97348256e+02] [ 1.80656513e-01 2.57557227e-01 9.49224683e-01 -1.66609494e+02] [-9.82637587e-01 5.78846664e-03 1.85445050e-01 -5.98159802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.60, Z:-598.19 [[ 4.21011287e-02 -9.69056389e-01 2.43222551e-01 2.97355605e+02] [ 1.80832828e-01 2.46808630e-01 9.52042535e-01 -1.66601881e+02] [-9.82612326e-01 3.90055634e-03 1.85628129e-01 -5.98186110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.60, Z:-598.21 [[ 4.32071440e-02 -9.69267503e-01 2.42185159e-01 2.97355954e+02] [ 1.80785964e-01 2.45995006e-01 9.52261987e-01 -1.66597068e+02] [-9.82572938e-01 2.63915646e-03 1.85858701e-01 -5.98213966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.59, Z:-598.24 [[ 4.42525644e-02 -9.69596711e-01 2.40673906e-01 2.97357405e+02] [ 1.80910738e-01 2.44704506e-01 9.52570737e-01 -1.66591631e+02] [-9.82503443e-01 1.38679609e-03 1.86239258e-01 -5.98241534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-166.58, Z:-598.27 [[ 4.75019943e-02 -9.72906740e-01 2.26265411e-01 2.97369687e+02] [ 1.83721737e-01 2.31166453e-01 9.55410066e-01 -1.66579750e+02] [-9.81829865e-01 -3.81400918e-03 1.89724984e-01 -5.98270160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-166.59, Z:-598.30 [[ 4.77138842e-02 -9.54525952e-01 2.94284882e-01 2.97326106e+02] [ 1.80458996e-01 2.98009987e-01 9.37349774e-01 -1.66593457e+02] [-9.82424519e-01 8.38175553e-03 1.86472009e-01 -5.98300432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.58, Z:-598.32 [[ 4.78258020e-02 -9.70376922e-01 2.36814951e-01 2.97360536e+02] [ 1.80814415e-01 2.41580043e-01 9.53386192e-01 -1.66575786e+02] [-9.82353725e-01 -2.77690227e-03 1.87011895e-01 -5.98324751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.57, Z:-598.35 [[ 4.84318947e-02 -9.70718376e-01 2.35287453e-01 2.97362342e+02] [ 1.80942800e-01 2.40193162e-01 9.53712194e-01 -1.66570212e+02] [-9.82300389e-01 -3.61651801e-03 1.87277511e-01 -5.98352033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.56, Z:-598.38 [[ 4.88142890e-02 -9.71071553e-01 2.33746027e-01 2.97364507e+02] [ 1.81442380e-01 2.38752517e-01 9.53978982e-01 -1.66564886e+02] [-9.82189304e-01 -4.15637033e-03 1.87848068e-01 -5.98377982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-166.56, Z:-598.41 [[ 4.84640552e-02 -9.71242431e-01 2.33108076e-01 2.97365913e+02] [ 1.81149318e-01 2.38058816e-01 9.54208009e-01 -1.66559941e+02] [-9.82260739e-01 -4.01742060e-03 1.87477200e-01 -5.98406089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-166.55, Z:-598.43 [[ 4.78739979e-02 -9.71631642e-01 2.31603181e-01 2.97368130e+02] [ 1.81352149e-01 2.36470474e-01 9.54564358e-01 -1.66554364e+02] [-9.82252248e-01 -3.69707755e-03 1.87528273e-01 -5.98433141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-166.55, Z:-598.46 [[ 4.74823926e-02 -9.72010981e-01 2.30087102e-01 2.97370144e+02] [ 1.81526373e-01 2.34908221e-01 9.54916909e-01 -1.66548978e+02] [-9.82239074e-01 -3.57486264e-03 1.87599632e-01 -5.98459658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-166.54, Z:-598.49 [[ 4.69779635e-02 -9.72187621e-01 2.29443461e-01 2.97371536e+02] [ 1.81387156e-01 2.34180823e-01 9.55122004e-01 -1.66544162e+02] [-9.82289046e-01 -3.25158970e-03 1.87343686e-01 -5.98485940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-166.54, Z:-598.51 [[ 4.58268108e-02 -9.72382524e-01 2.28849583e-01 2.97373397e+02] [ 1.80503834e-01 2.33379700e-01 9.55485364e-01 -1.66538824e+02] [-9.82506117e-01 -2.47861990e-03 1.86213821e-01 -5.98513201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.53, Z:-598.54 [[ 4.53053926e-02 -9.72751076e-01 2.27382423e-01 2.97375409e+02] [ 1.80205719e-01 2.31840255e-01 9.55916312e-01 -1.66533176e+02] [-9.82585020e-01 -2.33255098e-03 1.85798920e-01 -5.98540661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.53, Z:-598.57 [[ 4.46327413e-02 -9.73120440e-01 2.25930362e-01 2.97377303e+02] [ 1.79336497e-01 2.30286547e-01 9.56455188e-01 -1.66527676e+02] [-9.82774816e-01 -2.17165723e-03 1.84794331e-01 -5.98568412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.52, Z:-598.59 [[ 4.42514167e-02 -9.73483281e-01 2.24437326e-01 2.97379083e+02] [ 1.78873429e-01 2.28747604e-01 9.56911088e-01 -1.66522804e+02] [-9.82876446e-01 -2.19879720e-03 1.84252698e-01 -5.98594480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.52, Z:-598.62 [[ 4.39593618e-02 -9.73649501e-01 2.23772708e-01 2.97380441e+02] [ 1.79164789e-01 2.28041088e-01 9.57025204e-01 -1.66517527e+02] [-9.82836483e-01 -1.97802730e-03 1.84468248e-01 -5.98622132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.51, Z:-598.65 [[ 4.40343133e-02 -9.74001544e-01 2.22220549e-01 2.97382227e+02] [ 1.80051677e-01 2.26531271e-01 9.57217309e-01 -1.66512429e+02] [-9.82671040e-01 -2.13922424e-03 1.85345761e-01 -5.98650011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.51, Z:-598.68 [[ 4.40668811e-02 -9.74351618e-01 2.20674046e-01 2.97383755e+02] [ 1.80253115e-01 2.25017945e-01 9.57536286e-01 -1.66507706e+02] [-9.82632650e-01 -2.41845351e-03 1.85545754e-01 -5.98676448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-166.50, Z:-598.70 [[ 4.44878167e-02 -9.74492283e-01 2.19967324e-01 2.97384836e+02] [ 1.81214536e-01 2.24404334e-01 9.57498818e-01 -1.66502897e+02] [-9.82436831e-01 -2.73575540e-03 1.86575425e-01 -5.98704036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-166.50, Z:-598.73 [[ 4.48586621e-02 -9.74822665e-01 2.18422693e-01 2.97386712e+02] [ 1.81689441e-01 2.22957454e-01 9.57746794e-01 -1.66497571e+02] [-9.82332249e-01 -3.27814269e-03 1.87116558e-01 -5.98730578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-166.49, Z:-598.76 [[ 4.54818708e-02 -9.74941988e-01 2.17760234e-01 2.97387767e+02] [ 1.81695916e-01 2.22423298e-01 9.57869757e-01 -1.66492734e+02] [-9.82302394e-01 -3.99956353e-03 1.87259205e-01 -5.98758341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.48, Z:-598.79 [[ 5.01828948e-02 -9.78912270e-01 1.98021325e-01 2.97404198e+02] [ 1.85179596e-01 2.03953094e-01 9.61307262e-01 -1.66477207e+02] [-9.81422536e-01 -1.15716722e-02 1.91509535e-01 -5.98787866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.49, Z:-598.82 [[ 5.01969334e-02 -9.58714712e-01 2.79904214e-01 2.97355982e+02] [ 1.82887765e-01 2.84342222e-01 9.41117190e-01 -1.66493261e+02] [-9.81851482e-01 3.94985905e-03 1.89610299e-01 -5.98820417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-166.49, Z:-598.84 [[ 4.78980489e-02 -9.61251694e-01 2.71479204e-01 2.97357068e+02] [ 1.79667090e-01 2.75649442e-01 9.44318337e-01 -1.66491628e+02] [-9.82560692e-01 3.54487264e-03 1.85908365e-01 -5.98844443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-166.47, Z:-598.87 [[ 4.81551010e-02 -9.77286640e-01 2.06378077e-01 2.97394872e+02] [ 1.80397830e-01 2.11729504e-01 9.60534872e-01 -1.66471706e+02] [-9.82414225e-01 -9.02449658e-03 1.86496245e-01 -5.98868481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.47, Z:-598.90 [[ 5.04321734e-02 -9.77495916e-01 2.04837324e-01 2.97396195e+02] [ 1.80126743e-01 2.10637374e-01 9.60825819e-01 -1.66466459e+02] [-9.82349710e-01 -1.15598543e-02 1.86696056e-01 -5.98896111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.46, Z:-598.92 [[ 5.15237322e-02 -9.77764687e-01 2.03276958e-01 2.97397897e+02] [ 1.79951296e-01 2.09305326e-01 9.61149734e-01 -1.66461238e+02] [-9.82325219e-01 -1.29420694e-02 1.86734214e-01 -5.98923026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.46, Z:-598.95 [[ 5.33242099e-02 -9.77803865e-01 2.02623122e-01 2.97398795e+02] [ 1.79059645e-01 2.08985873e-01 9.61385744e-01 -1.66455813e+02] [-9.82392066e-01 -1.49835109e-02 1.86229220e-01 -5.98950236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.45, Z:-598.98 [[ 5.39489474e-02 -9.78083224e-01 2.01103748e-01 2.97400234e+02] [ 1.78743303e-01 2.07603349e-01 9.61744083e-01 -1.66450581e+02] [-9.82415565e-01 -1.59391328e-02 1.86025809e-01 -5.98977306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.44, Z:-599.01 [[ 5.44050908e-02 -9.78373154e-01 1.99564670e-01 2.97401801e+02] [ 1.78331760e-01 2.06167911e-01 9.62129189e-01 -1.66444984e+02] [-9.82465200e-01 -1.67560071e-02 1.85691590e-01 -5.99005199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.44, Z:-599.03 [[ 5.53591214e-02 -9.78628776e-01 1.98043145e-01 2.97403518e+02] [ 1.77120426e-01 2.04826738e-01 9.62639269e-01 -1.66439459e+02] [-9.82631021e-01 -1.82133778e-02 1.84674174e-01 -5.99031184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.43, Z:-599.06 [[ 5.48365273e-02 -9.78787803e-01 1.97401599e-01 2.97404606e+02] [ 1.76349615e-01 2.04085046e-01 9.62938268e-01 -1.66434338e+02] [-9.82798946e-01 -1.79924948e-02 1.83800167e-01 -5.99058925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-166.43, Z:-599.09 [[ 5.42233289e-02 -9.79123790e-01 1.95899041e-01 2.97406233e+02] [ 1.75933571e-01 2.02486538e-01 9.63351743e-01 -1.66429195e+02] [-9.82907528e-01 -1.77709206e-02 1.83240239e-01 -5.99086722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-166.42, Z:-599.11 [[ 5.27423235e-02 -9.79510880e-01 1.94362250e-01 2.97407956e+02] [ 1.76258684e-01 2.00708602e-01 9.63664326e-01 -1.66424067e+02] [-9.82929867e-01 -1.65678613e-02 1.83233136e-01 -5.99114285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-166.42, Z:-599.14 [[ 5.12952808e-02 -9.79889661e-01 1.92834245e-01 2.97409769e+02] [ 1.76577215e-01 1.98945174e-01 9.63971631e-01 -1.66419069e+02] [-9.82949277e-01 -1.53970615e-02 1.83231136e-01 -5.99141800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-166.41, Z:-599.17 [[ 4.82068840e-02 -9.80353911e-01 1.91265016e-01 2.97412450e+02] [ 1.78506333e-01 1.96860719e-01 9.64044266e-01 -1.66414040e+02] [-9.82757135e-01 -1.23315535e-02 1.84489423e-01 -5.99169196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-166.41, Z:-599.20 [[ 4.61986498e-02 -9.80749559e-01 1.89726085e-01 2.97414815e+02] [ 1.79512912e-01 1.94987948e-01 9.64237945e-01 -1.66409122e+02] [-9.82670239e-01 -1.04882093e-02 1.85065389e-01 -5.99196613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-166.40, Z:-599.22 [[ 4.38722662e-02 -9.81152035e-01 1.88191149e-01 2.97417268e+02] [ 1.79946905e-01 1.93052430e-01 9.64546459e-01 -1.66404018e+02] [-9.82697479e-01 -8.45242414e-03 1.85024920e-01 -5.99223786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:-166.41, Z:-599.25 [[ 3.68614391e-02 -9.77156565e-01 2.09299503e-01 2.97404524e+02] [ 1.76171846e-01 2.12515797e-01 9.61145419e-01 -1.66412261e+02] [-9.83669007e-01 1.44347640e-03 1.79981114e-01 -5.99253776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.38, Z:-599.28 [[ 3.74582378e-02 -9.89592276e-01 1.38938861e-01 2.97448167e+02] [ 1.81158853e-01 1.43457361e-01 9.72934456e-01 -1.66380606e+02] [-9.82740225e-01 -1.12744055e-02 1.84647062e-01 -5.99276824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-166.39, Z:-599.31 [[ 3.59770317e-02 -9.82073593e-01 1.85032729e-01 2.97424543e+02] [ 1.81156722e-01 1.88494041e-01 9.65221342e-01 -1.66388579e+02] [-9.82795958e-01 -1.20587623e-03 1.84690689e-01 -5.99306122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.38, Z:-599.33 [[ 3.29755029e-02 -9.82303741e-01 1.84369133e-01 2.97427046e+02] [ 1.81694636e-01 1.87287442e-01 9.65355102e-01 -1.66384121e+02] [-9.82801951e-01 1.66581250e-03 1.84655219e-01 -5.99333061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.38, Z:-599.36 [[ 3.15419356e-02 -9.82473381e-01 1.83714895e-01 2.97429103e+02] [ 1.81873142e-01 1.86379451e-01 9.65497209e-01 -1.66379380e+02] [-9.82815988e-01 2.95915440e-03 1.84564289e-01 -5.99360845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.37, Z:-599.39 [[ 2.97961179e-02 -9.82812917e-01 1.82183866e-01 2.97432437e+02] [ 1.82444003e-01 1.84550403e-01 9.65740822e-01 -1.66374310e+02] [-9.82764660e-01 4.46302651e-03 1.84807208e-01 -5.99388808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.37, Z:-599.42 [[ 2.96223726e-02 -9.83098477e-01 1.80665160e-01 2.97434972e+02] [ 1.82697482e-01 1.83024840e-01 9.65983198e-01 -1.66369192e+02] [-9.82722822e-01 4.39235550e-03 1.85031246e-01 -5.99416220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-166.36, Z:-599.44 [[ 2.96396272e-02 -9.83373880e-01 1.79157207e-01 2.97436991e+02] [ 1.82643462e-01 1.81546551e-01 9.66272330e-01 -1.66364401e+02] [-9.82732343e-01 4.08194095e-03 1.84987782e-01 -5.99442489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-166.36, Z:-599.47 [[ 3.09478357e-02 -9.82485498e-01 1.83751128e-01 2.97435811e+02] [ 1.81499942e-01 1.86306783e-01 9.65581459e-01 -1.66362672e+02] [-9.82903862e-01 3.46816264e-03 1.84086853e-01 -5.99472854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.36, Z:-599.50 [[ 3.19869297e-02 -9.80251191e-01 1.95152349e-01 2.97430217e+02] [ 1.81613524e-01 1.97702226e-01 9.63291419e-01 -1.66360483e+02] [-9.82849614e-01 4.62957080e-03 1.84350760e-01 -5.99499419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.35, Z:-599.52 [[ 3.50663642e-02 -9.80098147e-01 1.95391843e-01 2.97430213e+02] [ 1.82702989e-01 1.98504124e-01 9.62920418e-01 -1.66354332e+02] [-9.82542604e-01 1.93255566e-03 1.86027679e-01 -5.99524467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-166.35, Z:-599.55 [[ 3.28438710e-02 -9.82105493e-01 1.85445628e-01 2.97433582e+02] [ 1.78163569e-01 1.88327008e-01 9.65810893e-01 -1.66352024e+02] [-9.83452603e-01 1.31868661e-03 1.81160808e-01 -5.99552434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-166.33, Z:-599.58 [[ 3.60274109e-02 -9.90096508e-01 1.35686888e-01 2.97464154e+02] [ 1.81267695e-01 1.39997141e-01 9.73418113e-01 -1.66327629e+02] [-9.82773651e-01 -1.04740849e-02 1.84516247e-01 -5.99576595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-166.33, Z:-599.61 [[ 3.75171120e-02 -9.84006914e-01 1.74134602e-01 2.97443942e+02] [ 1.80692105e-01 1.78064910e-01 9.67286540e-01 -1.66334077e+02] [-9.82823906e-01 -4.82504970e-03 1.84482762e-01 -5.99606603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.33, Z:-599.63 [[ 3.76563107e-02 -9.84268455e-01 1.72619847e-01 2.97445517e+02] [ 1.80147301e-01 1.76598637e-01 9.67656898e-01 -1.66328821e+02] [-9.82918589e-01 -5.34138933e-03 1.83963359e-01 -5.99633502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.32, Z:-599.66 [[ 3.78213077e-02 -9.84377075e-01 1.71963147e-01 2.97446564e+02] [ 1.79916145e-01 1.75982054e-01 9.67812222e-01 -1.66323864e+02] [-9.82954592e-01 -5.66497731e-03 1.83761200e-01 -5.99659718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.32, Z:-599.69 [[ 3.68714912e-02 -9.84524299e-01 1.71325418e-01 2.97447333e+02] [ 1.79785626e-01 1.75179914e-01 9.67981987e-01 -1.66318829e+02] [-9.83014558e-01 -4.88909178e-03 1.83462462e-01 -5.99687224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.31, Z:-599.71 [[ 3.62728144e-02 -9.84801655e-01 1.69852827e-01 2.97449199e+02] [ 1.79677691e-01 1.73621736e-01 9.68282717e-01 -1.66313583e+02] [-9.83056565e-01 -4.60357554e-03 1.83244636e-01 -5.99714439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.31, Z:-599.74 [[ 3.51394650e-02 -9.85100662e-01 1.68350541e-01 2.97451240e+02] [ 1.79191278e-01 1.71935152e-01 9.68673727e-01 -1.66308105e+02] [-9.83186505e-01 -3.87172780e-03 1.82563156e-01 -5.99742388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.30, Z:-599.77 [[ 3.48268812e-02 -9.85374592e-01 1.66805284e-01 2.97452869e+02] [ 1.79137900e-01 1.70358381e-01 9.68962143e-01 -1.66302893e+02] [-9.83207354e-01 -3.86478115e-03 1.82450986e-01 -5.99768570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.30, Z:-599.80 [[ 3.45670303e-02 -9.85496903e-01 1.66135414e-01 2.97454005e+02] [ 1.79185389e-01 1.69652436e-01 9.69077214e-01 -1.66297756e+02] [-9.83207871e-01 -3.72908265e-03 1.82451027e-01 -5.99796663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-166.29, Z:-599.82 [[ 3.43207578e-02 -9.85745206e-01 1.64707240e-01 2.97455504e+02] [ 1.79038215e-01 1.68202555e-01 9.69357116e-01 -1.66292613e+02] [-9.83243308e-01 -3.78018061e-03 1.82258901e-01 -5.99823053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.29, Z:-599.85 [[ 3.46325236e-02 -9.84885101e-01 1.69711304e-01 2.97453834e+02] [ 1.77872931e-01 1.73176326e-01 9.68695608e-01 -1.66290948e+02] [-9.83443851e-01 -3.36132652e-03 1.81181933e-01 -5.99852250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-166.29, Z:-599.88 [[ 3.52432994e-02 -9.84570105e-01 1.71404838e-01 2.97453253e+02] [ 1.79636095e-01 1.74958970e-01 9.68049705e-01 -1.66285359e+02] [-9.83101614e-01 -3.32676982e-03 1.83030461e-01 -5.99878644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-166.28, Z:-599.91 [[ 3.71383840e-02 -9.85907088e-01 1.63119447e-01 2.97460127e+02] [ 1.80604962e-01 1.67166067e-01 9.69245766e-01 -1.66278918e+02] [-9.82854307e-01 -6.53603987e-03 1.84267989e-01 -5.99908985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-166.28, Z:-599.94 [[ 3.73274278e-02 -9.78816714e-01 2.01306989e-01 2.97438555e+02] [ 1.81485397e-01 2.04737496e-01 9.61844898e-01 -1.66284156e+02] [-9.82684952e-01 6.31082856e-04 1.85283264e-01 -5.99937788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-166.28, Z:-599.97 [[ 3.69148615e-02 -9.80904800e-01 1.90953046e-01 2.97444015e+02] [ 1.80352489e-01 1.94485067e-01 9.64182835e-01 -1.66279659e+02] [-9.82909087e-01 -1.15381880e-03 1.84088011e-01 -5.99965634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-166.27, Z:-599.99 [[ 3.79989392e-02 -9.85050128e-01 1.68024776e-01 2.97456773e+02] [ 1.82846058e-01 1.72161378e-01 9.67950298e-01 -1.66267023e+02] [-9.82406942e-01 -6.05841652e-03 1.86654483e-01 -5.99989077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-166.26, Z:-600.02 [[ 3.81089544e-02 -9.87153688e-01 1.55162189e-01 2.97464886e+02] [ 1.82601515e-01 1.59539865e-01 9.70156543e-01 -1.66258603e+02] [-9.82448164e-01 -8.63880061e-03 1.86335657e-01 -6.00015233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:-166.26, Z:-600.04 [[ 3.70716459e-02 -9.85016909e-01 1.68426192e-01 2.97458119e+02] [ 1.77760724e-01 1.72354156e-01 9.68862823e-01 -1.66261280e+02] [-9.83375217e-01 -5.97777779e-03 1.81486771e-01 -6.00044560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.24, Z:-600.07 [[ 3.85247973e-02 -9.90418115e-01 1.32618998e-01 2.97479757e+02] [ 1.80952481e-01 1.37437939e-01 9.73841369e-01 -1.66241403e+02] [-9.82737015e-01 -1.35193047e-02 1.84513384e-01 -6.00068203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-166.24, Z:-600.10 [[ 3.97107750e-02 -9.87628324e-01 1.51701508e-01 2.97472928e+02] [ 1.80055276e-01 1.56408848e-01 9.71141787e-01 -1.66240846e+02] [-9.82854594e-01 -1.12501361e-02 1.84038807e-01 -6.00100288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-166.25, Z:-600.13 [[ 3.90687649e-02 -9.78592070e-01 2.02067298e-01 2.97444087e+02] [ 1.77917200e-01 2.05802961e-01 9.62284060e-01 -1.66250402e+02] [-9.83269598e-01 -1.64400171e-03 1.82148829e-01 -6.00127789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-166.23, Z:-600.15 [[ 3.86009488e-02 -9.87970888e-01 1.49744757e-01 2.97474202e+02] [ 1.78771906e-01 1.54266635e-01 9.71721365e-01 -1.66230771e+02] [-9.83133039e-01 -1.07392111e-02 1.82576277e-01 -6.00152309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.23, Z:-600.18 [[ 3.79430007e-02 -9.88229063e-01 1.48201377e-01 2.97476320e+02] [ 1.78772376e-01 1.52628505e-01 9.71979926e-01 -1.66225464e+02] [-9.83158566e-01 -1.03855227e-02 1.82459241e-01 -6.00179966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.22, Z:-600.21 [[ 3.73289920e-02 -9.88482471e-01 1.46659305e-01 2.97478100e+02] [ 1.79078842e-01 1.51002875e-01 9.72177402e-01 -1.66220319e+02] [-9.83126296e-01 -1.00268239e-02 1.82653082e-01 -6.00207624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.22, Z:-600.23 [[ 3.66638333e-02 -9.88736682e-01 1.45105262e-01 2.97479773e+02] [ 1.79310786e-01 1.49355238e-01 9.72389148e-01 -1.66215923e+02] [-9.83109051e-01 -9.63257517e-03 1.82767087e-01 -6.00234156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.21, Z:-600.26 [[ 3.62377311e-02 -9.88851618e-01 1.44427505e-01 2.97481184e+02] [ 1.79702643e-01 1.48614510e-01 9.72430300e-01 -1.66210956e+02] [-9.83053298e-01 -9.28466329e-03 1.83084702e-01 -6.00260991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.21, Z:-600.29 [[ 3.57934330e-02 -9.89018937e-01 1.43388885e-01 2.97482965e+02] [ 1.80557946e-01 1.47519595e-01 9.72438583e-01 -1.66205945e+02] [-9.82912844e-01 -8.91691276e-03 1.83855460e-01 -6.00288324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.20, Z:-600.31 [[ 3.58098630e-02 -9.89242664e-01 1.41833019e-01 2.97484739e+02] [ 1.81271881e-01 1.45999486e-01 9.72535169e-01 -1.66200482e+02] [-9.82780830e-01 -9.11601300e-03 1.84550101e-01 -6.00314718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-166.20, Z:-600.34 [[ 3.52244719e-02 -9.89361118e-01 1.41151742e-01 2.97486555e+02] [ 1.82010019e-01 1.45228148e-01 9.72512796e-01 -1.66195139e+02] [-9.82665553e-01 -8.56521835e-03 1.85189221e-01 -6.00341817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-166.19, Z:-600.37 [[ 3.43709660e-02 -9.89605211e-01 1.39642987e-01 2.97488434e+02] [ 1.82189791e-01 1.43588498e-01 9.72722583e-01 -1.66189581e+02] [-9.82662463e-01 -7.99188822e-03 1.85231242e-01 -6.00369103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-166.18, Z:-600.40 [[ 3.36494278e-02 -9.89843255e-01 1.38123305e-01 2.97490319e+02] [ 1.82452837e-01 1.41963115e-01 9.72911834e-01 -1.66184338e+02] [-9.82638631e-01 -7.53693757e-03 1.85376687e-01 -6.00396374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-166.18, Z:-600.42 [[ 3.14992989e-02 -9.90122289e-01 1.36622283e-01 2.97492259e+02] [ 1.82537864e-01 1.40089931e-01 9.73167375e-01 -1.66178910e+02] [-9.82694114e-01 -5.71535033e-03 1.85147543e-01 -6.00424198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-166.17, Z:-600.45 [[ 3.00414165e-02 -9.90379204e-01 1.35079779e-01 2.97493990e+02] [ 1.82757892e-01 1.38305049e-01 9.73381357e-01 -1.66173630e+02] [-9.82698869e-01 -4.55485916e-03 1.85154495e-01 -6.00451398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.17, Z:-600.48 [[ 2.72485589e-02 -9.90669954e-01 1.33531111e-01 2.97496458e+02] [ 1.83198111e-01 1.36267283e-01 9.73585990e-01 -1.66168355e+02] [-9.82698310e-01 -2.06616792e-03 1.85201952e-01 -6.00479100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.16, Z:-600.51 [[ 2.56440100e-02 -9.90925999e-01 1.31939571e-01 2.97498348e+02] [ 1.83653786e-01 1.34406541e-01 9.73758784e-01 -1.66163042e+02] [-9.82656436e-01 -7.39878371e-04 1.85434034e-01 -6.00505316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.16, Z:-600.53 [[ 2.38744662e-02 -9.91062423e-01 1.31245127e-01 2.97499647e+02] [ 1.84278415e-01 1.33395634e-01 9.73779786e-01 -1.66158198e+02] [-9.82584081e-01 9.37171380e-04 1.85816162e-01 -6.00533078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.15, Z:-600.56 [[ 2.19026410e-02 -9.91313398e-01 1.29684315e-01 2.97501258e+02] [ 1.85141219e-01 1.31493603e-01 9.73874818e-01 -1.66152907e+02] [-9.82467813e-01 2.67948165e-03 1.86413028e-01 -6.00560393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.15, Z:-600.59 [[ 1.85518126e-02 -9.91587745e-01 1.28099862e-01 2.97502694e+02] [ 1.86244622e-01 1.29306725e-01 9.73957243e-01 -1.66147406e+02] [-9.82328240e-01 5.78923818e-03 1.87076759e-01 -6.00586847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.14, Z:-600.61 [[ 1.52350811e-02 -9.91730781e-01 1.27428216e-01 2.97504049e+02] [ 1.86455100e-01 1.28025400e-01 9.74086235e-01 -1.66142111e+02] [-9.82345351e-01 8.91935797e-03 1.86863739e-01 -6.00614409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.14, Z:-600.64 [[ 1.39877677e-02 -9.91949342e-01 1.25860420e-01 2.97505764e+02] [ 1.86730189e-01 1.26249769e-01 9.74265278e-01 -1.66136314e+02] [-9.82311651e-01 9.87414354e-03 1.86992841e-01 -6.00640970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.13, Z:-600.67 [[ 1.28209720e-02 -9.92050969e-01 1.25181856e-01 2.97506655e+02] [ 1.87061807e-01 1.25361547e-01 9.74316357e-01 -1.66130813e+02] [-9.82264477e-01 1.09250615e-02 1.87182104e-01 -6.00668861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.13, Z:-600.70 [[ 1.19482893e-02 -9.92256111e-01 1.23632718e-01 2.97507575e+02] [ 1.86749925e-01 1.23680444e-01 9.74590998e-01 -1.66125205e+02] [-9.82334823e-01 1.14437057e-02 1.86781524e-01 -6.00696337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.12, Z:-600.72 [[ 1.12265197e-02 -9.92455706e-01 1.22088643e-01 2.97507479e+02] [ 1.86393745e-01 1.22033371e-01 9.74866775e-01 -1.66119729e+02] [-9.82410982e-01 1.18121984e-02 1.86357545e-01 -6.00724102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.11, Z:-600.75 [[ 1.09577271e-02 -9.92646322e-01 1.20553757e-01 2.97507806e+02] [ 1.85915909e-01 1.20481317e-01 9.75151028e-01 -1.66114274e+02] [-9.82504556e-01 1.17274225e-02 1.85868945e-01 -6.00751935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.11, Z:-600.78 [[ 1.20176741e-02 -9.92820088e-01 1.19011968e-01 2.97506759e+02] [ 1.85101974e-01 1.19172349e-01 9.75466663e-01 -1.66108972e+02] [-9.82645834e-01 1.03065097e-02 1.85205133e-01 -6.00778574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-166.12, Z:-600.81 [[ 9.37628126e-03 -9.90198872e-01 1.39349485e-01 2.97491533e+02] [ 1.79783008e-01 1.38754111e-01 9.73871330e-01 -1.66118384e+02] [-9.83661606e-01 1.59213781e-02 1.79321929e-01 -6.00807187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-166.09, Z:-600.83 [[ 1.15070939e-02 -9.97709133e-01 6.66638861e-02 2.97531192e+02] [ 1.81494637e-01 6.76448881e-02 9.81062621e-01 -1.66086742e+02] [-9.83324607e-01 8.09958173e-04 1.81857253e-01 -6.00831067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-166.08, Z:-600.86 [[ 1.66401675e-02 -9.95810639e-01 8.99126036e-02 2.97519614e+02] [ 1.85414345e-01 9.14386081e-02 9.78396904e-01 -1.66084114e+02] [-9.82519529e-01 3.90398164e-04 1.86159131e-01 -6.00859896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.09, Z:-600.89 [[ 1.74547820e-02 -9.91905179e-01 1.25775381e-01 2.97498494e+02] [ 1.83759244e-01 1.26834250e-01 9.74754130e-01 -1.66093905e+02] [-9.82816296e-01 6.09826806e-03 1.84485610e-01 -6.00890685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-166.07, Z:-600.92 [[ 2.32539913e-02 -9.95609355e-01 9.06711904e-02 2.97515418e+02] [ 1.87383588e-01 9.34289603e-02 9.77833534e-01 -1.66074523e+02] [-9.82011529e-01 -5.74823953e-03 1.88733449e-01 -6.00915787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.08, Z:-600.95 [[ 2.49812285e-02 -9.92866566e-01 1.16584388e-01 2.97500007e+02] [ 1.86565351e-01 1.19202205e-01 9.75184190e-01 -1.66079497e+02] [-9.82124894e-01 -2.61069178e-03 1.88212317e-01 -6.00945270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.07, Z:-600.97 [[ 2.83216557e-02 -9.94404854e-01 1.01768709e-01 2.97508581e+02] [ 1.87950400e-01 1.05291215e-01 9.76518514e-01 -1.66067996e+02] [-9.81770101e-01 -8.52915167e-03 1.89880811e-01 -6.00972266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-166.08, Z:-601.00 [[ 3.06267685e-02 -9.89540213e-01 1.40968678e-01 2.97484264e+02] [ 1.85723893e-01 1.44212697e-01 9.71961591e-01 -1.66076924e+02] [-9.82124553e-01 -3.58679098e-03 1.88198030e-01 -6.01002781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.07, Z:-601.03 [[ 3.02064461e-02 -9.92555706e-01 1.17986192e-01 2.97495242e+02] [ 1.85266276e-01 1.21554354e-01 9.75141501e-01 -1.66065348e+02] [-9.82223996e-01 -7.59669689e-03 1.87558824e-01 -6.01028749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.06, Z:-601.06 [[ 2.92955309e-02 -9.93397545e-01 1.10919290e-01 2.97497941e+02] [ 1.83306744e-01 1.14424234e-01 9.76373767e-01 -1.66059276e+02] [-9.82619158e-01 -8.27113398e-03 1.85448589e-01 -6.01056382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.04, Z:-601.08 [[ 3.01933829e-02 -9.95753915e-01 8.69626417e-02 2.97512632e+02] [ 1.84992415e-01 9.10661667e-02 9.78511502e-01 -1.66042945e+02] [-9.82276013e-01 -1.34571434e-02 1.86956517e-01 -6.01082066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.04, Z:-601.11 [[ 2.96470581e-02 -9.93503370e-01 1.09873139e-01 2.97501111e+02] [ 1.84048094e-01 1.13467834e-01 9.76345917e-01 -1.66044692e+02] [-9.82470026e-01 -8.72384235e-03 1.86216389e-01 -6.01111075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.04, Z:-601.14 [[ 2.89991870e-02 -9.93691038e-01 1.08338214e-01 2.97502161e+02] [ 1.83128792e-01 1.11830878e-01 9.76707582e-01 -1.66038513e+02] [-9.82661128e-01 -8.48387951e-03 1.85216444e-01 -6.01138480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.03, Z:-601.17 [[ 2.89129492e-02 -9.93862223e-01 1.06779787e-01 2.97502816e+02] [ 1.82934127e-01 1.10281381e-01 9.76920223e-01 -1.66033061e+02] [-9.82699927e-01 -8.71197769e-03 1.84999878e-01 -6.01165155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.03, Z:-601.19 [[ 2.97119981e-02 -9.93911649e-01 1.06098214e-01 2.97502216e+02] [ 1.83251680e-01 1.09762423e-01 9.76919154e-01 -1.66028278e+02] [-9.82616924e-01 -9.58354420e-03 1.85397240e-01 -6.01192361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.02, Z:-601.22 [[ 2.99768174e-02 -9.94066887e-01 1.04558188e-01 2.97503026e+02] [ 1.83584424e-01 1.08301255e-01 9.77019753e-01 -1.66023331e+02] [-9.82546767e-01 -1.00926881e-02 1.85741724e-01 -6.01220336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.02, Z:-601.25 [[ 3.15071143e-02 -9.94184414e-01 1.02978900e-01 2.97503636e+02] [ 1.85341961e-01 1.07054571e-01 9.76825305e-01 -1.66018630e+02] [-9.82168855e-01 -1.16906353e-02 1.87637069e-01 -6.01247806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-166.01, Z:-601.28 [[ 3.19285466e-02 -9.94330836e-01 1.01423652e-01 2.97504744e+02] [ 1.85955213e-01 1.05613300e-01 9.76865646e-01 -1.66013672e+02] [-9.82039320e-01 -1.23296434e-02 1.88273082e-01 -6.01275164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.01, Z:-601.30 [[ 3.23245290e-02 -9.94476962e-01 9.98533822e-02 2.97505870e+02] [ 1.86694907e-01 1.04154962e-01 9.76881137e-01 -1.66008810e+02] [-9.81886010e-01 -1.29351048e-02 1.89030544e-01 -6.01301346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.00, Z:-601.33 [[ 3.21424609e-02 -9.94552193e-01 9.91604689e-02 2.97507011e+02] [ 1.87796867e-01 1.03454281e-01 9.76744362e-01 -1.66003970e+02] [-9.81681822e-01 -1.27729420e-02 1.90099061e-01 -6.01329103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-166.00, Z:-601.36 [[ 3.10623478e-02 -9.94739075e-01 9.76181544e-02 2.97508464e+02] [ 1.88398602e-01 1.01741589e-01 9.76808382e-01 -1.65998779e+02] [-9.81601293e-01 -1.19508379e-02 1.90567784e-01 -6.01356466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-165.99, Z:-601.38 [[ 2.96585284e-02 -9.94934441e-01 9.60511859e-02 2.97510308e+02] [ 1.89206727e-01 9.99442893e-02 9.76837731e-01 -1.65993173e+02] [-9.81489270e-01 -1.07980390e-02 1.91212490e-01 -6.01384084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-165.99, Z:-601.41 [[ 2.76185715e-02 -9.95142067e-01 9.44959271e-02 2.97512513e+02] [ 1.89636845e-01 9.80313512e-02 9.76948167e-01 -1.65988150e+02] [-9.81465782e-01 -9.06200327e-03 1.91423088e-01 -6.01410579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.98, Z:-601.44 [[ 2.24758020e-02 -9.95369836e-01 9.34544144e-02 2.97516359e+02] [ 1.89574698e-01 9.60253196e-02 9.77159440e-01 -1.65982236e+02] [-9.81609022e-01 -4.24584976e-03 1.90855182e-01 -6.01438005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.98, Z:-601.47 [[ 1.90251881e-02 -9.95580968e-01 9.19596617e-02 2.97518968e+02] [ 1.88825562e-01 9.38989717e-02 9.77511069e-01 -1.65976710e+02] [-9.81826334e-01 -1.23299722e-03 1.89777581e-01 -6.01465282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.97, Z:-601.49 [[ 1.25536540e-02 -9.95646655e-01 9.23587838e-02 2.97521682e+02] [ 1.86831153e-01 9.30749971e-02 9.77972988e-01 -1.65971976e+02] [-9.82311827e-01 4.97836351e-03 1.87186244e-01 -6.01493722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.97, Z:-601.52 [[ 1.24010614e-02 -9.95266348e-01 9.63904069e-02 2.97519981e+02] [ 1.86892384e-01 9.70061119e-02 9.77579179e-01 -1.65968175e+02] [-9.82302118e-01 5.89161347e-03 1.87210679e-01 -6.01522103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.96, Z:-601.55 [[ 9.55633327e-03 -9.95578778e-01 9.34428887e-02 2.97522723e+02] [ 1.86221177e-01 9.35842989e-02 9.78040721e-01 -1.65961365e+02] [-9.82461373e-01 8.05456160e-03 1.86292174e-01 -6.01547838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.95, Z:-601.58 [[ 6.65727914e-03 -9.96166499e-01 8.72237709e-02 2.97527143e+02] [ 1.85352452e-01 8.69434657e-02 9.78818320e-01 -1.65954398e+02] [-9.82649556e-01 9.65087299e-03 1.85220710e-01 -6.01575077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.95, Z:-601.60 [[ 1.61406470e-03 -9.96318565e-01 8.57129591e-02 2.97529334e+02] [ 1.84612986e-01 8.45366514e-02 9.79168831e-01 -1.65949002e+02] [-9.82809972e-01 1.42432834e-02 1.84069793e-01 -6.01602948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.93, Z:-601.63 [[ 6.72907996e-04 -9.97519161e-01 7.03922665e-02 2.97540068e+02] [ 1.88439760e-01 6.92576747e-02 9.79639644e-01 -1.65934190e+02] [-9.82084520e-01 1.26054945e-02 1.88018876e-01 -6.01630418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-165.95, Z:-601.66 [[-4.08007217e-03 -9.92129942e-01 1.25146044e-01 2.97511024e+02] [ 1.86255809e-01 1.22203166e-01 9.74871868e-01 -1.65951654e+02] [-9.82492813e-01 2.72867252e-02 1.84291367e-01 -6.01660286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.93, Z:-601.68 [[-6.27317886e-03 -9.96560033e-01 8.26362376e-02 2.97533713e+02] [ 1.86113330e-01 8.00304293e-02 9.79263478e-01 -1.65933751e+02] [-9.82508257e-01 2.15228003e-02 1.84971061e-01 -6.01684965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.91, Z:-601.71 [[-5.44621561e-03 -9.98725271e-01 5.01813922e-02 2.97555081e+02] [ 1.94137733e-01 4.81713572e-02 9.79790825e-01 -1.65906862e+02] [-9.80959163e-01 1.50782538e-02 1.93627908e-01 -6.01711832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-165.95, Z:-601.75 [[-8.21861203e-03 -9.87381674e-01 1.58145136e-01 2.97494422e+02] [ 1.88707102e-01 1.53777415e-01 9.69918624e-01 -1.65946676e+02] [-9.81999025e-01 3.78144951e-02 1.85062097e-01 -6.01745299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.92, Z:-601.77 [[-9.87802415e-03 -9.96824538e-01 7.90143340e-02 2.97535512e+02] [ 1.87096531e-01 7.57802566e-02 9.79414233e-01 -1.65917812e+02] [-9.82291867e-01 2.44579853e-02 1.85753854e-01 -6.01768477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.91, Z:-601.80 [[-1.00439585e-02 -9.96940170e-01 7.75204295e-02 2.97535240e+02] [ 1.87373604e-01 7.42747415e-02 9.79476593e-01 -1.65912466e+02] [-9.82237370e-01 2.43631045e-02 1.86054261e-01 -6.01796552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.91, Z:-601.82 [[-1.02915733e-02 -9.97057064e-01 7.59690350e-02 2.97535865e+02] [ 1.87575565e-01 7.26994355e-02 9.79556124e-01 -1.65906910e+02] [-9.82196259e-01 2.43311083e-02 1.86275350e-01 -6.01824309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.90, Z:-601.85 [[-1.01736072e-02 -9.97176551e-01 7.44004297e-02 2.97536089e+02] [ 1.87841975e-01 7.11738589e-02 9.79617106e-01 -1.65901459e+02] [-9.82146573e-01 2.39417633e-02 1.86587518e-01 -6.01850461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.90, Z:-601.88 [[-1.01569650e-02 -9.97226753e-01 7.37267860e-02 2.97536283e+02] [ 1.87696422e-01 7.05187104e-02 9.79692383e-01 -1.65896165e+02] [-9.82174572e-01 2.37889552e-02 1.86459637e-01 -6.01877686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.89, Z:-601.91 [[-1.01088629e-02 -9.97339068e-01 7.21982929e-02 2.97536581e+02] [ 1.87055154e-01 6.90413673e-02 9.79920231e-01 -1.65890560e+02] [-9.82297399e-01 2.34109420e-02 1.85859483e-01 -6.01905245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.89, Z:-601.93 [[-9.12462648e-03 -9.97458530e-01 7.06627391e-02 2.97535294e+02] [ 1.86402635e-01 6.77303774e-02 9.80136038e-01 -1.65885116e+02] [-9.82431066e-01 2.21150960e-02 1.85310884e-01 -6.01932148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.88, Z:-601.96 [[-8.33235962e-03 -9.97538844e-01 6.96191547e-02 2.97534931e+02] [ 1.86099482e-01 6.68583219e-02 9.80253512e-01 -1.65879890e+02] [-9.82495575e-01 2.11239134e-02 1.85084375e-01 -6.01959780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.87, Z:-601.99 [[-5.54895016e-03 -9.97663917e-01 6.80875724e-02 2.97533617e+02] [ 1.86071740e-01 6.58693725e-02 9.80325728e-01 -1.65874389e+02] [-9.82520492e-01 1.81089516e-02 1.85271555e-01 -6.01986604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.87, Z:-602.02 [[-2.63863491e-03 -9.97903804e-01 6.46609232e-02 2.97536450e+02] [ 1.87164162e-01 6.30256643e-02 9.80304719e-01 -1.65866346e+02] [-9.82325106e-01 1.46888738e-02 1.86605528e-01 -6.02015299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.87, Z:-602.04 [[-2.00222566e-03 -9.95121230e-01 9.86393916e-02 2.97515965e+02] [ 1.86100347e-01 9.65456236e-02 9.77775845e-01 -1.65873872e+02] [-9.82528703e-01 2.03145529e-02 1.84999100e-01 -6.02042830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.86, Z:-602.07 [[-7.77616045e-04 -9.97898606e-01 6.47901816e-02 2.97531832e+02] [ 1.85192086e-01 6.35257759e-02 9.80646913e-01 -1.65858535e+02] [-9.82702033e-01 1.27611957e-02 1.84753526e-01 -6.02068407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.85, Z:-602.10 [[ 3.01836102e-03 -9.97993602e-01 6.32428708e-02 2.97529016e+02] [ 1.84319478e-01 6.27147965e-02 9.80863489e-01 -1.65852904e+02] [-9.82861750e-01 8.69629278e-03 1.84138955e-01 -6.02096170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.85, Z:-602.12 [[ 6.39060258e-03 -9.98073854e-01 6.17069000e-02 2.97526188e+02] [ 1.83086882e-01 6.18328773e-02 9.81150289e-01 -1.65847916e+02] [-9.83075966e-01 5.02758231e-03 1.83129379e-01 -6.02123594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.84, Z:-602.15 [[ 7.87702789e-03 -9.98159507e-01 6.01294460e-02 2.97525752e+02] [ 1.83156549e-01 6.05542154e-02 9.81217033e-01 -1.65842301e+02] [-9.83052202e-01 3.28402790e-03 1.83296438e-01 -6.02150687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.84, Z:-602.18 [[ 9.26896887e-03 -9.98240579e-01 5.85647716e-02 2.97525603e+02] [ 1.83186263e-01 5.92712451e-02 9.81289821e-01 -1.65837069e+02] [-9.83034526e-01 1.63271685e-03 1.83413344e-01 -6.02178020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.82, Z:-602.21 [[ 1.38645781e-02 -9.99287595e-01 3.51009288e-02 2.97541633e+02] [ 1.88466470e-01 3.70867472e-02 9.81379113e-01 -1.65816937e+02] [-9.81981753e-01 -6.99105921e-03 1.88846398e-01 -6.02208862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-165.86, Z:-602.24 [[ 1.47554517e-02 -9.87111065e-01 1.59355018e-01 2.97470322e+02] [ 1.84017189e-01 1.59331016e-01 9.69923348e-01 -1.65855075e+02] [-9.82812266e-01 1.50124053e-02 1.83996405e-01 -6.02240566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.82, Z:-602.26 [[ 1.53916400e-02 -9.98355860e-01 5.52148059e-02 2.97523521e+02] [ 1.84813954e-01 5.71104367e-02 9.81112736e-01 -1.65821148e+02] [-9.82652991e-01 -4.89646741e-03 1.85389117e-01 -6.02262547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.82, Z:-602.29 [[ 1.85666396e-02 -9.98387581e-01 5.36425123e-02 2.97522200e+02] [ 1.85570731e-01 5.61606096e-02 9.81024714e-01 -1.65816084e+02] [-9.82455487e-01 -8.25985216e-03 1.86314227e-01 -6.02289403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.81, Z:-602.32 [[ 1.97536785e-02 -9.98401021e-01 5.29640709e-02 2.97521897e+02] [ 1.85822110e-01 5.57176416e-02 9.81002389e-01 -1.65811144e+02] [-9.82384821e-01 -9.53651043e-03 1.86625613e-01 -6.02317310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.81, Z:-602.34 [[ 2.09239595e-02 -9.98458107e-01 5.14159161e-02 2.97522029e+02] [ 1.86209225e-01 5.44192528e-02 9.81001870e-01 -1.65805848e+02] [-9.82287286e-01 -1.09523255e-02 1.87060777e-01 -6.02343946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.80, Z:-602.37 [[ 2.21714139e-02 -9.98465293e-01 5.07492509e-02 2.97521423e+02] [ 1.86151229e-01 5.39969583e-02 9.81036212e-01 -1.65800821e+02] [-9.82270914e-01 -1.23039245e-02 1.87062730e-01 -6.02371585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.80, Z:-602.40 [[ 2.23976877e-02 -9.98537384e-01 4.92080914e-02 2.97522328e+02] [ 1.85419661e-01 5.25154748e-02 9.81255153e-01 -1.65795362e+02] [-9.82404139e-01 -1.28536989e-02 1.86324688e-01 -6.02398429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.79, Z:-602.43 [[ 2.21217364e-02 -9.98576008e-01 4.85446643e-02 2.97523061e+02] [ 1.84831175e-01 5.18044815e-02 9.81403960e-01 -1.65790148e+02] [-9.82521280e-01 -1.27377924e-02 1.85713982e-01 -6.02425208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.78, Z:-602.45 [[ 2.17106988e-02 -9.98634583e-01 4.75143737e-02 2.97524046e+02] [ 1.84624901e-01 5.07129279e-02 9.81499794e-01 -1.65784490e+02] [-9.82569230e-01 -1.25367099e-02 1.85473824e-01 -6.02452578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-165.78, Z:-602.48 [[ 2.11976336e-02 -9.98715119e-01 4.60301181e-02 2.97525729e+02] [ 1.84137093e-01 4.91528483e-02 9.81670784e-01 -1.65778882e+02] [-9.82671965e-01 -1.23332455e-02 1.84942423e-01 -6.02480587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.76, Z:-602.51 [[ 2.30083831e-02 -9.99262515e-01 3.07415229e-02 2.97537177e+02] [ 1.88157751e-01 3.45284486e-02 9.81531684e-01 -1.65763840e+02] [-9.81869276e-01 -1.67992012e-02 1.88813431e-01 -6.02509249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-165.79, Z:-602.54 [[ 2.21917392e-02 -9.94780957e-01 9.95910408e-02 2.97500568e+02] [ 1.83456569e-01 1.01976007e-01 9.77724185e-01 -1.65785335e+02] [-9.82777296e-01 -3.42676945e-03 1.84762126e-01 -6.02538497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.75, Z:-602.57 [[ 2.48442921e-02 -9.99378643e-01 2.50017835e-02 2.97542695e+02] [ 1.88759993e-01 2.92492224e-02 9.81587565e-01 -1.65752326e+02] [-9.81708932e-01 -1.96675117e-02 1.89369382e-01 -6.02565039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-165.78, Z:-602.60 [[ 2.39340242e-02 -9.92497556e-01 1.19898977e-01 2.97491342e+02] [ 1.83707257e-01 1.22257375e-01 9.75348542e-01 -1.65781213e+02] [-9.82689578e-01 -1.31770346e-03 1.85255115e-01 -6.02595568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.75, Z:-602.62 [[ 2.65788561e-02 -9.99097574e-01 3.31300701e-02 2.97539531e+02] [ 1.86776331e-01 3.75214764e-02 9.81685663e-01 -1.65748007e+02] [-9.82042854e-01 -1.99041691e-02 1.87605057e-01 -6.02621399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-165.77, Z:-602.65 [[ 2.62493279e-02 -9.94222549e-01 1.04079280e-01 2.97501366e+02] [ 1.83342675e-01 1.07137195e-01 9.77193474e-01 -1.65767262e+02] [-9.82698548e-01 -6.56849838e-03 1.85095701e-01 -6.02649369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.74, Z:-602.67 [[ 2.61426502e-02 -9.98940046e-01 3.78859701e-02 2.97535846e+02] [ 1.84449191e-01 4.20683806e-02 9.81941316e-01 -1.65742642e+02] [-9.82494304e-01 -1.86825118e-02 1.85353463e-01 -6.02673485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.74, Z:-602.70 [[ 2.63963389e-02 -9.98991544e-01 3.63197955e-02 2.97538793e+02] [ 1.84430339e-01 4.05755223e-02 9.82007677e-01 -1.65737303e+02] [-9.82491060e-01 -1.92229352e-02 1.85315394e-01 -6.02699964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.73, Z:-602.73 [[ 2.60537965e-02 -9.99024955e-01 3.56418177e-02 2.97540532e+02] [ 1.84743164e-01 3.98516173e-02 9.81978519e-01 -1.65731904e+02] [-9.82441430e-01 -1.89996863e-02 1.85601317e-01 -6.02727094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.73, Z:-602.75 [[ 2.55642930e-02 -9.99091963e-01 3.40839742e-02 2.97542679e+02] [ 1.84742624e-01 3.82294604e-02 9.82043111e-01 -1.65726598e+02] [-9.82454391e-01 -1.88084750e-02 1.85552180e-01 -6.02753828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.72, Z:-602.78 [[ 2.47888288e-02 -9.99134208e-01 3.34118006e-02 2.97544134e+02] [ 1.84545374e-01 3.74211705e-02 9.82111328e-01 -1.65721545e+02] [-9.82511333e-01 -1.81793964e-02 1.85313223e-01 -6.02781470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-165.72, Z:-602.81 [[ 2.32543101e-02 -9.99222534e-01 3.18365201e-02 2.97546522e+02] [ 1.84360012e-01 3.55851189e-02 9.82214379e-01 -1.65716460e+02] [-9.82583647e-01 -1.69713365e-02 1.85044186e-01 -6.02807937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:-165.72, Z:-602.84 [[ 2.18775978e-02 -9.99013415e-01 3.86467131e-02 2.97544078e+02] [ 1.82514703e-01 4.19973061e-02 9.82305762e-01 -1.65716230e+02] [-9.82959691e-01 -1.44368970e-02 1.83253437e-01 -6.02837161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-165.71, Z:-602.87 [[ 2.34282220e-02 -9.99266548e-01 3.02900202e-02 2.97551812e+02] [ 1.84205670e-01 3.40943900e-02 9.82296210e-01 -1.65705723e+02] [-9.82608462e-01 -1.74338602e-02 1.84869335e-01 -6.02865312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:-165.73, Z:-602.90 [[ 1.96510258e-02 -9.94920098e-01 9.87311288e-02 2.97515231e+02] [ 1.80804636e-01 1.00658378e-01 9.78354524e-01 -1.65726244e+02] [-9.83322694e-01 -1.37462418e-03 1.81864207e-01 -6.02895542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.69, Z:-602.92 [[ 1.98458347e-02 -9.99791962e-01 4.70909816e-03 2.97564117e+02] [ 1.85203787e-01 8.30471759e-03 9.82665044e-01 -1.65687085e+02] [-9.82499720e-01 -1.86296652e-02 1.85330071e-01 -6.02916175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-165.69, Z:-602.94 [[ 1.99180655e-02 -9.99427512e-01 2.73481070e-02 2.97554402e+02] [ 1.85438157e-01 3.05718421e-02 9.82180255e-01 -1.65689734e+02] [-9.82454050e-01 -1.44917481e-02 1.85940928e-01 -6.02944247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-165.69, Z:-602.98 [[ 1.95631953e-02 -9.99188936e-01 3.51958962e-02 2.97551792e+02] [ 1.84027041e-01 3.81997959e-02 9.82178611e-01 -1.65689915e+02] [-9.82726478e-01 -1.27375554e-02 1.84625093e-01 -6.02975108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-165.69, Z:-603.00 [[ 1.94990446e-02 -9.98652782e-01 4.80875047e-02 2.97545260e+02] [ 1.85580038e-01 5.08759817e-02 9.81311207e-01 -1.65686774e+02] [-9.82435666e-01 -1.02105500e-02 1.86322054e-01 -6.03000283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.67, Z:-603.03 [[ 1.89033059e-02 -9.99511968e-01 2.48694765e-02 2.97557219e+02] [ 1.86171296e-01 2.79576938e-02 9.82119451e-01 -1.65674185e+02] [-9.82335439e-01 -1.39353217e-02 1.86608931e-01 -6.03026490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.67, Z:-603.05 [[ 1.82124771e-02 -9.99562316e-01 2.33127098e-02 2.97559303e+02] [ 1.86479686e-01 2.63033367e-02 9.82106645e-01 -1.65669108e+02] [-9.82289994e-01 -1.35392480e-02 1.86877115e-01 -6.03052657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.66, Z:-603.08 [[ 1.76084094e-02 -9.99588554e-01 2.26421328e-02 2.97560786e+02] [ 1.86089418e-01 2.55263706e-02 9.82201167e-01 -1.65663909e+02] [-9.82375016e-01 -1.30815389e-02 1.86462331e-01 -6.03079272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.66, Z:-603.11 [[ 1.63788094e-02 -9.99632504e-01 2.16007442e-02 2.97563337e+02] [ 1.85310587e-01 2.42642314e-02 9.82380391e-01 -1.65658144e+02] [-9.82543496e-01 -1.20873746e-02 1.85639905e-01 -6.03106936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.65, Z:-603.13 [[ 1.54057522e-02 -9.99680239e-01 2.00519903e-02 2.97564862e+02] [ 1.84802743e-01 2.25556542e-02 9.82516763e-01 -1.65652509e+02] [-9.82654878e-01 -1.14307470e-02 1.85091137e-01 -6.03134318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-165.64, Z:-603.16 [[ 1.42845361e-02 -9.99819050e-01 1.25626020e-02 2.97569566e+02] [ 1.86052441e-01 1.50022052e-02 9.82425276e-01 -1.65643409e+02] [-9.82435973e-01 -1.16961866e-02 1.86233074e-01 -6.03162055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-165.65, Z:-603.19 [[ 1.41754692e-02 -9.99462614e-01 2.95557014e-02 2.97562035e+02] [ 1.84348897e-01 3.16643114e-02 9.82350679e-01 -1.65646120e+02] [-9.82758638e-01 -8.47672086e-03 1.84698687e-01 -6.03190395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-165.64, Z:-603.22 [[ 1.35895439e-02 -9.99773450e-01 1.63820961e-02 2.97569380e+02] [ 1.84323630e-01 1.86076026e-02 9.82689451e-01 -1.65636960e+02] [-9.82771654e-01 -1.03346940e-02 1.84534740e-01 -6.03216330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-165.63, Z:-603.24 [[ 1.39201909e-02 -9.99785225e-01 1.53535993e-02 2.97571468e+02] [ 1.83893919e-01 1.76529564e-02 9.82787566e-01 -1.65632198e+02] [-9.82847524e-01 -1.08571569e-02 1.84100155e-01 -6.03243798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-165.63, Z:-603.27 [[ 1.37425597e-02 -9.99809464e-01 1.38628218e-02 2.97572174e+02] [ 1.83913383e-01 1.61550344e-02 9.82809688e-01 -1.65626625e+02] [-9.82846382e-01 -1.09567624e-02 1.84100352e-01 -6.03271803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-165.62, Z:-603.30 [[ 1.42729647e-02 -9.99814465e-01 1.29351487e-02 2.97573445e+02] [ 1.84007251e-01 1.53419062e-02 9.82805147e-01 -1.65621452e+02] [-9.82821252e-01 -1.16473820e-02 1.84192086e-01 -6.03299813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:-165.62, Z:-603.33 [[ 1.36575750e-02 -9.99842051e-01 1.13729126e-02 2.97573930e+02] [ 1.84326368e-01 1.36965679e-02 9.82769655e-01 -1.65616086e+02] [-9.82770197e-01 -1.13259226e-02 1.84484315e-01 -6.03327511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-165.61, Z:-603.35 [[ 1.66064049e-02 -9.99814650e-01 9.74131556e-03 2.97576720e+02] [ 1.84834764e-01 1.26444611e-02 9.82688266e-01 -1.65610975e+02] [-9.82629298e-01 -1.45183855e-02 1.85010484e-01 -6.03354475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-165.61, Z:-603.38 [[ 1.59749101e-02 -9.99835084e-01 8.63759595e-03 2.97576442e+02] [ 1.85137705e-01 1.14471444e-02 9.82645915e-01 -1.65606269e+02] [-9.82582736e-01 -1.40985355e-02 1.85290039e-01 -6.03381911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-165.60, Z:-603.41 [[ 1.76591333e-02 -9.99809219e-01 8.34745569e-03 2.97578140e+02] [ 1.85084523e-01 1.14732955e-02 9.82655628e-01 -1.65601710e+02] [-9.82563929e-01 -1.58078619e-02 1.85251821e-01 -6.03409387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-165.60, Z:-603.44 [[ 1.79422574e-02 -9.99810351e-01 7.57213805e-03 2.97579434e+02] [ 1.83798875e-01 1.07424977e-02 9.82905170e-01 -1.65598663e+02] [-9.82800106e-01 -1.62437871e-02 1.83956762e-01 -6.03437450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-165.58, Z:-603.46 [[ 1.94351398e-02 -9.99570987e-01 -2.19115928e-02 2.97596076e+02] [ 1.86358001e-01 -1.79099561e-02 9.82318650e-01 -1.65580112e+02] [-9.82289657e-01 -2.31749009e-02 1.85929968e-01 -6.03462843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-165.58, Z:-603.49 [[ 1.96194603e-02 -9.99796259e-01 4.74522062e-03 2.97584381e+02] [ 1.86306713e-01 8.31890449e-03 9.82456414e-01 -1.65584825e+02] [-9.82295722e-01 -1.83911981e-02 1.86431967e-01 -6.03492361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-165.59, Z:-603.52 [[ 1.80457830e-02 -9.99745451e-01 1.35418704e-02 2.97579613e+02] [ 1.83645017e-01 1.66279049e-02 9.82851983e-01 -1.65587106e+02] [-9.82826972e-01 -1.52494365e-02 1.83898334e-01 -6.03520006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-165.56, Z:-603.55 [[ 1.98980997e-02 -9.99398812e-01 -2.83915499e-02 2.97603128e+02] [ 1.86652166e-01 -2.41846618e-02 9.82128337e-01 -1.65563307e+02] [-9.82224534e-01 -2.48418318e-02 1.86058724e-01 -6.03545218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-165.57, Z:-603.57 [[ 2.03373152e-02 -9.99792736e-01 9.37095599e-04 2.97590044e+02] [ 1.86424525e-01 4.71300822e-03 9.82457981e-01 -1.65569367e+02] [-9.82258770e-01 -1.98058601e-02 1.86481736e-01 -6.03574544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-164.51, Z:-603.50 [[-6.43207737e-02 6.42267218e-01 -7.63777231e-01 2.97368861e+02] [ 2.36774298e-01 -7.33684982e-01 -6.36902095e-01 -1.64507035e+02] [-9.69433221e-01 -2.21808853e-01 -1.04881184e-01 -6.03500568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-165.48, Z:-603.75 [[-2.51633507e-02 -9.82721195e-01 -1.83373551e-01 2.97695528e+02] [ 2.41480332e-01 -1.83974858e-01 9.52806644e-01 -1.65480060e+02] [-9.70079407e-01 -2.03052984e-02 2.41937265e-01 -6.03749060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-165.48, Z:-603.75 [[-2.45046666e-02 -9.83145711e-01 -1.81174040e-01 2.97695733e+02] [ 2.41942934e-01 -1.81673273e-01 9.53130861e-01 -1.65479827e+02] [-9.69980999e-01 -2.04776249e-02 2.42317001e-01 -6.03753499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.48, Z:-603.76 [[-2.32192233e-02 -9.83574721e-01 -1.79001775e-01 2.97694551e+02] [ 2.41878276e-01 -1.79257489e-01 9.53604558e-01 -1.65479621e+02] [-9.70028746e-01 -2.11546837e-02 2.42067578e-01 -6.03757828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.48, Z:-603.76 [[-2.09921821e-02 -9.84018848e-01 -1.76822609e-01 2.97692626e+02] [ 2.42126043e-01 -1.76600407e-01 9.54037356e-01 -1.65479866e+02] [-9.70017684e-01 -2.27860329e-02 2.41963818e-01 -6.03763231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.48, Z:-603.77 [[-2.02164037e-02 -9.84425606e-01 -1.74635402e-01 2.97690474e+02] [ 2.42279671e-01 -1.74288579e-01 9.54423414e-01 -1.65478885e+02] [-9.69995803e-01 -2.30155987e-02 2.42029801e-01 -6.03773711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.48, Z:-603.77 [[-1.97084787e-02 -9.84857998e-01 -1.72239076e-01 2.97688415e+02] [ 2.42286611e-01 -1.71842226e-01 9.54865146e-01 -1.65479988e+02] [-9.70004523e-01 -2.29122826e-02 2.42004656e-01 -6.03774304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.48, Z:-603.78 [[-1.98421167e-02 -9.85232439e-01 -1.70068611e-01 2.97686319e+02] [ 2.41715444e-01 -1.69783255e-01 9.55378088e-01 -1.65480418e+02] [-9.70144285e-01 -2.21514864e-02 2.41514756e-01 -6.03780055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-165.48, Z:-603.78 [[-2.11497179e-02 -9.85578015e-01 -1.67894807e-01 2.97684597e+02] [ 2.41066985e-01 -1.68004756e-01 9.55856219e-01 -1.65481110e+02] [-9.70278001e-01 -2.02578055e-02 2.41143574e-01 -6.03782783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-165.48, Z:-603.80 [[-2.13310007e-02 -9.85941360e-01 -1.65724542e-01 2.97682941e+02] [ 2.40695472e-01 -1.65951108e-01 9.56308486e-01 -1.65479341e+02] [-9.70366260e-01 -1.94901298e-02 2.40851524e-01 -6.03795295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-165.48, Z:-603.80 [[-2.20805010e-02 -9.86769919e-01 -1.60616246e-01 2.97680795e+02] [ 2.39927948e-01 -1.61190649e-01 9.57315076e-01 -1.65481197e+02] [-9.70539557e-01 -1.73983299e-02 2.40312852e-01 -6.03798233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-165.47, Z:-603.84 [[-1.98128347e-02 -9.87164698e-01 -1.58471798e-01 2.97678069e+02] [ 2.40267505e-01 -1.58559114e-01 9.57669324e-01 -1.65472467e+02] [-9.70504496e-01 -1.91014794e-02 2.40325105e-01 -6.03839414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.48, Z:-603.85 [[-2.11978067e-02 -9.90765046e-01 -1.33922654e-01 2.97667846e+02] [ 2.40011828e-01 -1.35078528e-01 9.61326227e-01 -1.65481641e+02] [-9.70538498e-01 -1.17650135e-02 2.40658698e-01 -6.03848538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.48, Z:-603.85 [[-2.50849198e-02 -9.90973884e-01 -1.31687161e-01 2.97667271e+02] [ 2.40785088e-01 -1.33839801e-01 9.61306116e-01 -1.65483319e+02] [-9.70254239e-01 -7.59401787e-03 2.41969095e-01 -6.03848950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.48, Z:-603.85 [[-2.67119316e-02 -9.91220996e-01 -1.29489038e-01 2.97666033e+02] [ 2.40822461e-01 -1.32101080e-01 9.61537231e-01 -1.65484125e+02] [-9.70201533e-01 -5.49935189e-03 2.42236954e-01 -6.03852159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-165.48, Z:-603.86 [[-2.78179941e-02 -9.91473946e-01 -1.27301112e-01 2.97664869e+02] [ 2.40757604e-01 -1.30246908e-01 9.61806383e-01 -1.65484085e+02] [-9.70186547e-01 -3.89318651e-03 2.42328099e-01 -6.03857247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.48, Z:-603.86 [[-2.85719159e-02 -9.91000801e-01 -1.30771015e-01 2.97665928e+02] [ 2.44373703e-01 -1.33779729e-01 9.60408495e-01 -1.65479020e+02] [-9.69260099e-01 -4.51628652e-03 2.45996879e-01 -6.03863617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-165.36, Z:-603.92 [[-1.67137787e-02 2.83239426e-02 9.99459056e-01 2.96735134e+02] [ 1.62100542e-01 9.86451280e-01 -2.52445327e-02 -1.65359630e+02] [-9.86632690e-01 1.61590923e-01 -2.10786549e-02 -6.03916223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.42, Z:-603.96 [[-3.31633899e-02 -9.88848718e-01 -1.45184032e-01 2.97668142e+02] [ 1.72540374e-01 -1.48747360e-01 9.73706343e-01 -1.65421499e+02] [-9.84444010e-01 7.24129602e-03 1.75549294e-01 -6.03958517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.39, Z:-603.99 [[-3.07706636e-02 -9.79910711e-01 -1.97048635e-01 2.97688098e+02] [ 1.79079309e-01 -1.99356878e-01 9.63424847e-01 -1.65389141e+02] [-9.83353328e-01 -5.64211159e-03 1.81616077e-01 -6.03986851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-165.35, Z:-604.07 [[-1.46863427e-02 -6.40847392e-02 9.97836388e-01 2.96760057e+02] [ 9.82598226e-02 9.93021217e-01 6.52216976e-02 -1.65346676e+02] [-9.95052420e-01 9.90050947e-02 -8.28689481e-03 -6.04070851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-165.32, Z:-604.15 [[-2.86959900e-02 -9.70886409e-01 -2.37815311e-01 2.97696892e+02] [ 1.06938245e-01 -2.39529698e-01 9.64981728e-01 -1.65319799e+02] [-9.93851474e-01 2.25955389e-03 1.10698431e-01 -6.04145669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-165.32, Z:-604.10 [[-2.51315862e-02 -9.67645250e-01 -2.51059900e-01 2.97704269e+02] [ 1.05720360e-01 -2.52303501e-01 9.61855576e-01 -1.65318239e+02] [-9.94078271e-01 -2.36918667e-03 1.08640591e-01 -6.04103931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.33, Z:-604.12 [[-2.66686785e-02 -9.74259258e-01 -2.23847449e-01 2.97691967e+02] [ 1.08278366e-01 -2.25424914e-01 9.68224873e-01 -1.65327786e+02] [-9.93762838e-01 1.58344185e-03 1.11502985e-01 -6.04121754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:-165.33, Z:-604.13 [[-2.10101920e-02 -9.72839881e-01 -2.30523617e-01 2.97694545e+02] [ 1.05395435e-01 -2.31444922e-01 9.67122045e-01 -1.65325443e+02] [-9.94208416e-01 -3.97671703e-03 1.07395585e-01 -6.04133364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-165.34, Z:-604.14 [[-1.94144800e-02 -9.81361395e-01 -1.91188103e-01 2.97678081e+02] [ 1.05368436e-01 -1.92167548e-01 9.75689052e-01 -1.65342978e+02] [-9.94243718e-01 -1.20269586e-03 1.07135349e-01 -6.04143212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.35, Z:-604.15 [[-1.81661411e-02 -9.82557535e-01 -1.85069397e-01 2.97674779e+02] [ 1.05091116e-01 -1.85951049e-01 9.76922753e-01 -1.65345092e+02] [-9.94296660e-01 -1.70223278e-03 1.06636080e-01 -6.04148660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.35, Z:-604.15 [[-1.69159593e-02 -9.83713404e-01 -1.78946332e-01 2.97671648e+02] [ 1.04470632e-01 -1.79731256e-01 9.78152628e-01 -1.65347384e+02] [-9.94384100e-01 -2.14824631e-03 1.05809487e-01 -6.04154707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.35, Z:-604.16 [[-1.54594754e-02 -9.84832405e-01 -1.72818227e-01 2.97668509e+02] [ 1.03991484e-01 -1.73485206e-01 9.79330718e-01 -1.65349099e+02] [-9.94458031e-01 -2.83168474e-03 1.05096173e-01 -6.04162605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.35, Z:-604.17 [[-1.49150868e-02 -9.85906030e-01 -1.66633848e-01 2.97665566e+02] [ 1.04005152e-01 -1.67278111e-01 9.80408569e-01 -1.65351157e+02] [-9.94464916e-01 -2.70789985e-03 1.05034274e-01 -6.04172464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-165.35, Z:-604.18 [[-1.41810713e-02 -9.86859375e-01 -1.60957981e-01 2.97663061e+02] [ 1.04258816e-01 -1.61556080e-01 9.81340783e-01 -1.65353557e+02] [-9.94449092e-01 -2.86482486e-03 1.05179828e-01 -6.04175296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-164.34, Z:-604.19 [[-8.04333693e-02 8.94761498e-01 -4.39240635e-01 2.97126298e+02] [ 1.24261062e-01 -4.28229567e-01 -8.95085821e-01 -1.64341777e+02] [-9.88984157e-01 -1.26575276e-01 -7.67400669e-02 -6.04189540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-165.16, Z:-604.35 [[-7.66651015e-02 -8.58953717e-01 -5.06281516e-01 2.97806052e+02] [ 1.33834121e-01 -5.12046061e-01 8.48467595e-01 -1.65158298e+02] [-9.88033851e-01 -2.70988742e-03 1.54213379e-01 -6.04350788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-165.16, Z:-604.36 [[-7.54573279e-02 -8.62110340e-01 -5.01070806e-01 2.97803186e+02] [ 1.34513637e-01 -5.06710838e-01 8.51557519e-01 -1.65160304e+02] [-9.88034551e-01 -3.14460149e-03 1.54200643e-01 -6.04363505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-165.16, Z:-604.37 [[-7.48999687e-02 -8.65887006e-01 -4.94600534e-01 2.97800008e+02] [ 1.35149083e-01 -5.00231887e-01 8.55279361e-01 -1.65164238e+02] [-9.87990243e-01 -2.78441130e-03 1.54491188e-01 -6.04367585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-165.16, Z:-604.45 [[-6.49663750e-02 -8.68550208e-01 -4.91324645e-01 2.97790770e+02] [ 1.41085371e-01 -4.95413601e-01 8.57123260e-01 -1.65157059e+02] [-9.87863497e-01 -1.36345286e-02 1.54724954e-01 -6.04448246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:297.74, Y:-165.12, Z:-604.96 [[-6.30336112e-02 -9.00041800e-01 -4.31220966e-01 2.97740012e+02] [ 1.48323085e-01 -4.35730134e-01 8.87772219e-01 -1.65119161e+02] [-9.86928076e-01 -8.00053515e-03 1.60962620e-01 -6.04963599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-165.18, Z:-604.50 [[-6.47674883e-02 1.11030022e-01 9.91704344e-01 2.96707222e+02] [ 6.32639338e-02 9.92248656e-01 -1.06959241e-01 -1.65175016e+02] [-9.95892990e-01 5.58116366e-02 -7.12896492e-02 -6.04499326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-164.93, Z:-604.57 [[-7.33204197e-02 -6.89344764e-01 -7.20713475e-01 2.97830510e+02] [ 7.66626708e-02 -7.24416031e-01 6.85087037e-01 -1.64929893e+02] [-9.94357557e-01 -5.02095076e-03 1.05961498e-01 -6.04572077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-164.93, Z:-604.59 [[-7.19607788e-02 -6.94154853e-01 -7.16219719e-01 2.97828389e+02] [ 7.99842125e-02 -7.19784901e-01 6.89573943e-01 -1.64933362e+02] [-9.94195238e-01 -7.66399227e-03 1.07317711e-01 -6.04585161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:-164.94, Z:-604.62 [[-6.77748068e-02 -7.01191898e-01 -7.09743966e-01 2.97824779e+02] [ 8.47548600e-02 -7.12854590e-01 6.96171637e-01 -1.64937548e+02] [-9.94094155e-01 -1.29713523e-02 1.07743003e-01 -6.04616731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:-164.97, Z:-604.63 [[-6.58018102e-02 -7.34861628e-01 -6.75017414e-01 2.97818581e+02] [ 8.66186750e-02 -6.78136614e-01 7.29813632e-01 -1.64965405e+02] [-9.94066058e-01 -1.04460558e-02 1.08275357e-01 -6.04633063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:-164.97, Z:-604.64 [[-6.24701293e-02 -7.39437914e-01 -6.70320114e-01 2.97816194e+02] [ 8.93328527e-02 -6.73078781e-01 7.34155703e-01 -1.64969211e+02] [-9.94040806e-01 -1.40188062e-02 1.08103417e-01 -6.04643105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-164.98, Z:-604.65 [[-6.02290792e-02 -7.47203745e-01 -6.61860273e-01 2.97813628e+02] [ 9.10505150e-02 -6.64412279e-01 7.41799250e-01 -1.64975553e+02] [-9.94023270e-01 -1.55848329e-02 1.08050226e-01 -6.04651245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-164.98, Z:-604.66 [[-5.68255325e-02 -7.54571131e-01 -6.53753216e-01 2.97810850e+02] [ 9.30581153e-02 -6.55963805e-01 7.49033827e-01 -1.64980774e+02] [-9.94037749e-01 -1.82727962e-02 1.07494460e-01 -6.04660153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-164.40, Z:-604.68 [[-1.49485731e-01 9.84325883e-01 9.35765615e-02 2.96838476e+02] [ 5.71730362e-02 1.03086480e-01 -9.93027906e-01 -1.64401315e+02] [-9.87109548e-01 -1.43093446e-01 -7.16868571e-02 -6.04676634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-164.74, Z:-604.84 [[-1.28501887e-01 -4.61011647e-01 -8.78040732e-01 2.97830496e+02] [ 8.99403206e-02 -8.87150111e-01 4.52631659e-01 -1.64739154e+02] [-9.87622399e-01 -2.08072425e-02 1.55463999e-01 -6.04836300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:-165.41, Z:-604.94 [[-4.78800263e-02 -8.89100748e-01 4.55200355e-01 2.97297659e+02] [ 3.33193176e-02 4.54047740e-01 8.90354128e-01 -1.65413023e+02] [-9.98297213e-01 5.77971442e-02 7.88441244e-03 -6.04936234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-165.40, Z:-605.05 [[ 1.29634627e-02 -8.87860426e-01 4.59930227e-01 2.97258970e+02] [ 1.49850036e-03 4.59985611e-01 8.87925105e-01 -1.65395045e+02] [-9.99914848e-01 -1.08213783e-02 7.29346547e-03 -6.05054940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-164.74, Z:-605.06 [[-3.72700765e-03 -5.12447367e-01 -8.58710548e-01 2.97757865e+02] [ 3.17152047e-02 -8.58345099e-01 5.12091629e-01 -1.64736961e+02] [-9.99489998e-01 -2.53256114e-02 1.94514319e-02 -6.05064001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-164.78, Z:-605.07 [[-1.25184645e-03 -5.73303590e-01 -8.19342069e-01 2.97760618e+02] [ 3.33247069e-02 -8.18911546e-01 5.72951432e-01 -1.64782536e+02] [-9.99443794e-01 -2.65870871e-02 2.01303256e-02 -6.05070985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-164.22, Z:-605.18 [[-9.41694790e-02 8.58056596e-01 -5.04847490e-01 2.97116954e+02] [ 4.88056647e-02 -5.02512313e-01 -8.63191394e-01 -1.64216907e+02] [-9.94359149e-01 -1.05925701e-01 5.44330017e-03 -6.05183192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-165.37, Z:-605.37 [[ 2.30637264e-02 -9.45452225e-01 3.24943311e-01 2.97328018e+02] [ 1.93086905e-02 3.25390405e-01 9.45382599e-01 -1.65372197e+02] [-9.99547517e-01 -1.55298157e-02 2.57601596e-02 -6.05369448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-165.20, Z:-605.37 [[ 2.05822379e-02 -9.78498907e-01 -2.05222467e-01 2.97595728e+02] [ 3.39307542e-02 -2.04464061e-01 9.78285823e-01 -1.65198043e+02] [-9.99212228e-01 -2.70986646e-02 2.89928779e-02 -6.05374632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-164.29, Z:-605.48 [[-5.27191174e-02 4.34330930e-01 -8.99209285e-01 2.97436023e+02] [ 1.01604169e-01 -8.93455520e-01 -4.37508660e-01 -1.64288803e+02] [-9.93427042e-01 -1.14428482e-01 2.97235335e-03 -6.05481507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-165.13, Z:-605.63 [[-2.62575202e-03 -9.26405117e-01 -3.76519142e-01 2.97668354e+02] [ 1.04924640e-01 -3.74697331e-01 9.21190930e-01 -1.65127440e+02] [-9.94476709e-01 -3.70873165e-02 9.81865857e-02 -6.05627929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-165.23, Z:-605.74 [[ 7.30289008e-03 -2.14806791e-01 9.76629259e-01 2.96747579e+02] [-5.39003080e-03 9.76632660e-01 2.14847844e-01 -1.65231364e+02] [-9.99958807e-01 -6.83307197e-03 5.97442574e-03 -6.05736677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-165.04, Z:-605.74 [[ 9.72713586e-03 -8.91238837e-01 -4.53429949e-01 2.97684252e+02] [ 4.25991067e-02 -4.52670405e-01 8.90659767e-01 -1.65044189e+02] [-9.99044893e-01 -2.79792793e-02 3.35627918e-02 -6.05742747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-164.19, Z:-605.84 [[-9.81586562e-02 8.82728041e-01 -4.59517230e-01 2.97071452e+02] [ 5.12081894e-02 -4.56655175e-01 -8.88168775e-01 -1.64190963e+02] [-9.93852403e-01 -1.10712499e-01 -3.78246413e-04 -6.05843644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-164.20, Z:-605.97 [[-1.55544764e-01 8.68384080e-01 -4.70866133e-01 2.97095886e+02] [ 8.17780202e-02 -4.63711667e-01 -8.82203971e-01 -1.64196654e+02] [-9.84438003e-01 -1.75728709e-01 1.11319109e-03 -6.05970625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-164.20, Z:-606.13 [[-2.11606815e-01 8.74188516e-01 -4.37054909e-01 2.97077837e+02] [ 1.09753810e-01 -4.23098390e-01 -8.99411949e-01 -1.64197735e+02] [-9.71172826e-01 -2.38290139e-01 -6.41501750e-03 -6.06133923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:-164.46, Z:-606.23 [[-2.63387143e-01 8.93642188e-01 3.63360499e-01 2.96674367e+02] [ 6.77111876e-02 3.92856811e-01 -9.17103441e-01 -1.64457006e+02] [-9.62310973e-01 -2.16949685e-01 -1.63983007e-01 -6.06226407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-165.03, Z:-606.31 [[-2.49341124e-01 1.09930729e-01 9.62156037e-01 2.96658686e+02] [-2.46986783e-04 9.93528911e-01 -1.13579230e-01 -1.65034314e+02] [-9.68415687e-01 -2.85576126e-02 -2.47700464e-01 -6.06313413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-164.39, Z:-606.63 [[-2.67054729e-01 -7.30192521e-02 -9.60911006e-01 2.97638189e+02] [ 4.19318773e-02 -9.97061324e-01 6.41126657e-02 -1.64387942e+02] [-9.62768658e-01 -2.31712118e-02 2.69331776e-01 -6.06631596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-164.41, Z:-606.74 [[-2.63051723e-01 -1.13967244e-01 -9.58026753e-01 2.97620239e+02] [ 6.32218952e-02 -9.92900351e-01 1.00756568e-01 -1.64409130e+02] [-9.62708047e-01 -3.40640781e-02 2.68389373e-01 -6.06743735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-164.46, Z:-606.75 [[-2.59860429e-01 -1.98202856e-01 -9.45086338e-01 2.97647561e+02] [ 5.97641754e-02 -9.80133557e-01 1.89120209e-01 -1.64455815e+02] [-9.63794999e-01 -7.33744691e-03 2.66543357e-01 -6.06752175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-164.45, Z:-606.78 [[-2.60190543e-01 -1.93784821e-01 -9.45911373e-01 2.97638060e+02] [ 6.25576045e-02 -9.80978272e-01 1.83761192e-01 -1.64450436e+02] [-9.63528634e-01 -1.13610253e-02 2.67363983e-01 -6.06782270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-164.14, Z:-606.71 [[-3.22340301e-01 8.49854848e-01 -4.16945401e-01 2.96983462e+02] [ 7.85550524e-02 -4.14921222e-01 -9.06459863e-01 -1.64136690e+02] [-9.43358804e-01 -3.24941713e-01 6.69854398e-02 -6.06706456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-164.68, Z:-606.73 [[-3.53045279e-01 6.03252010e-01 7.15154559e-01 2.96496555e+02] [ 1.60254197e-02 7.68162436e-01 -6.40054418e-01 -1.64675662e+02] [-9.35468982e-01 -2.14507539e-01 -2.80863488e-01 -6.06725405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-164.36, Z:-607.12 [[-3.63982927e-01 -9.05066501e-02 -9.26997829e-01 2.97553177e+02] [ 4.10087464e-02 -9.95859698e-01 8.11279587e-02 -1.64363607e+02] [-9.30502397e-01 -8.48582692e-03 3.66187492e-01 -6.07118420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-164.18, Z:-606.93 [[-4.28949977e-01 8.98500848e-01 -9.32638443e-02 2.96752518e+02] [ 2.56369268e-02 -9.10943348e-02 -9.95512215e-01 -1.64179326e+02] [-9.02964377e-01 -4.29415940e-01 1.60401124e-02 -6.06934468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:-164.18, Z:-607.05 [[-4.90045562e-01 8.66654082e-01 -9.36271833e-02 2.96731578e+02] [ 3.16914105e-02 -8.96239284e-02 -9.95471349e-01 -1.64177202e+02] [-8.71120544e-01 -4.90793494e-01 1.64543181e-02 -6.07053221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-164.17, Z:-607.17 [[-5.49806547e-01 8.29824495e-01 -9.54152447e-02 2.96701553e+02] [ 3.85586000e-02 -8.88940912e-02 -9.95294467e-01 -1.64173705e+02] [-8.34401579e-01 -5.50898492e-01 1.68776826e-02 -6.07173852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-165.20, Z:-607.65 [[-4.62275120e-01 -8.79898508e-01 1.09910553e-01 2.97146801e+02] [ 5.26765159e-02 9.64809521e-02 9.93939943e-01 -1.65198661e+02] [-8.85170547e-01 4.65263412e-01 1.74924395e-03 -6.07647585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:-165.19, Z:-607.73 [[-4.00563512e-01 -9.09998676e-01 1.07010667e-01 2.97066998e+02] [ 4.58527105e-02 9.67350840e-02 9.94253415e-01 -1.65189989e+02] [-9.15120977e-01 4.03168368e-01 2.97736092e-03 -6.07734250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.276559995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:297.04, Y:-164.32, Z:-608.25 [[-4.23490420e-01 -9.83516521e-02 -9.00545844e-01 2.97037395e+02] [ 5.81069426e-02 -9.94991069e-01 8.13409805e-02 -1.64317769e+02] [-9.04035092e-01 -1.78808396e-02 4.27084100e-01 -6.08249163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-164.67, Z:-607.44 [[-4.54561876e-01 4.87774097e-01 7.45285134e-01 2.96192494e+02] [-4.00454263e-02 8.24689146e-01 -5.64166798e-01 -1.64668555e+02] [-8.89814511e-01 -2.86293979e-01 -3.55339124e-01 -6.07442844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:-164.10, Z:-607.72 [[-5.27824662e-01 8.37541535e-01 -1.41157014e-01 2.96454019e+02] [-1.36851958e-02 -1.74558230e-01 -9.84551746e-01 -1.64097281e+02] [-8.49243099e-01 -5.17738931e-01 1.03598059e-01 -6.07716797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:-165.19, Z:-608.08 [[-4.35921538e-01 -8.83761155e-01 1.70113591e-01 2.96848808e+02] [-1.40503965e-02 1.95678132e-01 9.80567517e-01 -1.65185634e+02] [-8.99874991e-01 4.25060336e-01 -9.77175068e-02 -6.08081829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:-165.18, Z:-608.18 [[-3.75392074e-01 -9.15363180e-01 1.45571422e-01 2.96783753e+02] [-2.45559466e-02 1.66824559e-01 9.85680766e-01 -1.65175425e+02] [-9.26540769e-01 3.66442103e-01 -8.51022267e-02 -6.08176597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-165.17, Z:-608.28 [[-3.13105982e-01 -9.42663662e-01 1.15541615e-01 2.96724297e+02] [-3.27134129e-02 1.32291593e-01 9.90670867e-01 -1.65165792e+02] [-9.49154612e-01 3.06405214e-01 -7.22590346e-02 -6.08283746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-165.16, Z:-608.40 [[-2.48450812e-01 -9.66058725e-01 7.07300060e-02 2.96677660e+02] [-4.00694989e-02 8.32071896e-02 9.95726368e-01 -1.65156350e+02] [-9.67815390e-01 2.44554909e-01 -5.93823829e-02 -6.08400442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-164.18, Z:-608.46 [[-2.77388151e-01 1.88312110e-01 -9.42122265e-01 2.96739428e+02] [-3.26087468e-02 -9.81883505e-01 -1.86658654e-01 -1.64182349e+02] [-9.60204397e-01 -2.10554726e-02 2.78503472e-01 -6.08464982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-164.19, Z:-608.47 [[-2.76678191e-01 1.65424838e-01 -9.46617030e-01 2.96747815e+02] [-3.10815384e-02 -9.86096748e-01 -1.63239521e-01 -1.64193012e+02] [-9.60459847e-01 -1.57425017e-02 2.77973122e-01 -6.08473405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-164.20, Z:-608.50 [[-2.76263089e-01 1.61460657e-01 -9.47422378e-01 2.96740919e+02] [-2.77438480e-02 -9.86716157e-01 -1.60067190e-01 -1.64196482e+02] [-9.60681521e-01 -1.79355138e-02 2.77072793e-01 -6.08503418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-164.18, Z:-608.41 [[-3.44361066e-01 9.37318774e-01 5.33757565e-02 2.95956461e+02] [-5.21227956e-02 3.76778846e-02 -9.97929653e-01 -1.64175998e+02] [-9.37389284e-01 -3.46430213e-01 3.58808784e-02 -6.08412888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-164.18, Z:-608.55 [[-4.09706704e-01 9.11150469e-01 4.41048675e-02 2.95940558e+02] [-5.68250688e-02 2.27630267e-02 -9.98124620e-01 -1.64178860e+02] [-9.10445676e-01 -4.11444610e-01 4.24500235e-02 -6.08554328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-164.23, Z:-608.87 [[-4.00409169e-01 1.10658642e-01 -9.09630234e-01 2.96704365e+02] [-3.04911965e-02 -9.93740762e-01 -1.07468997e-01 -1.64231476e+02] [-9.15829015e-01 -1.52958575e-02 4.01277027e-01 -6.08874814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-164.23, Z:-608.88 [[-4.00033807e-01 1.04641872e-01 -9.10507019e-01 2.96705859e+02] [-3.09683811e-02 -9.94436611e-01 -1.00681606e-01 -1.64234323e+02] [-9.15977026e-01 -1.20791178e-02 4.01048853e-01 -6.08878425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-164.25, Z:-609.19 [[-3.97380547e-01 9.93889102e-02 -9.12255746e-01 2.96577383e+02] [-3.07546075e-02 -9.95001404e-01 -9.50071544e-02 -1.64248436e+02] [-9.17138406e-01 -9.69792761e-03 3.98450869e-01 -6.09187776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-164.73, Z:-608.57 [[-4.20270307e-01 3.86876215e-01 8.20792096e-01 2.95716576e+02] [-1.11513961e-01 8.75677284e-01 -4.69844582e-01 -1.64726503e+02] [-9.00520686e-01 -2.88991505e-01 -3.24879061e-01 -6.08568402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-164.21, Z:-608.80 [[-4.84462547e-01 8.56048473e-01 1.80213907e-01 2.95817026e+02] [-1.15069924e-01 1.41855292e-01 -9.83176479e-01 -1.64212015e+02] [-8.67211020e-01 -4.97049382e-01 2.97818570e-02 -6.08803234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-165.23, Z:-608.97 [[-4.31154196e-01 -6.84359383e-01 5.88012155e-01 2.96107825e+02] [-1.61533183e-01 6.99714337e-01 6.95921603e-01 -1.65233395e+02] [-8.87701014e-01 2.05066044e-01 -4.12231522e-01 -6.08966369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-164.13, Z:-609.33 [[-4.39417915e-01 3.46806283e-01 -8.28635806e-01 2.96404256e+02] [-1.58372172e-01 -9.37926665e-01 -3.08564135e-01 -1.64134118e+02] [-8.84211599e-01 -4.35575621e-03 4.67066244e-01 -6.09327903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-164.14, Z:-609.33 [[-4.39768360e-01 3.42935220e-01 -8.30059772e-01 2.96405576e+02] [-1.58697411e-01 -9.39356997e-01 -3.04012441e-01 -1.64136085e+02] [-8.83979028e-01 -1.96671555e-03 4.67522417e-01 -6.09332079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:-164.99, Z:-609.72 [[-3.82624122e-01 -8.10022883e-01 -4.44366639e-01 2.96427548e+02] [-1.21455392e-01 -4.32692794e-01 8.93322749e-01 -1.64990224e+02] [-9.15886111e-01 3.95777557e-01 6.71770534e-02 -6.09721368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:295.30, Y:-164.52, Z:-609.53 [[-4.32121836e-01 7.30075038e-01 5.29396975e-01 2.95302389e+02] [-1.72084719e-01 5.09493520e-01 -8.43091456e-01 -1.64518838e+02] [-8.85244355e-01 -4.55419358e-01 -9.45285172e-02 -6.09525786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-165.10, Z:-609.51 [[-3.76763385e-01 -9.04936766e-01 -1.97835291e-01 2.96394605e+02] [-1.48307428e-01 -1.51888353e-01 9.77207672e-01 -1.65102331e+02] [-9.14360027e-01 3.97516513e-01 -7.69828744e-02 -6.09507526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-164.17, Z:-609.60 [[-3.80643075e-01 3.85256102e-01 -8.40647718e-01 2.96223689e+02] [-1.59392574e-01 -9.22809568e-01 -3.50737094e-01 -1.64169564e+02] [-9.10881363e-01 4.87357517e-04 4.12668033e-01 -6.09604603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-164.19, Z:-609.69 [[-3.86963518e-01 3.77902244e-01 -8.41099952e-01 2.96191958e+02] [-1.45845824e-01 -9.25763552e-01 -3.48842144e-01 -1.64189096e+02] [-9.10487908e-01 -1.23182675e-02 4.13352186e-01 -6.09689184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-164.20, Z:-609.72 [[-3.87432495e-01 3.49253928e-01 -8.53180963e-01 2.96198750e+02] [-1.43226298e-01 -9.37027332e-01 -3.18537293e-01 -1.64204194e+02] [-9.10704282e-01 -1.21374708e-03 4.13057184e-01 -6.09717208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-164.21, Z:-609.74 [[-3.88413190e-01 3.43439362e-01 -8.55093327e-01 2.96191292e+02] [-1.39486329e-01 -9.39171173e-01 -3.13848805e-01 -1.64210395e+02] [-9.10867036e-01 -2.62918613e-03 4.12691568e-01 -6.09741256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-164.22, Z:-609.75 [[-3.87282634e-01 3.35973952e-01 -8.58564887e-01 2.96191971e+02] [-1.37987940e-01 -9.41871263e-01 -3.06329646e-01 -1.64215265e+02] [-9.11576377e-01 -1.64552167e-04 4.11130737e-01 -6.09750686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-164.22, Z:-609.76 [[-3.87418621e-01 3.33649177e-01 -8.59409704e-01 2.96190774e+02] [-1.36495456e-01 -9.42697094e-01 -3.04452263e-01 -1.64217178e+02] [-9.11743277e-01 -6.44956427e-04 4.10760004e-01 -6.09755945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-164.26, Z:-610.04 [[-3.95056354e-01 3.36545168e-01 -8.54791101e-01 2.96060831e+02] [-1.31582948e-01 -9.41614668e-01 -3.09915705e-01 -1.64255917e+02] [-9.09184472e-01 -9.95823529e-03 4.16274463e-01 -6.10044238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-165.32, Z:-609.66 [[-3.13071154e-01 -8.48695125e-01 4.26266393e-01 2.95902019e+02] [-1.61904228e-01 4.89952111e-01 8.56582716e-01 -1.65317033e+02] [-9.35827694e-01 1.99157009e-01 -2.90797202e-01 -6.09658545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-164.35, Z:-609.73 [[-3.88733770e-01 8.78880920e-01 2.76503861e-01 2.95326145e+02] [-1.89733353e-01 2.17313121e-01 -9.57484341e-01 -1.64348823e+02] [-9.01602635e-01 -4.24668502e-01 8.22760753e-02 -6.09726397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-164.22, Z:-610.06 [[-3.94217752e-01 4.25657198e-01 -8.14498812e-01 2.96018860e+02] [-1.77685841e-01 -9.04850979e-01 -3.86875235e-01 -1.64217438e+02] [-9.01676276e-01 -7.78817923e-03 4.32341576e-01 -6.10058894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-165.20, Z:-610.07 [[-3.11297401e-01 -9.33634279e-01 -1.77259588e-01 2.96112720e+02] [-1.65776718e-01 -1.30316608e-01 9.77515044e-01 -1.65199487e+02] [-9.35741422e-01 3.33683405e-01 -1.14207605e-01 -6.10068118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-164.24, Z:-610.20 [[-3.39404941e-01 4.75248836e-01 -8.11752937e-01 2.95899279e+02] [-1.57727754e-01 -8.79514494e-01 -4.48972395e-01 -1.64240614e+02] [-9.27322081e-01 -2.43474816e-02 3.73471496e-01 -6.10199932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-164.25, Z:-610.22 [[-3.41752005e-01 4.49695365e-01 -8.25214909e-01 2.95908112e+02] [-1.52370133e-01 -8.92979863e-01 -4.23521319e-01 -1.64253367e+02] [-9.27355870e-01 -1.90011547e-02 3.73697801e-01 -6.10223879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-164.27, Z:-610.29 [[-3.47019612e-01 4.41916358e-01 -8.27216611e-01 2.95887785e+02] [-1.41837745e-01 -8.96611648e-01 -4.19487315e-01 -1.64268589e+02] [-9.27070355e-01 -2.82397864e-02 3.73822246e-01 -6.10291279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-164.30, Z:-610.39 [[-3.54783020e-01 4.13619676e-01 -8.38479441e-01 2.95867482e+02] [-1.24657668e-01 -9.09738525e-01 -3.96025608e-01 -1.64296988e+02] [-9.26601033e-01 -3.59802695e-02 3.74320645e-01 -6.10393869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-164.31, Z:-610.41 [[-3.54605731e-01 3.74829063e-01 -8.56596725e-01 2.95885951e+02] [-1.22446020e-01 -9.26857038e-01 -3.54884493e-01 -1.64312772e+02] [-9.26963725e-01 -2.09572154e-02 3.74565144e-01 -6.10411787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-164.34, Z:-610.52 [[-3.66010746e-01 3.60522774e-01 -8.57939079e-01 2.95851742e+02] [-9.10155688e-02 -9.31357850e-01 -3.52546057e-01 -1.64340673e+02] [-9.26149178e-01 -5.09498321e-02 3.73700167e-01 -6.10520753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.476559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-164.37, Z:-610.55 [[-3.65059728e-01 2.86044684e-01 -8.85951372e-01 2.95886955e+02] [-8.84497618e-02 -9.57980713e-01 -2.72854529e-01 -1.64371595e+02] [-9.26772915e-01 -2.12460120e-02 3.75020762e-01 -6.10546181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-164.38, Z:-610.59 [[-3.65930833e-01 2.80357834e-01 -8.87408649e-01 2.95873063e+02] [-8.27606347e-02 -9.59569861e-01 -2.69028547e-01 -1.64378739e+02] [-9.26954855e-01 -2.50033372e-02 3.74338791e-01 -6.10588172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-164.39, Z:-610.60 [[-3.64567061e-01 2.66369388e-01 -8.92265772e-01 2.95878281e+02] [-8.24734325e-02 -9.63683561e-01 -2.53992376e-01 -1.64385325e+02] [-9.27517650e-01 -1.90090329e-02 3.73295681e-01 -6.10595868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-164.43, Z:-610.72 [[-3.80661115e-01 2.39746968e-01 -8.93094904e-01 2.95841341e+02] [-1.80839652e-02 -9.67551334e-01 -2.52026560e-01 -1.64427419e+02] [-9.24537769e-01 -7.97860143e-02 3.72644745e-01 -6.10715906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-164.50, Z:-610.76 [[-3.77540337e-01 8.63933666e-02 -9.21954164e-01 2.95901411e+02] [-1.71113243e-02 -9.96119115e-01 -8.63360369e-02 -1.64497651e+02] [-9.25835027e-01 -1.68194797e-02 3.77553451e-01 -6.10764574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-164.51, Z:-610.85 [[-3.78411075e-01 7.30806701e-02 -9.22748218e-01 2.95873256e+02] [-5.59705701e-03 -9.97040870e-01 -7.66692638e-02 -1.64506831e+02] [-9.25620727e-01 -2.38478242e-02 3.77700345e-01 -6.10846187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-165.39, Z:-610.90 [[-3.02582372e-01 -9.52592191e-01 -3.18123509e-02 2.95733640e+02] [-1.22353846e-02 -2.94920735e-02 9.99490127e-01 -1.65386348e+02] [-9.53044702e-01 3.02817329e-01 -2.73155032e-03 -6.10900248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-165.39, Z:-611.01 [[-2.41340363e-01 -9.69921494e-01 -3.17352299e-02 2.95668408e+02] [-9.25289847e-03 -3.04005066e-02 9.99494969e-01 -1.65389599e+02] [-9.70396421e-01 2.41512122e-01 -1.63771580e-03 -6.11006242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-164.44, Z:-610.96 [[-3.14995035e-01 9.48400093e-01 3.62683333e-02 2.94924678e+02] [-2.01119065e-02 3.15350085e-02 -9.99300283e-01 -1.64438412e+02] [-9.48880203e-01 -3.15504053e-01 9.14076287e-03 -6.10956758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-164.44, Z:-611.08 [[-3.76279689e-01 9.25683117e-01 3.90430838e-02 2.94913559e+02] [-2.38488547e-02 3.24490881e-02 -9.99188815e-01 -1.64439057e+02] [-9.26199130e-01 -3.76905589e-01 9.86654935e-03 -6.11081684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-165.40, Z:-611.46 [[-3.11120878e-01 -9.49730653e-01 -3.48638215e-02 2.95557504e+02] [-8.38633145e-03 -3.39394611e-02 9.99388704e-01 -1.65395647e+02] [-9.50333346e-01 3.11223071e-01 2.59451889e-03 -6.11456178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-164.44, Z:-611.35 [[-3.74640319e-01 9.26270546e-01 4.08351279e-02 2.94811834e+02] [-2.52145806e-02 3.38479296e-02 -9.99108874e-01 -1.64443481e+02] [-9.26827307e-01 -3.75336108e-01 1.06747242e-02 -6.11354626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-165.40, Z:-611.73 [[-3.13043259e-01 -9.49071957e-01 -3.55856483e-02 2.95460802e+02] [-7.23240555e-03 -3.50855921e-02 9.99358141e-01 -1.65400462e+02] [-9.49711330e-01 3.13099699e-01 4.11923481e-03 -6.11725662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-165.40, Z:-611.83 [[-2.48245447e-01 -9.67951152e-01 -3.80100697e-02 2.95393810e+02] [-4.67286448e-03 -3.80413041e-02 9.99265242e-01 -1.65402732e+02] [-9.68685895e-01 2.48240663e-01 4.92047599e-03 -6.11834759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-164.45, Z:-611.78 [[-3.10140519e-01 9.49599095e-01 4.55457787e-02 2.94637074e+02] [-2.36622157e-02 4.01828719e-02 -9.98912127e-01 -1.64453410e+02] [-9.50396211e-01 -3.10880839e-01 1.00072819e-02 -6.11784164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-165.41, Z:-612.12 [[-2.47872359e-01 -9.68002788e-01 -3.91138758e-02 2.95311380e+02] [-4.94163100e-03 -3.91099892e-02 9.99222692e-01 -1.65406599e+02] [-9.68780096e-01 2.47872972e-01 4.91077270e-03 -6.12118493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-165.41, Z:-612.23 [[-1.81377264e-01 -9.82374697e-01 -4.51911922e-02 2.95254058e+02] [-2.85985501e-03 -4.54262956e-02 9.98963599e-01 -1.65407447e+02] [-9.83409431e-01 1.81318525e-01 5.42984801e-03 -6.12231689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-165.41, Z:-612.35 [[-1.14179089e-01 -9.92140533e-01 -5.11888426e-02 2.95204888e+02] [-1.78949921e-04 -5.15052716e-02 9.98672707e-01 -1.65408110e+02] [-9.93460167e-01 1.14036700e-01 5.70328154e-03 -6.12345156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-164.47, Z:-612.39 [[-1.79433160e-01 9.82045842e-01 5.82211778e-02 2.94436028e+02] [-1.59482231e-02 5.62701579e-02 -9.98288197e-01 -1.64468802e+02] [-9.83640887e-01 -1.80054530e-01 5.56515395e-03 -6.12391472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-165.41, Z:-612.64 [[-1.13300119e-01 -9.92650399e-01 -4.25237437e-02 2.95156095e+02] [-3.41964547e-03 -4.24094833e-02 9.99094461e-01 -1.65413582e+02] [-9.93554925e-01 1.13342937e-01 1.41048707e-03 -6.12637201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-164.54, Z:-612.69 [[-1.17273459e-01 6.50108992e-02 -9.90969484e-01 2.95228120e+02] [-2.89649631e-03 -9.97873169e-01 -6.51210263e-02 -1.64543049e+02] [-9.93095437e-01 -4.76662856e-03 1.17212342e-01 -6.12686792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-164.44, Z:-612.72 [[-1.82375162e-01 9.82628865e-01 -3.43484217e-02 2.94437304e+02] [-3.95802456e-03 -3.56677310e-02 -9.99355866e-01 -1.64438684e+02] [-9.83221051e-01 -1.82121736e-01 1.03941774e-02 -6.12721802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-164.43, Z:-612.86 [[-2.49313754e-01 9.66788774e-01 -5.62327180e-02 2.94455140e+02] [-1.87340833e-04 -5.81144380e-02 -9.98309910e-01 -1.64432672e+02] [-9.68422747e-01 -2.48881857e-01 1.46698477e-02 -6.12857379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-164.43, Z:-612.98 [[-3.14923427e-01 9.46448887e-01 -7.11177866e-02 2.94463213e+02] [ 4.65234384e-03 -7.33902279e-02 -9.97292450e-01 -1.64429342e+02] [-9.49105680e-01 -3.14401620e-01 1.87090964e-02 -6.12982598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-165.46, Z:-613.29 [[-2.42495311e-01 -9.66428775e-01 8.49202335e-02 2.95009707e+02] [ 5.92819415e-03 8.60551305e-02 9.96272739e-01 -1.65463480e+02] [-9.70134465e-01 2.42094892e-01 -1.51387883e-02 -6.13294508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-164.45, Z:-613.25 [[-3.16480037e-01 9.48543290e-01 1.02962619e-02 2.94341938e+02] [-3.02784311e-03 9.84400397e-03 -9.99946963e-01 -1.64453865e+02] [-9.48594338e-01 -3.16494427e-01 -2.43390477e-04 -6.13252788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-164.58, Z:-613.54 [[-3.16892092e-01 -7.02620299e-03 -9.48435572e-01 2.95154686e+02] [ 7.70740949e-03 -9.99958620e-01 4.83269002e-03 -1.64580987e+02] [-9.48430281e-01 -5.77854008e-03 3.16933132e-01 -6.13535423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-164.58, Z:-613.54 [[-3.19308755e-01 -6.77798435e-03 -9.47626497e-01 2.95152412e+02] [ 9.96618542e-03 -9.99943139e-01 3.79401452e-03 -1.64580703e+02] [-9.47598330e-01 -8.23275933e-03 3.19358149e-01 -6.13537905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-165.51, Z:-613.56 [[-2.42988208e-01 -9.25181121e-01 2.91541804e-01 2.94802915e+02] [-1.40731620e-02 3.03880150e-01 9.52606320e-01 -1.65509860e+02] [-9.69927150e-01 2.27369188e-01 -8.68595169e-02 -6.13562567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-164.55, Z:-613.76 [[-2.57207046e-01 5.58972786e-02 -9.64738322e-01 2.95031937e+02] [ 2.52047648e-02 -9.97597997e-01 -6.45209741e-02 -1.64554156e+02] [-9.66027565e-01 -4.09112517e-02 2.55180356e-01 -6.13763782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:-164.48, Z:-613.67 [[-3.23852469e-01 9.43768105e-01 6.64931718e-02 2.94195447e+02] [ 8.51923296e-03 7.31868435e-02 -9.97281860e-01 -1.64478170e+02] [-9.46069237e-01 -3.22405722e-01 -3.17419203e-02 -6.13673028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-164.49, Z:-613.80 [[-3.87138105e-01 9.16881771e-01 9.72209120e-02 2.94170485e+02] [ 5.74667545e-04 1.05683114e-01 -9.94399693e-01 -1.64486216e+02] [-9.22021560e-01 -3.84914143e-01 -4.14408626e-02 -6.13796304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-165.38, Z:-614.22 [[-3.09942961e-01 -9.43528331e-01 -1.17002775e-01 2.94866252e+02] [ 2.25321835e-02 -1.30318011e-01 9.91216181e-01 -1.65380079e+02] [-9.50488118e-01 3.04584150e-01 6.16509037e-02 -6.14215318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-164.59, Z:-614.31 [[-3.34349977e-01 -3.69467371e-02 -9.41724499e-01 2.94912524e+02] [ 3.17668177e-02 -9.99105286e-01 2.79194665e-02 -1.64590035e+02] [-9.41913458e-01 -2.05807175e-02 3.35224510e-01 -6.14307617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-165.50, Z:-614.29 [[-2.42540541e-01 -9.32332547e-01 2.68197888e-01 2.94588305e+02] [ 5.17246460e-03 2.75205729e-01 9.61371443e-01 -1.65500803e+02] [-9.70127482e-01 2.34558794e-01 -6.19260893e-02 -6.14291274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-165.48, Z:-614.41 [[-1.77418729e-01 -9.60349262e-01 2.15062525e-01 2.94558932e+02] [-9.33690612e-03 2.20162122e-01 9.75418609e-01 -1.65481529e+02] [-9.84091163e-01 1.71049511e-01 -4.80275746e-02 -6.14413220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-164.39, Z:-614.45 [[-2.67142160e-01 9.54336711e-01 -1.33703063e-01 2.94040823e+02] [-9.94321491e-03 -1.41467854e-01 -9.89892913e-01 -1.64389965e+02] [-9.63605832e-01 -2.63112693e-01 4.72812030e-02 -6.14452750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:-164.38, Z:-614.59 [[-3.31206239e-01 9.24654905e-01 -1.87924810e-01 2.94068762e+02] [ 4.38365936e-03 -1.97655998e-01 -9.80261644e-01 -1.64380595e+02] [-9.43548203e-01 -3.25492571e-01 6.14115275e-02 -6.14585522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-165.49, Z:-614.86 [[-2.41490010e-01 -9.42589705e-01 2.30666912e-01 2.94463529e+02] [-3.01549791e-03 2.38429875e-01 9.71155035e-01 -1.65490954e+02] [-9.70398620e-01 2.33828663e-01 -6.04208101e-02 -6.14856727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:-165.47, Z:-614.99 [[-1.69640553e-01 -9.61290728e-01 2.17122592e-01 2.94415331e+02] [-4.53375405e-03 2.21074762e-01 9.75246325e-01 -1.65472333e+02] [-9.85495575e-01 1.64456945e-01 -4.18615006e-02 -6.14987961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-164.99, Z:-614.94 [[-2.21490472e-01 4.40758794e-01 8.69869908e-01 2.93567120e+02] [-1.00665831e-01 8.76925572e-01 -4.69965884e-01 -1.64985840e+02] [-9.69952763e-01 -1.91659142e-01 -1.49861308e-01 -6.14941662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:-164.39, Z:-615.21 [[-2.36253466e-01 3.51759385e-01 -9.05786749e-01 2.94472755e+02] [-7.36171180e-02 -9.35975708e-01 -3.44281853e-01 -1.64388950e+02] [-9.68898767e-01 -1.46563710e-02 2.47023017e-01 -6.15210564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-165.46, Z:-615.38 [[-1.35792765e-01 -9.77137718e-01 1.63591580e-01 2.94346676e+02] [-7.83349108e-02 1.75193491e-01 9.81412697e-01 -1.65460826e+02] [-9.87635544e-01 1.20453812e-01 -1.00334004e-01 -6.15377314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-164.99, Z:-615.25 [[-1.77112268e-01 4.19292049e-01 8.90407447e-01 2.93493928e+02] [-1.82424174e-01 8.75047390e-01 -4.48345276e-01 -1.64994257e+02] [-9.67136322e-01 -2.41839292e-01 -7.84926221e-02 -6.15249115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-164.33, Z:-615.72 [[-2.16696268e-01 6.84120673e-01 -6.96434945e-01 2.94125001e+02] [-1.55880331e-01 -7.28480013e-01 -6.67096839e-01 -1.64334734e+02] [-9.63713676e-01 -3.59968853e-02 2.64499857e-01 -6.15721506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-165.28, Z:-615.81 [[-1.14670136e-01 -9.15042717e-01 -3.86713830e-01 2.94511067e+02] [-1.04511327e-01 -3.76009079e-01 9.20703294e-01 -1.65275861e+02] [-9.87890754e-01 1.45993147e-01 -5.25153168e-02 -6.15811516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-165.19, Z:-615.51 [[-1.27791203e-01 1.36452507e-01 9.82369646e-01 2.93472105e+02] [-2.11870068e-01 9.63870790e-01 -1.61444032e-01 -1.65185418e+02] [-9.68906849e-01 -2.28765851e-01 -9.42640055e-02 -6.15510930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-164.31, Z:-615.77 [[-1.53357956e-01 8.21254427e-01 -5.49565741e-01 2.93975917e+02] [-1.95342384e-01 -5.70364958e-01 -7.97825274e-01 -1.64311592e+02] [-9.68670579e-01 -1.49993714e-02 2.47895802e-01 -6.15773554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-164.31, Z:-615.79 [[-1.54169074e-01 8.17358976e-01 -5.55118186e-01 2.93978689e+02] [-1.93648374e-01 -5.75934777e-01 -7.94228833e-01 -1.64314902e+02] [-9.68881935e-01 -1.49477900e-02 2.47071568e-01 -6.15787257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-164.37, Z:-616.05 [[-1.55236761e-01 8.13050491e-01 -5.61115360e-01 2.93945938e+02] [-1.93157232e-01 -5.82019048e-01 -7.89901330e-01 -1.64367897e+02] [-9.68809492e-01 -1.42382342e-02 2.47397334e-01 -6.16052175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.976559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-165.27, Z:-615.67 [[-1.27155348e-01 -3.80718458e-02 9.91151882e-01 2.93504957e+02] [-2.74617487e-01 9.61552043e-01 1.70405665e-03 -1.65266494e+02] [-9.53108993e-01 -2.71970959e-01 -1.32721679e-01 -6.15669009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-164.33, Z:-615.99 [[-1.56573702e-01 8.83216416e-01 -4.42055922e-01 2.93874314e+02] [-2.59901088e-01 -4.68646334e-01 -8.44287888e-01 -1.64331478e+02] [-9.52856810e-01 -1.73024649e-02 3.02926599e-01 -6.15994109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-164.33, Z:-616.01 [[-1.57771606e-01 8.79970888e-01 -4.48061778e-01 2.93877471e+02] [-2.59089913e-01 -4.74736855e-01 -8.41128608e-01 -1.64333788e+02] [-9.52880128e-01 -1.66179237e-02 3.02891577e-01 -6.16005256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:293.88, Y:-164.34, Z:-616.02 [[-1.59552258e-01 8.78082082e-01 -4.51126296e-01 2.93877727e+02] [-2.58064030e-01 -4.78189103e-01 -8.39486830e-01 -1.64337784e+02] [-9.52862022e-01 -1.75225493e-02 3.02897552e-01 -6.16022666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0965599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:293.87, Y:-164.35, Z:-616.05 [[-1.63940108e-01 8.77813988e-01 -4.50073598e-01 2.93871228e+02] [-2.60764076e-01 -4.78580224e-01 -8.38428928e-01 -1.64347912e+02] [-9.51380964e-01 -2.00891032e-02 3.07360847e-01 -6.16050338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-165.16, Z:-616.04 [[-8.18752768e-02 -7.92764115e-01 -6.04004550e-01 2.94515245e+02] [-2.01918358e-01 -5.80276635e-01 7.88991764e-01 -1.65164628e+02] [-9.75974086e-01 1.86558526e-01 -1.12563319e-01 -6.16037086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-164.42, Z:-616.20 [[-1.12453434e-01 9.25504761e-01 -3.61656140e-01 2.93766976e+02] [-2.19816543e-01 -3.78117853e-01 -8.99281700e-01 -1.64416756e+02] [-9.69038138e-01 -2.16293133e-02 2.45961908e-01 -6.16197378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.41, Z:-616.21 [[-1.10347896e-01 9.13465373e-01 -3.91668679e-01 2.93784768e+02] [-2.20227906e-01 -4.06751731e-01 -8.86596131e-01 -1.64413608e+02] [-9.69186778e-01 -1.15776449e-02 2.46054765e-01 -6.16206254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.44, Z:-616.34 [[-1.16664640e-01 9.11647601e-01 -3.94066002e-01 2.93775326e+02] [-2.18420025e-01 -4.10612436e-01 -8.85262741e-01 -1.64443738e+02] [-9.68856055e-01 -1.72069526e-02 2.47026044e-01 -6.16335535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.80, Y:-164.43, Z:-616.29 [[-1.16993162e-01 8.96930128e-01 -4.26414055e-01 2.93800565e+02] [-2.16690112e-01 -4.42071682e-01 -8.70412560e-01 -1.64428474e+02] [-9.69204827e-01 -9.43260834e-03 2.46075253e-01 -6.16289602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-164.43, Z:-616.30 [[-1.12685387e-01 8.90527056e-01 -4.40753408e-01 2.93810269e+02] [-2.17528874e-01 -4.54928027e-01 -8.63551782e-01 -1.64428632e+02] [-9.69527304e-01 -1.43307430e-03 2.44979088e-01 -6.16298332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-164.49, Z:-616.58 [[-1.13447919e-01 8.85861703e-01 -4.49865106e-01 2.93790553e+02] [-2.12148578e-01 -4.63944477e-01 -8.60086335e-01 -1.64488891e+02] [-9.70629976e-01 -2.13676214e-03 2.40567836e-01 -6.16583291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3365599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.51, Z:-616.66 [[-1.18523651e-01 8.83264301e-01 -4.53647791e-01 2.93781721e+02] [-2.17180164e-01 -4.68866149e-01 -8.56152621e-01 -1.64507349e+02] [-9.68909140e-01 -2.95103240e-03 2.47399213e-01 -6.16658544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.80, Y:-164.51, Z:-616.67 [[-1.20149856e-01 8.70753693e-01 -4.76814448e-01 2.93796401e+02] [-2.16496196e-01 -4.91715795e-01 -8.43412695e-01 -1.64507633e+02] [-9.68861915e-01 1.89259971e-03 2.47594444e-01 -6.16671008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.396559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:293.83, Y:-164.45, Z:-616.40 [[-1.22473699e-01 8.68780249e-01 -4.79813581e-01 2.93831750e+02] [-2.13214472e-01 -4.95197097e-01 -8.42211033e-01 -1.64449116e+02] [-9.69298603e-01 -8.45501391e-04 2.45885142e-01 -6.16403473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:293.85, Y:-164.45, Z:-616.41 [[-1.20416242e-01 8.53673084e-01 -5.06697341e-01 2.93850103e+02] [-2.14889307e-01 -5.20724560e-01 -8.26237568e-01 -1.64448968e+02] [-9.69186522e-01 9.39141724e-03 2.46148912e-01 -6.16413708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.85, Y:-164.45, Z:-616.43 [[-1.21454847e-01 8.51332819e-01 -5.10373541e-01 2.93850829e+02] [-2.14256872e-01 -5.24544009e-01 -8.23982752e-01 -1.64452845e+02] [-9.69196942e-01 9.27433940e-03 2.46112319e-01 -6.16433711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.76, Y:-165.72, Z:-616.54 [[-1.13052403e-01 -7.40003117e-01 6.63034343e-01 2.93758388e+02] [-2.41175890e-01 6.67793180e-01 7.04192061e-01 -1.65717435e+02] [-9.63874133e-01 -8.02972927e-02 -2.53966534e-01 -6.16543328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.516559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.30, Y:-165.47, Z:-616.51 [[-2.12508174e-02 -9.59703545e-01 -2.80209758e-01 2.94302080e+02] [-2.21241103e-01 -2.68810329e-01 9.37439801e-01 -1.65467297e+02] [-9.74987578e-01 8.19152781e-02 -2.06613432e-01 -6.16509345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-164.63, Z:-616.96 [[ 2.67492938e-02 9.96878614e-01 -7.42799072e-02 2.93506642e+02] [-2.00206842e-01 -6.74584745e-02 -9.77428552e-01 -1.64629176e+02] [-9.79388430e-01 4.10168691e-02 1.97777452e-01 -6.16964270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5765599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:293.35, Y:-164.77, Z:-616.98 [[ 1.66893298e-02 9.67948818e-01 2.50592401e-01 2.93347222e+02] [-2.05008457e-01 2.48615249e-01 -9.46658328e-01 -1.64772064e+02] [-9.78617902e-01 -3.55744684e-02 2.02586916e-01 -6.16975294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.42, Y:-164.72, Z:-617.02 [[ 1.35885545e-02 9.95606265e-01 9.26472704e-02 2.93416166e+02] [-2.19094631e-01 9.33688484e-02 -9.71225927e-01 -1.64724367e+02] [-9.75608986e-01 -7.10096311e-03 2.19400735e-01 -6.17015235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.636559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.45, Y:-164.70, Z:-617.05 [[ 9.32465568e-03 9.99803214e-01 1.75095525e-02 2.93454039e+02] [-2.20394153e-01 1.91345868e-02 -9.75223198e-01 -1.64703131e+02] [-9.75366325e-01 5.23461753e-03 2.20529206e-01 -6.17052835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:294.22, Y:-165.65, Z:-616.85 [[ 8.01853727e-02 -9.95240276e-01 -5.53814021e-02 2.94218373e+02] [-1.98464204e-01 -7.03885588e-02 9.77577317e-01 -1.65653288e+02] [-9.76822536e-01 -6.73961757e-02 -2.03163702e-01 -6.16851921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6965599949999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:293.32, Y:-164.89, Z:-617.12 [[ 8.69435388e-02 9.18537083e-01 3.85655867e-01 2.93322013e+02] [-2.12775208e-01 3.95310693e-01 -8.93563746e-01 -1.64888478e+02] [-9.73225324e-01 -4.36841309e-03 2.29811629e-01 -6.17118236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:293.33, Y:-164.89, Z:-617.16 [[ 8.07158729e-02 9.25857818e-01 3.69150714e-01 2.93327900e+02] [-2.15218046e-01 3.77811572e-01 -9.00521854e-01 -1.64892458e+02] [-9.73224610e-01 -6.76148766e-03 2.29756701e-01 -6.17155842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.756559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.37, Y:-165.49, Z:-616.95 [[ 1.46989061e-01 -8.94659175e-01 -4.21875784e-01 2.94368442e+02] [-1.63146179e-01 -4.42595338e-01 8.81755460e-01 -1.65487868e+02] [-9.75590867e-01 -6.07809847e-02 -2.11016899e-01 -6.16947027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.43, Y:-165.34, Z:-616.96 [[ 2.05546023e-01 -7.39570527e-01 -6.40926102e-01 2.94425499e+02] [-1.11718521e-01 -6.68360991e-01 7.35399591e-01 -1.65342882e+02] [-9.72249867e-01 -7.95551454e-02 -2.20002669e-01 -6.16964179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8165599949999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:294.44, Y:-165.15, Z:-616.99 [[ 2.41705435e-01 -4.81774148e-01 -8.42301699e-01 2.94439957e+02] [-4.42533673e-02 -8.72609106e-01 4.86410308e-01 -1.65154757e+02] [-9.69340045e-01 -8.02933289e-02 -2.32234492e-01 -6.16989017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:294.40, Y:-164.98, Z:-617.01 [[ 2.55540156e-01 -1.87438376e-01 -9.48454577e-01 2.94396526e+02] [ 3.12555875e-02 -9.78911702e-01 2.01878595e-01 -1.64984190e+02] [-9.66293080e-01 -8.12325928e-02 -2.44292753e-01 -6.17014760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.876559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.31, Y:-164.84, Z:-617.04 [[ 2.46100719e-01 1.11844738e-01 -9.62769542e-01 2.94307152e+02] [ 1.07957911e-01 -9.90302009e-01 -8.74472507e-02 -1.64841522e+02] [-9.63213126e-01 -8.24177567e-02 -2.55788561e-01 -6.17035827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:294.18, Y:-164.73, Z:-617.06 [[ 2.13787122e-01 3.90920289e-01 -8.95252140e-01 2.94184150e+02] [ 1.80034573e-01 -9.16508964e-01 -3.57209843e-01 -1.64733302e+02] [-9.60147186e-01 -8.48094729e-02 -2.66316981e-01 -6.17058099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9365599949999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:294.05, Y:-164.67, Z:-617.08 [[ 1.63281145e-01 6.28732441e-01 -7.60285990e-01 2.94046091e+02] [ 2.39286054e-01 -7.72856073e-01 -5.87737760e-01 -1.64670507e+02] [-9.57121441e-01 -8.59593396e-02 -2.76639729e-01 -6.17080755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:293.90, Y:-164.65, Z:-617.10 [[ 9.87519360e-02 8.12156265e-01 -5.75021962e-01 2.93903609e+02] [ 2.82785925e-01 -5.76926582e-01 -7.66281828e-01 -1.64649033e+02] [-9.54086042e-01 -8.69363032e-02 -2.86638977e-01 -6.17103049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.996559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.77, Y:-164.66, Z:-617.13 [[ 2.32543120e-02 9.33744969e-01 -3.57182825e-01 2.93766318e+02] [ 3.09315397e-01 -3.46468540e-01 -8.85597841e-01 -1.64664887e+02] [-9.50675140e-01 -8.98881790e-02 -2.96878584e-01 -6.17126184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:293.64, Y:-164.71, Z:-617.15 [[-5.48969266e-02 9.90761378e-01 -1.24008946e-01 2.93640651e+02] [ 3.13580511e-01 -1.00805412e-01 -9.44195707e-01 -1.64712732e+02] [-9.47973413e-01 -9.07202312e-02 -3.05149552e-01 -6.17148321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0565599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:294.31, Y:-165.63, Z:-617.51 [[-1.48115503e-02 -9.93941627e-01 -1.08906656e-01 2.94311417e+02] [ 3.32772756e-01 -1.07609702e-01 9.36847076e-01 -1.65629940e+02] [-9.42890720e-01 -2.23650105e-02 3.32350562e-01 -6.17507994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:294.29, Y:-165.46, Z:-618.02 [[-1.34085426e-02 -9.94931306e-01 -9.96589589e-02 2.94287929e+02] [ 3.35244104e-01 -9.83723518e-02 9.36981468e-01 -1.65457819e+02] [-9.42035881e-01 -2.08465225e-02 3.34863884e-01 -6.18024151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.116559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:293.37, Y:-165.00, Z:-617.37 [[-9.78821991e-02 7.57453367e-01 6.45510242e-01 2.93368548e+02] [ 2.55766071e-01 6.45984743e-01 -7.19226966e-01 -1.65003398e+02] [-9.61770655e-01 9.47001012e-02 -2.56961279e-01 -6.17371228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:293.46, Y:-164.69, Z:-617.68 [[-1.81842234e-01 9.39038654e-01 2.91787265e-01 2.93458512e+02] [ 2.32448978e-01 3.29374158e-01 -9.15139408e-01 -1.64686290e+02] [-9.55458463e-01 -9.85853434e-02 -2.78172708e-01 -6.17675946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1765599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:294.48, Y:-165.24, Z:-617.93 [[-1.44825871e-01 -8.37743525e-01 -5.26508550e-01 2.94477408e+02] [ 2.77459970e-01 -5.45153746e-01 7.91089981e-01 -1.65244186e+02] [-9.49758618e-01 -3.15147513e-02 3.11392660e-01 -6.17933994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:293.33, Y:-164.75, Z:-617.99 [[-2.28724727e-01 8.07597934e-01 5.43572052e-01 2.93334343e+02] [ 1.89716828e-01 5.84646504e-01 -7.88794010e-01 -1.64747439e+02] [-9.54825913e-01 -7.72919290e-02 -2.86938030e-01 -6.17989097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.236559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:294.58, Y:-165.15, Z:-617.72 [[-2.09637859e-01 -6.94396702e-01 -6.88378667e-01 2.94584421e+02] [ 2.36970613e-01 -7.19115913e-01 6.53235970e-01 -1.65147788e+02] [-9.48628956e-01 -2.61825240e-02 3.15305532e-01 -6.17723187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:294.58, Y:-165.16, Z:-617.74 [[-2.08664330e-01 -7.12504159e-01 -6.69923146e-01 2.94579389e+02] [ 2.36362545e-01 -7.01435967e-01 6.72398938e-01 -1.65160645e+02] [-9.48995229e-01 -1.80390659e-02 3.14773963e-01 -6.17735213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2965599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.16, Z:-617.75 [[-2.07363969e-01 -7.15176882e-01 -6.67474503e-01 2.94574770e+02] [ 2.37301839e-01 -6.98700203e-01 6.74911745e-01 -1.65157923e+02] [-9.49045848e-01 -1.84405491e-02 3.14598037e-01 -6.17753556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.16, Z:-617.76 [[-2.08311515e-01 -7.20356517e-01 -6.61583556e-01 2.94573550e+02] [ 2.34893524e-01 -6.93472262e-01 6.81117651e-01 -1.65161223e+02] [-9.49437383e-01 -1.35170432e-02 3.13665338e-01 -6.17757511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.356559995 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:294.46, Y:-165.05, Z:-618.29 [[-2.04278671e-01 -7.27429484e-01 -6.55069897e-01 2.94457529e+02] [ 2.31221462e-01 -6.86101211e-01 6.89783853e-01 -1.65047334e+02] [-9.51213362e-01 -1.05580902e-02 3.08353152e-01 -6.18292476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.88, Y:-164.49, Z:-617.57 [[-2.85348509e-01 8.91212642e-01 -3.52585104e-01 2.93879848e+02] [ 2.33263785e-01 -2.92239456e-01 -9.27461108e-01 -1.64488205e+02] [-9.29604343e-01 -3.46894980e-01 -1.24497541e-01 -6.17567543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.416559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:294.58, Y:-165.09, Z:-617.93 [[-2.74160954e-01 -6.62049055e-01 -6.97514746e-01 2.94580501e+02] [ 2.52651890e-01 -7.49412967e-01 6.12002637e-01 -1.65089530e+02] [-9.27902362e-01 -8.44119255e-03 3.72727719e-01 -6.17933748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.58, Y:-165.09, Z:-617.94 [[-2.74219415e-01 -6.62988493e-01 -6.96598859e-01 2.94578037e+02] [ 2.52700639e-01 -7.48587515e-01 6.12991941e-01 -1.65087864e+02] [-9.27871812e-01 -7.93668578e-03 3.72814846e-01 -6.17942388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.476559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:294.58, Y:-165.09, Z:-617.94 [[-2.74146671e-01 -6.64020191e-01 -6.95644154e-01 2.94577615e+02] [ 2.52650272e-01 -7.47678070e-01 6.14121604e-01 -1.65088529e+02] [-9.27907023e-01 -7.39529160e-03 3.72738336e-01 -6.17943120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.09, Z:-617.96 [[-2.73447847e-01 -6.65114590e-01 -6.94873267e-01 2.94572587e+02] [ 2.52817317e-01 -7.46704236e-01 6.15236692e-01 -1.65085346e+02] [-9.28067713e-01 -7.44084633e-03 3.72337152e-01 -6.17959764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.536559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.09, Z:-617.96 [[-2.73336264e-01 -6.67043440e-01 -6.93065896e-01 2.94572041e+02] [ 2.53718584e-01 -7.44983944e-01 6.16948785e-01 -1.65087037e+02] [-9.27854604e-01 -7.20922191e-03 3.72872446e-01 -6.17958616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.09, Z:-617.96 [[-2.72872415e-01 -6.68408975e-01 -6.91932141e-01 2.94569874e+02] [ 2.54955313e-01 -7.43753078e-01 6.17923254e-01 -1.65087721e+02] [-9.27652108e-01 -7.79756510e-03 3.73364118e-01 -6.17962864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5965599949999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.09, Z:-617.97 [[-2.72188290e-01 -6.69683402e-01 -6.90968651e-01 2.94569061e+02] [ 2.56015710e-01 -7.42598651e-01 6.18872524e-01 -1.65088285e+02] [-9.27561044e-01 -8.44897561e-03 3.73576128e-01 -6.17965141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.57, Y:-165.09, Z:-617.98 [[-2.71538795e-01 -6.70979669e-01 -6.89965917e-01 2.94566085e+02] [ 2.57229181e-01 -7.41418865e-01 6.19783200e-01 -1.65086491e+02] [-9.27415674e-01 -9.18418427e-03 3.73919536e-01 -6.17975165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.656559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:294.56, Y:-165.09, Z:-617.98 [[-2.70687860e-01 -6.72546273e-01 -6.88773978e-01 2.94564116e+02] [ 2.59162829e-01 -7.39980726e-01 6.20695702e-01 -1.65085799e+02] [-9.27126049e-01 -1.04898214e-02 3.74602794e-01 -6.17979948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.56, Y:-165.09, Z:-617.98 [[-2.69854809e-01 -6.73955354e-01 -6.87722737e-01 2.94562802e+02] [ 2.59920047e-01 -7.38691270e-01 6.21913801e-01 -1.65085856e+02] [-9.27156918e-01 -1.09264960e-02 3.74513899e-01 -6.17982798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7165599949999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:293.79, Y:-165.55, Z:-618.01 [[-2.10762156e-01 -6.36647904e-01 7.41794284e-01 2.93791543e+02] [ 1.95387793e-01 7.16090985e-01 6.70102464e-01 -1.65550743e+02] [-9.57811529e-01 2.86169788e-01 -2.65316507e-02 -6.18005954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:294.07, Y:-164.40, Z:-617.95 [[-2.86151965e-01 6.31747378e-01 -7.20425085e-01 2.94065936e+02] [ 2.44415820e-01 -6.78867625e-01 -6.92386925e-01 -1.64400115e+02] [-9.26486892e-01 -3.74211167e-01 3.98502516e-02 -6.17954336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.776559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:294.07, Y:-164.40, Z:-618.07 [[-3.26883455e-01 5.97152552e-01 -7.32499855e-01 2.94065121e+02] [ 2.91627258e-01 -6.73518417e-01 -6.79210192e-01 -1.64396115e+02] [-8.98944242e-01 -4.35639498e-01 4.60160657e-02 -6.18074244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:294.06, Y:-164.39, Z:-618.19 [[-3.65050448e-01 5.61934167e-01 -7.42272297e-01 2.94058231e+02] [ 3.38048144e-01 -6.62870838e-01 -6.68076122e-01 -1.64387722e+02] [-8.67445458e-01 -4.94805260e-01 5.20204941e-02 -6.18189185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8365599949999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:293.65, Y:-165.44, Z:-618.55 [[-2.98606457e-01 -5.83340016e-01 7.55346682e-01 2.93651714e+02] [ 2.86115197e-01 7.00335217e-01 6.53963820e-01 -1.65436223e+02] [-9.10479147e-01 4.11393984e-01 -4.22221740e-02 -6.18545337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:293.61, Y:-165.39, Z:-618.63 [[-2.57883195e-01 -6.12759388e-01 7.47008829e-01 2.93607534e+02] [ 2.39677435e-01 7.08421039e-01 6.63848144e-01 -1.65385986e+02] [-9.35975953e-01 3.50236440e-01 -3.58252826e-02 -6.18633013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.896559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.33, Y:-164.87, Z:-618.71 [[-2.71589612e-01 -6.67483028e-01 -6.93329279e-01 2.94331346e+02] [ 2.56273867e-01 -7.44554167e-01 6.16411224e-01 -1.64870584e+02] [-9.27665235e-01 -1.02712903e-02 3.73271634e-01 -6.18714534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.33, Y:-164.87, Z:-618.72 [[-2.71596987e-01 -6.68409381e-01 -6.92433373e-01 2.94329579e+02] [ 2.56669182e-01 -7.43725228e-01 6.17246885e-01 -1.64870099e+02] [-9.27553776e-01 -1.00839137e-02 3.73553620e-01 -6.18720605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.86, Y:-164.24, Z:-618.54 [[-3.30432401e-01 6.53948370e-01 -6.80562971e-01 2.93859981e+02] [ 2.84102684e-01 -6.18707964e-01 -7.32452128e-01 -1.64235278e+02] [-9.00055606e-01 -4.35375682e-01 1.86526707e-02 -6.18540075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.58, Y:-165.32, Z:-618.90 [[-2.57485888e-01 -6.77942830e-01 6.88545232e-01 2.93576804e+02] [ 2.44079189e-01 6.43832261e-01 7.25193333e-01 -1.65322201e+02] [-9.34947254e-01 3.54786611e-01 -3.05984556e-04 -6.18902383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.016559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:293.53, Y:-165.27, Z:-619.00 [[-2.11244610e-01 -6.95870888e-01 6.86395966e-01 2.93525928e+02] [ 2.01343453e-01 6.56203059e-01 7.27226484e-01 -1.65274663e+02] [-9.56470872e-01 2.91824009e-01 1.48968772e-03 -6.19000406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.20, Y:-164.75, Z:-619.06 [[-2.27103644e-01 -6.63784354e-01 -7.12610880e-01 2.94201138e+02] [ 2.12170311e-01 -7.47877484e-01 6.29017511e-01 -1.64751818e+02] [-9.50477614e-01 -8.34270358e-03 3.10681034e-01 -6.19058154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.56, Y:-164.11, Z:-618.89 [[-2.94027458e-01 8.40063713e-01 -4.55895615e-01 2.93562574e+02] [ 2.20075120e-01 -4.04660373e-01 -8.87590516e-01 -1.64107150e+02] [-9.30115474e-01 -3.61307266e-01 -6.58958616e-02 -6.18893456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.53, Y:-164.10, Z:-619.00 [[-3.51285059e-01 8.38400484e-01 -4.16753448e-01 2.93531642e+02] [ 2.43828779e-01 -3.47841221e-01 -9.05292224e-01 -1.64097814e+02] [-9.03961467e-01 -4.19632116e-01 -8.22347428e-02 -6.19001189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.136559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.16, Y:-164.65, Z:-619.40 [[-3.43383094e-01 -5.97508254e-01 -7.24618477e-01 2.94164221e+02] [ 2.64797380e-01 -8.01823538e-01 5.35687746e-01 -1.64652105e+02] [-9.01094001e-01 -7.93095830e-03 4.33551268e-01 -6.19402252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.45, Y:-165.19, Z:-619.40 [[-2.80534887e-01 -7.00539241e-01 6.56159241e-01 2.93452170e+02] [ 2.13878804e-01 6.20799918e-01 7.54230282e-01 -1.65188580e+02] [-9.35711512e-01 3.51926461e-01 -2.43255401e-02 -6.19403727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.11, Y:-164.60, Z:-619.49 [[-2.97105250e-01 -5.83402403e-01 -7.55890274e-01 2.94107840e+02] [ 2.25621535e-01 -8.12113181e-01 5.38114397e-01 -1.64597095e+02] [-9.27805687e-01 -1.06685114e-02 3.72911236e-01 -6.19486393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.11, Y:-164.60, Z:-619.49 [[-2.96224908e-01 -5.87840945e-01 -7.52790693e-01 2.94105777e+02] [ 2.26701116e-01 -8.08915111e-01 5.42460089e-01 -1.64598851e+02] [-9.27824018e-01 -9.96830030e-03 3.72885003e-01 -6.19494021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.256559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.10, Y:-164.60, Z:-619.51 [[-2.95412444e-01 -5.89939056e-01 -7.51467496e-01 2.94100774e+02] [ 2.26210684e-01 -8.07397462e-01 5.44920237e-01 -1.64596626e+02] [-9.28202680e-01 -9.01375730e-03 3.71965775e-01 -6.19509556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.10, Y:-164.60, Z:-619.51 [[-2.95077839e-01 -5.91128181e-01 -7.50664068e-01 2.94099287e+02] [ 2.26647627e-01 -8.06527238e-01 5.46026252e-01 -1.64596433e+02] [-9.28202522e-01 -9.01598277e-03 3.71966114e-01 -6.19514247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3165599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.36, Y:-164.04, Z:-619.26 [[-3.61516543e-01 8.88604686e-01 -2.82289748e-01 2.93363318e+02] [ 2.18865559e-01 -2.13427084e-01 -9.52127485e-01 -1.64038291e+02] [-9.06313222e-01 -4.05993340e-01 -1.17327539e-01 -6.19261600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.05, Y:-164.25, Z:-619.32 [[-4.14473007e-01 8.47329595e-01 3.32031148e-01 2.93047906e+02] [ 1.84626264e-01 4.35546785e-01 -8.81029024e-01 -1.64249336e+02] [-8.91137065e-01 -3.03861078e-01 -3.36961683e-01 -6.19324102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.04, Y:-164.42, Z:-619.82 [[-4.16487484e-01 -4.39198616e-01 -7.96016804e-01 2.94041100e+02] [ 2.08322580e-01 -8.98377266e-01 3.86678149e-01 -1.64424480e+02] [-8.84951907e-01 -4.78166509e-03 4.65657876e-01 -6.19817507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.04, Y:-164.42, Z:-619.82 [[-4.16906236e-01 -4.34319034e-01 -7.98471143e-01 2.94036660e+02] [ 2.09968850e-01 -9.00713102e-01 3.80301185e-01 -1.64416946e+02] [-8.84365463e-01 -9.10413210e-03 4.66706377e-01 -6.19822406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.03, Y:-164.42, Z:-619.83 [[-4.16601209e-01 -4.39790788e-01 -7.95630250e-01 2.94034457e+02] [ 2.10182666e-01 -8.98078384e-01 3.86365711e-01 -1.64419057e+02] [-8.84458410e-01 -6.26726493e-03 4.66576941e-01 -6.19829245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-164.41, Z:-619.86 [[-4.14941884e-01 -4.41995217e-01 -7.95275714e-01 2.94021249e+02] [ 2.13385398e-01 -8.96971823e-01 3.87179831e-01 -1.64413007e+02] [-8.84471540e-01 -9.04309657e-03 4.66506503e-01 -6.19857108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.53, Y:-163.94, Z:-619.65 [[-4.62550664e-01 6.30493800e-01 -6.23317296e-01 2.93534629e+02] [ 2.39049063e-01 -5.88319703e-01 -7.72486551e-01 -1.63937803e+02] [-8.53757828e-01 -5.06317583e-01 1.21408717e-01 -6.19652756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.97, Y:-164.42, Z:-620.03 [[-4.57691956e-01 -4.76937083e-01 -7.50365973e-01 2.93973260e+02] [ 2.51117321e-01 -8.78932839e-01 4.05483853e-01 -1.64416578e+02] [-8.52911581e-01 -2.84319510e-03 5.22047653e-01 -6.20025166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-164.42, Z:-620.02 [[-4.57488986e-01 -4.75578328e-01 -7.51351504e-01 2.93973812e+02] [ 2.50951400e-01 -8.79665474e-01 4.03995110e-01 -1.64415372e+02] [-8.53069295e-01 -3.72939902e-03 5.21784313e-01 -6.20023938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-164.41, Z:-620.03 [[-4.57437335e-01 -4.76389251e-01 -7.50869074e-01 2.93973299e+02] [ 2.50958136e-01 -8.79228657e-01 4.04940716e-01 -1.64414774e+02] [-8.53095011e-01 -3.20170149e-03 5.21745772e-01 -6.20027043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.616559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.97, Y:-164.41, Z:-620.04 [[-4.57434811e-01 -4.77462141e-01 -7.50188841e-01 2.93967634e+02] [ 2.52317431e-01 -8.78643854e-01 4.05365133e-01 -1.64411569e+02] [-8.52695320e-01 -3.85759802e-03 5.22394306e-01 -6.20037952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-164.41, Z:-620.04 [[-4.57507415e-01 -4.79583706e-01 -7.48789980e-01 2.93965772e+02] [ 2.52286080e-01 -8.77493106e-01 4.07869565e-01 -1.64412078e+02] [-8.52665643e-01 -2.30593831e-03 5.22451896e-01 -6.20042473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.96, Y:-164.41, Z:-620.05 [[-4.58568774e-01 -4.78449890e-01 -7.48866064e-01 2.93964003e+02] [ 2.52719592e-01 -8.78109902e-01 4.06270610e-01 -1.64408693e+02] [-8.51966835e-01 -2.95011074e-03 5.23587442e-01 -6.20046281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-164.41, Z:-620.05 [[-4.58443338e-01 -4.79798301e-01 -7.48079739e-01 2.93963062e+02] [ 2.52856222e-01 -8.77376015e-01 4.07768390e-01 -1.64408448e+02] [-8.51993801e-01 -2.21791455e-03 5.23547175e-01 -6.20049984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.96, Y:-164.40, Z:-620.05 [[-4.60447585e-01 -4.76683897e-01 -7.48839424e-01 2.93959102e+02] [ 2.55764497e-01 -8.79052309e-01 4.02307792e-01 -1.64401762e+02] [-8.50042671e-01 -6.28488741e-03 5.26676330e-01 -6.20053782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-165.04, Z:-620.05 [[-3.90864783e-01 -7.68528651e-01 5.06545590e-01 2.93365066e+02] [ 2.30510889e-01 4.51058632e-01 8.62212758e-01 -1.65043657e+02] [-8.91116969e-01 4.53772877e-01 8.51288210e-04 -6.20051900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7965599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.76, Y:-164.46, Z:-619.76 [[-4.24586943e-01 5.09770338e-01 7.48238017e-01 2.92764272e+02] [ 1.51971412e-01 8.54830316e-01 -4.96155037e-01 -1.64464744e+02] [-8.92541662e-01 -9.69501627e-02 -4.40420309e-01 -6.19764186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:-164.02, Z:-620.26 [[-4.49484829e-01 3.10567289e-03 -8.93282567e-01 2.93687189e+02] [ 2.25455754e-01 -9.67225683e-01 -1.16808311e-01 -1.64021439e+02] [-8.64368609e-01 -2.53899258e-01 4.34053078e-01 -6.20264648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.856559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.30, Z:-620.40 [[-4.44247609e-01 -4.61575402e-01 -7.67849080e-01 2.93783902e+02] [ 2.32383903e-01 -8.87100079e-01 3.98812202e-01 -1.64298544e+02] [-8.65240882e-01 -1.26439919e-03 5.01354783e-01 -6.20398432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.30, Z:-620.40 [[-4.44710270e-01 -4.62281431e-01 -7.67156212e-01 2.93784467e+02] [ 2.31041603e-01 -8.86732884e-01 4.00405508e-01 -1.64300684e+02] [-8.65362671e-01 8.19440574e-04 5.01145463e-01 -6.20398063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.29, Z:-620.41 [[-4.43943363e-01 -4.60818456e-01 -7.68479435e-01 2.93778619e+02] [ 2.33598631e-01 -8.87488775e-01 3.97234632e-01 -1.64293606e+02] [-8.65069922e-01 -3.16606561e-03 5.01641312e-01 -6.20408747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-164.30, Z:-620.41 [[-4.43371325e-01 -4.65741855e-01 -7.65837054e-01 2.93776852e+02] [ 2.33821782e-01 -8.84920500e-01 4.02794095e-01 -1.64295409e+02] [-8.65302977e-01 -4.82032787e-04 5.01248965e-01 -6.20414790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.976559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.77, Y:-164.30, Z:-620.42 [[-4.42451534e-01 -4.66698445e-01 -7.65786656e-01 2.93773915e+02] [ 2.34172650e-01 -8.84416224e-01 4.03696808e-01 -1.64296286e+02] [-8.65678815e-01 -7.10019068e-04 5.00599327e-01 -6.20420654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-164.29, Z:-620.44 [[-4.41137539e-01 -4.70819450e-01 -7.64020103e-01 2.93764055e+02] [ 2.36694035e-01 -8.82228636e-01 4.06999470e-01 -1.64290620e+02] [-8.65663679e-01 -1.29625647e-03 5.00624324e-01 -6.20440665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.036559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.28, Y:-164.92, Z:-620.49 [[-3.71839494e-01 -8.62905648e-01 3.42241483e-01 2.93278267e+02] [ 2.23464353e-01 2.74629433e-01 9.35223159e-01 -1.64920911e+02] [-9.00998931e-01 4.24231678e-01 9.07105831e-02 -6.20489796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-164.89, Z:-620.57 [[-3.12134521e-01 -8.78063465e-01 3.62734880e-01 2.93198055e+02] [ 2.03128024e-01 3.11300031e-01 9.28348694e-01 -1.64892848e+02] [-9.28068449e-01 3.63451294e-01 8.11918101e-02 -6.20571272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-164.26, Z:-620.60 [[-3.23932544e-01 -5.21710733e-01 -7.89231029e-01 2.93633927e+02] [ 2.01867834e-01 -8.53115346e-01 4.81085838e-01 -1.64259483e+02] [-9.24292748e-01 -3.48099871e-03 3.81668440e-01 -6.20597062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.60, Y:-164.24, Z:-620.72 [[-3.20087507e-01 -5.28649664e-01 -7.86176520e-01 2.93596110e+02] [ 1.98048615e-01 -8.48839276e-01 4.90151640e-01 -1.64244037e+02] [-9.26456008e-01 1.19024552e-03 3.76401181e-01 -6.20716970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-164.25, Z:-620.63 [[-3.19427039e-01 -5.11944078e-01 -7.97420609e-01 2.93621884e+02] [ 2.08741026e-01 -8.58849802e-01 4.67765114e-01 -1.64245151e+02] [-9.24334112e-01 -1.70375714e-02 3.81203581e-01 -6.20626362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-164.26, Z:-620.64 [[-3.18093910e-01 -5.34026961e-01 -7.83346328e-01 2.93620777e+02] [ 2.10985151e-01 -8.45417434e-01 4.90667534e-01 -1.64259861e+02] [-9.24284335e-01 -9.19608892e-03 3.81593895e-01 -6.20635637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-164.26, Z:-620.64 [[-3.17328162e-01 -5.35822881e-01 -7.82429982e-01 2.93618772e+02] [ 2.13341399e-01 -8.44259878e-01 4.91640831e-01 -1.64259145e+02] [-9.24006648e-01 -1.09132257e-02 3.82220639e-01 -6.20641879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-164.24, Z:-620.73 [[-3.07671223e-01 -5.43166407e-01 -7.81222551e-01 2.93587466e+02] [ 2.30905126e-01 -8.39128805e-01 4.92489259e-01 -1.64244133e+02] [-9.23049967e-01 -2.88635188e-02 3.83595694e-01 -6.20729114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-164.84, Z:-620.75 [[-2.39807274e-01 -6.82588844e-01 6.90336832e-01 2.92853227e+02] [ 1.65606744e-01 6.71901456e-01 7.21888384e-01 -1.64842886e+02] [-9.56591281e-01 2.87438520e-01 -4.80855402e-02 -6.20749924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-163.65, Z:-620.70 [[-3.21916255e-01 6.87721197e-01 -6.50699224e-01 2.93016581e+02] [ 2.13032503e-01 -6.17044685e-01 -7.57544064e-01 -1.63654167e+02] [-9.22489609e-01 -3.82485832e-01 5.21297458e-02 -6.20700091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-163.85, Z:-620.70 [[-3.83507980e-01 8.96748471e-01 2.20825290e-01 2.92493188e+02] [ 1.77277953e-01 3.06142548e-01 -9.35333774e-01 -1.63852494e+02] [-9.06363148e-01 -3.19560511e-01 -2.76381843e-01 -6.20698665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-164.40, Z:-620.87 [[-3.84656046e-01 2.23990190e-01 8.95470893e-01 2.92353361e+02] [ 1.03904988e-01 9.74452496e-01 -1.99113248e-01 -1.64399657e+02] [-9.17193262e-01 1.64537781e-02 -3.98102743e-01 -6.20874456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-164.72, Z:-621.19 [[-3.30828719e-01 -6.43595188e-01 6.90172147e-01 2.92686703e+02] [ 6.55679787e-02 7.13910178e-01 6.97160741e-01 -1.64715994e+02] [-9.41410218e-01 2.75893988e-01 -1.93982754e-01 -6.21185020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-163.86, Z:-621.38 [[-3.50811741e-01 -2.15944907e-01 -9.11207397e-01 2.93316884e+02] [ 9.75579051e-02 -9.76181543e-01 1.93783516e-01 -1.63861927e+02] [-9.31350406e-01 -2.09139520e-02 3.63523079e-01 -6.21383893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-163.86, Z:-621.40 [[-3.50312848e-01 -2.23602041e-01 -9.09551008e-01 2.93314654e+02] [ 9.61635946e-02 -9.74540638e-01 2.02541619e-01 -1.63864553e+02] [-9.31683139e-01 -1.65127631e-02 3.62896483e-01 -6.21396938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-163.50, Z:-621.43 [[-4.07069837e-01 8.30906646e-01 -3.79326105e-01 2.92580779e+02] [ 1.04769772e-01 -3.70075124e-01 -9.23075131e-01 -1.63504387e+02] [-9.07368416e-01 -4.15497952e-01 6.35925203e-02 -6.21429418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-164.02, Z:-621.20 [[-4.43472142e-01 6.15828127e-01 6.51220529e-01 2.92206153e+02] [ 3.68763980e-02 7.38496308e-01 -6.73248345e-01 -1.64019252e+02] [-8.95529224e-01 -2.74552218e-01 -3.50212063e-01 -6.21201297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-163.77, Z:-621.69 [[-4.52378666e-01 -1.17892706e-01 -8.83999351e-01 2.93224706e+02] [ 5.97540175e-02 -9.93003417e-01 1.01851225e-01 -1.63768994e+02] [-8.89821892e-01 -6.74719131e-03 4.56258124e-01 -6.21688287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-163.64, Z:-621.37 [[-5.04633892e-01 8.55888055e-01 1.13138287e-01 2.92348190e+02] [ 3.79747127e-02 1.52926831e-01 -9.87507623e-01 -1.63637039e+02] [-8.62497859e-01 -4.94033421e-01 -1.09674165e-01 -6.21372129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-164.29, Z:-621.44 [[-5.08929398e-01 1.72347055e-01 8.43378540e-01 2.92175824e+02] [-3.05939444e-02 9.75511458e-01 -2.17810480e-01 -1.64285268e+02] [-8.60264424e-01 -1.36652433e-01 -4.91193683e-01 -6.21438084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:-163.65, Z:-621.99 [[-5.26420134e-01 4.88038996e-02 -8.48822727e-01 2.93046050e+02] [-2.49253839e-02 -9.98807941e-01 -4.19693034e-02 -1.63646732e+02] [-8.49859146e-01 -9.36254013e-04 5.27009066e-01 -6.21987087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-163.66, Z:-622.26 [[-5.20098832e-01 4.13817080e-02 -8.53103018e-01 2.92892334e+02] [-2.65290661e-02 -9.99126358e-01 -3.22913157e-02 -1.63659426e+02] [-8.53693981e-01 5.83735075e-03 5.20742270e-01 -6.22260764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:-163.52, Z:-621.70 [[-5.74732396e-01 8.16935536e-01 -4.79479209e-02 2.92325830e+02] [-3.16638116e-02 -8.07474346e-02 -9.96231527e-01 -1.63524136e+02] [-8.17728608e-01 -5.71048319e-01 7.22754595e-02 -6.21699806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-163.66, Z:-622.17 [[-5.84855477e-01 3.29699148e-02 -8.10467184e-01 2.92985002e+02] [-1.85580583e-02 -9.99455934e-01 -2.72659960e-02 -1.63658470e+02] [-8.10925194e-01 -9.05969878e-04 5.85149135e-01 -6.22166365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-164.52, Z:-622.34 [[-5.19700694e-01 -8.51297602e-01 -7.21358527e-02 2.92746279e+02] [-1.01722704e-02 -7.82620780e-02 9.96880922e-01 -1.64516288e+02] [-8.54287840e-01 5.18813492e-01 3.20132269e-02 -6.22341802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-163.67, Z:-622.22 [[-5.18804295e-01 2.93053691e-02 -8.54390601e-01 2.92920429e+02] [-1.58056075e-02 -9.99570263e-01 -2.46874889e-02 -1.63668398e+02] [-8.54746914e-01 6.96187195e-04 5.19044534e-01 -6.22215218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:-163.66, Z:-622.24 [[-5.22543307e-01 3.35777660e-02 -8.51951305e-01 2.92901115e+02] [-1.12387315e-02 -9.99408669e-01 -3.24962077e-02 -1.63663751e+02] [-8.52538670e-01 -7.40582388e-03 5.22611683e-01 -6.22236868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:-163.66, Z:-622.30 [[-5.30559536e-01 2.48934661e-02 -8.47282063e-01 2.92858388e+02] [ 1.25798199e-03 -9.99544451e-01 -3.01547282e-02 -1.63664005e+02] [-8.47646740e-01 -1.70647442e-02 5.30286525e-01 -6.22296685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-163.53, Z:-621.99 [[-5.67220133e-01 8.21432284e-01 -5.92479818e-02 2.92130420e+02] [ 6.67781094e-03 -6.73510622e-02 -9.97706992e-01 -1.63526024e+02] [-8.23539148e-01 -5.66315139e-01 3.27175090e-02 -6.21993481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-164.09, Z:-621.95 [[-5.96991950e-01 3.80998170e-01 7.06003546e-01 2.91834026e+02] [-4.90793780e-02 8.61039026e-01 -5.06165003e-01 -1.64091631e+02] [-8.00744545e-01 -3.36826647e-01 -4.95334214e-01 -6.21946286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-164.60, Z:-622.27 [[-5.60023532e-01 -5.40374184e-01 6.27988364e-01 2.92130920e+02] [-9.81779184e-02 7.95949084e-01 5.97349272e-01 -1.64599205e+02] [-8.22638888e-01 2.72875059e-01 -4.98803030e-01 -6.22267714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-163.57, Z:-622.70 [[-5.74207465e-01 1.93094673e-01 -7.95613119e-01 2.92551955e+02] [-1.16428825e-01 -9.81171368e-01 -1.54100858e-01 -1.63565619e+02] [-8.10388867e-01 4.14643728e-03 5.85877710e-01 -6.22696124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-163.58, Z:-622.74 [[-5.62706267e-01 1.85404714e-01 -8.05597138e-01 2.92540237e+02] [-1.20478151e-01 -9.82512215e-01 -1.41967468e-01 -1.63578589e+02] [-8.17830467e-01 1.71708702e-02 5.75202998e-01 -6.22741651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-163.56, Z:-622.73 [[-5.75351678e-01 2.06135725e-01 -7.91503954e-01 2.92515614e+02] [-1.11227340e-01 -9.78449120e-01 -1.73970681e-01 -1.63563038e+02] [-8.10307920e-01 -1.20574439e-02 5.85880272e-01 -6.22732885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-163.60, Z:-622.84 [[-5.81346583e-01 1.61922924e-01 -7.97381413e-01 2.92461904e+02] [-7.76848135e-02 -9.86567051e-01 -1.43702899e-01 -1.63600164e+02] [-8.09939023e-01 -2.15967630e-02 5.86116336e-01 -6.22838311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:-164.47, Z:-622.88 [[-5.26011890e-01 -8.34093821e-01 -1.66129439e-01 2.92424843e+02] [-4.62077508e-02 -1.67019704e-01 9.84870175e-01 -1.64474563e+02] [-8.49221017e-01 5.25729890e-01 4.93127508e-02 -6.22877213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:-163.64, Z:-622.57 [[-5.65104039e-01 8.06691112e-01 1.72936042e-01 2.91590716e+02] [-7.91163908e-02 1.55660890e-01 -9.84637133e-01 -1.63636527e+02] [-8.21217402e-01 -5.70104497e-01 -2.41421085e-02 -6.22568752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-163.64, Z:-622.68 [[-6.19290363e-01 7.64015325e-01 1.80997319e-01 2.91544718e+02] [-9.12665990e-02 1.58912574e-01 -9.83065207e-01 -1.63643357e+02] [-7.79839634e-01 -6.25321819e-01 -2.86839455e-02 -6.22680402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-164.50, Z:-623.27 [[-5.80373493e-01 -7.96646194e-01 -1.68882950e-01 2.92192598e+02] [-5.46506179e-02 -1.68814314e-01 9.84131616e-01 -1.64497724e+02] [-8.12514565e-01 5.80393461e-01 5.44381464e-02 -6.23265682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-164.51, Z:-623.34 [[-5.24153527e-01 -8.35644598e-01 -1.64198618e-01 2.92097527e+02] [-4.31011048e-02 -1.66529503e-01 9.85094016e-01 -1.64514020e+02] [-8.50532407e-01 5.23417645e-01 5.12698211e-02 -6.23343807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-163.67, Z:-623.04 [[-5.67859201e-01 8.04759078e-01 1.72912565e-01 2.91262602e+02] [-8.02307403e-02 1.54953300e-01 -9.84658572e-01 -1.63674934e+02] [-8.19206297e-01 -5.73020333e-01 -2.34252407e-02 -6.23038645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-163.68, Z:-623.14 [[-6.22512119e-01 7.61887651e-01 1.78901842e-01 2.91222788e+02] [-9.12081147e-02 1.56409914e-01 -9.83471921e-01 -1.63680207e+02] [-7.77277133e-01 -6.28540489e-01 -2.78767308e-02 -6.23144434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-163.69, Z:-623.25 [[-6.73390173e-01 7.16156772e-01 1.83480659e-01 2.91171721e+02] [-1.01809557e-01 1.55987979e-01 -9.82498124e-01 -1.63686876e+02] [-7.32243463e-01 -6.80284667e-01 -3.21291685e-02 -6.23252459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:-163.70, Z:-623.47 [[-7.20648035e-01 6.71828780e-01 1.71208938e-01 2.91003861e+02] [-1.00917412e-01 1.42668050e-01 -9.84612362e-01 -1.63695457e+02] [-6.85916968e-01 -7.26836926e-01 -3.50142281e-02 -6.23473089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-164.42, Z:-623.31 [[-7.12308678e-01 -6.13897904e-02 6.99176402e-01 2.91057899e+02] [-1.69075505e-01 9.81840179e-01 -8.60426443e-02 -1.64416903e+02] [-6.81197344e-01 -1.79502525e-01 -7.09752790e-01 -6.23314702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.60, Y:-163.66, Z:-624.10 [[-7.29626742e-01 2.21967010e-01 -6.46819499e-01 2.91599789e+02] [-1.64384274e-01 -9.75050931e-01 -1.49176049e-01 -1.63661217e+02] [-6.63794116e-01 -2.51588026e-03 7.47911119e-01 -6.24102801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.58, Y:-163.67, Z:-624.12 [[-7.30393993e-01 2.18533241e-01 -6.47122738e-01 2.91581739e+02] [-1.60718705e-01 -9.75820502e-01 -1.48134556e-01 -1.63667360e+02] [-6.63847959e-01 -4.19186141e-03 7.47855812e-01 -6.24120859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:-163.71, Z:-624.28 [[-7.29361258e-01 2.13841575e-01 -6.49849164e-01 2.91420562e+02] [-1.58922509e-01 -9.76867752e-01 -1.43083999e-01 -1.63707098e+02] [-6.65414000e-01 -1.08426586e-03 7.46473732e-01 -6.24278348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-163.93, Z:-623.45 [[-7.48445512e-01 4.20449602e-01 5.12885413e-01 2.90849046e+02] [-2.12078848e-01 5.81010160e-01 -7.85779713e-01 -1.63932069e+02] [-6.28372404e-01 -6.96885447e-01 -3.45685979e-01 -6.23452685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-164.70, Z:-623.79 [[-7.06082055e-01 -6.10751425e-01 3.58372472e-01 2.91185598e+02] [-2.41340059e-01 6.83334362e-01 6.89063949e-01 -1.64699483e+02] [-6.65735013e-01 4.00046055e-01 -6.29888916e-01 -6.23790084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-163.66, Z:-624.33 [[-7.22365926e-01 3.27618723e-01 -6.08977374e-01 2.91310147e+02] [-2.49398681e-01 -9.44808679e-01 -2.12454370e-01 -1.63661571e+02] [-6.44971137e-01 -1.59164390e-03 7.64205273e-01 -6.24328532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-163.73, Z:-624.52 [[-7.17773184e-01 3.21689066e-01 -6.17509353e-01 2.91121437e+02] [-2.49034130e-01 -9.46815503e-01 -2.03770474e-01 -1.63733207e+02] [-6.50218162e-01 7.51992229e-03 7.59710335e-01 -6.24515196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:-163.83, Z:-623.93 [[-7.51251159e-01 5.53725229e-01 3.59179713e-01 2.90482079e+02] [-2.71225476e-01 2.37125190e-01 -9.32849605e-01 -1.63831705e+02] [-6.01712919e-01 -7.98223036e-01 -2.79561849e-02 -6.23927408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.84, Y:-164.62, Z:-623.78 [[-7.21958910e-01 -4.38981252e-01 5.34855861e-01 2.90844158e+02] [-3.22047008e-01 8.97337076e-01 3.01781206e-01 -1.64615695e+02] [-6.12422286e-01 4.56249010e-02 -7.89213097e-01 -6.23781309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-164.57, Z:-624.46 [[-6.90437610e-01 -6.30231640e-01 -3.55111232e-01 2.91231982e+02] [-3.03707498e-01 -1.92996467e-01 9.33013461e-01 -1.64574484e+02] [-6.56549817e-01 7.52037528e-01 -5.81540551e-02 -6.24463093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-163.84, Z:-624.07 [[-7.18159549e-01 5.86384595e-01 3.74699838e-01 2.90350881e+02] [-3.36565410e-01 1.78599216e-01 -9.24568032e-01 -1.63841248e+02] [-6.09073548e-01 -7.90098365e-01 6.90940393e-02 -6.24074167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-164.66, Z:-624.64 [[-6.92604156e-01 -6.27308248e-01 -3.56067193e-01 2.91032534e+02] [-3.05083508e-01 -1.92547361e-01 9.32657261e-01 -1.64664940e+02] [-6.53623391e-01 7.54592523e-01 -5.80222979e-02 -6.24642001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.94, Y:-164.71, Z:-624.70 [[-6.49515164e-01 -6.70046496e-01 -3.59399145e-01 2.90935728e+02] [-2.91248386e-01 -2.17379134e-01 9.31622611e-01 -1.64705114e+02] [-7.02356341e-01 7.09777434e-01 -5.39589172e-02 -6.24696032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.776559995 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:290.27, Y:-164.04, Z:-625.26 [[-6.41644692e-01 4.24756009e-01 -6.38650470e-01 2.90273552e+02] [-3.08512263e-01 -9.05256978e-01 -2.92112970e-01 -1.64038828e+02] [-7.02219533e-01 9.59876552e-03 7.11895772e-01 -6.25256859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.01, Y:-164.40, Z:-624.15 [[-6.41413367e-01 1.56058888e-01 7.51155454e-01 2.90006890e+02] [-3.54177853e-01 8.08281490e-01 -4.70360587e-01 -1.64401614e+02] [-6.80549000e-01 -5.67738194e-01 -4.63169950e-01 -6.24150687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-163.98, Z:-625.18 [[-6.53618217e-01 4.77057839e-01 -5.87536420e-01 2.90332802e+02] [-3.63064758e-01 -8.78804102e-01 -3.09656797e-01 -1.63977306e+02] [-6.64053618e-01 1.09164451e-02 7.47605259e-01 -6.25178604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:289.57, Y:-164.48, Z:-624.61 [[-6.65474211e-01 2.76540877e-01 6.93303122e-01 2.89566913e+02] [-4.00600376e-01 6.51407719e-01 -6.44350310e-01 -1.64481614e+02] [-6.29812205e-01 -7.06536005e-01 -3.22712658e-01 -6.24614626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-164.72, Z:-625.04 [[-6.48136755e-01 -5.75448894e-01 -4.98775819e-01 2.90699453e+02] [-3.67940115e-01 -3.36809330e-01 8.66706148e-01 -1.64719851e+02] [-6.66737444e-01 7.45263743e-01 6.56777409e-03 -6.25037577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-164.01, Z:-625.26 [[-6.39065007e-01 5.11991415e-01 -5.73986678e-01 2.90220880e+02] [-3.85025209e-01 -8.58974196e-01 -3.37518768e-01 -1.64009054e+02] [-6.65846457e-01 5.30290689e-03 7.46069953e-01 -6.25255529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-164.50, Z:-624.46 [[-6.35805619e-01 1.24242875e-01 7.61784040e-01 2.89723250e+02] [-4.28190883e-01 7.64384420e-01 -4.82046706e-01 -1.64500374e+02] [-6.42186720e-01 -6.32676984e-01 -4.32800243e-01 -6.24456357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.09, Y:-164.06, Z:-625.40 [[-6.47604180e-01 5.48698959e-01 -5.28713797e-01 2.90086569e+02] [-4.33258676e-01 -8.35948739e-01 -3.36862920e-01 -1.64063999e+02] [-6.26813965e-01 1.09160046e-02 7.79092481e-01 -6.25398163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.016559995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:289.33, Y:-164.43, Z:-624.95 [[-6.75739553e-01 4.53290380e-01 5.81295009e-01 2.89329448e+02] [-4.60448555e-01 3.56252890e-01 -8.13062732e-01 -1.64425753e+02] [-5.75641542e-01 -8.17075095e-01 -3.20172675e-02 -6.24953125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-165.06, Z:-624.94 [[-6.26013542e-01 -7.79642899e-01 1.62479270e-02 2.90240136e+02] [-4.72998853e-01 3.96194355e-01 7.86957507e-01 -1.65060646e+02] [-6.19983169e-01 4.84960806e-01 -6.16793228e-01 -6.24936772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-164.09, Z:-625.47 [[-6.40708126e-01 6.01930091e-01 -4.76626965e-01 2.89957924e+02] [-4.78394333e-01 -7.98525639e-01 -3.65370587e-01 -1.64086753e+02] [-6.00526402e-01 -6.08026457e-03 7.99581810e-01 -6.25473690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-164.09, Z:-625.48 [[-6.42663142e-01 5.98127633e-01 -4.78777005e-01 2.89955201e+02] [-4.75819222e-01 -8.01384438e-01 -3.62462481e-01 -1.64091398e+02] [-6.00483267e-01 -5.12997472e-03 7.99620866e-01 -6.25478682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-165.00, Z:-625.31 [[-5.85085210e-01 -6.90047683e-01 -4.26039308e-01 2.90279196e+02] [-4.55720882e-01 -1.54791640e-01 8.76560338e-01 -1.65003257e+02] [-6.70815753e-01 7.07017499e-01 -2.23902839e-01 -6.25306044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.19, Y:-165.06, Z:-625.38 [[-5.34191255e-01 -7.22256378e-01 -4.39301067e-01 2.90186149e+02] [-4.42313891e-01 -2.04052888e-01 8.73338904e-01 -1.65060763e+02] [-7.20415245e-01 6.60838969e-01 -2.10460760e-01 -6.25375984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.64, Y:-164.31, Z:-625.73 [[-5.57454870e-01 6.35381888e-01 -5.34353745e-01 2.89639060e+02] [-4.47091969e-01 -7.72090857e-01 -4.51646410e-01 -1.64305163e+02] [-6.99537590e-01 -1.28672228e-02 7.14479948e-01 -6.25726485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-164.22, Z:-625.60 [[-5.60623941e-01 6.32538868e-01 -5.34411244e-01 2.89736762e+02] [-4.43753773e-01 -7.74369165e-01 -4.51037677e-01 -1.64222470e+02] [-6.99130450e-01 -1.57155138e-02 7.14821402e-01 -6.25596491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:-164.25, Z:-625.63 [[-5.65196822e-01 6.27754962e-01 -5.35234771e-01 2.89712419e+02] [-4.38159017e-01 -7.78158861e-01 -4.49983848e-01 -1.64245466e+02] [-6.98977273e-01 -1.98114996e-02 7.14869412e-01 -6.25630669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:-164.34, Z:-625.78 [[-5.65729367e-01 6.24472895e-01 -5.38501520e-01 2.89602742e+02] [-4.37779029e-01 -7.80875127e-01 -4.45627152e-01 -1.64342598e+02] [-6.98784520e-01 -1.63596937e-02 7.15145129e-01 -6.25779852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-164.44, Z:-625.27 [[-6.03705735e-01 6.61038014e-01 4.45609841e-01 2.89163981e+02] [-4.76499943e-01 1.48920172e-01 -8.66470188e-01 -1.64437851e+02] [-6.39130026e-01 -7.35426085e-01 2.25080615e-01 -6.25272225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-164.60, Z:-625.27 [[-6.32371068e-01 4.80052464e-01 6.07993802e-01 2.89076193e+02] [-5.06355693e-01 3.37827447e-01 -7.93395569e-01 -1.64598466e+02] [-5.86268492e-01 -8.09581527e-01 2.94449941e-02 -6.25272804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-164.46, Z:-626.00 [[-6.51300644e-01 6.01480146e-01 -4.62632796e-01 2.89473326e+02] [-4.74016660e-01 -7.98576834e-01 -3.70922157e-01 -1.64464810e+02] [-5.92550147e-01 -2.22861867e-02 8.05225217e-01 -6.26002181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.50, Y:-164.47, Z:-626.00 [[-6.64090691e-01 5.73262877e-01 -4.79951277e-01 2.89498046e+02] [-4.49581973e-01 -8.19106718e-01 -3.56286729e-01 -1.64469471e+02] [-5.97377271e-01 -2.08292581e-02 8.01689802e-01 -6.26002766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.39, Y:-164.55, Z:-626.10 [[-6.66655982e-01 5.76097857e-01 -4.72949322e-01 2.89388808e+02] [-4.53771917e-01 -8.17071447e-01 -3.55647717e-01 -1.64546714e+02] [-5.91321274e-01 -2.24835576e-02 8.06122597e-01 -6.26097306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-165.19, Z:-626.01 [[-6.14401428e-01 -4.40739847e-01 -6.54415215e-01 2.89834974e+02] [-4.07704557e-01 -5.32759652e-01 7.41582192e-01 -1.65186499e+02] [-6.75490844e-01 7.22437223e-01 1.47636647e-01 -6.26012460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-164.55, Z:-626.06 [[-6.34683276e-01 5.59538409e-01 -5.33004604e-01 2.89413739e+02] [-4.17638625e-01 -8.28687857e-01 -3.72631742e-01 -1.64548072e+02] [-6.50196216e-01 -1.38998250e-02 7.59639175e-01 -6.26055923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:-164.65, Z:-626.21 [[-6.38142555e-01 5.63057244e-01 -5.25110103e-01 2.89264811e+02] [-4.19365176e-01 -8.26178597e-01 -3.76246960e-01 -1.64648549e+02] [-6.45683304e-01 -1.98863054e-02 7.63346321e-01 -6.26205175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-165.26, Z:-626.11 [[-5.90521338e-01 -4.51552077e-01 -6.68868651e-01 2.89718450e+02] [-3.67368951e-01 -5.87548267e-01 7.20990352e-01 -1.65255212e+02] [-7.18557307e-01 6.71481762e-01 1.81073576e-01 -6.26106784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.63, Y:-165.33, Z:-626.17 [[-5.58689274e-01 -4.99235068e-01 -6.62291962e-01 2.89633317e+02] [-3.28274928e-01 -6.00217333e-01 7.29365975e-01 -1.65327721e+02] [-7.61644187e-01 6.24902793e-01 1.71448630e-01 -6.26168680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-165.12, Z:-625.80 [[-5.86814398e-01 4.54261433e-01 6.70295019e-01 2.88489556e+02] [-4.02177303e-01 5.54967626e-01 -7.28192523e-01 -1.65124708e+02] [-7.02781815e-01 -6.96891300e-01 -1.42969356e-01 -6.25798069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-165.42, Z:-625.79 [[-5.85789940e-01 3.23726831e-02 8.09816125e-01 2.88489567e+02] [-4.57195846e-01 8.11836495e-01 -3.63171397e-01 -1.65424460e+02] [-6.69195117e-01 -5.82986719e-01 -4.60764995e-01 -6.25794990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-165.73, Z:-625.81 [[-5.34745654e-01 -6.30769779e-01 5.62295804e-01 2.88853506e+02] [-5.03294697e-01 7.72269574e-01 3.87677899e-01 -1.65727426e+02] [-6.78779444e-01 -7.56914246e-02 -7.30430883e-01 -6.25813702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-164.79, Z:-626.56 [[-5.70073938e-01 6.62160077e-01 -4.86374072e-01 2.88899286e+02] [-4.95723747e-01 -7.49305871e-01 -4.39088464e-01 -1.64794610e+02] [-6.55189799e-01 -9.20571194e-03 7.55408223e-01 -6.26558906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-164.80, Z:-626.57 [[-5.70768866e-01 6.61159952e-01 -4.86919315e-01 2.88890349e+02] [-4.94903923e-01 -7.50187225e-01 -4.38507965e-01 -1.64803725e+02] [-6.55204555e-01 -9.30841478e-03 7.55394165e-01 -6.26570681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-164.81, Z:-626.57 [[-5.70091160e-01 6.60623945e-01 -4.88438402e-01 2.88890017e+02] [-4.94684186e-01 -7.50674013e-01 -4.37922461e-01 -1.64805038e+02] [-6.55960079e-01 -8.03297019e-03 7.54752838e-01 -6.26571397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-164.81, Z:-626.58 [[-5.69661710e-01 6.60287420e-01 -4.89393563e-01 2.88884913e+02] [-4.94429838e-01 -7.50976887e-01 -4.37690359e-01 -1.64810171e+02] [-6.56524692e-01 -7.36465809e-03 7.54268580e-01 -6.26577439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-165.09, Z:-626.10 [[-5.88472263e-01 5.17410330e-01 6.21278477e-01 2.88337456e+02] [-5.32398195e-01 3.30323238e-01 -7.79383552e-01 -1.65090426e+02] [-6.08483819e-01 -7.89413142e-01 8.10822627e-02 -6.26097352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-165.68, Z:-626.63 [[-5.58288229e-01 -5.69390191e-01 -6.03414505e-01 2.89204396e+02] [-4.82676167e-01 -3.68641970e-01 7.94434903e-01 -1.65684420e+02] [-6.74787353e-01 7.34777455e-01 -6.90226020e-02 -6.26629892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-165.24, Z:-626.29 [[-5.88218274e-01 5.17532590e-01 6.21417155e-01 2.88167813e+02] [-5.32626699e-01 3.30286721e-01 -7.79242890e-01 -1.65241113e+02] [-6.08529426e-01 -7.89348276e-01 8.13709900e-02 -6.26290488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-165.29, Z:-626.39 [[-6.21535540e-01 4.79289649e-01 6.19657168e-01 2.88113192e+02] [-5.53922083e-01 2.90454415e-01 -7.80260571e-01 -1.65290931e+02] [-5.53952975e-01 -8.28201464e-01 8.49613791e-02 -6.26393042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-165.16, Z:-627.08 [[-6.42310607e-01 6.43619087e-01 -4.16162894e-01 2.88511586e+02] [-5.33846047e-01 -7.65295094e-01 -3.59627332e-01 -1.65164179e+02] [-5.49950436e-01 -8.82553387e-03 8.35150662e-01 -6.27075573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-165.92, Z:-626.99 [[-5.93899271e-01 -4.55869988e-01 -6.62922477e-01 2.88924820e+02] [-5.23430771e-01 -4.06811221e-01 7.48682081e-01 -1.65920881e+02] [-6.10985994e-01 7.91635765e-01 2.98850813e-03 -6.26994483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-165.25, Z:-627.12 [[-6.16116071e-01 6.40051739e-01 -4.59058557e-01 2.88422190e+02] [-5.02408485e-01 -7.68207248e-01 -3.96791303e-01 -1.65245285e+02] [-6.06619075e-01 -1.38345848e-02 7.94872256e-01 -6.27121360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-165.27, Z:-627.16 [[-6.03771828e-01 6.27461945e-01 -4.91681896e-01 2.88429408e+02] [-5.02365674e-01 -7.78397844e-01 -3.76464508e-01 -1.65271117e+02] [-6.18941281e-01 1.97054427e-02 7.85190032e-01 -6.27157415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-165.26, Z:-627.14 [[-6.18750058e-01 6.48541564e-01 -4.43330809e-01 2.88391781e+02] [-5.00857322e-01 -7.60431283e-01 -4.13383850e-01 -1.65262777e+02] [-6.05219224e-01 -3.37357991e-02 7.95343691e-01 -6.27137582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-166.03, Z:-627.09 [[-5.81497502e-01 -5.16375023e-01 -6.28663257e-01 2.88773937e+02] [-4.57347155e-01 -4.31590421e-01 7.77536680e-01 -1.66029657e+02] [-6.72825561e-01 7.39652989e-01 1.48061040e-02 -6.27094162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-165.37, Z:-627.24 [[-5.91666106e-01 6.25514879e-01 -5.08588591e-01 2.88291932e+02] [-4.66618086e-01 -7.80157779e-01 -4.16679015e-01 -1.65372482e+02] [-6.57418270e-01 -9.21821567e-03 7.53469471e-01 -6.27235895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-166.19, Z:-627.15 [[-5.42881614e-01 -6.35022528e-01 -5.49568870e-01 2.88635560e+02] [-4.30320727e-01 -3.51618844e-01 8.31377327e-01 -1.66194552e+02] [-7.21182103e-01 6.87830340e-01 -8.23759503e-02 -6.27146352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-165.45, Z:-627.30 [[-5.52931170e-01 6.29930057e-01 -5.45394577e-01 2.88202038e+02] [-4.42324080e-01 -7.76622252e-01 -4.48561351e-01 -1.65445210e+02] [-7.06127842e-01 -6.78239822e-03 7.08051884e-01 -6.27298742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-165.45, Z:-627.30 [[-5.54363896e-01 6.27423622e-01 -5.46827459e-01 2.88201482e+02] [-4.40949963e-01 -7.78652310e-01 -4.46389641e-01 -1.65452126e+02] [-7.05863868e-01 -6.33875284e-03 7.08319151e-01 -6.27304937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-166.29, Z:-627.21 [[-4.97233427e-01 -6.94298690e-01 -5.20296308e-01 2.88525828e+02] [-4.00848725e-01 -3.48008291e-01 8.47473025e-01 -1.66287252e+02] [-7.69466841e-01 6.29952028e-01 -1.05267390e-01 -6.27212763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-165.55, Z:-627.43 [[-5.17196743e-01 6.34655195e-01 -5.74212777e-01 2.88073889e+02] [-4.09304572e-01 -7.72630500e-01 -4.85295660e-01 -1.65550864e+02] [-7.51649716e-01 -1.59654199e-02 6.59369251e-01 -6.27429944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:-165.73, Z:-627.75 [[-5.20640230e-01 6.28279589e-01 -5.78099048e-01 2.87863243e+02] [-4.08648148e-01 -7.77890316e-01 -4.77381763e-01 -1.65728218e+02] [-7.49626869e-01 -1.23050455e-02 6.61746283e-01 -6.27754663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-166.54, Z:-627.20 [[-4.38032625e-01 -8.80879860e-01 -1.79382531e-01 2.88264704e+02] [-3.96336027e-01 1.01331054e-02 9.18049603e-01 -1.66538369e+02] [-8.06873704e-01 4.73231437e-01 -3.53563054e-01 -6.27202820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-166.20, Z:-627.03 [[-4.37785542e-01 1.71605004e-01 8.82550589e-01 2.87368420e+02] [-4.83315578e-01 7.82800426e-01 -3.91956050e-01 -1.66200154e+02] [-7.58122596e-01 -5.98143140e-01 -2.59759337e-01 -6.27033202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-165.66, Z:-627.67 [[-4.72161729e-01 7.18203350e-01 -5.11123517e-01 2.87845973e+02] [-4.65898704e-01 -6.95542354e-01 -5.46954507e-01 -1.65656349e+02] [-7.48332613e-01 -2.01192020e-02 6.63018490e-01 -6.27668466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.25, Y:-166.44, Z:-627.60 [[-4.22736875e-01 -6.65160463e-01 -6.15512058e-01 2.88247359e+02] [-4.09029406e-01 -4.66030402e-01 7.84544843e-01 -1.66437966e+02] [-8.08695542e-01 5.83418567e-01 -7.50619530e-02 -6.27602576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-166.64, Z:-627.24 [[-3.61018023e-01 -4.44076959e-01 8.20037586e-01 2.87428446e+02] [-4.94912153e-01 8.36527752e-01 2.35123971e-01 -1.66635804e+02] [-7.90397336e-01 -3.20962576e-01 -5.21780679e-01 -6.27235077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-165.78, Z:-627.88 [[-3.96288472e-01 7.98030332e-01 -4.53985723e-01 2.87636219e+02] [-4.98247160e-01 -6.02251932e-01 -6.23732617e-01 -1.65779510e+02] [-7.71171326e-01 -2.09809482e-02 6.36281845e-01 -6.27884122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-165.79, Z:-627.89 [[-3.96366948e-01 7.84370328e-01 -4.77133557e-01 2.87649690e+02] [-4.97909554e-01 -6.20287122e-01 -6.06077521e-01 -1.65785848e+02] [-7.71349025e-01 -2.65974040e-03 6.36406794e-01 -6.27894828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-165.80, Z:-627.92 [[-3.92694155e-01 7.80451395e-01 -4.86504801e-01 2.87648160e+02] [-4.96088896e-01 -6.25198445e-01 -6.02513661e-01 -1.65798653e+02] [-7.74394672e-01 4.74603663e-03 6.32685046e-01 -6.27917624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-166.17, Z:-627.58 [[-4.16643719e-01 5.49079159e-01 7.24513691e-01 2.87101048e+02] [-5.32432049e-01 4.98593339e-01 -6.84047364e-01 -1.66165547e+02] [-7.36833852e-01 -6.70758346e-01 8.46115581e-02 -6.27580053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-165.88, Z:-628.08 [[-4.31990337e-01 7.76124779e-01 -4.59363339e-01 2.87592390e+02] [-5.35051108e-01 -6.30572661e-01 -5.62226317e-01 -1.65878029e+02] [-7.26019738e-01 2.90652755e-03 6.87667719e-01 -6.28080196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-166.22, Z:-627.70 [[-4.50806816e-01 5.25291984e-01 7.21693526e-01 2.87059942e+02] [-5.62762424e-01 4.60326965e-01 -6.86583964e-01 -1.66219413e+02] [-6.92872043e-01 -7.15658729e-01 8.80960567e-02 -6.27703174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-166.67, Z:-628.15 [[-4.46984612e-01 -5.25621532e-01 -7.23827853e-01 2.87989571e+02] [-5.16811317e-01 -5.08715724e-01 6.88559638e-01 -1.66670833e+02] [-7.30144382e-01 6.81857989e-01 -4.42590558e-02 -6.28148675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-166.05, Z:-628.30 [[-4.30215282e-01 7.75883241e-01 -4.61432560e-01 2.87457956e+02] [-5.37423815e-01 -6.30835336e-01 -5.59662776e-01 -1.66047708e+02] [-7.25320932e-01 7.20936793e-03 6.88373133e-01 -6.28302186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.07, Z:-628.34 [[-4.34592553e-01 7.72602649e-01 -4.62833080e-01 2.87440097e+02] [-5.33913671e-01 -6.34874533e-01 -5.58453686e-01 -1.66071906e+02] [-7.25303733e-01 4.41309546e-03 6.88414860e-01 -6.28335493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.08, Z:-628.34 [[-4.36504148e-01 7.68724510e-01 -4.67468456e-01 2.87440778e+02] [-5.32466894e-01 -6.39543115e-01 -5.54494014e-01 -1.66076698e+02] [-7.25219371e-01 6.87253949e-03 6.88483574e-01 -6.28341422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-166.08, Z:-628.35 [[-4.39769743e-01 7.66481547e-01 -4.68090388e-01 2.87436947e+02] [-5.30003114e-01 -6.42250015e-01 -5.53725218e-01 -1.66083697e+02] [-7.25051221e-01 4.57776647e-03 6.88679731e-01 -6.28349846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:-166.57, Z:-627.87 [[-4.40795932e-01 2.67278617e-01 8.56890359e-01 2.86901993e+02] [-5.65326507e-01 6.58844484e-01 -4.96316317e-01 -1.66565447e+02] [-6.97212225e-01 -7.03197047e-01 -1.39316282e-01 -6.27871324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-166.17, Z:-628.51 [[-4.60434233e-01 7.78052508e-01 -4.27357710e-01 2.87352237e+02] [-5.73330126e-01 -6.28192860e-01 -5.25990776e-01 -1.66165049e+02] [-6.77711505e-01 2.83289022e-03 7.35322440e-01 -6.28510352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-166.40, Z:-628.81 [[-4.74752020e-01 7.62068404e-01 -4.40297930e-01 2.87169593e+02] [-5.54079702e-01 -6.47481289e-01 -5.23224297e-01 -1.66402060e+02] [-6.83817376e-01 -4.44164645e-03 7.29639684e-01 -6.28808515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-166.67, Z:-628.05 [[-4.76820335e-01 2.33258023e-01 8.47486320e-01 2.86816958e+02] [-6.01906779e-01 6.15993414e-01 -5.08193215e-01 -1.66665572e+02] [-6.40586136e-01 -7.52424620e-01 -1.53318601e-01 -6.28051309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-166.87, Z:-628.73 [[-4.86707298e-01 -2.57157144e-01 -8.34857000e-01 2.87684836e+02] [-5.36923968e-01 -6.65796743e-01 5.18099749e-01 -1.66873276e+02] [-6.89078123e-01 7.00417662e-01 1.85974299e-01 -6.28726704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-166.97, Z:-628.79 [[-4.64996901e-01 -3.02734669e-01 -8.31943269e-01 2.87615873e+02] [-4.88076518e-01 -6.96348941e-01 5.26193373e-01 -1.66971280e+02] [-7.38619791e-01 6.50730261e-01 1.76042416e-01 -6.28791173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-166.48, Z:-628.84 [[-4.71514539e-01 7.35585774e-01 -4.86402722e-01 2.87133578e+02] [-5.02275639e-01 -6.77370162e-01 -5.37483810e-01 -1.66478324e+02] [-7.24840135e-01 -9.12319274e-03 6.88856695e-01 -6.28842736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-166.49, Z:-628.85 [[-4.74396918e-01 7.32617655e-01 -4.88076773e-01 2.87128967e+02] [-4.97573472e-01 -6.80529116e-01 -5.37866863e-01 -1.66485586e+02] [-7.26201215e-01 -1.23083275e-02 6.87372025e-01 -6.28851246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-166.49, Z:-628.86 [[-4.75858114e-01 7.30696503e-01 -4.89532099e-01 2.87126419e+02] [-4.94632607e-01 -6.82561427e-01 -5.38004166e-01 -1.66489520e+02] [-7.27253491e-01 -1.38751101e-02 6.86228709e-01 -6.28856662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-166.50, Z:-628.87 [[-4.77327786e-01 7.28896547e-01 -4.90783057e-01 2.87121764e+02] [-4.92468440e-01 -6.84461600e-01 -5.37575255e-01 -1.66495948e+02] [-7.27758903e-01 -1.49044395e-02 6.85671085e-01 -6.28865899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-166.50, Z:-628.87 [[-4.78899331e-01 7.27334916e-01 -4.91568256e-01 2.87118734e+02] [-4.90848001e-01 -6.86099187e-01 -5.36969409e-01 -1.66499902e+02] [-7.27821181e-01 -1.58689954e-02 6.85583331e-01 -6.28871591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-166.50, Z:-628.88 [[-4.80834167e-01 7.25626647e-01 -4.92203691e-01 2.87114133e+02] [-4.89199527e-01 -6.87877700e-01 -5.36197812e-01 -1.66504561e+02] [-7.27655363e-01 -1.70364155e-02 6.85731313e-01 -6.28879871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-166.51, Z:-628.88 [[-4.81789758e-01 7.24523902e-01 -4.92893238e-01 2.87112378e+02] [-4.88355732e-01 -6.89032953e-01 -5.35483211e-01 -1.66506832e+02] [-7.27590069e-01 -1.72830885e-02 6.85794420e-01 -6.28884251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-166.51, Z:-628.89 [[-4.82917508e-01 7.23480187e-01 -4.93322511e-01 2.87110438e+02] [-4.87904290e-01 -6.90125350e-01 -5.34487048e-01 -1.66508992e+02] [-7.27145160e-01 -1.74189836e-02 6.86262701e-01 -6.28888236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-166.51, Z:-628.90 [[-4.84128815e-01 7.22633365e-01 -4.93376438e-01 2.87106157e+02] [-4.88170093e-01 -6.91016672e-01 -5.33090911e-01 -1.66512325e+02] [-7.26160623e-01 -1.72330501e-02 6.87309080e-01 -6.28895107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:-167.21, Z:-628.86 [[-4.24430849e-01 -5.33252092e-01 -7.31779107e-01 2.87519047e+02] [-4.37086064e-01 -5.87125365e-01 6.81351289e-01 -1.67209684e+02] [-7.92978075e-01 6.09036955e-01 1.61170588e-02 -6.28855993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-166.96, Z:-628.59 [[-4.61980215e-01 4.84501071e-01 7.42854624e-01 2.86458335e+02] [-5.17528280e-01 5.32933456e-01 -6.69437384e-01 -1.66962543e+02] [-7.20235212e-01 -6.93715102e-01 4.53829342e-03 -6.28588440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-167.35, Z:-629.08 [[-4.26224051e-01 -5.32441486e-01 -7.31326961e-01 2.87389957e+02] [-4.38234223e-01 -5.85709731e-01 6.81832001e-01 -1.67348510e+02] [-7.91380960e-01 6.11105700e-01 1.63094931e-02 -6.29081448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-167.42, Z:-629.16 [[-3.89789796e-01 -5.59676070e-01 -7.31318407e-01 2.87319967e+02] [-3.98068031e-01 -6.13708678e-01 6.81838325e-01 -1.67424684e+02] [-8.30425047e-01 5.56888100e-01 1.64282291e-02 -6.29163907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-166.80, Z:-629.28 [[-4.11395631e-01 7.23882990e-01 -5.53847499e-01 2.86826689e+02] [-4.13434126e-01 -6.89747334e-01 -5.94407974e-01 -1.66803388e+02] [-8.12296657e-01 -1.55573864e-02 5.83036971e-01 -6.29276048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-166.82, Z:-629.30 [[-4.13443743e-01 7.20108382e-01 -5.57232617e-01 2.86814952e+02] [-4.10989103e-01 -6.93687555e-01 -5.91511229e-01 -1.66817736e+02] [-8.12497526e-01 -1.55400832e-02 5.82757477e-01 -6.29304747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-166.82, Z:-629.32 [[-4.12992944e-01 7.16586565e-01 -5.62085869e-01 2.86812418e+02] [-4.11419058e-01 -6.97409867e-01 -5.86816697e-01 -1.66822332e+02] [-8.12509192e-01 -1.10983163e-02 5.82842723e-01 -6.29315260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-166.83, Z:-629.34 [[-4.13171844e-01 7.16135366e-01 -5.62529257e-01 2.86797782e+02] [-4.11536707e-01 -6.97879551e-01 -5.86175462e-01 -1.66833511e+02] [-8.12358644e-01 -1.06897586e-02 5.83060171e-01 -6.29340448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-167.77, Z:-629.18 [[-3.40505099e-01 -8.81573879e-01 -3.26930839e-01 2.87113890e+02] [-3.85555547e-01 -1.86216037e-01 9.03698239e-01 -1.67769117e+02] [-8.57556528e-01 4.33763857e-01 -2.76488189e-01 -6.29182856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-166.89, Z:-629.43 [[-3.58748830e-01 7.66746135e-01 -5.32352930e-01 2.86668198e+02] [-4.09738123e-01 -6.41788189e-01 -6.48245780e-01 -1.66892203e+02] [-8.38697769e-01 -1.44321244e-02 5.44405884e-01 -6.29434583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-167.75, Z:-629.35 [[-2.94864488e-01 -8.12487739e-01 -5.02910139e-01 2.87101931e+02] [-3.61264297e-01 -3.92454166e-01 8.45853318e-01 -1.67746942e+02] [-8.84614629e-01 4.31095583e-01 -1.77802015e-01 -6.29352025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-166.97, Z:-629.57 [[-3.06038306e-01 7.96941541e-01 -5.20792410e-01 2.86560646e+02] [-3.82018060e-01 -6.03866546e-01 -6.99576584e-01 -1.66971140e+02] [-8.72010755e-01 -1.51451266e-02 4.89252357e-01 -6.29573164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-167.83, Z:-629.52 [[-2.48582271e-01 -8.29064635e-01 -5.00857950e-01 2.87023851e+02] [-3.30849829e-01 -4.13313089e-01 8.48357637e-01 -1.67830867e+02] [-9.10354461e-01 3.76595435e-01 -1.71553586e-01 -6.29516558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-167.86, Z:-629.64 [[-1.94631393e-01 -8.13725072e-01 -5.47695288e-01 2.86982036e+02] [-2.99763202e-01 -4.82314758e-01 8.23112688e-01 -1.67860574e+02] [-9.33948951e-01 3.24382462e-01 -1.50051240e-01 -6.29635782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-167.15, Z:-629.94 [[-1.96024464e-01 8.68969786e-01 -4.54385212e-01 2.86338623e+02] [-3.26225761e-01 -4.94770866e-01 -8.05467903e-01 -1.67145298e+02] [-9.24743836e-01 -9.65925261e-03 3.80467523e-01 -6.29939984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-167.85, Z:-629.82 [[-1.51867393e-01 -7.43395385e-01 -6.51382835e-01 2.86948197e+02] [-2.46531223e-01 -6.09708111e-01 7.53311606e-01 -1.67854093e+02] [-9.57161769e-01 2.74989676e-01 -9.06753922e-02 -6.29819678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-168.16, Z:-629.73 [[-9.44770026e-02 -3.35845272e-01 9.37167034e-01 2.86040098e+02] [-3.15550750e-01 9.02939112e-01 2.91768204e-01 -1.68160686e+02] [-9.44193741e-01 -2.68158375e-01 -1.91283208e-01 -6.29732478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-167.20, Z:-630.09 [[-1.07493802e-01 9.56697737e-01 -2.70507897e-01 2.86170807e+02] [-3.38569951e-01 -2.91046879e-01 -8.94797241e-01 -1.67201672e+02] [-9.34780975e-01 -4.59931220e-03 3.55194842e-01 -6.30089844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-167.21, Z:-630.11 [[-1.14237799e-01 9.47746733e-01 -2.97868857e-01 2.86180230e+02] [-3.43784548e-01 -3.19020150e-01 -8.83197786e-01 -1.67206090e+02] [-9.32073983e-01 1.50813894e-03 3.62264842e-01 -6.30105540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-167.91, Z:-630.08 [[-8.49809086e-02 -7.31772493e-01 -6.76230186e-01 2.86889361e+02] [-2.72350257e-01 -6.35779654e-01 7.22225428e-01 -1.67913752e+02] [-9.58438095e-01 2.45546838e-01 -1.45269294e-01 -6.30081007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-168.21, Z:-630.06 [[-4.88803025e-02 -2.13696892e-01 9.75676358e-01 2.85915412e+02] [-3.30259226e-01 9.25356405e-01 1.86129975e-01 -1.68210846e+02] [-9.42623764e-01 -3.13128029e-01 -1.15807071e-01 -6.30059761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-168.37, Z:-630.40 [[ 7.55120545e-03 -9.99834445e-01 -1.65548236e-02 2.86619627e+02] [-3.33047517e-01 -1.81247362e-02 9.42735830e-01 -1.68369544e+02] [-9.42879807e-01 -1.60524907e-03 -3.33129243e-01 -6.30395170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-167.54, Z:-630.75 [[ 3.61291641e-02 9.95672353e-01 8.56227145e-02 2.85890545e+02] [-3.54290894e-01 9.28751092e-02 -9.30511782e-01 -1.67537377e+02] [-9.34437074e-01 3.28326483e-03 3.56113148e-01 -6.30753268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-168.36, Z:-630.43 [[ 8.29437498e-02 -9.93312819e-01 -8.03117543e-02 2.86655386e+02] [-3.29875141e-01 -1.03412620e-01 9.38343339e-01 -1.68361244e+02] [-9.40373716e-01 -5.13368639e-02 -3.36246637e-01 -6.30434672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-167.64, Z:-630.82 [[ 1.15876176e-01 9.59248968e-01 2.57709388e-01 2.85835686e+02] [-3.42143071e-01 2.82126528e-01 -8.96293892e-01 -1.67636023e+02] [-9.32475646e-01 1.56856270e-02 3.60892131e-01 -6.30818540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-168.52, Z:-630.56 [[ 1.38251523e-01 -5.84372361e-01 7.99622074e-01 2.86109969e+02] [-3.69914033e-01 7.18477512e-01 5.89027735e-01 -1.68516001e+02] [-9.18722006e-01 -3.77225408e-01 -1.16836926e-01 -6.30557619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-167.73, Z:-630.97 [[ 1.53124308e-01 9.37124795e-01 3.13608139e-01 2.85827803e+02] [-3.94653718e-01 3.48935965e-01 -8.49995374e-01 -1.67727041e+02] [-9.05980899e-01 6.38833512e-03 4.23270363e-01 -6.30972295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-167.80, Z:-630.92 [[ 1.33659871e-01 -1.64993860e-01 -9.77196022e-01 2.86825940e+02] [-3.32240902e-01 -9.36440960e-01 1.12669035e-01 -1.67801817e+02] [-9.33676080e-01 3.09605159e-01 -1.79982286e-01 -6.30915109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-168.41, Z:-630.73 [[ 2.10352338e-01 -9.42245775e-01 -2.60623855e-01 2.86749776e+02] [-2.90933277e-01 -3.14844012e-01 9.03455077e-01 -1.68406456e+02] [-9.33332589e-01 -1.14219736e-01 -3.40358825e-01 -6.30734143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-168.23, Z:-630.77 [[ 2.72351245e-01 -7.75081744e-01 -5.70151813e-01 2.86847751e+02] [-2.46730948e-01 -6.28995503e-01 7.37216723e-01 -1.68234361e+02] [-9.30026150e-01 -6.01077946e-02 -3.62544362e-01 -6.30774292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:-167.57, Z:-631.14 [[ 2.37218216e-01 5.75943711e-01 -7.82314745e-01 2.86518486e+02] [-2.09668305e-01 -7.55967092e-01 -6.20123341e-01 -1.67571659e+02] [-9.48560341e-01 3.11131159e-01 -5.85720229e-02 -6.31142304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:-168.12, Z:-631.25 [[ 2.57489774e-01 6.21048036e-01 7.40269109e-01 2.85793586e+02] [-2.09367104e-01 7.83759977e-01 -5.84709940e-01 -1.68119571e+02] [-9.43326260e-01 -4.43116888e-03 3.31837208e-01 -6.31251132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.80, Y:-168.09, Z:-631.29 [[ 2.54603012e-01 6.58690463e-01 7.08028376e-01 2.85800752e+02] [-2.06979219e-01 7.52306917e-01 -6.25454959e-01 -1.68088894e+02] [-9.44635861e-01 1.26955560e-02 3.27874845e-01 -6.31286969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-168.13, Z:-631.31 [[ 2.54112719e-01 6.17052772e-01 7.44763454e-01 2.85806095e+02] [-2.11479342e-01 7.86855989e-01 -5.79770766e-01 -1.68130910e+02] [-9.43770742e-01 -1.01749598e-02 3.30444029e-01 -6.31310816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-168.12, Z:-631.35 [[ 2.52320933e-01 6.37478895e-01 7.27979949e-01 2.85814638e+02] [-2.11622962e-01 7.70464300e-01 -6.01332258e-01 -1.68121515e+02] [-9.44219185e-01 -2.32855664e-03 3.29309443e-01 -6.31345766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-168.13, Z:-631.38 [[ 2.51842465e-01 6.32539937e-01 7.32440168e-01 2.85823405e+02] [-2.13427094e-01 7.74501669e-01 -5.95479672e-01 -1.68134442e+02] [-9.43940808e-01 -6.35550812e-03 3.30053571e-01 -6.31375966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.83, Y:-168.13, Z:-631.41 [[ 2.50128127e-01 6.47264849e-01 7.20058425e-01 2.85831133e+02] [-2.12279048e-01 7.62265182e-01 -6.11464961e-01 -1.68127538e+02] [-9.44655242e-01 9.12681062e-05 3.28064728e-01 -6.31409043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-168.15, Z:-631.44 [[ 2.50232489e-01 6.33466890e-01 7.32190823e-01 2.85838481e+02] [-2.13586364e-01 7.73736824e-01 -5.96416124e-01 -1.68145922e+02] [-9.44332869e-01 -7.14328440e-03 3.28913981e-01 -6.31436385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-168.15, Z:-631.47 [[ 2.49709014e-01 6.36270352e-01 7.29935235e-01 2.85846483e+02] [-2.14007882e-01 7.71438124e-01 -5.99236054e-01 -1.68150732e+02] [-9.44376003e-01 -6.57724959e-03 3.28801923e-01 -6.31467789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-168.16, Z:-631.50 [[ 2.48278147e-01 6.37233042e-01 7.29583451e-01 2.85853702e+02] [-2.14687692e-01 7.70633113e-01 -6.00028167e-01 -1.68157095e+02] [-9.44598940e-01 -7.65870565e-03 3.28137452e-01 -6.31497815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-168.16, Z:-631.53 [[ 2.47400430e-01 6.38144089e-01 7.29085145e-01 2.85861663e+02] [-2.15765376e-01 7.69867613e-01 -6.00623977e-01 -1.68163530e+02] [-9.44583681e-01 -8.71670039e-03 3.28154978e-01 -6.31529351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-168.17, Z:-631.56 [[ 2.46700182e-01 6.39121998e-01 7.28465574e-01 2.85869293e+02] [-2.17148774e-01 7.69041993e-01 -6.01182854e-01 -1.68169487e+02] [-9.44449803e-01 -9.87348653e-03 3.28507358e-01 -6.31560262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:-168.18, Z:-631.59 [[ 2.44774745e-01 6.40649204e-01 7.27773263e-01 2.85877043e+02] [-2.20633179e-01 7.67718283e-01 -6.01605884e-01 -1.68175383e+02] [-9.44143170e-01 -1.33130018e-02 3.29266517e-01 -6.31592148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:-168.18, Z:-631.62 [[ 2.44156883e-01 6.41710130e-01 7.27045752e-01 2.85884743e+02] [-2.22512935e-01 7.66804925e-01 -6.02078235e-01 -1.68181443e+02] [-9.43861966e-01 -1.47755390e-02 3.30009505e-01 -6.31623415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-168.19, Z:-631.65 [[ 2.42442676e-01 6.43072879e-01 7.26415048e-01 2.85892122e+02] [-2.25141160e-01 7.65606291e-01 -6.02626306e-01 -1.68187941e+02] [-9.43680564e-01 -1.74435925e-02 3.30397812e-01 -6.31654824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-168.19, Z:-631.69 [[ 2.40486663e-01 6.46512758e-01 7.24007886e-01 2.85898291e+02] [-2.26176091e-01 7.62689954e-01 -6.05927727e-01 -1.68193211e+02] [-9.43933547e-01 -1.80357366e-02 3.29642491e-01 -6.31687131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-168.19, Z:-631.72 [[ 2.40593389e-01 6.54018687e-01 7.17198981e-01 2.85907588e+02] [-2.26145057e-01 7.56339350e-01 -6.13847865e-01 -1.68193545e+02] [-9.43913786e-01 -1.45032656e-02 3.29873341e-01 -6.31716611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-168.21, Z:-631.75 [[ 2.40375797e-01 6.44950208e-01 7.25436906e-01 2.85913856e+02] [-2.26208135e-01 7.63992156e-01 -6.04273005e-01 -1.68208548e+02] [-9.43954107e-01 -1.88471245e-02 3.29538208e-01 -6.31745853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-168.22, Z:-631.78 [[ 2.39631151e-01 6.45297039e-01 7.25374829e-01 2.85920200e+02] [-2.24566790e-01 7.63722853e-01 -6.05224884e-01 -1.68217405e+02] [-9.44535160e-01 -1.78643612e-02 3.27924071e-01 -6.31775499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-168.23, Z:-631.81 [[ 2.39059893e-01 6.45754159e-01 7.25156489e-01 2.85927417e+02] [-2.23638656e-01 7.63349530e-01 -6.06038982e-01 -1.68225079e+02] [-9.44900058e-01 -1.72934089e-02 3.26901849e-01 -6.31806645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-168.23, Z:-631.84 [[ 2.38815439e-01 6.46253626e-01 7.24791996e-01 2.85935015e+02] [-2.22957362e-01 7.62940310e-01 -6.06804827e-01 -1.68232672e+02] [-9.45122850e-01 -1.66833500e-02 3.26288929e-01 -6.31837701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-168.24, Z:-631.87 [[ 2.38465046e-01 6.46660465e-01 7.24544453e-01 2.85941824e+02] [-2.21597152e-01 7.62617622e-01 -6.07708042e-01 -1.68240442e+02] [-9.45531134e-01 -1.56398610e-02 3.25155763e-01 -6.31868167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-168.25, Z:-631.90 [[ 2.38732268e-01 6.47062006e-01 7.24097828e-01 2.85949156e+02] [-2.20897778e-01 7.62295371e-01 -6.08366616e-01 -1.68247004e+02] [-9.45627345e-01 -1.47148590e-02 3.24919062e-01 -6.31899315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-168.25, Z:-631.93 [[ 2.39939356e-01 6.50236309e-01 7.20848006e-01 2.85954349e+02] [-2.19826153e-01 7.59643399e-01 -6.12060755e-01 -1.68252362e+02] [-9.45571556e-01 -1.16037807e-02 3.25207294e-01 -6.31933189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:-168.26, Z:-631.96 [[ 2.42754491e-01 6.52720348e-01 7.17653401e-01 2.85961996e+02] [-2.18196304e-01 7.57564305e-01 -6.15212724e-01 -1.68257680e+02] [-9.45230464e-01 -7.24366795e-03 3.26323305e-01 -6.31961716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-168.27, Z:-631.99 [[ 2.45186200e-01 6.46372120e-01 7.22555749e-01 2.85967957e+02] [-2.15465545e-01 7.62996648e-01 -6.09434750e-01 -1.68269809e+02] [-9.45229246e-01 -6.26087813e-03 3.26347169e-01 -6.31990861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-168.28, Z:-632.02 [[ 2.47059451e-01 6.42740735e-01 7.25152381e-01 2.85975678e+02] [-2.15950314e-01 7.66051583e-01 -6.05417570e-01 -1.68283677e+02] [-9.44630663e-01 -7.02275189e-03 3.28060347e-01 -6.32023265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-168.27, Z:-632.06 [[ 2.46569166e-01 6.63166157e-01 7.06692504e-01 2.85985147e+02] [-2.16161493e-01 7.48469980e-01 -6.26950475e-01 -1.68273986e+02] [-9.44710461e-01 1.82694914e-03 3.27900605e-01 -6.32058188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-168.27, Z:-632.09 [[ 2.47631789e-01 6.66650396e-01 7.03033247e-01 2.85991696e+02] [-2.12101341e-01 7.45333791e-01 -6.32052657e-01 -1.68273395e+02] [-9.45352589e-01 7.40203591e-03 3.25965783e-01 -6.32085937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-168.31, Z:-632.11 [[ 2.51849253e-01 6.41170402e-01 7.24894799e-01 2.85997428e+02] [-2.10468908e-01 7.67398537e-01 -6.05642076e-01 -1.68305666e+02] [-9.44602981e-01 -3.73123009e-05 3.28215183e-01 -6.32114738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-168.30, Z:-632.15 [[ 2.54254109e-01 6.57044121e-01 7.09681528e-01 2.86006302e+02] [-2.09793201e-01 7.53792973e-01 -6.22722222e-01 -1.68301885e+02] [-9.44108924e-01 9.44332420e-03 3.29498350e-01 -6.32147914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-168.29, Z:-632.18 [[ 2.57008519e-01 6.71472321e-01 6.95033484e-01 2.86011012e+02] [-2.01859825e-01 7.40627435e-01 -6.40877222e-01 -1.68293011e+02] [-9.45092182e-01 2.44115680e-02 3.25890845e-01 -6.32181987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-168.32, Z:-632.21 [[ 2.60967434e-01 6.53732958e-01 7.10302202e-01 2.86016575e+02] [-1.97497526e-01 7.56392119e-01 -6.23590964e-01 -1.68315226e+02] [-9.44928953e-01 2.24540061e-02 3.26504352e-01 -6.32210105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-168.32, Z:-632.24 [[ 2.60972604e-01 6.56329854e-01 7.07901422e-01 2.86024823e+02] [-1.97560615e-01 7.54104785e-01 -6.26335195e-01 -1.68319954e+02] [-9.44914337e-01 2.36028863e-02 3.26465619e-01 -6.32242297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-168.34, Z:-632.27 [[ 2.65166667e-01 6.49936160e-01 7.12228634e-01 2.86032648e+02] [-1.94560011e-01 7.59543535e-01 -6.20677066e-01 -1.68335585e+02] [-9.44369123e-01 2.60116579e-02 3.27857214e-01 -6.32273199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-168.32, Z:-632.31 [[ 2.66101209e-01 6.69040248e-01 6.93956262e-01 2.86039616e+02] [-1.90426778e-01 7.42210963e-01 -6.42542239e-01 -1.68323098e+02] [-9.44948564e-01 3.88334121e-02 3.24906413e-01 -6.32307534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-168.34, Z:-632.34 [[ 2.68825729e-01 6.56347487e-01 7.04940213e-01 2.86046234e+02] [-1.87068737e-01 7.53523529e-01 -6.30244064e-01 -1.68341584e+02] [-9.44848144e-01 3.75535444e-02 3.25348607e-01 -6.32336219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:-168.35, Z:-632.37 [[ 2.69825907e-01 6.56932052e-01 7.04012968e-01 2.86053969e+02] [-1.86184954e-01 7.52927845e-01 -6.31216938e-01 -1.68348449e+02] [-9.44737606e-01 3.92420610e-02 3.25470302e-01 -6.32367634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-168.35, Z:-632.40 [[ 2.70624144e-01 6.58428647e-01 7.02306407e-01 2.86061803e+02] [-1.85848846e-01 7.51537882e-01 -6.32969999e-01 -1.68354309e+02] [-9.44575449e-01 4.07741290e-02 3.25752500e-01 -6.32398436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-168.36, Z:-632.43 [[ 2.71510334e-01 6.55129655e-01 7.05044164e-01 2.86069967e+02] [-1.85597531e-01 7.54452627e-01 -6.29567145e-01 -1.68364312e+02] [-9.44370528e-01 4.00795295e-02 3.26432132e-01 -6.32428881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-168.37, Z:-632.46 [[ 2.71881690e-01 6.58812611e-01 7.01460113e-01 2.86077760e+02] [-1.86289006e-01 7.51161288e-01 -6.33287554e-01 -1.68367417e+02] [-9.44127509e-01 4.15049833e-02 3.26956547e-01 -6.32460091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-168.37, Z:-632.49 [[ 2.71621054e-01 6.60058116e-01 7.00389382e-01 2.86085985e+02] [-1.86757903e-01 7.50065923e-01 -6.34446686e-01 -1.68372576e+02] [-9.44109893e-01 4.15258251e-02 3.27004766e-01 -6.32491587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-168.38, Z:-632.52 [[ 2.70253377e-01 6.61482954e-01 6.99573738e-01 2.86094470e+02] [-1.88427360e-01 7.48899038e-01 -6.35330907e-01 -1.68377415e+02] [-9.44170664e-01 3.98814906e-02 3.27033981e-01 -6.32522526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-168.38, Z:-632.55 [[ 2.69382219e-01 6.60615953e-01 7.00728038e-01 2.86102691e+02] [-1.89189486e-01 7.49749212e-01 -6.34100510e-01 -1.68383866e+02] [-9.44267207e-01 3.82450256e-02 3.26950699e-01 -6.32552519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-168.39, Z:-632.58 [[ 2.68048494e-01 6.57151248e-01 7.04487219e-01 2.86110796e+02] [-1.90776697e-01 7.52972685e-01 -6.29790749e-01 -1.68394815e+02] [-9.44327410e-01 3.44147165e-02 3.27202339e-01 -6.32584144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-168.40, Z:-632.62 [[ 2.65414491e-01 6.65579683e-01 6.97537693e-01 2.86118661e+02] [-1.93617735e-01 7.45542662e-01 -6.37713346e-01 -1.68396768e+02] [-9.44493156e-01 3.42026952e-02 3.26745857e-01 -6.32617328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-168.39, Z:-632.65 [[ 2.63936099e-01 6.78726971e-01 6.85322869e-01 2.86128511e+02] [-1.94995307e-01 7.33393899e-01 -6.51237452e-01 -1.68392057e+02] [-9.44624034e-01 3.82503295e-02 3.25917699e-01 -6.32651124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.14, Y:-168.40, Z:-632.68 [[ 2.60379343e-01 6.81108918e-01 6.84319545e-01 2.86137703e+02] [-1.98276285e-01 7.31382225e-01 -6.52507897e-01 -1.68396225e+02] [-9.44928099e-01 3.42152398e-02 3.25484569e-01 -6.32681701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-168.41, Z:-632.71 [[ 2.59964109e-01 6.74797744e-01 6.90700129e-01 2.86147427e+02] [-2.00741748e-01 7.37432774e-01 -6.44899724e-01 -1.68409613e+02] [-9.44521791e-01 2.89984307e-02 3.27166133e-01 -6.32711280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-168.40, Z:-632.74 [[ 2.55930891e-01 6.88459421e-01 6.78618453e-01 2.86156514e+02] [-2.03380846e-01 7.24633395e-01 -6.58439575e-01 -1.68400370e+02] [-9.45058522e-01 3.04970320e-02 3.25475530e-01 -6.32744172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-168.41, Z:-632.77 [[ 2.54973706e-01 6.76785896e-01 6.90615132e-01 2.86164563e+02] [-2.03668789e-01 7.35787920e-01 -6.45860017e-01 -1.68413900e+02] [-9.45255222e-01 2.40205740e-02 3.25446736e-01 -6.32771172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-168.44, Z:-632.80 [[ 2.52824839e-01 6.60404987e-01 7.07067786e-01 2.86171915e+02] [-2.07852545e-01 7.50820900e-01 -6.26949197e-01 -1.68438310e+02] [-9.44921648e-01 1.15424908e-02 3.27093030e-01 -6.32801008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-168.41, Z:-632.83 [[ 2.51367634e-01 6.88702144e-01 6.80076224e-01 2.86182521e+02] [-2.05629564e-01 7.24595775e-01 -6.57782217e-01 -1.68412429e+02] [-9.45796381e-01 2.55013819e-02 3.23757447e-01 -6.32830799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-168.45, Z:-632.86 [[ 2.50079133e-01 6.46655402e-01 7.20622799e-01 2.86187077e+02] [-2.07410185e-01 7.62773251e-01 -6.12501414e-01 -1.68452666e+02] [-9.45749144e-01 3.70931415e-03 3.24876589e-01 -6.32855325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-168.46, Z:-632.89 [[ 2.49929053e-01 6.47427637e-01 7.19981197e-01 2.86195121e+02] [-2.08310464e-01 7.62120088e-01 -6.13008745e-01 -1.68458374e+02] [-9.45590936e-01 3.22907764e-03 3.25341903e-01 -6.32885304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-168.46, Z:-632.92 [[ 2.49485607e-01 6.48086648e-01 7.19541958e-01 2.86203079e+02] [-2.08568141e-01 7.61560639e-01 -6.13616104e-01 -1.68464629e+02] [-9.45651237e-01 3.01485734e-03 3.25168645e-01 -6.32916162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:286.21, Y:-168.48, Z:-632.95 [[ 2.50499299e-01 6.45371039e-01 7.21627551e-01 2.86210983e+02] [-2.09290695e-01 7.63866884e-01 -6.10495527e-01 -1.68476748e+02] [-9.45223522e-01 1.89877005e-03 3.26418272e-01 -6.32946533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-168.49, Z:-632.65 [[ 2.80019454e-01 -6.22751600e-01 -7.30595340e-01 2.87372901e+02] [-1.43325305e-01 -7.79631671e-01 6.09616531e-01 -1.68493106e+02] [-9.49234935e-01 -6.59916882e-02 -3.07568098e-01 -6.32648670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-168.37, Z:-632.67 [[ 3.13974986e-01 -4.26561054e-01 -8.48213048e-01 2.87367917e+02] [-7.53886360e-02 -9.01770785e-01 4.25589009e-01 -1.68368369e+02] [-9.46433443e-01 -6.96786785e-02 -3.15291326e-01 -6.32674217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-168.25, Z:-632.70 [[ 3.30622395e-01 -2.02520588e-01 -9.21777763e-01 2.87332428e+02] [-2.13912811e-03 -9.76862879e-01 2.13855887e-01 -1.68251127e+02] [-9.43760699e-01 -6.87337449e-02 -3.23405962e-01 -6.32700324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-168.15, Z:-632.73 [[ 3.29978381e-01 2.72536504e-02 -9.43594991e-01 2.87272309e+02] [ 7.33235785e-02 -9.97303187e-01 -3.16338754e-03 -1.68149614e+02] [-9.41136505e-01 -6.81439119e-02 -3.31086826e-01 -6.32726234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-168.07, Z:-632.75 [[ 3.12481435e-01 2.50490476e-01 -9.16302283e-01 2.87192267e+02] [ 1.46380933e-01 -9.65782042e-01 -2.14097338e-01 -1.68066895e+02] [-9.38577634e-01 -6.72277393e-02 -3.38455988e-01 -6.32748858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-168.01, Z:-632.77 [[ 2.79557532e-01 4.57008621e-01 -8.44387770e-01 2.87098146e+02] [ 2.14810637e-01 -8.86930084e-01 -4.08914926e-01 -1.68005580e+02] [-9.35790562e-01 -6.70682270e-02 -3.46118298e-01 -6.32772209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-167.97, Z:-632.79 [[ 2.33224167e-01 6.37643734e-01 -7.34177742e-01 2.86993671e+02] [ 2.74987066e-01 -7.67428459e-01 -5.79168088e-01 -1.67966512e+02] [-9.32731795e-01 -6.68133887e-02 -3.54326643e-01 -6.32794618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-167.95, Z:-632.82 [[ 1.72291242e-01 7.69395898e-01 -6.15098106e-01 2.86890037e+02] [ 3.24344173e-01 -6.33925599e-01 -7.02096285e-01 -1.67948638e+02] [-9.30116437e-01 -7.85384454e-02 -3.58768905e-01 -6.32817795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-167.95, Z:-632.83 [[ 1.09002423e-01 8.16284443e-01 -5.67272580e-01 2.86854741e+02] [ 3.67427070e-01 -5.63343101e-01 -7.40028310e-01 -1.67945036e+02] [-9.23642691e-01 -1.27766424e-01 -3.61330764e-01 -6.32826261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-167.96, Z:-632.85 [[ 3.89244322e-02 9.30999333e-01 -3.62939570e-01 2.86723684e+02] [ 3.97359609e-01 -3.47682997e-01 -8.49247829e-01 -1.67955293e+02] [-9.16837079e-01 -1.11161036e-01 -3.83474894e-01 -6.32846341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-168.02, Z:-632.88 [[-3.79604534e-02 9.95423980e-01 -8.76932379e-02 2.86577651e+02] [ 4.03615353e-01 -6.50063418e-02 -9.12616471e-01 -1.68015051e+02] [-9.14140936e-01 -7.00376722e-02 -3.99300730e-01 -6.32879379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.87, Z:-633.29 [[-3.89421671e-02 -9.95660699e-01 -8.45179290e-02 2.87284322e+02] [ 4.21627729e-01 -9.30565023e-02 9.01981455e-01 -1.68865920e+02] [-9.05932429e-01 -5.09989910e-04 4.23421981e-01 -6.33294010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.86, Z:-633.30 [[-3.63421676e-02 -9.95838182e-01 -8.35796728e-02 2.87284134e+02] [ 4.22011670e-01 -9.11049404e-02 9.02001131e-01 -1.68864991e+02] [-9.05861688e-01 -2.49092105e-03 4.23566286e-01 -6.33297149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.86, Z:-633.31 [[-3.14053241e-02 -9.96073945e-01 -8.27671580e-02 2.87284088e+02] [ 4.22092755e-01 -8.82787341e-02 9.02244186e-01 -1.68861511e+02] [-9.06008506e-01 -6.60014666e-03 4.23208018e-01 -6.33305522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.86, Z:-633.31 [[-2.89230068e-02 -9.96218147e-01 -8.19320617e-02 2.87283850e+02] [ 4.22429114e-01 -8.64691203e-02 9.02262010e-01 -1.68860159e+02] [-9.05934382e-01 -8.51435795e-03 4.23332496e-01 -6.33307883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-168.74, Z:-633.32 [[-2.54939568e-02 -2.39925985e-02 9.99387019e-01 2.86418926e+02] [ 3.40050054e-01 9.39888346e-01 3.12387339e-02 -1.68736784e+02] [-9.40061710e-01 3.40638009e-01 -1.58027885e-02 -6.33324822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.79, Z:-633.38 [[-2.08062728e-02 -9.95340952e-01 -9.41461005e-02 2.87284814e+02] [ 3.60040396e-01 -9.53079643e-02 9.28055659e-01 -1.68789229e+02] [-9.32704676e-01 -1.45870201e-02 3.60345954e-01 -6.33383740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-168.74, Z:-633.57 [[-2.18892860e-02 -9.97001588e-01 -7.42205634e-02 2.87267810e+02] [ 3.47185607e-01 -7.71986640e-02 9.34613568e-01 -1.68736142e+02] [-9.37540940e-01 -5.31028767e-03 3.47834425e-01 -6.33570491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-168.75, Z:-633.44 [[-5.99401011e-03 -9.91170997e-01 -1.32454244e-01 2.87299517e+02] [ 3.62256389e-01 -1.25611909e-01 9.23575637e-01 -1.68752019e+02] [-9.32059215e-01 -4.24464745e-02 3.59810945e-01 -6.33436956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-168.78, Z:-633.45 [[-3.04047810e-03 -9.97615230e-01 -6.89536759e-02 2.87272207e+02] [ 3.60846629e-01 -6.54027265e-02 9.30329078e-01 -1.68775066e+02] [-9.32620215e-01 -2.20530563e-02 3.60184948e-01 -6.33449963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-168.79, Z:-633.46 [[-5.61974494e-03 -9.98704016e-01 -5.05836568e-02 2.87261256e+02] [ 3.47894759e-01 -4.93771310e-02 9.36232416e-01 -1.68788961e+02] [-9.37516750e-01 -1.23364017e-02 3.47721379e-01 -6.33457194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.77, Z:-633.47 [[-4.30127343e-04 -9.96404384e-01 -8.47237757e-02 2.87277872e+02] [ 3.49779195e-01 -7.95218736e-02 9.33451009e-01 -1.68769104e+02] [-9.36832071e-01 -2.92331112e-02 3.48555728e-01 -6.33471530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-168.78, Z:-633.48 [[-4.49614215e-03 -9.97911388e-01 -6.44410330e-02 2.87265974e+02] [ 3.37078638e-01 -6.21826712e-02 9.39420730e-01 -1.68781837e+02] [-9.41465760e-01 -1.74979265e-02 3.36654193e-01 -6.33483855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-168.74, Z:-633.49 [[ 5.74405364e-03 -9.90266881e-01 -1.39062974e-01 2.87303789e+02] [ 3.54352522e-01 -1.28025605e-01 9.26306502e-01 -1.68739310e+02] [-9.35094271e-01 -5.45980697e-02 3.50168180e-01 -6.33485044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-168.74, Z:-633.51 [[ 1.41197264e-02 -9.95494028e-01 -9.37671272e-02 2.87286179e+02] [ 3.65224877e-01 -8.21623313e-02 9.27286439e-01 -1.68742579e+02] [-9.30812238e-01 -4.73391184e-02 3.62419075e-01 -6.33509708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-168.76, Z:-633.52 [[ 1.51011072e-02 -9.98685583e-01 -4.89802262e-02 2.87267043e+02] [ 3.64134932e-01 -4.01290892e-02 9.30481277e-01 -1.68759093e+02] [-9.31223769e-01 -3.18867089e-02 3.63050313e-01 -6.33516600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-168.75, Z:-633.53 [[ 1.38223651e-02 -9.98759133e-01 -4.78449277e-02 2.87270130e+02] [ 3.63788268e-01 -3.95471471e-02 9.30641778e-01 -1.68754609e+02] [-9.31379106e-01 -3.02690938e-02 3.62790220e-01 -6.33528349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-168.77, Z:-633.54 [[ 9.20042720e-03 -9.99548726e-01 -2.85954069e-02 2.87260102e+02] [ 3.51775762e-01 -2.35333838e-02 9.35788434e-01 -1.68766727e+02] [-9.36039083e-01 -1.86688244e-02 3.51400497e-01 -6.33537504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-168.75, Z:-633.54 [[ 1.03024452e-02 -9.97826089e-01 -6.50919052e-02 2.87276838e+02] [ 3.52886962e-01 -5.72789725e-02 9.33911083e-01 -1.68750024e+02] [-9.35609241e-01 -3.25916524e-02 3.51529704e-01 -6.33541058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-168.73, Z:-633.55 [[ 1.56376539e-02 -9.96685744e-01 -7.98310161e-02 2.87286887e+02] [ 3.65290343e-01 -6.86271287e-02 9.28360535e-01 -1.68733870e+02] [-9.30762284e-01 -4.36788800e-02 3.63006510e-01 -6.33545789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-168.05, Z:-633.39 [[ 4.44790114e-03 -1.76676812e-01 -9.84258869e-01 2.87409371e+02] [ 4.39177194e-01 -8.83920150e-01 1.60650431e-01 -1.68045792e+02] [-8.98389453e-01 -4.32978606e-01 7.36608373e-02 -6.33394283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.75, Z:-633.74 [[ 2.72631948e-02 -9.98010192e-01 5.68539799e-02 2.87215611e+02] [ 4.16374841e-01 6.30439784e-02 9.07004657e-01 -1.68751367e+02] [-9.08784193e-01 -1.05527780e-03 4.17265116e-01 -6.33737827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-168.71, Z:-633.75 [[ 2.49391514e-02 -9.99575003e-01 -1.50947509e-02 2.87254045e+02] [ 4.18644649e-01 -3.26895817e-03 9.08144246e-01 -1.68714613e+02] [-9.07807632e-01 -2.89676836e-02 4.18385202e-01 -6.33752863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-168.70, Z:-633.78 [[ 2.46727279e-02 -9.99639575e-01 -1.05819057e-02 2.87254480e+02] [ 4.18779501e-01 7.23395377e-04 9.08087664e-01 -1.68703671e+02] [-9.07752712e-01 -2.68364850e-02 4.18646411e-01 -6.33779930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-168.70, Z:-633.81 [[ 2.25428169e-02 -9.99715529e-01 7.78995759e-03 2.87245654e+02] [ 4.17970746e-01 1.65026335e-02 9.08310585e-01 -1.68698935e+02] [-9.08180751e-01 -1.72199048e-02 4.18223861e-01 -6.33808014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-168.03, Z:-633.49 [[ 1.55514106e-02 -1.82646272e-01 -9.83055692e-01 2.87402541e+02] [ 4.97925568e-01 -8.51179788e-01 1.66021377e-01 -1.68027161e+02] [-8.67080320e-01 -4.92070431e-01 7.77072025e-02 -6.33494667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.71, Z:-633.90 [[ 3.53819871e-02 -9.97604929e-01 5.94350164e-02 2.87219062e+02] [ 4.80160548e-01 6.91276999e-02 8.74452520e-01 -1.68708405e+02] [-8.76466749e-01 -2.40151768e-03 4.81456405e-01 -6.33896277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.68, Z:-633.92 [[ 3.42020371e-02 -9.99048213e-01 2.70719255e-02 2.87236952e+02] [ 4.81378199e-01 4.02062999e-02 8.75590363e-01 -1.68682967e+02] [-8.75845449e-01 -1.69151393e-02 4.82295167e-01 -6.33915889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.016559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.67, Z:-633.94 [[ 3.49445247e-02 -9.99017452e-01 2.72582230e-02 2.87240150e+02] [ 4.81887206e-01 4.07380804e-02 8.75285741e-01 -1.68667220e+02] [-8.75536179e-01 -1.74510553e-02 4.82837302e-01 -6.33942297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.67, Z:-633.97 [[ 3.24566695e-02 -9.97965351e-01 5.48791583e-02 2.87223477e+02] [ 4.80382775e-01 6.37263207e-02 8.74740730e-01 -1.68665563e+02] [-8.76458187e-01 -2.02816844e-03 4.81473709e-01 -6.33971263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.64, Z:-633.99 [[ 3.33639989e-02 -9.99095227e-01 2.63736974e-02 2.87238235e+02] [ 4.81863917e-01 3.91990863e-02 8.75368835e-01 -1.68641621e+02] [-8.75610650e-01 -1.64972717e-02 4.82735777e-01 -6.33992207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.63, Z:-634.02 [[ 3.51157320e-02 -9.99002887e-01 2.75702332e-02 2.87238938e+02] [ 4.82951131e-01 4.11153522e-02 8.74681504e-01 -1.68627718e+02] [-8.74942907e-01 -1.74000060e-02 4.83913370e-01 -6.34016270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.62, Z:-634.04 [[ 3.50061898e-02 -9.98264236e-01 4.73611817e-02 2.87226347e+02] [ 4.83365660e-01 5.83906685e-02 8.73469043e-01 -1.68622056e+02] [-8.74718358e-01 -7.68405425e-03 4.84570686e-01 -6.34043866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.60, Z:-634.06 [[ 3.53404720e-02 -9.99037336e-01 2.59894624e-02 2.87235709e+02] [ 4.85198253e-01 3.98871712e-02 8.73493943e-01 -1.68601602e+02] [-8.73689708e-01 -1.82596465e-02 4.86140802e-01 -6.34061785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.59, Z:-634.09 [[ 3.58811413e-02 -9.98753906e-01 3.46868747e-02 2.87231906e+02] [ 4.83635284e-01 4.77280559e-02 8.73967359e-01 -1.68592785e+02] [-8.74533851e-01 -1.45831499e-02 4.84745166e-01 -6.34090644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.58, Z:-634.11 [[ 3.60882562e-02 -9.99062739e-01 2.39014853e-02 2.87236451e+02] [ 4.82325758e-01 3.83596726e-02 8.75151643e-01 -1.68577114e+02] [-8.75248251e-01 -2.00543947e-02 4.83258027e-01 -6.34111244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.56, Z:-634.13 [[ 3.64689178e-02 -9.99169551e-01 1.81721222e-02 2.87238940e+02] [ 4.84545201e-01 3.35833681e-02 8.74121334e-01 -1.68558745e+02] [-8.74005702e-01 -2.30730445e-02 4.85367560e-01 -6.34133069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.55, Z:-634.16 [[ 3.65283514e-02 -9.99048435e-01 2.38307581e-02 2.87235545e+02] [ 4.84061445e-01 3.85511270e-02 8.74184379e-01 -1.68547110e+02] [-8.74271238e-01 -2.03969630e-02 4.85009038e-01 -6.34158560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.54, Z:-634.19 [[ 3.51272971e-02 -9.98596621e-01 3.96340934e-02 2.87226315e+02] [ 4.80154341e-01 5.16450862e-02 8.75662374e-01 -1.68543409e+02] [-8.76480394e-01 -1.17291704e-02 4.81294655e-01 -6.34188627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.53, Z:-634.21 [[ 3.46549400e-02 -9.99034438e-01 2.70042184e-02 2.87230233e+02] [ 4.78402860e-01 4.03064452e-02 8.77214965e-01 -1.68528135e+02] [-8.77456403e-01 -1.74809367e-02 4.79337749e-01 -6.34211309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.51, Z:-634.24 [[ 3.49407531e-02 -9.99194082e-01 1.97567736e-02 2.87233843e+02] [ 4.78858709e-01 3.40903892e-02 8.77229834e-01 -1.68512026e+02] [-8.77196375e-01 -2.11903680e-02 4.79663932e-01 -6.34235872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-168.48, Z:-634.25 [[ 3.73369244e-02 -9.99264677e-01 -8.72119959e-03 2.87249489e+02] [ 4.84112572e-01 1.04524053e-02 8.74943292e-01 -1.68481983e+02] [-8.74208769e-01 -3.68897339e-02 4.84146854e-01 -6.34252000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4365599949999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.48, Z:-634.29 [[ 3.67840963e-02 -9.98742324e-01 3.40690537e-02 2.87228423e+02] [ 4.81886896e-01 4.75940063e-02 8.74939901e-01 -1.68484149e+02] [-8.75460993e-01 -1.57664430e-02 4.83031541e-01 -6.34286763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.47, Z:-634.31 [[ 3.66887946e-02 -9.98764241e-01 3.35249782e-02 2.87226856e+02] [ 4.81224940e-01 4.70592390e-02 8.75333071e-01 -1.68472053e+02] [-8.75829030e-01 -1.59818596e-02 4.82356809e-01 -6.34311328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.45, Z:-634.33 [[ 3.67633175e-02 -9.99206151e-01 1.53468765e-02 2.87234564e+02] [ 4.83613665e-01 3.12283192e-02 8.74724308e-01 -1.68449641e+02] [-8.74509166e-01 -2.47358083e-02 4.84377805e-01 -6.34333129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.44, Z:-634.36 [[ 3.65054341e-02 -9.99102787e-01 2.14703188e-02 2.87231852e+02] [ 4.83665249e-01 3.64647730e-02 8.74493138e-01 -1.68437669e+02] [-8.74491441e-01 -2.15393045e-02 4.84562460e-01 -6.34359316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.42, Z:-634.38 [[ 3.70242985e-02 -9.99288008e-01 7.25804399e-03 2.87238282e+02] [ 4.86594155e-01 2.43715232e-02 8.73288130e-01 -1.68416062e+02] [-8.72843245e-01 -2.88011586e-02 4.87150042e-01 -6.34379278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.41, Z:-634.41 [[ 3.64692661e-02 -9.99128011e-01 2.03275898e-02 2.87232082e+02] [ 4.86798929e-01 3.55259221e-02 8.72791333e-01 -1.68406453e+02] [-8.72752425e-01 -2.19346105e-02 4.87670050e-01 -6.34406204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.39, Z:-634.43 [[ 3.51097941e-02 -9.99187142e-01 1.98080239e-02 2.87232633e+02] [ 4.87280858e-01 3.44201311e-02 8.72566685e-01 -1.68392386e+02] [-8.72539207e-01 -2.09835658e-02 4.88093251e-01 -6.34430797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.38, Z:-634.46 [[ 3.39446790e-02 -9.99237395e-01 1.92973445e-02 2.87232728e+02] [ 4.87326219e-01 3.34060994e-02 8.72580764e-01 -1.68379033e+02] [-8.72559978e-01 -2.02153720e-02 4.88088541e-01 -6.34455145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.37, Z:-634.48 [[ 3.23844685e-02 -9.99298872e-01 1.87886004e-02 2.87232704e+02] [ 4.87484624e-01 3.22032675e-02 8.72537501e-01 -1.68365347e+02] [-8.72530795e-01 -1.90975094e-02 4.88185721e-01 -6.34480148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.35, Z:-634.50 [[ 3.07921081e-02 -9.99358694e-01 1.82769433e-02 2.87232655e+02] [ 4.87474738e-01 3.09784714e-02 8.72587368e-01 -1.68352553e+02] [-8.72593964e-01 -1.79592564e-02 4.88116010e-01 -6.34503715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.34, Z:-634.53 [[ 2.86478306e-02 -9.99426430e-01 1.80586104e-02 2.87232488e+02] [ 4.87383409e-01 2.97389500e-02 8.72681504e-01 -1.68339213e+02] [-8.72718004e-01 -1.61989648e-02 4.87955817e-01 -6.34528410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.33, Z:-634.55 [[ 2.39285924e-02 -9.99559554e-01 1.75533536e-02 2.87232622e+02] [ 4.87040958e-01 2.69895028e-02 8.72962010e-01 -1.68326285e+02] [-8.73051274e-01 -1.23395499e-02 4.87472264e-01 -6.34551870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.31, Z:-634.58 [[ 2.37560310e-02 -9.99567522e-01 1.73326596e-02 2.87232915e+02] [ 4.87048326e-01 2.67127175e-02 8.72966414e-01 -1.68312443e+02] [-8.73051877e-01 -1.22963744e-02 4.87472276e-01 -6.34576843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.30, Z:-634.60 [[ 2.08957926e-02 -9.99636698e-01 1.70246520e-02 2.87233713e+02] [ 4.86929497e-01 2.50477958e-02 8.73082054e-01 -1.68299207e+02] [-8.73191291e-01 -9.95393626e-03 4.87275988e-01 -6.34600523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.29, Z:-634.62 [[ 1.72452633e-02 -9.99711990e-01 1.66894574e-02 2.87234511e+02] [ 4.86762719e-01 2.29747373e-02 8.73232052e-01 -1.68285784e+02] [-8.73363989e-01 -6.93531099e-03 4.87018732e-01 -6.34624694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.27, Z:-634.65 [[ 1.13428616e-02 -9.99896875e-01 8.80785632e-03 2.87241877e+02] [ 4.89259251e-01 1.32317501e-02 8.72038019e-01 -1.68265106e+02] [-8.72064634e-01 -5.58208141e-03 4.89358882e-01 -6.34648634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.26, Z:-634.68 [[ 7.03243987e-03 -9.99322681e-01 3.61209777e-02 2.87226475e+02] [ 4.87198670e-01 3.49687120e-02 8.72590766e-01 -1.68264689e+02] [-8.73262848e-01 1.14616502e-02 4.87114596e-01 -6.34676835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.24, Z:-634.70 [[ 4.95269485e-03 -9.99972771e-01 5.47073650e-03 2.87243857e+02] [ 4.90333023e-01 7.19644243e-03 8.71505444e-01 -1.68236620e+02] [-8.71521083e-01 -1.63381776e-03 4.90355313e-01 -6.34697010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.24, Z:-634.73 [[-1.43785084e-03 -9.99240855e-01 3.89312976e-02 2.87224510e+02] [ 4.88530426e-01 3.32675035e-02 8.71912436e-01 -1.68239616e+02] [-8.72545675e-01 2.02728035e-02 4.88111727e-01 -6.34727008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.23, Z:-634.75 [[-5.17593543e-03 -9.99623966e-01 2.69283759e-02 2.87229916e+02] [ 4.87055980e-01 2.09985831e-02 8.73118281e-01 -1.68225377e+02] [-8.73355416e-01 1.76348303e-02 4.86764143e-01 -6.34750917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.20, Z:-634.77 [[-8.38952395e-03 -9.99918307e-01 9.64336871e-03 2.87239372e+02] [ 4.88976111e-01 4.30985591e-03 8.72286529e-01 -1.68203563e+02] [-8.72256831e-01 1.20334456e-02 4.88900008e-01 -6.34772213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.20, Z:-634.80 [[-1.08014377e-02 -9.99676749e-01 2.30157882e-02 2.87232193e+02] [ 4.88075826e-01 1.48181823e-02 8.72675432e-01 -1.68195635e+02] [-8.72734391e-01 2.06595991e-02 4.87757997e-01 -6.34800183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-168.17, Z:-634.82 [[-1.07917237e-02 -9.99941677e-01 -4.25466856e-04 2.87245847e+02] [ 4.91410224e-01 -5.67403753e-03 8.70909752e-01 -1.68168104e+02] [-8.70861373e-01 9.18953866e-03 4.91442797e-01 -6.34820553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.16, Z:-634.85 [[-1.24405573e-02 -9.99606079e-01 2.51578993e-02 2.87232932e+02] [ 4.90920317e-01 1.58129706e-02 8.71060958e-01 -1.68162639e+02] [-8.71115649e-01 2.31870076e-02 4.90530211e-01 -6.34850093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.16, Z:-634.88 [[-1.65538861e-02 -9.99139478e-01 3.80299027e-02 2.87223751e+02] [ 4.86764603e-01 2.51704020e-02 8.73170472e-01 -1.68158114e+02] [-8.73376317e-01 3.29659750e-02 4.85929063e-01 -6.34877130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.14, Z:-634.90 [[-1.78646514e-02 -9.99770128e-01 1.18552132e-02 2.87235586e+02] [ 4.86426555e-01 1.66867817e-03 8.73719876e-01 -1.68135168e+02] [-8.73538815e-01 2.13753915e-02 4.86284929e-01 -6.34897801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.13, Z:-634.93 [[-1.99961101e-02 -9.99306596e-01 3.14083378e-02 2.87222579e+02] [ 4.83042246e-01 1.78487439e-02 8.75415108e-01 -1.68133989e+02] [-8.75368691e-01 3.26764509e-02 4.82350397e-01 -6.34926975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-168.12, Z:-634.95 [[-2.10577163e-02 -9.99719483e-01 1.08410099e-02 2.87229794e+02] [ 4.79299649e-01 -5.78493706e-04 8.77651133e-01 -1.68119121e+02] [-8.77398666e-01 2.36774208e-02 4.79177380e-01 -6.34949360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-168.07, Z:-634.96 [[-1.59455905e-02 -9.99000714e-01 -4.17529943e-02 2.87258429e+02] [ 4.86912776e-01 -4.42306995e-02 8.72329980e-01 -1.68074900e+02] [-8.73305036e-01 -6.42024971e-03 4.87131496e-01 -6.34963173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-168.10, Z:-635.00 [[-1.71322173e-02 -9.98961645e-01 4.22151509e-02 2.87212900e+02] [ 4.83615924e-01 2.86746185e-02 8.74810496e-01 -1.68096455e+02] [-8.75112636e-01 3.54033627e-02 4.82622499e-01 -6.35004377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-168.05, Z:-635.01 [[-9.85958014e-03 -9.99308130e-01 -3.58615305e-02 2.87249512e+02] [ 4.89401979e-01 -3.60968155e-02 8.71310922e-01 -1.68048757e+02] [-8.72002576e-01 -8.95994412e-03 4.89419276e-01 -6.35012175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-168.06, Z:-635.05 [[-9.30362504e-03 -9.99513815e-01 2.97586422e-02 2.87214981e+02] [ 4.86190855e-01 2.14839158e-02 8.73588515e-01 -1.68061491e+02] [-8.73803121e-01 2.25959197e-02 4.85754598e-01 -6.35051733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-168.03, Z:-635.07 [[-5.53125489e-03 -9.99871791e-01 -1.50268732e-02 2.87236255e+02] [ 4.90226971e-01 -1.58087873e-02 8.71451433e-01 -1.68027541e+02] [-8.71577261e-01 -2.54635852e-03 4.90251562e-01 -6.35065926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.03, Z:-635.10 [[-2.65373032e-03 -9.99802344e-01 1.97035850e-02 2.87216011e+02] [ 4.88242369e-01 1.59001028e-02 8.72563222e-01 -1.68027152e+02] [-8.72704043e-01 1.19356725e-02 4.88103670e-01 -6.35098079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.01, Z:-635.12 [[-1.21758206e-03 -9.99963663e-01 8.43746152e-03 2.87219670e+02] [ 4.88052297e-01 6.77011856e-03 8.72788131e-01 -1.68010225e+02] [-8.72813539e-01 5.18061364e-03 4.88026319e-01 -6.35120404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-168.00, Z:-635.14 [[-2.10489404e-04 -9.99955340e-01 9.44848043e-03 2.87216792e+02] [ 4.87654612e-01 8.14622821e-03 8.72998636e-01 -1.67997183e+02] [-8.73036618e-01 4.79135201e-03 4.87631118e-01 -6.35144663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-167.97, Z:-635.17 [[ 3.84562630e-03 -9.99972472e-01 -6.34560212e-03 2.87221790e+02] [ 4.90026546e-01 -3.64710204e-03 8.71699882e-01 -1.67974062e+02] [-8.71699028e-01 -6.46174548e-03 4.89999031e-01 -6.35166409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-167.97, Z:-635.20 [[ 5.18685352e-03 -9.99826217e-01 1.79062257e-02 2.87208375e+02] [ 4.88726110e-01 1.81567813e-02 8.72248314e-01 -1.67969381e+02] [-8.72421851e-01 4.22701580e-03 4.88735355e-01 -6.35196862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-167.95, Z:-635.22 [[ 6.04351283e-03 -9.99964447e-01 5.88061637e-03 2.87211670e+02] [ 4.90209916e-01 8.08822792e-03 8.71566876e-01 -1.67951263e+02] [-8.71583452e-01 -2.38458913e-03 4.90241369e-01 -6.35217469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-167.94, Z:-635.24 [[ 7.73005451e-03 -9.99941950e-01 7.50618126e-03 2.87207188e+02] [ 4.90195656e-01 1.03318601e-02 8.71551187e-01 -1.67938319e+02] [-8.71578146e-01 -3.05764074e-03 4.90247066e-01 -6.35242664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-167.92, Z:-635.27 [[ 8.12572307e-03 -9.99942471e-01 7.00189740e-03 2.87205825e+02] [ 4.90478761e-01 1.00874916e-02 8.71394760e-01 -1.67924635e+02] [-8.71415262e-01 -3.64643055e-03 4.90532512e-01 -6.35266835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-167.91, Z:-635.29 [[ 9.16018731e-03 -9.99936903e-01 6.50233545e-03 2.87202815e+02] [ 4.90308479e-01 1.01586772e-02 8.71489757e-01 -1.67910768e+02] [-8.71500824e-01 -4.79485922e-03 4.90370597e-01 -6.35291584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-167.89, Z:-635.31 [[ 1.03329455e-02 -9.99875520e-01 -1.19237532e-02 2.87211042e+02] [ 4.94377002e-01 -5.25678804e-03 8.69231699e-01 -1.67885157e+02] [-8.69186177e-01 -1.48765531e-02 4.94261144e-01 -6.35311608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-167.87, Z:-635.34 [[ 1.20637188e-02 -9.99924166e-01 2.47557522e-03 2.87203702e+02] [ 4.95504131e-01 8.12844322e-03 8.68567548e-01 -1.67872991e+02] [-8.68521804e-01 -9.25149694e-03 4.95564614e-01 -6.35339089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:-167.88, Z:-635.37 [[ 1.15032386e-02 -9.99128016e-01 4.01358177e-02 2.87181693e+02] [ 4.89899592e-01 4.06224047e-02 8.70831907e-01 -1.67878819e+02] [-8.71702969e-01 9.64513354e-03 4.89939697e-01 -6.35371998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-167.86, Z:-635.39 [[ 1.23640358e-02 -9.99911678e-01 4.87511529e-03 2.87197259e+02] [ 4.90989356e-01 1.03182560e-02 8.71104463e-01 -1.67856320e+02] [-8.71077828e-01 -8.37673702e-03 4.91073567e-01 -6.35390340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-167.84, Z:-635.42 [[ 1.46827243e-02 -9.99881373e-01 4.65380866e-03 2.87194632e+02] [ 4.92958931e-01 1.12880366e-02 8.69979352e-01 -1.67843331e+02] [-8.69928681e-01 -1.04795305e-02 4.93066192e-01 -6.35415051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-167.81, Z:-635.43 [[ 1.77504678e-02 -9.99323606e-01 -3.22063830e-02 2.87213880e+02] [ 5.01581908e-01 -1.89648877e-02 8.64902262e-01 -1.67806733e+02] [-8.64928038e-01 -3.15065588e-02 5.00906006e-01 -6.35428986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-167.80, Z:-635.46 [[ 2.06048243e-02 -9.99746527e-01 9.07316648e-03 2.87194640e+02] [ 5.02153342e-01 1.81959367e-02 8.64587144e-01 -1.67802175e+02] [-8.64533089e-01 -1.32585454e-02 5.02400984e-01 -6.35460923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-167.82, Z:-635.50 [[ 1.80786172e-02 -9.97842813e-01 6.31100889e-02 2.87163316e+02] [ 4.91439666e-01 6.38377151e-02 8.68568823e-01 -1.67817908e+02] [-8.70723962e-01 1.53122778e-02 4.91533637e-01 -6.35499163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-167.76, Z:-635.50 [[ 2.02643136e-02 -9.98829966e-01 -4.39096421e-02 2.87218351e+02] [ 5.03330015e-01 -2.77553290e-02 8.63648388e-01 -1.67757224e+02] [-8.63856617e-01 -3.96022826e-02 5.02178659e-01 -6.35502492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-167.79, Z:-635.55 [[ 1.80702744e-02 -9.97720697e-01 6.50144321e-02 2.87162109e+02] [ 4.90401512e-01 6.55105595e-02 8.69030911e-01 -1.67790062e+02] [-8.71309258e-01 1.61795488e-02 4.90467532e-01 -6.35550579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-167.73, Z:-635.55 [[ 2.04276793e-02 -9.98846106e-01 -4.34645517e-02 2.87218981e+02] [ 5.00962550e-01 -2.73964790e-02 8.65035234e-01 -1.67730199e+02] [-8.65227851e-01 -3.94447750e-02 4.99824846e-01 -6.35553885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-167.74, Z:-635.59 [[ 2.14268150e-02 -9.99487402e-01 2.37870779e-02 2.87188219e+02] [ 4.98157294e-01 3.13019837e-02 8.66521492e-01 -1.67736173e+02] [-8.66821897e-01 -6.71708937e-03 4.98572642e-01 -6.35591723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0565599949999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:287.19, Y:-167.72, Z:-635.62 [[ 2.10470858e-02 -9.99367700e-01 2.86569490e-02 2.87185572e+02] [ 4.97260257e-01 3.53304054e-02 8.66881768e-01 -1.67723979e+02] [-8.67346100e-01 -3.99537314e-03 4.97689441e-01 -6.35618152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-167.71, Z:-635.64 [[ 2.16380195e-02 -9.99650241e-01 1.52049693e-02 2.87192083e+02] [ 4.99254170e-01 2.39806426e-02 8.66123665e-01 -1.67705065e+02] [-8.66185355e-01 -1.11500564e-02 4.99598446e-01 -6.35637844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-167.45, Z:-635.62 [[ 1.91386897e-02 1.48762234e-01 9.88687771e-01 2.86372330e+02] [ 3.75146373e-01 9.15551451e-01 -1.45019787e-01 -1.67452809e+02] [-9.26767991e-01 3.73678120e-01 -3.82851575e-02 -6.35620024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-166.78, Z:-635.13 [[-9.52338563e-02 8.84872765e-01 -4.55994191e-01 2.86840204e+02] [ 4.31351453e-01 -3.76153821e-01 -8.20026968e-01 -1.66780960e+02] [-8.97143488e-01 -2.74788087e-01 -3.45868574e-01 -6.35131081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.66, Z:-635.60 [[-5.96900598e-02 -9.86288350e-01 -1.53858334e-01 2.87297309e+02] [ 4.44196055e-01 -1.64275803e-01 8.80740215e-01 -1.67660145e+02] [-8.93939015e-01 -1.57718288e-02 4.47911027e-01 -6.35596597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.51, Z:-635.82 [[-5.57754069e-02 -9.80448043e-01 -1.88708078e-01 2.87296065e+02] [ 4.69376164e-01 -1.92562989e-01 8.61745619e-01 -1.67513234e+02] [-8.81234997e-01 -4.05108613e-02 4.70939221e-01 -6.35823113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-167.46, Z:-635.55 [[-7.55689485e-02 1.26580944e-01 9.89073606e-01 2.86386986e+02] [ 3.52537340e-01 9.31240256e-01 -9.22442926e-02 -1.67458287e+02] [-9.32741528e-01 3.41714574e-01 -1.14997356e-01 -6.35553867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-167.56, Z:-635.68 [[-6.78102693e-02 -9.76771269e-01 -2.03272369e-01 2.87313007e+02] [ 3.83500902e-01 -2.13606988e-01 8.98498255e-01 -1.67561618e+02] [-9.21047678e-01 -1.70277283e-02 3.89077410e-01 -6.35679700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-167.56, Z:-635.69 [[-6.58299370e-02 -9.77099719e-01 -2.02342676e-01 2.87312884e+02] [ 3.84198005e-01 -2.11968662e-01 8.98588437e-01 -1.67559914e+02] [-9.20900816e-01 -1.85856324e-02 3.89353646e-01 -6.35686276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-167.56, Z:-635.69 [[-6.47011500e-02 -9.77496163e-01 -2.00785989e-01 2.87312633e+02] [ 3.85055986e-01 -2.10080445e-01 8.98664617e-01 -1.67559423e+02] [-9.20622425e-01 -1.91692127e-02 3.89983195e-01 -6.35688776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.356559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.29, Y:-167.44, Z:-635.95 [[-6.23574565e-02 -9.75965814e-01 -2.08811584e-01 2.87294125e+02] [ 3.92716479e-01 -2.16335066e-01 8.93852844e-01 -1.67442350e+02] [-9.17543086e-01 -2.62653602e-02 3.96767962e-01 -6.35954537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-167.36, Z:-635.65 [[-8.49821518e-02 1.68298460e-01 9.82066017e-01 2.86369289e+02] [ 2.84328599e-01 9.48745293e-01 -1.37984120e-01 -1.67356177e+02] [-9.54953026e-01 2.67503267e-01 -1.28478482e-01 -6.35654296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.416559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.29, Z:-636.24 [[-7.38826577e-02 -9.56837521e-01 -2.81075276e-01 2.87297066e+02] [ 3.28134578e-01 -2.89476254e-01 8.99183628e-01 -1.67294263e+02] [-9.41737252e-01 -2.57964407e-02 3.35358751e-01 -6.36241452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-167.18, Z:-636.00 [[-1.06387905e-01 2.27183641e-01 9.68023350e-01 2.86322566e+02] [ 2.16922622e-01 9.55401469e-01 -2.00381159e-01 -1.67179783e+02] [-9.70374253e-01 1.88668031e-01 -1.50924432e-01 -6.36001440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-167.31, Z:-635.87 [[-8.76339838e-02 -9.13064217e-01 -3.98288866e-01 2.87383656e+02] [ 2.63056735e-01 -4.06845856e-01 8.74801465e-01 -1.67311128e+02] [-9.60792090e-01 -2.81102310e-02 2.75841215e-01 -6.35868165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-167.30, Z:-635.92 [[-8.04809859e-02 -9.17710560e-01 -3.89011747e-01 2.87375083e+02] [ 2.65377577e-01 -3.95919341e-01 8.79103303e-01 -1.67303708e+02] [-9.60779659e-01 -3.24838943e-02 2.75403784e-01 -6.35917454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-167.31, Z:-635.92 [[-7.86626228e-02 -9.26718308e-01 -3.67430768e-01 2.87368258e+02] [ 2.64792779e-01 -3.74756418e-01 8.88505719e-01 -1.67313415e+02] [-9.61091555e-01 -2.74008239e-02 2.74867638e-01 -6.35924043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-167.31, Z:-635.93 [[-7.74529204e-02 -9.27588313e-01 -3.65487301e-01 2.87367723e+02] [ 2.65119844e-01 -3.72552018e-01 8.89334843e-01 -1.67312090e+02] [-9.61099638e-01 -2.80163554e-02 2.74777310e-01 -6.35929788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-167.31, Z:-635.94 [[-7.56671756e-02 -9.28543417e-01 -3.63430326e-01 2.87368152e+02] [ 2.65070399e-01 -3.70092291e-01 8.90375977e-01 -1.67309993e+02] [-9.61255514e-01 -2.89623862e-02 2.74133212e-01 -6.35938850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-167.31, Z:-635.95 [[-7.45676317e-02 -9.29318428e-01 -3.61672404e-01 2.87367512e+02] [ 2.65127101e-01 -3.68104327e-01 8.91182824e-01 -1.67308459e+02] [-9.61325797e-01 -2.94357636e-02 2.73836169e-01 -6.35946269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:-166.43, Z:-635.79 [[-1.83255291e-01 7.92088881e-01 -5.82247973e-01 2.86899844e+02] [ 2.91699611e-01 -5.21790783e-01 -8.01651867e-01 -1.66432790e+02] [-9.38791156e-01 -3.16748454e-01 -1.35431096e-01 -6.35788190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-167.23, Z:-636.11 [[-1.30105931e-01 -8.83120067e-01 -4.50745377e-01 2.87405249e+02] [ 3.05470778e-01 -4.68198807e-01 8.29142618e-01 -1.67226036e+02] [-9.43270932e-01 -2.98131687e-02 3.30682816e-01 -6.36111905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-167.23, Z:-636.12 [[-1.29646415e-01 -8.83823391e-01 -4.49497521e-01 2.87404207e+02] [ 3.05666439e-01 -4.66869778e-01 8.29819642e-01 -1.67225647e+02] [-9.43270818e-01 -2.98131651e-02 3.30683141e-01 -6.36115875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-167.21, Z:-636.17 [[-1.22563510e-01 -8.85439197e-01 -4.48303038e-01 2.87394606e+02] [ 3.09358616e-01 -4.63287854e-01 8.30458675e-01 -1.67211176e+02] [-9.43014015e-01 -3.69024779e-02 3.30700430e-01 -6.36169163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-167.22, Z:-636.18 [[-1.21128806e-01 -8.95132439e-01 -4.29028821e-01 2.87387276e+02] [ 3.09827439e-01 -4.44712037e-01 8.40379773e-01 -1.67219075e+02] [-9.43045477e-01 -3.11307026e-02 3.31204029e-01 -6.36182430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-167.22, Z:-636.19 [[-1.19143173e-01 -8.96042560e-01 -4.27682868e-01 2.87386647e+02] [ 3.11376946e-01 -4.42740823e-01 8.40847763e-01 -1.67218771e+02] [-9.42788047e-01 -3.29893148e-02 3.31756542e-01 -6.36186377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:-166.48, Z:-636.05 [[-1.89950246e-01 3.31915525e-01 -9.23986465e-01 2.87195064e+02] [ 3.71206611e-01 -8.46980543e-01 -3.80564859e-01 -1.66483213e+02] [-9.08913943e-01 -4.15278273e-01 3.76749258e-02 -6.36052990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-166.48, Z:-636.16 [[-2.11391271e-01 3.07419931e-01 -9.27796700e-01 2.87193573e+02] [ 4.28260798e-01 -8.24142471e-01 -3.70650613e-01 -1.66475486e+02] [-8.78582051e-01 -4.75691259e-01 4.25606197e-02 -6.36162589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-167.33, Z:-636.51 [[-1.44437572e-01 -3.24510443e-01 9.34789153e-01 2.86488932e+02] [ 3.21261129e-01 8.78141267e-01 3.54484418e-01 -1.67334186e+02] [-9.35910826e-01 3.51512287e-01 -2.25840017e-02 -6.36510061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-167.13, Z:-636.58 [[-1.41952980e-01 -9.10665348e-01 -3.87992236e-01 2.87324653e+02] [ 3.61388343e-01 -4.12583964e-01 8.36165616e-01 -1.67128185e+02] [-9.21546427e-01 -2.15196703e-02 3.87671365e-01 -6.36576302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-167.10, Z:-636.59 [[-1.42047307e-01 -8.97258412e-01 -4.18030985e-01 2.87332330e+02] [ 3.64271973e-01 -4.40060885e-01 8.20763271e-01 -1.67104200e+02] [-9.20395835e-01 -3.56897589e-02 3.89355556e-01 -6.36587125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-167.14, Z:-636.58 [[-1.42294304e-01 -9.09569563e-01 -3.90429944e-01 2.87325813e+02] [ 3.45014091e-01 -4.15283374e-01 8.41727388e-01 -1.67135505e+02] [-9.27748677e-01 -1.49308197e-02 3.72906775e-01 -6.36580445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-167.06, Z:-636.59 [[-1.44261000e-01 -8.67553494e-01 -4.75961867e-01 2.87349426e+02] [ 3.74855538e-01 -4.93057166e-01 7.85097418e-01 -1.67056668e+02] [-9.15790418e-01 -6.51580027e-02 3.96336152e-01 -6.36589824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-167.07, Z:-636.68 [[-1.29073916e-01 -9.09728637e-01 -3.94631133e-01 2.87307678e+02] [ 3.79150878e-01 -4.12997262e-01 8.28056685e-01 -1.67073662e+02] [-9.16288457e-01 -4.27442213e-02 3.98231585e-01 -6.36683952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.09, Z:-636.69 [[-1.28957409e-01 -9.23486593e-01 -3.61306656e-01 2.87297329e+02] [ 3.77663920e-01 -3.82628111e-01 8.43187815e-01 -1.67090281e+02] [-9.16918726e-01 -2.77171724e-02 3.98110296e-01 -6.36690704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-167.10, Z:-636.69 [[-1.31813880e-01 -9.27710845e-01 -3.49253044e-01 2.87294603e+02] [ 3.65970078e-01 -3.72980577e-01 8.52614445e-01 -1.67103140e+02] [-9.21244269e-01 -1.54297459e-02 3.88678428e-01 -6.36693054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-167.07, Z:-636.69 [[-1.32461807e-01 -9.13489635e-01 -3.84695406e-01 2.87306610e+02] [ 3.75143974e-01 -4.05447525e-01 8.33594208e-01 -1.67074152e+02] [-9.17453469e-01 -3.38967683e-02 3.96396444e-01 -6.36693342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.08, Z:-636.71 [[-1.32372021e-01 -9.24698253e-01 -3.56946481e-01 2.87295828e+02] [ 3.73893873e-01 -3.80094840e-01 8.46009033e-01 -1.67082949e+02] [-9.17976590e-01 -2.14721770e-02 3.96052933e-01 -6.36712254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.09, Z:-636.71 [[-1.36505470e-01 -9.26510542e-01 -3.50634387e-01 2.87295900e+02] [ 3.67966686e-01 -3.76046349e-01 8.50405586e-01 -1.67091403e+02] [-9.19764521e-01 -1.29367592e-02 3.92257397e-01 -6.36707308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.08, Z:-636.70 [[-1.38026820e-01 -9.20157894e-01 -3.66412400e-01 2.87302070e+02] [ 3.71463757e-01 -3.91042541e-01 8.42080999e-01 -1.67079939e+02] [-9.18130315e-01 -1.98791645e-02 3.95779666e-01 -6.36704747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.08, Z:-636.71 [[-1.37455715e-01 -9.23974245e-01 -3.56899876e-01 2.87299770e+02] [ 3.71879804e-01 -3.82101309e-01 8.45992908e-01 -1.67081759e+02] [-9.18047568e-01 -1.64372965e-02 3.96129370e-01 -6.36711951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-166.26, Z:-636.45 [[-2.02891875e-01 5.51048326e-01 -8.09432289e-01 2.86983235e+02] [ 4.09065333e-01 -7.03340301e-01 -5.81358731e-01 -1.66261552e+02] [-8.89663105e-01 -4.49063651e-01 -8.27127347e-02 -6.36454191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.03, Z:-636.87 [[-1.78041838e-01 -9.11516328e-01 -3.70727781e-01 2.87302257e+02] [ 4.20551831e-01 -4.11091340e-01 8.08789260e-01 -1.67029535e+02] [-8.89627597e-01 -1.19119206e-02 4.56531319e-01 -6.36869480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.03, Z:-636.87 [[-1.78040770e-01 -9.11815601e-01 -3.69991614e-01 2.87302011e+02] [ 4.20762627e-01 -4.10434878e-01 8.09012993e-01 -1.67028452e+02] [-8.89528131e-01 -1.16413471e-02 4.56732070e-01 -6.36873348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-167.03, Z:-636.88 [[-1.77993719e-01 -9.12251497e-01 -3.68938263e-01 2.87302017e+02] [ 4.22060079e-01 -4.09462090e-01 8.08830073e-01 -1.67027232e+02] [-8.88922677e-01 -1.17474401e-02 4.57906619e-01 -6.36875957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-166.52, Z:-636.54 [[-2.49669808e-01 8.72948855e-01 4.19076704e-01 2.86279163e+02] [ 3.57201329e-01 4.85287935e-01 -7.98061922e-01 -1.66522817e+02] [-9.00040109e-01 -4.95572112e-02 -4.32980237e-01 -6.36542564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-166.88, Z:-636.99 [[-2.41380723e-01 -8.40067618e-01 -4.85820691e-01 2.87336629e+02] [ 3.91960118e-01 -5.42369121e-01 7.43103629e-01 -1.66883279e+02] [-8.87751436e-01 -1.10514448e-02 4.60190453e-01 -6.36988719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-166.87, Z:-637.01 [[-2.38620853e-01 -8.41215491e-01 -4.85197472e-01 2.87330774e+02] [ 3.93484396e-01 -5.40532186e-01 7.43636327e-01 -1.66872962e+02] [-8.87823248e-01 -1.34704996e-02 4.59987420e-01 -6.37013119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-166.87, Z:-637.02 [[-2.38603957e-01 -8.44428838e-01 -4.79591586e-01 2.87329808e+02] [ 3.93532113e-01 -5.35565793e-01 7.47195930e-01 -1.66874877e+02] [-8.87806639e-01 -1.04507848e-02 4.60097982e-01 -6.37015375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-166.87, Z:-637.02 [[-2.37699239e-01 -8.44883908e-01 -4.79239244e-01 2.87330710e+02] [ 3.92877627e-01 -5.34847224e-01 7.48054555e-01 -1.66872206e+02] [-8.88339035e-01 -1.04703786e-02 4.59068763e-01 -6.37018006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-166.87, Z:-637.03 [[-2.35495200e-01 -8.47703395e-01 -4.75332478e-01 2.87329565e+02] [ 3.90389666e-01 -5.30404732e-01 7.52506963e-01 -1.66873652e+02] [-8.90021303e-01 -8.35310994e-03 4.55842414e-01 -6.37026062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:-166.13, Z:-636.68 [[-3.07415457e-01 7.31135474e-01 -6.09045693e-01 2.86795393e+02] [ 4.07033303e-01 -4.77496781e-01 -7.78665984e-01 -1.66128248e+02] [-8.60127681e-01 -4.87275839e-01 -1.50806596e-01 -6.36677641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:-167.18, Z:-637.22 [[-2.30936491e-01 -6.67916184e-01 7.07500042e-01 2.86638921e+02] [ 3.72409079e-01 6.11103996e-01 6.98472178e-01 -1.67178015e+02] [-8.98876974e-01 4.24782153e-01 1.07611838e-01 -6.37224523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-166.66, Z:-637.48 [[-2.41538357e-01 -8.36071761e-01 -4.92588299e-01 2.87208722e+02] [ 3.85770055e-01 -5.48512897e-01 7.41832236e-01 -1.66657726e+02] [-8.90416019e-01 -1.08448752e-02 4.55018353e-01 -6.37480219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-166.24, Z:-637.13 [[-3.12932444e-01 8.69679988e-01 3.81745994e-01 2.86133207e+02] [ 3.24780640e-01 4.75687622e-01 -8.17458759e-01 -1.66244680e+02] [-8.92519368e-01 -1.31825659e-01 -4.31313313e-01 -6.37125669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-166.57, Z:-637.46 [[-3.03412981e-01 -7.42919807e-01 -5.96666342e-01 2.87261299e+02] [ 3.53888248e-01 -6.69255735e-01 6.53345138e-01 -1.66565480e+02] [-8.84705415e-01 -1.29198107e-02 4.65971466e-01 -6.37459198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-166.27, Z:-636.96 [[-3.67894655e-01 8.64198145e-01 3.43242026e-01 2.86233192e+02] [ 2.96833981e-01 4.58963296e-01 -8.37402102e-01 -1.66273139e+02] [-8.81216835e-01 -2.06189860e-01 -4.25373520e-01 -6.36956752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-166.48, Z:-637.47 [[-3.67743135e-01 -6.49872622e-01 -6.65154540e-01 2.87289574e+02] [ 3.21759298e-01 -7.60016461e-01 5.64664443e-01 -1.66475398e+02] [-8.72488362e-01 -6.36818559e-03 4.88593394e-01 -6.37470049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-166.47, Z:-637.47 [[-3.68577519e-01 -6.50084652e-01 -6.64485182e-01 2.87288325e+02] [ 3.21565938e-01 -7.59842418e-01 5.65008714e-01 -1.66474129e+02] [-8.72207521e-01 -5.42629098e-03 4.89105914e-01 -6.37474082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-166.47, Z:-637.47 [[-3.69117255e-01 -6.50304292e-01 -6.63970466e-01 2.87289139e+02] [ 3.21158298e-01 -7.59660447e-01 5.65485060e-01 -1.66474230e+02] [-8.72129463e-01 -4.50933123e-03 4.89254398e-01 -6.37473988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:-167.02, Z:-637.54 [[-3.01758060e-01 -8.06507275e-01 5.08417239e-01 2.86725233e+02] [ 2.92170386e-01 4.29388596e-01 8.54553626e-01 -1.67018737e+02] [-9.07512280e-01 4.06412905e-01 1.06066072e-01 -6.37540639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.10, Y:-166.32, Z:-637.95 [[-3.15205573e-01 -6.75304258e-01 -6.66790526e-01 2.87096316e+02] [ 2.92605583e-01 -7.37532039e-01 6.08628347e-01 -1.66322892e+02] [-9.02788691e-01 -3.26358395e-03 4.30072005e-01 -6.37946826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-166.24, Z:-637.21 [[-3.60678875e-01 7.98754673e-01 4.81561754e-01 2.86108064e+02] [ 2.33558001e-01 5.77213487e-01 -7.82480192e-01 -1.66235383e+02] [-9.02973648e-01 -1.69751474e-01 -3.94744256e-01 -6.37211201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-166.30, Z:-637.68 [[-3.73274092e-01 -5.54713633e-01 -7.43612290e-01 2.87212757e+02] [ 2.50014098e-01 -8.32040640e-01 4.95178073e-01 -1.66298701e+02] [-8.93397673e-01 -1.07641004e-03 4.49265443e-01 -6.37680421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-166.30, Z:-637.68 [[-3.73223792e-01 -5.55580517e-01 -7.42990101e-01 2.87211999e+02] [ 2.50449292e-01 -8.31462153e-01 4.95929270e-01 -1.66298954e+02] [-8.93296789e-01 -9.88741479e-04 4.49466205e-01 -6.37683484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-166.30, Z:-637.69 [[-3.70892832e-01 -5.60919915e-01 -7.40140092e-01 2.87212139e+02] [ 2.48433625e-01 -8.27865826e-01 5.02910438e-01 -1.66303604e+02] [-8.94829169e-01 2.65019058e-03 4.46400869e-01 -6.37690274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-165.78, Z:-637.40 [[-4.20255638e-01 7.63141693e-01 -4.90917463e-01 2.86557901e+02] [ 2.66898538e-01 -4.13121079e-01 -8.70687168e-01 -1.65784782e+02] [-8.67266031e-01 -4.96936345e-01 -3.00649394e-02 -6.37400435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-166.45, Z:-637.47 [[-4.44453143e-01 4.54412702e-01 7.71991256e-01 2.86031012e+02] [ 2.11080256e-01 8.90646787e-01 -4.02732449e-01 -1.66452215e+02] [-8.70578273e-01 -1.60435907e-02 -4.91768314e-01 -6.37473020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:-166.84, Z:-637.98 [[-3.90582570e-01 -8.08724685e-01 4.39783629e-01 2.86601271e+02] [ 1.96379629e-01 3.93536250e-01 8.98089228e-01 -1.66843774e+02] [-8.99377728e-01 4.37142545e-01 5.10865385e-03 -6.37982672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-166.81, Z:-638.07 [[-3.36538982e-01 -8.37323852e-01 4.30848327e-01 2.86536896e+02] [ 1.66322179e-01 3.97488879e-01 9.02407626e-01 -1.66813485e+02] [-9.26864848e-01 3.75354977e-01 5.49502414e-03 -6.38069272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:-166.05, Z:-638.10 [[-3.47654942e-01 -4.11429571e-01 -8.42532937e-01 2.86978489e+02] [ 1.64002792e-01 -9.11414866e-01 3.77393729e-01 -1.66054101e+02] [-9.23167984e-01 -6.97495881e-03 3.84333481e-01 -6.38104094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-166.08, Z:-638.12 [[-3.39666412e-01 -4.40496706e-01 -8.31017076e-01 2.86985492e+02] [ 1.59877701e-01 -8.97730143e-01 4.10511523e-01 -1.66077844e+02] [-9.26858052e-01 6.57587642e-03 3.75354378e-01 -6.38116956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-165.62, Z:-637.93 [[-3.87212368e-01 7.42231394e-01 -5.46954422e-01 2.86371382e+02] [ 1.96530489e-01 -5.13152708e-01 -8.35493905e-01 -1.65616241e+02] [-9.00800948e-01 -4.31006794e-01 5.28279762e-02 -6.37932131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-166.08, Z:-637.91 [[-4.40241901e-01 7.03818783e-01 5.57517883e-01 2.85820137e+02] [ 1.53117616e-01 6.70681509e-01 -7.25769460e-01 -1.66076773e+02] [-8.84727113e-01 -2.34148318e-01 -4.03029157e-01 -6.37910298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-166.69, Z:-638.24 [[-4.16700027e-01 -3.81034037e-01 8.25332751e-01 2.86033534e+02] [ 8.64261923e-02 8.87194276e-01 4.53229335e-01 -1.66685161e+02] [-9.04926296e-01 2.60191043e-01 -3.36762558e-01 -6.38243421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-165.86, Z:-638.54 [[-4.07996750e-01 -2.31376359e-01 -8.83178143e-01 2.86789798e+02] [ 9.50842153e-02 -9.72862075e-01 2.10946382e-01 -1.65855414e+02] [-9.08018526e-01 2.08913766e-03 4.18924805e-01 -6.38544350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-165.53, Z:-638.34 [[-4.70433392e-01 7.96717771e-01 -3.79385316e-01 2.86121017e+02] [ 1.22427018e-01 -3.66845066e-01 -9.22191045e-01 -1.65534905e+02] [-8.73901625e-01 -4.80276474e-01 7.50363882e-02 -6.38335501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-166.10, Z:-638.29 [[-5.09633695e-01 5.36718190e-01 6.72463442e-01 2.85667055e+02] [ 5.68670101e-02 8.00881692e-01 -5.96116313e-01 -1.66099073e+02] [-8.58510128e-01 -2.65559974e-01 -4.38677855e-01 -6.38287426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-166.64, Z:-638.65 [[-4.59223745e-01 -5.37263342e-01 7.07433144e-01 2.85975447e+02] [ 3.33253275e-03 7.95323842e-01 6.06175618e-01 -1.66643229e+02] [-8.88314385e-01 2.80727782e-01 -3.63441146e-01 -6.38647642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-165.68, Z:-638.95 [[-4.76640682e-01 -2.33606512e-02 -8.78787768e-01 2.86530760e+02] [ 2.24549598e-02 -9.99644229e-01 1.43941384e-02 -1.65678606e+02] [-8.78811377e-01 -1.28723121e-02 4.76995669e-01 -6.38946122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-165.68, Z:-638.95 [[-4.76401725e-01 -2.52029310e-02 -8.78866434e-01 2.86528274e+02] [ 2.41506935e-02 -9.99587019e-01 1.55735730e-02 -1.65679755e+02] [-8.78895979e-01 -1.38059569e-02 4.76813648e-01 -6.38951959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:-165.68, Z:-638.97 [[-4.76305685e-01 -2.77200007e-02 -8.78842703e-01 2.86520470e+02] [ 2.76283674e-02 -9.99481228e-01 1.65513940e-02 -1.65680841e+02] [-8.78845588e-01 -1.63974660e-02 4.76824449e-01 -6.38967251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-165.68, Z:-639.00 [[-4.76154048e-01 -3.38234346e-02 -8.78711157e-01 2.86507459e+02] [ 3.26231874e-02 -9.99251565e-01 2.07855074e-02 -1.65683869e+02] [-8.78756537e-01 -1.87692553e-02 4.76901106e-01 -6.38995071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-165.69, Z:-639.06 [[-4.75455801e-01 -4.54656074e-02 -8.78563976e-01 2.86477029e+02] [ 4.44521978e-02 -9.98629557e-01 2.76226260e-02 -1.65689529e+02] [-8.78615834e-01 -2.59207619e-02 4.76825262e-01 -6.39058852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-165.70, Z:-639.07 [[-4.75523639e-01 -6.17857061e-02 -8.77530510e-01 2.86476636e+02] [ 4.69266213e-02 -9.97891806e-01 4.48311845e-02 -1.65698287e+02] [-8.78450432e-01 -1.98612539e-02 4.77420537e-01 -6.39072971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-165.70, Z:-639.08 [[-4.75452398e-01 -6.37323329e-02 -8.77429887e-01 2.86474954e+02] [ 4.74718459e-02 -9.97777948e-01 4.67503034e-02 -1.65699160e+02] [-8.78459698e-01 -1.94256726e-02 4.77421409e-01 -6.39077573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-165.70, Z:-639.08 [[-4.71727740e-01 -6.88801805e-02 -8.79049749e-01 2.86480612e+02] [ 4.61584432e-02 -9.97506239e-01 5.33919630e-02 -1.65704742e+02] [-8.80535257e-01 -1.53890978e-02 4.73730765e-01 -6.39080444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-165.69, Z:-639.09 [[-4.76061545e-01 -5.68167359e-02 -8.77574648e-01 2.86464482e+02] [ 5.10490989e-02 -9.98013424e-01 3.69214771e-02 -1.65694954e+02] [-8.77929037e-01 -2.72224996e-02 4.78016256e-01 -6.39090871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-165.70, Z:-639.10 [[-4.76246876e-01 -7.03893490e-02 -8.76489733e-01 2.86463902e+02] [ 5.33106982e-02 -9.97268518e-01 5.11221370e-02 -1.65702259e+02] [-8.77694071e-01 -2.23795216e-02 4.78698522e-01 -6.39102481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-165.70, Z:-639.11 [[-4.76327140e-01 -7.25031418e-02 -8.76273787e-01 2.86462802e+02] [ 5.42091705e-02 -9.97120189e-01 5.30348481e-02 -1.65703135e+02] [-8.77595477e-01 -2.22401376e-02 4.78885743e-01 -6.39105203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-166.55, Z:-639.13 [[-3.89157254e-01 -9.16993829e-01 8.76296117e-02 2.86228683e+02] [ 2.69040933e-02 8.37735435e-02 9.96121561e-01 -1.66554591e+02] [-9.20778367e-01 3.90005527e-01 -7.93019470e-03 -6.39128744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-165.69, Z:-639.19 [[-4.14576382e-01 -6.47708288e-02 -9.07706540e-01 2.86380997e+02] [ 4.89060922e-02 -9.97608122e-01 4.88490411e-02 -1.65694826e+02] [-9.08699410e-01 -2.41407210e-02 4.16752454e-01 -6.39189499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-165.70, Z:-639.20 [[-4.11828505e-01 -7.13045879e-02 -9.08467357e-01 2.86383703e+02] [ 4.60388005e-02 -9.97288834e-01 5.74056717e-02 -1.65700589e+02] [-9.10097639e-01 -1.81834555e-02 4.13994747e-01 -6.39195075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-165.69, Z:-639.21 [[-4.13778923e-01 -6.20947369e-02 -9.08257258e-01 2.86372365e+02] [ 4.88496158e-02 -9.97748239e-01 4.59583148e-02 -1.65692711e+02] [-9.09065849e-01 -2.53514362e-02 4.15880496e-01 -6.39205435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.38, Y:-165.70, Z:-639.20 [[-4.10633967e-01 -7.16986574e-02 -9.08976924e-01 2.86380340e+02] [ 4.60487973e-02 -9.97262132e-01 5.78597259e-02 -1.65700978e+02] [-9.10636730e-01 -1.80981254e-02 4.12811342e-01 -6.39204273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-165.70, Z:-639.22 [[-4.12842735e-01 -7.28516448e-02 -9.07884086e-01 2.86370141e+02] [ 4.60354165e-02 -9.97190953e-01 5.90842098e-02 -1.65698023e+02] [-9.09638179e-01 -1.74023353e-02 4.15036796e-01 -6.39221515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-166.60, Z:-639.21 [[-3.35219824e-01 -8.96031886e-01 2.91126311e-01 2.86027564e+02] [ 5.38387556e-03 3.07178465e-01 9.51636698e-01 -1.66601936e+02] [-9.42124558e-01 3.20574874e-01 -9.81481870e-02 -6.39208739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-166.44, Z:-639.40 [[-2.71397019e-01 -9.48017859e-01 -1.66149925e-01 2.86190277e+02] [ 2.80790726e-02 -1.80354530e-01 9.83200798e-01 -1.66436647e+02] [-9.62057807e-01 2.62172430e-01 7.55671439e-02 -6.39396683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-166.46, Z:-639.50 [[-2.07227009e-01 -9.70344460e-01 -1.24453191e-01 2.86109224e+02] [ 3.64856561e-02 -1.34791936e-01 9.90201965e-01 -1.66458655e+02] [-9.77612277e-01 2.00655835e-01 6.33361838e-02 -6.39501942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-165.73, Z:-639.49 [[-2.18890986e-01 -1.36592967e-01 -9.66141345e-01 2.86205731e+02] [ 3.43560071e-02 -9.90618182e-01 1.32269732e-01 -1.65732103e+02] [-9.75144298e-01 -4.24010688e-03 2.21530180e-01 -6.39485174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-165.71, Z:-639.49 [[-2.16057468e-01 -1.02568485e-01 -9.70978309e-01 2.86196314e+02] [ 3.23279701e-02 -9.94673211e-01 9.78780105e-02 -1.65714523e+02] [-9.75845312e-01 -1.02424826e-02 2.18222406e-01 -6.39487074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-165.70, Z:-639.51 [[-2.26098761e-01 -8.10675719e-02 -9.70725192e-01 2.86177129e+02] [ 3.86482737e-02 -9.96492877e-01 7.42176382e-02 -1.65696877e+02] [-9.73337383e-01 -2.07363368e-02 2.28438927e-01 -6.39506919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-165.74, Z:-639.52 [[-2.15626267e-01 -1.54789744e-01 -9.64129373e-01 2.86207204e+02] [ 3.06848885e-02 -9.87942455e-01 1.51750269e-01 -1.65741570e+02] [-9.75993725e-01 3.13714182e-03 2.17776050e-01 -6.39518853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-165.70, Z:-639.53 [[-2.26318115e-01 -8.87246144e-02 -9.70004151e-01 2.86174041e+02] [ 3.90883701e-02 -9.95867943e-01 8.19703636e-02 -1.65699326e+02] [-9.73268827e-01 -1.93645030e-02 2.28851056e-01 -6.39533597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-165.74, Z:-639.65 [[-2.22400261e-01 -1.58570559e-01 -9.61973753e-01 2.86169896e+02] [ 6.18058961e-02 -9.86993296e-01 1.48405744e-01 -1.65737275e+02] [-9.72994427e-01 -2.64501735e-02 2.29308163e-01 -6.39645409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-165.79, Z:-639.66 [[-2.22234375e-01 -2.56990110e-01 -9.40514735e-01 2.86195081e+02] [ 6.20213215e-02 -9.66409669e-01 2.49410720e-01 -1.65793536e+02] [-9.73018622e-01 -2.90433106e-03 2.30708315e-01 -6.39663711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-165.81, Z:-639.67 [[-2.15544563e-01 -2.70559873e-01 -9.38263234e-01 2.86201664e+02] [ 5.35459469e-02 -9.62678109e-01 2.65299247e-01 -1.65807414e+02] [-9.75024806e-01 6.94361690e-03 2.21987417e-01 -6.39674401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-165.79, Z:-639.68 [[-2.12206294e-01 -2.32426626e-01 -9.49181938e-01 2.86192703e+02] [ 5.16636667e-02 -9.72613470e-01 2.26613996e-01 -1.65785948e+02] [-9.75858266e-01 -9.49302877e-04 2.18402712e-01 -6.39679362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-165.76, Z:-639.69 [[-2.22183204e-01 -2.06068772e-01 -9.52979688e-01 2.86175844e+02] [ 6.14456088e-02 -9.78426613e-01 1.97245535e-01 -1.65763651e+02] [-9.73066833e-01 -1.47317720e-02 2.30051981e-01 -6.39686229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-165.80, Z:-639.70 [[-2.21837996e-01 -2.73716030e-01 -9.35877897e-01 2.86192115e+02] [ 6.19667433e-02 -9.61809862e-01 2.66611915e-01 -1.65802831e+02] [-9.73112546e-01 1.15134741e-03 2.30327263e-01 -6.39696283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-165.80, Z:-639.70 [[-2.22059317e-01 -2.76260581e-01 -9.35077404e-01 2.86191059e+02] [ 6.19831657e-02 -9.61081039e-01 2.69223559e-01 -1.65804287e+02] [-9.73061019e-01 1.82454172e-03 2.30540504e-01 -6.39702236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-165.80, Z:-639.79 [[-2.18171024e-01 -2.81738742e-01 -9.34357900e-01 2.86171101e+02] [ 7.51541753e-02 -9.59428868e-01 2.71750063e-01 -1.65803434e+02] [-9.73012464e-01 -1.09329077e-02 2.30493422e-01 -6.39792536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-165.84, Z:-639.80 [[-2.17688243e-01 -3.37346441e-01 -9.15865278e-01 2.86182760e+02] [ 7.67922079e-02 -9.41379834e-01 3.28491956e-01 -1.65837689e+02] [-9.72992696e-01 1.17751987e-03 2.30832900e-01 -6.39799541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-165.84, Z:-639.82 [[-2.16973032e-01 -3.40155926e-01 -9.14995437e-01 2.86179542e+02] [ 7.91364260e-02 -9.40368837e-01 3.30823030e-01 -1.65838972e+02] [-9.72964609e-01 -6.29792945e-04 2.30953402e-01 -6.39815228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-165.84, Z:-639.82 [[-2.15852806e-01 -3.47164298e-01 -9.12625069e-01 2.86179469e+02] [ 8.27037946e-02 -9.37800448e-01 3.37180074e-01 -1.65844427e+02] [-9.72917082e-01 -2.69629106e-03 2.31138663e-01 -6.39821652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-165.53, Z:-639.73 [[-2.80592953e-01 9.57479162e-01 -6.70913439e-02 2.85287021e+02] [ 7.48523950e-02 -4.78579396e-02 -9.96045550e-01 -1.65526393e+02] [-9.56903712e-01 -2.84505310e-01 -5.82410078e-02 -6.39729356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-165.79, Z:-640.09 [[-2.76503296e-01 -2.90259351e-01 -9.16130688e-01 2.86130575e+02] [ 1.05082716e-01 -9.56712580e-01 2.71401295e-01 -1.65793385e+02] [-9.55250517e-01 -2.12261479e-02 2.95035422e-01 -6.40085071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.14, Y:-165.82, Z:-640.10 [[-2.75076360e-01 -3.32325864e-01 -9.02159917e-01 2.86137280e+02] [ 1.07763793e-01 -9.43103992e-01 3.14550194e-01 -1.65819001e+02] [-9.55363785e-01 -1.06948523e-02 2.95238309e-01 -6.40096642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-165.80, Z:-640.31 [[-2.72140216e-01 -3.37895846e-01 -9.00980633e-01 2.86080581e+02] [ 1.06456315e-01 -9.41144111e-01 3.20803389e-01 -1.65804866e+02] [-9.56350749e-01 -8.61157403e-03 2.92094309e-01 -6.40309000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-165.81, Z:-640.12 [[-2.73409420e-01 -3.21928079e-01 -9.06426832e-01 2.86128146e+02] [ 1.13499311e-01 -9.46545931e-01 3.01941561e-01 -1.65810846e+02] [-9.55178096e-01 -2.03251535e-02 2.95333189e-01 -6.40117062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-165.81, Z:-640.33 [[-2.65932760e-01 -3.52362185e-01 -8.97285160e-01 2.86078904e+02] [ 1.08828371e-01 -9.35825130e-01 3.35242765e-01 -1.65814689e+02] [-9.57828875e-01 -8.49804830e-03 2.87213562e-01 -6.40331173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:-165.80, Z:-640.30 [[-2.63248709e-01 -3.29405055e-01 -9.06748271e-01 2.86082813e+02] [ 1.08928563e-01 -9.44038979e-01 3.11327760e-01 -1.65804288e+02] [-9.58558650e-01 -1.68141555e-02 2.84398662e-01 -6.40302588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-165.80, Z:-640.17 [[-2.69796846e-01 -3.12759817e-01 -9.10709042e-01 2.86109816e+02] [ 1.23015067e-01 -9.49226646e-01 2.89544588e-01 -1.65801014e+02] [-9.55027201e-01 -3.39127171e-02 2.94572525e-01 -6.40166055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-165.83, Z:-640.18 [[-2.68224956e-01 -3.61940564e-01 -8.92779033e-01 2.86117125e+02] [ 1.25014137e-01 -9.31979242e-01 3.40273651e-01 -1.65831301e+02] [-9.55210364e-01 -2.03401155e-02 2.95227778e-01 -6.40178624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-165.83, Z:-640.19 [[-2.67663149e-01 -3.66376681e-01 -8.91136671e-01 2.86113794e+02] [ 1.27172619e-01 -9.30225410e-01 3.44249636e-01 -1.65832784e+02] [-9.55083014e-01 -2.11852430e-02 2.95580145e-01 -6.40193698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:-165.83, Z:-640.22 [[-2.66272903e-01 -3.72843092e-01 -8.88868253e-01 2.86106182e+02] [ 1.31852217e-01 -9.27581000e-01 3.49583298e-01 -1.65833781e+02] [-9.54837020e-01 -2.41146903e-02 2.96149874e-01 -6.40224317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-165.84, Z:-640.25 [[-2.64526326e-01 -3.84725394e-01 -8.84314533e-01 2.86100117e+02] [ 1.35428728e-01 -9.22711449e-01 3.60919163e-01 -1.65838544e+02] [-9.54821911e-01 -2.42889718e-02 2.96184340e-01 -6.40253312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-165.84, Z:-640.27 [[-2.63454232e-01 -3.96008227e-01 -8.79641604e-01 2.86097304e+02] [ 1.37034648e-01 -9.17971801e-01 3.72222080e-01 -1.65844018e+02] [-9.54889194e-01 -2.24778954e-02 2.96110404e-01 -6.40270713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-165.84, Z:-640.31 [[-2.61745163e-01 -4.02316046e-01 -8.77286310e-01 2.86086083e+02] [ 1.40718290e-01 -9.15170608e-01 3.77705072e-01 -1.65842572e+02] [-9.54823456e-01 -2.45877534e-02 2.96154706e-01 -6.40313433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:284.81, Y:-166.07, Z:-640.56 [[-2.97143796e-01 3.74263427e-01 8.78426122e-01 2.84807645e+02] [ 2.70748564e-02 9.22911727e-01 -3.84058456e-01 -1.66073343e+02] [-9.54448803e-01 -9.03373261e-02 -2.84370622e-01 -6.40562858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-166.52, Z:-640.32 [[-2.17292291e-01 -8.26589663e-01 5.19166244e-01 2.85515720e+02] [ 7.33959459e-03 5.30475904e-01 8.47668240e-01 -1.66521185e+02] [-9.76078988e-01 1.88002244e-01 -1.09201492e-01 -6.40323739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.58, Z:-640.45 [[-2.45112469e-01 -4.95910921e-02 -9.68225491e-01 2.85936923e+02] [ 3.43864319e-02 -9.98507226e-01 4.24369333e-02 -1.65575032e+02] [-9.68884643e-01 -2.28919984e-02 2.46451832e-01 -6.40449611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.016559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.58, Z:-640.45 [[-2.45055189e-01 -6.81998711e-02 -9.67107405e-01 2.85942580e+02] [ 3.37241391e-02 -9.97518698e-01 6.17991043e-02 -1.65583652e+02] [-9.68922410e-01 -1.74706734e-02 2.46747116e-01 -6.40454373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.58, Z:-640.47 [[-2.45381351e-01 -7.10133432e-02 -9.66822165e-01 2.85940026e+02] [ 3.50859582e-02 -9.97310549e-01 6.43478385e-02 -1.65584353e+02] [-9.68791499e-01 -1.81321225e-02 2.47212981e-01 -6.40467471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.59, Z:-640.47 [[-2.45056196e-01 -7.88549385e-02 -9.66296724e-01 2.85942060e+02] [ 3.43459922e-02 -9.96767303e-01 7.26312368e-02 -1.65587777e+02] [-9.68900312e-01 -1.53896852e-02 2.46972354e-01 -6.40472931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-165.59, Z:-640.51 [[-2.44807831e-01 -8.23306252e-02 -9.66069767e-01 2.85933812e+02] [ 3.85016087e-02 -9.96427825e-01 7.51612699e-02 -1.65588457e+02] [-9.68806870e-01 -1.87951727e-02 2.47103196e-01 -6.40510029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.60, Z:-640.52 [[-2.44576545e-01 -1.00872813e-01 -9.64368700e-01 2.85938100e+02] [ 3.84297289e-02 -9.94800900e-01 9.43097336e-02 -1.65597472e+02] [-9.68868139e-01 -1.39944789e-02 2.47181482e-01 -6.40520003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.60, Z:-640.52 [[-2.44836297e-01 -1.03286022e-01 -9.64047294e-01 2.85937992e+02] [ 3.81977925e-02 -9.94565282e-01 9.68546731e-02 -1.65597971e+02] [-9.68811703e-01 -1.31109390e-02 2.47450979e-01 -6.40523357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-165.60, Z:-640.53 [[-2.45273778e-01 -1.05430244e-01 -9.63703916e-01 2.85937986e+02] [ 3.68886885e-02 -9.94363959e-01 9.93958878e-02 -1.65597511e+02] [-9.68751774e-01 -1.11705687e-02 2.47780588e-01 -6.40527383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-165.60, Z:-640.57 [[-2.44760480e-01 -1.09100611e-01 -9.63425848e-01 2.85927191e+02] [ 4.19909539e-02 -9.93909581e-01 1.01884765e-01 -1.65597454e+02] [-9.68673871e-01 -1.55178064e-02 2.47851025e-01 -6.40574477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-165.63, Z:-640.71 [[-2.45506107e-01 -1.38154513e-01 -9.59499913e-01 2.85889269e+02] [ 1.10728560e-01 -9.87310803e-01 1.13826905e-01 -1.65626503e+02] [-9.63050330e-01 -7.82988433e-02 2.57688482e-01 -6.40705440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-166.48, Z:-640.82 [[-1.51283298e-01 -9.56105038e-01 2.50951231e-01 2.85565765e+02] [ 8.87225102e-02 2.39714871e-01 9.66780791e-01 -1.66477961e+02] [-9.84500726e-01 1.68522809e-01 4.85631828e-02 -6.40817033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-165.36, Z:-640.77 [[-2.34994227e-01 9.23599357e-01 -3.02889322e-01 2.85129905e+02] [ 9.49349141e-02 -2.88316618e-01 -9.52817344e-01 -1.65355971e+02] [-9.67349511e-01 -2.52661346e-01 -1.99290850e-02 -6.40769823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-166.46, Z:-641.09 [[-1.50253485e-01 -9.52281713e-01 2.65675423e-01 2.85503202e+02] [ 9.13945672e-02 2.54196301e-01 9.62824633e-01 -1.66456496e+02] [-9.84414000e-01 1.68949046e-01 4.88394949e-02 -6.41094346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-166.45, Z:-641.20 [[-8.46744881e-02 -9.43405703e-01 3.20649202e-01 2.85423211e+02] [ 6.90790437e-02 3.15472572e-01 9.46417002e-01 -1.66450806e+02] [-9.94011226e-01 1.02287515e-01 3.84570852e-02 -6.41200942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:-165.66, Z:-641.20 [[-1.57105028e-01 8.25352044e-01 5.42320950e-01 2.84660394e+02] [ 1.21112363e-02 5.50709102e-01 -8.34609371e-01 -1.65660148e+02] [-9.87507635e-01 -1.24553152e-01 -9.65152027e-02 -6.41197272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-165.56, Z:-641.37 [[-1.60874422e-01 -1.69365185e-01 -9.72334744e-01 2.85760440e+02] [ 4.18250407e-02 -9.85451535e-01 1.64729896e-01 -1.65559347e+02] [-9.86088275e-01 -1.41671133e-02 1.65617652e-01 -6.41374520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-165.56, Z:-641.41 [[-1.60168070e-01 -1.74057013e-01 -9.71622533e-01 2.85755698e+02] [ 4.70423419e-02 -9.84558007e-01 1.68619540e-01 -1.65560876e+02] [-9.85968158e-01 -1.86999330e-02 1.65882805e-01 -6.41413529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-165.57, Z:-641.42 [[-1.59406728e-01 -1.98607492e-01 -9.67028727e-01 2.85762244e+02] [ 4.89737297e-02 -9.79939133e-01 1.93186103e-01 -1.65574084e+02] [-9.85997500e-01 -1.65638389e-02 1.65935440e-01 -6.41419519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-166.34, Z:-641.53 [[-6.85673330e-02 -9.96342879e-01 5.09841960e-02 2.85524181e+02] [ 3.75956939e-02 4.84876295e-02 9.98115982e-01 -1.66343345e+02] [-9.96937854e-01 7.03549371e-02 3.41335345e-02 -6.41528628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-166.37, Z:-641.64 [[ 1.03066401e-03 -9.85933916e-01 1.67132434e-01 2.85424675e+02] [ 2.43343429e-02 1.67107759e-01 9.85638289e-01 -1.66373470e+02] [-9.99703345e-01 3.05119604e-03 2.41642859e-02 -6.41641593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-166.43, Z:-641.82 [[ 5.93886602e-02 -8.27002509e-01 5.59052625e-01 2.85152325e+02] [-2.08898674e-02 5.58888862e-01 8.28979405e-01 -1.66427556e+02] [-9.98016333e-01 -6.09105114e-02 1.59156880e-02 -6.41816115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:-165.99, Z:-641.88 [[ 4.40122378e-02 3.82293367e-01 9.22992256e-01 2.84523921e+02] [-4.43283829e-02 9.23724877e-01 -3.80483043e-01 -1.65993353e+02] [-9.98047052e-01 -2.41688440e-02 5.76016457e-02 -6.41883693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-165.89, Z:-641.92 [[ 3.65673582e-02 5.33649716e-01 8.44914676e-01 2.84499118e+02] [-4.08354822e-02 8.45571905e-01 -5.32297490e-01 -1.65887373e+02] [-9.98496516e-01 -1.50377852e-02 5.27121742e-02 -6.41917679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-165.92, Z:-641.95 [[ 3.81764674e-02 4.85698075e-01 8.73292584e-01 2.84504558e+02] [-3.97139588e-02 8.73976669e-01 -4.84342424e-01 -1.65921954e+02] [-9.98481527e-01 -1.61914229e-02 5.26543352e-02 -6.41947720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-165.92, Z:-641.98 [[ 3.97171842e-02 4.85568062e-01 8.73296171e-01 2.84505811e+02] [-3.67618940e-02 8.74104166e-01 -4.84345404e-01 -1.65922838e+02] [-9.98534480e-01 -1.28671857e-02 5.25673578e-02 -6.41975112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-165.93, Z:-642.01 [[ 4.13460498e-02 4.80412317e-01 8.76067640e-01 2.84508683e+02] [-3.56080468e-02 8.76968916e-01 -4.79226030e-01 -1.65928363e+02] [-9.98510176e-01 -1.13809542e-02 5.33657448e-02 -6.42007420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-165.90, Z:-642.04 [[ 4.04347412e-02 5.15646357e-01 8.55846871e-01 2.84503924e+02] [-3.16083564e-02 8.56778795e-01 -5.14714493e-01 -1.65903104e+02] [-9.98682103e-01 -6.23956562e-03 5.09423626e-02 -6.42040388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-165.92, Z:-642.07 [[ 4.04420498e-02 4.95128776e-01 8.67877834e-01 2.84506308e+02] [-3.04990567e-02 8.68795420e-01 -4.94231045e-01 -1.65918529e+02] [-9.98716300e-01 -6.48173877e-03 5.02368283e-02 -6.42068726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-165.89, Z:-642.10 [[ 4.12223992e-02 5.32957469e-01 8.45137297e-01 2.84505444e+02] [-3.01573371e-02 8.46134575e-01 -5.32115416e-01 -1.65892615e+02] [-9.98694773e-01 -3.55201622e-03 5.09522753e-02 -6.42096492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-165.93, Z:-642.12 [[ 4.18202682e-02 4.82777317e-01 8.74744035e-01 2.84511692e+02] [-2.91630071e-02 8.75726770e-01 -4.81925454e-01 -1.65928650e+02] [-9.98699446e-01 -5.35591480e-03 5.07023668e-02 -6.42122359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:284.51, Y:-165.94, Z:-642.15 [[ 4.29331766e-02 4.74748134e-01 8.79073917e-01 2.84514538e+02] [-3.01281588e-02 8.80100271e-01 -4.73830989e-01 -1.65936947e+02] [-9.98623571e-01 -6.14180909e-03 5.20887875e-02 -6.42153356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-165.78, Z:-642.11 [[ 7.83378575e-02 -5.72278770e-01 -8.16308881e-01 2.85735028e+02] [ 5.14612607e-02 -8.15412275e-01 5.76588727e-01 -1.65776938e+02] [-9.95597770e-01 -8.71770096e-02 -3.44274636e-02 -6.42109280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-165.25, Z:-642.12 [[ 3.27121607e-02 5.16752190e-01 -8.55509841e-01 2.85346395e+02] [ 1.08597638e-01 -8.52737838e-01 -5.10925369e-01 -1.65252056e+02] [-9.93547416e-01 -7.61928752e-02 -8.40129644e-02 -6.42122541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.94, Y:-165.25, Z:-642.14 [[-3.84611556e-02 9.47560255e-01 -3.17254320e-01 2.84938247e+02] [ 1.27148235e-01 -3.10267881e-01 -9.42107833e-01 -1.65253422e+02] [-9.91137763e-01 -7.65728826e-02 -1.08547352e-01 -6.42138102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-166.20, Z:-642.30 [[-2.66387236e-02 -9.74868651e-01 -2.21182034e-01 2.85620290e+02] [ 1.45565101e-01 -2.22685055e-01 9.63961705e-01 -1.66198086e+02] [-9.88989980e-01 -6.51767581e-03 1.47838900e-01 -6.42304302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-166.20, Z:-642.31 [[-2.63039080e-02 -9.78159014e-01 -2.06186924e-01 2.85613535e+02] [ 1.46251478e-01 -2.07804512e-01 9.67175160e-01 -1.66204322e+02] [-9.88897674e-01 -4.71465595e-03 1.48523272e-01 -6.42311835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-166.21, Z:-642.32 [[-2.57372863e-02 -9.79018904e-01 -2.02137522e-01 2.85611075e+02] [ 1.46378724e-01 -2.03715824e-01 9.68025378e-01 -1.66205688e+02] [-9.88893756e-01 -4.67428631e-03 1.48550630e-01 -6.42317263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-166.21, Z:-642.32 [[-2.52844329e-02 -9.79858426e-01 -1.98086251e-01 2.85607810e+02] [ 1.46368386e-01 -1.99642807e-01 9.68875144e-01 -1.66207424e+02] [-9.88906969e-01 -4.49610623e-03 1.48468151e-01 -6.42323061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-166.18, Z:-642.54 [[-2.44323366e-02 -9.80563086e-01 -1.94676898e-01 2.85600190e+02] [ 1.47716411e-01 -1.96138478e-01 9.69386177e-01 -1.66179089e+02] [-9.88727932e-01 -5.07260336e-03 1.49637381e-01 -6.42538265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:-165.55, Z:-642.33 [[-8.37970827e-02 8.73157519e-01 4.80181213e-01 2.84614549e+02] [ 8.93942506e-02 4.86520157e-01 -8.69083888e-01 -1.65547503e+02] [-9.92464970e-01 -2.99012548e-02 -1.18824232e-01 -6.42328865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-165.90, Z:-642.47 [[-8.97136967e-02 -7.62683583e-01 -6.40519481e-01 2.85762348e+02] [ 1.15802294e-01 -6.46738714e-01 7.53869262e-01 -1.65900683e+02] [-9.89212455e-01 -6.54122687e-03 1.46341829e-01 -6.42468500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:-166.03, Z:-642.51 [[-8.61382129e-02 1.66522740e-01 9.82267980e-01 2.84630409e+02] [ 2.87681750e-02 9.85937114e-01 -1.64621991e-01 -1.66026304e+02] [-9.95867763e-01 1.40778130e-02 -8.97174164e-02 -6.42508479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-165.54, Z:-642.62 [[-1.11560212e-01 -3.39374846e-01 -9.34012330e-01 2.85730312e+02] [ 5.28249768e-02 -9.40575737e-01 3.35450154e-01 -1.65543342e+02] [-9.92352680e-01 -1.19162894e-02 1.22858297e-01 -6.42616856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-166.32, Z:-642.71 [[-3.03709411e-02 -7.81843268e-01 6.22734863e-01 2.85117809e+02] [ 6.81863197e-04 6.23005915e-01 7.82216828e-01 -1.66318866e+02] [-9.99538464e-01 2.41812812e-02 -1.83881658e-02 -6.42711774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-165.28, Z:-642.77 [[-8.20325794e-02 1.34923819e-01 -9.87454414e-01 2.85529147e+02] [ 8.06923489e-03 -9.90671345e-01 -1.36033725e-01 -1.65277131e+02] [-9.96596982e-01 -1.91271989e-02 8.01785937e-02 -6.42772765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-166.22, Z:-642.88 [[ 3.55112753e-02 -9.95011497e-01 9.32259086e-02 2.85414402e+02] [ 2.17716141e-03 9.33615494e-02 9.95629892e-01 -1.66221307e+02] [-9.99366904e-01 -3.51531193e-02 5.48168831e-03 -6.42884009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.49, Z:-642.88 [[ 4.03740080e-02 -2.76065162e-01 -9.60290563e-01 2.85649390e+02] [ 7.91971452e-02 -9.57166330e-01 2.78496732e-01 -1.65492830e+02] [-9.96041039e-01 -8.72963005e-02 -1.67810684e-02 -6.42883115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-166.32, Z:-642.99 [[ 6.17557084e-02 -8.15053430e-01 5.76085183e-01 2.85117486e+02] [ 7.02745201e-02 5.79305161e-01 8.12075749e-01 -1.66316903e+02] [-9.95614245e-01 -9.66620336e-03 9.30528892e-02 -6.42991359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-166.32, Z:-643.02 [[ 6.21652061e-02 -8.15819376e-01 5.74955853e-01 2.85119685e+02] [ 6.92670184e-02 5.78207586e-01 8.12944074e-01 -1.66315184e+02] [-9.95659363e-01 -1.07113583e-02 9.24537695e-02 -6.43018343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4565599949999 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:285.12, Y:-166.31, Z:-643.05 [[ 6.13702858e-02 -8.16650443e-01 5.73860385e-01 2.85121693e+02] [ 6.85738488e-02 5.77035382e-01 8.13835239e-01 -1.66313726e+02] [-9.95756655e-01 -1.05934858e-02 9.14136903e-02 -6.43045963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-166.31, Z:-643.07 [[ 6.20147960e-02 -8.18008686e-01 5.71853088e-01 2.85125171e+02] [ 6.94113632e-02 5.75103394e-01 8.15130756e-01 -1.66311580e+02] [-9.95658690e-01 -1.08570652e-02 9.24440177e-02 -6.43073852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-166.31, Z:-643.10 [[ 6.21007911e-02 -8.20281036e-01 5.68579382e-01 2.85129333e+02] [ 6.96564788e-02 5.71851882e-01 8.17394275e-01 -1.66310277e+02] [-9.95636212e-01 -1.11555934e-02 9.26503428e-02 -6.43100527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-166.31, Z:-643.13 [[ 6.18262243e-02 -8.21118222e-01 5.67399669e-01 2.85131324e+02] [ 6.98658932e-02 5.70653195e-01 8.18213718e-01 -1.66308651e+02] [-9.95638627e-01 -1.09451802e-02 9.26494904e-02 -6.43127521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-166.31, Z:-643.16 [[ 6.16680226e-02 -8.21945165e-01 5.66218334e-01 2.85133224e+02] [ 7.02938214e-02 5.69466027e-01 8.19003799e-01 -1.66306999e+02] [-9.95618317e-01 -1.07046944e-02 9.28955104e-02 -6.43155807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:-166.31, Z:-643.18 [[ 6.18709120e-02 -8.23846896e-01 5.63425490e-01 2.85136461e+02] [ 7.08254387e-02 5.66707907e-01 8.20868994e-01 -1.66305306e+02] [-9.95568053e-01 -1.08830558e-02 9.34120529e-02 -6.43183821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-166.30, Z:-643.21 [[ 6.47414283e-02 -8.34758613e-01 5.46796677e-01 2.85154556e+02] [ 7.40011029e-02 5.50453624e-01 8.31579608e-01 -1.66298227e+02] [-9.95154453e-01 -1.33740945e-02 9.74102118e-02 -6.43213836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.11, Y:-166.30, Z:-643.24 [[ 6.20045454e-02 -7.99972431e-01 5.96824553e-01 2.85114004e+02] [ 7.08505446e-02 5.99994470e-01 7.96860613e-01 -1.66302825e+02] [-9.95557953e-01 -7.12363545e-03 9.38808667e-02 -6.43243742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:-166.30, Z:-643.27 [[ 6.18772222e-02 -8.28114775e-01 5.57132954e-01 2.85144924e+02] [ 7.23170692e-02 5.60455303e-01 8.25021270e-01 -1.66299738e+02] [-9.95460422e-01 -1.07598020e-02 9.45662508e-02 -6.43270528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-166.30, Z:-643.30 [[ 6.15221044e-02 -8.30038400e-01 5.54302522e-01 2.85148715e+02] [ 7.26692440e-02 5.57605633e-01 8.26919064e-01 -1.66298037e+02] [-9.95456786e-01 -1.05930558e-02 9.46233349e-02 -6.43298302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-166.29, Z:-643.33 [[ 6.39457964e-02 -8.40100505e-01 5.38648379e-01 2.85165932e+02] [ 7.54714430e-02 5.42278368e-01 8.36802386e-01 -1.66291363e+02] [-9.95095471e-01 -1.28574246e-02 9.80800195e-02 -6.43326514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-166.30, Z:-643.36 [[ 6.08810109e-02 -8.04421476e-01 5.90931123e-01 2.85124050e+02] [ 7.24855878e-02 5.94029276e-01 8.01171055e-01 -1.66295380e+02] [-9.95509589e-01 -5.94211398e-03 9.44740663e-02 -6.43355930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.29, Z:-643.38 [[ 5.92220156e-02 -8.34773268e-01 5.47399620e-01 2.85157522e+02] [ 7.28244308e-02 5.50513820e-01 8.31643636e-01 -1.66291612e+02] [-9.95584931e-01 -9.38754662e-03 9.33944261e-02 -6.43380988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.29, Z:-643.41 [[ 5.89665941e-02 -8.37214616e-01 5.43686149e-01 2.85162671e+02] [ 7.31539301e-02 5.46793521e-01 8.34065554e-01 -1.66288727e+02] [-9.95575936e-01 -9.40922647e-03 9.34880911e-02 -6.43410771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.29, Z:-643.44 [[ 5.82142384e-02 -8.32291621e-01 5.51272855e-01 2.85157432e+02] [ 7.30781642e-02 5.54280590e-01 8.29115559e-01 -1.66287706e+02] [-9.95625775e-01 -7.98032261e-03 9.30893662e-02 -6.43438293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-166.29, Z:-643.47 [[ 5.78448131e-02 -8.38209996e-01 5.42271132e-01 2.85165207e+02] [ 7.47817080e-02 5.45292629e-01 8.34903375e-01 -1.66285275e+02] [-9.95520805e-01 -7.74286821e-03 9.42251253e-02 -6.43466421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.29, Z:-643.50 [[ 5.43768085e-02 -8.32692619e-01 5.51059131e-01 2.85156764e+02] [ 7.30478663e-02 5.53714244e-01 8.29496562e-01 -1.66287550e+02] [-9.95844954e-01 -4.85168197e-03 9.09356325e-02 -6.43495368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.18, Y:-166.28, Z:-643.53 [[ 5.30227654e-02 -8.51569159e-01 5.21553980e-01 2.85177679e+02] [ 7.35615485e-02 5.24200495e-01 8.48411775e-01 -1.66284782e+02] [-9.95880156e-01 -6.61882012e-03 9.04373059e-02 -6.43525817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-166.27, Z:-643.56 [[ 5.65360148e-02 -8.87389396e-01 4.57540970e-01 2.85228794e+02] [ 7.84656474e-02 4.60805674e-01 8.84025607e-01 -1.66271118e+02] [-9.95312424e-01 -1.40780364e-02 9.56816999e-02 -6.43555597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-166.28, Z:-643.59 [[ 5.18768189e-02 -8.26317238e-01 5.60810679e-01 2.85152421e+02] [ 7.47761981e-02 5.63204449e-01 8.22927256e-01 -1.66282927e+02] [-9.95850047e-01 -7.55557825e-04 9.10061167e-02 -6.43589475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-166.27, Z:-643.61 [[ 5.32080036e-02 -8.93028586e-01 4.46843209e-01 2.85239676e+02] [ 8.03645459e-02 4.49855084e-01 8.89478467e-01 -1.66265146e+02] [-9.95344387e-01 -1.14170219e-02 9.57037277e-02 -6.43614430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.28, Z:-643.65 [[ 5.09039624e-02 -8.31273875e-01 5.53527355e-01 2.85164448e+02] [ 7.77236944e-02 5.55862347e-01 8.27632816e-01 -1.66276607e+02] [-9.95674552e-01 8.92401179e-04 9.29052726e-02 -6.43648595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.27, Z:-643.68 [[ 4.71237643e-02 -8.24899853e-01 5.63311267e-01 2.85157757e+02] [ 7.91955980e-02 5.65247919e-01 8.21110740e-01 -1.66274053e+02] [-9.95744650e-01 5.91794360e-03 9.19650468e-02 -6.43677092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.27, Z:-643.70 [[ 4.66195931e-02 -8.69040136e-01 4.92540208e-01 2.85211923e+02] [ 8.07408911e-02 4.94741263e-01 8.65281452e-01 -1.66265114e+02] [-9.95644275e-01 -5.70933976e-04 9.32317113e-02 -6.43703952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.27, Z:-643.74 [[ 4.39978801e-02 -8.28719101e-01 5.57932647e-01 2.85163734e+02] [ 8.00388767e-02 5.59602281e-01 8.24887305e-01 -1.66269122e+02] [-9.95820247e-01 8.36300964e-03 9.09510600e-02 -6.43737814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.26, Z:-643.77 [[ 4.05257306e-02 -8.69579318e-01 4.92127499e-01 2.85211349e+02] [ 7.99610504e-02 4.93774914e-01 8.65905633e-01 -1.66262180e+02] [-9.95973843e-01 4.25957334e-03 8.95430648e-02 -6.43767124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-166.26, Z:-643.80 [[ 4.09996752e-02 -8.72834835e-01 4.86290426e-01 2.85218358e+02] [ 8.14312986e-02 4.87999589e-01 8.69037022e-01 -1.66256989e+02] [-9.95835313e-01 3.96902527e-03 9.10838987e-02 -6.43799713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.25, Z:-643.83 [[ 4.22446059e-02 -8.61588289e-01 5.05846829e-01 2.85206973e+02] [ 8.32730193e-02 5.07573506e-01 8.57574918e-01 -1.66254098e+02] [-9.95630955e-01 5.89547832e-03 9.31893009e-02 -6.43834099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-166.26, Z:-643.87 [[ 4.19891280e-02 -8.28553356e-01 5.58333457e-01 2.85168154e+02] [ 8.31777738e-02 5.59785276e-01 8.24452487e-01 -1.66255720e+02] [-9.95649723e-01 1.18228930e-02 9.24221192e-02 -6.43867313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.25, Z:-643.89 [[ 4.19171229e-02 -8.63137105e-01 5.03226881e-01 2.85208627e+02] [ 8.32309148e-02 5.04935504e-01 8.59134885e-01 -1.66249054e+02] [-9.95648316e-01 5.87157105e-03 9.30051344e-02 -6.43893126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.25, Z:-643.93 [[ 4.36811413e-02 -8.45770471e-01 5.31755835e-01 2.85189460e+02] [ 8.38038980e-02 5.33489908e-01 8.41644476e-01 -1.66247548e+02] [-9.95524417e-01 7.79922048e-03 9.41823103e-02 -6.43926260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.24, Z:-643.96 [[ 4.54424541e-02 -8.46357235e-01 5.30673547e-01 2.85189696e+02] [ 8.31497487e-02 5.32583523e-01 8.42283154e-01 -1.66244053e+02] [-9.95500428e-01 5.84995858e-03 9.45762937e-02 -6.43958093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.24, Z:-643.99 [[ 4.57162662e-02 -8.43239810e-01 5.35589998e-01 2.85187901e+02] [ 8.33154762e-02 5.37501094e-01 8.39137120e-01 -1.66241796e+02] [-9.95474035e-01 6.26071979e-03 9.48274694e-02 -6.43990889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.24, Z:-644.02 [[ 4.68515016e-02 -8.43612141e-01 5.34905124e-01 2.85189754e+02] [ 8.32806497e-02 5.36927703e-01 8.39507579e-01 -1.66238446e+02] [-9.95424166e-01 5.21505558e-03 9.54124363e-02 -6.44023207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.23, Z:-644.05 [[ 5.04707520e-02 -8.54131616e-01 5.17602053e-01 2.85206206e+02] [ 8.45852332e-02 5.20056150e-01 8.49933491e-01 -1.66231145e+02] [-9.95137197e-01 8.84707942e-04 9.84945469e-02 -6.44051583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-166.24, Z:-644.09 [[ 4.73509499e-02 -8.06782545e-01 5.88948056e-01 2.85149215e+02] [ 8.09449526e-02 5.90769498e-01 8.02769777e-01 -1.66235356e+02] [-9.95593191e-01 9.66046090e-03 9.32784718e-02 -6.44085067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-166.22, Z:-644.11 [[ 5.18580134e-02 -8.81657765e-01 4.69031270e-01 2.85239993e+02] [ 8.34301294e-02 4.71846171e-01 8.77724675e-01 -1.66220505e+02] [-9.95163384e-01 -6.38571841e-03 9.80258264e-02 -6.44109486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-166.23, Z:-644.15 [[ 5.16044572e-02 -8.27957792e-01 5.58411027e-01 2.85173576e+02] [ 7.89094080e-02 5.60788327e-01 8.24190365e-01 -1.66226554e+02] [-9.95545220e-01 1.53198713e-03 9.42728364e-02 -6.44145881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.22, Z:-644.18 [[ 5.18057694e-02 -8.44661868e-01 5.32787472e-01 2.85190527e+02] [ 7.71966876e-02 5.35294634e-01 8.41130386e-01 -1.66223278e+02] [-9.95669038e-01 -2.44597875e-03 9.29364487e-02 -6.44175384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.22, Z:-644.20 [[ 5.46273227e-02 -8.60000556e-01 5.07360719e-01 2.85210043e+02] [ 7.61075857e-02 5.10227475e-01 8.56665372e-01 -1.66219190e+02] [-9.95602075e-01 -8.18333631e-03 9.33249270e-02 -6.44204261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-166.22, Z:-644.23 [[ 5.78403000e-02 -8.13653252e-01 5.78465975e-01 2.85160815e+02] [ 7.61145403e-02 5.81343614e-01 8.10090229e-01 -1.66216319e+02] [-9.95420050e-01 -2.82619009e-03 9.55559323e-02 -6.44232261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-166.22, Z:-644.26 [[ 5.77778128e-02 -8.30252880e-01 5.54384235e-01 2.85173439e+02] [ 7.18393761e-02 5.57329975e-01 8.27177371e-01 -1.66215659e+02] [-9.95741346e-01 -7.96588174e-03 9.18461558e-02 -6.44263407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.21, Z:-644.29 [[ 6.02247286e-02 -8.63114842e-01 5.01403781e-01 2.85211855e+02] [ 7.15181688e-02 5.04755702e-01 8.60294620e-01 -1.66209940e+02] [-9.95619472e-01 -1.59515297e-02 9.21271681e-02 -6.44294686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-166.20, Z:-644.32 [[ 6.65475822e-02 -8.53140514e-01 5.17419252e-01 2.85203516e+02] [ 7.17718575e-02 5.21318414e-01 8.50338704e-01 -1.66203987e+02] [-9.95198583e-01 -1.94518440e-02 9.59239594e-02 -6.44324539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.20, Z:-644.35 [[ 6.73802007e-02 -8.36863481e-01 5.43248951e-01 2.85185516e+02] [ 7.04780748e-02 5.47118470e-01 8.34082862e-01 -1.66202546e+02] [-9.95235022e-01 -1.79135305e-02 9.58454793e-02 -6.44353065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.20, Z:-644.38 [[ 6.86820619e-02 -8.38435859e-01 5.40655237e-01 2.85186318e+02] [ 6.94281549e-02 5.44638048e-01 8.35792515e-01 -1.66199560e+02] [-9.95219828e-01 -1.98672577e-02 9.56179187e-02 -6.44381400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.20, Z:-644.41 [[ 6.90390445e-02 -8.40115147e-01 5.37996423e-01 2.85188580e+02] [ 6.98939544e-02 5.42031311e-01 8.37446651e-01 -1.66196894e+02] [-9.95162522e-01 -2.02138192e-02 9.61402935e-02 -6.44408936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.20, Z:-644.44 [[ 6.69367185e-02 -8.38389125e-01 5.40946532e-01 2.85185059e+02] [ 6.95822283e-02 5.44764939e-01 8.35697000e-01 -1.66195403e+02] [-9.95327981e-01 -1.82985497e-02 9.48017608e-02 -6.44440591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-166.19, Z:-644.47 [[ 6.88294478e-02 -8.68195096e-01 4.91426273e-01 2.85222495e+02] [ 7.14502109e-02 4.95619502e-01 8.65595851e-01 -1.66189479e+02] [-9.95066518e-01 -2.44659735e-02 9.61459394e-02 -6.44467700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.19, Z:-644.50 [[ 6.68422513e-02 -8.42106336e-01 5.35153280e-01 2.85193120e+02] [ 7.18609711e-02 5.39023000e-01 8.39219999e-01 -1.66188321e+02] [-9.95172404e-01 -1.76387197e-02 9.65440899e-02 -6.44501721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.19, Z:-644.53 [[ 6.62814858e-02 -8.41470758e-01 5.36221715e-01 2.85193805e+02] [ 7.18076960e-02 5.40032715e-01 8.38575173e-01 -1.66186945e+02] [-9.95213756e-01 -1.70771626e-02 9.62182472e-02 -6.44531751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-166.18, Z:-644.56 [[ 6.50130382e-02 -8.41469526e-01 5.36378916e-01 2.85194790e+02] [ 7.30069310e-02 5.40086488e-01 8.38436982e-01 -1.66184774e+02] [-9.95210175e-01 -1.53499571e-02 9.65457712e-02 -6.44559859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-166.18, Z:-644.59 [[ 6.23511684e-02 -8.44367564e-01 5.32123810e-01 2.85198808e+02] [ 7.56760114e-02 5.35626046e-01 8.41057596e-01 -1.66182011e+02] [-9.95181126e-01 -1.21719164e-02 9.72952792e-02 -6.44587235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-166.18, Z:-644.61 [[ 6.11247524e-02 -8.45554128e-01 5.30379092e-01 2.85201238e+02] [ 7.62810595e-02 5.33775960e-01 8.42178381e-01 -1.66180703e+02] [-9.95211015e-01 -1.10200659e-02 9.71266881e-02 -6.44614810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-166.18, Z:-644.64 [[ 5.98619658e-02 -8.45251053e-01 5.31005841e-01 2.85202130e+02] [ 7.76139527e-02 5.34290645e-01 8.41730112e-01 -1.66178780e+02] [-9.95184716e-01 -9.17415695e-03 9.75869635e-02 -6.44641316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.18, Z:-644.67 [[ 5.67425604e-02 -8.47486091e-01 5.27776096e-01 2.85206769e+02] [ 7.99146573e-02 5.30787015e-01 8.43729099e-01 -1.66175728e+02] [-9.95185374e-01 -5.69830349e-03 9.78447748e-02 -6.44672739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-166.17, Z:-644.70 [[ 5.52555407e-02 -8.54987005e-01 5.15697631e-01 2.85216648e+02] [ 8.01082830e-02 5.18617830e-01 8.51245094e-01 -1.66174543e+02] [-9.95253479e-01 -5.72435617e-03 9.71480495e-02 -6.44700074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.17, Z:-644.73 [[ 5.30512912e-02 -8.46646470e-01 5.29504783e-01 2.85208490e+02] [ 8.09474617e-02 5.32152553e-01 8.42769938e-01 -1.66173334e+02] [-9.95305515e-01 -1.84796533e-03 9.67652628e-02 -6.44728690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-166.17, Z:-644.76 [[ 5.09475726e-02 -8.48422302e-01 5.26862356e-01 2.85212261e+02] [ 8.20468033e-02 5.29319899e-01 8.44445834e-01 -1.66171287e+02] [-9.95325408e-01 2.04906629e-04 9.65779017e-02 -6.44756855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-166.17, Z:-644.78 [[ 4.55665328e-02 -8.50341270e-01 5.24255105e-01 2.85216237e+02] [ 8.42987281e-02 5.26201434e-01 8.46171245e-01 -1.66169478e+02] [-9.95398119e-01 5.63694879e-03 9.56598624e-02 -6.44784261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-166.17, Z:-644.81 [[ 4.26749478e-02 -8.52096270e-01 5.21642402e-01 2.85219906e+02] [ 8.51451791e-02 5.23320335e-01 8.47871526e-01 -1.66167503e+02] [-9.95454242e-01 8.23246263e-03 9.48845575e-02 -6.44812102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-166.16, Z:-644.84 [[ 4.06223438e-02 -8.55240639e-01 5.16636502e-01 2.85226468e+02] [ 8.65089846e-02 5.18132109e-01 8.50914398e-01 -1.66164013e+02] [-9.95422534e-01 1.01275619e-02 9.50337399e-02 -6.44844168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-166.16, Z:-644.88 [[ 4.09216302e-02 -8.53305072e-01 5.19803689e-01 2.85229880e+02] [ 8.86727284e-02 5.21288223e-01 8.48761295e-01 -1.66160412e+02] [-9.95219859e-01 1.13597155e-02 9.69968527e-02 -6.44875110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-166.16, Z:-644.90 [[ 3.81532001e-02 -8.21885724e-01 5.68373285e-01 2.85199093e+02] [ 9.26368391e-02 5.69247138e-01 8.16930910e-01 -1.66158340e+02] [-9.94968718e-01 2.14837760e-02 9.78554955e-02 -6.44904328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.18, Y:-166.16, Z:-644.93 [[ 3.32877981e-02 -8.04162105e-01 5.93477238e-01 2.85177405e+02] [ 9.13133786e-02 5.93769823e-01 7.99436842e-01 -1.66160121e+02] [-9.95265688e-01 2.75809196e-02 9.31960487e-02 -6.44933335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-166.16, Z:-644.96 [[ 2.99689700e-02 -8.47668784e-01 5.29678669e-01 2.85223189e+02] [ 9.17128743e-02 5.30013289e-01 8.43015220e-01 -1.66156297e+02] [-9.95334421e-01 2.33140553e-02 9.36260930e-02 -6.44959141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.15, Z:-644.99 [[ 3.30190076e-02 -8.64335200e-01 5.01831055e-01 2.85248200e+02] [ 9.27108392e-02 5.02588756e-01 8.59540135e-01 -1.66150104e+02] [-9.95145439e-01 1.81440160e-02 9.67282237e-02 -6.44988974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-166.15, Z:-645.02 [[ 3.12042606e-02 -8.00469813e-01 5.98560250e-01 2.85173847e+02] [ 9.19666440e-02 5.98610902e-01 7.95743127e-01 -1.66153787e+02] [-9.95273043e-01 3.02170016e-02 9.22957329e-02 -6.45019210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.15, Z:-645.05 [[ 3.25000277e-02 -8.65266269e-01 5.00257966e-01 2.85246549e+02] [ 9.05484102e-02 5.01013098e-01 8.60689759e-01 -1.66146647e+02] [-9.95361610e-01 1.73251225e-02 9.46314246e-02 -6.45045733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-166.14, Z:-645.08 [[ 3.66994797e-02 -8.49704935e-01 5.25979725e-01 2.85232865e+02] [ 9.21097081e-02 5.26969947e-01 8.44877788e-01 -1.66143065e+02] [-9.95072334e-01 1.74412637e-02 9.76055964e-02 -6.45076165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.18, Y:-166.15, Z:-645.10 [[ 3.48548949e-02 -8.08660391e-01 5.87242292e-01 2.85183091e+02] [ 8.89022275e-02 5.87778634e-01 8.04122299e-01 -1.66146438e+02] [-9.95430324e-01 2.41795496e-02 9.23786725e-02 -6.45103895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.14, Z:-645.13 [[ 3.78268366e-02 -8.69720787e-01 4.92092353e-01 2.85250898e+02] [ 8.70095905e-02 4.93441112e-01 8.65416201e-01 -1.66138496e+02] [-9.95489057e-01 1.00807969e-02 9.43393658e-02 -6.45129471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-166.14, Z:-645.16 [[ 3.98161461e-02 -8.49198822e-01 5.26570068e-01 2.85225784e+02] [ 8.51498009e-02 5.27954618e-01 8.44993155e-01 -1.66139554e+02] [-9.95572291e-01 1.11929655e-02 9.33302287e-02 -6.45157797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.13, Z:-645.18 [[ 4.20404639e-02 -8.71211967e-01 4.89103576e-01 2.85253282e+02] [ 8.54766758e-02 4.90877799e-01 8.67025216e-01 -1.66132478e+02] [-9.95452830e-01 5.35680553e-03 9.51050332e-02 -6.45184903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-166.13, Z:-645.21 [[ 4.35628926e-02 -8.62338912e-01 5.04454037e-01 2.85241241e+02] [ 8.29756699e-02 5.06311824e-01 8.58349215e-01 -1.66133331e+02] [-9.95598972e-01 4.46523706e-03 9.36095565e-02 -6.45213016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.13, Z:-645.24 [[ 4.71779991e-02 -8.69530116e-01 4.91621412e-01 2.85249375e+02] [ 8.10668050e-02 4.93878929e-01 8.65743482e-01 -1.66129039e+02] [-9.95591487e-01 -9.89868086e-04 9.37902481e-02 -6.45240798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.13, Z:-645.27 [[ 4.85773364e-02 -8.71006174e-01 4.88864487e-01 2.85251688e+02] [ 8.01849044e-02 4.91263317e-01 8.67312363e-01 -1.66125922e+02] [-9.95595613e-01 -2.93217220e-03 9.37058103e-02 -6.45268857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-166.12, Z:-645.30 [[ 4.95500422e-02 -8.75407336e-01 4.80839672e-01 2.85258177e+02] [ 8.00356999e-02 4.83363013e-01 8.71753683e-01 -1.66120825e+02] [-9.95559682e-01 -4.71109213e-03 9.40144966e-02 -6.45295984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7965599949999 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:285.26, Y:-166.12, Z:-645.33 [[ 5.03179238e-02 -8.77250669e-01 4.77388072e-01 2.85259881e+02] [ 7.90287710e-02 4.79992063e-01 8.73705942e-01 -1.66117309e+02] [-9.95601607e-01 -6.23567642e-03 9.34802463e-02 -6.45325106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.12, Z:-645.35 [[ 4.97444015e-02 -8.69509738e-01 4.91404426e-01 2.85250836e+02] [ 7.86583573e-02 4.93895990e-01 8.65955896e-01 -1.66116196e+02] [-9.95659760e-01 -4.42339277e-03 9.29627681e-02 -6.45353022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.11, Z:-645.38 [[ 4.88074992e-02 -8.82281310e-01 4.68185347e-01 2.85266872e+02] [ 7.89100183e-02 4.70684967e-01 8.78765538e-01 -1.66112399e+02] [-9.95686214e-01 -5.94583410e-03 9.25937904e-02 -6.45382229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.12, Z:-645.41 [[ 4.38199582e-02 -8.73880223e-01 4.84162336e-01 2.85252374e+02] [ 7.67240719e-02 4.86140266e-01 8.70506208e-01 -1.66115704e+02] [-9.96088966e-01 -9.98639835e-04 8.83502952e-02 -6.45410221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.32, Y:-166.10, Z:-645.44 [[ 4.05137838e-02 -9.20293724e-01 3.89124782e-01 2.85315405e+02] [ 7.94851146e-02 3.91178755e-01 9.16875836e-01 -1.66104315e+02] [-9.96012425e-01 -6.21648155e-03 8.89977835e-02 -6.45436574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-166.10, Z:-645.47 [[ 4.15965358e-02 -9.18076322e-01 3.94215163e-01 2.85317121e+02] [ 8.29081124e-02 3.96367565e-01 9.14340745e-01 -1.66099566e+02] [-9.95688693e-01 -5.34977243e-03 9.26034925e-02 -6.45468883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-166.11, Z:-645.50 [[ 3.72980859e-02 -8.69436527e-01 4.92634732e-01 2.85250161e+02] [ 8.23003095e-02 4.93975608e-01 8.65571925e-01 -1.66109424e+02] [-9.95909389e-01 8.25981488e-03 8.99792399e-02 -6.45497612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-166.10, Z:-645.52 [[ 3.77021777e-02 -9.18671860e-01 3.93218209e-01 2.85319048e+02] [ 8.53159369e-02 3.95020421e-01 9.14702169e-01 -1.66095752e+02] [-9.95640365e-01 -9.38483840e-04 9.32704805e-02 -6.45524623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.10, Z:-645.55 [[ 3.61011513e-02 -8.77986337e-01 4.77322426e-01 2.85266261e+02] [ 8.86457337e-02 4.78564387e-01 8.73566289e-01 -1.66100777e+02] [-9.95408781e-01 1.07758479e-02 9.51064684e-02 -6.45554524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.10, Z:-645.58 [[ 3.45136405e-02 -8.78754554e-01 4.76024415e-01 2.85267837e+02] [ 8.97375803e-02 4.77109097e-01 8.74250580e-01 -1.66098361e+02] [-9.95367257e-01 1.25437089e-02 9.53240791e-02 -6.45581541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.10, Z:-645.61 [[ 3.30595911e-02 -8.79459345e-01 4.74824519e-01 2.85269372e+02] [ 9.08329439e-02 4.75761943e-01 8.74871390e-01 -1.66096075e+02] [-9.95317256e-01 1.42068184e-02 9.56123767e-02 -6.45609262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.09, Z:-645.64 [[ 3.12981859e-02 -8.81049834e-01 4.71986878e-01 2.85271765e+02] [ 9.28438298e-02 4.72739260e-01 8.76297675e-01 -1.66093797e+02] [-9.95188649e-01 1.63945418e-02 9.65959221e-02 -6.45635672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-166.09, Z:-645.67 [[ 2.80728615e-02 -8.76672420e-01 4.80268031e-01 2.85264118e+02] [ 9.14443619e-02 4.80695057e-01 8.72106754e-01 -1.66094915e+02] [-9.95414408e-01 1.94352715e-02 9.36612358e-02 -6.45667237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-166.09, Z:-645.69 [[ 2.70865064e-02 -9.06385881e-01 4.21581494e-01 2.85303207e+02] [ 8.99131755e-02 4.22235842e-01 9.02015806e-01 -1.66089360e+02] [-9.95581208e-01 1.34732740e-02 9.29329266e-02 -6.45693147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-166.09, Z:-645.72 [[ 2.82100915e-02 -8.91571719e-01 4.52000066e-01 2.85281850e+02] [ 9.06032170e-02 4.52599363e-01 8.87099134e-01 -1.66089988e+02] [-9.95487442e-01 1.59275123e-02 9.35471354e-02 -6.45721393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-166.07, Z:-645.75 [[ 3.31781210e-02 -9.33699584e-01 3.56516899e-01 2.85348877e+02] [ 9.29181852e-02 3.58049978e-01 9.29067503e-01 -1.66071299e+02] [-9.95120808e-01 2.30218917e-03 9.86370963e-02 -6.45753056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.08, Z:-645.79 [[ 3.86805274e-02 -8.77046704e-01 4.78845378e-01 2.85271499e+02] [ 9.21254283e-02 4.80293087e-01 8.72256531e-01 -1.66080774e+02] [-9.94995840e-01 1.03744929e-02 9.93762931e-02 -6.45788895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-166.08, Z:-645.82 [[ 4.07578163e-02 -8.81383433e-01 4.70640036e-01 2.85278134e+02] [ 9.14525297e-02 4.72344999e-01 8.76656510e-01 -1.66077680e+02] [-9.94974992e-01 7.31061689e-03 9.98564953e-02 -6.45815668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-166.08, Z:-645.84 [[ 4.04855022e-02 -8.83106747e-01 4.67422077e-01 2.85281395e+02] [ 9.15684184e-02 4.69116257e-01 8.78376436e-01 -1.66075162e+02] [-9.94975451e-01 7.23958921e-03 9.98570953e-02 -6.45844014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-166.07, Z:-645.87 [[ 4.25415319e-02 -8.84347920e-01 4.64885980e-01 2.85283966e+02] [ 9.06920528e-02 4.66804359e-01 8.79698040e-01 -1.66072556e+02] [-9.94969934e-01 4.73776158e-03 1.00061901e-01 -6.45871778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-166.07, Z:-645.90 [[ 4.30996895e-02 -8.78441340e-01 4.75902541e-01 2.85272969e+02] [ 8.53338847e-02 4.77841222e-01 8.74291653e-01 -1.66074918e+02] [-9.95419783e-01 2.92891383e-03 9.55556203e-02 -6.45903250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-166.07, Z:-645.93 [[ 4.37618120e-02 -9.17540944e-01 3.95225910e-01 2.85324959e+02] [ 8.30150132e-02 3.97576485e-01 9.13806022e-01 -1.66067103e+02] [-9.95586968e-01 -7.18012325e-03 9.35683410e-02 -6.45928389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:-166.06, Z:-645.96 [[ 4.91324674e-02 -9.21702052e-01 3.84774386e-01 2.85336125e+02] [ 8.43260830e-02 3.87692172e-01 9.17923685e-01 -1.66060181e+02] [-9.95226162e-01 -1.26533387e-02 9.67717968e-02 -6.45961302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-166.06, Z:-645.99 [[ 5.54985939e-02 -8.94953241e-01 4.42694706e-01 2.85302944e+02] [ 8.20695275e-02 4.45966615e-01 8.91279065e-01 -1.66060467e+02] [-9.95080147e-01 -1.31329895e-02 9.81989096e-02 -6.45991083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-166.06, Z:-646.02 [[ 5.70503759e-02 -8.85210606e-01 4.61678933e-01 2.85291678e+02] [ 8.00310086e-02 4.64998827e-01 8.81686525e-01 -1.66059625e+02] [-9.95158426e-01 -1.33519170e-02 9.73726554e-02 -6.46019581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-166.06, Z:-646.05 [[ 5.71710875e-02 -8.82765227e-01 4.66322873e-01 2.85287966e+02] [ 7.71504328e-02 4.69596547e-01 8.79503777e-01 -1.66059948e+02] [-9.95378962e-01 -1.43051760e-02 9.49530646e-02 -6.46052389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-166.05, Z:-646.08 [[ 6.07319206e-02 -8.98857896e-01 4.34011655e-01 2.85312770e+02] [ 7.82914253e-02 4.37764370e-01 8.95674500e-01 -1.66052762e+02] [-9.95078935e-01 -2.04166415e-02 9.69591368e-02 -6.46078920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-166.06, Z:-646.11 [[ 6.10956072e-02 -8.81816624e-01 4.67618186e-01 2.85290570e+02] [ 7.42873411e-02 4.71211243e-01 8.78886429e-01 -1.66056684e+02] [-9.95363611e-01 -1.89579884e-02 9.42967494e-02 -6.46112677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-166.05, Z:-646.14 [[ 6.45190251e-02 -9.02071632e-01 4.26736530e-01 2.85321953e+02] [ 7.70767060e-02 4.30854731e-01 8.99123675e-01 -1.66048529e+02] [-9.94935413e-01 -2.51191369e-02 9.73270371e-02 -6.46139204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-166.05, Z:-646.17 [[ 6.47297255e-02 -8.86218745e-01 4.58722573e-01 2.85302839e+02] [ 7.60726152e-02 4.62731200e-01 8.83228619e-01 -1.66049829e+02] [-9.94999005e-01 -2.22749203e-02 9.73694412e-02 -6.46167331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-166.05, Z:-646.20 [[ 6.49503093e-02 -8.86820124e-01 4.57527623e-01 2.85305742e+02] [ 7.62257439e-02 4.61565268e-01 8.83825288e-01 -1.66048027e+02] [-9.94972911e-01 -2.25293424e-02 9.75773306e-02 -6.46195482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-166.05, Z:-646.22 [[ 6.47527611e-02 -8.88236901e-01 4.54799173e-01 2.85310537e+02] [ 7.68123164e-02 4.58839998e-01 8.85192479e-01 -1.66046878e+02] [-9.94940676e-01 -2.23844791e-02 9.79386906e-02 -6.46222964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-166.05, Z:-646.26 [[ 6.40492810e-02 -8.87216876e-01 4.56885002e-01 2.85311098e+02] [ 7.61660239e-02 4.60835647e-01 8.84211085e-01 -1.66047157e+02] [-9.95035892e-01 -2.18339703e-02 9.70919736e-02 -6.46256294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-166.04, Z:-646.28 [[ 6.38989817e-02 -8.81344156e-01 4.68133954e-01 2.85306800e+02] [ 7.77338301e-02 4.72063055e-01 8.78130926e-01 -1.66044281e+02] [-9.94924305e-01 -1.97218267e-02 9.86746055e-02 -6.46283246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:-166.05, Z:-646.32 [[ 5.82959745e-02 -8.82364684e-01 4.66941264e-01 2.85307149e+02] [ 7.59821129e-02 4.70301682e-01 8.79228666e-01 -1.66049204e+02] [-9.95403586e-01 -1.57763081e-02 9.44606279e-02 -6.46315022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-166.03, Z:-646.34 [[ 6.02781068e-02 -9.16511962e-01 3.95439469e-01 2.85361033e+02] [ 8.22307901e-02 3.99372724e-01 9.13093382e-01 -1.66034685e+02] [-9.94788745e-01 -2.25222405e-02 9.94389345e-02 -6.46340630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-166.05, Z:-646.37 [[ 5.59259644e-02 -8.83266613e-01 4.65523767e-01 2.85315465e+02] [ 7.94406316e-02 4.68711797e-01 8.79771810e-01 -1.66046490e+02] [-9.95269548e-01 -1.22205849e-02 9.63804168e-02 -6.46372926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.33, Y:-166.04, Z:-646.40 [[ 5.55625591e-02 -8.92676890e-01 4.47259177e-01 2.85334178e+02] [ 8.40484106e-02 4.50542915e-01 8.88789596e-01 -1.66038058e+02] [-9.94911386e-01 -1.17920015e-02 1.00061391e-01 -6.46397708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:-166.04, Z:-646.42 [[ 4.89330575e-02 -8.93699985e-01 4.45988670e-01 2.85341132e+02] [ 8.71539399e-02 4.48640924e-01 8.89452367e-01 -1.66037671e+02] [-9.94992335e-01 -4.65395412e-03 9.98428468e-02 -6.46424959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-166.04, Z:-646.45 [[ 4.47566364e-02 -8.94470883e-01 4.44880527e-01 2.85345325e+02] [ 8.87692547e-02 4.47126069e-01 8.90055222e-01 -1.66036370e+02] [-9.95046161e-01 -3.44165089e-04 9.94133725e-02 -6.46452540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-166.03, Z:-646.48 [[ 4.02360109e-02 -8.96034649e-01 4.42157179e-01 2.85350726e+02] [ 9.03067962e-02 4.43965564e-01 8.91481497e-01 -1.66034545e+02] [-9.95100872e-01 4.06013897e-03 9.87814217e-02 -6.46480452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-166.03, Z:-646.51 [[ 3.54872069e-02 -8.97565769e-01 4.39450052e-01 2.85356030e+02] [ 9.18077560e-02 4.40795556e-01 8.92900114e-01 -1.66032689e+02] [-9.95144208e-01 8.65839204e-03 9.80461022e-02 -6.46507446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-166.03, Z:-646.53 [[ 2.70469686e-02 -8.98747314e-01 4.37631955e-01 2.85362334e+02] [ 9.47772184e-02 4.38125519e-01 8.93903411e-01 -1.66031807e+02] [-9.95131017e-01 1.73001619e-02 9.70307376e-02 -6.46534932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-166.03, Z:-646.56 [[ 2.34332342e-02 -9.00160550e-01 4.34927428e-01 2.85366827e+02] [ 9.63261905e-02 4.35055719e-01 8.95236162e-01 -1.66030279e+02] [-9.95073941e-01 2.09166236e-02 9.69037992e-02 -6.46561458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-166.03, Z:-646.59 [[ 1.73384051e-02 -9.00858953e-01 4.33765519e-01 2.85372323e+02] [ 9.89262392e-02 4.33247691e-01 8.95829246e-01 -1.66029887e+02] [-9.94943706e-01 2.73785411e-02 9.66304123e-02 -6.46589415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-166.03, Z:-646.62 [[ 1.45993790e-02 -8.99612845e-01 4.36444255e-01 2.85372720e+02] [ 9.90734064e-02 4.35644324e-01 8.94649922e-01 -1.66030658e+02] [-9.94973024e-01 3.01786858e-02 9.54878455e-02 -6.46619891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-166.03, Z:-646.65 [[ 1.37245508e-02 -8.87208046e-01 4.61165393e-01 2.85358408e+02] [ 1.01351939e-01 4.60067798e-01 8.82080158e-01 -1.66030134e+02] [-9.94755961e-01 3.46338531e-02 9.62344800e-02 -6.46646487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-166.02, Z:-646.67 [[ 1.21562857e-02 -9.04875888e-01 4.25501884e-01 2.85384038e+02] [ 1.01229371e-01 4.24460767e-01 8.99769788e-01 -1.66023886e+02] [-9.94788842e-01 3.21354294e-02 9.67598833e-02 -6.46672756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-166.02, Z:-646.70 [[ 1.01490622e-02 -9.03952428e-01 4.27512579e-01 2.85382087e+02] [ 1.00940707e-01 4.26276868e-01 8.98943272e-01 -1.66024655e+02] [-9.94840676e-01 3.40299906e-02 9.55719072e-02 -6.46702569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-166.01, Z:-646.73 [[ 1.46427250e-02 -9.17109337e-01 3.98366733e-01 2.85407537e+02] [ 1.03018743e-01 3.97672953e-01 9.11725486e-01 -1.66014822e+02] [-9.94571631e-01 2.76890944e-02 1.00302467e-01 -6.46732715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.33, Y:-166.03, Z:-646.76 [[ 1.78106669e-02 -8.60021152e-01 5.09947447e-01 2.85329215e+02] [ 1.03328291e-01 5.08880693e-01 8.54613190e-01 -1.66027697e+02] [-9.94487830e-01 3.74707671e-02 9.79280201e-02 -6.46761667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.39, Y:-166.01, Z:-646.79 [[ 1.55843523e-02 -9.08385912e-01 4.17842270e-01 2.85393097e+02] [ 1.01188972e-01 4.17180387e-01 9.03172917e-01 -1.66014699e+02] [-9.94745153e-01 2.82056646e-02 9.84201224e-02 -6.46786820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-166.01, Z:-646.82 [[ 2.11477188e-02 -9.10487181e-01 4.12996208e-01 2.85399257e+02] [ 9.96042001e-02 4.12952146e-01 9.05289749e-01 -1.66010818e+02] [-9.94802381e-01 2.19913440e-02 9.94213432e-02 -6.46817607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-166.02, Z:-646.85 [[ 2.42829684e-02 -8.75961490e-01 4.81769452e-01 2.85352834e+02] [ 9.98299773e-02 4.81627479e-01 8.70671550e-01 -1.66016962e+02] [-9.94708155e-01 2.69525437e-02 9.91425605e-02 -6.46847670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-166.01, Z:-646.87 [[ 2.50017668e-02 -8.75201671e-01 4.83111734e-01 2.85349603e+02] [ 9.78221891e-02 4.83085416e-01 8.70091547e-01 -1.66014802e+02] [-9.94889809e-01 2.55052214e-02 9.76921322e-02 -6.46872872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-166.00, Z:-646.90 [[ 2.87551725e-02 -9.13721811e-01 4.05321592e-01 2.85400962e+02] [ 9.38102387e-02 4.06166447e-01 9.08971098e-01 -1.66001897e+02] [-9.95174748e-01 1.18856945e-02 9.73958474e-02 -6.46897670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-166.00, Z:-646.93 [[ 3.19667467e-02 -9.14688087e-01 4.02894317e-01 2.85404305e+02] [ 9.20562122e-02 4.04081374e-01 9.10079061e-01 -1.65998987e+02] [-9.95240564e-01 7.99665796e-03 9.71198876e-02 -6.46928114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.35, Y:-166.00, Z:-646.96 [[ 3.38299449e-02 -8.78015044e-01 4.77435983e-01 2.85352741e+02] [ 9.01947925e-02 4.78442256e-01 8.73474618e-01 -1.66004969e+02] [-9.95349403e-01 1.35126413e-02 9.53780598e-02 -6.46955137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.99, Z:-646.98 [[ 3.54238800e-02 -9.16312376e-01 3.98894445e-01 2.85405166e+02] [ 8.76946446e-02 4.00455364e-01 9.12110274e-01 -1.65992200e+02] [-9.95517352e-01 2.67042174e-03 9.45413709e-02 -6.46979081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-165.99, Z:-647.01 [[ 3.89206186e-02 -9.16672305e-01 3.97739955e-01 2.85404929e+02] [ 8.46213936e-02 3.99635330e-01 9.12760003e-01 -1.65988386e+02] [-9.95652753e-01 -1.86787464e-03 9.31241421e-02 -6.47007350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.99, Z:-647.04 [[ 4.03068343e-02 -9.17813103e-01 3.94961349e-01 2.85406216e+02] [ 8.33119247e-02 3.96993212e-01 9.14032556e-01 -1.65985547e+02] [-9.95708031e-01 -3.93676861e-03 9.24663158e-02 -6.47035388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.98, Z:-647.06 [[ 4.20294575e-02 -9.18954759e-01 3.92116917e-01 2.85407596e+02] [ 8.29064720e-02 3.94317969e-01 9.15226669e-01 -1.65982571e+02] [-9.95670649e-01 -5.95745018e-03 9.27602673e-02 -6.47063343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.98, Z:-647.09 [[ 4.28498776e-02 -9.18423988e-01 3.93269966e-01 2.85405261e+02] [ 8.21643869e-02 3.95537579e-01 9.14767204e-01 -1.65982059e+02] [-9.95697194e-01 -6.88487702e-03 9.24104808e-02 -6.47092315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.40, Y:-165.98, Z:-647.12 [[ 4.74923329e-02 -9.18123759e-01 3.93437723e-01 2.85404825e+02] [ 8.25199782e-02 3.96142088e-01 9.14473564e-01 -1.65978290e+02] [-9.95457147e-01 -1.09640106e-02 9.45772645e-02 -6.47119403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.97, Z:-647.15 [[ 4.91143335e-02 -9.21513745e-01 3.85227465e-01 2.85410103e+02] [ 8.25719917e-02 3.88118848e-01 9.17902841e-01 -1.65974928e+02] [-9.95374125e-01 -1.32731872e-02 9.51534238e-02 -6.47145914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.97, Z:-647.17 [[ 5.01674445e-02 -9.21979541e-01 3.83975200e-01 2.85410983e+02] [ 8.24617070e-02 3.86970369e-01 9.18397518e-01 -1.65972549e+02] [-9.95330746e-01 -1.44104060e-02 9.54413213e-02 -6.47173645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.776559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.97, Z:-647.20 [[ 5.27877040e-02 -9.23028857e-01 3.81092099e-01 2.85412399e+02] [ 8.28327090e-02 3.84356307e-01 9.19461240e-01 -1.65969918e+02] [-9.95164409e-01 -1.69693568e-02 9.67462676e-02 -6.47201526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-165.97, Z:-647.23 [[ 5.22642161e-02 -9.22705391e-01 3.81946611e-01 2.85410623e+02] [ 8.17660698e-02 3.85139067e-01 9.19229138e-01 -1.65969757e+02] [-9.95280243e-01 -1.68125171e-02 9.55749848e-02 -6.47233722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.96, Z:-647.26 [[ 5.49949041e-02 -9.34188257e-01 3.52516468e-01 2.85432974e+02] [ 8.41600522e-02 3.56131310e-01 9.30638263e-01 -1.65960367e+02] [-9.94933488e-01 -2.15125576e-02 9.82067397e-02 -6.47260924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-165.97, Z:-647.29 [[ 5.44833918e-02 -9.11569237e-01 4.07520657e-01 2.85398492e+02] [ 8.15327563e-02 4.10825424e-01 9.08061055e-01 -1.65968025e+02] [-9.95180371e-01 -1.62479639e-02 9.67059151e-02 -6.47289418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-165.96, Z:-647.32 [[ 5.43327559e-02 -9.25014970e-01 3.76025606e-01 2.85420188e+02] [ 8.21089438e-02 3.79445408e-01 9.21563511e-01 -1.65961610e+02] [-9.95141233e-01 -1.91960199e-02 9.65683169e-02 -6.47316297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-165.96, Z:-647.34 [[ 5.44168331e-02 -9.26152500e-01 3.73202833e-01 2.85424232e+02] [ 8.21697965e-02 3.76642465e-01 9.22707201e-01 -1.65959966e+02] [-9.95131616e-01 -1.95448030e-02 9.65974526e-02 -6.47343093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.96, Z:-647.37 [[ 5.43475514e-02 -9.26928663e-01 3.71281023e-01 2.85427035e+02] [ 8.23780905e-02 3.74725209e-01 9.23468932e-01 -1.65957831e+02] [-9.95118181e-01 -1.96028536e-02 9.67240108e-02 -6.47370679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.96, Z:-647.40 [[ 5.49364685e-02 -9.28026079e-01 3.68442099e-01 2.85431019e+02] [ 8.30130758e-02 3.71966888e-01 9.24526616e-01 -1.65956127e+02] [-9.95033072e-01 -2.02047154e-02 9.74728465e-02 -6.47397616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-165.96, Z:-647.43 [[ 5.36993093e-02 -9.24562293e-01 3.77227983e-01 2.85424707e+02] [ 8.10016416e-02 3.80561310e-01 9.21201294e-01 -1.65958911e+02] [-9.95266356e-01 -1.89117873e-02 9.53269430e-02 -6.47429555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.95, Z:-647.45 [[ 5.35900230e-02 -9.38370516e-01 3.41451145e-01 2.85448324e+02] [ 7.96990899e-02 3.44871036e-01 9.35260404e-01 -1.65952463e+02] [-9.95377398e-01 -2.29072811e-02 9.32689228e-02 -6.47454833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-165.95, Z:-647.49 [[ 5.42708257e-02 -9.45060776e-01 3.22358197e-01 2.85462077e+02] [ 8.13432211e-02 3.25945339e-01 9.41882645e-01 -1.65946670e+02] [-9.95207495e-01 -2.48950948e-02 9.45636104e-02 -6.47487656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.94, Z:-647.52 [[ 5.76092814e-02 -9.46838925e-01 3.16507853e-01 2.85471263e+02] [ 8.51835881e-02 3.20540161e-01 9.43396927e-01 -1.65938205e+02] [-9.94698410e-01 -2.73871444e-02 9.91212254e-02 -6.47515683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-165.96, Z:-647.55 [[ 5.28197515e-02 -9.18881696e-01 3.90981461e-01 2.85420160e+02] [ 7.84806589e-02 3.94136735e-01 9.15694829e-01 -1.65956015e+02] [-9.95515374e-01 -1.76822907e-02 9.29326453e-02 -6.47549682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-165.92, Z:-647.58 [[ 5.77276276e-02 -9.65392998e-01 2.54330259e-01 2.85512647e+02] [ 8.66945794e-02 2.58640344e-01 9.62075477e-01 -1.65920026e+02] [-9.94560994e-01 -3.34892801e-02 9.86250334e-02 -6.47577428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.95, Z:-647.61 [[ 5.24044739e-02 -9.18721451e-01 3.91413678e-01 2.85425374e+02] [ 8.06397739e-02 3.94565358e-01 9.15322569e-01 -1.65950192e+02] [-9.95364756e-01 -1.64034872e-02 9.47624801e-02 -6.47614423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.94, Z:-647.64 [[ 5.26118643e-02 -9.42736165e-01 3.29363804e-01 2.85466241e+02] [ 8.21234797e-02 3.32787972e-01 9.39418916e-01 -1.65937137e+02] [-9.95232498e-01 -2.23760789e-02 9.49293700e-02 -6.47640579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.93, Z:-647.67 [[ 5.41378170e-02 -9.44883944e-01 3.22898482e-01 2.85475481e+02] [ 8.63753952e-02 3.26592035e-01 9.41210356e-01 -1.65927292e+02] [-9.94790625e-01 -2.30645901e-02 9.92957039e-02 -6.47668121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-165.93, Z:-647.70 [[ 5.26725840e-02 -9.26153742e-01 3.73449924e-01 2.85444784e+02] [ 8.61009348e-02 3.76788359e-01 9.22289088e-01 -1.65933903e+02] [-9.94893074e-01 -1.64249619e-02 9.95891194e-02 -6.47698133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.94, Z:-647.73 [[ 4.70018376e-02 -9.21323157e-01 3.85946198e-01 2.85434058e+02] [ 8.24912816e-02 3.88633555e-01 9.17692295e-01 -1.65938155e+02] [-9.95482805e-01 -1.12960277e-02 9.42676192e-02 -6.47730317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.92, Z:-647.76 [[ 4.97322865e-02 -9.47165956e-01 3.16864880e-01 2.85482954e+02] [ 8.62162134e-02 3.20144461e-01 9.43437485e-01 -1.65917345e+02] [-9.95034404e-01 -1.96004132e-02 9.75825782e-02 -6.47756102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.92, Z:-647.79 [[ 4.96270951e-02 -9.27670553e-01 3.70087146e-01 2.85450475e+02] [ 8.45072754e-02 3.73115077e-01 9.23928385e-01 -1.65924363e+02] [-9.95186250e-01 -1.45768254e-02 9.69115284e-02 -6.47785051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.93, Z:-647.82 [[ 4.75334843e-02 -9.19169673e-01 3.90982967e-01 2.85432953e+02] [ 7.79713855e-02 3.93645446e-01 9.15949631e-01 -1.65931914e+02] [-9.95821787e-01 -1.30527937e-02 9.03802725e-02 -6.47815096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.91, Z:-647.84 [[ 5.21804027e-02 -9.44044452e-01 3.25664363e-01 2.85478722e+02] [ 8.31648784e-02 3.29083773e-01 9.40631423e-01 -1.65910147e+02] [-9.95168734e-01 -2.19986892e-02 9.56830658e-02 -6.47839976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-165.93, Z:-647.87 [[ 4.78857632e-02 -9.19628852e-01 3.89858600e-01 2.85431744e+02] [ 7.69155242e-02 3.92542376e-01 9.16512131e-01 -1.65926913e+02] [-9.95887020e-01 -1.39017043e-02 8.95309265e-02 -6.47873690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-165.89, Z:-647.90 [[ 5.54758917e-02 -9.68326466e-01 2.43446670e-01 2.85527734e+02] [ 8.53313804e-02 2.47528136e-01 9.65115733e-01 -1.65887337e+02] [-9.94807007e-01 -3.27670155e-02 9.63604781e-02 -6.47898278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.91, Z:-647.93 [[ 5.63015838e-02 -9.28170513e-01 3.67871759e-01 2.85452201e+02] [ 8.30218192e-02 3.71532445e-01 9.24700503e-01 -1.65909756e+02] [-9.94956034e-01 -2.15207203e-02 9.79762696e-02 -6.47929765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.91, Z:-647.96 [[ 5.68564301e-02 -9.28629416e-01 3.66626179e-01 2.85453371e+02] [ 8.35263051e-02 3.70357184e-01 9.25126431e-01 -1.65907066e+02] [-9.94882256e-01 -2.19764562e-02 9.86221712e-02 -6.47957327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-165.90, Z:-647.99 [[ 5.71924314e-02 -9.29725462e-01 3.63785090e-01 2.85456043e+02] [ 8.40771416e-02 3.67572421e-01 9.26186563e-01 -1.65903805e+02] [-9.94816596e-01 -2.23848509e-02 9.91910197e-02 -6.47985032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-165.90, Z:-648.01 [[ 5.70801663e-02 -9.30856272e-01 3.60899510e-01 2.85458718e+02] [ 8.46291034e-02 3.64699135e-01 9.27271511e-01 -1.65900424e+02] [-9.94776241e-01 -2.23862101e-02 9.95946189e-02 -6.48011652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-165.90, Z:-648.04 [[ 5.59247427e-02 -9.31406301e-01 3.59659181e-01 2.85460550e+02] [ 8.50465256e-02 3.63357596e-01 9.27759854e-01 -1.65897496e+02] [-9.94806268e-01 -2.12969674e-02 9.95335498e-02 -6.48039522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-165.89, Z:-648.07 [[ 5.22292175e-02 -9.32706303e-01 3.56834782e-01 2.85463919e+02] [ 8.56318706e-02 3.60189312e-01 9.28940710e-01 -1.65894447e+02] [-9.94956930e-01 -1.79614165e-02 9.86817913e-02 -6.48066206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.89, Z:-648.09 [[ 4.92173681e-02 -9.33331436e-01 3.55626323e-01 2.85466010e+02] [ 8.59241280e-02 3.58694420e-01 9.29491989e-01 -1.65892130e+02] [-9.95085270e-01 -1.51902676e-02 9.78496851e-02 -6.48093970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.90, Z:-648.13 [[ 4.21177196e-02 -9.27753108e-01 3.70810287e-01 2.85452952e+02] [ 8.21242413e-02 3.73098406e-01 9.24149982e-01 -1.65899269e+02] [-9.95731744e-01 -8.47057627e-03 9.19050741e-02 -6.48126254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-165.87, Z:-648.15 [[ 4.32044621e-02 -9.61322231e-01 2.72016439e-01 2.85521300e+02] [ 8.84082140e-02 2.74881313e-01 9.57404957e-01 -1.65870192e+02] [-9.95146905e-01 -1.73156787e-02 9.68648807e-02 -6.48151100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.88, Z:-648.18 [[ 3.99002383e-02 -9.34816157e-01 3.52883441e-01 2.85473904e+02] [ 8.85104097e-02 3.55083029e-01 9.30635240e-01 -1.65884282e+02] [-9.95275780e-01 -5.89870993e-03 9.69088585e-02 -6.48181885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.89, Z:-648.21 [[ 3.28440532e-02 -9.32770963e-01 3.58970193e-01 2.85470940e+02] [ 8.90246210e-02 3.60466637e-01 9.28514093e-01 -1.65886800e+02] [-9.95487762e-01 1.46101909e-03 9.48787668e-02 -6.48210513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.88, Z:-648.24 [[ 3.25259367e-02 -9.42406971e-01 3.32883110e-01 2.85490753e+02] [ 9.16320111e-02 3.34468387e-01 9.37941615e-01 -1.65876045e+02] [-9.95261593e-01 -4.68077725e-06 9.72335436e-02 -6.48236304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.88, Z:-648.26 [[ 3.12721953e-02 -9.37665025e-01 3.46130540e-01 2.85482871e+02] [ 9.20900120e-02 3.47529917e-01 9.33135781e-01 -1.65876409e+02] [-9.95259504e-01 2.69396118e-03 9.72176068e-02 -6.48264836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.87, Z:-648.29 [[ 3.05246474e-02 -9.38736374e-01 3.43281612e-01 2.85484415e+02] [ 9.32344432e-02 3.44618371e-01 9.34101449e-01 -1.65873643e+02] [-9.95176158e-01 3.49255260e-03 9.80419174e-02 -6.48292569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.87, Z:-648.32 [[ 3.12502969e-02 -9.39747710e-01 3.40437454e-01 2.85485356e+02] [ 9.30548992e-02 3.41859925e-01 9.35132385e-01 -1.65870340e+02] [-9.95170440e-01 2.45620833e-03 9.81313526e-02 -6.48319636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.87, Z:-648.35 [[ 3.20100836e-02 -9.40171948e-01 3.39193254e-01 2.85485394e+02] [ 9.31677250e-02 3.40696302e-01 9.35545726e-01 -1.65867522e+02] [-9.95135734e-01 1.65496686e-03 9.84993986e-02 -6.48347490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.86, Z:-648.37 [[ 3.35958733e-02 -9.41138516e-01 3.36347457e-01 2.85486158e+02] [ 9.36233756e-02 3.38021143e-01 9.36470165e-01 -1.65864603e+02] [-9.95040693e-01 2.84512161e-05 9.94686803e-02 -6.48374473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.86, Z:-648.40 [[ 3.39139858e-02 -9.41813435e-01 3.34420834e-01 2.85487396e+02] [ 9.38757870e-02 3.36135840e-01 9.37123276e-01 -1.65861790e+02] [-9.95006120e-01 -3.87566463e-04 9.98131836e-02 -6.48402077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.86, Z:-648.43 [[ 3.40962485e-02 -9.42825714e-01 3.31537507e-01 2.85489170e+02] [ 9.42399301e-02 3.33285347e-01 9.38104319e-01 -1.65858648e+02] [-9.94965468e-01 -7.41766473e-04 1.00215609e-01 -6.48429732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.86, Z:-648.46 [[ 3.41798750e-02 -9.43827356e-01 3.28666484e-01 2.85490668e+02] [ 9.41525322e-02 3.30436967e-01 9.39120179e-01 -1.65855814e+02] [-9.94970872e-01 -1.15422867e-03 1.00158030e-01 -6.48457998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.85, Z:-648.48 [[ 3.52179554e-02 -9.44784328e-01 3.25794828e-01 2.85491859e+02] [ 9.32556089e-02 3.27681442e-01 9.40174592e-01 -1.65852649e+02] [-9.95019139e-01 -2.72883183e-03 9.96467082e-02 -6.48484461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.85, Z:-648.51 [[ 3.54608152e-02 -9.45446450e-01 3.23841846e-01 2.85492492e+02] [ 9.27922594e-02 3.25760684e-01 9.40887652e-01 -1.65849514e+02] [-9.95053831e-01 -3.31462663e-03 9.92818516e-02 -6.48512659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.85, Z:-648.54 [[ 3.63716765e-02 -9.46376470e-01 3.21011959e-01 2.85493609e+02] [ 9.20661206e-02 3.23031651e-01 9.41899348e-01 -1.65846572e+02] [-9.95088403e-01 -4.70413261e-03 9.88784130e-02 -6.48539027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.84, Z:-648.57 [[ 3.71045605e-02 -9.46758241e-01 3.19800071e-01 2.85493819e+02] [ 9.11859384e-02 3.21893048e-01 9.42374655e-01 -1.65843979e+02] [-9.95142390e-01 -5.80512787e-03 9.82747387e-02 -6.48567248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.84, Z:-648.60 [[ 3.94371651e-02 -9.47633965e-01 3.16914151e-01 2.85494551e+02] [ 9.04204782e-02 3.19244122e-01 9.43348996e-01 -1.65840606e+02] [-9.95122529e-01 -8.54748104e-03 9.82755994e-02 -6.48595043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-165.84, Z:-648.62 [[ 4.02548847e-02 -9.48562189e-01 3.14021207e-01 2.85496219e+02] [ 9.00006915e-02 3.16440634e-01 9.44333204e-01 -1.65837955e+02] [-9.95127841e-01 -9.75189846e-03 9.81095341e-02 -6.48623063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-165.84, Z:-648.65 [[ 4.11526248e-02 -9.49493221e-01 3.11077297e-01 2.85497914e+02] [ 8.99883439e-02 3.13597911e-01 9.45282206e-01 -1.65835007e+02] [-9.95092237e-01 -1.09075131e-02 9.83486996e-02 -6.48650348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.85, Z:-648.68 [[ 3.66949167e-02 -9.39172139e-01 3.41480857e-01 2.85471166e+02] [ 8.18879356e-02 3.43387719e-01 9.35617037e-01 -1.65848792e+02] [-9.95965787e-01 -6.36922680e-03 8.95074514e-02 -6.48680345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.82, Z:-648.71 [[ 3.79070991e-02 -9.80081095e-01 1.94946401e-01 2.85559194e+02] [ 8.26020817e-02 1.97492219e-01 9.76818161e-01 -1.65817802e+02] [-9.95861410e-01 -2.09253643e-02 8.84430958e-02 -6.48705885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-165.83, Z:-648.74 [[ 3.87624939e-02 -9.67784450e-01 2.48778471e-01 2.85528226e+02] [ 8.33788326e-02 2.51229915e-01 9.64329560e-01 -1.65826384e+02] [-9.95763747e-01 -1.66369602e-02 9.04310357e-02 -6.48735930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.80, Z:-648.76 [[ 4.44392347e-02 -9.77835891e-01 2.04602359e-01 2.85559518e+02] [ 9.20619387e-02 2.07941616e-01 9.73799201e-01 -1.65803409e+02] [-9.94761154e-01 -2.44388014e-02 9.92622342e-02 -6.48763553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-165.82, Z:-648.80 [[ 4.46212558e-02 -9.51525228e-01 3.04316751e-01 2.85501252e+02] [ 9.09436337e-02 3.07224314e-01 9.47281625e-01 -1.65822870e+02] [-9.94855869e-01 -1.45932246e-02 1.00243896e-01 -6.48795139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-165.82, Z:-648.82 [[ 4.45145958e-02 -9.52453065e-01 3.01416009e-01 2.85503743e+02] [ 9.18269860e-02 3.04338815e-01 9.48127465e-01 -1.65820316e+02] [-9.94779501e-01 -1.45273873e-02 1.01008414e-01 -6.48821948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-165.82, Z:-648.85 [[ 4.41743817e-02 -9.52867296e-01 3.00154196e-01 2.85505510e+02] [ 9.24637276e-02 3.03057482e-01 9.48475947e-01 -1.65818121e+02] [-9.94735685e-01 -1.41449627e-02 1.01493039e-01 -6.48848375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.51, Y:-165.82, Z:-648.88 [[ 4.29274657e-02 -9.53531833e-01 2.98218506e-01 2.85509415e+02] [ 9.26944033e-02 3.01007386e-01 9.49106054e-01 -1.65816514e+02] [-9.94768808e-01 -1.30995311e-02 1.01308549e-01 -6.48875109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-165.81, Z:-648.90 [[ 4.13107948e-02 -9.53978984e-01 2.97014337e-01 2.85511928e+02] [ 9.25270820e-02 2.99643378e-01 9.49553887e-01 -1.65814030e+02] [-9.94852832e-01 -1.17449559e-02 1.00647398e-01 -6.48903031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-165.81, Z:-648.93 [[ 4.10003956e-02 -9.55285712e-01 2.92827894e-01 2.85518317e+02] [ 9.25833039e-02 2.95445761e-01 9.50862837e-01 -1.65812317e+02] [-9.94860442e-01 -1.18747786e-02 1.00556900e-01 -6.48933481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.82, Z:-648.96 [[ 3.69973118e-02 -9.25587753e-01 3.76720734e-01 2.85466470e+02] [ 9.15901556e-02 3.78532865e-01 9.21045120e-01 -1.65824440e+02] [-9.95109262e-01 4.27717123e-04 9.87794246e-02 -6.48961370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-165.81, Z:-648.99 [[ 3.43996011e-02 -9.56256936e-01 2.90498435e-01 2.85522183e+02] [ 9.26101368e-02 2.92469817e-01 9.51779790e-01 -1.65807362e+02] [-9.95108050e-01 -5.83774537e-03 9.86199306e-02 -6.48986094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-165.80, Z:-649.02 [[ 3.33192146e-02 -9.57839002e-01 2.85366915e-01 2.85529800e+02] [ 9.35956426e-02 2.87261053e-01 9.53268558e-01 -1.65804537e+02] [-9.95052605e-01 -5.05305988e-03 9.92208696e-02 -6.49017049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-165.82, Z:-649.04 [[ 2.78495418e-02 -9.29347168e-01 3.68155192e-01 2.85478754e+02] [ 9.34351683e-02 3.69105779e-01 9.24678752e-01 -1.65818292e+02] [-9.95235787e-01 8.64676279e-03 9.71131358e-02 -6.49044391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:-165.80, Z:-649.07 [[ 2.52782914e-02 -9.58703284e-01 2.83282584e-01 2.85533607e+02] [ 9.45195196e-02 2.84395749e-01 9.54036225e-01 -1.65800547e+02] [-9.95202024e-01 2.65932800e-03 9.78052124e-02 -6.49068308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-165.80, Z:-649.10 [[ 2.33950407e-02 -9.59320147e-01 2.81349475e-01 2.85536091e+02] [ 9.50340642e-02 2.82286121e-01 9.54611477e-01 -1.65797783e+02] [-9.95199075e-01 4.40460973e-03 9.77721878e-02 -6.49096217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.79, Z:-649.13 [[ 2.41343136e-02 -9.62062552e-01 2.71759419e-01 2.85546406e+02] [ 9.73413909e-02 2.72808356e-01 9.57131263e-01 -1.65791616e+02] [-9.94958385e-01 3.35373381e-03 1.00232549e-01 -6.49128404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.82, Z:-649.16 [[ 2.15851160e-02 -9.09068425e-01 4.16087349e-01 2.85450105e+02] [ 9.67557994e-02 4.16130189e-01 9.04142678e-01 -1.65815862e+02] [-9.95074067e-01 2.07428395e-02 9.69398605e-02 -6.49155998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.78, Z:-649.18 [[ 2.27288934e-02 -9.63380484e-01 2.67173055e-01 2.85549185e+02] [ 9.86936956e-02 2.68098874e-01 9.58322779e-01 -1.65784828e+02] [-9.94858257e-01 4.58667985e-03 1.01173171e-01 -6.49182523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:-165.81, Z:-649.21 [[ 1.98281560e-02 -9.23510311e-01 3.83060765e-01 2.85473353e+02] [ 9.87896479e-02 3.83070876e-01 9.18421096e-01 -1.65806047e+02] [-9.94910775e-01 1.96318414e-02 9.88288475e-02 -6.49210588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-165.78, Z:-649.23 [[ 1.81459256e-02 -9.62509221e-01 2.70641321e-01 2.85544915e+02] [ 9.84931401e-02 2.71090118e-01 9.57501566e-01 -1.65782795e+02] [-9.94972274e-01 9.28156134e-03 9.97197367e-02 -6.49233415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.78, Z:-649.26 [[ 1.69152618e-02 -9.62883598e-01 2.69386432e-01 2.85546305e+02] [ 9.90917189e-02 2.69712983e-01 9.57828658e-01 -1.65779668e+02] [-9.94934523e-01 1.04920421e-02 9.99760566e-02 -6.49261680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.78, Z:-649.29 [[ 1.59686096e-02 -9.63699769e-01 2.66510336e-01 2.85548149e+02] [ 9.92891519e-02 2.66755235e-01 9.58636171e-01 -1.65776449e+02] [-9.94930484e-01 1.11534985e-02 9.99446429e-02 -6.49288828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.77, Z:-649.32 [[ 1.41936835e-02 -9.64065203e-01 2.65286306e-01 2.85547127e+02] [ 9.89342120e-02 2.65365190e-01 9.59058568e-01 -1.65773611e+02] [-9.94992744e-01 1.26333178e-02 9.91455407e-02 -6.49316534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.75, Z:-649.35 [[ 1.79558638e-02 -9.73143492e-01 2.29497998e-01 2.85576947e+02] [ 1.05553392e-01 2.30097319e-01 9.67426331e-01 -1.65751709e+02] [-9.94251512e-01 6.85331682e-03 1.06850193e-01 -6.49348598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.45, Y:-165.79, Z:-649.38 [[ 1.37729916e-02 -9.08616782e-01 4.17403700e-01 2.85450927e+02] [ 1.00755523e-01 4.16579743e-01 9.03498557e-01 -1.65793735e+02] [-9.94815877e-01 2.96118500e-02 9.72857083e-02 -6.49379558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.76, Z:-649.40 [[ 1.09947926e-02 -9.65284923e-01 2.60967685e-01 2.85549992e+02] [ 9.83991349e-02 2.60761209e-01 9.60375553e-01 -1.65763749e+02] [-9.95086290e-01 1.51198645e-02 9.78502168e-02 -6.49401500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.76, Z:-649.43 [[ 1.08262366e-02 -9.65618782e-01 2.59736715e-01 2.85551334e+02] [ 9.84246308e-02 2.59519620e-01 9.60709196e-01 -1.65760875e+02] [-9.95085617e-01 1.51636252e-02 9.78502929e-02 -6.49429881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-165.75, Z:-649.46 [[ 1.11194056e-02 -9.70038193e-01 2.42697883e-01 2.85566339e+02] [ 1.00230981e-01 2.42571732e-01 9.64941814e-01 -1.65749066e+02] [-9.94902060e-01 1.35962676e-02 9.99251333e-02 -6.49459953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-165.77, Z:-649.49 [[ 8.95152246e-03 -9.30408828e-01 3.66414086e-01 2.85485795e+02] [ 9.79517648e-02 3.65482394e-01 9.25650081e-01 -1.65774946e+02] [-9.95150904e-01 2.76049289e-02 9.44068106e-02 -6.49489313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.236559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.75, Z:-649.51 [[ 8.02462918e-03 -9.66860129e-01 2.55180516e-01 2.85552854e+02] [ 9.42827851e-02 2.54783469e-01 9.62390846e-01 -1.65750731e+02] [-9.95513115e-01 1.63363001e-02 9.32028086e-02 -6.49512988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.75, Z:-649.54 [[ 7.94670579e-03 -9.67176701e-01 2.53980470e-01 2.85552459e+02] [ 9.32200433e-02 2.53598957e-01 9.62807142e-01 -1.65747616e+02] [-9.95613817e-01 1.60249253e-02 9.21755302e-02 -6.49540830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.74, Z:-649.57 [[ 8.58455837e-03 -9.67898852e-01 2.51193386e-01 2.85552938e+02] [ 9.27395970e-02 2.50890608e-01 9.63562800e-01 -1.65744465e+02] [-9.95653390e-01 1.50238123e-02 9.19163346e-02 -6.49567770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.74, Z:-649.60 [[ 9.98584346e-03 -9.68200097e-01 2.49977711e-01 2.85551088e+02] [ 9.25122923e-02 2.49812521e-01 9.63864710e-01 -1.65741418e+02] [-9.95661468e-01 1.35010090e-02 9.20649990e-02 -6.49595530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.74, Z:-649.62 [[ 1.05630555e-02 -9.68919550e-01 2.47150415e-01 2.85551846e+02] [ 9.26722101e-02 2.47049040e-01 9.64561369e-01 -1.65738143e+02] [-9.95640640e-01 1.27152599e-02 9.24015088e-02 -6.49623342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.73, Z:-649.65 [[ 1.18597687e-02 -9.69635272e-01 2.44267857e-01 2.85551367e+02] [ 9.25100543e-02 2.44301317e-01 9.65276518e-01 -1.65734917e+02] [-9.95641118e-01 1.11492765e-02 9.25983688e-02 -6.49651610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.73, Z:-649.68 [[ 1.22870239e-02 -9.70346353e-01 2.41406264e-01 2.85552216e+02] [ 9.25193696e-02 2.41492079e-01 9.65982268e-01 -1.65731703e+02] [-9.95635071e-01 1.04657081e-02 9.27430518e-02 -6.49679446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.73, Z:-649.71 [[ 1.27458560e-02 -9.71044264e-01 2.38559388e-01 2.85553053e+02] [ 9.27346690e-02 2.38698474e-01 9.66655740e-01 -1.65728214e+02] [-9.95609273e-01 9.80187100e-03 9.30918848e-02 -6.49705916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.73, Z:-649.73 [[ 1.29350524e-02 -9.71342001e-01 2.37333947e-01 2.85553027e+02] [ 9.23843334e-02 2.37499516e-01 9.66984547e-01 -1.65725792e+02] [-9.95639402e-01 9.41794268e-03 9.28088519e-02 -6.49733972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.72, Z:-649.76 [[ 1.37675202e-02 -9.72023346e-01 2.34480428e-01 2.85553025e+02] [ 9.31536894e-02 2.34729633e-01 9.67586890e-01 -1.65722482e+02] [-9.95556551e-01 8.52144491e-03 9.37792058e-02 -6.49761742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.55, Y:-165.72, Z:-649.79 [[ 1.39795721e-02 -9.72702694e-01 2.31633418e-01 2.85554412e+02] [ 9.30472106e-02 2.31916364e-01 9.68275279e-01 -1.65719416e+02] [-9.95563553e-01 8.01676930e-03 9.37493640e-02 -6.49789884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.72, Z:-649.82 [[ 1.51341007e-02 -9.73360932e-01 2.28778180e-01 2.85556040e+02] [ 9.32320089e-02 2.29181287e-01 9.68908525e-01 -1.65716057e+02] [-9.95529383e-01 6.66589012e-03 9.42168477e-02 -6.49818168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.71, Z:-649.85 [[ 1.61838696e-02 -9.74026840e-01 2.25853488e-01 2.85558499e+02] [ 9.35755139e-02 2.26367144e-01 9.69536765e-01 -1.65712694e+02] [-9.95480641e-01 5.44349966e-03 9.48085584e-02 -6.49845700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.71, Z:-649.87 [[ 1.72950462e-02 -9.74683927e-01 2.22917302e-01 2.85560532e+02] [ 9.41219857e-02 2.23547709e-01 9.70137863e-01 -1.65709209e+02] [-9.95410435e-01 4.20283996e-03 9.56054546e-02 -6.49873743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.656559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.71, Z:-649.90 [[ 2.13178721e-02 -9.75267991e-01 2.19995215e-01 2.85562068e+02] [ 9.44630516e-02 2.21025651e-01 9.70682437e-01 -1.65706385e+02] [-9.95300096e-01 8.85352707e-05 9.68385871e-02 -6.49900555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.70, Z:-649.93 [[ 2.36544150e-02 -9.75500345e-01 2.18722530e-01 2.85562888e+02] [ 9.48275610e-02 2.19986651e-01 9.70882901e-01 -1.65703644e+02] [-9.95212642e-01 -2.22474308e-03 9.77079741e-02 -6.49928814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.70, Z:-649.96 [[ 2.60440119e-02 -9.76093695e-01 2.15784170e-01 2.85564754e+02] [ 9.50336615e-02 2.17297295e-01 9.71468213e-01 -1.65700559e+02] [-9.95133314e-01 -4.79416995e-03 9.84210512e-02 -6.49956635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.57, Y:-165.70, Z:-649.98 [[ 3.12176703e-02 -9.76589371e-01 2.12834811e-01 2.85566788e+02] [ 9.45846561e-02 2.14869421e-01 9.72051889e-01 -1.65698048e+02] [-9.95027236e-01 -1.02142880e-02 9.90780926e-02 -6.49983692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-165.70, Z:-650.01 [[ 3.30898814e-02 -9.76805617e-01 2.11555778e-01 2.85568639e+02] [ 9.45665976e-02 2.13782021e-01 9.72293375e-01 -1.65695077e+02] [-9.94968451e-01 -1.21669623e-02 9.94472054e-02 -6.50011644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-165.69, Z:-650.04 [[ 3.61383716e-02 -9.77327892e-01 2.08624564e-01 2.85572966e+02] [ 9.45164668e-02 2.11167739e-01 9.72869377e-01 -1.65691640e+02] [-9.94867155e-01 -1.54394584e-02 1.00004838e-01 -6.50039075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.69, Z:-650.07 [[ 3.70751039e-02 -9.77910368e-01 2.05710353e-01 2.85576308e+02] [ 9.42044759e-02 2.08355358e-01 9.73505810e-01 -1.65688199e+02] [-9.94862279e-01 -1.67139931e-02 9.98483303e-02 -6.50067298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.68, Z:-650.09 [[ 3.77063207e-02 -9.78498743e-01 2.02776832e-01 2.85579322e+02] [ 9.35604216e-02 2.05486656e-01 9.74177439e-01 -1.65684961e+02] [-9.94899332e-01 -1.77607610e-02 9.92969007e-02 -6.50094054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.68, Z:-650.12 [[ 3.80652632e-02 -9.78746072e-01 2.01512192e-01 2.85581338e+02] [ 9.29116624e-02 2.04251333e-01 9.74499264e-01 -1.65681917e+02] [-9.94946460e-01 -1.83717383e-02 9.87118053e-02 -6.50121552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.60, Y:-165.67, Z:-650.15 [[ 4.06212824e-02 -9.82042119e-01 1.84236773e-01 2.85595086e+02] [ 9.63988019e-02 1.87380682e-01 9.77545779e-01 -1.65669201e+02] [-9.94513541e-01 -2.19489590e-02 1.02279327e-01 -6.50153261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9565599949999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.67, Z:-650.19 [[ 4.12552027e-02 -9.76361339e-01 2.12171026e-01 2.85580687e+02] [ 9.61583627e-02 2.15245965e-01 9.71814151e-01 -1.65673211e+02] [-9.94510723e-01 -1.96903713e-02 1.02765324e-01 -6.50186911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.57, Y:-165.68, Z:-650.22 [[ 3.99417881e-02 -9.72514116e-01 2.29392563e-01 2.85571716e+02] [ 9.32017298e-02 2.32200983e-01 9.68192203e-01 -1.65680415e+02] [-9.94845763e-01 -1.72915441e-02 9.99145203e-02 -6.50215327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.016559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.59, Y:-165.67, Z:-650.24 [[ 3.87057910e-02 -9.79952972e-01 1.95432942e-01 2.85592952e+02] [ 9.62948102e-02 1.98327175e-01 9.75394095e-01 -1.65668266e+02] [-9.94600006e-01 -1.89342220e-02 1.02040796e-01 -6.50244288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.66, Z:-650.28 [[ 3.77968973e-02 -9.83425737e-01 1.77327986e-01 2.85605353e+02] [ 9.69881999e-02 1.80227234e-01 9.78831667e-01 -1.65661454e+02] [-9.94567586e-01 -1.97980779e-02 1.02192722e-01 -6.50275181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0765599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.66, Z:-650.30 [[ 3.50828574e-02 -9.83720793e-01 1.76245836e-01 2.85610287e+02] [ 9.83491331e-02 1.78896753e-01 9.78939937e-01 -1.65659272e+02] [-9.94533379e-01 -1.70103850e-02 1.03024296e-01 -6.50303344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.66, Z:-650.33 [[ 3.34922770e-02 -9.83354419e-01 1.78584307e-01 2.85611937e+02] [ 9.74664321e-02 1.81046485e-01 9.78632957e-01 -1.65659012e+02] [-9.94675104e-01 -1.53706709e-02 1.01907706e-01 -6.50331224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.136559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.60, Y:-165.67, Z:-650.36 [[ 2.58736968e-02 -9.77884154e-01 2.07540679e-01 2.85595643e+02] [ 9.57409494e-02 2.09079851e-01 9.73200538e-01 -1.65667825e+02] [-9.95069959e-01 -5.31015399e-03 9.90332259e-02 -6.50357902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.63, Z:-650.38 [[ 2.28120460e-02 -9.95819816e-01 8.84449297e-02 2.85664620e+02] [ 9.68696265e-02 9.02533794e-02 9.91196551e-01 -1.65632342e+02] [-9.95035621e-01 -1.40435940e-02 9.85235578e-02 -6.50381482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.63, Z:-650.41 [[ 2.20072408e-02 -9.95230690e-01 9.50344993e-02 2.85667067e+02] [ 9.90736821e-02 9.67606116e-02 9.90364473e-01 -1.65627126e+02] [-9.94836714e-01 -1.23797717e-02 1.00730603e-01 -6.50411475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.65, Z:-650.44 [[ 2.22066789e-02 -9.81154392e-01 1.91945104e-01 2.85612749e+02] [ 9.80464787e-02 1.93204249e-01 9.76247410e-01 -1.65651960e+02] [-9.94934044e-01 -2.85967129e-03 1.00489158e-01 -6.50443272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.65, Z:-650.47 [[ 2.19479862e-02 -9.81726878e-01 1.89025456e-01 2.85614023e+02] [ 9.81164953e-02 1.90273408e-01 9.76815839e-01 -1.65648734e+02] [-9.94932882e-01 -2.89262533e-03 1.00499719e-01 -6.50470477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.65, Z:-650.50 [[ 2.14957238e-02 -9.81980049e-01 1.87758134e-01 2.85614588e+02] [ 9.83861305e-02 1.88967682e-01 9.77042161e-01 -1.65646178e+02] [-9.94916129e-01 -2.52943217e-03 1.00675214e-01 -6.50498318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.65, Z:-650.53 [[ 1.83487513e-02 -9.80895076e-01 1.93670270e-01 2.85608616e+02] [ 9.85803779e-02 1.94533920e-01 9.75929538e-01 -1.65648042e+02] [-9.94959915e-01 1.18500006e-03 1.00266462e-01 -6.50526186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.62, Z:-650.55 [[ 1.69899477e-02 -9.92099696e-01 1.24296161e-01 2.85651196e+02] [ 1.01349936e-01 1.25382625e-01 9.86918126e-01 -1.65623745e+02] [-9.94705752e-01 -4.17027931e-03 1.02679485e-01 -6.50551929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.64, Z:-650.58 [[ 1.58754969e-02 -9.83068801e-01 1.82547805e-01 2.85619037e+02] [ 1.01525848e-01 1.83212097e-01 9.77816869e-01 -1.65637364e+02] [-9.94706223e-01 3.00999213e-03 1.02715477e-01 -6.50582042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.64, Z:-650.61 [[ 1.22531886e-02 -9.80736089e-01 1.94952772e-01 2.85609023e+02] [ 9.89322202e-02 1.95199850e-01 9.75760952e-01 -1.65643223e+02] [-9.95018731e-01 7.33092761e-03 9.94182193e-02 -6.50611372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.62, Z:-650.64 [[ 1.03113331e-02 -9.92724223e-01 1.19967888e-01 2.85650670e+02] [ 9.81957471e-02 1.20399652e-01 9.87857034e-01 -1.65620482e+02] [-9.95113698e-01 1.59421345e-03 9.87227777e-02 -6.50636102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.61, Z:-650.66 [[ 1.13833320e-02 -9.94203614e-01 1.06909274e-01 2.85659260e+02] [ 1.02245176e-01 1.07513100e-01 9.88932180e-01 -1.65607652e+02] [-9.94694096e-01 -3.26385757e-04 1.02876380e-01 -6.50664079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.63, Z:-650.70 [[ 1.18083203e-02 -9.83724375e-01 1.79295614e-01 2.85618970e+02] [ 1.02342979e-01 1.79555463e-01 9.78409807e-01 -1.65626259e+02] [-9.94679083e-01 6.79627077e-03 1.02797531e-01 -6.50696779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.62, Z:-650.72 [[ 1.25578981e-02 -9.81471875e-01 1.91194291e-01 2.85611008e+02] [ 1.02707048e-01 1.91464113e-01 9.76111037e-01 -1.65624558e+02] [-9.94632375e-01 7.37909836e-03 1.03208466e-01 -6.50723917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.62, Z:-650.75 [[ 1.30480643e-02 -9.83852396e-01 1.78505493e-01 2.85619480e+02] [ 1.01913279e-01 1.78899546e-01 9.78574798e-01 -1.65619106e+02] [-9.94707712e-01 5.42357321e-03 1.02601916e-01 -6.50754259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.59, Y:-165.63, Z:-650.78 [[ 1.34341055e-02 -9.73259176e-01 2.29316596e-01 2.85590427e+02] [ 1.02578048e-01 2.29468745e-01 9.67895572e-01 -1.65627591e+02] [-9.94634239e-01 1.05200374e-02 1.02917734e-01 -6.50784719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.616559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.63, Z:-650.81 [[ 1.35720114e-02 -9.69745802e-01 2.43739371e-01 2.85578649e+02] [ 1.01533017e-01 2.43838433e-01 9.64486322e-01 -1.65626588e+02] [-9.94739588e-01 1.16575744e-02 1.01770595e-01 -6.50809496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.60, Z:-650.84 [[ 1.34913015e-02 -9.86832236e-01 1.61183505e-01 2.85624883e+02] [ 1.00693102e-01 1.61719579e-01 9.81686140e-01 -1.65603420e+02] [-9.94826057e-01 2.98584354e-03 1.01549007e-01 -6.50835185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.60, Z:-650.86 [[ 1.57052076e-02 -9.87270970e-01 1.58269953e-01 2.85624454e+02] [ 1.00021146e-01 1.59046747e-01 9.82191378e-01 -1.65600027e+02] [-9.94861356e-01 4.04822605e-04 1.01245836e-01 -6.50862085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.60, Z:-650.89 [[ 1.67905917e-02 -9.87456107e-01 1.56998448e-01 2.85624859e+02] [ 1.00302360e-01 1.57891985e-01 9.82349000e-01 -1.65596801e+02] [-9.94815316e-01 -7.46906091e-04 1.01695278e-01 -6.50890111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.736559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.59, Z:-650.92 [[ 1.77807467e-02 -9.87892192e-01 1.54119633e-01 2.85626068e+02] [ 1.00267904e-01 1.55128752e-01 9.82792663e-01 -1.65593598e+02] [-9.94801585e-01 -2.02153478e-03 1.01812185e-01 -6.50918379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.59, Z:-650.95 [[ 2.02175885e-02 -9.88307002e-01 1.51130799e-01 2.85627315e+02] [ 1.01331448e-01 1.52408856e-01 9.83109088e-01 -1.65589293e+02] [-9.94647268e-01 -4.56179230e-03 1.03227919e-01 -6.50946589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.59, Z:-650.97 [[ 2.12628084e-02 -9.88732602e-01 1.48174675e-01 2.85628918e+02] [ 1.01427870e-01 1.49576817e-01 9.83534017e-01 -1.65585787e+02] [-9.94615644e-01 -5.88365361e-03 1.03465465e-01 -6.50973799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.58, Z:-651.00 [[ 2.28810423e-02 -9.88886875e-01 1.46898629e-01 2.85628397e+02] [ 1.00958040e-01 1.48471506e-01 9.83749809e-01 -1.65582904e+02] [-9.94627534e-01 -7.67862334e-03 1.03233263e-01 -6.51000879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.856559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.58, Z:-651.03 [[ 2.31499006e-02 -9.89067139e-01 1.45637484e-01 2.85628604e+02] [ 1.00596583e-01 1.47241729e-01 9.83971646e-01 -1.65579995e+02] [-9.94657936e-01 -8.12821268e-03 1.02905406e-01 -6.51029195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.58, Z:-651.06 [[ 2.31369685e-02 -9.89493317e-01 1.42715301e-01 2.85630046e+02] [ 1.00456718e-01 1.44332075e-01 9.84416934e-01 -1.65576335e+02] [-9.94672373e-01 -8.43971282e-03 1.02740657e-01 -6.51056700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.57, Z:-651.08 [[ 2.28453128e-02 -9.89916723e-01 1.39796185e-01 2.85631635e+02] [ 1.00093530e-01 1.41394870e-01 9.84880082e-01 -1.65573146e+02] [-9.94715727e-01 -8.50719993e-03 1.02314469e-01 -6.51084516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.58, Z:-651.11 [[ 2.02386165e-02 -9.87608518e-01 1.55627162e-01 2.85621579e+02] [ 9.73321819e-02 1.56865920e-01 9.82812052e-01 -1.65580185e+02] [-9.95046152e-01 -4.74322501e-03 9.93008411e-02 -6.51114654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.56, Z:-651.14 [[ 2.15392104e-02 -9.92581109e-01 1.19661207e-01 2.85643758e+02] [ 1.01019489e-01 1.21237154e-01 9.87469805e-01 -1.65562528e+02] [-9.94651258e-01 -9.18120583e-03 1.02881389e-01 -6.51140677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.56, Z:-651.17 [[ 2.11517029e-02 -9.90854762e-01 1.33264571e-01 2.85636940e+02] [ 1.00950959e-01 1.34729843e-01 9.85726521e-01 -1.65563761e+02] [-9.94666532e-01 -7.39660826e-03 1.02877504e-01 -6.51169446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.56, Z:-651.20 [[ 2.08710339e-02 -9.91247598e-01 1.30355666e-01 2.85638801e+02] [ 1.01011037e-01 1.31807564e-01 9.86115377e-01 -1.65560301e+02] [-9.94666361e-01 -7.41388657e-03 1.02877908e-01 -6.51197800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.56, Z:-651.23 [[ 2.06853580e-02 -9.91607011e-01 1.27623085e-01 2.85640789e+02] [ 1.01491151e-01 1.29073636e-01 9.86427667e-01 -1.65557245e+02] [-9.94621366e-01 -7.45199569e-03 1.03309271e-01 -6.51225651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0965599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.55, Z:-651.25 [[ 2.09072334e-02 -9.91970021e-01 1.24733172e-01 2.85642708e+02] [ 1.01644811e-01 1.26222963e-01 9.86780673e-01 -1.65554043e+02] [-9.94601036e-01 -7.95237408e-03 1.03467578e-01 -6.51253353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.56, Z:-651.29 [[ 2.07903104e-02 -9.90323759e-01 1.37210112e-01 2.85634630e+02] [ 9.85570531e-02 1.38601403e-01 9.85431965e-01 -1.65560872e+02] [-9.94914203e-01 -6.96441217e-03 1.00484957e-01 -6.51285201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.54, Z:-651.31 [[ 2.34747864e-02 -9.95354693e-01 9.33700719e-02 2.85660730e+02] [ 1.03380999e-01 9.53120070e-02 9.90064640e-01 -1.65540162e+02] [-9.94364774e-01 -1.35888646e-02 1.05138191e-01 -6.51310335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.55, Z:-651.34 [[ 2.50409005e-02 -9.92620467e-01 1.18648902e-01 2.85647935e+02] [ 1.03408184e-01 1.20621381e-01 9.87297944e-01 -1.65545324e+02] [-9.94323741e-01 -1.24535621e-02 1.05665548e-01 -6.51337770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.55, Z:-651.37 [[ 2.45294693e-02 -9.91033050e-01 1.31346103e-01 2.85640631e+02] [ 1.00513452e-01 1.33164762e-01 9.85983870e-01 -1.65551915e+02] [-9.94633275e-01 -1.09836109e-02 1.02878613e-01 -6.51367371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.54, Z:-651.39 [[ 2.72327971e-02 -9.94209704e-01 1.03949218e-01 2.85659071e+02] [ 1.05494856e-01 1.06265491e-01 9.88725685e-01 -1.65536618e+02] [-9.94046885e-01 -1.59596582e-02 1.07777916e-01 -6.51393814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.55, Z:-651.42 [[ 2.56495454e-02 -9.90911779e-01 1.32045249e-01 2.85643423e+02] [ 1.01431299e-01 1.33986735e-01 9.85778498e-01 -1.65548351e+02] [-9.94511836e-01 -1.18912492e-02 1.03946168e-01 -6.51423397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.54, Z:-651.45 [[ 2.44364980e-02 -9.95244481e-01 9.42935924e-02 2.85666013e+02] [ 1.00180422e-01 9.62848411e-02 9.90299507e-01 -1.65537224e+02] [-9.94669161e-01 -1.47530800e-02 1.02056876e-01 -6.51450261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-165.50, Z:-651.48 [[ 2.64356081e-02 -9.99329224e-01 2.53428827e-02 2.85706710e+02] [ 1.06698684e-01 2.80276421e-02 9.93896293e-01 -1.65503419e+02] [-9.93939912e-01 -2.35702007e-02 1.07368041e-01 -6.51476548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.54, Z:-651.51 [[ 2.52049727e-02 -9.91435384e-01 1.28142842e-01 2.85652026e+02] [ 1.00523224e-01 1.30047447e-01 9.86398876e-01 -1.65538489e+02] [-9.94615399e-01 -1.19808251e-02 1.02940124e-01 -6.51510209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.52, Z:-651.54 [[ 2.44822852e-02 -9.96487834e-01 8.00788049e-02 2.85681649e+02] [ 1.00906646e-01 8.21569410e-02 9.91497900e-01 -1.65521076e+02] [-9.94594624e-01 -1.61936508e-02 1.02563635e-01 -6.51537009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.51, Z:-651.56 [[ 2.58557889e-02 -9.96843858e-01 7.50586522e-02 2.85687450e+02] [ 1.04860108e-01 7.73740300e-02 9.91472449e-01 -1.65510388e+02] [-9.94150812e-01 -1.77646440e-02 1.06529721e-01 -6.51564058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.53, Z:-651.59 [[ 2.52102146e-02 -9.91906951e-01 1.24438921e-01 2.85660948e+02] [ 9.88120696e-02 1.26341396e-01 9.87053204e-01 -1.65528753e+02] [-9.94786721e-01 -1.25877558e-02 1.01197472e-01 -6.51594138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.51, Z:-651.62 [[ 2.73624132e-02 -9.96702288e-01 7.63927138e-02 2.85687789e+02] [ 1.03032374e-01 7.88263307e-02 9.91549666e-01 -1.65505576e+02] [-9.94301578e-01 -1.92602690e-02 1.04849482e-01 -6.51619367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.51, Z:-651.65 [[ 2.83250208e-02 -9.94373964e-01 1.02069156e-01 2.85673409e+02] [ 1.02581489e-01 1.04462616e-01 9.89224242e-01 -1.65511113e+02] [-9.94321242e-01 -1.75493913e-02 1.04963268e-01 -6.51647137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.51, Z:-651.67 [[ 2.97057513e-02 -9.94537668e-01 1.00061953e-01 2.85670979e+02] [ 1.02792291e-01 1.02614909e-01 9.89395738e-01 -1.65508589e+02] [-9.94259178e-01 -1.91051462e-02 1.05279059e-01 -6.51673969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5765599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.51, Z:-651.70 [[ 2.91550260e-02 -9.93001586e-01 1.14445775e-01 2.85660427e+02] [ 1.00051393e-01 1.16818505e-01 9.88100782e-01 -1.65514699e+02] [-9.94555028e-01 -1.73576447e-02 1.02757038e-01 -6.51703988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.51, Z:-651.73 [[ 2.90656242e-02 -9.93092755e-01 1.13674840e-01 2.85658334e+02] [ 9.97658013e-02 1.16037198e-01 9.88221713e-01 -1.65512609e+02] [-9.94586333e-01 -1.73824194e-02 1.02449388e-01 -6.51732373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.48, Z:-651.76 [[ 3.26646201e-02 -9.98411231e-01 4.59133659e-02 2.85693681e+02] [ 1.05339971e-01 4.91211128e-02 9.93222335e-01 -1.65481299e+02] [-9.93899650e-01 -2.76067177e-02 1.06777132e-01 -6.51757261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.49, Z:-651.79 [[ 3.40178705e-02 -9.94860435e-01 9.53703234e-02 2.85667108e+02] [ 1.03663180e-01 9.84231881e-02 9.89730681e-01 -1.65493606e+02] [-9.94030548e-01 -2.37821392e-02 1.06478544e-01 -6.51786680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.50, Z:-651.82 [[ 3.34255692e-02 -9.93234270e-01 1.11213380e-01 2.85657071e+02] [ 9.84436794e-02 1.14006376e-01 9.88590607e-01 -1.65501583e+02] [-9.94581105e-01 -2.20959494e-02 1.01588364e-01 -6.51816410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.49, Z:-651.84 [[ 3.48342853e-02 -9.95688378e-01 8.59722413e-02 2.85669451e+02] [ 9.71563741e-02 8.89908578e-02 9.91282637e-01 -1.65493374e+02] [-9.94659345e-01 -2.61778710e-02 9.98374055e-02 -6.51843035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.47, Z:-651.87 [[ 3.76191175e-02 -9.98796362e-01 3.14742594e-02 2.85699864e+02] [ 1.04261160e-01 3.52476964e-02 9.93925153e-01 -1.65465205e+02] [-9.93838223e-01 -3.41090443e-02 1.05461655e-01 -6.51868386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.49, Z:-651.90 [[ 3.68384087e-02 -9.94085821e-01 1.02158270e-01 2.85661352e+02] [ 9.96150749e-02 1.05371405e-01 9.89431000e-01 -1.65489778e+02] [-9.94343889e-01 -2.62725598e-02 1.02907648e-01 -6.51900789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.48, Z:-651.93 [[ 3.67771368e-02 -9.95999564e-01 8.14390016e-02 2.85672441e+02] [ 1.04349259e-01 8.48761206e-02 9.90912345e-01 -1.65476212e+02] [-9.93860490e-01 -2.79448194e-02 1.07053317e-01 -6.51926127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.47, Z:-651.95 [[ 3.51118148e-02 -9.95861346e-01 8.38292366e-02 2.85671157e+02] [ 1.04417026e-01 8.70774688e-02 9.90714186e-01 -1.65474822e+02] [-9.93913601e-01 -2.60325735e-02 1.07042328e-01 -6.51953598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.47, Z:-651.98 [[ 3.28420765e-02 -9.96039066e-01 8.26291553e-02 2.85672363e+02] [ 1.04859650e-01 8.56513537e-02 9.90791754e-01 -1.65471675e+02] [-9.93944592e-01 -2.38751943e-02 1.07257276e-01 -6.51981226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.48, Z:-652.01 [[ 2.63124155e-02 -9.94834009e-01 9.80456641e-02 2.85665059e+02] [ 1.01327472e-01 1.00228703e-01 9.89791367e-01 -1.65479221e+02] [-9.94505103e-01 -1.61090825e-02 1.03441274e-01 -6.52011489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.46, Z:-652.04 [[ 2.47734806e-02 -9.96891655e-01 7.47883908e-02 2.85679806e+02] [ 1.05231151e-01 7.69961615e-02 9.91462554e-01 -1.65463230e+02] [-9.94139165e-01 -1.66919098e-02 1.06811520e-01 -6.52036312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.47, Z:-652.07 [[ 1.90451548e-02 -9.95491856e-01 9.29152666e-02 2.85671643e+02] [ 1.02386319e-01 9.43854364e-02 9.90256750e-01 -1.65471189e+02] [-9.94562378e-01 -9.34634092e-03 1.03722332e-01 -6.52066681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.996559995 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.47, Z:-652.10 [[ 1.72410159e-02 -9.94514686e-01 1.03166303e-01 2.85667161e+02] [ 1.03196190e-01 1.04400565e-01 9.89166856e-01 -1.65470712e+02] [-9.94511586e-01 -6.40787212e-03 1.04430098e-01 -6.52095271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.46, Z:-652.12 [[ 1.62678668e-02 -9.95503717e-01 9.33150896e-02 2.85673997e+02] [ 1.05004622e-01 9.45123346e-02 9.89970428e-01 -1.65461824e+02] [-9.94338668e-01 -6.30619138e-03 1.06070006e-01 -6.52120659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.45, Z:-652.15 [[ 1.43545410e-02 -9.97449812e-01 6.99129512e-02 2.85687621e+02] [ 1.05281392e-01 7.10392143e-02 9.91901839e-01 -1.65452068e+02] [-9.94338864e-01 -6.87776280e-03 1.06032640e-01 -6.52148269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.47, Z:-652.18 [[ 8.81767986e-03 -9.95566961e-01 9.36412008e-02 2.85673080e+02] [ 9.98527298e-02 9.40534236e-02 9.90547014e-01 -1.65467151e+02] [-9.94963156e-01 6.16003060e-04 1.00239412e-01 -6.52176915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-165.43, Z:-652.20 [[ 7.97581945e-03 -9.99967921e-01 -7.36767827e-04 2.85724516e+02] [ 1.02201955e-01 8.22371101e-05 9.94763667e-01 -1.65429153e+02] [-9.94731696e-01 -8.00935452e-03 1.02199332e-01 -6.52203449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-165.43, Z:-652.23 [[ 9.60249739e-03 -9.99628485e-01 2.55085289e-02 2.85715382e+02] [ 1.06966794e-01 2.63901934e-02 9.93912301e-01 -1.65426482e+02] [-9.94216223e-01 -6.81547471e-03 1.07180466e-01 -6.52233183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.45, Z:-652.26 [[ 7.36972230e-03 -9.96798103e-01 7.96192779e-02 2.85686064e+02] [ 1.02818815e-01 7.99547925e-02 9.91481479e-01 -1.65448051e+02] [-9.94672800e-01 8.79416668e-04 1.03078845e-01 -6.52263605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-165.42, Z:-652.29 [[ 8.93914098e-03 -9.99636746e-01 2.54257177e-02 2.85716920e+02] [ 1.06569549e-01 2.62342934e-02 9.93959100e-01 -1.65421042e+02] [-9.94265067e-01 -6.17553325e-03 1.06765350e-01 -6.52289639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.45, Z:-652.32 [[ 5.35896511e-03 -9.96115372e-01 8.78945183e-02 2.85679939e+02] [ 1.00445243e-01 8.79874494e-02 9.91044379e-01 -1.65449812e+02] [-9.94928156e-01 3.51761402e-03 1.00526573e-01 -6.52318735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.77, Y:-165.38, Z:-652.34 [[ 8.26269561e-03 -9.96448513e-01 -8.37979056e-02 2.85770972e+02] [ 1.04229028e-01 -8.24860864e-02 9.91126811e-01 -1.65380382e+02] [-9.94518998e-01 -1.69235534e-02 1.03177303e-01 -6.52343333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.42, Z:-652.38 [[ 1.20539814e-02 -9.98251450e-01 5.78683338e-02 2.85700888e+02] [ 1.06817046e-01 5.88268896e-02 9.92536909e-01 -1.65423033e+02] [-9.94205623e-01 -5.78269696e-03 1.07339369e-01 -6.52375820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.44, Z:-652.40 [[ 1.14222040e-02 -9.96351718e-01 8.45741501e-02 2.85680089e+02] [ 1.00526937e-01 8.52953589e-02 9.91271424e-01 -1.65441536e+02] [-9.94868769e-01 -2.82052423e-03 1.01134447e-01 -6.52402290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.77, Y:-165.36, Z:-652.43 [[ 1.57154851e-02 -9.95652570e-01 -9.18094978e-02 2.85773247e+02] [ 1.10206397e-01 -8.95365491e-02 9.89867545e-01 -1.65363854e+02] [-9.93784470e-01 -2.56742427e-02 1.08320172e-01 -6.52427901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.42, Z:-652.46 [[ 1.82604703e-02 -9.98070515e-01 5.93447700e-02 2.85697381e+02] [ 1.08916438e-01 6.09871321e-02 9.92178300e-01 -1.65416220e+02] [-9.93883175e-01 -1.16540214e-02 1.09819939e-01 -6.52462250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.41, Z:-652.49 [[ 1.89904145e-02 -9.98208581e-01 5.67361627e-02 2.85698360e+02] [ 1.09462646e-01 5.84810442e-02 9.92269065e-01 -1.65412996e+02] [-9.93809486e-01 -1.26331103e-02 1.10377132e-01 -6.52488759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.41, Z:-652.52 [[ 1.71216103e-02 -9.98038897e-01 6.02097292e-02 2.85695237e+02] [ 1.07907284e-01 6.17112985e-02 9.92243787e-01 -1.65413769e+02] [-9.94013515e-01 -1.04917430e-02 1.08752264e-01 -6.52516848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-165.40, Z:-652.54 [[ 1.56489355e-02 -9.99194491e-01 3.69523913e-02 2.85708664e+02] [ 1.08306580e-01 3.84333981e-02 9.93374330e-01 -1.65400520e+02] [-9.93994364e-01 -1.15430637e-02 1.08820780e-01 -6.52543094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.40, Z:-652.57 [[ 1.41372816e-02 -9.98729724e-01 4.83639877e-02 2.85703343e+02] [ 1.07996460e-01 4.96110108e-02 9.92912641e-01 -1.65400225e+02] [-9.94050754e-01 -8.81394613e-03 1.08560640e-01 -6.52571134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.40, Z:-652.60 [[ 1.29256741e-02 -9.98643590e-01 5.04371651e-02 2.85703377e+02] [ 1.08375654e-01 5.15433922e-02 9.92772883e-01 -1.65395953e+02] [-9.94025978e-01 -7.36609796e-03 1.08894885e-01 -6.52601092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.41, Z:-652.63 [[ 1.06812574e-02 -9.96336044e-01 8.48551646e-02 2.85684101e+02] [ 1.04904749e-01 8.55082542e-02 9.90799340e-01 -1.65407519e+02] [-9.94424912e-01 -1.68127306e-03 1.05433718e-01 -6.52629976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-165.39, Z:-652.66 [[ 1.00215143e-02 -9.99104027e-01 4.11182802e-02 2.85708242e+02] [ 1.06750308e-01 4.19543027e-02 9.93400326e-01 -1.65387162e+02] [-9.94235355e-01 -5.56598653e-03 1.07075108e-01 -6.52657363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.40, Z:-652.68 [[ 1.00021303e-02 -9.96487664e-01 8.31401996e-02 2.85683933e+02] [ 1.04778769e-01 8.37310837e-02 9.90964437e-01 -1.65401795e+02] [-9.94445256e-01 -1.20042761e-03 1.05248240e-01 -6.52684701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.39, Z:-652.71 [[ 1.02306471e-02 -9.98868186e-01 4.64508357e-02 2.85702589e+02] [ 1.05588092e-01 4.72726884e-02 9.93285683e-01 -1.65387521e+02] [-9.94357324e-01 -5.25730017e-03 1.05952217e-01 -6.52711240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-165.37, Z:-652.74 [[ 1.23118170e-02 -9.99467153e-01 3.02295967e-02 2.85713005e+02] [ 1.09523770e-01 3.13979132e-02 9.93488155e-01 -1.65372986e+02] [-9.93907925e-01 -8.92078495e-03 1.09851976e-01 -6.52740731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.39, Z:-652.77 [[ 1.37754788e-02 -9.95469052e-01 9.40829617e-02 2.85678836e+02] [ 1.09626570e-01 9.50282767e-02 9.89419851e-01 -1.65391355e+02] [-9.93877383e-01 -3.31573978e-03 1.10438917e-01 -6.52772193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.40, Z:-652.80 [[ 1.54737612e-02 -9.94346586e-01 1.05049654e-01 2.85669335e+02] [ 1.08732969e-01 1.06112565e-01 9.88391251e-01 -1.65398834e+02] [-9.93950554e-01 -3.87176948e-03 1.09760217e-01 -6.52798042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-165.36, Z:-652.82 [[ 1.64676258e-02 -9.99617247e-01 2.22301102e-02 2.85715907e+02] [ 1.14409316e-01 2.39709354e-02 9.93144452e-01 -1.65362294e+02] [-9.93297199e-01 -1.38113995e-02 1.14760270e-01 -6.52823992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.38, Z:-652.85 [[ 1.79206854e-02 -9.95788937e-01 8.99068518e-02 2.85680801e+02] [ 1.15705546e-01 9.13826006e-02 9.89071002e-01 -1.65380773e+02] [-9.93121884e-01 -7.32210892e-03 1.16855941e-01 -6.52854096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.38, Z:-652.88 [[ 1.70351683e-02 -9.94556163e-01 1.02800004e-01 2.85673430e+02] [ 1.14842958e-01 1.04080751e-01 9.87916136e-01 -1.65384171e+02] [-9.93237584e-01 -5.02346107e-03 1.15990805e-01 -6.52882847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.39, Z:-652.91 [[ 1.51026230e-02 -9.94720421e-01 1.01504650e-01 2.85671382e+02] [ 1.11706011e-01 1.02559253e-01 9.88434807e-01 -1.65387745e+02] [-9.93626528e-01 -3.58927869e-03 1.12665164e-01 -6.52909876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-165.35, Z:-652.93 [[ 1.19432540e-02 -9.99785618e-01 1.69138163e-02 2.85719375e+02] [ 1.15211073e-01 1.81782664e-02 9.93174687e-01 -1.65349409e+02] [-9.93269232e-01 -9.91307860e-03 1.15403482e-01 -6.52934811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-165.36, Z:-652.96 [[ 1.09784545e-02 -9.97799673e-01 6.53856736e-02 2.85695263e+02] [ 1.14449328e-01 6.62137561e-02 9.91220001e-01 -1.65361264e+02] [-9.93368424e-01 -3.39871724e-03 1.14924427e-01 -6.52964908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.36, Z:-652.99 [[ 1.09033146e-02 -9.96914927e-01 7.77286643e-02 2.85688711e+02] [ 1.14151316e-01 7.84660465e-02 9.90359812e-01 -1.65362539e+02] [-9.93403541e-01 -1.92537520e-03 1.14654691e-01 -6.52994293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.36, Z:-653.02 [[ 9.11921647e-03 -9.97128953e-01 7.51710735e-02 2.85690641e+02] [ 1.14160295e-01 7.57208451e-02 9.90572451e-01 -1.65357209e+02] [-9.93420489e-01 -4.51692701e-04 1.14523050e-01 -6.53023137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.016559995 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.36, Z:-653.05 [[ 6.23052901e-03 -9.96496716e-01 8.33994941e-02 2.85687467e+02] [ 1.12862428e-01 8.35689675e-02 9.90090046e-01 -1.65356736e+02] [-9.93591089e-01 3.24388465e-03 1.12987718e-01 -6.53050095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.71, Y:-165.34, Z:-653.08 [[ 2.80506914e-03 -9.99148429e-01 4.11648968e-02 2.85708956e+02] [ 1.11393275e-01 4.12210642e-02 9.92921126e-01 -1.65340318e+02] [-9.93772444e-01 1.80028028e-03 1.11414044e-01 -6.53076144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.82, Y:-165.03, Z:-653.16 [[ 9.25201436e-03 2.35581600e-01 9.71810532e-01 2.84817324e+02] [ 1.65991692e-03 9.71847171e-01 -2.35606284e-01 -1.65034488e+02] [-9.99955822e-01 3.79295747e-03 8.60049810e-03 -6.53160385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-165.32, Z:-653.18 [[-1.36304678e-02 -9.95214600e-01 9.67579988e-02 2.85688311e+02] [ 5.21203285e-02 9.59282832e-02 9.94022754e-01 -1.65323868e+02] [-9.98547786e-01 1.85920538e-02 5.05633645e-02 -6.53176543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.82, Y:-165.00, Z:-653.19 [[-5.48040117e-03 2.53584214e-01 9.67297788e-01 2.84821048e+02] [-6.46428346e-02 9.65199247e-01 -2.53400312e-01 -1.64998128e+02] [-9.97893416e-01 -6.39176063e-02 1.11027233e-02 -6.53191293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:285.23, Y:-164.20, Z:-653.77 [[-6.17674280e-02 9.15442788e-01 -3.97679879e-01 2.85233448e+02] [-6.54884648e-02 -4.01299270e-01 -9.13602844e-01 -1.64204938e+02] [-9.95939780e-01 -3.03874531e-02 8.47381666e-02 -6.53769917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-164.82, Z:-653.41 [[-3.21434537e-02 -5.97604231e-01 -8.01146667e-01 2.85966947e+02] [ 3.61307725e-02 -8.01731712e-01 5.96591006e-01 -1.64824571e+02] [-9.98829998e-01 -9.76955262e-03 4.73623287e-02 -6.53412219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-165.38, Z:-653.31 [[ 4.68187812e-02 -6.19410751e-01 7.83669780e-01 2.85161128e+02] [-3.22014160e-02 7.83186450e-01 6.20952537e-01 -1.65379101e+02] [-9.98384230e-01 -5.43075176e-02 1.67219318e-02 -6.53306736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.98, Z:-653.30 [[ 8.72187302e-02 -8.05378490e-01 -5.86309118e-01 2.85919748e+02] [ 2.85489092e-02 -5.86289481e-01 8.09598422e-01 -1.64982648e+02] [-9.95780022e-01 -8.73506321e-02 -2.81427467e-02 -6.53299106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.77, Y:-164.35, Z:-653.31 [[ 5.64189043e-02 1.82621855e-01 -9.81563124e-01 2.85771256e+02] [ 8.81596263e-02 -9.80200106e-01 -1.77300968e-01 -1.64348409e+02] [-9.94507309e-01 -7.65311118e-02 -7.14016904e-02 -6.53307998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-164.18, Z:-653.32 [[ 5.65752429e-03 6.65416220e-01 -7.46451101e-01 2.85490742e+02] [ 1.34449443e-01 -7.40191450e-01 -6.58817095e-01 -1.64184314e+02] [-9.90904304e-01 -9.66326609e-02 -9.36524911e-02 -6.53318442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:-164.22, Z:-653.33 [[-6.45239088e-02 9.80252964e-01 -1.86924562e-01 2.85101181e+02] [ 1.37634300e-01 -1.76783023e-01 -9.74579172e-01 -1.64218440e+02] [-9.88379211e-01 -8.86108889e-02 -1.23509699e-01 -6.53334804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.13, Z:-653.52 [[-4.32734088e-02 -9.51827056e-01 -3.03566580e-01 2.85834619e+02] [ 1.73805417e-01 -3.06390120e-01 9.35904253e-01 -1.65134912e+02] [-9.83828791e-01 -1.22617486e-02 1.78691243e-01 -6.53518672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.14, Z:-653.52 [[-4.25814274e-02 -9.52895103e-01 -3.00296096e-01 2.85832940e+02] [ 1.72416571e-01 -3.03067813e-01 9.37241926e-01 -1.65135354e+02] [-9.84103322e-01 -1.18669240e-02 1.77199966e-01 -6.53523992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.14, Z:-653.53 [[-4.22938722e-02 -9.53932986e-01 -2.97023716e-01 2.85831327e+02] [ 1.70893839e-01 -2.99815691e-01 9.38565846e-01 -1.65135872e+02] [-9.84381290e-01 -1.10639391e-02 1.75701637e-01 -6.53528173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.14, Z:-653.53 [[-4.32530516e-02 -9.54889018e-01 -2.93796081e-01 2.85829801e+02] [ 1.67975075e-01 -2.96835700e-01 9.40038798e-01 -1.65136553e+02] [-9.84841890e-01 -8.69087207e-03 1.73236604e-01 -6.53531000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.14, Z:-653.54 [[-4.35703002e-02 -9.55884886e-01 -2.90492194e-01 2.85828305e+02] [ 1.66789971e-01 -2.93647276e-01 9.41250436e-01 -1.65136916e+02] [-9.85029307e-01 -7.44062048e-03 1.72226312e-01 -6.53538705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.14, Z:-653.54 [[-4.38186194e-02 -9.56879943e-01 -2.87159716e-01 2.85826926e+02] [ 1.66148398e-01 -2.90412783e-01 9.42366768e-01 -1.65137626e+02] [-9.85126712e-01 -6.41791595e-03 1.71709556e-01 -6.53543962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-165.14, Z:-653.55 [[-4.51748351e-02 -9.57825637e-01 -2.83776821e-01 2.85825732e+02] [ 1.66105139e-01 -2.87314459e-01 9.43323637e-01 -1.65138656e+02] [-9.85072747e-01 -4.52229852e-03 1.72079144e-01 -6.53550282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-165.14, Z:-653.55 [[-4.49744639e-02 -9.58832727e-01 -2.80387409e-01 2.85824452e+02] [ 1.66604668e-01 -2.83939729e-01 9.44256912e-01 -1.65139679e+02] [-9.84997555e-01 -4.24640288e-03 1.72516045e-01 -6.53553559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-165.14, Z:-653.56 [[-4.50404901e-02 -9.59823691e-01 -2.76965408e-01 2.85822610e+02] [ 1.67728340e-01 -2.80576834e-01 9.45062878e-01 -1.65141535e+02] [-9.84803817e-01 -3.88885281e-03 1.73626952e-01 -6.53557272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-165.14, Z:-653.56 [[-4.57276049e-02 -9.59981612e-01 -2.76304707e-01 2.85821094e+02] [ 1.70343400e-01 -2.80036363e-01 9.44755398e-01 -1.65139748e+02] [-9.84323175e-01 -3.86528164e-03 1.76331924e-01 -6.53564758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:-165.25, Z:-653.67 [[ 4.97784176e-04 -4.38819954e-01 8.98574872e-01 2.85029799e+02] [ 9.96804405e-02 8.94121405e-01 4.36589879e-01 -1.65247006e+02] [-9.95019378e-01 8.93530115e-02 4.41868458e-02 -6.53669203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-165.16, Z:-653.67 [[-1.33436084e-02 -9.90583763e-01 -1.36256214e-01 2.85741845e+02] [ 1.12742228e-01 -1.36889869e-01 9.84149559e-01 -1.65160423e+02] [-9.93534669e-01 -2.22972287e-03 1.13507225e-01 -6.53674796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:-165.11, Z:-653.78 [[ 1.76401916e-02 -1.86102166e-01 9.82372031e-01 2.84892433e+02] [ 2.88456993e-02 9.82210659e-01 1.85553621e-01 -1.65108015e+02] [-9.99428211e-01 2.50640068e-02 2.26946313e-02 -6.53777690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.19, Z:-653.79 [[ 2.67900876e-03 -9.98225836e-01 5.94811255e-02 2.85638497e+02] [ 4.77741832e-02 5.95411817e-02 9.97081980e-01 -1.65192311e+02] [-9.98854569e-01 1.70470830e-04 4.78489353e-02 -6.53786074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.82, Y:-164.99, Z:-653.90 [[ 1.70490244e-02 -8.61034398e-03 9.99817580e-01 2.84820896e+02] [-4.14804154e-02 9.99095927e-01 9.31145881e-03 -1.64990811e+02] [-9.98993847e-01 -4.16315998e-02 1.66764502e-02 -6.53902663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-164.15, Z:-653.95 [[-2.38858604e-03 9.98887728e-01 4.70914088e-02 2.84947175e+02] [-5.46686627e-02 4.68906834e-02 -9.97402928e-01 -1.64153071e+02] [-9.98501694e-01 -4.95680705e-03 5.44958538e-02 -6.53948770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.00, Y:-164.12, Z:-653.97 [[-4.38219925e-03 9.98563142e-01 -5.34083058e-02 2.84997800e+02] [-5.64939660e-02 -5.35707367e-02 -9.96964698e-01 -1.64121067e+02] [-9.98393323e-01 -1.35165094e-03 5.66475499e-02 -6.53971161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-164.24, Z:-654.10 [[-3.24588423e-02 1.78249483e-01 -9.83449818e-01 2.85754124e+02] [ 2.20225630e-02 -9.83601856e-01 -1.79003897e-01 -1.64240995e+02] [-9.99230419e-01 -2.74683448e-02 2.80010671e-02 -6.54097827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.90, Y:-164.86, Z:-654.12 [[-2.91239696e-02 -8.01444536e-01 -5.97359566e-01 2.85904652e+02] [ 3.83977308e-02 -5.98068988e-01 8.00524266e-01 -1.64864946e+02] [-9.98838029e-01 3.77192581e-04 4.81917946e-02 -6.54122167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-164.91, Z:-654.15 [[-2.62195660e-02 -8.51935093e-01 -5.22990566e-01 2.85885000e+02] [ 4.11295166e-02 -5.23646786e-01 8.50942070e-01 -1.64914816e+02] [-9.98809740e-01 8.00982584e-04 4.87694700e-02 -6.54148336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-164.97, Z:-654.22 [[-1.56563140e-02 -8.98117098e-01 -4.39477597e-01 2.85857022e+02] [ 4.67411452e-02 -4.39708357e-01 8.96923534e-01 -1.64965477e+02] [-9.98784334e-01 -6.49916969e-03 4.88632338e-02 -6.54220787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-165.10, Z:-654.24 [[-9.25334027e-03 -9.85179740e-01 -1.71275379e-01 2.85753740e+02] [ 4.95030407e-02 -1.71524015e-01 9.83935446e-01 -1.65102778e+02] [-9.98731107e-01 6.26037457e-04 5.03565628e-02 -6.54236414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-165.13, Z:-654.29 [[-8.76155805e-04 -9.94408901e-01 -1.05594364e-01 2.85722931e+02] [ 5.05443157e-02 -1.05503473e-01 9.93133571e-01 -1.65127980e+02] [-9.98721435e-01 -4.46705516e-03 5.03541550e-02 -6.54289502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.19, Z:-654.32 [[ 2.78505058e-03 -9.97798128e-01 6.62656674e-02 2.85638759e+02] [ 5.06317730e-02 6.63216330e-02 9.96512852e-01 -1.65188555e+02] [-9.98713506e-01 5.79809528e-04 5.07049974e-02 -6.54324657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.20, Z:-654.36 [[ 5.38476244e-03 -9.94267545e-01 1.06785083e-01 2.85617556e+02] [ 4.96349452e-02 1.06920753e-01 9.93027857e-01 -1.65199507e+02] [-9.98752911e-01 -4.69473786e-05 4.99261580e-02 -6.54358595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.39 [[ 8.68420433e-03 -9.94682449e-01 1.02622657e-01 2.85622655e+02] [ 5.29362203e-02 1.02939922e-01 9.93277972e-01 -1.65191258e+02] [-9.98560134e-01 -3.19337329e-03 5.35486806e-02 -6.54391940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-165.23, Z:-654.42 [[ 8.81693332e-03 -9.70431775e-01 2.41214493e-01 2.85541298e+02] [ 4.61203115e-02 2.41361808e-01 9.69338638e-01 -1.65234998e+02] [-9.98896981e-01 2.57829341e-03 4.68846867e-02 -6.54422311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.20, Z:-654.45 [[ 8.20376499e-03 -9.94126090e-01 1.07916710e-01 2.85616034e+02] [ 4.63412332e-02 1.08182356e-01 9.93050385e-01 -1.65198490e+02] [-9.98891980e-01 -3.14575858e-03 4.69565315e-02 -6.54448742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.48 [[ 1.07086180e-02 -9.94921859e-01 1.00079068e-01 2.85619723e+02] [ 4.66123282e-02 1.00472684e-01 9.93847338e-01 -1.65193798e+02] [-9.98855654e-01 -5.97781314e-03 4.74515478e-02 -6.54475416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.50 [[ 1.17156974e-02 -9.95431740e-01 9.47543902e-02 2.85621669e+02] [ 4.64086680e-02 9.52000788e-02 9.94375774e-01 -1.65191190e+02] [-9.98853832e-01 -7.25238060e-03 4.73119964e-02 -6.54503270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.53 [[ 1.29110303e-02 -9.96127142e-01 8.69713930e-02 2.85624833e+02] [ 4.67841459e-02 8.74851797e-02 9.95066624e-01 -1.65187743e+02] [-9.98821580e-01 -8.77845300e-03 4.77324814e-02 -6.54529836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.19, Z:-654.56 [[ 1.61452380e-02 -9.96369244e-01 8.35922368e-02 2.85625467e+02] [ 4.65770561e-02 8.42618384e-02 9.95354470e-01 -1.65186228e+02] [-9.98784216e-01 -1.21767545e-02 4.77683735e-02 -6.54562715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.59 [[ 1.80252192e-02 -9.95616465e-01 9.17766109e-02 2.85620823e+02] [ 4.78356470e-02 9.25451561e-02 9.94558769e-01 -1.65186760e+02] [-9.98692567e-01 -1.35369462e-02 4.92941045e-02 -6.54594229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.62 [[ 1.91626259e-02 -9.95135395e-01 9.66350798e-02 2.85618116e+02] [ 4.79935393e-02 9.74569526e-02 9.94081869e-01 -1.65186876e+02] [-9.98663814e-01 -1.44113595e-02 4.96276008e-02 -6.54622624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.19, Z:-654.65 [[ 2.02337508e-02 -9.95422320e-01 9.34077086e-02 2.85620195e+02] [ 4.73342180e-02 9.42758259e-02 9.94420203e-01 -1.65185364e+02] [-9.98674155e-01 -1.56994698e-02 4.90250907e-02 -6.54654947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.19, Z:-654.68 [[ 2.21314655e-02 -9.93122845e-01 1.14966135e-01 2.85608108e+02] [ 4.80907975e-02 1.15918702e-01 9.92093811e-01 -1.65189769e+02] [-9.98597754e-01 -1.64276768e-02 5.03255204e-02 -6.54681732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.18, Z:-654.71 [[ 2.20087358e-02 -9.96344711e-01 8.25398791e-02 2.85625129e+02] [ 4.88173658e-02 8.35323948e-02 9.95308597e-01 -1.65178990e+02] [-9.98565211e-01 -1.78761045e-02 5.04773667e-02 -6.54707941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.18, Z:-654.74 [[ 2.14804739e-02 -9.95832448e-01 8.86359103e-02 2.85621344e+02] [ 4.51201684e-02 8.95316428e-02 9.94961434e-01 -1.65183341e+02] [-9.98750599e-01 -1.73729759e-02 4.68553098e-02 -6.54739577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.18, Z:-654.77 [[ 1.95831160e-02 -9.96916922e-01 7.59812633e-02 2.85626560e+02] [ 4.25634867e-02 7.67582150e-02 9.96140816e-01 -1.65181630e+02] [-9.98901823e-01 -1.62735136e-02 4.39354252e-02 -6.54767959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-165.09, Z:-654.80 [[ 1.84000917e-02 -9.87532659e-01 -1.56335168e-01 2.85741012e+02] [ 5.09602335e-02 -1.55232111e-01 9.86562743e-01 -1.65087633e+02] [-9.98531167e-01 -2.61197217e-02 4.74686098e-02 -6.54795043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.17, Z:-654.83 [[ 1.98473587e-02 -9.97212689e-01 7.19231233e-02 2.85631475e+02] [ 4.69165182e-02 7.27869852e-02 9.96243392e-01 -1.65170689e+02] [-9.98701619e-01 -1.63984174e-02 4.82303767e-02 -6.54825250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-165.18, Z:-654.85 [[ 1.62905285e-02 -9.95767532e-01 9.04524227e-02 2.85619205e+02] [ 4.15075564e-02 9.10599403e-02 9.94980005e-01 -1.65183594e+02] [-9.99005376e-01 -1.24542911e-02 4.28152916e-02 -6.54852998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-165.05, Z:-654.88 [[ 1.27135236e-02 -9.67860892e-01 -2.51164606e-01 2.85782550e+02] [ 4.67703965e-02 -2.50334383e-01 9.67029072e-01 -1.65048811e+02] [-9.98824758e-01 -2.40414152e-02 4.20846056e-02 -6.54878095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-165.20, Z:-654.91 [[ 1.62229058e-02 -9.86401215e-01 1.63552625e-01 2.85581258e+02] [ 4.28699263e-02 1.64109929e-01 9.85510071e-01 -1.65200607e+02] [-9.98948941e-01 -8.97634809e-03 4.49492873e-02 -6.54914480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-165.10, Z:-654.94 [[ 1.44697889e-02 -9.91644067e-01 -1.28189973e-01 2.85730970e+02] [ 4.89581268e-02 -1.27346984e-01 9.90649205e-01 -1.65098981e+02] [-9.98696013e-01 -2.06104258e-02 4.67063520e-02 -6.54943779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:-165.19, Z:-654.98 [[ 1.85061502e-02 -9.88398497e-01 1.50751232e-01 2.85591957e+02] [ 4.76137971e-02 1.51477210e-01 9.87313315e-01 -1.65190898e+02] [-9.98694372e-01 -1.10935299e-02 4.98646655e-02 -6.54976815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-165.18, Z:-655.00 [[ 1.86103392e-02 -9.91028843e-01 1.32346094e-01 2.85602100e+02] [ 4.98351342e-02 1.33123934e-01 9.89845684e-01 -1.65182482e+02] [-9.98584055e-01 -1.18258786e-02 5.18655369e-02 -6.55003134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.16, Z:-655.03 [[ 1.68607533e-02 -9.98123727e-01 5.88620460e-02 2.85641400e+02] [ 5.10833262e-02 5.96534629e-02 9.96911209e-01 -1.65159167e+02] [-9.98552056e-01 -1.38018049e-02 5.19932822e-02 -6.55030434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-165.16, Z:-655.06 [[ 1.59484290e-02 -9.98309092e-01 5.58981559e-02 2.85644015e+02] [ 4.96295765e-02 5.66267326e-02 9.97161130e-01 -1.65159163e+02] [-9.98640352e-01 -1.31289517e-02 5.04487649e-02 -6.55062461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-165.18, Z:-655.10 [[ 1.70422923e-02 -9.89337404e-01 1.44641145e-01 2.85596693e+02] [ 4.84125187e-02 1.45308979e-01 9.88201158e-01 -1.65184635e+02] [-9.98682026e-01 -9.83877088e-03 5.03727136e-02 -6.55095373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-165.17, Z:-655.13 [[ 1.53413820e-02 -9.92175060e-01 1.23908402e-01 2.85611298e+02] [ 5.07175334e-02 1.24535635e-01 9.90918063e-01 -1.65173366e+02] [-9.98595200e-01 -8.91772401e-03 5.22312205e-02 -6.55126722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-165.20, Z:-655.15 [[ 1.34418617e-02 -9.78458778e-01 2.06004214e-01 2.85564944e+02] [ 4.79128007e-02 2.06416450e-01 9.77290444e-01 -1.65196450e+02] [-9.98761073e-01 -3.26636416e-03 4.96553218e-02 -6.55153613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-165.15, Z:-655.18 [[ 9.12586693e-03 -9.99014557e-01 4.34354016e-02 2.85654187e+02] [ 4.96132431e-02 4.38360686e-02 9.97806056e-01 -1.65147545e+02] [-9.98726812e-01 -6.95087415e-03 4.99643941e-02 -6.55179260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-165.14, Z:-655.21 [[ 4.20413191e-03 -9.99340872e-01 3.60575389e-02 2.85660473e+02] [ 4.99197146e-02 3.62226355e-02 9.98096159e-01 -1.65143159e+02] [-9.98744385e-01 -2.39614587e-03 5.00390958e-02 -6.55207103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.14, Z:-655.24 [[ 1.25299319e-03 -9.99579231e-01 2.89791557e-02 2.85665394e+02] [ 4.93936246e-02 2.90056700e-02 9.98358123e-01 -1.65139736e+02] [-9.98778604e-01 1.80449601e-04 4.94091852e-02 -6.55240487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-165.16, Z:-655.27 [[ 3.74598177e-05 -9.95454492e-01 9.52383979e-02 2.85631171e+02] [ 4.99226767e-02 9.51215055e-02 9.94213069e-01 -1.65160164e+02] [-9.98753085e-01 4.71731271e-03 4.96993161e-02 -6.55267736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.14, Z:-655.29 [[-6.28725661e-03 -9.99715530e-01 2.30071573e-02 2.85669341e+02] [ 4.99277032e-02 2.26650852e-02 9.98495628e-01 -1.65135200e+02] [-9.98733045e-01 7.42649275e-03 4.97709990e-02 -6.55294872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-165.13, Z:-655.32 [[-9.04775595e-03 -9.99837839e-01 1.55702635e-02 2.85673500e+02] [ 5.01765594e-02 1.50973367e-02 9.98626248e-01 -1.65131332e+02] [-9.98699380e-01 9.81658882e-03 5.00318257e-02 -6.55322138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.13, Z:-655.35 [[-1.38163335e-02 -9.99828294e-01 1.23487647e-02 2.85676209e+02] [ 5.07950131e-02 1.16321836e-02 9.98641357e-01 -1.65128914e+02] [-9.98613527e-01 1.44248176e-02 5.06255772e-02 -6.55349963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.13, Z:-655.38 [[-1.60449777e-02 -9.99858925e-01 4.96871259e-03 2.85680351e+02] [ 5.09991531e-02 4.14450847e-03 9.98690097e-01 -1.65125229e+02] [-9.98569800e-01 1.62773605e-02 5.09254598e-02 -6.55378092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.12, Z:-655.38 [[-1.67613986e-02 -9.99856664e-01 -2.38886372e-03 2.85684348e+02] [ 5.13470981e-02 -3.24681445e-03 9.98675590e-01 -1.65122213e+02] [-9.98540200e-01 1.66165384e-02 5.13941593e-02 -6.55383188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.68, Y:-165.12, Z:-655.41 [[-1.71535905e-02 -9.99755108e-01 1.39813829e-02 2.85678143e+02] [ 5.35028047e-02 1.30455954e-02 9.98482480e-01 -1.65124136e+02] [-9.98420355e-01 1.78756028e-02 5.32659235e-02 -6.55414173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:-165.17, Z:-655.44 [[-1.60513421e-02 -9.84414910e-01 1.75127494e-01 2.85591760e+02] [ 5.60395861e-02 1.73989028e-01 9.83151760e-01 -1.65174708e+02] [-9.98299514e-01 2.55949775e-02 5.23734467e-02 -6.55443335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:-164.61, Z:-655.54 [[-1.80835354e-02 5.83161043e-01 8.12155271e-01 2.84727321e+02] [-1.26231563e-02 8.12090194e-01 -5.83395384e-01 -1.64605158e+02] [-9.99756791e-01 -2.08018140e-02 -7.32412877e-03 -6.55539564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2965599949999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:285.60, Y:-164.07, Z:-656.12 [[-4.56091276e-02 4.45648865e-01 -8.94045243e-01 2.85595655e+02] [-4.20840248e-02 -8.95039222e-01 -4.43997438e-01 -1.64068157e+02] [-9.98072514e-01 1.73746863e-02 5.95766560e-02 -6.56115019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.99, Y:-165.09, Z:-655.80 [[-1.04214921e-02 -3.74114602e-01 9.27323923e-01 2.84990552e+02] [-6.19651025e-02 9.25833588e-01 3.72816970e-01 -1.65088639e+02] [-9.98023907e-01 -5.35764128e-02 -3.28306171e-02 -6.55803916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-164.50, Z:-655.85 [[-2.35649849e-03 -4.44615576e-01 -8.95718391e-01 2.85898304e+02] [-2.88613201e-02 -8.95317502e-01 4.44492513e-01 -1.64500570e+02] [-9.99580648e-01 2.68990611e-02 -1.07223781e-02 -6.55852171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-164.83, Z:-655.85 [[ 6.47464211e-02 -8.40563540e-01 -5.37829747e-01 2.85858245e+02] [ 2.44424410e-02 -5.37463080e-01 8.42932978e-01 -1.64829253e+02] [-9.97602360e-01 -6.77227654e-02 -1.42533861e-02 -6.55845400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-164.15, Z:-655.85 [[ 5.13696646e-02 2.42902838e-01 -9.68689511e-01 2.85686831e+02] [ 8.52721216e-02 -9.67494695e-01 -2.38081248e-01 -1.64150807e+02] [-9.95032574e-01 -7.03720560e-02 -7.04127184e-02 -6.55846319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-164.01, Z:-655.86 [[-8.36397676e-03 8.49067357e-01 -5.28218390e-01 2.85263601e+02] [ 1.26318059e-01 -5.23108162e-01 -8.42853249e-01 -1.64010792e+02] [-9.91954531e-01 -7.37731267e-02 -1.02877276e-01 -6.55859352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-164.31, Z:-656.01 [[-6.24869240e-02 8.86406570e-01 4.58670663e-01 2.84784888e+02] [ 9.65234526e-02 4.62781747e-01 -8.81201610e-01 -1.64311009e+02] [-9.93367308e-01 -1.07911021e-02 -1.14476830e-01 -6.56005976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:284.78, Y:-164.86, Z:-656.61 [[-6.05148222e-02 2.87034401e-02 9.97754513e-01 2.84782926e+02] [ 3.19590531e-02 9.99129686e-01 -2.68046522e-02 -1.64859798e+02] [-9.97655539e-01 3.02652107e-02 -6.13794901e-02 -6.56611423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.45, Z:-656.08 [[-7.18014127e-02 -4.45343178e-01 -8.92476336e-01 2.85923187e+02] [ 5.75463405e-02 -8.95144981e-01 4.42045113e-01 -1.64448318e+02] [-9.95757489e-01 -1.96192836e-02 8.99005444e-02 -6.56079346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-164.53, Z:-656.09 [[-6.81561329e-02 -5.64689987e-01 -8.22484018e-01 2.85929432e+02] [ 5.98891959e-02 -8.25230056e-01 5.61612535e-01 -1.64531888e+02] [-9.95875507e-01 -1.09805679e-02 9.00633187e-02 -6.56094807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-164.54, Z:-656.14 [[-6.38381464e-02 -5.74571682e-01 -8.15960829e-01 2.85926046e+02] [ 6.51945604e-02 -8.18283097e-01 5.71106332e-01 -1.64537886e+02] [-9.95828479e-01 -1.67378380e-02 8.96966244e-02 -6.56137023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.58, Z:-656.15 [[-6.07319969e-02 -6.32043091e-01 -7.72549776e-01 2.85923116e+02] [ 6.64113171e-02 -7.74822087e-01 6.28681374e-01 -1.64581807e+02] [-9.95942349e-01 -1.31249729e-02 8.90313067e-02 -6.56151972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.59, Z:-656.16 [[-5.97104315e-02 -6.43541343e-01 -7.63078767e-01 2.85921302e+02] [ 6.67683253e-02 -7.65305600e-01 6.40194759e-01 -1.64591043e+02] [-9.95980248e-01 -1.27231860e-02 8.86649052e-02 -6.56160700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.60, Z:-656.17 [[-5.88259571e-02 -6.52867866e-01 -7.55184121e-01 2.85919771e+02] [ 6.74471752e-02 -7.57364878e-01 6.49499285e-01 -1.64598566e+02] [-9.95987141e-01 -1.27276187e-02 8.85868071e-02 -6.56171260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.61, Z:-656.18 [[-5.87516238e-02 -6.62474921e-01 -7.46776556e-01 2.85918119e+02] [ 6.63201337e-02 -7.49006304e-01 6.59235313e-01 -1.64607283e+02] [-9.96067210e-01 -1.07951760e-02 8.79407619e-02 -6.56179941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.94, Y:-164.09, Z:-656.23 [[-1.33270648e-01 9.83183313e-01 1.24857950e-01 2.84936493e+02] [ 3.42887306e-02 1.30480401e-01 -9.90857784e-01 -1.64085771e+02] [-9.90486354e-01 -1.27771038e-01 -5.11013153e-02 -6.56225471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-164.37, Z:-656.36 [[-1.31065173e-01 -3.33921745e-01 -9.33444261e-01 2.85915672e+02] [ 5.57026744e-02 -9.42559464e-01 3.29361305e-01 -1.64365518e+02] [-9.89807624e-01 -8.82754525e-03 1.42137054e-01 -6.56363806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-164.38, Z:-656.48 [[-1.14699547e-01 -3.46440645e-01 -9.31033240e-01 2.85895707e+02] [ 1.00148026e-01 -9.36476465e-01 3.36128254e-01 -1.64382870e+02] [-9.88339206e-01 -5.46873823e-02 1.42108773e-01 -6.56480023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-164.59, Z:-656.52 [[-1.11065706e-01 -6.41890567e-01 -7.58710030e-01 2.85911062e+02] [ 1.02697684e-01 -7.66759194e-01 6.33666729e-01 -1.64588530e+02] [-9.88492587e-01 -7.53912017e-03 1.51081326e-01 -6.56515934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-164.60, Z:-656.53 [[-1.10372748e-01 -6.51578822e-01 -7.50508425e-01 2.85908637e+02] [ 1.04490915e-01 -7.58544542e-01 6.43188795e-01 -1.64595569e+02] [-9.88382267e-01 -7.43079668e-03 1.51806713e-01 -6.56531517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-164.60, Z:-656.54 [[-1.10042336e-01 -6.60527027e-01 -7.42694238e-01 2.85906384e+02] [ 1.06539354e-01 -7.50765925e-01 6.51920158e-01 -1.64602115e+02] [-9.88200410e-01 -7.38734756e-03 1.52988159e-01 -6.56544835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-164.61, Z:-656.55 [[-1.10581692e-01 -6.67106435e-01 -7.36709369e-01 2.85905122e+02] [ 1.09378304e-01 -7.44921546e-01 6.58124818e-01 -1.64608132e+02] [-9.87829983e-01 -7.80346554e-03 1.55341656e-01 -6.56553713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-164.61, Z:-656.56 [[-1.10296225e-01 -6.70506735e-01 -7.33658954e-01 2.85904264e+02] [ 1.11233209e-01 -7.41852766e-01 6.61272748e-01 -1.64610550e+02] [-9.87654756e-01 -8.67135210e-03 1.56406175e-01 -6.56560857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-164.63, Z:-656.56 [[-1.06373410e-01 -6.83175679e-01 -7.22465009e-01 2.85905312e+02] [ 1.03741716e-01 -7.30247394e-01 6.75260246e-01 -1.64627167e+02] [-9.88899567e-01 -3.12002434e-03 1.48552723e-01 -6.56563484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-164.58, Z:-656.61 [[-1.07713747e-01 -6.40123097e-01 -7.60684014e-01 2.85901057e+02] [ 1.17547011e-01 -7.67968697e-01 6.29608435e-01 -1.64581056e+02] [-9.87208412e-01 -2.15986481e-02 1.57965343e-01 -6.56609851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-163.94, Z:-656.61 [[-1.68506566e-01 7.50887251e-01 -6.38571745e-01 2.85371146e+02] [ 1.36407172e-01 -6.23838293e-01 -7.69557579e-01 -1.63939982e+02] [-9.76216482e-01 -2.16781271e-01 2.69444203e-03 -6.56610965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-163.94, Z:-656.74 [[-2.18452181e-01 7.50222793e-01 -6.24054810e-01 2.85363191e+02] [ 1.77781319e-01 -5.98201875e-01 -7.81375915e-01 -1.63939202e+02] [-9.59516778e-01 -2.81638560e-01 -2.69709291e-03 -6.56739532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-163.94, Z:-656.85 [[-2.68170194e-01 7.43214516e-01 -6.12957527e-01 2.85355375e+02] [ 2.17310225e-01 -5.73196251e-01 -7.90077417e-01 -1.63936915e+02] [-9.38541961e-01 -3.45077152e-01 -7.79396397e-03 -6.56851023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-165.07, Z:-657.21 [[-1.91409673e-01 -7.68136875e-01 6.11005792e-01 2.85209751e+02] [ 1.90796586e-01 5.81521484e-01 7.90840962e-01 -1.65069517e+02] [-9.62787100e-01 2.67952429e-01 3.52490561e-02 -6.57205655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-163.88, Z:-657.10 [[-2.53342811e-01 7.63819659e-01 -5.93630314e-01 2.85284848e+02] [ 2.21211221e-01 -5.51648196e-01 -8.04207600e-01 -1.63876904e+02] [-9.41744666e-01 -3.35057901e-01 -2.92093743e-02 -6.57103021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-164.10, Z:-657.14 [[-3.14990281e-01 8.96843173e-01 3.10569550e-01 2.84775679e+02] [ 1.97502070e-01 3.82002877e-01 -9.02810464e-01 -1.64104793e+02] [-9.28317863e-01 -2.23038392e-01 -2.97455577e-01 -6.57138155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-164.64, Z:-657.35 [[-3.23137866e-01 1.77341394e-01 9.29586978e-01 2.84674797e+02] [ 1.26346836e-01 9.81575404e-01 -1.43339469e-01 -1.64639710e+02] [-9.37879735e-01 7.11319631e-02 -3.39590706e-01 -6.57352658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-164.22, Z:-657.67 [[-3.37719229e-01 -3.64554866e-01 -8.67781927e-01 2.85755761e+02] [ 1.25618786e-01 -9.31158600e-01 3.42291664e-01 -1.64223259e+02] [-9.32826695e-01 6.58876491e-03 3.60265104e-01 -6.57672659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-164.21, Z:-657.68 [[-3.37791594e-01 -3.48431078e-01 -8.74352688e-01 2.85750177e+02] [ 1.26323390e-01 -9.37334094e-01 3.24726342e-01 -1.64210893e+02] [-9.32705334e-01 -7.61366809e-04 3.60638572e-01 -6.57678402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-164.22, Z:-657.69 [[-3.35854773e-01 -3.55434170e-01 -8.72277549e-01 2.85749346e+02] [ 1.25496918e-01 -9.34698680e-01 3.32549096e-01 -1.64215741e+02] [-9.33515986e-01 2.22005679e-03 3.58528906e-01 -6.57687585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-164.22, Z:-657.69 [[-3.33934402e-01 -3.54726285e-01 -8.73302398e-01 2.85749367e+02] [ 1.25411570e-01 -9.34969312e-01 3.31819716e-01 -1.64216672e+02] [-9.34216117e-01 1.28379368e-03 3.56705198e-01 -6.57689711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-164.20, Z:-657.71 [[-3.38795694e-01 -3.42167526e-01 -8.76435316e-01 2.85735248e+02] [ 1.34950741e-01 -9.39566440e-01 3.14647744e-01 -1.64199338e+02] [-9.31131449e-01 -1.16742945e-02 3.64496825e-01 -6.57708784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-164.22, Z:-657.72 [[-3.38878296e-01 -3.72377464e-01 -8.64000304e-01 2.85737235e+02] [ 1.37105074e-01 -9.28080677e-01 3.46220243e-01 -1.64218651e+02] [-9.30786603e-01 -1.13229964e-03 3.65561237e-01 -6.57719495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-164.22, Z:-657.73 [[-3.38855885e-01 -3.74262084e-01 -8.63194406e-01 2.85735989e+02] [ 1.38956555e-01 -9.27320389e-01 3.47516866e-01 -1.64219107e+02] [-9.30520159e-01 -2.18838550e-03 3.66234141e-01 -6.57725527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-164.23, Z:-657.73 [[-3.36988470e-01 -3.81143060e-01 -8.60911575e-01 2.85738858e+02] [ 1.36596748e-01 -9.24513177e-01 3.55832423e-01 -1.64226330e+02] [-9.31547154e-01 2.31370275e-03 3.63613184e-01 -6.57730057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-164.21, Z:-657.74 [[-3.39879222e-01 -3.60281927e-01 -8.68722653e-01 2.85729413e+02] [ 1.43115183e-01 -9.32767840e-01 3.30850723e-01 -1.64205841e+02] [-9.29516089e-01 -1.18781149e-02 3.68590222e-01 -6.57737754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-164.93, Z:-657.77 [[-2.67949461e-01 -8.63376271e-01 4.27533041e-01 2.85185559e+02] [ 1.15039481e-01 4.11913233e-01 9.03932191e-01 -1.64926227e+02] [-9.56540122e-01 2.91391323e-01 -1.10495708e-02 -6.57770313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-164.18, Z:-657.85 [[-2.81005412e-01 -3.57347348e-01 -8.90695701e-01 2.85662649e+02] [ 1.16735415e-01 -9.33927863e-01 3.37863270e-01 -1.64175658e+02] [-9.52580076e-01 -9.03432529e-03 3.04153875e-01 -6.57845170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-164.20, Z:-657.85 [[-2.74690914e-01 -3.82275571e-01 -8.82275632e-01 2.85671024e+02] [ 1.08511902e-01 -9.24035056e-01 3.66584754e-01 -1.64197207e+02] [-9.55390009e-01 4.96009412e-03 2.95305483e-01 -6.57848205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-164.17, Z:-657.85 [[-2.74899116e-01 -3.51914630e-01 -8.94755033e-01 2.85663480e+02] [ 1.09565010e-01 -9.36012317e-01 3.34479374e-01 -1.64174149e+02] [-9.55209917e-01 -6.08575933e-03 2.95866489e-01 -6.57854594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-164.17, Z:-657.87 [[-2.79050367e-01 -3.54736181e-01 -8.92352585e-01 2.85656204e+02] [ 1.15742140e-01 -9.34916412e-01 3.35462457e-01 -1.64168419e+02] [-9.53275747e-01 -9.67187656e-03 3.01946693e-01 -6.57869446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-164.20, Z:-657.88 [[-2.73603356e-01 -3.94234487e-01 -8.77337092e-01 2.85665494e+02] [ 1.05490166e-01 -9.18938838e-01 3.80030574e-01 -1.64196813e+02] [-9.56040286e-01 1.14272051e-02 2.93012611e-01 -6.57879436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-164.17, Z:-657.88 [[-2.74292833e-01 -3.62857608e-01 -8.90560384e-01 2.85658345e+02] [ 1.06209118e-01 -9.31844416e-01 3.46966293e-01 -1.64172654e+02] [-9.55763080e-01 5.84734337e-04 2.94137031e-01 -6.57884522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-164.18, Z:-657.91 [[-2.75445383e-01 -3.74067768e-01 -8.85552452e-01 2.85653541e+02] [ 1.08408145e-01 -9.27397685e-01 3.58024032e-01 -1.64175540e+02] [-9.55184545e-01 2.61496798e-03 2.95999403e-01 -6.57905651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-164.18, Z:-657.94 [[-2.74282164e-01 -3.89396190e-01 -8.79283744e-01 2.85646803e+02] [ 1.12146573e-01 -9.21063026e-01 3.72915604e-01 -1.64181765e+02] [-9.55087661e-01 3.67544071e-03 2.96300609e-01 -6.57937693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-164.19, Z:-657.96 [[-2.71595203e-01 -4.04765207e-01 -8.73155870e-01 2.85644759e+02] [ 1.08710703e-01 -9.14354318e-01 3.90048927e-01 -1.64190954e+02] [-9.56252074e-01 1.10140294e-02 2.92336557e-01 -6.57961875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-164.18, Z:-657.98 [[-2.71771027e-01 -3.99406590e-01 -8.75565466e-01 2.85638639e+02] [ 1.11052143e-01 -9.16746779e-01 3.83722249e-01 -1.64183194e+02] [-9.55933016e-01 7.05116851e-03 2.93500172e-01 -6.57978655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-164.17, Z:-658.03 [[-2.75351964e-01 -4.03959005e-01 -8.72352233e-01 2.85620886e+02] [ 1.22345387e-01 -9.14776805e-01 3.84987018e-01 -1.64174709e+02] [-9.53526561e-01 -7.21340559e-04 3.01308110e-01 -6.58028297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-164.20, Z:-658.04 [[-2.75144201e-01 -4.44178718e-01 -8.52643498e-01 2.85624356e+02] [ 1.23632756e-01 -8.95857630e-01 4.26795089e-01 -1.64200959e+02] [-9.53420479e-01 1.20155284e-02 3.01405071e-01 -6.58039192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-164.22, Z:-658.05 [[-2.68040470e-01 -4.59040827e-01 -8.47015836e-01 2.85629481e+02] [ 1.17318585e-01 -8.88196690e-01 4.44233034e-01 -1.64216148e+02] [-9.56237761e-01 1.97017322e-02 2.91926678e-01 -6.58048488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-164.20, Z:-658.07 [[-2.66085355e-01 -4.35913922e-01 -8.59754405e-01 2.85621241e+02] [ 1.20898314e-01 -8.99956985e-01 4.18880678e-01 -1.64196227e+02] [-9.56337902e-01 7.51515591e-03 2.92166632e-01 -6.58069521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-164.19, Z:-658.12 [[-2.66547171e-01 -4.39893295e-01 -8.57581772e-01 2.85606140e+02] [ 1.33846051e-01 -8.98044739e-01 4.19047588e-01 -1.64188253e+02] [-9.54483023e-01 -3.08798421e-03 2.98249265e-01 -6.58119872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:-163.69, Z:-658.03 [[-3.03177987e-01 7.19838424e-01 -6.24432344e-01 2.85059801e+02] [ 1.74892574e-01 -6.02111152e-01 -7.79021661e-01 -1.63688590e+02] [-9.36747402e-01 -3.45390799e-01 5.66524523e-02 -6.58030048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.45, Y:-164.05, Z:-658.02 [[-3.55758896e-01 7.93429575e-01 4.93867509e-01 2.84453919e+02] [ 1.43035084e-01 5.68438408e-01 -8.10196730e-01 -1.64050049e+02] [-9.23567308e-01 -2.17594314e-01 -3.15715287e-01 -6.58017723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:-164.71, Z:-658.30 [[-3.39513259e-01 -2.80402596e-01 8.97833577e-01 2.84575737e+02] [ 8.52590285e-02 9.41427956e-01 3.26258030e-01 -1.64705931e+02] [-9.36729227e-01 1.87317345e-01 -2.95720421e-01 -6.58295774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-163.97, Z:-658.65 [[-3.41304631e-01 -2.46146613e-01 -9.07151031e-01 2.85438304e+02] [ 8.42415698e-02 -9.69229324e-01 2.31296079e-01 -1.63973512e+02] [-9.36170127e-01 2.52259612e-03 3.51538234e-01 -6.58648473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-163.94, Z:-658.66 [[-3.52241121e-01 -2.13796546e-01 -9.11162571e-01 2.85413485e+02] [ 1.00563241e-01 -9.76568179e-01 1.90267248e-01 -1.63943350e+02] [-9.30490853e-01 -2.46095121e-02 3.65487543e-01 -6.58662213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-163.97, Z:-658.68 [[-3.50959166e-01 -2.67906645e-01 -8.97247844e-01 2.85422706e+02] [ 1.04489860e-01 -9.63418426e-01 2.46793042e-01 -1.63974948e+02] [-9.30542601e-01 -7.13902158e-03 3.66114056e-01 -6.58677830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-163.97, Z:-658.69 [[-3.49394314e-01 -2.71319018e-01 -8.96833097e-01 2.85419015e+02] [ 1.10134776e-01 -9.62414235e-01 2.48252235e-01 -1.63974495e+02] [-9.30480491e-01 -1.20345930e-02 3.66143721e-01 -6.58689796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:-163.65, Z:-658.49 [[-4.18781597e-01 8.94668662e-01 -1.55531217e-01 2.84610100e+02] [ 9.36001146e-02 -1.27833583e-01 -9.87369026e-01 -1.63649829e+02] [-9.03250238e-01 -4.28049718e-01 -3.02067371e-02 -6.58486489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:-163.65, Z:-658.60 [[-4.80571949e-01 8.65945694e-01 -1.38523126e-01 2.84582223e+02] [ 1.00957786e-01 -1.02278581e-01 -9.89619431e-01 -1.63646525e+02] [-8.71124634e-01 -4.89568327e-01 -3.82717429e-02 -6.58599578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:-163.64, Z:-658.71 [[-5.39943282e-01 8.32370472e-01 -1.24982595e-01 2.84547279e+02] [ 1.06926577e-01 -7.94530449e-02 -9.91087242e-01 -1.63640949e+02] [-8.34882003e-01 -5.48494859e-01 -4.61023880e-02 -6.58712984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:-163.63, Z:-658.82 [[-5.98010816e-01 7.93344749e-01 -1.13961282e-01 2.84508008e+02] [ 1.11651167e-01 -5.83413391e-02 -9.92033419e-01 -1.63634858e+02] [-7.93673158e-01 -6.05970624e-01 -5.36891152e-02 -6.58820253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.88, Y:-164.64, Z:-659.38 [[-4.99132778e-01 -8.58498555e-01 1.17672005e-01 2.84884564e+02] [ 1.27171766e-01 6.17526661e-02 9.89956540e-01 -1.64643617e+02] [-8.57142819e-01 5.09084315e-01 7.83539971e-02 -6.59378973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.36, Y:-163.60, Z:-659.04 [[-5.99986140e-01 7.91546495e-01 -1.16063681e-01 2.84360671e+02] [ 1.13680663e-01 -5.92501146e-02 -9.91749026e-01 -1.63603085e+02] [-7.91892252e-01 -6.08229867e-01 -5.44342824e-02 -6.59043295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:-164.61, Z:-659.60 [[-4.97329787e-01 -8.59390897e-01 1.18787077e-01 2.84739802e+02] [ 1.26516187e-01 6.36145317e-02 9.89922646e-01 -1.64611934e+02] [-8.58287095e-01 5.07346507e-01 7.70894579e-02 -6.59595582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:-164.60, Z:-659.67 [[-4.38014938e-01 -8.89738431e-01 1.28485164e-01 2.84651236e+02] [ 1.20756491e-01 8.33962952e-02 9.89172850e-01 -1.64600166e+02] [-8.90820287e-01 4.48787903e-01 7.09128681e-02 -6.59670912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.56, Y:-164.59, Z:-659.76 [[-3.77159338e-01 -9.15590555e-01 1.39444504e-01 2.84564307e+02] [ 1.13111094e-01 1.03899165e-01 9.88135033e-01 -1.64588841e+02] [-9.19215271e-01 3.88457076e-01 6.43769092e-02 -6.59757213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:-163.52, Z:-659.52 [[-4.87292134e-01 8.60537358e-01 -1.48397543e-01 2.84039498e+02] [ 1.07746608e-01 -1.09389521e-01 -9.88141994e-01 -1.63522329e+02] [-8.66566238e-01 -4.97503153e-01 -3.94153281e-02 -6.59520237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.45, Y:-164.56, Z:-660.00 [[-3.77625036e-01 -9.14843288e-01 1.43042272e-01 2.84447667e+02] [ 1.15782827e-01 1.06615966e-01 9.87536011e-01 -1.64560930e+02] [-9.18691281e-01 3.89480160e-01 6.56622839e-02 -6.59997529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.92, Y:-163.49, Z:-659.77 [[-4.86892905e-01 8.60341105e-01 -1.50826001e-01 2.83922033e+02] [ 1.07267887e-01 -1.12473030e-01 -9.87847872e-01 -1.63490592e+02] [-8.66849987e-01 -4.97154907e-01 -3.75246518e-02 -6.59765234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.89, Y:-163.48, Z:-659.88 [[-5.44143204e-01 8.28243205e-01 -1.33870712e-01 2.83886477e+02] [ 1.11512317e-01 -8.67489801e-02 -9.89969503e-01 -1.63484934e+02] [-8.31548662e-01 -5.53613411e-01 -4.51554508e-02 -6.59875523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:-163.48, Z:-659.98 [[-5.99158969e-01 7.92175525e-01 -1.16045112e-01 2.83842905e+02] [ 1.12413538e-01 -6.02690714e-02 -9.91832060e-01 -1.63478448e+02] [-7.92699014e-01 -6.07310116e-01 -5.29404988e-02 -6.59981353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-164.49, Z:-660.54 [[-4.97587605e-01 -8.58532938e-01 1.23805370e-01 2.84226763e+02] [ 1.38384100e-01 6.23306369e-02 9.88415263e-01 -1.64490798e+02] [-8.56303928e-01 5.08955878e-01 8.77923557e-02 -6.60543216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:-163.72, Z:-660.66 [[-5.18386722e-01 -2.59622900e-01 -8.14782889e-01 2.84428984e+02] [ 1.61009152e-01 -9.65390868e-01 2.05174375e-01 -1.63721430e+02] [-8.39851927e-01 -2.48278306e-02 5.42247470e-01 -6.60660244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-163.70, Z:-660.71 [[-5.23152915e-01 -2.58392737e-01 -8.12123280e-01 2.84389603e+02] [ 1.74398381e-01 -9.65222068e-01 1.94760272e-01 -1.63704506e+02] [-8.34203951e-01 -3.97435815e-02 5.50022014e-01 -6.60708981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:-163.41, Z:-660.34 [[-5.92894941e-01 7.79764283e-01 -2.01105078e-01 2.83659767e+02] [ 1.45993438e-01 -1.41511527e-01 -9.79112049e-01 -1.63407336e+02] [-7.91935291e-01 -6.09870602e-01 -2.99389999e-02 -6.60339471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-163.69, Z:-660.89 [[-5.74727925e-01 -2.79973193e-01 -7.68962173e-01 2.84315665e+02] [ 1.83980573e-01 -9.59806475e-01 2.11949712e-01 -1.63693383e+02] [-7.97395110e-01 -1.96606827e-02 6.03137212e-01 -6.60891006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-163.70, Z:-660.88 [[-5.73794129e-01 -2.81002284e-01 -7.69284092e-01 2.84323777e+02] [ 1.83871980e-01 -9.59518324e-01 2.13344043e-01 -1.63695856e+02] [-7.98092346e-01 -1.90342294e-02 6.02234428e-01 -6.60879758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-163.69, Z:-660.89 [[-5.72599000e-01 -2.81616574e-01 -7.69949667e-01 2.84317822e+02] [ 1.83794647e-01 -9.59341653e-01 2.14203455e-01 -1.63693705e+02] [-7.98968030e-01 -1.88599429e-02 6.01077690e-01 -6.60887544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-163.69, Z:-660.89 [[-5.72004100e-01 -2.82736808e-01 -7.69981303e-01 2.84314473e+02] [ 1.83836030e-01 -9.59024187e-01 2.15585072e-01 -1.63693574e+02] [-7.99384528e-01 -1.82347607e-02 6.00542979e-01 -6.60893121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-163.69, Z:-660.91 [[-5.71227498e-01 -2.84508322e-01 -7.69905293e-01 2.84305926e+02] [ 1.86053156e-01 -9.58469630e-01 2.16148542e-01 -1.63691985e+02] [-7.99426900e-01 -1.97733184e-02 6.00437879e-01 -6.60905680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:-163.34, Z:-660.55 [[-6.30178991e-01 6.56525753e-01 -4.14545986e-01 2.83734864e+02] [ 1.93586592e-01 -3.84188144e-01 -9.02731245e-01 -1.63335655e+02] [-7.51929964e-01 -6.49132810e-01 1.15012714e-01 -6.60554692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:-163.90, Z:-660.43 [[-6.57280415e-01 4.92918832e-01 5.70099536e-01 2.83242324e+02] [ 1.10294405e-01 8.11224247e-01 -5.74238944e-01 -1.63896889e+02] [-7.45531757e-01 -3.14557223e-01 -5.87567999e-01 -6.60430828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-163.61, Z:-661.17 [[-6.50680650e-01 -2.22327722e-01 -7.26075117e-01 2.84148965e+02] [ 1.52619193e-01 -9.74956162e-01 1.61764842e-01 -1.63606628e+02] [-7.43856218e-01 -5.55574553e-03 6.68316587e-01 -6.61173781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:-163.58, Z:-661.19 [[-6.55980824e-01 -2.05262538e-01 -7.26330813e-01 2.84116910e+02] [ 1.60706470e-01 -9.78228770e-01 1.31308429e-01 -1.63584005e+02] [-7.37470399e-01 -3.05902494e-02 6.74686332e-01 -6.61189332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:-163.60, Z:-661.20 [[-6.55793188e-01 -2.22043825e-01 -7.21548221e-01 2.84114743e+02] [ 1.62454494e-01 -9.74883082e-01 1.52353252e-01 -1.63595665e+02] [-7.37254252e-01 -1.73065262e-02 6.75393702e-01 -6.61201297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:-163.30, Z:-660.76 [[-7.15583372e-01 6.41614821e-01 -2.76171792e-01 2.83517220e+02] [ 1.49212671e-01 -2.45835431e-01 -9.57758070e-01 -1.63302571e+02] [-6.82404584e-01 -7.26564080e-01 8.01786857e-02 -6.60759536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:-163.29, Z:-660.85 [[-7.57049634e-01 5.90260944e-01 -2.80121170e-01 2.83473162e+02] [ 1.65781668e-01 -2.41168201e-01 -9.56218771e-01 -1.63293642e+02] [-6.31974913e-01 -7.70344025e-01 8.47218544e-02 -6.60851074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:-163.28, Z:-660.94 [[-7.88796747e-01 5.39727731e-01 -2.94098058e-01 2.83438905e+02] [ 1.89133440e-01 -2.42131168e-01 -9.51630726e-01 -1.63277230e+02] [-5.84831799e-01 -8.06266999e-01 8.89117155e-02 -6.60937579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.08, Y:-163.73, Z:-660.75 [[-8.18270764e-01 4.60826671e-01 3.43615681e-01 2.83078730e+02] [ 1.27371988e-01 7.28260255e-01 -6.73359769e-01 -1.63727381e+02] [-5.60543784e-01 -5.07223600e-01 -6.54610484e-01 -6.60747631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.08, Y:-164.26, Z:-661.04 [[-8.03624534e-01 -1.30089011e-01 5.80744743e-01 2.83079507e+02] [ 6.66416826e-02 9.50010292e-01 3.05023493e-01 -1.64257090e+02] [-5.91393688e-01 2.83826170e-01 -7.54782228e-01 -6.61036622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.37, Y:-164.29, Z:-661.60 [[-7.57900381e-01 -6.33802792e-01 1.54534891e-01 2.83374176e+02] [ 7.74408432e-02 1.47799899e-01 9.85980784e-01 -1.64290355e+02] [-6.47757615e-01 7.59242524e-01 -6.29353772e-02 -6.61601992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:-164.28, Z:-661.64 [[-7.21367206e-01 -6.78627062e-01 1.38183450e-01 2.83290608e+02] [ 5.89804245e-02 1.38603730e-01 9.88590065e-01 -1.64284292e+02] [-6.90036712e-01 7.21286571e-01 -5.99584733e-02 -6.61635012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:-163.41, Z:-661.78 [[-7.23594711e-01 -8.50966882e-02 -6.84959304e-01 2.83482852e+02] [ 5.44747443e-02 -9.96316190e-01 6.62310462e-02 -1.63407634e+02] [-6.88072087e-01 1.06114517e-02 7.25564746e-01 -6.61776539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:-163.39, Z:-661.77 [[-7.29668534e-01 -6.14925560e-02 -6.81030467e-01 2.83463671e+02] [ 5.37074684e-02 -9.98025339e-01 3.25719338e-02 -1.63385016e+02] [-6.81688594e-01 -1.28097071e-02 7.31530295e-01 -6.61768895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:-164.21, Z:-661.76 [[-6.81941546e-01 -7.31290800e-01 1.30189915e-02 2.83257451e+02] [ 6.67865846e-02 -4.45343612e-02 9.96772914e-01 -1.64211657e+02] [-7.28351069e-01 6.80610356e-01 7.92102460e-02 -6.61763409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:-163.39, Z:-661.82 [[-6.81794422e-01 -7.98936772e-02 -7.27168046e-01 2.83380072e+02] [ 5.23077445e-02 -9.96798273e-01 6.04739872e-02 -1.63393269e+02] [-7.29671341e-01 3.19430674e-03 6.83790560e-01 -6.61817531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:-163.17, Z:-661.39 [[-7.09869419e-01 6.79084946e-01 -1.86893137e-01 2.82768648e+02] [ 6.21510456e-02 -2.03918392e-01 -9.77013069e-01 -1.63172279e+02] [-7.01585815e-01 -7.05167303e-01 1.02549591e-01 -6.61386146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:-164.28, Z:-661.85 [[-6.88349796e-01 -6.94586048e-01 2.09104712e-01 2.82969325e+02] [ 7.13814437e-02 2.22008424e-01 9.72428377e-01 -1.64280266e+02] [-7.21858191e-01 6.84297072e-01 -1.03238899e-01 -6.61852736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:-163.39, Z:-662.00 [[-6.77369012e-01 -8.40580245e-02 -7.30825198e-01 2.83212122e+02] [ 3.91058950e-02 -9.96160134e-01 7.83308125e-02 -1.63389200e+02] [-7.34603261e-01 2.44792916e-02 6.78055170e-01 -6.62004993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:-163.37, Z:-662.01 [[-6.81628140e-01 -6.66334370e-02 -7.28658400e-01 2.83192871e+02] [ 4.27847413e-02 -9.97770524e-01 5.12196054e-02 -1.63372734e+02] [-7.30446812e-01 3.73726328e-03 6.82959361e-01 -6.62005154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:-164.19, Z:-662.01 [[-6.39895374e-01 -7.67896653e-01 2.94727112e-02 2.82962111e+02] [ 7.35573368e-02 -2.30290986e-02 9.97025064e-01 -1.64191429e+02] [-7.64933480e-01 6.40159661e-01 7.12206464e-02 -6.62011325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:-163.39, Z:-662.07 [[-6.26216461e-01 -9.53812608e-02 -7.73792840e-01 2.83117347e+02] [ 3.95167230e-02 -9.95095765e-01 9.06799116e-02 -1.63391559e+02] [-7.78647142e-01 2.62074961e-02 6.26914504e-01 -6.62065622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:-163.37, Z:-662.06 [[-6.31554160e-01 -7.61314450e-02 -7.71584957e-01 2.83101498e+02] [ 4.50960611e-02 -9.97089662e-01 6.14699279e-02 -1.63374662e+02] [-7.74019179e-01 4.02614625e-03 6.33149352e-01 -6.62062671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:-163.38, Z:-662.08 [[-6.31398996e-01 -9.37549786e-02 -7.69769649e-01 2.83098451e+02] [ 4.91291281e-02 -9.95506538e-01 8.09509859e-02 -1.63383742e+02] [-7.73900276e-01 1.32942595e-02 6.33167929e-01 -6.62076235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:-164.20, Z:-662.08 [[-5.82588300e-01 -8.10067018e-01 6.61989315e-02 2.82834463e+02] [ 7.46909298e-02 2.77438829e-02 9.96820717e-01 -1.64199648e+02] [-8.09328201e-01 5.85680547e-01 4.43413972e-02 -6.62075314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:-163.39, Z:-662.14 [[-5.72922223e-01 -1.08866501e-01 -8.12347347e-01 2.83017663e+02] [ 4.61348794e-02 -9.93851343e-01 1.00653275e-01 -1.63389881e+02] [-8.18310271e-01 2.01889511e-02 5.74422063e-01 -6.62140985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:-163.37, Z:-662.15 [[-5.77160115e-01 -9.49986169e-02 -8.11086595e-01 2.82996399e+02] [ 5.47038292e-02 -9.95477299e-01 7.76687700e-02 -1.63374329e+02] [-8.14796719e-01 4.57773626e-04 5.79746581e-01 -6.62151126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:-163.39, Z:-662.20 [[-5.74668333e-01 -1.16041407e-01 -8.10117707e-01 2.82971802e+02] [ 5.55929124e-02 -9.93144969e-01 1.02822654e-01 -1.63388756e+02] [-8.16496010e-01 1.40521207e-02 5.77180044e-01 -6.62202935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:-163.38, Z:-662.16 [[-5.76048040e-01 -1.07681674e-01 -8.10292116e-01 2.82993037e+02] [ 6.20371757e-02 -9.94185329e-01 8.80165877e-02 -1.63383849e+02] [-8.15058307e-01 4.33548515e-04 5.79378777e-01 -6.62160158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:-163.39, Z:-662.18 [[-5.75403420e-01 -1.19853478e-01 -8.09040202e-01 2.82983177e+02] [ 6.61544859e-02 -9.92783403e-01 1.00023492e-01 -1.63390776e+02] [-8.15189848e-01 4.03222067e-03 5.79179810e-01 -6.62180989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:-163.39, Z:-662.18 [[-5.74866821e-01 -1.23460904e-01 -8.08879190e-01 2.82981287e+02] [ 6.87500927e-02 -9.92343706e-01 1.02603090e-01 -1.63393956e+02] [-8.15353643e-01 3.37259291e-03 5.78953420e-01 -6.62184735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:-163.14, Z:-661.85 [[-6.18484762e-01 7.58962367e-01 -2.03599423e-01 2.82322851e+02] [ 7.42194525e-02 -2.01519283e-01 -9.76668547e-01 -1.63137526e+02] [-7.82283882e-01 -6.19165651e-01 6.83068344e-02 -6.61848937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:-163.13, Z:-661.96 [[-6.69347183e-01 7.12720386e-01 -2.09771305e-01 2.82283262e+02] [ 8.83285441e-02 -2.04006587e-01 -9.74976605e-01 -1.63132931e+02] [-7.37680431e-01 -6.71126638e-01 7.35976799e-02 -6.61957011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:-163.13, Z:-662.06 [[-7.16762700e-01 6.63339855e-01 -2.15015041e-01 2.82237757e+02] [ 1.02701989e-01 -2.04561303e-01 -9.73451065e-01 -1.63127243e+02] [-6.89712645e-01 -7.19815886e-01 7.84955888e-02 -6.62059929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:-164.20, Z:-662.53 [[-6.62942765e-01 -7.10463278e-01 2.36111883e-01 2.82379756e+02] [ 1.10642496e-01 2.18938692e-01 9.69445247e-01 -1.64204775e+02] [-7.40449274e-01 6.68810721e-01 -6.65363911e-02 -6.62530814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:-164.19, Z:-662.59 [[-6.13353841e-01 -7.55895082e-01 2.28953470e-01 2.82289676e+02] [ 9.51702344e-02 2.17038301e-01 9.71512739e-01 -1.64185150e+02] [-7.84053373e-01 6.17670626e-01 -6.11825633e-02 -6.62588283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:-164.17, Z:-662.66 [[-5.60900498e-01 -7.97649930e-01 2.21687213e-01 2.82200367e+02] [ 8.07790597e-02 2.13768095e-01 9.73538877e-01 -1.64166684e+02] [-8.23932870e-01 5.63966126e-01 -5.54692195e-02 -6.62658676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:-163.07, Z:-662.45 [[-6.19568236e-01 7.58701825e-01 -2.01262868e-01 2.81832387e+02] [ 7.43507632e-02 -1.98527294e-01 -9.77271138e-01 -1.63069679e+02] [-7.81413569e-01 -6.20450203e-01 6.65911457e-02 -6.62448804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.41, Y:-163.34, Z:-662.93 [[-6.21683194e-01 -1.39635946e-01 -7.70721615e-01 2.82413829e+02] [ 8.08073319e-02 -9.90164479e-01 1.14212437e-01 -1.63343108e+02] [-7.79089328e-01 8.72399531e-03 6.26852224e-01 -6.62934838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-163.33, Z:-662.95 [[-6.23873277e-01 -1.26184628e-01 -7.71271401e-01 2.82395888e+02] [ 8.18191693e-02 -9.92001800e-01 9.61147852e-02 -1.63332016e+02] [-7.77230827e-01 -3.14133934e-03 6.29207735e-01 -6.62947255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-163.33, Z:-662.94 [[-6.27883904e-01 -1.26807203e-01 -7.67907375e-01 2.82397137e+02] [ 8.21644317e-02 -9.91924407e-01 9.66176880e-02 -1.63334358e+02] [-7.73957886e-01 -2.42998184e-03 6.33232411e-01 -6.62942251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-163.34, Z:-662.95 [[-6.28858501e-01 -1.33231674e-01 -7.66019782e-01 2.82396315e+02] [ 8.11639063e-02 -9.91075485e-01 1.05744049e-01 -1.63340032e+02] [-7.73271884e-01 4.32488603e-03 6.34059847e-01 -6.62946430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:-163.34, Z:-662.96 [[-6.27661912e-01 -1.35044847e-01 -7.66683385e-01 2.82389807e+02] [ 8.09845480e-02 -9.90822280e-01 1.08225284e-01 -1.63340735e+02] [-7.74262247e-01 5.83938161e-03 6.32837953e-01 -6.62956791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-163.35, Z:-662.95 [[-6.24667257e-01 -1.36601613e-01 -7.68850322e-01 2.82399071e+02] [ 7.49405711e-02 -9.90523125e-01 1.15099302e-01 -1.63348854e+02] [-7.77286774e-01 1.42806833e-02 6.28984367e-01 -6.62949800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:-163.34, Z:-662.95 [[-6.27027739e-01 -1.25226989e-01 -7.68865668e-01 2.82385524e+02] [ 7.87078801e-02 -9.92127960e-01 9.74021552e-02 -1.63336831e+02] [-7.75010506e-01 5.58066424e-04 6.31948103e-01 -6.62953930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:-163.35, Z:-662.96 [[-6.22497698e-01 -1.39853740e-01 -7.70024381e-01 2.82390231e+02] [ 7.33894087e-02 -9.89999611e-01 1.20477238e-01 -1.63352233e+02] [-7.79173030e-01 1.84851694e-02 6.26536262e-01 -6.62962907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:-163.34, Z:-662.96 [[-6.27112554e-01 -1.22307659e-01 -7.69266327e-01 2.82376144e+02] [ 8.01046523e-02 -9.92485646e-01 9.24958757e-02 -1.63336766e+02] [-7.74798741e-01 -3.61648678e-03 6.32197621e-01 -6.62961154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:-163.35, Z:-662.97 [[-6.27405947e-01 -1.38223061e-01 -7.66326407e-01 2.82372960e+02] [ 8.21917734e-02 -9.90377284e-01 1.11343380e-01 -1.63347516e+02] [-7.74342489e-01 6.87177236e-03 6.32729396e-01 -6.62973069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:-163.35, Z:-662.97 [[-6.27372404e-01 -1.39750850e-01 -7.66076737e-01 2.82372157e+02] [ 8.32499479e-02 -9.90163529e-01 1.12452801e-01 -1.63350174e+02] [-7.74256620e-01 6.77393551e-03 6.32835524e-01 -6.62974294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:-164.09, Z:-662.97 [[-5.67875079e-01 -8.19505338e-01 7.69993196e-02 2.82070625e+02] [ 1.02515606e-01 2.24015108e-02 9.94479121e-01 -1.64088558e+02] [-8.16705850e-01 5.72633542e-01 7.12908269e-02 -6.62965852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:-163.09, Z:-662.66 [[-6.10540786e-01 7.88891171e-01 -6.99333215e-02 2.81587368e+02] [ 7.81533963e-02 -2.78572771e-02 -9.96552065e-01 -1.63093942e+02] [-7.88119277e-01 -6.13901208e-01 -4.46465205e-02 -6.62664685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:-163.33, Z:-663.24 [[-6.25923975e-01 -1.44130415e-01 -7.66449999e-01 2.82171460e+02] [ 9.55136361e-02 -9.89543106e-01 1.08081393e-01 -1.63326221e+02] [-7.74013128e-01 -5.55569150e-03 6.33145174e-01 -6.63239476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:-163.33, Z:-663.27 [[-6.29708143e-01 -1.52887861e-01 -7.61638338e-01 2.82140382e+02] [ 1.02309018e-01 -9.88223644e-01 1.13784421e-01 -1.63326686e+02] [-7.70065270e-01 -6.27149415e-03 6.37934282e-01 -6.63273664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:-164.05, Z:-663.27 [[-5.64106328e-01 -8.21812919e-01 8.00473466e-02 2.81838037e+02] [ 1.21776868e-01 1.30803407e-02 9.92471309e-01 -1.64045915e+02] [-8.16672790e-01 5.69607261e-01 9.26991005e-02 -6.63270159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:-163.98, Z:-663.00 [[-5.26606482e-01 -2.88011740e-01 7.99834265e-01 2.81245969e+02] [ 5.35351386e-02 9.27757832e-01 3.69322886e-01 -1.63980736e+02] [-8.48421830e-01 2.37307064e-01 -4.73144540e-01 -6.62999946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:-163.25, Z:-662.99 [[-5.79408555e-01 6.93720651e-01 4.27828688e-01 2.81074922e+02] [-1.04157338e-02 5.18573936e-01 -8.54969347e-01 -1.63250638e+02] [-8.14970699e-01 -4.99832704e-01 -2.93240565e-01 -6.62990393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:-163.18, Z:-663.58 [[-6.09985365e-01 2.67627391e-02 -7.91960612e-01 2.81848971e+02] [ 5.65926148e-03 -9.99256884e-01 -3.81267925e-02 -1.63182586e+02] [-7.92392471e-01 -2.77386976e-02 6.09380618e-01 -6.63575667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:-163.94, Z:-663.59 [[-5.35419463e-01 -8.41555715e-01 -7.14841000e-02 2.81656687e+02] [ 3.88984063e-02 -1.09119077e-01 9.93267306e-01 -1.63943284e+02] [-8.43690057e-01 5.29034030e-01 9.11596539e-02 -6.63592791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-163.80, Z:-663.25 [[-5.20214268e-01 -8.83400861e-02 8.49454616e-01 2.80908732e+02] [-5.50390431e-02 9.96036059e-01 6.98775597e-02 -1.63800347e+02] [-8.52260418e-01 -1.04018657e-02 -5.23014323e-01 -6.63254667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:-163.09, Z:-663.43 [[-5.82374856e-01 7.62905595e-01 2.80739347e-01 2.80881478e+02] [-8.56975501e-02 2.85805994e-01 -9.54447937e-01 -1.63093071e+02] [-8.08390659e-01 -5.79905154e-01 -1.01067084e-01 -6.63428168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-163.11, Z:-663.54 [[-6.30720819e-01 7.09044541e-01 3.15352321e-01 2.80825234e+02] [-1.17884677e-01 3.14114901e-01 -9.42037702e-01 -1.63114401e+02] [-7.67003553e-01 -6.31337998e-01 -1.14533321e-01 -6.63538153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.47, Y:-163.11, Z:-664.10 [[-6.53862844e-01 1.72115374e-01 -7.36776546e-01 2.81472777e+02] [-8.86912984e-02 -9.84504693e-01 -1.51275783e-01 -1.63114381e+02] [-7.51396856e-01 -3.35679454e-02 6.58996175e-01 -6.64096094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:-163.96, Z:-664.03 [[-5.75532104e-01 -8.13745502e-01 -8.11236997e-02 2.81339701e+02] [-7.66426224e-02 -4.50903157e-02 9.96038539e-01 -1.63958004e+02] [-8.14179775e-01 5.79469689e-01 -3.64166650e-02 -6.64028443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:-163.03, Z:-663.85 [[-6.36775184e-01 7.64630840e-01 9.92826449e-02 2.80740186e+02] [-1.14664622e-01 3.34231586e-02 -9.92841839e-01 -1.63033326e+02] [-7.62475829e-01 -6.43601252e-01 6.63930683e-02 -6.63848442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:-163.15, Z:-664.32 [[-6.48736884e-01 1.54785666e-01 -7.45105263e-01 2.81318766e+02] [-8.77497290e-02 -9.87780916e-01 -1.28797697e-01 -1.63151892e+02] [-7.55936797e-01 -1.81730316e-02 6.54392314e-01 -6.64320499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:-163.90, Z:-664.32 [[-5.84076793e-01 -7.69302325e-01 -2.58898113e-01 2.81244637e+02] [-5.71646115e-02 -2.79180881e-01 9.58535468e-01 -1.63904752e+02] [-8.09682967e-01 5.74658132e-01 1.19086205e-01 -6.64320805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.09, Y:-163.99, Z:-664.35 [[-5.25884910e-01 -8.42997473e-01 -1.13138514e-01 2.81090527e+02] [-5.12783490e-02 -1.01352369e-01 9.93528172e-01 -1.63985736e+02] [-8.49008594e-01 5.28283029e-01 1.00721627e-02 -6.64353049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:-164.00, Z:-664.44 [[-4.69880872e-01 -8.74897861e-01 -1.17327318e-01 2.81002410e+02] [-4.62563654e-02 -1.08327575e-01 9.93038511e-01 -1.63996605e+02] [-8.81517053e-01 4.72036937e-01 1.04314604e-02 -6.64437959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:-163.21, Z:-664.58 [[-4.79712740e-01 1.17951899e-01 -8.69461348e-01 2.81053165e+02] [-5.24074894e-02 -9.93005769e-01 -1.05796970e-01 -1.63209659e+02] [-8.75859088e-01 -5.18586790e-03 4.82539081e-01 -6.64575332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:-163.21, Z:-664.58 [[-4.79610258e-01 1.09396421e-01 -8.70635643e-01 2.81053526e+02] [-5.23564695e-02 -9.93998082e-01 -9.60552600e-02 -1.63214408e+02] [-8.75918261e-01 -4.85679499e-04 4.82459287e-01 -6.64581150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:-163.21, Z:-664.59 [[-4.79547751e-01 1.08405534e-01 -8.70794003e-01 2.81051105e+02] [-5.22230661e-02 -9.94106752e-01 -9.49974612e-02 -1.63214735e+02] [-8.75960448e-01 -8.02861457e-05 4.82382926e-01 -6.64585859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:-163.12, Z:-664.33 [[-5.24675845e-01 8.35762415e-01 1.61914929e-01 2.80296694e+02] [-7.06492600e-02 1.46792858e-01 -9.86641039e-01 -1.63117758e+02] [-8.48365452e-01 -5.29105891e-01 -1.79726707e-02 -6.64332159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:-163.89, Z:-664.35 [[-5.04504360e-01 -1.87713953e-01 8.42756681e-01 2.80185221e+02] [-1.26994160e-01 9.81597282e-01 1.42615777e-01 -1.63888965e+02] [-8.54018638e-01 -3.50748958e-02 -5.19058684e-01 -6.64354807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:-163.15, Z:-664.89 [[-5.26464949e-01 2.39118028e-01 -8.15878194e-01 2.80860055e+02] [-1.27506784e-01 -9.70987357e-01 -2.02300700e-01 -1.63152029e+02] [-8.40581155e-01 -2.47422271e-03 5.41679980e-01 -6.64885196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:-163.16, Z:-664.92 [[-5.29052549e-01 2.34415099e-01 -8.15569103e-01 2.80836269e+02] [-1.20311429e-01 -9.72100232e-01 -2.01361115e-01 -1.63158570e+02] [-8.40017000e-01 -8.40832643e-03 5.42494921e-01 -6.64924415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-163.16, Z:-664.94 [[-5.29732186e-01 2.25098774e-01 -8.17749566e-01 2.80834008e+02] [-1.17279900e-01 -9.74317955e-01 -1.92223691e-01 -1.63163433e+02] [-8.40017402e-01 -5.92148887e-03 5.42527142e-01 -6.64935120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-163.17, Z:-664.94 [[-5.30879832e-01 2.21110632e-01 -8.18093327e-01 2.80830536e+02] [-1.12383763e-01 -9.75204679e-01 -1.90645547e-01 -1.63165129e+02] [-8.39962198e-01 -9.26946989e-03 5.42565741e-01 -6.64942431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-163.17, Z:-664.95 [[-5.31302588e-01 2.18785770e-01 -8.18443857e-01 2.80825967e+02] [-1.09429068e-01 -9.75707792e-01 -1.89788258e-01 -1.63166649e+02] [-8.40085019e-01 -1.12734439e-02 5.42337598e-01 -6.64950841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.80, Y:-163.92, Z:-664.98 [[-4.55694082e-01 -8.20217149e-01 -3.45813146e-01 2.80804715e+02] [-7.83371085e-02 -3.50033576e-01 9.33455834e-01 -1.63922068e+02] [-8.86682695e-01 4.52460301e-01 9.52547892e-02 -6.64977006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:-163.22, Z:-664.75 [[-5.26266068e-01 7.77934293e-01 3.43310736e-01 2.79956373e+02] [-1.35261499e-01 3.22014714e-01 -9.37022332e-01 -1.63217595e+02] [-8.39492914e-01 -5.39559783e-01 -6.42408583e-02 -6.64751919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:-163.23, Z:-664.87 [[-5.80148739e-01 7.34248081e-01 3.52572258e-01 2.79907310e+02] [-1.55719638e-01 3.24895247e-01 -9.32842148e-01 -1.63226789e+02] [-7.99486607e-01 -5.96089620e-01 -7.41507224e-02 -6.64872173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.23, Y:-164.15, Z:-665.08 [[-4.99137082e-01 -7.62822359e-01 4.11052578e-01 2.80226097e+02] [-1.80477346e-01 5.55484830e-01 8.11704707e-01 -1.64145664e+02] [-8.47519971e-01 3.30966241e-01 -4.14935232e-01 -6.65081153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:-163.17, Z:-665.46 [[-5.35161558e-01 3.15249145e-01 -7.83721943e-01 2.80477291e+02] [-1.62557473e-01 -9.48848467e-01 -2.70668902e-01 -1.63174563e+02] [-8.28961504e-01 -1.74517328e-02 5.59033328e-01 -6.65457545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:-163.17, Z:-665.46 [[-5.35006343e-01 3.13606819e-01 -7.84486441e-01 2.80474750e+02] [-1.61521829e-01 -9.49393389e-01 -2.69375004e-01 -1.63173262e+02] [-8.29264079e-01 -1.74056508e-02 5.58585831e-01 -6.65460757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-163.18, Z:-665.50 [[-5.36601116e-01 3.09706996e-01 -7.84946380e-01 2.80448831e+02] [-1.55750721e-01 -9.50580554e-01 -2.68585783e-01 -1.63182517e+02] [-8.29337661e-01 -2.18674662e-02 5.58319674e-01 -6.65502309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-163.19, Z:-665.51 [[-5.36362023e-01 3.01845879e-01 -7.88165494e-01 2.80446920e+02] [-1.54312841e-01 -9.53189660e-01 -2.60032727e-01 -1.63186857e+02] [-8.29761006e-01 -1.78476229e-02 5.57833430e-01 -6.65512045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:-163.20, Z:-665.56 [[-5.38247816e-01 2.96769084e-01 -7.88807581e-01 2.80419290e+02] [-1.47276953e-01 -9.54670844e-01 -2.58675625e-01 -1.63196508e+02] [-8.29818527e-01 -2.30584132e-02 5.57556743e-01 -6.65556244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:-163.20, Z:-665.56 [[-5.37641788e-01 2.87842312e-01 -7.92520102e-01 2.80419456e+02] [-1.46002161e-01 -9.57508420e-01 -2.48718706e-01 -1.63199365e+02] [-8.30436438e-01 -1.80119220e-02 5.56822138e-01 -6.65561836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:-163.20, Z:-665.58 [[-5.38175310e-01 2.85535697e-01 -7.92992246e-01 2.80406562e+02] [-1.42991238e-01 -9.58158162e-01 -2.47964600e-01 -1.63203035e+02] [-8.30614738e-01 -2.00574829e-02 5.56486168e-01 -6.65582238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:-163.21, Z:-665.59 [[-5.38402468e-01 2.81578547e-01 -7.94252041e-01 2.80403570e+02] [-1.41950337e-01 -9.59358560e-01 -2.43887793e-01 -1.63206210e+02] [-8.30646065e-01 -1.85654450e-02 5.56491186e-01 -6.65590417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:-163.21, Z:-665.61 [[-5.39237179e-01 2.78603102e-01 -7.94734909e-01 2.80390879e+02] [-1.38795769e-01 -9.60189184e-01 -2.42430330e-01 -1.63210025e+02] [-8.30637706e-01 -2.04216043e-02 5.56438639e-01 -6.65611954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:-163.98, Z:-665.64 [[-4.60470795e-01 -7.93474609e-01 -3.97950614e-01 2.80434822e+02] [-1.14210167e-01 -3.91622565e-01 9.13010298e-01 -1.63976190e+02] [-8.80296930e-01 4.65864584e-01 8.97078861e-02 -6.65643005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.35, Y:-164.01, Z:-665.74 [[-4.02329021e-01 -8.31185607e-01 -3.83747111e-01 2.80350485e+02] [-8.74801555e-02 -3.82346735e-01 9.19868576e-01 -1.64014403e+02] [-9.11305976e-01 4.03660081e-01 8.11169414e-02 -6.65736341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-163.31, Z:-666.04 [[-4.33224647e-01 2.34236994e-01 -8.70315710e-01 2.80131382e+02] [-8.17540748e-02 -9.71869852e-01 -2.20873862e-01 -1.63306755e+02] [-8.97570430e-01 -2.45361454e-02 4.40187802e-01 -6.66041283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:-163.47, Z:-665.52 [[-4.80167408e-01 6.68882223e-01 5.67482010e-01 2.79362722e+02] [-1.68163655e-01 5.64747625e-01 -8.07948702e-01 -1.63474378e+02] [-8.60906642e-01 -4.83380483e-01 -1.58691724e-01 -6.65523494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:-164.23, Z:-665.84 [[-3.83059665e-01 -9.14909690e-01 1.27301033e-01 2.80001640e+02] [-1.48580799e-01 1.97045602e-01 9.69070058e-01 -1.64229385e+02] [-9.11695694e-01 3.52297163e-01 -2.11418235e-01 -6.65842937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:-164.23, Z:-665.96 [[-3.20771986e-01 -9.44593669e-01 6.96285465e-02 2.79955397e+02] [-1.55589447e-01 1.25065258e-01 9.79872750e-01 -1.64230360e+02] [-9.34289707e-01 3.03482261e-01 -1.87086238e-01 -6.65956846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:-164.24, Z:-666.14 [[-2.57281472e-01 -9.66326580e-01 -4.38007574e-03 2.79903320e+02] [-1.58816112e-01 3.78124041e-02 9.86583836e-01 -1.64241763e+02] [-9.53196563e-01 2.54525368e-01 -1.63196662e-01 -6.66137833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.78, Y:-163.25, Z:-666.38 [[-3.04710583e-01 5.16647921e-01 -8.00141479e-01 2.79784945e+02] [-1.55813556e-01 -8.55814302e-01 -4.93258569e-01 -1.63249886e+02] [-9.39613536e-01 -2.56282168e-02 3.41276424e-01 -6.66379589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.08, Y:-163.96, Z:-666.01 [[-2.77730716e-01 9.47756349e-02 9.55972400e-01 2.79078834e+02] [-2.57245825e-01 9.51442389e-01 -1.69062019e-01 -1.63962584e+02] [-9.25575624e-01 -2.92873624e-01 -2.39864139e-01 -6.66012960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:-163.20, Z:-666.42 [[-3.11449010e-01 6.23643999e-01 -7.16985130e-01 2.79703726e+02] [-2.26654968e-01 -7.81488712e-01 -5.81294176e-01 -1.63201847e+02] [-9.22836410e-01 -1.85352541e-02 3.84745897e-01 -6.66424914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.63, Y:-163.26, Z:-666.65 [[-3.12638211e-01 6.20447564e-01 -7.19237213e-01 2.79632272e+02] [-2.26842998e-01 -7.84053218e-01 -5.77756701e-01 -1.63257088e+02] [-9.22387990e-01 -1.74748959e-02 3.85869181e-01 -6.66649929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:-164.38, Z:-666.54 [[-2.09602637e-01 -9.28415557e-01 3.06775633e-01 2.79582946e+02] [-2.48141302e-01 3.53980501e-01 9.01733719e-01 -1.64382773e+02] [-9.45776204e-01 1.12882061e-01 -3.04573491e-01 -6.66538145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:-163.22, Z:-666.60 [[-2.52490814e-01 7.53157174e-01 -6.07455891e-01 2.79510773e+02] [-2.50416402e-01 -6.57271309e-01 -7.10834757e-01 -1.63216021e+02] [-9.34633626e-01 -2.73623276e-02 3.54557877e-01 -6.66597670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:-163.22, Z:-666.61 [[-2.51694355e-01 7.17122515e-01 -6.49911724e-01 2.79540173e+02] [-2.50405845e-01 -6.96917738e-01 -6.72013824e-01 -1.63222774e+02] [-9.34851253e-01 -6.40039194e-03 3.54981930e-01 -6.66613750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.47, Y:-163.30, Z:-666.90 [[-2.54244116e-01 7.13709382e-01 -6.52670551e-01 2.79465799e+02] [-2.47302409e-01 -7.00386377e-01 -6.69552418e-01 -1.63296912e+02] [-9.34987405e-01 -8.82276323e-03 3.54571165e-01 -6.66903485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-164.32, Z:-666.41 [[-1.92892870e-01 -5.81144514e-01 7.90609509e-01 2.79228978e+02] [-2.96497567e-01 8.02597144e-01 5.17616669e-01 -1.64316465e+02] [-9.35351021e-01 -1.34569231e-01 -3.27123201e-01 -6.66405664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:-163.23, Z:-666.79 [[-2.12353194e-01 8.27047386e-01 -5.20479339e-01 2.79372605e+02] [-3.08836641e-01 -5.62127985e-01 -7.67223604e-01 -1.63234866e+02] [-9.27106278e-01 -2.17929207e-03 3.74792209e-01 -6.66793065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:-163.27, Z:-666.90 [[-2.27892656e-01 8.21718973e-01 -5.22343629e-01 2.79354704e+02] [-2.98603367e-01 -5.69591271e-01 -7.65768773e-01 -1.63269896e+02] [-9.26769101e-01 -1.85395134e-02 3.75173720e-01 -6.66896524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:-163.37, Z:-667.22 [[-2.30026189e-01 7.93703198e-01 -5.63136915e-01 2.79306893e+02] [-2.95289606e-01 -6.08296902e-01 -7.36735317e-01 -1.63368202e+02] [-9.27303619e-01 -3.17993971e-03 3.74296523e-01 -6.67223718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:-164.28, Z:-666.64 [[-1.84263277e-01 -3.25157711e-01 9.27534101e-01 2.79010997e+02] [-3.50567764e-01 9.03367254e-01 2.47042199e-01 -1.64276036e+02] [-9.18231609e-01 -2.79642750e-01 -2.80447222e-01 -6.66644754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:-163.30, Z:-667.08 [[-2.11436012e-01 8.69191053e-01 -4.46991864e-01 2.79252046e+02] [-3.60174004e-01 -4.94436677e-01 -7.91079680e-01 -1.63296425e+02] [-9.08608552e-01 -6.26788312e-03 4.17601741e-01 -6.67084960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:-163.30, Z:-667.10 [[-2.13982957e-01 8.67404593e-01 -4.49244439e-01 2.79250320e+02] [-3.58995066e-01 -4.97543972e-01 -7.89666093e-01 -1.63300532e+02] [-9.08478859e-01 -7.69854921e-03 4.17859899e-01 -6.67098302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:-163.31, Z:-667.12 [[-2.17587372e-01 8.65468832e-01 -4.51242105e-01 2.79247010e+02] [-3.57284308e-01 -5.00856618e-01 -7.88346733e-01 -1.63307575e+02] [-9.08297121e-01 -1.03125704e-02 4.18198508e-01 -6.67118031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.24, Y:-163.31, Z:-667.14 [[-2.22622823e-01 8.61912718e-01 -4.55571669e-01 2.79244157e+02] [-3.54738867e-01 -5.06882410e-01 -7.85640222e-01 -1.63313558e+02] [-9.08074565e-01 -1.32924663e-02 4.18597534e-01 -6.67136612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.24, Y:-163.33, Z:-667.17 [[-2.27368855e-01 8.58311213e-01 -4.60005723e-01 2.79239350e+02] [-3.51599455e-01 -5.12869603e-01 -7.83161920e-01 -1.63325640e+02] [-9.08119611e-01 -1.63288677e-02 4.18392329e-01 -6.67170016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.19, Y:-163.42, Z:-667.42 [[-2.34756489e-01 8.49246884e-01 -4.72936698e-01 2.79192451e+02] [-3.42278312e-01 -5.27592183e-01 -7.77490865e-01 -1.63415338e+02] [-9.09799400e-01 -2.06450509e-02 4.14534478e-01 -6.67418726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.77, Y:-164.13, Z:-666.96 [[-2.13605825e-01 1.41817518e-01 9.66571437e-01 2.78769111e+02] [-4.23225122e-01 8.78305269e-01 -2.22396832e-01 -1.64131511e+02] [-8.80484553e-01 -4.56582573e-01 -1.27590385e-01 -6.66961503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:-163.42, Z:-667.48 [[-2.61006255e-01 8.64389915e-01 -4.29774138e-01 2.79163022e+02] [-3.97733260e-01 -5.01954723e-01 -7.68016738e-01 -1.63418275e+02] [-8.79593081e-01 -2.95217038e-02 4.74809941e-01 -6.67484660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-163.42, Z:-667.50 [[-2.63193656e-01 8.52836668e-01 -4.50997469e-01 2.79173875e+02] [-3.95222994e-01 -5.21765968e-01 -7.56015251e-01 -1.63421448e+02] [-8.80072659e-01 -2.07338483e-02 4.74386154e-01 -6.67497754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-163.43, Z:-667.51 [[-2.66657030e-01 8.50627916e-01 -4.53129316e-01 2.79169550e+02] [-3.91479114e-01 -5.25216045e-01 -7.55574093e-01 -1.63427779e+02] [-8.80703203e-01 -2.40884805e-02 4.73055614e-01 -6.67514586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-163.43, Z:-667.52 [[-2.69072962e-01 8.48940746e-01 -4.54861903e-01 2.79168347e+02] [-3.90063135e-01 -5.27868655e-01 -7.54457045e-01 -1.63430226e+02] [-8.80596668e-01 -2.55791315e-02 4.73175672e-01 -6.67521480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-163.43, Z:-667.53 [[-2.71299248e-01 8.47068501e-01 -4.57024806e-01 2.79166494e+02] [-3.87717979e-01 -5.30784194e-01 -7.53619870e-01 -1.63433073e+02] [-8.80949197e-01 -2.72597695e-02 4.72425040e-01 -6.67529830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:-163.44, Z:-667.54 [[-2.72964216e-01 8.45535588e-01 -4.58868289e-01 2.79164654e+02] [-3.86262999e-01 -5.33173252e-01 -7.52679998e-01 -1.63436795e+02] [-8.81074022e-01 -2.82108641e-02 4.72136331e-01 -6.67539716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-163.45, Z:-667.60 [[-2.65462631e-01 8.35188708e-01 -4.81652794e-01 2.79167841e+02] [-3.76066377e-01 -5.49704336e-01 -7.45921728e-01 -1.63454933e+02] [-8.87752033e-01 -1.68809238e-02 4.60012351e-01 -6.67602516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:-163.95, Z:-667.39 [[-3.04677094e-01 6.03633620e-01 7.36748479e-01 2.78633025e+02] [-4.52837871e-01 5.88701319e-01 -6.69603330e-01 -1.63947858e+02] [-8.37919883e-01 -5.37640409e-01 9.39843570e-02 -6.67387581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-164.59, Z:-667.30 [[-2.05042314e-01 -7.21709223e-01 6.61130431e-01 2.79111123e+02] [-4.99860693e-01 6.57963496e-01 5.63225821e-01 -1.64589321e+02] [-8.41484959e-01 -2.14987990e-01 -4.95664430e-01 -6.67296958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.02, Y:-163.58, Z:-667.94 [[-2.68289351e-01 8.80796042e-01 -3.90152735e-01 2.79018317e+02] [-4.63485065e-01 -4.73065275e-01 -7.49260195e-01 -1.63582457e+02] [-8.44513125e-01 -2.01885660e-02 5.35154187e-01 -6.67940411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.56, Y:-164.20, Z:-667.60 [[-2.71866648e-01 3.73517882e-01 8.86889462e-01 2.78560546e+02] [-5.59793029e-01 6.88249828e-01 -4.61458491e-01 -1.64200275e+02] [-7.82764518e-01 -6.21929711e-01 2.19805326e-02 -6.67603124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:-164.23, Z:-668.12 [[-2.39267139e-01 -4.09657638e-01 -8.80302139e-01 2.79642368e+02] [-4.52102739e-01 -7.55350919e-01 4.74392352e-01 -1.64227260e+02] [-8.59275480e-01 5.11493509e-01 -4.47668645e-03 -6.68121359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.60, Y:-164.30, Z:-668.20 [[-2.11601585e-01 -4.22885234e-01 -8.81131573e-01 2.79604536e+02] [-3.99351520e-01 -7.85441525e-01 4.72863589e-01 -1.64299819e+02] [-8.92044356e-01 4.51939917e-01 -2.67918916e-03 -6.68195992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:-163.83, Z:-668.28 [[-2.50807374e-01 8.86724771e-01 -3.88348866e-01 2.78878628e+02] [-4.24961285e-01 -4.61303155e-01 -7.78849989e-01 -1.63830572e+02] [-8.69772135e-01 -3.03080875e-02 4.92521931e-01 -6.68284145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:-163.82, Z:-668.27 [[-2.53253402e-01 8.85330025e-01 -3.89940329e-01 2.78882759e+02] [-4.24834249e-01 -4.63914467e-01 -7.77366856e-01 -1.63823163e+02] [-8.69125178e-01 -3.12107942e-02 4.93606433e-01 -6.68271173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-164.56, Z:-668.03 [[-2.40851118e-01 2.74030744e-01 9.31073515e-01 2.78421719e+02] [-5.14536310e-01 7.77359250e-01 -3.61890842e-01 -1.64560609e+02] [-8.22947826e-01 -5.66232945e-01 -4.62290764e-02 -6.68030323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.19, Y:-165.07, Z:-668.28 [[-1.33326185e-01 -9.82404555e-01 1.30787683e-01 2.79190409e+02] [-5.01943769e-01 1.80723450e-01 8.45808186e-01 -1.65071342e+02] [-8.54562216e-01 4.71203165e-02 -5.17207013e-01 -6.68277178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.71, Y:-164.00, Z:-668.63 [[-2.21719269e-01 9.33843908e-01 -2.80670841e-01 2.78708003e+02] [-4.91960981e-01 -3.55644390e-01 -7.94664371e-01 -1.64004506e+02] [-8.41911491e-01 -3.81133015e-02 5.38267979e-01 -6.68633206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:-164.14, Z:-668.88 [[-2.20078033e-01 9.24545076e-01 -3.11098156e-01 2.78672304e+02] [-4.83591927e-01 -3.80375063e-01 -7.88323322e-01 -1.64135308e+02] [-8.47174426e-01 -2.30480896e-02 5.30814730e-01 -6.68884026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:-164.83, Z:-668.24 [[-1.72902036e-01 -2.02311427e-02 9.84731226e-01 2.78425729e+02] [-5.77008627e-01 8.12342241e-01 -8.46234511e-02 -1.64829482e+02] [-7.98226741e-01 -5.82829979e-01 -1.52129171e-01 -6.68244742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.60, Y:-164.27, Z:-669.10 [[-2.35033330e-01 9.35688900e-01 -2.63145617e-01 2.78599526e+02] [-5.42101306e-01 -3.50901131e-01 -7.63540811e-01 -1.64267340e+02] [-8.06774757e-01 -3.68059568e-02 5.89711636e-01 -6.69101150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:-165.28, Z:-668.61 [[-1.53692978e-01 -5.01533920e-01 8.51376647e-01 2.78553353e+02] [-6.17705420e-01 7.21271434e-01 3.13380811e-01 -1.65275153e+02] [-7.71244762e-01 -4.77735539e-01 -4.20654575e-01 -6.68605571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:-164.93, Z:-668.88 [[-9.87331651e-02 -7.42331719e-01 -6.62718176e-01 2.79374702e+02] [-5.52075779e-01 -5.13222521e-01 6.57126303e-01 -1.64931521e+02] [-8.27927591e-01 4.30750813e-01 -3.59151278e-01 -6.68879716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-164.31, Z:-669.12 [[-1.47433388e-01 9.75894315e-01 -1.60915143e-01 2.78488659e+02] [-5.65701087e-01 -2.16656331e-01 -7.95639563e-01 -1.64306873e+02] [-8.11323410e-01 -2.62739651e-02 5.84006851e-01 -6.69116336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-164.31, Z:-669.12 [[-1.48242244e-01 9.74271291e-01 -1.69763627e-01 2.78493055e+02] [-5.65031640e-01 -2.24323530e-01 -7.93988791e-01 -1.64306540e+02] [-8.11642460e-01 -2.17808590e-02 5.83748329e-01 -6.69120759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-164.32, Z:-669.14 [[-1.50369247e-01 9.73654957e-01 -1.71420868e-01 2.78491411e+02] [-5.64353120e-01 -2.26902454e-01 -7.93738517e-01 -1.64318566e+02] [-8.11723257e-01 -2.26119610e-02 5.83604364e-01 -6.69138282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-164.34, Z:-669.18 [[-1.56496080e-01 9.72151777e-01 -1.74441680e-01 2.78488391e+02] [-5.62788124e-01 -2.32911558e-01 -7.93108904e-01 -1.64343659e+02] [-8.11651714e-01 -2.59447286e-02 5.83565220e-01 -6.69175941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:-164.54, Z:-669.47 [[-1.59505643e-01 9.68879641e-01 -1.89288644e-01 2.78449517e+02] [-5.58903313e-01 -2.46683199e-01 -7.91690903e-01 -1.64539277e+02] [-8.13747527e-01 -2.04851159e-02 5.80857404e-01 -6.69472859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-165.32, Z:-668.68 [[-7.03696319e-02 -5.58169928e-01 8.26737230e-01 2.78543202e+02] [-6.24742122e-01 6.70775687e-01 3.99696459e-01 -1.65320147e+02] [-7.77653777e-01 -4.88371078e-01 -3.95914503e-01 -6.68678748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:-164.81, Z:-669.35 [[-8.14587651e-02 -2.21995254e-01 -9.71639119e-01 2.79258506e+02] [-5.32151212e-01 -8.14603384e-01 2.30730177e-01 -1.64809616e+02] [-8.42721518e-01 5.35853930e-01 -5.17784575e-02 -6.69348595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:-165.27, Z:-669.15 [[-9.07385310e-02 1.99322141e-01 9.75723938e-01 2.78152586e+02] [-6.33425832e-01 7.44482977e-01 -2.10990079e-01 -1.65274291e+02] [-7.68464856e-01 -6.37193677e-01 5.87025015e-02 -6.69145783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-165.60, Z:-669.47 [[-1.83293302e-03 -9.33867862e-01 -3.57613558e-01 2.79170166e+02] [-5.77639019e-01 -2.90928690e-01 7.62688443e-01 -1.65595525e+02] [-8.16290269e-01 2.07969502e-01 -5.38905263e-01 -6.69474839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-164.75, Z:-669.68 [[-6.04106271e-02 9.97669622e-01 -3.17156233e-02 2.78300633e+02] [-5.99422284e-01 -6.16659620e-02 -7.98054030e-01 -1.64746993e+02] [-7.98150037e-01 -2.91998930e-02 6.01750684e-01 -6.69684433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:-164.99, Z:-669.71 [[-2.88625858e-02 -5.60889049e-02 -9.98008510e-01 2.79156863e+02] [-5.12870150e-01 -8.56155151e-01 6.29489257e-02 -1.64988254e+02] [-8.57980863e-01 5.13665643e-01 -4.05547354e-03 -6.69713835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-164.85, Z:-669.79 [[-5.77497435e-02 9.97552590e-01 -3.94182395e-02 2.78300127e+02] [-5.36742088e-01 -6.43163551e-02 -8.41291470e-01 -1.64851168e+02] [-8.41767722e-01 -2.74269384e-02 5.39142713e-01 -6.69790246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:-165.60, Z:-669.46 [[-2.67193188e-02 7.36906265e-02 9.96923151e-01 2.78142636e+02] [-6.16715325e-01 7.83657188e-01 -7.44554908e-02 -1.65596351e+02] [-7.86732665e-01 -6.16807185e-01 2.45073524e-02 -6.69463076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-164.93, Z:-669.97 [[-6.59754308e-02 9.96697984e-01 -4.73325600e-02 2.78301437e+02] [-5.98900366e-01 -7.74957332e-02 -7.97065093e-01 -1.64934461e+02] [-7.98101243e-01 -2.42392254e-02 6.02035602e-01 -6.69967088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-164.96, Z:-670.00 [[-7.09586365e-02 9.96274287e-01 -4.90144612e-02 2.78302467e+02] [-5.97555923e-01 -8.18025960e-02 -7.97643564e-01 -1.64961356e+02] [-7.98681283e-01 -2.73108181e-02 6.01134202e-01 -6.70003554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.32, Y:-164.96, Z:-670.02 [[-6.91817291e-02 9.94939024e-01 -7.28713006e-02 2.78316018e+02] [-5.89093658e-01 -9.96939341e-02 -8.01891378e-01 -1.64955917e+02] [-8.05097851e-01 -1.25482110e-02 5.93009268e-01 -6.70019522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:-165.66, Z:-669.67 [[-5.02187376e-02 1.52734742e-01 9.86990465e-01 2.78114588e+02] [-6.66074017e-01 7.31246831e-01 -1.47049235e-01 -1.65657241e+02] [-7.44193176e-01 -6.64793330e-01 6.50103506e-02 -6.69670779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.10, Y:-165.71, Z:-669.79 [[-6.72124105e-02 1.63374843e-01 9.84271890e-01 2.78104389e+02] [-7.11550560e-01 6.83687535e-01 -1.62071450e-01 -1.65705249e+02] [-6.99412820e-01 -7.11252427e-01 7.02971738e-02 -6.69788552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:-166.03, Z:-669.77 [[ 2.82717673e-02 -9.89150907e-01 1.44156823e-01 2.78897307e+02] [-7.01302841e-01 8.31377704e-02 7.07998896e-01 -1.66030147e+02] [-7.12302627e-01 -1.21113970e-01 -6.91343890e-01 -6.69773892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:-165.33, Z:-670.52 [[-2.15081322e-02 9.99661262e-01 -1.46547442e-02 2.78241470e+02] [-7.08567617e-01 -2.55828500e-02 -7.05179020e-01 -1.65331050e+02] [-7.05315059e-01 -4.78320641e-03 7.08877837e-01 -6.70517024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.736559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.93, Y:-166.04, Z:-669.81 [[ 1.05322536e-01 -9.89710181e-01 9.68551557e-02 2.78930962e+02] [-6.98129777e-01 -4.22800749e-03 7.15958755e-01 -1.66044243e+02] [-7.08182165e-01 -1.43024060e-01 -6.91391452e-01 -6.69811735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:-165.42, Z:-670.56 [[ 5.65591641e-02 9.95523989e-01 7.57169018e-02 2.78214064e+02] [-7.14804724e-01 9.33235279e-02 -6.93069207e-01 -1.65424971e+02] [-6.97033190e-01 -1.49233841e-02 7.16883551e-01 -6.70558989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:-166.04, Z:-669.87 [[ 1.80958787e-01 -9.82829170e-01 -3.60657702e-02 2.78995247e+02] [-6.84922460e-01 -1.52255042e-01 7.12530439e-01 -1.66035438e+02] [-7.05786895e-01 -1.04236388e-01 -7.00713661e-01 -6.69867446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.19, Y:-165.52, Z:-670.61 [[ 1.35008524e-01 9.78989224e-01 1.52816221e-01 2.78192875e+02] [-7.09062570e-01 2.03185838e-01 -6.75237579e-01 -1.65520981e+02] [-6.92100405e-01 -1.71934331e-02 7.21596435e-01 -6.70605916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.04, Y:-166.03, Z:-669.93 [[ 2.53302062e-01 -9.54631773e-01 -1.56576640e-01 2.79044688e+02] [-6.62344967e-01 -2.89110657e-01 6.91168701e-01 -1.66027150e+02] [-7.05079578e-01 -7.13667076e-02 -7.05527875e-01 -6.69930393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.18, Y:-165.62, Z:-670.66 [[ 2.12433680e-01 9.51136361e-01 2.24079348e-01 2.78176574e+02] [-6.91721246e-01 3.08341928e-01 -6.53029076e-01 -1.65622220e+02] [-6.90212757e-01 -1.62750762e-02 7.23423439e-01 -6.70658456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.18, Y:-165.64, Z:-670.68 [[ 2.13310120e-01 9.50934788e-01 2.24102255e-01 2.78184150e+02] [-6.90565585e-01 3.09014495e-01 -6.53933647e-01 -1.65643384e+02] [-6.91099099e-01 -1.52666403e-02 7.22598758e-01 -6.70680792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.03, Y:-165.53, Z:-670.68 [[ 2.01818216e-01 2.64974594e-01 -9.42898654e-01 2.79032313e+02] [-6.20052643e-01 -7.10653484e-01 -3.32424949e-01 -1.65528547e+02] [-7.58158379e-01 6.51736213e-01 2.08753791e-02 -6.70683046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.22, Y:-165.75, Z:-670.78 [[ 1.95967299e-01 9.49510065e-01 2.45005010e-01 2.78216944e+02] [-6.45068659e-01 3.13003076e-01 -6.97076394e-01 -1.65747799e+02] [-7.38568374e-01 -2.14408750e-02 6.73837551e-01 -6.70777304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-165.75, Z:-670.81 [[ 1.97300335e-01 9.55386503e-01 2.19793559e-01 2.78234612e+02] [-6.40248514e-01 2.95357358e-01 -7.09116261e-01 -1.65750057e+02] [-7.42397750e-01 -8.13623874e-04 6.69958894e-01 -6.70811521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-165.78, Z:-670.83 [[ 1.97190479e-01 9.48699018e-01 2.47155999e-01 2.78230369e+02] [-6.40638868e-01 3.15528192e-01 -7.00017000e-01 -1.65782457e+02] [-7.42090126e-01 -2.03010520e-02 6.69992621e-01 -6.70828355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-165.81, Z:-670.85 [[ 1.96292186e-01 9.47198466e-01 2.53543772e-01 2.78234605e+02] [-6.43633938e-01 3.19535934e-01 -6.95436655e-01 -1.65810430e+02] [-7.39732878e-01 -2.66805953e-02 6.72371486e-01 -6.70847676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.06, Y:-165.68, Z:-670.87 [[ 1.76654109e-01 3.14514389e-01 -9.32670373e-01 2.79062918e+02] [-5.71437313e-01 -7.38753123e-01 -3.57355874e-01 -1.65678924e+02] [-8.01406715e-01 5.96091036e-01 4.92214825e-02 -6.70874664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:-166.61, Z:-670.47 [[ 2.27426895e-01 -2.87662748e-01 9.30337117e-01 2.78411878e+02] [-6.41054864e-01 6.74930556e-01 3.65400337e-01 -1.66606692e+02] [-7.33025012e-01 -6.79498998e-01 -3.09102436e-02 -6.70474912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:-166.67, Z:-670.56 [[ 2.46628939e-01 -2.76562704e-01 9.28809581e-01 2.78435905e+02] [-6.85157538e-01 6.28047100e-01 3.68939003e-01 -1.66673062e+02] [-6.85370932e-01 -7.27371921e-01 -3.45944316e-02 -6.70558607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.15, Y:-165.94, Z:-671.19 [[ 1.96253636e-01 3.05063749e-01 -9.31890884e-01 2.79150127e+02] [-6.20333806e-01 -6.97387898e-01 -3.58937444e-01 -1.65943442e+02] [-7.59388227e-01 6.48526197e-01 5.23764459e-02 -6.71192595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:-166.02, Z:-671.27 [[ 1.75339371e-01 3.13792101e-01 -9.33161627e-01 2.79177430e+02] [-5.71680818e-01 -7.39221981e-01 -3.55994250e-01 -1.66017818e+02] [-8.01521770e-01 5.95890410e-01 4.97742075e-02 -6.71269850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:-166.22, Z:-671.35 [[ 1.75657149e-01 9.55850878e-01 2.35570933e-01 2.78393603e+02] [-5.95021418e-01 2.93721634e-01 -7.48115709e-01 -1.66218137e+02] [-7.84279337e-01 -8.75787795e-03 6.20346049e-01 -6.71352230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:-166.25, Z:-671.37 [[ 1.75162933e-01 9.50269557e-01 2.57498964e-01 2.78390762e+02] [-5.98159421e-01 3.10454275e-01 -7.38798654e-01 -1.66250454e+02] [-7.81999523e-01 -2.46152923e-02 6.22792769e-01 -6.71370456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:-166.26, Z:-671.40 [[ 1.75229156e-01 9.53875948e-01 2.43752782e-01 2.78402273e+02] [-5.97808939e-01 2.99803708e-01 -7.43466347e-01 -1.66262345e+02] [-7.82252655e-01 -1.54406116e-02 6.22769919e-01 -6.71398843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:-166.28, Z:-671.43 [[ 1.77663102e-01 9.53479696e-01 2.43541148e-01 2.78409025e+02] [-5.97039525e-01 3.01163489e-01 -7.43535042e-01 -1.66281111e+02] [-7.82291268e-01 -1.33049492e-02 6.22770705e-01 -6.71425055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:-166.30, Z:-671.45 [[ 1.78587066e-01 9.53610329e-01 2.42350985e-01 2.78414982e+02] [-5.96515763e-01 3.00817070e-01 -7.44095448e-01 -1.66298711e+02] [-7.82480418e-01 -1.16803603e-02 6.22565631e-01 -6.71450698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-166.32, Z:-671.47 [[ 1.79580679e-01 9.52095067e-01 2.47519219e-01 2.78417883e+02] [-5.96983967e-01 3.05455988e-01 -7.41826653e-01 -1.66321311e+02] [-7.81895724e-01 -1.45472712e-02 6.23239484e-01 -6.71474766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-166.34, Z:-671.50 [[ 1.85519172e-01 9.51490473e-01 2.45455733e-01 2.78424966e+02] [-5.95827448e-01 3.07557580e-01 -7.41888123e-01 -1.66338901e+02] [-7.81391252e-01 -8.61479281e-03 6.23981968e-01 -6.71498981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:-166.36, Z:-671.52 [[ 1.87716212e-01 9.50531347e-01 2.47492993e-01 2.78429668e+02] [-5.95087845e-01 3.10522080e-01 -7.41246582e-01 -1.66359502e+02] [-7.81430151e-01 -8.13607148e-03 6.23939680e-01 -6.71524891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:-166.38, Z:-671.55 [[ 1.88794734e-01 9.51149446e-01 2.44277056e-01 2.78435009e+02] [-5.93907765e-01 3.08693336e-01 -7.42954905e-01 -1.66377504e+02] [-7.82067846e-01 -4.81206679e-03 6.23174718e-01 -6.71552451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:-166.40, Z:-671.58 [[ 1.92594795e-01 9.50156902e-01 2.45171588e-01 2.78441408e+02] [-5.93141968e-01 3.11762416e-01 -7.42284852e-01 -1.66397050e+02] [-7.81722362e-01 -2.46135950e-03 6.23621753e-01 -6.71575506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:-166.42, Z:-671.60 [[ 1.97374721e-01 9.48612310e-01 2.47341676e-01 2.78445344e+02] [-5.90771123e-01 3.16440436e-01 -7.42196019e-01 -1.66418058e+02] [-7.82325188e-01 3.68412048e-04 6.22870102e-01 -6.71600448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:-166.44, Z:-671.63 [[ 1.99809326e-01 9.48902102e-01 2.44256082e-01 2.78449347e+02] [-5.89052196e-01 3.15534577e-01 -7.43945859e-01 -1.66436239e+02] [-7.83003029e-01 4.76773945e-03 6.21999618e-01 -6.71627807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:-166.45, Z:-671.65 [[ 2.01199116e-01 9.49429036e-01 2.41046515e-01 2.78456206e+02] [-5.88425414e-01 3.13877613e-01 -7.45141850e-01 -1.66453961e+02] [-7.83118413e-01 8.08398624e-03 6.21820071e-01 -6.71654481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:-166.47, Z:-671.68 [[ 2.02414995e-01 9.49248537e-01 2.40739247e-01 2.78462250e+02] [-5.87893355e-01 3.14388253e-01 -7.45346517e-01 -1.66473025e+02] [-7.83204682e-01 9.34030821e-03 6.21693803e-01 -6.71680656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.47, Y:-166.48, Z:-671.71 [[ 2.04689631e-01 9.50910065e-01 2.32103864e-01 2.78473121e+02] [-5.85141362e-01 3.08963287e-01 -7.49767480e-01 -1.66482589e+02] [-7.84673016e-01 1.76560581e-02 6.19658392e-01 -6.71708624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6965599949999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:278.47, Y:-166.50, Z:-671.73 [[ 2.06201160e-01 9.47609394e-01 2.43962125e-01 2.78473879e+02] [-5.83272244e-01 3.19216346e-01 -7.46923299e-01 -1.66503579e+02] [-7.85668232e-01 1.17201144e-02 6.18537038e-01 -6.71732205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:-166.54, Z:-671.75 [[ 2.06230623e-01 9.41149731e-01 2.67779974e-01 2.78468888e+02] [-5.86268532e-01 3.37950654e-01 -7.36259848e-01 -1.66538092e+02] [-7.83427175e-01 -5.15164500e-03 6.21462245e-01 -6.71747069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-166.54, Z:-671.78 [[ 2.06492760e-01 9.48485197e-01 2.40284356e-01 2.78485445e+02] [-5.86101198e-01 3.16547165e-01 -7.45844004e-01 -1.66544736e+02] [-7.83483328e-01 1.31804373e-02 6.21273008e-01 -6.71779864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-166.56, Z:-671.81 [[ 2.06735590e-01 9.49830751e-01 2.34695419e-01 2.78494352e+02] [-5.83889925e-01 3.12252443e-01 -7.49380389e-01 -1.66557493e+02] [-7.85068756e-01 1.78873059e-02 6.19150299e-01 -6.71806587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:-166.58, Z:-671.83 [[ 2.06201888e-01 9.47650628e-01 2.43801288e-01 2.78497185e+02] [-5.83483948e-01 3.19093197e-01 -7.46810562e-01 -1.66580717e+02] [-7.85510830e-01 1.17396103e-02 6.18736549e-01 -6.71830863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:-166.60, Z:-671.85 [[ 2.04503907e-01 9.46333508e-01 2.50261948e-01 2.78500389e+02] [-5.84216883e-01 3.23135185e-01 -7.44495995e-01 -1.66604681e+02] [-7.85409948e-01 6.04508452e-03 6.18946420e-01 -6.71854190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.51, Y:-166.62, Z:-671.88 [[ 2.03417540e-01 9.48722823e-01 2.41963449e-01 2.78509628e+02] [-5.84889038e-01 3.15936656e-01 -7.47053440e-01 -1.66620844e+02] [-7.85191771e-01 1.04420040e-02 6.19164637e-01 -6.71881357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.52, Y:-166.64, Z:-671.91 [[ 2.01598159e-01 9.49791731e-01 2.39277768e-01 2.78516527e+02] [-5.85283448e-01 3.12697362e-01 -7.48106707e-01 -1.66638946e+02] [-7.85367091e-01 1.07716177e-02 6.18936591e-01 -6.71907943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:-167.45, Z:-671.36 [[ 2.33839843e-01 -7.70302491e-01 5.93256269e-01 2.79003062e+02] [-6.01586224e-01 3.64718930e-01 7.10685667e-01 -1.67445150e+02] [-7.63814731e-01 -5.23081423e-01 -3.78117549e-01 -6.71362889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:-166.62, Z:-672.10 [[ 2.13417608e-01 3.44749676e-01 -9.14111911e-01 2.79357934e+02] [-5.72178502e-01 -7.14297352e-01 -4.02977735e-01 -1.66621887e+02] [-7.91874161e-01 6.09037728e-01 4.48147208e-02 -6.72101033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-166.88, Z:-672.17 [[ 2.24803912e-01 9.29830553e-01 2.91338882e-01 2.78573910e+02] [-5.64642706e-01 3.67984601e-01 -7.38759737e-01 -1.66876854e+02] [-7.94129596e-01 1.57370461e-03 6.07746417e-01 -6.72172880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.58, Y:-166.89, Z:-672.20 [[ 2.18604558e-01 9.34366154e-01 2.81375083e-01 2.78583981e+02] [-5.67024187e-01 3.56303308e-01 -7.42651685e-01 -1.66893051e+02] [-7.94163471e-01 2.80056562e-03 6.07697736e-01 -6.72204863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.53, Y:-167.43, Z:-671.69 [[ 2.80803136e-01 -9.32769078e-01 -2.26034172e-01 2.79527917e+02] [-5.34698208e-01 -3.47614801e-01 7.70234884e-01 -1.67429510e+02] [-7.97024106e-01 -9.54243041e-02 -5.96361281e-01 -6.71687484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.59, Y:-167.04, Z:-672.33 [[ 2.83838484e-01 8.86128686e-01 3.66349106e-01 2.78590269e+02] [-5.45512560e-01 4.63436365e-01 -6.98314244e-01 -1.67043236e+02] [-7.88575781e-01 -1.63958191e-03 6.14935403e-01 -6.72329905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:-167.39, Z:-671.75 [[ 3.52041007e-01 -8.67290808e-01 -3.51957077e-01 2.79590743e+02] [-4.96061266e-01 -4.91758563e-01 7.15609347e-01 -1.67385384e+02] [-7.93719315e-01 -7.73315618e-02 -6.03348555e-01 -6.71745749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:-167.14, Z:-672.38 [[ 3.50591337e-01 8.21244001e-01 4.50159977e-01 2.78607710e+02] [-5.09749264e-01 5.70565017e-01 -6.43903137e-01 -1.67135446e+02] [-7.85647123e-01 -3.72185593e-03 6.18663677e-01 -6.72384489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:-167.34, Z:-671.81 [[ 4.15318331e-01 -7.84964560e-01 -4.59718743e-01 2.79648308e+02] [-4.48507269e-01 -6.16367109e-01 6.47250196e-01 -1.67344162e+02] [-7.91423979e-01 -6.26276732e-02 -6.08050870e-01 -6.71813521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:-167.25, Z:-672.45 [[ 4.10367162e-01 7.40549919e-01 5.32150928e-01 2.78633981e+02] [-4.65202784e-01 6.71910282e-01 -5.76301087e-01 -1.67246333e+02] [-7.84337403e-01 -1.10630521e-02 6.20235800e-01 -6.72454105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:-167.37, Z:-671.91 [[ 4.69206451e-01 -7.39068971e-01 -4.83344973e-01 2.79704052e+02] [-4.02729471e-01 -6.66186555e-01 6.27697736e-01 -1.67374977e+02] [-7.85909842e-01 -9.98625615e-02 -6.10223885e-01 -6.71905246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:-167.36, Z:-672.56 [[ 4.66828661e-01 6.56156992e-01 5.92898814e-01 2.78699767e+02] [-4.15936056e-01 7.54562613e-01 -5.07575079e-01 -1.67363821e+02] [-7.80428215e-01 -9.65739991e-03 6.25170805e-01 -6.72562102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2965599949999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:279.76, Y:-167.33, Z:-671.98 [[ 5.14826197e-01 -6.42378555e-01 -5.67718045e-01 2.79764438e+02] [-3.49921127e-01 -7.62002203e-01 5.44892510e-01 -1.67330163e+02] [-7.82629664e-01 -8.18684006e-02 -6.17080524e-01 -6.71984592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.77, Y:-167.46, Z:-672.64 [[ 5.19868914e-01 5.57095561e-01 6.47596208e-01 2.78765874e+02] [-3.55844758e-01 8.30413857e-01 -4.28704250e-01 -1.67455837e+02] [-7.76602099e-01 -7.57370345e-03 6.29945885e-01 -6.72640874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:-167.45, Z:-672.67 [[ 5.21363225e-01 5.74109111e-01 6.31331225e-01 2.78783378e+02] [-3.54581532e-01 8.18696241e-01 -4.51672892e-01 -1.67452424e+02] [-7.76178024e-01 1.16272424e-02 6.30406601e-01 -6.72672891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:-167.46, Z:-672.70 [[ 5.21363764e-01 5.73636671e-01 6.31760077e-01 2.78800196e+02] [-3.54622994e-01 8.19034484e-01 -4.51026657e-01 -1.67464299e+02] [-7.76158719e-01 1.11123053e-02 6.30439655e-01 -6.72698069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.416559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.82, Y:-167.48, Z:-672.72 [[ 5.23795114e-01 5.71926524e-01 6.31299239e-01 2.78816295e+02] [-3.52372680e-01 8.20191856e-01 -4.50687046e-01 -1.67477703e+02] [-7.75546371e-01 1.36150678e-02 6.31143769e-01 -6.72724040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:-167.49, Z:-672.75 [[ 5.25019589e-01 5.72073223e-01 6.30148124e-01 2.78832848e+02] [-3.51114915e-01 8.20046111e-01 -4.51932177e-01 -1.67488214e+02] [-7.75288815e-01 1.60188406e-02 6.31403714e-01 -6.72749374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:-167.50, Z:-672.77 [[ 5.25820435e-01 5.70602683e-01 6.30813323e-01 2.78847605e+02] [-3.49328025e-01 8.21049365e-01 -4.51495150e-01 -1.67495351e+02] [-7.75553223e-01 1.70446040e-02 6.31052043e-01 -6.72769853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:-167.52, Z:-672.79 [[ 5.26984033e-01 5.59838267e-01 6.39428607e-01 2.78863608e+02] [-3.49479733e-01 8.28571965e-01 -4.37415609e-01 -1.67516662e+02] [-7.74694614e-01 7.04370235e-03 6.32296324e-01 -6.72792121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:-167.53, Z:-672.82 [[ 5.26866354e-01 5.60368606e-01 6.39060929e-01 2.78880323e+02] [-3.50124496e-01 8.28215482e-01 -4.37575081e-01 -1.67528331e+02] [-7.74483494e-01 6.79270197e-03 6.32557648e-01 -6.72817972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:-167.54, Z:-672.84 [[ 5.26594946e-01 5.61047320e-01 6.38689022e-01 2.78896751e+02] [-3.51008364e-01 8.27759597e-01 -4.37729573e-01 -1.67539391e+02] [-7.74267971e-01 6.32099221e-03 6.32826322e-01 -6.72843107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:-167.55, Z:-672.87 [[ 5.25419923e-01 5.62645983e-01 6.38250266e-01 2.78913916e+02] [-3.53430938e-01 8.26685937e-01 -4.37809243e-01 -1.67551295e+02] [-7.73964132e-01 4.45630892e-03 6.33213759e-01 -6.72869114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.93, Y:-167.56, Z:-672.89 [[ 5.24166529e-01 5.63734417e-01 6.38320419e-01 2.78930499e+02] [-3.54590935e-01 8.25949204e-01 -4.38261545e-01 -1.67562743e+02] [-7.74283358e-01 3.37939855e-03 6.32830041e-01 -6.72894760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:-167.57, Z:-672.92 [[ 5.23248119e-01 5.64748828e-01 6.38177222e-01 2.78947232e+02] [-3.55814470e-01 8.25259331e-01 -4.38569379e-01 -1.67574480e+02] [-7.74343250e-01 2.40791308e-03 6.32761198e-01 -6.72919667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.96, Y:-167.59, Z:-672.95 [[ 5.21337887e-01 5.66739756e-01 6.37975593e-01 2.78964543e+02] [-3.58991396e-01 8.23896771e-01 -4.38542230e-01 -1.67588708e+02] [-7.74165348e-01 -3.99069402e-04 6.32983298e-01 -6.72945821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.98, Y:-167.60, Z:-672.97 [[ 5.19793284e-01 5.72974239e-01 6.33652479e-01 2.78980907e+02] [-3.60527899e-01 8.19567756e-01 -4.45340688e-01 -1.67596061e+02] [-7.74489881e-01 3.03570135e-03 6.32579014e-01 -6.72973335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:280.06, Y:-167.45, Z:-672.42 [[ 5.53375617e-01 -5.49484952e-01 -6.25972615e-01 2.80055375e+02] [-2.88214012e-01 -8.31424106e-01 4.75043829e-01 -1.67454447e+02] [-7.81478157e-01 -8.24635933e-02 -6.18459090e-01 -6.72419718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:-167.70, Z:-673.07 [[ 5.58987172e-01 4.66582723e-01 6.85444312e-01 2.79074326e+02] [-3.04012538e-01 8.84415856e-01 -3.54097402e-01 -1.67698612e+02] [-7.71433548e-01 -1.04477597e-02 6.36224116e-01 -6.73074133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.09, Y:-167.70, Z:-673.10 [[ 5.55835884e-01 4.75641726e-01 6.81770797e-01 2.79093491e+02] [-3.09414205e-01 8.79581362e-01 -3.61385498e-01 -1.67704991e+02] [-7.71562908e-01 -1.00785415e-02 6.36073190e-01 -6.73102333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-167.71, Z:-673.13 [[ 5.54441255e-01 4.81089881e-01 6.79078361e-01 2.79111440e+02] [-3.12066483e-01 8.76626579e-01 -3.66251759e-01 -1.67710935e+02] [-7.71498156e-01 -8.85251083e-03 6.36169968e-01 -6.73128729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:-167.72, Z:-673.15 [[ 5.51862577e-01 4.83064418e-01 6.79776775e-01 2.79129760e+02] [-3.17186769e-01 8.75466499e-01 -3.64624413e-01 -1.67722538e+02] [-7.71258874e-01 -1.43936308e-02 6.36358840e-01 -6.73153901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.15, Y:-167.73, Z:-673.18 [[ 5.50067145e-01 4.87774830e-01 6.77865659e-01 2.79146206e+02] [-3.18987586e-01 8.72870883e-01 -3.69246993e-01 -1.67727806e+02] [-7.71798585e-01 -1.31200906e-02 6.35731710e-01 -6.73179313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:-167.74, Z:-673.20 [[ 5.49246877e-01 4.84082719e-01 6.81169428e-01 2.79163527e+02] [-3.20642394e-01 8.74817052e-01 -3.63157789e-01 -1.67741461e+02] [-7.71697041e-01 -1.89485148e-02 6.35707976e-01 -6.73202447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:-167.75, Z:-673.23 [[ 5.48384734e-01 4.85157251e-01 6.81099571e-01 2.79181501e+02] [-3.21960806e-01 8.74199066e-01 -3.63479343e-01 -1.67751373e+02] [-7.71761248e-01 -1.99608436e-02 6.35599041e-01 -6.73228376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-167.76, Z:-673.25 [[ 5.47974935e-01 4.86022912e-01 6.80812162e-01 2.79199040e+02] [-3.23052772e-01 8.73702371e-01 -3.63704651e-01 -1.67762291e+02] [-7.71595994e-01 -2.06372236e-02 6.35778049e-01 -6.73254374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.22, Y:-167.77, Z:-673.28 [[ 5.48129876e-01 4.86287912e-01 6.80498131e-01 2.79217100e+02] [-3.23205236e-01 8.73558874e-01 -3.63913821e-01 -1.67772960e+02] [-7.71422073e-01 -2.04685215e-02 6.35994517e-01 -6.73280094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-167.78, Z:-673.31 [[ 5.48159048e-01 4.86105202e-01 6.80605165e-01 2.79234164e+02] [-3.22394637e-01 8.73678142e-01 -3.64346268e-01 -1.67784363e+02] [-7.71740472e-01 -1.97037517e-02 6.35632288e-01 -6.73306080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:-167.80, Z:-673.33 [[ 5.48674478e-01 4.86095552e-01 6.80196613e-01 2.79251900e+02] [-3.22167477e-01 8.73695978e-01 -3.64504397e-01 -1.67795024e+02] [-7.71469010e-01 -1.91429672e-02 6.35978862e-01 -6.73331271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.27, Y:-167.81, Z:-673.36 [[ 5.48591242e-01 4.86161914e-01 6.80216321e-01 2.79269875e+02] [-3.21805742e-01 8.73668178e-01 -3.64890365e-01 -1.67805872e+02] [-7.71679152e-01 -1.87218593e-02 6.35736406e-01 -6.73357035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.29, Y:-167.82, Z:-673.38 [[ 5.48646068e-01 4.86324435e-01 6.80055907e-01 2.79287214e+02] [-3.21709426e-01 8.73583979e-01 -3.65176775e-01 -1.67816374e+02] [-7.71680334e-01 -1.84275938e-02 6.35743570e-01 -6.73382123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:-167.83, Z:-673.41 [[ 5.49919504e-01 4.86482252e-01 6.78913513e-01 2.79304337e+02] [-3.22232551e-01 8.73503007e-01 -3.64909139e-01 -1.67826809e+02] [-7.70554814e-01 -1.80973807e-02 6.37116758e-01 -6.73408695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.32, Y:-167.83, Z:-673.44 [[ 5.49710605e-01 4.90960765e-01 6.75851890e-01 2.79320797e+02] [-3.21441285e-01 8.71082891e-01 -3.71335559e-01 -1.67832164e+02] [-7.71034209e-01 -1.31196049e-02 6.36658563e-01 -6.73437857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.34, Y:-167.85, Z:-673.46 [[ 5.51150751e-01 4.82545641e-01 6.80722083e-01 2.79338795e+02] [-3.22530812e-01 8.75609757e-01 -3.59557267e-01 -1.67850234e+02] [-7.69549690e-01 -2.13835885e-02 6.38228813e-01 -6.73457711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:-167.85, Z:-673.49 [[ 5.50452720e-01 4.93195402e-01 6.73617175e-01 2.79352850e+02] [-3.20531381e-01 8.69866465e-01 -3.74955953e-01 -1.67850962e+02] [-7.70883543e-01 -9.51991888e-03 6.36904965e-01 -6.73489465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:-167.87, Z:-673.51 [[ 5.51521720e-01 4.84825565e-01 6.78798913e-01 2.79370727e+02] [-3.19980563e-01 8.74462276e-01 -3.64593153e-01 -1.67868243e+02] [-7.70348124e-01 -1.61214153e-02 6.37419696e-01 -6.73511263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.39, Y:-167.88, Z:-673.54 [[ 5.51589990e-01 4.85767332e-01 6.78069747e-01 2.79388685e+02] [-3.19405843e-01 8.73967165e-01 -3.66280361e-01 -1.67877988e+02] [-7.70537728e-01 -1.45428579e-02 6.37228464e-01 -6.73537269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.41, Y:-167.90, Z:-673.56 [[ 5.53262887e-01 4.78778378e-01 6.81668133e-01 2.79409338e+02] [-3.19966499e-01 8.77691088e-01 -3.56762939e-01 -1.67895072e+02] [-7.69104426e-01 -2.07272719e-02 6.38786946e-01 -6.73556665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.43, Y:-167.90, Z:-673.58 [[ 5.53247690e-01 4.85752214e-01 6.76728735e-01 2.79427374e+02] [-3.19520075e-01 8.73989664e-01 -3.66127014e-01 -1.67898571e+02] [-7.69300927e-01 -1.36694913e-02 6.38740346e-01 -6.73584488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.44, Y:-167.90, Z:-673.61 [[ 5.51437422e-01 4.92242783e-01 6.73508584e-01 2.79442682e+02] [-3.17493510e-01 8.70434621e-01 -3.76219938e-01 -1.67900138e+02] [-7.71436738e-01 -6.37285137e-03 6.36274112e-01 -6.73614182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.46, Y:-167.92, Z:-673.63 [[ 5.53569757e-01 4.77465504e-01 6.82339517e-01 2.79463791e+02] [-3.17811009e-01 8.78438212e-01 -3.56850768e-01 -1.67922838e+02] [-7.69777037e-01 -1.93132174e-02 6.38020621e-01 -6.73631342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.48, Y:-167.92, Z:-673.66 [[ 5.52358588e-01 4.87740934e-01 6.76024239e-01 2.79480446e+02] [-3.17014726e-01 8.72936705e-01 -3.70787233e-01 -1.67924182e+02] [-7.70974483e-01 -9.50212637e-03 6.36795144e-01 -6.73661723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.50, Y:-167.94, Z:-673.68 [[ 5.53030734e-01 4.84510739e-01 6.77795213e-01 2.79499089e+02] [-3.16663152e-01 8.74706692e-01 -3.66895967e-01 -1.67936188e+02] [-7.70637045e-01 -1.17280228e-02 6.37166382e-01 -6.73683543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.52, Y:-167.94, Z:-673.71 [[ 5.51995175e-01 4.88180438e-01 6.76003836e-01 2.79516418e+02] [-3.16437492e-01 8.72699747e-01 -3.71836611e-01 -1.67943915e+02] [-7.71471737e-01 -8.66094304e-03 6.36204643e-01 -6.73711606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:-167.96, Z:-673.73 [[ 5.52442518e-01 4.84699747e-01 6.78139675e-01 2.79535427e+02] [-3.16535335e-01 8.74601451e-01 -3.67256973e-01 -1.67956127e+02] [-7.71111306e-01 -1.17668024e-02 6.36591625e-01 -6.73733667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.55, Y:-167.97, Z:-673.76 [[ 5.51992216e-01 4.85794236e-01 6.77723066e-01 2.79553626e+02] [-3.16712719e-01 8.74001218e-01 -3.68530764e-01 -1.67965059e+02] [-7.71360907e-01 -1.12174015e-02 6.36299082e-01 -6.73759481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.57, Y:-167.97, Z:-673.78 [[ 5.51650909e-01 4.86237941e-01 6.77682772e-01 2.79572082e+02] [-3.16974284e-01 8.73753286e-01 -3.68893614e-01 -1.67974582e+02] [-7.71497620e-01 -1.13075135e-02 6.36131718e-01 -6.73784757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:-167.98, Z:-673.81 [[ 5.50455908e-01 4.88812601e-01 6.76801695e-01 2.79589146e+02] [-3.16817893e-01 8.72337586e-01 -3.72362133e-01 -1.67982068e+02] [-7.72414860e-01 -9.45395100e-03 6.35047957e-01 -6.73812310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.61, Y:-167.99, Z:-673.84 [[ 5.50709752e-01 4.88334286e-01 6.76940466e-01 2.79608028e+02] [-3.16713158e-01 8.72603547e-01 -3.71827684e-01 -1.67991823e+02] [-7.72276857e-01 -9.62682101e-03 6.35213177e-01 -6.73837760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:-168.00, Z:-673.86 [[ 5.50283996e-01 4.90006675e-01 6.76077645e-01 2.79624423e+02] [-3.15592979e-01 8.71690104e-01 -3.74909901e-01 -1.67998318e+02] [-7.73038547e-01 -7.05843977e-03 6.34319780e-01 -6.73862980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:-168.01, Z:-673.88 [[ 5.51884742e-01 4.83250600e-01 6.79626434e-01 2.79644092e+02] [-3.14730625e-01 8.75407588e-01 -3.66887160e-01 -1.68012709e+02] [-7.72248578e-01 -1.14198269e-02 6.35217854e-01 -6.73883583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.66, Y:-168.02, Z:-673.91 [[ 5.52188855e-01 4.85485505e-01 6.77784105e-01 2.79662196e+02] [-3.14010851e-01 8.74205071e-01 -3.70354803e-01 -1.68019818e+02] [-7.72324190e-01 -8.32576915e-03 6.35174013e-01 -6.73910771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.68, Y:-168.01, Z:-673.94 [[ 5.50350766e-01 4.96706947e-01 6.71115671e-01 2.79675923e+02] [-3.10030178e-01 8.67900697e-01 -3.88110383e-01 -1.68014742e+02] [-7.75238882e-01 5.53073572e-03 6.31643956e-01 -6.73944674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:-168.05, Z:-673.96 [[ 5.54417660e-01 4.68288866e-01 6.87987352e-01 2.79698640e+02] [-3.11057961e-01 8.83357492e-01 -3.50603032e-01 -1.68051353e+02] [-7.71922278e-01 -1.96234302e-02 6.35413974e-01 -6.73956722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.72, Y:-168.05, Z:-673.99 [[ 5.55145416e-01 4.83494479e-01 6.76791442e-01 2.79715328e+02] [-3.10136251e-01 8.75338405e-01 -3.70942291e-01 -1.68047903e+02] [-7.71770091e-01 -3.97064885e-03 6.35889268e-01 -6.73986848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.73, Y:-168.06, Z:-674.01 [[ 5.56200029e-01 4.82872467e-01 6.76369505e-01 2.79733162e+02] [-3.09141059e-01 8.75686306e-01 -3.70951882e-01 -1.68057604e+02] [-7.71409964e-01 -2.77013718e-03 6.36332455e-01 -6.74012147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:-168.05, Z:-674.05 [[ 5.55690975e-01 4.94741462e-01 6.68160480e-01 2.79745824e+02] [-3.02706317e-01 8.68904299e-01 -3.91630189e-01 -1.68050062e+02] [-7.74323206e-01 1.53689635e-02 6.32603643e-01 -6.74046835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:-168.09, Z:-674.05 [[ 5.59490964e-01 4.60717339e-01 6.88991579e-01 2.79769377e+02] [-3.04931111e-01 8.87390886e-01 -3.45766442e-01 -1.68093290e+02] [-7.70705443e-01 -1.66417675e-02 6.36974232e-01 -6.74054982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.78, Y:-168.07, Z:-674.10 [[ 5.59066554e-01 4.91162587e-01 6.67984957e-01 2.79782120e+02] [-2.98911562e-01 8.70872221e-01 -3.90171056e-01 -1.68071284e+02] [-7.73366968e-01 1.84631610e-02 6.33689707e-01 -6.74096732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.80, Y:-168.09, Z:-674.12 [[ 5.59707834e-01 4.75564796e-01 6.78649589e-01 2.79798747e+02] [-2.95168620e-01 8.79640209e-01 -3.72972638e-01 -1.68090738e+02] [-7.74340123e-01 8.43964499e-03 6.32713321e-01 -6.74117405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:-168.12, Z:-674.13 [[ 5.62686893e-01 4.55517607e-01 6.89845759e-01 2.79822762e+02] [-2.97204209e-01 8.90162588e-01 -3.45369694e-01 -1.68122283e+02] [-7.71396862e-01 -1.06900632e-02 6.36264570e-01 -6.74129643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:279.84, Y:-168.10, Z:-674.17 [[ 5.60305463e-01 4.92829236e-01 6.65715504e-01 2.79835261e+02] [-2.94614557e-01 8.69746427e-01 -3.95908342e-01 -1.68096752e+02] [-7.74118887e-01 2.57001286e-02 6.32518341e-01 -6.74172644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.86, Y:-168.14, Z:-674.18 [[ 5.62234304e-01 4.57811792e-01 6.88695107e-01 2.79858203e+02] [-2.97145572e-01 8.89005898e-01 -3.48386313e-01 -1.68139533e+02] [-7.71749374e-01 -8.76796476e-03 6.35866359e-01 -6.74179471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:-168.13, Z:-674.21 [[ 5.62266673e-01 4.76746237e-01 6.75699056e-01 2.79875851e+02] [-2.97582251e-01 8.79000804e-01 -3.72561929e-01 -1.68134412e+02] [-7.71557511e-01 8.40311011e-03 6.36104075e-01 -6.74212016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.89, Y:-168.12, Z:-674.25 [[ 5.59252317e-01 4.91886242e-01 6.67296614e-01 2.79887889e+02] [-2.93952044e-01 8.70304827e-01 -3.95173006e-01 -1.68124950e+02] [-7.75131629e-01 2.48482156e-02 6.31310957e-01 -6.74247583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:-168.17, Z:-674.25 [[ 5.60564961e-01 4.58468247e-01 6.89618584e-01 2.79913036e+02] [-2.99648878e-01 8.88629565e-01 -3.47200297e-01 -1.68169321e+02] [-7.71995774e-01 -1.20151140e-02 6.35514093e-01 -6.74254538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:-168.16, Z:-674.29 [[ 5.59532723e-01 4.79949649e-01 6.75700722e-01 2.79930528e+02] [-3.01652091e-01 8.77281386e-01 -3.73340843e-01 -1.68162122e+02] [-7.71964473e-01 5.06988260e-03 6.35645458e-01 -6.74287418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.95, Y:-168.17, Z:-674.31 [[ 5.58247918e-01 4.81473668e-01 6.75679191e-01 2.79948935e+02] [-3.03589792e-01 8.76453585e-01 -3.73714265e-01 -1.68170838e+02] [-7.72135027e-01 3.49590560e-03 6.35448880e-01 -6.74313410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.97, Y:-168.18, Z:-674.34 [[ 5.58173433e-01 4.81791035e-01 6.75514484e-01 2.79967359e+02] [-3.03727903e-01 8.76278782e-01 -3.74011841e-01 -1.68180947e+02] [-7.72134561e-01 3.59087548e-03 6.35448916e-01 -6.74339437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.99, Y:-168.19, Z:-674.36 [[ 5.56845864e-01 4.83474104e-01 6.75407636e-01 2.79985613e+02] [-3.06182057e-01 8.75357280e-01 -3.74168652e-01 -1.68189726e+02] [-7.72123845e-01 1.55656728e-03 6.35470177e-01 -6.74364978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:-168.20, Z:-674.39 [[ 5.54159747e-01 4.87080988e-01 6.75025248e-01 2.80004145e+02] [-3.11641519e-01 8.73351933e-01 -3.74347386e-01 -1.68197321e+02] [-7.71872100e-01 -2.91764131e-03 6.35771145e-01 -6.74390600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.02, Y:-168.20, Z:-674.42 [[ 5.50850786e-01 4.98029446e-01 6.69723885e-01 2.80019332e+02] [-3.12627756e-01 8.67149981e-01 -3.87704523e-01 -1.68196624e+02] [-7.73839323e-01 4.19306639e-03 6.33368077e-01 -6.74423723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.04, Y:-168.22, Z:-674.44 [[ 5.50113455e-01 4.85125232e-01 6.79726928e-01 2.80040288e+02] [-3.19695019e-01 8.74291357e-01 -3.65252950e-01 -1.68219494e+02] [-7.71472800e-01 -1.63747510e-02 6.36051560e-01 -6.74438596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.05, Y:-168.21, Z:-674.48 [[ 5.46331950e-01 5.08080361e-01 6.65864662e-01 2.80053798e+02] [-3.18596621e-01 8.61299927e-01 -3.95801249e-01 -1.68205860e+02] [-7.74608026e-01 4.09663645e-03 6.32428355e-01 -6.74476893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.08, Y:-168.24, Z:-674.49 [[ 5.48538420e-01 4.79169700e-01 6.85202160e-01 2.80076495e+02] [-3.24438458e-01 8.77267271e-01 -3.53753900e-01 -1.68244991e+02] [-7.70613579e-01 -2.82583273e-02 6.36675882e-01 -6.74485557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:-168.24, Z:-674.52 [[ 5.47319058e-01 4.96730121e-01 6.73573333e-01 2.80094487e+02] [-3.26412120e-01 8.67779339e-01 -3.74718756e-01 -1.68241294e+02] [-7.70647115e-01 -1.47717832e-02 6.37090903e-01 -6.74517215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.516559995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:280.11, Y:-168.24, Z:-674.55 [[ 5.44679907e-01 5.08847825e-01 6.66631600e-01 2.80110630e+02] [-3.26690728e-01 8.60840365e-01 -3.90162830e-01 -1.68240232e+02] [-7.72396898e-01 -5.26850832e-03 6.35118316e-01 -6.74551317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-168.25, Z:-674.58 [[ 5.43662000e-01 5.07850022e-01 6.68221509e-01 2.80126576e+02] [-3.25159238e-01 8.61429968e-01 -3.90140847e-01 -1.68247405e+02] [-7.73759071e-01 -5.17364328e-03 6.33458865e-01 -6.74575845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.15, Y:-168.29, Z:-674.58 [[ 5.46726780e-01 4.78415274e-01 6.87174399e-01 2.80150250e+02] [-3.29539258e-01 8.77402622e-01 -3.48666771e-01 -1.68288023e+02] [-7.69736128e-01 -3.58254806e-02 6.37356124e-01 -6.74582732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.17, Y:-168.28, Z:-674.62 [[ 5.45836141e-01 4.99448716e-01 6.72765848e-01 2.80168025e+02] [-3.29182948e-01 8.66191107e-01 -3.75967489e-01 -1.68280970e+02] [-7.70520275e-01 -1.62464016e-02 6.37208412e-01 -6.74615854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.18, Y:-168.27, Z:-674.65 [[ 5.43301840e-01 5.14401390e-01 6.63486489e-01 2.80181704e+02] [-3.25925393e-01 8.57549538e-01 -3.97971642e-01 -1.68274601e+02] [-7.73689698e-01 -2.83693810e-05 6.33564717e-01 -6.74652479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.20, Y:-168.30, Z:-674.67 [[ 5.45612053e-01 4.97110632e-01 6.74676595e-01 2.80200482e+02] [-3.24923659e-01 8.67577285e-01 -3.76476122e-01 -1.68298388e+02] [-7.72484371e-01 -1.38084778e-02 6.34883629e-01 -6.74671016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:-168.31, Z:-674.70 [[ 5.46021813e-01 4.95089924e-01 6.75829969e-01 2.80218709e+02] [-3.25041196e-01 8.68701945e-01 -3.73771523e-01 -1.68310623e+02] [-7.72145324e-01 -1.55851765e-02 6.35254832e-01 -6.74695564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.24, Y:-168.34, Z:-674.71 [[ 5.48923954e-01 4.81831233e-01 6.83023539e-01 2.80241395e+02] [-3.29067333e-01 8.75721801e-01 -3.53307258e-01 -1.68337611e+02] [-7.68373076e-01 -3.08219171e-02 6.39259592e-01 -6.74709887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:-168.32, Z:-674.75 [[ 5.46555937e-01 5.10324819e-01 6.63961737e-01 2.80254589e+02] [-3.25680963e-01 8.59980422e-01 -3.92893859e-01 -1.68319381e+02] [-7.71497582e-01 -1.50122671e-03 6.36230483e-01 -6.74749149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.27, Y:-168.34, Z:-674.77 [[ 5.48027255e-01 4.95062080e-01 6.74225233e-01 2.80273754e+02] [-3.26429329e-01 8.68711626e-01 -3.72537252e-01 -1.68344012e+02] [-7.70136365e-01 -1.59263228e-02 6.37680431e-01 -6.74768650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.29, Y:-168.35, Z:-674.80 [[ 5.48366191e-01 5.00601226e-01 6.69845455e-01 2.80290686e+02] [-3.25564636e-01 8.65626065e-01 -3.80393460e-01 -1.68348118e+02] [-7.70261117e-01 -9.48307915e-03 6.37658123e-01 -6.74796480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:-168.36, Z:-674.82 [[ 5.49056574e-01 4.99023558e-01 6.70456835e-01 2.80306192e+02] [-3.23024330e-01 8.66554319e-01 -3.80445651e-01 -1.68357321e+02] [-7.70838609e-01 -7.68768395e-03 6.36984097e-01 -6.74822823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:-168.38, Z:-674.85 [[ 5.49629349e-01 4.90050596e-01 6.76578150e-01 2.80324254e+02] [-3.24054947e-01 8.71528535e-01 -3.68003265e-01 -1.68378742e+02] [-7.69997383e-01 -1.69831013e-02 6.37820981e-01 -6.74845517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-168.39, Z:-674.86 [[ 5.52191272e-01 4.87114744e-01 6.76612168e-01 2.80344264e+02] [-3.25685294e-01 8.73108091e-01 -3.62782787e-01 -1.68394072e+02] [-7.67472403e-01 -2.00371441e-02 6.40768776e-01 -6.74864244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:-168.40, Z:-674.89 [[ 5.53252601e-01 4.97366084e-01 6.68235392e-01 2.80361374e+02] [-3.25094459e-01 8.67494807e-01 -3.76518729e-01 -1.68396973e+02] [-7.66958378e-01 -8.92965683e-03 6.41634716e-01 -6.74893852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.38, Y:-168.41, Z:-674.92 [[ 5.53550896e-01 4.97416328e-01 6.67950898e-01 2.80378640e+02] [-3.24898076e-01 8.67470618e-01 -3.76743902e-01 -1.68407549e+02] [-7.66826347e-01 -8.46903735e-03 6.41798745e-01 -6.74918792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.996559995 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:280.39, Y:-168.41, Z:-674.95 [[ 5.52699977e-01 5.05279814e-01 6.62733011e-01 2.80394742e+02] [-3.23551901e-01 8.62955563e-01 -3.88100326e-01 -1.68410494e+02] [-7.68008400e-01 7.45156553e-05 6.40439765e-01 -6.74950022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:-168.43, Z:-674.97 [[ 5.54562262e-01 4.91882867e-01 6.71201864e-01 2.80413559e+02] [-3.24329579e-01 8.70571774e-01 -3.70020419e-01 -1.68433806e+02] [-7.66336102e-01 -1.24912572e-02 6.42318416e-01 -6.74965997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:-168.43, Z:-675.00 [[ 5.53729103e-01 5.02323085e-01 6.64120168e-01 2.80429453e+02] [-3.22010973e-01 8.64679929e-01 -3.85535412e-01 -1.68432688e+02] [-7.67914718e-01 -3.71803358e-04 6.40551987e-01 -6.74996696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-168.46, Z:-675.01 [[ 5.54214695e-01 4.88910954e-01 6.73655811e-01 2.80449305e+02] [-3.23931499e-01 8.72203124e-01 -3.66510702e-01 -1.68458466e+02] [-7.66755799e-01 -1.50927194e-02 6.41761446e-01 -6.75014382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:-168.46, Z:-675.04 [[ 5.53292403e-01 4.97334116e-01 6.68226230e-01 2.80466620e+02] [-3.22939921e-01 8.67534746e-01 -3.78276713e-01 -1.68462697e+02] [-7.67839387e-01 -6.49929501e-03 6.40609424e-01 -6.75041878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:-168.47, Z:-675.07 [[ 5.52828773e-01 4.97391493e-01 6.68567163e-01 2.80484643e+02] [-3.22374540e-01 8.67504734e-01 -3.78827391e-01 -1.68473520e+02] [-7.68410700e-01 -6.10234978e-03 6.39927931e-01 -6.75066850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.50, Y:-168.48, Z:-675.09 [[ 5.52310889e-01 4.97209281e-01 6.69130490e-01 2.80502140e+02] [-3.21256058e-01 8.67614173e-01 -3.79526272e-01 -1.68483961e+02] [-7.69251082e-01 -5.34573067e-03 6.38924249e-01 -6.75091394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:-168.50, Z:-675.11 [[ 5.53225126e-01 4.94688211e-01 6.70242892e-01 2.80520619e+02] [-3.20484787e-01 8.69047703e-01 -3.76889363e-01 -1.68495775e+02] [-7.68915770e-01 -6.29798505e-03 6.39319070e-01 -6.75114433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:-168.50, Z:-675.14 [[ 5.52626039e-01 4.98577963e-01 6.67850639e-01 2.80537324e+02] [-3.20176901e-01 8.66840906e-01 -3.82195757e-01 -1.68502135e+02] [-7.69474635e-01 -2.61902025e-03 6.38672003e-01 -6.75141777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:-168.50, Z:-675.17 [[ 5.51807184e-01 5.07561989e-01 6.61732317e-01 2.80550242e+02] [-3.13938029e-01 8.61525448e-01 -3.99019820e-01 -1.68495722e+02] [-7.72626525e-01 1.24390643e-02 6.34738941e-01 -6.75173369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:-168.54, Z:-675.18 [[ 5.54334308e-01 4.73562112e-01 6.84435827e-01 2.80573214e+02] [-3.18440455e-01 8.80454116e-01 -3.51277989e-01 -1.68542975e+02] [-7.68966288e-01 -2.32266153e-02 6.38867258e-01 -6.75183790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.59, Y:-168.53, Z:-675.22 [[ 5.54823117e-01 4.96175125e-01 6.67818504e-01 2.80590014e+02] [-3.18841371e-01 8.68220165e-01 -3.80176177e-01 -1.68534888e+02] [-7.68447454e-01 -1.99763537e-03 6.39909775e-01 -6.75216092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:-168.53, Z:-675.25 [[ 5.55219106e-01 5.03005518e-01 6.62357300e-01 2.80605219e+02] [-3.15778949e-01 8.64243568e-01 -3.91620622e-01 -1.68533712e+02] [-7.69425370e-01 8.27675960e-03 6.38683095e-01 -6.75245403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:-168.56, Z:-675.27 [[ 5.56508179e-01 4.87976635e-01 6.72441411e-01 2.80624203e+02] [-3.16227617e-01 8.72837455e-01 -3.71691905e-01 -1.68556819e+02] [-7.68309015e-01 -5.79495993e-03 6.40052870e-01 -6.75265474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:-168.57, Z:-675.29 [[ 5.58032233e-01 4.84080645e-01 6.73992549e-01 2.80643872e+02] [-3.18974244e-01 8.74945347e-01 -3.64315894e-01 -1.68574150e+02] [-7.66064918e-01 -1.16862519e-02 6.42656963e-01 -6.75287939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:-168.57, Z:-675.32 [[ 5.58423532e-01 4.96106224e-01 6.64862222e-01 2.80661984e+02] [-3.18983618e-01 8.68261830e-01 -3.79961638e-01 -1.68574065e+02] [-7.65775823e-01 9.93629859e-05 6.43107596e-01 -6.75318214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:-168.58, Z:-675.34 [[ 5.59453677e-01 4.95834968e-01 6.64198215e-01 2.80679940e+02] [-3.18558132e-01 8.68416208e-01 -3.79965797e-01 -1.68584686e+02] [-7.65200823e-01 9.87519124e-04 6.43790901e-01 -6.75343175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:-168.59, Z:-675.37 [[ 5.59370583e-01 4.95740830e-01 6.64338453e-01 2.80697448e+02] [-3.17856180e-01 8.68468965e-01 -3.80432787e-01 -1.68594815e+02] [-7.65553394e-01 1.63882733e-03 6.43370278e-01 -6.75367630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:-168.61, Z:-675.39 [[ 5.58865730e-01 4.95421801e-01 6.65001004e-01 2.80716381e+02] [-3.16475729e-01 8.68648748e-01 -3.81172489e-01 -1.68605989e+02] [-7.66493450e-01 2.56756430e-03 6.42246992e-01 -6.75392747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:-168.60, Z:-675.42 [[ 5.56724079e-01 5.05347747e-01 6.59304145e-01 2.80730972e+02] [-3.13698588e-01 8.62804098e-01 -3.96436988e-01 -1.68603274e+02] [-7.69188856e-01 1.38832374e-02 6.38870691e-01 -6.75423807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:-168.63, Z:-675.44 [[ 5.57359700e-01 4.90899227e-01 6.69602952e-01 2.80750556e+02] [-3.14240446e-01 8.71216336e-01 -3.77140609e-01 -1.68626419e+02] [-7.68507064e-01 -2.13353941e-04 6.39841267e-01 -6.75442425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:-168.63, Z:-675.47 [[ 5.55760814e-01 4.95844807e-01 6.67283931e-01 2.80766603e+02] [-3.14167823e-01 8.68403819e-01 -3.83631836e-01 -1.68631623e+02] [-7.69693768e-01 3.56840125e-03 6.38403297e-01 -6.75470849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:-168.65, Z:-675.49 [[ 5.56291926e-01 4.91385507e-01 6.70133999e-01 2.80787282e+02] [-3.16212991e-01 8.70938103e-01 -3.76133173e-01 -1.68646999e+02] [-7.68471624e-01 -2.66522910e-03 6.39878316e-01 -6.75493462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.81, Y:-168.67, Z:-675.51 [[ 5.57931442e-01 4.84540110e-01 6.73745789e-01 2.80808468e+02] [-3.19993085e-01 8.74680104e-01 -3.64059256e-01 -1.68667230e+02] [-7.65713348e-01 -1.24738878e-02 6.43061016e-01 -6.75511707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-168.66, Z:-675.54 [[ 5.57054693e-01 5.01047432e-01 6.62300189e-01 2.80826891e+02] [-3.23531140e-01 8.65419060e-01 -3.82593063e-01 -1.68664310e+02] [-7.64864479e-01 -1.14947357e-03 6.44190195e-01 -6.75542559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:-168.65, Z:-675.58 [[ 5.52990260e-01 5.19924022e-01 6.51061275e-01 2.80838770e+02] [-3.21152760e-01 8.54039000e-01 -4.09241117e-01 -1.68650826e+02] [-7.68806008e-01 1.72162257e-02 6.39250283e-01 -6.75579043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:-168.69, Z:-675.59 [[ 5.53541098e-01 4.91055212e-01 6.72649264e-01 2.80858834e+02] [-3.25255635e-01 8.70999790e-01 -3.68195787e-01 -1.68689947e+02] [-7.66681828e-01 -1.49714633e-02 6.41852655e-01 -6.75592455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:-168.70, Z:-675.61 [[ 5.53810543e-01 4.94172842e-01 6.70139601e-01 2.80879726e+02] [-3.31149463e-01 8.69166463e-01 -3.67273321e-01 -1.68700875e+02] [-7.63959368e-01 -1.85165315e-02 6.44998622e-01 -6.75612368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.90, Y:-168.70, Z:-675.64 [[ 5.52275751e-01 5.07587621e-01 6.61321633e-01 2.80897691e+02] [-3.33028536e-01 8.61556933e-01 -3.83160079e-01 -1.68700360e+02] [-7.64253550e-01 -8.62895465e-03 6.44858164e-01 -6.75641616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.92, Y:-168.71, Z:-675.67 [[ 5.51256934e-01 5.08827165e-01 6.61219108e-01 2.80916178e+02] [-3.34602434e-01 8.60812240e-01 -3.83462512e-01 -1.68710110e+02] [-7.64301644e-01 -9.85915441e-03 6.44783525e-01 -6.75666804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.93, Y:-168.72, Z:-675.69 [[ 5.50365331e-01 5.09980353e-01 6.61073401e-01 2.80933941e+02] [-3.36035307e-01 8.60116604e-01 -3.83770374e-01 -1.68719720e+02] [-7.64315560e-01 -1.09300948e-02 6.44749764e-01 -6.75691596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:-168.73, Z:-675.72 [[ 5.49686408e-01 5.10869078e-01 6.60952070e-01 2.80952279e+02] [-3.37072096e-01 8.59579270e-01 -3.84064943e-01 -1.68730023e+02] [-7.64347601e-01 -1.16732206e-02 6.44698752e-01 -6.75717314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:-168.74, Z:-675.74 [[ 5.48740275e-01 5.12081049e-01 6.60800356e-01 2.80970085e+02] [-3.38619257e-01 8.58841032e-01 -3.84355410e-01 -1.68740542e+02] [-7.64343581e-01 -1.28484325e-02 6.44681168e-01 -6.75742745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:-168.75, Z:-675.77 [[ 5.48132980e-01 5.12693698e-01 6.60829334e-01 2.80987752e+02] [-3.39093662e-01 8.58470408e-01 -3.84764924e-01 -1.68751051e+02] [-7.64568980e-01 -1.31806946e-02 6.44407127e-01 -6.75767923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:-168.76, Z:-675.80 [[ 5.47453806e-01 5.14769400e-01 6.59777838e-01 2.81006057e+02] [-3.40210049e-01 8.57232335e-01 -3.86535700e-01 -1.68763146e+02] [-7.64559647e-01 -1.28526103e-02 6.44424827e-01 -6.75795576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:-168.77, Z:-675.82 [[ 5.47150535e-01 5.18839386e-01 6.56834823e-01 2.81023872e+02] [-3.40287277e-01 8.54822706e-01 -3.91768696e-01 -1.68770460e+02] [-7.64742350e-01 -9.15608180e-03 6.44271142e-01 -6.75822431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.04, Y:-168.78, Z:-675.84 [[ 5.47269270e-01 5.17036734e-01 6.58156032e-01 2.81041258e+02] [-3.39334974e-01 8.55907358e-01 -3.90223486e-01 -1.68779351e+02] [-7.65080467e-01 -9.77803754e-03 6.43860442e-01 -6.75844298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:281.06, Y:-168.79, Z:-675.87 [[ 5.48045354e-01 5.14268021e-01 6.59677719e-01 2.81059985e+02] [-3.40053355e-01 8.57534325e-01 -3.86003365e-01 -1.68794966e+02] [-7.64205474e-01 -1.27782709e-02 6.44846268e-01 -6.75871199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.136559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.11, Y:-168.54, Z:-675.27 [[ 5.87781167e-01 -4.66461129e-01 -6.61004777e-01 2.82111411e+02] [-2.36921420e-01 -8.80470257e-01 4.10658457e-01 -1.68542441e+02] [-7.73551253e-01 -8.47711162e-02 -6.28038468e-01 -6.75273238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.15, Y:-168.87, Z:-675.95 [[ 5.88883965e-01 4.02590249e-01 7.00811506e-01 2.81146779e+02] [-2.74600318e-01 9.15188797e-01 -2.94998527e-01 -1.68870279e+02] [-7.60138369e-01 -1.87231601e-02 6.49491419e-01 -6.75946702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.17, Y:-168.87, Z:-675.97 [[ 5.88672380e-01 4.09892410e-01 6.96744603e-01 2.81165715e+02] [-2.74768397e-01 9.12051657e-01 -3.04407791e-01 -1.68873213e+02] [-7.60241513e-01 -1.22469394e-02 6.49525100e-01 -6.75974826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.18, Y:-168.88, Z:-676.00 [[ 5.89509383e-01 4.09945156e-01 6.96005500e-01 2.81184902e+02] [-2.75024663e-01 9.12030358e-01 -3.04240137e-01 -1.68882353e+02] [-7.59499916e-01 -1.20662625e-02 6.50395482e-01 -6.76000040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.20, Y:-168.89, Z:-676.02 [[ 5.89870124e-01 4.10165554e-01 6.95569878e-01 2.81202940e+02] [-2.75150171e-01 9.11934467e-01 -3.04414045e-01 -1.68891031e+02] [-7.59174302e-01 -1.18214205e-02 6.50780019e-01 -6.76024899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:-168.90, Z:-676.05 [[ 5.91066934e-01 4.09708706e-01 6.94822751e-01 2.81221967e+02] [-2.74545050e-01 9.12151377e-01 -3.04310500e-01 -1.68901548e+02] [-7.58462191e-01 -1.08922728e-02 6.51626015e-01 -6.76050019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:-168.91, Z:-676.07 [[ 5.91266656e-01 4.09482547e-01 6.94786143e-01 2.81240624e+02] [-2.73791029e-01 9.12262128e-01 -3.04657649e-01 -1.68910807e+02] [-7.58579076e-01 -1.00923034e-02 6.51502826e-01 -6.76074731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.26, Y:-168.92, Z:-676.10 [[ 5.91641770e-01 4.09044604e-01 6.94724786e-01 2.81259631e+02] [-2.72885836e-01 9.12467846e-01 -3.04853655e-01 -1.68920422e+02] [-7.58612772e-01 -9.21639770e-03 6.51476570e-01 -6.76099682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:-168.93, Z:-676.12 [[ 5.91745054e-01 4.07740920e-01 6.95402857e-01 2.81278002e+02] [-2.70121542e-01 9.13070378e-01 -3.05510780e-01 -1.68932294e+02] [-7.59520996e-01 -7.05879873e-03 6.50444487e-01 -6.76124104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.30, Y:-168.94, Z:-676.15 [[ 5.91857666e-01 4.07313398e-01 6.95557545e-01 2.81297084e+02] [-2.68962380e-01 9.13268705e-01 -3.05940371e-01 -1.68942322e+02] [-7.59844551e-01 -6.00565853e-03 6.50077065e-01 -6.76148439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:-168.95, Z:-676.17 [[ 5.91264470e-01 4.06995895e-01 6.96247562e-01 2.81315796e+02] [-2.67700268e-01 9.13415753e-01 -3.06607615e-01 -1.68951620e+02] [-7.60751532e-01 -5.09946940e-03 6.49023191e-01 -6.76173243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:-168.96, Z:-676.20 [[ 5.90494550e-01 4.07077352e-01 6.96853081e-01 2.81335616e+02] [-2.67122770e-01 9.13381401e-01 -3.07213024e-01 -1.68960184e+02] [-7.61552107e-01 -4.73770894e-03 6.48086369e-01 -6.76198434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.35, Y:-168.97, Z:-676.22 [[ 5.88708173e-01 4.07940960e-01 6.97858768e-01 2.81354310e+02] [-2.67526069e-01 9.12992556e-01 -3.08016875e-01 -1.68966823e+02] [-7.62792560e-01 -5.36336164e-03 6.46621021e-01 -6.76223180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.37, Y:-168.97, Z:-676.25 [[ 5.88411566e-01 4.08602139e-01 6.97722094e-01 2.81373460e+02] [-2.68226278e-01 9.12694518e-01 -3.08291065e-01 -1.68974581e+02] [-7.62775519e-01 -5.74537188e-03 6.46637842e-01 -6.76248637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:-168.98, Z:-676.27 [[ 5.87929769e-01 4.09682667e-01 6.97494587e-01 2.81393026e+02] [-2.69587154e-01 9.12204035e-01 -3.08555611e-01 -1.68982535e+02] [-7.62667262e-01 -6.62655198e-03 6.46757092e-01 -6.76274322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.41, Y:-168.99, Z:-676.30 [[ 5.87896635e-01 4.10334447e-01 6.97139289e-01 2.81411681e+02] [-2.70346426e-01 9.11908643e-01 -3.08764372e-01 -1.68990769e+02] [-7.62424001e-01 -6.94758003e-03 6.47040474e-01 -6.76299006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.43, Y:-169.00, Z:-676.32 [[ 5.87933434e-01 4.10878887e-01 6.96787498e-01 2.81430612e+02] [-2.70966500e-01 9.11661788e-01 -3.08949739e-01 -1.68998919e+02] [-7.62175461e-01 -7.16418813e-03 6.47330859e-01 -6.76323474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:-169.01, Z:-676.35 [[ 5.87501554e-01 4.11179389e-01 6.96974486e-01 2.81449334e+02] [-2.71487036e-01 9.11521615e-01 -3.08906351e-01 -1.69006260e+02] [-7.62323234e-01 -7.73657603e-03 6.47150239e-01 -6.76350254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.47, Y:-169.01, Z:-676.37 [[ 5.87681408e-01 4.14125615e-01 6.95075922e-01 2.81468569e+02] [-2.71990010e-01 9.10203114e-01 -3.12332718e-01 -1.69010963e+02] [-7.62005247e-01 -5.50157515e-03 6.47547478e-01 -6.76374737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.49, Y:-169.02, Z:-676.40 [[ 5.87617888e-01 4.12018607e-01 6.96380561e-01 2.81487989e+02] [-2.72119376e-01 9.11143308e-01 -3.09465536e-01 -1.69019881e+02] [-7.62008047e-01 -7.65115874e-03 6.47522352e-01 -6.76398991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:-169.03, Z:-676.43 [[ 5.87333127e-01 4.12822865e-01 6.96144439e-01 2.81507016e+02] [-2.71184451e-01 9.10791976e-01 -3.11314907e-01 -1.69025295e+02] [-7.62560680e-01 -5.93798965e-03 6.46889441e-01 -6.76426677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.52, Y:-169.03, Z:-676.46 [[ 5.86503542e-01 4.17736691e-01 6.93908965e-01 2.81524032e+02] [-2.69291288e-01 9.08568030e-01 -3.19352998e-01 -1.69026562e+02] [-7.63868966e-01 4.38025849e-04 6.45371219e-01 -6.76455388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:-169.05, Z:-676.47 [[ 5.88702034e-01 4.05416953e-01 6.99333261e-01 2.81546508e+02] [-2.69956417e-01 9.14070226e-01 -3.02653522e-01 -1.69046093e+02] [-7.61940581e-01 -1.06167570e-02 6.47559909e-01 -6.76473437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:-169.05, Z:-676.50 [[ 5.89812249e-01 4.09614998e-01 6.95943291e-01 2.81565365e+02] [-2.67405776e-01 9.12253296e-01 -3.10303199e-01 -1.69049762e+02] [-7.61981405e-01 -3.07862839e-03 6.47591584e-01 -6.76501072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.58, Y:-169.06, Z:-676.53 [[ 5.89557273e-01 4.10138841e-01 6.95850813e-01 2.81583828e+02] [-2.65891702e-01 9.12022638e-01 -3.12276018e-01 -1.69057737e+02] [-7.62708218e-01 -9.16359706e-04 6.46742093e-01 -6.76528462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.60, Y:-169.07, Z:-676.55 [[ 5.90306324e-01 4.09283722e-01 6.95719253e-01 2.81603044e+02] [-2.64310502e-01 9.12406980e-01 -3.12495540e-01 -1.69065917e+02] [-7.62678440e-01 5.82188603e-04 6.46777596e-01 -6.76551275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:-169.07, Z:-676.58 [[ 5.90290699e-01 4.07438673e-01 6.96814623e-01 2.81622205e+02] [-2.61360626e-01 9.13229444e-01 -3.12574161e-01 -1.69074663e+02] [-7.63706432e-01 2.38971387e-03 6.45559274e-01 -6.76577971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:-169.08, Z:-676.60 [[ 5.90324526e-01 4.08288172e-01 6.96288534e-01 2.81640105e+02] [-2.59775781e-01 9.12838908e-01 -3.15026463e-01 -1.69079921e+02] [-7.64220843e-01 5.08894957e-03 6.44934575e-01 -6.76601214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:-169.09, Z:-676.63 [[ 5.90442164e-01 4.05832493e-01 6.97623135e-01 2.81659102e+02] [-2.59046764e-01 9.13939776e-01 -3.12424165e-01 -1.69089892e+02] [-7.64377410e-01 3.75138482e-03 6.44758174e-01 -6.76625017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:-169.10, Z:-676.65 [[ 5.90264835e-01 4.05713679e-01 6.97842271e-01 2.81678498e+02] [-2.58338987e-01 9.13989669e-01 -3.12863953e-01 -1.69098668e+02] [-7.64753812e-01 4.39272371e-03 6.44307622e-01 -6.76650168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:-169.11, Z:-676.68 [[ 5.89246351e-01 4.08825462e-01 6.96886274e-01 2.81696832e+02] [-2.58575034e-01 9.12589902e-01 -3.16731153e-01 -1.69105485e+02] [-7.65459136e-01 6.43528390e-03 6.43452328e-01 -6.76678037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:-169.11, Z:-676.70 [[ 5.88396228e-01 4.07216510e-01 6.98544625e-01 2.81716129e+02] [-2.59836302e-01 9.13326763e-01 -3.13559119e-01 -1.69114187e+02] [-7.65685951e-01 2.98975108e-03 6.43207654e-01 -6.76699153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:-169.12, Z:-676.72 [[ 5.87612913e-01 4.08249176e-01 6.98601227e-01 2.81735783e+02] [-2.60839278e-01 9.12867573e-01 -3.14063156e-01 -1.69121940e+02] [-7.65946431e-01 2.32492632e-03 6.42900194e-01 -6.76724367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.75, Y:-169.13, Z:-676.75 [[ 5.86838652e-01 4.09187259e-01 6.98703216e-01 2.81754885e+02] [-2.61811675e-01 9.12449002e-01 -3.14470136e-01 -1.69129074e+02] [-7.66208225e-01 1.61457076e-03 6.42590343e-01 -6.76749511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.77, Y:-169.14, Z:-676.78 [[ 5.85918917e-01 4.11327187e-01 6.98218424e-01 2.81774651e+02] [-2.65133904e-01 9.11487355e-01 -3.14475459e-01 -1.69135003e+02] [-7.65769571e-01 -8.64256603e-04 6.43114467e-01 -6.76775217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:-169.14, Z:-676.80 [[ 5.85828000e-01 4.12606697e-01 6.97539438e-01 2.81793624e+02] [-2.67061985e-01 9.10907020e-01 -3.14525511e-01 -1.69142361e+02] [-7.65168903e-01 -2.02841581e-03 6.43826401e-01 -6.76800494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.81, Y:-169.15, Z:-676.83 [[ 5.85624672e-01 4.13882910e-01 6.96953858e-01 2.81813016e+02] [-2.68920804e-01 9.10324601e-01 -3.14627911e-01 -1.69150014e+02] [-7.64673358e-01 -3.17152474e-03 6.44410271e-01 -6.76826163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:-169.16, Z:-676.85 [[ 5.85162864e-01 4.16302595e-01 6.95899829e-01 2.81831406e+02] [-2.70918716e-01 9.09219164e-01 -3.16106882e-01 -1.69155362e+02] [-7.64321576e-01 -3.55828002e-03 6.44825455e-01 -6.76851509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:-169.17, Z:-676.87 [[ 5.85335666e-01 4.14538360e-01 6.96807080e-01 2.81850790e+02] [-2.72861238e-01 9.10001643e-01 -3.12159823e-01 -1.69166483e+02] [-7.63497808e-01 -7.41336472e-03 6.45767868e-01 -6.76874244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:-169.17, Z:-676.90 [[ 5.85513108e-01 4.17130926e-01 6.95108762e-01 2.81870290e+02] [-2.73970396e-01 9.08825033e-01 -3.14606550e-01 -1.69173450e+02] [-7.62964366e-01 -6.23296387e-03 6.46410494e-01 -6.76900140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:-169.18, Z:-676.92 [[ 5.85683836e-01 4.17716882e-01 6.94612879e-01 2.81888977e+02] [-2.74700208e-01 9.08554242e-01 -3.14752260e-01 -1.69180345e+02] [-7.62570810e-01 -6.46499131e-03 6.46872448e-01 -6.76924789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.91, Y:-169.19, Z:-676.95 [[ 5.86044987e-01 4.17992718e-01 6.94142176e-01 2.81908672e+02] [-2.74966211e-01 9.08428325e-01 -3.14883410e-01 -1.69188315e+02] [-7.62197386e-01 -6.32980027e-03 6.47313740e-01 -6.76950519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:-169.20, Z:-676.98 [[ 5.86318035e-01 4.18200954e-01 6.93786079e-01 2.81927653e+02] [-2.75044549e-01 9.08334179e-01 -3.15086520e-01 -1.69196517e+02] [-7.61959092e-01 -6.08116971e-03 6.47596604e-01 -6.76975860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:-169.20, Z:-677.00 [[ 5.86686250e-01 4.18063713e-01 6.93557479e-01 2.81946267e+02] [-2.74520638e-01 9.08401746e-01 -3.15348519e-01 -1.69204862e+02] [-7.61864597e-01 -5.38520194e-03 6.47713931e-01 -6.77000608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:-169.21, Z:-677.03 [[ 5.87113090e-01 4.17201627e-01 6.93715375e-01 2.81964865e+02] [-2.72702534e-01 9.08806048e-01 -3.15760818e-01 -1.69214588e+02] [-7.62188656e-01 -3.79063076e-03 6.47343869e-01 -6.77025775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:-169.22, Z:-677.05 [[ 5.88330839e-01 4.15354860e-01 6.93791874e-01 2.81983127e+02] [-2.70693616e-01 9.09656146e-01 -3.15040732e-01 -1.69223279e+02] [-7.61965741e-01 -2.45685260e-03 6.47612673e-01 -6.77048760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:-169.24, Z:-677.07 [[ 5.89043385e-01 4.13104341e-01 6.94530556e-01 2.82001391e+02] [-2.68556121e-01 9.10682264e-01 -3.13903525e-01 -1.69235908e+02] [-7.62171569e-01 -1.61763718e-03 6.47373063e-01 -6.77073625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:-169.24, Z:-677.10 [[ 5.89550382e-01 4.14138427e-01 6.93483749e-01 2.82019832e+02] [-2.66842723e-01 9.10212382e-01 -3.16714984e-01 -1.69243384e+02] [-7.62381340e-01 1.66834785e-03 6.47125883e-01 -6.77098723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:-169.25, Z:-677.12 [[ 5.90030613e-01 4.12688780e-01 6.93939368e-01 2.82038619e+02] [-2.63958011e-01 9.10863211e-01 -3.17260745e-01 -1.69253337e+02] [-7.63013791e-01 4.02269650e-03 6.46369688e-01 -6.77123649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.06, Y:-169.26, Z:-677.15 [[ 5.90180468e-01 4.12360833e-01 6.94006887e-01 2.82058043e+02] [-2.62981601e-01 9.11007078e-01 -3.17658279e-01 -1.69262648e+02] [-7.63235018e-01 4.96466985e-03 6.46101896e-01 -6.77148812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:-169.27, Z:-677.17 [[ 5.90244987e-01 4.11833782e-01 6.94264929e-01 2.82077229e+02] [-2.61586221e-01 9.11238063e-01 -3.18147515e-01 -1.69272629e+02] [-7.63664524e-01 6.17483713e-03 6.45583741e-01 -6.77174021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:-169.28, Z:-677.20 [[ 5.90547520e-01 4.12205064e-01 6.93787152e-01 2.82095356e+02] [-2.61984354e-01 9.11069927e-01 -3.18301408e-01 -1.69281725e+02] [-7.63294062e-01 6.21072840e-03 6.46021363e-01 -6.77198455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:-169.29, Z:-677.22 [[ 5.90524271e-01 4.12793857e-01 6.93456788e-01 2.82114211e+02] [-2.62804392e-01 9.10806218e-01 -3.18380096e-01 -1.69290430e+02] [-7.63030102e-01 5.76768420e-03 6.46337216e-01 -6.77223686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.13, Y:-169.30, Z:-677.25 [[ 5.90460671e-01 4.13119446e-01 6.93317041e-01 2.82133643e+02] [-2.62949456e-01 9.10657975e-01 -3.18684227e-01 -1.69299272e+02] [-7.63029344e-01 5.86316318e-03 6.46337252e-01 -6.77249441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:-169.31, Z:-677.27 [[ 5.90313388e-01 4.14679009e-01 6.92510955e-01 2.82151927e+02] [-2.65561176e-01 9.09958427e-01 -3.18516754e-01 -1.69307451e+02] [-7.62238392e-01 4.12068050e-03 6.47283288e-01 -6.77274191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:-169.32, Z:-677.30 [[ 5.89096212e-01 4.16975008e-01 6.92168690e-01 2.82171408e+02] [-2.68888560e-01 9.08916492e-01 -3.18700099e-01 -1.69315843e+02] [-7.62013514e-01 1.62877887e-03 6.47559072e-01 -6.77299261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.19, Y:-169.32, Z:-677.32 [[ 5.88263891e-01 4.18527682e-01 6.91939430e-01 2.82190168e+02] [-2.70980920e-01 9.08204032e-01 -3.18958897e-01 -1.69324068e+02] [-7.61915308e-01 1.29618131e-04 6.47676653e-01 -6.77323844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:-169.33, Z:-677.35 [[ 5.87681354e-01 4.19891162e-01 6.91608298e-01 2.82209237e+02] [-2.72866748e-01 9.07573724e-01 -3.19145224e-01 -1.69332156e+02] [-7.61691778e-01 -1.16121019e-03 6.47938491e-01 -6.77348979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.23, Y:-169.34, Z:-677.37 [[ 5.86137333e-01 4.22486014e-01 6.91338263e-01 2.82227839e+02] [-2.76597859e-01 9.06360522e-01 -3.19381010e-01 -1.69339910e+02] [-7.61535719e-01 -4.02154961e-03 6.48110466e-01 -6.77373256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.25, Y:-169.35, Z:-677.40 [[ 5.85295063e-01 4.24025189e-01 6.91109491e-01 2.82247181e+02] [-2.78706654e-01 9.05633387e-01 -3.19610340e-01 -1.69348753e+02] [-7.61414664e-01 -5.55045934e-03 6.48241392e-01 -6.77398432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.27, Y:-169.36, Z:-677.42 [[ 5.83477752e-01 4.26823607e-01 6.90923528e-01 2.82266886e+02] [-2.82704744e-01 9.04293272e-01 -3.19893272e-01 -1.69357147e+02] [-7.61335498e-01 -8.67675208e-03 6.48300065e-01 -6.77423616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:-169.37, Z:-677.45 [[ 5.82296387e-01 4.28338495e-01 6.90982670e-01 2.82285805e+02] [-2.84585739e-01 9.03561480e-01 -3.20293007e-01 -1.69365023e+02] [-7.61539149e-01 -1.01383531e-02 6.48039612e-01 -6.77448723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:-169.37, Z:-677.47 [[ 5.80606835e-01 4.30449850e-01 6.91092346e-01 2.82305381e+02] [-2.87537732e-01 9.02526717e-01 -3.20573826e-01 -1.69372638e+02] [-7.61720261e-01 -1.25877714e-02 6.47783754e-01 -6.77474689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:-169.38, Z:-677.50 [[ 5.79829912e-01 4.31453397e-01 6.91118832e-01 2.82324416e+02] [-2.88662933e-01 9.02035597e-01 -3.20944689e-01 -1.69381228e+02] [-7.61886464e-01 -1.34070582e-02 6.47571824e-01 -6.77499684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:-169.39, Z:-677.52 [[ 5.79488989e-01 4.32243912e-01 6.90910785e-01 2.82343288e+02] [-2.89569112e-01 9.01649187e-01 -3.21214063e-01 -1.69389811e+02] [-7.61801970e-01 -1.39264098e-02 6.47660261e-01 -6.77524407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.36, Y:-169.40, Z:-677.55 [[ 5.79401161e-01 4.32570203e-01 6.90780221e-01 2.82362673e+02] [-2.89742356e-01 9.01493502e-01 -3.21494685e-01 -1.69398758e+02] [-7.61802902e-01 -1.38738946e-02 6.47660292e-01 -6.77550148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:-169.41, Z:-677.57 [[ 5.79148262e-01 4.32927542e-01 6.90768438e-01 2.82381459e+02] [-2.90010096e-01 9.01320078e-01 -3.21739430e-01 -1.69408380e+02] [-7.61893323e-01 -1.39949891e-02 6.47551314e-01 -6.77574956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-169.41, Z:-677.60 [[ 5.77654552e-01 4.37295012e-01 6.89266488e-01 2.82397538e+02] [-2.88829280e-01 8.99269625e-01 -3.28468854e-01 -1.69412520e+02] [-7.63474208e-01 -9.33881456e-03 6.45770796e-01 -6.77603221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:-169.43, Z:-677.62 [[ 5.79175103e-01 4.29670416e-01 6.92776684e-01 2.82416985e+02] [-2.87914534e-01 9.02868604e-01 -3.19270270e-01 -1.69425980e+02] [-7.62667307e-01 -1.45470846e-02 6.46627374e-01 -6.77624109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.44, Y:-169.44, Z:-677.65 [[ 5.79902572e-01 4.26520977e-01 6.94113004e-01 2.82437836e+02] [-2.90590898e-01 9.04250541e-01 -3.12870403e-01 -1.69441787e+02] [-7.61097850e-01 -2.02685695e-02 6.48320328e-01 -6.77646936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.46, Y:-169.44, Z:-677.67 [[ 5.79926603e-01 4.34346208e-01 6.89223118e-01 2.82455887e+02] [-2.90759001e-01 9.00650476e-01 -3.22936409e-01 -1.69444136e+02] [-7.61015334e-01 -1.31184102e-02 6.48601240e-01 -6.77674566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.47, Y:-169.45, Z:-677.70 [[ 5.80297753e-01 4.34718042e-01 6.88676079e-01 2.82474976e+02] [-2.91212744e-01 9.00471339e-01 -3.23027099e-01 -1.69453330e+02] [-7.60558779e-01 -1.30993508e-02 6.49136928e-01 -6.77700257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:-169.45, Z:-677.73 [[ 5.78910520e-01 4.42305334e-01 6.85002629e-01 2.82489152e+02] [-2.88023253e-01 8.96859635e-01 -3.35686463e-01 -1.69450363e+02] [-7.62827120e-01 -2.96426077e-03 6.46595699e-01 -6.77730607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:-169.48, Z:-677.74 [[ 5.81185239e-01 4.20102865e-01 6.96948564e-01 2.82512599e+02] [-2.91285167e-01 9.07092216e-01 -3.03869482e-01 -1.69484305e+02] [-7.59853058e-01 -2.64063212e-02 6.49558340e-01 -6.77744582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:-169.48, Z:-677.77 [[ 5.80836901e-01 4.35449556e-01 6.87758809e-01 2.82530436e+02] [-2.91949257e-01 9.00119531e-01 -3.23342639e-01 -1.69482233e+02] [-7.59864544e-01 -1.29813366e-02 6.49951813e-01 -6.77774810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:-169.49, Z:-677.80 [[ 5.80785825e-01 4.36006051e-01 6.87449307e-01 2.82549148e+02] [-2.92546519e-01 8.99847052e-01 -3.23561150e-01 -1.69491069e+02] [-7.59673851e-01 -1.31911727e-02 6.50170465e-01 -6.77799746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:-169.50, Z:-677.82 [[ 5.80490136e-01 4.36854056e-01 6.87160633e-01 2.82567185e+02] [-2.93614039e-01 8.99426258e-01 -3.23764117e-01 -1.69499671e+02] [-7.59487984e-01 -1.38181325e-02 6.50374554e-01 -6.77824109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:-169.51, Z:-677.85 [[ 5.80201135e-01 4.37612232e-01 6.86922250e-01 2.82585909e+02] [-2.94525234e-01 8.99049432e-01 -3.23983033e-01 -1.69508393e+02] [-7.59355997e-01 -1.43406134e-02 6.50517346e-01 -6.77849481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.60, Y:-169.52, Z:-677.87 [[ 5.79677770e-01 4.39133056e-01 6.86393358e-01 2.82604327e+02] [-2.96734619e-01 8.98282969e-01 -3.24093001e-01 -1.69517944e+02] [-7.58895414e-01 -1.58071639e-02 6.51020648e-01 -6.77874760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.62, Y:-169.53, Z:-677.90 [[ 5.79649765e-01 4.40057617e-01 6.85824645e-01 2.82623120e+02] [-2.98027180e-01 8.97818389e-01 -3.24194293e-01 -1.69527435e+02] [-7.58410146e-01 -1.64752389e-02 6.51569349e-01 -6.77899800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.64, Y:-169.54, Z:-677.93 [[ 5.79279720e-01 4.41129123e-01 6.85448833e-01 2.82641432e+02] [-2.99448070e-01 8.97276000e-01 -3.24386549e-01 -1.69537271e+02] [-7.58133141e-01 -1.73457804e-02 6.51869055e-01 -6.77925283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.66, Y:-169.55, Z:-677.95 [[ 5.79572689e-01 4.41541099e-01 6.84935732e-01 2.82660176e+02] [-2.99919912e-01 8.97073299e-01 -3.24511236e-01 -1.69546300e+02] [-7.57722604e-01 -1.73480144e-02 6.52346151e-01 -6.77949856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.68, Y:-169.56, Z:-677.97 [[ 5.79157214e-01 4.41844988e-01 6.85091182e-01 2.82678337e+02] [-2.99913530e-01 8.96924892e-01 -3.24927090e-01 -1.69555120e+02] [-7.58042740e-01 -1.72842465e-02 6.51975812e-01 -6.77974828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:-169.57, Z:-678.00 [[ 5.78937698e-01 4.41520302e-01 6.85485934e-01 2.82696381e+02] [-2.98812863e-01 8.97101106e-01 -3.25454264e-01 -1.69565245e+02] [-7.58644855e-01 -1.64142717e-02 6.51297594e-01 -6.77998822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:-169.58, Z:-678.02 [[ 5.79033596e-01 4.41147133e-01 6.85645172e-01 2.82715102e+02] [-2.97761482e-01 8.97301417e-01 -3.25865412e-01 -1.69575065e+02] [-7.58984976e-01 -1.54717009e-02 6.50924291e-01 -6.78023548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:-169.58, Z:-678.05 [[ 5.78981355e-01 4.40507211e-01 6.86100567e-01 2.82733263e+02] [-2.96115339e-01 8.97637356e-01 -3.26439708e-01 -1.69584593e+02] [-7.59668544e-01 -1.41623971e-02 6.50156235e-01 -6.78048251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:-169.60, Z:-678.07 [[ 5.79561549e-01 4.38680166e-01 6.86780986e-01 2.82752055e+02] [-2.92535582e-01 8.98571764e-01 -3.27095886e-01 -1.69595447e+02] [-7.60612480e-01 -1.13356766e-02 6.49107201e-01 -6.78073584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:-169.60, Z:-678.10 [[ 5.79906829e-01 4.38071019e-01 6.86878338e-01 2.82769917e+02] [-2.91109623e-01 8.98884384e-01 -3.27508857e-01 -1.69604862e+02] [-7.60896351e-01 -1.00322712e-02 6.48795882e-01 -6.78097951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:-169.62, Z:-678.12 [[ 5.80712625e-01 4.36490212e-01 6.87203857e-01 2.82788170e+02] [-2.88084490e-01 8.99677777e-01 -3.28004915e-01 -1.69615118e+02] [-7.61432974e-01 -7.49617730e-03 6.48200304e-01 -6.78123064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:-169.61, Z:-678.15 [[ 5.78928942e-01 4.45351876e-01 6.83010240e-01 2.82800211e+02] [-2.81578683e-01 8.95324397e-01 -3.45119790e-01 -1.69607131e+02] [-7.65215477e-01 7.47871108e-03 6.43730800e-01 -6.78153855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.82, Y:-169.64, Z:-678.17 [[ 5.81396849e-01 4.17220912e-01 6.98501549e-01 2.82822394e+02] [-2.81929300e-01 9.08630422e-01 -3.08069191e-01 -1.69642095e+02] [-7.63212666e-01 -1.78175961e-02 6.45901664e-01 -6.78168758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.84, Y:-169.65, Z:-678.19 [[ 5.82320274e-01 4.21524615e-01 6.95140345e-01 2.82844091e+02] [-2.86100357e-01 9.06632289e-01 -3.10103981e-01 -1.69653802e+02] [-7.60953143e-01 -1.83000656e-02 6.48548705e-01 -6.78193463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:-169.65, Z:-678.22 [[ 5.81716303e-01 4.36571208e-01 6.86302939e-01 2.82861237e+02] [-2.86923676e-01 8.99653014e-01 -3.29088527e-01 -1.69650264e+02] [-7.61105083e-01 -5.48040079e-03 6.48605441e-01 -6.78223235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.88, Y:-169.66, Z:-678.25 [[ 5.81788627e-01 4.37778949e-01 6.85471798e-01 2.82879680e+02] [-2.88843724e-01 8.99058660e-01 -3.29033174e-01 -1.69657316e+02] [-7.60323153e-01 -6.56646787e-03 6.49511805e-01 -6.78248111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:-169.67, Z:-678.27 [[ 5.82026955e-01 4.38415944e-01 6.84862091e-01 2.82898793e+02] [-2.89764517e-01 8.98745587e-01 -3.29078859e-01 -1.69665448e+02] [-7.59790200e-01 -6.91596680e-03 6.50131541e-01 -6.78273448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:-169.67, Z:-678.30 [[ 5.82011134e-01 4.39133757e-01 6.84415505e-01 2.82916792e+02] [-2.90690450e-01 8.98391725e-01 -3.29228448e-01 -1.69673449e+02] [-7.59448551e-01 -7.33842851e-03 6.50525976e-01 -6.78298200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:-169.68, Z:-678.32 [[ 5.81461942e-01 4.40940797e-01 6.83720135e-01 2.82934361e+02] [-2.89330480e-01 8.97525754e-01 -3.32769281e-01 -1.69677670e+02] [-7.60387982e-01 -4.32840232e-03 6.49454680e-01 -6.78324326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:-169.70, Z:-678.35 [[ 5.81452000e-01 4.33341444e-01 6.88570087e-01 2.82955350e+02] [-2.91274140e-01 9.01123685e-01 -3.21147131e-01 -1.69696250e+02] [-7.59653176e-01 -1.38310179e-02 6.50181326e-01 -6.78345725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:-169.70, Z:-678.37 [[ 5.80703159e-01 4.40313129e-01 6.84768712e-01 2.82974743e+02] [-2.91242270e-01 8.97811981e-01 -3.30320431e-01 -1.69697897e+02] [-7.60237977e-01 -7.61547604e-03 6.49600049e-01 -6.78373630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:-169.71, Z:-678.40 [[ 5.80158043e-01 4.40572535e-01 6.85063856e-01 2.82993310e+02] [-2.91057172e-01 8.97686006e-01 -3.30825569e-01 -1.69705864e+02] [-7.60724896e-01 -7.46163394e-03 6.49031553e-01 -6.78398435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.01, Y:-169.71, Z:-678.42 [[ 5.79714601e-01 4.40311275e-01 6.85607003e-01 2.83013248e+02] [-2.89958169e-01 8.97820447e-01 -3.31425264e-01 -1.69713851e+02] [-7.61482266e-01 -6.66528646e-03 6.48151473e-01 -6.78423807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:-169.73, Z:-678.44 [[ 5.82125262e-01 4.28763713e-01 6.90863126e-01 2.83036611e+02] [-2.91633023e-01 9.03233201e-01 -3.14833232e-01 -1.69734449e+02] [-7.58999579e-01 -1.82061238e-02 6.50836521e-01 -6.78441308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:-169.76, Z:-678.46 [[ 5.86600723e-01 4.18325941e-01 6.93471701e-01 2.83064960e+02] [-2.96189843e-01 9.07762689e-01 -2.97049620e-01 -1.69759450e+02] [-7.53771298e-01 -3.11497525e-02 6.56398144e-01 -6.78456998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:-169.70, Z:-678.51 [[ 5.78430818e-01 4.84695689e-01 6.56115750e-01 2.83068307e+02] [-2.89152726e-01 8.73930639e-01 -3.90686498e-01 -1.69700671e+02] [-7.62763718e-01 3.62674527e-02 6.45659494e-01 -6.78513687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:-169.75, Z:-678.52 [[ 5.79327911e-01 4.40324319e-01 6.85925408e-01 2.83088614e+02] [-2.88661677e-01 8.97822876e-01 -3.32548521e-01 -1.69745857e+02] [-7.62268724e-01 -5.34573861e-03 6.47238608e-01 -6.78523702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:-169.75, Z:-678.55 [[ 5.79323628e-01 4.40815291e-01 6.85613603e-01 2.83107765e+02] [-2.89193225e-01 8.97580921e-01 -3.32739791e-01 -1.69754288e+02] [-7.62070477e-01 -5.51078624e-03 6.47470632e-01 -6.78549734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:-169.76, Z:-678.58 [[ 5.79441789e-01 4.41039603e-01 6.85369449e-01 2.83126923e+02] [-2.89244289e-01 8.97472044e-01 -3.32988997e-01 -1.69762629e+02] [-7.61961255e-01 -5.29145907e-03 6.47600993e-01 -6.78575444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:283.15, Y:-169.77, Z:-678.60 [[ 5.80585886e-01 4.41126523e-01 6.84344518e-01 2.83147169e+02] [-2.89515536e-01 8.97431692e-01 -3.32862003e-01 -1.69771854e+02] [-7.60986717e-01 -4.87338881e-03 6.48749156e-01 -6.78599997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.16, Y:-169.78, Z:-678.62 [[ 5.80335972e-01 4.40086043e-01 6.85225828e-01 2.83164472e+02] [-2.87845707e-01 8.97946552e-01 -3.32921670e-01 -1.69778647e+02] [-7.61810350e-01 -4.03289174e-03 6.47787563e-01 -6.78624889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.18, Y:-169.79, Z:-678.65 [[ 5.79379033e-01 4.37773876e-01 6.87512887e-01 2.83182482e+02] [-2.88285096e-01 8.99055664e-01 -3.29530903e-01 -1.69790838e+02] [-7.62372376e-01 -7.27642259e-03 6.47097685e-01 -6.78649478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:-169.80, Z:-678.68 [[ 5.79331554e-01 4.41601612e-01 6.85100698e-01 2.83201818e+02] [-2.88419489e-01 8.97202973e-01 -3.34426411e-01 -1.69797268e+02] [-7.62357625e-01 -3.85262133e-03 6.47144504e-01 -6.78676137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:-169.81, Z:-678.70 [[ 5.79254767e-01 4.41602526e-01 6.85165034e-01 2.83220587e+02] [-2.87955140e-01 8.97204542e-01 -3.34822114e-01 -1.69806363e+02] [-7.62591472e-01 -3.34948797e-03 6.46871725e-01 -6.78701099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:-169.82, Z:-678.73 [[ 5.79167045e-01 4.41662412e-01 6.85200590e-01 2.83238647e+02] [-2.87588449e-01 8.97176590e-01 -3.35211948e-01 -1.69815538e+02] [-7.62796446e-01 -2.91206147e-03 6.46632122e-01 -6.78725367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:-169.82, Z:-678.75 [[ 5.79353563e-01 4.41552331e-01 6.85113851e-01 2.83257720e+02] [-2.87196301e-01 8.97232161e-01 -3.35399366e-01 -1.69824993e+02] [-7.62802552e-01 -2.44734560e-03 6.46626845e-01 -6.78751044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:-169.83, Z:-678.78 [[ 5.79241310e-01 4.41970574e-01 6.84939060e-01 2.83276041e+02] [-2.87504408e-01 8.97026122e-01 -3.35686390e-01 -1.69833995e+02] [-7.62771735e-01 -2.47957443e-03 6.46663074e-01 -6.78776230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:-169.84, Z:-678.80 [[ 5.78962521e-01 4.42619850e-01 6.84755481e-01 2.83294653e+02] [-2.88206899e-01 8.96704816e-01 -3.35942340e-01 -1.69843177e+02] [-7.62718285e-01 -2.85322982e-03 6.46724575e-01 -6.78801823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:-169.85, Z:-678.83 [[ 5.78513634e-01 4.43399473e-01 6.84630472e-01 2.83313328e+02] [-2.89050902e-01 8.96317781e-01 -3.36249924e-01 -1.69852535e+02] [-7.62739505e-01 -3.36788987e-03 6.46697074e-01 -6.78826966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:-169.86, Z:-678.85 [[ 5.78217601e-01 4.44455190e-01 6.84195871e-01 2.83331782e+02] [-2.90494063e-01 8.95791066e-01 -3.36409817e-01 -1.69861839e+02] [-7.62415638e-01 -4.23676138e-03 6.47073756e-01 -6.78851393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.35, Y:-169.87, Z:-678.88 [[ 5.77193459e-01 4.46312621e-01 6.83851413e-01 2.83350156e+02] [-2.93159132e-01 8.94855625e-01 -3.36587483e-01 -1.69870898e+02] [-7.62171525e-01 -6.20119320e-03 6.47345434e-01 -6.78876571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.37, Y:-169.88, Z:-678.90 [[ 5.76393177e-01 4.47468728e-01 6.83770899e-01 2.83369165e+02] [-2.94562322e-01 8.94270465e-01 -3.36917460e-01 -1.69880081e+02] [-7.62236147e-01 -7.21621874e-03 6.47258822e-01 -6.78902085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:-169.89, Z:-678.93 [[ 5.74441231e-01 4.49907901e-01 6.83812951e-01 2.83387403e+02] [-2.97885309e-01 8.93019736e-01 -3.37313049e-01 -1.69888922e+02] [-7.62418267e-01 -9.93130884e-03 6.47008311e-01 -6.78926283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:-169.90, Z:-678.95 [[ 5.73116130e-01 4.51446214e-01 6.83910972e-01 2.83406468e+02] [-2.99812363e-01 8.92224255e-01 -3.37710565e-01 -1.69898086e+02] [-7.62660113e-01 -1.14975929e-02 6.46697269e-01 -6.78951940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.43, Y:-169.91, Z:-678.98 [[ 5.71805888e-01 4.53094296e-01 6.83917821e-01 2.83425401e+02] [-3.01941678e-01 8.91365071e-01 -3.38082139e-01 -1.69906930e+02] [-7.62803546e-01 -1.31859373e-02 6.46495848e-01 -6.78976878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:-169.92, Z:-679.00 [[ 5.70913494e-01 4.54665058e-01 6.83620851e-01 2.83444301e+02] [-3.04121465e-01 8.90540148e-01 -3.38302203e-01 -1.69915467e+02] [-7.62606004e-01 -1.47624821e-02 6.46694790e-01 -6.79001924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:-169.92, Z:-679.03 [[ 5.69560216e-01 4.57027776e-01 6.83174043e-01 2.83462505e+02] [-3.07618807e-01 8.89282401e-01 -3.38448638e-01 -1.69923322e+02] [-7.62215082e-01 -1.73903047e-02 6.47090215e-01 -6.79026348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:-169.93, Z:-679.05 [[ 5.69499981e-01 4.57306951e-01 6.83037426e-01 2.83481665e+02] [-3.07724371e-01 8.89140946e-01 -3.38724208e-01 -1.69932759e+02] [-7.62217478e-01 -1.72838325e-02 6.47090246e-01 -6.79052110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:-169.94, Z:-679.08 [[ 5.68383651e-01 4.58846919e-01 6.82934500e-01 2.83501293e+02] [-3.10001443e-01 8.88309472e-01 -3.38829438e-01 -1.69941710e+02] [-7.62128028e-01 -1.91255675e-02 6.47143787e-01 -6.79077231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:-169.95, Z:-679.10 [[ 5.67311631e-01 4.59747104e-01 6.83220399e-01 2.83519739e+02] [-3.10812298e-01 8.87828289e-01 -3.39347381e-01 -1.69950424e+02] [-7.62596374e-01 -1.98375864e-02 6.46570369e-01 -6.79101721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:-169.96, Z:-679.13 [[ 5.66070138e-01 4.61043327e-01 6.83376653e-01 2.83538396e+02] [-3.12345385e-01 8.87126423e-01 -3.39775029e-01 -1.69958545e+02] [-7.62892495e-01 -2.11130464e-02 6.46180532e-01 -6.79125897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:-169.97, Z:-679.15 [[ 5.66008200e-01 4.61321864e-01 6.83239969e-01 2.83557544e+02] [-3.12450578e-01 8.86984110e-01 -3.40049740e-01 -1.69968010e+02] [-7.62895375e-01 -2.10077812e-02 6.46180563e-01 -6.79151659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:-169.98, Z:-679.18 [[ 5.65793343e-01 4.62006797e-01 6.82955060e-01 2.83577008e+02] [-3.13490281e-01 8.86611042e-01 -3.40065734e-01 -1.69977397e+02] [-7.62628178e-01 -2.16928449e-02 6.46473266e-01 -6.79177117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.60, Y:-169.99, Z:-679.20 [[ 5.65880853e-01 4.62887483e-01 6.82285892e-01 2.83596162e+02] [-3.14797989e-01 8.86135786e-01 -3.40096449e-01 -1.69985339e+02] [-7.62024334e-01 -2.23281582e-02 6.47163324e-01 -6.79202740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:-169.99, Z:-679.23 [[ 5.66181688e-01 4.63484218e-01 6.81630894e-01 2.83615368e+02] [-3.15653991e-01 8.85817364e-01 -3.40132558e-01 -1.69993938e+02] [-7.61446554e-01 -2.25826862e-02 6.47834213e-01 -6.79228439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:-170.00, Z:-679.25 [[ 5.66511533e-01 4.63827367e-01 6.81123232e-01 2.83634157e+02] [-3.16035839e-01 8.85639610e-01 -3.40240840e-01 -1.70002271e+02] [-7.61042727e-01 -2.25089928e-02 6.48311124e-01 -6.79253565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:-170.01, Z:-679.28 [[ 5.66413155e-01 4.64167413e-01 6.80973385e-01 2.83653279e+02] [-3.16207448e-01 8.85463134e-01 -3.40540584e-01 -1.70011739e+02] [-7.61044669e-01 -2.24421893e-02 6.48311160e-01 -6.79279316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:-170.02, Z:-679.30 [[ 5.66779647e-01 4.64056034e-01 6.80744320e-01 2.83671589e+02] [-3.15852542e-01 8.85534543e-01 -3.40684232e-01 -1.70020852e+02] [-7.60919184e-01 -2.19219356e-02 6.48476233e-01 -6.79303936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:-170.03, Z:-679.33 [[ 5.67071888e-01 4.63710427e-01 6.80736450e-01 2.83689748e+02] [-3.15045331e-01 8.85734543e-01 -3.40911659e-01 -1.70030127e+02] [-7.61036079e-01 -2.11414225e-02 6.48364964e-01 -6.79328064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:-170.04, Z:-679.35 [[ 5.67566314e-01 4.63188102e-01 6.80680000e-01 2.83708452e+02] [-3.13856228e-01 8.86035057e-01 -3.41227412e-01 -1.70039698e+02] [-7.61158819e-01 -1.99664727e-02 6.48258121e-01 -6.79353297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.276559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.73, Y:-170.06, Z:-679.37 [[ 5.71844089e-01 4.49833332e-01 6.86035212e-01 2.83731071e+02] [-3.12261060e-01 8.92662342e-01 -3.25033803e-01 -1.70062865e+02] [-7.58608838e-01 -2.83534235e-02 6.50929117e-01 -6.79371268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:-170.05, Z:-679.41 [[ 5.69737814e-01 4.73821503e-01 6.71484927e-01 2.83744468e+02] [-3.08150617e-01 8.80618965e-01 -3.59935321e-01 -1.70048075e+02] [-7.61867456e-01 -1.84973166e-03 6.47730312e-01 -6.79407429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:-170.07, Z:-679.43 [[ 5.70779417e-01 4.58654772e-01 6.81062888e-01 2.83763343e+02] [-3.05622569e-01 8.88522218e-01 -3.42232542e-01 -1.70069233e+02] [-7.62106097e-01 -1.28088983e-02 6.47325443e-01 -6.79428132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:-170.09, Z:-679.45 [[ 5.73474181e-01 4.51015652e-01 6.83894908e-01 2.83783953e+02] [-3.04044421e-01 8.92360586e-01 -3.33540964e-01 -1.70085669e+02] [-7.60713056e-01 -1.66573001e-02 6.48874549e-01 -6.79448238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:-170.08, Z:-679.48 [[ 5.74473669e-01 4.58984445e-01 6.77726555e-01 2.83800075e+02] [-2.97835167e-01 8.88443456e-01 -3.49231212e-01 -1.70084609e+02] [-7.62413417e-01 -1.22666603e-03 6.47089080e-01 -6.79478582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.82, Y:-170.11, Z:-679.50 [[ 5.76719746e-01 4.46131987e-01 6.84368749e-01 2.83820342e+02] [-2.97352212e-01 8.94892363e-01 -3.32790205e-01 -1.70106421e+02] [-7.60904723e-01 -1.15718787e-02 6.48760430e-01 -6.79497671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.83, Y:-170.10, Z:-679.53 [[ 5.76259406e-01 4.60238744e-01 6.75355755e-01 2.83834760e+02] [-2.94360680e-01 8.87780534e-01 -3.53832607e-01 -1.70101265e+02] [-7.62415167e-01 5.10118859e-03 6.47068073e-01 -6.79529543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.85, Y:-170.12, Z:-679.55 [[ 5.79509066e-01 4.47810272e-01 6.80907632e-01 2.83853245e+02] [-2.89823204e-01 8.94128471e-01 -3.41374848e-01 -1.70119009e+02] [-7.61690064e-01 4.86987618e-04 6.47941363e-01 -6.79550742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.87, Y:-170.13, Z:-679.58 [[ 5.80817508e-01 4.46266634e-01 6.80806223e-01 2.83871764e+02] [-2.88388305e-01 8.94898834e-01 -3.40570497e-01 -1.70129867e+02] [-7.61237944e-01 1.47275505e-03 6.48470989e-01 -6.79575628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.89, Y:-170.14, Z:-679.60 [[ 5.81472596e-01 4.46886210e-01 6.79839934e-01 2.83889740e+02] [-2.87107283e-01 8.94582064e-01 -3.42479691e-01 -1.70138347e+02] [-7.61222062e-01 3.95555873e-03 6.48479241e-01 -6.79600658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:-170.15, Z:-679.63 [[ 5.82404514e-01 4.46274008e-01 6.79444253e-01 2.83908598e+02] [-2.85559112e-01 8.94877936e-01 -3.43000690e-01 -1.70148117e+02] [-7.61091963e-01 5.74365248e-03 6.48618559e-01 -6.79626333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.93, Y:-170.16, Z:-679.65 [[ 5.82340807e-01 4.47116948e-01 6.78944489e-01 2.83926446e+02] [-2.85336210e-01 8.94449868e-01 -3.44300278e-01 -1.70156610e+02] [-7.61224298e-01 6.77265480e-03 6.48453313e-01 -6.79651630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:-170.17, Z:-679.68 [[ 5.82723099e-01 4.46131351e-01 6.79264756e-01 2.83945230e+02] [-2.84307749e-01 8.94937983e-01 -3.43882407e-01 -1.70166232e+02] [-7.61316553e-01 7.26798779e-03 6.48339635e-01 -6.79677324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.96, Y:-170.18, Z:-679.70 [[ 5.83040504e-01 4.46334896e-01 6.78858551e-01 2.83963860e+02] [-2.84435452e-01 8.94834561e-01 -3.44045900e-01 -1.70175367e+02] [-7.61025785e-01 7.50125608e-03 6.48678261e-01 -6.79702345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.98, Y:-170.18, Z:-679.73 [[ 5.83103676e-01 4.47085488e-01 6.78310158e-01 2.83982451e+02] [-2.84158136e-01 8.94450059e-01 -3.45272711e-01 -1.70184128e+02] [-7.61080979e-01 8.58243682e-03 6.48600096e-01 -6.79728728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.00, Y:-170.19, Z:-679.75 [[ 5.82886879e-01 4.47045530e-01 6.78522793e-01 2.84000542e+02] [-2.84884002e-01 8.94479244e-01 -3.44598299e-01 -1.70193294e+02] [-7.60975684e-01 7.56153832e-03 6.48736334e-01 -6.79752280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:-170.20, Z:-679.78 [[ 5.82257306e-01 4.48375098e-01 6.78185963e-01 2.84019032e+02] [-2.85570848e-01 8.93812764e-01 -3.45757190e-01 -1.70202010e+02] [-7.61200184e-01 7.64950925e-03 6.48471869e-01 -6.79778827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:-170.21, Z:-679.80 [[ 5.82010326e-01 4.49193127e-01 6.77856560e-01 2.84037803e+02] [-2.86673414e-01 8.93407343e-01 -3.45892575e-01 -1.70210676e+02] [-7.60974595e-01 6.98959633e-03 6.48744026e-01 -6.79804241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.06, Y:-170.22, Z:-679.83 [[ 5.81055394e-01 4.50541116e-01 6.77781183e-01 2.84055967e+02] [-2.89034995e-01 8.92742032e-01 -3.45644957e-01 -1.70219391e+02] [-7.60811015e-01 4.93638546e-03 6.48954722e-01 -6.79829239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:-170.23, Z:-679.86 [[ 5.80638327e-01 4.51822810e-01 6.77285230e-01 2.84074913e+02] [-2.90394500e-01 8.92097243e-01 -3.46169820e-01 -1.70228239e+02] [-7.60611706e-01 4.31955933e-03 6.49192709e-01 -6.79855078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.09, Y:-170.24, Z:-679.88 [[ 5.79226402e-01 4.53697891e-01 6.77240725e-01 2.84093980e+02] [-2.93170896e-01 8.91153274e-01 -3.46260981e-01 -1.70237328e+02] [-7.60623167e-01 2.01623191e-03 6.49190522e-01 -6.79881042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:-170.24, Z:-679.91 [[ 5.77157483e-01 4.60197051e-01 6.74616864e-01 2.84110595e+02] [-2.93106665e-01 8.87788646e-01 -3.54851805e-01 -1.70239684e+02] [-7.62218947e-01 7.07067490e-03 6.47280683e-01 -6.79909750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:-170.25, Z:-679.93 [[ 5.74979772e-01 4.58736650e-01 6.77465090e-01 2.84126295e+02] [-2.92338573e-01 8.88556818e-01 -3.53560376e-01 -1.70247111e+02] [-7.64157327e-01 5.24088693e-03 6.45008614e-01 -6.79934509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-170.27, Z:-679.95 [[ 5.73841354e-01 4.45204598e-01 6.87385603e-01 2.84147386e+02] [-2.96855197e-01 8.95327070e-01 -3.32063894e-01 -1.70272722e+02] [-7.63271310e-01 -1.35019937e-02 6.45936997e-01 -6.79952498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.17, Y:-170.27, Z:-679.98 [[ 5.73826640e-01 4.56381690e-01 6.80028485e-01 2.84165725e+02] [-2.97127277e-01 8.89778107e-01 -3.46425030e-01 -1.70273216e+02] [-7.63176499e-01 -3.26710112e-03 6.46181830e-01 -6.79981290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:-170.26, Z:-680.01 [[ 5.68799609e-01 4.72621617e-01 6.73123920e-01 2.84179234e+02] [-2.95874608e-01 8.81202222e-01 -3.68701587e-01 -1.70262347e+02] [-7.67414634e-01 1.05570423e-02 6.41064215e-01 -6.80014406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:-170.32, Z:-680.02 [[ 5.72097275e-01 4.27913638e-01 6.99710388e-01 2.84207817e+02] [-3.03606116e-01 9.02998503e-01 -3.04001694e-01 -1.70319641e+02] [-7.61923903e-01 -3.85178124e-02 6.46520181e-01 -6.80017982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-170.30, Z:-680.05 [[ 5.69883809e-01 4.63631454e-01 6.78438146e-01 2.84225492e+02] [-3.06446499e-01 8.85976578e-01 -3.48046042e-01 -1.70300610e+02] [-7.62445400e-01 -9.55919045e-03 6.46981943e-01 -6.80054871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.24, Y:-170.29, Z:-680.09 [[ 5.66360114e-01 4.77399572e-01 6.71807912e-01 2.84238994e+02] [-3.04014618e-01 8.78676080e-01 -3.68107945e-01 -1.70293231e+02] [-7.66036117e-01 4.24223224e-03 6.42783533e-01 -6.80088692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:-170.32, Z:-680.11 [[ 5.65635631e-01 4.61404251e-01 6.83492831e-01 2.84257041e+02] [-3.05155451e-01 8.87099354e-01 -3.46316166e-01 -1.70316626e+02] [-7.66117800e-01 -1.26827998e-02 6.42575025e-01 -6.80108451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.28, Y:-170.33, Z:-680.13 [[ 5.66055964e-01 4.61514870e-01 6.83070034e-01 2.84277141e+02] [-3.07886324e-01 8.86997101e-01 -3.44154260e-01 -1.70327785e+02] [-7.64713448e-01 -1.54973506e-02 6.44184115e-01 -6.80132245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:-170.34, Z:-680.16 [[ 5.66595884e-01 4.62539179e-01 6.81928598e-01 2.84296806e+02] [-3.09196471e-01 8.86459223e-01 -3.44365487e-01 -1.70337502e+02] [-7.63784424e-01 -1.57338483e-02 6.45279629e-01 -6.80157324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-170.35, Z:-680.18 [[ 5.66860177e-01 4.64755101e-01 6.80200144e-01 2.84315133e+02] [-3.09949580e-01 8.85322952e-01 -3.46604284e-01 -1.70345438e+02] [-7.63282908e-01 -1.43515830e-02 6.45904973e-01 -6.80182301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:-170.35, Z:-680.21 [[ 5.67154088e-01 4.68639790e-01 6.77283536e-01 2.84333576e+02] [-3.10529998e-01 8.83318974e-01 -3.51167640e-01 -1.70351713e+02] [-7.62828527e-01 -1.11506923e-02 6.46504680e-01 -6.80209895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.36, Y:-170.37, Z:-680.23 [[ 5.70970059e-01 4.55875860e-01 6.82766719e-01 2.84355314e+02] [-3.13292989e-01 8.89711265e-01 -3.32056272e-01 -1.70374925e+02] [-7.58841680e-01 -2.43118368e-02 6.50821204e-01 -6.80226011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:-170.37, Z:-680.26 [[ 5.71098598e-01 4.68134901e-01 6.74311579e-01 2.84373253e+02] [-3.12877873e-01 8.83575652e-01 -3.48427186e-01 -1.70373963e+02] [-7.58916220e-01 -1.19908953e-02 6.51077868e-01 -6.80255245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-170.38, Z:-680.28 [[ 5.72091659e-01 4.67470068e-01 6.73930908e-01 2.84390585e+02] [-3.11666898e-01 8.83945049e-01 -3.48575524e-01 -1.70384243e+02] [-7.58666513e-01 -1.06248053e-02 6.51392536e-01 -6.80279469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.41, Y:-170.38, Z:-680.31 [[ 5.71074639e-01 4.76456572e-01 6.68478041e-01 2.84405704e+02] [-3.08935146e-01 8.79197783e-01 -3.62726253e-01 -1.70383645e+02] [-7.60547718e-01 6.27402535e-04 6.49281737e-01 -6.80310240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:-170.41, Z:-680.32 [[ 5.73360045e-01 4.55838069e-01 6.80786247e-01 2.84426795e+02] [-3.10116981e-01 8.89854491e-01 -3.34643756e-01 -1.70413710e+02] [-7.58344063e-01 -1.92520168e-02 6.51570136e-01 -6.80324521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.44, Y:-170.41, Z:-680.36 [[ 5.72853406e-01 4.73339366e-01 6.69170248e-01 2.84442218e+02] [-3.06967552e-01 8.80879597e-01 -3.60308281e-01 -1.70408611e+02] [-7.60006511e-01 9.90273385e-04 6.49914704e-01 -6.80358698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:-170.42, Z:-680.38 [[ 5.72759676e-01 4.70455980e-01 6.71280511e-01 2.84459437e+02] [-3.04958546e-01 8.82423341e-01 -3.58230837e-01 -1.70419174e+02] [-7.60885431e-01 4.67449620e-04 6.48886078e-01 -6.80382643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:-170.44, Z:-680.40 [[ 5.73473057e-01 4.59938959e-01 6.77926845e-01 2.84478456e+02] [-3.03629574e-01 8.87917415e-01 -3.45560046e-01 -1.70440308e+02] [-7.60879580e-01 -7.66926287e-03 6.48847784e-01 -6.80403253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-170.46, Z:-680.43 [[ 5.74488597e-01 4.56206650e-01 6.79586893e-01 2.84499906e+02] [-3.05070272e-01 8.89788485e-01 -3.39423897e-01 -1.70457688e+02] [-7.59536030e-01 -1.23266001e-02 6.50348425e-01 -6.80425413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:-170.46, Z:-680.45 [[ 5.74216480e-01 4.66964658e-01 6.72472633e-01 2.84517991e+02] [-3.04682480e-01 8.84274365e-01 -3.53874885e-01 -1.70458735e+02] [-7.59897375e-01 -1.68983917e-03 6.50040863e-01 -6.80453907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-170.48, Z:-680.47 [[ 5.74857143e-01 4.59039815e-01 6.77363797e-01 2.84537753e+02] [-3.06456004e-01 8.88347408e-01 -3.41940931e-01 -1.70477388e+02] [-7.58698875e-01 -1.10150164e-02 6.51348360e-01 -6.80472064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.56, Y:-170.48, Z:-680.50 [[ 5.75046649e-01 4.66067220e-01 6.72385826e-01 2.84556145e+02] [-3.06554340e-01 8.84739190e-01 -3.51085463e-01 -1.70482658e+02] [-7.58515517e-01 -4.23227436e-03 6.51641235e-01 -6.80499859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.57, Y:-170.48, Z:-680.53 [[ 5.73048990e-01 4.79104923e-01 6.64885951e-01 2.84569491e+02] [-3.02777046e-01 8.77681420e-01 -3.71485377e-01 -1.70475723e+02] [-7.61538519e-01 1.15671161e-02 6.48016425e-01 -6.80532655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.59, Y:-170.52, Z:-680.54 [[ 5.75725693e-01 4.46213453e-01 6.85152159e-01 2.84593370e+02] [-3.06589953e-01 8.94632481e-01 -3.25015884e-01 -1.70520115e+02] [-7.57985836e-01 -2.29407734e-02 6.51867466e-01 -6.80541341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:-170.50, Z:-680.58 [[ 5.73608345e-01 4.78713368e-01 6.64685623e-01 2.84604729e+02] [-3.02558353e-01 8.77891979e-01 -3.71165889e-01 -1.70496111e+02] [-7.61204250e-01 1.17976643e-02 6.48404893e-01 -6.80580567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:-170.53, Z:-680.60 [[ 5.75630510e-01 4.56885692e-01 6.78162945e-01 2.84626202e+02] [-3.04038609e-01 8.89471469e-01 -3.41175952e-01 -1.70528839e+02] [-7.59085002e-01 -9.79643108e-03 6.50917806e-01 -6.80596768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:-170.54, Z:-680.62 [[ 5.76992621e-01 4.57236765e-01 6.76767358e-01 2.84646485e+02] [-3.05546888e-01 8.89283913e-01 -3.40316355e-01 -1.70541129e+02] [-7.57443473e-01 -1.04241344e-02 6.52817526e-01 -6.80618281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:-170.54, Z:-680.65 [[ 5.76317633e-01 4.72705147e-01 6.66639205e-01 2.84662733e+02] [-3.03267084e-01 8.81194105e-01 -3.62665170e-01 -1.70536349e+02] [-7.58872230e-01 6.84060405e-03 6.51203612e-01 -6.80650990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:-170.56, Z:-680.67 [[ 5.78492679e-01 4.57932448e-01 6.75014143e-01 2.84682855e+02] [-3.01954740e-01 8.88974858e-01 -3.44306603e-01 -1.70559455e+02] [-7.57739768e-01 -4.64487088e-03 6.52540320e-01 -6.80667150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:-170.56, Z:-680.69 [[ 5.78895487e-01 4.63421200e-01 6.70910431e-01 2.84701432e+02] [-3.00470959e-01 8.86134147e-01 -3.52822160e-01 -1.70564287e+02] [-7.58021911e-01 2.65805500e-03 6.52223671e-01 -6.80694204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-170.57, Z:-680.72 [[ 5.78805249e-01 4.63756362e-01 6.70756677e-01 2.84720460e+02] [-3.00645421e-01 8.85958585e-01 -3.53114311e-01 -1.70574210e+02] [-7.58021645e-01 2.72449367e-03 6.52223706e-01 -6.80719850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:-170.58, Z:-680.74 [[ 5.79506289e-01 4.63043310e-01 6.70643985e-01 2.84739161e+02] [-2.99327153e-01 8.86326612e-01 -3.53310617e-01 -1.70584322e+02] [-7.58007728e-01 4.00376982e-03 6.52233282e-01 -6.80744799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:-170.59, Z:-680.77 [[ 5.81377937e-01 4.61432073e-01 6.70134417e-01 2.84758023e+02] [-2.96753997e-01 8.87150985e-01 -3.53412218e-01 -1.70594714e+02] [-7.57586140e-01 6.60099961e-03 6.52701821e-01 -6.80769846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-170.60, Z:-680.79 [[ 5.82302868e-01 4.60893724e-01 6.69701683e-01 2.84776653e+02] [-2.95775198e-01 8.87421105e-01 -3.53554542e-01 -1.70604203e+02] [-7.57258477e-01 7.79467596e-03 6.53068788e-01 -6.80794830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.80, Y:-170.61, Z:-680.82 [[ 5.84839708e-01 4.59564291e-01 6.68403455e-01 2.84795948e+02] [-2.94146846e-01 8.88088450e-01 -3.53237227e-01 -1.70613330e+02] [-7.55936604e-01 9.97838915e-03 6.54568776e-01 -6.80820447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:-170.62, Z:-680.85 [[ 5.85496372e-01 4.59316680e-01 6.67998642e-01 2.84814925e+02] [-2.93605750e-01 8.88207176e-01 -3.53388846e-01 -1.70622770e+02] [-7.55638579e-01 1.07796448e-02 6.54900098e-01 -6.80846076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:-170.62, Z:-680.88 [[ 5.84414608e-01 4.68920390e-01 6.62248619e-01 2.84830604e+02] [-2.91575217e-01 8.82968621e-01 -3.67899860e-01 -1.70621367e+02] [-7.57260496e-01 2.19107680e-02 6.52745325e-01 -6.80877794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.85, Y:-170.62, Z:-680.90 [[ 5.83902702e-01 4.69566053e-01 6.62242672e-01 2.84845529e+02] [-2.87205759e-01 8.82475197e-01 -3.72492119e-01 -1.70622192e+02] [-7.59322386e-01 2.72992454e-02 6.50141727e-01 -6.80903443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.88, Y:-170.69, Z:-680.90 [[ 5.88054508e-01 4.21363954e-01 6.90394318e-01 2.84876288e+02] [-2.94142173e-01 9.06545790e-01 -3.02745956e-01 -1.70685697e+02] [-7.53440295e-01 -2.50429607e-02 6.57039247e-01 -6.80903996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:-170.64, Z:-680.95 [[ 5.85117203e-01 4.79232965e-01 6.54196931e-01 2.84886739e+02] [-2.89223892e-01 8.76976467e-01 -3.83747073e-01 -1.70636672e+02] [-7.57619561e-01 3.53276312e-02 6.51739641e-01 -6.80954550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.91, Y:-170.70, Z:-680.96 [[ 5.87973304e-01 4.32105563e-01 6.83792495e-01 2.84914399e+02] [-2.94871397e-01 9.01686603e-01 -3.16246944e-01 -1.70695422e+02] [-7.53218596e-01 -1.56860878e-02 6.57583222e-01 -6.80956569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.93, Y:-170.68, Z:-680.99 [[ 5.87842032e-01 4.62401271e-01 6.63797266e-01 2.84932763e+02] [-2.96708311e-01 8.86594391e-01 -3.54844422e-01 -1.70680209e+02] [-7.52599444e-01 1.16383003e-02 6.58375749e-01 -6.80992077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-170.66, Z:-681.03 [[ 5.83139535e-01 4.83054957e-01 6.53150972e-01 2.84945842e+02] [-2.94434073e-01 8.75013452e-01 -3.84265580e-01 -1.70663519e+02] [-7.57137279e-01 3.17705509e-02 6.52482776e-01 -6.81029169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.97, Y:-170.72, Z:-681.03 [[ 5.85379904e-01 4.38683097e-01 6.81826597e-01 2.84972364e+02] [-2.99918884e-01 8.98484244e-01 -3.20584976e-01 -1.70717892e+02] [-7.53245665e-01 -1.68286699e-02 6.57523965e-01 -6.81031256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:-170.67, Z:-681.08 [[ 5.78364401e-01 4.91349450e-01 6.51206832e-01 2.84981542e+02] [-2.96325913e-01 8.70275200e-01 -3.93461600e-01 -1.70668741e+02] [-7.60056296e-01 3.45947234e-02 6.48935769e-01 -6.81080517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:-170.74, Z:-681.08 [[ 5.82017152e-01 4.30324446e-01 6.89983265e-01 2.85012037e+02] [-3.06417521e-01 9.02017240e-01 -3.04094066e-01 -1.70743551e+02] [-7.53235912e-01 -3.44349990e-02 6.56848455e-01 -6.81075728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.02, Y:-170.70, Z:-681.13 [[ 5.76920208e-01 4.88250005e-01 6.54809137e-01 2.85024233e+02] [-3.05187845e-01 8.72466600e-01 -3.81657453e-01 -1.70698114e+02] [-7.57643355e-01 2.03461081e-02 6.52351580e-01 -6.81125410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.05, Y:-170.75, Z:-681.13 [[ 5.78737015e-01 4.49560960e-01 6.80410472e-01 2.85050574e+02] [-3.12998704e-01 8.92882162e-01 -3.23717866e-01 -1.70748683e+02] [-7.53057288e-01 -2.56200847e-02 6.57455955e-01 -6.81130291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.07, Y:-170.73, Z:-681.16 [[ 5.74621706e-01 4.78814961e-01 6.63736490e-01 2.85070700e+02] [-3.19259141e-01 8.77889384e-01 -3.56908716e-01 -1.70734800e+02] [-7.53580451e-01 -6.81644654e-03 6.57320348e-01 -6.81164143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-170.74, Z:-681.19 [[ 5.72880101e-01 4.81234872e-01 6.63491814e-01 2.85090538e+02] [-3.22681266e-01 8.76540280e-01 -3.57146943e-01 -1.70743254e+02] [-7.53448864e-01 -9.49400138e-03 6.57437962e-01 -6.81189154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.496559995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:285.11, Y:-170.74, Z:-681.22 [[ 5.68739076e-01 4.95670218e-01 6.56389288e-01 2.85106649e+02] [-3.23152431e-01 8.68509252e-01 -3.75851282e-01 -1.70737787e+02] [-7.56378457e-01 1.64751635e-03 6.54132186e-01 -6.81222532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-170.77, Z:-681.23 [[ 5.69458449e-01 4.71810108e-01 6.73136166e-01 2.85129113e+02] [-3.29740065e-01 8.81220477e-01 -3.38706303e-01 -1.70769688e+02] [-7.52986431e-01 -2.90807970e-02 6.57393142e-01 -6.81232712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:-170.77, Z:-681.26 [[ 5.68412783e-01 4.87494734e-01 6.62763753e-01 2.85148026e+02] [-3.31777497e-01 8.72967232e-01 -3.57563848e-01 -1.70766608e+02] [-7.52881532e-01 -1.66462365e-02 6.57945516e-01 -6.81261201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-170.78, Z:-681.29 [[ 5.67673408e-01 4.88637625e-01 6.62555789e-01 2.85166941e+02] [-3.33258488e-01 8.72307464e-01 -3.57796687e-01 -1.70775232e+02] [-7.52785283e-01 -1.76906756e-02 6.58028387e-01 -6.81286128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-170.78, Z:-681.31 [[ 5.67475700e-01 4.89468673e-01 6.62111583e-01 2.85186442e+02] [-3.34401361e-01 8.71828572e-01 -3.57897571e-01 -1.70784099e+02] [-7.52427445e-01 -1.83128401e-02 6.58420519e-01 -6.81311150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-170.79, Z:-681.34 [[ 5.67144341e-01 4.90460195e-01 6.61661616e-01 2.85206398e+02] [-3.35765166e-01 8.71253955e-01 -3.58019970e-01 -1.70792347e+02] [-7.52069844e-01 -1.91139223e-02 6.58806199e-01 -6.81336287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-170.80, Z:-681.36 [[ 5.67277768e-01 4.90914344e-01 6.61210285e-01 2.85225054e+02] [-3.36298006e-01 8.70996358e-01 -3.58146612e-01 -1.70801507e+02] [-7.51731059e-01 -1.91950903e-02 6.59190385e-01 -6.81360952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-170.81, Z:-681.39 [[ 5.67673125e-01 4.91165748e-01 6.60684063e-01 2.85244043e+02] [-3.36592575e-01 8.70858075e-01 -3.58206157e-01 -1.70810963e+02] [-7.51300647e-01 -1.90373412e-02 6.59685469e-01 -6.81386222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-170.82, Z:-681.41 [[ 5.69189941e-01 4.90694668e-01 6.59728395e-01 2.85263142e+02] [-3.36005666e-01 8.71148262e-01 -3.58051531e-01 -1.70819967e+02] [-7.50415221e-01 -1.78731488e-02 6.60725016e-01 -6.81411600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-170.83, Z:-681.44 [[ 5.70207779e-01 4.90388611e-01 6.59076702e-01 2.85281427e+02] [-3.35492166e-01 8.71339194e-01 -3.58068452e-01 -1.70829829e+02] [-7.49872052e-01 -1.69416538e-02 6.61365924e-01 -6.81435682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-170.82, Z:-681.47 [[ 5.67852616e-01 5.02594459e-01 6.51875921e-01 2.85294742e+02] [-3.28809354e-01 8.64520989e-01 -3.80115600e-01 -1.70819291e+02] [-7.54604410e-01 1.50673755e-03 6.56178264e-01 -6.81469072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:-170.87, Z:-681.48 [[ 5.72118367e-01 4.64845206e-01 6.75721473e-01 2.85318804e+02] [-3.32910087e-01 8.84573078e-01 -3.26651717e-01 -1.70869630e+02] [-7.49567508e-01 -3.80710471e-02 6.60832162e-01 -6.81476787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:-170.86, Z:-681.51 [[ 5.72074217e-01 4.87487703e-01 6.59611120e-01 2.85337536e+02] [-3.29592542e-01 8.73049950e-01 -3.59377992e-01 -1.70860706e+02] [-7.51065808e-01 -1.18120220e-02 6.60121677e-01 -6.81509442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-170.87, Z:-681.53 [[ 5.72750056e-01 4.86478113e-01 6.59769975e-01 2.85356689e+02] [-3.27529386e-01 8.73635588e-01 -3.59840743e-01 -1.70871354e+02] [-7.51453176e-01 -9.99524898e-03 6.59710709e-01 -6.81534540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-170.88, Z:-681.56 [[ 5.74637768e-01 4.83524098e-01 6.60299843e-01 2.85375340e+02] [-3.22276286e-01 8.75312893e-01 -3.60507054e-01 -1.70882195e+02] [-7.52282814e-01 -5.63801231e-03 6.58816197e-01 -6.81560063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.39, Y:-170.89, Z:-681.58 [[ 5.76205118e-01 4.82144911e-01 6.59942381e-01 2.85393547e+02] [-3.19964080e-01 8.76085168e-01 -3.60690679e-01 -1.70892569e+02] [-7.52070908e-01 -3.32604152e-03 6.59073810e-01 -6.81584297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-170.90, Z:-681.61 [[ 5.77933240e-01 4.80538681e-01 6.59602719e-01 2.85411445e+02] [-3.17469522e-01 8.76973048e-01 -3.60737267e-01 -1.70903197e+02] [-7.51802017e-01 -9.21702660e-04 6.59388260e-01 -6.81608597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-170.90, Z:-681.64 [[ 5.79034613e-01 4.88699107e-01 6.52604091e-01 2.85424776e+02] [-3.07381705e-01 8.72230258e-01 -3.80435099e-01 -1.70895849e+02] [-7.55139328e-01 1.96865322e-02 6.55268675e-01 -6.81640741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-170.93, Z:-681.66 [[ 5.81589036e-01 4.60827004e-01 6.70367560e-01 2.85444707e+02] [-3.06308946e-01 8.87475435e-01 -3.44328597e-01 -1.70931363e+02] [-7.53610657e-01 -5.08184427e-03 6.57301416e-01 -6.81655485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-170.93, Z:-681.69 [[ 5.82209344e-01 4.74122844e-01 6.60484526e-01 2.85461612e+02] [-3.02430475e-01 8.80363135e-01 -3.65371808e-01 -1.70926312e+02] [-7.54697349e-01 1.29722322e-02 6.55944840e-01 -6.81686515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-170.96, Z:-681.70 [[ 5.86025214e-01 4.50595121e-01 6.73452661e-01 2.85485386e+02] [-3.04233286e-01 8.92672258e-01 -3.32533228e-01 -1.70962670e+02] [-7.51010357e-01 -1.00138601e-02 6.60214485e-01 -6.81698925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:-170.94, Z:-681.74 [[ 5.86736150e-01 4.78626680e-01 6.53190012e-01 2.85500002e+02] [-2.95621730e-01 8.77559447e-01 -3.77488026e-01 -1.70940432e+02] [-7.53888906e-01 2.83887098e-02 6.56388299e-01 -6.81736648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-170.98, Z:-681.75 [[ 5.89325405e-01 4.52017408e-01 6.69608714e-01 2.85522616e+02] [-2.96214253e-01 8.92004483e-01 -3.41445631e-01 -1.70977092e+02] [-7.51633344e-01 2.87493975e-03 6.59574902e-01 -6.81749076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-170.97, Z:-681.78 [[ 5.91387187e-01 4.65583608e-01 6.58401928e-01 2.85542169e+02] [-2.92845655e-01 8.84739645e-01 -3.62597826e-01 -1.70974309e+02] [-7.51333892e-01 2.16255643e-02 6.59567826e-01 -6.81779299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-170.97, Z:-681.81 [[ 5.90751515e-01 4.72637674e-01 6.53931401e-01 2.85557189e+02] [-2.88806559e-01 8.80637998e-01 -3.75589522e-01 -1.70972767e+02] [-7.53394597e-01 3.30204013e-02 6.56739091e-01 -6.81809308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:-170.99, Z:-681.83 [[ 5.91411947e-01 4.61899546e-01 6.60969529e-01 2.85575599e+02] [-2.86823021e-01 8.86578303e-01 -3.62920745e-01 -1.70989381e+02] [-7.53634171e-01 2.50543867e-02 6.56816424e-01 -6.81831403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-171.00, Z:-681.85 [[ 5.92335757e-01 4.54234943e-01 6.65438928e-01 2.85595512e+02] [-2.87095635e-01 8.90705627e-01 -3.52447986e-01 -1.71005000e+02] [-7.52804388e-01 1.77229329e-02 6.58005661e-01 -6.81852588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-171.02, Z:-681.87 [[ 5.93407778e-01 4.54848054e-01 6.64063595e-01 2.85617427e+02] [-2.90577406e-01 8.90444784e-01 -3.50246853e-01 -1.71017907e+02] [-7.50621063e-01 1.48773296e-02 6.60565428e-01 -6.81874412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:-171.02, Z:-681.90 [[ 5.93082127e-01 4.65895297e-01 6.56654523e-01 2.85636550e+02] [-2.92345996e-01 8.84524276e-01 -3.63525273e-01 -1.71018346e+02] [-7.50191582e-01 2.36300215e-02 6.60798163e-01 -6.81902041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-171.03, Z:-681.93 [[ 5.92263846e-01 4.67192897e-01 6.56471121e-01 2.85656155e+02] [-2.94024019e-01 8.83871007e-01 -3.63760800e-01 -1.71027445e+02] [-7.50182253e-01 2.24240927e-02 6.60850775e-01 -6.81927505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-171.03, Z:-681.95 [[ 5.89777321e-01 4.70329304e-01 6.56470150e-01 2.85676919e+02] [-2.98287738e-01 8.82287713e-01 -3.64132966e-01 -1.71034552e+02] [-7.50457952e-01 1.89403691e-02 6.60646748e-01 -6.81952957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-171.04, Z:-681.98 [[ 5.88048809e-01 4.72442678e-01 6.56503247e-01 2.85696429e+02] [-3.01007790e-01 8.81202325e-01 -3.64522665e-01 -1.71042921e+02] [-7.50728252e-01 1.67445277e-02 6.60398904e-01 -6.81978135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-171.05, Z:-682.00 [[ 5.86358576e-01 4.74703238e-01 6.56384382e-01 2.85716206e+02] [-3.04057440e-01 8.80029088e-01 -3.64825819e-01 -1.71051427e+02] [-7.50821346e-01 1.43401929e-02 6.60349653e-01 -6.82003457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-171.05, Z:-682.03 [[ 5.82500728e-01 4.79651849e-01 6.56221766e-01 2.85736087e+02] [-3.08512817e-01 8.77382376e-01 -3.67450687e-01 -1.71053505e+02] [-7.52005814e-01 1.15874675e-02 6.59054616e-01 -6.82028633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-171.07, Z:-682.05 [[ 5.80161890e-01 4.76719056e-01 6.60417385e-01 2.85755746e+02] [-3.14250439e-01 8.79055600e-01 -3.58480005e-01 -1.71068877e+02] [-7.51437850e-01 4.39984412e-04 6.59803731e-01 -6.82050748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-171.07, Z:-682.08 [[ 5.77599892e-01 4.85024636e-01 6.56604498e-01 2.85775627e+02] [-3.18495382e-01 8.74497810e-01 -3.65806332e-01 -1.71072288e+02] [-7.51624279e-01 2.16419759e-03 6.59587947e-01 -6.82077881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:-171.08, Z:-682.10 [[ 5.75009058e-01 4.88180958e-01 6.56539363e-01 2.85794504e+02] [-3.22899026e-01 8.72741208e-01 -3.66140689e-01 -1.71079972e+02] [-7.51731869e-01 -1.46170802e-03 6.59467255e-01 -6.82102068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-171.09, Z:-682.13 [[ 5.70414239e-01 4.93835352e-01 6.56318704e-01 2.85815244e+02] [-3.31244812e-01 8.69514624e-01 -3.66362106e-01 -1.71087109e+02] [-7.51601271e-01 -8.42400396e-03 6.59563921e-01 -6.82126957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:-171.10, Z:-682.15 [[ 5.68004989e-01 4.96618202e-01 6.56308383e-01 2.85835185e+02] [-3.35073568e-01 8.67891480e-01 -3.66728895e-01 -1.71096277e+02] [-7.51728699e-01 -1.16077495e-02 6.59370324e-01 -6.82152169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-171.10, Z:-682.18 [[ 5.63897914e-01 5.00996712e-01 6.56522229e-01 2.85855592e+02] [-3.41222115e-01 8.65283304e-01 -3.67222374e-01 -1.71103671e+02] [-7.52054925e-01 -1.69439730e-02 6.58882608e-01 -6.82176975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-171.11, Z:-682.20 [[ 5.62394896e-01 5.02630454e-01 6.56562722e-01 2.85874674e+02] [-3.43277079e-01 8.64300515e-01 -3.67621363e-01 -1.71112234e+02] [-7.52245191e-01 -1.86345550e-02 6.58619712e-01 -6.82201608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-171.12, Z:-682.23 [[ 5.61132728e-01 5.04067617e-01 6.56540859e-01 2.85894330e+02] [-3.45235672e-01 8.63426671e-01 -3.67840610e-01 -1.71121455e+02] [-7.52291428e-01 -2.02539192e-02 6.58519086e-01 -6.82227012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-171.13, Z:-682.25 [[ 5.60215150e-01 5.05217808e-01 6.56440365e-01 2.85913185e+02] [-3.46635193e-01 8.62729072e-01 -3.68161095e-01 -1.71130445e+02] [-7.52331728e-01 -2.12959099e-02 6.58440168e-01 -6.82251783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-171.14, Z:-682.28 [[ 5.60072602e-01 5.06289234e-01 6.55736145e-01 2.85932731e+02] [-3.48300729e-01 8.62077376e-01 -3.68115744e-01 -1.71138949e+02] [-7.51668333e-01 -2.22218340e-02 6.59166828e-01 -6.82277146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-171.15, Z:-682.30 [[ 5.60002613e-01 5.06571453e-01 6.55577941e-01 2.85951629e+02] [-3.48405795e-01 8.61914607e-01 -3.68397355e-01 -1.71149495e+02] [-7.51671787e-01 -2.21036722e-02 6.59166863e-01 -6.82302681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-171.16, Z:-682.33 [[ 5.59821253e-01 5.06983619e-01 6.55414201e-01 2.85970374e+02] [-3.48955323e-01 8.61663641e-01 -3.68464316e-01 -1.71159364e+02] [-7.51551959e-01 -2.24361189e-02 6.59292252e-01 -6.82327765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-171.17, Z:-682.35 [[ 5.59951684e-01 5.07305871e-01 6.55053330e-01 2.85989151e+02] [-3.49245508e-01 8.61475923e-01 -3.68628281e-01 -1.71169529e+02] [-7.51319963e-01 -2.23604063e-02 6.59559191e-01 -6.82353440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:-171.18, Z:-682.38 [[ 5.60524699e-01 5.07476127e-01 6.54431083e-01 2.86007903e+02] [-3.49457165e-01 8.61383346e-01 -3.68644031e-01 -1.71179831e+02] [-7.50794081e-01 -2.20615464e-02 6.60167809e-01 -6.82378502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:-171.19, Z:-682.40 [[ 5.61890423e-01 5.06885272e-01 6.53717427e-01 2.86026235e+02] [-3.48553429e-01 8.61764059e-01 -3.68609839e-01 -1.71190322e+02] [-7.50193082e-01 -2.07371123e-02 6.60893571e-01 -6.82403605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-171.20, Z:-682.43 [[ 5.62616656e-01 5.06396435e-01 6.53471613e-01 2.86044194e+02] [-3.47534702e-01 8.62078230e-01 -3.68837032e-01 -1.71200761e+02] [-7.50121410e-01 -1.95902049e-02 6.61009905e-01 -6.82428632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-171.21, Z:-682.45 [[ 5.64108428e-01 5.05139013e-01 6.53158679e-01 2.86062073e+02] [-3.45375128e-01 8.62862355e-01 -3.69031945e-01 -1.71212938e+02] [-7.49998469e-01 -1.74107321e-02 6.61210378e-01 -6.82453452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-171.25, Z:-682.47 [[ 5.69983760e-01 4.84170271e-01 6.63850632e-01 2.86085637e+02] [-3.47720736e-01 8.74165261e-01 -3.39006468e-01 -1.71246160e+02] [-7.44452015e-01 -3.76064492e-02 6.66616046e-01 -6.82465156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-171.22, Z:-682.51 [[ 5.64585650e-01 5.26560850e-01 6.35591626e-01 2.86098766e+02] [-3.42757794e-01 8.50101004e-01 -3.99806676e-01 -1.71216885e+02] [-7.50839622e-01 7.87112800e-03 6.60437663e-01 -6.82509024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-171.28, Z:-682.51 [[ 5.72585416e-01 4.75230760e-01 6.68058131e-01 2.86123155e+02] [-3.46920431e-01 8.78756028e-01 -3.27771350e-01 -1.71279101e+02] [-7.42827137e-01 -4.40859199e-02 6.68030146e-01 -6.82509317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-171.23, Z:-682.56 [[ 5.66110243e-01 5.34507459e-01 6.27551567e-01 2.86133057e+02] [-3.38188566e-01 8.44865922e-01 -4.14523905e-01 -1.71231986e+02] [-7.51763052e-01 2.24354634e-02 6.59051563e-01 -6.82560206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-171.30, Z:-682.56 [[ 5.74447269e-01 4.72821984e-01 6.68168921e-01 2.86157032e+02] [-3.42350388e-01 8.80249481e-01 -3.28568201e-01 -1.71302875e+02] [-7.43509615e-01 -4.00027842e-02 6.67527700e-01 -6.82558201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:-171.28, Z:-682.60 [[ 5.73610125e-01 5.10319859e-01 6.40737908e-01 2.86173222e+02] [-3.38598180e-01 8.59982209e-01 -3.81813924e-01 -1.71283478e+02] [-7.45870429e-01 2.05964321e-03 6.66087878e-01 -6.82596263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-171.30, Z:-682.62 [[ 5.75167039e-01 5.02388900e-01 6.45591411e-01 2.86191007e+02] [-3.36904472e-01 8.64636062e-01 -3.72692711e-01 -1.71301848e+02] [-7.45438296e-01 -3.14207038e-03 6.66567231e-01 -6.82617682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-171.30, Z:-682.65 [[ 5.73511587e-01 5.13044029e-01 6.38647229e-01 2.86205165e+02] [-3.31714612e-01 8.58267860e-01 -3.91588683e-01 -1.71299364e+02] [-7.49032627e-01 1.27320292e-02 6.62410764e-01 -6.82648374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:-171.30, Z:-682.68 [[ 5.72544024e-01 5.12766402e-01 6.39737413e-01 2.86215197e+02] [-3.23648862e-01 8.58271829e-01 -3.98272371e-01 -1.71304135e+02] [-7.53289290e-01 2.09781802e-02 6.57354669e-01 -6.82678749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-171.33, Z:-682.70 [[ 5.73832008e-01 4.91820276e-01 6.54850856e-01 2.86231049e+02] [-3.21747249e-01 8.70692365e-01 -3.71985906e-01 -1.71332345e+02] [-7.53123851e-01 2.76095776e-03 6.57872968e-01 -6.82697165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-171.37, Z:-682.71 [[ 5.78960486e-01 4.73016063e-01 6.64123904e-01 2.86255172e+02] [-3.24828152e-01 8.80900685e-01 -3.44239241e-01 -1.71366951e+02] [-7.47857893e-01 -1.64252224e-02 6.63655622e-01 -6.82709695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-171.34, Z:-682.75 [[ 5.75040945e-01 5.14776474e-01 6.35871916e-01 2.86266799e+02] [-3.19808449e-01 8.56826624e-01 -4.04438738e-01 -1.71335679e+02] [-7.53027534e-01 2.92116228e-02 6.57340257e-01 -6.82753453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-171.37, Z:-682.77 [[ 5.75174008e-01 4.90172079e-01 6.54909301e-01 2.86282595e+02] [-3.18237502e-01 8.71604708e-01 -3.72867437e-01 -1.71368359e+02] [-7.53591237e-01 6.04695816e-03 6.57315512e-01 -6.82771076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-171.38, Z:-682.80 [[ 5.74701249e-01 4.90693609e-01 6.54933781e-01 2.86299719e+02] [-3.18578990e-01 8.71312455e-01 -3.73258666e-01 -1.71379639e+02] [-7.53807603e-01 5.86407895e-03 6.57069030e-01 -6.82795384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.32, Y:-171.39, Z:-682.82 [[ 5.74375734e-01 4.91044002e-01 6.54956720e-01 2.86317569e+02] [-3.19126921e-01 8.71118232e-01 -3.73243935e-01 -1.71392005e+02] [-7.53823935e-01 5.36793829e-03 6.57054534e-01 -6.82820201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-171.40, Z:-682.84 [[ 5.73986705e-01 4.93332794e-01 6.53576328e-01 2.86334425e+02] [-3.20069241e-01 8.69817679e-01 -3.75463563e-01 -1.71401210e+02] [-7.53720733e-01 6.32141394e-03 6.57164436e-01 -6.82844931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:-171.41, Z:-682.88 [[ 5.71233054e-01 5.01989769e-01 6.49383608e-01 2.86348122e+02] [-3.20306632e-01 8.64777138e-01 -3.86735262e-01 -1.71405137e+02] [-7.55709243e-01 1.29140881e-02 6.54779938e-01 -6.82875548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-171.42, Z:-682.90 [[ 5.70153530e-01 4.96537735e-01 6.54503804e-01 2.86363907e+02] [-3.20587144e-01 8.67991593e-01 -3.79228793e-01 -1.71419951e+02] [-7.56405206e-01 6.39312943e-03 6.54072085e-01 -6.82899049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-171.45, Z:-682.91 [[ 5.72047071e-01 4.79394863e-01 6.65539416e-01 2.86385005e+02] [-3.25190178e-01 8.77475288e-01 -3.52545697e-01 -1.71451311e+02] [-7.53002986e-01 -1.47541479e-02 6.57851669e-01 -6.82912642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5965599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.40, Y:-171.44, Z:-682.95 [[ 5.67026655e-01 5.10492571e-01 6.46434921e-01 2.86399678e+02] [-3.25991710e-01 8.59796591e-01 -3.93038456e-01 -1.71438641e+02] [-7.56445753e-01 1.21308554e-02 6.53943931e-01 -6.82952534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-171.46, Z:-682.97 [[ 5.66974909e-01 4.99765381e-01 6.54808381e-01 2.86417915e+02] [-3.26433668e-01 8.66160443e-01 -3.78427204e-01 -1.71458945e+02] [-7.56293933e-01 8.07228273e-04 6.54231485e-01 -6.82972865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-171.48, Z:-682.99 [[ 5.67226308e-01 4.93881828e-01 6.59041012e-01 2.86437143e+02] [-3.28382181e-01 8.69499796e-01 -3.68965105e-01 -1.71477250e+02] [-7.55261186e-01 -7.13061015e-03 6.55385151e-01 -6.82993419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-171.50, Z:-683.01 [[ 5.66622716e-01 4.91381352e-01 6.61425026e-01 2.86457250e+02] [-3.33564717e-01 8.70797923e-01 -3.61172476e-01 -1.71496750e+02] [-7.53440959e-01 -1.59795223e-02 6.57321365e-01 -6.83011779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-171.50, Z:-683.04 [[ 5.65350126e-01 5.03160212e-01 6.53612298e-01 2.86475605e+02] [-3.35419416e-01 8.64163490e-01 -3.75120353e-01 -1.71500139e+02] [-7.53573521e-01 -7.15991651e-03 6.57324642e-01 -6.83040546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.49, Y:-171.50, Z:-683.07 [[ 5.61838548e-01 5.16056105e-01 6.46547401e-01 2.86489576e+02] [-3.33824006e-01 8.56538422e-01 -3.93577774e-01 -1.71497846e+02] [-7.56900904e-01 5.29412184e-03 6.53508220e-01 -6.83074446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-171.52, Z:-683.09 [[ 5.62634717e-01 4.98651572e-01 6.59385157e-01 2.86507400e+02] [-3.35181669e-01 8.66702636e-01 -3.69431712e-01 -1.71524221e+02] [-7.55708557e-01 -1.31587104e-02 6.54775859e-01 -6.83089527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-171.54, Z:-683.11 [[ 5.63568266e-01 4.95783521e-01 6.60749203e-01 2.86528018e+02] [-3.38804117e-01 8.68225417e-01 -3.62486409e-01 -1.71542586e+02] [-7.53394040e-01 -1.95787132e-02 6.57277791e-01 -6.83109718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-171.55, Z:-683.14 [[ 5.62683098e-01 5.06850805e-01 6.53062013e-01 2.86544458e+02] [-3.39939498e-01 8.61971299e-01 -3.76093896e-01 -1.71546144e+02] [-7.53544205e-01 -1.03798941e-02 6.57315289e-01 -6.83137967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-171.56, Z:-683.16 [[ 5.62546492e-01 5.07165784e-01 6.52935152e-01 2.86561826e+02] [-3.40094235e-01 8.61786610e-01 -3.76377137e-01 -1.71558086e+02] [-7.53576377e-01 -1.03298430e-02 6.57279194e-01 -6.83163037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-171.56, Z:-683.19 [[ 5.61378852e-01 5.14805016e-01 6.47942575e-01 2.86575655e+02] [-3.37178310e-01 8.57307289e-01 -3.89017994e-01 -1.71558867e+02] [-7.55754307e-01 -8.57079556e-05 6.54855267e-01 -6.83193430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-171.59, Z:-683.21 [[ 5.63950289e-01 4.95168763e-01 6.60884232e-01 2.86594234e+02] [-3.39247563e-01 8.68555849e-01 -3.61278047e-01 -1.71592808e+02] [-7.52908469e-01 -2.04605062e-02 6.57807118e-01 -6.83207660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9565599949999 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:287.09, Y:-172.06, Z:-682.77 [[ 6.13531453e-01 -5.51841721e-01 5.64844997e-01 2.87085575e+02] [-3.52516076e-01 4.48665589e-01 8.21237850e-01 -1.72061717e+02] [-7.06619821e-01 -7.02972194e-01 8.07373725e-02 -6.82769230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-171.35, Z:-682.71 [[ 6.31887362e-01 -4.12623023e-01 -6.56094965e-01 2.87691094e+02] [-2.77759968e-01 -9.10839129e-01 3.05321930e-01 -1.71346414e+02] [-7.23579824e-01 -1.06921525e-02 -6.90157893e-01 -6.82712817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:-171.71, Z:-683.41 [[ 6.38682695e-01 4.21505524e-01 6.43752676e-01 2.86791896e+02] [-3.01554548e-01 9.06806025e-01 -2.94563556e-01 -1.71714488e+02] [-7.07918971e-01 -5.99390092e-03 7.06268223e-01 -6.83406543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-171.73, Z:-683.43 [[ 6.39047678e-01 4.21087770e-01 6.43663853e-01 2.86811600e+02] [-3.00688881e-01 9.07005392e-01 -2.94834557e-01 -1.71725834e+02] [-7.07957811e-01 -5.12922465e-03 7.06236100e-01 -6.83430322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-171.74, Z:-683.45 [[ 6.39396752e-01 4.20538639e-01 6.43676197e-01 2.86830570e+02] [-2.99592591e-01 9.07265265e-01 -2.95150840e-01 -1.71737288e+02] [-7.08107388e-01 -4.12213127e-03 7.06092724e-01 -6.83453227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-171.75, Z:-683.48 [[ 6.40538112e-01 4.18627328e-01 6.43787300e-01 2.86849402e+02] [-2.96639783e-01 9.08156404e-01 -2.95392596e-01 -1.71751656e+02] [-7.08318972e-01 -1.76270957e-03 7.05890308e-01 -6.83476307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:-171.76, Z:-683.50 [[ 6.40954104e-01 4.17984478e-01 6.43790970e-01 2.86869325e+02] [-2.95412590e-01 9.08453937e-01 -2.95707366e-01 -1.71763464e+02] [-7.08455530e-01 -6.49108342e-04 7.05755157e-01 -6.83500372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-171.77, Z:-683.53 [[ 6.39977459e-01 4.25103686e-01 6.40090390e-01 2.86885955e+02] [-2.93212526e-01 9.05095923e-01 -3.07941205e-01 -1.71766879e+02] [-7.10250144e-01 9.39290932e-03 7.03886715e-01 -6.83530316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-171.79, Z:-683.54 [[ 6.42382540e-01 4.09189717e-01 6.48003432e-01 2.86907323e+02] [-2.93164684e-01 9.12425852e-01 -2.85540774e-01 -1.71794511e+02] [-7.08095432e-01 -6.54531405e-03 7.06086410e-01 -6.83542779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:-171.80, Z:-683.57 [[ 6.42814459e-01 4.16588144e-01 6.42840485e-01 2.86926240e+02] [-2.93141851e-01 9.09093487e-01 -2.96001500e-01 -1.71799497e+02] [-7.07712813e-01 1.83059440e-03 7.06497858e-01 -6.83568731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:-171.81, Z:-683.59 [[ 6.43077471e-01 4.16616427e-01 6.42559039e-01 2.86945826e+02] [-2.93025602e-01 9.09079786e-01 -2.96158638e-01 -1.71810670e+02] [-7.07521987e-01 2.16669858e-03 7.06688010e-01 -6.83592233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.97, Y:-171.82, Z:-683.62 [[ 6.43498322e-01 4.16746358e-01 6.42053256e-01 2.86965964e+02] [-2.93138898e-01 9.09019608e-01 -2.96231225e-01 -1.71821897e+02] [-7.07092283e-01 2.41351228e-03 7.07117160e-01 -6.83615743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-171.83, Z:-683.64 [[ 6.41763975e-01 4.18796692e-01 6.42454925e-01 2.86986313e+02] [-2.95535780e-01 9.08079850e-01 -2.96731510e-01 -1.71831708e+02] [-7.07670547e-01 5.63176014e-04 7.06542341e-01 -6.83638856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:-171.84, Z:-683.66 [[ 6.40943858e-01 4.20035335e-01 6.42465010e-01 2.87007043e+02] [-2.96990622e-01 9.07507650e-01 -2.97029350e-01 -1.71841210e+02] [-7.07804734e-01 -4.26945120e-04 7.06408010e-01 -6.83662508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-171.85, Z:-683.69 [[ 6.39857136e-01 4.22309519e-01 6.42057253e-01 2.87027253e+02] [-3.00088885e-01 9.06448132e-01 -2.97150542e-01 -1.71851558e+02] [-7.07481100e-01 -2.54035082e-03 7.06727698e-01 -6.83685860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-171.86, Z:-683.71 [[ 6.39375644e-01 4.23384722e-01 6.41828764e-01 2.87047493e+02] [-3.01401455e-01 9.05943890e-01 -2.97359768e-01 -1.71860946e+02] [-7.07358430e-01 -3.32353016e-03 7.06847230e-01 -6.83708998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-171.87, Z:-683.73 [[ 6.38589498e-01 4.24390510e-01 6.41947154e-01 2.87068139e+02] [-3.02479680e-01 9.05470147e-01 -2.97707668e-01 -1.71870322e+02] [-7.07608293e-01 -4.06297936e-03 7.06593233e-01 -6.83732676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-171.88, Z:-683.76 [[ 6.38016011e-01 4.25451381e-01 6.41815154e-01 2.87089081e+02] [-3.03733485e-01 9.04968343e-01 -2.97956823e-01 -1.71880051e+02] [-7.07588538e-01 -4.83952997e-03 7.06608123e-01 -6.83756172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-171.89, Z:-683.78 [[ 6.37129664e-01 4.26350825e-01 6.42098719e-01 2.87110288e+02] [-3.04568489e-01 9.04541510e-01 -2.98400221e-01 -1.71889256e+02] [-7.08028126e-01 -5.44340430e-03 7.06163255e-01 -6.83779638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-171.90, Z:-683.80 [[ 6.36929750e-01 4.26788431e-01 6.42006331e-01 2.87130965e+02] [-3.04920960e-01 9.04334585e-01 -2.98667316e-01 -1.71898316e+02] [-7.08056284e-01 -5.53108799e-03 7.06134340e-01 -6.83803668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-171.91, Z:-683.83 [[ 6.37476692e-01 4.27040048e-01 6.41295771e-01 2.87151913e+02] [-3.05289498e-01 9.04216590e-01 -2.98648089e-01 -1.71907602e+02] [-7.07404969e-01 -5.39966867e-03 7.06787842e-01 -6.83827530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.17, Y:-171.92, Z:-683.85 [[ 6.38024084e-01 4.27082669e-01 6.40722766e-01 2.87172643e+02] [-3.05297275e-01 9.04198556e-01 -2.98694737e-01 -1.71917225e+02] [-7.06907945e-01 -5.03647849e-03 7.07287630e-01 -6.83851152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-171.93, Z:-683.87 [[ 6.39403451e-01 4.26442451e-01 6.39773446e-01 2.87192653e+02] [-3.04510577e-01 9.04506230e-01 -2.98566220e-01 -1.71927237e+02] [-7.06000379e-01 -3.91350988e-03 7.08200642e-01 -6.83873843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-171.94, Z:-683.90 [[ 6.39826715e-01 4.26089583e-01 6.39585368e-01 2.87213239e+02] [-3.03806486e-01 9.04675496e-01 -2.98770593e-01 -1.71936689e+02] [-7.05920247e-01 -3.14877608e-03 7.08284329e-01 -6.83897274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-171.93, Z:-683.93 [[ 6.38544876e-01 4.34858976e-01 6.34947330e-01 2.87229023e+02] [-2.98185959e-01 9.00405425e-01 -3.16788897e-01 -1.71931470e+02] [-7.09468516e-01 1.29515486e-02 7.04618111e-01 -6.83929201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:-171.95, Z:-683.95 [[ 6.38677292e-01 4.19690797e-01 6.44942595e-01 2.87251217e+02] [-2.98432376e-01 9.07658383e-01 -2.95117565e-01 -1.71954845e+02] [-7.09245679e-01 -3.98686348e-03 7.04950120e-01 -6.83946802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:-171.98, Z:-683.96 [[ 6.40996620e-01 4.09002739e-01 6.49492180e-01 2.87277451e+02] [-3.00800692e-01 9.12367668e-01 -2.77676397e-01 -1.71979209e+02] [-7.06146073e-01 -1.73780651e-02 7.07852899e-01 -6.83960755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-171.96, Z:-684.00 [[ 6.38816777e-01 4.36096147e-01 6.33824326e-01 2.87291008e+02] [-2.96255642e-01 8.99740506e-01 -3.20467810e-01 -1.71957778e+02] [-7.10032197e-01 1.69461809e-02 7.03965274e-01 -6.84000799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:-171.99, Z:-684.01 [[ 6.39661214e-01 4.14710186e-01 6.47185439e-01 2.87314786e+02] [-2.95838146e-01 9.09936773e-01 -2.90679997e-01 -1.71987291e+02] [-7.09445785e-01 -5.52542048e-03 7.04738354e-01 -6.84014889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:-171.99, Z:-684.04 [[ 6.39719160e-01 4.18668231e-01 6.44574518e-01 2.87334639e+02] [-2.95396190e-01 9.08139056e-01 -2.96689310e-01 -1.71993433e+02] [-7.09577682e-01 -6.07019933e-04 7.04626954e-01 -6.84038156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-172.00, Z:-684.06 [[ 6.39198980e-01 4.21543884e-01 6.43214908e-01 2.87355071e+02] [-2.95351537e-01 9.06805118e-01 -3.00785550e-01 -1.72001328e+02] [-7.10064880e-01 2.28730486e-03 7.04132540e-01 -6.84062835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-172.01, Z:-684.08 [[ 6.38538018e-01 4.19608868e-01 6.45133784e-01 2.87375969e+02] [-2.95206586e-01 9.07705017e-01 -2.98202405e-01 -1.72012384e+02] [-7.10719545e-01 -3.41692153e-05 7.03475463e-01 -6.84084020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-172.03, Z:-684.10 [[ 6.39835463e-01 4.12404304e-01 6.48485367e-01 2.87401343e+02] [-2.98600913e-01 9.10928524e-01 -2.84687056e-01 -1.72033020e+02] [-7.08129985e-01 -1.14854488e-02 7.05988675e-01 -6.84099242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-172.03, Z:-684.13 [[ 6.39234742e-01 4.25858267e-01 6.40330915e-01 2.87421406e+02] [-2.99878883e-01 9.04789000e-01 -3.02373149e-01 -1.72031682e+02] [-7.08132473e-01 1.26570233e-03 7.06078465e-01 -6.84128215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.44, Y:-172.02, Z:-684.16 [[ 6.36121432e-01 4.38561822e-01 6.34833090e-01 2.87436812e+02] [-2.99146789e-01 8.98587282e-01 -3.21017281e-01 -1.72024948e+02] [-7.11238865e-01 1.42976919e-02 7.02804990e-01 -6.84161584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-172.05, Z:-684.18 [[ 6.35716578e-01 4.24518576e-01 6.44708004e-01 2.87457943e+02] [-3.00334108e-01 9.05414623e-01 -3.00039637e-01 -1.72046834e+02] [-7.11100454e-01 -2.88763194e-03 7.03084494e-01 -6.84178935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-172.05, Z:-684.20 [[ 6.35421654e-01 4.27867739e-01 6.42781860e-01 2.87477792e+02] [-3.01765761e-01 9.03840524e-01 -3.03331060e-01 -1.72054023e+02] [-7.10757868e-01 -1.22643318e-03 7.03435675e-01 -6.84203554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:-172.06, Z:-684.23 [[ 6.34549953e-01 4.28118753e-01 6.43475478e-01 2.87497580e+02] [-3.03976969e-01 9.03712328e-01 -3.01499638e-01 -1.72064443e+02] [-7.10594370e-01 -4.28514424e-03 7.03588856e-01 -6.84226216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-172.10, Z:-684.24 [[ 6.36934003e-01 4.12558940e-01 6.51237436e-01 2.87525403e+02] [-3.09337324e-01 9.10537998e-01 -2.74282653e-01 -1.72095510e+02] [-7.06134192e-01 -2.67520973e-02 7.07572490e-01 -6.84235346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-172.07, Z:-684.28 [[ 6.32737297e-01 4.48036535e-01 6.31590671e-01 2.87538745e+02] [-3.07707901e-01 8.93936759e-01 -3.25872550e-01 -1.72070638e+02] [-7.10604926e-01 1.18462767e-02 7.03491511e-01 -6.84280009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:-172.10, Z:-684.29 [[ 6.32458733e-01 4.30088759e-01 6.44220157e-01 2.87560517e+02] [-3.08870109e-01 9.02735635e-01 -2.99445537e-01 -1.72096485e+02] [-7.10348652e-01 -9.59340498e-03 7.03784598e-01 -6.84293763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-172.10, Z:-684.32 [[ 6.30141032e-01 4.36558883e-01 6.42135984e-01 2.87580857e+02] [-3.10941015e-01 8.99652000e-01 -3.06499535e-01 -1.72102344e+02] [-7.11504016e-01 -6.52848125e-03 7.02651702e-01 -6.84319786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-172.13, Z:-684.33 [[ 6.31849388e-01 4.22434586e-01 6.49857962e-01 2.87606823e+02] [-3.14962674e-01 9.06019067e-01 -2.82715343e-01 -1.72129379e+02] [-7.08212444e-01 -2.60474846e-02 7.05518719e-01 -6.84329349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-172.11, Z:-684.37 [[ 6.28044779e-01 4.50150731e-01 6.34763007e-01 2.87621373e+02] [-3.14534852e-01 8.92948797e-01 -3.22040793e-01 -1.72112970e+02] [-7.11777762e-01 2.60095023e-03 7.02399924e-01 -6.84368481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-172.15, Z:-684.38 [[ 6.28988528e-01 4.28622635e-01 6.48580040e-01 2.87646454e+02] [-3.18047259e-01 9.03141228e-01 -2.88412662e-01 -1.72145900e+02] [-7.09379569e-01 -2.48708483e-02 7.04387726e-01 -6.84376104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-172.13, Z:-684.41 [[ 6.26636839e-01 4.50367677e-01 6.35999393e-01 2.87662811e+02] [-3.16429768e-01 8.92843084e-01 -3.20473759e-01 -1.72134204e+02] [-7.12178681e-01 -4.28476675e-04 7.01998107e-01 -6.84413536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-172.15, Z:-684.43 [[ 6.26206790e-01 4.42965261e-01 6.41597097e-01 2.87683080e+02] [-3.15979127e-01 8.96500721e-01 -3.10553776e-01 -1.72148392e+02] [-7.12756794e-01 -8.26040749e-03 7.01362615e-01 -6.84434120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-172.16, Z:-684.46 [[ 6.26035708e-01 4.39010101e-01 6.44476085e-01 2.87704867e+02] [-3.18739997e-01 8.98336810e-01 -3.02317368e-01 -1.72164292e+02] [-7.11676968e-01 -1.61588381e-02 7.02320998e-01 -6.84455360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-172.19, Z:-684.47 [[ 6.27876596e-01 4.30495178e-01 6.48417213e-01 2.87729601e+02] [-3.22552909e-01 9.02120403e-01 -2.86597976e-01 -1.72185860e+02] [-7.08329444e-01 -2.92006967e-02 7.05277760e-01 -6.84469218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-172.18, Z:-684.50 [[ 6.27700548e-01 4.45081653e-01 6.38666066e-01 2.87749578e+02] [-3.23829010e-01 8.95365561e-01 -3.05704572e-01 -1.72184475e+02] [-7.07903097e-01 -1.49276722e-02 7.06151804e-01 -6.84498226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-172.17, Z:-684.53 [[ 6.25537625e-01 4.57909774e-01 6.31681342e-01 2.87763421e+02] [-3.19137673e-01 8.88990405e-01 -3.28400983e-01 -1.72174785e+02] [-7.11936672e-01 3.83385717e-03 7.02233207e-01 -6.84532288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:287.79, Y:-172.20, Z:-684.55 [[ 6.25868665e-01 4.38171649e-01 6.45208509e-01 2.87785368e+02] [-3.20878287e-01 8.98671635e-01 -2.99042502e-01 -1.72204686e+02] [-7.10862532e-01 -1.98720693e-02 7.03050185e-01 -6.84548200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-172.22, Z:-684.56 [[ 6.28074937e-01 4.33434826e-01 6.46263201e-01 2.87808060e+02] [-3.22309696e-01 9.00821933e-01 -2.90923195e-01 -1.72220575e+02] [-7.08264310e-01 -2.55753281e-02 7.05483926e-01 -6.84564006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-172.22, Z:-684.59 [[ 6.27890128e-01 4.43937034e-01 6.39276073e-01 2.87827771e+02] [-3.21713993e-01 8.95957744e-01 -3.06202267e-01 -1.72221241e+02] [-7.08698874e-01 -1.34026776e-02 7.05383778e-01 -6.84591927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-172.23, Z:-684.62 [[ 6.27870382e-01 4.43908891e-01 6.39315008e-01 2.87848748e+02] [-3.21341466e-01 8.95977986e-01 -3.06534029e-01 -1.72231820e+02] [-7.08885354e-01 -1.29747838e-02 7.05204374e-01 -6.84615682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-172.24, Z:-684.64 [[ 6.27563088e-01 4.43407066e-01 6.39964644e-01 2.87868895e+02] [-3.20010039e-01 8.96239592e-01 -3.07161469e-01 -1.72242885e+02] [-7.09759217e-01 -1.20319107e-02 7.04341598e-01 -6.84637962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:-172.25, Z:-684.66 [[ 6.27375126e-01 4.43391635e-01 6.40159597e-01 2.87889734e+02] [-3.19602946e-01 8.96252287e-01 -3.07548039e-01 -1.72253093e+02] [-7.10108730e-01 -1.16489034e-02 7.03995664e-01 -6.84661178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.91, Y:-172.26, Z:-684.68 [[ 6.27044288e-01 4.43597174e-01 6.40341321e-01 2.87910029e+02] [-3.19496930e-01 8.96152627e-01 -3.07948342e-01 -1.72262711e+02] [-7.10448572e-01 -1.14898371e-02 7.03655321e-01 -6.84683525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-172.27, Z:-684.71 [[ 6.26606109e-01 4.44038150e-01 6.40464601e-01 2.87931373e+02] [-3.19776189e-01 8.95932485e-01 -3.08298834e-01 -1.72272259e+02] [-7.10709485e-01 -1.16233964e-02 7.03389596e-01 -6.84707254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-172.28, Z:-684.73 [[ 6.26434435e-01 4.44737384e-01 6.40147294e-01 2.87952235e+02] [-3.20605136e-01 8.95580569e-01 -3.08460355e-01 -1.72282018e+02] [-7.10487330e-01 -1.20043223e-02 7.03607597e-01 -6.84730814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:-172.29, Z:-684.75 [[ 6.26261967e-01 4.45445291e-01 6.39823759e-01 2.87972809e+02] [-3.21444751e-01 8.95223439e-01 -3.08623179e-01 -1.72291283e+02] [-7.10259967e-01 -1.23890296e-02 7.03830442e-01 -6.84754181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-172.30, Z:-684.78 [[ 6.26202108e-01 4.46313415e-01 6.39277135e-01 2.87992943e+02] [-3.22615568e-01 8.94783073e-01 -3.08678551e-01 -1.72300446e+02] [-7.09781738e-01 -1.29455968e-02 7.04302702e-01 -6.84777246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-172.31, Z:-684.80 [[ 6.25951316e-01 4.47902370e-01 6.38410852e-01 2.88013654e+02] [-3.24984617e-01 8.93967586e-01 -3.08556241e-01 -1.72309637e+02] [-7.08921680e-01 -1.43325212e-02 7.05141568e-01 -6.84800803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-172.32, Z:-684.82 [[ 6.25935990e-01 4.48861443e-01 6.37751944e-01 2.88034146e+02] [-3.26332650e-01 8.93475771e-01 -3.08558014e-01 -1.72318901e+02] [-7.08315705e-01 -1.49817166e-02 7.05736785e-01 -6.84823739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-172.33, Z:-684.85 [[ 6.25821806e-01 4.49908816e-01 6.37125674e-01 2.88055139e+02] [-3.27813211e-01 8.92935443e-01 -3.08552739e-01 -1.72328582e+02] [-7.07732694e-01 -1.57591806e-02 7.06304525e-01 -6.84847560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:-172.34, Z:-684.87 [[ 6.25410892e-01 4.51544454e-01 6.36371607e-01 2.88076458e+02] [-3.30170694e-01 8.92083408e-01 -3.08503656e-01 -1.72337239e+02] [-7.06999667e-01 -1.71697083e-02 7.07005425e-01 -6.84871369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-172.35, Z:-684.89 [[ 6.25016027e-01 4.52389880e-01 6.36159071e-01 2.88096900e+02] [-3.31154692e-01 8.91644345e-01 -3.08718208e-01 -1.72346695e+02] [-7.06888631e-01 -1.77132336e-02 7.07103037e-01 -6.84894204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:-172.36, Z:-684.92 [[ 6.24635282e-01 4.53097987e-01 6.36029071e-01 2.88117946e+02] [-3.31927369e-01 8.91276268e-01 -3.08951189e-01 -1.72356343e+02] [-7.06862778e-01 -1.81336433e-02 7.07118225e-01 -6.84917354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-172.37, Z:-684.94 [[ 6.23834602e-01 4.53800774e-01 6.36313796e-01 2.88138918e+02] [-3.32484648e-01 8.90910166e-01 -3.09407554e-01 -1.72366060e+02] [-7.07307817e-01 -1.85454297e-02 7.06662380e-01 -6.84940837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-172.38, Z:-684.96 [[ 6.22880666e-01 4.54869135e-01 6.36485465e-01 2.88159649e+02] [-3.33611979e-01 8.90347769e-01 -3.09812681e-01 -1.72375260e+02] [-7.07617640e-01 -1.93628463e-02 7.06330203e-01 -6.84963426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-172.38, Z:-684.99 [[ 6.22419171e-01 4.56146512e-01 6.36022590e-01 2.88179115e+02] [-3.32478433e-01 8.89746011e-01 -3.12746107e-01 -1.72381372e+02] [-7.08556608e-01 -1.68046219e-02 7.05453852e-01 -6.84987198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-172.40, Z:-685.01 [[ 6.22756815e-01 4.51063388e-01 6.39308821e-01 2.88200757e+02] [-3.34799373e-01 8.92137525e-01 -3.03315045e-01 -1.72398573e+02] [-7.07165701e-01 -2.51486808e-02 7.06600463e-01 -6.85006910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-172.40, Z:-685.03 [[ 6.22138714e-01 4.57132790e-01 6.35588729e-01 2.88219572e+02] [-3.33455712e-01 8.89233852e-01 -3.13162010e-01 -1.72399981e+02] [-7.08343637e-01 -1.71104816e-02 7.05660345e-01 -6.85033552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-172.42, Z:-685.05 [[ 6.23072934e-01 4.52275071e-01 6.38143698e-01 2.88241466e+02] [-3.35431888e-01 8.91544234e-01 -3.04358879e-01 -1.72416904e+02] [-7.06587268e-01 -2.44159660e-02 7.07204563e-01 -6.85053584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:-172.42, Z:-685.08 [[ 6.23768899e-01 4.56207356e-01 6.34655189e-01 2.88261133e+02] [-3.34964062e-01 8.89669981e-01 -3.10300504e-01 -1.72423045e+02] [-7.06195042e-01 -1.90308765e-02 7.07761534e-01 -6.85077948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:-172.43, Z:-685.10 [[ 6.23967989e-01 4.56131351e-01 6.34514097e-01 2.88281394e+02] [-3.34630657e-01 8.89718628e-01 -3.10520669e-01 -1.72433006e+02] [-7.06177224e-01 -1.85729124e-02 7.07791477e-01 -6.85101303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-172.44, Z:-685.12 [[ 6.24760937e-01 4.55665137e-01 6.34068651e-01 2.88301465e+02] [-3.33855703e-01 8.89976722e-01 -3.10615203e-01 -1.72442877e+02] [-7.05842858e-01 -1.76271904e-02 7.08149096e-01 -6.85123745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-172.45, Z:-685.15 [[ 6.25552579e-01 4.54083741e-01 6.34422515e-01 2.88322111e+02] [-3.31151465e-01 8.90824294e-01 -3.11080030e-01 -1.72454219e+02] [-7.06415373e-01 -1.54930295e-02 7.07627930e-01 -6.85146879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-172.47, Z:-685.17 [[ 6.26633238e-01 4.50113134e-01 6.36183112e-01 2.88344869e+02] [-3.31492330e-01 8.92754488e-01 -3.05126628e-01 -1.72472096e+02] [-7.05296832e-01 -1.96873356e-02 7.08638687e-01 -6.85167844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-172.47, Z:-685.19 [[ 6.27288202e-01 4.56259747e-01 6.31139093e-01 2.88364105e+02] [-3.28671039e-01 8.89802664e-01 -3.16585798e-01 -1.72473972e+02] [-7.06034602e-01 -8.84660554e-03 7.08122079e-01 -6.85192923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-172.48, Z:-685.22 [[ 6.28208090e-01 4.53626950e-01 6.32121180e-01 2.88384719e+02] [-3.26496403e-01 8.91151366e-01 -3.15038636e-01 -1.72484884e+02] [-7.06225668e-01 -8.47547157e-03 7.07936065e-01 -6.85215431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-172.49, Z:-685.24 [[ 6.28965844e-01 4.54109909e-01 6.31019935e-01 2.88402439e+02] [-3.21979545e-01 8.90943932e-01 -3.20231296e-01 -1.72489910e+02] [-7.07623587e-01 -1.76096456e-03 7.06587403e-01 -6.85240837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-172.50, Z:-685.26 [[ 6.30212763e-01 4.47775421e-01 6.34294132e-01 2.88421913e+02] [-3.19611778e-01 8.94131733e-01 -3.13650690e-01 -1.72503145e+02] [-7.07587581e-01 -5.06120770e-03 7.06607528e-01 -6.85261470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-172.51, Z:-685.28 [[ 6.31015790e-01 4.46168476e-01 6.34628052e-01 2.88442854e+02] [-3.18952546e-01 8.94931983e-01 -3.12035286e-01 -1.72514269e+02] [-7.07169249e-01 -5.51704053e-03 7.07022783e-01 -6.85284868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-172.52, Z:-685.31 [[ 6.32017389e-01 4.45666935e-01 6.33983440e-01 2.88463808e+02] [-3.18239095e-01 8.95187293e-01 -3.12031391e-01 -1.72524347e+02] [-7.06595993e-01 -4.54905102e-03 7.07602578e-01 -6.85308520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-172.53, Z:-685.33 [[ 6.32753569e-01 4.45342575e-01 6.33476845e-01 2.88484096e+02] [-3.17713057e-01 8.95352257e-01 -3.12094137e-01 -1.72534063e+02] [-7.06173729e-01 -3.78518568e-03 7.08028486e-01 -6.85331458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-172.54, Z:-685.35 [[ 6.33665237e-01 4.44891364e-01 6.32882329e-01 2.88505104e+02] [-3.17074098e-01 8.95579818e-01 -3.12091022e-01 -1.72543415e+02] [-7.05643241e-01 -2.90936248e-03 7.08561325e-01 -6.85354463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:-172.55, Z:-685.38 [[ 6.34005552e-01 4.46642849e-01 6.31305889e-01 2.88525594e+02] [-3.16538060e-01 8.94712335e-01 -3.15108702e-01 -1.72551275e+02] [-7.05578214e-01 -5.16746804e-05 7.08632049e-01 -6.85379589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5965599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:288.55, Y:-172.57, Z:-685.40 [[ 6.34256976e-01 4.43813499e-01 6.33046338e-01 2.88547401e+02] [-3.16785191e-01 8.96112803e-01 -3.10852033e-01 -1.72565193e+02] [-7.05241257e-01 -3.37963496e-03 7.08959341e-01 -6.85402060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:288.57, Y:-172.57, Z:-685.43 [[ 6.34146337e-01 4.48736888e-01 6.29677401e-01 2.88567492e+02] [-3.16956092e-01 8.93661982e-01 -3.17658776e-01 -1.72571180e+02] [-7.05263964e-01 1.86206057e-03 7.08942363e-01 -6.85427271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:-172.58, Z:-685.45 [[ 6.34490275e-01 4.47759711e-01 6.30026453e-01 2.88587344e+02] [-3.14489670e-01 8.94144491e-01 -3.18750491e-01 -1.72577869e+02] [-7.06058311e-01 4.10727547e-03 7.08141788e-01 -6.85449261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-172.59, Z:-685.47 [[ 6.34590469e-01 4.43422340e-01 6.32986229e-01 2.88608395e+02] [-3.13719721e-01 8.96312751e-01 -3.13374199e-01 -1.72590962e+02] [-7.06310749e-01 2.84017081e-04 7.07901861e-01 -6.85471411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-172.60, Z:-685.49 [[ 6.35131260e-01 4.42621734e-01 6.33004172e-01 2.88629395e+02] [-3.12265765e-01 8.96707044e-01 -3.13698214e-01 -1.72600564e+02] [-7.06468948e-01 1.57400942e-03 7.07742290e-01 -6.85494821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.65, Y:-172.61, Z:-685.52 [[ 6.35391687e-01 4.42514837e-01 6.32817528e-01 2.88650167e+02] [-3.11894455e-01 8.96758748e-01 -3.13919729e-01 -1.72610462e+02] [-7.06398792e-01 2.08970828e-03 7.07810977e-01 -6.85517672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-172.62, Z:-685.54 [[ 6.35173608e-01 4.45197749e-01 6.31152479e-01 2.88671196e+02] [-3.12892386e-01 8.95424671e-01 -3.16722296e-01 -1.72621270e+02] [-7.06153554e-01 3.69083851e-03 7.08049106e-01 -6.85544336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:-172.63, Z:-685.56 [[ 6.35263401e-01 4.45785927e-01 6.30646747e-01 2.88691884e+02] [-3.11570804e-01 8.95118934e-01 -3.18881999e-01 -1.72626154e+02] [-7.06656950e-01 6.08294935e-03 7.07530178e-01 -6.85564945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-172.64, Z:-685.59 [[ 6.34707025e-01 4.43211959e-01 6.33016708e-01 2.88712391e+02] [-3.12042275e-01 8.96414021e-01 -3.14756290e-01 -1.72638215e+02] [-7.06948804e-01 2.25005418e-03 7.07261144e-01 -6.85586350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-172.65, Z:-685.61 [[ 6.34105154e-01 4.43666006e-01 6.33301768e-01 2.88733122e+02] [-3.12348548e-01 8.96190001e-01 -3.15090252e-01 -1.72647611e+02] [-7.07353546e-01 1.98946502e-03 7.06857131e-01 -6.85609541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-172.66, Z:-685.63 [[ 6.32491793e-01 4.45101159e-01 6.33907793e-01 2.88753680e+02] [-3.13756506e-01 8.95479946e-01 -3.15709554e-01 -1.72656125e+02] [-7.08174404e-01 7.91007290e-04 7.06037101e-01 -6.85632052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-172.67, Z:-685.66 [[ 6.32069522e-01 4.46015914e-01 6.33685982e-01 2.88774726e+02] [-3.14867184e-01 8.95025019e-01 -3.15893767e-01 -1.72665204e+02] [-7.08058456e-01 1.39901200e-04 7.06153811e-01 -6.85655681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:-172.67, Z:-685.68 [[ 6.31542603e-01 4.47141359e-01 6.33418144e-01 2.88795320e+02] [-3.16273436e-01 8.94463020e-01 -3.16080717e-01 -1.72674398e+02] [-7.07901867e-01 -7.14893908e-04 7.06310438e-01 -6.85678728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-172.68, Z:-685.70 [[ 6.30350789e-01 4.49292063e-01 6.33083348e-01 2.88816824e+02] [-3.19188438e-01 8.93380706e-01 -3.16211407e-01 -1.72682847e+02] [-7.07655724e-01 -2.74877526e-03 7.06552065e-01 -6.85702647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:-172.68, Z:-685.74 [[ 6.27722989e-01 4.61919563e-01 6.26573353e-01 2.88834239e+02] [-3.18240112e-01 8.86855166e-01 -3.34979321e-01 -1.72679687e+02] [-7.10413317e-01 1.08734464e-02 7.03700709e-01 -6.85737390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-172.71, Z:-685.75 [[ 6.28638155e-01 4.41999129e-01 6.39883458e-01 2.88858442e+02] [-3.22784583e-01 8.96864698e-01 -3.02396802e-01 -1.72708150e+02] [-7.07548008e-01 -1.64463472e-02 7.06473873e-01 -6.85745342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-172.69, Z:-685.79 [[ 6.24936130e-01 4.70703355e-01 6.22810714e-01 2.88872583e+02] [-3.19646635e-01 8.82125486e-01 -3.45948921e-01 -1.72686957e+02] [-7.12236521e-01 1.71166306e-02 7.01730831e-01 -6.85787472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.90, Y:-172.74, Z:-685.79 [[ 6.28049741e-01 4.31796339e-01 6.47383537e-01 2.88899356e+02] [-3.25237335e-01 9.01434585e-01 -2.85720780e-01 -1.72736870e+02] [-7.06947097e-01 -3.11064342e-02 7.06582049e-01 -6.85786631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-172.73, Z:-685.82 [[ 6.27479219e-01 4.55003539e-01 6.31855687e-01 2.88919532e+02] [-3.26580778e-01 8.90458046e-01 -3.16906082e-01 -1.72728483e+02] [-7.06834369e-01 -7.49994146e-03 7.07339329e-01 -6.85819362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-172.74, Z:-685.84 [[ 6.27301578e-01 4.56095522e-01 6.31244489e-01 2.88940701e+02] [-3.28106752e-01 8.89892014e-01 -3.16919804e-01 -1.72737898e+02] [-7.06285134e-01 -8.31128579e-03 7.07878685e-01 -6.85843211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.96, Y:-172.75, Z:-685.87 [[ 6.27143766e-01 4.56748707e-01 6.30928930e-01 2.88961866e+02] [-3.28868753e-01 8.89553819e-01 -3.17079402e-01 -1.72747816e+02] [-7.06070846e-01 -8.63844039e-03 7.08088510e-01 -6.85867104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.98, Y:-172.76, Z:-685.89 [[ 6.27076094e-01 4.57076423e-01 6.30758842e-01 2.88981784e+02] [-3.29098212e-01 8.89385822e-01 -3.17312505e-01 -1.72757208e+02] [-7.06024036e-01 -8.60252101e-03 7.08135621e-01 -6.85889614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-172.74, Z:-685.93 [[ 6.22643493e-01 4.75690612e-01 6.21315961e-01 2.88994564e+02] [-3.22200930e-01 8.79428552e-01 -3.50416870e-01 -1.72738934e+02] [-7.13093011e-01 1.79962030e-02 7.00838423e-01 -6.85928370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-172.80, Z:-685.92 [[ 6.27803782e-01 4.27224197e-01 6.50647291e-01 2.89024848e+02] [-3.28756124e-01 9.03228339e-01 -2.75858620e-01 -1.72801562e+02] [-7.05536549e-01 -4.07191965e-02 7.07502739e-01 -6.85923888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-172.76, Z:-685.98 [[ 6.22626375e-01 4.77878397e-01 6.19652028e-01 2.89034840e+02] [-3.21119042e-01 8.78155773e-01 -3.54577211e-01 -1.72755518e+02] [-7.13595795e-01 2.17870577e-02 7.00218799e-01 -6.85976481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-172.82, Z:-685.97 [[ 6.28829424e-01 4.22284831e-01 6.52877536e-01 2.89066544e+02] [-3.27855701e-01 9.05376277e-01 -2.69822972e-01 -1.72824987e+02] [-7.05041981e-01 -4.43769981e-02 7.07775733e-01 -6.85968908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-172.81, Z:-686.01 [[ 6.28181585e-01 4.56867001e-01 6.29809844e-01 2.89085721e+02] [-3.27826693e-01 8.89511024e-01 -3.18276292e-01 -1.72806690e+02] [-7.05632734e-01 -6.53317316e-03 7.08547643e-01 -6.86006246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.11, Y:-172.82, Z:-686.03 [[ 6.28307552e-01 4.56956414e-01 6.29619294e-01 2.89106541e+02] [-3.27733165e-01 8.89467239e-01 -3.18494904e-01 -1.72817102e+02] [-7.05564024e-01 -6.23437020e-03 7.08618755e-01 -6.86030047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-172.83, Z:-686.05 [[ 6.28825428e-01 4.56508988e-01 6.29426823e-01 2.89127022e+02] [-3.26880809e-01 8.89702818e-01 -3.18712773e-01 -1.72827006e+02] [-7.05498064e-01 -5.33285341e-03 7.08691782e-01 -6.86053452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-172.82, Z:-686.09 [[ 6.26683562e-01 4.66358487e-01 6.24321612e-01 2.89142728e+02] [-3.23267203e-01 8.84551014e-01 -3.36255587e-01 -1.72823281e+02] [-7.09059961e-01 8.90314806e-03 7.05091983e-01 -6.86085782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-172.86, Z:-686.09 [[ 6.29988361e-01 4.42107448e-01 6.38479185e-01 2.89167763e+02] [-3.25932875e-01 8.96749732e-01 -2.99345418e-01 -1.72859350e+02] [-7.04898876e-01 -1.95172268e-02 7.09039246e-01 -6.86094312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-172.86, Z:-686.12 [[ 6.30433820e-01 4.55240677e-01 6.28736133e-01 2.89187797e+02] [-3.24732056e-01 8.90363295e-01 -3.19064720e-01 -1.72859020e+02] [-7.05054814e-01 -3.02158751e-03 7.09146374e-01 -6.86123235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-172.86, Z:-686.15 [[ 6.28705751e-01 4.62825357e-01 6.24917409e-01 2.89203799e+02] [-3.20497697e-01 8.86396097e-01 -3.34040694e-01 -1.72857401e+02] [-7.08526856e-01 9.72871532e-03 7.05616785e-01 -6.86153187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-172.89, Z:-686.16 [[ 6.30904610e-01 4.41732407e-01 6.37833720e-01 2.89227376e+02] [-3.22262236e-01 8.97026140e-01 -3.02475048e-01 -1.72890456e+02] [-7.05766551e-01 -1.47168184e-02 7.08291600e-01 -6.86163363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-172.89, Z:-686.19 [[ 6.31902767e-01 4.52497622e-01 6.29241444e-01 2.89247373e+02] [-3.19882470e-01 8.91765098e-01 -3.20047209e-01 -1.72891934e+02] [-7.05956159e-01 9.55409667e-04 7.08254890e-01 -6.86191425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-172.90, Z:-686.21 [[ 6.32506587e-01 4.51611731e-01 6.29271215e-01 2.89266760e+02] [-3.18302476e-01 8.92211497e-01 -3.20378180e-01 -1.72902455e+02] [-7.06129557e-01 2.34272327e-03 7.08078781e-01 -6.86214724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6765599949999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:289.28, Y:-172.91, Z:-686.24 [[ 6.32106221e-01 4.57652051e-01 6.25296990e-01 2.89284976e+02] [-3.16167707e-01 8.89055931e-01 -3.31085387e-01 -1.72907427e+02] [-7.07445903e-01 1.15824170e-02 7.06672584e-01 -6.86244226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-172.92, Z:-686.26 [[ 6.33517938e-01 4.50193071e-01 6.29270388e-01 2.89305538e+02] [-3.14223264e-01 8.92907195e-01 -3.22460045e-01 -1.72923427e+02] [-7.07049335e-01 6.55282753e-03 7.07133861e-01 -6.86264663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-172.94, Z:-686.28 [[ 6.36008039e-01 4.42636902e-01 6.32112607e-01 2.89326107e+02] [-3.12112094e-01 8.96697889e-01 -3.13877263e-01 -1.72940761e+02] [-7.05747700e-01 2.33847376e-03 7.08459396e-01 -6.86281735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-172.95, Z:-686.31 [[ 6.36586507e-01 4.46940839e-01 6.28491452e-01 2.89346151e+02] [-3.11181859e-01 8.94520952e-01 -3.20933199e-01 -1.72947559e+02] [-7.05636925e-01 8.72660622e-03 7.08519849e-01 -6.86307117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.37, Y:-172.96, Z:-686.33 [[ 6.37012445e-01 4.46279216e-01 6.28530036e-01 2.89366541e+02] [-3.09922749e-01 8.94839528e-01 -3.21263302e-01 -1.72958234e+02] [-7.05806655e-01 9.85296468e-03 7.08335997e-01 -6.86330710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-172.97, Z:-686.35 [[ 6.37491107e-01 4.45807501e-01 6.28379472e-01 2.89386674e+02] [-3.09033082e-01 8.95064187e-01 -3.21494408e-01 -1.72968636e+02] [-7.05764580e-01 1.07597812e-02 7.08364726e-01 -6.86353919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-172.98, Z:-686.38 [[ 6.38470084e-01 4.44434619e-01 6.28358036e-01 2.89407375e+02] [-3.06811104e-01 8.95721733e-01 -3.21791119e-01 -1.72979351e+02] [-7.05849062e-01 1.26667796e-02 7.08249006e-01 -6.86377493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-172.99, Z:-686.40 [[ 6.38925664e-01 4.43795520e-01 6.28346666e-01 2.89428022e+02] [-3.05613144e-01 8.96022385e-01 -3.22093918e-01 -1.72989854e+02] [-7.05956516e-01 1.37630697e-02 7.08121441e-01 -6.86401138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:-173.00, Z:-686.42 [[ 6.40269093e-01 4.41746440e-01 6.28423084e-01 2.89447593e+02] [-3.02385680e-01 8.96989536e-01 -3.22447940e-01 -1.72999778e+02] [-7.06129159e-01 1.64273084e-02 7.07892473e-01 -6.86423664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:-173.00, Z:-686.45 [[ 6.40236818e-01 4.45232674e-01 6.25990961e-01 2.89466116e+02] [-2.99599935e-01 8.95096726e-01 -3.30214673e-01 -1.73004914e+02] [-7.07344821e-01 2.38687400e-02 7.06465560e-01 -6.86451032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-173.02, Z:-686.47 [[ 6.41410226e-01 4.37249170e-01 6.30401527e-01 2.89487631e+02] [-2.98567090e-01 8.99180352e-01 -3.19894337e-01 -1.73022319e+02] [-7.06718201e-01 1.69663496e-02 7.07291685e-01 -6.86470546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-173.03, Z:-686.49 [[ 6.42427549e-01 4.38873699e-01 6.28233015e-01 2.89507495e+02] [-2.96892651e-01 8.98289492e-01 -3.23930149e-01 -1.73028854e+02] [-7.06499539e-01 2.15838864e-02 7.07384293e-01 -6.86492318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-173.03, Z:-686.52 [[ 6.41869085e-01 4.47536582e-01 6.22667717e-01 2.89524955e+02] [-2.92559841e-01 8.93521595e-01 -3.40628681e-01 -1.73027487e+02] [-7.08810847e-01 3.64714516e-02 7.04455120e-01 -6.86524946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-173.04, Z:-686.55 [[ 6.41562409e-01 4.41424207e-01 6.27329534e-01 2.89543958e+02] [-2.89744581e-01 8.96694054e-01 -3.34645859e-01 -1.73038684e+02] [-7.10243447e-01 3.29308710e-02 7.03185470e-01 -6.86546705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-173.08, Z:-686.55 [[ 6.44201404e-01 4.12546071e-01 6.44057677e-01 2.89571595e+02] [-2.93616647e-01 9.10933548e-01 -2.89809137e-01 -1.73080672e+02] [-7.06253365e-01 -2.41060285e-03 7.07955065e-01 -6.86550478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:-173.05, Z:-686.59 [[ 6.42457327e-01 4.50389935e-01 6.19997975e-01 2.89586480e+02] [-2.91498603e-01 8.91869180e-01 -3.45829337e-01 -1.73053796e+02] [-7.08715138e-01 4.14520478e-02 7.04275926e-01 -6.86594712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.61, Y:-173.09, Z:-686.60 [[ 6.43801890e-01 4.21760274e-01 6.38464876e-01 2.89612580e+02] [-2.95416451e-01 9.06692405e-01 -3.01061460e-01 -1.73091983e+02] [-7.05867018e-01 5.21090915e-03 7.08325207e-01 -6.86599748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.63, Y:-173.09, Z:-686.63 [[ 6.43773998e-01 4.39247380e-01 6.26591397e-01 2.89633037e+02] [-2.97084819e-01 8.98080670e-01 -3.24332733e-01 -1.73087008e+02] [-7.05191924e-01 2.26461887e-02 7.08654712e-01 -6.86629718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-173.09, Z:-686.66 [[ 6.41247972e-01 4.47132743e-01 6.23597105e-01 2.89652489e+02] [-2.98871539e-01 8.94041100e-01 -3.33715920e-01 -1.73088565e+02] [-7.06736756e-01 2.76192306e-02 7.06937293e-01 -6.86658504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-173.10, Z:-686.68 [[ 6.40250002e-01 4.44247241e-01 6.26677209e-01 2.89673017e+02] [-2.99757978e-01 8.95619993e-01 -3.28648724e-01 -1.73100328e+02] [-7.07265926e-01 2.25658530e-02 7.06587356e-01 -6.86680209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-173.12, Z:-686.70 [[ 6.40708407e-01 4.36901802e-01 6.31355330e-01 2.89695987e+02] [-3.01711183e-01 8.99427507e-01 -3.16228593e-01 -1.73117242e+02] [-7.06019192e-01 1.21233544e-02 7.08088924e-01 -6.86695837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.72, Y:-173.12, Z:-686.72 [[ 6.39423827e-01 4.44993774e-01 6.26990998e-01 2.89717977e+02] [-3.03979048e-01 8.95362395e-01 -3.25458015e-01 -1.73119339e+02] [-7.06210952e-01 1.75134828e-02 7.07784833e-01 -6.86722279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-173.13, Z:-686.74 [[ 6.38614159e-01 4.46121473e-01 6.27014823e-01 2.89738343e+02] [-3.05229044e-01 8.94817168e-01 -3.25787455e-01 -1.73127966e+02] [-7.06404408e-01 1.66693464e-02 7.07612144e-01 -6.86744887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-173.14, Z:-686.77 [[ 6.37417881e-01 4.49445306e-01 6.25857302e-01 2.89759363e+02] [-3.06348561e-01 8.93122131e-01 -3.29368210e-01 -1.73135592e+02] [-7.07000003e-01 1.82147026e-02 7.06978939e-01 -6.86771498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-173.14, Z:-686.79 [[ 6.35691860e-01 4.51208268e-01 6.26344122e-01 2.89781189e+02] [-3.08978423e-01 8.92279872e-01 -3.29194416e-01 -1.73141889e+02] [-7.07409495e-01 1.57393918e-02 7.06628670e-01 -6.86793775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-173.15, Z:-686.82 [[ 6.34700301e-01 4.52073740e-01 6.26725508e-01 2.89802559e+02] [-3.10216938e-01 8.91862752e-01 -3.29159965e-01 -1.73149882e+02] [-7.07757713e-01 1.44970609e-02 7.06306488e-01 -6.86816806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:-173.16, Z:-686.84 [[ 6.33364171e-01 4.51790571e-01 6.28279482e-01 2.89823516e+02] [-3.13801790e-01 8.92080812e-01 -3.25146524e-01 -1.73160960e+02] [-7.07374204e-01 8.78093231e-03 7.06784713e-01 -6.86836622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:-173.16, Z:-686.87 [[ 6.31109016e-01 4.62735400e-01 6.22557114e-01 2.89841466e+02] [-3.13298921e-01 8.86265102e-01 -3.41142135e-01 -1.73156623e+02] [-7.09609186e-01 2.02514051e-02 7.04304397e-01 -6.86867090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-173.18, Z:-686.89 [[ 6.30991766e-01 4.51356822e-01 6.30972591e-01 2.89861471e+02] [-3.13537679e-01 8.92315423e-01 -3.24757308e-01 -1.73177118e+02] [-7.09608001e-01 7.08550538e-03 7.04561055e-01 -6.86885968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-173.20, Z:-686.90 [[ 6.29712288e-01 4.47716266e-01 6.34832718e-01 2.89886621e+02] [-3.22796171e-01 8.94125583e-01 -3.10390197e-01 -1.73195012e+02] [-7.06586914e-01 -9.46504945e-03 7.07562962e-01 -6.86901762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:-173.19, Z:-686.93 [[ 6.28475617e-01 4.61827680e-01 6.25886246e-01 2.89907867e+02] [-3.26361466e-01 8.86968990e-01 -3.26763223e-01 -1.73193883e+02] [-7.06049993e-01 1.09756584e-03 7.08161142e-01 -6.86929050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-173.20, Z:-686.95 [[ 6.27304635e-01 4.64186913e-01 6.25315444e-01 2.89928965e+02] [-3.29693265e-01 8.85736479e-01 -3.26761750e-01 -1.73202413e+02] [-7.05543228e-01 -1.18313026e-03 7.08665897e-01 -6.86952611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-173.21, Z:-686.98 [[ 6.26231519e-01 4.66430274e-01 6.24721445e-01 2.89950089e+02] [-3.32872592e-01 8.84551689e-01 -3.26747833e-01 -1.73211393e+02] [-7.05003491e-01 -3.33285483e-03 7.09196002e-01 -6.86975914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-173.22, Z:-687.00 [[ 6.24206203e-01 4.70163196e-01 6.23949666e-01 2.89970920e+02] [-3.38241122e-01 8.82550527e-01 -3.26645851e-01 -1.73219400e+02] [-7.04243963e-01 -7.15106859e-03 7.09922040e-01 -6.86998284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-173.23, Z:-687.02 [[ 6.23265242e-01 4.71989167e-01 6.23511559e-01 2.89991817e+02] [-3.40765701e-01 8.81559901e-01 -3.26696920e-01 -1.73229212e+02] [-7.03860196e-01 -8.85251839e-03 7.10283365e-01 -6.87021339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.01, Y:-173.24, Z:-687.04 [[ 6.21252179e-01 4.74778618e-01 6.23402754e-01 2.90013019e+02] [-3.44474020e-01 8.80028337e-01 -3.26936961e-01 -1.73238338e+02] [-7.03834767e-01 -1.16357534e-02 7.10268421e-01 -6.87044209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-173.25, Z:-687.07 [[ 6.20174128e-01 4.76042951e-01 6.23511956e-01 2.90033830e+02] [-3.45900371e-01 8.79330542e-01 -3.27308311e-01 -1.73248501e+02] [-7.04085921e-01 -1.26848711e-02 7.10001486e-01 -6.87067449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.06, Y:-173.26, Z:-687.09 [[ 6.19096921e-01 4.77304864e-01 6.23617727e-01 2.90055037e+02] [-3.47328631e-01 8.78630387e-01 -3.27675855e-01 -1.73258889e+02] [-7.04330764e-01 -1.37371788e-02 7.09739012e-01 -6.87090872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-173.27, Z:-687.11 [[ 6.17750864e-01 4.78924524e-01 6.23710806e-01 2.90076101e+02] [-3.49272627e-01 8.77724480e-01 -3.28037146e-01 -1.73268127e+02] [-7.04551277e-01 -1.51998813e-02 7.09490283e-01 -6.87113405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-173.28, Z:-687.14 [[ 6.16789747e-01 4.79904912e-01 6.23908394e-01 2.90096524e+02] [-3.50280262e-01 8.77175156e-01 -3.28431856e-01 -1.73278422e+02] [-7.04893004e-01 -1.59693939e-02 7.09133860e-01 -6.87136756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-173.29, Z:-687.16 [[ 6.16008261e-01 4.80926318e-01 6.23893981e-01 2.90117605e+02] [-3.51431979e-01 8.76600941e-01 -3.28734476e-01 -1.73289195e+02] [-7.05003111e-01 -1.67531438e-02 7.09006308e-01 -6.87160298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:-173.30, Z:-687.18 [[ 6.15058129e-01 4.82551165e-01 6.23576676e-01 2.90137498e+02] [-3.53585399e-01 8.75678564e-01 -3.28883593e-01 -1.73299074e+02] [-7.04755889e-01 -1.82050804e-02 7.09216266e-01 -6.87183035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-173.31, Z:-687.21 [[ 6.14616743e-01 4.83609594e-01 6.23191801e-01 2.90158140e+02] [-3.55086298e-01 8.75074202e-01 -3.28875148e-01 -1.73309596e+02] [-7.04386244e-01 -1.91546973e-02 7.09558395e-01 -6.87206813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-173.32, Z:-687.23 [[ 6.14381631e-01 4.84643984e-01 6.22619805e-01 2.90178566e+02] [-3.56523072e-01 8.74484759e-01 -3.28888592e-01 -1.73319811e+02] [-7.03865407e-01 -1.99152163e-02 7.10054134e-01 -6.87230702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-173.33, Z:-687.25 [[ 6.13729553e-01 4.86482634e-01 6.21828500e-01 2.90198729e+02] [-3.59209857e-01 8.73423645e-01 -3.28784755e-01 -1.73329875e+02] [-7.03067788e-01 -2.15820064e-02 7.10795260e-01 -6.87254654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:-173.34, Z:-687.28 [[ 6.13656771e-01 4.87315335e-01 6.21248044e-01 2.90219425e+02] [-3.60362337e-01 8.72946134e-01 -3.28791779e-01 -1.73340680e+02] [-7.02541353e-01 -2.21090954e-02 7.11299399e-01 -6.87278317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-173.35, Z:-687.30 [[ 6.13267758e-01 4.88007492e-01 6.21088838e-01 2.90239314e+02] [-3.61111827e-01 8.72549300e-01 -3.29022746e-01 -1.73351473e+02] [-7.02496196e-01 -2.25034833e-02 7.11331630e-01 -6.87301802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-173.36, Z:-687.32 [[ 6.13457377e-01 4.88389415e-01 6.20601181e-01 2.90259302e+02] [-3.61572631e-01 8.72335330e-01 -3.29084039e-01 -1.73362677e+02] [-7.02093498e-01 -2.25133700e-02 7.11728789e-01 -6.87324680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.28, Y:-173.37, Z:-687.35 [[ 6.13903173e-01 4.88023384e-01 6.20448282e-01 2.90278398e+02] [-3.60832180e-01 8.72560286e-01 -3.29300297e-01 -1.73374654e+02] [-7.02084776e-01 -2.17192089e-02 7.11762069e-01 -6.87348225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-173.39, Z:-687.37 [[ 6.14430720e-01 4.87659662e-01 6.20212016e-01 2.90298056e+02] [-3.60119237e-01 8.72783567e-01 -3.29488969e-01 -1.73386317e+02] [-7.01989334e-01 -2.09021332e-02 7.11880661e-01 -6.87371589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-173.40, Z:-687.39 [[ 6.14925780e-01 4.86999248e-01 6.20240291e-01 2.90317431e+02] [-3.58858396e-01 8.73178717e-01 -3.29817496e-01 -1.73398089e+02] [-7.02201493e-01 -1.97651552e-02 7.11703872e-01 -6.87394503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.34, Y:-173.41, Z:-687.42 [[ 6.15321952e-01 4.86298559e-01 6.20397136e-01 2.90337085e+02] [-3.57597004e-01 8.73591774e-01 -3.30093616e-01 -1.73410298e+02] [-7.02497885e-01 -1.87383089e-02 7.11439103e-01 -6.87418178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-173.42, Z:-687.44 [[ 6.16150100e-01 4.85080204e-01 6.20529008e-01 2.90355778e+02] [-3.55495948e-01 8.74304921e-01 -3.30474713e-01 -1.73424118e+02] [-7.02838307e-01 -1.69735199e-02 7.11147112e-01 -6.87441684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-173.44, Z:-687.46 [[ 6.16806123e-01 4.84830548e-01 6.20072211e-01 2.90375606e+02] [-3.55062156e-01 8.74456481e-01 -3.30540055e-01 -1.73436647e+02] [-7.02482080e-01 -1.62850470e-02 7.11515091e-01 -6.87464825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-173.45, Z:-687.48 [[ 6.18193124e-01 4.79434539e-01 6.22880232e-01 2.90396539e+02] [-3.55221305e-01 8.77307912e-01 -3.22720702e-01 -1.73453951e+02] [-7.01181207e-01 -2.17566102e-02 7.12651082e-01 -6.87483353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:-173.46, Z:-687.51 [[ 6.16693823e-01 4.89376155e-01 6.16603363e-01 2.90414229e+02] [-3.54703554e-01 8.72007348e-01 -3.37325620e-01 -1.73458768e+02] [-7.02761779e-01 -1.06847783e-02 7.11345006e-01 -6.87512454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-173.47, Z:-687.53 [[ 6.16604979e-01 4.85124213e-01 6.20042578e-01 2.90433029e+02] [-3.54759540e-01 8.74304207e-01 -3.31266995e-01 -1.73473852e+02] [-7.02811475e-01 -1.57051418e-02 7.11202770e-01 -6.87533298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.45, Y:-173.49, Z:-687.56 [[ 6.16398281e-01 4.85438433e-01 6.20002167e-01 2.90452116e+02] [-3.54934471e-01 8.74129879e-01 -3.31539553e-01 -1.73485308e+02] [-7.02904461e-01 -1.56997307e-02 7.11110988e-01 -6.87556012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:-173.50, Z:-687.58 [[ 6.15996247e-01 4.85851647e-01 6.20078061e-01 2.90471945e+02] [-3.55196288e-01 8.73898131e-01 -3.31869935e-01 -1.73497258e+02] [-7.03124613e-01 -1.58187914e-02 7.10890670e-01 -6.87579924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-173.51, Z:-687.60 [[ 6.16050584e-01 4.86164411e-01 6.19778867e-01 2.90490901e+02] [-3.55475070e-01 8.73725048e-01 -3.32027131e-01 -1.73510531e+02] [-7.02936094e-01 -1.57704282e-02 7.11078154e-01 -6.87602797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.51, Y:-173.52, Z:-687.63 [[ 6.15871537e-01 4.86270588e-01 6.19873507e-01 2.90510541e+02] [-3.55385620e-01 8.73668005e-01 -3.32272897e-01 -1.73522655e+02] [-7.03138188e-01 -1.56567103e-02 7.10880832e-01 -6.87626510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:-173.53, Z:-687.65 [[ 6.16061906e-01 4.86451133e-01 6.19542592e-01 2.90529765e+02] [-3.55495500e-01 8.73571008e-01 -3.32410353e-01 -1.73534775e+02] [-7.02915840e-01 -1.54592477e-02 7.11105009e-01 -6.87649349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-173.55, Z:-687.67 [[ 6.16566373e-01 4.86084939e-01 6.19328136e-01 2.90548234e+02] [-3.54794458e-01 8.73788404e-01 -3.32587910e-01 -1.73547698e+02] [-7.02827718e-01 -1.46716693e-02 7.11208789e-01 -6.87672256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.57, Y:-173.56, Z:-687.70 [[ 6.17087869e-01 4.85951386e-01 6.18913413e-01 2.90567627e+02] [-3.54528818e-01 8.73871347e-01 -3.32653252e-01 -1.73559636e+02] [-7.02504007e-01 -1.41463548e-02 7.11539178e-01 -6.87695467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-173.57, Z:-687.72 [[ 6.18369790e-01 4.84584892e-01 6.18705329e-01 2.90585692e+02] [-3.52388480e-01 8.74659213e-01 -3.32856757e-01 -1.73573412e+02] [-7.02453672e-01 -1.21960673e-02 7.11624968e-01 -6.87717868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-173.59, Z:-687.74 [[ 6.18992685e-01 4.83687527e-01 6.18784641e-01 2.90605112e+02] [-3.50888078e-01 8.75172353e-01 -3.33092943e-01 -1.73586617e+02] [-7.02656112e-01 -1.09420587e-02 7.11445472e-01 -6.87741098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-173.60, Z:-687.76 [[ 6.20735603e-01 4.80718198e-01 6.19352343e-01 2.90624776e+02] [-3.48489653e-01 8.76815836e-01 -3.31283793e-01 -1.73600158e+02] [-7.02312091e-01 -1.01982382e-02 7.11796125e-01 -6.87762264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-173.61, Z:-687.79 [[ 6.20932894e-01 4.81164825e-01 6.18807524e-01 2.90642644e+02] [-3.46612037e-01 8.76600493e-01 -3.33813827e-01 -1.73611307e+02] [-7.03066453e-01 -7.21015113e-03 7.11087602e-01 -6.87786021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-173.63, Z:-687.81 [[ 6.23324813e-01 4.77394468e-01 6.19322775e-01 2.90660603e+02] [-3.41001548e-01 8.78684213e-01 -3.34113752e-01 -1.73625526e+02] [-7.03693201e-01 -2.92863247e-03 7.10497925e-01 -6.87808803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:-173.64, Z:-687.83 [[ 6.24736254e-01 4.75457041e-01 6.19391004e-01 2.90679314e+02] [-3.37954243e-01 8.79738853e-01 -3.34434569e-01 -1.73637249e+02] [-7.03911602e-01 -3.92418626e-04 7.10287479e-01 -6.87831384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:-173.65, Z:-687.86 [[ 6.27034483e-01 4.71876687e-01 6.19806543e-01 2.90697785e+02] [-3.32415425e-01 8.81655555e-01 -3.34938007e-01 -1.73651056e+02] [-7.04505318e-01 3.98442492e-03 7.09687524e-01 -6.87855330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:-173.66, Z:-687.88 [[ 6.28200734e-01 4.70557366e-01 6.19628601e-01 2.90716587e+02] [-3.30362085e-01 8.82350119e-01 -3.35140508e-01 -1.73663303e+02] [-7.04432205e-01 5.83371639e-03 7.09747305e-01 -6.87877878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-173.68, Z:-687.90 [[ 6.29149526e-01 4.69427658e-01 6.19522839e-01 2.90735872e+02] [-3.28558884e-01 8.82939571e-01 -3.35360662e-01 -1.73675655e+02] [-7.04428800e-01 7.44226926e-03 7.09735640e-01 -6.87901222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:-173.69, Z:-687.92 [[ 6.31077575e-01 4.67630448e-01 6.18920720e-01 2.90755250e+02] [-3.26077071e-01 8.83869686e-01 -3.35332852e-01 -1.73689409e+02] [-7.03857115e-01 9.80518708e-03 7.10273905e-01 -6.87924813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-173.70, Z:-687.95 [[ 6.31686611e-01 4.67204464e-01 6.18621059e-01 2.90774424e+02] [-3.25327565e-01 8.84084889e-01 -3.35493493e-01 -1.73701026e+02] [-7.03657588e-01 1.06722646e-02 7.10459079e-01 -6.87948107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-173.71, Z:-687.97 [[ 6.32631974e-01 4.66398700e-01 6.18262921e-01 2.90794186e+02] [-3.24103601e-01 8.84494170e-01 -3.35599343e-01 -1.73712577e+02] [-7.03373046e-01 1.19296356e-02 7.10720791e-01 -6.87971661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-173.72, Z:-688.00 [[ 6.33953131e-01 4.64636604e-01 6.18236406e-01 2.90813830e+02] [-3.21342062e-01 8.85386288e-01 -3.35902367e-01 -1.73724827e+02] [-7.03450572e-01 1.42809958e-02 7.10600694e-01 -6.87995562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-173.74, Z:-688.02 [[ 6.34618659e-01 4.63676713e-01 6.18274262e-01 2.90834020e+02] [-3.19668642e-01 8.85864642e-01 -3.36237708e-01 -1.73736315e+02] [-7.03612903e-01 1.57398293e-02 7.10409136e-01 -6.88018803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-173.75, Z:-688.04 [[ 6.34833478e-01 4.62738285e-01 6.18756604e-01 2.90854121e+02] [-3.17767917e-01 8.86328023e-01 -3.36817734e-01 -1.73747890e+02] [-7.04279778e-01 1.72021765e-02 7.09714083e-01 -6.88042216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-173.76, Z:-688.07 [[ 6.35818137e-01 4.60548871e-01 6.19378748e-01 2.90874300e+02] [-3.14038922e-01 8.87407609e-01 -3.37471911e-01 -1.73760261e+02] [-7.05063722e-01 2.00617271e-02 7.08860124e-01 -6.88065269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-173.77, Z:-688.09 [[ 6.35463429e-01 4.65646664e-01 6.15921598e-01 2.90892149e+02] [-3.12169503e-01 8.84527439e-01 -3.46643061e-01 -1.73765626e+02] [-7.06212739e-01 2.80070489e-02 7.07445527e-01 -6.88093658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:-173.79, Z:-688.11 [[ 6.36930759e-01 4.54219054e-01 6.22899879e-01 2.90913939e+02] [-3.10990807e-01 8.90719365e-01 -3.31517317e-01 -1.73786264e+02] [-7.05410467e-01 1.74374398e-02 7.08584511e-01 -6.88108585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-173.79, Z:-688.13 [[ 6.37360293e-01 4.58418708e-01 6.19373994e-01 2.90934158e+02] [-3.10371828e-01 8.88430840e-01 -3.38171510e-01 -1.73793383e+02] [-7.05295105e-01 2.33008537e-02 7.08530793e-01 -6.88134081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-173.80, Z:-688.16 [[ 6.37675288e-01 4.58362619e-01 6.19091219e-01 2.90953981e+02] [-3.10153168e-01 8.88448450e-01 -3.38325825e-01 -1.73803433e+02] [-7.05106545e-01 2.37289151e-02 7.08704239e-01 -6.88156343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:-173.81, Z:-688.18 [[ 6.37577617e-01 4.58970791e-01 6.18741137e-01 2.90974967e+02] [-3.10921418e-01 8.88143409e-01 -3.38421568e-01 -1.73814002e+02] [-7.04856477e-01 2.33901447e-02 7.08964208e-01 -6.88179969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:-173.82, Z:-688.20 [[ 6.36686244e-01 4.60982932e-01 6.18162894e-01 2.90995937e+02] [-3.13761969e-01 8.87148398e-01 -3.38409733e-01 -1.73823523e+02] [-7.04403332e-01 2.15048157e-02 7.09474094e-01 -6.88202722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.02, Y:-173.83, Z:-688.23 [[ 6.35669731e-01 4.62551372e-01 6.18037396e-01 2.91016735e+02] [-3.15835304e-01 8.86366998e-01 -3.38528590e-01 -1.73833678e+02] [-7.04394814e-01 1.99943487e-02 7.09526724e-01 -6.88226456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-173.84, Z:-688.25 [[ 6.34657935e-01 4.64255439e-01 6.17799477e-01 2.91037885e+02] [-3.18041734e-01 8.85508572e-01 -3.38709352e-01 -1.73843454e+02] [-7.04314391e-01 1.84785611e-02 7.09647646e-01 -6.88249689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-173.85, Z:-688.27 [[ 6.33417920e-01 4.65913953e-01 6.17823540e-01 2.91058800e+02] [-3.20035099e-01 8.84666246e-01 -3.39032697e-01 -1.73852797e+02] [-7.04527695e-01 1.70241677e-02 7.09472272e-01 -6.88272958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:-173.86, Z:-688.30 [[ 6.31443249e-01 4.68467664e-01 6.17913806e-01 2.91080070e+02] [-3.23245833e-01 8.83360525e-01 -3.39391094e-01 -1.73860461e+02] [-7.04834417e-01 1.45681517e-02 7.09222260e-01 -6.88295450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-173.87, Z:-688.32 [[ 6.30398546e-01 4.69743119e-01 6.18012197e-01 2.91101074e+02] [-3.24688865e-01 8.82699843e-01 -3.39732435e-01 -1.73870173e+02] [-7.05106243e-01 1.35051541e-02 7.08973058e-01 -6.88319260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-173.88, Z:-688.34 [[ 6.29524124e-01 4.70897666e-01 6.18024891e-01 2.91121900e+02] [-3.25997103e-01 8.82097989e-01 -3.40042685e-01 -1.73879782e+02] [-7.05283820e-01 1.25907491e-02 7.08813238e-01 -6.88342648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-173.89, Z:-688.37 [[ 6.29440410e-01 4.71177102e-01 6.17897167e-01 2.91142451e+02] [-3.26161005e-01 8.81947929e-01 -3.40274667e-01 -1.73891063e+02] [-7.05282758e-01 1.26486653e-02 7.08813263e-01 -6.88366504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-173.90, Z:-688.39 [[ 6.28703184e-01 4.72296667e-01 6.17792979e-01 2.91163344e+02] [-3.27583252e-01 8.81362692e-01 -3.40424763e-01 -1.73900959e+02] [-7.05281163e-01 1.16474995e-02 7.08832009e-01 -6.88389787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-173.91, Z:-688.41 [[ 6.27102197e-01 4.74484132e-01 6.17743995e-01 2.91184155e+02] [-3.30380602e-01 8.80212120e-01 -3.40698226e-01 -1.73909487e+02] [-7.05401653e-01 9.56197320e-03 7.08743308e-01 -6.88412214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-173.90, Z:-688.45 [[ 6.24100620e-01 4.89215143e-01 6.09234733e-01 2.91199511e+02] [-3.28604875e-01 8.71757437e-01 -3.63397589e-01 -1.73901825e+02] [-7.08884513e-01 2.65991571e-02 7.04822838e-01 -6.88448825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-173.94, Z:-688.45 [[ 6.24720042e-01 4.62402694e-01 6.29212697e-01 2.91225637e+02] [-3.33692697e-01 8.86614832e-01 -3.20255093e-01 -1.73941839e+02] [-7.05956127e-01 -9.89390678e-03 7.08186457e-01 -6.88452264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-173.94, Z:-688.48 [[ 6.22329786e-01 4.80272118e-01 6.18097347e-01 2.91246738e+02] [-3.37590727e-01 8.77110689e-01 -3.41627486e-01 -1.73937519e+02] [-7.06213947e-01 3.94102740e-03 7.07987521e-01 -6.88480743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-173.93, Z:-688.52 [[ 6.17643133e-01 5.00942773e-01 6.06278236e-01 2.91262415e+02] [-3.36431601e-01 8.65095010e-01 -3.72054300e-01 -1.73926910e+02] [-7.10866189e-01 2.58256262e-02 7.02852971e-01 -6.88520842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-173.97, Z:-688.52 [[ 6.20227361e-01 4.65247507e-01 6.31555840e-01 2.91286950e+02] [-3.41740424e-01 8.84962691e-01 -3.16313954e-01 -1.73972352e+02] [-7.06067634e-01 -1.96415918e-02 7.07871955e-01 -6.88519452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-173.97, Z:-688.55 [[ 6.19275071e-01 4.85180749e-01 6.17331376e-01 2.91307421e+02] [-3.44212896e-01 8.74413569e-01 -3.41933317e-01 -1.73967097e+02] [-7.05702394e-01 -7.42641730e-04 7.08507995e-01 -6.88549640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-173.98, Z:-688.57 [[ 6.17650848e-01 4.88234478e-01 6.16550505e-01 2.91327597e+02] [-3.48775488e-01 8.72703329e-01 -3.41679029e-01 -1.73975729e+02] [-7.04885161e-01 -3.99936098e-03 7.09310169e-01 -6.88572426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-173.99, Z:-688.60 [[ 6.16732025e-01 4.89789157e-01 6.16237123e-01 2.91347889e+02] [-3.50967287e-01 8.71823230e-01 -3.41681459e-01 -1.73985715e+02] [-7.04601713e-01 -5.55317276e-03 7.09581277e-01 -6.88595832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.37, Y:-174.00, Z:-688.62 [[ 6.15953288e-01 4.91260502e-01 6.15844676e-01 2.91368435e+02] [-3.52979915e-01 8.70985509e-01 -3.41744675e-01 -1.73995927e+02] [-7.04277450e-01 -6.88204511e-03 7.09891479e-01 -6.88619278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:-174.01, Z:-688.64 [[ 6.15234239e-01 4.92484089e-01 6.15586105e-01 2.91388980e+02] [-3.54571715e-01 8.70285295e-01 -3.41880688e-01 -1.74006727e+02] [-7.04106334e-01 -7.93271653e-03 7.10050239e-01 -6.88643029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:-174.01, Z:-688.68 [[ 6.13219581e-01 5.04539205e-01 6.07784449e-01 2.91406243e+02] [-3.54415357e-01 8.63375351e-01 -3.59127775e-01 -1.74005274e+02] [-7.05940153e-01 4.81604119e-03 7.08255113e-01 -6.88677715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-174.04, Z:-688.69 [[ 6.15972695e-01 4.85200680e-01 6.20610940e-01 2.91430740e+02] [-3.57679963e-01 8.74181530e-01 -3.28438268e-01 -1.74037270e+02] [-7.01885093e-01 -1.96710930e-02 7.12018514e-01 -6.88686260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.45, Y:-174.04, Z:-688.71 [[ 6.15380527e-01 4.94614885e-01 6.13728705e-01 2.91451129e+02] [-3.58151298e-01 8.69057063e-01 -3.41273307e-01 -1.74040952e+02] [-7.02164123e-01 -9.79478480e-03 7.11947756e-01 -6.88712697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.47, Y:-174.05, Z:-688.74 [[ 6.14460510e-01 4.94734230e-01 6.14553760e-01 2.91471602e+02] [-3.57567507e-01 8.68991659e-01 -3.42051128e-01 -1.74052515e+02] [-7.03266493e-01 -9.56754551e-03 7.10861943e-01 -6.88736352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.49, Y:-174.06, Z:-688.76 [[ 6.14184961e-01 4.94681364e-01 6.14871679e-01 2.91491014e+02] [-3.57005912e-01 8.69026520e-01 -3.42548810e-01 -1.74063624e+02] [-7.03792308e-01 -9.12449735e-03 7.10347191e-01 -6.88758737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:-174.06, Z:-688.79 [[ 6.12126736e-01 5.05192491e-01 6.08343165e-01 2.91507778e+02] [-3.54267815e-01 8.62992397e-01 -3.60192223e-01 -1.74062761e+02] [-7.06961932e-01 4.96688638e-03 7.07234159e-01 -6.88791877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-174.10, Z:-688.80 [[ 6.14711892e-01 4.82764100e-01 6.23753247e-01 2.91529938e+02] [-3.55362714e-01 8.75512839e-01 -3.27405880e-01 -1.74097044e+02] [-7.04163781e-01 -2.03983589e-02 7.09744515e-01 -6.88799931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-174.10, Z:-688.83 [[ 6.14495769e-01 4.94080774e-01 6.15044014e-01 2.91550111e+02] [-3.55372700e-01 8.69382894e-01 -3.43341853e-01 -1.74099693e+02] [-7.04347353e-01 -7.58773608e-03 7.09814928e-01 -6.88827266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:-174.11, Z:-688.85 [[ 6.14332896e-01 4.94438427e-01 6.14919292e-01 2.91569593e+02] [-3.55628543e-01 8.69179405e-01 -3.43592057e-01 -1.74111096e+02] [-7.04360300e-01 -7.60294857e-03 7.09801918e-01 -6.88850336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:-174.12, Z:-688.87 [[ 6.13911751e-01 4.95331733e-01 6.14620888e-01 2.91589716e+02] [-3.56758300e-01 8.68664675e-01 -3.43722561e-01 -1.74123016e+02] [-7.04156145e-01 -8.25578430e-03 7.09997159e-01 -6.88874166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:-174.13, Z:-688.90 [[ 6.13985132e-01 4.96120424e-01 6.13911054e-01 2.91609707e+02] [-3.57938171e-01 8.68209641e-01 -3.43645580e-01 -1.74134455e+02] [-7.03493087e-01 -8.74892263e-03 7.10648249e-01 -6.88897726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:-174.15, Z:-688.92 [[ 6.14066106e-01 4.97320584e-01 6.12858103e-01 2.91628546e+02] [-3.59882537e-01 8.67512599e-01 -3.43375086e-01 -1.74146166e+02] [-7.02429624e-01 -9.70192661e-03 7.11687077e-01 -6.88921236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:-174.16, Z:-688.94 [[ 6.13911431e-01 4.97942732e-01 6.12507788e-01 2.91648083e+02] [-3.60754339e-01 8.67150363e-01 -3.43375239e-01 -1.74158284e+02] [-7.02117555e-01 -1.01628578e-02 7.11988522e-01 -6.88944972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.67, Y:-174.17, Z:-688.97 [[ 6.14099754e-01 4.98134939e-01 6.12162621e-01 2.91666773e+02] [-3.60891700e-01 8.67042105e-01 -3.43504250e-01 -1.74170182e+02] [-7.01882236e-01 -9.97853283e-03 7.12223108e-01 -6.88967854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:-174.18, Z:-688.99 [[ 6.14659353e-01 4.97918643e-01 6.11776843e-01 2.91686409e+02] [-3.60596845e-01 8.67171953e-01 -3.43486127e-01 -1.74182586e+02] [-7.01543866e-01 -9.47783842e-03 7.12563243e-01 -6.88991374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-174.20, Z:-689.01 [[ 6.16794272e-01 4.96061776e-01 6.11136270e-01 2.91705077e+02] [-3.58007009e-01 8.68259381e-01 -3.43448145e-01 -1.74196413e+02] [-7.00996296e-01 -6.95421958e-03 7.13131006e-01 -6.89014675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:-174.21, Z:-689.04 [[ 6.17907301e-01 4.94695840e-01 6.11119132e-01 2.91724100e+02] [-3.55777592e-01 8.69051738e-01 -3.43760647e-01 -1.74209113e+02] [-7.01151105e-01 -5.01027981e-03 7.12995109e-01 -6.89037994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:-174.22, Z:-689.06 [[ 6.19125560e-01 4.92943082e-01 6.11302429e-01 2.91742762e+02] [-3.52895597e-01 8.70057582e-01 -3.44186726e-01 -1.74221909e+02] [-7.01532778e-01 -2.63113661e-03 7.12632330e-01 -6.89060623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.76, Y:-174.24, Z:-689.08 [[ 6.20324712e-01 4.90996007e-01 6.11653638e-01 2.91762061e+02] [-3.49670938e-01 8.71161820e-01 -3.44684374e-01 -1.74235003e+02] [-7.02087948e-01 -6.12655982e-05 7.12090240e-01 -6.89083665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:-174.25, Z:-689.11 [[ 6.22787591e-01 4.86860860e-01 6.12455811e-01 2.91780295e+02] [-3.43103003e-01 8.73465173e-01 -3.45454659e-01 -1.74249638e+02] [-7.03147173e-01 5.00944703e-03 7.11026694e-01 -6.89105913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-174.26, Z:-689.13 [[ 6.23944272e-01 4.85269702e-01 6.12541314e-01 2.91799475e+02] [-3.40531553e-01 8.74335130e-01 -3.45798123e-01 -1.74262418e+02] [-7.03371742e-01 7.16911249e-03 7.10786041e-01 -6.89128902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-174.28, Z:-689.15 [[ 6.24846462e-01 4.84047320e-01 6.12588844e-01 2.91819111e+02] [-3.38474727e-01 8.74996134e-01 -3.46145380e-01 -1.74275217e+02] [-7.03563613e-01 8.94187394e-03 7.10576023e-01 -6.89152491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:-174.29, Z:-689.18 [[ 6.26028861e-01 4.82270909e-01 6.12782698e-01 2.91838445e+02] [-3.35557465e-01 8.75948691e-01 -3.46576225e-01 -1.74288692e+02] [-7.03909833e-01 1.13429104e-02 7.10198765e-01 -6.89175644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:-174.30, Z:-689.20 [[ 6.26345715e-01 4.81833372e-01 6.12803106e-01 2.91858121e+02] [-3.34616353e-01 8.76177508e-01 -3.46907583e-01 -1.74300801e+02] [-7.04075949e-01 1.22301380e-02 7.10019353e-01 -6.89198739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-174.31, Z:-689.22 [[ 6.26798077e-01 4.81923516e-01 6.12269463e-01 2.91878022e+02] [-3.34739903e-01 8.76124124e-01 -3.46923215e-01 -1.74313016e+02] [-7.03614502e-01 1.24997838e-02 7.10471947e-01 -6.89222431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-174.32, Z:-689.25 [[ 6.27772100e-01 4.82998613e-01 6.10421600e-01 2.91896486e+02] [-3.37001241e-01 8.75544006e-01 -3.46197715e-01 -1.74324585e+02] [-7.01663989e-01 1.16204296e-02 7.12413231e-01 -6.89246144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-174.34, Z:-689.27 [[ 6.27643167e-01 4.83360745e-01 6.10267519e-01 2.91916329e+02] [-3.38629744e-01 8.75365065e-01 -3.45059271e-01 -1.74338284e+02] [-7.00994972e-01 9.91935939e-03 7.13097227e-01 -6.89270594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-174.35, Z:-689.29 [[ 6.27240717e-01 4.87564499e-01 6.07330175e-01 2.91934934e+02] [-3.39456587e-01 8.72982200e-01 -3.50244636e-01 -1.74345650e+02] [-7.00955283e-01 1.35254679e-02 7.13076962e-01 -6.89293374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-174.36, Z:-689.32 [[ 6.25724324e-01 4.89031516e-01 6.07714774e-01 2.91953437e+02] [-3.40893815e-01 8.72178404e-01 -3.50850736e-01 -1.74357541e+02] [-7.01612769e-01 1.23696320e-02 7.12451062e-01 -6.89318644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-174.38, Z:-689.34 [[ 6.25960575e-01 4.84273814e-01 6.11270997e-01 2.91973815e+02] [-3.42934784e-01 8.74905294e-01 -3.41959736e-01 -1.74375007e+02] [-7.00406377e-01 4.42722624e-03 7.13730557e-01 -6.89337063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:-174.38, Z:-689.36 [[ 6.25052799e-01 4.88327839e-01 6.08970378e-01 2.91993862e+02] [-3.44071685e-01 8.72631276e-01 -3.46596786e-01 -1.74383986e+02] [-7.00659457e-01 7.11182723e-03 7.13460403e-01 -6.89361967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-174.40, Z:-689.39 [[ 6.23084731e-01 4.90172880e-01 6.09504689e-01 2.92013281e+02] [-3.46033879e-01 8.71608281e-01 -3.47216877e-01 -1.74395905e+02] [-7.01445630e-01 5.43626281e-03 7.12702234e-01 -6.89385304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:-174.41, Z:-689.41 [[ 6.21983259e-01 4.91423129e-01 6.09622944e-01 2.92033179e+02] [-3.47407066e-01 8.70909774e-01 -3.47598182e-01 -1.74407929e+02] [-7.01744367e-01 4.41293171e-03 7.12415167e-01 -6.89408599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-174.42, Z:-689.43 [[ 6.20619640e-01 4.92653233e-01 6.10019717e-01 2.92053472e+02] [-3.48592684e-01 8.70219014e-01 -3.48140788e-01 -1.74419948e+02] [-7.02363441e-01 3.41459987e-03 7.11810324e-01 -6.89431903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-174.41, Z:-689.47 [[ 6.15918892e-01 5.09668226e-01 6.00734732e-01 2.92066775e+02] [-3.43816392e-01 8.59986251e-01 -3.77112632e-01 -1.74406853e+02] [-7.08825936e-01 2.57283460e-02 7.04914069e-01 -6.89467902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:-174.44, Z:-689.48 [[ 6.12282254e-01 4.88910874e-01 6.21350625e-01 2.92086466e+02] [-3.46958042e-01 8.72321319e-01 -3.44493300e-01 -1.74440585e+02] [-7.10443917e-01 -4.65546170e-03 7.03738423e-01 -6.89481760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:292.11, Y:-174.46, Z:-689.50 [[ 6.11037069e-01 4.88547487e-01 6.22860380e-01 2.92107015e+02] [-3.50657126e-01 8.72474686e-01 -3.40334399e-01 -1.74456044e+02] [-7.09699430e-01 -1.04534970e-02 7.04427032e-01 -6.89502956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:-174.86, Z:-688.95 [[ 6.60762699e-01 -5.98835306e-01 4.52536111e-01 2.92680567e+02] [-3.64047586e-01 2.71561567e-01 8.90911707e-01 -1.74860835e+02] [-6.56400800e-01 -7.53425903e-01 -3.85667940e-02 -6.88948883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-174.91, Z:-689.05 [[ 7.01850242e-01 -5.52265881e-01 4.49898471e-01 2.92773468e+02] [-3.82218678e-01 2.40991709e-01 8.92094097e-01 -1.74912269e+02] [-6.01094934e-01 -7.98076057e-01 -4.19462462e-02 -6.89047061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-173.96, Z:-689.76 [[ 6.39416537e-01 6.18392081e-01 -4.56878241e-01 2.92888558e+02] [-3.69875785e-01 -2.73543791e-01 -8.87899599e-01 -1.73956010e+02] [-6.74046287e-01 7.36725885e-01 5.38198328e-02 -6.89759980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-174.65, Z:-689.83 [[ 6.45683063e-01 5.05862179e-01 5.72011222e-01 2.92470907e+02] [-3.89979036e-01 8.62487111e-01 -3.22540439e-01 -1.74652161e+02] [-6.56513316e-01 -1.48134858e-02 7.54168965e-01 -6.89834701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-174.66, Z:-689.86 [[ 6.44166569e-01 5.07951191e-01 5.71869757e-01 2.92491663e+02] [-3.92586924e-01 8.61225776e-01 -3.22747068e-01 -1.74663290e+02] [-6.56448733e-01 -1.66057179e-02 7.54187849e-01 -6.89856674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-174.67, Z:-689.88 [[ 6.42155844e-01 5.10969452e-01 5.71442116e-01 2.92512274e+02] [-3.96588361e-01 8.59380897e-01 -3.22772591e-01 -1.74674918e+02] [-6.56013372e-01 -1.93569867e-02 7.54501003e-01 -6.89877705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.53, Y:-174.69, Z:-689.90 [[ 6.41376501e-01 5.12059875e-01 5.71341289e-01 2.92532582e+02] [-3.97865834e-01 8.58712984e-01 -3.22978001e-01 -1.74686662e+02] [-6.56002258e-01 -2.01666785e-02 7.54489459e-01 -6.89898886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-174.70, Z:-689.92 [[ 6.41014635e-01 5.12843534e-01 5.71044435e-01 2.92554030e+02] [-3.98827494e-01 8.58233510e-01 -3.23066358e-01 -1.74699311e+02] [-6.55771963e-01 -2.06579574e-02 7.54676342e-01 -6.89921102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-174.71, Z:-689.94 [[ 6.40601402e-01 5.13443191e-01 5.70969293e-01 2.92574914e+02] [-3.99421829e-01 8.57867837e-01 -3.23303228e-01 -1.74711767e+02] [-6.55814033e-01 -2.09490983e-02 7.54631757e-01 -6.89943044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:-174.72, Z:-689.96 [[ 6.40737545e-01 5.13390094e-01 5.70864266e-01 2.92594477e+02] [-3.99157089e-01 8.57908737e-01 -3.23521587e-01 -1.74724621e+02] [-6.55842219e-01 -2.05720910e-02 7.54617634e-01 -6.89964177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-174.74, Z:-689.99 [[ 6.41705230e-01 5.12182118e-01 5.70862397e-01 2.92614767e+02] [-3.97316318e-01 8.58665751e-01 -3.23779048e-01 -1.74738319e+02] [-6.56013827e-01 -1.90422376e-02 7.54508616e-01 -6.89985734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-174.75, Z:-690.01 [[ 6.42170575e-01 5.11622104e-01 5.70841288e-01 2.92635025e+02] [-3.96333814e-01 8.59018847e-01 -3.24046492e-01 -1.74751016e+02] [-6.56152773e-01 -1.81505822e-02 7.54409766e-01 -6.90007070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-174.76, Z:-690.03 [[ 6.43766253e-01 5.09843990e-01 5.70634837e-01 2.92654833e+02] [-3.93825878e-01 8.60117549e-01 -3.24189728e-01 -1.74764750e+02] [-6.56099222e-01 -1.60283597e-02 7.54504409e-01 -6.90028901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:-174.78, Z:-690.05 [[ 6.43686371e-01 5.10027525e-01 5.70560934e-01 2.92676572e+02] [-3.93955927e-01 8.60008967e-01 -3.24319758e-01 -1.74777131e+02] [-6.56099522e-01 -1.60156534e-02 7.54504417e-01 -6.90051110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:-174.79, Z:-690.07 [[ 6.44971258e-01 5.08670454e-01 5.70321352e-01 2.92696046e+02] [-3.92124021e-01 8.60840036e-01 -3.24334988e-01 -1.74791308e+02] [-6.55935079e-01 -1.44499569e-02 7.54678985e-01 -6.90072672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-174.81, Z:-690.09 [[ 6.46058893e-01 5.07715717e-01 5.69940924e-01 2.92715605e+02] [-3.90808049e-01 8.61423944e-01 -3.24373022e-01 -1.74805128e+02] [-6.55650040e-01 -1.31734245e-02 7.54949989e-01 -6.90094502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-174.82, Z:-690.12 [[ 6.46986570e-01 5.06592841e-01 5.69887772e-01 2.92734207e+02] [-3.89117615e-01 8.62105417e-01 -3.24594719e-01 -1.74819402e+02] [-6.55740696e-01 -1.17449468e-02 7.54894825e-01 -6.90115815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-174.81, Z:-690.15 [[ 6.44758894e-01 5.19343760e-01 5.60863645e-01 2.92749772e+02] [-3.83395068e-01 8.54495241e-01 -3.50494088e-01 -1.74809739e+02] [-6.61282233e-01 1.09518258e-02 7.50057242e-01 -6.90151292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-174.84, Z:-690.16 [[ 6.45135220e-01 4.99241695e-01 5.78410130e-01 2.92770867e+02] [-3.84035145e-01 8.66313690e-01 -3.19401939e-01 -1.74841940e+02] [-6.60543379e-01 -1.60723782e-02 7.50615829e-01 -6.90163311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-174.85, Z:-690.19 [[ 6.45168991e-01 4.99943039e-01 5.77766329e-01 2.92792804e+02] [-3.84622725e-01 8.65912180e-01 -3.19783453e-01 -1.74854274e+02] [-6.60168412e-01 -1.59076920e-02 7.50949141e-01 -6.90185527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:-174.87, Z:-690.21 [[ 6.45203483e-01 5.00522871e-01 5.77225538e-01 2.92814740e+02] [-3.85211805e-01 8.65577268e-01 -3.19981029e-01 -1.74866743e+02] [-6.59791127e-01 -1.59012171e-02 7.51280786e-01 -6.90207670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-174.90, Z:-690.21 [[ 6.48319952e-01 4.87233917e-01 5.85050725e-01 2.92841246e+02] [-3.90915548e-01 8.72422012e-01 -2.93368144e-01 -1.74902461e+02] [-6.53350040e-01 -3.85090038e-02 7.56075910e-01 -6.90214151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:-174.88, Z:-690.26 [[ 6.45989733e-01 5.19440104e-01 5.59356097e-01 2.92856147e+02] [-3.85733424e-01 8.54458966e-01 -3.48008046e-01 -1.74875740e+02] [-6.58716169e-01 9.04728230e-03 7.52337129e-01 -6.90259012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-174.93, Z:-690.26 [[ 6.48501296e-01 4.89628854e-01 5.82846167e-01 2.92881689e+02] [-3.90885868e-01 8.71218305e-01 -2.96962797e-01 -1.74927194e+02] [-6.53187804e-01 -3.52455708e-02 7.56375199e-01 -6.90257915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:-174.92, Z:-690.29 [[ 6.48028582e-01 5.08840294e-01 5.66692609e-01 2.92903123e+02] [-3.91171303e-01 8.60794764e-01 -3.25603110e-01 -1.74922912e+02] [-6.53486013e-01 -1.06737648e-02 7.56863331e-01 -6.90289756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-174.94, Z:-690.31 [[ 6.47802215e-01 5.08951344e-01 5.66851674e-01 2.92923726e+02] [-3.90998292e-01 8.60731625e-01 -3.25977616e-01 -1.74936558e+02] [-6.53813908e-01 -1.04690143e-02 7.56582959e-01 -6.90311781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:-174.95, Z:-690.33 [[ 6.47590875e-01 5.09250797e-01 5.66824209e-01 2.92944965e+02] [-3.91164557e-01 8.60554740e-01 -3.26245045e-01 -1.74949547e+02] [-6.53923809e-01 -1.04482261e-02 7.56488259e-01 -6.90333738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-174.96, Z:-690.36 [[ 6.47065354e-01 5.09801118e-01 5.66929667e-01 2.92965781e+02] [-3.91602405e-01 8.60225893e-01 -3.26586848e-01 -1.74962948e+02] [-6.54181920e-01 -1.06879862e-02 7.56261716e-01 -6.90355813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-174.98, Z:-690.38 [[ 6.46874437e-01 5.10481641e-01 5.66535045e-01 2.92986991e+02] [-3.92453537e-01 8.59817732e-01 -3.26639999e-01 -1.74975875e+02] [-6.53860600e-01 -1.10436173e-02 7.56534437e-01 -6.90377578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:-174.99, Z:-690.40 [[ 6.46510820e-01 5.11265375e-01 5.66243301e-01 2.93007781e+02] [-3.93391835e-01 8.59345871e-01 -3.26753024e-01 -1.74988410e+02] [-6.53656350e-01 -1.15061258e-02 7.56704027e-01 -6.90398958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:-175.00, Z:-690.42 [[ 6.46060601e-01 5.12112931e-01 5.65991206e-01 2.93028672e+02] [-3.94489713e-01 8.58832075e-01 -3.26780253e-01 -1.75000562e+02] [-6.53439795e-01 -1.21578616e-02 7.56880850e-01 -6.90420888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:-175.01, Z:-690.44 [[ 6.46161448e-01 5.12367183e-01 5.65645873e-01 2.93049306e+02] [-3.94752239e-01 8.58681427e-01 -3.26859109e-01 -1.75012292e+02] [-6.53181486e-01 -1.20862202e-02 7.57104927e-01 -6.90442432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-175.02, Z:-690.46 [[ 6.46226372e-01 5.12389785e-01 5.65551221e-01 2.93070727e+02] [-3.94604122e-01 8.58671757e-01 -3.27063298e-01 -1.75024440e+02] [-6.53206753e-01 -1.18119146e-02 7.57087456e-01 -6.90464506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:-175.04, Z:-690.49 [[ 6.46573947e-01 5.11908178e-01 5.65590088e-01 2.93091547e+02] [-3.93705171e-01 8.58969608e-01 -3.27364401e-01 -1.75035602e+02] [-6.53405211e-01 -1.10104494e-02 7.56928267e-01 -6.90485589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-175.05, Z:-690.51 [[ 6.46382522e-01 5.11842374e-01 5.65868376e-01 2.93112220e+02] [-3.93259895e-01 8.59013254e-01 -3.27784814e-01 -1.75047394e+02] [-6.53862593e-01 -1.06589635e-02 7.56538232e-01 -6.90506311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:-175.06, Z:-690.53 [[ 6.45278354e-01 5.12020224e-01 5.66966610e-01 2.93134538e+02] [-3.92744241e-01 8.58908177e-01 -3.28677203e-01 -1.75059794e+02] [-6.55261633e-01 -1.05845867e-02 7.55327849e-01 -6.90527774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:-175.07, Z:-690.55 [[ 6.44653698e-01 5.12498926e-01 5.67244622e-01 2.93155832e+02] [-3.92999680e-01 8.58620492e-01 -3.29123232e-01 -1.75071771e+02] [-6.55723159e-01 -1.07564467e-02 7.54924789e-01 -6.90548899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-175.08, Z:-690.57 [[ 6.44161069e-01 5.12947304e-01 5.67398961e-01 2.93177645e+02] [-3.93369488e-01 8.58349383e-01 -3.29388498e-01 -1.75084081e+02] [-6.55985490e-01 -1.10181917e-02 7.54693075e-01 -6.90570819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:-175.10, Z:-690.59 [[ 6.43178805e-01 5.13892054e-01 5.67658331e-01 2.93199043e+02] [-3.94251934e-01 8.57775584e-01 -3.29827925e-01 -1.75095581e+02] [-6.56419407e-01 -1.16620643e-02 7.54306012e-01 -6.90593047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-175.11, Z:-690.61 [[ 6.42957653e-01 5.14572680e-01 5.67292176e-01 2.93219604e+02] [-3.95086941e-01 8.57362563e-01 -3.29902628e-01 -1.75107010e+02] [-6.56133954e-01 -1.20163114e-02 7.54548768e-01 -6.90614241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-175.12, Z:-690.64 [[ 6.42943422e-01 5.15220611e-01 5.66719929e-01 2.93240904e+02] [-3.95996914e-01 8.56968554e-01 -3.29835324e-01 -1.75118898e+02] [-6.55599116e-01 -1.23538917e-02 7.55008067e-01 -6.90635950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.26, Y:-175.13, Z:-690.66 [[ 6.43364172e-01 5.16065816e-01 5.65472029e-01 2.93261839e+02] [-3.97476195e-01 8.56452684e-01 -3.29395621e-01 -1.75129952e+02] [-6.54289857e-01 -1.28403296e-02 7.56134849e-01 -6.90657457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-175.14, Z:-690.68 [[ 6.43553022e-01 5.16623408e-01 5.64747521e-01 2.93282357e+02] [-3.98336222e-01 8.56112886e-01 -3.29240006e-01 -1.75141406e+02] [-6.53580724e-01 -1.30759932e-02 7.56743851e-01 -6.90678640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-175.15, Z:-690.70 [[ 6.43662776e-01 5.17032648e-01 5.64247704e-01 2.93303587e+02] [-3.98894472e-01 8.55864280e-01 -3.29210471e-01 -1.75152433e+02] [-6.53132017e-01 -1.31747646e-02 7.57129444e-01 -6.90700092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-175.16, Z:-690.72 [[ 6.43458799e-01 5.17360130e-01 5.64180175e-01 2.93324910e+02] [-3.99138251e-01 8.55665807e-01 -3.29430848e-01 -1.75164218e+02] [-6.53184071e-01 -1.32107107e-02 7.57083910e-01 -6.90721605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-175.15, Z:-690.76 [[ 6.40449009e-01 5.31727923e-01 5.54157453e-01 2.93340803e+02] [-3.92946599e-01 8.46833068e-01 -3.58422552e-01 -1.75150921e+02] [-6.59862135e-01 1.17970814e-02 7.51294078e-01 -6.90758668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:-175.21, Z:-690.75 [[ 6.43839124e-01 4.94508742e-01 5.83894072e-01 2.93367827e+02] [-3.98825951e-01 8.68125870e-01 -2.95457839e-01 -1.75209343e+02] [-6.53000033e-01 -4.26447921e-02 7.56156319e-01 -6.90752667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-175.20, Z:-690.79 [[ 6.43576259e-01 5.16696389e-01 5.64654267e-01 2.93390035e+02] [-3.97214278e-01 8.56091575e-01 -3.30647898e-01 -1.75199740e+02] [-6.54240335e-01 -1.14915995e-02 7.56199396e-01 -6.90786356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-175.19, Z:-690.82 [[ 6.42039092e-01 5.27284182e-01 5.56558349e-01 2.93406356e+02] [-3.90939142e-01 8.49633893e-01 -3.53961630e-01 -1.75191135e+02] [-6.59509205e-01 9.67675991e-03 7.51634199e-01 -6.90820868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-175.24, Z:-690.82 [[ 6.46109589e-01 4.95848274e-01 5.80238648e-01 2.93431313e+02] [-3.94362432e-01 8.67765689e-01 -3.02425166e-01 -1.75242018e+02] [-6.53468187e-01 -3.34245245e-02 7.56215664e-01 -6.90819912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:-175.24, Z:-690.85 [[ 6.46665065e-01 5.14143374e-01 5.63454421e-01 2.93452920e+02] [-3.93734836e-01 8.57667111e-01 -3.30726483e-01 -1.75237081e+02] [-6.53297155e-01 -7.98237225e-03 7.57059515e-01 -6.90851464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:-175.24, Z:-690.88 [[ 6.46922379e-01 5.17217714e-01 5.60336748e-01 2.93471340e+02] [-3.90151402e-01 8.55853221e-01 -3.39554338e-01 -1.75240331e+02] [-6.55189529e-01 1.04913252e-03 7.55463818e-01 -6.90878653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-175.26, Z:-690.90 [[ 6.47791421e-01 5.08663054e-01 5.67122714e-01 2.93492151e+02] [-3.89588508e-01 8.60918565e-01 -3.27169709e-01 -1.75260932e+02] [-6.54665616e-01 -9.00676149e-03 7.55864941e-01 -6.90896240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-175.27, Z:-690.92 [[ 6.49313860e-01 5.07806225e-01 5.66148699e-01 2.93513979e+02] [-3.88017497e-01 8.61443488e-01 -3.27654602e-01 -1.75273553e+02] [-6.54090157e-01 -6.92492664e-03 7.56384897e-01 -6.90917786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-175.29, Z:-690.94 [[ 6.49629937e-01 5.08072847e-01 5.65546574e-01 2.93534877e+02] [-3.87441460e-01 8.61296101e-01 -3.28721981e-01 -1.75285800e+02] [-6.54117772e-01 -5.56855010e-03 7.56372218e-01 -6.90939506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.56, Y:-175.31, Z:-690.96 [[ 6.50617627e-01 5.04588302e-01 5.67527400e-01 2.93557204e+02] [-3.88111731e-01 8.63297937e-01 -3.22623553e-01 -1.75305809e+02] [-6.52737304e-01 -1.03594712e-02 7.57513494e-01 -6.90955975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:-175.31, Z:-690.98 [[ 6.50830198e-01 5.10214854e-01 5.62228474e-01 2.93577986e+02] [-3.87636660e-01 8.60044595e-01 -3.31754601e-01 -1.75313032e+02] [-6.52807685e-01 -2.02445521e-03 7.57520976e-01 -6.90979973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-175.33, Z:-691.00 [[ 6.51393081e-01 5.09331401e-01 5.62377612e-01 2.93598884e+02] [-3.86243073e-01 8.60569951e-01 -3.32017543e-01 -1.75326126e+02] [-6.53072233e-01 -9.40526966e-04 7.57295037e-01 -6.91001483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-175.34, Z:-691.02 [[ 6.51299408e-01 5.09261220e-01 5.62549634e-01 2.93620066e+02] [-3.85818715e-01 8.60611822e-01 -3.32402181e-01 -1.75338757e+02] [-6.53416406e-01 -5.48833006e-04 7.56998480e-01 -6.91023426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:-175.35, Z:-691.05 [[ 6.51194848e-01 5.09254616e-01 5.62676644e-01 2.93641398e+02] [-3.85501930e-01 8.60615876e-01 -3.32759035e-01 -1.75351101e+02] [-6.53707528e-01 -2.21963370e-04 7.56747263e-01 -6.91045347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:-175.36, Z:-691.07 [[ 6.50959088e-01 5.08970210e-01 5.63206526e-01 2.93662740e+02] [-3.84611825e-01 8.60784049e-01 -3.33353515e-01 -1.75362962e+02] [-6.54466202e-01 3.83611072e-04 7.56091161e-01 -6.91068023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-175.38, Z:-691.09 [[ 6.50862130e-01 5.09180626e-01 5.63128385e-01 2.93684450e+02] [-3.84686193e-01 8.60659542e-01 -3.33589097e-01 -1.75375514e+02] [-6.54518923e-01 4.92795882e-04 7.56045460e-01 -6.91089684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-175.39, Z:-691.11 [[ 6.50636223e-01 5.09475115e-01 5.63123088e-01 2.93704975e+02] [-3.84831580e-01 8.60485233e-01 -3.33870962e-01 -1.75387363e+02] [-6.54658048e-01 5.20994024e-04 7.55924975e-01 -6.91110601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-175.40, Z:-691.13 [[ 6.50469006e-01 5.10052907e-01 5.62793127e-01 2.93726150e+02] [-3.85536061e-01 8.60142997e-01 -3.33940071e-01 -1.75399637e+02] [-6.54409671e-01 2.40620453e-04 7.56140149e-01 -6.91132176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-175.41, Z:-691.15 [[ 6.50191880e-01 5.10763032e-01 5.62469239e-01 2.93746556e+02] [-3.86398718e-01 8.59721525e-01 -3.34028336e-01 -1.75411092e+02] [-6.54176238e-01 -1.54881437e-04 7.56342135e-01 -6.91153152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:-175.42, Z:-691.18 [[ 6.49306721e-01 5.12602054e-01 5.61818401e-01 2.93767776e+02] [-3.88937553e-01 8.58624610e-01 -3.33903218e-01 -1.75422053e+02] [-6.53550581e-01 -1.70667021e-03 7.56880919e-01 -6.91175122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-175.43, Z:-691.20 [[ 6.48525737e-01 5.13723213e-01 5.61696385e-01 2.93788891e+02] [-3.90259785e-01 8.57952212e-01 -3.34088765e-01 -1.75433807e+02] [-6.53537809e-01 -2.54234813e-03 7.56889601e-01 -6.91196793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-175.45, Z:-691.22 [[ 6.49264592e-01 5.11028277e-01 5.63298846e-01 2.93811413e+02] [-3.92695187e-01 8.59518783e-01 -3.27135984e-01 -1.75451386e+02] [-6.51341677e-01 -8.80693454e-03 7.58733457e-01 -6.91215278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:-175.45, Z:-691.24 [[ 6.47170595e-01 5.21901439e-01 5.55687960e-01 2.93830405e+02] [-3.93348777e-01 8.52998941e-01 -3.43029949e-01 -1.75450336e+02] [-6.53029065e-01 3.41971732e-03 7.57325125e-01 -6.91242268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-175.47, Z:-691.26 [[ 6.47143170e-01 5.16580042e-01 5.60669937e-01 2.93851359e+02] [-3.93889837e-01 8.56226913e-01 -3.34254798e-01 -1.75468106e+02] [-6.52730047e-01 -4.53148078e-03 7.57577027e-01 -6.91261080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-175.48, Z:-691.28 [[ 6.47060709e-01 5.16732590e-01 5.60624534e-01 2.93872585e+02] [-3.93872556e-01 8.56135712e-01 -3.34508672e-01 -1.75480776e+02] [-6.52822218e-01 -4.36719960e-03 7.57498567e-01 -6.91282880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-175.49, Z:-691.30 [[ 6.46897783e-01 5.16806058e-01 5.60744824e-01 2.93893784e+02] [-3.93666084e-01 8.56092568e-01 -3.34861956e-01 -1.75493640e+02] [-6.53108164e-01 -4.12476184e-03 7.57253401e-01 -6.91304748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-175.51, Z:-691.33 [[ 6.47079445e-01 5.17021421e-01 5.60336544e-01 2.93915333e+02] [-3.93181213e-01 8.55967004e-01 -3.35751429e-01 -1.75507366e+02] [-6.53220274e-01 -3.05595374e-03 7.57161763e-01 -6.91327650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-175.52, Z:-691.35 [[ 6.46583781e-01 5.17571711e-01 5.60400695e-01 2.93935479e+02] [-3.92127390e-01 8.55638810e-01 -3.37814057e-01 -1.75518636e+02] [-6.54343583e-01 -1.32337139e-03 7.56196220e-01 -6.91347578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:-175.53, Z:-691.37 [[ 6.46272990e-01 5.16435030e-01 5.61806089e-01 2.93956313e+02] [-3.91990187e-01 8.56321398e-01 -3.36240030e-01 -1.75532371e+02] [-6.54732705e-01 -2.91962467e-03 7.55854854e-01 -6.91368243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-175.54, Z:-691.40 [[ 6.45050229e-01 5.22381546e-01 5.57698595e-01 2.93975793e+02] [-3.90365495e-01 8.52688998e-01 -3.47183312e-01 -1.75537083e+02] [-6.56905612e-01 6.24438680e-03 7.53946964e-01 -6.91396725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-175.56, Z:-691.41 [[ 6.45817853e-01 5.11258732e-01 5.67039513e-01 2.93997259e+02] [-3.92766013e-01 8.59353627e-01 -3.27484661e-01 -1.75562164e+02] [-6.54716855e-01 -1.12184080e-02 7.55790968e-01 -6.91408006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-175.57, Z:-691.43 [[ 6.45617269e-01 5.17534277e-01 5.61548408e-01 2.94019011e+02] [-3.93032890e-01 8.55656046e-01 -3.36716317e-01 -1.75569367e+02] [-6.54754526e-01 -3.31712474e-03 7.55834312e-01 -6.91433187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:-175.58, Z:-691.45 [[ 6.45721361e-01 5.17958258e-01 5.61037580e-01 2.94039487e+02] [-3.93633729e-01 8.55398937e-01 -3.36667709e-01 -1.75581271e+02] [-6.54290770e-01 -3.44978346e-03 7.56235207e-01 -6.91454648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-175.59, Z:-691.48 [[ 6.45451136e-01 5.18855653e-01 5.60519083e-01 2.94060680e+02] [-3.94859472e-01 8.54852255e-01 -3.36620885e-01 -1.75594095e+02] [-6.53818651e-01 -4.05393660e-03 7.56640428e-01 -6.91476754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-175.61, Z:-691.50 [[ 6.45077850e-01 5.19606466e-01 5.60253235e-01 2.94081986e+02] [-3.95747761e-01 8.54393890e-01 -3.36741428e-01 -1.75606619e+02] [-6.53649965e-01 -4.49452695e-03 7.56783670e-01 -6.91498385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-175.62, Z:-691.52 [[ 6.44692340e-01 5.20167278e-01 5.60176571e-01 2.94103395e+02] [-3.96289327e-01 8.54051207e-01 -3.36973747e-01 -1.75619132e+02] [-6.53702193e-01 -4.74760252e-03 7.56737011e-01 -6.91520660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-175.63, Z:-691.54 [[ 6.44258408e-01 5.21033348e-01 5.59870837e-01 2.94123637e+02] [-3.97353119e-01 8.53519816e-01 -3.37067387e-01 -1.75631234e+02] [-6.53484203e-01 -5.30792539e-03 7.56921543e-01 -6.91541529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.15, Y:-175.64, Z:-691.56 [[ 6.44103130e-01 5.21506741e-01 5.59608682e-01 2.94145222e+02] [-3.97891388e-01 8.53229481e-01 -3.37167461e-01 -1.75644136e+02] [-6.53309729e-01 -5.49285815e-03 7.57070820e-01 -6.91563181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-175.66, Z:-691.58 [[ 6.43083060e-01 5.22779622e-01 5.59594178e-01 2.94166683e+02] [-3.99350911e-01 8.52443250e-01 -3.37430519e-01 -1.75656910e+02] [-6.53424079e-01 -6.47859393e-03 7.56964333e-01 -6.91584778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-175.67, Z:-691.61 [[ 6.42306194e-01 5.23637684e-01 5.59684134e-01 2.94187699e+02] [-4.00203170e-01 8.51911972e-01 -3.37762365e-01 -1.75669111e+02] [-6.53666717e-01 -7.04050502e-03 7.56749797e-01 -6.91606311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:-175.68, Z:-691.63 [[ 6.41624372e-01 5.24630933e-01 5.59536013e-01 2.94208683e+02] [-4.01349526e-01 8.51294705e-01 -3.37958405e-01 -1.75681681e+02] [-6.53633478e-01 -7.72716381e-03 7.56771806e-01 -6.91627590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:-175.69, Z:-691.65 [[ 6.40824075e-01 5.26058102e-01 5.59113028e-01 2.94229927e+02] [-4.03211086e-01 8.50402588e-01 -3.37988547e-01 -1.75693419e+02] [-6.53272779e-01 -8.84937284e-03 7.57070911e-01 -6.91648898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-175.71, Z:-691.67 [[ 6.40527510e-01 5.26872443e-01 5.58685903e-01 2.94251245e+02] [-4.04278906e-01 8.49892723e-01 -3.37995451e-01 -1.75705997e+02] [-6.52903572e-01 -9.36954081e-03 7.57383085e-01 -6.91671016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:-175.72, Z:-691.69 [[ 6.40462838e-01 5.27468455e-01 5.58197440e-01 2.94272449e+02] [-4.05070558e-01 8.49519894e-01 -3.37984901e-01 -1.75718827e+02] [-6.52476204e-01 -9.64257955e-03 7.57747863e-01 -6.91693262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-175.73, Z:-691.71 [[ 6.40929473e-01 5.27674934e-01 5.57466209e-01 2.94292208e+02] [-4.05468632e-01 8.49393124e-01 -3.37826153e-01 -1.75731495e+02] [-6.51770358e-01 -9.51232303e-03 7.58356721e-01 -6.91714209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-175.74, Z:-691.74 [[ 6.41180926e-01 5.27501469e-01 5.57341206e-01 2.94313195e+02] [-4.05075015e-01 8.49506056e-01 -3.38014338e-01 -1.75744684e+02] [-6.51767790e-01 -9.03665079e-03 7.58364745e-01 -6.91736131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:-175.76, Z:-691.76 [[ 6.41516785e-01 5.26480853e-01 5.57919462e-01 2.94333981e+02] [-4.03188986e-01 8.50152108e-01 -3.38644406e-01 -1.75759036e+02] [-6.52606203e-01 -7.70091192e-03 7.57658129e-01 -6.91757851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-175.77, Z:-691.78 [[ 6.41709057e-01 5.25959267e-01 5.58190233e-01 2.94354681e+02] [-4.02113995e-01 8.50482120e-01 -3.39093644e-01 -1.75772486e+02] [-6.53080257e-01 -6.85664235e-03 7.57257661e-01 -6.91778935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-175.79, Z:-691.80 [[ 6.41971446e-01 5.25492179e-01 5.58328427e-01 2.94374851e+02] [-4.01176454e-01 8.50776837e-01 -3.39464617e-01 -1.75785645e+02] [-6.53398895e-01 -6.06162764e-03 7.56989525e-01 -6.91799620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:-175.80, Z:-691.82 [[ 6.42556788e-01 5.25176985e-01 5.57951528e-01 2.94394476e+02] [-3.98421874e-01 8.50989531e-01 -3.42164914e-01 -1.75795161e+02] [-6.54508047e-01 -2.43970564e-03 7.56051099e-01 -6.91821742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:-175.82, Z:-691.84 [[ 6.43736992e-01 5.19754830e-01 5.61656124e-01 2.94414608e+02] [-3.97443823e-01 8.54282018e-01 -3.35023346e-01 -1.75815093e+02] [-6.53942729e-01 -7.55983584e-03 7.56506283e-01 -6.91840122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:-175.83, Z:-691.86 [[ 6.45737686e-01 5.21436645e-01 5.57787294e-01 2.94435259e+02] [-3.95534211e-01 8.53289135e-01 -3.39779840e-01 -1.75825200e+02] [-6.53127498e-01 -1.21530947e-03 7.57246984e-01 -6.91864491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-175.84, Z:-691.89 [[ 6.46748112e-01 5.20722277e-01 5.57283761e-01 2.94456285e+02] [-3.94609895e-01 8.53726116e-01 -3.39756899e-01 -1.75838473e+02] [-6.52686687e-01 -1.72553490e-04 7.57627916e-01 -6.91886753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:-175.85, Z:-691.91 [[ 6.47623148e-01 5.20003832e-01 5.56938303e-01 2.94476555e+02] [-3.93600796e-01 8.54163485e-01 -3.39828125e-01 -1.75851468e+02] [-6.52428289e-01 8.69200302e-04 7.57849967e-01 -6.91908283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:-175.87, Z:-691.93 [[ 6.49063010e-01 5.18521539e-01 5.56644072e-01 2.94497236e+02] [-3.91576441e-01 8.55060445e-01 -3.39911056e-01 -1.75865809e+02] [-6.52215532e-01 2.65498870e-03 7.58028925e-01 -6.91929978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-175.88, Z:-691.95 [[ 6.49285324e-01 5.18149580e-01 5.56731157e-01 2.94518347e+02] [-3.90800089e-01 8.55283478e-01 -3.40243241e-01 -1.75879359e+02] [-6.52459853e-01 3.34435722e-03 7.57815912e-01 -6.91951542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-175.89, Z:-691.97 [[ 6.49239915e-01 5.18147081e-01 5.56786436e-01 2.94540412e+02] [-3.90525903e-01 8.55283683e-01 -3.40557398e-01 -1.75892497e+02] [-6.52669175e-01 3.66392983e-03 7.57634162e-01 -6.91972829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:-175.90, Z:-691.99 [[ 6.48903268e-01 5.18683111e-01 5.56679782e-01 2.94561761e+02] [-3.91048715e-01 8.54959652e-01 -3.40771030e-01 -1.75904646e+02] [-6.52690931e-01 3.43852159e-03 7.57616477e-01 -6.91994380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-175.92, Z:-692.02 [[ 6.48349995e-01 5.19514704e-01 5.56548970e-01 2.94582922e+02] [-3.91972798e-01 8.54456532e-01 -3.40971202e-01 -1.75916447e+02] [-6.52686456e-01 2.91661999e-03 7.57622520e-01 -6.92015713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-175.93, Z:-692.04 [[ 6.47442461e-01 5.20944479e-01 5.56268918e-01 2.94604722e+02] [-3.93782204e-01 8.53588733e-01 -3.41059894e-01 -1.75927623e+02] [-6.52498150e-01 1.76785686e-03 7.57788255e-01 -6.92037633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:-175.94, Z:-692.06 [[ 6.46948684e-01 5.21899941e-01 5.55947707e-01 2.94625465e+02] [-3.94967237e-01 8.53005972e-01 -3.41147611e-01 -1.75939693e+02] [-6.52271632e-01 1.12386821e-03 7.57984469e-01 -6.92058943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-175.95, Z:-692.08 [[ 6.46510632e-01 5.23308045e-01 5.55133041e-01 2.94647403e+02] [-3.97027192e-01 8.52143585e-01 -3.40911601e-01 -1.75952004e+02] [-6.51454843e-01 6.24292191e-08 7.58687411e-01 -6.92080628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-175.96, Z:-692.10 [[ 6.46032931e-01 5.24099542e-01 5.54942449e-01 2.94668556e+02] [-3.97929212e-01 8.51656878e-01 -3.41076097e-01 -1.75964391e+02] [-6.51378380e-01 -4.81420749e-04 7.58752907e-01 -6.92102193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:-175.98, Z:-692.12 [[ 6.45696196e-01 5.24670685e-01 5.54794642e-01 2.94689947e+02] [-3.98519348e-01 8.51304952e-01 -3.41265598e-01 -1.75976445e+02] [-6.51351481e-01 -7.42500522e-04 7.58775788e-01 -6.92123795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-175.99, Z:-692.14 [[ 6.44839515e-01 5.25687810e-01 5.54828195e-01 2.94711546e+02] [-3.99603612e-01 8.50676322e-01 -3.41565146e-01 -1.75987048e+02] [-6.51535842e-01 -1.45664791e-03 7.58616454e-01 -6.92144841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:-176.00, Z:-692.17 [[ 6.44122968e-01 5.26416900e-01 5.54969233e-01 2.94733113e+02] [-4.00268715e-01 8.50224454e-01 -3.41911294e-01 -1.75998963e+02] [-6.51836296e-01 -1.90390422e-03 7.58357315e-01 -6.92166325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:-176.01, Z:-692.19 [[ 6.42491142e-01 5.27814832e-01 5.55532750e-01 2.94755183e+02] [-4.01572822e-01 8.49354151e-01 -3.42544589e-01 -1.76010230e+02] [-6.52644162e-01 -3.00499028e-03 7.57658609e-01 -6.92187357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-176.02, Z:-692.21 [[ 6.41655669e-01 5.28839046e-01 5.55524317e-01 2.94776405e+02] [-4.02685593e-01 8.48713956e-01 -3.42824931e-01 -1.76022261e+02] [-6.52780450e-01 -3.72607875e-03 7.57537986e-01 -6.92208212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.80, Y:-176.03, Z:-692.23 [[ 6.40965815e-01 5.29754771e-01 5.55448204e-01 2.94798006e+02] [-4.03708336e-01 8.48139654e-01 -3.43043301e-01 -1.76034152e+02] [-6.52826472e-01 -4.36004110e-03 7.57494942e-01 -6.92230039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-176.05, Z:-692.25 [[ 6.39688948e-01 5.31453623e-01 5.55297304e-01 2.94820557e+02] [-4.05789227e-01 8.47067745e-01 -3.43236564e-01 -1.76045056e+02] [-6.52788751e-01 -5.76902689e-03 7.57518030e-01 -6.92252110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-176.06, Z:-692.27 [[ 6.39092570e-01 5.32342732e-01 5.55132329e-01 2.94842449e+02] [-4.06805971e-01 8.46505081e-01 -3.43421098e-01 -1.76056776e+02] [-6.52740062e-01 -6.35327412e-03 7.57555310e-01 -6.92274116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:-176.07, Z:-692.30 [[ 6.37748065e-01 5.33669972e-01 5.55404147e-01 2.94864872e+02] [-4.08176429e-01 8.45660479e-01 -3.43875496e-01 -1.76066308e+02] [-6.53199364e-01 -7.39694943e-03 7.57149838e-01 -6.92295985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.89, Y:-176.08, Z:-692.32 [[ 6.36974358e-01 5.34538257e-01 5.55457036e-01 2.94886294e+02] [-4.09054562e-01 8.45106699e-01 -3.44193308e-01 -1.76078232e+02] [-6.53404953e-01 -7.96992322e-03 7.56966610e-01 -6.92317244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:-176.09, Z:-692.34 [[ 6.36172976e-01 5.35330370e-01 5.55612580e-01 2.94909124e+02] [-4.09778614e-01 8.44600303e-01 -3.44574834e-01 -1.76089546e+02] [-6.53731927e-01 -8.46895513e-03 7.56678825e-01 -6.92338773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-176.10, Z:-692.36 [[ 6.35903486e-01 5.35887534e-01 5.55383929e-01 2.94930210e+02] [-4.10389713e-01 8.44244392e-01 -3.44719727e-01 -1.76100858e+02] [-6.53610772e-01 -8.71537501e-03 7.56780683e-01 -6.92359751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-176.11, Z:-692.38 [[ 6.35817554e-01 5.36564148e-01 5.54828760e-01 2.94952011e+02] [-4.11346898e-01 8.43810488e-01 -3.44641249e-01 -1.76112516e+02] [-6.53092465e-01 -9.09813402e-03 7.57223518e-01 -6.92381114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:-176.12, Z:-692.40 [[ 6.35258578e-01 5.37924079e-01 5.54151806e-01 2.94974385e+02] [-4.13261948e-01 8.42932021e-01 -3.44499885e-01 -1.76122328e+02] [-6.52427085e-01 -1.01633475e-02 7.57783350e-01 -6.92403450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:-176.13, Z:-692.43 [[ 6.33566282e-01 5.43717683e-01 5.50422427e-01 2.94995543e+02] [-4.14381713e-01 8.39253077e-01 -3.52054072e-01 -1.76129616e+02] [-6.53361740e-01 -5.03539841e-03 7.57029116e-01 -6.92431091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:-176.14, Z:-692.45 [[ 6.32490823e-01 5.43295490e-01 5.52073700e-01 2.95017531e+02] [-4.17075976e-01 8.39482505e-01 -3.48305546e-01 -1.76142036e+02] [-6.52689045e-01 -9.95661586e-03 7.57560477e-01 -6.92452267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-176.16, Z:-692.47 [[ 6.33815167e-01 5.38285396e-01 5.55452218e-01 2.95039492e+02] [-4.18230844e-01 8.42586119e-01 -3.39310467e-01 -1.76158077e+02] [-6.50662198e-01 -1.72471297e-02 7.59171417e-01 -6.92466978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:-176.17, Z:-692.49 [[ 6.32763315e-01 5.42344789e-01 5.52695864e-01 2.95062096e+02] [-4.19166750e-01 8.40043740e-01 -3.44420892e-01 -1.76166746e+02] [-6.51083576e-01 -1.37348237e-02 7.58881764e-01 -6.92489793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:-176.18, Z:-692.51 [[ 6.32190788e-01 5.42473705e-01 5.53224265e-01 2.95082407e+02] [-4.18821151e-01 8.39963133e-01 -3.45037358e-01 -1.76178686e+02] [-6.51861681e-01 -1.35725843e-02 7.58216417e-01 -6.92510623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-176.19, Z:-692.53 [[ 6.32279494e-01 5.41577092e-01 5.54000807e-01 2.95104339e+02] [-4.17000282e-01 8.40559876e-01 -3.45788750e-01 -1.76191686e+02] [-6.52942116e-01 -1.23833567e-02 7.57306573e-01 -6.92532068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-176.20, Z:-692.55 [[ 6.32302590e-01 5.41110728e-01 5.54429991e-01 2.95125562e+02] [-4.15911227e-01 8.40871342e-01 -3.46342660e-01 -1.76204874e+02] [-6.53614020e-01 -1.16002967e-02 7.56739153e-01 -6.92553392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-176.22, Z:-692.57 [[ 6.32661782e-01 5.40687249e-01 5.54433376e-01 2.95146388e+02] [-4.15093672e-01 8.41153877e-01 -3.46637273e-01 -1.76217556e+02] [-6.53786138e-01 -1.08376310e-02 7.56601766e-01 -6.92574258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-176.23, Z:-692.60 [[ 6.33881115e-01 5.39510139e-01 5.54187280e-01 2.95167117e+02] [-4.13423371e-01 8.41927602e-01 -3.46755000e-01 -1.76228719e+02] [-6.53663406e-01 -9.31252689e-03 7.56728108e-01 -6.92595580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-176.24, Z:-692.62 [[ 6.35874921e-01 5.37704490e-01 5.53657807e-01 2.95187671e+02] [-4.11072694e-01 8.43103139e-01 -3.46693434e-01 -1.76239698e+02] [-6.53209250e-01 -7.13994645e-03 7.57143775e-01 -6.92617371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:-176.25, Z:-692.64 [[ 6.37095275e-01 5.36722575e-01 5.53207455e-01 2.95208706e+02] [-4.09858099e-01 8.43737958e-01 -3.46587070e-01 -1.76252302e+02] [-6.52783233e-01 -5.92757112e-03 7.57521561e-01 -6.92639229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-176.27, Z:-692.66 [[ 6.38503624e-01 5.35813446e-01 5.52464545e-01 2.95229637e+02] [-4.08808681e-01 8.44323458e-01 -3.46400578e-01 -1.76265260e+02] [-6.52064863e-01 -4.67427816e-03 7.58148776e-01 -6.92660759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-176.28, Z:-692.68 [[ 6.39785893e-01 5.34742683e-01 5.52018363e-01 2.95250152e+02] [-4.07382774e-01 8.45008680e-01 -3.46409594e-01 -1.76277997e+02] [-6.51700304e-01 -3.25480064e-03 7.58469591e-01 -6.92681978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:-176.29, Z:-692.70 [[ 6.42057929e-01 5.32307148e-01 5.51734281e-01 2.95271097e+02] [-4.04091060e-01 8.46551163e-01 -3.46498981e-01 -1.76290684e+02] [-6.51515181e-01 -4.78472477e-04 7.58635446e-01 -6.92703569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-176.30, Z:-692.72 [[ 6.43067949e-01 5.31443798e-01 5.51390155e-01 2.95291766e+02] [-4.02892568e-01 8.47093251e-01 -3.46569767e-01 -1.76303462e+02] [-6.51261232e-01 7.16914458e-04 7.58853276e-01 -6.92724778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:-176.32, Z:-692.75 [[ 6.43957424e-01 5.30458184e-01 5.51301144e-01 2.95312330e+02] [-4.01491872e-01 8.47708951e-01 -3.46689792e-01 -1.76315911e+02] [-6.51247351e-01 1.91053733e-03 7.58863122e-01 -6.92746090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:-176.33, Z:-692.77 [[ 6.45321665e-01 5.28950127e-01 5.51154890e-01 2.95333780e+02] [-3.99361740e-01 8.48644729e-01 -3.46860670e-01 -1.76328680e+02] [-6.51206688e-01 3.72652893e-03 7.58891272e-01 -6.92767761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:-176.34, Z:-692.79 [[ 6.45240086e-01 5.29182129e-01 5.51027682e-01 2.95355010e+02] [-3.99494325e-01 8.48499727e-01 -3.47062672e-01 -1.76342021e+02] [-6.51206201e-01 3.80631628e-03 7.58891294e-01 -6.92789912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-176.35, Z:-692.81 [[ 6.45418215e-01 5.28804720e-01 5.51181364e-01 2.95375716e+02] [-3.98780524e-01 8.48732310e-01 -3.47314786e-01 -1.76354872e+02] [-6.51467130e-01 4.36289656e-03 7.58664316e-01 -6.92810696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:-176.37, Z:-692.83 [[ 6.45349306e-01 5.28401410e-01 5.51648641e-01 2.95396737e+02] [-3.97768496e-01 8.48979534e-01 -3.47870629e-01 -1.76367984e+02] [-6.52153737e-01 5.06961887e-03 7.58069787e-01 -6.92831809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-176.37, Z:-692.86 [[ 6.44058251e-01 5.33343327e-01 5.48392072e-01 2.95415551e+02] [-3.96037792e-01 8.45798314e-01 -3.57462278e-01 -1.76373035e+02] [-6.54479210e-01 1.30425439e-02 7.55967497e-01 -6.92858886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:-176.40, Z:-692.87 [[ 6.44769975e-01 5.23119230e-01 5.57331097e-01 2.95436914e+02] [-3.97763611e-01 8.52255508e-01 -3.39771481e-01 -1.76397628e+02] [-6.52729492e-01 -2.61158039e-03 7.57586556e-01 -6.92871129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:-176.40, Z:-692.90 [[ 6.43924502e-01 5.30033348e-01 5.51748028e-01 2.95458742e+02] [-3.99291415e-01 8.47966588e-01 -3.48595799e-01 -1.76404200e+02] [-6.52631291e-01 4.16112603e-03 7.57664228e-01 -6.92895516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-176.42, Z:-692.92 [[ 6.43227050e-01 5.31015276e-01 5.51617385e-01 2.95479104e+02] [-4.00407269e-01 8.47355069e-01 -3.48802819e-01 -1.76416007e+02] [-6.52635412e-01 3.48779793e-03 7.57664077e-01 -6.92916502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:-176.43, Z:-692.94 [[ 6.41529732e-01 5.33240678e-01 5.51447171e-01 2.95500584e+02] [-4.03202662e-01 8.45962205e-01 -3.48963553e-01 -1.76427971e+02] [-6.52585026e-01 1.52552729e-03 7.57713968e-01 -6.92938657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:-176.44, Z:-692.96 [[ 6.40520605e-01 5.34562366e-01 5.51340576e-01 2.95521845e+02] [-4.04754828e-01 8.45128880e-01 -3.49185774e-01 -1.76440608e+02] [-6.52615417e-01 5.02923329e-04 7.57689161e-01 -6.92960424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-176.45, Z:-692.98 [[ 6.39415366e-01 5.36027189e-01 5.51201273e-01 2.95542426e+02] [-4.06515086e-01 8.44200454e-01 -3.49386718e-01 -1.76452875e+02] [-6.52605145e-01 -6.68396490e-04 7.57697881e-01 -6.92981243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-176.46, Z:-693.00 [[ 6.37404114e-01 5.38131558e-01 5.51480210e-01 2.95564055e+02] [-4.08912087e-01 8.42857084e-01 -3.49832589e-01 -1.76464093e+02] [-6.53074958e-01 -2.52219241e-03 7.57289072e-01 -6.93003257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-176.48, Z:-693.03 [[ 6.35301045e-01 5.40273330e-01 5.51812750e-01 2.95585679e+02] [-4.11316509e-01 8.41478072e-01 -3.50333246e-01 -1.76476101e+02] [-6.53614039e-01 -4.40261656e-03 7.56815238e-01 -6.93025004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:-176.49, Z:-693.05 [[ 6.34175998e-01 5.41444935e-01 5.51958500e-01 2.95606554e+02] [-4.12540618e-01 8.40719569e-01 -3.50714762e-01 -1.76488323e+02] [-6.53935044e-01 -5.29041626e-03 7.56532200e-01 -6.93046448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-176.50, Z:-693.07 [[ 6.33007601e-01 5.42706916e-01 5.52060305e-01 2.95626984e+02] [-4.13926641e-01 8.39898544e-01 -3.51048674e-01 -1.76500381e+02] [-6.54191190e-01 -6.29598882e-03 7.56303013e-01 -6.93067764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:-176.51, Z:-693.09 [[ 6.31283384e-01 5.44623211e-01 5.52147487e-01 2.95647789e+02] [-4.16192760e-01 8.38642832e-01 -3.51371295e-01 -1.76511553e+02] [-6.54419495e-01 -7.98492596e-03 7.56089522e-01 -6.93089255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-176.52, Z:-693.11 [[ 6.30597960e-01 5.45703322e-01 5.51864201e-01 2.95668444e+02] [-4.17628059e-01 8.37931153e-01 -3.51366173e-01 -1.76523920e+02] [-6.54165894e-01 -8.90318316e-03 7.56298695e-01 -6.93111004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-176.54, Z:-693.13 [[ 6.29067262e-01 5.47656750e-01 5.51676051e-01 2.95689023e+02] [-4.20073659e-01 8.36635907e-01 -3.51537310e-01 -1.76535516e+02] [-6.54073774e-01 -1.06039644e-02 7.56356434e-01 -6.93132384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:-176.55, Z:-693.15 [[ 6.28243687e-01 5.48780704e-01 5.51497605e-01 2.95709697e+02] [-4.21429544e-01 8.35887691e-01 -3.51694338e-01 -1.76548290e+02] [-6.53993126e-01 -1.14676370e-02 7.56413567e-01 -6.93153899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-176.56, Z:-693.18 [[ 6.27014487e-01 5.50498246e-01 5.51184646e-01 2.95730344e+02] [-4.23631467e-01 8.34736251e-01 -3.51783701e-01 -1.76560531e+02] [-6.53750115e-01 -1.29256838e-02 7.56600102e-01 -6.93175164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-176.57, Z:-693.20 [[ 6.26393675e-01 5.51515782e-01 5.50873221e-01 2.95751203e+02] [-4.24918390e-01 8.34052323e-01 -3.51853784e-01 -1.76573323e+02] [-6.53510004e-01 -1.36771771e-02 7.56794298e-01 -6.93196568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.77, Y:-176.59, Z:-693.22 [[ 6.25079252e-01 5.53170186e-01 5.50707431e-01 2.95772378e+02] [-4.26970616e-01 8.32931542e-01 -3.52024345e-01 -1.76585836e+02] [-6.53430962e-01 -1.50927769e-02 7.56835640e-01 -6.93218477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-176.60, Z:-693.24 [[ 6.24052522e-01 5.54447288e-01 5.50587555e-01 2.95792675e+02] [-4.28491116e-01 8.32062879e-01 -3.52231073e-01 -1.76598161e+02] [-6.53417029e-01 -1.61111864e-02 7.56826675e-01 -6.93239988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-176.61, Z:-693.26 [[ 6.23985131e-01 5.54602469e-01 5.50507636e-01 2.95813806e+02] [-4.28587942e-01 8.31960132e-01 -3.52355948e-01 -1.76611718e+02] [-6.53417885e-01 -1.60760628e-02 7.56826683e-01 -6.93262121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:-176.62, Z:-693.28 [[ 6.23477347e-01 5.55140199e-01 5.50540967e-01 2.95833805e+02] [-4.29184649e-01 8.31592913e-01 -3.52496474e-01 -1.76624539e+02] [-6.53510929e-01 -1.65101651e-02 7.56736995e-01 -6.93283649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:-176.64, Z:-693.31 [[ 6.23008255e-01 5.55636101e-01 5.50571737e-01 2.95854191e+02] [-4.29609408e-01 8.31256833e-01 -3.52771646e-01 -1.76637873e+02] [-6.53679181e-01 -1.67511500e-02 7.56586365e-01 -6.93305429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-176.65, Z:-693.33 [[ 6.22915533e-01 5.55955538e-01 5.50354139e-01 2.95874392e+02] [-4.29894564e-01 8.31043241e-01 -3.52927464e-01 -1.76652092e+02] [-6.53580066e-01 -1.67502532e-02 7.56672007e-01 -6.93327263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-176.67, Z:-693.35 [[ 6.23008980e-01 5.56181540e-01 5.50019914e-01 2.95894111e+02] [-4.30118104e-01 8.30894072e-01 -3.53006315e-01 -1.76665636e+02] [-6.53343882e-01 -1.66474185e-02 7.56878217e-01 -6.93348120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:-176.68, Z:-693.37 [[ 6.22764687e-01 5.56351818e-01 5.50124349e-01 2.95913527e+02] [-4.30054463e-01 8.30782378e-01 -3.53346572e-01 -1.76680510e+02] [-6.53618622e-01 -1.65316642e-02 7.56643510e-01 -6.93369621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-176.69, Z:-693.39 [[ 6.22556060e-01 5.56599917e-01 5.50109521e-01 2.95933874e+02] [-4.30148646e-01 8.30617196e-01 -3.53620158e-01 -1.76694693e+02] [-6.53755378e-01 -1.64804937e-02 7.56526470e-01 -6.93391482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-176.71, Z:-693.41 [[ 6.22078456e-01 5.57111504e-01 5.50131954e-01 2.95953926e+02] [-4.30574099e-01 8.30269614e-01 -3.53918513e-01 -1.76708657e+02] [-6.53929920e-01 -1.67074882e-02 7.56370623e-01 -6.93412830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-176.72, Z:-693.43 [[ 6.21046613e-01 5.58164540e-01 5.50230362e-01 2.95974100e+02] [-4.31680793e-01 8.29545571e-01 -3.54268032e-01 -1.76723084e+02] [-6.54181013e-01 -1.75069178e-02 7.56135379e-01 -6.93434480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:-176.74, Z:-693.46 [[ 6.20242868e-01 5.58987955e-01 5.50301055e-01 2.95994308e+02] [-4.32498032e-01 8.28978908e-01 -3.54597549e-01 -1.76736755e+02] [-6.54403727e-01 -1.80675225e-02 7.55929446e-01 -6.93455846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-176.75, Z:-693.48 [[ 6.18642366e-01 5.60904560e-01 5.50152431e-01 2.96014527e+02] [-4.34890065e-01 8.27644424e-01 -3.54789148e-01 -1.76751242e+02] [-6.54333443e-01 -1.97682286e-02 7.55947725e-01 -6.93477743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-176.76, Z:-693.50 [[ 6.17748264e-01 5.62075978e-01 5.49961523e-01 2.96034805e+02] [-4.36309622e-01 8.26826967e-01 -3.54952222e-01 -1.76764712e+02] [-6.54233136e-01 -2.06823848e-02 7.56010081e-01 -6.93499352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:-176.78, Z:-693.52 [[ 6.16381729e-01 5.63975083e-01 5.49550425e-01 2.96054508e+02] [-4.38813200e-01 8.25489374e-01 -3.54979252e-01 -1.76778058e+02] [-6.53847489e-01 -2.23472554e-02 7.56296279e-01 -6.93520136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-176.77, Z:-693.55 [[ 6.12876875e-01 5.77175575e-01 5.39676099e-01 2.96071914e+02] [-4.35723022e-01 8.16613985e-01 -3.78532757e-01 -1.76772976e+02] [-6.59186911e-01 -3.15532787e-03 7.51972513e-01 -6.93554922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:-176.80, Z:-693.57 [[ 6.13178041e-01 5.63052923e-01 5.54061456e-01 2.96090205e+02] [-4.37076722e-01 8.26071712e-01 -3.55766028e-01 -1.76800724e+02] [-6.58009597e-01 -2.40194488e-02 7.52626359e-01 -6.93570056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-176.83, Z:-693.58 [[ 6.15856989e-01 5.50182715e-01 5.63931866e-01 2.96113293e+02] [-4.42613883e-01 8.33757884e-01 -3.30061724e-01 -1.76834274e+02] [-6.51776895e-01 -4.63332535e-02 7.56994128e-01 -6.93576509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-176.80, Z:-693.62 [[ 6.10633970e-01 5.87235817e-01 5.31300528e-01 2.96131391e+02] [-4.35838901e-01 8.09367834e-01 -3.93659957e-01 -1.76801220e+02] [-6.61188783e-01 8.82070378e-03 7.50167707e-01 -6.93624747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-176.87, Z:-693.61 [[ 6.15883257e-01 5.38319700e-01 5.75238832e-01 2.96152921e+02] [-4.44815158e-01 8.40237187e-01 -3.10066032e-01 -1.76874439e+02] [-6.50251712e-01 -6.49104744e-02 7.56940778e-01 -6.93612400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-176.86, Z:-693.65 [[ 6.14250845e-01 5.68810749e-01 5.46946278e-01 2.96176908e+02] [-4.45242268e-01 8.22072299e-01 -3.54903449e-01 -1.76861047e+02] [-6.51502281e-01 -2.55238580e-02 7.58217192e-01 -6.93648057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:-176.87, Z:-693.67 [[ 6.13594994e-01 5.69525504e-01 5.46938647e-01 2.96197706e+02] [-4.45960451e-01 8.21563115e-01 -3.55180691e-01 -1.76874602e+02] [-6.51629081e-01 -2.59759119e-02 7.58092865e-01 -6.93670242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-176.89, Z:-693.69 [[ 6.13374221e-01 5.70014579e-01 5.46676727e-01 2.96218441e+02] [-4.46502490e-01 8.21217956e-01 -3.55297896e-01 -1.76888037e+02] [-6.51465725e-01 -2.61619495e-02 7.58226853e-01 -6.93692532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-176.90, Z:-693.71 [[ 6.13171645e-01 5.70410072e-01 5.46491431e-01 2.96238714e+02] [-4.46880216e-01 8.20940316e-01 -3.55464583e-01 -1.76901561e+02] [-6.51397427e-01 -2.62554053e-02 7.58282300e-01 -6.93714092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.26, Y:-176.91, Z:-693.74 [[ 6.12795942e-01 5.70770766e-01 5.46536244e-01 2.96258438e+02] [-4.47091022e-01 8.20687235e-01 -3.55783756e-01 -1.76914873e+02] [-6.51606286e-01 -2.63286060e-02 7.58100292e-01 -6.93735275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:-176.93, Z:-693.76 [[ 6.12056289e-01 5.71456189e-01 5.46648812e-01 2.96278964e+02] [-4.47798254e-01 8.20192400e-01 -3.56035322e-01 -1.76929584e+02] [-6.51815789e-01 -2.68747253e-02 7.57901000e-01 -6.93756937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-176.94, Z:-693.78 [[ 6.11620592e-01 5.71827593e-01 5.46748073e-01 2.96299135e+02] [-4.48001141e-01 8.19930304e-01 -3.56383606e-01 -1.76943405e+02] [-6.52085293e-01 -2.69722083e-02 7.57665672e-01 -6.93778292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:-176.96, Z:-693.80 [[ 6.11363920e-01 5.72167116e-01 5.46679933e-01 2.96319490e+02] [-4.48246519e-01 8.19691820e-01 -3.56623582e-01 -1.76957858e+02] [-6.52157355e-01 -2.70205855e-02 7.57601922e-01 -6.93799428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:-176.97, Z:-693.82 [[ 6.11384859e-01 5.72294692e-01 5.46522955e-01 2.96340441e+02] [-4.48252957e-01 8.19608862e-01 -3.56806111e-01 -1.76971724e+02] [-6.52133300e-01 -2.68346766e-02 7.57629236e-01 -6.93821194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-176.99, Z:-693.84 [[ 6.11299002e-01 5.72339993e-01 5.46571553e-01 2.96360982e+02] [-4.48041842e-01 8.19585622e-01 -3.57124510e-01 -1.76985367e+02] [-6.52358826e-01 -2.65770693e-02 7.57444138e-01 -6.93843125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-177.00, Z:-693.86 [[ 6.10986344e-01 5.72499402e-01 5.46754170e-01 2.96380843e+02] [-4.47915498e-01 8.19478253e-01 -3.57529158e-01 -1.76998755e+02] [-6.52738382e-01 -2.64542329e-02 7.57121377e-01 -6.93864437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:-177.01, Z:-693.89 [[ 6.10877740e-01 5.72628524e-01 5.46740304e-01 2.96401271e+02] [-4.47867209e-01 8.19392869e-01 -3.57785257e-01 -1.77012891e+02] [-6.52873150e-01 -2.63040055e-02 7.57010403e-01 -6.93885720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-177.03, Z:-693.91 [[ 6.10945474e-01 5.72852623e-01 5.46429776e-01 2.96421057e+02] [-4.48074947e-01 8.19239588e-01 -3.57876152e-01 -1.77025801e+02] [-6.52667197e-01 -2.61986770e-02 7.57191627e-01 -6.93906807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-177.04, Z:-693.93 [[ 6.11304304e-01 5.72760775e-01 5.46124659e-01 2.96440725e+02] [-4.47953730e-01 8.19313975e-01 -3.57857607e-01 -1.77038577e+02] [-6.52414365e-01 -2.58786829e-02 7.57420484e-01 -6.93928067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-177.05, Z:-693.95 [[ 6.11567415e-01 5.72802221e-01 5.45786508e-01 2.96460976e+02] [-4.47952252e-01 8.19293670e-01 -3.57905940e-01 -1.77051730e+02] [-6.52168749e-01 -2.56026852e-02 7.57641357e-01 -6.93949792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:-177.06, Z:-693.97 [[ 6.12119935e-01 5.72241627e-01 5.45755170e-01 2.96481398e+02] [-4.46968030e-01 8.19713354e-01 -3.58175374e-01 -1.77064932e+02] [-6.52325659e-01 -2.46888268e-02 7.57536597e-01 -6.93971818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:-177.08, Z:-693.99 [[ 6.12305347e-01 5.72082354e-01 5.45714158e-01 2.96501385e+02] [-4.46524261e-01 8.19839115e-01 -3.58440944e-01 -1.77078195e+02] [-6.52455551e-01 -2.41993044e-02 7.57440524e-01 -6.93992791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-177.07, Z:-694.03 [[ 6.09529810e-01 5.87105035e-01 5.32711075e-01 2.96518043e+02] [-4.39927612e-01 8.09506496e-01 -3.88796771e-01 -1.77065805e+02] [-6.59497617e-01 2.62891086e-03 7.51702056e-01 -6.94030626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-177.13, Z:-694.02 [[ 6.14376651e-01 5.48229655e-01 5.67437728e-01 2.96539674e+02] [-4.45744057e-01 8.34579384e-01 -3.23712044e-01 -1.77126309e+02] [-6.51040372e-01 -5.40508737e-02 7.57116198e-01 -6.94024468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:-177.12, Z:-694.06 [[ 6.13487285e-01 5.71604385e-01 5.44886942e-01 2.96562808e+02] [-4.45629954e-01 8.20213586e-01 -3.58697111e-01 -1.77118208e+02] [-6.51956514e-01 -2.27618259e-02 7.57914641e-01 -6.94057158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-177.10, Z:-694.10 [[ 6.10730087e-01 5.87015436e-01 5.31433570e-01 2.96579750e+02] [-4.39707878e-01 8.09566586e-01 -3.88920203e-01 -1.77104970e+02] [-6.58533023e-01 3.84974215e-03 7.52541983e-01 -6.94096297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-177.16, Z:-694.09 [[ 6.15078959e-01 5.49337587e-01 5.65602414e-01 2.96601321e+02] [-4.45614953e-01 8.33987907e-01 -3.25409720e-01 -1.77163560e+02] [-6.50465363e-01 -5.18882209e-02 7.57761456e-01 -6.94089905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:-177.13, Z:-694.14 [[ 6.11363310e-01 5.87299290e-01 5.30390844e-01 2.96621575e+02] [-4.41767400e-01 8.09366613e-01 -3.86997739e-01 -1.77133702e+02] [-6.56564139e-01 2.28683417e-03 7.54266732e-01 -6.94137319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:-177.19, Z:-694.13 [[ 6.15078230e-01 5.52235784e-01 5.62773853e-01 2.96641122e+02] [-4.45729892e-01 8.32296778e-01 -3.29555665e-01 -1.77186065e+02] [-6.50387296e-01 -4.81426140e-02 7.58075625e-01 -6.94133072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:-177.18, Z:-694.16 [[ 6.14130417e-01 5.71917824e-01 5.43832542e-01 2.96664350e+02] [-4.45761601e-01 8.20016998e-01 -3.58982894e-01 -1.77181909e+02] [-6.51260644e-01 -2.19573503e-02 7.58536386e-01 -6.94164314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:-177.20, Z:-694.19 [[ 6.14236956e-01 5.71974507e-01 5.43652578e-01 2.96685341e+02] [-4.45764881e-01 8.19981824e-01 -3.59059157e-01 -1.77195615e+02] [-6.51157917e-01 -2.17938230e-02 7.58629288e-01 -6.94185956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-177.21, Z:-694.21 [[ 6.14075166e-01 5.72096898e-01 5.43706567e-01 2.96705467e+02] [-4.45655592e-01 8.19901039e-01 -3.59379159e-01 -1.77208945e+02] [-6.51385281e-01 -2.16200552e-02 7.58439048e-01 -6.94207068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:-177.22, Z:-694.23 [[ 6.14739440e-01 5.71215373e-01 5.43882726e-01 2.96725504e+02] [-4.44156701e-01 8.20546433e-01 -3.59761555e-01 -1.77222207e+02] [-6.51782362e-01 -2.04095404e-02 7.58131390e-01 -6.94227622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:-177.24, Z:-694.25 [[ 6.15173205e-01 5.70787548e-01 5.43841432e-01 2.96745560e+02] [-4.43458252e-01 8.20859863e-01 -3.59908132e-01 -1.77235524e+02] [-6.51848684e-01 -1.97651316e-02 7.58091441e-01 -6.94248467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-177.25, Z:-694.27 [[ 6.15332256e-01 5.70241966e-01 5.44233695e-01 2.96766156e+02] [-4.42299061e-01 8.21258568e-01 -3.60424617e-01 -1.77248964e+02] [-6.52485828e-01 -1.89331594e-02 7.57564374e-01 -6.94270541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-177.26, Z:-694.29 [[ 6.16420816e-01 5.68822193e-01 5.44487549e-01 2.96785989e+02] [-4.40017955e-01 8.22282141e-01 -3.60882639e-01 -1.77262100e+02] [-6.53000442e-01 -1.71287264e-02 7.57163807e-01 -6.94291219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-177.28, Z:-694.31 [[ 6.17071635e-01 5.68103172e-01 5.44501041e-01 2.96806949e+02] [-4.38819172e-01 8.22800325e-01 -3.61161127e-01 -1.77276041e+02] [-6.53192415e-01 -1.60752086e-02 7.57021306e-01 -6.94313113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-177.29, Z:-694.33 [[ 6.18805575e-01 5.66008460e-01 5.44714681e-01 2.96827299e+02] [-4.35666787e-01 8.24287855e-01 -3.61585375e-01 -1.77289400e+02] [-6.53662077e-01 -1.35630490e-02 7.56665007e-01 -6.94334847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-177.28, Z:-694.37 [[ 6.17714619e-01 5.76040385e-01 5.35356072e-01 2.96844453e+02] [-4.28832341e-01 8.17381559e-01 -3.84694958e-01 -1.77283209e+02] [-6.59190012e-01 8.05370165e-03 7.51933286e-01 -6.94368547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-177.33, Z:-694.37 [[ 6.21645360e-01 5.46744318e-01 5.60916837e-01 2.96864983e+02] [-4.32024653e-01 8.36648458e-01 -3.36710644e-01 -1.77331495e+02] [-6.53384838e-01 -3.30152924e-02 7.56305655e-01 -6.94369551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:-177.31, Z:-694.41 [[ 6.22538744e-01 5.71567433e-01 5.34561673e-01 2.96884409e+02] [-4.23123190e-01 8.20449368e-01 -3.84486152e-01 -1.77311268e+02] [-6.58340549e-01 1.31720856e-02 7.52604955e-01 -6.94411801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-177.36, Z:-694.41 [[ 6.26127661e-01 5.42461795e-01 5.60088700e-01 2.96904273e+02] [-4.25591871e-01 8.39643743e-01 -3.37446210e-01 -1.77358998e+02] [-6.53326650e-01 -2.70847917e-02 7.56591503e-01 -6.94413134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:-177.34, Z:-694.45 [[ 6.27524175e-01 5.66800709e-01 5.33807425e-01 2.96923437e+02] [-4.18135371e-01 8.23676127e-01 -3.83041055e-01 -1.77340830e+02] [-6.56792373e-01 1.71637559e-02 7.53876107e-01 -6.94453976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-177.39, Z:-694.46 [[ 6.30814721e-01 5.39691321e-01 5.57499835e-01 2.96943084e+02] [-4.20355398e-01 8.41614772e-01 -3.39095731e-01 -1.77385742e+02] [-6.52207120e-01 -2.04414863e-02 7.57765148e-01 -6.94455929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:-177.37, Z:-694.50 [[ 6.30560321e-01 5.65126623e-01 5.32001486e-01 2.96962337e+02] [-4.12936025e-01 8.24653009e-01 -3.86563389e-01 -1.77365476e+02] [-6.57173889e-01 2.40689560e-02 7.53354608e-01 -6.94498615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-177.42, Z:-694.50 [[ 6.33613292e-01 5.34037010e-01 5.59766620e-01 2.96982496e+02] [-4.16682296e-01 8.45195804e-01 -3.34693768e-01 -1.77416411e+02] [-6.51851257e-01 -2.11784206e-02 7.58051062e-01 -6.94497312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-177.40, Z:-694.54 [[ 6.32712788e-01 5.59256299e-01 5.35636929e-01 2.97003654e+02] [-4.14057533e-01 8.28834641e-01 -3.76283798e-01 -1.77403132e+02] [-6.54393527e-01 1.62950655e-02 7.55978560e-01 -6.94536123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:-177.43, Z:-694.54 [[ 6.34446730e-01 5.42739523e-01 5.50373653e-01 2.97022937e+02] [-4.15387156e-01 8.39872286e-01 -3.49382389e-01 -1.77434972e+02] [-6.51867209e-01 -6.95363234e-03 7.58301252e-01 -6.94544043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-177.44, Z:-694.57 [[ 6.34963966e-01 5.50341586e-01 5.42166857e-01 2.97043614e+02] [-4.14389843e-01 8.34922702e-01 -3.62194892e-01 -1.77441850e+02] [-6.51998329e-01 5.31226655e-03 7.58201793e-01 -6.94569171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-177.46, Z:-694.59 [[ 6.35094665e-01 5.50329181e-01 5.42026346e-01 2.97064303e+02] [-4.14224518e-01 8.34928875e-01 -3.62369733e-01 -1.77456304e+02] [-6.51976085e-01 5.61848244e-03 7.58218713e-01 -6.94591003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.08, Y:-177.47, Z:-694.61 [[ 6.35060524e-01 5.50419111e-01 5.41975031e-01 2.97084440e+02] [-4.14125638e-01 8.34868060e-01 -3.62622777e-01 -1.77470975e+02] [-6.52072149e-01 5.84165567e-03 7.58134413e-01 -6.94612628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-177.48, Z:-694.63 [[ 6.34887481e-01 5.50965768e-01 5.41622202e-01 2.97104863e+02] [-4.14803283e-01 8.34509117e-01 -3.62674470e-01 -1.77484986e+02] [-6.51809883e-01 5.59081314e-03 7.58361800e-01 -6.94633915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-177.50, Z:-694.66 [[ 6.34431253e-01 5.51570858e-01 5.41540926e-01 2.97124949e+02] [-4.15400553e-01 8.34111314e-01 -3.62905905e-01 -1.77498336e+02] [-6.51873735e-01 5.28244795e-03 7.58309125e-01 -6.94655296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-177.51, Z:-694.68 [[ 6.32752486e-01 5.53382204e-01 5.41657112e-01 2.97145167e+02] [-4.17486626e-01 8.32919175e-01 -3.63250005e-01 -1.77512199e+02] [-6.52172683e-01 3.71274336e-03 7.58061348e-01 -6.94676463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-177.53, Z:-694.70 [[ 6.31628745e-01 5.54606343e-01 5.41716654e-01 2.97165706e+02] [-4.18837055e-01 8.32108345e-01 -3.63553605e-01 -1.77525735e+02] [-6.52396084e-01 2.73989888e-03 7.57873237e-01 -6.94697905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:-177.54, Z:-694.72 [[ 6.30289957e-01 5.56122335e-01 5.41721809e-01 2.97186056e+02] [-4.20592080e-01 8.31099130e-01 -3.63835868e-01 -1.77539192e+02] [-6.52561776e-01 1.47819076e-03 7.57734085e-01 -6.94719368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:-177.55, Z:-694.74 [[ 6.27688708e-01 5.58909277e-01 5.41873884e-01 2.97206606e+02] [-4.23933769e-01 8.29228084e-01 -3.64226501e-01 -1.77552083e+02] [-6.52906613e-01 -1.09777573e-03 7.57437621e-01 -6.94741254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-177.57, Z:-694.76 [[ 6.26442312e-01 5.60562440e-01 5.41608512e-01 2.97227503e+02] [-4.26021481e-01 8.28108387e-01 -3.64338027e-01 -1.77566005e+02] [-6.52744765e-01 -2.50010494e-03 7.57573773e-01 -6.94763272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-177.58, Z:-694.79 [[ 6.23906745e-01 5.63540037e-01 5.41445288e-01 2.97248572e+02] [-4.29802363e-01 8.26071830e-01 -3.64520591e-01 -1.77579294e+02] [-6.52694647e-01 -5.28760900e-03 7.57602626e-01 -6.94785531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:-177.59, Z:-694.81 [[ 6.22617260e-01 5.65166215e-01 5.41234605e-01 2.97269310e+02] [-4.31825248e-01 8.24950105e-01 -3.64670096e-01 -1.77592476e+02] [-6.52590762e-01 -6.66887192e-03 7.57681215e-01 -6.94807157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:-177.61, Z:-694.83 [[ 6.21257594e-01 5.66876654e-01 5.41008189e-01 2.97289813e+02] [-4.33970666e-01 8.23762446e-01 -3.64808022e-01 -1.77605657e+02] [-6.52463380e-01 -8.14193029e-03 7.57776515e-01 -6.94828823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-177.62, Z:-694.85 [[ 6.18748238e-01 5.69881798e-01 5.40726691e-01 2.97309774e+02] [-4.37864263e-01 8.21653367e-01 -3.64911813e-01 -1.77618432e+02] [-6.52246507e-01 -1.09763535e-02 7.57927447e-01 -6.94849537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:-177.63, Z:-694.87 [[ 6.16831057e-01 5.73557233e-01 5.39028336e-01 2.97329545e+02] [-4.39141926e-01 8.19115353e-01 -3.69058812e-01 -1.77628985e+02] [-6.53202738e-01 -9.06300419e-03 7.57128817e-01 -6.94873535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-177.65, Z:-694.89 [[ 6.15929740e-01 5.70869823e-01 5.42897965e-01 2.97349821e+02] [-4.42034882e-01 8.20859863e-01 -3.61654874e-01 -1.77647747e+02] [-6.52101003e-01 -1.72258455e-02 7.57936377e-01 -6.94891396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-177.66, Z:-694.91 [[ 6.13765302e-01 5.75766230e-01 5.40171642e-01 2.97370670e+02] [-4.45381904e-01 8.17449825e-01 -3.65254356e-01 -1.77659588e+02] [-6.51864337e-01 -1.64022244e-02 7.58158198e-01 -6.94914819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-177.67, Z:-694.94 [[ 6.12946094e-01 5.76923643e-01 5.39866833e-01 2.97391138e+02] [-4.46840859e-01 8.16614839e-01 -3.65340185e-01 -1.77673415e+02] [-6.51636657e-01 -1.73007200e-02 7.58333932e-01 -6.94936828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:-177.69, Z:-694.96 [[ 6.12091535e-01 5.77979756e-01 5.39706730e-01 2.97410835e+02] [-4.48081750e-01 8.15850436e-01 -3.65528127e-01 -1.77686830e+02] [-6.51587829e-01 -1.80960640e-02 7.58357326e-01 -6.94958183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:-177.70, Z:-694.98 [[ 6.11061275e-01 5.79277632e-01 5.39482663e-01 2.97430409e+02] [-4.49698606e-01 8.14904887e-01 -3.65651731e-01 -1.77700856e+02] [-6.51440928e-01 -1.91689891e-02 7.58457163e-01 -6.94979910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-177.72, Z:-695.00 [[ 6.10510699e-01 5.79866254e-01 5.39473645e-01 2.97450417e+02] [-4.50255120e-01 8.14478184e-01 -3.65917497e-01 -1.77715245e+02] [-6.51572723e-01 -1.95042240e-02 7.58335395e-01 -6.95001593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-177.73, Z:-695.02 [[ 6.09632831e-01 5.80748119e-01 5.39517778e-01 2.97470410e+02] [-4.51157360e-01 8.13834231e-01 -3.66238831e-01 -1.77730864e+02] [-6.51770549e-01 -2.01362011e-02 7.58148854e-01 -6.95023232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:-177.74, Z:-695.04 [[ 6.09252677e-01 5.81347626e-01 5.39301505e-01 2.97489524e+02] [-4.51826893e-01 8.13398221e-01 -3.66382031e-01 -1.77744771e+02] [-6.51662209e-01 -2.04516901e-02 7.58233535e-01 -6.95044021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-177.76, Z:-695.07 [[ 6.08600763e-01 5.82035708e-01 5.39295416e-01 2.97509085e+02] [-4.52517197e-01 8.12894637e-01 -3.66647646e-01 -1.77759114e+02] [-6.51792374e-01 -2.08984129e-02 7.58109463e-01 -6.95065801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-177.77, Z:-695.09 [[ 6.08399947e-01 5.82633193e-01 5.38876672e-01 2.97529202e+02] [-4.53295630e-01 8.12458711e-01 -3.66652309e-01 -1.77773701e+02] [-6.51438851e-01 -2.11991948e-02 7.58404917e-01 -6.95087471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-177.77, Z:-695.12 [[ 6.06715928e-01 5.90579942e-01 5.32081868e-01 2.97545988e+02] [-4.50110825e-01 8.06944483e-01 -3.82414495e-01 -1.77773909e+02] [-6.55206859e-01 -7.47884351e-03 7.55412496e-01 -6.95117403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-177.80, Z:-695.13 [[ 6.07242597e-01 5.76611982e-01 5.46603193e-01 2.97563926e+02] [-4.51728349e-01 8.16517000e-01 -3.59501722e-01 -1.77804375e+02] [-6.53603800e-01 -2.86113983e-02 7.56295882e-01 -6.95131200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-177.83, Z:-695.15 [[ 6.08499388e-01 5.73972750e-01 5.47981549e-01 2.97584057e+02] [-4.54854470e-01 8.18119217e-01 -3.51835697e-01 -1.77828914e+02] [-6.50258338e-01 -3.51600507e-02 7.58899113e-01 -6.95146955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:-177.83, Z:-695.18 [[ 6.07927976e-01 5.85724033e-01 5.36051240e-01 2.97603255e+02] [-4.52688038e-01 8.10342851e-01 -3.72045702e-01 -1.77828785e+02] [-6.52301400e-01 -1.64869936e-02 7.57780353e-01 -6.95175588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.62, Y:-177.85, Z:-695.19 [[ 6.08299264e-01 5.79291614e-01 5.42580161e-01 2.97622836e+02] [-4.53948530e-01 8.14680123e-01 -3.60869823e-01 -1.77853065e+02] [-6.51078134e-01 -2.67866191e-02 7.58537896e-01 -6.95191993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.64, Y:-177.87, Z:-695.22 [[ 6.08240186e-01 5.83203885e-01 5.38439508e-01 2.97641720e+02] [-4.52806338e-01 8.12081491e-01 -3.68089761e-01 -1.77865086e+02] [-6.51928137e-01 -1.99218375e-02 7.58019013e-01 -6.95215346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:-177.88, Z:-695.24 [[ 6.08194360e-01 5.83107044e-01 5.38596134e-01 2.97661662e+02] [-4.52359386e-01 8.12160294e-01 -3.68465253e-01 -1.77880636e+02] [-6.52281079e-01 -1.95405278e-02 7.57725255e-01 -6.95237214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:-177.89, Z:-695.26 [[ 6.08079488e-01 5.84645625e-01 5.37055703e-01 2.97680335e+02] [-4.50470028e-01 8.11147794e-01 -3.72982586e-01 -1.77891264e+02] [-6.53694187e-01 -1.51244379e-02 7.56607667e-01 -6.95261163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-177.91, Z:-695.28 [[ 6.08877403e-01 5.80768453e-01 5.40348325e-01 2.97698548e+02] [-4.49190708e-01 8.13863154e-01 -3.68584419e-01 -1.77909460e+02] [-6.53831795e-01 -1.82967227e-02 7.56418677e-01 -6.95281568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-177.93, Z:-695.30 [[ 6.09427422e-01 5.77156440e-01 5.43588688e-01 2.97718862e+02] [-4.50929428e-01 8.16249301e-01 -3.61109027e-01 -1.77931537e+02] [-6.52120287e-01 -2.50503926e-02 7.57701530e-01 -6.95299636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.74, Y:-177.94, Z:-695.33 [[ 6.09911628e-01 5.83800847e-01 5.35895864e-01 2.97737382e+02] [-4.47904656e-01 8.11814784e-01 -3.74617373e-01 -1.77936475e+02] [-6.53750125e-01 -1.15467608e-02 7.56622394e-01 -6.95327044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-177.96, Z:-695.34 [[ 6.10655971e-01 5.76575270e-01 5.42826163e-01 2.97756490e+02] [-4.48902377e-01 8.16739682e-01 -3.62523031e-01 -1.77961043e+02] [-6.52369482e-01 -2.22991011e-02 7.57572973e-01 -6.95342533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-177.96, Z:-695.37 [[ 6.09867144e-01 5.87231214e-01 5.32185651e-01 2.97774079e+02] [-4.43918178e-01 8.09417234e-01 -3.84422153e-01 -1.77957403e+02] [-6.56504926e-01 -1.80044375e-03 7.54319588e-01 -6.95373707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-178.00, Z:-695.38 [[ 6.12763222e-01 5.66893291e-01 5.50593526e-01 2.97793416e+02] [-4.44833391e-01 8.23285405e-01 -3.52596647e-01 -1.77998087e+02] [-6.53180288e-01 -2.88641281e-02 7.56652083e-01 -6.95381223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:-178.00, Z:-695.41 [[ 6.13376738e-01 5.77814284e-01 5.38423282e-01 2.97814584e+02] [-4.43387411e-01 8.16089190e-01 -3.70683205e-01 -1.78001858e+02] [-6.53587471e-01 -1.13616501e-02 7.56765704e-01 -6.95409490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:297.83, Y:-178.00, Z:-695.44 [[ 6.13952004e-01 5.84293416e-01 5.30720397e-01 2.97832140e+02] [-4.37210362e-01 8.11520531e-01 -3.87661614e-01 -1.78004831e+02] [-6.57198627e-01 5.96916823e-03 7.53693793e-01 -6.95440380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-178.48, Z:-694.89 [[ 6.58007669e-01 -4.24699643e-01 6.21816791e-01 2.98272322e+02] [-4.58646780e-01 4.28884465e-01 7.78268108e-01 -1.78484410e+02] [-5.97217749e-01 -7.97300652e-01 8.74221435e-02 -6.94894196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-178.55, Z:-694.99 [[ 6.84109315e-01 -3.76933913e-01 6.24431958e-01 2.98364288e+02] [-4.86379140e-01 4.02223475e-01 7.75662045e-01 -1.78551056e+02] [-5.43534522e-01 -8.34348309e-01 9.18320336e-02 -6.94988188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-178.19, Z:-695.69 [[ 6.75487518e-01 5.93480561e-01 4.37604203e-01 2.98097614e+02] [-4.88335450e-01 8.04720814e-01 -3.37569104e-01 -1.78189052e+02] [-5.52489911e-01 1.43260709e-02 8.33396461e-01 -6.95692380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-178.22, Z:-695.70 [[ 6.75435851e-01 5.83582237e-01 4.50797276e-01 2.98117803e+02] [-4.88806990e-01 8.12038684e-01 -3.18843068e-01 -1.78217399e+02] [-5.52135977e-01 -4.99482004e-03 8.33739116e-01 -6.95703433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:-178.24, Z:-695.72 [[ 6.76198678e-01 5.81318093e-01 4.52575544e-01 2.98138941e+02] [-4.88861300e-01 8.13632336e-01 -3.14669751e-01 -1.78237824e+02] [-5.51153316e-01 -8.46739885e-03 8.34361028e-01 -6.95718349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-178.25, Z:-695.74 [[ 6.76519567e-01 5.82509138e-01 4.50560074e-01 2.98160794e+02] [-4.89104042e-01 8.12799789e-01 -3.16439157e-01 -1.78254031e+02] [-5.50543833e-01 -6.29347157e-03 8.34782535e-01 -6.95735765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-178.28, Z:-695.75 [[ 6.77072603e-01 5.80443434e-01 4.52391545e-01 2.98182730e+02] [-4.90407142e-01 8.14219703e-01 -3.10720309e-01 -1.78275533e+02] [-5.48701673e-01 -1.14758356e-02 8.35939459e-01 -6.95747737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-178.29, Z:-695.77 [[ 6.76574635e-01 5.86282515e-01 4.45555357e-01 2.98206219e+02] [-4.90967741e-01 8.10104316e-01 -3.20439815e-01 -1.78285808e+02] [-5.48814578e-01 -1.95185635e-03 8.35941833e-01 -6.95770059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-178.30, Z:-695.79 [[ 6.75986899e-01 5.87161212e-01 4.45290270e-01 2.98227659e+02] [-4.91995311e-01 8.09466332e-01 -3.20476007e-01 -1.78300981e+02] [-5.48618562e-01 -2.44314252e-03 8.36069198e-01 -6.95787863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.25, Y:-178.31, Z:-695.81 [[ 6.73397972e-01 5.93549939e-01 4.40719459e-01 2.98249568e+02] [-4.93753347e-01 8.04786024e-01 -3.29434497e-01 -1.78310511e+02] [-5.50220687e-01 4.23381476e-03 8.35008546e-01 -6.95813534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-178.34, Z:-695.82 [[ 6.73307874e-01 5.86869899e-01 4.49711272e-01 2.98270196e+02] [-4.96570041e-01 8.09584084e-01 -3.13036430e-01 -1.78336257e+02] [-5.47790746e-01 -1.25432515e-02 8.36521348e-01 -6.95821723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:-178.35, Z:-695.84 [[ 6.70999226e-01 5.93633397e-01 4.44251537e-01 2.98293449e+02] [-4.99822339e-01 8.04704390e-01 -3.20356794e-01 -1.78347548e+02] [-5.47665654e-01 -7.08768186e-03 8.36667256e-01 -6.95843122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:-178.35, Z:-695.87 [[ 6.68421526e-01 6.01707783e-01 4.37218948e-01 2.98315561e+02] [-4.99644692e-01 7.98696105e-01 -3.35320314e-01 -1.78353381e+02] [-5.50969913e-01 5.68118989e-03 8.34505769e-01 -6.95872032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:-178.39, Z:-695.87 [[ 6.68564473e-01 5.89825087e-01 4.52910490e-01 2.98335770e+02] [-5.03315766e-01 8.07235538e-01 -3.08292112e-01 -1.78386761e+02] [-5.47443865e-01 -2.18438370e-02 8.36557267e-01 -6.95873936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-178.40, Z:-695.90 [[ 6.67001264e-01 5.98128440e-01 4.44242821e-01 2.98359842e+02] [-5.04779777e-01 8.01336352e-01 -3.21025588e-01 -1.78395040e+02] [-5.48002455e-01 -1.01203193e-02 8.36415500e-01 -6.95897235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-178.41, Z:-695.92 [[ 6.66981666e-01 5.98342884e-01 4.43983390e-01 2.98382321e+02] [-5.05010237e-01 8.01176825e-01 -3.21061296e-01 -1.78410255e+02] [-5.47813944e-01 -1.00741587e-02 8.36539535e-01 -6.95915649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-178.43, Z:-695.93 [[ 6.67145878e-01 5.98204027e-01 4.43923777e-01 2.98404072e+02] [-5.04723416e-01 8.01284609e-01 -3.21243286e-01 -1.78425530e+02] [-5.47878318e-01 -9.74259103e-03 8.36501304e-01 -6.95933302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-178.44, Z:-695.95 [[ 6.67210852e-01 5.97752951e-01 4.44433446e-01 2.98426686e+02] [-5.03808876e-01 8.01627734e-01 -3.21822300e-01 -1.78440983e+02] [-5.48640406e-01 -9.18618404e-03 8.36007966e-01 -6.95951180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-178.46, Z:-695.97 [[ 6.66976983e-01 5.98127169e-01 4.44280985e-01 2.98448797e+02] [-5.04182954e-01 8.01347517e-01 -3.21934319e-01 -1.78456526e+02] [-5.48581127e-01 -9.27611813e-03 8.36045872e-01 -6.95969070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-178.47, Z:-695.99 [[ 6.66508068e-01 5.98798643e-01 4.44080152e-01 2.98470834e+02] [-5.04946787e-01 8.00841783e-01 -3.21995623e-01 -1.78472270e+02] [-5.48448482e-01 -9.62416479e-03 8.36128960e-01 -6.95987120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:-178.49, Z:-696.01 [[ 6.65849771e-01 6.00079964e-01 4.43337478e-01 2.98493213e+02] [-5.06684795e-01 7.99871835e-01 -3.21676182e-01 -1.78487328e+02] [-5.47644594e-01 -1.04443471e-02 8.36645871e-01 -6.96005549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.52, Y:-178.50, Z:-696.02 [[ 6.65482427e-01 6.00690001e-01 4.43062819e-01 2.98515511e+02] [-5.07401293e-01 7.99410047e-01 -3.21694739e-01 -1.78502474e+02] [-5.47427682e-01 -1.07284509e-02 8.36784222e-01 -6.96024090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:-178.52, Z:-696.04 [[ 6.65057604e-01 6.01264622e-01 4.42921255e-01 2.98537508e+02] [-5.08014226e-01 7.98974412e-01 -3.21809627e-01 -1.78517861e+02] [-5.47375493e-01 -1.09883595e-02 8.36814989e-01 -6.96042379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:-178.53, Z:-696.06 [[ 6.64654967e-01 6.01766510e-01 4.42844038e-01 2.98559824e+02] [-5.08511455e-01 7.98593634e-01 -3.21969422e-01 -1.78533798e+02] [-5.47402845e-01 -1.11926905e-02 8.36794389e-01 -6.96060623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-178.55, Z:-696.08 [[ 6.64145237e-01 6.02484061e-01 4.42633099e-01 2.98581643e+02] [-5.09321814e-01 7.98047206e-01 -3.22043392e-01 -1.78549491e+02] [-5.47268119e-01 -1.15591082e-02 8.36877526e-01 -6.96078321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:-178.57, Z:-696.10 [[ 6.63760403e-01 6.03111718e-01 4.42355494e-01 2.98603154e+02] [-5.10065253e-01 7.97568488e-01 -3.22052704e-01 -1.78565315e+02] [-5.47042562e-01 -1.18643347e-02 8.37020713e-01 -6.96095834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-178.58, Z:-696.11 [[ 6.63594827e-01 6.03508281e-01 4.42062960e-01 2.98625577e+02] [-5.10546670e-01 7.97266556e-01 -3.22037476e-01 -1.78581463e+02] [-5.46794297e-01 -1.19913691e-02 8.37181106e-01 -6.96114223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.65, Y:-178.60, Z:-696.13 [[ 6.63486018e-01 6.03733249e-01 4.41919074e-01 2.98646816e+02] [-5.10745676e-01 7.97096518e-01 -3.22142819e-01 -1.78596689e+02] [-5.46740486e-01 -1.19710003e-02 8.37216541e-01 -6.96132049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:-178.61, Z:-696.15 [[ 6.63266473e-01 6.04005681e-01 4.41876367e-01 2.98669354e+02] [-5.10964989e-01 7.96889546e-01 -3.22307045e-01 -1.78612621e+02] [-5.46801944e-01 -1.20078958e-02 8.37175875e-01 -6.96150628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:-178.63, Z:-696.17 [[ 6.62720637e-01 6.04346654e-01 4.42228990e-01 2.98692219e+02] [-5.11070097e-01 7.96629665e-01 -3.22782485e-01 -1.78628045e+02] [-5.47365247e-01 -1.20953985e-02 8.36806422e-01 -6.96169325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.71, Y:-178.64, Z:-696.19 [[ 6.62400441e-01 6.04630476e-01 4.42320747e-01 2.98714285e+02] [-5.11218661e-01 7.96413976e-01 -3.23079341e-01 -1.78643979e+02] [-5.47614040e-01 -1.21147221e-02 8.36643351e-01 -6.96187498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.74, Y:-178.66, Z:-696.20 [[ 6.61749753e-01 6.05372377e-01 4.42279945e-01 2.98735918e+02] [-5.11978935e-01 7.95844106e-01 -3.23279645e-01 -1.78659417e+02] [-5.47690455e-01 -1.25077902e-02 8.36587546e-01 -6.96204946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:-178.67, Z:-696.23 [[ 6.60953728e-01 6.08454837e-01 4.39229872e-01 2.98758650e+02] [-5.11803206e-01 7.93555306e-01 -3.29131365e-01 -1.78672019e+02] [-5.48814766e-01 -7.25865388e-03 8.35912474e-01 -6.96228410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-178.69, Z:-696.25 [[ 6.60083290e-01 6.09672095e-01 4.38850758e-01 2.98780032e+02] [-5.11496649e-01 7.92635026e-01 -3.31814548e-01 -1.78685155e+02] [-5.50146552e-01 -5.44545322e-03 8.35050369e-01 -6.96248992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-178.71, Z:-696.26 [[ 6.60199630e-01 6.02025566e-01 4.49112087e-01 2.98800729e+02] [-5.14429959e-01 7.98116929e-01 -3.13641809e-01 -1.78711785e+02] [-5.47264348e-01 -2.39705062e-02 8.36616488e-01 -6.96255200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-178.72, Z:-696.28 [[ 6.59321917e-01 6.08218637e-01 4.42000792e-01 2.98824632e+02] [-5.15092228e-01 7.93642202e-01 -3.23746895e-01 -1.78721639e+02] [-5.47699377e-01 -1.42177492e-02 8.36554391e-01 -6.96277337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:-178.74, Z:-696.29 [[ 6.58164038e-01 6.09498606e-01 4.41963289e-01 2.98847049e+02] [-5.16501560e-01 7.92644000e-01 -3.23946952e-01 -1.78736746e+02] [-5.47764765e-01 -1.50644941e-02 8.36496757e-01 -6.96294763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.87, Y:-178.75, Z:-696.32 [[ 6.57064485e-01 6.12737214e-01 4.39112023e-01 2.98869739e+02] [-5.16781363e-01 7.90216993e-01 -3.29384466e-01 -1.78750369e+02] [-5.48819902e-01 -1.04980752e-02 8.35874695e-01 -6.96317522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.89, Y:-178.77, Z:-696.33 [[ 6.57039843e-01 6.09701014e-01 4.43354619e-01 2.98890528e+02] [-5.17930604e-01 7.92428512e-01 -3.22187744e-01 -1.78768835e+02] [-5.47765035e-01 -1.79367414e-02 8.36439920e-01 -6.96329392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:-178.78, Z:-696.35 [[ 6.56091036e-01 6.12021923e-01 4.41558285e-01 2.98913126e+02] [-5.19366740e-01 7.90666009e-01 -3.24199711e-01 -1.78782700e+02] [-5.47542457e-01 -1.66261626e-02 8.36612711e-01 -6.96348300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:-178.80, Z:-696.37 [[ 6.55360235e-01 6.12885789e-01 4.41445322e-01 2.98935098e+02] [-5.20310881e-01 7.89985876e-01 -3.24343804e-01 -1.78798261e+02] [-5.47521278e-01 -1.71267723e-02 8.36616474e-01 -6.96366593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.96, Y:-178.81, Z:-696.38 [[ 6.54163123e-01 6.14240981e-01 4.41337315e-01 2.98957067e+02] [-5.21847081e-01 7.88912232e-01 -3.24489006e-01 -1.78813189e+02] [-5.47490851e-01 -1.80418482e-02 8.36617152e-01 -6.96384599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.98, Y:-178.83, Z:-696.40 [[ 6.53400925e-01 6.15138179e-01 4.41216785e-01 2.98979403e+02] [-5.22847311e-01 7.88200146e-01 -3.24609333e-01 -1.78829016e+02] [-5.47446729e-01 -1.85889718e-02 8.36634048e-01 -6.96402668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.00, Y:-178.84, Z:-696.42 [[ 6.52860060e-01 6.15876910e-01 4.40986818e-01 2.99001257e+02] [-5.23694735e-01 7.87613719e-01 -3.24666683e-01 -1.78844379e+02] [-5.47281981e-01 -1.89805649e-02 8.36733035e-01 -6.96420552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:-178.86, Z:-696.44 [[ 6.52379995e-01 6.16480807e-01 4.40853441e-01 2.99023177e+02] [-5.24345976e-01 7.87133844e-01 -3.24779323e-01 -1.78859874e+02] [-5.47230883e-01 -1.92801953e-02 8.36759604e-01 -6.96438791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:-178.88, Z:-696.46 [[ 6.52047529e-01 6.17013941e-01 4.40599384e-01 2.99045697e+02] [-5.24959771e-01 7.86710509e-01 -3.24813505e-01 -1.78875015e+02] [-5.47038627e-01 -1.95031086e-02 8.36880141e-01 -6.96457467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.07, Y:-178.89, Z:-696.47 [[ 6.51968800e-01 6.17126360e-01 4.40558440e-01 2.99067468e+02] [-5.24964416e-01 7.86625376e-01 -3.25012124e-01 -1.78890262e+02] [-5.47127998e-01 -1.93797391e-02 8.36824581e-01 -6.96474892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.09, Y:-178.91, Z:-696.49 [[ 6.51796817e-01 6.17248001e-01 4.40642502e-01 2.99089421e+02] [-5.24980467e-01 7.86530559e-01 -3.25215605e-01 -1.78906001e+02] [-5.47317475e-01 -1.93542103e-02 8.36701259e-01 -6.96492749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.11, Y:-178.92, Z:-696.51 [[ 6.51951798e-01 6.16788243e-01 4.41056818e-01 2.99111540e+02] [-5.24100824e-01 7.86904618e-01 -3.25729104e-01 -1.78922312e+02] [-5.47975528e-01 -1.87985668e-02 8.36283107e-01 -6.96511042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:-178.94, Z:-696.53 [[ 6.51924703e-01 6.16752235e-01 4.41147212e-01 2.99133428e+02] [-5.23869270e-01 7.86938429e-01 -3.26019780e-01 -1.78938622e+02] [-5.48229122e-01 -1.85631197e-02 8.36122144e-01 -6.96529288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.16, Y:-178.95, Z:-696.55 [[ 6.52132974e-01 6.16592608e-01 4.41062514e-01 2.99155696e+02] [-5.23568673e-01 7.87071685e-01 -3.26180943e-01 -1.78954898e+02] [-5.48268574e-01 -1.82131665e-02 8.36103972e-01 -6.96547663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.18, Y:-178.97, Z:-696.57 [[ 6.52319122e-01 6.16359775e-01 4.41112674e-01 2.99177465e+02] [-5.23113417e-01 7.87263406e-01 -3.26448591e-01 -1.78970727e+02] [-5.48481646e-01 -1.78033001e-02 8.35973042e-01 -6.96566108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.20, Y:-178.99, Z:-696.58 [[ 6.52642470e-01 6.16139451e-01 4.40942154e-01 2.99199457e+02] [-5.22776311e-01 7.87445013e-01 -3.26550578e-01 -1.78986762e+02] [-5.48418394e-01 -1.73933371e-02 8.36023168e-01 -6.96584354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.22, Y:-179.00, Z:-696.60 [[ 6.54096960e-01 6.14878656e-01 4.40546711e-01 2.99220245e+02] [-5.21287154e-01 7.88457446e-01 -3.26488222e-01 -1.79002348e+02] [-5.48102974e-01 -1.60963872e-02 8.36255963e-01 -6.96602140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:-179.02, Z:-696.62 [[ 6.54737429e-01 6.14205661e-01 4.40534113e-01 2.99242072e+02] [-5.20388005e-01 7.88995779e-01 -3.26622083e-01 -1.79019049e+02] [-5.48192688e-01 -1.53969653e-02 8.36210327e-01 -6.96620355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-179.04, Z:-696.64 [[ 6.55347856e-01 6.13640785e-01 4.40413640e-01 2.99263972e+02] [-5.19614569e-01 7.89448401e-01 -3.26759732e-01 -1.79036049e+02] [-5.48196943e-01 -1.47040536e-02 8.36220009e-01 -6.96638744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.29, Y:-179.05, Z:-696.66 [[ 6.56649992e-01 6.13903180e-01 4.38102356e-01 2.99285533e+02] [-5.17401893e-01 7.89322738e-01 -3.30552412e-01 -1.79051336e+02] [-5.48731328e-01 -9.61774992e-03 8.35943436e-01 -6.96660291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.31, Y:-179.07, Z:-696.67 [[ 6.57590343e-01 6.10684196e-01 4.41179957e-01 2.99306008e+02] [-5.17208343e-01 7.91742382e-01 -3.25022354e-01 -1.79070110e+02] [-5.47786885e-01 -1.44503931e-02 8.36493105e-01 -6.96673529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.33, Y:-179.09, Z:-696.69 [[ 6.58086192e-01 6.11148457e-01 4.39795552e-01 2.99327864e+02] [-5.16457016e-01 7.91425733e-01 -3.26982354e-01 -1.79085372e+02] [-5.47900278e-01 -1.19529263e-02 8.36458255e-01 -6.96692164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.35, Y:-179.10, Z:-696.71 [[ 6.59634551e-01 6.09718262e-01 4.39460921e-01 2.99348504e+02] [-5.14746495e-01 7.92548187e-01 -3.26960882e-01 -1.79101544e+02] [-5.47647976e-01 -1.05362742e-02 8.36642505e-01 -6.96710040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:-179.12, Z:-696.73 [[ 6.60302886e-01 6.09174237e-01 4.39211621e-01 2.99370243e+02] [-5.14072211e-01 7.92974914e-01 -3.26987076e-01 -1.79118301e+02] [-5.47475900e-01 -9.87597897e-03 8.36763171e-01 -6.96728319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.39, Y:-179.14, Z:-696.75 [[ 6.61242729e-01 6.08437261e-01 4.38819043e-01 2.99392087e+02] [-5.13224651e-01 7.93550513e-01 -3.26922073e-01 -1.79135070e+02] [-5.47136647e-01 -9.03790684e-03 8.36994508e-01 -6.96746830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.41, Y:-179.15, Z:-696.77 [[ 6.62344751e-01 6.07468107e-01 4.38499635e-01 2.99413467e+02] [-5.12064122e-01 7.94303673e-01 -3.26912848e-01 -1.79152065e+02] [-5.46890999e-01 -8.01092197e-03 8.37165492e-01 -6.96765778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:-178.57, Z:-696.77 [[ 6.26855278e-01 5.20382121e-01 -5.79874908e-01 3.00050956e+02] [-4.76804449e-01 -3.32404244e-01 -8.13735176e-01 -1.78569555e+02] [-6.16206117e-01 7.86581125e-01 3.97511561e-02 -6.96770496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.52, Y:-179.24, Z:-696.86 [[ 6.29293377e-01 6.06340295e-01 4.86149456e-01 2.99520213e+02] [-4.91787967e-01 7.95050856e-01 -3.55019341e-01 -1.79236735e+02] [-6.01776072e-01 -1.56711329e-02 7.98511099e-01 -6.96857574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:-179.23, Z:-696.89 [[ 6.28490432e-01 6.17146111e-01 4.73424180e-01 2.99541116e+02] [-4.87976698e-01 7.86821963e-01 -3.77875562e-01 -1.79234422e+02] [-6.05704977e-01 6.47120721e-03 7.95662997e-01 -6.96889279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.56, Y:-179.27, Z:-696.89 [[ 6.29598924e-01 6.00690236e-01 4.92723488e-01 2.99559995e+02] [-4.91254951e-01 7.99124795e-01 -3.46508493e-01 -1.79273820e+02] [-6.01891825e-01 -2.38914790e-02 7.98220163e-01 -6.96893103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.58, Y:-179.28, Z:-696.92 [[ 6.29259333e-01 6.10842523e-01 4.80524821e-01 2.99583304e+02] [-4.91440393e-01 7.91713606e-01 -3.62871750e-01 -1.79279215e+02] [-6.02095534e-01 -7.80887168e-03 7.98385865e-01 -6.96919568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:-179.29, Z:-696.94 [[ 6.29357945e-01 6.10606348e-01 4.80695814e-01 2.99603383e+02] [-4.90869144e-01 7.91900141e-01 -3.63237732e-01 -1.79294485e+02] [-6.02458348e-01 -7.35218996e-03 7.98116460e-01 -6.96938954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:-179.31, Z:-696.96 [[ 6.29456260e-01 6.10609847e-01 4.80562620e-01 2.99624244e+02] [-4.90764426e-01 7.91899645e-01 -3.63380284e-01 -1.79310125e+02] [-6.02440948e-01 -7.11104424e-03 7.98131780e-01 -6.96959073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.64, Y:-179.33, Z:-696.98 [[ 6.29299744e-01 6.10694788e-01 4.80659660e-01 2.99644679e+02] [-4.90622342e-01 7.91835670e-01 -3.63711410e-01 -1.79325779e+02] [-6.02720126e-01 -6.93887129e-03 7.97922491e-01 -6.96979404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.66, Y:-179.33, Z:-697.01 [[ 6.29105724e-01 6.14828681e-01 4.75617158e-01 2.99664407e+02] [-4.87393838e-01 7.88650664e-01 -3.74803118e-01 -1.79332041e+02] [-6.05535495e-01 3.97791494e-03 7.95808357e-01 -6.97005781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.68, Y:-179.36, Z:-697.02 [[ 6.29543393e-01 6.07118454e-01 4.84852863e-01 2.99683735e+02] [-4.88049700e-01 7.94557804e-01 -3.61227611e-01 -1.79357779e+02] [-6.04551575e-01 -9.22383849e-03 7.96512595e-01 -6.97020322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:-179.38, Z:-697.04 [[ 6.30145346e-01 6.04876419e-01 4.86868935e-01 2.99704768e+02] [-4.90091719e-01 7.96177878e-01 -3.54839250e-01 -1.79379185e+02] [-6.02268171e-01 -1.50101316e-02 7.98152709e-01 -6.97035009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.73, Y:-179.39, Z:-697.06 [[ 6.30108677e-01 6.12085881e-01 4.77822069e-01 2.99726756e+02] [-4.89234516e-01 7.90788790e-01 -3.67835123e-01 -1.79385828e+02] [-6.03003021e-01 -1.99094606e-03 7.97736418e-01 -6.97062006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.75, Y:-179.41, Z:-697.08 [[ 6.30333633e-01 6.08477192e-01 4.82115150e-01 2.99746999e+02] [-4.90097193e-01 7.93521442e-01 -3.60733228e-01 -1.79406819e+02] [-6.02066651e-01 -8.90099545e-03 7.98396217e-01 -6.97077291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.81, Y:-179.45, Z:-697.14 [[ 6.25052460e-01 6.17950161e-01 4.76914060e-01 2.99806287e+02] [-4.95427395e-01 7.86198775e-01 -3.69382164e-01 -1.79451095e+02] [-6.03209017e-01 -5.39306067e-03 7.97564917e-01 -6.97140801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.54, Y:-179.74, Z:-696.35 [[ 6.84370930e-01 -6.99876241e-01 2.04474149e-01 3.00542582e+02] [-4.70089595e-01 -2.09156204e-01 8.57478545e-01 -1.79743646e+02] [-5.57361824e-01 -6.82954559e-01 -4.72144965e-01 -6.96353391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.96, Y:-179.57, Z:-697.27 [[ 6.75550131e-01 5.79323236e-01 4.56088379e-01 2.99960610e+02] [-4.80454893e-01 8.15097773e-01 -3.23695408e-01 -1.79573481e+02] [-5.59280893e-01 -4.57417807e-04 8.28978090e-01 -6.97265776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:-179.59, Z:-697.28 [[ 6.76572392e-01 5.74997476e-01 4.60030108e-01 2.99982180e+02] [-4.80001171e-01 8.18128710e-01 -3.16645369e-01 -1.79593889e+02] [-5.58434127e-01 -6.58147608e-03 8.29522761e-01 -6.97279546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.00, Y:-179.61, Z:-697.30 [[ 6.77060331e-01 5.76524730e-01 4.57393206e-01 3.00004907e+02] [-4.79211135e-01 8.17076827e-01 -3.20534160e-01 -1.79606650e+02] [-5.58521259e-01 -2.16695334e-03 8.29487377e-01 -6.97299363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.03, Y:-179.62, Z:-697.32 [[ 6.78027962e-01 5.76616950e-01 4.55840955e-01 3.00027553e+02] [-4.77637215e-01 8.17013588e-01 -3.23034810e-01 -1.79619510e+02] [-5.58695601e-01 1.30002974e-03 8.29371772e-01 -6.97320634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:-179.64, Z:-697.34 [[ 6.78553203e-01 5.73790378e-01 4.58617655e-01 3.00049093e+02] [-4.77788691e-01 8.18994672e-01 -3.17750994e-01 -1.79638491e+02] [-5.57927878e-01 -3.51137414e-03 8.29882011e-01 -6.97335824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.07, Y:-179.64, Z:-697.36 [[ 6.79796950e-01 5.78058392e-01 4.51358619e-01 3.00070657e+02] [-4.72842511e-01 8.15895101e-01 -3.32768904e-01 -1.79639226e+02] [-5.60621144e-01 1.27937431e-02 8.27973582e-01 -6.97363064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-179.67, Z:-697.37 [[ 6.80697884e-01 5.68926307e-01 4.61490248e-01 3.00090805e+02] [-4.72990081e-01 8.22382813e-01 -3.16175413e-01 -1.79665284e+02] [-5.59402158e-01 -3.06037478e-03 8.28890741e-01 -6.97374691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.11, Y:-179.68, Z:-697.39 [[ 6.81799659e-01 5.69801058e-01 4.58776611e-01 3.00112988e+02] [-4.72100511e-01 8.21782129e-01 -3.19053663e-01 -1.79677921e+02] [-5.58811535e-01 9.42006328e-04 8.29294146e-01 -6.97394542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.14, Y:-179.70, Z:-697.41 [[ 6.82290091e-01 5.65154689e-01 4.63767624e-01 3.00135769e+02] [-4.74848881e-01 8.24911754e-01 -3.06658016e-01 -1.79704712e+02] [-5.55876580e-01 -1.09898113e-02 8.31192187e-01 -6.97405086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-179.71, Z:-697.43 [[ 6.82633203e-01 5.72463805e-01 4.54199409e-01 3.00160054e+02] [-4.74842778e-01 8.19925854e-01 -3.19759175e-01 -1.79711833e+02] [-5.55460392e-01 2.60492046e-03 8.31538915e-01 -6.97428561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.18, Y:-179.73, Z:-697.45 [[ 6.82565172e-01 5.72603102e-01 4.54126056e-01 3.00183035e+02] [-4.74892338e-01 8.19828220e-01 -3.19935864e-01 -1.79726461e+02] [-5.55501624e-01 2.71609330e-03 8.31511016e-01 -6.97447170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.20, Y:-179.74, Z:-697.46 [[ 6.82129810e-01 5.73137645e-01 4.54105894e-01 3.00204842e+02] [-4.75391836e-01 8.19455285e-01 -3.20149401e-01 -1.79740838e+02] [-5.55609148e-01 2.50521527e-03 8.31439834e-01 -6.97464965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.23, Y:-179.76, Z:-697.48 [[ 6.81743155e-01 5.73793938e-01 4.53857673e-01 3.00227740e+02] [-4.76156750e-01 8.18996811e-01 -3.20185840e-01 -1.79756091e+02] [-5.55428681e-01 2.17711032e-03 8.31561327e-01 -6.97483473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.25, Y:-179.77, Z:-697.50 [[ 6.80530271e-01 5.75144529e-01 4.53968415e-01 3.00251106e+02] [-4.77578273e-01 8.18050788e-01 -3.20486974e-01 -1.79770673e+02] [-5.55695550e-01 1.29563581e-03 8.31384855e-01 -6.97502323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.27, Y:-179.79, Z:-697.52 [[ 6.79870770e-01 5.75911195e-01 4.53984615e-01 3.00273355e+02] [-4.78338363e-01 8.17511769e-01 -3.20728729e-01 -1.79785638e+02] [-5.55849031e-01 8.95829851e-04 8.31282775e-01 -6.97520880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.30, Y:-179.80, Z:-697.54 [[ 6.79180761e-01 5.76835493e-01 4.53843924e-01 3.00295935e+02] [-4.79363423e-01 8.16860258e-01 -3.20858268e-01 -1.79801357e+02] [-5.55809502e-01 3.64585428e-04 8.31309608e-01 -6.97539554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-179.82, Z:-697.56 [[ 6.78148333e-01 5.78188054e-01 4.53666631e-01 3.00318670e+02] [-4.80921659e-01 8.15903367e-01 -3.20961140e-01 -1.79816232e+02] [-5.55724029e-01 -5.18846640e-04 8.31366667e-01 -6.97557150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.34, Y:-179.83, Z:-697.58 [[ 6.77465456e-01 5.79247243e-01 4.53335624e-01 3.00341144e+02] [-4.82210500e-01 8.15151056e-01 -3.20938920e-01 -1.79831326e+02] [-5.55439996e-01 -1.17816603e-03 8.31555784e-01 -6.97575049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.36, Y:-179.85, Z:-697.59 [[ 6.75742231e-01 5.81046225e-01 4.53605250e-01 3.00364148e+02] [-4.84098658e-01 8.13866911e-01 -3.21355162e-01 -1.79845228e+02] [-5.55896507e-01 -2.43643834e-03 8.31247940e-01 -6.97593343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.39, Y:-179.86, Z:-697.61 [[ 6.74579819e-01 5.82268892e-01 4.53767568e-01 3.00386486e+02] [-4.85343095e-01 8.12989887e-01 -3.21697878e-01 -1.79859813e+02] [-5.56223111e-01 -3.22205947e-03 8.31026756e-01 -6.97611541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.41, Y:-179.87, Z:-697.63 [[ 6.73649654e-01 5.83449010e-01 4.53633550e-01 3.00409306e+02] [-4.86686775e-01 8.12139985e-01 -3.21814585e-01 -1.79874785e+02] [-5.56176345e-01 -3.98716603e-03 8.31054737e-01 -6.97629692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.43, Y:-179.89, Z:-697.65 [[ 6.72624900e-01 5.84639203e-01 4.53621811e-01 3.00432204e+02] [-4.87977169e-01 8.11279502e-01 -3.22030826e-01 -1.79889925e+02] [-5.56285922e-01 -4.75113535e-03 8.30977376e-01 -6.97648496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.45, Y:-179.90, Z:-697.67 [[ 6.71145721e-01 5.86233268e-01 4.53755415e-01 3.00454727e+02] [-4.89684529e-01 8.10121185e-01 -3.22354972e-01 -1.79903602e+02] [-5.56572083e-01 -5.84984660e-03 8.30778728e-01 -6.97666911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.48, Y:-179.92, Z:-697.69 [[ 6.70471825e-01 5.87089062e-01 4.53645198e-01 3.00477029e+02] [-4.90674422e-01 8.09496892e-01 -3.22418041e-01 -1.79918374e+02] [-5.56512483e-01 -6.41988330e-03 8.30814445e-01 -6.97685259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:-179.93, Z:-697.70 [[ 6.69844079e-01 5.87989156e-01 4.53406729e-01 3.00499173e+02] [-4.91717022e-01 8.08839071e-01 -3.22480585e-01 -1.79931849e+02] [-5.56348164e-01 -6.93609622e-03 8.30920340e-01 -6.97703693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.52, Y:-179.95, Z:-697.72 [[ 6.69639829e-01 5.88339672e-01 4.53253715e-01 3.00521873e+02] [-4.92067033e-01 8.08583477e-01 -3.22587656e-01 -1.79947019e+02] [-5.56284580e-01 -7.01366790e-03 8.30962258e-01 -6.97722636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.54, Y:-179.96, Z:-697.74 [[ 6.69666756e-01 5.88566273e-01 4.52919616e-01 3.00543521e+02] [-4.92342319e-01 8.08418924e-01 -3.22580044e-01 -1.79961922e+02] [-5.56008523e-01 -6.97036290e-03 8.31147362e-01 -6.97740587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.57, Y:-179.98, Z:-697.76 [[ 6.70176422e-01 5.88352304e-01 4.52443510e-01 3.00565902e+02] [-4.92211564e-01 8.08577400e-01 -3.22382326e-01 -1.79977841e+02] [-5.55509981e-01 -6.64489404e-03 8.31483317e-01 -6.97758818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.59, Y:-179.99, Z:-697.78 [[ 6.70510388e-01 5.88214678e-01 4.52127540e-01 3.00587804e+02] [-4.92041163e-01 8.08680259e-01 -3.22384448e-01 -1.79993474e+02] [-5.55257881e-01 -6.30323922e-03 8.31654348e-01 -6.97777425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.61, Y:-180.01, Z:-697.80 [[ 6.71836978e-01 5.87506423e-01 4.51077907e-01 3.00610087e+02] [-4.91525798e-01 8.09200970e-01 -3.21863604e-01 -1.80009071e+02] [-5.54109614e-01 -5.47655735e-03 8.32425698e-01 -6.97796337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.63, Y:-180.02, Z:-697.82 [[ 6.72776390e-01 5.87811617e-01 4.49276565e-01 3.00631688e+02] [-4.89537542e-01 8.08997189e-01 -3.25386759e-01 -1.80019971e+02] [-5.54729595e-01 -1.02521631e-03 8.32030063e-01 -6.97817367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.65, Y:-180.04, Z:-697.83 [[ 6.73088964e-01 5.83872262e-01 4.53921169e-01 3.00652572e+02] [-4.90883214e-01 8.11784794e-01 -3.16289611e-01 -1.80043281e+02] [-5.53159034e-01 -9.93123553e-03 8.33016479e-01 -6.97831235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.68, Y:-180.06, Z:-697.85 [[ 6.73353242e-01 5.86628325e-01 4.49958464e-01 3.00675174e+02] [-4.90628944e-01 8.09845373e-01 -3.21611118e-01 -1.80055980e+02] [-5.53062972e-01 -4.20475633e-03 8.33128843e-01 -6.97851786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.70, Y:-180.07, Z:-697.87 [[ 6.74081282e-01 5.86275887e-01 4.49327286e-01 3.00696302e+02] [-4.90348449e-01 8.10103087e-01 -3.21389775e-01 -1.80072317e+02] [-5.52424497e-01 -3.68410619e-03 8.33554799e-01 -6.97869489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.72, Y:-180.09, Z:-697.89 [[ 6.73994448e-01 5.86254212e-01 4.49485798e-01 3.00718489e+02] [-4.90106080e-01 8.10119761e-01 -3.21717273e-01 -1.80088535e+02] [-5.52745434e-01 -3.46006611e-03 8.33342975e-01 -6.97888154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.74, Y:-180.11, Z:-697.91 [[ 6.73899859e-01 5.86513642e-01 4.49289136e-01 3.00739417e+02] [-4.90359005e-01 8.09932005e-01 -3.21804589e-01 -1.80105219e+02] [-5.52636432e-01 -3.44890683e-03 8.33415310e-01 -6.97905721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:-180.12, Z:-697.92 [[ 6.73532715e-01 5.87027050e-01 4.49169150e-01 3.00761167e+02] [-4.90891881e-01 8.09559033e-01 -3.21930634e-01 -1.80121594e+02] [-5.52610933e-01 -3.66267482e-03 8.33431306e-01 -6.97924023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.78, Y:-180.13, Z:-697.95 [[ 6.72412877e-01 5.91778408e-01 4.44588842e-01 3.00782672e+02] [-4.89829941e-01 8.06081620e-01 -3.32113008e-01 -1.80130103e+02] [-5.54912202e-01 5.54413696e-03 8.31890444e-01 -6.97948720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.80, Y:-180.15, Z:-697.96 [[ 6.72438734e-01 5.86754191e-01 4.51160358e-01 3.00802847e+02] [-4.89917406e-01 8.09755766e-01 -3.22918774e-01 -1.80151152e+02] [-5.54803646e-01 -3.88822090e-03 8.31972233e-01 -6.97963152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.82, Y:-180.17, Z:-697.98 [[ 6.71087170e-01 5.86771100e-01 4.53146430e-01 3.00823328e+02] [-4.91597589e-01 8.09716122e-01 -3.20455320e-01 -1.80170522e+02] [-5.54953891e-01 -7.71223889e-03 8.31845359e-01 -6.97979788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.84, Y:-180.19, Z:-697.99 [[ 6.70979468e-01 5.84823137e-01 4.55816248e-01 3.00844818e+02] [-4.93852567e-01 8.11027834e-01 -3.13597662e-01 -1.80192782e+02] [-5.53078833e-01 -1.46884320e-02 8.32999432e-01 -6.97992268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.87, Y:-180.20, Z:-698.01 [[ 6.70453631e-01 5.90490445e-01 4.49235976e-01 3.00868096e+02] [-4.94260344e-01 8.07026604e-01 -3.23132749e-01 -1.80203453e+02] [-5.53352185e-01 -5.39400308e-03 8.32929927e-01 -6.98014504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:-180.22, Z:-698.03 [[ 6.69958291e-01 5.90809567e-01 4.49555273e-01 3.00888474e+02] [-4.94340957e-01 8.06792703e-01 -3.23593190e-01 -1.80220354e+02] [-5.53879866e-01 -5.43964380e-03 8.32578828e-01 -6.98032527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.91, Y:-180.24, Z:-698.05 [[ 6.69801000e-01 5.91001348e-01 4.49537570e-01 3.00909045e+02] [-4.94437470e-01 8.06652562e-01 -3.23795048e-01 -1.80236227e+02] [-5.53983942e-01 -5.38997212e-03 8.32509904e-01 -6.98050372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.93, Y:-180.25, Z:-698.07 [[ 6.69974513e-01 5.91944368e-01 4.48035732e-01 3.00929761e+02] [-4.92830175e-01 8.05978044e-01 -3.27899087e-01 -1.80249277e+02] [-5.55204981e-01 -1.12149715e-03 8.31712794e-01 -6.98071706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.95, Y:-180.27, Z:-698.09 [[ 6.69942262e-01 5.88491350e-01 4.52609430e-01 3.00949949e+02] [-4.93649345e-01 8.08456422e-01 -3.20481729e-01 -1.80271356e+02] [-5.54515726e-01 -8.72609412e-03 8.32127493e-01 -6.98085175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.97, Y:-180.29, Z:-698.10 [[ 6.69929056e-01 5.90577032e-01 4.49904245e-01 3.00971668e+02] [-4.93448053e-01 8.06968154e-01 -3.24517207e-01 -1.80285570e+02] [-5.54710807e-01 -4.60086773e-03 8.32030500e-01 -6.98104536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.99, Y:-180.30, Z:-698.12 [[ 6.70449872e-01 5.90060457e-01 4.49806210e-01 3.00992125e+02] [-4.92729105e-01 8.07349335e-01 -3.24661484e-01 -1.80303149e+02] [-5.54720649e-01 -3.96336096e-03 8.32027220e-01 -6.98122148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.01, Y:-180.32, Z:-698.14 [[ 6.71304019e-01 5.90254249e-01 4.48275401e-01 3.01013692e+02] [-4.92280853e-01 8.07214789e-01 -3.25674449e-01 -1.80318816e+02] [-5.54085261e-01 -2.05083005e-03 8.32457397e-01 -6.98141587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.03, Y:-180.34, Z:-698.16 [[ 6.71385903e-01 5.89439872e-01 4.49223338e-01 3.01034096e+02] [-4.92443980e-01 8.07803720e-01 -3.23963078e-01 -1.80335753e+02] [-5.53841039e-01 -3.71308543e-03 8.32614147e-01 -6.98158353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.05, Y:-180.35, Z:-698.18 [[ 6.71958854e-01 5.89518300e-01 4.48262728e-01 3.01054339e+02] [-4.92464042e-01 8.07749476e-01 -3.24067819e-01 -1.80351786e+02] [-5.53127893e-01 -2.99303419e-03 8.33090977e-01 -6.98176400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.08, Y:-180.37, Z:-698.19 [[ 6.71933622e-01 5.89705484e-01 4.48054294e-01 3.01075835e+02] [-4.92648639e-01 8.07613021e-01 -3.24127332e-01 -1.80368065e+02] [-5.52994147e-01 -2.94128578e-03 8.33179946e-01 -6.98194857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.10, Y:-180.38, Z:-698.21 [[ 6.71782792e-01 5.89960493e-01 4.47944748e-01 3.01098238e+02] [-4.92854231e-01 8.07426809e-01 -3.24278670e-01 -1.80384261e+02] [-5.52994202e-01 -2.92663468e-03 8.33179961e-01 -6.98213639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.12, Y:-180.40, Z:-698.23 [[ 6.71575569e-01 5.90214042e-01 4.47921466e-01 3.01118985e+02] [-4.93031474e-01 8.07241465e-01 -3.24470619e-01 -1.80400965e+02] [-5.53087896e-01 -2.93284050e-03 8.33117746e-01 -6.98231634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.14, Y:-180.42, Z:-698.25 [[ 6.71170789e-01 5.90586502e-01 4.48037226e-01 3.01139942e+02] [-4.93281360e-01 8.06968641e-01 -3.24769323e-01 -1.80417213e+02] [-5.53356370e-01 -3.03272925e-03 8.32939092e-01 -6.98249473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.16, Y:-180.43, Z:-698.27 [[ 6.70893897e-01 5.91088060e-01 4.47790446e-01 3.01161858e+02] [-4.93861868e-01 8.06600528e-01 -3.24801544e-01 -1.80434032e+02] [-5.53174325e-01 -3.23925231e-03 8.33059226e-01 -6.98267664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.18, Y:-180.45, Z:-698.29 [[ 6.69427860e-01 5.92782770e-01 4.47744267e-01 3.01183640e+02] [-4.95776677e-01 8.05350234e-01 -3.24986904e-01 -1.80450084e+02] [-5.53237587e-01 -4.42587727e-03 8.33011755e-01 -6.98285730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.21, Y:-180.47, Z:-698.30 [[ 6.68311320e-01 5.94136654e-01 4.47617712e-01 3.01205077e+02] [-4.97314729e-01 8.04346502e-01 -3.25122694e-01 -1.80465025e+02] [-5.53207050e-01 -5.32370406e-03 8.33026781e-01 -6.98303572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:-180.48, Z:-698.32 [[ 6.66206563e-01 5.96785341e-01 4.47231565e-01 3.01226965e+02] [-5.00545721e-01 8.02367665e-01 -3.25054015e-01 -1.80480101e+02] [-5.52831617e-01 -7.30672800e-03 8.33260953e-01 -6.98321646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.25, Y:-180.50, Z:-698.34 [[ 6.64964770e-01 5.98165354e-01 4.47236028e-01 3.01248764e+02] [-5.02066962e-01 8.01330222e-01 -3.25267030e-01 -1.80495494e+02] [-5.52947214e-01 -8.25131778e-03 8.33175429e-01 -6.98340346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.27, Y:-180.51, Z:-698.36 [[ 6.63739763e-01 5.99565629e-01 4.47180705e-01 3.01271086e+02] [-5.03632421e-01 8.00272710e-01 -3.25450417e-01 -1.80511492e+02] [-5.52995399e-01 -9.20031890e-03 8.33133509e-01 -6.98359379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.29, Y:-180.53, Z:-698.38 [[ 6.62090601e-01 6.01566914e-01 4.46937674e-01 3.01293574e+02] [-5.06011742e-01 7.98751453e-01 -3.25496902e-01 -1.80527518e+02] [-5.52800283e-01 -1.06472716e-02 8.33245752e-01 -6.98377849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:-180.54, Z:-698.40 [[ 6.61242652e-01 6.02437146e-01 4.47020851e-01 3.01315504e+02] [-5.06869439e-01 7.98088362e-01 -3.25788793e-01 -1.80543309e+02] [-5.53029409e-01 -1.11557627e-02 8.33087043e-01 -6.98396060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.34, Y:-180.56, Z:-698.41 [[ 6.60690263e-01 6.03144477e-01 4.46883784e-01 3.01338067e+02] [-5.07634305e-01 7.97548737e-01 -3.25919353e-01 -1.80559283e+02] [-5.52988055e-01 -1.15217957e-02 8.33109512e-01 -6.98414510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.36, Y:-180.56, Z:-698.44 [[ 6.59550637e-01 6.08664316e-01 4.41045019e-01 3.01360485e+02] [-5.05224591e-01 7.93427150e-01 -3.39442882e-01 -1.80563483e+02] [-5.56543862e-01 1.05297975e-03 8.30817562e-01 -6.98442468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:-180.60, Z:-698.45 [[ 6.60836577e-01 5.95984950e-01 4.56176455e-01 3.01380650e+02] [-5.07314296e-01 8.02633389e-01 -3.13706628e-01 -1.80597433e+02] [-5.53106883e-01 -2.41160229e-02 8.32761186e-01 -6.98446181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.40, Y:-180.60, Z:-698.47 [[ 6.60733519e-01 6.03007654e-01 4.47004460e-01 3.01403674e+02] [-5.06998109e-01 7.97662100e-01 -3.26631432e-01 -1.80604575e+02] [-5.53519770e-01 -1.08140802e-02 8.32765826e-01 -6.98468615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.43, Y:-180.62, Z:-698.49 [[ 6.61547214e-01 6.02243192e-01 4.46831535e-01 3.01425924e+02] [-5.06014179e-01 7.98250515e-01 -3.26719706e-01 -1.80620347e+02] [-5.53448222e-01 -9.96258117e-03 8.32823999e-01 -6.98486687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.45, Y:-180.64, Z:-698.51 [[ 6.61646022e-01 6.02132733e-01 4.46834101e-01 3.01447770e+02] [-5.05727725e-01 7.98337666e-01 -3.26950210e-01 -1.80636092e+02] [-5.53591916e-01 -9.65108760e-03 8.32732158e-01 -6.98505093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.47, Y:-180.65, Z:-698.52 [[ 6.61696813e-01 6.02193006e-01 4.46677636e-01 3.01469445e+02] [-5.05722965e-01 7.98294273e-01 -3.27063506e-01 -1.80651974e+02] [-5.53535555e-01 -9.47825956e-03 8.32771609e-01 -6.98523237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.49, Y:-180.67, Z:-698.54 [[ 6.61591638e-01 6.02322344e-01 4.46659040e-01 3.01490575e+02] [-5.05731707e-01 7.98198076e-01 -3.27284695e-01 -1.80667561e+02] [-5.53653271e-01 -9.36082140e-03 8.32694680e-01 -6.98540809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.51, Y:-180.68, Z:-698.56 [[ 6.61419255e-01 6.02642470e-01 4.46482501e-01 3.01511753e+02] [-5.06056265e-01 7.97955783e-01 -3.27373829e-01 -1.80682857e+02] [-5.53562666e-01 -9.41391244e-03 8.32754317e-01 -6.98558923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.53, Y:-180.70, Z:-698.58 [[ 6.61449370e-01 6.03088096e-01 4.45835709e-01 3.01532752e+02] [-5.06756464e-01 7.97617301e-01 -3.27115466e-01 -1.80697181e+02] [-5.52885718e-01 -9.55980844e-03 8.33202252e-01 -6.98577497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.56, Y:-180.71, Z:-698.60 [[ 6.61630647e-01 6.03482740e-01 4.45031986e-01 3.01555082e+02] [-5.07519190e-01 7.97316689e-01 -3.26665531e-01 -1.80712931e+02] [-5.51968440e-01 -9.73034622e-03 8.33808228e-01 -6.98596237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.58, Y:-180.73, Z:-698.61 [[ 6.61565149e-01 6.03761917e-01 4.44750606e-01 3.01576040e+02] [-5.07836253e-01 7.97105254e-01 -3.26688773e-01 -1.80728025e+02] [-5.51755284e-01 -9.73457386e-03 8.33949246e-01 -6.98614662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.60, Y:-180.74, Z:-698.64 [[ 6.61267064e-01 6.06892721e-01 4.40916200e-01 3.01597079e+02] [-5.06241582e-01 7.94781568e-01 -3.34726336e-01 -1.80736466e+02] [-5.53575046e-01 -1.86661355e-03 8.32797205e-01 -6.98638772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.62, Y:-180.77, Z:-698.65 [[ 6.61680492e-01 5.99673550e-01 4.50078394e-01 3.01617671e+02] [-5.08833326e-01 8.00026643e-01 -3.17877361e-01 -1.80766272e+02] [-5.50697352e-01 -1.86816374e-02 8.34495909e-01 -6.98647310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.64, Y:-180.78, Z:-698.67 [[ 6.61259766e-01 6.04650397e-01 4.43997094e-01 3.01640497e+02] [-5.08860257e-01 7.96429825e-01 -3.26742670e-01 -1.80777408e+02] [-5.51177613e-01 -9.87069416e-03 8.34329556e-01 -6.98668773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:-180.79, Z:-698.69 [[ 6.61083011e-01 6.04485030e-01 4.44485208e-01 3.01661371e+02] [-5.08276672e-01 7.96559538e-01 -3.27334275e-01 -1.80793722e+02] [-5.51927601e-01 -9.52633441e-03 8.33837618e-01 -6.98686377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.68, Y:-180.81, Z:-698.71 [[ 6.61406711e-01 6.03759574e-01 4.44989370e-01 3.01683577e+02] [-5.07019816e-01 7.97118677e-01 -3.27921821e-01 -1.80810237e+02] [-5.52695277e-01 -8.72873499e-03 8.33337711e-01 -6.98705017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.71, Y:-180.83, Z:-698.72 [[ 6.61250226e-01 6.04013279e-01 4.44877621e-01 3.01705840e+02] [-5.07223654e-01 7.96926614e-01 -3.28073372e-01 -1.80826630e+02] [-5.52695490e-01 -8.71386114e-03 8.33337725e-01 -6.98723793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:-180.84, Z:-698.74 [[ 6.62400846e-01 6.02694244e-01 4.44954794e-01 3.01726494e+02] [-5.05457012e-01 7.97937791e-01 -3.28342032e-01 -1.80843133e+02] [-5.52936098e-01 -7.41148095e-03 8.33190699e-01 -6.98741828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.75, Y:-180.86, Z:-698.76 [[ 6.62933264e-01 6.02012592e-01 4.45084629e-01 3.01748037e+02] [-5.04429297e-01 7.98459008e-01 -3.28655287e-01 -1.80859995e+02] [-5.53236452e-01 -6.63720464e-03 8.32997824e-01 -6.98760488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:-180.88, Z:-698.78 [[ 6.63783941e-01 6.01294708e-01 4.44787089e-01 3.01769722e+02] [-5.03553667e-01 7.99006210e-01 -3.28668192e-01 -1.80877124e+02] [-5.53014091e-01 -5.80950230e-03 8.33151646e-01 -6.98778974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:-180.88, Z:-698.81 [[ 6.64484244e-01 6.06589375e-01 4.36474535e-01 3.01789753e+02] [-4.97049140e-01 7.94886965e-01 -3.47989750e-01 -1.80876750e+02] [-5.58034803e-01 1.42844134e-02 8.29694591e-01 -6.98809191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:-180.91, Z:-698.82 [[ 6.65373505e-01 5.93175398e-01 4.53233986e-01 3.01808081e+02] [-4.96774778e-01 8.05018548e-01 -3.24283762e-01 -1.80908448e+02] [-5.57218915e-01 -9.38538923e-03 8.30312589e-01 -6.98817273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:-180.94, Z:-698.82 [[ 6.66219991e-01 5.87924794e-01 4.58797733e-01 3.01831672e+02] [-5.00947078e-01 8.08554262e-01 -3.08694073e-01 -1.80939731e+02] [-5.52451761e-01 -2.41752210e-02 8.33194221e-01 -6.98824606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:-180.94, Z:-698.85 [[ 6.65913992e-01 5.99334820e-01 4.44248049e-01 3.01855648e+02] [-5.00939275e-01 8.00491137e-01 -3.29049817e-01 -1.80941743e+02] [-5.52827639e-01 -3.42241772e-03 8.33288599e-01 -6.98850667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.88, Y:-180.96, Z:-698.87 [[ 6.65889724e-01 5.99462605e-01 4.44111991e-01 3.01877845e+02] [-5.01016739e-01 8.00395875e-01 -3.29163592e-01 -1.80957314e+02] [-5.52786670e-01 -3.32088823e-03 8.33316188e-01 -6.98869196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.90, Y:-180.97, Z:-698.89 [[ 6.66028561e-01 5.99536102e-01 4.43804483e-01 3.01900760e+02] [-5.01101423e-01 8.00341489e-01 -3.29166926e-01 -1.80972865e+02] [-5.52542596e-01 -3.15648362e-03 8.33478684e-01 -6.98887923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:-180.98, Z:-698.91 [[ 6.66115036e-01 6.01299470e-01 4.41281891e-01 3.01922272e+02] [-4.98692221e-01 7.99015012e-01 -3.35977796e-01 -1.80980727e+02] [-5.54614126e-01 3.73601562e-03 8.32099281e-01 -6.98910761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.94, Y:-181.01, Z:-698.92 [[ 6.66002384e-01 5.95149777e-01 4.49708314e-01 3.01943579e+02] [-5.01788647e-01 8.03519636e-01 -3.20256693e-01 -1.81009077e+02] [-5.51950160e-01 -1.23668057e-02 8.33785394e-01 -6.98921454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.97, Y:-181.02, Z:-698.94 [[ 6.65711593e-01 6.00482367e-01 4.43000002e-01 3.01967086e+02] [-5.02178050e-01 7.99631279e-01 -3.29252219e-01 -1.81019251e+02] [-5.51946810e-01 -3.27785800e-03 8.33872877e-01 -6.98943022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.99, Y:-181.03, Z:-698.96 [[ 6.65370382e-01 6.00914856e-01 4.42926168e-01 3.01988671e+02] [-5.02579703e-01 7.99305754e-01 -3.29429742e-01 -1.81034382e+02] [-5.51992661e-01 -3.41290876e-03 8.33841984e-01 -6.98961341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.01, Y:-181.04, Z:-698.98 [[ 6.65152258e-01 6.02585140e-01 4.40980297e-01 3.02010637e+02] [-5.00140256e-01 7.98048888e-01 -3.36121550e-01 -1.81040783e+02] [-5.54465687e-01 3.02000933e-03 8.32201106e-01 -6.98983827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.03, Y:-181.07, Z:-698.99 [[ 6.64743086e-01 5.96637793e-01 4.49599794e-01 3.02032050e+02] [-5.03276072e-01 8.02404100e-01 -3.20719280e-01 -1.81069688e+02] [-5.52113961e-01 -1.30768944e-02 8.33666102e-01 -6.98994246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.06, Y:-181.08, Z:-699.02 [[ 6.63957722e-01 6.02314909e-01 4.43144328e-01 3.02055503e+02] [-5.03797046e-01 7.98248249e-01 -3.30133714e-01 -1.81079172e+02] [-5.52583641e-01 -4.05997462e-03 8.33447560e-01 -6.99016491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:-181.09, Z:-699.03 [[ 6.63189081e-01 6.03485968e-01 4.42701852e-01 3.02078091e+02] [-5.05275009e-01 7.97359062e-01 -3.30023775e-01 -1.81094545e+02] [-5.52157050e-01 -4.81801848e-03 8.33726201e-01 -6.99034623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.10, Y:-181.11, Z:-699.05 [[ 6.62652489e-01 6.04249072e-01 4.42464392e-01 3.02100668e+02] [-5.06159125e-01 7.96778299e-01 -3.30071631e-01 -1.81110523e+02] [-5.51991503e-01 -5.23460178e-03 8.33833305e-01 -6.99053334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.12, Y:-181.13, Z:-699.07 [[ 6.62019358e-01 6.05102684e-01 4.42245533e-01 3.02123091e+02] [-5.07138337e-01 7.96126887e-01 -3.30140406e-01 -1.81126726e+02] [-5.51852405e-01 -5.72032449e-03 8.33922179e-01 -6.99071937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:-181.14, Z:-699.09 [[ 6.60762870e-01 6.06258399e-01 4.42541730e-01 3.02145466e+02] [-5.08228975e-01 7.95241435e-01 -3.30596989e-01 -1.81142299e+02] [-5.52354722e-01 -6.46631448e-03 8.33584098e-01 -6.99090311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.17, Y:-181.16, Z:-699.11 [[ 6.59923263e-01 6.07053270e-01 4.42704885e-01 3.02166922e+02] [-5.08951024e-01 7.94631087e-01 -3.30953609e-01 -1.81157667e+02] [-5.52693534e-01 -6.91111873e-03 8.33355923e-01 -6.99108203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.19, Y:-181.17, Z:-699.13 [[ 6.58439882e-01 6.08210689e-01 4.43324576e-01 3.02189659e+02] [-5.09899479e-01 7.93738392e-01 -3.31635171e-01 -1.81172992e+02] [-5.53587792e-01 -7.68914737e-03 8.32755326e-01 -6.99127150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:-181.19, Z:-699.14 [[ 6.57784958e-01 6.08911184e-01 4.43335222e-01 3.02210885e+02] [-5.10584165e-01 7.93197488e-01 -3.31875814e-01 -1.81188165e+02] [-5.53735279e-01 -8.05702546e-03 8.32653785e-01 -6.99144730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:-181.20, Z:-699.16 [[ 6.57038625e-01 6.09700163e-01 4.43357594e-01 3.02232633e+02] [-5.11380883e-01 7.92586390e-01 -3.32109028e-01 -1.81204078e+02] [-5.53886124e-01 -8.51613821e-03 8.32548880e-01 -6.99162851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:-181.22, Z:-699.18 [[ 6.56075878e-01 6.10931656e-01 4.43087976e-01 3.02255318e+02] [-5.12844685e-01 7.91628380e-01 -3.32136774e-01 -1.81220034e+02] [-5.53673886e-01 -9.32838733e-03 8.32681337e-01 -6.99181408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.28, Y:-181.24, Z:-699.20 [[ 6.55515409e-01 6.11836498e-01 4.42668779e-01 3.02276709e+02] [-5.13983863e-01 7.90922849e-01 -3.32056676e-01 -1.81235368e+02] [-5.53281246e-01 -9.85634123e-03 8.32936202e-01 -6.99199418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.30, Y:-181.25, Z:-699.22 [[ 6.55029526e-01 6.12732275e-01 4.42148707e-01 3.02298983e+02] [-5.15171680e-01 7.90222268e-01 -3.31883877e-01 -1.81251369e+02] [-5.52751717e-01 -1.03887541e-02 8.33281233e-01 -6.99218051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.32, Y:-181.27, Z:-699.24 [[ 6.54093960e-01 6.14007597e-01 4.41764374e-01 3.02320707e+02] [-5.16741548e-01 7.89220200e-01 -3.31827738e-01 -1.81266735e+02] [-5.52394120e-01 -1.12314876e-02 8.33507403e-01 -6.99236767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.34, Y:-181.28, Z:-699.26 [[ 6.53605794e-01 6.14824898e-01 4.41349987e-01 3.02342454e+02] [-5.17773040e-01 7.88577060e-01 -3.31748851e-01 -1.81282410e+02] [-5.52005928e-01 -1.16861529e-02 8.33758292e-01 -6.99255352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.36, Y:-181.30, Z:-699.27 [[ 6.53160699e-01 6.15481259e-01 4.41094004e-01 3.02363671e+02] [-5.18532655e-01 7.88060029e-01 -3.31791014e-01 -1.81298062e+02] [-5.51819705e-01 -1.20087942e-02 8.33876971e-01 -6.99273334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.39, Y:-181.31, Z:-699.29 [[ 6.53283181e-01 6.15751078e-01 4.40535692e-01 3.02385415e+02] [-5.18982249e-01 7.87849222e-01 -3.31588645e-01 -1.81314243e+02] [-5.51251767e-01 -1.20089197e-02 8.34252525e-01 -6.99291914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:-181.33, Z:-699.31 [[ 6.53956673e-01 6.15216730e-01 4.40282915e-01 3.02407090e+02] [-5.18310798e-01 7.88276518e-01 -3.31623353e-01 -1.81331205e+02] [-5.51084918e-01 -1.13360846e-02 8.34372163e-01 -6.99310836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.43, Y:-181.35, Z:-699.33 [[ 6.54392598e-01 6.14839747e-01 4.40161804e-01 3.02428625e+02] [-5.17759505e-01 7.88578227e-01 -3.31767201e-01 -1.81348303e+02] [-5.51085676e-01 -1.07919566e-02 8.34378877e-01 -6.99328946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:-181.37, Z:-699.35 [[ 6.56356819e-01 6.13015245e-01 4.39781806e-01 3.02449823e+02] [-5.15591997e-01 7.90019527e-01 -3.31713793e-01 -1.81365654e+02] [-5.50781826e-01 -9.02536932e-03 8.34600457e-01 -6.99346782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.47, Y:-181.38, Z:-699.36 [[ 6.57362597e-01 6.11942725e-01 4.39773256e-01 3.02470941e+02] [-5.14152136e-01 7.90862569e-01 -3.31939721e-01 -1.81382116e+02] [-5.50928305e-01 -7.90560218e-03 8.34515132e-01 -6.99364901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.49, Y:-181.40, Z:-699.38 [[ 6.57266410e-01 6.12121191e-01 4.39668641e-01 3.02493030e+02] [-5.14274205e-01 7.90725036e-01 -3.32078245e-01 -1.81398805e+02] [-5.50929132e-01 -7.84636467e-03 8.34515144e-01 -6.99383682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.51, Y:-181.42, Z:-699.40 [[ 6.58329270e-01 6.10925293e-01 4.39741810e-01 3.02514541e+02] [-5.12716625e-01 7.91659674e-01 -3.32259872e-01 -1.81415406e+02] [-5.51111818e-01 -6.72653757e-03 8.34404289e-01 -6.99402200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.54, Y:-181.43, Z:-699.42 [[ 6.61072170e-01 6.08124775e-01 4.39508639e-01 3.02535515e+02] [-5.09311341e-01 7.93830553e-01 -3.32317637e-01 -1.81432624e+02] [-5.50985974e-01 -4.16079326e-03 8.34504131e-01 -6.99420646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.56, Y:-181.45, Z:-699.44 [[ 6.62507914e-01 6.06758417e-01 4.39235116e-01 3.02556640e+02] [-5.07653379e-01 7.94881366e-01 -3.32342686e-01 -1.81449150e+02] [-5.50791531e-01 -2.79953179e-03 8.34638156e-01 -6.99438860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.58, Y:-181.47, Z:-699.46 [[ 6.63864016e-01 6.05480778e-01 4.38950561e-01 3.02577973e+02] [-5.06120176e-01 7.95858456e-01 -3.32342723e-01 -1.81466008e+02] [-5.50569646e-01 -1.53136053e-03 8.34787829e-01 -6.99456889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.60, Y:-181.48, Z:-699.48 [[ 6.65184801e-01 6.04045341e-01 4.38928704e-01 3.02598945e+02] [-5.04258869e-01 7.96949943e-01 -3.32556434e-01 -1.81482817e+02] [-5.50683370e-01 -1.22206804e-04 8.34714209e-01 -6.99475566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:-181.50, Z:-699.49 [[ 6.68358209e-01 6.00708536e-01 4.38687314e-01 3.02619536e+02] [-5.00232113e-01 7.99463012e-01 -3.32605963e-01 -1.81500431e+02] [-5.50513522e-01 2.85444396e-03 8.34821367e-01 -6.99493274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.64, Y:-181.52, Z:-699.51 [[ 6.69608564e-01 5.99199830e-01 4.38843862e-01 3.02640793e+02] [-4.98254829e-01 8.00588304e-01 -3.32867080e-01 -1.81517309e+02] [-5.50787161e-01 4.23457387e-03 8.34634994e-01 -6.99511322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.66, Y:-181.53, Z:-699.53 [[ 6.71512191e-01 5.96590615e-01 4.39489494e-01 3.02662132e+02] [-4.94656207e-01 8.02518497e-01 -3.33585519e-01 -1.81533915e+02] [-5.51712438e-01 6.61053674e-03 8.34008205e-01 -6.99529714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.68, Y:-181.55, Z:-699.55 [[ 6.72214997e-01 5.95798823e-01 4.39489204e-01 3.02683828e+02] [-4.93557435e-01 8.03098851e-01 -3.33816258e-01 -1.81550537e+02] [-5.51840609e-01 7.48313033e-03 8.33916030e-01 -6.99547915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.70, Y:-181.57, Z:-699.57 [[ 6.72655823e-01 5.95372238e-01 4.39392810e-01 3.02704518e+02] [-4.92942421e-01 8.03409605e-01 -3.33977209e-01 -1.81566335e+02] [-5.51853163e-01 8.05635857e-03 8.33902382e-01 -6.99565524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.73, Y:-181.58, Z:-699.58 [[ 6.72735515e-01 5.95415627e-01 4.39211974e-01 3.02725903e+02] [-4.92943558e-01 8.03375738e-01 -3.34056990e-01 -1.81582755e+02] [-5.51754996e-01 8.22528792e-03 8.33965688e-01 -6.99583982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:-181.59, Z:-699.61 [[ 6.72387788e-01 5.99573883e-01 4.34057394e-01 3.02747394e+02] [-4.91123730e-01 8.00107684e-01 -3.44420057e-01 -1.81589321e+02] [-5.53797927e-01 1.84079541e-02 8.32447598e-01 -6.99609161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.77, Y:-181.62, Z:-699.62 [[ 6.71312294e-01 5.93379426e-01 4.44117847e-01 3.02766994e+02] [-4.93676765e-01 8.04920968e-01 -3.29219512e-01 -1.81617567e+02] [-5.52831852e-01 1.75844438e-03 8.33290976e-01 -6.99621065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.32, Y:-182.00, Z:-698.87 [[ 6.97536170e-01 -5.79644800e-01 4.21254316e-01 3.03317781e+02] [-4.95717518e-01 3.41396723e-02 8.67812552e-01 -1.81996126e+02] [-5.17404517e-01 -8.14153787e-01 -2.63526425e-01 -6.98865649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:-181.73, Z:-699.73 [[ 7.08731838e-01 5.79269504e-01 4.02673595e-01 3.02923924e+02] [-5.00972175e-01 8.15124140e-01 -2.90859962e-01 -1.81733842e+02] [-4.96715273e-01 4.41344871e-03 8.67902333e-01 -6.99734360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:-181.75, Z:-699.75 [[ 7.07592619e-01 5.80903320e-01 4.02323276e-01 3.02947236e+02] [-5.02896496e-01 8.13965336e-01 -2.90784363e-01 -1.81749823e+02] [-4.96394803e-01 3.42990303e-03 8.68090108e-01 -6.99750977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.97, Y:-181.77, Z:-699.77 [[ 7.05376772e-01 5.83541141e-01 4.02397001e-01 3.02971142e+02] [-5.05789807e-01 8.12081672e-01 -2.91032696e-01 -1.81765406e+02] [-4.96608781e-01 1.75940177e-03 8.67972709e-01 -6.99768155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.99, Y:-181.78, Z:-699.78 [[ 7.04003873e-01 5.85135366e-01 4.02486210e-01 3.02994064e+02] [-5.07475442e-01 8.10935219e-01 -2.91294947e-01 -1.81781831e+02] [-4.96837219e-01 8.20903718e-04 8.67843364e-01 -6.99784542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.02, Y:-181.80, Z:-699.80 [[ 7.02752361e-01 5.86528088e-01 4.02646149e-01 3.03017534e+02] [-5.08901119e-01 8.09928887e-01 -2.91607355e-01 -1.81798387e+02] [-4.97150652e-01 2.06817151e-05 8.67664238e-01 -6.99801395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.04, Y:-181.82, Z:-699.82 [[ 7.01473331e-01 5.88034941e-01 4.02678623e-01 3.03040893e+02] [-5.10511152e-01 8.08835067e-01 -2.91829057e-01 -1.81815008e+02] [-4.97306273e-01 -8.61626982e-04 8.67574624e-01 -6.99817695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.06, Y:-181.83, Z:-699.83 [[ 6.98863718e-01 5.90925729e-01 4.02984227e-01 3.03064791e+02] [-5.13606325e-01 8.06721335e-01 -2.92248578e-01 -1.81830801e+02] [-4.97793178e-01 -2.73331960e-03 8.67291463e-01 -6.99834726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.09, Y:-181.85, Z:-699.85 [[ 6.97406395e-01 5.92489237e-01 4.03213125e-01 3.03087568e+02] [-5.15201758e-01 8.05570034e-01 -2.92615906e-01 -1.81846430e+02] [-4.98188186e-01 -3.66390657e-03 8.67061190e-01 -6.99851217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.11, Y:-181.86, Z:-699.87 [[ 6.96184512e-01 5.93974707e-01 4.03139149e-01 3.03111212e+02] [-5.16877645e-01 8.04470503e-01 -2.92685343e-01 -1.81862447e+02] [-4.98161245e-01 -4.61061093e-03 8.67072152e-01 -6.99867764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.13, Y:-181.88, Z:-699.88 [[ 6.93946260e-01 5.96308536e-01 4.03552622e-01 3.03134236e+02] [-5.19291722e-01 8.02732106e-01 -2.93184709e-01 -1.81877553e+02] [-4.98773191e-01 -6.10710342e-03 8.66711029e-01 -6.99884223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.16, Y:-181.89, Z:-699.90 [[ 6.93159745e-01 5.98153057e-01 4.02172212e-01 3.03157007e+02] [-5.19546779e-01 8.01374350e-01 -2.96429242e-01 -1.81890450e+02] [-4.99600552e-01 -3.47445934e-03 8.66248934e-01 -6.99902997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.18, Y:-181.91, Z:-699.92 [[ 6.92395904e-01 5.96688287e-01 4.05648863e-01 3.03178676e+02] [-5.21810486e-01 8.02395699e-01 -2.89611737e-01 -1.81911480e+02] [-4.98298835e-01 -1.11458500e-02 8.66933701e-01 -6.99915697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:-181.93, Z:-699.93 [[ 6.91783267e-01 5.99531478e-01 4.02489651e-01 3.03201645e+02] [-5.23198200e-01 8.00311314e-01 -2.92857379e-01 -1.81925038e+02] [-4.97694239e-01 -7.98802703e-03 8.67315765e-01 -6.99933665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.22, Y:-181.94, Z:-699.95 [[ 6.91635376e-01 6.00070678e-01 4.01939907e-01 3.03224653e+02] [-5.23977211e-01 7.99904430e-01 -2.92576119e-01 -1.81941721e+02] [-4.97079862e-01 -8.25135724e-03 8.67665561e-01 -6.99950414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.25, Y:-181.96, Z:-699.97 [[ 6.91634602e-01 6.00463603e-01 4.01354007e-01 3.03247219e+02] [-5.24560569e-01 7.99608570e-01 -2.92339433e-01 -1.81958302e+02] [-4.96465293e-01 -8.34241875e-03 8.68016485e-01 -6.99967239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.27, Y:-181.98, Z:-699.98 [[ 6.92137864e-01 6.00501842e-01 4.00428164e-01 3.03269587e+02] [-5.24872189e-01 7.99581625e-01 -2.91853405e-01 -1.81975387e+02] [-4.95433509e-01 -8.17081473e-03 8.68607435e-01 -6.99983931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.29, Y:-181.98, Z:-700.01 [[ 6.92209405e-01 6.04515564e-01 3.94217038e-01 3.03292196e+02] [-5.21859511e-01 7.96574207e-01 -3.05175659e-01 -1.81980119e+02] [-4.98506560e-01 5.51955039e-03 8.66868355e-01 -7.00009018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.31, Y:-182.02, Z:-700.01 [[ 6.93220691e-01 5.92568702e-01 4.10252857e-01 3.03311521e+02] [-5.24447340e-01 8.05184206e-01 -2.76827352e-01 -1.82017695e+02] [-4.94368345e-01 -2.32535714e-02 8.68941431e-01 -7.00010664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.34, Y:-182.03, Z:-700.03 [[ 6.94228834e-01 5.98769696e-01 3.99401024e-01 3.03335325e+02] [-5.22984527e-01 8.00895552e-01 -2.91639333e-01 -1.82025657e+02] [-4.94503298e-01 -6.41612182e-03 8.69152071e-01 -7.00032567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:-182.04, Z:-700.05 [[ 6.95083947e-01 5.97989809e-01 3.99082066e-01 3.03356844e+02] [-5.22108932e-01 8.01483558e-01 -2.91592815e-01 -1.82042559e+02] [-4.94227246e-01 -5.68282646e-03 8.69314175e-01 -7.00048765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.38, Y:-182.06, Z:-700.07 [[ 6.96150542e-01 5.96934916e-01 3.98802116e-01 3.03379137e+02] [-5.20903638e-01 8.02275541e-01 -2.91570501e-01 -1.82060046e+02] [-4.93997796e-01 -4.76051058e-03 8.69450122e-01 -7.00065286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.40, Y:-182.07, Z:-700.08 [[ 6.97373078e-01 5.96496989e-01 3.97318679e-01 3.03401062e+02] [-5.18498309e-01 8.02615237e-01 -2.94903857e-01 -1.82074481e+02] [-4.94803288e-01 -3.51052642e-04 8.69004939e-01 -7.00084404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.42, Y:-182.10, Z:-700.10 [[ 7.00436206e-01 5.90450261e-01 4.00945895e-01 3.03420981e+02] [-5.15685397e-01 8.07056634e-01 -2.87625035e-01 -1.82098733e+02] [-4.93414321e-01 -5.29895548e-03 8.69778264e-01 -7.00096418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.44, Y:-182.11, Z:-700.12 [[ 7.01619246e-01 5.91916766e-01 3.96692545e-01 3.03443177e+02] [-5.12893679e-01 8.05989816e-01 -2.95500408e-01 -1.82110597e+02] [-4.94641797e-01 3.86767418e-03 8.69088335e-01 -7.00117063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.46, Y:-182.13, Z:-700.13 [[ 7.02899809e-01 5.87297398e-01 4.01265030e-01 3.03464383e+02] [-5.11818389e-01 8.09365986e-01 -2.88042769e-01 -1.82133641e+02] [-4.93937036e-01 -2.90961391e-03 8.69492806e-01 -7.00128797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.49, Y:-182.15, Z:-700.15 [[ 7.04333663e-01 5.87619762e-01 3.98267632e-01 3.03487732e+02] [-5.08235277e-01 8.09119438e-01 -2.94995997e-01 -1.82147240e+02] [-4.95591560e-01 5.36195063e-03 8.68539150e-01 -7.00148224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:-182.17, Z:-700.16 [[ 7.04238335e-01 5.85553922e-01 4.01466029e-01 3.03510182e+02] [-5.08044855e-01 8.10632750e-01 -2.91144243e-01 -1.82166550e+02] [-4.95922164e-01 1.07218660e-03 8.68366315e-01 -7.00161398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.53, Y:-182.18, Z:-700.18 [[ 7.04435392e-01 5.86363272e-01 3.99936109e-01 3.03533821e+02] [-5.07638124e-01 8.10039650e-01 -2.93494977e-01 -1.82181781e+02] [-4.96058780e-01 3.72543342e-03 8.68280950e-01 -7.00178945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.56, Y:-182.20, Z:-700.20 [[ 7.05384871e-01 5.85327205e-01 3.99780249e-01 3.03555926e+02] [-5.06399619e-01 8.10783913e-01 -2.93579414e-01 -1.82198293e+02] [-4.95975412e-01 4.63791082e-03 8.68324179e-01 -7.00195378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.58, Y:-182.21, Z:-700.21 [[ 7.06138234e-01 5.84657393e-01 3.99430254e-01 3.03578277e+02] [-5.05673517e-01 8.11263154e-01 -2.93507052e-01 -1.82214680e+02] [-4.95644115e-01 5.27524990e-03 8.68509691e-01 -7.00211493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.60, Y:-182.23, Z:-700.23 [[ 7.07575361e-01 5.83297149e-01 3.98875349e-01 3.03601905e+02] [-5.04244448e-01 8.12233729e-01 -2.93281276e-01 -1.82230218e+02] [-4.95050144e-01 6.38792491e-03 8.68840923e-01 -7.00228202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.62, Y:-182.23, Z:-700.26 [[ 7.08010669e-01 5.88746559e-01 3.89997927e-01 3.03624953e+02] [-5.00231183e-01 8.07916480e-01 -3.11511997e-01 -1.82231210e+02] [-4.98487369e-01 2.54646926e-02 8.66522875e-01 -7.00256338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.64, Y:-182.27, Z:-700.25 [[ 7.09912034e-01 5.71269444e-01 4.11917621e-01 3.03643893e+02] [-5.01633534e-01 8.20669093e-01 -2.73616588e-01 -1.82274018e+02] [-4.94356857e-01 -1.23879834e-02 8.69170775e-01 -7.00253576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:-182.26, Z:-700.29 [[ 7.11157351e-01 5.85030983e-01 3.89864043e-01 3.03670276e+02] [-4.97183505e-01 8.10586594e-01 -3.09447793e-01 -1.82263264e+02] [-4.97055113e-01 2.62321013e-02 8.67322369e-01 -7.00287788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.69, Y:-182.31, Z:-700.29 [[ 7.15053548e-01 5.66139014e-01 4.10103695e-01 3.03690315e+02] [-4.95335334e-01 8.24279679e-01 -2.74236975e-01 -1.82305331e+02] [-4.93296393e-01 -7.04472902e-03 8.69832766e-01 -7.00286293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.72, Y:-182.31, Z:-700.31 [[ 7.16989399e-01 5.73311796e-01 3.96534722e-01 3.03716796e+02] [-4.93349489e-01 8.19217553e-01 -2.92384820e-01 -1.82311015e+02] [-4.92475871e-01 1.40066139e-02 8.70213383e-01 -7.00309592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.74, Y:-182.33, Z:-700.33 [[ 7.18706392e-01 5.71104243e-01 3.96611985e-01 3.03739089e+02] [-4.90681295e-01 8.20727145e-01 -2.92641111e-01 -1.82326989e+02] [-4.92638802e-01 1.57129548e-02 8.70092015e-01 -7.00325155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:-182.34, Z:-700.34 [[ 7.22136988e-01 5.66573185e-01 3.96879070e-01 3.03763056e+02] [-4.85287060e-01 8.23792279e-01 -2.93023465e-01 -1.82342519e+02] [-4.92965151e-01 1.90028052e-02 8.69841510e-01 -7.00340780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.79, Y:-182.36, Z:-700.36 [[ 7.23324635e-01 5.65054218e-01 3.96881851e-01 3.03786408e+02] [-4.82730864e-01 8.24775827e-01 -2.94475379e-01 -1.82358093e+02] [-4.93733112e-01 2.14141766e-02 8.69349784e-01 -7.00358163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.81, Y:-182.37, Z:-700.37 [[ 7.24167381e-01 5.63284793e-01 3.97859079e-01 3.03809303e+02] [-4.81028774e-01 8.25984857e-01 -2.93871290e-01 -1.82373970e+02] [-4.94158803e-01 2.14303378e-02 8.69107484e-01 -7.00372830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.83, Y:-182.39, Z:-700.39 [[ 7.24694333e-01 5.62483963e-01 3.98032555e-01 3.03832756e+02] [-4.79788469e-01 8.26504558e-01 -2.94437159e-01 -1.82389466e+02] [-4.94591901e-01 2.24055109e-02 8.68836489e-01 -7.00389152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.86, Y:-182.40, Z:-700.41 [[ 7.24162098e-01 5.62907893e-01 3.98401756e-01 3.03858012e+02] [-4.79184184e-01 8.26180357e-01 -2.96325050e-01 -1.82404781e+02] [-4.95955415e-01 2.36795492e-02 8.68025061e-01 -7.00406635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.88, Y:-182.42, Z:-700.42 [[ 7.23358117e-01 5.64239792e-01 3.97978006e-01 3.03882229e+02] [-4.80318126e-01 8.25270784e-01 -2.97022947e-01 -1.82420095e+02] [-4.96031787e-01 2.36979097e-02 8.67980919e-01 -7.00423576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.91, Y:-182.43, Z:-700.44 [[ 7.21068440e-01 5.66862734e-01 3.98405504e-01 3.03906517e+02] [-4.83695479e-01 8.23545387e-01 -2.96330356e-01 -1.82431520e+02] [-4.96083650e-01 2.09675262e-02 8.68021529e-01 -7.00438073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:-182.45, Z:-700.45 [[ 7.18997664e-01 5.67081930e-01 4.01821408e-01 3.03931004e+02] [-4.88451415e-01 8.23587682e-01 -2.88302871e-01 -1.82454544e+02] [-4.94426511e-01 1.10188556e-02 8.69149591e-01 -7.00450721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4765599949999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:304.80, Y:-181.92, Z:-700.04 [[ 6.87922707e-01 -9.17817839e-02 -7.19957258e-01 3.04803469e+02] [-4.92373058e-01 -7.87809796e-01 -3.70033103e-01 -1.81922591e+02] [-5.33227082e-01 6.09041731e-01 -5.87143125e-01 -7.00036335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:-182.95, Z:-699.91 [[ 7.21055913e-01 -3.73099648e-01 5.83845034e-01 3.04359127e+02] [-4.67111720e-01 3.60599239e-01 8.07325727e-01 -1.82948390e+02] [-5.11747020e-01 -8.54847847e-01 8.57329956e-02 -6.99914235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.80, Y:-182.01, Z:-700.49 [[ 7.01546550e-01 3.81750985e-01 -6.01746312e-01 3.04803436e+02] [-4.80280591e-01 -3.70535861e-01 -7.95005491e-01 -1.82009185e+02] [-5.26462717e-01 8.46740433e-01 -7.66005664e-02 -7.00490963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.27, Y:-182.68, Z:-700.67 [[ 7.17873196e-01 5.33870936e-01 4.46810808e-01 3.04267435e+02] [-4.45249963e-01 8.45470338e-01 -2.94842971e-01 -1.82678111e+02] [-5.35173378e-01 1.27173700e-02 8.44646508e-01 -7.00673581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:-182.69, Z:-700.69 [[ 7.12805189e-01 5.41214467e-01 4.46089299e-01 3.04292982e+02] [-4.54160968e-01 8.40852966e-01 -2.94455607e-01 -1.82688780e+02] [-5.34459145e-01 7.29313652e-03 8.45162844e-01 -7.00691607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.32, Y:-182.70, Z:-700.71 [[ 7.10068277e-01 5.44757257e-01 4.46141876e-01 3.04316657e+02] [-4.58185170e-01 8.38579791e-01 -2.94703724e-01 -1.82700849e+02] [-5.34667553e-01 4.84417411e-03 8.45048603e-01 -7.00709161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.34, Y:-182.71, Z:-700.73 [[ 7.06841440e-01 5.48947468e-01 4.46129865e-01 3.04341173e+02] [-4.62037824e-01 8.35849912e-01 -2.96438820e-01 -1.82713887e+02] [-5.35626948e-01 3.40637046e-03 8.44447849e-01 -7.00728628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:-182.72, Z:-700.74 [[ 7.04864017e-01 5.51531882e-01 4.46070959e-01 3.04364329e+02] [-4.65304757e-01 8.34153010e-01 -2.96108493e-01 -1.82724932e+02] [-5.35404708e-01 1.15728209e-03 8.44594849e-01 -7.00744178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:-182.74, Z:-700.76 [[ 7.00405673e-01 5.56180069e-01 4.47320493e-01 3.04389403e+02] [-4.70854052e-01 8.31055375e-01 -2.96046323e-01 -1.82736899e+02] [-5.36403165e-01 -3.27014241e-03 8.43955538e-01 -7.00761688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:-182.75, Z:-700.78 [[ 6.98711183e-01 5.58408872e-01 4.47193711e-01 3.04413750e+02] [-4.73417745e-01 8.29552158e-01 -2.96173691e-01 -1.82750547e+02] [-5.36356525e-01 -4.76956821e-03 8.43978039e-01 -7.00779967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.44, Y:-182.76, Z:-700.80 [[ 6.95954990e-01 5.62066089e-01 4.46909793e-01 3.04437427e+02] [-4.77743795e-01 8.27059507e-01 -2.96198308e-01 -1.82762949e+02] [-5.36104018e-01 -7.36768955e-03 8.44119778e-01 -7.00796818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.46, Y:-182.78, Z:-700.81 [[ 6.94742344e-01 5.63404600e-01 4.47111096e-01 3.04460887e+02] [-4.79126694e-01 8.26140323e-01 -2.96529558e-01 -1.82777013e+02] [-5.36442622e-01 -8.21122074e-03 8.43896848e-01 -7.00814808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.48, Y:-182.79, Z:-700.83 [[ 6.93564512e-01 5.64967143e-01 4.46968002e-01 3.04484099e+02] [-4.80905987e-01 8.25062080e-01 -2.96651303e-01 -1.82791067e+02] [-5.36374589e-01 -9.20277132e-03 8.43929861e-01 -7.00832318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:-182.80, Z:-700.85 [[ 6.92736097e-01 5.66145553e-01 4.46761585e-01 3.04507607e+02] [-4.82264359e-01 8.24245699e-01 -2.96715546e-01 -1.82804989e+02] [-5.36225502e-01 -9.91161976e-03 8.44016570e-01 -7.00849920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.53, Y:-182.82, Z:-700.87 [[ 6.92001912e-01 5.67389189e-01 4.46321479e-01 3.04532007e+02] [-4.83787492e-01 8.23380871e-01 -2.96637158e-01 -1.82817992e+02] [-5.35801284e-01 -1.06512686e-02 8.44276930e-01 -7.00868296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:-182.83, Z:-700.89 [[ 6.91793209e-01 5.67760592e-01 4.46172687e-01 3.04554768e+02] [-4.84152374e-01 8.23123890e-01 -2.96755016e-01 -1.82832267e+02] [-5.35741202e-01 -1.07224613e-02 8.44314156e-01 -7.00886281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:-182.85, Z:-700.90 [[ 6.92127552e-01 5.67830700e-01 4.45564528e-01 3.04577667e+02] [-4.84354944e-01 8.23077640e-01 -2.96552670e-01 -1.82846959e+02] [-5.35125910e-01 -1.05591083e-02 8.44706319e-01 -7.00903589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.60, Y:-182.86, Z:-700.92 [[ 6.92613978e-01 5.67513327e-01 4.45212872e-01 3.04600856e+02] [-4.84038129e-01 8.23301334e-01 -2.96448989e-01 -1.82862227e+02] [-5.34783104e-01 -1.01752914e-02 8.44928101e-01 -7.00921456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.62, Y:-182.88, Z:-700.94 [[ 6.94381337e-01 5.65643637e-01 4.44839112e-01 3.04623557e+02] [-4.81833878e-01 8.24605837e-01 -2.96414116e-01 -1.82878001e+02] [-5.34481687e-01 -8.51412389e-03 8.45137170e-01 -7.00939426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:-182.89, Z:-700.96 [[ 6.96093846e-01 5.64197305e-01 4.43998602e-01 3.04646318e+02] [-4.80327132e-01 8.25608828e-01 -2.96067408e-01 -1.82893639e+02] [-5.33609599e-01 -7.17387380e-03 8.45700498e-01 -7.00956869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.67, Y:-182.91, Z:-700.97 [[ 6.97842088e-01 5.62273785e-01 4.43694276e-01 3.04669265e+02] [-4.78037427e-01 8.26932939e-01 -2.96077918e-01 -1.82909145e+02] [-5.33382263e-01 -5.48683728e-03 8.45856522e-01 -7.00974969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.69, Y:-182.93, Z:-700.99 [[ 7.01487461e-01 5.57739471e-01 4.43668824e-01 3.04691794e+02] [-4.72544326e-01 8.30014078e-01 -2.96274350e-01 -1.82925770e+02] [-5.33495269e-01 -1.82044356e-03 8.45801090e-01 -7.00993178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.71, Y:-182.94, Z:-701.01 [[ 7.03573512e-01 5.55206909e-01 4.43542108e-01 3.04713317e+02] [-4.69466717e-01 8.31712204e-01 -2.96404812e-01 -1.82941574e+02] [-5.33465383e-01 3.14317396e-04 8.45821841e-01 -7.01010247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.74, Y:-182.96, Z:-701.03 [[ 7.05293987e-01 5.52738115e-01 4.43892970e-01 3.04735678e+02] [-4.66274420e-01 8.33351606e-01 -2.96838787e-01 -1.82958434e+02] [-5.33993031e-01 2.38267420e-03 8.45485521e-01 -7.01028106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.76, Y:-182.98, Z:-701.05 [[ 7.08325384e-01 5.48304418e-01 4.44564298e-01 3.04757456e+02] [-4.60615971e-01 8.36257631e-01 -2.97499753e-01 -1.82976498e+02] [-5.34890716e-01 5.95321079e-03 8.44900279e-01 -7.01045332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:-182.99, Z:-701.06 [[ 7.09389480e-01 5.46734384e-01 4.44801167e-01 3.04779746e+02] [-4.58523371e-01 8.37273783e-01 -2.97874017e-01 -1.82992718e+02] [-5.35278324e-01 7.35696399e-03 8.44643707e-01 -7.01062466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.80, Y:-183.01, Z:-701.08 [[ 7.09967798e-01 5.45870314e-01 4.44939689e-01 3.04801954e+02] [-4.57306607e-01 8.37829298e-01 -2.98182384e-01 -1.83008766e+02] [-5.35552419e-01 8.22603100e-03 8.44461923e-01 -7.01079912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:-183.06, Z:-701.08 [[ 7.12485519e-01 5.29301722e-01 4.60656132e-01 3.04828082e+02] [-4.62575781e-01 8.47949504e-01 -2.58853793e-01 -1.83058371e+02] [-5.27624897e-01 -2.86587905e-02 8.48993900e-01 -7.01077040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:-183.01, Z:-701.13 [[ 7.09879317e-01 5.69415684e-01 4.14532429e-01 3.04853667e+02] [-4.57458418e-01 8.20266919e-01 -3.43356924e-01 -1.83012039e+02] [-5.35540056e-01 5.41106300e-02 8.42774518e-01 -7.01129142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.87, Y:-183.05, Z:-701.13 [[ 7.09432618e-01 5.46486883e-01 4.45036457e-01 3.04868551e+02] [-4.57651988e-01 8.37426585e-01 -2.98783154e-01 -1.83053782e+02] [-5.35966435e-01 8.29469623e-03 8.44198543e-01 -7.01132833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.89, Y:-183.10, Z:-701.13 [[ 7.10580282e-01 5.31550954e-01 4.61008944e-01 3.04893927e+02] [-4.66123775e-01 8.46424315e-01 -2.57477193e-01 -1.83102988e+02] [-5.27071428e-01 -3.19290128e-02 8.49220966e-01 -7.01127788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:-183.06, Z:-701.18 [[ 7.06758658e-01 5.74246879e-01 4.13198163e-01 3.04919911e+02] [-4.63373251e-01 8.17095609e-01 -3.42986873e-01 -1.83056581e+02] [-5.34581546e-01 5.09439659e-02 8.43580039e-01 -7.01180834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:-183.10, Z:-701.19 [[ 7.05544235e-01 5.52344809e-01 4.43984846e-01 3.04935931e+02] [-4.64755414e-01 8.33604839e-01 -2.98505238e-01 -1.83098945e+02] [-5.34985735e-01 4.26428899e-03 8.44850329e-01 -7.01185322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.96, Y:-183.11, Z:-701.20 [[ 7.04421458e-01 5.54256506e-01 4.43384861e-01 3.04959138e+02] [-4.67137671e-01 8.32340447e-01 -2.98314896e-01 -1.83114100e+02] [-5.34390125e-01 3.01764228e-03 8.45232565e-01 -7.01203047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:-183.13, Z:-701.22 [[ 7.01912622e-01 5.57561607e-01 4.43219726e-01 3.04981493e+02] [-4.70981008e-01 8.30135257e-01 -2.98416397e-01 -1.83127936e+02] [-5.34317846e-01 7.14162537e-04 8.45283343e-01 -7.01220508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:-183.14, Z:-701.24 [[ 7.00755712e-01 5.59287919e-01 4.42875216e-01 3.05004793e+02] [-4.73044821e-01 8.28973376e-01 -2.98381868e-01 -1.83143221e+02] [-5.34013137e-01 -4.07029310e-04 8.45476081e-01 -7.01238466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:-183.16, Z:-701.26 [[ 6.98269235e-01 5.61955619e-01 4.43425256e-01 3.05027804e+02] [-4.75835710e-01 8.27164351e-01 -2.98964068e-01 -1.83157929e+02] [-5.34790102e-01 -2.24016033e-03 8.44981970e-01 -7.01256029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:-183.17, Z:-701.27 [[ 6.97223666e-01 5.63206674e-01 4.43483261e-01 3.05050717e+02] [-4.77160599e-01 8.26310642e-01 -2.99213111e-01 -1.83173251e+02] [-5.34973759e-01 -2.99427668e-03 8.44863369e-01 -7.01274097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.07, Y:-183.19, Z:-701.29 [[ 6.96327092e-01 5.64284552e-01 4.43521730e-01 3.05073486e+02] [-4.78285368e-01 8.25572469e-01 -2.99454846e-01 -1.83188973e+02] [-5.35137074e-01 -3.61143183e-03 8.44757521e-01 -7.01291691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:-183.25, Z:-701.28 [[ 7.00725134e-01 5.40471935e-01 4.65697728e-01 3.05099635e+02] [-4.86140528e-01 8.39478255e-01 -2.42783126e-01 -1.83246891e+02] [-5.22160582e-01 -5.62703013e-02 8.50988825e-01 -7.01276787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.13, Y:-183.19, Z:-701.34 [[ 6.94553680e-01 5.94993026e-01 4.04448371e-01 3.05127617e+02] [-4.80342905e-01 8.02028135e-01 -3.54995162e-01 -1.83186072e+02] [-5.35598618e-01 5.22892911e-02 8.42852271e-01 -7.01343647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:-183.27, Z:-701.32 [[ 6.98334908e-01 5.45141103e-01 4.63842143e-01 3.05141727e+02] [-4.85359956e-01 8.36939004e-01 -2.52900805e-01 -1.83269135e+02] [-5.26074205e-01 -4.85209420e-02 8.49053384e-01 -7.01318558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.74, Y:-182.69, Z:-701.27 [[ 6.45425143e-01 4.84870166e-01 -5.90192602e-01 3.05744029e+02] [-4.58811447e-01 -3.71648181e-01 -8.07074771e-01 -1.82685623e+02] [-6.10670485e-01 7.91693471e-01 -1.74070979e-02 -7.01273026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.23, Y:-183.28, Z:-701.43 [[ 6.66208401e-01 5.71240051e-01 4.79427963e-01 3.05228095e+02] [-4.55293677e-01 8.20699774e-01 -3.45194942e-01 -1.83282681e+02] [-5.90655597e-01 1.16912504e-02 8.06839067e-01 -7.01430814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:-183.31, Z:-701.45 [[ 6.66277424e-01 5.60925064e-01 4.91362867e-01 3.05247061e+02] [-4.55287977e-01 8.27849090e-01 -3.27686958e-01 -1.83308972e+02] [-5.90582130e-01 -5.38118346e-03 8.06959597e-01 -7.01445730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.27, Y:-183.32, Z:-701.46 [[ 6.66258763e-01 5.61021136e-01 4.91278481e-01 3.05267517e+02] [-4.55264906e-01 8.27785091e-01 -3.27880631e-01 -1.83323698e+02] [-5.90620966e-01 -5.20850761e-03 8.06932305e-01 -7.01464624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.29, Y:-183.34, Z:-701.48 [[ 6.66101047e-01 5.60948535e-01 4.91575159e-01 3.05289227e+02] [-4.54920050e-01 8.27835624e-01 -3.28231514e-01 -1.83338995e+02] [-5.91064415e-01 -4.99204017e-03 8.06608912e-01 -7.01484641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.31, Y:-183.36, Z:-701.50 [[ 6.66779223e-01 5.57026045e-01 4.95103478e-01 3.05311858e+02] [-4.56647711e-01 8.30389902e-01 -3.19257700e-01 -1.83364633e+02] [-5.88963782e-01 -1.32134688e-02 8.08051402e-01 -7.01499150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.33, Y:-183.36, Z:-701.53 [[ 6.65972409e-01 5.67765011e-01 4.83863249e-01 3.05332410e+02] [-4.54001853e-01 8.23157100e-01 -3.41020098e-01 -1.83361473e+02] [-5.91914748e-01 7.43516454e-03 8.05966283e-01 -7.01527510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.35, Y:-183.38, Z:-701.54 [[ 6.66129290e-01 5.60695805e-01 4.91825156e-01 3.05352504e+02] [-4.54067278e-01 8.28011286e-01 -3.28968414e-01 -1.83384016e+02] [-5.91687990e-01 -4.18621330e-03 8.06156188e-01 -7.01543983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:-183.40, Z:-701.56 [[ 6.66152031e-01 5.60925914e-01 4.91531881e-01 3.05374110e+02] [-4.54313130e-01 8.27855693e-01 -3.29020564e-01 -1.83399317e+02] [-5.91473627e-01 -4.13167074e-03 8.06313759e-01 -7.01564306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.39, Y:-183.42, Z:-701.58 [[ 6.66091191e-01 5.61344487e-01 4.91136328e-01 3.05394557e+02] [-4.54840828e-01 8.27571379e-01 -3.29006739e-01 -1.83415011e+02] [-5.91136487e-01 -4.24036336e-03 8.06560397e-01 -7.01584917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.42, Y:-183.43, Z:-701.60 [[ 6.66005788e-01 5.61737322e-01 4.90802884e-01 3.05415734e+02] [-4.55304731e-01 8.27304345e-01 -3.29036659e-01 -1.83430527e+02] [-5.90875530e-01 -4.32455558e-03 8.06751142e-01 -7.01604828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.44, Y:-183.45, Z:-701.62 [[ 6.65998077e-01 5.62073959e-01 4.90427799e-01 3.05436282e+02] [-4.55719957e-01 8.27075485e-01 -3.29037175e-01 -1.83445947e+02] [-5.90564037e-01 -4.35960982e-03 8.06979003e-01 -7.01623890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.46, Y:-183.46, Z:-701.64 [[ 6.65950883e-01 5.62521563e-01 4.89978483e-01 3.05456735e+02] [-4.56322216e-01 8.26770310e-01 -3.28969435e-01 -1.83462626e+02] [-5.90152063e-01 -4.51058178e-03 8.07279504e-01 -7.01643892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.48, Y:-183.48, Z:-701.66 [[ 6.65931151e-01 5.63012355e-01 4.89441304e-01 3.05477578e+02] [-4.57007403e-01 8.26435228e-01 -3.28860225e-01 -1.83477882e+02] [-5.89643906e-01 -4.68003117e-03 8.07649777e-01 -7.01663473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.50, Y:-183.50, Z:-701.68 [[ 6.65214900e-01 5.62916189e-01 4.90524720e-01 3.05499628e+02] [-4.59333754e-01 8.26467422e-01 -3.25521279e-01 -1.83499579e+02] [-5.88643898e-01 -8.77295616e-03 8.08344850e-01 -7.01682517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:-183.51, Z:-701.70 [[ 6.65401386e-01 5.68172459e-01 4.84170478e-01 3.05521390e+02] [-4.59138830e-01 8.22909412e-01 -3.34681394e-01 -1.83507560e+02] [-5.88585194e-01 3.95996546e-04 8.08435101e-01 -7.01704273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:-183.53, Z:-701.72 [[ 6.65313632e-01 5.63361597e-01 4.89879048e-01 3.05542251e+02] [-4.61858989e-01 8.26130455e-01 -3.22792109e-01 -1.83532953e+02] [-5.86552679e-01 -1.14970515e-02 8.09829471e-01 -7.01717180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.56, Y:-183.53, Z:-701.74 [[ 6.63705676e-01 5.73373337e-01 4.80351738e-01 3.05562596e+02] [-4.60462623e-01 8.19275026e-01 -3.41705435e-01 -1.83533347e+02] [-5.89464969e-01 5.60781516e-03 8.07774476e-01 -7.01743767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.58, Y:-183.55, Z:-701.76 [[ 6.62335355e-01 5.69600868e-01 4.86689560e-01 3.05580245e+02] [-4.60648140e-01 8.21918271e-01 -3.35042756e-01 -1.83550744e+02] [-5.90859686e-01 -2.28197783e-03 8.06771110e-01 -7.01761813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.60, Y:-183.59, Z:-701.77 [[ 6.62861870e-01 5.60657014e-01 4.96263896e-01 3.05601520e+02] [-4.64834596e-01 8.27746089e-01 -3.14269328e-01 -1.83585141e+02] [-5.86977802e-01 -2.23634732e-02 8.09294097e-01 -7.01770111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:-183.58, Z:-701.80 [[ 6.60870608e-01 5.76497175e-01 4.80521640e-01 3.05623019e+02] [-4.64168108e-01 8.17093930e-01 -3.41914429e-01 -1.83581164e+02] [-5.89744017e-01 2.91837610e-03 8.07584966e-01 -7.01800253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.64, Y:-183.62, Z:-701.81 [[ 6.61382525e-01 5.63371714e-01 4.95162062e-01 3.05643122e+02] [-4.68936959e-01 8.25824158e-01 -3.13229290e-01 -1.83619561e+02] [-5.85381315e-01 -2.50354135e-02 8.10371485e-01 -7.01806694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.67, Y:-183.62, Z:-701.83 [[ 6.59754260e-01 5.75571054e-01 4.83158647e-01 3.05665886e+02] [-4.69781392e-01 8.17717163e-01 -3.32632056e-01 -1.83623709e+02] [-5.86540502e-01 -7.52352577e-03 8.09884953e-01 -7.01833536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.69, Y:-183.64, Z:-701.85 [[ 6.59367165e-01 5.74657927e-01 4.84771296e-01 3.05686383e+02] [-4.71132502e-01 8.18315603e-01 -3.29232046e-01 -1.83642167e+02] [-5.85891720e-01 -1.13067123e-02 8.10310466e-01 -7.01850260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.71, Y:-183.65, Z:-701.87 [[ 6.57202179e-01 5.78511674e-01 4.83124765e-01 3.05705045e+02] [-4.71071321e-01 8.15645373e-01 -3.35878603e-01 -1.83653662e+02] [-5.88368172e-01 -6.84607128e-03 8.08564175e-01 -7.01871996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.73, Y:-183.67, Z:-701.89 [[ 6.57041864e-01 5.76092782e-01 4.86223299e-01 3.05726484e+02] [-4.70999100e-01 8.17311175e-01 -3.31907052e-01 -1.83671025e+02] [-5.88604993e-01 -1.09339079e-02 8.08346839e-01 -7.01890811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.75, Y:-183.69, Z:-701.91 [[ 6.56767690e-01 5.75251573e-01 4.87587765e-01 3.05746997e+02] [-4.72151201e-01 8.17853445e-01 -3.28920942e-01 -1.83689575e+02] [-5.87987623e-01 -1.41905012e-02 8.08745439e-01 -7.01908128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.77, Y:-183.71, Z:-701.93 [[ 6.56227844e-01 5.75875256e-01 4.87578411e-01 3.05767631e+02] [-4.72659173e-01 8.17411293e-01 -3.29290273e-01 -1.83705457e+02] [-5.88182219e-01 -1.43689629e-02 8.08600773e-01 -7.01927327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.79, Y:-183.69, Z:-701.96 [[ 6.52780343e-01 5.91984677e-01 4.72685907e-01 3.05785343e+02] [-4.68444089e-01 8.05808698e-01 -3.62260236e-01 -1.83694275e+02] [-5.95346924e-01 1.50494427e-02 8.03327800e-01 -7.01964663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.80, Y:-183.73, Z:-701.97 [[ 6.52973293e-01 5.74520876e-01 4.93509516e-01 3.05800999e+02] [-4.68310258e-01 8.18376594e-01 -3.33084451e-01 -1.83730725e+02] [-5.95240608e-01 -1.36203180e-02 8.03432079e-01 -7.01974634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.82, Y:-183.77, Z:-701.98 [[ 6.55622722e-01 5.62665925e-01 5.03553278e-01 3.05824242e+02] [-4.71616653e-01 8.25943636e-01 -3.08860557e-01 -1.83767365e+02] [-5.89691936e-01 -3.49881125e-02 8.06870034e-01 -7.01979085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:-183.77, Z:-702.01 [[ 6.54719281e-01 5.78762602e-01 4.86185679e-01 3.05846352e+02] [-4.70725437e-01 8.15453510e-01 -3.36828052e-01 -1.83765885e+02] [-5.91405298e-01 -8.33214650e-03 8.06331414e-01 -7.02009517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.86, Y:-183.76, Z:-702.04 [[ 6.52783066e-01 5.87152557e-01 4.78671227e-01 3.05863370e+02] [-4.66783339e-01 8.09424619e-01 -3.56293559e-01 -1.83764683e+02] [-5.96646950e-01 9.14664826e-03 8.02451716e-01 -7.02041303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.88, Y:-183.82, Z:-702.04 [[ 6.57031992e-01 5.58921345e-01 5.05881303e-01 3.05883880e+02] [-4.70648724e-01 8.28330305e-01 -3.03905716e-01 -1.83821475e+02] [-5.88896205e-01 -3.84166118e-02 8.07295128e-01 -7.02035426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.91, Y:-183.81, Z:-702.07 [[ 6.55785676e-01 5.80018667e-01 4.83242685e-01 3.05906757e+02] [-4.69590352e-01 8.14595003e-01 -3.40470092e-01 -1.83814307e+02] [-5.91126086e-01 -3.65069298e-03 8.06570904e-01 -7.02069924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.93, Y:-183.83, Z:-702.09 [[ 6.55406916e-01 5.77968820e-01 4.86203473e-01 3.05926740e+02] [-4.69336620e-01 8.16028170e-01 -3.37373920e-01 -1.83832777e+02] [-5.91747337e-01 -7.07589438e-03 8.06092439e-01 -7.02088859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.95, Y:-183.85, Z:-702.11 [[ 6.54253853e-01 5.77051219e-01 4.88839224e-01 3.05948365e+02] [-4.70656898e-01 8.16626862e-01 -3.34069832e-01 -1.83850042e+02] [-5.91974645e-01 -1.15090776e-02 8.05874408e-01 -7.02106907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:-183.86, Z:-702.13 [[ 6.53607971e-01 5.79304333e-01 4.87035019e-01 3.05969933e+02] [-4.71381819e-01 8.15057146e-01 -3.36869456e-01 -1.83863020e+02] [-5.92111308e-01 -9.39889089e-03 8.05801378e-01 -7.02127545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.876559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.99, Y:-183.88, Z:-702.15 [[ 6.53332444e-01 5.81003500e-01 4.85377844e-01 3.05991782e+02] [-4.71672273e-01 8.13868804e-01 -3.39327035e-01 -1.83875820e+02] [-5.92184080e-01 -7.24591012e-03 8.05770136e-01 -7.02148948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.01, Y:-183.89, Z:-702.17 [[ 6.53966276e-01 5.80750132e-01 4.84827179e-01 3.06012275e+02] [-4.70386599e-01 8.14064681e-01 -3.40639315e-01 -1.83888587e+02] [-5.92507010e-01 -5.28958329e-03 8.05547927e-01 -7.02170318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.03, Y:-183.90, Z:-702.19 [[ 6.54444475e-01 5.79740473e-01 4.85389960e-01 3.06033274e+02] [-4.68895191e-01 8.14789012e-01 -3.40963584e-01 -1.83902915e+02] [-5.93160795e-01 -4.45528451e-03 8.05071687e-01 -7.02191786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:-183.90, Z:-702.22 [[ 6.53245387e-01 5.86893391e-01 4.78358247e-01 3.06050165e+02] [-4.63233421e-01 8.09543369e-01 -3.60630466e-01 -1.83898701e+02] [-5.98903383e-01 1.39886613e-02 8.00699104e-01 -7.02222818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.07, Y:-183.95, Z:-702.22 [[ 6.57150464e-01 5.59658348e-01 5.04911677e-01 3.06072389e+02] [-4.63819669e-01 8.28264449e-01 -3.14403113e-01 -1.83951255e+02] [-5.94158719e-01 -2.75778153e-02 8.03874916e-01 -7.02220851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:-183.95, Z:-702.25 [[ 6.56721745e-01 5.73702311e-01 4.89471356e-01 3.06095900e+02] [-4.62046555e-01 8.19059038e-01 -3.40081275e-01 -1.83950744e+02] [-5.96011351e-01 -2.81978535e-03 8.02971057e-01 -7.02250199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.12, Y:-183.96, Z:-702.27 [[ 6.56426894e-01 5.76407410e-01 4.86680831e-01 3.06116860e+02] [-4.59135302e-01 8.17145098e-01 -3.48523547e-01 -1.83959378e+02] [-5.98580411e-01 5.32787955e-03 8.01045009e-01 -7.02274278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.14, Y:-183.98, Z:-702.29 [[ 6.56960937e-01 5.71106266e-01 4.92178789e-01 3.06137276e+02] [-4.56752701e-01 8.20876026e-01 -3.42840373e-01 -1.83978293e+02] [-5.99816053e-01 4.28741755e-04 8.00137813e-01 -7.02292206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.16, Y:-183.99, Z:-702.31 [[ 6.57381210e-01 5.69670085e-01 4.93280791e-01 3.06159044e+02] [-4.56236613e-01 8.21873080e-01 -3.41134569e-01 -1.83993773e+02] [-5.99748362e-01 -7.97301623e-04 8.00188270e-01 -7.02311778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.18, Y:-184.00, Z:-702.33 [[ 6.57343643e-01 5.71562947e-01 4.91136572e-01 3.06179874e+02] [-4.54672908e-01 8.20546527e-01 -3.46375438e-01 -1.84003323e+02] [-6.00975774e-01 4.38119906e-03 7.99255231e-01 -7.02334770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.20, Y:-184.02, Z:-702.36 [[ 6.58766604e-01 5.69106158e-01 4.92082049e-01 3.06199751e+02] [-4.52308473e-01 8.22248937e-01 -3.45432672e-01 -1.84015134e+02] [-6.01201803e-01 4.98662751e-03 7.99081677e-01 -7.02355032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.22, Y:-184.03, Z:-702.37 [[ 6.59423072e-01 5.65498968e-01 4.95350512e-01 3.06220805e+02] [-4.51215803e-01 8.24748025e-01 -3.40873869e-01 -1.84032054e+02] [-6.01303177e-01 1.27011418e-03 7.99019947e-01 -7.02374187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.24, Y:-184.05, Z:-702.39 [[ 6.60943283e-01 5.61750126e-01 4.97584940e-01 3.06242826e+02] [-4.50881951e-01 8.27301924e-01 -3.35077592e-01 -1.84050731e+02] [-5.99882857e-01 -2.88478468e-03 8.00082643e-01 -7.02391097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.26, Y:-184.06, Z:-702.41 [[ 6.61714080e-01 5.63662911e-01 4.94387095e-01 3.06264999e+02] [-4.49855823e-01 8.26001609e-01 -3.39633743e-01 -1.84062542e+02] [-5.99803481e-01 2.33751640e-03 8.00143938e-01 -7.02412512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.29, Y:-184.08, Z:-702.43 [[ 6.63197119e-01 5.62858184e-01 4.93315565e-01 3.06286013e+02] [-4.47753134e-01 8.26536246e-01 -3.41108437e-01 -1.84076021e+02] [-5.99738870e-01 5.33854212e-03 8.00177973e-01 -7.02432888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.31, Y:-184.08, Z:-702.46 [[ 6.63309837e-01 5.65914190e-01 4.89654154e-01 3.06306283e+02] [-4.44726862e-01 8.24335300e-01 -3.50270368e-01 -1.84082196e+02] [-6.01862176e-01 1.45754251e-02 7.98466955e-01 -7.02458315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.32, Y:-184.10, Z:-702.48 [[ 6.63338833e-01 5.60922809e-01 4.95325342e-01 3.06324644e+02] [-4.42463029e-01 8.27812213e-01 -3.44896229e-01 -1.84097320e+02] [-6.03496529e-01 9.61991052e-03 7.97307592e-01 -7.02476367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.35, Y:-184.12, Z:-702.49 [[ 6.64739299e-01 5.53250801e-01 5.02031090e-01 3.06346885e+02] [-4.42585734e-01 8.33013358e-01 -3.31973815e-01 -1.84120771e+02] [-6.01863383e-01 -1.51575757e-03 7.98597628e-01 -7.02491815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.37, Y:-184.13, Z:-702.52 [[ 6.64979345e-01 5.58235140e-01 4.96161263e-01 3.06370015e+02] [-4.42679727e-01 8.29656899e-01 -3.40153037e-01 -1.84129914e+02] [-6.01528994e-01 6.55421113e-03 7.98824081e-01 -7.02515431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:-184.14, Z:-702.54 [[ 6.64659885e-01 5.58546654e-01 4.96238725e-01 3.06389969e+02] [-4.41924949e-01 8.29436497e-01 -3.41668608e-01 -1.84141233e+02] [-6.02436368e-01 7.79314422e-03 7.98128868e-01 -7.02535987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.41, Y:-184.15, Z:-702.56 [[ 6.64124089e-01 5.57935818e-01 4.97641254e-01 3.06411338e+02] [-4.41251565e-01 8.29852587e-01 -3.41528534e-01 -1.84154105e+02] [-6.03519884e-01 7.23234440e-03 7.97315147e-01 -7.02556233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.43, Y:-184.17, Z:-702.58 [[ 6.63606601e-01 5.55868652e-01 5.00635917e-01 3.06433187e+02] [-4.41833162e-01 8.31265927e-01 -3.37313528e-01 -1.84171235e+02] [-6.03663596e-01 2.64593373e-03 7.97234760e-01 -7.02575183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.46, Y:-184.19, Z:-702.59 [[ 6.63034699e-01 5.56083275e-01 5.01155046e-01 3.06455566e+02] [-4.42780419e-01 8.31125779e-01 -3.36415576e-01 -1.84186457e+02] [-6.03597953e-01 1.15355870e-03 7.97288016e-01 -7.02594741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.48, Y:-184.20, Z:-702.62 [[ 6.62154629e-01 5.57940895e-01 5.00253141e-01 3.06477216e+02] [-4.43233796e-01 8.29876391e-01 -3.38893757e-01 -1.84198362e+02] [-6.04230957e-01 2.67097142e-03 7.96804754e-01 -7.02615560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.50, Y:-184.22, Z:-702.63 [[ 6.60577108e-01 5.58227089e-01 5.02016335e-01 3.06499882e+02] [-4.45726171e-01 8.29686346e-01 -3.36078484e-01 -1.84215062e+02] [-6.04124213e-01 -1.75606587e-03 7.96888230e-01 -7.02634319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:-184.23, Z:-702.65 [[ 6.59887775e-01 5.60174400e-01 5.00752200e-01 3.06521928e+02] [-4.47126326e-01 8.28373803e-01 -3.37453539e-01 -1.84228283e+02] [-6.03842839e-01 -1.21802653e-03 7.97102467e-01 -7.02654359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.54, Y:-184.25, Z:-702.67 [[ 6.60262613e-01 5.55530698e-01 5.05409661e-01 3.06544910e+02] [-4.51051869e-01 8.31383864e-01 -3.24581395e-01 -1.84252913e+02] [-6.00504366e-01 -1.36570124e-02 7.99504842e-01 -7.02665795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.57, Y:-184.26, Z:-702.69 [[ 6.58793612e-01 5.66477972e-01 4.95069373e-01 3.06568690e+02] [-4.53916317e-01 8.24075608e-01 -3.38909088e-01 -1.84257846e+02] [-5.99959127e-01 -1.44892456e-03 8.00029341e-01 -7.02690590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.59, Y:-184.26, Z:-702.72 [[ 6.57080312e-01 5.74391373e-01 4.88180308e-01 3.06589399e+02] [-4.52599838e-01 8.18499186e-01 -3.53853741e-01 -1.84258741e+02] [-6.02825721e-01 1.15599984e-02 7.97789143e-01 -7.02717910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.61, Y:-184.28, Z:-702.73 [[ 6.56278878e-01 5.66050396e-01 4.98883738e-01 3.06609745e+02] [-4.53976224e-01 8.24357991e-01 -3.38141228e-01 -1.84282761e+02] [-6.02663772e-01 -4.56641014e-03 7.97982159e-01 -7.02732887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.776559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:306.63, Y:-184.30, Z:-702.75 [[ 6.55407886e-01 5.65326667e-01 5.00845549e-01 3.06632387e+02] [-4.56915286e-01 8.24799661e-01 -3.33067472e-01 -1.84300138e+02] [-6.01389162e-01 -1.05489396e-02 7.98886597e-01 -7.02749804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:-184.31, Z:-702.77 [[ 6.54387879e-01 5.71222846e-01 4.95460356e-01 3.06654744e+02] [-4.58236380e-01 8.20786012e-01 -3.41071464e-01 -1.84310045e+02] [-6.01494742e-01 -3.84492877e-03 7.98867506e-01 -7.02773310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:-184.33, Z:-702.79 [[ 6.54933634e-01 5.67393621e-01 4.99125649e-01 3.06675609e+02] [-4.60088975e-01 8.23358794e-01 -3.32262595e-01 -1.84329904e+02] [-5.99483169e-01 -1.20322595e-02 8.00296917e-01 -7.02786314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.70, Y:-184.34, Z:-702.81 [[ 6.54537996e-01 5.72298396e-01 4.94018783e-01 3.06697565e+02] [-4.60543194e-01 8.20029489e-01 -3.39781700e-01 -1.84339319e+02] [-5.99566492e-01 -5.11695543e-03 8.00308589e-01 -7.02808179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.72, Y:-184.34, Z:-702.84 [[ 6.53757054e-01 5.77863359e-01 4.88544423e-01 3.06718341e+02] [-4.58745662e-01 8.16114049e-01 -3.51440288e-01 -1.84344499e+02] [-6.01792433e-01 5.63893283e-03 7.98632625e-01 -7.02835154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:-184.37, Z:-702.84 [[ 6.54793849e-01 5.65516583e-01 5.01433953e-01 3.06738340e+02] [-4.60926503e-01 8.24575556e-01 -3.28057786e-01 -1.84374964e+02] [-5.98992299e-01 -1.63139778e-02 8.00588583e-01 -7.02842965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.76, Y:-184.38, Z:-702.87 [[ 6.54160593e-01 5.73488590e-01 4.93137664e-01 3.06760828e+02] [-4.62047972e-01 8.19194406e-01 -3.39753140e-01 -1.84381472e+02] [-5.98820165e-01 -5.60014144e-03 8.00863939e-01 -7.02866646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.78, Y:-184.40, Z:-702.89 [[ 6.54022746e-01 5.73965988e-01 4.92764947e-01 3.06782530e+02] [-4.62661787e-01 8.18858640e-01 -3.39727242e-01 -1.84396248e+02] [-5.98496716e-01 -5.79416716e-03 8.01104306e-01 -7.02886467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.80, Y:-184.41, Z:-702.91 [[ 6.53769255e-01 5.74528168e-01 4.92446083e-01 3.06803914e+02] [-4.63343408e-01 8.18462438e-01 -3.39753033e-01 -1.84410955e+02] [-5.98246310e-01 -6.05155948e-03 8.01289418e-01 -7.02906221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.83, Y:-184.43, Z:-702.93 [[ 6.53585023e-01 5.75096491e-01 4.92027076e-01 3.06825329e+02] [-4.64084708e-01 8.18061216e-01 -3.39707566e-01 -1.84425771e+02] [-5.97872898e-01 -6.31446416e-03 8.01566046e-01 -7.02926212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.84, Y:-184.43, Z:-702.96 [[ 6.52954849e-01 5.82085104e-01 4.84589410e-01 3.06844960e+02] [-4.60922900e-01 8.13079900e-01 -3.55599714e-01 -1.84426029e+02] [-6.00999206e-01 8.83220118e-03 7.99200818e-01 -7.02955154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:-184.47, Z:-702.96 [[ 6.54350674e-01 5.63841494e-01 5.03892811e-01 3.06864293e+02] [-4.63996596e-01 8.25545356e-01 -3.21219589e-01 -1.84466354e+02] [-5.97103303e-01 -2.36142946e-02 8.01816694e-01 -7.02959006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.89, Y:-184.45, Z:-703.00 [[ 6.53138691e-01 5.84874761e-01 4.80969192e-01 3.06885117e+02] [-4.58690155e-01 8.10952824e-01 -3.63261420e-01 -1.84448614e+02] [-6.02505761e-01 1.66442549e-02 7.97940961e-01 -7.02997972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:-184.50, Z:-702.99 [[ 6.56126533e-01 5.56259127e-01 5.09974270e-01 3.06904016e+02] [-4.61256735e-01 8.30457523e-01 -3.12382022e-01 -1.84502852e+02] [-5.97277320e-01 -3.02669335e-02 8.01463484e-01 -7.02994022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.93, Y:-184.50, Z:-703.02 [[ 6.56274320e-01 5.72599409e-01 4.91359272e-01 3.06927341e+02] [-4.60530972e-01 8.19829921e-01 -3.40279480e-01 -1.84500954e+02] [-5.97674863e-01 -2.96947868e-03 8.01733086e-01 -7.03023322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.95, Y:-184.50, Z:-703.05 [[ 6.55921676e-01 5.79579773e-01 4.83584576e-01 3.06946978e+02] [-4.55388577e-01 8.14774679e-01 -3.58836267e-01 -1.84500568e+02] [-6.01986709e-01 1.51495941e-02 7.98362381e-01 -7.03052943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.97, Y:-184.55, Z:-703.05 [[ 6.58461027e-01 5.56874944e-01 5.06279936e-01 3.06965410e+02] [-4.56234588e-01 8.30348153e-01 -3.19956164e-01 -1.84546157e+02] [-5.98564180e-01 -2.03037535e-02 8.00817507e-01 -7.03054177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.99, Y:-184.55, Z:-703.08 [[ 6.58816731e-01 5.69193086e-01 4.91914368e-01 3.06988644e+02] [-4.55574469e-01 8.22203589e-01 -3.41223039e-01 -1.84548742e+02] [-5.98675553e-01 6.99820189e-04 8.00991318e-01 -7.03082040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:-184.56, Z:-703.10 [[ 6.59365398e-01 5.68610386e-01 4.91853130e-01 3.07009350e+02] [-4.54688686e-01 8.22605621e-01 -3.41435487e-01 -1.84564139e+02] [-5.98744914e-01 1.49069267e-03 8.00938391e-01 -7.03102065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.03, Y:-184.58, Z:-703.12 [[ 6.60370441e-01 5.67747685e-01 4.91501218e-01 3.07029006e+02] [-4.53604080e-01 8.23198722e-01 -3.41448681e-01 -1.84579892e+02] [-5.98459873e-01 2.53565832e-03 8.01148770e-01 -7.03121393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:-184.60, Z:-703.14 [[ 6.60285443e-01 5.67911206e-01 4.91426491e-01 3.07050786e+02] [-4.53727894e-01 8.23085874e-01 -3.41556207e-01 -1.84595067e+02] [-5.98459800e-01 2.55068468e-03 8.01148777e-01 -7.03141754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:-184.61, Z:-703.16 [[ 6.60494278e-01 5.67781661e-01 4.91295526e-01 3.07071901e+02] [-4.53534415e-01 8.23174414e-01 -3.41599794e-01 -1.84610571e+02] [-5.98376005e-01 2.80528015e-03 8.01210513e-01 -7.03162504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:-184.63, Z:-703.18 [[ 6.60627127e-01 5.68040277e-01 4.90817729e-01 3.07093108e+02] [-4.53917138e-01 8.22995898e-01 -3.41521572e-01 -1.84626338e+02] [-5.97938986e-01 2.82783643e-03 8.01536632e-01 -7.03182453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:-184.61, Z:-703.22 [[ 6.58608186e-01 5.81003816e-01 4.78194337e-01 3.07110299e+02] [-4.47931343e-01 8.13335730e-01 -3.71271468e-01 -1.84614264e+02] [-6.04642679e-01 3.03241962e-02 7.95919389e-01 -7.03218926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:-184.65, Z:-703.23 [[ 6.57830277e-01 5.63592611e-01 4.99622552e-01 3.07127102e+02] [-4.48707623e-01 8.26052871e-01 -3.41025108e-01 -1.84648752e+02] [-6.04913875e-01 1.52193466e-04 7.96290890e-01 -7.03228763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:-184.70, Z:-703.23 [[ 6.59065305e-01 5.46622158e-01 5.16562813e-01 3.07151243e+02] [-4.56880741e-01 8.36572595e-01 -3.02334719e-01 -1.84697272e+02] [-5.97405149e-01 -3.67492767e-02 8.01097109e-01 -7.03226889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:-184.69, Z:-703.26 [[ 6.56568431e-01 5.73300815e-01 4.90146989e-01 3.07176555e+02] [-4.59704624e-01 8.19344865e-01 -3.42557516e-01 -1.84687748e+02] [-5.97987921e-01 -4.10386609e-04 8.01505008e-01 -7.03261848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:-184.70, Z:-703.28 [[ 6.55245255e-01 5.74615770e-01 4.90377787e-01 3.07197547e+02] [-4.61037568e-01 8.18422195e-01 -3.42971532e-01 -1.84702400e+02] [-5.98412916e-01 -1.35211309e-03 8.01186716e-01 -7.03281873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:-184.69, Z:-703.32 [[ 6.52391597e-01 5.88406985e-01 4.77663505e-01 3.07216458e+02] [-4.56992447e-01 8.08207840e-01 -3.71426966e-01 -1.84691710e+02] [-6.04601611e-01 2.40272173e-02 7.96165551e-01 -7.03317521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:-184.75, Z:-703.31 [[ 6.52206061e-01 5.58124345e-01 5.12956596e-01 3.07235824e+02] [-4.65928314e-01 8.28925697e-01 -3.09504435e-01 -1.84753041e+02] [-5.97944864e-01 -3.71403332e-02 8.00676299e-01 -7.03308958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:-184.75, Z:-703.34 [[ 6.50505182e-01 5.80339151e-01 4.89948444e-01 3.07259659e+02] [-4.67962716e-01 8.14352989e-01 -3.43278466e-01 -1.84746502e+02] [-5.98208914e-01 -5.97318401e-03 8.01317925e-01 -7.03341140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:-184.76, Z:-703.36 [[ 6.49136249e-01 5.81839347e-01 4.89984800e-01 3.07280410e+02] [-4.69642848e-01 8.13272659e-01 -3.43545016e-01 -1.84761653e+02] [-5.98379249e-01 -7.11033418e-03 8.01181451e-01 -7.03361149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.30, Y:-184.78, Z:-703.38 [[ 6.48028048e-01 5.83105239e-01 4.89946863e-01 3.07301310e+02] [-4.71061305e-01 8.12357012e-01 -3.43769301e-01 -1.84776792e+02] [-5.98465450e-01 -8.02285990e-03 8.01108444e-01 -7.03380935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:-184.79, Z:-703.40 [[ 6.46028834e-01 5.84987661e-01 4.90342923e-01 3.07321478e+02] [-4.73028980e-01 8.10986357e-01 -3.44303229e-01 -1.84792333e+02] [-5.99074561e-01 -9.51659893e-03 8.00636687e-01 -7.03400351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.34, Y:-184.81, Z:-703.42 [[ 6.45085702e-01 5.86038175e-01 4.90330190e-01 3.07342639e+02] [-4.74176503e-01 8.10218606e-01 -3.44532225e-01 -1.84807901e+02] [-5.99183679e-01 -1.02502429e-02 8.00545971e-01 -7.03420218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.36, Y:-184.82, Z:-703.44 [[ 6.44153487e-01 5.86778988e-01 4.90669650e-01 3.07363970e+02] [-4.74746137e-01 8.09676482e-01 -3.45021885e-01 -1.84823141e+02] [-5.99735268e-01 -1.06964708e-02 8.00126986e-01 -7.03440534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:-184.84, Z:-703.46 [[ 6.42965818e-01 5.87785292e-01 4.91022818e-01 3.07385492e+02] [-4.75641979e-01 8.08936759e-01 -3.45522833e-01 -1.84838707e+02] [-6.00299646e-01 -1.13916942e-02 7.99694044e-01 -7.03460753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.41, Y:-184.85, Z:-703.48 [[ 6.42588739e-01 5.88158858e-01 4.91069110e-01 3.07406696e+02] [-4.75900382e-01 8.08663811e-01 -3.45805822e-01 -1.84853527e+02] [-6.00498576e-01 -1.14890502e-02 7.99543284e-01 -7.03480880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:-184.87, Z:-703.50 [[ 6.42449506e-01 5.88481818e-01 4.90864321e-01 3.07427309e+02] [-4.76223693e-01 8.08428227e-01 -3.45911545e-01 -1.84867904e+02] [-6.00391228e-01 -1.15305183e-02 7.99623299e-01 -7.03500311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:-184.88, Z:-703.52 [[ 6.42476669e-01 5.88631046e-01 4.90649795e-01 3.07448741e+02] [-4.76346608e-01 8.08321046e-01 -3.45992769e-01 -1.84882699e+02] [-6.00264641e-01 -1.14270844e-02 7.99719815e-01 -7.03520487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:-184.90, Z:-703.54 [[ 6.43229373e-01 5.88195213e-01 4.90186052e-01 3.07469375e+02] [-4.75839452e-01 8.08647674e-01 -3.45927384e-01 -1.84896135e+02] [-5.99860642e-01 -1.07392079e-02 8.00032424e-01 -7.03540285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.49, Y:-184.91, Z:-703.56 [[ 6.43746467e-01 5.87911133e-01 4.89847921e-01 3.07490921e+02] [-4.75473854e-01 8.08860987e-01 -3.45931377e-01 -1.84910688e+02] [-5.99595781e-01 -1.02177766e-02 8.00237775e-01 -7.03560537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:-184.93, Z:-703.58 [[ 6.44228218e-01 5.87735693e-01 4.89424927e-01 3.07512122e+02] [-4.75287077e-01 8.08993726e-01 -3.45877646e-01 -1.84925083e+02] [-5.99226333e-01 -9.79320298e-03 8.00519766e-01 -7.03580222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.53, Y:-184.94, Z:-703.60 [[ 6.44420894e-01 5.87865554e-01 4.89015134e-01 3.07533680e+02] [-4.75490175e-01 8.08900836e-01 -3.45815749e-01 -1.84939412e+02] [-5.98857917e-01 -9.67099723e-03 8.00796895e-01 -7.03599918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:-184.95, Z:-703.62 [[ 6.44227252e-01 5.88406457e-01 4.88619575e-01 3.07555384e+02] [-4.76177323e-01 8.08504713e-01 -3.45796596e-01 -1.84954417e+02] [-5.98520179e-01 -9.89797053e-03 8.01046581e-01 -7.03619984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:-184.97, Z:-703.64 [[ 6.43890710e-01 5.88993772e-01 4.88355495e-01 3.07576854e+02] [-4.76856522e-01 8.08073528e-01 -3.45868516e-01 -1.84969243e+02] [-5.98341550e-01 -1.01739786e-02 8.01176560e-01 -7.03639932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:-185.00, Z:-703.65 [[ 6.45240359e-01 5.82438651e-01 4.94398723e-01 3.07599500e+02] [-4.80266513e-01 8.12512778e-01 -3.30404391e-01 -1.84996283e+02] [-5.94145568e-01 -2.42529030e-02 8.03991817e-01 -7.03650768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.62, Y:-184.99, Z:-703.69 [[ 6.43099764e-01 5.99532488e-01 4.76427843e-01 3.07620481e+02] [-4.78345390e-01 8.00337482e-01 -3.61449309e-01 -1.84988073e+02] [-5.98003664e-01 4.55090278e-03 8.01480447e-01 -7.03685164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:-185.01, Z:-703.70 [[ 6.43239168e-01 5.90395591e-01 4.87520686e-01 3.07639684e+02] [-4.78521005e-01 8.07042524e-01 -3.45976897e-01 -1.85013464e+02] [-5.97713159e-01 -1.07429977e-02 8.01638053e-01 -7.03699757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:-185.03, Z:-703.72 [[ 6.43682846e-01 5.89893613e-01 4.87542737e-01 3.07660194e+02] [-4.77688313e-01 8.07418822e-01 -3.46249508e-01 -1.85028761e+02] [-5.97901555e-01 -1.00185992e-02 8.01506930e-01 -7.03719408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:-185.06, Z:-703.73 [[ 6.46094798e-01 5.78994613e-01 4.97319566e-01 3.07683087e+02] [-4.80822387e-01 8.14785529e-01 -3.23935756e-01 -1.85062527e+02] [-5.92765844e-01 -2.98291742e-02 8.04822263e-01 -7.03725493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:-185.07, Z:-703.75 [[ 6.46494607e-01 5.90038657e-01 4.83631168e-01 3.07707240e+02] [-4.80160094e-01 8.07307698e-01 -3.43075159e-01 -1.85067416e+02] [-5.92866771e-01 -1.04241470e-02 8.05233090e-01 -7.03751964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:-185.06, Z:-703.79 [[ 6.44292086e-01 6.05097701e-01 4.67701272e-01 3.07726435e+02] [-4.75265995e-01 7.95916300e-01 -3.75019302e-01 -1.85055782e+02] [-5.99174383e-01 1.93394583e-02 8.00384935e-01 -7.03788350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:307.74, Y:-185.10, Z:-703.79 [[ 6.45882490e-01 5.80811744e-01 4.95473034e-01 3.07744722e+02] [-4.76123162e-01 8.13776033e-01 -3.33279618e-01 -1.85100373e+02] [-5.96776796e-01 -2.06467177e-02 8.02141614e-01 -7.03790290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.50, Y:-184.45, Z:-703.66 [[ 6.15953358e-01 3.30367450e-01 -7.15163484e-01 3.08504162e+02] [-4.18119774e-01 -6.32300236e-01 -6.52205693e-01 -1.84451572e+02] [-6.67665572e-01 7.00752281e-01 -2.51334291e-01 -7.03655006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:-185.15, Z:-703.90 [[ 6.25713556e-01 5.63188348e-01 5.39723477e-01 3.07831433e+02] [-4.32336669e-01 8.26294892e-01 -3.61001047e-01 -1.85152821e+02] [-6.49282335e-01 -7.45900149e-03 7.60510889e-01 -7.03898079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.86, Y:-185.19, Z:-703.90 [[ 6.29250238e-01 5.48096194e-01 5.51030581e-01 3.07856340e+02] [-4.36660085e-01 8.35831740e-01 -3.32736041e-01 -1.85191134e+02] [-6.42940206e-01 -3.12388274e-02 7.65279052e-01 -7.03903286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.88, Y:-185.18, Z:-703.94 [[ 6.28209782e-01 5.70293860e-01 5.29261167e-01 3.07878258e+02] [-4.36108428e-01 8.21440754e-01 -3.67484050e-01 -1.85182285e+02] [-6.44330590e-01 4.18197346e-05 7.64747076e-01 -7.03937301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:-185.20, Z:-703.96 [[ 6.28384504e-01 5.67237595e-01 5.32329247e-01 3.07898551e+02] [-4.36515793e-01 8.23540615e-01 -3.62263465e-01 -1.85199774e+02] [-6.43884212e-01 -4.72937540e-03 7.65108329e-01 -7.03956282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:308.61, Y:-184.55, Z:-703.86 [[ 5.87543963e-01 4.26392240e-01 -6.87736686e-01 3.08610807e+02] [-3.85215924e-01 -6.00038083e-01 -7.01115533e-01 -1.84546802e+02] [-7.11618425e-01 6.76863322e-01 -1.88295673e-01 -7.03862886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.98, Y:-185.25, Z:-704.06 [[ 6.01826359e-01 5.44062089e-01 5.84637903e-01 3.07975509e+02] [-3.94821752e-01 8.39026772e-01 -3.74365946e-01 -1.85251467e+02] [-6.94205170e-01 -5.52446698e-03 7.19755974e-01 -7.04061965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:-185.30, Z:-704.06 [[ 6.06145156e-01 5.20180670e-01 6.01664459e-01 3.08004305e+02] [-4.02381665e-01 8.53083308e-01 -3.32171439e-01 -1.85299752e+02] [-6.86059069e-01 -4.07546380e-02 7.26403479e-01 -7.04064269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:-185.25, Z:-704.12 [[ 6.00271313e-01 5.75093898e-01 5.55824935e-01 3.08018416e+02] [-3.95995357e-01 8.17502924e-01 -4.18182553e-01 -1.85246432e+02] [-6.94882744e-01 3.09188963e-02 7.18458067e-01 -7.04121313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:-185.29, Z:-704.13 [[ 6.00742159e-01 5.44211221e-01 5.85613358e-01 3.08035473e+02] [-3.96341473e-01 8.38909958e-01 -3.73019463e-01 -1.85288134e+02] [-6.94278255e-01 -8.01434376e-03 7.19662057e-01 -7.04130182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:-185.30, Z:-704.15 [[ 6.00629934e-01 5.44949679e-01 5.85041477e-01 3.08055194e+02] [-3.97404010e-01 8.38425904e-01 -3.72977287e-01 -1.85299717e+02] [-6.93767782e-01 -8.47650593e-03 7.20148883e-01 -7.04153069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.08, Y:-185.31, Z:-704.18 [[ 6.00692785e-01 5.45514905e-01 5.84449884e-01 3.08075279e+02] [-3.98355808e-01 8.38054053e-01 -3.72797606e-01 -1.85312213e+02] [-6.93167244e-01 -8.88217362e-03 7.20722054e-01 -7.04175976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:-185.32, Z:-704.20 [[ 6.00528298e-01 5.45994294e-01 5.84171202e-01 3.08094690e+02] [-3.98884950e-01 8.37739932e-01 -3.72937800e-01 -1.85324180e+02] [-6.93005455e-01 -9.05739828e-03 7.20875443e-01 -7.04198981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:-185.34, Z:-704.22 [[ 6.00577718e-01 5.46698925e-01 5.83460959e-01 3.08114586e+02] [-4.00006831e-01 8.37275304e-01 -3.72779559e-01 -1.85335933e+02] [-6.92315636e-01 -9.50527247e-03 7.21532196e-01 -7.04222490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:-185.36, Z:-704.24 [[ 6.02105762e-01 5.37976234e-01 5.89957815e-01 3.08137190e+02] [-4.02860592e-01 8.42657917e-01 -3.57254781e-01 -1.85362175e+02] [-6.89327205e-01 -2.25655928e-02 7.24098611e-01 -7.04238096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.15, Y:-185.35, Z:-704.27 [[ 5.99806029e-01 5.60687188e-01 5.70843766e-01 3.08154390e+02] [-4.00950763e-01 8.28004258e-01 -3.91978870e-01 -1.85347613e+02] [-6.92438599e-01 6.23104655e-03 7.21449902e-01 -7.04273935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:-185.37, Z:-704.29 [[ 5.99848594e-01 5.47931255e-01 5.83054889e-01 3.08173687e+02] [-4.01257044e-01 8.36462923e-01 -3.73259378e-01 -1.85372542e+02] [-6.92224276e-01 -1.00557682e-02 7.21612384e-01 -7.04291237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:-185.38, Z:-704.31 [[ 5.99382518e-01 5.47999264e-01 5.83470139e-01 3.08193041e+02] [-4.00798293e-01 8.36421661e-01 -3.73844263e-01 -1.85384540e+02] [-6.92893444e-01 -9.77811994e-03 7.20973691e-01 -7.04313719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.21, Y:-185.40, Z:-704.34 [[ 5.99108651e-01 5.48006803e-01 5.83744266e-01 3.08212287e+02] [-4.00359839e-01 8.36420475e-01 -3.74316427e-01 -1.85397074e+02] [-6.93383605e-01 -9.45155093e-03 7.20506658e-01 -7.04336770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:-185.41, Z:-704.36 [[ 5.99139899e-01 5.47749217e-01 5.83953917e-01 3.08231830e+02] [-3.99569873e-01 8.36596371e-01 -3.74767165e-01 -1.85409717e+02] [-6.93812149e-01 -8.79243075e-03 7.20102351e-01 -7.04359349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.25, Y:-185.42, Z:-704.38 [[ 5.99503827e-01 5.47291001e-01 5.84010036e-01 3.08250707e+02] [-3.98590656e-01 8.36905151e-01 -3.75120325e-01 -1.85422584e+02] [-6.94060985e-01 -7.89487327e-03 7.19872919e-01 -7.04381365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.27, Y:-185.44, Z:-704.40 [[ 5.99787653e-01 5.47144624e-01 5.83855746e-01 3.08270232e+02] [-3.98195174e-01 8.37005566e-01 -3.75316247e-01 -1.85435596e+02] [-6.94042776e-01 -7.37848982e-03 7.19895953e-01 -7.04404311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.29, Y:-185.45, Z:-704.43 [[ 5.99883841e-01 5.47020566e-01 5.83873169e-01 3.08289287e+02] [-3.97720718e-01 8.37090856e-01 -3.75628978e-01 -1.85448444e+02] [-6.94231667e-01 -6.88470185e-03 7.19718690e-01 -7.04427388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.31, Y:-185.46, Z:-704.45 [[ 6.00003986e-01 5.46912875e-01 5.83850601e-01 3.08308221e+02] [-3.97269161e-01 8.37165220e-01 -3.75940964e-01 -1.85460926e+02] [-6.94386371e-01 -6.37976162e-03 7.19574087e-01 -7.04449949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.33, Y:-185.47, Z:-704.47 [[ 6.00431287e-01 5.46358228e-01 5.83930609e-01 3.08327390e+02] [-3.96154018e-01 8.37534279e-01 -3.76295529e-01 -1.85473834e+02] [-6.94654060e-01 -5.38684792e-03 7.19323793e-01 -7.04473468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:-185.49, Z:-704.50 [[ 6.00947312e-01 5.46211101e-01 5.83537284e-01 3.08346001e+02] [-3.95873491e-01 8.37633642e-01 -3.76369581e-01 -1.85486204e+02] [-6.94367703e-01 -4.82865416e-03 7.19604181e-01 -7.04496058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:-185.50, Z:-704.52 [[ 6.01436709e-01 5.46020618e-01 5.83211256e-01 3.08365129e+02] [-3.95514405e-01 8.37760961e-01 -3.76463714e-01 -1.85499017e+02] [-6.94148572e-01 -4.24935551e-03 7.19819216e-01 -7.04519247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.38, Y:-185.51, Z:-704.54 [[ 6.03204013e-01 5.45131164e-01 5.82217256e-01 3.08384104e+02] [-3.94582377e-01 8.38345947e-01 -3.76139364e-01 -1.85512025e+02] [-6.93144766e-01 -2.84389488e-03 7.20792790e-01 -7.04542859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.40, Y:-185.52, Z:-704.57 [[ 6.03770906e-01 5.45000687e-01 5.81751617e-01 3.08402986e+02] [-3.94377997e-01 8.38432402e-01 -3.76161008e-01 -1.85524391e+02] [-6.92767413e-01 -2.31496499e-03 7.21157370e-01 -7.04565424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.42, Y:-185.54, Z:-704.59 [[ 6.03498728e-01 5.45362910e-01 5.81694578e-01 3.08422786e+02] [-3.94628217e-01 8.38196650e-01 -3.76423892e-01 -1.85536349e+02] [-6.92862075e-01 -2.38175403e-03 7.21066205e-01 -7.04588507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:-185.55, Z:-704.61 [[ 6.03412635e-01 5.45614382e-01 5.81548053e-01 3.08442751e+02] [-3.94759387e-01 8.38033218e-01 -3.76650172e-01 -1.85549226e+02] [-6.92862337e-01 -2.29608038e-03 7.21066231e-01 -7.04612059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:-185.56, Z:-704.64 [[ 6.03257019e-01 5.46042768e-01 5.81307375e-01 3.08462604e+02] [-3.95333916e-01 8.37753324e-01 -3.76670232e-01 -1.85560764e+02] [-6.92670242e-01 -2.58156000e-03 7.21249799e-01 -7.04635129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:-185.57, Z:-704.66 [[ 6.03528728e-01 5.46145669e-01 5.80928552e-01 3.08481837e+02] [-3.95405557e-01 8.37686989e-01 -3.76742557e-01 -1.85573274e+02] [-6.92392606e-01 -2.32742113e-03 7.21517195e-01 -7.04658085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:-185.61, Z:-704.67 [[ 6.08060300e-01 5.28651439e-01 5.92275550e-01 3.08506520e+02] [-3.99009187e-01 8.48473415e-01 -3.47684529e-01 -1.85611662e+02] [-6.86333986e-01 -2.49102264e-02 7.26859781e-01 -7.04665904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:-185.58, Z:-704.71 [[ 6.04607906e-01 5.67661825e-01 5.58756953e-01 3.08522263e+02] [-3.93475172e-01 8.22781743e-01 -4.10131067e-01 -1.85577018e+02] [-6.92550770e-01 2.81114976e-02 7.20821181e-01 -7.04713052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:-185.64, Z:-704.71 [[ 6.08990652e-01 5.28178681e-01 5.91741216e-01 3.08545118e+02] [-3.96226616e-01 8.48864195e-01 -3.49905769e-01 -1.85635925e+02] [-6.87120698e-01 -2.13742768e-02 7.26228811e-01 -7.04711877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:-185.63, Z:-704.74 [[ 6.09089673e-01 5.50018654e-01 5.71392379e-01 3.08566165e+02] [-3.95985220e-01 8.35128795e-01 -3.81779519e-01 -1.85627936e+02] [-6.87172086e-01 6.27502561e-03 7.26467582e-01 -7.04744027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:-185.65, Z:-704.76 [[ 6.10284474e-01 5.42660455e-01 5.77124330e-01 3.08587924e+02] [-3.94142126e-01 8.39952143e-01 -3.73004534e-01 -1.85648126e+02] [-6.87171627e-01 1.69865245e-04 7.26495097e-01 -7.04762994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:-185.62, Z:-704.81 [[ 6.07909002e-01 5.70586763e-01 5.52157035e-01 3.08602056e+02] [-3.87009367e-01 8.20136972e-01 -4.21425078e-01 -1.85619870e+02] [-6.93303970e-01 4.24981544e-02 7.19391070e-01 -7.04805397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:-185.66, Z:-704.81 [[ 6.08783082e-01 5.40124548e-01 5.81075410e-01 3.08618388e+02] [-3.85055202e-01 8.41556965e-01 -3.78832900e-01 -1.85660888e+02] [-6.93625007e-01 6.88095134e-03 7.20303410e-01 -7.04814942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:-185.71, Z:-704.82 [[ 6.14874707e-01 5.11691063e-01 6.00084454e-01 3.08647272e+02] [-3.90905588e-01 8.58621536e-01 -3.31605004e-01 -1.85714271e+02] [-6.84924752e-01 -3.06808365e-02 7.27967561e-01 -7.04815294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:-185.05, Z:-704.81 [[ 5.56260165e-01 5.36742354e-01 -6.34414908e-01 3.09305708e+02] [-3.76085116e-01 -5.18173206e-01 -7.68151361e-01 -1.85048536e+02] [-7.41036176e-01 6.65886007e-01 -8.63783027e-02 -7.04809212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:-185.73, Z:-704.95 [[ 5.79710491e-01 5.33042903e-01 6.16279977e-01 3.08727122e+02] [-3.44754957e-01 8.45758735e-01 -4.07229888e-01 -1.85725831e+02] [-7.38295176e-01 2.36098608e-02 6.74064395e-01 -7.04950427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.75, Y:-185.77, Z:-704.96 [[ 5.81947753e-01 5.07157585e-01 6.35710624e-01 3.08751073e+02] [-3.47680723e-01 8.61831576e-01 -3.69275574e-01 -1.85767113e+02] [-7.35156397e-01 -6.12523894e-03 6.77869865e-01 -7.04960254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:-185.74, Z:-705.00 [[ 5.79451498e-01 5.43470241e-01 6.07351677e-01 3.08765136e+02] [-3.44456133e-01 8.38688771e-01 -4.21842528e-01 -1.85736697e+02] [-7.38637891e-01 3.52312748e-02 6.73181122e-01 -7.05002546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:-185.77, Z:-705.02 [[ 5.78922723e-01 5.22139218e-01 6.26273996e-01 3.08782699e+02] [-3.44248725e-01 8.52778853e-01 -3.92760797e-01 -1.85766984e+02] [-7.39149036e-01 1.17841254e-02 6.73438815e-01 -7.05018902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:-185.78, Z:-705.04 [[ 5.77952086e-01 5.23361588e-01 6.26150170e-01 3.08801104e+02] [-3.45737873e-01 8.52043782e-01 -3.93047984e-01 -1.85777433e+02] [-7.39213575e-01 1.06790740e-02 6.73386403e-01 -7.05042992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:-185.79, Z:-705.07 [[ 5.77072673e-01 5.24396220e-01 6.26095628e-01 3.08819012e+02] [-3.46929613e-01 8.51418175e-01 -3.93353447e-01 -1.85788253e+02] [-7.39342258e-01 9.78241130e-03 6.73258740e-01 -7.05067430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:-185.79, Z:-705.10 [[ 5.75340740e-01 5.30547193e-01 6.22497157e-01 3.08836582e+02] [-3.48218157e-01 8.47545213e-01 -4.00513703e-01 -1.85792009e+02] [-7.40085906e-01 1.36670375e-02 6.72373456e-01 -7.05095464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:-185.82, Z:-705.12 [[ 5.74352503e-01 5.21271591e-01 6.31185496e-01 3.08856140e+02] [-3.52463533e-01 8.53388753e-01 -3.84053504e-01 -1.85817237e+02] [-7.38842785e-01 -1.88777859e-03 6.73875193e-01 -7.05115454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:-185.81, Z:-705.15 [[ 5.72294091e-01 5.37382918e-01 6.19434478e-01 3.08873829e+02] [-3.53688438e-01 8.43244780e-01 -4.04774913e-01 -1.85813941e+02] [-7.39854014e-01 1.25634779e-02 6.72650130e-01 -7.05147069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:-185.83, Z:-705.17 [[ 5.72116168e-01 5.30712325e-01 6.25321932e-01 3.08892024e+02] [-3.55269055e-01 8.47545152e-01 -3.94272894e-01 -1.85830346e+02] [-7.39234056e-01 3.41236507e-03 6.73439950e-01 -7.05165638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:-185.84, Z:-705.19 [[ 5.70761486e-01 5.31923963e-01 6.25530354e-01 3.08910725e+02] [-3.57384305e-01 8.46791101e-01 -3.93981331e-01 -1.85842009e+02] [-7.39261648e-01 1.31463949e-03 6.73417024e-01 -7.05190188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.93, Y:-185.85, Z:-705.21 [[ 5.67994680e-01 5.34850674e-01 6.25553195e-01 3.08929577e+02] [-3.61312420e-01 8.44944176e-01 -3.94363632e-01 -1.85852863e+02] [-7.39483184e-01 -2.02369353e-03 6.73171988e-01 -7.05214853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:-185.86, Z:-705.24 [[ 5.66575178e-01 5.36591723e-01 6.25349415e-01 3.08948073e+02] [-3.63642108e-01 8.43833299e-01 -3.94600787e-01 -1.85864153e+02] [-7.39430176e-01 -3.83236814e-03 6.73222347e-01 -7.05239266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:-185.87, Z:-705.26 [[ 5.65635426e-01 5.37688532e-01 6.25258033e-01 3.08967134e+02] [-3.64933152e-01 8.43129880e-01 -3.94912396e-01 -1.85874864e+02] [-7.39513596e-01 -4.80094315e-03 6.73124500e-01 -7.05263781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:-185.88, Z:-705.29 [[ 5.61312408e-01 5.44309116e-01 6.23422784e-01 3.08983548e+02] [-3.66846102e-01 8.38879428e-01 -4.02125905e-01 -1.85879114e+02] [-7.41857344e-01 -2.98195800e-03 6.70551109e-01 -7.05290981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:-185.89, Z:-705.32 [[ 5.58577642e-01 5.44579274e-01 6.25639219e-01 3.08999577e+02] [-3.66161217e-01 8.38700262e-01 -4.03122604e-01 -1.85887200e+02] [-7.44255992e-01 -3.90954439e-03 6.67883024e-01 -7.05317060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:-185.91, Z:-705.33 [[ 5.56800433e-01 5.32183715e-01 6.37772508e-01 3.09018358e+02] [-3.70765757e-01 8.46302977e-01 -3.82497091e-01 -1.85914082e+02] [-7.43307495e-01 -2.34896611e-02 6.68537362e-01 -7.05334841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.04, Y:-185.91, Z:-705.36 [[ 5.54925043e-01 5.43627104e-01 6.29704508e-01 3.09035081e+02] [-3.70998166e-01 8.39226187e-01 -3.97567312e-01 -1.85913667e+02] [-7.44592880e-01 -1.29991603e-02 6.67392287e-01 -7.05363837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:-185.94, Z:-705.38 [[ 5.55222703e-01 5.34375629e-01 6.37315023e-01 3.09053722e+02] [-3.73260955e-01 8.44874126e-01 -3.83228353e-01 -1.85935777e+02] [-7.43238865e-01 -2.51077320e-02 6.68554853e-01 -7.05382890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:-185.94, Z:-705.41 [[ 5.54115837e-01 5.45210546e-01 6.29047773e-01 3.09070437e+02] [-3.73958484e-01 8.38160770e-01 -3.97041025e-01 -1.85936985e+02] [-7.43714120e-01 -1.52310315e-02 6.68324266e-01 -7.05412364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:-185.95, Z:-705.44 [[ 5.54199756e-01 5.40047321e-01 6.33412600e-01 3.09087781e+02] [-3.74213563e-01 8.41374445e-01 -3.89940063e-01 -1.85953287e+02] [-7.43523261e-01 -2.09268979e-02 6.68382544e-01 -7.05435349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:-185.98, Z:-705.45 [[ 5.55927866e-01 5.29801076e-01 6.40511536e-01 3.09109536e+02] [-3.79254465e-01 8.47345992e-01 -3.71713357e-01 -1.85983712e+02] [-7.39669020e-01 -3.62710465e-02 6.71992673e-01 -7.05452445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:-185.98, Z:-705.48 [[ 5.56404720e-01 5.48929135e-01 6.23771266e-01 3.09127065e+02] [-3.78324821e-01 8.35742448e-01 -3.98001119e-01 -1.85979812e+02] [-7.39786535e-01 -1.45384514e-02 6.72684559e-01 -7.05484345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:-185.97, Z:-705.52 [[ 5.55599215e-01 5.59337654e-01 6.15183632e-01 3.09139826e+02] [-3.70256799e-01 8.28923762e-01 -4.19279500e-01 -1.85969104e+02] [-7.44459143e-01 5.17543856e-03 6.67647961e-01 -7.05516966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:-186.00, Z:-705.53 [[ 5.56464190e-01 5.35012528e-01 6.35695840e-01 3.09155477e+02] [-3.69311736e-01 8.44628194e-01 -3.87572001e-01 -1.86003832e+02] [-7.44282505e-01 -1.90999949e-02 6.67591749e-01 -7.05532719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:-186.02, Z:-705.55 [[ 5.58230726e-01 5.29823301e-01 6.38487061e-01 3.09173307e+02] [-3.68435810e-01 8.47813987e-01 -3.81400705e-01 -1.86022415e+02] [-7.43393241e-01 -2.23319053e-02 6.68481694e-01 -7.05554337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:-186.05, Z:-705.57 [[ 5.62599811e-01 5.21668328e-01 6.41360748e-01 3.09194079e+02] [-3.68076161e-01 8.52704518e-01 -3.70695217e-01 -1.86052292e+02] [-7.40271162e-01 -2.75165432e-02 6.71745076e-01 -7.05572403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:-186.02, Z:-705.61 [[ 5.63372809e-01 5.50859234e-01 6.15763902e-01 3.09207388e+02] [-3.58486360e-01 8.34462638e-01 -4.18520771e-01 -1.86024711e+02] [-7.44378001e-01 1.50402628e-02 6.67589082e-01 -7.05612313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:-186.08, Z:-705.62 [[ 5.66490591e-01 5.14193353e-01 6.43967085e-01 3.09228250e+02] [-3.61032145e-01 8.57320977e-01 -3.66955765e-01 -1.86082476e+02] [-7.40772705e-01 -2.46158294e-02 6.71304596e-01 -7.05619808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:-186.07, Z:-705.65 [[ 5.68715792e-01 5.36740041e-01 6.23275602e-01 3.09246552e+02] [-3.57409865e-01 8.43732934e-01 -4.00465884e-01 -1.86074544e+02] [-7.40824228e-01 4.98642352e-03 6.71680429e-01 -7.05654628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:-186.09, Z:-705.68 [[ 5.70706424e-01 5.33449081e-01 6.24280590e-01 3.09264854e+02] [-3.51391720e-01 8.45775860e-01 -4.01481076e-01 -1.86088091e+02] [-7.42171164e-01 9.76079923e-03 6.70139306e-01 -7.05679020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:-186.09, Z:-705.71 [[ 5.71191076e-01 5.37886787e-01 6.20014967e-01 3.09280431e+02] [-3.45305687e-01 8.42735116e-01 -4.12990928e-01 -1.86086344e+02] [-7.44650748e-01 2.18020383e-02 6.67098144e-01 -7.05707612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:-186.12, Z:-705.73 [[ 5.73474931e-01 5.19339603e-01 6.33571528e-01 3.09299267e+02] [-3.42798691e-01 8.54542653e-01 -3.90187020e-01 -1.86115032e+02] [-7.44053467e-01 6.57498382e-03 6.68087725e-01 -7.05725262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:-186.13, Z:-705.75 [[ 5.75410545e-01 5.18960903e-01 6.32125214e-01 3.09318809e+02] [-3.42160554e-01 8.54757869e-01 -3.90275723e-01 -1.86127631e+02] [-7.42851843e-01 8.28045344e-03 6.69404641e-01 -7.05748977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:-186.14, Z:-705.78 [[ 5.76709530e-01 5.22777710e-01 6.27781478e-01 3.09337256e+02] [-3.40787237e-01 8.52339720e-01 -3.96712818e-01 -1.86135444e+02] [-7.42475708e-01 1.48481474e-02 6.69708411e-01 -7.05775491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:-186.14, Z:-705.80 [[ 5.80474976e-01 5.20079296e-01 6.26551138e-01 3.09355320e+02] [-3.35536478e-01 8.53866067e-01 -3.97904526e-01 -1.86144675e+02] [-7.41932662e-01 2.07428581e-02 6.70153459e-01 -7.05799967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:-186.16, Z:-705.82 [[ 5.82037991e-01 5.17983705e-01 6.26837027e-01 3.09374198e+02] [-3.33419885e-01 8.55105425e-01 -3.97021275e-01 -1.86156730e+02] [-7.41662294e-01 2.20815357e-02 6.70409911e-01 -7.05824283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:-186.17, Z:-705.85 [[ 5.83553409e-01 5.17541489e-01 6.25792479e-01 3.09393208e+02] [-3.30853960e-01 8.55272758e-01 -3.98803420e-01 -1.86165909e+02] [-7.41620575e-01 2.56771754e-02 6.70327984e-01 -7.05848771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.41, Y:-186.17, Z:-705.87 [[ 5.85913504e-01 5.14252680e-01 6.26298289e-01 3.09413338e+02] [-3.25180033e-01 8.57098273e-01 -3.99550368e-01 -1.86173735e+02] [-7.42269030e-01 3.04422579e-02 6.69410156e-01 -7.05873195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:-186.19, Z:-705.90 [[ 5.86972108e-01 5.11378853e-01 6.27658675e-01 3.09432564e+02] [-3.23715427e-01 8.58837011e-01 -3.96997873e-01 -1.86186849e+02] [-7.42072818e-01 2.98438825e-02 6.69654595e-01 -7.05896339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:-186.20, Z:-705.92 [[ 5.88079647e-01 5.12469434e-01 6.25729501e-01 3.09451462e+02] [-3.21859839e-01 8.58033256e-01 -4.00231403e-01 -1.86195389e+02] [-7.42003082e-01 3.39707455e-02 6.69535224e-01 -7.05920623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:-186.20, Z:-705.94 [[ 5.89902041e-01 5.10543014e-01 6.25588853e-01 3.09471395e+02] [-3.18199288e-01 8.59034322e-01 -4.01010282e-01 -1.86203844e+02] [-7.42135295e-01 3.74948564e-02 6.69200523e-01 -7.05944194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:-186.21, Z:-705.97 [[ 5.90358156e-01 5.09801326e-01 6.25763419e-01 3.09490612e+02] [-3.17786947e-01 8.59473717e-01 -4.00395289e-01 -1.86214809e+02] [-7.41949260e-01 3.75171777e-02 6.69405525e-01 -7.05968225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:-186.22, Z:-705.99 [[ 5.90615193e-01 5.09998949e-01 6.25359710e-01 3.09510545e+02] [-3.17538317e-01 8.59326055e-01 -4.00909152e-01 -1.86224616e+02] [-7.41851138e-01 3.82073660e-02 6.69475232e-01 -7.05992185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:-186.23, Z:-706.02 [[ 5.90396436e-01 5.11028441e-01 6.24725525e-01 3.09530387e+02] [-3.17669400e-01 8.58678806e-01 -4.02190081e-01 -1.86233426e+02] [-7.41969138e-01 3.89954077e-02 6.69299004e-01 -7.06017376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:-186.25, Z:-706.04 [[ 5.89774843e-01 5.07988555e-01 6.27784408e-01 3.09553592e+02] [-3.20831581e-01 8.60783313e-01 -3.95119204e-01 -1.86247708e+02] [-7.41102376e-01 3.16183025e-02 6.70647114e-01 -7.06038898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:-186.24, Z:-706.07 [[ 5.87559072e-01 5.22417993e-01 6.17943183e-01 3.09571862e+02] [-3.21948066e-01 8.51544212e-01 -4.13789680e-01 -1.86244557e+02] [-7.42377114e-01 4.41802679e-02 6.68523989e-01 -7.06070127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:-186.26, Z:-706.09 [[ 5.86164886e-01 5.19525528e-01 6.21694421e-01 3.09591639e+02] [-3.23875404e-01 8.53619028e-01 -4.07969702e-01 -1.86258158e+02] [-7.42640862e-01 3.77859819e-02 6.68623040e-01 -7.06092861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:-186.27, Z:-706.11 [[ 5.84049615e-01 5.18527426e-01 6.24512094e-01 3.09614672e+02] [-3.30480780e-01 8.54617680e-01 -4.00513514e-01 -1.86270193e+02] [-7.41396318e-01 2.75305194e-02 6.70502476e-01 -7.06112564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:-186.27, Z:-706.14 [[ 5.81367916e-01 5.28947124e-01 6.18244519e-01 3.09633932e+02] [-3.32663492e-01 8.47963654e-01 -4.12665292e-01 -1.86269018e+02] [-7.42527001e-01 3.42429801e-02 6.68940260e-01 -7.06140816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:-186.28, Z:-706.16 [[ 5.76214153e-01 5.28698628e-01 6.23261591e-01 3.09656319e+02] [-3.40840974e-01 8.48555710e-01 -4.04698205e-01 -1.86279805e+02] [-7.42835568e-01 2.07597454e-02 6.69151965e-01 -7.06163749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:-186.29, Z:-706.19 [[ 5.76060704e-01 5.29962171e-01 6.22329626e-01 3.09674976e+02] [-3.41119250e-01 8.47743968e-01 -4.06162310e-01 -1.86291169e+02] [-7.42826846e-01 2.16855314e-02 6.69132285e-01 -7.06189031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:-186.30, Z:-706.21 [[ 5.73318096e-01 5.32723843e-01 6.22504352e-01 3.09695637e+02] [-3.45601304e-01 8.46108077e-01 -4.05784255e-01 -1.86299913e+02] [-7.42876908e-01 1.75051405e-02 6.69199126e-01 -7.06213015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:-186.31, Z:-706.24 [[ 5.70495032e-01 5.36748584e-01 6.21640070e-01 3.09715481e+02] [-3.49318467e-01 8.43599699e-01 -4.07818778e-01 -1.86306157e+02] [-7.43311528e-01 1.55082309e-02 6.68765630e-01 -7.06238267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.73, Y:-186.32, Z:-706.26 [[ 5.67286398e-01 5.39859298e-01 6.21882691e-01 3.09734971e+02] [-3.54241248e-01 8.41684838e-01 -4.07528860e-01 -1.86316077e+02] [-7.43437476e-01 1.08890785e-02 6.68716791e-01 -7.06263240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:-186.32, Z:-706.29 [[ 5.62670801e-01 5.46844967e-01 6.19969476e-01 3.09757244e+02] [-3.62342373e-01 8.37213553e-01 -4.09611367e-01 -1.86321253e+02] [-7.43040762e-01 5.83514453e-03 6.69220724e-01 -7.06288723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:-186.34, Z:-706.31 [[ 5.62481546e-01 5.42804175e-01 6.23681119e-01 3.09778873e+02] [-3.67974474e-01 8.39844231e-01 -3.99069486e-01 -1.86338363e+02] [-7.40411573e-01 -5.02951091e-03 6.72134962e-01 -7.06307462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:-186.33, Z:-706.34 [[ 5.56521957e-01 5.62110033e-01 6.11813389e-01 3.09799065e+02] [-3.74421269e-01 8.27051478e-01 -4.19278626e-01 -1.86330114e+02] [-7.41681890e-01 4.26181579e-03 6.70738259e-01 -7.06338696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:-186.35, Z:-706.36 [[ 5.54639852e-01 5.57112376e-01 6.18061838e-01 3.09817106e+02] [-3.78135399e-01 8.30409600e-01 -4.09186409e-01 -1.86345387e+02] [-7.41207296e-01 -6.75997063e-03 6.71242168e-01 -7.06360244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:-186.36, Z:-706.38 [[ 5.53641684e-01 5.57086016e-01 6.18979851e-01 3.09837135e+02] [-3.81525267e-01 8.30377555e-01 -4.06093077e-01 -1.86356795e+02] [-7.40215750e-01 -1.13263977e-02 6.72274019e-01 -7.06382544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:-186.36, Z:-706.41 [[ 5.50860300e-01 5.62340990e-01 6.16705392e-01 3.09855456e+02] [-3.84910480e-01 8.26826100e-01 -4.10125009e-01 -1.86364603e+02] [-7.40538218e-01 -1.14547827e-02 6.71916614e-01 -7.06408604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:-186.37, Z:-706.43 [[ 5.48898793e-01 5.64624466e-01 6.16367850e-01 3.09875179e+02] [-3.89711375e-01 8.25197122e-01 -4.08870095e-01 -1.86374497e+02] [-7.39483035e-01 -1.57772607e-02 6.72990282e-01 -7.06432765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:-186.39, Z:-706.46 [[ 5.48570146e-01 5.65499090e-01 6.15858405e-01 3.09893588e+02] [-3.90980393e-01 8.24584233e-01 -4.08895065e-01 -1.86385495e+02] [-7.39056918e-01 -1.64809359e-02 6.73441350e-01 -7.06456443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:-186.40, Z:-706.48 [[ 5.50895521e-01 5.58571200e-01 6.20090590e-01 3.09913660e+02] [-3.92606507e-01 8.29104463e-01 -3.98052659e-01 -1.86404733e+02] [-7.36460627e-01 -2.41661732e-02 6.76048623e-01 -7.06475501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:-186.41, Z:-706.50 [[ 5.52043776e-01 5.64357432e-01 6.13798304e-01 3.09932780e+02] [-3.91439197e-01 8.25381810e-01 -4.06841767e-01 -1.86411037e+02] [-7.36222130e-01 -1.56702497e-02 6.76558511e-01 -7.06500661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.95, Y:-186.41, Z:-706.53 [[ 5.50481941e-01 5.72898005e-01 6.07254073e-01 3.09948481e+02] [-3.88645693e-01 8.19615440e-01 -4.20933554e-01 -1.86412146e+02] [-7.38866807e-01 -4.29036077e-03 6.73837840e-01 -7.06530041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:-186.43, Z:-706.55 [[ 5.52957602e-01 5.62228585e-01 6.14928377e-01 3.09964639e+02] [-3.85464859e-01 8.26913459e-01 -4.09427617e-01 -1.86432673e+02] [-7.38684461e-01 -1.06371663e-02 6.73967446e-01 -7.06551265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:-186.45, Z:-706.58 [[ 5.53715655e-01 5.61561514e-01 6.14855787e-01 3.09982619e+02] [-3.84143944e-01 8.27382457e-01 -4.09721492e-01 -1.86445190e+02] [-7.38804713e-01 -9.32392284e-03 6.73855074e-01 -7.06575683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:-186.46, Z:-706.60 [[ 5.54553178e-01 5.61049397e-01 6.14568424e-01 3.10000531e+02] [-3.83168375e-01 8.27742034e-01 -4.09908676e-01 -1.86457490e+02] [-7.38683132e-01 -8.16702501e-03 6.74003361e-01 -7.06599729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:-186.47, Z:-706.62 [[ 5.55319522e-01 5.60636885e-01 6.14252808e-01 3.10018503e+02] [-3.82522654e-01 8.28029384e-01 -4.09931407e-01 -1.86470035e+02] [-7.38442041e-01 -7.32270079e-03 6.74277191e-01 -7.06624221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:-186.48, Z:-706.65 [[ 5.56680588e-01 5.59993880e-01 6.13607022e-01 3.10036513e+02] [-3.81646349e-01 8.28474826e-01 -4.09848175e-01 -1.86482771e+02] [-7.37870441e-01 -6.02635675e-03 6.74915473e-01 -7.06649024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:-186.50, Z:-706.67 [[ 5.56990943e-01 5.59940342e-01 6.13374195e-01 3.10054687e+02] [-3.81355941e-01 8.28514498e-01 -4.10038257e-01 -1.86495594e+02] [-7.37786375e-01 -5.52629813e-03 6.75011648e-01 -7.06673974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:-186.51, Z:-706.70 [[ 5.57109934e-01 5.60024517e-01 6.13189255e-01 3.10072664e+02] [-3.81222125e-01 8.28459753e-01 -4.10273236e-01 -1.86508989e+02] [-7.37765690e-01 -5.19401538e-03 6.75036895e-01 -7.06698727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:-186.52, Z:-706.72 [[ 5.57673578e-01 5.59749490e-01 6.12927963e-01 3.10089558e+02] [-3.80595560e-01 8.28650358e-01 -4.10469979e-01 -1.86523135e+02] [-7.37663338e-01 -4.36939944e-03 6.75154581e-01 -7.06722179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.11, Y:-186.54, Z:-706.75 [[ 5.57572726e-01 5.59864547e-01 6.12914631e-01 3.10106989e+02] [-3.80399013e-01 8.28574014e-01 -4.10806152e-01 -1.86536168e+02] [-7.37840936e-01 -4.09781494e-03 6.74962193e-01 -7.06746651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:-186.55, Z:-706.77 [[ 5.57676995e-01 5.60040592e-01 6.12658881e-01 3.10124464e+02] [-3.80435565e-01 8.28456146e-01 -4.11009970e-01 -1.86549238e+02] [-7.37743282e-01 -3.86642252e-03 6.75070294e-01 -7.06771234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.14, Y:-186.56, Z:-706.80 [[ 5.58227343e-01 5.59928472e-01 6.12260026e-01 3.10141488e+02] [-3.80150349e-01 8.28534557e-01 -4.11115799e-01 -1.86563684e+02] [-7.37474030e-01 -3.25478218e-03 6.75367649e-01 -7.06796074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:-186.58, Z:-706.82 [[ 5.58351318e-01 5.59965802e-01 6.12112821e-01 3.10158359e+02] [-3.79902974e-01 8.28510846e-01 -4.11392158e-01 -1.86576541e+02] [-7.37507652e-01 -2.84212794e-03 6.75332797e-01 -7.06820159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.18, Y:-186.59, Z:-706.84 [[ 5.58614381e-01 5.59834365e-01 6.11993021e-01 3.10175899e+02] [-3.79543264e-01 8.28601110e-01 -4.11542357e-01 -1.86590123e+02] [-7.37493650e-01 -2.38435013e-03 6.75349858e-01 -7.06844648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:-186.61, Z:-706.87 [[ 5.59805360e-01 5.58874347e-01 6.11782170e-01 3.10192379e+02] [-3.77876838e-01 8.29252082e-01 -4.11764593e-01 -1.86605762e+02] [-7.37446306e-01 -6.70286109e-04 6.75405431e-01 -7.06868672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.21, Y:-186.62, Z:-706.89 [[ 5.60473872e-01 5.58214888e-01 6.11772162e-01 3.10209421e+02] [-3.76499994e-01 8.29696154e-01 -4.12131103e-01 -1.86619443e+02] [-7.37642727e-01 6.56500288e-04 6.75190918e-01 -7.06892577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:-186.63, Z:-706.92 [[ 5.62620676e-01 5.56328548e-01 6.11519846e-01 3.10225995e+02] [-3.73518967e-01 8.30954802e-01 -4.12307771e-01 -1.86634786e+02] [-7.37523936e-01 3.55861504e-03 6.75311617e-01 -7.06916373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.24, Y:-186.65, Z:-706.94 [[ 5.63407934e-01 5.55730761e-01 6.11338549e-01 3.10243240e+02] [-3.72364659e-01 8.31348485e-01 -4.12558187e-01 -1.86648595e+02] [-7.37506652e-01 4.79768546e-03 6.75322827e-01 -7.06940430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:-186.66, Z:-706.96 [[ 5.63891714e-01 5.55068811e-01 6.11493868e-01 3.10260826e+02] [-3.70864588e-01 8.31781876e-01 -4.13035554e-01 -1.86662098e+02] [-7.37892670e-01 6.12590444e-03 6.74890273e-01 -7.06964776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:-186.68, Z:-706.99 [[ 5.64503709e-01 5.54521323e-01 6.11425928e-01 3.10278714e+02] [-3.69703628e-01 8.32137524e-01 -4.13359854e-01 -1.86675393e+02] [-7.38007311e-01 7.29678671e-03 6.74753263e-01 -7.06989696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.29, Y:-186.69, Z:-707.01 [[ 5.65805613e-01 5.53431373e-01 6.11210049e-01 3.10294979e+02] [-3.67852433e-01 8.32844241e-01 -4.13588031e-01 -1.86689332e+02] [-7.37935361e-01 9.17532568e-03 6.74809023e-01 -7.07012903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:-186.70, Z:-707.04 [[ 5.66126263e-01 5.53319143e-01 6.11014714e-01 3.10312529e+02] [-3.67455605e-01 8.32912345e-01 -4.13803581e-01 -1.86702788e+02] [-7.37887141e-01 9.74429337e-03 6.74853773e-01 -7.07037555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.33, Y:-186.72, Z:-707.06 [[ 5.66035989e-01 5.53407896e-01 6.11017971e-01 3.10329917e+02] [-3.67189799e-01 8.32849464e-01 -4.14165934e-01 -1.86716077e+02] [-7.38088688e-01 1.00732581e-02 6.74628504e-01 -7.07062027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.35, Y:-186.73, Z:-707.09 [[ 5.66042196e-01 5.53700156e-01 6.10747387e-01 3.10347674e+02] [-3.67422730e-01 8.32654406e-01 -4.14351515e-01 -1.86729205e+02] [-7.37968001e-01 1.01379694e-02 6.74759551e-01 -7.07086184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:-186.74, Z:-707.11 [[ 5.65534627e-01 5.54769967e-01 6.10246564e-01 3.10365332e+02] [-3.68969324e-01 8.31953049e-01 -4.14386007e-01 -1.86742949e+02] [-7.37585401e-01 9.18737390e-03 6.75191357e-01 -7.07110561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:-186.76, Z:-707.14 [[ 5.64815661e-01 5.55752521e-01 6.10018364e-01 3.10383306e+02] [-3.70182650e-01 8.31305788e-01 -4.14602813e-01 -1.86755392e+02] [-7.37528356e-01 8.35594724e-03 6.75264469e-01 -7.07135245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:-186.77, Z:-707.16 [[ 5.63774173e-01 5.57085905e-01 6.09765509e-01 3.10401402e+02] [-3.71931449e-01 8.30424825e-01 -4.14803095e-01 -1.86768143e+02] [-7.37445374e-01 7.06430216e-03 6.75369837e-01 -7.07160119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.42, Y:-186.78, Z:-707.18 [[ 5.61103721e-01 5.59815351e-01 6.09728946e-01 3.10418767e+02] [-3.75579268e-01 8.28608017e-01 -4.15149331e-01 -1.86781035e+02] [-7.37633261e-01 3.94028288e-03 6.75190081e-01 -7.07184376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:-186.78, Z:-707.21 [[ 5.58429719e-01 5.68999212e-01 6.03652339e-01 3.10434768e+02] [-3.75552282e-01 8.22249072e-01 -4.27629452e-01 -1.86783809e+02] [-7.39673396e-01 1.20979810e-02 6.72857270e-01 -7.07214615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:-186.81, Z:-707.23 [[ 5.58582665e-01 5.53680066e-01 6.17595167e-01 3.10452165e+02] [-3.79834989e-01 8.32675316e-01 -4.02960543e-01 -1.86814142e+02] [-7.37367472e-01 -9.49747934e-03 6.75425059e-01 -7.07229023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:-186.82, Z:-707.26 [[ 5.55769487e-01 5.65869519e-01 6.09025422e-01 3.10470097e+02] [-3.83975291e-01 8.24489932e-01 -4.15667330e-01 -1.86818496e+02] [-7.37348800e-01 -2.83549506e-03 6.75506260e-01 -7.07256957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:-186.83, Z:-707.28 [[ 5.54244175e-01 5.67555373e-01 6.08846691e-01 3.10487702e+02] [-3.86226387e-01 8.23322129e-01 -4.15896442e-01 -1.86831179e+02] [-7.37321214e-01 -4.64447777e-03 6.75526355e-01 -7.07281641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:-186.83, Z:-707.31 [[ 5.49426043e-01 5.82387065e-01 5.99129644e-01 3.10502318e+02] [-3.85996412e-01 8.12868367e-01 -4.36178619e-01 -1.86825928e+02] [-7.41038321e-01 8.38599992e-03 6.71410368e-01 -7.07314688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:-186.86, Z:-707.33 [[ 5.48092142e-01 5.65823476e-01 6.15986038e-01 3.10517760e+02] [-3.88785974e-01 8.24406933e-01 -4.11337666e-01 -1.86855850e+02] [-7.40567668e-01 -1.40357893e-02 6.71835193e-01 -7.07332793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:-186.89, Z:-707.35 [[ 5.49010425e-01 5.55980445e-01 6.24077958e-01 3.10538499e+02] [-3.95097276e-01 8.30611966e-01 -3.92405281e-01 -1.86885434e+02] [-7.36536282e-01 -3.11369115e-02 6.75680988e-01 -7.07348065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:-186.87, Z:-707.39 [[ 5.45319938e-01 5.84237900e-01 6.01075904e-01 3.10556400e+02] [-3.95551554e-01 8.11575827e-01 -4.29980983e-01 -1.86873014e+02] [-7.39029860e-01 -3.27930531e-03 6.73664689e-01 -7.07385330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:-186.90, Z:-707.40 [[ 5.45164034e-01 5.70806886e-01 6.13983448e-01 3.10572524e+02] [-4.01599513e-01 8.20703095e-01 -4.06404062e-01 -1.86902984e+02] [-7.35876353e-01 -2.50185759e-02 6.76653577e-01 -7.07398144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.59, Y:-186.91, Z:-707.42 [[ 5.43780728e-01 5.74577496e-01 6.11688827e-01 3.10590357e+02] [-4.01914936e-01 8.18148072e-01 -4.11215414e-01 -1.86913509e+02] [-7.36727158e-01 -2.22358587e-02 6.75824431e-01 -7.07423755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:-186.92, Z:-707.45 [[ 5.42673880e-01 5.79578219e-01 6.07942554e-01 3.10608497e+02] [-4.02896664e-01 8.14703972e-01 -4.17051215e-01 -1.86923167e+02] [-7.37007014e-01 -1.86152266e-02 6.75628696e-01 -7.07450120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:-186.94, Z:-707.47 [[ 5.41308044e-01 5.80843085e-01 6.07953051e-01 3.10625022e+02] [-4.04381833e-01 8.13772611e-01 -4.17431994e-01 -1.86936693e+02] [-7.37198029e-01 -1.98858729e-02 6.75384052e-01 -7.07474553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:-186.95, Z:-707.50 [[ 5.41037292e-01 5.81541024e-01 6.07526697e-01 3.10642377e+02] [-4.05352860e-01 8.13261583e-01 -4.17486115e-01 -1.86949786e+02] [-7.36863426e-01 -2.03871267e-02 6.75734161e-01 -7.07499063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:-186.96, Z:-707.52 [[ 5.40940149e-01 5.82215738e-01 6.06966712e-01 3.10659803e+02] [-4.06356433e-01 8.12767784e-01 -4.17472130e-01 -1.86963017e+02] [-7.36381834e-01 -2.08173924e-02 6.76245836e-01 -7.07523359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:-186.98, Z:-707.55 [[ 5.40233331e-01 5.83500864e-01 6.06361848e-01 3.10676020e+02] [-4.08311146e-01 8.11812358e-01 -4.17423890e-01 -1.86976981e+02] [-7.35819241e-01 -2.20780027e-02 6.76818001e-01 -7.07547992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:-186.99, Z:-707.57 [[ 5.40281969e-01 5.84229502e-01 6.05616449e-01 3.10693648e+02] [-4.09527331e-01 8.11274639e-01 -4.17277876e-01 -1.86990568e+02] [-7.35107311e-01 -2.25687748e-02 6.77575008e-01 -7.07572820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:-187.00, Z:-707.60 [[ 5.40498169e-01 5.84814636e-01 6.04858307e-01 3.10710225e+02] [-4.10537666e-01 8.10844668e-01 -4.17120786e-01 -1.87003864e+02] [-7.34384473e-01 -2.28640967e-02 6.78348493e-01 -7.07596904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:-187.02, Z:-707.62 [[ 5.41217519e-01 5.85144484e-01 6.03895298e-01 3.10725892e+02] [-4.11335323e-01 8.10607725e-01 -4.16795356e-01 -1.87019583e+02] [-7.33407697e-01 -2.28265193e-02 6.79405697e-01 -7.07621136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:-187.03, Z:-707.65 [[ 5.41424008e-01 5.85333980e-01 6.03526450e-01 3.10742387e+02] [-4.11471509e-01 8.10477078e-01 -4.16914984e-01 -1.87033842e+02] [-7.33178860e-01 -2.26061579e-02 6.79660004e-01 -7.07645041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:-187.05, Z:-707.67 [[ 5.42166708e-01 5.84523664e-01 6.03645051e-01 3.10757470e+02] [-4.09800216e-01 8.11102177e-01 -4.17345230e-01 -1.87050308e+02] [-7.33565978e-01 -2.11031826e-02 6.79290521e-01 -7.07669091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:-187.06, Z:-707.69 [[ 5.42679099e-01 5.83967770e-01 6.03722651e-01 3.10774167e+02] [-4.08509799e-01 8.11532651e-01 -4.17773265e-01 -1.87064937e+02] [-7.33906765e-01 -1.99097998e-02 6.78958364e-01 -7.07693297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:-187.07, Z:-707.72 [[ 5.41382834e-01 5.91872809e-01 5.97152582e-01 3.10787527e+02] [-4.03453071e-01 8.06005592e-01 -4.33105767e-01 -1.87065010e+02] [-7.37651847e-01 -6.44701547e-03 6.75150493e-01 -7.07723636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:-187.09, Z:-707.74 [[ 5.41843961e-01 5.78376638e-01 6.09824226e-01 3.10804576e+02] [-4.03826595e-01 8.15483754e-01 -4.14620705e-01 -1.87090340e+02] [-7.37108678e-01 -2.16035158e-02 6.75428816e-01 -7.07743226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:-187.12, Z:-707.76 [[ 5.44117004e-01 5.68659926e-01 6.16897540e-01 3.10823390e+02] [-4.05228886e-01 8.21942183e-01 -4.00250669e-01 -1.87118794e+02] [-7.34660626e-01 -3.22015078e-02 6.77670146e-01 -7.07759686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:-187.12, Z:-707.79 [[ 5.44639271e-01 5.80975296e-01 6.04843592e-01 3.10839472e+02] [-4.01767239e-01 8.13795392e-01 -4.19904924e-01 -1.87123729e+02] [-7.36173315e-01 -1.43096284e-02 6.76641770e-01 -7.07789100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:-187.14, Z:-707.81 [[ 5.45044671e-01 5.80407516e-01 6.05023489e-01 3.10855890e+02] [-4.00381080e-01 8.14220781e-01 -4.20403986e-01 -1.87138141e+02] [-7.36628330e-01 -1.31010053e-02 6.76170886e-01 -7.07813346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:-187.13, Z:-707.85 [[ 5.43249400e-01 5.93114393e-01 5.94218316e-01 3.10867651e+02] [-3.93718567e-01 8.05087293e-01 -4.43644160e-01 -1.87132347e+02] [-7.41529352e-01 7.05463925e-03 6.70883337e-01 -7.07848154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:-187.16, Z:-707.87 [[ 5.42981385e-01 5.74997757e-01 6.12003918e-01 3.10881249e+02] [-3.92348533e-01 8.18069993e-01 -4.20504597e-01 -1.87160581e+02] [-7.42451240e-01 -1.17926714e-02 6.69796304e-01 -7.07865879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:-187.18, Z:-707.89 [[ 5.44018123e-01 5.70132738e-01 6.15624027e-01 3.10899437e+02] [-3.94322357e-01 8.21343972e-01 -4.12194079e-01 -1.87181244e+02] [-7.40644423e-01 -1.85132679e-02 6.71642091e-01 -7.07888016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3165599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:310.92, Y:-187.19, Z:-707.92 [[ 5.43898443e-01 5.74443361e-01 6.11710151e-01 3.10917683e+02] [-3.95255656e-01 8.18408409e-01 -4.17109870e-01 -1.87189761e+02] [-7.40234726e-01 -1.49164881e-02 6.72183047e-01 -7.07915030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:-187.23, Z:-707.93 [[ 5.47505698e-01 5.58280275e-01 6.23346329e-01 3.10940145e+02] [-4.01475601e-01 8.28831312e-01 -3.89687052e-01 -1.87225384e+02] [-7.34203550e-01 -3.69024604e-02 6.77925775e-01 -7.07925408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.96, Y:-187.19, Z:-707.97 [[ 5.43496508e-01 5.96552667e-01 5.90539128e-01 3.10955778e+02] [-3.96877090e-01 8.02536728e-01 -4.45447389e-01 -1.87193476e+02] [-7.39662167e-01 7.72764959e-03 6.72933995e-01 -7.07971069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.97, Y:-187.22, Z:-707.99 [[ 5.43345941e-01 5.79940959e-01 6.06995611e-01 3.10972832e+02] [-3.97851314e-01 8.14568169e-01 -4.22129163e-01 -1.87221293e+02] [-7.39249295e-01 -1.21318340e-02 6.73322581e-01 -7.07990076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:-187.22, Z:-708.02 [[ 5.40273025e-01 5.83755162e-01 6.06081652e-01 3.10989038e+02] [-3.96390877e-01 8.11883447e-01 -4.28625177e-01 -1.87224273e+02] [-7.42279821e-01 -8.67061676e-03 6.70033946e-01 -7.08017029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:-187.25, Z:-708.04 [[ 5.40062278e-01 5.74042275e-01 6.15473966e-01 3.11007352e+02] [-3.98107650e-01 8.18546582e-01 -4.14115676e-01 -1.87246827e+02] [-7.41514015e-01 -2.13766390e-02 6.70596753e-01 -7.08037223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:-187.26, Z:-708.06 [[ 5.39482661e-01 5.76649761e-01 6.13541777e-01 3.11025949e+02] [-4.00157268e-01 8.16715780e-01 -4.15751724e-01 -1.87257142e+02] [-7.40832383e-01 -2.12223548e-02 6.71354595e-01 -7.08062061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:-187.30, Z:-708.07 [[ 5.44380255e-01 5.52287414e-01 6.31370534e-01 3.11050533e+02] [-4.08330592e-01 8.31948135e-01 -3.75670640e-01 -1.87303594e+02] [-7.32745704e-01 -5.33002251e-02 6.78411984e-01 -7.08066730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:-187.26, Z:-708.12 [[ 5.39691172e-01 6.04894065e-01 5.85522509e-01 3.11066425e+02] [-4.02702661e-01 7.96267345e-01 -4.51429819e-01 -1.87258728e+02] [-7.39299672e-01 7.84121542e-03 6.73330907e-01 -7.08119290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:-187.32, Z:-708.12 [[ 5.44151082e-01 5.61236519e-01 6.23629033e-01 3.11086285e+02] [-4.08476843e-01 8.26488042e-01 -3.87381188e-01 -1.87320379e+02] [-7.32834408e-01 -4.39441258e-02 6.78986484e-01 -7.08118363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:-187.31, Z:-708.15 [[ 5.43725119e-01 5.86659360e-01 6.00161471e-01 3.11106154e+02] [-4.07187849e-01 8.09702068e-01 -4.22587999e-01 -1.87309981e+02] [-7.33867188e-01 -1.46067484e-02 6.79135916e-01 -7.08154109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:-187.30, Z:-708.19 [[ 5.40803875e-01 6.02534729e-01 5.86926801e-01 3.11120167e+02] [-3.99666387e-01 7.98038148e-01 -4.51000990e-01 -1.87297103e+02] [-7.40133737e-01 9.32816896e-03 6.72395001e-01 -7.08192029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.14, Y:-187.34, Z:-708.20 [[ 5.42022851e-01 5.72578303e-01 6.15114068e-01 3.11136787e+02] [-4.00304217e-01 8.19500055e-01 -4.10092909e-01 -1.87340226e+02] [-7.38896314e-01 -2.39530279e-02 6.73393265e-01 -7.08203245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:-187.84, Z:-707.71 [[ 6.00561584e-01 -5.55841308e-01 5.74774933e-01 3.11655901e+02] [-4.11004164e-01 4.02007725e-01 8.18208633e-01 -1.87838291e+02] [-6.85858120e-01 -7.27619563e-01 1.29773043e-02 -7.07711835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.90, Y:-186.81, Z:-708.33 [[ 5.37641480e-01 6.05542509e-01 -5.86736661e-01 3.11898578e+02] [-3.81830113e-01 -4.45573000e-01 -8.09734812e-01 -1.86808287e+02] [-7.51762864e-01 6.59380749e-01 -8.34416260e-03 -7.08327170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:-187.49, Z:-708.43 [[ 5.42361468e-01 5.72209891e-01 6.15158418e-01 3.11345090e+02] [-3.99696836e-01 8.19772392e-01 -4.10141032e-01 -1.87487215e+02] [-7.38976642e-01 -2.34321808e-02 6.73323441e-01 -7.08434423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:-187.49, Z:-708.46 [[ 5.42790003e-01 5.84458544e-01 6.03147762e-01 3.11363742e+02] [-3.98369924e-01 8.11383094e-01 -4.27736926e-01 -1.87488060e+02] [-7.39378398e-01 -8.10460102e-03 6.73241338e-01 -7.08464561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.38, Y:-187.50, Z:-708.49 [[ 5.43363202e-01 5.84466576e-01 6.02623641e-01 3.11381195e+02] [-3.98361340e-01 8.11381819e-01 -4.27747341e-01 -1.87500685e+02] [-7.38961889e-01 -7.63979613e-03 6.73703911e-01 -7.08489141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.40, Y:-187.51, Z:-708.51 [[ 5.43812595e-01 5.84524765e-01 6.02161657e-01 3.11398852e+02] [-3.98383817e-01 8.11343486e-01 -4.27799115e-01 -1.87513344e+02] [-7.38619115e-01 -7.24891279e-03 6.74084013e-01 -7.08514262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.42, Y:-187.53, Z:-708.54 [[ 5.45454092e-01 5.84090207e-01 6.01097716e-01 3.11415807e+02] [-3.98132500e-01 8.11665247e-01 -4.27422554e-01 -1.87525416e+02] [-7.37543454e-01 -6.17715493e-03 6.75271424e-01 -7.08539169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.43, Y:-187.54, Z:-708.56 [[ 5.46141896e-01 5.84066773e-01 6.00495657e-01 3.11432928e+02] [-3.98144576e-01 8.11685754e-01 -4.27372359e-01 -1.87537889e+02] [-7.37027765e-01 -5.67813880e-03 6.75838615e-01 -7.08563368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:-187.55, Z:-708.59 [[ 5.47107672e-01 5.83868884e-01 5.99808571e-01 3.11450721e+02] [-3.97994178e-01 8.11832710e-01 -4.27233291e-01 -1.87551078e+02] [-7.36392442e-01 -4.97770771e-03 6.76536321e-01 -7.08588335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.47, Y:-187.56, Z:-708.61 [[ 5.48993718e-01 5.82766397e-01 5.99157095e-01 3.11467052e+02] [-3.96443955e-01 8.12634082e-01 -4.27151072e-01 -1.87564360e+02] [-7.35824767e-01 -3.02895342e-03 6.77165222e-01 -7.08611822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.48, Y:-187.58, Z:-708.64 [[ 5.49376373e-01 5.82369958e-01 5.99191816e-01 3.11484608e+02] [-3.95574901e-01 8.12920859e-01 -4.27411015e-01 -1.87577967e+02] [-7.36006861e-01 -2.21573019e-03 6.76970451e-01 -7.08636451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.50, Y:-187.59, Z:-708.66 [[ 5.49330741e-01 5.82313512e-01 5.99288504e-01 3.11501858e+02] [-3.95005595e-01 8.12962563e-01 -4.27857981e-01 -1.87591552e+02] [-7.36346601e-01 -1.68677035e-03 6.76602422e-01 -7.08660290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:-187.60, Z:-708.68 [[ 5.49366460e-01 5.82231896e-01 5.99335059e-01 3.11519004e+02] [-3.94464759e-01 8.13021948e-01 -4.28243932e-01 -1.87604598e+02] [-7.36609834e-01 -1.15370666e-03 6.76316954e-01 -7.08683809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:-187.62, Z:-708.71 [[ 5.48782040e-01 5.82567207e-01 5.99544596e-01 3.11536897e+02] [-3.94547183e-01 8.12781452e-01 -4.28624349e-01 -1.87618261e+02] [-7.37001216e-01 -1.32728699e-03 6.75890114e-01 -7.08708293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.55, Y:-187.63, Z:-708.73 [[ 5.48274211e-01 5.83145013e-01 5.99447482e-01 3.11554796e+02] [-3.95074224e-01 8.12366387e-01 -4.28925648e-01 -1.87631028e+02] [-7.37096837e-01 -1.65737714e-03 6.75785103e-01 -7.08732944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:-187.64, Z:-708.76 [[ 5.47653943e-01 5.84063361e-01 5.99120313e-01 3.11573226e+02] [-3.96281559e-01 8.11704399e-01 -4.29065140e-01 -1.87643144e+02] [-7.36909822e-01 -2.44111648e-03 6.75986654e-01 -7.08757966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:312.26, Y:-187.02, Z:-708.73 [[ 4.96602683e-01 5.59634070e-01 -6.63472293e-01 3.12260487e+02] [-3.58108785e-01 -5.64195930e-01 -7.43936187e-01 -1.87023850e+02] [-7.90660403e-01 6.07035963e-01 -7.97713356e-02 -7.08732577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.64, Y:-187.70, Z:-708.87 [[ 5.11368611e-01 5.65126066e-01 6.47406111e-01 3.11641711e+02] [-3.62076848e-01 8.24910805e-01 -4.34076630e-01 -1.87704769e+02] [-7.79360315e-01 -1.24376008e-02 6.26452557e-01 -7.08866521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:-187.71, Z:-708.90 [[ 5.10845015e-01 5.75785958e-01 6.38363455e-01 3.11657622e+02] [-3.60195906e-01 8.17600342e-01 -4.49208850e-01 -1.87705447e+02] [-7.80574327e-01 -4.59800895e-04 6.25062804e-01 -7.08898259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:-187.72, Z:-708.92 [[ 5.11627593e-01 5.69160662e-01 6.43656234e-01 3.11674660e+02] [-3.61864136e-01 8.22186317e-01 -4.39390495e-01 -1.87724678e+02] [-7.79289133e-01 -8.11180581e-03 6.26612037e-01 -7.08918538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.69, Y:-187.73, Z:-708.95 [[ 5.11285561e-01 5.74767751e-01 6.38928093e-01 3.11690951e+02] [-3.61934398e-01 8.18311244e-01 -4.46508903e-01 -1.87731513e+02] [-7.79480960e-01 -2.95649944e-03 6.26418943e-01 -7.08945947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.71, Y:-187.74, Z:-708.97 [[ 5.11132987e-01 5.74795539e-01 6.39025163e-01 3.11707682e+02] [-3.61394299e-01 8.18293325e-01 -4.46978964e-01 -1.87742853e+02] [-7.79831540e-01 -2.47435820e-03 6.25984543e-01 -7.08972058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:-187.75, Z:-709.00 [[ 5.09540162e-01 5.82502394e-01 6.33292811e-01 3.11722198e+02] [-3.59727704e-01 8.12809331e-01 -4.58188792e-01 -1.87745256e+02] [-7.81642375e-01 5.65262266e-03 6.23701248e-01 -7.09003409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.74, Y:-187.76, Z:-709.02 [[ 5.10660873e-01 5.74397431e-01 6.39760162e-01 3.11739032e+02] [-3.59874984e-01 8.18574968e-01 -4.47688527e-01 -1.87763090e+02] [-7.80842794e-01 -1.61666392e-03 6.24725474e-01 -7.09024531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:-187.78, Z:-709.04 [[ 5.11431489e-01 5.67392191e-01 6.45371160e-01 3.11756092e+02] [-3.62366646e-01 8.23380712e-01 -4.36731746e-01 -1.87783868e+02] [-7.79184347e-01 -1.05026155e-02 6.26706828e-01 -7.09044491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.77, Y:-187.78, Z:-709.08 [[ 5.10945027e-01 5.81101147e-01 6.33448212e-01 3.11771977e+02] [-3.60559128e-01 8.13819120e-01 -4.55736278e-01 -1.87780464e+02] [-7.80341140e-01 4.46064992e-03 6.25338155e-01 -7.09076854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:-187.81, Z:-709.10 [[ 5.11750551e-01 5.68600045e-01 6.44053851e-01 3.11788963e+02] [-3.63019914e-01 8.22555868e-01 -4.37742375e-01 -1.87806417e+02] [-7.78670608e-01 -9.78947146e-03 6.27356558e-01 -7.09095470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:-187.81, Z:-709.12 [[ 5.11825409e-01 5.79008074e-01 6.34652977e-01 3.11805134e+02] [-3.62427228e-01 8.15321067e-01 -4.51550731e-01 -1.87807256e+02] [-7.78897461e-01 1.09961821e-03 6.27150330e-01 -7.09124895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:-187.82, Z:-709.15 [[ 5.11480378e-01 5.76821368e-01 6.36918309e-01 3.11820656e+02] [-3.61762897e-01 8.16870081e-01 -4.49278173e-01 -1.87819206e+02] [-7.79432761e-01 -6.16443134e-04 6.26485587e-01 -7.09150349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:-187.83, Z:-709.17 [[ 5.11429360e-01 5.73503985e-01 6.39947802e-01 3.11837097e+02] [-3.62709239e-01 8.19188093e-01 -4.44266674e-01 -1.87834751e+02] [-7.79026327e-01 -4.90395964e-03 6.26972036e-01 -7.09174553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:-187.84, Z:-709.20 [[ 5.11265370e-01 5.75213180e-01 6.38543280e-01 3.11853064e+02] [-3.63660192e-01 8.17991997e-01 -4.45690878e-01 -1.87844178e+02] [-7.78690559e-01 -4.34646000e-03 6.27393116e-01 -7.09199175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.87, Y:-187.85, Z:-709.23 [[ 5.09903298e-01 5.78436300e-01 6.36718206e-01 3.11868517e+02] [-3.63594668e-01 8.15724822e-01 -4.49879908e-01 -1.87851813e+02] [-7.79613715e-01 -2.11209590e-03 6.26257132e-01 -7.09227675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.88, Y:-187.86, Z:-709.25 [[ 5.08927269e-01 5.80637668e-01 6.35494243e-01 3.11884760e+02] [-3.63595197e-01 8.14161808e-01 -4.52701981e-01 -1.87858883e+02] [-7.80250965e-01 -6.70271871e-04 6.25466213e-01 -7.09254515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.90, Y:-187.89, Z:-709.27 [[ 5.10271201e-01 5.61240750e-01 6.51638030e-01 3.11903662e+02] [-3.68456544e-01 8.27312216e-01 -4.24021548e-01 -1.87894829e+02] [-7.77086274e-01 -2.37343119e-02 6.28946425e-01 -7.09268951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.92, Y:-187.89, Z:-709.30 [[ 5.09529912e-01 5.80723165e-01 6.34932969e-01 3.11921128e+02] [-3.68854635e-01 8.14081589e-01 -4.48572654e-01 -1.87889567e+02] [-7.77383771e-01 -5.63678409e-03 6.29001351e-01 -7.09301597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:-187.90, Z:-709.33 [[ 5.09586939e-01 5.80890702e-01 6.34733917e-01 3.11937806e+02] [-3.68763002e-01 8.13964100e-01 -4.48861106e-01 -1.87901331e+02] [-7.77389864e-01 -5.33262795e-03 6.28996473e-01 -7.09327300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:-187.91, Z:-709.35 [[ 5.09551793e-01 5.81024352e-01 6.34639798e-01 3.11953904e+02] [-3.68523927e-01 8.13870962e-01 -4.49226193e-01 -1.87913127e+02] [-7.77526260e-01 -4.97593847e-03 6.28830784e-01 -7.09352762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:-187.93, Z:-709.38 [[ 5.09685428e-01 5.81062345e-01 6.34497688e-01 3.11970323e+02] [-3.68210738e-01 8.13846545e-01 -4.49527145e-01 -1.87925082e+02] [-7.77587048e-01 -4.51142664e-03 6.28759119e-01 -7.09378166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:-187.94, Z:-709.40 [[ 5.09944416e-01 5.80787147e-01 6.34541553e-01 3.11986570e+02] [-3.67210907e-01 8.14047738e-01 -4.49980478e-01 -1.87937367e+02] [-7.77889994e-01 -3.54554678e-03 6.28390473e-01 -7.09404022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:-187.95, Z:-709.43 [[ 5.10164475e-01 5.80729632e-01 6.34417295e-01 3.12003183e+02] [-3.66689635e-01 8.14091347e-01 -4.50326537e-01 -1.87949250e+02] [-7.77991594e-01 -2.89364541e-03 6.28268021e-01 -7.09429982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:-187.96, Z:-709.46 [[ 5.10126807e-01 5.80778016e-01 6.34403292e-01 3.12019551e+02] [-3.66241940e-01 8.14058420e-01 -4.50750187e-01 -1.87961230e+02] [-7.78227141e-01 -2.40533848e-03 6.27978289e-01 -7.09456459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:-187.97, Z:-709.48 [[ 5.10683782e-01 5.80723373e-01 6.34005078e-01 3.12035500e+02] [-3.65969585e-01 8.14099051e-01 -4.50897990e-01 -1.87972465e+02] [-7.77989934e-01 -1.76028467e-03 6.28274275e-01 -7.09481184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:-187.98, Z:-709.51 [[ 5.11668738e-01 5.80290538e-01 6.33607130e-01 3.12051307e+02] [-3.65133634e-01 8.14409329e-01 -4.51015382e-01 -1.87983942e+02] [-7.77735516e-01 -5.80802322e-04 6.28591386e-01 -7.09506096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.07, Y:-188.00, Z:-709.53 [[ 5.11558860e-01 5.80588317e-01 6.33423033e-01 3.12068097e+02] [-3.65287533e-01 8.14197106e-01 -4.51273854e-01 -1.87995827e+02] [-7.77735528e-01 -5.28398331e-04 6.28591418e-01 -7.09532464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:-188.01, Z:-709.56 [[ 5.11745916e-01 5.80384940e-01 6.33458317e-01 3.12084520e+02] [-3.64581057e-01 8.14342249e-01 -4.51583164e-01 -1.88007406e+02] [-7.77943938e-01 1.48937381e-04 6.28333675e-01 -7.09558715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:-188.02, Z:-709.58 [[ 5.12221054e-01 5.80404300e-01 6.33056427e-01 3.12101110e+02] [-3.64439522e-01 8.14328188e-01 -4.51722744e-01 -1.88018911e+02] [-7.77697516e-01 6.71118577e-04 6.28638309e-01 -7.09584440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:-188.03, Z:-709.61 [[ 5.12764712e-01 5.79873839e-01 6.33102426e-01 3.12117409e+02] [-3.63025428e-01 8.14703752e-01 -4.52183962e-01 -1.88029367e+02] [-7.78000571e-01 2.03169935e-03 6.28260283e-01 -7.09609503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.13, Y:-188.02, Z:-709.65 [[ 5.10791203e-01 5.94829198e-01 6.20701677e-01 3.12129903e+02] [-3.56909761e-01 8.03556945e-01 -4.76352453e-01 -1.88017654e+02] [-7.82117491e-01 2.17821558e-02 6.22750165e-01 -7.09645224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:-188.08, Z:-709.65 [[ 5.14056255e-01 5.53539148e-01 6.55240855e-01 3.12148931e+02] [-3.60879832e-01 8.32572197e-01 -4.20225277e-01 -1.88075236e+02] [-7.78146460e-01 -2.04437778e-02 6.27750061e-01 -7.09651107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.16, Y:-188.04, Z:-709.70 [[ 5.12435144e-01 5.93601919e-01 6.20521543e-01 3.12162824e+02] [-3.53937603e-01 8.04373400e-01 -4.77191374e-01 -1.88042178e+02] [-7.82392738e-01 2.49037225e-02 6.22287239e-01 -7.09696338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.18, Y:-188.10, Z:-709.70 [[ 5.14806482e-01 5.53767221e-01 6.54458670e-01 3.12181990e+02] [-3.57514288e-01 8.32515657e-01 -4.23203514e-01 -1.88097513e+02] [-7.79203324e-01 -1.61104133e-02 6.26564150e-01 -7.09702301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:-188.06, Z:-709.75 [[ 5.12079699e-01 5.96770552e-01 6.17769610e-01 3.12195375e+02] [-3.51208708e-01 8.01828299e-01 -4.83449917e-01 -1.88059668e+02] [-7.83853830e-01 3.05988214e-02 6.20191008e-01 -7.09749422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:-188.10, Z:-709.77 [[ 5.12019479e-01 5.68879897e-01 6.43592818e-01 3.12209913e+02] [-3.50990247e-01 8.22413831e-01 -4.47706755e-01 -1.88096140e+02] [-7.83991007e-01 3.33977742e-03 6.20763197e-01 -7.09765161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.23, Y:-188.11, Z:-709.79 [[ 5.12020297e-01 5.66054371e-01 6.46078683e-01 3.12228735e+02] [-3.52793142e-01 8.24366921e-01 -4.42669379e-01 -1.88112389e+02] [-7.83180831e-01 -1.27642167e-03 6.21792696e-01 -7.09788770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.25, Y:-188.14, Z:-709.80 [[ 5.14641395e-01 5.58722123e-01 6.50364378e-01 3.12250316e+02] [-3.57499718e-01 8.29275861e-01 -4.29529392e-01 -1.88136696e+02] [-7.79319053e-01 -1.14514757e-02 6.26522687e-01 -7.09804753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.27, Y:-188.12, Z:-709.84 [[ 5.12117256e-01 5.88760731e-01 6.25377260e-01 3.12266722e+02] [-3.57933774e-01 8.08155123e-01 -4.67727175e-01 -1.88119258e+02] [-7.80781230e-01 1.56875150e-02 6.24607535e-01 -7.09844372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.28, Y:-188.13, Z:-709.87 [[ 5.10777949e-01 5.85729665e-01 6.29306481e-01 3.12282264e+02] [-3.58013380e-01 8.10424048e-01 -4.63723281e-01 -1.88132132e+02] [-7.81621588e-01 1.15594858e-02 6.23645790e-01 -7.09870201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.30, Y:-188.15, Z:-709.89 [[ 5.10395385e-01 5.77802523e-01 6.36899361e-01 3.12299855e+02] [-3.61259651e-01 8.16176598e-01 -4.50940379e-01 -1.88154181e+02] [-7.80376842e-01 7.18474080e-05 6.25309506e-01 -7.09890890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:-188.15, Z:-709.92 [[ 5.07971685e-01 5.92649753e-01 6.25084824e-01 3.12316981e+02] [-3.62375130e-01 8.05374206e-01 -4.69101965e-01 -1.88148922e+02] [-7.81440358e-01 1.17753210e-02 6.23868824e-01 -7.09921911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:-188.18, Z:-709.94 [[ 5.07775385e-01 5.80095173e-01 6.36909530e-01 3.12334813e+02] [-3.65778542e-01 8.14537162e-01 -4.50261335e-01 -1.88175111e+02] [-7.79980908e-01 -4.33621651e-03 6.25788287e-01 -7.09942375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:-188.18, Z:-709.97 [[ 5.06746827e-01 5.87134567e-01 6.31253241e-01 3.12353099e+02] [-3.68545801e-01 8.09488686e-01 -4.57058048e-01 -1.88182712e+02] [-7.79346935e-01 -1.03301596e-03 6.26591803e-01 -7.09969142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:-188.19, Z:-709.99 [[ 5.06877592e-01 5.85371579e-01 6.32783708e-01 3.12371251e+02] [-3.70252305e-01 8.10752878e-01 -4.53423645e-01 -1.88194914e+02] [-7.78452528e-01 -4.45934082e-03 6.27687643e-01 -7.09989141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.39, Y:-188.20, Z:-710.02 [[ 5.02323095e-01 5.97799509e-01 6.24745752e-01 3.12387083e+02] [-3.71063624e-01 8.01637460e-01 -4.68710113e-01 -1.88195178e+02] [-7.81014274e-01 3.62349203e-03 6.24502662e-01 -7.10022549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.40, Y:-188.22, Z:-710.04 [[ 5.02705631e-01 5.84502843e-01 6.36901465e-01 3.12404799e+02] [-3.73434507e-01 8.11307016e-01 -4.49808399e-01 -1.88219401e+02] [-7.79636914e-01 -1.17197695e-02 6.26122136e-01 -7.10037339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.42, Y:-188.23, Z:-710.06 [[ 5.01261715e-01 5.90877406e-01 6.32139687e-01 3.12422056e+02] [-3.74169896e-01 8.06728635e-01 -4.57368341e-01 -1.88225719e+02] [-7.80213806e-01 -7.26640201e-03 6.25470716e-01 -7.10064767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.44, Y:-188.24, Z:-710.09 [[ 4.99513557e-01 5.92116378e-01 6.32364137e-01 3.12438907e+02] [-3.75423328e-01 8.05806109e-01 -4.57967073e-01 -1.88235931e+02] [-7.80732689e-01 -8.64348675e-03 6.24805376e-01 -7.10089820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.46, Y:-188.25, Z:-710.12 [[ 4.99043547e-01 5.92690771e-01 6.32197113e-01 3.12455995e+02] [-3.75991108e-01 8.05379671e-01 -4.58251321e-01 -1.88246967e+02] [-7.80760031e-01 -9.01312814e-03 6.24765987e-01 -7.10115491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.47, Y:-188.25, Z:-710.15 [[ 4.97368675e-01 6.03066028e-01 6.23647150e-01 3.12471819e+02] [-3.74656732e-01 7.97690065e-01 -4.72570518e-01 -1.88247683e+02] [-7.82468360e-01 1.38816915e-03 6.22688797e-01 -7.10149288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.49, Y:-188.27, Z:-710.16 [[ 4.98520851e-01 5.86415450e-01 6.38430796e-01 3.12489061e+02] [-3.77216061e-01 8.09835403e-01 -4.49304643e-01 -1.88274413e+02] [-7.80503046e-01 -1.68386174e-02 6.24925161e-01 -7.10164110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.51, Y:-188.28, Z:-710.19 [[ 4.97934062e-01 5.94450003e-01 6.31419721e-01 3.12506818e+02] [-3.77864384e-01 8.04069963e-01 -4.59009807e-01 -1.88279341e+02] [-7.80564012e-01 -1.00344067e-02 6.24995307e-01 -7.10192710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.52, Y:-188.29, Z:-710.22 [[ 4.97500417e-01 5.95341325e-01 6.30921582e-01 3.12523828e+02] [-3.79201190e-01 8.03399600e-01 -4.59081192e-01 -1.88289472e+02] [-7.80192151e-01 -1.08531302e-02 6.25445775e-01 -7.10218157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.54, Y:-188.28, Z:-710.25 [[ 4.94765039e-01 6.09172777e-01 6.19770994e-01 3.12537746e+02] [-3.76236872e-01 7.93028094e-01 -4.79116123e-01 -1.88283820e+02] [-7.83360309e-01 3.86920752e-03 6.21555835e-01 -7.10253874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.55, Y:-188.31, Z:-710.27 [[ 4.95160969e-01 5.92146091e-01 6.35750441e-01 3.12553296e+02] [-3.79002428e-01 8.05680813e-01 -4.55231355e-01 -1.88314052e+02] [-7.81775399e-01 -1.55381618e-02 6.23366498e-01 -7.10274017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.57, Y:-188.33, Z:-710.29 [[ 4.96967541e-01 5.92343367e-01 6.34155027e-01 3.12571764e+02] [-3.80917684e-01 8.05527026e-01 -4.53902995e-01 -1.88325494e+02] [-7.79695441e-01 -1.59858089e-02 6.25954849e-01 -7.10294049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:-188.33, Z:-710.32 [[ 4.97756865e-01 5.96808293e-01 6.29331364e-01 3.12588212e+02] [-3.81772190e-01 8.02296344e-01 -4.58879692e-01 -1.88332341e+02] [-7.78773458e-01 -1.18506961e-02 6.27193321e-01 -7.10320729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9565599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.60, Y:-188.34, Z:-710.35 [[ 4.98578519e-01 5.96865396e-01 6.28626407e-01 3.12604441e+02] [-3.81996000e-01 8.02260299e-01 -4.58756437e-01 -1.88344266e+02] [-7.78137852e-01 -1.14066683e-02 6.27989945e-01 -7.10346319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:-188.36, Z:-710.37 [[ 4.99762985e-01 5.96096909e-01 6.28415017e-01 3.12620621e+02] [-3.80405202e-01 8.02854600e-01 -4.59038531e-01 -1.88357084e+02] [-7.78157337e-01 -9.64187530e-03 6.27995377e-01 -7.10372103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:-188.37, Z:-710.40 [[ 5.00301934e-01 5.95627235e-01 6.28431517e-01 3.12636836e+02] [-3.79098362e-01 8.03217510e-01 -4.59484563e-01 -1.88369603e+02] [-7.78448718e-01 -8.35634348e-03 6.27652583e-01 -7.10397880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:-188.38, Z:-710.42 [[ 5.01416082e-01 5.99159352e-01 6.24171437e-01 3.12652465e+02] [-3.78849919e-01 8.00621193e-01 -4.64196558e-01 -1.88378585e+02] [-7.77852590e-01 -3.71167903e-03 6.28435814e-01 -7.10423033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:-188.40, Z:-710.45 [[ 5.01720456e-01 5.89150526e-01 6.33386329e-01 3.12668036e+02] [-3.76063887e-01 8.07953841e-01 -4.53637017e-01 -1.88398780e+02] [-7.79007405e-01 -1.05947535e-02 6.26925207e-01 -7.10445851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:-188.41, Z:-710.47 [[ 5.02365644e-01 5.93767689e-01 6.28544900e-01 3.12684727e+02] [-3.74356464e-01 8.04627745e-01 -4.60902842e-01 -1.88406560e+02] [-7.79413881e-01 -3.75809377e-03 6.26498108e-01 -7.10473174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:-188.42, Z:-710.50 [[ 5.04074406e-01 5.92036373e-01 6.28809929e-01 3.12700547e+02] [-3.70799620e-01 8.05911080e-01 -4.61535452e-01 -1.88419005e+02] [-7.80010663e-01 -5.14274161e-04 6.25766011e-01 -7.10498609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:-188.43, Z:-710.52 [[ 5.05122627e-01 5.91304368e-01 6.28657518e-01 3.12716416e+02] [-3.69216538e-01 8.06447599e-01 -4.61867316e-01 -1.88431074e+02] [-7.80083508e-01 1.18887921e-03 6.25674282e-01 -7.10523821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:-188.44, Z:-710.55 [[ 5.07390978e-01 5.89811611e-01 6.28232965e-01 3.12732485e+02] [-3.66715069e-01 8.07530890e-01 -4.61967445e-01 -1.88443833e+02] [-7.79791289e-01 4.01561880e-03 6.26026694e-01 -7.10549710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:-188.44, Z:-710.58 [[ 5.06658162e-01 5.98871692e-01 6.20201745e-01 3.12746323e+02] [-3.63037619e-01 8.00679085e-01 -4.76567613e-01 -1.88443401e+02] [-7.81985418e-01 1.63003057e-02 6.23083546e-01 -7.10583114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:-188.48, Z:-710.60 [[ 5.09147547e-01 5.78418987e-01 6.37338412e-01 3.12762907e+02] [-3.65053005e-01 8.15728954e-01 -4.48689845e-01 -1.88476298e+02] [-7.79426122e-01 -4.21296815e-03 6.26479985e-01 -7.10596172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:-188.48, Z:-710.62 [[ 5.10257819e-01 5.88591980e-01 6.27053777e-01 3.12779917e+02] [-3.64629357e-01 8.08398653e-01 -4.62100692e-01 -1.88478742e+02] [-7.78898190e-01 7.14827533e-03 6.27109649e-01 -7.10624749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.80, Y:-188.48, Z:-710.65 [[ 5.10073325e-01 5.92093763e-01 6.23899174e-01 3.12795307e+02] [-3.62639564e-01 8.05770984e-01 -4.68215407e-01 -1.88484666e+02] [-7.79947273e-01 1.25736648e-02 6.25718910e-01 -7.10653624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.81, Y:-188.51, Z:-710.67 [[ 5.10402287e-01 5.83642779e-01 6.31546208e-01 3.12812106e+02] [-3.64260549e-01 8.12006013e-01 -4.56026851e-01 -1.88506615e+02] [-7.78976096e-01 2.70977958e-03 6.27047765e-01 -7.10673948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.83, Y:-188.50, Z:-710.71 [[ 5.08813174e-01 5.97091005e-01 6.20154405e-01 3.12827408e+02] [-3.61758752e-01 8.01982230e-01 -4.75347356e-01 -1.88504140e+02] [-7.81178443e-01 1.75167129e-02 6.24062021e-01 -7.10707936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.84, Y:-188.52, Z:-710.73 [[ 5.08319132e-01 5.91600342e-01 6.25796050e-01 3.12841862e+02] [-3.61080779e-01 8.06137062e-01 -4.68789621e-01 -1.88519573e+02] [-7.81813489e-01 1.23318076e-02 6.23390404e-01 -7.10731882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.86, Y:-188.55, Z:-710.75 [[ 5.09767430e-01 5.75103207e-01 6.39838627e-01 3.12859340e+02] [-3.64628579e-01 8.18054506e-01 -4.44784020e-01 -1.88550957e+02] [-7.79219588e-01 -6.56704227e-03 6.26716608e-01 -7.10746270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.88, Y:-188.55, Z:-710.78 [[ 5.08710268e-01 5.90794698e-01 6.26239162e-01 3.12876552e+02] [-3.66593762e-01 8.06798634e-01 -4.63341104e-01 -1.88550221e+02] [-7.78988368e-01 6.13100748e-03 6.27008400e-01 -7.10777548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.89, Y:-188.56, Z:-710.80 [[ 5.07909993e-01 5.91703275e-01 6.26030889e-01 3.12892782e+02] [-3.67690729e-01 8.06138469e-01 -4.63620855e-01 -1.88562198e+02] [-7.78993560e-01 5.29191093e-03 6.27009592e-01 -7.10804025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.91, Y:-188.57, Z:-710.83 [[ 5.07337379e-01 5.92800729e-01 6.25456697e-01 3.12908922e+02] [-3.69433346e-01 8.05338483e-01 -4.63625853e-01 -1.88574282e+02] [-7.78542091e-01 4.15016470e-03 6.27578672e-01 -7.10829753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.92, Y:-188.59, Z:-710.85 [[ 5.06452093e-01 5.93916121e-01 6.25115925e-01 3.12924609e+02] [-3.70975801e-01 8.04521389e-01 -4.63812775e-01 -1.88586024e+02] [-7.78385016e-01 2.99606961e-03 6.27780050e-01 -7.10854641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.94, Y:-188.60, Z:-710.88 [[ 5.04182873e-01 5.96058672e-01 6.24910945e-01 3.12940686e+02] [-3.74066194e-01 8.02940852e-01 -4.64069468e-01 -1.88598898e+02] [-7.78379158e-01 2.17818748e-04 6.27794425e-01 -7.10880935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.96, Y:-188.61, Z:-710.91 [[ 5.02907204e-01 5.97253811e-01 6.24797750e-01 3.12956244e+02] [-3.75530190e-01 8.02051585e-01 -4.64424733e-01 -1.88610983e+02] [-7.78499467e-01 -1.06787379e-03 6.27644357e-01 -7.10905721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.97, Y:-188.62, Z:-710.93 [[ 5.01405576e-01 5.98456577e-01 6.24853722e-01 3.12972091e+02] [-3.76891165e-01 8.01151618e-01 -4.64875398e-01 -1.88623260e+02] [-7.78810310e-01 -2.41072996e-03 6.27254885e-01 -7.10931302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.99, Y:-188.64, Z:-710.96 [[ 4.98738054e-01 6.00236287e-01 6.25281339e-01 3.12988448e+02] [-3.78810010e-01 7.99809288e-01 -4.65626546e-01 -1.88635610e+02] [-7.79591772e-01 -4.63715281e-03 6.26270841e-01 -7.10956798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.00, Y:-188.64, Z:-710.99 [[ 4.96552960e-01 6.05053924e-01 6.22370394e-01 3.13002910e+02] [-3.77403510e-01 7.96184493e-01 -4.72923719e-01 -1.88640506e+02] [-7.81666008e-01 -5.30983331e-05 6.23697241e-01 -7.10985862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.02, Y:-188.66, Z:-711.00 [[ 4.96533318e-01 5.95533718e-01 6.31501587e-01 3.13019199e+02] [-3.80156605e-01 8.03235069e-01 -4.58578652e-01 -1.88664393e+02] [-7.80343271e-01 -1.23699196e-02 6.25229050e-01 -7.11004681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.04, Y:-188.67, Z:-711.03 [[ 4.95795195e-01 6.02189534e-01 6.25743470e-01 3.13036088e+02] [-3.80283853e-01 7.98327181e-01 -4.66966705e-01 -1.88671090e+02] [-7.80750483e-01 -6.44028929e-03 6.24809737e-01 -7.11032838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.05, Y:-188.68, Z:-711.06 [[ 4.95317004e-01 6.02585088e-01 6.25741383e-01 3.13051228e+02] [-3.80368844e-01 7.98028194e-01 -4.67408327e-01 -1.88683521e+02] [-7.81012553e-01 -6.49723453e-03 6.24481527e-01 -7.11058359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.07, Y:-188.70, Z:-711.08 [[ 4.95258564e-01 6.02857250e-01 6.25525451e-01 3.13066939e+02] [-3.80490255e-01 7.97823445e-01 -4.67658974e-01 -1.88695918e+02] [-7.80990474e-01 -6.39422651e-03 6.24510203e-01 -7.11084132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.08, Y:-188.71, Z:-711.11 [[ 4.95754720e-01 6.03009084e-01 6.24985842e-01 3.13082710e+02] [-3.80694255e-01 7.97711212e-01 -4.67684408e-01 -1.88708514e+02] [-7.80576160e-01 -6.07176651e-03 6.25031193e-01 -7.11110345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.10, Y:-188.72, Z:-711.14 [[ 4.95880773e-01 6.03343184e-01 6.24563256e-01 3.13098276e+02] [-3.81060914e-01 7.97458973e-01 -4.67815954e-01 -1.88720561e+02] [-7.80317140e-01 -6.01570917e-03 6.25355077e-01 -7.11136111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.11, Y:-188.73, Z:-711.16 [[ 4.95805130e-01 6.03612950e-01 6.24362618e-01 3.13114850e+02] [-3.81157613e-01 7.97255649e-01 -4.68083652e-01 -1.88732899e+02] [-7.80317978e-01 -5.90228934e-03 6.25355112e-01 -7.11162435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.13, Y:-188.75, Z:-711.19 [[ 4.96117938e-01 6.03848222e-01 6.23886461e-01 3.13131169e+02] [-3.81739244e-01 7.97076578e-01 -4.67914606e-01 -1.88745470e+02] [-7.79834689e-01 -6.02111637e-03 6.25956552e-01 -7.11188582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.15, Y:-188.76, Z:-711.21 [[ 4.96068041e-01 6.04350875e-01 6.23439266e-01 3.13146811e+02] [-3.82424280e-01 7.96693728e-01 -4.68007237e-01 -1.88757319e+02] [-7.79530736e-01 -6.25487891e-03 6.26332746e-01 -7.11214947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.16, Y:-188.77, Z:-711.24 [[ 4.96161545e-01 6.05159015e-01 6.22580347e-01 3.13162299e+02] [-3.83958815e-01 7.96074383e-01 -4.67804665e-01 -1.88769462e+02] [-7.78716476e-01 -6.93852660e-03 6.27337634e-01 -7.11241030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.18, Y:-188.78, Z:-711.27 [[ 4.95978343e-01 6.05786010e-01 6.22116383e-01 3.13178136e+02] [-3.84843212e-01 7.95593660e-01 -4.67895748e-01 -1.88781989e+02] [-7.78396548e-01 -7.35110920e-03 6.27729859e-01 -7.11267003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.19, Y:-188.79, Z:-711.29 [[ 4.95561238e-01 6.06534220e-01 6.21719632e-01 3.13194073e+02] [-3.85862055e-01 7.95017558e-01 -4.68035850e-01 -1.88794745e+02] [-7.78157782e-01 -7.95758944e-03 6.28018425e-01 -7.11293358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.21, Y:-188.81, Z:-711.32 [[ 4.95035502e-01 6.07375440e-01 6.21317090e-01 3.13208971e+02] [-3.87038594e-01 7.94367137e-01 -4.68168749e-01 -1.88807142e+02] [-7.77908078e-01 -8.71354132e-03 6.28317671e-01 -7.11318990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.22, Y:-188.81, Z:-711.35 [[ 4.93963471e-01 6.13306763e-01 6.16323700e-01 3.13223185e+02] [-3.85192412e-01 7.89843069e-01 -4.77257511e-01 -1.88811042e+02] [-7.79504262e-01 -1.65543567e-03 6.26394735e-01 -7.11349395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.24, Y:-188.84, Z:-711.37 [[ 4.95288562e-01 6.00218509e-01 6.28034220e-01 3.13239235e+02] [-3.87793637e-01 7.99665932e-01 -4.58421742e-01 -1.88839306e+02] [-7.77370784e-01 -1.64966290e-02 6.28826308e-01 -7.11366888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.25, Y:-188.83, Z:-711.40 [[ 4.92604595e-01 6.20019179e-01 6.10669248e-01 3.13251387e+02] [-3.83207477e-01 7.84562863e-01 -4.87455786e-01 -1.88827471e+02] [-7.81340350e-01 6.10993828e-03 6.24075257e-01 -7.11403415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.27, Y:-188.88, Z:-711.41 [[ 4.94820100e-01 5.89581147e-01 6.38394188e-01 3.13267924e+02] [-3.87647713e-01 8.07249420e-01 -4.45059125e-01 -1.88876061e+02] [-7.77741808e-01 -2.72478465e-02 6.27993022e-01 -7.11413364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.28, Y:-188.87, Z:-711.45 [[ 4.94324808e-01 6.08710238e-01 6.20576208e-01 3.13284728e+02] [-3.87410801e-01 7.93349300e-01 -4.69584667e-01 -1.88872738e+02] [-7.78174695e-01 -8.29057575e-03 6.27993161e-01 -7.11445017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.30, Y:-188.89, Z:-711.47 [[ 4.94021505e-01 6.08936459e-01 6.20595795e-01 3.13299544e+02] [-3.87255355e-01 7.93177265e-01 -4.70003316e-01 -1.88886098e+02] [-7.78444630e-01 -8.13729957e-03 6.27660531e-01 -7.11469480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.31, Y:-188.90, Z:-711.49 [[ 4.93184870e-01 6.09007098e-01 6.21191628e-01 3.13314143e+02] [-3.86491391e-01 7.93125095e-01 -4.70719650e-01 -1.88900536e+02] [-7.79354277e-01 -7.93340711e-03 6.26533297e-01 -7.11494873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.33, Y:-188.91, Z:-711.52 [[ 4.92542590e-01 6.09493855e-01 6.21223823e-01 3.13329530e+02] [-3.86689224e-01 7.92749011e-01 -4.71190460e-01 -1.88913493e+02] [-7.79662261e-01 -8.13918811e-03 6.26147357e-01 -7.11520216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.34, Y:-188.93, Z:-711.55 [[ 4.91138084e-01 6.10401203e-01 6.21444892e-01 3.13344415e+02] [-3.87429429e-01 7.92040583e-01 -4.71773413e-01 -1.88927163e+02] [-7.80180633e-01 -9.06014927e-03 6.25488684e-01 -7.11546200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.36, Y:-188.94, Z:-711.57 [[ 4.90136555e-01 6.11295305e-01 6.21356748e-01 3.13359482e+02] [-3.88407413e-01 7.91340354e-01 -4.72144179e-01 -1.88939641e+02] [-7.80324189e-01 -9.92444580e-03 6.25296463e-01 -7.11571529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.38, Y:-188.95, Z:-711.60 [[ 4.89224552e-01 6.12335119e-01 6.21051559e-01 3.13375248e+02] [-3.89859898e-01 7.90521054e-01 -4.72319513e-01 -1.88952530e+02] [-7.80172159e-01 -1.10527956e-02 6.25467216e-01 -7.11597652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.39, Y:-188.94, Z:-711.63 [[ 4.85167642e-01 6.29096308e-01 6.07330383e-01 3.13386200e+02] [-3.86392720e-01 7.77302542e-01 -4.96489098e-01 -1.88941820e+02] [-7.84418909e-01 6.21240605e-03 6.20200275e-01 -7.11634489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:-189.00, Z:-711.64 [[ 4.88089056e-01 5.90418457e-01 6.42786994e-01 3.13403414e+02] [-3.94076449e-01 8.06206045e-01 -4.41288529e-01 -1.89000522e+02] [-7.78763652e-01 -3.79191144e-02 6.26170356e-01 -7.11639622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.42, Y:-188.99, Z:-711.68 [[ 4.86586418e-01 6.15925045e-01 6.19572431e-01 3.13420061e+02] [-3.95357753e-01 7.87661420e-01 -4.72526968e-01 -1.88993119e+02] [-7.79054494e-01 -1.50275601e-02 6.26776090e-01 -7.11675294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.43, Y:-189.00, Z:-711.71 [[ 4.85446773e-01 6.21234290e-01 6.15149890e-01 3.13433144e+02] [-3.93229400e-01 7.83579977e-01 -4.81012534e-01 -1.88998232e+02] [-7.80840617e-01 -8.38904017e-03 6.24673959e-01 -7.11705241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:-189.02, Z:-711.72 [[ 4.86950458e-01 6.09852901e-01 6.25266895e-01 3.13449277e+02] [-3.95253057e-01 7.92242723e-01 -4.64894061e-01 -1.89024924e+02] [-7.78880140e-01 -2.07582754e-02 6.26829181e-01 -7.11722947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.46, Y:-189.03, Z:-711.75 [[ 4.87682568e-01 6.15789415e-01 6.18844980e-01 3.13464765e+02] [-3.94543995e-01 7.87795193e-01 -4.72983900e-01 -1.89031783e+02] [-7.78781579e-01 -1.34955675e-02 6.27149999e-01 -7.11750149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.48, Y:-189.04, Z:-711.78 [[ 4.88475899e-01 6.15428995e-01 6.18577762e-01 3.13480315e+02] [-3.93693751e-01 7.88094993e-01 -4.73192892e-01 -1.89044501e+02] [-7.78714663e-01 -1.23868764e-02 6.27255960e-01 -7.11775793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.49, Y:-189.04, Z:-711.81 [[ 4.89005213e-01 6.24978981e-01 6.08502404e-01 3.13493292e+02] [-3.87771750e-01 7.80632690e-01 -4.90148624e-01 -1.89040173e+02] [-7.81349456e-01 3.72519057e-03 6.24082648e-01 -7.11810130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:-189.07, Z:-711.83 [[ 4.89811140e-01 6.09350463e-01 6.23519896e-01 3.13508411e+02] [-3.87799227e-01 7.92817465e-01 -4.70161915e-01 -1.89066285e+02] [-7.80830844e-01 -1.15099900e-02 6.24636465e-01 -7.11830182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.53, Y:-189.09, Z:-711.85 [[ 4.91755658e-01 5.99484688e-01 6.31501767e-01 3.13528130e+02] [-3.91778020e-01 8.00027458e-01 -4.54385354e-01 -1.89092723e+02] [-7.77615816e-01 -2.39619435e-02 6.28282953e-01 -7.11847347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.55, Y:-189.09, Z:-711.88 [[ 4.90998053e-01 6.14820795e-01 6.17184172e-01 3.13546829e+02] [-3.91894024e-01 7.88612897e-01 -4.73823567e-01 -1.89089839e+02] [-7.78035980e-01 -9.22434004e-03 6.28151993e-01 -7.11878858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.56, Y:-189.10, Z:-711.91 [[ 4.89563297e-01 6.20234877e-01 6.12891896e-01 3.13562610e+02] [-3.91488194e-01 7.84403721e-01 -4.81090216e-01 -1.89096901e+02] [-7.79143615e-01 -4.41582863e-03 6.26829904e-01 -7.11909635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8165599949999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:314.32, Y:-189.56, Z:-711.34 [[ 5.57502719e-01 -7.74806267e-01 2.98103953e-01 3.14321717e+02] [-3.79894720e-01 8.11799534e-02 9.21460697e-01 -1.89560745e+02] [-7.38153589e-01 -6.26964962e-01 -2.49086766e-01 -7.11337299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.54, Y:-188.58, Z:-711.82 [[ 5.22298887e-01 2.49493231e-01 -8.15448957e-01 3.14536440e+02] [-3.23460781e-01 -8.26821747e-01 -4.60150978e-01 -1.88580691e+02] [-7.89035485e-01 5.04102099e-01 -3.51146802e-01 -7.11824928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.76, Y:-189.00, Z:-711.51 [[ 5.71296534e-01 -4.78434060e-01 -6.66874142e-01 3.14757202e+02] [-2.49999314e-01 -8.75352656e-01 4.13833385e-01 -1.89001373e+02] [-7.81742038e-01 -6.97035009e-02 -6.19694125e-01 -7.11505438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.77, Y:-189.33, Z:-712.16 [[ 5.70953276e-01 4.23742215e-01 7.03174866e-01 3.13770652e+02] [-2.73474178e-01 9.05752236e-01 -3.23766522e-01 -1.89329903e+02] [-7.74095750e-01 -7.44461239e-03 6.33024760e-01 -7.12158197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.79, Y:-189.34, Z:-712.18 [[ 5.71540787e-01 4.23190509e-01 7.03029817e-01 3.13788461e+02] [-2.72247194e-01 9.06019588e-01 -3.24052422e-01 -1.89337548e+02] [-7.74094694e-01 -6.18871897e-03 6.33039576e-01 -7.12183024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.81, Y:-189.35, Z:-712.21 [[ 5.72164831e-01 4.22646525e-01 7.02849431e-01 3.13807131e+02] [-2.71057810e-01 9.06281093e-01 -3.24318123e-01 -1.89345834e+02] [-7.74051077e-01 -4.94940393e-03 6.33103809e-01 -7.12209396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.83, Y:-189.35, Z:-712.24 [[ 5.74354467e-01 4.20620998e-01 7.02278380e-01 3.13826121e+02] [-2.67711408e-01 9.07234914e-01 -3.24430907e-01 -1.89354472e+02] [-7.73593917e-01 -1.66959285e-03 6.33679465e-01 -7.12235360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.84, Y:-189.36, Z:-712.26 [[ 5.75321374e-01 4.19598990e-01 7.02098286e-01 3.13844658e+02] [-2.65741623e-01 9.07709551e-01 -3.24722592e-01 -1.89363320e+02] [-7.73554592e-01 2.43110129e-04 6.33729623e-01 -7.12261256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.86, Y:-189.37, Z:-712.29 [[ 5.76324983e-01 4.18518000e-01 7.01920364e-01 3.13863449e+02] [-2.63683095e-01 9.08205768e-01 -3.25013090e-01 -1.89372713e+02] [-7.73511952e-01 2.22862973e-03 6.33777796e-01 -7.12287043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.88, Y:-189.38, Z:-712.32 [[ 5.76461651e-01 4.22599951e-01 6.99357739e-01 3.13878889e+02] [-2.60150065e-01 9.06259677e-01 -3.33189648e-01 -1.89375528e+02] [-7.74605648e-01 1.01330936e-02 6.32363354e-01 -7.12316918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.90, Y:-189.40, Z:-712.33 [[ 5.79304499e-01 4.09369343e-01 7.04856750e-01 3.13899942e+02] [-2.56753043e-01 9.12361062e-01 -3.18865437e-01 -1.89395096e+02] [-7.73617588e-01 3.74606690e-03 6.33641692e-01 -7.12334280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.91, Y:-189.39, Z:-712.37 [[ 5.78964169e-01 4.19988619e-01 6.98863400e-01 3.13914251e+02] [-2.53884915e-01 9.07379271e-01 -3.34970608e-01 -1.89392833e+02] [-7.74818005e-01 1.65051043e-02 6.31968860e-01 -7.12366751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.94, Y:-189.41, Z:-712.38 [[ 5.80806134e-01 4.07473414e-01 7.04719556e-01 3.13935608e+02] [-2.53466669e-01 9.13192337e-01 -3.19115032e-01 -1.89411838e+02] [-7.73575390e-01 6.72105012e-03 6.33668639e-01 -7.12383585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.95, Y:-189.42, Z:-712.41 [[ 5.81505975e-01 4.12149514e-01 7.01415412e-01 3.13953268e+02] [-2.52322473e-01 9.11028213e-01 -3.26130288e-01 -1.89415733e+02] [-7.73423669e-01 1.26638396e-02 6.33762934e-01 -7.12410847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.97, Y:-189.42, Z:-712.44 [[ 5.82525161e-01 4.11539293e-01 7.00927847e-01 3.13971982e+02] [-2.51230070e-01 9.11285127e-01 -3.26255835e-01 -1.89423842e+02] [-7.73012218e-01 1.39580805e-02 6.34237561e-01 -7.12436397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.99, Y:-189.43, Z:-712.46 [[ 5.82118193e-01 4.12067333e-01 7.00955721e-01 3.13990636e+02] [-2.51575466e-01 9.11048806e-01 -3.26649443e-01 -1.89431127e+02] [-7.73206437e-01 1.38053215e-02 6.34004116e-01 -7.12461300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.01, Y:-189.44, Z:-712.49 [[ 5.81698671e-01 4.12606258e-01 7.00986970e-01 3.14009873e+02] [-2.52113437e-01 9.10810490e-01 -3.26899168e-01 -1.89438842e+02] [-7.73346928e-01 1.34285771e-02 6.33840833e-01 -7.12487221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.03, Y:-189.45, Z:-712.51 [[ 5.81000725e-01 4.13838468e-01 7.00839411e-01 3.14028968e+02] [-2.53674524e-01 9.10266942e-01 -3.27205335e-01 -1.89446220e+02] [-7.73361102e-01 1.23214328e-02 6.33846029e-01 -7.12512167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.05, Y:-189.45, Z:-712.54 [[ 5.80667286e-01 4.14786387e-01 7.00555320e-01 3.14047707e+02] [-2.54902524e-01 9.09845502e-01 -3.27423068e-01 -1.89454042e+02] [-7.73207738e-01 1.15505450e-02 6.34047615e-01 -7.12536841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:-189.46, Z:-712.56 [[ 5.79985566e-01 4.15724531e-01 7.00563957e-01 3.14066471e+02] [-2.56087972e-01 9.09428456e-01 -3.27656580e-01 -1.89461716e+02] [-7.73327675e-01 1.06300842e-02 6.33917430e-01 -7.12562160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.08, Y:-189.46, Z:-712.59 [[ 5.77296435e-01 4.22137575e-01 6.98948277e-01 3.14084155e+02] [-2.58154465e-01 9.06445374e-01 -3.34235031e-01 -1.89463573e+02] [-7.74651598e-01 1.25160735e-02 6.32264383e-01 -7.12591823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.10, Y:-189.47, Z:-712.62 [[ 5.76521172e-01 4.19874980e-01 7.00948172e-01 3.14102942e+02] [-2.59957876e-01 9.07547309e-01 -3.29817806e-01 -1.89472631e+02] [-7.74625871e-01 7.92995022e-03 6.32370046e-01 -7.12615240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.12, Y:-189.49, Z:-712.64 [[ 5.76420252e-01 4.16336635e-01 7.03138322e-01 3.14124878e+02] [-2.64238747e-01 9.09210476e-01 -3.21736219e-01 -1.89486433e+02] [-7.73251303e-01 -3.41116871e-04 6.34099602e-01 -7.12636818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.14, Y:-189.49, Z:-712.66 [[ 5.75248498e-01 4.23444908e-01 6.99845394e-01 3.14143925e+02] [-2.67383328e-01 9.05920153e-01 -3.28351690e-01 -1.89489693e+02] [-7.73042898e-01 1.75682595e-03 6.34351316e-01 -7.12664305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.16, Y:-189.49, Z:-712.69 [[ 5.72623210e-01 4.29255383e-01 6.98457212e-01 3.14162392e+02] [-2.71770850e-01 9.03183049e-01 -3.32266437e-01 -1.89492544e+02] [-7.73461871e-01 4.43164009e-04 6.33842676e-01 -7.12691874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.18, Y:-189.50, Z:-712.71 [[ 5.71999245e-01 4.25975955e-01 7.00971718e-01 3.14182837e+02] [-2.75018393e-01 9.04709901e-01 -3.25368834e-01 -1.89504864e+02] [-7.72775353e-01 -6.66938838e-03 6.34644603e-01 -7.12714185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:-189.51, Z:-712.74 [[ 5.70853126e-01 4.30373077e-01 6.99217937e-01 3.14201024e+02] [-2.77266707e-01 9.02631565e-01 -3.29210315e-01 -1.89509751e+02] [-7.72819437e-01 -5.93911748e-03 6.34598176e-01 -7.12740026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.22, Y:-189.52, Z:-712.77 [[ 5.69156009e-01 4.32367319e-01 6.99371102e-01 3.14220290e+02] [-2.79906537e-01 9.01660788e-01 -3.29636397e-01 -1.89516056e+02] [-7.73119504e-01 -8.14400701e-03 6.34208095e-01 -7.12766315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.24, Y:-189.52, Z:-712.79 [[ 5.68433978e-01 4.34479198e-01 6.98649154e-01 3.14237717e+02] [-2.80019139e-01 9.00656512e-01 -3.32275684e-01 -1.89521750e+02] [-7.73609782e-01 -6.75834604e-03 6.33626254e-01 -7.12792882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:-189.54, Z:-712.82 [[ 5.69070100e-01 4.28956459e-01 7.01538008e-01 3.14258950e+02] [-2.82298916e-01 9.03215503e-01 -3.23278638e-01 -1.89538558e+02] [-7.72312465e-01 -1.40752125e-02 6.35086880e-01 -7.12815413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.28, Y:-189.54, Z:-712.84 [[ 5.67438510e-01 4.40666919e-01 6.95576167e-01 3.14275345e+02] [-2.81497062e-01 8.97664213e-01 -3.39055105e-01 -1.89535611e+02] [-7.73804201e-01 -3.40972366e-03 6.33415687e-01 -7.12843433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.29, Y:-189.55, Z:-712.87 [[ 5.67283421e-01 4.34417890e-01 6.99621767e-01 3.14294999e+02] [-2.81815245e-01 9.00660918e-01 -3.30741710e-01 -1.89549487e+02] [-7.73802099e-01 -9.53979067e-03 6.33355590e-01 -7.12867142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.31, Y:-189.56, Z:-712.89 [[ 5.66937147e-01 4.34945646e-01 6.99574554e-01 3.14314241e+02] [-2.82213482e-01 9.00404289e-01 -3.31100691e-01 -1.89557828e+02] [-7.73910732e-01 -9.71608994e-03 6.33220164e-01 -7.12893103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.33, Y:-189.57, Z:-712.92 [[ 5.66879805e-01 4.35258065e-01 6.99426697e-01 3.14333184e+02] [-2.82324560e-01 9.00254614e-01 -3.31412842e-01 -1.89566715e+02] [-7.73912224e-01 -9.59408730e-03 6.33220201e-01 -7.12919217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.35, Y:-189.57, Z:-712.95 [[ 5.66446900e-01 4.36602522e-01 6.98939301e-01 3.14351823e+02] [-2.82513043e-01 8.99611127e-01 -3.32995797e-01 -1.89573127e+02] [-7.74160378e-01 -8.83503186e-03 6.32927841e-01 -7.12946025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.37, Y:-189.58, Z:-712.97 [[ 5.66544046e-01 4.35985834e-01 6.99245448e-01 3.14369948e+02] [-2.83303671e-01 8.99895053e-01 -3.31553803e-01 -1.89581661e+02] [-7.73800281e-01 -1.02589692e-02 6.33346571e-01 -7.12969619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.39, Y:-189.59, Z:-713.00 [[ 5.67496162e-01 4.36539496e-01 6.98127047e-01 3.14388039e+02] [-2.84310605e-01 8.99624952e-01 -3.31424841e-01 -1.89589674e+02] [-7.72732545e-01 -1.04025979e-02 6.34646516e-01 -7.12995745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.41, Y:-189.60, Z:-713.02 [[ 5.67822802e-01 4.36811534e-01 6.97691156e-01 3.14406190e+02] [-2.84523876e-01 8.99494957e-01 -3.31594611e-01 -1.89598257e+02] [-7.72414027e-01 -1.02228106e-02 6.35037058e-01 -7.13021207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.42, Y:-189.61, Z:-713.05 [[ 5.68577553e-01 4.36891308e-01 6.97026220e-01 3.14424326e+02] [-2.84558828e-01 8.99461216e-01 -3.31656139e-01 -1.89606883e+02] [-7.71845736e-01 -9.77272831e-03 6.35734736e-01 -7.13046785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.44, Y:-189.62, Z:-713.07 [[ 5.69185295e-01 4.36799684e-01 6.96587493e-01 3.14442225e+02] [-2.84188847e-01 8.99512895e-01 -3.31833169e-01 -1.89615598e+02] [-7.71534056e-01 -9.08783698e-03 6.36123111e-01 -7.13072109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.46, Y:-189.63, Z:-713.10 [[ 5.70244907e-01 4.36563440e-01 6.95868600e-01 3.14460107e+02] [-2.82197460e-01 8.99650770e-01 -3.33156247e-01 -1.89625202e+02] [-7.71482559e-01 -6.39169867e-03 6.36218364e-01 -7.13099077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.48, Y:-189.63, Z:-713.12 [[ 5.70447805e-01 4.36715655e-01 6.95606741e-01 3.14477257e+02] [-2.80880229e-01 8.99587820e-01 -3.34436917e-01 -1.89632759e+02] [-7.71813189e-01 -4.60337539e-03 6.35832690e-01 -7.13122244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.50, Y:-189.64, Z:-713.15 [[ 5.70805483e-01 4.34231891e-01 6.96867108e-01 3.14495559e+02] [-2.79317459e-01 9.00788074e-01 -3.32509554e-01 -1.89643653e+02] [-7.72115832e-01 -4.84887349e-03 6.35463320e-01 -7.13146769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.51, Y:-189.65, Z:-713.17 [[ 5.70845495e-01 4.36628637e-01 6.95335066e-01 3.14511817e+02] [-2.74922918e-01 8.99638426e-01 -3.39216879e-01 -1.89650146e+02] [-7.73661949e-01 2.47688228e-03 6.33593761e-01 -7.13174978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.53, Y:-189.67, Z:-713.19 [[ 5.72225015e-01 4.27752704e-01 6.99704336e-01 3.14530796e+02] [-2.74025806e-01 9.03887922e-01 -3.28476000e-01 -1.89666623e+02] [-7.72960795e-01 -3.77486059e-03 6.34442559e-01 -7.13194649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.55, Y:-189.67, Z:-713.22 [[ 5.73049043e-01 4.30781825e-01 6.97166991e-01 3.14548745e+02] [-2.72736596e-01 9.02455614e-01 -3.33449567e-01 -1.89673087e+02] [-7.72806278e-01 9.40002718e-04 6.34641294e-01 -7.13220990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.57, Y:-189.68, Z:-713.25 [[ 5.74007428e-01 4.29441874e-01 6.97205242e-01 3.14566204e+02] [-2.70171242e-01 9.03088643e-01 -3.33823910e-01 -1.89682693e+02] [-7.72996102e-01 3.25259784e-03 6.34402433e-01 -7.13247040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.58, Y:-189.69, Z:-713.27 [[ 5.74706054e-01 4.29167408e-01 6.96798599e-01 3.14584508e+02] [-2.69517147e-01 9.03215392e-01 -3.34009674e-01 -1.89692036e+02] [-7.72705286e-01 4.15821118e-03 6.34751329e-01 -7.13272682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:-189.70, Z:-713.30 [[ 5.75085699e-01 4.28978904e-01 6.96601420e-01 3.14601924e+02] [-2.68865177e-01 9.03300882e-01 -3.34303803e-01 -1.89701055e+02] [-7.72649957e-01 4.96147258e-03 6.34812908e-01 -7.13297299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.62, Y:-189.71, Z:-713.32 [[ 5.75584818e-01 4.28687098e-01 6.96368789e-01 3.14619794e+02] [-2.68106663e-01 9.03434005e-01 -3.34553158e-01 -1.89710889e+02] [-7.72541866e-01 5.86260626e-03 6.34936765e-01 -7.13322655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.64, Y:-189.72, Z:-713.35 [[ 5.75667372e-01 4.29023120e-01 6.96093557e-01 3.14638608e+02] [-2.68337628e-01 9.03273942e-01 -3.34800094e-01 -1.89720277e+02] [-7.72400152e-01 5.94539617e-03 6.35108383e-01 -7.13348465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.66, Y:-189.73, Z:-713.37 [[ 5.75573822e-01 4.29701739e-01 6.95752248e-01 3.14657149e+02] [-2.69144773e-01 9.02953714e-01 -3.35015943e-01 -1.89729388e+02] [-7.72189009e-01 5.56832586e-03 6.35368498e-01 -7.13374438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.68, Y:-189.74, Z:-713.40 [[ 5.74733675e-01 4.31347498e-01 6.95428313e-01 3.14675131e+02] [-2.71455632e-01 9.02177448e-01 -3.35242738e-01 -1.89737724e+02] [-7.72005857e-01 3.89735875e-03 6.35603467e-01 -7.13399597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.69, Y:-189.75, Z:-713.43 [[ 5.74027932e-01 4.32514281e-01 6.95286510e-01 3.14694116e+02] [-2.72939612e-01 9.01622634e-01 -3.35530318e-01 -1.89746641e+02] [-7.72007708e-01 2.83254474e-03 6.35606856e-01 -7.13425534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.71, Y:-189.76, Z:-713.45 [[ 5.72955400e-01 4.36202936e-01 6.93865339e-01 3.14712629e+02] [-2.75428126e-01 8.99844276e-01 -3.38259702e-01 -1.89756092e+02] [-7.71920629e-01 2.69769280e-03 6.35713195e-01 -7.13454023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.73, Y:-189.76, Z:-713.48 [[ 5.72329251e-01 4.39061091e-01 6.92578217e-01 3.14730430e+02] [-2.76736581e-01 8.98450635e-01 -3.40886084e-01 -1.89761245e+02] [-7.71917154e-01 3.43734955e-03 6.35713844e-01 -7.13476734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.75, Y:-189.78, Z:-713.50 [[ 5.70369011e-01 4.37647664e-01 6.95085400e-01 3.14750761e+02] [-2.81758474e-01 8.99133640e-01 -3.34919184e-01 -1.89778240e+02] [-7.71551264e-01 -4.81867855e-03 6.36148903e-01 -7.13503623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.77, Y:-189.78, Z:-713.53 [[ 5.69950835e-01 4.50421705e-01 6.87223642e-01 3.14767820e+02] [-2.83107209e-01 8.92801173e-01 -3.50366056e-01 -1.89776589e+02] [-7.71366550e-01 5.13345851e-03 6.36370406e-01 -7.13530942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.78, Y:-189.78, Z:-713.55 [[ 5.68841209e-01 4.51613439e-01 6.87360881e-01 3.14783488e+02] [-2.82330666e-01 8.92190195e-01 -3.52542270e-01 -1.89779890e+02] [-7.72469465e-01 6.47751542e-03 6.35018872e-01 -7.13552651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.80, Y:-189.80, Z:-713.57 [[ 5.68537702e-01 4.38091374e-01 6.96305126e-01 3.14804420e+02] [-2.85095307e-01 8.98882083e-01 -3.32763680e-01 -1.89804577e+02] [-7.71677100e-01 -9.32462554e-03 6.35946149e-01 -7.13573558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.82, Y:-189.80, Z:-713.60 [[ 5.67039188e-01 4.51167137e-01 6.89140605e-01 3.14819517e+02] [-2.83972296e-01 8.92434063e-01 -3.50601168e-01 -1.89799288e+02] [-7.73192275e-01 3.10776155e-03 6.34164054e-01 -7.13601229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.84, Y:-189.82, Z:-713.62 [[ 5.67706575e-01 4.38208392e-01 6.96909356e-01 3.14840508e+02] [-2.86265400e-01 8.98805580e-01 -3.31964833e-01 -1.89823224e+02] [-7.71855794e-01 -1.10424172e-02 6.35701737e-01 -7.13621955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.86, Y:-189.82, Z:-713.65 [[ 5.66708376e-01 4.51381683e-01 6.89272220e-01 3.14857451e+02] [-2.86398691e-01 8.92330925e-01 -3.48885812e-01 -1.89821138e+02] [-7.72539583e-01 3.09850192e-04 6.34966532e-01 -7.13651122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.87, Y:-189.83, Z:-713.67 [[ 5.65461118e-01 4.51081542e-01 6.90491974e-01 3.14873717e+02] [-2.85662906e-01 8.92482727e-01 -3.49100682e-01 -1.89827231e+02] [-7.73725035e-01 1.54917944e-04 6.33521544e-01 -7.13674728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.89, Y:-189.84, Z:-713.70 [[ 5.65316656e-01 4.43528349e-01 6.95485214e-01 3.14892353e+02] [-2.86364116e-01 8.96227743e-01 -3.38779318e-01 -1.89842366e+02] [-7.73571374e-01 -7.64441754e-03 6.33663074e-01 -7.13697687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.91, Y:-189.85, Z:-713.72 [[ 5.65424402e-01 4.44368856e-01 6.94860824e-01 3.14910470e+02] [-2.87583381e-01 8.95806112e-01 -3.38861636e-01 -1.89850569e+02] [-7.73040131e-01 -8.22978729e-03 6.34303734e-01 -7.13723302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.93, Y:-189.86, Z:-713.75 [[ 5.65261164e-01 4.44811286e-01 6.94710541e-01 3.14928677e+02] [-2.87931902e-01 8.95585654e-01 -3.39148279e-01 -1.89859596e+02] [-7.73029777e-01 -8.32197643e-03 6.34315150e-01 -7.13749805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.95, Y:-189.87, Z:-713.77 [[ 5.65563525e-01 4.44989563e-01 6.94350191e-01 3.14946572e+02] [-2.87949951e-01 8.95499942e-01 -3.39359219e-01 -1.89868091e+02] [-7.72801866e-01 -8.00890746e-03 6.34596827e-01 -7.13774980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.96, Y:-189.87, Z:-713.80 [[ 5.66167876e-01 4.49038007e-01 6.91244388e-01 3.14962561e+02] [-2.85985361e-01 8.93511074e-01 -3.46194069e-01 -1.89871792e+02] [-7.73088811e-01 -1.68181519e-03 6.34295564e-01 -7.13803627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.98, Y:-189.89, Z:-713.82 [[ 5.67571838e-01 4.39672015e-01 6.96096780e-01 3.14982929e+02] [-2.86595706e-01 8.98100870e-01 -3.33583166e-01 -1.89890307e+02] [-7.71832307e-01 -1.01659378e-02 6.35744873e-01 -7.13824931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.00, Y:-189.90, Z:-713.85 [[ 5.67623394e-01 4.43474063e-01 6.93638550e-01 3.15000619e+02] [-2.86670848e-01 8.96261823e-01 -3.38429564e-01 -1.89897019e+02] [-7.71766485e-01 -6.74541337e-03 6.35870263e-01 -7.13849997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.02, Y:-189.91, Z:-713.88 [[ 5.68541291e-01 4.43784898e-01 6.92687350e-01 3.15019269e+02] [-2.85620370e-01 8.96120918e-01 -3.39688542e-01 -1.89906542e+02] [-7.71480268e-01 -4.71865509e-03 6.36235750e-01 -7.13875987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.04, Y:-189.92, Z:-713.90 [[ 5.68509101e-01 4.43802752e-01 6.92702331e-01 3.15037449e+02] [-2.85179215e-01 8.96114618e-01 -3.40075590e-01 -1.89915757e+02] [-7.71667168e-01 -4.20823889e-03 6.36012636e-01 -7.13901845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.06, Y:-189.93, Z:-713.93 [[ 5.68661613e-01 4.44078563e-01 6.92400318e-01 3.15055822e+02] [-2.85330157e-01 8.95978729e-01 -3.40306949e-01 -1.89925328e+02] [-7.71498977e-01 -4.04319292e-03 6.36217715e-01 -7.13927506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.07, Y:-189.93, Z:-713.95 [[ 5.68868699e-01 4.44990545e-01 6.91644286e-01 3.15073651e+02] [-2.85232217e-01 8.95530334e-01 -3.41566982e-01 -1.89934216e+02] [-7.71382516e-01 -2.97246905e-03 6.36364816e-01 -7.13953433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.09, Y:-189.94, Z:-713.98 [[ 5.68453871e-01 4.45382371e-01 6.91733142e-01 3.15090971e+02] [-2.85741143e-01 8.95333852e-01 -3.41656689e-01 -1.89944013e+02] [-7.71499965e-01 -3.44055133e-03 6.36220062e-01 -7.13977145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.11, Y:-189.95, Z:-714.00 [[ 5.68109078e-01 4.45166058e-01 6.92155515e-01 3.15108589e+02] [-2.86024354e-01 8.95438345e-01 -3.41145481e-01 -1.89953864e+02] [-7.71648978e-01 -4.16548963e-03 6.36034986e-01 -7.14001541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:-189.96, Z:-714.03 [[ 5.67811867e-01 4.45739086e-01 6.92030600e-01 3.15126722e+02] [-2.86572217e-01 8.95151894e-01 -3.41437331e-01 -1.89963268e+02] [-7.71664466e-01 -4.44457448e-03 6.36014306e-01 -7.14027160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.14, Y:-189.97, Z:-714.05 [[ 5.67326245e-01 4.46691530e-01 6.91814721e-01 3.15144886e+02] [-2.87736458e-01 8.94672937e-01 -3.41713427e-01 -1.89973079e+02] [-7.71588402e-01 -5.19732212e-03 6.36100877e-01 -7.14052902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.16, Y:-189.98, Z:-714.08 [[ 5.67146503e-01 4.48501290e-01 6.90790444e-01 3.15163942e+02] [-2.89556811e-01 8.93763722e-01 -3.42554029e-01 -1.89984428e+02] [-7.71039362e-01 -5.74475860e-03 6.36761572e-01 -7.14079821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.18, Y:-189.99, Z:-714.10 [[ 5.66415631e-01 4.52527770e-01 6.88761171e-01 3.15180483e+02] [-2.89892379e-01 8.91745786e-01 -3.47493685e-01 -1.89988892e+02] [-7.71450415e-01 -2.84075946e-03 6.36283104e-01 -7.14104461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.20, Y:-189.99, Z:-714.13 [[ 5.64155776e-01 4.58204434e-01 6.86860217e-01 3.15195320e+02] [-2.90046252e-01 8.88846385e-01 -3.54718588e-01 -1.89993235e+02] [-7.73046850e-01 8.95308307e-04 6.34348300e-01 -7.14133592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.22, Y:-190.01, Z:-714.15 [[ 5.64394108e-01 4.47423992e-01 6.93737027e-01 3.15215172e+02] [-2.92083015e-01 8.94251428e-01 -3.39119295e-01 -1.90013965e+02] [-7.72105436e-01 -1.12318706e-02 6.35395185e-01 -7.14154112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.23, Y:-190.03, Z:-714.18 [[ 5.64741094e-01 4.46073870e-01 6.94323843e-01 3.15234504e+02] [-2.94496831e-01 8.94869221e-01 -3.35381416e-01 -1.90026292e+02] [-7.70933923e-01 -1.50725037e-02 6.36736764e-01 -7.14175164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.25, Y:-190.03, Z:-714.20 [[ 5.62859343e-01 4.53479645e-01 6.91046721e-01 3.15251927e+02] [-2.96426592e-01 8.91191523e-01 -3.43378720e-01 -1.90030977e+02] [-7.71570240e-01 -1.15707041e-02 6.36038901e-01 -7.14202236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.27, Y:-190.04, Z:-714.23 [[ 5.61892091e-01 4.54320487e-01 6.91281544e-01 3.15270281e+02] [-2.97191689e-01 8.90754278e-01 -3.43851589e-01 -1.90039949e+02] [-7.71980815e-01 -1.22356415e-02 6.35528057e-01 -7.14227477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.29, Y:-190.05, Z:-714.25 [[ 5.60481944e-01 4.55440731e-01 6.91689042e-01 3.15288320e+02] [-2.98276121e-01 8.90167258e-01 -3.44432299e-01 -1.90049481e+02] [-7.72587437e-01 -1.32662395e-02 6.34769769e-01 -7.14252040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:-190.06, Z:-714.28 [[ 5.59953963e-01 4.55969044e-01 6.91768597e-01 3.15305897e+02] [-2.98641814e-01 8.89893154e-01 -3.44823492e-01 -1.90058560e+02] [-7.72828977e-01 -1.35057477e-02 6.34470620e-01 -7.14276541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.32, Y:-190.07, Z:-714.30 [[ 5.59710856e-01 4.56550112e-01 6.91582065e-01 3.15324643e+02] [-2.99252510e-01 8.89590428e-01 -3.45075072e-01 -1.90068345e+02] [-7.72768848e-01 -1.38154048e-02 6.34537187e-01 -7.14302389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.34, Y:-190.08, Z:-714.33 [[ 5.59479784e-01 4.57048276e-01 6.91439979e-01 3.15342845e+02] [-2.99676751e-01 8.89332025e-01 -3.45372834e-01 -1.90077703e+02] [-7.72771775e-01 -1.39793677e-02 6.34530032e-01 -7.14327884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.516559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:315.36, Y:-190.08, Z:-714.36 [[ 5.58084064e-01 4.64099478e-01 6.87861797e-01 3.15358250e+02] [-2.98550560e-01 8.85755255e-01 -3.55394417e-01 -1.90079620e+02] [-7.74215565e-01 -7.02156447e-03 6.32883052e-01 -7.14359137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.38, Y:-190.10, Z:-714.38 [[ 5.60118674e-01 4.50569374e-01 6.95164952e-01 3.15379446e+02] [-3.01000551e-01 8.92492536e-01 -3.35940086e-01 -1.90102408e+02] [-7.71793845e-01 -2.10787181e-02 6.35523366e-01 -7.14376351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.39, Y:-190.10, Z:-714.41 [[ 5.58101391e-01 4.66653696e-01 6.86117458e-01 3.15394001e+02] [-2.99869992e-01 8.84418628e-01 -3.57605478e-01 -1.90096080e+02] [-7.73692979e-01 -6.16592156e-03 6.33530707e-01 -7.14410858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.42, Y:-190.12, Z:-714.43 [[ 5.60275853e-01 4.50089156e-01 6.95349351e-01 3.15415790e+02] [-3.02607171e-01 8.92679875e-01 -3.33993324e-01 -1.90121182e+02] [-7.71051145e-01 -2.32893058e-02 6.36347185e-01 -7.14426833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.43, Y:-190.12, Z:-714.46 [[ 5.59989222e-01 4.60130733e-01 6.88978795e-01 3.15433498e+02] [-3.04198263e-01 8.87706052e-01 -3.45602926e-01 -1.90122403e+02] [-7.70633174e-01 -1.60522393e-02 6.37076791e-01 -7.14455005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:-190.13, Z:-714.48 [[ 5.59856449e-01 4.60870018e-01 6.88592466e-01 3.15452357e+02] [-3.05158077e-01 8.87313307e-01 -3.45765302e-01 -1.90131200e+02] [-7.70350119e-01 -1.65506183e-02 6.37406285e-01 -7.14480510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.47, Y:-190.14, Z:-714.51 [[ 5.59121279e-01 4.61842747e-01 6.88538069e-01 3.15471440e+02] [-3.06275347e-01 8.86791880e-01 -3.46114972e-01 -1.90139037e+02] [-7.70440658e-01 -1.73619899e-02 6.37275258e-01 -7.14506098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.49, Y:-190.15, Z:-714.53 [[ 5.59058920e-01 4.62143902e-01 6.88386620e-01 3.15490172e+02] [-3.06382495e-01 8.86637302e-01 -3.46416024e-01 -1.90148383e+02] [-7.70443308e-01 -1.72426414e-02 6.37275294e-01 -7.14532204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.51, Y:-190.16, Z:-714.56 [[ 5.58026067e-01 4.65528958e-01 6.86942282e-01 3.15508112e+02] [-3.06844884e-01 8.84901425e-01 -3.50422154e-01 -1.90155426e+02] [-7.71007864e-01 -1.52400283e-02 6.36643241e-01 -7.14560205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.53, Y:-190.17, Z:-714.58 [[ 5.57930052e-01 4.63058552e-01 6.88687762e-01 3.15526593e+02] [-3.07270074e-01 8.86143451e-01 -3.46893190e-01 -1.90165598e+02] [-7.70908009e-01 -1.80710038e-02 6.36690098e-01 -7.14581335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.55, Y:-190.17, Z:-714.61 [[ 5.56615121e-01 4.63730707e-01 6.89299238e-01 3.15545771e+02] [-3.07594549e-01 8.85781271e-01 -3.47530048e-01 -1.90174195e+02] [-7.71728709e-01 -1.85842083e-02 6.35680286e-01 -7.14606556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.56, Y:-190.18, Z:-714.63 [[ 5.56033471e-01 4.64284510e-01 6.89395875e-01 3.15564579e+02] [-3.07958217e-01 8.85485977e-01 -3.47960228e-01 -1.90183094e+02] [-7.72002924e-01 -1.88275908e-02 6.35340072e-01 -7.14631671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:-190.19, Z:-714.66 [[ 5.55329385e-01 4.64768644e-01 6.89637138e-01 3.15582856e+02] [-3.08110770e-01 8.85229046e-01 -3.48478535e-01 -1.90191823e+02] [-7.72448722e-01 -1.89642590e-02 6.34793926e-01 -7.14656894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.60, Y:-190.20, Z:-714.68 [[ 5.55006051e-01 4.65414302e-01 6.89461972e-01 3.15602056e+02] [-3.08941154e-01 8.84877925e-01 -3.48635083e-01 -1.90200129e+02] [-7.72349433e-01 -1.95085967e-02 6.34898234e-01 -7.14682459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.62, Y:-190.21, Z:-714.71 [[ 5.54772855e-01 4.66018503e-01 6.89241492e-01 3.15621038e+02] [-3.09560554e-01 8.84553470e-01 -3.48908902e-01 -1.90208739e+02] [-7.72268958e-01 -1.97967903e-02 6.34987200e-01 -7.14708421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.64, Y:-190.22, Z:-714.73 [[ 5.54699594e-01 4.66544394e-01 6.88944620e-01 3.15639863e+02] [-3.10095809e-01 8.84272368e-01 -3.49146055e-01 -1.90216856e+02] [-7.72106826e-01 -1.99676645e-02 6.35178985e-01 -7.14734187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.66, Y:-190.22, Z:-714.76 [[ 5.54905439e-01 4.67013635e-01 6.88460760e-01 3.15658448e+02] [-3.10642492e-01 8.84022969e-01 -3.49291616e-01 -1.90224985e+02] [-7.71739072e-01 -2.00413482e-02 6.35623433e-01 -7.14759469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.68, Y:-190.23, Z:-714.78 [[ 5.54680347e-01 4.67686792e-01 6.88185133e-01 3.15676993e+02] [-3.11577623e-01 8.83653674e-01 -3.49393145e-01 -1.90232226e+02] [-7.71523880e-01 -2.06215768e-02 6.35866065e-01 -7.14784412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.70, Y:-190.24, Z:-714.81 [[ 5.54624687e-01 4.68183920e-01 6.87891906e-01 3.15695779e+02] [-3.12099974e-01 8.83386371e-01 -3.49602811e-01 -1.90240755e+02] [-7.71352749e-01 -2.07926967e-02 6.36068079e-01 -7.14809850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.71, Y:-190.25, Z:-714.84 [[ 5.54551089e-01 4.68703388e-01 6.87597429e-01 3.15714460e+02] [-3.12627630e-01 8.83106925e-01 -3.49837282e-01 -1.90249562e+02] [-7.71191970e-01 -2.09593088e-02 6.36257537e-01 -7.14835263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.73, Y:-190.26, Z:-714.86 [[ 5.54467425e-01 4.69007980e-01 6.87457191e-01 3.15732993e+02] [-3.12726258e-01 8.82948043e-01 -3.50150028e-01 -1.90258095e+02] [-7.71212139e-01 -2.08391308e-02 6.36237038e-01 -7.14860797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.75, Y:-190.26, Z:-714.89 [[ 5.52946689e-01 4.75335488e-01 6.84328966e-01 3.15749612e+02] [-3.12222387e-01 8.79671608e-01 -3.58740913e-01 -1.90261350e+02] [-7.72507049e-01 -1.52982230e-02 6.34821884e-01 -7.14891487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.77, Y:-190.28, Z:-714.91 [[ 5.54995984e-01 4.66848745e-01 6.88499606e-01 3.15769526e+02] [-3.12140195e-01 8.84067021e-01 -3.47841920e-01 -1.90276006e+02] [-7.71069359e-01 -2.18575323e-02 6.36375904e-01 -7.14909578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:-190.28, Z:-714.94 [[ 5.55250654e-01 4.68876375e-01 6.86914592e-01 3.15788224e+02] [-3.11720262e-01 8.83051787e-01 -3.50784864e-01 -1.90282942e+02] [-7.71055893e-01 -1.93516716e-02 6.36473348e-01 -7.14936008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.81, Y:-190.29, Z:-714.96 [[ 5.55622339e-01 4.68281962e-01 6.87019519e-01 3.15807491e+02] [-3.10250365e-01 8.83395695e-01 -3.51221806e-01 -1.90291033e+02] [-7.71380922e-01 -1.80013755e-02 6.36119033e-01 -7.14962113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.82, Y:-190.29, Z:-714.99 [[ 5.54311379e-01 4.76343695e-01 6.82521487e-01 3.15822527e+02] [-3.07333195e-01 8.79222964e-01 -3.64023746e-01 -1.90289708e+02] [-7.73488980e-01 -7.97900461e-03 6.33759523e-01 -7.14993760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.84, Y:-190.32, Z:-715.01 [[ 5.57753139e-01 4.56931016e-01 6.92910876e-01 3.15844894e+02] [-3.07965277e-01 8.89161346e-01 -3.38451605e-01 -1.90316243e+02] [-7.70758603e-01 -2.46200450e-02 6.36651419e-01 -7.15008890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:-190.32, Z:-715.04 [[ 5.58054296e-01 4.66733562e-01 6.86101439e-01 3.15863302e+02] [-3.07298361e-01 8.84277020e-01 -3.51599019e-01 -1.90316985e+02] [-7.70806798e-01 -1.46265049e-02 6.36901049e-01 -7.15038303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.88, Y:-190.33, Z:-715.06 [[ 5.58738761e-01 4.66423274e-01 6.85755296e-01 3.15881736e+02] [-3.06540863e-01 8.84456446e-01 -3.51808890e-01 -1.90325758e+02] [-7.70612546e-01 -1.36427566e-02 6.37157892e-01 -7.15063774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.90, Y:-190.33, Z:-715.09 [[ 5.60060822e-01 4.65288107e-01 6.85447921e-01 3.15900404e+02] [-3.04457251e-01 8.85084247e-01 -3.52039285e-01 -1.90334807e+02] [-7.70478850e-01 -1.15261784e-02 6.37361349e-01 -7.15089273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.92, Y:-190.34, Z:-715.11 [[ 5.60787744e-01 4.64722042e-01 6.85237571e-01 3.15918741e+02] [-3.03217334e-01 8.85397881e-01 -3.52320650e-01 -1.90343897e+02] [-7.70439066e-01 -1.01988069e-02 6.37432059e-01 -7.15114849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.94, Y:-190.35, Z:-715.14 [[ 5.61731334e-01 4.63892048e-01 6.85027063e-01 3.15937060e+02] [-3.01562936e-01 8.85850849e-01 -3.52601856e-01 -1.90352608e+02] [-7.70401003e-01 -8.51126130e-03 6.37502826e-01 -7.15140295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.96, Y:-190.36, Z:-715.17 [[ 5.63747060e-01 4.61518854e-01 6.84974161e-01 3.15955676e+02] [-2.97383030e-01 8.87117866e-01 -3.52966325e-01 -1.90361989e+02] [-7.70553429e-01 -4.71596342e-03 6.37357963e-01 -7.15166239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.97, Y:-190.37, Z:-715.19 [[ 5.64867421e-01 4.60320916e-01 6.84857249e-01 3.15973554e+02] [-2.95100403e-01 8.87748962e-01 -3.53295248e-01 -1.90371140e+02] [-7.70610504e-01 -2.53667476e-03 6.37301354e-01 -7.15190786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.99, Y:-190.37, Z:-715.22 [[ 5.64250797e-01 4.64680246e-01 6.82417253e-01 3.15989444e+02] [-2.91525045e-01 8.85462941e-01 -3.61895743e-01 -1.90374271e+02] [-7.72420990e-01 5.25824119e-03 6.35089100e-01 -7.15221513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.01, Y:-190.39, Z:-715.24 [[ 5.66231826e-01 4.52608599e-01 6.88859184e-01 3.16009889e+02] [-2.89924145e-01 8.91704541e-01 -3.47573017e-01 -1.90393609e+02] [-7.71573399e-01 -2.91000543e-03 6.36133652e-01 -7.15239803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.03, Y:-190.40, Z:-715.27 [[ 5.68020425e-01 4.54867109e-01 6.85892638e-01 3.16028288e+02] [-2.84951184e-01 8.90539280e-01 -3.54602049e-01 -1.90398916e+02] [-7.72111145e-01 5.97528753e-03 6.35459421e-01 -7.15267130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.05, Y:-190.41, Z:-715.29 [[ 5.69118973e-01 4.53682343e-01 6.85766670e-01 3.16046537e+02] [-2.82710633e-01 8.91126493e-01 -3.54920093e-01 -1.90407989e+02] [-7.72125827e-01 8.11822909e-03 6.35417817e-01 -7.15292436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.06, Y:-190.42, Z:-715.32 [[ 5.69860149e-01 4.52899733e-01 6.85668464e-01 3.16064940e+02] [-2.81085012e-01 8.91508552e-01 -3.55251627e-01 -1.90416857e+02] [-7.72172666e-01 9.71261709e-03 6.35338523e-01 -7.15318491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.08, Y:-190.43, Z:-715.34 [[ 5.70485946e-01 4.52263664e-01 6.85567913e-01 3.16082892e+02] [-2.79687356e-01 8.91815064e-01 -3.55585257e-01 -1.90425460e+02] [-7.72218084e-01 1.11117152e-02 6.35260389e-01 -7.15343452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.10, Y:-190.43, Z:-715.37 [[ 5.70889465e-01 4.56378187e-01 6.82498476e-01 3.16099261e+02] [-2.77726786e-01 8.89615049e-01 -3.62564335e-01 -1.90429146e+02] [-7.72627369e-01 1.74360511e-02 6.34620306e-01 -7.15373786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.12, Y:-190.44, Z:-715.39 [[ 5.72590056e-01 4.48452885e-01 6.86316718e-01 3.16119292e+02] [-2.77937247e-01 8.93740499e-01 -3.52106244e-01 -1.90443985e+02] [-7.71292107e-01 1.08595551e-02 6.36388682e-01 -7.15392570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.14, Y:-190.45, Z:-715.42 [[ 5.72843077e-01 4.51205380e-01 6.84298556e-01 3.16137385e+02] [-2.77992407e-01 8.92317972e-01 -3.55652722e-01 -1.90450149e+02] [-7.71084322e-01 1.35033971e-02 6.36589842e-01 -7.15418636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.15, Y:-190.45, Z:-715.45 [[ 5.71858132e-01 4.56678207e-01 6.81486091e-01 3.16154544e+02] [-2.79069472e-01 8.89474044e-01 -3.61878647e-01 -1.90454277e+02] [-7.71426281e-01 1.67612835e-02 6.36097911e-01 -7.15448211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.17, Y:-190.47, Z:-715.47 [[ 5.72511081e-01 4.52189284e-01 6.83926833e-01 3.16174347e+02] [-2.79825476e-01 8.91839941e-01 -3.55414157e-01 -1.90465673e+02] [-7.70667740e-01 1.20983914e-02 6.37122331e-01 -7.15468684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.19, Y:-190.47, Z:-715.49 [[ 5.71920702e-01 4.53438510e-01 6.83593614e-01 3.16193586e+02] [-2.81030384e-01 8.91213197e-01 -3.56035055e-01 -1.90473730e+02] [-7.70667655e-01 1.15132430e-02 6.37133275e-01 -7.15494724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.21, Y:-190.48, Z:-715.52 [[ 5.70387039e-01 4.55456361e-01 6.83533561e-01 3.16213368e+02] [-2.83750542e-01 8.90209255e-01 -3.56388991e-01 -1.90480706e+02] [-7.70807535e-01 9.32664318e-03 6.36999810e-01 -7.15520804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:-190.49, Z:-715.55 [[ 5.69716719e-01 4.56635262e-01 6.83306006e-01 3.16232454e+02] [-2.85277144e-01 8.89615660e-01 -3.56652391e-01 -1.90489081e+02] [-7.70739782e-01 8.25924421e-03 6.37096519e-01 -7.15546801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.25, Y:-190.50, Z:-715.57 [[ 5.67997250e-01 4.58858263e-01 6.83248285e-01 3.16252078e+02] [-2.88320083e-01 8.88490638e-01 -3.57009687e-01 -1.90496837e+02] [-7.70876549e-01 5.78631826e-03 6.36958291e-01 -7.15572349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.27, Y:-190.51, Z:-715.60 [[ 5.66579783e-01 4.60257410e-01 6.83484064e-01 3.16270754e+02] [-2.89885410e-01 8.87774443e-01 -3.57523409e-01 -1.90505234e+02] [-7.71332483e-01 4.43347757e-03 6.36416959e-01 -7.15597274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.29, Y:-190.51, Z:-715.62 [[ 5.65188746e-01 4.61706940e-01 6.83658090e-01 3.16290165e+02] [-2.91606325e-01 8.87027568e-01 -3.57977436e-01 -1.90513738e+02] [-7.71704239e-01 2.96579486e-03 6.35974662e-01 -7.15623055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:-190.52, Z:-715.65 [[ 5.62335370e-01 4.64404123e-01 6.84183997e-01 3.16310014e+02] [-2.95041850e-01 8.85623382e-01 -3.58638441e-01 -1.90520588e+02] [-7.72482516e-01 -1.87831805e-04 6.35036004e-01 -7.15648001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.33, Y:-190.53, Z:-715.67 [[ 5.61117168e-01 4.66033272e-01 6.84076394e-01 3.16328907e+02] [-2.97205238e-01 8.84765183e-01 -3.58970217e-01 -1.90528645e+02] [-7.72539041e-01 -1.88673578e-03 6.34964464e-01 -7.15673753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.35, Y:-190.54, Z:-715.70 [[ 5.60071643e-01 4.67812006e-01 6.83719008e-01 3.16347046e+02] [-2.99765504e-01 8.83819851e-01 -3.59170034e-01 -1.90536628e+02] [-7.72308486e-01 -3.79442134e-03 6.35236338e-01 -7.15698237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.37, Y:-190.54, Z:-715.72 [[ 5.59197429e-01 4.69429804e-01 6.83325614e-01 3.16365892e+02] [-3.02128918e-01 8.82952541e-01 -3.59322874e-01 -1.90544799e+02] [-7.72020953e-01 -5.52000098e-03 6.35573109e-01 -7.15724095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.38, Y:-190.55, Z:-715.75 [[ 5.57519607e-01 4.73886009e-01 6.81618616e-01 3.16384492e+02] [-3.05540458e-01 8.80563807e-01 -3.62287746e-01 -1.90553945e+02] [-7.71891778e-01 -6.27954235e-03 6.35722936e-01 -7.15753105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.40, Y:-190.56, Z:-715.78 [[ 5.56295825e-01 4.78505210e-01 6.79387753e-01 3.16402697e+02] [-3.08422446e-01 8.78064263e-01 -3.65894446e-01 -1.90556511e+02] [-7.71628505e-01 -5.99287964e-03 6.36045231e-01 -7.15776353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.42, Y:-190.57, Z:-715.80 [[ 5.55482785e-01 4.74848835e-01 6.82610768e-01 3.16421509e+02] [-3.10002699e-01 8.79989577e-01 -3.59884247e-01 -1.90569064e+02] [-7.71580976e-01 -1.17016766e-02 6.36023481e-01 -7.15800570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.44, Y:-190.58, Z:-715.83 [[ 5.53342818e-01 4.76607238e-01 6.83123171e-01 3.16440668e+02] [-3.12009489e-01 8.79010555e-01 -3.60541984e-01 -1.90577272e+02] [-7.72309397e-01 -1.36375945e-02 6.35100158e-01 -7.15826676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.46, Y:-190.59, Z:-715.85 [[ 5.52461543e-01 4.77332149e-01 6.83330274e-01 3.16458822e+02] [-3.12563608e-01 8.78609434e-01 -3.61039406e-01 -1.90586268e+02] [-7.72716141e-01 -1.41237881e-02 6.34594582e-01 -7.15852001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.48, Y:-190.60, Z:-715.88 [[ 5.51738546e-01 4.77891213e-01 6.83523639e-01 3.16477288e+02] [-3.12895383e-01 8.78300722e-01 -3.61502865e-01 -1.90595641e+02] [-7.73098348e-01 -1.44163264e-02 6.34122317e-01 -7.15877703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.49, Y:-190.60, Z:-715.90 [[ 5.51655498e-01 4.78398255e-01 6.83235919e-01 3.16494759e+02] [-3.13416942e-01 8.78021808e-01 -3.61728525e-01 -1.90604961e+02] [-7.72946332e-01 -1.45881827e-02 6.34303676e-01 -7.15902417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.51, Y:-190.61, Z:-715.93 [[ 5.51968933e-01 4.78789811e-01 6.82708293e-01 3.16512254e+02] [-3.13932927e-01 8.77807789e-01 -3.61800502e-01 -1.90614881e+02] [-7.72513052e-01 -1.46219759e-02 6.34830515e-01 -7.15928036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.53, Y:-190.62, Z:-715.95 [[ 5.52447584e-01 4.79092081e-01 6.82108822e-01 3.16529887e+02] [-3.14328671e-01 8.77644843e-01 -3.61852203e-01 -1.90624651e+02] [-7.72009814e-01 -1.45019841e-02 6.35445150e-01 -7.15953452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.55, Y:-190.63, Z:-715.98 [[ 5.52959658e-01 4.79415752e-01 6.81466179e-01 3.16547943e+02] [-3.14788118e-01 8.77469536e-01 -3.61877955e-01 -1.90634781e+02] [-7.71455804e-01 -1.44135460e-02 6.36119637e-01 -7.15979511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.57, Y:-190.64, Z:-716.00 [[ 5.53502073e-01 4.79651896e-01 6.80859394e-01 3.16565047e+02] [-3.15087195e-01 8.77343871e-01 -3.61922355e-01 -1.90644242e+02] [-7.70944561e-01 -1.42053029e-02 6.36743821e-01 -7.16004251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.58, Y:-190.65, Z:-716.03 [[ 5.54345003e-01 4.79793038e-01 6.80073715e-01 3.16582825e+02] [-3.15377292e-01 8.77271694e-01 -3.61844634e-01 -1.90654217e+02] [-7.70219956e-01 -1.38930416e-02 6.37627009e-01 -7.16030382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.60, Y:-190.66, Z:-716.06 [[ 5.54286054e-01 4.80025791e-01 6.79957506e-01 3.16600921e+02] [-3.15369297e-01 8.77147371e-01 -3.62152863e-01 -1.90664271e+02] [-7.70265654e-01 -1.37014391e-02 6.37575951e-01 -7.16056527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.62, Y:-190.67, Z:-716.09 [[ 5.53090697e-01 4.86954085e-01 6.75992900e-01 3.16616489e+02] [-3.14230950e-01 8.73402360e-01 -3.72058097e-01 -1.90669153e+02] [-7.71589004e-01 -6.63601951e-03 6.36086765e-01 -7.16087790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:-190.69, Z:-716.10 [[ 5.54656561e-01 4.76233751e-01 6.82317751e-01 3.16635498e+02] [-3.15119736e-01 8.79159295e-01 -3.57461167e-01 -1.90688711e+02] [-7.70101066e-01 -1.67436076e-02 6.37702125e-01 -7.16104984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.65, Y:-190.70, Z:-716.13 [[ 5.54494160e-01 4.80454619e-01 6.79484794e-01 3.16654008e+02] [-3.15253771e-01 8.76922622e-01 -3.62797154e-01 -1.90695389e+02] [-7.70163156e-01 -1.30412402e-02 6.37713603e-01 -7.16132275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.67, Y:-190.71, Z:-716.16 [[ 5.54474624e-01 4.80635511e-01 6.79372797e-01 3.16672023e+02] [-3.15403567e-01 8.76823302e-01 -3.62906996e-01 -1.90706077e+02] [-7.70115888e-01 -1.30538829e-02 6.37770425e-01 -7.16158109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:-190.72, Z:-716.18 [[ 5.54384598e-01 4.80990030e-01 6.79195339e-01 3.16689073e+02] [-3.15595106e-01 8.76629768e-01 -3.63207900e-01 -1.90716173e+02] [-7.70102232e-01 -1.29938591e-02 6.37788141e-01 -7.16182873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.71, Y:-190.73, Z:-716.21 [[ 5.54492235e-01 4.81347730e-01 6.78853978e-01 3.16706150e+02] [-3.16075761e-01 8.76431240e-01 -3.63269039e-01 -1.90727854e+02] [-7.69827561e-01 -1.31394268e-02 6.38116668e-01 -7.16208742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.72, Y:-190.74, Z:-716.23 [[ 5.54027202e-01 4.81800111e-01 6.78912743e-01 3.16723990e+02] [-3.16298531e-01 8.76180951e-01 -3.63678678e-01 -1.90738800e+02] [-7.70070840e-01 -1.32512230e-02 6.37820748e-01 -7.16234761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.74, Y:-190.75, Z:-716.26 [[ 5.53454619e-01 4.82555257e-01 6.78843435e-01 3.16740966e+02] [-3.17061881e-01 8.75757449e-01 -3.64033864e-01 -1.90751027e+02] [-7.70168649e-01 -1.37591532e-02 6.37691883e-01 -7.16259401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.76, Y:-190.76, Z:-716.28 [[ 5.52751033e-01 4.83041548e-01 6.79070805e-01 3.16758288e+02] [-3.17400179e-01 8.75483637e-01 -3.64397486e-01 -1.90762214e+02] [-7.70534504e-01 -1.41161086e-02 6.37241959e-01 -7.16284609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.78, Y:-190.77, Z:-716.31 [[ 5.52032793e-01 4.83605987e-01 6.79253299e-01 3.16775451e+02] [-3.17716270e-01 8.75167618e-01 -3.64880819e-01 -1.90773082e+02] [-7.70919040e-01 -1.43836466e-02 6.36770715e-01 -7.16309985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.79, Y:-190.78, Z:-716.34 [[ 5.51416740e-01 4.84162650e-01 6.79357128e-01 3.16793295e+02] [-3.18059457e-01 8.74855745e-01 -3.65329451e-01 -1.90784199e+02] [-7.71218362e-01 -1.46271847e-02 6.36402612e-01 -7.16335829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.81, Y:-190.80, Z:-716.36 [[ 5.50592203e-01 4.84680499e-01 6.79656560e-01 3.16810092e+02] [-3.18222620e-01 8.74565534e-01 -3.65881799e-01 -1.90796112e+02] [-7.71739975e-01 -1.48304254e-02 6.35765263e-01 -7.16361226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.83, Y:-190.81, Z:-716.39 [[ 5.50110935e-01 4.85182664e-01 6.79687974e-01 3.16827685e+02] [-3.18529464e-01 8.74284119e-01 -3.66287129e-01 -1.90807136e+02] [-7.71956566e-01 -1.50020911e-02 6.35498228e-01 -7.16386921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.84, Y:-190.82, Z:-716.41 [[ 5.49848455e-01 4.85679619e-01 6.79545425e-01 3.16844684e+02] [-3.18934043e-01 8.74005497e-01 -3.66599873e-01 -1.90817780e+02] [-7.71976524e-01 -1.51557956e-02 6.35470336e-01 -7.16412033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.86, Y:-190.83, Z:-716.44 [[ 5.49809905e-01 4.86024620e-01 6.79329918e-01 3.16862412e+02] [-3.19175582e-01 8.73814139e-01 -3.66845743e-01 -1.90828503e+02] [-7.71904150e-01 -1.51300983e-02 6.35558860e-01 -7.16437850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.88, Y:-190.84, Z:-716.46 [[ 5.50543963e-01 4.85962965e-01 6.78779302e-01 3.16879173e+02] [-3.18952439e-01 8.73859343e-01 -3.66932133e-01 -1.90840099e+02] [-7.71473062e-01 -1.44860431e-02 6.36097059e-01 -7.16463984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.90, Y:-190.85, Z:-716.49 [[ 5.50867892e-01 4.86126641e-01 6.78399185e-01 3.16896377e+02] [-3.18978307e-01 8.73773590e-01 -3.67113815e-01 -1.90850948e+02] [-7.71231097e-01 -1.41634102e-02 6.36397669e-01 -7.16489664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:-190.86, Z:-716.52 [[ 5.51675896e-01 4.85921692e-01 6.77889235e-01 3.16913513e+02] [-3.18503337e-01 8.73900819e-01 -3.67223343e-01 -1.90863205e+02] [-7.70849746e-01 -1.33217166e-02 6.36877698e-01 -7.16515436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:-190.87, Z:-716.54 [[ 5.51827970e-01 4.85843617e-01 6.77821416e-01 3.16930543e+02] [-3.17942030e-01 8.73953986e-01 -3.67583047e-01 -1.90873825e+02] [-7.70972605e-01 -1.26653105e-02 6.36742360e-01 -7.16540269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.95, Y:-190.88, Z:-716.57 [[ 5.51766959e-01 4.85773890e-01 6.77921050e-01 3.16948155e+02] [-3.17322390e-01 8.74001224e-01 -3.68005927e-01 -1.90884723e+02] [-7.71271498e-01 -1.20660166e-02 6.36391930e-01 -7.16565789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.97, Y:-190.90, Z:-716.59 [[ 5.51771106e-01 4.85901131e-01 6.77826480e-01 3.16965442e+02] [-3.17127568e-01 8.73935156e-01 -3.68330626e-01 -1.90895640e+02] [-7.71348658e-01 -1.17232664e-02 6.36304811e-01 -7.16591260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.98, Y:-190.89, Z:-716.63 [[ 5.49177694e-01 4.97187285e-01 6.71720675e-01 3.16976905e+02] [-3.11807224e-01 8.67637214e-01 -3.87274992e-01 -1.90890704e+02] [-7.75358057e-01 3.23542846e-03 6.31513591e-01 -7.16625271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.00, Y:-190.93, Z:-716.64 [[ 5.52580960e-01 4.66926109e-01 6.90387059e-01 3.17000405e+02] [-3.16082387e-01 8.83862520e-01 -3.44788298e-01 -1.90933558e+02] [-7.71197904e-01 -2.76957412e-02 6.35992719e-01 -7.16635480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:-190.93, Z:-716.67 [[ 5.52222168e-01 4.85875447e-01 6.77477474e-01 3.17016083e+02] [-3.16053065e-01 8.73967933e-01 -3.69175450e-01 -1.90930099e+02] [-7.71466874e-01 -1.02519650e-02 6.36186891e-01 -7.16667698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.03, Y:-190.94, Z:-716.69 [[ 5.52062022e-01 4.86423981e-01 6.77214319e-01 3.17033322e+02] [-3.16616505e-01 8.73660122e-01 -3.69421141e-01 -1.90940723e+02] [-7.71350447e-01 -1.04738487e-02 6.36324435e-01 -7.16692482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.05, Y:-190.95, Z:-716.72 [[ 5.51689892e-01 4.87121179e-01 6.77016411e-01 3.17050995e+02] [-3.17406562e-01 8.73265825e-01 -3.69675362e-01 -1.90951140e+02] [-7.71291992e-01 -1.09432913e-02 6.36387388e-01 -7.16717962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.07, Y:-190.96, Z:-716.74 [[ 5.50554427e-01 4.88224804e-01 6.77145747e-01 3.17068123e+02] [-3.18638485e-01 8.72635369e-01 -3.70104079e-01 -1.90961880e+02] [-7.71595320e-01 -1.20022561e-02 6.36000478e-01 -7.16744265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.09, Y:-190.97, Z:-716.77 [[ 5.50151123e-01 4.88675404e-01 6.77148500e-01 3.17085344e+02] [-3.18872887e-01 8.72381852e-01 -3.70499643e-01 -1.90972235e+02] [-7.71786126e-01 -1.20935029e-02 6.35767193e-01 -7.16769667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.10, Y:-190.98, Z:-716.79 [[ 5.49966163e-01 4.89139930e-01 6.76963329e-01 3.17102802e+02] [-3.19281907e-01 8.72119521e-01 -3.70764893e-01 -1.90983095e+02] [-7.71748848e-01 -1.22339973e-02 6.35809756e-01 -7.16794834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:317.12, Y:-191.00, Z:-716.82 [[ 5.49394965e-01 4.89583711e-01 6.77106315e-01 3.17119545e+02] [-3.19416525e-01 8.71869218e-01 -3.71237324e-01 -1.90995104e+02] [-7.72099900e-01 -1.23230299e-02 6.35381687e-01 -7.16819696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.14, Y:-191.01, Z:-716.85 [[ 5.49069685e-01 4.89773709e-01 6.77232748e-01 3.17137451e+02] [-3.19341843e-01 8.71763363e-01 -3.71550033e-01 -1.91005950e+02] [-7.72362135e-01 -1.22618946e-02 6.35064074e-01 -7.16845503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.15, Y:-191.02, Z:-716.87 [[ 5.48639381e-01 4.90192977e-01 6.77278137e-01 3.17154637e+02] [-3.19503535e-01 8.71526888e-01 -3.71965556e-01 -1.91016317e+02] [-7.72601010e-01 -1.23178064e-02 6.34772362e-01 -7.16870510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.17, Y:-191.03, Z:-716.90 [[ 5.48350063e-01 4.90507165e-01 6.77284969e-01 3.17172440e+02] [-3.19556787e-01 8.71350875e-01 -3.72331993e-01 -1.91026715e+02] [-7.72784361e-01 -1.22627372e-02 6.34550201e-01 -7.16896489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:-191.04, Z:-716.92 [[ 5.47887230e-01 4.90572849e-01 6.77611883e-01 3.17189633e+02] [-3.18979438e-01 8.71319778e-01 -3.72899401e-01 -1.91037154e+02] [-7.73350956e-01 -1.18374379e-02 6.33867631e-01 -7.16921912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.21, Y:-191.05, Z:-716.95 [[ 5.47682957e-01 4.90637871e-01 6.77729930e-01 3.17207625e+02] [-3.18714843e-01 8.71286289e-01 -3.73203767e-01 -1.91047486e+02] [-7.73604697e-01 -1.16052451e-02 6.33562223e-01 -7.16948015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.23, Y:-191.06, Z:-716.97 [[ 5.47800099e-01 4.90810371e-01 6.77510319e-01 3.17225586e+02] [-3.18655181e-01 8.71193089e-01 -3.73472191e-01 -1.91058026e+02] [-7.73546332e-01 -1.13040699e-02 6.33638927e-01 -7.16973803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.24, Y:-191.07, Z:-717.00 [[ 5.48003164e-01 4.90678441e-01 6.77441658e-01 3.17243208e+02] [-3.18001121e-01 8.71276681e-01 -3.73834499e-01 -1.91068921e+02] [-7.73671648e-01 -1.05647182e-02 6.33498672e-01 -7.16999592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.26, Y:-191.08, Z:-717.02 [[ 5.48179180e-01 4.90741493e-01 6.77253552e-01 3.17260470e+02] [-3.17735083e-01 8.71246718e-01 -3.74130423e-01 -1.91078518e+02] [-7.73656257e-01 -1.00967045e-02 6.33525100e-01 -7.17024591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:-191.09, Z:-717.05 [[ 5.48344349e-01 4.90901912e-01 6.77003536e-01 3.17277193e+02] [-3.17850334e-01 8.71157758e-01 -3.74239663e-01 -1.91088082e+02] [-7.73491849e-01 -9.97359625e-03 6.33727771e-01 -7.17049770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.30, Y:-191.10, Z:-717.07 [[ 5.48697293e-01 4.91289638e-01 6.76436082e-01 3.17295071e+02] [-3.18388765e-01 8.70938891e-01 -3.74291386e-01 -1.91098137e+02] [-7.73019971e-01 -9.99697865e-03 6.34302913e-01 -7.17074939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.31, Y:-191.11, Z:-717.10 [[ 5.49158195e-01 4.91545832e-01 6.75875708e-01 3.17312675e+02] [-3.18677357e-01 8.70796629e-01 -3.74376780e-01 -1.91107630e+02] [-7.72573634e-01 -9.79420709e-03 6.34849631e-01 -7.17100312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.33, Y:-191.12, Z:-717.13 [[ 5.49542458e-01 4.91841811e-01 6.75347851e-01 3.17330664e+02] [-3.19192844e-01 8.70628779e-01 -3.74328008e-01 -1.91117983e+02] [-7.72087440e-01 -9.85706774e-03 6.35439866e-01 -7.17126472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.35, Y:-191.13, Z:-717.15 [[ 5.49758939e-01 4.92176313e-01 6.74927838e-01 3.17348934e+02] [-3.19526720e-01 8.70440558e-01 -3.74480855e-01 -1.91128208e+02] [-7.71795170e-01 -9.78328140e-03 6.35795960e-01 -7.17152342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.37, Y:-191.14, Z:-717.18 [[ 5.50037460e-01 4.92383439e-01 6.74549733e-01 3.17367033e+02] [-3.19631803e-01 8.70326195e-01 -3.74656942e-01 -1.91137903e+02] [-7.71553176e-01 -9.53219509e-03 6.36093416e-01 -7.17177871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.38, Y:-191.15, Z:-717.20 [[ 5.50570171e-01 4.92635858e-01 6.73930559e-01 3.17384342e+02] [-3.19956925e-01 8.70185568e-01 -3.74706076e-01 -1.91146689e+02] [-7.71038295e-01 -9.32676090e-03 6.36720472e-01 -7.17202897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.40, Y:-191.16, Z:-717.23 [[ 5.50574206e-01 4.93020018e-01 6.73646277e-01 3.17402441e+02] [-3.20455453e-01 8.69965838e-01 -3.74790265e-01 -1.91156383e+02] [-7.70828351e-01 -9.52377054e-03 6.36971704e-01 -7.17228473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.42, Y:-191.17, Z:-717.25 [[ 5.50497182e-01 4.93387876e-01 6.73439869e-01 3.17420489e+02] [-3.20696194e-01 8.69757570e-01 -3.75067621e-01 -1.91165847e+02] [-7.70783241e-01 -9.49593442e-03 6.37026705e-01 -7.17254417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.44, Y:-191.18, Z:-717.28 [[ 5.50821341e-01 4.93467905e-01 6.73116095e-01 3.17438785e+02] [-3.20556991e-01 8.69716825e-01 -3.75281040e-01 -1.91175906e+02] [-7.70609542e-01 -9.05926443e-03 6.37243175e-01 -7.17279887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.46, Y:-191.19, Z:-717.30 [[ 5.51116257e-01 4.93483731e-01 6.72863046e-01 3.17456277e+02] [-3.20272094e-01 8.69713129e-01 -3.75532768e-01 -1.91185917e+02] [-7.70517137e-01 -8.53704358e-03 6.37362112e-01 -7.17304555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:-191.20, Z:-717.33 [[ 5.51128967e-01 4.93382410e-01 6.72926934e-01 3.17474226e+02] [-3.19777519e-01 8.69775100e-01 -3.75810610e-01 -1.91196324e+02] [-7.70713436e-01 -8.06679204e-03 6.37130855e-01 -7.17329934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.49, Y:-191.21, Z:-717.35 [[ 5.51032828e-01 4.92915830e-01 6.73347464e-01 3.17492035e+02] [-3.18284625e-01 8.70049763e-01 -3.76441640e-01 -1.91206605e+02] [-7.71399845e-01 -6.88444338e-03 6.36313511e-01 -7.17354326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.51, Y:-191.22, Z:-717.38 [[ 5.50663721e-01 4.92987338e-01 6.73597024e-01 3.17510082e+02] [-3.17935824e-01 8.70011021e-01 -3.76825736e-01 -1.91216406e+02] [-7.71807151e-01 -6.65636292e-03 6.35821841e-01 -7.17379649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.53, Y:-191.23, Z:-717.40 [[ 5.50213983e-01 4.93339036e-01 6.73707034e-01 3.17528073e+02] [-3.17944294e-01 8.69811934e-01 -3.77277915e-01 -1.91225509e+02] [-7.72124342e-01 -6.61772315e-03 6.35437020e-01 -7.17404628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.55, Y:-191.23, Z:-717.43 [[ 5.49294661e-01 4.93940749e-01 6.74016255e-01 3.17546799e+02] [-3.18249702e-01 8.69467593e-01 -3.77813754e-01 -1.91233461e+02] [-7.72652899e-01 -6.97439473e-03 6.34790403e-01 -7.17430396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.56, Y:-191.24, Z:-717.46 [[ 5.48861664e-01 4.94549567e-01 6.73922547e-01 3.17564838e+02] [-3.18793749e-01 8.69118885e-01 -3.78157255e-01 -1.91242377e+02] [-7.72736320e-01 -7.28627560e-03 6.34685348e-01 -7.17455406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.58, Y:-191.25, Z:-717.48 [[ 5.47898099e-01 4.95596184e-01 6.73937754e-01 3.17583555e+02] [-3.20144030e-01 8.68512183e-01 -3.78410345e-01 -1.91250815e+02] [-7.72861872e-01 -8.42683973e-03 6.34518333e-01 -7.17480958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.60, Y:-191.26, Z:-717.51 [[ 5.47677410e-01 4.96411483e-01 6.73516959e-01 3.17602007e+02] [-3.21232727e-01 8.68040468e-01 -3.78570049e-01 -1.91259966e+02] [-7.72566496e-01 -9.02142507e-03 6.34869769e-01 -7.17506823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.62, Y:-191.27, Z:-717.53 [[ 5.47262084e-01 4.97499114e-01 6.73051888e-01 3.17619446e+02] [-3.22784662e-01 8.67406827e-01 -3.78702335e-01 -1.91268628e+02] [-7.72213878e-01 -1.00013966e-02 6.35283951e-01 -7.17531523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.64, Y:-191.28, Z:-717.56 [[ 5.47041664e-01 4.95664185e-01 6.74583156e-01 3.17638115e+02] [-3.24607873e-01 8.68402687e-01 -3.74841970e-01 -1.91281722e+02] [-7.71605564e-01 -1.39208286e-02 6.35948947e-01 -7.17556594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.66, Y:-191.28, Z:-717.58 [[ 5.46267933e-01 5.03070983e-01 6.69709588e-01 3.17656742e+02] [-3.26755766e-01 8.64189398e-01 -3.82632140e-01 -1.91284852e+02] [-7.71247052e-01 -9.81180067e-03 6.36460300e-01 -7.17584033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.67, Y:-191.29, Z:-717.61 [[ 5.45481463e-01 5.07418548e-01 6.67065508e-01 3.17673506e+02] [-3.26899341e-01 8.61676391e-01 -3.88137371e-01 -1.91288272e+02] [-7.71742700e-01 -6.34153451e-03 6.35903287e-01 -7.17609374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.69, Y:-191.30, Z:-717.63 [[ 5.45234664e-01 5.01287377e-01 6.71885501e-01 3.17692466e+02] [-3.28186016e-01 8.65171365e-01 -3.79173374e-01 -1.91302979e+02] [-7.71370922e-01 -1.37649581e-02 6.36236926e-01 -7.17633099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.71, Y:-191.31, Z:-717.66 [[ 5.45216431e-01 5.01813943e-01 6.71507119e-01 3.17710281e+02] [-3.28793119e-01 8.64862952e-01 -3.79350971e-01 -1.91312668e+02] [-7.71125236e-01 -1.39585371e-02 6.36530463e-01 -7.17658020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.73, Y:-191.32, Z:-717.68 [[ 5.44883537e-01 5.02305893e-01 6.71409503e-01 3.17728386e+02] [-3.29345099e-01 8.64571378e-01 -3.79536742e-01 -1.91322682e+02] [-7.71124981e-01 -1.43221068e-02 6.36522695e-01 -7.17683318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.75, Y:-191.33, Z:-717.71 [[ 5.44670205e-01 5.02793700e-01 6.71217449e-01 3.17746266e+02] [-3.29774780e-01 8.64285211e-01 -3.79815309e-01 -1.91332423e+02] [-7.71092059e-01 -1.44765044e-02 6.36559085e-01 -7.17708121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.76, Y:-191.34, Z:-717.73 [[ 5.44050038e-01 5.03304333e-01 6.71337698e-01 3.17764547e+02] [-3.30069900e-01 8.63983897e-01 -3.80244246e-01 -1.91341535e+02] [-7.71403537e-01 -1.47164700e-02 6.36176083e-01 -7.17733841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:-191.35, Z:-717.76 [[ 5.43983922e-01 5.03596664e-01 6.71172030e-01 3.17782801e+02] [-3.30173644e-01 8.63815554e-01 -3.80536533e-01 -1.91351803e+02] [-7.71405767e-01 -1.45975594e-02 6.36176119e-01 -7.17759940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:-191.36, Z:-717.79 [[ 5.43894177e-01 5.03729389e-01 6.71145161e-01 3.17801144e+02] [-3.30199307e-01 8.63738840e-01 -3.80688370e-01 -1.91361427e+02] [-7.71458063e-01 -1.45574793e-02 6.36113620e-01 -7.17785676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.82, Y:-191.37, Z:-717.81 [[ 5.43747961e-01 5.04118196e-01 6.70971683e-01 3.17819688e+02] [-3.30453909e-01 8.63511814e-01 -3.80982365e-01 -1.91371379e+02] [-7.71452117e-01 -1.45668317e-02 6.36120616e-01 -7.17811448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:-191.38, Z:-717.84 [[ 5.43887597e-01 5.03986478e-01 6.70957459e-01 3.17837247e+02] [-3.29778596e-01 8.63600538e-01 -3.81366214e-01 -1.91380638e+02] [-7.71642637e-01 -1.38470556e-02 6.35905574e-01 -7.17835843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:-191.39, Z:-717.86 [[ 5.43893208e-01 5.04043711e-01 6.70909917e-01 3.17855273e+02] [-3.29457813e-01 8.63573718e-01 -3.81704053e-01 -1.91390802e+02] [-7.71775698e-01 -1.34302724e-02 6.35753018e-01 -7.17861434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.87, Y:-191.40, Z:-717.89 [[ 5.43910686e-01 5.04067621e-01 6.70877783e-01 3.17873520e+02] [-3.29033803e-01 8.63567515e-01 -3.82083634e-01 -1.91401514e+02] [-7.71944248e-01 -1.29220962e-02 6.35558886e-01 -7.17887254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.89, Y:-191.41, Z:-717.91 [[ 5.44039974e-01 5.03640274e-01 6.71093869e-01 3.17891619e+02] [-3.27730909e-01 8.63833052e-01 -3.82602810e-01 -1.91411914e+02] [-7.72407249e-01 -1.17869810e-02 6.35018196e-01 -7.17912639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.91, Y:-191.42, Z:-717.94 [[ 5.44128007e-01 5.03760367e-01 6.70932340e-01 3.17909442e+02] [-3.27549183e-01 8.63768033e-01 -3.82905103e-01 -1.91421907e+02] [-7.72422323e-01 -1.14139492e-02 6.35006675e-01 -7.17938051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.93, Y:-191.43, Z:-717.97 [[ 5.43261035e-01 5.07795869e-01 6.68588666e-01 3.17926577e+02] [-3.26921977e-01 8.61445228e-01 -3.88631111e-01 -1.91428692e+02] [-7.73297788e-01 -7.44818848e-03 6.33999255e-01 -7.17967660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.95, Y:-191.44, Z:-717.99 [[ 5.44741620e-01 5.01899697e-01 6.71828298e-01 3.17945286e+02] [-3.26520141e-01 8.64847618e-01 -3.81343934e-01 -1.91442909e+02] [-7.72425508e-01 -1.16315579e-02 6.34998852e-01 -7.17988907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.96, Y:-191.45, Z:-718.02 [[ 5.44714063e-01 5.03623183e-01 6.70559676e-01 3.17963227e+02] [-3.26347394e-01 8.63867554e-01 -3.83705912e-01 -1.91451738e+02] [-7.72517940e-01 -9.82539601e-03 6.34916919e-01 -7.18015597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.98, Y:-191.44, Z:-718.05 [[ 5.41773585e-01 5.18287989e-01 6.61709108e-01 3.17975279e+02] [-3.22076464e-01 8.55178263e-01 -4.06124229e-01 -1.91442621e+02] [-7.76368555e-01 6.90645038e-03 6.30241356e-01 -7.18050768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:-191.49, Z:-718.06 [[ 5.46116390e-01 4.82551536e-01 6.84763392e-01 3.17998526e+02] [-3.25241035e-01 8.75437022e-01 -3.57530824e-01 -1.91488792e+02] [-7.71994273e-01 -2.74597114e-02 6.35036067e-01 -7.18058783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.02, Y:-191.48, Z:-718.09 [[ 5.45976930e-01 5.03430521e-01 6.69676715e-01 3.18016259e+02] [-3.25299699e-01 8.63998429e-01 -3.84300429e-01 -1.91482446e+02] [-7.72068195e-01 -8.02646510e-03 6.35489007e-01 -7.18091421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:-191.47, Z:-718.13 [[ 5.42745878e-01 5.17877184e-01 6.61233797e-01 3.18028611e+02] [-3.21284554e-01 8.55417146e-01 -4.06248375e-01 -1.91474876e+02] [-7.76017491e-01 8.04542540e-03 6.30660070e-01 -7.18127773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.05, Y:-191.52, Z:-718.14 [[ 5.46961369e-01 4.84903647e-01 6.82423413e-01 3.18051705e+02] [-3.24423896e-01 8.74242474e-01 -3.61177564e-01 -1.91517658e+02] [-7.71739851e-01 -2.38442874e-02 6.35491190e-01 -7.18135875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.07, Y:-191.51, Z:-718.17 [[ 5.47025483e-01 5.03025224e-01 6.69125358e-01 3.18069336e+02] [-3.23697890e-01 8.64251291e-01 -3.85083604e-01 -1.91512620e+02] [-7.71999221e-01 -5.94392152e-03 6.35595684e-01 -7.18167860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:-191.52, Z:-718.19 [[ 5.47185377e-01 5.03180367e-01 6.68877927e-01 3.18087452e+02] [-3.23631747e-01 8.64163145e-01 -3.85336933e-01 -1.91522858e+02] [-7.71913632e-01 -5.61939718e-03 6.35702578e-01 -7.18193606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.11, Y:-191.53, Z:-718.22 [[ 5.46880843e-01 5.03441760e-01 6.68930294e-01 3.18105563e+02] [-3.23527961e-01 8.64011966e-01 -3.85762856e-01 -1.91532950e+02] [-7.72172910e-01 -5.45133795e-03 6.35389078e-01 -7.18219329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.12, Y:-191.54, Z:-718.25 [[ 5.46557062e-01 5.03789824e-01 6.68932875e-01 3.18123413e+02] [-3.23596437e-01 8.63809345e-01 -3.86158985e-01 -1.91542791e+02] [-7.72373435e-01 -5.40637501e-03 6.35145690e-01 -7.18245300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.14, Y:-191.55, Z:-718.27 [[ 5.46407087e-01 5.04413097e-01 6.68585614e-01 3.18141541e+02] [-3.24342417e-01 8.63443350e-01 -3.86351625e-01 -1.91552722e+02] [-7.72166622e-01 -5.74540805e-03 6.35394129e-01 -7.18271424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.16, Y:-191.56, Z:-718.30 [[ 5.46089972e-01 5.05177331e-01 6.68267616e-01 3.18159673e+02] [-3.25293675e-01 8.62992662e-01 -3.86558781e-01 -1.91561764e+02] [-7.71990782e-01 -6.28735436e-03 6.35602629e-01 -7.18296495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.17, Y:-191.56, Z:-718.33 [[ 5.43448480e-01 5.18268823e-01 6.60349284e-01 3.18173392e+02] [-3.23734406e-01 8.55195345e-01 -4.04767780e-01 -1.91557136e+02] [-7.74506155e-01 6.19265089e-03 6.32536060e-01 -7.18331280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.20, Y:-191.59, Z:-718.34 [[ 5.45375017e-01 4.94090314e-01 6.77082604e-01 3.18195021e+02] [-3.27295033e-01 8.69192722e-01 -3.70650743e-01 -1.91590751e+02] [-7.71650213e-01 -1.94621178e-02 6.35749302e-01 -7.18342262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.21, Y:-191.59, Z:-718.37 [[ 5.44860081e-01 5.07473909e-01 6.67531065e-01 3.18212798e+02] [-3.28379343e-01 8.61626719e-01 -3.86996647e-01 -1.91590107e+02] [-7.71553303e-01 -8.34438842e-03 6.36109953e-01 -7.18371651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.23, Y:-191.60, Z:-718.40 [[ 5.44585712e-01 5.08178873e-01 6.67218581e-01 3.18231328e+02] [-3.29253239e-01 8.61206327e-01 -3.87189833e-01 -1.91600327e+02] [-7.71374557e-01 -8.82582789e-03 6.36320201e-01 -7.18397373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.25, Y:-191.61, Z:-718.42 [[ 5.44021328e-01 5.08923476e-01 6.67111452e-01 3.18248996e+02] [-3.30022268e-01 8.60761096e-01 -3.87525016e-01 -1.91610118e+02] [-7.71444163e-01 -9.33976031e-03 6.36228475e-01 -7.18422888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.27, Y:-191.62, Z:-718.45 [[ 5.43342418e-01 5.09967360e-01 6.66867535e-01 3.18267037e+02] [-3.31356141e-01 8.60132420e-01 -3.87782579e-01 -1.91619889e+02] [-7.71350844e-01 -1.02719288e-02 6.36327245e-01 -7.18447581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.29, Y:-191.63, Z:-718.47 [[ 5.42756618e-01 5.10607078e-01 6.66855056e-01 3.18285234e+02] [-3.31926885e-01 8.59747869e-01 -3.88147066e-01 -1.91630161e+02] [-7.71517852e-01 -1.06777324e-02 6.36118063e-01 -7.18472739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.30, Y:-191.64, Z:-718.50 [[ 5.41399826e-01 5.11565278e-01 6.67223497e-01 3.18303900e+02] [-3.32722087e-01 8.59167056e-01 -3.88751827e-01 -1.91640214e+02] [-7.72128384e-01 -1.15298224e-02 6.35361961e-01 -7.18498353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.32, Y:-191.65, Z:-718.52 [[ 5.40934607e-01 5.12146978e-01 6.67154572e-01 3.18322334e+02] [-3.33221027e-01 8.58816314e-01 -3.89099326e-01 -1.91650384e+02] [-7.72239275e-01 -1.18326403e-02 6.35221608e-01 -7.18524147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.34, Y:-191.66, Z:-718.55 [[ 5.40313145e-01 5.12720203e-01 6.67217880e-01 3.18339674e+02] [-3.33599948e-01 8.58470330e-01 -3.89537889e-01 -1.91659940e+02] [-7.72510699e-01 -1.21114077e-02 6.34886237e-01 -7.18548910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.36, Y:-191.67, Z:-718.57 [[ 5.39710177e-01 5.13320857e-01 6.67244050e-01 3.18357567e+02] [-3.34082390e-01 8.58106210e-01 -3.89926518e-01 -1.91669967e+02] [-7.72723678e-01 -1.24671768e-02 6.34620113e-01 -7.18574137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.37, Y:-191.68, Z:-718.60 [[ 5.38908955e-01 5.14109097e-01 6.67284778e-01 3.18374963e+02] [-3.34813083e-01 8.57625540e-01 -3.90357059e-01 -1.91679699e+02] [-7.72966583e-01 -1.30487591e-02 6.34312535e-01 -7.18598476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.39, Y:-191.69, Z:-718.62 [[ 5.38472159e-01 5.14682093e-01 6.67195681e-01 3.18392660e+02] [-3.35323570e-01 8.57277094e-01 -3.90684126e-01 -1.91689912e+02] [-7.73049699e-01 -1.33539128e-02 6.34204885e-01 -7.18624065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.41, Y:-191.70, Z:-718.65 [[ 5.38327287e-01 5.15584735e-01 6.66615416e-01 3.18410170e+02] [-3.36662070e-01 8.56723010e-01 -3.90748430e-01 -1.91699662e+02] [-7.72568691e-01 -1.40735833e-02 6.34775198e-01 -7.18648498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.43, Y:-191.71, Z:-718.67 [[ 5.37971800e-01 5.16297842e-01 6.66350419e-01 3.18427568e+02] [-3.37518758e-01 8.56285057e-01 -3.90969294e-01 -1.91709518e+02] [-7.72442509e-01 -1.45753105e-02 6.34917420e-01 -7.18673861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:-191.72, Z:-718.70 [[ 5.37862286e-01 5.16958590e-01 6.65926406e-01 3.18445440e+02] [-3.38407620e-01 8.55878939e-01 -3.91090174e-01 -1.91719558e+02] [-7.72129811e-01 -1.50019153e-02 6.35287729e-01 -7.18699691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.46, Y:-191.73, Z:-718.73 [[ 5.37602266e-01 5.17990757e-01 6.65334036e-01 3.18463527e+02] [-3.39963154e-01 8.55238243e-01 -3.91142688e-01 -1.91729363e+02] [-7.71627409e-01 -1.59098620e-02 6.35875788e-01 -7.18725894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.48, Y:-191.74, Z:-718.75 [[ 5.37196322e-01 5.18654165e-01 6.65145074e-01 3.18481152e+02] [-3.40663622e-01 8.54828421e-01 -3.91429007e-01 -1.91739391e+02] [-7.71601198e-01 -1.63165065e-02 6.35897290e-01 -7.18751769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.50, Y:-191.75, Z:-718.78 [[ 5.37066346e-01 5.19287541e-01 6.64755737e-01 3.18498691e+02] [-3.41450280e-01 8.54437045e-01 -3.91598062e-01 -1.91749512e+02] [-7.71343922e-01 -1.66668924e-02 6.36200258e-01 -7.18777103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:-191.76, Z:-718.80 [[ 5.36746216e-01 5.20063863e-01 6.64407313e-01 3.18515635e+02] [-3.42433700e-01 8.53953740e-01 -3.91793531e-01 -1.91759729e+02] [-7.71130767e-01 -1.72217595e-02 6.36443832e-01 -7.18802212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.53, Y:-191.77, Z:-718.83 [[ 5.36935499e-01 5.20412989e-01 6.63980866e-01 3.18533326e+02] [-3.42824522e-01 8.53741535e-01 -3.91914198e-01 -1.91770125e+02] [-7.70825283e-01 -1.71962782e-02 6.36814471e-01 -7.18827596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.55, Y:-191.79, Z:-718.85 [[ 5.38051262e-01 5.15818606e-01 6.66657337e-01 3.18552751e+02] [-3.45615525e-01 8.56362167e-01 -3.83658374e-01 -1.91791478e+02] [-7.68798249e-01 -2.39792534e-02 6.39041663e-01 -7.18852286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.57, Y:-191.78, Z:-718.88 [[ 5.36565539e-01 5.36051437e-01 6.51725617e-01 3.18567544e+02] [-3.42595075e-01 8.44182816e-01 -4.12291144e-01 -1.91778288e+02] [-7.71184827e-01 -2.05676638e-03 6.36607990e-01 -7.18882536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.58, Y:-191.80, Z:-718.91 [[ 5.37025742e-01 5.23893957e-01 6.61164484e-01 3.18584081e+02] [-3.41583744e-01 8.51692937e-01 -3.97416265e-01 -1.91801161e+02] [-7.71313100e-01 -1.24202753e-02 6.36334690e-01 -7.18907034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.60, Y:-191.81, Z:-718.93 [[ 5.37499757e-01 5.21768685e-01 6.62458641e-01 3.18600986e+02] [-3.40840661e-01 8.52982873e-01 -3.95282004e-01 -1.91811943e+02] [-7.71311646e-01 -1.33288593e-02 6.36318070e-01 -7.18927509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.62, Y:-191.82, Z:-718.95 [[ 5.37660469e-01 5.19773003e-01 6.63895508e-01 3.18618303e+02] [-3.40265583e-01 8.54181325e-01 -3.93183922e-01 -1.91824575e+02] [-7.71453533e-01 -1.45013397e-02 6.36120396e-01 -7.18951780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.64, Y:-191.84, Z:-718.98 [[ 5.37834384e-01 5.19603783e-01 6.63887102e-01 3.18635523e+02] [-3.39549817e-01 8.54296586e-01 -3.93552112e-01 -1.91835493e+02] [-7.71647651e-01 -1.37568867e-02 6.35901448e-01 -7.18976883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.65, Y:-191.85, Z:-719.00 [[ 5.38284812e-01 5.18904097e-01 6.64069273e-01 3.18652305e+02] [-3.37867214e-01 8.54744424e-01 -3.94027556e-01 -1.91846939e+02] [-7.72072022e-01 -1.22681862e-02 6.35416623e-01 -7.19002297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.67, Y:-191.86, Z:-719.03 [[ 5.38391263e-01 5.18716658e-01 6.64129412e-01 3.18669717e+02] [-3.37047616e-01 8.54869266e-01 -3.94458418e-01 -1.91858140e+02] [-7.72355975e-01 -1.14702697e-02 6.35086357e-01 -7.19028529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.69, Y:-191.87, Z:-719.05 [[ 5.39165753e-01 5.17861493e-01 6.64168476e-01 3.18686804e+02] [-3.35183874e-01 8.55409311e-01 -3.94875527e-01 -1.91869922e+02] [-7.72626728e-01 -9.71520139e-03 6.34786227e-01 -7.19054683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.70, Y:-191.88, Z:-719.08 [[ 5.39673691e-01 5.17645871e-01 6.63923986e-01 3.18703934e+02] [-3.34531778e-01 8.55549045e-01 -3.95125702e-01 -1.91880925e+02] [-7.72554721e-01 -8.86472528e-03 6.34886305e-01 -7.19080081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.72, Y:-191.89, Z:-719.11 [[ 5.40131616e-01 5.17319370e-01 6.63806076e-01 3.18720715e+02] [-3.33609311e-01 8.55756387e-01 -3.95456488e-01 -1.91891724e+02] [-7.72633591e-01 -7.85333595e-03 6.34803639e-01 -7.19105512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:-191.90, Z:-719.13 [[ 5.41658641e-01 5.16346748e-01 6.63318892e-01 3.18738005e+02] [-3.31961983e-01 8.56358940e-01 -3.95538376e-01 -1.91903502e+02] [-7.72274018e-01 -5.94987588e-03 6.35261710e-01 -7.19131579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:-191.91, Z:-719.16 [[ 5.42310070e-01 5.16367733e-01 6.62770060e-01 3.18754816e+02] [-3.31902916e-01 8.56349721e-01 -3.95607899e-01 -1.91914412e+02] [-7.71842110e-01 -5.43316845e-03 6.35791034e-01 -7.19156159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.77, Y:-191.93, Z:-719.18 [[ 5.43324340e-01 5.15761280e-01 6.62411476e-01 3.18771907e+02] [-3.30754114e-01 8.56722682e-01 -3.95762507e-01 -1.91926135e+02] [-7.71621913e-01 -4.06791801e-03 6.36068451e-01 -7.19182340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:-191.94, Z:-719.21 [[ 5.43835406e-01 5.15839788e-01 6.61930785e-01 3.18789604e+02] [-3.30749829e-01 8.56677303e-01 -3.95864306e-01 -1.91937458e+02] [-7.71263640e-01 -3.64846811e-03 6.36505371e-01 -7.19208312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.81, Y:-191.95, Z:-719.23 [[ 5.43948253e-01 5.16010650e-01 6.61704849e-01 3.18806522e+02] [-3.30696020e-01 8.56575619e-01 -3.96129211e-01 -1.91948399e+02] [-7.71207132e-01 -3.34936840e-03 6.36575480e-01 -7.19233724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:-191.95, Z:-719.27 [[ 5.43068777e-01 5.22171877e-01 6.57581048e-01 3.18821102e+02] [-3.29219306e-01 8.52832535e-01 -4.05328651e-01 -1.91953184e+02] [-7.72457735e-01 3.63295888e-03 6.35055785e-01 -7.19265377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.84, Y:-191.97, Z:-719.29 [[ 5.43939058e-01 5.17437716e-01 6.60597087e-01 3.18838857e+02] [-3.28472484e-01 8.55720735e-01 -3.99809769e-01 -1.91968648e+02] [-7.72163279e-01 4.84183072e-04 6.35423982e-01 -7.19289763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.86, Y:-191.98, Z:-719.32 [[ 5.43938335e-01 5.18674575e-01 6.59626995e-01 3.18857002e+02] [-3.28710999e-01 8.54970582e-01 -4.01216129e-01 -1.91978588e+02] [-7.72062282e-01 1.41018434e-03 6.35545313e-01 -7.19316159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:-191.99, Z:-719.34 [[ 5.44323241e-01 5.17627015e-01 6.60132171e-01 3.18874913e+02] [-3.28436315e-01 8.55605834e-01 -4.00085295e-01 -1.91991753e+02] [-7.71907894e-01 9.64346600e-04 6.35733650e-01 -7.19340930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:-192.00, Z:-719.37 [[ 5.44338536e-01 5.19167839e-01 6.58908425e-01 3.18893050e+02] [-3.28607794e-01 8.54669294e-01 -4.01941931e-01 -1.92001416e+02] [-7.71824122e-01 2.27003844e-03 6.35832031e-01 -7.19367456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:-192.02, Z:-719.39 [[ 5.45283436e-01 5.14371703e-01 6.61881958e-01 3.18911797e+02] [-3.29074069e-01 8.57564430e-01 -3.95339734e-01 -1.92016408e+02] [-7.70957996e-01 -2.23598026e-03 6.36882068e-01 -7.19387091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.93, Y:-192.03, Z:-719.41 [[ 5.44846444e-01 5.15915878e-01 6.61039454e-01 3.18929408e+02] [-3.28866013e-01 8.56638869e-01 -3.97513514e-01 -1.92026275e+02] [-7.71355624e-01 -8.09585000e-04 6.36403839e-01 -7.19413744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.95, Y:-192.04, Z:-719.44 [[ 5.44454670e-01 5.16342365e-01 6.61029254e-01 3.18946805e+02] [-3.29065685e-01 8.56381798e-01 -3.97901988e-01 -1.92037368e+02] [-7.71547074e-01 -8.82448910e-04 6.36171623e-01 -7.19439064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.96, Y:-192.04, Z:-719.47 [[ 5.42668307e-01 5.22726118e-01 6.57471303e-01 3.18962204e+02] [-3.28798458e-01 8.52489531e-01 -4.06390421e-01 -1.92043095e+02] [-7.72918290e-01 4.35965085e-03 6.34490592e-01 -7.19470489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.98, Y:-192.06, Z:-719.49 [[ 5.43675415e-01 5.15488943e-01 6.62335408e-01 3.18981004e+02] [-3.30571611e-01 8.56887383e-01 -3.95558369e-01 -1.92060659e+02] [-7.71452820e-01 -3.89392211e-03 6.36274614e-01 -7.19488829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:-192.05, Z:-719.53 [[ 5.40613065e-01 5.32374394e-01 6.51394672e-01 3.18994458e+02] [-3.29448381e-01 8.46429983e-01 -4.18353975e-01 -1.92053696e+02] [-7.74080925e-01 1.15667049e-02 6.32980990e-01 -7.19525361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.02, Y:-192.09, Z:-719.53 [[ 5.42272497e-01 5.05368865e-01 6.71224888e-01 3.19015096e+02] [-3.33568133e-01 8.62719764e-01 -3.80061717e-01 -1.92092160e+02] [-7.71150335e-01 -1.78022165e-02 6.36404149e-01 -7.19534725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:-192.07, Z:-719.58 [[ 5.38572686e-01 5.34451356e-01 6.51384073e-01 3.19027562e+02] [-3.31013402e-01 8.45134744e-01 -4.19734907e-01 -1.92073068e+02] [-7.74835201e-01 1.04408980e-02 6.32077051e-01 -7.19576464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.04, Y:-192.10, Z:-719.60 [[ 5.37149920e-01 5.21655795e-01 6.62831197e-01 3.19044202e+02] [-3.33011717e-01 8.53141209e-01 -4.01563536e-01 -1.92095541e+02] [-7.74966554e-01 -5.03073422e-03 6.31982224e-01 -7.19597397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:-192.11, Z:-719.62 [[ 5.36349905e-01 5.22354420e-01 6.62928834e-01 3.19061082e+02] [-3.33535689e-01 8.52710903e-01 -4.02042362e-01 -1.92105009e+02] [-7.75295249e-01 -5.47504264e-03 6.31575253e-01 -7.19623145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:-192.14, Z:-719.63 [[ 5.39258975e-01 5.02259976e-01 6.75969433e-01 3.19084694e+02] [-3.39074664e-01 8.64237281e-01 -3.71648078e-01 -1.92140080e+02] [-7.70861940e-01 -2.87895472e-02 6.36351343e-01 -7.19633962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.10, Y:-192.10, Z:-719.68 [[ 5.32758529e-01 5.48298446e-01 6.44621721e-01 3.19095040e+02] [-3.34342150e-01 8.36126707e-01 -4.34864872e-01 -1.92102762e+02] [-7.77421171e-01 1.61537578e-02 6.28772916e-01 -7.19683666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:-192.15, Z:-719.69 [[ 5.32534292e-01 5.14552474e-01 6.72043882e-01 3.19112287e+02] [-3.36967893e-01 8.57245638e-01 -3.89336043e-01 -1.92146471e+02] [-7.76440511e-01 -1.91224170e-02 6.29900362e-01 -7.19694810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:-192.17, Z:-719.71 [[ 5.34688897e-01 5.07462811e-01 6.75713904e-01 3.19134936e+02] [-3.42199235e-01 8.61143656e-01 -3.75940537e-01 -1.92169269e+02] [-7.72662583e-01 -3.02175498e-02 6.34097337e-01 -7.19710388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.15, Y:-192.15, Z:-719.75 [[ 5.31208731e-01 5.40626142e-01 6.52334775e-01 3.19149095e+02] [-3.40822817e-01 8.41262752e-01 -4.19662710e-01 -1.92150243e+02] [-7.75665580e-01 5.97920461e-04 6.31143844e-01 -7.19752578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.17, Y:-192.17, Z:-719.77 [[ 5.30997266e-01 5.31973626e-01 6.59580142e-01 3.19165328e+02] [-3.40657620e-01 8.46725997e-01 -4.08665478e-01 -1.92166820e+02] [-7.75882909e-01 -7.69075022e-03 6.30830059e-01 -7.19774349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:-192.20, Z:-719.78 [[ 5.33840413e-01 5.10949043e-01 6.73754770e-01 3.19187746e+02] [-3.47043195e-01 8.58982665e-01 -3.76443625e-01 -1.92202924e+02] [-7.71087177e-01 -3.28611875e-02 6.35881048e-01 -7.19783557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.20, Y:-192.20, Z:-719.82 [[ 5.32787981e-01 5.30810264e-01 6.59073161e-01 3.19204733e+02] [-3.47830515e-01 8.47349711e-01 -4.01263504e-01 -1.92197121e+02] [-7.71460239e-01 -1.54573846e-02 6.36089749e-01 -7.19816006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.996559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.22, Y:-192.21, Z:-719.84 [[ 5.32339689e-01 5.31627439e-01 6.58776686e-01 3.19222299e+02] [-3.49039337e-01 8.46821537e-01 -4.01328825e-01 -1.92207544e+02] [-7.71223701e-01 -1.62957161e-02 6.36355602e-01 -7.19841554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.24, Y:-192.22, Z:-719.87 [[ 5.31461591e-01 5.33005599e-01 6.58371937e-01 3.19240004e+02] [-3.51033436e-01 8.45925720e-01 -4.01478772e-01 -1.92218021e+02] [-7.70924188e-01 -1.77400161e-02 6.36679816e-01 -7.19867541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.26, Y:-192.22, Z:-719.90 [[ 5.30512113e-01 5.37977277e-01 6.55085756e-01 3.19255187e+02] [-3.50287219e-01 8.42862936e-01 -4.08510630e-01 -1.92222749e+02] [-7.71916940e-01 -1.27483299e-02 6.35595561e-01 -7.19897225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:319.27, Y:-192.24, Z:-719.92 [[ 5.30670882e-01 5.37355507e-01 6.55467370e-01 3.19272411e+02] [-3.51529164e-01 8.43229431e-01 -4.06683382e-01 -1.92235158e+02] [-7.71242933e-01 -1.46008673e-02 6.36373439e-01 -7.19923778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:-192.59, Z:-719.33 [[ 6.10635575e-01 -7.79149568e-01 1.41598538e-01 3.20106380e+02] [-3.14335193e-01 -7.43580537e-02 9.46395407e-01 -1.92590953e+02] [-7.26854580e-01 -6.22412107e-01 -2.90319802e-01 -7.19328824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.34, Y:-191.72, Z:-719.71 [[ 5.79338039e-01 8.35152554e-02 -8.10797533e-01 3.20338683e+02] [-2.45052397e-01 -9.30870070e-01 -2.70980137e-01 -1.91716040e+02] [-7.77378132e-01 3.55676980e-01 -5.18822827e-01 -7.19705112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:-191.97, Z:-719.52 [[ 6.14224048e-01 -3.01935541e-01 -7.29084184e-01 3.20462191e+02] [-1.67091691e-01 -9.52719891e-01 2.53781751e-01 -1.91967192e+02] [-7.71238734e-01 -3.40549453e-02 -6.35634388e-01 -7.19524492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.48, Y:-191.96, Z:-719.55 [[ 6.33387521e-01 -2.32953532e-01 -7.37938277e-01 3.20475515e+02] [-9.36608399e-02 -9.69679629e-01 2.25718996e-01 -1.91961826e+02] [-7.68145752e-01 -7.38516763e-02 -6.36001599e-01 -7.19554638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:-191.92, Z:-719.58 [[ 6.43127192e-01 -1.16387086e-01 -7.56862908e-01 3.20464732e+02] [-1.97068164e-02 -9.90570369e-01 1.35580180e-01 -1.91919427e+02] [-7.65505752e-01 -7.22799420e-02 -6.39356359e-01 -7.19583700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.44, Y:-191.88, Z:-719.61 [[ 6.43888842e-01 2.54842777e-03 -7.65114805e-01 3.20443713e+02] [ 5.58977110e-02 -9.97478878e-01 4.37188110e-02 -1.91880495e+02] [-7.63074443e-01 -7.09182209e-02 -6.42407971e-01 -7.19607094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.42, Y:-191.84, Z:-719.63 [[ 6.35720327e-01 1.21208409e-01 -7.62343878e-01 3.20417320e+02] [ 1.31056208e-01 -9.90205002e-01 -4.81489767e-02 -1.91843543e+02] [-7.60712782e-01 -6.93006146e-02 -6.45378562e-01 -7.19629663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:320.38, Y:-191.78, Z:-719.65 [[ 6.19714259e-01 2.49887254e-01 -7.43982929e-01 3.20375362e+02] [ 2.01478052e-01 -9.66842282e-01 -1.56915888e-01 -1.91780052e+02] [-7.58525433e-01 -5.26532176e-02 -6.49512745e-01 -7.19653983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.88, Y:-192.69, Z:-720.33 [[ 6.33208727e-01 -2.86198134e-01 7.19122616e-01 3.19883855e+02] [ 1.90981787e-01 9.58167555e-01 2.13168699e-01 -1.92694208e+02] [-7.50048442e-01 2.35904175e-03 6.61378688e-01 -7.20334854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:-192.69, Z:-720.35 [[ 6.34183059e-01 -2.96602344e-01 7.14030039e-01 3.19911819e+02] [ 1.91666431e-01 9.54977152e-01 2.26456660e-01 -1.92694278e+02] [-7.49049949e-01 -6.75938826e-03 6.62479044e-01 -7.20354320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:-192.69, Z:-720.38 [[ 6.33695794e-01 -2.94232428e-01 7.15441764e-01 3.19930271e+02] [ 1.93210255e-01 9.55730885e-01 2.21919520e-01 -1.92686540e+02] [-7.49065710e-01 -2.39878119e-03 6.62491365e-01 -7.20380307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:319.94, Y:-192.68, Z:-720.41 [[ 6.30302520e-01 -2.86882015e-01 7.21399642e-01 3.19942232e+02] [ 1.95533062e-01 9.57927049e-01 2.10101380e-01 -1.92675242e+02] [-7.51322537e-01 8.63005198e-03 6.59878752e-01 -7.20410617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.97, Y:-192.67, Z:-720.43 [[ 6.30306298e-01 -2.95796484e-01 7.17787163e-01 3.19966488e+02] [ 1.96686880e-01 9.55249052e-01 2.20937821e-01 -1.92672049e+02] [-7.51018137e-01 1.92081722e-03 6.60278781e-01 -7.20431181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:-192.68, Z:-720.45 [[ 6.35399587e-01 -3.12716477e-01 7.06028166e-01 3.20004659e+02] [ 1.95890538e-01 9.49695190e-01 2.44347995e-01 -1.92675620e+02] [-7.46923197e-01 -1.69543780e-02 6.64694130e-01 -7.20445715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:-192.66, Z:-720.48 [[ 6.35780056e-01 -2.93748989e-01 7.13789361e-01 3.20014150e+02] [ 1.95560978e-01 9.55882565e-01 2.19190390e-01 -1.92659077e+02] [-7.46685761e-01 2.32467189e-04 6.65176910e-01 -7.20477853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.03, Y:-192.65, Z:-720.50 [[ 6.36498935e-01 -2.93295956e-01 7.13334836e-01 3.20034275e+02] [ 1.95406698e-01 9.56021680e-01 2.18720760e-01 -1.92651608e+02] [-7.46113482e-01 1.74874525e-04 6.65818775e-01 -7.20502240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:-192.64, Z:-720.53 [[ 6.36797989e-01 -2.92582117e-01 7.13361077e-01 3.20053737e+02] [ 1.94700138e-01 9.56240384e-01 2.18394562e-01 -1.92644939e+02] [-7.46043013e-01 -1.81717428e-04 6.65897732e-01 -7.20526175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:-192.64, Z:-720.55 [[ 6.37452002e-01 -2.91691748e-01 7.13141549e-01 3.20073538e+02] [ 1.93787724e-01 9.56512060e-01 2.18016049e-01 -1.92637673e+02] [-7.45721975e-01 -7.76689469e-04 6.66256808e-01 -7.20550147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:-192.63, Z:-720.57 [[ 6.38080729e-01 -2.90692496e-01 7.12987276e-01 3.20093578e+02] [ 1.92683889e-01 9.56815346e-01 2.17663302e-01 -1.92630276e+02] [-7.45470256e-01 -1.50559751e-03 6.66537194e-01 -7.20574673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:-192.62, Z:-720.60 [[ 6.38639354e-01 -2.89052326e-01 7.13153930e-01 3.20112583e+02] [ 1.90535837e-01 9.57308757e-01 2.17384540e-01 -1.92621201e+02] [-7.45544010e-01 -2.94894134e-03 6.66449873e-01 -7.20599170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:-192.61, Z:-720.62 [[ 6.38998075e-01 -2.87871605e-01 7.13310170e-01 3.20132803e+02] [ 1.89053819e-01 9.57661116e-01 2.17126326e-01 -1.92613712e+02] [-7.45613917e-01 -3.88929288e-03 6.66366836e-01 -7.20623568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:-192.61, Z:-720.65 [[ 6.39044102e-01 -2.86777708e-01 7.13709452e-01 3.20153165e+02] [ 1.87636358e-01 9.57985593e-01 2.16924414e-01 -1.92606067e+02] [-7.45932458e-01 -4.70642468e-03 6.66004968e-01 -7.20648170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:-192.60, Z:-720.67 [[ 6.38799276e-01 -2.85177722e-01 7.14569207e-01 3.20172815e+02] [ 1.85295331e-01 9.58455082e-01 2.16862850e-01 -1.92597522e+02] [-7.46726941e-01 -6.12549404e-03 6.65102513e-01 -7.20672486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:-192.59, Z:-720.70 [[ 6.38845531e-01 -2.84208485e-01 7.14913928e-01 3.20193060e+02] [ 1.84055791e-01 9.58738156e-01 2.16667060e-01 -1.92590491e+02] [-7.46993878e-01 -6.83273465e-03 6.64795803e-01 -7.20697181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:-192.57, Z:-720.74 [[ 6.31348476e-01 -2.61331931e-01 7.30140208e-01 3.20187094e+02] [ 1.83918387e-01 9.65106170e-01 1.86397714e-01 -1.92568119e+02] [-7.53374494e-01 1.66042971e-02 6.57382057e-01 -7.20735328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:-192.59, Z:-720.73 [[ 6.39590327e-01 -3.16376933e-01 7.00592499e-01 3.20252404e+02] [ 1.81618488e-01 9.47770501e-01 2.62194209e-01 -1.92593579e+02] [-7.46953103e-01 -4.04563289e-02 6.63644745e-01 -7.20732823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:-192.57, Z:-720.77 [[ 6.39305412e-01 -2.81305318e-01 7.15650689e-01 3.20251884e+02] [ 1.80306838e-01 9.59574920e-01 2.16114360e-01 -1.92568386e+02] [-7.47514572e-01 -9.12636731e-03 6.64182712e-01 -7.20769138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.27, Y:-192.56, Z:-720.79 [[ 6.39621209e-01 -2.80495441e-01 7.15686396e-01 3.20271535e+02] [ 1.79309352e-01 9.59805555e-01 2.15920016e-01 -1.92561182e+02] [-7.47484358e-01 -9.77775730e-03 6.64207445e-01 -7.20793471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.26, Y:-192.54, Z:-720.83 [[ 6.32294287e-01 -2.57138964e-01 7.30810158e-01 3.20263477e+02] [ 1.80045267e-01 9.66256370e-01 1.84207303e-01 -1.92537767e+02] [-7.53516845e-01 1.51056848e-02 6.57255036e-01 -7.20832120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.30, Y:-192.55, Z:-720.85 [[ 6.33643123e-01 -2.86740745e-01 7.18523582e-01 3.20299604e+02] [ 1.79689256e-01 9.57923923e-01 2.23815838e-01 -1.92547733e+02] [-7.52468049e-01 -1.27083984e-02 6.58506137e-01 -7.20847498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.35, Y:-192.56, Z:-720.85 [[ 6.43453838e-01 -3.17372314e-01 6.96593119e-01 3.20352311e+02] [ 1.78735686e-01 9.47139346e-01 2.66421872e-01 -1.92559281e+02] [-7.44325677e-01 -4.69241269e-02 6.66166205e-01 -7.20852143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.35, Y:-192.53, Z:-720.89 [[ 6.43575585e-01 -2.77699840e-01 7.13227359e-01 3.20350224e+02] [ 1.78158496e-01 9.60613928e-01 2.13261415e-01 -1.92531495e+02] [-7.44358796e-01 -1.01823265e-02 6.67702256e-01 -7.20890449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.37, Y:-192.52, Z:-720.91 [[ 6.43710632e-01 -2.77626530e-01 7.13134022e-01 3.20369997e+02] [ 1.78442038e-01 9.60639097e-01 2.12910697e-01 -1.92524807e+02] [-7.44174080e-01 -9.79979144e-03 6.67913844e-01 -7.20914409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.39, Y:-192.52, Z:-720.94 [[ 6.43727567e-01 -2.78037955e-01 7.12958425e-01 3.20389534e+02] [ 1.79452303e-01 9.60528973e-01 2.12558141e-01 -1.92517274e+02] [-7.43916454e-01 -8.88750365e-03 6.68213530e-01 -7.20938780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.41, Y:-192.51, Z:-720.96 [[ 6.43588209e-01 -2.78061427e-01 7.13075073e-01 3.20409880e+02] [ 1.79776036e-01 9.60526233e-01 2.12296803e-01 -1.92510508e+02] [-7.43958866e-01 -8.43790922e-03 6.68172139e-01 -7.20963555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:-192.50, Z:-720.99 [[ 6.43278064e-01 -2.78853287e-01 7.13045705e-01 3.20430447e+02] [ 1.81316690e-01 9.60307677e-01 2.11975055e-01 -1.92503865e+02] [-7.43853205e-01 -7.07181654e-03 6.68305618e-01 -7.20988325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.45, Y:-192.50, Z:-721.01 [[ 6.42944924e-01 -2.79250825e-01 7.13190579e-01 3.20450392e+02] [ 1.82219481e-01 9.60198489e-01 2.11695351e-01 -1.92497843e+02] [-7.43920618e-01 -6.15123464e-03 6.68239685e-01 -7.21012363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.47, Y:-192.49, Z:-721.04 [[ 6.42981759e-01 -2.79567148e-01 7.13033427e-01 3.20471090e+02] [ 1.82966594e-01 9.60110404e-01 2.11450317e-01 -1.92491460e+02] [-7.43705374e-01 -5.49739921e-03 6.68484926e-01 -7.21037091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.49, Y:-192.49, Z:-721.06 [[ 6.42936197e-01 -2.79867512e-01 7.12956676e-01 3.20490959e+02] [ 1.83794540e-01 9.60027163e-01 2.11109954e-01 -1.92485143e+02] [-7.43540593e-01 -4.69268647e-03 6.68674334e-01 -7.21061026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.51, Y:-192.48, Z:-721.09 [[ 6.43396208e-01 -2.80187367e-01 7.12415861e-01 3.20511404e+02] [ 1.84671649e-01 9.59936847e-01 2.10754908e-01 -1.92478955e+02] [-7.42925098e-01 -4.03589727e-03 6.69362391e-01 -7.21086069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.53, Y:-192.47, Z:-721.11 [[ 6.43697255e-01 -2.80036289e-01 7.12203287e-01 3.20532236e+02] [ 1.84859313e-01 9.59982027e-01 2.10384275e-01 -1.92472965e+02] [-7.42617586e-01 -3.76637012e-03 6.69705111e-01 -7.21110963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.55, Y:-192.47, Z:-721.14 [[ 6.43749739e-01 -2.79694899e-01 7.12289995e-01 3.20553313e+02] [ 1.84675296e-01 9.60081793e-01 2.10090423e-01 -1.92466684e+02] [-7.42617875e-01 -3.70328922e-03 6.69705142e-01 -7.21136160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:-192.46, Z:-721.16 [[ 6.44350922e-01 -2.79260447e-01 7.11916774e-01 3.20574063e+02] [ 1.84394721e-01 9.60207528e-01 2.09761984e-01 -1.92460884e+02] [-7.42166071e-01 -3.88663305e-03 6.70204758e-01 -7.21160561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.59, Y:-192.45, Z:-721.19 [[ 6.44511499e-01 -2.78780762e-01 7.11959419e-01 3.20594853e+02] [ 1.84015643e-01 9.60346496e-01 2.09458469e-01 -1.92454836e+02] [-7.42120725e-01 -3.98672164e-03 6.70254382e-01 -7.21185609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.62, Y:-192.45, Z:-721.21 [[ 6.44317217e-01 -2.78396900e-01 7.12285399e-01 3.20615545e+02] [ 1.83690087e-01 9.60457903e-01 2.09233289e-01 -1.92448602e+02] [-7.42370040e-01 -3.97284420e-03 6.69978314e-01 -7.21210413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.64, Y:-192.44, Z:-721.23 [[ 6.44490753e-01 -2.77846939e-01 7.12343139e-01 3.20636074e+02] [ 1.83205166e-01 9.60616399e-01 2.08930615e-01 -1.92442911e+02] [-7.42339233e-01 -4.14890619e-03 6.70011381e-01 -7.21233976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.66, Y:-192.44, Z:-721.26 [[ 6.44387343e-01 -2.77554943e-01 7.12550493e-01 3.20657000e+02] [ 1.83030182e-01 9.60701180e-01 2.08694023e-01 -1.92436786e+02] [-7.42472157e-01 -4.06154013e-03 6.69864613e-01 -7.21258629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.68, Y:-192.43, Z:-721.28 [[ 6.44205217e-01 -2.77179818e-01 7.12861127e-01 3.20677949e+02] [ 1.82716381e-01 9.60809543e-01 2.08470013e-01 -1.92430838e+02] [-7.42707454e-01 -4.04606464e-03 6.69603814e-01 -7.21283020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.70, Y:-192.43, Z:-721.31 [[ 6.43980615e-01 -2.76892731e-01 7.13175563e-01 3.20698016e+02] [ 1.82533214e-01 9.60892805e-01 2.08246593e-01 -1.92425170e+02] [-7.42947235e-01 -3.92854094e-03 6.69338459e-01 -7.21306693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.72, Y:-192.42, Z:-721.33 [[ 6.43097927e-01 -2.76787554e-01 7.14012399e-01 3.20718460e+02] [ 1.82423448e-01 9.60924247e-01 2.08197687e-01 -1.92419155e+02] [-7.43738356e-01 -3.63889734e-03 6.68460932e-01 -7.21331207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.72, Y:-192.40, Z:-721.36 [[ 6.38367573e-01 -2.64488498e-01 7.22864217e-01 3.20724681e+02] [ 1.83168716e-01 9.64332481e-01 1.91081364e-01 -1.92404957e+02] [-7.47620267e-01 1.04259645e-02 6.64044604e-01 -7.21364355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:-192.42, Z:-721.37 [[ 6.42196560e-01 -2.94770365e-01 7.07597351e-01 3.20769075e+02] [ 1.82856389e-01 9.55366669e-01 2.32030317e-01 -1.92416479e+02] [-7.44410586e-01 -1.96203753e-02 6.67433833e-01 -7.21373761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.78, Y:-192.40, Z:-721.40 [[ 6.41582164e-01 -2.76618682e-01 7.15440026e-01 3.20780246e+02] [ 1.82411203e-01 9.60975305e-01 2.07972635e-01 -1.92400348e+02] [-7.45049313e-01 -2.92725694e-03 6.67002963e-01 -7.21404764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.80, Y:-192.39, Z:-721.43 [[ 6.41683745e-01 -2.76264993e-01 7.15485587e-01 3.20800732e+02] [ 1.82230220e-01 9.61077220e-01 2.07660118e-01 -1.92393902e+02] [-7.45006120e-01 -2.86902620e-03 6.67051460e-01 -7.21429336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.81, Y:-192.38, Z:-721.46 [[ 6.38682527e-01 -2.65010256e-01 7.22394763e-01 3.20809714e+02] [ 1.81486869e-01 9.64215092e-01 1.93266069e-01 -1.92380969e+02] [-7.47761423e-01 7.66950243e-03 6.63923213e-01 -7.21461413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.83, Y:-192.38, Z:-721.48 [[ 6.38130486e-01 -2.75251881e-01 7.19045121e-01 3.20834327e+02] [ 1.81105093e-01 9.61369950e-01 2.07289086e-01 -1.92380091e+02] [-7.48325082e-01 -2.05475221e-03 6.63328990e-01 -7.21483282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:-192.38, Z:-721.50 [[ 6.42881587e-01 -2.88390221e-01 7.09601540e-01 3.20868948e+02] [ 1.79017712e-01 9.57327839e-01 2.26883381e-01 -1.92382920e+02] [-7.44752257e-01 -1.88279041e-02 6.67075397e-01 -7.21499527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:-192.36, Z:-721.53 [[ 6.41993063e-01 -2.63366398e-01 7.20057669e-01 3.20872032e+02] [ 1.76632856e-01 9.64694264e-01 1.95360721e-01 -1.92362303e+02] [-7.46086953e-01 1.76561541e-03 6.65846185e-01 -7.21534230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:-192.36, Z:-721.56 [[ 6.42885974e-01 -2.72189296e-01 7.15968303e-01 3.20897083e+02] [ 1.75627022e-01 9.62210110e-01 2.08102987e-01 -1.92361480e+02] [-7.45555346e-01 -8.04311064e-03 6.66395180e-01 -7.21555623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.92, Y:-192.36, Z:-721.58 [[ 6.44959320e-01 -2.75744829e-01 7.12735761e-01 3.20922080e+02] [ 1.74418094e-01 9.61133012e-01 2.14013229e-01 -1.92358217e+02] [-7.44046910e-01 -1.37158137e-02 6.67986581e-01 -7.21577922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:-192.35, Z:-721.60 [[ 6.47806677e-01 -2.77015854e-01 7.09653948e-01 3.20946562e+02] [ 1.73623292e-01 9.60713982e-01 2.16526204e-01 -1.92353482e+02] [-7.41755662e-01 -1.70546659e-02 6.70453337e-01 -7.21597526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:-192.34, Z:-721.63 [[ 6.43791623e-01 -2.57987207e-01 7.20399158e-01 3.20950814e+02] [ 1.74417761e-01 9.66142862e-01 1.90122106e-01 -1.92336169e+02] [-7.45057576e-01 3.25138969e-03 6.66992232e-01 -7.21632517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:-192.34, Z:-721.65 [[ 6.44329851e-01 -2.72846143e-01 7.14418662e-01 3.20981342e+02] [ 1.74787244e-01 9.62002705e-01 2.09762282e-01 -1.92339435e+02] [-7.44505515e-01 -1.02848313e-02 6.67537085e-01 -7.21652214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.99, Y:-192.33, Z:-721.68 [[ 6.40218653e-01 -2.66757168e-01 7.20389263e-01 3.20993468e+02] [ 1.77901104e-01 9.63763356e-01 1.98774726e-01 -1.92329133e+02] [-7.47309356e-01 8.98757637e-04 6.64475672e-01 -7.21679118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.04, Y:-192.34, Z:-721.69 [[ 6.43991662e-01 -2.92976665e-01 7.06710276e-01 3.21035652e+02] [ 1.79058126e-01 9.55829207e-01 2.33085210e-01 -1.92338290e+02] [-7.43782850e-01 -2.35627140e-02 6.68005892e-01 -7.21687615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.05, Y:-192.32, Z:-721.72 [[ 6.42024184e-01 -2.74464991e-01 7.15872836e-01 3.21045842e+02] [ 1.82267960e-01 9.61596256e-01 2.05209727e-01 -1.92321991e+02] [-7.44703524e-01 -1.26892659e-03 6.67394225e-01 -7.21719034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.07, Y:-192.32, Z:-721.74 [[ 6.41501867e-01 -2.75492211e-01 7.15946504e-01 3.21066183e+02] [ 1.84151424e-01 9.61303221e-01 2.04900878e-01 -1.92316848e+02] [-7.44690276e-01 3.98272192e-04 6.67410094e-01 -7.21742445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.09, Y:-192.31, Z:-721.77 [[ 6.40820252e-01 -2.76477225e-01 7.16177177e-01 3.21087260e+02] [ 1.85897471e-01 9.61018420e-01 2.04660029e-01 -1.92311509e+02] [-7.44843295e-01 1.98523475e-03 6.67236483e-01 -7.21767051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.11, Y:-192.31, Z:-721.79 [[ 6.40340310e-01 -2.77534320e-01 7.16197591e-01 3.21107897e+02] [ 1.87842219e-01 9.60708652e-01 2.04338411e-01 -1.92305679e+02] [-7.44768144e-01 3.68602285e-03 6.67313139e-01 -7.21791736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.13, Y:-192.30, Z:-721.82 [[ 6.39535674e-01 -2.79297199e-01 7.16231245e-01 3.21128672e+02] [ 1.90844079e-01 9.60184619e-01 2.04019693e-01 -1.92300210e+02] [-7.44696354e-01 6.21062032e-03 6.67374534e-01 -7.21816012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.15, Y:-192.29, Z:-721.84 [[ 6.39387005e-01 -2.79800441e-01 7.16167558e-01 3.21149132e+02] [ 1.91959437e-01 9.60030926e-01 2.03696334e-01 -1.92294122e+02] [-7.44537328e-01 7.23433227e-03 6.67541634e-01 -7.21840419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.17, Y:-192.29, Z:-721.86 [[ 6.39483252e-01 -2.79918151e-01 7.16035613e-01 3.21169139e+02] [ 1.92539367e-01 9.59991879e-01 2.03332695e-01 -1.92287738e+02] [-7.44304885e-01 7.83719092e-03 6.67793992e-01 -7.21864363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.19, Y:-192.28, Z:-721.89 [[ 6.39910515e-01 -2.79686594e-01 7.15744328e-01 3.21189351e+02] [ 1.92617209e-01 9.60058047e-01 2.02946195e-01 -1.92281625e+02] [-7.43917431e-01 7.99727066e-03 6.68223690e-01 -7.21888551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:-192.28, Z:-721.91 [[ 6.40442465e-01 -2.79287580e-01 7.15424278e-01 3.21208370e+02] [ 1.92337640e-01 9.60175704e-01 2.02654510e-01 -1.92275624e+02] [-7.43531897e-01 7.81446337e-03 6.68654808e-01 -7.21911891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:-192.26, Z:-721.95 [[ 6.37395292e-01 -2.63776728e-01 7.23981409e-01 3.21214876e+02] [ 1.91596472e-01 9.64326322e-01 1.82662360e-01 -1.92261486e+02] [-7.46336408e-01 2.22841556e-02 6.65195748e-01 -7.21947660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.26, Y:-192.27, Z:-721.95 [[ 6.41694968e-01 -2.93508397e-01 7.08576311e-01 3.21257189e+02] [ 1.90699633e-01 9.55921816e-01 2.23264711e-01 -1.92271776e+02] [-7.42873621e-01 -8.14259891e-03 6.69382164e-01 -7.21954572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.27, Y:-192.26, Z:-721.98 [[ 6.43072564e-01 -2.75395229e-01 7.14573401e-01 3.21268664e+02] [ 1.87399026e-01 9.61322306e-01 2.01844072e-01 -1.92256140e+02] [-7.42522244e-01 4.10997489e-03 6.69808798e-01 -7.21984620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.29, Y:-192.25, Z:-722.01 [[ 6.43853628e-01 -2.73782701e-01 7.14489705e-01 3.21288975e+02] [ 1.85373961e-01 9.61787746e-01 2.01496465e-01 -1.92249920e+02] [-7.42353690e-01 2.71355670e-03 6.70002714e-01 -7.22008587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.31, Y:-192.24, Z:-722.03 [[ 6.45501816e-01 -2.70045433e-01 7.14424852e-01 3.21310085e+02] [ 1.80036572e-01 9.62846699e-01 2.01278580e-01 -1.92242881e+02] [-7.42235972e-01 -1.30308704e-03 6.70137347e-01 -7.22033294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.33, Y:-192.24, Z:-722.06 [[ 6.46004199e-01 -2.67851479e-01 7.14796586e-01 3.21330998e+02] [ 1.77002282e-01 9.63454334e-01 2.01062027e-01 -1.92235988e+02] [-7.42528630e-01 -3.36628700e-03 6.69805868e-01 -7.22058426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:-192.23, Z:-722.08 [[ 6.47323370e-01 -2.63566295e-01 7.15195961e-01 3.21351675e+02] [ 1.70845381e-01 9.64609536e-01 2.00848944e-01 -1.92228489e+02] [-7.42821857e-01 -7.82628842e-03 6.69443380e-01 -7.22082193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.37, Y:-192.22, Z:-722.11 [[ 6.47906346e-01 -2.61230136e-01 7.15525110e-01 3.21372453e+02] [ 1.67591249e-01 9.65223923e-01 2.00638861e-01 -1.92221950e+02] [-7.43054870e-01 -1.00794446e-02 6.69154589e-01 -7.22106380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.39, Y:-192.22, Z:-722.13 [[ 6.47818276e-01 -2.59027359e-01 7.16405129e-01 3.21393371e+02] [ 1.64371641e-01 9.65793294e-01 2.00562401e-01 -1.92215303e+02] [-7.43850418e-01 -1.21713027e-02 6.68235299e-01 -7.22131423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.41, Y:-192.21, Z:-722.16 [[ 6.48047096e-01 -2.57022713e-01 7.16920000e-01 3.21414316e+02] [ 1.61570212e-01 9.66303615e-01 2.00380614e-01 -1.92208543e+02] [-7.44264757e-01 -1.40231587e-02 6.67737466e-01 -7.22156104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.44, Y:-192.20, Z:-722.18 [[ 6.48519461e-01 -2.53365132e-01 7.17794274e-01 3.21435183e+02] [ 1.56184412e-01 9.67207227e-01 2.00291310e-01 -1.92201453e+02] [-7.45002643e-01 -1.77845358e-02 6.66824394e-01 -7.22179823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:-192.19, Z:-722.20 [[ 6.48688891e-01 -2.51458380e-01 7.18311497e-01 3.21455735e+02] [ 1.53387605e-01 9.67667469e-01 2.00229649e-01 -1.92194725e+02] [-7.45436091e-01 -1.97066691e-02 6.66285736e-01 -7.22204487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.48, Y:-192.19, Z:-722.23 [[ 6.49786689e-01 -2.48021336e-01 7.18514214e-01 3.21475275e+02] [ 1.48557100e-01 9.68476981e-01 1.99957811e-01 -1.92186735e+02] [-7.45458280e-01 -2.31895360e-02 6.66148781e-01 -7.22228755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.50, Y:-192.18, Z:-722.25 [[ 6.50542344e-01 -2.46193303e-01 7.18459127e-01 3.21495441e+02] [ 1.46195064e-01 9.68902454e-01 1.99637267e-01 -1.92179719e+02] [-7.45266169e-01 -2.48373174e-02 6.66304319e-01 -7.22253305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.52, Y:-192.17, Z:-722.28 [[ 6.51300754e-01 -2.44571660e-01 7.18325853e-01 3.21515310e+02] [ 1.44193620e-01 9.69276920e-01 1.99274816e-01 -1.92173022e+02] [-7.44993643e-01 -2.62098327e-02 6.66556462e-01 -7.22277718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.54, Y:-192.17, Z:-722.30 [[ 6.52463089e-01 -2.42338171e-01 7.18027944e-01 3.21535418e+02] [ 1.41206569e-01 9.69774785e-01 1.98991383e-01 -1.92166166e+02] [-7.44548603e-01 -2.84442702e-02 6.66961994e-01 -7.22302281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.55, Y:-192.15, Z:-722.33 [[ 6.50150720e-01 -2.30676296e-01 7.23942324e-01 3.21547484e+02] [ 1.40273336e-01 9.72862396e-01 1.84016709e-01 -1.92154670e+02] [-7.46744557e-01 -1.80887909e-02 6.64864921e-01 -7.22334863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.58, Y:-192.16, Z:-722.35 [[ 6.53871436e-01 -2.50323897e-01 7.13995863e-01 3.21580306e+02] [ 1.40254981e-01 9.67429787e-01 2.10732410e-01 -1.92159314e+02] [-7.43492223e-01 -3.76504276e-02 6.67683877e-01 -7.22347213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.58, Y:-192.14, Z:-722.38 [[ 6.49841721e-01 -2.27178827e-01 7.25324423e-01 3.21584038e+02] [ 1.39999959e-01 9.73735432e-01 1.79553114e-01 -1.92140838e+02] [-7.47064756e-01 -1.51357156e-02 6.64578935e-01 -7.22384358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.62, Y:-192.15, Z:-722.39 [[ 6.55279732e-01 -2.55235305e-01 7.10959501e-01 3.21623940e+02] [ 1.40583085e-01 9.65949706e-01 2.17203964e-01 -1.92150686e+02] [-7.42189241e-01 -4.23804755e-02 6.68849031e-01 -7.22394204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.64, Y:-192.14, Z:-722.42 [[ 6.55213714e-01 -2.41210331e-01 7.15899829e-01 3.21636882e+02] [ 1.41780837e-01 9.70079320e-01 1.97089592e-01 -1.92137017e+02] [-7.42019665e-01 -2.76349266e-02 6.69808277e-01 -7.22423840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.66, Y:-192.13, Z:-722.45 [[ 6.54955554e-01 -2.41570657e-01 7.16014553e-01 3.21658022e+02] [ 1.42630488e-01 9.70013952e-01 1.96798063e-01 -1.92131799e+02] [-7.42084743e-01 -2.67684790e-02 6.69771366e-01 -7.22448652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.68, Y:-192.13, Z:-722.47 [[ 6.54529755e-01 -2.42094740e-01 7.16226875e-01 3.21678177e+02] [ 1.43697028e-01 9.69911870e-01 1.96525133e-01 -1.92126948e+02] [-7.42254649e-01 -2.57118744e-02 6.69624473e-01 -7.22472528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.70, Y:-192.12, Z:-722.50 [[ 6.54123548e-01 -2.42798145e-01 7.16359857e-01 3.21698846e+02] [ 1.44917923e-01 9.69764139e-01 1.96357609e-01 -1.92121864e+02] [-7.42375363e-01 -2.46287533e-02 6.69531363e-01 -7.22496235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.72, Y:-192.12, Z:-722.52 [[ 6.52618884e-01 -2.44185605e-01 7.17260053e-01 3.21720580e+02] [ 1.46991037e-01 9.69463262e-01 1.96302368e-01 -1.92117422e+02] [-7.43291483e-01 -2.26798333e-02 6.68583127e-01 -7.22520987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.74, Y:-192.11, Z:-722.55 [[ 6.51968102e-01 -2.44493551e-01 7.17746819e-01 3.21741789e+02] [ 1.47647798e-01 9.69404065e-01 1.96101723e-01 -1.92112684e+02] [-7.43732292e-01 -2.18783315e-02 6.68119463e-01 -7.22545033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.76, Y:-192.11, Z:-722.57 [[ 6.51520307e-01 -2.44881031e-01 7.18021288e-01 3.21762785e+02] [ 1.48357154e-01 9.69322310e-01 1.95970440e-01 -1.92107907e+02] [-7.43983497e-01 -2.11551263e-02 6.67863022e-01 -7.22568934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.78, Y:-192.10, Z:-722.59 [[ 6.50274539e-01 -2.45178071e-01 7.19048495e-01 3.21783991e+02] [ 1.48778300e-01 9.69262558e-01 1.95946706e-01 -1.92103332e+02] [-7.44988619e-01 -2.04403414e-02 6.66763939e-01 -7.22592876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.81, Y:-192.10, Z:-722.62 [[ 6.50077379e-01 -2.44739524e-01 7.19376095e-01 3.21805321e+02] [ 1.48346056e-01 9.69371567e-01 1.95735056e-01 -1.92097627e+02] [-7.45246838e-01 -2.05263262e-02 6.66472671e-01 -7.22617907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.83, Y:-192.09, Z:-722.64 [[ 6.50324233e-01 -2.43479518e-01 7.19580514e-01 3.21825841e+02] [ 1.46758607e-01 9.69667456e-01 1.95465947e-01 -1.92091799e+02] [-7.45345761e-01 -2.15116084e-02 6.66330960e-01 -7.22642492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.85, Y:-192.09, Z:-722.67 [[ 6.50347969e-01 -2.43172705e-01 7.19662806e-01 3.21847113e+02] [ 1.46636452e-01 9.69747027e-01 1.95162634e-01 -1.92085966e+02] [-7.45349093e-01 -2.13948221e-02 6.66330993e-01 -7.22667658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.87, Y:-192.08, Z:-722.69 [[ 6.50534202e-01 -2.42221317e-01 7.19815314e-01 3.21868045e+02] [ 1.45322637e-01 9.69964960e-01 1.95062319e-01 -1.92079829e+02] [-7.45443884e-01 -2.22892506e-02 6.66195621e-01 -7.22692878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.89, Y:-192.07, Z:-722.72 [[ 6.51176382e-01 -2.41053156e-01 7.19626775e-01 3.21887795e+02] [ 1.44016468e-01 9.70236149e-01 1.94681978e-01 -1.92073944e+02] [-7.45136616e-01 -2.31341996e-02 6.66510489e-01 -7.22717222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.91, Y:-192.07, Z:-722.74 [[ 6.53017496e-01 -2.39432103e-01 7.18498725e-01 3.21907272e+02] [ 1.42345516e-01 9.70605034e-01 1.94071176e-01 -1.92068083e+02] [-7.43845350e-01 -2.44568021e-02 6.67904155e-01 -7.22741674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.93, Y:-192.06, Z:-722.77 [[ 6.53815771e-01 -2.38616632e-01 7.18043899e-01 3.21928086e+02] [ 1.41630167e-01 9.70794227e-01 1.93647787e-01 -1.92062440e+02] [-7.43280454e-01 -2.49133000e-02 6.68515889e-01 -7.22766908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.95, Y:-192.06, Z:-722.79 [[ 6.54510699e-01 -2.38167074e-01 7.17559886e-01 3.21948283e+02] [ 1.41502671e-01 9.70904811e-01 1.93186030e-01 -1.92057004e+02] [-7.42692897e-01 -2.49056830e-02 6.69168864e-01 -7.22790895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.97, Y:-192.05, Z:-722.82 [[ 6.53436742e-01 -2.36086911e-01 7.19224161e-01 3.21967482e+02] [ 1.42126405e-01 9.71487831e-01 1.89766909e-01 -1.92051545e+02] [-7.43519004e-01 -2.17799269e-02 6.68360027e-01 -7.22817620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.99, Y:-192.05, Z:-722.84 [[ 6.53135618e-01 -2.37957698e-01 7.18881074e-01 3.21988777e+02] [ 1.43151031e-01 9.71024604e-01 1.91360918e-01 -1.92046819e+02] [-7.43587013e-01 -2.20760643e-02 6.68274645e-01 -7.22840595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.01, Y:-192.04, Z:-722.86 [[ 6.53315300e-01 -2.40732949e-01 7.17792983e-01 3.22010697e+02] [ 1.43653547e-01 9.70293002e-01 1.94666761e-01 -1.92043518e+02] [-7.43332212e-01 -2.40652654e-02 6.68489406e-01 -7.22861889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:-192.04, Z:-722.89 [[ 6.52504712e-01 -2.39951360e-01 7.18791309e-01 3.22030346e+02] [ 1.44883938e-01 9.70547969e-01 1.92471516e-01 -1.92037776e+02] [-7.43805247e-01 -2.14472560e-02 6.68052221e-01 -7.22886600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.05, Y:-192.03, Z:-722.91 [[ 6.51003843e-01 -2.41706004e-01 7.19563898e-01 3.22051652e+02] [ 1.47574490e-01 9.70162625e-01 1.92370089e-01 -1.92033630e+02] [-7.44591006e-01 -1.90443914e-02 6.67249238e-01 -7.22911081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.07, Y:-192.03, Z:-722.94 [[ 6.50270734e-01 -2.42264510e-01 7.20038805e-01 3.22073004e+02] [ 1.48611469e-01 9.70044061e-01 1.92169587e-01 -1.92028788e+02] [-7.45025237e-01 -1.79562338e-02 6.66794548e-01 -7.22935824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.09, Y:-192.02, Z:-722.96 [[ 6.49402209e-01 -2.43002960e-01 7.20573613e-01 3.22094186e+02] [ 1.49898372e-01 9.69882415e-01 1.91985885e-01 -1.92023893e+02] [-7.45524814e-01 -1.66632462e-02 6.66269531e-01 -7.22960585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.12, Y:-192.02, Z:-722.99 [[ 6.49771630e-01 -2.42607308e-01 7.20373878e-01 3.22115130e+02] [ 1.49735985e-01 9.69981917e-01 1.91609539e-01 -1.92018377e+02] [-7.45235509e-01 -1.66365499e-02 6.66593775e-01 -7.22985302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.14, Y:-192.01, Z:-723.01 [[ 6.49961916e-01 -2.42149643e-01 7.20356202e-01 3.22135623e+02] [ 1.49422286e-01 9.70095402e-01 1.91279619e-01 -1.92012361e+02] [-7.45132531e-01 -1.66871973e-02 6.66707619e-01 -7.23010612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.16, Y:-192.01, Z:-723.03 [[ 6.50977691e-01 -2.40846657e-01 7.19875637e-01 3.22155185e+02] [ 1.48002189e-01 9.70402114e-01 1.90827379e-01 -1.92006130e+02] [-7.44528977e-01 -1.76811966e-02 6.67355961e-01 -7.23034950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:-192.00, Z:-723.06 [[ 6.51534426e-01 -2.39946423e-01 7.19672569e-01 3.22175822e+02] [ 1.47065363e-01 9.70614386e-01 1.90471763e-01 -1.92000123e+02] [-7.44227567e-01 -1.82600035e-02 6.67676494e-01 -7.23060154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.20, Y:-191.99, Z:-723.09 [[ 6.52256680e-01 -2.39046279e-01 7.19317802e-01 3.22196471e+02] [ 1.46206908e-01 9.70826285e-01 1.90052267e-01 -1.91994175e+02] [-7.43763917e-01 -1.87936283e-02 6.68178147e-01 -7.23085212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.22, Y:-191.99, Z:-723.11 [[ 6.53489761e-01 -2.37648855e-01 7.18661363e-01 3.22216637e+02] [ 1.44711808e-01 9.71147835e-01 1.89553095e-01 -1.91988511e+02] [-7.42973502e-01 -1.98722215e-02 6.69025762e-01 -7.23109001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.24, Y:-191.98, Z:-723.13 [[ 6.53644032e-01 -2.36910914e-01 7.18764703e-01 3.22237607e+02] [ 1.43916958e-01 9.71319742e-01 1.89277224e-01 -1.91982767e+02] [-7.42992186e-01 -2.02774979e-02 6.68992851e-01 -7.23134367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:-191.98, Z:-723.16 [[ 6.53952164e-01 -2.36196602e-01 7.18719509e-01 3.22258257e+02] [ 1.43231972e-01 9.71486603e-01 1.88940157e-01 -1.91977104e+02] [-7.42853397e-01 -2.06142121e-02 6.69136671e-01 -7.23159011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.28, Y:-191.97, Z:-723.18 [[ 6.53894587e-01 -2.35761370e-01 7.18914769e-01 3.22279379e+02] [ 1.42882751e-01 9.71591642e-01 1.88664255e-01 -1.91971245e+02] [-7.42971324e-01 -2.06460158e-02 6.69004749e-01 -7.23183980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.30, Y:-191.97, Z:-723.21 [[ 6.53690772e-01 -2.35526239e-01 7.19177145e-01 3.22300351e+02] [ 1.42806501e-01 9.71652663e-01 1.88407552e-01 -1.91965354e+02] [-7.43165310e-01 -2.04571064e-02 6.68795057e-01 -7.23209110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.32, Y:-191.96, Z:-723.23 [[ 6.53476338e-01 -2.35341796e-01 7.19432356e-01 3.22320661e+02] [ 1.42806519e-01 9.71702477e-01 1.88150456e-01 -1.91960159e+02] [-7.43353869e-01 -2.02122404e-02 6.68592919e-01 -7.23233145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.34, Y:-191.96, Z:-723.26 [[ 6.53068620e-01 -2.35798712e-01 7.19652934e-01 3.22340868e+02] [ 1.43747348e-01 9.71610888e-01 1.87906846e-01 -1.91955279e+02] [-7.43530818e-01 -1.92678639e-02 6.68424021e-01 -7.23256736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.36, Y:-191.95, Z:-723.28 [[ 6.52879011e-01 -2.35896057e-01 7.19793059e-01 3.22361927e+02] [ 1.44176658e-01 9.71597724e-01 1.87645819e-01 -1.91950102e+02] [-7.43614207e-01 -1.87326585e-02 6.68346466e-01 -7.23281641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.38, Y:-191.95, Z:-723.31 [[ 6.52786465e-01 -2.35843268e-01 7.19894287e-01 3.22382874e+02] [ 1.44426166e-01 9.71618292e-01 1.87347211e-01 -1.91945006e+02] [-7.43647036e-01 -1.83261515e-02 6.68321209e-01 -7.23305938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:322.40, Y:-191.94, Z:-723.33 [[ 6.52249422e-01 -2.33128166e-01 7.21264133e-01 3.22402655e+02] [ 1.44373844e-01 9.72319329e-01 1.83715313e-01 -1.91939040e+02] [-7.44128272e-01 -1.56965312e-02 6.67852329e-01 -7.23332825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.42, Y:-191.93, Z:-723.35 [[ 6.53196467e-01 -2.33973356e-01 7.20132519e-01 3.22422871e+02] [ 1.44483965e-01 9.72100381e-01 1.84784286e-01 -1.91933723e+02] [-7.43275696e-01 -1.66528410e-02 6.68777933e-01 -7.23353788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:-191.93, Z:-723.38 [[ 6.53276282e-01 -2.34774332e-01 7.19799356e-01 3.22444343e+02] [ 1.43795558e-01 9.71877177e-01 1.86487506e-01 -1.91929019e+02] [-7.43339046e-01 -1.83239145e-02 6.68663815e-01 -7.23378487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.46, Y:-191.92, Z:-723.40 [[ 6.54527378e-01 -2.33618687e-01 7.19038400e-01 3.22464772e+02] [ 1.42701101e-01 9.72140586e-01 1.85954505e-01 -1.91923584e+02] [-7.42448858e-01 -1.91047430e-02 6.69630272e-01 -7.23402812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:-191.92, Z:-723.43 [[ 6.55183665e-01 -2.32527136e-01 7.18794475e-01 3.22484706e+02] [ 1.41506933e-01 9.72386833e-01 1.85579187e-01 -1.91918661e+02] [-7.42098480e-01 -1.98740505e-02 6.69996171e-01 -7.23426903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:-191.91, Z:-723.45 [[ 6.55353608e-01 -2.31952611e-01 7.18825177e-01 3.22505681e+02] [ 1.40982301e-01 9.72519738e-01 1.85281815e-01 -1.91913356e+02] [-7.42048273e-01 -2.00834789e-02 6.70045532e-01 -7.23451571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:-191.91, Z:-723.48 [[ 6.55320084e-01 -2.31325351e-01 7.19057834e-01 3.22526437e+02] [ 1.40338366e-01 9.72663976e-01 1.85013332e-01 -1.91908323e+02] [-7.42199926e-01 -2.03315506e-02 6.69870061e-01 -7.23476006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:-191.90, Z:-723.50 [[ 6.55111925e-01 -2.31144063e-01 7.19305768e-01 3.22546562e+02] [ 1.40352317e-01 9.72712416e-01 1.84747890e-01 -1.91903367e+02] [-7.42381030e-01 -2.00743146e-02 6.69677108e-01 -7.23499826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.57, Y:-191.90, Z:-723.52 [[ 6.54462492e-01 -2.31921576e-01 7.19646600e-01 3.22567650e+02] [ 1.41620201e-01 9.72550495e-01 1.84632754e-01 -1.91898974e+02] [-7.42712976e-01 -1.89187166e-02 6.69342601e-01 -7.23524209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:-191.89, Z:-723.55 [[ 6.54003609e-01 -2.32281205e-01 7.19947721e-01 3.22589058e+02] [ 1.42423906e-01 9.72481235e-01 1.84379172e-01 -1.91894202e+02] [-7.42963465e-01 -1.80468775e-02 6.69088634e-01 -7.23548839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:-191.88, Z:-723.58 [[ 6.49647550e-01 -2.23887140e-01 7.26520894e-01 3.22598173e+02] [ 1.44829870e-01 9.74598071e-01 1.70830056e-01 -1.91882877e+02] [-7.46312515e-01 -5.75740073e-03 6.65570795e-01 -7.23578936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:-191.89, Z:-723.60 [[ 6.49304551e-01 -2.38025457e-01 7.22320900e-01 3.22625941e+02] [ 1.46557685e-01 9.71120743e-01 1.88269350e-01 -1.91887546e+02] [-7.46273707e-01 -1.63824673e-02 6.65437577e-01 -7.23599448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:-191.89, Z:-723.62 [[ 6.51729441e-01 -2.50011203e-01 7.16060845e-01 3.22656848e+02] [ 1.47596120e-01 9.67866429e-01 2.03592634e-01 -1.91890066e+02] [-7.43951692e-01 -2.69995106e-02 6.67687731e-01 -7.23615619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.67, Y:-191.88, Z:-723.65 [[ 6.51111769e-01 -2.37128071e-01 7.20988032e-01 3.22670840e+02] [ 1.49886945e-01 9.71406468e-01 1.84128699e-01 -1.91877698e+02] [-7.44034521e-01 -1.18216689e-02 6.68036586e-01 -7.23645355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:-191.87, Z:-723.67 [[ 6.51073093e-01 -2.37588472e-01 7.20871380e-01 3.22692256e+02] [ 1.50969040e-01 9.71305611e-01 1.83776385e-01 -1.91873026e+02] [-7.43849566e-01 -1.08225992e-02 6.68259451e-01 -7.23670258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:-191.87, Z:-723.69 [[ 6.50811271e-01 -2.38148368e-01 7.20923051e-01 3.22712609e+02] [ 1.52152479e-01 9.71180253e-01 1.83462637e-01 -1.91868866e+02] [-7.43837558e-01 -9.70932217e-03 6.68289919e-01 -7.23693910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.72, Y:-191.85, Z:-723.73 [[ 6.46018155e-01 -2.23041931e-01 7.30008795e-01 3.22716091e+02] [ 1.54708052e-01 9.74767453e-01 1.60915602e-01 -1.91853759e+02] [-7.47479740e-01 8.98383828e-03 6.64223855e-01 -7.23727710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.77, Y:-191.87, Z:-723.73 [[ 6.50323904e-01 -2.63396430e-01 7.12531502e-01 3.22765944e+02] [ 1.56684509e-01 9.64304788e-01 2.13462503e-01 -1.91873536e+02] [-7.43322800e-01 -2.71771200e-02 6.68380594e-01 -7.23733126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.77, Y:-191.86, Z:-723.76 [[ 6.50054282e-01 -2.40863212e-01 7.20704061e-01 3.22774438e+02] [ 1.57102625e-01 9.70543411e-01 1.82658842e-01 -1.91856223e+02] [-7.43470373e-01 -5.51366211e-03 6.68746143e-01 -7.23764590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:-191.85, Z:-723.79 [[ 6.49732534e-01 -2.41173680e-01 7.20890346e-01 3.22795178e+02] [ 1.57848637e-01 9.70470485e-01 1.82402974e-01 -1.91851085e+02] [-7.43593600e-01 -4.72158770e-03 6.68615184e-01 -7.23789450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:-191.85, Z:-723.81 [[ 6.49301408e-01 -2.41644674e-01 7.21121026e-01 3.22815350e+02] [ 1.58843358e-01 9.70357680e-01 1.82139398e-01 -1.91846440e+02] [-7.43758341e-01 -3.71808217e-03 6.68438259e-01 -7.23813227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.84, Y:-191.84, Z:-723.84 [[ 6.49417878e-01 -2.41556194e-01 7.21045786e-01 3.22836519e+02] [ 1.59065564e-01 9.70380931e-01 1.81821329e-01 -1.91841531e+02] [-7.43609149e-01 -3.38446742e-03 6.68605997e-01 -7.23837596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:-191.84, Z:-723.86 [[ 6.49678857e-01 -2.41449187e-01 7.20846497e-01 3.22857895e+02] [ 1.59316431e-01 9.70408691e-01 1.81453157e-01 -1.91837119e+02] [-7.43327423e-01 -3.04358809e-03 6.68920832e-01 -7.23862154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:-191.83, Z:-723.89 [[ 6.50138418e-01 -2.40990348e-01 7.20585658e-01 3.22879382e+02] [ 1.59061257e-01 9.70522556e-01 1.81067627e-01 -1.91832097e+02] [-7.42980184e-01 -3.10175995e-03 6.69306227e-01 -7.23886971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.90, Y:-191.83, Z:-723.91 [[ 6.50381667e-01 -2.39785283e-01 7.20768135e-01 3.22899526e+02] [ 1.57569313e-01 9.70817658e-01 1.80789894e-01 -1.91827618e+02] [-7.43085190e-01 -4.01149321e-03 6.69184809e-01 -7.23910783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:-191.82, Z:-723.94 [[ 6.50721218e-01 -2.38655126e-01 7.20836755e-01 3.22920679e+02] [ 1.56196286e-01 9.71092188e-01 1.80506738e-01 -1.91822263e+02] [-7.43077800e-01 -4.86754084e-03 6.69187335e-01 -7.23935226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:-191.82, Z:-723.96 [[ 6.50727447e-01 -2.37591425e-01 7.21182435e-01 3.22941211e+02] [ 1.54862266e-01 9.71348889e-01 1.80274829e-01 -1.91816677e+02] [-7.43351511e-01 -5.62583327e-03 6.68877329e-01 -7.23960011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.96, Y:-191.81, Z:-723.98 [[ 6.51164833e-01 -2.35257337e-01 7.21552733e-01 3.22962880e+02] [ 1.51625141e-01 9.71901535e-01 1.80047834e-01 -1.91811399e+02] [-7.43635783e-01 -7.83528286e-03 6.68539027e-01 -7.23984523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.98, Y:-191.81, Z:-724.01 [[ 6.51616340e-01 -2.33828885e-01 7.21609450e-01 3.22983962e+02] [ 1.49839410e-01 9.72236172e-01 1.79735855e-01 -1.91806150e+02] [-7.43602243e-01 -8.99328591e-03 6.68561758e-01 -7.24008982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:-191.80, Z:-724.03 [[ 6.52273679e-01 -2.31015332e-01 7.21921716e-01 3.23004358e+02] [ 1.45908714e-01 9.72879256e-01 1.79489836e-01 -1.91801211e+02] [-7.43807566e-01 -1.17418261e-02 6.68290681e-01 -7.24032684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:-191.80, Z:-724.06 [[ 6.52596741e-01 -2.29325331e-01 7.22168531e-01 3.23025156e+02] [ 1.43648128e-01 9.73259779e-01 1.79250154e-01 -1.91796068e+02] [-7.43964185e-01 -1.32399087e-02 6.68088315e-01 -7.24057335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.05, Y:-191.79, Z:-724.08 [[ 6.53036457e-01 -2.27602024e-01 7.22316208e-01 3.23046136e+02] [ 1.41386917e-01 9.73642562e-01 1.78968996e-01 -1.91790841e+02] [-7.44011509e-01 -1.47472174e-02 6.68004038e-01 -7.24082410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.07, Y:-191.79, Z:-724.11 [[ 6.53818437e-01 -2.25787163e-01 7.22178378e-01 3.23067362e+02] [ 1.39077818e-01 9.74039531e-01 1.78617894e-01 -1.91785306e+02] [-7.43759916e-01 -1.63446792e-02 6.68246990e-01 -7.24107389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:-191.78, Z:-724.13 [[ 6.54928859e-01 -2.22645465e-01 7.22147621e-01 3.23088037e+02] [ 1.34767399e-01 9.74705551e-01 1.78288633e-01 -1.91779381e+02] [-7.43576450e-01 -1.94444148e-02 6.68368145e-01 -7.24132571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:-191.77, Z:-724.16 [[ 6.55534813e-01 -2.20916007e-01 7.22128954e-01 3.23109432e+02] [ 1.32558349e-01 9.75068099e-01 1.77962036e-01 -1.91774157e+02] [-7.43439569e-01 -2.09360885e-02 6.68475346e-01 -7.24157314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.13, Y:-191.77, Z:-724.18 [[ 6.56397305e-01 -2.18967000e-01 7.21939077e-01 3.23130561e+02] [ 1.30082797e-01 9.75469150e-01 1.77590547e-01 -1.91768895e+02] [-7.43115768e-01 -2.26581021e-02 6.68779161e-01 -7.24181855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.15, Y:-191.76, Z:-724.21 [[ 6.56528690e-01 -2.18264797e-01 7.22032241e-01 3.23151111e+02] [ 1.29374781e-01 9.75618994e-01 1.77284362e-01 -1.91764087e+02] [-7.43123304e-01 -2.29795067e-02 6.68759820e-01 -7.24205655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:-191.76, Z:-724.23 [[ 6.56550845e-01 -2.18041594e-01 7.22079533e-01 3.23172545e+02] [ 1.29254882e-01 9.75669894e-01 1.77091596e-01 -1.91758826e+02] [-7.43124595e-01 -2.29373323e-02 6.68759834e-01 -7.24230808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.19, Y:-191.75, Z:-724.26 [[ 6.55887320e-01 -2.16267423e-01 7.23215200e-01 3.23191538e+02] [ 1.29147878e-01 9.76103435e-01 1.74765297e-01 -1.91752783e+02] [-7.43728882e-01 -2.12246340e-02 6.68144345e-01 -7.24256673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.21, Y:-191.75, Z:-724.28 [[ 6.56639175e-01 -2.18064493e-01 7.21992293e-01 3.23214484e+02] [ 1.28203113e-01 9.75630097e-01 1.78072671e-01 -1.91750027e+02] [-7.43228737e-01 -2.43678318e-02 6.68593489e-01 -7.24280120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.23, Y:-191.75, Z:-724.30 [[ 6.57098295e-01 -2.17535727e-01 7.21734050e-01 3.23234843e+02] [ 1.27468794e-01 9.75732374e-01 1.78039438e-01 -1.91745289e+02] [-7.42949216e-01 -2.49908420e-02 6.68881096e-01 -7.24302910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.26, Y:-191.74, Z:-724.33 [[ 6.57969551e-01 -2.15958833e-01 7.21413787e-01 3.23255296e+02] [ 1.27323626e-01 9.76107467e-01 1.76076426e-01 -1.91740494e+02] [-7.42202643e-01 -2.39999078e-02 6.69745654e-01 -7.24328251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.27, Y:-191.73, Z:-724.36 [[ 6.55792479e-01 -2.07775584e-01 7.25786147e-01 3.23267368e+02] [ 1.28358543e-01 9.78070501e-01 1.64018840e-01 -1.91730247e+02] [-7.43949131e-01 -1.44014697e-02 6.68081050e-01 -7.24358029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:-191.73, Z:-724.38 [[ 6.56618290e-01 -2.21088598e-01 7.21091016e-01 3.23295759e+02] [ 1.28721427e-01 9.74894087e-01 1.81692908e-01 -1.91733747e+02] [-7.43157598e-01 -2.64830217e-02 6.68592128e-01 -7.24377286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.31, Y:-191.73, Z:-724.40 [[ 6.56633603e-01 -2.17240410e-01 7.22245745e-01 3.23314246e+02] [ 1.29480673e-01 9.75871858e-01 1.75809193e-01 -1.91727002e+02] [-7.43012158e-01 -2.19253586e-02 6.68918688e-01 -7.24403403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.34, Y:-191.73, Z:-724.42 [[ 6.59013012e-01 -2.26473432e-01 7.17224954e-01 3.23343818e+02] [ 1.29638393e-01 9.73520622e-01 1.88285652e-01 -1.91728892e+02] [-7.40874981e-01 -3.11028044e-02 6.70922409e-01 -7.24420905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.34, Y:-191.71, Z:-724.46 [[ 6.53615157e-01 -2.03701801e-01 7.28898349e-01 3.23344020e+02] [ 1.33192123e-01 9.79026052e-01 1.54168246e-01 -1.91709571e+02] [-7.45014822e-01 -3.68318412e-03 6.67037742e-01 -7.24457803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.38, Y:-191.72, Z:-724.47 [[ 6.54270993e-01 -2.25423902e-01 7.21881938e-01 3.23376996e+02] [ 1.34003701e-01 9.73993967e-01 1.82698553e-01 -1.91717525e+02] [-7.44293273e-01 -2.27995125e-02 6.67463636e-01 -7.24474915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.41, Y:-191.72, Z:-724.49 [[ 6.58582275e-01 -2.38955626e-01 7.13561207e-01 3.23413332e+02] [ 1.33766384e-01 9.70316174e-01 2.01477235e-01 -1.91722838e+02] [-7.40524099e-01 -3.72388335e-02 6.70997264e-01 -7.24488573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:-191.71, Z:-724.52 [[ 6.57852890e-01 -2.18041189e-01 7.20893623e-01 3.23423369e+02] [ 1.33079157e-01 9.75767499e-01 1.73688590e-01 -1.91706545e+02] [-7.41295834e-01 -1.83256255e-02 6.70928207e-01 -7.24520050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.44, Y:-191.70, Z:-724.54 [[ 6.57709635e-01 -2.17553598e-01 7.21171594e-01 3.23444495e+02] [ 1.32620043e-01 9.75874344e-01 1.73439297e-01 -1.91701338e+02] [-7.41505199e-01 -1.84308895e-02 6.70693926e-01 -7.24544418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:323.47, Y:-191.70, Z:-724.57 [[ 6.57696166e-01 -2.17170679e-01 7.21299279e-01 3.23465278e+02] [ 1.32364345e-01 9.75960079e-01 1.73151971e-01 -1.91696029e+02] [-7.41562832e-01 -1.84070808e-02 6.70630857e-01 -7.24569251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:-191.69, Z:-724.59 [[ 6.57980997e-01 -2.16902768e-01 7.21120099e-01 3.23485702e+02] [ 1.32372766e-01 9.76022854e-01 1.72791320e-01 -1.91690736e+02] [-7.41308612e-01 -1.82367427e-02 6.70916510e-01 -7.24592886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:-191.69, Z:-724.62 [[ 6.57696569e-01 -2.16654429e-01 7.21454144e-01 3.23505908e+02] [ 1.32228864e-01 9.76080451e-01 1.72576017e-01 -1.91685196e+02] [-7.41586644e-01 -1.81055927e-02 6.70612733e-01 -7.24617696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.52, Y:-191.68, Z:-724.65 [[ 6.56737260e-01 -2.10018778e-01 7.24284671e-01 3.23521860e+02] [ 1.31909696e-01 9.77622723e-01 1.63870812e-01 -1.91676410e+02] [-7.42493100e-01 -1.20798971e-02 6.69744782e-01 -7.24646592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.55, Y:-191.68, Z:-724.66 [[ 6.57749149e-01 -2.20119466e-01 7.20356494e-01 3.23549258e+02] [ 1.31652904e-01 9.75222476e-01 1.77788173e-01 -1.91676928e+02] [-7.41642481e-01 -2.21029951e-02 6.70431121e-01 -7.24663768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.57, Y:-191.67, Z:-724.69 [[ 6.57448876e-01 -2.15436837e-01 7.22044282e-01 3.23568399e+02] [ 1.31017577e-01 9.76342694e-01 1.72015520e-01 -1.91669267e+02] [-7.42021139e-01 -1.84909177e-02 6.70121419e-01 -7.24689551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.59, Y:-191.66, Z:-724.71 [[ 6.57195501e-01 -2.14453546e-01 7.22567471e-01 3.23589270e+02] [ 1.29743242e-01 9.76545930e-01 1.71827640e-01 -1.91663645e+02] [-7.42469370e-01 -1.91761058e-02 6.69605490e-01 -7.24712673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.61, Y:-191.66, Z:-724.74 [[ 6.57028022e-01 -2.13771262e-01 7.22921867e-01 3.23609436e+02] [ 1.28942839e-01 9.76688212e-01 1.71621331e-01 -1.91658399e+02] [-7.42756974e-01 -1.95444259e-02 6.69275798e-01 -7.24736616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.63, Y:-191.65, Z:-724.76 [[ 6.57727508e-01 -2.12816625e-01 7.22567374e-01 3.23629587e+02] [ 1.27952467e-01 9.76883721e-01 1.71249413e-01 -1.91652492e+02] [-7.42309027e-01 -2.01811713e-02 6.69753707e-01 -7.24760576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:-191.64, Z:-724.79 [[ 6.56856311e-01 -2.07237679e-01 7.24977469e-01 3.23645582e+02] [ 1.27419772e-01 9.78168502e-01 1.64166328e-01 -1.91644491e+02] [-7.43171574e-01 -1.54572247e-02 6.68922332e-01 -7.24789709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:-191.64, Z:-724.81 [[ 6.59005242e-01 -2.15320156e-01 7.20658950e-01 3.23672170e+02] [ 1.27184974e-01 9.76250491e-01 1.75382326e-01 -1.91643573e+02] [-7.41307004e-01 -2.39208825e-02 6.70739679e-01 -7.24808080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.69, Y:-191.64, Z:-724.83 [[ 6.59433999e-01 -2.11362556e-01 7.21437919e-01 3.23691292e+02] [ 1.26812577e-01 9.77185011e-01 1.70376126e-01 -1.91636270e+02] [-7.40989454e-01 -2.08644086e-02 6.71192450e-01 -7.24833786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:-191.62, Z:-724.87 [[ 6.55103286e-01 -1.97539544e-01 7.29258399e-01 3.23697364e+02] [ 1.27677113e-01 9.80278308e-01 1.50840954e-01 -1.91621896e+02] [-7.44673243e-01 -5.70679758e-03 6.67404820e-01 -7.24867620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.74, Y:-191.64, Z:-724.87 [[ 6.59806884e-01 -2.28659211e-01 7.15800140e-01 3.23740996e+02] [ 1.27178166e-01 9.72816033e-01 1.93532118e-01 -1.91635591e+02] [-7.40594754e-01 -3.66596749e-02 6.70951174e-01 -7.24874716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.75, Y:-191.62, Z:-724.90 [[ 6.57980361e-01 -2.12059909e-01 7.22559645e-01 3.23753732e+02] [ 1.28406014e-01 9.77072706e-01 1.69825861e-01 -1.91620701e+02] [-7.42006564e-01 -1.89610774e-02 6.70124419e-01 -7.24904891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.77, Y:-191.62, Z:-724.93 [[ 6.56883931e-01 -2.12773366e-01 7.23347079e-01 3.23774319e+02] [ 1.29583740e-01 9.76940646e-01 1.69690977e-01 -1.91615968e+02] [-7.42772883e-01 -1.77332565e-02 6.69308581e-01 -7.24928735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.80, Y:-191.61, Z:-724.95 [[ 6.55923772e-01 -2.13808199e-01 7.23913020e-01 3.23795873e+02] [ 1.31284303e-01 9.76742011e-01 1.69527210e-01 -1.91611093e+02] [-7.43322566e-01 -1.61585104e-02 6.68737965e-01 -7.24953338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.82, Y:-191.61, Z:-724.98 [[ 6.54408706e-01 -2.17052970e-01 7.24318476e-01 3.23816974e+02] [ 1.36367807e-01 9.76085905e-01 1.69293023e-01 -1.91607133e+02] [-7.43742608e-01 -1.20131062e-02 6.68358151e-01 -7.24977215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.84, Y:-191.60, Z:-725.00 [[ 6.53992859e-01 -2.18939998e-01 7.24126107e-01 3.23837526e+02] [ 1.39576971e-01 9.75692890e-01 1.68942752e-01 -1.91602783e+02] [-7.43513019e-01 -9.41602441e-03 6.68655164e-01 -7.25001135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.86, Y:-191.60, Z:-725.03 [[ 6.53284790e-01 -2.20991163e-01 7.24142174e-01 3.23858729e+02] [ 1.42961312e-01 9.75253116e-01 1.68651783e-01 -1.91598265e+02] [-7.43492465e-01 -6.65332925e-03 6.68711214e-01 -7.25026417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.88, Y:-191.59, Z:-725.05 [[ 6.52754963e-01 -2.23063581e-01 7.23984528e-01 3.23879506e+02] [ 1.46457423e-01 9.74796411e-01 1.68291950e-01 -1.91593904e+02] [-7.43277325e-01 -3.82049729e-03 6.68972512e-01 -7.25050430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:-191.59, Z:-725.07 [[ 6.51815766e-01 -2.27142339e-01 7.23562413e-01 3.23901262e+02] [ 1.52993212e-01 9.73860750e-01 1.67893769e-01 -1.91589679e+02] [-7.42784817e-01 1.26433242e-03 6.69529026e-01 -7.25074747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:-191.57, Z:-725.11 [[ 6.45756645e-01 -2.11665835e-01 7.33618381e-01 3.23902883e+02] [ 1.57884690e-01 9.77058804e-01 1.42928370e-01 -1.91572184e+02] [-7.47041351e-01 2.35301660e-02 6.64361010e-01 -7.25109687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.96, Y:-191.59, Z:-725.11 [[ 6.49780400e-01 -2.58845311e-01 7.14691917e-01 3.23957112e+02] [ 1.60338047e-01 9.65751771e-01 2.03998106e-01 -1.91594974e+02] [-7.43018938e-01 -1.79616650e-02 6.69029324e-01 -7.25112299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.96, Y:-191.57, Z:-725.15 [[ 6.49849357e-01 -2.32362773e-01 7.23673514e-01 3.23963485e+02] [ 1.61487572e-01 9.72594952e-01 1.67274693e-01 -1.91574987e+02] [-7.42709618e-01 8.16092692e-03 6.69563905e-01 -7.25146118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:-191.57, Z:-725.17 [[ 6.50002661e-01 -2.32804277e-01 7.23393883e-01 3.23983976e+02] [ 1.62567157e-01 9.72480846e-01 1.66891950e-01 -1.91570064e+02] [-7.42339855e-01 9.11987538e-03 6.69961467e-01 -7.25169774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:-191.56, Z:-725.19 [[ 6.49882251e-01 -2.33449701e-01 7.23294060e-01 3.24005131e+02] [ 1.63883861e-01 9.72314502e-01 1.66573077e-01 -1.91564375e+02] [-7.42155738e-01 1.02833369e-02 6.70148576e-01 -7.25194338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:-191.56, Z:-725.22 [[ 6.50189803e-01 -2.33040695e-01 7.23149538e-01 3.24026072e+02] [ 1.63658602e-01 9.72412705e-01 1.66220916e-01 -1.91559077e+02] [-7.41936036e-01 1.02744981e-02 6.70391940e-01 -7.25218198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.05, Y:-191.55, Z:-725.24 [[ 6.50947385e-01 -2.31718688e-01 7.22892767e-01 3.24047338e+02] [ 1.61959266e-01 9.72740792e-01 1.65965499e-01 -1.91552075e+02] [-7.41644590e-01 9.04437447e-03 6.70732064e-01 -7.25242861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:-191.55, Z:-725.27 [[ 6.51423864e-01 -2.30734779e-01 7.22778259e-01 3.24067605e+02] [ 1.60866380e-01 9.72980592e-01 1.65622390e-01 -1.91545450e+02] [-7.41464063e-01 8.38034426e-03 6.70940245e-01 -7.25267387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:-191.54, Z:-725.29 [[ 6.51834141e-01 -2.29629514e-01 7.22760361e-01 3.24088270e+02] [ 1.59573369e-01 9.73248549e-01 1.65298524e-01 -1.91538819e+02] [-7.41382892e-01 7.58608379e-03 6.71039387e-01 -7.25292151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:-191.53, Z:-725.32 [[ 6.52645768e-01 -2.28350272e-01 7.22433149e-01 3.24108845e+02] [ 1.58095285e-01 9.73556742e-01 1.64903463e-01 -1.91532460e+02] [-7.40985413e-01 6.58972682e-03 6.71488789e-01 -7.25316744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.13, Y:-191.53, Z:-725.34 [[ 6.53661651e-01 -2.26215605e-01 7.22186227e-01 3.24129338e+02] [ 1.55322411e-01 9.74066274e-01 1.64529152e-01 -1.91525212e+02] [-7.40676309e-01 4.62530861e-03 6.71846122e-01 -7.25341435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:-191.52, Z:-725.37 [[ 6.54270875e-01 -2.24938516e-01 7.22033439e-01 3.24150745e+02] [ 1.53807260e-01 9.74366167e-01 1.64176427e-01 -1.91519299e+02] [-7.40454556e-01 3.63813026e-03 6.72096581e-01 -7.25366125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.17, Y:-191.51, Z:-725.39 [[ 6.55574644e-01 -2.22951399e-01 7.21466950e-01 3.24171056e+02] [ 1.51340352e-01 9.74827804e-01 1.63727978e-01 -1.91512344e+02] [-7.39809424e-01 1.85115137e-03 6.72813933e-01 -7.25389558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.19, Y:-191.50, Z:-725.41 [[ 6.55200766e-01 -2.21894313e-01 7.22132170e-01 3.24189384e+02] [ 1.50779165e-01 9.75068222e-01 1.62811564e-01 -1.91504587e+02] [-7.40255091e-01 2.20822424e-03 6.72322485e-01 -7.25413200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:-191.50, Z:-725.44 [[ 6.56504344e-01 -2.24846316e-01 7.20032070e-01 3.24213497e+02] [ 1.48577377e-01 9.74386668e-01 1.68805758e-01 -1.91502072e+02] [-7.39545002e-01 -3.84123714e-03 6.73096156e-01 -7.25435510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:-191.49, Z:-725.46 [[ 6.56437045e-01 -2.19572305e-01 7.21719065e-01 3.24232206e+02] [ 1.47065208e-01 9.75595823e-01 1.63047893e-01 -1.91493053e+02] [-7.39906907e-01 -8.90912990e-04 6.72708685e-01 -7.25461558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:-191.48, Z:-725.49 [[ 6.56187533e-01 -2.17648656e-01 7.22528189e-01 3.24253327e+02] [ 1.44349557e-01 9.76023706e-01 1.62913877e-01 -1.91484886e+02] [-7.40662627e-01 -2.60543066e-03 6.71872075e-01 -7.25486333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:-191.48, Z:-725.51 [[ 6.56117793e-01 -2.16430801e-01 7.22957226e-01 3.24274555e+02] [ 1.42783199e-01 9.76291627e-01 1.62688714e-01 -1.91478661e+02] [-7.41027934e-01 -3.51681486e-03 6.71464990e-01 -7.25511081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:-191.47, Z:-725.53 [[ 6.55866921e-01 -2.14221392e-01 7.23842370e-01 3.24294668e+02] [ 1.39624071e-01 9.76769343e-01 1.62563126e-01 -1.91471667e+02] [-7.41851535e-01 -5.55395872e-03 6.70541164e-01 -7.25534457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:-191.47, Z:-725.56 [[ 6.56298441e-01 -2.12950615e-01 7.23826217e-01 3.24315938e+02] [ 1.38068963e-01 9.77040995e-01 1.62258611e-01 -1.91465476e+02] [-7.41760957e-01 -6.55213832e-03 6.70632352e-01 -7.25559361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.34, Y:-191.46, Z:-725.58 [[ 6.56605217e-01 -2.11621247e-01 7.23937868e-01 3.24336920e+02] [ 1.36410703e-01 9.77322237e-01 1.61967174e-01 -1.91459285e+02] [-7.41796272e-01 -7.59561761e-03 6.70582283e-01 -7.25584511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.36, Y:-191.45, Z:-725.61 [[ 6.58361306e-01 -2.09156936e-01 7.23058619e-01 3.24356997e+02] [ 1.33327982e-01 9.77832047e-01 1.61456301e-01 -1.91451857e+02] [-7.40799595e-01 -9.89263458e-03 6.71653256e-01 -7.25609020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.38, Y:-191.45, Z:-725.63 [[ 6.59398896e-01 -2.07723134e-01 7.22526259e-01 3.24377559e+02] [ 1.31664903e-01 9.78125113e-01 1.61045389e-01 -1.91445920e+02] [-7.40173931e-01 -1.10618016e-02 6.72324466e-01 -7.25634090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.40, Y:-191.44, Z:-725.66 [[ 6.60384196e-01 -2.06354950e-01 7.22018247e-01 3.24398135e+02] [ 1.30114211e-01 9.78402037e-01 1.60622997e-01 -1.91440028e+02] [-7.39569474e-01 -1.21280547e-02 6.72970953e-01 -7.25659113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.42, Y:-191.43, Z:-725.68 [[ 6.61212599e-01 -2.05062140e-01 7.21628310e-01 3.24419117e+02] [ 1.28643451e-01 9.78661116e-01 1.60228847e-01 -1.91434120e+02] [-7.39086437e-01 -1.31125764e-02 6.73482961e-01 -7.25684455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.44, Y:-191.43, Z:-725.71 [[ 6.62334888e-01 -2.03441753e-01 7.21057522e-01 3.24439812e+02] [ 1.26737290e-01 9.78980350e-01 1.59797167e-01 -1.91427735e+02] [-7.38410561e-01 -1.44543628e-02 6.74196496e-01 -7.25709477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.46, Y:-191.42, Z:-725.73 [[ 6.62545764e-01 -2.02695897e-01 7.21073841e-01 3.24461203e+02] [ 1.25980833e-01 9.79129555e-01 1.59480859e-01 -1.91422666e+02] [-7.38350825e-01 -1.48218846e-02 6.74253937e-01 -7.25734477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:-191.42, Z:-725.76 [[ 6.62567301e-01 -2.02382514e-01 7.21142074e-01 3.24482762e+02] [ 1.25853823e-01 9.79196161e-01 1.59171898e-01 -1.91417841e+02] [-7.38353159e-01 -1.47036075e-02 6.74253971e-01 -7.25759614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.50, Y:-191.41, Z:-725.78 [[ 6.62690205e-01 -2.02430716e-01 7.21015602e-01 3.24503942e+02] [ 1.26111336e-01 9.79190075e-01 1.59005438e-01 -1.91412922e+02] [-7.38198905e-01 -1.44431055e-02 6.74428479e-01 -7.25783964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.52, Y:-191.41, Z:-725.81 [[ 6.62842709e-01 -2.02716539e-01 7.20795080e-01 3.24524342e+02] [ 1.26944930e-01 9.79142331e-01 1.58635688e-01 -1.91408070e+02] [-7.37919053e-01 -1.36492284e-02 6.74751192e-01 -7.25807843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:-191.40, Z:-725.83 [[ 6.62569543e-01 -2.03265281e-01 7.20891689e-01 3.24544794e+02] [ 1.28055763e-01 9.79042507e-01 1.58358743e-01 -1.91403637e+02] [-7.37972440e-01 -1.26093449e-02 6.74713037e-01 -7.25831898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.57, Y:-191.40, Z:-725.86 [[ 6.60899015e-01 -2.05795044e-01 7.21706929e-01 3.24566394e+02] [ 1.31900433e-01 9.78550047e-01 1.58246900e-01 -1.91400160e+02] [-7.38792777e-01 -9.39176367e-03 6.73867218e-01 -7.25856729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.59, Y:-191.40, Z:-725.88 [[ 6.60004461e-01 -2.07225433e-01 7.22116148e-01 3.24588218e+02] [ 1.34258662e-01 9.78265646e-01 1.58021956e-01 -1.91396108e+02] [-7.39167588e-01 -7.34484789e-03 6.73481500e-01 -7.25881427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.61, Y:-191.39, Z:-725.91 [[ 6.57644983e-01 -2.10713422e-01 7.23258551e-01 3.24609841e+02] [ 1.39492211e-01 9.77543299e-01 1.57958922e-01 -1.91393049e+02] [-7.40300615e-01 -2.99195854e-03 6.72269327e-01 -7.25906002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:-191.39, Z:-725.93 [[ 6.57026819e-01 -2.12218117e-01 7.23380419e-01 3.24631598e+02] [ 1.42041917e-01 9.77221958e-01 1.57674790e-01 -1.91389047e+02] [-7.40364676e-01 -8.46224409e-04 6.72204902e-01 -7.25930368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.65, Y:-191.38, Z:-725.96 [[ 6.56162910e-01 -2.13560792e-01 7.23769317e-01 3.24653432e+02] [ 1.44286481e-01 9.76929138e-01 1.57451166e-01 -1.91384945e+02] [-7.40696731e-01 1.11651256e-03 6.71838602e-01 -7.25955218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.67, Y:-191.38, Z:-725.98 [[ 6.55312811e-01 -2.14871411e-01 7.24151501e-01 3.24674881e+02] [ 1.46486399e-01 9.76637603e-01 1.57228268e-01 -1.91380879e+02] [-7.41017446e-01 3.04464706e-03 6.71478872e-01 -7.25980044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:-191.38, Z:-726.01 [[ 6.54431847e-01 -2.17340730e-01 7.24211271e-01 3.24696515e+02] [ 1.50498817e-01 9.76075508e-01 1.56928991e-01 -1.91376558e+02] [-7.40991945e-01 6.29361023e-03 6.71484421e-01 -7.26005053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:-191.37, Z:-726.03 [[ 6.54216023e-01 -2.18333986e-01 7.24107496e-01 3.24717610e+02] [ 1.52354742e-01 9.75842301e-01 1.56588113e-01 -1.91372130e+02] [-7.40803232e-01 7.87875801e-03 6.71675887e-01 -7.26029557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.74, Y:-191.37, Z:-726.05 [[ 6.53896388e-01 -2.21006245e-01 7.23585346e-01 3.24738791e+02] [ 1.56802033e-01 9.75206372e-01 1.56159071e-01 -1.91367943e+02] [-7.40157170e-01 1.13478009e-02 6.72338153e-01 -7.26054911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.76, Y:-191.36, Z:-726.08 [[ 6.53535970e-01 -2.22486932e-01 7.23457187e-01 3.24759228e+02] [ 1.59387240e-01 9.74842476e-01 1.55813529e-01 -1.91363692e+02] [-7.39923269e-01 1.34800988e-02 6.72556200e-01 -7.26078543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.78, Y:-191.36, Z:-726.10 [[ 6.53153396e-01 -2.24131856e-01 7.23294928e-01 3.24779658e+02] [ 1.62199001e-01 9.74431337e-01 1.55483291e-01 -1.91359317e+02] [-7.39650002e-01 1.57632755e-02 6.72807100e-01 -7.26102269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:-191.35, Z:-726.13 [[ 6.52447816e-01 -2.26058626e-01 7.23332112e-01 3.24801001e+02] [ 1.65388268e-01 9.73940445e-01 1.55199005e-01 -1.91354672e+02] [-7.39566473e-01 1.83713931e-02 6.72832761e-01 -7.26127166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:-191.38, Z:-726.13 [[ 6.61181946e-01 -2.69976397e-01 6.99965128e-01 3.24864068e+02] [ 1.67518654e-01 9.62577829e-01 2.13029163e-01 -1.91376192e+02] [-7.31283759e-01 -2.35938203e-02 6.81665164e-01 -7.26126916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.85, Y:-191.34, Z:-726.17 [[ 6.58098762e-01 -2.11978719e-01 7.22475635e-01 3.24848643e+02] [ 1.73906917e-01 9.76398655e-01 1.28070491e-01 -1.91335800e+02] [-7.32572457e-01 4.13604787e-02 6.79431311e-01 -7.26172105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.83, Y:-191.31, Z:-726.21 [[ 6.47030250e-01 -1.84981967e-01 7.39684749e-01 3.24834111e+02] [ 1.79190198e-01 9.79844118e-01 8.82970940e-02 -1.91310461e+02] [-7.41109121e-01 7.54133660e-02 6.67135740e-01 -7.26213887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.92, Y:-191.36, Z:-726.20 [[ 6.54094736e-01 -2.77186650e-01 7.03795167e-01 3.24919795e+02] [ 1.81374069e-01 9.60768155e-01 2.09828499e-01 -1.91358648e+02] [-7.34345643e-01 -9.59752352e-03 6.78707864e-01 -7.26198354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.92, Y:-191.33, Z:-726.24 [[ 6.57113226e-01 -2.31966953e-01 7.17212340e-01 3.24922734e+02] [ 1.83252704e-01 9.72087965e-01 1.46504043e-01 -1.91328307e+02] [-7.31177581e-01 3.51613565e-02 6.81280430e-01 -7.26237230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.89, Y:-191.29, Z:-726.29 [[ 6.47377099e-01 -1.81024603e-01 7.40360037e-01 3.24894839e+02] [ 1.86328194e-01 9.79499332e-01 7.65693304e-02 -1.91288504e+02] [-7.39043095e-01 8.83807178e-02 6.67835423e-01 -7.26286962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:-191.32, Z:-726.29 [[ 6.48631681e-01 -2.52706739e-01 7.17924959e-01 3.24959576e+02] [ 1.83802917e-01 9.67360129e-01 1.74444457e-01 -1.91324750e+02] [-7.38575270e-01 1.88065001e-02 6.73908663e-01 -7.26285966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.99, Y:-191.32, Z:-726.31 [[ 6.53868912e-01 -2.46721985e-01 7.15250801e-01 3.24986666e+02] [ 1.80437286e-01 9.68912017e-01 1.69268688e-01 -1.91317099e+02] [-7.34777403e-01 1.83783805e-02 6.78059292e-01 -7.26307382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.00, Y:-191.30, Z:-726.34 [[ 6.55245254e-01 -2.22607052e-01 7.21872397e-01 3.24997168e+02] [ 1.76976074e-01 9.74237480e-01 1.39788419e-01 -1.91298039e+02] [-7.34393033e-01 3.61584453e-02 6.77760607e-01 -7.26338087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7965599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:325.01, Y:-191.28, Z:-726.37 [[ 6.56191153e-01 -2.08540807e-01 7.25206110e-01 3.25011780e+02] [ 1.68541597e-01 9.77279412e-01 1.28525023e-01 -1.91283206e+02] [-7.35531713e-01 3.78904130e-02 6.76429905e-01 -7.26366363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.03, Y:-191.28, Z:-726.39 [[ 6.57043397e-01 -2.09729420e-01 7.24090841e-01 3.25032506e+02] [ 1.63218888e-01 9.77314191e-01 1.34968764e-01 -1.91279026e+02] [-7.35971175e-01 2.95049663e-02 6.76369638e-01 -7.26388819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:-191.28, Z:-726.41 [[ 6.58438246e-01 -2.13023210e-01 7.21858843e-01 3.25055761e+02] [ 1.57907786e-01 9.76862124e-01 1.44241193e-01 -1.91275663e+02] [-7.35883284e-01 1.90132136e-02 6.76841407e-01 -7.26409101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:-191.26, Z:-726.44 [[ 6.59359859e-01 -1.99249076e-01 7.24944400e-01 3.25070581e+02] [ 1.46094611e-01 9.79818926e-01 1.36423005e-01 -1.91261715e+02] [-7.37496401e-01 1.59586162e-02 6.75162485e-01 -7.26435085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.09, Y:-191.25, Z:-726.46 [[ 6.58762665e-01 -1.92857976e-01 7.27212179e-01 3.25087441e+02] [ 1.39405016e-01 9.81138456e-01 1.33916289e-01 -1.91253299e+02] [-7.39322659e-01 1.31579735e-02 6.73222753e-01 -7.26461204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:-191.23, Z:-726.50 [[ 6.49901987e-01 -1.62547656e-01 7.42432265e-01 3.25075103e+02] [ 1.36062589e-01 9.85963599e-01 9.67613187e-02 -1.91225753e+02] [-7.47739513e-01 3.81318826e-02 6.62896357e-01 -7.26500008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:-191.27, Z:-726.50 [[ 6.60815197e-01 -2.33010459e-01 7.13462965e-01 3.25146438e+02] [ 1.29043724e-01 9.71705463e-01 1.97828743e-01 -1.91265152e+02] [-7.39372026e-01 -3.86603219e-02 6.72186274e-01 -7.26495499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.14, Y:-191.23, Z:-726.53 [[ 6.60453847e-01 -1.76363488e-01 7.29860696e-01 3.25141072e+02] [ 1.17115824e-01 9.84323779e-01 1.31873355e-01 -1.91229227e+02] [-7.41676884e-01 -1.61802767e-03 6.70755382e-01 -7.26534955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.16, Y:-191.23, Z:-726.56 [[ 6.60291251e-01 -1.79991851e-01 7.29121662e-01 3.25164038e+02] [ 1.10523148e-01 9.83573394e-01 1.42716550e-01 -1.91226257e+02] [-7.42832483e-01 -1.36496678e-02 6.69338172e-01 -7.26557024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.18, Y:-191.22, Z:-726.58 [[ 6.59637479e-01 -1.77759357e-01 7.30260233e-01 3.25183353e+02] [ 1.08636766e-01 9.83975366e-01 1.41387879e-01 -1.91219962e+02] [-7.43691098e-01 -1.39316340e-02 6.68378231e-01 -7.26582098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:-191.21, Z:-726.61 [[ 6.58984044e-01 -1.74925961e-01 7.31533279e-01 3.25203262e+02] [ 1.07226378e-01 9.84495206e-01 1.38822526e-01 -1.91213378e+02] [-7.44474670e-01 -1.30421659e-02 6.67523309e-01 -7.26608234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.23, Y:-191.21, Z:-726.63 [[ 6.60176533e-01 -1.85356070e-01 7.27880535e-01 3.25228601e+02] [ 1.06878672e-01 9.82393620e-01 1.53230955e-01 -1.91214338e+02] [-7.43467481e-01 -2.33645761e-02 6.68363824e-01 -7.26627471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:-191.20, Z:-726.66 [[ 6.59285356e-01 -1.72559953e-01 7.31823669e-01 3.25242863e+02] [ 1.06473634e-01 9.84926477e-01 1.36320214e-01 -1.91202572e+02] [-7.44315917e-01 -1.19539956e-02 6.67720688e-01 -7.26656452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.26, Y:-191.20, Z:-726.68 [[ 6.57842330e-01 -1.75277767e-01 7.32476057e-01 3.25261277e+02] [ 1.08152151e-01 9.84447662e-01 1.38441010e-01 -1.91197989e+02] [-7.45349973e-01 -1.18534960e-02 6.66568011e-01 -7.26680910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.29, Y:-191.20, Z:-726.70 [[ 6.58536641e-01 -1.84205279e-01 7.29656021e-01 3.25285053e+02] [ 1.09552550e-01 9.82716872e-01 1.49217253e-01 -1.91198218e+02] [-7.44531888e-01 -1.83293513e-02 6.67335226e-01 -7.26702020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:-191.18, Z:-726.74 [[ 6.51650808e-01 -1.61049507e-01 7.41224852e-01 3.25279141e+02] [ 1.13423500e-01 9.86902323e-01 1.14712313e-01 -1.91177247e+02] [-7.49990889e-01 9.31994573e-03 6.61382495e-01 -7.26738076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.31, Y:-191.19, Z:-726.75 [[ 6.52877027e-01 -1.95620230e-01 7.31767937e-01 3.25313800e+02] [ 1.15650209e-01 9.80493091e-01 1.58928690e-01 -1.91192584e+02] [-7.48583073e-01 -1.91317755e-02 6.62764935e-01 -7.26754740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.33, Y:-191.19, Z:-726.78 [[ 6.53386683e-01 -1.96072903e-01 7.31191671e-01 3.25334863e+02] [ 1.16862664e-01 9.80422290e-01 1.58477922e-01 -1.91188766e+02] [-7.47949838e-01 -1.80983571e-02 6.63508469e-01 -7.26779798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.36, Y:-191.19, Z:-726.80 [[ 6.53258727e-01 -1.97861776e-01 7.30824023e-01 3.25355574e+02] [ 1.20018907e-01 9.80106604e-01 1.58071207e-01 -1.91187086e+02] [-7.47561701e-01 -1.55486947e-02 6.64010347e-01 -7.26803855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.38, Y:-191.18, Z:-726.83 [[ 6.53079722e-01 -1.98763287e-01 7.30739374e-01 3.25377390e+02] [ 1.21736840e-01 9.79946598e-01 1.57749191e-01 -1.91184215e+02] [-7.47440311e-01 -1.40648954e-02 6.64180066e-01 -7.26828619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.40, Y:-191.18, Z:-726.85 [[ 6.52039053e-01 -2.00806716e-01 7.31109935e-01 3.25399291e+02] [ 1.25066479e-01 9.79566125e-01 1.57507405e-01 -1.91182941e+02] [-7.47799070e-01 -1.12636341e-02 6.63829557e-01 -7.26853357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:-191.18, Z:-726.88 [[ 6.51529555e-01 -2.01520363e-01 7.31367747e-01 3.25420061e+02] [ 1.26431658e-01 9.79433482e-01 1.57242138e-01 -1.91180233e+02] [-7.48013552e-01 -9.97986308e-03 6.63608415e-01 -7.26877070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.44, Y:-191.18, Z:-726.90 [[ 6.50861084e-01 -2.02167631e-01 7.31784189e-01 3.25441224e+02] [ 1.27631483e-01 9.79311320e-01 1.57033570e-01 -1.91177501e+02] [-7.48391645e-01 -8.80833813e-03 6.63198582e-01 -7.26901976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:-191.17, Z:-726.93 [[ 6.50288221e-01 -2.02732427e-01 7.32137141e-01 3.25462594e+02] [ 1.28747269e-01 9.79203901e-01 1.56792415e-01 -1.91174665e+02] [-7.48698451e-01 -7.69960327e-03 6.62866009e-01 -7.26926470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:-191.17, Z:-726.95 [[ 6.49445356e-01 -2.03873644e-01 7.32568267e-01 3.25484609e+02] [ 1.30712097e-01 9.78979264e-01 1.56569307e-01 -1.91173507e+02] [-7.49089499e-01 -5.92767461e-03 6.62442289e-01 -7.26951432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.51, Y:-191.17, Z:-726.98 [[ 6.48897587e-01 -2.04787569e-01 7.32798726e-01 3.25505590e+02] [ 1.32386601e-01 9.78796494e-01 1.56304869e-01 -1.91172584e+02] [-7.49270118e-01 -4.41311914e-03 6.62249813e-01 -7.26975302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:-191.18, Z:-726.99 [[ 6.54956583e-01 -2.24044498e-01 7.21689641e-01 3.25547943e+02] [ 1.32696214e-01 9.74296463e-01 1.82038781e-01 -1.91182090e+02] [-7.43924452e-01 -2.34620147e-02 6.67851738e-01 -7.26988451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:-191.16, Z:-727.02 [[ 6.54528265e-01 -1.95163716e-01 7.30413496e-01 3.25555007e+02] [ 1.32348928e-01 9.80766762e-01 1.43458428e-01 -1.91163333e+02] [-7.44363159e-01 2.77184718e-03 6.67769275e-01 -7.27021508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:-191.15, Z:-727.06 [[ 6.48924058e-01 -1.78201704e-01 7.39690287e-01 3.25555561e+02] [ 1.33585019e-01 9.83768508e-01 1.19810539e-01 -1.91148272e+02] [-7.49034452e-01 2.10636003e-02 6.62196130e-01 -7.27055706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:-191.16, Z:-727.07 [[ 6.48760469e-01 -2.05373204e-01 7.32756236e-01 3.25589211e+02] [ 1.34347335e-01 9.78680928e-01 1.55352616e-01 -1.91161700e+02] [-7.49039817e-01 -2.34278832e-03 6.62520840e-01 -7.27073257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.61, Y:-191.16, Z:-727.10 [[ 6.48929312e-01 -2.05034209e-01 7.32701659e-01 3.25610495e+02] [ 1.34221366e-01 9.78752227e-01 1.55011946e-01 -1.91158438e+02] [-7.48916132e-01 -2.24757741e-03 6.62660981e-01 -7.27097898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.63, Y:-191.16, Z:-727.12 [[ 6.49506732e-01 -2.04804466e-01 7.32254147e-01 3.25631397e+02] [ 1.34356755e-01 9.78800818e-01 1.54587259e-01 -1.91156350e+02] [-7.48391119e-01 -2.02217402e-03 6.63254584e-01 -7.27121581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.65, Y:-191.15, Z:-727.15 [[ 6.49835430e-01 -2.04138067e-01 7.32148594e-01 3.25652697e+02] [ 1.33724113e-01 9.78939319e-01 1.54258459e-01 -1.91152907e+02] [-7.48219069e-01 -2.33669031e-03 6.63447635e-01 -7.27146676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.67, Y:-191.15, Z:-727.17 [[ 6.49997247e-01 -2.03429467e-01 7.32202179e-01 3.25673825e+02] [ 1.33014930e-01 9.79085971e-01 1.53940541e-01 -1.91149292e+02] [-7.48204924e-01 -2.66710657e-03 6.63462342e-01 -7.27171552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.71, Y:-191.15, Z:-727.19 [[ 6.54016683e-01 -2.12349882e-01 7.26064533e-01 3.25707749e+02] [ 1.30513642e-01 9.77074793e-01 1.68199398e-01 -1.91153596e+02] [-7.45136476e-01 -1.52438852e-02 6.66737772e-01 -7.27189875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.71, Y:-191.13, Z:-727.23 [[ 6.50415624e-01 -1.83768191e-01 7.37013411e-01 3.25706680e+02] [ 1.29851199e-01 9.82909929e-01 1.30486542e-01 -1.91132830e+02] [-7.48397075e-01 1.08315893e-02 6.63162495e-01 -7.27225256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.74, Y:-191.14, Z:-727.25 [[ 6.50759024e-01 -2.00179801e-01 7.32421150e-01 3.25735691e+02] [ 1.29055045e-01 9.79745823e-01 1.53110800e-01 -1.91138929e+02] [-7.48236252e-01 -5.11559041e-03 6.63412649e-01 -7.27245400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.78, Y:-191.15, Z:-727.26 [[ 6.56917707e-01 -2.16158807e-01 7.22311911e-01 3.25776198e+02] [ 1.26968415e-01 9.76055418e-01 1.76620616e-01 -1.91147382e+02] [-7.43194556e-01 -2.43144121e-02 6.68633429e-01 -7.27259145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.76, Y:-191.12, Z:-727.30 [[ 6.51187032e-01 -1.71284452e-01 7.39335571e-01 3.25764356e+02] [ 1.25930632e-01 9.85079725e-01 1.17300519e-01 -1.91118645e+02] [-7.48396236e-01 1.67204186e-02 6.63041101e-01 -7.27300426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.80, Y:-191.13, Z:-727.32 [[ 6.51362048e-01 -1.97954500e-01 7.32489930e-01 3.25797856e+02] [ 1.26317931e-01 9.80187277e-01 1.52566979e-01 -1.91129349e+02] [-7.48178630e-01 -6.84972754e-03 6.63461995e-01 -7.27318212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.82, Y:-191.13, Z:-727.34 [[ 6.51355364e-01 -1.97252780e-01 7.32685151e-01 3.25819199e+02] [ 1.25460212e-01 9.80325212e-01 1.52388364e-01 -1.91125969e+02] [-7.48328755e-01 -7.33614394e-03 6.63287461e-01 -7.27343103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.84, Y:-191.12, Z:-727.37 [[ 6.51181031e-01 -1.96409187e-01 7.33066638e-01 3.25839850e+02] [ 1.24468966e-01 9.80490805e-01 1.52135653e-01 -1.91122814e+02] [-7.48645938e-01 -7.82380469e-03 6.62923862e-01 -7.27367324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.86, Y:-191.12, Z:-727.39 [[ 6.51009883e-01 -1.95407437e-01 7.33486241e-01 3.25861878e+02] [ 1.23203066e-01 9.80685055e-01 1.51913879e-01 -1.91120217e+02] [-7.49004097e-01 -8.52968294e-03 6.62510459e-01 -7.27392006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:-191.12, Z:-727.42 [[ 6.51108387e-01 -1.94628508e-01 7.33605897e-01 3.25883490e+02] [ 1.22368688e-01 9.80836237e-01 1.51611941e-01 -1.91116706e+02] [-7.49055253e-01 -8.94541503e-03 6.62447136e-01 -7.27417261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.90, Y:-191.11, Z:-727.44 [[ 6.50898122e-01 -1.93944960e-01 7.33973425e-01 3.25903467e+02] [ 1.21619897e-01 9.80968783e-01 1.51356690e-01 -1.91113321e+02] [-7.49359884e-01 -9.25201286e-03 6.62098304e-01 -7.27441408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:-191.11, Z:-727.47 [[ 6.50980461e-01 -1.92577320e-01 7.34260455e-01 3.25925034e+02] [ 1.19833645e-01 9.81226909e-01 1.51108079e-01 -1.91111020e+02] [-7.49576105e-01 -1.03793001e-02 6.61836788e-01 -7.27466892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.95, Y:-191.11, Z:-727.49 [[ 6.51316755e-01 -1.91552713e-01 7.34230238e-01 3.25946408e+02] [ 1.18666979e-01 9.81419855e-01 1.50775381e-01 -1.91107319e+02] [-7.49469568e-01 -1.10736477e-02 6.61946177e-01 -7.27492201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:-191.10, Z:-727.52 [[ 6.51913179e-01 -1.90262326e-01 7.34036412e-01 3.25966889e+02] [ 1.17148482e-01 9.81659219e-01 1.50404156e-01 -1.91103741e+02] [-7.49189856e-01 -1.20592003e-02 6.62245525e-01 -7.27516632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:-191.10, Z:-727.54 [[ 6.52651459e-01 -1.88059468e-01 7.33948029e-01 3.25987755e+02] [ 1.14204076e-01 9.82056014e-01 1.50078031e-01 -1.91100700e+02] [-7.49001670e-01 -1.41287894e-02 6.62417448e-01 -7.27542160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.01, Y:-191.10, Z:-727.57 [[ 6.53053900e-01 -1.86877282e-01 7.33892012e-01 3.26008304e+02] [ 1.12817790e-01 9.82268934e-01 1.49732724e-01 -1.91097133e+02] [-7.48860968e-01 -1.49874647e-02 6.62557640e-01 -7.27566666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.03, Y:-191.09, Z:-727.59 [[ 6.53995492e-01 -1.84744692e-01 7.33593413e-01 3.26029446e+02] [ 1.10041602e-01 9.82640263e-01 1.49361840e-01 -1.91094119e+02] [-7.48452232e-01 -1.69561756e-02 6.62971904e-01 -7.27591242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:-191.09, Z:-727.62 [[ 6.54406832e-01 -1.83615904e-01 7.33509985e-01 3.26050643e+02] [ 1.08739519e-01 9.82837697e-01 1.49016032e-01 -1.91090378e+02] [-7.48282978e-01 -1.77555865e-02 6.63142009e-01 -7.27616489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.07, Y:-191.09, Z:-727.64 [[ 6.54783741e-01 -1.82660757e-01 7.33412095e-01 3.26071807e+02] [ 1.07701321e-01 9.83004626e-01 1.48668526e-01 -1.91086947e+02] [-7.48103387e-01 -1.83562819e-02 6.63328251e-01 -7.27641435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.09, Y:-191.08, Z:-727.67 [[ 6.55197606e-01 -1.82024253e-01 7.33200701e-01 3.26091972e+02] [ 1.07174420e-01 9.83118427e-01 1.48296331e-01 -1.91084823e+02] [-7.47816649e-01 -1.85830417e-02 6.63645184e-01 -7.27665620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.11, Y:-191.08, Z:-727.69 [[ 6.55357442e-01 -1.81973427e-01 7.33070457e-01 3.26113077e+02] [ 1.07360844e-01 9.83132505e-01 1.48067982e-01 -1.91081374e+02] [-7.47649833e-01 -1.83343906e-02 6.63840025e-01 -7.27690786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.13, Y:-191.08, Z:-727.72 [[ 6.55430381e-01 -1.81856283e-01 7.33034316e-01 3.26134117e+02] [ 1.07562725e-01 9.83160686e-01 1.47733970e-01 -1.91078120e+02] [-7.47556871e-01 -1.79821639e-02 6.63954340e-01 -7.27716218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.16, Y:-191.08, Z:-727.74 [[ 6.55515912e-01 -1.82715894e-01 7.32744015e-01 3.26155369e+02] [ 1.09298454e-01 9.83027278e-01 1.47347273e-01 -1.91076672e+02] [-7.47230043e-01 -1.65006938e-02 6.64360588e-01 -7.27741707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.18, Y:-191.07, Z:-727.77 [[ 6.55620466e-01 -1.83063692e-01 7.32563641e-01 3.26176340e+02] [ 1.10242902e-01 9.82977258e-01 1.46976915e-01 -1.91073982e+02] [-7.46999536e-01 -1.56011316e-02 6.64641481e-01 -7.27766169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.20, Y:-191.07, Z:-727.79 [[ 6.55994132e-01 -1.84238681e-01 7.31934292e-01 3.26197752e+02] [ 1.12514463e-01 9.82784978e-01 1.46540723e-01 -1.91073199e+02] [-7.46332496e-01 -1.37766602e-02 6.65430694e-01 -7.27790916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.22, Y:-191.07, Z:-727.82 [[ 6.56102361e-01 -1.84626841e-01 7.31739450e-01 3.26218738e+02] [ 1.13514096e-01 9.82724794e-01 1.46172941e-01 -1.91071019e+02] [-7.46085948e-01 -1.28416695e-02 6.65725806e-01 -7.27815403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.24, Y:-191.07, Z:-727.84 [[ 6.56311974e-01 -1.86723628e-01 7.31019069e-01 3.26240363e+02] [ 1.15322531e-01 9.82333919e-01 1.47379733e-01 -1.91068915e+02] [-7.45624105e-01 -1.24241143e-02 6.66250955e-01 -7.27838443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.26, Y:-191.07, Z:-727.86 [[ 6.55668473e-01 -1.87670813e-01 7.31353895e-01 3.26261785e+02] [ 1.17717031e-01 9.82181455e-01 1.46500137e-01 -1.91069412e+02] [-7.45816032e-01 -9.96271188e-03 6.66077466e-01 -7.27863423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.28, Y:-191.07, Z:-727.89 [[ 6.54370703e-01 -1.87766898e-01 7.32490666e-01 3.26280969e+02] [ 1.19333312e-01 9.82184350e-01 1.45167017e-01 -1.91065980e+02] [-7.46698429e-01 -7.58250531e-03 6.65119510e-01 -7.27888015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.30, Y:-191.07, Z:-727.91 [[ 6.54243675e-01 -1.91206567e-01 7.31713921e-01 3.26304992e+02] [ 1.19982818e-01 9.81500698e-01 1.49199539e-01 -1.91066448e+02] [-7.46705657e-01 -9.81975583e-03 6.65082126e-01 -7.27911419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.32, Y:-191.06, Z:-727.94 [[ 6.51382084e-01 -1.90043463e-01 7.34564403e-01 3.26322707e+02] [ 1.23258385e-01 9.81768658e-01 1.44698561e-01 -1.91063166e+02] [-7.48671324e-01 -3.71282812e-03 6.62930965e-01 -7.27936338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.35, Y:-191.06, Z:-727.96 [[ 6.51105463e-01 -1.94722817e-01 7.33583466e-01 3.26347686e+02] [ 1.23717777e-01 9.80831420e-01 1.50544473e-01 -1.91064703e+02] [-7.48836156e-01 -7.26301302e-03 6.62715369e-01 -7.27959017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.37, Y:-191.06, Z:-727.98 [[ 6.49631600e-01 -1.92440247e-01 7.35489997e-01 3.26367139e+02] [ 1.26034163e-01 9.81307073e-01 1.45436649e-01 -1.91062690e+02] [-7.49729401e-01 -1.78337730e-03 6.61742129e-01 -7.27984011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.39, Y:-191.06, Z:-728.01 [[ 6.49362159e-01 -1.92647254e-01 7.35673720e-01 3.26388734e+02] [ 1.26645068e-01 9.81267458e-01 1.45173008e-01 -1.91060570e+02] [-7.49859863e-01 -1.10040933e-03 6.61595780e-01 -7.28008761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.41, Y:-191.06, Z:-728.03 [[ 6.49121174e-01 -1.92755969e-01 7.35857893e-01 3.26409224e+02] [ 1.27138403e-01 9.81246603e-01 1.44882472e-01 -1.91058159e+02] [-7.49985019e-01 -4.90483148e-04 6.61454633e-01 -7.28032718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.43, Y:-191.06, Z:-728.06 [[ 6.49322425e-01 -1.92508722e-01 7.35745052e-01 3.26430277e+02] [ 1.27134143e-01 9.81295208e-01 1.44556645e-01 -1.91055252e+02] [-7.49811509e-01 -3.25555073e-04 6.61651415e-01 -7.28057297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.45, Y:-191.05, Z:-728.08 [[ 6.50142471e-01 -1.90963075e-01 7.35423600e-01 3.26451472e+02] [ 1.25239669e-01 9.81595874e-01 1.44168528e-01 -1.91052960e+02] [-7.49419637e-01 -1.62587494e-03 6.62093320e-01 -7.28082012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.47, Y:-191.05, Z:-728.11 [[ 6.50814621e-01 -1.89295016e-01 7.35260312e-01 3.26471940e+02] [ 1.23128606e-01 9.81915485e-01 1.43810034e-01 -1.91049032e+02] [-7.49186009e-01 -3.06209506e-03 6.62352586e-01 -7.28106906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.49, Y:-191.04, Z:-728.13 [[ 6.51782319e-01 -1.87339562e-01 7.34903869e-01 3.26492401e+02] [ 1.20631492e-01 9.82283380e-01 1.43413403e-01 -1.91044940e+02] [-7.48750861e-01 -4.82177018e-03 6.62833990e-01 -7.28131725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.51, Y:-191.04, Z:-728.16 [[ 6.53570218e-01 -1.83621920e-01 7.34254017e-01 3.26512290e+02] [ 1.15555429e-01 9.82959431e-01 1.42960486e-01 -1.91040973e+02] [-7.47992589e-01 -8.58767805e-03 6.63651519e-01 -7.28155821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.53, Y:-191.04, Z:-728.18 [[ 6.54540996e-01 -1.81778826e-01 7.33847766e-01 3.26533069e+02] [ 1.13223770e-01 9.83286181e-01 1.42578629e-01 -1.91036398e+02] [-7.47500143e-01 -1.02345469e-02 6.64182799e-01 -7.28180730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.55, Y:-191.03, Z:-728.21 [[ 6.54861150e-01 -1.79601112e-01 7.34098300e-01 3.26553130e+02] [ 1.10260060e-01 9.83663309e-01 1.42299736e-01 -1.91030905e+02] [-7.47662754e-01 -1.22448461e-02 6.63965715e-01 -7.28205086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.57, Y:-191.03, Z:-728.23 [[ 6.54616687e-01 -1.78738203e-01 7.34526819e-01 3.26573883e+02] [ 1.09200416e-01 9.83813450e-01 1.42078724e-01 -1.91026459e+02] [-7.48032260e-01 -1.27964693e-02 6.63538988e-01 -7.28230092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.59, Y:-191.02, Z:-728.25 [[ 6.54367360e-01 -1.78382322e-01 7.34835428e-01 3.26594668e+02] [ 1.08956034e-01 9.83878862e-01 1.41813145e-01 -1.91021808e+02] [-7.48286002e-01 -1.27331396e-02 6.63254044e-01 -7.28254771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.62, Y:-191.02, Z:-728.28 [[ 6.53930271e-01 -1.78241310e-01 7.35258618e-01 3.26615032e+02] [ 1.09013718e-01 9.83908428e-01 1.41563464e-01 -1.91017346e+02] [-7.48659609e-01 -1.24193590e-02 6.62838253e-01 -7.28278920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.64, Y:-191.01, Z:-728.30 [[ 6.52621015e-01 -1.79656130e-01 7.36077092e-01 3.26636312e+02] [ 1.08572658e-01 9.83630721e-01 1.43814407e-01 -1.91013876e+02] [-7.49865180e-01 -1.39384582e-02 6.61443823e-01 -7.28301831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.66, Y:-191.01, Z:-728.33 [[ 6.52486534e-01 -1.80525608e-01 7.35983579e-01 3.26658014e+02] [ 1.09947825e-01 9.83485927e-01 1.43759892e-01 -1.91009612e+02] [-7.49781835e-01 -1.28816001e-02 6.61559722e-01 -7.28327077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.68, Y:-191.00, Z:-728.35 [[ 6.52248560e-01 -1.80368320e-01 7.36233037e-01 3.26678486e+02] [ 1.10598647e-01 9.83528047e-01 1.42970348e-01 -1.91003889e+02] [-7.49893162e-01 -1.18258256e-02 6.61453245e-01 -7.28351328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.70, Y:-191.00, Z:-728.38 [[ 6.51970837e-01 -1.79780013e-01 7.36622817e-01 3.26699644e+02] [ 1.10218796e-01 9.83636960e-01 1.42513676e-01 -1.91000366e+02] [-7.50190539e-01 -1.17250804e-02 6.61117748e-01 -7.28377227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.72, Y:-191.00, Z:-728.40 [[ 6.52160939e-01 -1.78251947e-01 7.36825864e-01 3.26719270e+02] [ 1.09843877e-01 9.83924580e-01 1.40807471e-01 -1.90995392e+02] [-7.50080284e-01 -1.08933231e-02 6.61257063e-01 -7.28401643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.74, Y:-190.99, Z:-728.43 [[ 6.52250085e-01 -1.77460189e-01 7.36938063e-01 3.26740157e+02] [ 1.08973839e-01 9.84062568e-01 1.40518910e-01 -1.90990966e+02] [-7.50129675e-01 -1.13465010e-02 6.61193412e-01 -7.28427285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.76, Y:-190.99, Z:-728.45 [[ 6.52397820e-01 -1.76774681e-01 7.36972046e-01 3.26760841e+02] [ 1.08304012e-01 9.84182430e-01 1.40196950e-01 -1.90986255e+02] [-7.50098211e-01 -1.16471552e-02 6.61223879e-01 -7.28452805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.78, Y:-190.98, Z:-728.48 [[ 6.53056930e-01 -1.75603628e-01 7.36668183e-01 3.26780323e+02] [ 1.06985208e-01 9.84381701e-01 1.39809984e-01 -1.90981479e+02] [-7.49713820e-01 -1.24912798e-02 6.61644282e-01 -7.28477046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.80, Y:-190.98, Z:-728.50 [[ 6.53189458e-01 -1.74744635e-01 7.36754942e-01 3.26800213e+02] [ 1.06016037e-01 9.84527628e-01 1.39520426e-01 -1.90977332e+02] [-7.49736042e-01 -1.30254321e-02 6.61608801e-01 -7.28501350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.82, Y:-190.97, Z:-728.53 [[ 6.53810663e-01 -1.73805258e-01 7.36426065e-01 3.26821042e+02] [ 1.05021823e-01 9.84685551e-01 1.39157403e-01 -1.90972867e+02] [-7.49334394e-01 -1.36417858e-02 6.62051258e-01 -7.28526213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.84, Y:-190.97, Z:-728.55 [[ 6.54617570e-01 -1.72330461e-01 7.36055738e-01 3.26841044e+02] [ 1.03258821e-01 9.84927507e-01 1.38763911e-01 -1.90968128e+02] [-7.48874791e-01 -1.48330464e-02 6.62545491e-01 -7.28551258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.86, Y:-190.96, Z:-728.58 [[ 6.55252131e-01 -1.71408826e-01 7.35706231e-01 3.26861898e+02] [ 1.02298678e-01 9.85079252e-01 1.38397430e-01 -1.90963804e+02] [-7.48451485e-01 -1.54234365e-02 6.63010175e-01 -7.28576175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.88, Y:-190.96, Z:-728.60 [[ 6.55227188e-01 -1.70020464e-01 7.36050524e-01 3.26881250e+02] [ 1.00485935e-01 9.85301507e-01 1.38143102e-01 -1.90959051e+02] [-7.48718845e-01 -1.65523910e-02 6.62681001e-01 -7.28600529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.90, Y:-190.95, Z:-728.63 [[ 6.55235085e-01 -1.69228370e-01 7.36226013e-01 3.26902297e+02] [ 9.95854326e-02 9.85429785e-01 1.37879951e-01 -1.90954431e+02] [-7.48832241e-01 -1.70263952e-02 6.62540849e-01 -7.28625721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.92, Y:-190.95, Z:-728.65 [[ 6.55015025e-01 -1.68563280e-01 7.36574326e-01 3.26922550e+02] [ 9.88702080e-02 9.85538740e-01 1.37615672e-01 -1.90950297e+02] [-7.49119483e-01 -1.73150760e-02 6.62208569e-01 -7.28650067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.93, Y:-190.94, Z:-728.68 [[ 6.52179191e-01 -1.60813131e-01 7.40811339e-01 3.26934748e+02] [ 9.95658814e-02 9.86945644e-01 1.26589616e-01 -1.90940457e+02] [-7.51497796e-01 -8.79957969e-03 6.59676913e-01 -7.28678753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.97, Y:-190.95, Z:-728.69 [[ 6.53728731e-01 -1.81710249e-01 7.34588410e-01 3.26969755e+02] [ 1.00102093e-01 9.82976265e-01 1.54068926e-01 -1.90948692e+02] [-7.50078874e-01 -2.71854454e-02 6.60789402e-01 -7.28694366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.98, Y:-190.94, Z:-728.72 [[ 6.53138471e-01 -1.69234673e-01 7.38085200e-01 3.26984315e+02] [ 1.00562192e-01 9.85458036e-01 1.36966074e-01 -1.90937774e+02] [-7.50531400e-01 -1.52343469e-02 6.60659165e-01 -7.28723605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.00, Y:-190.93, Z:-728.75 [[ 6.52779626e-01 -1.69803844e-01 7.38271911e-01 3.27004719e+02] [ 1.01742297e-01 9.85376905e-01 1.36677946e-01 -1.90934557e+02] [-7.50684531e-01 -1.41070984e-02 6.60510201e-01 -7.28747769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.03, Y:-190.93, Z:-728.77 [[ 6.52352086e-01 -1.69858726e-01 7.38637103e-01 3.27025744e+02] [ 1.02077314e-01 9.85374399e-01 1.36446019e-01 -1.90930785e+02] [-7.51010638e-01 -1.36127538e-02 6.60149767e-01 -7.28773250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.05, Y:-190.93, Z:-728.80 [[ 6.52205481e-01 -1.69643078e-01 7.38816104e-01 3.27046909e+02] [ 1.02081554e-01 9.85414749e-01 1.36151123e-01 -1.90926929e+02] [-7.51137382e-01 -1.33790123e-02 6.60010330e-01 -7.28798520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.07, Y:-190.92, Z:-728.82 [[ 6.51727332e-01 -1.69258979e-01 7.39325966e-01 3.27067061e+02] [ 1.01756576e-01 9.85481231e-01 1.35912995e-01 -1.90923508e+02] [-7.51596358e-01 -1.33469347e-02 6.59488267e-01 -7.28823422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.09, Y:-190.92, Z:-728.85 [[ 6.51850696e-01 -1.69013577e-01 7.39273347e-01 3.27087944e+02] [ 1.01630966e-01 9.85523680e-01 1.35699016e-01 -1.90919497e+02] [-7.51506366e-01 -1.33224335e-02 6.59591309e-01 -7.28848606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.11, Y:-190.92, Z:-728.87 [[ 6.51867839e-01 -1.68689950e-01 7.39332145e-01 3.27109307e+02] [ 1.01505488e-01 9.85580742e-01 1.35378129e-01 -1.90915516e+02] [-7.51508454e-01 -1.32023778e-02 6.59591344e-01 -7.28874049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.13, Y:-190.91, Z:-728.90 [[ 6.51870790e-01 -1.68385124e-01 7.39399028e-01 3.27130240e+02] [ 1.01191484e-01 9.85630973e-01 1.35247433e-01 -1.90911902e+02] [-7.51548240e-01 -1.33429662e-02 6.59543182e-01 -7.28899044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.15, Y:-190.91, Z:-728.92 [[ 6.51735226e-01 -1.68168208e-01 7.39567880e-01 3.27150130e+02] [ 1.01203682e-01 9.85671252e-01 1.34944427e-01 -1.90908374e+02] [-7.51664161e-01 -1.31010443e-02 6.59415917e-01 -7.28923325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.17, Y:-190.90, Z:-728.95 [[ 6.51907089e-01 -1.67881852e-01 7.39481461e-01 3.27171337e+02] [ 1.01144998e-01 9.85721881e-01 1.34618214e-01 -1.90904564e+02] [-7.51523012e-01 -1.29637177e-02 6.59579491e-01 -7.28948660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.19, Y:-190.90, Z:-728.97 [[ 6.51489788e-01 -1.68173394e-01 7.39782918e-01 3.27191564e+02] [ 1.01889473e-01 9.85682575e-01 1.34344320e-01 -1.90900737e+02] [-7.51784272e-01 -1.21478615e-02 6.59297231e-01 -7.28974046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.21, Y:-190.90, Z:-729.00 [[ 6.51554086e-01 -1.67954133e-01 7.39776103e-01 3.27212330e+02] [ 1.01932077e-01 9.85722840e-01 1.34016175e-01 -1.90896986e+02] [-7.51722771e-01 -1.19118717e-02 6.59371658e-01 -7.28998960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.23, Y:-190.89, Z:-729.02 [[ 6.51305305e-01 -1.67913290e-01 7.40004410e-01 3.27233345e+02] [ 1.02188471e-01 9.85734919e-01 1.33731771e-01 -1.90893036e+02] [-7.51903529e-01 -1.14802924e-02 6.59173184e-01 -7.29024124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.25, Y:-190.89, Z:-729.05 [[ 6.51216070e-01 -1.67546819e-01 7.40165991e-01 3.27253906e+02] [ 1.01965891e-01 9.85797922e-01 1.33436933e-01 -1.90889464e+02] [-7.52011029e-01 -1.14245905e-02 6.59051508e-01 -7.29048305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.28, Y:-190.89, Z:-729.07 [[ 6.50872580e-01 -1.66962037e-01 7.40600137e-01 3.27275114e+02] [ 1.01323819e-01 9.85894322e-01 1.33213625e-01 -1.90885495e+02] [-7.52395088e-01 -1.16646613e-02 6.58608812e-01 -7.29073122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.30, Y:-190.88, Z:-729.10 [[ 6.50869383e-01 -1.66190486e-01 7.40776463e-01 3.27296170e+02] [ 1.00485030e-01 9.86019710e-01 1.32920619e-01 -1.90881588e+02] [-7.52510336e-01 -1.20770164e-02 6.58469696e-01 -7.29098113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.32, Y:-190.88, Z:-729.12 [[ 6.51076076e-01 -1.64616724e-01 7.40946205e-01 3.27317060e+02] [ 9.84297035e-02 9.86266309e-01 1.32628662e-01 -1.90877076e+02] [-7.52603174e-01 -1.34202338e-02 6.58337573e-01 -7.29123164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.34, Y:-190.87, Z:-729.15 [[ 6.51140195e-01 -1.63649173e-01 7.41104172e-01 3.27337296e+02] [ 9.72998438e-02 9.86418454e-01 1.32330552e-01 -1.90873019e+02] [-7.52694617e-01 -1.40564215e-02 6.58219743e-01 -7.29147900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.36, Y:-190.87, Z:-729.17 [[ 6.52029593e-01 -1.62073393e-01 7.40668364e-01 3.27357903e+02] [ 9.53638824e-02 9.86658497e-01 1.31949766e-01 -1.90868551e+02] [-7.52172281e-01 -1.54021412e-02 6.58786486e-01 -7.29173038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.38, Y:-190.86, Z:-729.20 [[ 6.52339147e-01 -1.61457851e-01 7.40530215e-01 3.27378589e+02] [ 9.48398150e-02 9.86756077e-01 1.31597320e-01 -1.90864420e+02] [-7.51970110e-01 -1.56143347e-02 6.59012250e-01 -7.29198093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.40, Y:-190.86, Z:-729.22 [[ 6.52872054e-01 -1.60606764e-01 7.40245600e-01 3.27399582e+02] [ 9.39967621e-02 9.86887362e-01 1.31217162e-01 -1.90860544e+02] [-7.51613391e-01 -1.60873286e-02 6.59407695e-01 -7.29223227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.42, Y:-190.86, Z:-729.25 [[ 6.53343532e-01 -1.59856374e-01 7.39992006e-01 3.27420199e+02] [ 9.33038755e-02 9.87003406e-01 1.30838308e-01 -1.90856867e+02] [-7.51289968e-01 -1.64382403e-02 6.59767511e-01 -7.29247478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.44, Y:-190.85, Z:-729.27 [[ 6.53827138e-01 -1.59219451e-01 7.39702130e-01 3.27441147e+02] [ 9.27649247e-02 9.87102118e-01 1.30476348e-01 -1.90853454e+02] [-7.50935911e-01 -1.66905648e-02 6.60164133e-01 -7.29272079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.46, Y:-190.85, Z:-729.30 [[ 6.53949864e-01 -1.58811659e-01 7.39681305e-01 3.27461613e+02] [ 9.25342414e-02 9.87168354e-01 1.30138601e-01 -1.90849940e+02] [-7.50857503e-01 -1.66582717e-02 6.60254127e-01 -7.29295992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.48, Y:-190.84, Z:-729.32 [[ 6.51781885e-01 -1.52527705e-01 7.42910274e-01 3.27476530e+02] [ 9.26786483e-02 9.88244511e-01 1.21587231e-01 -1.90842274e+02] [-7.52722421e-01 -1.03964344e-02 6.58255931e-01 -7.29324180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.51, Y:-190.85, Z:-729.34 [[ 6.53045857e-01 -1.65363408e-01 7.39044012e-01 3.27506051e+02] [ 9.20254796e-02 9.85965506e-01 1.39295842e-01 -1.90846409e+02] [-7.51706339e-01 -2.29556927e-02 6.59098336e-01 -7.29341770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.52, Y:-190.84, Z:-729.37 [[ 6.52380187e-01 -1.57874000e-01 7.41266411e-01 3.27523644e+02] [ 9.14647117e-02 9.87315213e-01 1.29780110e-01 -1.90838563e+02] [-7.52352509e-01 -1.68662538e-02 6.58544783e-01 -7.29368847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.54, Y:-190.83, Z:-729.39 [[ 6.51581020e-01 -1.57804545e-01 7.41983760e-01 3.27544734e+02] [ 9.15674152e-02 9.87332729e-01 1.29574268e-01 -1.90834535e+02] [-7.53032259e-01 -1.64865985e-02 6.57777021e-01 -7.29393904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.57, Y:-190.83, Z:-729.42 [[ 6.51297484e-01 -1.57704710e-01 7.42253873e-01 3.27565430e+02] [ 9.17295493e-02 9.87354722e-01 1.29291700e-01 -1.90830836e+02] [-7.53257776e-01 -1.61207459e-02 6.57527828e-01 -7.29418496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.59, Y:-190.83, Z:-729.44 [[ 6.51177795e-01 -1.58026248e-01 7.42290498e-01 3.27585600e+02] [ 9.25594859e-02 9.87316518e-01 1.28991605e-01 -1.90827064e+02] [-7.53259730e-01 -1.52904422e-02 6.57545422e-01 -7.29442495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.61, Y:-190.82, Z:-729.47 [[ 6.51153850e-01 -1.58121731e-01 7.42291170e-01 3.27606469e+02] [ 9.30508935e-02 9.87309819e-01 1.28688976e-01 -1.90823164e+02] [-7.53219885e-01 -1.47254653e-02 6.57603958e-01 -7.29467879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.63, Y:-190.82, Z:-729.49 [[ 6.51351338e-01 -1.58101414e-01 7.42122212e-01 3.27627759e+02] [ 9.34229706e-02 9.87319840e-01 1.28342050e-01 -1.90819484e+02] [-7.53003044e-01 -1.42645040e-02 6.57862402e-01 -7.29493314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.65, Y:-190.82, Z:-729.52 [[ 6.51509728e-01 -1.58124926e-01 7.41978155e-01 3.27647946e+02] [ 9.38674197e-02 9.87323536e-01 1.27988841e-01 -1.90816028e+02] [-7.52810721e-01 -1.37384002e-02 6.58093667e-01 -7.29517709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.67, Y:-190.81, Z:-729.54 [[ 6.52143036e-01 -1.58188111e-01 7.41408108e-01 3.27668760e+02] [ 9.43243137e-02 9.87318901e-01 1.27688335e-01 -1.90812697e+02] [-7.52205015e-01 -1.33382478e-02 6.58794131e-01 -7.29542671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.69, Y:-190.81, Z:-729.57 [[ 6.52605569e-01 -1.57940865e-01 7.41053746e-01 3.27689062e+02] [ 9.44027320e-02 9.87361409e-01 1.27301112e-01 -1.90808652e+02] [-7.51793918e-01 -1.31199163e-02 6.59267603e-01 -7.29567236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.71, Y:-190.80, Z:-729.60 [[ 6.51948195e-01 -1.53701043e-01 7.42522417e-01 3.27705543e+02] [ 9.48208900e-02 9.88079453e-01 1.21276519e-01 -1.90801328e+02] [-7.52311471e-01 -8.65937142e-03 6.58750685e-01 -7.29595036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.73, Y:-190.80, Z:-729.62 [[ 6.54473311e-01 -1.63830571e-01 7.38122096e-01 3.27732693e+02] [ 9.37117041e-02 9.86291352e-01 1.35821522e-01 -1.90803877e+02] [-7.50255158e-01 -1.97208816e-02 6.60854209e-01 -7.29615700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.75, Y:-190.80, Z:-729.64 [[ 6.54718719e-01 -1.56361002e-01 7.39523249e-01 3.27749762e+02] [ 9.32409784e-02 9.87604754e-01 1.26265476e-01 -1.90795848e+02] [-7.50099673e-01 -1.37144994e-02 6.61182572e-01 -7.29643622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.77, Y:-190.79, Z:-729.67 [[ 6.54652581e-01 -1.56331135e-01 7.39588111e-01 3.27769539e+02] [ 9.35496549e-02 9.87615601e-01 1.25951923e-01 -1.90792029e+02] [-7.50118964e-01 -1.32665389e-02 6.61169826e-01 -7.29667888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.79, Y:-190.79, Z:-729.69 [[ 6.54212950e-01 -1.56579719e-01 7.39924461e-01 3.27790115e+02] [ 9.41922213e-02 9.87585657e-01 1.25707581e-01 -1.90788417e+02] [-7.50422043e-01 -1.25443987e-02 6.60839917e-01 -7.29692910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.81, Y:-190.79, Z:-729.72 [[ 6.53759379e-01 -1.56941221e-01 7.40248694e-01 3.27810570e+02] [ 9.50430002e-02 9.87539272e-01 1.25431314e-01 -1.90785346e+02] [-7.50709999e-01 -1.16464409e-02 6.60529225e-01 -7.29717561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.83, Y:-190.78, Z:-729.74 [[ 6.53151036e-01 -1.57899973e-01 7.40581746e-01 3.27830874e+02] [ 9.66511881e-02 9.87401900e-01 1.25283820e-01 -1.90782444e+02] [-7.51034135e-01 -1.02511512e-02 6.60183794e-01 -7.29741860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.85, Y:-190.78, Z:-729.77 [[ 6.51469971e-01 -1.60454451e-01 7.41512809e-01 3.27851930e+02] [ 1.00663074e-01 9.87019255e-01 1.25139662e-01 -1.90780692e+02] [-7.51966636e-01 -6.88177370e-03 6.59165244e-01 -7.29767102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.87, Y:-190.78, Z:-729.79 [[ 6.50351955e-01 -1.61587222e-01 7.42247873e-01 3.27872719e+02] [ 1.02596048e-01 9.86845232e-01 1.24942141e-01 -1.90778439e+02] [-7.52672828e-01 -5.10466724e-03 6.58374936e-01 -7.29791485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.89, Y:-190.78, Z:-729.82 [[ 6.48623304e-01 -1.64134289e-01 7.43201012e-01 3.27894080e+02] [ 1.06501559e-01 9.86436244e-01 1.24903783e-01 -1.90776260e+02] [-7.53621408e-01 -1.86343837e-03 6.57306094e-01 -7.29816540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.92, Y:-190.77, Z:-729.84 [[ 6.48228045e-01 -1.64700290e-01 7.43420619e-01 3.27915425e+02] [ 1.07684032e-01 9.86343390e-01 1.24622899e-01 -1.90772487e+02] [-7.53793440e-01 -7.29528302e-04 6.57111039e-01 -7.29841834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.94, Y:-190.77, Z:-729.87 [[ 6.47797119e-01 -1.65087121e-01 7.43710384e-01 3.27936203e+02] [ 1.08592092e-01 9.86278966e-01 1.24344521e-01 -1.90768643e+02] [-7.54033587e-01 2.11044191e-04 6.56835828e-01 -7.29867627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.96, Y:-190.76, Z:-729.89 [[ 6.47505466e-01 -1.66128342e-01 7.43732509e-01 3.27956156e+02] [ 1.10548756e-01 9.86102282e-01 1.24021220e-01 -1.90764483e+02] [-7.53999764e-01 1.91428536e-03 6.56871899e-01 -7.29892693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.98, Y:-190.76, Z:-729.92 [[ 6.47729164e-01 -1.66387573e-01 7.43479727e-01 3.27976951e+02] [ 1.11338596e-01 9.86056818e-01 1.23675659e-01 -1.90760859e+02] [-7.53691347e-01 2.66965748e-03 6.57223118e-01 -7.29917562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.00, Y:-190.76, Z:-729.94 [[ 6.47742493e-01 -1.66689841e-01 7.43400403e-01 3.27996891e+02] [ 1.12191938e-01 9.86003111e-01 1.23332212e-01 -1.90757519e+02] [-7.53553337e-01 3.51601734e-03 6.57377370e-01 -7.29941779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.02, Y:-190.75, Z:-729.97 [[ 6.47860443e-01 -1.67094891e-01 7.43206663e-01 3.28017690e+02] [ 1.13194612e-01 9.85930802e-01 1.22993634e-01 -1.90754044e+02] [-7.53301949e-01 4.44427996e-03 6.57659807e-01 -7.29966484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.04, Y:-190.75, Z:-729.99 [[ 6.47670829e-01 -1.66985253e-01 7.43396545e-01 3.28038341e+02] [ 1.13367162e-01 9.85947670e-01 1.22699141e-01 -1.90749683e+02] [-7.53439038e-01 4.80810157e-03 6.57500189e-01 -7.29991158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.06, Y:-190.75, Z:-730.02 [[ 6.47566831e-01 -1.66615483e-01 7.43570091e-01 3.28059271e+02] [ 1.13146892e-01 9.86009924e-01 1.22401838e-01 -1.90745443e+02] [-7.53561531e-01 4.86927442e-03 6.57359346e-01 -7.30016811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.08, Y:-190.74, Z:-730.04 [[ 6.47735526e-01 -1.66181286e-01 7.43520321e-01 3.28079347e+02] [ 1.12866287e-01 9.86083293e-01 1.22069409e-01 -1.90739749e+02] [-7.53458618e-01 4.84968529e-03 6.57477446e-01 -7.30041864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.10, Y:-190.74, Z:-730.07 [[ 6.47698479e-01 -1.65707464e-01 7.43658334e-01 3.28099071e+02] [ 1.12494614e-01 9.86163319e-01 1.21765639e-01 -1.90735287e+02] [-7.53546046e-01 4.79013821e-03 6.57377678e-01 -7.30066007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.12, Y:-190.73, Z:-730.09 [[ 6.47440652e-01 -1.64990613e-01 7.44042136e-01 3.28120042e+02] [ 1.11566607e-01 9.86285918e-01 1.21626393e-01 -1.90729905e+02] [-7.53905494e-01 4.26438503e-03 6.56969041e-01 -7.30091381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.14, Y:-190.73, Z:-730.12 [[ 6.47328797e-01 -1.64275664e-01 7.44297612e-01 3.28140550e+02] [ 1.10791190e-01 9.86406740e-01 1.21355078e-01 -1.90725504e+02] [-7.54115867e-01 3.90498180e-03 6.56729785e-01 -7.30116156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.16, Y:-190.72, Z:-730.14 [[ 6.47119584e-01 -1.63648309e-01 7.44617671e-01 3.28160510e+02] [ 1.10154887e-01 9.86511915e-01 1.21079079e-01 -1.90721079e+02] [-7.54388591e-01 3.67063239e-03 6.56417840e-01 -7.30140417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.18, Y:-190.72, Z:-730.17 [[ 6.46871359e-01 -1.62523324e-01 7.45079602e-01 3.28180631e+02] [ 1.08708055e-01 9.86700665e-01 1.20848489e-01 -1.90715021e+02] [-7.54811237e-01 2.82272830e-03 6.55935995e-01 -7.30166364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.20, Y:-190.71, Z:-730.19 [[ 6.47012731e-01 -1.61622691e-01 7.45152758e-01 3.28200910e+02] [ 1.07695425e-01 9.86850034e-01 1.20535079e-01 -1.90710262e+02] [-7.54835228e-01 2.26181268e-03 6.55910560e-01 -7.30191472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.22, Y:-190.70, Z:-730.22 [[ 6.47179459e-01 -1.59941435e-01 7.45370703e-01 3.28220932e+02] [ 1.05464118e-01 9.87126190e-01 1.20246433e-01 -1.90704083e+02] [-7.55007329e-01 7.88841657e-04 6.55715876e-01 -7.30216443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.24, Y:-190.70, Z:-730.24 [[ 6.47366913e-01 -1.58717666e-01 7.45469505e-01 3.28240986e+02] [ 1.03953509e-01 9.87324000e-01 1.19937433e-01 -1.90699273e+02] [-7.55056123e-01 -1.49355176e-04 6.55660148e-01 -7.30241247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.26, Y:-190.69, Z:-730.27 [[ 6.47582818e-01 -1.57563096e-01 7.45526904e-01 3.28261590e+02] [ 1.02414147e-01 9.87508202e-01 1.19745119e-01 -1.90694522e+02] [-7.55081344e-01 -1.19237995e-03 6.55630035e-01 -7.30266298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.28, Y:-190.69, Z:-730.29 [[ 6.47693463e-01 -1.56393151e-01 7.45677115e-01 3.28281768e+02] [ 1.00974609e-01 9.87692715e-01 1.19445508e-01 -1.90689935e+02] [-7.55180314e-01 -2.06961976e-03 6.55513852e-01 -7.30290870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.30, Y:-190.68, Z:-730.32 [[ 6.47668087e-01 -1.54718984e-01 7.46048313e-01 3.28302109e+02] [ 9.86976816e-02 9.87952065e-01 1.19203541e-01 -1.90684427e+02] [-7.55503022e-01 -3.57109076e-03 6.55135429e-01 -7.30315787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.32, Y:-190.68, Z:-730.34 [[ 6.47613298e-01 -1.53662675e-01 7.46314142e-01 3.28322609e+02] [ 9.74122933e-02 9.88113950e-01 1.18918738e-01 -1.90679894e+02] [-7.55716786e-01 -4.31318390e-03 6.54884368e-01 -7.30340363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.34, Y:-190.68, Z:-730.37 [[ 6.47108053e-01 -1.52931467e-01 7.46902359e-01 3.28343227e+02] [ 9.64160021e-02 9.88224801e-01 1.18809502e-01 -1.90675238e+02] [-7.56277146e-01 -4.86924603e-03 6.54233268e-01 -7.30365889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.36, Y:-190.67, Z:-730.39 [[ 6.46913016e-01 -1.51800759e-01 7.47301866e-01 3.28363541e+02] [ 9.49869008e-02 9.88394643e-01 1.18547535e-01 -1.90669768e+02] [-7.56624767e-01 -5.70605533e-03 6.53824443e-01 -7.30390940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.38, Y:-190.67, Z:-730.42 [[ 6.46871321e-01 -1.51120524e-01 7.47475807e-01 3.28384294e+02] [ 9.42931777e-02 9.88497083e-01 1.18246831e-01 -1.90665724e+02] [-7.56747178e-01 -6.00861460e-03 6.53680048e-01 -7.30415837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.41, Y:-190.66, Z:-730.44 [[ 6.46934292e-01 -1.50521780e-01 7.47542117e-01 3.28405208e+02] [ 9.37460602e-02 9.88587172e-01 1.17928285e-01 -1.90661775e+02] [-7.56761322e-01 -6.21272304e-03 6.53661765e-01 -7.30440644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.43, Y:-190.66, Z:-730.47 [[ 6.46950854e-01 -1.50200283e-01 7.47592447e-01 3.28426676e+02] [ 9.36241465e-02 9.88636806e-01 1.17608608e-01 -1.90658326e+02] [-7.56762256e-01 -6.09428441e-03 6.53661800e-01 -7.30466083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.45, Y:-190.65, Z:-730.49 [[ 6.46835780e-01 -1.49653799e-01 7.47801587e-01 3.28447236e+02] [ 9.29140989e-02 9.88716958e-01 1.17497859e-01 -1.90654612e+02] [-7.56948112e-01 -6.52050882e-03 6.53442453e-01 -7.30490099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.47, Y:-190.65, Z:-730.52 [[ 6.46921025e-01 -1.49080822e-01 7.47842294e-01 3.28469037e+02] [ 9.23834581e-02 9.88802108e-01 1.17199348e-01 -1.90651166e+02] [-7.56940212e-01 -6.73046510e-03 6.53449475e-01 -7.30515135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.49, Y:-190.65, Z:-730.54 [[ 6.47687829e-01 -1.48012815e-01 7.47390583e-01 3.28490573e+02] [ 9.12202195e-02 9.88957205e-01 1.16801195e-01 -1.90647616e+02] [-7.56425375e-01 -7.47357974e-03 6.54037306e-01 -7.30539455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.51, Y:-190.64, Z:-730.56 [[ 6.47891999e-01 -1.47218535e-01 7.47370497e-01 3.28511440e+02] [ 9.03873502e-02 9.89072368e-01 1.16473081e-01 -1.90643791e+02] [-7.56350504e-01 -7.90913828e-03 6.54118767e-01 -7.30564449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.53, Y:-190.64, Z:-730.59 [[ 6.48166507e-01 -1.46300523e-01 7.47312743e-01 3.28532252e+02] [ 8.93726236e-02 9.89203771e-01 1.16139714e-01 -1.90640001e+02] [-7.56235885e-01 -8.48857226e-03 6.54244014e-01 -7.30589290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.55, Y:-190.64, Z:-730.61 [[ 6.48543891e-01 -1.45316193e-01 7.47177372e-01 3.28553242e+02] [ 8.82813134e-02 9.89343130e-01 1.15786791e-01 -1.90635984e+02] [-7.56040496e-01 -9.13101619e-03 6.54461147e-01 -7.30614412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.57, Y:-190.63, Z:-730.64 [[ 6.49436148e-01 -1.43486272e-01 7.46755904e-01 3.28573704e+02] [ 8.59630508e-02 9.89593998e-01 1.15386621e-01 -1.90631755e+02] [-7.55541557e-01 -1.07428271e-02 6.55012632e-01 -7.30638932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.59, Y:-190.63, Z:-730.66 [[ 6.49956817e-01 -1.42548317e-01 7.46482494e-01 3.28594938e+02] [ 8.49485788e-02 9.89722720e-01 1.15033375e-01 -1.90627961e+02] [-7.55208498e-01 -1.13540990e-02 6.55386305e-01 -7.30664282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.62, Y:-190.62, Z:-730.69 [[ 6.51016482e-01 -1.41058034e-01 7.45841922e-01 3.28615091e+02] [ 8.31955866e-02 9.89921693e-01 1.14601643e-01 -1.90624382e+02] [-7.54490580e-01 -1.25568021e-02 6.56190743e-01 -7.30688253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.64, Y:-190.62, Z:-730.71 [[ 6.51431225e-01 -1.40256613e-01 7.45630902e-01 3.28636063e+02] [ 8.22572136e-02 9.90027639e-01 1.14363563e-01 -1.90621078e+02] [-7.54235447e-01 -1.31664753e-02 6.56472036e-01 -7.30712372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.66, Y:-190.62, Z:-730.74 [[ 6.51477599e-01 -1.39714045e-01 7.45692245e-01 3.28656907e+02] [ 8.17711965e-02 9.90102083e-01 1.14067250e-01 -1.90617805e+02] [-7.54248241e-01 -1.33361113e-02 6.56453912e-01 -7.30737029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:-190.61, Z:-730.76 [[ 6.51232031e-01 -1.39199116e-01 7.46002981e-01 3.28678162e+02] [ 8.12990937e-02 9.90173021e-01 1.13788600e-01 -1.90614859e+02] [-7.54511298e-01 -1.34534149e-02 6.56149150e-01 -7.30761422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.70, Y:-190.61, Z:-730.79 [[ 6.50849508e-01 -1.38761020e-01 7.46418313e-01 3.28698914e+02] [ 8.09265807e-02 9.90234140e-01 1.13521966e-01 -1.90612204e+02] [-7.54881320e-01 -1.34806338e-02 6.55722857e-01 -7.30785153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.72, Y:-190.61, Z:-730.81 [[ 6.50113762e-01 -1.38885439e-01 7.47036098e-01 3.28720880e+02] [ 8.13423314e-02 9.90224456e-01 1.13309101e-01 -1.90609925e+02] [-7.55470397e-01 -1.28981483e-02 6.55055812e-01 -7.30809930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.74, Y:-190.61, Z:-730.83 [[ 6.49864341e-01 -1.38827047e-01 7.47263936e-01 3.28741792e+02] [ 8.15840432e-02 9.90237994e-01 1.13016635e-01 -1.90607073e+02] [-7.55658906e-01 -1.24806680e-02 6.54846433e-01 -7.30834826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.76, Y:-190.60, Z:-730.86 [[ 6.50056351e-01 -1.38924478e-01 7.47078798e-01 3.28763154e+02] [ 8.21466966e-02 9.90231878e-01 1.12662098e-01 -1.90604238e+02] [-7.55432764e-01 -1.18666568e-02 6.55118708e-01 -7.30859833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.78, Y:-190.60, Z:-730.88 [[ 6.50196570e-01 -1.38957731e-01 7.46950580e-01 3.28783943e+02] [ 8.26078531e-02 9.90233624e-01 1.12309003e-01 -1.90601668e+02] [-7.55261785e-01 -1.13189448e-02 6.55325506e-01 -7.30884488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.81, Y:-190.60, Z:-730.91 [[ 6.50392570e-01 -1.40252684e-01 7.46537802e-01 3.28805005e+02] [ 8.50172995e-02 9.90071739e-01 1.11937531e-01 -1.90600297e+02] [-7.54825519e-01 -9.33471087e-03 6.55859207e-01 -7.30909364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.81, Y:-190.59, Z:-730.94 [[ 6.46560664e-01 -1.29482589e-01 7.51793567e-01 3.28813260e+02] [ 8.86381917e-02 9.91566406e-01 9.45480523e-02 -1.90587886e+02] [-7.57695571e-01 5.50657082e-03 6.52584936e-01 -7.30940184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.86, Y:-190.61, Z:-730.95 [[ 6.50480921e-01 -1.63826022e-01 7.41643854e-01 3.28856387e+02] [ 9.01103965e-02 9.86210084e-01 1.38815661e-01 -1.90608927e+02] [-7.54158265e-01 -2.34671170e-02 6.56273271e-01 -7.30950501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.87, Y:-190.59, Z:-730.98 [[ 6.50438921e-01 -1.43721979e-01 7.45837249e-01 3.28868094e+02] [ 9.15643480e-02 9.89610788e-01 1.10844296e-01 -1.90594611e+02] [-7.54019350e-01 -3.80534306e-03 6.56841183e-01 -7.30981692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.89, Y:-190.59, Z:-731.01 [[ 6.50583908e-01 -1.44482801e-01 7.45563746e-01 3.28889646e+02] [ 9.31465339e-02 9.89504335e-01 1.10475760e-01 -1.90592377e+02] [-7.53700406e-01 -2.42707302e-03 6.57213670e-01 -7.31006391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.91, Y:-190.59, Z:-731.03 [[ 6.51013862e-01 -1.46320815e-01 7.44829625e-01 3.28911448e+02] [ 9.64398489e-02 9.89237172e-01 1.10041690e-01 -1.90590590e+02] [-7.52914542e-01 1.92590925e-04 6.58118269e-01 -7.31031477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.93, Y:-190.59, Z:-731.06 [[ 6.51147853e-01 -1.46812259e-01 7.44615763e-01 3.28932520e+02] [ 9.75944046e-02 9.89163586e-01 1.09684696e-01 -1.90588121e+02] [-7.52649856e-01 1.24937799e-03 6.58419800e-01 -7.31056249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.95, Y:-190.59, Z:-731.08 [[ 6.50962149e-01 -1.47449611e-01 7.44652196e-01 3.28953955e+02] [ 9.89260909e-02 9.89066480e-01 1.09366933e-01 -1.90585728e+02] [-7.52636638e-01 2.47179686e-03 6.58431455e-01 -7.31081282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.95, Y:-190.57, Z:-731.12 [[ 6.44248593e-01 -1.28459998e-01 7.53950780e-01 3.28952774e+02] [ 1.03620028e-01 9.91364639e-01 8.03681672e-02 -1.90566514e+02] [-7.57764238e-01 2.63473225e-02 6.51996303e-01 -7.31116576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.01, Y:-190.60, Z:-731.12 [[ 6.50128472e-01 -1.85180125e-01 7.36913355e-01 3.29012920e+02] [ 1.02486765e-01 9.82355735e-01 1.56440636e-01 -1.90602659e+02] [-7.52880757e-01 -2.61826462e-02 6.57635944e-01 -7.31117386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.02, Y:-190.58, Z:-731.15 [[ 6.50396562e-01 -1.49459407e-01 7.44745727e-01 3.29017854e+02] [ 1.02767291e-01 9.88750552e-01 1.08679480e-01 -1.90579217e+02] [-7.52610919e-01 5.85074075e-03 6.58439498e-01 -7.31153898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:-190.58, Z:-731.18 [[ 6.50334699e-01 -1.49612969e-01 7.44768916e-01 3.29038736e+02] [ 1.03369634e-01 9.88723153e-01 1.08357029e-01 -1.90577400e+02] [-7.52581888e-01 6.51815467e-03 6.58466412e-01 -7.31177960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.06, Y:-190.57, Z:-731.20 [[ 6.50658585e-01 -1.49037122e-01 7.44601466e-01 3.29059853e+02] [ 1.02750208e-01 9.88812467e-01 1.08130943e-01 -1.90574967e+02] [-7.52386737e-01 6.15162909e-03 6.58692915e-01 -7.31201927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.08, Y:-190.57, Z:-731.23 [[ 6.50807553e-01 -1.48340994e-01 7.44610286e-01 3.29081456e+02] [ 1.01918677e-01 9.88920154e-01 1.07932908e-01 -1.90571915e+02] [-7.52370994e-01 5.64614393e-03 6.58715423e-01 -7.31226804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.10, Y:-190.57, Z:-731.25 [[ 6.52199212e-01 -1.45915755e-01 7.43871481e-01 3.29103094e+02] [ 9.87176638e-02 9.89291452e-01 1.07504628e-01 -1.90569048e+02] [-7.51592317e-01 3.31882097e-03 6.59619568e-01 -7.31251702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.12, Y:-190.57, Z:-731.28 [[ 6.52728330e-01 -1.44153367e-01 7.43750990e-01 3.29123452e+02] [ 9.64340530e-02 9.89553767e-01 1.07162572e-01 -1.90566129e+02] [-7.51429439e-01 1.77487591e-03 6.59811071e-01 -7.31275992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:-190.56, Z:-731.30 [[ 6.54237890e-01 -1.40771173e-01 7.43072178e-01 3.29144417e+02] [ 9.17656003e-02 9.90040768e-01 1.06763070e-01 -1.90562263e+02] [-7.50700912e-01 -1.65998152e-03 6.60640133e-01 -7.31301111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.17, Y:-190.56, Z:-731.33 [[ 6.54993916e-01 -1.38627412e-01 7.42809135e-01 3.29165760e+02] [ 8.89352182e-02 9.90337953e-01 1.06401438e-01 -1.90558835e+02] [-7.50382234e-01 -3.63040215e-03 6.60994193e-01 -7.31326165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.19, Y:-190.56, Z:-731.35 [[ 6.55093646e-01 -1.36659185e-01 7.43085851e-01 3.29187135e+02] [ 8.62787834e-02 9.90603382e-01 1.06117440e-01 -1.90555645e+02] [-7.50605280e-01 -5.40431772e-03 6.60728770e-01 -7.31351615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.21, Y:-190.55, Z:-731.38 [[ 6.55207174e-01 -1.33450640e-01 7.43568750e-01 3.29208484e+02] [ 8.17089880e-02 9.91018101e-01 1.05862013e-01 -1.90552288e+02] [-7.51017444e-01 -8.60530052e-03 6.60226286e-01 -7.31376405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.23, Y:-190.55, Z:-731.40 [[ 6.55293595e-01 -1.31631302e-01 7.43816849e-01 3.29229496e+02] [ 7.92837979e-02 9.91246196e-01 1.05570158e-01 -1.90549372e+02] [-7.51201960e-01 -1.02068238e-02 6.59993513e-01 -7.31400853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:-190.54, Z:-731.43 [[ 6.50986736e-01 -1.13240182e-01 7.50595051e-01 3.29236241e+02] [ 7.70084689e-02 9.93560751e-01 8.31067410e-02 -1.90535829e+02] [-7.55172805e-01 3.70078954e-03 6.55515323e-01 -7.31434765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.28, Y:-190.56, Z:-731.44 [[ 6.55291319e-01 -1.49182398e-01 7.40498413e-01 3.29280542e+02] [ 7.44325849e-02 9.88285592e-01 1.33234301e-01 -1.90557049e+02] [-7.51700125e-01 -3.21900696e-02 6.58719000e-01 -7.31441609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.29, Y:-190.54, Z:-731.47 [[ 6.55000843e-01 -1.26730744e-01 7.44924972e-01 3.29292326e+02] [ 7.24204545e-02 9.91825775e-01 1.05056700e-01 -1.90542168e+02] [-7.52149701e-01 -1.48644223e-02 6.58824617e-01 -7.31473575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.31, Y:-190.54, Z:-731.50 [[ 6.55402164e-01 -1.24744356e-01 7.44907276e-01 3.29313101e+02] [ 6.97820057e-02 9.92049005e-01 1.04734158e-01 -1.90539223e+02] [-7.52049517e-01 -1.66618700e-02 6.58895976e-01 -7.31499508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.33, Y:-190.54, Z:-731.52 [[ 6.56149957e-01 -1.23377652e-01 7.44476453e-01 3.29333633e+02] [ 6.81694601e-02 9.92201594e-01 1.04349996e-01 -1.90536759e+02] [-7.51545181e-01 -1.77186875e-02 6.59443621e-01 -7.31523779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:-190.53, Z:-731.55 [[ 6.56614431e-01 -1.22220594e-01 7.44257761e-01 3.29354868e+02] [ 6.68074444e-02 9.92329073e-01 1.04018152e-01 -1.90533988e+02] [-7.51261775e-01 -1.85778606e-02 6.59742835e-01 -7.31549330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.38, Y:-190.53, Z:-731.57 [[ 6.57966525e-01 -1.20027140e-01 7.43420162e-01 3.29375699e+02] [ 6.40314262e-02 9.92557903e-01 1.03579853e-01 -1.90531993e+02] [-7.50319951e-01 -2.05498230e-02 6.60755383e-01 -7.31574656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.40, Y:-190.53, Z:-731.60 [[ 6.58617201e-01 -1.18812250e-01 7.43039051e-01 3.29396207e+02] [ 6.26473268e-02 9.92685651e-01 1.03201317e-01 -1.90529504e+02] [-7.49865784e-01 -2.14207523e-02 6.61243115e-01 -7.31599230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.42, Y:-190.53, Z:-731.62 [[ 6.59278725e-01 -1.17767426e-01 7.42618608e-01 3.29416711e+02] [ 6.15027327e-02 9.92794642e-01 1.02840712e-01 -1.90526947e+02] [-7.49379061e-01 -2.21276194e-02 6.61771404e-01 -7.31624302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.44, Y:-190.53, Z:-731.65 [[ 6.60006749e-01 -1.16353572e-01 7.42194677e-01 3.29436946e+02] [ 5.98372116e-02 9.92936680e-01 1.02451241e-01 -1.90525506e+02] [-7.48872887e-01 -2.32076508e-02 6.62307183e-01 -7.31649009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.46, Y:-190.52, Z:-731.67 [[ 6.60631465e-01 -1.15998910e-01 7.41694223e-01 3.29458425e+02] [ 5.97548434e-02 9.92980352e-01 1.02075365e-01 -1.90523321e+02] [-7.48328422e-01 -2.31143761e-02 6.62925561e-01 -7.31673623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:-190.52, Z:-731.70 [[ 6.60611778e-01 -1.15855441e-01 7.41734181e-01 3.29479838e+02] [ 5.98967878e-02 9.93004502e-01 1.01756738e-01 -1.90521309e+02] [-7.48334453e-01 -2.27942050e-02 6.62929838e-01 -7.31698658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.50, Y:-190.52, Z:-731.72 [[ 6.60373110e-01 -1.17204116e-01 7.41734825e-01 3.29500756e+02] [ 6.22939879e-02 9.92890514e-01 1.01429215e-01 -1.90520498e+02] [-7.48349394e-01 -2.07755058e-02 6.62979309e-01 -7.31722326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.52, Y:-190.52, Z:-731.75 [[ 6.60116007e-01 -1.18264270e-01 7.41795403e-01 3.29521666e+02] [ 6.42204280e-02 9.92798046e-01 1.01132473e-01 -1.90518730e+02] [-7.48413384e-01 -1.91207462e-02 6.62956864e-01 -7.31746430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:329.53, Y:-190.51, Z:-731.78 [[ 6.56468228e-01 -1.08124552e-01 7.46564497e-01 3.29532182e+02] [ 6.95263124e-02 9.94134265e-01 8.28441583e-02 -1.90509333e+02] [-7.51142835e-01 -2.47868140e-03 6.60135060e-01 -7.31779284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.57, Y:-190.53, Z:-731.79 [[ 6.58924053e-01 -1.38075786e-01 7.39428273e-01 3.29570991e+02] [ 7.15877334e-02 9.90057641e-01 1.21082883e-01 -1.90525887e+02] [-7.48795225e-01 -2.68504300e-02 6.62257326e-01 -7.31788980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.59, Y:-190.52, Z:-731.82 [[ 6.58061424e-01 -1.24082988e-01 7.42669896e-01 3.29585803e+02] [ 7.34962690e-02 9.92203439e-01 1.00651054e-01 -1.90515573e+02] [-7.49368708e-01 -1.16511098e-02 6.62050444e-01 -7.31818841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.61, Y:-190.51, Z:-731.84 [[ 6.57058158e-01 -1.26407601e-01 7.43165995e-01 3.29607177e+02] [ 7.72836446e-02 9.91941712e-01 1.00393618e-01 -1.90514613e+02] [-7.49867866e-01 -8.52986876e-03 6.61532634e-01 -7.31842717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.63, Y:-190.51, Z:-731.87 [[ 6.56765547e-01 -1.26168040e-01 7.43465294e-01 3.29627333e+02] [ 7.85798208e-02 9.91987258e-01 9.89267018e-02 -1.90510781e+02] [-7.49989486e-01 -6.55027985e-03 6.61417315e-01 -7.31867614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.65, Y:-190.51, Z:-731.89 [[ 6.56245593e-01 -1.26965122e-01 7.43788666e-01 3.29648012e+02] [ 7.88848992e-02 9.91884121e-01 9.97149115e-02 -1.90507609e+02] [-7.50412483e-01 -6.76377739e-03 6.60935214e-01 -7.31891446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.67, Y:-190.50, Z:-731.92 [[ 6.56873604e-01 -1.27491283e-01 7.43144025e-01 3.29668663e+02] [ 7.96620448e-02 9.91819584e-01 9.97390206e-02 -1.90503967e+02] [-7.49780653e-01 -6.31555730e-03 6.61656321e-01 -7.31916770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.69, Y:-190.50, Z:-731.94 [[ 6.57601733e-01 -1.27138061e-01 7.42560351e-01 3.29689982e+02] [ 7.95837290e-02 9.91865443e-01 9.93447213e-02 -1.90500731e+02] [-7.49150447e-01 -6.23353913e-03 6.62370555e-01 -7.31941921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.71, Y:-190.50, Z:-731.97 [[ 6.58374704e-01 -1.26923952e-01 7.41911760e-01 3.29710297e+02] [ 7.97361707e-02 9.91894442e-01 9.89320952e-02 -1.90497246e+02] [-7.48455004e-01 -5.97718610e-03 6.63158639e-01 -7.31966091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.73, Y:-190.49, Z:-731.99 [[ 6.56763236e-01 -1.23045081e-01 7.43990564e-01 3.29726691e+02] [ 8.06624880e-02 9.92400562e-01 9.29230216e-02 -1.90490855e+02] [-7.49770375e-01 -1.01629444e-03 6.61697327e-01 -7.31994323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.75, Y:-190.49, Z:-732.02 [[ 6.56889043e-01 -1.28726451e-01 7.42917415e-01 3.29751089e+02] [ 8.06090962e-02 9.91660974e-01 1.00551911e-01 -1.90491496e+02] [-7.49665898e-01 -6.16554703e-03 6.61787751e-01 -7.32017777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.78, Y:-190.49, Z:-732.04 [[ 6.58233684e-01 -1.32391687e-01 7.41080872e-01 3.29776469e+02] [ 7.98028940e-02 9.91139157e-01 1.06182247e-01 -1.90491858e+02] [-7.48571918e-01 -1.07523331e-02 6.62966418e-01 -7.32038125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.79, Y:-190.48, Z:-732.06 [[ 6.57575277e-01 -1.26219375e-01 7.42740483e-01 3.29794514e+02] [ 7.98101851e-02 9.91989194e-01 9.79171774e-02 -1.90484908e+02] [-7.49149578e-01 -5.10965967e-03 6.62381161e-01 -7.32064727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.82, Y:-190.48, Z:-732.09 [[ 6.56480203e-01 -1.26629193e-01 7.43638885e-01 3.29815800e+02] [ 8.05118399e-02 9.91940562e-01 9.78353953e-02 -1.90480502e+02] [-7.50034391e-01 -4.35526529e-03 6.61384491e-01 -7.32089553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.84, Y:-190.48, Z:-732.11 [[ 6.56232602e-01 -1.26738634e-01 7.43838753e-01 3.29835978e+02] [ 8.10197344e-02 9.91929104e-01 9.75318217e-02 -1.90477248e+02] [-7.50196358e-01 -3.73794286e-03 6.61204547e-01 -7.32113771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.85, Y:-190.47, Z:-732.14 [[ 6.55460280e-01 -1.22813129e-01 7.45176997e-01 3.29853935e+02] [ 8.19854516e-02 9.92429144e-01 9.14482350e-02 -1.90471559e+02] [-7.50766413e-01 1.15298680e-03 6.60566775e-01 -7.32142082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.88, Y:-190.47, Z:-732.16 [[ 6.56466366e-01 -1.31292880e-01 7.42841902e-01 3.29878632e+02] [ 8.35069462e-02 9.91333213e-01 1.01415242e-01 -1.90473541e+02] [-7.49718948e-01 -4.54323641e-03 6.61740779e-01 -7.32161837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.90, Y:-190.47, Z:-732.19 [[ 6.56669288e-01 -1.28359985e-01 7.43175053e-01 3.29898594e+02] [ 8.42251126e-02 9.91727120e-01 9.68682047e-02 -1.90469250e+02] [-7.49460857e-01 -1.01637251e-03 6.62047877e-01 -7.32187617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.92, Y:-190.47, Z:-732.21 [[ 6.55894970e-01 -1.29414379e-01 7.43675808e-01 3.29920048e+02] [ 8.61104582e-02 9.91590373e-01 9.66101558e-02 -1.90466919e+02] [-7.49924514e-01 6.72149304e-04 6.61523069e-01 -7.32212689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.94, Y:-190.46, Z:-732.24 [[ 6.55450688e-01 -1.29450047e-01 7.44061208e-01 3.29941126e+02] [ 8.64725031e-02 9.91585224e-01 9.63392412e-02 -1.90464249e+02] [-7.50271219e-01 1.19521308e-03 6.61129087e-01 -7.32237280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.96, Y:-190.46, Z:-732.26 [[ 6.54452628e-01 -1.27158476e-01 7.45333805e-01 3.29961023e+02] [ 8.67173899e-02 9.91875440e-01 9.30763445e-02 -1.90460633e+02] [-7.51113741e-01 3.71934389e-03 6.60162339e-01 -7.32264471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.98, Y:-190.46, Z:-732.29 [[ 6.54402965e-01 -1.29439269e-01 7.44984721e-01 3.29982465e+02] [ 8.69364700e-02 9.91585342e-01 9.59195482e-02 -1.90458427e+02] [-7.51131686e-01 1.99630512e-03 6.60149381e-01 -7.32286124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.00, Y:-190.46, Z:-732.31 [[ 6.53854745e-01 -1.28993304e-01 7.45543225e-01 3.30003696e+02] [ 8.64068719e-02 9.91643858e-01 9.57930705e-02 -1.90455728e+02] [-7.51670025e-01 1.78530431e-03 6.59536949e-01 -7.32311126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:-190.45, Z:-732.34 [[ 6.53876764e-01 -1.28201157e-01 7.45660540e-01 3.30025282e+02] [ 8.55548137e-02 9.91747256e-01 9.54869372e-02 -1.90452923e+02] [-7.51748330e-01 1.35815916e-03 6.59448712e-01 -7.32336003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:-190.44, Z:-732.37 [[ 6.50167137e-01 -1.12551941e-01 7.51408514e-01 3.30033891e+02] [ 8.52425611e-02 9.93528817e-01 7.50612804e-02 -1.90440218e+02] [-7.54994305e-01 1.52496084e-02 6.55554002e-01 -7.32370363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.06, Y:-190.45, Z:-732.39 [[ 6.50777999e-01 -1.31609780e-01 7.47774606e-01 3.30064745e+02] [ 8.28123614e-02 9.91290395e-01 1.02398566e-01 -1.90448187e+02] [-7.54738438e-01 -4.71375312e-03 6.56008896e-01 -7.32386997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.08, Y:-190.44, Z:-732.41 [[ 6.50601203e-01 -1.22950266e-01 7.49400632e-01 3.30081646e+02] [ 7.87559822e-02 9.92409865e-01 9.44465718e-02 -1.90439910e+02] [-7.55324811e-01 -2.42727043e-03 6.55346121e-01 -7.32414612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.12, Y:-190.45, Z:-732.43 [[ 6.55634345e-01 -1.41810648e-01 7.41642330e-01 3.30119920e+02] [ 7.47245194e-02 9.89569719e-01 1.23158506e-01 -1.90450994e+02] [-7.51371980e-01 -2.53280798e-02 6.59392627e-01 -7.32426488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.13, Y:-190.43, Z:-732.46 [[ 6.55653093e-01 -1.18014968e-01 7.45782468e-01 3.30130233e+02] [ 7.20746052e-02 9.92981749e-01 9.37683234e-02 -1.90434475e+02] [-7.51614445e-01 -7.72751429e-03 6.59557437e-01 -7.32458178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.14, Y:-190.42, Z:-732.49 [[ 6.53053931e-01 -1.05539243e-01 7.49921351e-01 3.30140808e+02] [ 7.06149473e-02 9.94413650e-01 7.84539536e-02 -1.90423189e+02] [-7.54011998e-01 1.72099393e-03 6.56858391e-01 -7.32490218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.18, Y:-190.43, Z:-732.50 [[ 6.57534850e-01 -1.26123619e-01 7.42792537e-01 3.30176711e+02] [ 6.52298944e-02 9.91716813e-01 1.10647294e-01 -1.90433985e+02] [-7.50595085e-01 -2.43021733e-02 6.60315397e-01 -7.32503061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.19, Y:-190.42, Z:-732.53 [[ 6.58274139e-01 -1.10218951e-01 7.44665657e-01 3.30191302e+02] [ 6.13848976e-02 9.93788089e-01 9.28284923e-02 -1.90421956e+02] [-7.50271319e-01 -1.53953708e-02 6.60950777e-01 -7.32532679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.21, Y:-190.42, Z:-732.56 [[ 6.58520089e-01 -1.08951474e-01 7.44634722e-01 3.30212469e+02] [ 5.98404659e-02 9.93912487e-01 9.25045251e-02 -1.90418569e+02] [-7.50180252e-01 -1.63567995e-02 6.61031046e-01 -7.32557844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.22, Y:-190.41, Z:-732.59 [[ 6.55944379e-01 -9.78023876e-02 7.48446167e-01 3.30224936e+02] [ 5.92876448e-02 9.95182313e-01 7.80841850e-02 -1.90408885e+02] [-7.52477207e-01 -6.84527167e-03 6.58582717e-01 -7.32590327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.26, Y:-190.42, Z:-732.60 [[ 6.59609981e-01 -1.17872101e-01 7.42307781e-01 3.30258110e+02] [ 5.73995130e-02 9.92641861e-01 1.06618161e-01 -1.90419426e+02] [-7.49413083e-01 -2.77182980e-02 6.61522280e-01 -7.32603203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.27, Y:-190.41, Z:-732.63 [[ 6.59483211e-01 -1.06515953e-01 7.44134562e-01 3.30274157e+02] [ 5.70922694e-02 9.94148163e-01 9.17055190e-02 -1.90409979e+02] [-7.49548109e-01 -1.79939192e-02 6.61705260e-01 -7.32631769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.29, Y:-190.41, Z:-732.66 [[ 6.59502917e-01 -1.06169326e-01 7.44166633e-01 3.30294870e+02] [ 5.69353517e-02 9.94186990e-01 9.13815933e-02 -1.90407264e+02] [-7.49542706e-01 -1.78970384e-02 6.61714007e-01 -7.32656337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.32, Y:-190.40, Z:-732.68 [[ 6.59465820e-01 -1.06379385e-01 7.44169509e-01 3.30315784e+02] [ 5.75969876e-02 9.94176835e-01 9.10769315e-02 -1.90404720e+02] [-7.49524795e-01 -1.72002013e-02 6.61752774e-01 -7.32681346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.34, Y:-190.40, Z:-732.71 [[ 6.59447235e-01 -1.06460824e-01 7.44174333e-01 3.30337529e+02] [ 5.80834721e-02 9.94177914e-01 9.07556358e-02 -1.90402498e+02] [-7.49503606e-01 -1.66243240e-02 6.61791491e-01 -7.32706509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.36, Y:-190.40, Z:-732.73 [[ 6.59584634e-01 -1.06550093e-01 7.44039777e-01 3.30359081e+02] [ 5.86029844e-02 9.94178003e-01 9.04200722e-02 -1.90400525e+02] [-7.49342246e-01 -1.60367388e-02 6.61988687e-01 -7.32731147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.38, Y:-190.40, Z:-732.76 [[ 6.59622064e-01 -1.08006695e-01 7.43796536e-01 3.30380444e+02] [ 6.12020486e-02 9.94053119e-01 9.00705605e-02 -1.90399086e+02] [-7.49101490e-01 -1.38906573e-02 6.62309601e-01 -7.32756110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.40, Y:-190.40, Z:-732.78 [[ 6.59400338e-01 -1.08748555e-01 7.43885035e-01 3.30400963e+02] [ 6.26712546e-02 9.93989861e-01 8.97578407e-02 -1.90397493e+02] [-7.49175218e-01 -1.25661421e-02 6.62252659e-01 -7.32780303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.42, Y:-190.40, Z:-732.80 [[ 6.59202752e-01 -1.09918641e-01 7.43888179e-01 3.30421946e+02] [ 6.47762303e-02 9.93882089e-01 8.94563210e-02 -1.90396123e+02] [-7.49170055e-01 -1.07835810e-02 6.62289924e-01 -7.32804366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.43, Y:-190.39, Z:-732.84 [[ 6.54793008e-01 -9.83581232e-02 7.49380942e-01 3.30432308e+02] [ 7.03533155e-02 9.95123200e-01 6.91391899e-02 -1.90386615e+02] [-7.52526762e-01 7.44957571e-03 6.58519534e-01 -7.32839117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.47, Y:-190.40, Z:-732.85 [[ 6.57362376e-01 -1.28400723e-01 7.42555022e-01 3.30469959e+02] [ 7.27223850e-02 9.91586882e-01 1.07083665e-01 -1.90402470e+02] [-7.50057439e-01 -1.63924001e-02 6.61169515e-01 -7.32847097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.49, Y:-190.39, Z:-732.88 [[ 6.55656734e-01 -1.18572032e-01 7.45690902e-01 3.30485896e+02] [ 7.82361403e-02 9.92945450e-01 8.90979190e-02 -1.90393936e+02] [-7.50994909e-01 -7.76725238e-05 6.60307989e-01 -7.32876216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:-190.39, Z:-732.90 [[ 6.55121794e-01 -1.20285952e-01 7.45886536e-01 3.30506781e+02] [ 8.11824780e-02 9.92736423e-01 8.87907639e-02 -1.90392270e+02] [-7.51149013e-01 2.38415268e-03 6.60128379e-01 -7.32900118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.52, Y:-190.39, Z:-732.93 [[ 6.52536502e-01 -1.20137724e-01 7.48173136e-01 3.30522306e+02] [ 8.89227557e-02 9.92670472e-01 8.18417875e-02 -1.90387823e+02] [-7.52521666e-01 1.31248632e-02 6.58436695e-01 -7.32928701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.55, Y:-190.39, Z:-732.95 [[ 6.53427192e-01 -1.32421069e-01 7.45317091e-01 3.30551451e+02] [ 9.10526329e-02 9.91181179e-01 9.62771496e-02 -1.90392982e+02] [-7.51493395e-01 4.95297597e-03 6.59722021e-01 -7.32946186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.56, Y:-190.38, Z:-732.98 [[ 6.50722755e-01 -1.19726435e-01 7.49816963e-01 3.30562340e+02] [ 9.32097518e-02 9.92617525e-01 7.76040746e-02 -1.90380206e+02] [-7.53572717e-01 1.93915158e-02 6.57078481e-01 -7.32978098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.59, Y:-190.38, Z:-733.00 [[ 6.50172460e-01 -1.31301604e-01 7.48355304e-01 3.30586632e+02] [ 9.65871575e-02 9.91246909e-01 9.00027022e-02 -1.90382418e+02] [-7.53622381e-01 1.37642333e-02 6.57163490e-01 -7.32999032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:-190.38, Z:-733.02 [[ 6.51256029e-01 -1.36361866e-01 7.46505878e-01 3.30611809e+02] [ 9.83752175e-02 9.90592497e-01 9.51252900e-02 -1.90382293e+02] [-7.52454584e-01 1.14867594e-02 6.58543965e-01 -7.33019731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:-190.38, Z:-733.05 [[ 6.51394684e-01 -1.35059310e-01 7.46621691e-01 3.30629360e+02] [ 1.05198053e-01 9.90601993e-01 8.74131701e-02 -1.90375878e+02] [-7.51410897e-01 2.16026737e-02 6.59480848e-01 -7.33045599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.65, Y:-190.37, Z:-733.07 [[ 6.50818960e-01 -1.37294619e-01 7.46716057e-01 3.30649689e+02] [ 1.08935360e-01 9.90223659e-01 8.71217142e-02 -1.90372765e+02] [-7.51377248e-01 2.46433187e-02 6.59412570e-01 -7.33070201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.67, Y:-190.37, Z:-733.10 [[ 6.50439311e-01 -1.39241935e-01 7.46686270e-01 3.30670512e+02] [ 1.12241200e-01 9.89880955e-01 8.68193956e-02 -1.90369488e+02] [-7.51219419e-01 2.73382150e-02 6.59486169e-01 -7.33095226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:-190.37, Z:-733.12 [[ 6.49783042e-01 -1.41210853e-01 7.46887872e-01 3.30691507e+02] [ 1.15585213e-01 9.89521680e-01 8.65268961e-02 -1.90365523e+02] [-7.51280279e-01 3.01054840e-02 6.59296294e-01 -7.33120913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.71, Y:-190.36, Z:-733.15 [[ 6.48944961e-01 -1.44636886e-01 7.46960915e-01 3.30712663e+02] [ 1.21157783e-01 9.88881521e-01 8.62213934e-02 -1.90359747e+02] [-7.51126640e-01 3.45471895e-02 6.59253565e-01 -7.33146131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.73, Y:-190.36, Z:-733.17 [[ 6.48736337e-01 -1.45439752e-01 7.46986241e-01 3.30733887e+02] [ 1.22746880e-01 9.88713302e-01 8.59023266e-02 -1.90355806e+02] [-7.51048846e-01 3.59622700e-02 6.59266522e-01 -7.33171261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.75, Y:-190.35, Z:-733.20 [[ 6.48218099e-01 -1.46364180e-01 7.47255527e-01 3.30754329e+02] [ 1.24508074e-01 9.88518106e-01 8.56136249e-02 -1.90350846e+02] [-7.51206387e-01 3.75430455e-02 6.58998850e-01 -7.33195866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.78, Y:-190.35, Z:-733.22 [[ 6.48418351e-01 -1.45799139e-01 7.47192246e-01 3.30775868e+02] [ 1.23987610e-01 9.88609810e-01 8.53095278e-02 -1.90346712e+02] [-7.51119641e-01 3.73263172e-02 6.59110030e-01 -7.33220577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.80, Y:-190.34, Z:-733.25 [[ 6.48355148e-01 -1.44715984e-01 7.47457615e-01 3.30796826e+02] [ 1.22687465e-01 9.88796845e-01 8.50210874e-02 -1.90341908e+02] [-7.51387642e-01 3.65798201e-02 6.58846362e-01 -7.33246028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.82, Y:-190.34, Z:-733.27 [[ 6.49718031e-01 -1.45067278e-01 7.46205043e-01 3.30820631e+02] [ 1.17854270e-01 9.88976013e-01 8.96483006e-02 -1.90336182e+02] [-7.50983923e-01 2.96973329e-02 6.59652345e-01 -7.33268374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.84, Y:-190.33, Z:-733.30 [[ 6.49676655e-01 -1.34801470e-01 7.48163624e-01 3.30835297e+02] [ 1.14333971e-01 9.90284890e-01 7.91427768e-02 -1.90325582e+02] [-7.51563695e-01 3.41233039e-02 6.58777362e-01 -7.33296421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.256559995 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:330.87, Y:-190.33, Z:-733.31 [[ 6.51558869e-01 -1.46635488e-01 7.44290987e-01 3.30866595e+02] [ 1.09056042e-01 9.89054439e-01 9.93886135e-02 -1.90330454e+02] [-7.50718203e-01 1.64118968e-02 6.60418678e-01 -7.33314811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.87, Y:-190.30, Z:-733.35 [[ 6.51766443e-01 -1.12620735e-01 7.50011383e-01 3.30869910e+02] [ 9.97366567e-02 9.93052574e-01 6.24434584e-02 -1.90304171e+02] [-7.51833162e-01 3.41050771e-02 6.58470759e-01 -7.33347982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.93, Y:-190.33, Z:-733.35 [[ 6.60280698e-01 -1.56972554e-01 7.34431084e-01 3.30929191e+02] [ 9.05567934e-02 9.87418547e-01 1.29630554e-01 -1.90334304e+02] [-7.45539313e-01 -1.90848284e-02 6.66188338e-01 -7.33350242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:330.90, Y:-190.27, Z:-733.41 [[ 6.53991694e-01 -7.08412861e-02 7.53177520e-01 3.30897685e+02] [ 8.84775317e-02 9.95935671e-01 1.68483427e-02 -1.90272116e+02] [-7.51309916e-01 5.56206117e-02 6.57601519e-01 -7.33405135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.94, Y:-190.29, Z:-733.42 [[ 6.54324157e-01 -1.14314554e-01 7.47523967e-01 3.30938207e+02] [ 7.80442176e-02 9.93437959e-01 8.36069518e-02 -1.90294568e+02] [-7.52176175e-01 3.63387488e-03 6.58952044e-01 -7.33415869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.98, Y:-190.31, Z:-733.43 [[ 6.60947837e-01 -1.31861568e-01 7.38756038e-01 3.30980227e+02] [ 7.09154797e-02 9.91010729e-01 1.13440421e-01 -1.90305358e+02] [-7.47073592e-01 -2.25889621e-02 6.64357424e-01 -7.33427474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.00, Y:-190.29, Z:-733.46 [[ 6.62841095e-01 -1.08763245e-01 7.40818628e-01 3.30997765e+02] [ 6.47200029e-02 9.94013246e-01 8.80283323e-02 -1.90289894e+02] [-7.45957777e-01 -1.04030124e-02 6.65911986e-01 -7.33456559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.98, Y:-190.25, Z:-733.50 [[ 6.53853296e-01 -5.88394183e-02 7.54330028e-01 3.30982648e+02] [ 6.33935420e-02 9.97726404e-01 2.28753520e-02 -1.90249605e+02] [-7.53960958e-01 3.28625280e-02 6.56096737e-01 -7.33500546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.05, Y:-190.30, Z:-733.50 [[ 6.63597209e-01 -1.31950283e-01 7.36361234e-01 3.31048953e+02] [ 5.70038038e-02 9.90378730e-01 1.26097335e-01 -1.90295997e+02] [-7.45915083e-01 -4.17024481e-02 6.64734229e-01 -7.33496092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.02, Y:-190.24, Z:-733.55 [[ 6.54846009e-01 -5.34218209e-02 7.53871882e-01 3.31024344e+02] [ 5.23367067e-02 9.98309428e-01 2.52815159e-02 -1.90239167e+02] [-7.53947992e-01 2.28996718e-02 6.56534867e-01 -7.33548060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.06, Y:-190.26, Z:-733.56 [[ 6.56583142e-01 -9.48586126e-02 7.48264940e-01 3.31060946e+02] [ 4.94616293e-02 9.95339706e-01 8.27793314e-02 -1.90262056e+02] [-7.52630138e-01 -1.73411104e-02 6.58215133e-01 -7.33561532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.08, Y:-190.26, Z:-733.59 [[ 6.56591037e-01 -9.46283127e-02 7.48287173e-01 3.31082641e+02] [ 4.93418166e-02 9.95362375e-01 8.25780125e-02 -1.90259657e+02] [-7.52631115e-01 -1.72981344e-02 6.58215147e-01 -7.33586906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.10, Y:-190.26, Z:-733.61 [[ 6.57274175e-01 -9.27820521e-02 7.47918545e-01 3.31103725e+02] [ 4.67620646e-02 9.95501580e-01 8.24009278e-02 -1.90255358e+02] [-7.52199421e-01 -1.91857865e-02 6.58656160e-01 -7.33612418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.16, Y:-190.28, Z:-733.62 [[ 6.70233519e-01 -1.28736366e-01 7.30899431e-01 3.31158527e+02] [ 4.10722724e-02 9.89765053e-01 1.36668245e-01 -1.90277922e+02] [-7.41012887e-01 -6.15799379e-02 6.68661209e-01 -7.33615321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.16, Y:-190.24, Z:-733.66 [[ 6.68728053e-01 -7.30113361e-02 7.39913600e-01 3.31159547e+02] [ 3.76716738e-02 9.97215867e-01 6.43534025e-02 -1.90242863e+02] [-7.42552110e-01 -1.51611418e-02 6.69616684e-01 -7.33657656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.15, Y:-190.21, Z:-733.70 [[ 6.62354079e-01 -4.06825980e-02 7.48085557e-01 3.31153753e+02] [ 3.85560463e-02 9.99052383e-01 2.01932678e-02 -1.90214974e+02] [-7.48198173e-01 1.54681281e-02 6.63294981e-01 -7.33695695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.19, Y:-190.24, Z:-733.71 [[ 6.64660952e-01 -8.59863499e-02 7.42180683e-01 3.31190504e+02] [ 3.93792577e-02 9.96006452e-01 8.01275293e-02 -1.90241323e+02] [-7.46106623e-01 -2.40311155e-02 6.65392675e-01 -7.33708338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.21, Y:-190.24, Z:-733.73 [[ 6.65277123e-01 -8.62911065e-02 7.41593011e-01 3.31211619e+02] [ 4.02700075e-02 9.95999716e-01 7.97677457e-02 -1.90238930e+02] [-7.45509675e-01 -2.32037002e-02 6.66090769e-01 -7.33733157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.27, Y:-190.26, Z:-733.73 [[ 6.78189317e-01 -1.28054384e-01 7.23644474e-01 3.31267714e+02] [ 4.23897398e-02 9.89878411e-01 1.35439439e-01 -1.90264711e+02] [-7.33663656e-01 -6.11784799e-02 6.76753155e-01 -7.33733925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.23, Y:-190.20, Z:-733.80 [[ 6.64720093e-01 -3.93812147e-02 7.46053830e-01 3.31234152e+02] [ 4.40665135e-02 9.98937820e-01 1.34675105e-02 -1.90204442e+02] [-7.45791754e-01 2.39238664e-02 6.65749434e-01 -7.33795098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.27, Y:-190.23, Z:-733.81 [[ 6.66323210e-01 -9.03745549e-02 7.40166076e-01 3.31273717e+02] [ 4.71226377e-02 9.95747557e-01 7.91597142e-02 -1.90234782e+02] [-7.44172586e-01 -1.78673770e-02 6.67748396e-01 -7.33807301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.30, Y:-190.23, Z:-733.83 [[ 6.66290879e-01 -9.14382288e-02 7.40064534e-01 3.31295645e+02] [ 4.90783364e-02 9.95678878e-01 7.88345645e-02 -1.90234282e+02] [-7.44075118e-01 -1.62056151e-02 6.67899391e-01 -7.33831959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.35, Y:-190.26, Z:-733.83 [[ 6.78148810e-01 -1.34848617e-01 7.22447259e-01 3.31354137e+02] [ 5.27645077e-02 9.89419054e-01 1.35151184e-01 -1.90263641e+02] [-7.33028034e-01 -5.35330409e-02 6.78088575e-01 -7.33830686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.32, Y:-190.20, Z:-733.89 [[ 6.64736709e-01 -4.50355812e-02 7.45719052e-01 3.31319440e+02] [ 5.40746647e-02 9.98463616e-01 1.20970151e-02 -1.90204557e+02] [-7.45118137e-01 3.22831777e-02 6.66150702e-01 -7.33892495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.39, Y:-190.26, Z:-733.88 [[ 6.75979647e-01 -1.34234155e-01 7.24591408e-01 3.31393417e+02] [ 5.61464619e-02 9.89793238e-01 1.30984432e-01 -1.90261873e+02] [-7.34778260e-01 -4.78595661e-02 6.76616856e-01 -7.33880065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.36, Y:-190.21, Z:-733.94 [[ 6.63504848e-01 -5.13474298e-02 7.46407904e-01 3.31362944e+02] [ 5.84357605e-02 9.98151139e-01 1.67201943e-02 -1.90209004e+02] [-7.45886438e-01 3.25229835e-02 6.65278646e-01 -7.33939218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.42, Y:-190.26, Z:-733.94 [[ 6.69364247e-01 -1.20148780e-01 7.33154674e-01 3.31422447e+02] [ 5.96083220e-02 9.92340253e-01 1.08201985e-01 -1.90255056e+02] [-7.40539231e-01 -2.87244206e-02 6.71398954e-01 -7.33936991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.43, Y:-190.24, Z:-733.97 [[ 6.68771705e-01 -9.43535694e-02 7.37456311e-01 3.31432982e+02] [ 5.86574589e-02 9.95518498e-01 7.41769702e-02 -1.90237804e+02] [-7.41150261e-01 -6.35014560e-03 6.71309144e-01 -7.33969061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.43, Y:-190.22, Z:-734.01 [[ 6.61995506e-01 -7.09634177e-02 7.46140834e-01 3.31434353e+02] [ 5.81062871e-02 9.97370764e-01 4.33038050e-02 -1.90222882e+02] [-7.47252039e-01 1.46885492e-02 6.64378384e-01 -7.34006466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.49, Y:-190.26, Z:-734.01 [[ 6.68998650e-01 -1.22007537e-01 7.33181402e-01 3.31488300e+02] [ 5.67383826e-02 9.91939946e-01 1.13295629e-01 -1.90256321e+02] [-7.41094841e-01 -3.41950960e-02 6.70528995e-01 -7.34007919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.47, Y:-190.22, Z:-734.06 [[ 6.62048696e-01 -6.43442122e-02 7.46693610e-01 3.31473804e+02] [ 5.65162518e-02 9.97757138e-01 3.58693122e-02 -1.90218398e+02] [-7.47326862e-01 1.84530927e-02 6.64200305e-01 -7.34056369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.51, Y:-190.24, Z:-734.07 [[ 6.62821169e-01 -9.55518213e-02 7.42656009e-01 3.31507420e+02] [ 5.64198710e-02 9.95378076e-01 7.77128340e-02 -1.90238734e+02] [-7.46649112e-01 -9.60915522e-03 6.65148681e-01 -7.34072730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.54, Y:-190.25, Z:-734.09 [[ 6.67579475e-01 -1.12782593e-01 7.35946827e-01 3.31543983e+02] [ 5.63609282e-02 9.93279223e-01 1.01093183e-01 -1.90249577e+02] [-7.42402243e-01 -2.60090876e-02 6.69449354e-01 -7.34085955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.56, Y:-190.24, Z:-734.12 [[ 6.66154839e-01 -9.27961875e-02 7.40017972e-01 3.31555598e+02] [ 5.72487295e-02 9.95664060e-01 7.33189095e-02 -1.90238465e+02] [-7.43613014e-01 -6.47665767e-03 6.68578895e-01 -7.34116812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.56, Y:-190.23, Z:-734.15 [[ 6.61559836e-01 -7.90690991e-02 7.45712184e-01 3.31563946e+02] [ 5.77623721e-02 9.96844207e-01 5.44530570e-02 -1.90228780e+02] [-7.47664425e-01 7.05014913e-03 6.64039309e-01 -7.34150638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.61, Y:-190.25, Z:-734.16 [[ 6.67231860e-01 -1.16889623e-01 7.35621140e-01 3.31610219e+02] [ 5.88262601e-02 9.92794413e-01 1.04396959e-01 -1.90251397e+02] [-7.42523479e-01 -2.63831368e-02 6.69300242e-01 -7.34157552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.62, Y:-190.24, Z:-734.19 [[ 6.65944713e-01 -9.24273571e-02 7.40253216e-01 3.31622256e+02] [ 5.93215910e-02 9.95713827e-01 7.09572028e-02 -1.90238022e+02] [-7.43638749e-01 -3.34057551e-03 6.68573296e-01 -7.34191966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.64, Y:-190.23, Z:-734.22 [[ 6.64534432e-01 -8.90337459e-02 7.41934620e-01 3.31638485e+02] [ 6.09650547e-02 9.96026417e-01 6.49202552e-02 -1.90233561e+02] [-7.44766574e-01 2.09033973e-03 6.67321797e-01 -7.34216867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.65, Y:-190.23, Z:-734.25 [[ 6.60171011e-01 -8.24317294e-02 7.46578359e-01 3.31649825e+02] [ 6.15747254e-02 9.96553549e-01 5.55839629e-02 -1.90228341e+02] [-7.48587196e-01 9.27543645e-03 6.62971475e-01 -7.34247752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.69, Y:-190.24, Z:-734.26 [[ 6.62322937e-01 -1.11046261e-01 7.40943355e-01 3.31685846e+02] [ 6.43210275e-02 9.93731487e-01 9.14359695e-02 -1.90244751e+02] [-7.46452365e-01 -1.29019019e-02 6.65313767e-01 -7.34259503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.69, Y:-190.23, Z:-734.29 [[ 6.58896571e-01 -8.87340260e-02 7.46981648e-01 3.31692372e+02] [ 6.42622950e-02 9.96027924e-01 6.16338595e-02 -1.90230830e+02] [-7.49483600e-01 7.39241635e-03 6.61981635e-01 -7.34294832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.72, Y:-190.24, Z:-734.31 [[ 6.59502856e-01 -1.04578789e-01 7.44391873e-01 3.31719934e+02] [ 6.68863475e-02 9.94511218e-01 8.04590217e-02 -1.90237299e+02] [-7.48720375e-01 -3.27330110e-03 6.62877881e-01 -7.34312566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.74, Y:-190.24, Z:-734.34 [[ 6.58648453e-01 -1.01008080e-01 7.45640384e-01 3.31738564e+02] [ 6.70316857e-02 9.94885583e-01 7.55607763e-02 -1.90236822e+02] [-7.49459117e-01 2.13543477e-04 6.62050592e-01 -7.34340171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.76, Y:-190.24, Z:-734.36 [[ 6.58514971e-01 -1.01213768e-01 7.45730385e-01 3.31759771e+02] [ 6.71787793e-02 9.94864671e-01 7.57053367e-02 -1.90236430e+02] [-7.49563236e-01 2.44159334e-04 6.61932697e-01 -7.34364332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.77, Y:-190.23, Z:-734.39 [[ 6.56001008e-01 -9.36922924e-02 7.48922180e-01 3.31773082e+02] [ 6.81767764e-02 9.95564657e-01 6.48301013e-02 -1.90229868e+02] [-7.51674533e-01 8.53048815e-03 6.59479057e-01 -7.34391908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:-190.25, Z:-734.41 [[ 6.59164424e-01 -1.16258962e-01 7.42957681e-01 3.31809941e+02] [ 6.58117172e-02 9.93104871e-01 9.70130606e-02 -1.90245096e+02] [-7.49113530e-01 -1.50522374e-02 6.62270602e-01 -7.34406228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.82, Y:-190.23, Z:-734.44 [[ 6.59119080e-01 -9.93910552e-02 7.45441786e-01 3.31823629e+02] [ 6.39304283e-02 9.95045230e-01 7.61438805e-02 -1.90234192e+02] [-7.49316314e-01 -2.53147177e-03 6.62207409e-01 -7.34435807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.84, Y:-190.23, Z:-734.46 [[ 6.58917985e-01 -9.83813652e-02 7.45753442e-01 3.31844621e+02] [ 6.19428494e-02 9.95139726e-01 7.65506991e-02 -1.90232686e+02] [-7.49660038e-01 -4.24653915e-03 6.61809485e-01 -7.34461274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.86, Y:-190.23, Z:-734.49 [[ 6.59038201e-01 -9.57830595e-02 7.45985426e-01 3.31864815e+02] [ 5.85946576e-02 9.95381643e-01 7.60397985e-02 -1.90231659e+02] [-7.49823523e-01 -6.40237141e-03 6.61606903e-01 -7.34485704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.88, Y:-190.22, Z:-734.51 [[ 6.57314477e-01 -8.45138118e-02 7.48862534e-01 3.31876710e+02] [ 5.47882570e-02 9.96421489e-01 6.43619644e-02 -1.90222934e+02] [-7.51622196e-01 -1.27717805e-03 6.59592634e-01 -7.34514263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.90, Y:-190.23, Z:-734.54 [[ 6.57938717e-01 -9.47465946e-02 7.47087497e-01 3.31903655e+02] [ 5.17926297e-02 9.95397949e-01 8.06253483e-02 -1.90229311e+02] [-7.51288339e-01 -1.43529122e-02 6.59818025e-01 -7.34535929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.92, Y:-190.22, Z:-734.56 [[ 6.56691713e-01 -8.67537813e-02 7.49152705e-01 3.31918298e+02] [ 4.98750876e-02 9.96182734e-01 7.16410180e-02 -1.90222863e+02] [-7.52508119e-01 -9.68200604e-03 6.58511799e-01 -7.34563912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.95, Y:-190.23, Z:-734.58 [[ 6.57546853e-01 -9.45130472e-02 7.47461986e-01 3.31945828e+02] [ 4.43823166e-02 9.95236676e-01 8.67995958e-02 -1.90229690e+02] [-7.52105276e-01 -2.39007065e-02 6.58609452e-01 -7.34584580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.97, Y:-190.23, Z:-734.61 [[ 6.59009852e-01 -9.45734004e-02 7.46164786e-01 3.31970585e+02] [ 4.11635340e-02 9.95111424e-01 8.97709165e-02 -1.90230534e+02] [-7.51007043e-01 -2.84451388e-02 6.59681207e-01 -7.34607209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.98, Y:-190.22, Z:-734.64 [[ 6.56994196e-01 -7.99742431e-02 7.49641746e-01 3.31982646e+02] [ 3.92206882e-02 9.96636737e-01 7.19510413e-02 -1.90220403e+02] [-7.52874733e-01 -1.78699514e-02 6.57921197e-01 -7.34636525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.01, Y:-190.22, Z:-734.66 [[ 6.57096605e-01 -8.47532855e-02 7.49026657e-01 3.32007396e+02] [ 3.55594870e-02 9.96038156e-01 8.15077640e-02 -1.90223613e+02] [-7.52967181e-01 -2.69234713e-02 6.57507074e-01 -7.34658439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.03, Y:-190.22, Z:-734.68 [[ 6.56625097e-01 -8.46014909e-02 7.49457184e-01 3.32028675e+02] [ 3.38903409e-02 9.95994824e-01 8.27390811e-02 -1.90222918e+02] [-7.53455325e-01 -2.89291977e-02 6.56862371e-01 -7.34682429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.05, Y:-190.22, Z:-734.71 [[ 6.56441638e-01 -7.93927832e-02 7.50187418e-01 3.32047258e+02] [ 3.26807265e-02 9.96505846e-01 7.68639697e-02 -1.90218513e+02] [-7.53668592e-01 -2.59400403e-02 6.56742543e-01 -7.34709289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.09, Y:-190.23, Z:-734.72 [[ 6.63521846e-01 -9.96761052e-02 7.41487312e-01 3.32086831e+02] [ 2.99157672e-02 9.93827438e-01 1.06827294e-01 -1.90234925e+02] [-7.47558564e-01 -4.87000816e-02 6.62408103e-01 -7.34721374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.10, Y:-190.22, Z:-734.76 [[ 6.63392117e-01 -7.26516007e-02 7.44736628e-01 3.32096189e+02] [ 3.02400554e-02 9.97065304e-01 7.03300657e-02 -1.90217397e+02] [-7.47660644e-01 -2.41355343e-02 6.63642251e-01 -7.34755907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.12, Y:-190.22, Z:-734.78 [[ 6.63989680e-01 -7.30853814e-02 7.44161428e-01 3.32117339e+02] [ 3.13383108e-02 9.97057381e-01 6.99606322e-02 -1.90216241e+02] [-7.47084744e-01 -2.31323757e-02 6.64326184e-01 -7.34780922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.12, Y:-190.20, Z:-734.82 [[ 6.58296587e-01 -5.61437233e-02 7.50662032e-01 3.32118942e+02] [ 3.64982168e-02 9.98422459e-01 4.26670077e-02 -1.90198383e+02] [-7.51873316e-01 -6.89720012e-04 6.59307243e-01 -7.34816424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.17, Y:-190.23, Z:-734.82 [[ 6.66403122e-01 -1.07258235e-01 7.37836398e-01 3.32174198e+02] [ 3.56911831e-02 9.93053160e-01 1.12122977e-01 -1.90233885e+02] [-7.44736879e-01 -4.83848480e-02 6.65601899e-01 -7.34819111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.16, Y:-190.20, Z:-734.86 [[ 6.60705187e-01 -6.33781711e-02 7.47965149e-01 3.32164690e+02] [ 4.27297885e-02 9.97989055e-01 4.68189303e-02 -1.90200741e+02] [-7.49428330e-01 1.02688253e-03 6.62084680e-01 -7.34863410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.21, Y:-190.23, Z:-734.87 [[ 6.66537323e-01 -1.05404122e-01 7.37982363e-01 3.32213964e+02] [ 4.18773525e-02 9.93684561e-01 1.04102257e-01 -1.90229128e+02] [-7.44294488e-01 -3.84832924e-02 6.66741893e-01 -7.34868724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.22, Y:-190.21, Z:-734.90 [[ 6.65842860e-01 -7.92531604e-02 7.41870759e-01 3.32224018e+02] [ 4.24831295e-02 9.96756274e-01 6.83528711e-02 -1.90211300e+02] [-7.44881514e-01 -1.39952797e-02 6.67049970e-01 -7.34902782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.25, Y:-190.21, Z:-734.93 [[ 6.65112444e-01 -8.10760732e-02 7.42328841e-01 3.32245885e+02] [ 4.55110014e-02 9.96641649e-01 6.80747603e-02 -1.90210424e+02] [-7.45355074e-01 -1.14932413e-02 6.66568616e-01 -7.34925791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.27, Y:-190.21, Z:-734.95 [[ 6.64512705e-01 -8.20650085e-02 7.42757161e-01 3.32267741e+02] [ 4.71595309e-02 9.96575762e-01 6.79170712e-02 -1.90208733e+02] [-7.45787399e-01 -1.01036774e-02 6.66107403e-01 -7.34949926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.29, Y:-190.21, Z:-734.97 [[ 6.63395243e-01 -8.51168590e-02 7.43412316e-01 3.32289535e+02] [ 5.20133517e-02 9.96351564e-01 6.76621903e-02 -1.90207612e+02] [-7.46459217e-01 -6.21940891e-03 6.65402101e-01 -7.34974123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.31, Y:-190.21, Z:-735.00 [[ 6.62886771e-01 -8.69768962e-02 7.43650556e-01 3.32310755e+02] [ 5.51382243e-02 9.96203635e-01 6.73653779e-02 -1.90206234e+02] [-7.46686618e-01 -3.65204662e-03 6.65165962e-01 -7.34998448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.33, Y:-190.20, Z:-735.02 [[ 6.62301890e-01 -8.88403142e-02 7.43951346e-01 3.32332282e+02] [ 5.82396242e-02 9.96045262e-01 6.70968084e-02 -1.90204688e+02] [-7.46970115e-01 -1.11089620e-03 6.64856686e-01 -7.35023380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.34, Y:-190.19, Z:-735.05 [[ 6.57152322e-01 -8.12861965e-02 7.49361982e-01 3.32339355e+02] [ 6.76506000e-02 9.96516381e-01 4.87698581e-02 -1.90191337e+02] [-7.50715806e-01 1.86455622e-02 6.60362114e-01 -7.35054525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.37, Y:-190.20, Z:-735.07 [[ 6.56828850e-01 -1.05171354e-01 7.46669170e-01 3.32371249e+02] [ 7.02160836e-02 9.94453617e-01 7.83052078e-02 -1.90203431e+02] [-7.50763321e-01 9.95065231e-04 6.60570546e-01 -7.35072271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.41, Y:-190.21, Z:-735.09 [[ 6.60979362e-01 -1.19447953e-01 7.40836331e-01 3.32407747e+02] [ 6.99201449e-02 9.92758373e-01 9.76830912e-02 -1.90213507e+02] [-7.47139516e-01 -1.27671237e-02 6.64544614e-01 -7.35087793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.42, Y:-190.20, Z:-735.12 [[ 6.61293624e-01 -9.53003649e-02 7.44048778e-01 3.32418900e+02] [ 6.94834763e-02 9.95414581e-01 6.57408418e-02 -1.90197285e+02] [-7.46902129e-01 8.22509611e-03 6.64883116e-01 -7.35121246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.43, Y:-190.18, Z:-735.15 [[ 6.57626027e-01 -8.84662953e-02 7.48132156e-01 3.32428543e+02] [ 7.59914080e-02 9.95805635e-01 5.09553123e-02 -1.90184296e+02] [-7.49502044e-01 2.33420764e-02 6.61590382e-01 -7.35151478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.46, Y:-190.19, Z:-735.17 [[ 6.57680090e-01 -1.07807428e-01 7.45543062e-01 3.32458594e+02] [ 7.71597089e-02 9.94141613e-01 7.56890503e-02 -1.90192740e+02] [-7.49335224e-01 7.74670422e-03 6.62145536e-01 -7.35170236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.49, Y:-190.20, Z:-735.19 [[ 6.61409132e-01 -1.16957217e-01 7.40850167e-01 3.32490196e+02] [ 7.60743806e-02 9.93134009e-01 8.88680369e-02 -1.90196794e+02] [-7.46157255e-01 -2.41841362e-03 6.65765351e-01 -7.35187922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.50, Y:-190.18, Z:-735.22 [[ 6.61889604e-01 -9.84966199e-02 7.43101990e-01 3.32503406e+02] [ 7.57136444e-02 9.95044411e-01 6.44520370e-02 -1.90182505e+02] [-7.45767790e-01 1.36028266e-02 6.66067089e-01 -7.35219070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.52, Y:-190.18, Z:-735.24 [[ 6.62207893e-01 -9.80657599e-02 7.42875369e-01 3.32524071e+02] [ 7.54346259e-02 9.95087277e-01 6.41165225e-02 -1.90179278e+02] [-7.45513464e-01 1.35800583e-02 6.66352202e-01 -7.35242908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:-190.17, Z:-735.27 [[ 6.61622864e-01 -9.59004919e-02 7.43678883e-01 3.32541517e+02] [ 7.53662310e-02 9.95270317e-01 6.12937820e-02 -1.90171997e+02] [-7.46039621e-01 1.54949069e-02 6.65721257e-01 -7.35268140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.57, Y:-190.17, Z:-735.29 [[ 6.62675867e-01 -1.01738067e-01 7.41963653e-01 3.32567769e+02] [ 7.33995078e-02 9.94782874e-01 7.08487590e-02 -1.90174426e+02] [-7.45300750e-01 7.51000412e-03 6.66686127e-01 -7.35289485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.59, Y:-190.17, Z:-735.32 [[ 6.62658689e-01 -9.54214325e-02 7.42817752e-01 3.32586011e+02] [ 7.22628107e-02 9.95368600e-01 6.33990210e-02 -1.90167529e+02] [-7.45427091e-01 1.16661864e-02 6.66485073e-01 -7.35315477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:-190.16, Z:-735.34 [[ 6.62236915e-01 -9.35723657e-02 7.43428868e-01 3.32604944e+02] [ 7.04723780e-02 9.95551918e-01 6.25301761e-02 -1.90160394e+02] [-7.45973131e-01 1.09814093e-02 6.65885498e-01 -7.35339274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.63, Y:-190.16, Z:-735.36 [[ 6.62845902e-01 -9.54005787e-02 7.42653378e-01 3.32629136e+02] [ 6.70270339e-02 9.95427996e-01 6.80476432e-02 -1.90160869e+02] [-7.45749748e-01 4.67275163e-03 6.66209786e-01 -7.35361959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.65, Y:-190.15, Z:-735.39 [[ 6.62669617e-01 -8.76873064e-02 7.43760657e-01 3.32648851e+02] [ 6.13735487e-02 9.96139784e-01 6.27600128e-02 -1.90153463e+02] [-7.46392837e-01 4.05807729e-03 6.65493250e-01 -7.35386762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.67, Y:-190.15, Z:-735.41 [[ 6.62479674e-01 -8.52241246e-02 7.44216051e-01 3.32670521e+02] [ 5.79664599e-02 9.96360294e-01 6.24984269e-02 -1.90149870e+02] [-7.46833697e-01 1.73563244e-03 6.65008584e-01 -7.35411820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.69, Y:-190.15, Z:-735.44 [[ 6.62304324e-01 -8.27274748e-02 7.44653710e-01 3.32691450e+02] [ 5.45294948e-02 9.96572027e-01 6.22151834e-02 -1.90146079e+02] [-7.47247962e-01 -5.99794327e-04 6.64545050e-01 -7.35436179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.71, Y:-190.14, Z:-735.46 [[ 6.62629183e-01 -8.01195027e-02 7.44649872e-01 3.32712841e+02] [ 5.09405931e-02 9.96780459e-01 6.19174633e-02 -1.90142267e+02] [-7.47213238e-01 -3.09541196e-03 6.64577156e-01 -7.35460841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.73, Y:-190.14, Z:-735.49 [[ 6.62776029e-01 -7.52205177e-02 7.45030073e-01 3.32733722e+02] [ 4.38860963e-02 9.97133599e-01 6.16327510e-02 -1.90135523e+02] [-7.47530566e-01 -8.15224842e-03 6.64177382e-01 -7.35486280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.75, Y:-190.13, Z:-735.51 [[ 6.62948820e-01 -7.27725164e-02 7.45119469e-01 3.32754086e+02] [ 4.05496752e-02 9.97293923e-01 6.13233595e-02 -1.90131047e+02] [-7.47565773e-01 -1.04398964e-02 6.64105732e-01 -7.35510764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.77, Y:-190.13, Z:-735.53 [[ 6.63364073e-01 -7.02217745e-02 7.44994637e-01 3.32774496e+02] [ 3.69484060e-02 9.97446473e-01 6.11175087e-02 -1.90127093e+02] [-7.47384053e-01 -1.30167952e-02 6.64264737e-01 -7.35534996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.80, Y:-190.12, Z:-735.56 [[ 6.63810445e-01 -6.77662535e-02 7.44824428e-01 3.32795292e+02] [ 3.36061665e-02 9.97583335e-01 6.08121313e-02 -1.90123442e+02] [-7.47145447e-01 -1.53370342e-02 6.64483602e-01 -7.35559791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.82, Y:-190.12, Z:-735.58 [[ 6.65035327e-01 -6.37049162e-02 7.44089845e-01 3.32815893e+02] [ 2.79395051e-02 9.97779924e-01 6.04533563e-02 -1.90118598e+02] [-7.46289085e-01 -1.94141156e-02 6.65338782e-01 -7.35584845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.84, Y:-190.12, Z:-735.61 [[ 6.65939506e-01 -6.19419011e-02 7.43429738e-01 3.32837484e+02] [ 2.57302147e-02 9.97861129e-01 6.00926309e-02 -1.90115527e+02] [-7.45561889e-01 -2.08894502e-02 6.66108926e-01 -7.35609965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:-190.11, Z:-735.63 [[ 6.66709822e-01 -6.12860332e-02 7.42793400e-01 3.32857091e+02] [ 2.40508401e-02 9.97863586e-01 6.07439019e-02 -1.90111105e+02] [-7.44929239e-01 -2.26337507e-02 6.66759434e-01 -7.35633644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.88, Y:-190.11, Z:-735.66 [[ 6.67588938e-01 -6.24867169e-02 7.41903242e-01 3.32879878e+02] [ 2.26141776e-02 9.97713901e-01 6.36833601e-02 -1.90111633e+02] [-7.44186542e-01 -2.57367751e-02 6.67475849e-01 -7.35658270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.90, Y:-190.11, Z:-735.68 [[ 6.67491474e-01 -5.90988140e-02 7.42268457e-01 3.32900372e+02] [ 2.24748557e-02 9.97990231e-01 5.92484620e-02 -1.90107530e+02] [-7.44278182e-01 -2.28654668e-02 6.67478208e-01 -7.35684427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.92, Y:-190.11, Z:-735.71 [[ 6.67338918e-01 -5.92909873e-02 7.42390293e-01 3.32921923e+02] [ 2.30842376e-02 9.97993748e-01 5.89541982e-02 -1.90105491e+02] [-7.44396323e-01 -2.22049169e-02 6.67368755e-01 -7.35709230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.94, Y:-190.10, Z:-735.73 [[ 6.66712961e-01 -6.16705959e-02 7.42758753e-01 3.32943189e+02] [ 2.48295722e-02 9.97855472e-01 6.05635999e-02 -1.90103891e+02] [-7.44900880e-01 -2.19361549e-02 6.66814430e-01 -7.35731689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.96, Y:-190.10, Z:-735.76 [[ 6.65754902e-01 -6.38075749e-02 7.43437290e-01 3.32964517e+02] [ 2.81666022e-02 9.97775956e-01 6.04134488e-02 -1.90103916e+02] [-7.45638688e-01 -1.92804473e-02 6.66071476e-01 -7.35756335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.99, Y:-190.10, Z:-735.78 [[ 6.65038200e-01 -6.59419051e-02 7.43892370e-01 3.32985363e+02] [ 3.39262189e-02 9.97733346e-01 5.81135226e-02 -1.90102304e+02] [-7.46038340e-01 -1.34102571e-02 6.65767948e-01 -7.35781926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.01, Y:-190.10, Z:-735.81 [[ 6.64986328e-01 -6.98384788e-02 7.43583063e-01 3.33007303e+02] [ 3.78728693e-02 9.97490687e-01 5.98161715e-02 -1.90101373e+02] [-7.45894651e-01 -1.16153121e-02 6.65962653e-01 -7.35805136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:-190.10, Z:-735.83 [[ 6.64865089e-01 -7.22000155e-02 7.43465918e-01 3.33029145e+02] [ 4.10002565e-02 9.97344591e-01 6.01892496e-02 -1.90101090e+02] [-7.45837377e-01 -9.53543746e-03 6.66059819e-01 -7.35829968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.05, Y:-190.10, Z:-735.86 [[ 6.64699406e-01 -7.27903126e-02 7.43556501e-01 3.33048906e+02] [ 4.40928605e-02 9.97329750e-01 5.82167542e-02 -1.90100398e+02] [-7.45808635e-01 -5.91110876e-03 6.66134025e-01 -7.35855162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.04, Y:-190.07, Z:-735.89 [[ 6.56428944e-01 -4.65564316e-02 7.52949893e-01 3.33041909e+02] [ 5.60213541e-02 9.98346363e-01 1.28898430e-02 -1.90073596e+02] [-7.52304892e-01 3.37200066e-02 6.57951602e-01 -7.35892542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.11, Y:-190.13, Z:-735.88 [[ 6.64633943e-01 -1.33882124e-01 7.35076390e-01 3.33114977e+02] [ 5.48198695e-02 9.89901513e-01 1.30727870e-01 -1.90133103e+02] [-7.45155356e-01 -4.65893877e-02 6.65261546e-01 -7.35883612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.11, Y:-190.10, Z:-735.93 [[ 6.64719596e-01 -7.89342343e-02 7.42911331e-01 3.33112844e+02] [ 5.52489944e-02 9.96873684e-01 5.64836878e-02 -1.90099614e+02] [-7.45047252e-01 3.49928978e-03 6.67002509e-01 -7.35925303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.13, Y:-190.10, Z:-735.95 [[ 6.65422795e-01 -7.99601932e-02 7.42171726e-01 3.33134525e+02] [ 5.72255201e-02 9.96784745e-01 5.60839679e-02 -1.90098036e+02] [-7.44269940e-01 5.15161234e-03 6.67859055e-01 -7.35949828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.15, Y:-190.09, Z:-735.98 [[ 6.63971390e-01 -7.39288553e-02 7.44094428e-01 3.33150477e+02] [ 5.84250262e-02 9.97187584e-01 4.69408041e-02 -1.90091041e+02] [-7.45472005e-01 1.23063855e-02 6.66423321e-01 -7.35978690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.18, Y:-190.10, Z:-736.00 [[ 6.64074376e-01 -8.34383277e-02 7.42996144e-01 3.33175933e+02] [ 5.86421666e-02 9.96504663e-01 5.94941479e-02 -1.90095124e+02] [-7.45363214e-01 4.06236453e-03 6.66646216e-01 -7.36001063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.20, Y:-190.10, Z:-736.02 [[ 6.66147825e-01 -8.74717876e-02 7.40672507e-01 3.33201861e+02] [ 5.65103440e-02 9.96163455e-01 6.68202950e-02 -1.90097291e+02] [-7.43675774e-01 -2.65653593e-03 6.68535179e-01 -7.36021305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.22, Y:-190.09, Z:-736.05 [[ 6.66081075e-01 -7.74177446e-02 7.41850723e-01 3.33219907e+02] [ 5.47245023e-02 9.96990622e-01 5.49083647e-02 -1.90090046e+02] [-7.43869095e-01 4.02398902e-03 6.68313233e-01 -7.36048358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.23, Y:-190.08, Z:-736.08 [[ 6.62521718e-01 -6.59329043e-02 7.46135260e-01 3.33231543e+02] [ 5.48982868e-02 9.97713602e-01 3.94175826e-02 -1.90078670e+02] [-7.47028213e-01 1.48465430e-02 6.64626533e-01 -7.36079675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.26, Y:-190.08, Z:-736.10 [[ 6.62387728e-01 -7.88636113e-02 7.44998677e-01 3.33257496e+02] [ 5.33917209e-02 9.96884540e-01 5.80563368e-02 -1.90084925e+02] [-7.47256195e-01 1.32095636e-03 6.64534750e-01 -7.36099850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.29, Y:-190.09, Z:-736.11 [[ 6.67148043e-01 -9.16732909e-02 7.39262806e-01 3.33291865e+02] [ 4.76514545e-02 9.95618171e-01 8.04599109e-02 -1.90094622e+02] [-7.43399507e-01 -1.84517241e-02 6.68593080e-01 -7.36113835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.31, Y:-190.08, Z:-736.14 [[ 6.67332201e-01 -6.88867460e-02 7.41567495e-01 3.33306054e+02] [ 4.31769041e-02 9.97616881e-01 5.38174105e-02 -1.90079759e+02] [-7.43507558e-01 -3.89550234e-03 6.68716185e-01 -7.36144011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.33, Y:-190.08, Z:-736.17 [[ 6.66994678e-01 -6.71310447e-02 7.42032023e-01 3.33327622e+02] [ 4.08528405e-02 9.97729564e-01 5.35421647e-02 -1.90077515e+02] [-7.43941628e-01 -5.39822306e-03 6.68222803e-01 -7.36168861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.35, Y:-190.08, Z:-736.19 [[ 6.66796268e-01 -6.54680404e-02 7.42358857e-01 3.33349117e+02] [ 3.86853228e-02 9.97831574e-01 5.32503229e-02 -1.90075373e+02] [-7.44235301e-01 -6.78872458e-03 6.67883022e-01 -7.36193259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.37, Y:-190.07, Z:-736.22 [[ 6.67155285e-01 -6.38519065e-02 7.42177041e-01 3.33371079e+02] [ 3.66334559e-02 9.97926347e-01 5.29244291e-02 -1.90073206e+02] [-7.44017349e-01 -8.12030271e-03 6.68110953e-01 -7.36218289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.39, Y:-190.07, Z:-736.24 [[ 6.67223877e-01 -6.14349488e-02 7.42319368e-01 3.33392816e+02] [ 3.33531109e-02 9.98057412e-01 5.26210358e-02 -1.90070169e+02] [-7.44110118e-01 -1.03513513e-02 6.67976783e-01 -7.36243308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.41, Y:-190.07, Z:-736.27 [[ 6.67028968e-01 -6.01049981e-02 7.42603357e-01 3.33413444e+02] [ 3.16895014e-02 9.98127329e-01 5.23221791e-02 -1.90067879e+02] [-7.44357530e-01 -1.13676790e-02 6.67684539e-01 -7.36267748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.43, Y:-190.06, Z:-736.30 [[ 6.64011138e-01 -5.00285366e-02 7.46047153e-01 3.33426054e+02] [ 3.16370517e-02 9.98745428e-01 3.88158005e-02 -1.90058328e+02] [-7.47053081e-01 -2.17139155e-03 6.64760844e-01 -7.36297933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.46, Y:-190.07, Z:-736.31 [[ 6.67098093e-01 -7.10996779e-02 7.41569262e-01 3.33459705e+02] [ 2.93180928e-02 9.97169677e-01 6.92321024e-02 -1.90071227e+02] [-7.44392762e-01 -2.44432071e-02 6.67294497e-01 -7.36311522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.48, Y:-190.06, Z:-736.34 [[ 6.66918375e-01 -5.77163908e-02 7.42892118e-01 3.33476303e+02] [ 2.85858204e-02 9.98243462e-01 5.18925964e-02 -1.90061800e+02] [-7.44582253e-01 -1.33719454e-02 6.67396778e-01 -7.36340535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.49, Y:-190.06, Z:-736.37 [[ 6.65974564e-01 -5.22193804e-02 7.44144486e-01 3.33494196e+02] [ 2.87166667e-02 9.98602105e-01 4.43755403e-02 -1.90057272e+02] [-7.45421514e-01 -8.18363195e-03 6.66543169e-01 -7.36368876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.52, Y:-190.06, Z:-736.39 [[ 6.67455506e-01 -6.16815932e-02 7.42090647e-01 3.33520365e+02] [ 2.86722663e-02 9.97953225e-01 5.71599750e-02 -1.90062151e+02] [-7.44097473e-01 -1.68743194e-02 6.67857925e-01 -7.36387835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.54, Y:-190.06, Z:-736.41 [[ 6.67754486e-01 -5.78814623e-02 7.42127808e-01 3.33539600e+02] [ 2.97482417e-02 9.98250871e-01 5.10905237e-02 -1.90058961e+02] [-7.43786924e-01 -1.20389290e-02 6.68308369e-01 -7.36413205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.56, Y:-190.06, Z:-736.44 [[ 6.68259582e-01 -5.78137068e-02 7.41678304e-01 3.33560695e+02] [ 3.00185820e-02 9.98259278e-01 5.07671101e-02 -1.90057773e+02] [-7.43322282e-01 -1.16614768e-02 6.68831813e-01 -7.36438009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.58, Y:-190.06, Z:-736.46 [[ 6.68806266e-01 -5.78288009e-02 7.41184193e-01 3.33582233e+02] [ 3.04341212e-02 9.98264058e-01 5.04245542e-02 -1.90056625e+02] [-7.42813532e-01 -1.11669682e-02 6.69405226e-01 -7.36463446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.60, Y:-190.06, Z:-736.49 [[ 6.69605326e-01 -5.80884877e-02 7.40442054e-01 3.33602638e+02] [ 3.12451174e-02 9.98257430e-01 5.00584309e-02 -1.90056614e+02] [-7.42059601e-01 -1.03841930e-02 6.70253473e-01 -7.36487886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.62, Y:-190.06, Z:-736.51 [[ 6.69679054e-01 -5.80077359e-02 7.40381703e-01 3.33624286e+02] [ 3.14551158e-02 9.98265694e-01 4.97612251e-02 -1.90055950e+02] [-7.41984191e-01 -1.00352580e-02 6.70342266e-01 -7.36513285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.65, Y:-190.06, Z:-736.54 [[ 6.69858602e-01 -5.77354920e-02 7.40240546e-01 3.33646109e+02] [ 3.14053403e-02 9.98283106e-01 4.94423456e-02 -1.90055313e+02] [-7.41824210e-01 -9.87187423e-03 6.70521729e-01 -7.36538428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.67, Y:-190.06, Z:-736.56 [[ 6.69642680e-01 -5.74047138e-02 7.40461599e-01 3.33667587e+02] [ 3.12351222e-02 9.98303066e-01 4.91462769e-02 -1.90055374e+02] [-7.42026313e-01 -9.78203608e-03 6.70299384e-01 -7.36563584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.69, Y:-190.05, Z:-736.59 [[ 6.69899607e-01 -5.69786819e-02 7.40262079e-01 3.33688991e+02] [ 3.09645454e-02 9.98327461e-01 4.88208798e-02 -1.90054653e+02] [-7.41805711e-01 -9.78320945e-03 6.70543493e-01 -7.36588046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.71, Y:-190.05, Z:-736.62 [[ 6.68969006e-01 -5.14469338e-02 7.41507709e-01 3.33706719e+02] [ 3.09632237e-02 9.98664644e-01 4.13546568e-02 -1.90051996e+02] [-7.42645102e-01 -4.70551458e-03 6.69668657e-01 -7.36616550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.73, Y:-190.06, Z:-736.64 [[ 6.70037434e-01 -5.83038902e-02 7.40034116e-01 3.33733678e+02] [ 2.92994492e-02 9.98211115e-01 5.21163316e-02 -1.90058792e+02] [-7.41748865e-01 -1.32373011e-02 6.70547086e-01 -7.36638874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.75, Y:-190.05, Z:-736.66 [[ 6.69614319e-01 -4.95509380e-02 7.41054228e-01 3.33752245e+02] [ 2.84023795e-02 9.98750543e-01 4.11176200e-02 -1.90054992e+02] [-7.42165729e-01 -6.48524371e-03 6.70185029e-01 -7.36664946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.77, Y:-190.05, Z:-736.69 [[ 6.69650287e-01 -4.97074405e-02 7.41011244e-01 3.33773683e+02] [ 2.82175842e-02 9.98740137e-01 4.14958651e-02 -1.90053849e+02] [-7.42140324e-01 -6.87817082e-03 6.70209243e-01 -7.36689302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.79, Y:-190.05, Z:-736.71 [[ 6.69266045e-01 -5.03271211e-02 7.41316492e-01 3.33794005e+02] [ 2.78969773e-02 9.98702012e-01 4.26151284e-02 -1.90053145e+02] [-7.42498969e-01 -7.84036910e-03 6.69801321e-01 -7.36711165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.81, Y:-190.05, Z:-736.74 [[ 6.67714084e-01 -4.83827962e-02 7.42843865e-01 3.33813372e+02] [ 2.75158840e-02 9.98807827e-01 4.03212218e-02 -1.90051861e+02] [-7.43909120e-01 -6.48304203e-03 6.68249348e-01 -7.36738737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.84, Y:-190.06, Z:-736.76 [[ 6.68492673e-01 -5.68032367e-02 7.41546316e-01 3.33839851e+02] [ 2.64600623e-02 9.98264270e-01 5.26147632e-02 -1.90057070e+02] [-7.43247880e-01 -1.55512220e-02 6.68835367e-01 -7.36757573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.86, Y:-190.05, Z:-736.78 [[ 6.68059669e-01 -5.16601942e-02 7.42312268e-01 3.33859985e+02] [ 2.49633381e-02 9.98581565e-01 4.70286154e-02 -1.90054024e+02] [-7.43688854e-01 -1.28873291e-02 6.68401680e-01 -7.36783697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.87, Y:-190.04, Z:-736.82 [[ 6.64294780e-01 -3.96085418e-02 7.46420531e-01 3.33871525e+02] [ 2.48679756e-02 9.99213354e-01 3.08910548e-02 -1.90044634e+02] [-7.47056912e-01 -1.95879889e-03 6.64757199e-01 -7.36816022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.91, Y:-190.06, Z:-736.83 [[ 6.67564754e-01 -6.25643940e-02 7.41918457e-01 3.33907060e+02] [ 2.07693194e-02 9.97640271e-01 6.54410104e-02 -1.90061830e+02] [-7.44262007e-01 -2.82769706e-02 6.67288901e-01 -7.36827958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.92, Y:-190.05, Z:-736.86 [[ 6.67422895e-01 -4.70626608e-02 7.43190275e-01 3.33922244e+02] [ 1.87783705e-02 9.98747261e-01 4.63819163e-02 -1.90052948e+02] [-7.44442108e-01 -1.70004506e-02 6.67470548e-01 -7.36856633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.94, Y:-190.05, Z:-736.88 [[ 6.67767027e-01 -4.47332040e-02 7.43024991e-01 3.33943738e+02] [ 1.56370796e-02 9.98815375e-01 4.60795884e-02 -1.90053860e+02] [-7.44206073e-01 -1.91516888e-02 6.67675470e-01 -7.36881552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:333.96, Y:-190.05, Z:-736.91 [[ 6.67031179e-01 -3.84454217e-02 7.44037201e-01 3.33962029e+02] [ 1.45644526e-02 9.99149740e-01 3.85703685e-02 -1.90050236e+02] [-7.44887430e-01 -1.48911438e-02 6.67023966e-01 -7.36910058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.99, Y:-190.05, Z:-736.93 [[ 6.68282338e-01 -4.47336271e-02 7.42561525e-01 3.33986226e+02] [ 1.28541242e-02 9.98735712e-01 4.85978407e-02 -1.90054479e+02] [-7.43796671e-01 -2.29321005e-02 6.68012448e-01 -7.36928325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.01, Y:-190.05, Z:-736.95 [[ 6.68237207e-01 -4.13270896e-02 7.42799506e-01 3.34006951e+02] [ 1.13807318e-02 9.98906885e-01 4.53377872e-02 -1.90052493e+02] [-7.43861220e-01 -2.18427944e-02 6.67977079e-01 -7.36954383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.03, Y:-190.05, Z:-736.98 [[ 6.68355274e-01 -4.02827787e-02 7.42750648e-01 3.34028235e+02] [ 1.01803777e-02 9.98934387e-01 4.50161085e-02 -1.90052014e+02] [-7.43772538e-01 -2.25252714e-02 6.68053160e-01 -7.36979046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.05, Y:-190.05, Z:-737.00 [[ 6.68441262e-01 -3.89197803e-02 7.42745939e-01 3.34049449e+02] [ 8.49888175e-03 9.98964440e-01 4.46969435e-02 -1.90052753e+02] [-7.43716376e-01 -2.35647714e-02 6.68079826e-01 -7.37003182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.07, Y:-190.05, Z:-737.03 [[ 6.68662628e-01 -3.79707157e-02 7.42595795e-01 3.34071334e+02] [ 7.42895640e-03 9.98986599e-01 4.43912702e-02 -1.90052264e+02] [-7.43528817e-01 -2.41660716e-02 6.68267087e-01 -7.37028032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.09, Y:-190.05, Z:-737.05 [[ 6.68432132e-01 -3.71503826e-02 7.42844758e-01 3.34091914e+02] [ 6.52242091e-03 9.99006174e-01 4.40922084e-02 -1.90051703e+02] [-7.43744541e-01 -2.46275027e-02 6.68010137e-01 -7.37052256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.11, Y:-190.05, Z:-737.08 [[ 6.68319106e-01 -3.62834209e-02 7.42989291e-01 3.34113136e+02] [ 5.53383763e-03 9.99024596e-01 4.38090574e-02 -1.90051363e+02] [-7.43854119e-01 -2.51668480e-02 6.67868011e-01 -7.37077931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.13, Y:-190.05, Z:-737.10 [[ 6.68113631e-01 -3.61076802e-02 7.43182623e-01 3.34133762e+02] [ 5.59429022e-03 9.99037362e-01 4.35092251e-02 -1.90051363e+02] [-7.44038225e-01 -2.49115271e-02 6.67672477e-01 -7.37102347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.15, Y:-190.05, Z:-737.13 [[ 6.67922810e-01 -3.61104519e-02 7.43353991e-01 3.34154924e+02] [ 5.89917375e-03 9.99047691e-01 4.32309118e-02 -1.90050965e+02] [-7.44207175e-01 -2.44897378e-02 6.67499763e-01 -7.37127297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.18, Y:-190.05, Z:-737.15 [[ 6.67950107e-01 -3.63208351e-02 7.43319213e-01 3.34175997e+02] [ 6.56541223e-03 9.99057058e-01 4.29172532e-02 -1.90050925e+02] [-7.44177096e-01 -2.37863868e-02 6.67558730e-01 -7.37151601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.20, Y:-190.05, Z:-737.18 [[ 6.67785920e-01 -3.68198617e-02 7.43442172e-01 3.34197674e+02] [ 7.62040329e-03 9.99061661e-01 4.26348079e-02 -1.90050764e+02] [-7.44314379e-01 -2.28055952e-02 6.67439893e-01 -7.37177006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.22, Y:-190.05, Z:-737.20 [[ 6.67129734e-01 -3.81379487e-02 7.43964660e-01 3.34219617e+02] [ 9.88201330e-03 9.99053829e-01 4.23531929e-02 -1.90052441e+02] [-7.44876006e-01 -2.09032056e-02 6.66875394e-01 -7.37201466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.24, Y:-190.05, Z:-737.23 [[ 6.66817009e-01 -3.80188228e-02 7.44251064e-01 3.34241639e+02] [ 1.00262886e-02 9.99065096e-01 4.20524479e-02 -1.90052119e+02] [-7.45154045e-01 -2.05792116e-02 6.66574786e-01 -7.37226287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.26, Y:-190.05, Z:-737.25 [[ 6.66654966e-01 -3.76323668e-02 7.44415852e-01 3.34263413e+02] [ 9.79168874e-03 9.99080628e-01 4.17375458e-02 -1.90051335e+02] [-7.45302139e-01 -2.05354539e-02 6.66410546e-01 -7.37251227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.28, Y:-190.05, Z:-737.28 [[ 6.66288175e-01 -3.81449297e-02 7.44718089e-01 3.34284780e+02] [ 1.08892147e-02 9.99082019e-01 4.14311923e-02 -1.90050835e+02] [-7.45614843e-01 -1.94957183e-02 6.66091903e-01 -7.37276366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:-190.05, Z:-737.30 [[ 6.66058438e-01 -3.81729166e-02 7.44922134e-01 3.34306000e+02] [ 1.12663312e-02 9.99090530e-01 4.11239821e-02 -1.90050078e+02] [-7.45814473e-01 -1.89984358e-02 6.65882747e-01 -7.37301450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.33, Y:-190.05, Z:-737.33 [[ 6.66052664e-01 -3.80224615e-02 7.44934992e-01 3.34327419e+02] [ 1.14008098e-02 9.99102209e-01 4.08019302e-02 -1.90049722e+02] [-7.45817586e-01 -1.86833721e-02 6.65888174e-01 -7.37326282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.35, Y:-190.05, Z:-737.35 [[ 6.66011898e-01 -3.80408542e-02 7.44970500e-01 3.34348100e+02] [ 1.17855204e-02 9.99110768e-01 4.04817778e-02 -1.90049117e+02] [-7.45848010e-01 -1.81814806e-02 6.65867990e-01 -7.37350338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.37, Y:-190.05, Z:-737.38 [[ 6.65786986e-01 -3.90761210e-02 7.45117941e-01 3.34369373e+02] [ 1.36600268e-02 9.99098681e-01 4.01899233e-02 -1.90048791e+02] [-7.46016818e-01 -1.65795968e-02 6.65720680e-01 -7.37375105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.39, Y:-190.05, Z:-737.40 [[ 6.65414074e-01 -3.97948621e-02 7.45412959e-01 3.34390940e+02] [ 1.50673600e-02 9.99090569e-01 3.98874714e-02 -1.90047963e+02] [-7.46322373e-01 -1.53102795e-02 6.65408529e-01 -7.37400440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.41, Y:-190.05, Z:-737.42 [[ 6.65115905e-01 -4.22256981e-02 7.45545320e-01 3.34411454e+02] [ 1.90633648e-02 9.99034704e-01 3.95758513e-02 -1.90047799e+02] [-7.46496766e-01 -1.21099258e-02 6.65278835e-01 -7.37424859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.43, Y:-190.05, Z:-737.45 [[ 6.64826673e-01 -4.32627903e-02 7.45743807e-01 3.34432968e+02] [ 2.09352709e-02 9.99008446e-01 3.92917328e-02 -1.90047413e+02] [-7.46704232e-01 -1.05098434e-02 6.65073179e-01 -7.37449321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.45, Y:-190.05, Z:-737.47 [[ 6.64699848e-01 -4.38198536e-02 7.45824331e-01 3.34454518e+02] [ 2.21143509e-02 9.98995034e-01 3.89856019e-02 -1.90046831e+02] [-7.46783146e-01 -9.42030273e-03 6.65000895e-01 -7.37473187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.48, Y:-190.05, Z:-737.50 [[ 6.64167280e-01 -4.48198621e-02 7.46239241e-01 3.34476529e+02] [ 2.39094297e-02 9.98964056e-01 3.87189104e-02 -1.90046463e+02] [-7.47201555e-01 -7.87367876e-03 6.64550857e-01 -7.37497978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.51, Y:-190.05, Z:-737.52 [[ 6.66878237e-01 -5.53136557e-02 7.43110904e-01 3.34508910e+02] [ 2.33261052e-02 9.98302022e-01 5.33756969e-02 -1.90054946e+02] [-7.44801524e-01 -1.82612076e-02 6.67036145e-01 -7.37518034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:334.52, Y:-190.04, Z:-737.55 [[ 6.66693805e-01 -3.55431004e-02 7.44483753e-01 3.34521202e+02] [ 2.40436224e-02 9.99368045e-01 2.61804299e-02 -1.90041000e+02] [-7.44943806e-01 4.45755851e-04 6.67127070e-01 -7.37548614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.53, Y:-190.03, Z:-737.58 [[ 6.64888523e-01 -2.83694377e-02 7.46403662e-01 3.34534402e+02] [ 2.51683573e-02 9.99561940e-01 1.55718130e-02 -1.90032809e+02] [-7.46518457e-01 8.43223431e-03 6.65311274e-01 -7.37576064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.56, Y:-190.04, Z:-737.60 [[ 6.65095118e-01 -4.40223729e-02 7.45459935e-01 3.34562311e+02] [ 2.52033220e-02 9.99015437e-01 3.65095727e-02 -1.90041127e+02] [-7.46333221e-01 -5.49427181e-03 6.65549801e-01 -7.37595873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.58, Y:-190.04, Z:-737.62 [[ 6.65256895e-01 -4.34995469e-02 7.45346264e-01 3.34583685e+02] [ 2.47712824e-02 9.99037660e-01 3.61958199e-02 -1.90039722e+02] [-7.46203489e-01 -5.61633598e-03 6.65694231e-01 -7.37620627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.60, Y:-190.04, Z:-737.65 [[ 6.65173696e-01 -4.32397873e-02 7.45435628e-01 3.34604997e+02] [ 2.47204461e-02 9.99049874e-01 3.58921851e-02 -1.90038378e+02] [-7.46279341e-01 -5.44703619e-03 6.65610604e-01 -7.37645287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5965599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.64, Y:-190.05, Z:-737.66 [[ 6.69001518e-01 -5.65020575e-02 7.41110306e-01 3.34639640e+02] [ 2.31511738e-02 9.98206640e-01 5.52044119e-02 -1.90048790e+02] [-7.42900392e-01 -1.97742619e-02 6.69109847e-01 -7.37662224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:334.65, Y:-190.03, Z:-737.69 [[ 6.68693030e-01 -3.07759817e-02 7.42901387e-01 3.34649545e+02] [ 2.27047509e-02 9.99522259e-01 2.09701722e-02 -1.90031512e+02] [-7.43191850e-01 2.84478299e-03 6.69072329e-01 -7.37694752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.66, Y:-190.02, Z:-737.72 [[ 6.66704450e-01 -2.21797030e-02 7.44992105e-01 3.34662465e+02] [ 2.24484777e-02 9.99701201e-01 9.67335856e-03 -1.90022675e+02] [-7.44984055e-01 1.02746675e-02 6.67003140e-01 -7.37722047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.69, Y:-190.03, Z:-737.74 [[ 6.66805421e-01 -3.97693073e-02 7.44169963e-01 3.34691597e+02] [ 2.17022009e-02 9.99187817e-01 3.39517360e-02 -1.90032505e+02] [-7.44915798e-01 -6.48907558e-03 6.67126934e-01 -7.37741036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.71, Y:-190.03, Z:-737.77 [[ 6.67108457e-01 -3.88731831e-02 7.43945685e-01 3.34713047e+02] [ 2.07234314e-02 9.99219514e-01 3.36288889e-02 -1.90030116e+02] [-7.44672308e-01 -7.01700879e-03 6.67393374e-01 -7.37765548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.73, Y:-190.03, Z:-737.79 [[ 6.67252852e-01 -3.82474987e-02 7.43848614e-01 3.34734447e+02] [ 2.01440776e-02 9.99242055e-01 3.33096218e-02 -1.90028327e+02] [-7.44558827e-01 -7.24179591e-03 6.67517572e-01 -7.37790057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.76, Y:-190.03, Z:-737.81 [[ 6.67344605e-01 -3.76634095e-02 7.43796105e-01 3.34755002e+02] [ 1.96240291e-02 9.99262926e-01 3.29924540e-02 -1.90026974e+02] [-7.44490481e-01 -7.42105977e-03 6.67591831e-01 -7.37813917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.79, Y:-190.04, Z:-737.83 [[ 6.73447252e-01 -5.55101289e-02 7.37148170e-01 3.34794101e+02] [ 1.79018670e-02 9.98108864e-01 5.88066150e-02 -1.90040123e+02] [-7.39018486e-01 -2.64068248e-02 6.73167407e-01 -7.37826071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.80, Y:-190.02, Z:-737.86 [[ 6.71770599e-01 -2.64854906e-02 7.40285608e-01 3.34801147e+02] [ 1.79063763e-02 9.99649187e-01 1.95157408e-02 -1.90020110e+02] [-7.40542790e-01 1.45731812e-04 6.72009192e-01 -7.37861064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.81, Y:-190.01, Z:-737.89 [[ 6.67366445e-01 -1.66615580e-02 7.44543095e-01 3.34809776e+02] [ 1.96132412e-02 9.99796151e-01 4.79346671e-03 -1.90009616e+02] [-7.44471187e-01 1.14039045e-02 6.67557190e-01 -7.37892555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.85, Y:-190.03, Z:-737.90 [[ 6.71606642e-01 -5.00606816e-02 7.39214751e-01 3.34852170e+02] [ 1.96086358e-02 9.98566250e-01 4.98090941e-02 -1.90030998e+02] [-7.40648379e-01 -1.89571255e-02 6.71625347e-01 -7.37901059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.85, Y:-190.01, Z:-737.94 [[ 6.66968973e-01 -2.17895284e-02 7.44766813e-01 3.34853557e+02] [ 2.12062217e-02 9.99722500e-01 1.02576937e-02 -1.90008779e+02] [-7.44783651e-01 8.95212676e-03 6.67245962e-01 -7.37938511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.90, Y:-190.03, Z:-737.95 [[ 6.70400703e-01 -5.21543314e-02 7.40164052e-01 3.34895071e+02] [ 2.02193522e-02 9.98440307e-01 5.20397048e-02 -1.90029663e+02] [-7.41723719e-01 -1.99218170e-02 6.70409610e-01 -7.37950173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.89, Y:-190.00, Z:-737.99 [[ 6.67176915e-01 -1.70005391e-02 7.44705275e-01 3.34894188e+02] [ 2.22653865e-02 9.99747961e-01 2.87536901e-03 -1.90002378e+02] [-7.44566463e-01 1.46627709e-02 6.67387284e-01 -7.37988721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.92, Y:-190.02, Z:-738.01 [[ 6.67301506e-01 -3.87787744e-02 7.43777458e-01 3.34924729e+02] [ 2.25001851e-02 9.99237419e-01 3.19111514e-02 -1.90015219e+02] [-7.44447743e-01 -4.55922893e-03 6.67665165e-01 -7.38006966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.96, Y:-190.02, Z:-738.02 [[ 6.70900844e-01 -4.97331149e-02 7.39877473e-01 3.34957613e+02] [ 2.14487057e-02 9.98632493e-01 4.76770156e-02 -1.90023157e+02] [-7.41236811e-01 -1.61171358e-02 6.71050093e-01 -7.38023816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.96, Y:-190.00, Z:-738.06 [[ 6.68105611e-01 -2.37106554e-02 7.43688576e-01 3.34961323e+02] [ 2.33218756e-02 9.99668363e-01 1.09203185e-02 -1.90003134e+02] [-7.43700869e-01 1.00482864e-02 6.68437020e-01 -7.38060141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.99, Y:-190.01, Z:-738.08 [[ 6.68246037e-01 -3.94081093e-02 7.42895844e-01 3.34988184e+02] [ 2.40131275e-02 9.99218243e-01 3.14049736e-02 -1.90011739e+02] [-7.43552691e-01 -3.14699656e-03 6.68669943e-01 -7.38079126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.01, Y:-190.01, Z:-738.10 [[ 6.68659978e-01 -3.95897256e-02 7.42513628e-01 3.35009868e+02] [ 2.46317113e-02 9.99212886e-01 3.10948157e-02 -1.90010510e+02] [-7.43160220e-01 -2.50247751e-03 6.69108829e-01 -7.38103846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.03, Y:-190.01, Z:-738.13 [[ 6.68882580e-01 -3.96074811e-02 7.42312159e-01 3.35031005e+02] [ 2.50204871e-02 9.99213298e-01 3.07694729e-02 -1.90009500e+02] [-7.42946882e-01 -2.00815264e-03 6.69347367e-01 -7.38128095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.05, Y:-190.01, Z:-738.15 [[ 6.69187910e-01 -3.95831529e-02 7.42038217e-01 3.35053216e+02] [ 2.53242734e-02 9.99215008e-01 3.04639065e-02 -1.90008351e+02] [-7.42661581e-01 -1.59449929e-03 6.69665017e-01 -7.38153005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.08, Y:-190.01, Z:-738.18 [[ 6.69409236e-01 -3.95467701e-02 7.41840501e-01 3.35075430e+02] [ 2.56249248e-02 9.99217036e-01 3.01442763e-02 -1.90007693e+02] [-7.42451775e-01 -1.16924990e-03 6.69898496e-01 -7.38177868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.11, Y:-190.02, Z:-738.19 [[ 6.74924880e-01 -5.67889325e-02 7.35697916e-01 3.35114491e+02] [ 2.50932120e-02 9.98223801e-01 5.40330890e-02 -1.90021399e+02] [-7.37459651e-01 -1.80072523e-02 6.75151096e-01 -7.38190389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.13, Y:-190.01, Z:-738.22 [[ 6.74591284e-01 -3.26807605e-02 7.37467672e-01 3.35125914e+02] [ 2.42640035e-02 9.99461374e-01 2.20957109e-02 -1.90006148e+02] [-7.37792558e-01 2.98834421e-03 6.75020897e-01 -7.38222821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.15, Y:-190.00, Z:-738.25 [[ 6.74740875e-01 -3.16235291e-02 7.37376908e-01 3.35146416e+02] [ 2.48510327e-02 9.99488584e-01 2.01245098e-02 -1.90004859e+02] [-7.37636210e-01 4.74574828e-03 6.75181679e-01 -7.38246552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.15, Y:-189.99, Z:-738.28 [[ 6.69806970e-01 -1.68667531e-02 7.42343678e-01 3.35151293e+02] [ 2.73176994e-02 9.99624927e-01 -1.93597473e-03 -1.89991035e+02] [-7.42032591e-01 2.15758508e-02 6.70016504e-01 -7.38279979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:-190.01, Z:-738.30 [[ 6.69375827e-01 -4.06173775e-02 7.41812801e-01 3.35182507e+02] [ 2.80736671e-02 9.99174099e-01 2.93766802e-02 -1.90005097e+02] [-7.42393341e-01 1.16136604e-03 6.69963267e-01 -7.38297272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.22, Y:-190.02, Z:-738.31 [[ 6.74400548e-01 -6.14666652e-02 7.35802793e-01 3.35224644e+02] [ 2.54526713e-02 9.97871990e-01 6.00304435e-02 -1.90022941e+02] [-7.37926868e-01 -2.17564174e-02 6.74529908e-01 -7.38309401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.21, Y:-189.98, Z:-738.36 [[ 6.69293687e-01 -6.15134440e-03 7.42972490e-01 3.35211894e+02] [ 2.87802839e-02 9.99429896e-01 -1.76515618e-02 -1.89981102e+02] [-7.42440338e-01 3.31970381e-02 6.69089158e-01 -7.38355066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.25, Y:-190.00, Z:-738.37 [[ 6.68691108e-01 -4.12983512e-02 7.42392516e-01 3.35247342e+02] [ 2.97805067e-02 9.99142711e-01 2.87570067e-02 -1.90001991e+02] [-7.42943688e-01 2.87927062e-03 6.69347732e-01 -7.38368667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.27, Y:-190.00, Z:-738.39 [[ 6.68194542e-01 -4.12709152e-02 7.42841010e-01 3.35269305e+02] [ 3.00691234e-02 9.99142484e-01 2.84630228e-02 -1.90001124e+02] [-7.43378707e-01 3.31774146e-03 6.68862535e-01 -7.38393585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.29, Y:-190.00, Z:-738.42 [[ 6.68573238e-01 -4.15187705e-02 7.42486375e-01 3.35292285e+02] [ 3.07956249e-02 9.99129509e-01 2.81399078e-02 -1.90000639e+02] [-7.43008381e-01 4.05174261e-03 6.69269848e-01 -7.38417691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.31, Y:-190.00, Z:-738.44 [[ 6.68610542e-01 -4.15370751e-02 7.42451760e-01 3.35313866e+02] [ 3.11766538e-02 9.99126623e-01 2.78210105e-02 -1.90000031e+02] [-7.42958922e-01 4.54574063e-03 6.69321579e-01 -7.38441663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:-190.00, Z:-738.46 [[ 6.70215211e-01 -4.73041893e-02 7.40657738e-01 3.35341396e+02] [ 3.07070834e-02 9.98879562e-01 3.60096602e-02 -1.90004593e+02] [-7.41531284e-01 -1.39078310e-03 6.70916850e-01 -7.38462327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.36, Y:-189.99, Z:-738.49 [[ 6.70588391e-01 -3.66594424e-02 7.40923272e-01 3.35356545e+02] [ 3.26691308e-02 9.99268609e-01 1.98739745e-02 -1.89994258e+02] [-7.41109936e-01 1.08780627e-02 6.71295561e-01 -7.38489886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.38, Y:-190.00, Z:-738.51 [[ 6.71091148e-01 -4.21262234e-02 7.40177041e-01 3.35380715e+02] [ 3.32755248e-02 9.99089718e-01 2.66922174e-02 -1.89996029e+02] [-7.40627714e-01 6.71686870e-03 6.71882038e-01 -7.38512523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.40, Y:-189.99, Z:-738.54 [[ 6.70228833e-01 -3.54757042e-02 7.41306135e-01 3.35395374e+02] [ 3.42313548e-02 9.99271516e-01 1.68715989e-02 -1.89989379e+02] [-7.41364638e-01 1.40680812e-02 6.70954964e-01 -7.38540237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.42, Y:-190.00, Z:-738.56 [[ 6.71645405e-01 -4.77209963e-02 7.39334266e-01 3.35424609e+02] [ 3.48432684e-02 9.98853784e-01 3.28186826e-02 -1.89996367e+02] [-7.40052969e-01 3.71830488e-03 6.72538309e-01 -7.38558985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.44, Y:-189.99, Z:-738.59 [[ 6.71834790e-01 -4.16633376e-02 7.39528351e-01 3.35443272e+02] [ 3.57424811e-02 9.99077235e-01 2.38149759e-02 -1.89990872e+02] [-7.39838152e-01 1.04328488e-02 6.72703995e-01 -7.38585169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.47, Y:-190.00, Z:-738.61 [[ 6.73806933e-01 -5.11180549e-02 7.37137139e-01 3.35472441e+02] [ 3.70526834e-02 9.98686592e-01 3.53863068e-02 -1.89996210e+02] [-7.37977856e-01 3.46937021e-03 6.74816010e-01 -7.38605160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.48, Y:-189.98, Z:-738.64 [[ 6.71712960e-01 -3.13597874e-02 7.40147460e-01 3.35480591e+02] [ 3.84854523e-02 9.99231686e-01 7.41003168e-03 -1.89981109e+02] [-7.39811171e-01 2.35074954e-02 6.72403769e-01 -7.38637096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.52, Y:-190.00, Z:-738.65 [[ 6.73967367e-01 -5.37028376e-02 7.36806619e-01 3.35515820e+02] [ 3.87074998e-02 9.98551406e-01 3.73740566e-02 -1.89995462e+02] [-7.37746378e-01 3.33104755e-03 6.75069764e-01 -7.38651250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.54, Y:-189.99, Z:-738.68 [[ 6.75326990e-01 -4.66029341e-02 7.36044580e-01 3.35538286e+02] [ 3.82945833e-02 9.98871087e-01 2.81082945e-02 -1.89991448e+02] [-7.36523579e-01 9.20423060e-03 6.76349244e-01 -7.38677013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.55, Y:-189.98, Z:-738.71 [[ 6.73930358e-01 -3.22298961e-02 7.38091530e-01 3.35552425e+02] [ 3.86055486e-02 9.99219365e-01 8.38281546e-03 -1.89979972e+02] [-7.37785527e-01 2.28449946e-02 6.74648518e-01 -7.38706205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.58, Y:-189.98, Z:-738.73 [[ 6.73393399e-01 -3.98223780e-02 7.38211019e-01 3.35577692e+02] [ 3.82803268e-02 9.99086847e-01 1.89760033e-02 -1.89983194e+02] [-7.38292589e-01 1.54806437e-02 6.74302901e-01 -7.38727295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.60, Y:-189.98, Z:-738.75 [[ 6.72103203e-01 -3.24800711e-02 7.39744773e-01 3.35595305e+02] [ 3.75059499e-02 9.99248372e-01 9.79768892e-03 -1.89977048e+02] [-7.39506990e-01 2.11597722e-02 6.72816228e-01 -7.38754179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.61, Y:-189.97, Z:-738.78 [[ 6.68227384e-01 -2.06847126e-02 7.43669487e-01 3.35607568e+02] [ 3.56265533e-02 9.99356280e-01 -4.21590659e-03 -1.89965776e+02] [-7.43103568e-01 2.93115649e-02 6.68534158e-01 -7.38784928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.63, Y:-189.97, Z:-738.80 [[ 6.68048445e-01 -3.68948739e-02 7.43202559e-01 3.35634922e+02] [ 3.48197243e-02 9.99225939e-01 1.83059817e-02 -1.89972955e+02] [-7.43302672e-01 1.36488256e-02 6.68816004e-01 -7.38803909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.66, Y:-189.98, Z:-738.82 [[ 6.70206866e-01 -4.30367329e-02 7.40925500e-01 3.35662946e+02] [ 3.10561453e-02 9.99069150e-01 2.99390835e-02 -1.89977533e+02] [-7.41524290e-01 2.94491066e-03 6.70919559e-01 -7.38824149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.67, Y:-189.96, Z:-738.86 [[ 6.69405506e-01 -2.08921161e-02 7.42603386e-01 3.35671964e+02] [ 2.67427255e-02 9.99634280e-01 4.01660944e-03 -1.89959842e+02] [-7.42415716e-01 1.71704980e-02 6.69719403e-01 -7.38856198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.70, Y:-189.96, Z:-738.87 [[ 6.70039696e-01 -3.24597801e-02 7.41615243e-01 3.35695281e+02] [ 2.57685276e-02 9.99458461e-01 2.04637992e-02 -1.89962849e+02] [-7.41877880e-01 5.39877510e-03 6.70513285e-01 -7.38874406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.70, Y:-189.95, Z:-738.91 [[ 6.65486931e-01 -1.22884894e-02 7.46308340e-01 3.35702268e+02] [ 2.29293756e-02 9.99729145e-01 -3.98500002e-03 -1.89946944e+02] [-7.46057229e-01 1.97643497e-02 6.65588448e-01 -7.38911711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.75, Y:-189.97, Z:-738.91 [[ 6.70712289e-01 -5.69857573e-02 7.39525287e-01 3.35747493e+02] [ 2.13386137e-02 9.98114044e-01 5.75588354e-02 -1.89974212e+02] [-7.41410608e-01 -2.28249738e-02 6.70663351e-01 -7.38914422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.76, Y:-189.96, Z:-738.95 [[ 6.70470687e-01 -3.16066166e-02 7.41262490e-01 3.35759336e+02] [ 1.96137913e-02 9.99498095e-01 2.48768570e-02 -1.89957837e+02] [-7.41676720e-01 -2.14023558e-03 6.70754100e-01 -7.38946166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.76, Y:-189.94, Z:-738.98 [[ 6.64138759e-01 -7.76017722e-03 7.47569053e-01 3.35764283e+02] [ 1.90228413e-02 9.99797781e-01 -6.52140188e-03 -1.89940316e+02] [-7.47367273e-01 1.85520032e-02 6.64152078e-01 -7.38984623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.80, Y:-189.96, Z:-739.00 [[ 6.65470487e-01 -3.84738137e-02 7.45431953e-01 3.35798724e+02] [ 1.79988801e-02 9.99207450e-01 3.55037072e-02 -1.89959593e+02] [-7.46207124e-01 -1.02097289e-02 6.65635553e-01 -7.38997427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.83, Y:-189.96, Z:-739.01 [[ 6.68936745e-01 -4.60598111e-02 7.41890912e-01 3.35827678e+02] [ 1.70421608e-02 9.98766310e-01 4.66414393e-02 -1.89963325e+02] [-7.43123944e-01 -1.85567484e-02 6.68896442e-01 -7.39012062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.83, Y:-189.94, Z:-739.05 [[ 6.64675711e-01 -1.18691899e-02 7.47037697e-01 3.35830709e+02] [ 1.63130384e-02 9.99865993e-01 1.37170977e-03 -1.89941350e+02] [-7.46953870e-01 1.12747125e-02 6.64780262e-01 -7.39052666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.86, Y:-189.96, Z:-739.07 [[ 6.67467003e-01 -3.40420200e-02 7.43860834e-01 3.35864527e+02] [ 1.41231019e-02 9.99353522e-01 3.30617058e-02 -1.89956178e+02] [-7.44505432e-01 -1.15619753e-02 6.67516279e-01 -7.39068875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.88, Y:-189.95, Z:-739.09 [[ 6.68822040e-01 -3.00899543e-02 7.42813350e-01 3.35883992e+02] [ 1.39649319e-02 9.99512763e-01 2.79144674e-02 -1.89951405e+02] [-7.43291369e-01 -8.29647320e-03 6.68916369e-01 -7.39089567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:-189.95, Z:-739.12 [[ 6.68979745e-01 -2.64441959e-02 7.42810074e-01 3.35904486e+02] [ 1.31587397e-02 9.99631651e-01 2.37362490e-02 -1.89948554e+02] [-7.43164146e-01 -6.10462542e-03 6.69081299e-01 -7.39115147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.93, Y:-189.95, Z:-739.14 [[ 6.68750830e-01 -2.49373818e-02 7.43068271e-01 3.35925849e+02] [ 1.12406992e-02 9.99662232e-01 2.34322101e-02 -1.89948763e+02] [-7.43401624e-01 -7.31770303e-03 6.68805261e-01 -7.39140737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.95, Y:-189.95, Z:-739.17 [[ 6.69076608e-01 -2.43450259e-02 7.42794597e-01 3.35946674e+02] [ 1.07204323e-02 9.99675499e-01 2.31077818e-02 -1.89948330e+02] [-7.43116118e-01 -7.49779705e-03 6.69120481e-01 -7.39165603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.97, Y:-189.95, Z:-739.19 [[ 6.69113584e-01 -2.39739417e-02 7.42773359e-01 3.35967072e+02] [ 1.05197475e-02 9.99684936e-01 2.27895659e-02 -1.89947792e+02] [-7.43085693e-01 -7.43501993e-03 6.69154970e-01 -7.39189633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.98, Y:-189.94, Z:-739.22 [[ 6.66074537e-01 -9.15895721e-03 7.45828951e-01 3.35978564e+02] [ 1.13258201e-02 9.99933518e-01 2.16471609e-03 -1.89937712e+02] [-7.45799194e-01 7.00526225e-03 6.66133988e-01 -7.39224454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.01, Y:-189.96, Z:-739.23 [[ 6.68604908e-01 -3.73221259e-02 7.42680642e-01 3.36013877e+02] [ 1.16662797e-02 9.99143238e-01 3.97075354e-02 -1.89955160e+02] [-7.43526311e-01 -1.78843329e-02 6.68467482e-01 -7.39234199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.03, Y:-189.95, Z:-739.26 [[ 6.68705135e-01 -2.45270814e-02 7.43123049e-01 3.36031205e+02] [ 1.21003810e-02 9.99682396e-01 2.21063048e-02 -1.89947537e+02] [-7.43429233e-01 -5.79052753e-03 6.68789538e-01 -7.39263172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.05, Y:-189.95, Z:-739.29 [[ 6.68632091e-01 -2.50971546e-02 7.43169738e-01 3.36052633e+02] [ 1.33019425e-02 9.99674039e-01 2.17916143e-02 -1.89947826e+02] [-7.43474401e-01 -4.68497154e-03 6.68747984e-01 -7.39288293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.07, Y:-189.95, Z:-739.31 [[ 6.68303436e-01 -2.73450275e-02 7.43386015e-01 3.36074115e+02] [ 1.70060537e-02 9.99624585e-01 2.14821873e-02 -1.89948982e+02] [-7.43694367e-01 -1.71455710e-03 6.68517575e-01 -7.39313047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.10, Y:-189.95, Z:-739.34 [[ 6.67889864e-01 -2.88363885e-02 7.43701279e-01 3.36095570e+02] [ 1.95819242e-02 9.99584056e-01 2.11722447e-02 -1.89949513e+02] [-7.44002472e-01 4.22374477e-04 6.68176731e-01 -7.39337533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.11, Y:-189.94, Z:-739.37 [[ 6.65978958e-01 -2.09038710e-02 7.45677582e-01 3.36110474e+02] [ 2.32986845e-02 9.99702502e-01 7.21654869e-03 -1.89944081e+02] [-7.45606598e-01 1.25672371e-02 6.66267863e-01 -7.39369438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:336.14, Y:-189.96, Z:-739.38 [[ 6.67306836e-01 -4.01589632e-02 7.43699431e-01 3.36140619e+02] [ 2.61963362e-02 9.99192953e-01 3.04498805e-02 -1.89955730e+02] [-7.44322066e-01 -8.37213126e-04 6.67820306e-01 -7.39382737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.16, Y:-189.95, Z:-739.41 [[ 6.67086890e-01 -3.52518756e-02 7.44145407e-01 3.36159875e+02] [ 3.38030867e-02 9.99283312e-01 1.70356692e-02 -1.89953505e+02] [-7.44212626e-01 1.37901401e-02 6.67800419e-01 -7.39412966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.18, Y:-189.95, Z:-739.43 [[ 6.66881664e-01 -3.71542233e-02 7.44236797e-01 3.36179446e+02] [ 3.80700421e-02 9.99150675e-01 1.57670977e-02 -1.89952564e+02] [-7.44190512e-01 1.78183378e-02 6.67729728e-01 -7.39433770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.20, Y:-189.95, Z:-739.46 [[ 6.66437123e-01 -4.00559272e-02 7.44484441e-01 3.36200816e+02] [ 4.21115098e-02 9.98983959e-01 1.60521223e-02 -1.89954779e+02] [-7.44370997e-01 2.06536336e-02 6.67446811e-01 -7.39460086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.22, Y:-189.96, Z:-739.48 [[ 6.66219913e-01 -4.43903081e-02 7.44433024e-01 3.36222932e+02] [ 4.57137190e-02 9.98780546e-01 1.86461183e-02 -1.89956116e+02] [-7.44352929e-01 2.16083868e-02 6.67436735e-01 -7.39480618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.25, Y:-189.96, Z:-739.51 [[ 6.64723345e-01 -4.98202538e-02 7.45426600e-01 3.36245288e+02] [ 5.27776804e-02 9.98412648e-01 1.96647333e-02 -1.89958223e+02] [-7.45223048e-01 2.62702796e-02 6.66297593e-01 -7.39505074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.27, Y:-189.96, Z:-739.53 [[ 6.64446442e-01 -5.12808511e-02 7.45574410e-01 3.36266679e+02] [ 5.53268356e-02 9.98280675e-01 1.93554975e-02 -1.89958222e+02] [-7.45285092e-01 2.83895813e-02 6.66141249e-01 -7.39529565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.29, Y:-189.96, Z:-739.55 [[ 6.64184505e-01 -5.35026454e-02 7.45651668e-01 3.36287189e+02] [ 5.90229647e-02 9.98075023e-01 1.90404127e-02 -1.89958169e+02] [-7.45235018e-01 3.13642250e-02 6.66063851e-01 -7.39553482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:336.31, Y:-189.96, Z:-739.58 [[ 6.64120913e-01 -5.41813289e-02 7.45659304e-01 3.36308700e+02] [ 6.02614836e-02 9.98004710e-01 1.88454833e-02 -1.89957421e+02] [-7.45192571e-01 3.24188564e-02 6.66060846e-01 -7.39578834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.996559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.33, Y:-189.96, Z:-739.60 [[ 6.64414862e-01 -5.42252660e-02 7.45394199e-01 3.36329779e+02] [ 6.06653360e-02 9.97986226e-01 1.85259259e-02 -1.89956909e+02] [-7.44897717e-01 3.29106890e-02 6.66366474e-01 -7.39603165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.35, Y:-189.96, Z:-739.63 [[ 6.64621059e-01 -5.39913172e-02 7.45227338e-01 3.36350621e+02] [ 6.06319087e-02 9.97993701e-01 1.82303445e-02 -1.89956472e+02] [-7.44716469e-01 3.30682851e-02 6.66561227e-01 -7.39626712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.37, Y:-189.95, Z:-739.65 [[ 6.64300064e-01 -5.27389079e-02 7.45603133e-01 3.36371628e+02] [ 5.90902532e-02 9.98091224e-01 1.79513490e-02 -1.89954924e+02] [-7.45126678e-01 3.21327956e-02 6.66148420e-01 -7.39650988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.39, Y:-189.95, Z:-739.68 [[ 6.64133310e-01 -5.12950215e-02 7.45852377e-01 3.36393398e+02] [ 5.72501815e-02 9.98203435e-01 1.76725509e-02 -1.89953224e+02] [-7.45418918e-01 3.09632542e-02 6.65876800e-01 -7.39675882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.116559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:336.41, Y:-189.95, Z:-739.70 [[ 6.63393416e-01 -4.75565051e-02 7.46758030e-01 3.36414604e+02] [ 5.20145279e-02 9.98495076e-01 1.73802494e-02 -1.89949116e+02] [-7.46460759e-01 2.73123234e-02 6.64868688e-01 -7.39701409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:336.44, Y:-189.95, Z:-739.73 [[ 6.63059648e-01 -4.48616571e-02 7.47221075e-01 3.36435321e+02] [ 4.83235635e-02 9.98685718e-01 1.70783342e-02 -1.89946781e+02] [-7.47005179e-01 2.47844308e-02 6.64356076e-01 -7.39725770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.46, Y:-189.94, Z:-739.75 [[ 6.62489259e-01 -4.22972284e-02 7.47876278e-01 3.36456351e+02] [ 4.48048907e-02 9.98854447e-01 1.68022656e-02 -1.89944045e+02] [-7.47730235e-01 2.23771944e-02 6.63625465e-01 -7.39750886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.48, Y:-189.94, Z:-739.78 [[ 6.62501522e-01 -4.19809653e-02 7.47883235e-01 3.36478263e+02] [ 4.46820711e-02 9.98865179e-01 1.64883818e-02 -1.89943503e+02] [-7.47726719e-01 2.24933938e-02 6.63625497e-01 -7.39776173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.50, Y:-189.94, Z:-739.80 [[ 6.61991688e-01 -3.93402255e-02 7.48478023e-01 3.36498800e+02] [ 4.08663576e-02 9.99030593e-01 1.63650760e-02 -1.89941288e+02] [-7.48396249e-01 1.97540263e-02 6.62957640e-01 -7.39800369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.52, Y:-189.94, Z:-739.83 [[ 6.61600085e-01 -3.43760392e-02 7.49068499e-01 3.36519881e+02] [ 3.37093569e-02 9.99302207e-01 1.60865641e-02 -1.89936892e+02] [-7.49098797e-01 1.46077452e-02 6.62297219e-01 -7.39825897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.54, Y:-189.93, Z:-739.85 [[ 6.61021478e-01 -3.20312562e-02 7.49683002e-01 3.36540313e+02] [ 3.05283667e-02 9.99409280e-01 1.57832424e-02 -1.89934214e+02] [-7.49745706e-01 1.24535354e-02 6.61608861e-01 -7.39850981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.56, Y:-189.93, Z:-739.88 [[ 6.60467545e-01 -3.01203712e-02 7.50250215e-01 3.36560932e+02] [ 2.79739522e-02 9.99488469e-01 1.55002637e-02 -1.89931297e+02] [-7.50333313e-01 1.07500425e-02 6.60972281e-01 -7.39875989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.58, Y:-189.93, Z:-739.90 [[ 6.59034071e-01 -2.72782168e-02 7.51618249e-01 3.36581312e+02] [ 2.40260005e-02 9.99595599e-01 1.52114887e-02 -1.89926601e+02] [-7.51729236e-01 8.03349116e-03 6.59422943e-01 -7.39901539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:336.60, Y:-189.92, Z:-739.93 [[ 6.58725790e-01 -2.61932568e-02 7.51927022e-01 3.36602648e+02] [ 2.27409347e-02 9.99630355e-01 1.48997630e-02 -1.89924302e+02] [-7.52039349e-01 7.28466516e-03 6.59077955e-01 -7.39926540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.62, Y:-189.92, Z:-739.95 [[ 6.58690078e-01 -2.50835862e-02 7.51996140e-01 3.36623091e+02] [ 2.14229406e-02 9.99664185e-01 1.45799743e-02 -1.89922332e+02] [-7.52109326e-01 6.50628424e-03 6.59006244e-01 -7.39950546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.64, Y:-189.92, Z:-739.98 [[ 6.59139275e-01 -2.41981611e-02 7.51631469e-01 3.36643819e+02] [ 2.04231159e-02 9.99689523e-01 1.42742432e-02 -1.89918838e+02] [-7.51743515e-01 5.94194230e-03 6.59428829e-01 -7.39976473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.66, Y:-189.92, Z:-740.00 [[ 6.58954431e-01 -2.36672663e-02 7.51810427e-01 3.36664653e+02] [ 1.99766745e-02 9.99702958e-01 1.39616553e-02 -1.89917021e+02] [-7.51917542e-01 5.81857754e-03 6.59231487e-01 -7.40001615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:-189.91, Z:-740.03 [[ 6.58999537e-01 -2.35956645e-02 7.51773141e-01 3.36685268e+02] [ 2.02338075e-02 9.99702221e-01 1.36405092e-02 -1.89913541e+02] [-7.51871135e-01 6.22214379e-03 6.59280730e-01 -7.40027820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.71, Y:-189.91, Z:-740.05 [[ 6.59101617e-01 -2.34598330e-02 7.51687897e-01 3.36706213e+02] [ 2.03946938e-02 9.99703305e-01 1.33176242e-02 -1.89911945e+02] [-7.51777304e-01 6.55277685e-03 6.59384521e-01 -7.40052982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.73, Y:-189.91, Z:-740.08 [[ 6.59037892e-01 -2.34902546e-02 7.51742818e-01 3.36727351e+02] [ 2.08040355e-02 9.99699053e-01 1.29998416e-02 -1.89910337e+02] [-7.51821953e-01 7.07189610e-03 6.59328249e-01 -7.40078021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.75, Y:-189.91, Z:-740.10 [[ 6.58497180e-01 -2.36772124e-02 7.52210645e-01 3.36748074e+02] [ 2.14564464e-02 9.99689324e-01 1.26837438e-02 -1.89908914e+02] [-7.52277266e-01 7.78755786e-03 6.58800629e-01 -7.40102896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:336.77, Y:-189.91, Z:-740.13 [[ 6.58316594e-01 -2.38819991e-02 7.52362222e-01 3.36769146e+02] [ 2.21116365e-02 9.99678794e-01 1.23848203e-02 -1.89907748e+02] [-7.52416333e-01 8.48282724e-03 6.58633209e-01 -7.40127572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.79, Y:-189.91, Z:-740.15 [[ 6.58036609e-01 -2.42039693e-02 7.52596831e-01 3.36790087e+02] [ 2.29680994e-02 9.99663364e-01 1.20675119e-02 -1.89906704e+02] [-7.52635561e-01 9.34485420e-03 6.58371009e-01 -7.40152896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.81, Y:-189.91, Z:-740.18 [[ 6.57995100e-01 -2.39147878e-02 7.52642366e-01 3.36811291e+02] [ 2.28975119e-02 9.99668815e-01 1.17458403e-02 -1.89906030e+02] [-7.52674001e-01 9.50493216e-03 6.58324771e-01 -7.40178048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7165599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.83, Y:-189.90, Z:-740.20 [[ 6.58596835e-01 -2.34076018e-02 7.52131832e-01 3.36831585e+02] [ 2.24925902e-02 9.99681825e-01 1.14163568e-02 -1.89904359e+02] [-7.52159752e-01 9.39861660e-03 6.58913783e-01 -7.40202197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.85, Y:-189.90, Z:-740.23 [[ 6.58771057e-01 -2.25127995e-02 7.52006561e-01 3.36852894e+02] [ 2.13614557e-02 9.99708911e-01 1.12152446e-02 -1.89903755e+02] [-7.52040147e-01 8.67567629e-03 6.59060202e-01 -7.40226969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.87, Y:-189.90, Z:-740.25 [[ 6.58822219e-01 -2.15557310e-02 7.51989783e-01 3.36874550e+02] [ 2.02761808e-02 9.99735072e-01 1.08932621e-02 -1.89902807e+02] [-7.52025372e-01 8.07075767e-03 6.59084746e-01 -7.40252327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.89, Y:-189.90, Z:-740.28 [[ 6.57881309e-01 -1.92253167e-02 7.52876199e-01 3.36891657e+02] [ 1.98288107e-02 9.99769738e-01 8.20305630e-03 -1.89898403e+02] [-7.52860546e-01 9.53200222e-03 6.58111039e-01 -7.40277187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8365599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.92, Y:-189.90, Z:-740.30 [[ 6.58254740e-01 -2.40127934e-02 7.52412177e-01 3.36917834e+02] [ 1.63398927e-02 9.99711405e-01 1.76100973e-02 -1.89904350e+02] [-7.52617902e-01 7.02404256e-04 6.58457137e-01 -7.40299111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.94, Y:-189.90, Z:-740.32 [[ 6.58106434e-01 -1.72483795e-02 7.52727318e-01 3.36936963e+02] [ 1.46630201e-02 9.99841571e-01 1.00910632e-02 -1.89900640e+02] [-7.52782118e-01 4.39626220e-03 6.58255084e-01 -7.40324626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.96, Y:-189.90, Z:-740.35 [[ 6.57938764e-01 -1.56944595e-02 7.52907874e-01 3.36958697e+02] [ 1.26413304e-02 9.99872113e-01 9.79566201e-03 -1.89900399e+02] [-7.52965324e-01 3.07281142e-03 6.58053021e-01 -7.40349505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.98, Y:-189.90, Z:-740.37 [[ 6.57636480e-01 -1.32658126e-02 7.53218613e-01 3.36980413e+02] [ 9.30507326e-03 9.99911709e-01 9.48633717e-03 -1.89899659e+02] [-7.53277954e-01 7.70192991e-04 6.57701855e-01 -7.40374913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.00, Y:-189.90, Z:-740.40 [[ 6.57639350e-01 -1.16691728e-02 7.53242535e-01 3.37001882e+02] [ 7.24145315e-03 9.99931748e-01 9.16851007e-03 -1.89899358e+02] [-7.53298113e-01 -5.75002477e-04 6.57678966e-01 -7.40400000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:337.03, Y:-189.90, Z:-740.42 [[ 6.58652801e-01 -1.67377587e-02 7.52260816e-01 3.37025402e+02] [ 6.91880483e-03 9.99845017e-01 1.61886333e-02 -1.89900622e+02] [-7.52415190e-01 -5.45794288e-03 6.58666526e-01 -7.40421020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.04, Y:-189.89, Z:-740.45 [[ 6.55941877e-01 -4.46805884e-03 7.54798178e-01 3.37038634e+02] [ 3.58852465e-03 9.99989639e-01 2.80094601e-03 -1.89892941e+02] [-7.54802872e-01 8.71354081e-04 6.55951115e-01 -7.40450226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.07, Y:-189.91, Z:-740.47 [[ 6.57534435e-01 -1.57888779e-02 7.53259038e-01 3.37069413e+02] [-1.84996234e-03 9.99743548e-01 2.25702473e-02 -1.89905736e+02] [-7.53422222e-01 -1.62342156e-02 6.57336600e-01 -7.40470911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:337.09, Y:-189.90, Z:-740.50 [[ 6.57729171e-01 -3.13049307e-03 7.53247993e-01 3.37087358e+02] [-4.62075671e-03 9.99955780e-01 8.19061078e-03 -1.89899170e+02] [-7.53240325e-01 -8.86777935e-03 6.57685621e-01 -7.40498658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.11, Y:-189.90, Z:-740.52 [[ 6.57715598e-01 -1.18265350e-03 7.53265421e-01 3.37109096e+02] [-7.21811375e-03 9.99942960e-01 7.87246020e-03 -1.89899083e+02] [-7.53231765e-01 -1.06149954e-02 6.57669545e-01 -7.40523950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.13, Y:-189.90, Z:-740.55 [[ 6.57765698e-01 2.09117605e-03 7.53219698e-01 3.37129429e+02] [-1.18286736e-02 9.99901508e-01 7.55360714e-03 -1.89899120e+02] [-7.53129716e-01 -1.38780937e-02 6.57725649e-01 -7.40548506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.15, Y:-189.90, Z:-740.57 [[ 6.57848143e-01 3.89217855e-03 7.53140539e-01 3.37151274e+02] [-1.42234907e-02 9.99872509e-01 7.25656677e-03 -1.89899634e+02] [-7.53016277e-01 -1.54860064e-02 6.57819634e-01 -7.40573710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.17, Y:-189.90, Z:-740.60 [[ 6.57959886e-01 6.39418949e-03 7.53025831e-01 3.37172964e+02] [-1.76616163e-02 9.99819921e-01 6.94212177e-03 -1.89901112e+02] [-7.52845838e-01 -1.78672909e-02 6.57954333e-01 -7.40598843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.19, Y:-189.90, Z:-740.62 [[ 6.57967153e-01 7.58379325e-03 7.53008441e-01 3.37194366e+02] [-1.91102843e-02 9.99795406e-01 6.62900634e-03 -1.89901550e+02] [-7.52804107e-01 -1.87518738e-02 6.57977465e-01 -7.40624413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.256559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:337.21, Y:-189.90, Z:-740.65 [[ 6.58057441e-01 8.66681460e-03 7.52917852e-01 3.37214728e+02] [-2.03803080e-02 9.99772424e-01 6.30423498e-03 -1.89902213e+02] [-7.52691868e-01 -1.94932464e-02 6.58084315e-01 -7.40648522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.24, Y:-189.91, Z:-740.67 [[ 6.58293423e-01 9.92745209e-03 7.52695964e-01 3.37236047e+02] [-2.19379076e-02 9.99741327e-01 6.00069134e-03 -1.89905061e+02] [-7.52441690e-01 -2.04627901e-02 6.58340928e-01 -7.40672316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.26, Y:-189.91, Z:-740.70 [[ 6.57826626e-01 1.07791498e-02 7.53092252e-01 3.37257882e+02] [-2.30347901e-02 9.99717771e-01 5.81175899e-03 -1.89907372e+02] [-7.52817062e-01 -2.11704518e-02 6.57889264e-01 -7.40697558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:337.28, Y:-189.91, Z:-740.72 [[ 6.57600809e-01 1.13244047e-02 7.53281444e-01 3.37279445e+02] [-2.35076462e-02 9.99708568e-01 5.49269174e-03 -1.89908310e+02] [-7.52999712e-01 -2.13198722e-02 6.57675373e-01 -7.40723034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.376559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:337.30, Y:-189.91, Z:-740.75 [[ 6.57592595e-01 1.16473936e-02 7.53283690e-01 3.37301367e+02] [-2.36307820e-02 9.99707379e-01 5.17128148e-03 -1.89908094e+02] [-7.53003031e-01 -2.12012791e-02 6.57675407e-01 -7.40748320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.32, Y:-189.91, Z:-740.77 [[ 6.57998826e-01 1.24843535e-02 7.52915457e-01 3.37323362e+02] [-2.47205273e-02 9.99681757e-01 5.02805123e-03 -1.89911408e+02] [-7.52613075e-01 -2.19209189e-02 6.58098042e-01 -7.40773156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.34, Y:-189.91, Z:-740.80 [[ 6.58129886e-01 1.30472169e-02 7.52791354e-01 3.37344610e+02] [-2.51985119e-02 9.99671401e-01 4.70377907e-03 -1.89912743e+02] [-7.52482616e-01 -2.20649195e-02 6.58242396e-01 -7.40797668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.37, Y:-189.92, Z:-740.82 [[ 6.58828195e-01 1.38615262e-02 7.52165718e-01 3.37365490e+02] [-2.60308693e-02 9.99651552e-01 4.37825654e-03 -1.89915794e+02] [-7.51842938e-01 -2.24640464e-02 6.58959455e-01 -7.40822242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.39, Y:-189.92, Z:-740.85 [[ 6.59296191e-01 1.43276216e-02 7.51746800e-01 3.37387053e+02] [-2.63718667e-02 9.99643891e-01 4.07630842e-03 -1.89917448e+02] [-7.51420693e-01 -2.25124610e-02 6.59439256e-01 -7.40847173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:337.41, Y:-189.92, Z:-740.87 [[ 6.59553064e-01 1.47097979e-02 7.51514057e-01 3.37407847e+02] [-2.65675442e-02 9.99639987e-01 3.75003373e-03 -1.89919008e+02] [-7.51188340e-01 -2.24392292e-02 6.59706419e-01 -7.40872018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.43, Y:-189.92, Z:-740.90 [[ 6.60486117e-01 1.50193048e-02 7.50688025e-01 3.37429379e+02] [-2.66462869e-02 9.99638991e-01 3.44433334e-03 -1.89922230e+02] [-7.50365288e-01 -2.22779828e-02 6.60647884e-01 -7.40897291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.45, Y:-189.92, Z:-740.92 [[ 6.60535442e-01 1.53075110e-02 7.50638801e-01 3.37450227e+02] [-2.67118056e-02 9.99638307e-01 3.12016908e-03 -1.89924083e+02] [-7.50319538e-01 -2.21119000e-02 6.60705422e-01 -7.40921879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.47, Y:-189.93, Z:-740.95 [[ 6.60788278e-01 1.54890739e-02 7.50412513e-01 3.37471901e+02] [-2.66324774e-02 9.99641320e-01 2.81833060e-03 -1.89926064e+02] [-7.50099702e-01 -2.18476641e-02 6.60963779e-01 -7.40946793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:337.49, Y:-189.93, Z:-740.97 [[ 6.60612786e-01 1.54698176e-02 7.50567407e-01 3.37492782e+02] [-2.62476986e-02 9.99652348e-01 2.49827774e-03 -1.89930073e+02] [-7.50267823e-01 -2.13510613e-02 6.60789170e-01 -7.40971336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6765599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:337.51, Y:-189.93, Z:-741.00 [[ 6.60464507e-01 1.56499394e-02 7.50694155e-01 3.37514503e+02] [-2.61876128e-02 9.99654625e-01 2.19990313e-03 -1.89932453e+02] [-7.50400456e-01 -2.11118458e-02 6.60646234e-01 -7.40995749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.54, Y:-189.93, Z:-741.02 [[ 6.60308790e-01 1.58476957e-02 7.50826979e-01 3.37536286e+02] [-2.61469137e-02 9.99656315e-01 1.89496098e-03 -1.89934755e+02] [-7.50538900e-01 -2.08830676e-02 6.60496220e-01 -7.41020162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:337.56, Y:-189.94, Z:-741.04 [[ 6.60166110e-01 1.60158056e-02 7.50948867e-01 3.37557207e+02] [-2.60400653e-02 9.99659664e-01 1.57189634e-03 -1.89936754e+02] [-7.50668117e-01 -2.05924702e-02 6.60358484e-01 -7.41044089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:337.56, Y:-189.92, Z:-741.08 [[ 6.53874468e-01 3.54710533e-02 7.55771119e-01 3.37562178e+02] [-2.31760009e-02 9.99370703e-01 -2.68527544e-02 -1.89923389e+02] [-7.56248010e-01 4.25783860e-05 6.54285064e-01 -7.41079497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7965599949999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:337.61, Y:-189.96, Z:-741.08 [[ 6.59498546e-01 -1.57517132e-02 7.51540785e-01 3.37612398e+02] [-2.56882824e-02 9.98724218e-01 4.34746896e-02 -1.89962493e+02] [-7.51266784e-01 -4.79772865e-02 6.58252535e-01 -7.41082090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:337.62, Y:-189.95, Z:-741.12 [[ 6.57766271e-01 1.68031224e-02 7.53034653e-01 3.37621703e+02] [-2.64833713e-02 9.99648912e-01 8.26848185e-04 -1.89946235e+02] [-7.52756378e-01 -2.04867691e-02 6.57980341e-01 -7.41116984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.856559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:337.64, Y:-189.95, Z:-741.14 [[ 6.57686534e-01 1.74633278e-02 7.53089275e-01 3.37643450e+02] [-2.71229331e-02 9.99631977e-01 5.06562797e-04 -1.89947706e+02] [-7.52803274e-01 -2.07591495e-02 6.57918147e-01 -7.41141608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.67, Y:-189.95, Z:-741.17 [[ 6.57682513e-01 1.81439771e-02 7.53076695e-01 3.37665167e+02] [-2.77885979e-02 9.99613805e-01 1.84715478e-04 -1.89948889e+02] [-7.52782509e-01 -2.10484296e-02 6.57932715e-01 -7.41166906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.916559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.69, Y:-189.95, Z:-741.19 [[ 6.58076290e-01 1.88561863e-02 7.52715113e-01 3.37685340e+02] [-2.84883608e-02 9.99594115e-01 -1.34204929e-04 -1.89951191e+02] [-7.52412128e-01 -2.13553027e-02 6.58346369e-01 -7.41191356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:337.71, Y:-189.95, Z:-741.22 [[ 6.58526202e-01 1.91189108e-02 7.52314900e-01 3.37706864e+02] [-2.85291712e-02 9.99592868e-01 -4.30564578e-04 -1.89952192e+02] [-7.52016840e-01 -2.11793825e-02 6.58803542e-01 -7.41216759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9765599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:337.73, Y:-189.95, Z:-741.24 [[ 6.58980155e-01 1.94540556e-02 7.51908701e-01 3.37728322e+02] [-2.86548730e-02 9.99589084e-01 -7.48852882e-04 -1.89953057e+02] [-7.51614298e-01 -2.10523692e-02 6.59266823e-01 -7.41242145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:337.75, Y:-189.95, Z:-741.27 [[ 6.59973831e-01 1.93821515e-02 7.51038531e-01 3.37749694e+02] [-2.81394003e-02 9.99603437e-01 -1.06944914e-03 -1.89954790e+02] [-7.50761425e-01 -2.04279654e-02 6.60257511e-01 -7.41267292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.77, Y:-189.96, Z:-741.29 [[ 6.60723802e-01 1.92949389e-02 7.50381079e-01 3.37771228e+02] [-2.76128904e-02 9.99617725e-01 -1.39005241e-03 -1.89955757e+02] [-7.50121048e-01 -1.98017498e-02 6.61004013e-01 -7.41292313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:337.79, Y:-189.96, Z:-741.32 [[ 6.61353929e-01 1.74575116e-02 7.49870800e-01 3.37791556e+02] [-2.44468416e-02 9.99699664e-01 -1.71263330e-03 -1.89957715e+02] [-7.49675485e-01 -1.71993159e-02 6.61582081e-01 -7.41316671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0965599949999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:337.81, Y:-189.96, Z:-741.34 [[ 6.61346638e-01 1.77641240e-02 7.49870029e-01 3.37813470e+02] [-2.45704522e-02 9.99696075e-01 -2.01253411e-03 -1.89957720e+02] [-7.49677876e-01 -1.70936631e-02 6.61582111e-01 -7.41341956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:337.83, Y:-189.96, Z:-741.37 [[ 6.61440702e-01 1.64949613e-02 7.49816054e-01 3.37834659e+02] [-2.24935256e-02 9.99744675e-01 -2.15068259e-03 -1.89959187e+02] [-7.49660083e-01 -1.54434576e-02 6.61642850e-01 -7.41366584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:-189.96, Z:-741.39 [[ 6.61594017e-01 1.50871653e-02 7.49710434e-01 3.37856224e+02] [-2.00006537e-02 9.99796916e-01 -2.47000498e-03 -1.89960993e+02] [-7.49595445e-01 -1.33605582e-02 6.61761410e-01 -7.41390940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.88, Y:-189.96, Z:-741.42 [[ 6.61432061e-01 1.32201897e-02 7.49888562e-01 3.37877438e+02] [-1.68219793e-02 9.99854610e-01 -2.78930934e-03 -1.89962682e+02] [-7.49816411e-01 -1.07696712e-02 6.61558285e-01 -7.41415340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.90, Y:-189.97, Z:-741.44 [[ 6.61475358e-01 9.23250723e-03 7.49910069e-01 3.37899885e+02] [-1.04578088e-02 9.99940553e-01 -3.08620412e-03 -1.89966140e+02] [-7.49893982e-01 -5.80096815e-03 6.61532588e-01 -7.41439628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.92, Y:-189.97, Z:-741.46 [[ 6.60757132e-01 7.95907082e-03 7.50557570e-01 3.37921068e+02] [-8.16943171e-03 9.99960809e-01 -3.41179509e-03 -1.89966286e+02] [-7.50555309e-01 -3.87726087e-03 6.60796258e-01 -7.41463957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.94, Y:-189.97, Z:-741.49 [[ 6.60731758e-01 5.34879678e-03 7.50603047e-01 3.37942478e+02] [-3.99155682e-03 9.99985510e-01 -3.61225675e-03 -1.89966318e+02] [-7.50611492e-01 -6.09341959e-04 6.60743534e-01 -7.41488465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.96, Y:-189.97, Z:-741.51 [[ 6.60616645e-01 4.57568566e-03 7.50709472e-01 3.37963778e+02] [-2.47003853e-03 9.99989261e-01 -3.92147436e-03 -1.89966001e+02] [-7.50719353e-01 7.36309913e-04 6.60620853e-01 -7.41513130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.99, Y:-189.97, Z:-741.54 [[ 6.60623385e-01 4.23473514e-03 7.50705541e-01 3.37985059e+02] [-1.59844959e-03 9.99989758e-01 -4.23430815e-03 -1.89965580e+02] [-7.50715784e-01 1.59731802e-03 6.60623388e-01 -7.41537680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.01, Y:-189.97, Z:-741.56 [[ 6.61716067e-01 2.64844861e-03 7.49749847e-01 3.38005725e+02] [ 1.14521219e-03 9.99989024e-01 -4.54314843e-03 -1.89965653e+02] [-7.49753650e-01 3.86489697e-03 6.61705771e-01 -7.41561741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.03, Y:-189.97, Z:-741.59 [[ 6.61839345e-01 1.93003954e-03 7.49643220e-01 3.38027374e+02] [ 2.56026996e-03 9.99985034e-01 -4.83496409e-03 -1.89965938e+02] [-7.49641332e-01 5.11925848e-03 6.61824498e-01 -7.41587003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.05, Y:-189.97, Z:-741.61 [[ 6.61927258e-01 1.55951075e-03 7.49566457e-01 3.38049275e+02] [ 3.47720942e-03 9.99980687e-01 -5.15116476e-03 -1.89965166e+02] [-7.49560014e-01 6.01609591e-03 6.61909052e-01 -7.41612025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.07, Y:-189.96, Z:-741.64 [[ 6.62104889e-01 1.26794999e-03 7.49410107e-01 3.38070526e+02] [ 4.27169098e-03 9.99975938e-01 -5.46593503e-03 -1.89963951e+02] [-7.49399006e-01 6.82027069e-03 6.62083541e-01 -7.41636732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.09, Y:-189.96, Z:-741.66 [[ 6.62566835e-01 -2.91501739e-04 7.49002740e-01 3.38092214e+02] [ 6.96979898e-03 9.99959027e-01 -5.77630445e-03 -1.89962321e+02] [-7.48970367e-01 9.04758629e-03 6.62541720e-01 -7.41661539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.516559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:338.11, Y:-189.96, Z:-741.69 [[ 6.62710684e-01 -1.22420149e-03 7.48874522e-01 3.38113624e+02] [ 8.72588972e-03 9.99943400e-01 -6.08727900e-03 -1.89961524e+02] [-7.48824684e-01 1.05687013e-02 6.62683858e-01 -7.41686403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.14, Y:-189.96, Z:-741.71 [[ 6.62924897e-01 -1.99800538e-03 7.48683236e-01 3.38135373e+02] [ 1.02434091e-02 9.99927044e-01 -6.40157421e-03 -1.89960953e+02] [-7.48615825e-01 1.19128316e-02 6.62896999e-01 -7.41710407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.16, Y:-189.96, Z:-741.74 [[ 6.62571218e-01 -3.18518675e-03 7.48992147e-01 3.38156874e+02] [ 1.22672905e-02 9.99902975e-01 -6.59963649e-03 -1.89959895e+02] [-7.48898454e-01 1.35608334e-02 6.62546005e-01 -7.41735124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.18, Y:-189.96, Z:-741.76 [[ 6.62050163e-01 -4.81625345e-03 7.49444051e-01 3.38178394e+02] [ 1.51018699e-02 9.99862047e-01 -6.91526786e-03 -1.89957623e+02] [-7.49307357e-01 1.58962607e-02 6.62031566e-01 -7.41759506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.20, Y:-189.96, Z:-741.78 [[ 6.62200798e-01 -4.83060033e-03 7.49310863e-01 3.38199614e+02] [ 1.54702489e-02 9.99854218e-01 -7.22599301e-03 -1.89956668e+02] [-7.49166720e-01 1.63770839e-02 6.62178991e-01 -7.41783245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.22, Y:-189.95, Z:-741.81 [[ 6.61927980e-01 -4.73227077e-03 7.49552503e-01 3.38220884e+02] [ 1.56623686e-02 9.99849067e-01 -7.51889090e-03 -1.89953658e+02] [-7.49403789e-01 1.67167319e-02 6.61902192e-01 -7.41808223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.24, Y:-189.95, Z:-741.83 [[ 6.61851442e-01 -3.81869564e-03 7.49625298e-01 3.38241759e+02] [ 1.46372615e-02 9.99862212e-01 -7.82994277e-03 -1.89952357e+02] [-7.49492108e-01 1.61547204e-02 6.61816142e-01 -7.41832623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.26, Y:-189.95, Z:-741.86 [[ 6.61855018e-01 -2.34968657e-03 7.49628184e-01 3.38262927e+02] [ 1.27451315e-02 9.99885818e-01 -8.11870619e-03 -1.89950810e+02] [-7.49523513e-01 1.49275162e-02 6.61809393e-01 -7.41857207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.28, Y:-189.95, Z:-741.88 [[ 6.62134094e-01 1.17535288e-03 7.49384454e-01 3.38284576e+02] [ 7.76720623e-03 9.99934291e-01 -8.43119665e-03 -1.89946842e+02] [-7.49345122e-01 1.14032063e-02 6.62081456e-01 -7.41882623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.31, Y:-189.94, Z:-741.91 [[ 6.61797916e-01 3.48256289e-03 7.49674189e-01 3.38305220e+02] [ 4.64924613e-03 9.99950915e-01 -8.74947202e-03 -1.89944598e+02] [-7.49667862e-01 9.27580217e-03 6.61749240e-01 -7.41907166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.33, Y:-189.94, Z:-741.93 [[ 6.61667229e-01 5.73121920e-03 7.49775721e-01 3.38326534e+02] [ 1.58638013e-03 9.99957848e-01 -9.04354886e-03 -1.89942444e+02] [-7.49795947e-01 7.17324921e-03 6.61630246e-01 -7.41932020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.35, Y:-189.94, Z:-741.96 [[ 6.61643164e-01 9.58585812e-03 7.49757584e-01 3.38348044e+02] [-3.88317132e-03 9.99948675e-01 -9.35781446e-03 -1.89938750e+02] [-7.49808806e-01 3.28009682e-03 6.61646428e-01 -7.41957014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.876559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.37, Y:-189.94, Z:-741.98 [[ 6.61755553e-01 1.15437410e-02 7.49630796e-01 3.38368668e+02] [-6.48874955e-03 9.99932191e-01 -9.67008317e-03 -1.89937134e+02] [-7.49691592e-01 1.53506475e-03 6.61785585e-01 -7.41980749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.39, Y:-189.94, Z:-742.01 [[ 6.61728801e-01 1.33761427e-02 7.49623954e-01 3.38389849e+02] [-8.92635576e-03 9.99910531e-01 -9.96248746e-03 -1.89935871e+02] [-7.49690146e-01 -9.89452202e-05 6.61788997e-01 -7.42005398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9365599949999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:338.41, Y:-189.93, Z:-742.03 [[ 6.61775677e-01 1.49245872e-02 7.49553340e-01 3.38411661e+02] [-1.09142212e-02 9.99887667e-01 -1.02729774e-02 -1.89934278e+02] [-7.49622461e-01 -1.38238441e-03 6.61864228e-01 -7.42030509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.43, Y:-189.93, Z:-742.06 [[ 6.61345886e-01 1.75578007e-02 7.49875552e-01 3.38433609e+02] [-1.45355505e-02 9.99838261e-01 -1.05910033e-02 -1.89932151e+02] [-7.49940223e-01 -3.89553750e-03 6.61494133e-01 -7.42055137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.996559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:338.45, Y:-189.93, Z:-742.08 [[ 6.60940510e-01 1.87604109e-02 7.50203765e-01 3.38454473e+02] [-1.59902411e-02 9.99812573e-01 -1.09147633e-02 -1.89930919e+02] [-7.50267922e-01 -4.78192984e-03 6.61116615e-01 -7.42079043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.48, Y:-189.93, Z:-742.10 [[ 6.59758650e-01 2.09945067e-02 7.51184234e-01 3.38475865e+02] [-1.90315059e-02 9.99755854e-01 -1.12265140e-02 -1.89928630e+02] [-7.51236531e-01 -6.88937747e-03 6.59997130e-01 -7.42104327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0565599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:338.50, Y:-189.93, Z:-742.13 [[ 6.59410200e-01 2.21377810e-02 7.51457322e-01 3.38497750e+02] [-2.03997309e-02 9.99725178e-01 -1.15507644e-02 -1.89927898e+02] [-7.51506513e-01 -7.71283531e-03 6.59680584e-01 -7.42129580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.52, Y:-189.93, Z:-742.15 [[ 6.59274200e-01 2.33971594e-02 7.51538490e-01 3.38518995e+02] [-2.19443978e-02 9.99688697e-01 -1.18723134e-02 -1.89927661e+02] [-7.51582313e-01 -8.66494969e-03 6.59582403e-01 -7.42153731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.54, Y:-189.93, Z:-742.18 [[ 6.58797476e-01 2.53685016e-02 7.51892495e-01 3.38540544e+02] [-2.47094958e-02 9.99621726e-01 -1.20766625e-02 -1.89927260e+02] [-7.51914441e-01 -1.06228097e-02 6.59175113e-01 -7.42178960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.56, Y:-189.93, Z:-742.20 [[ 6.58936170e-01 2.65348982e-02 7.51730685e-01 3.38561865e+02] [-2.61087596e-02 9.99582226e-01 -1.23977999e-02 -1.89927446e+02] [-7.51745606e-01 -1.14573970e-02 6.59353677e-01 -7.42203598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.58, Y:-189.93, Z:-742.23 [[ 6.59149341e-01 2.78129322e-02 7.51497563e-01 3.38582981e+02] [-2.76783069e-02 9.99536002e-01 -1.27157954e-02 -1.89927689e+02] [-7.51502534e-01 -1.24185721e-02 6.59613312e-01 -7.42227672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:338.60, Y:-189.93, Z:-742.25 [[ 6.59764690e-01 2.92425013e-02 7.50903077e-01 3.38604153e+02] [-2.94984071e-02 9.99480225e-01 -1.30047334e-02 -1.89926991e+02] [-7.50893067e-01 -1.35703808e-02 6.60284368e-01 -7.42253007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.63, Y:-189.93, Z:-742.28 [[ 6.60167880e-01 3.02541302e-02 7.50508533e-01 3.38625133e+02] [-3.06569835e-02 9.99441177e-01 -1.33222571e-02 -1.89926961e+02] [-7.50492185e-01 -1.42134015e-02 6.60726464e-01 -7.42277236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.65, Y:-189.93, Z:-742.30 [[ 6.60346286e-01 3.10826355e-02 7.50317701e-01 3.38646466e+02] [-3.15655047e-02 9.99408869e-01 -1.36210272e-02 -1.89927279e+02] [-7.50297542e-01 -1.46895622e-02 6.60937074e-01 -7.42302769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:-189.93, Z:-742.33 [[ 6.61336649e-01 3.19443860e-02 7.49408695e-01 3.38666925e+02] [-3.24906077e-02 9.99375001e-01 -1.39272352e-02 -1.89928380e+02] [-7.49385213e-01 -1.51381529e-02 6.61961207e-01 -7.42326992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.69, Y:-189.93, Z:-742.35 [[ 6.62264302e-01 2.97546761e-02 7.48679273e-01 3.38689473e+02] [-3.20255302e-02 9.99422140e-01 -1.13908811e-02 -1.89929536e+02] [-7.48585573e-01 -1.64330767e-02 6.62834515e-01 -7.42350169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3565599949999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:338.71, Y:-189.93, Z:-742.38 [[ 6.62472082e-01 3.07287174e-02 7.48456069e-01 3.38711531e+02] [-3.27840775e-02 9.99390256e-01 -1.20133233e-02 -1.89931712e+02] [-7.48368857e-01 -1.65789504e-02 6.63075556e-01 -7.42376224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:338.73, Y:-189.93, Z:-742.40 [[ 6.62492203e-01 3.22011311e-02 7.48376354e-01 3.38731947e+02] [-3.15140965e-02 9.99389176e-01 -1.51041900e-02 -1.89932653e+02] [-7.48405600e-01 -1.35779966e-02 6.63102327e-01 -7.42401361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.416559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:338.75, Y:-189.93, Z:-742.43 [[ 6.62283586e-01 3.37952549e-02 7.48490703e-01 3.38750848e+02] [-2.96922599e-02 9.99381317e-01 -1.88508020e-02 -1.89931634e+02] [-7.48664692e-01 -9.73980372e-03 6.62877300e-01 -7.42425541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.77, Y:-189.94, Z:-742.45 [[ 6.61365490e-01 2.94011022e-02 7.49487334e-01 3.38773507e+02] [-2.73808212e-02 9.99511810e-01 -1.50476441e-02 -1.89936628e+02] [-7.49563859e-01 -1.05695862e-02 6.61847645e-01 -7.42449224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4765599949999 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:338.80, Y:-189.94, Z:-742.47 [[ 6.60454462e-01 2.91280090e-02 7.50300914e-01 3.38795646e+02] [-2.67981953e-02 9.99525081e-01 -1.52141463e-02 -1.89939847e+02] [-7.50387740e-01 -1.00584596e-02 6.60921378e-01 -7.42474247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.81, Y:-189.94, Z:-742.50 [[ 6.58848660e-01 3.76550099e-02 7.51332512e-01 3.38811864e+02] [-2.51187696e-02 9.99290723e-01 -2.80552672e-02 -1.89935272e+02] [-7.51856031e-01 -3.88373039e-04 6.59327201e-01 -7.42501751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.83, Y:-189.93, Z:-742.53 [[ 6.56948478e-01 3.79394633e-02 7.52980275e-01 3.38828489e+02] [-2.19915759e-02 9.99272379e-01 -3.11622046e-02 -1.89933107e+02] [-7.53614668e-01 3.91274003e-03 6.57304817e-01 -7.42526817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.87, Y:-189.96, Z:-742.53 [[ 6.60646786e-01 2.43801676e-03 7.50692933e-01 3.38868980e+02] [-2.25755170e-02 9.99606964e-01 1.66211559e-02 -1.89962155e+02] [-7.50357361e-01 -2.79279943e-02 6.60442168e-01 -7.42534671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.87, Y:-189.94, Z:-742.58 [[ 6.57132922e-01 3.96867879e-02 7.52729222e-01 3.38872368e+02] [-2.11842630e-02 9.99190900e-01 -3.41873278e-02 -1.89938001e+02] [-7.53476974e-01 6.51960479e-03 6.57441970e-01 -7.42575489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.91, Y:-189.96, Z:-742.59 [[ 6.60303736e-01 1.31919331e-02 7.50882780e-01 3.38907162e+02] [-2.29809748e-02 9.99732404e-01 2.64491414e-03 -1.89958348e+02] [-7.50646955e-01 -1.90024649e-02 6.60430205e-01 -7.42586759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.92, Y:-189.95, Z:-742.62 [[ 6.60412722e-01 2.86438864e-02 7.50356292e-01 3.38922402e+02] [-2.38243402e-02 9.99568382e-01 -1.71886688e-02 -1.89949861e+02] [-7.50524775e-01 -6.52512804e-03 6.60810098e-01 -7.42615876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.94, Y:-189.95, Z:-742.64 [[ 6.61707809e-01 3.10210774e-02 7.49119796e-01 3.38943053e+02] [-2.70923632e-02 9.99480486e-01 -1.74574658e-02 -1.89951857e+02] [-7.49272167e-01 -8.74368416e-03 6.62204476e-01 -7.42641020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7165599949999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:338.96, Y:-189.94, Z:-742.68 [[ 6.60101912e-01 4.63125531e-02 7.49747033e-01 3.38955759e+02] [-2.79640897e-02 9.98920821e-01 -3.70837406e-02 -1.89943355e+02] [-7.50655364e-01 3.51305485e-03 6.60684632e-01 -7.42675151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.99, Y:-189.96, Z:-742.69 [[ 6.63824804e-01 2.15158874e-02 7.47578555e-01 3.38988931e+02] [-3.12797139e-02 9.99510179e-01 -9.91331993e-04 -1.89963942e+02] [-7.47233705e-01 -2.27259726e-02 6.64172659e-01 -7.42686077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.776559995 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:339.00, Y:-189.95, Z:-742.72 [[ 6.62296092e-01 4.61915886e-02 7.47816972e-01 3.38999106e+02] [-3.14072811e-02 9.98932054e-01 -3.38870872e-02 -1.89949165e+02] [-7.48583642e-01 -1.04361238e-03 6.63039548e-01 -7.42722577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.03, Y:-189.97, Z:-742.74 [[ 6.63776055e-01 2.66567013e-02 7.47456199e-01 3.39029236e+02] [-3.32795394e-02 9.99427534e-01 -6.08902550e-03 -1.89966020e+02] [-7.47190619e-01 -2.08332487e-02 6.64283189e-01 -7.42735453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.03, Y:-189.95, Z:-742.77 [[ 6.58431107e-01 5.15073148e-02 7.50876470e-01 3.39033960e+02] [-3.08121388e-02 9.98663871e-01 -4.14859500e-02 -1.89948247e+02] [-7.52010033e-01 4.17952995e-03 6.59138409e-01 -7.42774006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:339.08, Y:-189.98, Z:-742.78 [[ 6.62411136e-01 1.55426798e-02 7.48979247e-01 3.39075378e+02] [-3.31046305e-02 9.99415417e-01 8.53866395e-03 -1.89976795e+02] [-7.48408692e-01 -3.04507873e-02 6.62538436e-01 -7.42779711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.896559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:339.09, Y:-189.97, Z:-742.81 [[ 6.61313520e-01 3.59695763e-02 7.49246701e-01 3.39089816e+02] [-3.30447367e-02 9.99276921e-01 -1.88064041e-02 -1.89965583e+02] [-7.49381394e-01 -1.23217307e-02 6.62023943e-01 -7.42810892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.11, Y:-189.97, Z:-742.84 [[ 6.61246108e-01 3.64499728e-02 7.49282980e-01 3.39111310e+02] [-3.34118671e-02 9.99258680e-01 -1.91242628e-02 -1.89969502e+02] [-7.49424600e-01 -1.23890990e-02 6.61973775e-01 -7.42835719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9565599949999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:339.13, Y:-189.97, Z:-742.86 [[ 6.61697036e-01 3.68786047e-02 7.48863807e-01 3.39132344e+02] [-3.37036712e-02 9.99243018e-01 -1.94281908e-02 -1.89971504e+02] [-7.49013414e-01 -1.23838833e-02 6.62439088e-01 -7.42860414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.15, Y:-189.97, Z:-742.88 [[ 6.61955838e-01 3.73459042e-02 7.48611884e-01 3.39153130e+02] [-3.40491184e-02 9.99225185e-01 -1.97404767e-02 -1.89973236e+02] [-7.48769074e-01 -1.24222509e-02 6.62714540e-01 -7.42884637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.18, Y:-189.97, Z:-742.91 [[ 6.61947603e-01 3.76494616e-02 7.48603960e-01 3.39175124e+02] [-3.41712342e-02 9.99215100e-01 -2.00377566e-02 -1.89973770e+02] [-7.48770791e-01 -1.23167763e-02 6.62714569e-01 -7.42909850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.20, Y:-189.98, Z:-742.94 [[ 6.61867245e-01 3.77599862e-02 7.48669442e-01 3.39196159e+02] [-3.41830263e-02 9.99211902e-01 -2.01765978e-02 -1.89976590e+02] [-7.48841285e-01 -1.22375580e-02 6.62636380e-01 -7.42935067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:339.22, Y:-189.98, Z:-742.96 [[ 6.62230651e-01 3.75332619e-02 7.48359418e-01 3.39216682e+02] [-3.34830214e-02 9.99229310e-01 -2.04859483e-02 -1.89977904e+02] [-7.48551569e-01 -1.14909116e-02 6.62977003e-01 -7.42958859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.24, Y:-189.98, Z:-742.98 [[ 6.62590031e-01 3.73302584e-02 7.48051404e-01 3.39238249e+02] [-3.28451162e-02 9.99244557e-01 -2.07729187e-02 -1.89979238e+02] [-7.48261752e-01 -1.08059065e-02 6.63315598e-01 -7.42983646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.136559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:339.26, Y:-189.98, Z:-743.01 [[ 6.62602294e-01 3.66909685e-02 7.48072171e-01 3.39259895e+02] [-3.15233497e-02 9.99280478e-01 -2.10903779e-02 -1.89979599e+02] [-7.48307744e-01 -9.60720788e-03 6.63282159e-01 -7.43008665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:339.28, Y:-189.98, Z:-743.03 [[ 6.62966572e-01 3.54560316e-02 7.47808929e-01 3.39280913e+02] [-2.93044476e-02 9.99341379e-01 -2.14022723e-02 -1.89979960e+02] [-7.48075246e-01 -7.72513645e-03 6.63568948e-01 -7.43033167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.30, Y:-189.98, Z:-743.06 [[ 6.62784854e-01 3.54163621e-02 7.47971870e-01 3.39302383e+02] [-2.89071087e-02 9.99346443e-01 -2.17040537e-02 -1.89980478e+02] [-7.48251707e-01 -7.23658612e-03 6.63375471e-01 -7.43057979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.32, Y:-189.98, Z:-743.08 [[ 6.62595221e-01 3.50554328e-02 7.48156862e-01 3.39323711e+02] [-2.80097903e-02 9.99365096e-01 -2.20194769e-02 -1.89980532e+02] [-7.48453756e-01 -6.36571659e-03 6.63156432e-01 -7.43082933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.34, Y:-189.98, Z:-743.11 [[ 6.62597754e-01 3.52673108e-02 7.48144661e-01 3.39344924e+02] [-2.79768999e-02 9.99359091e-01 -2.23316124e-02 -1.89981038e+02] [-7.48452744e-01 -6.13389207e-03 6.63159759e-01 -7.43107519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.37, Y:-189.98, Z:-743.13 [[ 6.62592738e-01 3.52085835e-02 7.48151869e-01 3.39366211e+02] [-2.75317851e-02 9.99364342e-01 -2.26475970e-02 -1.89981694e+02] [-7.48473690e-01 -5.59182313e-03 6.63140911e-01 -7.43132018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3165599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.39, Y:-189.98, Z:-743.16 [[ 6.62791948e-01 3.43771823e-02 7.48014066e-01 3.39386965e+02] [-2.59239851e-02 9.99400214e-01 -2.29599357e-02 -1.89982769e+02] [-7.48354716e-01 -4.17384501e-03 6.63285608e-01 -7.43156346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.41, Y:-189.98, Z:-743.18 [[ 6.62903059e-01 3.38369542e-02 7.47940235e-01 3.39408223e+02] [-2.47796271e-02 9.99422496e-01 -2.32517544e-02 -1.89983249e+02] [-7.48295065e-01 -3.12002099e-03 6.63358698e-01 -7.43181279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.376559995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:339.43, Y:-189.98, Z:-743.21 [[ 6.63056621e-01 3.32236874e-02 7.47831601e-01 3.39430115e+02] [-2.35035714e-02 9.99446032e-01 -2.35629036e-02 -1.89983762e+02] [-7.48200173e-01 -1.95317422e-03 6.63470185e-01 -7.43206292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:339.45, Y:-189.98, Z:-743.23 [[ 6.62346596e-01 3.15340248e-02 7.48533628e-01 3.39450859e+02] [-2.05699691e-02 9.99502584e-01 -2.39052590e-02 -1.89984020e+02] [-7.48915124e-01 4.36253306e-04 6.62665788e-01 -7.43230016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.47, Y:-189.98, Z:-743.25 [[ 6.61925420e-01 3.07750227e-02 7.48937672e-01 3.39472772e+02] [-1.90719512e-02 9.99524813e-01 -2.42158862e-02 -1.89984838e+02] [-7.49327031e-01 1.74540791e-03 6.62197821e-01 -7.43254252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:339.49, Y:-189.99, Z:-743.28 [[ 6.62150498e-01 2.88905728e-02 7.48813764e-01 3.39493890e+02] [-1.58714664e-02 9.99573079e-01 -2.45307182e-02 -1.89985178e+02] [-7.49202786e-01 4.35825474e-03 6.62326348e-01 -7.43277916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.52, Y:-189.99, Z:-743.30 [[ 6.62251966e-01 2.83808574e-02 7.48743521e-01 3.39515394e+02] [-1.47701604e-02 9.99582698e-01 -2.48248508e-02 -1.89985863e+02] [-7.49135619e-01 5.38124431e-03 6.62394797e-01 -7.43303205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.54, Y:-189.99, Z:-743.33 [[ 6.62683602e-01 2.78471536e-02 7.48381574e-01 3.39536966e+02] [-1.36298219e-02 9.99591383e-01 -2.51255722e-02 -1.89986108e+02] [-7.48775448e-01 6.44999713e-03 6.62792370e-01 -7.43328626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.56, Y:-189.99, Z:-743.35 [[ 6.63172772e-01 2.73323264e-02 7.47967124e-01 3.39557799e+02] [-1.25240901e-02 9.99598324e-01 -2.54231924e-02 -1.89986136e+02] [-7.48361559e-01 7.49236129e-03 6.63248703e-01 -7.43353272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.58, Y:-189.98, Z:-743.38 [[ 6.63995140e-01 2.71474662e-02 7.47243915e-01 3.39576580e+02] [-9.20023201e-03 9.99561682e-01 -2.81389479e-02 -1.89984018e+02] [-7.47680286e-01 1.18093073e-02 6.63953862e-01 -7.43379153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.59, Y:-189.98, Z:-743.41 [[ 6.61847750e-01 3.50905009e-02 7.48816542e-01 3.39589342e+02] [-6.67738433e-03 9.99140149e-01 -4.09191234e-02 -1.89976014e+02] [-7.49608544e-01 2.20820939e-02 6.61512972e-01 -7.43409948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:339.62, Y:-189.99, Z:-743.43 [[ 6.61943349e-01 1.85144268e-02 7.49325175e-01 3.39617356e+02] [-6.64227555e-03 9.99800532e-01 -1.88355124e-02 -1.89987459e+02] [-7.49524438e-01 7.49081784e-03 6.61934291e-01 -7.43429270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6765599949999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:339.65, Y:-190.00, Z:-743.45 [[ 6.64843775e-01 8.20812394e-03 7.46937334e-01 3.39646866e+02] [-8.44200474e-03 9.99958330e-01 -3.47441141e-03 -1.89997173e+02] [-7.46934728e-01 -3.99570772e-03 6.64885364e-01 -7.43445715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:339.66, Y:-189.99, Z:-743.48 [[ 6.64409936e-01 2.62184907e-02 7.46908313e-01 3.39661789e+02] [-9.86520156e-03 9.99605067e-01 -2.63132675e-02 -1.89985632e+02] [-7.47303228e-01 1.01143953e-02 6.64406189e-01 -7.43475456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.736559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:339.67, Y:-189.97, Z:-743.51 [[ 6.60419898e-01 4.25326456e-02 7.49690958e-01 3.39672328e+02] [-1.07513690e-02 9.98827789e-01 -4.71959411e-02 -1.89972627e+02] [-7.50819530e-01 2.31089345e-02 6.60103031e-01 -7.43508203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:339.71, Y:-190.00, Z:-743.52 [[ 6.63121439e-01 1.16496682e-02 7.48421166e-01 3.39711488e+02] [-1.67164423e-02 9.99859988e-01 -7.52258032e-04 -1.89996649e+02] [-7.48325141e-01 -1.20121008e-02 6.63223335e-01 -7.43516778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7965599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:339.73, Y:-189.98, Z:-743.55 [[ 6.62253913e-01 3.76009812e-02 7.48335434e-01 3.39725786e+02] [-2.61562275e-02 9.99291469e-01 -2.70630988e-02 -1.89980408e+02] [-7.48822814e-01 -1.65098879e-03 6.62768186e-01 -7.43547709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:339.75, Y:-189.98, Z:-743.57 [[ 6.61994904e-01 3.99690406e-02 7.48441864e-01 3.39746639e+02] [-2.93912787e-02 9.99193373e-01 -2.73634130e-02 -1.89979835e+02] [-7.48931840e-01 -3.88322350e-03 6.62635662e-01 -7.43572090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8565599949999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:339.77, Y:-189.98, Z:-743.60 [[ 6.61989490e-01 4.01929143e-02 7.48434663e-01 3.39768646e+02] [-2.95076575e-02 9.99184558e-01 -2.75593597e-02 -1.89980645e+02] [-7.48932048e-01 -3.84054726e-03 6.62635675e-01 -7.43597287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:339.79, Y:-189.98, Z:-743.62 [[ 6.61984309e-01 4.03682026e-02 7.48429812e-01 3.39790669e+02] [-2.96237914e-02 9.99177491e-01 -2.76906584e-02 -1.89981492e+02] [-7.48932043e-01 -3.84054724e-03 6.62635680e-01 -7.43622469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.916559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:339.81, Y:-189.98, Z:-743.65 [[ 6.61569291e-01 4.28070708e-02 7.48661223e-01 3.39812886e+02] [-3.31507982e-02 9.99062813e-01 -2.78302146e-02 -1.89981505e+02] [-7.49150918e-01 -6.40710176e-03 6.62368366e-01 -7.43647229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.83, Y:-189.98, Z:-743.67 [[ 6.60639283e-01 4.65838926e-02 7.49256751e-01 3.39834085e+02] [-3.84893058e-02 9.98861986e-01 -2.81656883e-02 -1.89980790e+02] [-7.49716154e-01 -1.02310122e-02 6.61680448e-01 -7.43671522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.86, Y:-189.98, Z:-743.70 [[ 6.60334709e-01 4.82704614e-02 7.49418464e-01 3.39856184e+02] [-4.08168325e-02 9.98763914e-01 -2.83660261e-02 -1.89981024e+02] [-7.49861359e-01 -1.18578163e-02 6.61488726e-01 -7.43696474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:339.88, Y:-189.98, Z:-743.72 [[ 6.60340318e-01 4.98963863e-02 7.49307023e-01 3.39877616e+02] [-4.29213729e-02 9.98666832e-01 -2.86760331e-02 -1.89981124e+02] [-7.49738901e-01 -1.32253453e-02 6.61601595e-01 -7.43721316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.90, Y:-189.98, Z:-743.75 [[ 6.59928202e-01 5.14784486e-02 7.49563031e-01 3.39899302e+02] [-4.49541815e-02 9.98568002e-01 -2.90011626e-02 -1.89981180e+02] [-7.49982593e-01 -1.45573075e-02 6.61297357e-01 -7.43746575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:339.92, Y:-189.98, Z:-743.77 [[ 6.60610116e-01 5.40271725e-02 7.48782571e-01 3.39920879e+02] [-4.84591932e-02 9.98395770e-01 -2.92846923e-02 -1.89980625e+02] [-7.49163521e-01 -1.69396353e-02 6.62168459e-01 -7.43771684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0965599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:339.94, Y:-189.98, Z:-743.80 [[ 6.61202658e-01 5.52595628e-02 7.48169383e-01 3.39941872e+02] [-4.99605529e-02 9.98313004e-01 -2.95819238e-02 -1.89980984e+02] [-7.48541908e-01 -1.78193094e-02 6.62848010e-01 -7.43795976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.96, Y:-189.98, Z:-743.82 [[ 6.62798656e-01 5.66498955e-02 7.46651680e-01 3.39962585e+02] [-5.18379684e-02 9.98213175e-01 -2.97200647e-02 -1.89981371e+02] [-7.47001182e-01 -1.90064872e-02 6.64550967e-01 -7.43821237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.156559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:339.98, Y:-189.98, Z:-743.85 [[ 6.63449685e-01 5.68777328e-02 7.46055922e-01 3.39983585e+02] [-5.18232648e-02 9.98205088e-01 -3.00158647e-02 -1.89981880e+02] [-7.46424052e-01 -1.87490376e-02 6.65206441e-01 -7.43846305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.00, Y:-189.98, Z:-743.87 [[ 6.63864706e-01 5.68488285e-02 7.45688852e-01 3.40004184e+02] [-5.14196186e-02 9.98216669e-01 -3.03233422e-02 -1.89983066e+02] [-7.46082888e-01 -1.82124397e-02 6.65603960e-01 -7.43870555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2165599949999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:340.03, Y:-189.99, Z:-743.90 [[ 6.64406543e-01 5.46444637e-02 7.45371000e-01 3.40025359e+02] [-4.77733795e-02 9.98389082e-01 -3.06095757e-02 -1.89985589e+02] [-7.45842912e-01 -1.52716893e-02 6.65946789e-01 -7.43895156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:340.05, Y:-189.99, Z:-743.92 [[ 6.64195193e-01 5.14024120e-02 7.45789875e-01 3.40046692e+02] [-4.25389572e-02 9.98615522e-01 -3.09431333e-02 -1.89989572e+02] [-7.46347897e-01 -1.11728432e-02 6.65462234e-01 -7.43918341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.276559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:340.07, Y:-189.99, Z:-743.94 [[ 6.63636633e-01 4.94416962e-02 7.46419412e-01 3.40068411e+02] [-3.92442645e-02 9.98740456e-01 -3.12632419e-02 -1.89992111e+02] [-7.47024971e-01 -8.54524822e-03 6.64741056e-01 -7.43943190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.09, Y:-190.00, Z:-743.97 [[ 6.63228150e-01 4.51228661e-02 7.47055787e-01 3.40090034e+02] [-3.23703737e-02 9.98976243e-01 -3.16010245e-02 -1.89996876e+02] [-7.47716912e-01 -3.22378604e-03 6.64009809e-01 -7.43967524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.11, Y:-190.00, Z:-743.99 [[ 6.63226538e-01 4.10261171e-02 7.47293394e-01 3.40111922e+02] [-2.58385024e-02 9.99156339e-01 -3.19214978e-02 -1.90000872e+02] [-7.47972547e-01 1.86224232e-03 6.63727053e-01 -7.43992215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.13, Y:-190.00, Z:-744.02 [[ 6.63664744e-01 3.95132306e-02 7.46985818e-01 3.40132813e+02] [-2.32232930e-02 9.99210891e-01 -3.22222577e-02 -1.90002985e+02] [-7.47669570e-01 4.03730586e-03 6.64058668e-01 -7.44015846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.15, Y:-190.00, Z:-744.04 [[ 6.63661263e-01 3.98103027e-02 7.46973138e-01 3.40154786e+02] [-2.33418549e-02 9.99198668e-01 -3.25143105e-02 -1.90003893e+02] [-7.47668968e-01 4.14274981e-03 6.64058696e-01 -7.44041068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.18, Y:-190.01, Z:-744.07 [[ 6.64210748e-01 3.85916291e-02 7.46548571e-01 3.40176410e+02] [-2.13853868e-02 9.99238773e-01 -3.26272788e-02 -1.90006056e+02] [-7.47239418e-01 5.70615929e-03 6.64530430e-01 -7.44066097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.20, Y:-190.01, Z:-744.09 [[ 6.65519480e-01 3.77796740e-02 7.45423717e-01 3.40197510e+02] [-1.98865202e-02 9.99261118e-01 -3.28898747e-02 -1.90007404e+02] [-7.46115506e-01 7.06496850e-03 6.65779046e-01 -7.44090515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.22, Y:-190.01, Z:-744.12 [[ 6.65822981e-01 3.90128773e-02 7.45089091e-01 3.40219200e+02] [-2.15438113e-02 9.99220904e-01 -3.30673448e-02 -1.90007434e+02] [-7.45798647e-01 5.96493930e-03 6.66144727e-01 -7.44115559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.516559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:340.24, Y:-190.01, Z:-744.14 [[ 6.66401081e-01 4.01337718e-02 7.44512511e-01 3.40240923e+02] [-2.29169261e-02 9.99180981e-01 -3.33493888e-02 -1.90007361e+02] [-7.45241178e-01 5.16213057e-03 6.66775029e-01 -7.44140711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.26, Y:-190.01, Z:-744.17 [[ 6.67359648e-01 4.22291241e-02 7.43537357e-01 3.40262901e+02] [-2.57736245e-02 9.99102612e-01 -3.36108885e-02 -1.90008213e+02] [-7.44289473e-01 3.26689813e-03 6.67849165e-01 -7.44165638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:-190.01, Z:-744.19 [[ 6.67492157e-01 4.32753395e-02 7.43358235e-01 3.40284585e+02] [-2.70007484e-02 9.99059885e-01 -3.39161749e-02 -1.90009163e+02] [-7.44127126e-01 2.56755201e-03 6.68033104e-01 -7.44190280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:340.31, Y:-190.01, Z:-744.21 [[ 6.67620699e-01 4.41507967e-02 7.43191301e-01 3.40306281e+02] [-2.79736963e-02 9.99022763e-01 -3.42197658e-02 -1.90009693e+02] [-7.43975856e-01 2.05601623e-03 6.68203336e-01 -7.44214661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.636559995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:340.33, Y:-190.01, Z:-744.24 [[ 6.67263407e-01 4.51184943e-02 7.43454012e-01 3.40327821e+02] [-2.90562032e-02 9.98980590e-01 -3.45473406e-02 -1.90010007e+02] [-7.44254851e-01 1.45022533e-03 6.67894164e-01 -7.44238913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.35, Y:-190.01, Z:-744.26 [[ 6.66101362e-01 4.78694302e-02 7.44323514e-01 3.40348992e+02] [-3.17604625e-02 9.98853578e-01 -3.58162329e-02 -1.90008141e+02] [-7.45184708e-01 2.17182520e-04 6.66858084e-01 -7.44263644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.37, Y:-190.01, Z:-744.29 [[ 6.65098994e-01 4.66356310e-02 7.45297556e-01 3.40371310e+02] [-3.28542226e-02 9.98909050e-01 -3.31859984e-02 -1.90008952e+02] [-7.46032123e-01 -2.41419768e-03 6.65905581e-01 -7.44287615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.39, Y:-190.01, Z:-744.31 [[ 6.63597550e-01 5.00733085e-02 7.46412055e-01 3.40391463e+02] [-3.55304691e-02 9.98740977e-01 -3.54125213e-02 -1.90006397e+02] [-7.47245527e-01 -3.02070810e-03 6.64541194e-01 -7.44312264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.41, Y:-190.01, Z:-744.34 [[ 6.63211094e-01 5.10798732e-02 7.46687279e-01 3.40413157e+02] [-3.68140126e-02 9.98687094e-01 -3.56204656e-02 -1.90006485e+02] [-7.47526437e-01 -3.86466690e-03 6.64220815e-01 -7.44337058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:340.43, Y:-190.01, Z:-744.36 [[ 6.63009585e-01 5.22280563e-02 7.46786797e-01 3.40434246e+02] [-3.81837483e-02 9.98624189e-01 -3.59406585e-02 -1.90006849e+02] [-7.47636470e-01 -4.68611799e-03 6.64091672e-01 -7.44361652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.46, Y:-190.01, Z:-744.39 [[ 6.63381963e-01 5.42229723e-02 7.46313768e-01 3.40456002e+02] [-4.08767327e-02 9.98507795e-01 -3.62115433e-02 -1.90006771e+02] [-7.47163613e-01 -6.48478372e-03 6.64608519e-01 -7.44386162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.48, Y:-190.01, Z:-744.41 [[ 6.63071772e-01 5.52176593e-02 7.46516467e-01 3.40476593e+02] [-4.20091226e-02 9.98448866e-01 -3.65389742e-02 -1.90006735e+02] [-7.47376117e-01 -7.13253946e-03 6.64362903e-01 -7.44410407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.50, Y:-190.01, Z:-744.44 [[ 6.62314170e-01 5.63343272e-02 7.47105337e-01 3.40497490e+02] [-4.33363645e-02 9.98380215e-01 -3.68633285e-02 -1.90006632e+02] [-7.47971858e-01 -7.96172432e-03 6.63682689e-01 -7.44435544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.52, Y:-190.01, Z:-744.46 [[ 6.62304613e-01 5.66556979e-02 7.47089507e-01 3.40519453e+02] [-4.34612000e-02 9.98362966e-01 -3.71821544e-02 -1.90007655e+02] [-7.47973077e-01 -7.84349415e-03 6.63682722e-01 -7.44460768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9365599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:340.54, Y:-190.01, Z:-744.49 [[ 6.62516255e-01 5.81497299e-02 7.46786999e-01 3.40540573e+02] [-4.55670342e-02 9.98264434e-01 -3.73063624e-02 -1.90006418e+02] [-7.47660256e-01 -9.31279722e-03 6.64016125e-01 -7.44485177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:340.56, Y:-190.01, Z:-744.51 [[ 6.62651759e-01 5.87840031e-02 7.46617096e-01 3.40562083e+02] [-4.61944736e-02 9.98224781e-01 -3.75946381e-02 -1.90006558e+02] [-7.47501650e-01 -9.57743068e-03 6.64190903e-01 -7.44509829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.996559995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:340.58, Y:-190.01, Z:-744.54 [[ 6.62300261e-01 5.86488122e-02 7.46939543e-01 3.40583340e+02] [-4.56176695e-02 9.98238545e-01 -3.79319996e-02 -1.90006680e+02] [-7.47848509e-01 -8.95126801e-03 6.63809071e-01 -7.44535648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.60, Y:-190.01, Z:-744.56 [[ 6.62482232e-01 5.82971235e-02 7.46805689e-01 3.40604701e+02] [-4.47333192e-02 9.98266650e-01 -3.82442788e-02 -1.90007570e+02] [-7.47740745e-01 -8.07094208e-03 6.63941743e-01 -7.44560211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.63, Y:-190.01, Z:-744.59 [[ 6.62284792e-01 5.75552065e-02 7.47038321e-01 3.40625922e+02] [-4.32462584e-02 9.98319446e-01 -3.85751866e-02 -1.90008520e+02] [-7.48003086e-01 -6.75885285e-03 6.63660834e-01 -7.44585183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:-190.01, Z:-744.61 [[ 6.62421441e-01 5.43843112e-02 7.47154724e-01 3.40647131e+02] [-3.81012681e-02 9.98516430e-01 -3.89002845e-02 -1.90009899e+02] [-7.48161833e-01 -2.69915991e-03 6.63510804e-01 -7.44610066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:-190.01, Z:-744.64 [[ 6.62491254e-01 5.24950207e-02 7.47227952e-01 3.40668785e+02] [-3.48893647e-02 9.98621182e-01 -3.92232927e-02 -1.90011265e+02] [-7.48256688e-01 -8.52201736e-05 6.63409317e-01 -7.44635341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.69, Y:-190.01, Z:-744.66 [[ 6.62495038e-01 5.06956306e-02 7.47348833e-01 3.40690099e+02] [-3.18098842e-02 9.98711200e-01 -3.95483372e-02 -1.90013070e+02] [-7.48390577e-01 2.42749736e-03 6.63253836e-01 -7.44660030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:340.70, Y:-190.00, Z:-744.69 [[ 6.59938019e-01 5.64824063e-02 7.49193933e-01 3.40700864e+02] [-2.27574403e-02 9.98215377e-01 -5.52101460e-02 -1.90004161e+02] [-7.50975306e-01 1.93855382e-02 6.60045673e-01 -7.44690981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.74, Y:-190.03, Z:-744.70 [[ 6.63041561e-01 2.77743622e-02 7.48067158e-01 3.40737979e+02] [-2.33549835e-02 9.99592503e-01 -1.64125900e-02 -1.90029232e+02] [-7.48218172e-01 -6.58886685e-03 6.63420043e-01 -7.44702520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.236559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:340.75, Y:-190.02, Z:-744.73 [[ 6.64572926e-01 4.33139809e-02 7.45966973e-01 3.40752781e+02] [-2.00953499e-02 9.98993454e-01 -4.01030595e-02 -1.90018294e+02] [-7.46953146e-01 1.16609402e-02 6.64774413e-01 -7.44733762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.77, Y:-190.02, Z:-744.76 [[ 6.65007444e-01 4.33376673e-02 7.45578263e-01 3.40773685e+02] [-1.98150482e-02 9.98987346e-01 -4.03936490e-02 -1.90019183e+02] [-7.46573817e-01 1.20884081e-02 6.65192759e-01 -7.44758877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.79, Y:-190.02, Z:-744.78 [[ 6.65592507e-01 4.36862453e-02 7.45035654e-01 3.40793950e+02] [-2.00353100e-02 9.98971447e-01 -4.06771934e-02 -1.90020026e+02] [-7.46046380e-01 1.21474148e-02 6.65783178e-01 -7.44782905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.82, Y:-190.02, Z:-744.81 [[ 6.66343014e-01 4.31531035e-02 7.44395592e-01 3.40815243e+02] [-1.89660373e-02 9.98981820e-01 -4.09342556e-02 -1.90019422e+02] [-7.45404103e-01 1.31580206e-02 6.66483000e-01 -7.44808390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3565599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:340.84, Y:-190.02, Z:-744.83 [[ 6.65934133e-01 4.52663202e-02 7.44635945e-01 3.40836929e+02] [-2.19431283e-02 9.98914058e-01 -4.10999304e-02 -1.90021430e+02] [-7.45687756e-01 1.10302044e-02 6.66204252e-01 -7.44832337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.86, Y:-190.02, Z:-744.86 [[ 6.65539014e-01 4.70289866e-02 7.44879920e-01 3.40859487e+02] [-2.41987715e-02 9.98847812e-01 -4.14423494e-02 -1.90022195e+02] [-7.45970670e-01 9.55632138e-03 6.65910232e-01 -7.44856893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.88, Y:-190.02, Z:-744.88 [[ 6.64967571e-01 4.79782723e-02 7.45329601e-01 3.40881329e+02] [-2.52414445e-02 9.98808138e-01 -4.17752719e-02 -1.90022934e+02] [-7.46445577e-01 8.96600536e-03 6.65386062e-01 -7.44882058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:340.90, Y:-190.02, Z:-744.91 [[ 6.64488291e-01 4.89465091e-02 7.45694006e-01 3.40902184e+02] [-2.63189456e-02 9.98766477e-01 -4.21050739e-02 -1.90023609e+02] [-7.46835072e-01 8.35244861e-03 6.64956850e-01 -7.44906048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.92, Y:-190.02, Z:-744.93 [[ 6.64180839e-01 5.02219143e-02 7.45883082e-01 3.40924151e+02] [-2.78979134e-02 9.98711002e-01 -4.24033197e-02 -1.90024401e+02] [-7.47051216e-01 7.35489085e-03 6.64725798e-01 -7.44931178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:-190.02, Z:-744.96 [[ 6.63334077e-01 5.22182964e-02 7.46499265e-01 3.40945678e+02] [-3.05109266e-02 9.98620126e-01 -4.27425798e-02 -1.90024807e+02] [-7.47701134e-01 5.57622547e-03 6.64011988e-01 -7.44956308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.97, Y:-190.03, Z:-744.98 [[ 6.63220072e-01 5.36451141e-02 7.46499390e-01 3.40967326e+02] [-3.23074398e-02 9.98550205e-01 -4.30548204e-02 -1.90025458e+02] [-7.47726799e-01 4.43733701e-03 6.63991675e-01 -7.44980984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:-190.03, Z:-745.01 [[ 6.63095270e-01 5.53522407e-02 7.46485628e-01 3.40988667e+02] [-3.45256089e-02 9.98462430e-01 -4.33677000e-02 -1.90026208e+02] [-7.47738354e-01 2.98404589e-03 6.63986785e-01 -7.45005384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.01, Y:-190.03, Z:-745.03 [[ 6.62766384e-01 5.90153457e-02 7.46497093e-01 3.41010525e+02] [-3.96898998e-02 9.98256845e-01 -4.36804667e-02 -1.90026394e+02] [-7.47773651e-01 -6.78449834e-04 6.63953392e-01 -7.45030643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.03, Y:-190.03, Z:-745.06 [[ 6.62660447e-01 6.14464840e-02 7.46394977e-01 3.41031918e+02] [-4.30011841e-02 9.98106036e-01 -4.39913500e-02 -1.90026830e+02] [-7.47684445e-01 -2.94454012e-03 6.64047664e-01 -7.45055130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.05, Y:-190.03, Z:-745.08 [[ 6.62347852e-01 6.61692923e-02 7.46268684e-01 3.41053221e+02] [-4.97664248e-02 9.97777945e-01 -4.42998302e-02 -1.90026191e+02] [-7.47541722e-01 -7.79722701e-03 6.64169088e-01 -7.45079430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:341.07, Y:-190.03, Z:-745.10 [[ 6.62289903e-01 6.87219574e-02 7.46089390e-01 3.41074568e+02] [-5.32894594e-02 9.97583380e-01 -4.45828772e-02 -1.90026459e+02] [-7.47350198e-01 -1.02319108e-02 6.64351556e-01 -7.45104470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.10, Y:-190.03, Z:-745.13 [[ 6.62479984e-01 7.12183918e-02 7.45686403e-01 3.41095794e+02] [-5.67048374e-02 9.97381764e-01 -4.48795973e-02 -1.90027124e+02] [-7.46930273e-01 -1.25521914e-02 6.64783882e-01 -7.45128815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:341.12, Y:-190.03, Z:-745.15 [[ 6.62865276e-01 7.45131143e-02 7.45021760e-01 3.41117043e+02] [-6.13522832e-02 9.97095036e-01 -4.51374175e-02 -1.90027661e+02] [-7.46220828e-01 -1.57887593e-02 6.65511226e-01 -7.45153401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.14, Y:-190.03, Z:-745.18 [[ 6.62649953e-01 7.58912145e-02 7.45074200e-01 3.41138014e+02] [-6.30638549e-02 9.96973517e-01 -4.54616070e-02 -1.90029036e+02] [-7.46269381e-01 -1.68621194e-02 6.65430447e-01 -7.45177633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.16, Y:-190.03, Z:-745.20 [[ 6.62225826e-01 7.71048553e-02 7.45326638e-01 3.41159392e+02] [-6.46592408e-02 9.96861499e-01 -4.56764066e-02 -1.90030465e+02] [-7.46509303e-01 -1.79441585e-02 6.65132971e-01 -7.45201703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:341.18, Y:-190.03, Z:-745.23 [[ 6.62007598e-01 7.75231009e-02 7.45477102e-01 3.41180893e+02] [-6.50649342e-02 9.96825687e-01 -4.58814059e-02 -1.90031648e+02] [-7.46667593e-01 -1.81305792e-02 6.64950215e-01 -7.45226035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.20, Y:-190.03, Z:-745.25 [[ 6.61600240e-01 7.81378012e-02 7.45774501e-01 3.41202383e+02] [-6.56305756e-02 9.96773288e-01 -4.62129885e-02 -1.90032572e+02] [-7.46979083e-01 -1.83710855e-02 6.64593676e-01 -7.45251044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.22, Y:-190.03, Z:-745.28 [[ 6.61562979e-01 7.84408121e-02 7.45775746e-01 3.41223562e+02] [-6.57298012e-02 9.96751959e-01 -4.65309179e-02 -1.90033126e+02] [-7.47003359e-01 -1.82365589e-02 6.64570094e-01 -7.45275534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.24, Y:-190.03, Z:-745.30 [[ 6.61738764e-01 7.85499479e-02 7.45608285e-01 3.41244373e+02] [-6.55662433e-02 9.96749351e-01 -4.68166536e-02 -1.90034403e+02] [-7.46862020e-01 -1.79063397e-02 6.64737908e-01 -7.45299512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.27, Y:-190.04, Z:-745.32 [[ 6.62041542e-01 7.84523152e-02 7.45349737e-01 3.41265601e+02] [-6.52122536e-02 9.96764337e-01 -4.69916969e-02 -1.90036014e+02] [-7.46624644e-01 -1.74954806e-02 6.65015451e-01 -7.45324278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.29, Y:-190.04, Z:-745.35 [[ 6.62997220e-01 7.70868171e-02 7.44642404e-01 3.41286773e+02] [-6.28237660e-02 9.96904762e-01 -4.72659530e-02 -1.90038040e+02] [-7.45981140e-01 -1.54440447e-02 6.65787970e-01 -7.45349622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.31, Y:-190.04, Z:-745.37 [[ 6.63662904e-01 7.63735791e-02 7.44122723e-01 3.41307892e+02] [-6.14150125e-02 9.96978973e-01 -4.75512786e-02 -1.90040025e+02] [-7.45506369e-01 -1.41422867e-02 6.66348445e-01 -7.45373833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:341.33, Y:-190.04, Z:-745.40 [[ 6.64182686e-01 7.50748033e-02 7.43791055e-01 3.41328469e+02] [-5.91476776e-02 9.97102924e-01 -4.78258542e-02 -1.90042016e+02] [-7.45226752e-01 -1.22284092e-02 6.66698998e-01 -7.45397724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0765599949999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:341.35, Y:-190.05, Z:-745.42 [[ 6.64720633e-01 7.12081342e-02 7.43690717e-01 3.41350309e+02] [-5.30285592e-02 9.97433585e-01 -4.81062978e-02 -1.90045064e+02] [-7.45207657e-01 -7.45959846e-03 6.66790749e-01 -7.45422542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.37, Y:-190.05, Z:-745.45 [[ 6.64600512e-01 6.92261654e-02 7.43985146e-01 3.41372035e+02] [-4.96867364e-02 9.97589569e-01 -4.84384269e-02 -1.90047254e+02] [-7.45545027e-01 -4.77399053e-03 6.66438160e-01 -7.45447039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.136559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:341.39, Y:-190.05, Z:-745.47 [[ 6.64734094e-01 6.41255691e-02 7.44322844e-01 3.41393743e+02] [-4.16552860e-02 9.97940832e-01 -4.87743125e-02 -1.90050563e+02] [-7.45917838e-01 1.41696745e-03 6.66036464e-01 -7.45472025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.42, Y:-190.05, Z:-745.50 [[ 6.65066669e-01 6.14852217e-02 7.44248543e-01 3.41415526e+02] [-3.73454483e-02 9.98096210e-01 -4.90843472e-02 -1.90053060e+02] [-7.45849612e-01 4.85006775e-03 6.66096714e-01 -7.45496728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:-190.06, Z:-745.52 [[ 6.65253217e-01 5.86410256e-02 7.44311352e-01 3.41437006e+02] [-3.27204882e-02 9.98242855e-01 -4.94021417e-02 -1.90055576e+02] [-7.45900481e-01 8.51070292e-03 6.66003033e-01 -7.45521765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.46, Y:-190.06, Z:-745.55 [[ 6.66822159e-01 5.21651058e-02 7.43388869e-01 3.41458169e+02] [-2.27544977e-02 9.98507122e-01 -4.96564153e-02 -1.90059420e+02] [-7.44869412e-01 1.61965578e-02 6.67013666e-01 -7.45545613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.48, Y:-190.06, Z:-745.57 [[ 6.67428910e-01 4.88410503e-02 7.43070119e-01 3.41479370e+02] [-1.74889228e-02 9.98599683e-01 -4.99280535e-02 -1.90061711e+02] [-7.44468124e-01 2.03279304e-02 6.67348475e-01 -7.45570080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.50, Y:-190.06, Z:-745.59 [[ 6.68081752e-01 4.58574113e-02 7.42673462e-01 3.41501050e+02] [-1.27262830e-02 9.98657327e-01 -5.02153964e-02 -1.90064298e+02] [-7.43979042e-01 2.40965174e-02 6.67768330e-01 -7.45594359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.52, Y:-190.07, Z:-745.62 [[ 6.68249539e-01 4.03981377e-02 7.42839515e-01 3.41522332e+02] [-4.19082059e-03 9.98713073e-01 -5.05433994e-02 -1.90066108e+02] [-7.43925394e-01 3.06624962e-02 6.67558852e-01 -7.45617508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:341.56, Y:-190.08, Z:-745.63 [[ 6.71850443e-01 2.46865762e-02 7.40275324e-01 3.41556990e+02] [-2.57525148e-03 9.99516238e-01 -3.09944816e-02 -1.90079907e+02] [-7.40682355e-01 1.89172610e-02 6.71589001e-01 -7.45632754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.56, Y:-190.06, Z:-745.67 [[ 6.68887703e-01 5.38748197e-02 7.41408622e-01 3.41559573e+02] [ 4.16841909e-03 9.97082756e-01 -7.62141905e-02 -1.90055164e+02] [-7.43351777e-01 5.40692367e-02 6.66711822e-01 -7.45670897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.59, Y:-190.07, Z:-745.69 [[ 6.68102878e-01 3.38640968e-02 7.43297900e-01 3.41587096e+02] [ 6.31843967e-03 9.98669566e-01 -5.11778798e-02 -1.90068999e+02] [-7.44042084e-01 3.88885717e-02 6.67000043e-01 -7.45688588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.61, Y:-190.07, Z:-745.71 [[ 6.68320832e-01 3.34335849e-02 7.43121431e-01 3.41609242e+02] [ 7.25366161e-03 9.98649049e-01 -5.14534898e-02 -1.90069642e+02] [-7.43837785e-01 3.97777905e-02 6.67175447e-01 -7.45713345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.63, Y:-190.07, Z:-745.74 [[ 6.68795817e-01 3.35847119e-02 7.42687163e-01 3.41630418e+02] [ 7.30625269e-03 9.98633961e-01 -5.17381032e-02 -1.90067859e+02] [-7.43410233e-01 4.00284871e-02 6.67636837e-01 -7.45737615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.66, Y:-190.08, Z:-745.76 [[ 6.71699036e-01 2.45079964e-02 7.40418641e-01 3.41662972e+02] [ 3.31145761e-03 9.99343326e-01 -3.60825674e-02 -1.90079368e+02] [-7.40816738e-01 2.66884907e-02 6.71176791e-01 -7.45755874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.67, Y:-190.05, Z:-745.79 [[ 6.69092252e-01 5.86419899e-02 7.40862117e-01 3.41666145e+02] [ 2.93889493e-04 9.96861032e-01 -7.91706749e-02 -1.90048678e+02] [-7.43179300e-01 5.31902167e-02 6.66974759e-01 -7.45791136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.69, Y:-190.06, Z:-745.81 [[ 6.68023040e-01 4.09792021e-02 7.43011388e-01 3.41694485e+02] [-2.97906343e-03 9.98621814e-01 -5.23984461e-02 -1.90061272e+02] [-7.44134627e-01 3.27898912e-02 6.67224460e-01 -7.45809636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.72, Y:-190.06, Z:-745.83 [[ 6.67452507e-01 4.36567298e-02 7.43371536e-01 3.41715580e+02] [-6.58211582e-03 9.98586843e-01 -5.27351188e-02 -1.90059892e+02] [-7.44623278e-01 3.03052297e-02 6.66796645e-01 -7.45833530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.616559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:341.74, Y:-190.06, Z:-745.86 [[ 6.67193185e-01 4.65021597e-02 7.43431774e-01 3.41737763e+02] [-1.05076499e-02 9.98537682e-01 -5.30291114e-02 -1.90058950e+02] [-7.44810609e-01 2.75689409e-02 6.66706165e-01 -7.45857883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.76, Y:-190.06, Z:-745.88 [[ 6.67168679e-01 4.92893489e-02 7.43274185e-01 3.41759030e+02] [-1.43492076e-02 9.98473700e-01 -5.33326428e-02 -1.90058087e+02] [-7.44768457e-01 2.49164732e-02 6.66857642e-01 -7.45881391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.78, Y:-190.05, Z:-745.91 [[ 6.66604982e-01 5.46556699e-02 7.43404706e-01 3.41781241e+02] [-2.20389554e-02 9.98317376e-01 -5.36348872e-02 -1.90054237e+02] [-7.45085286e-01 1.93694199e-02 6.66687890e-01 -7.45906240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.80, Y:-190.05, Z:-745.93 [[ 6.66345123e-01 5.76592806e-02 7.43410778e-01 3.41802933e+02] [-2.61890162e-02 9.98200323e-01 -5.39467418e-02 -1.90052711e+02] [-7.45183408e-01 1.64779514e-02 6.66655957e-01 -7.45931168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.82, Y:-190.05, Z:-745.96 [[ 6.65872400e-01 6.34028374e-02 7.43366685e-01 3.41824413e+02] [-3.44476118e-02 9.97932546e-01 -5.42586073e-02 -1.90047750e+02] [-7.45269958e-01 1.05221021e-02 6.66679815e-01 -7.45955606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:341.85, Y:-190.05, Z:-745.98 [[ 6.67525328e-01 5.89063763e-02 7.42253310e-01 3.41853109e+02] [-3.96964757e-02 9.98263427e-01 -4.35237913e-02 -1.90054657e+02] [-7.43528162e-01 -4.11607484e-04 6.68704497e-01 -7.45977010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7965599949999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:341.86, Y:-190.03, Z:-746.01 [[ 6.64443331e-01 8.62706005e-02 7.42342538e-01 3.41863524e+02] [-4.56624977e-02 9.96145391e-01 -7.48952353e-02 -1.90032733e+02] [-7.45942354e-01 1.58664252e-02 6.65821493e-01 -7.46008101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:341.89, Y:-190.04, Z:-746.03 [[ 6.64394576e-01 7.13749532e-02 7.43966037e-01 3.41889591e+02] [-4.56123488e-02 9.97446217e-01 -5.49596056e-02 -1.90044617e+02] [-7.45988848e-01 2.58082553e-03 6.65953436e-01 -7.46029046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8565599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:341.92, Y:-190.05, Z:-746.05 [[ 6.66247085e-01 6.52197913e-02 7.42873610e-01 3.41919565e+02] [-5.09564618e-02 9.97821445e-01 -4.19022992e-02 -1.90053905e+02] [-7.43988079e-01 -9.93692608e-03 6.68118999e-01 -7.46048508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.93, Y:-190.03, Z:-746.08 [[ 6.63093022e-01 9.16556497e-02 7.42904359e-01 3.41928351e+02] [-5.27090057e-02 9.95728832e-01 -7.58014116e-02 -1.90033357e+02] [-7.46678917e-01 1.11056370e-02 6.65091918e-01 -7.46081684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.916559995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:341.95, Y:-190.04, Z:-746.10 [[ 6.64758356e-01 7.98209132e-02 7.42781899e-01 3.41954446e+02] [-5.95304594e-02 9.96773584e-01 -5.38381555e-02 -1.90043083e+02] [-7.44682786e-01 -8.42878394e-03 6.67365345e-01 -7.46102573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.98, Y:-190.04, Z:-746.13 [[ 6.65717679e-01 8.38436728e-02 7.41478395e-01 3.41977114e+02] [-6.40404370e-02 9.96420891e-01 -5.51745490e-02 -1.90043806e+02] [-7.43450599e-01 -1.07539277e-02 6.68704389e-01 -7.46127552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.99, Y:-190.03, Z:-746.15 [[ 6.64211588e-01 9.96754158e-02 7.40869609e-01 3.41989513e+02] [-6.55383125e-02 9.95019111e-01 -7.51112426e-02 -1.90030012e+02] [-7.44666164e-01 1.33441373e-03 6.67435782e-01 -7.46154556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:342.01, Y:-190.04, Z:-746.17 [[ 6.64752157e-01 8.67895968e-02 7.42005482e-01 3.42014137e+02] [-6.85782227e-02 9.96124394e-01 -5.50746779e-02 -1.90040356e+02] [-7.43909670e-01 -1.42744062e-02 6.68127716e-01 -7.46174374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.04, Y:-190.04, Z:-746.20 [[ 6.65066397e-01 9.03571627e-02 7.41297694e-01 3.42035416e+02] [-7.36257854e-02 9.95750549e-01 -5.53180711e-02 -1.90039302e+02] [-7.43145970e-01 -1.77884348e-02 6.68892846e-01 -7.46199222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.06, Y:-190.05, Z:-746.22 [[ 6.67207955e-01 8.40864743e-02 7.40110134e-01 3.42061535e+02] [-7.56286257e-02 9.96120417e-01 -4.49936187e-02 -1.90046468e+02] [-7.41022170e-01 -2.59534120e-02 6.70978810e-01 -7.46220627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.07, Y:-190.03, Z:-746.25 [[ 6.65011842e-01 1.04196121e-01 7.39528511e-01 3.42074738e+02] [-7.63518068e-02 9.94516591e-01 -7.14643373e-02 -1.90032135e+02] [-7.42919681e-01 -8.93970747e-03 6.69320872e-01 -7.46250555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.10, Y:-190.05, Z:-746.27 [[ 6.68362349e-01 8.16219892e-02 7.39344048e-01 3.42104569e+02] [-7.53401382e-02 9.96278041e-01 -4.18799391e-02 -1.90048381e+02] [-7.40010564e-01 -2.77113083e-02 6.72024144e-01 -7.46266868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.12, Y:-190.03, Z:-746.30 [[ 6.64625186e-01 1.03813595e-01 7.39929794e-01 3.42115414e+02] [-7.42435850e-02 9.94575434e-01 -7.28532563e-02 -1.90033853e+02] [-7.43479154e-01 -6.51493152e-03 6.68727376e-01 -7.46298671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.14, Y:-190.05, Z:-746.32 [[ 6.64669696e-01 8.82325048e-02 7.41909172e-01 3.42140558e+02] [-6.93257387e-02 9.96001740e-01 -5.63424906e-02 -1.90046411e+02] [-7.43914065e-01 -1.39842553e-02 6.68128958e-01 -7.46319423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2165599949999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:342.16, Y:-190.05, Z:-746.34 [[ 6.64706029e-01 8.62668801e-02 7.42107755e-01 3.42161392e+02] [-6.60213143e-02 9.96207679e-01 -5.66696177e-02 -1.90048952e+02] [-7.44182156e-01 -1.13262929e-02 6.67880703e-01 -7.46343494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:342.18, Y:-190.05, Z:-746.37 [[ 6.64630439e-01 8.43409413e-02 7.42396784e-01 3.42183113e+02] [-6.27931989e-02 9.96398573e-01 -5.69815536e-02 -1.90052140e+02] [-7.44528974e-01 -8.74579392e-03 6.67532859e-01 -7.46368110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.20, Y:-190.06, Z:-746.39 [[ 6.64002705e-01 7.91254647e-02 7.43531821e-01 3.42204504e+02] [-5.45282591e-02 9.96861686e-01 -5.73885762e-02 -1.90056972e+02] [-7.45739282e-01 -2.43732591e-03 6.66233430e-01 -7.46391557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.24, Y:-190.08, Z:-746.40 [[ 6.68792938e-01 5.51283160e-02 7.41401966e-01 3.42239958e+02] [-5.16432859e-02 9.98282928e-01 -2.76435629e-02 -1.90077537e+02] [-7.41652869e-01 -1.98006141e-02 6.70491580e-01 -7.46404367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.24, Y:-190.05, Z:-746.45 [[ 6.64368058e-01 9.98780357e-02 7.40702006e-01 3.42239909e+02] [-4.72031582e-02 9.94659547e-01 -9.17837007e-02 -1.90046516e+02] [-7.45913498e-01 2.60146850e-02 6.65534590e-01 -7.46445775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:342.27, Y:-190.07, Z:-746.46 [[ 6.64551136e-01 6.89084024e-02 7.44058747e-01 3.42267492e+02] [-3.84938073e-02 9.97573803e-01 -5.80063253e-02 -1.90069046e+02] [-7.46250638e-01 9.90651530e-03 6.65591351e-01 -7.46463632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.29, Y:-190.07, Z:-746.49 [[ 6.64576319e-01 6.67289844e-02 7.44234882e-01 3.42288958e+02] [-3.48531629e-02 9.97688689e-01 -5.83312706e-02 -1.90072329e+02] [-7.46407110e-01 1.28266415e-02 6.65365992e-01 -7.46488887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.31, Y:-190.08, Z:-746.51 [[ 6.64935046e-01 6.42758941e-02 7.44130361e-01 3.42310834e+02] [-3.08316517e-02 9.97803137e-01 -5.86370955e-02 -1.90075703e+02] [-7.46264560e-01 1.60470917e-02 6.65456007e-01 -7.46513956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.33, Y:-190.08, Z:-746.54 [[ 6.65432124e-01 6.22793588e-02 7.43855746e-01 3.42332368e+02] [-2.75157011e-02 9.97882652e-01 -5.89330130e-02 -1.90079018e+02] [-7.45951054e-01 1.87482076e-02 6.65736832e-01 -7.46539121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.36, Y:-190.09, Z:-746.56 [[ 6.70210653e-01 4.42675354e-02 7.40849557e-01 3.42362957e+02] [-2.07661873e-02 9.98947287e-01 -4.09033307e-02 -1.90093214e+02] [-7.41880345e-01 1.20292274e-02 6.70424381e-01 -7.46555140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.37, Y:-190.08, Z:-746.59 [[ 6.67967652e-01 6.82089761e-02 7.41057860e-01 3.42370350e+02] [-1.52883351e-02 9.96838377e-01 -7.79712556e-02 -1.90077860e+02] [-7.44033254e-01 4.07527356e-02 6.66898592e-01 -7.46592054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.40, Y:-190.09, Z:-746.61 [[ 6.67822047e-01 5.29256710e-02 7.42436924e-01 3.42396181e+02] [-1.29677217e-02 9.98144686e-01 -5.94896959e-02 -1.90090404e+02] [-7.44208003e-01 3.01008151e-02 6.67269353e-01 -7.46612632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.42, Y:-190.09, Z:-746.63 [[ 6.67999008e-01 4.65231565e-02 7.42706484e-01 3.42419563e+02] [-7.98633047e-03 9.98434576e-01 -5.53589716e-02 -1.90094852e+02] [-7.44119308e-01 3.10482387e-02 6.67324855e-01 -7.46633220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.44, Y:-190.10, Z:-746.66 [[ 6.66682881e-01 5.09691160e-02 7.43596722e-01 3.42438674e+02] [-8.15094523e-03 9.98098013e-01 -6.11058069e-02 -1.90095544e+02] [-7.45296919e-01 3.46771793e-02 6.65830305e-01 -7.46660299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.47, Y:-190.10, Z:-746.68 [[ 6.68034727e-01 4.15434536e-02 7.42969546e-01 3.42466477e+02] [-8.60651696e-03 9.98804958e-01 -4.81101216e-02 -1.90104469e+02] [-7.44080326e-01 2.57448520e-02 6.67593942e-01 -7.46678262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.48, Y:-190.10, Z:-746.71 [[ 6.67687946e-01 5.52412342e-02 7.42388855e-01 3.42483118e+02] [-1.33067557e-02 9.97969306e-01 -6.22912042e-02 -1.90097212e+02] [-7.44322334e-01 3.17122991e-02 6.67067158e-01 -7.46706578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.50, Y:-190.09, Z:-746.73 [[ 6.64232931e-01 7.21361577e-02 7.44036953e-01 3.42498880e+02] [-3.06843872e-02 9.97125213e-01 -6.92804315e-02 -1.90088003e+02] [-7.46895630e-01 2.31880262e-02 6.64536857e-01 -7.46733822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.52, Y:-190.10, Z:-746.76 [[ 6.63957840e-01 6.20181570e-02 7.45193757e-01 3.42522934e+02] [-3.09146885e-02 9.97979339e-01 -5.55114547e-02 -1.90096848e+02] [-7.47130691e-01 1.38198327e-02 6.64533478e-01 -7.46755249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.54, Y:-190.10, Z:-746.78 [[ 6.63924446e-01 6.25001007e-02 7.45183244e-01 3.42544103e+02] [-3.12804218e-02 9.97950130e-01 -5.58307600e-02 -1.90098536e+02] [-7.47145144e-01 1.37577602e-02 6.64518516e-01 -7.46779704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.57, Y:-190.10, Z:-746.80 [[ 6.63645118e-01 6.70042914e-02 7.45040659e-01 3.42565540e+02] [-3.75175281e-02 9.97708246e-01 -5.63088863e-02 -1.90098896e+02] [-7.47106146e-01 9.41703365e-03 6.64638042e-01 -7.46804114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.59, Y:-190.10, Z:-746.83 [[ 6.63623603e-01 6.77950413e-02 7.44988286e-01 3.42587273e+02] [-3.77420396e-02 9.97650936e-01 -5.71677151e-02 -1.90100413e+02] [-7.47113949e-01 9.82046766e-03 6.64623432e-01 -7.46829467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.61, Y:-190.10, Z:-746.85 [[ 6.63594239e-01 6.81290075e-02 7.44983976e-01 3.42609130e+02] [-3.79608722e-02 9.97628159e-01 -5.74197588e-02 -1.90102245e+02] [-7.47128943e-01 9.82317967e-03 6.64606536e-01 -7.46854689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.63, Y:-190.10, Z:-746.88 [[ 6.62666785e-01 7.68765481e-02 7.44958206e-01 3.42630282e+02] [-4.95163754e-02 9.97038395e-01 -5.88435868e-02 -1.90102254e+02] [-7.47275626e-01 2.10606027e-03 6.64510875e-01 -7.46879809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.65, Y:-190.10, Z:-746.90 [[ 6.62151624e-01 8.19401365e-02 7.44876528e-01 3.42649976e+02] [-5.26774593e-02 9.96634483e-01 -6.28075911e-02 -1.90098841e+02] [-7.47516095e-01 2.34994544e-03 6.64239539e-01 -7.46904518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9365599949999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:342.67, Y:-190.10, Z:-746.93 [[ 6.61620155e-01 8.19371291e-02 7.45348964e-01 3.42672125e+02] [-5.80391404e-02 9.96625659e-01 -5.80409744e-02 -1.90103237e+02] [-7.47589613e-01 -4.85833468e-03 6.64143183e-01 -7.46928666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.69, Y:-190.10, Z:-746.95 [[ 6.60655893e-01 8.84921492e-02 7.45454848e-01 3.42689379e+02] [-5.95948453e-02 9.96076151e-01 -6.54274820e-02 -1.90097357e+02] [-7.48319614e-01 -1.20021475e-03 6.63337256e-01 -7.46954102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.996559995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:342.72, Y:-190.11, Z:-746.98 [[ 6.61043204e-01 8.41003348e-02 7.45619887e-01 3.42715139e+02] [-6.63875656e-02 9.96357275e-01 -5.35244996e-02 -1.90106335e+02] [-7.47405227e-01 -1.41178825e-02 6.64218422e-01 -7.46976476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.73, Y:-190.10, Z:-747.00 [[ 6.60424699e-01 9.37977726e-02 7.45010869e-01 3.42733706e+02] [-6.89952093e-02 9.95550440e-01 -6.41792965e-02 -1.90101811e+02] [-7.47715774e-01 -9.01658829e-03 6.63957696e-01 -7.47003071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.75, Y:-190.10, Z:-747.03 [[ 6.60296992e-01 9.44718648e-02 7.45038891e-01 3.42754991e+02] [-6.96696677e-02 9.95483825e-01 -6.44832664e-02 -1.90103324e+02] [-7.47766020e-01 -9.32850510e-03 6.63896799e-01 -7.47027978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:342.78, Y:-190.10, Z:-747.05 [[ 6.60399211e-01 9.48769022e-02 7.44896808e-01 3.42776020e+02] [-6.99352361e-02 9.95445484e-01 -6.47869725e-02 -1.90104825e+02] [-7.47650951e-01 -9.30926863e-03 6.64026651e-01 -7.47052682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.80, Y:-190.11, Z:-747.08 [[ 6.60266651e-01 9.57524147e-02 7.44902292e-01 3.42797385e+02] [-7.09011875e-02 9.95356640e-01 -6.51013062e-02 -1.90107270e+02] [-7.47677050e-01 -9.83023564e-03 6.63989756e-01 -7.47077442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.82, Y:-190.11, Z:-747.10 [[ 6.60431237e-01 9.64784662e-02 7.44662666e-01 3.42818767e+02] [-7.16623218e-02 9.95283042e-01 -6.53924894e-02 -1.90109638e+02] [-7.47459091e-01 -1.01770129e-02 6.64229882e-01 -7.47101972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.84, Y:-190.11, Z:-747.13 [[ 6.60836376e-01 9.85095274e-02 7.44037067e-01 3.42839894e+02] [-7.44094639e-02 9.95064051e-01 -6.56564184e-02 -1.90112846e+02] [-7.46832321e-01 -1.19752497e-02 6.64904563e-01 -7.47127557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.86, Y:-190.11, Z:-747.15 [[ 6.60813287e-01 9.88759771e-02 7.44008966e-01 3.42861759e+02] [-7.46040463e-02 9.95028492e-01 -6.59737604e-02 -1.90114709e+02] [-7.46833339e-01 -1.19097419e-02 6.64904596e-01 -7.47152803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.87, Y:-190.10, Z:-747.18 [[ 6.57280952e-01 1.13307057e-01 7.45079366e-01 3.42869463e+02] [-7.19059445e-02 9.93551797e-01 -8.76604898e-02 -1.90100300e+02] [-7.50207495e-01 4.04193462e-03 6.61190122e-01 -7.47184683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.90, Y:-190.12, Z:-747.20 [[ 6.57906562e-01 8.64519023e-02 7.48120995e-01 3.42897897e+02] [-7.22336701e-02 9.96053139e-01 -5.15794681e-02 -1.90121309e+02] [-7.49627409e-01 -2.01050547e-02 6.61554635e-01 -7.47201613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.93, Y:-190.14, Z:-747.22 [[ 6.62334588e-01 7.38431947e-02 7.45560243e-01 3.42931021e+02] [-7.71275903e-02 9.96564179e-01 -3.01856385e-02 -1.90140321e+02] [-7.45227636e-01 -3.75102726e-02 6.65754272e-01 -7.47217210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.95, Y:-190.12, Z:-747.25 [[ 6.62439187e-01 1.02337471e-01 7.42092559e-01 3.42945177e+02] [-7.87345956e-02 9.94649481e-01 -6.68825345e-02 -1.90124741e+02] [-7.44966568e-01 -1.41227457e-02 6.66952293e-01 -7.47250301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.97, Y:-190.13, Z:-747.27 [[ 6.63088829e-01 1.03705053e-01 7.41322107e-01 3.42965498e+02] [-8.04814708e-02 9.94492747e-01 -6.71335152e-02 -1.90129375e+02] [-7.44201544e-01 -1.51472095e-02 6.67783366e-01 -7.47274485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.99, Y:-190.13, Z:-747.30 [[ 6.63248280e-01 1.04515614e-01 7.41065588e-01 3.42986344e+02] [-8.13816311e-02 9.94400881e-01 -6.74085978e-02 -1.90133005e+02] [-7.43961524e-01 -1.56004897e-02 6.68040325e-01 -7.47298901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.416559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:343.01, Y:-190.14, Z:-747.32 [[ 6.63499376e-01 1.05055215e-01 7.40764456e-01 3.43008043e+02] [-8.18838980e-02 9.94341587e-01 -6.76744858e-02 -1.90136941e+02] [-7.43682463e-01 -1.57547020e-02 6.68347353e-01 -7.47323972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.03, Y:-190.14, Z:-747.35 [[ 6.63159591e-01 1.05037658e-01 7.41071149e-01 3.43029807e+02] [-8.14823493e-02 9.94350921e-01 -6.80211219e-02 -1.90143266e+02] [-7.44029558e-01 -1.52753588e-02 6.67972065e-01 -7.47348115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4765599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:343.05, Y:-190.15, Z:-747.37 [[ 6.62777304e-01 1.04733666e-01 7.41456070e-01 3.43050487e+02] [-8.06394971e-02 9.94395030e-01 -6.83797877e-02 -1.90147152e+02] [-7.44461897e-01 -1.44700732e-02 6.67508128e-01 -7.47371758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.07, Y:-190.15, Z:-747.40 [[ 6.62192607e-01 1.04092318e-01 7.42068556e-01 3.43071619e+02] [-7.94105478e-02 9.94476309e-01 -6.86355268e-02 -1.90151299e+02] [-7.45114029e-01 -1.34781321e-02 6.66800887e-01 -7.47395389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.536559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:343.09, Y:-190.16, Z:-747.42 [[ 6.61761643e-01 1.03240507e-01 7.42571832e-01 3.43092858e+02] [-7.77651666e-02 9.94582810e-01 -6.89754541e-02 -1.90155051e+02] [-7.45670240e-01 -1.21009124e-02 6.66205269e-01 -7.47419918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.11, Y:-190.16, Z:-747.44 [[ 6.61073489e-01 1.00497458e-01 7.43560423e-01 3.43113965e+02] [-7.32039067e-02 9.94900465e-01 -6.93848191e-02 -1.90160847e+02] [-7.46741609e-01 -8.56306345e-03 6.65059128e-01 -7.47444353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.14, Y:-190.16, Z:-747.47 [[ 6.61259735e-01 9.92275696e-02 7.43565365e-01 3.43135310e+02] [-7.09343082e-02 9.95042534e-01 -6.97042289e-02 -1.90164992e+02] [-7.46795746e-01 -6.65169486e-03 6.65020202e-01 -7.47468845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:343.16, Y:-190.17, Z:-747.49 [[ 6.61493624e-01 9.55013668e-02 7.43845195e-01 3.43156142e+02] [-6.49438979e-02 9.95427345e-01 -7.00477707e-02 -1.90171142e+02] [-7.47133506e-01 -1.97205264e-03 6.64671073e-01 -7.47493213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.18, Y:-190.18, Z:-747.52 [[ 6.61894549e-01 9.35811049e-02 7.43732602e-01 3.43177544e+02] [-6.17353397e-02 9.95611455e-01 -7.03319112e-02 -1.90175019e+02] [-7.47050436e-01 6.37723835e-04 6.64767057e-01 -7.47517483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.20, Y:-190.18, Z:-747.54 [[ 6.62246227e-01 9.16180391e-02 7.43663950e-01 3.43197973e+02] [-5.84314174e-02 9.95788652e-01 -7.06451051e-02 -1.90178805e+02] [-7.47004488e-01 3.33111561e-03 6.64810649e-01 -7.47541706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.22, Y:-190.18, Z:-747.57 [[ 6.62235882e-01 9.19210282e-02 7.43635772e-01 3.43219841e+02] [-5.85549415e-02 9.95760372e-01 -7.09408234e-02 -1.90180833e+02] [-7.47003987e-01 3.43600963e-03 6.64810678e-01 -7.47566956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.24, Y:-190.18, Z:-747.59 [[ 6.63361937e-01 8.95742386e-02 7.42918163e-01 3.43240449e+02] [-5.49599217e-02 9.95960386e-01 -7.10092656e-02 -1.90184576e+02] [-7.46277661e-01 6.27411992e-03 6.65605204e-01 -7.47591161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.26, Y:-190.19, Z:-747.62 [[ 6.64521862e-01 8.44743129e-02 7.42478811e-01 3.43261831e+02] [-4.70365295e-02 9.96348122e-01 -7.12599742e-02 -1.90190713e+02] [-7.45787007e-01 1.24301843e-02 6.66068488e-01 -7.47616365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.28, Y:-190.19, Z:-747.64 [[ 6.64857254e-01 8.20392287e-02 7.42451613e-01 3.43283327e+02] [-4.30371926e-02 9.96506494e-01 -7.15723875e-02 -1.90194639e+02] [-7.45729597e-01 1.56323879e-02 6.66065310e-01 -7.47641306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.30, Y:-190.20, Z:-747.67 [[ 6.65469102e-01 7.98423451e-02 7.42142894e-01 3.43304729e+02] [-3.94361273e-02 9.96634828e-01 -7.18596622e-02 -1.90198837e+02] [-7.45382900e-01 1.85531432e-02 6.66378357e-01 -7.47665066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.33, Y:-190.20, Z:-747.69 [[ 6.66043463e-01 7.51347462e-02 7.42119179e-01 3.43326256e+02] [-3.20619620e-02 9.96878173e-01 -7.21521959e-02 -1.90203905e+02] [-7.45223548e-01 2.42627015e-02 6.66373158e-01 -7.47690191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.35, Y:-190.21, Z:-747.71 [[ 6.66359305e-01 7.33567033e-02 7.42013525e-01 3.43347753e+02] [-2.90694605e-02 9.96948009e-01 -7.24543584e-02 -1.90206996e+02] [-7.45063919e-01 2.67107031e-02 6.66458022e-01 -7.47714622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.37, Y:-190.21, Z:-747.74 [[ 6.66281022e-01 7.20371093e-02 7.42213079e-01 3.43368229e+02] [-2.67128969e-02 9.96989853e-01 -7.27849890e-02 -1.90209866e+02] [-7.45222129e-01 2.86685954e-02 6.66199738e-01 -7.47738359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.39, Y:-190.21, Z:-747.76 [[ 6.66177104e-01 7.02214965e-02 7.42480308e-01 3.43389105e+02] [-2.36251076e-02 9.97044740e-01 -7.31002120e-02 -1.90212704e+02] [-7.45419292e-01 3.11565103e-02 6.65867368e-01 -7.47763180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.41, Y:-190.22, Z:-747.79 [[ 6.66113379e-01 7.04982536e-02 7.42511254e-01 3.43410128e+02] [-2.36850114e-02 9.97020208e-01 -7.34147532e-02 -1.90215014e+02] [-7.45474337e-01 3.13161618e-02 6.65798252e-01 -7.47787476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.43, Y:-190.22, Z:-747.81 [[ 6.66054189e-01 7.10962627e-02 7.42507333e-01 3.43432193e+02] [-2.42568271e-02 9.96985139e-01 -7.37037247e-02 -1.90217224e+02] [-7.45508836e-01 3.10798026e-02 6.65770698e-01 -7.47812438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.45, Y:-190.22, Z:-747.84 [[ 6.65813257e-01 7.32221931e-02 7.42516813e-01 3.43454441e+02] [-2.70905862e-02 9.96889126e-01 -7.40146696e-02 -1.90218470e+02] [-7.45626452e-01 2.91647325e-02 6.65725628e-01 -7.47837316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.48, Y:-190.22, Z:-747.86 [[ 6.65752183e-01 7.50685060e-02 7.42387197e-01 3.43475617e+02] [-2.95221687e-02 9.96797419e-01 -7.43192299e-02 -1.90219801e+02] [-7.45588675e-01 2.75613095e-02 6.65836243e-01 -7.47861138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:343.50, Y:-190.22, Z:-747.89 [[ 6.65519672e-01 7.70836047e-02 7.42389173e-01 3.43497360e+02] [-3.22085156e-02 9.96692150e-01 -7.46148046e-02 -1.90220788e+02] [-7.45685039e-01 2.57463670e-02 6.65800982e-01 -7.47885913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.136559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:343.52, Y:-190.22, Z:-747.91 [[ 6.65169149e-01 7.94566832e-02 7.42453122e-01 3.43518567e+02] [-3.53971099e-02 9.96559721e-01 -7.49384208e-02 -1.90221598e+02] [-7.45853235e-01 2.35660308e-02 6.65693319e-01 -7.47909899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.54, Y:-190.22, Z:-747.93 [[ 6.64633562e-01 8.48178572e-02 7.42339652e-01 3.43540915e+02] [-4.32303330e-02 9.96236800e-01 -7.51224056e-02 -1.90220695e+02] [-7.45917801e-01 1.78372817e-02 6.65799118e-01 -7.47934662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.56, Y:-190.22, Z:-747.96 [[ 6.64106876e-01 8.78669815e-02 7.42456363e-01 3.43562990e+02] [-4.74361397e-02 9.96021009e-01 -7.54450979e-02 -1.90221088e+02] [-7.46131269e-01 1.48843445e-02 6.65632471e-01 -7.47959716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.58, Y:-190.22, Z:-747.98 [[ 6.63088880e-01 9.10009286e-02 7.42988538e-01 3.43584560e+02] [-5.17103367e-02 9.95780293e-01 -7.58132584e-02 -1.90221378e+02] [-7.46752421e-01 1.18507411e-02 6.64996528e-01 -7.47984536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.256559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:343.61, Y:-190.22, Z:-748.01 [[ 6.62261058e-01 9.63124433e-02 7.43057336e-01 3.43605403e+02] [-5.93225794e-02 9.95330934e-01 -7.61391043e-02 -1.90219844e+02] [-7.46921095e-01 6.34388605e-03 6.64882420e-01 -7.48008847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.63, Y:-190.22, Z:-748.03 [[ 6.62098368e-01 9.87797423e-02 7.42878398e-01 3.43627078e+02] [-6.27205242e-02 9.95101275e-01 -7.64172050e-02 -1.90220428e+02] [-7.46787712e-01 4.00198414e-03 6.65050447e-01 -7.48033987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.65, Y:-190.22, Z:-748.06 [[ 6.62078632e-01 1.01109423e-01 7.42582501e-01 3.43648237e+02] [-6.59006238e-02 9.94873595e-01 -7.67048776e-02 -1.90221382e+02] [-7.46531308e-01 1.84801042e-03 6.65347722e-01 -7.48057943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.67, Y:-190.22, Z:-748.08 [[ 6.61910119e-01 1.03335154e-01 7.42426320e-01 3.43669679e+02] [-6.89319424e-02 9.94646569e-01 -7.69843481e-02 -1.90222523e+02] [-7.46406981e-01 -2.20169239e-04 6.65489722e-01 -7.48082629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.69, Y:-190.22, Z:-748.11 [[ 6.61394910e-01 1.06886645e-01 7.42382663e-01 3.43691542e+02] [-7.39306340e-02 9.94264074e-01 -7.72865645e-02 -1.90222854e+02] [-7.46385313e-01 -3.76788059e-03 6.65503395e-01 -7.48107767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.71, Y:-190.22, Z:-748.13 [[ 6.61434980e-01 1.08449986e-01 7.42120184e-01 3.43713051e+02] [-7.59542611e-02 9.94089048e-01 -7.75752226e-02 -1.90224244e+02] [-7.46146579e-01 -5.05622437e-03 6.65762509e-01 -7.48132470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:-190.23, Z:-748.16 [[ 6.61378689e-01 1.09913668e-01 7.41954996e-01 3.43734276e+02] [-7.78159149e-02 9.93921607e-01 -7.78750495e-02 -1.90225649e+02] [-7.46004634e-01 -6.23100872e-03 6.65911601e-01 -7.48157102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.76, Y:-190.23, Z:-748.18 [[ 6.61516282e-01 1.11576302e-01 7.41584073e-01 3.43755150e+02] [-7.99952339e-02 9.93726634e-01 -7.81545820e-02 -1.90226327e+02] [-7.45652044e-01 -7.62266286e-03 6.66291921e-01 -7.48181691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.496559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:343.78, Y:-190.23, Z:-748.21 [[ 6.62202565e-01 1.12385049e-01 7.40849083e-01 3.43776914e+02] [-8.10643126e-02 9.93630699e-01 -7.82726747e-02 -1.90228390e+02] [-7.44927070e-01 -8.22405563e-03 6.67095215e-01 -7.48206795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.80, Y:-190.23, Z:-748.23 [[ 6.62902804e-01 1.12802465e-01 7.40159089e-01 3.43797114e+02] [-8.14000068e-02 9.93583623e-01 -7.85214821e-02 -1.90230401e+02] [-7.44267366e-01 -8.19684421e-03 6.67831491e-01 -7.48231007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.82, Y:-190.23, Z:-748.26 [[ 6.62505975e-01 1.14972217e-01 7.40180534e-01 3.43816000e+02] [-8.05605717e-02 9.93355217e-01 -8.21912878e-02 -1.90230139e+02] [-7.44711909e-01 -5.17714767e-03 6.67365994e-01 -7.48256774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.84, Y:-190.24, Z:-748.28 [[ 6.62822378e-01 1.09585740e-01 7.40714156e-01 3.43839762e+02] [-8.08507744e-02 9.93923193e-01 -7.46983242e-02 -1.90237654e+02] [-7.44398850e-01 -1.03755922e-02 6.67654626e-01 -7.48278229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.86, Y:-190.24, Z:-748.30 [[ 6.62761734e-01 1.12950393e-01 7.40262854e-01 3.43860708e+02] [-8.08398980e-02 9.93573548e-01 -7.92244687e-02 -1.90238308e+02] [-7.44454025e-01 -7.33582735e-03 6.67633425e-01 -7.48303377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:343.88, Y:-190.24, Z:-748.33 [[ 6.62125594e-01 1.12527792e-01 7.40896210e-01 3.43881729e+02] [-7.97869813e-02 9.93627948e-01 -7.96086625e-02 -1.90241555e+02] [-7.45133368e-01 -6.40293907e-03 6.66884748e-01 -7.48326973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.90, Y:-190.24, Z:-748.35 [[ 6.62183474e-01 1.12589289e-01 7.40835136e-01 3.43903561e+02] [-7.95575872e-02 9.93623294e-01 -7.98958064e-02 -1.90244647e+02] [-7.45106461e-01 -6.03337331e-03 6.66918257e-01 -7.48351592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.93, Y:-190.25, Z:-748.38 [[ 6.62160070e-01 1.12945152e-01 7.40801886e-01 3.43925387e+02] [-7.97476245e-02 9.93583290e-01 -8.02032551e-02 -1.90246945e+02] [-7.45106944e-01 -5.96979763e-03 6.66918288e-01 -7.48376830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:343.95, Y:-190.25, Z:-748.40 [[ 6.62466328e-01 1.12875720e-01 7.40538612e-01 3.43946988e+02] [-7.94341416e-02 9.93593502e-01 -8.03876215e-02 -1.90250236e+02] [-7.44868164e-01 -5.56995653e-03 6.67188425e-01 -7.48401671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.97, Y:-190.25, Z:-748.43 [[ 6.63591024e-01 1.12384454e-01 7.39605764e-01 3.43968198e+02] [-7.84568509e-02 9.93654403e-01 -8.05943500e-02 -1.90254337e+02] [-7.43970077e-01 -4.54545194e-03 6.68197474e-01 -7.48426718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.99, Y:-190.26, Z:-748.45 [[ 6.63955716e-01 1.12567359e-01 7.39250564e-01 3.43988895e+02] [-7.84270528e-02 9.93634848e-01 -8.08640046e-02 -1.90257354e+02] [-7.43647769e-01 -4.28712494e-03 6.68557863e-01 -7.48451228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.01, Y:-190.26, Z:-748.48 [[ 6.64480369e-01 1.12916355e-01 7.38725752e-01 3.44010180e+02] [-7.86895625e-02 9.93595428e-01 -8.10930238e-02 -1.90260369e+02] [-7.43151258e-01 -4.24528385e-03 6.69109995e-01 -7.48476519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:344.03, Y:-190.26, Z:-748.50 [[ 6.64611030e-01 1.12938653e-01 7.38604793e-01 3.44031121e+02] [-7.84006837e-02 9.93594621e-01 -8.13821952e-02 -1.90264381e+02] [-7.43064945e-01 -3.81961613e-03 6.69208412e-01 -7.48501320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.05, Y:-190.27, Z:-748.53 [[ 6.64661771e-01 1.13279168e-01 7.38506981e-01 3.44052377e+02] [-7.85802270e-02 9.93556146e-01 -8.16782263e-02 -1.90267998e+02] [-7.43000591e-01 -3.74365159e-03 6.69280290e-01 -7.48525801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.07, Y:-190.27, Z:-748.55 [[ 6.64571376e-01 1.14177296e-01 7.38450020e-01 3.44073418e+02] [-7.95829294e-02 9.93451153e-01 -8.19839225e-02 -1.90272920e+02] [-7.42974727e-01 -4.28384768e-03 6.69305763e-01 -7.48549162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.09, Y:-190.28, Z:-748.57 [[ 6.64691565e-01 1.15073674e-01 7.38202664e-01 3.44094805e+02] [-8.06293172e-02 9.93345108e-01 -8.22460373e-02 -1.90276591e+02] [-7.42754359e-01 -4.85252961e-03 6.69546425e-01 -7.48573605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.12, Y:-190.28, Z:-748.60 [[ 6.64749065e-01 1.17206701e-01 7.37815200e-01 3.44116516e+02] [-8.35199317e-02 9.93084435e-01 -8.25089454e-02 -1.90281484e+02] [-7.42383393e-01 -6.77453088e-03 6.69941045e-01 -7.48598220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.14, Y:-190.28, Z:-748.62 [[ 6.64294791e-01 1.18698444e-01 7.37985847e-01 3.44137405e+02] [-8.53893681e-02 9.92898213e-01 -8.28359520e-02 -1.90284823e+02] [-7.42577327e-01 -7.98865366e-03 6.69712696e-01 -7.48622434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.16, Y:-190.29, Z:-748.65 [[ 6.64071891e-01 1.20326616e-01 7.37922780e-01 3.44158750e+02] [-8.76195749e-02 9.92688650e-01 -8.30184013e-02 -1.90288095e+02] [-7.42516892e-01 -9.52629359e-03 6.69759596e-01 -7.48646470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.18, Y:-190.29, Z:-748.67 [[ 6.63453022e-01 1.22142805e-01 7.38181023e-01 3.44180125e+02] [-9.00003426e-02 9.92449863e-01 -8.33259170e-02 -1.90291100e+02] [-7.42785316e-01 -1.11537136e-02 6.69436755e-01 -7.48671172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0965599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:344.20, Y:-190.29, Z:-748.70 [[ 6.62463067e-01 1.25216699e-01 7.38554984e-01 3.44202075e+02] [-9.42382705e-02 9.92028119e-01 -8.36621707e-02 -1.90294258e+02] [-7.43143212e-01 -1.41770462e-02 6.68982195e-01 -7.48695989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:344.22, Y:-190.30, Z:-748.72 [[ 6.61688315e-01 1.26779445e-01 7.38982778e-01 3.44223234e+02] [-9.61846008e-02 9.91810182e-01 -8.40302641e-02 -1.90297129e+02] [-7.43583954e-01 -1.54769197e-02 6.68463438e-01 -7.48720108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:-190.30, Z:-748.75 [[ 6.60995437e-01 1.28284846e-01 7.39342972e-01 3.44245244e+02] [-9.80782638e-02 9.91595969e-01 -8.43687617e-02 -1.90300220e+02] [-7.43952745e-01 -1.67461086e-02 6.68022366e-01 -7.48745048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.27, Y:-190.30, Z:-748.77 [[ 6.59820780e-01 1.30331488e-01 7.40033946e-01 3.44266143e+02] [-1.00742614e-01 9.91295488e-01 -8.47595519e-02 -1.90303784e+02] [-7.44639150e-01 -1.86268408e-02 6.67207297e-01 -7.48768689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.29, Y:-190.31, Z:-748.79 [[ 6.59331373e-01 1.31419647e-01 7.40277662e-01 3.44288019e+02] [-1.02033726e-01 9.91136213e-01 -8.50771778e-02 -1.90306743e+02] [-7.44896812e-01 -1.94392358e-02 6.66896436e-01 -7.48793519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.31, Y:-190.31, Z:-748.82 [[ 6.58821181e-01 1.32601070e-01 7.40521174e-01 3.44309040e+02] [-1.03429456e-01 9.90961379e-01 -8.54277028e-02 -1.90309647e+02] [-7.45155688e-01 -2.03101220e-02 6.66581202e-01 -7.48817242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.276559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:344.33, Y:-190.31, Z:-748.84 [[ 6.58301828e-01 1.33518247e-01 7.40818184e-01 3.44330257e+02] [-1.04449723e-01 9.90825506e-01 -8.57617182e-02 -1.90312233e+02] [-7.45472306e-01 -2.09211584e-02 6.66208186e-01 -7.48841593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.35, Y:-190.31, Z:-748.87 [[ 6.59520457e-01 1.34472346e-01 7.39560650e-01 3.44351114e+02] [-1.05668059e-01 9.90684203e-01 -8.59015182e-02 -1.90314397e+02] [-7.44222432e-01 -2.14941300e-02 6.67585930e-01 -7.48866594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.37, Y:-190.32, Z:-748.89 [[ 6.60062590e-01 1.34870915e-01 7.39004204e-01 3.44371506e+02] [-1.05951405e-01 9.90631468e-01 -8.61602864e-02 -1.90316234e+02] [-7.43701336e-01 -2.14273521e-02 6.68168535e-01 -7.48891605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:344.39, Y:-190.32, Z:-748.92 [[ 6.61141183e-01 1.35041145e-01 7.38008283e-01 3.44391634e+02] [-1.05953922e-01 9.90615119e-01 -8.63449647e-02 -1.90318151e+02] [-7.42742286e-01 -2.11086596e-02 6.69244590e-01 -7.48916054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.41, Y:-190.32, Z:-748.94 [[ 6.61914301e-01 1.34683760e-01 7.37380325e-01 3.44412511e+02] [-1.05142357e-01 9.90682119e-01 -8.65680314e-02 -1.90321053e+02] [-7.42168810e-01 -2.02292873e-02 6.69907630e-01 -7.48940726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.43, Y:-190.32, Z:-748.97 [[ 6.62105130e-01 1.34490811e-01 7.37244205e-01 3.44434209e+02] [-1.04526552e-01 9.90721918e-01 -8.68578242e-02 -1.90324012e+02] [-7.42085572e-01 -1.95525838e-02 6.70019925e-01 -7.48965555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4565599949999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:344.46, Y:-190.33, Z:-748.99 [[ 6.61702623e-01 1.33580589e-01 7.37770876e-01 3.44455371e+02] [-1.02767651e-01 9.90872744e-01 -8.72354037e-02 -1.90327226e+02] [-7.42690008e-01 -1.80950848e-02 6.69390857e-01 -7.48988826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.48, Y:-190.33, Z:-749.01 [[ 6.61013141e-01 1.33648127e-01 7.38376466e-01 3.44477135e+02] [-1.02486126e-01 9.90869568e-01 -8.76019064e-02 -1.90330398e+02] [-7.43342600e-01 -1.77673323e-02 6.68674884e-01 -7.49013258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.50, Y:-190.33, Z:-749.04 [[ 6.60444769e-01 1.33344669e-01 7.38939718e-01 3.44498719e+02] [-1.01631638e-01 9.90924026e-01 -8.79805908e-02 -1.90333188e+02] [-7.43964863e-01 -1.69933330e-02 6.68002626e-01 -7.49037990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.52, Y:-190.34, Z:-749.06 [[ 6.59416845e-01 1.32327207e-01 7.40039820e-01 3.44520057e+02] [-9.96404273e-02 9.91086069e-01 -8.84318293e-02 -1.90336198e+02] [-7.45145093e-01 -1.54244460e-02 6.66723988e-01 -7.49061939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.54, Y:-190.34, Z:-749.09 [[ 6.59283846e-01 1.32256651e-01 7.40170918e-01 3.44541395e+02] [-9.91889808e-02 9.91103378e-01 -8.87448015e-02 -1.90338781e+02] [-7.45322988e-01 -1.49087849e-02 6.66536850e-01 -7.49086339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:344.56, Y:-190.34, Z:-749.11 [[ 6.59419417e-01 1.31703463e-01 7.40148790e-01 3.44562996e+02] [-9.80078372e-02 9.91192895e-01 -8.90567766e-02 -1.90341028e+02] [-7.45359307e-01 -1.38146144e-02 6.66519812e-01 -7.49111108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.636559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:344.58, Y:-190.34, Z:-749.14 [[ 6.59398297e-01 1.32024808e-01 7.40110354e-01 3.44584795e+02] [-9.81333695e-02 9.91151796e-01 -8.93753860e-02 -1.90343591e+02] [-7.45361474e-01 -1.36955455e-02 6.66519846e-01 -7.49136365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.61, Y:-190.35, Z:-749.16 [[ 6.59439942e-01 1.31990704e-01 7.40079331e-01 3.44605764e+02] [-9.79291635e-02 9.91159727e-01 -8.95113076e-02 -1.90345786e+02] [-7.45351489e-01 -1.34480183e-02 6.66536053e-01 -7.49160622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6965599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:344.63, Y:-190.35, Z:-749.19 [[ 6.59814445e-01 1.31949927e-01 7.39752740e-01 3.44627518e+02] [-9.75684297e-02 9.91171859e-01 -8.97705294e-02 -1.90347634e+02] [-7.45067313e-01 -1.29446212e-02 6.66863657e-01 -7.49185753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.65, Y:-190.35, Z:-749.21 [[ 6.60903708e-01 1.31922609e-01 7.38784619e-01 3.44647950e+02] [-9.72708807e-02 9.91182497e-01 -8.99757427e-02 -1.90348736e+02] [-7.44140218e-01 -1.23969286e-02 6.67908416e-01 -7.49210059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.67, Y:-190.35, Z:-749.23 [[ 6.61391401e-01 1.31975888e-01 7.38338527e-01 3.44668453e+02] [-9.71773692e-02 9.91178524e-01 -9.01204352e-02 -1.90350382e+02] [-7.43719016e-01 -1.21449147e-02 6.68382022e-01 -7.49233896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.69, Y:-190.35, Z:-749.26 [[ 6.61910868e-01 1.32081429e-01 7.37853982e-01 3.44690059e+02] [-9.70612564e-02 9.91168514e-01 -9.03553481e-02 -1.90352423e+02] [-7.43271899e-01 -1.18098476e-02 6.68885201e-01 -7.49258795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.71, Y:-190.35, Z:-749.28 [[ 6.62392632e-01 1.32101649e-01 7.37417897e-01 3.44710842e+02] [-9.67874724e-02 9.91171221e-01 -9.06189617e-02 -1.90354784e+02] [-7.42878312e-01 -1.13474817e-02 6.69330299e-01 -7.49282437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.73, Y:-190.36, Z:-749.31 [[ 6.62857355e-01 1.31782898e-01 7.37057253e-01 3.44732692e+02] [-9.60245206e-02 9.91222541e-01 -9.08689510e-02 -1.90357326e+02] [-7.42562737e-01 -1.05424169e-02 6.69693541e-01 -7.49307231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.876559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:344.75, Y:-190.36, Z:-749.33 [[ 6.63053576e-01 1.31803027e-01 7.36877139e-01 3.44754171e+02] [-9.57316478e-02 9.91224463e-01 -9.11565435e-02 -1.90359588e+02] [-7.42425355e-01 -1.01007906e-02 6.69852646e-01 -7.49332010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:344.78, Y:-190.36, Z:-749.36 [[ 6.63169872e-01 1.31412705e-01 7.36842196e-01 3.44775726e+02] [-9.48075246e-02 9.91285032e-01 -9.14632107e-02 -1.90361051e+02] [-7.42440068e-01 -9.20253885e-03 6.69849281e-01 -7.49356741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.80, Y:-190.36, Z:-749.38 [[ 6.62887730e-01 1.31420300e-01 7.37094677e-01 3.44796373e+02] [-9.44401332e-02 9.91288105e-01 -9.18093385e-02 -1.90363080e+02] [-7.42738796e-01 -8.75203547e-03 6.69524072e-01 -7.49381002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.82, Y:-190.37, Z:-749.41 [[ 6.62610857e-01 1.31328867e-01 7.37359873e-01 3.44817836e+02] [-9.39468774e-02 9.91304752e-01 -9.21350769e-02 -1.90365173e+02] [-7.43048341e-01 -8.22295529e-03 6.69187228e-01 -7.49405732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.84, Y:-190.37, Z:-749.43 [[ 6.62281859e-01 1.30966854e-01 7.37719745e-01 3.44839689e+02] [-9.30222116e-02 9.91359331e-01 -9.24853778e-02 -1.90367831e+02] [-7.43457872e-01 -7.37293420e-03 6.68742127e-01 -7.49429802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.86, Y:-190.37, Z:-749.45 [[ 6.62113474e-01 1.30981781e-01 7.37868227e-01 3.44861586e+02] [-9.26785378e-02 9.91360558e-01 -9.28166584e-02 -1.90370527e+02] [-7.43650749e-01 -6.92938816e-03 6.68532384e-01 -7.49454326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.88, Y:-190.37, Z:-749.48 [[ 6.61438209e-01 1.30573433e-01 7.38545919e-01 3.44883544e+02] [-9.16284503e-02 9.91420406e-01 -9.32191300e-02 -1.90373341e+02] [-7.44381436e-01 -6.01312353e-03 6.67727579e-01 -7.49479167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:344.90, Y:-190.38, Z:-749.50 [[ 6.61399291e-01 1.30464874e-01 7.38599956e-01 3.44904111e+02] [-9.11006764e-02 9.91438145e-01 -9.35471622e-02 -1.90375820e+02] [-7.44480789e-01 -5.41492878e-03 6.67621924e-01 -7.49502892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.93, Y:-190.38, Z:-749.53 [[ 6.61217506e-01 1.30658421e-01 7.38728493e-01 3.44925836e+02] [-9.10413919e-02 9.91413850e-01 -9.38618267e-02 -1.90378679e+02] [-7.44649498e-01 -5.19178729e-03 6.67435518e-01 -7.49527333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:-190.38, Z:-749.55 [[ 6.61403483e-01 1.30402646e-01 7.38607191e-01 3.44947473e+02] [-9.03183250e-02 9.91451228e-01 -9.41650843e-02 -1.90381154e+02] [-7.44572383e-01 -4.42864958e-03 6.67527044e-01 -7.49551605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.97, Y:-190.38, Z:-749.58 [[ 6.60569739e-01 1.33647042e-01 7.38773367e-01 3.44966412e+02] [-8.97773861e-02 9.91028564e-01 -9.90071045e-02 -1.90380920e+02] [-7.45377516e-01 -9.24044732e-04 6.66641962e-01 -7.49579148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:344.99, Y:-190.39, Z:-749.60 [[ 6.61490940e-01 1.28003843e-01 7.38948410e-01 3.44989777e+02] [-8.94612693e-02 9.91758752e-01 -9.17129148e-02 -1.90386403e+02] [-7.44598159e-01 -5.44000051e-03 6.67490815e-01 -7.49599389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.01, Y:-190.39, Z:-749.62 [[ 6.61557004e-01 1.30166458e-01 7.38511357e-01 3.45009888e+02] [-8.91762681e-02 9.91487324e-01 -9.48708609e-02 -1.90387195e+02] [-7.44573653e-01 -3.09520429e-03 6.67533142e-01 -7.49624005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:345.03, Y:-190.39, Z:-749.65 [[ 6.61619729e-01 1.29894172e-01 7.38503106e-01 3.45031486e+02] [-8.84434060e-02 9.91525068e-01 -9.51619907e-02 -1.90389596e+02] [-7.44605330e-01 -2.35467950e-03 6.67500830e-01 -7.49649171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.05, Y:-190.39, Z:-749.67 [[ 6.61742738e-01 1.29349470e-01 7.38488500e-01 3.45052802e+02] [-8.72869071e-02 9.91598236e-01 -9.54669293e-02 -1.90391982e+02] [-7.44632490e-01 -1.28582986e-03 6.67473446e-01 -7.49674414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.07, Y:-190.39, Z:-749.70 [[ 6.62679892e-01 1.27128920e-01 7.38033603e-01 3.45073648e+02] [-8.36824799e-02 9.91884797e-01 -9.57172496e-02 -1.90394786e+02] [-7.44212741e-01 1.66941441e-03 6.67940573e-01 -7.49698669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.09, Y:-190.40, Z:-749.72 [[ 6.63066797e-01 1.26096525e-01 7.37863191e-01 3.45094716e+02] [-8.18433859e-02 9.92012642e-01 -9.59821769e-02 -1.90397929e+02] [-7.44072633e-01 3.25337273e-03 6.68090812e-01 -7.49723565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:345.12, Y:-190.40, Z:-749.75 [[ 6.64412981e-01 1.23707668e-01 7.37056174e-01 3.45115893e+02] [-7.80453354e-02 9.92298138e-01 -9.61942348e-02 -1.90401879e+02] [-7.43279434e-01 6.38890197e-03 6.68950570e-01 -7.49747852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.14, Y:-190.40, Z:-749.78 [[ 6.63865951e-01 1.26666469e-01 7.37046542e-01 3.45136852e+02] [-7.73898650e-02 9.91896457e-01 -1.00758258e-01 -1.90404798e+02] [-7.43836547e-01 9.85004443e-03 6.68288986e-01 -7.49776424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.16, Y:-190.41, Z:-749.80 [[ 6.64757829e-01 1.25165128e-01 7.36498961e-01 3.45157239e+02] [-7.54458202e-02 9.92072210e-01 -1.00502037e-01 -1.90406064e+02] [-7.43239502e-01 1.12437478e-02 6.68930954e-01 -7.49797030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.17, Y:-190.40, Z:-749.83 [[ 6.62381496e-01 1.32504788e-01 7.37355569e-01 3.45172764e+02] [-7.32750384e-02 9.90973918e-01 -1.12256234e-01 -1.90401974e+02] [-7.45574626e-01 2.03266947e-02 6.66112080e-01 -7.49828790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:345.20, Y:-190.42, Z:-749.84 [[ 6.64877124e-01 1.11439980e-01 7.38592946e-01 3.45203490e+02] [-7.42571548e-02 9.93771085e-01 -8.30957652e-02 -1.90420008e+02] [-7.43252504e-01 4.02662662e-04 6.69010877e-01 -7.49841537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:345.22, Y:-190.41, Z:-749.87 [[ 6.64708957e-01 1.22702525e-01 7.36957321e-01 3.45221407e+02] [-7.53197735e-02 9.92401154e-01 -9.72978999e-02 -1.90414990e+02] [-7.43295994e-01 9.16732704e-03 6.68899862e-01 -7.49869374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.24, Y:-190.42, Z:-749.89 [[ 6.64728245e-01 1.24478573e-01 7.36642007e-01 3.45243136e+02] [-7.76971512e-02 9.92193119e-01 -9.75498161e-02 -1.90416847e+02] [-7.43033992e-01 7.60913263e-03 6.69210421e-01 -7.49894391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5965599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.26, Y:-190.42, Z:-749.92 [[ 6.64448229e-01 1.25741514e-01 7.36680136e-01 3.45263696e+02] [-7.92271542e-02 9.92040656e-01 -9.78692758e-02 -1.90418966e+02] [-7.43122876e-01 6.66399624e-03 6.69121799e-01 -7.49918106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:345.29, Y:-190.42, Z:-749.94 [[ 6.63962613e-01 1.28477566e-01 7.36645888e-01 3.45285808e+02] [-8.29942354e-02 9.91704207e-01 -9.81566239e-02 -1.90421268e+02] [-7.43145750e-01 4.03496621e-03 6.69117414e-01 -7.49942783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.31, Y:-190.42, Z:-749.97 [[ 6.62548187e-01 1.33282621e-01 7.37065562e-01 3.45305438e+02] [-8.46041863e-02 9.91059966e-01 -1.03161406e-01 -1.90421099e+02] [-7.44225794e-01 5.99057065e-03 6.67901251e-01 -7.49970301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.33, Y:-190.43, Z:-749.99 [[ 6.63162985e-01 1.30439349e-01 7.37021324e-01 3.45328803e+02] [-8.74641141e-02 9.91456249e-01 -9.67705307e-02 -1.90426405e+02] [-7.43347082e-01 -2.88283263e-04 6.68905847e-01 -7.49990473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7165599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:345.35, Y:-190.43, Z:-750.02 [[ 6.62519199e-01 1.33867156e-01 7.36985682e-01 3.45350213e+02] [-9.01627041e-02 9.90998886e-01 -9.89539990e-02 -1.90427257e+02] [-7.43598681e-01 -8.89697891e-04 6.68625613e-01 -7.50015526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.37, Y:-190.43, Z:-750.04 [[ 6.61336155e-01 1.37890728e-01 7.37306339e-01 3.45371729e+02] [-9.57843915e-02 9.90435122e-01 -9.93157592e-02 -1.90427447e+02] [-7.43948816e-01 -4.94133671e-03 6.68218334e-01 -7.50039524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.39, Y:-190.43, Z:-750.06 [[ 6.60362309e-01 1.40101955e-01 7.37762200e-01 3.45392876e+02] [-9.87054078e-02 9.90112335e-01 -9.96735023e-02 -1.90429034e+02] [-7.44431907e-01 -7.00049467e-03 6.67661688e-01 -7.50063896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.41, Y:-190.43, Z:-750.09 [[ 6.59199358e-01 1.43867958e-01 7.38077379e-01 3.45414589e+02] [-1.03986004e-01 9.89537706e-01 -1.00010194e-01 -1.90429820e+02] [-7.44743659e-01 -1.08230616e-02 6.67262874e-01 -7.50088980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8365599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:345.44, Y:-190.43, Z:-750.11 [[ 6.58899110e-01 1.45874015e-01 7.37951716e-01 3.45436456e+02] [-1.06660244e-01 9.89222726e-01 -1.00309477e-01 -1.90431576e+02] [-7.44631154e-01 -1.26162850e-02 6.67356931e-01 -7.50113831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.46, Y:-190.43, Z:-750.14 [[ 6.58576525e-01 1.47851601e-01 7.37846098e-01 3.45457194e+02] [-1.09285427e-01 9.88905110e-01 -1.00615003e-01 -1.90433492e+02] [-7.44535866e-01 -1.43731469e-02 6.67427716e-01 -7.50138011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.896559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:345.48, Y:-190.44, Z:-750.16 [[ 6.58150989e-01 1.50400273e-01 7.37710671e-01 3.45478067e+02] [-1.12797191e-01 9.88482290e-01 -1.00893787e-01 -1.90435055e+02] [-7.44388386e-01 -1.68083461e-02 6.67535325e-01 -7.50162929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.50, Y:-190.44, Z:-750.19 [[ 6.57960166e-01 1.51656504e-01 7.37623701e-01 3.45499619e+02] [-1.14349724e-01 9.88273552e-01 -1.01190551e-01 -1.90437610e+02] [-7.44320200e-01 -1.77677152e-02 6.67586510e-01 -7.50187735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9565599949999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:345.52, Y:-190.44, Z:-750.21 [[ 6.57796862e-01 1.52661358e-01 7.37562064e-01 3.45520575e+02] [-1.15512473e-01 9.88106664e-01 -1.01499204e-01 -1.90440078e+02] [-7.44284997e-01 -1.84317600e-02 6.67607755e-01 -7.50211957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:345.54, Y:-190.44, Z:-750.24 [[ 6.57989004e-01 1.53381355e-01 7.37241229e-01 3.45541849e+02] [-1.16301194e-01 9.87988374e-01 -1.01749721e-01 -1.90442986e+02] [-7.43992273e-01 -1.87918375e-02 6.67923921e-01 -7.50236865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:-190.45, Z:-750.26 [[ 6.58705772e-01 1.53269586e-01 7.36624152e-01 3.45563184e+02] [-1.15855730e-01 9.88017355e-01 -1.01976256e-01 -1.90446698e+02] [-7.43427304e-01 -1.81697801e-02 6.68569894e-01 -7.50261204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:345.58, Y:-190.45, Z:-750.29 [[ 6.58894090e-01 1.53469355e-01 7.36414106e-01 3.45584240e+02] [-1.15819586e-01 9.87991166e-01 -1.02270619e-01 -1.90449853e+02] [-7.43266037e-01 -1.79056706e-02 6.68756297e-01 -7.50286144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0765599949999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:345.61, Y:-190.45, Z:-750.31 [[ 6.59341280e-01 1.53564399e-01 7.35993921e-01 3.45605703e+02] [-1.15650214e-01 9.87983464e-01 -1.02536346e-01 -1.90452712e+02] [-7.42895756e-01 -1.75114086e-02 6.69178038e-01 -7.50310970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:345.63, Y:-190.46, Z:-750.34 [[ 6.59169757e-01 1.53714536e-01 7.36116209e-01 3.45626540e+02] [-1.15499692e-01 9.87965472e-01 -1.02878798e-01 -1.90455742e+02] [-7.43071364e-01 -1.72066028e-02 6.68990942e-01 -7.50335745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.136559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:345.65, Y:-190.46, Z:-750.36 [[ 6.59501327e-01 1.53096986e-01 7.35947901e-01 3.45647629e+02] [-1.14235011e-01 9.88081235e-01 -1.03178659e-01 -1.90459268e+02] [-7.42972652e-01 -1.60245540e-02 6.69129921e-01 -7.50359904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.67, Y:-190.46, Z:-750.38 [[ 6.59266152e-01 1.52906524e-01 7.36198164e-01 3.45669031e+02] [-1.13585446e-01 9.88121003e-01 -1.03514395e-01 -1.90463111e+02] [-7.43280894e-01 -1.53778598e-02 6.68802687e-01 -7.50384710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1965599949999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:345.69, Y:-190.47, Z:-750.41 [[ 6.59000628e-01 1.52273949e-01 7.36566913e-01 3.45690824e+02] [-1.12234343e-01 9.88236222e-01 -1.03887547e-01 -1.90466921e+02] [-7.43721470e-01 -1.42061449e-02 6.68338657e-01 -7.50409323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.70, Y:-190.45, Z:-750.44 [[ 6.53906585e-01 1.67300533e-01 7.37845994e-01 3.45699901e+02] [-1.05843264e-01 9.85882900e-01 -1.29738628e-01 -1.90454662e+02] [-7.49135089e-01 6.74091459e-03 6.62382954e-01 -7.50441700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.74, Y:-190.50, Z:-750.45 [[ 6.58382944e-01 1.21046585e-01 7.42886010e-01 3.45741305e+02] [-1.08164841e-01 9.91955041e-01 -6.57690190e-02 -1.90496358e+02] [-7.44870637e-01 -3.70529464e-02 6.66179265e-01 -7.50447165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.75, Y:-190.48, Z:-750.48 [[ 6.57730787e-01 1.50013654e-01 7.38164017e-01 3.45754424e+02] [-1.07776072e-01 9.88627396e-01 -1.04881795e-01 -1.90480343e+02] [-7.45502871e-01 -1.05724332e-02 6.66418557e-01 -7.50481142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3165599949999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:345.78, Y:-190.48, Z:-750.51 [[ 6.57613980e-01 1.49742408e-01 7.38323144e-01 3.45775697e+02] [-1.06994932e-01 9.88676440e-01 -1.05218736e-01 -1.90484283e+02] [-7.45718404e-01 -9.80352266e-03 6.66189127e-01 -7.50506443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.80, Y:-190.49, Z:-750.53 [[ 6.58018364e-01 1.50020618e-01 7.37906259e-01 3.45796808e+02] [-1.07114303e-01 9.88635928e-01 -1.05477618e-01 -1.90487681e+02] [-7.45344457e-01 -9.63410445e-03 6.66609950e-01 -7.50531088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.82, Y:-190.49, Z:-750.56 [[ 6.58343751e-01 1.50474311e-01 7.37523550e-01 3.45817270e+02] [-1.07489956e-01 9.88566717e-01 -1.05743817e-01 -1.90490956e+02] [-7.45002963e-01 -9.66059318e-03 6.66991198e-01 -7.50555314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:345.84, Y:-190.49, Z:-750.58 [[ 6.57779151e-01 1.53756390e-01 7.37350365e-01 3.45835904e+02] [-1.06584683e-01 9.88092900e-01 -1.10960025e-01 -1.90490853e+02] [-7.45631473e-01 -5.60306411e-03 6.66334985e-01 -7.50582374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.86, Y:-190.50, Z:-750.60 [[ 6.59205209e-01 1.46248016e-01 7.37604237e-01 3.45860092e+02] [-1.06960476e-01 9.89167436e-01 -1.00534769e-01 -1.90499605e+02] [-7.44317103e-01 -1.26214572e-02 6.67707084e-01 -7.50602739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.88, Y:-190.50, Z:-750.63 [[ 6.59318752e-01 1.50346902e-01 7.36678080e-01 3.45879901e+02] [-1.06597320e-01 9.88597578e-01 -1.06357137e-01 -1.90499759e+02] [-7.44268631e-01 -8.40465457e-03 6.67827498e-01 -7.50628015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.90, Y:-190.50, Z:-750.65 [[ 6.58767591e-01 1.49706538e-01 7.37301305e-01 3.45901560e+02] [-1.05223942e-01 9.88703770e-01 -1.06736954e-01 -1.90502381e+02] [-7.44951799e-01 -7.26690396e-03 6.67078713e-01 -7.50652153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.92, Y:-190.51, Z:-750.68 [[ 6.58746949e-01 1.50016467e-01 7.37256751e-01 3.45923300e+02] [-1.05345409e-01 9.88657632e-01 -1.07044063e-01 -1.90505480e+02] [-7.44952886e-01 -7.15166424e-03 6.67078745e-01 -7.50677404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.95, Y:-190.51, Z:-750.70 [[ 6.58222070e-01 1.48916233e-01 7.37948279e-01 3.45945374e+02] [-1.04348544e-01 9.88825570e-01 -1.06467711e-01 -1.90509184e+02] [-7.45556898e-01 -6.92443134e-03 6.66406005e-01 -7.50701718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:345.97, Y:-190.51, Z:-750.73 [[ 6.58684263e-01 1.49439336e-01 7.37429947e-01 3.45965331e+02] [-1.01822957e-01 9.88766307e-01 -1.09422463e-01 -1.90509314e+02] [-7.45497906e-01 -3.01244362e-03 6.66501161e-01 -7.50725831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.99, Y:-190.51, Z:-750.75 [[ 6.58403510e-01 1.47573430e-01 7.38056164e-01 3.45987024e+02] [-1.00897045e-01 9.89044822e-01 -1.07750294e-01 -1.90512926e+02] [-7.45871708e-01 -3.52451411e-03 6.66080305e-01 -7.50749963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.01, Y:-190.52, Z:-750.77 [[ 6.58235508e-01 1.47354973e-01 7.38249638e-01 3.46008889e+02] [-1.00180837e-01 9.89079697e-01 -1.08097890e-01 -1.90515411e+02] [-7.46116490e-01 -2.80459678e-03 6.65809521e-01 -7.50774857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.03, Y:-190.52, Z:-750.80 [[ 6.58413274e-01 1.46384336e-01 7.38284218e-01 3.46030461e+02] [-9.83541170e-02 9.89227036e-01 -1.08426653e-01 -1.90516262e+02] [-7.46202672e-01 -1.22374502e-03 6.65717714e-01 -7.50799352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.05, Y:-190.52, Z:-750.82 [[ 6.58493670e-01 1.46202141e-01 7.38248617e-01 3.46052071e+02] [-9.77253810e-02 9.89254590e-01 -1.08743305e-01 -1.90518203e+02] [-7.46214337e-01 -5.38849386e-04 6.65705545e-01 -7.50824576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.736559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:346.07, Y:-190.52, Z:-750.85 [[ 6.59277148e-01 1.45754239e-01 7.37637678e-01 3.46073803e+02] [-9.67963968e-02 9.89320730e-01 -1.08972251e-01 -1.90519776e+02] [-7.45643413e-01 4.42245262e-04 6.66345034e-01 -7.50849710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:346.09, Y:-190.52, Z:-750.87 [[ 6.59986210e-01 1.45171754e-01 7.37118284e-01 3.46094142e+02] [-9.56484644e-02 9.89405210e-01 -1.09218594e-01 -1.90520789e+02] [-7.45164126e-01 1.57853403e-03 6.66879250e-01 -7.50874372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7965599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:346.12, Y:-190.52, Z:-750.90 [[ 6.60568570e-01 1.45038918e-01 7.36622615e-01 3.46115454e+02] [-9.51986707e-02 9.89423570e-01 -1.09445017e-01 -1.90523140e+02] [-7.44705564e-01 2.17044442e-03 6.67389625e-01 -7.50899125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:346.13, Y:-190.51, Z:-750.93 [[ 6.58219560e-01 1.57665940e-01 7.36130738e-01 3.46127044e+02] [-9.15698077e-02 9.87330414e-01 -1.29590213e-01 -1.90509744e+02] [-7.47236229e-01 1.78914628e-02 6.64317630e-01 -7.50930396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8565599949999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:346.16, Y:-190.54, Z:-750.94 [[ 6.62063588e-01 1.21588424e-01 7.39518803e-01 3.46163107e+02] [-9.40249593e-02 9.92430975e-01 -7.89940920e-02 -1.90541779e+02] [-7.43526134e-01 -1.72341134e-02 6.68484759e-01 -7.50939503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.18, Y:-190.52, Z:-750.97 [[ 6.60713961e-01 1.49367667e-01 7.35626510e-01 3.46175381e+02] [-9.34181529e-02 9.88745285e-01 -1.16858076e-01 -1.90523555e+02] [-7.44802061e-01 8.48889233e-03 6.67231465e-01 -7.50973991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.20, Y:-190.53, Z:-750.99 [[ 6.62138872e-01 1.37619791e-01 7.36636211e-01 3.46200836e+02] [-9.40397797e-02 9.90481399e-01 -1.00514268e-01 -1.90534945e+02] [-7.43457217e-01 -2.71870259e-03 6.68777972e-01 -7.50992795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.22, Y:-190.53, Z:-751.02 [[ 6.61377888e-01 1.45144738e-01 7.35875189e-01 3.46220891e+02] [-9.42445696e-02 9.89403533e-01 -1.10447320e-01 -1.90530622e+02] [-7.44108359e-01 3.69517467e-03 6.68048723e-01 -7.51019458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.24, Y:-190.53, Z:-751.04 [[ 6.61097519e-01 1.45589380e-01 7.36039268e-01 3.46242225e+02] [-9.45246667e-02 9.89338295e-01 -1.10791815e-01 -1.90532431e+02] [-7.44321945e-01 3.67032750e-03 6.67810879e-01 -7.51043447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:346.25, Y:-190.52, Z:-751.08 [[ 6.57416439e-01 1.59802780e-01 7.36387600e-01 3.46253698e+02] [-9.25252824e-02 9.86978046e-01 -1.31580425e-01 -1.90520066e+02] [-7.47825313e-01 1.83686640e-02 6.63641390e-01 -7.51075340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.29, Y:-190.55, Z:-751.09 [[ 6.60165383e-01 1.25639118e-01 7.40537966e-01 3.46290529e+02] [-9.53758811e-02 9.91952440e-01 -8.32694307e-02 -1.90549290e+02] [-7.45040340e-01 -1.56578654e-02 6.66835604e-01 -7.51085817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:346.31, Y:-190.54, Z:-751.12 [[ 6.60175957e-01 1.47538533e-01 7.36478165e-01 3.46305992e+02] [-9.62108962e-02 9.89051722e-01 -1.11893500e-01 -1.90536515e+02] [-7.44923600e-01 3.01217417e-03 6.67142981e-01 -7.51116315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0965599949999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:346.33, Y:-190.54, Z:-751.14 [[ 6.59681972e-01 1.49356824e-01 7.36554299e-01 3.46326991e+02] [-9.71299004e-02 9.88777727e-01 -1.13509427e-01 -1.90538272e+02] [-7.45241892e-01 3.33867694e-03 6.66785854e-01 -7.51141929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:346.34, Y:-190.53, Z:-751.17 [[ 6.57561717e-01 1.58833638e-01 7.36467558e-01 3.46343000e+02] [-9.75254276e-02 9.87244917e-01 -1.25842222e-01 -1.90530012e+02] [-7.47061831e-01 1.09247140e-02 6.64664781e-01 -7.51170755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.156559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:346.37, Y:-190.55, Z:-751.19 [[ 6.59871683e-01 1.38974503e-01 7.38414145e-01 3.46372437e+02] [-1.00226779e-01 9.90244144e-01 -9.68045837e-02 -1.90547929e+02] [-7.44663653e-01 -1.01302679e-02 6.67363037e-01 -7.51185708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:346.39, Y:-190.54, Z:-751.21 [[ 6.59557151e-01 1.52096707e-01 7.36105262e-01 3.46390851e+02] [-1.02068403e-01 9.88365326e-01 -1.12765348e-01 -1.90541464e+02] [-7.44692155e-01 -7.57896910e-04 6.67407687e-01 -7.51213398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.41, Y:-190.54, Z:-751.24 [[ 6.58934301e-01 1.54166476e-01 7.36232493e-01 3.46411332e+02] [-1.03489809e-01 9.88044481e-01 -1.14271446e-01 -1.90542394e+02] [-7.45047278e-01 -8.95184382e-04 6.67011059e-01 -7.51238764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:346.43, Y:-190.54, Z:-751.26 [[ 6.59710954e-01 1.55551550e-01 7.35244974e-01 3.46432670e+02] [-1.07320902e-01 9.87817235e-01 -1.12691321e-01 -1.90543273e+02] [-7.43816967e-01 -4.56345471e-03 6.68367784e-01 -7.51261605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.45, Y:-190.55, Z:-751.29 [[ 6.59959285e-01 1.57222297e-01 7.34666517e-01 3.46454009e+02] [-1.09263680e-01 9.87547511e-01 -1.13187285e-01 -1.90545172e+02] [-7.43313655e-01 -5.57336764e-03 6.68919836e-01 -7.51286545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.48, Y:-190.55, Z:-751.31 [[ 6.60031828e-01 1.59445129e-01 7.34122086e-01 3.46475321e+02] [-1.12322085e-01 9.87177561e-01 -1.13420511e-01 -1.90546009e+02] [-7.42793198e-01 -7.59697593e-03 6.69477819e-01 -7.51311477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.50, Y:-190.55, Z:-751.34 [[ 6.59953874e-01 1.60394041e-01 7.33985447e-01 3.46496903e+02] [-1.13410395e-01 9.87019054e-01 -1.13716621e-01 -1.90548246e+02] [-7.42697089e-01 -8.19385464e-03 6.69577400e-01 -7.51336575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.52, Y:-190.55, Z:-751.36 [[ 6.59921235e-01 1.61105529e-01 7.33858960e-01 3.46518256e+02] [-1.14138110e-01 9.86900422e-01 -1.14017756e-01 -1.90550615e+02] [-7.42614608e-01 -8.51853671e-03 6.69664826e-01 -7.51361362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.54, Y:-190.55, Z:-751.39 [[ 6.60169721e-01 1.61496966e-01 7.33549364e-01 3.46539176e+02] [-1.14409270e-01 9.86836859e-01 -1.14295815e-01 -1.90553128e+02] [-7.42351977e-01 -8.47021073e-03 6.69956564e-01 -7.51385242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.56, Y:-190.56, Z:-751.41 [[ 6.60383070e-01 1.61449028e-01 7.33367857e-01 3.46560703e+02] [-1.14144037e-01 9.86847670e-01 -1.14467530e-01 -1.90556456e+02] [-7.42203032e-01 -8.11714906e-03 6.70125937e-01 -7.51409721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.58, Y:-190.56, Z:-751.43 [[ 6.60243614e-01 1.61583766e-01 7.33463739e-01 3.46581866e+02] [-1.13972141e-01 9.86828218e-01 -1.14806006e-01 -1.90559961e+02] [-7.42353501e-01 -7.79450011e-03 6.69963077e-01 -7.51434018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:346.60, Y:-190.56, Z:-751.46 [[ 6.60412866e-01 1.61102319e-01 7.33417268e-01 3.46603222e+02] [-1.12926591e-01 9.86914221e-01 -1.15099548e-01 -1.90563574e+02] [-7.42362736e-01 -6.80908953e-03 6.69963585e-01 -7.51457947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.62, Y:-190.57, Z:-751.48 [[ 6.60332647e-01 1.61163557e-01 7.33476041e-01 3.46624541e+02] [-1.12682870e-01 9.86906661e-01 -1.15402830e-01 -1.90567018e+02] [-7.42471122e-01 -6.44592964e-03 6.69847060e-01 -7.51482561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.65, Y:-190.57, Z:-751.51 [[ 6.60057015e-01 1.61390484e-01 7.33674211e-01 3.46646401e+02] [-1.12635822e-01 9.86870939e-01 -1.15753712e-01 -1.90570491e+02] [-7.42723305e-01 -6.23394795e-03 6.69569436e-01 -7.51507427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5765599949999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:346.67, Y:-190.57, Z:-751.53 [[ 6.59236697e-01 1.61489771e-01 7.34389563e-01 3.46667264e+02] [-1.12314422e-01 9.86856817e-01 -1.16185601e-01 -1.90573633e+02] [-7.43500133e-01 -5.88872720e-03 6.68709859e-01 -7.51531712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:346.68, Y:-190.56, Z:-751.56 [[ 6.54953477e-01 1.76687724e-01 7.34722663e-01 3.46676469e+02] [-1.08518388e-01 9.84194701e-01 -1.39944813e-01 -1.90559777e+02] [-7.47836682e-01 1.19264228e-02 6.63775608e-01 -7.51564271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.636559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:346.71, Y:-190.59, Z:-751.58 [[ 6.57090428e-01 1.48321126e-01 7.39075783e-01 3.46706800e+02] [-1.10281119e-01 9.88817163e-01 -1.00392692e-01 -1.90585856e+02] [-7.45701176e-01 -1.55390277e-02 6.66099313e-01 -7.51578898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.73, Y:-190.60, Z:-751.60 [[ 6.59451372e-01 1.45283097e-01 7.37574884e-01 3.46734104e+02] [-1.13746471e-01 9.89134747e-01 -9.31353476e-02 -1.90597586e+02] [-7.43091938e-01 -2.24783078e-02 6.68811705e-01 -7.51598168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.75, Y:-190.59, Z:-751.63 [[ 6.58952087e-01 1.64259978e-01 7.34030522e-01 3.46751044e+02] [-1.14533164e-01 9.86396513e-01 -1.17915536e-01 -1.90588989e+02] [-7.43413951e-01 -6.37014924e-03 6.68801256e-01 -7.51628187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.77, Y:-190.59, Z:-751.65 [[ 6.59092590e-01 1.65130869e-01 7.33708903e-01 3.46771940e+02] [-1.15534776e-01 9.86247699e-01 -1.18182871e-01 -1.90593604e+02] [-7.43134358e-01 -6.87543950e-03 6.69106908e-01 -7.51652540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.79, Y:-190.60, Z:-751.68 [[ 6.59340027e-01 1.65699504e-01 7.33358305e-01 3.46793445e+02] [-1.16225219e-01 9.86149859e-01 -1.18322248e-01 -1.90597603e+02] [-7.42807126e-01 -7.22013533e-03 6.69466536e-01 -7.51677419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.81, Y:-190.60, Z:-751.70 [[ 6.59154003e-01 1.66405156e-01 7.33365751e-01 3.46813522e+02] [-1.16923288e-01 9.86028617e-01 -1.18644473e-01 -1.90601212e+02] [-7.42862669e-01 -7.54255575e-03 6.69401348e-01 -7.51701376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.83, Y:-190.61, Z:-751.73 [[ 6.59278713e-01 1.67320336e-01 7.33045349e-01 3.46833958e+02] [-1.18013448e-01 9.85869086e-01 -1.18890588e-01 -1.90605349e+02] [-7.42579561e-01 -8.12717510e-03 6.69708552e-01 -7.51725173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:346.85, Y:-190.61, Z:-751.75 [[ 6.59224466e-01 1.68605026e-01 7.32799733e-01 3.46854595e+02] [-1.19648916e-01 9.85641353e-01 -1.19143866e-01 -1.90610008e+02] [-7.42365974e-01 -9.13614254e-03 6.69932303e-01 -7.51749428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.88, Y:-190.61, Z:-751.77 [[ 6.58952508e-01 1.69583962e-01 7.32818445e-01 3.46875684e+02] [-1.20792385e-01 9.85466837e-01 -1.19433300e-01 -1.90614004e+02] [-7.42422247e-01 -9.81801505e-03 6.69860294e-01 -7.51774195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.90, Y:-190.62, Z:-751.80 [[ 6.58571151e-01 1.70705493e-01 7.32900862e-01 3.46896799e+02] [-1.22122414e-01 9.85264640e-01 -1.19748511e-01 -1.90617890e+02] [-7.42543033e-01 -1.06407073e-02 6.69713835e-01 -7.51799102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.92, Y:-190.62, Z:-751.82 [[ 6.57751448e-01 1.72480185e-01 7.33221398e-01 3.46916816e+02] [-1.24373864e-01 9.84937631e-01 -1.20120793e-01 -1.90622402e+02] [-7.42895803e-01 -1.21839524e-02 6.69296180e-01 -7.51823198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:346.94, Y:-190.62, Z:-751.85 [[ 6.56782330e-01 1.75500370e-01 7.33373433e-01 3.46935274e+02] [-1.24391601e-01 9.84431906e-01 -1.24179516e-01 -1.90623006e+02] [-7.43749757e-01 -9.66658347e-03 6.68388253e-01 -7.51849631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.996559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:346.96, Y:-190.64, Z:-751.87 [[ 6.57830486e-01 1.69563321e-01 7.33830588e-01 3.46959801e+02] [-1.27540984e-01 9.85335521e-01 -1.13345528e-01 -1.90635647e+02] [-7.42288589e-01 -1.90313314e-02 6.69810018e-01 -7.51870797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.98, Y:-190.64, Z:-751.90 [[ 6.57619617e-01 1.75672360e-01 7.32581505e-01 3.46979694e+02] [-1.28512319e-01 9.84337681e-01 -1.20681046e-01 -1.90636531e+02] [-7.42307903e-01 -1.47835248e-02 6.69895831e-01 -7.51897012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.00, Y:-190.64, Z:-751.92 [[ 6.57263294e-01 1.76488725e-01 7.32705052e-01 3.47000099e+02] [-1.29365732e-01 9.84184572e-01 -1.21017500e-01 -1.90640985e+02] [-7.42475232e-01 -1.52465642e-02 6.69699987e-01 -7.51920572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:347.02, Y:-190.65, Z:-751.95 [[ 6.56977624e-01 1.77004352e-01 7.32836859e-01 3.47021591e+02] [-1.29793327e-01 9.84089505e-01 -1.21332343e-01 -1.90645374e+02] [-7.42653415e-01 -1.54046996e-02 6.69498768e-01 -7.51945438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.04, Y:-190.65, Z:-751.97 [[ 6.55642675e-01 1.77669964e-01 7.33870606e-01 3.47042631e+02] [-1.30294504e-01 9.83964018e-01 -1.21811958e-01 -1.90650807e+02] [-7.43744596e-01 -1.57541885e-02 6.68278221e-01 -7.51969745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:347.06, Y:-190.66, Z:-751.99 [[ 6.54987376e-01 1.77987710e-01 7.34378589e-01 3.47063638e+02] [-1.30333906e-01 9.83908076e-01 -1.22220995e-01 -1.90655407e+02] [-7.44314860e-01 -1.56612207e-02 6.67645202e-01 -7.51993965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:347.08, Y:-190.66, Z:-752.02 [[ 6.53848054e-01 1.77647307e-01 7.35475463e-01 3.47084740e+02] [-1.29431621e-01 9.83979453e-01 -1.22604616e-01 -1.90660860e+02] [-7.45473123e-01 -1.50289921e-02 6.66366230e-01 -7.52018876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.11, Y:-190.67, Z:-752.04 [[ 6.53950043e-01 1.77484773e-01 7.35424025e-01 3.47106012e+02] [-1.28830124e-01 9.84018775e-01 -1.22922125e-01 -1.90665145e+02] [-7.45487854e-01 -1.43598398e-02 6.66364506e-01 -7.52043605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.13, Y:-190.67, Z:-752.07 [[ 6.54105789e-01 1.77237493e-01 7.35345149e-01 3.47126637e+02] [-1.28107674e-01 9.84074196e-01 -1.23233114e-01 -1.90669743e+02] [-7.45475714e-01 -1.35958629e-02 6.66394112e-01 -7.52068075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.14, Y:-190.67, Z:-752.10 [[ 6.52866686e-01 1.83601453e-01 7.34884751e-01 3.47141976e+02] [-1.25455201e-01 9.82989892e-01 -1.34133755e-01 -1.90667013e+02] [-7.47011434e-01 -4.62365431e-03 6.64795110e-01 -7.52096360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.17, Y:-190.69, Z:-752.11 [[ 6.55920362e-01 1.64370621e-01 7.36716212e-01 3.47169725e+02] [-1.24367542e-01 9.86197324e-01 -1.09304861e-01 -1.90687948e+02] [-7.44514065e-01 -1.99283009e-02 6.67309276e-01 -7.52112987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:347.19, Y:-190.69, Z:-752.14 [[ 6.56219797e-01 1.74583142e-01 7.34095569e-01 3.47187700e+02] [-1.23286728e-01 9.84599775e-01 -1.23950253e-01 -1.90685455e+02] [-7.44429957e-01 -9.16563103e-03 6.67637649e-01 -7.52141094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:347.21, Y:-190.69, Z:-752.16 [[ 6.56768963e-01 1.74073367e-01 7.33725420e-01 3.47208117e+02] [-1.22225124e-01 9.84699354e-01 -1.24210313e-01 -1.90690403e+02] [-7.44120655e-01 -8.10220223e-03 6.67996112e-01 -7.52164994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.23, Y:-190.69, Z:-752.19 [[ 6.57170061e-01 1.75847174e-01 7.32942892e-01 3.47227880e+02] [-1.21370543e-01 9.84403403e-01 -1.27354355e-01 -1.90694316e+02] [-7.43906380e-01 -5.26420752e-03 6.68263111e-01 -7.52191280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.25, Y:-190.70, Z:-752.21 [[ 6.57985056e-01 1.72019600e-01 7.33119992e-01 3.47248937e+02] [-1.19077321e-01 9.85077988e-01 -1.24265639e-01 -1.90702174e+02] [-7.43556493e-01 -5.53303113e-03 6.68650228e-01 -7.52212661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.27, Y:-190.71, Z:-752.24 [[ 6.57948252e-01 1.72578414e-01 7.33021684e-01 3.47270609e+02] [-1.19269983e-01 9.84981594e-01 -1.24843625e-01 -1.90705667e+02] [-7.43558181e-01 -5.28683931e-03 6.68650343e-01 -7.52237895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4765599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:347.29, Y:-190.70, Z:-752.27 [[ 6.56642731e-01 1.79312393e-01 7.32575859e-01 3.47286050e+02] [-1.16381295e-01 9.83782517e-01 -1.36482064e-01 -1.90702452e+02] [-7.45168248e-01 4.36182795e-03 6.66862247e-01 -7.52267004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.31, Y:-190.73, Z:-752.28 [[ 6.58377380e-01 1.59569165e-01 7.35579300e-01 3.47314862e+02] [-1.16532420e-01 9.87095665e-01 -1.09828705e-01 -1.90726070e+02] [-7.43612413e-01 -1.34101004e-02 6.68476439e-01 -7.52282284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.536559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:347.33, Y:-190.72, Z:-752.31 [[ 6.58446894e-01 1.71031709e-01 7.32936452e-01 3.47332794e+02] [-1.15528942e-01 9.85264179e-01 -1.26125182e-01 -1.90723050e+02] [-7.43707437e-01 -1.62863848e-03 6.68503251e-01 -7.52311186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.35, Y:-190.73, Z:-752.33 [[ 6.58392836e-01 1.70862833e-01 7.33024397e-01 3.47353039e+02] [-1.15002243e-01 9.85294214e-01 -1.26371657e-01 -1.90727913e+02] [-7.43836916e-01 -1.09725605e-03 6.68360261e-01 -7.52334705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.37, Y:-190.74, Z:-752.36 [[ 6.57997092e-01 1.70630144e-01 7.33433828e-01 3.47373665e+02] [-1.15048913e-01 9.85334064e-01 -1.26017972e-01 -1.90735913e+02] [-7.44179800e-01 -1.46130585e-03 6.67977762e-01 -7.52358367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:-190.74, Z:-752.38 [[ 6.58061175e-01 1.70958299e-01 7.33299905e-01 3.47394949e+02] [-1.15325690e-01 9.85277102e-01 -1.26210215e-01 -1.90741469e+02] [-7.44080288e-01 -1.51427524e-03 6.68088491e-01 -7.52382795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.656559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:347.42, Y:-190.75, Z:-752.41 [[ 6.57804758e-01 1.71205610e-01 7.33472249e-01 3.47415292e+02] [-1.15309001e-01 9.85234430e-01 -1.26558098e-01 -1.90746232e+02] [-7.44309569e-01 -1.32543326e-03 6.67833444e-01 -7.52406802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.44, Y:-190.75, Z:-752.43 [[ 6.57481305e-01 1.72757443e-01 7.33398391e-01 3.47435959e+02] [-1.17317597e-01 9.84960848e-01 -1.26841280e-01 -1.90752873e+02] [-7.44281475e-01 -2.64476663e-03 6.67860832e-01 -7.52430785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.46, Y:-190.76, Z:-752.46 [[ 6.57091079e-01 1.73869272e-01 7.33485372e-01 3.47456909e+02] [-1.18640739e-01 9.84762620e-01 -1.27149351e-01 -1.90757858e+02] [-7.44416342e-01 -3.47254265e-03 6.67706711e-01 -7.52455251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:347.48, Y:-190.76, Z:-752.48 [[ 6.57084095e-01 1.75141413e-01 7.33188910e-01 3.47478024e+02] [-1.20251032e-01 9.84533249e-01 -1.27412598e-01 -1.90762595e+02] [-7.44164083e-01 -4.44593137e-03 6.67982075e-01 -7.52479653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.776559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:347.50, Y:-190.77, Z:-752.50 [[ 6.56572176e-01 1.76465717e-01 7.33329959e-01 3.47498221e+02] [-1.21856664e-01 9.84291525e-01 -1.27754244e-01 -1.90767098e+02] [-7.44354708e-01 -5.48126018e-03 6.67761952e-01 -7.52503732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.52, Y:-190.77, Z:-752.53 [[ 6.55887730e-01 1.78856976e-01 7.33363121e-01 3.47518992e+02] [-1.25107868e-01 9.83844483e-01 -1.28054890e-01 -1.90772936e+02] [-7.44418771e-01 -7.75986509e-03 6.67667940e-01 -7.52528316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8365599949999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:347.54, Y:-190.78, Z:-752.55 [[ 6.55758521e-01 1.79855823e-01 7.33234373e-01 3.47539901e+02] [-1.26281855e-01 9.83656845e-01 -1.28343696e-01 -1.90777382e+02] [-7.44334371e-01 -8.43172463e-03 6.67753885e-01 -7.52553021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.56, Y:-190.78, Z:-752.58 [[ 6.55526035e-01 1.80856131e-01 7.33196206e-01 3.47560728e+02] [-1.27439527e-01 9.83467423e-01 -1.28650673e-01 -1.90782082e+02] [-7.44341846e-01 -9.10431191e-03 6.67736720e-01 -7.52577496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.896559995 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:347.57, Y:-190.77, Z:-752.61 [[ 6.52390165e-01 1.97011894e-01 7.31828796e-01 3.47572415e+02] [-1.25933916e-01 9.80377665e-01 -1.51658439e-01 -1.90772428e+02] [-7.47347123e-01 6.77840820e-03 6.64399226e-01 -7.52611894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:347.60, Y:-190.80, Z:-752.63 [[ 6.53338687e-01 1.75042160e-01 7.36551969e-01 3.47599454e+02] [-1.26468842e-01 9.84467167e-01 -1.21778606e-01 -1.90795177e+02] [-7.46427620e-01 -1.35882005e-02 6.65327866e-01 -7.52628019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9565599949999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:347.63, Y:-190.81, Z:-752.64 [[ 6.55149645e-01 1.67361261e-01 7.36728682e-01 3.47625240e+02] [-1.27198950e-01 9.85669363e-01 -1.10798618e-01 -1.90808330e+02] [-7.44714288e-01 -2.11214394e-02 6.67049110e-01 -7.52644797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.64, Y:-190.80, Z:-752.67 [[ 6.54511678e-01 1.82004605e-01 7.33817952e-01 3.47642846e+02] [-1.27845549e-01 9.83258016e-01 -1.29842942e-01 -1.90802339e+02] [-7.45164397e-01 -8.83163731e-03 6.66822333e-01 -7.52673812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.016559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:347.66, Y:-190.81, Z:-752.70 [[ 6.54184299e-01 1.82814820e-01 7.33908471e-01 3.47664181e+02] [-1.28694823e-01 9.83103449e-01 -1.30173926e-01 -1.90805657e+02] [-7.45305672e-01 -9.29248213e-03 6.66658162e-01 -7.52698640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.68, Y:-190.81, Z:-752.72 [[ 6.54313007e-01 1.83594935e-01 7.33598930e-01 3.47684821e+02] [-1.29571755e-01 9.82954023e-01 -1.30432163e-01 -1.90808745e+02] [-7.45040704e-01 -9.71024058e-03 6.66948320e-01 -7.52723002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.71, Y:-190.81, Z:-752.75 [[ 6.54631993e-01 1.83917882e-01 7.33233364e-01 3.47705972e+02] [-1.29796830e-01 9.82894354e-01 -1.30657845e-01 -1.90811994e+02] [-7.44721248e-01 -9.63856087e-03 6.67306048e-01 -7.52748125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.73, Y:-190.82, Z:-752.77 [[ 6.54755588e-01 1.84354478e-01 7.33013333e-01 3.47726441e+02] [-1.30146033e-01 9.82812221e-01 -1.30928030e-01 -1.90815324e+02] [-7.44551631e-01 -9.67291820e-03 6.67494797e-01 -7.52771942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.75, Y:-190.82, Z:-752.80 [[ 6.55075842e-01 1.84786071e-01 7.32618420e-01 3.47748091e+02] [-1.30543412e-01 9.82730614e-01 -1.31144796e-01 -1.90819053e+02] [-7.44200282e-01 -9.72872057e-03 6.67885689e-01 -7.52796724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.77, Y:-190.82, Z:-752.82 [[ 6.54840143e-01 1.85560370e-01 7.32633426e-01 3.47769400e+02] [-1.31356849e-01 9.82580415e-01 -1.31457622e-01 -1.90822417e+02] [-7.44264581e-01 -1.01526897e-02 6.67807725e-01 -7.52821509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1965599949999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:347.79, Y:-190.83, Z:-752.85 [[ 6.54676803e-01 1.86107261e-01 7.32640684e-01 3.47790466e+02] [-1.31832933e-01 9.82475219e-01 -1.31766923e-01 -1.90825172e+02] [-7.44324097e-01 -1.03214223e-02 6.67738801e-01 -7.52846177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.81, Y:-190.83, Z:-752.87 [[ 6.54348525e-01 1.87088330e-01 7.32684082e-01 3.47811974e+02] [-1.32940241e-01 9.82281878e-01 -1.32095439e-01 -1.90828531e+02] [-7.44415811e-01 -1.09667423e-02 6.67626266e-01 -7.52871243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.83, Y:-190.83, Z:-752.90 [[ 6.54152237e-01 1.88166518e-01 7.32583246e-01 3.47833611e+02] [-1.34220636e-01 9.82067205e-01 -1.32396472e-01 -1.90831195e+02] [-7.44358564e-01 -1.17203415e-02 6.67677289e-01 -7.52896095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:347.86, Y:-190.83, Z:-752.92 [[ 6.54166155e-01 1.88902254e-01 7.32381445e-01 3.47855170e+02] [-1.35005839e-01 9.81921564e-01 -1.32678055e-01 -1.90834480e+02] [-7.44204317e-01 -1.20822786e-02 6.67842761e-01 -7.52921043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3165599949999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:347.88, Y:-190.84, Z:-752.94 [[ 6.54301840e-01 1.89610583e-01 7.32077134e-01 3.47875714e+02] [-1.35763721e-01 9.81781022e-01 -1.32944488e-01 -1.90837737e+02] [-7.43947118e-01 -1.24036925e-02 6.68123367e-01 -7.52944695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:347.90, Y:-190.84, Z:-752.97 [[ 6.54214676e-01 1.90366467e-01 7.31958855e-01 3.47897008e+02] [-1.36585769e-01 9.81629395e-01 -1.33221839e-01 -1.90841367e+02] [-7.43873299e-01 -1.28194810e-02 6.68197707e-01 -7.52968936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.92, Y:-190.85, Z:-752.99 [[ 6.53998983e-01 1.90958031e-01 7.31997514e-01 3.47918266e+02] [-1.37112889e-01 9.81511758e-01 -1.33546714e-01 -1.90845011e+02] [-7.43965984e-01 -1.30268782e-02 6.68090499e-01 -7.52993159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:347.94, Y:-190.85, Z:-753.02 [[ 6.53500035e-01 1.91432691e-01 7.32319076e-01 3.47939663e+02] [-1.37417761e-01 9.81418102e-01 -1.33921128e-01 -1.90848393e+02] [-7.44348080e-01 -1.31161855e-02 6.67663015e-01 -7.53017962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4365599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:347.96, Y:-190.85, Z:-753.04 [[ 6.52825031e-01 1.91764653e-01 7.32834085e-01 3.47961086e+02] [-1.37465843e-01 9.81354307e-01 -1.34338627e-01 -1.90852076e+02] [-7.44931286e-01 -1.30400371e-02 6.67013746e-01 -7.53043091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.98, Y:-190.86, Z:-753.07 [[ 6.52377430e-01 1.92246719e-01 7.33106328e-01 3.47982496e+02] [-1.37781854e-01 9.81258840e-01 -1.34711729e-01 -1.90855847e+02] [-7.45264952e-01 -1.31258572e-02 6.66639230e-01 -7.53067783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.496559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:348.00, Y:-190.86, Z:-753.09 [[ 6.51984999e-01 1.92524006e-01 7.33382621e-01 3.48002990e+02] [-1.37790490e-01 9.81206411e-01 -1.35084270e-01 -1.90859323e+02] [-7.45606694e-01 -1.29802335e-02 6.66259838e-01 -7.53092094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:348.01, Y:-190.84, Z:-753.13 [[ 6.46511568e-01 2.12442951e-01 7.32728316e-01 3.48008539e+02] [-1.32666499e-01 9.77119499e-01 -1.66244050e-01 -1.90840844e+02] [-7.51280502e-01 1.02702009e-02 6.59903122e-01 -7.53128552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.05, Y:-190.89, Z:-753.13 [[ 6.52526927e-01 1.60181621e-01 7.40641923e-01 3.48053522e+02] [-1.38587111e-01 9.86144089e-01 -9.11781191e-02 -1.90890767e+02] [-7.44984713e-01 -4.31472464e-02 6.65684679e-01 -7.53128496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:348.07, Y:-190.87, Z:-753.16 [[ 6.51992262e-01 1.93928739e-01 7.33005958e-01 3.48065553e+02] [-1.39174373e-01 9.80922410e-01 -1.35726634e-01 -1.90871667e+02] [-7.45343266e-01 -1.35229293e-02 6.66543732e-01 -7.53164963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.616559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.09, Y:-190.88, Z:-753.19 [[ 6.51899167e-01 1.95197375e-01 7.32751978e-01 3.48086416e+02] [-1.40765348e-01 9.80657002e-01 -1.36003535e-01 -1.90875417e+02] [-7.45125890e-01 -1.44854960e-02 6.66766509e-01 -7.53189341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.11, Y:-190.88, Z:-753.21 [[ 6.52050435e-01 1.96029222e-01 7.32395231e-01 3.48107156e+02] [-1.41742210e-01 9.80483674e-01 -1.36238437e-01 -1.90879265e+02] [-7.44808282e-01 -1.49769861e-02 6.67110421e-01 -7.53213513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.13, Y:-190.88, Z:-753.24 [[ 6.51979053e-01 1.96959405e-01 7.32209197e-01 3.48127969e+02] [-1.42842755e-01 9.80287593e-01 -1.36499756e-01 -1.90882613e+02] [-7.44660502e-01 -1.55957971e-02 6.67261200e-01 -7.53237977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:348.15, Y:-190.89, Z:-753.26 [[ 6.51991935e-01 1.97561259e-01 7.32035564e-01 3.48148666e+02] [-1.43451484e-01 9.80162472e-01 -1.36759642e-01 -1.90886047e+02] [-7.44532195e-01 -1.58454045e-02 6.67398482e-01 -7.53262924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.736559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.17, Y:-190.89, Z:-753.29 [[ 6.52054276e-01 1.98186826e-01 7.31810907e-01 3.48169939e+02] [-1.44071609e-01 9.80032420e-01 -1.37039507e-01 -1.90889968e+02] [-7.44357840e-01 -1.60759780e-02 6.67587425e-01 -7.53287663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:348.19, Y:-190.89, Z:-753.31 [[ 6.52445782e-01 1.98385597e-01 7.31407996e-01 3.48191315e+02] [-1.44083014e-01 9.79996483e-01 -1.37284298e-01 -1.90894138e+02] [-7.44012491e-01 -1.58129072e-02 6.67978566e-01 -7.53312398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:348.21, Y:-190.90, Z:-753.34 [[ 6.52185083e-01 1.98409210e-01 7.31634063e-01 3.48212856e+02] [-1.43719960e-01 9.79998628e-01 -1.37649058e-01 -1.90899214e+02] [-7.44311219e-01 -1.53777560e-02 6.67655850e-01 -7.53337428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.23, Y:-190.90, Z:-753.36 [[ 6.52284729e-01 1.98404166e-01 7.31546594e-01 3.48234097e+02] [-1.43369376e-01 9.80007089e-01 -1.37954076e-01 -1.90903446e+02] [-7.44291512e-01 -1.48960418e-02 6.67688740e-01 -7.53361948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.26, Y:-190.91, Z:-753.39 [[ 6.52229762e-01 1.97736015e-01 7.31776473e-01 3.48255709e+02] [-1.41963163e-01 9.80160015e-01 -1.38321385e-01 -1.90908541e+02] [-7.44609158e-01 -1.36679787e-02 6.67360764e-01 -7.53386875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.28, Y:-190.91, Z:-753.41 [[ 6.52216641e-01 1.97431578e-01 7.31870361e-01 3.48277184e+02] [-1.41127701e-01 9.80232458e-01 -1.38662544e-01 -1.90912995e+02] [-7.44779447e-01 -1.28491633e-02 6.67186986e-01 -7.53411851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.916559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:348.30, Y:-190.92, Z:-753.44 [[ 6.52503739e-01 1.95943849e-01 7.32014262e-01 3.48297655e+02] [-1.38506812e-01 9.80556914e-01 -1.39010793e-01 -1.90917454e+02] [-7.45019956e-01 -1.06838993e-02 6.66956610e-01 -7.53435832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.32, Y:-190.92, Z:-753.46 [[ 6.52456500e-01 1.95463878e-01 7.32184668e-01 3.48319307e+02] [-1.37419904e-01 9.80662905e-01 -1.39341438e-01 -1.90922033e+02] [-7.45262562e-01 -9.70251987e-03 6.66700514e-01 -7.53460840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:348.34, Y:-190.93, Z:-753.48 [[ 6.52447741e-01 1.94605113e-01 7.32421187e-01 3.48339675e+02] [-1.35727800e-01 9.80846890e-01 -1.39704483e-01 -1.90926462e+02] [-7.45580250e-01 -8.26004210e-03 6.66364662e-01 -7.53484905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.36, Y:-190.93, Z:-753.51 [[ 6.52705400e-01 1.93827367e-01 7.32397851e-01 3.48361351e+02] [-1.34343311e-01 9.81010094e-01 -1.39896640e-01 -1.90930901e+02] [-7.45605483e-01 -7.08145992e-03 6.66349996e-01 -7.53509900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.38, Y:-190.93, Z:-753.53 [[ 6.53169823e-01 1.92333721e-01 7.32377582e-01 3.48381929e+02] [-1.31748869e-01 9.81317296e-01 -1.40209128e-01 -1.90934951e+02] [-7.45661732e-01 -4.90954709e-03 6.66306595e-01 -7.53533365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:348.40, Y:-190.94, Z:-753.56 [[ 6.53277922e-01 1.91671385e-01 7.32454802e-01 3.48402960e+02] [-1.30408538e-01 9.81452105e-01 -1.40518249e-01 -1.90938757e+02] [-7.45802635e-01 -3.72089021e-03 6.66156577e-01 -7.53558485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0965599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.42, Y:-190.94, Z:-753.58 [[ 6.53799618e-01 1.91038865e-01 7.32154500e-01 3.48423424e+02] [-1.29161921e-01 9.81579229e-01 -1.40781444e-01 -1.90942635e+02] [-7.45562377e-01 -2.52362754e-03 6.66431072e-01 -7.53582264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:348.45, Y:-190.95, Z:-753.61 [[ 6.54575462e-01 1.90263939e-01 7.31662900e-01 3.48445014e+02] [-1.27769772e-01 9.81732242e-01 -1.40984716e-01 -1.90946639e+02] [-7.45121366e-01 -1.19926608e-03 6.66927816e-01 -7.53607145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.156559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:348.47, Y:-190.95, Z:-753.63 [[ 6.55567264e-01 1.87855269e-01 7.31397266e-01 3.48466110e+02] [-1.23862300e-01 9.82194671e-01 -1.41250699e-01 -1.90950008e+02] [-7.44909184e-01 2.00678670e-03 6.67162859e-01 -7.53632560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:348.49, Y:-190.95, Z:-753.66 [[ 6.56070894e-01 1.86967164e-01 7.31173210e-01 3.48487250e+02] [-1.22219923e-01 9.82359961e-01 -1.41531611e-01 -1.90953654e+02] [-7.44737050e-01 3.49083751e-03 6.67348890e-01 -7.53656654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2165599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.51, Y:-190.96, Z:-753.68 [[ 6.56312111e-01 1.85982948e-01 7.31207738e-01 3.48509007e+02] [-1.20515872e-01 9.82540743e-01 -1.41737830e-01 -1.90957518e+02] [-7.44802214e-01 4.90211597e-03 6.67267286e-01 -7.53681592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:348.53, Y:-190.96, Z:-753.71 [[ 6.57075715e-01 1.83569975e-01 7.31131705e-01 3.48530181e+02] [-1.16564636e-01 9.82973196e-01 -1.42043593e-01 -1.90960874e+02] [-7.44757807e-01 8.10929466e-03 6.67285582e-01 -7.53705674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.55, Y:-190.96, Z:-753.73 [[ 6.57347269e-01 1.82702860e-01 7.31104803e-01 3.48551887e+02] [-1.15053378e-01 9.83123408e-01 -1.42236016e-01 -1.90964279e+02] [-7.44753173e-01 9.38237957e-03 6.67274069e-01 -7.53730522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:348.56, Y:-190.95, Z:-753.76 [[ 6.53869967e-01 1.96581432e-01 7.30622890e-01 3.48559503e+02] [-1.07339728e-01 9.79991851e-01 -1.67613113e-01 -1.90946366e+02] [-7.48954104e-01 3.11723186e-02 6.61888236e-01 -7.53764448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3365599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:348.59, Y:-190.97, Z:-753.78 [[ 6.53549929e-01 1.67587629e-01 7.38096794e-01 3.48588572e+02] [-1.07703603e-01 9.85847057e-01 -1.28473786e-01 -1.90972036e+02] [-7.49181170e-01 4.46834968e-03 6.62350066e-01 -7.53779772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.62, Y:-190.99, Z:-753.79 [[ 6.57933205e-01 1.52076558e-01 7.37561264e-01 3.48623643e+02] [-1.12511779e-01 9.88255603e-01 -1.03401953e-01 -1.90994762e+02] [-7.44624065e-01 -1.49527517e-02 6.67316580e-01 -7.53793320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.396559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:348.64, Y:-190.98, Z:-753.83 [[ 6.58344154e-01 1.82249549e-01 7.30320530e-01 3.48637202e+02] [-1.13076066e-01 9.83181057e-01 -1.43418312e-01 -1.90976897e+02] [-7.44175233e-01 1.18368348e-02 6.67879564e-01 -7.53828591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.66, Y:-190.98, Z:-753.85 [[ 6.58237820e-01 1.82944668e-01 7.30242577e-01 3.48659086e+02] [-1.13774963e-01 9.83055696e-01 -1.43724589e-01 -1.90979868e+02] [-7.44162772e-01 1.15216374e-02 6.67898960e-01 -7.53853662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.68, Y:-190.98, Z:-753.88 [[ 6.58128232e-01 1.83801378e-01 7.30126211e-01 3.48680494e+02] [-1.14727237e-01 9.82901642e-01 -1.44020911e-01 -1.90982681e+02] [-7.44113494e-01 1.10188646e-02 6.67962344e-01 -7.53878394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.70, Y:-190.98, Z:-753.90 [[ 6.57683694e-01 1.86498566e-01 7.29842753e-01 3.48702213e+02] [-1.18469352e-01 9.82419074e-01 -1.44283665e-01 -1.90984649e+02] [-7.43920138e-01 8.42901597e-03 6.68215370e-01 -7.53902878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.72, Y:-190.99, Z:-753.93 [[ 6.57476674e-01 1.88286653e-01 7.29570120e-01 3.48723674e+02] [-1.20852037e-01 9.82090114e-01 -1.44546853e-01 -1.90987637e+02] [-7.43719845e-01 6.86614914e-03 6.68456167e-01 -7.53927547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.74, Y:-190.98, Z:-753.96 [[ 6.55504038e-01 1.95343318e-01 7.29489852e-01 3.48739664e+02] [-1.20640718e-01 9.80647852e-01 -1.54193409e-01 -1.90982014e+02] [-7.45493309e-01 1.30682226e-02 6.66384985e-01 -7.53955521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.77, Y:-191.00, Z:-753.97 [[ 6.56389771e-01 1.81029109e-01 7.32380318e-01 3.48769509e+02] [-1.28935861e-01 9.83419254e-01 -1.27522995e-01 -1.91000789e+02] [-7.43322281e-01 -1.07252971e-02 6.68847483e-01 -7.53972193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.79, Y:-190.99, Z:-754.00 [[ 6.55586529e-01 1.96295101e-01 7.29160159e-01 3.48786953e+02] [-1.32074614e-01 9.80544251e-01 -1.45221449e-01 -1.90994184e+02] [-7.43480060e-01 -1.09832120e-03 6.68757201e-01 -7.54000766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.636559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:348.81, Y:-191.00, Z:-754.03 [[ 6.54888542e-01 1.98506365e-01 7.29188741e-01 3.48808307e+02] [-1.35046098e-01 9.80094466e-01 -1.45524528e-01 -1.90997110e+02] [-7.43561395e-01 -3.17174825e-03 6.68660147e-01 -7.54025848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.83, Y:-191.00, Z:-754.05 [[ 6.53072943e-01 2.02666309e-01 7.29672597e-01 3.48830172e+02] [-1.40817224e-01 9.79219603e-01 -1.45943406e-01 -1.90999112e+02] [-7.44087522e-01 -7.43878026e-03 6.68040736e-01 -7.54050912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.85, Y:-191.00, Z:-754.08 [[ 6.52209701e-01 2.04834476e-01 7.29839259e-01 3.48851579e+02] [-1.43678506e-01 9.78751049e-01 -1.46297204e-01 -1.91002307e+02] [-7.44297651e-01 -9.44575865e-03 6.67781240e-01 -7.54075497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.86, Y:-190.99, Z:-754.11 [[ 6.47925202e-01 2.17539872e-01 7.29978997e-01 3.48861969e+02] [-1.41777413e-01 9.76045402e-01 -1.65028903e-01 -1.90989438e+02] [-7.48393010e-01 3.43185189e-03 6.63246655e-01 -7.54105025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.756559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:348.90, Y:-191.03, Z:-754.11 [[ 6.50735928e-01 1.83342013e-01 7.36836793e-01 3.48898946e+02] [-1.49676098e-01 9.82343345e-01 -1.12243569e-01 -1.91026240e+02] [-7.44405681e-01 -3.72459332e-02 6.66688025e-01 -7.54114463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.91, Y:-191.01, Z:-754.15 [[ 6.49653804e-01 2.10960130e-01 7.30373712e-01 3.48913778e+02] [-1.52020348e-01 9.77372113e-01 -1.47083539e-01 -1.91011574e+02] [-7.44875660e-01 -1.54782851e-02 6.67023743e-01 -7.54146723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8165599949999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:348.94, Y:-191.02, Z:-754.17 [[ 6.49507935e-01 2.12420290e-01 7.30080176e-01 3.48935028e+02] [-1.53936014e-01 9.77035746e-01 -1.47325674e-01 -1.91015080e+02] [-7.44609392e-01 -1.66964381e-02 6.67291602e-01 -7.54171716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:348.96, Y:-191.02, Z:-754.20 [[ 6.49422009e-01 2.14303682e-01 7.29606049e-01 3.48955867e+02] [-1.56497304e-01 9.76594556e-01 -1.47552252e-01 -1.91017701e+02] [-7.44150286e-01 -1.83576996e-02 6.67759947e-01 -7.54197081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.98, Y:-191.02, Z:-754.22 [[ 6.49377774e-01 2.15352147e-01 7.29336657e-01 3.48976233e+02] [-1.57762489e-01 9.76350239e-01 -1.47821538e-01 -1.91021097e+02] [-7.43921706e-01 -1.90699449e-02 6.67994636e-01 -7.54220912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.00, Y:-191.03, Z:-754.25 [[ 6.49151777e-01 2.16284808e-01 7.29261855e-01 3.48997437e+02] [-1.58843151e-01 9.76131665e-01 -1.48107480e-01 -1.91025059e+02] [-7.43888986e-01 -1.96940173e-02 6.68012965e-01 -7.54245986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.02, Y:-191.03, Z:-754.27 [[ 6.49379790e-01 2.16709913e-01 7.28932578e-01 3.49017713e+02] [-1.59188121e-01 9.76037329e-01 -1.48358599e-01 -1.91028772e+02] [-7.43616185e-01 -1.96963316e-02 6.68316559e-01 -7.54270068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.04, Y:-191.03, Z:-754.29 [[ 6.49675098e-01 2.16704304e-01 7.28671059e-01 3.49038138e+02] [-1.59009315e-01 9.76044752e-01 -1.48501446e-01 -1.91033019e+02] [-7.43396466e-01 -1.93877946e-02 6.68569973e-01 -7.54293869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.996559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:349.06, Y:-191.04, Z:-754.32 [[ 6.50254109e-01 2.16185291e-01 7.28308666e-01 3.49058727e+02] [-1.57977435e-01 9.76179826e-01 -1.48714754e-01 -1.91037325e+02] [-7.43110169e-01 -1.83539550e-02 6.68917341e-01 -7.54318165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.08, Y:-191.04, Z:-754.34 [[ 6.50877559e-01 2.14174009e-01 7.28346001e-01 3.49079676e+02] [-1.54742222e-01 9.76668003e-01 -1.48910904e-01 -1.91042751e+02] [-7.43245080e-01 -1.57831127e-02 6.68833047e-01 -7.54342846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0565599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:349.10, Y:-191.05, Z:-754.37 [[ 6.51492481e-01 2.12635613e-01 7.28246966e-01 3.49100377e+02] [-1.52098893e-01 9.77037522e-01 -1.49209941e-01 -1.91047419e+02] [-7.43251958e-01 -1.35564030e-02 6.68874241e-01 -7.54367260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.12, Y:-191.05, Z:-754.39 [[ 6.52140440e-01 2.10868048e-01 7.28180961e-01 3.49121673e+02] [-1.49132285e-01 9.77451457e-01 -1.49493179e-01 -1.91052788e+02] [-7.43284877e-01 -1.11047431e-02 6.68882857e-01 -7.54391638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.116559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:349.14, Y:-191.06, Z:-754.42 [[ 6.53310440e-01 2.05310131e-01 7.28720261e-01 3.49142245e+02] [-1.40337188e-01 9.78687425e-01 -1.49921306e-01 -1.91059844e+02] [-7.43969719e-01 -4.32139801e-03 6.68199359e-01 -7.54415317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.16, Y:-191.07, Z:-754.44 [[ 6.54109721e-01 2.02323480e-01 7.28838585e-01 3.49163703e+02] [-1.35509832e-01 9.79318625e-01 -1.50240198e-01 -1.91065869e+02] [-7.44162320e-01 -4.91220063e-04 6.67998653e-01 -7.54439614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.19, Y:-191.07, Z:-754.46 [[ 6.54751394e-01 1.99157796e-01 7.29134270e-01 3.49185102e+02] [-1.30357704e-01 9.79960954e-01 -1.50610087e-01 -1.91071837e+02] [-7.44518288e-01 3.56389481e-03 6.67592554e-01 -7.54463942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.21, Y:-191.08, Z:-754.48 [[ 6.57400649e-01 1.86623420e-01 7.30065809e-01 3.49207554e+02] [-1.18540186e-01 9.82395818e-01 -1.44383796e-01 -1.91078872e+02] [-7.44158996e-01 8.37586411e-03 6.67950023e-01 -7.54482317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.236559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:349.23, Y:-191.08, Z:-754.51 [[ 6.57028272e-01 1.88407539e-01 7.29942771e-01 3.49226969e+02] [-1.16220956e-01 9.82005307e-01 -1.48856531e-01 -1.91083936e+02] [-7.44853368e-01 1.29683029e-02 6.67102154e-01 -7.54510735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:349.25, Y:-191.09, Z:-754.54 [[ 6.57712706e-01 1.88059321e-01 7.29415992e-01 3.49247098e+02] [-1.12542559e-01 9.81998430e-01 -1.51701208e-01 -1.91087024e+02] [-7.44814185e-01 1.76854698e-02 6.67037521e-01 -7.54535565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2965599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:349.27, Y:-191.09, Z:-754.56 [[ 6.59236516e-01 1.84224910e-01 7.29018792e-01 3.49268679e+02] [-1.06603440e-01 9.82628127e-01 -1.51913365e-01 -1.91091075e+02] [-7.44340596e-01 2.24309267e-02 6.67423352e-01 -7.54560508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.29, Y:-191.09, Z:-754.58 [[ 6.59896911e-01 1.83186234e-01 7.28682970e-01 3.49289648e+02] [-1.04793787e-01 9.82783977e-01 -1.52164115e-01 -1.91094900e+02] [-7.44012318e-01 2.40511816e-02 6.67732889e-01 -7.54584900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.31, Y:-191.09, Z:-754.61 [[ 6.59732859e-01 1.84850055e-01 7.28411294e-01 3.49306000e+02] [-9.95264799e-02 9.82229862e-01 -1.59119382e-01 -1.91089963e+02] [-7.44880551e-01 3.24800729e-02 6.66406790e-01 -7.54609195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:349.34, Y:-191.11, Z:-754.63 [[ 6.61069433e-01 1.64873158e-01 7.31986371e-01 3.49335163e+02] [-1.00697387e-01 9.86228819e-01 -1.31197382e-01 -1.91113333e+02] [-7.43536980e-01 1.30214641e-02 6.68568022e-01 -7.54627425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.416559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.35, Y:-191.10, Z:-754.66 [[ 6.61029290e-01 1.82937463e-01 7.27718464e-01 3.49350650e+02] [-9.91909460e-02 9.82618434e-01 -1.56914532e-01 -1.91101752e+02] [-7.43775124e-01 3.15420191e-02 6.67685305e-01 -7.54657980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.38, Y:-191.11, Z:-754.68 [[ 6.61546321e-01 1.73565054e-01 7.29542073e-01 3.49375398e+02] [-1.00520865e-01 9.84591440e-01 -1.43091759e-01 -1.91114362e+02] [-7.43136610e-01 2.13276265e-02 6.68799755e-01 -7.54678520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:349.39, Y:-191.10, Z:-754.71 [[ 6.60348870e-01 1.86977777e-01 7.27309205e-01 3.49388929e+02] [-9.77719694e-02 9.81670053e-01 -1.63598748e-01 -1.91101925e+02] [-7.44566996e-01 3.69217947e-02 6.66525896e-01 -7.54708121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.42, Y:-191.12, Z:-754.72 [[ 6.61096502e-01 1.66434199e-01 7.31608552e-01 3.49419613e+02] [-1.02550736e-01 9.85979591e-01 -1.31634315e-01 -1.91124861e+02] [-7.43259552e-01 1.19959898e-02 6.68895608e-01 -7.54723823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.536559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:349.43, Y:-191.11, Z:-754.76 [[ 6.60049080e-01 1.87519856e-01 7.27441761e-01 3.49433942e+02] [-1.02833979e-01 9.81782355e-01 -1.59776657e-01 -1.91110815e+02] [-7.44150781e-01 3.06547045e-02 6.67307953e-01 -7.54755203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.46, Y:-191.13, Z:-754.77 [[ 6.60701046e-01 1.73793850e-01 7.30253262e-01 3.49461398e+02] [-1.05404735e-01 9.84670081e-01 -1.38977244e-01 -1.91125625e+02] [-7.43211928e-01 1.48502586e-02 6.68891247e-01 -7.54772578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.47, Y:-191.11, Z:-754.80 [[ 6.56882020e-01 1.95337752e-01 7.28250764e-01 3.49473114e+02] [-1.08309577e-01 9.80287112e-01 -1.65245919e-01 -1.91108736e+02] [-7.46173605e-01 2.96705412e-02 6.65089927e-01 -7.54804232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.50, Y:-191.13, Z:-754.82 [[ 6.57401683e-01 1.74778958e-01 7.32990685e-01 3.49504480e+02] [-1.15339509e-01 9.84606062e-01 -1.31330501e-01 -1.91133791e+02] [-7.44660879e-01 1.79410685e-03 6.67440601e-01 -7.54818863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.52, Y:-191.12, Z:-754.85 [[ 6.55844282e-01 1.97354942e-01 7.28642097e-01 3.49523023e+02] [-1.22931105e-01 9.80258785e-01 -1.54856895e-01 -1.91121752e+02] [-7.44819590e-01 1.19892310e-02 6.67158180e-01 -7.54848350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:349.54, Y:-191.11, Z:-754.87 [[ 6.53961564e-01 2.05483212e-01 7.28087167e-01 3.49538651e+02] [-1.23284706e-01 9.78487363e-01 -1.65418747e-01 -1.91113509e+02] [-7.46414867e-01 1.84154908e-02 6.65226064e-01 -7.54874925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7165599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.57, Y:-191.14, Z:-754.89 [[ 6.54340480e-01 1.87336526e-01 7.32627847e-01 3.49568438e+02] [-1.30655396e-01 9.82265390e-01 -1.34476285e-01 -1.91136519e+02] [-7.44827298e-01 -7.72850464e-03 6.67212535e-01 -7.54891288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.59, Y:-191.12, Z:-754.92 [[ 6.52756812e-01 2.08097201e-01 7.28425768e-01 3.49587472e+02] [-1.38240105e-01 9.78107793e-01 -1.55546836e-01 -1.91124670e+02] [-7.44847781e-01 8.36602165e-04 6.67233904e-01 -7.54921285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.776559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:349.61, Y:-191.13, Z:-754.95 [[ 6.51797554e-01 2.10524920e-01 7.28587131e-01 3.49608732e+02] [-1.41478387e-01 9.77587401e-01 -1.55906189e-01 -1.91126575e+02] [-7.45079737e-01 -1.46005946e-03 6.66973803e-01 -7.54945267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:349.63, Y:-191.13, Z:-754.97 [[ 6.51213807e-01 2.12586193e-01 7.28510596e-01 3.49630753e+02] [-1.44364102e-01 9.77135970e-01 -1.56090687e-01 -1.91128695e+02] [-7.45036632e-01 -3.52236713e-03 6.67014250e-01 -7.54970139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8365599949999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:349.65, Y:-191.13, Z:-755.00 [[ 6.50443986e-01 2.14458838e-01 7.28649455e-01 3.49652583e+02] [-1.46787144e-01 9.76719177e-01 -1.56439072e-01 -1.91130942e+02] [-7.45235638e-01 -5.20151824e-03 6.66780915e-01 -7.54995430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.67, Y:-191.13, Z:-755.02 [[ 6.50331432e-01 2.17102580e-01 7.27966688e-01 3.49673843e+02] [-1.50554921e-01 9.76118027e-01 -1.56610387e-01 -1.91131409e+02] [-7.44581927e-01 -7.75030955e-03 6.67486095e-01 -7.55020387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.69, Y:-191.13, Z:-755.04 [[ 6.50649776e-01 2.18075425e-01 7.27391214e-01 3.49694725e+02] [-1.51779600e-01 9.75895995e-01 -1.56811863e-01 -1.91134253e+02] [-7.44054986e-01 -8.37354444e-03 6.68065911e-01 -7.55044724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:349.72, Y:-191.14, Z:-755.07 [[ 6.50827262e-01 2.18990335e-01 7.26957433e-01 3.49716078e+02] [-1.52910221e-01 9.75685836e-01 -1.57021061e-01 -1.91137631e+02] [-7.43668165e-01 -8.96563435e-03 6.68488801e-01 -7.55070013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9565599949999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:349.74, Y:-191.14, Z:-755.09 [[ 6.51393097e-01 2.19538524e-01 7.26284978e-01 3.49737201e+02] [-1.53522959e-01 9.75561347e-01 -1.57196563e-01 -1.91140758e+02] [-7.43046253e-01 -9.10466247e-03 6.69178131e-01 -7.55094699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:349.76, Y:-191.14, Z:-755.12 [[ 6.52026800e-01 2.20166424e-01 7.25525877e-01 3.49758602e+02] [-1.54270100e-01 9.75417738e-01 -1.57356201e-01 -1.91143969e+02] [-7.42335361e-01 -9.32648943e-03 6.69963602e-01 -7.55119850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.78, Y:-191.15, Z:-755.14 [[ 6.52253714e-01 2.20752609e-01 7.25143695e-01 3.49779918e+02] [-1.54873107e-01 9.75283444e-01 -1.57596082e-01 -1.91148236e+02] [-7.42010386e-01 -9.51262773e-03 6.70320891e-01 -7.55144156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.80, Y:-191.15, Z:-755.17 [[ 6.53198034e-01 2.21384652e-01 7.24100245e-01 3.49801409e+02] [-1.55691336e-01 9.75137989e-01 -1.57689920e-01 -1.91152655e+02] [-7.41007785e-01 -9.73338846e-03 6.71425889e-01 -7.55169093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0765599949999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:349.82, Y:-191.16, Z:-755.19 [[ 6.53323330e-01 2.21957635e-01 7.23811740e-01 3.49822020e+02] [-1.56255764e-01 9.75005961e-01 -1.57947812e-01 -1.91157044e+02] [-7.40778484e-01 -9.90876603e-03 6.71676302e-01 -7.55193284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:349.84, Y:-191.16, Z:-755.22 [[ 6.53229779e-01 2.22674281e-01 7.23676046e-01 3.49843409e+02] [-1.57026629e-01 9.74838644e-01 -1.58215854e-01 -1.91161863e+02] [-7.40697977e-01 -1.02851026e-02 6.71759424e-01 -7.55218337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.87, Y:-191.18, Z:-755.23 [[ 6.56712107e-01 2.08614339e-01 7.24713231e-01 3.49873300e+02] [-1.59811196e-01 9.77649520e-01 -1.36608187e-01 -1.91180376e+02] [-7.37013969e-01 -2.61050379e-02 6.75373183e-01 -7.55234055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:349.89, Y:-191.18, Z:-755.26 [[ 6.57351017e-01 2.17228725e-01 7.21596371e-01 3.49894661e+02] [-1.61496863e-01 9.75913306e-01 -1.46669635e-01 -1.91181123e+02] [-7.36076358e-01 -2.01221169e-02 6.76599362e-01 -7.55258072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.90, Y:-191.16, Z:-755.30 [[ 6.50478348e-01 2.54437198e-01 7.15639316e-01 3.49898860e+02] [-1.59810669e-01 9.66976387e-01 -1.98537698e-01 -1.91155125e+02] [-7.42521696e-01 1.47776761e-02 6.69658981e-01 -7.55299313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:349.93, Y:-191.18, Z:-755.32 [[ 6.50979909e-01 2.25292967e-01 7.24891879e-01 3.49925224e+02] [-1.60053887e-01 9.74211053e-01 -1.59045834e-01 -1.91182661e+02] [-7.42029589e-01 -1.24861203e-02 6.70250838e-01 -7.55315528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.256559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:349.95, Y:-191.19, Z:-755.34 [[ 6.50947578e-01 2.25603843e-01 7.24824225e-01 3.49946735e+02] [-1.60176366e-01 9.74140606e-01 -1.59353733e-01 -1.91187327e+02] [-7.42031524e-01 -1.23687840e-02 6.70250871e-01 -7.55340740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.97, Y:-191.19, Z:-755.36 [[ 6.50524154e-01 2.26029980e-01 7.25071565e-01 3.49967268e+02] [-1.60607059e-01 9.74038044e-01 -1.59547049e-01 -1.91192995e+02] [-7.42309705e-01 -1.26624023e-02 6.69937285e-01 -7.55364661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3165599949999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:349.99, Y:-191.20, Z:-755.39 [[ 6.50305192e-01 2.26525963e-01 7.25113195e-01 3.49987564e+02] [-1.61009978e-01 9.73921069e-01 -1.59854744e-01 -1.91198084e+02] [-7.42414267e-01 -1.27960895e-02 6.69818868e-01 -7.55388577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:350.01, Y:-191.20, Z:-755.41 [[ 6.49824393e-01 2.27912122e-01 7.25109869e-01 3.50009142e+02] [-1.62762645e-01 9.73581718e-01 -1.60146679e-01 -1.91204457e+02] [-7.42453082e-01 -1.39535817e-02 6.69752729e-01 -7.55412878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.03, Y:-191.21, Z:-755.44 [[ 6.49462510e-01 2.29207310e-01 7.25025832e-01 3.50030236e+02] [-1.64363097e-01 9.73262654e-01 -1.60451174e-01 -1.91209857e+02] [-7.42417147e-01 -1.49604689e-02 6.69770830e-01 -7.55437084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:350.05, Y:-191.21, Z:-755.46 [[ 6.49057290e-01 2.30426368e-01 7.25002292e-01 3.50050867e+02] [-1.65835451e-01 9.72960151e-01 -1.60770480e-01 -1.91214671e+02] [-7.42444097e-01 -1.58818297e-02 6.69719740e-01 -7.55461176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.07, Y:-191.22, Z:-755.48 [[ 6.48556322e-01 2.31850892e-01 7.24996456e-01 3.50071043e+02] [-1.67637943e-01 9.72601494e-01 -1.61070962e-01 -1.91219810e+02] [-7.42477082e-01 -1.70733238e-02 6.69653854e-01 -7.55484889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:350.09, Y:-191.23, Z:-755.51 [[ 6.48364608e-01 2.33766727e-01 7.24552587e-01 3.50091901e+02] [-1.70272645e-01 9.72110747e-01 -1.61269718e-01 -1.91226324e+02] [-7.42044851e-01 -1.88099080e-02 6.70086283e-01 -7.55509852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.496559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:350.11, Y:-191.23, Z:-755.53 [[ 6.48487779e-01 2.34496905e-01 7.24206325e-01 3.50112385e+02] [-1.71075709e-01 9.71928217e-01 -1.61519788e-01 -1.91232136e+02] [-7.41752453e-01 -1.91505021e-02 6.70400296e-01 -7.55533819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:350.13, Y:-191.24, Z:-755.56 [[ 6.48385743e-01 2.34848702e-01 7.24183689e-01 3.50132837e+02] [-1.71385436e-01 9.71841098e-01 -1.61715528e-01 -1.91240033e+02] [-7.41770154e-01 -1.92604945e-02 6.70377560e-01 -7.55558348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5565599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:350.15, Y:-191.25, Z:-755.58 [[ 6.48361858e-01 2.34494581e-01 7.24319814e-01 3.50153953e+02] [-1.70475391e-01 9.71943219e-01 -1.62063323e-01 -1.91246731e+02] [-7.42000703e-01 -1.84030261e-02 6.70146466e-01 -7.55583326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:350.18, Y:-191.25, Z:-755.61 [[ 6.48569187e-01 2.33877936e-01 7.24333570e-01 3.50175178e+02] [-1.69197235e-01 9.72113136e-01 -1.62383335e-01 -1.91253714e+02] [-7.42112057e-01 -1.72384102e-02 6.70054126e-01 -7.55608177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.616559995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:350.20, Y:-191.26, Z:-755.63 [[ 6.48897759e-01 2.32872290e-01 7.24363304e-01 3.50195855e+02] [-1.67327573e-01 9.72381831e-01 -1.62711578e-01 -1.91261086e+02] [-7.42248733e-01 -1.56227755e-02 6.69942346e-01 -7.55632306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.22, Y:-191.27, Z:-755.66 [[ 6.49383665e-01 2.29703250e-01 7.24939496e-01 3.50215637e+02] [-1.62096867e-01 9.73192108e-01 -1.63161661e-01 -1.91270843e+02] [-7.42984160e-01 -1.15559037e-02 6.69209235e-01 -7.55655619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.24, Y:-191.28, Z:-755.68 [[ 6.49894460e-01 2.27902337e-01 7.25050147e-01 3.50236028e+02] [-1.59042168e-01 9.73641791e-01 -1.63484714e-01 -1.91277655e+02] [-7.43197672e-01 -9.06573708e-03 6.69010488e-01 -7.55679919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.26, Y:-191.29, Z:-755.70 [[ 6.50353351e-01 2.26134101e-01 7.25192310e-01 3.50256707e+02] [-1.56032383e-01 9.74073699e-01 -1.63811854e-01 -1.91285013e+02] [-7.43434203e-01 -6.61789652e-03 6.68776338e-01 -7.55704945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.28, Y:-191.29, Z:-755.73 [[ 6.51264324e-01 2.24048907e-01 7.25021977e-01 3.50277809e+02] [-1.52603827e-01 9.74570581e-01 -1.64086122e-01 -1.91291857e+02] [-7.43348406e-01 -3.77769156e-03 6.68893771e-01 -7.55730000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.30, Y:-191.30, Z:-755.75 [[ 6.53290844e-01 2.19232274e-01 7.24671155e-01 3.50298039e+02] [-1.45145788e-01 9.75670296e-01 -1.64317294e-01 -1.91300911e+02] [-7.43063775e-01 2.16401731e-03 6.69217113e-01 -7.55754943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7965599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:350.32, Y:-191.31, Z:-755.78 [[ 6.54298755e-01 2.16725311e-01 7.24515893e-01 3.50317860e+02] [-1.41101481e-01 9.76217351e-01 -1.64590573e-01 -1.91307903e+02] [-7.42955929e-01 5.46114179e-03 6.69318059e-01 -7.55779344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.34, Y:-191.32, Z:-755.80 [[ 6.56474592e-01 2.11453202e-01 7.24105416e-01 3.50338103e+02] [-1.33038114e-01 9.77316376e-01 -1.64783377e-01 -1.91317600e+02] [-7.42524054e-01 1.18424814e-02 6.69714704e-01 -7.55804075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.36, Y:-191.32, Z:-755.83 [[ 6.57542300e-01 2.09047737e-01 7.23835042e-01 3.50358668e+02] [-1.29199904e-01 9.77790524e-01 -1.65024469e-01 -1.91324461e+02] [-7.42257037e-01 1.49911508e-02 6.69947577e-01 -7.55828591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:350.38, Y:-191.33, Z:-755.85 [[ 6.58118325e-01 2.06780281e-01 7.23962835e-01 3.50379458e+02] [-1.25441351e-01 9.78221480e-01 -1.65369898e-01 -1.91331008e+02] [-7.42391230e-01 1.80180844e-02 6.69724280e-01 -7.55853501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.916559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:350.40, Y:-191.34, Z:-755.88 [[ 6.58974692e-01 2.04528748e-01 7.23823422e-01 3.50400006e+02] [-1.21780684e-01 9.78634883e-01 -1.65659988e-01 -1.91337390e+02] [-7.42241080e-01 2.10180282e-02 6.69803272e-01 -7.55878203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.42, Y:-191.35, Z:-755.90 [[ 6.60207999e-01 2.01043930e-01 7.23675850e-01 3.50420529e+02] [-1.16299373e-01 9.79252976e-01 -1.65945969e-01 -1.91345753e+02] [-7.42024160e-01 2.53958088e-02 6.69891931e-01 -7.55902659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.44, Y:-191.35, Z:-755.93 [[ 6.60477899e-01 1.99984849e-01 7.23723017e-01 3.50440589e+02] [-1.14357719e-01 9.79425252e-01 -1.66278345e-01 -1.91351815e+02] [-7.42085748e-01 2.70598588e-02 6.69758543e-01 -7.55927070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:350.46, Y:-191.36, Z:-755.95 [[ 6.61138969e-01 1.98994508e-01 7.23392321e-01 3.50460926e+02] [-1.12664084e-01 9.79583784e-01 -1.66500491e-01 -1.91359482e+02] [-7.41756071e-01 2.85796299e-02 6.70060547e-01 -7.55951684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.036559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:350.48, Y:-191.37, Z:-755.98 [[ 6.61131519e-01 1.99713353e-01 7.23201004e-01 3.50481783e+02] [-1.13435543e-01 9.79447779e-01 -1.66776576e-01 -1.91365706e+02] [-7.41645126e-01 2.82245523e-02 6.70198390e-01 -7.55976391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.50, Y:-191.37, Z:-756.00 [[ 6.60776715e-01 2.00675411e-01 7.23258953e-01 3.50502289e+02] [-1.14485188e-01 9.79268304e-01 -1.67112931e-01 -1.91371169e+02] [-7.41800024e-01 2.76218960e-02 6.70052055e-01 -7.56000673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0965599949999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:350.52, Y:-191.38, Z:-756.03 [[ 6.59641391e-01 2.03667284e-01 7.23458964e-01 3.50522621e+02] [-1.18526484e-01 9.78728182e-01 -1.67459306e-01 -1.91376864e+02] [-7.42175659e-01 2.47140420e-02 6.69749586e-01 -7.56025514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.54, Y:-191.38, Z:-756.05 [[ 6.58493601e-01 2.05862877e-01 7.23883038e-01 3.50543683e+02] [-1.21300231e-01 9.78316621e-01 -1.67877463e-01 -1.91381987e+02] [-7.42746546e-01 2.27390557e-02 6.69186450e-01 -7.56050587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.156559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.56, Y:-191.39, Z:-756.08 [[ 6.57672190e-01 2.08345717e-01 7.23919438e-01 3.50564905e+02] [-1.24625848e-01 9.77842386e-01 -1.68204240e-01 -1.91387195e+02] [-7.42923744e-01 2.04041773e-02 6.69065005e-01 -7.56075534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.59, Y:-191.39, Z:-756.10 [[ 6.56733152e-01 2.11198525e-01 7.23945267e-01 3.50585887e+02] [-1.28505466e-01 9.77283838e-01 -1.68530842e-01 -1.91392119e+02] [-7.43093475e-01 1.76488666e-02 6.68954861e-01 -7.56100245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.61, Y:-191.40, Z:-756.12 [[ 6.54786814e-01 2.16896473e-01 7.24023582e-01 3.50606251e+02] [-1.36610156e-01 9.76124898e-01 -1.68872288e-01 -1.91396543e+02] [-7.43365249e-01 1.16663730e-02 6.68783973e-01 -7.56124735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.63, Y:-191.40, Z:-756.15 [[ 6.53433631e-01 2.20187092e-01 7.24252811e-01 3.50627040e+02] [-1.41232862e-01 9.75422993e-01 -1.69124992e-01 -1.91401270e+02] [-7.43691985e-01 8.22365983e-03 6.68471842e-01 -7.56149565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.276559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:350.65, Y:-191.41, Z:-756.17 [[ 6.50379166e-01 2.26843964e-01 7.24947417e-01 3.50647135e+02] [-1.50631748e-01 9.73930477e-01 -1.69615749e-01 -1.91405078e+02] [-7.44524692e-01 1.11445229e-03 6.67593994e-01 -7.56173536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.67, Y:-191.41, Z:-756.20 [[ 6.48761919e-01 2.30624778e-01 7.25203547e-01 3.50667873e+02] [-1.56005396e-01 9.73038363e-01 -1.69878371e-01 -1.91409385e+02] [-7.44829033e-01 -2.92504840e-03 6.67248945e-01 -7.56198062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3365599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:350.69, Y:-191.41, Z:-756.22 [[ 6.47094932e-01 2.34308674e-01 7.25511953e-01 3.50688680e+02] [-1.61120545e-01 9.72138990e-01 -1.70252618e-01 -1.91413190e+02] [-7.45190123e-01 -6.72527510e-03 6.66818155e-01 -7.56223054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:350.71, Y:-191.42, Z:-756.25 [[ 6.45300835e-01 2.37892102e-01 7.25943648e-01 3.50709037e+02] [-1.66041274e-01 9.71235931e-01 -1.70678240e-01 -1.91417173e+02] [-7.45665560e-01 -1.03977975e-02 6.66239265e-01 -7.56247602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.396559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:350.71, Y:-191.39, Z:-756.29 [[ 6.36017177e-01 2.68312878e-01 7.23526330e-01 3.50712167e+02] [-1.67857929e-01 9.63258352e-01 -2.09659398e-01 -1.91393285e+02] [-7.53197097e-01 1.18973474e-02 6.57687301e-01 -7.56288852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:-191.45, Z:-756.28 [[ 6.42603886e-01 2.07851539e-01 7.37467276e-01 3.50758920e+02] [-1.77003553e-01 9.76737289e-01 -1.21053747e-01 -1.91452835e+02] [-7.45472996e-01 -5.27447199e-02 6.64445639e-01 -7.56283346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4565599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:350.77, Y:-191.43, Z:-756.32 [[ 6.40889352e-01 2.47473225e-01 7.26648362e-01 3.50769956e+02] [-1.79501206e-01 9.68678523e-01 -1.71584487e-01 -1.91431240e+02] [-7.46351229e-01 -2.04675862e-02 6.65237493e-01 -7.56320511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:350.77, Y:-191.40, Z:-756.36 [[ 6.32377381e-01 2.78570422e-01 7.22839794e-01 3.50769566e+02] [-1.73869552e-01 9.60338681e-01 -2.17988523e-01 -1.91402171e+02] [-7.54896169e-01 1.21711803e-02 6.55731375e-01 -7.56363516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.82, Y:-191.48, Z:-756.35 [[ 6.42214426e-01 2.00638066e-01 7.39800647e-01 3.50822888e+02] [-1.82652199e-01 9.77390769e-01 -1.06515067e-01 -1.91476795e+02] [-7.44445300e-01 -6.67207024e-02 6.64341436e-01 -7.56352190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:350.83, Y:-191.45, Z:-756.40 [[ 6.41615999e-01 2.49380396e-01 7.25353932e-01 3.50831440e+02] [-1.81936198e-01 9.68163409e-01 -1.71926826e-01 -1.91446410e+02] [-7.45136316e-01 -2.16571348e-02 6.66560454e-01 -7.56395484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.85, Y:-191.45, Z:-756.42 [[ 6.42161660e-01 2.49403371e-01 7.24862995e-01 3.50851786e+02] [-1.81708857e-01 9.68168215e-01 -1.72140055e-01 -1.91451258e+02] [-7.44721622e-01 -2.11722823e-02 6.67039310e-01 -7.56419843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.87, Y:-191.46, Z:-756.44 [[ 6.42684429e-01 2.49122182e-01 7.24496282e-01 3.50871599e+02] [-1.81023305e-01 9.68257646e-01 -1.72359198e-01 -1.91456041e+02] [-7.44437565e-01 -2.03781384e-02 6.67381034e-01 -7.56444455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.89, Y:-191.46, Z:-756.47 [[ 6.43587838e-01 2.47937068e-01 7.24100757e-01 3.50891536e+02] [-1.78987316e-01 9.68598692e-01 -1.72569161e-01 -1.91462891e+02] [-7.44149337e-01 -1.85414377e-02 6.67755928e-01 -7.56469398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:350.91, Y:-191.47, Z:-756.49 [[ 6.44319144e-01 2.47193991e-01 7.23704340e-01 3.50912305e+02] [-1.77597313e-01 9.68813517e-01 -1.72799199e-01 -1.91469242e+02] [-7.43849471e-01 -1.71901142e-02 6.68126085e-01 -7.56493742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.93, Y:-191.48, Z:-756.52 [[ 6.44854707e-01 2.46407249e-01 7.23495594e-01 3.50932156e+02] [-1.76100913e-01 9.69037569e-01 -1.73074142e-01 -1.91475943e+02] [-7.43741135e-01 -1.58005594e-02 6.68280979e-01 -7.56517627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:350.95, Y:-191.48, Z:-756.54 [[ 6.46236564e-01 2.43659048e-01 7.23193315e-01 3.50952053e+02] [-1.71709376e-01 9.69784418e-01 -1.73303414e-01 -1.91484108e+02] [-7.43568553e-01 -1.21840696e-02 6.68548693e-01 -7.56542137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.756559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:350.97, Y:-191.49, Z:-756.57 [[ 6.45986341e-01 2.43253514e-01 7.23553298e-01 3.50972921e+02] [-1.70653255e-01 9.69897388e-01 -1.73713915e-01 -1.91489951e+02] [-7.44028974e-01 -1.12599088e-02 6.68052468e-01 -7.56566130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:350.99, Y:-191.49, Z:-756.59 [[ 6.45315111e-01 2.43065563e-01 7.24215120e-01 3.50994187e+02] [-1.69873258e-01 9.69951647e-01 -1.74174854e-01 -1.91494611e+02] [-7.44789557e-01 -1.06271170e-02 6.67214793e-01 -7.56591211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8165599949999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:351.02, Y:-191.50, Z:-756.62 [[ 6.44293894e-01 2.42593128e-01 7.25281982e-01 3.51015404e+02] [-1.68539859e-01 9.70080163e-01 -1.74753519e-01 -1.91499203e+02] [-7.45975666e-01 -9.64629795e-03 6.65903337e-01 -7.56615780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:351.04, Y:-191.50, Z:-756.64 [[ 6.43646195e-01 2.42835926e-01 7.25775647e-01 3.51036581e+02] [-1.68422061e-01 9.70021117e-01 -1.75194301e-01 -1.91504170e+02] [-7.46561174e-01 -9.47348539e-03 6.65249327e-01 -7.56640320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.876559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.06, Y:-191.51, Z:-756.66 [[ 6.42784866e-01 2.43003738e-01 7.26482484e-01 3.51058285e+02] [-1.68134802e-01 9.69981561e-01 -1.75688529e-01 -1.91508945e+02] [-7.47367584e-01 -9.21706059e-03 6.64346853e-01 -7.56664765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.08, Y:-191.51, Z:-756.69 [[ 6.42592697e-01 2.42944522e-01 7.26672268e-01 3.51078793e+02] [-1.67635351e-01 9.70001318e-01 -1.76056332e-01 -1.91513652e+02] [-7.47644979e-01 -8.68344724e-03 6.64041854e-01 -7.56688452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9365599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:351.10, Y:-191.52, Z:-756.71 [[ 6.42409849e-01 2.42939260e-01 7.26835678e-01 3.51099905e+02] [-1.67247730e-01 9.70006479e-01 -1.76396221e-01 -1.91518520e+02] [-7.47888884e-01 -8.24294754e-03 6.63772755e-01 -7.56713606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:351.12, Y:-191.52, Z:-756.74 [[ 6.42918982e-01 2.42721151e-01 7.26458276e-01 3.51120047e+02] [-1.66645085e-01 9.70067108e-01 -1.76633016e-01 -1.91522735e+02] [-7.47585847e-01 -7.49998236e-03 6.64122844e-01 -7.56737443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.996559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.14, Y:-191.53, Z:-756.76 [[ 6.43278381e-01 2.41890108e-01 7.26417305e-01 3.51141118e+02] [-1.65058618e-01 9.70284556e-01 -1.76928048e-01 -1.91526923e+02] [-7.47628636e-01 -6.08744840e-03 6.64089125e-01 -7.56762963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.16, Y:-191.53, Z:-756.79 [[ 6.43932216e-01 2.41609716e-01 7.25931159e-01 3.51161308e+02] [-1.64397783e-01 9.70359148e-01 -1.77134111e-01 -1.91531725e+02] [-7.47211263e-01 -5.27911243e-03 6.64565618e-01 -7.56787052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.18, Y:-191.54, Z:-756.81 [[ 6.45268117e-01 2.40439866e-01 7.25132904e-01 3.51182575e+02] [-1.62509031e-01 9.70657823e-01 -1.77240530e-01 -1.91536552e+02] [-7.46471615e-01 -3.47298202e-03 6.65408195e-01 -7.56812041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.20, Y:-191.54, Z:-756.84 [[ 6.45888979e-01 2.40202736e-01 7.24658590e-01 3.51203190e+02] [-1.61918956e-01 9.70718917e-01 -1.77445865e-01 -1.91541482e+02] [-7.46062784e-01 -2.72563371e-03 6.65870027e-01 -7.56836788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.22, Y:-191.55, Z:-756.86 [[ 6.46815463e-01 2.39745802e-01 7.23983223e-01 3.51224080e+02] [-1.61053796e-01 9.70834166e-01 -1.77602638e-01 -1.91546157e+02] [-7.45447135e-01 -1.72411414e-03 6.66562522e-01 -7.56861523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.25, Y:-191.55, Z:-756.89 [[ 6.46768355e-01 2.40099030e-01 7.23908247e-01 3.51245449e+02] [-1.61242327e-01 9.70746982e-01 -1.77907870e-01 -1.91551338e+02] [-7.45447253e-01 -1.65946960e-03 6.66562555e-01 -7.56886715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.27, Y:-191.56, Z:-756.91 [[ 6.47289475e-01 2.38912190e-01 7.23835134e-01 3.51266017e+02] [-1.59233017e-01 9.71041176e-01 -1.78111992e-01 -1.91555480e+02] [-7.45426846e-01 3.15654587e-05 6.66587441e-01 -7.56911754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:351.29, Y:-191.56, Z:-756.94 [[ 6.47332343e-01 2.38521056e-01 7.23925786e-01 3.51287223e+02] [-1.58261247e-01 9.71136860e-01 -1.78456091e-01 -1.91559987e+02] [-7.45596550e-01 9.51001893e-04 6.66396939e-01 -7.56936603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.236559995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:351.31, Y:-191.56, Z:-756.96 [[ 6.47099226e-01 2.38503154e-01 7.24140068e-01 3.51308415e+02] [-1.57814044e-01 9.71140652e-01 -1.78831096e-01 -1.91564882e+02] [-7.45893638e-01 1.44199134e-03 6.66063511e-01 -7.56961416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:351.33, Y:-191.57, Z:-756.99 [[ 6.46993494e-01 2.38755495e-01 7.24151388e-01 3.51329945e+02] [-1.57746108e-01 9.71078177e-01 -1.79229851e-01 -1.91570100e+02] [-7.45999722e-01 1.72848475e-03 6.65944013e-01 -7.56986405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.35, Y:-191.58, Z:-757.01 [[ 6.46034091e-01 2.38466945e-01 7.25102386e-01 3.51351817e+02] [-1.56965676e-01 9.71148191e-01 -1.79535425e-01 -1.91575508e+02] [-7.46995134e-01 2.16981908e-03 6.64825963e-01 -7.57010798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.37, Y:-191.58, Z:-757.04 [[ 6.45270024e-01 2.39215818e-01 7.25535932e-01 3.51372699e+02] [-1.57413359e-01 9.70964304e-01 -1.80137044e-01 -1.91580778e+02] [-7.47561122e-01 2.02798712e-03 6.64189925e-01 -7.57035247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3565599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.39, Y:-191.59, Z:-757.06 [[ 6.43818678e-01 2.40284415e-01 7.26471548e-01 3.51393064e+02] [-1.58390329e-01 9.70701700e-01 -1.80695084e-01 -1.91585335e+02] [-7.48605379e-01 1.26880201e-03 6.63014612e-01 -7.57058867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:351.41, Y:-191.59, Z:-757.08 [[ 6.43033180e-01 2.41522792e-01 7.26756541e-01 3.51414065e+02] [-1.59835349e-01 9.70395109e-01 -1.81069032e-01 -1.91589978e+02] [-7.48973291e-01 2.72010067e-04 6.62600133e-01 -7.57083459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.43, Y:-191.59, Z:-757.11 [[ 6.42125618e-01 2.43050576e-01 7.27049592e-01 3.51434899e+02] [-1.61695751e-01 9.70013062e-01 -1.81463893e-01 -1.91594437e+02] [-7.49352504e-01 -1.03821507e-03 6.62170482e-01 -7.57108272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:351.46, Y:-191.60, Z:-757.13 [[ 6.40556248e-01 2.46485642e-01 7.27277472e-01 3.51456503e+02] [-1.66463285e-01 9.69135595e-01 -1.81841067e-01 -1.91598019e+02] [-7.49651698e-01 -4.58556549e-03 6.61816670e-01 -7.57133567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4765599949999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:351.48, Y:-191.60, Z:-757.16 [[ 6.39306945e-01 2.48632423e-01 7.27645895e-01 3.51476771e+02] [-1.69248407e-01 9.68575184e-01 -1.82255564e-01 -1.91601887e+02] [-7.50094398e-01 -6.63566106e-03 6.61297483e-01 -7.57157787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.50, Y:-191.61, Z:-757.18 [[ 6.37545806e-01 2.53266665e-01 7.27592840e-01 3.51497623e+02] [-1.75948329e-01 9.67326477e-01 -1.82542247e-01 -1.91605020e+02] [-7.50051685e-01 -1.16397006e-02 6.61276785e-01 -7.57182671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.52, Y:-191.61, Z:-757.21 [[ 6.37086249e-01 2.55433793e-01 7.27237712e-01 3.51518037e+02] [-1.78955561e-01 9.66729538e-01 -1.82781040e-01 -1.91608700e+02] [-7.49730631e-01 -1.36959456e-02 6.61601392e-01 -7.57207296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:351.54, Y:-191.61, Z:-757.23 [[ 6.36767171e-01 2.57367601e-01 7.26835255e-01 3.51538650e+02] [-1.81645146e-01 9.66189137e-01 -1.82985227e-01 -1.91612618e+02] [-7.49354797e-01 -1.55071111e-02 6.61987098e-01 -7.57232942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.56, Y:-191.62, Z:-757.26 [[ 6.36757176e-01 2.58992382e-01 7.26266649e-01 3.51558790e+02] [-1.83877596e-01 9.65731361e-01 -1.83171963e-01 -1.91616984e+02] [-7.48818622e-01 -1.69081038e-02 6.62559271e-01 -7.57256969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:-191.62, Z:-757.28 [[ 6.37121879e-01 2.60510540e-01 7.25403315e-01 3.51579332e+02] [-1.86044261e-01 9.65299486e-01 -1.83260565e-01 -1.91621961e+02] [-7.47972756e-01 -1.81978084e-02 6.63479914e-01 -7.57282447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.656559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:351.60, Y:-191.63, Z:-757.31 [[ 6.37306291e-01 2.60904129e-01 7.25099805e-01 3.51599805e+02] [-1.86345958e-01 9.65193763e-01 -1.83510719e-01 -1.91627461e+02] [-7.47740513e-01 -1.81668822e-02 6.63742487e-01 -7.57307026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.62, Y:-191.63, Z:-757.33 [[ 6.37520284e-01 2.61114087e-01 7.24836065e-01 3.51620645e+02] [-1.86360842e-01 9.65141528e-01 -1.83770149e-01 -1.91633236e+02] [-7.47554362e-01 -1.79238621e-02 6.63958742e-01 -7.57331634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.64, Y:-191.64, Z:-757.36 [[ 6.38013471e-01 2.60113376e-01 7.24761922e-01 3.51641056e+02] [-1.84490386e-01 9.65441102e-01 -1.84083612e-01 -1.91639454e+02] [-7.47597558e-01 -1.62637825e-02 6.63952845e-01 -7.57355900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.66, Y:-191.64, Z:-757.38 [[ 6.38045894e-01 2.59455133e-01 7.24969290e-01 3.51661638e+02] [-1.83211070e-01 9.65635476e-01 -1.84341615e-01 -1.91644848e+02] [-7.47884443e-01 -1.52039888e-02 6.63654804e-01 -7.57380789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.68, Y:-191.65, Z:-757.41 [[ 6.38718432e-01 2.57863607e-01 7.24944911e-01 3.51682047e+02] [-1.80446364e-01 9.66095614e-01 -1.84657453e-01 -1.91651317e+02] [-7.47982536e-01 -1.28695543e-02 6.63593626e-01 -7.57406325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.70, Y:-191.66, Z:-757.43 [[ 6.39180184e-01 2.57279963e-01 7.24745274e-01 3.51702406e+02] [-1.79247532e-01 9.66266038e-01 -1.84933141e-01 -1.91657543e+02] [-7.47876336e-01 -1.17032029e-02 6.63734902e-01 -7.57430601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.72, Y:-191.66, Z:-757.46 [[ 6.39551340e-01 2.56579567e-01 7.24666136e-01 3.51722937e+02] [-1.77867920e-01 9.66466731e-01 -1.85216256e-01 -1.91663814e+02] [-7.47888418e-01 -1.04395540e-02 6.63742367e-01 -7.57455019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.74, Y:-191.67, Z:-757.48 [[ 6.39871980e-01 2.55981431e-01 7.24594615e-01 3.51742957e+02] [-1.76611942e-01 9.66637363e-01 -1.85527437e-01 -1.91669946e+02] [-7.47911807e-01 -9.25825378e-03 6.63733542e-01 -7.57479109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.896559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.76, Y:-191.68, Z:-757.50 [[ 6.40841858e-01 2.54798271e-01 7.24154372e-01 3.51763166e+02] [-1.74599532e-01 9.66965767e-01 -1.85720783e-01 -1.91677378e+02] [-7.47553822e-01 -7.41936270e-03 6.64159798e-01 -7.57504166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.78, Y:-191.68, Z:-757.53 [[ 6.41474157e-01 2.54676298e-01 7.23637264e-01 3.51783883e+02] [-1.74191592e-01 9.67002499e-01 -1.85912499e-01 -1.91683651e+02] [-7.47106549e-01 -6.79346356e-03 6.64669582e-01 -7.57529041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.80, Y:-191.69, Z:-757.55 [[ 6.41717884e-01 2.54916826e-01 7.23336415e-01 3.51803977e+02] [-1.74269953e-01 9.66940509e-01 -1.86161318e-01 -1.91689926e+02] [-7.46878934e-01 -6.59275582e-03 6.64927360e-01 -7.57553895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.82, Y:-191.70, Z:-757.58 [[ 6.42565105e-01 2.55336520e-01 7.22435705e-01 3.51824049e+02] [-1.74783964e-01 9.66829788e-01 -1.86254467e-01 -1.91697642e+02] [-7.46029927e-01 -6.58955495e-03 6.65879813e-01 -7.57578391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.84, Y:-191.70, Z:-757.60 [[ 6.42335912e-01 2.55883129e-01 7.22446123e-01 3.51844024e+02] [-1.75233762e-01 9.66684191e-01 -1.86587253e-01 -1.91703804e+02] [-7.46121776e-01 -6.74525896e-03 6.65775335e-01 -7.57602489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:351.86, Y:-191.71, Z:-757.63 [[ 6.42302910e-01 2.57041929e-01 7.22063999e-01 3.51863704e+02] [-1.76738227e-01 9.66370074e-01 -1.86795285e-01 -1.91710764e+02] [-7.45795261e-01 -7.63715591e-03 6.66131446e-01 -7.57626608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0765599949999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:351.88, Y:-191.72, Z:-757.65 [[ 6.42009717e-01 2.58155851e-01 7.21927337e-01 3.51884701e+02] [-1.78110966e-01 9.66066012e-01 -1.87064010e-01 -1.91716834e+02] [-7.45721133e-01 -8.48626361e-03 6.66204155e-01 -7.57651324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:351.91, Y:-191.72, Z:-757.68 [[ 6.40968158e-01 2.59657344e-01 7.22314256e-01 3.51905432e+02] [-1.79910582e-01 9.65651276e-01 -1.87482789e-01 -1.91722282e+02] [-7.46184966e-01 -9.78148016e-03 6.65666823e-01 -7.57675952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.93, Y:-191.73, Z:-757.70 [[ 6.39647764e-01 2.62506974e-01 7.22454723e-01 3.51926653e+02] [-1.83801947e-01 9.64847396e-01 -1.87846603e-01 -1.91727856e+02] [-7.46369602e-01 -1.26329255e-02 6.65411772e-01 -7.57700677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.95, Y:-191.73, Z:-757.73 [[ 6.38745540e-01 2.63912551e-01 7.22740826e-01 3.51947293e+02] [-1.85479275e-01 9.64447747e-01 -1.88249785e-01 -1.91732758e+02] [-7.46727242e-01 -1.38097338e-02 6.64987005e-01 -7.57725293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1965599949999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:351.97, Y:-191.74, Z:-757.75 [[ 6.38095395e-01 2.65305798e-01 7.22805023e-01 3.51968167e+02] [-1.87198475e-01 9.64048148e-01 -1.88594537e-01 -1.91737892e+02] [-7.46854067e-01 -1.49666923e-02 6.64819525e-01 -7.57749291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.99, Y:-191.74, Z:-757.77 [[ 6.36897696e-01 2.67305303e-01 7.23124608e-01 3.51989835e+02] [-1.89795885e-01 9.63463978e-01 -1.88983292e-01 -1.91743282e+02] [-7.47220748e-01 -1.68830519e-02 6.64361435e-01 -7.57774023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.256559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:352.01, Y:-191.75, Z:-757.80 [[ 6.36998097e-01 2.67978989e-01 7.22786751e-01 3.52010851e+02] [-1.90535047e-01 9.63271510e-01 -1.89220489e-01 -1.91747959e+02] [-7.46947000e-01 -1.71831165e-02 6.64661508e-01 -7.57799087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.03, Y:-191.75, Z:-757.82 [[ 6.36902059e-01 2.68926339e-01 7.22519475e-01 3.52031964e+02] [-1.91672329e-01 9.62996055e-01 -1.89473789e-01 -1.91752896e+02] [-7.46737896e-01 -1.78107438e-02 6.64879908e-01 -7.57824023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:-191.76, Z:-757.85 [[ 6.36940097e-01 2.69455191e-01 7.22288871e-01 3.52052648e+02] [-1.92158020e-01 9.62845859e-01 -1.89744952e-01 -1.91757327e+02] [-7.46580611e-01 -1.79374307e-02 6.65053111e-01 -7.57848865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.07, Y:-191.76, Z:-757.87 [[ 6.37133618e-01 2.70050556e-01 7.21895733e-01 3.52072774e+02] [-1.92788303e-01 9.62675320e-01 -1.89970782e-01 -1.91761489e+02] [-7.46252922e-01 -1.81362815e-02 6.65415398e-01 -7.57872670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.376559995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:352.09, Y:-191.77, Z:-757.90 [[ 6.37133772e-01 2.70292276e-01 7.21805128e-01 3.52093624e+02] [-1.92833050e-01 9.62610578e-01 -1.90253227e-01 -1.91766503e+02] [-7.46241229e-01 -1.79711281e-02 6.65432992e-01 -7.57897451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.11, Y:-191.77, Z:-757.92 [[ 6.37937825e-01 2.70425197e-01 7.21044759e-01 3.52114022e+02] [-1.92857576e-01 9.62579986e-01 -1.90383104e-01 -1.91771456e+02] [-7.45547642e-01 -1.76063609e-02 6.66219731e-01 -7.57920896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4365599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:352.14, Y:-191.78, Z:-757.95 [[ 6.38484974e-01 2.70373605e-01 7.20579664e-01 3.52135238e+02] [-1.92555586e-01 9.62604009e-01 -1.90567227e-01 -1.91776632e+02] [-7.45157221e-01 -1.70773285e-02 6.66670144e-01 -7.57946023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.16, Y:-191.78, Z:-757.97 [[ 6.38781721e-01 2.70264702e-01 7.20357483e-01 3.52156479e+02] [-1.92087158e-01 9.62645149e-01 -1.90831972e-01 -1.91781892e+02] [-7.45023782e-01 -1.64714460e-02 6.66834504e-01 -7.57971080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.496559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:352.18, Y:-191.79, Z:-758.00 [[ 6.39999697e-01 2.72188127e-01 7.18549937e-01 3.52176261e+02] [-1.90663438e-01 9.62163822e-01 -1.94648999e-01 -1.91785129e+02] [-7.44343900e-01 -1.24259010e-02 6.67680879e-01 -7.57995866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.20, Y:-191.80, Z:-758.02 [[ 6.40255082e-01 2.63134150e-01 7.21688194e-01 3.52199764e+02] [-1.88378250e-01 9.64595527e-01 -1.84578178e-01 -1.91797233e+02] [-7.44706026e-01 -1.77732427e-02 6.67155939e-01 -7.58018023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:352.22, Y:-191.80, Z:-758.04 [[ 6.40409394e-01 2.67291207e-01 7.20021680e-01 3.52219379e+02] [-1.86760320e-01 9.63543793e-01 -1.91582730e-01 -1.91799441e+02] [-7.44980799e-01 -1.17800994e-02 6.66981888e-01 -7.58044042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.24, Y:-191.81, Z:-758.07 [[ 6.40533321e-01 2.66370184e-01 7.20252727e-01 3.52240888e+02] [-1.84953088e-01 9.63816269e-01 -1.91964982e-01 -1.91806015e+02] [-7.45325044e-01 -1.02529988e-02 6.66622424e-01 -7.58068633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.26, Y:-191.81, Z:-758.09 [[ 6.40604286e-01 2.63846803e-01 7.21117891e-01 3.52262018e+02] [-1.80554387e-01 9.64540102e-01 -1.92516245e-01 -1.91813153e+02] [-7.46341920e-01 -6.87426728e-03 6.65527222e-01 -7.58093005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:-191.82, Z:-758.12 [[ 6.40640562e-01 2.63018139e-01 7.21388335e-01 3.52282837e+02] [-1.78857160e-01 9.64775591e-01 -1.92920127e-01 -1.91819375e+02] [-7.46719350e-01 -5.43301010e-03 6.65117054e-01 -7.58117298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.30, Y:-191.83, Z:-758.14 [[ 6.40633314e-01 2.62329539e-01 7.21645460e-01 3.52303091e+02] [-1.77374375e-01 9.64969405e-01 -1.93319369e-01 -1.91825062e+02] [-7.47079171e-01 -4.15458470e-03 6.64722086e-01 -7.58141244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:352.32, Y:-191.83, Z:-758.17 [[ 6.40580776e-01 2.61133509e-01 7.22125723e-01 3.52323994e+02] [-1.75085507e-01 9.65299911e-01 -1.93755380e-01 -1.91830901e+02] [-7.47663918e-01 -2.31777653e-03 6.64073259e-01 -7.58166462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.34, Y:-191.84, Z:-758.19 [[ 6.40771947e-01 2.61086065e-01 7.21973253e-01 3.52344668e+02] [-1.74688147e-01 9.65313882e-01 -1.94044222e-01 -1.91836694e+02] [-7.47593046e-01 -1.78207568e-03 6.64154697e-01 -7.58190963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:352.36, Y:-191.84, Z:-758.21 [[ 6.40799623e-01 2.61282462e-01 7.21877634e-01 3.52364396e+02] [-1.74643886e-01 9.65261167e-01 -1.94346066e-01 -1.91842221e+02] [-7.47579665e-01 -1.53462965e-03 6.64170376e-01 -7.58214944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7965599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:352.38, Y:-191.85, Z:-758.24 [[ 6.41295071e-01 2.61800246e-01 7.21249792e-01 3.52384947e+02] [-1.75269463e-01 9.65120595e-01 -1.94480981e-01 -1.91848055e+02] [-7.47008198e-01 -1.69336944e-03 6.64812669e-01 -7.58239592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:352.41, Y:-191.85, Z:-758.26 [[ 6.41176532e-01 2.62740178e-01 7.21013352e-01 3.52405182e+02] [-1.76390535e-01 9.64863842e-01 -1.94741228e-01 -1.91853640e+02] [-7.46846058e-01 -2.31642610e-03 6.64992933e-01 -7.58263655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8565599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.43, Y:-191.86, Z:-758.29 [[ 6.40612120e-01 2.64874849e-01 7.20733950e-01 3.52426547e+02] [-1.79461036e-01 9.64272251e-01 -1.94866014e-01 -1.91858911e+02] [-7.46598854e-01 -4.51013136e-03 6.65259206e-01 -7.58288721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.45, Y:-191.86, Z:-758.31 [[ 6.39969862e-01 2.66459654e-01 7.20720354e-01 3.52447383e+02] [-1.81493897e-01 9.63828036e-01 -1.95180641e-01 -1.91863927e+02] [-7.46658249e-01 -5.89661721e-03 6.65181696e-01 -7.58313200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.47, Y:-191.87, Z:-758.34 [[ 6.39297155e-01 2.68048948e-01 7.20728041e-01 3.52468666e+02] [-1.83529657e-01 9.63377695e-01 -1.95500080e-01 -1.91868869e+02] [-7.46736910e-01 -7.29232512e-03 6.65079552e-01 -7.58338285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.49, Y:-191.87, Z:-758.36 [[ 6.38399786e-01 2.70733315e-01 7.20520080e-01 3.52488593e+02] [-1.87275928e-01 9.62602857e-01 -1.95763802e-01 -1.91873180e+02] [-7.46574470e-01 -9.96049777e-03 6.65227291e-01 -7.58362338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9765599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:352.51, Y:-191.88, Z:-758.39 [[ 6.38015493e-01 2.72012486e-01 7.20378677e-01 3.52509213e+02] [-1.88910597e-01 9.62230604e-01 -1.96023086e-01 -1.91878320e+02] [-7.46491137e-01 -1.10214005e-02 6.65304075e-01 -7.58387063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:352.53, Y:-191.88, Z:-758.41 [[ 6.37740660e-01 2.73366247e-01 7.20109537e-01 3.52529966e+02] [-1.90671019e-01 9.61833461e-01 -1.96267561e-01 -1.91883555e+02] [-7.46278375e-01 -1.21362151e-02 6.65523328e-01 -7.58411445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.036559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.55, Y:-191.89, Z:-758.44 [[ 6.36588518e-01 2.74839098e-01 7.20568199e-01 3.52550994e+02] [-1.92410310e-01 9.61396557e-01 -1.96710275e-01 -1.91888708e+02] [-7.46815461e-01 -1.34212479e-02 6.64895885e-01 -7.58436350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.57, Y:-191.89, Z:-758.46 [[ 6.36551376e-01 2.75137311e-01 7.20487201e-01 3.52572235e+02] [-1.92525343e-01 9.61312841e-01 -1.97006633e-01 -1.91894459e+02] [-7.46817474e-01 -1.33072022e-02 6.64895917e-01 -7.58461558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.59, Y:-191.90, Z:-758.49 [[ 6.35871855e-01 2.75894258e-01 7.20797713e-01 3.52593484e+02] [-1.93427379e-01 9.61085901e-01 -1.97230169e-01 -1.91900248e+02] [-7.47163191e-01 -1.40088986e-02 6.64492978e-01 -7.58486032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:-191.91, Z:-758.51 [[ 6.35290487e-01 2.76568656e-01 7.21051854e-01 3.52613944e+02] [-1.94009442e-01 9.60887155e-01 -1.97626447e-01 -1.91905311e+02] [-7.47506745e-01 -1.43406659e-02 6.64099399e-01 -7.58509965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.156559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:352.63, Y:-191.91, Z:-758.53 [[ 6.34254789e-01 2.77030383e-01 7.21786000e-01 3.52634484e+02] [-1.94161369e-01 9.60752107e-01 -1.98133167e-01 -1.91909260e+02] [-7.48346328e-01 -1.44760484e-02 6.63150223e-01 -7.58533916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.66, Y:-191.91, Z:-758.56 [[ 6.33472655e-01 2.77573950e-01 7.22263870e-01 3.52655802e+02] [-1.94523858e-01 9.60591529e-01 -1.98555744e-01 -1.91914735e+02] [-7.48914457e-01 -1.47179201e-02 6.62503222e-01 -7.58558597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.68, Y:-191.92, Z:-758.58 [[ 6.32723497e-01 2.77623566e-01 7.22901191e-01 3.52676616e+02] [-1.94053112e-01 9.60583008e-01 -1.99056964e-01 -1.91919750e+02] [-7.49669505e-01 -1.43332077e-02 6.61657157e-01 -7.58583124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:352.70, Y:-191.92, Z:-758.61 [[ 6.31966051e-01 2.77255101e-01 7.23704719e-01 3.52697590e+02] [-1.92895684e-01 9.60702123e-01 -1.99606326e-01 -1.91924396e+02] [-7.50606532e-01 -1.34550953e-02 6.60612439e-01 -7.58607983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.72, Y:-191.93, Z:-758.63 [[ 6.32019228e-01 2.77187197e-01 7.23684292e-01 3.52718042e+02] [-1.92422719e-01 9.60729426e-01 -1.99931158e-01 -1.91929515e+02] [-7.50683151e-01 -1.28929631e-02 6.60536584e-01 -7.58632109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.74, Y:-191.93, Z:-758.66 [[ 6.32250558e-01 2.77106238e-01 7.23513210e-01 3.52738430e+02] [-1.92115435e-01 9.60758081e-01 -2.00088906e-01 -1.91934826e+02] [-7.50567047e-01 -1.24917327e-02 6.60676218e-01 -7.58657229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.76, Y:-191.94, Z:-758.68 [[ 6.33563453e-01 2.76334546e-01 7.22659374e-01 3.52758417e+02] [-1.90817738e-01 9.60997753e-01 -2.00179694e-01 -1.91939427e+02] [-7.49790599e-01 -1.10696885e-02 6.61582587e-01 -7.58682507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.78, Y:-191.94, Z:-758.71 [[ 6.34366239e-01 2.76050820e-01 7.22063307e-01 3.52778552e+02] [-1.90186728e-01 9.61088542e-01 -2.00344262e-01 -1.91944253e+02] [-7.49271969e-01 -1.02352215e-02 6.62183326e-01 -7.58706837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.80, Y:-191.95, Z:-758.73 [[ 6.34919586e-01 2.75794643e-01 7.21674743e-01 3.52798819e+02] [-1.89565078e-01 9.61169875e-01 -2.00543145e-01 -1.91949346e+02] [-7.48960747e-01 -9.47555808e-03 6.62546612e-01 -7.58731261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.82, Y:-191.95, Z:-758.76 [[ 6.35443173e-01 2.75442505e-01 7.21348321e-01 3.52819141e+02] [-1.88900456e-01 9.61277643e-01 -2.00653710e-01 -1.91954850e+02] [-7.48684574e-01 -8.75899677e-03 6.62868531e-01 -7.58755934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.84, Y:-191.96, Z:-758.78 [[ 6.36643941e-01 2.74554947e-01 7.20627556e-01 3.52839358e+02] [-1.87410656e-01 9.61544215e-01 -2.00773424e-01 -1.91960431e+02] [-7.48038594e-01 -7.23209948e-03 6.63615821e-01 -7.58779811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.86, Y:-191.97, Z:-758.80 [[ 6.37217363e-01 2.74181626e-01 7.20262777e-01 3.52859698e+02] [-1.86619342e-01 9.61656942e-01 -2.00970512e-01 -1.91965962e+02] [-7.47748121e-01 -6.35306567e-03 6.63952096e-01 -7.58804085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.516559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:352.88, Y:-191.97, Z:-758.83 [[ 6.38268300e-01 2.73194087e-01 7.19707279e-01 3.52880494e+02] [-1.85076564e-01 9.61946446e-01 -2.01011690e-01 -1.91971961e+02] [-7.47235065e-01 -4.90156071e-03 6.64541746e-01 -7.58829268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:352.90, Y:-191.98, Z:-758.85 [[ 6.38669057e-01 2.72906209e-01 7.19460935e-01 3.52900368e+02] [-1.84345597e-01 9.62031984e-01 -2.01273851e-01 -1.91977811e+02] [-7.47073314e-01 -4.08207511e-03 6.64729118e-01 -7.58853293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.92, Y:-191.98, Z:-758.88 [[ 6.38610276e-01 2.72598801e-01 7.19629633e-01 3.52921071e+02] [-1.83484928e-01 9.62122207e-01 -2.01628717e-01 -1.91984067e+02] [-7.47335397e-01 -3.27902072e-03 6.64438900e-01 -7.58878090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.94, Y:-191.99, Z:-758.90 [[ 6.38556306e-01 2.71279093e-01 7.20176019e-01 3.52941582e+02] [-1.80954207e-01 9.62499906e-01 -2.02112606e-01 -1.91990333e+02] [-7.47998275e-01 -1.25860123e-03 6.63699478e-01 -7.58902829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:-192.00, Z:-758.93 [[ 6.38698763e-01 2.70806160e-01 7.20227682e-01 3.52962849e+02] [-1.79853135e-01 9.62633873e-01 -2.02457100e-01 -1.91996717e+02] [-7.48142192e-01 -2.26107140e-04 6.63538401e-01 -7.58927753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:352.98, Y:-192.00, Z:-758.95 [[ 6.38620241e-01 2.70251241e-01 7.20505694e-01 3.52982973e+02] [-1.78557575e-01 9.62789413e-01 -2.02863841e-01 -1.92002573e+02] [-7.48519459e-01 9.01205653e-04 6.63112213e-01 -7.58952004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.00, Y:-192.01, Z:-758.98 [[ 6.38334930e-01 2.69297513e-01 7.21115364e-01 3.53003784e+02] [-1.76692411e-01 9.63054241e-01 -2.03239566e-01 -1.92009278e+02] [-7.49205119e-01 2.31930206e-03 6.62333988e-01 -7.58976305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.02, Y:-192.02, Z:-759.00 [[ 6.38397143e-01 2.69185144e-01 7.21102244e-01 3.53024972e+02] [-1.76160374e-01 9.63084014e-01 -2.03560079e-01 -1.92015431e+02] [-7.49277392e-01 2.92253248e-03 6.62249839e-01 -7.59001242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.756559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.05, Y:-192.02, Z:-759.03 [[ 6.38141302e-01 2.69307950e-01 7.21282820e-01 3.53045642e+02] [-1.75918589e-01 9.63048621e-01 -2.03936276e-01 -1.92021400e+02] [-7.49552085e-01 3.25310471e-03 6.61937376e-01 -7.59025626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.07, Y:-192.03, Z:-759.05 [[ 6.37600712e-01 2.69510554e-01 7.21685107e-01 3.53066781e+02] [-1.75716982e-01 9.62991070e-01 -2.04381361e-01 -1.92027240e+02] [-7.50059247e-01 3.50137210e-03 6.61361374e-01 -7.59050549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8165599949999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:353.09, Y:-192.03, Z:-759.08 [[ 6.37633079e-01 2.69858664e-01 7.21526408e-01 3.53087361e+02] [-1.75920093e-01 9.62893320e-01 -2.04666985e-01 -1.92032557e+02] [-7.49984118e-01 3.57144709e-03 6.61446194e-01 -7.59075163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.11, Y:-192.04, Z:-759.10 [[ 6.37894385e-01 2.70339720e-01 7.21115240e-01 3.53106869e+02] [-1.76408224e-01 9.62758701e-01 -2.04880017e-01 -1.92037203e+02] [-7.49647178e-01 3.48115379e-03 6.61828520e-01 -7.59099666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.13, Y:-192.04, Z:-759.12 [[ 6.37781298e-01 2.70778060e-01 7.21050802e-01 3.53127603e+02] [-1.76743413e-01 9.62635758e-01 -2.05168623e-01 -1.92042690e+02] [-7.49664447e-01 3.41173089e-03 6.61809321e-01 -7.59124993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.15, Y:-192.05, Z:-759.15 [[ 6.37859087e-01 2.71130867e-01 7.20849387e-01 3.53148457e+02] [-1.76973986e-01 9.62536247e-01 -2.05436565e-01 -1.92048267e+02] [-7.49543857e-01 3.46799077e-03 6.61945602e-01 -7.59150445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.17, Y:-192.05, Z:-759.17 [[ 6.37668480e-01 2.71536302e-01 7.20865415e-01 3.53168212e+02] [-1.77213759e-01 9.62421969e-01 -2.05765003e-01 -1.92053793e+02] [-7.49649380e-01 3.46258697e-03 6.61826124e-01 -7.59174990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.19, Y:-192.06, Z:-759.20 [[ 6.37683797e-01 2.72225823e-01 7.20591755e-01 3.53188891e+02] [-1.78117582e-01 9.62228898e-01 -2.05887531e-01 -1.92059559e+02] [-7.49422112e-01 2.94108190e-03 6.62085982e-01 -7.59199705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.21, Y:-192.07, Z:-759.22 [[ 6.37716082e-01 2.72898936e-01 7.20308524e-01 3.53210025e+02] [-1.78851375e-01 9.62039114e-01 -2.06138131e-01 -1.92065158e+02] [-7.49219851e-01 2.62943128e-03 6.62316164e-01 -7.59224749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.23, Y:-192.07, Z:-759.25 [[ 6.37441121e-01 2.74206743e-01 7.20055192e-01 3.53229630e+02] [-1.80534261e-01 9.61669484e-01 -2.06395700e-01 -1.92069933e+02] [-7.49050197e-01 1.57047460e-03 6.62511386e-01 -7.59248892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.25, Y:-192.08, Z:-759.27 [[ 6.37098849e-01 2.75406084e-01 7.19900372e-01 3.53249463e+02] [-1.82047086e-01 9.61327791e-01 -2.06658502e-01 -1.92075187e+02] [-7.48975244e-01 6.06128636e-04 6.62597704e-01 -7.59272723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:353.27, Y:-192.08, Z:-759.30 [[ 6.36780509e-01 2.76465024e-01 7.19776127e-01 3.53270174e+02] [-1.83345544e-01 9.61023959e-01 -2.06923566e-01 -1.92080796e+02] [-7.48929232e-01 -2.02851773e-04 6.62649956e-01 -7.59297459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.29, Y:-192.09, Z:-759.32 [[ 6.35631568e-01 2.78743445e-01 7.19912913e-01 3.53290857e+02] [-1.86369487e-01 9.60362584e-01 -2.07292359e-01 -1.92086502e+02] [-7.49158811e-01 -2.40823282e-03 6.62386047e-01 -7.59322003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.31, Y:-192.09, Z:-759.35 [[ 6.34955623e-01 2.80060616e-01 7.19998201e-01 3.53311959e+02] [-1.87960181e-01 9.59975994e-01 -2.07646483e-01 -1.92091954e+02] [-7.49334590e-01 -3.48468998e-03 6.62182399e-01 -7.59347065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.33, Y:-192.10, Z:-759.37 [[ 6.33341921e-01 2.82800023e-01 7.20348636e-01 3.53331690e+02] [-1.91621955e-01 9.59158524e-01 -2.08076795e-01 -1.92096218e+02] [-7.49772657e-01 -6.25085723e-03 6.61665996e-01 -7.59371269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.35, Y:-192.10, Z:-759.40 [[ 6.32213103e-01 2.85297337e-01 7.20355483e-01 3.53351819e+02] [-1.95055586e-01 9.58398980e-01 -2.08385975e-01 -1.92100791e+02] [-7.49839923e-01 -8.76501709e-03 6.61561232e-01 -7.59396172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.236559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.37, Y:-192.11, Z:-759.42 [[ 6.32177645e-01 2.85511656e-01 7.20301687e-01 3.53372991e+02] [-1.95168767e-01 9.58335511e-01 -2.08571811e-01 -1.92106921e+02] [-7.49840368e-01 -8.72595599e-03 6.61561245e-01 -7.59421350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.39, Y:-192.11, Z:-759.45 [[ 6.31378221e-01 2.86781843e-01 7.20498242e-01 3.53393711e+02] [-1.96876399e-01 9.57943332e-01 -2.08768426e-01 -1.92112639e+02] [-7.50067481e-01 -1.00372625e-02 6.61285133e-01 -7.59446502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.41, Y:-192.12, Z:-759.47 [[ 6.30223894e-01 2.88870158e-01 7.20674598e-01 3.53414972e+02] [-1.99624823e-01 9.57292360e-01 -2.09144131e-01 -1.92118867e+02] [-7.50311785e-01 -1.20569108e-02 6.60974173e-01 -7.59471229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.44, Y:-192.12, Z:-759.49 [[ 6.29817031e-01 2.90067124e-01 7.20549493e-01 3.53435050e+02] [-2.01101117e-01 9.56918098e-01 -2.09442340e-01 -1.92124885e+02] [-7.50259187e-01 -1.29929552e-02 6.61016138e-01 -7.59494889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.46, Y:-192.13, Z:-759.52 [[ 6.28987557e-01 2.91784155e-01 7.20580780e-01 3.53455630e+02] [-2.03348097e-01 9.56372900e-01 -2.09762791e-01 -1.92130438e+02] [-7.50349389e-01 -1.45905455e-02 6.60880406e-01 -7.59519296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.48, Y:-192.14, Z:-759.54 [[ 6.28786525e-01 2.92643370e-01 7.20407776e-01 3.53476133e+02] [-2.04356442e-01 9.56101443e-01 -2.10020181e-01 -1.92135377e+02] [-7.50243928e-01 -1.51621102e-02 6.60987261e-01 -7.59544067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.50, Y:-192.14, Z:-759.57 [[ 6.28555587e-01 2.93633037e-01 7.20206577e-01 3.53496627e+02] [-2.05548592e-01 9.55786658e-01 -2.10289420e-01 -1.92140777e+02] [-7.50111759e-01 -1.58588583e-02 6.61120901e-01 -7.59569156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.52, Y:-192.15, Z:-759.59 [[ 6.28613488e-01 2.94551993e-01 7.19780666e-01 3.53516880e+02] [-2.06695043e-01 9.55493791e-01 -2.10496496e-01 -1.92146220e+02] [-7.49748119e-01 -1.64541596e-02 6.61518721e-01 -7.59593939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.54, Y:-192.15, Z:-759.62 [[ 6.28869810e-01 2.94906176e-01 7.19411641e-01 3.53537058e+02] [-2.06969021e-01 9.55385773e-01 -2.10717464e-01 -1.92152421e+02] [-7.49457528e-01 -1.63820716e-02 6.61849712e-01 -7.59617454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.56, Y:-192.16, Z:-759.64 [[ 6.28913338e-01 2.95030281e-01 7.19322700e-01 3.53557110e+02] [-2.06835853e-01 9.55352556e-01 -2.10998633e-01 -1.92158617e+02] [-7.49457767e-01 -1.60818696e-02 6.61856805e-01 -7.59641733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.536559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.58, Y:-192.17, Z:-759.67 [[ 6.28920990e-01 2.94960611e-01 7.19344581e-01 3.53577573e+02] [-2.06501129e-01 9.55380150e-01 -2.11201450e-01 -1.92165139e+02] [-7.49543643e-01 -1.57164428e-02 6.61768329e-01 -7.59666438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.60, Y:-192.17, Z:-759.69 [[ 6.29206080e-01 2.94490195e-01 7.19288005e-01 3.53597701e+02] [-2.05423817e-01 9.55541909e-01 -2.11520013e-01 -1.92172371e+02] [-7.49600403e-01 -1.46692094e-02 6.61728079e-01 -7.59690956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.62, Y:-192.18, Z:-759.72 [[ 6.29712740e-01 2.93668037e-01 7.19180748e-01 3.53617739e+02] [-2.03829256e-01 9.55816287e-01 -2.11822709e-01 -1.92178740e+02] [-7.49610232e-01 -1.32026183e-02 6.61747831e-01 -7.59715416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.64, Y:-192.19, Z:-759.74 [[ 6.29996825e-01 2.93654107e-01 7.18937595e-01 3.53638167e+02] [-2.03530498e-01 9.55827009e-01 -2.12061464e-01 -1.92185458e+02] [-7.49452691e-01 -1.27276777e-02 6.61935548e-01 -7.59740563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:-192.19, Z:-759.76 [[ 6.30286888e-01 2.93543006e-01 7.18728699e-01 3.53658318e+02] [-2.03049733e-01 9.55869191e-01 -2.12332041e-01 -1.92192249e+02] [-7.49339205e-01 -1.21075690e-02 6.62075647e-01 -7.59764965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.68, Y:-192.20, Z:-759.79 [[ 6.30656586e-01 2.93185273e-01 7.18550392e-01 3.53678789e+02] [-2.02212654e-01 9.55989690e-01 -2.12588229e-01 -1.92198828e+02] [-7.49254505e-01 -1.12298151e-02 6.62186966e-01 -7.59789631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:-192.19, Z:-759.82 [[ 6.29086677e-01 3.00888814e-01 7.16739754e-01 3.53691347e+02] [-1.96514479e-01 9.53655958e-01 -2.27864812e-01 -1.92192432e+02] [-7.52085110e-01 2.49697801e-03 6.59061267e-01 -7.59821633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.72, Y:-192.22, Z:-759.83 [[ 6.32046653e-01 2.75521709e-01 7.24296084e-01 3.53721772e+02] [-1.99709628e-01 9.61001558e-01 -1.91290541e-01 -1.92224407e+02] [-7.48754361e-01 -2.37443552e-02 6.62422156e-01 -7.59832753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.74, Y:-192.22, Z:-759.86 [[ 6.32077876e-01 2.91513101e-01 7.17981665e-01 3.53739086e+02] [-1.99030227e-01 9.56531932e-01 -2.13151664e-01 -1.92218772e+02] [-7.48908892e-01 -8.17160258e-03 6.62622590e-01 -7.59863361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:-192.23, Z:-759.89 [[ 6.32682276e-01 2.90877943e-01 7.17706876e-01 3.53759106e+02] [-1.97785930e-01 9.56735007e-01 -2.13398343e-01 -1.92225301e+02] [-7.48728164e-01 -6.93897276e-03 6.62840847e-01 -7.59888689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:-192.23, Z:-759.91 [[ 6.32956742e-01 2.90942460e-01 7.17438672e-01 3.53779218e+02] [-1.97598936e-01 9.56718227e-01 -2.13646660e-01 -1.92231496e+02] [-7.48545539e-01 -6.53602474e-03 6.63051172e-01 -7.59913745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.80, Y:-192.24, Z:-759.94 [[ 6.33896562e-01 2.90568620e-01 7.16760090e-01 3.53798614e+02] [-1.96884032e-01 9.56837713e-01 -2.13771533e-01 -1.92238551e+02] [-7.47938385e-01 -5.60957711e-03 6.63744458e-01 -7.59937755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:-192.25, Z:-759.96 [[ 6.33973673e-01 2.90729644e-01 7.16626581e-01 3.53819573e+02] [-1.96827334e-01 9.56790239e-01 -2.14036070e-01 -1.92245314e+02] [-7.47887948e-01 -5.35846557e-03 6.63803363e-01 -7.59962761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:353.84, Y:-192.25, Z:-759.99 [[ 6.33834943e-01 2.90955692e-01 7.16657554e-01 3.53839676e+02] [-1.96788273e-01 9.56722656e-01 -2.14373821e-01 -1.92251638e+02] [-7.48015802e-01 -5.15218413e-03 6.63660919e-01 -7.59987477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9565599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:353.86, Y:-192.26, Z:-760.01 [[ 6.33797090e-01 2.91263600e-01 7.16565952e-01 3.53860774e+02] [-1.96907201e-01 9.56629593e-01 -2.14679706e-01 -1.92257885e+02] [-7.48016579e-01 -5.03362339e-03 6.63660952e-01 -7.60012685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:353.88, Y:-192.26, Z:-760.04 [[ 6.33194261e-01 2.91371672e-01 7.17054793e-01 3.53881716e+02] [-1.96746601e-01 9.56597070e-01 -2.14971674e-01 -1.92264703e+02] [-7.48569171e-01 -4.95926289e-03 6.63038161e-01 -7.60037523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.90, Y:-192.27, Z:-760.06 [[ 6.32807304e-01 2.92003473e-01 7.17139378e-01 3.53903185e+02] [-1.97298558e-01 9.56402965e-01 -2.15329159e-01 -1.92271008e+02] [-7.48751091e-01 -5.22870030e-03 6.62830646e-01 -7.60062251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:-192.28, Z:-760.09 [[ 6.31982784e-01 2.92584901e-01 7.17629317e-01 3.53923770e+02] [-1.97640147e-01 9.56224051e-01 -2.15809953e-01 -1.92276531e+02] [-7.49357147e-01 -5.44418934e-03 6.62143661e-01 -7.60087018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.94, Y:-192.28, Z:-760.11 [[ 6.30690227e-01 2.93533905e-01 7.18378511e-01 3.53944250e+02] [-1.98451003e-01 9.55929203e-01 -2.16371343e-01 -1.92281198e+02] [-7.50231322e-01 -6.09964455e-03 6.61147304e-01 -7.60110539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.97, Y:-192.29, Z:-760.14 [[ 6.29688461e-01 2.94233401e-01 7.18970896e-01 3.53965217e+02] [-1.99080603e-01 9.55710511e-01 -2.16758698e-01 -1.92286661e+02] [-7.50905691e-01 -6.64270879e-03 6.60376043e-01 -7.60135559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.136559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.99, Y:-192.29, Z:-760.16 [[ 6.29025193e-01 2.95064216e-01 7.19210967e-01 3.53985882e+02] [-1.99884987e-01 9.55450612e-01 -2.17163810e-01 -1.92291425e+02] [-7.51247827e-01 -7.15796692e-03 6.59981413e-01 -7.60160031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:-192.30, Z:-760.19 [[ 6.28527921e-01 2.96380150e-01 7.19104624e-01 3.54006889e+02] [-2.01566570e-01 9.55034164e-01 -2.17441171e-01 -1.92295109e+02] [-7.51214730e-01 -8.27960575e-03 6.60005968e-01 -7.60185390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:-192.30, Z:-760.21 [[ 6.28429679e-01 2.97203509e-01 7.18850619e-01 3.54026521e+02] [-2.02524019e-01 9.54773800e-01 -2.17694770e-01 -1.92300032e+02] [-7.51039387e-01 -8.77866200e-03 6.60199041e-01 -7.60209638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:354.05, Y:-192.31, Z:-760.23 [[ 6.28502479e-01 2.97994796e-01 7.18459279e-01 3.54046751e+02] [-2.03619375e-01 9.54521052e-01 -2.17781340e-01 -1.92305457e+02] [-7.50682213e-01 -9.41611713e-03 6.60596361e-01 -7.60234209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:-192.31, Z:-760.26 [[ 6.28990052e-01 2.99241166e-01 7.17513930e-01 3.54067441e+02] [-2.05471669e-01 9.54120434e-01 -2.17797131e-01 -1.92310055e+02] [-7.49768569e-01 -1.04365560e-02 6.61617843e-01 -7.60259174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.09, Y:-192.32, Z:-760.28 [[ 6.28763681e-01 3.00038359e-01 7.17379410e-01 3.54088191e+02] [-2.06348649e-01 9.53864807e-01 -2.18087518e-01 -1.92315460e+02] [-7.49717593e-01 -1.09047609e-02 6.61668057e-01 -7.60284547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.11, Y:-192.32, Z:-760.31 [[ 6.28520370e-01 3.00747922e-01 7.17295499e-01 3.54108398e+02] [-2.07078517e-01 9.53637042e-01 -2.18391574e-01 -1.92320472e+02] [-7.49720370e-01 -1.12729349e-02 6.61658740e-01 -7.60308885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.13, Y:-192.33, Z:-760.33 [[ 6.28056002e-01 3.01616159e-01 7.17337683e-01 3.54129432e+02] [-2.08150810e-01 9.53353720e-01 -2.18609068e-01 -1.92325079e+02] [-7.49812576e-01 -1.20156824e-02 6.61541174e-01 -7.60334259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:-192.33, Z:-760.36 [[ 6.27648556e-01 3.02061105e-01 7.17507059e-01 3.54150100e+02] [-2.08394979e-01 9.53212102e-01 -2.18993655e-01 -1.92330403e+02] [-7.50085877e-01 -1.20738177e-02 6.61230217e-01 -7.60359086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.17, Y:-192.34, Z:-760.38 [[ 6.27429792e-01 3.02271679e-01 7.17609704e-01 3.54170428e+02] [-2.08302087e-01 9.53148199e-01 -2.19359869e-01 -1.92336135e+02] [-7.50294673e-01 -1.18466823e-02 6.60997398e-01 -7.60383648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.19, Y:-192.34, Z:-760.41 [[ 6.27531260e-01 3.02060564e-01 7.17609875e-01 3.54191130e+02] [-2.07627717e-01 9.53223586e-01 -2.19671407e-01 -1.92342237e+02] [-7.50396728e-01 -1.11450247e-02 6.60893743e-01 -7.60408380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.21, Y:-192.35, Z:-760.43 [[ 6.27235019e-01 3.01053014e-01 7.18291942e-01 3.54211405e+02] [-2.05492853e-01 9.53560320e-01 -2.20216720e-01 -1.92348786e+02] [-7.51231601e-01 -9.47622180e-03 6.59970668e-01 -7.60432566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.23, Y:-192.36, Z:-760.46 [[ 6.27235924e-01 3.00464719e-01 7.18537437e-01 3.54231902e+02] [-2.04161302e-01 9.53756587e-01 -2.20604932e-01 -1.92355118e+02] [-7.51593812e-01 -8.32620028e-03 6.59573662e-01 -7.60457448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.25, Y:-192.36, Z:-760.48 [[ 6.27528193e-01 2.99852538e-01 7.18537976e-01 3.54252218e+02] [-2.02853754e-01 9.53959032e-01 -2.20935557e-01 -1.92361389e+02] [-7.51703879e-01 -7.11483487e-03 6.59462400e-01 -7.60481948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5565599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:354.27, Y:-192.37, Z:-760.51 [[ 6.28011567e-01 2.98212990e-01 7.18797945e-01 3.54272275e+02] [-1.99892374e-01 9.54487919e-01 -2.21350066e-01 -1.92367514e+02] [-7.52093419e-01 -4.67182618e-03 6.59039956e-01 -7.60506794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:-192.37, Z:-760.53 [[ 6.28234549e-01 2.97892275e-01 7.18736074e-01 3.54292889e+02] [-1.99041835e-01 9.54591933e-01 -2.21667746e-01 -1.92374016e+02] [-7.52132767e-01 -3.79921066e-03 6.59000657e-01 -7.60531878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.616559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:354.31, Y:-192.38, Z:-760.56 [[ 6.28846888e-01 2.97626733e-01 7.18310462e-01 3.54312821e+02] [-1.98404139e-01 9.54677625e-01 -2.21870299e-01 -1.92380273e+02] [-7.51789458e-01 -2.99332184e-03 6.59396429e-01 -7.60556102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.33, Y:-192.39, Z:-760.58 [[ 6.30256562e-01 2.97403419e-01 7.17166558e-01 3.54333160e+02] [-1.98225135e-01 9.54748847e-01 -2.21723779e-01 -1.92386736e+02] [-7.50655355e-01 -2.41757107e-03 6.60689559e-01 -7.60581213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.35, Y:-192.39, Z:-760.61 [[ 6.31064457e-01 2.97713783e-01 7.16326849e-01 3.54353944e+02] [-1.98606982e-01 9.54652407e-01 -2.21797316e-01 -1.92392774e+02] [-7.49875268e-01 -2.29911102e-03 6.61575239e-01 -7.60606067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.37, Y:-192.40, Z:-760.63 [[ 6.31233995e-01 2.98283118e-01 7.15940518e-01 3.54373943e+02] [-1.99225403e-01 9.54474182e-01 -2.22009629e-01 -1.92398580e+02] [-7.49568465e-01 -2.49351326e-03 6.61922125e-01 -7.60631276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.736559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:354.39, Y:-192.40, Z:-760.66 [[ 6.31968198e-01 2.98985145e-01 7.14999357e-01 3.54394558e+02] [-2.00238309e-01 9.54253529e-01 -2.22046893e-01 -1.92404490e+02] [-7.48679381e-01 -2.84368758e-03 6.62926163e-01 -7.60656244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.41, Y:-192.41, Z:-760.68 [[ 6.32495098e-01 3.00055673e-01 7.14084410e-01 3.54414372e+02] [-2.01792125e-01 9.53914814e-01 -2.22095623e-01 -1.92409906e+02] [-7.47816749e-01 -3.62221803e-03 6.63895316e-01 -7.60680645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.43, Y:-192.42, Z:-760.71 [[ 6.32237736e-01 3.00740178e-01 7.14024363e-01 3.54434757e+02] [-2.02496128e-01 9.53697781e-01 -2.22386735e-01 -1.92415725e+02] [-7.47844077e-01 -3.98588307e-03 6.63862448e-01 -7.60705300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.46, Y:-192.42, Z:-760.73 [[ 6.31860796e-01 3.00985124e-01 7.14254780e-01 3.54455308e+02] [-2.02411921e-01 9.53621261e-01 -2.22791167e-01 -1.92421908e+02] [-7.48185371e-01 -3.80067793e-03 6.63478866e-01 -7.60730065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8565599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.48, Y:-192.43, Z:-760.75 [[ 6.31626331e-01 3.01366900e-01 7.14301176e-01 3.54475930e+02] [-2.02598095e-01 9.53500776e-01 -2.23137364e-01 -1.92428366e+02] [-7.48332941e-01 -3.77662265e-03 6.63312556e-01 -7.60754347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:-192.43, Z:-760.78 [[ 6.31176012e-01 3.01847303e-01 7.14496359e-01 3.54496475e+02] [-2.02883695e-01 9.53348415e-01 -2.23528537e-01 -1.92434918e+02] [-7.48635457e-01 -3.87381023e-03 6.62970547e-01 -7.60778886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:-192.44, Z:-760.80 [[ 6.31086019e-01 3.02242388e-01 7.14408830e-01 3.54517484e+02] [-2.03136740e-01 9.53223268e-01 -2.23832228e-01 -1.92441428e+02] [-7.48642706e-01 -3.86529112e-03 6.62962411e-01 -7.60803540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.54, Y:-192.45, Z:-760.83 [[ 6.29869400e-01 3.02999744e-01 7.15161307e-01 3.54538023e+02] [-2.03644930e-01 9.52980957e-01 -2.24401509e-01 -1.92447555e+02] [-7.49528707e-01 -4.29533057e-03 6.61957905e-01 -7.60828306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.56, Y:-192.45, Z:-760.85 [[ 6.29214417e-01 3.03734522e-01 7.15426137e-01 3.54558612e+02] [-2.04289644e-01 9.52745131e-01 -2.24816496e-01 -1.92454227e+02] [-7.49903299e-01 -4.69637035e-03 6.61530790e-01 -7.60852585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.58, Y:-192.46, Z:-760.88 [[ 6.28570768e-01 3.04652048e-01 7.15601788e-01 3.54578835e+02] [-2.05241290e-01 9.52448892e-01 -2.25204621e-01 -1.92460210e+02] [-7.50183179e-01 -5.31399258e-03 6.61208711e-01 -7.60877004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:-192.47, Z:-760.90 [[ 6.27977139e-01 3.05575312e-01 7.15729308e-01 3.54599403e+02] [-2.06244701e-01 9.52149182e-01 -2.25555003e-01 -1.92466244e+02] [-7.50405115e-01 -5.97199130e-03 6.60951208e-01 -7.60902443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.62, Y:-192.47, Z:-760.93 [[ 6.27871886e-01 3.06393078e-01 7.15471995e-01 3.54619787e+02] [-2.07201600e-01 9.51883073e-01 -2.25801047e-01 -1.92472177e+02] [-7.50229559e-01 -6.47281271e-03 6.61145756e-01 -7.60927384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:-192.48, Z:-760.95 [[ 6.28126304e-01 3.07487444e-01 7.14778860e-01 3.54639904e+02] [-2.08720686e-01 9.51524241e-01 -2.25914352e-01 -1.92478276e+02] [-7.49595239e-01 -7.28638721e-03 6.61856394e-01 -7.60951610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.66, Y:-192.48, Z:-760.98 [[ 6.27912248e-01 3.08943170e-01 7.14339084e-01 3.54659551e+02] [-2.10725564e-01 9.51041902e-01 -2.26084140e-01 -1.92483491e+02] [-7.49213551e-01 -8.56850552e-03 6.62273082e-01 -7.60976244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.68, Y:-192.49, Z:-761.00 [[ 6.27427533e-01 3.09812397e-01 7.14388529e-01 3.54680022e+02] [-2.11685592e-01 9.50753428e-01 -2.26400373e-01 -1.92489318e+02] [-7.49348985e-01 -9.17593100e-03 6.62111699e-01 -7.61000891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.70, Y:-192.50, Z:-761.02 [[ 6.27248226e-01 3.10523116e-01 7.14237396e-01 3.54700055e+02] [-2.12434953e-01 9.50517956e-01 -2.26687024e-01 -1.92495024e+02] [-7.49287030e-01 -9.53995351e-03 6.62176665e-01 -7.61024858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.72, Y:-192.50, Z:-761.05 [[ 6.27045896e-01 3.11055866e-01 7.14183235e-01 3.54720439e+02] [-2.12908362e-01 9.50341841e-01 -2.26981091e-01 -1.92500567e+02] [-7.49322009e-01 -9.72802125e-03 6.62134346e-01 -7.61049675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:-192.51, Z:-761.07 [[ 6.26937428e-01 3.11465124e-01 7.14100090e-01 3.54741333e+02] [-2.13180091e-01 9.50207698e-01 -2.27287439e-01 -1.92505208e+02] [-7.49335513e-01 -9.73691958e-03 6.62118933e-01 -7.61074852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:-192.51, Z:-761.10 [[ 6.27035122e-01 3.11655758e-01 7.13931120e-01 3.54760998e+02] [-2.13150956e-01 9.50147751e-01 -2.27565205e-01 -1.92510587e+02] [-7.49262054e-01 -9.48372487e-03 6.62205734e-01 -7.61098797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.78, Y:-192.52, Z:-761.12 [[ 6.27083985e-01 3.11920938e-01 7.13772376e-01 3.54781631e+02] [-2.13257668e-01 9.50062022e-01 -2.27823006e-01 -1.92516375e+02] [-7.49190792e-01 -9.35327413e-03 6.62288210e-01 -7.61123595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.80, Y:-192.52, Z:-761.15 [[ 6.26627725e-01 3.11833128e-01 7.14211309e-01 3.54802574e+02] [-2.12602345e-01 9.50096237e-01 -2.28292321e-01 -1.92522415e+02] [-7.49758586e-01 -8.78870179e-03 6.61653098e-01 -7.61148831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:-192.53, Z:-761.17 [[ 6.26002163e-01 3.11958584e-01 7.14704928e-01 3.54823274e+02] [-2.12251645e-01 9.50057841e-01 -2.28777924e-01 -1.92528833e+02] [-7.50380258e-01 -8.48182125e-03 6.60951986e-01 -7.61173917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.84, Y:-192.54, Z:-761.20 [[ 6.25326624e-01 3.12163920e-01 7.15206474e-01 3.54843740e+02] [-2.12011883e-01 9.49992325e-01 -2.29271768e-01 -1.92535429e+02] [-7.51011035e-01 -8.26253108e-03 6.60237954e-01 -7.61198199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.86, Y:-192.54, Z:-761.23 [[ 6.24997623e-01 3.15116732e-01 7.14198444e-01 3.54862516e+02] [-2.11042420e-01 9.49042509e-01 -2.34050024e-01 -1.92538467e+02] [-7.51557761e-01 -4.44545940e-03 6.59652310e-01 -7.61225995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.88, Y:-192.55, Z:-761.25 [[ 6.25766922e-01 3.10596888e-01 7.15503552e-01 3.54883390e+02] [-2.12377195e-01 9.50489185e-01 -2.26861711e-01 -1.92548001e+02] [-7.50540930e-01 -9.99408258e-03 6.60748387e-01 -7.61246994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.90, Y:-192.55, Z:-761.27 [[ 6.26073841e-01 3.12877372e-01 7.14240363e-01 3.54903171e+02] [-2.12672252e-01 9.49758690e-01 -2.29627837e-01 -1.92552169e+02] [-7.50201346e-01 -8.13512416e-03 6.61159407e-01 -7.61272976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.92, Y:-192.56, Z:-761.30 [[ 6.27240721e-01 3.13424339e-01 7.12975639e-01 3.54922892e+02] [-2.13563414e-01 9.49577066e-01 -2.29551875e-01 -1.92558207e+02] [-7.48972460e-01 -8.28122794e-03 6.62549376e-01 -7.61298070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.94, Y:-192.56, Z:-761.32 [[ 6.27587770e-01 3.13995270e-01 7.12418811e-01 3.54943345e+02] [-2.14248480e-01 9.49386701e-01 -2.29700852e-01 -1.92564682e+02] [-7.48485925e-01 -8.47720223e-03 6.63096491e-01 -7.61323244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.96, Y:-192.57, Z:-761.35 [[ 6.27903838e-01 3.14746136e-01 7.11808710e-01 3.54963595e+02] [-2.15220771e-01 9.49134333e-01 -2.29834805e-01 -1.92571190e+02] [-7.47941703e-01 -8.88186298e-03 6.63704997e-01 -7.61348009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:-192.58, Z:-761.37 [[ 6.27936175e-01 3.15259804e-01 7.11552821e-01 3.54983421e+02] [-2.15712902e-01 9.48962593e-01 -2.30082465e-01 -1.92577713e+02] [-7.47772763e-01 -9.01402132e-03 6.63893548e-01 -7.61372407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.636559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.00, Y:-192.58, Z:-761.40 [[ 6.27840294e-01 3.15802056e-01 7.11396955e-01 3.55003905e+02] [-2.16355610e-01 9.48778898e-01 -2.30236517e-01 -1.92584716e+02] [-7.47667584e-01 -9.36295940e-03 6.64007168e-01 -7.61397121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:-192.59, Z:-761.42 [[ 6.27466934e-01 3.16459401e-01 7.11434252e-01 3.55023916e+02] [-2.16959128e-01 9.48556780e-01 -2.30583545e-01 -1.92591415e+02] [-7.47806114e-01 -9.66860522e-03 6.63846770e-01 -7.61421083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:-192.60, Z:-761.45 [[ 6.27234059e-01 3.16759177e-01 7.11506190e-01 3.55044686e+02] [-2.17036400e-01 9.48457587e-01 -2.30918614e-01 -1.92598035e+02] [-7.47979035e-01 -9.58272284e-03 6.63653174e-01 -7.61446121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:-192.60, Z:-761.47 [[ 6.26887259e-01 3.16888979e-01 7.11753988e-01 3.55064875e+02] [-2.16775571e-01 9.48417298e-01 -2.31328730e-01 -1.92604482e+02] [-7.48345319e-01 -9.27384433e-03 6.63244510e-01 -7.61470555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.756559995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:355.09, Y:-192.61, Z:-761.50 [[ 6.26068414e-01 3.16482390e-01 7.12655062e-01 3.55085385e+02] [-2.15499875e-01 9.48561426e-01 -2.31928924e-01 -1.92611624e+02] [-7.49398522e-01 -8.37370370e-03 6.62066263e-01 -7.61495254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:355.11, Y:-192.62, Z:-761.52 [[ 6.25879879e-01 3.16593540e-01 7.12771287e-01 3.55105290e+02] [-2.15253638e-01 9.48527250e-01 -2.32297067e-01 -1.92618410e+02] [-7.49626739e-01 -8.03655243e-03 6.61812032e-01 -7.61518617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:-192.63, Z:-761.54 [[ 6.25305182e-01 3.16779290e-01 7.13193039e-01 3.55125565e+02] [-2.15038478e-01 9.48466966e-01 -2.32742061e-01 -1.92625315e+02] [-7.50167903e-01 -7.82912907e-03 6.61201045e-01 -7.61543274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:-192.63, Z:-761.57 [[ 6.25437777e-01 3.17078197e-01 7.12943900e-01 3.55146333e+02] [-2.15201722e-01 9.48368110e-01 -2.32993878e-01 -1.92631513e+02] [-7.50010537e-01 -7.70358142e-03 6.61381017e-01 -7.61568119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.17, Y:-192.64, Z:-761.59 [[ 6.25385965e-01 3.17401994e-01 7.12845263e-01 3.55167270e+02] [-2.15349050e-01 9.48260538e-01 -2.33295388e-01 -1.92638285e+02] [-7.50011454e-01 -7.61088875e-03 6.61381050e-01 -7.61593318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.19, Y:-192.64, Z:-761.62 [[ 6.25437332e-01 3.17937612e-01 7.12561449e-01 3.55187932e+02] [-2.16050757e-01 9.48078055e-01 -2.33388242e-01 -1.92644694e+02] [-7.49766773e-01 -7.97972150e-03 6.61654071e-01 -7.61618280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.21, Y:-192.65, Z:-761.64 [[ 6.25196767e-01 3.19309274e-01 7.12159105e-01 3.55208968e+02] [-2.17895928e-01 9.47606501e-01 -2.33587849e-01 -1.92650387e+02] [-7.49433364e-01 -9.13820103e-03 6.62016712e-01 -7.61643458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:-192.66, Z:-761.67 [[ 6.24802758e-01 3.20074880e-01 7.12161207e-01 3.55230080e+02] [-2.18676870e-01 9.47343837e-01 -2.33923236e-01 -1.92656018e+02] [-7.49534483e-01 -9.57730057e-03 6.61896015e-01 -7.61668705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.25, Y:-192.66, Z:-761.69 [[ 6.24275198e-01 3.21358266e-01 7.12045885e-01 3.55251144e+02] [-2.20282018e-01 9.46898003e-01 -2.34222125e-01 -1.92660654e+02] [-7.49504042e-01 -1.06318408e-02 6.61914386e-01 -7.61693929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:-192.67, Z:-761.72 [[ 6.24431763e-01 3.22048910e-01 7.11596426e-01 3.55271535e+02] [-2.21102119e-01 9.46659583e-01 -2.34413068e-01 -1.92666448e+02] [-7.49132049e-01 -1.09605125e-02 6.62330009e-01 -7.61718149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.29, Y:-192.67, Z:-761.74 [[ 6.24372517e-01 3.22541189e-01 7.11425430e-01 3.55291858e+02] [-2.21670419e-01 9.46488632e-01 -2.34566610e-01 -1.92672268e+02] [-7.49013475e-01 -1.12450283e-02 6.62459330e-01 -7.61742969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.31, Y:-192.68, Z:-761.77 [[ 6.24529653e-01 3.23268630e-01 7.10957175e-01 3.55312394e+02] [-2.22558570e-01 9.46235844e-01 -2.34745417e-01 -1.92678319e+02] [-7.48618992e-01 -1.16241385e-02 6.62898548e-01 -7.61767953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.33, Y:-192.68, Z:-761.79 [[ 6.24551322e-01 3.23937327e-01 7.10633699e-01 3.55333054e+02] [-2.23306001e-01 9.46003244e-01 -2.34972961e-01 -1.92684617e+02] [-7.48378297e-01 -1.19360954e-02 6.63164726e-01 -7.61793380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.35, Y:-192.69, Z:-761.82 [[ 6.25170768e-01 3.24705905e-01 7.09737689e-01 3.55352989e+02] [-2.24404022e-01 9.45734435e-01 -2.35008966e-01 -1.92690672e+02] [-7.47532171e-01 -1.23472559e-02 6.64110834e-01 -7.61817821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.37, Y:-192.70, Z:-761.84 [[ 6.25058192e-01 3.25084569e-01 7.09663498e-01 3.55372827e+02] [-2.24653883e-01 9.45604224e-01 -2.35294040e-01 -1.92696651e+02] [-7.47551262e-01 -1.23561928e-02 6.64089177e-01 -7.61842206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.39, Y:-192.70, Z:-761.87 [[ 6.24931001e-01 3.25296683e-01 7.09678316e-01 3.55393088e+02] [-2.24625704e-01 9.45533620e-01 -2.35604472e-01 -1.92702732e+02] [-7.47666060e-01 -1.21754525e-02 6.63963268e-01 -7.61866786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.41, Y:-192.71, Z:-761.89 [[ 6.24773492e-01 3.25112609e-01 7.09901313e-01 3.55413180e+02] [-2.23894346e-01 9.45605517e-01 -2.36011712e-01 -1.92708819e+02] [-7.48016982e-01 -1.14890286e-02 6.63580136e-01 -7.61891074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.43, Y:-192.72, Z:-761.92 [[ 6.24566849e-01 3.25022275e-01 7.10124476e-01 3.55433712e+02] [-2.23330419e-01 9.45642994e-01 -2.36395543e-01 -1.92715756e+02] [-7.48358053e-01 -1.09475778e-02 6.63204626e-01 -7.61915674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2965599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:355.45, Y:-192.72, Z:-761.94 [[ 6.24498084e-01 3.24862646e-01 7.10257985e-01 3.55453736e+02] [-2.22664904e-01 9.45705285e-01 -2.36773847e-01 -1.92722694e+02] [-7.48613708e-01 -1.02847122e-02 6.62926648e-01 -7.61939917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.47, Y:-192.73, Z:-761.96 [[ 6.24006918e-01 3.24315539e-01 7.10939377e-01 3.55474263e+02] [-2.21243140e-01 9.45904157e-01 -2.37311608e-01 -1.92730274e+02] [-7.49444354e-01 -9.20637515e-03 6.62003325e-01 -7.61963915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.49, Y:-192.74, Z:-761.99 [[ 6.23799703e-01 3.24364125e-01 7.11099040e-01 3.55494372e+02] [-2.20879881e-01 9.45891457e-01 -2.37700294e-01 -1.92737114e+02] [-7.49723955e-01 -8.79009839e-03 6.61692319e-01 -7.61988098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.51, Y:-192.74, Z:-762.01 [[ 6.23760056e-01 3.24579399e-01 7.11035587e-01 3.55514652e+02] [-2.20875560e-01 9.45819346e-01 -2.37991075e-01 -1.92743989e+02] [-7.49758214e-01 -8.60105725e-03 6.61655985e-01 -7.62012389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.53, Y:-192.75, Z:-762.04 [[ 6.23694052e-01 3.24869340e-01 7.10961068e-01 3.55534954e+02] [-2.20998364e-01 9.45720584e-01 -2.38269386e-01 -1.92750471e+02] [-7.49776935e-01 -8.51403454e-03 6.61635896e-01 -7.62037160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.55, Y:-192.76, Z:-762.06 [[ 6.24023748e-01 3.25513946e-01 7.10376684e-01 3.55554929e+02] [-2.21803970e-01 9.45496377e-01 -2.38410572e-01 -1.92755862e+02] [-7.49264547e-01 -8.79050989e-03 6.62212478e-01 -7.62062151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.57, Y:-192.76, Z:-762.09 [[ 6.24616688e-01 3.26089887e-01 7.09590993e-01 3.55574968e+02] [-2.22604530e-01 9.45295808e-01 -2.38459762e-01 -1.92761938e+02] [-7.48532709e-01 -9.01222240e-03 6.63036623e-01 -7.62087091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:-192.77, Z:-762.11 [[ 6.25069762e-01 3.26482700e-01 7.09011170e-01 3.55594537e+02] [-2.23030803e-01 9.45160415e-01 -2.38598093e-01 -1.92767937e+02] [-7.48027441e-01 -8.99087748e-03 6.63606895e-01 -7.62111403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.536559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:355.61, Y:-192.77, Z:-762.14 [[ 6.26468734e-01 3.27160075e-01 7.07462516e-01 3.55614421e+02] [-2.24376495e-01 9.44921565e-01 -2.38282237e-01 -1.92774397e+02] [-7.46453022e-01 -9.46158883e-03 6.65370847e-01 -7.62135807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.64, Y:-192.78, Z:-762.16 [[ 6.26623218e-01 3.27682876e-01 7.07083642e-01 3.55635305e+02] [-2.24956889e-01 9.44738605e-01 -2.38460407e-01 -1.92781485e+02] [-7.46148605e-01 -9.63850892e-03 6.65709665e-01 -7.62160829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.66, Y:-192.79, Z:-762.19 [[ 6.26446864e-01 3.28137167e-01 7.07029226e-01 3.55656147e+02] [-2.25293238e-01 9.44580159e-01 -2.38770349e-01 -1.92788461e+02] [-7.46195205e-01 -9.71196710e-03 6.65656363e-01 -7.62185244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.68, Y:-192.80, Z:-762.21 [[ 6.26234261e-01 3.28529568e-01 7.07035341e-01 3.55676167e+02] [-2.25509798e-01 9.44443797e-01 -2.39105093e-01 -1.92795010e+02] [-7.46308235e-01 -9.70759553e-03 6.65529699e-01 -7.62208781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.70, Y:-192.80, Z:-762.23 [[ 6.26169832e-01 3.28769102e-01 7.06981060e-01 3.55696974e+02] [-2.25543481e-01 9.44362023e-01 -2.39396132e-01 -1.92801788e+02] [-7.46352115e-01 -9.55233338e-03 6.65482737e-01 -7.62233400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.72, Y:-192.81, Z:-762.26 [[ 6.26024742e-01 3.29076600e-01 7.06966488e-01 3.55717873e+02] [-2.25644326e-01 9.44255918e-01 -2.39719419e-01 -1.92808492e+02] [-7.46443341e-01 -9.45268914e-03 6.65381835e-01 -7.62258049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.74, Y:-192.82, Z:-762.28 [[ 6.25821481e-01 3.29343152e-01 7.07022321e-01 3.55737707e+02] [-2.25656372e-01 9.44164455e-01 -2.40068083e-01 -1.92815009e+02] [-7.46610124e-01 -9.30432882e-03 6.65196778e-01 -7.62281739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.76, Y:-192.82, Z:-762.31 [[ 6.25780532e-01 3.29410277e-01 7.07027294e-01 3.55758776e+02] [-2.25411462e-01 9.44144472e-01 -2.40376558e-01 -1.92821381e+02] [-7.46718420e-01 -8.94908555e-03 6.65080082e-01 -7.62306406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.78, Y:-192.83, Z:-762.33 [[ 6.25852157e-01 3.29656438e-01 7.06849143e-01 3.55779349e+02] [-2.25479417e-01 9.44060207e-01 -2.40643634e-01 -1.92828191e+02] [-7.46637871e-01 -8.77259534e-03 6.65172858e-01 -7.62330453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.80, Y:-192.83, Z:-762.35 [[ 6.25325667e-01 3.29862454e-01 7.07218900e-01 3.55799982e+02] [-2.25313850e-01 9.43989865e-01 -2.41074270e-01 -1.92834840e+02] [-7.47128824e-01 -8.59628402e-03 6.64623671e-01 -7.62354754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8365599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:355.82, Y:-192.84, Z:-762.38 [[ 6.25441486e-01 3.30148465e-01 7.06982984e-01 3.55820517e+02] [-2.25452048e-01 9.43891176e-01 -2.41331352e-01 -1.92841266e+02] [-7.46990176e-01 -8.45212238e-03 6.64781347e-01 -7.62378500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.84, Y:-192.85, Z:-762.40 [[ 6.25153710e-01 3.30386874e-01 7.07126122e-01 3.55841365e+02] [-2.25524776e-01 9.43807826e-01 -2.41589246e-01 -1.92847715e+02] [-7.47209084e-01 -8.44404704e-03 6.64535389e-01 -7.62402997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:355.86, Y:-192.85, Z:-762.43 [[ 6.24954964e-01 3.30857016e-01 7.07081981e-01 3.55862358e+02] [-2.25871234e-01 9.43642384e-01 -2.41911631e-01 -1.92854254e+02] [-7.47270687e-01 -8.52560475e-03 6.64465074e-01 -7.62427673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.88, Y:-192.86, Z:-762.45 [[ 6.25325146e-01 3.31347843e-01 7.06524641e-01 3.55883615e+02] [-2.26437824e-01 9.43469295e-01 -2.42057021e-01 -1.92860360e+02] [-7.46789377e-01 -8.61956048e-03 6.65004759e-01 -7.62452528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.90, Y:-192.87, Z:-762.48 [[ 6.25943466e-01 3.31850952e-01 7.05740550e-01 3.55903752e+02] [-2.27107202e-01 9.43291495e-01 -2.42122848e-01 -1.92866461e+02] [-7.46067756e-01 -8.72354721e-03 6.65812889e-01 -7.62476393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.92, Y:-192.87, Z:-762.50 [[ 6.26011354e-01 3.32197747e-01 7.05517145e-01 3.55924419e+02] [-2.27479795e-01 9.43168356e-01 -2.42252750e-01 -1.92872912e+02] [-7.45897263e-01 -8.83792371e-03 6.66002375e-01 -7.62501474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.95, Y:-192.88, Z:-762.53 [[ 6.26529022e-01 3.32819080e-01 7.04764390e-01 3.55945411e+02] [-2.28322585e-01 9.42946870e-01 -2.42322095e-01 -1.92879178e+02] [-7.45204792e-01 -9.09180250e-03 6.66773693e-01 -7.62526288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.97, Y:-192.89, Z:-762.55 [[ 6.26849719e-01 3.33211026e-01 7.04293861e-01 3.55966518e+02] [-2.28717429e-01 9.42808544e-01 -2.42487910e-01 -1.92885847e+02] [-7.44813915e-01 -9.08080258e-03 6.67210440e-01 -7.62550881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:-192.89, Z:-762.58 [[ 6.27018931e-01 3.33343059e-01 7.04080723e-01 3.55987492e+02] [-2.28618821e-01 9.42764933e-01 -2.42750315e-01 -1.92892303e+02] [-7.44701749e-01 -8.75706124e-03 6.67339958e-01 -7.62575985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.01, Y:-192.90, Z:-762.60 [[ 6.27307381e-01 3.33515777e-01 7.03741911e-01 3.56007641e+02] [-2.28626725e-01 9.42706403e-01 -2.42970078e-01 -1.92898924e+02] [-7.44456359e-01 -8.47728552e-03 6.67617304e-01 -7.62599959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.136559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:356.03, Y:-192.90, Z:-762.62 [[ 6.28071603e-01 3.32512310e-01 7.03535092e-01 3.56028853e+02] [-2.26846873e-01 9.43074106e-01 -2.43211280e-01 -1.92904936e+02] [-7.44356472e-01 -6.84063680e-03 6.67747443e-01 -7.62624954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.05, Y:-192.91, Z:-762.65 [[ 6.28472268e-01 3.32101881e-01 7.03371132e-01 3.56050182e+02] [-2.25921875e-01 9.43225178e-01 -2.43486284e-01 -1.92911953e+02] [-7.44299614e-01 -5.88254768e-03 6.67819946e-01 -7.62649557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.07, Y:-192.92, Z:-762.67 [[ 6.28806496e-01 3.30320298e-01 7.03911139e-01 3.56070878e+02] [-2.22675515e-01 9.43863088e-01 -2.44004274e-01 -1.92918795e+02] [-7.44995306e-01 -3.31230349e-03 6.67061483e-01 -7.62673717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.09, Y:-192.93, Z:-762.70 [[ 6.28867467e-01 3.29825641e-01 7.04088599e-01 3.56091563e+02] [-2.21498028e-01 9.44039156e-01 -2.44394549e-01 -1.92925930e+02] [-7.45294795e-01 -2.26245552e-03 6.66731242e-01 -7.62697821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.256559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:356.11, Y:-192.93, Z:-762.72 [[ 6.28828819e-01 3.29293750e-01 7.04372020e-01 3.56112053e+02] [-2.20223215e-01 9.44226806e-01 -2.44821311e-01 -1.92932823e+02] [-7.45705070e-01 -1.16837498e-03 6.66275156e-01 -7.62722885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:356.13, Y:-192.94, Z:-762.75 [[ 6.29576534e-01 3.28199348e-01 7.04214865e-01 3.56132756e+02] [-2.18277771e-01 9.44608300e-01 -2.45091768e-01 -1.92939438e+02] [-7.45646165e-01 5.89575002e-04 6.66341842e-01 -7.62747127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.15, Y:-192.95, Z:-762.77 [[ 6.29896056e-01 3.28190094e-01 7.03933393e-01 3.56152855e+02] [-2.18004186e-01 9.44611095e-01 -2.45324386e-01 -1.92946092e+02] [-7.45456326e-01 1.06843713e-03 6.66553617e-01 -7.62771199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.17, Y:-192.95, Z:-762.80 [[ 6.30169975e-01 3.27785319e-01 7.03876827e-01 3.56174106e+02] [-2.17075724e-01 9.44750154e-01 -2.45612045e-01 -1.92951751e+02] [-7.45495764e-01 1.98276442e-03 6.66507416e-01 -7.62796378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.376559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:356.19, Y:-192.96, Z:-762.82 [[ 6.30636464e-01 3.27993719e-01 7.03361764e-01 3.56194892e+02] [-2.17223829e-01 9.44677344e-01 -2.45761111e-01 -1.92957997e+02] [-7.45058024e-01 2.19898254e-03 6.66996032e-01 -7.62821376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.22, Y:-192.96, Z:-762.85 [[ 6.30965199e-01 3.28217412e-01 7.02962480e-01 3.56215571e+02] [-2.17343315e-01 9.44599145e-01 -2.45955969e-01 -1.92964358e+02] [-7.44744789e-01 2.40546125e-03 6.67345048e-01 -7.62846443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:-192.97, Z:-762.87 [[ 6.31811264e-01 3.28390552e-01 7.02121195e-01 3.56235548e+02] [-2.17565233e-01 9.44538272e-01 -2.45993542e-01 -1.92969742e+02] [-7.43962295e-01 2.66432924e-03 6.68216286e-01 -7.62870479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:-192.95, Z:-762.91 [[ 6.28100723e-01 3.49730837e-01 6.95109937e-01 3.56244879e+02] [-2.12827097e-01 9.36455090e-01 -2.78848509e-01 -1.92950005e+02] [-7.48461161e-01 2.72067203e-02 6.62620318e-01 -7.62907410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.28, Y:-193.01, Z:-762.91 [[ 6.32709082e-01 2.97697071e-01 7.14881579e-01 3.56279814e+02] [-2.17891835e-01 9.54296777e-01 -2.04550260e-01 -1.93007608e+02] [-7.43103200e-01 -2.63460517e-02 6.68657999e-01 -7.62908660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.30, Y:-192.99, Z:-762.94 [[ 6.33068246e-01 3.29680805e-01 7.00382155e-01 3.56296815e+02] [-2.18942612e-01 9.44088578e-01 -2.46497239e-01 -1.92989471e+02] [-7.42488201e-01 2.70607607e-03 6.69853677e-01 -7.62942863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.32, Y:-193.00, Z:-762.97 [[ 6.33433193e-01 3.30157906e-01 6.99827227e-01 3.56317928e+02] [-2.19530690e-01 9.43922195e-01 -2.46611368e-01 -1.92995906e+02] [-7.42003145e-01 2.57827171e-03 6.70391442e-01 -7.62967489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.34, Y:-193.00, Z:-762.99 [[ 6.33252114e-01 3.30571363e-01 6.99795924e-01 3.56337746e+02] [-2.19786265e-01 9.43777505e-01 -2.46937277e-01 -1.93001710e+02] [-7.42082043e-01 2.56801981e-03 6.70304145e-01 -7.62991674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.35, Y:-192.98, Z:-763.03 [[ 6.29260190e-01 3.51209170e-01 6.93313589e-01 3.56348417e+02] [-2.15974471e-01 9.35956201e-01 -2.78102531e-01 -1.92983879e+02] [-7.46583312e-01 2.52608156e-02 6.64812191e-01 -7.63028930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.38, Y:-193.04, Z:-763.03 [[ 6.33448188e-01 3.03002317e-01 7.11992268e-01 3.56381185e+02] [-2.19940075e-01 9.52694500e-01 -2.09760703e-01 -1.93036513e+02] [-7.41869097e-01 -2.37230953e-02 6.70124957e-01 -7.63031119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6765599949999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:356.39, Y:-193.00, Z:-763.08 [[ 6.29949465e-01 3.51410833e-01 6.92585084e-01 3.56390650e+02] [-2.17606881e-01 9.35919989e-01 -2.76949489e-01 -1.92999897e+02] [-7.45527274e-01 2.37529026e-02 6.66051712e-01 -7.63075665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.42, Y:-193.05, Z:-763.08 [[ 6.32606137e-01 3.06620288e-01 7.11191588e-01 3.56420605e+02] [-2.20633190e-01 9.51588429e-01 -2.14010417e-01 -1.93047393e+02] [-7.42381621e-01 -2.15281657e-02 6.69631292e-01 -7.63078786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.44, Y:-193.03, Z:-763.11 [[ 6.32109118e-01 3.32497525e-01 6.99916752e-01 3.56438708e+02] [-2.21548511e-01 9.43102669e-01 -2.47938728e-01 -1.93034840e+02] [-7.42532370e-01 1.65881629e-03 6.69808128e-01 -7.63111080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.46, Y:-193.04, Z:-763.14 [[ 6.32067689e-01 3.32797742e-01 6.99811474e-01 3.56459506e+02] [-2.21667687e-01 9.42996558e-01 -2.48235631e-01 -1.93042141e+02] [-7.42532069e-01 1.77613064e-03 6.69808161e-01 -7.63136263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.48, Y:-193.05, Z:-763.16 [[ 6.31662298e-01 3.33694986e-01 6.99750239e-01 3.56480057e+02] [-2.22871199e-01 9.42680647e-01 -2.48357859e-01 -1.93048937e+02] [-7.42516781e-01 9.24121681e-04 6.69826826e-01 -7.63160502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.50, Y:-193.06, Z:-763.19 [[ 6.30990925e-01 3.34480402e-01 6.99980938e-01 3.56500200e+02] [-2.23582703e-01 9.42402589e-01 -2.48773261e-01 -1.93055637e+02] [-7.42873629e-01 4.70039812e-04 6.69431513e-01 -7.63185057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.52, Y:-193.06, Z:-763.21 [[ 6.30055346e-01 3.35823463e-01 7.00180593e-01 3.56521173e+02] [-2.25142459e-01 9.41924724e-01 -2.49176019e-01 -1.93062661e+02] [-7.43196565e-01 -6.45697482e-04 6.69072828e-01 -7.63209727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.54, Y:-193.07, Z:-763.23 [[ 6.29708596e-01 3.36762746e-01 7.00041383e-01 3.56541398e+02] [-2.26229492e-01 9.41588662e-01 -2.49461435e-01 -1.93069522e+02] [-7.43160347e-01 -1.28199668e-03 6.69112139e-01 -7.63233974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.56, Y:-193.08, Z:-763.26 [[ 6.29674299e-01 3.37505658e-01 6.99714376e-01 3.56562086e+02] [-2.27122893e-01 9.41321930e-01 -2.49656196e-01 -1.93076315e+02] [-7.42916866e-01 -1.71906376e-03 6.69381487e-01 -7.63258459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:356.58, Y:-193.08, Z:-763.28 [[ 6.29589592e-01 3.38061179e-01 6.99522398e-01 3.56581880e+02] [-2.27666070e-01 9.41122190e-01 -2.49914355e-01 -1.93082646e+02] [-7.42822392e-01 -1.91403869e-03 6.69485796e-01 -7.63282589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.60, Y:-193.09, Z:-763.31 [[ 6.29701468e-01 3.38563139e-01 6.99178848e-01 3.56602047e+02] [-2.28214472e-01 9.40941382e-01 -2.50094922e-01 -1.93089038e+02] [-7.42559234e-01 -2.07759235e-03 6.69777178e-01 -7.63307259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.61, Y:-193.08, Z:-763.34 [[ 6.26391072e-01 3.55879244e-01 6.93530237e-01 3.56614180e+02] [-2.24654071e-01 9.34369408e-01 -2.76558057e-01 -1.93076040e+02] [-7.46434709e-01 1.74291069e-02 6.65230375e-01 -7.63343074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.64, Y:-193.12, Z:-763.35 [[ 6.30109983e-01 3.15735136e-01 7.09417179e-01 3.56643235e+02] [-2.26895213e-01 9.48593969e-01 -2.20653673e-01 -1.93119612e+02] [-7.42616975e-01 -2.19272799e-02 6.69357320e-01 -7.63348161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:-193.11, Z:-763.38 [[ 6.30548698e-01 3.37239780e-01 6.99054841e-01 3.56660673e+02] [-2.25526808e-01 9.41418681e-01 -2.50735970e-01 -1.93109413e+02] [-7.42661429e-01 4.45632812e-04 6.69666935e-01 -7.63378770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.67, Y:-193.10, Z:-763.42 [[ 6.26728495e-01 3.55288160e-01 6.93528455e-01 3.56672365e+02] [-2.21196544e-01 9.34512797e-01 -2.78851074e-01 -1.93096218e+02] [-7.47183701e-01 2.13578161e-02 6.64274312e-01 -7.63416868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.70, Y:-193.14, Z:-763.42 [[ 6.32015510e-01 3.12990935e-01 7.08937987e-01 3.56703021e+02] [-2.22729582e-01 9.49577176e-01 -2.20668804e-01 -1.93142127e+02] [-7.42258667e-01 -1.84353543e-02 6.69859843e-01 -7.63420075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.72, Y:-193.13, Z:-763.45 [[ 6.32289945e-01 3.35763766e-01 6.98192036e-01 3.56720303e+02] [-2.22708389e-01 9.41940094e-01 -2.51296305e-01 -1.93131372e+02] [-7.42031266e-01 3.39890335e-03 6.70356658e-01 -7.63451012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.74, Y:-193.14, Z:-763.48 [[ 6.32594510e-01 3.35599063e-01 6.97995311e-01 3.56740441e+02] [-2.22198420e-01 9.41996311e-01 -2.51536902e-01 -1.93138078e+02] [-7.41924557e-01 4.02740799e-03 6.70471276e-01 -7.63475545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.76, Y:-193.14, Z:-763.50 [[ 6.32589700e-01 3.36025363e-01 6.97794545e-01 3.56760114e+02] [-2.22544087e-01 9.41844461e-01 -2.51799803e-01 -1.93144767e+02] [-7.41825047e-01 3.99591209e-03 6.70581563e-01 -7.63499654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.78, Y:-193.15, Z:-763.52 [[ 6.32581751e-01 3.36523946e-01 6.97561440e-01 3.56780269e+02] [-2.23036973e-01 9.41667056e-01 -2.52027111e-01 -1.93151870e+02] [-7.41683785e-01 3.84575892e-03 6.70738677e-01 -7.63524254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.80, Y:-193.16, Z:-763.55 [[ 6.31959371e-01 3.37635848e-01 6.97588265e-01 3.56800686e+02] [-2.24309066e-01 9.41271983e-01 -2.52373723e-01 -1.93159359e+02] [-7.41830706e-01 3.01456712e-03 6.70580432e-01 -7.63548402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.82, Y:-193.17, Z:-763.57 [[ 6.31639748e-01 3.38512765e-01 6.97452749e-01 3.56820813e+02] [-2.25297406e-01 9.40958592e-01 -2.52661843e-01 -1.93166437e+02] [-7.41803416e-01 2.45696766e-03 6.70612896e-01 -7.63572641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.84, Y:-193.17, Z:-763.60 [[ 6.30741144e-01 3.40203311e-01 6.97443415e-01 3.56841506e+02] [-2.27473811e-01 9.40351466e-01 -2.52971906e-01 -1.93173508e+02] [-7.41903818e-01 9.09677789e-04 6.70505703e-01 -7.63597578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.86, Y:-193.18, Z:-763.62 [[ 6.30209817e-01 3.41489525e-01 6.97295124e-01 3.56861331e+02] [-2.29077690e-01 9.39885571e-01 -2.53255848e-01 -1.93180665e+02] [-7.41861846e-01 -1.30434448e-04 6.70552746e-01 -7.63621698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.88, Y:-193.19, Z:-763.65 [[ 6.29937964e-01 3.42760437e-01 6.96917100e-01 3.56881712e+02] [-2.30778343e-01 9.39422096e-01 -2.53431417e-01 -1.93187811e+02] [-7.41565586e-01 -1.18730240e-03 6.70879328e-01 -7.63646320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.90, Y:-193.19, Z:-763.67 [[ 6.28991466e-01 3.44895029e-01 6.96718849e-01 3.56901236e+02] [-2.33666610e-01 9.38635719e-01 -2.53698447e-01 -1.93194865e+02] [-7.41464531e-01 -3.22577385e-03 6.70984310e-01 -7.63670221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.92, Y:-193.20, Z:-763.69 [[ 6.28423260e-01 3.45935594e-01 6.96715704e-01 3.56921684e+02] [-2.34990732e-01 9.38249033e-01 -2.53905709e-01 -1.93202456e+02] [-7.41527857e-01 -4.16148022e-03 6.70909174e-01 -7.63694542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.94, Y:-193.21, Z:-763.72 [[ 6.26534808e-01 3.47976549e-01 6.97399782e-01 3.56942057e+02] [-2.37405014e-01 9.37483257e-01 -2.54487726e-01 -1.93210008e+02] [-7.42356379e-01 -6.12078638e-03 6.69977270e-01 -7.63719081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.96, Y:-193.22, Z:-763.74 [[ 6.25823434e-01 3.49141921e-01 6.97456056e-01 3.56962823e+02] [-2.38761864e-01 9.37043396e-01 -2.54838079e-01 -1.93217550e+02] [-7.42521247e-01 -7.04226639e-03 6.69785491e-01 -7.63743987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.98, Y:-193.22, Z:-763.77 [[ 6.24913081e-01 3.50326655e-01 6.97678204e-01 3.56982315e+02] [-2.40076149e-01 9.36593568e-01 -2.55256600e-01 -1.93224727e+02] [-7.42864109e-01 -7.98270819e-03 6.69394646e-01 -7.63767931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.00, Y:-193.23, Z:-763.79 [[ 6.24291937e-01 3.51358157e-01 6.97715575e-01 3.57001940e+02] [-2.41259889e-01 9.36200033e-01 -2.55583967e-01 -1.93231947e+02] [-7.43002855e-01 -8.77177256e-03 6.69230762e-01 -7.63791409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.02, Y:-193.24, Z:-763.82 [[ 6.23323883e-01 3.53151290e-01 6.97675787e-01 3.57022152e+02] [-2.43619924e-01 9.35507626e-01 -2.55880469e-01 -1.93240546e+02] [-7.43045537e-01 -1.04713152e-02 6.69158937e-01 -7.63815876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.04, Y:-193.25, Z:-763.84 [[ 6.22628524e-01 3.54109170e-01 6.97811161e-01 3.57041988e+02] [-2.44635631e-01 9.35137594e-01 -2.56263707e-01 -1.93248743e+02] [-7.43294779e-01 -1.11523805e-02 6.68871061e-01 -7.63840368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.06, Y:-193.26, Z:-763.86 [[ 6.21400781e-01 3.55457901e-01 6.98219701e-01 3.57061381e+02] [-2.46137435e-01 9.34611147e-01 -2.56745724e-01 -1.93257582e+02] [-7.43826211e-01 -1.23160132e-02 6.68259593e-01 -7.63863545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.08, Y:-193.27, Z:-763.89 [[ 6.20516047e-01 3.56448074e-01 6.98501687e-01 3.57081628e+02] [-2.47175885e-01 9.34223547e-01 -2.57158407e-01 -1.93265457e+02] [-7.44220342e-01 -1.30818543e-02 6.67806071e-01 -7.63888535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.10, Y:-193.27, Z:-763.91 [[ 6.20166365e-01 3.57488452e-01 6.98280522e-01 3.57101396e+02] [-2.48450757e-01 9.33814874e-01 -2.57414070e-01 -1.93272962e+02] [-7.44087295e-01 -1.38487760e-02 6.67938852e-01 -7.63912935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.12, Y:-193.28, Z:-763.94 [[ 6.19770428e-01 3.58554976e-01 6.98085200e-01 3.57120543e+02] [-2.49780505e-01 9.33393176e-01 -2.57656511e-01 -1.93280449e+02] [-7.43971986e-01 -1.46801876e-02 6.68049531e-01 -7.63936842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.14, Y:-193.29, Z:-763.96 [[ 6.19353473e-01 3.59600645e-01 6.97917368e-01 3.57140254e+02] [-2.51192888e-01 9.32975153e-01 -2.57797394e-01 -1.93288456e+02] [-7.43843673e-01 -1.56441680e-02 6.68170525e-01 -7.63961490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8165599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:357.16, Y:-193.30, Z:-763.99 [[ 6.18758758e-01 3.61138106e-01 6.97650964e-01 3.57159382e+02] [-2.53229848e-01 9.32357339e-01 -2.58039603e-01 -1.93297476e+02] [-7.43647930e-01 -1.70017833e-02 6.68355217e-01 -7.63985675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.18, Y:-193.31, Z:-764.01 [[ 6.18838520e-01 3.62144517e-01 6.97058272e-01 3.57179349e+02] [-2.54614728e-01 9.31953202e-01 -2.58136727e-01 -1.93306563e+02] [-7.43108489e-01 -1.77363521e-02 6.68935868e-01 -7.64009887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.20, Y:-193.32, Z:-764.04 [[ 6.19968031e-01 3.63409312e-01 6.95394358e-01 3.57198249e+02] [-2.56770905e-01 9.31441873e-01 -2.57846351e-01 -1.93316084e+02] [-7.41423188e-01 -1.87005438e-02 6.70777122e-01 -7.64035215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:357.21, Y:-193.31, Z:-764.07 [[ 6.18761713e-01 3.74234519e-01 6.90711566e-01 3.57214032e+02] [-2.55792076e-01 9.27303065e-01 -2.73275392e-01 -1.93313730e+02] [-7.42768037e-01 -7.58619590e-03 6.69505858e-01 -7.64067371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.24, Y:-193.34, Z:-764.08 [[ 6.21691931e-01 3.52806509e-01 6.99304448e-01 3.57236991e+02] [-2.57743607e-01 9.35235639e-01 -2.42698442e-01 -1.93343123e+02] [-7.39640032e-01 -2.93575879e-02 6.72362072e-01 -7.64080297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:357.26, Y:-193.34, Z:-764.11 [[ 6.21482582e-01 3.64019267e-01 6.93721395e-01 3.57255300e+02] [-2.57441475e-01 9.31212667e-01 -2.58005535e-01 -1.93342893e+02] [-7.39921136e-01 -1.82467124e-02 6.72446110e-01 -7.64107964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.27, Y:-193.35, Z:-764.13 [[ 6.22625918e-01 3.62434694e-01 6.93525818e-01 3.57274977e+02] [-2.54799503e-01 9.31873174e-01 -2.58243297e-01 -1.93354218e+02] [-7.39874435e-01 -1.59210641e-02 6.72556570e-01 -7.64132389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.29, Y:-193.36, Z:-764.16 [[ 6.23122084e-01 3.61254136e-01 6.93696128e-01 3.57294199e+02] [-2.52605229e-01 9.32361259e-01 -2.58636969e-01 -1.93363432e+02] [-7.40209070e-01 -1.40688619e-02 6.72229574e-01 -7.64156518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.31, Y:-193.37, Z:-764.18 [[ 6.23852725e-01 3.59970650e-01 6.93706644e-01 3.57313772e+02] [-2.50343414e-01 9.32884905e-01 -2.58947736e-01 -1.93372848e+02] [-7.40362042e-01 -1.21196389e-02 6.72099072e-01 -7.64180692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:357.33, Y:-193.38, Z:-764.21 [[ 6.25164972e-01 3.56860730e-01 6.94131959e-01 3.57332457e+02] [-2.45167268e-01 9.34123438e-01 -2.59434796e-01 -1.93384065e+02] [-7.40987023e-01 -7.98888899e-03 6.71471824e-01 -7.64205153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.116559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.35, Y:-193.39, Z:-764.23 [[ 6.24260158e-01 3.55569894e-01 6.95607149e-01 3.57353637e+02] [-2.42276550e-01 9.34630308e-01 -2.60323378e-01 -1.93392586e+02] [-7.42698680e-01 -6.01978686e-03 6.69598711e-01 -7.64229098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.37, Y:-193.40, Z:-764.25 [[ 6.24201749e-01 3.55887776e-01 6.95496993e-01 3.57374294e+02] [-2.42424820e-01 9.34509899e-01 -2.60617450e-01 -1.93400249e+02] [-7.42699390e-01 -5.92786584e-03 6.69598744e-01 -7.64254274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.39, Y:-193.41, Z:-764.28 [[ 6.23630539e-01 3.55304035e-01 6.96307399e-01 3.57394250e+02] [-2.41016133e-01 9.34737490e-01 -2.61107351e-01 -1.93407519e+02] [-7.43637126e-01 -4.98679873e-03 6.68564849e-01 -7.64277810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.41, Y:-193.41, Z:-764.30 [[ 6.23165920e-01 3.55662217e-01 6.96540468e-01 3.57414518e+02] [-2.41112062e-01 9.34601285e-01 -2.61506047e-01 -1.93414387e+02] [-7.43995437e-01 -4.98265184e-03 6.68166120e-01 -7.64302452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.43, Y:-193.42, Z:-764.33 [[ 6.23527042e-01 3.56266725e-01 6.95908075e-01 3.57434652e+02] [-2.41912658e-01 9.34369620e-01 -2.61594493e-01 -1.93421436e+02] [-7.43432777e-01 -5.23773135e-03 6.68790156e-01 -7.64327357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.46, Y:-193.43, Z:-764.35 [[ 6.23469143e-01 3.56583740e-01 6.95797574e-01 3.57455298e+02] [-2.42059953e-01 9.34249196e-01 -2.61888181e-01 -1.93429129e+02] [-7.43433391e-01 -5.14552825e-03 6.68790188e-01 -7.64352533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.47, Y:-193.44, Z:-764.38 [[ 6.23963782e-01 3.56990995e-01 6.95145041e-01 3.57474836e+02] [-2.42729898e-01 9.34092437e-01 -2.61827263e-01 -1.93437130e+02] [-7.42799701e-01 -5.36175554e-03 6.69492237e-01 -7.64376668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:-193.44, Z:-764.40 [[ 6.24075581e-01 3.57416812e-01 6.94825800e-01 3.57495214e+02] [-2.43152417e-01 9.33929194e-01 -2.62017486e-01 -1.93444392e+02] [-7.42567553e-01 -5.42985815e-03 6.69749166e-01 -7.64401471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.52, Y:-193.45, Z:-764.43 [[ 6.24237986e-01 3.58055163e-01 6.94351091e-01 3.57515225e+02] [-2.43932483e-01 9.33682924e-01 -2.62170063e-01 -1.93450263e+02] [-7.42175101e-01 -5.71827381e-03 6.70181633e-01 -7.64426291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.54, Y:-193.46, Z:-764.45 [[ 6.24235057e-01 3.58502146e-01 6.94123048e-01 3.57535775e+02] [-2.44351873e-01 9.33510787e-01 -2.62392403e-01 -1.93456843e+02] [-7.42039592e-01 -5.81573016e-03 6.70330830e-01 -7.64450963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.416559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.56, Y:-193.46, Z:-764.48 [[ 6.24399488e-01 3.58688770e-01 6.93878696e-01 3.57556059e+02] [-2.44362107e-01 9.33440593e-01 -2.62632481e-01 -1.93461889e+02] [-7.41897863e-01 -5.57007357e-03 6.70489772e-01 -7.64475421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.58, Y:-193.47, Z:-764.50 [[ 6.24165432e-01 3.59026498e-01 6.93914611e-01 3.57576354e+02] [-2.44510341e-01 9.33310914e-01 -2.62955187e-01 -1.93468806e+02] [-7.42045960e-01 -5.54176035e-03 6.70326101e-01 -7.64499980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.60, Y:-193.48, Z:-764.52 [[ 6.24119266e-01 3.59267025e-01 6.93831641e-01 3.57596885e+02] [-2.44540317e-01 9.33219362e-01 -2.63252077e-01 -1.93476191e+02] [-7.42074912e-01 -5.36911607e-03 6.70295455e-01 -7.64524610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.62, Y:-193.48, Z:-764.55 [[ 6.23502582e-01 3.59452186e-01 6.94290038e-01 3.57616937e+02] [-2.44260534e-01 9.33149387e-01 -2.63759385e-01 -1.93484877e+02] [-7.42685211e-01 -5.13299723e-03 6.69621035e-01 -7.64548513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:-193.49, Z:-764.57 [[ 6.22452228e-01 3.59956940e-01 6.94970665e-01 3.57636684e+02] [-2.44392711e-01 9.32953784e-01 -2.64328281e-01 -1.93492918e+02] [-7.43522311e-01 -5.31403697e-03 6.68690014e-01 -7.64572375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:357.66, Y:-193.50, Z:-764.60 [[ 6.20221364e-01 3.61441966e-01 6.96193339e-01 3.57657212e+02] [-2.45777281e-01 9.32370627e-01 -2.65101003e-01 -1.93500403e+02] [-7.44928848e-01 -6.68720070e-03 6.67110405e-01 -7.64596785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5965599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:357.68, Y:-193.51, Z:-764.62 [[ 6.19418649e-01 3.62806623e-01 6.96198170e-01 3.57677720e+02] [-2.47454635e-01 9.31831293e-01 -2.65436706e-01 -1.93507709e+02] [-7.45041435e-01 -7.86101861e-03 6.66971862e-01 -7.64621305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.70, Y:-193.51, Z:-764.65 [[ 6.18493325e-01 3.65598881e-01 6.95559822e-01 3.57697405e+02] [-2.51541007e-01 9.30710601e-01 -2.65527586e-01 -1.93514141e+02] [-7.44441488e-01 -1.07347789e-02 6.67601405e-01 -7.64646052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.72, Y:-193.52, Z:-764.67 [[ 6.17330873e-01 3.68840816e-01 6.94880598e-01 3.57717575e+02] [-2.56344228e-01 9.29384432e-01 -2.65579016e-01 -1.93521871e+02] [-7.43767591e-01 -1.41785046e-02 6.68287917e-01 -7.64670672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.74, Y:-193.53, Z:-764.70 [[ 6.17268445e-01 3.69156206e-01 6.94768568e-01 3.57738180e+02] [-2.56489537e-01 9.29260601e-01 -2.65871872e-01 -1.93529679e+02] [-7.43769309e-01 -1.40865513e-02 6.68287950e-01 -7.64695847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.75, Y:-193.52, Z:-764.73 [[ 6.12642321e-01 3.86341634e-01 6.89499477e-01 3.57749144e+02] [-2.56669107e-01 9.22355754e-01 -2.88757393e-01 -1.93517373e+02] [-7.47522813e-01 -6.82152432e-05 6.64236132e-01 -7.64730470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:357.78, Y:-193.56, Z:-764.74 [[ 6.16660043e-01 3.52908896e-01 7.03694325e-01 3.57779818e+02] [-2.63206249e-01 9.34872172e-01 -2.38194232e-01 -1.93560524e+02] [-7.41925105e-01 -3.83318784e-02 6.69386141e-01 -7.64737374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.776559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.80, Y:-193.55, Z:-764.77 [[ 6.15407709e-01 3.75425670e-01 6.93057659e-01 3.57797453e+02] [-2.65724777e-01 9.26626502e-01 -2.65995617e-01 -1.93551040e+02] [-7.42067177e-01 -2.04668388e-02 6.70012995e-01 -7.64768422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.82, Y:-193.56, Z:-764.79 [[ 6.15331163e-01 3.75680397e-01 6.92987589e-01 3.57818065e+02] [-2.65903015e-01 9.26522971e-01 -2.66178080e-01 -1.93558942e+02] [-7.42066807e-01 -2.04798212e-02 6.70013008e-01 -7.64793547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.84, Y:-193.57, Z:-764.82 [[ 6.14804773e-01 3.77186395e-01 6.92636639e-01 3.57837515e+02] [-2.68048187e-01 9.25877131e-01 -2.66273746e-01 -1.93565609e+02] [-7.41731259e-01 -2.19536249e-02 6.70337809e-01 -7.64817606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.86, Y:-193.57, Z:-764.84 [[ 6.14502912e-01 3.78519398e-01 6.92177171e-01 3.57857700e+02] [-2.70000115e-01 9.25301452e-01 -2.66302761e-01 -1.93572479e+02] [-7.41273303e-01 -2.32440941e-02 6.70800718e-01 -7.64842343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.88, Y:-193.58, Z:-764.87 [[ 6.14293224e-01 3.80140944e-01 6.91474293e-01 3.57877479e+02] [-2.72328868e-01 9.24599273e-01 -2.66370368e-01 -1.93579635e+02] [-7.40594912e-01 -2.46788996e-02 6.71498421e-01 -7.64866963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.90, Y:-193.59, Z:-764.89 [[ 6.14171297e-01 3.80702825e-01 6.91273446e-01 3.57897417e+02] [-2.73019635e-01 9.24357966e-01 -2.66500713e-01 -1.93587795e+02] [-7.40441690e-01 -2.50541353e-02 6.71653478e-01 -7.64891507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9565599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.92, Y:-193.60, Z:-764.92 [[ 6.14394645e-01 3.80808972e-01 6.91016459e-01 3.57918040e+02] [-2.72907731e-01 9.24323674e-01 -2.66734167e-01 -1.93595881e+02] [-7.40297636e-01 -2.47036898e-02 6.71825228e-01 -7.64916161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.94, Y:-193.60, Z:-764.94 [[ 6.14231833e-01 3.80813060e-01 6.91158931e-01 3.57938414e+02] [-2.72496230e-01 9.24333623e-01 -2.67120120e-01 -1.93604211e+02] [-7.40584269e-01 -2.42645225e-02 6.71525259e-01 -7.64940934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.016559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:357.96, Y:-193.61, Z:-764.97 [[ 6.14936259e-01 3.79137082e-01 6.91453882e-01 3.57957979e+02] [-2.69496608e-01 9.25083505e-01 -2.67566976e-01 -1.93612690e+02] [-7.41097143e-01 -2.18078399e-02 6.71043548e-01 -7.64965271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.98, Y:-193.62, Z:-764.99 [[ 6.15357843e-01 3.78295509e-01 6.91539755e-01 3.57978516e+02] [-2.67972005e-01 9.25457477e-01 -2.67804896e-01 -1.93621683e+02] [-7.41300027e-01 -2.05174513e-02 6.70860123e-01 -7.64989877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.00, Y:-193.63, Z:-765.01 [[ 6.16560922e-01 3.75583483e-01 6.91946296e-01 3.57998193e+02] [-2.63373967e-01 9.26635872e-01 -2.68291099e-01 -1.93631826e+02] [-7.41947965e-01 -1.68228332e-02 6.70246379e-01 -7.65014054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.02, Y:-193.64, Z:-765.04 [[ 6.17256526e-01 3.74207301e-01 6.92071728e-01 3.58018074e+02] [-2.60881246e-01 9.27228486e-01 -2.68678824e-01 -1.93641098e+02] [-7.42250198e-01 -1.47047771e-02 6.69961502e-01 -7.65038860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.04, Y:-193.65, Z:-765.06 [[ 6.19434131e-01 3.71022713e-01 6.91840664e-01 3.58036566e+02] [-2.55820781e-01 9.28565503e-01 -2.68927194e-01 -1.93651967e+02] [-7.42197470e-01 -1.04045360e-02 6.70100485e-01 -7.65062182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.06, Y:-193.66, Z:-765.09 [[ 6.20845281e-01 3.69494652e-01 6.91393404e-01 3.58056715e+02] [-2.53368285e-01 9.29197305e-01 -2.69066685e-01 -1.93660957e+02] [-7.41859588e-01 -8.12837939e-03 6.70505989e-01 -7.65086665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.08, Y:-193.67, Z:-765.11 [[ 6.21578978e-01 3.68667792e-01 6.91175544e-01 3.58076901e+02] [-2.51850895e-01 9.29537278e-01 -2.69316870e-01 -1.93668508e+02] [-7.41761890e-01 -6.67147496e-03 6.70630145e-01 -7.65111701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.10, Y:-193.67, Z:-765.14 [[ 6.22233840e-01 3.67554038e-01 6.91179483e-01 3.58096806e+02] [-2.49806700e-01 9.29989415e-01 -2.69659601e-01 -1.93674029e+02] [-7.41904078e-01 -4.86993681e-03 6.70488346e-01 -7.65135865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:358.12, Y:-193.68, Z:-765.16 [[ 6.22578117e-01 3.66972356e-01 6.91178543e-01 3.58117135e+02] [-2.48586793e-01 9.30224343e-01 -2.69976439e-01 -1.93681668e+02] [-7.42024996e-01 -3.73643466e-03 6.70361801e-01 -7.65160294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.14, Y:-193.69, Z:-765.18 [[ 6.24464478e-01 3.65415228e-01 6.90301258e-01 3.58137967e+02] [-2.46294832e-01 9.30843497e-01 -2.69943032e-01 -1.93690066e+02] [-7.41203731e-01 -1.44779803e-03 6.71278581e-01 -7.65184475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3165599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:358.16, Y:-193.70, Z:-765.21 [[ 6.26090801e-01 3.64610746e-01 6.89252720e-01 3.58157300e+02] [-2.45175820e-01 9.31160031e-01 -2.69869995e-01 -1.93697395e+02] [-7.40202085e-01 -2.49797003e-05 6.72384469e-01 -7.65208516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:358.18, Y:-193.71, Z:-765.23 [[ 6.28980515e-01 3.62130805e-01 6.87927897e-01 3.58177764e+02] [-2.41842265e-01 9.32121876e-01 -2.69557280e-01 -1.93705584e+02] [-7.38847637e-01 3.17623585e-03 6.73865032e-01 -7.65233106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.376559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:358.20, Y:-193.71, Z:-765.26 [[ 6.30998323e-01 3.59073571e-01 6.87682548e-01 3.58198054e+02] [-2.37054330e-01 9.33281297e-01 -2.69798563e-01 -1.93711302e+02] [-7.38678794e-01 7.22431501e-03 6.74018878e-01 -7.65257657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.24, Y:-193.76, Z:-765.26 [[ 6.39539784e-01 3.18340716e-01 6.99748564e-01 3.58238773e+02] [-2.36462716e-01 9.47563160e-01 -2.14963814e-01 -1.93760852e+02] [-7.31487695e-01 -2.79865354e-02 6.81280049e-01 -7.65259134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4365599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:358.24, Y:-193.68, Z:-765.32 [[ 6.34547804e-01 4.03331834e-01 6.59296987e-01 3.58237546e+02] [-2.27172464e-01 9.12686220e-01 -3.39700656e-01 -1.93680824e+02] [-7.38743363e-01 6.57821846e-02 6.70768923e-01 -7.65320074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:358.26, Y:-193.73, Z:-765.33 [[ 6.33508846e-01 3.51203792e-01 6.89436320e-01 3.58261797e+02] [-2.23980856e-01 9.36139179e-01 -2.71064594e-01 -1.93730016e+02] [-7.40607264e-01 1.73012810e-02 6.71715376e-01 -7.65326562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.496559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:358.28, Y:-193.74, Z:-765.35 [[ 6.33470333e-01 3.51481719e-01 6.89330066e-01 3.58282350e+02] [-2.24097875e-01 9.36032941e-01 -2.71334621e-01 -1.93738047e+02] [-7.40604807e-01 1.74050297e-02 6.71715405e-01 -7.65351723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.30, Y:-193.74, Z:-765.38 [[ 6.33172189e-01 3.51939637e-01 6.89370344e-01 3.58303677e+02] [-2.24600055e-01 9.35867066e-01 -2.71491527e-01 -1.93744844e+02] [-7.40707631e-01 1.70682670e-02 6.71610661e-01 -7.65375947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5565599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.32, Y:-193.75, Z:-765.40 [[ 6.33121037e-01 3.52256020e-01 6.89255722e-01 3.58324221e+02] [-2.24751289e-01 9.35746350e-01 -2.71782315e-01 -1.93752865e+02] [-7.40705482e-01 1.71599897e-02 6.71610693e-01 -7.65401105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.35, Y:-193.76, Z:-765.43 [[ 6.32282865e-01 3.53117619e-01 6.89584169e-01 3.58345200e+02] [-2.25665304e-01 9.35434705e-01 -2.72097561e-01 -1.93758625e+02] [-7.41143407e-01 1.64274039e-02 6.71145730e-01 -7.65425031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.37, Y:-193.76, Z:-765.45 [[ 6.31636505e-01 3.54531993e-01 6.89450790e-01 3.58366412e+02] [-2.27477780e-01 9.34920410e-01 -2.72355808e-01 -1.93764297e+02] [-7.41140462e-01 1.51951356e-02 6.71178011e-01 -7.65449300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:358.39, Y:-193.77, Z:-765.47 [[ 6.30860484e-01 3.56306912e-01 6.89246280e-01 3.58387395e+02] [-2.29830389e-01 9.34270435e-01 -2.72610980e-01 -1.93769830e+02] [-7.41075598e-01 1.35697541e-02 6.71284455e-01 -7.65473792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:358.41, Y:-193.78, Z:-765.50 [[ 6.30292807e-01 3.58454087e-01 6.88652050e-01 3.58408567e+02] [-2.32918517e-01 9.33476686e-01 -2.72709080e-01 -1.93775379e+02] [-7.40594317e-01 1.14867578e-02 6.71854234e-01 -7.65498626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.43, Y:-193.78, Z:-765.52 [[ 6.28761697e-01 3.62465151e-01 6.87951846e-01 3.58430594e+02] [-2.38813237e-01 9.31969415e-01 -2.72765921e-01 -1.93777997e+02] [-7.40018220e-01 7.21275636e-03 6.72548147e-01 -7.65523738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.45, Y:-193.78, Z:-765.55 [[ 6.27728599e-01 3.64715694e-01 6.87705801e-01 3.58451958e+02] [-2.41894249e-01 9.31105404e-01 -2.73001646e-01 -1.93784085e+02] [-7.39894572e-01 5.01886262e-03 6.72704120e-01 -7.65548612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.47, Y:-193.79, Z:-765.57 [[ 6.25202599e-01 3.68126736e-01 6.88189230e-01 3.58473673e+02] [-2.46376548e-01 9.29774479e-01 -2.73528818e-01 -1.93788144e+02] [-7.40554054e-01 1.45724119e-03 6.71995215e-01 -7.65572301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.49, Y:-193.79, Z:-765.60 [[ 6.23844724e-01 3.69928801e-01 6.88455113e-01 3.58494663e+02] [-2.48714537e-01 9.29060023e-01 -2.73840378e-01 -1.93793675e+02] [-7.40917566e-01 -3.94919055e-04 6.71595864e-01 -7.65596970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:358.51, Y:-193.80, Z:-765.62 [[ 6.22747927e-01 3.71810456e-01 6.88434459e-01 3.58514980e+02] [-2.51151672e-01 9.28306153e-01 -2.74172434e-01 -1.93799300e+02] [-7.41018122e-01 -2.16115074e-03 6.71481551e-01 -7.65620786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8565599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.54, Y:-193.80, Z:-765.64 [[ 6.20904808e-01 3.75048473e-01 6.88342838e-01 3.58535696e+02] [-2.55790409e-01 9.26987498e-01 -2.74345486e-01 -1.93803215e+02] [-7.40978060e-01 -5.72906455e-03 6.71504797e-01 -7.65644855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:358.56, Y:-193.81, Z:-765.67 [[ 6.18857410e-01 3.78093017e-01 6.88521007e-01 3.58557240e+02] [-2.59919572e-01 9.25724426e-01 -2.74729146e-01 -1.93807565e+02] [-7.41253885e-01 -8.94191760e-03 6.71165196e-01 -7.65670265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.58, Y:-193.81, Z:-765.70 [[ 6.17675617e-01 3.79701389e-01 6.88697094e-01 3.58578235e+02] [-2.61876407e-01 9.25050576e-01 -2.75140290e-01 -1.93814199e+02] [-7.41550794e-01 -1.04060724e-02 6.70816021e-01 -7.65695430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.60, Y:-193.82, Z:-765.72 [[ 6.16181473e-01 3.82176175e-01 6.88666657e-01 3.58598712e+02] [-2.65214757e-01 9.23999407e-01 -2.75474554e-01 -1.93819368e+02] [-7.41607393e-01 -1.29022434e-02 6.70710076e-01 -7.65719132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.62, Y:-193.82, Z:-765.74 [[ 6.14781784e-01 3.83866432e-01 6.88977445e-01 3.58620043e+02] [-2.67266757e-01 9.23274627e-01 -2.75921084e-01 -1.93824263e+02] [-7.42032236e-01 -1.45095111e-02 6.70207159e-01 -7.65744636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.64, Y:-193.83, Z:-765.77 [[ 6.14284482e-01 3.85598683e-01 6.88453507e-01 3.58640707e+02] [-2.69712182e-01 9.22525885e-01 -2.76045886e-01 -1.93829835e+02] [-7.41559111e-01 -1.61135936e-02 6.70693997e-01 -7.65769459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.036559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:358.66, Y:-193.84, Z:-765.79 [[ 6.14093199e-01 3.86684863e-01 6.88014797e-01 3.58660927e+02] [-2.71147982e-01 9.22056383e-01 -2.76207890e-01 -1.93836937e+02] [-7.41193845e-01 -1.69364370e-02 6.71077374e-01 -7.65794882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:358.68, Y:-193.84, Z:-765.82 [[ 6.15646606e-01 3.88251414e-01 6.85740546e-01 3.58680792e+02] [-2.74037468e-01 9.21373268e-01 -2.75635206e-01 -1.93842179e+02] [-7.38838767e-01 -1.82247235e-02 6.73635759e-01 -7.65819719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.70, Y:-193.85, Z:-765.84 [[ 6.16290240e-01 3.88283556e-01 6.85143942e-01 3.58700303e+02] [-2.74095461e-01 9.21365261e-01 -2.75604308e-01 -1.93848066e+02] [-7.38280447e-01 -1.79425996e-02 6.74255178e-01 -7.65844092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.72, Y:-193.86, Z:-765.87 [[ 6.16237142e-01 3.88559252e-01 6.85035395e-01 3.58720805e+02] [-2.74208094e-01 9.21251049e-01 -2.75873930e-01 -1.93856265e+02] [-7.38282944e-01 -1.78384878e-02 6.74255206e-01 -7.65869247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.74, Y:-193.86, Z:-765.89 [[ 6.16187653e-01 3.88725497e-01 6.84985594e-01 3.58741309e+02] [-2.74319300e-01 9.21180914e-01 -2.75997547e-01 -1.93864554e+02] [-7.38282939e-01 -1.78384876e-02 6.74255212e-01 -7.65894372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:-193.87, Z:-765.92 [[ 6.16138145e-01 3.88891730e-01 6.84935770e-01 3.58761811e+02] [-2.74430496e-01 9.21110749e-01 -2.76121154e-01 -1.93872847e+02] [-7.38282934e-01 -1.78384875e-02 6.74255218e-01 -7.65919497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.78, Y:-193.88, Z:-765.94 [[ 6.16497312e-01 3.88582591e-01 6.84788021e-01 3.58781939e+02] [-2.73873734e-01 9.21252087e-01 -2.76202409e-01 -1.93881193e+02] [-7.38189841e-01 -1.72674093e-02 6.74372000e-01 -7.65943843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.80, Y:-193.89, Z:-765.97 [[ 6.16670414e-01 3.88074971e-01 6.84920008e-01 3.58801391e+02] [-2.72699968e-01 9.21485151e-01 -2.76586052e-01 -1.93889745e+02] [-7.38479741e-01 -1.62152297e-02 6.74080662e-01 -7.65967602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.82, Y:-193.90, Z:-765.99 [[ 6.16630527e-01 3.86230112e-01 6.85997882e-01 3.58821734e+02] [-2.69276999e-01 9.22299549e-01 -2.77224531e-01 -1.93900219e+02] [-7.39767998e-01 -1.37783423e-02 6.72720942e-01 -7.65991791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.84, Y:-193.91, Z:-766.02 [[ 6.16807504e-01 3.85184497e-01 6.86426548e-01 3.58841907e+02] [-2.67168946e-01 9.22760442e-01 -2.77729943e-01 -1.93909364e+02] [-7.40384534e-01 -1.20859450e-02 6.72074901e-01 -7.66016155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.86, Y:-193.92, Z:-766.04 [[ 6.17850200e-01 3.82451973e-01 6.87016462e-01 3.58861841e+02] [-2.62464960e-01 9.23937469e-01 -2.78301453e-01 -1.93919494e+02] [-7.41197190e-01 -8.36914038e-03 6.71235192e-01 -7.66040671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.88, Y:-193.93, Z:-766.07 [[ 6.18637557e-01 3.81089706e-01 6.87064924e-01 3.58881814e+02] [-2.60029780e-01 9.24516834e-01 -2.78663127e-01 -1.93928417e+02] [-7.41398737e-01 -6.26586482e-03 6.71035507e-01 -7.66065782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.396559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.90, Y:-193.94, Z:-766.09 [[ 6.19676937e-01 3.79796927e-01 6.86844078e-01 3.58901394e+02] [-2.57816598e-01 9.25060161e-01 -2.78916297e-01 -1.93937195e+02] [-7.41303646e-01 -4.24180677e-03 6.71156399e-01 -7.66089929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:358.91, Y:-193.92, Z:-766.13 [[ 6.17276627e-01 3.96454496e-01 6.79553823e-01 3.58910622e+02] [-2.47481412e-01 9.17751989e-01 -3.10619121e-01 -1.93920092e+02] [-7.46808220e-01 2.35609832e-02 6.64621970e-01 -7.66127122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.94, Y:-193.98, Z:-766.13 [[ 6.22413595e-01 3.43884406e-01 7.03096602e-01 3.58941168e+02] [-2.51651541e-01 9.38536431e-01 -2.36264409e-01 -1.93981265e+02] [-7.41129421e-01 -2.98811635e-02 6.70696874e-01 -7.66128581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.96, Y:-193.97, Z:-766.16 [[ 6.22800158e-01 3.75878051e-01 6.86174652e-01 3.58959514e+02] [-2.51295520e-01 9.26667652e-01 -2.79531080e-01 -1.93965130e+02] [-7.40925451e-01 1.65938489e-03 6.71585231e-01 -7.66162693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.98, Y:-193.97, Z:-766.19 [[ 6.22945320e-01 3.75759767e-01 6.86107664e-01 3.58979555e+02] [-2.50776550e-01 9.26714336e-01 -2.79842209e-01 -1.93973785e+02] [-7.40979251e-01 2.26668149e-03 6.71524096e-01 -7.66187541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.00, Y:-193.98, Z:-766.21 [[ 6.22889519e-01 3.75877782e-01 6.86093682e-01 3.58998947e+02] [-2.50581117e-01 9.26665605e-01 -2.80178445e-01 -1.93982579e+02] [-7.41092269e-01 2.59809565e-03 6.71398167e-01 -7.66211883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.02, Y:-193.99, Z:-766.24 [[ 6.22843044e-01 3.76159080e-01 6.85981697e-01 3.59019413e+02] [-2.50697807e-01 9.26551152e-01 -2.80452444e-01 -1.93990882e+02] [-7.41091865e-01 2.70374698e-03 6.71398196e-01 -7.66237031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.04, Y:-194.00, Z:-766.26 [[ 6.22466764e-01 3.76488076e-01 6.86142738e-01 3.59038583e+02] [-2.50952911e-01 9.26418052e-01 -2.80663909e-01 -1.93999234e+02] [-7.41321633e-01 2.51443761e-03 6.71145226e-01 -7.66260787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.636559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.06, Y:-194.01, Z:-766.29 [[ 6.22222790e-01 3.77157838e-01 6.85996184e-01 3.59058881e+02] [-2.51671822e-01 9.26146510e-01 -2.80916245e-01 -1.94008128e+02] [-7.41282735e-01 2.14658034e-03 6.71189466e-01 -7.66285743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.08, Y:-194.02, Z:-766.31 [[ 6.21366923e-01 3.78427906e-01 6.86072494e-01 3.59078349e+02] [-2.53161523e-01 9.25630126e-01 -2.81279421e-01 -1.94016662e+02] [-7.41493352e-01 1.09057110e-03 6.70959328e-01 -7.66310370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.10, Y:-194.02, Z:-766.34 [[ 6.20902971e-01 3.79328089e-01 6.85995409e-01 3.59097869e+02] [-2.54156281e-01 9.25262103e-01 -2.81593015e-01 -1.94024978e+02] [-7.41541695e-01 4.91897594e-04 6.70906605e-01 -7.66335006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.12, Y:-194.03, Z:-766.36 [[ 6.19917164e-01 3.80823380e-01 6.86058499e-01 3.59117389e+02] [-2.55976163e-01 9.24647436e-01 -2.81963338e-01 -1.94033580e+02] [-7.41740463e-01 -8.20708846e-04 6.70686523e-01 -7.66359433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.756559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:359.14, Y:-194.04, Z:-766.38 [[ 6.18986677e-01 3.81899773e-01 6.86300267e-01 3.59137427e+02] [-2.57118865e-01 9.24202238e-01 -2.82382919e-01 -1.94042179e+02] [-7.42122215e-01 -1.66948112e-03 6.70262509e-01 -7.66384242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.16, Y:-194.05, Z:-766.41 [[ 6.18164759e-01 3.82961851e-01 6.86449235e-01 3.59156698e+02] [-2.58261488e-01 9.23760840e-01 -2.82784219e-01 -1.94050469e+02] [-7.42410490e-01 -2.47616216e-03 6.69940694e-01 -7.66407754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8165599949999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:359.18, Y:-194.06, Z:-766.43 [[ 6.17347152e-01 3.83750936e-01 6.86744286e-01 3.59176385e+02] [-2.58956949e-01 9.23431793e-01 -2.83222567e-01 -1.94058754e+02] [-7.42848432e-01 -2.99055997e-03 6.69452959e-01 -7.66432321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.20, Y:-194.07, Z:-766.46 [[ 6.16439965e-01 3.84789671e-01 6.86977932e-01 3.59196539e+02] [-2.60036731e-01 9.22996523e-01 -2.83651754e-01 -1.94067725e+02] [-7.43224508e-01 -3.78521900e-03 6.69031392e-01 -7.66457296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.22, Y:-194.08, Z:-766.48 [[ 6.15329841e-01 3.85817249e-01 6.87396711e-01 3.59216081e+02] [-2.61006656e-01 9.22563967e-01 -2.84167650e-01 -1.94077377e+02] [-7.43804217e-01 -4.55828185e-03 6.68382008e-01 -7.66482241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:-194.09, Z:-766.51 [[ 6.15200699e-01 3.85978459e-01 6.87421799e-01 3.59234872e+02] [-2.60848845e-01 9.22497902e-01 -2.84526803e-01 -1.94087380e+02] [-7.43966384e-01 -4.27209402e-03 6.68203389e-01 -7.66506748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.26, Y:-194.10, Z:-766.53 [[ 6.15125093e-01 3.86303234e-01 6.87307014e-01 3.59255286e+02] [-2.61026237e-01 9.22362209e-01 -2.84803897e-01 -1.94095767e+02] [-7.43966682e-01 -4.21513989e-03 6.68203419e-01 -7.66531885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:359.27, Y:-194.11, Z:-766.56 [[ 6.15074641e-01 3.85809164e-01 6.87629606e-01 3.59274584e+02] [-2.59881650e-01 9.22572698e-01 -2.85168625e-01 -1.94105960e+02] [-7.44408970e-01 -3.30232737e-03 6.67715793e-01 -7.66557137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.996559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:359.29, Y:-194.12, Z:-766.58 [[ 6.15426794e-01 3.85037621e-01 6.87746968e-01 3.59293043e+02] [-2.58292142e-01 9.22898922e-01 -2.85556911e-01 -1.94116144e+02] [-7.44671089e-01 -1.90026359e-03 6.67428916e-01 -7.66581270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:359.31, Y:-194.13, Z:-766.61 [[ 6.15263442e-01 3.84954649e-01 6.87939543e-01 3.59312497e+02] [-2.57726302e-01 9.22934482e-01 -2.85952959e-01 -1.94125559e+02] [-7.45002047e-01 -1.36371264e-03 6.67060785e-01 -7.66606103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.33, Y:-194.13, Z:-766.63 [[ 6.15218294e-01 3.84928772e-01 6.87994398e-01 3.59331294e+02] [-2.57283410e-01 9.22945879e-01 -2.86314779e-01 -1.94134573e+02] [-7.45192390e-01 -8.63454885e-04 6.66848976e-01 -7.66629932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.35, Y:-194.14, Z:-766.65 [[ 6.14868101e-01 3.85184139e-01 6.88164514e-01 3.59350568e+02] [-2.57353901e-01 9.22839313e-01 -2.86594787e-01 -1.94143880e+02] [-7.45457033e-01 -8.83829672e-04 6.66553097e-01 -7.66654542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.37, Y:-194.15, Z:-766.68 [[ 6.14668746e-01 3.85536786e-01 6.88145130e-01 3.59369058e+02] [-2.57503548e-01 9.22692092e-01 -2.86934183e-01 -1.94153311e+02] [-7.45569752e-01 -8.30338288e-04 6.66427082e-01 -7.66678771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.39, Y:-194.16, Z:-766.70 [[ 6.14241004e-01 3.86969146e-01 6.87722959e-01 3.59387979e+02] [-2.59609386e-01 9.22089872e-01 -2.86972533e-01 -1.94162947e+02] [-7.45191892e-01 -2.26903841e-03 6.66846231e-01 -7.66703533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.41, Y:-194.17, Z:-766.73 [[ 6.14198547e-01 3.88254601e-01 6.87036033e-01 3.59406858e+02] [-2.61468768e-01 9.21546082e-01 -2.87031188e-01 -1.94171475e+02] [-7.44576543e-01 -3.34432652e-03 6.67528716e-01 -7.66727253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.43, Y:-194.18, Z:-766.75 [[ 6.13825519e-01 3.89802112e-01 6.86492932e-01 3.59426584e+02] [-2.63680690e-01 9.20886291e-01 -2.87125293e-01 -1.94180396e+02] [-7.44103975e-01 -4.77009746e-03 6.68046795e-01 -7.66752521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.45, Y:-194.19, Z:-766.78 [[ 6.13396345e-01 3.91586757e-01 6.85860580e-01 3.59445566e+02] [-2.66261794e-01 9.20118597e-01 -2.87204501e-01 -1.94188663e+02] [-7.43538554e-01 -6.44827706e-03 6.68661977e-01 -7.66776703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.47, Y:-194.20, Z:-766.80 [[ 6.12987757e-01 3.93379099e-01 6.85199894e-01 3.59465362e+02] [-2.68891457e-01 9.19340098e-01 -2.87247576e-01 -1.94197421e+02] [-7.42928930e-01 -8.16515058e-03 6.69320503e-01 -7.66801812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2965599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.48, Y:-194.21, Z:-766.83 [[ 6.11935906e-01 3.96668968e-01 6.84242777e-01 3.59484567e+02] [-2.73878814e-01 9.17887626e-01 -2.87180609e-01 -1.94206358e+02] [-7.41973614e-01 -1.16634737e-02 6.70327622e-01 -7.66827388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.50, Y:-194.22, Z:-766.85 [[ 6.11228511e-01 3.98610312e-01 6.83746684e-01 3.59503776e+02] [-2.76636735e-01 9.17020456e-01 -2.87307500e-01 -1.94215021e+02] [-7.41533428e-01 -1.35389147e-02 6.70779303e-01 -7.66852135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.52, Y:-194.22, Z:-766.88 [[ 6.09584630e-01 4.04888388e-01 6.81521807e-01 3.59520388e+02] [-2.76602242e-01 9.14329346e-01 -2.95792237e-01 -1.94215804e+02] [-7.42898229e-01 -8.20005826e-03 6.69354151e-01 -7.66879272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.54, Y:-194.24, Z:-766.90 [[ 6.09153264e-01 3.92586857e-01 6.89063031e-01 3.59542085e+02] [-2.82659628e-01 9.19290521e-01 -2.73876747e-01 -1.94243066e+02] [-7.40969524e-01 -2.79373853e-02 6.70957277e-01 -7.66897376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.416559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.56, Y:-194.24, Z:-766.93 [[ 6.08064098e-01 4.04149277e-01 6.83316482e-01 3.59561215e+02] [-2.84200674e-01 9.14493809e-01 -2.87977519e-01 -1.94244655e+02] [-7.41274598e-01 -1.90902145e-02 6.70930350e-01 -7.66925311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.58, Y:-194.24, Z:-766.96 [[ 6.04118053e-01 4.15776338e-01 6.79831902e-01 3.59575761e+02] [-2.82862054e-01 9.09430456e-01 -3.04836520e-01 -1.94241299e+02] [-7.45003649e-01 -8.14140357e-03 6.67010705e-01 -7.66955724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.60, Y:-194.28, Z:-766.97 [[ 6.06222735e-01 3.88899466e-01 6.93722712e-01 3.59601516e+02] [-2.87638687e-01 9.20449744e-01 -2.64643639e-01 -1.94280281e+02] [-7.41456662e-01 -3.91084998e-02 6.69860092e-01 -7.66968040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.62, Y:-194.28, Z:-767.00 [[ 6.04689839e-01 4.07968975e-01 6.84040579e-01 3.59619987e+02] [-2.88469338e-01 9.12722013e-01 -2.89350943e-01 -1.94275458e+02] [-7.42385102e-01 -2.23571583e-02 6.69600267e-01 -7.66998684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.64, Y:-194.29, Z:-767.02 [[ 6.03844847e-01 4.08899312e-01 6.84231506e-01 3.59639100e+02] [-2.89414592e-01 9.12288411e-01 -2.89774136e-01 -1.94285204e+02] [-7.42704918e-01 -2.30479634e-02 6.69222083e-01 -7.67022668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.66, Y:-194.30, Z:-767.04 [[ 6.01231601e-01 4.10455835e-01 6.85599424e-01 3.59655312e+02] [-2.92878693e-01 9.11476694e-01 -2.88846512e-01 -1.94296638e+02] [-7.43466632e-01 -2.71338122e-02 6.68222360e-01 -7.67043071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.68, Y:-194.31, Z:-767.07 [[ 6.02186687e-01 4.06467763e-01 6.87135468e-01 3.59676281e+02] [-2.91872954e-01 9.13195410e-01 -2.84401690e-01 -1.94309431e+02] [-7.43089074e-01 -2.92933478e-02 6.68551066e-01 -7.67068105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.70, Y:-194.32, Z:-767.10 [[ 6.01867858e-01 4.12127082e-01 6.84036804e-01 3.59695010e+02] [-2.92841056e-01 9.10779863e-01 -2.91074145e-01 -1.94316285e+02] [-7.42966485e-01 -2.51258877e-02 6.68856855e-01 -7.67095085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.72, Y:-194.32, Z:-767.12 [[ 6.01809576e-01 4.12414485e-01 6.83914853e-01 3.59715342e+02] [-2.92950967e-01 9.10652949e-01 -2.91360495e-01 -1.94324877e+02] [-7.42970366e-01 -2.50099817e-02 6.68856888e-01 -7.67120237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.73, Y:-194.34, Z:-767.14 [[ 6.02226330e-01 4.13157476e-01 6.83099076e-01 3.59733804e+02] [-2.94251479e-01 9.10298028e-01 -2.91159006e-01 -1.94335640e+02] [-7.42118262e-01 -2.56592934e-02 6.69777640e-01 -7.67144737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.75, Y:-194.34, Z:-767.17 [[ 6.02256799e-01 4.13812317e-01 6.82675703e-01 3.59753428e+02] [-2.95069934e-01 9.09990721e-01 -2.91291302e-01 -1.94344985e+02] [-7.41768483e-01 -2.60049077e-02 6.70151672e-01 -7.67169998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.77, Y:-194.35, Z:-767.19 [[ 6.02849647e-01 4.14652297e-01 6.81641971e-01 3.59771407e+02] [-2.96393043e-01 9.09594212e-01 -2.91186423e-01 -1.94354510e+02] [-7.40758711e-01 -2.64923060e-02 6.71248605e-01 -7.67194072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.79, Y:-194.36, Z:-767.22 [[ 6.02956917e-01 4.15301494e-01 6.81151691e-01 3.59790875e+02] [-2.97229310e-01 9.09288284e-01 -2.91289468e-01 -1.94364029e+02] [-7.40336203e-01 -2.68232476e-02 6.71701437e-01 -7.67218870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.81, Y:-194.37, Z:-767.24 [[ 6.03394056e-01 4.15779192e-01 6.80472833e-01 3.59810686e+02] [-2.97860643e-01 9.09067756e-01 -2.91332889e-01 -1.94373565e+02] [-7.39726065e-01 -2.68975419e-02 6.72370338e-01 -7.67243881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.83, Y:-194.38, Z:-767.27 [[ 6.04314048e-01 4.15424508e-01 6.79872790e-01 3.59829795e+02] [-2.97206495e-01 9.09257159e-01 -2.91409879e-01 -1.94384109e+02] [-7.39238007e-01 -2.59595251e-02 6.72943736e-01 -7.67268699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.85, Y:-194.39, Z:-767.29 [[ 6.04708870e-01 4.15016173e-01 6.79771107e-01 3.59848693e+02] [-2.96252847e-01 9.09470977e-01 -2.91713546e-01 -1.94393618e+02] [-7.39297933e-01 -2.49823570e-02 6.72914890e-01 -7.67292581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.87, Y:-194.40, Z:-767.32 [[ 6.05235050e-01 4.14340361e-01 6.79715087e-01 3.59867616e+02] [-2.95026373e-01 9.09809076e-01 -2.91902185e-01 -1.94403286e+02] [-7.39357811e-01 -2.38644434e-02 6.72889675e-01 -7.67316520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.89, Y:-194.41, Z:-767.34 [[ 6.06139297e-01 4.12602132e-01 6.79966642e-01 3.59886795e+02] [-2.91961073e-01 9.10661494e-01 -2.92325802e-01 -1.94413909e+02] [-7.39833687e-01 -2.13336342e-02 6.72451479e-01 -7.67340788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.91, Y:-194.42, Z:-767.36 [[ 6.06523104e-01 4.11875108e-01 6.80065159e-01 3.59905604e+02] [-2.90447889e-01 9.11021093e-01 -2.92712475e-01 -1.94422745e+02] [-7.40114686e-01 -1.99866110e-02 6.72183596e-01 -7.67364393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.92, Y:-194.42, Z:-767.39 [[ 6.05574240e-01 4.18199383e-01 6.77044397e-01 3.59919999e+02] [-2.85422962e-01 9.08319295e-01 -3.05761005e-01 -1.94419054e+02] [-7.42841553e-01 -8.08302905e-03 6.69418473e-01 -7.67392609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.95, Y:-194.45, Z:-767.41 [[ 6.07902016e-01 3.94368710e-01 6.89150535e-01 3.59945446e+02] [-2.87744401e-01 9.18355072e-01 -2.71711468e-01 -1.94453983e+02] [-7.40039390e-01 -3.31252585e-02 6.71747288e-01 -7.67406162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:359.96, Y:-194.45, Z:-767.44 [[ 6.07372163e-01 4.09477580e-01 6.80754851e-01 3.59963877e+02] [-2.85621934e-01 9.12180512e-01 -2.93848302e-01 -1.94449241e+02] [-7.41295600e-01 -1.59632388e-02 6.70988829e-01 -7.67435744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.98, Y:-194.46, Z:-767.46 [[ 6.07377472e-01 4.09437247e-01 6.80774374e-01 3.59984319e+02] [-2.85202072e-01 9.12206885e-01 -2.94174061e-01 -1.94457848e+02] [-7.41452888e-01 -1.54835650e-02 6.70826263e-01 -7.67460351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.00, Y:-194.45, Z:-767.49 [[ 6.06068172e-01 4.16409659e-01 6.77705221e-01 3.60000093e+02] [-2.80513954e-01 9.09170063e-01 -3.07768938e-01 -1.94453271e+02] [-7.44307257e-01 -3.57681375e-03 6.67827758e-01 -7.67490068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:-194.47, Z:-767.51 [[ 6.06386047e-01 4.01974592e-01 6.86084827e-01 3.60020934e+02] [-2.80914787e-01 9.15473140e-01 -2.88089937e-01 -1.94474263e+02] [-7.43897066e-01 -1.80376548e-02 6.68050745e-01 -7.67509183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.04, Y:-194.49, Z:-767.53 [[ 6.08609266e-01 3.93642216e-01 6.88941628e-01 3.60044801e+02] [-2.82841579e-01 9.18855161e-01 -2.75146934e-01 -1.94494444e+02] [-7.41347019e-01 -2.74043642e-02 6.70562151e-01 -7.67527533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.06, Y:-194.49, Z:-767.56 [[ 6.08675794e-01 4.08212580e-01 6.80350106e-01 3.60063251e+02] [-2.82091832e-01 9.12805757e-01 -2.95313136e-01 -1.94490654e+02] [-7.41578031e-01 -1.21712500e-02 6.70756204e-01 -7.67557131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.08, Y:-194.50, Z:-767.58 [[ 6.08901751e-01 4.08208118e-01 6.80150564e-01 3.60083556e+02] [-2.81822252e-01 9.12813619e-01 -2.95546129e-01 -1.94499449e+02] [-7.41495027e-01 -1.17230086e-02 6.70855943e-01 -7.67582079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.10, Y:-194.49, Z:-767.61 [[ 6.07713884e-01 4.16473341e-01 6.76190648e-01 3.60098628e+02] [-2.78340015e-01 9.09147927e-01 -3.09801362e-01 -1.94494956e+02] [-7.43781333e-01 5.96737210e-05 6.68423013e-01 -7.67612149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.12, Y:-194.53, Z:-767.62 [[ 6.10257584e-01 3.92320102e-01 6.88237327e-01 3.60123316e+02] [-2.79526996e-01 9.19521736e-01 -2.76304967e-01 -1.94527186e+02] [-7.41249175e-01 -2.37637110e-02 6.70809173e-01 -7.67624156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.14, Y:-194.52, Z:-767.65 [[ 6.10367311e-01 4.06636306e-01 6.79778391e-01 3.60142433e+02] [-2.78934235e-01 9.13546462e-01 -2.96021207e-01 -1.94523310e+02] [-7.41382114e-01 -8.93179769e-03 6.71023684e-01 -7.67654213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.16, Y:-194.53, Z:-767.68 [[ 6.11073664e-01 4.05390297e-01 6.79887994e-01 3.60162494e+02] [-2.76636061e-01 9.14117283e-01 -2.96415390e-01 -1.94530767e+02] [-7.41661289e-01 -6.94989797e-03 6.70738572e-01 -7.67678291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.18, Y:-194.54, Z:-767.70 [[ 6.11198703e-01 4.04881202e-01 6.80078936e-01 3.60182577e+02] [-2.75428867e-01 9.14350282e-01 -2.96820654e-01 -1.94539378e+02] [-7.42007470e-01 -5.89697226e-03 6.70365677e-01 -7.67702661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:360.20, Y:-194.55, Z:-767.73 [[ 6.11605027e-01 4.04182088e-01 6.80129496e-01 3.60202414e+02] [-2.73979895e-01 9.14667069e-01 -2.97185413e-01 -1.94547527e+02] [-7.42209074e-01 -4.58171547e-03 6.70152743e-01 -7.67726942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.22, Y:-194.56, Z:-767.75 [[ 6.11872393e-01 4.03824437e-01 6.80101462e-01 3.60222592e+02] [-2.73105823e-01 9.14828967e-01 -2.97491463e-01 -1.94556294e+02] [-7.42310841e-01 -3.71285579e-03 6.70045395e-01 -7.67751540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.24, Y:-194.56, Z:-767.78 [[ 6.12126021e-01 4.03558748e-01 6.80030935e-01 3.60242677e+02] [-2.72365280e-01 9.14949059e-01 -2.97800896e-01 -1.94564781e+02] [-7.42373820e-01 -2.92513894e-03 6.69979518e-01 -7.67776410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.26, Y:-194.57, Z:-767.80 [[ 6.12060308e-01 4.03873025e-01 6.79903492e-01 3.60262923e+02] [-2.72512014e-01 9.14810669e-01 -2.98091666e-01 -1.94573574e+02] [-7.42374152e-01 -2.83179314e-03 6.69979552e-01 -7.67801548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.28, Y:-194.58, Z:-767.83 [[ 6.12650476e-01 4.03118332e-01 6.79819832e-01 3.60282575e+02] [-2.71212268e-01 9.15146367e-01 -2.98246598e-01 -1.94580946e+02] [-7.42363321e-01 -1.65455799e-03 6.69995494e-01 -7.67825143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.30, Y:-194.59, Z:-767.85 [[ 6.12619438e-01 4.03194646e-01 6.79802546e-01 3.60302161e+02] [-2.70978902e-01 9.15113307e-01 -2.98559993e-01 -1.94588614e+02] [-7.42474147e-01 -1.30849227e-03 6.69873443e-01 -7.67849869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.32, Y:-194.60, Z:-767.87 [[ 6.12970539e-01 4.03038400e-01 6.79578669e-01 3.60322018e+02] [-2.70472440e-01 9.15182839e-01 -2.98806009e-01 -1.94595814e+02] [-7.42369031e-01 -6.48020577e-04 6.69990897e-01 -7.67873923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.616559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.34, Y:-194.60, Z:-767.90 [[ 6.13179514e-01 4.03072380e-01 6.79369959e-01 3.60342047e+02] [-2.70269987e-01 9.15168069e-01 -2.99034347e-01 -1.94604152e+02] [-7.42270179e-01 -2.51574800e-04 6.70100678e-01 -7.67898623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.36, Y:-194.61, Z:-767.92 [[ 6.13430324e-01 4.03025270e-01 6.79171459e-01 3.60361652e+02] [-2.69912180e-01 9.15188808e-01 -2.99293938e-01 -1.94612538e+02] [-7.42193137e-01 2.79328031e-04 6.70185996e-01 -7.67922382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.38, Y:-194.62, Z:-767.95 [[ 6.13612043e-01 4.02803963e-01 6.79138593e-01 3.60381839e+02] [-2.69361629e-01 9.15285892e-01 -2.99492986e-01 -1.94620719e+02] [-7.42242935e-01 8.38624783e-04 6.70130378e-01 -7.67946994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.40, Y:-194.63, Z:-767.97 [[ 6.14266151e-01 4.02303015e-01 6.78844150e-01 3.60402328e+02] [-2.68386663e-01 9.15504595e-01 -2.99699742e-01 -1.94628499e+02] [-7.42055049e-01 1.90269045e-03 6.70336247e-01 -7.67972185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.42, Y:-194.64, Z:-768.00 [[ 6.14514817e-01 4.02228213e-01 6.78663395e-01 3.60422647e+02] [-2.67985873e-01 9.15536137e-01 -2.99961920e-01 -1.94636741e+02] [-7.41994011e-01 2.45884215e-03 6.70402001e-01 -7.67997239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.44, Y:-194.64, Z:-768.02 [[ 6.15234428e-01 4.01808031e-01 6.78260205e-01 3.60443581e+02] [-2.67182932e-01 9.15717511e-01 -3.00124511e-01 -1.94643856e+02] [-7.41687185e-01 3.42738173e-03 6.70737186e-01 -7.68021429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:-194.65, Z:-768.05 [[ 6.15017185e-01 4.02072219e-01 6.78300666e-01 3.60463364e+02] [-2.67179384e-01 9.15600980e-01 -3.00482981e-01 -1.94651380e+02] [-7.41868614e-01 3.57424299e-03 6.70535745e-01 -7.68045823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.48, Y:-194.66, Z:-768.07 [[ 6.15094961e-01 4.02340336e-01 6.78071119e-01 3.60483740e+02] [-2.67342874e-01 9.15482775e-01 -3.00697651e-01 -1.94658801e+02] [-7.41745223e-01 3.68012802e-03 6.70671664e-01 -7.68070573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8565599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:360.50, Y:-194.67, Z:-768.10 [[ 6.14374636e-01 4.03185825e-01 6.78221939e-01 3.60504607e+02] [-2.68154286e-01 9.15112808e-01 -3.01101025e-01 -1.94665098e+02] [-7.42049248e-01 3.12071306e-03 6.70338105e-01 -7.68095355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.52, Y:-194.67, Z:-768.12 [[ 6.13786374e-01 4.04135628e-01 6.78189267e-01 3.60524572e+02] [-2.69202920e-01 9.14695807e-01 -3.01432196e-01 -1.94672448e+02] [-7.42156368e-01 2.44444300e-03 6.70222314e-01 -7.68119162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.54, Y:-194.68, Z:-768.14 [[ 6.12861421e-01 4.05190931e-01 6.78396041e-01 3.60544590e+02] [-2.70317218e-01 9.14230674e-01 -3.01845782e-01 -1.94679869e+02] [-7.42515643e-01 1.60750454e-03 6.69826795e-01 -7.68143056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.56, Y:-194.69, Z:-768.17 [[ 6.11893370e-01 4.06332936e-01 6.78586803e-01 3.60564219e+02] [-2.71574647e-01 9.13724857e-01 -3.02248404e-01 -1.94687287e+02] [-7.42855110e-01 6.56822617e-04 6.69451906e-01 -7.68166577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.59, Y:-194.70, Z:-768.19 [[ 6.10908542e-01 4.07713963e-01 6.78645767e-01 3.60585109e+02] [-2.73378379e-01 9.13109402e-01 -3.02482202e-01 -1.94695382e+02] [-7.43004048e-01 -7.38118546e-04 6.69286516e-01 -7.68191324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.61, Y:-194.70, Z:-768.22 [[ 6.09597437e-01 4.10383476e-01 6.78215576e-01 3.60605771e+02] [-2.77208266e-01 9.11906226e-01 -3.02626194e-01 -1.94701017e+02] [-7.42661795e-01 -3.52681162e-03 6.69657390e-01 -7.68215247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.63, Y:-194.71, Z:-768.24 [[ 6.09010545e-01 4.11926584e-01 6.77807234e-01 3.60625982e+02] [-2.79369468e-01 9.11203444e-01 -3.02755650e-01 -1.94708086e+02] [-7.42333387e-01 -4.97726316e-03 6.70012216e-01 -7.68240499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.65, Y:-194.71, Z:-768.26 [[ 6.08644296e-01 4.14597082e-01 6.76506748e-01 3.60645921e+02] [-2.83622452e-01 9.09972046e-01 -3.02504842e-01 -1.94713798e+02] [-7.41019855e-01 -7.75465562e-03 6.71438337e-01 -7.68264554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.67, Y:-194.72, Z:-768.29 [[ 6.08479013e-01 4.15901515e-01 6.75854438e-01 3.60666124e+02] [-2.85543544e-01 9.09366023e-01 -3.02519952e-01 -1.94721252e+02] [-7.40417568e-01 -8.90882976e-03 6.72088132e-01 -7.68289366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.69, Y:-194.73, Z:-768.31 [[ 6.08177356e-01 4.17147075e-01 6.75358144e-01 3.60685859e+02] [-2.87268476e-01 9.08784486e-01 -3.02634402e-01 -1.94728621e+02] [-7.39998059e-01 -9.95371395e-03 6.72535350e-01 -7.68313722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.71, Y:-194.74, Z:-768.34 [[ 6.07945267e-01 4.18041709e-01 6.75013839e-01 3.60705635e+02] [-2.88422694e-01 9.08365900e-01 -3.02793232e-01 -1.94736283e+02] [-7.39739753e-01 -1.06075977e-02 6.72809465e-01 -7.68337649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.73, Y:-194.74, Z:-768.36 [[ 6.07682813e-01 4.18701714e-01 6.74841073e-01 3.60725789e+02] [-2.89158106e-01 9.08057232e-01 -3.03017579e-01 -1.94743985e+02] [-7.39668297e-01 -1.09971915e-02 6.72881767e-01 -7.68361465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.75, Y:-194.75, Z:-768.39 [[ 6.07460550e-01 4.18525874e-01 6.75150185e-01 3.60745984e+02] [-2.88420799e-01 9.08145440e-01 -3.03455603e-01 -1.94752063e+02] [-7.40138583e-01 -1.03900483e-02 6.72374096e-01 -7.68385797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:-194.76, Z:-768.41 [[ 6.07405070e-01 4.18812167e-01 6.75022555e-01 3.60766156e+02] [-2.88533533e-01 9.08014767e-01 -3.03739334e-01 -1.94761068e+02] [-7.40140176e-01 -1.02738310e-02 6.72374128e-01 -7.68410937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.79, Y:-194.77, Z:-768.43 [[ 6.07406612e-01 4.17992246e-01 6.75529193e-01 3.60785928e+02] [-2.86905160e-01 9.08405099e-01 -3.04114461e-01 -1.94770338e+02] [-7.40771650e-01 -9.09167693e-03 6.71695395e-01 -7.68434359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.81, Y:-194.78, Z:-768.46 [[ 6.07486845e-01 4.17568596e-01 6.75719025e-01 3.60806080e+02] [-2.85832420e-01 9.08608824e-01 -3.04515736e-01 -1.94779092e+02] [-7.41120477e-01 -8.15310102e-03 6.71322550e-01 -7.68459372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.83, Y:-194.79, Z:-768.48 [[ 6.07561136e-01 4.17335836e-01 6.75796024e-01 3.60826264e+02] [-2.85068921e-01 9.08722143e-01 -3.04893059e-01 -1.94787957e+02] [-7.41353611e-01 -7.40726998e-03 6.71073734e-01 -7.68484337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.85, Y:-194.80, Z:-768.51 [[ 6.08244352e-01 4.16526063e-01 6.75681025e-01 3.60845514e+02] [-2.83536047e-01 9.09104278e-01 -3.05183096e-01 -1.94796457e+02] [-7.41381224e-01 -5.95403247e-03 6.71057696e-01 -7.68508595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.87, Y:-194.81, Z:-768.53 [[ 6.08458630e-01 4.16448091e-01 6.75536145e-01 3.60865442e+02] [-2.83138279e-01 9.09143309e-01 -3.05436013e-01 -1.94805209e+02] [-7.41357411e-01 -5.42496393e-03 6.71088489e-01 -7.68533071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.89, Y:-194.81, Z:-768.56 [[ 6.08970833e-01 4.16410844e-01 6.75097426e-01 3.60885546e+02] [-2.82936266e-01 9.09163189e-01 -3.05564011e-01 -1.94813491e+02] [-7.41013896e-01 -4.92997493e-03 6.71471594e-01 -7.68558209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.90, Y:-194.82, Z:-768.58 [[ 6.09219255e-01 4.16892045e-01 6.74576106e-01 3.60904807e+02] [-2.83527646e-01 9.08942042e-01 -3.05673746e-01 -1.94821738e+02] [-7.40583536e-01 -5.03864334e-03 6.71945413e-01 -7.68581984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.92, Y:-194.83, Z:-768.61 [[ 6.09349346e-01 4.17308675e-01 6.74200893e-01 3.60923767e+02] [-2.84096533e-01 9.08749644e-01 -3.05717592e-01 -1.94830111e+02] [-7.40258424e-01 -5.24932160e-03 6.72301948e-01 -7.68605898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.94, Y:-194.84, Z:-768.63 [[ 6.09969716e-01 4.17859915e-01 6.73297882e-01 3.60944153e+02] [-2.85127808e-01 9.08494089e-01 -3.05516978e-01 -1.94839081e+02] [-7.39350444e-01 -5.61984495e-03 6.73297362e-01 -7.68630776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.96, Y:-194.85, Z:-768.65 [[ 6.10843655e-01 4.18664553e-01 6.72004480e-01 3.60963002e+02] [-2.86573810e-01 9.08120442e-01 -3.05274818e-01 -1.94847339e+02] [-7.38068751e-01 -6.10369904e-03 6.74697906e-01 -7.68654666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.98, Y:-194.86, Z:-768.68 [[ 6.11272082e-01 4.18848619e-01 6.71500020e-01 3.60983079e+02] [-2.86740723e-01 9.08037008e-01 -3.05366257e-01 -1.94856183e+02] [-7.37649103e-01 -5.88453365e-03 6.75158628e-01 -7.68679478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.00, Y:-194.87, Z:-768.70 [[ 6.11600336e-01 4.18831623e-01 6.71211666e-01 3.61002903e+02] [-2.86484875e-01 9.08047841e-01 -3.05574107e-01 -1.94865061e+02] [-7.37476403e-01 -5.40276361e-03 6.75351290e-01 -7.68704042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.02, Y:-194.87, Z:-768.73 [[ 6.12848778e-01 4.17115905e-01 6.71141339e-01 3.61022199e+02] [-2.83602516e-01 9.08848743e-01 -3.05881636e-01 -1.94874083e+02] [-7.37554058e-01 -2.87818590e-03 6.75281962e-01 -7.68727310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.04, Y:-194.88, Z:-768.75 [[ 6.13692900e-01 4.15915369e-01 6.71115065e-01 3.61042136e+02] [-2.81490969e-01 9.09402764e-01 -3.06185315e-01 -1.94883780e+02] [-7.37661073e-01 -1.00907573e-03 6.75170440e-01 -7.68751430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.06, Y:-194.88, Z:-768.78 [[ 6.12728560e-01 4.23175978e-01 6.67447229e-01 3.61056498e+02] [-2.73950045e-01 9.05923452e-01 -3.22883993e-01 -1.94876831e+02] [-7.41292847e-01 1.49930453e-02 6.71014250e-01 -7.68781966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.08, Y:-194.92, Z:-768.79 [[ 6.15292409e-01 3.92615061e-01 6.83570527e-01 3.61082085e+02] [-2.75192575e-01 9.19571444e-01 -2.80459278e-01 -1.94919042e+02] [-7.38704473e-01 -1.55490681e-02 6.73850079e-01 -7.68792815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.10, Y:-194.91, Z:-768.82 [[ 6.17159708e-01 4.08326311e-01 6.72594617e-01 3.61100914e+02] [-2.68343064e-01 9.12786092e-01 -3.07918091e-01 -1.94913282e+02] [-7.39666070e-01 9.54853852e-03 6.72906331e-01 -7.68823149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.12, Y:-194.92, Z:-768.85 [[ 6.18274507e-01 4.06488152e-01 6.72684188e-01 3.61120383e+02] [-2.65203686e-01 9.13574387e-01 -3.08299927e-01 -1.94922628e+02] [-7.39867312e-01 1.22156587e-02 6.72641910e-01 -7.68846937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.14, Y:-194.93, Z:-768.87 [[ 6.18932539e-01 4.04914897e-01 6.73027815e-01 3.61140279e+02] [-2.62347557e-01 9.14238714e-01 -3.08773918e-01 -1.94931918e+02] [-7.40335243e-01 1.45430224e-02 6.72080522e-01 -7.68871381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.16, Y:-194.94, Z:-768.90 [[ 6.20254892e-01 4.02488734e-01 6.73265689e-01 3.61160759e+02] [-2.58261793e-01 9.15249554e-01 -3.09223383e-01 -1.94940925e+02] [-7.40665050e-01 1.79185121e-02 6.71635475e-01 -7.68895556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.18, Y:-194.95, Z:-768.92 [[ 6.20774554e-01 4.02308183e-01 6.72894553e-01 3.61181294e+02] [-2.57822681e-01 9.15315820e-01 -3.09393624e-01 -1.94949749e+02] [-7.40382616e-01 1.85762111e-02 6.71928945e-01 -7.68920243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.20, Y:-194.96, Z:-768.94 [[ 6.20801452e-01 4.02602897e-01 6.72693440e-01 3.61201080e+02] [-2.57990398e-01 9.15184145e-01 -3.09643238e-01 -1.94957739e+02] [-7.40301636e-01 1.86785236e-02 6.72015328e-01 -7.68944240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.22, Y:-194.96, Z:-768.97 [[ 6.20148443e-01 4.04055013e-01 6.72425055e-01 3.61222157e+02] [-2.59928357e-01 9.14569888e-01 -3.09837327e-01 -1.94964469e+02] [-7.40171033e-01 1.73627964e-02 6.72194448e-01 -7.68969140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.24, Y:-194.96, Z:-769.00 [[ 6.18761186e-01 4.11712054e-01 6.69049908e-01 3.61238977e+02] [-2.58437907e-01 9.10941421e-01 -3.21551824e-01 -1.94961287e+02] [-7.41852036e-01 2.60559299e-02 6.70057196e-01 -7.68998782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.26, Y:-194.99, Z:-769.01 [[ 6.19506786e-01 3.94018041e-01 6.78941180e-01 3.61262376e+02] [-2.62760268e-01 9.19096011e-01 -2.93631683e-01 -1.94988939e+02] [-7.39708310e-01 3.50805402e-03 6.72918501e-01 -7.69013263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.28, Y:-194.98, Z:-769.04 [[ 6.19259116e-01 4.08024796e-01 6.70845671e-01 3.61283625e+02] [-2.65806430e-01 9.12869982e-01 -3.09863419e-01 -1.94984748e+02] [-7.38826833e-01 1.35706537e-02 6.73758672e-01 -7.69042359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.30, Y:-194.99, Z:-769.07 [[ 6.19242728e-01 4.08925872e-01 6.70311924e-01 3.61303754e+02] [-2.67048799e-01 9.12475972e-01 -3.09955706e-01 -1.94992076e+02] [-7.38392432e-01 1.29318226e-02 6.74247273e-01 -7.69066272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.32, Y:-195.00, Z:-769.09 [[ 6.18918797e-01 4.09533806e-01 6.70239946e-01 3.61324021e+02] [-2.67755550e-01 9.12209508e-01 -3.10130260e-01 -1.94999586e+02] [-7.38408077e-01 1.24849818e-02 6.74238561e-01 -7.69090822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:-195.01, Z:-769.12 [[ 6.18392813e-01 4.10197464e-01 6.70319603e-01 3.61344686e+02] [-2.68320744e-01 9.11915746e-01 -3.10505475e-01 -1.95007098e+02] [-7.38643559e-01 1.21537000e-02 6.73986632e-01 -7.69115509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.37, Y:-195.01, Z:-769.14 [[ 6.17209821e-01 4.11011828e-01 6.70910810e-01 3.61366937e+02] [-2.68828136e-01 9.11555322e-01 -3.11124297e-01 -1.95012900e+02] [-7.39448085e-01 1.16692688e-02 6.73112441e-01 -7.69139848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1765599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.39, Y:-195.02, Z:-769.16 [[ 6.16409083e-01 4.11666477e-01 6.71245524e-01 3.61387659e+02] [-2.69238985e-01 9.11263752e-01 -3.11622759e-01 -1.95019753e+02] [-7.39966358e-01 1.13616357e-02 6.72547918e-01 -7.69164255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:361.41, Y:-195.02, Z:-769.19 [[ 6.15211880e-01 4.12707257e-01 6.71704595e-01 3.61409206e+02] [-2.70150937e-01 9.10802079e-01 -3.12182711e-01 -1.95024061e+02] [-7.40630011e-01 1.05968867e-02 6.71829512e-01 -7.69188157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.43, Y:-195.03, Z:-769.21 [[ 6.14632264e-01 4.13449672e-01 6.71778646e-01 3.61430123e+02] [-2.70855403e-01 9.10470489e-01 -3.12539342e-01 -1.95031228e+02] [-7.40853921e-01 1.01418871e-02 6.71589615e-01 -7.69212634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:-195.04, Z:-769.24 [[ 6.14423489e-01 4.14063133e-01 6.71591764e-01 3.61450961e+02] [-2.71489265e-01 9.10194794e-01 -3.12792290e-01 -1.95038099e+02] [-7.40795083e-01 9.85697621e-03 6.71658757e-01 -7.69236822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.47, Y:-195.04, Z:-769.26 [[ 6.14114018e-01 4.14810937e-01 6.71413330e-01 3.61471222e+02] [-2.72318469e-01 9.09858975e-01 -3.13048395e-01 -1.95044657e+02] [-7.40747342e-01 9.40915739e-03 6.71717830e-01 -7.69260637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.49, Y:-195.05, Z:-769.28 [[ 6.13370518e-01 4.16459429e-01 6.71072389e-01 3.61492189e+02] [-2.74595128e-01 9.09120518e-01 -3.13205043e-01 -1.95048983e+02] [-7.40522872e-01 7.83753045e-03 6.71985453e-01 -7.69284734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3565599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.51, Y:-195.06, Z:-769.31 [[ 6.13151319e-01 4.17621068e-01 6.70550597e-01 3.61513480e+02] [-2.76249051e-01 9.08595500e-01 -3.13274126e-01 -1.95055841e+02] [-7.40089131e-01 6.84547754e-03 6.72473954e-01 -7.69309570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.53, Y:-195.07, Z:-769.33 [[ 6.13102151e-01 4.17899403e-01 6.70422137e-01 3.61533534e+02] [-2.76361065e-01 9.08466655e-01 -3.13548879e-01 -1.95065157e+02] [-7.40088045e-01 6.95891593e-03 6.72473984e-01 -7.69334699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.55, Y:-195.07, Z:-769.36 [[ 6.12584245e-01 4.19324005e-01 6.70005912e-01 3.61553922e+02] [-2.78533907e-01 9.07820442e-01 -3.13497861e-01 -1.95071509e+02] [-7.39702241e-01 5.42448551e-03 6.72912453e-01 -7.69358321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.58, Y:-195.07, Z:-769.38 [[ 6.10961974e-01 4.22459969e-01 6.69517021e-01 3.61575782e+02] [-2.83100309e-01 9.06379280e-01 -3.13577448e-01 -1.95074578e+02] [-7.39310274e-01 2.04342127e-03 6.73361822e-01 -7.69383465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4765599949999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:361.60, Y:-195.08, Z:-769.41 [[ 6.10297553e-01 4.24311025e-01 6.68952203e-01 3.61597067e+02] [-2.85766216e-01 9.05516476e-01 -3.13652008e-01 -1.95081576e+02] [-7.38833247e-01 2.57112667e-04 6.73888246e-01 -7.69408357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.62, Y:-195.09, Z:-769.43 [[ 6.08542236e-01 4.27362184e-01 6.68608937e-01 3.61619132e+02] [-2.90094359e-01 9.04075604e-01 -3.13835252e-01 -1.95087133e+02] [-7.38594347e-01 -2.97767515e-03 6.74143548e-01 -7.69433079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.536559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.64, Y:-195.10, Z:-769.46 [[ 6.08486516e-01 4.27651766e-01 6.68474477e-01 3.61639175e+02] [-2.90210104e-01 9.03939042e-01 -3.14121481e-01 -1.95096475e+02] [-7.38594784e-01 -2.85936159e-03 6.74143582e-01 -7.69458208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:-195.10, Z:-769.48 [[ 6.07070312e-01 4.29609576e-01 6.68506731e-01 3.61660737e+02] [-2.92684257e-01 9.03002369e-01 -3.14519708e-01 -1.95101096e+02] [-7.38783840e-01 -4.72581863e-03 6.73925889e-01 -7.69482618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.68, Y:-195.11, Z:-769.51 [[ 6.06012219e-01 4.29690055e-01 6.69414406e-01 3.61680845e+02] [-2.94817046e-01 9.02942253e-01 -3.12695054e-01 -1.95110654e+02] [-7.38804507e-01 -7.85775400e-03 6.73873991e-01 -7.69506294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.70, Y:-195.12, Z:-769.53 [[ 6.05008157e-01 4.32271605e-01 6.68660145e-01 3.61700540e+02] [-2.96217702e-01 9.01711902e-01 -3.14913827e-01 -1.95116726e+02] [-7.39067116e-01 -7.54353760e-03 6.73589558e-01 -7.69530422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.656559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:361.72, Y:-195.12, Z:-769.56 [[ 6.03752512e-01 4.34131614e-01 6.68590043e-01 3.61722186e+02] [-2.98671423e-01 9.00800585e-01 -3.15204200e-01 -1.95122917e+02] [-7.39106410e-01 -9.38341147e-03 6.73523323e-01 -7.69555078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.74, Y:-195.13, Z:-769.58 [[ 6.03072989e-01 4.35407104e-01 6.68373865e-01 3.61742557e+02] [-3.00300375e-01 9.00172738e-01 -3.15450037e-01 -1.95130877e+02] [-7.39001120e-01 -1.04735254e-02 6.73622781e-01 -7.69579840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.76, Y:-195.14, Z:-769.60 [[ 6.02291653e-01 4.36546016e-01 6.68335500e-01 3.61763178e+02] [-3.01640615e-01 8.99609614e-01 -3.15777583e-01 -1.95139315e+02] [-7.39092487e-01 -1.14069286e-02 6.73507370e-01 -7.69604792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.78, Y:-195.15, Z:-769.63 [[ 6.01362079e-01 4.38225077e-01 6.68073673e-01 3.61783638e+02] [-3.03893557e-01 8.98771402e-01 -3.16004228e-01 -1.95146462e+02] [-7.38926489e-01 -1.29903255e-02 6.73660816e-01 -7.69628446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.80, Y:-195.15, Z:-769.65 [[ 6.00622150e-01 4.39113890e-01 6.68155689e-01 3.61803698e+02] [-3.04946419e-01 8.98325413e-01 -3.16258017e-01 -1.95154699e+02] [-7.39094523e-01 -1.38001144e-02 6.73460350e-01 -7.69653187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:361.82, Y:-195.16, Z:-769.68 [[ 6.00404038e-01 4.39975274e-01 6.67784958e-01 3.61823970e+02] [-3.06036593e-01 8.97894714e-01 -3.16428011e-01 -1.95163110e+02] [-7.38821085e-01 -1.43819784e-02 6.73748146e-01 -7.69677845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.84, Y:-195.17, Z:-769.70 [[ 6.00409692e-01 4.40976726e-01 6.67118977e-01 3.61843792e+02] [-3.07475668e-01 8.97391230e-01 -3.16461205e-01 -1.95170887e+02] [-7.38218745e-01 -1.51164789e-02 6.74392005e-01 -7.69701066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:361.86, Y:-195.18, Z:-769.73 [[ 6.00183391e-01 4.41515513e-01 6.66966228e-01 3.61863627e+02] [-3.08000381e-01 8.97122475e-01 -3.16712852e-01 -1.95179320e+02] [-7.38184030e-01 -1.53400588e-02 6.74424955e-01 -7.69726339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.88, Y:-195.19, Z:-769.75 [[ 6.00168189e-01 4.42012245e-01 6.66650824e-01 3.61883163e+02] [-3.08514545e-01 8.96875586e-01 -3.16911595e-01 -1.95188215e+02] [-7.37981653e-01 -1.54712178e-02 6.74643403e-01 -7.69750194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.90, Y:-195.20, Z:-769.77 [[ 6.00062141e-01 4.42085716e-01 6.66697567e-01 3.61902504e+02] [-3.08246779e-01 8.96845147e-01 -3.17258105e-01 -1.95197765e+02] [-7.38179754e-01 -1.51328001e-02 6.74434318e-01 -7.69774428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.92, Y:-195.21, Z:-769.80 [[ 6.00071214e-01 4.42134577e-01 6.66656999e-01 3.61922245e+02] [-3.07989153e-01 8.96827189e-01 -3.17558932e-01 -1.95207417e+02] [-7.38279906e-01 -1.47651509e-02 6.74332834e-01 -7.69798845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.94, Y:-195.22, Z:-769.82 [[ 6.00234084e-01 4.42050783e-01 6.66565938e-01 3.61941947e+02] [-3.07540098e-01 8.96877460e-01 -3.17852026e-01 -1.95216869e+02] [-7.38334702e-01 -1.42101338e-02 6.74284762e-01 -7.69823141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:-195.23, Z:-769.85 [[ 6.00783756e-01 4.41269113e-01 6.66588665e-01 3.61961724e+02] [-3.05992933e-01 8.97283491e-01 -3.18199091e-01 -1.95226782e+02] [-7.38530435e-01 -1.28025755e-02 6.74098577e-01 -7.69847902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.98, Y:-195.24, Z:-769.87 [[ 6.01116773e-01 4.40971462e-01 6.66485405e-01 3.61981339e+02] [-3.05231275e-01 8.97441102e-01 -3.18486008e-01 -1.95236775e+02] [-7.38574637e-01 -1.19849086e-02 6.74065180e-01 -7.69872647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.00, Y:-195.25, Z:-769.90 [[ 6.01615421e-01 4.40650421e-01 6.66247771e-01 3.62000058e+02] [-3.04492538e-01 8.97609884e-01 -3.18717415e-01 -1.95246594e+02] [-7.38473547e-01 -1.11221629e-02 6.74190713e-01 -7.69896272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.02, Y:-195.26, Z:-769.92 [[ 6.01654358e-01 4.40071018e-01 6.66595479e-01 3.62019497e+02] [-3.03102552e-01 8.97907331e-01 -3.19204118e-01 -1.95256957e+02] [-7.39013448e-01 -9.99624232e-03 6.73616507e-01 -7.69921111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:-195.27, Z:-769.94 [[ 6.02214701e-01 4.38305529e-01 6.67252364e-01 3.62038641e+02] [-2.99750929e-01 8.98795747e-01 -3.19868075e-01 -1.95268754e+02] [-7.39923533e-01 -7.38025900e-03 6.72650502e-01 -7.69944576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.06, Y:-195.28, Z:-769.97 [[ 6.02267290e-01 4.37463060e-01 6.67757577e-01 3.62058414e+02] [-2.97997485e-01 8.99215904e-01 -3.20325235e-01 -1.95279357e+02] [-7.40588691e-01 -6.06866738e-03 6.71931218e-01 -7.69969399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.08, Y:-195.29, Z:-769.99 [[ 6.03191181e-01 4.35379838e-01 6.68284966e-01 3.62077730e+02] [-2.94242332e-01 9.00241637e-01 -3.20915013e-01 -1.95290262e+02] [-7.41337878e-01 -3.06462173e-03 6.71124995e-01 -7.69994307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.10, Y:-195.30, Z:-770.02 [[ 6.04137974e-01 4.34338033e-01 6.68107612e-01 3.62097037e+02] [-2.92402542e-01 9.00748978e-01 -3.21172902e-01 -1.95300052e+02] [-7.41294855e-01 -1.32361791e-03 6.71178208e-01 -7.70018736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.256559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:362.12, Y:-195.31, Z:-770.04 [[ 6.05039088e-01 4.33048968e-01 6.68128950e-01 3.62116187e+02] [-2.90082753e-01 9.01370103e-01 -3.21533722e-01 -1.95310216e+02] [-7.41471307e-01 7.27784595e-04 6.70984182e-01 -7.70043796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.14, Y:-195.32, Z:-770.07 [[ 6.07762551e-01 4.29792827e-01 6.67759543e-01 3.62135296e+02] [-2.85053745e-01 9.02912719e-01 -3.21703256e-01 -1.95322182e+02] [-7.41194336e-01 5.17183301e-03 6.71270593e-01 -7.70068613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.15, Y:-195.33, Z:-770.09 [[ 6.08959736e-01 4.28463198e-01 6.67523279e-01 3.62154274e+02] [-2.82821391e-01 9.03530076e-01 -3.21940153e-01 -1.95332771e+02] [-7.41066867e-01 7.25872834e-03 6.71391994e-01 -7.70093008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.17, Y:-195.34, Z:-770.12 [[ 6.10024240e-01 4.27113234e-01 6.67416446e-01 3.62173479e+02] [-2.80491797e-01 9.04149609e-01 -3.22238789e-01 -1.95342957e+02] [-7.41076769e-01 9.36863401e-03 6.71354937e-01 -7.70117896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.19, Y:-195.35, Z:-770.14 [[ 6.11855001e-01 4.24518758e-01 6.67395896e-01 3.62192244e+02] [-2.76276569e-01 9.05326032e-01 -3.22577174e-01 -1.95352809e+02] [-7.41150940e-01 1.29846087e-02 6.71212846e-01 -7.70141654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.21, Y:-195.36, Z:-770.17 [[ 6.12404062e-01 4.23793554e-01 6.67353196e-01 3.62211475e+02] [-2.74870234e-01 9.05645956e-01 -3.22880405e-01 -1.95362347e+02] [-7.41220358e-01 1.42977426e-02 6.71109496e-01 -7.70166280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.23, Y:-195.37, Z:-770.19 [[ 6.12841932e-01 4.23351265e-01 6.67231948e-01 3.62230408e+02] [-2.73904200e-01 9.05836547e-01 -3.23166583e-01 -1.95371658e+02] [-7.41216066e-01 1.52924002e-02 6.71092309e-01 -7.70190149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.25, Y:-195.38, Z:-770.21 [[ 6.12765765e-01 4.23184440e-01 6.67407707e-01 3.62249764e+02] [-2.73203616e-01 9.05903409e-01 -3.23571936e-01 -1.95380953e+02] [-7.41537525e-01 1.59356056e-02 6.70722115e-01 -7.70214554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.27, Y:-195.39, Z:-770.24 [[ 6.12073960e-01 4.23378579e-01 6.67919192e-01 3.62269481e+02] [-2.72813388e-01 9.05808053e-01 -3.24167591e-01 -1.95389480e+02] [-7.42252196e-01 1.61972438e-02 6.69924866e-01 -7.70239741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:362.29, Y:-195.40, Z:-770.26 [[ 6.11542786e-01 4.24111431e-01 6.67940803e-01 3.62288555e+02] [-2.73500709e-01 9.05472538e-01 -3.24525568e-01 -1.95397948e+02] [-7.42437057e-01 1.57789864e-02 6.69729976e-01 -7.70263630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.31, Y:-195.41, Z:-770.29 [[ 6.09987386e-01 4.25460617e-01 6.68504789e-01 3.62309163e+02] [-2.74818099e-01 9.04859101e-01 -3.25123083e-01 -1.95405792e+02] [-7.43229710e-01 1.46037642e-02 6.68876916e-01 -7.70288670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.33, Y:-195.41, Z:-770.31 [[ 6.09338827e-01 4.26437878e-01 6.68473582e-01 3.62329214e+02] [-2.75895538e-01 9.04410257e-01 -3.25459275e-01 -1.95414572e+02] [-7.43362527e-01 1.38860939e-02 6.68744593e-01 -7.70313230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.35, Y:-195.42, Z:-770.34 [[ 6.08667098e-01 4.27476762e-01 6.68422009e-01 3.62348786e+02] [-2.77075292e-01 9.03931526e-01 -3.25786861e-01 -1.95422957e+02] [-7.43474039e-01 1.30925204e-02 6.68636627e-01 -7.70337431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.37, Y:-195.43, Z:-770.36 [[ 6.07547510e-01 4.29229292e-01 6.68317469e-01 3.62368497e+02] [-2.79373830e-01 9.03123749e-01 -3.26064038e-01 -1.95430417e+02] [-7.43529614e-01 1.13889837e-02 6.68606016e-01 -7.70361331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.39, Y:-195.44, Z:-770.39 [[ 6.06465163e-01 4.30463370e-01 6.68506764e-01 3.62388126e+02] [-2.80742214e-01 9.02549042e-01 -3.26479763e-01 -1.95438642e+02] [-7.43897719e-01 1.03205331e-02 6.68213791e-01 -7.70385937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:-195.45, Z:-770.41 [[ 6.05478560e-01 4.31893422e-01 6.68478710e-01 3.62407866e+02] [-2.82497433e-01 9.01879378e-01 -3.26816139e-01 -1.95446620e+02] [-7.44036904e-01 9.03664581e-03 6.68077409e-01 -7.70410337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.43, Y:-195.45, Z:-770.43 [[ 6.03116407e-01 4.34446456e-01 6.68959548e-01 3.62427666e+02] [-2.85792473e-01 9.00676339e-01 -3.27268689e-01 -1.95453382e+02] [-7.44696758e-01 6.19751265e-03 6.67374205e-01 -7.70434925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.45, Y:-195.46, Z:-770.46 [[ 6.02020424e-01 4.35948556e-01 6.68969555e-01 3.62447620e+02] [-2.87792292e-01 8.99959677e-01 -3.27487674e-01 -1.95461936e+02] [-7.44813404e-01 4.62998720e-03 6.67256740e-01 -7.70460082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.47, Y:-195.47, Z:-770.48 [[ 6.00592376e-01 4.37505038e-01 6.69236984e-01 3.62466925e+02] [-2.89589981e-01 8.99210385e-01 -3.27960862e-01 -1.95470241e+02] [-7.45269375e-01 3.16646799e-03 6.66755977e-01 -7.70484655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.49, Y:-195.48, Z:-770.51 [[ 5.99607248e-01 4.39136402e-01 6.69051843e-01 3.62487000e+02] [-2.91779967e-01 8.98419034e-01 -3.28188498e-01 -1.95478891e+02] [-7.45208427e-01 1.56827775e-03 6.66829770e-01 -7.70509954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.51, Y:-195.49, Z:-770.53 [[ 5.98125555e-01 4.41871954e-01 6.68576845e-01 3.62506313e+02] [-2.95751700e-01 8.97077094e-01 -3.28304158e-01 -1.95486095e+02] [-7.44833373e-01 -1.36563177e-03 6.67249116e-01 -7.70534457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.53, Y:-195.49, Z:-770.56 [[ 5.97163898e-01 4.43713770e-01 6.68216559e-01 3.62526009e+02] [-2.98349031e-01 8.96162767e-01 -3.28451139e-01 -1.95494920e+02] [-7.44569094e-01 -3.22260092e-03 6.67537624e-01 -7.70559331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.916559995 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:362.55, Y:-195.50, Z:-770.58 [[ 5.96306625e-01 4.45500739e-01 6.67793008e-01 3.62545732e+02] [-3.00861451e-01 8.95267794e-01 -3.28600007e-01 -1.95503439e+02] [-7.44245119e-01 -4.96681175e-03 6.67888115e-01 -7.70584198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.57, Y:-195.51, Z:-770.61 [[ 5.94030328e-01 4.49159619e-01 6.67370666e-01 3.62565528e+02] [-3.06187151e-01 8.93405658e-01 -3.28748778e-01 -1.95512199e+02] [-7.43893405e-01 -9.05357795e-03 6.68236960e-01 -7.70609168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.59, Y:-195.52, Z:-770.63 [[ 5.92634893e-01 4.51069622e-01 6.67323070e-01 3.62585045e+02] [-3.08690369e-01 8.92421329e-01 -3.29081187e-01 -1.95521445e+02] [-7.43971868e-01 -1.09712103e-02 6.68120867e-01 -7.70633568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.60, Y:-195.53, Z:-770.66 [[ 5.90114883e-01 4.54271941e-01 6.67384019e-01 3.62604617e+02] [-3.13090185e-01 8.90744600e-01 -3.29467135e-01 -1.95531495e+02] [-7.44136386e-01 -1.45279258e-02 6.67869731e-01 -7.70657966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.62, Y:-195.54, Z:-770.68 [[ 5.89032165e-01 4.55835540e-01 6.67274358e-01 3.62623397e+02] [-3.15114026e-01 8.89919760e-01 -3.29766542e-01 -1.95541062e+02] [-7.44139946e-01 -1.60244090e-02 6.67831535e-01 -7.70681641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.64, Y:-195.55, Z:-770.71 [[ 5.87915263e-01 4.57173425e-01 6.67344066e-01 3.62642722e+02] [-3.16733485e-01 8.89209654e-01 -3.30130415e-01 -1.95551111e+02] [-7.44335639e-01 -1.72815017e-02 6.67582060e-01 -7.70706613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.66, Y:-195.56, Z:-770.73 [[ 5.87272574e-01 4.58410798e-01 6.67061065e-01 3.62661892e+02] [-3.18359280e-01 8.88550657e-01 -3.30340883e-01 -1.95561253e+02] [-7.44149375e-01 -1.83649395e-02 6.67760763e-01 -7.70731316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.68, Y:-195.57, Z:-770.76 [[ 5.86530433e-01 4.59926196e-01 6.66670793e-01 3.62679354e+02] [-3.20460183e-01 8.87736497e-01 -3.30498385e-01 -1.95572256e+02] [-7.43832860e-01 -1.97940833e-02 6.68072504e-01 -7.70755413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.70, Y:-195.58, Z:-770.78 [[ 5.86728477e-01 4.60330447e-01 6.66217362e-01 3.62698424e+02] [-3.20939056e-01 8.87525849e-01 -3.30599440e-01 -1.95583075e+02] [-7.43470118e-01 -1.98430652e-02 6.68474709e-01 -7.70780429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.72, Y:-195.60, Z:-770.81 [[ 5.87218739e-01 4.60501241e-01 6.65667153e-01 3.62716441e+02] [-3.21087967e-01 8.87443555e-01 -3.30675754e-01 -1.95595791e+02] [-7.43018620e-01 -1.95587136e-02 6.68984893e-01 -7.70805150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:-195.61, Z:-770.83 [[ 5.87672394e-01 4.60331609e-01 6.65384075e-01 3.62735263e+02] [-3.20587144e-01 8.87546646e-01 -3.30884927e-01 -1.95607136e+02] [-7.42876195e-01 -1.88616433e-02 6.69163058e-01 -7.70830013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.75, Y:-195.62, Z:-770.85 [[ 5.88195748e-01 4.60026234e-01 6.65132789e-01 3.62753521e+02] [-3.19867736e-01 8.87722893e-01 -3.31108286e-01 -1.95618710e+02] [-7.42772101e-01 -1.79980335e-02 6.69302381e-01 -7.70854161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.77, Y:-195.63, Z:-770.88 [[ 5.89020565e-01 4.59455818e-01 6.64797056e-01 3.62771785e+02] [-3.18820562e-01 8.88041175e-01 -3.31264730e-01 -1.95630638e+02] [-7.42568666e-01 -1.68292326e-02 6.69558477e-01 -7.70878473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.79, Y:-195.64, Z:-770.90 [[ 5.88958893e-01 4.59735529e-01 6.64658308e-01 3.62791605e+02] [-3.18928445e-01 8.87898592e-01 -3.31542964e-01 -1.95640456e+02] [-7.42571256e-01 -1.67132638e-02 6.69558509e-01 -7.70903600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.81, Y:-195.66, Z:-770.93 [[ 5.90531792e-01 4.57375371e-01 6.64890948e-01 3.62808821e+02] [-3.15084878e-01 8.89170447e-01 -3.31809337e-01 -1.95655062e+02] [-7.42962800e-01 -1.35531208e-02 6.69195480e-01 -7.70927643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.83, Y:-195.67, Z:-770.95 [[ 5.91215754e-01 4.56082291e-01 6.65171314e-01 3.62826785e+02] [-3.12594161e-01 8.89863765e-01 -3.32306140e-01 -1.95667092e+02] [-7.43470795e-01 -1.14640438e-02 6.68670137e-01 -7.70951616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.396559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:362.84, Y:-195.68, Z:-770.98 [[ 5.93390425e-01 4.52327375e-01 6.65798581e-01 3.62843411e+02] [-3.06239590e-01 8.91829561e-01 -3.32952472e-01 -1.95682092e+02] [-7.44382373e-01 -6.32307552e-03 6.67723672e-01 -7.70975491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:362.86, Y:-195.69, Z:-771.00 [[ 5.94892363e-01 4.50241839e-01 6.65871882e-01 3.62861936e+02] [-3.02826266e-01 8.92900092e-01 -3.33205160e-01 -1.95694530e+02] [-7.44579969e-01 -3.42229056e-03 6.67524500e-01 -7.71000476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.88, Y:-195.71, Z:-771.02 [[ 5.96453989e-01 4.48068063e-01 6.65941176e-01 3.62880087e+02] [-2.99137036e-01 8.93999416e-01 -3.33589686e-01 -1.95706911e+02] [-7.44821907e-01 -2.36770344e-04 6.67263270e-01 -7.71024979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:-195.72, Z:-771.05 [[ 5.99837083e-01 4.43350546e-01 6.66059883e-01 3.62896479e+02] [-2.91612753e-01 8.96327439e-01 -3.34004678e-01 -1.95721735e+02] [-7.45088905e-01 6.11683572e-03 6.66937110e-01 -7.71048710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.91, Y:-195.73, Z:-771.07 [[ 6.01238492e-01 4.41548595e-01 6.65993328e-01 3.62914889e+02] [-2.88591027e-01 8.97194225e-01 -3.34301871e-01 -1.95733656e+02] [-7.45135890e-01 8.79545422e-03 6.66854666e-01 -7.71073612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:-195.75, Z:-771.10 [[ 6.02577939e-01 4.40166461e-01 6.65697614e-01 3.62933345e+02] [-2.86315206e-01 8.97849263e-01 -3.34500080e-01 -1.95745331e+02] [-7.44931829e-01 1.09630191e-02 6.67050510e-01 -7.71097941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:-195.76, Z:-771.12 [[ 6.03686289e-01 4.39195719e-01 6.65334491e-01 3.62951165e+02] [-2.84687153e-01 8.98302696e-01 -3.34672215e-01 -1.95756447e+02] [-7.44658371e-01 1.26248459e-02 6.67326400e-01 -7.71121657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.97, Y:-195.77, Z:-771.15 [[ 6.04938802e-01 4.38468635e-01 6.64676088e-01 3.62969186e+02] [-2.83627942e-01 8.98638466e-01 -3.34670132e-01 -1.95769072e+02] [-7.44045856e-01 1.39342380e-02 6.67983234e-01 -7.71146455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.636559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:362.99, Y:-195.78, Z:-771.17 [[ 6.05356148e-01 4.38794731e-01 6.64080656e-01 3.62987880e+02] [-2.84074753e-01 8.98478627e-01 -3.34720319e-01 -1.95779585e+02] [-7.43535789e-01 1.39764550e-02 6.68550065e-01 -7.71170836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:363.01, Y:-195.79, Z:-771.20 [[ 6.05190503e-01 4.39665809e-01 6.63655356e-01 3.63006902e+02] [-2.85379214e-01 8.98064781e-01 -3.34721308e-01 -1.95790289e+02] [-7.43171016e-01 1.31767125e-02 6.68971759e-01 -7.71195502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.03, Y:-195.80, Z:-771.22 [[ 6.03994548e-01 4.41793156e-01 6.63332039e-01 3.63025490e+02] [-2.88344689e-01 8.97049365e-01 -3.34902638e-01 -1.95800727e+02] [-7.42999278e-01 1.10110973e-02 6.69201635e-01 -7.71219926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.05, Y:-195.81, Z:-771.24 [[ 6.03071140e-01 4.43240824e-01 6.63206433e-01 3.63045041e+02] [-2.90212946e-01 8.96350585e-01 -3.35159777e-01 -1.95810624e+02] [-7.43021969e-01 9.65409621e-03 6.69197394e-01 -7.71244664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.756559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:363.06, Y:-195.82, Z:-771.27 [[ 6.01051389e-01 4.45722234e-01 6.63376904e-01 3.63064344e+02] [-2.93419112e-01 8.95143464e-01 -3.35594107e-01 -1.95820609e+02] [-7.43399255e-01 7.06184193e-03 6.68810645e-01 -7.71269939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:363.08, Y:-195.83, Z:-771.29 [[ 6.00373099e-01 4.46944673e-01 6.63168607e-01 3.63083970e+02] [-2.94968656e-01 8.94541373e-01 -3.35841071e-01 -1.95830813e+02] [-7.43334133e-01 6.01599160e-03 6.68893246e-01 -7.71294957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8165599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:363.10, Y:-195.84, Z:-771.32 [[ 5.99700417e-01 4.48103158e-01 6.62995453e-01 3.63103128e+02] [-2.96403364e-01 8.93967601e-01 -3.36105600e-01 -1.95840906e+02] [-7.43306435e-01 5.04858581e-03 6.68932026e-01 -7.71318957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:-195.85, Z:-771.34 [[ 5.97524095e-01 4.50290793e-01 6.63478076e-01 3.63122966e+02] [-2.99149760e-01 8.92878096e-01 -3.36568162e-01 -1.95851252e+02] [-7.43958586e-01 2.62827929e-03 6.68220559e-01 -7.71343611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.14, Y:-195.86, Z:-771.37 [[ 5.96171418e-01 4.51825459e-01 6.63651562e-01 3.63142057e+02] [-3.00950943e-01 8.92105566e-01 -3.37010667e-01 -1.95861071e+02] [-7.44317251e-01 1.18956350e-03 6.67825138e-01 -7.71367899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:363.16, Y:-195.87, Z:-771.39 [[ 5.94815922e-01 4.53502962e-01 6.63723649e-01 3.63162060e+02] [-3.03053808e-01 8.91254647e-01 -3.37377450e-01 -1.95870951e+02] [-7.44548460e-01 -4.66500360e-04 6.67568254e-01 -7.71392726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:-195.88, Z:-771.42 [[ 5.91266050e-01 4.57093498e-01 6.64432083e-01 3.63181850e+02] [-3.07663986e-01 8.89407130e-01 -3.38079620e-01 -1.95880006e+02] [-7.45484628e-01 -4.52682156e-03 6.66507448e-01 -7.71417642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:363.20, Y:-195.89, Z:-771.44 [[ 5.89459919e-01 4.59220785e-01 6.64569992e-01 3.63201532e+02] [-3.10398051e-01 8.88296528e-01 -3.38500116e-01 -1.95889232e+02] [-7.45781506e-01 -6.74897960e-03 6.66156436e-01 -7.71442540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.996559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:363.22, Y:-195.90, Z:-771.47 [[ 5.86546255e-01 4.63400295e-01 6.64246685e-01 3.63220259e+02] [-3.16484019e-01 8.86073588e-01 -3.38690807e-01 -1.95897944e+02] [-7.45520863e-01 -1.15656360e-02 6.66381932e-01 -7.71467427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.24, Y:-195.91, Z:-771.49 [[ 5.85234616e-01 4.65678289e-01 6.63810346e-01 3.63239595e+02] [-3.19793367e-01 8.84843252e-01 -3.38798792e-01 -1.95907777e+02] [-7.45139347e-01 -1.40053651e-02 6.66761729e-01 -7.71492619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:-195.92, Z:-771.52 [[ 5.84326668e-01 4.67699735e-01 6.63188738e-01 3.63258084e+02] [-3.22786879e-01 8.83741180e-01 -3.38836475e-01 -1.95917335e+02] [-7.44560928e-01 -1.60774341e-02 6.67360877e-01 -7.71516644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:363.28, Y:-195.93, Z:-771.54 [[ 5.82960122e-01 4.70721723e-01 6.62252638e-01 3.63276247e+02] [-3.27609498e-01 8.82064371e-01 -3.38577114e-01 -1.95927655e+02] [-7.43525059e-01 -1.95832985e-02 6.68421261e-01 -7.71541510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.30, Y:-195.94, Z:-771.57 [[ 5.82476075e-01 4.72194483e-01 6.61629800e-01 3.63295028e+02] [-3.29776694e-01 8.81245170e-01 -3.38606383e-01 -1.95937986e+02] [-7.42946131e-01 -2.09599711e-02 6.69022964e-01 -7.71566155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.31, Y:-195.95, Z:-771.59 [[ 5.81917655e-01 4.73224102e-01 6.61385510e-01 3.63313746e+02] [-3.31074529e-01 8.80672387e-01 -3.38830051e-01 -1.95948410e+02] [-7.42806502e-01 -2.17967080e-02 6.69151256e-01 -7.71590487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.33, Y:-195.96, Z:-771.62 [[ 5.82231774e-01 4.76996146e-01 6.58392617e-01 3.63332153e+02] [-3.32385837e-01 8.78692784e-01 -3.42664043e-01 -1.95956496e+02] [-7.41974270e-01 -1.93304879e-02 6.70149622e-01 -7.71615690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:363.35, Y:-195.97, Z:-771.64 [[ 5.80644142e-01 4.71586858e-01 6.63670262e-01 3.63349557e+02] [-3.32778436e-01 8.81429160e-01 -3.35173310e-01 -1.95973453e+02] [-7.43041650e-01 -2.62387323e-02 6.68730616e-01 -7.71637241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.37, Y:-195.98, Z:-771.66 [[ 5.81273082e-01 4.74451613e-01 6.61072819e-01 3.63368146e+02] [-3.32248523e-01 8.79998123e-01 -3.39432208e-01 -1.95982061e+02] [-7.42786998e-01 -2.23376620e-02 6.69155068e-01 -7.71662467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.39, Y:-195.99, Z:-771.69 [[ 5.81628442e-01 4.74479015e-01 6.60740509e-01 3.63386058e+02] [-3.32071755e-01 8.79994743e-01 -3.39613901e-01 -1.95993356e+02] [-7.42587844e-01 -2.18841558e-02 6.69391050e-01 -7.71686207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.40, Y:-196.01, Z:-771.71 [[ 5.82388864e-01 4.74239794e-01 6.60242251e-01 3.63404852e+02] [-3.31609883e-01 8.80142460e-01 -3.39682405e-01 -1.96005206e+02] [-7.42198152e-01 -2.11156056e-02 6.69847770e-01 -7.71711181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.42, Y:-196.02, Z:-771.74 [[ 5.83902011e-01 4.73279808e-01 6.59594319e-01 3.63421656e+02] [-3.30102964e-01 8.80698992e-01 -3.39707695e-01 -1.96018451e+02] [-7.41680844e-01 -1.93780336e-02 6.70472980e-01 -7.71735196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.44, Y:-196.03, Z:-771.76 [[ 5.84050323e-01 4.73015693e-01 6.59652465e-01 3.63440357e+02] [-3.29304849e-01 8.80857477e-01 -3.40071202e-01 -1.96030152e+02] [-7.41918821e-01 -1.86080601e-02 6.70231455e-01 -7.71760326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.46, Y:-196.04, Z:-771.78 [[ 5.84446816e-01 4.72606703e-01 6.59594439e-01 3.63459021e+02] [-3.28332828e-01 8.81097160e-01 -3.40389994e-01 -1.96041552e+02] [-7.42037380e-01 -1.76266594e-02 6.70126725e-01 -7.71784993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.48, Y:-196.06, Z:-771.81 [[ 5.84763500e-01 4.72092193e-01 6.59682204e-01 3.63476542e+02] [-3.27122725e-01 8.81394412e-01 -3.40785290e-01 -1.96055558e+02] [-7.42322283e-01 -1.65182415e-02 6.69839366e-01 -7.71809471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.49, Y:-196.07, Z:-771.83 [[ 5.85292482e-01 4.71968070e-01 6.59301791e-01 3.63494316e+02] [-3.26752428e-01 8.81472615e-01 -3.40938236e-01 -1.96067457e+02] [-7.42068435e-01 -1.58798748e-02 6.70136007e-01 -7.71833129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:-196.08, Z:-771.86 [[ 5.86328938e-01 4.70988889e-01 6.59081059e-01 3.63511240e+02] [-3.25038528e-01 8.82024819e-01 -3.41148318e-01 -1.96081375e+02] [-7.42002919e-01 -1.42016058e-02 6.70246211e-01 -7.71857513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.53, Y:-196.09, Z:-771.88 [[ 5.86946889e-01 4.70658860e-01 6.58766717e-01 3.63529436e+02] [-3.24328435e-01 8.82214834e-01 -3.41332761e-01 -1.96093585e+02] [-7.41825058e-01 -1.33125763e-02 6.70461303e-01 -7.71881985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.55, Y:-196.11, Z:-771.91 [[ 5.87358861e-01 4.70188474e-01 6.58735431e-01 3.63546786e+02] [-3.23243759e-01 8.82481050e-01 -3.41673337e-01 -1.96105832e+02] [-7.41972399e-01 -1.22472548e-02 6.70318554e-01 -7.71905865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:363.56, Y:-196.12, Z:-771.93 [[ 5.88678523e-01 4.68574990e-01 6.58707124e-01 3.63563338e+02] [-3.20468999e-01 8.83369670e-01 -3.41990711e-01 -1.96120496e+02] [-7.42130188e-01 -9.77262630e-03 6.70184511e-01 -7.71929546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:363.58, Y:-196.13, Z:-771.95 [[ 5.89126015e-01 4.68058742e-01 6.58674087e-01 3.63581768e+02] [-3.19350832e-01 8.83654625e-01 -3.42300379e-01 -1.96132524e+02] [-7.42257088e-01 -8.69005975e-03 6.70058877e-01 -7.71954016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:363.60, Y:-196.14, Z:-771.98 [[ 5.89395955e-01 4.67546475e-01 6.58796404e-01 3.63600039e+02] [-3.18126727e-01 8.83935934e-01 -3.42713655e-01 -1.96144352e+02] [-7.42568376e-01 -7.58670224e-03 6.69727294e-01 -7.71979156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.656559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:363.62, Y:-196.16, Z:-772.00 [[ 5.89701369e-01 4.67245118e-01 6.58736894e-01 3.63618228e+02] [-3.17316241e-01 8.84102135e-01 -3.43036175e-01 -1.96156439e+02] [-7.42672673e-01 -6.73901237e-03 6.69620704e-01 -7.72004002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.64, Y:-196.17, Z:-772.03 [[ 5.91133528e-01 4.65989996e-01 6.58342218e-01 3.63635109e+02] [-3.15262425e-01 8.84777609e-01 -3.43188266e-01 -1.96170793e+02] [-7.42408752e-01 -4.68047413e-03 6.69930845e-01 -7.72028173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.65, Y:-196.18, Z:-772.05 [[ 5.91686146e-01 4.65902983e-01 6.57907224e-01 3.63652801e+02] [-3.15135332e-01 8.84825488e-01 -3.43181554e-01 -1.96183121e+02] [-7.42022390e-01 -4.27404064e-03 6.70361474e-01 -7.72052612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:-196.20, Z:-772.08 [[ 5.92224973e-01 4.65732019e-01 6.57543358e-01 3.63670694e+02] [-3.14696935e-01 8.84918526e-01 -3.43343911e-01 -1.96195255e+02] [-7.41778552e-01 -3.59004051e-03 6.70635289e-01 -7.72076999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.776559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.69, Y:-196.21, Z:-772.10 [[ 5.92881070e-01 4.65768689e-01 6.56925845e-01 3.63688483e+02] [-3.14713315e-01 8.84900855e-01 -3.43374440e-01 -1.96210077e+02] [-7.41247304e-01 -3.16310513e-03 6.71224574e-01 -7.72101450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:363.71, Y:-196.22, Z:-772.13 [[ 5.92636974e-01 4.66273288e-01 6.56788123e-01 3.63706515e+02] [-3.15154407e-01 8.84634476e-01 -3.43656141e-01 -1.96221556e+02] [-7.41255096e-01 -3.32633612e-03 6.71215180e-01 -7.72125335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8365599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:363.73, Y:-196.23, Z:-772.15 [[ 5.92173064e-01 4.67036899e-01 6.56663991e-01 3.63725250e+02] [-3.16001858e-01 8.84229460e-01 -3.43920178e-01 -1.96232865e+02] [-7.41265060e-01 -3.84677578e-03 6.71201396e-01 -7.72149654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.74, Y:-196.25, Z:-772.17 [[ 5.90975263e-01 4.68278445e-01 6.56858841e-01 3.63743513e+02] [-3.17354888e-01 8.83567145e-01 -3.44376213e-01 -1.96245191e+02] [-7.41642848e-01 -4.93954020e-03 6.70776779e-01 -7.72173291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.76, Y:-196.26, Z:-772.20 [[ 5.90239882e-01 4.69243947e-01 6.56831028e-01 3.63762544e+02] [-3.18451101e-01 8.83050065e-01 -3.44690412e-01 -1.96256277e+02] [-7.41758571e-01 -5.71853601e-03 6.70642617e-01 -7.72197876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.78, Y:-196.27, Z:-772.22 [[ 5.89857822e-01 4.70173646e-01 6.56509324e-01 3.63780897e+02] [-3.19627182e-01 8.82550670e-01 -3.44880818e-01 -1.96266670e+02] [-7.41556616e-01 -6.40757670e-03 6.70859694e-01 -7.72221624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.80, Y:-196.28, Z:-772.25 [[ 5.88862735e-01 4.71894047e-01 6.56168186e-01 3.63799609e+02] [-3.22150315e-01 8.81616453e-01 -3.44922606e-01 -1.96277420e+02] [-7.41255593e-01 -8.27271889e-03 6.71171892e-01 -7.72245895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.82, Y:-196.29, Z:-772.27 [[ 5.88014505e-01 4.73268718e-01 6.55938764e-01 3.63819096e+02] [-3.23948029e-01 8.80866518e-01 -3.45154823e-01 -1.96287510e+02] [-7.41145476e-01 -9.53402719e-03 6.71276758e-01 -7.72270370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.84, Y:-196.30, Z:-772.29 [[ 5.87156219e-01 4.74352752e-01 6.55924571e-01 3.63837954e+02] [-3.25186755e-01 8.80273035e-01 -3.45503921e-01 -1.96296804e+02] [-7.41283448e-01 -1.04332068e-02 6.71111018e-01 -7.72293734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.86, Y:-196.31, Z:-772.32 [[ 5.86043616e-01 4.75746369e-01 6.55910263e-01 3.63857849e+02] [-3.26918707e-01 8.79503905e-01 -3.45828051e-01 -1.96305912e+02] [-7.41402077e-01 -1.17590129e-02 6.70958036e-01 -7.72317625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.88, Y:-196.32, Z:-772.34 [[ 5.85741256e-01 4.76144326e-01 6.55891579e-01 3.63877305e+02] [-3.27164484e-01 8.79287536e-01 -3.46145678e-01 -1.96315351e+02] [-7.41532590e-01 -1.18326257e-02 6.70812498e-01 -7.72342010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.90, Y:-196.32, Z:-772.37 [[ 5.86016145e-01 4.76168952e-01 6.55628101e-01 3.63897005e+02] [-3.26957109e-01 8.79280053e-01 -3.46360560e-01 -1.96324752e+02] [-7.41406856e-01 -1.13893885e-02 6.70959131e-01 -7.72366186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:-196.33, Z:-772.39 [[ 5.86460384e-01 4.75289521e-01 6.55868958e-01 3.63916568e+02] [-3.25112576e-01 8.79774620e-01 -3.46840643e-01 -1.96334654e+02] [-7.41866586e-01 -9.82294902e-03 6.70475562e-01 -7.72390628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.94, Y:-196.34, Z:-772.41 [[ 5.86998325e-01 4.74744912e-01 6.55782155e-01 3.63935682e+02] [-3.23948896e-01 8.80080814e-01 -3.47152523e-01 -1.96344732e+02] [-7.41950186e-01 -8.66195556e-03 6.70399054e-01 -7.72414914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.96, Y:-196.36, Z:-772.44 [[ 5.86919919e-01 4.75045466e-01 6.55634665e-01 3.63955220e+02] [-3.24088541e-01 8.79919524e-01 -3.47430928e-01 -1.96355009e+02] [-7.41951229e-01 -8.56954945e-03 6.70399087e-01 -7.72440047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.97, Y:-196.37, Z:-772.46 [[ 5.87483829e-01 4.73595547e-01 6.56178336e-01 3.63974446e+02] [-3.21385683e-01 8.80718529e-01 -3.47916823e-01 -1.96365317e+02] [-7.42680277e-01 -6.49081477e-03 6.69614722e-01 -7.72464885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.99, Y:-196.38, Z:-772.49 [[ 5.88138237e-01 4.72879226e-01 6.56108720e-01 3.63993200e+02] [-3.19957182e-01 8.81112403e-01 -3.48236034e-01 -1.96375448e+02] [-7.42779117e-01 -5.11576989e-03 6.69517000e-01 -7.72488395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.01, Y:-196.39, Z:-772.51 [[ 5.88720222e-01 4.72255002e-01 6.56036366e-01 3.64012140e+02] [-3.18821171e-01 8.81452724e-01 -3.48416642e-01 -1.96385754e+02] [-7.42806544e-01 -4.03835953e-03 6.69493936e-01 -7.72512997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.03, Y:-196.39, Z:-772.54 [[ 5.90724219e-01 4.70894681e-01 6.55212254e-01 3.64031252e+02] [-3.16873098e-01 8.82187496e-01 -3.48334124e-01 -1.96394863e+02] [-7.42048744e-01 -1.84973362e-03 6.70343375e-01 -7.72537113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.05, Y:-196.40, Z:-772.56 [[ 5.92017844e-01 4.70138142e-01 6.54587657e-01 3.64050243e+02] [-3.15743691e-01 8.82592722e-01 -3.48333186e-01 -1.96402500e+02] [-7.41499019e-01 -4.62461268e-04 6.70953793e-01 -7.72562377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.07, Y:-196.41, Z:-772.59 [[ 5.92273274e-01 4.70322474e-01 6.54224075e-01 3.64069964e+02] [-3.15992296e-01 8.82494535e-01 -3.48356519e-01 -1.96412420e+02] [-7.41189070e-01 -4.07511090e-04 6.71296206e-01 -7.72587448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.09, Y:-196.42, Z:-772.61 [[ 5.92194057e-01 4.70873719e-01 6.53899182e-01 3.64088945e+02] [-3.16613179e-01 8.82200398e-01 -3.48537734e-01 -1.96421898e+02] [-7.40987378e-01 -6.31124371e-04 6.71518658e-01 -7.72611660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.11, Y:-196.43, Z:-772.64 [[ 5.91706149e-01 4.71689605e-01 6.53752820e-01 3.64108608e+02] [-3.17551187e-01 8.81763818e-01 -3.48789068e-01 -1.96431488e+02] [-7.40975760e-01 -1.21934775e-03 6.71530667e-01 -7.72636400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:-196.44, Z:-772.66 [[ 5.91023355e-01 4.72798359e-01 6.53569511e-01 3.64128422e+02] [-3.18934721e-01 8.81168002e-01 -3.49032372e-01 -1.96441098e+02] [-7.40926473e-01 -2.15972635e-03 6.71582681e-01 -7.72661368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.496559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:364.15, Y:-196.45, Z:-772.69 [[ 5.90558937e-01 4.74108047e-01 6.53040353e-01 3.64148309e+02] [-3.20806765e-01 8.80460359e-01 -3.49102529e-01 -1.96450384e+02] [-7.40488462e-01 -3.33414511e-03 6.72060802e-01 -7.72686085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.17, Y:-196.46, Z:-772.71 [[ 5.89239433e-01 4.76725893e-01 6.52326080e-01 3.64168143e+02] [-3.24730038e-01 8.79030565e-01 -3.49078313e-01 -1.96458273e+02] [-7.39829233e-01 -6.13916555e-03 6.72766688e-01 -7.72710551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5565599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:364.19, Y:-196.47, Z:-772.74 [[ 5.88339582e-01 4.78216224e-01 6.52047375e-01 3.64187535e+02] [-3.26747927e-01 8.78209503e-01 -3.49261882e-01 -1.96467121e+02] [-7.39656899e-01 -7.57053798e-03 6.72941571e-01 -7.72735214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:364.21, Y:-196.48, Z:-772.76 [[ 5.88002480e-01 4.79524179e-01 6.51390547e-01 3.64206499e+02] [-3.28680362e-01 8.77485259e-01 -3.49269008e-01 -1.96475864e+02] [-7.39068537e-01 -8.72823766e-03 6.73573690e-01 -7.72759039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.23, Y:-196.49, Z:-772.78 [[ 5.86176110e-01 4.81320469e-01 6.51711727e-01 3.64226435e+02] [-3.30939424e-01 8.76479219e-01 -3.49661660e-01 -1.96485206e+02] [-7.39511099e-01 -1.07137923e-02 6.73059098e-01 -7.72783927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.25, Y:-196.50, Z:-772.81 [[ 5.85439566e-01 4.82289765e-01 6.51657193e-01 3.64245394e+02] [-3.32025873e-01 8.75936675e-01 -3.49991088e-01 -1.96495066e+02] [-7.39607555e-01 -1.14684176e-02 6.72940666e-01 -7.72807177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:-196.55, Z:-772.81 [[ 5.91155380e-01 4.45208828e-01 6.72550679e-01 3.64279459e+02] [-3.40414283e-01 8.93666884e-01 -2.92365554e-01 -1.96551048e+02] [-7.31199996e-01 -5.61123870e-02 6.79851430e-01 -7.72806629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:-196.47, Z:-772.87 [[ 5.82182208e-01 5.32372592e-01 6.14526891e-01 3.64284986e+02] [-3.34218319e-01 8.45709250e-01 -4.16021610e-01 -1.96473669e+02] [-7.41189579e-01 3.68142353e-02 6.70285551e-01 -7.72871576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.30, Y:-196.53, Z:-772.88 [[ 5.82749239e-01 4.84716054e-01 6.52268098e-01 3.64303415e+02] [-3.34446916e-01 8.74566759e-01 -3.51110017e-01 -1.96525655e+02] [-7.40640659e-01 -1.35399589e-02 6.71764903e-01 -7.72878714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.32, Y:-196.54, Z:-772.90 [[ 5.81987763e-01 4.85087769e-01 6.52671510e-01 3.64322966e+02] [-3.34382338e-01 8.74360247e-01 -3.51685387e-01 -1.96535850e+02] [-7.41268302e-01 -1.35652338e-02 6.71071746e-01 -7.72903654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.34, Y:-196.55, Z:-772.93 [[ 5.82007429e-01 4.85206930e-01 6.52565390e-01 3.64341740e+02] [-3.34221828e-01 8.74299099e-01 -3.51989852e-01 -1.96545966e+02] [-7.41325248e-01 -1.32408890e-02 6.71015317e-01 -7.72927708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.36, Y:-196.56, Z:-772.95 [[ 5.82560684e-01 4.84490318e-01 6.52604154e-01 3.64360536e+02] [-3.32751971e-01 8.74715792e-01 -3.52347001e-01 -1.96557009e+02] [-7.41551870e-01 -1.18918080e-02 6.70790138e-01 -7.72951906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.38, Y:-196.57, Z:-772.98 [[ 5.83308984e-01 4.84352539e-01 6.52037765e-01 3.64379030e+02] [-3.32473940e-01 8.74800857e-01 -3.52398269e-01 -1.96567164e+02] [-7.41088192e-01 -1.12284887e-02 6.71313796e-01 -7.72975487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.40, Y:-196.58, Z:-773.00 [[ 5.83681979e-01 4.83996654e-01 6.51968240e-01 3.64398252e+02] [-3.31613350e-01 8.75008746e-01 -3.52692899e-01 -1.96577601e+02] [-7.41180095e-01 -1.03408829e-02 6.71226588e-01 -7.73000726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.42, Y:-196.59, Z:-773.03 [[ 5.85114816e-01 4.82977838e-01 6.51439222e-01 3.64417102e+02] [-3.30004029e-01 8.75590603e-01 -3.52758327e-01 -1.96587747e+02] [-7.40768515e-01 -8.57344456e-03 6.71705667e-01 -7.73025176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.44, Y:-196.60, Z:-773.05 [[ 5.85798861e-01 4.82543261e-01 6.51146447e-01 3.64435163e+02] [-3.29133674e-01 8.75839557e-01 -3.52953388e-01 -1.96597707e+02] [-7.40615095e-01 -7.55453004e-03 6.71887052e-01 -7.73049401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.45, Y:-196.61, Z:-773.07 [[ 5.86608123e-01 4.82135659e-01 6.50719691e-01 3.64454241e+02] [-3.28410988e-01 8.76071704e-01 -3.53050411e-01 -1.96608519e+02] [-7.40295301e-01 -6.60125778e-03 6.72249426e-01 -7.73074602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.47, Y:-196.62, Z:-773.10 [[ 5.88593854e-01 4.80689520e-01 6.49996047e-01 3.64472954e+02] [-3.26291259e-01 8.76880274e-01 -3.53008497e-01 -1.96619384e+02] [-7.39656196e-01 -4.30939654e-03 6.72971129e-01 -7.73100009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:-196.63, Z:-773.12 [[ 5.89617457e-01 4.80226645e-01 6.49410213e-01 3.64491330e+02] [-3.25557836e-01 8.77138385e-01 -3.53044402e-01 -1.96629799e+02] [-7.39163954e-01 -3.25944115e-03 6.73517651e-01 -7.73124723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.51, Y:-196.64, Z:-773.15 [[ 5.90581711e-01 4.79916989e-01 6.48762612e-01 3.64509660e+02] [-3.25087819e-01 8.77310620e-01 -3.53049553e-01 -1.96640373e+02] [-7.38600808e-01 -2.40021305e-03 6.74138773e-01 -7.73148635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.53, Y:-196.65, Z:-773.17 [[ 5.91295100e-01 4.79583968e-01 6.48358946e-01 3.64528636e+02] [-3.24469102e-01 8.77494625e-01 -3.53161416e-01 -1.96651484e+02] [-7.38302043e-01 -1.54983056e-03 6.74468451e-01 -7.73173732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.55, Y:-196.66, Z:-773.20 [[ 5.91911093e-01 4.79374528e-01 6.47951634e-01 3.64547167e+02] [-3.24008767e-01 8.77610043e-01 -3.53297229e-01 -1.96662545e+02] [-7.38010554e-01 -8.21460941e-04 6.74788669e-01 -7.73197718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.57, Y:-196.67, Z:-773.22 [[ 5.92310173e-01 4.78657352e-01 6.48117118e-01 3.64565970e+02] [-3.22606781e-01 8.78001715e-01 -3.53606920e-01 -1.96674150e+02] [-7.38304493e-01 3.57998613e-04 6.74467455e-01 -7.73222556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.59, Y:-196.68, Z:-773.25 [[ 5.92342382e-01 4.78597587e-01 6.48131817e-01 3.64585040e+02] [-3.22121021e-01 8.78033911e-01 -3.53969629e-01 -1.96684939e+02] [-7.38490725e-01 8.94331160e-04 6.74263042e-01 -7.73246907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2165599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:364.60, Y:-196.70, Z:-773.27 [[ 5.91360058e-01 4.78517109e-01 6.49087559e-01 3.64603318e+02] [-3.21035425e-01 8.78077011e-01 -3.54847881e-01 -1.96696048e+02] [-7.39749646e-01 1.46276275e-03 6.72880615e-01 -7.73270878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.62, Y:-196.71, Z:-773.30 [[ 5.90710178e-01 4.78816862e-01 6.49458158e-01 3.64622673e+02] [-3.20892255e-01 8.77913491e-01 -3.55381574e-01 -1.96707120e+02] [-7.40330769e-01 1.52141997e-03 6.72241057e-01 -7.73295676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.64, Y:-196.72, Z:-773.32 [[ 5.90038026e-01 4.79248101e-01 6.49751019e-01 3.64641441e+02] [-3.20968155e-01 8.77678290e-01 -3.55893612e-01 -1.96717727e+02] [-7.40833701e-01 1.44137881e-03 6.71686944e-01 -7.73320134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:-196.73, Z:-773.34 [[ 5.89498043e-01 4.79860879e-01 6.49788884e-01 3.64660456e+02] [-3.21469788e-01 8.77343866e-01 -3.56265233e-01 -1.96728560e+02] [-7.41046040e-01 1.13016292e-03 6.71453267e-01 -7.73344975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.68, Y:-196.74, Z:-773.37 [[ 5.88424470e-01 4.81328380e-01 6.49676561e-01 3.64678934e+02] [-3.23334210e-01 8.76540316e-01 -3.56555835e-01 -1.96739632e+02] [-7.41088140e-01 -2.56479559e-04 6.71407703e-01 -7.73369400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.70, Y:-196.75, Z:-773.39 [[ 5.87493549e-01 4.82610810e-01 6.49567653e-01 3.64697913e+02] [-3.24919134e-01 8.75833786e-01 -3.56851140e-01 -1.96750145e+02] [-7.41133515e-01 -1.40921602e-03 6.71356186e-01 -7.73394458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.72, Y:-196.76, Z:-773.42 [[ 5.86348089e-01 4.84348032e-01 6.49309558e-01 3.64717091e+02] [-3.27267637e-01 8.74869808e-01 -3.57069618e-01 -1.96761208e+02] [-7.41007295e-01 -3.13091639e-03 6.71489677e-01 -7.73418727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:-196.77, Z:-773.44 [[ 5.84005505e-01 4.87751208e-01 6.48873122e-01 3.64735944e+02] [-3.32213759e-01 8.72954899e-01 -3.57188694e-01 -1.96770772e+02] [-7.40656188e-01 -6.96441539e-03 6.71848129e-01 -7.73443240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.75, Y:-196.78, Z:-773.47 [[ 5.82834152e-01 4.89561188e-01 6.48563177e-01 3.64754896e+02] [-3.34734983e-01 8.71924339e-01 -3.57351980e-01 -1.96780223e+02] [-7.40443679e-01 -8.81984596e-03 6.72060539e-01 -7.73467970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.77, Y:-196.79, Z:-773.49 [[ 5.81156870e-01 4.92469177e-01 6.47866346e-01 3.64773741e+02] [-3.39101721e-01 8.70246725e-01 -3.57324307e-01 -1.96790573e+02] [-7.39774773e-01 -1.20311171e-02 6.72747009e-01 -7.73493143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.79, Y:-196.80, Z:-773.52 [[ 5.80297136e-01 4.93862934e-01 6.47575970e-01 3.64792745e+02] [-3.40967450e-01 8.69437504e-01 -3.57518705e-01 -1.96801466e+02] [-7.39592072e-01 -1.33352467e-02 6.72923279e-01 -7.73518261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.81, Y:-196.81, Z:-773.54 [[ 5.79665092e-01 4.95131435e-01 6.47173272e-01 3.64811779e+02] [-3.42707678e-01 8.68697544e-01 -3.57653498e-01 -1.96812443e+02] [-7.39283321e-01 -1.44720017e-02 6.73238986e-01 -7.73543030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5765599949999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:364.83, Y:-196.83, Z:-773.56 [[ 5.80603939e-01 4.86963951e-01 6.52506841e-01 3.64833907e+02] [-3.45565232e-01 8.73043329e-01 -3.44063970e-01 -1.96834538e+02] [-7.37213495e-01 -2.57187813e-02 6.75170206e-01 -7.73562583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:-196.13, Z:-773.44 [[ 5.30763553e-01 4.51000238e-01 -7.17557550e-01 3.65567796e+02] [-2.66206434e-01 -7.15091292e-01 -6.46357934e-01 -1.96125651e+02] [-8.04626737e-01 5.34081670e-01 -2.59485229e-01 -7.73435077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.91, Y:-196.87, Z:-773.68 [[ 5.48462704e-01 4.59272475e-01 6.98754217e-01 3.64906428e+02] [-3.01195633e-01 8.88070603e-01 -3.47292089e-01 -1.96873708e+02] [-7.80044776e-01 -1.99849609e-02 6.25404468e-01 -7.73679409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.92, Y:-196.88, Z:-773.71 [[ 5.48397661e-01 4.59592528e-01 6.98594814e-01 3.64924809e+02] [-3.01305919e-01 8.87907797e-01 -3.47612554e-01 -1.96882761e+02] [-7.80047914e-01 -1.98608410e-02 6.25404508e-01 -7.73705864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.94, Y:-196.89, Z:-773.73 [[ 5.47672739e-01 4.61107898e-01 6.98164792e-01 3.64942322e+02] [-3.01822143e-01 8.87129724e-01 -3.49147888e-01 -1.96890485e+02] [-7.80357588e-01 -1.95028134e-02 6.25029340e-01 -7.73732987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.96, Y:-196.90, Z:-773.76 [[ 5.47964305e-01 4.61340918e-01 6.97781970e-01 3.64960246e+02] [-3.02296502e-01 8.87004928e-01 -3.49054555e-01 -1.96899117e+02] [-7.79969195e-01 -1.96676126e-02 6.25508785e-01 -7.73758224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.98, Y:-196.91, Z:-773.78 [[ 5.48540929e-01 4.60372120e-01 6.97968739e-01 3.64977551e+02] [-3.02221610e-01 8.87497920e-01 -3.47864257e-01 -1.96908218e+02] [-7.79592809e-01 -2.01234533e-02 6.25963336e-01 -7.73783291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.00, Y:-196.92, Z:-773.81 [[ 5.48346663e-01 4.60651065e-01 6.97937342e-01 3.64995481e+02] [-3.02223606e-01 8.87356277e-01 -3.48223677e-01 -1.96917060e+02] [-7.79728689e-01 -1.99858488e-02 6.25798479e-01 -7.73809667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.01, Y:-196.93, Z:-773.84 [[ 5.48283595e-01 4.60896115e-01 6.97825101e-01 3.65013491e+02] [-3.02194420e-01 8.87233886e-01 -3.48560704e-01 -1.96926311e+02] [-7.79784350e-01 -1.97687360e-02 6.25736018e-01 -7.73835771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:365.03, Y:-196.93, Z:-773.86 [[ 5.47939831e-01 4.60959711e-01 6.98053069e-01 3.65031044e+02] [-3.01667342e-01 8.87211001e-01 -3.49075142e-01 -1.96934850e+02] [-7.80229939e-01 -1.93076395e-02 6.25194736e-01 -7.73860582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.05, Y:-196.94, Z:-773.89 [[ 5.47598751e-01 4.61340072e-01 6.98069442e-01 3.65048897e+02] [-3.01809122e-01 8.87012959e-01 -3.49455668e-01 -1.96943483e+02] [-7.80414545e-01 -1.93222382e-02 6.24963831e-01 -7.73886524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.07, Y:-196.95, Z:-773.91 [[ 5.47536695e-01 4.61517299e-01 6.98000968e-01 3.65066819e+02] [-3.01639860e-01 8.86927581e-01 -3.49818325e-01 -1.96952081e+02] [-7.80523518e-01 -1.90065446e-02 6.24837410e-01 -7.73912267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:-196.96, Z:-773.94 [[ 5.48716307e-01 4.61011777e-01 6.97408457e-01 3.65084151e+02] [-3.00660294e-01 8.87218007e-01 -3.49925129e-01 -1.96961060e+02] [-7.80072947e-01 -1.76734071e-02 6.25438925e-01 -7.73938086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.10, Y:-196.97, Z:-773.96 [[ 5.49232082e-01 4.60683355e-01 6.97219454e-01 3.65101468e+02] [-2.99772343e-01 8.87408123e-01 -3.50204748e-01 -1.96970123e+02] [-7.80051705e-01 -1.66634260e-02 6.25493140e-01 -7.73964126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.12, Y:-196.98, Z:-773.99 [[ 5.49818031e-01 4.60163636e-01 6.97100826e-01 3.65119052e+02] [-2.98516391e-01 8.87701146e-01 -3.50534792e-01 -1.96979673e+02] [-7.80120566e-01 -1.53656731e-02 6.25440483e-01 -7.73990038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:-196.99, Z:-774.02 [[ 5.50700469e-01 4.58615343e-01 6.97424520e-01 3.65136161e+02] [-2.95329071e-01 8.88545255e-01 -3.51095527e-01 -1.96990231e+02] [-7.80711044e-01 -1.26212647e-02 6.24764732e-01 -7.74015367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.15, Y:-197.00, Z:-774.04 [[ 5.50520264e-01 4.58308126e-01 6.97768658e-01 3.65154299e+02] [-2.94164398e-01 8.88716699e-01 -3.51638928e-01 -1.96999870e+02] [-7.81277637e-01 -1.16743415e-02 6.24074486e-01 -7.74041609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.17, Y:-197.01, Z:-774.07 [[ 5.50775944e-01 4.57325076e-01 6.98211741e-01 3.65172040e+02] [-2.91812888e-01 8.89246350e-01 -3.52258665e-01 -1.97008246e+02] [-7.81978963e-01 -9.73158523e-03 6.23228849e-01 -7.74067724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.116559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.19, Y:-197.02, Z:-774.09 [[ 5.50715227e-01 4.57643274e-01 6.98051125e-01 3.65190367e+02] [-2.91923451e-01 8.89083977e-01 -3.52576772e-01 -1.97017408e+02] [-7.81980459e-01 -9.60809687e-03 6.23228888e-01 -7.74094179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.21, Y:-197.03, Z:-774.12 [[ 5.50813050e-01 4.57272967e-01 6.98216598e-01 3.65208054e+02] [-2.91007591e-01 8.89282445e-01 -3.52833268e-01 -1.97026274e+02] [-7.82252879e-01 -8.84116171e-03 6.22898280e-01 -7.74120344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1765599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:365.23, Y:-197.03, Z:-774.15 [[ 5.51108499e-01 4.57136284e-01 6.98072948e-01 3.65225432e+02] [-2.90378471e-01 8.89359974e-01 -3.53156029e-01 -1.97034983e+02] [-7.82278574e-01 -8.07806599e-03 6.22876375e-01 -7.74145653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:365.24, Y:-197.04, Z:-774.17 [[ 5.52180726e-01 4.56395159e-01 6.97710473e-01 3.65243123e+02] [-2.88588501e-01 8.89756378e-01 -3.53624469e-01 -1.97043976e+02] [-7.82184839e-01 -6.08660349e-03 6.23016718e-01 -7.74172101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.26, Y:-197.05, Z:-774.20 [[ 5.51669927e-01 4.59195551e-01 6.96275619e-01 3.65259170e+02] [-2.87064944e-01 8.88332605e-01 -3.58411636e-01 -1.97048691e+02] [-7.83105363e-01 -2.15140055e-03 6.21885328e-01 -7.74199148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.28, Y:-197.07, Z:-774.22 [[ 5.52409954e-01 4.50572277e-01 7.01304404e-01 3.65279189e+02] [-2.89198895e-01 8.92661442e-01 -3.45715995e-01 -1.97068646e+02] [-7.81797443e-01 -1.18395021e-02 6.23420071e-01 -7.74220218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:365.30, Y:-197.07, Z:-774.25 [[ 5.52521537e-01 4.57521667e-01 6.96702142e-01 3.65296398e+02] [-2.89417901e-01 8.89179387e-01 -3.54397090e-01 -1.97072208e+02] [-7.81637531e-01 -5.82604631e-03 6.23705722e-01 -7.74246978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:365.32, Y:-197.10, Z:-774.27 [[ 5.53999957e-01 4.42222415e-01 7.05353374e-01 3.65320083e+02] [-2.92815195e-01 8.96622553e-01 -3.32155475e-01 -1.97098381e+02] [-7.79322340e-01 -2.25240668e-02 6.26218299e-01 -7.74265329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.33, Y:-197.07, Z:-774.31 [[ 5.51647677e-01 4.80949721e-01 6.81448609e-01 3.65331436e+02] [-2.90578865e-01 8.76643722e-01 -3.83483647e-01 -1.97070111e+02] [-7.81823998e-01 1.35332995e-02 6.23352297e-01 -7.74305036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.35, Y:-197.10, Z:-774.32 [[ 5.51636931e-01 4.59039897e-01 6.96404387e-01 3.65351193e+02] [-2.90964939e-01 8.88390101e-01 -3.55109043e-01 -1.97096027e+02] [-7.81687982e-01 -6.73799738e-03 6.23633304e-01 -7.74324187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.37, Y:-197.10, Z:-774.35 [[ 5.51443352e-01 4.59365288e-01 6.96343136e-01 3.65369549e+02] [-2.91033097e-01 8.88222659e-01 -3.55471861e-01 -1.97104879e+02] [-7.81799186e-01 -6.63630490e-03 6.23494982e-01 -7.74350179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.39, Y:-197.11, Z:-774.38 [[ 5.51175050e-01 4.59476897e-01 6.96481906e-01 3.65387014e+02] [-2.90626414e-01 8.88167871e-01 -3.55941176e-01 -1.97113453e+02] [-7.82139598e-01 -6.23014307e-03 6.23072094e-01 -7.74375185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.41, Y:-197.12, Z:-774.40 [[ 5.51270666e-01 4.59357880e-01 6.96484738e-01 3.65405220e+02] [-2.89967866e-01 8.88234046e-01 -3.56312947e-01 -1.97122767e+02] [-7.82316617e-01 -5.53331756e-03 6.22856399e-01 -7.74401161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.42, Y:-197.13, Z:-774.43 [[ 5.51421262e-01 4.58363100e-01 6.97020703e-01 3.65423787e+02] [-2.87523419e-01 8.88757896e-01 -3.56986955e-01 -1.97132024e+02] [-7.83112301e-01 -3.55957845e-03 6.21870126e-01 -7.74426614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.44, Y:-197.14, Z:-774.45 [[ 5.51462171e-01 4.58037884e-01 6.97202102e-01 3.65441445e+02] [-2.86382842e-01 8.88929068e-01 -3.57477244e-01 -1.97140772e+02] [-7.83501335e-01 -2.53154276e-03 6.21384944e-01 -7.74451706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.46, Y:-197.15, Z:-774.48 [[ 5.51875800e-01 4.57459021e-01 6.97254864e-01 3.65459468e+02] [-2.84949829e-01 8.89229920e-01 -3.57873924e-01 -1.97148951e+02] [-7.83732542e-01 -1.18069631e-03 6.21097343e-01 -7.74478003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.48, Y:-197.16, Z:-774.50 [[ 5.52553838e-01 4.55969662e-01 6.97693288e-01 3.65477755e+02] [-2.81771259e-01 8.89994063e-01 -3.58490623e-01 -1.97156922e+02] [-7.84403732e-01 1.49545330e-03 6.20248780e-01 -7.74504240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.50, Y:-197.17, Z:-774.53 [[ 5.52905273e-01 4.55333784e-01 6.97830140e-01 3.65495767e+02] [-2.80159084e-01 8.90315875e-01 -3.58954776e-01 -1.97165655e+02] [-7.84733488e-01 2.96453537e-03 6.19826237e-01 -7.74530665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.656559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:365.51, Y:-197.17, Z:-774.56 [[ 5.54351681e-01 4.53827169e-01 6.97664042e-01 3.65514106e+02] [-2.77349895e-01 8.91071753e-01 -3.59260583e-01 -1.97174158e+02] [-7.84710934e-01 5.65965887e-03 6.19836042e-01 -7.74556252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:365.53, Y:-197.17, Z:-774.58 [[ 5.53633666e-01 4.59603432e-01 6.94445426e-01 3.65528551e+02] [-2.73046412e-01 8.87993510e-01 -3.70017814e-01 -1.97171719e+02] [-7.86724489e-01 1.52384872e-02 6.17116170e-01 -7.74583750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.55, Y:-197.20, Z:-774.60 [[ 5.55787747e-01 4.35244107e-01 7.08281404e-01 3.65550073e+02] [-2.75099406e-01 9.00282503e-01 -3.37359944e-01 -1.97204776e+02] [-7.84487283e-01 -7.34727024e-03 6.20101379e-01 -7.74601295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.57, Y:-197.20, Z:-774.63 [[ 5.56430374e-01 4.52816096e-01 6.96665503e-01 3.65567450e+02] [-2.75191475e-01 8.91564077e-01 -3.59698691e-01 -1.97199077e+02] [-7.83999293e-01 8.43086976e-03 6.20704462e-01 -7.74633566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.59, Y:-197.21, Z:-774.66 [[ 5.56461363e-01 4.53311946e-01 6.96318197e-01 3.65585043e+02] [-2.75730563e-01 8.91313500e-01 -3.59906797e-01 -1.97207129e+02] [-7.83787859e-01 8.27801825e-03 6.20973483e-01 -7.74659642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.60, Y:-197.21, Z:-774.69 [[ 5.56694336e-01 4.54340815e-01 6.95460883e-01 3.65602932e+02] [-2.77454081e-01 8.90797427e-01 -3.59859942e-01 -1.97214013e+02] [-7.83013824e-01 7.37353078e-03 6.21960595e-01 -7.74685806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.62, Y:-197.21, Z:-774.71 [[ 5.55590288e-01 4.60484708e-01 6.92295649e-01 3.65618836e+02] [-2.76736408e-01 8.87571977e-01 -3.68283785e-01 -1.97211617e+02] [-7.84051269e-01 1.30314827e-02 6.20559255e-01 -7.74713179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.64, Y:-197.24, Z:-774.73 [[ 5.55814532e-01 4.42078255e-01 7.04014931e-01 3.65639860e+02] [-2.81266556e-01 8.96937228e-01 -3.41163794e-01 -1.97241279e+02] [-7.82278295e-01 -8.39206083e-03 6.22872574e-01 -7.74732682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.66, Y:-197.24, Z:-774.76 [[ 5.55416293e-01 4.57922093e-01 6.94132623e-01 3.65656740e+02] [-2.82918477e-01 8.88984975e-01 -3.60087281e-01 -1.97237640e+02] [-7.81965394e-01 3.61539834e-03 6.23311361e-01 -7.74762200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.67, Y:-197.25, Z:-774.79 [[ 5.55360077e-01 4.58223357e-01 6.93978775e-01 3.65674985e+02] [-2.83030317e-01 8.88829272e-01 -3.60383636e-01 -1.97247030e+02] [-7.81964849e-01 3.72565056e-03 6.23311395e-01 -7.74788635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.69, Y:-197.25, Z:-774.81 [[ 5.54345937e-01 4.61951317e-01 6.92316086e-01 3.65691608e+02] [-2.83260376e-01 8.86883525e-01 -3.64967360e-01 -1.97248917e+02] [-7.82600883e-01 6.21245844e-03 6.22492782e-01 -7.74814103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.71, Y:-197.27, Z:-774.84 [[ 5.53962518e-01 4.50646267e-01 7.00031049e-01 3.65710741e+02] [-2.87096008e-01 8.92662185e-01 -3.47462379e-01 -1.97271690e+02] [-7.81473871e-01 -8.49498535e-03 6.23880137e-01 -7.74835657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:-197.27, Z:-774.86 [[ 5.52159090e-01 4.62903543e-01 6.93426744e-01 3.65728242e+02] [-2.89983271e-01 8.86406726e-01 -3.60822420e-01 -1.97271548e+02] [-7.81684106e-01 -1.85077669e-03 6.23671815e-01 -7.74863618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.75, Y:-197.28, Z:-774.89 [[ 5.50762393e-01 4.64383429e-01 6.93547992e-01 3.65746631e+02] [-2.91815180e-01 8.85627649e-01 -3.61258312e-01 -1.97280565e+02] [-7.81987651e-01 -3.42033966e-03 6.23284537e-01 -7.74889841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.76, Y:-197.29, Z:-774.92 [[ 5.49451974e-01 4.65809247e-01 6.93631223e-01 3.65764943e+02] [-2.93551030e-01 8.84871719e-01 -3.61704070e-01 -1.97289289e+02] [-7.82259753e-01 -4.87714508e-03 6.22933297e-01 -7.74915770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.78, Y:-197.30, Z:-774.94 [[ 5.47223947e-01 4.68283043e-01 6.93726851e-01 3.65783086e+02] [-2.96973826e-01 8.83543747e-01 -3.62156035e-01 -1.97297808e+02] [-7.82529551e-01 -7.83826251e-03 6.22564104e-01 -7.74940813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.80, Y:-197.31, Z:-774.97 [[ 5.45861636e-01 4.69696736e-01 6.93844400e-01 3.65801280e+02] [-2.98713188e-01 8.82778467e-01 -3.62591520e-01 -1.97306675e+02] [-7.82818949e-01 -9.33567267e-03 6.22179507e-01 -7.74967075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.82, Y:-197.32, Z:-774.99 [[ 5.44460341e-01 4.71323943e-01 6.93841969e-01 3.65819487e+02] [-3.00845268e-01 8.81890249e-01 -3.62989965e-01 -1.97315743e+02] [-7.82978328e-01 -1.11054333e-02 6.21949843e-01 -7.74993204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.84, Y:-197.32, Z:-775.02 [[ 5.42193247e-01 4.73793538e-01 6.93935275e-01 3.65837957e+02] [-3.04288187e-01 8.80523034e-01 -3.63438973e-01 -1.97324726e+02] [-7.83221030e-01 -1.41021500e-02 6.21583419e-01 -7.75019216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.86, Y:-197.33, Z:-775.04 [[ 5.40905388e-01 4.75066712e-01 6.94069867e-01 3.65855585e+02] [-3.05764475e-01 8.79815379e-01 -3.63913431e-01 -1.97333567e+02] [-7.83536500e-01 -1.53791726e-02 6.21155403e-01 -7.75044122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.87, Y:-197.34, Z:-775.07 [[ 5.40206787e-01 4.76189758e-01 6.93844321e-01 3.65874046e+02] [-3.07416263e-01 8.79185102e-01 -3.64045049e-01 -1.97342647e+02] [-7.83372114e-01 -1.66394220e-02 6.21330235e-01 -7.75070254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:365.89, Y:-197.35, Z:-775.10 [[ 5.39611729e-01 4.77319591e-01 6.93530958e-01 3.65891634e+02] [-3.08937255e-01 8.78551803e-01 -3.64286292e-01 -1.97351331e+02] [-7.83183858e-01 -1.76843942e-02 6.21538661e-01 -7.75096686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.91, Y:-197.36, Z:-775.12 [[ 5.39717925e-01 4.78878032e-01 6.92373015e-01 3.65908290e+02] [-3.11675944e-01 8.77669370e-01 -3.64080462e-01 -1.97360267e+02] [-7.82024723e-01 -1.92952618e-02 6.22948654e-01 -7.75121852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.93, Y:-197.37, Z:-775.15 [[ 5.39358851e-01 4.79789162e-01 6.92021958e-01 3.65925658e+02] [-3.12901265e-01 8.77154418e-01 -3.64270402e-01 -1.97369918e+02] [-7.81783108e-01 -2.00620812e-02 6.23227635e-01 -7.75148082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.94, Y:-197.38, Z:-775.17 [[ 5.39468965e-01 4.80452201e-01 6.91475899e-01 3.65943134e+02] [-3.13812558e-01 8.76783114e-01 -3.64380365e-01 -1.97379634e+02] [-7.81341740e-01 -2.04219220e-02 6.23769212e-01 -7.75173731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:365.96, Y:-197.38, Z:-775.20 [[ 5.38063022e-01 4.88607883e-01 6.86840973e-01 3.65957839e+02] [-3.13928011e-01 8.72390865e-01 -3.74677705e-01 -1.97382115e+02] [-7.82264270e-01 -1.40184029e-02 6.22788966e-01 -7.75204034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.98, Y:-197.41, Z:-775.22 [[ 5.40226663e-01 4.73051204e-01 6.95972493e-01 3.65977085e+02] [-3.16058892e-01 8.80551854e-01 -3.53178721e-01 -1.97406514e+02] [-7.79911489e-01 -2.91717330e-02 6.25209629e-01 -7.75222168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.99, Y:-197.41, Z:-775.25 [[ 5.40345709e-01 4.82253216e-01 6.89534880e-01 3.65994102e+02] [-3.16644548e-01 8.75769166e-01 -3.64368766e-01 -1.97409572e+02] [-7.79591396e-01 -2.14523612e-02 6.25920963e-01 -7.75251253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.01, Y:-197.42, Z:-775.28 [[ 5.40485006e-01 4.82632778e-01 6.89160039e-01 3.66011585e+02] [-3.16987811e-01 8.75561072e-01 -3.64570346e-01 -1.97420090e+02] [-7.79355301e-01 -2.14105266e-02 6.26216339e-01 -7.75277173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.02, Y:-197.41, Z:-775.31 [[ 5.38173382e-01 4.94026991e-01 6.82866564e-01 3.66023319e+02] [-3.12552566e-01 8.69414274e-01 -3.82661357e-01 -1.97413776e+02] [-7.82738976e-01 -7.49353965e-03 6.22305023e-01 -7.75309455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.05, Y:-197.46, Z:-775.32 [[ 5.41737049e-01 4.61778467e-01 7.02340100e-01 3.66046358e+02] [-3.15568163e-01 8.86187218e-01 -3.39247623e-01 -1.97459367e+02] [-7.79062067e-01 -3.78531690e-02 6.25803031e-01 -7.75321092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.06, Y:-197.45, Z:-775.35 [[ 5.41410788e-01 4.82049583e-01 6.88841461e-01 3.66062863e+02] [-3.14731678e-01 8.75941039e-01 -3.65610814e-01 -1.97453966e+02] [-7.79627046e-01 -1.88545898e-02 6.25960202e-01 -7.75353353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.616559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:366.08, Y:-197.46, Z:-775.38 [[ 5.41896477e-01 4.81639584e-01 6.88746339e-01 3.66079871e+02] [-3.13635641e-01 8.76190513e-01 -3.65954737e-01 -1.97464484e+02] [-7.79731295e-01 -1.77058172e-02 6.25863892e-01 -7.75378004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.10, Y:-197.48, Z:-775.40 [[ 5.42183733e-01 4.81278666e-01 6.88772564e-01 3.66097516e+02] [-3.12578728e-01 8.76409041e-01 -3.66335545e-01 -1.97475434e+02] [-7.79955985e-01 -1.66744785e-02 6.25612199e-01 -7.75403996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.11, Y:-197.49, Z:-775.43 [[ 5.42376903e-01 4.80218151e-01 6.89360445e-01 3.66114556e+02] [-3.10009970e-01 8.77026988e-01 -3.67038800e-01 -1.97486588e+02] [-7.80846409e-01 -1.46352434e-02 6.24551596e-01 -7.75429112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:-197.50, Z:-775.45 [[ 5.42527365e-01 4.80036914e-01 6.89368275e-01 3.66132391e+02] [-3.09258833e-01 8.77138701e-01 -3.67405326e-01 -1.97496876e+02] [-7.81039712e-01 -1.38657846e-02 6.24327404e-01 -7.75454437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:-197.51, Z:-775.48 [[ 5.42696464e-01 4.79990575e-01 6.89267434e-01 3.66150400e+02] [-3.08767881e-01 8.77173500e-01 -3.67735022e-01 -1.97507291e+02] [-7.81116472e-01 -1.32551493e-02 6.24244630e-01 -7.75480249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.17, Y:-197.52, Z:-775.51 [[ 5.44016427e-01 4.79185556e-01 6.88786854e-01 3.66167560e+02] [-3.07274196e-01 8.77638085e-01 -3.67877642e-01 -1.97518187e+02] [-7.80787228e-01 -1.15149463e-02 6.24690892e-01 -7.75505860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:-197.53, Z:-775.53 [[ 5.44956734e-01 4.78867741e-01 6.88264371e-01 3.66184573e+02] [-3.06593273e-01 8.77824589e-01 -3.68000755e-01 -1.97527861e+02] [-7.80399079e-01 -1.04727363e-02 6.25194049e-01 -7.75530890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.20, Y:-197.54, Z:-775.56 [[ 5.46836214e-01 4.77971927e-01 6.87395805e-01 3.66201418e+02] [-3.05244291e-01 8.78332646e-01 -3.67909889e-01 -1.97537888e+02] [-7.79612774e-01 -8.63719445e-03 6.26202300e-01 -7.75556406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.22, Y:-197.55, Z:-775.58 [[ 5.47434137e-01 4.77715560e-01 6.87098035e-01 3.66219135e+02] [-3.04569496e-01 8.78480385e-01 -3.68116333e-01 -1.97547717e+02] [-7.79457046e-01 -7.74965510e-03 6.26407739e-01 -7.75582833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:-197.56, Z:-775.61 [[ 5.48226951e-01 4.77236837e-01 6.86798523e-01 3.66236580e+02] [-3.03495993e-01 8.78750699e-01 -3.68357695e-01 -1.97557265e+02] [-7.79318543e-01 -6.49698357e-03 6.26594284e-01 -7.75608161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.25, Y:-197.57, Z:-775.63 [[ 5.49107784e-01 4.76538819e-01 6.86579490e-01 3.66254252e+02] [-3.02213646e-01 8.79138320e-01 -3.68487079e-01 -1.97567082e+02] [-7.79196736e-01 -5.15456790e-03 6.26758229e-01 -7.75634220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.27, Y:-197.58, Z:-775.66 [[ 5.51197367e-01 4.74713512e-01 6.86169472e-01 3.66271458e+02] [-2.99065288e-01 8.80138104e-01 -3.68669055e-01 -1.97577722e+02] [-7.78936080e-01 -2.00005792e-03 6.27100138e-01 -7.75658651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:-197.59, Z:-775.68 [[ 5.51919699e-01 4.73825079e-01 6.86202915e-01 3.66288941e+02] [-2.97160272e-01 8.80618956e-01 -3.69061006e-01 -1.97587944e+02] [-7.79153655e-01 -2.20205481e-04 6.26832939e-01 -7.75684472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.31, Y:-197.60, Z:-775.71 [[ 5.51827658e-01 4.74171302e-01 6.86037763e-01 3.66307033e+02] [-2.97331195e-01 8.80432595e-01 -3.69367848e-01 -1.97597589e+02] [-7.79153641e-01 -1.53033604e-04 6.26832977e-01 -7.75710890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.32, Y:-197.61, Z:-775.74 [[ 5.53639543e-01 4.71913553e-01 6.86134721e-01 3.66324261e+02] [-2.93328372e-01 8.81638217e-01 -3.69692467e-01 -1.97608006e+02] [-7.79385477e-01 3.41358839e-03 6.26535414e-01 -7.75736087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.34, Y:-197.62, Z:-775.76 [[ 5.54462625e-01 4.71186390e-01 6.85969812e-01 3.66341428e+02] [-2.91980524e-01 8.82020732e-01 -3.69846999e-01 -1.97618040e+02] [-7.79306468e-01 4.77651263e-03 6.26624780e-01 -7.75761752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.36, Y:-197.63, Z:-775.79 [[ 5.55344419e-01 4.69834919e-01 6.86183448e-01 3.66358512e+02] [-2.89198564e-01 8.82724687e-01 -3.70352963e-01 -1.97627816e+02] [-7.79715824e-01 7.23018312e-03 6.26091813e-01 -7.75787670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.38, Y:-197.64, Z:-775.81 [[ 5.55667015e-01 4.69665184e-01 6.86038470e-01 3.66376021e+02] [-2.88538247e-01 8.82808186e-01 -3.70668839e-01 -1.97637242e+02] [-7.79730626e-01 8.02010993e-03 6.26063758e-01 -7.75812628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:-197.65, Z:-775.84 [[ 5.55624004e-01 4.69676240e-01 6.86065738e-01 3.66394132e+02] [-2.88234585e-01 8.82799268e-01 -3.70926243e-01 -1.97646880e+02] [-7.79873574e-01 8.34765075e-03 6.25881399e-01 -7.75838587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:-197.65, Z:-775.86 [[ 5.54347489e-01 4.70844338e-01 6.86297655e-01 3.66411915e+02] [-2.89449366e-01 8.82186455e-01 -3.71437912e-01 -1.97654436e+02] [-7.80331934e-01 7.25725308e-03 6.25323441e-01 -7.75863605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.43, Y:-197.66, Z:-775.89 [[ 5.53425908e-01 4.71998396e-01 6.86248701e-01 3.66430280e+02] [-2.90872663e-01 8.81578051e-01 -3.71770406e-01 -1.97662746e+02] [-7.80456827e-01 6.13638685e-03 6.25179563e-01 -7.75889746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.45, Y:-197.67, Z:-775.92 [[ 5.53368302e-01 4.72310609e-01 6.86080324e-01 3.66448352e+02] [-2.90984929e-01 8.81409959e-01 -3.72080979e-01 -1.97672454e+02] [-7.80455824e-01 6.25878566e-03 6.25179602e-01 -7.75916182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.47, Y:-197.68, Z:-775.94 [[ 5.52152859e-01 4.73630639e-01 6.86149574e-01 3.66466826e+02] [-2.92823820e-01 8.80711346e-01 -3.72292540e-01 -1.97680861e+02] [-7.80628869e-01 4.64145100e-03 6.24977621e-01 -7.75942381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.49, Y:-197.69, Z:-775.97 [[ 5.50159600e-01 4.76282589e-01 6.85914944e-01 3.66485311e+02] [-2.96715508e-01 8.79291074e-01 -3.72568270e-01 -1.97687803e+02] [-7.80566667e-01 1.45040957e-03 6.25070856e-01 -7.75967925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.50, Y:-197.70, Z:-775.99 [[ 5.49087650e-01 4.77755220e-01 6.85749738e-01 3.66503749e+02] [-2.98715766e-01 8.78492992e-01 -3.72852456e-01 -1.97696050e+02] [-7.80558546e-01 -1.15579323e-04 6.25082669e-01 -7.75994531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.52, Y:-197.70, Z:-776.02 [[ 5.48391148e-01 4.79197055e-01 6.85300906e-01 3.66522121e+02] [-3.00821119e-01 8.77705894e-01 -3.73013429e-01 -1.97704049e+02] [-7.80239581e-01 -1.59572313e-03 6.25478737e-01 -7.76020719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:-197.71, Z:-776.05 [[ 5.46814054e-01 4.81631907e-01 6.84854070e-01 3.66540699e+02] [-3.04518906e-01 8.76362083e-01 -3.73172527e-01 -1.97710583e+02] [-7.79911935e-01 -4.49503025e-03 6.25873125e-01 -7.76046810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:366.56, Y:-197.72, Z:-776.07 [[ 5.46057722e-01 4.82925351e-01 6.84546616e-01 3.66558527e+02] [-3.06294653e-01 8.75642511e-01 -3.73408327e-01 -1.97718403e+02] [-7.79746465e-01 -5.77046803e-03 6.26068808e-01 -7.76072230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:-197.73, Z:-776.10 [[ 5.44997422e-01 4.83979693e-01 6.84646965e-01 3.66576842e+02] [-3.07451701e-01 8.75053159e-01 -3.73838764e-01 -1.97726261e+02] [-7.80032860e-01 -6.75471131e-03 6.25702095e-01 -7.76098392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.60, Y:-197.73, Z:-776.12 [[ 5.44326312e-01 4.85002179e-01 6.84457269e-01 3.66595457e+02] [-3.08716813e-01 8.74479481e-01 -3.74138432e-01 -1.97734816e+02] [-7.80001792e-01 -7.65007382e-03 6.25730518e-01 -7.76124411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.61, Y:-197.74, Z:-776.15 [[ 5.43060106e-01 4.86062412e-01 6.84710927e-01 3.66613876e+02] [-3.09748091e-01 8.73881658e-01 -3.74682490e-01 -1.97742023e+02] [-7.80475395e-01 -8.61278925e-03 6.25127170e-01 -7.76149702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:366.63, Y:-197.75, Z:-776.18 [[ 5.41949045e-01 4.89255318e-01 6.83315789e-01 3.66631038e+02] [-3.09595373e-01 8.72118491e-01 -3.78893181e-01 -1.97747243e+02] [-7.81307838e-01 -6.21060912e-03 6.24114966e-01 -7.76177195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.65, Y:-197.76, Z:-776.20 [[ 5.42783845e-01 4.81289139e-01 6.88292425e-01 3.66650130e+02] [-3.10069504e-01 8.76458140e-01 -3.68344989e-01 -1.97762790e+02] [-7.80539941e-01 -1.34867815e-02 6.24960404e-01 -7.76199388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.67, Y:-197.76, Z:-776.23 [[ 5.41299383e-01 4.92968029e-01 6.81158939e-01 3.66665312e+02] [-3.07634943e-01 8.70046804e-01 -3.85200338e-01 -1.97758474e+02] [-7.82531610e-01 -1.03958574e-03 6.22609990e-01 -7.76230623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.636559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:366.69, Y:-197.79, Z:-776.25 [[ 5.43048844e-01 4.74034338e-01 6.93101291e-01 3.66685468e+02] [-3.09009396e-01 8.80307788e-01 -3.59960264e-01 -1.97786469e+02] [-7.80775990e-01 -1.86988058e-02 6.24531191e-01 -7.76248585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:-197.78, Z:-776.28 [[ 5.43316835e-01 4.85743467e-01 6.84733599e-01 3.66702772e+02] [-3.07316486e-01 8.74080653e-01 -3.76217476e-01 -1.97784863e+02] [-7.81257572e-01 -6.02463506e-03 6.24179710e-01 -7.76278590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.72, Y:-197.79, Z:-776.30 [[ 5.43709379e-01 4.85584498e-01 6.84534738e-01 3.66719846e+02] [-3.06682336e-01 8.74174160e-01 -3.76517573e-01 -1.97793596e+02] [-7.81233676e-01 -5.21857688e-03 6.24216878e-01 -7.76304068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:-197.80, Z:-776.33 [[ 5.44101426e-01 4.85257218e-01 6.84455310e-01 3.66737814e+02] [-3.05893996e-01 8.74360412e-01 -3.76726337e-01 -1.97802606e+02] [-7.81269801e-01 -4.39343273e-03 6.24178017e-01 -7.76330652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:-197.81, Z:-776.36 [[ 5.44643254e-01 4.85162542e-01 6.84091393e-01 3.66755428e+02] [-3.05482140e-01 8.74416222e-01 -3.76930939e-01 -1.97811473e+02] [-7.81053384e-01 -3.68480994e-03 6.24453388e-01 -7.76356422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.77, Y:-197.82, Z:-776.38 [[ 5.45227449e-01 4.84897503e-01 6.83813894e-01 3.66773207e+02] [-3.04933879e-01 8.74566004e-01 -3.77027365e-01 -1.97819765e+02] [-7.80860012e-01 -2.95235470e-03 6.24699067e-01 -7.76382812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.79, Y:-197.83, Z:-776.41 [[ 5.45422044e-01 4.85113205e-01 6.83505649e-01 3.66790819e+02] [-3.05001075e-01 8.74447158e-01 -3.77248607e-01 -1.97829059e+02] [-7.80697854e-01 -2.71025124e-03 6.24902805e-01 -7.76408477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:-197.84, Z:-776.43 [[ 5.45504077e-01 4.85285641e-01 6.83317751e-01 3.66808911e+02] [-3.04912652e-01 8.74352374e-01 -3.77539668e-01 -1.97838444e+02] [-7.80675077e-01 -2.40279899e-03 6.24932517e-01 -7.76434951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.876559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.83, Y:-197.84, Z:-776.46 [[ 5.45965701e-01 4.84964010e-01 6.83177402e-01 3.66825917e+02] [-3.03101028e-01 8.74534026e-01 -3.78576285e-01 -1.97844578e+02] [-7.81057757e-01 -3.82105588e-04 6.24458673e-01 -7.76460186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.84, Y:-197.86, Z:-776.48 [[ 5.45816738e-01 4.80346785e-01 6.86550111e-01 3.66843736e+02] [-3.04186312e-01 8.77058796e-01 -3.71804459e-01 -1.97860394e+02] [-7.80739890e-01 -5.90204891e-03 6.24828288e-01 -7.76484516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:-197.87, Z:-776.51 [[ 5.45876972e-01 4.85249494e-01 6.83045577e-01 3.66861123e+02] [-3.03733753e-01 8.74375289e-01 -3.78435808e-01 -1.97865682e+02] [-7.80873958e-01 -8.84603510e-04 6.24687985e-01 -7.76511469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:-197.88, Z:-776.54 [[ 5.46389594e-01 4.84349606e-01 6.83274374e-01 3.66879227e+02] [-3.01654384e-01 8.74874035e-01 -3.78945980e-01 -1.97875012e+02] [-7.81321345e-01 9.39429927e-04 6.24128251e-01 -7.76537595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.90, Y:-197.88, Z:-776.56 [[ 5.46550071e-01 4.83961836e-01 6.83420779e-01 3.66896315e+02] [-3.00421650e-01 8.75086668e-01 -3.79433995e-01 -1.97884420e+02] [-7.81683985e-01 2.06527912e-03 6.23671294e-01 -7.76562432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.91, Y:-197.89, Z:-776.59 [[ 5.46722137e-01 4.82538573e-01 6.84288997e-01 3.66914032e+02] [-2.97053821e-01 8.75862404e-01 -3.80294724e-01 -1.97894870e+02] [-7.82849879e-01 4.64488269e-03 6.22193292e-01 -7.76588196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0565599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.93, Y:-197.90, Z:-776.61 [[ 5.47370086e-01 4.81922026e-01 6.84205489e-01 3.66931453e+02] [-2.95615863e-01 8.76192898e-01 -3.80653737e-01 -1.97904526e+02] [-7.82941410e-01 6.09647249e-03 6.22065577e-01 -7.76613907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.95, Y:-197.91, Z:-776.64 [[ 5.47920514e-01 4.81299197e-01 6.84203327e-01 3.66948691e+02] [-2.94113944e-01 8.76523826e-01 -3.81055076e-01 -1.97913933e+02] [-7.83122020e-01 7.55415410e-03 6.21822190e-01 -7.76639857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.116559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:366.97, Y:-197.92, Z:-776.67 [[ 5.49744286e-01 4.79483138e-01 6.84015453e-01 3.66965138e+02] [-2.90842143e-01 8.77485788e-01 -3.81352251e-01 -1.97923324e+02] [-7.83065813e-01 1.07057007e-02 6.21846702e-01 -7.76665766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:366.99, Y:-197.95, Z:-776.68 [[ 5.53068080e-01 4.64729062e-01 6.91478559e-01 3.66985785e+02] [-2.90599346e-01 8.85452859e-01 -3.62664107e-01 -1.97946607e+02] [-7.80812217e-01 -3.65275605e-04 6.24765675e-01 -7.76683184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.00, Y:-197.93, Z:-776.72 [[ 5.52077402e-01 4.91226419e-01 6.73726315e-01 3.66998375e+02] [-2.88338204e-01 8.70650931e-01 -3.98532352e-01 -1.97931544e+02] [-7.82350064e-01 2.57596701e-02 6.22306048e-01 -7.76720122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.03, Y:-198.00, Z:-776.72 [[ 5.61143083e-01 4.32632888e-01 7.05653757e-01 3.67031765e+02] [-2.93078793e-01 9.01148660e-01 -3.19430610e-01 -1.98002829e+02] [-7.74095125e-01 -2.75658742e-02 6.32468862e-01 -7.76716882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.03, Y:-197.92, Z:-776.78 [[ 5.55524591e-01 5.29121880e-01 6.41422220e-01 3.67034260e+02] [-2.84260853e-01 8.45777178e-01 -4.51504964e-01 -1.97916425e+02] [-7.81401431e-01 6.84908827e-02 6.20258658e-01 -7.76783390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.07, Y:-198.04, Z:-776.76 [[ 5.64693696e-01 4.18704373e-01 7.11201573e-01 3.67071711e+02] [-2.90928543e-01 9.07421464e-01 -3.03227424e-01 -1.98035337e+02] [-7.72322220e-01 -3.56782229e-02 6.34228234e-01 -7.76761585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:-197.93, Z:-776.84 [[ 5.57672413e-01 5.39122909e-01 6.31148135e-01 3.67070396e+02] [-2.80672682e-01 8.38051088e-01 -4.67860257e-01 -1.97925985e+02] [-7.81168564e-01 8.37667188e-02 6.18675045e-01 -7.76838397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:-197.99, Z:-776.84 [[ 5.57801395e-01 4.70526316e-01 6.83712359e-01 3.67085826e+02] [-2.75041814e-01 8.82021140e-01 -3.82610387e-01 -1.97992479e+02] [-7.83077010e-01 2.53711203e-02 6.21407034e-01 -7.76843615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3565599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:367.10, Y:-198.00, Z:-776.87 [[ 5.58481834e-01 4.69598190e-01 6.83794984e-01 3.67103978e+02] [-2.73031238e-01 8.82460486e-01 -3.83037118e-01 -1.98001816e+02] [-7.83295592e-01 2.72218811e-02 6.21053126e-01 -7.76870052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.14, Y:-198.07, Z:-776.86 [[ 5.67665945e-01 4.14973474e-01 7.11022075e-01 3.67142943e+02] [-2.82313290e-01 9.09421384e-01 -3.05371828e-01 -1.98074350e+02] [-7.73339888e-01 -2.73817938e-02 6.33400076e-01 -7.76864658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.14, Y:-197.96, Z:-776.94 [[ 5.61861631e-01 5.35541585e-01 6.30481339e-01 3.67142356e+02] [-2.72501136e-01 8.39441364e-01 -4.70192863e-01 -1.97962199e+02] [-7.81059946e-01 9.23764478e-02 6.17585584e-01 -7.76941811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.18, Y:-198.10, Z:-776.91 [[ 5.67537709e-01 4.07354008e-01 7.15516360e-01 3.67181076e+02] [-2.80605674e-01 9.12702683e-01 -2.97042537e-01 -1.98098793e+02] [-7.74055169e-01 -3.21951098e-02 6.32299035e-01 -7.76914546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.18, Y:-197.97, Z:-777.00 [[ 5.61423138e-01 5.44952439e-01 6.22760708e-01 3.67180285e+02] [-2.73977078e-01 8.32517303e-01 -4.81509607e-01 -1.97970975e+02] [-7.80858900e-01 9.97084751e-02 6.16698953e-01 -7.76996069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.19, Y:-198.04, Z:-777.00 [[ 5.58315527e-01 4.70502662e-01 6.83308874e-01 3.67194801e+02] [-2.73504659e-01 8.81972896e-01 -3.83821589e-01 -1.98044323e+02] [-7.83248986e-01 2.74053920e-02 6.21103833e-01 -7.76999460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.536559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.21, Y:-198.05, Z:-777.03 [[ 5.57603541e-01 4.72042265e-01 6.82828230e-01 3.67213254e+02] [-2.75812562e-01 8.81199561e-01 -3.83946305e-01 -1.98052703e+02] [-7.82946820e-01 2.57572160e-02 6.21555181e-01 -7.77025124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.23, Y:-198.06, Z:-777.05 [[ 5.56273244e-01 4.73845011e-01 6.82664620e-01 3.67231794e+02] [-2.78293980e-01 8.80287519e-01 -3.84247765e-01 -1.98061037e+02] [-7.83015031e-01 2.37652969e-02 6.21548608e-01 -7.77051555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.25, Y:-198.07, Z:-777.08 [[ 5.54053887e-01 4.77471141e-01 6.81942520e-01 3.67251208e+02] [-2.84096543e-01 8.78438767e-01 -3.84232334e-01 -1.98067754e+02] [-7.82504597e-01 1.91479062e-02 6.22350314e-01 -7.77077263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.29, Y:-198.13, Z:-777.08 [[ 5.60178782e-01 4.31856483e-01 7.06894412e-01 3.67285293e+02] [-2.94428583e-01 9.01431948e-01 -3.17383448e-01 -1.98128766e+02] [-7.74281307e-01 -3.03384469e-02 6.32113943e-01 -7.77077142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.656559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:367.93, Y:-197.44, Z:-777.03 [[ 5.03126516e-01 5.95276708e-01 -6.26505667e-01 3.67931384e+02] [-2.81970119e-01 -5.72198694e-01 -7.70117852e-01 -1.97439209e+02] [-8.16918944e-01 5.64122589e-01 -1.20038091e-01 -7.77034867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:-198.19, Z:-777.19 [[ 5.21677478e-01 4.02306062e-01 7.52331338e-01 3.67364440e+02] [-2.71692078e-01 9.14265075e-01 -3.00504223e-01 -1.98186369e+02] [-8.08724937e-01 -4.76361795e-02 5.86254868e-01 -7.77186842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7165599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.35, Y:-198.05, Z:-777.26 [[ 5.07185533e-01 5.49812354e-01 6.63678545e-01 3.67354963e+02] [-2.62806962e-01 8.32063549e-01 -4.88469806e-01 -1.98053582e+02] [-8.20789459e-01 7.33254761e-02 5.66505109e-01 -7.77263206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.40, Y:-198.20, Z:-777.24 [[ 5.19236089e-01 4.06685892e-01 7.51665132e-01 3.67397686e+02] [-2.79177774e-01 9.11983786e-01 -3.00575023e-01 -1.98200464e+02] [-8.07746034e-01 -5.37787989e-02 5.87072556e-01 -7.77241214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.41, Y:-198.14, Z:-777.30 [[ 5.13581398e-01 4.98649263e-01 6.98271480e-01 3.67409592e+02] [-2.84309758e-01 8.66721382e-01 -4.09831682e-01 -1.98143291e+02] [-8.09569089e-01 1.19565327e-02 5.86902830e-01 -7.77295500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:-198.14, Z:-777.32 [[ 5.09008412e-01 5.15894902e-01 6.89030396e-01 3.67425456e+02] [-2.91782080e-01 8.56508747e-01 -4.25741687e-01 -1.98138535e+02] [-8.09798527e-01 1.56593782e-02 5.86499045e-01 -7.77323508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8365599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:367.44, Y:-198.16, Z:-777.35 [[ 5.05980496e-01 5.02280518e-01 7.01211822e-01 3.67441609e+02] [-2.90608434e-01 8.64697587e-01 -4.09688689e-01 -1.98155672e+02] [-8.12114817e-01 3.51641672e-03 5.83487068e-01 -7.77347880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.44, Y:-198.09, Z:-777.40 [[ 4.91212211e-01 5.62151272e-01 6.65354425e-01 3.67439722e+02] [-2.79175318e-01 8.25172103e-01 -4.91072442e-01 -1.98087172e+02] [-8.25088908e-01 5.54702469e-02 5.62273373e-01 -7.77396508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.45, Y:-198.16, Z:-777.40 [[ 4.92188904e-01 4.78390236e-01 7.27250208e-01 3.67452713e+02] [-2.81331606e-01 8.78035212e-01 -3.87177857e-01 -1.98161894e+02] [-8.23773398e-01 -1.40338240e-02 5.66745482e-01 -7.77404125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.47, Y:-198.17, Z:-777.43 [[ 4.92125289e-01 4.78727199e-01 7.27071502e-01 3.67469214e+02] [-2.81437297e-01 8.77853350e-01 -3.87513283e-01 -1.98170584e+02] [-8.23775302e-01 -1.39199515e-02 5.66745523e-01 -7.77431917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:-198.24, Z:-777.44 [[ 5.03560144e-01 4.33749138e-01 7.47187304e-01 3.67507342e+02] [-2.98578073e-01 8.98922249e-01 -3.20608677e-01 -1.98236522e+02] [-8.10727029e-01 -6.16479934e-02 5.82169399e-01 -7.77437870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:-198.13, Z:-777.50 [[ 4.88995441e-01 5.51453449e-01 6.75856903e-01 3.67504465e+02] [-2.86894802e-01 8.33380035e-01 -4.72407758e-01 -1.98131856e+02] [-8.23756536e-01 3.71054072e-02 5.65728166e-01 -7.77502418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:-198.25, Z:-777.49 [[ 5.02823405e-01 4.37030587e-01 7.45769998e-01 3.67539676e+02] [-3.00520910e-01 8.97335281e-01 -3.23228365e-01 -1.98251316e+02] [-8.10466412e-01 -6.15926913e-02 5.82538012e-01 -7.77493134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:-198.15, Z:-777.56 [[ 4.88716618e-01 5.50655321e-01 6.76708789e-01 3.67536795e+02] [-2.89277721e-01 8.34047004e-01 -4.69770152e-01 -1.98150485e+02] [-8.23088371e-01 3.38277036e-02 5.66904948e-01 -7.77556594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.57, Y:-198.26, Z:-777.55 [[ 5.00868550e-01 4.47840100e-01 7.40655076e-01 3.67567157e+02] [-2.99849271e-01 8.92520855e-01 -3.36893066e-01 -1.98258174e+02] [-8.11924326e-01 -5.33457433e-02 5.81320154e-01 -7.77551675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.58, Y:-198.23, Z:-777.59 [[ 4.97984141e-01 5.00137072e-01 7.08431157e-01 3.67581401e+02] [-2.99739912e-01 8.65850664e-01 -4.00572857e-01 -1.98229216e+02] [-8.13736923e-01 -1.28661626e-02 5.81090941e-01 -7.77592508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:-198.23, Z:-777.62 [[ 4.96741769e-01 5.11130068e-01 7.01422603e-01 3.67594665e+02] [-2.97023826e-01 8.59501679e-01 -4.15973209e-01 -1.98226863e+02] [-8.15490320e-01 -1.70795758e-03 5.78768193e-01 -7.77622900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.61, Y:-198.25, Z:-777.65 [[ 4.97936722e-01 5.00302936e-01 7.08347367e-01 3.67608946e+02] [-2.93678895e-01 8.65827375e-01 -4.05087229e-01 -1.98245168e+02] [-8.15972872e-01 -6.31886549e-03 5.78055659e-01 -7.77647126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:-198.25, Z:-777.67 [[ 4.97677244e-01 5.04698025e-01 7.05405745e-01 3.67622251e+02] [-2.91029971e-01 8.63295950e-01 -4.12336827e-01 -1.98249618e+02] [-8.17079505e-01 -8.35572438e-05 5.76525001e-01 -7.77674889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:-198.26, Z:-777.70 [[ 4.97767168e-01 5.01731737e-01 7.07455377e-01 3.67634372e+02] [-2.85819809e-01 8.65017859e-01 -4.12372576e-01 -1.98259994e+02] [-8.18861944e-01 3.06076864e-03 5.73982358e-01 -7.77701671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:-198.28, Z:-777.73 [[ 4.97676508e-01 4.93692816e-01 7.13151804e-01 3.67648731e+02] [-2.83266561e-01 8.69636013e-01 -4.04342999e-01 -1.98275377e+02] [-8.19803726e-01 -7.80047157e-04 5.72644081e-01 -7.77727129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.66, Y:-198.28, Z:-777.75 [[ 4.97788823e-01 4.96277454e-01 7.11277004e-01 3.67662994e+02] [-2.82500093e-01 8.68161244e-01 -4.08031557e-01 -1.98283290e+02] [-8.19999991e-01 2.17772861e-03 5.72359391e-01 -7.77754727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.67, Y:-198.28, Z:-777.78 [[ 4.96856673e-01 5.04498550e-01 7.06126518e-01 3.67672680e+02] [-2.79124204e-01 8.63332063e-01 -4.20413401e-01 -1.98283140e+02] [-8.21719615e-01 1.17882012e-02 5.69770053e-01 -7.77784769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.69, Y:-198.31, Z:-777.81 [[ 4.96858447e-01 4.87052583e-01 7.18269771e-01 3.67687035e+02] [-2.77756004e-01 8.73372354e-01 -4.00090406e-01 -1.98305210e+02] [-8.22182027e-01 -7.15443651e-04 5.69224211e-01 -7.77807489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.70, Y:-198.32, Z:-777.83 [[ 4.97430771e-01 4.86051872e-01 7.18551464e-01 3.67701333e+02] [-2.80238203e-01 8.73921651e-01 -3.97149214e-01 -1.98319846e+02] [-8.20992800e-01 -3.81133126e-03 5.70925823e-01 -7.77833416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.72, Y:-198.32, Z:-777.86 [[ 4.96269605e-01 4.93364435e-01 7.14358463e-01 3.67715764e+02] [-2.80976899e-01 8.69822536e-01 -4.05537591e-01 -1.98324240e+02] [-8.21442914e-01 5.37754506e-04 5.70290496e-01 -7.77862982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.73, Y:-198.33, Z:-777.89 [[ 4.94524945e-01 4.98976459e-01 7.11665351e-01 3.67727502e+02] [-2.80017146e-01 8.66601263e-01 -4.13028630e-01 -1.98327028e+02] [-8.22821655e-01 4.97445977e-03 5.68277906e-01 -7.77892110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.74, Y:-198.34, Z:-777.92 [[ 4.92742726e-01 4.92053784e-01 7.17696092e-01 3.67740840e+02] [-2.81368405e-01 8.70559541e-01 -4.03680450e-01 -1.98344137e+02] [-8.23429673e-01 -3.02639850e-03 5.67410270e-01 -7.77917254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:-198.36, Z:-777.94 [[ 4.92263246e-01 4.90328688e-01 7.19204195e-01 3.67756267e+02] [-2.82459373e-01 8.71518114e-01 -4.00840217e-01 -1.98356646e+02] [-8.23342942e-01 -5.82705973e-03 5.67514270e-01 -7.77943592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:-198.36, Z:-777.97 [[ 4.88428581e-01 4.99747314e-01 7.15325201e-01 3.67767814e+02] [-2.82143788e-01 8.66171170e-01 -4.12483197e-01 -1.98357986e+02] [-8.25731436e-01 -3.55979701e-04 5.64063356e-01 -7.77974608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:-198.38, Z:-778.00 [[ 4.88315636e-01 4.84425961e-01 7.25864539e-01 3.67785078e+02] [-2.85056048e-01 8.74694941e-01 -3.91984451e-01 -1.98382650e+02] [-8.24797484e-01 -1.54999402e-02 5.65215766e-01 -7.77995489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.80, Y:-198.38, Z:-778.03 [[ 4.87504544e-01 4.94895240e-01 7.19317747e-01 3.67799126e+02] [-2.85797010e-01 8.68910410e-01 -4.04122220e-01 -1.98383834e+02] [-8.25020841e-01 -8.56744268e-03 5.65037353e-01 -7.78025917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.81, Y:-198.39, Z:-778.05 [[ 4.86154553e-01 4.95738674e-01 7.19650552e-01 3.67814006e+02] [-2.87342905e-01 8.68410294e-01 -4.04100997e-01 -1.98393761e+02] [-8.25280440e-01 -1.03309406e-02 5.64628609e-01 -7.78053406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.83, Y:-198.40, Z:-778.08 [[ 4.84657366e-01 5.00647936e-01 7.17257891e-01 3.67826467e+02] [-2.89179663e-01 8.65601112e-01 -4.08790701e-01 -1.98399920e+02] [-8.25519449e-01 -9.29297120e-03 5.64297157e-01 -7.78081462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.84, Y:-198.41, Z:-778.11 [[ 4.84309203e-01 4.95785911e-01 7.20861239e-01 3.67841461e+02] [-2.89848679e-01 8.68331646e-01 -4.02477201e-01 -1.98413243e+02] [-8.25489152e-01 -1.40172654e-02 5.64243898e-01 -7.78107398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.86, Y:-198.42, Z:-778.13 [[ 4.83340204e-01 4.95681790e-01 7.21582851e-01 3.67855362e+02] [-2.91261339e-01 8.68353991e-01 -4.01407746e-01 -1.98424820e+02] [-8.25559859e-01 -1.61526852e-02 5.64083337e-01 -7.78134156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.87, Y:-198.43, Z:-778.16 [[ 4.82111643e-01 4.98044804e-01 7.20777175e-01 3.67868191e+02] [-2.90170284e-01 8.67040167e-01 -4.05021674e-01 -1.98430130e+02] [-8.26661702e-01 -1.38824530e-02 5.62527962e-01 -7.78161366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.88, Y:-198.45, Z:-778.19 [[ 4.81956344e-01 4.90943861e-01 7.25735632e-01 3.67883454e+02] [-2.90355125e-01 8.70968694e-01 -3.96367803e-01 -1.98445473e+02] [-8.26687355e-01 -1.96890831e-02 5.62316954e-01 -7.78185705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.90, Y:-198.46, Z:-778.21 [[ 4.80749058e-01 4.90434823e-01 7.26879652e-01 3.67898760e+02] [-2.90509774e-01 8.71226284e-01 -3.95687798e-01 -1.98457177e+02] [-8.27335733e-01 -2.09391073e-02 5.61317325e-01 -7.78213073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.91, Y:-198.46, Z:-778.24 [[ 4.78436525e-01 4.98126065e-01 7.23165897e-01 3.67910298e+02] [-2.87626886e-01 8.67002305e-01 -4.06912494e-01 -1.98455884e+02] [-8.29680219e-01 -1.33201557e-02 5.58080019e-01 -7.78243071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:-198.48, Z:-778.26 [[ 4.78465756e-01 4.79213818e-01 7.35815627e-01 3.67926310e+02] [-2.88470287e-01 8.77230233e-01 -3.83734300e-01 -1.98480213e+02] [-8.29370493e-01 -2.86572231e-02 5.57963574e-01 -7.78263247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:-198.49, Z:-778.29 [[ 4.80748632e-01 4.79457162e-01 7.34167271e-01 3.67942386e+02] [-2.87627058e-01 8.77170586e-01 -3.84502846e-01 -1.98491129e+02] [-8.28342579e-01 -2.63171556e-02 5.59603413e-01 -7.78289811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:-198.50, Z:-778.32 [[ 4.81572076e-01 4.83842636e-01 7.30742526e-01 3.67957466e+02] [-2.86138347e-01 8.74904683e-01 -3.90725790e-01 -1.98495503e+02] [-8.28379854e-01 -2.09308289e-02 5.59775596e-01 -7.78318112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:-198.51, Z:-778.34 [[ 4.83548083e-01 4.76654725e-01 7.34153611e-01 3.67975005e+02] [-2.86014763e-01 8.78729437e-01 -3.82138892e-01 -1.98510960e+02] [-8.27270698e-01 -2.51962421e-02 5.61238223e-01 -7.78342245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9765599949999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:367.99, Y:-198.52, Z:-778.37 [[ 4.85481591e-01 4.78704090e-01 7.31539485e-01 3.67991310e+02] [-2.84150357e-01 8.77735310e-01 -3.85796968e-01 -1.98517486e+02] [-8.26780623e-01 -2.05698800e-02 5.62148273e-01 -7.78369896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:-198.51, Z:-778.41 [[ 4.81052698e-01 4.97543341e-01 7.21830261e-01 3.68000616e+02] [-2.81072231e-01 8.67422463e-01 -4.10580896e-01 -1.98506384e+02] [-8.30413573e-01 -5.37539386e-03 5.57121533e-01 -7.78405281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.02, Y:-198.54, Z:-778.42 [[ 4.86551028e-01 4.65322069e-01 7.39421037e-01 3.68024341e+02] [-2.83257980e-01 8.84657638e-01 -3.70331986e-01 -1.98544700e+02] [-8.26458114e-01 -2.92615009e-02 5.62237272e-01 -7.78420376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:-198.54, Z:-778.45 [[ 4.85845022e-01 4.80472103e-01 7.30137777e-01 3.68039353e+02] [-2.83492144e-01 8.76818911e-01 -3.88356538e-01 -1.98541388e+02] [-8.26793093e-01 -1.83072330e-02 5.62208170e-01 -7.78450292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:-198.52, Z:-778.49 [[ 4.81478325e-01 5.07304054e-01 7.14717580e-01 3.68046390e+02] [-2.80677399e-01 8.61762374e-01 -4.22594141e-01 -1.98521942e+02] [-8.30300440e-01 2.86484773e-03 5.57308687e-01 -7.78489397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:-198.56, Z:-778.50 [[ 4.85280980e-01 4.74196586e-01 7.34601912e-01 3.68066468e+02] [-2.81566890e-01 8.80159148e-01 -3.82151751e-01 -1.98557581e+02] [-8.27781649e-01 -2.13885992e-02 5.60642551e-01 -7.78504176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.08, Y:-198.56, Z:-778.53 [[ 4.85007115e-01 4.78062751e-01 7.32273245e-01 3.68081809e+02] [-2.81913989e-01 8.78121143e-01 -3.86558871e-01 -1.98563259e+02] [-8.27824016e-01 -1.89542686e-02 5.60667579e-01 -7.78532187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.10, Y:-198.57, Z:-778.56 [[ 4.84710715e-01 4.80510324e-01 7.30866165e-01 3.68097033e+02] [-2.82504062e-01 8.76806979e-01 -3.89102785e-01 -1.98569571e+02] [-8.27796460e-01 -1.78703712e-02 5.60743856e-01 -7.78559632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.11, Y:-198.57, Z:-778.59 [[ 4.83450779e-01 4.84857585e-01 7.28826774e-01 3.68109898e+02] [-2.81106910e-01 8.74484645e-01 -3.95291678e-01 -1.98571617e+02] [-8.29007991e-01 -1.37741729e-02 5.59067100e-01 -7.78588591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.12, Y:-198.58, Z:-778.61 [[ 4.81738140e-01 4.75951041e-01 7.35798187e-01 3.68124107e+02] [-2.79376163e-01 8.79251233e-01 -3.85831866e-01 -1.98583947e+02] [-8.30588541e-01 -1.96945485e-02 5.56538229e-01 -7.78612934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.276559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.14, Y:-198.59, Z:-778.64 [[ 4.82828688e-01 4.81906054e-01 7.31192870e-01 3.68138526e+02] [-2.78224609e-01 8.76121271e-01 -3.93703677e-01 -1.98585650e+02] [-8.30341812e-01 -1.33444210e-02 5.57094608e-01 -7.78642397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.15, Y:-198.59, Z:-778.67 [[ 4.82101527e-01 4.77234589e-01 7.34728021e-01 3.68151278e+02] [-2.74055295e-01 8.78681302e-01 -3.90912862e-01 -1.98594250e+02] [-8.32148913e-01 -1.28964161e-02 5.54402263e-01 -7.78668263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.17, Y:-198.61, Z:-778.69 [[ 4.83275135e-01 4.67328243e-01 7.40303625e-01 3.68167819e+02] [-2.73477250e-01 8.83877858e-01 -3.79433954e-01 -1.98611286e+02] [-8.31658185e-01 -1.90852040e-02 5.54959834e-01 -7.78692606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:-198.61, Z:-778.72 [[ 4.82257942e-01 4.70460082e-01 7.38982130e-01 3.68179640e+02] [-2.69961332e-01 8.82316946e-01 -3.85535583e-01 -1.98613576e+02] [-8.33395558e-01 -1.35690036e-02 5.52510385e-01 -7.78720610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.20, Y:-198.64, Z:-778.74 [[ 4.85718636e-01 4.51672519e-01 7.48377807e-01 3.68199045e+02] [-2.69022653e-01 8.91841920e-01 -3.63654784e-01 -1.98639792e+02] [-8.31687573e-01 -2.46966776e-02 5.54694380e-01 -7.78741216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.21, Y:-198.63, Z:-778.77 [[ 4.85552961e-01 4.67297136e-01 7.38831313e-01 3.68211789e+02] [-2.66550813e-01 8.84037952e-01 -3.83962971e-01 -1.98634026e+02] [-8.32579718e-01 -1.05017295e-02 5.53805677e-01 -7.78773594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4565599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.23, Y:-198.66, Z:-778.80 [[ 4.88658578e-01 4.52283756e-01 7.46091280e-01 3.68230467e+02] [-2.64927615e-01 8.91686146e-01 -3.67027487e-01 -1.98655912e+02] [-8.31279828e-01 -1.83090536e-02 5.55552541e-01 -7.78795162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.25, Y:-198.67, Z:-778.82 [[ 4.90637303e-01 4.50341178e-01 7.45967734e-01 3.68250230e+02] [-2.68150481e-01 8.92580931e-01 -3.62483934e-01 -1.98674796e+02] [-8.29078016e-01 -2.21834670e-02 5.58692704e-01 -7.78821531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.516559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.26, Y:-198.65, Z:-778.86 [[ 4.90210703e-01 4.87349851e-01 7.22622716e-01 3.68259224e+02] [-2.61771118e-01 8.73118105e-01 -4.11267136e-01 -1.98645447e+02] [-8.31365954e-01 1.24457951e-02 5.55585955e-01 -7.78858890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:-198.69, Z:-778.87 [[ 4.92239869e-01 4.49470399e-01 7.45436967e-01 3.68281232e+02] [-2.64274606e-01 8.93117428e-01 -3.64005759e-01 -1.98692761e+02] [-8.29372561e-01 -1.78219132e-02 5.58411618e-01 -7.78874881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.29, Y:-198.67, Z:-778.91 [[ 4.94174852e-01 4.81362548e-01 7.23934606e-01 3.68291741e+02] [-2.55104867e-01 8.76352325e-01 -4.08568366e-01 -1.98666496e+02] [-8.31091285e-01 1.72249706e-02 5.55869209e-01 -7.78910871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:-198.69, Z:-778.93 [[ 4.94390547e-01 4.58020230e-01 7.38779708e-01 3.68307928e+02] [-2.51997539e-01 8.88936967e-01 -3.82476548e-01 -1.98692131e+02] [-8.31910589e-01 2.92212161e-03 5.54902004e-01 -7.78931467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.33, Y:-198.72, Z:-778.95 [[ 4.96093707e-01 4.45502111e-01 7.45264318e-01 3.68328453e+02] [-2.54873422e-01 8.95239307e-01 -3.65494354e-01 -1.98719589e+02] [-8.30018417e-01 -8.62861807e-03 5.57669233e-01 -7.78954487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.34, Y:-198.71, Z:-778.99 [[ 4.98717682e-01 4.71235380e-01 7.27473636e-01 3.68342652e+02] [-2.51366357e-01 8.81860799e-01 -3.98919147e-01 -1.98707458e+02] [-8.29515297e-01 1.60856343e-02 5.58252294e-01 -7.78989769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.36, Y:-198.72, Z:-779.02 [[ 4.99794699e-01 4.70731249e-01 7.27060761e-01 3.68357946e+02] [-2.50117446e-01 8.82099988e-01 -3.99175242e-01 -1.98715607e+02] [-8.29244549e-01 1.76550895e-02 5.58606995e-01 -7.79016119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:-198.70, Z:-779.04 [[ 5.01096020e-01 4.79328838e-01 7.20518316e-01 3.68368024e+02] [-2.42545008e-01 8.77011955e-01 -4.14755290e-01 -1.98702784e+02] [-8.30707348e-01 3.30741042e-02 5.55726017e-01 -7.79044237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.756559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.39, Y:-198.76, Z:-779.06 [[ 5.02374078e-01 4.35268162e-01 7.47102344e-01 3.68392233e+02] [-2.48684034e-01 9.00278808e-01 -3.57287447e-01 -1.98757994e+02] [-8.28116258e-01 -6.30047268e-03 5.60520978e-01 -7.79058922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.41, Y:-198.74, Z:-779.10 [[ 5.03164197e-01 4.70825367e-01 7.24671832e-01 3.68405791e+02] [-2.50136549e-01 8.82006872e-01 -3.99368984e-01 -1.98738545e+02] [-8.27198584e-01 1.96812629e-02 5.61564912e-01 -7.79096734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:-198.75, Z:-779.12 [[ 5.03111270e-01 4.71195437e-01 7.24468019e-01 3.68421898e+02] [-2.50253441e-01 8.81806289e-01 -3.99738519e-01 -1.98747295e+02] [-8.27195422e-01 1.98123395e-02 5.61564961e-01 -7.79124728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:-198.75, Z:-779.15 [[ 5.02710372e-01 4.71605418e-01 7.24479546e-01 3.68437677e+02] [-2.50654427e-01 8.81594788e-01 -3.99953732e-01 -1.98754679e+02] [-8.27317738e-01 1.94668839e-02 5.61396830e-01 -7.79150930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:-198.76, Z:-779.18 [[ 5.01418102e-01 4.72880319e-01 7.24544057e-01 3.68455224e+02] [-2.52177303e-01 8.80941312e-01 -4.00436028e-01 -1.98761357e+02] [-8.27639109e-01 1.80723071e-02 5.60969604e-01 -7.79178461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:-198.73, Z:-779.21 [[ 4.97411930e-01 4.92526528e-01 7.14142137e-01 3.68461483e+02] [-2.43270930e-01 8.69367274e-01 -4.30139276e-01 -1.98734786e+02] [-8.32706807e-01 4.02263851e-02 5.52251040e-01 -7.79211822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9365599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.49, Y:-198.82, Z:-779.22 [[ 4.97901955e-01 4.22830306e-01 7.57171167e-01 3.68492925e+02] [-2.55273963e-01 9.05864130e-01 -3.38002044e-01 -1.98816009e+02] [-8.28811708e-01 -2.49942056e-02 5.58969089e-01 -7.79216590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.51, Y:-198.78, Z:-779.26 [[ 4.97352564e-01 4.77692219e-01 7.24189596e-01 3.68505637e+02] [-2.58269354e-01 8.78432093e-01 -4.02062183e-01 -1.98782924e+02] [-8.28213359e-01 1.29306783e-02 5.60263715e-01 -7.79259417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.52, Y:-198.79, Z:-779.29 [[ 4.96028146e-01 4.79084438e-01 7.24178280e-01 3.68522301e+02] [-2.60042621e-01 8.77695465e-01 -4.02527647e-01 -1.98790146e+02] [-8.28452723e-01 1.13478248e-02 5.59944026e-01 -7.79286876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:368.54, Y:-198.80, Z:-779.31 [[ 4.93838519e-01 4.81804034e-01 7.23870424e-01 3.68540094e+02] [-2.64425157e-01 8.76246700e-01 -4.02828818e-01 -1.98796371e+02] [-8.28373620e-01 7.52283669e-03 5.60125480e-01 -7.79314452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.56, Y:-198.80, Z:-779.34 [[ 4.91922215e-01 4.83584787e-01 7.23987768e-01 3.68556286e+02] [-2.66775217e-01 8.75281548e-01 -4.03377236e-01 -1.98803308e+02] [-8.28760230e-01 5.28822949e-03 5.59578875e-01 -7.79342120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.57, Y:-198.81, Z:-779.37 [[ 4.89022578e-01 4.87085065e-01 7.23605595e-01 3.68573068e+02] [-2.72612485e-01 8.73354523e-01 -4.03651224e-01 -1.98809003e+02] [-8.28576702e-01 1.30643081e-04 5.59875551e-01 -7.79368799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.59, Y:-198.82, Z:-779.40 [[ 4.87533773e-01 4.88913954e-01 7.23376780e-01 3.68589403e+02] [-2.75624430e-01 8.72328427e-01 -4.03824577e-01 -1.98816183e+02] [-8.28457600e-01 -2.50219299e-03 5.60046199e-01 -7.79395917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.61, Y:-198.82, Z:-779.42 [[ 4.85029685e-01 4.92464383e-01 7.22651394e-01 3.68606224e+02] [-2.81916625e-01 8.70297271e-01 -4.03863438e-01 -1.98822055e+02] [-8.27809894e-01 -7.84168608e-03 5.60953908e-01 -7.79423381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.62, Y:-198.83, Z:-779.45 [[ 4.83835771e-01 4.94293687e-01 7.22202671e-01 3.68622625e+02] [-2.84846681e-01 8.69235113e-01 -4.04094899e-01 -1.98829413e+02] [-8.27505477e-01 -1.02014672e-02 5.61364957e-01 -7.79451340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.64, Y:-198.84, Z:-779.48 [[ 4.82932170e-01 4.95802323e-01 7.21773217e-01 3.68639206e+02] [-2.87183507e-01 8.68352314e-01 -4.04338833e-01 -1.98837257e+02] [-8.27225576e-01 -1.20131338e-02 5.61741517e-01 -7.79479224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.236559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:368.65, Y:-198.85, Z:-779.51 [[ 4.82137483e-01 4.97065227e-01 7.21435796e-01 3.68654993e+02] [-2.89011892e-01 8.67609459e-01 -4.04630638e-01 -1.98845377e+02] [-8.27052341e-01 -1.34159266e-02 5.61964802e-01 -7.79506630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.67, Y:-198.86, Z:-779.53 [[ 4.83373017e-01 4.89427984e-01 7.25817315e-01 3.68673459e+02] [-2.90794168e-01 8.71802393e-01 -3.94207230e-01 -1.98860045e+02] [-8.25705322e-01 -2.05143044e-02 5.63728556e-01 -7.79527246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.69, Y:-198.86, Z:-779.56 [[ 4.80827220e-01 5.00746167e-01 7.19762781e-01 3.68686259e+02] [-2.90854106e-01 8.65492763e-01 -4.07831052e-01 -1.98860921e+02] [-8.27169314e-01 -1.32496891e-02 5.61796558e-01 -7.79559733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.70, Y:-198.87, Z:-779.59 [[ 4.80636503e-01 4.98901000e-01 7.21170121e-01 3.68701808e+02] [-2.90954378e-01 8.66530787e-01 -4.05548944e-01 -1.98871137e+02] [-8.27244886e-01 -1.49059782e-02 5.61643758e-01 -7.79586257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.72, Y:-198.88, Z:-779.61 [[ 4.80725926e-01 4.99224282e-01 7.20886746e-01 3.68717716e+02] [-2.91095567e-01 8.66347259e-01 -4.05839620e-01 -1.98879679e+02] [-8.27143250e-01 -1.47493090e-02 5.61797564e-01 -7.79613781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.73, Y:-198.89, Z:-779.64 [[ 4.80946822e-01 4.99594341e-01 7.20482927e-01 3.68733357e+02] [-2.91369459e-01 8.66136149e-01 -4.06093597e-01 -1.98888628e+02] [-8.26918371e-01 -1.46172961e-02 5.62131962e-01 -7.79641236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.75, Y:-198.90, Z:-779.67 [[ 4.81571398e-01 4.99840407e-01 7.19894823e-01 3.68748644e+02] [-2.91566889e-01 8.66000079e-01 -4.06242062e-01 -1.98897353e+02] [-8.26485171e-01 -1.42629364e-02 5.62777781e-01 -7.79668317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.76, Y:-198.91, Z:-779.70 [[ 4.82868006e-01 4.99900003e-01 7.18984337e-01 3.68763264e+02] [-2.91732792e-01 8.65975986e-01 -4.06174310e-01 -1.98906949e+02] [-8.25669709e-01 -1.36227287e-02 5.63989321e-01 -7.79695537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.78, Y:-198.92, Z:-779.72 [[ 4.83209983e-01 5.00008904e-01 7.18678794e-01 3.68778526e+02] [-2.91524259e-01 8.65920939e-01 -4.06441305e-01 -1.98916858e+02] [-8.25543287e-01 -1.31158068e-02 5.64186368e-01 -7.79722918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.80, Y:-198.94, Z:-779.74 [[ 4.86305189e-01 4.88902802e-01 7.24210821e-01 3.68796851e+02] [-2.91763005e-01 8.72102840e-01 -3.92824369e-01 -1.98938906e+02] [-8.23639249e-01 -2.02653961e-02 5.66751887e-01 -7.79743402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.81, Y:-198.93, Z:-779.78 [[ 4.83820861e-01 5.09852542e-01 7.11314108e-01 3.68807152e+02] [-2.89659861e-01 8.60256467e-01 -4.19590248e-01 -1.98929344e+02] [-8.25841716e-01 -3.03263044e-03 5.63893841e-01 -7.79777876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.82, Y:-198.95, Z:-779.80 [[ 4.84117240e-01 4.99354653e-01 7.18523088e-01 3.68822664e+02] [-2.88942223e-01 8.66335469e-01 -4.07400598e-01 -1.98947342e+02] [-8.25919421e-01 -1.03820054e-02 5.63692580e-01 -7.79802529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5965599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:368.84, Y:-198.96, Z:-779.83 [[ 4.84256238e-01 4.99381277e-01 7.18410910e-01 3.68837592e+02] [-2.88373009e-01 8.66328235e-01 -4.07819074e-01 -1.98956693e+02] [-8.26036866e-01 -9.68138506e-03 5.63532933e-01 -7.79829439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.85, Y:-198.97, Z:-779.86 [[ 4.84495656e-01 4.99246750e-01 7.18342984e-01 3.68851951e+02] [-2.87528797e-01 8.66415584e-01 -4.08229380e-01 -1.98967997e+02] [-8.26190747e-01 -8.75893233e-03 5.63322404e-01 -7.79856602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.656559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.87, Y:-198.98, Z:-779.88 [[ 4.84715382e-01 4.99422167e-01 7.18072767e-01 3.68867086e+02] [-2.87349845e-01 8.66318975e-01 -4.08560278e-01 -1.98978354e+02] [-8.26124122e-01 -8.30264723e-03 5.63427015e-01 -7.79884092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.88, Y:-198.99, Z:-779.91 [[ 4.84910777e-01 4.99625099e-01 7.17799623e-01 3.68881396e+02] [-2.87222252e-01 8.66205785e-01 -4.08889857e-01 -1.98988174e+02] [-8.26053822e-01 -7.89292610e-03 5.63535967e-01 -7.79910344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.90, Y:-199.00, Z:-779.94 [[ 4.85323918e-01 4.99432136e-01 7.17654678e-01 3.68895401e+02] [-2.86335149e-01 8.66325795e-01 -4.09257620e-01 -1.98999992e+02] [-8.26119166e-01 -6.86724793e-03 5.63453604e-01 -7.79937754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:368.91, Y:-199.01, Z:-779.97 [[ 4.85606438e-01 4.99502142e-01 7.17414802e-01 3.68910312e+02] [-2.85957667e-01 8.66290125e-01 -4.09596914e-01 -1.99010007e+02] [-8.26083894e-01 -6.24736460e-03 5.63512529e-01 -7.79965103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.776559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.92, Y:-199.01, Z:-780.00 [[ 4.83653145e-01 5.11736895e-01 7.10073929e-01 3.68920150e+02] [-2.81754777e-01 8.59117111e-01 -4.27237681e-01 -1.99006244e+02] [-8.28669947e-01 6.56812632e-03 5.59699008e-01 -7.79997745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.94, Y:-199.05, Z:-780.01 [[ 4.86498267e-01 4.80404888e-01 7.29746929e-01 3.68940487e+02] [-2.84600698e-01 8.76837370e-01 -3.87503122e-01 -1.99046561e+02] [-8.26027772e-01 -1.91668881e-02 5.63303427e-01 -7.80012541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.95, Y:-199.03, Z:-780.05 [[ 4.83609735e-01 5.12317519e-01 7.09684708e-01 3.68949914e+02] [-2.81591931e-01 8.58766200e-01 -4.28049762e-01 -1.99027221e+02] [-8.28750632e-01 7.16754458e-03 5.59572173e-01 -7.80051425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.97, Y:-199.07, Z:-780.06 [[ 4.85947283e-01 4.81360800e-01 7.29484077e-01 3.68969678e+02] [-2.84456593e-01 8.76325449e-01 -3.88764909e-01 -1.99066145e+02] [-8.26401648e-01 -1.85873040e-02 5.62774225e-01 -7.80064982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.98, Y:-199.06, Z:-780.10 [[ 4.84798275e-01 5.00369375e-01 7.17357038e-01 3.68983250e+02] [-2.85104296e-01 8.65796681e-01 -4.11231866e-01 -1.99062353e+02] [-8.26853175e-01 -5.15707360e-03 5.62394196e-01 -7.80096934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.00, Y:-199.07, Z:-780.12 [[ 4.83890960e-01 5.01059967e-01 7.17487594e-01 3.68998510e+02] [-2.85789520e-01 8.65392606e-01 -4.11606594e-01 -1.99071872e+02] [-8.27148045e-01 -5.87772544e-03 5.61953347e-01 -7.80124383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.01, Y:-199.08, Z:-780.15 [[ 4.82253212e-01 5.02743736e-01 7.17412417e-01 3.69014232e+02] [-2.88188319e-01 8.64398017e-01 -4.12023739e-01 -1.99080459e+02] [-8.27272224e-01 -8.05010686e-03 5.61743592e-01 -7.80151775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.03, Y:-199.09, Z:-780.18 [[ 4.81137052e-01 5.03957207e-01 7.17310443e-01 3.69030137e+02] [-2.89755880e-01 8.63677395e-01 -4.12435314e-01 -1.99088645e+02] [-8.27374563e-01 -9.40700745e-03 5.61571759e-01 -7.80179966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.05, Y:-199.10, Z:-780.21 [[ 4.80151396e-01 5.05844897e-01 7.16641875e-01 3.69045724e+02] [-2.92984357e-01 8.62542526e-01 -4.12529462e-01 -1.99096850e+02] [-8.26810017e-01 -1.18882625e-02 5.62355640e-01 -7.80208083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:369.06, Y:-199.11, Z:-780.24 [[ 4.79859271e-01 5.06811120e-01 7.16154710e-01 3.69061157e+02] [-2.94400199e-01 8.61962362e-01 -4.12734066e-01 -1.99105370e+02] [-8.26476620e-01 -1.27818209e-02 5.62825925e-01 -7.80235180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.08, Y:-199.11, Z:-780.26 [[ 4.79437734e-01 5.07698235e-01 7.15808607e-01 3.69076908e+02] [-2.95610929e-01 8.61427615e-01 -4.12985040e-01 -1.99114121e+02] [-8.26289077e-01 -1.36002352e-02 5.63082051e-01 -7.80262229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.09, Y:-199.12, Z:-780.29 [[ 4.78704997e-01 5.08621856e-01 7.15643300e-01 3.69092610e+02] [-2.96691474e-01 8.60868908e-01 -4.13375002e-01 -1.99122160e+02] [-8.26326627e-01 -1.44405867e-02 5.63006017e-01 -7.80289101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.11, Y:-199.13, Z:-780.32 [[ 4.78302861e-01 5.09085669e-01 7.15582389e-01 3.69108616e+02] [-2.96911656e-01 8.60592913e-01 -4.13791381e-01 -1.99130421e+02] [-8.26480394e-01 -1.45471503e-02 5.62777521e-01 -7.80316793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.12, Y:-199.14, Z:-780.34 [[ 4.77935754e-01 5.09599262e-01 7.15462094e-01 3.69124940e+02] [-2.97231324e-01 8.60286339e-01 -4.14199173e-01 -1.99138812e+02] [-8.26577858e-01 -1.46971516e-02 5.62630463e-01 -7.80344093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.14, Y:-199.15, Z:-780.37 [[ 4.77093939e-01 5.09988235e-01 7.15746725e-01 3.69141012e+02] [-2.96988716e-01 8.60056673e-01 -4.14849637e-01 -1.99146202e+02] [-8.27151181e-01 -1.46464534e-02 5.61788577e-01 -7.80370333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.16, Y:-199.15, Z:-780.40 [[ 4.76559393e-01 5.10245372e-01 7.15919552e-01 3.69156806e+02] [-2.96647305e-01 8.59908106e-01 -4.15401523e-01 -1.99154714e+02] [-8.27581731e-01 -1.44121082e-02 5.61160200e-01 -7.80397641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.17, Y:-199.16, Z:-780.42 [[ 4.76459060e-01 5.10412637e-01 7.15867100e-01 3.69172466e+02] [-2.96282045e-01 8.59816260e-01 -4.15852077e-01 -1.99163528e+02] [-8.27770327e-01 -1.39620785e-02 5.60893347e-01 -7.80424740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.19, Y:-199.17, Z:-780.45 [[ 4.77028740e-01 5.10082302e-01 7.15723149e-01 3.69187509e+02] [-2.95096772e-01 8.60032634e-01 -4.16247239e-01 -1.99172544e+02] [-8.27865615e-01 -1.26456957e-02 5.60783924e-01 -7.80451531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.20, Y:-199.18, Z:-780.48 [[ 4.77258253e-01 5.10062025e-01 7.15584580e-01 3.69202556e+02] [-2.94516199e-01 8.60055028e-01 -4.16611999e-01 -1.99181488e+02] [-8.27940076e-01 -1.19197356e-02 5.60689888e-01 -7.80478936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.22, Y:-199.19, Z:-780.51 [[ 4.77897951e-01 5.09938589e-01 7.15245541e-01 3.69217157e+02] [-2.93865144e-01 8.60141075e-01 -4.16894002e-01 -1.99190227e+02] [-8.27802407e-01 -1.09529449e-02 5.60912834e-01 -7.80505433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.23, Y:-199.20, Z:-780.53 [[ 4.79303834e-01 5.09390890e-01 7.14694870e-01 3.69231953e+02] [-2.92900031e-01 8.60482510e-01 -4.16868592e-01 -1.99199042e+02] [-8.27331498e-01 -9.52743502e-03 5.61633173e-01 -7.80532605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.25, Y:-199.21, Z:-780.56 [[ 4.79835099e-01 5.09446000e-01 7.14298992e-01 3.69247427e+02] [-2.92678841e-01 8.60456275e-01 -4.17078044e-01 -1.99207737e+02] [-8.27101792e-01 -8.93151621e-03 5.61981187e-01 -7.80560055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4365599949999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:369.26, Y:-199.22, Z:-780.59 [[ 4.79668527e-01 5.10082174e-01 7.13956777e-01 3.69262059e+02] [-2.93912961e-01 8.60069664e-01 -4.17007607e-01 -1.99216503e+02] [-8.26760713e-01 -9.81572566e-03 5.62468111e-01 -7.80585803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.28, Y:-199.23, Z:-780.61 [[ 4.80177983e-01 5.04704368e-01 7.17427770e-01 3.69277965e+02] [-2.93607727e-01 8.63187967e-01 -4.10732318e-01 -1.99229316e+02] [-8.26573413e-01 -1.34177211e-02 5.62668959e-01 -7.80611559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.496559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:369.29, Y:-199.23, Z:-780.64 [[ 4.79783282e-01 5.11013752e-01 7.13213115e-01 3.69293998e+02] [-2.94714344e-01 8.59516157e-01 -4.17582845e-01 -1.99233821e+02] [-8.26408772e-01 -9.84486774e-03 5.62984565e-01 -7.80640967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:369.31, Y:-199.24, Z:-780.67 [[ 4.79289434e-01 5.12006492e-01 7.12833074e-01 3.69309237e+02] [-2.96116079e-01 8.58913440e-01 -4.17831271e-01 -1.99242134e+02] [-8.26194230e-01 -1.08192217e-02 5.63281491e-01 -7.80667444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.32, Y:-199.25, Z:-780.69 [[ 4.78404839e-01 5.13559632e-01 7.12309844e-01 3.69324914e+02] [-2.98688631e-01 8.57958374e-01 -4.17962356e-01 -1.99249883e+02] [-8.25780789e-01 -1.28036388e-02 5.63845861e-01 -7.80694461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.34, Y:-199.26, Z:-780.72 [[ 4.77679379e-01 5.14662920e-01 7.12000343e-01 3.69340452e+02] [-3.00289732e-01 8.57277720e-01 -4.18211655e-01 -1.99258869e+02] [-8.25620062e-01 -1.40353084e-02 5.64051880e-01 -7.80721903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.616559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:369.36, Y:-199.27, Z:-780.75 [[ 4.76683646e-01 5.15776182e-01 7.11862088e-01 3.69356330e+02] [-3.01735047e-01 8.56587437e-01 -4.18585622e-01 -1.99268306e+02] [-8.25668616e-01 -1.52608203e-02 5.63948973e-01 -7.80749612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.37, Y:-199.28, Z:-780.78 [[ 4.76070118e-01 5.16333961e-01 7.11868305e-01 3.69372033e+02] [-3.02036232e-01 8.56246934e-01 -4.19064796e-01 -1.99277998e+02] [-8.25912440e-01 -1.55057936e-02 5.63585142e-01 -7.80777473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.39, Y:-199.29, Z:-780.80 [[ 4.75662731e-01 5.16858017e-01 7.11760323e-01 3.69387327e+02] [-3.02371821e-01 8.55927388e-01 -4.19475372e-01 -1.99287865e+02] [-8.26024363e-01 -1.56874641e-02 5.63416058e-01 -7.80804437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.40, Y:-199.30, Z:-780.83 [[ 4.75521762e-01 5.17171615e-01 7.11626710e-01 3.69402161e+02] [-3.02345339e-01 8.55741395e-01 -4.19873744e-01 -1.99297026e+02] [-8.26115216e-01 -1.54979157e-02 5.63288083e-01 -7.80830922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.736559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.42, Y:-199.31, Z:-780.86 [[ 4.75456029e-01 5.17500828e-01 7.11431274e-01 3.69418012e+02] [-3.02442668e-01 8.55544506e-01 -4.20204749e-01 -1.99306293e+02] [-8.26117423e-01 -1.53782915e-02 5.63288124e-01 -7.80858900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.43, Y:-199.32, Z:-780.89 [[ 4.74871406e-01 5.17450230e-01 7.11858418e-01 3.69433500e+02] [-3.01718786e-01 8.55581361e-01 -4.20649866e-01 -1.99316069e+02] [-8.26718164e-01 -1.50264650e-02 5.62415579e-01 -7.80885936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7965599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:369.45, Y:-199.33, Z:-780.91 [[ 4.74601580e-01 5.17819925e-01 7.11769531e-01 3.69448891e+02] [-3.01756091e-01 8.55359210e-01 -4.21074676e-01 -1.99325234e+02] [-8.26859481e-01 -1.49380845e-02 5.62210150e-01 -7.80913271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.46, Y:-199.33, Z:-780.94 [[ 4.73945099e-01 5.18463240e-01 7.11738654e-01 3.69464233e+02] [-3.02240752e-01 8.54962435e-01 -4.21532636e-01 -1.99334452e+02] [-8.27058989e-01 -1.53330992e-02 5.61905976e-01 -7.80940707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:-199.34, Z:-780.97 [[ 4.73451203e-01 5.18934137e-01 7.11724188e-01 3.69479231e+02] [-3.02393683e-01 8.54675099e-01 -4.22005374e-01 -1.99343078e+02] [-8.27285935e-01 -1.54219458e-02 5.61569359e-01 -7.80968119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.50, Y:-199.35, Z:-781.00 [[ 4.73470825e-01 5.19403594e-01 7.11368600e-01 3.69495154e+02] [-3.02874712e-01 8.54387811e-01 -4.22242084e-01 -1.99352280e+02] [-8.27098717e-01 -1.55362522e-02 5.61841915e-01 -7.80995839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:-199.36, Z:-781.02 [[ 4.73421007e-01 5.19899062e-01 7.11039742e-01 3.69510854e+02] [-3.03350001e-01 8.54084032e-01 -4.22515376e-01 -1.99360731e+02] [-8.26953038e-01 -1.56662518e-02 5.62052704e-01 -7.81023588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:369.53, Y:-199.37, Z:-781.05 [[ 4.72985674e-01 5.20564131e-01 7.10842836e-01 3.69526077e+02] [-3.04006991e-01 8.53671027e-01 -4.22877674e-01 -1.99369269e+02] [-8.26960883e-01 -1.60861097e-02 5.62029301e-01 -7.81050606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.54, Y:-199.38, Z:-781.08 [[ 4.72107587e-01 5.21255651e-01 7.10919808e-01 3.69541133e+02] [-3.04535447e-01 8.53238643e-01 -4.23369790e-01 -1.99377487e+02] [-8.27268148e-01 -1.66241912e-02 5.61561259e-01 -7.81077418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.56, Y:-199.39, Z:-781.10 [[ 4.70716946e-01 5.22203177e-01 7.11146539e-01 3.69556666e+02] [-3.05423172e-01 8.52638541e-01 -4.23938915e-01 -1.99386191e+02] [-8.27733196e-01 -1.76454002e-02 5.60844360e-01 -7.81104750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.57, Y:-199.40, Z:-781.13 [[ 4.69984215e-01 5.22883154e-01 7.11131524e-01 3.69572337e+02] [-3.05993229e-01 8.52211194e-01 -4.24386881e-01 -1.99395552e+02] [-8.27938997e-01 -1.81462963e-02 5.60524513e-01 -7.81132389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:369.59, Y:-199.40, Z:-781.16 [[ 4.70151815e-01 5.28038260e-01 7.07200726e-01 3.69586954e+02] [-3.07526144e-01 8.49078390e-01 -4.29527134e-01 -1.99400871e+02] [-8.27275614e-01 -1.55397512e-02 5.61581316e-01 -7.81159149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.60, Y:-199.42, Z:-781.18 [[ 4.68697631e-01 5.16926717e-01 7.16316480e-01 3.69601913e+02] [-3.07268529e-01 8.55666904e-01 -4.16437511e-01 -1.99419296e+02] [-8.28195980e-01 -2.49182358e-02 5.59884363e-01 -7.81183948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.62, Y:-199.42, Z:-781.21 [[ 4.68401425e-01 5.24818660e-01 7.10749942e-01 3.69616375e+02] [-3.07777183e-01 8.50992307e-01 -4.25541183e-01 -1.99422787e+02] [-8.28174686e-01 -1.94285188e-02 5.60133218e-01 -7.81212844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.63, Y:-199.43, Z:-781.24 [[ 4.68190913e-01 5.25082625e-01 7.10693679e-01 3.69630885e+02] [-3.07623630e-01 8.50834820e-01 -4.25966913e-01 -1.99432284e+02] [-8.28350754e-01 -1.91923313e-02 5.59880955e-01 -7.81240025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.65, Y:-199.44, Z:-781.27 [[ 4.68143264e-01 5.25241979e-01 7.10607309e-01 3.69645846e+02] [-3.07311564e-01 8.50745754e-01 -4.26369869e-01 -1.99441595e+02] [-8.28493505e-01 -1.87756615e-02 5.59683828e-01 -7.81267339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.66, Y:-199.45, Z:-781.29 [[ 4.68370769e-01 5.25353286e-01 7.10375075e-01 3.69661106e+02] [-3.07166778e-01 8.50685253e-01 -4.26594856e-01 -1.99450855e+02] [-8.28418610e-01 -1.83990622e-02 5.59807183e-01 -7.81294753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.68, Y:-199.46, Z:-781.32 [[ 4.68467149e-01 5.25425029e-01 7.10258452e-01 3.69675819e+02] [-3.06600495e-01 8.50655742e-01 -4.27060822e-01 -1.99459298e+02] [-8.28573875e-01 -1.77016270e-02 5.59599844e-01 -7.81321302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.276559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:369.69, Y:-199.47, Z:-781.35 [[ 4.68220482e-01 5.25684067e-01 7.10229429e-01 3.69691358e+02] [-3.06416621e-01 8.50500658e-01 -4.27501444e-01 -1.99468224e+02] [-8.28781295e-01 -1.74611696e-02 5.59300164e-01 -7.81348943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:369.71, Y:-199.48, Z:-781.38 [[ 4.68770639e-01 5.25597282e-01 7.09930691e-01 3.69706468e+02] [-3.05797476e-01 8.50572431e-01 -4.27801873e-01 -1.99476933e+02] [-8.28698975e-01 -1.65540559e-02 5.59449704e-01 -7.81375895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.72, Y:-199.49, Z:-781.40 [[ 4.69061865e-01 5.25641669e-01 7.09705433e-01 3.69721867e+02] [-3.05629914e-01 8.50552449e-01 -4.27961316e-01 -1.99486379e+02] [-8.28595995e-01 -1.61668776e-02 5.59613536e-01 -7.81403382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.74, Y:-199.50, Z:-781.43 [[ 4.69479846e-01 5.25679366e-01 7.09401071e-01 3.69737217e+02] [-3.05232561e-01 8.50542105e-01 -4.28265351e-01 -1.99495795e+02] [-8.28505738e-01 -1.54703543e-02 5.59766835e-01 -7.81430783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.75, Y:-199.51, Z:-781.46 [[ 4.69889466e-01 5.25436438e-01 7.09309833e-01 3.69752094e+02] [-3.04139226e-01 8.50712919e-01 -4.28703697e-01 -1.99505076e+02] [-8.28675582e-01 -1.42855919e-02 5.59546871e-01 -7.81457487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.77, Y:-199.51, Z:-781.48 [[ 4.69775488e-01 5.25457478e-01 7.09369741e-01 3.69767103e+02] [-3.03446130e-01 8.50710707e-01 -4.29198950e-01 -1.99514168e+02] [-8.28994232e-01 -1.36283567e-02 5.59091076e-01 -7.81484797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.78, Y:-199.52, Z:-781.51 [[ 4.70331312e-01 5.25367603e-01 7.09067937e-01 3.69782429e+02] [-3.02825471e-01 8.50780326e-01 -4.29499211e-01 -1.99523437e+02] [-8.28906021e-01 -1.27169050e-02 5.59243318e-01 -7.81512195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.80, Y:-199.53, Z:-781.54 [[ 4.71286686e-01 5.24332699e-01 7.09199606e-01 3.69796996e+02] [-3.00120169e-01 8.51452859e-01 -4.30065010e-01 -1.99532946e+02] [-8.29347179e-01 -1.01611925e-02 5.58641214e-01 -7.81539033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.81, Y:-199.54, Z:-781.57 [[ 4.72159553e-01 5.23948410e-01 7.08902970e-01 3.69812303e+02] [-2.99014173e-01 8.51704701e-01 -4.30336644e-01 -1.99542705e+02] [-8.29250192e-01 -8.78447783e-03 5.58808511e-01 -7.81566463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.83, Y:-199.55, Z:-781.59 [[ 4.74111456e-01 5.22500799e-01 7.08668641e-01 3.69826822e+02] [-2.95879210e-01 8.52621147e-01 -4.30688604e-01 -1.99552970e+02] [-8.29261009e-01 -5.48591643e-03 5.58834577e-01 -7.81593576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.84, Y:-199.56, Z:-781.62 [[ 4.74960940e-01 5.21840681e-01 7.08586204e-01 3.69841484e+02] [-2.94084484e-01 8.53035245e-01 -4.31097654e-01 -1.99562801e+02] [-8.29413300e-01 -3.62966118e-03 5.58623670e-01 -7.81620441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.86, Y:-199.57, Z:-781.65 [[ 4.75462480e-01 5.20855684e-01 7.08974461e-01 3.69856105e+02] [-2.92751488e-01 8.53640413e-01 -4.30806932e-01 -1.99572597e+02] [-8.29597491e-01 -2.72079647e-03 5.58355264e-01 -7.81646726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.87, Y:-199.58, Z:-781.67 [[ 4.76870738e-01 5.18496609e-01 7.09757399e-01 3.69871988e+02] [-2.90594780e-01 8.55078408e-01 -4.29413076e-01 -1.99583605e+02] [-8.29547451e-01 -1.47726422e-03 5.58434280e-01 -7.81674169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.89, Y:-199.59, Z:-781.70 [[ 4.76659159e-01 5.20831557e-01 7.08188206e-01 3.69886846e+02] [-2.90851412e-01 8.53659468e-01 -4.32054358e-01 -1.99590702e+02] [-8.29579111e-01 -3.48723307e-05 5.58389198e-01 -7.81701163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.90, Y:-199.60, Z:-781.73 [[ 4.76422833e-01 5.21372291e-01 7.07949305e-01 3.69902760e+02] [-2.91362429e-01 8.53329277e-01 -4.32362210e-01 -1.99599725e+02] [-8.29535544e-01 -2.82599441e-04 5.58453849e-01 -7.81728969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.92, Y:-199.61, Z:-781.76 [[ 4.76188814e-01 5.22273896e-01 7.07442006e-01 3.69918468e+02] [-2.92722102e-01 8.52777070e-01 -4.32533281e-01 -1.99608366e+02] [-8.29191163e-01 -1.11640115e-03 5.58964014e-01 -7.81756198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.93, Y:-199.62, Z:-781.78 [[ 4.76154322e-01 5.22817902e-01 7.07063295e-01 3.69933846e+02] [-2.93317090e-01 8.52443370e-01 -4.32787922e-01 -1.99616896e+02] [-8.29000692e-01 -1.31990852e-03 5.59246020e-01 -7.81783318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.95, Y:-199.63, Z:-781.81 [[ 4.75971780e-01 5.23464872e-01 7.06707431e-01 3.69950145e+02] [-2.94126112e-01 8.52045450e-01 -4.33022380e-01 -1.99625064e+02] [-8.28818856e-01 -1.75467586e-03 5.59514277e-01 -7.81811366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.97, Y:-199.63, Z:-781.84 [[ 4.75657404e-01 5.23958106e-01 7.06553562e-01 3.69965459e+02] [-2.94423463e-01 8.51741988e-01 -4.33417132e-01 -1.99633291e+02] [-8.28893756e-01 -1.86787856e-03 5.59402943e-01 -7.81837844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:369.98, Y:-199.64, Z:-781.87 [[ 4.75307841e-01 5.24325609e-01 7.06516180e-01 3.69981577e+02] [-2.94440373e-01 8.51515920e-01 -4.33849633e-01 -1.99641773e+02] [-8.29088248e-01 -1.81475518e-03 5.59114821e-01 -7.81865583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.876559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.00, Y:-199.65, Z:-781.89 [[ 4.74825244e-01 5.24902365e-01 7.06412412e-01 3.69997529e+02] [-2.94846399e-01 8.51159904e-01 -4.34272286e-01 -1.99650389e+02] [-8.29220470e-01 -2.07971133e-03 5.58917781e-01 -7.81893118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.01, Y:-199.66, Z:-781.92 [[ 4.74088141e-01 5.25896696e-01 7.06167898e-01 3.70014075e+02] [-2.96129137e-01 8.50542894e-01 -4.34608238e-01 -1.99658823e+02] [-8.29185123e-01 -3.07427828e-03 5.58965634e-01 -7.81920260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.03, Y:-199.67, Z:-781.95 [[ 4.73317968e-01 5.26704399e-01 7.06082557e-01 3.70029799e+02] [-2.96927561e-01 8.50040287e-01 -4.35046589e-01 -1.99667651e+02] [-8.29339571e-01 -3.74000358e-03 5.58732394e-01 -7.81947735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.05, Y:-199.68, Z:-781.98 [[ 4.71752041e-01 5.28532481e-01 7.05764429e-01 3.70046250e+02] [-2.99769954e-01 8.48890487e-01 -4.35342297e-01 -1.99675916e+02] [-8.29209254e-01 -6.19335302e-03 5.58903977e-01 -7.81975397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.996559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.06, Y:-199.68, Z:-782.00 [[ 4.70632827e-01 5.29743163e-01 7.05603942e-01 3.70061836e+02] [-3.01353017e-01 8.48124407e-01 -4.35742298e-01 -1.99684299e+02] [-8.29271428e-01 -7.56124732e-03 5.58794888e-01 -7.82002383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.08, Y:-199.69, Z:-782.03 [[ 4.69665889e-01 5.30899656e-01 7.05378982e-01 3.70077321e+02] [-3.03180106e-01 8.47385575e-01 -4.35912274e-01 -1.99692827e+02] [-8.29153650e-01 -9.12374935e-03 5.58946314e-01 -7.82028729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.09, Y:-199.70, Z:-782.06 [[ 4.67863256e-01 5.32766222e-01 7.05169573e-01 3.70092998e+02] [-3.06066581e-01 8.46181153e-01 -4.36234688e-01 -1.99700244e+02] [-8.29112309e-01 -1.17306588e-02 5.58959006e-01 -7.82056115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.11, Y:-199.71, Z:-782.08 [[ 4.67218470e-01 5.33727480e-01 7.04870114e-01 3.70108835e+02] [-3.07628510e-01 8.45557081e-01 -4.36346105e-01 -1.99709234e+02] [-8.28897823e-01 -1.29691836e-02 5.59249675e-01 -7.82084093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.116559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:370.12, Y:-199.72, Z:-782.11 [[ 4.67187005e-01 5.34621184e-01 7.04213386e-01 3.70124626e+02] [-3.09100312e-01 8.44979460e-01 -4.36424919e-01 -1.99717999e+02] [-8.28367853e-01 -1.37805264e-02 5.60014997e-01 -7.82111919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.14, Y:-199.73, Z:-782.14 [[ 4.67318013e-01 5.36042998e-01 7.03044650e-01 3.70139635e+02] [-3.11967948e-01 8.44048557e-01 -4.36185778e-01 -1.99726640e+02] [-8.27218154e-01 -1.54899259e-02 5.61667328e-01 -7.82139239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.16, Y:-199.74, Z:-782.17 [[ 4.67201543e-01 5.36869688e-01 7.02491037e-01 3.70155043e+02] [-3.13274704e-01 8.43508941e-01 -4.36293051e-01 -1.99736047e+02] [-8.26789985e-01 -1.62358850e-02 5.62276371e-01 -7.82166891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.17, Y:-199.74, Z:-782.19 [[ 4.67249942e-01 5.37603412e-01 7.01897473e-01 3.70169843e+02] [-3.14371317e-01 8.43031716e-01 -4.36426628e-01 -1.99744891e+02] [-8.26346275e-01 -1.67361160e-02 5.62913613e-01 -7.82193868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.19, Y:-199.75, Z:-782.22 [[ 4.67228505e-01 5.37949316e-01 7.01646676e-01 3.70185094e+02] [-3.14755892e-01 8.42808473e-01 -4.36580585e-01 -1.99754668e+02] [-8.26211991e-01 -1.68645317e-02 5.63106859e-01 -7.82221597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:370.20, Y:-199.76, Z:-782.25 [[ 4.67253814e-01 5.38204257e-01 7.01434281e-01 3.70200184e+02] [-3.14711760e-01 8.42650970e-01 -4.36916297e-01 -1.99764148e+02] [-8.26214489e-01 -1.65988105e-02 5.63111089e-01 -7.82249494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.22, Y:-199.77, Z:-782.28 [[ 4.68327624e-01 5.37724659e-01 7.01085892e-01 3.70215609e+02] [-3.13439303e-01 8.42987009e-01 -4.37182692e-01 -1.99774856e+02] [-8.26090213e-01 -1.50031415e-02 5.63338146e-01 -7.82277112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:370.23, Y:-199.78, Z:-782.30 [[ 4.68688013e-01 5.37425371e-01 7.01074544e-01 3.70229957e+02] [-3.12170430e-01 8.43199710e-01 -4.37680102e-01 -1.99784754e+02] [-8.26366244e-01 -1.37193245e-02 5.62965906e-01 -7.82303881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3565599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.24, Y:-199.80, Z:-782.33 [[ 4.69971823e-01 5.35906223e-01 7.01377934e-01 3.70244534e+02] [-3.08483667e-01 8.44213986e-01 -4.38338423e-01 -1.99796082e+02] [-8.27021350e-01 -1.03569289e-02 5.62075103e-01 -7.82331461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.26, Y:-199.81, Z:-782.36 [[ 4.70433312e-01 5.35318553e-01 7.01517317e-01 3.70259405e+02] [-3.06581592e-01 8.44606556e-01 -4.38916272e-01 -1.99806950e+02] [-8.27466149e-01 -8.59146013e-03 5.61449873e-01 -7.82359000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.27, Y:-199.82, Z:-782.39 [[ 4.71220732e-01 5.34534304e-01 7.01586844e-01 3.70273479e+02] [-3.04387659e-01 8.45121967e-01 -4.39450810e-01 -1.99817251e+02] [-8.27827986e-01 -6.47604486e-03 5.60944637e-01 -7.82385444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.29, Y:-199.83, Z:-782.41 [[ 4.73330828e-01 5.32544455e-01 7.01679650e-01 3.70287692e+02] [-3.00063730e-01 8.46398913e-01 -4.39966634e-01 -1.99829240e+02] [-8.28202684e-01 -2.29884164e-03 5.60423973e-01 -7.82413090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.30, Y:-199.84, Z:-782.44 [[ 4.74437136e-01 5.31865689e-01 7.01447284e-01 3.70302291e+02] [-2.98354917e-01 8.46828637e-01 -4.40301718e-01 -1.99839793e+02] [-8.28187025e-01 -3.84760582e-04 5.60451697e-01 -7.82440768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.32, Y:-199.85, Z:-782.47 [[ 4.77072814e-01 5.30329343e-01 7.00822601e-01 3.70315776e+02] [-2.95464713e-01 8.47786269e-01 -4.40407818e-01 -1.99851162e+02] [-8.27708967e-01 3.03824801e-03 5.61149388e-01 -7.82468151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.33, Y:-199.87, Z:-782.49 [[ 4.80358271e-01 5.19706979e-01 7.06512977e-01 3.70334339e+02] [-2.95861293e-01 8.54336223e-01 -4.27288794e-01 -1.99870460e+02] [-8.25664597e-01 -3.77813626e-03 5.64148650e-01 -7.82488491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.35, Y:-199.86, Z:-782.52 [[ 4.77859872e-01 5.38110258e-01 6.94325063e-01 3.70345714e+02] [-2.95366538e-01 8.42816152e-01 -4.49910594e-01 -1.99863222e+02] [-8.27289884e-01 9.91382873e-03 5.61687782e-01 -7.82523841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.36, Y:-199.88, Z:-782.55 [[ 4.78269105e-01 5.31031777e-01 6.99474028e-01 3.70361492e+02] [-2.96508643e-01 8.47345466e-01 -4.40554522e-01 -1.99878088e+02] [-8.26644596e-01 3.30352232e-03 5.62714669e-01 -7.82548653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.38, Y:-199.89, Z:-782.58 [[ 4.78167580e-01 5.31410145e-01 6.99256050e-01 3.70377068e+02] [-2.96673217e-01 8.47107948e-01 -4.40900358e-01 -1.99887775e+02] [-8.26644281e-01 3.37371512e-03 5.62714715e-01 -7.82576614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.39, Y:-199.90, Z:-782.60 [[ 4.78680280e-01 5.31757543e-01 6.98640898e-01 3.70392399e+02] [-2.97377788e-01 8.46890352e-01 -4.40843717e-01 -1.99897404e+02] [-8.26094208e-01 3.26290916e-03 5.63522593e-01 -7.82603667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.41, Y:-199.91, Z:-782.63 [[ 4.79022869e-01 5.31936575e-01 6.98269698e-01 3.70407367e+02] [-2.97326496e-01 8.46776196e-01 -4.41097528e-01 -1.99906690e+02] [-8.25914067e-01 3.68172054e-03 5.63784000e-01 -7.82630364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.42, Y:-199.92, Z:-782.66 [[ 4.80111711e-01 5.31386808e-01 6.97940402e-01 3.70422451e+02] [-2.96000721e-01 8.47112707e-01 -4.41342991e-01 -1.99916300e+02] [-8.25758026e-01 5.30307632e-03 5.63999609e-01 -7.82657577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.44, Y:-199.93, Z:-782.68 [[ 4.80758463e-01 5.31184375e-01 6.97649238e-01 3.70437600e+02] [-2.95211892e-01 8.47232318e-01 -4.41641640e-01 -1.99925752e+02] [-8.25664120e-01 6.36860440e-03 5.64126052e-01 -7.82683950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.45, Y:-199.93, Z:-782.71 [[ 4.80764018e-01 5.30925645e-01 6.97842331e-01 3.70452665e+02] [-2.93913684e-01 8.47385263e-01 -4.42213706e-01 -1.99934721e+02] [-8.26123904e-01 7.49502784e-03 5.63438656e-01 -7.82710825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.47, Y:-199.94, Z:-782.74 [[ 4.80648638e-01 5.30481261e-01 6.98259636e-01 3.70469362e+02] [-2.92081559e-01 8.47649515e-01 -4.42920605e-01 -1.99943752e+02] [-8.26840523e-01 8.94042258e-03 5.62365378e-01 -7.82737729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.48, Y:-199.95, Z:-782.76 [[ 4.80117120e-01 5.30573682e-01 6.98555023e-01 3.70484903e+02] [-2.91247624e-01 8.47585316e-01 -4.43592102e-01 -1.99952757e+02] [-8.27443275e-01 9.52367181e-03 5.61468545e-01 -7.82764804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.50, Y:-199.96, Z:-782.79 [[ 4.78936164e-01 5.31077783e-01 6.98982503e-01 3.70501373e+02] [-2.91013064e-01 8.47270926e-01 -4.44346008e-01 -1.99961878e+02] [-8.28209845e-01 9.40033254e-03 5.60339260e-01 -7.82791724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.52, Y:-199.97, Z:-782.82 [[ 4.78121448e-01 5.31767731e-01 6.99015709e-01 3.70517322e+02] [-2.91472770e-01 8.46842914e-01 -4.44860320e-01 -1.99970955e+02] [-8.28518863e-01 8.95321466e-03 5.59889573e-01 -7.82819426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.53, Y:-199.98, Z:-782.85 [[ 4.77236469e-01 5.32680098e-01 6.98925795e-01 3.70532750e+02] [-2.92444092e-01 8.46277761e-01 -4.45298109e-01 -1.99979275e+02] [-8.28686796e-01 8.11577801e-03 5.59653758e-01 -7.82845566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.55, Y:-199.99, Z:-782.87 [[ 4.76202147e-01 5.33822866e-01 6.98759374e-01 3.70548694e+02] [-2.93951707e-01 8.45568832e-01 -4.45652044e-01 -1.99987823e+02] [-8.28748399e-01 6.81894977e-03 5.59579836e-01 -7.82872758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.57, Y:-199.99, Z:-782.90 [[ 4.73886093e-01 5.36066916e-01 6.98615941e-01 3.70565237e+02] [-2.97357554e-01 8.44167655e-01 -4.46048714e-01 -1.99994474e+02] [-8.28860939e-01 3.63755510e-03 5.59442858e-01 -7.82900532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.58, Y:-200.00, Z:-782.93 [[ 4.73850292e-01 5.35539585e-01 6.99044529e-01 3.70581247e+02] [-2.98118242e-01 8.44506667e-01 -4.44897744e-01 -2.00001080e+02] [-8.28608119e-01 2.41699977e-03 5.59823851e-01 -7.82925715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.60, Y:-200.01, Z:-782.95 [[ 4.70604848e-01 5.34437901e-01 7.02073505e-01 3.70597173e+02] [-3.03732370e-01 8.45184428e-01 -4.39783960e-01 -2.00014712e+02] [-8.28418810e-01 -6.27798578e-03 5.60073980e-01 -7.82953289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.61, Y:-200.02, Z:-782.98 [[ 4.69146403e-01 5.41320598e-01 6.97763329e-01 3.70613431e+02] [-3.05916054e-01 8.40807080e-01 -4.46608130e-01 -2.00019208e+02] [-8.28442527e-01 -3.93240646e-03 5.60060279e-01 -7.82982204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.63, Y:-200.03, Z:-783.01 [[ 4.65871515e-01 5.43478792e-01 6.98279696e-01 3.70630135e+02] [-3.08583637e-01 8.39393442e-01 -4.47431322e-01 -2.00026798e+02] [-8.29300833e-01 -7.03218035e-03 5.58758157e-01 -7.83009956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.65, Y:-200.04, Z:-783.03 [[ 4.65715469e-01 5.41626246e-01 6.99821486e-01 3.70646829e+02] [-3.08894951e-01 8.40571996e-01 -4.44997337e-01 -2.00036132e+02] [-8.29272580e-01 -8.92917980e-03 5.58772994e-01 -7.83034542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.66, Y:-200.05, Z:-783.06 [[ 4.63465075e-01 5.43266198e-01 7.00044258e-01 3.70661303e+02] [-3.10656146e-01 8.39490332e-01 -4.45812451e-01 -2.00045987e+02] [-8.29875221e-01 -1.08545501e-02 5.57843433e-01 -7.83062691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.68, Y:-200.05, Z:-783.09 [[ 4.62904703e-01 5.45889038e-01 6.98372676e-01 3.70676973e+02] [-3.11054764e-01 8.37803310e-01 -4.48698726e-01 -2.00053434e+02] [-8.30038656e-01 -9.52739692e-03 5.57624479e-01 -7.83091039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.69, Y:-200.06, Z:-783.12 [[ 4.62439279e-01 5.46048401e-01 6.98556409e-01 3.70691808e+02] [-3.10420748e-01 8.37704612e-01 -4.49321648e-01 -2.00062145e+02] [-8.30535293e-01 -9.06242392e-03 5.56892270e-01 -7.83117983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.71, Y:-200.07, Z:-783.15 [[ 4.62798425e-01 5.46219491e-01 6.98184708e-01 3.70706913e+02] [-3.10379325e-01 8.37597414e-01 -4.49550050e-01 -2.00071843e+02] [-8.30350705e-01 -8.65104376e-03 5.57174001e-01 -7.83145319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.72, Y:-200.08, Z:-783.17 [[ 4.63265513e-01 5.46210969e-01 6.97881539e-01 3.70721802e+02] [-3.09902132e-01 8.37610647e-01 -4.49854503e-01 -2.00081072e+02] [-8.30268471e-01 -7.87289974e-03 5.57308070e-01 -7.83172142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.74, Y:-200.09, Z:-783.20 [[ 4.64567694e-01 5.45807616e-01 6.97331273e-01 3.70736685e+02] [-3.08996782e-01 8.37885821e-01 -4.49964820e-01 -2.00090182e+02] [-8.29878212e-01 -6.43400094e-03 5.57907481e-01 -7.83200446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.75, Y:-200.08, Z:-783.23 [[ 4.63844810e-01 5.57720148e-01 6.88328576e-01 3.70747936e+02] [-3.03415497e-01 8.29988086e-01 -4.68037193e-01 -2.00080829e+02] [-8.32338290e-01 8.24706517e-03 5.54206602e-01 -7.83233289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.77, Y:-200.13, Z:-783.25 [[ 4.67314895e-01 5.19725252e-01 7.15193996e-01 3.70766124e+02] [-3.08455639e-01 8.53973783e-01 -4.19027322e-01 -2.00130022e+02] [-8.28536002e-01 -2.47879122e-02 5.59386854e-01 -7.83248603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.78, Y:-200.12, Z:-783.28 [[ 4.67645457e-01 5.45717348e-01 6.95341860e-01 3.70780890e+02] [-3.09014267e-01 8.37957157e-01 -4.49819948e-01 -2.00119629e+02] [-8.28141237e-01 -4.51430017e-03 5.60501305e-01 -7.83282719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4365599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:370.79, Y:-200.12, Z:-783.32 [[ 4.66145092e-01 5.56040168e-01 6.88133770e-01 3.70792490e+02] [-3.06351041e-01 8.31137136e-01 -4.64069070e-01 -2.00117180e+02] [-8.29974574e-01 5.51302247e-03 5.57773980e-01 -7.83315182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.81, Y:-200.15, Z:-783.33 [[ 4.68644716e-01 5.30373861e-01 7.06452899e-01 3.70809256e+02] [-3.09392175e-01 8.47602525e-01 -4.31099109e-01 -2.00153373e+02] [-8.27434960e-01 -1.65386795e-02 5.61317966e-01 -7.83331711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.496559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:370.82, Y:-200.15, Z:-783.36 [[ 4.68888174e-01 5.46367693e-01 6.93992957e-01 3.70823263e+02] [-3.09753623e-01 8.37536243e-01 -4.50095251e-01 -2.00152413e+02] [-8.27161758e-01 -3.92249234e-03 5.61950212e-01 -7.83363869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.84, Y:-200.16, Z:-783.39 [[ 4.68956425e-01 5.46541285e-01 6.93810129e-01 3.70837184e+02] [-3.09500836e-01 8.37424925e-01 -4.50476112e-01 -2.00162560e+02] [-8.27217689e-01 -3.48114788e-03 5.61870784e-01 -7.83390301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5565599949999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:370.85, Y:-200.17, Z:-783.42 [[ 4.69161338e-01 5.46470768e-01 6.93727136e-01 3.70850767e+02] [-3.08769084e-01 8.37473945e-01 -4.50886952e-01 -2.00174651e+02] [-8.27374941e-01 -2.66276632e-03 5.61643675e-01 -7.83417455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.87, Y:-200.19, Z:-783.45 [[ 4.68706999e-01 5.46634958e-01 6.93904873e-01 3.70865223e+02] [-3.08160464e-01 8.37368095e-01 -4.51499505e-01 -2.00186002e+02] [-8.27859214e-01 -2.21306969e-03 5.60931568e-01 -7.83445075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.88, Y:-200.20, Z:-783.47 [[ 4.68713277e-01 5.46239051e-01 6.94212333e-01 3.70877977e+02] [-3.06417783e-01 8.37628982e-01 -4.52201095e-01 -2.00198600e+02] [-8.28502267e-01 -7.66346244e-04 5.59985184e-01 -7.83471851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.89, Y:-200.21, Z:-783.50 [[ 4.68836438e-01 5.46210276e-01 6.94151805e-01 3.70892404e+02] [-3.05735016e-01 8.37648097e-01 -4.52627624e-01 -2.00210169e+02] [-8.28684798e-01 -1.81899285e-05 5.59715558e-01 -7.83499325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.91, Y:-200.22, Z:-783.53 [[ 4.69042963e-01 5.46188755e-01 6.94029209e-01 3.70907012e+02] [-3.05073374e-01 8.37661777e-01 -4.53048545e-01 -2.00221487e+02] [-8.28811762e-01 7.69399585e-04 5.59527007e-01 -7.83526895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.92, Y:-200.23, Z:-783.55 [[ 4.68848502e-01 5.46323090e-01 6.94054870e-01 3.70921515e+02] [-3.04547178e-01 8.37573543e-01 -4.53565405e-01 -2.00232684e+02] [-8.29115251e-01 1.28100904e-03 5.59076256e-01 -7.83554758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.736559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.94, Y:-200.24, Z:-783.58 [[ 4.69150365e-01 5.46579796e-01 6.93648658e-01 3.70935098e+02] [-3.04663287e-01 8.37405554e-01 -4.53797554e-01 -2.00244342e+02] [-8.28901814e-01 1.57000804e-03 5.59391919e-01 -7.83581107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.95, Y:-200.26, Z:-783.61 [[ 4.69267996e-01 5.47105049e-01 6.93154827e-01 3.70949821e+02] [-3.05396380e-01 8.37062897e-01 -4.53936953e-01 -2.00255076e+02] [-8.28565386e-01 1.33110895e-03 5.59890730e-01 -7.83608821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.96, Y:-200.27, Z:-783.64 [[ 4.69181132e-01 5.47707196e-01 6.92737968e-01 3.70964462e+02] [-3.06155586e-01 8.36669493e-01 -4.54150765e-01 -2.00265776e+02] [-8.28334367e-01 9.93371918e-04 5.60233157e-01 -7.83636870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.98, Y:-200.28, Z:-783.66 [[ 4.68971216e-01 5.48304787e-01 6.92407293e-01 3.70979177e+02] [-3.06819946e-01 8.36278313e-01 -4.54422826e-01 -2.00276122e+02] [-8.28207413e-01 6.66857625e-04 5.60421302e-01 -7.83664703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.99, Y:-200.29, Z:-783.69 [[ 4.67944707e-01 5.49457772e-01 6.92187770e-01 3.70993479e+02] [-3.08363752e-01 8.35521244e-01 -4.54770324e-01 -2.00287081e+02] [-8.28214675e-01 -6.38252071e-04 5.60410604e-01 -7.83692330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.01, Y:-200.30, Z:-783.72 [[ 4.67132114e-01 5.50302765e-01 6.92065354e-01 3.71007758e+02] [-3.09267754e-01 8.34964008e-01 -4.55179703e-01 -2.00297145e+02] [-8.28336311e-01 -1.40444093e-03 5.60229402e-01 -7.83718626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.02, Y:-200.31, Z:-783.75 [[ 4.65475055e-01 5.51455026e-01 6.92264637e-01 3.71022773e+02] [-3.10689337e-01 8.34199221e-01 -4.55613648e-01 -2.00307624e+02] [-8.28737057e-01 -3.00245288e-03 5.59630125e-01 -7.83745898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.04, Y:-200.32, Z:-783.77 [[ 4.64907084e-01 5.52340215e-01 6.91940525e-01 3.71038052e+02] [-3.11874703e-01 8.33609873e-01 -4.55882386e-01 -2.00317673e+02] [-8.28610628e-01 -3.85579499e-03 5.59812076e-01 -7.83773581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.05, Y:-200.33, Z:-783.80 [[ 4.64443494e-01 5.53159874e-01 6.91596988e-01 3.71052399e+02] [-3.12965317e-01 8.33062437e-01 -4.56135601e-01 -2.00327061e+02] [-8.28459384e-01 -4.59665795e-03 5.60030285e-01 -7.83800234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:371.07, Y:-200.34, Z:-783.83 [[ 4.63748804e-01 5.54477811e-01 6.91007528e-01 3.71066605e+02] [-3.15234098e-01 8.32174888e-01 -4.56193401e-01 -2.00336375e+02] [-8.27988231e-01 -6.26998998e-03 5.60710422e-01 -7.83827503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.036559995 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:371.67, Y:-200.85, Z:-783.40 [[ 5.17885975e-01 -6.62273284e-01 5.41468571e-01 3.71667541e+02] [-3.30370106e-01 4.29016637e-01 8.40714172e-01 -2.00849980e+02] [-7.89081561e-01 -6.14279108e-01 3.38640441e-03 -7.83402478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:372.23, Y:-200.16, Z:-783.35 [[ 5.48162430e-01 -5.05224757e-01 -6.66532741e-01 3.72227288e+02] [-2.54204564e-01 -8.59873962e-01 4.42715269e-01 -2.00156137e+02] [-7.96804863e-01 -7.32442130e-02 -5.99781040e-01 -7.83353654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.21, Y:-200.45, Z:-784.00 [[ 5.48806651e-01 4.50502920e-01 7.04172123e-01 3.71213941e+02] [-2.82730658e-01 8.92750775e-01 -3.50798274e-01 -2.00454624e+02] [-7.86685855e-01 -6.57062207e-03 6.17318550e-01 -7.83995643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:-200.47, Z:-784.02 [[ 5.49059233e-01 4.42414739e-01 7.09086143e-01 3.71233516e+02] [-2.84574495e-01 8.96674885e-01 -3.39103977e-01 -2.00472421e+02] [-7.85844333e-01 -1.55996617e-02 6.18227576e-01 -7.84016575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.25, Y:-200.48, Z:-784.04 [[ 5.48278248e-01 4.48385448e-01 7.05933038e-01 3.71251174e+02] [-2.85046497e-01 8.93768209e-01 -3.46304610e-01 -2.00477692e+02] [-7.86218455e-01 -1.13524548e-02 6.17844369e-01 -7.84044139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.27, Y:-200.49, Z:-784.07 [[ 5.47858952e-01 4.48741652e-01 7.06032222e-01 3.71268804e+02] [-2.85062052e-01 8.93590181e-01 -3.46750940e-01 -2.00486576e+02] [-7.86505051e-01 -1.12923871e-02 6.17480596e-01 -7.84070153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2165599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.29, Y:-200.50, Z:-784.10 [[ 5.47599710e-01 4.48931605e-01 7.06112577e-01 3.71287196e+02] [-2.84807006e-01 8.93498643e-01 -3.47196118e-01 -2.00495486e+02] [-7.86777940e-01 -1.09813156e-02 6.17138464e-01 -7.84096497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:-200.50, Z:-784.12 [[ 5.47463956e-01 4.49047030e-01 7.06144449e-01 3.71305215e+02] [-2.84460968e-01 8.93445678e-01 -3.47615848e-01 -2.00503173e+02] [-7.86997570e-01 -1.05633859e-02 6.16865658e-01 -7.84121583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.32, Y:-200.51, Z:-784.15 [[ 5.47529806e-01 4.49337556e-01 7.05908544e-01 3.71322824e+02] [-2.84597265e-01 8.93301197e-01 -3.47875506e-01 -2.00511220e+02] [-7.86902477e-01 -1.04274328e-02 6.16989271e-01 -7.84146925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.34, Y:-200.52, Z:-784.17 [[ 5.47692922e-01 4.49544428e-01 7.05650247e-01 3.71341063e+02] [-2.84617877e-01 8.93199979e-01 -3.48118459e-01 -2.00519008e+02] [-7.86781499e-01 -1.01786589e-02 6.17147687e-01 -7.84172931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.36, Y:-200.53, Z:-784.20 [[ 5.47591573e-01 4.49995356e-01 7.05441457e-01 3.71359555e+02] [-2.84970625e-01 8.92972168e-01 -3.48414193e-01 -2.00526548e+02] [-7.86724356e-01 -1.02414166e-02 6.17219492e-01 -7.84199322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.38, Y:-200.53, Z:-784.22 [[ 5.47546982e-01 4.50435448e-01 7.05195157e-01 3.71377312e+02] [-2.85331230e-01 8.92749691e-01 -3.48689085e-01 -2.00534395e+02] [-7.86624683e-01 -1.02905454e-02 6.17345700e-01 -7.84224624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.40, Y:-200.54, Z:-784.25 [[ 5.47348793e-01 4.50988848e-01 7.04995289e-01 3.71395279e+02] [-2.86041962e-01 8.92465159e-01 -3.48835114e-01 -2.00541779e+02] [-7.86504479e-01 -1.07237569e-02 6.17491463e-01 -7.84250788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:371.41, Y:-200.55, Z:-784.28 [[ 5.47444839e-01 4.51388238e-01 7.04665031e-01 3.71413281e+02] [-2.86389117e-01 8.92263343e-01 -3.49066469e-01 -2.00550052e+02] [-7.86311275e-01 -1.07137585e-02 6.17737641e-01 -7.84277399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.43, Y:-200.56, Z:-784.30 [[ 5.47752988e-01 4.51821525e-01 7.04147693e-01 3.71430411e+02] [-2.86894783e-01 8.92043770e-01 -3.49212394e-01 -2.00558313e+02] [-7.85912239e-01 -1.07341670e-02 6.18244879e-01 -7.84302561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.45, Y:-200.57, Z:-784.33 [[ 5.49090121e-01 4.51904651e-01 7.03052079e-01 3.71447905e+02] [-2.87215953e-01 8.92007101e-01 -3.49042016e-01 -2.00566896e+02] [-7.84861157e-01 -1.02722502e-02 6.19586511e-01 -7.84328516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.46, Y:-200.58, Z:-784.35 [[ 5.46969540e-01 4.41597021e-01 7.11207701e-01 3.71464259e+02] [-2.86916968e-01 8.96987949e-01 -3.36290459e-01 -2.00583613e+02] [-7.86449602e-01 -2.01169191e-02 6.17326764e-01 -7.84349059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.48, Y:-200.59, Z:-784.38 [[ 5.46486973e-01 4.48027493e-01 7.07547422e-01 3.71481681e+02] [-2.87172220e-01 8.93892660e-01 -3.44220900e-01 -2.00587819e+02] [-7.86691874e-01 -1.50757260e-02 6.17161744e-01 -7.84377571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.50, Y:-200.59, Z:-784.41 [[ 5.49696372e-01 4.58931317e-01 6.98008556e-01 3.71499793e+02] [-2.87094051e-01 8.88464578e-01 -3.58061027e-01 -2.00587976e+02] [-7.84481296e-01 -3.56925618e-03 6.20142206e-01 -7.84408335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.52, Y:-200.60, Z:-784.43 [[ 5.50615984e-01 4.52045570e-01 7.01766942e-01 3.71518254e+02] [-2.86123156e-01 8.91958591e-01 -3.50062011e-01 -2.00602909e+02] [-7.84191034e-01 -8.04203346e-03 6.20467363e-01 -7.84432370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.54, Y:-200.61, Z:-784.46 [[ 5.50652432e-01 4.51860738e-01 7.01857373e-01 3.71536339e+02] [-2.85264829e-01 8.92059365e-01 -3.50505446e-01 -2.00612174e+02] [-7.84478092e-01 -7.20854728e-03 6.20114635e-01 -7.84458315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.55, Y:-200.62, Z:-784.48 [[ 5.50531693e-01 4.51727609e-01 7.02037764e-01 3.71553549e+02] [-2.84434208e-01 8.92132591e-01 -3.50993762e-01 -2.00621289e+02] [-7.84864343e-01 -6.45036574e-03 6.19634051e-01 -7.84483707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.57, Y:-200.63, Z:-784.51 [[ 5.50420065e-01 4.51643105e-01 7.02179648e-01 3.71571702e+02] [-2.83740509e-01 8.92179840e-01 -3.51434856e-01 -2.00631221e+02] [-7.85193655e-01 -5.80001411e-03 6.19223130e-01 -7.84509415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.59, Y:-200.64, Z:-784.53 [[ 5.50185631e-01 4.50964812e-01 7.02799054e-01 3.71588623e+02] [-2.81752466e-01 8.92531503e-01 -3.52140689e-01 -2.00641243e+02] [-7.86073355e-01 -4.27261938e-03 6.18118455e-01 -7.84534344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.61, Y:-200.65, Z:-784.56 [[ 5.50307980e-01 4.50761467e-01 7.02833713e-01 3.71606707e+02] [-2.81090356e-01 8.92637061e-01 -3.52402170e-01 -2.00650783e+02] [-7.86224739e-01 -3.63005229e-03 6.17929999e-01 -7.84560741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.62, Y:-200.66, Z:-784.59 [[ 5.50031542e-01 4.50765638e-01 7.03047397e-01 3.71624276e+02] [-2.80450016e-01 8.92637101e-01 -3.52911879e-01 -2.00659899e+02] [-7.86646738e-01 -3.05698870e-03 6.17395792e-01 -7.84586899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8165599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:371.64, Y:-200.67, Z:-784.61 [[ 5.49989160e-01 4.50531747e-01 7.03230452e-01 3.71641850e+02] [-2.79443511e-01 8.92757832e-01 -3.53404553e-01 -2.00668122e+02] [-7.87034464e-01 -2.14451341e-03 6.16905304e-01 -7.84612951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.66, Y:-200.68, Z:-784.64 [[ 5.49606235e-01 4.50929792e-01 7.03274704e-01 3.71659131e+02] [-2.79549393e-01 8.92556872e-01 -3.53828161e-01 -2.00676279e+02] [-7.87264329e-01 -2.13385331e-03 6.16611971e-01 -7.84638671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.68, Y:-200.68, Z:-784.67 [[ 5.49469507e-01 4.51437840e-01 7.03055572e-01 3.71677307e+02] [-2.80037638e-01 8.92299555e-01 -3.54090986e-01 -2.00684884e+02] [-7.87186244e-01 -2.31982166e-03 6.16710983e-01 -7.84665021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.70, Y:-200.69, Z:-784.69 [[ 5.49340076e-01 4.51955899e-01 7.02823838e-01 3.71695077e+02] [-2.80521409e-01 8.92036814e-01 -3.54369950e-01 -2.00693149e+02] [-7.87104327e-01 -2.48751773e-03 6.16814876e-01 -7.84691322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.71, Y:-200.70, Z:-784.72 [[ 5.48979326e-01 4.52375284e-01 7.02835900e-01 3.71712071e+02] [-2.80683673e-01 8.91824144e-01 -3.54776509e-01 -2.00701179e+02] [-7.87298150e-01 -2.50959310e-03 6.16567373e-01 -7.84716688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:371.72, Y:-200.68, Z:-784.75 [[ 5.45720523e-01 4.70055789e-01 6.93712236e-01 3.71721154e+02] [-2.75225100e-01 8.82468407e-01 -3.81445481e-01 -2.00684946e+02] [-7.91479788e-01 1.72356085e-02 6.10952272e-01 -7.84752682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.996559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.75, Y:-200.74, Z:-784.76 [[ 5.49804840e-01 4.21853149e-01 7.20940053e-01 3.71749255e+02] [-2.80931883e-01 9.06207027e-01 -3.16015982e-01 -2.00741530e+02] [-7.86633279e-01 -2.87879301e-02 6.16749009e-01 -7.84757501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.76, Y:-200.72, Z:-784.79 [[ 5.49687081e-01 4.53156499e-01 7.01778669e-01 3.71763630e+02] [-2.81368267e-01 8.91428279e-01 -3.55228831e-01 -2.00724949e+02] [-7.86559604e-01 -2.19354808e-03 6.17510467e-01 -7.84793355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.78, Y:-200.73, Z:-784.82 [[ 5.49977866e-01 4.53042263e-01 7.01624583e-01 3.71781976e+02] [-2.80966211e-01 8.91487473e-01 -3.55398473e-01 -2.00732998e+02] [-7.86500054e-01 -1.67150674e-03 6.17587946e-01 -7.84819960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.80, Y:-200.74, Z:-784.85 [[ 5.49895279e-01 4.53205605e-01 7.01583824e-01 3.71799910e+02] [-2.80749524e-01 8.91405021e-01 -3.55776324e-01 -2.00741871e+02] [-7.86635168e-01 -1.32960384e-03 6.17416670e-01 -7.84846307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.116559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:371.82, Y:-200.75, Z:-784.87 [[ 5.50026961e-01 4.53128670e-01 7.01530292e-01 3.71817885e+02] [-2.80149392e-01 8.91444893e-01 -3.56149297e-01 -2.00750661e+02] [-7.86757053e-01 -6.41569108e-04 6.17262446e-01 -7.84872226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.84, Y:-200.76, Z:-784.90 [[ 5.50267183e-01 4.53055782e-01 7.01388969e-01 3.71836068e+02] [-2.79608885e-01 8.91482168e-01 -3.56480596e-01 -2.00759469e+02] [-7.86781354e-01 4.49855003e-05 6.17231804e-01 -7.84898520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:-200.77, Z:-784.92 [[ 5.50857614e-01 4.52558789e-01 7.01246342e-01 3.71854120e+02] [-2.78380945e-01 8.91733564e-01 -3.56812697e-01 -2.00767636e+02] [-7.86803622e-01 1.33937122e-03 6.17201966e-01 -7.84924312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:371.87, Y:-200.78, Z:-784.95 [[ 5.51293064e-01 4.51990702e-01 7.01270535e-01 3.71872109e+02] [-2.76931882e-01 8.92018462e-01 -3.57227935e-01 -2.00775873e+02] [-7.87009969e-01 2.73311357e-03 6.16934226e-01 -7.84950410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.89, Y:-200.78, Z:-784.98 [[ 5.51380464e-01 4.51947759e-01 7.01229497e-01 3.71889404e+02] [-2.76376723e-01 8.92038022e-01 -3.57608829e-01 -2.00784219e+02] [-7.87143882e-01 3.37501147e-03 6.16760179e-01 -7.84975509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.91, Y:-200.79, Z:-785.00 [[ 5.51557993e-01 4.51721047e-01 7.01235963e-01 3.71907440e+02] [-2.75528165e-01 8.92149158e-01 -3.57986188e-01 -2.00792645e+02] [-7.87316970e-01 4.23988519e-03 6.16533870e-01 -7.85001119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2965599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.93, Y:-200.80, Z:-785.03 [[ 5.51722712e-01 4.51527152e-01 7.01231260e-01 3.71925655e+02] [-2.74704553e-01 8.92242815e-01 -3.58385501e-01 -2.00801087e+02] [-7.87489338e-01 5.09800114e-03 6.16307191e-01 -7.85027609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.94, Y:-200.81, Z:-785.05 [[ 5.51992242e-01 4.50861131e-01 7.01447650e-01 3.71943264e+02] [-2.72965388e-01 8.92569414e-01 -3.58900737e-01 -2.00808754e+02] [-7.87905110e-01 6.63949265e-03 6.15760875e-01 -7.85052621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.96, Y:-200.82, Z:-785.08 [[ 5.52070923e-01 4.50765395e-01 7.01447257e-01 3.71961253e+02] [-2.72329425e-01 8.92612433e-01 -3.59276676e-01 -2.00817207e+02] [-7.88070036e-01 7.32147789e-03 6.15542050e-01 -7.85078416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:371.98, Y:-200.83, Z:-785.10 [[ 5.51995867e-01 4.50788759e-01 7.01491310e-01 3.71979623e+02] [-2.71828698e-01 8.92596006e-01 -3.59696441e-01 -2.00825588e+02] [-7.88295453e-01 7.86547964e-03 6.15246627e-01 -7.85104977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.00, Y:-200.83, Z:-785.13 [[ 5.51936855e-01 4.50829760e-01 7.01511394e-01 3.71998158e+02] [-2.71375822e-01 8.92570617e-01 -3.60101178e-01 -2.00832893e+02] [-7.88492785e-01 8.37988039e-03 6.14986915e-01 -7.85131336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.02, Y:-200.84, Z:-785.16 [[ 5.51875110e-01 4.51256897e-01 7.01285303e-01 3.72016224e+02] [-2.71706675e-01 8.92355081e-01 -3.60385755e-01 -2.00840967e+02] [-7.88422061e-01 8.34402997e-03 6.15078069e-01 -7.85157620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.03, Y:-200.85, Z:-785.18 [[ 5.51624667e-01 4.51827495e-01 7.01114928e-01 3.72034650e+02] [-2.72235757e-01 8.92068553e-01 -3.60695702e-01 -2.00848265e+02] [-7.88414815e-01 8.10009303e-03 6.15090618e-01 -7.85183961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:372.05, Y:-200.86, Z:-785.21 [[ 5.51353598e-01 4.52490528e-01 7.00900515e-01 3.72052063e+02] [-2.72945020e-01 8.91735778e-01 -3.60982434e-01 -2.00856443e+02] [-7.88359199e-01 7.72165841e-03 6.15166766e-01 -7.85209064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.536559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:372.07, Y:-200.86, Z:-785.24 [[ 5.51082842e-01 4.53094429e-01 7.00723297e-01 3.72070005e+02] [-2.73568731e-01 8.91431908e-01 -3.61260713e-01 -2.00864939e+02] [-7.88332322e-01 7.38859728e-03 6.15205298e-01 -7.85235197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.09, Y:-200.87, Z:-785.26 [[ 5.50824229e-01 4.53892927e-01 7.00409794e-01 3.72087421e+02] [-2.74553087e-01 8.91030086e-01 -3.61505170e-01 -2.00873040e+02] [-7.88170839e-01 6.82613576e-03 6.15418664e-01 -7.85260427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.11, Y:-200.88, Z:-785.29 [[ 5.50185177e-01 4.55341296e-01 6.99971839e-01 3.72105760e+02] [-2.76709626e-01 8.90301258e-01 -3.61656542e-01 -2.00880365e+02] [-7.87862967e-01 5.28912276e-03 6.15827874e-01 -7.85286342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:372.12, Y:-200.89, Z:-785.31 [[ 5.49846362e-01 4.56461481e-01 6.99508323e-01 3.72123479e+02] [-2.78308899e-01 8.89732926e-01 -3.61827966e-01 -2.00888576e+02] [-7.87536117e-01 4.27039955e-03 6.16253705e-01 -7.85312003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.14, Y:-200.90, Z:-785.34 [[ 5.49405920e-01 4.57650397e-01 6.99077427e-01 3.72141418e+02] [-2.80033621e-01 8.89126777e-01 -3.61987218e-01 -2.00896973e+02] [-7.87232053e-01 3.11273696e-03 6.16649013e-01 -7.85337862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.16, Y:-200.90, Z:-785.36 [[ 5.48828772e-01 4.59178171e-01 6.98528730e-01 3.72159326e+02] [-2.82353878e-01 8.88342922e-01 -3.62109295e-01 -2.00904030e+02] [-7.86805737e-01 1.50370381e-03 6.17198891e-01 -7.85363313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.18, Y:-200.91, Z:-785.39 [[ 5.48387453e-01 4.60011755e-01 6.98326849e-01 3.72177279e+02] [-2.83355664e-01 8.87912417e-01 -3.62382542e-01 -2.00912366e+02] [-7.86753309e-01 8.51171384e-04 6.17266965e-01 -7.85389667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.20, Y:-200.92, Z:-785.41 [[ 5.47921544e-01 4.60929331e-01 6.98087482e-01 3.72195290e+02] [-2.84477686e-01 8.87436835e-01 -3.62668320e-01 -2.00920321e+02] [-7.86673012e-01 1.23474322e-04 6.17369871e-01 -7.85414552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.776559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:372.21, Y:-200.93, Z:-785.44 [[ 5.47189195e-01 4.61365105e-01 6.98373987e-01 3.72213247e+02] [-2.84507699e-01 8.87210369e-01 -3.63198474e-01 -2.00929277e+02] [-7.87171744e-01 4.55046684e-05 6.16733851e-01 -7.85440941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.23, Y:-200.94, Z:-785.47 [[ 5.47165436e-01 4.61706044e-01 6.98167255e-01 3.72231685e+02] [-2.84680418e-01 8.87032981e-01 -3.63496285e-01 -2.00938326e+02] [-7.87125813e-01 1.38057399e-04 6.16792457e-01 -7.85467082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.25, Y:-200.95, Z:-785.49 [[ 5.46629364e-01 4.62076923e-01 6.98341790e-01 3.72249662e+02] [-2.84646818e-01 8.86839829e-01 -3.63993554e-01 -2.00947470e+02] [-7.87510335e-01 1.88796597e-04 6.16301417e-01 -7.85493648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.27, Y:-200.96, Z:-785.52 [[ 5.46511128e-01 4.62065001e-01 6.98442211e-01 3.72267937e+02] [-2.84043667e-01 8.86845711e-01 -3.64450108e-01 -2.00956164e+02] [-7.87810119e-01 7.87952364e-04 6.15917686e-01 -7.85520013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.896559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:372.29, Y:-200.96, Z:-785.54 [[ 5.46530720e-01 4.62227987e-01 6.98319024e-01 3.72285184e+02] [-2.83866320e-01 8.86760386e-01 -3.64795739e-01 -2.00964778e+02] [-7.87860447e-01 1.14282636e-03 6.15852750e-01 -7.85544962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.30, Y:-200.97, Z:-785.57 [[ 5.46799676e-01 4.62092145e-01 6.98198370e-01 3.72303211e+02] [-2.83239485e-01 8.86829910e-01 -3.65113824e-01 -2.00973985e+02] [-7.87899428e-01 1.88677372e-03 6.15801049e-01 -7.85571171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9565599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:372.32, Y:-200.98, Z:-785.60 [[ 5.47135821e-01 4.62149894e-01 6.97896747e-01 3.72320545e+02] [-2.83011936e-01 8.86798599e-01 -3.65366240e-01 -2.00982985e+02] [-7.87747826e-01 2.39184804e-03 6.15993216e-01 -7.85596670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.34, Y:-200.99, Z:-785.62 [[ 5.47301790e-01 4.62424585e-01 6.97584586e-01 3.72338013e+02] [-2.83180598e-01 8.86654972e-01 -3.65584066e-01 -2.00992298e+02] [-7.87571901e-01 2.54239339e-03 6.16217524e-01 -7.85622444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.36, Y:-201.00, Z:-785.65 [[ 5.47728204e-01 4.62766437e-01 6.97022983e-01 3.72355704e+02] [-2.83603465e-01 8.86476373e-01 -3.65689370e-01 -2.01001256e+02] [-7.87123172e-01 2.62024830e-03 6.16790277e-01 -7.85648305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.37, Y:-201.01, Z:-785.68 [[ 5.48121725e-01 4.63450050e-01 6.96259023e-01 3.72373239e+02] [-2.84712666e-01 8.86120292e-01 -3.65690479e-01 -2.01010141e+02] [-7.86448519e-01 2.20913377e-03 6.17651882e-01 -7.85675058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0765599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:372.39, Y:-201.02, Z:-785.70 [[ 5.48369945e-01 4.63887921e-01 6.95771802e-01 3.72390260e+02] [-2.85237907e-01 8.85891281e-01 -3.65835995e-01 -2.01018798e+02] [-7.86085072e-01 2.15297173e-03 6.18114572e-01 -7.85700895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.41, Y:-201.03, Z:-785.73 [[ 5.48854051e-01 4.64435065e-01 6.95024677e-01 3.72407789e+02] [-2.86151018e-01 8.85605143e-01 -3.65815698e-01 -2.01027917e+02] [-7.85415066e-01 1.89740921e-03 6.18966537e-01 -7.85726963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.136559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:372.43, Y:-201.04, Z:-785.75 [[ 5.49284348e-01 4.64799666e-01 6.94440764e-01 3.72425178e+02] [-2.86621082e-01 8.85413732e-01 -3.65911026e-01 -2.01036972e+02] [-7.84942711e-01 1.94783631e-03 6.19565288e-01 -7.85753804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.44, Y:-201.05, Z:-785.78 [[ 5.50145826e-01 4.65111561e-01 6.93549426e-01 3.72441168e+02] [-2.87209430e-01 8.85249643e-01 -3.65846707e-01 -2.01046950e+02] [-7.84123915e-01 2.07510419e-03 6.20600822e-01 -7.85779202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.46, Y:-201.06, Z:-785.80 [[ 5.50395306e-01 4.65486098e-01 6.93100065e-01 3.72458699e+02] [-2.87637963e-01 8.85052759e-01 -3.65986361e-01 -2.01057386e+02] [-7.83791688e-01 2.07528402e-03 6.21020357e-01 -7.85804976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:372.48, Y:-201.07, Z:-785.83 [[ 5.50160382e-01 4.65568499e-01 6.93231222e-01 3.72475834e+02] [-2.87183323e-01 8.85008255e-01 -3.66450716e-01 -2.01068064e+02] [-7.84123264e-01 2.52221965e-03 6.20599988e-01 -7.85830848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.256559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.49, Y:-201.08, Z:-785.86 [[ 5.49867036e-01 4.65831893e-01 6.93287019e-01 3.72493474e+02] [-2.87068561e-01 8.84869081e-01 -3.66876479e-01 -2.01078221e+02] [-7.84371012e-01 2.71237551e-03 6.20286030e-01 -7.85856987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.51, Y:-201.09, Z:-785.88 [[ 5.49259529e-01 4.66245603e-01 6.93490453e-01 3.72510385e+02] [-2.87074071e-01 8.84651160e-01 -3.67397336e-01 -2.01088460e+02] [-7.84794526e-01 2.71336055e-03 6.19750102e-01 -7.85881905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3165599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:372.53, Y:-201.10, Z:-785.91 [[ 5.47561445e-01 4.66559455e-01 6.94621292e-01 3.72526896e+02] [-2.86487123e-01 8.84485897e-01 -3.68252396e-01 -2.01099248e+02] [-7.86194373e-01 2.64075929e-03 6.17973652e-01 -7.85906680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.54, Y:-201.11, Z:-785.93 [[ 5.46454774e-01 4.67383476e-01 6.94938750e-01 3.72543686e+02] [-2.87121457e-01 8.84052423e-01 -3.68798838e-01 -2.01108828e+02] [-7.86732768e-01 2.00005879e-03 6.17290492e-01 -7.85931531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.376559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:372.56, Y:-201.12, Z:-785.96 [[ 5.44746190e-01 4.69215771e-01 6.95045429e-01 3.72560990e+02] [-2.89539754e-01 8.83083546e-01 -3.69229173e-01 -2.01118872e+02] [-7.87031333e-01 -1.07097869e-04 6.16913016e-01 -7.85957291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:372.58, Y:-201.13, Z:-785.98 [[ 5.43719770e-01 4.70678422e-01 6.94860155e-01 3.72578365e+02] [-2.91528584e-01 8.82303291e-01 -3.69529414e-01 -2.01128302e+02] [-7.87006923e-01 -1.65114940e-03 6.16941956e-01 -7.85983442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4365599949999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:372.60, Y:-201.14, Z:-786.01 [[ 5.43661902e-01 4.70988558e-01 6.94695268e-01 3.72596354e+02] [-2.91635908e-01 8.82137991e-01 -3.69839238e-01 -2.01137789e+02] [-7.87007137e-01 -1.53058157e-03 6.16941994e-01 -7.86010017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.61, Y:-201.15, Z:-786.04 [[ 5.42530654e-01 4.72596423e-01 6.94487661e-01 3.72614094e+02] [-2.94165791e-01 8.81271568e-01 -3.69901218e-01 -2.01147150e+02] [-7.86846222e-01 -3.61176194e-03 6.17138541e-01 -7.86036370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.63, Y:-201.16, Z:-786.06 [[ 5.41449064e-01 4.74327875e-01 6.94151264e-01 3.72631136e+02] [-2.96692540e-01 8.80330791e-01 -3.70123270e-01 -2.01155587e+02] [-7.86642516e-01 -5.54660401e-03 6.17383826e-01 -7.86061709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.65, Y:-201.16, Z:-786.09 [[ 5.39606070e-01 4.77482189e-01 6.93423427e-01 3.72648872e+02] [-3.01830297e-01 8.78589158e-01 -3.70107503e-01 -2.01164251e+02] [-7.85954045e-01 -9.58394366e-03 6.18210633e-01 -7.86088415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.67, Y:-201.17, Z:-786.11 [[ 5.38652574e-01 4.79053018e-01 6.93081244e-01 3.72666475e+02] [-3.04101872e-01 8.77713356e-01 -3.70325959e-01 -2.01173263e+02] [-7.85732433e-01 -1.12902725e-02 6.18463478e-01 -7.86114846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.68, Y:-201.18, Z:-786.14 [[ 5.37369271e-01 4.81435786e-01 6.92426062e-01 3.72683858e+02] [-3.07901438e-01 8.76366805e-01 -3.70375387e-01 -2.01181198e+02] [-7.85131181e-01 -1.41706281e-02 6.19167362e-01 -7.86140524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.70, Y:-201.19, Z:-786.17 [[ 5.36812125e-01 4.82613938e-01 6.92037954e-01 3.72701548e+02] [-3.09599441e-01 8.75698773e-01 -3.70539936e-01 -2.01190184e+02] [-7.84844525e-01 -1.53442334e-02 6.19502725e-01 -7.86166983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:372.72, Y:-201.20, Z:-786.19 [[ 5.36555182e-01 4.83553805e-01 6.91580982e-01 3.72719431e+02] [-3.10927130e-01 8.75165876e-01 -3.70687212e-01 -2.01199335e+02] [-7.84495288e-01 -1.61371451e-02 6.19924783e-01 -7.86193281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.74, Y:-201.21, Z:-786.22 [[ 5.35948093e-01 4.84774414e-01 6.91197084e-01 3.72736883e+02] [-3.12646884e-01 8.74467643e-01 -3.70888483e-01 -2.01208803e+02] [-7.84226732e-01 -1.73236396e-02 6.20232476e-01 -7.86219630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:372.75, Y:-201.22, Z:-786.25 [[ 5.35909332e-01 4.85103188e-01 6.90996443e-01 3.72753953e+02] [-3.12793462e-01 8.74287444e-01 -3.71189596e-01 -2.01218289e+02] [-7.84194770e-01 -1.72152014e-02 6.20275906e-01 -7.86245411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.77, Y:-201.23, Z:-786.27 [[ 5.35991340e-01 4.85124352e-01 6.90917975e-01 3.72771564e+02] [-3.12559178e-01 8.74282123e-01 -3.71399420e-01 -2.01228466e+02] [-7.84232137e-01 -1.68858817e-02 6.20237715e-01 -7.86271881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.79, Y:-201.23, Z:-786.30 [[ 5.34949435e-01 4.92144643e-01 6.86747954e-01 3.72786530e+02] [-3.09666266e-01 8.70476726e-01 -3.82592567e-01 -2.01229811e+02] [-7.86088993e-01 -7.99499710e-03 6.18061627e-01 -7.86303574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.81, Y:-201.26, Z:-786.32 [[ 5.36814084e-01 4.75310325e-01 6.97072976e-01 3.72805829e+02] [-3.08459005e-01 8.79577518e-01 -3.62210481e-01 -2.01255701e+02] [-7.85292100e-01 -2.05787493e-02 6.18783349e-01 -7.86319927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.82, Y:-201.26, Z:-786.35 [[ 5.36818035e-01 4.82601372e-01 6.92042133e-01 3.72822813e+02] [-3.06438308e-01 8.75760256e-01 -3.73014125e-01 -2.01259148e+02] [-7.86080124e-01 -1.18275106e-02 6.18011447e-01 -7.86348589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:372.84, Y:-201.27, Z:-786.37 [[ 5.38141854e-01 4.80355035e-01 6.92576628e-01 3.72839267e+02] [-3.01893043e-01 8.77037916e-01 -3.73717921e-01 -2.01270038e+02] [-7.86933248e-01 -7.97081119e-03 6.16986653e-01 -7.86373264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.86, Y:-201.28, Z:-786.40 [[ 5.38969882e-01 4.79360968e-01 6.92621490e-01 3.72856890e+02] [-2.99916330e-01 8.77596254e-01 -3.73998677e-01 -2.01280526e+02] [-7.87122393e-01 -6.15447247e-03 6.16766131e-01 -7.86399566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.87, Y:-201.29, Z:-786.43 [[ 5.39748517e-01 4.78548062e-01 6.92577281e-01 3.72874042e+02] [-2.98101801e-01 8.78050407e-01 -3.74383225e-01 -2.01290956e+02] [-7.87278131e-01 -4.38574429e-03 6.16582444e-01 -7.86425158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.89, Y:-201.30, Z:-786.45 [[ 5.41778071e-01 4.76652209e-01 6.92299930e-01 3.72890317e+02] [-2.94690776e-01 8.79091341e-01 -3.74640843e-01 -2.01301247e+02] [-7.87168259e-01 -1.04221010e-03 6.16737420e-01 -7.86450249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.91, Y:-201.31, Z:-786.48 [[ 5.43150754e-01 4.76093355e-01 6.91608542e-01 3.72907432e+02] [-2.93779793e-01 8.79394691e-01 -3.74644379e-01 -2.01310967e+02] [-7.86562580e-01 3.07762585e-04 6.17510497e-01 -7.86476179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.92, Y:-201.32, Z:-786.50 [[ 5.44153108e-01 4.75703422e-01 6.91088742e-01 3.72924981e+02] [-2.93004727e-01 8.79604569e-01 -3.74758631e-01 -2.01320392e+02] [-7.86158779e-01 1.43380551e-03 6.18022911e-01 -7.86502677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.94, Y:-201.33, Z:-786.53 [[ 5.44793902e-01 4.75611257e-01 6.90647187e-01 3.72942160e+02] [-2.92652853e-01 8.79652987e-01 -3.74919898e-01 -2.01327647e+02] [-7.85845985e-01 2.13420437e-03 6.18418574e-01 -7.86528138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.96, Y:-201.34, Z:-786.55 [[ 5.45291079e-01 4.75770422e-01 6.90145017e-01 3.72959965e+02] [-2.92785998e-01 8.79566143e-01 -3.75019678e-01 -2.01336760e+02] [-7.85451462e-01 2.43008756e-03 6.18918489e-01 -7.86554106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.98, Y:-201.35, Z:-786.58 [[ 5.45729366e-01 4.75871690e-01 6.89728638e-01 3.72977977e+02] [-2.92723727e-01 8.79510073e-01 -3.75199748e-01 -2.01346152e+02] [-7.85170223e-01 2.85758345e-03 6.19273409e-01 -7.86580289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.00, Y:-201.36, Z:-786.61 [[ 5.45911791e-01 4.76023369e-01 6.89479564e-01 3.72996154e+02] [-2.92630485e-01 8.79426775e-01 -3.75467639e-01 -2.01355595e+02] [-7.85078159e-01 3.20947206e-03 6.19388395e-01 -7.86606459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.01, Y:-201.36, Z:-786.63 [[ 5.46491519e-01 4.75705254e-01 6.89239822e-01 3.73013911e+02] [-2.91766316e-01 8.79594501e-01 -3.75747164e-01 -2.01364109e+02] [-7.84996457e-01 4.24567414e-03 6.19485704e-01 -7.86632665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.03, Y:-201.37, Z:-786.66 [[ 5.46661712e-01 4.75740936e-01 6.89080209e-01 3.73031149e+02] [-2.91415260e-01 8.79572487e-01 -3.76070985e-01 -2.01372746e+02] [-7.85008356e-01 4.77512039e-03 6.19466770e-01 -7.86658283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.05, Y:-201.38, Z:-786.68 [[ 5.46844958e-01 4.75906035e-01 6.88820759e-01 3.73049272e+02] [-2.91380272e-01 8.79481490e-01 -3.76310837e-01 -2.01381799e+02] [-7.84893706e-01 5.07490378e-03 6.19609648e-01 -7.86684619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.07, Y:-201.39, Z:-786.71 [[ 5.46725993e-01 4.75927372e-01 6.88900446e-01 3.73067617e+02] [-2.90842776e-01 8.79466608e-01 -3.76761152e-01 -2.01389715e+02] [-7.85175884e-01 5.62339688e-03 6.19247292e-01 -7.86710828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.09, Y:-201.40, Z:-786.74 [[ 5.46817625e-01 4.76083808e-01 6.88719605e-01 3.73085687e+02] [-2.90709908e-01 8.79379656e-01 -3.77066533e-01 -2.01398469e+02] [-7.85161280e-01 5.96901325e-03 6.19262574e-01 -7.86736531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.10, Y:-201.41, Z:-786.76 [[ 5.46668251e-01 4.76575569e-01 6.88498040e-01 3.73104574e+02] [-2.91148175e-01 8.79114186e-01 -3.77347305e-01 -2.01407123e+02] [-7.85102900e-01 5.82884300e-03 6.19337921e-01 -7.86762556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.12, Y:-201.42, Z:-786.79 [[ 5.46350975e-01 4.76901940e-01 6.88523893e-01 3.73122630e+02] [-2.91148480e-01 8.78936521e-01 -3.77760711e-01 -2.01415965e+02] [-7.85323611e-01 5.92724797e-03 6.19057100e-01 -7.86789041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.14, Y:-201.43, Z:-786.81 [[ 5.47083789e-01 4.75258782e-01 6.89077948e-01 3.73141287e+02] [-2.91105176e-01 8.79832152e-01 -3.75703554e-01 -2.01426360e+02] [-7.84829347e-01 4.94716669e-03 6.19692199e-01 -7.86812913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.16, Y:-201.43, Z:-786.84 [[ 5.46580989e-01 4.77788402e-01 6.87726302e-01 3.73158655e+02] [-2.91144998e-01 8.78448088e-01 -3.78897806e-01 -2.01433197e+02] [-7.85164832e-01 6.87026523e-03 6.19248728e-01 -7.86840438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.18, Y:-201.44, Z:-786.87 [[ 5.45950786e-01 4.78832788e-01 6.87500473e-01 3.73176246e+02] [-2.91259664e-01 8.77875828e-01 -3.80133975e-01 -2.01440163e+02] [-7.85560658e-01 7.29328576e-03 6.18741675e-01 -7.86865191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4565599949999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:373.20, Y:-201.46, Z:-786.89 [[ 5.47083237e-01 4.70369759e-01 6.92424886e-01 3.73197047e+02] [-2.92102670e-01 8.82469249e-01 -3.68678797e-01 -2.01458149e+02] [-7.84459026e-01 -5.61168475e-04 6.20180395e-01 -7.86886685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.22, Y:-201.47, Z:-786.91 [[ 5.46938337e-01 4.71822224e-01 6.91550609e-01 3.73217267e+02] [-2.93661306e-01 8.81693020e-01 -3.69297246e-01 -2.01468168e+02] [-7.83977993e-01 -1.09883332e-03 6.20787644e-01 -7.86911369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.23, Y:-201.44, Z:-786.95 [[ 5.43758467e-01 5.02378816e-01 6.72266506e-01 3.73228334e+02] [-2.90059005e-01 8.64175011e-01 -4.11177972e-01 -2.01444322e+02] [-7.87523018e-01 2.85845503e-02 6.15621979e-01 -7.86949354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.25, Y:-201.50, Z:-786.96 [[ 5.47151268e-01 4.58822427e-01 7.00076760e-01 3.73253616e+02] [-2.93370255e-01 8.88443635e-01 -3.52989803e-01 -2.01496513e+02] [-7.83938380e-01 -1.22428795e-02 6.20717914e-01 -7.86957457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.26, Y:-201.46, Z:-787.00 [[ 5.43667265e-01 5.04124245e-01 6.71032526e-01 3.73263467e+02] [-2.90029337e-01 8.63104515e-01 -4.13441144e-01 -2.01460641e+02] [-7.87596908e-01 3.01552976e-02 6.15452491e-01 -7.87000526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.29, Y:-201.52, Z:-787.01 [[ 5.48411487e-01 4.54783453e-01 7.01724199e-01 3.73291367e+02] [-2.94108034e-01 8.90459271e-01 -3.47250271e-01 -2.01518180e+02] [-7.82780496e-01 -1.59466877e-02 6.22093560e-01 -7.87005576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.636559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:373.31, Y:-201.50, Z:-787.04 [[ 5.48407293e-01 4.86917619e-01 6.79824002e-01 3.73307996e+02] [-2.93855831e-01 8.73347046e-01 -3.88476110e-01 -2.01499951e+02] [-7.82878147e-01 1.32728852e-02 6.22033470e-01 -7.87040826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.32, Y:-201.49, Z:-787.08 [[ 5.44865724e-01 5.04241928e-01 6.69971209e-01 3.73318293e+02] [-2.91199074e-01 8.63048441e-01 -4.12735372e-01 -2.01488294e+02] [-7.86336087e-01 2.97903610e-02 6.17080296e-01 -7.87076062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.34, Y:-201.53, Z:-787.09 [[ 5.47348420e-01 4.68208758e-01 6.93678792e-01 3.73340783e+02] [-2.93668086e-01 8.83608362e-01 -3.64685231e-01 -2.01530544e+02] [-7.83689200e-01 -4.10143817e-03 6.21139611e-01 -7.87088210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.35, Y:-201.51, Z:-787.12 [[ 5.45136444e-01 4.94636145e-01 6.76876164e-01 3.73353570e+02] [-2.92546757e-01 8.68877445e-01 -3.99334923e-01 -2.01513655e+02] [-7.85647919e-01 1.96740937e-02 6.18360961e-01 -7.87124766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.756559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:373.37, Y:-201.53, Z:-787.15 [[ 5.44421119e-01 4.80625069e-01 6.87462864e-01 3.73371582e+02] [-2.93651862e-01 8.76910238e-01 -3.80522035e-01 -2.01534722e+02] [-7.85731653e-01 5.28948219e-03 6.18544899e-01 -7.87146684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.39, Y:-201.54, Z:-787.17 [[ 5.43721251e-01 4.81402023e-01 6.87473122e-01 3.73389574e+02] [-2.94389611e-01 8.76487131e-01 -3.80926588e-01 -2.01543845e+02] [-7.85940175e-01 4.73293579e-03 6.18284434e-01 -7.87173161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8165599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:373.41, Y:-201.55, Z:-787.20 [[ 5.43139484e-01 4.82135289e-01 6.87419133e-01 3.73407314e+02] [-2.95103242e-01 8.76086531e-01 -3.81295773e-01 -2.01552762e+02] [-7.86074792e-01 4.23717458e-03 6.18116873e-01 -7.87199405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.42, Y:-201.56, Z:-787.23 [[ 5.42687480e-01 4.82938244e-01 6.87212450e-01 3.73424934e+02] [-2.96039502e-01 8.75646863e-01 -3.81579855e-01 -2.01561908e+02] [-7.86034931e-01 3.63657839e-03 6.18171386e-01 -7.87225100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.876559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:373.44, Y:-201.57, Z:-787.25 [[ 5.41800863e-01 4.84248444e-01 6.86990007e-01 3.73442718e+02] [-2.97792668e-01 8.74927476e-01 -3.81865735e-01 -2.01571398e+02] [-7.85984320e-01 2.31459755e-03 6.18242098e-01 -7.87251575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.46, Y:-201.58, Z:-787.28 [[ 5.41393915e-01 4.85123455e-01 6.86693427e-01 3.73460198e+02] [-2.98883612e-01 8.74444141e-01 -3.82120440e-01 -2.01580739e+02] [-7.85850632e-01 1.63626877e-03 6.18414187e-01 -7.87276975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.48, Y:-201.58, Z:-787.31 [[ 5.39629215e-01 4.91142449e-01 6.83797781e-01 3.73476234e+02] [-2.97980192e-01 8.71051481e-01 -3.90483192e-01 -2.01583316e+02] [-7.87405941e-01 6.95794401e-03 6.16395548e-01 -7.87305895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.50, Y:-201.61, Z:-787.33 [[ 5.39023739e-01 4.78546755e-01 6.93142418e-01 3.73495197e+02] [-3.01159480e-01 8.78023464e-01 -3.71991619e-01 -2.01606071e+02] [-7.86610689e-01 -8.23409665e-03 6.17394383e-01 -7.87325214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.51, Y:-201.61, Z:-787.35 [[ 5.37819602e-01 4.87957645e-01 6.87493573e-01 3.73512125e+02] [-3.01986232e-01 8.72866063e-01 -3.83287297e-01 -2.01608256e+02] [-7.87117775e-01 -1.47417176e-03 6.16800969e-01 -7.87353140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:373.53, Y:-201.61, Z:-787.38 [[ 5.36213503e-01 4.96077955e-01 6.82921476e-01 3.73527954e+02] [-3.01342363e-01 8.68260378e-01 -3.94102393e-01 -2.01609617e+02] [-7.88459168e-01 5.52985312e-03 6.15062242e-01 -7.87382947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.55, Y:-201.63, Z:-787.40 [[ 5.36083644e-01 4.80259007e-01 6.94237433e-01 3.73546122e+02] [-3.03882268e-01 8.77051260e-01 -3.72070766e-01 -2.01634562e+02] [-7.87572152e-01 -1.15053932e-02 6.16115032e-01 -7.87401092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.56, Y:-201.64, Z:-787.43 [[ 5.35282185e-01 4.90612004e-01 6.87584790e-01 3.73563106e+02] [-3.04576897e-01 8.71370976e-01 -3.84636888e-01 -2.01636317e+02] [-7.87848904e-01 -3.53316800e-03 6.15858442e-01 -7.87429760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.58, Y:-201.65, Z:-787.46 [[ 5.34737291e-01 4.91322612e-01 6.87501361e-01 3.73580636e+02] [-3.05307665e-01 8.70968286e-01 -3.84969447e-01 -2.01646252e+02] [-7.87936076e-01 -4.04191587e-03 6.15743781e-01 -7.87455837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.60, Y:-201.66, Z:-787.48 [[ 5.34160216e-01 4.92183242e-01 6.87334359e-01 3.73598230e+02] [-3.06289590e-01 8.70478857e-01 -3.85296310e-01 -2.01656068e+02] [-7.87946414e-01 -4.71339935e-03 6.15725778e-01 -7.87482234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1765599949999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:373.61, Y:-201.65, Z:-787.51 [[ 5.31148828e-01 5.03805482e-01 6.81220199e-01 3.73613324e+02] [-3.06659336e-01 8.63810367e-01 -3.99739543e-01 -2.01654959e+02] [-7.89836043e-01 3.41865645e-03 6.13308518e-01 -7.87514116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.63, Y:-201.68, Z:-787.53 [[ 5.32345747e-01 4.85166666e-01 6.93701169e-01 3.73632505e+02] [-3.09655790e-01 8.74278919e-01 -3.73831064e-01 -2.01681765e+02] [-7.87858679e-01 -1.58012067e-02 6.15653331e-01 -7.87529882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.65, Y:-201.68, Z:-787.56 [[ 5.31338851e-01 4.95764479e-01 6.86947310e-01 3.73649681e+02] [-3.11086807e-01 8.68414969e-01 -3.86109363e-01 -2.01683699e+02] [-7.87974634e-01 -8.54533978e-03 6.15648401e-01 -7.87558449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.67, Y:-201.69, Z:-787.58 [[ 5.30331661e-01 4.96866226e-01 6.86929606e-01 3.73667512e+02] [-3.12406746e-01 8.67773646e-01 -3.86485348e-01 -2.01693374e+02] [-7.88130925e-01 -9.63602668e-03 6.15432200e-01 -7.87584398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.69, Y:-201.70, Z:-787.61 [[ 5.30131755e-01 4.97428280e-01 6.86677091e-01 3.73685140e+02] [-3.12971439e-01 8.67448865e-01 -3.86757476e-01 -2.01703379e+02] [-7.88041370e-01 -9.87789806e-03 6.15543034e-01 -7.87610641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.70, Y:-201.71, Z:-787.64 [[ 5.29951009e-01 4.97795918e-01 6.86550182e-01 3.73702217e+02] [-3.13126989e-01 8.67238470e-01 -3.87103249e-01 -2.01712981e+02] [-7.88101146e-01 -9.83163390e-03 6.15467239e-01 -7.87636209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.72, Y:-201.72, Z:-787.66 [[ 5.29886525e-01 4.98093559e-01 6.86384060e-01 3.73719970e+02] [-3.13232719e-01 8.67068801e-01 -3.87397673e-01 -2.01722914e+02] [-7.88102490e-01 -9.72113870e-03 6.15467274e-01 -7.87662781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.74, Y:-201.73, Z:-787.69 [[ 5.30188695e-01 4.98288265e-01 6.86009294e-01 3.73736993e+02] [-3.13582888e-01 8.66956665e-01 -3.87365350e-01 -2.01732871e+02] [-7.87759938e-01 -9.74404667e-03 6.15905296e-01 -7.87688395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.75, Y:-201.74, Z:-787.71 [[ 5.30796836e-01 4.98480245e-01 6.85399274e-01 3.73754084e+02] [-3.13833557e-01 8.66849340e-01 -3.87402529e-01 -2.01742253e+02] [-7.87250416e-01 -9.46925513e-03 6.16560715e-01 -7.87714308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.77, Y:-201.75, Z:-787.74 [[ 5.31456242e-01 4.98708712e-01 6.84721756e-01 3.73771727e+02] [-3.14163507e-01 8.66720648e-01 -3.87423036e-01 -2.01751740e+02] [-7.86673728e-01 -9.21619748e-03 6.17300176e-01 -7.87740694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4765599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:373.79, Y:-201.76, Z:-787.77 [[ 5.32709311e-01 4.98617201e-01 6.83814066e-01 3.73788362e+02] [-3.14114246e-01 8.66780983e-01 -3.87327984e-01 -2.01761382e+02] [-7.85845424e-01 -8.46251658e-03 6.18365066e-01 -7.87766617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.81, Y:-201.77, Z:-787.79 [[ 5.33100515e-01 4.98815083e-01 6.83364731e-01 3.73805448e+02] [-3.14421613e-01 8.66667943e-01 -3.87331546e-01 -2.01771711e+02] [-7.85457122e-01 -8.37799435e-03 6.18859369e-01 -7.87792191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.82, Y:-201.78, Z:-787.82 [[ 5.33468929e-01 4.98868847e-01 6.83037902e-01 3.73822176e+02] [-3.14205775e-01 8.66641843e-01 -3.87565022e-01 -2.01781618e+02] [-7.85293342e-01 -7.86055573e-03 6.19073968e-01 -7.87817628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.84, Y:-201.79, Z:-787.84 [[ 5.34272842e-01 4.98519341e-01 6.82664630e-01 3.73839100e+02] [-3.13405822e-01 8.66851979e-01 -3.87742746e-01 -2.01792925e+02] [-7.85066443e-01 -6.79065087e-03 6.19374335e-01 -7.87842860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.86, Y:-201.80, Z:-787.87 [[ 5.34316018e-01 4.98477340e-01 6.82661508e-01 3.73856286e+02] [-3.12854617e-01 8.66880607e-01 -3.88123694e-01 -2.01803636e+02] [-7.85256889e-01 -6.19309837e-03 6.19139131e-01 -7.87868956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.87, Y:-201.81, Z:-787.89 [[ 5.34490885e-01 4.98319694e-01 6.82639712e-01 3.73873715e+02] [-3.12100121e-01 8.66976582e-01 -3.88516564e-01 -2.01814198e+02] [-7.85438100e-01 -5.39337439e-03 6.18916717e-01 -7.87894963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.89, Y:-201.82, Z:-787.92 [[ 5.34564514e-01 4.98195662e-01 6.82672588e-01 3.73890714e+02] [-3.11347969e-01 8.67052277e-01 -3.88950885e-01 -2.01824648e+02] [-7.85686466e-01 -4.62938278e-03 6.18607587e-01 -7.87920725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.91, Y:-201.84, Z:-787.95 [[ 5.34963284e-01 4.97663641e-01 6.82748259e-01 3.73907102e+02] [-3.09905671e-01 8.67363946e-01 -3.89407575e-01 -2.01836038e+02] [-7.85985216e-01 -3.26880275e-03 6.18236650e-01 -7.87945763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.92, Y:-201.85, Z:-787.97 [[ 5.35027106e-01 4.97582861e-01 6.82757125e-01 3.73924143e+02] [-3.09279754e-01 8.67412519e-01 -3.89796812e-01 -2.01846543e+02] [-7.86188291e-01 -2.61109552e-03 6.17981515e-01 -7.87971931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.94, Y:-201.86, Z:-788.00 [[ 5.35223420e-01 4.97682653e-01 6.82530489e-01 3.73941361e+02] [-3.09086854e-01 8.67356447e-01 -3.90074493e-01 -2.01857404e+02] [-7.86130529e-01 -2.18419749e-03 6.18056649e-01 -7.87998168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:-201.87, Z:-788.02 [[ 5.35413231e-01 4.97822849e-01 6.82279330e-01 3.73958432e+02] [-3.08981118e-01 8.67276828e-01 -3.90335206e-01 -2.01868078e+02] [-7.86042837e-01 -1.82079628e-03 6.18169348e-01 -7.88024007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.97, Y:-201.88, Z:-788.05 [[ 5.35945878e-01 4.97711360e-01 6.81942386e-01 3.73974753e+02] [-3.08514273e-01 8.67342064e-01 -3.90559454e-01 -2.01879269e+02] [-7.85863194e-01 -1.07022993e-03 6.18399463e-01 -7.88049448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.99, Y:-201.89, Z:-788.08 [[ 5.36010768e-01 4.98055822e-01 6.81639828e-01 3.73991491e+02] [-3.08798450e-01 8.67144358e-01 -3.90773822e-01 -2.01890209e+02] [-7.85707308e-01 -1.03034609e-03 6.18597579e-01 -7.88075731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.01, Y:-201.90, Z:-788.10 [[ 5.36660465e-01 4.98364381e-01 6.80902702e-01 3.74007308e+02] [-3.09297466e-01 8.66967216e-01 -3.90772216e-01 -2.01901974e+02] [-7.85067273e-01 -8.89481844e-04 6.19409869e-01 -7.88101714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.02, Y:-201.91, Z:-788.13 [[ 5.36970718e-01 4.98809317e-01 6.80332062e-01 3.74023833e+02] [-3.09897325e-01 8.66711234e-01 -3.90864791e-01 -2.01912589e+02] [-7.84618440e-01 -9.50138271e-04 6.19978226e-01 -7.88127465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.04, Y:-201.92, Z:-788.15 [[ 5.37121476e-01 4.99318422e-01 6.79839418e-01 3.74040695e+02] [-3.10581637e-01 8.66417798e-01 -3.90972181e-01 -2.01923485e+02] [-7.84244583e-01 -1.14608422e-03 6.20450739e-01 -7.88153678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.06, Y:-201.93, Z:-788.18 [[ 5.37115452e-01 4.99893438e-01 6.79421476e-01 3.74057084e+02] [-3.11282607e-01 8.66085788e-01 -3.91150286e-01 -2.01934077e+02] [-7.83970746e-01 -1.39922546e-03 6.20796192e-01 -7.88179087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.07, Y:-201.95, Z:-788.20 [[ 5.36601040e-01 5.00949956e-01 6.79049678e-01 3.74073429e+02] [-3.12763972e-01 8.65472933e-01 -3.91325058e-01 -2.01945951e+02] [-7.83733387e-01 -2.39684090e-03 6.21092774e-01 -7.88204857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.016559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.09, Y:-201.96, Z:-788.23 [[ 5.36255014e-01 5.01589793e-01 6.78850675e-01 3.74089488e+02] [-3.13418718e-01 8.65101203e-01 -3.91623053e-01 -2.01956068e+02] [-7.83708662e-01 -2.75468199e-03 6.21122488e-01 -7.88230448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.11, Y:-201.97, Z:-788.26 [[ 5.36056258e-01 5.02268552e-01 6.78505704e-01 3.74106039e+02] [-3.14441457e-01 8.64705047e-01 -3.91678123e-01 -2.01966793e+02] [-7.83434910e-01 -3.38881350e-03 6.21464607e-01 -7.88256323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.12, Y:-201.98, Z:-788.28 [[ 5.35467264e-01 5.02959477e-01 6.78458969e-01 3.74121845e+02] [-3.15066915e-01 8.64301545e-01 -3.92065911e-01 -2.01977263e+02] [-7.83586401e-01 -3.82151337e-03 6.21271075e-01 -7.88281776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.14, Y:-201.99, Z:-788.31 [[ 5.34568494e-01 5.03819430e-01 6.78529665e-01 3.74137991e+02] [-3.15917653e-01 8.63797038e-01 -3.92492947e-01 -2.01989842e+02] [-7.83857488e-01 -4.54513556e-03 6.20924134e-01 -7.88307626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.136559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:374.15, Y:-202.00, Z:-788.33 [[ 5.33848567e-01 5.04514850e-01 6.78579748e-01 3.74154498e+02] [-3.16484836e-01 8.63388580e-01 -3.92934484e-01 -2.02000893e+02] [-7.84119287e-01 -4.99268899e-03 6.20590056e-01 -7.88333276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.17, Y:-202.01, Z:-788.36 [[ 5.32577985e-01 5.05367529e-01 6.78943555e-01 3.74171018e+02] [-3.17080075e-01 8.62885517e-01 -3.93559158e-01 -2.02011725e+02] [-7.84742580e-01 -5.67853046e-03 6.19795804e-01 -7.88358904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.19, Y:-202.02, Z:-788.38 [[ 5.30219366e-01 5.07235023e-01 6.79396832e-01 3.74188134e+02] [-3.19295223e-01 8.61771458e-01 -3.94208720e-01 -2.02022152e+02] [-7.85441268e-01 -7.91106558e-03 6.18885635e-01 -7.88384188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.21, Y:-202.03, Z:-788.41 [[ 5.28966125e-01 5.08476697e-01 6.79445573e-01 3.74205107e+02] [-3.20965037e-01 8.61024343e-01 -3.94485140e-01 -2.02032129e+02] [-7.85605680e-01 -9.40899771e-03 6.18655952e-01 -7.88410143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.256559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:374.22, Y:-202.02, Z:-788.45 [[ 5.24270037e-01 5.27297622e-01 6.68653981e-01 3.74216124e+02] [-3.19125669e-01 8.49654137e-01 -4.19817407e-01 -2.02018009e+02] [-7.89493341e-01 6.71303878e-03 6.13722412e-01 -7.88445539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.24, Y:-202.07, Z:-788.45 [[ 5.26998468e-01 4.82222725e-01 6.99809873e-01 3.74239320e+02] [-3.25058608e-01 8.75195121e-01 -3.58288154e-01 -2.02074794e+02] [-7.85244877e-01 -3.86619145e-02 6.17977135e-01 -7.88450970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.26, Y:-202.06, Z:-788.49 [[ 5.25985585e-01 5.12278895e-01 6.78903159e-01 3.74255332e+02] [-3.26043223e-01 8.58714589e-01 -3.95354362e-01 -2.02060738e+02] [-7.85515742e-01 -1.34010783e-02 6.18696557e-01 -7.88486820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.27, Y:-202.07, Z:-788.51 [[ 5.25821728e-01 5.12684577e-01 6.78723828e-01 3.74272427e+02] [-3.26309610e-01 8.58472041e-01 -3.95661211e-01 -2.02070332e+02] [-7.85514830e-01 -1.34268462e-02 6.18697156e-01 -7.88513133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.29, Y:-202.08, Z:-788.54 [[ 5.26347056e-01 5.12846993e-01 6.78193732e-01 3.74289689e+02] [-3.26423573e-01 8.58380557e-01 -3.95765676e-01 -2.02079480e+02] [-7.85115550e-01 -1.30683229e-02 6.19211428e-01 -7.88539209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:374.31, Y:-202.09, Z:-788.56 [[ 5.26405070e-01 5.12958833e-01 6.78064111e-01 3.74306480e+02] [-3.26175031e-01 8.58319885e-01 -3.96102038e-01 -2.02088726e+02] [-7.85179949e-01 -1.26574613e-02 6.19138302e-01 -7.88564501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.32, Y:-202.10, Z:-788.59 [[ 5.26632259e-01 5.13063855e-01 6.77808192e-01 3.74323946e+02] [-3.26042189e-01 8.58262722e-01 -3.96335201e-01 -2.02098420e+02] [-7.85082770e-01 -1.22711642e-02 6.19269298e-01 -7.88590492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.34, Y:-202.11, Z:-788.62 [[ 5.27190349e-01 5.12865071e-01 6.77524727e-01 3.74341835e+02] [-3.25393205e-01 8.58393716e-01 -3.96584784e-01 -2.02107562e+02] [-7.84977451e-01 -1.13862719e-02 6.19419692e-01 -7.88617077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.36, Y:-202.12, Z:-788.64 [[ 5.27374346e-01 5.12933434e-01 6.77329751e-01 3.74358973e+02] [-3.25121091e-01 8.58359074e-01 -3.96882824e-01 -2.02116985e+02] [-7.84966608e-01 -1.09083680e-02 6.19442033e-01 -7.88642796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.38, Y:-202.13, Z:-788.67 [[ 5.27485702e-01 5.12857721e-01 6.77300371e-01 3.74376840e+02] [-3.24533325e-01 8.58412266e-01 -3.97248667e-01 -2.02126917e+02] [-7.85134992e-01 -1.02635499e-02 6.19239617e-01 -7.88669110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.39, Y:-202.14, Z:-788.70 [[ 5.27593888e-01 5.12775854e-01 6.77278091e-01 3.74394522e+02] [-3.23895481e-01 8.58469165e-01 -3.97646087e-01 -2.02136888e+02] [-7.85325669e-01 -9.57166755e-03 6.19008866e-01 -7.88695285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.41, Y:-202.15, Z:-788.72 [[ 5.28451357e-01 5.11748314e-01 6.77386763e-01 3.74411407e+02] [-3.21624152e-01 8.59102884e-01 -3.98120761e-01 -2.02146243e+02] [-7.85682549e-01 -7.47648684e-03 6.18584702e-01 -7.88721753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.43, Y:-202.16, Z:-788.75 [[ 5.29229657e-01 5.11372607e-01 6.77062794e-01 3.74427900e+02] [-3.20714584e-01 8.59335824e-01 -3.98351725e-01 -2.02155876e+02] [-7.85530474e-01 -6.32436576e-03 6.18790656e-01 -7.88747015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.44, Y:-202.17, Z:-788.77 [[ 5.29960441e-01 5.10975279e-01 6.76791102e-01 3.74444705e+02] [-3.19771794e-01 8.59579768e-01 -3.98583269e-01 -2.02165704e+02] [-7.85422135e-01 -5.18533998e-03 6.18938755e-01 -7.88773298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.46, Y:-202.18, Z:-788.80 [[ 5.31428403e-01 5.10019378e-01 6.76360914e-01 3.74461064e+02] [-3.18005816e-01 8.60157036e-01 -3.98750767e-01 -2.02175244e+02] [-7.85147218e-01 -3.17922089e-03 6.19301009e-01 -7.88799235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.48, Y:-202.19, Z:-788.83 [[ 5.31843215e-01 5.10002821e-01 6.76047275e-01 3.74478274e+02] [-3.17713650e-01 8.60168780e-01 -3.98958277e-01 -2.02185453e+02] [-7.84984606e-01 -2.60619440e-03 6.19509787e-01 -7.88825524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.50, Y:-202.20, Z:-788.85 [[ 5.31999225e-01 5.10179369e-01 6.75791267e-01 3.74495030e+02] [-3.17658747e-01 8.60064997e-01 -3.99225653e-01 -2.02195360e+02] [-7.84901106e-01 -2.28326933e-03 6.19616850e-01 -7.88851298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.51, Y:-202.20, Z:-788.88 [[ 5.32046618e-01 5.10480719e-01 6.75526337e-01 3.74512923e+02] [-3.17850220e-01 8.59886421e-01 -3.99457858e-01 -2.02204965e+02] [-7.84791459e-01 -2.18599249e-03 6.19756071e-01 -7.88877743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.53, Y:-202.21, Z:-788.90 [[ 5.31309225e-01 5.11185467e-01 6.75573775e-01 3.74530313e+02] [-3.18428675e-01 8.59466341e-01 -3.99900973e-01 -2.02214929e+02] [-7.85056486e-01 -2.65098543e-03 6.19418506e-01 -7.88904276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.55, Y:-202.22, Z:-788.93 [[ 5.30547092e-01 5.12004429e-01 6.75552550e-01 3.74547760e+02] [-3.19245881e-01 8.58976513e-01 -4.00301657e-01 -2.02224806e+02] [-7.85239995e-01 -3.28848874e-03 6.19182797e-01 -7.88930706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.57, Y:-202.23, Z:-788.96 [[ 5.29315175e-01 5.13147265e-01 6.75651782e-01 3.74565471e+02] [-3.20503110e-01 8.58289228e-01 -4.00770955e-01 -2.02234883e+02] [-7.85559165e-01 -4.41434880e-03 6.18770807e-01 -7.88957187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.58, Y:-202.24, Z:-788.98 [[ 5.26824366e-01 5.15468596e-01 6.75831499e-01 3.74583262e+02] [-3.23606727e-01 8.56877458e-01 -4.01297530e-01 -2.02244348e+02] [-7.85961051e-01 -7.29030309e-03 6.18233029e-01 -7.88983509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.60, Y:-202.25, Z:-789.01 [[ 5.25678736e-01 5.16610935e-01 6.75851322e-01 3.74600935e+02] [-3.24919534e-01 8.56178886e-01 -4.01727534e-01 -2.02254358e+02] [-7.86186469e-01 -8.41767425e-03 6.17932018e-01 -7.89009917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.62, Y:-202.26, Z:-789.04 [[ 5.24374045e-01 5.17679637e-01 6.76047080e-01 3.74618143e+02] [-3.25988388e-01 8.55522363e-01 -4.02259939e-01 -2.02264011e+02] [-7.86615174e-01 -9.44882631e-03 6.17371272e-01 -7.89035934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.64, Y:-202.27, Z:-789.06 [[ 5.23170945e-01 5.18778942e-01 6.76136504e-01 3.74635717e+02] [-3.27176413e-01 8.54843752e-01 -4.02737823e-01 -2.02273873e+02] [-7.86922968e-01 -1.05151883e-02 6.16961647e-01 -7.89062552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.65, Y:-202.28, Z:-789.09 [[ 5.21058836e-01 5.20548748e-01 6.76407193e-01 3.74653227e+02] [-3.29335551e-01 8.53738818e-01 -4.03321367e-01 -2.02282501e+02] [-7.87423510e-01 -1.26107734e-02 6.16283364e-01 -7.89088548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.67, Y:-202.29, Z:-789.11 [[ 5.19936296e-01 5.21597813e-01 6.76462837e-01 3.74670099e+02] [-3.30472336e-01 8.53082888e-01 -4.03779175e-01 -2.02291681e+02] [-7.87689205e-01 -1.36128056e-02 6.15922405e-01 -7.89114577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.69, Y:-202.30, Z:-789.14 [[ 5.19255170e-01 5.23044867e-01 6.75868431e-01 3.74688315e+02] [-3.32773314e-01 8.52169137e-01 -4.03818874e-01 -2.02300196e+02] [-7.87169607e-01 -1.52259397e-02 6.16548604e-01 -7.89141297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.71, Y:-202.31, Z:-789.17 [[ 5.18882043e-01 5.23795164e-01 6.75573868e-01 3.74705401e+02] [-3.33683312e-01 8.51698308e-01 -4.04061183e-01 -2.02309068e+02] [-7.87030414e-01 -1.57676339e-02 6.16712664e-01 -7.89167604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.72, Y:-202.31, Z:-789.20 [[ 5.17443218e-01 5.32590771e-01 6.69775774e-01 3.74720319e+02] [-3.33066106e-01 8.46335152e-01 -4.15672684e-01 -2.02309696e+02] [-7.88238217e-01 -7.99259791e-03 6.15318318e-01 -7.89199429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.156559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:374.74, Y:-202.33, Z:-789.22 [[ 5.19701133e-01 5.16682079e-01 6.80404558e-01 3.74739090e+02] [-3.35717669e-01 8.55842804e-01 -3.93480295e-01 -2.02334418e+02] [-7.85623561e-01 -2.39316768e-02 6.18241778e-01 -7.89216004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.76, Y:-202.34, Z:-789.24 [[ 5.19493370e-01 5.25228952e-01 6.73989011e-01 3.74756355e+02] [-3.35952113e-01 8.50800680e-01 -4.04072247e-01 -2.02337337e+02] [-7.85660751e-01 -1.65151794e-02 6.18437089e-01 -7.89244716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.77, Y:-202.35, Z:-789.27 [[ 5.19714960e-01 5.25369104e-01 6.73708888e-01 3.74772850e+02] [-3.35851577e-01 8.50721463e-01 -4.04322533e-01 -2.02346810e+02] [-7.85557178e-01 -1.61337238e-02 6.18578713e-01 -7.89269910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.79, Y:-202.36, Z:-789.30 [[ 5.19645097e-01 5.25659268e-01 6.73536418e-01 3.74790324e+02] [-3.35954480e-01 8.50544274e-01 -4.04609721e-01 -2.02357221e+02] [-7.85559394e-01 -1.60241191e-02 6.18578747e-01 -7.89296482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.81, Y:-202.37, Z:-789.32 [[ 5.20704140e-01 5.24812322e-01 6.73378961e-01 3.74807251e+02] [-3.34454963e-01 8.51094650e-01 -4.04694669e-01 -2.02367218e+02] [-7.85497980e-01 -1.44887465e-02 6.18694594e-01 -7.89322642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.82, Y:-202.38, Z:-789.35 [[ 5.21484701e-01 5.24235071e-01 6.73224552e-01 3.74824150e+02] [-3.33099740e-01 8.51473723e-01 -4.05014892e-01 -2.02377230e+02] [-7.85556026e-01 -1.30418539e-02 6.18653086e-01 -7.89348787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.84, Y:-202.39, Z:-789.38 [[ 5.22483939e-01 5.23241239e-01 6.73222949e-01 3.74841519e+02] [-3.30946612e-01 8.52114016e-01 -4.05433155e-01 -2.02387690e+02] [-7.85802057e-01 -1.09685424e-02 6.18380804e-01 -7.89375270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.86, Y:-202.40, Z:-789.40 [[ 5.23744023e-01 5.22011565e-01 6.73198428e-01 3.74857677e+02] [-3.28414877e-01 8.52895773e-01 -4.05847841e-01 -2.02398330e+02] [-7.86025361e-01 -8.52799775e-03 6.18135427e-01 -7.89400855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.87, Y:-202.41, Z:-789.43 [[ 5.27236378e-01 5.18155404e-01 6.73451394e-01 3.74873502e+02] [-3.21448003e-01 8.55283632e-01 -4.06400161e-01 -2.02410755e+02] [-7.86570393e-01 -2.21065689e-03 6.17496664e-01 -7.89426235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.89, Y:-202.42, Z:-789.45 [[ 5.29111041e-01 5.16188640e-01 6.73491496e-01 3.74889788e+02] [-3.17738301e-01 8.56474002e-01 -4.06810344e-01 -2.02421997e+02] [-7.86818835e-01 1.25380114e-03 6.17182752e-01 -7.89452192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.91, Y:-202.43, Z:-789.48 [[ 5.31091688e-01 5.14174388e-01 6.73473324e-01 3.74905767e+02] [-3.13951307e-01 8.57672027e-01 -4.07226315e-01 -2.02433019e+02] [-7.87004572e-01 4.83668096e-03 6.16928205e-01 -7.89477218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.92, Y:-202.44, Z:-789.50 [[ 5.33122756e-01 5.12182945e-01 6.73386040e-01 3.74922209e+02] [-3.10302467e-01 8.58835968e-01 -4.07569822e-01 -2.02444289e+02] [-7.87078463e-01 8.33139695e-03 6.16796629e-01 -7.89503143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.94, Y:-202.46, Z:-789.53 [[ 5.36045031e-01 5.08905171e-01 6.73551225e-01 3.74938966e+02] [-3.04353974e-01 8.60712607e-01 -4.08096150e-01 -2.02455787e+02] [-7.87416271e-01 1.37599212e-02 6.16268027e-01 -7.89528954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.96, Y:-202.46, Z:-789.55 [[ 5.35901114e-01 5.08489549e-01 6.73979506e-01 3.74955923e+02] [-3.02793941e-01 8.60937684e-01 -4.08781279e-01 -2.02464848e+02] [-7.88115363e-01 1.49894323e-02 6.15345019e-01 -7.89554452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.97, Y:-202.46, Z:-789.59 [[ 5.34900609e-01 5.21826557e-01 6.64513644e-01 3.74968427e+02] [-2.97677797e-01 8.52448021e-01 -4.29790996e-01 -2.02456315e+02] [-7.90739697e-01 3.20845084e-02 6.11311145e-01 -7.89589396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.98, Y:-202.48, Z:-789.61 [[ 5.34727552e-01 5.05903445e-01 6.76851645e-01 3.74984170e+02] [-2.96833090e-01 8.62394500e-01 -4.10080288e-01 -2.02479344e+02] [-7.91174167e-01 1.83692638e-02 6.11314983e-01 -7.89610396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.01, Y:-202.52, Z:-789.62 [[ 5.37367168e-01 4.83625411e-01 6.90900129e-01 3.75006509e+02] [-3.02020678e-01 8.75256741e-01 -3.77768644e-01 -2.02515683e+02] [-7.87413511e-01 -5.66565899e-03 6.16399111e-01 -7.89621950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.02, Y:-202.49, Z:-789.67 [[ 5.34992945e-01 5.24742388e-01 6.62138939e-01 3.75019122e+02] [-2.99928068e-01 8.50643726e-01 -4.31796718e-01 -2.02485475e+02] [-7.89826375e-01 3.24141451e-02 6.12473363e-01 -7.89666414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.04, Y:-202.52, Z:-789.68 [[ 5.35686120e-01 4.99698575e-01 6.80692085e-01 3.75038800e+02] [-3.03860391e-01 8.66180667e-01 -3.96736583e-01 -2.02520218e+02] [-7.87851029e-01 5.69091792e-03 6.15839565e-01 -7.89682375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.06, Y:-202.53, Z:-789.71 [[ 5.36135392e-01 5.04447632e-01 6.76824518e-01 3.75057959e+02] [-3.07429750e-01 8.63418756e-01 -3.99993750e-01 -2.02528047e+02] [-7.86158883e-01 6.37481382e-03 6.17991563e-01 -7.89705070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.08, Y:-202.53, Z:-789.73 [[ 5.35051075e-01 5.13108375e-01 6.71148376e-01 3.75075059e+02] [-3.09336909e-01 8.58246596e-01 -4.09540544e-01 -2.02530294e+02] [-7.86149493e-01 1.15141439e-02 6.17929122e-01 -7.89732679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.09, Y:-202.54, Z:-789.76 [[ 5.33578881e-01 5.14629027e-01 6.71156124e-01 3.75092695e+02] [-3.11444063e-01 8.57358816e-01 -4.09802948e-01 -2.02539540e+02] [-7.86318112e-01 9.63460810e-03 6.17746713e-01 -7.89758522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.11, Y:-202.55, Z:-789.78 [[ 5.30178241e-01 5.18123444e-01 6.71162522e-01 3.75110601e+02] [-3.16541604e-01 8.55291014e-01 -4.10217862e-01 -2.02548395e+02] [-7.86582765e-01 5.03772285e-03 6.17464311e-01 -7.89783416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.13, Y:-202.56, Z:-789.81 [[ 5.27745603e-01 5.20350386e-01 6.71356875e-01 3.75128085e+02] [-3.19497235e-01 8.53949865e-01 -4.10720275e-01 -2.02557579e+02] [-7.87023567e-01 2.25915399e-03 6.16918797e-01 -7.89808953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.15, Y:-202.56, Z:-789.84 [[ 5.24641906e-01 5.25110346e-01 6.70082081e-01 3.75145483e+02] [-3.21938691e-01 8.51031980e-01 -4.14849429e-01 -2.02564632e+02] [-7.88103007e-01 1.92204707e-03 6.15540377e-01 -7.89837730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.16, Y:-202.57, Z:-789.86 [[ 5.20501717e-01 5.26887055e-01 6.71913681e-01 3.75164369e+02] [-3.29117490e-01 8.49906917e-01 -4.11509308e-01 -2.02574328e+02] [-7.87883012e-01 -6.94724304e-03 6.15785754e-01 -7.89859884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.18, Y:-202.58, Z:-789.89 [[ 5.18068234e-01 5.29049089e-01 6.72095504e-01 3.75182005e+02] [-3.32028408e-01 8.48535662e-01 -4.12000447e-01 -2.02583227e+02] [-7.88265464e-01 -9.71045609e-03 6.15258698e-01 -7.89886040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.20, Y:-202.59, Z:-789.91 [[ 5.16122077e-01 5.31038782e-01 6.72023670e-01 3.75199413e+02] [-3.34800050e-01 8.47260343e-01 -4.12381908e-01 -2.02592008e+02] [-7.88369792e-01 -1.21541514e-02 6.15081579e-01 -7.89911265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.22, Y:-202.60, Z:-789.94 [[ 5.12704882e-01 5.33780893e-01 6.72466849e-01 3.75217342e+02] [-3.38469808e-01 8.45474520e-01 -4.13050875e-01 -2.02600173e+02] [-7.89032251e-01 -1.58365251e-02 6.14147630e-01 -7.89937308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.24, Y:-202.61, Z:-789.96 [[ 5.11644010e-01 5.34890806e-01 6.72392916e-01 3.75235111e+02] [-3.39813032e-01 8.44750964e-01 -4.13428243e-01 -2.02609950e+02] [-7.89143530e-01 -1.69597915e-02 6.13974637e-01 -7.89963451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.25, Y:-202.62, Z:-789.99 [[ 5.10697347e-01 5.35801007e-01 6.72387910e-01 3.75252917e+02] [-3.40773665e-01 8.44157071e-01 -4.13850395e-01 -2.02620176e+02] [-7.89342467e-01 -1.77797931e-02 6.13695649e-01 -7.89989773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:375.27, Y:-202.63, Z:-790.02 [[ 5.10955699e-01 5.40460522e-01 6.68450969e-01 3.75270705e+02] [-3.42612197e-01 8.41230201e-01 -4.18268612e-01 -2.02625576e+02] [-7.88378815e-01 -1.53027242e-02 6.14999732e-01 -7.90016430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.29, Y:-202.64, Z:-790.04 [[ 5.10193260e-01 5.33574041e-01 6.74538049e-01 3.75287317e+02] [-3.42703088e-01 8.45461800e-01 -4.09571653e-01 -2.02641005e+02] [-7.88832955e-01 -2.22055759e-02 6.14206383e-01 -7.90040350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.30, Y:-202.65, Z:-790.07 [[ 5.10220905e-01 5.37813206e-01 6.71142000e-01 3.75304702e+02] [-3.43189155e-01 8.42853567e-01 -4.14510638e-01 -2.02647835e+02] [-7.88603724e-01 -1.88366629e-02 6.14613169e-01 -7.90068132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.32, Y:-202.66, Z:-790.09 [[ 5.11311854e-01 5.37750849e-01 6.70361256e-01 3.75320877e+02] [-3.43123759e-01 8.42909428e-01 -4.14451182e-01 -2.02656756e+02] [-7.87925298e-01 -1.81030716e-02 6.15504675e-01 -7.90093830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:375.34, Y:-202.67, Z:-790.12 [[ 5.12131075e-01 5.37795035e-01 6.69700129e-01 3.75337718e+02] [-3.43184915e-01 8.42892191e-01 -4.14435602e-01 -2.02666680e+02] [-7.87366418e-01 -1.75856311e-02 6.16234427e-01 -7.90120043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.35, Y:-202.68, Z:-790.15 [[ 5.13432891e-01 5.37602322e-01 6.68857541e-01 3.75354075e+02] [-3.42951828e-01 8.43034112e-01 -4.14339872e-01 -2.02676764e+02] [-7.86619800e-01 -1.66501982e-02 6.17213141e-01 -7.90145636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.37, Y:-202.69, Z:-790.17 [[ 5.15390586e-01 5.36621272e-01 6.68139322e-01 3.75370503e+02] [-3.41545462e-01 8.43694338e-01 -4.14157653e-01 -2.02687880e+02] [-7.85951170e-01 -1.47469981e-02 6.18112680e-01 -7.90172318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.39, Y:-202.70, Z:-790.20 [[ 5.16319379e-01 5.36305384e-01 6.67675696e-01 3.75387104e+02] [-3.40830993e-01 8.43913569e-01 -4.14299555e-01 -2.02698775e+02] [-7.85651662e-01 -1.36536815e-02 6.18518426e-01 -7.90198807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.40, Y:-202.71, Z:-790.22 [[ 5.17384369e-01 5.35783675e-01 6.67270012e-01 3.75403579e+02] [-3.39741855e-01 8.44266328e-01 -4.14475379e-01 -2.02709545e+02] [-7.85422744e-01 -1.22564691e-02 6.18838341e-01 -7.90224950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.42, Y:-202.72, Z:-790.25 [[ 5.18461433e-01 5.35297234e-01 6.66824276e-01 3.75420169e+02] [-3.38742984e-01 8.44593249e-01 -4.14626862e-01 -2.02721162e+02] [-7.85143894e-01 -1.09140078e-02 6.19217208e-01 -7.90251450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.44, Y:-202.73, Z:-790.28 [[ 5.20755910e-01 5.33554542e-01 6.66432917e-01 3.75435009e+02] [-3.35665798e-01 8.45730757e-01 -4.14810751e-01 -2.02733732e+02] [-7.84946976e-01 -7.68358673e-03 6.19515301e-01 -7.90276883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.45, Y:-202.75, Z:-790.30 [[ 5.21854805e-01 5.32734313e-01 6.66229476e-01 3.75451051e+02] [-3.34157770e-01 8.46260683e-01 -4.14947515e-01 -2.02745499e+02] [-7.84860591e-01 -6.08340157e-03 6.19642514e-01 -7.90302686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.47, Y:-202.76, Z:-790.33 [[ 5.22759766e-01 5.31948863e-01 6.66147607e-01 3.75467364e+02] [-3.32417778e-01 8.46765413e-01 -4.15315249e-01 -2.02757299e+02] [-7.84997228e-01 -4.32920488e-03 6.19484148e-01 -7.90329399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.48, Y:-202.77, Z:-790.35 [[ 5.25123587e-01 5.30011613e-01 6.65832493e-01 3.75482243e+02] [-3.28992141e-01 8.47989966e-01 -4.15544450e-01 -2.02770451e+02] [-7.84862657e-01 -8.41465096e-04 6.19669188e-01 -7.90354824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.50, Y:-202.78, Z:-790.38 [[ 5.25900216e-01 5.31852837e-01 6.63748086e-01 3.75497625e+02] [-3.26182897e-01 8.46825197e-01 -4.20109276e-01 -2.02778213e+02] [-7.85514914e-01 4.43228545e-03 6.18826853e-01 -7.90382199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.51, Y:-202.80, Z:-790.40 [[ 5.26922142e-01 5.24245573e-01 6.68969084e-01 3.75514039e+02] [-3.26109994e-01 8.51565080e-01 -4.10474344e-01 -2.02797880e+02] [-7.84860069e-01 -1.86948339e-03 6.19670217e-01 -7.90404331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.53, Y:-202.81, Z:-790.43 [[ 5.28027531e-01 5.27230950e-01 6.65743533e-01 3.75529971e+02] [-3.23337716e-01 8.49709319e-01 -4.16469440e-01 -2.02806563e+02] [-7.85264063e-01 4.64733724e-03 6.19143565e-01 -7.90431405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.55, Y:-202.82, Z:-790.46 [[ 5.28172700e-01 5.27030810e-01 6.65786846e-01 3.75546724e+02] [-3.22449648e-01 8.49828248e-01 -4.16915069e-01 -2.02818503e+02] [-7.85531555e-01 5.52042390e-03 6.18796979e-01 -7.90457522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.56, Y:-202.83, Z:-790.48 [[ 5.28898803e-01 5.25844353e-01 6.66148461e-01 3.75563745e+02] [-3.21328206e-01 8.50558770e-01 -4.16290719e-01 -2.02830926e+02] [-7.85502540e-01 6.12337285e-03 6.18828138e-01 -7.90483375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.58, Y:-202.84, Z:-790.51 [[ 5.28153114e-01 5.31617777e-01 6.62145625e-01 3.75579419e+02] [-3.19978456e-01 8.46892957e-01 -4.24718857e-01 -2.02836338e+02] [-7.86554560e-01 1.24442518e-02 6.17395388e-01 -7.90511969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.60, Y:-202.85, Z:-790.53 [[ 5.28029854e-01 5.24548464e-01 6.67857307e-01 3.75595995e+02] [-3.20954924e-01 8.51367396e-01 -4.14923480e-01 -2.02854038e+02] [-7.86239410e-01 4.73989287e-03 6.17903814e-01 -7.90533384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.61, Y:-202.86, Z:-790.56 [[ 5.27552531e-01 5.27470186e-01 6.65930575e-01 3.75612981e+02] [-3.21597444e-01 8.49549214e-01 -4.18140188e-01 -2.02862477e+02] [-7.86297279e-01 6.42934355e-03 6.17814901e-01 -7.90560175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.63, Y:-202.87, Z:-790.59 [[ 5.25344428e-01 5.35132205e-01 6.61548755e-01 3.75628790e+02] [-3.22291273e-01 8.44692865e-01 -4.27343304e-01 -2.02865784e+02] [-7.87490678e-01 1.12910331e-02 6.16223130e-01 -7.90590951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.776559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:375.65, Y:-202.89, Z:-790.61 [[ 5.25404204e-01 5.23184132e-01 6.70990899e-01 3.75646229e+02] [-3.24844249e-01 8.52216046e-01 -4.10126841e-01 -2.02888587e+02] [-7.86401066e-01 -2.48516823e-03 6.17711250e-01 -7.90609455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:375.66, Y:-202.88, Z:-790.64 [[ 5.23246928e-01 5.41425741e-01 6.58081165e-01 3.75660296e+02] [-3.22665215e-01 8.40609434e-01 -4.35043606e-01 -2.02878221e+02] [-7.88733042e-01 1.52953300e-02 6.14545557e-01 -7.90644001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.68, Y:-202.92, Z:-790.66 [[ 5.23652716e-01 5.15352875e-01 6.78379870e-01 3.75679064e+02] [-3.27722203e-01 8.56864983e-01 -3.97970550e-01 -2.02917493e+02] [-7.86375222e-01 -1.39217859e-02 6.17592255e-01 -7.90657369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.69, Y:-202.90, Z:-790.69 [[ 5.21102678e-01 5.41523946e-01 6.59699792e-01 3.75693776e+02] [-3.27655861e-01 8.40641715e-01 -4.31234442e-01 -2.02903009e+02] [-7.88094941e-01 8.56291885e-03 6.15494143e-01 -7.90693943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.71, Y:-202.93, Z:-790.71 [[ 5.21465451e-01 5.24177338e-01 6.73284414e-01 3.75712068e+02] [-3.31491444e-01 8.51533298e-01 -4.06207416e-01 -2.02932857e+02] [-7.86248819e-01 -1.13648897e-02 6.17805498e-01 -7.90710115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:375.73, Y:-202.93, Z:-790.74 [[ 5.20361260e-01 5.35832479e-01 6.64911810e-01 3.75729190e+02] [-3.32871015e-01 8.44319586e-01 -4.19906327e-01 -2.02934085e+02] [-7.86397512e-01 -2.82688356e-03 6.17714305e-01 -7.90739591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.75, Y:-202.94, Z:-790.77 [[ 5.18442027e-01 5.37775849e-01 6.64842087e-01 3.75746782e+02] [-3.35542573e-01 8.43071892e-01 -4.20286767e-01 -2.02943913e+02] [-7.86529749e-01 -5.18850143e-03 6.17530593e-01 -7.90765368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.76, Y:-202.95, Z:-790.79 [[ 5.17301136e-01 5.39077733e-01 6.64676412e-01 3.75764315e+02] [-3.37248972e-01 8.42230311e-01 -4.20608172e-01 -2.02954386e+02] [-7.86551121e-01 -6.58035100e-03 6.17490108e-01 -7.90791687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.78, Y:-202.95, Z:-790.82 [[ 5.14993637e-01 5.47812224e-01 6.59305181e-01 3.75778482e+02] [-3.35555823e-01 8.36599453e-01 -4.33016911e-01 -2.02952866e+02] [-7.88786311e-01 1.76726080e-03 6.14664976e-01 -7.90822199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:-202.98, Z:-790.84 [[ 5.14310259e-01 5.30165485e-01 6.74099041e-01 3.75797320e+02] [-3.40834174e-01 8.47643148e-01 -4.06611806e-01 -2.02983933e+02] [-7.86966978e-01 -2.06313665e-02 6.16650081e-01 -7.90838748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.82, Y:-202.98, Z:-790.87 [[ 5.13401154e-01 5.42868966e-01 6.64614581e-01 3.75815095e+02] [-3.41884099e-01 8.39749803e-01 -4.21824053e-01 -2.02984170e+02] [-7.87105151e-01 -1.06562015e-02 6.16726785e-01 -7.90869059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.83, Y:-202.99, Z:-790.90 [[ 5.12499846e-01 5.43620821e-01 6.64695653e-01 3.75831862e+02] [-3.42501345e-01 8.39255831e-01 -4.22306144e-01 -2.02993954e+02] [-7.87424115e-01 -1.12273213e-02 6.16309346e-01 -7.90895177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.85, Y:-203.00, Z:-790.92 [[ 5.11893323e-01 5.44126670e-01 6.64749120e-01 3.75848758e+02] [-3.42734259e-01 8.38925390e-01 -4.22773482e-01 -2.03003951e+02] [-7.87717242e-01 -1.14173749e-02 6.15931157e-01 -7.90920909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.87, Y:-203.01, Z:-790.95 [[ 5.11825122e-01 5.44339660e-01 6.64627248e-01 3.75865980e+02] [-3.42834657e-01 8.38787808e-01 -4.22965023e-01 -2.03014886e+02] [-7.87717870e-01 -1.13731304e-02 6.15931173e-01 -7.90947436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.88, Y:-203.02, Z:-790.97 [[ 5.11003685e-01 5.44570688e-01 6.65069921e-01 3.75883081e+02] [-3.42632399e-01 8.38636098e-01 -4.23429491e-01 -2.03024627e+02] [-7.88338933e-01 -1.15004721e-02 6.15133698e-01 -7.90973440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.90, Y:-203.03, Z:-791.00 [[ 5.10611693e-01 5.44978935e-01 6.65036585e-01 3.75899573e+02] [-3.42773435e-01 8.38370338e-01 -4.23841419e-01 -2.03034828e+02] [-7.88531592e-01 -1.15384905e-02 6.14885999e-01 -7.90998760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.92, Y:-203.05, Z:-791.03 [[ 5.10333460e-01 5.45133965e-01 6.65123086e-01 3.75916527e+02] [-3.42442639e-01 8.38273702e-01 -4.24299706e-01 -2.03045355e+02] [-7.88855373e-01 -1.12321680e-02 6.14476232e-01 -7.91025097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.93, Y:-203.06, Z:-791.05 [[ 5.10341047e-01 5.45476043e-01 6.64836749e-01 3.75933131e+02] [-3.42682412e-01 8.38052036e-01 -4.24543932e-01 -2.03055927e+02] [-7.88746335e-01 -1.11656663e-02 6.14617399e-01 -7.91051474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.95, Y:-203.07, Z:-791.08 [[ 5.10537662e-01 5.45779715e-01 6.64436452e-01 3.75950053e+02] [-3.42944889e-01 8.37856096e-01 -4.24718690e-01 -2.03066385e+02] [-7.88504977e-01 -1.10301980e-02 6.14929456e-01 -7.91077627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.97, Y:-203.08, Z:-791.10 [[ 5.10550910e-01 5.46032716e-01 6.64218369e-01 3.75965860e+02] [-3.42983850e-01 8.37693869e-01 -4.25007129e-01 -2.03076343e+02] [-7.88479453e-01 -1.08283968e-02 6.14965770e-01 -7.91103314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.98, Y:-203.09, Z:-791.13 [[ 5.11639691e-01 5.46086357e-01 6.63335900e-01 3.75981964e+02] [-3.43430942e-01 8.37662918e-01 -4.24706986e-01 -2.03087239e+02] [-7.87578577e-01 -1.05131220e-02 6.16124549e-01 -7.91129662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.00, Y:-203.10, Z:-791.16 [[ 5.11987390e-01 5.46315641e-01 6.62878671e-01 3.75998599e+02] [-3.43624590e-01 8.37516427e-01 -4.24839235e-01 -2.03098216e+02] [-7.87268095e-01 -1.02690807e-02 6.16525338e-01 -7.91156170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.02, Y:-203.11, Z:-791.18 [[ 5.12306789e-01 5.46379271e-01 6.62579389e-01 3.76015107e+02] [-3.43424125e-01 8.37480787e-01 -4.25071525e-01 -2.03109266e+02] [-7.87147778e-01 -9.77871831e-03 6.16686916e-01 -7.91182867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.03, Y:-203.12, Z:-791.21 [[ 5.13404874e-01 5.45862051e-01 6.62155614e-01 3.76031063e+02] [-3.42369688e-01 8.37833076e-01 -4.25227860e-01 -2.03121023e+02] [-7.86891627e-01 -8.38795537e-03 6.17034205e-01 -7.91209581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.05, Y:-203.13, Z:-791.24 [[ 5.14163588e-01 5.45589212e-01 6.61791672e-01 3.76047545e+02] [-3.41670135e-01 8.38020271e-01 -4.25421608e-01 -2.03132455e+02] [-7.86700276e-01 -7.37814953e-03 6.17291049e-01 -7.91235609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.06, Y:-203.14, Z:-791.26 [[ 5.14893584e-01 5.45160744e-01 6.61577177e-01 3.76063494e+02] [-3.40596523e-01 8.38309096e-01 -4.25713365e-01 -2.03143755e+02] [-7.86688380e-01 -6.13380587e-03 6.17319828e-01 -7.91261302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.08, Y:-203.16, Z:-791.29 [[ 5.16586000e-01 5.43605448e-01 6.61537619e-01 3.76079379e+02] [-3.37759898e-01 8.39334000e-01 -4.25953857e-01 -2.03156075e+02] [-7.86801853e-01 -3.39907907e-03 6.17196314e-01 -7.91287370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.10, Y:-203.17, Z:-791.31 [[ 5.17270025e-01 5.43007451e-01 6.61494240e-01 3.76095947e+02] [-3.36291600e-01 8.39725682e-01 -4.26343451e-01 -2.03167835e+02] [-7.86981373e-01 -1.92026890e-03 6.16973769e-01 -7.91313465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.11, Y:-203.18, Z:-791.34 [[ 5.18047748e-01 5.42322705e-01 6.61447364e-01 3.76112215e+02] [-3.34680676e-01 8.40170216e-01 -4.26735110e-01 -2.03179254e+02] [-7.87156513e-01 -3.04488016e-04 6.16753218e-01 -7.91339329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.13, Y:-203.19, Z:-791.36 [[ 5.18494699e-01 5.40985599e-01 6.62191686e-01 3.76128632e+02] [-3.31345290e-01 8.41028661e-01 -4.27645987e-01 -2.03190643e+02] [-7.88272508e-01 2.31808127e-03 6.15321932e-01 -7.91364842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.15, Y:-203.20, Z:-791.39 [[ 5.18340207e-01 5.40775770e-01 6.62483959e-01 3.76145225e+02] [-3.30418789e-01 8.41161421e-01 -4.28101493e-01 -2.03201081e+02] [-7.88762863e-01 3.00506890e-03 6.14690260e-01 -7.91390092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.16, Y:-203.21, Z:-791.42 [[ 5.18171138e-01 5.40624785e-01 6.62739401e-01 3.76162225e+02] [-3.29449345e-01 8.41255335e-01 -4.28663728e-01 -2.03211785e+02] [-7.89279292e-01 3.78210975e-03 6.14022715e-01 -7.91416142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.18, Y:-203.22, Z:-791.44 [[ 5.18493184e-01 5.40444524e-01 6.62634541e-01 3.76178696e+02] [-3.28696220e-01 8.41366856e-01 -4.29022852e-01 -2.03222310e+02] [-7.89381792e-01 4.63995560e-03 6.13885053e-01 -7.91441630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.20, Y:-203.23, Z:-791.47 [[ 5.19608172e-01 5.39643465e-01 6.62413979e-01 3.76195277e+02] [-3.27073527e-01 8.41869348e-01 -4.29277194e-01 -2.03233666e+02] [-7.89322656e-01 6.39786141e-03 6.13945284e-01 -7.91467960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.21, Y:-203.24, Z:-791.49 [[ 5.20271605e-01 5.39426339e-01 6.62069997e-01 3.76211898e+02] [-3.26468616e-01 8.42001143e-01 -4.29479125e-01 -2.03244347e+02] [-7.89136046e-01 7.30071823e-03 6.14175057e-01 -7.91493851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.23, Y:-203.25, Z:-791.52 [[ 5.20185378e-01 5.39398401e-01 6.62160507e-01 3.76228679e+02] [-3.25799286e-01 8.42013357e-01 -4.29963175e-01 -2.03254978e+02] [-7.89469441e-01 7.92913617e-03 6.13738651e-01 -7.91520295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.25, Y:-203.27, Z:-791.55 [[ 5.20358841e-01 5.39538350e-01 6.61910149e-01 3.76245829e+02] [-3.25696386e-01 8.41920224e-01 -4.30223430e-01 -2.03265563e+02] [-7.89397581e-01 8.28882203e-03 6.13826323e-01 -7.91546368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.26, Y:-203.28, Z:-791.57 [[ 5.20539614e-01 5.39735897e-01 6.61606886e-01 3.76262891e+02] [-3.25733658e-01 8.41790905e-01 -4.30448205e-01 -2.03275017e+02] [-7.89263007e-01 8.55771132e-03 6.13995661e-01 -7.91572553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.28, Y:-203.28, Z:-791.60 [[ 5.20212886e-01 5.40225296e-01 6.61464423e-01 3.76280319e+02] [-3.26108711e-01 8.41478650e-01 -4.30774640e-01 -2.03284810e+02] [-7.89323547e-01 8.38520795e-03 6.13920212e-01 -7.91598879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.30, Y:-203.29, Z:-791.62 [[ 5.19341095e-01 5.41041058e-01 6.61482729e-01 3.76297270e+02] [-3.26860895e-01 8.40960605e-01 -4.31215975e-01 -2.03294254e+02] [-7.89586463e-01 7.73533996e-03 6.13590566e-01 -7.91624114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.31, Y:-203.30, Z:-791.65 [[ 5.18964156e-01 5.41575076e-01 6.61341547e-01 3.76314425e+02] [-3.27504812e-01 8.40620836e-01 -4.31389856e-01 -2.03304723e+02] [-7.89567479e-01 7.28333322e-03 6.13620526e-01 -7.91650078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.33, Y:-203.32, Z:-791.68 [[ 5.18402051e-01 5.42186081e-01 6.61281761e-01 3.76331517e+02] [-3.28000113e-01 8.40229845e-01 -4.31775096e-01 -2.03315158e+02] [-7.89731118e-01 6.93260361e-03 6.13413971e-01 -7.91676282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.35, Y:-203.33, Z:-791.70 [[ 5.18282460e-01 5.42762935e-01 6.60902177e-01 3.76348933e+02] [-3.28711557e-01 8.39859789e-01 -4.31953986e-01 -2.03325079e+02] [-7.89513777e-01 6.62799092e-03 6.13697048e-01 -7.91702609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.37, Y:-203.34, Z:-791.73 [[ 5.17794182e-01 5.43370759e-01 6.60785444e-01 3.76365555e+02] [-3.29240278e-01 8.39469265e-01 -4.32310297e-01 -2.03335501e+02] [-7.89613846e-01 6.29057356e-03 6.13571841e-01 -7.91728468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.38, Y:-203.34, Z:-791.75 [[ 5.17254928e-01 5.44066405e-01 6.60635366e-01 3.76382472e+02] [-3.29940114e-01 8.39021992e-01 -4.32644911e-01 -2.03344926e+02] [-7.89675162e-01 5.81760465e-03 6.13497591e-01 -7.91754473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.40, Y:-203.36, Z:-791.78 [[ 5.17003188e-01 5.44721503e-01 6.60292502e-01 3.76399914e+02] [-3.30778129e-01 8.38599873e-01 -4.32823385e-01 -2.03355341e+02] [-7.89489413e-01 5.36075204e-03 6.13740768e-01 -7.91780883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.42, Y:-203.37, Z:-791.81 [[ 5.16388578e-01 5.45423473e-01 6.60193965e-01 3.76416283e+02] [-3.31449959e-01 8.38146467e-01 -4.33187517e-01 -2.03365139e+02] [-7.89609880e-01 4.87182318e-03 6.13589850e-01 -7.91806262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.43, Y:-203.38, Z:-791.83 [[ 5.15387528e-01 5.46378498e-01 6.60186514e-01 3.76433009e+02] [-3.32665136e-01 8.37529881e-01 -4.33448504e-01 -2.03375787e+02] [-7.89752875e-01 3.77291694e-03 6.13413533e-01 -7.91832268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.45, Y:-203.40, Z:-791.86 [[ 5.15735347e-01 5.40773608e-01 6.64515580e-01 3.76452071e+02] [-3.36585915e-01 8.41151096e-01 -4.23290391e-01 -2.03397840e+02] [-7.87862281e-01 -5.36076739e-03 6.15828132e-01 -7.91855231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.47, Y:-203.38, Z:-791.89 [[ 5.12032917e-01 5.64594398e-01 6.47344930e-01 3.76467140e+02] [-3.37170039e-01 8.25254447e-01 -4.53068938e-01 -2.03382623e+02] [-7.90024466e-01 1.37208946e-02 6.12921757e-01 -7.91887689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.48, Y:-203.41, Z:-791.91 [[ 5.10751827e-01 5.51075393e-01 6.59885203e-01 3.76482839e+02] [-3.38955739e-01 8.34453630e-01 -4.34506786e-01 -2.03405565e+02] [-7.90089601e-01 -1.74674210e-03 6.12988884e-01 -7.91908285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.50, Y:-203.42, Z:-791.93 [[ 5.09290623e-01 5.52399205e-01 6.59907705e-01 3.76499817e+02] [-3.40752985e-01 8.33572644e-01 -4.34791963e-01 -2.03415750e+02] [-7.90259745e-01 -3.43005055e-03 6.12762409e-01 -7.91934464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.52, Y:-203.43, Z:-791.96 [[ 5.06904424e-01 5.54625652e-01 6.59877482e-01 3.76516971e+02] [-3.43877461e-01 8.32076038e-01 -4.35198528e-01 -2.03425145e+02] [-7.90440508e-01 -6.31293421e-03 6.12506286e-01 -7.91961260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.53, Y:-203.44, Z:-791.99 [[ 5.06075249e-01 5.55689343e-01 6.59618979e-01 3.76533697e+02] [-3.45281379e-01 8.31357272e-01 -4.35460509e-01 -2.03435194e+02] [-7.90359799e-01 -7.37836555e-03 6.12598521e-01 -7.91987600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.55, Y:-203.45, Z:-792.01 [[ 5.05331491e-01 5.56758124e-01 6.59287855e-01 3.76549663e+02] [-3.46745918e-01 8.30631763e-01 -4.35681240e-01 -2.03445301e+02] [-7.90194503e-01 -8.44192160e-03 6.12797994e-01 -7.92012878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.57, Y:-203.46, Z:-792.04 [[ 5.04686919e-01 5.57927053e-01 6.58793228e-01 3.76565278e+02] [-3.48549956e-01 8.29833324e-01 -4.35763219e-01 -2.03456338e+02] [-7.89812663e-01 -9.69835450e-03 6.13271473e-01 -7.92037977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.58, Y:-203.47, Z:-792.06 [[ 5.04149993e-01 5.58453008e-01 6.58758699e-01 3.76581979e+02] [-3.49096884e-01 8.29473981e-01 -4.36009496e-01 -2.03467559e+02] [-7.89914015e-01 -1.01564250e-02 6.13133506e-01 -7.92064537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.60, Y:-203.48, Z:-792.09 [[ 5.03853881e-01 5.59050776e-01 6.58478168e-01 3.76598616e+02] [-3.49765602e-01 8.29066834e-01 -4.36247874e-01 -2.03478537e+02] [-7.89807123e-01 -1.05078285e-02 6.13265273e-01 -7.92090831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.61, Y:-203.49, Z:-792.12 [[ 5.03612507e-01 5.60002659e-01 6.57853681e-01 3.76614164e+02] [-3.51299105e-01 8.28412403e-01 -4.36258903e-01 -2.03489515e+02] [-7.89280294e-01 -1.13979691e-02 6.13927280e-01 -7.92116171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.63, Y:-203.50, Z:-792.14 [[ 5.03542933e-01 5.60642708e-01 6.57361597e-01 3.76630396e+02] [-3.52247002e-01 8.27973119e-01 -4.36328505e-01 -2.03500748e+02] [-7.88902126e-01 -1.18435167e-02 6.14404726e-01 -7.92142230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.65, Y:-203.51, Z:-792.17 [[ 5.03593659e-01 5.61208309e-01 6.56839905e-01 3.76646774e+02] [-3.53066458e-01 8.27585570e-01 -4.36401422e-01 -2.03511942e+02] [-7.88503331e-01 -1.21391499e-02 6.14910675e-01 -7.92168549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.66, Y:-203.52, Z:-792.19 [[ 5.04342038e-01 5.61428803e-01 6.56076831e-01 3.76661781e+02] [-3.53516030e-01 8.27439734e-01 -4.36313997e-01 -2.03523342e+02] [-7.87823283e-01 -1.18821861e-02 6.15786723e-01 -7.92194326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.68, Y:-203.54, Z:-792.22 [[ 5.05040347e-01 5.61414792e-01 6.55551432e-01 3.76677601e+02] [-3.53591938e-01 8.27454820e-01 -4.36223867e-01 -2.03535396e+02] [-7.87341724e-01 -1.14870485e-02 6.16409813e-01 -7.92220182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.69, Y:-203.55, Z:-792.25 [[ 5.05310851e-01 5.61278066e-01 6.55460049e-01 3.76693828e+02] [-3.52893622e-01 8.27558218e-01 -4.36593046e-01 -2.03547564e+02] [-7.87481451e-01 -1.06924667e-02 6.16245597e-01 -7.92246565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.71, Y:-203.56, Z:-792.27 [[ 5.06520022e-01 5.60279950e-01 6.55380687e-01 3.76708756e+02] [-3.50768155e-01 8.28259190e-01 -4.36976447e-01 -2.03560777e+02] [-7.87654219e-01 -8.54935441e-03 6.16058228e-01 -7.92271549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.73, Y:-203.59, Z:-792.29 [[ 5.08381673e-01 5.53014044e-01 6.60093585e-01 3.76726936e+02] [-3.52387398e-01 8.33022350e-01 -4.26493712e-01 -2.03585623e+02] [-7.85729722e-01 -1.57870743e-02 6.18368476e-01 -7.92294800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.74, Y:-203.57, Z:-792.33 [[ 5.07978559e-01 5.74646409e-01 6.41669142e-01 3.76741256e+02] [-3.48121062e-01 8.18353269e-01 -4.57285091e-01 -2.03572320e+02] [-7.87889275e-01 8.91247851e-03 6.15752432e-01 -7.92327664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.76, Y:-203.60, Z:-792.35 [[ 5.10850267e-01 5.56905932e-01 6.54895250e-01 3.76755197e+02] [-3.44313872e-01 8.30573441e-01 -4.37716479e-01 -2.03599530e+02] [-7.87705505e-01 -1.88193852e-03 6.16049102e-01 -7.92348288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.77, Y:-203.61, Z:-792.37 [[ 5.11730897e-01 5.56330548e-01 6.54696732e-01 3.76771614e+02] [-3.42999026e-01 8.30960979e-01 -4.38013150e-01 -2.03610698e+02] [-7.87707533e-01 -4.15479006e-04 6.16049243e-01 -7.92374263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.79, Y:-203.62, Z:-792.40 [[ 5.12012900e-01 5.56246778e-01 6.54547411e-01 3.76788623e+02] [-3.42437181e-01 8.31017108e-01 -4.38346145e-01 -2.03621702e+02] [-7.87768727e-01 2.97510575e-04 6.15971058e-01 -7.92400772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.81, Y:-203.63, Z:-792.43 [[ 5.12082950e-01 5.56318293e-01 6.54431822e-01 3.76805006e+02] [-3.42097519e-01 8.30968929e-01 -4.38702550e-01 -2.03632169e+02] [-7.87870763e-01 7.72593525e-04 6.15840128e-01 -7.92426398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.82, Y:-203.64, Z:-792.45 [[ 5.12701188e-01 5.56580072e-01 6.53724801e-01 3.76822094e+02] [-3.42614152e-01 8.30793472e-01 -4.38631679e-01 -2.03642947e+02] [-7.87243949e-01 9.11614026e-04 6.16641009e-01 -7.92451810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.84, Y:-203.65, Z:-792.48 [[ 5.13007560e-01 5.56945705e-01 6.53172814e-01 3.76838633e+02] [-3.43128695e-01 8.30548383e-01 -4.38693610e-01 -2.03653883e+02] [-7.86820146e-01 9.30803435e-04 6.17181652e-01 -7.92477396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.86, Y:-203.67, Z:-792.50 [[ 5.13742318e-01 5.57046094e-01 6.52509371e-01 3.76855542e+02] [-3.43348562e-01 8.30480536e-01 -4.38650025e-01 -2.03665236e+02] [-7.86244615e-01 1.31492635e-03 6.17913971e-01 -7.92503781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.996559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.87, Y:-203.68, Z:-792.53 [[ 5.15107963e-01 5.56402954e-01 6.51981241e-01 3.76872070e+02] [-3.42219896e-01 8.30907650e-01 -4.38723171e-01 -2.03676089e+02] [-7.85843069e-01 2.86884645e-03 6.18419308e-01 -7.92529393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.89, Y:-203.69, Z:-792.55 [[ 5.15819686e-01 5.56130249e-01 6.51651132e-01 3.76888281e+02] [-3.41558656e-01 8.31086388e-01 -4.38899876e-01 -2.03686358e+02] [-7.85663883e-01 3.81611132e-03 6.18641820e-01 -7.92554389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.91, Y:-203.70, Z:-792.58 [[ 5.15753899e-01 5.56406213e-01 6.51467606e-01 3.76905213e+02] [-3.41659279e-01 8.30901150e-01 -4.39172194e-01 -2.03697685e+02] [-7.85663321e-01 3.92481877e-03 6.18641853e-01 -7.92580940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.92, Y:-203.71, Z:-792.61 [[ 5.16352244e-01 5.55998058e-01 6.51342092e-01 3.76922759e+02] [-3.40882463e-01 8.31169813e-01 -4.39267446e-01 -2.03708654e+02] [-7.85607731e-01 4.78563445e-03 6.18706385e-01 -7.92607184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.94, Y:-203.72, Z:-792.63 [[ 5.16962963e-01 5.55598312e-01 6.51198749e-01 3.76940123e+02] [-3.39811421e-01 8.31429379e-01 -4.39605944e-01 -2.03719073e+02] [-7.85670092e-01 5.97521910e-03 6.18616847e-01 -7.92632922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.96, Y:-203.73, Z:-792.66 [[ 5.17780090e-01 5.54604034e-01 6.51397071e-01 3.76957971e+02] [-3.37487077e-01 8.32075210e-01 -4.40174191e-01 -2.03729258e+02] [-7.86133737e-01 8.07533896e-03 6.18003671e-01 -7.92658587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.98, Y:-203.74, Z:-792.68 [[ 5.18338160e-01 5.54410602e-01 6.51117836e-01 3.76975465e+02] [-3.36871276e-01 8.32195234e-01 -4.40418933e-01 -2.03740323e+02] [-7.86030085e-01 8.94304319e-03 6.18123553e-01 -7.92684708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.99, Y:-203.75, Z:-792.71 [[ 5.19000395e-01 5.54160714e-01 6.50802961e-01 3.76992733e+02] [-3.36194471e-01 8.32350860e-01 -4.40641946e-01 -2.03750820e+02] [-7.85882859e-01 9.89698701e-03 6.18296193e-01 -7.92709899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.01, Y:-203.76, Z:-792.74 [[ 5.18820494e-01 5.54591540e-01 6.50579372e-01 3.77009571e+02] [-3.36741965e-01 8.32067371e-01 -4.40759276e-01 -2.03761395e+02] [-7.85767233e-01 9.59756910e-03 6.18447849e-01 -7.92735905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.03, Y:-203.77, Z:-792.76 [[ 5.18680229e-01 5.55334738e-01 6.50057035e-01 3.77026192e+02] [-3.37848946e-01 8.31577871e-01 -4.40835950e-01 -2.03771333e+02] [-7.85384562e-01 9.03180817e-03 6.18942256e-01 -7.92760900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.04, Y:-203.78, Z:-792.79 [[ 5.16631021e-01 5.57272381e-01 6.50030677e-01 3.77043859e+02] [-3.40644467e-01 8.30304709e-01 -4.41084388e-01 -2.03780594e+02] [-7.85527680e-01 6.44852379e-03 6.18792923e-01 -7.92787539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.06, Y:-203.79, Z:-792.81 [[ 5.15130180e-01 5.58766601e-01 6.49939061e-01 3.77060832e+02] [-3.42588220e-01 8.29311404e-01 -4.41447514e-01 -2.03790794e+02] [-7.85668002e-01 4.74147071e-03 6.18630188e-01 -7.92813314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.08, Y:-203.80, Z:-792.84 [[ 5.13681550e-01 5.60341655e-01 6.49729556e-01 3.77078407e+02] [-3.44768107e-01 8.28256484e-01 -4.41730856e-01 -2.03801577e+02] [-7.85662916e-01 2.90296158e-03 6.18648006e-01 -7.92839370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.10, Y:-203.81, Z:-792.87 [[ 5.12397046e-01 5.61841205e-01 6.49448788e-01 3.77095661e+02] [-3.46881454e-01 8.27244256e-01 -4.41973074e-01 -2.03812485e+02] [-7.85571464e-01 1.18395742e-03 6.18769807e-01 -7.92865742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.11, Y:-203.82, Z:-792.89 [[ 5.09889417e-01 5.64498365e-01 6.49118154e-01 3.77112383e+02] [-3.50913565e-01 8.25430922e-01 -4.42180351e-01 -2.03823549e+02] [-7.85412282e-01 -2.32128447e-03 6.18968626e-01 -7.92890943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.13, Y:-203.83, Z:-792.92 [[ 5.08553722e-01 5.65835552e-01 6.49001726e-01 3.77129384e+02] [-3.52669275e-01 8.24509147e-01 -4.42503163e-01 -2.03834717e+02] [-7.85491881e-01 -3.84633721e-03 6.18860009e-01 -7.92917317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.15, Y:-203.85, Z:-792.94 [[ 5.06348388e-01 5.68192903e-01 6.48666428e-01 3.77146404e+02] [-3.56236845e-01 8.22866322e-01 -4.42703430e-01 -2.03845112e+02] [-7.85306705e-01 -6.91671355e-03 6.19068283e-01 -7.92943271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.16, Y:-203.86, Z:-792.97 [[ 5.04825377e-01 5.69506370e-01 6.48701653e-01 3.77163114e+02] [-3.57802407e-01 8.21944083e-01 -4.43153882e-01 -2.03855899e+02] [-7.85575443e-01 -8.39168773e-03 6.18708981e-01 -7.92969838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:377.18, Y:-203.87, Z:-793.00 [[ 5.03538842e-01 5.70764524e-01 6.48595785e-01 3.77179551e+02] [-3.59388337e-01 8.21055670e-01 -4.43517316e-01 -2.03866393e+02] [-7.85677197e-01 -9.76956537e-03 6.18559535e-01 -7.92995435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.20, Y:-203.88, Z:-793.02 [[ 5.01989152e-01 5.72117769e-01 6.48604771e-01 3.77195746e+02] [-3.61073781e-01 8.20092992e-01 -4.43929284e-01 -2.03876809e+02] [-7.85896059e-01 -1.13464924e-02 6.18254512e-01 -7.93020840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.21, Y:-203.89, Z:-793.05 [[ 4.99995753e-01 5.73969524e-01 6.48508468e-01 3.77212342e+02] [-3.63671272e-01 8.18761837e-01 -4.44265980e-01 -2.03887654e+02] [-7.85969117e-01 -1.37127959e-02 6.18113668e-01 -7.93047310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.23, Y:-203.90, Z:-793.07 [[ 4.99301070e-01 5.74878472e-01 6.48238524e-01 3.77228387e+02] [-3.64836054e-01 8.18109342e-01 -4.44512946e-01 -2.03899028e+02] [-7.85870916e-01 -1.45549956e-02 6.18219262e-01 -7.93073227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.24, Y:-203.91, Z:-793.10 [[ 4.98700479e-01 5.75596781e-01 6.48063406e-01 3.77244727e+02] [-3.65601400e-01 8.17594326e-01 -4.44831580e-01 -2.03910659e+02] [-7.85896589e-01 -1.50951660e-02 6.18173671e-01 -7.93099469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.26, Y:-203.92, Z:-793.13 [[ 4.98464469e-01 5.76177374e-01 6.47728961e-01 3.77260364e+02] [-3.66277615e-01 8.17179338e-01 -4.45037794e-01 -2.03922854e+02] [-7.85731431e-01 -1.54130913e-02 6.18375739e-01 -7.93125724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7165599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:377.28, Y:-203.93, Z:-793.15 [[ 4.98965698e-01 5.76307396e-01 6.47227177e-01 3.77276467e+02] [-3.66347133e-01 8.17095284e-01 -4.45134896e-01 -2.03934658e+02] [-7.85380806e-01 -1.50027768e-02 6.18831080e-01 -7.93152104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.29, Y:-203.95, Z:-793.18 [[ 4.99349004e-01 5.76438554e-01 6.46814631e-01 3.77291841e+02] [-3.66342136e-01 8.17010099e-01 -4.45295337e-01 -2.03946282e+02] [-7.85139486e-01 -1.45976708e-02 6.19146910e-01 -7.93177792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.31, Y:-203.96, Z:-793.20 [[ 5.01547545e-01 5.75282162e-01 6.46142782e-01 3.77307079e+02] [-3.64668686e-01 8.17861248e-01 -4.45106423e-01 -2.03958632e+02] [-7.84516928e-01 -1.23860053e-02 6.19983691e-01 -7.93203560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.32, Y:-203.98, Z:-793.23 [[ 5.04411261e-01 5.68474976e-01 6.49927289e-01 3.77324441e+02] [-3.64625751e-01 8.22528467e-01 -4.36457310e-01 -2.03978669e+02] [-7.82698756e-01 -1.68262438e-02 6.22173236e-01 -7.93225612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.34, Y:-203.98, Z:-793.26 [[ 5.04028760e-01 5.81836246e-01 6.38295849e-01 3.77338324e+02] [-3.61693941e-01 8.13305140e-01 -4.55754587e-01 -2.03975021e+02] [-7.84303833e-01 -1.15432206e-03 6.20375826e-01 -7.93257465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:377.35, Y:-204.00, Z:-793.28 [[ 5.07091876e-01 5.71197672e-01 6.45438649e-01 3.77351981e+02] [-3.57431756e-01 8.20798759e-01 -4.45569229e-01 -2.03995623e+02] [-7.84283348e-01 -4.75573344e-03 6.20384569e-01 -7.93280461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.37, Y:-204.01, Z:-793.31 [[ 5.08376381e-01 5.70096526e-01 6.45401740e-01 3.77367451e+02] [-3.55167861e-01 8.21573871e-01 -4.45950855e-01 -2.04008240e+02] [-7.84480239e-01 -2.51507370e-03 6.20148715e-01 -7.93306428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.38, Y:-204.02, Z:-793.33 [[ 5.09856159e-01 5.69055641e-01 6.45152986e-01 3.77382770e+02] [-3.53141414e-01 8.22298957e-01 -4.46223673e-01 -2.04020528e+02] [-7.84434726e-01 -3.20349957e-04 6.20211302e-01 -7.93331818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.40, Y:-204.03, Z:-793.36 [[ 5.12975178e-01 5.66397164e-01 6.45019937e-01 3.77397478e+02] [-3.48456989e-01 8.24121183e-01 -4.46544514e-01 -2.04033487e+02] [-7.84496140e-01 4.30454631e-03 6.20118761e-01 -7.93357894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.41, Y:-204.04, Z:-793.38 [[ 5.13340515e-01 5.66007921e-01 6.45070965e-01 3.77413807e+02] [-3.47238901e-01 8.24381616e-01 -4.47012413e-01 -2.04044862e+02] [-7.84797211e-01 5.47584927e-03 6.19728451e-01 -7.93383606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.43, Y:-204.07, Z:-793.40 [[ 5.15707489e-01 5.55300857e-01 6.52446737e-01 3.77433456e+02] [-3.48953537e-01 8.31635142e-01 -4.31988911e-01 -2.04068541e+02] [-7.82481447e-01 -4.89368049e-03 6.22654669e-01 -7.93402032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:377.45, Y:-204.05, Z:-793.44 [[ 5.12760781e-01 5.79500513e-01 6.33447344e-01 3.77447513e+02] [-3.48011734e-01 8.14787916e-01 -4.63690075e-01 -2.04054299e+02] [-7.84833877e-01 1.73149766e-02 6.19464266e-01 -7.93439157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.47, Y:-204.11, Z:-793.45 [[ 5.17914912e-01 5.44164732e-01 6.60037036e-01 3.77469419e+02] [-3.54038798e-01 8.38753682e-01 -4.13701329e-01 -2.04107211e+02] [-7.78730168e-01 -1.94166317e-02 6.27058467e-01 -7.93445599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.48, Y:-204.06, Z:-793.50 [[ 5.12871116e-01 5.96127944e-01 6.17733513e-01 3.77481376e+02] [-3.50054466e-01 8.02260702e-01 -4.83569682e-01 -2.04062198e+02] [-7.83852722e-01 3.17685472e-02 6.20133590e-01 -7.93495545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:-204.10, Z:-793.51 [[ 5.12402782e-01 5.68434368e-01 6.43681411e-01 3.77494975e+02] [-3.50577823e-01 8.22720638e-01 -4.47466136e-01 -2.04099413e+02] [-7.83925111e-01 3.62246466e-03 6.20844827e-01 -7.93512123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.51, Y:-204.11, Z:-793.54 [[ 5.11284203e-01 5.69874848e-01 6.43297071e-01 3.77511570e+02] [-3.52676572e-01 8.21729078e-01 -4.47638870e-01 -2.04109469e+02] [-7.83714042e-01 1.99487731e-03 6.21118604e-01 -7.93537676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.53, Y:-204.12, Z:-793.56 [[ 5.10346439e-01 5.70974530e-01 6.43066559e-01 3.77528248e+02] [-3.54130958e-01 8.20967336e-01 -4.47888265e-01 -2.04119382e+02] [-7.83669431e-01 8.48404814e-04 6.21177513e-01 -7.93563339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.55, Y:-204.13, Z:-793.59 [[ 5.08893230e-01 5.72246061e-01 6.43087961e-01 3.77545242e+02] [-3.55647347e-01 8.20081776e-01 -4.48308873e-01 -2.04129207e+02] [-7.83927704e-01 -5.71176930e-04 6.20851858e-01 -7.93589655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.56, Y:-204.14, Z:-793.62 [[ 5.07396883e-01 5.73581131e-01 6.43080936e-01 3.77562450e+02] [-3.57251517e-01 8.19146191e-01 -4.48743659e-01 -2.04139466e+02] [-7.84168194e-01 -2.05050629e-03 6.20544953e-01 -7.93615695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.58, Y:-204.15, Z:-793.64 [[ 5.04978118e-01 5.75948077e-01 6.42869282e-01 3.77579368e+02] [-3.60707800e-01 8.17470149e-01 -4.49035009e-01 -2.04150140e+02] [-7.84147297e-01 -5.13511068e-03 6.20553501e-01 -7.93640178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.60, Y:-204.16, Z:-793.67 [[ 5.03578522e-01 5.77189903e-01 6.42853395e-01 3.77595961e+02] [-3.62216603e-01 8.16583865e-01 -4.49432892e-01 -2.04161342e+02] [-7.84351837e-01 -6.52742175e-03 6.20281862e-01 -7.93665544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:-204.18, Z:-793.69 [[ 5.03881480e-01 5.70703215e-01 6.48383601e-01 3.77615071e+02] [-3.65498967e-01 8.21000859e-01 -4.38597875e-01 -2.04183312e+02] [-7.82632710e-01 -1.59821897e-02 6.22278563e-01 -7.93686275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.63, Y:-204.17, Z:-793.72 [[ 4.99570129e-01 5.90791542e-01 6.33557448e-01 3.77630107e+02] [-3.65759313e-01 8.06824238e-01 -4.63955573e-01 -2.04173235e+02] [-7.85270534e-01 4.88088289e-05 6.19152798e-01 -7.93719741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.65, Y:-204.19, Z:-793.74 [[ 4.98891939e-01 5.80916801e-01 6.43150452e-01 3.77646113e+02] [-3.66767298e-01 8.13887659e-01 -4.50631366e-01 -2.04193999e+02] [-7.85231547e-01 -1.10701971e-02 6.19103278e-01 -7.93742348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.66, Y:-204.21, Z:-793.77 [[ 4.98175504e-01 5.81756511e-01 6.42946754e-01 3.77662923e+02] [-3.67762566e-01 8.13277202e-01 -4.50922264e-01 -2.04205011e+02] [-7.85220900e-01 -1.18133223e-02 6.19103047e-01 -7.93768312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.68, Y:-204.22, Z:-793.79 [[ 4.97089876e-01 5.82431360e-01 6.43175999e-01 3.77679524e+02] [-3.68118061e-01 8.12786514e-01 -4.51516528e-01 -2.04215878e+02] [-7.85742164e-01 -1.23204073e-02 6.18431451e-01 -7.93794730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.70, Y:-204.23, Z:-793.82 [[ 4.95871695e-01 5.83497898e-01 6.43149644e-01 3.77695669e+02] [-3.69331254e-01 8.12003532e-01 -4.51934385e-01 -2.04226863e+02] [-7.85942547e-01 -1.34337952e-02 6.18153579e-01 -7.93819579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.71, Y:-204.24, Z:-793.85 [[ 4.95391391e-01 5.84282681e-01 6.42807217e-01 3.77712391e+02] [-3.70394558e-01 8.11427260e-01 -4.52099186e-01 -2.04238547e+02] [-7.85745023e-01 -1.41262508e-02 6.18389204e-01 -7.93845581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.23, Y:-204.79, Z:-793.41 [[ 5.58559677e-01 -5.80174021e-01 5.92797767e-01 3.78230493e+02] [-3.83600981e-01 4.52975957e-01 8.04775167e-01 -2.04792251e+02] [-7.35432781e-01 -6.76912763e-01 3.04587804e-02 -7.93414934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:377.83, Y:-204.33, Z:-793.99 [[ 5.36432107e-01 5.79206025e-01 6.13808582e-01 3.77825090e+02] [-4.06236875e-01 8.14720756e-01 -4.13765261e-01 -2.04325714e+02] [-7.39737924e-01 -2.73947090e-02 6.72337217e-01 -7.93993993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.56, Y:-203.70, Z:-793.91 [[ 4.88081736e-01 5.11496558e-01 -7.07211065e-01 3.78563673e+02] [-3.37990381e-01 -6.36290860e-01 -6.93466973e-01 -2.03701803e+02] [-8.04697907e-01 5.77499102e-01 -1.37681031e-01 -7.93908750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.89, Y:-204.37, Z:-794.10 [[ 5.08783356e-01 5.63236141e-01 6.51079524e-01 3.77885314e+02] [-3.66143780e-01 8.26044402e-01 -4.28473312e-01 -2.04365240e+02] [-7.79152251e-01 -2.03886285e-02 6.26503052e-01 -7.94098425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.90, Y:-204.36, Z:-794.13 [[ 5.08100148e-01 5.79861146e-01 6.36863636e-01 3.77899072e+02] [-3.64239497e-01 8.14710781e-01 -4.51193896e-01 -2.04356461e+02] [-7.80489480e-01 -2.71920495e-03 6.25163001e-01 -7.94131125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.91, Y:-204.38, Z:-794.15 [[ 5.09368525e-01 5.65201847e-01 6.48914924e-01 3.77914103e+02] [-3.64096684e-01 8.24799089e-01 -4.32596889e-01 -2.04381379e+02] [-7.79728998e-01 -1.59165322e-02 6.25914814e-01 -7.94151986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.93, Y:-204.39, Z:-794.18 [[ 5.10435131e-01 5.64973522e-01 6.48275324e-01 3.77929974e+02] [-3.63704096e-01 8.24973247e-01 -4.32595045e-01 -2.04393280e+02] [-7.79214546e-01 -1.49686821e-02 6.26578511e-01 -7.94176711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.95, Y:-204.41, Z:-794.20 [[ 5.12909134e-01 5.63572255e-01 6.47541917e-01 3.77946203e+02] [-3.61535414e-01 8.25975553e-01 -4.32500324e-01 -2.04406893e+02] [-7.78598975e-01 -1.22759686e-02 6.27401734e-01 -7.94201971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.96, Y:-204.42, Z:-794.23 [[ 5.14126047e-01 5.62930830e-01 6.47134675e-01 3.77962208e+02] [-3.60299917e-01 8.26434442e-01 -4.32654692e-01 -2.04418984e+02] [-7.78369049e-01 -1.07235231e-02 6.27715405e-01 -7.94227588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.98, Y:-204.43, Z:-794.25 [[ 5.15322942e-01 5.62263690e-01 6.46762560e-01 3.77978678e+02] [-3.59001402e-01 8.26907480e-01 -4.32830237e-01 -2.04431476e+02] [-7.78177524e-01 -9.14131469e-03 6.27977848e-01 -7.94253281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.00, Y:-204.44, Z:-794.28 [[ 5.16567203e-01 5.61455888e-01 6.46471662e-01 3.77996310e+02] [-3.57416433e-01 8.27473978e-01 -4.33059245e-01 -2.04442907e+02] [-7.78082141e-01 -7.35539280e-03 6.28119480e-01 -7.94278645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.01, Y:-204.45, Z:-794.30 [[ 5.17443426e-01 5.61306287e-01 6.45900575e-01 3.78012715e+02] [-3.57117195e-01 8.27582170e-01 -4.33099367e-01 -2.04453789e+02] [-7.77637197e-01 -6.55778179e-03 6.28679080e-01 -7.94303432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.916559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.03, Y:-204.47, Z:-794.33 [[ 5.18498487e-01 5.60890155e-01 6.45415799e-01 3.78029556e+02] [-3.56361258e-01 8.27872589e-01 -4.33166978e-01 -2.04465267e+02] [-7.77281141e-01 -5.40476292e-03 6.29130206e-01 -7.94329810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.05, Y:-204.48, Z:-794.35 [[ 5.21849993e-01 5.59489350e-01 6.43928763e-01 3.78046456e+02] [-3.54831418e-01 8.28833007e-01 -4.32585844e-01 -2.04477751e+02] [-7.75736586e-01 -2.74123620e-03 6.31050898e-01 -7.94354555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.06, Y:-204.49, Z:-794.38 [[ 5.21759005e-01 5.59798857e-01 6.43733470e-01 3.78063463e+02] [-3.54964537e-01 8.28624307e-01 -4.32876352e-01 -2.04489081e+02] [-7.75736887e-01 -2.64541791e-03 6.31050936e-01 -7.94381043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.08, Y:-204.50, Z:-794.41 [[ 5.22360431e-01 5.59337288e-01 6.43646936e-01 3.78080018e+02] [-3.54018741e-01 8.28938513e-01 -4.33049273e-01 -2.04499869e+02] [-7.75764340e-01 -1.65527257e-03 6.31020561e-01 -7.94406248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.10, Y:-204.51, Z:-794.43 [[ 5.23027221e-01 5.59012837e-01 6.43387266e-01 3.78097754e+02] [-3.53241049e-01 8.29158736e-01 -4.33262683e-01 -2.04511364e+02] [-7.75669574e-01 -6.62615740e-04 6.31138871e-01 -7.94432079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.11, Y:-204.52, Z:-794.46 [[ 5.21931286e-01 5.58144686e-01 6.45028869e-01 3.78114267e+02] [-3.50741688e-01 8.29743558e-01 -4.34172657e-01 -2.04522460e+02] [-7.77539711e-01 3.69778353e-04 6.28833732e-01 -7.94460002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.13, Y:-204.53, Z:-794.48 [[ 5.25631639e-01 5.59845890e-01 6.40534121e-01 3.78132875e+02] [-3.50012397e-01 8.28578539e-01 -4.36977033e-01 -2.04531266e+02] [-7.75372622e-01 5.49407110e-03 6.31480097e-01 -7.94483281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.15, Y:-204.54, Z:-794.51 [[ 5.26061107e-01 5.56427078e-01 6.43155206e-01 3.78149929e+02] [-3.48168676e-01 8.30884711e-01 -4.34061251e-01 -2.04544509e+02] [-7.75911261e-01 4.41624552e-03 6.30826610e-01 -7.94508320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.156559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.17, Y:-204.55, Z:-794.54 [[ 5.25433063e-01 5.55325063e-01 6.44619399e-01 3.78165184e+02] [-3.44656984e-01 8.31606851e-01 -4.35478597e-01 -2.04553909e+02] [-7.77902088e-01 6.64227516e-03 6.28350397e-01 -7.94536034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.18, Y:-204.57, Z:-794.56 [[ 5.28215128e-01 5.54443853e-01 6.43102474e-01 3.78184367e+02] [-3.44297188e-01 8.32180944e-01 -4.34665760e-01 -2.04565737e+02] [-7.76175383e-01 8.17865654e-03 6.30464023e-01 -7.94558430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.20, Y:-204.58, Z:-794.58 [[ 5.28464194e-01 5.54598427e-01 6.42764483e-01 3.78201820e+02] [-3.44258709e-01 8.32074183e-01 -4.34900558e-01 -2.04575321e+02] [-7.76022897e-01 8.55210162e-03 6.30646751e-01 -7.94584198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.22, Y:-204.57, Z:-794.62 [[ 5.25208344e-01 5.68832176e-01 6.32918756e-01 3.78215122e+02] [-3.42101217e-01 8.22146974e-01 -4.55017703e-01 -2.04567502e+02] [-7.79180950e-01 2.24568177e-02 6.26396630e-01 -7.94621111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.24, Y:-204.61, Z:-794.63 [[ 5.28026786e-01 5.40424010e-01 6.55079845e-01 3.78235581e+02] [-3.44890497e-01 8.41369883e-01 -4.16109680e-01 -2.04607784e+02] [-7.76040114e-01 -6.21375627e-03 6.30652940e-01 -7.94630413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.25, Y:-204.60, Z:-794.66 [[ 5.25864601e-01 5.57482933e-01 6.42401122e-01 3.78254498e+02] [-3.48004782e-01 8.30170277e-01 -4.35557095e-01 -2.04604979e+02] [-7.76117964e-01 5.48539562e-03 6.30563888e-01 -7.94660923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.27, Y:-204.62, Z:-794.69 [[ 5.23858932e-01 5.59026457e-01 6.42698405e-01 3.78271542e+02] [-3.49673315e-01 8.29141281e-01 -4.36180363e-01 -2.04615448e+02] [-7.76724142e-01 3.76249744e-03 6.29829700e-01 -7.94686645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.29, Y:-204.63, Z:-794.71 [[ 5.21945587e-01 5.60580840e-01 6.42901180e-01 3.78288967e+02] [-3.51445898e-01 8.28097269e-01 -4.36738703e-01 -2.04625582e+02] [-7.77212060e-01 2.00885629e-03 6.29235551e-01 -7.94712415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.31, Y:-204.63, Z:-794.74 [[ 5.18075362e-01 5.63591791e-01 6.43398953e-01 3.78306429e+02] [-3.55296360e-01 8.26051165e-01 -4.37497394e-01 -2.04634790e+02] [-7.78050394e-01 -1.94068540e-03 6.28198869e-01 -7.94738005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.32, Y:-204.64, Z:-794.76 [[ 5.16093667e-01 5.65411604e-01 6.43394936e-01 3.78323526e+02] [-3.57720262e-01 8.24798380e-01 -4.37885655e-01 -2.04644695e+02] [-7.78256732e-01 -4.16539158e-03 6.27932408e-01 -7.94763741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.34, Y:-204.65, Z:-794.79 [[ 5.13951308e-01 5.67151775e-01 6.43578214e-01 3.78340584e+02] [-3.59879258e-01 8.23589216e-01 -4.38392202e-01 -2.04654125e+02] [-7.78678992e-01 -6.29820426e-03 6.27390915e-01 -7.94790120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.36, Y:-204.66, Z:-794.82 [[ 5.10122311e-01 5.69978511e-01 6.44127104e-01 3.78358509e+02] [-3.63447484e-01 8.21597906e-01 -4.39184252e-01 -2.04663159e+02] [-7.79539066e-01 -1.00686898e-02 6.26272678e-01 -7.94816910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.37, Y:-204.67, Z:-794.84 [[ 5.07959606e-01 5.71386672e-01 6.44588481e-01 3.78374925e+02] [-3.64800728e-01 8.20597875e-01 -4.39931309e-01 -2.04673506e+02] [-7.80318824e-01 -1.16790133e-02 6.25272847e-01 -7.94841807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.39, Y:-204.68, Z:-794.87 [[ 5.06046296e-01 5.72533403e-01 6.45075692e-01 3.78391867e+02] [-3.65752016e-01 8.19779277e-01 -4.40666994e-01 -2.04684148e+02] [-7.81116258e-01 -1.29398345e-02 6.24251513e-01 -7.94867792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.41, Y:-204.68, Z:-794.90 [[ 5.00726178e-01 5.87128002e-01 6.36045599e-01 3.78406035e+02] [-3.66672689e-01 8.09486083e-01 -4.58566702e-01 -2.04681998e+02] [-7.84107412e-01 -3.60419788e-03 6.20614676e-01 -7.94902888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.42, Y:-204.70, Z:-794.93 [[ 5.00876746e-01 5.82683573e-01 6.40001828e-01 3.78421811e+02] [-3.67557851e-01 8.12652182e-01 -4.52214172e-01 -2.04697706e+02] [-7.83596651e-01 -8.73413356e-03 6.21208502e-01 -7.94927349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.44, Y:-204.72, Z:-794.94 [[ 5.02094530e-01 5.64872711e-01 6.54843419e-01 3.78439230e+02] [-3.66676229e-01 8.24827932e-01 -4.30357324e-01 -2.04723007e+02] [-7.83230251e-01 -2.40354571e-02 6.21266989e-01 -7.94940871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.46, Y:-204.73, Z:-794.97 [[ 5.01631155e-01 5.74920705e-01 6.46399542e-01 3.78456791e+02] [-3.66396764e-01 8.18081067e-01 -4.43279572e-01 -2.04725575e+02] [-7.83657831e-01 -1.44758565e-02 6.21024036e-01 -7.94970532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.47, Y:-204.74, Z:-795.00 [[ 5.02279701e-01 5.75041838e-01 6.45787881e-01 3.78473096e+02] [-3.66549836e-01 8.18003273e-01 -4.43296587e-01 -2.04736594e+02] [-7.83170684e-01 -1.40545648e-02 6.21647930e-01 -7.94997514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.49, Y:-204.75, Z:-795.02 [[ 5.02780561e-01 5.75215060e-01 6.45243630e-01 3.78489024e+02] [-3.66729560e-01 8.17887220e-01 -4.43362071e-01 -2.04747678e+02] [-7.82765059e-01 -1.37160817e-02 6.22166161e-01 -7.95023445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.50, Y:-204.76, Z:-795.05 [[ 5.03420709e-01 5.75190416e-01 6.44766295e-01 3.78504973e+02] [-3.66572308e-01 8.17914400e-01 -4.43441965e-01 -2.04758796e+02] [-7.82427206e-01 -1.31156003e-02 6.22603926e-01 -7.95049809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.52, Y:-204.77, Z:-795.08 [[ 5.05699615e-01 5.74329495e-01 6.43749587e-01 3.78520139e+02] [-3.65476143e-01 8.18548150e-01 -4.43177296e-01 -2.04770474e+02] [-7.81469826e-01 -1.11605283e-02 6.23843213e-01 -7.95075692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.54, Y:-204.78, Z:-795.10 [[ 5.07244197e-01 5.73699272e-01 6.43096004e-01 3.78536142e+02] [-3.64668382e-01 8.19007266e-01 -4.42994436e-01 -2.04782240e+02] [-7.80845885e-01 -9.81042274e-03 6.24646668e-01 -7.95101347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.55, Y:-204.79, Z:-795.13 [[ 5.08877617e-01 5.72857196e-01 6.42555993e-01 3.78551814e+02] [-3.63219333e-01 8.19616862e-01 -4.43057464e-01 -2.04793762e+02] [-7.80458383e-01 -7.92673290e-03 6.25157484e-01 -7.95127071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.57, Y:-204.81, Z:-795.15 [[ 5.13068617e-01 5.69839204e-01 6.41906438e-01 3.78566803e+02] [-3.58418517e-01 8.21751532e-01 -4.43013077e-01 -2.04806778e+02] [-7.79933818e-01 -2.77504640e-03 6.25855845e-01 -7.95153003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.58, Y:-204.82, Z:-795.18 [[ 5.15768097e-01 5.68002921e-01 6.41370371e-01 3.78582672e+02] [-3.55403768e-01 8.23026334e-01 -4.43075405e-01 -2.04819426e+02] [-7.79532830e-01 5.78711922e-04 6.26361104e-01 -7.95178679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.60, Y:-204.83, Z:-795.20 [[ 5.18226755e-01 5.65806817e-01 6.41329616e-01 3.78598199e+02] [-3.51399011e-01 8.24525768e-01 -4.43481673e-01 -2.04831575e+02] [-7.79717748e-01 4.46147554e-03 6.26115268e-01 -7.95204479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.61, Y:-204.85, Z:-795.23 [[ 5.23881469e-01 5.60416039e-01 6.41468681e-01 3.78613435e+02] [-3.42189767e-01 8.28107569e-01 -4.44009028e-01 -2.04845738e+02] [-7.80034851e-01 1.31040831e-02 6.25598844e-01 -7.95230586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.63, Y:-204.86, Z:-795.26 [[ 5.26827262e-01 5.57566790e-01 6.41539017e-01 3.78628853e+02] [-3.37092577e-01 8.29938843e-01 -4.44488597e-01 -2.04858198e+02] [-7.80270229e-01 1.79106700e-02 6.25186034e-01 -7.95255529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.64, Y:-204.87, Z:-795.28 [[ 5.29819530e-01 5.54742208e-01 6.41523459e-01 3.78644732e+02] [-3.32165982e-01 8.31714949e-01 -4.44877517e-01 -2.04871107e+02] [-7.80356987e-01 2.26125271e-02 6.24925313e-01 -7.95280869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.66, Y:-204.88, Z:-795.31 [[ 5.32544298e-01 5.51952045e-01 6.41673992e-01 3.78661087e+02] [-3.27126972e-01 8.33429250e-01 -4.45402773e-01 -2.04883908e+02] [-7.80630844e-01 2.72878369e-02 6.24396396e-01 -7.95307031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.68, Y:-204.90, Z:-795.33 [[ 5.37417375e-01 5.46482421e-01 6.42292401e-01 3.78676612e+02] [-3.17468982e-01 8.36699932e-01 -4.46258522e-01 -2.04897189e+02] [-7.81278446e-01 3.59191690e-02 6.23148299e-01 -7.95331809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.69, Y:-204.91, Z:-795.36 [[ 5.39520186e-01 5.44392750e-01 6.42304058e-01 3.78693262e+02] [-3.13711383e-01 8.37900605e-01 -4.46662897e-01 -2.04909284e+02] [-7.81347002e-01 3.94855552e-02 6.22846493e-01 -7.95357445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.71, Y:-204.92, Z:-795.38 [[ 5.41086184e-01 5.42766137e-01 6.42363342e-01 3.78710213e+02] [-3.10593314e-01 8.38811789e-01 -4.47131498e-01 -2.04920885e+02] [-7.81509779e-01 4.24229166e-02 6.22449003e-01 -7.95383466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.73, Y:-204.93, Z:-795.41 [[ 5.43308357e-01 5.40569610e-01 6.42339884e-01 3.78726962e+02] [-3.06673190e-01 8.40031570e-01 -4.47547223e-01 -2.04931067e+02] [-7.81516208e-01 4.61677252e-02 6.22174379e-01 -7.95408960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.74, Y:-204.94, Z:-795.43 [[ 5.44189200e-01 5.40270813e-01 6.41845436e-01 3.78744025e+02] [-3.06197376e-01 8.40174836e-01 -4.47604080e-01 -2.04941480e+02] [-7.81089804e-01 4.70499177e-02 6.22643576e-01 -7.95434522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.236559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:378.76, Y:-204.95, Z:-795.46 [[ 5.43969889e-01 5.40914696e-01 6.41488934e-01 3.78762171e+02] [-3.07048683e-01 8.39785823e-01 -4.47750912e-01 -2.04950003e+02] [-7.80908360e-01 4.65946817e-02 6.22905346e-01 -7.95460806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.78, Y:-204.96, Z:-795.49 [[ 5.42404143e-01 5.42428708e-01 6.41536314e-01 3.78779379e+02] [-3.08813944e-01 8.38896159e-01 -4.48204398e-01 -2.04959789e+02] [-7.81301282e-01 4.49925637e-02 6.22530301e-01 -7.95486667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.80, Y:-204.97, Z:-795.51 [[ 5.40352214e-01 5.44316863e-01 6.41668635e-01 3.78796739e+02] [-3.11072383e-01 8.37783936e-01 -4.48722686e-01 -2.04969189e+02] [-7.81827000e-01 4.28629059e-02 6.22020349e-01 -7.95512623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.81, Y:-204.98, Z:-795.54 [[ 5.37889131e-01 5.46564200e-01 6.41827748e-01 3.78814858e+02] [-3.13859329e-01 8.36451138e-01 -4.49268088e-01 -2.04978503e+02] [-7.82411404e-01 4.02127955e-02 6.21462249e-01 -7.95538491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.83, Y:-204.99, Z:-795.56 [[ 5.31116503e-01 5.51599293e-01 6.43158985e-01 3.78834268e+02] [-3.19873056e-01 8.33431776e-01 -4.50635888e-01 -2.04985297e+02] [-7.84599572e-01 3.36109267e-02 6.19091122e-01 -7.95564199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.85, Y:-204.99, Z:-795.59 [[ 5.27781154e-01 5.54357624e-01 6.43532966e-01 3.78851865e+02] [-3.23286181e-01 8.31731793e-01 -4.51340525e-01 -2.04994008e+02] [-7.85450889e-01 3.01637082e-02 6.18188524e-01 -7.95590174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.416559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:378.87, Y:-205.00, Z:-795.62 [[ 5.24839684e-01 5.57173722e-01 6.43506605e-01 3.78869240e+02] [-3.27232522e-01 8.29972623e-01 -4.51734791e-01 -2.05002512e+02] [-7.85787619e-01 2.65120556e-02 6.17927931e-01 -7.95616143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.89, Y:-205.01, Z:-795.64 [[ 5.18746146e-01 5.62703380e-01 6.43636033e-01 3.78887601e+02] [-3.35370270e-01 8.26446515e-01 -4.52231070e-01 -2.05008832e+02] [-7.86402707e-01 1.87367350e-02 6.17429929e-01 -7.95642798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:378.90, Y:-205.02, Z:-795.67 [[ 5.15686531e-01 5.65353062e-01 6.43772722e-01 3.78904956e+02] [-3.38921339e-01 8.24707242e-01 -4.52758535e-01 -2.05017516e+02] [-7.86892450e-01 1.52931652e-02 6.16900633e-01 -7.95668962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.92, Y:-205.02, Z:-795.70 [[ 5.09368662e-01 5.70547438e-01 6.44219828e-01 3.78923988e+02] [-3.46296490e-01 8.21226558e-01 -4.53503783e-01 -2.05024674e+02] [-7.87795854e-01 7.90955018e-03 6.15885648e-01 -7.95695524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.94, Y:-205.03, Z:-795.72 [[ 5.06161685e-01 5.73263595e-01 6.44336247e-01 3.78941584e+02] [-3.50021096e-01 8.19359849e-01 -4.54020562e-01 -2.05033513e+02] [-7.88216709e-01 4.27653323e-03 6.15382914e-01 -7.95721794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.96, Y:-205.04, Z:-795.75 [[ 5.02977239e-01 5.76026959e-01 6.44365455e-01 3.78958892e+02] [-3.53919869e-01 8.17430520e-01 -4.54475601e-01 -2.05042658e+02] [-7.88514187e-01 5.37145276e-04 6.15016332e-01 -7.95747103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.98, Y:-205.05, Z:-795.77 [[ 4.96850926e-01 5.80766208e-01 6.44864147e-01 3.78977537e+02] [-3.60858464e-01 8.14043732e-01 -4.55097761e-01 -2.05049985e+02] [-7.89253018e-01 -6.58894180e-03 6.14032784e-01 -7.95773289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:378.99, Y:-205.06, Z:-795.80 [[ 4.93893353e-01 5.83132355e-01 6.45000785e-01 3.78994850e+02] [-3.64069210e-01 8.12318106e-01 -4.55623644e-01 -2.05059905e+02] [-7.89634705e-01 -9.79543704e-03 6.13499049e-01 -7.95799567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.01, Y:-205.07, Z:-795.83 [[ 4.91305097e-01 5.85257870e-01 6.45052345e-01 3.79012136e+02] [-3.66952664e-01 8.10749059e-01 -4.56104928e-01 -2.05070260e+02] [-7.89914581e-01 -1.26170005e-02 6.13087079e-01 -7.95825952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.03, Y:-205.08, Z:-795.85 [[ 4.87799940e-01 5.88125976e-01 6.45103910e-01 3.79029275e+02] [-3.71074554e-01 8.08597773e-01 -4.56588782e-01 -2.05079213e+02] [-7.90161309e-01 -1.66576650e-02 6.12672530e-01 -7.95851804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.05, Y:-205.09, Z:-795.88 [[ 4.86538407e-01 5.89154921e-01 6.45117708e-01 3.79045881e+02] [-3.72410343e-01 8.07820467e-01 -4.56877040e-01 -2.05089768e+02] [-7.90310645e-01 -1.79602804e-02 6.12443069e-01 -7.95877394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.06, Y:-205.10, Z:-795.90 [[ 4.86026627e-01 5.89916243e-01 6.44807681e-01 3.79062798e+02] [-3.73414935e-01 8.07249396e-01 -4.57066406e-01 -2.05100716e+02] [-7.90151508e-01 -1.86343744e-02 6.12628236e-01 -7.95903723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.08, Y:-205.11, Z:-795.93 [[ 4.86441524e-01 5.90231008e-01 6.44206489e-01 3.79078860e+02] [-3.73896785e-01 8.07021758e-01 -4.57074477e-01 -2.05110585e+02] [-7.89668183e-01 -1.85267305e-02 6.13254370e-01 -7.95930183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.09, Y:-205.12, Z:-795.96 [[ 4.86822095e-01 5.90272802e-01 6.43880632e-01 3.79094617e+02] [-3.73688326e-01 8.07003160e-01 -4.57277744e-01 -2.05121690e+02] [-7.89532319e-01 -1.79977664e-02 6.13445024e-01 -7.95955941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.11, Y:-205.13, Z:-795.98 [[ 4.88351844e-01 5.89599567e-01 6.43338813e-01 3.79109731e+02] [-3.72523735e-01 8.07530464e-01 -4.57297077e-01 -2.05133189e+02] [-7.89137848e-01 -1.63371067e-02 6.13998824e-01 -7.95982427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.13, Y:-205.14, Z:-796.01 [[ 4.88276707e-01 5.89883236e-01 6.43135775e-01 3.79126436e+02] [-3.72617004e-01 8.07325706e-01 -4.57582531e-01 -2.05144971e+02] [-7.89140308e-01 -1.62164339e-02 6.13998861e-01 -7.96008930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.14, Y:-205.16, Z:-796.04 [[ 4.89204781e-01 5.89544804e-01 6.42740699e-01 3.79142341e+02] [-3.72160802e-01 8.07588917e-01 -4.57489321e-01 -2.05157209e+02] [-7.88780717e-01 -1.53969308e-02 6.14481826e-01 -7.96035247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.16, Y:-205.17, Z:-796.06 [[ 4.90367967e-01 5.89319368e-01 6.42060698e-01 3.79157708e+02] [-3.71827412e-01 8.07771420e-01 -4.57438202e-01 -2.05169728e+02] [-7.88215474e-01 -1.44227266e-02 6.15230324e-01 -7.96061798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.17, Y:-205.18, Z:-796.09 [[ 4.92171078e-01 5.88865663e-01 6.41096609e-01 3.79173233e+02] [-3.71373351e-01 8.08125171e-01 -4.57182176e-01 -2.05182205e+02] [-7.87305192e-01 -1.30743515e-02 6.16424851e-01 -7.96088396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.19, Y:-205.19, Z:-796.12 [[ 4.96348692e-01 5.90751926e-01 6.36121166e-01 3.79188123e+02] [-3.70367948e-01 8.06821700e-01 -4.60289395e-01 -2.05194013e+02] [-7.85153208e-01 -7.13485186e-03 6.19260474e-01 -7.96117390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.016559995 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:379.20, Y:-205.21, Z:-796.14 [[ 4.97691684e-01 5.90329753e-01 6.35463430e-01 3.79203031e+02] [-3.69504229e-01 8.07142344e-01 -4.60421395e-01 -2.05206656e+02] [-7.84709891e-01 -5.65852545e-03 6.19837373e-01 -7.96143438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.22, Y:-205.22, Z:-796.17 [[ 4.97901607e-01 5.85914052e-01 6.39373688e-01 3.79215240e+02] [-3.67012856e-01 8.10340981e-01 -4.56781194e-01 -2.05223195e+02] [-7.85745222e-01 -7.22627302e-03 6.18508066e-01 -7.96166369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.23, Y:-205.24, Z:-796.19 [[ 4.98253640e-01 5.85628502e-01 6.39361063e-01 3.79230509e+02] [-3.65693143e-01 8.10558240e-01 -4.57453676e-01 -2.05236290e+02] [-7.86137288e-01 -5.88199759e-03 6.18023921e-01 -7.96192271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.25, Y:-205.25, Z:-796.22 [[ 4.98608133e-01 5.85236958e-01 6.39443221e-01 3.79246158e+02] [-3.64455354e-01 8.10848568e-01 -4.57926735e-01 -2.05249630e+02] [-7.86487269e-01 -4.72251165e-03 6.17588433e-01 -7.96218067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.136559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:379.26, Y:-205.26, Z:-796.24 [[ 4.99123331e-01 5.84260911e-01 6.39933659e-01 3.79260182e+02] [-3.61856356e-01 8.11561708e-01 -4.58723852e-01 -2.05264707e+02] [-7.87360069e-01 -2.60428501e-03 6.16487907e-01 -7.96243265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.28, Y:-205.28, Z:-796.27 [[ 4.99315380e-01 5.84072549e-01 6.39955786e-01 3.79275443e+02] [-3.61177532e-01 8.11699130e-01 -4.59015591e-01 -2.05278085e+02] [-7.87549961e-01 -1.94410762e-03 6.16247742e-01 -7.96269185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:-205.28, Z:-796.30 [[ 5.02301972e-01 5.93370846e-01 6.28970403e-01 3.79290635e+02] [-3.61530378e-01 8.04878986e-01 -4.70601321e-01 -2.05283938e+02] [-7.85486165e-01 8.99206401e-03 6.18813888e-01 -7.96298059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.30, Y:-205.31, Z:-796.32 [[ 4.98529901e-01 5.77566448e-01 6.46440204e-01 3.79301488e+02] [-3.60301602e-01 8.16306020e-01 -4.51472301e-01 -2.05309861e+02] [-7.88448282e-01 -7.84099934e-03 6.15051075e-01 -7.96315550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.32, Y:-205.32, Z:-796.34 [[ 4.98124180e-01 5.85410056e-01 6.39661916e-01 3.79317239e+02] [-3.61493976e-01 8.10735217e-01 -4.60467711e-01 -2.05317760e+02] [-7.88158871e-01 -1.86382834e-03 6.15469025e-01 -7.96344295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.33, Y:-205.33, Z:-796.37 [[ 4.96681030e-01 5.86942322e-01 6.39379907e-01 3.79331476e+02] [-3.63677612e-01 8.09620284e-01 -4.60709877e-01 -2.05331505e+02] [-7.88065067e-01 -3.70230114e-03 6.15580818e-01 -7.96369045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.35, Y:-205.34, Z:-796.39 [[ 4.95374571e-01 5.88092401e-01 6.39336658e-01 3.79346776e+02] [-3.65062179e-01 8.08778394e-01 -4.61093391e-01 -2.05344393e+02] [-7.88247195e-01 -4.98369309e-03 6.15338543e-01 -7.96394966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.36, Y:-205.36, Z:-796.42 [[ 4.94108118e-01 5.89379368e-01 6.39131543e-01 3.79362645e+02] [-3.66789684e-01 8.07830623e-01 -4.61383802e-01 -2.05357528e+02] [-7.88240126e-01 -6.45337430e-03 6.15333940e-01 -7.96421236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.38, Y:-205.37, Z:-796.45 [[ 4.92841737e-01 5.90623727e-01 6.38960591e-01 3.79378363e+02] [-3.68415241e-01 8.06908843e-01 -4.61701559e-01 -2.05369993e+02] [-7.88274846e-01 -7.85702187e-03 6.15273138e-01 -7.96447320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.39, Y:-205.38, Z:-796.47 [[ 4.92723739e-01 5.90952588e-01 6.38747490e-01 3.79394923e+02] [-3.68571634e-01 8.06668700e-01 -4.61996277e-01 -2.05381842e+02] [-7.88275503e-01 -7.78767361e-03 6.15273178e-01 -7.96473853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.41, Y:-205.40, Z:-796.50 [[ 4.90359099e-01 5.93171431e-01 6.38510460e-01 3.79409159e+02] [-3.72027146e-01 8.05001957e-01 -4.62133803e-01 -2.05395189e+02] [-7.88126739e-01 -1.09317089e-02 6.15415909e-01 -7.96498725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.42, Y:-205.40, Z:-796.52 [[ 4.89717328e-01 5.94404248e-01 6.37856198e-01 3.79422939e+02] [-3.70676608e-01 8.04117786e-01 -4.64750944e-01 -2.05401439e+02] [-7.89161448e-01 -8.84178107e-03 6.14122164e-01 -7.96523426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.44, Y:-205.42, Z:-796.55 [[ 4.88940977e-01 5.86569814e-01 6.45656701e-01 3.79436765e+02] [-3.71589672e-01 8.09702177e-01 -4.54206450e-01 -2.05420278e+02] [-7.89213429e-01 -1.78392163e-02 6.13859858e-01 -7.96546135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.45, Y:-205.44, Z:-796.57 [[ 4.87010499e-01 5.85297347e-01 6.48265215e-01 3.79451899e+02] [-3.77523183e-01 8.10384656e-01 -4.48054636e-01 -2.05443410e+02] [-7.87589373e-01 -2.65278353e-02 6.15629153e-01 -7.96571567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.47, Y:-205.45, Z:-796.60 [[ 4.86500992e-01 5.95327675e-01 6.39454256e-01 3.79468729e+02] [-3.77606227e-01 8.03294790e-01 -4.60576833e-01 -2.05448204e+02] [-7.87864407e-01 -1.73908229e-02 6.15603148e-01 -7.96601065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.48, Y:-205.45, Z:-796.63 [[ 4.85405003e-01 6.03706569e-01 6.32392569e-01 3.79483165e+02] [-3.79345589e-01 7.97118404e-01 -4.69786308e-01 -2.05454951e+02] [-7.87704835e-01 -1.18587073e-02 6.15938685e-01 -7.96628049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.50, Y:-205.47, Z:-796.65 [[ 4.84861748e-01 5.99042803e-01 6.37225867e-01 3.79497657e+02] [-3.79871972e-01 8.00529623e-01 -4.63518725e-01 -2.05472446e+02] [-7.87785739e-01 -1.73217473e-02 6.15705763e-01 -7.96652045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.51, Y:-205.48, Z:-796.68 [[ 4.84491120e-01 5.99369723e-01 6.37200353e-01 3.79512733e+02] [-3.79863314e-01 8.00285976e-01 -4.63946355e-01 -2.05484920e+02] [-7.88017904e-01 -1.72711489e-02 6.15410018e-01 -7.96677556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.53, Y:-205.50, Z:-796.70 [[ 4.84479044e-01 5.99549493e-01 6.37040392e-01 3.79528464e+02] [-3.79948409e-01 8.00152992e-01 -4.64106017e-01 -2.05498117e+02] [-7.87984304e-01 -1.71928437e-02 6.15455233e-01 -7.96703662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.54, Y:-205.51, Z:-796.73 [[ 4.83402417e-01 5.96619511e-01 6.40599144e-01 3.79541469e+02] [-3.80075437e-01 8.02251148e-01 -4.60364810e-01 -2.05514025e+02] [-7.88584026e-01 -2.09345376e-02 6.14570565e-01 -7.96726211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.56, Y:-205.52, Z:-796.75 [[ 4.85332407e-01 5.99131684e-01 6.36783857e-01 3.79556978e+02] [-3.79396223e-01 8.00482435e-01 -4.63989632e-01 -2.05523936e+02] [-7.87725181e-01 -1.64041853e-02 6.15808364e-01 -7.96753714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.57, Y:-205.54, Z:-796.78 [[ 4.85689397e-01 5.97057131e-01 6.38457980e-01 3.79570586e+02] [-3.78501026e-01 8.02013591e-01 -4.62072693e-01 -2.05538636e+02] [-7.87935774e-01 -1.72331931e-02 6.15516234e-01 -7.96778088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.59, Y:-205.55, Z:-796.80 [[ 4.86506215e-01 5.97005301e-01 6.37884295e-01 3.79585491e+02] [-3.77824989e-01 8.02077869e-01 -4.62514183e-01 -2.05550806e+02] [-7.87756295e-01 -1.59926022e-02 6.15779390e-01 -7.96804329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.60, Y:-205.56, Z:-796.83 [[ 4.89391796e-01 5.96269127e-01 6.36363731e-01 3.79600579e+02] [-3.75423741e-01 8.02693094e-01 -4.63401350e-01 -2.05564312e+02] [-7.87116691e-01 -1.21212333e-02 6.16685002e-01 -7.96831063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.62, Y:-205.58, Z:-796.86 [[ 4.90133147e-01 5.96824097e-01 6.35271986e-01 3.79615733e+02] [-3.74328282e-01 8.02310851e-01 -4.64946917e-01 -2.05575579e+02] [-7.87177131e-01 -9.91437548e-03 6.16647281e-01 -7.96856792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.63, Y:-205.59, Z:-796.88 [[ 4.90449755e-01 5.96731146e-01 6.35114932e-01 3.79632234e+02] [-3.73812869e-01 8.02388002e-01 -4.65228367e-01 -2.05588293e+02] [-7.87224858e-01 -9.24299644e-03 6.16596781e-01 -7.96882897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.65, Y:-205.60, Z:-796.91 [[ 4.90322802e-01 5.96682342e-01 6.35258791e-01 3.79647975e+02] [-3.73049610e-01 8.02431365e-01 -4.65765921e-01 -2.05599107e+02] [-7.87665880e-01 -8.60739294e-03 6.16042511e-01 -7.96908283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.66, Y:-205.61, Z:-796.93 [[ 4.91068219e-01 5.96644731e-01 6.34718102e-01 3.79664812e+02] [-3.72970091e-01 8.02465559e-01 -4.65770692e-01 -2.05610378e+02] [-7.87239046e-01 -8.00568360e-03 6.16595973e-01 -7.96933969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.68, Y:-205.62, Z:-796.96 [[ 4.91344867e-01 5.96851364e-01 6.34309602e-01 3.79680617e+02] [-3.73136205e-01 8.02314229e-01 -4.65898327e-01 -2.05621023e+02] [-7.86987671e-01 -7.76712610e-03 6.16919831e-01 -7.96959131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.70, Y:-205.63, Z:-796.99 [[ 4.92212658e-01 5.97012545e-01 6.33484586e-01 3.79697460e+02] [-3.73648815e-01 8.02197003e-01 -4.65689308e-01 -2.05632155e+02] [-7.86201795e-01 -7.48259326e-03 6.17924549e-01 -7.96985369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.71, Y:-205.64, Z:-797.01 [[ 4.92295663e-01 5.97355343e-01 6.33096814e-01 3.79713053e+02] [-3.74002982e-01 8.01942102e-01 -4.65844002e-01 -2.05643129e+02] [-7.85981393e-01 -7.44711472e-03 6.18205298e-01 -7.97010598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.73, Y:-205.65, Z:-797.04 [[ 4.92859792e-01 5.97562686e-01 6.32461905e-01 3.79729372e+02] [-3.74402643e-01 8.01789614e-01 -4.65785439e-01 -2.05654706e+02] [-7.85437385e-01 -7.22849431e-03 6.18898912e-01 -7.97036308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.75, Y:-205.67, Z:-797.06 [[ 4.93609109e-01 5.97701829e-01 6.31745654e-01 3.79745996e+02] [-3.74733741e-01 8.01689077e-01 -4.65692225e-01 -2.05665847e+02] [-7.84808684e-01 -6.86648778e-03 6.19700073e-01 -7.97062012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.76, Y:-205.68, Z:-797.09 [[ 4.94985144e-01 5.98520758e-01 6.29890950e-01 3.79762426e+02] [-3.74117389e-01 8.01095255e-01 -4.67207205e-01 -2.05675850e+02] [-7.84235862e-01 -4.39253232e-03 6.20447273e-01 -7.97088583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.78, Y:-205.69, Z:-797.11 [[ 4.94562409e-01 5.99631856e-01 6.29165845e-01 3.79778156e+02] [-3.74496075e-01 8.00265955e-01 -4.68323704e-01 -2.05685863e+02] [-7.84321818e-01 -4.00484061e-03 6.20341235e-01 -7.97113408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.80, Y:-205.70, Z:-797.14 [[ 4.95411622e-01 5.97334729e-01 6.30681017e-01 3.79795172e+02] [-3.73708280e-01 8.01977553e-01 -4.66019448e-01 -2.05698751e+02] [-7.84161620e-01 -4.81926737e-03 6.20537935e-01 -7.97139028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.81, Y:-205.71, Z:-797.16 [[ 4.95926437e-01 5.97323862e-01 6.30286581e-01 3.79811613e+02] [-3.73492537e-01 8.01989025e-01 -4.66172638e-01 -2.05710044e+02] [-7.83938961e-01 -4.21999886e-03 6.20823564e-01 -7.97164248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.83, Y:-205.72, Z:-797.19 [[ 4.96261730e-01 5.97384677e-01 6.29964954e-01 3.79828598e+02] [-3.73365799e-01 8.01945937e-01 -4.66348256e-01 -2.05721876e+02] [-7.83787137e-01 -3.77657622e-03 6.21018084e-01 -7.97190309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.85, Y:-205.73, Z:-797.22 [[ 4.96599397e-01 5.97302725e-01 6.29776543e-01 3.79846238e+02] [-3.72850781e-01 8.02009976e-01 -4.66650076e-01 -2.05732855e+02] [-7.83818432e-01 -3.07452946e-03 6.20982458e-01 -7.97216114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.86, Y:-205.74, Z:-797.24 [[ 4.96708535e-01 5.97516199e-01 6.29487905e-01 3.79862834e+02] [-3.72902016e-01 8.01851833e-01 -4.66880846e-01 -2.05744194e+02] [-7.83724899e-01 -2.83360812e-03 6.21101645e-01 -7.97241463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.88, Y:-205.76, Z:-797.27 [[ 4.96602405e-01 5.97775237e-01 6.29325684e-01 3.79880410e+02] [-3.73125463e-01 8.01658550e-01 -4.67034216e-01 -2.05755328e+02] [-7.83685804e-01 -2.88712291e-03 6.21150726e-01 -7.97267583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.90, Y:-205.77, Z:-797.29 [[ 4.96383637e-01 5.98203318e-01 6.29091469e-01 3.79897013e+02] [-3.73491861e-01 8.01338729e-01 -4.67290136e-01 -2.05766468e+02] [-7.83649868e-01 -3.00536607e-03 6.21195503e-01 -7.97293617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.91, Y:-205.78, Z:-797.32 [[ 4.96171032e-01 5.98722704e-01 6.28765005e-01 3.79913541e+02] [-3.74090340e-01 8.00949723e-01 -4.67478297e-01 -2.05777500e+02] [-7.83499027e-01 -3.26572562e-03 6.21384431e-01 -7.97319370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.93, Y:-205.79, Z:-797.35 [[ 4.95706406e-01 5.99344428e-01 6.28539112e-01 3.79930010e+02] [-3.74762379e-01 8.00482749e-01 -4.67739807e-01 -2.05788811e+02] [-7.83471964e-01 -3.69119436e-03 6.21416171e-01 -7.97345474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.95, Y:-205.80, Z:-797.37 [[ 4.94815949e-01 6.00589873e-01 6.28051735e-01 3.79946240e+02] [-3.76674717e-01 7.99541059e-01 -4.67814336e-01 -2.05799289e+02] [-7.83117701e-01 -5.08921534e-03 6.21852688e-01 -7.97371040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.96, Y:-205.81, Z:-797.40 [[ 4.94160006e-01 6.01531166e-01 6.27667224e-01 3.79962509e+02] [-3.78039777e-01 7.98826431e-01 -4.67934035e-01 -2.05811118e+02] [-7.82874074e-01 -6.04889186e-03 6.22150782e-01 -7.97396921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.98, Y:-205.82, Z:-797.42 [[ 4.92329149e-01 6.03368664e-01 6.27342223e-01 3.79978713e+02] [-3.80757178e-01 7.97418252e-01 -4.68132571e-01 -2.05823077e+02] [-7.82710662e-01 -8.38974458e-03 6.22329199e-01 -7.97422477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.99, Y:-205.83, Z:-797.45 [[ 4.91530254e-01 6.04523936e-01 6.26856300e-01 3.79994775e+02] [-3.82520089e-01 7.96528575e-01 -4.68210007e-01 -2.05834774e+02] [-7.82353112e-01 -9.64574371e-03 6.22760442e-01 -7.97447710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.01, Y:-205.85, Z:-797.47 [[ 4.90370348e-01 6.05654761e-01 6.26673146e-01 3.80010864e+02] [-3.84005901e-01 7.95652657e-01 -4.68482996e-01 -2.05846288e+02] [-7.82353111e-01 -1.09160164e-02 6.22739473e-01 -7.97473516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.03, Y:-205.86, Z:-797.50 [[ 4.88655909e-01 6.07086757e-01 6.26626740e-01 3.80027491e+02] [-3.85830173e-01 7.94534862e-01 -4.68881042e-01 -2.05857897e+02] [-7.82528261e-01 -1.26500115e-02 6.22486544e-01 -7.97499215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.04, Y:-205.87, Z:-797.53 [[ 4.87547088e-01 6.07918352e-01 6.26684222e-01 3.80043822e+02] [-3.86577679e-01 7.93886041e-01 -4.69364094e-01 -2.05869939e+02] [-7.82850902e-01 -1.34250352e-02 6.22064493e-01 -7.97525172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.06, Y:-205.88, Z:-797.55 [[ 4.86564312e-01 6.08630277e-01 6.26757015e-01 3.80059618e+02] [-3.87116180e-01 7.93330249e-01 -4.69859744e-01 -2.05881688e+02] [-7.83196165e-01 -1.40107984e-02 6.21616815e-01 -7.97550844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.08, Y:-205.89, Z:-797.58 [[ 4.85908625e-01 6.09329879e-01 6.26585914e-01 3.80075795e+02] [-3.87896442e-01 7.92782313e-01 -4.70140994e-01 -2.05894065e+02] [-7.83217185e-01 -1.46048825e-02 6.21576656e-01 -7.97577205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.09, Y:-205.91, Z:-797.60 [[ 4.85300558e-01 6.10174620e-01 6.26235021e-01 3.80091283e+02] [-3.89060535e-01 7.92117149e-01 -4.70300248e-01 -2.05906462e+02] [-7.83016774e-01 -1.54063597e-02 6.21809758e-01 -7.97603555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.11, Y:-205.92, Z:-797.63 [[ 4.85448207e-01 6.10693076e-01 6.25614902e-01 3.80107123e+02] [-3.89911106e-01 7.91712939e-01 -4.70276463e-01 -2.05918805e+02] [-7.82501993e-01 -1.56393331e-02 6.22451639e-01 -7.97630086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.12, Y:-205.93, Z:-797.66 [[ 4.85346158e-01 6.10993315e-01 6.25400892e-01 3.80123454e+02] [-3.90034330e-01 7.91483158e-01 -4.70560976e-01 -2.05930978e+02] [-7.82503884e-01 -1.55428559e-02 6.22451678e-01 -7.97656627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.14, Y:-205.94, Z:-797.68 [[ 4.85824028e-01 6.11304654e-01 6.24725247e-01 3.80138698e+02] [-3.90844261e-01 7.91239851e-01 -4.70298057e-01 -2.05944018e+02] [-7.81802902e-01 -1.56881812e-02 6.23328247e-01 -7.97682916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.15, Y:-205.96, Z:-797.71 [[ 4.86042913e-01 6.11658948e-01 6.24207993e-01 3.80153840e+02] [-3.91326350e-01 7.90966647e-01 -4.70356727e-01 -2.05956298e+02] [-7.81425604e-01 -1.56554814e-02 6.23801997e-01 -7.97707770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.17, Y:-205.97, Z:-797.73 [[ 4.86518184e-01 6.11697160e-01 6.23800162e-01 3.80169162e+02] [-3.91235676e-01 7.90946696e-01 -4.70465695e-01 -2.05969789e+02] [-7.81175206e-01 -1.51627621e-02 6.24127702e-01 -7.97734274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.18, Y:-205.98, Z:-797.76 [[ 4.86606305e-01 6.11739160e-01 6.23690231e-01 3.80184016e+02] [-3.90845620e-01 7.90923718e-01 -4.70828392e-01 -2.05981870e+02] [-7.81315561e-01 -1.46585306e-02 6.23964039e-01 -7.97759366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:380.20, Y:-205.99, Z:-797.78 [[ 4.86935503e-01 6.11652861e-01 6.23517918e-01 3.80199214e+02] [-3.90517380e-01 7.90999524e-01 -4.70973385e-01 -2.05994301e+02] [-7.81274594e-01 -1.41609215e-02 6.24026824e-01 -7.97784208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:380.21, Y:-206.01, Z:-797.81 [[ 4.87217872e-01 6.11392201e-01 6.23552983e-01 3.80214705e+02] [-3.89730873e-01 7.91214108e-01 -4.71264345e-01 -2.06007665e+02] [-7.81491262e-01 -1.34094364e-02 6.23772070e-01 -7.97810637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.23, Y:-206.02, Z:-797.84 [[ 4.87346924e-01 6.11431291e-01 6.23413789e-01 3.80230295e+02] [-3.89380201e-01 7.91192100e-01 -4.71591052e-01 -2.06019875e+02] [-7.81585591e-01 -1.29165378e-02 6.23664275e-01 -7.97836468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.25, Y:-206.03, Z:-797.86 [[ 4.87513598e-01 6.11459416e-01 6.23255866e-01 3.80246514e+02] [-3.89028952e-01 7.91178548e-01 -4.71903570e-01 -2.06032299e+02] [-7.81656553e-01 -1.24051687e-02 6.23585716e-01 -7.97862437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:-206.04, Z:-797.89 [[ 4.88108917e-01 6.11093998e-01 6.23148306e-01 3.80262012e+02] [-3.87992224e-01 7.91477877e-01 -4.72255021e-01 -2.06044093e+02] [-7.81800307e-01 -1.12648099e-02 6.23427129e-01 -7.97887764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.28, Y:-206.06, Z:-797.91 [[ 4.88383965e-01 6.11085972e-01 6.22940637e-01 3.80277815e+02] [-3.87837292e-01 7.91489115e-01 -4.72363437e-01 -2.06056164e+02] [-7.81705403e-01 -1.09048815e-02 6.23552521e-01 -7.97913692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:-206.07, Z:-797.94 [[ 4.89324888e-01 6.10729778e-01 6.22551437e-01 3.80293524e+02] [-3.87075601e-01 7.91778846e-01 -4.72502634e-01 -2.06067535e+02] [-7.81494487e-01 -9.76717342e-03 6.23835691e-01 -7.97939110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.31, Y:-206.08, Z:-797.97 [[ 4.89662062e-01 6.10724334e-01 6.22291614e-01 3.80309647e+02] [-3.86802034e-01 7.91789419e-01 -4.72708899e-01 -2.06079742e+02] [-7.81418743e-01 -9.23604785e-03 6.23938654e-01 -7.97965222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.33, Y:-206.09, Z:-797.99 [[ 4.90147965e-01 6.10628498e-01 6.22003062e-01 3.80325784e+02] [-3.86370133e-01 7.91871355e-01 -4.72924812e-01 -2.06092156e+02] [-7.81327775e-01 -8.52027177e-03 6.24062748e-01 -7.97991369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.34, Y:-206.10, Z:-798.02 [[ 4.90472959e-01 6.10413101e-01 6.21958296e-01 3.80341692e+02] [-3.85515689e-01 7.92046579e-01 -4.73328501e-01 -2.06104302e+02] [-7.81545859e-01 -7.61985102e-03 6.23801257e-01 -7.98016798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.36, Y:-206.12, Z:-798.04 [[ 4.90630094e-01 6.10532894e-01 6.21716733e-01 3.80357708e+02] [-3.85422702e-01 7.91957402e-01 -4.73553391e-01 -2.06116279e+02] [-7.81493091e-01 -7.28419814e-03 6.23871373e-01 -7.98041983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.37, Y:-206.13, Z:-798.07 [[ 4.90511362e-01 6.10655562e-01 6.21689945e-01 3.80374778e+02] [-3.85320059e-01 7.91864054e-01 -4.73792964e-01 -2.06127912e+02] [-7.81618229e-01 -7.14877388e-03 6.23716153e-01 -7.98068248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.39, Y:-206.14, Z:-798.09 [[ 4.90644299e-01 6.10825800e-01 6.21417745e-01 3.80391545e+02] [-3.85316352e-01 7.91735199e-01 -4.74011271e-01 -2.06139065e+02] [-7.81536615e-01 -6.87149061e-03 6.23821530e-01 -7.98094592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.41, Y:-206.15, Z:-798.12 [[ 4.90557668e-01 6.11187542e-01 6.21130391e-01 3.80407422e+02] [-3.85637673e-01 7.91455728e-01 -4.74216634e-01 -2.06149851e+02] [-7.81432505e-01 -6.90067303e-03 6.23951618e-01 -7.98119879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.42, Y:-206.16, Z:-798.15 [[ 4.90561809e-01 6.11215436e-01 6.21099672e-01 3.80423460e+02] [-3.85217120e-01 7.91438040e-01 -4.74587821e-01 -2.06160801e+02] [-7.81637308e-01 -6.44356648e-03 6.23699927e-01 -7.98145974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.44, Y:-206.17, Z:-798.17 [[ 4.90917828e-01 6.10904467e-01 6.21124318e-01 3.80439919e+02] [-3.84167276e-01 7.91685788e-01 -4.75025386e-01 -2.06172621e+02] [-7.81930425e-01 -5.41720651e-03 6.23342172e-01 -7.98171975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.46, Y:-206.18, Z:-798.20 [[ 4.91243675e-01 6.10765259e-01 6.21003583e-01 3.80456163e+02] [-3.83535299e-01 7.91797979e-01 -4.75348962e-01 -2.06184832e+02] [-7.82036014e-01 -4.66462345e-03 6.23215785e-01 -7.98197779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.47, Y:-206.20, Z:-798.22 [[ 4.91819677e-01 6.10214580e-01 6.21089021e-01 3.80472212e+02] [-3.82047604e-01 7.92229457e-01 -4.75827822e-01 -2.06197200e+02] [-7.82402092e-01 -3.26408656e-03 6.22765054e-01 -7.98223644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.49, Y:-206.21, Z:-798.25 [[ 4.92053388e-01 6.10104318e-01 6.21012226e-01 3.80488654e+02] [-3.81407003e-01 7.92317011e-01 -4.76195813e-01 -2.06209475e+02] [-7.82567672e-01 -2.54464852e-03 6.22560329e-01 -7.98249766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.51, Y:-206.22, Z:-798.28 [[ 4.92112517e-01 6.09845060e-01 6.21219988e-01 3.80505058e+02] [-3.80255616e-01 7.92519063e-01 -4.76780035e-01 -2.06221574e+02] [-7.83090632e-01 -1.59296616e-03 6.21905559e-01 -7.98275821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.52, Y:-206.23, Z:-798.30 [[ 4.92234696e-01 6.09847003e-01 6.21121274e-01 3.80520859e+02] [-3.79815686e-01 7.92518472e-01 -4.77131550e-01 -2.06233117e+02] [-7.83227329e-01 -1.05089901e-03 6.21734547e-01 -7.98301616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.54, Y:-206.24, Z:-798.33 [[ 4.92358376e-01 6.09754648e-01 6.21113918e-01 3.80537099e+02] [-3.79173632e-01 7.92590128e-01 -4.77523031e-01 -2.06244933e+02] [-7.83460648e-01 -3.97555882e-04 6.21441273e-01 -7.98327966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.55, Y:-206.24, Z:-798.36 [[ 4.92849102e-01 6.18121807e-01 6.12393007e-01 3.80550725e+02] [-3.72856120e-01 7.85943920e-01 -4.93224562e-01 -2.06238493e+02] [-7.86179418e-01 1.47508017e-02 6.17822254e-01 -7.98360246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.57, Y:-206.29, Z:-798.37 [[ 4.94362438e-01 5.88744210e-01 6.39520160e-01 3.80566264e+02] [-3.76464541e-01 8.08144222e-01 -4.52965083e-01 -2.06287441e+02] [-7.83505092e-01 -1.68277407e-02 6.21157467e-01 -7.98372198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.58, Y:-206.28, Z:-798.41 [[ 4.95037841e-01 6.08257953e-01 6.20451287e-01 3.80584359e+02] [-3.75855917e-01 7.93731473e-01 -4.78249599e-01 -2.06282180e+02] [-7.83370836e-01 3.55136091e-03 6.21544465e-01 -7.98405077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.60, Y:-206.29, Z:-798.43 [[ 4.96427333e-01 6.07268446e-01 6.20310356e-01 3.80600018e+02] [-3.73895795e-01 7.94476748e-01 -4.78548464e-01 -2.06294448e+02] [-7.83429536e-01 5.63310375e-03 6.21455091e-01 -7.98431148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.62, Y:-206.31, Z:-798.46 [[ 4.96795935e-01 6.07070781e-01 6.20208728e-01 3.80616062e+02] [-3.73146417e-01 7.94621313e-01 -4.78893225e-01 -2.06306954e+02] [-7.83553158e-01 6.48354327e-03 6.21290924e-01 -7.98457593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.63, Y:-206.32, Z:-798.48 [[ 4.97204722e-01 6.06937293e-01 6.20011763e-01 3.80632009e+02] [-3.72595600e-01 7.94716848e-01 -4.79163491e-01 -2.06319223e+02] [-7.83555986e-01 7.22869551e-03 6.21279135e-01 -7.98482959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.65, Y:-206.33, Z:-798.51 [[ 4.96765108e-01 6.07395445e-01 6.19915479e-01 3.80648331e+02] [-3.72928114e-01 7.94368736e-01 -4.79481942e-01 -2.06331358e+02] [-7.83676623e-01 7.00598832e-03 6.21129508e-01 -7.98509419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:380.66, Y:-206.34, Z:-798.54 [[ 4.96225941e-01 6.07952030e-01 6.19801698e-01 3.80664232e+02] [-3.73405948e-01 7.93945853e-01 -4.79810359e-01 -2.06342760e+02] [-7.83790670e-01 6.65670678e-03 6.20989432e-01 -7.98535375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.68, Y:-206.35, Z:-798.56 [[ 4.94276638e-01 6.09541060e-01 6.19798597e-01 3.80680971e+02] [-3.75431710e-01 7.92740741e-01 -4.80221978e-01 -2.06354323e+02] [-7.84054613e-01 4.67045772e-03 6.20674271e-01 -7.98561806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.70, Y:-206.37, Z:-798.59 [[ 4.93146987e-01 6.10647997e-01 6.19608807e-01 3.80696642e+02] [-3.76873604e-01 7.91894696e-01 -4.80488373e-01 -2.06365491e+02] [-7.84074190e-01 3.43718924e-03 6.20657595e-01 -7.98586870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.71, Y:-206.38, Z:-798.61 [[ 4.90741475e-01 6.12808419e-01 6.19385701e-01 3.80713072e+02] [-3.80080527e-01 7.90231363e-01 -4.80700723e-01 -2.06376543e+02] [-7.84035457e-01 4.83338636e-04 6.20715852e-01 -7.98612580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.73, Y:-206.39, Z:-798.64 [[ 4.89534397e-01 6.14165004e-01 6.18997110e-01 3.80728939e+02] [-3.82163793e-01 7.89176730e-01 -4.80781578e-01 -2.06387923e+02] [-7.83777334e-01 -1.19916366e-03 6.21040782e-01 -7.98637903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.75, Y:-206.40, Z:-798.66 [[ 4.88063587e-01 6.15617034e-01 6.18716092e-01 3.80745267e+02] [-3.84463572e-01 7.88038952e-01 -4.80814280e-01 -2.06399560e+02] [-7.83569841e-01 -3.20585644e-03 6.21295442e-01 -7.98664190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.76, Y:-206.41, Z:-798.69 [[ 4.86891151e-01 6.17074974e-01 6.18187256e-01 3.80761687e+02] [-3.86826215e-01 7.86888274e-01 -4.80803830e-01 -2.06411006e+02] [-7.83136315e-01 -5.03190630e-03 6.21829714e-01 -7.98690569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.78, Y:-206.42, Z:-798.72 [[ 4.84674240e-01 6.19539591e-01 6.17463826e-01 3.80777934e+02] [-3.91006326e-01 7.84919624e-01 -4.80640445e-01 -2.06421422e+02] [-7.82435258e-01 -8.47821948e-03 6.22674222e-01 -7.98715959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.79, Y:-206.43, Z:-798.74 [[ 4.83655742e-01 6.20684569e-01 6.17112461e-01 3.80794175e+02] [-3.92887848e-01 7.83996536e-01 -4.80612704e-01 -2.06433117e+02] [-7.82122920e-01 -1.00048927e-02 6.23043851e-01 -7.98742038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.81, Y:-206.44, Z:-798.77 [[ 4.81563747e-01 6.22515156e-01 6.16904562e-01 3.80810942e+02] [-3.95563316e-01 7.82508419e-01 -4.80843256e-01 -2.06444933e+02] [-7.82065228e-01 -1.24681345e-02 6.23071846e-01 -7.98768398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.83, Y:-206.46, Z:-798.79 [[ 4.80474354e-01 6.23509385e-01 6.16749903e-01 3.80826741e+02] [-3.96760139e-01 7.81699123e-01 -4.81173433e-01 -2.06457071e+02] [-7.82129010e-01 -1.35102832e-02 6.22970051e-01 -7.98793485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.84, Y:-206.47, Z:-798.82 [[ 4.79263884e-01 6.24278934e-01 6.16913237e-01 3.80842807e+02] [-3.97332088e-01 7.81071571e-01 -4.81720265e-01 -2.06469353e+02] [-7.82581205e-01 -1.42482993e-02 6.22385446e-01 -7.98819516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.86, Y:-206.48, Z:-798.84 [[ 4.77458570e-01 6.25390006e-01 6.17187698e-01 3.80859271e+02] [-3.98324583e-01 7.80157894e-01 -4.82380749e-01 -2.06481255e+02] [-7.83179954e-01 -1.55242095e-02 6.21601286e-01 -7.98844935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1965599949999 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:380.88, Y:-206.49, Z:-798.87 [[ 4.78154204e-01 6.33996318e-01 6.07797027e-01 3.80876424e+02] [-4.00682288e-01 7.73288618e-01 -4.91404535e-01 -2.06486442e+02] [-7.81551189e-01 -8.56635922e-03 6.23782299e-01 -7.98872535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.89, Y:-206.51, Z:-798.89 [[ 4.76145064e-01 6.17594583e-01 6.25989464e-01 3.80889964e+02] [-3.98873449e-01 7.86103290e-01 -4.72166907e-01 -2.06512957e+02] [-7.83700102e-01 -2.48706342e-02 6.20641283e-01 -7.98893721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.91, Y:-206.52, Z:-798.92 [[ 4.75936195e-01 6.26449924e-01 6.17288613e-01 3.80906883e+02] [-3.98500205e-01 7.79301154e-01 -4.83618961e-01 -2.06517237e+02] [-7.84016789e-01 -1.58178703e-02 6.20538049e-01 -7.98922108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.92, Y:-206.53, Z:-798.95 [[ 4.75940638e-01 6.26415666e-01 6.17319952e-01 3.80922836e+02] [-3.98064887e-01 7.79336741e-01 -4.83920025e-01 -2.06529733e+02] [-7.84235204e-01 -1.54161915e-02 6.20272106e-01 -7.98947755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.94, Y:-206.54, Z:-798.97 [[ 4.76736344e-01 6.25899215e-01 6.17229804e-01 3.80937829e+02] [-3.96722558e-01 7.79778632e-01 -4.84310332e-01 -2.06541490e+02] [-7.84432069e-01 -1.39806499e-02 6.20057152e-01 -7.98972833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.95, Y:-206.55, Z:-799.00 [[ 4.77388873e-01 6.25769875e-01 6.16856489e-01 3.80953429e+02] [-3.96325667e-01 7.79895920e-01 -4.84446406e-01 -2.06553661e+02] [-7.84235826e-01 -1.32067357e-02 6.20322297e-01 -7.98998133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.97, Y:-206.56, Z:-799.03 [[ 4.80068215e-01 6.30229599e-01 6.10200919e-01 3.80969145e+02] [-3.96371319e-01 7.76380582e-01 -4.90023437e-01 -2.06560632e+02] [-7.82575419e-01 -6.62146695e-03 6.22520578e-01 -7.99026559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.98, Y:-206.58, Z:-799.05 [[ 4.80299900e-01 6.18910147e-01 6.21499989e-01 3.80982935e+02] [-3.94773235e-01 7.85293086e-01 -4.76936959e-01 -2.06582636e+02] [-7.83240767e-01 -1.62787876e-02 6.21505351e-01 -7.99048391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.00, Y:-206.59, Z:-799.08 [[ 4.82237582e-01 6.23818574e-01 6.15058779e-01 3.80998920e+02] [-3.93749984e-01 7.81519525e-01 -4.83929936e-01 -2.06590179e+02] [-7.82564927e-01 -8.81018247e-03 6.22506639e-01 -7.99076883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:381.01, Y:-206.60, Z:-799.10 [[ 4.83641478e-01 6.23376148e-01 6.14404671e-01 3.81013793e+02] [-3.93089646e-01 7.81886189e-01 -4.83874485e-01 -2.06602263e+02] [-7.82030339e-01 -7.49434349e-03 6.23195301e-01 -7.99102311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.03, Y:-206.62, Z:-799.13 [[ 4.84761396e-01 6.22858545e-01 6.14046922e-01 3.81028899e+02] [-3.92244182e-01 7.82309178e-01 -4.83876898e-01 -2.06615281e+02] [-7.81761403e-01 -6.29149202e-03 6.23545930e-01 -7.99127926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.04, Y:-206.63, Z:-799.15 [[ 4.86757867e-01 6.21408121e-01 6.13937070e-01 3.81044139e+02] [-3.89664809e-01 7.83478748e-01 -4.84068578e-01 -2.06629522e+02] [-7.81810793e-01 -3.60548253e-03 6.23505321e-01 -7.99153549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.06, Y:-206.64, Z:-799.18 [[ 4.87688867e-01 6.20887385e-01 6.13725040e-01 3.81059064e+02] [-3.88469504e-01 7.83896687e-01 -4.84352588e-01 -2.06642399e+02] [-7.81825437e-01 -2.20009700e-03 6.23493502e-01 -7.99179772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.07, Y:-206.66, Z:-799.21 [[ 4.90837273e-01 6.19257783e-01 6.12860971e-01 3.81073136e+02] [-3.86145864e-01 7.85187147e-01 -4.84120352e-01 -2.06656278e+02] [-7.81005853e-01 9.70584313e-04 6.24522950e-01 -7.99205162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.09, Y:-206.67, Z:-799.23 [[ 4.91995347e-01 6.18414310e-01 6.12784072e-01 3.81088362e+02] [-3.84350002e-01 7.85847116e-01 -4.84478469e-01 -2.06669505e+02] [-7.81163014e-01 2.83759324e-03 6.24320666e-01 -7.99231609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.10, Y:-206.68, Z:-799.26 [[ 4.93231227e-01 6.17695628e-01 6.12515361e-01 3.81103830e+02] [-3.82919858e-01 7.86404226e-01 -4.84706897e-01 -2.06683025e+02] [-7.81086000e-01 4.52828219e-03 6.24407044e-01 -7.99257864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.12, Y:-206.70, Z:-799.28 [[ 4.93132186e-01 6.17997428e-01 6.12290639e-01 3.81119865e+02] [-3.83048648e-01 7.86166500e-01 -4.84990688e-01 -2.06695599e+02] [-7.81085386e-01 4.62741686e-03 6.24407084e-01 -7.99284398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.13, Y:-206.71, Z:-799.31 [[ 4.94056083e-01 6.17101932e-01 6.12449013e-01 3.81134735e+02] [-3.81145303e-01 7.86857457e-01 -4.85369550e-01 -2.06709688e+02] [-7.81432560e-01 6.36771425e-03 6.23957215e-01 -7.99309495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.15, Y:-206.72, Z:-799.34 [[ 4.94013489e-01 6.16933094e-01 6.12653435e-01 3.81150316e+02] [-3.80133838e-01 7.86982849e-01 -4.85959114e-01 -2.06722317e+02] [-7.81952005e-01 7.18005515e-03 6.23297288e-01 -7.99335048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.17, Y:-206.73, Z:-799.36 [[ 4.93653248e-01 6.17091480e-01 6.12784282e-01 3.81165289e+02] [-3.79681998e-01 7.86855599e-01 -4.86518084e-01 -2.06733953e+02] [-7.82398908e-01 7.50807198e-03 6.22732349e-01 -7.99360404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.18, Y:-206.75, Z:-799.39 [[ 4.93623269e-01 6.17200356e-01 6.12698776e-01 3.81180832e+02] [-3.79410997e-01 7.86766692e-01 -4.86873154e-01 -2.06746496e+02] [-7.82549273e-01 7.86726495e-03 6.22538948e-01 -7.99386924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.20, Y:-206.76, Z:-799.41 [[ 4.93601481e-01 6.17363480e-01 6.12551966e-01 3.81196461e+02] [-3.79247699e-01 7.86635510e-01 -4.87212231e-01 -2.06759682e+02] [-7.82642167e-01 8.17975527e-03 6.22418132e-01 -7.99413021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.21, Y:-206.77, Z:-799.44 [[ 4.93180534e-01 6.17615791e-01 6.12636675e-01 3.81211571e+02] [-3.78991982e-01 7.86435570e-01 -4.87733711e-01 -2.06772483e+02] [-7.83031314e-01 8.35638429e-03 6.21926147e-01 -7.99439119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.23, Y:-206.79, Z:-799.47 [[ 4.92471857e-01 6.18163421e-01 6.12654433e-01 3.81227339e+02] [-3.79278348e-01 7.86008304e-01 -4.88199633e-01 -2.06785526e+02] [-7.83338627e-01 8.05801871e-03 6.21542970e-01 -7.99465456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.24, Y:-206.80, Z:-799.49 [[ 4.91775698e-01 6.18884093e-01 6.12486035e-01 3.81242842e+02] [-3.80035999e-01 7.85446778e-01 -4.88514073e-01 -2.06797780e+02] [-7.83408771e-01 7.47260734e-03 6.21461872e-01 -7.99491323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.26, Y:-206.81, Z:-799.52 [[ 4.90354675e-01 6.20449816e-01 6.12041109e-01 3.81258583e+02] [-3.82426143e-01 7.84226646e-01 -4.88609060e-01 -2.06809846e+02] [-7.83136347e-01 5.53121628e-03 6.21825432e-01 -7.99517276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.27, Y:-206.82, Z:-799.54 [[ 4.89193769e-01 6.21660378e-01 6.11741637e-01 3.81274299e+02] [-3.84104812e-01 7.83275892e-01 -4.88817318e-01 -2.06821982e+02] [-7.83040836e-01 4.15347998e-03 6.21956428e-01 -7.99543338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.29, Y:-206.83, Z:-799.57 [[ 4.87708942e-01 6.22850076e-01 6.11717068e-01 3.81289937e+02] [-3.85475044e-01 7.82336185e-01 -4.89243380e-01 -2.06834170e+02] [-7.83293673e-01 2.80670759e-03 6.21645513e-01 -7.99569333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.31, Y:-206.85, Z:-799.59 [[ 4.84534868e-01 6.25173195e-01 6.11869625e-01 3.81305517e+02] [-3.88469884e-01 7.80485972e-01 -4.89829355e-01 -2.06846534e+02] [-7.83783842e-01 -3.53520748e-04 6.21033626e-01 -7.99594566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:381.32, Y:-206.86, Z:-799.62 [[ 4.82738408e-01 6.26466505e-01 6.11966787e-01 3.81321557e+02] [-3.89912599e-01 7.79446007e-01 -4.90338748e-01 -2.06859100e+02] [-7.84175870e-01 -1.90821379e-03 6.20535707e-01 -7.99620479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.34, Y:-206.87, Z:-799.65 [[ 4.79054421e-01 6.28679930e-01 6.12591551e-01 3.81338083e+02] [-3.92288160e-01 7.77648379e-01 -4.91297261e-01 -2.06871035e+02] [-7.85249554e-01 -4.95428771e-03 6.19159587e-01 -7.99646557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.35, Y:-206.88, Z:-799.67 [[ 4.77475676e-01 6.29788144e-01 6.12685787e-01 3.81354140e+02] [-3.93410195e-01 7.76742219e-01 -4.91833249e-01 -2.06882800e+02] [-7.85649666e-01 -6.19842155e-03 6.18640592e-01 -7.99672780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.37, Y:-206.89, Z:-799.70 [[ 4.76167303e-01 6.30868056e-01 6.12593010e-01 3.81369832e+02] [-3.94679555e-01 7.75854838e-01 -4.92216740e-01 -2.06894579e+02] [-7.85807068e-01 -7.40041884e-03 6.18427430e-01 -7.99699048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.39, Y:-206.91, Z:-799.73 [[ 4.74686407e-01 6.32204397e-01 6.12364610e-01 3.81385721e+02] [-3.96506064e-01 7.74749057e-01 -4.92490448e-01 -2.06906797e+02] [-7.85783530e-01 -9.02775976e-03 6.18435723e-01 -7.99725528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.40, Y:-206.92, Z:-799.75 [[ 4.74084914e-01 6.32956470e-01 6.12053593e-01 3.81401451e+02] [-3.97456897e-01 7.74126839e-01 -4.92702397e-01 -2.06919988e+02] [-7.85666284e-01 -9.68214875e-03 6.18574771e-01 -7.99751703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:-206.93, Z:-799.78 [[ 4.73699602e-01 6.33482427e-01 6.11807733e-01 3.81416816e+02] [-3.97972538e-01 7.73692919e-01 -4.92967674e-01 -2.06932524e+02] [-7.85637669e-01 -9.96408529e-03 6.18606637e-01 -7.99777442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.43, Y:-206.94, Z:-799.80 [[ 4.73301484e-01 6.33909387e-01 6.11673601e-01 3.81431836e+02] [-3.98214926e-01 7.73341543e-01 -4.93323151e-01 -2.06944084e+02] [-7.85754783e-01 -1.00869780e-02 6.18455879e-01 -7.99802728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.45, Y:-206.96, Z:-799.83 [[ 4.73161779e-01 6.34276959e-01 6.11400581e-01 3.81447514e+02] [-3.98540608e-01 7.73039317e-01 -4.93533786e-01 -2.06955855e+02] [-7.85673797e-01 -1.01466355e-02 6.18557783e-01 -7.99829481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.46, Y:-206.97, Z:-799.86 [[ 4.73445482e-01 6.34461609e-01 6.10989233e-01 3.81462439e+02] [-3.98672585e-01 7.72891432e-01 -4.93658793e-01 -2.06968309e+02] [-7.85435896e-01 -9.86413160e-03 6.18864406e-01 -7.99856108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.48, Y:-206.98, Z:-799.88 [[ 4.73958645e-01 6.34484093e-01 6.10567882e-01 3.81476662e+02] [-3.98554008e-01 7.72879771e-01 -4.93772784e-01 -2.06981958e+02] [-7.85186542e-01 -9.31639683e-03 6.19189227e-01 -7.99882203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.49, Y:-206.99, Z:-799.91 [[ 4.73920600e-01 6.34804194e-01 6.10264615e-01 3.81491042e+02] [-3.98804467e-01 7.72617455e-01 -4.93981038e-01 -2.06994827e+02] [-7.85082328e-01 -9.26846440e-03 6.19322076e-01 -7.99908452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.51, Y:-207.01, Z:-799.93 [[ 4.73811094e-01 6.35423863e-01 6.09704487e-01 3.81506207e+02] [-3.99797341e-01 7.72102557e-01 -4.93983529e-01 -2.07007794e+02] [-7.84643316e-01 -9.70335687e-03 6.19871528e-01 -7.99934179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.52, Y:-207.02, Z:-799.96 [[ 4.73685598e-01 6.35730719e-01 6.09482081e-01 3.81522086e+02] [-3.99944457e-01 7.71850761e-01 -4.94257862e-01 -2.07020554e+02] [-7.84644114e-01 -9.63614938e-03 6.19871566e-01 -7.99960703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.54, Y:-207.03, Z:-799.99 [[ 4.73262776e-01 6.36267473e-01 6.09250399e-01 3.81537095e+02] [-4.00655905e-01 7.71402064e-01 -4.94382141e-01 -2.07033385e+02] [-7.84536291e-01 -1.01271052e-02 6.20000202e-01 -7.99987048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.55, Y:-207.05, Z:-800.01 [[ 4.73091190e-01 6.36887757e-01 6.08735338e-01 3.81551707e+02] [-4.01609062e-01 7.70884085e-01 -4.94416716e-01 -2.07045888e+02] [-7.84152337e-01 -1.05694355e-02 6.20478364e-01 -8.00012111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.57, Y:-207.06, Z:-800.04 [[ 4.72720027e-01 6.37500656e-01 6.08382027e-01 3.81566516e+02] [-4.02428912e-01 7.70370616e-01 -4.94550387e-01 -2.07059039e+02] [-7.83955832e-01 -1.10466446e-02 6.20718313e-01 -8.00037993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.58, Y:-207.07, Z:-800.06 [[ 4.72207110e-01 6.38294416e-01 6.07947928e-01 3.81580912e+02] [-4.03579813e-01 7.69702245e-01 -4.94653200e-01 -2.07072555e+02] [-7.83673261e-01 -1.17767531e-02 6.21061614e-01 -8.00063059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.60, Y:-207.09, Z:-800.09 [[ 4.71835438e-01 6.38780603e-01 6.07725811e-01 3.81596489e+02] [-4.04239363e-01 7.69291817e-01 -4.94753108e-01 -2.07085992e+02] [-7.83557182e-01 -1.22246455e-02 6.21199406e-01 -8.00088950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.61, Y:-207.10, Z:-800.11 [[ 4.70280120e-01 6.39751884e-01 6.07909645e-01 3.81611289e+02] [-4.05079764e-01 7.68466427e-01 -4.95348095e-01 -2.07099674e+02] [-7.84058030e-01 -1.32995344e-02 6.20545026e-01 -8.00114185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.63, Y:-207.11, Z:-800.14 [[ 4.69302153e-01 6.40434826e-01 6.07946316e-01 3.81626696e+02] [-4.05636403e-01 7.67886203e-01 -4.95792181e-01 -2.07112695e+02] [-7.84356168e-01 -1.39288188e-02 6.20154328e-01 -8.00139831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.64, Y:-207.13, Z:-800.17 [[ 4.68232277e-01 6.41200165e-01 6.07964541e-01 3.81641719e+02] [-4.06311337e-01 7.67233571e-01 -4.96249681e-01 -2.07125197e+02] [-7.84646183e-01 -1.46627675e-02 6.19770418e-01 -8.00165043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.66, Y:-207.14, Z:-800.19 [[ 4.66884147e-01 6.42179672e-01 6.07967485e-01 3.81657268e+02] [-4.07394244e-01 7.66391338e-01 -4.96663113e-01 -2.07138228e+02] [-7.84887969e-01 -1.57983200e-02 6.19436267e-01 -8.00191463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.67, Y:-207.15, Z:-800.22 [[ 4.66729193e-01 6.42720473e-01 6.07514818e-01 3.81672433e+02] [-4.08143226e-01 7.65931540e-01 -4.96757469e-01 -2.07151012e+02] [-7.84590956e-01 -1.61018449e-02 6.19804617e-01 -8.00216620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.69, Y:-207.16, Z:-800.24 [[ 4.66183105e-01 6.43161320e-01 6.07467554e-01 3.81687651e+02] [-4.08551178e-01 7.65553214e-01 -4.97005243e-01 -2.07163945e+02] [-7.84703287e-01 -1.64861369e-02 6.19652289e-01 -8.00242869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.70, Y:-207.18, Z:-800.27 [[ 4.66082269e-01 6.43511181e-01 6.07174340e-01 3.81702870e+02] [-4.08837774e-01 7.65259084e-01 -4.97222494e-01 -2.07177613e+02] [-7.84613914e-01 -1.64892178e-02 6.19765369e-01 -8.00268243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.72, Y:-207.19, Z:-800.29 [[ 4.65789372e-01 6.43759272e-01 6.07136114e-01 3.81718250e+02] [-4.08706788e-01 7.65053547e-01 -4.97646292e-01 -2.07190572e+02] [-7.84856052e-01 -1.63422971e-02 6.19462595e-01 -8.00294344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.73, Y:-207.20, Z:-800.32 [[ 4.66288440e-01 6.43545815e-01 6.06979304e-01 3.81733888e+02] [-4.07932997e-01 7.65252517e-01 -4.97975156e-01 -2.07203096e+02] [-7.84962267e-01 -1.54068281e-02 6.19351975e-01 -8.00319700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:-207.22, Z:-800.35 [[ 4.66269674e-01 6.43669206e-01 6.06862871e-01 3.81749242e+02] [-4.07715094e-01 7.65155174e-01 -4.98303083e-01 -2.07215344e+02] [-7.85086615e-01 -1.50835368e-02 6.19202304e-01 -8.00345888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.76, Y:-207.23, Z:-800.37 [[ 4.67041417e-01 6.43589925e-01 6.06353299e-01 3.81764625e+02] [-4.07509998e-01 7.65236033e-01 -4.98346682e-01 -2.07227633e+02] [-7.84734297e-01 -1.43464912e-02 6.19666250e-01 -8.00371532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.78, Y:-207.24, Z:-800.40 [[ 4.68805770e-01 6.43234616e-01 6.05367970e-01 3.81779979e+02] [-4.07557351e-01 7.65552906e-01 -4.97821006e-01 -2.07240449e+02] [-7.83656912e-01 -1.33408056e-02 6.21050616e-01 -8.00397607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.80, Y:-207.25, Z:-800.42 [[ 4.69495042e-01 6.43384783e-01 6.04673818e-01 3.81795188e+02] [-4.07940446e-01 7.65432456e-01 -4.97692423e-01 -2.07253047e+02] [-7.83044697e-01 -1.30067817e-02 6.21829419e-01 -8.00423528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.81, Y:-207.27, Z:-800.45 [[ 4.70817714e-01 6.43316144e-01 6.03717666e-01 3.81810189e+02] [-4.08233218e-01 7.65501852e-01 -4.97345508e-01 -2.07265602e+02] [-7.82097386e-01 -1.22985302e-02 6.23034851e-01 -8.00449548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.83, Y:-207.28, Z:-800.48 [[ 4.71513217e-01 6.43306274e-01 6.03185149e-01 3.81826041e+02] [-4.08173627e-01 7.65519693e-01 -4.97366957e-01 -2.07278740e+02] [-7.81709394e-01 -1.16891760e-02 6.23533309e-01 -8.00475722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.84, Y:-207.29, Z:-800.50 [[ 4.72238401e-01 6.42815953e-01 6.03140567e-01 3.81841053e+02] [-4.06833401e-01 7.65951444e-01 -4.97800130e-01 -2.07291116e+02] [-7.81970253e-01 -1.02973907e-02 6.23230686e-01 -8.00500661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.86, Y:-207.30, Z:-800.53 [[ 4.72100616e-01 6.42803216e-01 6.03261995e-01 3.81856369e+02] [-4.06326538e-01 7.65967042e-01 -4.98189960e-01 -2.07303504e+02] [-7.82316914e-01 -9.92557103e-03 6.22801517e-01 -8.00525624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:381.87, Y:-207.32, Z:-800.55 [[ 4.71973372e-01 6.42848287e-01 6.03313531e-01 3.81872914e+02] [-4.05814972e-01 7.65934845e-01 -4.98656216e-01 -2.07316481e+02] [-7.82659150e-01 -9.48120731e-03 6.22378311e-01 -8.00551543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.89, Y:-207.33, Z:-800.58 [[ 4.71529769e-01 6.43264441e-01 6.03216823e-01 3.81888329e+02] [-4.06011019e-01 7.65583862e-01 -4.99035473e-01 -2.07328655e+02] [-7.82824840e-01 -9.60259545e-03 6.22168033e-01 -8.00576885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.90, Y:-207.34, Z:-800.60 [[ 4.71202058e-01 6.43674768e-01 6.03035168e-01 3.81903768e+02] [-4.06324481e-01 7.65237029e-01 -4.99312233e-01 -2.07340573e+02] [-7.82859526e-01 -9.75100017e-03 6.22122078e-01 -8.00602109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.92, Y:-207.35, Z:-800.63 [[ 4.71045211e-01 6.44202229e-01 6.02594305e-01 3.81919473e+02] [-4.07099402e-01 7.64788639e-01 -4.99368015e-01 -2.07352791e+02] [-7.82551267e-01 -1.00908690e-02 6.22504368e-01 -8.00628926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.93, Y:-207.37, Z:-800.66 [[ 4.71318121e-01 6.44625665e-01 6.01927720e-01 3.81934861e+02] [-4.07879481e-01 7.64430395e-01 -4.99279982e-01 -2.07365587e+02] [-7.81980535e-01 -1.01942633e-02 6.23219480e-01 -8.00655071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.95, Y:-207.38, Z:-800.68 [[ 4.71114039e-01 6.45118738e-01 6.01559121e-01 3.81949674e+02] [-4.08471682e-01 7.64011174e-01 -4.99437494e-01 -2.07377894e+02] [-7.81794377e-01 -1.04278511e-02 6.23449126e-01 -8.00680244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.96, Y:-207.39, Z:-800.71 [[ 4.70757921e-01 6.45547038e-01 6.01378419e-01 3.81964996e+02] [-4.08808845e-01 7.63646917e-01 -4.99718636e-01 -2.07390900e+02] [-7.81832660e-01 -1.06023109e-02 6.23398173e-01 -8.00706095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.98, Y:-207.40, Z:-800.73 [[ 4.70713927e-01 6.45839469e-01 6.01098810e-01 3.81980755e+02] [-4.08991423e-01 7.63400848e-01 -4.99945158e-01 -2.07404103e+02] [-7.81763657e-01 -1.05131092e-02 6.23486214e-01 -8.00732031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.00, Y:-207.42, Z:-800.76 [[ 4.70789147e-01 6.45709384e-01 6.01179650e-01 3.81996961e+02] [-4.08118689e-01 7.63521202e-01 -5.00474285e-01 -2.07417038e+02] [-7.82174351e-01 -9.73478865e-03 6.22983562e-01 -8.00757613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.01, Y:-207.43, Z:-800.78 [[ 4.70801180e-01 6.45763792e-01 6.01111782e-01 3.82012371e+02] [-4.07694366e-01 7.63481159e-01 -5.00881048e-01 -2.07429337e+02] [-7.82388365e-01 -9.25449873e-03 6.22722090e-01 -8.00783053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.03, Y:-207.44, Z:-800.81 [[ 4.72140780e-01 6.44995178e-01 6.00886265e-01 3.82027686e+02] [-4.06138975e-01 7.64150400e-01 -5.01124036e-01 -2.07442313e+02] [-7.82390067e-01 -7.44223825e-03 6.22744247e-01 -8.00808483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.04, Y:-207.46, Z:-800.83 [[ 4.73118608e-01 6.44502901e-01 6.00645314e-01 3.82042917e+02] [-4.05054900e-01 7.64577560e-01 -5.01349861e-01 -2.07455553e+02] [-7.82361368e-01 -6.09637921e-03 6.22794929e-01 -8.00834649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.06, Y:-207.47, Z:-800.86 [[ 4.74563827e-01 6.43717344e-01 6.00347528e-01 3.82057701e+02] [-4.03525146e-01 7.65251620e-01 -5.01554997e-01 -2.07468253e+02] [-7.82276569e-01 -4.23546535e-03 6.22916873e-01 -8.00860248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.07, Y:-207.48, Z:-800.89 [[ 4.76023153e-01 6.42883804e-01 6.00085305e-01 3.82072683e+02] [-4.02105046e-01 7.65959581e-01 -5.01614845e-01 -2.07481461e+02] [-7.82121148e-01 -2.51704870e-03 6.23121316e-01 -8.00886368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.09, Y:-207.50, Z:-800.91 [[ 4.79043845e-01 6.40565456e-01 6.00160722e-01 3.82087352e+02] [-3.97723293e-01 7.67901347e-01 -5.02139127e-01 -2.07495060e+02] [-7.82517206e-01 1.84875964e-03 6.22626216e-01 -8.00911806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.10, Y:-207.51, Z:-800.94 [[ 4.78966234e-01 6.40822376e-01 5.99948356e-01 3.82103026e+02] [-3.97817336e-01 7.67686683e-01 -5.02392798e-01 -2.07508095e+02] [-7.82516910e-01 1.95932923e-03 6.22626250e-01 -8.00938343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.12, Y:-207.52, Z:-800.96 [[ 4.81732145e-01 6.38378287e-01 6.00339323e-01 3.82118713e+02] [-3.93246500e-01 7.69697906e-01 -5.02913834e-01 -2.07521478e+02] [-7.83129191e-01 6.18842223e-03 6.21828251e-01 -8.00964140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.13, Y:-207.53, Z:-800.99 [[ 4.82793360e-01 6.37795154e-01 6.00106585e-01 3.82134567e+02] [-3.91979033e-01 7.70167499e-01 -5.03184321e-01 -2.07533801e+02] [-7.83111109e-01 7.70485028e-03 6.21834083e-01 -8.00990381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:382.15, Y:-207.55, Z:-801.02 [[ 4.83988604e-01 6.37286738e-01 5.99683787e-01 3.82150630e+02] [-3.91043262e-01 7.70573213e-01 -5.03291257e-01 -2.07546328e+02] [-7.82841107e-01 9.08492845e-03 6.22155339e-01 -8.01016869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.17, Y:-207.56, Z:-801.04 [[ 4.84801846e-01 6.36954177e-01 5.99380135e-01 3.82166340e+02] [-3.90261679e-01 7.70834425e-01 -5.03497876e-01 -2.07559025e+02] [-7.82727917e-01 1.01816018e-02 6.22280759e-01 -8.01043458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:382.18, Y:-207.57, Z:-801.07 [[ 4.86975422e-01 6.36363900e-01 5.98244035e-01 3.82181788e+02] [-3.89980767e-01 7.71301092e-01 -5.03000624e-01 -2.07571634e+02] [-7.81517716e-01 1.16452739e-02 6.23774356e-01 -8.01069341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.20, Y:-207.58, Z:-801.09 [[ 4.87827772e-01 6.36564830e-01 5.97335151e-01 3.82197160e+02] [-3.90704041e-01 7.71132168e-01 -5.02698251e-01 -2.07583639e+02] [-7.80624376e-01 1.18489107e-02 6.24888139e-01 -8.01094675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.21, Y:-207.60, Z:-801.12 [[ 4.87630816e-01 6.37223513e-01 5.96793417e-01 3.82213069e+02] [-3.91975969e-01 7.70598842e-01 -5.02525885e-01 -2.07595914e+02] [-7.80109625e-01 1.11184289e-02 6.25544046e-01 -8.01120552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:-207.61, Z:-801.15 [[ 4.86906133e-01 6.38106227e-01 5.96441833e-01 3.82229026e+02] [-3.93193644e-01 7.69880256e-01 -5.02675989e-01 -2.07607544e+02] [-7.79949470e-01 1.02388846e-02 6.25758731e-01 -8.01147317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.25, Y:-207.62, Z:-801.17 [[ 4.85696149e-01 6.39682159e-01 5.95739865e-01 3.82245163e+02] [-3.95856117e-01 7.68595144e-01 -5.02552921e-01 -2.07617873e+02] [-7.79356905e-01 8.26074909e-03 6.26525797e-01 -8.01172559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.26, Y:-207.63, Z:-801.20 [[ 4.84701133e-01 6.40676349e-01 5.95481845e-01 3.82261085e+02] [-3.97164481e-01 7.67777397e-01 -5.02770568e-01 -2.07630096e+02] [-7.79310712e-01 7.18922610e-03 6.26596464e-01 -8.01198696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.28, Y:-207.62, Z:-801.23 [[ 4.80897615e-01 6.55957540e-01 5.81770736e-01 3.82275350e+02] [-3.94502076e-01 7.54454829e-01 -5.24562697e-01 -2.07621072e+02] [-7.83010598e-01 2.27511873e-02 6.21592139e-01 -8.01234565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.29, Y:-207.67, Z:-801.24 [[ 4.81843975e-01 6.22908484e-01 6.16288411e-01 3.82289624e+02] [-3.99292871e-01 7.82139411e-01 -4.78354624e-01 -2.07673537e+02] [-7.79994608e-01 -1.55872755e-02 6.25592079e-01 -8.01241724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.31, Y:-207.64, Z:-801.29 [[ 4.77866075e-01 6.59336425e-01 5.80447666e-01 3.82306431e+02] [-3.96073089e-01 7.51519791e-01 -5.27583275e-01 -2.07644889e+02] [-7.84072779e-01 2.22144493e-02 6.20271228e-01 -8.01286528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.32, Y:-207.70, Z:-801.29 [[ 4.77675295e-01 6.24727242e-01 6.17691011e-01 3.82321112e+02] [-4.02794021e-01 7.80574298e-01 -4.77975671e-01 -2.07699180e+02] [-7.80758150e-01 -2.04850768e-02 6.24497456e-01 -8.01291193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:382.34, Y:-207.67, Z:-801.34 [[ 4.73888939e-01 6.60774621e-01 5.82070592e-01 3.82339563e+02] [-4.01719075e-01 7.50436638e-01 -5.24849156e-01 -2.07674505e+02] [-7.83614100e-01 1.48913502e-02 6.21069392e-01 -8.01335244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.81, Y:-208.27, Z:-800.85 [[ 5.18192166e-01 -5.64401358e-01 6.42594730e-01 3.82809625e+02] [-4.21471170e-01 4.85257033e-01 7.66085938e-01 -2.08266725e+02] [-7.44203556e-01 -6.67814884e-01 1.35774927e-02 -8.00854748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.12, Y:-207.24, Z:-801.43 [[ 4.53221782e-01 6.02833510e-01 -6.56644330e-01 3.83118863e+02] [-4.02290228e-01 -5.19034959e-01 -7.54165289e-01 -2.07238894e+02] [-7.95457471e-01 6.05965734e-01 7.27608083e-03 -8.01425593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.136559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.50, Y:-207.83, Z:-801.54 [[ 4.68290274e-01 6.51268385e-01 5.97121185e-01 3.82503830e+02] [-4.09612302e-01 7.58810866e-01 -5.06383089e-01 -2.07825877e+02] [-7.82893340e-01 -7.45390783e-03 6.22111290e-01 -8.01536906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.52, Y:-207.84, Z:-801.56 [[ 4.65609417e-01 6.52837877e-01 5.97503621e-01 3.82519935e+02] [-4.11165940e-01 7.57437763e-01 -5.07179066e-01 -2.07837751e+02] [-7.83677511e-01 -9.52578859e-03 6.21094855e-01 -8.01562050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.54, Y:-207.85, Z:-801.59 [[ 4.64543208e-01 6.53757937e-01 5.97327521e-01 3.82535836e+02] [-4.12294541e-01 7.56630420e-01 -5.07467851e-01 -2.07850495e+02] [-7.83717308e-01 -1.05341328e-02 6.21028351e-01 -8.01588172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:382.55, Y:-207.86, Z:-801.61 [[ 4.62894045e-01 6.55095615e-01 5.97142226e-01 3.82551671e+02] [-4.14075634e-01 7.55447261e-01 -5.07780273e-01 -2.07861921e+02] [-7.83754089e-01 -1.22135812e-02 6.20951170e-01 -8.01614347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:382.57, Y:-207.87, Z:-801.64 [[ 4.62317739e-01 6.56056222e-01 5.96533773e-01 3.82567357e+02] [-4.15674343e-01 7.54596109e-01 -5.07739651e-01 -2.07874544e+02] [-7.83247821e-01 -1.32267369e-02 6.21568906e-01 -8.01640502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.58, Y:-207.89, Z:-801.67 [[ 4.60644815e-01 6.57746122e-01 5.95966772e-01 3.82583077e+02] [-4.18423881e-01 7.53080552e-01 -5.07731364e-01 -2.07886194e+02] [-7.82769321e-01 -1.54829095e-02 6.22119337e-01 -8.01667485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.60, Y:-207.90, Z:-801.69 [[ 4.59834622e-01 6.58680281e-01 5.95560583e-01 3.82597830e+02] [-4.19765581e-01 7.52242849e-01 -5.07865685e-01 -2.07898065e+02] [-7.82527302e-01 -1.64616089e-02 6.22398616e-01 -8.01692888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.61, Y:-207.91, Z:-801.72 [[ 4.59213421e-01 6.59631708e-01 5.94986592e-01 3.82612890e+02] [-4.21350807e-01 7.51385247e-01 -5.07822516e-01 -2.07910803e+02] [-7.82039981e-01 -1.74991661e-02 6.22982542e-01 -8.01718652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.63, Y:-207.92, Z:-801.74 [[ 4.58582001e-01 6.60542770e-01 5.94462612e-01 3.82627251e+02] [-4.22777543e-01 7.50562111e-01 -5.07853982e-01 -2.07923607e+02] [-7.81640389e-01 -1.84327471e-02 6.23456924e-01 -8.01743763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:382.64, Y:-207.94, Z:-801.77 [[ 4.59017400e-01 6.60435398e-01 5.94245834e-01 3.82641931e+02] [-4.22265415e-01 7.50674316e-01 -5.08114151e-01 -2.07937323e+02] [-7.81661657e-01 -1.76962276e-02 6.23451601e-01 -8.01770347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.66, Y:-207.95, Z:-801.80 [[ 4.60799848e-01 6.59429427e-01 5.93983444e-01 3.82655909e+02] [-4.20304426e-01 7.51608676e-01 -5.08358719e-01 -2.07952324e+02] [-7.81669809e-01 -1.54022503e-02 6.23502270e-01 -8.01796355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.67, Y:-207.97, Z:-801.82 [[ 4.63139333e-01 6.57694795e-01 5.94087128e-01 3.82669662e+02] [-4.16781571e-01 7.53190437e-01 -5.08917762e-01 -2.07967675e+02] [-7.82173306e-01 -1.19047342e-02 6.22947186e-01 -8.01822734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.68, Y:-207.98, Z:-801.85 [[ 4.64496644e-01 6.56749575e-01 5.94073113e-01 3.82683369e+02] [-4.14669817e-01 7.54045830e-01 -5.09375922e-01 -2.07981342e+02] [-7.82490773e-01 -9.74078327e-03 6.22585984e-01 -8.01847741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.70, Y:-208.00, Z:-801.87 [[ 4.66100867e-01 6.55678752e-01 5.93999458e-01 3.82697722e+02] [-4.12461191e-01 7.55003652e-01 -5.09750185e-01 -2.07995512e+02] [-7.82704126e-01 -7.40672061e-03 6.22349895e-01 -8.01873578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.71, Y:-208.01, Z:-801.90 [[ 4.67592546e-01 6.54698523e-01 5.93908289e-01 3.82711834e+02] [-4.10389613e-01 7.55872224e-01 -5.10134831e-01 -2.08009326e+02] [-7.82903299e-01 -5.19854827e-03 6.22121692e-01 -8.01898451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.73, Y:-208.02, Z:-801.92 [[ 4.69101630e-01 6.53772823e-01 5.93737953e-01 3.82726271e+02] [-4.08536311e-01 7.56684430e-01 -5.10418217e-01 -2.08023291e+02] [-7.82969823e-01 -3.12549557e-03 6.22051837e-01 -8.01924939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:382.74, Y:-208.04, Z:-801.95 [[ 4.70559721e-01 6.52969134e-01 5.93468499e-01 3.82740683e+02] [-4.06939498e-01 7.57383551e-01 -5.10656834e-01 -2.08036704e+02] [-7.82926430e-01 -1.21123544e-03 6.22113124e-01 -8.01950449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.75, Y:-208.05, Z:-801.98 [[ 4.71792762e-01 6.52210974e-01 5.93323214e-01 3.82754976e+02] [-4.05327316e-01 7.58037273e-01 -5.10968942e-01 -2.08050372e+02] [-7.83020662e-01 5.81342349e-04 6.21995422e-01 -8.01976516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.77, Y:-208.07, Z:-802.00 [[ 4.73640900e-01 6.50811682e-01 5.93387270e-01 3.82769039e+02] [-4.02427803e-01 7.59231283e-01 -5.11487754e-01 -2.08065425e+02] [-7.83400384e-01 3.46598477e-03 6.21507704e-01 -8.02001876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.78, Y:-208.08, Z:-802.03 [[ 4.74140253e-01 6.50508316e-01 5.93321120e-01 3.82783202e+02] [-4.01413085e-01 7.59485507e-01 -5.11907511e-01 -2.08078817e+02] [-7.83618885e-01 4.54909583e-03 6.21225201e-01 -8.02026958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.736559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:382.80, Y:-208.09, Z:-802.05 [[ 4.75387624e-01 6.49854223e-01 5.93039709e-01 3.82797743e+02] [-4.00118449e-01 7.60033883e-01 -5.12107141e-01 -2.08092644e+02] [-7.83525261e-01 6.16326820e-03 6.21329365e-01 -8.02053579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:382.81, Y:-208.11, Z:-802.08 [[ 4.75892444e-01 6.49914287e-01 5.92568816e-01 3.82812666e+02] [-4.00133069e-01 7.59978549e-01 -5.12177833e-01 -2.08106164e+02] [-7.83211280e-01 6.63518175e-03 6.21720247e-01 -8.02080011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.83, Y:-208.12, Z:-802.11 [[ 4.76185965e-01 6.49978200e-01 5.92262836e-01 3.82826932e+02] [-3.99970617e-01 7.59919629e-01 -5.12392100e-01 -2.08119085e+02] [-7.83115849e-01 7.10619490e-03 6.21835243e-01 -8.02105786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:382.84, Y:-208.13, Z:-802.13 [[ 4.78206691e-01 6.53097184e-01 5.87181769e-01 3.82841791e+02] [-4.00478158e-01 7.57185008e-01 -5.16031113e-01 -2.08130084e+02] [-7.81623699e-01 1.16160578e-02 6.23642094e-01 -8.02133727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.85, Y:-208.15, Z:-802.16 [[ 4.77577307e-01 6.46544301e-01 5.94895270e-01 3.82854363e+02] [-3.99331834e-01 7.62858089e-01 -5.08509216e-01 -2.08149704e+02] [-7.82594405e-01 5.29184276e-03 6.22509433e-01 -8.02155879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.87, Y:-208.16, Z:-802.18 [[ 4.77388478e-01 6.49916620e-01 5.91361673e-01 3.82869078e+02] [-3.99750547e-01 7.59960566e-01 -5.12503111e-01 -2.08159838e+02] [-7.82495841e-01 8.26592782e-03 6.22600942e-01 -8.02182012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.88, Y:-208.17, Z:-802.21 [[ 4.76964156e-01 6.50426670e-01 5.91143249e-01 3.82883477e+02] [-4.00262970e-01 7.59527466e-01 -5.12745145e-01 -2.08172902e+02] [-7.82492651e-01 7.94830316e-03 6.22609087e-01 -8.02207070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:382.89, Y:-208.20, Z:-802.22 [[ 4.70158171e-01 6.40483150e-01 6.07233587e-01 3.82891410e+02] [-4.00622324e-01 7.67927462e-01 -4.99789121e-01 -2.08195537e+02] [-7.86417858e-01 -8.29139177e-03 6.17639219e-01 -8.02224020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:382.91, Y:-208.20, Z:-802.26 [[ 4.74735041e-01 6.54664041e-01 5.88253035e-01 3.82912528e+02] [-4.02005908e-01 7.55868167e-01 -5.16773224e-01 -2.08196551e+02] [-7.82954591e-01 8.84916253e-03 6.22015917e-01 -8.02257772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.93, Y:-208.21, Z:-802.28 [[ 4.73471070e-01 6.53004580e-01 5.91109266e-01 3.82927142e+02] [-4.03166241e-01 7.57338038e-01 -5.13708164e-01 -2.08212141e+02] [-7.83123316e-01 4.91065372e-03 6.21847054e-01 -8.02282582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.94, Y:-208.22, Z:-802.31 [[ 4.70201502e-01 6.55159963e-01 5.91334060e-01 3.82942072e+02] [-4.05769846e-01 7.55487753e-01 -5.14382238e-01 -2.08224897e+02] [-7.83748288e-01 1.91777044e-03 6.21075634e-01 -8.02307337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.96, Y:-208.24, Z:-802.33 [[ 4.68132315e-01 6.56666132e-01 5.91305105e-01 3.82957497e+02] [-4.07662983e-01 7.54181403e-01 -5.14802199e-01 -2.08237916e+02] [-7.84004482e-01 -5.76579596e-05 6.20755160e-01 -8.02333282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.97, Y:-208.25, Z:-802.36 [[ 4.64271403e-01 6.59494877e-01 5.91200957e-01 3.82973974e+02] [-4.11757848e-01 7.51697044e-01 -5.15176696e-01 -2.08249764e+02] [-7.84160404e-01 -4.24982671e-03 6.20543633e-01 -8.02359788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.99, Y:-208.26, Z:-802.39 [[ 4.62245386e-01 6.61053932e-01 5.91047293e-01 3.82989578e+02] [-4.13847116e-01 7.50311894e-01 -5.15521704e-01 -2.08261764e+02] [-7.84257463e-01 -6.30568895e-03 6.20403474e-01 -8.02385421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.156559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.01, Y:-208.27, Z:-802.41 [[ 4.58810165e-01 6.63539103e-01 5.90939161e-01 3.83005716e+02] [-4.17441078e-01 7.48074854e-01 -5.15874946e-01 -2.08272899e+02] [-7.84369925e-01 -9.99361188e-03 6.20212825e-01 -8.02410901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:383.02, Y:-208.29, Z:-802.44 [[ 4.57321898e-01 6.64570143e-01 5.90934182e-01 3.83021363e+02] [-4.18757524e-01 7.47138845e-01 -5.16164394e-01 -2.08285015e+02] [-7.84537327e-01 -1.14048546e-02 6.19976702e-01 -8.02437093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.04, Y:-208.30, Z:-802.46 [[ 4.56312604e-01 6.65573103e-01 5.90585516e-01 3.83036663e+02] [-4.20160290e-01 7.46227527e-01 -5.16342725e-01 -2.08297384e+02] [-7.84374999e-01 -1.25268885e-02 6.20160413e-01 -8.02462045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:383.05, Y:-208.31, Z:-802.49 [[ 4.55343762e-01 6.66250675e-01 5.90569299e-01 3.83052582e+02] [-4.20909310e-01 7.45608650e-01 -5.16626648e-01 -2.08309574e+02] [-7.84536431e-01 -1.33333944e-02 6.19939360e-01 -8.02488187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.276559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:383.07, Y:-208.32, Z:-802.51 [[ 4.54805640e-01 6.66726651e-01 5.90446783e-01 3.83068220e+02] [-4.21226224e-01 7.45178566e-01 -5.16988755e-01 -2.08322671e+02] [-7.84678468e-01 -1.35822670e-02 6.19754164e-01 -8.02514559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.08, Y:-208.33, Z:-802.54 [[ 4.54527820e-01 6.67271379e-01 5.90045225e-01 3.83084142e+02] [-4.21955451e-01 7.44684336e-01 -5.17106214e-01 -2.08334895e+02] [-7.84447614e-01 -1.39336393e-02 6.20038543e-01 -8.02540496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.10, Y:-208.35, Z:-802.57 [[ 4.54583607e-01 6.67612733e-01 5.89615962e-01 3.83099145e+02] [-4.22372349e-01 7.44378506e-01 -5.17206186e-01 -2.08347063e+02] [-7.84190884e-01 -1.39240254e-02 6.20363425e-01 -8.02565996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.11, Y:-208.36, Z:-802.59 [[ 4.54807133e-01 6.67892401e-01 5.89126652e-01 3.83114559e+02] [-4.22795523e-01 7.44129058e-01 -5.17219384e-01 -2.08360098e+02] [-7.83833157e-01 -1.38450461e-02 6.20817120e-01 -8.02592549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.13, Y:-208.37, Z:-802.62 [[ 4.56248544e-01 6.67820396e-01 5.88092837e-01 3.83129508e+02] [-4.23187004e-01 7.44207340e-01 -5.16786411e-01 -2.08372576e+02] [-7.82783511e-01 -1.30901980e-02 6.22156428e-01 -8.02618760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:-208.38, Z:-802.64 [[ 4.57136500e-01 6.67733767e-01 5.87501351e-01 3.83143768e+02] [-4.23086072e-01 7.44297827e-01 -5.16738735e-01 -2.08384713e+02] [-7.82319881e-01 -1.23435023e-02 6.22754560e-01 -8.02644110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.16, Y:-208.37, Z:-802.68 [[ 4.57279415e-01 6.81724635e-01 5.71092864e-01 3.83156427e+02] [-4.16482895e-01 7.31553702e-01 -5.39788088e-01 -2.08373888e+02] [-7.85771936e-01 8.98357202e-03 6.18451098e-01 -8.02680603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.17, Y:-208.41, Z:-802.70 [[ 4.57797876e-01 6.59545176e-01 5.96172177e-01 3.83166868e+02] [-4.17006708e-01 7.51523414e-01 -5.11192687e-01 -2.08408865e+02] [-7.85192021e-01 -1.45848703e-02 6.19080586e-01 -8.02698004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.19, Y:-208.45, Z:-802.72 [[ 4.60905709e-01 6.44195540e-01 6.10391705e-01 3.83185007e+02] [-4.22336110e-01 7.64145516e-01 -4.87559064e-01 -2.08447698e+02] [-7.80511459e-01 -3.30717018e-02 6.24266069e-01 -8.02715468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:383.20, Y:-208.44, Z:-802.75 [[ 4.60914265e-01 6.67166805e-01 5.85189281e-01 3.83203066e+02] [-4.21739096e-01 7.44859960e-01 -5.17029761e-01 -2.08439508e+02] [-7.80829159e-01 -8.49080636e-03 6.24686906e-01 -8.02749169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.22, Y:-208.45, Z:-802.77 [[ 4.61205541e-01 6.67015476e-01 5.85132296e-01 3.83217641e+02] [-4.21000759e-01 7.45004045e-01 -5.17423747e-01 -2.08453300e+02] [-7.81055574e-01 -7.70244134e-03 6.24414015e-01 -8.02774781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.23, Y:-208.47, Z:-802.80 [[ 4.61299611e-01 6.66636067e-01 5.85490413e-01 3.83231856e+02] [-4.19394182e-01 7.45355058e-01 -5.18222305e-01 -2.08467714e+02] [-7.81863920e-01 -6.49552548e-03 6.23415286e-01 -8.02799705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.25, Y:-208.48, Z:-802.83 [[ 4.60739436e-01 6.66621662e-01 5.85947721e-01 3.83246326e+02] [-4.18306484e-01 7.45372518e-01 -5.19075615e-01 -2.08482112e+02] [-7.82776378e-01 -5.94712509e-03 6.22274677e-01 -8.02825490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:383.26, Y:-208.50, Z:-802.85 [[ 4.60494108e-01 6.66846582e-01 5.85884642e-01 3.83260836e+02] [-4.18133663e-01 7.45172843e-01 -5.19501371e-01 -2.08495634e+02] [-7.83013037e-01 -5.75077082e-03 6.21978707e-01 -8.02850588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:383.28, Y:-208.51, Z:-802.88 [[ 4.59660578e-01 6.67400982e-01 5.85907914e-01 3.83275373e+02] [-4.18442044e-01 7.44673080e-01 -5.19969480e-01 -2.08509209e+02] [-7.83337992e-01 -6.15903313e-03 6.21565489e-01 -8.02876351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.29, Y:-208.52, Z:-802.90 [[ 4.58966959e-01 6.67991276e-01 5.85778956e-01 3.83290059e+02] [-4.18940903e-01 7.44139906e-01 -5.20330971e-01 -2.08522366e+02] [-7.83478047e-01 -6.59204124e-03 6.21384498e-01 -8.02901815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.30, Y:-208.54, Z:-802.93 [[ 4.57629113e-01 6.69015289e-01 5.85657014e-01 3.83304603e+02] [-4.20178126e-01 7.43207623e-01 -5.20665701e-01 -2.08536159e+02] [-7.83598071e-01 -7.80848333e-03 6.21219036e-01 -8.02927486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.32, Y:-208.55, Z:-802.95 [[ 4.56794595e-01 6.69860954e-01 5.85341780e-01 3.83319574e+02] [-4.21304836e-01 7.42435794e-01 -5.20856341e-01 -2.08549992e+02] [-7.83480015e-01 -8.68296136e-03 6.21356317e-01 -8.02953522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8165599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:383.33, Y:-208.56, Z:-802.98 [[ 4.54964423e-01 6.71512595e-01 5.84874525e-01 3.83334535e+02] [-4.23912629e-01 7.40912373e-01 -5.20909722e-01 -2.08563026e+02] [-7.83138211e-01 -1.09403062e-02 6.21751439e-01 -8.02980215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:383.35, Y:-208.58, Z:-803.01 [[ 4.53706916e-01 6.72690666e-01 5.84497478e-01 3.83349381e+02] [-4.25649770e-01 7.39820096e-01 -5.21045582e-01 -2.08576203e+02] [-7.82925480e-01 -1.23892334e-02 6.21992122e-01 -8.03006698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.36, Y:-208.59, Z:-803.03 [[ 4.52532750e-01 6.73961532e-01 5.83943460e-01 3.83364488e+02] [-4.27730390e-01 7.38633971e-01 -5.21024539e-01 -2.08589447e+02] [-7.82470973e-01 -1.39896962e-02 6.22529891e-01 -8.03032593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.38, Y:-208.60, Z:-803.06 [[ 4.50453708e-01 6.76120725e-01 5.83054219e-01 3.83379491e+02] [-4.31609903e-01 7.36592536e-01 -5.20715208e-01 -2.08601562e+02] [-7.81539730e-01 -1.70938788e-02 6.23621239e-01 -8.03058446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.39, Y:-208.61, Z:-803.08 [[ 4.49515179e-01 6.77143596e-01 5.82591327e-01 3.83394878e+02] [-4.33215566e-01 7.35623272e-01 -5.20752029e-01 -2.08614339e+02] [-7.81191640e-01 -1.83016904e-02 6.24022973e-01 -8.03084646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.41, Y:-208.61, Z:-803.12 [[ 4.46614217e-01 6.88353691e-01 5.71581086e-01 3.83408436e+02] [-4.29935456e-01 7.25353274e-01 -5.37604066e-01 -2.08610605e+02] [-7.84659955e-01 -5.64135570e-03 6.19900742e-01 -8.03118122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.42, Y:-208.66, Z:-803.13 [[ 4.48392937e-01 6.61816088e-01 6.00785520e-01 3.83420527e+02] [-4.34167038e-01 7.48787871e-01 -5.00815043e-01 -2.08656692e+02] [-7.81308362e-01 -3.62793418e-02 6.23089923e-01 -8.03128943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.44, Y:-208.66, Z:-803.16 [[ 4.47332254e-01 6.78496438e-01 5.82697553e-01 3.83438375e+02] [-4.33938801e-01 7.34348250e-01 -5.21948048e-01 -2.08655727e+02] [-7.82042820e-01 -1.93708806e-02 6.22923588e-01 -8.03161145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.45, Y:-208.67, Z:-803.19 [[ 4.47272611e-01 6.78176074e-01 5.83116133e-01 3.83453105e+02] [-4.32364596e-01 7.34671938e-01 -5.22798241e-01 -2.08670487e+02] [-7.82948318e-01 -1.82854374e-02 6.21817960e-01 -8.03186602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.47, Y:-208.68, Z:-803.21 [[ 4.47200483e-01 6.78165474e-01 5.83183778e-01 3.83467639e+02] [-4.31668697e-01 7.34695949e-01 -5.23339277e-01 -2.08684094e+02] [-7.83373388e-01 -1.77046042e-02 6.21299189e-01 -8.03212293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.48, Y:-208.70, Z:-803.24 [[ 4.47362347e-01 6.78063881e-01 5.83177763e-01 3.83482108e+02] [-4.30897585e-01 7.34807427e-01 -5.23818018e-01 -2.08697195e+02] [-7.83705430e-01 -1.69534318e-02 6.20901264e-01 -8.03237362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.50, Y:-208.71, Z:-803.26 [[ 4.47832988e-01 6.77615445e-01 5.83337745e-01 3.83497154e+02] [-4.29417076e-01 7.35249966e-01 -5.24412493e-01 -2.08710725e+02] [-7.84249061e-01 -1.56459754e-02 6.20248832e-01 -8.03263422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.51, Y:-208.72, Z:-803.29 [[ 4.48148248e-01 6.77574297e-01 5.83143396e-01 3.83512091e+02] [-4.28959038e-01 7.35301460e-01 -5.24715071e-01 -2.08724074e+02] [-7.84319636e-01 -1.49944905e-02 6.20175679e-01 -8.03289479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:383.53, Y:-208.71, Z:-803.33 [[ 4.46181718e-01 6.95026621e-01 5.63790627e-01 3.83525611e+02] [-4.19966716e-01 7.18909308e-01 -5.53892919e-01 -2.08705208e+02] [-7.90284653e-01 1.03635960e-02 6.12652237e-01 -8.03327908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.54, Y:-208.78, Z:-803.33 [[ 4.50016854e-01 6.44949015e-01 6.17677585e-01 3.83536762e+02] [-4.29318764e-01 7.62745763e-01 -4.83636538e-01 -2.08780333e+02] [-7.83051869e-01 -4.75359847e-02 6.20137162e-01 -8.03328015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:383.56, Y:-208.76, Z:-803.37 [[ 4.49121543e-01 6.78130159e-01 5.81746790e-01 3.83556329e+02] [-4.29788976e-01 7.34801562e-01 -5.24736221e-01 -2.08762438e+02] [-7.83307907e-01 -1.43580160e-02 6.21468077e-01 -8.03366191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.57, Y:-208.77, Z:-803.39 [[ 4.48579118e-01 6.78973724e-01 5.81181088e-01 3.83571390e+02] [-4.31235947e-01 7.34003710e-01 -5.24665715e-01 -2.08774520e+02] [-7.82823309e-01 -1.52720925e-02 6.22056613e-01 -8.03391515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.59, Y:-208.79, Z:-803.42 [[ 4.48139090e-01 6.79578032e-01 5.80814130e-01 3.83586946e+02] [-4.32078745e-01 7.33433332e-01 -5.24769955e-01 -2.08787441e+02] [-7.82610577e-01 -1.57875100e-02 6.22311369e-01 -8.03417793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.60, Y:-208.80, Z:-803.44 [[ 4.47481815e-01 6.80298733e-01 5.80477097e-01 3.83602539e+02] [-4.33048623e-01 7.32749643e-01 -5.24925567e-01 -2.08800722e+02] [-7.82450583e-01 -1.64801624e-02 6.22494569e-01 -8.03444047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:384.69, Y:-208.75, Z:-802.85 [[ 5.09860758e-01 -6.19836726e-01 -5.96526982e-01 3.84686093e+02] [-3.28341152e-01 -7.81149150e-01 5.31034928e-01 -2.08751162e+02] [-7.95131496e-01 -7.48895146e-02 -6.01795202e-01 -8.02850816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.71, Y:-208.66, Z:-802.88 [[ 5.49309224e-01 -4.92064823e-01 -6.75375144e-01 3.84706666e+02] [-2.60223162e-01 -8.68775593e-01 4.21322768e-01 -2.08655913e+02] [-7.94067555e-01 -5.56882276e-02 -6.05273111e-01 -8.02881601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.70, Y:-208.93, Z:-803.52 [[ 5.43869064e-01 4.76034026e-01 6.91084689e-01 3.83704341e+02] [-3.10942966e-01 8.79230339e-01 -3.60927254e-01 -2.08926447e+02] [-7.79436280e-01 -1.85907551e-02 6.26205613e-01 -8.03521309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:-208.94, Z:-803.55 [[ 5.43578213e-01 4.76852586e-01 6.90749113e-01 3.83721741e+02] [-3.11986315e-01 8.78773628e-01 -3.61139101e-01 -2.08935487e+02] [-7.79222218e-01 -1.91969233e-02 6.26453680e-01 -8.03546051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.74, Y:-208.94, Z:-803.57 [[ 5.42820036e-01 4.77882560e-01 6.90633526e-01 3.83739932e+02] [-3.13273572e-01 8.78192342e-01 -3.61438626e-01 -2.08943959e+02] [-7.79234289e-01 -2.01611032e-02 6.26408375e-01 -8.03572161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.76, Y:-208.95, Z:-803.60 [[ 5.42449824e-01 4.78499222e-01 6.90497417e-01 3.83757867e+02] [-3.13875149e-01 8.77848692e-01 -3.61751386e-01 -2.08952887e+02] [-7.79250011e-01 -2.04980037e-02 6.26377883e-01 -8.03598088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:383.78, Y:-208.96, Z:-803.62 [[ 5.42350863e-01 4.79050527e-01 6.90192824e-01 3.83775977e+02] [-3.14473839e-01 8.77542499e-01 -3.61974263e-01 -2.08962213e+02] [-7.79077497e-01 -2.07305329e-02 6.26584790e-01 -8.03624133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.79, Y:-208.97, Z:-803.65 [[ 5.42362948e-01 4.79292505e-01 6.90015310e-01 3.83793380e+02] [-3.14489239e-01 8.77415285e-01 -3.62269150e-01 -2.08971291e+02] [-7.79062868e-01 -2.05210258e-02 6.26609875e-01 -8.03648856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:383.81, Y:-208.98, Z:-803.67 [[ 5.42563090e-01 4.79406246e-01 6.89778910e-01 3.83811223e+02] [-3.14366688e-01 8.77361484e-01 -3.62505739e-01 -2.08980459e+02] [-7.78972964e-01 -2.01612778e-02 6.26733312e-01 -8.03674428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.83, Y:-208.99, Z:-803.70 [[ 5.44490628e-01 4.83004115e-01 6.85738274e-01 3.83829314e+02] [-3.13649480e-01 8.75490968e-01 -3.67613340e-01 -2.08986793e+02] [-7.77916422e-01 -1.49194348e-02 6.28190617e-01 -8.03701630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.85, Y:-209.00, Z:-803.72 [[ 5.43836867e-01 4.77390415e-01 6.90173785e-01 3.83846588e+02] [-3.12393905e-01 8.78485510e-01 -3.61487563e-01 -2.08999735e+02] [-7.78878367e-01 -1.90158197e-02 6.26886663e-01 -8.03724352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.86, Y:-209.01, Z:-803.75 [[ 5.44378701e-01 4.77898811e-01 6.89394340e-01 3.83864575e+02] [-3.11034896e-01 8.78256126e-01 -3.63212708e-01 -2.09008149e+02] [-7.79043724e-01 -1.67004348e-02 6.26747136e-01 -8.03750419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.88, Y:-209.02, Z:-803.78 [[ 5.46230402e-01 4.75730169e-01 6.89429586e-01 3.83882816e+02] [-3.07016379e-01 8.79494639e-01 -3.63634602e-01 -2.09018347e+02] [-7.79341575e-01 -1.30378997e-02 6.26463664e-01 -8.03775776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.90, Y:-209.03, Z:-803.80 [[ 5.47297283e-01 4.74391303e-01 6.89506038e-01 3.83900148e+02] [-3.04312234e-01 8.80250673e-01 -3.64078037e-01 -2.09027570e+02] [-7.79653608e-01 -1.05662018e-02 6.26121879e-01 -8.03801063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.92, Y:-209.04, Z:-803.83 [[ 5.50211830e-01 4.70893360e-01 6.89584212e-01 3.83917938e+02] [-2.98334528e-01 8.82174538e-01 -3.64368762e-01 -2.09037115e+02] [-7.79912465e-01 -5.24677683e-03 6.25866614e-01 -8.03827190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.94, Y:-209.05, Z:-803.85 [[ 5.51680116e-01 4.69433822e-01 6.89406221e-01 3.83935795e+02] [-2.95615821e-01 8.82963782e-01 -3.64672794e-01 -2.09046912e+02] [-7.79910467e-01 -2.61665646e-03 6.25885626e-01 -8.03853126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.95, Y:-209.06, Z:-803.88 [[ 5.53229149e-01 4.67899248e-01 6.89208098e-01 3.83953198e+02] [-2.92790857e-01 8.83781806e-01 -3.64970182e-01 -2.09056397e+02] [-7.79878851e-01 1.18313381e-04 6.25930478e-01 -8.03878157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.97, Y:-209.07, Z:-803.90 [[ 5.56048940e-01 4.64861739e-01 6.88994296e-01 3.83970820e+02] [-2.87623611e-01 8.85369644e-01 -3.65230409e-01 -2.09065888e+02] [-7.79796278e-01 4.91495423e-03 6.26014064e-01 -8.03904375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.99, Y:-209.08, Z:-803.93 [[ 5.57192312e-01 4.63756365e-01 6.88815477e-01 3.83988857e+02] [-2.85491806e-01 8.85934956e-01 -3.65532054e-01 -2.09075616e+02] [-7.79763526e-01 7.02047572e-03 6.26034789e-01 -8.03930484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.01, Y:-209.08, Z:-803.96 [[ 5.59185037e-01 4.61927035e-01 6.88429741e-01 3.84006141e+02] [-2.82358328e-01 8.86860163e-01 -3.65722336e-01 -2.09084925e+02] [-7.79477946e-01 1.01225872e-02 6.26347878e-01 -8.03955061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.02, Y:-209.09, Z:-803.98 [[ 5.59409438e-01 4.61842755e-01 6.88303967e-01 3.84024558e+02] [-2.81854692e-01 8.86896616e-01 -3.66022301e-01 -2.09094049e+02] [-7.79499207e-01 1.07546272e-02 6.26310885e-01 -8.03981411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.04, Y:-209.10, Z:-804.01 [[ 5.59723312e-01 4.62079326e-01 6.87889898e-01 3.84042309e+02] [-2.82027841e-01 8.86770832e-01 -3.66193649e-01 -2.09102431e+02] [-7.79211211e-01 1.09630192e-02 6.26665541e-01 -8.04007225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.06, Y:-209.11, Z:-804.03 [[ 5.59940554e-01 4.62741501e-01 6.87267691e-01 3.84060542e+02] [-2.83052532e-01 8.86430694e-01 -3.66226554e-01 -2.09110085e+02] [-7.78683401e-01 1.05322395e-02 6.27328648e-01 -8.04033638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.08, Y:-209.12, Z:-804.06 [[ 5.59750528e-01 4.63551964e-01 6.86876207e-01 3.84078076e+02] [-2.84113234e-01 8.86013871e-01 -3.66413824e-01 -2.09118368e+02] [-7.78433695e-01 9.94971134e-03 6.27647979e-01 -8.04059000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.09, Y:-209.12, Z:-804.09 [[ 5.58854241e-01 4.68099242e-01 6.84518106e-01 3.84092671e+02] [-2.82419983e-01 8.83540301e-01 -3.73624799e-01 -2.09117127e+02] [-7.79692819e-01 1.54802114e-02 6.25970824e-01 -8.04086060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.11, Y:-209.15, Z:-804.10 [[ 5.58545365e-01 4.51512450e-01 6.95818642e-01 3.84114072e+02] [-2.86746034e-01 8.92252430e-01 -3.48801251e-01 -2.09145941e+02] [-7.78333982e-01 -4.70191466e-03 6.27832863e-01 -8.04104869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.13, Y:-209.14, Z:-804.14 [[ 5.57596216e-01 4.66608613e-01 6.86558710e-01 3.84132010e+02] [-2.87981482e-01 8.84435919e-01 -3.67205352e-01 -2.09143585e+02] [-7.78558364e-01 7.03612018e-03 6.27532762e-01 -8.04135685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1965599949999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:384.15, Y:-209.15, Z:-804.16 [[ 5.55673652e-01 4.68057992e-01 6.87130634e-01 3.84150615e+02] [-2.89391841e-01 8.83680065e-01 -3.67915624e-01 -2.09151166e+02] [-7.79409491e-01 5.59101903e-03 6.26489893e-01 -8.04161273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.17, Y:-209.16, Z:-804.19 [[ 5.54377725e-01 4.69052723e-01 6.87499005e-01 3.84169065e+02] [-2.90223594e-01 8.83157295e-01 -3.68515207e-01 -2.09159572e+02] [-7.80022823e-01 4.76818973e-03 6.25732899e-01 -8.04186573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.19, Y:-209.17, Z:-804.21 [[ 5.52885124e-01 4.70181509e-01 6.87929785e-01 3.84187805e+02] [-2.91263542e-01 8.82561934e-01 -3.69120552e-01 -2.09168410e+02] [-7.80694299e-01 3.71239636e-03 6.24902096e-01 -8.04212747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.21, Y:-209.18, Z:-804.24 [[ 5.51507717e-01 4.71306871e-01 6.88265262e-01 3.84205930e+02] [-2.92332906e-01 8.81965189e-01 -3.69701065e-01 -2.09176662e+02] [-7.81268654e-01 2.69040622e-03 6.24189115e-01 -8.04237597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3165599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.22, Y:-209.18, Z:-804.26 [[ 5.49865836e-01 4.70125796e-01 6.90383443e-01 3.84224983e+02] [-2.93476226e-01 8.82599173e-01 -3.67274290e-01 -2.09183023e+02] [-7.81996974e-01 -6.59543059e-04 6.23281877e-01 -8.04259710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.24, Y:-209.19, Z:-804.29 [[ 5.47878623e-01 4.71500009e-01 6.91025872e-01 3.84242591e+02] [-2.96674755e-01 8.81855967e-01 -3.66488941e-01 -2.09194057e+02] [-7.82184827e-01 -4.21847471e-03 6.23032182e-01 -8.04287187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.26, Y:-209.20, Z:-804.31 [[ 5.47955360e-01 4.73479096e-01 6.89610375e-01 3.84260880e+02] [-2.97803465e-01 8.80797461e-01 -3.68115374e-01 -2.09196782e+02] [-7.81702002e-01 -3.65756691e-03 6.23641405e-01 -8.04311416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.28, Y:-209.21, Z:-804.34 [[ 5.47753595e-01 4.69856183e-01 6.92243575e-01 3.84278395e+02] [-2.98114810e-01 8.82711969e-01 -3.63245290e-01 -2.09209462e+02] [-7.81724734e-01 -7.39914840e-03 6.23579741e-01 -8.04335715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.30, Y:-209.23, Z:-804.36 [[ 5.48725858e-01 4.61100398e-01 6.97342352e-01 3.84300613e+02] [-3.02385565e-01 8.87132552e-01 -3.48652845e-01 -2.09230943e+02] [-7.79399065e-01 -1.95514292e-02 6.26222675e-01 -8.04356550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.31, Y:-209.21, Z:-804.39 [[ 5.45252294e-01 4.90398105e-01 6.79860011e-01 3.84314106e+02] [-3.01852692e-01 8.71480933e-01 -3.86530640e-01 -2.09213793e+02] [-7.82038930e-01 5.53914370e-03 6.23204966e-01 -8.04394282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.34, Y:-209.24, Z:-804.41 [[ 5.46509584e-01 4.70732861e-01 6.92631105e-01 3.84336377e+02] [-3.04039290e-01 8.82164135e-01 -3.59647811e-01 -2.09238818e+02] [-7.80312363e-01 -1.40360940e-02 6.25232440e-01 -8.04410380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.36, Y:-209.25, Z:-804.44 [[ 5.46732976e-01 4.74352775e-01 6.89980071e-01 3.84355537e+02] [-3.05900848e-01 8.80242792e-01 -3.62763421e-01 -2.09246677e+02] [-7.79427819e-01 -1.27307642e-02 6.26362677e-01 -8.04435243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.37, Y:-209.24, Z:-804.47 [[ 5.43729982e-01 4.93763721e-01 6.78642096e-01 3.84369034e+02] [-3.04667731e-01 8.69584325e-01 -3.88588054e-01 -2.09236957e+02] [-7.82007212e-01 4.52662781e-03 6.23252942e-01 -8.04470012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.39, Y:-209.26, Z:-804.49 [[ 5.44215731e-01 4.81328469e-01 6.87133279e-01 3.84387767e+02] [-3.05224761e-01 8.76511153e-01 -3.72244603e-01 -2.09255490e+02] [-7.81451908e-01 -7.14872210e-03 6.23924524e-01 -8.04492592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.41, Y:-209.26, Z:-804.52 [[ 5.44273527e-01 4.81671706e-01 6.86846923e-01 3.84406067e+02] [-3.05479650e-01 8.76323076e-01 -3.72478256e-01 -2.09264048e+02] [-7.81312045e-01 -7.08770387e-03 6.24100355e-01 -8.04518482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.42, Y:-209.27, Z:-804.54 [[ 5.44399668e-01 4.81814395e-01 6.86646845e-01 3.84424843e+02] [-3.05339640e-01 8.76247496e-01 -3.72770748e-01 -2.09271891e+02] [-7.81278891e-01 -6.72422871e-03 6.24145880e-01 -8.04544188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.44, Y:-209.28, Z:-804.57 [[ 5.44376121e-01 4.81849202e-01 6.86641089e-01 3.84443369e+02] [-3.04899973e-01 8.76232124e-01 -3.73166548e-01 -2.09280568e+02] [-7.81466983e-01 -6.21389162e-03 6.23915653e-01 -8.04570050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.46, Y:-209.29, Z:-804.60 [[ 5.44638540e-01 4.81803350e-01 6.86465143e-01 3.84461192e+02] [-3.04435572e-01 8.76261635e-01 -3.73476277e-01 -2.09289229e+02] [-7.81465190e-01 -5.57483410e-03 6.23923936e-01 -8.04595161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.48, Y:-209.30, Z:-804.62 [[ 5.45136772e-01 4.81111628e-01 6.86554806e-01 3.84479814e+02] [-3.02790333e-01 8.76649967e-01 -3.73902194e-01 -2.09297540e+02] [-7.81756941e-01 -4.05432305e-03 6.23570083e-01 -8.04621562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.50, Y:-209.31, Z:-804.65 [[ 5.45526174e-01 4.81038839e-01 6.86296459e-01 3.84497803e+02] [-3.02342570e-01 8.76692768e-01 -3.74164084e-01 -2.09306857e+02] [-7.81658598e-01 -3.38033382e-03 6.23697370e-01 -8.04647209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7965599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:384.51, Y:-209.31, Z:-804.68 [[ 5.45212524e-01 4.87613741e-01 6.81891592e-01 3.84513050e+02] [-2.99701857e-01 8.73042984e-01 -3.84674856e-01 -2.09306566e+02] [-7.82893416e-01 5.36537280e-03 6.22132713e-01 -8.04676364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.53, Y:-209.33, Z:-804.69 [[ 5.48468559e-01 4.68543945e-01 6.92566828e-01 3.84533068e+02] [-3.01479722e-01 8.83359139e-01 -3.58868511e-01 -2.09333870e+02] [-7.79930905e-01 -1.19667598e-02 6.25751213e-01 -8.04694314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.55, Y:-209.33, Z:-804.72 [[ 5.48830154e-01 4.80337165e-01 6.84150328e-01 3.84551291e+02] [-3.01485002e-01 8.77083317e-01 -3.73940702e-01 -2.09333380e+02] [-7.79674456e-01 -1.03112974e-03 6.26184222e-01 -8.04724382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.57, Y:-209.34, Z:-804.75 [[ 5.49460938e-01 4.80352598e-01 6.83632986e-01 3.84569199e+02] [-3.01365264e-01 8.77075332e-01 -3.74055932e-01 -2.09341884e+02] [-7.79276366e-01 -4.94112018e-04 6.26680222e-01 -8.04749646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.59, Y:-209.35, Z:-804.78 [[ 5.49116114e-01 4.80652360e-01 6.83699351e-01 3.84587227e+02] [-3.01338077e-01 8.76911140e-01 -3.74462569e-01 -2.09351400e+02] [-7.79529895e-01 -4.01217332e-04 6.26364896e-01 -8.04775112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:-209.36, Z:-804.80 [[ 5.48447224e-01 4.81136538e-01 6.83895661e-01 3.84605275e+02] [-3.01480132e-01 8.76645511e-01 -3.74969837e-01 -2.09360936e+02] [-7.79945750e-01 -5.29787793e-04 6.25846903e-01 -8.04800926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.62, Y:-209.37, Z:-804.83 [[ 5.47186940e-01 4.81924716e-01 6.84350072e-01 3.84623930e+02] [-3.01922584e-01 8.76211958e-01 -3.75626620e-01 -2.09370231e+02] [-7.80659469e-01 -1.08276177e-03 6.24955695e-01 -8.04826098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.64, Y:-209.38, Z:-804.85 [[ 5.46627277e-01 4.82497306e-01 6.84393871e-01 3.84641446e+02] [-3.02298943e-01 8.75896449e-01 -3.76059517e-01 -2.09379294e+02] [-7.80905864e-01 -1.32715425e-03 6.24647316e-01 -8.04850992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.66, Y:-209.39, Z:-804.88 [[ 5.46209601e-01 4.83118703e-01 6.84288967e-01 3.84659641e+02] [-3.02891315e-01 8.75553248e-01 -3.76381935e-01 -2.09389038e+02] [-7.80968580e-01 -1.68175787e-03 6.24568050e-01 -8.04877097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.68, Y:-209.40, Z:-804.90 [[ 5.45445386e-01 4.84028788e-01 6.84255408e-01 3.84677456e+02] [-3.03860951e-01 8.75048758e-01 -3.76773398e-01 -2.09398189e+02] [-7.81126016e-01 -2.40918727e-03 6.24368756e-01 -8.04902318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0965599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.70, Y:-209.41, Z:-804.93 [[ 5.44914391e-01 4.84824221e-01 6.84115327e-01 3.84695129e+02] [-3.04755951e-01 8.74606423e-01 -3.77077467e-01 -2.09407883e+02] [-7.81147948e-01 -3.01327878e-03 6.24338693e-01 -8.04927806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.71, Y:-209.42, Z:-804.95 [[ 5.44305778e-01 4.85918661e-01 6.83823277e-01 3.84712761e+02] [-3.06203463e-01 8.73994836e-01 -3.77322760e-01 -2.09417135e+02] [-7.81006184e-01 -4.01009679e-03 6.24510417e-01 -8.04953190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.73, Y:-209.42, Z:-804.98 [[ 5.42639855e-01 4.94051142e-01 6.79305128e-01 3.84727966e+02] [-3.05685995e-01 8.69427787e-01 -3.88138373e-01 -2.09418843e+02] [-7.82366960e-01 2.96528665e-03 6.22810683e-01 -8.04984112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.75, Y:-209.44, Z:-805.00 [[ 5.43167905e-01 4.81779478e-01 6.87646102e-01 3.84747271e+02] [-3.09305236e-01 8.76210981e-01 -3.69573522e-01 -2.09439955e+02] [-7.80576004e-01 -1.19520641e-02 6.24946598e-01 -8.05002274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.77, Y:-209.44, Z:-805.03 [[ 5.42217815e-01 4.89180991e-01 6.83155765e-01 3.84765033e+02] [-3.10717128e-01 8.72151200e-01 -3.77898335e-01 -2.09444234e+02] [-7.80675802e-01 -7.36498799e-03 6.24892830e-01 -8.05029920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.78, Y:-209.45, Z:-805.06 [[ 5.41148149e-01 4.90661220e-01 6.82942346e-01 3.84782467e+02] [-3.12730805e-01 8.71304765e-01 -3.78189702e-01 -2.09453482e+02] [-7.80613941e-01 -8.92045207e-03 6.24949839e-01 -8.05055381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.276559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:384.80, Y:-209.46, Z:-805.08 [[ 5.40909492e-01 4.91300319e-01 6.82671896e-01 3.84800077e+02] [-3.13465459e-01 8.70940556e-01 -3.78420340e-01 -2.09463037e+02] [-7.80484675e-01 -9.30290510e-03 6.25105694e-01 -8.05081061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.82, Y:-209.47, Z:-805.11 [[ 5.40655983e-01 4.91906875e-01 6.82435883e-01 3.84817933e+02] [-3.14097646e-01 8.70594786e-01 -3.78691678e-01 -2.09473031e+02] [-7.80406161e-01 -9.60958278e-03 6.25199072e-01 -8.05107389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.84, Y:-209.48, Z:-805.13 [[ 5.40753681e-01 4.92336497e-01 6.82048554e-01 3.84835374e+02] [-3.14540308e-01 8.70351463e-01 -3.78883526e-01 -2.09483190e+02] [-7.80160145e-01 -9.64910148e-03 6.25505431e-01 -8.05133033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.85, Y:-209.49, Z:-805.16 [[ 5.41013062e-01 4.92856364e-01 6.81467146e-01 3.84852304e+02] [-3.15261535e-01 8.70055318e-01 -3.78964259e-01 -2.09493886e+02] [-7.79689061e-01 -9.81576413e-03 6.26089945e-01 -8.05158318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.87, Y:-209.50, Z:-805.18 [[ 5.40733962e-01 4.93327442e-01 6.81347795e-01 3.84869818e+02] [-3.15631412e-01 8.69786558e-01 -3.79273193e-01 -2.09504220e+02] [-7.79733028e-01 -9.96886974e-03 6.26032768e-01 -8.05184397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.89, Y:-209.52, Z:-805.21 [[ 5.40078898e-01 4.93865457e-01 6.81477582e-01 3.84887172e+02] [-3.15908070e-01 8.69478622e-01 -3.79748624e-01 -2.09515566e+02] [-7.80074917e-01 -1.01900496e-02 6.25603139e-01 -8.05210635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.90, Y:-209.53, Z:-805.24 [[ 5.39767868e-01 4.94344990e-01 6.81376312e-01 3.84904715e+02] [-3.16244852e-01 8.69204557e-01 -3.80095556e-01 -2.09526180e+02] [-7.80153730e-01 -1.03183831e-02 6.25502749e-01 -8.05236795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.92, Y:-209.54, Z:-805.26 [[ 5.39518890e-01 4.94829381e-01 6.81221881e-01 3.84921650e+02] [-3.16614522e-01 8.68927434e-01 -3.80421293e-01 -2.09536465e+02] [-7.80176013e-01 -1.04402663e-02 6.25472932e-01 -8.05262074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.516559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:384.94, Y:-209.55, Z:-805.29 [[ 5.38995157e-01 4.95380847e-01 6.81235669e-01 3.84938847e+02] [-3.17015737e-01 8.68609916e-01 -3.80812075e-01 -2.09546937e+02] [-7.80375066e-01 -1.07065636e-02 6.25220062e-01 -8.05288033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.96, Y:-209.56, Z:-805.31 [[ 5.38419143e-01 4.96575774e-01 6.80821069e-01 3.84955579e+02] [-3.18704370e-01 8.67912525e-01 -3.80992617e-01 -2.09557928e+02] [-7.80084836e-01 -1.18469315e-02 6.25561587e-01 -8.05313584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.97, Y:-209.57, Z:-805.34 [[ 5.38368331e-01 4.97375715e-01 6.80277104e-01 3.84972463e+02] [-3.19877810e-01 8.67445925e-01 -3.81071849e-01 -2.09568374e+02] [-7.79639485e-01 -1.24485352e-02 6.26104869e-01 -8.05338668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.99, Y:-209.58, Z:-805.36 [[ 5.37737371e-01 4.98512975e-01 6.79943625e-01 3.84989014e+02] [-3.21465407e-01 8.66776166e-01 -3.81259846e-01 -2.09579518e+02] [-7.79421909e-01 -1.35606869e-02 6.26352613e-01 -8.05364915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.01, Y:-209.59, Z:-805.39 [[ 5.37446491e-01 4.99235072e-01 6.79643739e-01 3.85005425e+02] [-3.22327252e-01 8.66352908e-01 -3.81494143e-01 -2.09589827e+02] [-7.79266586e-01 -1.40350099e-02 6.26535399e-01 -8.05389851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.02, Y:-209.60, Z:-805.42 [[ 5.36987322e-01 4.99755323e-01 6.79624332e-01 3.85022002e+02] [-3.22713064e-01 8.66049051e-01 -3.81857722e-01 -2.09602272e+02] [-7.79423437e-01 -1.42708953e-02 6.26334933e-01 -8.05416133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.04, Y:-209.61, Z:-805.44 [[ 5.36806282e-01 5.00009837e-01 6.79580149e-01 3.85038730e+02] [-3.22648759e-01 8.65905291e-01 -3.82237891e-01 -2.09613223e+02] [-7.79574753e-01 -1.40779905e-02 6.26150953e-01 -8.05441469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.06, Y:-209.62, Z:-805.47 [[ 5.36569061e-01 5.00213456e-01 6.79617644e-01 3.85055775e+02] [-3.22482836e-01 8.65791288e-01 -3.82635945e-01 -2.09624483e+02] [-7.79806684e-01 -1.38544156e-02 6.25867072e-01 -8.05467358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.07, Y:-209.64, Z:-805.49 [[ 5.36955909e-01 5.00313657e-01 6.79238247e-01 3.85072976e+02] [-3.22391763e-01 8.65740247e-01 -3.82828129e-01 -2.09635304e+02] [-7.79578029e-01 -1.34189905e-02 6.26161343e-01 -8.05492754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.09, Y:-209.65, Z:-805.52 [[ 5.36150127e-01 5.00530550e-01 6.79714800e-01 3.85089603e+02] [-3.21913526e-01 8.65618345e-01 -3.83505624e-01 -2.09647263e+02] [-7.80329881e-01 -1.31927991e-02 6.25228939e-01 -8.05518847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.11, Y:-209.66, Z:-805.54 [[ 5.35886616e-01 5.00910802e-01 6.79642482e-01 3.85106804e+02] [-3.22066552e-01 8.65398588e-01 -3.83872923e-01 -2.09657938e+02] [-7.80447738e-01 -1.31777492e-02 6.25082135e-01 -8.05544589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.12, Y:-209.67, Z:-805.57 [[ 5.35538192e-01 5.01354638e-01 6.79589855e-01 3.85123186e+02] [-3.22311058e-01 8.65140294e-01 -3.84249729e-01 -2.09669743e+02] [-7.80585951e-01 -1.32589204e-02 6.24907813e-01 -8.05570507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.14, Y:-209.68, Z:-805.60 [[ 5.35704985e-01 5.01639329e-01 6.79248226e-01 3.85140448e+02] [-3.22491302e-01 8.64977790e-01 -3.84464280e-01 -2.09680633e+02] [-7.80397033e-01 -1.30922136e-02 6.25147234e-01 -8.05596706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.16, Y:-209.69, Z:-805.62 [[ 5.35840810e-01 5.01824427e-01 6.79004324e-01 3.85156716e+02] [-3.22437634e-01 8.64875130e-01 -3.84740147e-01 -2.09691327e+02] [-7.80325957e-01 -1.27770760e-02 6.25242471e-01 -8.05621978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.17, Y:-209.70, Z:-805.65 [[ 5.36642369e-01 5.01339966e-01 6.78729111e-01 3.85172440e+02] [-3.21360796e-01 8.65173622e-01 -3.84969925e-01 -2.09703882e+02] [-7.80219333e-01 -1.15257554e-02 6.25399832e-01 -8.05647598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.19, Y:-209.72, Z:-805.67 [[ 5.37010717e-01 5.01189227e-01 6.78549076e-01 3.85189127e+02] [-3.20780798e-01 8.65270444e-01 -3.85235951e-01 -2.09715297e+02] [-7.80204569e-01 -1.07896802e-02 6.25431382e-01 -8.05673215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:-209.73, Z:-805.70 [[ 5.37120567e-01 5.00948424e-01 6.78639944e-01 3.85205899e+02] [-3.19825371e-01 8.65420710e-01 -3.85692528e-01 -2.09726506e+02] [-7.80521126e-01 -9.88288276e-03 6.25051278e-01 -8.05699361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.22, Y:-209.74, Z:-805.72 [[ 5.37867739e-01 4.99739900e-01 6.78939119e-01 3.85221948e+02] [-3.17162430e-01 8.66142429e-01 -3.86271000e-01 -2.09739395e+02] [-7.81093009e-01 -7.57127155e-03 6.24368791e-01 -8.05724662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.24, Y:-209.75, Z:-805.75 [[ 5.38265377e-01 4.99289544e-01 6.78955327e-01 3.85238935e+02] [-3.15915691e-01 8.66411915e-01 -3.86688079e-01 -2.09750661e+02] [-7.81324299e-01 -6.35183729e-03 6.24092937e-01 -8.05750835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.26, Y:-209.76, Z:-805.78 [[ 5.38748212e-01 4.98755455e-01 6.78964918e-01 3.85255701e+02] [-3.14541247e-01 8.66728252e-01 -3.87099396e-01 -2.09761869e+02] [-7.81546012e-01 -5.01336475e-03 6.23827458e-01 -8.05777111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.27, Y:-209.77, Z:-805.80 [[ 5.40360562e-01 4.97244119e-01 6.78792126e-01 3.85271286e+02] [-3.11720211e-01 8.67607755e-01 -3.87411013e-01 -2.09774328e+02] [-7.81563160e-01 -2.25159215e-03 6.23822056e-01 -8.05803095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.29, Y:-209.79, Z:-805.83 [[ 5.41321872e-01 4.96597049e-01 6.78499817e-01 3.85287362e+02] [-3.10373905e-01 8.67980887e-01 -3.87656058e-01 -2.09785368e+02] [-7.81433727e-01 -7.41934604e-04 6.23987804e-01 -8.05828153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.30, Y:-209.80, Z:-805.85 [[ 5.43179686e-01 4.95118973e-01 6.78095149e-01 3.85303584e+02] [-3.07818020e-01 8.68823066e-01 -3.87807359e-01 -2.09797703e+02] [-7.81155488e-01 1.91917369e-03 6.24333582e-01 -8.05854313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.32, Y:-209.81, Z:-805.88 [[ 5.43524106e-01 4.94762328e-01 6.78079483e-01 3.85319797e+02] [-3.06739572e-01 8.69023119e-01 -3.88213412e-01 -2.09808140e+02] [-7.81340119e-01 3.00953716e-03 6.24098198e-01 -8.05880061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.34, Y:-209.82, Z:-805.91 [[ 5.44067128e-01 4.94567785e-01 6.77785856e-01 3.85336765e+02] [-3.06160481e-01 8.69130663e-01 -3.88429724e-01 -2.09819233e+02] [-7.81189299e-01 3.82060077e-03 6.24282534e-01 -8.05906211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.35, Y:-209.83, Z:-805.93 [[ 5.44795753e-01 4.94169856e-01 6.77490768e-01 3.85353338e+02] [-3.05234757e-01 8.69351287e-01 -3.88664486e-01 -2.09831097e+02] [-7.81043744e-01 4.94903151e-03 6.24456705e-01 -8.05932423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.37, Y:-209.84, Z:-805.96 [[ 5.44700149e-01 4.94518252e-01 6.77313403e-01 3.85371178e+02] [-3.05406537e-01 8.69152759e-01 -3.88973429e-01 -2.09841233e+02] [-7.81043273e-01 5.01794354e-03 6.24456744e-01 -8.05958827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.39, Y:-209.85, Z:-805.98 [[ 5.44711724e-01 4.94835732e-01 6.77072180e-01 3.85388332e+02] [-3.05738142e-01 8.68972442e-01 -3.89115773e-01 -2.09852295e+02] [-7.80905453e-01 4.94913322e-03 6.24629633e-01 -8.05985000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.41, Y:-209.86, Z:-806.01 [[ 5.44329057e-01 4.95334964e-01 6.77014883e-01 3.85405676e+02] [-3.06068068e-01 8.68688814e-01 -3.89489516e-01 -2.09862931e+02] [-7.81043030e-01 4.79782339e-03 6.24458778e-01 -8.06011354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.42, Y:-209.87, Z:-806.04 [[ 5.42986001e-01 4.96918037e-01 6.76933281e-01 3.85422814e+02] [-3.08144282e-01 8.67791975e-01 -3.89851497e-01 -2.09873603e+02] [-7.81161510e-01 3.09078554e-03 6.24321346e-01 -8.06036365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.44, Y:-209.88, Z:-806.06 [[ 5.42076605e-01 4.98089901e-01 6.76800860e-01 3.85440243e+02] [-3.09638851e-01 8.67123247e-01 -3.90155171e-01 -2.09883563e+02] [-7.81202110e-01 1.93014987e-03 6.24275211e-01 -8.06062071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.46, Y:-209.89, Z:-806.09 [[ 5.40856711e-01 4.99420366e-01 6.76796363e-01 3.85457493e+02] [-3.11265192e-01 8.66359608e-01 -3.90557307e-01 -2.09893291e+02] [-7.81401305e-01 5.72390941e-04 6.24028584e-01 -8.06087915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.47, Y:-209.90, Z:-806.11 [[ 5.39340264e-01 5.01262378e-01 6.76644743e-01 3.85474825e+02] [-3.13815316e-01 8.65293998e-01 -3.90878810e-01 -2.09902947e+02] [-7.81429477e-01 -1.52480307e-03 6.23991705e-01 -8.06113887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.49, Y:-209.91, Z:-806.14 [[ 5.38698257e-01 5.02129016e-01 6.76513591e-01 3.85491763e+02] [-3.14784431e-01 8.64789900e-01 -3.91215019e-01 -2.09912587e+02] [-7.81482533e-01 -2.20909690e-03 6.23923209e-01 -8.06139309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.51, Y:-209.92, Z:-806.17 [[ 5.38013982e-01 5.03062627e-01 6.76364509e-01 3.85509324e+02] [-3.15910334e-01 8.64244644e-01 -3.91512270e-01 -2.09923085e+02] [-7.81499595e-01 -3.03146220e-03 6.23898384e-01 -8.06165667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.53, Y:-209.93, Z:-806.19 [[ 5.37383808e-01 5.03695297e-01 6.76394627e-01 3.85526922e+02] [-3.16398817e-01 8.63874728e-01 -3.91933978e-01 -2.09933243e+02] [-7.81735526e-01 -3.39148603e-03 6.23600886e-01 -8.06191532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.54, Y:-209.94, Z:-806.22 [[ 5.36952586e-01 5.04126772e-01 6.76415641e-01 3.85544507e+02] [-3.16564461e-01 8.63622762e-01 -3.92355282e-01 -2.09943099e+02] [-7.81964746e-01 -3.45296933e-03 6.23313095e-01 -8.06217360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.56, Y:-209.95, Z:-806.24 [[ 5.36992070e-01 5.04390366e-01 6.76187752e-01 3.85561825e+02] [-3.16636408e-01 8.63469574e-01 -3.92634284e-01 -2.09952962e+02] [-7.81908500e-01 -3.26416412e-03 6.23384668e-01 -8.06242533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.58, Y:-209.96, Z:-806.27 [[ 5.36749444e-01 5.04401721e-01 6.76371894e-01 3.85579458e+02] [-3.16202909e-01 8.63464137e-01 -3.92995426e-01 -2.09962745e+02] [-7.82250443e-01 -2.93068403e-03 6.22957186e-01 -8.06267977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.60, Y:-209.97, Z:-806.29 [[ 5.36930200e-01 5.04418766e-01 6.76215697e-01 3.85597621e+02] [-3.15835623e-01 8.63455835e-01 -3.93308887e-01 -2.09972753e+02] [-7.82274772e-01 -2.39358614e-03 6.22928930e-01 -8.06293891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.62, Y:-209.98, Z:-806.32 [[ 5.37969643e-01 5.03405837e-01 6.76144383e-01 3.85615698e+02] [-3.13749723e-01 8.64050020e-01 -3.93673310e-01 -2.09982513e+02] [-7.82400010e-01 -3.55823243e-04 6.22776122e-01 -8.06320123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.63, Y:-209.99, Z:-806.35 [[ 5.38313465e-01 5.02856235e-01 6.76279691e-01 3.85633490e+02] [-3.12256535e-01 8.64369476e-01 -3.94158934e-01 -2.09991889e+02] [-7.82760800e-01 1.00830868e-03 6.22321873e-01 -8.06346223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.65, Y:-210.00, Z:-806.37 [[ 5.38979248e-01 5.02187421e-01 6.76246378e-01 3.85651559e+02] [-3.10692197e-01 8.64755049e-01 -3.94549190e-01 -2.10001149e+02] [-7.82925110e-01 2.54935274e-03 6.22110740e-01 -8.06372153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.67, Y:-210.01, Z:-806.40 [[ 5.40985355e-01 4.99953809e-01 6.76299515e-01 3.85669392e+02] [-3.06559275e-01 8.66028740e-01 -3.94988142e-01 -2.10010552e+02] [-7.83170643e-01 6.35691106e-03 6.21774343e-01 -8.06398226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.69, Y:-210.02, Z:-806.42 [[ 5.42268517e-01 4.98751228e-01 6.76159795e-01 3.85686920e+02] [-3.04231327e-01 8.66701961e-01 -3.95311284e-01 -2.10020394e+02] [-7.83191008e-01 8.65587134e-03 6.21720935e-01 -8.06424193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.70, Y:-210.03, Z:-806.45 [[ 5.43904350e-01 4.97325340e-01 6.75896120e-01 3.85704342e+02] [-3.01649650e-01 8.67491018e-01 -3.95558875e-01 -2.10030163e+02] [-7.83055264e-01 1.12623647e-02 6.21850153e-01 -8.06450132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.72, Y:-210.04, Z:-806.48 [[ 5.45665299e-01 4.95852875e-01 6.75558515e-01 3.85721853e+02] [-2.99061082e-01 8.68294982e-01 -3.95760401e-01 -2.10040095e+02] [-7.82823001e-01 1.39194571e-02 6.22088738e-01 -8.06476257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:385.74, Y:-210.05, Z:-806.50 [[ 5.48925230e-01 4.92957500e-01 6.75036292e-01 3.85739135e+02] [-2.94370849e-01 8.69854944e-01 -3.95851209e-01 -2.10049457e+02] [-7.82321478e-01 1.85817094e-02 6.22597643e-01 -8.06502192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.76, Y:-210.06, Z:-806.53 [[ 5.50307923e-01 4.92140959e-01 6.74506090e-01 3.85756895e+02] [-2.92999336e-01 8.70279817e-01 -3.95934880e-01 -2.10059298e+02] [-7.81864809e-01 2.02562651e-02 6.23118853e-01 -8.06528501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.77, Y:-210.07, Z:-806.55 [[ 5.52419443e-01 4.90897742e-01 6.73685510e-01 3.85774089e+02] [-2.91191720e-01 8.70926568e-01 -3.95846302e-01 -2.10067624e+02] [-7.81050665e-01 2.25015516e-02 6.24062127e-01 -8.06553979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.79, Y:-210.08, Z:-806.58 [[ 5.52985701e-01 4.87697377e-01 6.75542806e-01 3.85793030e+02] [-2.92472737e-01 8.72817224e-01 -3.90704226e-01 -2.10083574e+02] [-7.80170823e-01 1.84759967e-02 6.25293631e-01 -8.06579351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.81, Y:-210.08, Z:-806.61 [[ 5.53232491e-01 5.02013014e-01 6.64768189e-01 3.85808704e+02] [-2.92524906e-01 8.64270227e-01 -4.09226288e-01 -2.10079262e+02] [-7.79976275e-01 3.19360264e-02 6.24993680e-01 -8.06609571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.83, Y:-210.09, Z:-806.63 [[ 5.53797021e-01 4.97054486e-01 6.68016241e-01 3.85825544e+02] [-2.92391332e-01 8.67273459e-01 -4.02919417e-01 -2.10088819e+02] [-7.79625659e-01 2.78134139e-02 6.25627881e-01 -8.06630753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.84, Y:-210.10, Z:-806.65 [[ 5.53485192e-01 4.92022911e-01 6.71987795e-01 3.85843572e+02] [-2.92778711e-01 8.70292074e-01 -3.96071120e-01 -2.10102856e+02] [-7.79701718e-01 2.24757793e-02 6.25747610e-01 -8.06654790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.86, Y:-210.11, Z:-806.68 [[ 5.53133900e-01 4.92717910e-01 6.71767780e-01 3.85861119e+02] [-2.93538869e-01 8.69909847e-01 -3.96348068e-01 -2.10111976e+02] [-7.79665198e-01 2.20435982e-02 6.25808484e-01 -8.06680139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.88, Y:-210.12, Z:-806.71 [[ 5.51470447e-01 4.93920414e-01 6.72252163e-01 3.85879770e+02] [-2.94577153e-01 8.69255644e-01 -3.97012503e-01 -2.10120301e+02] [-7.80451567e-01 2.09105342e-02 6.24866467e-01 -8.06705946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.90, Y:-210.13, Z:-806.73 [[ 5.50152444e-01 4.94925212e-01 6.72592985e-01 3.85897730e+02] [-2.95381944e-01 8.68703505e-01 -3.97622594e-01 -2.10129510e+02] [-7.81077330e-01 2.00812188e-02 6.24111328e-01 -8.06731651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.92, Y:-210.14, Z:-806.76 [[ 5.48639862e-01 4.96096579e-01 6.72965442e-01 3.85915404e+02] [-2.96427858e-01 8.68059204e-01 -3.98250855e-01 -2.10138646e+02] [-7.81744733e-01 1.90105893e-02 6.23308728e-01 -8.06756853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.93, Y:-210.15, Z:-806.78 [[ 5.45626798e-01 4.98781014e-01 6.73430692e-01 3.85934154e+02] [-2.99839659e-01 8.66585242e-01 -3.98906251e-01 -2.10146642e+02] [-7.82551964e-01 1.57327113e-02 6.22386460e-01 -8.06782614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.95, Y:-210.16, Z:-806.81 [[ 5.44095337e-01 5.00591899e-01 6.73326084e-01 3.85952467e+02] [-3.02288658e-01 8.65575120e-01 -3.99250898e-01 -2.10156003e+02] [-7.82676071e-01 1.36917136e-02 6.22278639e-01 -8.06808554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.97, Y:-210.17, Z:-806.83 [[ 5.42615568e-01 5.02560558e-01 6.73053661e-01 3.85970700e+02] [-3.05120751e-01 8.64466697e-01 -3.99498007e-01 -2.10165229e+02] [-7.82604417e-01 1.14111992e-02 6.22414742e-01 -8.06834605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:385.99, Y:-210.17, Z:-806.86 [[ 5.41077421e-01 5.04432858e-01 6.72891311e-01 3.85988513e+02] [-3.07720772e-01 8.63401219e-01 -3.99807782e-01 -2.10173778e+02] [-7.82651360e-01 9.26433000e-03 6.22391373e-01 -8.06860505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.01, Y:-210.18, Z:-806.89 [[ 5.37414921e-01 5.08675259e-01 6.72632652e-01 3.86007072e+02] [-3.14193791e-01 8.60950687e-01 -4.00057716e-01 -2.10181857e+02] [-7.82603006e-01 3.65998240e-03 6.22510353e-01 -8.06886156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:386.02, Y:-210.19, Z:-806.91 [[ 5.35364906e-01 5.11144478e-01 6.72395524e-01 3.86024963e+02] [-3.17814410e-01 8.59494580e-01 -4.00328700e-01 -2.10190754e+02] [-7.82546113e-01 6.24949877e-04 6.22592315e-01 -8.06911798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:386.04, Y:-210.20, Z:-806.94 [[ 5.33213395e-01 5.13727428e-01 6.72136598e-01 3.86042883e+02] [-3.21639852e-01 8.57949553e-01 -4.00587530e-01 -2.10199589e+02] [-7.82452095e-01 -2.58727904e-03 6.22705408e-01 -8.06937573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.06, Y:-210.21, Z:-806.96 [[ 5.29032555e-01 5.18431898e-01 6.71828046e-01 3.86060773e+02] [-3.28936885e-01 8.55072132e-01 -4.00814389e-01 -2.10206842e+02] [-7.82256404e-01 -8.94516462e-03 6.22892368e-01 -8.06963008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.08, Y:-210.22, Z:-806.99 [[ 5.27033989e-01 5.20664355e-01 6.71672393e-01 3.86078322e+02] [-3.32180704e-01 8.53680999e-01 -4.01104390e-01 -2.10215890e+02] [-7.82234718e-01 -1.17209619e-02 6.22873555e-01 -8.06988845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.10, Y:-210.23, Z:-807.01 [[ 5.25321720e-01 5.22859933e-01 6.71308112e-01 3.86096199e+02] [-3.35492335e-01 8.52296780e-01 -4.01291779e-01 -2.10225350e+02] [-7.81973135e-01 -1.44114384e-02 6.23145510e-01 -8.07014870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.11, Y:-210.23, Z:-807.04 [[ 5.22685383e-01 5.25984561e-01 6.70924908e-01 3.86113319e+02] [-3.40329906e-01 8.50293020e-01 -4.01468973e-01 -2.10233465e+02] [-7.81649247e-01 -1.84938473e-02 6.23444009e-01 -8.07040447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.13, Y:-210.24, Z:-807.07 [[ 5.21503104e-01 5.27386393e-01 6.70744441e-01 3.86131052e+02] [-3.42265217e-01 8.49388601e-01 -4.01738130e-01 -2.10243247e+02] [-7.81593906e-01 -2.00648097e-02 6.23464810e-01 -8.07067043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.15, Y:-210.25, Z:-807.09 [[ 5.20589179e-01 5.28611509e-01 6.70489954e-01 3.86147989e+02] [-3.43918825e-01 8.48596169e-01 -4.02000478e-01 -2.10252764e+02] [-7.81477286e-01 -2.13170186e-02 6.23569432e-01 -8.07092511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.17, Y:-210.26, Z:-807.12 [[ 5.19790619e-01 5.29632539e-01 6.70303727e-01 3.86165328e+02] [-3.45229900e-01 8.47933735e-01 -4.02274406e-01 -2.10262958e+02] [-7.81430757e-01 -2.23104254e-02 6.23592989e-01 -8.07118246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.18, Y:-210.27, Z:-807.14 [[ 5.18302698e-01 5.30741955e-01 6.70578325e-01 3.86181964e+02] [-3.46336299e-01 8.47209061e-01 -4.02849817e-01 -2.10273200e+02] [-7.81929333e-01 -2.34474688e-02 6.22925947e-01 -8.07143563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.20, Y:-210.27, Z:-807.18 [[ 5.15275647e-01 5.43568617e-01 6.62588988e-01 3.86195119e+02] [-3.42751655e-01 8.39309161e-01 -4.21996961e-01 -2.10267955e+02] [-7.85501312e-01 -9.65871497e-03 6.18784614e-01 -8.07177819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.21, Y:-210.29, Z:-807.20 [[ 5.16988394e-01 5.25746390e-01 6.75509981e-01 3.86212883e+02] [-3.42787759e-01 8.50272074e-01 -3.99417016e-01 -2.10293528e+02] [-7.84359327e-01 -2.50625910e-02 6.19800220e-01 -8.07197117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.23, Y:-210.32, Z:-807.22 [[ 5.20955461e-01 5.13540301e-01 6.81822386e-01 3.86233472e+02] [-3.45933249e-01 8.57259056e-01 -3.81362161e-01 -2.10320190e+02] [-7.80343255e-01 -3.71923326e-02 6.24244452e-01 -8.07215056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.25, Y:-210.32, Z:-807.25 [[ 5.21047500e-01 5.30541497e-01 6.68606927e-01 3.86250444e+02] [-3.45056959e-01 8.47412142e-01 -4.03519959e-01 -2.10316856e+02] [-7.80669711e-01 -2.04544073e-02 6.24609014e-01 -8.07246299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.27, Y:-210.33, Z:-807.27 [[ 5.21786375e-01 5.30025366e-01 6.68440043e-01 3.86266382e+02] [-3.43819387e-01 8.47766461e-01 -4.03831967e-01 -2.10327501e+02] [-7.80722235e-01 -1.91086280e-02 6.24585985e-01 -8.07271274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.28, Y:-210.34, Z:-807.30 [[ 5.24080499e-01 5.27742958e-01 6.68451195e-01 3.86281820e+02] [-3.39627666e-01 8.49268486e-01 -4.04222819e-01 -2.10339816e+02] [-7.81020281e-01 -1.51792220e-02 6.24321161e-01 -8.07296846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.30, Y:-210.35, Z:-807.32 [[ 5.25644109e-01 5.26303434e-01 6.68358412e-01 3.86298491e+02] [-3.36898385e-01 8.50204569e-01 -4.04538835e-01 -2.10351339e+02] [-7.81151553e-01 -1.25254146e-02 6.24215800e-01 -8.07322567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.32, Y:-210.36, Z:-807.35 [[ 5.27242054e-01 5.24850181e-01 6.68242548e-01 3.86315154e+02] [-3.34118920e-01 8.51138180e-01 -4.04880657e-01 -2.10363288e+02] [-7.81268433e-01 -9.80236894e-03 6.24118218e-01 -8.07348470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.33, Y:-210.38, Z:-807.37 [[ 5.31512612e-01 5.20595114e-01 6.68187901e-01 3.86330216e+02] [-3.26783396e-01 8.53798590e-01 -4.05266060e-01 -2.10376188e+02] [-7.81477418e-01 -2.94868926e-03 6.23926558e-01 -8.07373518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.35, Y:-210.39, Z:-807.40 [[ 5.33581786e-01 5.18513911e-01 6.68157019e-01 3.86346610e+02] [-3.23143878e-01 8.55069069e-01 -4.05505760e-01 -2.10388311e+02] [-7.81580778e-01 4.59636996e-04 6.23803877e-01 -8.07398928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.36, Y:-210.40, Z:-807.42 [[ 5.36575223e-01 5.16551265e-01 6.67279417e-01 3.86361675e+02] [-3.17168700e-01 8.56226313e-01 -4.07775082e-01 -2.10395784e+02] [-7.81978929e-01 7.16186007e-03 6.23263718e-01 -8.07424978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.38, Y:-210.42, Z:-807.45 [[ 5.40699907e-01 5.06345207e-01 6.71757502e-01 3.86377501e+02] [-3.10471520e-01 8.62296007e-01 -4.00066285e-01 -2.10417015e+02] [-7.81825457e-01 7.75422998e-03 6.23449137e-01 -8.07447925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.39, Y:-210.43, Z:-807.48 [[ 5.43196969e-01 5.08717988e-01 6.67939415e-01 3.86394070e+02] [-3.06484036e-01 8.60784275e-01 -4.06347102e-01 -2.10425051e+02] [-7.81667825e-01 1.60137469e-02 6.23489351e-01 -8.07475658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.41, Y:-210.44, Z:-807.50 [[ 5.45651360e-01 5.06242198e-01 6.67819909e-01 3.86409995e+02] [-3.02147241e-01 8.62156407e-01 -4.06685842e-01 -2.10436357e+02] [-7.81646748e-01 2.01287403e-02 6.23396499e-01 -8.07501695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.43, Y:-210.45, Z:-807.53 [[ 5.49058967e-01 5.05998833e-01 6.65206307e-01 3.86425712e+02] [-2.98778456e-01 8.62144575e-01 -4.09192089e-01 -2.10445640e+02] [-7.80554729e-01 2.59212724e-02 6.24549760e-01 -8.07526755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.44, Y:-210.46, Z:-807.55 [[ 5.53298806e-01 4.96583921e-01 6.68778618e-01 3.86441567e+02] [-2.91307609e-01 8.67529057e-01 -4.03154081e-01 -2.10462218e+02] [-7.80384718e-01 2.82443717e-02 6.24661466e-01 -8.07551059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.46, Y:-210.47, Z:-807.58 [[ 5.54949229e-01 4.97786656e-01 6.66513165e-01 3.86458529e+02] [-2.88823879e-01 8.66662212e-01 -4.06789108e-01 -2.10471246e+02] [-7.80135963e-01 3.32423844e-02 6.24726199e-01 -8.07578029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:-210.48, Z:-807.60 [[ 5.54898266e-01 4.98083598e-01 6.66333733e-01 3.86476135e+02] [-2.88935648e-01 8.66486990e-01 -4.07082900e-01 -2.10481908e+02] [-7.80130826e-01 3.33620266e-02 6.24726236e-01 -8.07604414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.49, Y:-210.49, Z:-807.63 [[ 5.56988016e-01 4.95901491e-01 6.66217728e-01 3.86492791e+02] [-2.85412856e-01 8.67604986e-01 -4.07186801e-01 -2.10493516e+02] [-7.79938364e-01 3.66510646e-02 6.24782240e-01 -8.07630086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.51, Y:-210.50, Z:-807.66 [[ 5.57549786e-01 4.95506729e-01 6.66041529e-01 3.86509788e+02] [-2.84436090e-01 8.67783408e-01 -4.07489961e-01 -2.10503884e+02] [-7.79893805e-01 3.77496917e-02 6.24772449e-01 -8.07655666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.53, Y:-210.51, Z:-807.68 [[ 5.58635155e-01 4.94836622e-01 6.65630138e-01 3.86527801e+02] [-2.83431149e-01 8.68111380e-01 -4.07491614e-01 -2.10513589e+02] [-7.79482872e-01 3.89788256e-02 6.25209648e-01 -8.07681820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.54, Y:-210.52, Z:-807.71 [[ 5.57059034e-01 4.96827649e-01 6.65467896e-01 3.86544043e+02] [-2.86191605e-01 8.67072783e-01 -4.07773410e-01 -2.10523766e+02] [-7.79602205e-01 3.67025363e-02 6.25198629e-01 -8.07706736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.56, Y:-210.53, Z:-807.73 [[ 5.56039232e-01 4.98207035e-01 6.65289503e-01 3.86560846e+02] [-2.87998329e-01 8.66339429e-01 -4.08059991e-01 -2.10533056e+02] [-7.79664886e-01 3.52950996e-02 6.25201504e-01 -8.07731940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.396559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:386.58, Y:-210.54, Z:-807.76 [[ 5.54691327e-01 4.99951523e-01 6.65106012e-01 3.86578407e+02] [-2.90559100e-01 8.65417854e-01 -4.08200131e-01 -2.10542484e+02] [-7.79674894e-01 3.31724679e-02 6.25305243e-01 -8.07757977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.60, Y:-210.55, Z:-807.78 [[ 5.52763758e-01 5.02366397e-01 6.64891142e-01 3.86596451e+02] [-2.93999932e-01 8.64123280e-01 -4.08478883e-01 -2.10552534e+02] [-7.79753979e-01 3.03143721e-02 6.25351718e-01 -8.07784020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.61, Y:-210.56, Z:-807.81 [[ 5.48437539e-01 5.07117086e-01 6.64867301e-01 3.86614279e+02] [-3.00949222e-01 8.61538696e-01 -4.08877293e-01 -2.10560393e+02] [-7.80157569e-01 2.41523593e-02 6.25116655e-01 -8.07809836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.63, Y:-210.57, Z:-807.84 [[ 5.46095806e-01 5.09951786e-01 6.64626622e-01 3.86632236e+02] [-3.05126522e-01 8.59955810e-01 -4.09113445e-01 -2.10569822e+02] [-7.80177657e-01 2.06199271e-02 6.25218076e-01 -8.07835332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.65, Y:-210.58, Z:-807.86 [[ 5.43613049e-01 5.12941426e-01 6.64361307e-01 3.86649900e+02] [-3.09544891e-01 8.58257551e-01 -4.09360400e-01 -2.10578893e+02] [-7.80171015e-01 1.68840070e-02 6.25338402e-01 -8.07861142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.67, Y:-210.59, Z:-807.89 [[ 5.38732332e-01 5.18568297e-01 6.63968671e-01 3.86667669e+02] [-3.18248797e-01 8.54985396e-01 -4.09533486e-01 -2.10586698e+02] [-7.80054600e-01 9.32169915e-03 6.25642012e-01 -8.07886371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:386.68, Y:-210.60, Z:-807.91 [[ 5.36110925e-01 5.21364257e-01 6.63900887e-01 3.86684769e+02] [-3.22263798e-01 8.53314596e-01 -4.09878330e-01 -2.10595595e+02] [-7.80212228e-01 5.78902892e-03 6.25488103e-01 -8.07911834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.70, Y:-210.60, Z:-807.94 [[ 5.31284834e-01 5.26102991e-01 6.64042219e-01 3.86703650e+02] [-3.29242061e-01 8.50420637e-01 -4.10346690e-01 -2.10604222e+02] [-7.80599827e-01 -6.19655440e-04 6.25030820e-01 -8.07938126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.72, Y:-210.61, Z:-807.96 [[ 5.28705438e-01 5.28421048e-01 6.64260308e-01 3.86721718e+02] [-3.32269405e-01 8.48975361e-01 -4.10898868e-01 -2.10613866e+02] [-7.81068245e-01 -3.46891104e-03 6.24436037e-01 -8.07964462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.74, Y:-210.62, Z:-807.99 [[ 5.23394269e-01 5.33146615e-01 6.64690248e-01 3.86740378e+02] [-3.39036699e-01 8.45964519e-01 -4.11580064e-01 -2.10622286e+02] [-7.81736884e-01 -9.93574087e-03 6.23529250e-01 -8.07990100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.76, Y:-210.63, Z:-808.02 [[ 5.23306797e-01 5.33464713e-01 6.64503873e-01 3.86757917e+02] [-3.39168950e-01 8.45765094e-01 -4.11880844e-01 -2.10633053e+02] [-7.81738076e-01 -9.83903571e-03 6.23529289e-01 -8.08016477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.78, Y:-210.64, Z:-808.04 [[ 5.21837422e-01 5.34813318e-01 6.64575368e-01 3.86775108e+02] [-3.41006535e-01 8.44891360e-01 -4.12156685e-01 -2.10643048e+02] [-7.81920871e-01 -1.15457614e-02 6.23270765e-01 -8.08041413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.79, Y:-210.65, Z:-808.07 [[ 5.20607740e-01 5.36091760e-01 6.64509748e-01 3.86792481e+02] [-3.42641135e-01 8.44060591e-01 -4.12503056e-01 -2.10653320e+02] [-7.82025980e-01 -1.29360902e-02 6.23111566e-01 -8.08066899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.81, Y:-210.66, Z:-808.09 [[ 5.19583931e-01 5.37176757e-01 6.64434851e-01 3.86809720e+02] [-3.43937063e-01 8.43353458e-01 -4.12870733e-01 -2.10663609e+02] [-7.82137990e-01 -1.40027730e-02 6.22947900e-01 -8.08092362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.83, Y:-210.67, Z:-808.12 [[ 5.18848123e-01 5.38264736e-01 6.64129279e-01 3.86826988e+02] [-3.45447450e-01 8.42640468e-01 -4.13065492e-01 -2.10674050e+02] [-7.81960795e-01 -1.51035110e-02 6.23144606e-01 -8.08118526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.84, Y:-210.68, Z:-808.15 [[ 5.18418900e-01 5.39738245e-01 6.63268024e-01 3.86844451e+02] [-3.47954415e-01 8.41667076e-01 -4.12945831e-01 -2.10683651e+02] [-7.81133516e-01 -1.67081137e-02 6.24140424e-01 -8.08145157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.86, Y:-210.69, Z:-808.17 [[ 5.18107900e-01 5.40706392e-01 6.62722266e-01 3.86861353e+02] [-3.49404393e-01 8.41027937e-01 -4.13023704e-01 -2.10693820e+02] [-7.80692496e-01 -1.75672271e-02 6.24668407e-01 -8.08171113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.88, Y:-210.70, Z:-808.20 [[ 5.18076785e-01 5.41558011e-01 6.62050879e-01 3.86878065e+02] [-3.50750603e-01 8.40465592e-01 -4.13027364e-01 -2.10704346e+02] [-7.80109262e-01 -1.82348560e-02 6.25377510e-01 -8.08196564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.89, Y:-210.72, Z:-808.22 [[ 5.18214912e-01 5.42689849e-01 6.61015154e-01 3.86894581e+02] [-3.53016130e-01 8.39706496e-01 -4.12641022e-01 -2.10715271e+02] [-7.78994812e-01 -1.95122810e-02 6.26726698e-01 -8.08222400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.91, Y:-210.73, Z:-808.25 [[ 5.18296179e-01 5.43175387e-01 6.60552474e-01 3.86910777e+02] [-3.53620166e-01 8.39389334e-01 -4.12769093e-01 -2.10725625e+02] [-7.78666713e-01 -1.96480316e-02 6.27130055e-01 -8.08247600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.93, Y:-210.74, Z:-808.27 [[ 5.18692656e-01 5.43631229e-01 6.59865907e-01 3.86927894e+02] [-3.54375499e-01 8.39091505e-01 -4.12726850e-01 -2.10736936e+02] [-7.78059082e-01 -1.97619241e-02 6.27880189e-01 -8.08273919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.94, Y:-210.75, Z:-808.30 [[ 5.19936885e-01 5.43032531e-01 6.59379485e-01 3.86943452e+02] [-3.53237046e-01 8.39513020e-01 -4.12845586e-01 -2.10749679e+02] [-7.77746247e-01 -1.82636135e-02 6.28312992e-01 -8.08298376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.96, Y:-210.76, Z:-808.32 [[ 5.20720568e-01 5.42357690e-01 6.59316484e-01 3.86960230e+02] [-3.51872256e-01 8.39977629e-01 -4.13065974e-01 -2.10762036e+02] [-7.77840604e-01 -1.69032303e-02 6.28234252e-01 -8.08324284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.98, Y:-210.77, Z:-808.35 [[ 5.21080275e-01 5.41616998e-01 6.59641095e-01 3.86976485e+02] [-3.49923120e-01 8.40486853e-01 -4.13685461e-01 -2.10774315e+02] [-7.78478745e-01 -1.52603361e-02 6.27485430e-01 -8.08349562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.99, Y:-210.79, Z:-808.37 [[ 5.23167650e-01 5.38876667e-01 6.60232950e-01 3.86991785e+02] [-3.44746424e-01 8.42314701e-01 -4.14313708e-01 -2.10788022e+02] [-7.79387909e-01 -1.08574202e-02 6.26447606e-01 -8.08374007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.01, Y:-210.80, Z:-808.40 [[ 5.24106148e-01 5.37556326e-01 6.60564866e-01 3.87007961e+02] [-3.41897055e-01 8.43186078e-01 -4.14901967e-01 -2.10800123e+02] [-7.80012275e-01 -8.39250997e-03 6.25707932e-01 -8.08399560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.02, Y:-210.78, Z:-808.44 [[ 5.22489027e-01 5.53454004e-01 6.48609191e-01 3.87017265e+02] [-3.32099365e-01 8.32724540e-01 -4.43034821e-01 -2.10783444e+02] [-7.85312186e-01 1.60781322e-02 6.18891157e-01 -8.08435329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.04, Y:-210.85, Z:-808.44 [[ 5.27203221e-01 5.00780863e-01 6.86494932e-01 3.87039629e+02] [-3.35841585e-01 8.64910074e-01 -3.73016079e-01 -2.10852505e+02] [-7.80555696e-01 -3.38982676e-02 6.24166415e-01 -8.08437713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.05, Y:-210.84, Z:-808.47 [[ 5.29626436e-01 5.31216855e-01 6.61290021e-01 3.87054860e+02] [-3.30119361e-01 8.47233231e-01 -4.16193537e-01 -2.10839001e+02] [-7.81355903e-01 2.12246044e-03 6.24082085e-01 -8.08474437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.07, Y:-210.85, Z:-808.50 [[ 5.30482735e-01 5.29900587e-01 6.61659608e-01 3.87071156e+02] [-3.27241153e-01 8.48047361e-01 -4.16807992e-01 -2.10851699e+02] [-7.81985483e-01 4.58719073e-03 6.23279762e-01 -8.08500339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2965599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.09, Y:-210.86, Z:-808.53 [[ 5.31897070e-01 5.28492345e-01 6.61650473e-01 3.87087454e+02] [-3.24494205e-01 8.48907465e-01 -4.17204538e-01 -2.10863667e+02] [-7.82169430e-01 7.20812660e-03 6.23024097e-01 -8.08525650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.10, Y:-210.88, Z:-808.55 [[ 5.32813002e-01 5.27460432e-01 6.61736955e-01 3.87103929e+02] [-3.22307586e-01 8.49529375e-01 -4.17633406e-01 -2.10875793e+02] [-7.82450078e-01 9.23766839e-03 6.22644795e-01 -8.08551113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.12, Y:-210.89, Z:-808.58 [[ 5.34730197e-01 5.25503329e-01 6.61747586e-01 3.87119390e+02] [-3.18678922e-01 8.50697440e-01 -4.18040201e-01 -2.10888122e+02] [-7.82628495e-01 1.26537112e-02 6.22360444e-01 -8.08576396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.14, Y:-210.90, Z:-808.60 [[ 5.35678439e-01 5.25225520e-01 6.61201000e-01 3.87135937e+02] [-3.18391665e-01 8.50858252e-01 -4.17931791e-01 -2.10899698e+02] [-7.82096770e-01 1.33561624e-02 6.23013848e-01 -8.08601942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.15, Y:-210.91, Z:-808.63 [[ 5.36566172e-01 5.24061616e-01 6.61404691e-01 3.87152278e+02] [-3.17988985e-01 8.51576381e-01 -4.16774127e-01 -2.10912014e+02] [-7.81651936e-01 1.33074917e-02 6.23572901e-01 -8.08627696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.17, Y:-210.92, Z:-808.65 [[ 5.36365779e-01 5.25430726e-01 6.60480358e-01 3.87169172e+02] [-3.18740842e-01 8.50726998e-01 -4.17932830e-01 -2.10922439e+02] [-7.81483223e-01 1.36428023e-02 6.23777081e-01 -8.08654302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.19, Y:-210.93, Z:-808.68 [[ 5.36072762e-01 5.26313172e-01 6.60015484e-01 3.87186092e+02] [-3.20015268e-01 8.50193127e-01 -4.18045303e-01 -2.10933443e+02] [-7.81163378e-01 1.28876684e-02 6.24193628e-01 -8.08679797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.20, Y:-210.94, Z:-808.70 [[ 5.34203020e-01 5.28391282e-01 6.59871038e-01 3.87202966e+02] [-3.22905405e-01 8.48937009e-01 -4.18375494e-01 -2.10944484e+02] [-7.81254909e-01 1.04215273e-02 6.24125115e-01 -8.08704928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.22, Y:-210.96, Z:-808.73 [[ 5.32794829e-01 5.29752687e-01 6.59917996e-01 3.87219959e+02] [-3.24705604e-01 8.48106674e-01 -4.18666144e-01 -2.10955080e+02] [-7.81470371e-01 8.78408506e-03 6.23880516e-01 -8.08730631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:387.24, Y:-210.97, Z:-808.76 [[ 5.31666444e-01 5.31173527e-01 6.59685892e-01 3.87236699e+02] [-3.26635507e-01 8.47231973e-01 -4.18935830e-01 -2.10965283e+02] [-7.81434603e-01 7.25728757e-03 6.23944945e-01 -8.08755491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.25, Y:-210.98, Z:-808.78 [[ 5.29001700e-01 5.33905888e-01 6.59622395e-01 3.87254207e+02] [-3.30561407e-01 8.45535567e-01 -4.19283629e-01 -2.10975986e+02] [-7.81592194e-01 3.75604531e-03 6.23778434e-01 -8.08780998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.26, Y:-210.96, Z:-808.82 [[ 5.24087863e-01 5.55012303e-01 6.45982396e-01 3.87264601e+02] [-3.26321551e-01 8.31470892e-01 -4.49633631e-01 -2.10959040e+02] [-7.86667755e-01 2.48495516e-02 6.16876278e-01 -8.08820531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.656559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:387.29, Y:-211.02, Z:-808.82 [[ 5.26886648e-01 5.07489677e-01 6.81795195e-01 3.87288142e+02] [-3.34379444e-01 8.61254589e-01 -3.82662933e-01 -2.11021338e+02] [-7.81396729e-01 -2.63583090e-02 6.23477659e-01 -8.08821185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.31, Y:-211.01, Z:-808.86 [[ 5.24319894e-01 5.39434034e-01 6.58862332e-01 3.87305316e+02] [-3.38781330e-01 8.42022140e-01 -4.19792718e-01 -2.11006973e+02] [-7.81227150e-01 -3.10458333e-03 6.24239138e-01 -8.08857772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:-211.02, Z:-808.88 [[ 5.23064929e-01 5.40985787e-01 6.58587472e-01 3.87322376e+02] [-3.40968786e-01 8.41017738e-01 -4.20035060e-01 -2.11017419e+02] [-7.81116744e-01 -4.85216245e-03 6.24366150e-01 -8.08883072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.34, Y:-211.03, Z:-808.91 [[ 5.21955543e-01 5.42465455e-01 6.58250440e-01 3.87339861e+02] [-3.43127263e-01 8.40052703e-01 -4.20208446e-01 -2.11028261e+02] [-7.80913627e-01 -6.53354379e-03 6.24604852e-01 -8.08909034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.36, Y:-211.04, Z:-808.93 [[ 5.20648833e-01 5.43812217e-01 6.58174039e-01 3.87356398e+02] [-3.44834964e-01 8.39168905e-01 -4.20576268e-01 -2.11038212e+02] [-7.81033700e-01 -7.98887731e-03 6.24437777e-01 -8.08934191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.37, Y:-211.05, Z:-808.96 [[ 5.18267468e-01 5.46234841e-01 6.58047362e-01 3.87374053e+02] [-3.48520715e-01 8.37556116e-01 -4.20752972e-01 -2.11048338e+02] [-7.80981525e-01 -1.12805601e-02 6.24452245e-01 -8.08959595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.39, Y:-211.06, Z:-808.98 [[ 5.16911620e-01 5.47534790e-01 6.58033457e-01 3.87390704e+02] [-3.50107813e-01 8.36686875e-01 -4.21164567e-01 -2.11058663e+02] [-7.81170210e-01 -1.26777959e-02 6.24189376e-01 -8.08984972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.41, Y:-211.07, Z:-809.01 [[ 5.15890385e-01 5.48495883e-01 6.58034480e-01 3.87407143e+02] [-3.51336836e-01 8.36039666e-01 -4.21426275e-01 -2.11068899e+02] [-7.81293503e-01 -1.37819888e-02 6.24011633e-01 -8.09009948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.42, Y:-211.08, Z:-809.04 [[ 5.14810033e-01 5.49730359e-01 6.57850411e-01 3.87423817e+02] [-3.53161350e-01 8.35201984e-01 -4.21562221e-01 -2.11079148e+02] [-7.81183520e-01 -1.53028777e-02 6.24113876e-01 -8.09035685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.44, Y:-211.09, Z:-809.06 [[ 5.14889403e-01 5.50255018e-01 6.57349464e-01 3.87440684e+02] [-3.53927931e-01 8.34851479e-01 -4.21613601e-01 -2.11090242e+02] [-7.80784171e-01 -1.55699604e-02 6.24606800e-01 -8.09061589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9565599949999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:387.45, Y:-211.12, Z:-809.08 [[ 5.10173756e-01 5.28192528e-01 6.78774920e-01 3.87454744e+02] [-3.51385514e-01 8.48341338e-01 -3.96036861e-01 -2.11119051e+02] [-7.85016535e-01 -3.64640619e-02 6.18400690e-01 -8.09081149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.01, Y:-210.43, Z:-809.09 [[ 4.54529856e-01 7.07615551e-01 -5.41001702e-01 3.88007750e+02] [-3.04288342e-01 -4.47474844e-01 -8.40936900e-01 -2.10434867e+02] [-8.37144680e-01 5.46851439e-01 1.19284866e-02 -8.09091797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.49, Y:-211.12, Z:-809.18 [[ 4.69803558e-01 5.50642815e-01 6.89983411e-01 3.87486159e+02] [-3.25862352e-01 8.34584355e-01 -4.44165151e-01 -2.11121846e+02] [-8.20425709e-01 -1.61692485e-02 5.71524463e-01 -8.09176745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.50, Y:-211.13, Z:-809.20 [[ 4.69832015e-01 5.50959311e-01 6.89711327e-01 3.87501656e+02] [-3.25991379e-01 8.34378337e-01 -4.44457435e-01 -2.11132003e+02] [-8.20358152e-01 -1.60196142e-02 5.71625641e-01 -8.09204388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0765599949999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:387.51, Y:-211.12, Z:-809.24 [[ 4.66316957e-01 5.69319100e-01 6.77070350e-01 3.87511706e+02] [-3.22525544e-01 8.22116538e-01 -4.69149945e-01 -2.11120631e+02] [-8.23726756e-01 4.00092259e-04 5.66986835e-01 -8.09242795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:387.53, Y:-211.15, Z:-809.26 [[ 4.67040187e-01 5.48255024e-01 6.93750599e-01 3.87527539e+02] [-3.23096105e-01 8.36135861e-01 -4.43267107e-01 -2.11149314e+02] [-8.23093173e-01 -1.71245639e-02 5.67648111e-01 -8.09263955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.55, Y:-211.18, Z:-809.28 [[ 4.70903158e-01 5.30841370e-01 7.04597514e-01 3.87547543e+02] [-3.26951710e-01 8.46835083e-01 -4.19491265e-01 -2.11179189e+02] [-8.19361212e-01 -3.28296008e-02 5.72336809e-01 -8.09278052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.56, Y:-211.17, Z:-809.31 [[ 4.71350734e-01 5.51839227e-01 6.87969442e-01 3.87561707e+02] [-3.27136694e-01 8.33807275e-01 -4.44687544e-01 -2.11172324e+02] [-8.19029956e-01 -1.54562488e-02 5.73542531e-01 -8.09311571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.58, Y:-211.18, Z:-809.34 [[ 4.72099318e-01 5.51927618e-01 6.87385000e-01 3.87576735e+02] [-3.27375046e-01 8.33754711e-01 -4.44610685e-01 -2.11182837e+02] [-8.18503399e-01 -1.51322950e-02 5.74302360e-01 -8.09338901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.59, Y:-211.19, Z:-809.37 [[ 4.72668988e-01 5.51928471e-01 6.86992715e-01 3.87591091e+02] [-3.27027831e-01 8.33767077e-01 -4.44842961e-01 -2.11192873e+02] [-8.18313403e-01 -1.44022656e-02 5.74591812e-01 -8.09365693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.256559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:387.61, Y:-211.20, Z:-809.39 [[ 4.73727131e-01 5.51324897e-01 6.86748472e-01 3.87605428e+02] [-3.25535929e-01 8.34194145e-01 -4.45136483e-01 -2.11204501e+02] [-8.18296379e-01 -1.26880734e-02 5.74656461e-01 -8.09392460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.62, Y:-211.22, Z:-809.42 [[ 4.73645890e-01 5.51218381e-01 6.86889997e-01 3.87620813e+02] [-3.24545805e-01 8.34277258e-01 -4.45703351e-01 -2.11215564e+02] [-8.18736583e-01 -1.18217068e-02 5.74047607e-01 -8.09419887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.64, Y:-211.23, Z:-809.45 [[ 4.73797078e-01 5.50905040e-01 6.87037091e-01 3.87635892e+02] [-3.23185201e-01 8.34500651e-01 -4.46273447e-01 -2.11225956e+02] [-8.19187191e-01 -1.05971656e-02 5.73428327e-01 -8.09446994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.65, Y:-211.24, Z:-809.47 [[ 4.73747474e-01 5.49967185e-01 6.87822234e-01 3.87650080e+02] [-3.20137564e-01 8.35144945e-01 -4.47263750e-01 -2.11237427e+02] [-8.20411647e-01 -8.30766224e-03 5.71712963e-01 -8.09473507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.67, Y:-211.25, Z:-809.50 [[ 4.74246982e-01 5.49613252e-01 6.87760913e-01 3.87665610e+02] [-3.18929554e-01 8.35389546e-01 -4.47669795e-01 -2.11248434e+02] [-8.20593529e-01 -7.04123218e-03 5.71468880e-01 -8.09500551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.67, Y:-211.23, Z:-809.54 [[ 4.70884722e-01 5.68428792e-01 6.74652716e-01 3.87672895e+02] [-3.11181816e-01 8.22610727e-01 -4.75896490e-01 -2.11231155e+02] [-8.25489828e-01 1.41527289e-02 5.64239527e-01 -8.09538213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.70, Y:-211.29, Z:-809.54 [[ 4.74243665e-01 5.16989947e-01 7.12610933e-01 3.87696342e+02] [-3.16489221e-01 8.55426138e-01 -4.09976457e-01 -2.11293583e+02] [-8.21539725e-01 -3.11049415e-02 5.69302172e-01 -8.09542677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.70, Y:-211.25, Z:-809.59 [[ 4.71018894e-01 5.67431407e-01 6.75398253e-01 3.87703983e+02] [-3.10703963e-01 8.23303513e-01 -4.75009866e-01 -2.11250979e+02] [-8.25593271e-01 1.38897081e-02 5.64094697e-01 -8.09590459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.73, Y:-211.31, Z:-809.60 [[ 4.76857980e-01 5.18645793e-01 7.09656966e-01 3.87725600e+02] [-3.16603524e-01 8.54519979e-01 -4.11773983e-01 -2.11312095e+02] [-8.19980900e-01 -2.83221868e-02 5.71689757e-01 -8.09597003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.74, Y:-211.30, Z:-809.63 [[ 4.77386492e-01 5.48833073e-01 6.86210169e-01 3.87740340e+02] [-3.16585861e-01 8.35925780e-01 -4.48331889e-01 -2.11297292e+02] [-8.19680139e-01 -3.21684971e-03 5.72812467e-01 -8.09634245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.76, Y:-211.31, Z:-809.66 [[ 4.78211467e-01 5.48707647e-01 6.85735890e-01 3.87755809e+02] [-3.16120407e-01 8.36011150e-01 -4.48501110e-01 -2.11307706e+02] [-8.19378838e-01 -2.29673499e-03 5.73247804e-01 -8.09661682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.77, Y:-211.30, Z:-809.70 [[ 4.76245299e-01 5.62692633e-01 6.75697726e-01 3.87765282e+02] [-3.10188967e-01 8.26546085e-01 -4.69685399e-01 -2.11296545e+02] [-8.22783823e-01 1.40914834e-02 5.68179734e-01 -8.09696877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.79, Y:-211.35, Z:-809.71 [[ 4.79591710e-01 5.23455811e-01 7.04262597e-01 3.87786685e+02] [-3.12392654e-01 8.51854653e-01 -4.20421788e-01 -2.11345963e+02] [-8.20001598e-01 -1.83756575e-02 5.72066180e-01 -8.09706896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.80, Y:-211.34, Z:-809.74 [[ 4.79689680e-01 5.47265521e-01 6.85855860e-01 3.87802487e+02] [-3.11991062e-01 8.36957322e-01 -4.49626532e-01 -2.11335542e+02] [-8.20097183e-01 1.70030941e-03 5.72221740e-01 -8.09741509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.82, Y:-211.34, Z:-809.77 [[ 4.79855068e-01 5.47127498e-01 6.85850286e-01 3.87817900e+02] [-3.11073714e-01 8.37045144e-01 -4.50098402e-01 -2.11344630e+02] [-8.20348864e-01 2.63200385e-03 5.71857338e-01 -8.09767926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.83, Y:-211.35, Z:-809.80 [[ 4.79870856e-01 5.47090364e-01 6.85868862e-01 3.87833457e+02] [-3.10357027e-01 8.37066879e-01 -4.50552501e-01 -2.11354265e+02] [-8.20611039e-01 3.34279352e-03 5.71477339e-01 -8.09795036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.85, Y:-211.36, Z:-809.82 [[ 4.79953445e-01 5.47083514e-01 6.85816535e-01 3.87848818e+02] [-3.09709617e-01 8.37068220e-01 -4.50995287e-01 -2.11363797e+02] [-8.20807312e-01 4.05276516e-03 5.71190801e-01 -8.09821399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.86, Y:-211.37, Z:-809.85 [[ 4.80150378e-01 5.47442775e-01 6.85391875e-01 3.87864863e+02] [-3.10105022e-01 8.36833169e-01 -4.51159753e-01 -2.11373606e+02] [-8.20542802e-01 4.08106362e-03 5.71570516e-01 -8.09848362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.88, Y:-211.38, Z:-809.88 [[ 4.79568744e-01 5.48248409e-01 6.85155093e-01 3.87880952e+02] [-3.11035233e-01 8.36308571e-01 -4.51492035e-01 -2.11382188e+02] [-8.20530867e-01 3.41409438e-03 5.71592023e-01 -8.09875036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.90, Y:-211.39, Z:-809.90 [[ 4.78757268e-01 5.49134320e-01 6.85013122e-01 3.87897174e+02] [-3.12064278e-01 8.35730188e-01 -4.51852785e-01 -2.11391395e+02] [-8.20614017e-01 2.55967926e-03 5.71477106e-01 -8.09902775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:-211.40, Z:-809.93 [[ 4.77710851e-01 5.50134918e-01 6.84940811e-01 3.87913312e+02] [-3.13174671e-01 8.35074329e-01 -4.52296906e-01 -2.11400284e+02] [-8.20800809e-01 1.56102708e-03 5.71212390e-01 -8.09930000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.93, Y:-211.41, Z:-809.96 [[ 4.75295042e-01 5.51890235e-01 6.85209305e-01 3.87930028e+02] [-3.15288246e-01 8.33916429e-01 -4.52964359e-01 -2.11408065e+02] [-8.21393904e-01 -7.46725633e-04 5.70360849e-01 -8.09956583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.95, Y:-211.42, Z:-809.98 [[ 4.73914597e-01 5.52945880e-01 6.85314387e-01 3.87945979e+02] [-3.16606137e-01 8.33214444e-01 -4.53336790e-01 -2.11417200e+02] [-8.21684556e-01 -2.13181816e-03 5.69938546e-01 -8.09983920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.96, Y:-211.43, Z:-810.01 [[ 4.71841407e-01 5.54847219e-01 6.85208180e-01 3.87962212e+02] [-3.19349824e-01 8.31938866e-01 -4.53754794e-01 -2.11425584e+02] [-8.21815902e-01 -4.72081097e-03 5.69733567e-01 -8.10010618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.98, Y:-211.43, Z:-810.04 [[ 4.70867564e-01 5.55976772e-01 6.84962456e-01 3.87977902e+02] [-3.20918195e-01 8.31176018e-01 -4.54046186e-01 -2.11434795e+02] [-8.21763499e-01 -6.02129363e-03 5.69796889e-01 -8.10038145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.99, Y:-211.44, Z:-810.06 [[ 4.70154733e-01 5.57019887e-01 6.84604537e-01 3.87993176e+02] [-3.22392785e-01 8.30468615e-01 -4.54295908e-01 -2.11443622e+02] [-8.21594437e-01 -7.12219224e-03 5.70027943e-01 -8.10064494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.036559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:388.01, Y:-211.45, Z:-810.09 [[ 4.69318101e-01 5.57994458e-01 6.84384910e-01 3.88008964e+02] [-3.23666832e-01 8.29804563e-01 -4.54603309e-01 -2.11452815e+02] [-8.21571849e-01 -8.15913366e-03 5.70046600e-01 -8.10092023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.03, Y:-211.46, Z:-810.12 [[ 4.68026928e-01 5.59414024e-01 6.84110185e-01 3.88025246e+02] [-3.25741534e-01 8.28828816e-01 -4.54901360e-01 -2.11461116e+02] [-8.21488435e-01 -9.93701501e-03 5.70138586e-01 -8.10119991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.04, Y:-211.47, Z:-810.15 [[ 4.67572574e-01 5.60012192e-01 6.83931453e-01 3.88040924e+02] [-3.26266932e-01 8.28420668e-01 -4.55268147e-01 -2.11470190e+02] [-8.21538665e-01 -1.02733170e-02 5.70060244e-01 -8.10147101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.06, Y:-211.48, Z:-810.17 [[ 4.67169557e-01 5.60629463e-01 6.83701112e-01 3.88056087e+02] [-3.26861009e-01 8.27998578e-01 -4.55609740e-01 -2.11479496e+02] [-8.21531793e-01 -1.06282348e-02 5.70063641e-01 -8.10173337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.07, Y:-211.49, Z:-810.20 [[ 4.66943300e-01 5.61061975e-01 6.83500852e-01 3.88071813e+02] [-3.27149630e-01 8.27704505e-01 -4.55936808e-01 -2.11489329e+02] [-8.21545540e-01 -1.07104133e-02 5.70042290e-01 -8.10200261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:388.09, Y:-211.50, Z:-810.23 [[ 4.66729860e-01 5.61509919e-01 6.83278749e-01 3.88087036e+02] [-3.27439675e-01 8.27399883e-01 -4.56281376e-01 -2.11498677e+02] [-8.21551275e-01 -1.07724282e-02 5.70032857e-01 -8.10226637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:-211.51, Z:-810.25 [[ 4.66628334e-01 5.62137971e-01 6.82831531e-01 3.88102541e+02] [-3.28308766e-01 8.26967744e-01 -4.56440254e-01 -2.11509066e+02] [-8.21262048e-01 -1.11916225e-02 5.70441404e-01 -8.10253772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.12, Y:-211.52, Z:-810.28 [[ 4.66516270e-01 5.62711277e-01 6.82435776e-01 3.88117641e+02] [-3.28986264e-01 8.26573928e-01 -4.56665720e-01 -2.11518617e+02] [-8.21054571e-01 -1.14700082e-02 5.70734467e-01 -8.10280410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.13, Y:-211.53, Z:-810.31 [[ 4.66478973e-01 5.63997245e-01 6.81398910e-01 3.88133175e+02] [-3.31567478e-01 8.25674079e-01 -4.56426690e-01 -2.11527643e+02] [-8.20036814e-01 -1.30162642e-02 5.72162740e-01 -8.10307933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.15, Y:-211.54, Z:-810.33 [[ 4.66033809e-01 5.64956402e-01 6.80908770e-01 3.88148003e+02] [-3.33022118e-01 8.25002403e-01 -4.56582198e-01 -2.11536434e+02] [-8.19700407e-01 -1.39749401e-02 5.72621990e-01 -8.10334310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.16, Y:-211.55, Z:-810.36 [[ 4.65107937e-01 5.66495349e-01 6.80262910e-01 3.88163690e+02] [-3.35693110e-01 8.23909757e-01 -4.56599221e-01 -2.11545447e+02] [-8.19136584e-01 -1.59916502e-02 5.73375553e-01 -8.10361849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.18, Y:-211.56, Z:-810.39 [[ 4.64495085e-01 5.67419323e-01 6.79911485e-01 3.88179254e+02] [-3.36969087e-01 8.23255358e-01 -4.56839633e-01 -2.11555795e+02] [-8.18960408e-01 -1.69093883e-02 5.73600839e-01 -8.10389153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.19, Y:-211.57, Z:-810.42 [[ 4.63505633e-01 5.68283978e-01 6.79864581e-01 3.88194417e+02] [-3.37868869e-01 8.22640973e-01 -4.57281595e-01 -2.11566582e+02] [-8.19150264e-01 -1.77524816e-02 5.73304190e-01 -8.10416291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:388.21, Y:-211.58, Z:-810.44 [[ 4.63485284e-01 5.68750976e-01 6.79487836e-01 3.88210158e+02] [-3.38368384e-01 8.22315544e-01 -4.57497523e-01 -2.11577693e+02] [-8.18955572e-01 -1.78738315e-02 5.73578502e-01 -8.10443587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.22, Y:-211.59, Z:-810.47 [[ 4.63266539e-01 5.69060435e-01 6.79377903e-01 3.88224971e+02] [-3.38333047e-01 8.22104642e-01 -4.57902508e-01 -2.11588065e+02] [-8.19093928e-01 -1.77250863e-02 5.73385523e-01 -8.10470254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.24, Y:-211.60, Z:-810.50 [[ 4.62761137e-01 5.69378512e-01 6.79455841e-01 3.88240119e+02] [-3.38190270e-01 8.21885877e-01 -4.58400422e-01 -2.11598701e+02] [-8.19438510e-01 -1.76554538e-02 5.72895116e-01 -8.10497611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:388.25, Y:-211.61, Z:-810.52 [[ 4.62615083e-01 5.69763838e-01 6.79232254e-01 3.88254855e+02] [-3.38371447e-01 8.21619754e-01 -4.58743659e-01 -2.11608912e+02] [-8.19446185e-01 -1.76110646e-02 5.72885504e-01 -8.10523758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.27, Y:-211.62, Z:-810.55 [[ 4.62187730e-01 5.69698030e-01 6.79578294e-01 3.88269987e+02] [-3.37501759e-01 8.21676509e-01 -4.59282351e-01 -2.11619320e+02] [-8.20045770e-01 -1.70842023e-02 5.72042887e-01 -8.10551315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.28, Y:-211.63, Z:-810.58 [[ 4.62160367e-01 5.70005222e-01 6.79339269e-01 3.88284788e+02] [-3.37552624e-01 8.21467348e-01 -4.59618998e-01 -2.11629325e+02] [-8.20040256e-01 -1.68950678e-02 5.72056409e-01 -8.10577567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.30, Y:-211.64, Z:-810.60 [[ 4.62010969e-01 5.70163921e-01 6.79307712e-01 3.88299837e+02] [-3.37199432e-01 8.21365056e-01 -4.60060852e-01 -2.11639965e+02] [-8.20269716e-01 -1.65090149e-02 5.71738616e-01 -8.10604933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.31, Y:-211.65, Z:-810.63 [[ 4.62243981e-01 5.70398367e-01 6.78952285e-01 3.88314052e+02] [-3.37226745e-01 8.21208794e-01 -4.60319714e-01 -2.11650283e+02] [-8.20127200e-01 -1.61808518e-02 5.71952407e-01 -8.10631040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.33, Y:-211.66, Z:-810.66 [[ 4.62385152e-01 5.70509155e-01 6.78763049e-01 3.88328967e+02] [-3.36931848e-01 8.21141235e-01 -4.60656055e-01 -2.11662270e+02] [-8.20168825e-01 -1.56963682e-02 5.71906219e-01 -8.10658393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6965599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:388.34, Y:-211.67, Z:-810.69 [[ 4.61965568e-01 5.70855997e-01 6.78757133e-01 3.88344126e+02] [-3.36846882e-01 8.20901904e-01 -4.61144492e-01 -2.11672926e+02] [-8.20440121e-01 -1.56043462e-02 5.71519477e-01 -8.10685769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.36, Y:-211.68, Z:-810.71 [[ 4.61088148e-01 5.71680044e-01 6.78660186e-01 3.88359616e+02] [-3.37694130e-01 8.20313635e-01 -4.61571463e-01 -2.11683278e+02] [-8.20585398e-01 -1.63544299e-02 5.71289889e-01 -8.10713085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.37, Y:-211.67, Z:-810.75 [[ 4.57848896e-01 5.89366284e-01 6.65598807e-01 3.88369492e+02] [-3.31712379e-01 8.07862788e-01 -4.87159742e-01 -2.11666481e+02] [-8.24828034e-01 2.25818647e-03 5.65379178e-01 -8.10748880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.39, Y:-211.73, Z:-810.76 [[ 4.61011354e-01 5.38804986e-01 7.05094121e-01 3.88389616e+02] [-3.40247972e-01 8.41166374e-01 -4.20321840e-01 -2.11732001e+02] [-8.19572968e-01 -4.61337039e-02 5.71114552e-01 -8.10755962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.40, Y:-211.71, Z:-810.79 [[ 4.59514501e-01 5.74701404e-01 6.77174068e-01 3.88404977e+02] [-3.42462295e-01 8.18127494e-01 -4.61938287e-01 -2.11713320e+02] [-8.19491305e-01 -1.96392442e-02 5.72755009e-01 -8.10794424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.42, Y:-211.72, Z:-810.82 [[ 4.59522604e-01 5.75520115e-01 6.76472892e-01 3.88420084e+02] [-3.43855978e-01 8.17534841e-01 -4.61952217e-01 -2.11723815e+02] [-8.18902951e-01 -2.03317624e-02 5.73571771e-01 -8.10821170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.43, Y:-211.73, Z:-810.85 [[ 4.59134566e-01 5.76147877e-01 6.76201948e-01 3.88434327e+02] [-3.44516467e-01 8.17082721e-01 -4.62259918e-01 -2.11733704e+02] [-8.18842998e-01 -2.07231997e-02 5.73643351e-01 -8.10847632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.45, Y:-211.74, Z:-810.88 [[ 4.58903807e-01 5.76841366e-01 6.75767219e-01 3.88449137e+02] [-3.45492861e-01 8.16579323e-01 -4.62420688e-01 -2.11744847e+02] [-8.18560920e-01 -2.12661361e-02 5.74025934e-01 -8.10875214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.46, Y:-211.73, Z:-810.91 [[ 4.56268071e-01 5.91233230e-01 6.65028357e-01 3.88459205e+02] [-3.39503707e-01 8.06485645e-01 -4.84064188e-01 -2.11732534e+02] [-8.22530656e-01 -4.91655876e-03 5.68699523e-01 -8.10910242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.48, Y:-211.79, Z:-810.92 [[ 4.59349645e-01 5.50049575e-01 6.97454923e-01 3.88478124e+02] [-3.45665521e-01 8.33996706e-01 -4.30075392e-01 -2.11788701e+02] [-8.18237895e-01 -4.35311402e-02 5.73229263e-01 -8.10919804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.49, Y:-211.78, Z:-810.96 [[ 4.57779226e-01 5.77538856e-01 6.75934205e-01 3.88494072e+02] [-3.45178272e-01 8.16089733e-01 -4.63518618e-01 -2.11776971e+02] [-8.19322977e-01 -2.11286068e-02 5.72942791e-01 -8.10955180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.51, Y:-211.79, Z:-810.98 [[ 4.57676946e-01 5.77896473e-01 6.75697773e-01 3.88509587e+02] [-3.45307579e-01 8.15839233e-01 -4.63863150e-01 -2.11787473e+02] [-8.19325631e-01 -2.10240917e-02 5.72942841e-01 -8.10982892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.52, Y:-211.80, Z:-811.01 [[ 4.57027015e-01 5.77993097e-01 6.76054944e-01 3.88524147e+02] [-3.44749754e-01 8.15775729e-01 -4.64389457e-01 -2.11797661e+02] [-8.19923115e-01 -2.08312486e-02 5.72094524e-01 -8.11009037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:388.54, Y:-211.79, Z:-811.04 [[ 4.54212139e-01 5.93236350e-01 6.64651763e-01 3.88536004e+02] [-3.41668074e-01 8.04999698e-01 -4.85013828e-01 -2.11790797e+02] [-8.22772301e-01 -6.79111955e-03 5.68330556e-01 -8.11044457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.116559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:388.56, Y:-211.84, Z:-811.08 [[ 4.55229369e-01 5.61157165e-01 6.91280593e-01 3.88564669e+02] [-3.47235884e-01 8.26808993e-01 -4.42508905e-01 -2.11844064e+02] [-8.19874053e-01 -3.85943782e-02 5.71241640e-01 -8.11075851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.58, Y:-211.84, Z:-811.11 [[ 4.54085777e-01 5.83268251e-01 6.73501488e-01 3.88580401e+02] [-3.47583110e-01 8.12003118e-01 -4.68867698e-01 -2.11836560e+02] [-8.20360950e-01 -2.11915885e-02 5.71453260e-01 -8.11109197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.60, Y:-211.85, Z:-811.14 [[ 4.53238079e-01 5.83691124e-01 6.73706104e-01 3.88595732e+02] [-3.47700711e-01 8.11690201e-01 -4.69322100e-01 -2.11846415e+02] [-8.20779787e-01 -2.15334447e-02 5.70838727e-01 -8.11136952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:388.61, Y:-211.86, Z:-811.16 [[ 4.52821838e-01 5.84316209e-01 6.73444096e-01 3.88611133e+02] [-3.48338594e-01 8.11229949e-01 -4.69644753e-01 -2.11855993e+02] [-8.20739061e-01 -2.19211691e-02 5.70882523e-01 -8.11163786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.63, Y:-211.86, Z:-811.19 [[ 4.52301687e-01 5.84965741e-01 6.73229727e-01 3.88626863e+02] [-3.49026517e-01 8.10748374e-01 -4.69965493e-01 -2.11864646e+02] [-8.20733620e-01 -2.24088412e-02 5.70871412e-01 -8.11190884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.64, Y:-211.87, Z:-811.22 [[ 4.52192458e-01 5.85335662e-01 6.72981534e-01 3.88641929e+02] [-3.49206046e-01 8.10483029e-01 -4.70289695e-01 -2.11873901e+02] [-8.20717442e-01 -2.23477672e-02 5.70897065e-01 -8.11217715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:388.66, Y:-211.88, Z:-811.24 [[ 4.52972570e-01 5.85254134e-01 6.72527657e-01 3.88657530e+02] [-3.49044147e-01 8.10559011e-01 -4.70278931e-01 -2.11883500e+02] [-8.20356041e-01 -2.17183865e-02 5.71440529e-01 -8.11244908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:388.67, Y:-211.89, Z:-811.27 [[ 4.53437708e-01 5.85210510e-01 6.72252114e-01 3.88672535e+02] [-3.48511520e-01 8.10611825e-01 -4.70582819e-01 -2.11893794e+02] [-8.20325524e-01 -2.09076116e-02 5.71514572e-01 -8.11272032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.69, Y:-211.90, Z:-811.30 [[ 4.53828805e-01 5.85088478e-01 6.72094405e-01 3.88687679e+02] [-3.47733092e-01 8.10723512e-01 -4.70966117e-01 -2.11904414e+02] [-8.20439585e-01 -1.99714754e-02 5.71384308e-01 -8.11298816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:389.32, Y:-211.28, Z:-811.31 [[ 3.99194627e-01 6.97543751e-01 -5.95043163e-01 3.89317326e+02] [-2.84181612e-01 -5.22903106e-01 -8.03625008e-01 -2.11281005e+02] [-8.71713520e-01 4.89903111e-01 -1.05110029e-02 -8.11314512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.416559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:388.74, Y:-211.96, Z:-811.41 [[ 4.10471327e-01 5.58274127e-01 7.21001587e-01 3.88737829e+02] [-3.11985351e-01 8.28943696e-01 -4.64238614e-01 -2.11958402e+02] [-8.56842127e-01 -3.43852936e-02 5.14430968e-01 -8.11408042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:388.75, Y:-211.95, Z:-811.44 [[ 4.10824909e-01 5.82787506e-01 7.01128816e-01 3.88751407e+02] [-3.10368287e-01 8.12488535e-01 -4.93491547e-01 -2.11946875e+02] [-8.57259833e-01 -1.48695300e-02 5.14669288e-01 -8.11442414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.76, Y:-211.96, Z:-811.47 [[ 4.13051747e-01 5.81529140e-01 7.00865261e-01 3.88764687e+02] [-3.07269694e-01 8.13446145e-01 -4.93852917e-01 -2.11956287e+02] [-8.57306007e-01 -1.13678440e-02 5.14681632e-01 -8.11470524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:388.78, Y:-211.97, Z:-811.50 [[ 4.14308584e-01 5.80988319e-01 7.00571888e-01 3.88777718e+02] [-3.05566106e-01 8.13858678e-01 -4.94230115e-01 -2.11965496e+02] [-8.57308435e-01 -9.30724461e-03 5.14718975e-01 -8.11498066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.536559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:388.79, Y:-211.98, Z:-811.53 [[ 4.15520846e-01 5.80478261e-01 7.00276670e-01 3.88791029e+02] [-3.03997565e-01 8.14242299e-01 -4.94565424e-01 -2.11975261e+02] [-8.57279363e-01 -7.38015920e-03 5.14798627e-01 -8.11526536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.80, Y:-211.98, Z:-811.55 [[ 4.17667552e-01 5.79591703e-01 6.99733716e-01 3.88804489e+02] [-3.01931745e-01 8.14893885e-01 -4.94757696e-01 -2.11984848e+02] [-8.56966182e-01 -4.62758624e-03 5.15351869e-01 -8.11554858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.82, Y:-211.99, Z:-811.58 [[ 4.18193378e-01 5.79581869e-01 6.99427735e-01 3.88818185e+02] [-3.01313405e-01 8.14905650e-01 -4.95115152e-01 -2.11993839e+02] [-8.56927378e-01 -3.69307443e-03 5.15423933e-01 -8.11583802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:388.83, Y:-211.98, Z:-811.62 [[ 4.16776268e-01 5.92761992e-01 6.89152206e-01 3.88827158e+02] [-2.95168186e-01 8.05304276e-01 -5.14160252e-01 -2.11981682e+02] [-8.59751874e-01 1.08739850e-02 5.10596193e-01 -8.11618459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.84, Y:-212.03, Z:-811.63 [[ 4.19588019e-01 5.54333934e-01 7.18790501e-01 3.88844688e+02] [-3.00906966e-01 8.32035555e-01 -4.66016988e-01 -2.12031765e+02] [-8.56388284e-01 -2.07539235e-02 5.15915092e-01 -8.11632111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.85, Y:-212.00, Z:-811.67 [[ 4.16906681e-01 5.94382039e-01 6.87676386e-01 3.88854646e+02] [-2.97914909e-01 8.04125550e-01 -5.14420846e-01 -2.12001543e+02] [-8.58740663e-01 9.59643993e-03 5.12320585e-01 -8.11674402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7165599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:388.87, Y:-212.04, Z:-811.69 [[ 4.19278281e-01 5.61332465e-01 7.13520558e-01 3.88871200e+02] [-3.01902534e-01 8.27418405e-01 -4.73533150e-01 -2.12043671e+02] [-8.56189572e-01 -1.68714991e-02 5.16386260e-01 -8.11688972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:388.89, Y:-212.04, Z:-811.72 [[ 4.18730417e-01 5.81386272e-01 6.97606509e-01 3.88885539e+02] [-3.03465731e-01 8.13617633e-01 -4.95918237e-01 -2.12036891e+02] [-8.55905011e-01 -4.04361942e-03 5.17117260e-01 -8.11722582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.90, Y:-212.03, Z:-811.76 [[ 4.15670732e-01 5.93022607e-01 6.89595556e-01 3.88895515e+02] [-3.01419705e-01 8.05173588e-01 -5.10726596e-01 -2.12033451e+02] [-8.58116545e-01 4.43640948e-03 5.13435794e-01 -8.11757793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.91, Y:-212.06, Z:-811.78 [[ 4.17675145e-01 5.73292540e-01 7.04899381e-01 3.88911752e+02] [-3.03911457e-01 8.19275051e-01 -4.86236791e-01 -2.12062308e+02] [-8.56262401e-01 -1.11379757e-02 5.16420997e-01 -8.11775258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.93, Y:-212.06, Z:-811.81 [[ 4.16136483e-01 5.82808287e-01 6.97972011e-01 3.88926288e+02] [-3.03617587e-01 8.12594979e-01 -4.97499508e-01 -2.12063976e+02] [-8.57115388e-01 -4.88888220e-03 5.15101263e-01 -8.11806396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.94, Y:-212.07, Z:-811.83 [[ 4.15637350e-01 5.83311984e-01 6.97848639e-01 3.88940745e+02] [-3.03774803e-01 8.12232783e-01 -4.97994755e-01 -2.12073411e+02] [-8.57301850e-01 -5.00361199e-03 5.14789764e-01 -8.11834759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.95, Y:-212.08, Z:-811.86 [[ 4.14731065e-01 5.83929754e-01 6.97871182e-01 3.88954118e+02] [-3.03982039e-01 8.11786513e-01 -4.98595605e-01 -2.12082460e+02] [-8.57667222e-01 -5.35721861e-03 5.14177243e-01 -8.11862409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:388.97, Y:-212.09, Z:-811.89 [[ 4.13845894e-01 5.84412955e-01 6.97992174e-01 3.88967889e+02] [-3.03877126e-01 8.11437760e-01 -4.99226856e-01 -2.12090749e+02] [-8.58131848e-01 -5.50087131e-03 5.13399914e-01 -8.11889738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.98, Y:-212.10, Z:-811.92 [[ 4.13564700e-01 5.84948699e-01 6.97710011e-01 3.88981911e+02] [-3.04359215e-01 8.11049892e-01 -4.99563351e-01 -2.12099917e+02] [-8.58096561e-01 -5.75270397e-03 5.13456132e-01 -8.11918166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.00, Y:-212.11, Z:-811.95 [[ 4.13171125e-01 5.85456397e-01 6.97517332e-01 3.88995579e+02] [-3.04630172e-01 8.10682416e-01 -4.99994479e-01 -2.12108651e+02] [-8.58190002e-01 -5.90154353e-03 5.13298248e-01 -8.11946519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.01, Y:-212.12, Z:-811.98 [[ 4.13173752e-01 5.86158782e-01 6.96925629e-01 3.89009577e+02] [-3.05757977e-01 8.10170544e-01 -5.00135731e-01 -2.12116887e+02] [-8.57787567e-01 -6.44761439e-03 5.13963927e-01 -8.11975176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.02, Y:-212.13, Z:-812.00 [[ 4.13154714e-01 5.86666850e-01 6.96509289e-01 3.89023082e+02] [-3.06267151e-01 8.09801759e-01 -5.00421366e-01 -2.12125393e+02] [-8.57615074e-01 -6.56646873e-03 5.14250199e-01 -8.12003182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.04, Y:-212.13, Z:-812.03 [[ 4.13781768e-01 5.87091793e-01 6.95778611e-01 3.89037292e+02] [-3.07052349e-01 8.09493723e-01 -5.00438576e-01 -2.12132837e+02] [-8.57031798e-01 -6.56809830e-03 5.15221658e-01 -8.12032508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.05, Y:-212.14, Z:-812.06 [[ 4.14118001e-01 5.87405877e-01 6.95313323e-01 3.89050692e+02] [-3.07235073e-01 8.09268130e-01 -5.00691227e-01 -2.12141517e+02] [-8.56803881e-01 -6.27938991e-03 5.15604188e-01 -8.12060164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.06, Y:-212.15, Z:-812.09 [[ 4.14653391e-01 5.87543740e-01 6.94877628e-01 3.89064789e+02] [-3.07108222e-01 8.09172382e-01 -5.00923743e-01 -2.12150691e+02] [-8.56590395e-01 -5.69290377e-03 5.15965586e-01 -8.12088754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.08, Y:-212.16, Z:-812.12 [[ 4.14817306e-01 5.87825430e-01 6.94541480e-01 3.89078301e+02] [-3.07064970e-01 8.08970237e-01 -5.01276631e-01 -2.12159687e+02] [-8.56526536e-01 -5.33113718e-03 5.16075453e-01 -8.12116217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1965599949999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:389.09, Y:-212.17, Z:-812.15 [[ 4.15143034e-01 5.90937501e-01 6.91700175e-01 3.89091722e+02] [-3.05365724e-01 8.06716465e-01 -5.05925213e-01 -2.12165298e+02] [-8.56976100e-01 -1.19019675e-03 5.15354778e-01 -8.12147806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.11, Y:-212.18, Z:-812.17 [[ 4.15129348e-01 5.90019777e-01 6.92491362e-01 3.89106151e+02] [-3.05686240e-01 8.07385836e-01 -5.04662297e-01 -2.12175241e+02] [-8.56868454e-01 -2.18494999e-03 5.15530483e-01 -8.12172546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.12, Y:-212.19, Z:-812.20 [[ 4.14780865e-01 5.88069863e-01 6.94356300e-01 3.89120089e+02] [-3.05512019e-01 8.08801635e-01 -5.02496092e-01 -2.12186522e+02] [-8.57099318e-01 -3.70843110e-03 5.15137852e-01 -8.12200213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.13, Y:-212.19, Z:-812.23 [[ 4.14738469e-01 5.88504072e-01 6.94013660e-01 3.89134768e+02] [-3.05793306e-01 8.08485876e-01 -5.02833017e-01 -2.12194844e+02] [-8.57019520e-01 -3.68053610e-03 5.15270800e-01 -8.12229090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.15, Y:-212.20, Z:-812.26 [[ 4.14602751e-01 5.89134467e-01 6.93559759e-01 3.89148004e+02] [-3.06586171e-01 8.08024848e-01 -5.03091210e-01 -2.12203194e+02] [-8.56801890e-01 -4.05283085e-03 5.15629805e-01 -8.12256467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.16, Y:-212.21, Z:-812.29 [[ 4.14064504e-01 5.90197819e-01 6.92976999e-01 3.89162323e+02] [-3.08446320e-01 8.07240702e-01 -5.03212993e-01 -2.12211770e+02] [-8.56394450e-01 -5.38356626e-03 5.16294067e-01 -8.12285030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.18, Y:-212.22, Z:-812.31 [[ 4.13286418e-01 5.91204372e-01 6.92583372e-01 3.89176365e+02] [-3.09903524e-01 8.06495277e-01 -5.03512834e-01 -2.12220914e+02] [-8.56244207e-01 -6.53901190e-03 5.16529863e-01 -8.12313425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:389.19, Y:-212.23, Z:-812.34 [[ 4.12349605e-01 5.92200292e-01 6.92290847e-01 3.89189959e+02] [-3.11221676e-01 8.05754213e-01 -5.03886115e-01 -2.12229628e+02] [-8.56217771e-01 -7.67867662e-03 5.16557999e-01 -8.12341095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.20, Y:-212.24, Z:-812.37 [[ 4.11377458e-01 5.93188837e-01 6.92022826e-01 3.89204094e+02] [-3.12869798e-01 8.05011275e-01 -5.04052911e-01 -2.12238903e+02] [-8.56084737e-01 -9.15703714e-03 5.16754364e-01 -8.12369351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.22, Y:-212.25, Z:-812.40 [[ 4.09621117e-01 5.94719380e-01 6.91750967e-01 3.89218293e+02] [-3.15209811e-01 8.03852315e-01 -5.04444478e-01 -2.12247331e+02] [-8.56068523e-01 -1.14155811e-02 5.16736266e-01 -8.12397003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.23, Y:-212.26, Z:-812.43 [[ 4.08692485e-01 5.95681183e-01 6.91472617e-01 3.89232414e+02] [-3.16513453e-01 8.03122819e-01 -5.04790027e-01 -2.12256226e+02] [-8.56031359e-01 -1.25564954e-02 5.16771369e-01 -8.12425544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:389.25, Y:-212.26, Z:-812.45 [[ 4.07825266e-01 5.96608716e-01 6.91184919e-01 3.89246255e+02] [-3.17710633e-01 8.02417364e-01 -5.05159704e-01 -2.12264824e+02] [-8.56001464e-01 -1.35799075e-02 5.16795008e-01 -8.12454255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.26, Y:-212.27, Z:-812.48 [[ 4.06617119e-01 5.98176196e-01 6.90541641e-01 3.89260568e+02] [-3.20574903e-01 8.01206499e-01 -5.05272082e-01 -2.12273971e+02] [-8.55508183e-01 -1.59180408e-02 5.17544554e-01 -8.12482380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.27, Y:-212.28, Z:-812.51 [[ 4.06176399e-01 5.99089995e-01 6.90008631e-01 3.89273997e+02] [-3.22007283e-01 8.00503832e-01 -5.05474950e-01 -2.12283114e+02] [-8.55179538e-01 -1.68758097e-02 5.18057106e-01 -8.12509546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.616559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:389.28, Y:-212.28, Z:-812.54 [[ 4.03409351e-01 6.11471115e-01 6.80708433e-01 3.89284329e+02] [-3.18303538e-01 7.91243692e-01 -5.22126687e-01 -2.12275264e+02] [-8.57871641e-01 -6.04111476e-03 5.13828524e-01 -8.12544380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.30, Y:-212.32, Z:-812.56 [[ 4.05122645e-01 5.82023066e-01 7.05070772e-01 3.89300220e+02] [-3.23740018e-01 8.12546886e-01 -4.84726685e-01 -2.12315334e+02] [-8.55025171e-01 -3.18858674e-02 5.17605301e-01 -8.12560207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.31, Y:-212.31, Z:-812.59 [[ 4.04030892e-01 6.00642575e-01 6.89918500e-01 3.89314940e+02] [-3.23393852e-01 7.99304090e-01 -5.06487303e-01 -2.12309912e+02] [-8.55672516e-01 -1.84788851e-02 5.17187660e-01 -8.12592058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.33, Y:-212.32, Z:-812.62 [[ 4.02692177e-01 6.04355563e-01 6.87454263e-01 3.89327762e+02] [-3.20863555e-01 7.96587056e-01 -5.12343285e-01 -2.12316054e+02] [-8.57254682e-01 -1.42623856e-02 5.14695050e-01 -8.12622183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.34, Y:-212.33, Z:-812.65 [[ 4.02622978e-01 6.01658492e-01 6.89856359e-01 3.89341447e+02] [-3.20156298e-01 7.98599778e-01 -5.09645308e-01 -2.12328919e+02] [-8.57551563e-01 -1.56669465e-02 5.14159376e-01 -8.12649239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:389.36, Y:-212.34, Z:-812.67 [[ 4.02620927e-01 5.99702726e-01 6.91558406e-01 3.89355058e+02] [-3.19904641e-01 8.00044617e-01 -5.07532888e-01 -2.12341053e+02] [-8.57646436e-01 -1.68893815e-02 5.13962391e-01 -8.12674461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.37, Y:-212.35, Z:-812.70 [[ 4.02436665e-01 6.03060725e-01 6.88739786e-01 3.89368062e+02] [-3.18752715e-01 7.97581973e-01 -5.12112979e-01 -2.12348086e+02] [-8.58161661e-01 -1.34446376e-02 5.13203473e-01 -8.12704677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.38, Y:-212.36, Z:-812.73 [[ 4.03851283e-01 5.98113389e-01 6.92217101e-01 3.89381136e+02] [-3.18418638e-01 8.01254912e-01 -5.06557141e-01 -2.12362256e+02] [-8.57620961e-01 -1.58410752e-02 5.14038275e-01 -8.12730039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8565599949999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:389.39, Y:-212.37, Z:-812.76 [[ 4.04633377e-01 6.00647890e-01 6.89560688e-01 3.89394328e+02] [-3.18359605e-01 7.99402003e-01 -5.09513101e-01 -2.12369870e+02] [-8.57274164e-01 -1.33622616e-02 5.14686757e-01 -8.12759212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.41, Y:-212.38, Z:-812.79 [[ 4.07040742e-01 6.00368717e-01 6.88385966e-01 3.89407834e+02] [-3.18208470e-01 7.99636724e-01 -5.09239118e-01 -2.12380121e+02] [-8.56189934e-01 -1.17691766e-02 5.16527137e-01 -8.12787720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.42, Y:-212.39, Z:-812.82 [[ 4.06959269e-01 6.00748511e-01 6.88102739e-01 3.89421457e+02] [-3.18307754e-01 7.99353424e-01 -5.09621701e-01 -2.12390030e+02] [-8.56191758e-01 -1.16331621e-02 5.16527194e-01 -8.12816637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:389.43, Y:-212.40, Z:-812.84 [[ 4.07736521e-01 6.00464612e-01 6.87890384e-01 3.89434135e+02] [-3.17576391e-01 7.99580730e-01 -5.09721387e-01 -2.12399250e+02] [-8.56093550e-01 -1.06257208e-02 5.16711649e-01 -8.12844253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9765599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:389.45, Y:-212.41, Z:-812.87 [[ 4.09214699e-01 5.99693052e-01 6.87685665e-01 3.89447374e+02] [-3.15400044e-01 8.00188636e-01 -5.10118574e-01 -2.12409264e+02] [-8.56192819e-01 -8.14807037e-03 5.16592166e-01 -8.12871810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.46, Y:-212.42, Z:-812.90 [[ 4.09705921e-01 5.99514978e-01 6.87548435e-01 3.89460788e+02] [-3.14315559e-01 8.00333556e-01 -5.10560407e-01 -2.12419826e+02] [-8.56356694e-01 -6.92754916e-03 5.16338282e-01 -8.12900167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.47, Y:-212.43, Z:-812.93 [[ 4.10675681e-01 5.99111437e-01 6.87321593e-01 3.89474200e+02] [-3.12829235e-01 8.00648975e-01 -5.10978561e-01 -2.12429968e+02] [-8.56436428e-01 -5.16781961e-03 5.16226635e-01 -8.12928545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.49, Y:-212.44, Z:-812.96 [[ 4.12709337e-01 5.97710318e-01 6.87323344e-01 3.89487521e+02] [-3.09131237e-01 8.01711022e-01 -5.11563598e-01 -2.12440062e+02] [-8.56801542e-01 -1.34604235e-03 5.15644554e-01 -8.12956450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.50, Y:-212.45, Z:-812.98 [[ 4.13545446e-01 5.97288938e-01 6.87187084e-01 3.89500560e+02] [-3.07517191e-01 8.02026021e-01 -5.12042419e-01 -2.12449922e+02] [-8.56979196e-01 4.30968753e-04 5.15350825e-01 -8.12984729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.51, Y:-212.46, Z:-813.01 [[ 4.14763091e-01 5.96871292e-01 6.86816015e-01 3.89514318e+02] [-3.06200095e-01 8.02333982e-01 -5.12349181e-01 -2.12459930e+02] [-8.56862346e-01 2.20040105e-03 5.15540569e-01 -8.13013290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.53, Y:-212.46, Z:-813.04 [[ 4.14234764e-01 6.04203128e-01 6.80696806e-01 3.89525857e+02] [-3.01918995e-01 7.96749785e-01 -5.23483238e-01 -2.12458254e+02] [-8.58635243e-01 1.13296599e-02 5.12461860e-01 -8.13044189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.54, Y:-212.48, Z:-813.07 [[ 4.15998838e-01 5.87521382e-01 6.94091920e-01 3.89538935e+02] [-2.99869552e-01 8.09206069e-01 -5.05236371e-01 -2.12481080e+02] [-8.58500564e-01 2.04070999e-03 5.12808558e-01 -8.13068339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.55, Y:-212.50, Z:-813.09 [[ 4.17786007e-01 5.81627767e-01 6.97971342e-01 3.89554168e+02] [-3.02788001e-01 8.13445910e-01 -4.96613711e-01 -2.12499893e+02] [-8.56606257e-01 -3.85908859e-03 5.15956227e-01 -8.13092526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:389.57, Y:-212.50, Z:-813.12 [[ 4.17510654e-01 5.96506336e-01 6.85467027e-01 3.89568894e+02] [-3.02573674e-01 8.02575647e-01 -5.14122070e-01 -2.12497195e+02] [-8.56816215e-01 7.24716486e-03 5.15570997e-01 -8.13124349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:389.58, Y:-212.51, Z:-813.15 [[ 4.17171745e-01 5.97031575e-01 6.85216049e-01 3.89583563e+02] [-3.02918190e-01 8.02186482e-01 -5.14526403e-01 -2.12505170e+02] [-8.56859560e-01 7.08147169e-03 5.15501258e-01 -8.13152572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.60, Y:-212.51, Z:-813.18 [[ 4.16856628e-01 5.97763465e-01 6.84769591e-01 3.89597068e+02] [-3.03910434e-01 8.01646320e-01 -5.14783086e-01 -2.12513546e+02] [-8.56661543e-01 6.48211749e-03 5.15838136e-01 -8.13179825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3365599949999 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:389.61, Y:-212.52, Z:-813.21 [[ 4.15470177e-01 6.03568407e-01 6.80506951e-01 3.89610063e+02] [-3.04016591e-01 7.97251195e-01 -5.21502104e-01 -2.12517171e+02] [-8.57297174e-01 9.78316818e-03 5.14728905e-01 -8.13210371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.62, Y:-212.53, Z:-813.23 [[ 4.15064253e-01 5.97092192e-01 6.86441971e-01 3.89624058e+02] [-3.08582531e-01 8.02172547e-01 -5.11171231e-01 -2.12532431e+02] [-8.55861255e-01 3.44904235e-04 5.17205369e-01 -8.13233952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.396559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:389.64, Y:-212.54, Z:-813.26 [[ 4.14189643e-01 6.01406961e-01 6.83195878e-01 3.89638116e+02] [-3.10774111e-01 7.98942288e-01 -5.14888990e-01 -2.12538710e+02] [-8.55491901e-01 9.42095167e-04 5.17815334e-01 -8.13263152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.65, Y:-212.55, Z:-813.29 [[ 4.12646133e-01 6.02920566e-01 6.82795695e-01 3.89651662e+02] [-3.13233730e-01 7.97800177e-01 -5.15169398e-01 -2.12547294e+02] [-8.55340751e-01 -1.29198297e-03 5.18064216e-01 -8.13290251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.67, Y:-212.55, Z:-813.32 [[ 4.08691304e-01 6.05684592e-01 6.82728053e-01 3.89666172e+02] [-3.17782368e-01 7.95680576e-01 -5.15661505e-01 -2.12554642e+02] [-8.55561678e-01 -6.21256446e-03 5.17663616e-01 -8.13317743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.68, Y:-212.54, Z:-813.35 [[ 4.02854339e-01 6.27586219e-01 6.66216121e-01 3.89676725e+02] [-3.14625452e-01 7.78492917e-01 -5.43101835e-01 -2.12537814e+02] [-8.59487758e-01 9.18238224e-03 5.11073847e-01 -8.13354505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.69, Y:-212.60, Z:-813.36 [[ 4.04809005e-01 5.77570837e-01 7.08901684e-01 3.89691094e+02] [-3.22352309e-01 8.15631202e-01 -4.80452631e-01 -2.12596517e+02] [-8.55697761e-01 -3.40245435e-02 5.16356148e-01 -8.13364438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:389.71, Y:-212.58, Z:-813.40 [[ 4.01956246e-01 6.10298747e-01 6.82617474e-01 3.89707872e+02] [-3.24475563e-01 7.92053713e-01 -5.17074970e-01 -2.12580768e+02] [-8.56239911e-01 -1.36511757e-02 5.16397966e-01 -8.13400671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5765599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:389.72, Y:-212.59, Z:-813.43 [[ 3.98306342e-01 6.12603193e-01 6.82692746e-01 3.89723044e+02] [-3.27946107e-01 7.90193065e-01 -5.17731852e-01 -2.12589475e+02] [-8.56623259e-01 -1.76705481e-02 5.15639742e-01 -8.13429145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:389.74, Y:-212.60, Z:-813.46 [[ 3.96534373e-01 6.13817771e-01 6.82633310e-01 3.89736490e+02] [-3.29439444e-01 7.89210093e-01 -5.18282820e-01 -2.12598614e+02] [-8.56872303e-01 -1.93693845e-02 5.15164714e-01 -8.13456125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.636559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:389.75, Y:-212.61, Z:-813.48 [[ 3.95098030e-01 6.14897638e-01 6.82494280e-01 3.89750505e+02] [-3.30832807e-01 7.88331485e-01 -5.18732227e-01 -2.12608078e+02] [-8.56998950e-01 -2.08414173e-02 5.14896528e-01 -8.13484821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.76, Y:-212.60, Z:-813.52 [[ 3.91702260e-01 6.24213944e-01 6.75963233e-01 3.89762366e+02] [-3.28810620e-01 7.81121571e-01 -5.30784955e-01 -2.12603383e+02] [-8.59332832e-01 -1.43542232e-02 5.11215258e-01 -8.13516069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.78, Y:-212.63, Z:-813.54 [[ 3.92491663e-01 6.03746143e-01 6.93859416e-01 3.89775058e+02] [-3.31941946e-01 7.96534612e-01 -5.05318866e-01 -2.12632434e+02] [-8.57767357e-01 -3.19876027e-02 5.13041864e-01 -8.13538009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:389.79, Y:-212.64, Z:-813.57 [[ 3.92485376e-01 6.10109542e-01 6.88274347e-01 3.89790203e+02] [-3.35009027e-01 7.91745133e-01 -5.10792126e-01 -2.12640184e+02] [-8.56577014e-01 -3.00996793e-02 5.15140590e-01 -8.13565778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.756559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:389.80, Y:-212.64, Z:-813.60 [[ 3.92044683e-01 6.18701742e-01 6.80815042e-01 3.89804630e+02] [-3.36924073e-01 7.85205643e-01 -5.19551986e-01 -2.12642547e+02] [-8.56027532e-01 -2.56953836e-02 5.16291208e-01 -8.13595857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:389.82, Y:-212.65, Z:-813.62 [[ 3.92006087e-01 6.19418698e-01 6.80185052e-01 3.89817495e+02] [-3.38095272e-01 7.84621753e-01 -5.19673255e-01 -2.12651762e+02] [-8.55583318e-01 -2.62522711e-02 5.16999036e-01 -8.13623741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8165599949999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:389.83, Y:-212.66, Z:-813.65 [[ 3.92256897e-01 6.20012967e-01 6.79498674e-01 3.89830764e+02] [-3.39153857e-01 7.84140696e-01 -5.19709564e-01 -2.12661307e+02] [-8.55049232e-01 -2.65949347e-02 5.17864385e-01 -8.13652558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.84, Y:-212.67, Z:-813.68 [[ 3.91973900e-01 6.23781580e-01 6.76204852e-01 3.89842523e+02] [-3.39968819e-01 7.81209588e-01 -5.23576911e-01 -2.12668202e+02] [-8.54855347e-01 -2.46600813e-02 5.18280056e-01 -8.13683220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.86, Y:-212.68, Z:-813.71 [[ 3.92792037e-01 6.21477310e-01 6.77849813e-01 3.89855522e+02] [-3.40446109e-01 7.82991096e-01 -5.20597149e-01 -2.12680612e+02] [-8.54289683e-01 -2.62849164e-02 5.19132200e-01 -8.13709934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:389.87, Y:-212.69, Z:-813.74 [[ 3.93003282e-01 6.22144855e-01 6.77114614e-01 3.89868239e+02] [-3.40511605e-01 7.82480727e-01 -5.21321167e-01 -2.12691142e+02] [-8.54166417e-01 -2.56844546e-02 5.19365037e-01 -8.13738223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9365599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:389.88, Y:-212.69, Z:-813.77 [[ 3.93200683e-01 6.27566715e-01 6.71977114e-01 3.89879130e+02] [-3.37096229e-01 7.78348669e-01 -5.29659779e-01 -2.12694465e+02] [-8.55429340e-01 -1.82583642e-02 5.17597602e-01 -8.13767755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.89, Y:-212.72, Z:-813.79 [[ 3.95025075e-01 6.15617139e-01 6.81887622e-01 3.89891634e+02] [-3.38188040e-01 7.87578567e-01 -5.15120230e-01 -2.12718753e+02] [-8.54156918e-01 -2.71208305e-02 5.19307636e-01 -8.13792735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.996559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:389.91, Y:-212.72, Z:-813.82 [[ 3.95882558e-01 6.23433130e-01 6.74246344e-01 3.89905307e+02] [-3.36449261e-01 7.81647378e-01 -5.25194509e-01 -2.12722013e+02] [-8.54446543e-01 -1.89343383e-02 5.19194179e-01 -8.13820399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.91, Y:-212.73, Z:-813.85 [[ 3.96632101e-01 6.25565010e-01 6.71826908e-01 3.89914639e+02] [-3.32364723e-01 7.80063292e-01 -5.30127297e-01 -2.12731297e+02] [-8.55696598e-01 -1.30260610e-02 5.17313884e-01 -8.13852629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.93, Y:-212.75, Z:-813.87 [[ 3.98873625e-01 6.14645996e-01 6.80521955e-01 3.89927149e+02] [-3.32579873e-01 7.88549544e-01 -5.17281592e-01 -2.12752280e+02] [-8.54570336e-01 -1.99979219e-02 5.18950502e-01 -8.13873838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:389.94, Y:-212.76, Z:-813.90 [[ 3.99730134e-01 6.17849043e-01 6.77110316e-01 3.89939227e+02] [-3.31774000e-01 7.86129791e-01 -5.21465210e-01 -2.12760416e+02] [-8.54483372e-01 -1.62022396e-02 5.19226015e-01 -8.13901830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.95, Y:-212.77, Z:-813.93 [[ 4.00618212e-01 6.17640005e-01 6.76776088e-01 3.89950061e+02] [-3.31154827e-01 7.86314759e-01 -5.21579889e-01 -2.12773543e+02] [-8.54307631e-01 -1.51632657e-02 5.19546482e-01 -8.13929727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.96, Y:-212.78, Z:-813.96 [[ 4.00686433e-01 6.18034730e-01 6.76375232e-01 3.89961705e+02] [-3.31456517e-01 7.86005970e-01 -5.21853612e-01 -2.12784655e+02] [-8.54158627e-01 -1.50893166e-02 5.19793568e-01 -8.13957235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.97, Y:-212.80, Z:-813.99 [[ 4.00746862e-01 6.18431210e-01 6.75976916e-01 3.89974111e+02] [-3.32126993e-01 7.85688842e-01 -5.21904880e-01 -2.12796295e+02] [-8.53869787e-01 -1.53584375e-02 5.20260036e-01 -8.13985262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.99, Y:-212.81, Z:-814.01 [[ 4.00139828e-01 6.19207789e-01 6.75625512e-01 3.89986050e+02] [-3.33079970e-01 7.85062749e-01 -5.22239614e-01 -2.12807946e+02] [-8.53783258e-01 -1.60684565e-02 5.20380585e-01 -8.14012963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.00, Y:-212.82, Z:-814.04 [[ 3.98394891e-01 6.20594286e-01 6.75384515e-01 3.89997753e+02] [-3.35169892e-01 7.83921502e-01 -5.22616708e-01 -2.12820654e+02] [-8.53781386e-01 -1.81607285e-02 5.20314841e-01 -8.14041047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.01, Y:-212.83, Z:-814.07 [[ 3.97163205e-01 6.21621590e-01 6.75165156e-01 3.90010351e+02] [-3.36472285e-01 7.83076436e-01 -5.23046554e-01 -2.12831884e+02] [-8.53842954e-01 -1.94395173e-02 5.20167584e-01 -8.14069778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.02, Y:-212.84, Z:-814.10 [[ 3.95830986e-01 6.22601096e-01 6.75044966e-01 3.90022352e+02] [-3.37567331e-01 7.82267258e-01 -5.23551558e-01 -2.12842452e+02] [-8.54029348e-01 -2.06351983e-02 5.19815410e-01 -8.14096874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.03, Y:-212.86, Z:-814.13 [[ 3.93384965e-01 6.23944393e-01 6.75234525e-01 3.90034328e+02] [-3.39085116e-01 7.81138179e-01 -5.24256073e-01 -2.12855022e+02] [-8.54558104e-01 -2.27275197e-02 5.18858272e-01 -8.14125415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.05, Y:-212.87, Z:-814.15 [[ 3.92650991e-01 6.24660678e-01 6.74999435e-01 3.90046960e+02] [-3.39805501e-01 7.80546937e-01 -5.24670087e-01 -2.12866346e+02] [-8.54609514e-01 -2.33562919e-02 5.18745663e-01 -8.14153787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.06, Y:-212.88, Z:-814.18 [[ 3.91528130e-01 6.25696577e-01 6.74692165e-01 3.90058189e+02] [-3.41249185e-01 7.79676174e-01 -5.25027673e-01 -2.12878318e+02] [-8.54549424e-01 -2.46750488e-02 5.18783601e-01 -8.14181567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.07, Y:-212.89, Z:-814.21 [[ 3.90879131e-01 6.26443892e-01 6.74374936e-01 3.90070275e+02] [-3.42201242e-01 7.79051599e-01 -5.25335052e-01 -2.12889541e+02] [-8.54465807e-01 -2.54294326e-02 5.18884890e-01 -8.14209646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.08, Y:-212.90, Z:-814.24 [[ 3.90333231e-01 6.27206272e-01 6.73982389e-01 3.90082818e+02] [-3.43246742e-01 7.78412955e-01 -5.25599606e-01 -2.12900815e+02] [-8.54295993e-01 -2.61832675e-02 5.19126953e-01 -8.14238336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.10, Y:-212.91, Z:-814.27 [[ 3.89433126e-01 6.27970648e-01 6.73791293e-01 3.90095177e+02] [-3.44033156e-01 7.77770236e-01 -5.26036736e-01 -2.12911467e+02] [-8.54390443e-01 -2.69504143e-02 5.18932218e-01 -8.14266561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.11, Y:-212.92, Z:-814.29 [[ 3.88020699e-01 6.29269533e-01 6.73394233e-01 3.90107174e+02] [-3.46119563e-01 7.76651433e-01 -5.26321005e-01 -2.12923057e+02] [-8.54190368e-01 -2.88514735e-02 5.19159328e-01 -8.14294959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.12, Y:-212.93, Z:-814.32 [[ 3.86766304e-01 6.30146116e-01 6.73296145e-01 3.90119239e+02] [-3.47006500e-01 7.75901710e-01 -5.26842505e-01 -2.12933279e+02] [-8.54399389e-01 -2.98732103e-02 5.18757434e-01 -8.14322172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.13, Y:-212.95, Z:-814.35 [[ 3.85818848e-01 6.31133933e-01 6.72914390e-01 3.90131138e+02] [-3.48454406e-01 7.75050184e-01 -5.27140151e-01 -2.12945239e+02] [-8.54238458e-01 -3.10993784e-02 5.18950369e-01 -8.14350108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.14, Y:-212.96, Z:-814.38 [[ 3.85144645e-01 6.31621631e-01 6.72843011e-01 3.90143508e+02] [-3.48540667e-01 7.74645481e-01 -5.27677726e-01 -2.12956198e+02] [-8.54507464e-01 -3.12809013e-02 5.18496384e-01 -8.14378069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.16, Y:-212.97, Z:-814.41 [[ 3.84409211e-01 6.32177012e-01 6.72741989e-01 3.90155997e+02] [-3.48806404e-01 7.74178665e-01 -5.28186982e-01 -2.12967240e+02] [-8.54730163e-01 -3.16167732e-02 5.18108801e-01 -8.14405931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.17, Y:-212.98, Z:-814.43 [[ 3.83793149e-01 6.32619477e-01 6.72677795e-01 3.90168359e+02] [-3.48790468e-01 7.73813746e-01 -5.28731969e-01 -2.12977911e+02] [-8.55013467e-01 -3.16998957e-02 5.17636058e-01 -8.14433863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.18, Y:-212.99, Z:-814.46 [[ 3.82558462e-01 6.32960147e-01 6.73060529e-01 3.90180579e+02] [-3.48112417e-01 7.73534980e-01 -5.29586046e-01 -2.12989381e+02] [-8.55842724e-01 -3.17031045e-02 5.16263639e-01 -8.14462664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.19, Y:-213.00, Z:-814.49 [[ 3.82389511e-01 6.33237678e-01 6.72895464e-01 3.90192980e+02] [-3.47857280e-01 7.73320985e-01 -5.30066003e-01 -2.13000022e+02] [-8.56021948e-01 -3.13799061e-02 5.15986169e-01 -8.14490307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.21, Y:-213.01, Z:-814.52 [[ 3.82417911e-01 6.33332751e-01 6.72789840e-01 3.90205911e+02] [-3.47550233e-01 7.73258069e-01 -5.30359118e-01 -2.13010647e+02] [-8.56133972e-01 -3.10094392e-02 5.15822680e-01 -8.14519147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.22, Y:-213.02, Z:-814.55 [[ 3.83075104e-01 6.33131290e-01 6.72605556e-01 3.90217614e+02] [-3.46351334e-01 7.73477764e-01 -5.30822855e-01 -2.13020411e+02] [-8.56326000e-01 -2.96128107e-02 5.15585942e-01 -8.14547326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.23, Y:-213.03, Z:-814.58 [[ 3.83655444e-01 6.33153628e-01 6.72253660e-01 3.90230270e+02] [-3.46192107e-01 7.73481274e-01 -5.30921600e-01 -2.13030992e+02] [-8.56130554e-01 -2.90379491e-02 5.15943090e-01 -8.14575823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.24, Y:-213.04, Z:-814.60 [[ 3.83565178e-01 6.33516869e-01 6.71962895e-01 3.90243586e+02] [-3.46280977e-01 7.73188817e-01 -5.31289506e-01 -2.13041348e+02] [-8.56135059e-01 -2.89038139e-02 5.15943146e-01 -8.14604723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.26, Y:-213.05, Z:-814.63 [[ 3.84055238e-01 6.33518333e-01 6.71681543e-01 3.90256421e+02] [-3.46191017e-01 7.73203661e-01 -5.31326526e-01 -2.13052138e+02] [-8.55951724e-01 -2.84713808e-02 5.16271273e-01 -8.14633287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.27, Y:-213.06, Z:-814.66 [[ 3.84435519e-01 6.33688994e-01 6.71302906e-01 3.90268632e+02] [-3.46004496e-01 7.73084641e-01 -5.31621131e-01 -2.13062811e+02] [-8.55856425e-01 -2.78997779e-02 5.16460436e-01 -8.14661244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.28, Y:-213.07, Z:-814.69 [[ 3.84446020e-01 6.34096305e-01 6.70912165e-01 3.90281406e+02] [-3.46378001e-01 7.72750004e-01 -5.31864374e-01 -2.13072968e+02] [-8.55700613e-01 -2.79160732e-02 5.16717674e-01 -8.14689489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.29, Y:-213.08, Z:-814.72 [[ 3.84185644e-01 6.34669419e-01 6.70519291e-01 3.90294127e+02] [-3.47031542e-01 7.72267189e-01 -5.32139547e-01 -2.13082801e+02] [-8.55552745e-01 -2.82509692e-02 5.16944275e-01 -8.14718347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.31, Y:-213.09, Z:-814.75 [[ 3.83892897e-01 6.35579249e-01 6.69824800e-01 3.90306743e+02] [-3.48701188e-01 7.71480762e-01 -5.32188797e-01 -2.13092057e+02] [-8.55005102e-01 -2.92652049e-02 5.17793224e-01 -8.14747144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.016559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:390.32, Y:-213.10, Z:-814.78 [[ 3.83865182e-01 6.36164687e-01 6.69284703e-01 3.90319285e+02] [-3.49524451e-01 7.70986264e-01 -5.32365325e-01 -2.13101783e+02] [-8.54681333e-01 -2.95748556e-02 5.18309896e-01 -8.14776191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.33, Y:-213.11, Z:-814.80 [[ 3.84103283e-01 6.36727378e-01 6.68612679e-01 3.90331797e+02] [-3.50463153e-01 7.70512395e-01 -5.32434248e-01 -2.13112241e+02] [-8.54189819e-01 -2.98143650e-02 5.19105824e-01 -8.14803969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0765599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:390.34, Y:-213.12, Z:-814.83 [[ 3.84979007e-01 6.36824815e-01 6.68015958e-01 3.90343929e+02] [-3.50452420e-01 7.70459199e-01 -5.32518285e-01 -2.13123931e+02] [-8.53799898e-01 -2.90994482e-02 5.19787415e-01 -8.14832670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:390.36, Y:-213.13, Z:-814.86 [[ 3.85124142e-01 6.36958606e-01 6.67804710e-01 3.90356573e+02] [-3.49984464e-01 7.70372163e-01 -5.32951786e-01 -2.13134961e+02] [-8.53926385e-01 -2.84686741e-02 5.19614534e-01 -8.14860621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.37, Y:-213.15, Z:-814.89 [[ 3.85112881e-01 6.37113569e-01 6.67663365e-01 3.90369063e+02] [-3.49465071e-01 7.70265262e-01 -5.33446896e-01 -2.13145920e+02] [-8.54144152e-01 -2.78877549e-02 5.19288013e-01 -8.14887697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:390.38, Y:-213.16, Z:-814.92 [[ 3.84790861e-01 6.37240872e-01 6.67727537e-01 3.90382192e+02] [-3.48714162e-01 7.70179447e-01 -5.34061844e-01 -2.13156920e+02] [-8.54596060e-01 -2.73439318e-02 5.18572929e-01 -8.14915748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1965599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.39, Y:-213.17, Z:-814.94 [[ 3.84488363e-01 6.37188894e-01 6.67951355e-01 3.90394786e+02] [-3.47318979e-01 7.70257250e-01 -5.34858201e-01 -2.13167990e+02] [-8.55300079e-01 -2.63454287e-02 5.17462745e-01 -8.14942670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.41, Y:-213.18, Z:-814.97 [[ 3.84002762e-01 6.37427210e-01 6.68003317e-01 3.90407530e+02] [-3.46779788e-01 7.70070913e-01 -5.35476020e-01 -2.13178364e+02] [-8.55736909e-01 -2.60257781e-02 5.16756230e-01 -8.14970652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.42, Y:-213.17, Z:-815.01 [[ 3.81087845e-01 6.52540819e-01 6.54952314e-01 3.90416799e+02] [-3.40205935e-01 7.57679767e-01 -5.56939218e-01 -2.13165790e+02] [-8.59669690e-01 -1.05758980e-02 5.10740809e-01 -8.15006519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.43, Y:-213.22, Z:-815.02 [[ 3.85319870e-01 6.11225947e-01 6.91325857e-01 3.90430988e+02] [-3.46444792e-01 7.90192232e-01 -5.05541533e-01 -2.13221233e+02] [-8.55280424e-01 -4.47110450e-02 5.16232814e-01 -8.15018719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.45, Y:-213.21, Z:-815.05 [[ 3.84867269e-01 6.37877645e-01 6.67075180e-01 3.90445470e+02] [-3.46463225e-01 7.69739355e-01 -5.36157216e-01 -2.13209176e+02] [-8.55476721e-01 -2.47676550e-02 5.17248629e-01 -8.15054690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.46, Y:-213.21, Z:-815.09 [[ 3.84452093e-01 6.43173600e-01 6.62211679e-01 3.90456504e+02] [-3.44910362e-01 7.65470519e-01 -5.43223459e-01 -2.13211929e+02] [-8.56290506e-01 -1.95602745e-02 5.16123983e-01 -8.15085816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.47, Y:-213.24, Z:-815.11 [[ 3.86377587e-01 6.31445858e-01 6.72300892e-01 3.90469976e+02] [-3.47736240e-01 7.74846766e-01 -5.27912868e-01 -2.13235351e+02] [-8.54278566e-01 -2.98096838e-02 5.18960032e-01 -8.15107772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:-213.24, Z:-815.14 [[ 3.86205786e-01 6.39153362e-01 6.65077493e-01 3.90483660e+02] [-3.49229036e-01 7.68663247e-01 -5.35906609e-01 -2.13239595e+02] [-8.53747136e-01 -2.52941385e-02 5.20073105e-01 -8.15138026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.50, Y:-213.25, Z:-815.17 [[ 3.85461720e-01 6.42569797e-01 6.62210932e-01 3.90495569e+02] [-3.48580151e-01 7.65894436e-01 -5.40275478e-01 -2.13245092e+02] [-8.54348372e-01 -2.25780719e-02 5.19210063e-01 -8.15167729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.51, Y:-213.26, Z:-815.19 [[ 3.86997524e-01 6.40139508e-01 6.63667332e-01 3.90509725e+02] [-3.50436575e-01 7.67850737e-01 -5.36282997e-01 -2.13258407e+02] [-8.52893384e-01 -2.50331149e-02 5.21484630e-01 -8.15193213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.496559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:390.52, Y:-213.27, Z:-815.22 [[ 3.84353671e-01 6.39589529e-01 6.65730794e-01 3.90522918e+02] [-3.50316535e-01 7.68232613e-01 -5.35814313e-01 -2.13269136e+02] [-8.54137331e-01 -2.72743075e-02 5.19331812e-01 -8.15219890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.54, Y:-213.28, Z:-815.25 [[ 3.83749453e-01 6.41213478e-01 6.64516090e-01 3.90536658e+02] [-3.50885246e-01 7.66888961e-01 -5.37364741e-01 -2.13279187e+02] [-8.54175568e-01 -2.69554663e-02 5.19285568e-01 -8.15248267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.55, Y:-213.29, Z:-815.28 [[ 3.83112010e-01 6.41633560e-01 6.64478414e-01 3.90549459e+02] [-3.50789565e-01 7.66535805e-01 -5.37930795e-01 -2.13289181e+02] [-8.54500947e-01 -2.70043460e-02 5.18747431e-01 -8.15276127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.56, Y:-213.30, Z:-815.30 [[ 3.82204764e-01 6.42256810e-01 6.64398757e-01 3.90562487e+02] [-3.51219829e-01 7.65993794e-01 -5.38421897e-01 -2.13299101e+02] [-8.54730455e-01 -2.75626040e-02 5.18339805e-01 -8.15304093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.58, Y:-213.31, Z:-815.33 [[ 3.82180064e-01 6.42625648e-01 6.64056229e-01 3.90575979e+02] [-3.51474462e-01 7.65685889e-01 -5.38693626e-01 -2.13309502e+02] [-8.54636824e-01 -2.75208414e-02 5.18496386e-01 -8.15332774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.59, Y:-213.32, Z:-815.36 [[ 3.82076671e-01 6.43056686e-01 6.63698363e-01 3.90588673e+02] [-3.51769158e-01 7.65323831e-01 -5.39015671e-01 -2.13318999e+02] [-8.54561804e-01 -2.75233014e-02 5.18619890e-01 -8.15360011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6765599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.60, Y:-213.33, Z:-815.39 [[ 3.81886725e-01 6.43372880e-01 6.63501218e-01 3.90602259e+02] [-3.51703404e-01 7.65064057e-01 -5.39427201e-01 -2.13327613e+02] [-8.54673766e-01 -2.73555499e-02 5.18444239e-01 -8.15388228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.62, Y:-213.34, Z:-815.42 [[ 3.81898717e-01 6.43698607e-01 6.63178312e-01 3.90615287e+02] [-3.52168131e-01 7.64784548e-01 -5.39520344e-01 -2.13337459e+02] [-8.54477020e-01 -2.75081394e-02 5.18760374e-01 -8.15415810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.63, Y:-213.35, Z:-815.45 [[ 3.79012179e-01 6.43680577e-01 6.64849670e-01 3.90626425e+02] [-3.49175561e-01 7.64819687e-01 -5.41412296e-01 -2.13345858e+02] [-8.56986695e-01 -2.69474027e-02 5.14633502e-01 -8.15445347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:-213.36, Z:-815.47 [[ 3.81695426e-01 6.44680750e-01 6.62340798e-01 3.90642079e+02] [-3.53364994e-01 7.63940498e-01 -5.39933419e-01 -2.13356704e+02] [-8.54073640e-01 -2.79579359e-02 5.19400203e-01 -8.15471469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:390.66, Y:-213.37, Z:-815.50 [[ 3.81425690e-01 6.45141604e-01 6.62047395e-01 3.90655474e+02] [-3.53782773e-01 7.63543675e-01 -5.40221071e-01 -2.13366678e+02] [-8.54021190e-01 -2.81667689e-02 5.19475159e-01 -8.15500093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:390.67, Y:-213.38, Z:-815.53 [[ 3.81153003e-01 6.45528988e-01 6.61826801e-01 3.90668420e+02] [-3.53818757e-01 7.63218878e-01 -5.40656298e-01 -2.13376332e+02] [-8.54128021e-01 -2.80939644e-02 5.19303431e-01 -8.15527975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.68, Y:-213.39, Z:-815.56 [[ 3.80797262e-01 6.45858259e-01 6.61710325e-01 3.90681503e+02] [-3.53997427e-01 7.62934314e-01 -5.40940897e-01 -2.13386382e+02] [-8.54212659e-01 -2.82549399e-02 5.19155460e-01 -8.15555407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:390.70, Y:-213.40, Z:-815.58 [[ 3.80730850e-01 6.45902572e-01 6.61705288e-01 3.90695203e+02] [-3.53165920e-01 7.62923440e-01 -5.41499453e-01 -2.13395483e+02] [-8.54586364e-01 -2.75262098e-02 5.18579266e-01 -8.15583903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.71, Y:-213.41, Z:-815.61 [[ 3.80977455e-01 6.45859496e-01 6.61605389e-01 3.90708094e+02] [-3.52207917e-01 7.62995386e-01 -5.42021793e-01 -2.13405103e+02] [-8.54871781e-01 -2.65245728e-02 5.18160868e-01 -8.15611816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.72, Y:-213.42, Z:-815.64 [[ 3.82856188e-01 6.44885508e-01 6.61470952e-01 3.90721507e+02] [-3.49501190e-01 7.63917962e-01 -5.42474207e-01 -2.13415531e+02] [-8.55143297e-01 -2.34952778e-02 5.17858972e-01 -8.15640216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9765599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:390.73, Y:-213.43, Z:-815.67 [[ 3.83412704e-01 6.44439930e-01 6.61582856e-01 3.90734481e+02] [-3.47488142e-01 7.64348734e-01 -5.43160201e-01 -2.13425620e+02] [-8.55714141e-01 -2.16376758e-02 5.16996248e-01 -8.15668541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:390.75, Y:-213.44, Z:-815.70 [[ 3.84248922e-01 6.43925518e-01 6.61598589e-01 3.90747132e+02] [-3.45424284e-01 7.64837542e-01 -5.43788193e-01 -2.13435468e+02] [-8.56174532e-01 -1.95821918e-02 5.16315512e-01 -8.15696256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.76, Y:-213.42, Z:-815.74 [[ 3.81346076e-01 6.63130407e-01 6.44075488e-01 3.90755800e+02] [-3.36702920e-01 7.48503219e-01 -5.71291585e-01 -2.13418676e+02] [-8.60933397e-01 9.97706929e-04 5.08716710e-01 -8.15735218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.77, Y:-213.46, Z:-815.75 [[ 3.84059823e-01 6.28269715e-01 6.76590879e-01 3.90765206e+02] [-3.36249441e-01 7.77641291e-01 -5.31234728e-01 -2.13462133e+02] [-8.59903696e-01 -2.34773892e-02 5.09916117e-01 -8.15752522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.78, Y:-213.47, Z:-815.78 [[ 3.88522749e-01 6.32556387e-01 6.70016783e-01 3.90782242e+02] [-3.36477458e-01 7.74322647e-01 -5.35917306e-01 -2.13469885e+02] [-8.57807084e-01 -1.72294789e-02 5.13682929e-01 -8.15775432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.80, Y:-213.47, Z:-815.81 [[ 3.88269895e-01 6.40724182e-01 6.62358673e-01 3.90796014e+02] [-3.36571407e-01 7.67689443e-01 -5.45318813e-01 -2.13473833e+02] [-8.57884711e-01 -1.12001125e-02 5.13720138e-01 -8.15806518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.81, Y:-213.48, Z:-815.84 [[ 3.90728366e-01 6.39895855e-01 6.61713411e-01 3.90809298e+02] [-3.35350195e-01 7.68409677e-01 -5.45056709e-01 -2.13483263e+02] [-8.57246517e-01 -8.93660413e-03 5.14828657e-01 -8.15835267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:390.82, Y:-213.49, Z:-815.86 [[ 3.91925712e-01 6.39740654e-01 6.61155149e-01 3.90821923e+02] [-3.34759115e-01 7.68552851e-01 -5.45218168e-01 -2.13492178e+02] [-8.56930903e-01 -7.64269370e-03 5.15374638e-01 -8.15862764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.83, Y:-213.49, Z:-815.90 [[ 3.90924084e-01 6.53673882e-01 6.47988284e-01 3.90832782e+02] [-3.31012331e-01 7.56753586e-01 -5.63697479e-01 -2.13485515e+02] [-8.58841777e-01 5.87080791e-03 5.12207318e-01 -8.15900627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:390.85, Y:-213.50, Z:-815.93 [[ 3.93087990e-01 6.41123351e-01 6.59122660e-01 3.90845044e+02] [-3.28962839e-01 7.67437675e-01 -5.50293436e-01 -2.13504873e+02] [-8.58641533e-01 -5.13120930e-04 5.12576291e-01 -8.15925810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.86, Y:-213.53, Z:-815.94 [[ 3.96193533e-01 6.24790521e-01 6.72805685e-01 3.90860816e+02] [-3.31607028e-01 7.80680057e-01 -5.29693711e-01 -2.13533314e+02] [-8.56193590e-01 -1.32458712e-02 5.16485318e-01 -8.15943127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:390.87, Y:-213.52, Z:-815.98 [[ 3.95037880e-01 6.50294387e-01 6.48893122e-01 3.90873530e+02] [-3.27070139e-01 7.59618654e-01 -5.62142887e-01 -2.13517026e+02] [-8.58469684e-01 9.83417109e-03 5.12770018e-01 -8.15983908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.89, Y:-213.55, Z:-816.00 [[ 3.97163585e-01 6.29785840e-01 6.67555902e-01 3.90887334e+02] [-3.28911934e-01 7.76743697e-01 -5.37109084e-01 -2.13547927e+02] [-8.56783535e-01 -6.24693381e-03 5.15638390e-01 -8.15999467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.90, Y:-213.55, Z:-816.03 [[ 3.97222905e-01 6.37752760e-01 6.59913162e-01 3.90901331e+02] [-3.28328249e-01 7.70240972e-01 -5.46744370e-01 -2.13551318e+02] [-8.56979886e-01 5.11254086e-04 5.15349603e-01 -8.16029676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.91, Y:-213.56, Z:-816.06 [[ 3.97433063e-01 6.37914536e-01 6.59630203e-01 3.90914963e+02] [-3.28007300e-01 7.70106403e-01 -5.47126438e-01 -2.13561107e+02] [-8.57005351e-01 1.08261426e-03 5.15306372e-01 -8.16058282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.93, Y:-213.57, Z:-816.09 [[ 3.97647953e-01 6.38083516e-01 6.59337192e-01 3.90928596e+02] [-3.27718976e-01 7.69965426e-01 -5.47497503e-01 -2.13569215e+02] [-8.57015973e-01 1.63395168e-03 5.15287252e-01 -8.16086007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.94, Y:-213.58, Z:-816.11 [[ 3.97328676e-01 6.38626326e-01 6.59004051e-01 3.90941943e+02] [-3.28281449e-01 7.69515879e-01 -5.47792481e-01 -2.13578623e+02] [-8.56948781e-01 1.31485638e-03 5.15399901e-01 -8.16114324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.96, Y:-213.59, Z:-816.14 [[ 3.97148294e-01 6.39197834e-01 6.58558548e-01 3.90955207e+02] [-3.28987773e-01 7.69041704e-01 -5.48034582e-01 -2.13587693e+02] [-8.56761506e-01 9.93289486e-04 5.15711873e-01 -8.16141421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.97, Y:-213.60, Z:-816.17 [[ 3.96481763e-01 6.39813432e-01 6.58362350e-01 3.90969061e+02] [-3.29823906e-01 7.68530234e-01 -5.48249460e-01 -2.13597075e+02] [-8.56748740e-01 2.27270907e-04 5.15733988e-01 -8.16170170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.98, Y:-213.60, Z:-816.20 [[ 3.94995237e-01 6.41015348e-01 6.58086686e-01 3.90983157e+02] [-3.31517320e-01 7.67526673e-01 -5.48633824e-01 -2.13604949e+02] [-8.56781786e-01 -1.45938724e-03 5.15677071e-01 -8.16197766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5765599949999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:392.07, Y:-213.59, Z:-815.72 [[ 4.30723297e-01 -5.87429457e-01 -6.85130699e-01 3.92072918e+02] [-2.56566491e-01 -8.07539994e-01 5.31086428e-01 -2.13588477e+02] [-8.65246252e-01 -5.29697177e-02 -4.98541003e-01 -8.15720663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.07, Y:-213.41, Z:-815.78 [[ 4.57604116e-01 -3.25232898e-01 -8.27539748e-01 3.92068675e+02] [-1.85065106e-01 -9.45158053e-01 2.69122950e-01 -2.13407879e+02] [-8.69683494e-01 2.99969617e-02 -4.92697476e-01 -8.15782382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.06, Y:-213.75, Z:-816.29 [[ 4.68191335e-01 3.92676512e-01 7.91581980e-01 3.91058588e+02] [-1.93137491e-01 9.19648285e-01 -3.41972137e-01 -2.13746431e+02] [-8.62261436e-01 7.22423394e-03 5.06411915e-01 -8.16287068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.07, Y:-213.76, Z:-816.31 [[ 4.67104649e-01 3.75741934e-01 8.00394432e-01 3.91074238e+02] [-1.92698071e-01 9.26717528e-01 -3.22586542e-01 -2.13762698e+02] [-8.62948840e-01 -3.55279011e-03 5.05278811e-01 -8.16310688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.09, Y:-213.77, Z:-816.34 [[ 4.66679957e-01 3.69383856e-01 8.03595287e-01 3.91091166e+02] [-1.92822340e-01 9.29243561e-01 -3.15160196e-01 -2.13771239e+02] [-8.63150834e-01 -7.87217697e-03 5.04884805e-01 -8.16336536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.11, Y:-213.78, Z:-816.37 [[ 4.66858869e-01 3.71080627e-01 8.02709141e-01 3.91106715e+02] [-1.93186295e-01 9.28573345e-01 -3.16907870e-01 -2.13776774e+02] [-8.62972683e-01 -7.12115487e-03 5.05200393e-01 -8.16365805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.13, Y:-213.80, Z:-816.39 [[ 4.69345522e-01 3.56919099e-01 8.07665487e-01 3.91129413e+02] [-1.97295228e-01 9.33932749e-01 -2.98067464e-01 -2.13797837e+02] [-8.60691219e-01 -1.94519172e-02 5.08755588e-01 -8.16387668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.14, Y:-213.78, Z:-816.42 [[ 4.68671069e-01 3.83233979e-01 7.95914032e-01 3.91142197e+02] [-1.97435912e-01 9.23645774e-01 -3.28477618e-01 -2.13784919e+02] [-8.61026417e-01 -3.19405584e-03 5.08550202e-01 -8.16421851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8165599949999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:391.16, Y:-213.78, Z:-816.45 [[ 4.67722696e-01 3.89776415e-01 7.93290506e-01 3.91155033e+02] [-1.96477830e-01 9.20908151e-01 -3.36637253e-01 -2.13783837e+02] [-8.61760954e-01 1.58888618e-03 5.07312067e-01 -8.16453021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.17, Y:-213.80, Z:-816.48 [[ 4.68751460e-01 3.76889302e-01 7.98890808e-01 3.91173829e+02] [-1.97278645e-01 9.26231583e-01 -3.21210508e-01 -2.13798150e+02] [-8.61018702e-01 -7.03620180e-03 5.08524617e-01 -8.16475939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.876559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:391.19, Y:-213.79, Z:-816.51 [[ 4.68127277e-01 3.88526119e-01 7.93665110e-01 3.91185337e+02] [-1.97168542e-01 9.21437681e-01 -3.34779280e-01 -2.13794034e+02] [-8.61383433e-01 2.33520448e-04 5.07955241e-01 -8.16506883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:391.20, Y:-213.81, Z:-816.53 [[ 4.69026148e-01 3.75681184e-01 7.99298518e-01 3.91203357e+02] [-1.96502121e-01 9.26723645e-01 -3.20265830e-01 -2.13808606e+02] [-8.61046682e-01 -6.85080563e-03 5.08479771e-01 -8.16530771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.22, Y:-213.81, Z:-816.56 [[ 4.70084265e-01 3.83700044e-01 7.94855371e-01 3.91218136e+02] [-1.96337721e-01 9.23457139e-01 -3.29664089e-01 -2.13807518e+02] [-8.60506992e-01 -1.09019058e-03 5.09437463e-01 -8.16561330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.23, Y:-213.81, Z:-816.59 [[ 4.70749987e-01 3.84051277e-01 7.94291550e-01 3.91233579e+02] [-1.96572370e-01 9.23311402e-01 -3.29932355e-01 -2.13812726e+02] [-8.60089387e-01 -8.20120779e-04 5.10142700e-01 -8.16590331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.25, Y:-213.82, Z:-816.62 [[ 4.70989324e-01 3.84513632e-01 7.93925893e-01 3.91248249e+02] [-1.96857851e-01 9.23119030e-01 -3.30300231e-01 -2.13817586e+02] [-8.59893042e-01 -7.22662648e-04 5.10473735e-01 -8.16618175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:391.26, Y:-213.82, Z:-816.65 [[ 4.71866202e-01 3.85073432e-01 7.93133494e-01 3.91263892e+02] [-1.97693826e-01 9.22885529e-01 -3.30453404e-01 -2.13821599e+02] [-8.59220251e-01 -8.67802155e-04 5.11605129e-01 -8.16646596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.28, Y:-213.83, Z:-816.68 [[ 4.71790623e-01 3.85730529e-01 7.92859110e-01 3.91279526e+02] [-1.98310118e-01 9.22610785e-01 -3.30851079e-01 -2.13827049e+02] [-8.59119727e-01 -1.13954688e-03 5.11773383e-01 -8.16675034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:391.30, Y:-213.83, Z:-816.70 [[ 4.71456727e-01 3.86548571e-01 7.92659294e-01 3.91295068e+02] [-1.99194009e-01 9.22267465e-01 -3.31277028e-01 -2.13832604e+02] [-8.59098540e-01 -1.71019923e-03 5.11807361e-01 -8.16703394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.31, Y:-213.84, Z:-816.73 [[ 4.69998348e-01 3.87652691e-01 7.92986093e-01 3.91310588e+02] [-2.00276273e-01 9.21801212e-01 -3.31921587e-01 -2.13837294e+02] [-8.59645839e-01 -2.81370214e-03 5.10882683e-01 -8.16730676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.33, Y:-213.84, Z:-816.76 [[ 4.69055907e-01 3.88516648e-01 7.93121283e-01 3.91325950e+02] [-2.01082933e-01 9.21434884e-01 -3.32450610e-01 -2.13842737e+02] [-8.59972215e-01 -3.54523156e-03 5.10328543e-01 -8.16758869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.34, Y:-213.85, Z:-816.79 [[ 4.66846319e-01 3.89873067e-01 7.93759098e-01 3.91341625e+02] [-2.02424016e-01 9.20854472e-01 -3.33243992e-01 -2.13847221e+02] [-8.60859473e-01 -5.10217374e-03 5.08817192e-01 -8.16786228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.36, Y:-213.85, Z:-816.81 [[ 4.65364511e-01 3.90961469e-01 7.94093825e-01 3.91356647e+02] [-2.03513840e-01 9.20385921e-01 -3.33874039e-01 -2.13852603e+02] [-8.61404661e-01 -6.23595438e-03 5.07881013e-01 -8.16813790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.37, Y:-213.86, Z:-816.84 [[ 4.64134296e-01 3.92201239e-01 7.94202458e-01 3.91372572e+02] [-2.05075774e-01 9.19847512e-01 -3.34401677e-01 -2.13858522e+02] [-8.61697907e-01 -7.66439652e-03 5.07363750e-01 -8.16842036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.39, Y:-213.86, Z:-816.87 [[ 4.63056690e-01 3.93566895e-01 7.94155905e-01 3.91387723e+02] [-2.06918171e-01 9.19249516e-01 -3.34910731e-01 -2.13863742e+02] [-8.61837208e-01 -9.24263259e-03 5.07100780e-01 -8.16869582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2965599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:391.40, Y:-213.87, Z:-816.90 [[ 4.60668400e-01 3.96175784e-01 7.94247678e-01 3.91403247e+02] [-2.11208282e-01 9.18079445e-01 -3.35441790e-01 -2.13868560e+02] [-8.62076381e-01 -1.32242549e-02 5.06605795e-01 -8.16897751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:391.42, Y:-213.87, Z:-816.93 [[ 4.59379343e-01 3.97999902e-01 7.94082299e-01 3.91418813e+02] [-2.14066330e-01 9.17251394e-01 -3.35895052e-01 -2.13873958e+02] [-8.62059294e-01 -1.56830349e-02 5.06564722e-01 -8.16926152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.43, Y:-213.88, Z:-816.95 [[ 4.58225904e-01 3.99854266e-01 7.93817099e-01 3.91434099e+02] [-2.17060156e-01 9.16397951e-01 -3.36302965e-01 -2.13878993e+02] [-8.61924539e-01 -1.82033331e-02 5.06709708e-01 -8.16953829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.45, Y:-213.88, Z:-816.98 [[ 4.55544944e-01 4.03263581e-01 7.93635488e-01 3.91449357e+02] [-2.23185304e-01 9.14775838e-01 -3.36709796e-01 -2.13882548e+02] [-8.61781367e-01 -2.37413327e-02 5.06724013e-01 -8.16982894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.46, Y:-213.89, Z:-817.01 [[ 4.54475721e-01 4.05161921e-01 7.93281562e-01 3.91464966e+02] [-2.26339735e-01 9.13864921e-01 -3.37077484e-01 -2.13888003e+02] [-8.61523153e-01 -2.63576062e-02 5.07033661e-01 -8.17011929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.48, Y:-213.90, Z:-817.04 [[ 4.55630554e-01 4.00160066e-01 7.95155783e-01 3.91483172e+02] [-2.32647704e-01 9.15747526e-01 -3.27538570e-01 -2.13900334e+02] [-8.59229797e-01 -3.57545871e-02 5.10338873e-01 -8.17038079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.50, Y:-213.90, Z:-817.07 [[ 4.55891528e-01 4.09482877e-01 7.90244702e-01 3.91498778e+02] [-2.35602140e-01 9.11729092e-01 -3.36514034e-01 -2.13902376e+02] [-8.58285819e-01 -3.27694454e-02 5.12124611e-01 -8.17065649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:391.51, Y:-213.89, Z:-817.10 [[ 4.51348609e-01 4.31992675e-01 7.80811605e-01 3.91507091e+02] [-2.34032340e-01 9.01684637e-01 -3.63584487e-01 -2.13888308e+02] [-8.61111664e-01 -1.86318146e-02 5.08074363e-01 -8.17098155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.52, Y:-213.91, Z:-817.12 [[ 4.51883220e-01 4.10596011e-01 7.91967469e-01 3.91523185e+02] [-2.35511705e-01 9.11191878e-01 -3.38028990e-01 -2.13910272e+02] [-8.60427680e-01 -3.37679805e-02 5.08452487e-01 -8.17122513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.54, Y:-213.92, Z:-817.15 [[ 4.51877560e-01 4.11199497e-01 7.91657530e-01 3.91537851e+02] [-2.36035799e-01 9.10913383e-01 -3.38413815e-01 -2.13916582e+02] [-8.60287029e-01 -3.39379084e-02 5.08679119e-01 -8.17150608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5965599949999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:391.56, Y:-213.94, Z:-817.17 [[ 4.56192457e-01 3.96074496e-01 7.96877303e-01 3.91559975e+02] [-2.38640514e-01 9.17137692e-01 -3.19232140e-01 -2.13938874e+02] [-8.57285919e-01 -4.45359150e-02 5.12910718e-01 -8.17173275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.57, Y:-213.92, Z:-817.21 [[ 4.51412810e-01 4.33030514e-01 7.80199365e-01 3.91565566e+02] [-2.34947718e-01 9.01181451e-01 -3.64241078e-01 -2.13915640e+02] [-8.60828697e-01 -1.88829718e-02 5.08544382e-01 -8.17209351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.58, Y:-213.94, Z:-817.23 [[ 4.52357240e-01 4.11054670e-01 7.91458771e-01 3.91581909e+02] [-2.34437746e-01 9.11044601e-01 -3.39170574e-01 -2.13938289e+02] [-8.60471888e-01 -3.21215451e-02 5.08484352e-01 -8.17234049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.60, Y:-213.95, Z:-817.26 [[ 4.52302141e-01 4.11097402e-01 7.91468066e-01 3.91596146e+02] [-2.33648531e-01 9.11054477e-01 -3.39688244e-01 -2.13945363e+02] [-8.60715480e-01 -3.12836313e-02 5.08124195e-01 -8.17261506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.62, Y:-213.97, Z:-817.28 [[ 4.56772651e-01 3.94345619e-01 7.97402206e-01 3.91618041e+02] [-2.35963742e-01 9.17977289e-01 -3.18808422e-01 -2.13969540e+02] [-8.57717820e-01 -4.25350401e-02 5.12358188e-01 -8.17283637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.62, Y:-213.95, Z:-817.32 [[ 4.52203870e-01 4.33285186e-01 7.79599646e-01 3.91623040e+02] [-2.31341122e-01 9.01139338e-01 -3.66645850e-01 -2.13946028e+02] [-8.61390124e-01 -1.45547846e-02 5.07735377e-01 -8.17321405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.64, Y:-213.97, Z:-817.34 [[ 4.53406322e-01 4.10458273e-01 7.91167942e-01 3.91638659e+02] [-2.31048616e-01 9.11435796e-01 -3.40442838e-01 -2.13969208e+02] [-8.60836363e-01 -2.84393229e-02 5.08086568e-01 -8.17344262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.65, Y:-213.98, Z:-817.37 [[ 4.53672065e-01 4.10464339e-01 7.91012443e-01 3.91652663e+02] [-2.30338853e-01 9.11459993e-01 -3.40858760e-01 -2.13977878e+02] [-8.60886561e-01 -2.75628017e-02 5.08049822e-01 -8.17372784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8365599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:391.67, Y:-213.99, Z:-817.40 [[ 4.53611210e-01 4.10916334e-01 7.90812643e-01 3.91666741e+02] [-2.30490417e-01 9.11259391e-01 -3.41292383e-01 -2.13985423e+02] [-8.60878062e-01 -2.74606852e-02 5.08069752e-01 -8.17400840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.68, Y:-213.99, Z:-817.43 [[ 4.53702482e-01 4.11275138e-01 7.90573728e-01 3.91681527e+02] [-2.30540627e-01 9.11104089e-01 -3.41672883e-01 -2.13993304e+02] [-8.60816518e-01 -2.72415276e-02 5.08185815e-01 -8.17429609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.896559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:391.70, Y:-214.00, Z:-817.46 [[ 4.53809911e-01 4.11550862e-01 7.90368555e-01 3.91695490e+02] [-2.30347962e-01 9.10992343e-01 -3.42100523e-01 -2.14002946e+02] [-8.60811467e-01 -2.68111777e-02 5.08217256e-01 -8.17457985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.71, Y:-214.01, Z:-817.49 [[ 4.53828281e-01 4.11818524e-01 7.90218574e-01 3.91709235e+02] [-2.30090903e-01 9.10884584e-01 -3.42560142e-01 -2.14010639e+02] [-8.60870529e-01 -2.63586250e-02 5.08140881e-01 -8.17485252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.72, Y:-214.02, Z:-817.51 [[ 4.53774361e-01 4.11194624e-01 7.90574355e-01 3.91723732e+02] [-2.30338851e-01 9.11146229e-01 -3.41696596e-01 -2.14018953e+02] [-8.60832646e-01 -2.70468337e-02 5.08168894e-01 -8.17512727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.74, Y:-214.03, Z:-817.54 [[ 4.54360335e-01 4.11407021e-01 7.90127173e-01 3.91737502e+02] [-2.30074922e-01 9.11070404e-01 -3.42076379e-01 -2.14026581e+02] [-8.60594107e-01 -2.63625100e-02 5.08608692e-01 -8.17540471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.75, Y:-214.04, Z:-817.57 [[ 4.54618697e-01 4.12391108e-01 7.89465271e-01 3.91751415e+02] [-2.29581178e-01 9.10661404e-01 -3.43494235e-01 -2.14035000e+02] [-8.60589521e-01 -2.50874651e-02 5.08680937e-01 -8.17569740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.77, Y:-214.04, Z:-817.60 [[ 4.54675944e-01 4.12627330e-01 7.89308857e-01 3.91765685e+02] [-2.29260420e-01 9.10568518e-01 -3.43954406e-01 -2.14042788e+02] [-8.60644785e-01 -2.45694863e-02 5.08612716e-01 -8.17597674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.78, Y:-214.05, Z:-817.63 [[ 4.54545729e-01 4.12247527e-01 7.89582267e-01 3.91779763e+02] [-2.27491427e-01 9.10781449e-01 -3.44564657e-01 -2.14052580e+02] [-8.61182809e-01 -2.30028037e-02 5.07774596e-01 -8.17625490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.79, Y:-214.06, Z:-817.65 [[ 4.54608130e-01 4.12187183e-01 7.89577846e-01 3.91794441e+02] [-2.26502745e-01 9.10834324e-01 -3.45075848e-01 -2.14060856e+02] [-8.61410445e-01 -2.19672636e-02 5.07434217e-01 -8.17653795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.81, Y:-214.07, Z:-817.68 [[ 4.54342889e-01 4.12106600e-01 7.89772556e-01 3.91809203e+02] [-2.25313808e-01 9.10896249e-01 -3.45690196e-01 -2.14068776e+02] [-8.61862070e-01 -2.08847801e-02 5.06712541e-01 -8.17682439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.82, Y:-214.08, Z:-817.71 [[ 4.54538520e-01 4.11356002e-01 7.90051248e-01 3.91823502e+02] [-2.22725262e-01 9.11286188e-01 -3.46339346e-01 -2.14077839e+02] [-8.62431558e-01 -1.85397971e-02 5.05834048e-01 -8.17711332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.84, Y:-214.09, Z:-817.74 [[ 4.54965414e-01 4.11235860e-01 7.89868052e-01 3.91837836e+02] [-2.21712061e-01 9.11363872e-01 -3.46784738e-01 -2.14085543e+02] [-8.62467526e-01 -1.73482112e-02 5.05814992e-01 -8.17739950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.85, Y:-214.08, Z:-817.77 [[ 4.53558317e-01 4.19396036e-01 7.86378928e-01 3.91847782e+02] [-2.18353877e-01 9.07756259e-01 -3.58190116e-01 -2.14083257e+02] [-8.64063908e-01 -9.24878180e-03 5.03297151e-01 -8.17771476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.256559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:391.87, Y:-214.11, Z:-817.79 [[ 4.57361368e-01 3.95508126e-01 7.96488482e-01 3.91866675e+02] [-2.19605619e-01 9.18147083e-01 -3.29817080e-01 -2.14112083e+02] [-8.61738911e-01 -2.40677546e-02 5.06780813e-01 -8.17792829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:391.88, Y:-214.11, Z:-817.82 [[ 4.57604893e-01 4.10663197e-01 7.88640286e-01 3.91879165e+02] [-2.19343193e-01 9.11679878e-01 -3.47459874e-01 -2.14109026e+02] [-8.61676462e-01 -1.39835400e-02 5.07265350e-01 -8.17824798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.89, Y:-214.12, Z:-817.85 [[ 4.58748171e-01 4.10766079e-01 7.87922169e-01 3.91892261e+02] [-2.19158678e-01 9.11645376e-01 -3.47666769e-01 -2.14117792e+02] [-8.61115317e-01 -1.31884867e-02 5.08238600e-01 -8.17852373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.91, Y:-214.13, Z:-817.88 [[ 4.59146182e-01 4.10992493e-01 7.87572190e-01 3.91906683e+02] [-2.19027698e-01 9.11550017e-01 -3.47999188e-01 -2.14125079e+02] [-8.60936497e-01 -1.27176250e-02 5.08553449e-01 -8.17881381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.92, Y:-214.13, Z:-817.91 [[ 4.59092267e-01 4.11431318e-01 7.87374473e-01 3.91921064e+02] [-2.19151500e-01 9.11353800e-01 -3.48434888e-01 -2.14132721e+02] [-8.60933744e-01 -1.25905340e-02 5.08561273e-01 -8.17910579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.93, Y:-214.14, Z:-817.94 [[ 4.59404503e-01 4.11533761e-01 7.87138784e-01 3.91934954e+02] [-2.18637584e-01 9.11317684e-01 -3.48851954e-01 -2.14142120e+02] [-8.60897851e-01 -1.18339635e-02 5.08640195e-01 -8.17939366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.95, Y:-214.15, Z:-817.97 [[ 4.59117348e-01 4.11858211e-01 7.87136630e-01 3.91948993e+02] [-2.18402433e-01 9.11175245e-01 -3.49370935e-01 -2.14149968e+02] [-8.61110700e-01 -1.15102976e-02 5.08287198e-01 -8.17967798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.96, Y:-214.16, Z:-818.00 [[ 4.58911381e-01 4.12211510e-01 7.87071798e-01 3.91963143e+02] [-2.18263987e-01 9.11018936e-01 -3.49864732e-01 -2.14157670e+02] [-8.61255581e-01 -1.12325208e-02 5.08047886e-01 -8.17995403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:391.98, Y:-214.17, Z:-818.02 [[ 4.57795359e-01 4.12772873e-01 7.87427435e-01 3.91977026e+02] [-2.18300411e-01 9.10762219e-01 -3.50509788e-01 -2.14167366e+02] [-8.61840090e-01 -1.14339782e-02 5.07051205e-01 -8.18024063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.99, Y:-214.17, Z:-818.05 [[ 4.56977601e-01 4.13331727e-01 7.87609266e-01 3.91991245e+02] [-2.18371878e-01 9.10507459e-01 -3.51126601e-01 -2.14174796e+02] [-8.62255876e-01 -1.15347230e-02 5.06341540e-01 -8.18052162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5565599949999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:392.00, Y:-214.18, Z:-818.08 [[ 4.55331303e-01 4.14391162e-01 7.88005945e-01 3.92004983e+02] [-2.19352662e-01 9.10010754e-01 -3.51802271e-01 -2.14183560e+02] [-8.62877636e-01 -1.26646149e-02 5.05254187e-01 -8.18081188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.02, Y:-214.19, Z:-818.11 [[ 4.54357217e-01 4.15441888e-01 7.88014947e-01 3.92019314e+02] [-2.20556337e-01 9.09516261e-01 -3.52328075e-01 -2.14190951e+02] [-8.63084249e-01 -1.37188867e-02 5.04873619e-01 -8.18109484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.03, Y:-214.20, Z:-818.14 [[ 4.53548903e-01 4.16660097e-01 7.87837392e-01 3.92033903e+02] [-2.22217810e-01 9.08937440e-01 -3.52777516e-01 -2.14198368e+02] [-8.63083216e-01 -1.50696448e-02 5.04836873e-01 -8.18138313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.05, Y:-214.21, Z:-818.17 [[ 4.53490829e-01 4.17094245e-01 7.87641072e-01 3.92049179e+02] [-2.22327287e-01 9.08740537e-01 -3.53215535e-01 -2.14205059e+02] [-8.63085538e-01 -1.49340964e-02 5.04836931e-01 -8.18167325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6765599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:392.06, Y:-214.21, Z:-818.20 [[ 4.52299686e-01 4.18980012e-01 7.87325056e-01 3.92062642e+02] [-2.25937587e-01 9.07815293e-01 -3.53303836e-01 -2.14212156e+02] [-8.62772972e-01 -1.80871094e-02 5.05267904e-01 -8.18196186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.08, Y:-214.22, Z:-818.22 [[ 4.52008059e-01 4.20417847e-01 7.86725841e-01 3.92076989e+02] [-2.28345050e-01 9.07113800e-01 -3.53557763e-01 -2.14219070e+02] [-8.62291861e-01 -1.98339933e-02 5.06023082e-01 -8.18224751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.08, Y:-214.20, Z:-818.26 [[ 4.46119522e-01 4.44058330e-01 7.77038977e-01 3.92080412e+02] [-2.26720438e-01 8.95979016e-01 -3.81863125e-01 -2.14201380e+02] [-8.65780119e-01 -5.81402229e-03 5.00390830e-01 -8.18262226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.10, Y:-214.24, Z:-818.28 [[ 4.48065933e-01 4.07842242e-01 7.95551146e-01 3.92100954e+02] [-2.30621976e-01 9.12489042e-01 -3.37901248e-01 -2.14238433e+02] [-8.63742105e-01 -3.20695391e-02 5.02912637e-01 -8.18282679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7965599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:392.11, Y:-214.24, Z:-818.31 [[ 4.48458846e-01 4.19878291e-01 7.89041751e-01 3.92113308e+02] [-2.30291109e-01 9.07265787e-01 -3.51901686e-01 -2.14235116e+02] [-8.63626463e-01 -2.38958758e-02 5.03565605e-01 -8.18313713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.13, Y:-214.24, Z:-818.34 [[ 4.49196597e-01 4.16693407e-01 7.90309447e-01 3.92125835e+02] [-2.28389582e-01 9.08741133e-01 -3.49324707e-01 -2.14242893e+02] [-8.63748005e-01 -2.35829745e-02 5.03371858e-01 -8.18342524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.15, Y:-214.26, Z:-818.37 [[ 4.51631009e-01 4.04951469e-01 7.95011786e-01 3.92145012e+02] [-2.29720592e-01 9.13800470e-01 -3.34958430e-01 -2.14262723e+02] [-8.62124052e-01 -3.13529638e-02 5.05726320e-01 -8.18367395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:-214.28, Z:-818.39 [[ 4.56172638e-01 3.99096037e-01 7.95379707e-01 3.92166168e+02] [-2.32222146e-01 9.16212073e-01 -3.26539911e-01 -2.14279664e+02] [-8.59057274e-01 -3.57462097e-02 5.10629816e-01 -8.18389139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.18, Y:-214.27, Z:-818.42 [[ 4.56783843e-01 4.22407503e-01 7.82892344e-01 3.92176585e+02] [-2.28873063e-01 9.06249781e-01 -3.55427144e-01 -2.14270685e+02] [-8.59631108e-01 -1.68295923e-02 5.10637957e-01 -8.18422257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:392.19, Y:-214.28, Z:-818.45 [[ 4.57479931e-01 4.21911821e-01 7.82753172e-01 3.92190928e+02] [-2.27184768e-01 9.06512123e-01 -3.55841048e-01 -2.14278744e+02] [-8.59708784e-01 -1.50394597e-02 5.10563043e-01 -8.18451379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9765599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:392.20, Y:-214.28, Z:-818.48 [[ 4.56333047e-01 4.31944707e-01 7.77935679e-01 3.92200268e+02] [-2.22905917e-01 9.01888576e-01 -3.70013445e-01 -2.14275104e+02] [-8.61436651e-01 -4.55710312e-03 5.07844592e-01 -8.18484838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.22, Y:-214.30, Z:-818.50 [[ 4.60072626e-01 4.06441383e-01 7.89391273e-01 3.92221611e+02] [-2.23946109e-01 9.13447962e-01 -3.39795471e-01 -2.14304236e+02] [-8.59174790e-01 -2.04505092e-02 5.11273368e-01 -8.18503299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.23, Y:-214.30, Z:-818.53 [[ 4.60088705e-01 4.20812392e-01 7.81815397e-01 3.92234364e+02] [-2.23736093e-01 9.07082613e-01 -3.56571585e-01 -2.14299857e+02] [-8.59220894e-01 -1.08657633e-02 5.11489385e-01 -8.18534416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.25, Y:-214.31, Z:-818.56 [[ 4.61818770e-01 4.20626601e-01 7.80894799e-01 3.92249558e+02] [-2.23216773e-01 9.07183006e-01 -3.56641649e-01 -2.14306385e+02] [-8.58427455e-01 -9.60500987e-03 5.12845052e-01 -8.18562724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.26, Y:-214.31, Z:-818.59 [[ 4.62366901e-01 4.20692554e-01 7.80534832e-01 3.92264367e+02] [-2.22772066e-01 9.07160328e-01 -3.56977234e-01 -2.14312935e+02] [-8.58247899e-01 -8.82689948e-03 5.13159459e-01 -8.18591301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:392.28, Y:-214.32, Z:-818.62 [[ 4.62786066e-01 4.20713052e-01 7.80275326e-01 3.92279055e+02] [-2.22128674e-01 9.07159101e-01 -3.57381054e-01 -2.14319365e+02] [-8.58188738e-01 -7.93055115e-03 5.13273024e-01 -8.18618971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.29, Y:-214.33, Z:-818.65 [[ 4.63185295e-01 4.20391991e-01 7.80211482e-01 3.92293717e+02] [-2.20735917e-01 9.07319478e-01 -3.57836584e-01 -2.14326659e+02] [-8.58332708e-01 -6.47605294e-03 5.13052651e-01 -8.18646981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.31, Y:-214.33, Z:-818.67 [[ 4.63112088e-01 4.20513862e-01 7.80189263e-01 3.92308582e+02] [-2.20117439e-01 9.07267717e-01 -3.58348439e-01 -2.14333583e+02] [-8.58531017e-01 -5.77776872e-03 5.12729081e-01 -8.18674803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.32, Y:-214.34, Z:-818.70 [[ 4.63351120e-01 4.20066732e-01 7.80288204e-01 3.92324461e+02] [-2.18626560e-01 9.07482648e-01 -3.58716699e-01 -2.14339906e+02] [-8.58782957e-01 -4.37994173e-03 5.12320846e-01 -8.18703254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.34, Y:-214.35, Z:-818.73 [[ 4.63267149e-01 4.20526250e-01 7.80090522e-01 3.92339723e+02] [-2.18803094e-01 9.07270156e-01 -3.59146308e-01 -2.14346767e+02] [-8.58783299e-01 -4.30553393e-03 5.12320903e-01 -8.18732207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.35, Y:-214.35, Z:-818.76 [[ 4.62536473e-01 4.20365265e-01 7.80610694e-01 3.92354831e+02] [-2.17490107e-01 9.07348676e-01 -3.59744957e-01 -2.14352723e+02] [-8.59510364e-01 -3.37993969e-03 5.11107142e-01 -8.18760139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:392.37, Y:-214.36, Z:-818.79 [[ 4.62557080e-01 4.20486605e-01 7.80533127e-01 3.92370228e+02] [-2.17245526e-01 9.07293679e-01 -3.60031334e-01 -2.14359209e+02] [-8.59561126e-01 -3.03228721e-03 5.11023949e-01 -8.18788877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.39, Y:-214.37, Z:-818.82 [[ 4.62586947e-01 4.20924261e-01 7.80279491e-01 3.92385738e+02] [-2.17427237e-01 9.07091078e-01 -3.60431926e-01 -2.14365483e+02] [-8.59499106e-01 -2.92291015e-03 5.11128891e-01 -8.18817563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:392.40, Y:-214.37, Z:-818.84 [[ 4.62717589e-01 4.21458828e-01 7.79913385e-01 3.92400112e+02] [-2.17865970e-01 9.06842668e-01 -3.60791900e-01 -2.14371694e+02] [-8.59317666e-01 -2.97182857e-03 5.11433590e-01 -8.18844967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.42, Y:-214.38, Z:-818.87 [[ 4.62811693e-01 4.22152294e-01 7.79482378e-01 3.92415195e+02] [-2.18726763e-01 9.06518628e-01 -3.61085282e-01 -2.14378381e+02] [-8.59048276e-01 -3.37916665e-03 5.11883425e-01 -8.18873235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.43, Y:-214.38, Z:-818.90 [[ 4.63268010e-01 4.23011916e-01 7.78744933e-01 3.92429892e+02] [-2.20092258e-01 9.06115150e-01 -3.61268229e-01 -2.14384373e+02] [-8.58453347e-01 -4.03171679e-03 5.12875810e-01 -8.18901521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:392.44, Y:-214.37, Z:-818.94 [[ 4.59341398e-01 4.44393114e-01 7.69103531e-01 3.92436481e+02] [-2.16932710e-01 8.95759504e-01 -3.88014317e-01 -2.14369645e+02] [-8.61362688e-01 1.13873255e-02 5.07862825e-01 -8.18939632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.45, Y:-214.40, Z:-818.96 [[ 4.59611169e-01 4.19280197e-01 7.82918699e-01 3.92454233e+02] [-2.17790292e-01 9.07838215e-01 -3.58325501e-01 -2.14395725e+02] [-8.61002301e-01 -5.82169015e-03 5.08567740e-01 -8.18962173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.516559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:392.48, Y:-214.42, Z:-818.98 [[ 4.63148936e-01 3.97946148e-01 7.91916616e-01 3.92477483e+02] [-2.22369690e-01 9.17123344e-01 -3.30811870e-01 -2.14423698e+02] [-8.57930524e-01 -2.28830873e-02 5.13255862e-01 -8.18979958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.49, Y:-214.41, Z:-819.01 [[ 4.62802095e-01 4.25864803e-01 7.77466006e-01 3.92488967e+02] [-2.23285861e-01 9.04768552e-01 -3.62680703e-01 -2.14410492e+02] [-8.57879739e-01 -5.74777743e-03 5.13818370e-01 -8.19013618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.49, Y:-214.39, Z:-819.05 [[ 4.57274601e-01 4.48851534e-01 7.67744905e-01 3.92494434e+02] [-2.19156453e-01 8.93539457e-01 -3.91864373e-01 -2.14394451e+02] [-8.61899291e-01 1.09333746e-02 5.06961609e-01 -8.19051561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.51, Y:-214.42, Z:-819.07 [[ 4.57670363e-01 4.22341518e-01 7.82410047e-01 3.92512331e+02] [-2.19138802e-01 9.06415618e-01 -3.61094051e-01 -2.14421360e+02] [-8.61693696e-01 -6.19435496e-03 5.07390979e-01 -8.19072339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.54, Y:-214.47, Z:-819.08 [[ 4.62885089e-01 3.83641052e-01 7.99097577e-01 3.92543083e+02] [-2.26701413e-01 9.22745485e-01 -3.11684520e-01 -2.14469072e+02] [-8.56938658e-01 -3.68824324e-02 5.14097095e-01 -8.19084792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.54, Y:-214.41, Z:-819.14 [[ 4.54896812e-01 4.60703244e-01 7.62116403e-01 3.92538329e+02] [-2.18202913e-01 8.87362023e-01 -4.06172537e-01 -2.14406388e+02] [-8.63398158e-01 1.84705728e-02 5.04184945e-01 -8.19137482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6965599949999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:392.57, Y:-214.49, Z:-819.14 [[ 4.61098741e-01 3.77022157e-01 8.03269721e-01 3.92574751e+02] [-2.26855997e-01 9.25250206e-01 -3.04053306e-01 -2.14489691e+02] [-8.57860308e-01 -4.20279570e-02 5.12161442e-01 -8.19138956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.57, Y:-214.43, Z:-819.19 [[ 4.55436904e-01 4.55134383e-01 7.65133923e-01 3.92570444e+02] [-2.20779471e-01 8.90336051e-01 -3.98193599e-01 -2.14428823e+02] [-8.62457913e-01 1.24261966e-02 5.05976223e-01 -8.19190968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:-214.49, Z:-819.20 [[ 4.61024351e-01 3.92299433e-01 7.95963380e-01 3.92601493e+02] [-2.27909188e-01 9.19231104e-01 -3.21047628e-01 -2.14493461e+02] [-8.57621099e-01 -3.33965935e-02 5.13196568e-01 -8.19197257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:-214.44, Z:-819.25 [[ 4.54660778e-01 4.58953737e-01 7.63311892e-01 3.92598595e+02] [-2.20724685e-01 8.88340359e-01 -4.02656206e-01 -2.14438988e+02] [-8.62881331e-01 1.45902069e-02 5.05195938e-01 -8.19247539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.63, Y:-214.51, Z:-819.25 [[ 4.61585177e-01 3.87923905e-01 7.97780777e-01 3.92631302e+02] [-2.30338290e-01 9.20883394e-01 -3.14512394e-01 -2.14510823e+02] [-8.56669946e-01 -3.85852009e-02 5.14419853e-01 -8.19252444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.64, Y:-214.48, Z:-819.29 [[ 4.61400426e-01 4.34018176e-01 7.73781539e-01 3.92639869e+02] [-2.31557991e-01 9.00851443e-01 -3.67215978e-01 -2.14483939e+02] [-8.56440625e-01 -9.74168931e-03 5.16153617e-01 -8.19291523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.65, Y:-214.49, Z:-819.32 [[ 4.61924169e-01 4.34692762e-01 7.73090075e-01 3.92654662e+02] [-2.32600850e-01 9.00521880e-01 -3.67365199e-01 -2.14490886e+02] [-8.55875521e-01 -1.01265442e-02 5.17082727e-01 -8.19319771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.67, Y:-214.50, Z:-819.35 [[ 4.62537561e-01 4.35535891e-01 7.72248336e-01 3.92669403e+02] [-2.34045408e-01 9.00106876e-01 -3.67464771e-01 -2.14498061e+02] [-8.55150134e-01 -1.07749178e-02 5.18268415e-01 -8.19348138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.68, Y:-214.51, Z:-819.38 [[ 4.62510781e-01 4.36099097e-01 7.71946472e-01 3.92684436e+02] [-2.34541967e-01 8.99832235e-01 -3.67820629e-01 -2.14505241e+02] [-8.55028563e-01 -1.09328379e-02 5.18465650e-01 -8.19376718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.70, Y:-214.51, Z:-819.40 [[ 4.62056435e-01 4.36773188e-01 7.71837440e-01 3.92699755e+02] [-2.35113244e-01 8.99500576e-01 -3.68266855e-01 -2.14513164e+02] [-8.55117310e-01 -1.13091345e-02 5.18311190e-01 -8.19404954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.71, Y:-214.52, Z:-819.43 [[ 4.61611875e-01 4.37228601e-01 7.71845598e-01 3.92714582e+02] [-2.35157959e-01 8.99279742e-01 -3.68777276e-01 -2.14520374e+02] [-8.55345083e-01 -1.12736663e-02 5.17935993e-01 -8.19432770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.73, Y:-214.53, Z:-819.46 [[ 4.61246615e-01 4.37535890e-01 7.71889827e-01 3.92729954e+02] [-2.34944955e-01 8.99133330e-01 -3.69269715e-01 -2.14527701e+02] [-8.55600624e-01 -1.10272150e-02 5.17519056e-01 -8.19461111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:392.75, Y:-214.54, Z:-819.49 [[ 4.60792649e-01 4.37720464e-01 7.72056300e-01 3.92745175e+02] [-2.34345447e-01 8.99049778e-01 -3.69853631e-01 -2.14535459e+02] [-8.56009548e-01 -1.05020444e-02 5.16853326e-01 -8.19489650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.76, Y:-214.54, Z:-819.52 [[ 4.60249402e-01 4.38083923e-01 7.72174180e-01 3.92760227e+02] [-2.34108030e-01 8.98875261e-01 -3.70427719e-01 -2.14543086e+02] [-8.56366696e-01 -1.02830396e-02 5.16265766e-01 -8.19517506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.77, Y:-214.55, Z:-819.55 [[ 4.59772167e-01 4.38661435e-01 7.72130624e-01 3.92774995e+02] [-2.34409158e-01 8.98591604e-01 -3.70925161e-01 -2.14550487e+02] [-8.56540659e-01 -1.04534242e-02 5.15973667e-01 -8.19545171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:392.79, Y:-214.56, Z:-819.57 [[ 4.59582476e-01 4.39259133e-01 7.71903726e-01 3.92790283e+02] [-2.34951211e-01 8.98296463e-01 -3.71296908e-01 -2.14557698e+02] [-8.56493944e-01 -1.07181625e-02 5.16045778e-01 -8.19573663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.81, Y:-214.56, Z:-819.60 [[ 4.59514193e-01 4.39884859e-01 7.71587984e-01 3.92805440e+02] [-2.35566185e-01 8.97987066e-01 -3.71655488e-01 -2.14564991e+02] [-8.56361652e-01 -1.09790660e-02 5.16259800e-01 -8.19602243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.82, Y:-214.57, Z:-819.63 [[ 4.59644653e-01 4.40883926e-01 7.70939788e-01 3.92820709e+02] [-2.37162078e-01 8.97485009e-01 -3.71853207e-01 -2.14571306e+02] [-8.55851004e-01 -1.19173436e-02 5.17085134e-01 -8.19630060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.236559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:392.83, Y:-214.57, Z:-819.66 [[ 4.57874513e-01 4.50621604e-01 7.66349202e-01 3.92830904e+02] [-2.34964541e-01 8.92706112e-01 -3.84535385e-01 -2.14565452e+02] [-8.57404569e-01 -3.99593626e-03 5.14627475e-01 -8.19662463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:392.85, Y:-214.59, Z:-819.68 [[ 4.59999923e-01 4.26752961e-01 7.78641112e-01 3.92852126e+02] [-2.40162659e-01 9.04040510e-01 -3.53599566e-01 -2.14594348e+02] [-8.54822770e-01 -2.43447467e-02 5.18348691e-01 -8.19681805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.87, Y:-214.59, Z:-819.71 [[ 4.59238736e-01 4.43398660e-01 7.69738535e-01 3.92865226e+02] [-2.41060003e-01 8.96206904e-01 -3.72428866e-01 -2.14588822e+02] [-8.54979449e-01 -1.45194116e-02 5.18458608e-01 -8.19713236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.88, Y:-214.60, Z:-819.74 [[ 4.58860511e-01 4.44140265e-01 7.69536521e-01 3.92880553e+02] [-2.41894427e-01 8.95830247e-01 -3.72793851e-01 -2.14595294e+02] [-8.54946851e-01 -1.50862190e-02 5.18496180e-01 -8.19741107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3565599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:392.89, Y:-214.58, Z:-819.78 [[ 4.55131329e-01 4.60597258e-01 7.62040445e-01 3.92889077e+02] [-2.38344470e-01 8.87606409e-01 -3.94140554e-01 -2.14582620e+02] [-8.57932041e-01 -2.24241168e-03 5.13758294e-01 -8.19775698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.91, Y:-214.63, Z:-819.79 [[ 4.58463236e-01 4.19131845e-01 7.83670823e-01 3.92913049e+02] [-2.41844742e-01 9.07364608e-01 -3.43803126e-01 -2.14626953e+02] [-8.55174007e-01 -3.19055746e-02 5.17358147e-01 -8.19789307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.93, Y:-214.61, Z:-819.82 [[ 4.58170565e-01 4.44829582e-01 7.69549463e-01 3.92925619e+02] [-2.41514156e-01 8.95496639e-01 -3.73840451e-01 -2.14614963e+02] [-8.55424249e-01 -1.45743984e-02 5.17722842e-01 -8.19823850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.94, Y:-214.62, Z:-819.85 [[ 4.58415908e-01 4.44706647e-01 7.69474401e-01 3.92940608e+02] [-2.40500611e-01 8.95574968e-01 -3.74305935e-01 -2.14621837e+02] [-8.55578349e-01 -1.34712684e-02 5.17498033e-01 -8.19852748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.96, Y:-214.63, Z:-819.88 [[ 4.59854596e-01 4.43762337e-01 7.69161062e-01 3.92955142e+02] [-2.38047306e-01 8.96079378e-01 -3.74666822e-01 -2.14628788e+02] [-8.55492391e-01 -1.08044590e-02 5.17702649e-01 -8.19880723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.96, Y:-214.61, Z:-819.92 [[ 4.57583379e-01 4.62816332e-01 7.59222296e-01 3.92961157e+02] [-2.30961801e-01 8.86416185e-01 -4.01152084e-01 -2.14613160e+02] [-8.58646667e-01 8.20917757e-03 5.12502206e-01 -8.19917757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.98, Y:-214.64, Z:-819.94 [[ 4.58087319e-01 4.32878660e-01 7.76383973e-01 3.92978757e+02] [-2.31442383e-01 9.01372006e-01 -3.66009469e-01 -2.14643849e+02] [-8.58248468e-01 -1.20238605e-02 5.13093554e-01 -8.19938413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.00, Y:-214.67, Z:-819.96 [[ 4.62660730e-01 4.13091506e-01 7.84410898e-01 3.93002128e+02] [-2.34895863e-01 9.10302128e-01 -3.40843027e-01 -2.14672732e+02] [-8.54850269e-01 -2.65601912e-02 5.18194533e-01 -8.19956181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.01, Y:-214.66, Z:-819.99 [[ 4.62912044e-01 4.42757289e-01 7.67905218e-01 3.93013455e+02] [-2.34356944e-01 8.96621093e-01 -3.75695940e-01 -2.14657918e+02] [-8.54862131e-01 -6.04974470e-03 5.18819948e-01 -8.19991073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.03, Y:-214.67, Z:-820.02 [[ 4.63130195e-01 4.42627263e-01 7.67848637e-01 3.93028500e+02] [-2.33631264e-01 8.96690243e-01 -3.75982767e-01 -2.14665453e+02] [-8.54942604e-01 -5.26447522e-03 5.18695893e-01 -8.20019847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.04, Y:-214.67, Z:-820.05 [[ 4.63442248e-01 4.42467578e-01 7.67752385e-01 3.93042676e+02] [-2.32544703e-01 8.96775255e-01 -3.76453321e-01 -2.14672755e+02] [-8.55069730e-01 -4.07237697e-03 5.18497032e-01 -8.20047247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.06, Y:-214.68, Z:-820.08 [[ 4.63370888e-01 4.42733094e-01 7.67642383e-01 3.93057797e+02] [-2.32351903e-01 8.96645701e-01 -3.76880724e-01 -2.14680095e+02] [-8.55160811e-01 -3.72761275e-03 5.18349392e-01 -8.20075183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7165599949999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:393.07, Y:-214.69, Z:-820.10 [[ 4.62475694e-01 4.43313751e-01 7.67847089e-01 3.93072465e+02] [-2.32449084e-01 8.96358031e-01 -3.77504576e-01 -2.14687382e+02] [-8.55618873e-01 -3.89866154e-03 5.17591677e-01 -8.20103169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:393.09, Y:-214.69, Z:-820.13 [[ 4.61989816e-01 4.44063500e-01 7.67706336e-01 3.93087330e+02] [-2.33154114e-01 8.95984601e-01 -3.77956021e-01 -2.14694710e+02] [-8.55689529e-01 -4.38205815e-03 5.17470993e-01 -8.20131039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.09, Y:-214.68, Z:-820.17 [[ 4.58452310e-01 4.61282024e-01 7.59631736e-01 3.93094641e+02] [-2.30135227e-01 8.87212847e-01 -3.99863904e-01 -2.14683022e+02] [-8.58405066e-01 8.50050869e-03 5.12902022e-01 -8.20166884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.11, Y:-214.70, Z:-820.19 [[ 4.56485183e-01 4.41837010e-01 7.72270247e-01 3.93108437e+02] [-2.30879516e-01 8.97073137e-01 -3.76768412e-01 -2.14703514e+02] [-8.59253122e-01 -6.31218281e-03 5.11511710e-01 -8.20189616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.13, Y:-214.73, Z:-820.21 [[ 4.59734237e-01 4.19535977e-01 7.82709394e-01 3.93132529e+02] [-2.36481721e-01 9.07384494e-01 -3.47461904e-01 -2.14734955e+02] [-8.55991137e-01 -2.53563310e-02 5.16368308e-01 -8.20206362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.14, Y:-214.70, Z:-820.25 [[ 4.55514605e-01 4.64746910e-01 7.59287004e-01 3.93136522e+02] [-2.35150898e-01 8.85434246e-01 -4.00886831e-01 -2.14703639e+02] [-8.58609632e-01 4.06278579e-03 5.12613883e-01 -8.20249802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.896559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.16, Y:-214.74, Z:-820.26 [[ 4.57966863e-01 4.29382082e-01 7.78394103e-01 3.93160568e+02] [-2.41488661e-01 9.02777514e-01 -3.55915702e-01 -2.14743482e+02] [-8.55540519e-01 -2.49757523e-02 5.17133090e-01 -8.20262616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.17, Y:-214.74, Z:-820.30 [[ 4.57036694e-01 4.49894188e-01 7.67276143e-01 3.93174201e+02] [-2.43427685e-01 8.92976120e-01 -3.78598220e-01 -2.14736228e+02] [-8.55488412e-01 -1.37429766e-02 5.17639554e-01 -8.20295326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.19, Y:-214.74, Z:-820.32 [[ 4.55028597e-01 4.51823524e-01 7.67335962e-01 3.93189387e+02] [-2.46326501e-01 8.91954739e-01 -3.79130584e-01 -2.14742717e+02] [-8.55729064e-01 -1.64999254e-02 5.17161021e-01 -8.20323613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:393.20, Y:-214.75, Z:-820.35 [[ 4.54127211e-01 4.52904473e-01 7.67232699e-01 3.93204139e+02] [-2.47675058e-01 8.91384505e-01 -3.79592848e-01 -2.14749351e+02] [-8.55818638e-01 -1.76409620e-02 5.16975101e-01 -8.20351503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.22, Y:-214.76, Z:-820.38 [[ 4.53527783e-01 4.53847576e-01 7.67029940e-01 3.93219117e+02] [-2.48888866e-01 8.90885640e-01 -3.79969879e-01 -2.14756403e+02] [-8.55784367e-01 -1.85783152e-02 5.16998997e-01 -8.20379518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.23, Y:-214.76, Z:-820.41 [[ 4.53024745e-01 4.54833663e-01 7.66743060e-01 3.93233784e+02] [-2.50199235e-01 8.90362091e-01 -3.80336285e-01 -2.14763374e+02] [-8.55668700e-01 -1.95367788e-02 5.17155094e-01 -8.20408179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.24, Y:-214.75, Z:-820.44 [[ 4.50503618e-01 4.69591845e-01 7.59295720e-01 3.93241378e+02] [-2.46375983e-01 8.82856291e-01 -3.99829519e-01 -2.14752621e+02] [-8.58105684e-01 -6.94758410e-03 5.13426105e-01 -8.20443585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.27, Y:-214.79, Z:-820.46 [[ 4.54817839e-01 4.33383432e-01 7.78022836e-01 3.93265515e+02] [-2.51548693e-01 9.00551360e-01 -3.54584973e-01 -2.14794442e+02] [-8.54320776e-01 -3.44390561e-02 5.18603859e-01 -8.20458875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.28, Y:-214.78, Z:-820.50 [[ 4.53460293e-01 4.60769875e-01 7.62931770e-01 3.93275069e+02] [-2.49058722e-01 8.87407462e-01 -3.87914616e-01 -2.14777406e+02] [-8.55770715e-01 -1.41109367e-02 5.17162804e-01 -8.20495395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.29, Y:-214.80, Z:-820.52 [[ 4.54710190e-01 4.47270264e-01 7.70186961e-01 3.93293039e+02] [-2.51425332e-01 8.94047831e-01 -3.70761079e-01 -2.14798164e+02] [-8.54414388e-01 -2.50556720e-02 5.18987734e-01 -8.20517208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.31, Y:-214.80, Z:-820.55 [[ 4.55031491e-01 4.56111650e-01 7.64793113e-01 3.93306923e+02] [-2.50515347e-01 8.89741272e-01 -3.81578996e-01 -2.14798470e+02] [-8.54510622e-01 -1.79619526e-02 5.19123266e-01 -8.20547212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.32, Y:-214.81, Z:-820.57 [[ 4.55092990e-01 4.56061807e-01 7.64786244e-01 3.93321740e+02] [-2.49879377e-01 8.89779906e-01 -3.81905769e-01 -2.14806087e+02] [-8.54664067e-01 -1.73016725e-02 5.18893038e-01 -8.20574887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.256559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:393.34, Y:-214.81, Z:-820.60 [[ 4.55151247e-01 4.56043511e-01 7.64762485e-01 3.93336218e+02] [-2.49059364e-01 8.89805802e-01 -3.82380789e-01 -2.14813662e+02] [-8.54872374e-01 -1.64301657e-02 5.18578127e-01 -8.20602489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.35, Y:-214.82, Z:-820.63 [[ 4.55575186e-01 4.56045813e-01 7.64508644e-01 3.93351549e+02] [-2.48467949e-01 8.89819700e-01 -3.82733039e-01 -2.14821851e+02] [-8.54818653e-01 -1.55922197e-02 5.18692543e-01 -8.20630798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.37, Y:-214.83, Z:-820.66 [[ 4.56711882e-01 4.55361201e-01 7.64238467e-01 3.93366163e+02] [-2.46520864e-01 8.90205388e-01 -3.83095067e-01 -2.14829743e+02] [-8.54775831e-01 -1.34366588e-02 5.18823415e-01 -8.20659052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.38, Y:-214.84, Z:-820.69 [[ 4.57100175e-01 4.55268781e-01 7.64061364e-01 3.93380373e+02] [-2.45627365e-01 8.90268173e-01 -3.83522853e-01 -2.14836769e+02] [-8.54825496e-01 -1.23660168e-02 5.18768208e-01 -8.20686354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.39, Y:-214.84, Z:-820.71 [[ 4.57723929e-01 4.55003493e-01 7.63845944e-01 3.93394711e+02] [-2.44487174e-01 8.90421310e-01 -3.83895705e-01 -2.14844630e+02] [-8.54818593e-01 -1.10322858e-02 5.18809658e-01 -8.20714655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:393.41, Y:-214.85, Z:-820.74 [[ 4.58049992e-01 4.55210266e-01 7.63527222e-01 3.93409036e+02] [-2.44291907e-01 8.90321849e-01 -3.84250530e-01 -2.14852054e+02] [-8.54699754e-01 -1.05175686e-02 5.19016100e-01 -8.20742102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.42, Y:-214.86, Z:-820.77 [[ 4.58293125e-01 4.55723958e-01 7.63074757e-01 3.93424177e+02] [-2.44861878e-01 8.90057630e-01 -3.84499773e-01 -2.14860020e+02] [-8.54406269e-01 -1.06343150e-02 5.19496717e-01 -8.20770015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.44, Y:-214.87, Z:-820.80 [[ 4.58496101e-01 4.56243550e-01 7.62642216e-01 3.93438533e+02] [-2.45334404e-01 8.89791021e-01 -3.84815500e-01 -2.14867129e+02] [-8.54161785e-01 -1.06659672e-02 5.19897953e-01 -8.20797242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.45, Y:-214.87, Z:-820.83 [[ 4.58627439e-01 4.56728452e-01 7.62272913e-01 3.93453597e+02] [-2.46025144e-01 8.89538327e-01 -3.84958689e-01 -2.14874210e+02] [-8.53892558e-01 -1.09856857e-02 5.20333368e-01 -8.20826020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.47, Y:-214.88, Z:-820.85 [[ 4.58433375e-01 4.57594077e-01 7.61870397e-01 3.93467920e+02] [-2.47150826e-01 8.89084638e-01 -3.85285578e-01 -2.14881449e+02] [-8.53671664e-01 -1.16691299e-02 5.20680824e-01 -8.20853130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.48, Y:-214.89, Z:-820.88 [[ 4.58422607e-01 4.58123772e-01 7.61558483e-01 3.93482933e+02] [-2.47615261e-01 8.88810135e-01 -3.85620572e-01 -2.14889288e+02] [-8.53542849e-01 -1.17963145e-02 5.20889097e-01 -8.20881160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.50, Y:-214.90, Z:-820.91 [[ 4.58436872e-01 4.58415454e-01 7.61374353e-01 3.93497709e+02] [-2.47467199e-01 8.88664453e-01 -3.86051131e-01 -2.14897106e+02] [-8.53578128e-01 -1.14351058e-02 5.20839341e-01 -8.20908113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.51, Y:-214.90, Z:-820.94 [[ 4.58559056e-01 4.58737227e-01 7.61106924e-01 3.93512916e+02] [-2.47503859e-01 8.88501533e-01 -3.86402467e-01 -2.14904292e+02] [-8.53501864e-01 -1.11885500e-02 5.20969657e-01 -8.20936311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.53, Y:-214.91, Z:-820.96 [[ 4.58400222e-01 4.58984699e-01 7.61053403e-01 3.93527826e+02] [-2.47160840e-01 8.88379179e-01 -3.86903028e-01 -2.14911330e+02] [-8.53686568e-01 -1.07461643e-02 5.20676257e-01 -8.20964290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.54, Y:-214.92, Z:-820.99 [[ 4.59026312e-01 4.58757411e-01 7.60813041e-01 3.93543496e+02] [-2.46049682e-01 8.88511687e-01 -3.87306773e-01 -2.14918345e+02] [-8.53671131e-01 -9.41380732e-03 5.20727358e-01 -8.20992885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.56, Y:-214.94, Z:-821.02 [[ 4.62195918e-01 4.46147039e-01 7.66373116e-01 3.93563553e+02] [-2.46996903e-01 8.94790878e-01 -3.71943294e-01 -2.14938453e+02] [-8.51685073e-01 -1.73811136e-02 5.23765629e-01 -8.21015550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.57, Y:-214.92, Z:-821.05 [[ 4.59613272e-01 4.73948212e-01 7.51085037e-01 3.93571224e+02] [-2.43188934e-01 8.80542095e-01 -4.06822764e-01 -2.14919968e+02] [-8.54174914e-01 4.32557198e-03 5.19967794e-01 -8.21051931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.59, Y:-214.94, Z:-821.07 [[ 4.62476398e-01 4.54062265e-01 7.61539914e-01 3.93588114e+02] [-2.38336380e-01 8.90965682e-01 -3.86491816e-01 -2.14940709e+02] [-8.53997278e-01 -2.75932383e-03 5.20270156e-01 -8.21074010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.61, Y:-214.96, Z:-821.10 [[ 4.65310187e-01 4.43419799e-01 7.66071349e-01 3.93607295e+02] [-2.37898456e-01 8.96277565e-01 -3.74287125e-01 -2.14959377e+02] [-8.52578885e-01 -8.08757909e-03 5.22535967e-01 -8.21097855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.62, Y:-214.94, Z:-821.13 [[ 4.65200789e-01 4.68512666e-01 7.51055329e-01 3.93615457e+02] [-2.30760240e-01 8.83302234e-01 -4.08077045e-01 -2.14941500e+02] [-8.54598115e-01 1.65240550e-02 5.19026991e-01 -8.21133784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8565599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.63, Y:-214.97, Z:-821.16 [[ 4.66686086e-01 4.42964411e-01 7.65497635e-01 3.93632589e+02] [-2.29299268e-01 8.96538186e-01 -3.79000167e-01 -2.14969088e+02] [-8.54181446e-01 1.34605686e-03 5.19973312e-01 -8.21155646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.65, Y:-214.97, Z:-821.19 [[ 4.67984829e-01 4.51223570e-01 7.59860177e-01 3.93647302e+02] [-2.28086067e-01 8.92366202e-01 -3.89434600e-01 -2.14969784e+02] [-8.53795611e-01 8.93596529e-03 5.20531654e-01 -8.21186473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.916559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.67, Y:-214.98, Z:-821.21 [[ 4.70316674e-01 4.45980092e-01 7.61514270e-01 3.93665314e+02] [-2.27929953e-01 8.95017464e-01 -3.83394934e-01 -2.14982158e+02] [-8.52555079e-01 6.74511862e-03 5.22593858e-01 -8.21211203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.67, Y:-214.97, Z:-821.25 [[ 4.68456453e-01 4.66341653e-01 7.50382579e-01 3.93673001e+02] [-2.22717405e-01 8.84246384e-01 -4.10493958e-01 -2.14965092e+02] [-8.54953513e-01 2.51752830e-02 5.18093327e-01 -8.21245944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.69, Y:-215.01, Z:-821.26 [[ 4.70085041e-01 4.27018611e-01 7.72447513e-01 3.93694728e+02] [-2.25242811e-01 9.04236283e-01 -3.62798043e-01 -2.15006885e+02] [-8.53396585e-01 -3.44231568e-03 5.21250823e-01 -8.21262877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.70, Y:-214.96, Z:-821.31 [[ 4.64864217e-01 4.77297751e-01 7.45713160e-01 3.93696924e+02] [-2.19055063e-01 8.78066979e-01 -4.25456531e-01 -2.14961279e+02] [-8.57855547e-01 3.44272737e-02 5.12736408e-01 -8.21305963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:-215.04, Z:-821.31 [[ 4.68987628e-01 4.01062331e-01 7.86892377e-01 3.93728072e+02] [-2.26450436e-01 9.15772213e-01 -3.31785252e-01 -2.15037950e+02] [-8.53680740e-01 -2.25889434e-02 5.20306577e-01 -8.21311106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.74, Y:-215.01, Z:-821.35 [[ 4.68652897e-01 4.52535742e-01 7.58667163e-01 3.93738851e+02] [-2.28721149e-01 8.91695328e-01 -3.90597079e-01 -2.15007337e+02] [-8.53259104e-01 9.53122750e-03 5.21400094e-01 -8.21352466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.75, Y:-215.01, Z:-821.38 [[ 4.66820718e-01 4.54338735e-01 7.58719139e-01 3.93754724e+02] [-2.31234987e-01 8.90800240e-01 -3.91158936e-01 -2.15012015e+02] [-8.53585847e-01 7.15868552e-03 5.20903019e-01 -8.21379769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.77, Y:-215.02, Z:-821.41 [[ 4.65929803e-01 4.55464291e-01 7.58591918e-01 3.93770336e+02] [-2.32678923e-01 8.90234199e-01 -3.91591101e-01 -2.15017748e+02] [-8.53680231e-01 5.94561435e-03 5.20763586e-01 -8.21408210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.156559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:393.79, Y:-215.03, Z:-821.44 [[ 4.64333447e-01 4.54438599e-01 7.60184194e-01 3.93788566e+02] [-2.39125881e-01 8.90774988e-01 -3.86443701e-01 -2.15029347e+02] [-8.52768001e-01 -2.34097914e-03 5.22284651e-01 -8.21435770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.80, Y:-215.02, Z:-821.47 [[ 4.62195734e-01 4.73177025e-01 7.49985738e-01 3.93800852e+02] [-2.38319285e-01 8.80907627e-01 -4.08907900e-01 -2.15017271e+02] [-8.54153980e-01 1.02594218e-02 5.19918957e-01 -8.21465916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.82, Y:-215.03, Z:-821.49 [[ 4.61184997e-01 4.60582152e-01 7.58401266e-01 3.93817529e+02] [-2.40709187e-01 8.87615886e-01 -3.92679420e-01 -2.15034257e+02] [-8.54030143e-01 -1.45629462e-03 5.20221485e-01 -8.21490845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.83, Y:-215.04, Z:-821.52 [[ 4.58953957e-01 4.63251628e-01 7.58128745e-01 3.93833855e+02] [-2.45225554e-01 8.86209629e-01 -3.93060964e-01 -2.15038003e+02] [-8.53947125e-01 -5.51565683e-03 5.20330554e-01 -8.21518639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.85, Y:-215.04, Z:-821.55 [[ 4.57624229e-01 4.64930492e-01 7.57904812e-01 3.93849825e+02] [-2.47857707e-01 8.85312746e-01 -3.93430934e-01 -2.15043984e+02] [-8.53900827e-01 -7.80902100e-03 5.20377168e-01 -8.21547028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.87, Y:-215.05, Z:-821.57 [[ 4.54376669e-01 4.67854461e-01 7.58059395e-01 3.93866558e+02] [-2.52546618e-01 8.83718448e-01 -3.94032881e-01 -2.15048297e+02] [-8.54261113e-01 -1.24059891e-02 5.19696106e-01 -8.21574857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.88, Y:-215.05, Z:-821.60 [[ 4.52963246e-01 4.69199483e-01 7.58073970e-01 3.93882253e+02] [-2.54760103e-01 8.82972619e-01 -3.94279906e-01 -2.15054550e+02] [-8.54354486e-01 -1.45326972e-02 5.19487452e-01 -8.21603091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.90, Y:-215.06, Z:-821.63 [[ 4.51482726e-01 4.70770473e-01 7.57983186e-01 3.93897495e+02] [-2.56979643e-01 8.82100578e-01 -3.94791127e-01 -2.15060573e+02] [-8.54473412e-01 -1.65448741e-02 5.19231601e-01 -8.21630105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.396559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:393.91, Y:-215.07, Z:-821.66 [[ 4.49812830e-01 4.72935233e-01 7.57628328e-01 3.93913966e+02] [-2.60696800e-01 8.80874820e-01 -3.95090787e-01 -2.15066202e+02] [-8.54228070e-01 -1.97943757e-02 5.19521498e-01 -8.21657833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.93, Y:-215.07, Z:-821.69 [[ 4.49262778e-01 4.74017020e-01 7.57278563e-01 3.93929473e+02] [-2.62225900e-01 8.80267021e-01 -3.95433369e-01 -2.15073047e+02] [-8.54049491e-01 -2.09245589e-02 5.19770747e-01 -8.21685798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.94, Y:-215.08, Z:-821.71 [[ 4.49159285e-01 4.74464768e-01 7.57059523e-01 3.93944524e+02] [-2.62397273e-01 8.80027545e-01 -3.95852486e-01 -2.15080749e+02] [-8.54051291e-01 -2.08495343e-02 5.19770804e-01 -8.21714657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.96, Y:-215.09, Z:-821.74 [[ 4.48958413e-01 4.75316502e-01 7.56644280e-01 3.93959235e+02] [-2.63785674e-01 8.79544682e-01 -3.96002867e-01 -2.15087423e+02] [-8.53729150e-01 -2.18031031e-02 5.20260668e-01 -8.21741798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.97, Y:-215.09, Z:-821.77 [[ 4.48577558e-01 4.76172151e-01 7.56332108e-01 3.93974245e+02] [-2.65163734e-01 8.79055428e-01 -3.96168839e-01 -2.15093685e+02] [-8.53502413e-01 -2.28393954e-02 5.20588122e-01 -8.21769566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:393.99, Y:-215.10, Z:-821.80 [[ 4.48523794e-01 4.76644207e-01 7.56066602e-01 3.93989211e+02] [-2.65504312e-01 8.78798133e-01 -3.96511415e-01 -2.15100696e+02] [-8.53424787e-01 -2.28941386e-02 5.20712965e-01 -8.21797493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.00, Y:-215.11, Z:-821.83 [[ 4.48420525e-01 4.77176694e-01 7.55791926e-01 3.94004890e+02] [-2.65904515e-01 8.78506474e-01 -3.96889359e-01 -2.15107130e+02] [-8.53354453e-01 -2.29951501e-02 5.20823772e-01 -8.21826084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.02, Y:-215.11, Z:-821.85 [[ 4.48761583e-01 4.77687114e-01 7.55266882e-01 3.94019851e+02] [-2.66457567e-01 8.78228179e-01 -3.97134273e-01 -2.15114089e+02] [-8.53002583e-01 -2.30279709e-02 5.21398414e-01 -8.21854250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.03, Y:-215.12, Z:-821.88 [[ 4.48920504e-01 4.78128003e-01 7.54893366e-01 3.94034120e+02] [-2.66731780e-01 8.77991060e-01 -3.97474346e-01 -2.15121275e+02] [-8.52833242e-01 -2.29196678e-02 5.21680123e-01 -8.21881722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.05, Y:-215.13, Z:-821.91 [[ 4.49968264e-01 4.78370828e-01 7.54115318e-01 3.94049422e+02] [-2.66995695e-01 8.77870792e-01 -3.97562789e-01 -2.15129074e+02] [-8.52198252e-01 -2.24549053e-02 5.22736948e-01 -8.21910315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6965599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.06, Y:-215.14, Z:-821.94 [[ 4.50765932e-01 4.78502576e-01 7.53555147e-01 3.94064562e+02] [-2.66820671e-01 8.77816746e-01 -3.97799559e-01 -2.15136815e+02] [-8.51831441e-01 -2.17496009e-02 5.23364262e-01 -8.21938440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.08, Y:-215.14, Z:-821.97 [[ 4.51862733e-01 4.77842605e-01 7.53317009e-01 3.94079493e+02] [-2.64857147e-01 8.78227074e-01 -3.98205849e-01 -2.15144811e+02] [-8.51863113e-01 -1.95870106e-02 5.23398115e-01 -8.21966543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.09, Y:-215.15, Z:-821.99 [[ 4.52418286e-01 4.77478301e-01 7.53214556e-01 3.94094695e+02] [-2.63364919e-01 8.78459174e-01 -3.98683332e-01 -2.15152542e+02] [-8.52030877e-01 -1.79986603e-02 5.23182027e-01 -8.21994899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:394.11, Y:-215.16, Z:-822.02 [[ 4.52803966e-01 4.76230614e-01 7.53772493e-01 3.94109740e+02] [-2.59629807e-01 8.79195815e-01 -3.99508551e-01 -2.15160839e+02] [-8.52971824e-01 -1.48027501e-02 5.21747014e-01 -8.22023349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.12, Y:-215.17, Z:-822.05 [[ 4.53282550e-01 4.75709966e-01 7.53813610e-01 3.94124274e+02] [-2.57712202e-01 8.79507236e-01 -4.00064299e-01 -2.15168970e+02] [-8.53299098e-01 -1.29247994e-02 5.21261545e-01 -8.22051350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.14, Y:-215.18, Z:-822.08 [[ 4.53621716e-01 4.75246424e-01 7.53901967e-01 3.94138605e+02] [-2.55869704e-01 8.79781950e-01 -4.00642504e-01 -2.15177274e+02] [-8.53673259e-01 -1.11605334e-02 5.20689360e-01 -8.22079193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.15, Y:-215.19, Z:-822.11 [[ 4.55146919e-01 4.73603101e-01 7.54016834e-01 3.94153023e+02] [-2.51779074e-01 8.80708613e-01 -4.01197754e-01 -2.15185601e+02] [-8.54077620e-01 -7.24173841e-03 5.20095161e-01 -8.22107484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.17, Y:-215.19, Z:-822.14 [[ 4.56294256e-01 4.73051952e-01 7.53669292e-01 3.94167431e+02] [-2.50145033e-01 8.81018553e-01 -4.01539253e-01 -2.15193530e+02] [-8.53945557e-01 -5.30657549e-03 5.20335302e-01 -8.22135758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:394.18, Y:-215.20, Z:-822.16 [[ 4.58104869e-01 4.71430417e-01 7.53586950e-01 3.94181950e+02] [-2.46690891e-01 8.81901290e-01 -4.01738372e-01 -2.15201484e+02] [-8.53980991e-01 -1.86473210e-03 5.20300865e-01 -8.22164389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:394.20, Y:-215.21, Z:-822.19 [[ 4.59055660e-01 4.71200525e-01 7.53152020e-01 3.94196562e+02] [-2.45703845e-01 8.82025983e-01 -4.02069380e-01 -2.15209329e+02] [-8.53754954e-01 -4.80122364e-04 5.20674800e-01 -8.22192719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.21, Y:-215.22, Z:-822.22 [[ 4.59685952e-01 4.70990533e-01 7.52898893e-01 3.94211394e+02] [-2.44647103e-01 8.82137889e-01 -4.02468062e-01 -2.15217197e+02] [-8.53719287e-01 8.14380760e-04 5.20732865e-01 -8.22221088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.23, Y:-215.22, Z:-822.25 [[ 4.60496492e-01 4.70857016e-01 7.52486978e-01 3.94226071e+02] [-2.43883443e-01 8.82207363e-01 -4.02779139e-01 -2.15224850e+02] [-8.53500936e-01 1.95926549e-03 5.21087626e-01 -8.22249158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0565599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:394.24, Y:-215.23, Z:-822.28 [[ 4.61362079e-01 4.70729851e-01 7.52036196e-01 3.94241088e+02] [-2.43174817e-01 8.82272012e-01 -4.03065883e-01 -2.15231908e+02] [-8.53235630e-01 3.08304930e-03 5.21516495e-01 -8.22277661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.26, Y:-215.24, Z:-822.31 [[ 4.61778425e-01 4.71066584e-01 7.51569664e-01 3.94256334e+02] [-2.43375157e-01 8.82091330e-01 -4.03340326e-01 -2.15238243e+02] [-8.52953234e-01 3.34047574e-03 5.21976649e-01 -8.22305282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.27, Y:-215.24, Z:-822.33 [[ 4.60959206e-01 4.71564876e-01 7.51760054e-01 3.94271196e+02] [-2.43359781e-01 8.81825392e-01 -4.03930680e-01 -2.15244626e+02] [-8.53400626e-01 3.24740340e-03 5.21245457e-01 -8.22333757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.29, Y:-215.25, Z:-822.36 [[ 4.60353474e-01 4.72290600e-01 7.51675640e-01 3.94286015e+02] [-2.43968340e-01 8.81438501e-01 -4.04407738e-01 -2.15251030e+02] [-8.53553823e-01 2.78544852e-03 5.20997230e-01 -8.22360965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:394.30, Y:-215.26, Z:-822.39 [[ 4.59820456e-01 4.72859188e-01 7.51644422e-01 3.94300951e+02] [-2.44557135e-01 8.81135070e-01 -4.04713228e-01 -2.15257574e+02] [-8.53672628e-01 2.27541473e-03 5.20805018e-01 -8.22389042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.32, Y:-215.26, Z:-822.42 [[ 4.58513574e-01 4.74097611e-01 7.51662662e-01 3.94316037e+02] [-2.46036977e-01 8.80471851e-01 -4.05259331e-01 -2.15263106e+02] [-8.53950296e-01 8.80095101e-04 5.20353838e-01 -8.22416303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.33, Y:-215.27, Z:-822.44 [[ 4.57599911e-01 4.75059725e-01 7.51611988e-01 3.94330753e+02] [-2.47111643e-01 8.79953552e-01 -4.05730924e-01 -2.15269866e+02] [-8.54130059e-01 -6.96380908e-05 5.20059455e-01 -8.22443944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.35, Y:-215.28, Z:-822.47 [[ 4.56097494e-01 4.76571949e-01 7.51567864e-01 3.94346486e+02] [-2.49248362e-01 8.79133060e-01 -4.06202310e-01 -2.15275929e+02] [-8.54312782e-01 -2.05920322e-03 5.19755163e-01 -8.22472308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.36, Y:-215.28, Z:-822.50 [[ 4.54862358e-01 4.77742288e-01 7.51573377e-01 3.94361993e+02] [-2.50640200e-01 8.78493573e-01 -4.06729065e-01 -2.15282886e+02] [-8.54564056e-01 -3.36875995e-03 5.19335081e-01 -8.22501009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:394.38, Y:-215.29, Z:-822.53 [[ 4.53422121e-01 4.79044367e-01 7.51614845e-01 3.94377107e+02] [-2.52241605e-01 8.77776923e-01 -4.07285950e-01 -2.15289399e+02] [-8.54858207e-01 -4.91607589e-03 5.18838394e-01 -8.22528649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.39, Y:-215.28, Z:-822.56 [[ 4.48338989e-01 4.88739986e-01 7.48415244e-01 3.94388343e+02] [-2.51225263e-01 8.72429494e-01 -4.19228631e-01 -2.15280750e+02] [-8.57833328e-01 -6.42754591e-05 5.13927989e-01 -8.22557533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.41, Y:-215.32, Z:-822.58 [[ 4.48699505e-01 4.58611801e-01 7.67035834e-01 3.94408146e+02] [-2.57615134e-01 8.88228676e-01 -3.80373845e-01 -2.15318171e+02] [-8.55747157e-01 -2.69264828e-02 5.16693108e-01 -8.22578748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.42, Y:-215.31, Z:-822.61 [[ 4.46777769e-01 4.84619137e-01 7.52019892e-01 3.94422542e+02] [-2.59967099e-01 8.74633286e-01 -4.09186660e-01 -2.15307078e+02] [-8.56041315e-01 -1.26849270e-02 5.16751739e-01 -8.22612432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.44, Y:-215.31, Z:-822.64 [[ 4.44822554e-01 4.86768273e-01 7.51790891e-01 3.94437079e+02] [-2.63482366e-01 8.73386710e-01 -4.09600656e-01 -2.15312185e+02] [-8.55984777e-01 -1.58840327e-02 5.16756963e-01 -8.22640344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.45, Y:-215.32, Z:-822.67 [[ 4.44385610e-01 4.87647562e-01 7.51479398e-01 3.94451783e+02] [-2.64919720e-01 8.72875273e-01 -4.09763712e-01 -2.15318998e+02] [-8.55768059e-01 -1.69886150e-02 5.17080667e-01 -8.22668851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:394.47, Y:-215.33, Z:-822.70 [[ 4.43896723e-01 4.88440927e-01 7.51253060e-01 3.94466592e+02] [-2.65789959e-01 8.72419411e-01 -4.10170780e-01 -2.15325846e+02] [-8.55751948e-01 -1.76020549e-02 5.17086812e-01 -8.22698045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.48, Y:-215.33, Z:-822.73 [[ 4.43417169e-01 4.89232002e-01 7.51021480e-01 3.94481226e+02] [-2.66658031e-01 8.71963572e-01 -4.10576452e-01 -2.15332763e+02] [-8.55730512e-01 -1.82092609e-02 5.17101260e-01 -8.22727272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.50, Y:-215.34, Z:-822.76 [[ 4.43449386e-01 4.89830449e-01 7.50612266e-01 3.94496414e+02] [-2.67273206e-01 8.71623404e-01 -4.10898620e-01 -2.15339557e+02] [-8.55521873e-01 -1.84058060e-02 5.17439418e-01 -8.22755999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.51, Y:-215.35, Z:-822.78 [[ 4.43454144e-01 4.90184662e-01 7.50378184e-01 3.94510536e+02] [-2.67265529e-01 8.71429592e-01 -4.11314482e-01 -2.15346755e+02] [-8.55521806e-01 -1.81511106e-02 5.17448527e-01 -8.22783689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.52, Y:-215.35, Z:-822.81 [[ 4.43458726e-01 4.90249029e-01 7.50333424e-01 3.94524772e+02] [-2.66592419e-01 8.71408331e-01 -4.11796069e-01 -2.15354031e+02] [-8.55729420e-01 -1.74186424e-02 5.17130303e-01 -8.22811250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.54, Y:-215.36, Z:-822.84 [[ 4.43184359e-01 4.90578913e-01 7.50279917e-01 3.94539673e+02] [-2.66457268e-01 8.71226862e-01 -4.12267243e-01 -2.15361771e+02] [-8.55913634e-01 -1.72071432e-02 5.16832435e-01 -8.22839932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.55, Y:-215.37, Z:-822.87 [[ 4.42630968e-01 4.90961611e-01 7.50356264e-01 3.94554298e+02] [-2.66258030e-01 8.71014337e-01 -4.12844628e-01 -2.15369057e+02] [-8.56261928e-01 -1.70505631e-02 5.16260390e-01 -8.22868763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7165599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.56, Y:-215.36, Z:-822.90 [[ 4.40848685e-01 4.98184696e-01 7.46635417e-01 3.94563724e+02] [-2.61285684e-01 8.67033494e-01 -4.24243694e-01 -2.15359861e+02] [-8.58709630e-01 -8.05787130e-03 5.12399104e-01 -8.22896645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.58, Y:-215.41, Z:-822.92 [[ 4.43074675e-01 4.61636612e-01 7.68489734e-01 3.94583251e+02] [-2.68020802e-01 8.86230581e-01 -3.77836217e-01 -2.15405410e+02] [-8.55482135e-01 -3.85615754e-02 5.16394541e-01 -8.22917869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.60, Y:-215.39, Z:-822.95 [[ 4.42313333e-01 4.93284309e-01 7.49019029e-01 3.94597356e+02] [-2.68720905e-01 8.69679149e-01 -4.14061896e-01 -2.15390343e+02] [-8.55656468e-01 -1.81319743e-02 5.17226488e-01 -8.22953127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:394.61, Y:-215.38, Z:-822.98 [[ 4.40766583e-01 5.03843292e-01 7.42877350e-01 3.94605797e+02] [-2.63742565e-01 8.63769213e-01 -4.29351379e-01 -2.15379034e+02] [-8.58000396e-01 -6.68463726e-03 5.13605526e-01 -8.22983622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.63, Y:-215.43, Z:-823.00 [[ 4.44127824e-01 4.61542935e-01 7.67937885e-01 3.94625088e+02] [-2.70694643e-01 8.86176334e-01 -3.76053076e-01 -2.15429591e+02] [-8.54093020e-01 -4.08610373e-02 5.18512767e-01 -8.23001607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.63, Y:-215.40, Z:-823.04 [[ 4.41801255e-01 5.03466786e-01 7.42517910e-01 3.94633976e+02] [-2.66207137e-01 8.63969485e-01 -4.27423081e-01 -2.15399261e+02] [-8.56706141e-01 -8.82751359e-03 5.15729254e-01 -8.23038652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:394.65, Y:-215.42, Z:-823.06 [[ 4.42060054e-01 4.81678954e-01 7.56682426e-01 3.94646941e+02] [-2.65547051e-01 8.76046048e-01 -4.02527124e-01 -2.15423176e+02] [-8.56777493e-01 -2.29936250e-02 5.15173389e-01 -8.23062239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.66, Y:-215.44, Z:-823.09 [[ 4.43508411e-01 4.74231928e-01 7.60529005e-01 3.94662638e+02] [-2.66488316e-01 8.79946780e-01 -3.93290784e-01 -2.15439339e+02] [-8.55736096e-01 -2.82443234e-02 5.16641067e-01 -8.23087559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.68, Y:-215.44, Z:-823.12 [[ 4.44509944e-01 4.84011617e-01 7.53753052e-01 3.94675957e+02] [-2.65700263e-01 8.74828021e-01 -4.05067037e-01 -2.15442037e+02] [-8.55461443e-01 -2.02160583e-02 5.17471769e-01 -8.23116615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.69, Y:-215.45, Z:-823.14 [[ 4.43302782e-01 4.80578482e-01 7.56655117e-01 3.94689659e+02] [-2.63860493e-01 8.76691993e-01 -4.02229774e-01 -2.15452543e+02] [-8.56656456e-01 -2.13418145e-02 5.15445674e-01 -8.23143982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.70, Y:-215.46, Z:-823.17 [[ 4.45130150e-01 4.81955094e-01 7.54704205e-01 3.94704287e+02] [-2.64042223e-01 8.75976897e-01 -4.03665927e-01 -2.15463122e+02] [-8.55652298e-01 -1.95899015e-02 5.17180222e-01 -8.23170921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.72, Y:-215.47, Z:-823.20 [[ 4.43987511e-01 4.78899033e-01 7.57318167e-01 3.94718676e+02] [-2.62155908e-01 8.77633675e-01 -4.01289686e-01 -2.15474833e+02] [-8.56825169e-01 -2.03678225e-02 5.15204602e-01 -8.23198971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.73, Y:-215.49, Z:-823.23 [[ 4.44567519e-01 4.82947216e-01 7.54401556e-01 3.94734509e+02] [-2.63673878e-01 8.75446725e-01 -4.05054463e-01 -2.15485599e+02] [-8.56058297e-01 -1.88419267e-02 5.16535744e-01 -8.23226564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:394.75, Y:-215.49, Z:-823.26 [[ 4.44872153e-01 4.94662571e-01 7.46590724e-01 3.94747912e+02] [-2.62531586e-01 8.69033794e-01 -4.19353588e-01 -2.15486221e+02] [-8.56251093e-01 -9.44491341e-03 5.16473484e-01 -8.23257426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.76, Y:-215.50, Z:-823.29 [[ 4.45025321e-01 4.95022794e-01 7.46260610e-01 3.94762133e+02] [-2.62637290e-01 8.68831116e-01 -4.19707215e-01 -2.15495101e+02] [-8.56139076e-01 -9.21552613e-03 5.16663291e-01 -8.23286209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:394.77, Y:-215.50, Z:-823.32 [[ 4.44572347e-01 5.00020100e-01 7.43192659e-01 3.94773986e+02] [-2.60479378e-01 8.66005335e-01 -4.26831645e-01 -2.15496114e+02] [-8.57033210e-01 -3.82881571e-03 5.15246949e-01 -8.23316540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1965599949999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:394.79, Y:-215.52, Z:-823.34 [[ 4.44930822e-01 4.85135367e-01 7.52781668e-01 3.94789388e+02] [-2.63141538e-01 8.74281531e-01 -4.07907264e-01 -2.15520148e+02] [-8.56033349e-01 -1.65976117e-02 5.16654067e-01 -8.23339357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.80, Y:-215.52, Z:-823.37 [[ 4.44508258e-01 4.96412747e-01 7.45645220e-01 3.94803631e+02] [-2.63807321e-01 8.68032035e-01 -4.20625823e-01 -2.15520432e+02] [-8.56047958e-01 -9.73501634e-03 5.16804725e-01 -8.23369706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.82, Y:-215.53, Z:-823.40 [[ 4.43123008e-01 5.00899291e-01 7.43466140e-01 3.94815770e+02] [-2.66373437e-01 8.65447634e-01 -4.24317788e-01 -2.15525925e+02] [-8.55971490e-01 -1.00146565e-02 5.16926024e-01 -8.23396310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.83, Y:-215.54, Z:-823.42 [[ 4.42255438e-01 4.94004719e-01 7.48578296e-01 3.94827934e+02] [-2.64983665e-01 8.69348540e-01 -4.17153177e-01 -2.15536507e+02] [-8.56851087e-01 -1.38727597e-02 5.15377300e-01 -8.23423269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.85, Y:-215.56, Z:-823.45 [[ 4.42712271e-01 4.86915280e-01 7.52940472e-01 3.94845249e+02] [-2.67589459e-01 8.73193277e-01 -4.07344304e-01 -2.15555360e+02] [-8.55804725e-01 -2.11426113e-02 5.16866775e-01 -8.23449953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.86, Y:-215.55, Z:-823.48 [[ 4.42417137e-01 5.00166502e-01 7.44379303e-01 3.94860046e+02] [-2.67675315e-01 8.65842645e-01 -4.22689533e-01 -2.15554018e+02] [-8.55930489e-01 -1.22468713e-02 5.16945850e-01 -8.23481642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.87, Y:-215.56, Z:-823.51 [[ 4.42446611e-01 5.00664072e-01 7.44027206e-01 3.94873146e+02] [-2.68584325e-01 8.65546967e-01 -4.22718473e-01 -2.15562805e+02] [-8.55630444e-01 -1.28036894e-02 5.17428845e-01 -8.23509050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.89, Y:-215.57, Z:-823.54 [[ 4.42492020e-01 5.01005183e-01 7.43770542e-01 3.94886928e+02] [-2.68674578e-01 8.65352096e-01 -4.23059950e-01 -2.15571413e+02] [-8.55578625e-01 -1.26315848e-02 5.17518753e-01 -8.23537133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.90, Y:-215.58, Z:-823.56 [[ 4.42760586e-01 5.01278318e-01 7.43426601e-01 3.94900494e+02] [-2.68652474e-01 8.65199186e-01 -4.23386606e-01 -2.15580221e+02] [-8.55446615e-01 -1.22644938e-02 5.17745759e-01 -8.23564354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.92, Y:-215.60, Z:-823.59 [[ 4.45505330e-01 4.91231988e-01 7.48475875e-01 3.94916627e+02] [-2.68935289e-01 8.70843178e-01 -4.11468067e-01 -2.15599808e+02] [-8.53931386e-01 -1.79803589e-02 5.20074894e-01 -8.23588446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.93, Y:-215.60, Z:-823.62 [[ 4.44341291e-01 5.06075797e-01 7.39221283e-01 3.94929317e+02] [-2.67139489e-01 8.62464779e-01 -4.29873236e-01 -2.15596174e+02] [-8.55100761e-01 -6.46476755e-03 5.18421543e-01 -8.23620289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.94, Y:-215.60, Z:-823.65 [[ 4.42861801e-01 5.08267937e-01 7.38604854e-01 3.94940720e+02] [-2.65095931e-01 8.61190859e-01 -4.33675514e-01 -2.15603072e+02] [-8.56503107e-01 -3.74282247e-03 5.16128297e-01 -8.23648300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.96, Y:-215.63, Z:-823.67 [[ 4.45493306e-01 4.91225751e-01 7.48487125e-01 3.94957230e+02] [-2.65905603e-01 8.70904789e-01 -4.13302624e-01 -2.15626845e+02] [-8.54885914e-01 -1.49033681e-02 5.18601933e-01 -8.23670889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.97, Y:-215.62, Z:-823.70 [[ 4.44243280e-01 5.06072421e-01 7.39282499e-01 3.94969373e+02] [-2.64456409e-01 8.62482529e-01 -4.31493563e-01 -2.15622717e+02] [-8.55985231e-01 -3.81987939e-03 5.16986163e-01 -8.23702572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.98, Y:-215.64, Z:-823.73 [[ 4.45321607e-01 4.98855684e-01 7.43526511e-01 3.94983655e+02] [-2.64008518e-01 8.66650194e-01 -4.23340221e-01 -2.15638436e+02] [-8.55563071e-01 -7.77478476e-03 5.17640207e-01 -8.23729015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:395.00, Y:-215.64, Z:-823.76 [[ 4.45112988e-01 5.03506463e-01 7.40510412e-01 3.94996318e+02] [-2.62772706e-01 8.63984752e-01 -4.29512344e-01 -2.15642092e+02] [-8.56051945e-01 -3.40440180e-03 5.16878590e-01 -8.23757477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.01, Y:-215.66, Z:-823.78 [[ 4.46542888e-01 4.95865988e-01 7.44792838e-01 3.95011811e+02] [-2.63383599e-01 8.68357261e-01 -4.20219881e-01 -2.15658377e+02] [-8.55119015e-01 -8.52001945e-03 5.18361727e-01 -8.23783127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:395.02, Y:-215.66, Z:-823.81 [[ 4.43687651e-01 5.07894921e-01 7.38365775e-01 3.95020848e+02] [-2.61909775e-01 8.61418976e-01 -4.35155855e-01 -2.15656260e+02] [-8.57055738e-01 -3.11934944e-04 5.15223606e-01 -8.23813754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.04, Y:-215.67, Z:-823.84 [[ 4.46013966e-01 4.96007848e-01 7.45015273e-01 3.95036396e+02] [-2.60642316e-01 8.68297699e-01 -4.22048206e-01 -2.15674431e+02] [-8.56234270e-01 -5.94311192e-03 5.16553535e-01 -8.23840858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.05, Y:-215.68, Z:-823.87 [[ 4.46276886e-01 4.99484415e-01 7.42530982e-01 3.95050100e+02] [-2.60264350e-01 8.66317700e-01 -4.26328643e-01 -2.15680542e+02] [-8.56212246e-01 -2.99372380e-03 5.16615552e-01 -8.23869162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.06, Y:-215.69, Z:-823.90 [[ 4.47209118e-01 4.98036042e-01 7.42942869e-01 3.95063735e+02] [-2.59235869e-01 8.67152956e-01 -4.25255823e-01 -2.15689048e+02] [-8.56037832e-01 -2.41915903e-03 5.16907515e-01 -8.23895154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.08, Y:-215.70, Z:-823.92 [[ 4.45891653e-01 4.97147865e-01 7.44328311e-01 3.95077475e+02] [-2.60750932e-01 8.67649446e-01 -4.23312403e-01 -2.15700374e+02] [-8.56264904e-01 -5.33283396e-03 5.16509415e-01 -8.23923085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.09, Y:-215.71, Z:-823.95 [[ 4.45421591e-01 5.01003094e-01 7.42021230e-01 3.95091384e+02] [-2.61361382e-01 8.65438237e-01 -4.27442260e-01 -2.15706227e+02] [-8.56323440e-01 -3.54368282e-03 5.16427737e-01 -8.23951586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.11, Y:-215.73, Z:-823.97 [[ 4.44805927e-01 4.83323756e-01 7.54019784e-01 3.95107840e+02] [-2.64902798e-01 8.75219782e-01 -4.04742932e-01 -2.15732835e+02] [-8.55554905e-01 -1.97098960e-02 5.17336762e-01 -8.23969979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.12, Y:-215.72, Z:-824.01 [[ 4.43876123e-01 5.11315615e-01 7.35887443e-01 3.95119394e+02] [-2.64572368e-01 8.59392874e-01 -4.37544684e-01 -2.15718795e+02] [-8.56139854e-01 -4.79844855e-04 5.16743960e-01 -8.24006503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.13, Y:-215.73, Z:-824.03 [[ 4.41561087e-01 5.12298807e-01 7.36596049e-01 3.95130898e+02] [-2.65056068e-01 8.58805675e-01 -4.38404031e-01 -2.15725963e+02] [-8.57186728e-01 -1.65709150e-03 5.15003075e-01 -8.24034926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.15, Y:-215.76, Z:-824.06 [[ 4.45019377e-01 4.93616369e-01 7.47195178e-01 3.95149272e+02] [-2.71377910e-01 8.69470353e-01 -4.12765472e-01 -2.15755745e+02] [-8.53411849e-01 -1.90836328e-02 5.20887734e-01 -8.24055878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.16, Y:-215.75, Z:-824.09 [[ 4.43619135e-01 5.15830003e-01 7.32885715e-01 3.95161638e+02] [-2.72586927e-01 8.56673382e-01 -4.37957856e-01 -2.15747310e+02] [-8.53755486e-01 -5.48857924e-03 5.20645220e-01 -8.24088889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.17, Y:-215.75, Z:-824.12 [[ 4.40561316e-01 5.22255166e-01 7.30174820e-01 3.95171038e+02] [-2.72793971e-01 8.52784064e-01 -4.45356924e-01 -2.15748847e+02] [-8.55271405e-01 -2.98025578e-03 5.18171730e-01 -8.24118577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.18, Y:-215.77, Z:-824.14 [[ 4.39549185e-01 5.11993376e-01 7.38010364e-01 3.95184072e+02] [-2.73909932e-01 8.58906363e-01 -4.32727638e-01 -2.15766318e+02] [-8.55435482e-01 -1.19432881e-02 5.17771663e-01 -8.24142399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0965599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:395.20, Y:-215.78, Z:-824.17 [[ 4.39600218e-01 5.09126048e-01 7.39961023e-01 3.95198167e+02] [-2.74087320e-01 8.60576455e-01 -4.29283481e-01 -2.15778124e+02] [-8.55352436e-01 -1.41008226e-02 5.17854591e-01 -8.24170023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.21, Y:-215.79, Z:-824.20 [[ 4.37329132e-01 5.11852100e-01 7.39425898e-01 3.95210194e+02] [-2.74552699e-01 8.58959642e-01 -4.32214240e-01 -2.15787530e+02] [-8.56366771e-01 -1.39914976e-02 5.16178450e-01 -8.24196651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.22, Y:-215.80, Z:-824.22 [[ 4.36867103e-01 5.10988246e-01 7.40295986e-01 3.95223996e+02] [-2.74969140e-01 8.59451840e-01 -4.30969265e-01 -2.15798255e+02] [-8.56468976e-01 -1.52822563e-02 5.15972234e-01 -8.24224077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.24, Y:-215.81, Z:-824.25 [[ 4.36091554e-01 5.11526315e-01 7.40381649e-01 3.95236681e+02] [-2.75041649e-01 8.59129001e-01 -4.31566277e-01 -2.15808527e+02] [-8.56840854e-01 -1.54333812e-02 5.15349942e-01 -8.24251296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.25, Y:-215.82, Z:-824.28 [[ 4.35749527e-01 5.11969736e-01 7.40276529e-01 3.95250410e+02] [-2.75164376e-01 8.58864573e-01 -4.32014133e-01 -2.15818063e+02] [-8.56975447e-01 -1.54477748e-02 5.15125665e-01 -8.24279264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.26, Y:-215.83, Z:-824.31 [[ 4.35901600e-01 5.12455669e-01 7.39850649e-01 3.95264372e+02] [-2.75612327e-01 8.58574334e-01 -4.32305400e-01 -2.15827935e+02] [-8.56754131e-01 -1.54693436e-02 5.15493025e-01 -8.24307906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.28, Y:-215.84, Z:-824.34 [[ 4.36319547e-01 5.12869505e-01 7.39317336e-01 3.95277121e+02] [-2.76023019e-01 8.58329382e-01 -4.32529728e-01 -2.15839083e+02] [-8.56409100e-01 -1.53474279e-02 5.16069676e-01 -8.24336646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.29, Y:-215.85, Z:-824.36 [[ 4.36070369e-01 5.13369521e-01 7.39117290e-01 3.95290041e+02] [-2.76286853e-01 8.58029312e-01 -4.32956435e-01 -2.15848583e+02] [-8.56450938e-01 -1.54089179e-02 5.15998408e-01 -8.24364379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.30, Y:-215.86, Z:-824.39 [[ 4.36162004e-01 5.13827542e-01 7.38744857e-01 3.95303700e+02] [-2.76688995e-01 8.57754583e-01 -4.33243899e-01 -2.15858626e+02] [-8.56274434e-01 -1.54380447e-02 5.16290384e-01 -8.24392695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.32, Y:-215.87, Z:-824.42 [[ 4.36118786e-01 5.14750869e-01 7.38127325e-01 3.95316707e+02] [-2.78167517e-01 8.57184872e-01 -4.33424651e-01 -2.15869970e+02] [-8.55817292e-01 -1.62984126e-02 5.17021397e-01 -8.24420792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.33, Y:-215.88, Z:-824.45 [[ 4.35818174e-01 5.15493782e-01 7.37786338e-01 3.95330009e+02] [-2.79027453e-01 8.56728305e-01 -4.33774473e-01 -2.15878709e+02] [-8.55690482e-01 -1.68158441e-02 5.17214682e-01 -8.24448406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:395.34, Y:-215.89, Z:-824.48 [[ 4.35731941e-01 5.16157389e-01 7.37373193e-01 3.95343799e+02] [-2.79861833e-01 8.56320300e-01 -4.34042509e-01 -2.15887701e+02] [-8.55461881e-01 -1.72364285e-02 5.17578859e-01 -8.24477327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.36, Y:-215.90, Z:-824.50 [[ 4.35979567e-01 5.17277827e-01 7.36441082e-01 3.95356675e+02] [-2.82017758e-01 8.55618403e-01 -4.34031258e-01 -2.15897590e+02] [-8.54627288e-01 -1.84607031e-02 5.18913673e-01 -8.24504825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.37, Y:-215.91, Z:-824.53 [[ 4.35837554e-01 5.17874112e-01 7.36105992e-01 3.95370304e+02] [-2.82942967e-01 8.55244696e-01 -4.34165623e-01 -2.15906673e+02] [-8.54393881e-01 -1.90503307e-02 5.19276594e-01 -8.24533410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.38, Y:-215.92, Z:-824.56 [[ 4.35776143e-01 5.18533156e-01 7.35678272e-01 3.95384199e+02] [-2.83741234e-01 8.54836953e-01 -4.34447577e-01 -2.15916510e+02] [-8.54160445e-01 -1.94203710e-02 5.19646788e-01 -8.24562149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.40, Y:-215.93, Z:-824.59 [[ 4.35902870e-01 5.18957065e-01 7.35304190e-01 3.95398236e+02] [-2.84006907e-01 8.54582133e-01 -4.34775177e-01 -2.15925486e+02] [-8.54007473e-01 -1.93117214e-02 5.19902196e-01 -8.24589486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.41, Y:-215.93, Z:-824.62 [[ 4.35665082e-01 5.19074094e-01 7.35362510e-01 3.95412865e+02] [-2.83345651e-01 8.54524480e-01 -4.35319601e-01 -2.15934318e+02] [-8.54348394e-01 -1.87082197e-02 5.19363865e-01 -8.24618001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.43, Y:-215.94, Z:-824.65 [[ 4.35803090e-01 5.18625217e-01 7.35597411e-01 3.95428097e+02] [-2.81390030e-01 8.54832914e-01 -4.35982041e-01 -2.15941827e+02] [-8.54924159e-01 -1.69874565e-02 5.18474791e-01 -8.24645976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.44, Y:-215.93, Z:-824.68 [[ 4.33120184e-01 5.32931041e-01 7.26905366e-01 3.95436895e+02] [-2.75740645e-01 8.46153678e-01 -4.56060358e-01 -2.15929825e+02] [-8.58122370e-01 -2.90840834e-03 5.13436986e-01 -8.24680600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.46, Y:-215.98, Z:-824.69 [[ 4.37047096e-01 4.92856220e-01 7.52384598e-01 3.95458835e+02] [-2.78288036e-01 8.69555398e-01 -4.07957325e-01 -2.15975592e+02] [-8.55304393e-01 -3.10830679e-02 5.17192651e-01 -8.24694123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6965599949999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:395.47, Y:-215.96, Z:-824.73 [[ 4.36317601e-01 5.17746630e-01 7.35911258e-01 3.95472159e+02] [-2.77624393e-01 8.55426913e-01 -4.37229338e-01 -2.15964647e+02] [-8.55892311e-01 -1.35360606e-02 5.16976912e-01 -8.24729076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:395.49, Y:-215.97, Z:-824.76 [[ 4.36575184e-01 5.17765760e-01 7.35745015e-01 3.95487044e+02] [-2.76927124e-01 8.55428559e-01 -4.37668080e-01 -2.15974018e+02] [-8.55986844e-01 -1.26727280e-02 5.16842263e-01 -8.24757450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.50, Y:-215.98, Z:-824.79 [[ 4.36538404e-01 5.18024519e-01 7.35584679e-01 3.95500924e+02] [-2.76691557e-01 8.55277652e-01 -4.38111766e-01 -2.15982607e+02] [-8.56081774e-01 -1.22774592e-02 5.16694552e-01 -8.24785732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.51, Y:-215.99, Z:-824.81 [[ 4.37288068e-01 5.18178522e-01 7.35030724e-01 3.95514708e+02] [-2.76630682e-01 8.55192972e-01 -4.38315465e-01 -2.15991582e+02] [-8.55718769e-01 -1.16619279e-02 5.17309760e-01 -8.24814807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.52, Y:-215.97, Z:-824.85 [[ 4.33247727e-01 5.41361681e-01 7.20571952e-01 3.95519033e+02] [-2.69681578e-01 8.40740760e-01 -4.69496348e-01 -2.15969715e+02] [-8.59981543e-01 9.08324439e-03 5.10244296e-01 -8.24853512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.53, Y:-216.01, Z:-824.87 [[ 4.33722618e-01 5.06432346e-01 7.45258995e-01 3.95532701e+02] [-2.69117910e-01 8.62159672e-01 -4.29250802e-01 -2.16005330e+02] [-8.59918741e-01 -1.43867620e-02 5.10228164e-01 -8.24873143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.55, Y:-216.02, Z:-824.90 [[ 4.34712272e-01 5.05798275e-01 7.45112975e-01 3.95546889e+02] [-2.71263423e-01 8.62495805e-01 -4.27220250e-01 -2.16017079e+02] [-8.58744081e-01 -1.64040107e-02 5.12142082e-01 -8.24900722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.56, Y:-216.02, Z:-824.93 [[ 4.36462194e-01 5.09224314e-01 7.41748847e-01 3.95562324e+02] [-2.71141067e-01 8.60537100e-01 -4.31228967e-01 -2.16023384e+02] [-8.57894676e-01 -1.29034325e-02 5.13663535e-01 -8.24926709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.58, Y:-216.05, Z:-824.94 [[ 4.40739380e-01 4.92960536e-01 7.50159122e-01 3.95584990e+02] [-2.76030434e-01 8.69642783e-01 -4.09302614e-01 -2.16052390e+02] [-8.54140503e-01 -2.66709675e-02 5.19357932e-01 -8.24943714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.60, Y:-216.04, Z:-824.98 [[ 4.39841056e-01 5.18830098e-01 7.33045138e-01 3.95598222e+02] [-2.76247221e-01 8.54826871e-01 -4.39270412e-01 -2.16041145e+02] [-8.54533392e-01 -9.29252053e-03 5.19313327e-01 -8.24978408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.61, Y:-216.05, Z:-825.01 [[ 4.40086404e-01 5.19413133e-01 7.32484781e-01 3.95612929e+02] [-2.77029417e-01 8.54470288e-01 -4.39471533e-01 -2.16048899e+02] [-8.54153768e-01 -9.51438489e-03 5.19933474e-01 -8.25006932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.63, Y:-216.06, Z:-825.03 [[ 4.39901957e-01 5.20141432e-01 7.32078656e-01 3.95626731e+02] [-2.77934096e-01 8.54021449e-01 -4.39772672e-01 -2.16056454e+02] [-8.53954862e-01 -1.00127606e-02 5.20250746e-01 -8.25034900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.63, Y:-216.03, Z:-825.08 [[ 4.33624526e-01 5.48998909e-01 7.14541789e-01 3.95630794e+02] [-2.72769896e-01 8.35740415e-01 -4.76586344e-01 -2.16030409e+02] [-8.58816834e-01 1.17540382e-02 5.12147916e-01 -8.25076240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.66, Y:-216.11, Z:-825.08 [[ 4.39416054e-01 4.80277972e-01 7.59109084e-01 3.95657135e+02] [-2.80251624e-01 8.76183767e-01 -3.92123749e-01 -2.16105030e+02] [-8.53447455e-01 -4.04360835e-02 5.19607895e-01 -8.25078774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.67, Y:-216.08, Z:-825.12 [[ 4.36913086e-01 5.23017215e-01 7.31819614e-01 3.95669706e+02] [-2.82095079e-01 8.52208415e-01 -4.40639516e-01 -2.16081294e+02] [-8.54124887e-01 -1.39215411e-02 5.19881591e-01 -8.25117624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.68, Y:-216.09, Z:-825.15 [[ 4.36343831e-01 5.23741690e-01 7.31641103e-01 3.95684689e+02] [-2.82798452e-01 8.51754556e-01 -4.41065995e-01 -2.16089565e+02] [-8.54183292e-01 -1.44505458e-02 5.19771185e-01 -8.25145824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.70, Y:-216.10, Z:-825.17 [[ 4.35273453e-01 5.24459069e-01 7.31764789e-01 3.95699365e+02] [-2.83207460e-01 8.51303655e-01 -4.41673661e-01 -2.16097542e+02] [-8.54593796e-01 -1.49924281e-02 5.19080602e-01 -8.25174524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.71, Y:-216.10, Z:-825.20 [[ 4.34302574e-01 5.25284757e-01 7.31749410e-01 3.95714076e+02] [-2.83963304e-01 8.50780859e-01 -4.42195400e-01 -2.16104991e+02] [-8.54836895e-01 -1.57433799e-02 5.18657912e-01 -8.25202017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.73, Y:-216.11, Z:-825.23 [[ 4.33484609e-01 5.25929520e-01 7.31771299e-01 3.95728628e+02] [-2.84390751e-01 8.50373785e-01 -4.42703429e-01 -2.16112911e+02] [-8.55109931e-01 -1.62038665e-02 5.18193439e-01 -8.25230208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.74, Y:-216.12, Z:-825.26 [[ 4.33414539e-01 5.26310637e-01 7.31538756e-01 3.95743173e+02] [-2.84490317e-01 8.50140403e-01 -4.43087525e-01 -2.16121575e+02] [-8.55112330e-01 -1.60751165e-02 5.18193491e-01 -8.25259074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.76, Y:-216.13, Z:-825.29 [[ 4.32836858e-01 5.26738681e-01 7.31572701e-01 3.95757795e+02] [-2.84921456e-01 8.49866174e-01 -4.43336498e-01 -2.16129941e+02] [-8.55261374e-01 -1.65483820e-02 5.17932557e-01 -8.25287176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.77, Y:-216.14, Z:-825.31 [[ 4.32344105e-01 5.27627915e-01 7.31223194e-01 3.95772366e+02] [-2.86134469e-01 8.49296952e-01 -4.43645978e-01 -2.16137914e+02] [-8.55105631e-01 -1.74204372e-02 5.18161063e-01 -8.25314438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.79, Y:-216.15, Z:-825.34 [[ 4.32074732e-01 5.28268203e-01 7.30920058e-01 3.95787042e+02] [-2.86875740e-01 8.48889596e-01 -4.43946803e-01 -2.16145862e+02] [-8.54993413e-01 -1.78650371e-02 5.18331076e-01 -8.25343177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.80, Y:-216.15, Z:-825.37 [[ 4.32205285e-01 5.28947623e-01 7.30351288e-01 3.95801186e+02] [-2.87861233e-01 8.48457522e-01 -4.44134827e-01 -2.16153520e+02] [-8.54596105e-01 -1.82824027e-02 5.18971340e-01 -8.25370908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.82, Y:-216.16, Z:-825.40 [[ 4.32545087e-01 5.29495495e-01 7.29752881e-01 3.95815506e+02] [-2.88676638e-01 8.48111067e-01 -4.44267281e-01 -2.16160450e+02] [-8.54149019e-01 -1.84969784e-02 5.19699255e-01 -8.25399613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.83, Y:-216.17, Z:-825.43 [[ 4.32707648e-01 5.29742237e-01 7.29477384e-01 3.95829755e+02] [-2.88552687e-01 8.47965541e-01 -4.44625447e-01 -2.16168191e+02] [-8.54108563e-01 -1.80998281e-02 5.19779721e-01 -8.25427840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.84, Y:-216.18, Z:-825.46 [[ 4.33664903e-01 5.29425054e-01 7.29139125e-01 3.95844162e+02] [-2.87361283e-01 8.48195010e-01 -4.44959233e-01 -2.16176882e+02] [-8.54024733e-01 -1.65631516e-02 5.19968669e-01 -8.25455725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:395.86, Y:-216.19, Z:-825.48 [[ 4.34122922e-01 5.29322055e-01 7.28941322e-01 3.95858014e+02] [-2.86446263e-01 8.48280295e-01 -4.45386439e-01 -2.16185345e+02] [-8.54099425e-01 -1.54500553e-02 5.19880244e-01 -8.25482929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.87, Y:-216.19, Z:-825.51 [[ 4.34561411e-01 5.29072767e-01 7.28861021e-01 3.95872483e+02] [-2.85479223e-01 8.48454250e-01 -4.45675890e-01 -2.16194080e+02] [-8.54200207e-01 -1.44011338e-02 5.19744758e-01 -8.25511075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.89, Y:-216.20, Z:-825.54 [[ 4.35432695e-01 5.28721780e-01 7.28595668e-01 3.95886428e+02] [-2.84144544e-01 8.48698735e-01 -4.46063153e-01 -2.16202507e+02] [-8.54201526e-01 -1.27960027e-02 5.19784586e-01 -8.25538347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.90, Y:-216.21, Z:-825.57 [[ 4.35801103e-01 5.28704806e-01 7.28387690e-01 3.95900945e+02] [-2.83753535e-01 8.48718151e-01 -4.46275063e-01 -2.16211060e+02] [-8.54143624e-01 -1.21954171e-02 5.19894164e-01 -8.25567176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:395.92, Y:-216.22, Z:-825.60 [[ 4.36625823e-01 5.28791912e-01 7.27830340e-01 3.95915446e+02] [-2.83608904e-01 8.48673767e-01 -4.46451371e-01 -2.16219219e+02] [-8.53770391e-01 -1.14869675e-02 5.20522977e-01 -8.25595437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.93, Y:-216.23, Z:-825.62 [[ 4.36812284e-01 5.29152768e-01 7.27456100e-01 3.95929554e+02] [-2.83822457e-01 8.48450966e-01 -4.46739042e-01 -2.16227237e+02] [-8.53604031e-01 -1.13272765e-02 5.20799243e-01 -8.25623588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.94, Y:-216.24, Z:-825.65 [[ 4.37073822e-01 5.29543577e-01 7.27014493e-01 3.95943604e+02] [-2.84165662e-01 8.48208416e-01 -4.46981387e-01 -2.16235662e+02] [-8.53355934e-01 -1.12286917e-02 5.21207796e-01 -8.25651725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.96, Y:-216.24, Z:-825.68 [[ 4.37638467e-01 5.29464938e-01 7.26732035e-01 3.95957839e+02] [-2.83445511e-01 8.48270210e-01 -4.47321241e-01 -2.16244351e+02] [-8.53306050e-01 -1.02239513e-02 5.21310135e-01 -8.25679383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.97, Y:-216.25, Z:-825.71 [[ 4.37533266e-01 5.29598346e-01 7.26698172e-01 3.95972160e+02] [-2.83218005e-01 8.48189991e-01 -4.47617360e-01 -2.16253704e+02] [-8.53435530e-01 -9.96652099e-03 5.21103123e-01 -8.25707957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.99, Y:-216.26, Z:-825.74 [[ 4.37676142e-01 5.29523981e-01 7.26666325e-01 3.95986549e+02] [-2.82281049e-01 8.48247211e-01 -4.48100522e-01 -2.16263180e+02] [-8.53672656e-01 -9.00122468e-03 5.20732152e-01 -8.25735582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.00, Y:-216.27, Z:-825.76 [[ 4.37441168e-01 5.29483619e-01 7.26837205e-01 3.96000309e+02] [-2.81137813e-01 8.48282076e-01 -4.48752771e-01 -2.16271919e+02] [-8.54170214e-01 -8.03848544e-03 5.19931369e-01 -8.25763060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.01, Y:-216.28, Z:-825.79 [[ 4.37287539e-01 5.29685768e-01 7.26782358e-01 3.96014272e+02] [-2.80747946e-01 8.48159897e-01 -4.49227536e-01 -2.16280634e+02] [-8.54377082e-01 -7.60105036e-03 5.19597946e-01 -8.25791181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.03, Y:-216.29, Z:-825.82 [[ 4.37436498e-01 5.29525480e-01 7.26809519e-01 3.96028369e+02] [-2.79511999e-01 8.48269910e-01 -4.49790176e-01 -2.16289639e+02] [-8.54706004e-01 -6.39734191e-03 5.19072944e-01 -8.25820059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.04, Y:-216.30, Z:-825.85 [[ 4.37999521e-01 5.29395144e-01 7.26565345e-01 3.96041871e+02] [-2.78594474e-01 8.48359234e-01 -4.50190770e-01 -2.16298974e+02] [-8.54717227e-01 -5.23374884e-03 5.19067500e-01 -8.25848350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.06, Y:-216.31, Z:-825.88 [[ 4.37892276e-01 5.29824593e-01 7.26316911e-01 3.96056320e+02] [-2.78761722e-01 8.48091556e-01 -4.50591407e-01 -2.16307761e+02] [-8.54717648e-01 -5.15885622e-03 5.19067557e-01 -8.25877198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9565599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:396.07, Y:-216.32, Z:-825.91 [[ 4.38336254e-01 5.29760312e-01 7.26095958e-01 3.96070171e+02] [-2.78231840e-01 8.48135958e-01 -4.50835270e-01 -2.16316490e+02] [-8.54662724e-01 -4.40557115e-03 5.19164925e-01 -8.25905499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.08, Y:-216.33, Z:-825.93 [[ 4.38538728e-01 5.29930496e-01 7.25849470e-01 3.96084342e+02] [-2.77905046e-01 8.48032407e-01 -4.51231450e-01 -2.16325431e+02] [-8.54665180e-01 -3.83476394e-03 5.19165412e-01 -8.25934019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.10, Y:-216.33, Z:-825.97 [[ 4.37969037e-01 5.36007643e-01 7.21719426e-01 3.96096376e+02] [-2.76475709e-01 8.44211652e-01 -4.59203516e-01 -2.16328306e+02] [-8.55420543e-01 1.57903167e-03 5.17931657e-01 -8.25966860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.11, Y:-216.34, Z:-825.99 [[ 4.38233857e-01 5.34281272e-01 7.22837886e-01 3.96109070e+02] [-2.76588145e-01 8.45306670e-01 -4.57116650e-01 -2.16338600e+02] [-8.55248551e-01 3.95603134e-04 5.18217868e-01 -8.25993911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.12, Y:-216.35, Z:-826.02 [[ 4.38510694e-01 5.35283119e-01 7.21928219e-01 3.96123712e+02] [-2.77273427e-01 8.44672487e-01 -4.57873167e-01 -2.16347227e+02] [-8.54884681e-01 6.10768856e-04 5.18817703e-01 -8.26022497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.14, Y:-216.35, Z:-826.05 [[ 4.38661484e-01 5.35038096e-01 7.22018240e-01 3.96138272e+02] [-2.78107183e-01 8.44827881e-01 -4.57080131e-01 -2.16354719e+02] [-8.54536423e-01 -2.95009966e-04 5.19391389e-01 -8.26049337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.136559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:396.15, Y:-216.36, Z:-826.08 [[ 4.37559345e-01 5.35876282e-01 7.22065392e-01 3.96150791e+02] [-2.78055306e-01 8.44296453e-01 -4.58092508e-01 -2.16360856e+02] [-8.55118159e-01 -3.31455730e-04 5.18433047e-01 -8.26077006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.17, Y:-216.38, Z:-826.10 [[ 4.38382382e-01 5.22367205e-01 7.31405079e-01 3.96167781e+02] [-2.81267976e-01 8.52626441e-01 -4.40359488e-01 -2.16383949e+02] [-8.53644664e-01 -1.26749850e-02 5.20701577e-01 -8.26097140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.18, Y:-216.38, Z:-826.13 [[ 4.37004148e-01 5.33364329e-01 7.24258150e-01 3.96182195e+02] [-2.82133975e-01 8.45860543e-01 -4.52681303e-01 -2.16384376e+02] [-8.54065451e-01 -6.51422383e-03 5.20124764e-01 -8.26128493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.19, Y:-216.39, Z:-826.16 [[ 4.36269896e-01 5.39162917e-01 7.20397063e-01 3.96194996e+02] [-2.81682503e-01 8.42198199e-01 -4.59735968e-01 -2.16387622e+02] [-8.54589695e-01 -2.35428483e-03 5.19298480e-01 -8.26160581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.256559995 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:396.21, Y:-216.40, Z:-826.19 [[ 4.35710888e-01 5.38908235e-01 7.20925750e-01 3.96208588e+02] [-2.81852788e-01 8.42358932e-01 -4.59336952e-01 -2.16396111e+02] [-8.54818711e-01 -3.05682052e-03 5.18917747e-01 -8.26187930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.22, Y:-216.41, Z:-826.21 [[ 4.35865712e-01 5.34139967e-01 7.24372540e-01 3.96223269e+02] [-2.83038752e-01 8.45362275e-01 -4.53047116e-01 -2.16408928e+02] [-8.54347790e-01 -7.55779591e-03 5.19646740e-01 -8.26211327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.24, Y:-216.42, Z:-826.24 [[ 4.35681454e-01 5.35724938e-01 7.23312147e-01 3.96236952e+02] [-2.83208264e-01 8.44365960e-01 -4.54795783e-01 -2.16416509e+02] [-8.54385598e-01 -6.70188943e-03 5.19596319e-01 -8.26239209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.25, Y:-216.43, Z:-826.27 [[ 4.35021039e-01 5.36191379e-01 7.23364017e-01 3.96251203e+02] [-2.83500650e-01 8.44066866e-01 -4.55168659e-01 -2.16425970e+02] [-8.54625109e-01 -7.06622572e-03 5.19197449e-01 -8.26267547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.27, Y:-216.43, Z:-826.30 [[ 4.34251744e-01 5.36784543e-01 7.23386326e-01 3.96265371e+02] [-2.83747537e-01 8.43687233e-01 -4.55718322e-01 -2.16434866e+02] [-8.54934359e-01 -7.36261206e-03 5.18683944e-01 -8.26295493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.28, Y:-216.44, Z:-826.32 [[ 4.33512018e-01 5.37441375e-01 7.23342311e-01 3.96279287e+02] [-2.84190517e-01 8.43265145e-01 -4.56223241e-01 -2.16443394e+02] [-8.55162604e-01 -7.78876728e-03 5.18301317e-01 -8.26323004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4365599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.29, Y:-216.45, Z:-826.35 [[ 4.31812006e-01 5.38571168e-01 7.23518824e-01 3.96293937e+02] [-2.85393720e-01 8.42529548e-01 -4.56830806e-01 -2.16451638e+02] [-8.55621889e-01 -9.22270205e-03 5.17519203e-01 -8.26351695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.31, Y:-216.45, Z:-826.38 [[ 4.30104814e-01 5.44730684e-01 7.19915502e-01 3.96305199e+02] [-2.82868525e-01 8.38604110e-01 -4.65541130e-01 -2.16449484e+02] [-8.57318638e-01 -3.40995477e-03 5.14774830e-01 -8.26381293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.32, Y:-216.47, Z:-826.41 [[ 4.28204669e-01 5.34007692e-01 7.29024379e-01 3.96318965e+02] [-2.84034871e-01 8.45374243e-01 -4.52400908e-01 -2.16466147e+02] [-8.57883998e-01 -1.33481640e-02 5.13670004e-01 -8.26406899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.34, Y:-216.49, Z:-826.43 [[ 4.28753588e-01 5.24413378e-01 7.35636439e-01 3.96335870e+02] [-2.88950189e-01 8.51107460e-01 -4.38319380e-01 -2.16489212e+02] [-8.55966208e-01 -2.46312813e-02 5.16444722e-01 -8.26430184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.35, Y:-216.48, Z:-826.46 [[ 4.27795767e-01 5.42750574e-01 7.22781154e-01 3.96349538e+02] [-2.90056345e-01 8.39788364e-01 -4.58936620e-01 -2.16484329e+02] [-8.56071317e-01 -1.33161160e-02 5.16686154e-01 -8.26463073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.36, Y:-216.49, Z:-826.49 [[ 4.27282746e-01 5.43951233e-01 7.22181772e-01 3.96363327e+02] [-2.92096426e-01 8.38986702e-01 -4.59108912e-01 -2.16492644e+02] [-8.55633761e-01 -1.47773978e-02 5.17370752e-01 -8.26490976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.38, Y:-216.50, Z:-826.52 [[ 4.27237336e-01 5.44713885e-01 7.21633592e-01 3.96377523e+02] [-2.93289299e-01 8.38480022e-01 -4.59274035e-01 -2.16501164e+02] [-8.55248295e-01 -1.54283947e-02 5.17988725e-01 -8.26519134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.39, Y:-216.51, Z:-826.55 [[ 4.26797014e-01 5.45579364e-01 7.21240229e-01 3.96391763e+02] [-2.94471088e-01 8.37901796e-01 -4.59573017e-01 -2.16509936e+02] [-8.55062037e-01 -1.62400035e-02 5.18271333e-01 -8.26547833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.40, Y:-216.50, Z:-826.58 [[ 4.23391000e-01 5.59877904e-01 7.12233665e-01 3.96401620e+02] [-2.91153472e-01 8.28560720e-01 -4.78243442e-01 -2.16500332e+02] [-8.57886774e-01 -4.88533551e-03 5.13815547e-01 -8.26581637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.42, Y:-216.55, Z:-826.60 [[ 4.26247310e-01 5.21043318e-01 7.39477580e-01 3.96420179e+02] [-2.96261867e-01 8.52781355e-01 -4.30107972e-01 -2.16547551e+02] [-8.54717578e-01 -3.57466423e-02 5.17861024e-01 -8.26597039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.43, Y:-216.54, Z:-826.63 [[ 4.25611250e-01 5.47773315e-01 7.20277349e-01 3.96433953e+02] [-2.97057713e-01 8.36434516e-01 -4.60580086e-01 -2.16535956e+02] [-8.54758316e-01 -1.79358759e-02 5.18716228e-01 -8.26631743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:396.45, Y:-216.54, Z:-826.66 [[ 4.25675341e-01 5.48095263e-01 7.19994505e-01 3.96447868e+02] [-2.97046435e-01 8.36229611e-01 -4.60959276e-01 -2.16544620e+02] [-8.54730320e-01 -1.76528036e-02 5.18772069e-01 -8.26659468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.46, Y:-216.55, Z:-826.69 [[ 4.25374008e-01 5.48500923e-01 7.19863661e-01 3.96462218e+02] [-2.97114007e-01 8.35964373e-01 -4.61396612e-01 -2.16553890e+02] [-8.54856842e-01 -1.76154507e-02 5.18564823e-01 -8.26687981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.48, Y:-216.56, Z:-826.72 [[ 4.25473521e-01 5.48536036e-01 7.19778091e-01 3.96476424e+02] [-2.96379710e-01 8.35957923e-01 -4.61880308e-01 -2.16564057e+02] [-8.55062191e-01 -1.68097811e-02 5.18252912e-01 -8.26716140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.49, Y:-216.57, Z:-826.74 [[ 4.25552555e-01 5.48675375e-01 7.19625150e-01 3.96490235e+02] [-2.95909724e-01 8.35878507e-01 -4.62325163e-01 -2.16573545e+02] [-8.55185628e-01 -1.62004251e-02 5.18068613e-01 -8.26743899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.50, Y:-216.58, Z:-826.77 [[ 4.25762374e-01 5.48404295e-01 7.19707670e-01 3.96503982e+02] [-2.94359656e-01 8.36083252e-01 -4.62944045e-01 -2.16583809e+02] [-8.55616032e-01 -1.47487464e-02 5.17400889e-01 -8.26771602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.52, Y:-216.59, Z:-826.80 [[ 4.25953247e-01 5.48485170e-01 7.19533078e-01 3.96517709e+02] [-2.93761876e-01 8.36043299e-01 -4.63395688e-01 -2.16593138e+02] [-8.55726470e-01 -1.39864890e-02 5.17239390e-01 -8.26799108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.53, Y:-216.60, Z:-826.83 [[ 4.25958602e-01 5.48622005e-01 7.19425580e-01 3.96531660e+02] [-2.93270540e-01 8.35963042e-01 -4.63851467e-01 -2.16602699e+02] [-8.55892318e-01 -1.34048060e-02 5.16980321e-01 -8.26827852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.55, Y:-216.61, Z:-826.86 [[ 4.25853024e-01 5.48689657e-01 7.19436490e-01 3.96545635e+02] [-2.92472259e-01 8.35930506e-01 -4.64413789e-01 -2.16612279e+02] [-8.56217951e-01 -1.26431990e-02 5.16460037e-01 -8.26856624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.56, Y:-216.62, Z:-826.88 [[ 4.25830043e-01 5.49150969e-01 7.19098038e-01 3.96559058e+02] [-2.92784529e-01 8.35627708e-01 -4.64761825e-01 -2.16621212e+02] [-8.56122651e-01 -1.26312326e-02 5.16618291e-01 -8.26884707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.57, Y:-216.63, Z:-826.91 [[ 4.25883746e-01 5.49765079e-01 7.18596823e-01 3.96572737e+02] [-2.93629187e-01 8.35218459e-01 -4.64964544e-01 -2.16630685e+02] [-8.55806599e-01 -1.29801595e-02 5.17133039e-01 -8.26912654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:396.59, Y:-216.64, Z:-826.94 [[ 4.26143072e-01 5.50702180e-01 7.17725011e-01 3.96586226e+02] [-2.95447403e-01 8.34585810e-01 -4.64948770e-01 -2.16639779e+02] [-8.55051411e-01 -1.39152936e-02 5.18356489e-01 -8.26940723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.60, Y:-216.65, Z:-826.97 [[ 4.26276892e-01 5.51484540e-01 7.17044499e-01 3.96599564e+02] [-2.96743870e-01 8.34058555e-01 -4.65069245e-01 -2.16648513e+02] [-8.54535597e-01 -1.45302873e-02 5.19189545e-01 -8.26968592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:396.61, Y:-216.66, Z:-827.00 [[ 4.26608457e-01 5.52617901e-01 7.15973938e-01 3.96612851e+02] [-2.99184529e-01 8.33283430e-01 -4.64894980e-01 -2.16657278e+02] [-8.53518507e-01 -1.58801951e-02 5.20820485e-01 -8.26997268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.156559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:396.63, Y:-216.67, Z:-827.03 [[ 4.26532552e-01 5.53002054e-01 7.15722510e-01 3.96627127e+02] [-2.99285829e-01 8.33031055e-01 -4.65281909e-01 -2.16666399e+02] [-8.53520928e-01 -1.57477249e-02 5.20820539e-01 -8.27026125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.64, Y:-216.66, Z:-827.06 [[ 4.24175461e-01 5.65589896e-01 7.07236346e-01 3.96637302e+02] [-2.96199840e-01 8.24670926e-01 -4.81854251e-01 -2.16659060e+02] [-8.55769147e-01 -5.09254401e-03 5.17332807e-01 -8.27059056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.65, Y:-216.70, Z:-827.08 [[ 4.26299716e-01 5.29562227e-01 7.33370575e-01 3.96654634e+02] [-3.01156392e-01 8.47565890e-01 -4.36963258e-01 -2.16704409e+02] [-8.52979120e-01 -3.45819237e-02 5.20798148e-01 -8.27075550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.67, Y:-216.69, Z:-827.11 [[ 4.24882553e-01 5.55165066e-01 7.15029066e-01 3.96667803e+02] [-3.02551045e-01 8.31536551e-01 -4.65843138e-01 -2.16694850e+02] [-8.53192640e-01 -1.84041689e-02 5.21271144e-01 -8.27109679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.68, Y:-216.70, Z:-827.14 [[ 4.24258817e-01 5.55792215e-01 7.14912211e-01 3.96681992e+02] [-3.03049521e-01 8.31107989e-01 -4.66283711e-01 -2.16704681e+02] [-8.53326107e-01 -1.88288274e-02 5.21037456e-01 -8.27138074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.70, Y:-216.71, Z:-827.17 [[ 4.23304319e-01 5.56328338e-01 7.15061000e-01 3.96695476e+02] [-3.03023119e-01 8.30744879e-01 -4.66947466e-01 -2.16713890e+02] [-8.53809371e-01 -1.90191355e-02 5.20238244e-01 -8.27166035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3365599949999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:396.71, Y:-216.72, Z:-827.19 [[ 4.23167955e-01 5.56632118e-01 7.14905286e-01 3.96709228e+02] [-3.03200371e-01 8.30540492e-01 -4.67195919e-01 -2.16723799e+02] [-8.53814041e-01 -1.90572064e-02 5.20229186e-01 -8.27194530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.72, Y:-216.73, Z:-827.22 [[ 4.23192699e-01 5.57068173e-01 7.14550901e-01 3.96722837e+02] [-3.03500055e-01 8.30249036e-01 -4.67519257e-01 -2.16733368e+02] [-8.53695295e-01 -1.90155022e-02 5.20425551e-01 -8.27222691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.74, Y:-216.74, Z:-827.25 [[ 4.23982438e-01 5.57014522e-01 7.14124439e-01 3.96735924e+02] [-3.02912343e-01 8.30308099e-01 -4.67795439e-01 -2.16743090e+02] [-8.53512159e-01 -1.79800557e-02 5.20762626e-01 -8.27250343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:396.75, Y:-216.75, Z:-827.28 [[ 4.24391354e-01 5.56985760e-01 7.13903945e-01 3.96749699e+02] [-3.02232111e-01 8.30346425e-01 -4.68167241e-01 -2.16752257e+02] [-8.53550075e-01 -1.70785671e-02 5.20730826e-01 -8.27279011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.76, Y:-216.76, Z:-827.31 [[ 4.25236354e-01 5.56526610e-01 7.13759187e-01 3.96762883e+02] [-3.00554823e-01 8.30689961e-01 -4.68637373e-01 -2.16761748e+02] [-8.53721759e-01 -1.52421183e-02 5.20506327e-01 -8.27306344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.78, Y:-216.77, Z:-827.33 [[ 4.25798476e-01 5.55757832e-01 7.14023032e-01 3.96776853e+02] [-2.98212822e-01 8.31240001e-01 -4.69157942e-01 -2.16771396e+02] [-8.54262706e-01 -1.31640871e-02 5.19674837e-01 -8.27334789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.79, Y:-216.78, Z:-827.36 [[ 4.25888599e-01 5.55766232e-01 7.13962742e-01 3.96790294e+02] [-2.97369468e-01 8.31247919e-01 -4.69678931e-01 -2.16780175e+02] [-8.54511732e-01 -1.22798186e-02 5.19286920e-01 -8.27361901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.80, Y:-216.79, Z:-827.39 [[ 4.26131908e-01 5.55742445e-01 7.13836068e-01 3.96804343e+02] [-2.96596777e-01 8.31276494e-01 -4.70116733e-01 -2.16789291e+02] [-8.54658966e-01 -1.13897370e-02 5.19064857e-01 -8.27390187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.82, Y:-216.80, Z:-827.42 [[ 4.26542594e-01 5.55788477e-01 7.13554892e-01 3.96818146e+02] [-2.96062482e-01 8.31256503e-01 -4.70488718e-01 -2.16798024e+02] [-8.54639352e-01 -1.05733542e-02 5.19114421e-01 -8.27418064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.83, Y:-216.81, Z:-827.45 [[ 4.26924786e-01 5.55810673e-01 7.13308996e-01 3.96831841e+02] [-2.95510216e-01 8.31251436e-01 -4.70844733e-01 -2.16806851e+02] [-8.54639655e-01 -9.77480832e-03 5.19129573e-01 -8.27446202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.85, Y:-216.82, Z:-827.47 [[ 4.28220647e-01 5.55646811e-01 7.12659596e-01 3.96845834e+02] [-2.94953111e-01 8.31374790e-01 -4.70976243e-01 -2.16815435e+02] [-8.54183669e-01 -8.51941374e-03 5.19901606e-01 -8.27474873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:396.86, Y:-216.82, Z:-827.50 [[ 4.28938827e-01 5.55771635e-01 7.12130166e-01 3.96859740e+02] [-2.94833231e-01 8.31297948e-01 -4.71186892e-01 -2.16823753e+02] [-8.53864655e-01 -7.84928500e-03 5.20435913e-01 -8.27503124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6965599949999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:396.87, Y:-216.83, Z:-827.53 [[ 4.29559967e-01 5.55941428e-01 7.11623049e-01 3.96873150e+02] [-2.94778267e-01 8.31189665e-01 -4.71412255e-01 -2.16832213e+02] [-8.53571326e-01 -7.27117589e-03 5.20925256e-01 -8.27530577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.89, Y:-216.84, Z:-827.56 [[ 4.30501849e-01 5.55901938e-01 7.11084520e-01 3.96887585e+02] [-2.94706167e-01 8.31221502e-01 -4.71401198e-01 -2.16840796e+02] [-8.53121582e-01 -6.62190606e-03 5.21670123e-01 -8.27558999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.90, Y:-216.85, Z:-827.59 [[ 4.30650903e-01 5.56149063e-01 7.10800970e-01 3.96901653e+02] [-2.94565633e-01 8.31059378e-01 -4.71774733e-01 -2.16849375e+02] [-8.53094888e-01 -6.20732248e-03 5.21718872e-01 -8.27586462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.92, Y:-216.86, Z:-827.62 [[ 4.30844036e-01 5.56398301e-01 7.10488809e-01 3.96916098e+02] [-2.94524655e-01 8.30895058e-01 -4.72089643e-01 -2.16858104e+02] [-8.53011515e-01 -5.85946390e-03 5.21859197e-01 -8.27615246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.93, Y:-216.87, Z:-827.64 [[ 4.31012364e-01 5.56510873e-01 7.10298522e-01 3.96931196e+02] [-2.94028667e-01 8.30824149e-01 -4.72523414e-01 -2.16866220e+02] [-8.53097582e-01 -5.18469365e-03 5.21725631e-01 -8.27643831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.94, Y:-216.84, Z:-827.68 [[ 4.26833846e-01 5.82584132e-01 6.91670874e-01 3.96937098e+02] [-2.86107808e-01 8.12551291e-01 -5.07841237e-01 -2.16839545e+02] [-8.57878308e-01 1.88713906e-02 5.13506261e-01 -8.27683697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.95, Y:-216.89, Z:-827.70 [[ 4.28320177e-01 5.35687088e-01 7.27723278e-01 3.96952196e+02] [-2.87655844e-01 8.44271362e-01 -4.52172515e-01 -2.16890720e+02] [-8.56618901e-01 -1.56592419e-02 5.15711981e-01 -8.27698800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.97, Y:-216.89, Z:-827.73 [[ 4.28075884e-01 5.48302131e-01 7.18412006e-01 3.96966122e+02] [-2.88425491e-01 8.36246097e-01 -4.66372385e-01 -2.16891007e+02] [-8.56482209e-01 -7.56556444e-03 5.16121099e-01 -8.27729771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9365599949999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:396.98, Y:-216.90, Z:-827.76 [[ 4.27411563e-01 5.53686507e-01 7.14668180e-01 3.96979042e+02] [-2.88536578e-01 8.32714497e-01 -4.72581432e-01 -2.16895859e+02] [-8.56776517e-01 -4.22114239e-03 5.15670615e-01 -8.27759225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.00, Y:-216.93, Z:-827.77 [[ 4.30093546e-01 5.33924567e-01 7.27972595e-01 3.96999330e+02] [-2.92165586e-01 8.45288772e-01 -4.47354627e-01 -2.16925993e+02] [-8.54200686e-01 -2.02842022e-02 5.19547629e-01 -8.27774701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.01, Y:-216.92, Z:-827.81 [[ 4.29113903e-01 5.57635880e-01 7.10565608e-01 3.97013558e+02] [-2.92446492e-01 8.30075780e-01 -4.74814962e-01 -2.16915943e+02] [-8.54597161e-01 -4.05271786e-03 5.19275715e-01 -8.27809036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.02, Y:-216.90, Z:-827.85 [[ 4.25282064e-01 5.74618087e-01 6.99249040e-01 3.97023370e+02] [-2.88814501e-01 8.18368297e-01 -4.96849589e-01 -2.16904403e+02] [-8.57742007e-01 9.34795580e-03 5.13995394e-01 -8.27845956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0565599949999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:397.04, Y:-216.95, Z:-827.86 [[ 4.27493913e-01 5.38363472e-01 7.26232557e-01 3.97042463e+02] [-2.92913767e-01 8.42488403e-01 -4.52122569e-01 -2.16948818e+02] [-8.55248782e-01 -1.94438681e-02 5.17852736e-01 -8.27858515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.05, Y:-216.92, Z:-827.90 [[ 4.23896513e-01 5.76013766e-01 6.98941977e-01 3.97050841e+02] [-2.88128774e-01 8.17377771e-01 -4.98874122e-01 -2.16918306e+02] [-8.58657997e-01 1.00857060e-02 5.12449727e-01 -8.27900088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.07, Y:-216.97, Z:-827.91 [[ 4.26463192e-01 5.32514841e-01 7.31134112e-01 3.97070382e+02] [-2.93913214e-01 8.46045128e-01 -4.44772599e-01 -2.16971041e+02] [-8.55420463e-01 -2.52108344e-02 5.17320254e-01 -8.27911034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:397.08, Y:-216.96, Z:-827.95 [[ 4.24593642e-01 5.60655852e-01 7.10904533e-01 3.97084894e+02] [-2.95005743e-01 8.28017048e-01 -4.76822168e-01 -2.16957004e+02] [-8.55974212e-01 -7.26525854e-03 5.16967470e-01 -8.27945961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:397.10, Y:-216.96, Z:-827.97 [[ 4.23820272e-01 5.61458292e-01 7.10732695e-01 3.97098861e+02] [-2.95887654e-01 8.27466013e-01 -4.77232118e-01 -2.16964953e+02] [-8.56053079e-01 -8.03638353e-03 5.16825447e-01 -8.27973577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:397.11, Y:-216.97, Z:-828.00 [[ 4.23204383e-01 5.62368013e-01 7.10380369e-01 3.97113382e+02] [-2.97182669e-01 8.26837804e-01 -4.77516186e-01 -2.16973245e+02] [-8.55909173e-01 -9.02579136e-03 5.17047409e-01 -8.28002493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.236559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:397.13, Y:-216.98, Z:-828.03 [[ 4.22171323e-01 5.63786683e-01 7.09870376e-01 3.97127671e+02] [-2.99559462e-01 8.25847740e-01 -4.77744325e-01 -2.16980178e+02] [-8.55590734e-01 -1.09584342e-02 5.17536868e-01 -8.28030595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.14, Y:-216.99, Z:-828.06 [[ 4.21603202e-01 5.64769642e-01 7.09426523e-01 3.97141367e+02] [-3.01079255e-01 8.25160225e-01 -4.77976867e-01 -2.16988478e+02] [-8.55337374e-01 -1.20770316e-02 5.17930616e-01 -8.28058272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.16, Y:-217.00, Z:-828.09 [[ 4.20828337e-01 5.66181333e-01 7.08761038e-01 3.97155686e+02] [-3.03687830e-01 8.24160715e-01 -4.78051062e-01 -2.16995975e+02] [-8.54796592e-01 -1.40646677e-02 5.18772563e-01 -8.28086912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.17, Y:-217.00, Z:-828.11 [[ 4.20344476e-01 5.66963905e-01 7.08422509e-01 3.97169052e+02] [-3.04665267e-01 8.23610594e-01 -4.78377116e-01 -2.17003978e+02] [-8.54686841e-01 -1.47485546e-02 5.18934373e-01 -8.28114245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.18, Y:-217.01, Z:-828.14 [[ 4.19942330e-01 5.67680426e-01 7.08087124e-01 3.97182932e+02] [-3.05574366e-01 8.23105687e-01 -4.78666204e-01 -2.17012610e+02] [-8.54559973e-01 -1.53610732e-02 5.19125506e-01 -8.28142494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:397.20, Y:-217.02, Z:-828.17 [[ 4.19729220e-01 5.68735315e-01 7.07366611e-01 3.97197217e+02] [-3.07501771e-01 8.22353445e-01 -4.78724840e-01 -2.17021537e+02] [-8.53973093e-01 -1.65816817e-02 5.20052887e-01 -8.28170866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.21, Y:-217.03, Z:-828.20 [[ 4.19316112e-01 5.69341890e-01 7.07123618e-01 3.97211174e+02] [-3.08054234e-01 8.21926369e-01 -4.79102946e-01 -2.17030035e+02] [-8.53976924e-01 -1.69368403e-02 5.20035149e-01 -8.28199082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.23, Y:-217.04, Z:-828.23 [[ 4.18814795e-01 5.69984198e-01 7.06903233e-01 3.97225412e+02] [-3.08609987e-01 8.21472956e-01 -4.79522741e-01 -2.17038631e+02] [-8.54022274e-01 -1.73261790e-02 5.19947843e-01 -8.28227337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.24, Y:-217.05, Z:-828.26 [[ 4.18529162e-01 5.70619058e-01 7.06560140e-01 3.97238822e+02] [-3.09280966e-01 8.21024316e-01 -4.79858684e-01 -2.17046507e+02] [-8.53919566e-01 -1.76907497e-02 5.20104233e-01 -8.28255170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.25, Y:-217.06, Z:-828.28 [[ 4.18429615e-01 5.71138520e-01 7.06199298e-01 3.97252792e+02] [-3.09809888e-01 8.20658904e-01 -4.80142476e-01 -2.17055928e+02] [-8.53776605e-01 -1.78816941e-02 5.20332350e-01 -8.28283797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.26, Y:-217.05, Z:-828.32 [[ 4.15778470e-01 5.83322647e-01 6.97755655e-01 3.97261645e+02] [-3.03891138e-01 8.12225082e-01 -4.97936334e-01 -2.17046864e+02] [-8.57192184e-01 -5.01055252e-03 5.14972285e-01 -8.28316775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.28, Y:-217.10, Z:-828.33 [[ 4.19254065e-01 5.46301387e-01 7.25107457e-01 3.97279440e+02] [-3.08983642e-01 8.36873528e-01 -4.51853746e-01 -2.17095072e+02] [-8.53671564e-01 -3.46048230e-02 5.19660820e-01 -8.28332694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.29, Y:-217.08, Z:-828.37 [[ 4.18526124e-01 5.71452155e-01 7.05888319e-01 3.97293449e+02] [-3.08476949e-01 8.20473353e-01 -4.81316371e-01 -2.17084610e+02] [-8.54211833e-01 -1.63067996e-02 5.19669349e-01 -8.28367244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.31, Y:-217.09, Z:-828.40 [[ 4.18688907e-01 5.71505423e-01 7.05748645e-01 3.97306954e+02] [-3.07794006e-01 8.20451794e-01 -4.81790104e-01 -2.17094126e+02] [-8.54378399e-01 -1.55050306e-02 5.19420009e-01 -8.28395028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.31, Y:-217.07, Z:-828.43 [[ 4.15663545e-01 5.90355279e-01 6.91884718e-01 3.97313526e+02] [-2.96686985e-01 8.07114051e-01 -5.10434856e-01 -2.17073643e+02] [-8.59767789e-01 6.89597066e-03 5.10638615e-01 -8.28431122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.33, Y:-217.15, Z:-828.44 [[ 4.21106964e-01 5.27393567e-01 7.37919338e-01 3.97333699e+02] [-3.04182483e-01 8.48574008e-01 -4.32891638e-01 -2.17147579e+02] [-8.54483436e-01 -4.21684530e-02 5.17764309e-01 -8.28439410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.34, Y:-217.10, Z:-828.48 [[ 4.18319651e-01 5.82883589e-01 6.96602750e-01 3.97342994e+02] [-2.98151995e-01 8.12553620e-01 -5.00861261e-01 -2.17104771e+02] [-8.57970895e-01 1.82660795e-03 5.13695052e-01 -8.28484795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.36, Y:-217.15, Z:-828.50 [[ 4.22435561e-01 5.46249664e-01 7.23297658e-01 3.97359757e+02] [-3.01173125e-01 8.37248234e-01 -4.56410061e-01 -2.17152036e+02] [-8.54893529e-01 -2.50339763e-02 5.18199145e-01 -8.28499838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.37, Y:-217.12, Z:-828.54 [[ 4.19876863e-01 5.83095025e-01 6.95488039e-01 3.97368962e+02] [-2.95358091e-01 8.12384025e-01 -5.02788021e-01 -2.17123377e+02] [-8.58176566e-01 5.69103744e-03 5.13323090e-01 -8.28540460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.39, Y:-217.17, Z:-828.55 [[ 4.23266715e-01 5.45453624e-01 7.23412491e-01 3.97386215e+02] [-2.98957765e-01 8.37827554e-01 -4.56803289e-01 -2.17170437e+02] [-8.55259927e-01 -2.29201543e-02 5.17692112e-01 -8.28554897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.40, Y:-217.14, Z:-828.59 [[ 4.21325488e-01 5.80169491e-01 6.97056809e-01 3.97396251e+02] [-2.94181463e-01 8.14476261e-01 -5.00085681e-01 -2.17144472e+02] [-8.57870678e-01 5.63765220e-03 5.13834718e-01 -8.28593665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.41, Y:-217.18, Z:-828.61 [[ 4.22704646e-01 5.53694930e-01 7.17455718e-01 3.97410787e+02] [-2.95914067e-01 8.32595235e-01 -4.68209398e-01 -2.17179141e+02] [-8.56595382e-01 -1.43909517e-02 5.15787992e-01 -8.28613454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.896559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.43, Y:-217.18, Z:-828.64 [[ 4.24149354e-01 5.62425157e-01 7.09771279e-01 3.97425992e+02] [-2.98015268e-01 8.26797293e-01 -4.77067225e-01 -2.17184383e+02] [-8.55151581e-01 -9.17492214e-03 5.18296822e-01 -8.28641322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:397.44, Y:-217.19, Z:-828.67 [[ 4.24677310e-01 5.69187641e-01 7.04041627e-01 3.97439979e+02] [-2.98083923e-01 8.22198245e-01 -4.84908261e-01 -2.17188278e+02] [-8.54865578e-01 -3.93395460e-03 5.18834624e-01 -8.28672026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9565599949999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.45, Y:-217.20, Z:-828.70 [[ 4.25239412e-01 5.69431286e-01 7.03505120e-01 3.97453413e+02] [-2.98269653e-01 8.22031225e-01 -4.85077188e-01 -2.17197476e+02] [-8.54521303e-01 -3.56028966e-03 5.19404147e-01 -8.28700412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.47, Y:-217.21, Z:-828.73 [[ 4.25512961e-01 5.69738532e-01 7.03090837e-01 3.97467315e+02] [-2.98447846e-01 8.21819300e-01 -4.85326613e-01 -2.17207067e+02] [-8.54322892e-01 -3.32318139e-03 5.19732001e-01 -8.28728870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.48, Y:-217.22, Z:-828.76 [[ 4.25906990e-01 5.69801679e-01 7.02801026e-01 3.97480705e+02] [-2.98016566e-01 8.21778125e-01 -4.85661240e-01 -2.17216751e+02] [-8.54277100e-01 -2.59983164e-03 5.19811387e-01 -8.28757260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:397.49, Y:-217.23, Z:-828.78 [[ 4.25890305e-01 5.70022574e-01 7.02631990e-01 3.97493795e+02] [-2.97758532e-01 8.21626088e-01 -4.86076567e-01 -2.17226197e+02] [-8.54375389e-01 -2.19937218e-03 5.19651670e-01 -8.28784602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0765599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:397.51, Y:-217.24, Z:-828.81 [[ 4.25822117e-01 5.70360393e-01 7.02399137e-01 3.97507789e+02] [-2.97855312e-01 8.21391906e-01 -4.86412942e-01 -2.17235766e+02] [-8.54375642e-01 -2.08792507e-03 5.19651713e-01 -8.28813457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.52, Y:-217.25, Z:-828.84 [[ 4.25799200e-01 5.70427290e-01 7.02358703e-01 3.97521125e+02] [-2.97651201e-01 8.21346003e-01 -4.86615357e-01 -2.17245227e+02] [-8.54458193e-01 -1.85748143e-03 5.19516839e-01 -8.28840803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.53, Y:-217.25, Z:-828.87 [[ 4.25683001e-01 5.70658959e-01 7.02240938e-01 3.97534839e+02] [-2.97422040e-01 8.21185710e-01 -4.87025831e-01 -2.17254817e+02] [-8.54595877e-01 -1.54331508e-03 5.19291349e-01 -8.28869025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.55, Y:-217.26, Z:-828.90 [[ 4.24700491e-01 5.71150029e-01 7.02436572e-01 3.97548289e+02] [-2.97209829e-01 8.20844067e-01 -4.87730802e-01 -2.17264503e+02] [-8.55158354e-01 -1.63154210e-03 5.18364281e-01 -8.28897205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.56, Y:-217.27, Z:-828.93 [[ 4.23811890e-01 5.71727697e-01 7.02503326e-01 3.97561610e+02] [-2.97316747e-01 8.20441240e-01 -4.88343039e-01 -2.17273642e+02] [-8.55561941e-01 -1.90041746e-03 5.17696971e-01 -8.28925390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.58, Y:-217.28, Z:-828.95 [[ 4.22993613e-01 5.72318028e-01 7.02515820e-01 3.97575335e+02] [-2.97510859e-01 8.20028809e-01 -4.88917214e-01 -2.17283218e+02] [-8.55899347e-01 -2.19722568e-03 5.17137777e-01 -8.28953400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.59, Y:-217.29, Z:-828.98 [[ 4.21502790e-01 5.73221882e-01 7.02674941e-01 3.97588450e+02] [-2.98131548e-01 8.19394249e-01 -4.89602538e-01 -2.17292559e+02] [-8.56418694e-01 -3.12073224e-03 5.16272489e-01 -8.28980736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.60, Y:-217.30, Z:-829.01 [[ 4.20420382e-01 5.73945422e-01 7.02732776e-01 3.97601319e+02] [-2.98584092e-01 8.18884996e-01 -4.90178441e-01 -2.17301672e+02] [-8.56792999e-01 -3.74382098e-03 5.15646915e-01 -8.29008004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.62, Y:-217.31, Z:-829.04 [[ 4.18914411e-01 5.75041498e-01 7.02736075e-01 3.97615067e+02] [-3.00141845e-01 8.18106212e-01 -4.90527368e-01 -2.17311826e+02] [-8.56986341e-01 -5.43151877e-03 5.15310498e-01 -8.29036581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.63, Y:-217.32, Z:-829.07 [[ 4.17753776e-01 5.76036574e-01 7.02612019e-01 3.97628677e+02] [-3.01306545e-01 8.17397383e-01 -4.90994791e-01 -2.17321219e+02] [-8.57144182e-01 -6.58667210e-03 5.15034433e-01 -8.29065063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.64, Y:-217.33, Z:-829.09 [[ 4.16730516e-01 5.77043568e-01 7.02393336e-01 3.97642487e+02] [-3.02559233e-01 8.16676835e-01 -4.91423298e-01 -2.17330513e+02] [-8.57201019e-01 -7.72450411e-03 5.14924018e-01 -8.29093858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.66, Y:-217.34, Z:-829.12 [[ 4.15783676e-01 5.78204871e-01 7.01999332e-01 3.97656426e+02] [-3.04319790e-01 8.15839962e-01 -4.91726165e-01 -2.17339708e+02] [-8.57037572e-01 -9.18057736e-03 5.15172123e-01 -8.29122674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4365599949999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:397.67, Y:-217.35, Z:-829.15 [[ 4.13783099e-01 5.80125178e-01 7.01596982e-01 3.97669513e+02] [-3.07590076e-01 8.14435737e-01 -4.92019081e-01 -2.17348168e+02] [-8.56838312e-01 -1.22150889e-02 5.15440491e-01 -8.29151372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.68, Y:-217.37, Z:-829.18 [[ 4.13923114e-01 5.75859888e-01 7.05019890e-01 3.97684337e+02] [-3.11746414e-01 8.17322517e-01 -4.84559673e-01 -2.17365727e+02] [-8.55267110e-01 -1.92169735e-02 5.17830936e-01 -8.29179075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.70, Y:-217.36, Z:-829.21 [[ 4.12438069e-01 5.95832948e-01 6.89113879e-01 3.97696230e+02] [-3.12043475e-01 8.03088370e-01 -5.07619877e-01 -2.17355279e+02] [-8.55875989e-01 -5.67172771e-03 5.17150000e-01 -8.29210869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.71, Y:-217.38, Z:-829.24 [[ 4.12627870e-01 5.83756389e-01 6.99261553e-01 3.97709186e+02] [-3.13760856e-01 8.11767854e-01 -4.92531294e-01 -2.17375911e+02] [-8.55156340e-01 -1.61687646e-02 5.18117945e-01 -8.29236333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.72, Y:-217.39, Z:-829.27 [[ 4.13112419e-01 5.83961722e-01 6.98803861e-01 3.97721876e+02] [-3.13718677e-01 8.11630281e-01 -4.92784820e-01 -2.17385657e+02] [-8.54937846e-01 -1.56522943e-02 5.18494247e-01 -8.29265053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.74, Y:-217.40, Z:-829.29 [[ 4.14015764e-01 5.83899129e-01 6.98321383e-01 3.97735211e+02] [-3.13200350e-01 8.11694897e-01 -4.93008047e-01 -2.17395855e+02] [-8.54690873e-01 -1.46013981e-02 5.18931894e-01 -8.29293184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.75, Y:-217.41, Z:-829.32 [[ 4.14564908e-01 5.83589104e-01 6.98254750e-01 3.97748054e+02] [-3.11733901e-01 8.11943912e-01 -4.93527161e-01 -2.17405687e+02] [-8.54960767e-01 -1.30706353e-02 5.18527961e-01 -8.29321245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.76, Y:-217.42, Z:-829.35 [[ 4.15632001e-01 5.83165653e-01 6.97974113e-01 3.97761560e+02] [-3.10351589e-01 8.12273894e-01 -4.93855255e-01 -2.17416361e+02] [-8.54945572e-01 -1.13553268e-02 5.18593410e-01 -8.29349856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.77, Y:-217.43, Z:-829.38 [[ 4.17310470e-01 5.81474828e-01 6.98383130e-01 3.97774229e+02] [-3.05664566e-01 8.13534056e-01 -4.94703460e-01 -2.17428003e+02] [-8.55816070e-01 -7.02604354e-03 5.17232530e-01 -8.29378324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.79, Y:-217.44, Z:-829.41 [[ 4.18462484e-01 5.80645219e-01 6.98384049e-01 3.97786778e+02] [-3.03091465e-01 8.14144715e-01 -4.95281685e-01 -2.17438226e+02] [-8.56168625e-01 -4.41744029e-03 5.16677629e-01 -8.29405463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.80, Y:-217.46, Z:-829.43 [[ 4.21903981e-01 5.74849297e-01 7.01102929e-01 3.97800145e+02] [-2.99440226e-01 8.18254142e-01 -4.90709396e-01 -2.17455221e+02] [-8.55764326e-01 -2.90617196e-03 5.17357683e-01 -8.29432496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.81, Y:-217.45, Z:-829.46 [[ 4.22193867e-01 5.86516658e-01 6.91195015e-01 3.97812087e+02] [-2.96455010e-01 8.09889492e-01 -5.06155547e-01 -2.17452369e+02] [-8.56660239e-01 8.78754247e-03 5.15806178e-01 -8.29462289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.82, Y:-217.47, Z:-829.49 [[ 4.22844812e-01 5.77508102e-01 6.98345657e-01 3.97824851e+02] [-2.95116162e-01 8.16376030e-01 -4.96423840e-01 -2.17469079e+02] [-8.56801445e-01 3.81715510e-03 5.15632344e-01 -8.29486983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.84, Y:-217.48, Z:-829.52 [[ 4.23750711e-01 5.77232028e-01 6.98024729e-01 3.97838716e+02] [-2.94068474e-01 8.16563457e-01 -4.96737208e-01 -2.17477558e+02] [-8.56714111e-01 5.22567841e-03 5.15765086e-01 -8.29515042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.85, Y:-217.48, Z:-829.55 [[ 4.23911719e-01 5.79889671e-01 6.95720364e-01 3.97851040e+02] [-2.93288683e-01 8.14655304e-01 -5.00318382e-01 -2.17483306e+02] [-8.56901747e-01 8.04391665e-03 5.15417008e-01 -8.29545270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.87, Y:-217.50, Z:-829.57 [[ 4.24625700e-01 5.76334635e-01 6.98234490e-01 3.97865309e+02] [-2.94461154e-01 8.17199813e-01 -4.95456451e-01 -2.17496233e+02] [-8.56145808e-01 4.78060854e-03 5.16712204e-01 -8.29569844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.88, Y:-217.50, Z:-829.60 [[ 4.24892333e-01 5.77848957e-01 6.96819265e-01 3.97878918e+02] [-2.94692196e-01 8.16122665e-01 -4.97091848e-01 -2.17504745e+02] [-8.55934002e-01 5.86331560e-03 5.17051841e-01 -8.29598850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.89, Y:-217.51, Z:-829.63 [[ 4.24717401e-01 5.78345379e-01 6.96514000e-01 3.97892578e+02] [-2.95063570e-01 8.15771696e-01 -4.97447515e-01 -2.17514823e+02] [-8.55892878e-01 5.75870832e-03 5.17121087e-01 -8.29626755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.90, Y:-217.52, Z:-829.66 [[ 4.23859545e-01 5.82083629e-01 6.93917672e-01 3.97904823e+02] [-2.93808280e-01 8.13077527e-01 -5.02574999e-01 -2.17519850e+02] [-8.56749544e-01 9.14245216e-03 5.15651660e-01 -8.29658002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.92, Y:-217.53, Z:-829.68 [[ 4.23915120e-01 5.76696170e-01 6.98367739e-01 3.97920019e+02] [-2.95008882e-01 8.16948696e-01 -4.95544738e-01 -2.17534058e+02] [-8.56309366e-01 4.04422091e-03 5.16447397e-01 -8.29682189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.93, Y:-217.54, Z:-829.71 [[ 4.23546335e-01 5.79410756e-01 6.96341639e-01 3.97933870e+02] [-2.95217715e-01 8.15016419e-01 -4.98592757e-01 -2.17540548e+02] [-8.56419875e-01 5.60474768e-03 5.16249536e-01 -8.29710444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.95, Y:-217.55, Z:-829.74 [[ 4.22880136e-01 5.80029414e-01 6.96231477e-01 3.97947912e+02] [-2.95649310e-01 8.14578942e-01 -4.99051734e-01 -2.17549499e+02] [-8.56600184e-01 5.19870929e-03 5.15954550e-01 -8.29739340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.96, Y:-217.56, Z:-829.77 [[ 4.22610115e-01 5.80699471e-01 6.95836774e-01 3.97961388e+02] [-2.96454951e-01 8.14104174e-01 -4.99348432e-01 -2.17558172e+02] [-8.56454992e-01 4.74544164e-03 5.16199891e-01 -8.29766569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.98, Y:-217.57, Z:-829.80 [[ 4.21451775e-01 5.81908373e-01 6.95529329e-01 3.97975824e+02] [-2.98560738e-01 8.13249355e-01 -4.99486709e-01 -2.17566514e+02] [-8.56294276e-01 2.85181065e-03 5.16480377e-01 -8.29795545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.99, Y:-217.58, Z:-829.82 [[ 4.20731113e-01 5.82713576e-01 6.95291463e-01 3.97989977e+02] [-2.99453507e-01 8.12674863e-01 -4.99887151e-01 -2.17575399e+02] [-8.56336924e-01 2.11060999e-03 5.16413224e-01 -8.29824174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.00, Y:-217.58, Z:-829.85 [[ 4.19522921e-01 5.83915271e-01 6.95013291e-01 3.98004155e+02] [-3.01163705e-01 8.11814416e-01 -5.00257711e-01 -2.17583346e+02] [-8.56329926e-01 5.56798800e-04 5.16428842e-01 -8.29852400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2165599949999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.02, Y:-217.59, Z:-829.88 [[ 4.19158555e-01 5.84700103e-01 6.94573175e-01 3.98018066e+02] [-3.02264179e-01 8.11249510e-01 -5.00510339e-01 -2.17592202e+02] [-8.56120595e-01 -1.51400275e-04 5.16776068e-01 -8.29880719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.03, Y:-217.60, Z:-829.91 [[ 4.18866305e-01 5.85282485e-01 6.94258908e-01 3.98031335e+02] [-3.02824168e-01 8.10829336e-01 -5.00852585e-01 -2.17600574e+02] [-8.56065735e-01 -4.48104231e-04 5.16866769e-01 -8.29908400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.05, Y:-217.61, Z:-829.94 [[ 4.18118546e-01 5.85968449e-01 6.94131009e-01 3.98045182e+02] [-3.03428906e-01 8.10333224e-01 -5.01289303e-01 -2.17609092e+02] [-8.56217134e-01 -1.02105808e-03 5.16615115e-01 -8.29936798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.06, Y:-217.62, Z:-829.96 [[ 4.17660101e-01 5.86384399e-01 6.94055744e-01 3.98058518e+02] [-3.03379266e-01 8.10032333e-01 -5.01805382e-01 -2.17618417e+02] [-8.56458441e-01 -9.78035398e-04 5.16215054e-01 -8.29964949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.07, Y:-217.63, Z:-829.99 [[ 4.17996697e-01 5.86052158e-01 6.94133726e-01 3.98072623e+02] [-3.01688339e-01 8.10273104e-01 -5.02435711e-01 -2.17628280e+02] [-8.56891421e-01 6.04416811e-04 5.15496583e-01 -8.29993362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.09, Y:-217.64, Z:-830.02 [[ 4.17923467e-01 5.86431080e-01 6.93857740e-01 3.98086427e+02] [-3.01790172e-01 8.09998791e-01 -5.02816717e-01 -2.17638106e+02] [-8.56891281e-01 7.39459314e-04 5.15496639e-01 -8.30022219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.10, Y:-217.63, Z:-830.06 [[ 4.16951776e-01 5.97882918e-01 6.84607357e-01 3.98096254e+02] [-2.95020620e-01 8.01444170e-01 -5.20240403e-01 -2.17630657e+02] [-8.59717425e-01 1.49418730e-02 5.10551358e-01 -8.30057028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:398.11, Y:-217.67, Z:-830.07 [[ 4.19425752e-01 5.66981111e-01 7.08953072e-01 3.98112350e+02] [-2.97690969e-01 8.23685631e-01 -4.82620005e-01 -2.17671840e+02] [-8.57590885e-01 -8.62566850e-03 5.14260122e-01 -8.30072724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4565599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.13, Y:-217.67, Z:-830.11 [[ 4.21504311e-01 5.83897713e-01 6.93828204e-01 3.98126122e+02] [-2.95418894e-01 8.11794021e-01 -5.03704422e-01 -2.17666452e+02] [-8.57357447e-01 7.34362444e-03 5.14669096e-01 -8.30105461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.13, Y:-217.64, Z:-830.14 [[ 4.19714940e-01 6.05045122e-01 6.76579462e-01 3.98133669e+02] [-2.86465372e-01 7.95617367e-01 -5.33788906e-01 -2.17644507e+02] [-8.61264744e-01 3.02225919e-02 5.07256972e-01 -8.30143302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.14, Y:-217.69, Z:-830.16 [[ 4.20206290e-01 5.67519656e-01 7.08059400e-01 3.98144605e+02] [-2.85063788e-01 8.23348228e-01 -4.90750785e-01 -2.17685557e+02] [-8.61490169e-01 4.37447214e-03 5.07755407e-01 -8.30162756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.16, Y:-217.73, Z:-830.18 [[ 4.26528475e-01 5.42444741e-01 7.23759051e-01 3.98164388e+02] [-2.91210313e-01 8.39949323e-01 -4.57910132e-01 -2.17728092e+02] [-8.56311867e-01 -1.54543897e-02 5.16227807e-01 -8.30178939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5765599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.18, Y:-217.71, Z:-830.22 [[ 4.28458363e-01 5.81930932e-01 6.91216190e-01 3.98178894e+02] [-2.91672232e-01 8.13113682e-01 -5.03759317e-01 -2.17705826e+02] [-8.55190470e-01 1.42313228e-02 5.18118451e-01 -8.30217356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.19, Y:-217.72, Z:-830.25 [[ 4.29340018e-01 5.81837776e-01 6.90747386e-01 3.98192087e+02] [-2.91197615e-01 8.13162362e-01 -5.03955277e-01 -2.17715401e+02] [-8.54909994e-01 1.52241763e-02 5.18552916e-01 -8.30245677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.20, Y:-217.70, Z:-830.28 [[ 4.28782655e-01 5.98872671e-01 6.76385215e-01 3.98199834e+02] [-2.84306518e-01 8.00114579e-01 -5.28191692e-01 -2.17698827e+02] [-8.57505241e-01 3.41787104e-02 5.13338658e-01 -8.30282384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.22, Y:-217.76, Z:-830.29 [[ 4.30852861e-01 5.49522988e-01 7.15814430e-01 3.98217076e+02] [-2.90607928e-01 8.35448838e-01 -4.66446429e-01 -2.17761969e+02] [-8.54349369e-01 -7.05156999e-03 5.19651259e-01 -8.30291827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6965599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.23, Y:-217.72, Z:-830.34 [[ 4.28650629e-01 5.97484941e-01 6.77694904e-01 3.98227306e+02] [-2.88655848e-01 8.01356896e-01 -5.23932178e-01 -2.17724554e+02] [-8.56117071e-01 2.89632609e-02 5.15969660e-01 -8.30336318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.24, Y:-217.75, Z:-830.36 [[ 4.27316081e-01 5.80766167e-01 6.92900878e-01 3.98239830e+02] [-2.89930120e-01 8.13946101e-01 -5.03420570e-01 -2.17749503e+02] [-8.56353603e-01 1.42268704e-02 5.16193862e-01 -8.30360410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.26, Y:-217.78, Z:-830.38 [[ 4.26858230e-01 5.64595209e-01 7.06416521e-01 3.98257946e+02] [-2.97471990e-01 8.25351002e-01 -4.79902217e-01 -2.17781395e+02] [-8.53992077e-01 -5.28891747e-03 5.20259128e-01 -8.30377124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.27, Y:-217.76, Z:-830.42 [[ 4.23228436e-01 6.01088659e-01 6.77916009e-01 3.98268611e+02] [-2.96239678e-01 7.98914103e-01 -5.23429373e-01 -2.17755603e+02] [-8.56224120e-01 2.07045753e-02 5.16189477e-01 -8.30418815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8165599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.28, Y:-217.80, Z:-830.43 [[ 4.23413610e-01 5.72185174e-01 7.02371014e-01 3.98284882e+02] [-3.01709487e-01 8.20102198e-01 -4.86213708e-01 -2.17796285e+02] [-8.54220288e-01 -6.04249707e-03 5.19876128e-01 -8.30432626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.30, Y:-217.79, Z:-830.46 [[ 4.21155226e-01 5.90314054e-01 6.88591021e-01 3.98299097e+02] [-3.04617857e-01 8.07167306e-01 -5.05656901e-01 -2.17792408e+02] [-8.54304534e-01 3.20292588e-03 5.19762931e-01 -8.30464930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.31, Y:-217.80, Z:-830.49 [[ 4.16455418e-01 5.93658345e-01 6.88574364e-01 3.98313324e+02] [-3.10135933e-01 8.04712548e-01 -5.06214795e-01 -2.17801797e+02] [-8.54623068e-01 -2.73575859e-03 5.19241685e-01 -8.30493188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.33, Y:-217.81, Z:-830.52 [[ 4.13903875e-01 5.95713091e-01 6.88338214e-01 3.98327032e+02] [-3.13442308e-01 8.03174431e-01 -5.06620917e-01 -2.17810659e+02] [-8.54656365e-01 -6.06195788e-03 5.19158695e-01 -8.30520736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9365599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.34, Y:-217.82, Z:-830.55 [[ 4.11521033e-01 5.97763499e-01 6.87989272e-01 3.98341293e+02] [-3.16952427e-01 8.01616706e-01 -5.06904150e-01 -2.17819649e+02] [-8.54512492e-01 -9.45815003e-03 5.19344726e-01 -8.30549334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.36, Y:-217.83, Z:-830.58 [[ 4.11445933e-01 5.98117361e-01 6.87726594e-01 3.98355046e+02] [-3.17046222e-01 8.01354202e-01 -5.07260422e-01 -2.17829643e+02] [-8.54513861e-01 -9.33088073e-03 5.19344776e-01 -8.30578160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.996559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.37, Y:-217.84, Z:-830.61 [[ 4.09077772e-01 6.00058684e-01 6.87448145e-01 3.98369091e+02] [-3.20767221e-01 7.99850540e-01 -5.07294296e-01 -2.17839026e+02] [-8.54262118e-01 -1.29880104e-02 5.19680234e-01 -8.30606754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:398.38, Y:-217.85, Z:-830.63 [[ 4.04608387e-01 6.03490954e-01 6.87088584e-01 3.98382857e+02] [-3.26960521e-01 7.97137034e-01 -5.07611433e-01 -2.17848518e+02] [-8.54042664e-01 -1.92669980e-02 5.19846046e-01 -8.30634496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.40, Y:-217.86, Z:-830.66 [[ 4.02788998e-01 6.05128157e-01 6.86717508e-01 3.98396341e+02] [-3.29722208e-01 7.95827962e-01 -5.07879042e-01 -2.17858471e+02] [-8.53840904e-01 -2.18579224e-02 5.20074940e-01 -8.30662781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.41, Y:-217.87, Z:-830.69 [[ 4.00345756e-01 6.07117043e-01 6.86390684e-01 3.98409814e+02] [-3.33078027e-01 7.94214006e-01 -5.08215645e-01 -2.17868088e+02] [-8.53687474e-01 -2.51596783e-02 5.20177554e-01 -8.30690477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.42, Y:-217.88, Z:-830.72 [[ 3.99508462e-01 6.07930433e-01 6.86158566e-01 3.98423431e+02] [-3.34069422e-01 7.93563108e-01 -5.08581573e-01 -2.17877806e+02] [-8.53692340e-01 -2.60419536e-02 5.20126144e-01 -8.30719120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.44, Y:-217.89, Z:-830.75 [[ 3.98966809e-01 6.08546600e-01 6.85927490e-01 3.98436243e+02] [-3.34594901e-01 7.93077645e-01 -5.08993223e-01 -2.17887074e+02] [-8.53739854e-01 -2.64364392e-02 5.20028246e-01 -8.30746283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.45, Y:-217.90, Z:-830.77 [[ 3.99374367e-01 6.08688066e-01 6.85564697e-01 3.98449021e+02] [-3.34392580e-01 7.92988079e-01 -5.09265656e-01 -2.17897180e+02] [-8.53628559e-01 -2.58600990e-02 5.20239885e-01 -8.30774891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.46, Y:-217.91, Z:-830.80 [[ 4.00224399e-01 6.08636749e-01 6.85114397e-01 3.98462008e+02] [-3.33834687e-01 7.93061523e-01 -5.09517245e-01 -2.17907956e+02] [-8.53448787e-01 -2.47937170e-02 5.20586630e-01 -8.30803159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.47, Y:-217.91, Z:-830.83 [[ 4.02594371e-01 6.09535750e-01 6.82923086e-01 3.98472786e+02] [-3.29067740e-01 7.92553334e-01 -5.13394229e-01 -2.17914523e+02] [-8.54185106e-01 -1.80383297e-02 5.19656063e-01 -8.30830713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.49, Y:-217.94, Z:-830.86 [[ 4.03620153e-01 5.97732739e-01 6.92680551e-01 3.98485469e+02] [-3.30196267e-01 8.01230000e-01 -4.98999913e-01 -2.17939524e+02] [-8.53265022e-01 -2.73141113e-02 5.20761694e-01 -8.30855512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.50, Y:-217.94, Z:-830.89 [[ 4.04502256e-01 6.06784776e-01 6.84244226e-01 3.98498371e+02] [-3.28803492e-01 7.94649489e-01 -5.10314073e-01 -2.17942314e+02] [-8.53385135e-01 -1.85586976e-02 5.20950464e-01 -8.30885214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.51, Y:-217.94, Z:-830.91 [[ 4.06475429e-01 6.11590707e-01 6.78774287e-01 3.98507994e+02] [-3.22193304e-01 7.91139969e-01 -5.19893282e-01 -2.17941369e+02] [-8.54967368e-01 -7.37268564e-03 5.18629389e-01 -8.30914592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.356559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.52, Y:-217.98, Z:-830.94 [[ 4.08846506e-01 5.87079055e-01 6.98700736e-01 3.98521200e+02] [-3.24421457e-01 8.09101100e-01 -4.90006254e-01 -2.17978529e+02] [-8.52991942e-01 -2.63361662e-02 5.21259200e-01 -8.30935050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.53, Y:-217.97, Z:-830.97 [[ 4.09492055e-01 6.04449264e-01 6.83342772e-01 3.98534972e+02] [-3.23009666e-01 7.96561174e-01 -5.11033317e-01 -2.17974574e+02] [-8.53218033e-01 -1.14622371e-02 5.21428427e-01 -8.30968721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.55, Y:-217.97, Z:-831.00 [[ 4.09718088e-01 6.09821850e-01 6.78416096e-01 3.98545476e+02] [-3.18345916e-01 7.92533364e-01 -5.20141082e-01 -2.17974904e+02] [-8.54860788e-01 -2.85978385e-03 5.18849549e-01 -8.30998273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.56, Y:-218.01, Z:-831.02 [[ 4.12742661e-01 5.87619998e-01 6.95949878e-01 3.98558307e+02] [-3.18099485e-01 8.08951423e-01 -4.94378714e-01 -2.18010775e+02] [-8.53496464e-01 -1.73301114e-02 5.20810382e-01 -8.31019304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.57, Y:-218.01, Z:-831.05 [[ 4.12997566e-01 6.02353566e-01 6.83083591e-01 3.98572233e+02] [-3.16601160e-01 7.98216031e-01 -5.12459631e-01 -2.18009276e+02] [-8.53930159e-01 -4.62047704e-03 5.20367116e-01 -8.31051933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.59, Y:-218.02, Z:-831.08 [[ 4.13118567e-01 6.02022474e-01 6.83302268e-01 3.98586034e+02] [-3.14731654e-01 7.98473354e-01 -5.13209791e-01 -2.18019681e+02] [-8.54562482e-01 -3.04035983e-03 5.19339697e-01 -8.31080420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.60, Y:-218.03, Z:-831.11 [[ 4.13527804e-01 6.02231074e-01 6.82870770e-01 3.98598843e+02] [-3.14707007e-01 7.98317682e-01 -5.13467018e-01 -2.18029493e+02] [-8.54373604e-01 -2.57132824e-03 5.19652897e-01 -8.31107907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.61, Y:-218.04, Z:-831.14 [[ 4.14160331e-01 6.04069361e-01 6.80860799e-01 3.98611398e+02] [-3.13381426e-01 7.96931581e-01 -5.16422440e-01 -2.18035041e+02] [-8.54554447e-01 5.12560694e-04 5.19361565e-01 -8.31136693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.62, Y:-218.05, Z:-831.16 [[ 4.14444096e-01 5.96644391e-01 6.87205618e-01 3.98624604e+02] [-3.15189475e-01 8.02478390e-01 -5.06639940e-01 -2.18054228e+02] [-8.53751537e-01 -6.62604556e-03 5.20638463e-01 -8.31161511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.64, Y:-218.06, Z:-831.19 [[ 4.14173647e-01 6.03496552e-01 6.81360479e-01 3.98638333e+02] [-3.16188170e-01 7.97361577e-01 -5.14042368e-01 -2.18059596e+02] [-8.53513463e-01 -2.53532107e-03 5.21064622e-01 -8.31191338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.65, Y:-218.06, Z:-831.22 [[ 4.11656587e-01 6.11871119e-01 6.75390693e-01 3.98649668e+02] [-3.13386321e-01 7.90943600e-01 -5.25544704e-01 -2.18056549e+02] [-8.55761572e-01 4.68573428e-03 5.17349182e-01 -8.31222284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:398.66, Y:-218.07, Z:-831.25 [[ 4.10551704e-01 6.00852901e-01 6.85873960e-01 3.98661368e+02] [-3.12296469e-01 7.99352178e-01 -5.13329340e-01 -2.18072725e+02] [-8.56690267e-01 -3.44778016e-03 5.15819638e-01 -8.31247596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.68, Y:-218.11, Z:-831.27 [[ 4.11341896e-01 5.82707679e-01 7.00892007e-01 3.98678425e+02] [-3.17974583e-01 8.12389231e-01 -4.88790244e-01 -2.18105861e+02] [-8.54218947e-01 -2.18059377e-02 5.19455958e-01 -8.31267531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.69, Y:-218.10, Z:-831.30 [[ 4.09737363e-01 6.06461584e-01 6.81410038e-01 3.98693364e+02] [-3.18774893e-01 7.95091565e-01 -5.15957334e-01 -2.18095317e+02] [-8.54691676e-01 -5.80941443e-03 5.19103448e-01 -8.31302113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.71, Y:-218.10, Z:-831.33 [[ 4.08485405e-01 6.07289927e-01 6.81423965e-01 3.98707723e+02] [-3.19408749e-01 7.94452468e-01 -5.16549443e-01 -2.18104252e+02] [-8.55054224e-01 -6.64986756e-03 5.18495953e-01 -8.31330609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.72, Y:-218.11, Z:-831.36 [[ 4.06900070e-01 6.08985576e-01 6.80858943e-01 3.98722556e+02] [-3.19797960e-01 7.93151810e-01 -5.18304420e-01 -2.18110665e+02] [-8.55664419e-01 -6.83919617e-03 5.17485872e-01 -8.31359022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.74, Y:-218.12, Z:-831.39 [[ 4.05910214e-01 6.05627395e-01 6.84435795e-01 3.98736558e+02] [-3.21198329e-01 7.95666992e-01 -5.13561751e-01 -2.18124445e+02] [-8.55610035e-01 -1.13796734e-02 5.17495865e-01 -8.31385042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.75, Y:-218.13, Z:-831.41 [[ 4.04067938e-01 6.09980227e-01 6.81654769e-01 3.98751401e+02] [-3.22143217e-01 7.92350316e-01 -5.18077914e-01 -2.18130745e+02] [-8.56126655e-01 -1.02517856e-02 5.16664351e-01 -8.31413453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.77, Y:-218.14, Z:-831.44 [[ 4.03592912e-01 6.10472859e-01 6.81495157e-01 3.98765730e+02] [-3.22392927e-01 7.91968319e-01 -5.18506493e-01 -2.18140031e+02] [-8.56256715e-01 -1.04436732e-02 5.16444932e-01 -8.31442196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.78, Y:-218.15, Z:-831.47 [[ 4.03323658e-01 6.10909764e-01 6.81263009e-01 3.98779871e+02] [-3.22552535e-01 7.91631268e-01 -5.18921765e-01 -2.18147297e+02] [-8.56323472e-01 -1.04496861e-02 5.16334112e-01 -8.31470801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.79, Y:-218.16, Z:-831.50 [[ 4.03875058e-01 6.11031043e-01 6.80827440e-01 3.98793487e+02] [-3.22339204e-01 7.91546318e-01 -5.19183844e-01 -2.18155553e+02] [-8.56143899e-01 -9.77197011e-03 5.16645075e-01 -8.31498865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.81, Y:-218.16, Z:-831.53 [[ 4.04540152e-01 6.11067023e-01 6.80400146e-01 3.98807056e+02] [-3.22018483e-01 7.91527936e-01 -5.19410843e-01 -2.18164378e+02] [-8.55950561e-01 -8.97888115e-03 5.16979707e-01 -8.31527199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.82, Y:-218.17, Z:-831.56 [[ 4.06192837e-01 6.10526293e-01 6.79900747e-01 3.98820706e+02] [-3.20606288e-01 7.91965794e-01 -5.19616965e-01 -2.18173165e+02] [-8.55697954e-01 -6.91576511e-03 5.17429401e-01 -8.31555690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.83, Y:-218.18, Z:-831.58 [[ 4.06762216e-01 6.10518374e-01 6.79567373e-01 3.98833878e+02] [-3.20039556e-01 7.91979409e-01 -5.19945476e-01 -2.18182604e+02] [-8.55639633e-01 -5.99426620e-03 5.17537329e-01 -8.31583602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.85, Y:-218.19, Z:-831.61 [[ 4.08384089e-01 6.10038730e-01 6.79025172e-01 3.98847698e+02] [-3.18886264e-01 7.92360770e-01 -5.20073034e-01 -2.18191620e+02] [-8.55297601e-01 -4.14224762e-03 5.18120503e-01 -8.31611653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.86, Y:-218.20, Z:-831.64 [[ 4.08753193e-01 6.10081568e-01 6.78764545e-01 3.98861377e+02] [-3.18336875e-01 7.92331581e-01 -5.20453936e-01 -2.18200918e+02] [-8.55325939e-01 -3.33857548e-03 5.18079524e-01 -8.31639592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.88, Y:-218.21, Z:-831.67 [[ 4.09158818e-01 6.10126472e-01 6.78479735e-01 3.98875093e+02] [-3.17822201e-01 7.92299969e-01 -5.20816482e-01 -2.18210112e+02] [-8.55323395e-01 -2.53926622e-03 5.18088257e-01 -8.31668207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.89, Y:-218.22, Z:-831.70 [[ 4.09566494e-01 6.10235162e-01 6.78135926e-01 3.98888776e+02] [-3.17501456e-01 7.92218122e-01 -5.21136519e-01 -2.18219161e+02] [-8.55247398e-01 -1.86908684e-03 5.18216552e-01 -8.31696251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.90, Y:-218.23, Z:-831.72 [[ 4.09804249e-01 6.10082280e-01 6.78129847e-01 3.98902523e+02] [-3.16246681e-01 7.92337796e-01 -5.21717216e-01 -2.18227985e+02] [-8.55598337e-01 -6.54381565e-04 5.17639892e-01 -8.31724384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.92, Y:-218.24, Z:-831.75 [[ 4.10111515e-01 6.10281337e-01 6.77764882e-01 3.98915934e+02] [-3.16131537e-01 7.92184738e-01 -5.22019341e-01 -2.18237643e+02] [-8.55493657e-01 -1.76711447e-04 5.17813260e-01 -8.31752001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.93, Y:-218.24, Z:-831.78 [[ 4.10273011e-01 6.11791820e-01 6.76303797e-01 3.98928708e+02] [-3.15126107e-01 7.91016228e-01 -5.24393806e-01 -2.18244749e+02] [-8.55787119e-01 2.02364290e-03 5.17324184e-01 -8.31780597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.94, Y:-218.26, Z:-831.81 [[ 4.10470292e-01 6.08837082e-01 6.78845747e-01 3.98942208e+02] [-3.16731194e-01 7.93293710e-01 -5.19967730e-01 -2.18258024e+02] [-8.55099696e-01 -1.58031787e-03 5.18461197e-01 -8.31806171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.96, Y:-218.26, Z:-831.84 [[ 4.10359496e-01 6.13277162e-01 6.74904591e-01 3.98955044e+02] [-3.17041079e-01 7.89866448e-01 -5.24972331e-01 -2.18262712e+02] [-8.55038033e-01 1.45490198e-03 5.18563251e-01 -8.31836067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.97, Y:-218.28, Z:-831.86 [[ 4.10160921e-01 6.09305382e-01 6.78612533e-01 3.98969260e+02] [-3.18957441e-01 7.92927896e-01 -5.19164235e-01 -2.18277387e+02] [-8.54420371e-01 -3.50763611e-03 5.19570522e-01 -8.31862888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.98, Y:-218.28, Z:-831.89 [[ 4.09019489e-01 6.13258891e-01 6.75734113e-01 3.98983635e+02] [-3.21532953e-01 7.89873441e-01 -5.22222660e-01 -2.18284319e+02] [-8.54002118e-01 -3.67153919e-03 5.20256574e-01 -8.31892367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.00, Y:-218.29, Z:-831.92 [[ 4.08131836e-01 6.14164845e-01 6.75447961e-01 3.98996728e+02] [-3.22728613e-01 7.89163686e-01 -5.22558053e-01 -2.18293809e+02] [-8.53975789e-01 -4.71380596e-03 5.20291392e-01 -8.31920496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.01, Y:-218.31, Z:-831.95 [[ 4.05992322e-01 6.09506695e-01 6.80934522e-01 3.99009020e+02] [-3.23422572e-01 7.92712137e-01 -5.16725563e-01 -2.18308005e+02] [-8.54732750e-01 -1.04429833e-02 5.18963264e-01 -8.31945883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.02, Y:-218.31, Z:-831.98 [[ 4.06978974e-01 6.18030364e-01 6.72611764e-01 3.99023862e+02] [-3.24975232e-01 7.86140605e-01 -5.25712895e-01 -2.18311924e+02] [-8.53673950e-01 -4.62806957e-03 5.20787258e-01 -8.31977495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.04, Y:-218.32, Z:-832.00 [[ 4.05973445e-01 6.16779330e-01 6.74365494e-01 3.99036278e+02] [-3.26691103e-01 7.87096481e-01 -5.23213199e-01 -2.18324280e+02] [-8.53497794e-01 -7.89854210e-03 5.21036590e-01 -8.32003772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.05, Y:-218.34, Z:-832.03 [[ 4.04703169e-01 6.17666625e-01 6.74316903e-01 3.99048813e+02] [-3.27627506e-01 7.86388714e-01 -5.23691711e-01 -2.18335220e+02] [-8.53742094e-01 -8.98506948e-03 5.20618581e-01 -8.32031212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.06, Y:-218.35, Z:-832.06 [[ 4.03751332e-01 6.18276069e-01 6.74328974e-01 3.99061747e+02] [-3.27968262e-01 7.85903477e-01 -5.24206586e-01 -2.18346030e+02] [-8.54061872e-01 -9.50939416e-03 5.20084503e-01 -8.32059795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.07, Y:-218.36, Z:-832.09 [[ 4.03098179e-01 6.18862610e-01 6.74181673e-01 3.99074678e+02] [-3.28417165e-01 7.85436388e-01 -5.24625434e-01 -2.18356689e+02] [-8.54197884e-01 -9.93727704e-03 5.19853081e-01 -8.32087593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.09, Y:-218.37, Z:-832.12 [[ 4.02273601e-01 6.19526530e-01 6.74064410e-01 3.99087508e+02] [-3.28983747e-01 7.84905005e-01 -5.25065546e-01 -2.18367536e+02] [-8.54368564e-01 -1.05362272e-02 5.19560722e-01 -8.32115379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.10, Y:-218.38, Z:-832.14 [[ 4.00593422e-01 6.20448384e-01 6.74217112e-01 3.99099979e+02] [-3.29723055e-01 7.84159899e-01 -5.25714713e-01 -2.18378740e+02] [-8.54872866e-01 -1.17070695e-02 5.18705434e-01 -8.32142834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.11, Y:-218.39, Z:-832.17 [[ 3.99118383e-01 6.21390282e-01 6.74224469e-01 3.99112471e+02] [-3.30745958e-01 7.83393746e-01 -5.26214168e-01 -2.18390095e+02] [-8.55167603e-01 -1.29752702e-02 5.18189168e-01 -8.32171122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.13, Y:-218.40, Z:-832.20 [[ 3.98359270e-01 6.22190398e-01 6.73935458e-01 3.99125758e+02] [-3.31727196e-01 7.82744292e-01 -5.26562855e-01 -2.18401159e+02] [-8.55141485e-01 -1.38015249e-02 5.18210921e-01 -8.32199718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.736559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:399.14, Y:-218.41, Z:-832.23 [[ 3.97446906e-01 6.23045294e-01 6.73684288e-01 3.99138009e+02] [-3.32755764e-01 7.82046905e-01 -5.26949940e-01 -2.18411680e+02] [-8.55166392e-01 -1.47377065e-02 5.18144035e-01 -8.32227054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.15, Y:-218.42, Z:-832.26 [[ 3.96532541e-01 6.23844550e-01 6.73483423e-01 3.99150537e+02] [-3.33680526e-01 7.81392295e-01 -5.27336124e-01 -2.18422435e+02] [-8.55230525e-01 -1.56223695e-02 5.18012250e-01 -8.32255649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.16, Y:-218.43, Z:-832.28 [[ 3.96582473e-01 6.24809570e-01 6.72558804e-01 3.99162387e+02] [-3.35770397e-01 7.80597439e-01 -5.27186759e-01 -2.18433689e+02] [-8.54389012e-01 -1.67523080e-02 5.19363820e-01 -8.32283742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.17, Y:-218.44, Z:-832.31 [[ 3.96568106e-01 6.25428154e-01 6.71992084e-01 3.99174624e+02] [-3.36693937e-01 7.80093745e-01 -5.27343286e-01 -2.18443990e+02] [-8.54032160e-01 -1.71281320e-02 5.19938167e-01 -8.32311243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.19, Y:-218.45, Z:-832.34 [[ 3.96763836e-01 6.25798794e-01 6.71531331e-01 3.99187339e+02] [-3.37375886e-01 7.79792127e-01 -5.27353535e-01 -2.18454701e+02] [-8.53672051e-01 -1.73236656e-02 5.20522738e-01 -8.32340148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.20, Y:-218.47, Z:-832.37 [[ 3.96678718e-01 6.26159569e-01 6.71245252e-01 3.99200796e+02] [-3.37469227e-01 7.79505412e-01 -5.27717570e-01 -2.18465106e+02] [-8.53674713e-01 -1.71902875e-02 5.20522793e-01 -8.32368966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.21, Y:-218.48, Z:-832.40 [[ 3.96961384e-01 6.26408058e-01 6.70846185e-01 3.99213441e+02] [-3.38026453e-01 7.79303241e-01 -5.27659527e-01 -2.18476376e+02] [-8.53322786e-01 -1.73033004e-02 5.21095787e-01 -8.32397035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.23, Y:-218.49, Z:-832.42 [[ 3.97580275e-01 6.26440150e-01 6.70449598e-01 3.99225062e+02] [-3.37604384e-01 7.79295965e-01 -5.27940412e-01 -2.18488469e+02] [-8.53201738e-01 -1.64480301e-02 5.21321645e-01 -8.32424577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9765599950001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:399.24, Y:-218.50, Z:-832.45 [[ 3.97955952e-01 6.26382998e-01 6.70280091e-01 3.99237854e+02] [-3.36799072e-01 7.79361601e-01 -5.28357720e-01 -2.18499533e+02] [-8.53344857e-01 -1.54866133e-02 5.21116801e-01 -8.32453269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.25, Y:-218.51, Z:-832.48 [[ 3.99174596e-01 6.25634809e-01 6.70254227e-01 3.99250419e+02] [-3.34381057e-01 7.80008061e-01 -5.28939254e-01 -2.18512304e+02] [-8.53726508e-01 -1.29812034e-02 5.20559831e-01 -8.32481346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.26, Y:-218.52, Z:-832.51 [[ 4.00195563e-01 6.25194981e-01 6.70055779e-01 3.99262797e+02] [-3.32789240e-01 7.80389214e-01 -5.29380767e-01 -2.18523561e+02] [-8.53870501e-01 -1.11315197e-02 5.20366463e-01 -8.32508379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:399.27, Y:-218.54, Z:-832.54 [[ 4.02857631e-01 6.23620066e-01 6.69928162e-01 3.99274298e+02] [-3.28971724e-01 7.81696791e-01 -5.29837458e-01 -2.18535284e+02] [-8.54097965e-01 -6.93835947e-03 5.20065886e-01 -8.32535436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.29, Y:-218.55, Z:-832.56 [[ 4.04189982e-01 6.22970317e-01 6.69730127e-01 3.99286678e+02] [-3.27362275e-01 7.82229469e-01 -5.30048110e-01 -2.18546441e+02] [-8.54086881e-01 -5.00424150e-03 5.20106295e-01 -8.32563268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.30, Y:-218.56, Z:-832.59 [[ 4.05608013e-01 6.22389941e-01 6.69412356e-01 3.99299444e+02] [-3.25684626e-01 7.82701996e-01 -5.30383928e-01 -2.18557311e+02] [-8.54056008e-01 -2.88934143e-03 5.20173036e-01 -8.32591813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.31, Y:-218.57, Z:-832.62 [[ 4.06957963e-01 6.21870337e-01 6.69075855e-01 3.99313083e+02] [-3.24151429e-01 7.83119698e-01 -5.30706501e-01 -2.18566849e+02] [-8.53997112e-01 -9.06657793e-04 5.20276956e-01 -8.32619985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.33, Y:-218.58, Z:-832.65 [[ 4.07068317e-01 6.22018525e-01 6.68870944e-01 3.99326116e+02] [-3.23726707e-01 7.83002459e-01 -5.31138558e-01 -2.18575913e+02] [-8.54105617e-01 -3.21708800e-04 5.20099502e-01 -8.32647650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.34, Y:-218.59, Z:-832.68 [[ 4.07587968e-01 6.22194888e-01 6.68390282e-01 3.99339885e+02] [-3.23784219e-01 7.82862377e-01 -5.31309965e-01 -2.18585961e+02] [-8.53835949e-01 1.41323330e-04 5.20542171e-01 -8.32676368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.35, Y:-218.60, Z:-832.70 [[ 4.08668706e-01 6.22113949e-01 6.67805454e-01 3.99353259e+02] [-3.23418719e-01 7.82925789e-01 -5.31439123e-01 -2.18595341e+02] [-8.53457803e-01 1.20175398e-03 5.21160565e-01 -8.32704074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.37, Y:-218.61, Z:-832.73 [[ 4.09068514e-01 6.22304479e-01 6.67383013e-01 3.99366701e+02] [-3.23430863e-01 7.82773578e-01 -5.31655906e-01 -2.18605503e+02] [-8.53261641e-01 1.63142741e-03 5.21480499e-01 -8.32732526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.38, Y:-218.62, Z:-832.76 [[ 4.09449988e-01 6.22401124e-01 6.67058879e-01 3.99379840e+02] [-3.23096582e-01 7.82695078e-01 -5.31974636e-01 -2.18615186e+02] [-8.53205313e-01 2.29256458e-03 5.21570166e-01 -8.32760755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.39, Y:-218.62, Z:-832.79 [[ 4.09335650e-01 6.22861456e-01 6.66699282e-01 3.99392881e+02] [-3.23472375e-01 7.82328997e-01 -5.32284665e-01 -2.18624437e+02] [-8.53117781e-01 2.22428943e-03 5.21713622e-01 -8.32787977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.41, Y:-218.63, Z:-832.82 [[ 4.08837794e-01 6.23306022e-01 6.66589275e-01 3.99406159e+02] [-3.23558554e-01 7.81975110e-01 -5.32752090e-01 -2.18633147e+02] [-8.53323807e-01 2.12852754e-03 5.21376974e-01 -8.32816419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.396559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.42, Y:-218.64, Z:-832.84 [[ 4.08245713e-01 6.23996591e-01 6.66306005e-01 3.99419795e+02] [-3.24291497e-01 7.81425499e-01 -5.33112760e-01 -2.18642575e+02] [-8.53329047e-01 1.56362692e-03 5.21370399e-01 -8.32844947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.43, Y:-218.65, Z:-832.87 [[ 4.06481388e-01 6.25287011e-01 6.66174929e-01 3.99433589e+02] [-3.25981535e-01 7.80394826e-01 -5.33591562e-01 -2.18651004e+02] [-8.53527340e-01 -2.65686704e-04 5.21047991e-01 -8.32872091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.45, Y:-218.65, Z:-832.91 [[ 4.02490827e-01 6.37219935e-01 6.57230468e-01 3.99445576e+02] [-3.25773593e-01 7.70656005e-01 -5.47686853e-01 -2.18646194e+02] [-8.55495588e-01 6.33060401e-03 5.17771400e-01 -8.32905606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.46, Y:-218.68, Z:-832.92 [[ 4.02509359e-01 6.15414925e-01 6.77680372e-01 3.99460018e+02] [-3.30082093e-01 7.88069143e-01 -5.19608351e-01 -2.18680387e+02] [-8.53833724e-01 -1.45429318e-02 5.20342652e-01 -8.32924633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.47, Y:-218.68, Z:-832.96 [[ 4.00704773e-01 6.29365350e-01 6.65834019e-01 3.99474405e+02] [-3.31760885e-01 7.77081733e-01 -5.34863249e-01 -2.18679159e+02] [-8.54031850e-01 -6.57542664e-03 5.20179165e-01 -8.32955124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:399.49, Y:-218.69, Z:-832.98 [[ 3.98689224e-01 6.30669413e-01 6.65810029e-01 3.99487750e+02] [-3.33409085e-01 7.76004743e-01 -5.35401738e-01 -2.18688819e+02] [-8.54333240e-01 -8.52820906e-03 5.19655641e-01 -8.32983644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.50, Y:-218.68, Z:-833.02 [[ 3.92300380e-01 6.47831029e-01 6.53004878e-01 3.99497842e+02] [-3.31974963e-01 7.61782666e-01 -5.56309081e-01 -2.18676385e+02] [-8.57842081e-01 1.45899327e-03 5.13911311e-01 -8.33020159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.51, Y:-218.73, Z:-833.03 [[ 3.92693613e-01 6.12423577e-01 6.86096997e-01 3.99512626e+02] [-3.40545149e-01 7.89826707e-01 -5.10100750e-01 -2.18725689e+02] [-8.54295457e-01 -3.33336973e-02 5.18717781e-01 -8.33032534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.53, Y:-218.72, Z:-833.07 [[ 3.92048685e-01 6.35124532e-01 6.65518338e-01 3.99527979e+02] [-3.40483111e-01 7.72237652e-01 -5.36395619e-01 -2.18717398e+02] [-8.54616335e-01 -1.63045571e-02 5.19003932e-01 -8.33067488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:399.54, Y:-218.73, Z:-833.10 [[ 3.90637862e-01 6.36137122e-01 6.65380811e-01 3.99541223e+02] [-3.42228097e-01 7.71363276e-01 -5.36543219e-01 -2.18727464e+02] [-8.54565381e-01 -1.81179132e-02 5.19027697e-01 -8.33095922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.55, Y:-218.72, Z:-833.13 [[ 3.86282749e-01 6.51893636e-01 6.52549098e-01 3.99550695e+02] [-3.39753311e-01 7.58280118e-01 -5.56398194e-01 -2.18715690e+02] [-8.57527449e-01 -6.77869275e-03 5.14393549e-01 -8.33131452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.57, Y:-218.76, Z:-833.15 [[ 3.88733936e-01 6.17046266e-01 6.84207449e-01 3.99565168e+02] [-3.46040854e-01 7.86026738e-01 -5.12267210e-01 -2.18764486e+02] [-8.53897918e-01 -3.76280808e-02 5.19078484e-01 -8.33145774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.58, Y:-218.76, Z:-833.18 [[ 3.87033341e-01 6.39021658e-01 6.64722885e-01 3.99579986e+02] [-3.46550848e-01 7.68862940e-01 -5.37356762e-01 -2.18756467e+02] [-8.54463400e-01 -2.23852970e-02 5.19029090e-01 -8.33179783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.59, Y:-218.77, Z:-833.21 [[ 3.86219713e-01 6.39638963e-01 6.64602385e-01 3.99592652e+02] [-3.46968968e-01 7.68335147e-01 -5.37841647e-01 -2.18765914e+02] [-8.54661844e-01 -2.28713569e-02 5.18681051e-01 -8.33208259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.61, Y:-218.78, Z:-833.24 [[ 3.86097865e-01 6.39998311e-01 6.64327180e-01 3.99605720e+02] [-3.47061957e-01 7.68039064e-01 -5.38204417e-01 -2.18776570e+02] [-8.54679143e-01 -2.27631149e-02 5.18657309e-01 -8.33237080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.62, Y:-218.76, Z:-833.27 [[ 3.83361958e-01 6.59568729e-01 6.46531284e-01 3.99615807e+02] [-3.41555025e-01 7.51630732e-01 -5.64261826e-01 -2.18761787e+02] [-8.58122237e-01 -4.50949045e-03 5.13425643e-01 -8.33274644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.876559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.63, Y:-218.82, Z:-833.28 [[ 3.87940950e-01 6.12324060e-01 6.88883927e-01 3.99627284e+02] [-3.46804016e-01 7.89466773e-01 -5.06427871e-01 -2.18821831e+02] [-8.53948941e-01 -4.24436023e-02 5.18622933e-01 -8.33284776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.64, Y:-218.81, Z:-833.32 [[ 3.87892808e-01 6.40183251e-01 6.63102236e-01 3.99642598e+02] [-3.46191544e-01 7.67947945e-01 -5.38894581e-01 -2.18809473e+02] [-8.54219284e-01 -2.05270550e-02 5.19507512e-01 -8.33321231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.65, Y:-218.79, Z:-833.36 [[ 3.86233878e-01 6.58620025e-01 6.45788707e-01 3.99648172e+02] [-3.35848853e-01 7.52473196e-01 -5.66559474e-01 -2.18789197e+02] [-8.59086107e-01 1.93706670e-03 5.11827421e-01 -8.33359069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.66, Y:-218.83, Z:-833.38 [[ 3.89308686e-01 6.31664707e-01 6.70401704e-01 3.99657923e+02] [-3.38306110e-01 7.75008844e-01 -5.33769864e-01 -2.18826656e+02] [-8.56730834e-01 -1.89997481e-02 5.15413705e-01 -8.33380487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.67, Y:-218.85, Z:-833.40 [[ 3.90946366e-01 6.18371624e-01 6.81745901e-01 3.99667001e+02] [-3.37884590e-01 7.85401231e-01 -5.18631768e-01 -2.18851267e+02] [-8.56151238e-01 -2.75942290e-02 5.15988000e-01 -8.33403267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.68, Y:-218.86, Z:-833.43 [[ 3.93320185e-01 6.26037203e-01 6.73332497e-01 3.99683901e+02] [-3.39729390e-01 7.79489780e-01 -5.26288537e-01 -2.18860399e+02] [-8.54332004e-01 -2.17509341e-02 5.19272302e-01 -8.33428939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.70, Y:-218.86, Z:-833.46 [[ 3.93763712e-01 6.37623731e-01 6.62107330e-01 3.99697570e+02] [-3.38691148e-01 7.70262452e-01 -5.40355496e-01 -2.18861327e+02] [-8.54539903e-01 -1.14775052e-02 5.19258916e-01 -8.33460813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.71, Y:-218.87, Z:-833.49 [[ 3.94128639e-01 6.37541962e-01 6.61968929e-01 3.99710117e+02] [-3.37740665e-01 7.70345212e-01 -5.40832227e-01 -2.18871654e+02] [-8.54747834e-01 -1.04163567e-02 5.18938956e-01 -8.33488016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.72, Y:-218.88, Z:-833.52 [[ 3.94241959e-01 6.37431517e-01 6.62007809e-01 3.99723848e+02] [-3.36569297e-01 7.70450115e-01 -5.41412717e-01 -2.18881181e+02] [-8.55157521e-01 -9.36389272e-03 5.18283640e-01 -8.33515826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.73, Y:-218.87, Z:-833.55 [[ 3.91864948e-01 6.55235001e-01 6.45839730e-01 3.99734226e+02] [-3.30942314e-01 7.55383879e-01 -5.65572613e-01 -2.18868064e+02] [-8.58439892e-01 7.89238796e-03 5.12853451e-01 -8.33554402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1765599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:399.75, Y:-218.92, Z:-833.56 [[ 3.97286093e-01 6.14058036e-01 6.81979830e-01 3.99747353e+02] [-3.33384882e-01 7.88945794e-01 -5.16157975e-01 -2.18920400e+02] [-8.54996071e-01 -2.22993798e-02 5.18154858e-01 -8.33564606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.76, Y:-218.91, Z:-833.60 [[ 3.97919928e-01 6.35833852e-01 6.61343363e-01 3.99762474e+02] [-3.32395706e-01 7.71814876e-01 -5.42046947e-01 -2.18912940e+02] [-8.55086443e-01 -4.13641163e-03 5.18468962e-01 -8.33599248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.77, Y:-218.92, Z:-833.63 [[ 3.98813016e-01 6.35413472e-01 6.61209421e-01 3.99774868e+02] [-3.30782765e-01 7.72168507e-01 -5.42529777e-01 -2.18923904e+02] [-8.55295821e-01 -2.34874386e-03 5.18134677e-01 -8.33627610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.79, Y:-218.93, Z:-833.66 [[ 3.99729682e-01 6.34916741e-01 6.61133053e-01 3.99787586e+02] [-3.28949608e-01 7.72580462e-01 -5.43057626e-01 -2.18934768e+02] [-8.55574858e-01 -4.03206709e-04 5.17678955e-01 -8.33655958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.296559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.80, Y:-218.94, Z:-833.68 [[ 4.01120653e-01 6.33859908e-01 6.61304650e-01 3.99800967e+02] [-3.25699497e-01 7.73443030e-01 -5.43788302e-01 -2.18944608e+02] [-8.56167075e-01 2.73812694e-03 5.16691826e-01 -8.33684896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.81, Y:-218.95, Z:-833.71 [[ 4.01711700e-01 6.33676078e-01 6.61122030e-01 3.99814370e+02] [-3.24622654e-01 7.73588118e-01 -5.44225649e-01 -2.18953941e+02] [-8.56298921e-01 4.00662294e-03 5.16465008e-01 -8.33713137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.83, Y:-218.96, Z:-833.74 [[ 4.02423352e-01 6.33229988e-01 6.61116653e-01 3.99827553e+02] [-3.22754434e-01 7.73941380e-01 -5.44834210e-01 -2.18962408e+02] [-8.56670894e-01 5.87567796e-03 5.15829870e-01 -8.33740591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.84, Y:-218.97, Z:-833.77 [[ 4.02559780e-01 6.33286725e-01 6.60979234e-01 3.99841105e+02] [-3.22424864e-01 7.73891459e-01 -5.45100189e-01 -2.18972668e+02] [-8.56730898e-01 6.31927259e-03 5.15724962e-01 -8.33769216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.85, Y:-218.96, Z:-833.81 [[ 3.99246979e-01 6.51517093e-01 6.45079319e-01 3.99850976e+02] [-3.18170601e-01 7.58317424e-01 -5.68965863e-01 -2.18960857e+02] [-8.59865872e-01 2.19126276e-02 5.10049526e-01 -8.33807589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.86, Y:-219.01, Z:-833.82 [[ 4.00950568e-01 6.14688138e-01 6.79262199e-01 3.99864025e+02] [-3.23283370e-01 7.88707661e-01 -5.22903517e-01 -2.19010334e+02] [-8.57161890e-01 -9.93571088e-03 5.14951238e-01 -8.33818036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4765599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:399.88, Y:-219.00, Z:-833.85 [[ 3.99744110e-01 6.35406626e-01 6.60653514e-01 3.99879072e+02] [-3.24926649e-01 7.72169233e-01 -5.46056177e-01 -2.19003190e+02] [-8.57104031e-01 3.61880802e-03 5.15130649e-01 -8.33851785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.89, Y:-219.01, Z:-833.88 [[ 3.96435071e-01 6.37931621e-01 6.60213967e-01 3.99891898e+02] [-3.29406705e-01 7.70092481e-01 -5.46304671e-01 -2.19010931e+02] [-8.56930836e-01 -9.04575606e-04 5.15430621e-01 -8.33879542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.91, Y:-219.02, Z:-833.91 [[ 3.94661509e-01 6.39461733e-01 6.59796170e-01 3.99905633e+02] [-3.32008352e-01 7.68815566e-01 -5.46528207e-01 -2.19020006e+02] [-8.56745440e-01 -3.36419199e-03 5.15728547e-01 -8.33908295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.92, Y:-219.03, Z:-833.94 [[ 3.90552572e-01 6.42160426e-01 6.59620099e-01 3.99919779e+02] [-3.36517763e-01 7.66524836e-01 -5.46987634e-01 -2.19028317e+02] [-8.56869000e-01 -8.34645299e-03 5.15466636e-01 -8.33937401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.93, Y:-219.04, Z:-833.97 [[ 3.90469995e-01 6.42515256e-01 6.59323388e-01 3.99932915e+02] [-3.36610384e-01 7.66228875e-01 -5.47345193e-01 -2.19039036e+02] [-8.56870254e-01 -8.21322415e-03 5.15466692e-01 -8.33966254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:399.95, Y:-219.05, Z:-833.99 [[ 3.87419109e-01 6.44348585e-01 6.59334009e-01 3.99946381e+02] [-3.39765155e-01 7.64639926e-01 -5.47617954e-01 -2.19048720e+02] [-8.57009961e-01 -1.18610623e-02 5.15163315e-01 -8.33994223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.656559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:399.96, Y:-219.06, Z:-834.02 [[ 3.85970982e-01 6.45183430e-01 6.59366926e-01 3.99959267e+02] [-3.40335516e-01 7.63920637e-01 -5.48267268e-01 -2.19058738e+02] [-8.57436959e-01 -1.27907273e-02 5.14430033e-01 -8.34022023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.97, Y:-219.07, Z:-834.05 [[ 3.83664165e-01 6.46220827e-01 6.59697242e-01 3.99973041e+02] [-3.40983433e-01 7.63017095e-01 -5.49122220e-01 -2.19069310e+02] [-8.58214488e-01 -1.42673122e-02 5.13092912e-01 -8.34049673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-219.08, Z:-834.08 [[ 3.82285790e-01 6.46872218e-01 6.59859007e-01 3.99986166e+02] [-3.41039140e-01 7.62454186e-01 -5.49869001e-01 -2.19079248e+02] [-8.58807242e-01 -1.48306426e-02 5.12084146e-01 -8.34078317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.00, Y:-219.09, Z:-834.11 [[ 3.81054165e-01 6.47572900e-01 6.59884129e-01 3.99999138e+02] [-3.41382684e-01 7.61845779e-01 -5.50498749e-01 -2.19089332e+02] [-8.59218009e-01 -1.55031743e-02 5.11374681e-01 -8.34106618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.01, Y:-219.10, Z:-834.14 [[ 3.80968188e-01 6.47931939e-01 6.59581262e-01 4.00012243e+02] [-3.41472612e-01 7.61543184e-01 -5.50861539e-01 -2.19100086e+02] [-8.59220400e-01 -1.53682138e-02 5.11374738e-01 -8.34135470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.03, Y:-219.11, Z:-834.16 [[ 3.79555404e-01 6.48885759e-01 6.59458086e-01 4.00025036e+02] [-3.43090811e-01 7.60693501e-01 -5.51030029e-01 -2.19109677e+02] [-8.59201019e-01 -1.71075845e-02 5.11352070e-01 -8.34163389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.04, Y:-219.12, Z:-834.19 [[ 3.79471501e-01 6.49542482e-01 6.58859578e-01 4.00038133e+02] [-3.44240362e-01 7.60119774e-01 -5.51104802e-01 -2.19119864e+02] [-8.58778175e-01 -1.76774930e-02 5.12042531e-01 -8.34192351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.05, Y:-219.13, Z:-834.22 [[ 3.79844919e-01 6.50013434e-01 6.58179590e-01 4.00050762e+02] [-3.45083267e-01 7.59714677e-01 -5.51136234e-01 -2.19129917e+02] [-8.58274651e-01 -1.77804649e-02 5.12882519e-01 -8.34221064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.06, Y:-219.14, Z:-834.25 [[ 3.80572388e-01 6.50374191e-01 6.57402517e-01 4.00063046e+02] [-3.45836608e-01 7.59409460e-01 -5.51084670e-01 -2.19140240e+02] [-8.57648936e-01 -1.76262475e-02 5.13933476e-01 -8.34249591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.07, Y:-219.15, Z:-834.28 [[ 3.82797055e-01 6.50342790e-01 6.56140740e-01 4.00074621e+02] [-3.46428025e-01 7.59461188e-01 -5.50641742e-01 -2.19150618e+02] [-8.56419312e-01 -1.65215035e-02 5.16016474e-01 -8.34277562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.09, Y:-219.16, Z:-834.31 [[ 3.83878424e-01 6.50355128e-01 6.55496425e-01 4.00086839e+02] [-3.46359471e-01 7.59469172e-01 -5.50673854e-01 -2.19161242e+02] [-8.55962892e-01 -1.56455836e-02 5.16800488e-01 -8.34305176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.10, Y:-219.17, Z:-834.33 [[ 3.84990331e-01 6.50264719e-01 6.54933768e-01 4.00099395e+02] [-3.45993661e-01 7.59568113e-01 -5.50767344e-01 -2.19172304e+02] [-8.55611379e-01 -1.45628302e-02 5.17413850e-01 -8.34333994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.11, Y:-219.18, Z:-834.36 [[ 3.86923144e-01 6.49546685e-01 6.54507132e-01 4.00110361e+02] [-3.44154317e-01 7.60226182e-01 -5.51011759e-01 -2.19183917e+02] [-8.55481319e-01 -1.20522527e-02 5.17693400e-01 -8.34361580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.12, Y:-219.20, Z:-834.39 [[ 3.88327812e-01 6.48961217e-01 6.54255951e-01 4.00122742e+02] [-3.42727241e-01 7.60753178e-01 -5.51173876e-01 -2.19195453e+02] [-8.55417763e-01 -1.01951921e-02 5.17838304e-01 -8.34389983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.13, Y:-219.19, Z:-834.42 [[ 3.90884448e-01 6.59698916e-01 6.41877472e-01 4.00132326e+02] [-3.31731159e-01 7.51463522e-01 -5.70313083e-01 -2.19185428e+02] [-8.58582428e-01 9.99575694e-03 5.12578090e-01 -8.34423071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.14, Y:-219.25, Z:-834.44 [[ 3.94825910e-01 6.15939912e-01 6.81711468e-01 4.00142956e+02] [-3.35380555e-01 7.87414319e-01 -5.17202643e-01 -2.19245881e+02] [-8.55355122e-01 -2.44277661e-02 5.17465844e-01 -8.34437864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:-219.23, Z:-834.47 [[ 3.97055094e-01 6.44686053e-01 6.53243557e-01 4.00158475e+02] [-3.32554881e-01 7.64444686e-01 -5.52296635e-01 -2.19231492e+02] [-8.55426504e-01 2.05285918e-03 5.17920151e-01 -8.34474567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.17, Y:-219.23, Z:-834.51 [[ 3.99493186e-01 6.51414143e-01 6.45030859e-01 4.00168946e+02] [-3.25279719e-01 7.58559046e-01 -5.64607189e-01 -2.19227651e+02] [-8.57087101e-01 1.57412687e-02 5.14930980e-01 -8.34505228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.18, Y:-219.25, Z:-834.53 [[ 4.04250312e-01 6.34676208e-01 6.58610504e-01 4.00176288e+02] [-3.17055317e-01 7.72660047e-01 -5.49974888e-01 -2.19247892e+02] [-8.57938000e-01 1.35115579e-02 5.13575531e-01 -8.34529546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.19, Y:-219.28, Z:-834.55 [[ 4.06956491e-01 6.14018067e-01 6.76290047e-01 4.00187675e+02] [-3.17080528e-01 7.89291838e-01 -5.25812071e-01 -2.19281184e+02] [-8.56648326e-01 -4.55770114e-04 5.15900610e-01 -8.34550333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.20, Y:-219.29, Z:-834.58 [[ 4.10222799e-01 6.19023100e-01 6.69722074e-01 4.00202550e+02] [-3.17976843e-01 7.85357320e-01 -5.31135207e-01 -2.19294827e+02] [-8.54756095e-01 4.92766040e-03 5.19006489e-01 -8.34578702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.22, Y:-219.29, Z:-834.61 [[ 4.11102732e-01 6.38249232e-01 6.50870542e-01 4.00217832e+02] [-3.17965246e-01 7.69551109e-01 -5.53795264e-01 -2.19288654e+02] [-8.54337549e-01 2.07125339e-02 5.19305637e-01 -8.34612436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.23, Y:-219.28, Z:-834.64 [[ 4.10349188e-01 6.46512829e-01 6.43144390e-01 4.00229814e+02] [-3.14325784e-01 7.62313033e-01 -5.65754488e-01 -2.19283545e+02] [-8.56044885e-01 3.00000302e-02 5.16030186e-01 -8.34642916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.24, Y:-219.30, Z:-834.67 [[ 4.06957787e-01 6.33923197e-01 6.57667652e-01 4.00239656e+02] [-3.15369962e-01 7.73220364e-01 -5.50156392e-01 -2.19302600e+02] [-8.57278920e-01 1.64818053e-02 5.14588383e-01 -8.34667946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.376559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.25, Y:-219.32, Z:-834.69 [[ 4.06708342e-01 6.25959661e-01 6.65404259e-01 4.00251640e+02] [-3.15787732e-01 7.79794847e-01 -5.40553518e-01 -2.19321216e+02] [-8.57243508e-01 9.72112315e-03 5.14819451e-01 -8.34694354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:400.27, Y:-219.35, Z:-834.72 [[ 4.06857123e-01 6.14818711e-01 6.75622109e-01 4.00267811e+02] [-3.24446944e-01 7.88639937e-01 -5.22284626e-01 -2.19353357e+02] [-8.53932938e-01 -6.70830834e-03 5.20339828e-01 -8.34716574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.28, Y:-219.32, Z:-834.76 [[ 4.02520806e-01 6.56830213e-01 6.37613576e-01 4.00282716e+02] [-3.25126016e-01 7.53699714e-01 -5.71165312e-01 -2.19317467e+02] [-8.55727804e-01 2.26011602e-02 5.16932407e-01 -8.34756461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.29, Y:-219.37, Z:-834.77 [[ 4.00940246e-01 6.24079979e-01 6.70649759e-01 4.00294472e+02] [-3.32250959e-01 7.81283490e-01 -5.28398911e-01 -2.19367500e+02] [-8.53730766e-01 -1.09676361e-02 5.20599165e-01 -8.34771989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.31, Y:-219.36, Z:-834.81 [[ 3.98899841e-01 6.49037349e-01 6.47788111e-01 4.00310943e+02] [-3.35729486e-01 7.60745512e-01 -5.55474553e-01 -2.19356973e+02] [-8.53325629e-01 4.09714097e-03 5.21362239e-01 -8.34805668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.33, Y:-219.37, Z:-834.83 [[ 3.94311102e-01 6.51768729e-01 6.47855138e-01 4.00325084e+02] [-3.39994142e-01 7.58417112e-01 -5.56064266e-01 -2.19365432e+02] [-8.53769722e-01 -1.00463786e-03 5.20649837e-01 -8.34834055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.34, Y:-219.38, Z:-834.86 [[ 3.92593929e-01 6.53158869e-01 6.47497875e-01 4.00338610e+02] [-3.42248506e-01 7.57214151e-01 -5.56320672e-01 -2.19375513e+02] [-8.53660335e-01 -3.19706151e-03 5.20820326e-01 -8.34861774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.35, Y:-219.39, Z:-834.89 [[ 3.89318917e-01 6.55368909e-01 6.47242130e-01 4.00352371e+02] [-3.45875139e-01 7.55275323e-01 -5.56713189e-01 -2.19385021e+02] [-8.53698523e-01 -7.12598579e-03 5.20718784e-01 -8.34889498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.37, Y:-219.40, Z:-834.92 [[ 3.87549157e-01 6.56573516e-01 6.47083355e-01 4.00365443e+02] [-3.47499507e-01 7.54209060e-01 -5.57147006e-01 -2.19395159e+02] [-8.53844098e-01 -8.93929491e-03 5.20452059e-01 -8.34917246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.38, Y:-219.41, Z:-834.95 [[ 3.86261364e-01 6.57674798e-01 6.46734891e-01 4.00378538e+02] [-3.49195403e-01 7.53228377e-01 -5.57413297e-01 -2.19405249e+02] [-8.53735749e-01 -1.05296311e-02 5.20600036e-01 -8.34945448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6765599950002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:400.39, Y:-219.41, Z:-834.97 [[ 3.84058703e-01 6.59290728e-01 6.46401306e-01 4.00391848e+02] [-3.51785563e-01 7.51772484e-01 -5.57749989e-01 -2.19413861e+02] [-8.53666112e-01 -1.31859099e-02 5.20653725e-01 -8.34972819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.40, Y:-219.41, Z:-835.01 [[ 3.81603068e-01 6.70789222e-01 6.35940971e-01 4.00403920e+02] [-3.47743318e-01 7.41644631e-01 -5.73618188e-01 -2.19405047e+02] [-8.56419105e-01 -2.24976302e-03 5.16276336e-01 -8.35005463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.42, Y:-219.46, Z:-835.02 [[ 3.82541315e-01 6.36961288e-01 6.69285037e-01 4.00415007e+02] [-3.54714324e-01 7.70119456e-01 -5.30182773e-01 -2.19455207e+02] [-8.53135330e-01 -3.45881744e-02 5.20541802e-01 -8.35022482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.43, Y:-219.43, Z:-835.06 [[ 3.79415042e-01 6.70866324e-01 6.37167640e-01 4.00430510e+02] [-3.50813423e-01 7.41549363e-01 -5.71869290e-01 -2.19427218e+02] [-8.56139106e-01 -6.55114999e-03 5.16703894e-01 -8.35060103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.44, Y:-219.47, Z:-835.08 [[ 3.80533157e-01 6.41916699e-01 6.65685713e-01 4.00441628e+02] [-3.56031574e-01 7.66048615e-01 -5.35173840e-01 -2.19471682e+02] [-8.53484642e-01 -3.33537413e-02 5.20049511e-01 -8.35078607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.46, Y:-219.45, Z:-835.12 [[ 3.78863836e-01 6.70541823e-01 6.37836858e-01 4.00456452e+02] [-3.51257963e-01 7.41832520e-01 -5.71228813e-01 -2.19449430e+02] [-8.56200933e-01 -7.62733599e-03 5.16586669e-01 -8.35115351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.47, Y:-219.49, Z:-835.13 [[ 3.80470994e-01 6.43318755e-01 6.64366468e-01 4.00466722e+02] [-3.56387268e-01 7.64903162e-01 -5.36573637e-01 -2.19491940e+02] [-8.53363896e-01 -3.26210453e-02 5.20294079e-01 -8.35134480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.48, Y:-219.49, Z:-835.17 [[ 3.79966332e-01 6.63666681e-01 6.44338516e-01 4.00482261e+02] [-3.56654485e-01 7.47834211e-01 -5.59947829e-01 -2.19485040e+02] [-8.53477103e-01 -1.70448986e-02 5.20851520e-01 -8.35168613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.49, Y:-219.50, Z:-835.20 [[ 3.80397039e-01 6.64657797e-01 6.43061511e-01 4.00494299e+02] [-3.59332638e-01 7.46924749e-01 -5.59449260e-01 -2.19495966e+02] [-8.52160870e-01 -1.82601474e-02 5.22961202e-01 -8.35197101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.51, Y:-219.50, Z:-835.23 [[ 3.79700814e-01 6.70707545e-01 6.37164564e-01 4.00505682e+02] [-3.57556806e-01 7.41619752e-01 -5.67585477e-01 -2.19495643e+02] [-8.53217688e-01 -1.23098582e-02 5.21409671e-01 -8.35226772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9765599950001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:400.52, Y:-219.53, Z:-835.25 [[ 3.80920760e-01 6.51520266e-01 6.56064569e-01 4.00515840e+02] [-3.62684924e-01 7.57979933e-01 -5.42149489e-01 -2.19529350e+02] [-8.50505156e-01 -3.14287325e-02 5.25026870e-01 -8.35248646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.53, Y:-219.53, Z:-835.28 [[ 3.80377125e-01 6.67207573e-01 6.40427434e-01 4.00529801e+02] [-3.65490310e-01 7.44558987e-01 -5.58613236e-01 -2.19527899e+02] [-8.49546983e-01 -2.15863247e-02 5.27071110e-01 -8.35281015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.54, Y:-219.54, Z:-835.31 [[ 3.80282355e-01 6.67556297e-01 6.40120239e-01 4.00542737e+02] [-3.65581044e-01 7.44250250e-01 -5.58965174e-01 -2.19538998e+02] [-8.49550370e-01 -2.14512329e-02 5.27071166e-01 -8.35309814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.55, Y:-219.55, Z:-835.34 [[ 3.80483240e-01 6.67821627e-01 6.39723987e-01 4.00553599e+02] [-3.66194810e-01 7.44007391e-01 -5.58886718e-01 -2.19551810e+02] [-8.49196011e-01 -2.16165749e-02 5.27635156e-01 -8.35337322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.57, Y:-219.56, Z:-835.37 [[ 3.81055539e-01 6.67873591e-01 6.39328978e-01 4.00565746e+02] [-3.65897902e-01 7.43981915e-01 -5.59115047e-01 -2.19564410e+02] [-8.49067372e-01 -2.08752460e-02 5.27871975e-01 -8.35365319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.58, Y:-219.58, Z:-835.39 [[ 3.82768448e-01 6.66758105e-01 6.39470050e-01 4.00575810e+02] [-3.62535353e-01 7.45067904e-01 -5.59858854e-01 -2.19578660e+02] [-8.49739038e-01 -1.75341957e-02 5.26911870e-01 -8.35392648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.59, Y:-219.59, Z:-835.42 [[ 3.84123828e-01 6.65924626e-01 6.39525823e-01 4.00587445e+02] [-3.59908321e-01 7.45870713e-01 -5.60484504e-01 -2.19591446e+02] [-8.50244015e-01 -1.48752123e-02 5.26178528e-01 -8.35420864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.60, Y:-219.61, Z:-835.44 [[ 3.83722741e-01 6.55699487e-01 6.50242294e-01 4.00597152e+02] [-3.55595420e-01 7.54765075e-01 -5.51254550e-01 -2.19612494e+02] [-8.52237499e-01 -1.96942751e-02 5.22784258e-01 -8.35444914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2165599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:400.61, Y:-219.61, Z:-835.48 [[ 3.89345097e-01 6.68531795e-01 6.33621049e-01 4.00610108e+02] [-3.49549073e-01 7.43683457e-01 -5.69868723e-01 -2.19612954e+02] [-8.52188853e-01 3.93942858e-04 5.23234177e-01 -8.35477106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.62, Y:-219.60, Z:-835.51 [[ 3.89756705e-01 6.77392811e-01 6.23881953e-01 4.00617934e+02] [-3.36896281e-01 7.35376435e-01 -5.87981628e-01 -2.19599610e+02] [-8.57082614e-01 1.89862724e-02 5.14829015e-01 -8.35509605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.62, Y:-219.64, Z:-835.53 [[ 3.94200000e-01 6.39193210e-01 6.60332038e-01 4.00621691e+02] [-3.29446897e-01 7.69044484e-01 -5.47754803e-01 -2.19644059e+02] [-8.57945862e-01 -1.61939711e-03 5.13737555e-01 -8.35527634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.64, Y:-219.70, Z:-835.54 [[ 3.98065550e-01 6.10730009e-01 6.84509075e-01 4.00638438e+02] [-3.36950964e-01 7.91358201e-01 -5.10113954e-01 -2.19697433e+02] [-8.53233770e-01 -2.75872007e-02 5.20798503e-01 -8.35543537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.66, Y:-219.67, Z:-835.58 [[ 3.99530867e-01 6.56923201e-01 6.39395805e-01 4.00655988e+02] [-3.36300728e-01 7.53884794e-01 -5.64410788e-01 -2.19667611e+02] [-8.52805316e-01 1.04702563e-02 5.22123996e-01 -8.35584786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.67, Y:-219.65, Z:-835.62 [[ 4.00198693e-01 6.71127780e-01 6.24042073e-01 4.00665850e+02] [-3.28074427e-01 7.40739344e-01 -5.86235785e-01 -2.19651512e+02] [-8.55691637e-01 2.98785493e-02 5.16622779e-01 -8.35619701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.67, Y:-219.70, Z:-835.64 [[ 4.00737258e-01 6.36338934e-01 6.59152798e-01 4.00673716e+02] [-3.28671198e-01 7.71407691e-01 -5.44890281e-01 -2.19696133e+02] [-8.55210438e-01 1.71329726e-03 5.18278083e-01 -8.35637810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.69, Y:-219.70, Z:-835.67 [[ 4.01945216e-01 6.44754788e-01 6.50177904e-01 4.00687582e+02] [-3.29083435e-01 7.64337378e-01 -5.54520032e-01 -2.19699678e+02] [-8.54484720e-01 8.92389605e-03 5.19399873e-01 -8.35668182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.70, Y:-219.72, Z:-835.69 [[ 4.02979965e-01 6.41570266e-01 6.52682727e-01 4.00700799e+02] [-3.30979522e-01 7.67044795e-01 -5.49631547e-01 -2.19716540e+02] [-8.53264147e-01 5.46588452e-03 5.21450305e-01 -8.35694883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.71, Y:-219.71, Z:-835.73 [[ 4.03091100e-01 6.54484214e-01 6.39662394e-01 4.00714113e+02] [-3.28979696e-01 7.55867463e-01 -5.66071319e-01 -2.19711248e+02] [-8.53984733e-01 1.77423702e-02 5.19995465e-01 -8.35727132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.73, Y:-219.74, Z:-835.75 [[ 4.04264505e-01 6.39722689e-01 6.53701072e-01 4.00726704e+02] [-3.30142225e-01 7.68584555e-01 -5.47981655e-01 -2.19737363e+02] [-8.52980845e-01 5.71520576e-03 5.21910926e-01 -8.35749539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.74, Y:-219.74, Z:-835.78 [[ 4.04234407e-01 6.49653188e-01 6.43851908e-01 4.00741510e+02] [-3.28666550e-01 7.60082834e-01 -5.60582183e-01 -2.19735659e+02] [-8.53564786e-01 1.49940208e-02 5.20770906e-01 -8.35781176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.75, Y:-219.76, Z:-835.81 [[ 4.04153382e-01 6.42367459e-01 6.51171323e-01 4.00754228e+02] [-3.30249831e-01 7.66358617e-01 -5.51025879e-01 -2.19755649e+02] [-8.52991848e-01 7.64975318e-03 5.21868172e-01 -8.35805705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.77, Y:-219.76, Z:-835.84 [[ 4.03890462e-01 6.51023289e-01 6.42682793e-01 4.00770143e+02] [-3.29930653e-01 7.58915173e-01 -5.61420987e-01 -2.19757786e+02] [-8.53239860e-01 1.47118278e-02 5.21311139e-01 -8.35835564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.78, Y:-219.77, Z:-835.86 [[ 4.02685355e-01 6.51202270e-01 6.43257420e-01 4.00783303e+02] [-3.29995481e-01 7.58777574e-01 -5.61568852e-01 -2.19768763e+02] [-8.53784216e-01 1.38635107e-02 5.20442423e-01 -8.35864406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.80, Y:-219.78, Z:-835.89 [[ 4.00714386e-01 6.52169892e-01 6.43507897e-01 4.00797205e+02] [-3.29582934e-01 7.57952943e-01 -5.62923109e-01 -2.19775372e+02] [-8.54870207e-01 1.34821672e-02 5.18666714e-01 -8.35891224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.81, Y:-219.80, Z:-835.92 [[ 3.99893760e-01 6.44351409e-01 6.51840657e-01 4.00811015e+02] [-3.32304382e-01 7.64718224e-01 -5.52068688e-01 -2.19796428e+02] [-8.54200666e-01 4.15931683e-03 5.19926843e-01 -8.35916661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.82, Y:-219.80, Z:-835.95 [[ 3.99966970e-01 6.52648361e-01 6.43487793e-01 4.00824892e+02] [-3.32945133e-01 7.57590837e-01 -5.61430015e-01 -2.19800644e+02] [-8.53916835e-01 1.03073330e-02 5.20307407e-01 -8.35946718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.84, Y:-219.81, Z:-835.98 [[ 3.98503858e-01 6.55638487e-01 6.41352361e-01 4.00838579e+02] [-3.34534042e-01 7.55006230e-01 -5.63961495e-01 -2.19808300e+02] [-8.53979889e-01 1.01866339e-02 5.20206288e-01 -8.35975702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.85, Y:-219.84, Z:-836.00 [[ 3.97928168e-01 6.43275384e-01 6.54102403e-01 4.00854086e+02] [-3.41088111e-01 7.65610883e-01 -5.45434576e-01 -2.19838397e+02] [-8.51652555e-01 -6.06277168e-03 5.24071721e-01 -8.35996304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.87, Y:-219.81, Z:-836.04 [[ 3.93377307e-01 6.78191954e-01 6.20733411e-01 4.00871047e+02] [-3.39594920e-01 7.34605224e-01 -5.87392931e-01 -2.19806992e+02] [-8.54359166e-01 2.02691360e-02 5.19287567e-01 -8.36036114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.88, Y:-219.86, Z:-836.05 [[ 3.92620513e-01 6.43355881e-01 6.57223207e-01 4.00882366e+02] [-3.47850421e-01 7.65399353e-01 -5.41446134e-01 -2.19859368e+02] [-8.51380772e-01 -1.60325100e-02 5.24303100e-01 -8.36050827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.90, Y:-219.82, Z:-836.09 [[ 3.89334411e-01 6.82892442e-01 6.18123475e-01 4.00899135e+02] [-3.44055439e-01 7.30318971e-01 -5.90135625e-01 -2.19824246e+02] [-8.54426458e-01 1.70913624e-02 5.19291165e-01 -8.36092360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.91, Y:-219.86, Z:-836.11 [[ 3.86172010e-01 6.54799133e-01 6.49699372e-01 4.00909822e+02] [-3.50445034e-01 7.55673033e-01 -5.53305111e-01 -2.19862003e+02] [-8.53264002e-01 -1.40129718e-02 5.21290879e-01 -8.36111448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.93, Y:-219.88, Z:-836.14 [[ 3.85317888e-01 6.51797224e-01 6.53215511e-01 4.00925812e+02] [-3.58205037e-01 7.58014729e-01 -5.45071392e-01 -2.19884316e+02] [-8.50422999e-01 -2.39593281e-02 5.25553683e-01 -8.36135521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.94, Y:-219.88, Z:-836.17 [[ 3.83249825e-01 6.75049948e-01 6.30418226e-01 4.00943314e+02] [-3.60703452e-01 7.37720897e-01 -5.70667065e-01 -2.19875256e+02] [-8.50301471e-01 -8.68597770e-03 5.26224251e-01 -8.36169557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.96, Y:-219.88, Z:-836.20 [[ 3.80625901e-01 6.76863790e-01 6.30062960e-01 4.00957104e+02] [-3.63693301e-01 7.36013348e-01 -5.70974198e-01 -2.19883708e+02] [-8.50206508e-01 -1.18221097e-02 5.26316570e-01 -8.36196880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.97, Y:-219.87, Z:-836.23 [[ 3.77893000e-01 6.92232365e-01 6.14826181e-01 4.00969193e+02] [-3.57828648e-01 7.21663973e-01 -5.92587351e-01 -2.19869499e+02] [-8.53906048e-01 3.93219056e-03 5.20412335e-01 -8.36230713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.056559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.98, Y:-219.93, Z:-836.24 [[ 3.78872306e-01 6.47214522e-01 6.61490090e-01 4.00977814e+02] [-3.66256547e-01 7.61281294e-01 -5.35076568e-01 -2.19932126e+02] [-8.49889356e-01 -3.95493831e-02 5.25474955e-01 -8.36243077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.00, Y:-219.92, Z:-836.28 [[ 3.77353993e-01 6.79356281e-01 6.29348081e-01 4.00996500e+02] [-3.67072169e-01 7.33650617e-01 -5.71852075e-01 -2.19916210e+02] [-8.50212907e-01 -1.52255012e-02 5.26218773e-01 -8.36280042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.01, Y:-219.93, Z:-836.31 [[ 3.76564249e-01 6.80215935e-01 6.28892398e-01 4.01009114e+02] [-3.68375333e-01 7.32831655e-01 -5.72064140e-01 -2.19926681e+02] [-8.49999400e-01 -1.62495430e-02 5.26532973e-01 -8.36307342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.02, Y:-219.94, Z:-836.33 [[ 3.76001291e-01 6.80966590e-01 6.28416688e-01 4.01021842e+02] [-3.69564504e-01 7.32115111e-01 -5.72214594e-01 -2.19937009e+02] [-8.49732374e-01 -1.70870751e-02 5.26937306e-01 -8.36334790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:-219.95, Z:-836.36 [[ 3.75235816e-01 6.82178487e-01 6.27559236e-01 4.01034705e+02] [-3.72198784e-01 7.30940383e-01 -5.72008935e-01 -2.19947025e+02] [-8.48920578e-01 -1.89385450e-02 5.28181015e-01 -8.36363903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.05, Y:-219.96, Z:-836.39 [[ 3.75190391e-01 6.82932467e-01 6.26765839e-01 4.01047223e+02] [-3.73766045e-01 7.30216154e-01 -5.71911979e-01 -2.19957567e+02] [-8.48251799e-01 -1.96879100e-02 5.29227052e-01 -8.36391156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.06, Y:-219.97, Z:-836.42 [[ 3.75192587e-01 6.83508012e-01 6.26136822e-01 4.01059825e+02] [-3.74825642e-01 7.29665894e-01 -5.71920817e-01 -2.19968100e+02] [-8.47783145e-01 -2.01116851e-02 5.29961564e-01 -8.36419501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.07, Y:-219.98, Z:-836.45 [[ 3.75205170e-01 6.83957038e-01 6.25638754e-01 4.01072666e+02] [-3.75408613e-01 7.29241932e-01 -5.72079171e-01 -2.19979586e+02] [-8.47519589e-01 -2.02231141e-02 5.30378706e-01 -8.36448050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.296559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:401.09, Y:-219.99, Z:-836.48 [[ 3.75665861e-01 6.84036956e-01 6.25274823e-01 4.01085639e+02] [-3.75076761e-01 7.29186475e-01 -5.72367459e-01 -2.19991095e+02] [-8.47462438e-01 -1.95071417e-02 5.30496830e-01 -8.36476448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.10, Y:-220.00, Z:-836.50 [[ 3.77038557e-01 6.83374179e-01 6.25173302e-01 4.01098054e+02] [-3.72921744e-01 7.29867255e-01 -5.72907639e-01 -2.20002833e+02] [-8.47803810e-01 -1.71324489e-02 5.30033187e-01 -8.36503546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.11, Y:-220.01, Z:-836.53 [[ 3.77953811e-01 6.82828259e-01 6.25217151e-01 4.01110360e+02] [-3.71178829e-01 7.30417191e-01 -5.73338473e-01 -2.20014618e+02] [-8.48161066e-01 -1.53719092e-02 5.29515355e-01 -8.36531486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.12, Y:-220.03, Z:-836.56 [[ 3.81263659e-01 6.76619890e-01 6.29939320e-01 4.01122766e+02] [-3.69683178e-01 7.36142584e-01 -5.66946597e-01 -2.20031806e+02] [-8.47332503e-01 -1.67218356e-02 5.30799407e-01 -8.36555744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:-220.03, Z:-836.59 [[ 3.84150254e-01 6.83966497e-01 6.20176115e-01 4.01133797e+02] [-3.64039507e-01 7.29505833e-01 -5.79047905e-01 -2.20034974e+02] [-8.48471461e-01 -3.32720738e-03 5.29230677e-01 -8.36586675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.15, Y:-220.06, Z:-836.61 [[ 3.88644860e-01 6.69766266e-01 6.32746649e-01 4.01145073e+02] [-3.63055434e-01 7.42491394e-01 -5.62936304e-01 -2.20061393e+02] [-8.46844688e-01 -1.09398081e-02 5.31727746e-01 -8.36609362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.92, Y:-219.59, Z:-836.59 [[ 3.37482851e-01 5.60056760e-01 -7.56598805e-01 4.01919658e+02] [-3.16760840e-01 -6.89314462e-01 -6.51542894e-01 -2.19586592e+02] [-8.86435500e-01 4.59545427e-01 -5.52277602e-02 -8.36591285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.19, Y:-220.11, Z:-836.73 [[ 3.56057825e-01 6.61587358e-01 6.59943175e-01 4.01190872e+02] [-3.09845289e-01 7.49859189e-01 -5.84557178e-01 -2.20106355e+02] [-8.81600092e-01 3.65587379e-03 4.71982957e-01 -8.36733247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.20, Y:-220.12, Z:-836.76 [[ 3.61597642e-01 6.59114053e-01 6.59405650e-01 4.01200876e+02] [-3.04995958e-01 7.51973842e-01 -5.84390971e-01 -2.20119361e+02] [-8.81036101e-01 1.01983395e-02 4.72939090e-01 -8.36762029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.21, Y:-220.13, Z:-836.79 [[ 3.63682204e-01 6.58354009e-01 6.59018401e-01 4.01211431e+02] [-3.02756190e-01 7.52593671e-01 -5.84757605e-01 -2.20130163e+02] [-8.80950591e-01 1.31440336e-02 4.73025676e-01 -8.36790869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.22, Y:-220.14, Z:-836.82 [[ 3.65904125e-01 6.57628314e-01 6.58512849e-01 4.01222132e+02] [-3.00790423e-01 7.53172854e-01 -5.85026302e-01 -2.20140696e+02] [-8.80703862e-01 1.59891787e-02 4.73397353e-01 -8.36818980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.24, Y:-220.19, Z:-836.84 [[ 3.74014339e-01 6.28178544e-01 6.82279262e-01 4.01237707e+02] [-3.03585541e-01 7.78067890e-01 -5.49951068e-01 -2.20188246e+02] [-8.76327047e-01 -1.44053337e-03 4.81714471e-01 -8.36835698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.25, Y:-220.17, Z:-836.87 [[ 3.74578342e-01 6.63684766e-01 6.47467062e-01 4.01253155e+02] [-3.03759574e-01 7.47609334e-01 -5.90601732e-01 -2.20168894e+02] [-8.76025791e-01 2.45522980e-02 4.81638867e-01 -8.36872371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.26, Y:-220.14, Z:-836.91 [[ 3.70626975e-01 6.92850121e-01 6.18542121e-01 4.01259933e+02] [-2.94190122e-01 7.19254637e-01 -6.29384572e-01 -2.20138602e+02] [-8.80958465e-01 5.12979183e-02 4.70404832e-01 -8.36912496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.26, Y:-220.18, Z:-836.93 [[ 3.69928325e-01 6.54657586e-01 6.59224150e-01 4.01263936e+02] [-2.92323039e-01 7.55539049e-01 -5.86266140e-01 -2.20182886e+02] [-8.81873163e-01 2.41700447e-02 4.70866790e-01 -8.36932529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.28, Y:-220.19, Z:-836.96 [[ 3.69680317e-01 6.55184203e-01 6.58839983e-01 4.01275336e+02] [-2.92745731e-01 7.55088000e-01 -5.86636216e-01 -2.20192963e+02] [-8.81836946e-01 2.39952698e-02 4.70943550e-01 -8.36961704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.29, Y:-220.22, Z:-836.98 [[ 3.70151856e-01 6.45597675e-01 6.67975482e-01 4.01289128e+02] [-2.97006593e-01 7.63552143e-01 -5.73389229e-01 -2.20216463e+02] [-8.80212865e-01 1.38479650e-02 4.74377009e-01 -8.36984796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.30, Y:-220.20, Z:-837.02 [[ 3.66690647e-01 6.70870270e-01 6.44570438e-01 4.01299944e+02] [-2.96160984e-01 7.40963105e-01 -6.02712493e-01 -2.20199455e+02] [-8.81944806e-01 3.01124187e-02 4.70389840e-01 -8.37020583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.836559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:401.31, Y:-220.22, Z:-837.05 [[ 3.64978763e-01 6.58339573e-01 6.58315661e-01 4.01309240e+02] [-2.97287330e-01 7.52486584e-01 -5.87693955e-01 -2.20220521e+02] [-8.82275890e-01 1.87869078e-02 4.70357637e-01 -8.37046265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.32, Y:-220.23, Z:-837.07 [[ 3.63611261e-01 6.56266281e-01 6.61136460e-01 4.01321637e+02] [-2.99745729e-01 7.54396287e-01 -5.83985223e-01 -2.20234263e+02] [-8.82008701e-01 1.41707728e-02 4.71020000e-01 -8.37072810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.33, Y:-220.24, Z:-837.10 [[ 3.58376415e-01 6.65078553e-01 6.55161708e-01 4.01333499e+02] [-3.03590746e-01 7.46656392e-01 -5.91892635e-01 -2.20236196e+02] [-8.82835774e-01 1.32193287e-02 4.69495735e-01 -8.37103359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.34, Y:-220.25, Z:-837.13 [[ 3.55914572e-01 6.63549211e-01 6.58048070e-01 4.01344227e+02] [-3.05811989e-01 7.48085791e-01 -5.88936904e-01 -2.20247527e+02] [-8.83065029e-01 8.37223695e-03 4.69175938e-01 -8.37130722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.36, Y:-220.26, Z:-837.16 [[ 3.53402707e-01 6.64562391e-01 6.58379340e-01 4.01355759e+02] [-3.09187375e-01 7.47220208e-01 -5.88273005e-01 -2.20259945e+02] [-8.82898462e-01 4.33469246e-03 4.69543945e-01 -8.37160203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.37, Y:-220.26, Z:-837.19 [[ 3.50143214e-01 6.73972158e-01 6.50508463e-01 4.01368904e+02] [-3.13186590e-01 7.38738178e-01 -5.96808230e-01 -2.20260100e+02] [-8.82787568e-01 5.23782454e-03 4.69743202e-01 -8.37190023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.016559995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:401.38, Y:-220.28, Z:-837.22 [[ 3.47294225e-01 6.70027586e-01 6.56086698e-01 4.01378696e+02] [-3.16051210e-01 7.42333020e-01 -5.90807346e-01 -2.20275820e+02] [-8.82892040e-01 -2.17301598e-03 4.69571000e-01 -8.37219999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.48, Y:-220.38, Z:-836.77 [[ 3.90183352e-01 -6.58494467e-01 -6.43538646e-01 4.02482750e+02] [-2.37110828e-01 -7.47227102e-01 6.20830181e-01 -2.20378345e+02] [-8.89682756e-01 -8.96476198e-02 -4.47691744e-01 -8.36765973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.076559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:401.42, Y:-220.37, Z:-837.28 [[ 3.97914433e-01 5.38576069e-01 7.42697733e-01 4.01416376e+02] [-2.62245171e-01 8.42542982e-01 -4.70477199e-01 -2.20371941e+02] [-8.79142522e-01 -7.55922599e-03 4.76498986e-01 -8.37280450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.43, Y:-220.38, Z:-837.31 [[ 3.96157804e-01 5.40442591e-01 7.42280809e-01 4.01429761e+02] [-2.65355464e-01 8.41316533e-01 -4.70927775e-01 -2.20378879e+02] [-8.79002544e-01 -1.04065554e-02 4.76703504e-01 -8.37309310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.44, Y:-220.39, Z:-837.34 [[ 3.95383806e-01 5.41531778e-01 7.41899575e-01 4.01442153e+02] [-2.66932525e-01 8.40599058e-01 -4.71317569e-01 -2.20386474e+02] [-8.78873525e-01 -1.16857925e-02 4.76911700e-01 -8.37337479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.46, Y:-220.39, Z:-837.37 [[ 3.94947500e-01 5.42500896e-01 7.41423800e-01 4.01455160e+02] [-2.68440933e-01 8.39958158e-01 -4.71603391e-01 -2.20394935e+02] [-8.78610231e-01 -1.27699167e-02 4.77368821e-01 -8.37366750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.47, Y:-220.40, Z:-837.40 [[ 3.94740123e-01 5.43553075e-01 7.40763316e-01 4.01468117e+02] [-2.70268096e-01 8.39258634e-01 -4.71805152e-01 -2.20403027e+02] [-8.78143150e-01 -1.39642675e-02 4.78194111e-01 -8.37396059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.48, Y:-220.41, Z:-837.43 [[ 3.94288916e-01 5.44182348e-01 7.40541574e-01 4.01480671e+02] [-2.70709228e-01 8.38845866e-01 -4.72286064e-01 -2.20410585e+02] [-8.78209978e-01 -1.42542775e-02 4.78062810e-01 -8.37425023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.256559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.49, Y:-220.42, Z:-837.45 [[ 3.94195252e-01 5.44678868e-01 7.40226340e-01 4.01493121e+02] [-2.70965812e-01 8.38523866e-01 -4.72710540e-01 -2.20418438e+02] [-8.78172894e-01 -1.42357810e-02 4.78131479e-01 -8.37452892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.51, Y:-220.43, Z:-837.48 [[ 3.93724279e-01 5.45065611e-01 7.40192321e-01 4.01505472e+02] [-2.71116757e-01 8.38269419e-01 -4.73075137e-01 -2.20427259e+02] [-8.78337575e-01 -1.44173743e-02 4.77823443e-01 -8.37481921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.316559995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:401.52, Y:-220.43, Z:-837.51 [[ 3.94515656e-01 5.48300063e-01 7.37376727e-01 4.01517827e+02] [-2.72430950e-01 8.36179211e-01 -4.76010195e-01 -2.20433457e+02] [-8.77575510e-01 -1.30907679e-02 4.79259697e-01 -8.37510621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.53, Y:-220.45, Z:-837.54 [[ 3.93652062e-01 5.43394061e-01 7.41458663e-01 4.01530077e+02] [-2.72418075e-01 8.39309968e-01 -4.70475473e-01 -2.20445886e+02] [-8.77967224e-01 -1.67831019e-02 4.78426464e-01 -8.37538921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.54, Y:-220.45, Z:-837.57 [[ 3.93245643e-01 5.47404956e-01 7.38718945e-01 4.01542281e+02] [-2.74011685e-01 8.36715704e-01 -4.74156544e-01 -2.20452860e+02] [-8.77653383e-01 -1.59576278e-02 4.79030159e-01 -8.37569160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.55, Y:-220.46, Z:-837.60 [[ 3.92905975e-01 5.48157793e-01 7.38341336e-01 4.01554727e+02] [-2.74911556e-01 8.36211476e-01 -4.74525030e-01 -2.20461702e+02] [-8.77524091e-01 -1.65348462e-02 4.79247397e-01 -8.37598223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.57, Y:-220.47, Z:-837.63 [[ 3.92444123e-01 5.50465912e-01 7.36868299e-01 4.01565812e+02] [-2.74082906e-01 8.34731165e-01 -4.77600715e-01 -2.20466650e+02] [-8.77989847e-01 -1.45314113e-02 4.78458637e-01 -8.37627893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.58, Y:-220.48, Z:-837.65 [[ 3.92911316e-01 5.44196735e-01 7.41262849e-01 4.01577859e+02] [-2.77830757e-01 8.38672040e-01 -4.68443466e-01 -2.20483884e+02] [-8.76601830e-01 -2.18888792e-02 4.80718326e-01 -8.37653694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.59, Y:-220.49, Z:-837.68 [[ 3.92331418e-01 5.50467750e-01 7.36926939e-01 4.01590376e+02] [-2.78642780e-01 8.34641606e-01 -4.75112188e-01 -2.20488976e+02] [-8.76603821e-01 -1.89379326e-02 4.80839989e-01 -8.37684300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.60, Y:-220.50, Z:-837.71 [[ 3.91109782e-01 5.51415116e-01 7.36868040e-01 4.01602001e+02] [-2.79586227e-01 8.33991999e-01 -4.75698316e-01 -2.20499463e+02] [-8.76849292e-01 -1.99678902e-02 4.80350500e-01 -8.37713034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.61, Y:-220.51, Z:-837.74 [[ 3.90457184e-01 5.52087661e-01 7.36710528e-01 4.01614398e+02] [-2.80023317e-01 8.33537795e-01 -4.76237006e-01 -2.20508681e+02] [-8.77000644e-01 -2.03459651e-02 4.80058238e-01 -8.37742004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.63, Y:-220.52, Z:-837.77 [[ 3.90373775e-01 5.52539861e-01 7.36415656e-01 4.01627453e+02] [-2.80129376e-01 8.33241579e-01 -4.76692777e-01 -2.20516911e+02] [-8.77003905e-01 -2.02032995e-02 4.80058307e-01 -8.37771699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.64, Y:-220.53, Z:-837.80 [[ 3.89221249e-01 5.53029336e-01 7.36658248e-01 4.01638950e+02] [-2.80398937e-01 8.32900872e-01 -4.77129514e-01 -2.20526622e+02] [-8.77429915e-01 -2.08492448e-02 4.79251555e-01 -8.37799962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.65, Y:-220.54, Z:-837.83 [[ 3.88565421e-01 5.53391805e-01 7.36732261e-01 4.01650959e+02] [-2.79997304e-01 8.32665402e-01 -4.77775928e-01 -2.20535496e+02] [-8.77848748e-01 -2.06358424e-02 4.78493196e-01 -8.37829463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.66, Y:-220.54, Z:-837.86 [[ 3.88322452e-01 5.53643436e-01 7.36671310e-01 4.01663089e+02] [-2.79449574e-01 8.32511160e-01 -4.78365033e-01 -2.20544775e+02] [-8.78130747e-01 -2.01026008e-02 4.77998197e-01 -8.37858677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:-220.55, Z:-837.89 [[ 3.88994484e-01 5.53403422e-01 7.36497077e-01 4.01673250e+02] [-2.77942935e-01 8.32709737e-01 -4.78896877e-01 -2.20554913e+02] [-8.78311458e-01 -1.84159158e-02 4.77734065e-01 -8.37886870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.69, Y:-220.56, Z:-837.92 [[ 3.89562418e-01 5.53520853e-01 7.36108544e-01 4.01685130e+02] [-2.77526037e-01 8.32649454e-01 -4.79243347e-01 -2.20564463e+02] [-8.78191563e-01 -1.75940899e-02 4.77985383e-01 -8.37916124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.70, Y:-220.58, Z:-837.95 [[ 3.90344102e-01 5.53470015e-01 7.35732577e-01 4.01696566e+02] [-2.76673869e-01 8.32708875e-01 -4.79632671e-01 -2.20576026e+02] [-8.78113348e-01 -1.63361946e-02 4.78173688e-01 -8.37945355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.71, Y:-220.59, Z:-837.97 [[ 3.90981494e-01 5.53984063e-01 7.35006891e-01 4.01708519e+02] [-2.77428277e-01 8.32367242e-01 -4.79789876e-01 -2.20585182e+02] [-8.77591604e-01 -1.63227332e-02 4.79131032e-01 -8.37974124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.72, Y:-220.59, Z:-838.00 [[ 3.91550285e-01 5.54614766e-01 7.34228054e-01 4.01720486e+02] [-2.78498340e-01 8.31942174e-01 -4.79907173e-01 -2.20593812e+02] [-8.76998888e-01 -1.65735039e-02 4.80206487e-01 -8.38003204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.73, Y:-220.60, Z:-838.03 [[ 3.91647693e-01 5.55654025e-01 7.33389862e-01 4.01732266e+02] [-2.80502123e-01 8.31224488e-01 -4.79983760e-01 -2.20603724e+02] [-8.76316520e-01 -1.77328813e-02 4.81409287e-01 -8.38032475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.74, Y:-220.61, Z:-838.06 [[ 3.91080432e-01 5.56283490e-01 7.33215367e-01 4.01744420e+02] [-2.80897759e-01 8.30796593e-01 -4.80492945e-01 -2.20612788e+02] [-8.76443121e-01 -1.80471644e-02 4.81167076e-01 -8.38061468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.76, Y:-220.62, Z:-838.09 [[ 3.90857531e-01 5.56692937e-01 7.33023441e-01 4.01756551e+02] [-2.80833086e-01 8.30526428e-01 -4.80997537e-01 -2.20621498e+02] [-8.76563272e-01 -1.78557251e-02 4.80955304e-01 -8.38089437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.77, Y:-220.63, Z:-838.12 [[ 3.90617610e-01 5.58598501e-01 7.31700483e-01 4.01768004e+02] [-2.80256518e-01 8.29279804e-01 -4.83478325e-01 -2.20630333e+02] [-8.76854701e-01 -1.62086818e-02 4.80482166e-01 -8.38118652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9765599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.78, Y:-220.64, Z:-838.15 [[ 3.91075450e-01 5.53844178e-01 7.35062323e-01 4.01780228e+02] [-2.78462445e-01 8.32439821e-01 -4.79064308e-01 -2.20642748e+02] [-8.77222127e-01 -1.73369620e-02 4.79771582e-01 -8.38145997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:-220.65, Z:-838.18 [[ 3.92278878e-01 5.55557368e-01 7.33125700e-01 4.01791997e+02] [-2.75673724e-01 8.31379272e-01 -4.82506481e-01 -2.20650684e+02] [-8.77565542e-01 -1.28263908e-02 4.79285097e-01 -8.38176136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.80, Y:-220.66, Z:-838.20 [[ 3.93178746e-01 5.55229368e-01 7.32892095e-01 4.01803544e+02] [-2.74097068e-01 8.31624716e-01 -4.82981500e-01 -2.20659498e+02] [-8.77656693e-01 -1.09855136e-02 4.79163905e-01 -8.38204355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.82, Y:-220.67, Z:-838.23 [[ 3.94168442e-01 5.54727936e-01 7.32740170e-01 4.01815378e+02] [-2.72504752e-01 8.31981091e-01 -4.83268687e-01 -2.20668553e+02] [-8.77708608e-01 -9.18591278e-03 4.79106689e-01 -8.38233218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.83, Y:-220.68, Z:-838.26 [[ 3.96620638e-01 5.56913953e-01 7.29752642e-01 4.01826671e+02] [-2.70588892e-01 8.30558560e-01 -4.86779344e-01 -2.20676432e+02] [-8.77196512e-01 -4.39622471e-03 4.80111396e-01 -8.38262084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.84, Y:-220.68, Z:-838.29 [[ 3.96258175e-01 5.51843993e-01 7.33789933e-01 4.01837413e+02] [-2.66542885e-01 8.33937258e-01 -4.83222041e-01 -2.20684997e+02] [-8.78597945e-01 -4.10580153e-03 4.77544546e-01 -8.38288346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:-220.71, Z:-838.31 [[ 3.97641015e-01 5.42365472e-01 7.40081967e-01 4.01852370e+02] [-2.68435492e-01 8.40067848e-01 -4.71411071e-01 -2.20706077e+02] [-8.77396154e-01 -1.12118902e-02 4.79635574e-01 -8.38314643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.86, Y:-220.71, Z:-838.35 [[ 3.95041371e-01 5.54310412e-01 7.32586024e-01 4.01863412e+02] [-2.68249325e-01 8.32295715e-01 -4.85104259e-01 -2.20705734e+02] [-8.78626550e-01 -4.87945464e-03 4.77484635e-01 -8.38346393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.88, Y:-220.71, Z:-838.38 [[ 3.93982277e-01 5.55127295e-01 7.32537816e-01 4.01875796e+02] [-2.68863506e-01 8.31746597e-01 -4.85705686e-01 -2.20714327e+02] [-8.78914319e-01 -5.59325394e-03 4.76946889e-01 -8.38375696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.89, Y:-220.72, Z:-838.40 [[ 3.93547653e-01 5.55871337e-01 7.32207144e-01 4.01888082e+02] [-2.69664307e-01 8.31245673e-01 -4.86119114e-01 -2.20722867e+02] [-8.78863702e-01 -6.13909517e-03 4.77033443e-01 -8.38403950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.90, Y:-220.73, Z:-838.43 [[ 3.94087738e-01 5.56333284e-01 7.31565535e-01 4.01901723e+02] [-2.70320791e-01 8.30936719e-01 -4.86282674e-01 -2.20731176e+02] [-8.78419903e-01 -6.11933480e-03 4.77850425e-01 -8.38432808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.91, Y:-220.74, Z:-838.46 [[ 3.92203154e-01 5.57422218e-01 7.31749381e-01 4.01914518e+02] [-2.71834544e-01 8.30190389e-01 -4.86713364e-01 -2.20739712e+02] [-8.78796146e-01 -8.02424272e-03 4.77129904e-01 -8.38462336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.93, Y:-220.75, Z:-838.49 [[ 3.89712932e-01 5.58476313e-01 7.32275931e-01 4.01926533e+02] [-2.72856379e-01 8.29461789e-01 -4.87383358e-01 -2.20746598e+02] [-8.79586964e-01 -9.86656174e-03 4.75635810e-01 -8.38490904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.94, Y:-220.75, Z:-838.52 [[ 3.89636125e-01 5.58946885e-01 7.31957697e-01 4.01939465e+02] [-2.72960468e-01 8.29146639e-01 -4.87861080e-01 -2.20754982e+02] [-8.79588696e-01 -9.70721483e-03 4.75635887e-01 -8.38520605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.95, Y:-220.76, Z:-838.55 [[ 3.88924173e-01 5.59600276e-01 7.31837085e-01 4.01952571e+02] [-2.73982490e-01 8.28693664e-01 -4.88057790e-01 -2.20763251e+02] [-8.79586030e-01 -1.06930745e-02 4.75619675e-01 -8.38549602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.96, Y:-220.77, Z:-838.58 [[ 3.87897955e-01 5.60528392e-01 7.31671441e-01 4.01964858e+02] [-2.74986560e-01 8.28052830e-01 -4.88580498e-01 -2.20770301e+02] [-8.79725849e-01 -1.16804366e-02 4.75337774e-01 -8.38577870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.98, Y:-220.77, Z:-838.61 [[ 3.86674926e-01 5.63736883e-01 7.29851512e-01 4.01976337e+02] [-2.74860947e-01 8.25890844e-01 -4.92296429e-01 -2.20773603e+02] [-8.80303335e-01 -1.02489925e-02 4.74300534e-01 -8.38606821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.99, Y:-220.78, Z:-838.64 [[ 3.84927375e-01 5.64325663e-01 7.30320109e-01 4.01986749e+02] [-2.75384740e-01 8.25472674e-01 -4.92704891e-01 -2.20779591e+02] [-8.80905308e-01 -1.14634130e-02 4.73153705e-01 -8.38638042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.00, Y:-220.80, Z:-838.66 [[ 3.87499330e-01 5.47322634e-01 7.41810086e-01 4.02001444e+02] [-2.80064822e-01 8.36539987e-01 -4.70918831e-01 -2.20804643e+02] [-8.78298335e-01 -2.52741783e-02 4.77444501e-01 -8.38659952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.01, Y:-220.80, Z:-838.69 [[ 3.88255396e-01 5.64428155e-01 7.28476908e-01 4.02013122e+02] [-2.82918479e-01 8.25319896e-01 -4.88675970e-01 -2.20798733e+02] [-8.77048962e-01 -1.63684965e-02 4.80122058e-01 -8.38692299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.03, Y:-220.81, Z:-838.72 [[ 3.89166557e-01 5.64903863e-01 7.27621479e-01 4.02025721e+02] [-2.83825527e-01 8.24995077e-01 -4.88698469e-01 -2.20808875e+02] [-8.76351791e-01 -1.63324493e-02 4.81394630e-01 -8.38721399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.04, Y:-220.82, Z:-838.75 [[ 3.89063154e-01 5.65254832e-01 7.27404177e-01 4.02037881e+02] [-2.83642011e-01 8.24761299e-01 -4.89199355e-01 -2.20817352e+02] [-8.76457114e-01 -1.59929399e-02 4.81214250e-01 -8.38749650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.05, Y:-220.83, Z:-838.78 [[ 3.88982487e-01 5.65670533e-01 7.27124111e-01 4.02050774e+02] [-2.83745626e-01 8.24478686e-01 -4.89615478e-01 -2.20825841e+02] [-8.76459380e-01 -1.58664397e-02 4.81214309e-01 -8.38779338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.06, Y:-220.83, Z:-838.81 [[ 3.88907947e-01 5.65887096e-01 7.26995464e-01 4.02063664e+02] [-2.83847804e-01 8.24330062e-01 -4.89806465e-01 -2.20834494e+02] [-8.76459373e-01 -1.58664396e-02 4.81214321e-01 -8.38808981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.08, Y:-220.84, Z:-838.84 [[ 3.88833380e-01 5.66103620e-01 7.26866766e-01 4.02076552e+02] [-2.83949964e-01 8.24181381e-01 -4.89997418e-01 -2.20843151e+02] [-8.76459367e-01 -1.58664395e-02 4.81214334e-01 -8.38838623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:402.09, Y:-220.85, Z:-838.87 [[ 3.88738122e-01 5.66166405e-01 7.26868815e-01 4.02089015e+02] [-2.83580416e-01 8.24144513e-01 -4.90273362e-01 -2.20851492e+02] [-8.76621253e-01 -1.55378152e-02 4.80930094e-01 -8.38867588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.10, Y:-220.86, Z:-838.90 [[ 3.88800952e-01 5.66368305e-01 7.26677895e-01 4.02101626e+02] [-2.83055231e-01 8.24018086e-01 -4.90789090e-01 -2.20860048e+02] [-8.76763113e-01 -1.48707135e-02 4.80692528e-01 -8.38896383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.11, Y:-220.85, Z:-838.93 [[ 3.86566801e-01 5.80163081e-01 7.16921828e-01 4.02108897e+02] [-2.76750499e-01 8.14499304e-01 -5.09901996e-01 -2.20848565e+02] [-8.79758643e-01 -1.29729035e-03 4.75418813e-01 -8.38930876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.12, Y:-220.88, Z:-838.95 [[ 3.88297782e-01 5.52648471e-01 7.37431014e-01 4.02122466e+02] [-2.76532621e-01 8.33220128e-01 -4.78825571e-01 -2.20882110e+02] [-8.79064583e-01 -1.79968235e-02 4.76362858e-01 -8.38953525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.14, Y:-220.90, Z:-838.98 [[ 3.91346545e-01 5.45627278e-01 7.41038970e-01 4.02139075e+02] [-2.78897173e-01 8.37714266e-01 -4.69522284e-01 -2.20902668e+02] [-8.76963083e-01 -2.29277505e-02 4.80010489e-01 -8.38976992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.15, Y:-220.88, Z:-839.02 [[ 3.90495084e-01 5.76700202e-01 7.17586557e-01 4.02147146e+02] [-2.73377985e-01 8.16953115e-01 -5.07791379e-01 -2.20879554e+02] [-8.79077964e-01 2.11767002e-03 4.76673314e-01 -8.39015628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.16, Y:-220.90, Z:-839.04 [[ 3.93665399e-01 5.54162634e-01 7.33438020e-01 4.02158801e+02] [-2.69362303e-01 8.32379889e-01 -4.84342513e-01 -2.20904963e+02] [-8.78903580e-01 -6.89166568e-03 4.76949684e-01 -8.39038193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.17, Y:-220.92, Z:-839.07 [[ 3.94632565e-01 5.52243179e-01 7.34365447e-01 4.02172561e+02] [-2.69446186e-01 8.33648288e-01 -4.82109204e-01 -2.20916214e+02] [-8.78444017e-01 -7.61597726e-03 4.77784581e-01 -8.39065959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.19, Y:-220.93, Z:-839.09 [[ 3.95771989e-01 5.49841222e-01 7.35553644e-01 4.02188684e+02] [-2.70354373e-01 8.35217031e-01 -4.78874747e-01 -2.20931197e+02] [-8.77652007e-01 -9.33493304e-03 4.79207484e-01 -8.39091573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.20, Y:-220.93, Z:-839.12 [[ 3.95935623e-01 5.63073227e-01 7.25385086e-01 4.02201452e+02] [-2.69637361e-01 8.26406997e-01 -4.94314847e-01 -2.20929371e+02] [-8.77798767e-01 1.25936426e-04 4.79029549e-01 -8.39123882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.21, Y:-220.94, Z:-839.15 [[ 3.96476668e-01 5.63073049e-01 7.25089645e-01 4.02214365e+02] [-2.68839637e-01 8.26406222e-01 -4.94750449e-01 -2.20938095e+02] [-8.77799238e-01 1.22417277e-03 4.79027139e-01 -8.39152970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.23, Y:-220.95, Z:-839.18 [[ 3.97738270e-01 5.62461012e-01 7.24873699e-01 4.02227044e+02] [-2.66662049e-01 8.26815612e-01 -4.95244682e-01 -2.20945652e+02] [-8.77892716e-01 3.68145745e-03 4.78843217e-01 -8.39181062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.24, Y:-220.95, Z:-839.21 [[ 3.98808613e-01 5.63309488e-01 7.23625670e-01 4.02239553e+02] [-2.64882960e-01 8.26219559e-01 -4.97190365e-01 -2.20950750e+02] [-8.77945732e-01 6.60769016e-03 4.78714561e-01 -8.39210731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.25, Y:-220.96, Z:-839.24 [[ 3.99241793e-01 5.58693601e-01 7.26957668e-01 4.02253098e+02] [-2.64220044e-01 8.29362121e-01 -4.92286747e-01 -2.20960171e+02] [-8.77948608e-01 4.46465628e-03 4.78734068e-01 -8.39238362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.27, Y:-220.97, Z:-839.27 [[ 3.99666755e-01 5.56060124e-01 7.28741123e-01 4.02267039e+02] [-2.65588653e-01 8.31140317e-01 -4.88537042e-01 -2.20971280e+02] [-8.77342096e-01 1.70664106e-03 4.79862412e-01 -8.39266813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1765599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:402.28, Y:-220.97, Z:-839.30 [[ 3.98192760e-01 5.63753542e-01 7.23619009e-01 4.02280162e+02] [-2.67474366e-01 8.25933061e-01 -4.96278190e-01 -2.20973047e+02] [-8.77439451e-01 4.06484721e-03 4.79670186e-01 -8.39296655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.29, Y:-220.98, Z:-839.33 [[ 3.99469116e-01 5.63839788e-01 7.22847922e-01 4.02293612e+02] [-2.67523585e-01 8.25869650e-01 -4.96357183e-01 -2.20980367e+02] [-8.76844089e-01 4.90049731e-03 4.80749861e-01 -8.39325603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.31, Y:-220.99, Z:-839.35 [[ 3.97998963e-01 5.65046184e-01 7.22716844e-01 4.02306543e+02] [-2.68988993e-01 8.25052385e-01 -4.96924022e-01 -2.20988679e+02] [-8.77064278e-01 3.37236919e-03 4.80361198e-01 -8.39353155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.32, Y:-220.99, Z:-839.38 [[ 3.99595794e-01 5.68025090e-01 7.19493362e-01 4.02319555e+02] [-2.69023918e-01 8.22986628e-01 -5.00319039e-01 -2.20991413e+02] [-8.76327184e-01 6.36446063e-03 4.81674331e-01 -8.39380907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.33, Y:-221.01, Z:-839.41 [[ 3.98078856e-01 5.55382547e-01 7.30125641e-01 4.02334209e+02] [-2.68830498e-01 8.31590218e-01 -4.85991638e-01 -2.21009909e+02] [-8.77076615e-01 -2.81704378e-03 4.80342249e-01 -8.39407951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.35, Y:-221.01, Z:-839.44 [[ 3.95784883e-01 5.67191123e-01 7.22252419e-01 4.02346522e+02] [-2.69998981e-01 8.23582662e-01 -4.98810735e-01 -2.21009685e+02] [-8.77755591e-01 2.41433102e-03 4.79102593e-01 -8.39438591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.36, Y:-221.02, Z:-839.47 [[ 3.94999773e-01 5.67802967e-01 7.22201475e-01 4.02359117e+02] [-2.70217453e-01 8.23161803e-01 -4.99386798e-01 -2.21017087e+02] [-8.78041974e-01 2.10622875e-03 4.78578997e-01 -8.39466524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.37, Y:-221.03, Z:-839.50 [[ 3.94137828e-01 5.68501380e-01 7.22122949e-01 4.02372359e+02] [-2.70705612e-01 8.22680844e-01 -4.99914694e-01 -2.21025420e+02] [-8.78278910e-01 1.55255747e-03 4.78146155e-01 -8.39495096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.39, Y:-221.03, Z:-839.52 [[ 3.94509737e-01 5.68586819e-01 7.21852545e-01 4.02386427e+02] [-2.70054525e-01 8.22619582e-01 -5.00367442e-01 -2.21031726e+02] [-8.78312371e-01 2.46028149e-03 4.78080878e-01 -8.39524779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.40, Y:-221.04, Z:-839.55 [[ 3.91243116e-01 5.70643292e-01 7.22007657e-01 4.02399525e+02] [-2.72938944e-01 8.21197442e-01 -5.01137800e-01 -2.21040204e+02] [-8.78881765e-01 -9.97293106e-04 4.77038624e-01 -8.39552158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.41, Y:-221.05, Z:-839.58 [[ 3.88479312e-01 5.72334694e-01 7.22161217e-01 4.02413019e+02] [-2.75166790e-01 8.20011536e-01 -5.01860856e-01 -2.21046431e+02] [-8.79412908e-01 -3.75222348e-03 4.76045018e-01 -8.39580511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.43, Y:-221.06, Z:-839.61 [[ 3.88404925e-01 5.72740818e-01 7.21879194e-01 4.02425817e+02] [-2.75270228e-01 8.19728483e-01 -5.02266380e-01 -2.21055146e+02] [-8.79413393e-01 -3.62911436e-03 4.76045075e-01 -8.39610178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.44, Y:-221.06, Z:-839.64 [[ 3.86983381e-01 5.73724815e-01 7.21861274e-01 4.02439274e+02] [-2.76856984e-01 8.19030456e-01 -5.02532908e-01 -2.21063253e+02] [-8.79541968e-01 -5.38045179e-03 4.75790897e-01 -8.39639281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.45, Y:-221.07, Z:-839.67 [[ 3.86421087e-01 5.74313382e-01 7.21694452e-01 4.02452236e+02] [-2.76859610e-01 8.18617989e-01 -5.03203085e-01 -2.21068491e+02] [-8.79788327e-01 -5.35976113e-03 4.75335432e-01 -8.39666711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.596559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:402.47, Y:-221.08, Z:-839.69 [[ 3.83574019e-01 5.70394915e-01 7.26306143e-01 4.02465630e+02] [-2.81172074e-01 8.21254920e-01 -4.96470161e-01 -2.21081884e+02] [-8.79666549e-01 -1.37839494e-02 4.75391171e-01 -8.39694605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.48, Y:-221.08, Z:-839.72 [[ 3.82480275e-01 5.77575259e-01 7.21190446e-01 4.02478542e+02] [-2.83012396e-01 8.16256680e-01 -5.03615941e-01 -2.21084477e+02] [-8.79552627e-01 -1.14826729e-02 4.75663038e-01 -8.39724401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:-221.09, Z:-839.75 [[ 3.81713983e-01 5.78611399e-01 7.20765763e-01 4.02491030e+02] [-2.84626303e-01 8.15503031e-01 -5.03927251e-01 -2.21091598e+02] [-8.79364716e-01 -1.27928159e-02 4.75976933e-01 -8.39752508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.50, Y:-221.10, Z:-839.78 [[ 3.81138642e-01 5.79674413e-01 7.20215878e-01 4.02503824e+02] [-2.86465847e-01 8.14724998e-01 -5.04143330e-01 -2.21099290e+02] [-8.79016868e-01 -1.41687473e-02 4.76580100e-01 -8.39781828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.52, Y:-221.11, Z:-839.81 [[ 3.81455260e-01 5.80936721e-01 7.19030188e-01 4.02517290e+02] [-2.89439619e-01 8.13793765e-01 -5.03948822e-01 -2.21105820e+02] [-8.77904660e-01 -1.58818948e-02 4.78572016e-01 -8.39811315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.53, Y:-221.11, Z:-839.84 [[ 3.81607019e-01 5.81556766e-01 7.18448196e-01 4.02530000e+02] [-2.90305999e-01 8.13345041e-01 -5.04174841e-01 -2.21113521e+02] [-8.77552568e-01 -1.61731637e-02 4.79207595e-01 -8.39841102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.54, Y:-221.12, Z:-839.87 [[ 3.82838224e-01 5.81537786e-01 7.17808260e-01 4.02543049e+02] [-2.89881502e-01 8.13381263e-01 -5.04360621e-01 -2.21121655e+02] [-8.77156548e-01 -1.49908123e-02 4.79970484e-01 -8.39869675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.56, Y:-221.13, Z:-839.90 [[ 3.83586611e-01 5.81381848e-01 7.17534988e-01 4.02555491e+02] [-2.88728310e-01 8.13518209e-01 -5.04801037e-01 -2.21130492e+02] [-8.77209938e-01 -1.35377449e-02 4.79916091e-01 -8.39897521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.57, Y:-221.14, Z:-839.93 [[ 3.86150847e-01 5.79667752e-01 7.17546390e-01 4.02567834e+02] [-2.84011471e-01 8.14807211e-01 -5.05397560e-01 -2.21140415e+02] [-8.77624640e-01 -8.63170961e-03 4.79270785e-01 -8.39925865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.58, Y:-221.15, Z:-839.96 [[ 3.87779941e-01 5.78664675e-01 7.17477464e-01 4.02580102e+02] [-2.80849093e-01 8.15548357e-01 -5.05969036e-01 -2.21149676e+02] [-8.77923975e-01 -5.29825224e-03 4.78770742e-01 -8.39955222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.896559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.59, Y:-221.16, Z:-839.98 [[ 3.89370521e-01 5.77593265e-01 7.17479350e-01 4.02592435e+02] [-2.77457762e-01 8.16322677e-01 -5.06591035e-01 -2.21159496e+02] [-8.78298234e-01 -1.81859996e-03 4.78109721e-01 -8.39984456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:402.60, Y:-221.17, Z:-840.01 [[ 3.92876521e-01 5.74901780e-01 7.17729742e-01 4.02604676e+02] [-2.70343130e-01 8.18205184e-01 -5.07400107e-01 -2.21169941e+02] [-8.78955421e-01 5.31228412e-03 4.76874353e-01 -8.40013452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.62, Y:-221.18, Z:-840.04 [[ 3.94728242e-01 5.73900868e-01 7.17514745e-01 4.02616937e+02] [-2.67386225e-01 8.18879404e-01 -5.07879049e-01 -2.21179022e+02] [-8.79030274e-01 8.62064516e-03 4.76688014e-01 -8.40042199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.63, Y:-221.19, Z:-840.07 [[ 3.98134847e-01 5.71547908e-01 7.17510720e-01 4.02629044e+02] [-2.61365381e-01 8.20433023e-01 -5.08505450e-01 -2.21188241e+02] [-8.79304715e-01 1.49212767e-02 4.76025812e-01 -8.40070903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.64, Y:-221.20, Z:-840.10 [[ 3.99975498e-01 5.70708229e-01 7.17155296e-01 4.02641477e+02] [-2.58947319e-01 8.20959118e-01 -5.08893322e-01 -2.21197108e+02] [-8.79184786e-01 1.78394183e-02 4.76146898e-01 -8.40099266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.65, Y:-221.21, Z:-840.13 [[ 4.01259631e-01 5.70092096e-01 7.16927968e-01 4.02653732e+02] [-2.56903565e-01 8.21332660e-01 -5.09326242e-01 -2.21206022e+02] [-8.79199219e-01 2.01907092e-02 4.76026332e-01 -8.40128114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.076559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.67, Y:-221.21, Z:-840.15 [[ 4.05829454e-01 5.66662756e-01 7.17074456e-01 4.02666743e+02] [-2.52647868e-01 8.23572673e-01 -5.07835709e-01 -2.21213560e+02] [-8.78334509e-01 2.49273562e-02 4.77396186e-01 -8.40153318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.68, Y:-221.23, Z:-840.18 [[ 4.05817692e-01 5.61051155e-01 7.21480147e-01 4.02678119e+02] [-2.53581532e-01 8.27531822e-01 -5.00886704e-01 -2.21229673e+02] [-8.78070844e-01 2.03146456e-02 4.78099266e-01 -8.40181725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.136559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.69, Y:-221.23, Z:-840.21 [[ 4.05323391e-01 5.69142236e-01 7.15395041e-01 4.02691311e+02] [-2.54230975e-01 8.21866177e-01 -5.09806432e-01 -2.21231370e+02] [-8.78111360e-01 2.47608930e-02 4.77815171e-01 -8.40212866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.70, Y:-221.24, Z:-840.24 [[ 4.07026546e-01 5.68954337e-01 7.14577045e-01 4.02704656e+02] [-2.53853300e-01 8.21954011e-01 -5.09853024e-01 -2.21239366e+02] [-8.77432558e-01 2.61259741e-02 4.78988038e-01 -8.40242416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.72, Y:-221.25, Z:-840.27 [[ 4.06755809e-01 5.69701973e-01 7.14135403e-01 4.02718627e+02] [-2.54823275e-01 8.21454487e-01 -5.10174111e-01 -2.21245925e+02] [-8.77276929e-01 2.55379613e-02 4.79304707e-01 -8.40270853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:402.73, Y:-221.25, Z:-840.30 [[ 4.05934030e-01 5.70322097e-01 7.14108024e-01 4.02731995e+02] [-2.55396396e-01 8.21044638e-01 -5.10547142e-01 -2.21253729e+02] [-8.77490880e-01 2.48678428e-02 4.78948166e-01 -8.40299885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.75, Y:-221.26, Z:-840.33 [[ 4.03171579e-01 5.72029191e-01 7.14307555e-01 4.02746788e+02] [-2.57424238e-01 8.19930915e-01 -5.11317960e-01 -2.21260913e+02] [-8.78171646e-01 2.22687910e-02 4.77827021e-01 -8.40328470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.76, Y:-221.27, Z:-840.36 [[ 4.01270070e-01 5.73289186e-01 7.14368140e-01 4.02760472e+02] [-2.58754840e-01 8.19094131e-01 -5.11987048e-01 -2.21268737e+02] [-8.78651389e-01 2.05988650e-02 4.77019311e-01 -8.40357505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.78, Y:-221.28, Z:-840.39 [[ 3.97531379e-01 5.76038508e-01 7.14246764e-01 4.02775641e+02] [-2.63377301e-01 8.17273030e-01 -5.12539942e-01 -2.21275087e+02] [-8.78977361e-01 1.56343254e-02 4.76607142e-01 -8.40386508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:402.79, Y:-221.28, Z:-840.42 [[ 3.93301001e-01 5.79453441e-01 7.13826332e-01 4.02790680e+02] [-2.69797570e-01 8.14954174e-01 -5.12892744e-01 -2.21279624e+02] [-8.78933214e-01 9.13261998e-03 4.76857422e-01 -8.40415254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.376559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:402.80, Y:-221.29, Z:-840.44 [[ 3.93189687e-01 5.79885568e-01 7.13536684e-01 4.02803346e+02] [-2.69961978e-01 8.14646049e-01 -5.13295573e-01 -2.21288534e+02] [-8.78932535e-01 9.19475078e-03 4.76857480e-01 -8.40444902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.82, Y:-221.30, Z:-840.47 [[ 3.89697282e-01 5.79640338e-01 7.15648732e-01 4.02820075e+02] [-2.77572255e-01 8.14872359e-01 -5.08858215e-01 -2.21296573e+02] [-8.78117117e-01 -3.43569041e-04 4.78445619e-01 -8.40470779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.83, Y:-221.30, Z:-840.50 [[ 3.85875165e-01 5.84909403e-01 7.13429287e-01 4.02832009e+02] [-2.81188223e-01 8.11094154e-01 -5.12893221e-01 -2.21300773e+02] [-8.78654392e-01 -2.69515688e-03 4.77450726e-01 -8.40501524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.85, Y:-221.30, Z:-840.53 [[ 3.80901862e-01 5.89054183e-01 7.12691336e-01 4.02847248e+02] [-2.87594464e-01 8.08042045e-01 -5.14157057e-01 -2.21304968e+02] [-8.78750929e-01 -9.12270204e-03 4.77193441e-01 -8.40529985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.86, Y:-221.31, Z:-840.56 [[ 3.77864645e-01 5.87660243e-01 7.15453527e-01 4.02863290e+02] [-2.92594735e-01 8.08936264e-01 -5.09912191e-01 -2.21313342e+02] [-8.78411425e-01 -1.66601458e-02 4.77614707e-01 -8.40555306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.88, Y:-221.32, Z:-840.59 [[ 3.75302985e-01 5.91303178e-01 7.13798446e-01 4.02875119e+02] [-2.94663257e-01 8.06252577e-01 -5.12962326e-01 -2.21318511e+02] [-8.78818090e-01 -1.78138824e-02 4.76824319e-01 -8.40586038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.89, Y:-221.32, Z:-840.61 [[ 3.74908323e-01 5.91102211e-01 7.14172197e-01 4.02890410e+02] [-2.96771769e-01 8.06345105e-01 -5.11599541e-01 -2.21324287e+02] [-8.78276874e-01 -2.01432202e-02 4.77727939e-01 -8.40612154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.90, Y:-221.33, Z:-840.64 [[ 3.73734007e-01 5.90854231e-01 7.14992427e-01 4.02901724e+02] [-2.98052124e-01 8.06471302e-01 -5.10655431e-01 -2.21333422e+02] [-8.78343796e-01 -2.22557110e-02 4.77511110e-01 -8.40642330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.616559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.92, Y:-221.34, Z:-840.67 [[ 3.73745219e-01 5.94987581e-01 7.11550624e-01 4.02915803e+02] [-2.97819758e-01 8.03503898e-01 -5.15446290e-01 -2.21338215e+02] [-8.78417841e-01 -1.92682481e-02 4.77504797e-01 -8.40672566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.93, Y:-221.35, Z:-840.70 [[ 3.74466375e-01 5.94759833e-01 7.11361846e-01 4.02928708e+02] [-2.96395052e-01 8.03709888e-01 -5.15946111e-01 -2.21345562e+02] [-8.78592572e-01 -1.76396609e-02 4.77246199e-01 -8.40700756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.94, Y:-221.35, Z:-840.73 [[ 3.75756287e-01 5.93286002e-01 7.11912166e-01 4.02941867e+02] [-2.94535250e-01 8.04831332e-01 -5.15262568e-01 -2.21352659e+02] [-8.78667286e-01 -1.60700786e-02 4.77164074e-01 -8.40727545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:402.95, Y:-221.37, Z:-840.76 [[ 3.75943799e-01 5.88166943e-01 7.16048817e-01 4.02953142e+02] [-2.95421695e-01 8.08487643e-01 -5.08992882e-01 -2.21366860e+02] [-8.78289407e-01 -2.01836377e-02 4.77703191e-01 -8.40756961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.97, Y:-221.36, Z:-840.79 [[ 3.75508425e-01 6.01567430e-01 7.05060316e-01 4.02965411e+02] [-2.91928951e-01 7.98778998e-01 -5.26050949e-01 -2.21359538e+02] [-8.79642490e-01 -8.29095446e-03 4.75563192e-01 -8.40788654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.98, Y:-221.39, Z:-840.81 [[ 3.77879513e-01 5.76300281e-01 7.24627532e-01 4.02976887e+02] [-2.95044101e-01 8.16809490e-01 -4.95753200e-01 -2.21392287e+02] [-8.77585354e-01 -2.64621006e-02 4.78689570e-01 -8.40811445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.796559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.99, Y:-221.39, Z:-840.84 [[ 3.78329563e-01 5.95045485e-01 7.09075182e-01 4.02990823e+02] [-2.95279688e-01 8.03572588e-01 -5.16798803e-01 -2.21386511e+02] [-8.77312173e-01 -1.38552333e-02 4.79720110e-01 -8.40844048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.00, Y:-221.39, Z:-840.87 [[ 3.79830538e-01 5.95243438e-01 7.08105933e-01 4.03002879e+02] [-2.95747753e-01 8.03437869e-01 -5.16740609e-01 -2.21394850e+02] [-8.76505579e-01 -1.31468752e-02 4.81212147e-01 -8.40872496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.01, Y:-221.40, Z:-840.90 [[ 3.80437269e-01 5.95587215e-01 7.07490886e-01 4.03014741e+02] [-2.96155134e-01 8.03187380e-01 -5.16896672e-01 -2.21403660e+02] [-8.76104800e-01 -1.28802998e-02 4.81948625e-01 -8.40900346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.03, Y:-221.41, Z:-840.93 [[ 3.80577583e-01 5.95936335e-01 7.07121339e-01 4.03026809e+02] [-2.96648898e-01 8.02926435e-01 -5.17018928e-01 -2.21412723e+02] [-8.75876781e-01 -1.30009523e-02 4.82359659e-01 -8.40929107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.04, Y:-221.42, Z:-840.96 [[ 3.80600176e-01 5.96232140e-01 7.06859775e-01 4.03038902e+02] [-2.96511754e-01 8.02712279e-01 -5.17429973e-01 -2.21421991e+02] [-8.75913401e-01 -1.26582926e-02 4.82302272e-01 -8.40958057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.05, Y:-221.43, Z:-840.99 [[ 3.80322504e-01 5.97509051e-01 7.05930398e-01 4.03050530e+02] [-2.95719806e-01 8.01783266e-01 -5.19320123e-01 -2.21429469e+02] [-8.76301654e-01 -1.12484708e-02 4.81631481e-01 -8.40986529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.06, Y:-221.44, Z:-841.01 [[ 3.80662823e-01 5.93157544e-01 7.09408164e-01 4.03062525e+02] [-2.95954287e-01 8.04961203e-01 -5.14245584e-01 -2.21443526e+02] [-8.76074697e-01 -1.41982115e-02 4.81966322e-01 -8.41013823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.07, Y:-221.45, Z:-841.04 [[ 3.80184124e-01 5.97729010e-01 7.05818718e-01 4.03074347e+02] [-2.93997658e-01 8.01640536e-01 -5.20516886e-01 -2.21448203e+02] [-8.76940938e-01 -9.61679372e-03 4.80501934e-01 -8.41043209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.09, Y:-221.46, Z:-841.07 [[ 3.81550538e-01 5.93244739e-01 7.08858143e-01 4.03085312e+02] [-2.90925221e-01 8.04972642e-01 -5.17089510e-01 -2.21461979e+02] [-8.77372044e-01 -8.92893092e-03 4.79727601e-01 -8.41071031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.10, Y:-221.47, Z:-841.10 [[ 3.83405583e-01 5.92165616e-01 7.08759510e-01 4.03096484e+02] [-2.88189067e-01 8.05794647e-01 -5.17341327e-01 -2.21473948e+02] [-8.77466364e-01 -5.90518902e-03 4.79601823e-01 -8.41098651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.11, Y:-221.48, Z:-841.13 [[ 3.84840161e-01 5.94247522e-01 7.06235041e-01 4.03108905e+02] [-2.86617612e-01 8.04279510e-01 -5.20562017e-01 -2.21482000e+02] [-8.77353062e-01 -2.08623071e-03 4.79840862e-01 -8.41128572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.12, Y:-221.48, Z:-841.16 [[ 3.85295606e-01 5.98283597e-01 7.02569594e-01 4.03118961e+02] [-2.82556786e-01 8.01270761e-01 -5.27377314e-01 -2.21484400e+02] [-8.78469669e-01 4.68035502e-03 4.77775193e-01 -8.41158935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.13, Y:-221.51, Z:-841.18 [[ 3.89087729e-01 5.82852322e-01 7.13368004e-01 4.03130429e+02] [-2.81153366e-01 8.12575850e-01 -5.10561722e-01 -2.21509563e+02] [-8.77247698e-01 -1.91251488e-03 4.80034185e-01 -8.41183734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:-221.51, Z:-841.21 [[ 3.90393966e-01 5.91908488e-01 7.05150263e-01 4.03142870e+02] [-2.79771133e-01 8.05979999e-01 -5.21655398e-01 -2.21512274e+02] [-8.77109266e-01 6.37043134e-03 4.80248637e-01 -8.41214904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.15, Y:-221.52, Z:-841.24 [[ 3.93730155e-01 5.90368282e-01 7.04586302e-01 4.03153394e+02] [-2.76204270e-01 8.07060771e-01 -5.21885154e-01 -2.21523759e+02] [-8.76748406e-01 1.08721774e-02 4.80826402e-01 -8.41242742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.16, Y:-221.53, Z:-841.27 [[ 3.95286888e-01 5.91257640e-01 7.02967055e-01 4.03164179e+02] [-2.73497090e-01 8.06342580e-01 -5.24414899e-01 -2.21531004e+02] [-8.76896583e-01 1.50348895e-02 4.80443893e-01 -8.41272413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.18, Y:-221.55, Z:-841.30 [[ 3.96583594e-01 5.86377156e-01 7.06316703e-01 4.03176001e+02] [-2.72739360e-01 8.09929162e-01 -5.19257157e-01 -2.21545764e+02] [-8.76547030e-01 1.32885038e-02 4.81132748e-01 -8.41300209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.19, Y:-221.55, Z:-841.33 [[ 3.98947787e-01 5.87855346e-01 7.03751913e-01 4.03186670e+02] [-2.69867600e-01 8.08753072e-01 -5.22580087e-01 -2.21554093e+02] [-8.76363019e-01 1.85623293e-02 4.81293360e-01 -8.41329271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.20, Y:-221.57, Z:-841.36 [[ 4.00358176e-01 5.84585892e-01 7.05671783e-01 4.03198921e+02] [-2.69300512e-01 8.11136209e-01 -5.19167878e-01 -2.21568949e+02] [-8.75894152e-01 1.78153325e-02 4.82174293e-01 -8.41358332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.21, Y:-221.57, Z:-841.39 [[ 4.00527048e-01 5.95073968e-01 6.96753225e-01 4.03210032e+02] [-2.68093050e-01 8.03242137e-01 -5.31909943e-01 -2.21568666e+02] [-8.76187309e-01 2.62496223e-02 4.81255397e-01 -8.41388261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.22, Y:-221.58, Z:-841.42 [[ 4.00377169e-01 5.87664605e-01 7.03099164e-01 4.03221893e+02] [-2.67917755e-01 8.08826528e-01 -5.23468933e-01 -2.21583965e+02] [-8.76309420e-01 2.12122600e-02 4.81281457e-01 -8.41416259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.23, Y:-221.59, Z:-841.45 [[ 4.00691029e-01 5.88322235e-01 7.02370022e-01 4.03232204e+02] [-2.66861766e-01 8.08303596e-01 -5.24814344e-01 -2.21593666e+02] [-8.76488162e-01 2.28526950e-02 4.80880709e-01 -8.41445144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.24, Y:-221.61, Z:-841.47 [[ 3.99941311e-01 5.85920965e-01 7.04800377e-01 4.03243915e+02] [-2.68325593e-01 8.10137274e-01 -5.21228331e-01 -2.21607455e+02] [-8.76383663e-01 1.93447633e-02 4.81224954e-01 -8.41473680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.25, Y:-221.62, Z:-841.50 [[ 3.97563406e-01 5.90207427e-01 7.02565678e-01 4.03254980e+02] [-2.71796513e-01 8.07063131e-01 -5.24190575e-01 -2.21615805e+02] [-8.76396026e-01 1.74440891e-02 4.81275088e-01 -8.41503031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.27, Y:-221.62, Z:-841.53 [[ 3.95757222e-01 5.91811311e-01 7.02236138e-01 4.03266514e+02] [-2.74484244e-01 8.05940118e-01 -5.24517803e-01 -2.21624757e+02] [-8.76375845e-01 1.48289537e-02 4.81399503e-01 -8.41530970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:403.28, Y:-221.63, Z:-841.56 [[ 3.93103282e-01 5.93803281e-01 7.02045208e-01 4.03278416e+02] [-2.77800062e-01 8.04530539e-01 -5.24935936e-01 -2.21634003e+02] [-8.76525491e-01 1.13258366e-02 4.81222184e-01 -8.41560247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.29, Y:-221.64, Z:-841.59 [[ 3.86187495e-01 5.98219555e-01 7.02134305e-01 4.03290742e+02] [-2.85661342e-01 8.01328610e-01 -5.25613980e-01 -2.21643757e+02] [-8.77072868e-01 2.41291913e-03 4.80351290e-01 -8.41589562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.30, Y:-221.65, Z:-841.62 [[ 3.82682945e-01 6.00765817e-01 7.01879047e-01 4.03303137e+02] [-2.90123516e-01 7.99421720e-01 -5.26073435e-01 -2.21652850e+02] [-8.77144292e-01 -2.31228529e-03 4.80221350e-01 -8.41618091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.32, Y:-221.66, Z:-841.65 [[ 3.76408273e-01 6.05204458e-01 7.01458749e-01 4.03315223e+02] [-2.98908881e-01 7.95986363e-01 -5.26364124e-01 -2.21661985e+02] [-8.76909512e-01 -1.15444395e-02 4.80516840e-01 -8.41647612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.33, Y:-221.67, Z:-841.68 [[ 3.72689665e-01 6.07526816e-01 7.01436799e-01 4.03327127e+02] [-3.02704137e-01 7.94139488e-01 -5.26984515e-01 -2.21671035e+02] [-8.77195884e-01 -1.59261386e-02 4.79868460e-01 -8.41676377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.34, Y:-221.68, Z:-841.71 [[ 3.69704841e-01 6.09435421e-01 7.01360677e-01 4.03339301e+02] [-3.05794150e-01 7.92597236e-01 -5.27522094e-01 -2.21680317e+02] [-8.77387183e-01 -1.94445205e-02 4.79388821e-01 -8.41705053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.35, Y:-221.69, Z:-841.73 [[ 3.64922170e-01 6.11880306e-01 7.01736632e-01 4.03350882e+02] [-3.09415231e-01 7.90577366e-01 -5.28440766e-01 -2.21689856e+02] [-8.78119596e-01 -2.42882508e-02 4.77824294e-01 -8.41732995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.36, Y:-221.70, Z:-841.76 [[ 3.63338053e-01 6.12889003e-01 7.01678366e-01 4.03362724e+02] [-3.10589164e-01 7.89749924e-01 -5.28989063e-01 -2.21699748e+02] [-8.78362015e-01 -2.57318409e-02 4.77302883e-01 -8.41762108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.37, Y:-221.71, Z:-841.79 [[ 3.62345285e-01 6.13574735e-01 7.01592431e-01 4.03374465e+02] [-3.11033705e-01 7.89197281e-01 -5.29552345e-01 -2.21709670e+02] [-8.78614779e-01 -2.63380976e-02 4.76804337e-01 -8.41791385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.39, Y:-221.72, Z:-841.82 [[ 3.61939124e-01 6.14017208e-01 7.01414955e-01 4.03385060e+02] [-3.11069240e-01 7.88852851e-01 -5.30044440e-01 -2.21720464e+02] [-8.78769593e-01 -2.63447963e-02 4.76518576e-01 -8.41820018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:403.40, Y:-221.73, Z:-841.85 [[ 3.62410980e-01 6.14164120e-01 7.01042591e-01 4.03395920e+02] [-3.10787313e-01 7.88760675e-01 -5.30346909e-01 -2.21730187e+02] [-8.78674870e-01 -2.56715999e-02 4.76729946e-01 -8.41848379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.41, Y:-221.74, Z:-841.88 [[ 3.63731707e-01 6.13965366e-01 7.00532494e-01 4.03405648e+02] [-3.10301683e-01 7.88953476e-01 -5.30344491e-01 -2.21741102e+02] [-8.78300695e-01 -2.44733051e-02 4.77481880e-01 -8.41876443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.42, Y:-221.75, Z:-841.91 [[ 3.64711133e-01 6.14021078e-01 6.99974218e-01 4.03416957e+02] [-3.10088076e-01 7.88937417e-01 -5.30493296e-01 -2.21751138e+02] [-8.77969917e-01 -2.35768473e-02 4.78134874e-01 -8.41905885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.43, Y:-221.76, Z:-841.94 [[ 3.67438845e-01 6.13541697e-01 6.98967296e-01 4.03426966e+02] [-3.09242157e-01 7.89375427e-01 -5.30335483e-01 -2.21762657e+02] [-8.77130540e-01 -2.12842973e-02 4.79780152e-01 -8.41935502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:403.44, Y:-221.77, Z:-841.96 [[ 3.68988512e-01 6.13303372e-01 6.98359830e-01 4.03437613e+02] [-3.08418646e-01 7.89603031e-01 -5.30476194e-01 -2.21773282e+02] [-8.76769877e-01 -1.96475713e-02 4.80508643e-01 -8.41963958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.45, Y:-221.79, Z:-841.99 [[ 3.71722644e-01 6.12288810e-01 6.97799892e-01 4.03446849e+02] [-3.05964466e-01 7.90466927e-01 -5.30610764e-01 -2.21786006e+02] [-8.76474770e-01 -1.62619352e-02 4.81173074e-01 -8.41992650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.46, Y:-221.80, Z:-842.02 [[ 3.73343822e-01 6.11820723e-01 6.97344817e-01 4.03457575e+02] [-3.04563433e-01 7.90868846e-01 -5.30817844e-01 -2.21796883e+02] [-8.76273648e-01 -1.42081690e-02 4.81604218e-01 -8.42021527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.46, Y:-221.77, Z:-842.06 [[ 3.69705729e-01 6.36679131e-01 6.76725467e-01 4.03461640e+02] [-2.94121832e-01 7.71067155e-01 -5.64754628e-01 -2.21772631e+02] [-8.81368267e-01 9.75328731e-03 4.72329177e-01 -8.42059994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.47, Y:-221.83, Z:-842.08 [[ 3.73673797e-01 5.86847211e-01 7.18316256e-01 4.03468327e+02] [-2.91605602e-01 8.09474000e-01 -5.09625369e-01 -2.21828401e+02] [-8.80530560e-01 -1.90313979e-02 4.73607158e-01 -8.42077510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.49, Y:-221.86, Z:-842.10 [[ 3.80192590e-01 5.72647752e-01 7.26311329e-01 4.03486346e+02] [-2.97114351e-01 8.19276183e-01 -4.90417780e-01 -2.21861688e+02] [-8.75886212e-01 -2.93443128e-02 4.81624599e-01 -8.42097482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.50, Y:-221.84, Z:-842.14 [[ 3.80497402e-01 6.09026618e-01 6.95922629e-01 4.03498146e+02] [-2.95872367e-01 7.93142705e-01 -5.32338419e-01 -2.21843375e+02] [-8.76174223e-01 -3.35089032e-03 4.81982886e-01 -8.42135596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.50, Y:-221.83, Z:-842.17 [[ 3.78714654e-01 6.25927297e-01 6.81755257e-01 4.03501900e+02] [-2.86212719e-01 7.79721918e-01 -5.56880607e-01 -2.21831357e+02] [-8.80146289e-01 1.57718209e-02 4.74440469e-01 -8.42172038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.52, Y:-221.89, Z:-842.18 [[ 3.83487355e-01 5.77090016e-01 7.21044078e-01 4.03517338e+02] [-2.90807718e-01 8.16473211e-01 -4.98800929e-01 -2.21892623e+02] [-8.76566210e-01 -1.84013343e-02 4.80929383e-01 -8.42184272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.236559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:403.52, Y:-221.87, Z:-842.23 [[ 3.82101960e-01 6.18533439e-01 6.86596299e-01 4.03524975e+02] [-2.87215245e-01 7.85664252e-01 -5.47940769e-01 -2.21866425e+02] [-8.78353856e-01 1.21683170e-02 4.77856084e-01 -8.42226627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.54, Y:-221.88, Z:-842.25 [[ 3.81709637e-01 6.09035894e-01 6.95250339e-01 4.03535788e+02] [-2.86691946e-01 7.93121480e-01 -5.37369563e-01 -2.21883569e+02] [-8.78695329e-01 5.79646802e-03 4.77347798e-01 -8.42253100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.55, Y:-221.90, Z:-842.28 [[ 3.79989878e-01 6.04826280e-01 6.99852030e-01 4.03547398e+02] [-2.87457592e-01 7.96356768e-01 -5.32150384e-01 -2.21895568e+02] [-8.79190438e-01 1.03398028e-03 4.76469417e-01 -8.42280972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.57, Y:-221.94, Z:-842.30 [[ 3.80740293e-01 5.80753167e-01 7.19557217e-01 4.03565399e+02] [-2.98400462e-01 8.13702287e-01 -4.98844418e-01 -2.21936441e+02] [-8.75210828e-01 -2.47860357e-02 4.83106260e-01 -8.42297655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.58, Y:-221.91, Z:-842.34 [[ 3.75639600e-01 6.21652907e-01 6.87344567e-01 4.03576416e+02] [-3.01542735e-01 7.83286877e-01 -5.43630065e-01 -2.21911071e+02] [-8.76337190e-01 -3.05478030e-03 4.81688487e-01 -8.42337576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:403.59, Y:-221.91, Z:-842.37 [[ 3.72461975e-01 6.26904271e-01 6.84297531e-01 4.03586534e+02] [-3.00203974e-01 7.79096167e-01 -5.50351466e-01 -2.21911138e+02] [-8.78151269e-01 -4.43843919e-04 4.78382851e-01 -8.42368653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.416559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:403.60, Y:-221.97, Z:-842.38 [[ 3.74040977e-01 5.81924607e-01 7.22119865e-01 4.03604683e+02] [-3.11761634e-01 8.12223230e-01 -4.93049804e-01 -2.21972583e+02] [-8.73440342e-01 -4.07084389e-02 4.85226537e-01 -8.42380665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.62, Y:-221.94, Z:-842.42 [[ 3.70179496e-01 6.25323227e-01 6.86977439e-01 4.03617325e+02] [-3.12425266e-01 7.80239502e-01 -5.41864164e-01 -2.21943666e+02] [-8.74847183e-01 -1.40421064e-02 4.84195441e-01 -8.42421298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.63, Y:-221.96, Z:-842.45 [[ 3.70625103e-01 6.16934278e-01 6.94283177e-01 4.03631488e+02] [-3.15816768e-01 7.86688196e-01 -5.30454005e-01 -2.21960228e+02] [-8.73439639e-01 -2.26666988e-02 4.86404583e-01 -8.42446141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.64, Y:-221.96, Z:-842.48 [[ 3.70339989e-01 6.23399362e-01 6.88637444e-01 4.03644250e+02] [-3.15904650e-01 7.81687179e-01 -5.37744741e-01 -2.21964714e+02] [-8.73528789e-01 -1.83953893e-02 4.86424778e-01 -8.42477245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.536559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:403.66, Y:-221.97, Z:-842.51 [[ 3.69764452e-01 6.26776303e-01 6.85875875e-01 4.03655832e+02] [-3.14964179e-01 7.79043641e-01 -5.42114907e-01 -2.21968590e+02] [-8.74112016e-01 -1.55715106e-02 4.85474729e-01 -8.42507505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:-221.99, Z:-842.53 [[ 3.70443312e-01 6.19576646e-01 6.92023506e-01 4.03668468e+02] [-3.16393092e-01 7.84642866e-01 -5.33133177e-01 -2.21985051e+02] [-8.73308172e-01 -2.14558369e-02 4.86695473e-01 -8.42532785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.596559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.68, Y:-221.99, Z:-842.56 [[ 3.70286811e-01 6.24155669e-01 6.87980653e-01 4.03681333e+02] [-3.16113219e-01 7.81090678e-01 -5.38488426e-01 -2.21990467e+02] [-8.73475879e-01 -1.80846169e-02 4.86531434e-01 -8.42563355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.69, Y:-222.00, Z:-842.59 [[ 3.70860952e-01 6.23785050e-01 6.88007533e-01 4.03693453e+02] [-3.14101958e-01 7.81429151e-01 -5.39173851e-01 -2.22000152e+02] [-8.73957730e-01 -1.61459854e-02 4.85733664e-01 -8.42591184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.71, Y:-222.01, Z:-842.62 [[ 3.71638039e-01 6.23522003e-01 6.87826635e-01 4.03705701e+02] [-3.12680241e-01 7.81671037e-01 -5.39649384e-01 -2.22010006e+02] [-8.74137424e-01 -1.45155593e-02 4.85461701e-01 -8.42620063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.72, Y:-222.02, Z:-842.65 [[ 3.73430473e-01 6.22459307e-01 6.87818358e-01 4.03717516e+02] [-3.09345922e-01 7.82574525e-01 -5.40261245e-01 -2.22019892e+02] [-8.74559765e-01 -1.10237924e-02 4.84792423e-01 -8.42649408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.73, Y:-222.03, Z:-842.68 [[ 3.74896113e-01 6.23780478e-01 6.85821274e-01 4.03729003e+02] [-3.06223074e-01 7.81574467e-01 -5.43478410e-01 -2.22025727e+02] [-8.75031619e-01 -6.26635531e-03 4.84025205e-01 -8.42679016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.74, Y:-222.04, Z:-842.71 [[ 3.77098518e-01 6.16075982e-01 6.91554114e-01 4.03739978e+02] [-3.04155652e-01 7.87643193e-01 -5.35824168e-01 -2.22040484e+02] [-8.74806291e-01 -8.28159261e-03 4.84402073e-01 -8.42705094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.75, Y:-222.05, Z:-842.73 [[ 3.79131533e-01 6.15881242e-01 6.90615361e-01 4.03751750e+02] [-3.03024394e-01 7.87816316e-01 -5.36210471e-01 -2.22051237e+02] [-8.74320020e-01 -5.97900346e-03 4.85313047e-01 -8.42733986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.76, Y:-222.06, Z:-842.76 [[ 3.83870769e-01 6.18793912e-01 6.85373860e-01 4.03762661e+02] [-2.97262487e-01 7.85539874e-01 -5.42735774e-01 -2.22056384e+02] [-8.74230088e-01 4.60446066e-03 4.85490013e-01 -8.42764153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.77, Y:-222.07, Z:-842.79 [[ 3.86066489e-01 6.14360576e-01 6.88123353e-01 4.03774409e+02] [-2.95882590e-01 7.89013861e-01 -5.38433488e-01 -2.22070822e+02] [-8.73731171e-01 4.26740574e-03 4.86390409e-01 -8.42790805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.78, Y:-222.07, Z:-842.82 [[ 3.85527381e-01 6.24634864e-01 6.79117019e-01 4.03784732e+02] [-2.91589107e-01 7.80772484e-01 -5.52603040e-01 -2.22066532e+02] [-8.75411007e-01 1.50204778e-02 4.83145894e-01 -8.42822958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.896559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:403.80, Y:-222.10, Z:-842.84 [[ 3.87772632e-01 6.02551849e-01 6.97541150e-01 4.03798244e+02] [-2.92448837e-01 7.98079685e-01 -5.26823020e-01 -2.22097516e+02] [-8.74131606e-01 2.92451300e-04 4.85689048e-01 -8.42844429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.81, Y:-222.10, Z:-842.88 [[ 3.88096007e-01 6.16353669e-01 6.85193144e-01 4.03811229e+02] [-2.92941377e-01 7.87408818e-01 -5.42376902e-01 -2.22095477e+02] [-8.73823117e-01 9.77288742e-03 4.86145710e-01 -8.42876911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.82, Y:-222.10, Z:-842.91 [[ 3.87725909e-01 6.19016158e-01 6.82998987e-01 4.03822822e+02] [-2.92652224e-01 7.85291701e-01 -5.45592907e-01 -2.22100966e+02] [-8.74084261e-01 1.16593336e-02 4.85634394e-01 -8.42907422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.84, Y:-222.11, Z:-842.93 [[ 3.88271834e-01 6.15023739e-01 6.86287683e-01 4.03835751e+02] [-2.94603782e-01 7.88473355e-01 -5.39924421e-01 -2.22114791e+02] [-8.73185888e-01 7.45449813e-03 4.87330315e-01 -8.42934006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.85, Y:-222.12, Z:-842.96 [[ 3.87110838e-01 6.18456558e-01 6.83854287e-01 4.03848377e+02] [-2.96239091e-01 7.85782284e-01 -5.42944383e-01 -2.22121000e+02] [-8.73148098e-01 7.59528241e-03 4.87395847e-01 -8.42963402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:403.86, Y:-222.13, Z:-842.99 [[ 3.86161043e-01 6.19353600e-01 6.83579379e-01 4.03861140e+02] [-2.97380060e-01 7.85085016e-01 -5.43329199e-01 -2.22129608e+02] [-8.73180823e-01 6.52969341e-03 4.87352659e-01 -8.42992814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.87, Y:-222.14, Z:-843.02 [[ 3.84073662e-01 6.20945678e-01 6.83310974e-01 4.03874692e+02] [-2.99866446e-01 7.83843698e-01 -5.43754698e-01 -2.22137079e+02] [-8.73251130e-01 3.93982458e-03 4.87254493e-01 -8.43020730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.89, Y:-222.15, Z:-843.05 [[ 3.83005311e-01 6.18332966e-01 6.86273469e-01 4.03887789e+02] [-3.02313291e-01 7.85915752e-01 -5.39391421e-01 -2.22151573e+02] [-8.72876627e-01 -8.79811787e-04 4.87940181e-01 -8.43048475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.90, Y:-222.15, Z:-843.08 [[ 3.81098323e-01 6.32789513e-01 6.74048589e-01 4.03900507e+02] [-3.03262920e-01 7.74289810e-01 -5.55433967e-01 -2.22146097e+02] [-8.73381743e-01 7.26101030e-03 4.86982144e-01 -8.43078839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.91, Y:-222.18, Z:-843.10 [[ 3.80212482e-01 6.16146842e-01 6.89783689e-01 4.03913762e+02] [-3.07319630e-01 7.87580908e-01 -5.34107628e-01 -2.22175914e+02] [-8.72349192e-01 -8.90968165e-03 4.88802112e-01 -8.43103551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.05, Y:-222.03, Z:-842.72 [[ 4.02189363e-01 -4.69356711e-01 -7.86096683e-01 4.05052509e+02] [-2.21899857e-01 -8.82971848e-01 4.13667946e-01 -2.22025266e+02] [-8.88259067e-01 8.06189413e-03 -4.59272072e-01 -8.42717191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.06, Y:-222.05, Z:-842.73 [[ 4.40169114e-01 -4.56080700e-01 -7.73460760e-01 4.05057913e+02] [-1.52250954e-01 -8.86833048e-01 4.36287512e-01 -2.22052175e+02] [-8.84912876e-01 -7.42801491e-02 -4.59795238e-01 -8.42730420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.256559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:405.05, Y:-221.97, Z:-842.75 [[ 4.66575828e-01 -3.29264398e-01 -8.20909223e-01 4.05050658e+02] [-7.64639516e-02 -9.39666081e-01 3.33438031e-01 -2.21973866e+02] [-8.81169825e-01 -9.28041625e-02 -4.63602337e-01 -8.42753912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.06, Y:-221.98, Z:-842.75 [[ 4.92778319e-01 -3.14867009e-01 -8.11189432e-01 4.05063141e+02] [-5.05176426e-03 -9.33255179e-01 3.59178579e-01 -2.21983242e+02] [-8.70140223e-01 -1.72897479e-01 -4.61478552e-01 -8.42750050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-221.81, Z:-842.80 [[ 4.90391266e-01 9.20162808e-03 -8.71453806e-01 4.04990433e+02] [ 7.04380645e-02 -9.97091336e-01 2.91092285e-02 -2.21810142e+02] [-8.68651188e-01 -7.56584309e-02 -4.89613027e-01 -8.42800811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.95, Y:-221.76, Z:-842.83 [[ 4.78401664e-01 1.64752948e-01 -8.62547572e-01 4.04946240e+02] [ 1.47036906e-01 -9.83404093e-01 -1.06285179e-01 -2.21755807e+02] [-8.65743609e-01 -7.59793194e-02 -4.94686918e-01 -8.42825123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.89, Y:-221.71, Z:-842.85 [[ 4.55495402e-01 3.14714457e-01 -8.32753715e-01 4.04893431e+02] [ 2.20490041e-01 -9.46165019e-01 -2.36972357e-01 -2.21707944e+02] [-8.62501062e-01 -7.56740819e-02 -5.00365219e-01 -8.42847550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.83, Y:-221.67, Z:-842.87 [[ 4.20723606e-01 4.56051668e-01 -7.84224791e-01 4.04832945e+02] [ 2.89360230e-01 -8.86764009e-01 -3.60444517e-01 -2.21668493e+02] [-8.59803643e-01 -7.52759488e-02 -5.05045767e-01 -8.42868781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4365599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:404.77, Y:-221.64, Z:-842.89 [[ 3.76907861e-01 5.85246289e-01 -7.17932620e-01 4.04769735e+02] [ 3.51887543e-01 -8.07456186e-01 -4.73486712e-01 -2.21640210e+02] [-8.56805475e-01 -7.41706817e-02 -5.10277462e-01 -8.42890798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.70, Y:-221.62, Z:-842.91 [[ 3.23105406e-01 7.00157684e-01 -6.36696250e-01 4.04702976e+02] [ 4.06978490e-01 -7.10193617e-01 -5.74450638e-01 -2.21621796e+02] [-8.54383641e-01 -7.35135718e-02 -5.14416513e-01 -8.42912468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.64, Y:-221.61, Z:-842.93 [[ 2.61637354e-01 7.98369525e-01 -5.42357812e-01 4.04636984e+02] [ 4.53319897e-01 -5.97743291e-01 -6.61214057e-01 -2.21613916e+02] [-8.52083896e-01 -7.28632915e-02 -5.18308764e-01 -8.42934939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.76, Y:-222.68, Z:-843.50 [[ 2.76915700e-01 -8.44487891e-01 4.58429817e-01 4.04758093e+02] [ 4.54048590e-01 5.35462670e-01 7.12123309e-01 -2.22678794e+02] [-8.46851565e-01 1.09512877e-02 5.31716556e-01 -8.43499489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.78, Y:-222.67, Z:-843.52 [[ 2.76183001e-01 -8.57670915e-01 4.33732119e-01 4.04781359e+02] [ 4.54846270e-01 5.14186796e-01 7.27136032e-01 -2.22666372e+02] [-8.46662755e-01 -3.54117521e-03 5.32118069e-01 -8.43519028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:404.81, Y:-222.65, Z:-843.54 [[ 2.79364790e-01 -8.67772383e-01 4.11006577e-01 4.04806874e+02] [ 4.57432377e-01 4.96633503e-01 7.37638655e-01 -2.22650854e+02] [-8.44222089e-01 -1.80625525e-02 5.35689097e-01 -8.43537914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:404.81, Y:-222.64, Z:-843.56 [[ 2.81426770e-01 -8.60786445e-01 4.24082150e-01 4.04806617e+02] [ 4.58858710e-01 5.08860312e-01 7.28361083e-01 -2.22636389e+02] [-8.42761922e-01 -1.03865190e-02 5.38186272e-01 -8.43561103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:404.80, Y:-222.63, Z:-843.59 [[ 2.80064426e-01 -8.50514624e-01 4.45183998e-01 4.04798533e+02] [ 4.57082684e-01 5.25944935e-01 7.17256820e-01 -2.22627107e+02] [-8.44179683e-01 2.60777678e-03 5.36053973e-01 -8.43592861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.81, Y:-222.61, Z:-843.62 [[ 2.80130939e-01 -8.54204621e-01 4.38019546e-01 4.04811636e+02] [ 4.57063857e-01 5.19933324e-01 7.21638392e-01 -2.22614282e+02] [-8.44167808e-01 -1.95033734e-03 5.36075469e-01 -8.43616144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:404.82, Y:-222.60, Z:-843.64 [[ 2.79503976e-01 -8.54494408e-01 4.37854810e-01 4.04819469e+02] [ 4.57500000e-01 5.19458705e-01 7.21703820e-01 -2.22601314e+02] [-8.44139371e-01 -1.40051212e-03 5.36121965e-01 -8.43640575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.736559995 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:404.84, Y:-222.59, Z:-843.66 [[ 2.79958574e-01 -8.60071912e-01 4.26496780e-01 4.04836350e+02] [ 4.57999956e-01 5.10102281e-01 7.28032763e-01 -2.22588010e+02] [-8.43717510e-01 -8.48350790e-03 5.36720405e-01 -8.43660907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:404.84, Y:-222.57, Z:-843.68 [[ 2.81006201e-01 -8.58787434e-01 4.28391945e-01 4.04844352e+02] [ 4.58018321e-01 5.12270552e-01 7.26497143e-01 -2.22574900e+02] [-8.43359195e-01 -7.93884311e-03 5.37291581e-01 -8.43681729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.85, Y:-222.56, Z:-843.71 [[ 2.81799601e-01 -8.56611014e-01 4.32211239e-01 4.04849916e+02] [ 4.58032426e-01 5.15927561e-01 7.23895745e-01 -2.22562950e+02] [-8.43086759e-01 -6.02676938e-03 5.37743801e-01 -8.43705647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.86, Y:-222.55, Z:-843.73 [[ 2.80695616e-01 -8.60499344e-01 4.25148034e-01 4.04863017e+02] [ 4.57922871e-01 5.09356690e-01 7.28603051e-01 -2.22550324e+02] [-8.43514443e-01 -9.83067375e-03 5.37016520e-01 -8.43727478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.87, Y:-222.54, Z:-843.75 [[ 2.80435592e-01 -8.57800757e-01 4.30736277e-01 4.04867924e+02] [ 4.56034406e-01 5.13930137e-01 7.26573077e-01 -2.22538195e+02] [-8.44623289e-01 -7.32638916e-03 5.35310961e-01 -8.43752313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:404.85, Y:-222.53, Z:-843.79 [[ 2.74122358e-01 -8.46420717e-01 4.56540144e-01 4.04852613e+02] [ 4.52820466e-01 5.32407625e-01 7.15189308e-01 -2.22532591e+02] [-8.48416501e-01 1.06813411e-02 5.29221457e-01 -8.43786348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.91, Y:-222.51, Z:-843.79 [[ 2.80037742e-01 -8.74073550e-01 3.96956286e-01 4.04906652e+02] [ 4.57066361e-01 4.85023304e-01 7.45548614e-01 -2.22511111e+02] [-8.44197373e-01 -2.73463855e-02 5.35334448e-01 -8.43792814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.89, Y:-222.50, Z:-843.82 [[ 2.80189866e-01 -8.58279960e-01 4.29940868e-01 4.04893149e+02] [ 4.56877580e-01 5.13131832e-01 7.26607597e-01 -2.22500922e+02] [-8.44249084e-01 -7.15774235e-03 5.35903210e-01 -8.43824326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.90, Y:-222.49, Z:-843.85 [[ 2.79897788e-01 -8.58569890e-01 4.29552060e-01 4.04901478e+02] [ 4.57062545e-01 5.12647282e-01 7.26833264e-01 -2.22488344e+02] [-8.44245852e-01 -7.10686560e-03 5.35908979e-01 -8.43848277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.91, Y:-222.48, Z:-843.87 [[ 2.80041214e-01 -8.58814256e-01 4.28969686e-01 4.04910806e+02] [ 4.57693435e-01 5.12236831e-01 7.26725635e-01 -2.22476312e+02] [-8.43856409e-01 -7.17652003e-03 5.36521071e-01 -8.43872341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.92, Y:-222.46, Z:-843.90 [[ 2.80418898e-01 -8.58961456e-01 4.28427892e-01 4.04919009e+02] [ 4.58034014e-01 5.11984691e-01 7.26688735e-01 -2.22464152e+02] [-8.43546136e-01 -7.54270742e-03 5.37003746e-01 -8.43895079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.93, Y:-222.45, Z:-843.92 [[ 2.80615612e-01 -8.59028992e-01 4.28163601e-01 4.04926869e+02] [ 4.58275252e-01 5.11869274e-01 7.26617946e-01 -2.22451572e+02] [-8.43349674e-01 -7.68355750e-03 5.37310237e-01 -8.43918596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.096559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:404.92, Y:-222.44, Z:-843.95 [[ 2.77433074e-01 -8.49753000e-01 4.48275283e-01 4.04918029e+02] [ 4.55336048e-01 5.27156711e-01 7.17478143e-01 -2.22444167e+02] [-8.45990528e-01 5.06372875e-03 5.33173879e-01 -8.43950906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-222.43, Z:-843.96 [[ 2.80893374e-01 -8.68872229e-01 4.07627234e-01 4.04956262e+02] [ 4.58248560e-01 4.94605799e-01 7.38493982e-01 -2.22425360e+02] [-8.43271706e-01 -2.06434731e-02 5.37090940e-01 -8.43961255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.95, Y:-222.41, Z:-843.99 [[ 2.81295399e-01 -8.59137663e-01 4.27498976e-01 4.04950721e+02] [ 4.56767745e-01 5.11657553e-01 7.27715450e-01 -2.22413411e+02] [-8.43940831e-01 -9.43526465e-03 5.36353288e-01 -8.43989607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-222.40, Z:-844.01 [[ 2.81598257e-01 -8.59168279e-01 4.27237979e-01 4.04958353e+02] [ 4.56142409e-01 5.11592155e-01 7.28153535e-01 -2.22400481e+02] [-8.44178017e-01 -1.01654057e-02 5.35966547e-01 -8.44012673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.97, Y:-222.39, Z:-844.04 [[ 2.83066183e-01 -8.58731990e-01 4.27145063e-01 4.04965569e+02] [ 4.55002826e-01 5.12288492e-01 7.28376914e-01 -2.22387877e+02] [-8.44302058e-01 -1.18266623e-02 5.35737030e-01 -8.44035259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.97, Y:-222.37, Z:-844.06 [[ 2.82846264e-01 -8.58886059e-01 4.26980946e-01 4.04973250e+02] [ 4.55136595e-01 5.12032796e-01 7.28473127e-01 -2.22374792e+02] [-8.44303660e-01 -1.17112487e-02 5.35737040e-01 -8.44059481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.98, Y:-222.36, Z:-844.08 [[ 2.84700006e-01 -8.58525627e-01 4.26473510e-01 4.04980447e+02] [ 4.54599942e-01 5.12592792e-01 7.28414390e-01 -2.22362128e+02] [-8.43969668e-01 -1.35047484e-02 5.36220871e-01 -8.44083589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-222.35, Z:-844.11 [[ 2.85723511e-01 -8.58465549e-01 4.25909587e-01 4.04987741e+02] [ 4.54659793e-01 5.12667476e-01 7.28324469e-01 -2.22349443e+02] [-8.43591458e-01 -1.44554599e-02 5.36790920e-01 -8.44107344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-222.34, Z:-844.13 [[ 2.87546414e-01 -8.58120950e-01 4.25376886e-01 4.04994868e+02] [ 4.54115785e-01 5.13190436e-01 7.28295565e-01 -2.22336609e+02] [-8.43265032e-01 -1.62484193e-02 5.37252339e-01 -8.44131621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.00, Y:-222.32, Z:-844.16 [[ 2.88318763e-01 -8.58073501e-01 4.24949595e-01 4.05002093e+02] [ 4.53825042e-01 5.13239742e-01 7.28442035e-01 -2.22323665e+02] [-8.43157828e-01 -1.71707387e-02 5.37391890e-01 -8.44155234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.01, Y:-222.31, Z:-844.18 [[ 2.89164781e-01 -8.57956342e-01 4.24611169e-01 4.05009051e+02] [ 4.53166163e-01 5.13396306e-01 7.28741834e-01 -2.22311185e+02] [-8.43222484e-01 -1.83070585e-02 5.37252914e-01 -8.44177842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.02, Y:-222.30, Z:-844.20 [[ 2.89994863e-01 -8.57680468e-01 4.24602396e-01 4.05015542e+02] [ 4.52108373e-01 5.13814294e-01 7.29104170e-01 -2.22297669e+02] [-8.43505186e-01 -1.94701655e-02 5.36768026e-01 -8.44201720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.02, Y:-222.28, Z:-844.23 [[ 2.90416904e-01 -8.57606703e-01 4.24462914e-01 4.05022853e+02] [ 4.50954031e-01 5.13896494e-01 7.29760821e-01 -2.22284310e+02] [-8.43977774e-01 -2.05216163e-02 5.35985429e-01 -8.44225717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.03, Y:-222.27, Z:-844.25 [[ 2.90118598e-01 -8.57880083e-01 4.24114328e-01 4.05030574e+02] [ 4.50987091e-01 5.13439480e-01 7.30062014e-01 -2.22271136e+02] [-8.44062701e-01 -2.05344806e-02 5.35851185e-01 -8.44249416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.04, Y:-222.26, Z:-844.27 [[ 2.89419816e-01 -8.58227743e-01 4.23888324e-01 4.05038503e+02] [ 4.50802181e-01 5.12865321e-01 7.30579603e-01 -2.22258154e+02] [-8.44401305e-01 -2.03544327e-02 5.35324325e-01 -8.44273307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.03, Y:-222.25, Z:-844.30 [[ 2.84536748e-01 -8.51483993e-01 4.40470032e-01 4.05030735e+02] [ 4.48570115e-01 5.24313877e-01 7.23795421e-01 -2.22249966e+02] [-8.47244765e-01 -8.36470217e-03 5.31136838e-01 -8.44304049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.576559995 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:405.06, Y:-222.23, Z:-844.32 [[ 2.85974380e-01 -8.67459378e-01 4.07103037e-01 4.05063759e+02] [ 4.50252332e-01 4.96667937e-01 7.42020079e-01 -2.22233890e+02] [-8.45867301e-01 -2.88996402e-02 5.32609913e-01 -8.44320156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.06, Y:-222.22, Z:-844.35 [[ 2.85621783e-01 -8.58765916e-01 4.25371954e-01 4.05058054e+02] [ 4.50332353e-01 5.12074230e-01 7.31423786e-01 -2.22221625e+02] [-8.45943834e-01 -1.73518127e-02 5.32989630e-01 -8.44345381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.07, Y:-222.21, Z:-844.37 [[ 2.85444157e-01 -8.60319898e-01 4.22340272e-01 4.05066887e+02] [ 4.50190405e-01 5.09392589e-01 7.33381067e-01 -2.22208464e+02] [-8.46079330e-01 -1.92058027e-02 5.32710902e-01 -8.44369117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.07, Y:-222.20, Z:-844.39 [[ 2.86045753e-01 -8.60377096e-01 4.21816405e-01 4.05073379e+02] [ 4.50330549e-01 5.09272325e-01 7.33378549e-01 -2.22195294e+02] [-8.45801528e-01 -1.98230063e-02 5.33129275e-01 -8.44392790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.08, Y:-222.18, Z:-844.42 [[ 2.86164213e-01 -8.61342391e-01 4.19761037e-01 4.05081176e+02] [ 4.51316594e-01 5.07607940e-01 7.33926094e-01 -2.22181828e+02] [-8.45235692e-01 -2.05782621e-02 5.33997341e-01 -8.44415920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:405.09, Y:-222.17, Z:-844.44 [[ 2.87274169e-01 -8.60741110e-01 4.20235997e-01 4.05085960e+02] [ 4.52262270e-01 5.08633652e-01 7.32632682e-01 -2.22168751e+02] [-8.44353238e-01 -2.04095590e-02 5.35398038e-01 -8.44440182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.09, Y:-222.16, Z:-844.46 [[ 2.87589665e-01 -8.58831572e-01 4.23910975e-01 4.05090187e+02] [ 4.51674093e-01 5.11917590e-01 7.30705751e-01 -2.22156843e+02] [-8.44560654e-01 -1.86738171e-02 5.35134180e-01 -8.44464706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.10, Y:-222.14, Z:-844.49 [[ 2.88012415e-01 -8.60720063e-01 4.19773536e-01 4.05099815e+02] [ 4.51743836e-01 5.08625573e-01 7.32958071e-01 -2.22143983e+02] [-8.44379272e-01 -2.14709168e-02 5.35315463e-01 -8.44486658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.11, Y:-222.13, Z:-844.51 [[ 2.87802184e-01 -8.60871196e-01 4.19607778e-01 4.05107321e+02] [ 4.51872788e-01 5.08374198e-01 7.33052971e-01 -2.22130859e+02] [-8.44381955e-01 -2.13649092e-02 5.35315472e-01 -8.44510906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:405.12, Y:-222.11, Z:-844.53 [[ 2.89842872e-01 -8.66006723e-01 4.07459772e-01 4.05124539e+02] [ 4.53387951e-01 4.99173854e-01 7.38420497e-01 -2.22114327e+02] [-8.42870379e-01 -2.92885666e-02 5.37318997e-01 -8.44530993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.13, Y:-222.10, Z:-844.55 [[ 2.91141993e-01 -8.62867989e-01 4.13152725e-01 4.05127810e+02] [ 4.53273851e-01 5.04727197e-01 7.34706249e-01 -2.22100936e+02] [-8.42483920e-01 -2.66325147e-02 5.38062779e-01 -8.44554701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.13, Y:-222.09, Z:-844.58 [[ 2.90216633e-01 -8.58901951e-01 4.21973631e-01 4.05128727e+02] [ 4.52566568e-01 5.11710412e-01 7.30298539e-01 -2.22088674e+02] [-8.43183140e-01 -2.09736252e-02 5.37217180e-01 -8.44580172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9365599950002 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:405.13, Y:-222.07, Z:-844.61 [[ 2.89012800e-01 -8.55796500e-01 4.29050058e-01 4.05131142e+02] [ 4.51896223e-01 5.17058636e-01 7.26938904e-01 -2.22074968e+02] [-8.43955808e-01 -1.62085473e-02 5.36167770e-01 -8.44608062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.15, Y:-222.06, Z:-844.63 [[ 2.87925705e-01 -8.61906996e-01 4.17390846e-01 4.05146977e+02] [ 4.51924730e-01 5.06554044e-01 7.34279946e-01 -2.22061032e+02] [-8.44312044e-01 -2.27888253e-02 5.35367017e-01 -8.44629431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.14, Y:-222.05, Z:-844.66 [[ 2.84355699e-01 -8.51588126e-01 4.40385627e-01 4.05135717e+02] [ 4.49394646e-01 5.24153495e-01 7.23400004e-01 -2.22052956e+02] [-8.46868519e-01 -7.79597139e-03 5.31745178e-01 -8.44660021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:-222.04, Z:-844.68 [[ 2.83659027e-01 -8.62919857e-01 4.18218695e-01 4.05157775e+02] [ 4.50489755e-01 5.04926879e-01 7.36279721e-01 -2.22039310e+02] [-8.46520252e-01 -2.04491514e-02 5.31963622e-01 -8.44678678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:-222.03, Z:-844.70 [[ 2.82579391e-01 -8.63481991e-01 4.17789108e-01 4.05164459e+02] [ 4.51270942e-01 5.04000036e-01 7.36436352e-01 -2.22026367e+02] [-8.46465253e-01 -1.95656516e-02 5.32084355e-01 -8.44702792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.17, Y:-222.01, Z:-844.73 [[ 2.82024147e-01 -8.63934028e-01 4.17229405e-01 4.05171288e+02] [ 4.52214077e-01 5.03246532e-01 7.36373110e-01 -2.22013835e+02] [-8.46147038e-01 -1.89979878e-02 5.32610803e-01 -8.44725736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.20, Y:-221.99, Z:-844.74 [[ 2.85378741e-01 -8.77597715e-01 3.85202836e-01 4.05204145e+02] [ 4.57354904e-01 4.77901464e-01 7.49957788e-01 -2.21991990e+02] [-8.42250240e-01 -3.78476034e-02 5.37756536e-01 -8.44738237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:-221.99, Z:-844.78 [[ 2.80529954e-01 -8.48087650e-01 4.49500037e-01 4.05163523e+02] [ 4.52581797e-01 5.29851270e-01 7.17235908e-01 -2.21988632e+02] [-8.46447081e-01 2.22937797e-03 5.32468185e-01 -8.44780788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.23, Y:-221.96, Z:-844.78 [[ 2.86124992e-01 -8.84616369e-01 3.68220543e-01 4.05232617e+02] [ 4.60674272e-01 4.63958339e-01 7.56651753e-01 -2.21960672e+02] [-8.40185518e-01 -4.68672462e-02 5.40270078e-01 -8.44780868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.20, Y:-221.95, Z:-844.82 [[ 2.85652249e-01 -8.56638648e-01 4.29619622e-01 4.05199689e+02] [ 4.59349975e-01 5.15834540e-01 7.23126772e-01 -2.21951956e+02] [-8.41070980e-01 -9.21702610e-03 5.40846238e-01 -8.44818404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.21, Y:-221.94, Z:-844.84 [[ 2.84955010e-01 -8.59174602e-01 4.24993701e-01 4.05209583e+02] [ 4.59206628e-01 5.11546659e-01 7.26257041e-01 -2.21939497e+02] [-8.41385712e-01 -1.17906577e-02 5.40306455e-01 -8.44840793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:405.21, Y:-221.93, Z:-844.87 [[ 2.81721932e-01 -8.56143645e-01 4.33186810e-01 4.05209756e+02] [ 4.59007963e-01 5.16715901e-01 7.22714583e-01 -2.21926201e+02] [-8.42582010e-01 -4.76835334e-03 5.38546952e-01 -8.44867970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.296559995 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:405.23, Y:-221.91, Z:-844.89 [[ 2.80079063e-01 -8.63377462e-01 4.19684497e-01 4.05226016e+02] [ 4.61581451e-01 5.04446000e-01 7.29710077e-01 -2.21912550e+02] [-8.41723400e-01 -1.06579353e-02 5.39803785e-01 -8.44889392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.22, Y:-221.91, Z:-844.92 [[ 2.74876440e-01 -8.55716066e-01 4.38398172e-01 4.05216873e+02] [ 4.60548073e-01 5.17432741e-01 7.21220376e-01 -2.21905430e+02] [-8.44001431e-01 3.65694358e-03 5.36328455e-01 -8.44922347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.24, Y:-221.89, Z:-844.94 [[ 2.73923808e-01 -8.67707816e-01 4.14787771e-01 4.05239823e+02] [ 4.61772357e-01 4.96979681e-01 7.34695506e-01 -2.21892321e+02] [-8.43642127e-01 -9.71306394e-03 5.36818050e-01 -8.44939698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:405.28, Y:-221.87, Z:-844.95 [[ 2.77652660e-01 -8.83368097e-01 3.77584171e-01 4.05279106e+02] [ 4.66595555e-01 4.67567124e-01 7.50779311e-01 -2.21869276e+02] [-8.39760436e-01 -3.22767768e-02 5.41996883e-01 -8.44950455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.26, Y:-221.86, Z:-844.98 [[ 2.76297723e-01 -8.66509041e-01 4.15718234e-01 4.05262179e+02] [ 4.65197976e-01 4.99087131e-01 7.31097038e-01 -2.21859647e+02] [-8.40981814e-01 -8.60916577e-03 5.40994890e-01 -8.44983315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.26, Y:-221.85, Z:-845.01 [[ 2.74321207e-01 -8.58869196e-01 4.32540842e-01 4.05258562e+02] [ 4.64896947e-01 5.12186323e-01 7.22174494e-01 -2.21848290e+02] [-8.41794930e-01 2.97913800e-03 5.39789237e-01 -8.45011947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4765599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.26, Y:-221.84, Z:-845.04 [[ 2.70981369e-01 -8.60310952e-01 4.31780226e-01 4.05264618e+02] [ 4.63673732e-01 5.09755223e-01 7.24676675e-01 -2.21837590e+02] [-8.43549506e-01 3.83127118e-03 5.37037758e-01 -8.45036340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.28, Y:-221.82, Z:-845.06 [[ 2.69667697e-01 -8.62962874e-01 4.27287271e-01 4.05275288e+02] [ 4.63833677e-01 5.05263573e-01 7.27713571e-01 -2.21824522e+02] [-8.43882488e-01 1.94938305e-03 5.36524507e-01 -8.45060288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.28, Y:-221.81, Z:-845.09 [[ 2.67381075e-01 -8.60247214e-01 4.34145242e-01 4.05276846e+02] [ 4.62905411e-01 5.09827935e-01 7.25116582e-01 -2.21813350e+02] [-8.45118892e-01 7.08573091e-03 5.34531432e-01 -8.45087073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.28, Y:-221.80, Z:-845.11 [[ 2.64582388e-01 -8.61046590e-01 4.34275177e-01 4.05283684e+02] [ 4.61661844e-01 5.08460411e-01 7.26867493e-01 -2.21802604e+02] [-8.46678512e-01 8.17194145e-03 5.32042026e-01 -8.45113076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.29, Y:-221.79, Z:-845.14 [[ 2.62909538e-01 -8.63735149e-01 4.29930421e-01 4.05293422e+02] [ 4.61448637e-01 5.03905090e-01 7.30167662e-01 -2.21790323e+02] [-8.47315602e-01 6.42276365e-03 5.31050862e-01 -8.45136393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.30, Y:-221.78, Z:-845.16 [[ 2.61962309e-01 -8.62204586e-01 4.33565453e-01 4.05295083e+02] [ 4.61977271e-01 5.06469731e-01 7.28055914e-01 -2.21779713e+02] [-8.47320925e-01 9.57417669e-03 5.30994901e-01 -8.45161783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.656559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:405.29, Y:-221.77, Z:-845.19 [[ 2.58688756e-01 -8.61084960e-01 4.37736016e-01 4.05294891e+02] [ 4.60094000e-01 5.08292835e-01 7.27977957e-01 -2.21770442e+02] [-8.49348950e-01 1.30800024e-02 5.27669664e-01 -8.45190100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.30, Y:-221.76, Z:-845.21 [[ 2.56113983e-01 -8.68146583e-01 4.25120147e-01 4.05304411e+02] [ 4.60854481e-01 4.96251521e-01 7.35763260e-01 -2.21759698e+02] [-8.49716879e-01 7.47926552e-03 5.27186197e-01 -8.45210382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.32, Y:-221.75, Z:-845.23 [[ 2.55549953e-01 -8.75879568e-01 4.09303317e-01 4.05321591e+02] [ 4.60947765e-01 4.82526917e-01 7.44778445e-01 -2.21747144e+02] [-8.49836090e-01 -1.66064743e-03 5.27044460e-01 -8.45230090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.33, Y:-221.73, Z:-845.25 [[ 2.55819764e-01 -8.75907522e-01 4.09074885e-01 4.05328634e+02] [ 4.60994067e-01 4.82475091e-01 7.44783363e-01 -2.21734609e+02] [-8.49729792e-01 -1.94920949e-03 5.27214835e-01 -8.45252706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.776559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:405.33, Y:-221.73, Z:-845.28 [[ 2.53890241e-01 -8.69720980e-01 4.23231807e-01 4.05325112e+02] [ 4.58966113e-01 4.93498556e-01 7.38789064e-01 -2.21725066e+02] [-8.51404635e-01 6.67772424e-03 5.24466925e-01 -8.45283917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:405.34, Y:-221.71, Z:-845.31 [[ 2.53645110e-01 -8.74448745e-01 4.13525757e-01 4.05338695e+02] [ 4.59340171e-01 4.85116397e-01 7.44089167e-01 -2.21711471e+02] [-8.51275963e-01 1.21441301e-03 5.24716838e-01 -8.45306315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.33, Y:-221.70, Z:-845.34 [[ 2.49133261e-01 -8.66592744e-01 4.32376727e-01 4.05327289e+02] [ 4.57523253e-01 4.98807312e-01 7.36113944e-01 -2.21703752e+02] [-8.53583676e-01 1.44319390e-02 5.20755824e-01 -8.45336795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.36, Y:-221.69, Z:-845.35 [[ 2.49866527e-01 -8.85839045e-01 3.90967908e-01 4.05363919e+02] [ 4.59926475e-01 4.63898072e-01 7.57143458e-01 -2.21686410e+02] [-8.52076497e-01 -9.36831489e-03 5.23333429e-01 -8.45352473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.37, Y:-221.67, Z:-845.38 [[ 2.51124582e-01 -8.82954268e-01 3.96646197e-01 4.05369737e+02] [ 4.61713486e-01 4.69422322e-01 7.52637589e-01 -2.21670930e+02] [-8.50739150e-01 -5.86890132e-03 5.25555378e-01 -8.45377249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.37, Y:-221.66, Z:-845.40 [[ 2.49464947e-01 -8.76895361e-01 4.10879261e-01 4.05369077e+02] [ 4.62158292e-01 4.80664822e-01 7.45232207e-01 -2.21658017e+02] [-8.50985871e-01 3.98194391e-03 5.25173487e-01 -8.45404563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.37, Y:-221.65, Z:-845.43 [[ 2.47720519e-01 -8.75405487e-01 4.15090084e-01 4.05373317e+02] [ 4.62025325e-01 4.83329887e-01 7.43589147e-01 -2.21645724e+02] [-8.51567463e-01 7.57984165e-03 5.24190235e-01 -8.45429983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.38, Y:-221.63, Z:-845.45 [[ 2.45120826e-01 -8.77638388e-01 4.11906107e-01 4.05381103e+02] [ 4.62785693e-01 4.79259444e-01 7.45747805e-01 -2.21633813e+02] [-8.51906793e-01 7.82593535e-03 5.23634960e-01 -8.45452939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.39, Y:-221.62, Z:-845.48 [[ 2.44998962e-01 -8.81659941e-01 4.03300454e-01 4.05393961e+02] [ 4.63117777e-01 4.71875976e-01 7.50236622e-01 -2.21620117e+02] [-8.51761371e-01 2.96841643e-03 5.23921516e-01 -8.45475523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.41, Y:-221.60, Z:-845.50 [[ 2.46852279e-01 -8.85596789e-01 3.93423792e-01 4.05409824e+02] [ 4.65083235e-01 4.64444755e-01 7.53650220e-01 -2.21604747e+02] [-8.50153831e-01 -3.06546474e-03 5.26525466e-01 -8.45497002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.41, Y:-221.59, Z:-845.52 [[ 2.47353876e-01 -8.78255488e-01 4.09247305e-01 4.05406517e+02] [ 4.65562209e-01 4.78149956e-01 7.44731125e-01 -2.21591796e+02] [-8.49745779e-01 6.31794878e-03 5.27154810e-01 -8.45524604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.42, Y:-221.58, Z:-845.55 [[ 2.49719025e-01 -8.81127579e-01 4.01565185e-01 4.05420199e+02] [ 4.66108130e-01 4.72878410e-01 7.47749437e-01 -2.21576416e+02] [-8.48754158e-01 4.45536288e-04 5.28787464e-01 -8.45546338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.40, Y:-221.57, Z:-845.58 [[ 2.45924368e-01 -8.67868862e-01 4.31653615e-01 4.05400828e+02] [ 4.63288000e-01 4.96412822e-01 7.34124335e-01 -2.21569713e+02] [-8.51402040e-01 1.94408774e-02 5.24153239e-01 -8.45578057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.45, Y:-221.55, Z:-845.59 [[ 2.51250892e-01 -8.90536701e-01 3.79232611e-01 4.05448578e+02] [ 4.66266727e-01 4.54700933e-01 7.58842804e-01 -2.21547799e+02] [-8.48214790e-01 -1.38363830e-02 5.29471647e-01 -8.45590750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.43, Y:-221.54, Z:-845.63 [[ 2.51938718e-01 -8.71573778e-01 4.20578211e-01 4.05425282e+02] [ 4.64600382e-01 4.90170356e-01 7.37481869e-01 -2.21538994e+02] [-8.48924831e-01 9.60056033e-03 5.28426401e-01 -8.45625076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.44, Y:-221.53, Z:-845.65 [[ 2.51610327e-01 -8.75813974e-01 4.11876348e-01 4.05435241e+02] [ 4.63843816e-01 4.82631214e-01 7.42910510e-01 -2.21527361e+02] [-8.49435788e-01 4.12234057e-03 5.27675894e-01 -8.45646642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.45, Y:-221.51, Z:-845.67 [[ 2.53106528e-01 -8.80826145e-01 4.00102972e-01 4.05450751e+02] [ 4.64016053e-01 4.73424225e-01 7.48704618e-01 -2.21512443e+02] [-8.48897042e-01 -3.84782475e-03 5.28544233e-01 -8.45668635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.46, Y:-221.50, Z:-845.69 [[ 2.57237206e-01 -8.83281600e-01 3.91972749e-01 4.05464624e+02] [ 4.64426161e-01 4.68707881e-01 7.51412845e-01 -2.21496078e+02] [-8.47429856e-01 -1.12489418e-02 5.30788188e-01 -8.45687583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.46, Y:-221.48, Z:-845.71 [[ 2.57729352e-01 -8.78459254e-01 4.02349251e-01 4.05464678e+02] [ 4.63488526e-01 4.77781468e-01 7.46259510e-01 -2.21483674e+02] [-8.47793588e-01 -5.84871886e-03 5.30294093e-01 -8.45713666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:-221.47, Z:-845.74 [[ 2.59171887e-01 -8.78172089e-01 4.02049395e-01 4.05471500e+02] [ 4.62369819e-01 4.78284294e-01 7.46631291e-01 -2.21470303e+02] [-8.47964671e-01 -7.61033517e-03 5.29998112e-01 -8.45737028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.48, Y:-221.46, Z:-845.76 [[ 2.59396560e-01 -8.78243928e-01 4.01747468e-01 4.05478665e+02] [ 4.61888076e-01 4.78142411e-01 7.47020241e-01 -2.21457097e+02] [-8.48158494e-01 -8.21211562e-03 5.29678894e-01 -8.45760855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.46, Y:-221.45, Z:-845.79 [[ 2.53780200e-01 -8.66408195e-01 4.30037730e-01 4.05460237e+02] [ 4.57693345e-01 4.99233949e-01 7.35718877e-01 -2.21452072e+02] [-8.52122299e-01 1.01145234e-02 5.23244956e-01 -8.45794485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.52, Y:-221.43, Z:-845.80 [[ 2.61172346e-01 -8.95649360e-01 3.60001707e-01 4.05519999e+02] [ 4.61307651e-01 4.43410021e-01 7.68493855e-01 -2.21427615e+02] [-8.47929394e-01 -3.46378010e-02 5.28976337e-01 -8.45801074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:-221.43, Z:-845.84 [[ 2.56012045e-01 -8.65505196e-01 4.30532913e-01 4.05472159e+02] [ 4.55810593e-01 5.00838141e-01 7.35797432e-01 -2.21427512e+02] [-8.52463804e-01 7.86845704e-03 5.22727033e-01 -8.45843419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.51, Y:-221.41, Z:-845.86 [[ 2.59538571e-01 -8.87019510e-01 3.81884956e-01 4.05513647e+02] [ 4.58234308e-01 4.61197546e-01 7.59814544e-01 -2.21410537e+02] [-8.50094729e-01 -2.22083928e-02 5.26161324e-01 -8.45859396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.51, Y:-221.40, Z:-845.89 [[ 2.58972652e-01 -8.79449468e-01 3.99376763e-01 4.05507582e+02] [ 4.58385944e-01 4.75857557e-01 7.50627678e-01 -2.21399350e+02] [-8.50185563e-01 -1.13233462e-02 5.26361369e-01 -8.45887741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.556559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.55, Y:-221.38, Z:-845.90 [[ 2.65758164e-01 -8.96656285e-01 3.54090532e-01 4.05552158e+02] [ 4.63611246e-01 4.40908745e-01 7.68546740e-01 -2.21375421e+02] [-8.45243877e-01 -4.00872179e-02 5.32875036e-01 -8.45897952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.53, Y:-221.37, Z:-845.93 [[ 2.65310419e-01 -8.77100748e-01 4.00380643e-01 4.05530230e+02] [ 4.63234769e-01 4.80152542e-01 7.44894010e-01 -2.21365487e+02] [-8.45590877e-01 -1.21579070e-02 5.33693034e-01 -8.45931688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.616559995 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:405.54, Y:-221.35, Z:-845.95 [[ 2.64329705e-01 -8.78653402e-01 3.97615400e-01 4.05539864e+02] [ 4.62581402e-01 4.77267430e-01 7.47150752e-01 -2.21353510e+02] [-8.46255430e-01 -1.35646491e-02 5.32604682e-01 -8.45953781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.53, Y:-221.34, Z:-845.99 [[ 2.59875870e-01 -8.67464727e-01 4.24228099e-01 4.05528965e+02] [ 4.61625124e-01 4.97473889e-01 7.34453521e-01 -2.21343696e+02] [-8.48154926e-01 4.96760089e-03 5.29724971e-01 -8.45986741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6765599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.59, Y:-221.32, Z:-845.99 [[ 2.65011200e-01 -8.94293820e-01 3.60565704e-01 4.05585776e+02] [ 4.66477019e-01 4.46170668e-01 7.63761039e-01 -2.21319384e+02] [-8.43900619e-01 -3.42096149e-02 5.35407740e-01 -8.45993722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:-221.32, Z:-846.04 [[ 2.57567629e-01 -8.66700600e-01 4.27187296e-01 4.05544142e+02] [ 4.62418490e-01 4.98752474e-01 7.33086019e-01 -2.21317445e+02] [-8.48426813e-01 8.72007625e-03 5.29240875e-01 -8.46036224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.736559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.57, Y:-221.31, Z:-846.05 [[ 2.55515986e-01 -8.81394706e-01 3.97309644e-01 4.05569914e+02] [ 4.61885641e-01 4.72307429e-01 7.50724548e-01 -2.21305070e+02] [-8.49336939e-01 -8.31050366e-03 5.27785657e-01 -8.46054512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:405.62, Y:-221.28, Z:-846.06 [[ 2.62990875e-01 -8.98918539e-01 3.50401569e-01 4.05617006e+02] [ 4.67430961e-01 4.36430067e-01 7.68789368e-01 -2.21279781e+02] [-8.44004796e-01 -3.83960467e-02 5.34959482e-01 -8.46064427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.59, Y:-221.27, Z:-846.10 [[ 2.62957967e-01 -8.77744352e-01 4.00522109e-01 4.05593435e+02] [ 4.67653747e-01 4.79062005e-01 7.42832127e-01 -2.21271669e+02] [-8.43891629e-01 -8.02796125e-03 5.36453606e-01 -8.46099568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:405.60, Y:-221.26, Z:-846.12 [[ 2.63002903e-01 -8.77955022e-01 4.00030565e-01 4.05601645e+02] [ 4.68039729e-01 4.78673941e-01 7.42839195e-01 -2.21259342e+02] [-8.43663609e-01 -8.13866704e-03 5.36810467e-01 -8.46123003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.856559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.61, Y:-221.25, Z:-846.15 [[ 2.63468773e-01 -8.78063733e-01 3.99485027e-01 4.05609590e+02] [ 4.68364459e-01 4.78466577e-01 7.42768112e-01 -2.21247183e+02] [-8.43337975e-01 -8.59161477e-03 5.37314847e-01 -8.46146145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.62, Y:-221.24, Z:-846.17 [[ 2.64622784e-01 -8.77802646e-01 3.99296002e-01 4.05617927e+02] [ 4.67812565e-01 4.78922775e-01 7.42821903e-01 -2.21235217e+02] [-8.43282981e-01 -9.77191302e-03 5.37380985e-01 -8.46169956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.60, Y:-221.23, Z:-846.20 [[ 2.58349481e-01 -8.66178346e-01 4.27774028e-01 4.05597840e+02] [ 4.62903115e-01 4.99656390e-01 7.32164052e-01 -2.21231513e+02] [-8.47924674e-01 8.86372714e-03 5.30042623e-01 -8.46203019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.64, Y:-221.22, Z:-846.22 [[ 2.60257625e-01 -8.86915744e-01 3.81636518e-01 4.05636807e+02] [ 4.63338548e-01 4.61495193e-01 7.56531280e-01 -2.21215767e+02] [-8.47102921e-01 -2.00661242e-02 5.31049895e-01 -8.46217469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.67, Y:-221.19, Z:-846.23 [[ 2.68835211e-01 -8.95672888e-01 3.54256555e-01 4.05670443e+02] [ 4.68035133e-01 4.42931464e-01 7.64692639e-01 -2.21191740e+02] [-8.41825839e-01 -3.97717929e-02 5.38281953e-01 -8.46232576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:405.63, Y:-221.19, Z:-846.28 [[ 2.67430849e-01 -8.67870270e-01 4.18666855e-01 4.05632497e+02] [ 4.63987257e-01 4.96787318e-01 7.33429060e-01 -2.21187262e+02] [-8.44509661e-01 -1.88547062e-03 5.35537000e-01 -8.46275236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.65, Y:-221.17, Z:-846.29 [[ 2.69115052e-01 -8.77180094e-01 3.97658360e-01 4.05652362e+02] [ 4.64229034e-01 4.79903655e-01 7.44435280e-01 -2.21173484e+02] [-8.43841509e-01 -1.57341824e-02 5.36361765e-01 -8.46292804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.66, Y:-221.16, Z:-846.32 [[ 2.68755494e-01 -8.81395434e-01 3.88474676e-01 4.05663732e+02] [ 4.63308721e-01 4.71884468e-01 7.50113377e-01 -2.21161201e+02] [-8.44461671e-01 -2.16133857e-02 5.35179734e-01 -8.46315811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:-221.14, Z:-846.33 [[ 2.73449779e-01 -8.90805223e-01 3.62892922e-01 4.05692435e+02] [ 4.64961883e-01 4.52680676e-01 7.60848640e-01 -2.21142128e+02] [-8.42042556e-01 -3.93225162e-02 5.37975904e-01 -8.46332523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:-221.13, Z:-846.36 [[ 2.73414143e-01 -8.81454109e-01 3.85075786e-01 4.05685207e+02] [ 4.64846569e-01 4.71559717e-01 7.49365799e-01 -2.21129999e+02] [-8.42117791e-01 -2.58860499e-02 5.38672014e-01 -8.46361870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.156559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.72, Y:-221.11, Z:-846.38 [[ 2.78660413e-01 -8.89562564e-01 3.61976268e-01 4.05715209e+02] [ 4.68174660e-01 4.54912660e-01 7.57540071e-01 -2.21108083e+02] [-8.38546875e-01 -4.16283130e-02 5.43236801e-01 -8.46378986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.67, Y:-221.11, Z:-846.42 [[ 2.70302619e-01 -8.64395767e-01 4.23976949e-01 4.05673151e+02] [ 4.63830377e-01 5.02811794e-01 7.29411873e-01 -2.21105305e+02] [-8.43681146e-01 -5.08551338e-04 5.36844359e-01 -8.46419023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.71, Y:-221.09, Z:-846.43 [[ 2.66863779e-01 -8.84713512e-01 3.82185459e-01 4.05709094e+02] [ 4.64819269e-01 4.65550672e-01 7.53130546e-01 -2.21089522e+02] [-8.44231468e-01 -2.33360976e-02 5.35470500e-01 -8.46432271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.72, Y:-221.08, Z:-846.46 [[ 2.64401106e-01 -8.84723223e-01 3.83870907e-01 4.05715419e+02] [ 4.64902101e-01 4.65659772e-01 7.53011961e-01 -2.21076485e+02] [-8.44960408e-01 -2.06348038e-02 5.34430644e-01 -8.46456807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:-221.06, Z:-846.48 [[ 2.65170933e-01 -8.89637144e-01 3.71793126e-01 4.05734061e+02] [ 4.67264026e-01 4.55860313e-01 7.57532643e-01 -2.21058946e+02] [-8.43414907e-01 -2.71500850e-02 5.36576339e-01 -8.46476660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:-221.05, Z:-846.50 [[ 2.61369940e-01 -8.83475637e-01 3.88788572e-01 4.05729760e+02] [ 4.68077468e-01 4.68271091e-01 7.49416886e-01 -2.21047965e+02] [-8.44150010e-01 -1.38918763e-02 5.35927026e-01 -8.46504116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.74, Y:-221.03, Z:-846.53 [[ 2.61742718e-01 -8.84939259e-01 3.85192494e-01 4.05739920e+02] [ 4.69651473e-01 4.65450100e-01 7.50189108e-01 -2.21033458e+02] [-8.43159679e-01 -1.54503142e-02 5.37441201e-01 -8.46527354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.74, Y:-221.02, Z:-846.55 [[ 2.60871679e-01 -8.84072799e-01 3.87764431e-01 4.05743565e+02] [ 4.70895758e-01 4.67178735e-01 7.48332289e-01 -2.21020713e+02] [-8.42735517e-01 -1.26220756e-02 5.38179832e-01 -8.46552199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.74, Y:-221.01, Z:-846.58 [[ 2.57762331e-01 -8.80395252e-01 3.98073838e-01 4.05739510e+02] [ 4.69482027e-01 4.74213344e-01 7.44787440e-01 -2.21011490e+02] [-8.44479252e-01 -5.08963472e-03 5.35564084e-01 -8.46580239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:405.75, Y:-221.00, Z:-846.60 [[ 2.56763770e-01 -8.87865223e-01 3.81795379e-01 4.05754875e+02] [ 4.70733108e-01 4.59902559e-01 7.52927605e-01 -2.20997086e+02] [-8.44086908e-01 -1.36008047e-02 5.36033871e-01 -8.46600789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.78, Y:-220.98, Z:-846.62 [[ 2.59474932e-01 -8.94675584e-01 3.63632176e-01 4.05776017e+02] [ 4.73125360e-01 4.46011112e-01 7.59754225e-01 -2.20979126e+02] [-8.41917546e-01 -2.50935715e-02 5.39022410e-01 -8.46619963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.76, Y:-220.97, Z:-846.65 [[ 2.56603100e-01 -8.84854512e-01 3.88828164e-01 4.05763445e+02] [ 4.71762877e-01 4.65786738e-01 7.48653794e-01 -2.20969884e+02] [-8.43560690e-01 -8.67219092e-03 5.36963831e-01 -8.46650788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.516559995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:405.81, Y:-220.94, Z:-846.66 [[ 2.64079625e-01 -9.03468688e-01 3.37648161e-01 4.05814131e+02] [ 4.77188588e-01 4.26613943e-01 7.68304364e-01 -2.20942624e+02] [-8.38184349e-01 -4.17716791e-02 5.43784998e-01 -8.46660976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.75, Y:-220.94, Z:-846.71 [[ 2.55139312e-01 -8.67978312e-01 4.26048802e-01 4.05752124e+02] [ 4.73987469e-01 4.96332069e-01 7.27317232e-01 -2.20942521e+02] [-8.42757267e-01 1.63745750e-02 5.38044666e-01 -8.46705939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.79, Y:-220.93, Z:-846.72 [[ 2.54236019e-01 -8.91414409e-01 3.75159165e-01 4.05792467e+02] [ 4.75065549e-01 4.52985881e-01 7.54398115e-01 -2.20926262e+02] [-8.42423154e-01 -1.35699787e-02 5.38645602e-01 -8.46719440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.81, Y:-220.91, Z:-846.74 [[ 2.55167091e-01 -8.93970180e-01 3.68384409e-01 4.05805348e+02] [ 4.76377168e-01 4.47781150e-01 7.56674855e-01 -2.20910682e+02] [-8.41400350e-01 -1.75886000e-02 5.40125996e-01 -8.46741930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.80, Y:-220.90, Z:-846.77 [[ 2.53482203e-01 -8.87537296e-01 3.84739290e-01 4.05800247e+02] [ 4.76100480e-01 4.60687164e-01 7.49063195e-01 -2.20899390e+02] [-8.42065975e-01 -6.69962812e-03 5.39332930e-01 -8.46770512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.81, Y:-220.89, Z:-846.79 [[ 2.50517270e-01 -8.91009539e-01 3.78606786e-01 4.05809419e+02] [ 4.75754298e-01 4.53902758e-01 7.53412327e-01 -2.20886983e+02] [-8.43148235e-01 -8.61899389e-03 5.37612097e-01 -8.46792404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-220.87, Z:-846.81 [[ 2.54154377e-01 -8.98733565e-01 3.57328326e-01 4.05834794e+02] [ 4.79461886e-01 4.37945284e-01 7.60473687e-01 -2.20866827e+02] [-8.39953482e-01 -2.19524029e-02 5.42214201e-01 -8.46811970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-220.86, Z:-846.84 [[ 2.53279138e-01 -8.88703205e-01 3.82173117e-01 4.05825284e+02] [ 4.79970238e-01 4.58443511e-01 7.47969329e-01 -2.20855099e+02] [-8.39927526e-01 -6.01330467e-03 5.42665266e-01 -8.46840864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:-220.84, Z:-846.86 [[ 2.55115128e-01 -8.94762012e-01 3.66493129e-01 4.05847913e+02] [ 4.82775402e-01 4.46281302e-01 7.53499112e-01 -2.20835831e+02] [-8.37761412e-01 -1.52951548e-02 5.45822201e-01 -8.46859023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-220.82, Z:-846.89 [[ 2.54016080e-01 -8.81919595e-01 3.97106610e-01 4.05834882e+02] [ 4.83177304e-01 4.71378752e-01 7.37795206e-01 -2.20824666e+02] [-8.37863667e-01 4.46105477e-03 5.45861315e-01 -8.46888497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.81, Y:-220.82, Z:-846.92 [[ 2.46172478e-01 -8.69664561e-01 4.27881598e-01 4.05813226e+02] [ 4.79525429e-01 4.92933506e-01 7.25997191e-01 -2.20820241e+02] [-8.42291205e-01 2.64595799e-02 5.38372934e-01 -8.46921456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.87, Y:-220.80, Z:-846.93 [[ 2.48086374e-01 -8.98300844e-01 3.62641345e-01 4.05868209e+02] [ 4.82517967e-01 4.39187860e-01 7.57819527e-01 -2.20798076e+02] [-8.40017597e-01 -1.30237342e-02 5.42402820e-01 -8.46928945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.88, Y:-220.78, Z:-846.95 [[ 2.51609119e-01 -8.94367111e-01 3.69865276e-01 4.05876576e+02] [ 4.85400650e-01 4.47233120e-01 7.51244797e-01 -2.20779795e+02] [-8.37304640e-01 -9.48719629e-03 5.46654309e-01 -8.46953949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.87, Y:-220.77, Z:-846.98 [[ 2.51549103e-01 -8.82568477e-01 3.97235362e-01 4.05865068e+02] [ 4.85676616e-01 4.70123300e-01 7.36954753e-01 -2.20768205e+02] [-8.37162633e-01 7.54761921e-03 5.46901965e-01 -8.46983459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:-220.76, Z:-847.02 [[ 2.47323757e-01 -8.73013809e-01 4.20330643e-01 4.05850849e+02] [ 4.82847711e-01 4.87153806e-01 7.27694481e-01 -2.20761662e+02] [-8.40053003e-01 2.29795552e-02 5.42017428e-01 -8.47015275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:405.86, Y:-220.75, Z:-847.04 [[ 2.45575012e-01 -8.82082100e-01 4.02024978e-01 4.05864935e+02] [ 4.83318055e-01 4.70914324e-01 7.37999565e-01 -2.20748556e+02] [-8.40295526e-01 1.30716787e-02 5.41970995e-01 -8.47035350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.93, Y:-220.72, Z:-847.04 [[ 2.56287167e-01 -9.08824586e-01 3.29172843e-01 4.05930975e+02] [ 4.88871805e-01 4.15653280e-01 7.66965912e-01 -2.20718658e+02] [-8.33859249e-01 -3.56401987e-02 5.50825317e-01 -8.47039164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.89, Y:-220.71, Z:-847.08 [[ 2.57920332e-01 -8.80315719e-01 3.98147382e-01 4.05891612e+02] [ 4.88440598e-01 4.74355574e-01 7.32401920e-01 -2.20709844e+02] [-8.33608352e-01 5.56999915e-03 5.52327883e-01 -8.47078374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.056559995 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:405.88, Y:-220.70, Z:-847.11 [[ 2.56291935e-01 -8.72490235e-01 4.16023117e-01 4.05883628e+02] [ 4.85646781e-01 4.88362122e-01 7.25016994e-01 -2.20700432e+02] [-8.35740180e-01 1.62242797e-02 5.48885348e-01 -8.47108897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.92, Y:-220.68, Z:-847.12 [[ 2.59074499e-01 -8.88271800e-01 3.79280389e-01 4.05916579e+02] [ 4.87688152e-01 4.59258893e-01 7.42456420e-01 -2.20681032e+02] [-8.33690992e-01 -7.38097297e-03 5.52181901e-01 -8.47120703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.116559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:405.91, Y:-220.67, Z:-847.15 [[ 2.61056132e-01 -8.79743798e-01 3.97367018e-01 4.05910677e+02] [ 4.86761224e-01 4.75443339e-01 7.32814535e-01 -2.20667345e+02] [-8.33614543e-01 2.11712815e-03 5.52342567e-01 -8.47148757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.92, Y:-220.65, Z:-847.17 [[ 2.62358976e-01 -8.79576698e-01 3.96878570e-01 4.05917693e+02] [ 4.86471126e-01 4.75756421e-01 7.32803979e-01 -2.20653164e+02] [-8.33374833e-01 8.12263430e-04 5.52707634e-01 -8.47172512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.92, Y:-220.64, Z:-847.20 [[ 2.62061214e-01 -8.79198584e-01 3.97911761e-01 4.05921733e+02] [ 4.86303555e-01 4.76452966e-01 7.32462575e-01 -2.20639960e+02] [-8.33566298e-01 1.55587261e-03 5.52417240e-01 -8.47196160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.91, Y:-220.63, Z:-847.22 [[ 2.59481272e-01 -8.74181487e-01 4.10458521e-01 4.05914619e+02] [ 4.83164137e-01 4.85510946e-01 7.28581868e-01 -2.20631479e+02] [-8.36194885e-01 9.26548769e-03 5.48354142e-01 -8.47224381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.236559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.96, Y:-220.61, Z:-847.24 [[ 2.67814541e-01 -8.92740702e-01 3.62338807e-01 4.05958208e+02] [ 4.84511593e-01 4.49855919e-01 7.50252070e-01 -2.20609781e+02] [-8.32780817e-01 -2.53710610e-02 5.53021176e-01 -8.47235592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.94, Y:-220.60, Z:-847.27 [[ 2.68505749e-01 -8.76951505e-01 3.98573356e-01 4.05940423e+02] [ 4.83084070e-01 4.80562421e-01 7.31908151e-01 -2.20598513e+02] [-8.33387331e-01 -3.97710713e-03 5.52675075e-01 -8.47268138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.95, Y:-220.58, Z:-847.29 [[ 2.70918174e-01 -8.79487686e-01 3.91286025e-01 4.05952829e+02] [ 4.82976726e-01 4.75813115e-01 7.35075072e-01 -2.20583364e+02] [-8.32668497e-01 -1.01631531e-02 5.53678504e-01 -8.47289295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.96, Y:-220.57, Z:-847.31 [[ 2.72454083e-01 -8.77465455e-01 3.94744408e-01 4.05957100e+02] [ 4.82102622e-01 4.79546508e-01 7.33220437e-01 -2.20570004e+02] [-8.32673907e-01 -9.46158812e-03 5.53682801e-01 -8.47312988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.96, Y:-220.56, Z:-847.34 [[ 2.73813172e-01 -8.75980629e-01 3.97094806e-01 4.05960062e+02] [ 4.81133938e-01 4.82254735e-01 7.32079575e-01 -2.20556511e+02] [-8.32788377e-01 -9.39724256e-03 5.53511709e-01 -8.47337484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.97, Y:-220.54, Z:-847.36 [[ 2.75578362e-01 -8.78717156e-01 3.89759831e-01 4.05972604e+02] [ 4.81386767e-01 4.77107015e-01 7.35279319e-01 -2.20541677e+02] [-8.32059702e-01 -1.50018451e-02 5.54483180e-01 -8.47358999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:-220.53, Z:-847.38 [[ 2.75806055e-01 -8.76820979e-01 3.93847676e-01 4.05976318e+02] [ 4.80984248e-01 4.80646683e-01 7.33234560e-01 -2.20528723e+02] [-8.32217023e-01 -1.27960030e-02 5.54302345e-01 -8.47382496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:-220.51, Z:-847.41 [[ 2.75080518e-01 -8.77060752e-01 3.93821210e-01 4.05983797e+02] [ 4.80919197e-01 4.80219636e-01 7.33556969e-01 -2.20514876e+02] [-8.32494705e-01 -1.23910504e-02 5.53894419e-01 -8.47406349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:405.99, Y:-220.50, Z:-847.43 [[ 2.73104714e-01 -8.77745485e-01 3.93670774e-01 4.05991521e+02] [ 4.81263098e-01 4.79000102e-01 7.34128554e-01 -2.20501132e+02] [-8.32946364e-01 -1.10347528e-02 5.53243697e-01 -8.47430098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.00, Y:-220.49, Z:-847.45 [[ 2.71650138e-01 -8.78339222e-01 3.93352785e-01 4.05999461e+02] [ 4.81861158e-01 4.77933963e-01 7.34431040e-01 -2.20487409e+02] [-8.33076243e-01 -9.96686505e-03 5.53068381e-01 -8.47453742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.01, Y:-220.47, Z:-847.48 [[ 2.69746522e-01 -8.79014775e-01 3.93153709e-01 4.06006652e+02] [ 4.82249433e-01 4.76715937e-01 7.34967618e-01 -2.20474576e+02] [-8.33470034e-01 -8.65680567e-03 5.52496843e-01 -8.47475855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:406.01, Y:-220.46, Z:-847.50 [[ 2.66395053e-01 -8.80223839e-01 3.92733586e-01 4.06013990e+02] [ 4.84662055e-01 4.74527976e-01 7.34796497e-01 -2.20460759e+02] [-8.33148467e-01 -5.40308466e-03 5.53023000e-01 -8.47499643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.596559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:406.02, Y:-220.45, Z:-847.52 [[ 2.64576929e-01 -8.80964113e-01 3.92302538e-01 4.06021621e+02] [ 4.85874975e-01 4.73167663e-01 7.34872691e-01 -2.20447647e+02] [-8.33021343e-01 -3.82037374e-03 5.53227663e-01 -8.47523431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.03, Y:-220.43, Z:-847.55 [[ 2.62880679e-01 -8.81715401e-01 3.91754642e-01 4.06029721e+02] [ 4.87445965e-01 4.71776612e-01 7.34726656e-01 -2.20434227e+02] [-8.32640487e-01 -2.18622290e-03 5.53809571e-01 -8.47546895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.04, Y:-220.42, Z:-847.57 [[ 2.61369385e-01 -8.82421190e-01 3.91176289e-01 4.06037519e+02] [ 4.89017008e-01 4.70459740e-01 7.34527058e-01 -2.20421681e+02] [-8.32194936e-01 -6.91026487e-04 5.54482743e-01 -8.47569213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:406.05, Y:-220.41, Z:-847.59 [[ 2.57880674e-01 -8.83710616e-01 3.90580473e-01 4.06045833e+02] [ 4.92455046e-01 4.68023344e-01 7.33786193e-01 -2.20408699e+02] [-8.31255428e-01 3.11404700e-03 5.55881927e-01 -8.47592189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.05, Y:-220.40, Z:-847.62 [[ 2.56055591e-01 -8.84466092e-01 3.90070849e-01 4.06053737e+02] [ 4.93934494e-01 4.66579796e-01 7.33711121e-01 -2.20395448e+02] [-8.30941785e-01 4.79861270e-03 5.56338677e-01 -8.47615326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.06, Y:-220.38, Z:-847.64 [[ 2.54514138e-01 -8.85143633e-01 3.89542427e-01 4.06061889e+02] [ 4.95322879e-01 4.65276100e-01 7.33603024e-01 -2.20381749e+02] [-8.30588827e-01 6.23693545e-03 5.56851238e-01 -8.47638655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.776559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:406.05, Y:-220.38, Z:-847.67 [[ 2.47671435e-01 -8.76471988e-01 4.12862829e-01 4.06047057e+02] [ 4.93285504e-01 4.80847964e-01 7.24882506e-01 -2.20376008e+02] [-8.33863461e-01 2.41265579e-02 5.51443231e-01 -8.47670251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.08, Y:-220.36, Z:-847.69 [[ 2.46089956e-01 -8.93026649e-01 3.76753418e-01 4.06081157e+02] [ 4.94743331e-01 4.49990653e-01 7.43463145e-01 -2.20360249e+02] [-8.33467918e-01 3.43742856e-03 5.52557159e-01 -8.47685639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.11, Y:-220.34, Z:-847.70 [[ 2.50057396e-01 -8.99139275e-01 3.59193350e-01 4.06106112e+02] [ 4.97978446e-01 4.37583045e-01 7.48691222e-01 -2.20339187e+02] [-8.30354603e-01 -8.34523135e-03 5.57172856e-01 -8.47701808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:406.09, Y:-220.33, Z:-847.73 [[ 2.49337946e-01 -8.86723244e-01 3.89297415e-01 4.06094056e+02] [ 4.97782940e-01 4.62174551e-01 7.33898378e-01 -2.20327483e+02] [-8.30688108e-01 1.07968974e-02 5.56633357e-01 -8.47732059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.10, Y:-220.31, Z:-847.75 [[ 2.49494187e-01 -8.86760828e-01 3.89111661e-01 4.06101864e+02] [ 4.97021738e-01 4.62116968e-01 7.34450339e-01 -2.20313593e+02] [-8.31096891e-01 1.01558640e-02 5.56034905e-01 -8.47754662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.08, Y:-220.31, Z:-847.79 [[ 2.44986990e-01 -8.75321965e-01 4.16884675e-01 4.06084064e+02] [ 4.93070079e-01 4.82715491e-01 7.23787021e-01 -2.20307798e+02] [-8.34783368e-01 2.82349557e-02 5.49854086e-01 -8.47788170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.12, Y:-220.29, Z:-847.80 [[ 2.48453284e-01 -8.95064036e-01 3.70312487e-01 4.06123739e+02] [ 4.92948613e-01 4.45927044e-01 7.47094865e-01 -2.20288641e+02] [-8.33830097e-01 -3.07314605e-03 5.52012613e-01 -8.47800290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:406.12, Y:-220.28, Z:-847.83 [[ 2.51035464e-01 -8.89816326e-01 3.81061808e-01 4.06124898e+02] [ 4.91666717e-01 4.56317349e-01 7.41645682e-01 -2.20275068e+02] [-8.33813550e-01 1.17604077e-03 5.52044909e-01 -8.47828008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.016559995 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:406.13, Y:-220.26, Z:-847.85 [[ 2.50933172e-01 -8.85537290e-01 3.90968351e-01 4.06125613e+02] [ 4.92072921e-01 4.64505651e-01 7.36273551e-01 -2.20261338e+02] [-8.33604693e-01 7.62948126e-03 5.52308797e-01 -8.47854196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.14, Y:-220.24, Z:-847.87 [[ 2.54822475e-01 -8.91260774e-01 3.75126299e-01 4.06144121e+02] [ 4.92416800e-01 4.53467955e-01 7.42894683e-01 -2.20244092e+02] [-8.32220645e-01 -4.58777019e-03 5.54425605e-01 -8.47870452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.14, Y:-220.23, Z:-847.90 [[ 2.60432979e-01 -8.84518484e-01 3.87042265e-01 4.06142177e+02] [ 4.89393186e-01 4.66498602e-01 7.36799406e-01 -2.20229753e+02] [-8.32267369e-01 -2.47101688e-03 5.54368939e-01 -8.47896227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.15, Y:-220.22, Z:-847.92 [[ 2.63438432e-01 -8.83784321e-01 3.86685229e-01 4.06147900e+02] [ 4.87737657e-01 4.67861453e-01 7.37032997e-01 -2.20216223e+02] [-8.32293320e-01 -5.56186976e-03 5.54307582e-01 -8.47919288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.14, Y:-220.21, Z:-847.95 [[ 2.62725029e-01 -8.76904254e-01 4.02510235e-01 4.06139592e+02] [ 4.83884995e-01 4.80657877e-01 7.31316154e-01 -2.20206835e+02] [-8.34763961e-01 2.63360517e-03 5.50601665e-01 -8.47949114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:406.15, Y:-220.19, Z:-847.97 [[ 2.64312580e-01 -8.84055271e-01 3.85467428e-01 4.06154925e+02] [ 4.81558152e-01 4.67267708e-01 7.41459800e-01 -2.20194216e+02] [-8.35607926e-01 -1.03521705e-02 5.49228756e-01 -8.47969447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.18, Y:-220.17, Z:-847.98 [[ 2.72670849e-01 -8.92116045e-01 3.60249317e-01 4.06179653e+02] [ 4.82204246e-01 4.50733321e-01 7.51211381e-01 -2.20174462e+02] [-8.32544097e-01 -3.11196947e-02 5.53083983e-01 -8.47984911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.17, Y:-220.16, Z:-848.01 [[ 2.74545409e-01 -8.81210388e-01 3.84828624e-01 4.06170451e+02] [ 4.81054603e-01 4.72395163e-01 7.38531840e-01 -2.20162118e+02] [-8.32593110e-01 -1.76369454e-02 5.53604237e-01 -8.48013898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.18, Y:-220.15, Z:-848.04 [[ 2.75812836e-01 -8.81027879e-01 3.84339898e-01 4.06177335e+02] [ 4.80779965e-01 4.72686184e-01 7.38524473e-01 -2.20148895e+02] [-8.32332809e-01 -1.89116063e-02 5.53953470e-01 -8.48036423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.18, Y:-220.14, Z:-848.06 [[ 2.76438465e-01 -8.80927793e-01 3.84119772e-01 4.06184183e+02] [ 4.80653313e-01 4.72847865e-01 7.38503412e-01 -2.20135393e+02] [-8.32198395e-01 -1.95223085e-02 5.54134200e-01 -8.48059048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.19, Y:-220.12, Z:-848.08 [[ 2.75672162e-01 -8.81201514e-01 3.84042642e-01 4.06191246e+02] [ 4.80773601e-01 4.72358375e-01 7.38738323e-01 -2.20121637e+02] [-8.32383087e-01 -1.90120265e-02 5.53874480e-01 -8.48082688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.20, Y:-220.11, Z:-848.11 [[ 2.74689563e-01 -8.81606623e-01 3.83816892e-01 4.06198414e+02] [ 4.80716190e-01 4.71619994e-01 7.39247270e-01 -2.20108184e+02] [-8.32741010e-01 -1.85565155e-02 5.53351667e-01 -8.48105533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.20, Y:-220.09, Z:-848.13 [[ 2.74130396e-01 -8.80972905e-01 3.85667301e-01 4.06204606e+02] [ 4.80996549e-01 4.72865627e-01 7.38268528e-01 -2.20094872e+02] [-8.32763380e-01 -1.68772028e-02 5.53371768e-01 -8.48129536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.22, Y:-220.08, Z:-848.15 [[ 2.71879667e-01 -8.84488908e-01 3.79158038e-01 4.06216863e+02] [ 4.81432360e-01 4.66163518e-01 7.42236120e-01 -2.20080224e+02] [-8.33249260e-01 -1.92599599e-02 5.52561964e-01 -8.48152268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.20, Y:-220.07, Z:-848.18 [[ 2.66331448e-01 -8.75114741e-01 4.04031867e-01 4.06202274e+02] [ 4.78725175e-01 4.83912545e-01 7.32564575e-01 -2.20073639e+02] [-8.36594147e-01 -1.68475804e-03 5.47820586e-01 -8.48184801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.23, Y:-220.06, Z:-848.20 [[ 2.66712468e-01 -8.87602288e-01 3.75535135e-01 4.06228552e+02] [ 4.79484396e-01 4.60209348e-01 7.47196139e-01 -2.20059746e+02] [-8.36037782e-01 -1.92232890e-02 5.48335018e-01 -8.48203887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.25, Y:-220.04, Z:-848.22 [[ 2.70045596e-01 -8.93914327e-01 3.57760467e-01 4.06250764e+02] [ 4.83269748e-01 4.47209181e-01 7.52631583e-01 -2.20041073e+02] [-8.32781920e-01 -3.03500331e-02 5.52768622e-01 -8.48220741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:406.24, Y:-220.03, Z:-848.25 [[ 2.69632060e-01 -8.84130055e-01 3.81592188e-01 4.06242263e+02] [ 4.83197282e-01 4.66990432e-01 7.40567568e-01 -2.20029213e+02] [-8.32957945e-01 -1.52964507e-02 5.53124832e-01 -8.48249323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.25, Y:-220.02, Z:-848.27 [[ 2.69219682e-01 -8.84453939e-01 3.81132513e-01 4.06249313e+02] [ 4.83689892e-01 4.66385014e-01 7.40627509e-01 -2.20016595e+02] [-8.32805410e-01 -1.50415584e-02 5.53361455e-01 -8.48271605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.26, Y:-220.00, Z:-848.29 [[ 2.68471962e-01 -8.84760128e-01 3.80949238e-01 4.06256772e+02] [ 4.84146604e-01 4.65823638e-01 7.40682391e-01 -2.20003631e+02] [-8.32781407e-01 -1.44171748e-02 5.53414197e-01 -8.48294632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.26, Y:-219.99, Z:-848.32 [[ 2.66997484e-01 -8.85231320e-01 3.80890867e-01 4.06264457e+02] [ 4.84534854e-01 4.64961386e-01 7.40970232e-01 -2.19990659e+02] [-8.33029602e-01 -1.32822869e-02 5.53068949e-01 -8.48318543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.27, Y:-219.98, Z:-848.34 [[ 2.63634154e-01 -8.86328883e-01 3.80681160e-01 4.06274024e+02] [ 4.85672663e-01 4.62935009e-01 7.41493926e-01 -2.19977685e+02] [-8.33438119e-01 -1.05966910e-02 5.52511188e-01 -8.48341993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.28, Y:-219.97, Z:-848.36 [[ 2.61589610e-01 -8.87075044e-01 3.80353444e-01 4.06282374e+02] [ 4.86518079e-01 4.61537480e-01 7.41810834e-01 -2.19965025e+02] [-8.33589249e-01 -9.00117980e-03 5.52311455e-01 -8.48363966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.29, Y:-219.95, Z:-848.39 [[ 2.58838426e-01 -8.87881649e-01 3.80353581e-01 4.06290363e+02] [ 4.87328122e-01 4.60022288e-01 7.42220181e-01 -2.19952359e+02] [-8.33974802e-01 -6.75810710e-03 5.51761141e-01 -8.48387177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.30, Y:-219.94, Z:-848.41 [[ 2.56220098e-01 -8.88795176e-01 3.79992626e-01 4.06298509e+02] [ 4.88598070e-01 4.58281846e-01 7.42461902e-01 -2.19939274e+02] [-8.34040279e-01 -4.56999778e-03 5.51684627e-01 -8.48410128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.31, Y:-219.93, Z:-848.43 [[ 2.50639412e-01 -8.90460211e-01 3.79816401e-01 4.06307600e+02] [ 4.90688084e-01 4.55061091e-01 7.43064337e-01 -2.19926911e+02] [-8.34508891e-01 1.30173402e-04 5.50994459e-01 -8.48434041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.796559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:406.32, Y:-219.91, Z:-848.46 [[ 2.47595321e-01 -8.91444143e-01 3.79504805e-01 4.06315817e+02] [ 4.91973520e-01 4.53122884e-01 7.43398754e-01 -2.19913668e+02] [-8.34660777e-01 2.64426211e-03 5.50758019e-01 -8.48457649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.33, Y:-219.90, Z:-848.48 [[ 2.42404801e-01 -8.92924516e-01 3.79375435e-01 4.06326001e+02] [ 4.93662096e-01 4.50153314e-01 7.44083147e-01 -2.19900535e+02] [-8.35187193e-01 6.91394523e-03 5.49922312e-01 -8.48480997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.33, Y:-219.89, Z:-848.50 [[ 2.39927252e-01 -8.93719166e-01 3.79079103e-01 4.06334409e+02] [ 4.94599775e-01 4.48538917e-01 7.44435291e-01 -2.19887185e+02] [-8.35347817e-01 8.88212514e-03 5.49650009e-01 -8.48504437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.31, Y:-219.89, Z:-848.54 [[ 2.31444725e-01 -8.79279331e-01 4.16294604e-01 4.06309350e+02] [ 4.90806919e-01 4.74998609e-01 7.30400500e-01 -2.19885490e+02] [-8.39965421e-01 3.52729290e-02 5.41492302e-01 -8.48542620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.916559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.35, Y:-219.87, Z:-848.56 [[ 2.30882403e-01 -9.00624148e-01 3.68197583e-01 4.06350461e+02] [ 4.91862720e-01 4.34543956e-01 7.54481686e-01 -2.19867984e+02] [-8.39502460e-01 6.90612026e-03 5.43311996e-01 -8.48555889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.37, Y:-219.85, Z:-848.58 [[ 2.29971149e-01 -9.04853784e-01 3.58263730e-01 4.06365650e+02] [ 4.94635962e-01 4.25712177e-01 7.57696778e-01 -2.19850498e+02] [-8.38122029e-01 2.96172577e-03 5.45474740e-01 -8.48576604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9765599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.37, Y:-219.84, Z:-848.60 [[ 2.31808154e-01 -9.02580801e-01 3.62784891e-01 4.06372000e+02] [ 4.95194438e-01 4.30494609e-01 7.54623655e-01 -2.19836328e+02] [-8.37285763e-01 4.72114406e-03 5.46745153e-01 -8.48600775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:406.37, Y:-219.82, Z:-848.63 [[ 2.32724551e-01 -8.94827446e-01 3.80950292e-01 4.06367979e+02] [ 4.94897544e-01 4.46160221e-01 7.45665795e-01 -2.19823813e+02] [-8.37207086e-01 1.49966264e-02 5.46680342e-01 -8.48630425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.39, Y:-219.80, Z:-848.64 [[ 2.36194481e-01 -9.02326094e-01 3.60582567e-01 4.06389833e+02] [ 4.96657732e-01 4.31052545e-01 7.53342420e-01 -2.19804387e+02] [-8.35190556e-01 1.15079807e-03 5.49959463e-01 -8.48644453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.39, Y:-219.79, Z:-848.67 [[ 2.37264971e-01 -8.94965906e-01 3.77811278e-01 4.06385286e+02] [ 4.96265256e-01 4.46004574e-01 7.44849459e-01 -2.19791880e+02] [-8.35120428e-01 1.07679249e-02 5.49961746e-01 -8.48672504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.39, Y:-219.78, Z:-848.70 [[ 2.38313252e-01 -8.94853044e-01 3.77418632e-01 4.06391936e+02] [ 4.95784284e-01 4.46258258e-01 7.45017792e-01 -2.19777949e+02] [-8.35107620e-01 9.57061309e-03 5.50003333e-01 -8.48695421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:406.40, Y:-219.76, Z:-848.72 [[ 2.40813265e-01 -8.94229517e-01 3.77309611e-01 4.06397338e+02] [ 4.93513222e-01 4.47559738e-01 7.45744581e-01 -2.19764623e+02] [-8.35735407e-01 6.62209456e-03 5.49092412e-01 -8.48718166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.40, Y:-219.75, Z:-848.74 [[ 2.42291078e-01 -8.93815884e-01 3.77343610e-01 4.06403766e+02] [ 4.92024128e-01 4.48407791e-01 7.46218942e-01 -2.19750717e+02] [-8.36186158e-01 4.85996860e-03 5.48424188e-01 -8.48741809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.41, Y:-219.74, Z:-848.76 [[ 2.44171685e-01 -8.93406276e-01 3.77101331e-01 4.06409976e+02] [ 4.90572249e-01 4.49241637e-01 7.46673168e-01 -2.19737409e+02] [-8.36492114e-01 2.67900205e-03 5.47972414e-01 -8.48764035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.42, Y:-219.72, Z:-848.79 [[ 2.48880970e-01 -8.92208502e-01 3.76858398e-01 4.06415009e+02] [ 4.88150953e-01 4.51619700e-01 7.46825478e-01 -2.19723689e+02] [-8.36520717e-01 -1.90686367e-03 5.47931979e-01 -8.48787500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:406.41, Y:-219.71, Z:-848.82 [[ 2.48893897e-01 -8.83900869e-01 3.95943283e-01 4.06406348e+02] [ 4.84387886e-01 4.67609945e-01 7.39397941e-01 -2.19714613e+02] [-8.38701499e-01 7.75849504e-03 5.44536134e-01 -8.48819898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:-219.69, Z:-848.83 [[ 2.53709507e-01 -8.98141907e-01 3.59127556e-01 4.06437990e+02] [ 4.85958731e-01 4.39370772e-01 7.55511374e-01 -2.19694573e+02] [-8.36346578e-01 -1.71592467e-02 5.47932443e-01 -8.48831389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.43, Y:-219.68, Z:-848.86 [[ 2.55783260e-01 -8.90654139e-01 3.75912395e-01 4.06432759e+02] [ 4.84386472e-01 4.54590270e-01 7.47474035e-01 -2.19682534e+02] [-8.36626960e-01 -9.10446672e-03 5.47697397e-01 -8.48857902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:-219.67, Z:-848.88 [[ 2.59315938e-01 -8.89623010e-01 3.75933697e-01 4.06437959e+02] [ 4.81857205e-01 4.56516078e-01 7.47934960e-01 -2.19668829e+02] [-8.36999927e-01 -1.28050953e-02 5.47053152e-01 -8.48881676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:-219.66, Z:-848.90 [[ 2.60298737e-01 -8.89461539e-01 3.75636444e-01 4.06444244e+02] [ 4.81014978e-01 4.56792565e-01 7.48308187e-01 -2.19655443e+02] [-8.37179287e-01 -1.40969199e-02 5.46746850e-01 -8.48904584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.45, Y:-219.64, Z:-848.93 [[ 2.61263132e-01 -8.89206778e-01 3.75570076e-01 4.06450030e+02] [ 4.79767964e-01 4.57244379e-01 7.48832610e-01 -2.19641562e+02] [-8.37594339e-01 -1.54558629e-02 5.46074024e-01 -8.48928171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.46, Y:-219.63, Z:-848.95 [[ 2.61424963e-01 -8.89355532e-01 3.75104955e-01 4.06456764e+02] [ 4.80002343e-01 4.56945949e-01 7.48864574e-01 -2.19627876e+02] [-8.37409541e-01 -1.57206363e-02 5.46349817e-01 -8.48951181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4565599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.46, Y:-219.62, Z:-848.97 [[ 2.61099562e-01 -8.89562722e-01 3.74840210e-01 4.06463232e+02] [ 4.79714066e-01 4.56538860e-01 7.49297461e-01 -2.19615020e+02] [-8.37676211e-01 -1.58251176e-02 5.45937846e-01 -8.48973503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.47, Y:-219.60, Z:-849.00 [[ 2.60985147e-01 -8.89659879e-01 3.74689276e-01 4.06470090e+02] [ 4.79714504e-01 4.56348923e-01 7.49412874e-01 -2.19601909e+02] [-8.37711614e-01 -1.58417489e-02 5.45883038e-01 -8.48996919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.516559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.48, Y:-219.59, Z:-849.02 [[ 2.60985723e-01 -8.89828097e-01 3.74289207e-01 4.06477054e+02] [ 4.79808181e-01 4.56014019e-01 7.49556751e-01 -2.19587893e+02] [-8.37657783e-01 -1.60365869e-02 5.45959949e-01 -8.49020726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.48, Y:-219.57, Z:-849.04 [[ 2.61032014e-01 -8.89971887e-01 3.73914867e-01 4.06483249e+02] [ 4.79786027e-01 4.55723664e-01 7.49747498e-01 -2.19574909e+02] [-8.37656049e-01 -1.63089709e-02 5.45954542e-01 -8.49043368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.49, Y:-219.56, Z:-849.07 [[ 2.61625143e-01 -8.89978019e-01 3.73485490e-01 4.06489128e+02] [ 4.80515443e-01 4.55702332e-01 7.49293196e-01 -2.19561864e+02] [-8.37052682e-01 -1.65683942e-02 5.46871370e-01 -8.49067316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.50, Y:-219.55, Z:-849.09 [[ 2.61686829e-01 -8.90168006e-01 3.72989176e-01 4.06495859e+02] [ 4.80982874e-01 4.55327762e-01 7.49220998e-01 -2.19548501e+02] [-8.36764888e-01 -1.66598616e-02 5.47308844e-01 -8.49091180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.50, Y:-219.53, Z:-849.11 [[ 2.61748362e-01 -8.90399476e-01 3.72393029e-01 4.06502605e+02] [ 4.81837910e-01 4.54877063e-01 7.48945316e-01 -2.19534989e+02] [-8.36253564e-01 -1.66021306e-02 5.48091549e-01 -8.49114571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.51, Y:-219.52, Z:-849.14 [[ 2.61726712e-01 -8.90664419e-01 3.71774153e-01 4.06510049e+02] [ 4.82832566e-01 4.54364403e-01 7.48615858e-01 -2.19522138e+02] [-8.35686449e-01 -1.64280986e-02 5.48961088e-01 -8.49138300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6965599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.52, Y:-219.51, Z:-849.16 [[ 2.61080690e-01 -8.91018365e-01 3.71380057e-01 4.06517231e+02] [ 4.83292299e-01 4.53685423e-01 7.48730987e-01 -2.19508911e+02] [-8.35622778e-01 -1.59940811e-02 5.49070817e-01 -8.49161600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:406.52, Y:-219.50, Z:-849.19 [[ 2.60210785e-01 -8.91425679e-01 3.71012946e-01 4.06524685e+02] [ 4.83767545e-01 4.52905624e-01 7.48896160e-01 -2.19495527e+02] [-8.35619118e-01 -1.53868361e-02 5.49093740e-01 -8.49185022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.756559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.53, Y:-219.48, Z:-849.21 [[ 2.59485996e-01 -8.91812027e-01 3.70591860e-01 4.06532206e+02] [ 4.84284601e-01 4.52161156e-01 7.49011825e-01 -2.19482342e+02] [-8.35544998e-01 -1.48861482e-02 5.49220320e-01 -8.49207502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.53, Y:-219.47, Z:-849.23 [[ 2.53432629e-01 -8.90768734e-01 3.77230653e-01 4.06531927e+02] [ 4.84836248e-01 4.54410502e-01 7.47291716e-01 -2.19471593e+02] [-8.37081666e-01 -6.49301038e-03 5.47039419e-01 -8.49232520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.56, Y:-219.45, Z:-849.25 [[ 2.55094047e-01 -9.00000050e-01 3.53450050e-01 4.06558908e+02] [ 4.86602523e-01 4.35372928e-01 7.57409003e-01 -2.19454566e+02] [-8.35550724e-01 -2.12208424e-02 5.49003337e-01 -8.49250084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.56, Y:-219.44, Z:-849.28 [[ 2.52781894e-01 -8.93964760e-01 3.70038271e-01 4.06555826e+02] [ 4.87470346e-01 4.48045739e-01 7.49418226e-01 -2.19442098e+02] [-8.35747555e-01 -9.05667486e-03 5.49039161e-01 -8.49277362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.56, Y:-219.43, Z:-849.30 [[ 2.47696003e-01 -8.95473521e-01 3.69829507e-01 4.06564253e+02] [ 4.89364933e-01 4.45089155e-01 7.49945069e-01 -2.19429886e+02] [-8.36163054e-01 -4.77680382e-03 5.48460144e-01 -8.49299723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.57, Y:-219.42, Z:-849.32 [[ 2.44952895e-01 -8.96280245e-01 3.69702315e-01 4.06572184e+02] [ 4.90590857e-01 4.43481822e-01 7.50096317e-01 -2.19416768e+02] [-8.36252767e-01 -2.36568926e-03 5.48339050e-01 -8.49323001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.58, Y:-219.40, Z:-849.35 [[ 2.39663257e-01 -8.97892121e-01 3.69257717e-01 4.06580637e+02] [ 4.93426985e-01 4.40208935e-01 7.50163918e-01 -2.19404714e+02] [-8.36116819e-01 2.41499389e-03 5.48546109e-01 -8.49345288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.59, Y:-219.39, Z:-849.37 [[ 2.39440432e-01 -8.98019809e-01 3.69091726e-01 4.06587543e+02] [ 4.93535691e-01 4.39947802e-01 7.50245596e-01 -2.19390678e+02] [-8.36116500e-01 2.52081027e-03 5.48546118e-01 -8.49369203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.996559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.60, Y:-219.38, Z:-849.39 [[ 2.36835880e-01 -8.98865753e-01 3.68712795e-01 4.06595566e+02] [ 4.94956781e-01 4.38197907e-01 7.50333512e-01 -2.19377220e+02] [-8.36018272e-01 4.79100047e-03 5.48680687e-01 -8.49392755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.60, Y:-219.36, Z:-849.42 [[ 2.34760236e-01 -8.99597865e-01 3.68254414e-01 4.06603150e+02] [ 4.96246685e-01 4.36669541e-01 7.50372534e-01 -2.19364243e+02] [-8.35839015e-01 6.58739932e-03 5.48935103e-01 -8.49415012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.61, Y:-219.35, Z:-849.44 [[ 2.31673133e-01 -9.00490774e-01 3.68027072e-01 4.06610943e+02] [ 4.97976409e-01 4.34772689e-01 7.50328065e-01 -2.19351324e+02] [-8.35671619e-01 9.43794656e-03 5.49148313e-01 -8.49438759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.62, Y:-219.34, Z:-849.46 [[ 2.30859416e-01 -9.00899643e-01 3.67537431e-01 4.06618339e+02] [ 4.98775410e-01 4.33909796e-01 7.50296861e-01 -2.19337712e+02] [-8.35420266e-01 1.01055376e-02 5.49518751e-01 -8.49462139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.63, Y:-219.32, Z:-849.49 [[ 2.30519616e-01 -9.01255985e-01 3.66876488e-01 4.06625016e+02] [ 4.99981121e-01 4.33158374e-01 7.49928465e-01 -2.19324458e+02] [-8.34793140e-01 1.05580955e-02 5.50462479e-01 -8.49485030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.63, Y:-219.31, Z:-849.51 [[ 2.31599109e-01 -9.01073261e-01 3.66645375e-01 4.06632011e+02] [ 4.99706316e-01 4.33561869e-01 7.49878460e-01 -2.19310457e+02] [-8.34658883e-01 9.54382597e-03 5.50684542e-01 -8.49508556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.64, Y:-219.30, Z:-849.53 [[ 2.31439443e-01 -9.01269340e-01 3.66264060e-01 4.06639020e+02] [ 4.99778678e-01 4.33156038e-01 7.50064744e-01 -2.19296399e+02] [-8.34659846e-01 9.45640076e-03 5.50684591e-01 -8.49532404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.65, Y:-219.28, Z:-849.56 [[ 2.32208467e-01 -9.01182874e-01 3.65989967e-01 4.06645582e+02] [ 4.99549905e-01 4.33352752e-01 7.50103516e-01 -2.19282490e+02] [-8.34583202e-01 8.64986578e-03 5.50813997e-01 -8.49555518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.65, Y:-219.27, Z:-849.58 [[ 2.33473755e-01 -9.00978113e-01 3.65689001e-01 4.06651798e+02] [ 4.98606094e-01 4.33806117e-01 7.50469331e-01 -2.19269000e+02] [-8.34794567e-01 7.11987195e-03 5.50515521e-01 -8.49577784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.66, Y:-219.26, Z:-849.60 [[ 2.34766166e-01 -9.00689431e-01 3.65572696e-01 4.06657907e+02] [ 4.97416768e-01 4.34427986e-01 7.50898718e-01 -2.19255433e+02] [-8.35141549e-01 5.55637592e-03 5.50007018e-01 -8.49600196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.66, Y:-219.24, Z:-849.62 [[ 2.37792893e-01 -8.99887965e-01 3.65590195e-01 4.06663072e+02] [ 4.94884217e-01 4.36115587e-01 7.51593512e-01 -2.19240949e+02] [-8.35789538e-01 2.20122198e-03 5.49045538e-01 -8.49623312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.67, Y:-219.23, Z:-849.65 [[ 2.39465027e-01 -8.99599320e-01 3.65208932e-01 4.06668989e+02] [ 4.94086528e-01 4.36716024e-01 7.51769658e-01 -2.19226706e+02] [-8.35784066e-01 4.22271461e-04 5.49058119e-01 -8.49646405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.67, Y:-219.21, Z:-849.67 [[ 2.42142207e-01 -8.99003430e-01 3.64910928e-01 4.06674169e+02] [ 4.92452845e-01 4.37934892e-01 7.52132452e-01 -2.19212303e+02] [-8.35976882e-01 -2.42158761e-03 5.48759318e-01 -8.49669948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.68, Y:-219.20, Z:-849.69 [[ 2.43099010e-01 -8.98889643e-01 3.64554908e-01 4.06680531e+02] [ 4.91891992e-01 4.38160479e-01 7.52368037e-01 -2.19197995e+02] [-8.36029389e-01 -3.57828475e-03 5.48672996e-01 -8.49693648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.69, Y:-219.18, Z:-849.72 [[ 2.43991293e-01 -8.98788760e-01 3.64207378e-01 4.06686815e+02] [ 4.91316785e-01 4.38356856e-01 7.52629446e-01 -2.19183855e+02] [-8.36107688e-01 -4.69383362e-03 5.48545260e-01 -8.49717035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.69, Y:-219.17, Z:-849.74 [[ 2.45061868e-01 -8.98604361e-01 3.63943516e-01 4.06692082e+02] [ 4.90332370e-01 4.38717534e-01 7.53061148e-01 -2.19169075e+02] [-8.36372434e-01 -6.09328506e-03 5.48127745e-01 -8.49740992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.70, Y:-219.16, Z:-849.76 [[ 2.45262825e-01 -8.98707750e-01 3.63552647e-01 4.06697851e+02] [ 4.90224947e-01 4.38499513e-01 7.53258043e-01 -2.19155495e+02] [-8.36376499e-01 -6.52361882e-03 5.48116588e-01 -8.49763320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:406.70, Y:-219.14, Z:-849.79 [[ 2.45555943e-01 -8.98626906e-01 3.63554622e-01 4.06703469e+02] [ 4.90556181e-01 4.38664825e-01 7.52946083e-01 -2.19141319e+02] [-8.36096234e-01 -6.54641880e-03 5.48543738e-01 -8.49787008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.71, Y:-219.13, Z:-849.81 [[ 2.44863803e-01 -8.99511776e-01 3.61829080e-01 4.06710249e+02] [ 4.90957390e-01 4.36841678e-01 7.53744114e-01 -2.19126386e+02] [-8.36063729e-01 -6.92198988e-03 5.48588668e-01 -8.49810926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.71, Y:-219.11, Z:-849.83 [[ 2.43159829e-01 -8.99590444e-01 3.62781382e-01 4.06714413e+02] [ 4.91223350e-01 4.36705305e-01 7.53649850e-01 -2.19112771e+02] [-8.36404757e-01 -5.05068290e-03 5.48089019e-01 -8.49834964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.72, Y:-219.10, Z:-849.86 [[ 2.41976184e-01 -9.00062954e-01 3.62400614e-01 4.06720848e+02] [ 4.91772061e-01 4.35739689e-01 7.53850890e-01 -2.19098746e+02] [-8.36425590e-01 -4.19546490e-03 5.48064441e-01 -8.49858465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.73, Y:-219.09, Z:-849.88 [[ 2.39414892e-01 -9.00871668e-01 3.62092181e-01 4.06727177e+02] [ 4.92704978e-01 4.34080136e-01 7.54199072e-01 -2.19085134e+02] [-8.36613599e-01 -2.16186913e-03 5.47789204e-01 -8.49881619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.73, Y:-219.07, Z:-849.90 [[ 2.38157366e-01 -9.01371358e-01 3.61677679e-01 4.06733535e+02] [ 4.93409513e-01 4.33045317e-01 7.54333352e-01 -2.19071738e+02] [-8.36557303e-01 -1.19483646e-03 5.47878135e-01 -8.49904281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.74, Y:-219.06, Z:-849.93 [[ 2.37177798e-01 -9.01749857e-01 3.61377763e-01 4.06740165e+02] [ 4.94397110e-01 4.32258204e-01 7.54138146e-01 -2.19057778e+02] [-8.36252468e-01 -2.00703004e-04 5.48344572e-01 -8.49927604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.75, Y:-219.04, Z:-849.95 [[ 2.35340502e-01 -9.02454095e-01 3.60820530e-01 4.06745367e+02] [ 4.95958287e-01 4.30783368e-01 7.53956940e-01 -2.19044784e+02] [-8.35847011e-01 1.51532698e-03 5.48960361e-01 -8.49950374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.75, Y:-219.03, Z:-849.97 [[ 2.34573775e-01 -9.02793452e-01 3.60470702e-01 4.06751192e+02] [ 4.96676108e-01 4.30068797e-01 7.53892349e-01 -2.19030806e+02] [-8.35636277e-01 2.19381078e-03 5.49278799e-01 -8.49974421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.76, Y:-219.02, Z:-850.00 [[ 2.34272989e-01 -9.03073459e-01 3.59964573e-01 4.06757386e+02] [ 4.97301990e-01 4.29479345e-01 7.53815775e-01 -2.19017127e+02] [-8.35348369e-01 2.41242423e-03 5.49715638e-01 -8.49997293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.76, Y:-219.00, Z:-850.02 [[ 2.34183167e-01 -9.03303805e-01 3.59444683e-01 4.06762953e+02] [ 4.98730747e-01 4.28991698e-01 7.53149232e-01 -2.19003284e+02] [-8.34521351e-01 2.89124294e-03 5.50968016e-01 -8.50021467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.77, Y:-218.99, Z:-850.04 [[ 2.34528620e-01 -9.03440907e-01 3.58874428e-01 4.06768997e+02] [ 4.99268158e-01 4.28704849e-01 7.52956478e-01 -2.18989980e+02] [-8.34102891e-01 2.58473092e-03 5.51602834e-01 -8.50044122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.78, Y:-218.98, Z:-850.07 [[ 2.34626068e-01 -9.03555858e-01 3.58521158e-01 4.06775240e+02] [ 4.99944874e-01 4.28462119e-01 7.52645558e-01 -2.18976145e+02] [-8.33670037e-01 2.65054692e-03 5.52256502e-01 -8.50067700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.78, Y:-218.96, Z:-850.09 [[ 2.34991389e-01 -9.03679985e-01 3.57968619e-01 4.06782152e+02] [ 5.00430166e-01 4.28202206e-01 7.52470943e-01 -2.18962346e+02] [-8.33275883e-01 2.31410336e-03 5.52852556e-01 -8.50091293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.79, Y:-218.95, Z:-850.12 [[ 2.35186286e-01 -9.03813671e-01 3.57502809e-01 4.06789015e+02] [ 5.00651776e-01 4.27921494e-01 7.52483219e-01 -2.18948125e+02] [-8.33087757e-01 2.01068244e-03 5.53137187e-01 -8.50115092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.80, Y:-218.93, Z:-850.14 [[ 2.35809213e-01 -9.03774645e-01 3.57190993e-01 4.06795733e+02] [ 5.00063522e-01 4.28007233e-01 7.52825533e-01 -2.18934623e+02] [-8.33264958e-01 1.09498908e-03 5.52872781e-01 -8.50137479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:406.80, Y:-218.92, Z:-850.16 [[ 2.36386094e-01 -9.03623351e-01 3.57192462e-01 4.06802451e+02] [ 4.99137766e-01 4.28327898e-01 7.53257395e-01 -2.18920636e+02] [-8.33656467e-01 2.28673807e-04 5.52283299e-01 -8.50161276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.81, Y:-218.91, Z:-850.18 [[ 2.38935738e-01 -9.02983445e-01 3.57114283e-01 4.06809841e+02] [ 4.96718096e-01 4.29666250e-01 7.54094190e-01 -2.18906621e+02] [-8.34374524e-01 -2.79492505e-03 5.51190840e-01 -8.50183349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.82, Y:-218.89, Z:-850.21 [[ 2.40405087e-01 -9.02630991e-01 3.57019170e-01 4.06816708e+02] [ 4.95738393e-01 4.30393221e-01 7.54324281e-01 -2.18892341e+02] [-8.34535104e-01 -4.35528477e-03 5.50937556e-01 -8.50206932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.82, Y:-218.88, Z:-850.23 [[ 2.43820449e-01 -9.01862850e-01 3.56644066e-01 4.06823396e+02] [ 4.94072748e-01 4.31952744e-01 7.54525644e-01 -2.18878189e+02] [-8.34532030e-01 -7.76066751e-03 5.50904768e-01 -8.50230653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.83, Y:-218.86, Z:-850.25 [[ 2.45354383e-01 -9.01617221e-01 3.56212877e-01 4.06830143e+02] [ 4.93530046e-01 4.32433900e-01 7.54605206e-01 -2.18864393e+02] [-8.34403572e-01 -9.34393764e-03 5.51074741e-01 -8.50253775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.84, Y:-218.85, Z:-850.28 [[ 2.46592524e-01 -9.01434382e-01 3.55820436e-01 4.06837145e+02] [ 4.92978371e-01 4.32783318e-01 7.54765477e-01 -2.18850556e+02] [-8.34364700e-01 -1.07077452e-02 5.51108784e-01 -8.50277564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.84, Y:-218.84, Z:-850.30 [[ 2.49300028e-01 -9.00916706e-01 3.55244403e-01 4.06844488e+02] [ 4.92442461e-01 4.33792210e-01 7.54536110e-01 -2.18837120e+02] [-8.33876441e-01 -1.31684457e-02 5.51794049e-01 -8.50300739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.85, Y:-218.82, Z:-850.32 [[ 2.50357488e-01 -9.00802497e-01 3.54790065e-01 4.06851332e+02] [ 4.92232207e-01 4.33994507e-01 7.54556970e-01 -2.18823486e+02] [-8.33683742e-01 -1.42698908e-02 5.52057776e-01 -8.50324157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.86, Y:-218.81, Z:-850.35 [[ 2.51296488e-01 -9.00700250e-01 3.54385575e-01 4.06857726e+02] [ 4.91884958e-01 4.34170460e-01 7.54682184e-01 -2.18810117e+02] [-8.33606180e-01 -1.53320486e-02 5.52146416e-01 -8.50347341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.86, Y:-218.80, Z:-850.37 [[ 2.52900656e-01 -9.00423006e-01 3.53948680e-01 4.06864528e+02] [ 4.92195217e-01 4.34701650e-01 7.54173948e-01 -2.18796394e+02] [-8.32937649e-01 -1.65192385e-02 5.53120230e-01 -8.50371376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.87, Y:-218.78, Z:-850.39 [[ 2.53494585e-01 -9.00452421e-01 3.53448630e-01 4.06871263e+02] [ 4.92357335e-01 4.34616618e-01 7.54117133e-01 -2.18782973e+02] [-8.32661246e-01 -1.71415841e-02 5.53517314e-01 -8.50394383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.88, Y:-218.77, Z:-850.42 [[ 2.53343908e-01 -9.00588895e-01 3.53208870e-01 4.06877948e+02] [ 4.92724143e-01 4.34339465e-01 7.54037233e-01 -2.18769346e+02] [-8.32490110e-01 -1.69962010e-02 5.53779149e-01 -8.50418035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.89, Y:-218.76, Z:-850.44 [[ 2.52100705e-01 -9.01047980e-01 3.52927432e-01 4.06885182e+02] [ 4.92927464e-01 4.33415793e-01 7.54435727e-01 -2.18756014e+02] [-8.32747110e-01 -1.62261549e-02 5.53415723e-01 -8.50441741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.89, Y:-218.74, Z:-850.46 [[ 2.50952841e-01 -9.01484139e-01 3.52631562e-01 4.06892245e+02] [ 4.93144505e-01 4.32533755e-01 7.54800006e-01 -2.18742557e+02] [-8.32965287e-01 -1.55208891e-02 5.53107524e-01 -8.50464640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:-218.73, Z:-850.49 [[ 2.49473835e-01 -9.01928912e-01 3.52543676e-01 4.06899641e+02] [ 4.93182544e-01 4.31639156e-01 7.55287109e-01 -2.18728640e+02] [-8.33386935e-01 -1.45559849e-02 5.52498271e-01 -8.50488417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4365599950002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:406.91, Y:-218.71, Z:-850.51 [[ 2.46308313e-01 -9.02818134e-01 3.52493449e-01 4.06907067e+02] [ 4.93395188e-01 4.29845700e-01 7.56170525e-01 -2.18714807e+02] [-8.34202256e-01 -1.23325151e-02 5.51320692e-01 -8.50511939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.91, Y:-218.70, Z:-850.53 [[ 2.44999527e-01 -9.03276437e-01 3.52231330e-01 4.06913860e+02] [ 4.93517363e-01 4.28903826e-01 7.56625482e-01 -2.18701643e+02] [-8.34515335e-01 -1.15406086e-02 5.50863840e-01 -8.50534596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.89, Y:-218.70, Z:-850.57 [[ 2.35044293e-01 -8.91372848e-01 3.87567577e-01 4.06885646e+02] [ 4.88961625e-01 4.53045313e-01 7.45430395e-01 -2.18700469e+02] [-8.40042088e-01 1.42965121e-02 5.42332832e-01 -8.50568879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.94, Y:-218.68, Z:-850.58 [[ 2.35773987e-01 -9.18404342e-01 3.17717000e-01 4.06940393e+02] [ 4.90150549e-01 3.94685901e-01 7.77158593e-01 -2.18679899e+02] [-8.39144247e-01 -2.75046186e-02 5.43213061e-01 -8.50577346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-218.67, Z:-850.61 [[ 2.37909178e-01 -9.10978027e-01 3.36924707e-01 4.06936635e+02] [ 4.92200073e-01 4.12121475e-01 7.66743098e-01 -2.18665085e+02] [-8.37340022e-01 -1.65808547e-02 5.46430932e-01 -8.50605318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.96, Y:-218.64, Z:-850.62 [[ 2.43576423e-01 -9.17509782e-01 3.14398356e-01 4.06963641e+02] [ 4.95886117e-01 3.96400269e-01 7.72634315e-01 -2.18641904e+02] [-8.33527135e-01 -3.22897225e-02 5.51534123e-01 -8.50621280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:-218.63, Z:-850.65 [[ 2.44284568e-01 -9.03572364e-01 3.51968795e-01 4.06945428e+02] [ 4.95624876e-01 4.28315681e-01 7.55580346e-01 -2.18630892e+02] [-8.33475274e-01 -1.01321284e-02 5.52463852e-01 -8.50653789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:-218.62, Z:-850.68 [[ 2.45251260e-01 -9.03532806e-01 3.51397620e-01 4.06950713e+02] [ 4.95879882e-01 4.28377552e-01 7.55377929e-01 -2.18617195e+02] [-8.33039592e-01 -1.10063786e-02 5.53103876e-01 -8.50676438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:-218.60, Z:-850.70 [[ 2.47676290e-01 -9.03118731e-01 3.50760621e-01 4.06954546e+02] [ 4.96581702e-01 4.29203729e-01 7.54447329e-01 -2.18603291e+02] [-8.31903281e-01 -1.26774086e-02 5.54775824e-01 -8.50700372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.96, Y:-218.59, Z:-850.72 [[ 2.49031393e-01 -9.02990450e-01 3.50130851e-01 4.06960223e+02] [ 4.97009232e-01 4.29440256e-01 7.54031094e-01 -2.18589647e+02] [-8.31243159e-01 -1.37591489e-02 5.55738695e-01 -8.50723113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.736559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:406.94, Y:-218.58, Z:-850.76 [[ 2.44070836e-01 -8.94228870e-01 3.75212147e-01 4.06942299e+02] [ 4.93057635e-01 4.47600499e-01 7.46021422e-01 -2.18584316e+02] [-8.35059037e-01 2.91914187e-03 5.50152600e-01 -8.50755210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:-218.56, Z:-850.77 [[ 2.46612620e-01 -9.11313934e-01 3.29680345e-01 4.06980933e+02] [ 4.94391302e-01 4.10895959e-01 7.65990700e-01 -2.18564426e+02] [-8.33522319e-01 -2.59118781e-02 5.51877811e-01 -8.50769490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.00, Y:-218.54, Z:-850.79 [[ 2.49766549e-01 -9.12478085e-01 3.24037677e-01 4.06995825e+02] [ 4.96964552e-01 4.08005470e-01 7.65870597e-01 -2.18543528e+02] [-8.31049280e-01 -3.02536174e-02 5.55375381e-01 -8.50788700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.99, Y:-218.53, Z:-850.82 [[ 2.49609589e-01 -9.03067408e-01 3.49520115e-01 4.06986112e+02] [ 4.96579857e-01 4.29245598e-01 7.54424722e-01 -2.18531239e+02] [-8.31326349e-01 -1.47469965e-02 5.55588902e-01 -8.50818227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.99, Y:-218.52, Z:-850.84 [[ 2.47637662e-01 -9.03605831e-01 3.49531244e-01 4.06993047e+02] [ 4.96023846e-01 4.28145998e-01 7.55414687e-01 -2.18516808e+02] [-8.32247519e-01 -1.36932953e-02 5.54235113e-01 -8.50840362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.99, Y:-218.51, Z:-850.87 [[ 2.45544626e-01 -9.00976853e-01 3.57698962e-01 4.06993752e+02] [ 4.94780093e-01 4.33794980e-01 7.53003702e-01 -2.18505572e+02] [-8.33606919e-01 -7.91368633e-03 5.52301437e-01 -8.50867925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:-218.49, Z:-850.89 [[ 2.45326571e-01 -9.06330039e-01 3.44065016e-01 4.07009867e+02] [ 4.96337485e-01 4.22293209e-01 7.58496899e-01 -2.18488765e+02] [-8.32744844e-01 -1.53070787e-02 5.53445317e-01 -8.50885523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:-218.48, Z:-850.91 [[ 2.43359549e-01 -9.02487037e-01 3.55377655e-01 4.07009714e+02] [ 4.95352817e-01 4.30650654e-01 7.54430647e-01 -2.18477765e+02] [-8.33907499e-01 -7.56057960e-03 5.51852445e-01 -8.50913402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:-218.46, Z:-850.93 [[ 2.44849906e-01 -9.06696616e-01 3.43438160e-01 4.07026591e+02] [ 4.96905008e-01 4.21513859e-01 7.58558818e-01 -2.18461157e+02] [-8.32546657e-01 -1.50769136e-02 5.53749718e-01 -8.50931395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:-218.45, Z:-850.96 [[ 2.45137565e-01 -9.04663949e-01 3.48555180e-01 4.07030173e+02] [ 4.96628442e-01 4.25948606e-01 7.56259199e-01 -2.18447615e+02] [-8.32627026e-01 -1.22851219e-02 5.53697852e-01 -8.50956100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.04, Y:-218.43, Z:-850.98 [[ 2.45861166e-01 -9.04629138e-01 3.48135621e-01 4.07037011e+02] [ 4.96408504e-01 4.25996835e-01 7.56376423e-01 -2.18433801e+02] [-8.32544824e-01 -1.31461060e-02 5.53801676e-01 -8.50979257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.04, Y:-218.42, Z:-851.00 [[ 2.46661701e-01 -9.04580591e-01 3.47695210e-01 4.07043268e+02] [ 4.96237623e-01 4.26071163e-01 7.56446684e-01 -2.18419820e+02] [-8.32409891e-01 -1.40469813e-02 5.53982360e-01 -8.51002087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.05, Y:-218.41, Z:-851.03 [[ 2.48704577e-01 -9.04127097e-01 3.47419380e-01 4.07048440e+02] [ 4.95708915e-01 4.26968656e-01 7.56287272e-01 -2.18405256e+02] [-8.32117002e-01 -1.58732220e-02 5.54372922e-01 -8.51025620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.06, Y:-218.39, Z:-851.05 [[ 2.51157161e-01 -9.07202263e-01 3.37496866e-01 4.07062661e+02] [ 4.97223570e-01 4.20073489e-01 7.59148856e-01 -2.18387617e+02] [-8.30475046e-01 -2.28542749e-02 5.56586812e-01 -8.51048346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.156559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.05, Y:-218.38, Z:-851.08 [[ 2.50457683e-01 -8.97094453e-01 3.63995180e-01 4.07049500e+02] [ 4.95063512e-01 4.41780453e-01 7.48159175e-01 -2.18377141e+02] [-8.31975401e-01 -7.18148155e-03 5.54766039e-01 -8.51079494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.07, Y:-218.36, Z:-851.10 [[ 2.51506287e-01 -9.03814343e-01 3.46214127e-01 4.07067343e+02] [ 4.96285927e-01 4.27537006e-01 7.55587445e-01 -2.18359754e+02] [-8.30930121e-01 -1.82137941e-02 5.56078584e-01 -8.51099164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.06, Y:-218.35, Z:-851.12 [[ 2.50839383e-01 -8.99942672e-01 3.56626963e-01 4.07064081e+02] [ 4.95346682e-01 4.35847510e-01 7.51444351e-01 -2.18346782e+02] [-8.31691811e-01 -1.18378543e-02 5.55111337e-01 -8.51122984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.08, Y:-218.33, Z:-851.14 [[ 2.50599426e-01 -9.04186553e-01 3.45899704e-01 4.07076817e+02] [ 4.95753646e-01 4.26755508e-01 7.56378251e-01 -2.18331765e+02] [-8.31521648e-01 -1.80669162e-02 5.55198466e-01 -8.51143760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.276559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:407.08, Y:-218.32, Z:-851.17 [[ 2.49910885e-01 -9.04490498e-01 3.45603081e-01 4.07083207e+02] [ 4.95739803e-01 4.26122609e-01 7.56744059e-01 -2.18317599e+02] [-8.31737097e-01 -1.77893745e-02 5.54884619e-01 -8.51167333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:407.09, Y:-218.30, Z:-851.19 [[ 2.48313103e-01 -9.05007211e-01 3.45402014e-01 4.07089961e+02] [ 4.95779078e-01 4.25064051e-01 7.57313448e-01 -2.18303472e+02] [-8.32192111e-01 -1.68077602e-02 5.54232614e-01 -8.51191136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.10, Y:-218.29, Z:-851.21 [[ 2.47891796e-01 -9.05235345e-01 3.45106690e-01 4.07096632e+02] [ 4.95569822e-01 4.24577947e-01 7.57722983e-01 -2.18289780e+02] [-8.32442316e-01 -1.68088498e-02 5.53856709e-01 -8.51213570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.10, Y:-218.28, Z:-851.24 [[ 2.46218205e-01 -9.05663290e-01 3.45181981e-01 4.07103073e+02] [ 4.95366793e-01 4.23705898e-01 7.58343624e-01 -2.18275902e+02] [-8.33059623e-01 -1.57263146e-02 5.52959625e-01 -8.51237189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.11, Y:-218.26, Z:-851.26 [[ 2.45390744e-01 -9.06067093e-01 3.44711193e-01 4.07109793e+02] [ 4.96106591e-01 4.22865481e-01 7.58329108e-01 -2.18261808e+02] [-8.32863515e-01 -1.50734494e-02 5.53273131e-01 -8.51260716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.12, Y:-218.25, Z:-851.28 [[ 2.44540256e-01 -9.06460299e-01 3.44281556e-01 4.07116177e+02] [ 4.96653263e-01 4.22042787e-01 7.58429577e-01 -2.18248256e+02] [-8.32787848e-01 -1.44780044e-02 5.53402916e-01 -8.51283248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.12, Y:-218.23, Z:-851.31 [[ 2.43093282e-01 -9.07031886e-01 3.43800546e-01 4.07122520e+02] [ 4.98580279e-01 4.20867086e-01 7.57818317e-01 -2.18234394e+02] [-8.32059710e-01 -1.28083695e-02 5.54538172e-01 -8.51307198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.13, Y:-218.22, Z:-851.33 [[ 2.42401990e-01 -9.07419489e-01 3.43265416e-01 4.07129098e+02] [ 4.99504896e-01 4.20048949e-01 7.57663342e-01 -2.18220594e+02] [-8.31706760e-01 -1.21963454e-02 5.55081178e-01 -8.51330759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:-218.21, Z:-851.35 [[ 2.41232661e-01 -9.07994158e-01 3.42568844e-01 4.07135160e+02] [ 5.01289662e-01 4.18840396e-01 7.57153483e-01 -2.18207014e+02] [-8.30972610e-01 -1.09239299e-02 5.56206068e-01 -8.51354606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:-218.19, Z:-851.38 [[ 2.39746025e-01 -9.08613226e-01 3.41970539e-01 4.07140863e+02] [ 5.02835459e-01 4.17530606e-01 7.56851831e-01 -2.18193464e+02] [-8.30468750e-01 -9.49730503e-03 5.56984252e-01 -8.51378039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.15, Y:-218.18, Z:-851.40 [[ 2.38970442e-01 -9.09019505e-01 3.41433255e-01 4.07147198e+02] [ 5.03786410e-01 4.16660246e-01 7.56699077e-01 -2.18179952e+02] [-8.30115884e-01 -8.81927877e-03 5.57521156e-01 -8.51400114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.15, Y:-218.17, Z:-851.42 [[ 2.37716541e-01 -9.09406847e-01 3.41277061e-01 4.07153212e+02] [ 5.04316290e-01 4.15834661e-01 7.56800248e-01 -2.18166857e+02] [-8.30154158e-01 -7.79235630e-03 5.57479464e-01 -8.51422469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.636559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.16, Y:-218.15, Z:-851.45 [[ 2.36357617e-01 -9.09868915e-01 3.40989200e-01 4.07159664e+02] [ 5.05432366e-01 4.14845219e-01 7.56598683e-01 -2.18152558e+02] [-8.29863362e-01 -6.48088353e-03 5.57929026e-01 -8.51445714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.17, Y:-218.14, Z:-851.47 [[ 2.34940986e-01 -9.10403207e-01 3.40541825e-01 4.07166097e+02] [ 5.06325438e-01 4.13687671e-01 7.56635356e-01 -2.18138974e+02] [-8.29721209e-01 -5.33966809e-03 5.58152491e-01 -8.51468136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.17, Y:-218.12, Z:-851.49 [[ 2.33291961e-01 -9.10971204e-01 3.40156327e-01 4.07173045e+02] [ 5.07575750e-01 4.12452233e-01 7.56472084e-01 -2.18124644e+02] [-8.29422522e-01 -3.82375321e-03 5.58608682e-01 -8.51491229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.18, Y:-218.11, Z:-851.51 [[ 2.29981149e-01 -9.12012124e-01 3.39621196e-01 4.07179488e+02] [ 5.09645365e-01 4.10162354e-01 7.56325621e-01 -2.18110667e+02] [-8.29077966e-01 -8.54266835e-04 5.59132361e-01 -8.51513489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.19, Y:-218.10, Z:-851.54 [[ 2.28338119e-01 -9.12470061e-01 3.39499766e-01 4.07185530e+02] [ 5.10204651e-01 4.09143203e-01 7.56500532e-01 -2.18096822e+02] [-8.29188108e-01 4.76451310e-04 5.58969458e-01 -8.51536860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.23, Y:-218.07, Z:-851.55 [[ 2.33756588e-01 -9.26241344e-01 2.95693812e-01 4.07229524e+02] [ 5.16685484e-01 3.75960712e-01 7.69213660e-01 -2.18066700e+02] [-8.23646750e-01 -2.70280601e-02 5.66458750e-01 -8.51548457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.20, Y:-218.06, Z:-851.59 [[ 2.31811610e-01 -9.04947011e-01 3.56839299e-01 4.07198069e+02] [ 5.15756365e-01 4.25364810e-01 7.43680140e-01 -2.18057694e+02] [-8.24778000e-01 1.16484492e-02 5.65336683e-01 -8.51586210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.16, Y:-218.06, Z:-851.62 [[ 2.22197735e-01 -8.84680698e-01 4.09839272e-01 4.07157855e+02] [ 5.10539230e-01 4.63684314e-01 7.24117775e-01 -2.18056850e+02] [-8.30649060e-01 4.83416969e-02 5.54693807e-01 -8.51622615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.21, Y:-218.04, Z:-851.63 [[ 2.19666849e-01 -9.15011762e-01 3.38378413e-01 4.07209759e+02] [ 5.10473732e-01 4.03383770e-01 7.59406415e-01 -2.18039935e+02] [-8.31362162e-01 5.91687719e-03 5.55699511e-01 -8.51630575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.24, Y:-218.01, Z:-851.65 [[ 2.23623829e-01 -9.23965376e-01 3.10290779e-01 4.07242015e+02] [ 5.15378204e-01 3.82300357e-01 7.66962675e-01 -2.18014669e+02] [-8.27271231e-01 -1.15940259e-02 5.61683085e-01 -8.51646787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.23, Y:-218.00, Z:-851.68 [[ 2.26748242e-01 -9.09951108e-01 3.47237982e-01 4.07229163e+02] [ 5.17018907e-01 4.14601501e-01 7.48863836e-01 -2.17999787e+02] [-8.25394866e-01 9.72504396e-03 5.64472088e-01 -8.51678043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.19, Y:-218.00, Z:-851.71 [[ 2.17895335e-01 -8.89224174e-01 4.02246183e-01 4.07186244e+02] [ 5.10728117e-01 4.55101970e-01 7.29410027e-01 -2.18001151e+02] [-8.31672059e-01 4.65033935e-02 5.53316384e-01 -8.51714301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:-217.97, Z:-851.72 [[ 2.25152982e-01 -9.24388789e-01 3.07914764e-01 4.07264187e+02] [ 5.15127027e-01 3.81186085e-01 7.67685688e-01 -2.17969425e+02] [-8.27012866e-01 -1.42315054e-02 5.62002832e-01 -8.51717923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.20, Y:-217.97, Z:-851.76 [[ 2.20561276e-01 -8.92092347e-01 3.94365273e-01 4.07201698e+02] [ 5.08818115e-01 4.50182830e-01 7.33784399e-01 -2.17970978e+02] [-8.32139922e-01 3.88157718e-02 5.53205646e-01 -8.51760451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.056559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.24, Y:-217.95, Z:-851.77 [[ 2.21288665e-01 -9.14765608e-01 3.37986995e-01 4.07242742e+02] [ 5.08504747e-01 4.03968992e-01 7.60415660e-01 -2.17953557e+02] [-8.32138359e-01 3.59662578e-03 5.54556413e-01 -8.51772642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.25, Y:-217.94, Z:-851.80 [[ 2.22982830e-01 -9.14498140e-01 3.37597111e-01 4.07247533e+02] [ 5.07781245e-01 4.04585960e-01 7.60571107e-01 -2.17939748e+02] [-8.32127914e-01 1.83118390e-03 5.54580726e-01 -8.51795003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.25, Y:-217.93, Z:-851.82 [[ 2.25948577e-01 -9.13767533e-01 3.37603519e-01 4.07251339e+02] [ 5.05771067e-01 4.06235703e-01 7.61030999e-01 -2.17926024e+02] [-8.32552022e-01 -1.20377910e-03 5.53945559e-01 -8.51818686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:-217.91, Z:-851.84 [[ 2.27190488e-01 -9.13508042e-01 3.37472279e-01 4.07256694e+02] [ 5.05093438e-01 4.06813134e-01 7.61172578e-01 -2.17912025e+02] [-8.32625427e-01 -2.47613554e-03 5.53830992e-01 -8.51841947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:-217.90, Z:-851.87 [[ 2.28345425e-01 -9.13354968e-01 3.37106912e-01 4.07262422e+02] [ 5.04560742e-01 4.07146866e-01 7.61347415e-01 -2.17897831e+02] [-8.32632467e-01 -3.75928535e-03 5.53813184e-01 -8.51865238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.27, Y:-217.88, Z:-851.89 [[ 2.29185654e-01 -9.13251640e-01 3.36816537e-01 4.07268376e+02] [ 5.03784131e-01 4.07366485e-01 7.61744115e-01 -2.17883456e+02] [-8.32871830e-01 -4.89799650e-03 5.53444238e-01 -8.51888990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.236559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.27, Y:-217.87, Z:-851.91 [[ 2.31359237e-01 -9.12807222e-01 3.36535109e-01 4.07273343e+02] [ 5.02365162e-01 4.08325985e-01 7.62167393e-01 -2.17869118e+02] [-8.33127930e-01 -7.27095208e-03 5.53032536e-01 -8.51912462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.28, Y:-217.85, Z:-851.94 [[ 2.32332334e-01 -9.12707620e-01 3.36134627e-01 4.07279278e+02] [ 5.01954829e-01 4.08527131e-01 7.62329937e-01 -2.17854564e+02] [-8.33104457e-01 -8.38949414e-03 5.53052059e-01 -8.51936179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.296559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.28, Y:-217.84, Z:-851.96 [[ 2.33272851e-01 -9.12518877e-01 3.35995649e-01 4.07284069e+02] [ 5.00482117e-01 4.08916020e-01 7.63089339e-01 -2.17841173e+02] [-8.33727430e-01 -9.84821166e-03 5.52088385e-01 -8.51958825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.29, Y:-217.83, Z:-851.98 [[ 2.33531452e-01 -9.12512374e-01 3.35833633e-01 4.07289758e+02] [ 5.00330272e-01 4.08921906e-01 7.63185754e-01 -2.17827701e+02] [-8.33746173e-01 -1.02001441e-02 5.52053690e-01 -8.51981112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:-217.81, Z:-852.00 [[ 2.33517235e-01 -9.12573117e-01 3.35678427e-01 4.07295729e+02] [ 5.00282765e-01 4.08783637e-01 7.63290962e-01 -2.17814133e+02] [-8.33778661e-01 -1.03074634e-02 5.52002627e-01 -8.52004394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:407.31, Y:-217.80, Z:-852.03 [[ 2.34434941e-01 -9.15354005e-01 3.27364177e-01 4.07310610e+02] [ 5.02338454e-01 4.02371425e-01 7.65345225e-01 -2.17797540e+02] [-8.32283808e-01 -1.49760483e-02 5.54147437e-01 -8.52028744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:-217.78, Z:-852.06 [[ 2.33357739e-01 -9.07999868e-01 3.47966097e-01 4.07303296e+02] [ 5.03106697e-01 4.18968355e-01 7.55876425e-01 -2.17784773e+02] [-8.32122477e-01 -1.32553936e-03 5.54590323e-01 -8.52055677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:-217.77, Z:-852.08 [[ 2.30205850e-01 -9.05618270e-01 3.56175261e-01 4.07302237e+02] [ 5.02187232e-01 4.24059759e-01 7.53645344e-01 -2.17773777e+02] [-8.33554588e-01 5.37310115e-03 5.52410969e-01 -8.52082265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.32, Y:-217.76, Z:-852.10 [[ 2.27179543e-01 -9.11074535e-01 3.43995128e-01 4.07315018e+02] [ 5.02200495e-01 4.12241663e-01 7.60165425e-01 -2.17762292e+02] [-8.34376485e-01 6.04897056e-05 5.51194955e-01 -8.52101709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:-217.75, Z:-852.12 [[ 2.26068070e-01 -9.17282294e-01 3.27851218e-01 4.07333851e+02] [ 5.04723691e-01 3.98163383e-01 7.65976447e-01 -2.17745122e+02] [-8.33154982e-01 -7.68854005e-03 5.52986132e-01 -8.52122250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:-217.74, Z:-852.15 [[ 2.23257983e-01 -9.13369787e-01 3.40457789e-01 4.07331411e+02] [ 5.04203411e-01 4.07127723e-01 7.61594339e-01 -2.17735566e+02] [-8.34227063e-01 1.62796306e-03 5.51418676e-01 -8.52148328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.34, Y:-217.72, Z:-852.17 [[ 2.22029859e-01 -9.16948944e-01 3.31522813e-01 4.07344161e+02] [ 5.05104775e-01 3.98996947e-01 7.65291188e-01 -2.17721247e+02] [-8.34009537e-01 -2.46373904e-03 5.51744526e-01 -8.52170528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.35, Y:-217.71, Z:-852.19 [[ 2.21075129e-01 -9.17380193e-01 3.30967323e-01 4.07351533e+02] [ 5.06224156e-01 3.98008847e-01 7.65066050e-01 -2.17707455e+02] [-8.33584364e-01 -1.59342165e-03 5.52389871e-01 -8.52193332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.38, Y:-217.69, Z:-852.21 [[ 2.21931549e-01 -9.24209610e-01 3.10778030e-01 4.07376901e+02] [ 5.10197752e-01 3.81681274e-01 7.70725411e-01 -2.17686481e+02] [-8.30929986e-01 -1.24900317e-02 5.56236782e-01 -8.52211206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.656559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.36, Y:-217.68, Z:-852.25 [[ 2.20227283e-01 -9.10730984e-01 3.49383771e-01 4.07358078e+02] [ 5.08321538e-01 4.12849240e-01 7.55754404e-01 -2.17678365e+02] [-8.32531776e-01 1.11615562e-02 5.53864841e-01 -8.52245149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:407.35, Y:-217.67, Z:-852.27 [[ 2.15522246e-01 -9.07647575e-01 3.60175014e-01 4.07352990e+02] [ 5.05478789e-01 4.19278440e-01 7.54119873e-01 -2.17672015e+02] [-8.35488692e-01 1.95312206e-02 5.49160429e-01 -8.52272592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7165599950001 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:407.36, Y:-217.66, Z:-852.29 [[ 2.11162185e-01 -9.14394843e-01 3.45387613e-01 4.07363830e+02] [ 5.02908708e-01 4.04633011e-01 7.63776772e-01 -2.17662444e+02] [-8.38148771e-01 1.24176658e-02 5.45300320e-01 -8.52294855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:407.40, Y:-217.64, Z:-852.31 [[ 2.13044704e-01 -9.30545076e-01 2.97821785e-01 4.07403208e+02] [ 5.03437120e-01 3.65790250e-01 7.82782575e-01 -2.17642276e+02] [-8.37354776e-01 -1.68331403e-02 5.46400608e-01 -8.52309144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.776559995 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:407.40, Y:-217.63, Z:-852.34 [[ 2.13168244e-01 -9.24603208e-01 3.15702720e-01 4.07398124e+02] [ 5.03877349e-01 3.80881390e-01 7.75265750e-01 -2.17629184e+02] [-8.37058491e-01 -6.18658902e-03 5.47078430e-01 -8.52336912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:407.38, Y:-217.62, Z:-852.37 [[ 2.10088649e-01 -9.15520194e-01 3.43053254e-01 4.07382908e+02] [ 5.00009426e-01 4.02137721e-01 7.66991413e-01 -2.17623564e+02] [-8.40150780e-01 1.03936712e-02 5.42253297e-01 -8.52368381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.836559995 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:407.42, Y:-217.60, Z:-852.38 [[ 2.10910225e-01 -9.31288714e-01 2.97015501e-01 4.07419358e+02] [ 5.00433807e-01 3.63882578e-01 7.85592435e-01 -2.17604434e+02] [-8.39692135e-01 -1.70528789e-02 5.42794913e-01 -8.52383206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:407.47, Y:-217.57, Z:-852.39 [[ 2.19500866e-01 -9.45316299e-01 2.41239433e-01 4.07469475e+02] [ 5.07579483e-01 3.21822125e-01 7.99245637e-01 -2.17571102e+02] [-8.33176115e-01 -5.29869226e-02 5.50463394e-01 -8.52390714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.896559995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:407.42, Y:-217.57, Z:-852.43 [[ 2.21409867e-01 -9.18103433e-01 3.28730524e-01 4.07422064e+02] [ 5.06051579e-01 3.96327489e-01 7.66052427e-01 -2.17567179e+02] [-8.33600306e-01 -3.25696452e-03 5.52358509e-01 -8.52432655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:407.43, Y:-217.55, Z:-852.46 [[ 2.23300730e-01 -9.17719041e-01 3.28524802e-01 4.07428311e+02] [ 5.05387584e-01 3.97198328e-01 7.66039737e-01 -2.17552958e+02] [-8.33498755e-01 -5.02487674e-03 5.52498485e-01 -8.52455098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9565599950001 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:407.43, Y:-217.54, Z:-852.48 [[ 2.24402294e-01 -9.17567812e-01 3.28196467e-01 4.07434390e+02] [ 5.05224476e-01 3.97532922e-01 7.65973763e-01 -2.17538368e+02] [-8.33301770e-01 -6.07338176e-03 5.52785016e-01 -8.52478660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:407.44, Y:-217.52, Z:-852.50 [[ 2.25896909e-01 -9.17355706e-01 3.27763778e-01 4.07440516e+02] [ 5.04778417e-01 3.97996007e-01 7.66027367e-01 -2.17524220e+02] [-8.33168252e-01 -7.59513349e-03 5.52967430e-01 -8.52501479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.016559995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:407.45, Y:-217.51, Z:-852.52 [[ 2.28359206e-01 -9.16812580e-01 3.27577115e-01 4.07445293e+02] [ 5.03395719e-01 3.99190177e-01 7.66315831e-01 -2.17510249e+02] [-8.33333561e-01 -1.00943573e-02 5.52678280e-01 -8.52523595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:407.45, Y:-217.50, Z:-852.55 [[ 2.29030902e-01 -9.16724119e-01 3.27355673e-01 4.07450789e+02] [ 5.03347370e-01 3.99376943e-01 7.66250274e-01 -2.17495593e+02] [-8.33178415e-01 -1.07213750e-02 5.52900335e-01 -8.52546718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.076559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:407.46, Y:-217.48, Z:-852.57 [[ 2.29530981e-01 -9.16723120e-01 3.27008027e-01 4.07456573e+02] [ 5.02953651e-01 3.99358440e-01 7.66518402e-01 -2.17481367e+02] [-8.33278557e-01 -1.14698394e-02 5.52734375e-01 -8.52569266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:407.46, Y:-217.47, Z:-852.59 [[ 2.29797552e-01 -9.16740079e-01 3.26773183e-01 4.07461691e+02] [ 5.02710710e-01 3.99306489e-01 7.66704813e-01 -2.17467128e+02] [-8.33351683e-01 -1.19145101e-02 5.52614710e-01 -8.52591538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.136559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:407.47, Y:-217.45, Z:-852.61 [[ 2.29302800e-01 -9.16927489e-01 3.26594865e-01 4.07467276e+02] [ 5.02979852e-01 3.98886772e-01 7.66746771e-01 -2.17452857e+02] [-8.33325563e-01 -1.15465444e-02 5.52661906e-01 -8.52614766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:407.47, Y:-217.44, Z:-852.64 [[ 2.28712110e-01 -9.17216617e-01 3.26196947e-01 4.07473516e+02] [ 5.03307067e-01 3.98230939e-01 7.66872946e-01 -2.17438281e+02] [-8.33290326e-01 -1.12159011e-02 5.52721843e-01 -8.52638433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1965599950001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:407.48, Y:-217.42, Z:-852.66 [[ 2.27161844e-01 -9.17745870e-01 3.25791367e-01 4.07480267e+02] [ 5.04072107e-01 3.97042015e-01 7.66986929e-01 -2.17423884e+02] [-8.33251947e-01 -1.00078244e-02 5.52802890e-01 -8.52662189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:407.48, Y:-217.41, Z:-852.69 [[ 2.23601354e-01 -9.15071469e-01 3.35628725e-01 4.07477294e+02] [ 5.04074350e-01 4.03288592e-01 7.63719426e-01 -2.17412285e+02] [-8.34213093e-01 -1.58686669e-03 5.51439931e-01 -8.52687782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.256559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:407.51, Y:-217.39, Z:-852.70 [[ 2.25503605e-01 -9.25189384e-01 3.05242081e-01 4.07505615e+02] [ 5.05593963e-01 3.78953940e-01 7.75092676e-01 -2.17393659e+02] [-8.32780204e-01 -2.04576389e-02 5.53225647e-01 -8.52704510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:407.47, Y:-217.39, Z:-852.74 [[ 2.17554053e-01 -9.10254206e-01 3.52288964e-01 4.07473801e+02] [ 5.02992604e-01 4.13872173e-01 7.58754416e-01 -2.17389920e+02] [-8.36461998e-01 1.21286445e-02 5.47890703e-01 -8.52739038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.316559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:407.50, Y:-217.38, Z:-852.76 [[ 2.14178605e-01 -9.24274915e-01 3.15980073e-01 4.07499574e+02] [ 5.01444167e-01 3.81646648e-01 7.76466086e-01 -2.17376745e+02] [-8.38260862e-01 -7.85605899e-03 5.45212812e-01 -8.52756424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:407.53, Y:-217.35, Z:-852.77 [[ 2.17196641e-01 -9.34889024e-01 2.80727863e-01 4.07531721e+02] [ 5.04873837e-01 3.53729939e-01 7.87386525e-01 -2.17354012e+02] [-8.35420869e-01 -2.92855548e-02 5.48829963e-01 -8.52771929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.376559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:407.52, Y:-217.34, Z:-852.80 [[ 2.16472138e-01 -9.25329469e-01 3.11295981e-01 4.07517398e+02] [ 5.05156739e-01 3.79016190e-01 7.75347275e-01 -2.17343261e+02] [-8.35437899e-01 -1.05878202e-02 5.49482862e-01 -8.52802727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:407.53, Y:-217.33, Z:-852.82 [[ 2.17265160e-01 -9.27885387e-01 3.03025673e-01 4.07528947e+02] [ 5.07042968e-01 3.72554720e-01 7.77245398e-01 -2.17327451e+02] [-8.34088292e-01 -1.52213092e-02 5.51420922e-01 -8.52824495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4365599950002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:407.53, Y:-217.31, Z:-852.85 [[ 2.17238020e-01 -9.24998879e-01 3.11744635e-01 4.07528690e+02] [ 5.06977874e-01 3.79837129e-01 7.73755253e-01 -2.17314717e+02] [-8.34134928e-01 -1.00414273e-02 5.51469031e-01 -8.52850241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:407.54, Y:-217.30, Z:-852.87 [[ 2.17840427e-01 -9.27504950e-01 3.03776426e-01 4.07539768e+02] [ 5.07135140e-01 3.73503848e-01 7.76729570e-01 -2.17299322e+02] [-8.33882185e-01 -1.51474009e-02 5.51734590e-01 -8.52871472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.496559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.55, Y:-217.28, Z:-852.90 [[ 2.19900959e-01 -9.26633649e-01 3.04948599e-01 4.07546547e+02] [ 5.07521990e-01 3.75635333e-01 7.75447952e-01 -2.17283827e+02] [-8.33105634e-01 -1.57536287e-02 5.52889524e-01 -8.52895587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:407.55, Y:-217.27, Z:-852.92 [[ 2.21738186e-01 -9.25892765e-01 3.05867233e-01 4.07553041e+02] [ 5.08129618e-01 3.77437051e-01 7.74174118e-01 -2.17268232e+02] [-8.32247841e-01 -1.62437648e-02 5.54165744e-01 -8.52918884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.556559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:407.55, Y:-217.26, Z:-852.94 [[ 2.21346756e-01 -9.21992499e-01 3.17703391e-01 4.07549233e+02] [ 5.06603208e-01 3.87089311e-01 7.70399283e-01 -2.17256776e+02] [-8.33281947e-01 -9.57582531e-03 5.52765321e-01 -8.52944903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.57, Y:-217.24, Z:-852.96 [[ 2.26908546e-01 -9.28650824e-01 2.93462365e-01 4.07572891e+02] [ 5.07925549e-01 3.69937328e-01 7.77919026e-01 -2.17235912e+02] [-8.30977827e-01 -2.74594422e-02 5.55627420e-01 -8.52963438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.616559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:407.58, Y:-217.22, Z:-852.99 [[ 2.30762253e-01 -9.25529586e-01 3.00239516e-01 4.07577475e+02] [ 5.09705625e-01 3.77826962e-01 7.72946934e-01 -2.17218034e+02] [-8.28823841e-01 -2.53332061e-02 5.58935837e-01 -8.52987057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.57, Y:-217.20, Z:-853.01 [[ 2.32131460e-01 -9.19491393e-01 3.17254729e-01 4.07572931e+02] [ 5.08967539e-01 3.92770839e-01 7.65952422e-01 -2.17204955e+02] [-8.28895066e-01 -1.63292950e-02 5.59165740e-01 -8.53014335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6765599950002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.58, Y:-217.19, Z:-853.04 [[ 2.33191937e-01 -9.18829150e-01 3.18393645e-01 4.07577842e+02] [ 5.08400964e-01 3.94304317e-01 7.65540702e-01 -2.17190563e+02] [-8.28945101e-01 -1.66462830e-02 5.59082213e-01 -8.53038047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:407.59, Y:-217.17, Z:-853.06 [[ 2.37082500e-01 -9.21320748e-01 3.08155752e-01 4.07592388e+02] [ 5.09002004e-01 3.87978404e-01 7.68368218e-01 -2.17172078e+02] [-8.27471358e-01 -2.53147623e-02 5.60936997e-01 -8.53058209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.736559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.58, Y:-217.16, Z:-853.09 [[ 2.36650631e-01 -9.12622506e-01 3.33341628e-01 4.07580420e+02] [ 5.06273545e-01 4.08656647e-01 7.59399001e-01 -2.17163034e+02] [-8.29266891e-01 -1.09502052e-02 5.58745484e-01 -8.53088963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:407.59, Y:-217.15, Z:-853.11 [[ 2.37077118e-01 -9.16614791e-01 3.21887816e-01 4.07593175e+02] [ 5.06488487e-01 3.99359880e-01 7.64186560e-01 -2.17147737e+02] [-8.29013783e-01 -1.81386741e-02 5.58933928e-01 -8.53109764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.796559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.60, Y:-217.13, Z:-853.13 [[ 2.37379072e-01 -9.16761830e-01 3.21245893e-01 4.07598220e+02] [ 5.07432599e-01 3.99015535e-01 7.63739982e-01 -2.17133586e+02] [-8.28349765e-01 -1.82852495e-02 5.59912775e-01 -8.53133112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.60, Y:-217.12, Z:-853.16 [[ 2.37092747e-01 -9.17020186e-01 3.20719517e-01 4.07604450e+02] [ 5.08156251e-01 3.98431706e-01 7.63563619e-01 -2.17119382e+02] [-8.27988076e-01 -1.80597689e-02 5.60454807e-01 -8.53156040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.856559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:407.61, Y:-217.11, Z:-853.18 [[ 2.34936421e-01 -9.17728864e-01 3.20278959e-01 4.07611699e+02] [ 5.09330278e-01 3.96874146e-01 7.63592548e-01 -2.17105048e+02] [-8.27881360e-01 -1.62679290e-02 5.60667289e-01 -8.53179299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.63, Y:-217.09, Z:-853.20 [[ 2.35037132e-01 -9.22648505e-01 3.05740550e-01 4.07630019e+02] [ 5.12591641e-01 3.84914502e-01 7.67522401e-01 -2.17085376e+02] [-8.25837367e-01 -2.36762135e-02 5.63411112e-01 -8.53196460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.916559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.62, Y:-217.08, Z:-853.23 [[ 2.31380713e-01 -9.13321566e-01 3.35121893e-01 4.07615481e+02] [ 5.09939547e-01 4.07215049e-01 7.57718657e-01 -2.17078396e+02] [-8.28507468e-01 -4.42957697e-03 5.59960494e-01 -8.53228467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.63, Y:-217.06, Z:-853.25 [[ 2.27151955e-01 -9.19904562e-01 3.19652290e-01 4.07632426e+02] [ 5.11312869e-01 3.92007574e-01 7.64780499e-01 -2.17063037e+02] [-8.28831189e-01 -1.02790558e-02 5.59404328e-01 -8.53248343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9765599950001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:407.64, Y:-217.05, Z:-853.27 [[ 2.24819051e-01 -9.20634991e-01 3.19198383e-01 4.07638793e+02] [ 5.12565344e-01 3.90335507e-01 7.64797333e-01 -2.17048629e+02] [-8.28693648e-01 -8.33098105e-03 5.59640449e-01 -8.53271736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.66, Y:-217.03, Z:-853.29 [[ 2.24576571e-01 -9.24874017e-01 3.06876876e-01 4.07655808e+02] [ 5.15732769e-01 3.80009281e-01 7.67862395e-01 -2.17029029e+02] [-8.26792039e-01 -1.41774428e-02 5.62329019e-01 -8.53290724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.036559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:407.64, Y:-217.02, Z:-853.32 [[ 2.20431654e-01 -9.16344775e-01 3.34248618e-01 4.07641541e+02] [ 5.14010578e-01 4.00363887e-01 7.58618405e-01 -2.17022273e+02] [-8.28977088e-01 4.58381567e-03 5.59263781e-01 -8.53321452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.66, Y:-217.01, Z:-853.34 [[ 2.16299021e-01 -9.23024259e-01 3.18183831e-01 4.07658536e+02] [ 5.15970927e-01 3.84739317e-01 7.65342839e-01 -2.17007387e+02] [-8.28847837e-01 -1.36930055e-03 5.59472420e-01 -8.53341307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.096559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:407.66, Y:-216.99, Z:-853.36 [[ 2.15018720e-01 -9.23469908e-01 3.17758209e-01 4.07664492e+02] [ 5.16622528e-01 3.83670628e-01 7.65439752e-01 -2.16993391e+02] [-8.28775068e-01 -4.22827002e-04 5.59581726e-01 -8.53363764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.67, Y:-216.98, Z:-853.39 [[ 2.13509147e-01 -9.23911817e-01 3.17491415e-01 4.07669765e+02] [ 5.17648224e-01 3.82604291e-01 7.65280519e-01 -2.16979304e+02] [-8.28525293e-01 9.54476086e-04 5.59950827e-01 -8.53386496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.156559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.66, Y:-216.97, Z:-853.41 [[ 2.11060654e-01 -9.19969918e-01 3.30316137e-01 4.07664875e+02] [ 5.16613462e-01 3.91862194e-01 7.61284803e-01 -2.16969225e+02] [-8.29797524e-01 9.96849474e-03 5.57975536e-01 -8.53414035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.69, Y:-216.95, Z:-853.43 [[ 2.13195089e-01 -9.30093349e-01 2.99122410e-01 4.07691809e+02] [ 5.19188414e-01 3.67207181e-01 7.71752731e-01 -2.16948882e+02] [-8.27641979e-01 -9.23300246e-03 5.61180458e-01 -8.53429326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2165599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.68, Y:-216.94, Z:-853.46 [[ 2.13626655e-01 -9.23275143e-01 3.19259554e-01 4.07684818e+02] [ 5.19609718e-01 3.84128711e-01 7.63184693e-01 -2.16936321e+02] [-8.27266217e-01 2.85377420e-03 5.61802868e-01 -8.53458593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.69, Y:-216.92, Z:-853.48 [[ 2.15111391e-01 -9.24026424e-01 3.16073184e-01 4.07689384e+02] [ 5.20577814e-01 3.82328480e-01 7.63428892e-01 -2.16921408e+02] [-8.26272249e-01 3.18435830e-04 5.63270867e-01 -8.53480082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.276559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:407.69, Y:-216.91, Z:-853.51 [[ 2.14515635e-01 -9.21417109e-01 3.23996226e-01 4.07688562e+02] [ 5.19158314e-01 3.88544024e-01 7.61254350e-01 -2.16909043e+02] [-8.27319580e-01 4.90437427e-03 5.61710121e-01 -8.53507451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.70, Y:-216.89, Z:-853.53 [[ 2.14839013e-01 -9.24375916e-01 3.15235411e-01 4.07698877e+02] [ 5.19353459e-01 3.81482432e-01 7.64684993e-01 -2.16892275e+02] [-8.27113163e-01 -5.65567810e-04 5.62035138e-01 -8.53529820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.336559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.71, Y:-216.88, Z:-853.55 [[ 2.15406466e-01 -9.25995698e-01 3.10051644e-01 4.07707920e+02] [ 5.20238065e-01 3.77515815e-01 7.66051020e-01 -2.16875470e+02] [-8.26409348e-01 -3.71167538e-03 5.63057557e-01 -8.53549864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.71, Y:-216.86, Z:-853.57 [[ 2.14536660e-01 -9.24532686e-01 3.14981482e-01 4.07710507e+02] [ 5.19612024e-01 3.81102561e-01 7.64698753e-01 -2.16861155e+02] [-8.27029242e-01 -3.87751628e-04 5.62158771e-01 -8.53573817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.396559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.69, Y:-216.86, Z:-853.61 [[ 2.08164411e-01 -9.15335806e-01 3.44714288e-01 4.07690933e+02] [ 5.14582271e-01 4.02206769e-01 7.57254780e-01 -2.16856848e+02] [-8.31788834e-01 1.97503656e-02 5.54740713e-01 -8.53607216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:407.75, Y:-216.83, Z:-853.61 [[ 2.12184910e-01 -9.38493208e-01 2.72411569e-01 4.07747958e+02] [ 5.18354958e-01 3.44400055e-01 7.82749474e-01 -2.16826324e+02] [-8.28423625e-01 -2.48817390e-02 5.59549102e-01 -8.53611908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.73, Y:-216.82, Z:-853.64 [[ 2.12327631e-01 -9.24983571e-01 3.15154518e-01 4.07727111e+02] [ 5.16928672e-01 3.80007094e-01 7.67058900e-01 -2.16815581e+02] [-8.29277834e-01 4.46072929e-05 5.58836535e-01 -8.53644722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.72, Y:-216.81, Z:-853.68 [[ 2.08593919e-01 -9.18561367e-01 3.35758235e-01 4.07715328e+02] [ 5.13408680e-01 3.95048719e-01 7.61805774e-01 -2.16808750e+02] [-8.32406214e-01 1.34731403e-02 5.54002139e-01 -8.53675997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.516559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:407.75, Y:-216.78, Z:-853.69 [[ 2.14340242e-01 -9.33058570e-01 2.88894385e-01 4.07753218e+02] [ 5.15876227e-01 3.59291038e-01 7.77677098e-01 -2.16784738e+02] [-8.29415444e-01 -1.76537521e-02 5.58353263e-01 -8.53685733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:407.74, Y:-216.77, Z:-853.71 [[ 2.14330213e-01 -9.24820507e-01 3.14276296e-01 4.07743477e+02] [ 5.15805938e-01 3.80396082e-01 7.67621688e-01 -2.16772415e+02] [-8.29461750e-01 -2.41894011e-03 5.58558282e-01 -8.53714869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.576559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.72, Y:-216.77, Z:-853.75 [[ 2.07470821e-01 -9.12778335e-01 3.51840262e-01 4.07715987e+02] [ 5.09623778e-01 4.07855388e-01 7.57586687e-01 -2.16771858e+02] [-8.35008661e-01 2.21290318e-02 5.49791636e-01 -8.53750962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.77, Y:-216.75, Z:-853.76 [[ 2.12470792e-01 -9.34023932e-01 2.87150581e-01 4.07766501e+02] [ 5.12113057e-01 3.56706927e-01 7.81345241e-01 -2.16747925e+02] [-8.32223756e-01 -1.89594799e-02 5.54115654e-01 -8.53762615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.76, Y:-216.73, Z:-853.79 [[ 2.12523758e-01 -9.27712294e-01 3.06893389e-01 4.07760208e+02] [ 5.12419823e-01 3.73228379e-01 7.73386386e-01 -2.16734773e+02] [-8.32021380e-01 -7.10472476e-03 5.54698067e-01 -8.53790575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.77, Y:-216.72, Z:-853.81 [[ 2.15143034e-01 -9.28016662e-01 3.04135742e-01 4.07766131e+02] [ 5.11263731e-01 3.72371842e-01 7.74563496e-01 -2.16720905e+02] [-8.32059417e-01 -1.11483664e-02 5.54574469e-01 -8.53813238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.77, Y:-216.71, Z:-853.84 [[ 2.18520135e-01 -9.27898589e-01 3.02081379e-01 4.07773838e+02] [ 5.10807075e-01 3.72530754e-01 7.74788339e-01 -2.16705395e+02] [-8.31459610e-01 -1.50015472e-02 5.55382634e-01 -8.53835652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.78, Y:-216.69, Z:-853.86 [[ 2.21077026e-01 -9.28204601e-01 2.99267718e-01 4.07783084e+02] [ 5.11815578e-01 3.71631302e-01 7.74554704e-01 -2.16688386e+02] [-8.30162492e-01 -1.80663701e-02 5.57228717e-01 -8.53857074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.756559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:407.79, Y:-216.67, Z:-853.88 [[ 2.24878356e-01 -9.27950157e-01 2.97217481e-01 4.07792724e+02] [ 5.12886294e-01 3.72081714e-01 7.73629658e-01 -2.16669408e+02] [-8.28478953e-01 -2.15337933e-02 5.59606041e-01 -8.53876504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.77, Y:-216.67, Z:-853.91 [[ 2.21427353e-01 -9.15147046e-01 3.36861711e-01 4.07768073e+02] [ 5.08023929e-01 4.03111897e-01 7.61191491e-01 -2.16665503e+02] [-8.32395108e-01 2.58519266e-03 5.54176598e-01 -8.53911541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.816559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.80, Y:-216.65, Z:-853.93 [[ 2.22219819e-01 -9.26798855e-01 3.02757716e-01 4.07796366e+02] [ 5.08460791e-01 3.75112018e-01 7.75086187e-01 -2.16647883e+02] [-8.31917049e-01 -1.82990840e-02 5.54598204e-01 -8.53929084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.82, Y:-216.63, Z:-853.94 [[ 2.27316080e-01 -9.32014188e-01 2.82271063e-01 4.07819963e+02] [ 5.11904643e-01 3.60943138e-01 7.79534276e-01 -2.16625118e+02] [-8.28420809e-01 -3.27048083e-02 5.59150569e-01 -8.53944829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.876559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:407.79, Y:-216.62, Z:-853.98 [[ 2.24038932e-01 -9.13803668e-01 3.38776348e-01 4.07786895e+02] [ 5.07316230e-01 4.06153098e-01 7.60045988e-01 -2.16621576e+02] [-8.32127875e-01 1.58684778e-03 5.54581538e-01 -8.53984591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.81, Y:-216.60, Z:-854.00 [[ 2.24216903e-01 -9.25596152e-01 3.04956626e-01 4.07814475e+02] [ 5.08630049e-01 3.78068478e-01 7.73537135e-01 -2.16602858e+02] [-8.31277483e-01 -1.83299970e-02 5.55555359e-01 -8.54001437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9365599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.84, Y:-216.58, Z:-854.02 [[ 2.29630039e-01 -9.32374817e-01 2.79190339e-01 4.07841589e+02] [ 5.12719197e-01 3.59709342e-01 7.79569249e-01 -2.16579647e+02] [-8.27278109e-01 -3.58662701e-02 5.60646538e-01 -8.54015275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.82, Y:-216.57, Z:-854.05 [[ 2.27285049e-01 -9.18394634e-01 3.23871584e-01 4.07817766e+02] [ 5.10942355e-01 3.95585143e-01 7.63184319e-01 -2.16572297e+02] [-8.29023170e-01 -7.98067595e-03 5.59157306e-01 -8.54051151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.996559995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:407.82, Y:-216.56, Z:-854.08 [[ 2.22518060e-01 -9.17524120e-01 3.29598547e-01 4.07815356e+02] [ 5.08995351e-01 3.97674558e-01 7.63399423e-01 -2.16563793e+02] [-8.31510340e-01 -2.10603038e-03 5.55505282e-01 -8.54076942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:407.87, Y:-216.54, Z:-854.08 [[ 2.28156101e-01 -9.36519116e-01 2.66226858e-01 4.07868342e+02] [ 5.14849059e-01 3.48131080e-01 7.83412533e-01 -2.16535358e+02] [-8.26362657e-01 -4.16737013e-02 5.61594215e-01 -8.54083347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.85, Y:-216.53, Z:-854.12 [[ 2.27653252e-01 -9.22778527e-01 3.10891922e-01 4.07847246e+02] [ 5.14515914e-01 3.85059337e-01 7.66161002e-01 -2.16525336e+02] [-8.26708758e-01 -1.44602028e-02 5.62444248e-01 -8.54116702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:407.85, Y:-216.51, Z:-854.14 [[ 2.24829366e-01 -9.23572964e-01 3.10587729e-01 4.07854240e+02] [ 5.15933857e-01 3.83234763e-01 7.66122295e-01 -2.16511652e+02] [-8.26597854e-01 -1.20040643e-02 5.62664990e-01 -8.54139507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.116559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:407.84, Y:-216.51, Z:-854.17 [[ 2.16790286e-01 -9.15034763e-01 3.40166658e-01 4.07835354e+02] [ 5.12659394e-01 4.03249483e-01 7.58004090e-01 -2.16507415e+02] [-8.30772121e-01 1.00617094e-02 5.56521738e-01 -8.54172519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:-216.49, Z:-854.18 [[ 2.13738000e-01 -9.32930164e-01 2.89753993e-01 4.07876763e+02] [ 5.15821600e-01 3.59668564e-01 7.77538810e-01 -2.16488246e+02] [-8.29604813e-01 -1.67282222e-02 5.58100369e-01 -8.54184949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1765599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.88, Y:-216.47, Z:-854.21 [[ 2.12598768e-01 -9.30075866e-01 2.99600814e-01 4.07878328e+02] [ 5.16676651e-01 3.67241227e-01 7.73420403e-01 -2.16474799e+02] [-8.29365421e-01 -9.63147961e-03 5.58623516e-01 -8.54210267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:407.88, Y:-216.46, Z:-854.24 [[ 2.10246357e-01 -9.28313205e-01 3.06644849e-01 4.07879864e+02] [ 5.17944759e-01 3.71785807e-01 7.70395055e-01 -2.16461291e+02] [-8.29174105e-01 -3.14766145e-03 5.58981571e-01 -8.54235037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.89, Y:-216.45, Z:-854.26 [[ 2.08175822e-01 -9.30169641e-01 3.02402490e-01 4.07888184e+02] [ 5.18932374e-01 3.67110550e-01 7.71970877e-01 -2.16446286e+02] [-8.29079018e-01 -3.77922993e-03 5.59118681e-01 -8.54257272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.90, Y:-216.43, Z:-854.28 [[ 2.06883603e-01 -9.31833514e-01 2.98136675e-01 4.07897030e+02] [ 5.20959605e-01 3.62857868e-01 7.72615854e-01 -2.16429527e+02] [-8.28130584e-01 -4.52438727e-03 5.60516963e-01 -8.54279821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.296559995 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:407.91, Y:-216.41, Z:-854.30 [[ 2.06920610e-01 -9.34493245e-01 2.89665733e-01 4.07909853e+02] [ 5.22039249e-01 3.55862610e-01 7.75136650e-01 -2.16411921e+02] [-8.27441167e-01 -9.17486664e-03 5.61477460e-01 -8.54302427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:-216.40, Z:-854.33 [[ 2.08005176e-01 -9.30103467e-01 3.02723286e-01 4.07907919e+02] [ 5.22617898e-01 3.67293064e-01 7.69393487e-01 -2.16397741e+02] [-8.26803713e-01 -1.82922084e-03 5.62487577e-01 -8.54325841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:-216.38, Z:-854.35 [[ 2.08031036e-01 -9.28630690e-01 3.07193962e-01 4.07910464e+02] [ 5.22616044e-01 3.71004457e-01 7.67611988e-01 -2.16383810e+02] [-8.26798378e-01 8.57376138e-04 5.62497739e-01 -8.54348966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.89, Y:-216.38, Z:-854.38 [[ 2.02119848e-01 -9.19252252e-01 3.37820758e-01 4.07888649e+02] [ 5.17393279e-01 3.93100375e-01 7.60115971e-01 -2.16379943e+02] [-8.31535785e-01 2.11516650e-02 5.55068325e-01 -8.54381483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-216.36, Z:-854.40 [[ 2.02257941e-01 -9.35858444e-01 2.88549300e-01 4.07925416e+02] [ 5.16759741e-01 3.52268495e-01 7.80298839e-01 -2.16360171e+02] [-8.31896085e-01 -8.71097494e-03 5.54863067e-01 -8.54395939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.95, Y:-216.34, Z:-854.41 [[ 2.07975504e-01 -9.40682249e-01 2.68072932e-01 4.07949203e+02] [ 5.20031811e-01 3.38460524e-01 7.84226618e-01 -2.16335614e+02] [-8.28440164e-01 -2.36934739e-02 5.59576192e-01 -8.54411247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-216.32, Z:-854.44 [[ 2.08563451e-01 -9.28701529e-01 3.06618261e-01 4.07930584e+02] [ 5.19140786e-01 3.70825343e-01 7.70052862e-01 -2.16324633e+02] [-8.28851091e-01 -1.42683738e-03 5.59467455e-01 -8.54443113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:-216.31, Z:-854.47 [[ 2.09056659e-01 -9.28680983e-01 3.06344487e-01 4.07935061e+02] [ 5.18495635e-01 3.70872818e-01 7.70464554e-01 -2.16309591e+02] [-8.29130623e-01 -2.23246643e-03 5.59050468e-01 -8.54466582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:-216.30, Z:-854.49 [[ 2.09224305e-01 -9.28764876e-01 3.05975482e-01 4.07940314e+02] [ 5.18339125e-01 3.70659970e-01 7.70672264e-01 -2.16295416e+02] [-8.29186193e-01 -2.64430544e-03 5.58966248e-01 -8.54489374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.95, Y:-216.28, Z:-854.51 [[ 2.09009025e-01 -9.28876043e-01 3.05785094e-01 4.07945815e+02] [ 5.18524668e-01 3.70382147e-01 7.70681020e-01 -2.16280921e+02] [-8.29124476e-01 -2.52217417e-03 5.59058353e-01 -8.54512213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.596559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.95, Y:-216.27, Z:-854.53 [[ 2.08046958e-01 -9.29202905e-01 3.05447908e-01 4.07950900e+02] [ 5.18744451e-01 3.69564880e-01 7.70925415e-01 -2.16267075e+02] [-8.29228954e-01 -1.93927970e-03 5.58905699e-01 -8.54534552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.96, Y:-216.25, Z:-854.56 [[ 2.07428061e-01 -9.29355797e-01 3.05403672e-01 4.07956370e+02] [ 5.18480663e-01 3.69181679e-01 7.71286387e-01 -2.16253318e+02] [-8.29548914e-01 -1.64054143e-03 5.58431650e-01 -8.54557333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:-216.25, Z:-854.59 [[ 2.02981345e-01 -9.23325794e-01 3.25987811e-01 4.07943815e+02] [ 5.15714051e-01 3.83809591e-01 7.65982517e-01 -2.16246876e+02] [-8.32368663e-01 1.26363334e-02 5.54078272e-01 -8.54588142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-216.22, Z:-854.60 [[ 2.06499290e-01 -9.38953887e-01 2.75179291e-01 4.07985822e+02] [ 5.19413090e-01 3.43537758e-01 7.82426898e-01 -2.16220942e+02] [-8.29197254e-01 -1.86388731e-02 5.58645243e-01 -8.54598849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.97, Y:-216.21, Z:-854.63 [[ 2.06815157e-01 -9.29739768e-01 3.04649723e-01 4.07972792e+02] [ 5.19467107e-01 3.68215268e-01 7.71084588e-01 -2.16209453e+02] [-8.29084686e-01 -1.21647027e-03 5.59121726e-01 -8.54628321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.96, Y:-216.20, Z:-854.66 [[ 2.02836073e-01 -9.24410114e-01 3.22991438e-01 4.07960878e+02] [ 5.16969876e-01 3.81226019e-01 7.66426037e-01 -2.16202585e+02] [-8.31624720e-01 1.15179964e-02 5.55218570e-01 -8.54658170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.00, Y:-216.18, Z:-854.67 [[ 2.06783775e-01 -9.38629826e-01 2.76069773e-01 4.08000955e+02] [ 5.19796473e-01 3.44447890e-01 7.81771884e-01 -2.16177296e+02] [-8.28886058e-01 -1.81576470e-02 5.59122708e-01 -8.54669569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.99, Y:-216.17, Z:-854.70 [[ 2.06686771e-01 -9.29967354e-01 3.04041609e-01 4.07989159e+02] [ 5.19603673e-01 3.67639331e-01 7.71267364e-01 -2.16165248e+02] [-8.29031123e-01 -1.42962446e-03 5.59200639e-01 -8.54698769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-216.15, Z:-854.72 [[ 2.05403785e-01 -9.28959024e-01 3.07968209e-01 4.07990877e+02] [ 5.19031523e-01 3.70179133e-01 7.70437336e-01 -2.16152312e+02] [-8.29708120e-01 1.59446367e-03 5.58195211e-01 -8.54724132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.00, Y:-216.14, Z:-854.74 [[ 2.06330397e-01 -9.31704246e-01 2.98923010e-01 4.08002789e+02] [ 5.18569532e-01 3.63187413e-01 7.74067532e-01 -2.16135797e+02] [-8.29767080e-01 -4.70129546e-03 5.58090038e-01 -8.54744013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.00, Y:-216.13, Z:-854.77 [[ 2.04043386e-01 -9.27465982e-01 3.13325946e-01 4.07995842e+02] [ 5.17114974e-01 3.73875119e-01 7.69941231e-01 -2.16125655e+02] [-8.31239075e-01 4.92412244e-03 5.55893293e-01 -8.54771845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.02, Y:-216.11, Z:-854.79 [[ 2.06957811e-01 -9.34949044e-01 2.88164449e-01 4.08020736e+02] [ 5.18002660e-01 3.54584710e-01 7.78423361e-01 -2.16105134e+02] [-8.29964884e-01 -1.18308439e-02 5.57690167e-01 -8.54789010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.01, Y:-216.10, Z:-854.82 [[ 2.05505595e-01 -9.27826424e-01 3.11296606e-01 4.08008298e+02] [ 5.16679378e-01 3.73004080e-01 7.70655810e-01 -2.16095884e+02] [-8.31149729e-01 2.46645623e-03 5.56043205e-01 -8.54818086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.02, Y:-216.08, Z:-854.84 [[ 2.07381083e-01 -9.31383357e-01 2.99195803e-01 4.08019719e+02] [ 5.15902086e-01 3.63982513e-01 7.75475188e-01 -2.16081236e+02] [-8.31166724e-01 -6.46314575e-03 5.55985705e-01 -8.54838985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.016559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:408.04, Y:-216.06, Z:-854.86 [[ 2.11093685e-01 -9.34296986e-01 2.87277911e-01 4.08036036e+02] [ 5.16890645e-01 3.56143793e-01 7.78450808e-01 -2.16062034e+02] [-8.29616488e-01 -1.58347852e-02 5.58109077e-01 -8.54859283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:408.03, Y:-216.05, Z:-854.89 [[ 2.12586990e-01 -9.29215259e-01 3.02267719e-01 4.08031793e+02] [ 5.17057648e-01 3.69455502e-01 7.72110109e-01 -2.16048861e+02] [-8.29130967e-01 -7.85072822e-03 5.58999290e-01 -8.54886302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.03, Y:-216.04, Z:-854.91 [[ 2.13631763e-01 -9.28282079e-01 3.04390951e-01 4.08034190e+02] [ 5.17215265e-01 3.71806201e-01 7.70875164e-01 -2.16036188e+02] [-8.28764043e-01 -7.24777385e-03 5.59551276e-01 -8.54911027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:-216.02, Z:-854.93 [[ 2.15237828e-01 -9.30173595e-01 2.97405046e-01 4.08045823e+02] [ 5.17624477e-01 3.66909747e-01 7.72943813e-01 -2.16019706e+02] [-8.28092735e-01 -1.24226164e-02 5.60453477e-01 -8.54933250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:-216.01, Z:-854.96 [[ 2.14992778e-01 -9.29036398e-01 3.01113726e-01 4.08049369e+02] [ 5.17891595e-01 3.69856070e-01 7.71359050e-01 -2.16005678e+02] [-8.27989373e-01 -9.89235739e-03 5.60656526e-01 -8.54957867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.06, Y:-215.99, Z:-854.98 [[ 2.13722599e-01 -9.29515291e-01 3.00539474e-01 4.08056599e+02] [ 5.19429880e-01 3.68682193e-01 7.70886529e-01 -2.15992376e+02] [-8.27354368e-01 -8.64668972e-03 5.61613732e-01 -8.54980081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.06, Y:-215.98, Z:-855.00 [[ 2.12000269e-01 -9.29946868e-01 3.00424216e-01 4.08063214e+02] [ 5.19806771e-01 3.67621072e-01 7.71139201e-01 -2.15978501e+02] [-8.27560757e-01 -7.31917645e-03 5.61328445e-01 -8.55003042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.07, Y:-215.97, Z:-855.03 [[ 2.08199166e-01 -9.30843293e-01 3.00306295e-01 4.08070681e+02] [ 5.20363283e-01 3.65391826e-01 7.71823081e-01 -2.15965424e+02] [-8.28175804e-01 -4.42455239e-03 5.60450945e-01 -8.55025257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.256559995 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:408.06, Y:-215.95, Z:-855.05 [[ 2.12259417e-01 -9.17559395e-01 3.36200383e-01 4.08055226e+02] [ 5.29644026e-01 3.97145568e-01 7.49501570e-01 -2.15949918e+02] [-8.21232699e-01 1.89777581e-02 5.70277739e-01 -8.55052747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:408.11, Y:-215.93, Z:-855.06 [[ 2.04588560e-01 -9.43855013e-01 2.59386268e-01 4.08108377e+02] [ 5.22109510e-01 3.29372480e-01 7.86711783e-01 -2.15932289e+02] [-8.27976558e-01 -2.55241937e-02 5.60181519e-01 -8.55062678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:-215.92, Z:-855.09 [[ 2.01607347e-01 -9.32682105e-01 2.99096253e-01 4.08091546e+02] [ 5.21395106e-01 3.60699444e-01 7.73332435e-01 -2.15921681e+02] [-8.29157176e-01 3.78216256e-05 5.59015543e-01 -8.55094834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:-215.91, Z:-855.12 [[ 1.98827345e-01 -9.29994244e-01 3.09157555e-01 4.08087873e+02] [ 5.19469103e-01 3.67503211e-01 7.71422868e-01 -2.15911070e+02] [-8.31035221e-01 7.21783721e-03 5.56172963e-01 -8.55120956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:-215.89, Z:-855.14 [[ 2.02550726e-01 -9.38375699e-01 2.80043302e-01 4.08114324e+02] [ 5.20606170e-01 3.45395748e-01 7.80814314e-01 -2.15889935e+02] [-8.29422944e-01 -1.23622348e-02 5.58484338e-01 -8.55137640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:408.11, Y:-215.88, Z:-855.17 [[ 2.05757538e-01 -9.32246699e-01 2.97623803e-01 4.08107450e+02] [ 5.19663585e-01 3.61794184e-01 7.73986258e-01 -2.15877343e+02] [-8.29224695e-01 -4.58925431e-03 5.58896542e-01 -8.55165203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:-215.86, Z:-855.19 [[ 2.08131456e-01 -9.31924959e-01 2.96980079e-01 4.08112640e+02] [ 5.19884312e-01 3.62591342e-01 7.73464816e-01 -2.15862774e+02] [-8.28493572e-01 -6.58707402e-03 5.59959830e-01 -8.55189200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.12, Y:-215.85, Z:-855.21 [[ 2.09863356e-01 -9.30662417e-01 2.99707921e-01 4.08115197e+02] [ 5.19932849e-01 3.65827055e-01 7.71906988e-01 -2.15849274e+02] [-8.28026089e-01 -6.16699791e-03 5.60655655e-01 -8.55214810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.12, Y:-215.83, Z:-855.24 [[ 2.15076668e-01 -9.31194812e-01 2.94309785e-01 4.08122604e+02] [ 5.20142467e-01 3.64287796e-01 7.72493505e-01 -2.15834078e+02] [-8.26555407e-01 -1.30623111e-02 5.62703772e-01 -8.55236429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-215.82, Z:-855.26 [[ 2.16931251e-01 -9.30463902e-01 2.95258800e-01 4.08126591e+02] [ 5.19955492e-01 3.66119969e-01 7.71752846e-01 -2.15819340e+02] [-8.26188307e-01 -1.38958754e-02 5.63222679e-01 -8.55260395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-215.80, Z:-855.28 [[ 2.16765418e-01 -9.30627432e-01 2.94864947e-01 4.08132404e+02] [ 5.20027069e-01 3.65700732e-01 7.71903376e-01 -2.15804500e+02] [-8.26186783e-01 -1.39842040e-02 5.63222728e-01 -8.55284083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:408.14, Y:-215.79, Z:-855.31 [[ 2.17964865e-01 -9.30421420e-01 2.94630784e-01 4.08136752e+02] [ 5.19512542e-01 3.66175697e-01 7.72024661e-01 -2.15790853e+02] [-8.26194915e-01 -1.52098631e-02 5.63179033e-01 -8.55306485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.14, Y:-215.78, Z:-855.33 [[ 2.19461089e-01 -9.30177893e-01 2.94288833e-01 4.08141525e+02] [ 5.19264737e-01 3.66733863e-01 7.71926426e-01 -2.15775860e+02] [-8.25954577e-01 -1.65940004e-02 5.63492392e-01 -8.55329591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.15, Y:-215.76, Z:-855.35 [[ 2.19192459e-01 -9.30341172e-01 2.93972735e-01 4.08146894e+02] [ 5.19046289e-01 3.66315058e-01 7.72272121e-01 -2.15761916e+02] [-8.26163190e-01 -1.66907680e-02 5.63183631e-01 -8.55352423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6765599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:408.15, Y:-215.75, Z:-855.38 [[ 2.18173575e-01 -9.30613243e-01 2.93869502e-01 4.08152693e+02] [ 5.19166050e-01 3.65655382e-01 7.72504210e-01 -2.15747569e+02] [-8.26357612e-01 -1.59729368e-02 5.62919144e-01 -8.55375389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.15, Y:-215.74, Z:-855.40 [[ 2.14793092e-01 -9.27159345e-01 3.06984490e-01 4.08147308e+02] [ 5.16726543e-01 3.74606791e-01 7.69846369e-01 -2.15738762e+02] [-8.28768730e-01 -6.73064735e-03 5.59550794e-01 -8.55402596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.736559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.17, Y:-215.72, Z:-855.42 [[ 2.10943117e-01 -9.35691729e-01 2.82814409e-01 4.08169678e+02] [ 5.19061091e-01 3.52386001e-01 7.78716695e-01 -2.15720099e+02] [-8.28298609e-01 -1.74669718e-02 5.60014571e-01 -8.55421297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.18, Y:-215.70, Z:-855.44 [[ 2.11212553e-01 -9.38042591e-01 2.74709582e-01 4.08183913e+02] [ 5.21389898e-01 3.45850235e-01 7.80089860e-01 -2.15700840e+02] [-8.26765887e-01 -2.15339701e-02 5.62133842e-01 -8.55443233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.18, Y:-215.69, Z:-855.47 [[ 2.09799051e-01 -9.32481495e-01 2.94045270e-01 4.08178282e+02] [ 5.21800475e-01 3.61112636e-01 7.72866049e-01 -2.15688807e+02] [-8.26866750e-01 -8.71360261e-03 5.62330375e-01 -8.55469857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-215.67, Z:-855.49 [[ 2.06680177e-01 -9.33300749e-01 2.93654589e-01 4.08185208e+02] [ 5.23969395e-01 3.59049402e-01 7.72359761e-01 -2.15674369e+02] [-8.26280448e-01 -5.76543447e-03 5.63229422e-01 -8.55492642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-215.66, Z:-855.52 [[ 2.06997726e-01 -9.33341221e-01 2.93302075e-01 4.08191304e+02] [ 5.23592372e-01 3.58933961e-01 7.72669036e-01 -2.15660633e+02] [-8.26439937e-01 -6.37000406e-03 5.62988858e-01 -8.55515589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-215.65, Z:-855.54 [[ 2.06909108e-01 -9.32727147e-01 2.95311176e-01 4.08193951e+02] [ 5.23725250e-01 3.60547788e-01 7.71827154e-01 -2.15646653e+02] [-8.26377930e-01 -5.03614878e-03 5.63093379e-01 -8.55540496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.916559995 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:408.20, Y:-215.63, Z:-855.57 [[ 2.07211582e-01 -9.31654799e-01 2.98467244e-01 4.08196518e+02] [ 5.23451996e-01 3.63328116e-01 7.70707913e-01 -2.15632864e+02] [-8.26475268e-01 -3.46633110e-03 5.62962358e-01 -8.55565867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.20, Y:-215.62, Z:-855.59 [[ 2.08056631e-01 -9.32360937e-01 2.95661161e-01 4.08200299e+02] [ 5.24559431e-01 3.61490225e-01 7.70819188e-01 -2.15617812e+02] [-8.25560320e-01 -5.28219326e-03 5.64289161e-01 -8.55588015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:-215.60, Z:-855.61 [[ 2.11975824e-01 -9.37754972e-01 2.75103369e-01 4.08220903e+02] [ 5.26171938e-01 3.46730235e-01 7.76480029e-01 -2.15598685e+02] [-8.23534663e-01 -1.98433210e-02 5.66918778e-01 -8.55606425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.21, Y:-215.59, Z:-855.63 [[ 2.13015826e-01 -9.32175386e-01 2.92700029e-01 4.08214431e+02] [ 5.26250776e-01 3.61872150e-01 7.69485976e-01 -2.15586188e+02] [-8.23215876e-01 -9.87907376e-03 5.67642516e-01 -8.55632585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:-215.57, Z:-855.66 [[ 2.13170339e-01 -9.32180229e-01 2.92572090e-01 4.08219516e+02] [ 5.26008938e-01 3.61851522e-01 7.69661012e-01 -2.15572088e+02] [-8.23330434e-01 -1.01733647e-02 5.67471144e-01 -8.55655547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:-215.56, Z:-855.68 [[ 2.12641788e-01 -9.32368893e-01 2.92355465e-01 4.08224554e+02] [ 5.26010080e-01 3.61371948e-01 7.69885519e-01 -2.15557405e+02] [-8.23466372e-01 -9.92791152e-03 5.67278212e-01 -8.55678905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.23, Y:-215.54, Z:-855.70 [[ 2.10748420e-01 -9.32843865e-01 2.92211270e-01 4.08230069e+02] [ 5.25691568e-01 3.60173326e-01 7.70664357e-01 -2.15543241e+02] [-8.24156223e-01 -8.80329434e-03 5.66294113e-01 -8.55702175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.24, Y:-215.53, Z:-855.73 [[ 2.08790491e-01 -9.33365942e-01 2.91949565e-01 4.08236261e+02] [ 5.25920858e-01 3.58848639e-01 7.71125739e-01 -2.15529022e+02] [-8.24508206e-01 -7.46135600e-03 5.65800801e-01 -8.55725094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.24, Y:-215.52, Z:-855.75 [[ 2.05023568e-01 -9.33811557e-01 2.93191597e-01 4.08240367e+02] [ 5.26388485e-01 3.57745008e-01 7.71319436e-01 -2.15515504e+02] [-8.25154834e-01 -3.80598185e-03 5.64893809e-01 -8.55748341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.25, Y:-215.50, Z:-855.77 [[ 2.00879702e-01 -9.37042326e-01 2.85655430e-01 4.08254456e+02] [ 5.27103339e-01 3.49179125e-01 7.74748997e-01 -2.15499871e+02] [-8.25717515e-01 -5.06141645e-03 5.64061138e-01 -8.55769364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:-215.49, Z:-855.79 [[ 1.94739250e-01 -9.35850588e-01 2.93701040e-01 4.08255205e+02] [ 5.27910923e-01 3.52367505e-01 7.72753000e-01 -2.15486643e+02] [-8.26672052e-01 4.56264722e-03 5.62665531e-01 -8.55794867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:-215.47, Z:-855.82 [[ 1.92098152e-01 -9.35524198e-01 2.96467158e-01 4.08257560e+02] [ 5.26623545e-01 3.53181180e-01 7.73259785e-01 -2.15474282e+02] [-8.28109861e-01 7.58481007e-03 5.60514522e-01 -8.55820716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.28, Y:-215.45, Z:-855.84 [[ 1.93695414e-01 -9.41344374e-01 2.76320207e-01 4.08277580e+02] [ 5.28002611e-01 3.37409547e-01 7.79338207e-01 -2.15454358e+02] [-8.26858712e-01 -5.05644628e-03 5.62386969e-01 -8.55838575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.27, Y:-215.44, Z:-855.87 [[ 1.93812836e-01 -9.36934529e-01 2.90844069e-01 4.08272429e+02] [ 5.29098581e-01 3.49481808e-01 7.73251031e-01 -2.15441431e+02] [-8.26130302e-01 4.01920913e-03 5.63464791e-01 -8.55865956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:-215.43, Z:-855.90 [[ 1.90221544e-01 -9.31875602e-01 3.08907150e-01 4.08261606e+02] [ 5.27159788e-01 3.62396339e-01 7.68616583e-01 -2.15434228e+02] [-8.28201861e-01 1.66359946e-02 5.60182936e-01 -8.55895757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.28, Y:-215.42, Z:-855.91 [[ 1.89657995e-01 -9.39997820e-01 2.83608788e-01 4.08282503e+02] [ 5.27666260e-01 3.41173920e-01 7.77925880e-01 -2.15417470e+02] [-8.28008553e-01 2.11092608e-03 5.60711495e-01 -8.55914874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.396559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:408.29, Y:-215.40, Z:-855.94 [[ 1.91302966e-01 -9.41173963e-01 2.78558336e-01 4.08292143e+02] [ 5.28797474e-01 3.37918438e-01 7.78578423e-01 -2.15401499e+02] [-8.26907738e-01 -1.64341678e-03 5.62335214e-01 -8.55938005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.30, Y:-215.39, Z:-855.96 [[ 1.91711013e-01 -9.40775715e-01 2.79621067e-01 4.08296689e+02] [ 5.29439005e-01 3.39027970e-01 7.77659550e-01 -2.15386189e+02] [-8.26402582e-01 -1.04360064e-03 5.63078754e-01 -8.55960407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4565599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:408.31, Y:-215.36, Z:-855.98 [[ 1.95006831e-01 -9.44023618e-01 2.66067182e-01 4.08313603e+02] [ 5.31498217e-01 3.29702932e-01 7.80259971e-01 -2.15364221e+02] [-8.24306970e-01 -1.07417918e-02 5.66041193e-01 -8.55977895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:408.30, Y:-215.35, Z:-856.01 [[ 1.95042148e-01 -9.37104433e-01 2.89471660e-01 4.08303501e+02] [ 5.30578271e-01 3.49036817e-01 7.72437699e-01 -2.15351423e+02] [-8.24891059e-01 2.92946517e-03 5.65284141e-01 -8.56006063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.31, Y:-215.34, Z:-856.03 [[ 1.95114838e-01 -9.37060026e-01 2.89566414e-01 4.08308022e+02] [ 5.28401907e-01 3.49162503e-01 7.73871418e-01 -2.15335520e+02] [-8.26269705e-01 2.01364894e-03 5.63271089e-01 -8.56028546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.31, Y:-215.32, Z:-856.05 [[ 1.95200993e-01 -9.37096598e-01 2.89389941e-01 4.08313548e+02] [ 5.27429436e-01 3.49067196e-01 7.74577486e-01 -2.15320444e+02] [-8.26870463e-01 1.43447927e-03 5.62390594e-01 -8.56051601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.32, Y:-215.31, Z:-856.07 [[ 1.96217789e-01 -9.36938642e-01 2.89213695e-01 4.08319308e+02] [ 5.26074197e-01 3.49493894e-01 7.75306364e-01 -2.15306086e+02] [-8.27492911e-01 1.89619722e-05 5.61476163e-01 -8.56073502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.33, Y:-215.29, Z:-856.10 [[ 1.96592390e-01 -9.36890946e-01 2.89113798e-01 4.08325043e+02] [ 5.25620853e-01 3.49621369e-01 7.75556327e-01 -2.15291226e+02] [-8.27692063e-01 -5.04230761e-04 5.61182319e-01 -8.56096648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.33, Y:-215.28, Z:-856.12 [[ 1.97010839e-01 -9.36924923e-01 2.88718580e-01 4.08330476e+02] [ 5.25509214e-01 3.49528965e-01 7.75673623e-01 -2.15276352e+02] [-8.27663456e-01 -1.09183723e-03 5.61223674e-01 -8.56119907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.34, Y:-215.26, Z:-856.14 [[ 1.97743424e-01 -9.36906494e-01 2.88277229e-01 4.08335767e+02] [ 5.25491869e-01 3.49574928e-01 7.75664660e-01 -2.15261476e+02] [-8.27499749e-01 -1.89524636e-03 5.61462888e-01 -8.56143295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.34, Y:-215.25, Z:-856.17 [[ 1.98328604e-01 -9.36897919e-01 2.87902855e-01 4.08340152e+02] [ 5.25221080e-01 3.49592936e-01 7.75839930e-01 -2.15247212e+02] [-8.27531620e-01 -2.65860125e-03 5.61412816e-01 -8.56165757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.35, Y:-215.23, Z:-856.19 [[ 1.98225813e-01 -9.36962787e-01 2.87762511e-01 4.08345423e+02] [ 5.25140151e-01 3.49418708e-01 7.75973188e-01 -2.15233152e+02] [-8.27607605e-01 -2.70226773e-03 5.61300587e-01 -8.56188221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.35, Y:-215.22, Z:-856.21 [[ 1.97948725e-01 -9.37142531e-01 2.87367671e-01 4.08351352e+02] [ 5.26293972e-01 3.48939550e-01 7.75406891e-01 -2.15218522e+02] [-8.26940722e-01 -2.25093196e-03 5.62284604e-01 -8.56211194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.36, Y:-215.20, Z:-856.23 [[ 1.97726597e-01 -9.37322034e-01 2.86934833e-01 4.08357134e+02] [ 5.26581577e-01 3.48457229e-01 7.75428528e-01 -2.15204618e+02] [-8.26810762e-01 -2.22824681e-03 5.62475776e-01 -8.56233788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.816559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.36, Y:-215.19, Z:-856.26 [[ 1.97740202e-01 -9.37410209e-01 2.86637248e-01 4.08362827e+02] [ 5.27164216e-01 3.48220311e-01 7.75139023e-01 -2.15190401e+02] [-8.26436145e-01 -2.17124721e-03 5.63026273e-01 -8.56256141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.37, Y:-215.18, Z:-856.28 [[ 1.98872048e-01 -9.37218254e-01 2.86481855e-01 4.08368990e+02] [ 5.26727883e-01 3.48728057e-01 7.75207378e-01 -2.15175274e+02] [-8.26442766e-01 -3.26909816e-03 5.63011250e-01 -8.56278508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.876559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:408.37, Y:-215.16, Z:-856.30 [[ 1.99475651e-01 -9.37179834e-01 2.86187741e-01 4.08373684e+02] [ 5.26074071e-01 3.48821817e-01 7.75609059e-01 -2.15161216e+02] [-8.26713697e-01 -4.15917134e-03 5.62607470e-01 -8.56300628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:-215.15, Z:-856.32 [[ 2.00437834e-01 -9.37019713e-01 2.86039739e-01 4.08378702e+02] [ 5.25629420e-01 3.49238754e-01 7.75722892e-01 -2.15146097e+02] [-8.26763804e-01 -5.13331409e-03 5.62525788e-01 -8.56324242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:-215.13, Z:-856.35 [[ 2.01883454e-01 -9.36833273e-01 2.85633490e-01 4.08383410e+02] [ 5.25139523e-01 3.49713362e-01 7.75840863e-01 -2.15131067e+02] [-8.26723383e-01 -6.63199848e-03 5.62569520e-01 -8.56346537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.39, Y:-215.12, Z:-856.37 [[ 2.01902824e-01 -9.36875285e-01 2.85481961e-01 4.08388344e+02] [ 5.25044854e-01 3.49598014e-01 7.75956913e-01 -2.15116846e+02] [-8.26778780e-01 -6.77705753e-03 5.62486373e-01 -8.56368521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.39, Y:-215.10, Z:-856.39 [[ 2.01302271e-01 -9.37059239e-01 2.85302259e-01 4.08394266e+02] [ 5.25324245e-01 3.49113011e-01 7.75986175e-01 -2.15101877e+02] [-8.26747745e-01 -6.33158551e-03 5.62537179e-01 -8.56391743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.40, Y:-215.09, Z:-856.41 [[ 2.00536226e-01 -9.37358644e-01 2.84857850e-01 4.08400807e+02] [ 5.25864515e-01 3.48317324e-01 7.75977805e-01 -2.15087001e+02] [-8.26590427e-01 -5.81502525e-03 5.62773890e-01 -8.56414749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.41, Y:-215.07, Z:-856.44 [[ 1.99476623e-01 -9.37736414e-01 2.84358041e-01 4.08406825e+02] [ 5.26743603e-01 3.47312039e-01 7.75832150e-01 -2.15073082e+02] [-8.26287029e-01 -4.97659825e-03 5.63227290e-01 -8.56436753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.41, Y:-215.06, Z:-856.46 [[ 1.96781148e-01 -9.38427592e-01 2.83955690e-01 4.08413216e+02] [ 5.28802026e-01 3.45467651e-01 7.75255132e-01 -2.15058684e+02] [-8.25618312e-01 -2.39925095e-03 5.64223933e-01 -8.56460023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.116559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:408.42, Y:-215.04, Z:-856.48 [[ 1.94927125e-01 -9.38975997e-01 2.83421054e-01 4.08419107e+02] [ 5.30117997e-01 3.43981681e-01 7.75017105e-01 -2.15043891e+02] [-8.25214109e-01 -8.25254847e-04 5.64819434e-01 -8.56483625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.43, Y:-215.03, Z:-856.51 [[ 1.92868796e-01 -9.39540476e-01 2.82958161e-01 4.08425044e+02] [ 5.31187546e-01 3.42436846e-01 7.74968901e-01 -2.15029075e+02] [-8.25009951e-01 8.36532744e-04 5.65117582e-01 -8.56507023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.43, Y:-215.01, Z:-856.53 [[ 1.90988681e-01 -9.40085700e-01 2.82422026e-01 4.08430882e+02] [ 5.32510867e-01 3.40929578e-01 7.74725241e-01 -2.15014449e+02] [-8.24594143e-01 2.42904644e-03 5.65719542e-01 -8.56529401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:-215.00, Z:-856.55 [[ 1.86873558e-01 -9.41026155e-01 2.82042636e-01 4.08436680e+02] [ 5.34505291e-01 3.38280309e-01 7.74513090e-01 -2.14999740e+02] [-8.24246545e-01 6.01726450e-03 5.66199104e-01 -8.56552168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:-214.99, Z:-856.57 [[ 1.82802008e-01 -9.41954457e-01 2.81611838e-01 4.08442865e+02] [ 5.36170653e-01 3.35608852e-01 7.74524195e-01 -2.14985316e+02] [-8.24077943e-01 9.40742541e-03 5.66398309e-01 -8.56574627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.45, Y:-214.97, Z:-856.60 [[ 1.80991760e-01 -9.42364986e-01 2.81407563e-01 4.08448644e+02] [ 5.36995074e-01 3.34407717e-01 7.74472575e-01 -2.14970741e+02] [-8.23940698e-01 1.09413209e-02 5.66570396e-01 -8.56597751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.45, Y:-214.96, Z:-856.62 [[ 1.78933874e-01 -9.43229040e-01 2.79824314e-01 4.08454814e+02] [ 5.38313029e-01 3.31925211e-01 7.74625546e-01 -2.14955291e+02] [-8.23530055e-01 1.20263241e-02 5.67145146e-01 -8.56619999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.46, Y:-214.94, Z:-856.64 [[ 1.77625290e-01 -9.43320318e-01 2.80349843e-01 4.08459679e+02] [ 5.38998482e-01 3.31605919e-01 7.74285575e-01 -2.14940265e+02] [-8.23364982e-01 1.35754402e-02 5.67349817e-01 -8.56643787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.46, Y:-214.93, Z:-856.67 [[ 1.75021986e-01 -9.41794895e-01 2.87036026e-01 4.08458975e+02] [ 5.37908384e-01 3.35647596e-01 7.73301533e-01 -2.14927487e+02] [-8.24634389e-01 1.90543148e-02 5.65345079e-01 -8.56670093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.47, Y:-214.91, Z:-856.69 [[ 1.76416342e-01 -9.46178457e-01 2.71336693e-01 4.08474909e+02] [ 5.38571095e-01 3.23523435e-01 7.77993421e-01 -2.14909193e+02] [-8.23904394e-01 8.88334655e-03 5.66659189e-01 -8.56688025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.47, Y:-214.89, Z:-856.71 [[ 1.76884455e-01 -9.43652852e-01 2.79698380e-01 4.08474724e+02] [ 5.38511652e-01 3.30660284e-01 7.75028372e-01 -2.14894640e+02] [-8.23842880e-01 1.35303658e-02 5.66656721e-01 -8.56713190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-214.88, Z:-856.74 [[ 1.77524112e-01 -9.43355169e-01 2.80296654e-01 4.08477638e+02] [ 5.37014408e-01 3.31536864e-01 7.75692487e-01 -2.14879038e+02] [-8.24682191e-01 1.28192217e-02 5.65451105e-01 -8.56736703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-214.86, Z:-856.76 [[ 1.77255365e-01 -9.43988461e-01 2.78327722e-01 4.08484187e+02] [ 5.37090780e-01 3.29765001e-01 7.76394576e-01 -2.14863827e+02] [-8.24690263e-01 1.18671501e-02 5.65460115e-01 -8.56760026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:-214.85, Z:-856.78 [[ 1.79473337e-01 -9.43883042e-01 2.77261835e-01 4.08490021e+02] [ 5.36176575e-01 3.30150745e-01 7.76862386e-01 -2.14848254e+02] [-8.24805433e-01 9.23521586e-03 5.65341232e-01 -8.56782387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.536559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:408.49, Y:-214.83, Z:-856.81 [[ 1.82474196e-01 -9.42860836e-01 2.78776993e-01 4.08491231e+02] [ 5.34937127e-01 3.33103612e-01 7.76456215e-01 -2.14833579e+02] [-8.24951780e-01 7.44494004e-03 5.65154080e-01 -8.56805130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-214.82, Z:-856.83 [[ 1.81419331e-01 -9.38246872e-01 2.94584171e-01 4.08482451e+02] [ 5.32471700e-01 3.45564360e-01 7.72696035e-01 -2.14824101e+02] [-8.26777428e-01 1.66757362e-02 5.62281962e-01 -8.56834892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.596559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.51, Y:-214.80, Z:-856.85 [[ 1.86161583e-01 -9.47989482e-01 2.58185605e-01 4.08510407e+02] [ 5.35023001e-01 3.18211902e-01 7.82618409e-01 -2.14801041e+02] [-8.24071753e-01 -7.55824502e-03 5.66435009e-01 -8.56848662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-214.80, Z:-856.89 [[ 1.82024233e-01 -9.35011165e-01 3.04337478e-01 4.08480847e+02] [ 5.31265920e-01 3.53961261e-01 7.69719396e-01 -2.14798007e+02] [-8.27419906e-01 2.15765478e-02 5.61169094e-01 -8.56885029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:-214.77, Z:-856.89 [[ 1.86242922e-01 -9.52906710e-01 2.39337369e-01 4.08530837e+02] [ 5.35954308e-01 3.02698346e-01 7.88115912e-01 -2.14768572e+02] [-8.23447967e-01 -1.85071161e-02 5.67089881e-01 -8.56892179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:-214.76, Z:-856.92 [[ 1.85925456e-01 -9.42717887e-01 2.76974206e-01 4.08512501e+02] [ 5.36458534e-01 3.33561309e-01 7.75209065e-01 -2.14757457e+02] [-8.23191330e-01 4.45407759e-03 5.67746594e-01 -8.56923593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.52, Y:-214.74, Z:-856.95 [[ 1.83533283e-01 -9.43357835e-01 2.76390176e-01 4.08516493e+02] [ 5.38193590e-01 3.31712367e-01 7.74799694e-01 -2.14742859e+02] [-8.22595401e-01 6.54988946e-03 5.68589399e-01 -8.56945592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:-214.74, Z:-856.98 [[ 1.73096831e-01 -9.32910605e-01 3.15777280e-01 4.08486016e+02] [ 5.33348534e-01 3.58325745e-01 7.66251918e-01 -2.14743521e+02] [-8.27995669e-01 3.57835712e-02 5.59591555e-01 -8.56980161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:-214.71, Z:-856.98 [[ 1.77947463e-01 -9.61555980e-01 2.09152569e-01 4.08566451e+02] [ 5.39554998e-01 2.73086806e-01 7.96432044e-01 -2.14705093e+02] [-8.22930802e-01 -2.88737473e-02 5.67407440e-01 -8.56979355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.51, Y:-214.71, Z:-857.02 [[ 1.69769042e-01 -9.39122022e-01 2.98711066e-01 4.08511712e+02] [ 5.37029236e-01 3.42312719e-01 7.70987420e-01 -2.14705872e+02] [-8.26303862e-01 2.95267799e-02 5.62450084e-01 -8.57023283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:-214.69, Z:-857.04 [[ 1.66579165e-01 -9.48474634e-01 2.69531539e-01 4.08533447e+02] [ 5.35511254e-01 3.16547488e-01 7.82959376e-01 -2.14690033e+02] [-8.27936640e-01 1.39124536e-02 5.60649057e-01 -8.57042125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.55, Y:-214.67, Z:-857.06 [[ 1.65676744e-01 -9.53463265e-01 2.51910736e-01 4.08550546e+02] [ 5.36284776e-01 3.01475878e-01 7.88359648e-01 -2.14670345e+02] [-8.27616974e-01 4.48303296e-03 5.61275375e-01 -8.57061641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:-214.65, Z:-857.08 [[ 1.70323884e-01 -9.55503984e-01 2.40835858e-01 4.08567892e+02] [ 5.39933906e-01 2.94947759e-01 7.88338250e-01 -2.14646366e+02] [-8.24294335e-01 -4.23738713e-03 5.66145647e-01 -8.57080055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:-214.64, Z:-857.12 [[ 1.66672355e-01 -9.40211284e-01 2.97023681e-01 4.08532499e+02] [ 5.37205711e-01 3.39191597e-01 7.72242892e-01 -2.14643723e+02] [-8.26819419e-01 3.08512764e-02 5.61620733e-01 -8.57116723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.58, Y:-214.62, Z:-857.13 [[ 1.71758734e-01 -9.55123199e-01 2.41326775e-01 4.08576406e+02] [ 5.39716862e-01 2.96164877e-01 7.88030504e-01 -2.14616146e+02] [-8.24138730e-01 -5.10299229e-03 5.66365000e-01 -8.57127684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:-214.60, Z:-857.16 [[ 1.75771045e-01 -9.45138873e-01 2.75348962e-01 4.08558591e+02] [ 5.39493262e-01 3.26443624e-01 7.76132451e-01 -2.14604133e+02] [-8.23438862e-01 1.21272974e-02 5.67275391e-01 -8.57157423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.55, Y:-214.59, Z:-857.19 [[ 1.75362125e-01 -9.40756624e-01 2.90215609e-01 4.08550070e+02] [ 5.36517896e-01 3.38483582e-01 7.73031314e-01 -2.14594570e+02] [-8.25467548e-01 2.01454540e-02 5.64089964e-01 -8.57186331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:-214.58, Z:-857.21 [[ 1.77186737e-01 -9.45038684e-01 2.74784909e-01 4.08561919e+02] [ 5.34522674e-01 3.26840635e-01 7.79397658e-01 -2.14580257e+02] [-8.26371812e-01 8.77983652e-03 5.63056430e-01 -8.57206852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:-214.56, Z:-857.22 [[ 1.86843227e-01 -9.51816411e-01 2.43177156e-01 4.08588478e+02] [ 5.35986659e-01 3.06215761e-01 7.86733887e-01 -2.14555274e+02] [-8.23290903e-01 -1.66561868e-02 5.67375239e-01 -8.57221723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:-214.54, Z:-857.25 [[ 1.90604262e-01 -9.42701014e-01 2.73833552e-01 4.08574291e+02] [ 5.35222849e-01 3.33635983e-01 7.76030626e-01 -2.14542781e+02] [-8.22925584e-01 -1.35277144e-03 5.68147563e-01 -8.57251025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:-214.53, Z:-857.28 [[ 1.91198310e-01 -9.37378758e-01 2.91143042e-01 4.08564878e+02] [ 5.31431862e-01 3.48239825e-01 7.72210594e-01 -2.14533768e+02] [-8.25241409e-01 7.07732812e-03 5.64735804e-01 -8.57280842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.60, Y:-214.51, Z:-857.29 [[ 1.99474814e-01 -9.47705142e-01 2.49128003e-01 4.08596931e+02] [ 5.32628230e-01 3.18262955e-01 7.84229469e-01 -2.14509853e+02] [-8.22506515e-01 -2.37414205e-02 5.68259956e-01 -8.57294258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:-214.50, Z:-857.32 [[ 2.01843290e-01 -9.40563010e-01 2.73130940e-01 4.08586976e+02] [ 5.31368730e-01 3.39423411e-01 7.76169454e-01 -2.14497028e+02] [-8.22743313e-01 -1.15313555e-02 5.68296110e-01 -8.57321835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:-214.48, Z:-857.34 [[ 2.04359370e-01 -9.40099087e-01 2.72857023e-01 4.08591668e+02] [ 5.29919971e-01 3.40608710e-01 7.76640542e-01 -2.14482460e+02] [-8.23056543e-01 -1.41213869e-02 5.67783862e-01 -8.57344594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.60, Y:-214.47, Z:-857.37 [[ 2.04776384e-01 -9.40048004e-01 2.72720340e-01 4.08597818e+02] [ 5.29621960e-01 3.40728218e-01 7.76791389e-01 -2.14468150e+02] [-8.23144709e-01 -1.46298506e-02 5.67643158e-01 -8.57366952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.60, Y:-214.45, Z:-857.39 [[ 2.04186966e-01 -9.40217746e-01 2.72577095e-01 4.08604135e+02] [ 5.29735220e-01 3.40276011e-01 7.76912372e-01 -2.14453101e+02] [-8.23218246e-01 -1.42416928e-02 5.67546381e-01 -8.57390213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.61, Y:-214.44, Z:-857.41 [[ 2.02445213e-01 -9.40656631e-01 2.72361962e-01 4.08611935e+02] [ 5.29589804e-01 3.39104356e-01 7.77523552e-01 -2.14438582e+02] [-8.23741813e-01 -1.31658032e-02 5.66812215e-01 -8.57412985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.62, Y:-214.42, Z:-857.44 [[ 2.01426238e-01 -9.40959920e-01 2.72069660e-01 4.08618425e+02] [ 5.29552665e-01 3.38282835e-01 7.77906613e-01 -2.14424061e+02] [-8.24015440e-01 -1.26155890e-02 5.66426872e-01 -8.57436190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.62, Y:-214.41, Z:-857.46 [[ 2.00733542e-01 -9.41230271e-01 2.71646136e-01 4.08624857e+02] [ 5.29953016e-01 3.37545097e-01 7.77954439e-01 -2.14409033e+02] [-8.23927088e-01 -1.22018607e-02 5.66564444e-01 -8.57459340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.63, Y:-214.39, Z:-857.48 [[ 1.99925259e-01 -9.41498703e-01 2.71311781e-01 4.08630403e+02] [ 5.29958557e-01 3.36809553e-01 7.78269396e-01 -2.14394816e+02] [-8.24120027e-01 -1.18117113e-02 5.66292031e-01 -8.57482444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.64, Y:-214.38, Z:-857.51 [[ 2.00080919e-01 -9.41610794e-01 2.70807567e-01 4.08637116e+02] [ 5.30392298e-01 3.36487559e-01 7.78113188e-01 -2.14380790e+02] [-8.23803154e-01 -1.20513538e-02 5.66747853e-01 -8.57505140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.64, Y:-214.37, Z:-857.53 [[ 1.99994316e-01 -9.41706600e-01 2.70538266e-01 4.08643396e+02] [ 5.30887135e-01 3.36223018e-01 7.77890051e-01 -2.14366333e+02] [-8.23505388e-01 -1.19483033e-02 5.67182611e-01 -8.57528584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:-214.35, Z:-857.55 [[ 1.99678327e-01 -9.41936160e-01 2.69971919e-01 4.08650693e+02] [ 5.31819636e-01 3.35588848e-01 7.77526849e-01 -2.14353060e+02] [-8.22980219e-01 -1.16788930e-02 5.67949965e-01 -8.57550984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:408.66, Y:-214.34, Z:-857.57 [[ 1.98686117e-01 -9.42228774e-01 2.69682713e-01 4.08656640e+02] [ 5.32742034e-01 3.34797361e-01 7.77236549e-01 -2.14339553e+02] [-8.22623701e-01 -1.07547949e-02 5.68484460e-01 -8.57573440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.66, Y:-214.33, Z:-857.60 [[ 1.97243668e-01 -9.42621948e-01 2.69367405e-01 4.08663619e+02] [ 5.33510270e-01 3.33724517e-01 7.77170984e-01 -2.14325314e+02] [-8.22472934e-01 -9.58177848e-03 5.68723538e-01 -8.57596894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.67, Y:-214.31, Z:-857.62 [[ 1.93543589e-01 -9.43533759e-01 2.68858559e-01 4.08672961e+02] [ 5.35355330e-01 3.31213710e-01 7.76976287e-01 -2.14312163e+02] [-8.22152997e-01 -6.44391635e-03 5.69230117e-01 -8.57618682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.66, Y:-214.31, Z:-857.65 [[ 1.86117332e-01 -9.38064932e-01 2.92223412e-01 4.08659855e+02] [ 5.31709432e-01 3.46267697e-01 7.72906050e-01 -2.14307947e+02] [-8.26223589e-01 1.15267322e-02 5.63224392e-01 -8.57649643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.71, Y:-214.28, Z:-857.66 [[ 1.87726599e-01 -9.54382441e-01 2.32191472e-01 4.08709639e+02] [ 5.36916399e-01 2.97659135e-01 7.89379389e-01 -2.14279406e+02] [-8.22483741e-01 -2.35200995e-02 5.68302121e-01 -8.57658131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.68, Y:-214.28, Z:-857.69 [[ 1.81880757e-01 -9.41566976e-01 2.83497832e-01 4.08682148e+02] [ 5.35428794e-01 3.36649059e-01 7.74585965e-01 -2.14275462e+02] [-8.24763843e-01 1.09106207e-02 5.65372056e-01 -8.57693580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.72, Y:-214.25, Z:-857.71 [[ 1.77960171e-01 -9.52834213e-01 2.45839663e-01 4.08718498e+02] [ 5.39807803e-01 3.03409871e-01 7.85206971e-01 -2.14253258e+02] [-8.22762246e-01 -7.02939872e-03 5.68342215e-01 -8.57706637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.69, Y:-214.25, Z:-857.74 [[ 1.70762769e-01 -9.41078876e-01 2.91908591e-01 4.08692910e+02] [ 5.37687770e-01 3.37261962e-01 7.72752373e-01 -2.14250789e+02] [-8.25670599e-01 2.49983441e-02 5.63598389e-01 -8.57742495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.74, Y:-214.22, Z:-857.75 [[ 1.68315453e-01 -9.57687013e-01 2.33464118e-01 4.08743077e+02] [ 5.42865488e-01 2.87747939e-01 7.88985542e-01 -2.14223154e+02] [-8.22780026e-01 -6.05884675e-03 5.68327652e-01 -8.57751130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.73, Y:-214.21, Z:-857.78 [[ 1.66651625e-01 -9.49054896e-01 2.67436050e-01 4.08729694e+02] [ 5.44067547e-01 3.14710175e-01 7.77784038e-01 -2.14213050e+02] [-8.22324595e-01 1.58843023e-02 5.68796931e-01 -8.57781245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.73, Y:-214.20, Z:-857.80 [[ 1.66138774e-01 -9.49228866e-01 2.67137545e-01 4.08734924e+02] [ 5.43808709e-01 3.14179899e-01 7.78179336e-01 -2.14197904e+02] [-8.22599536e-01 1.59859628e-02 5.68396387e-01 -8.57803837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.74, Y:-214.18, Z:-857.83 [[ 1.67483679e-01 -9.49085944e-01 2.66805339e-01 4.08738759e+02] [ 5.43076691e-01 3.14682822e-01 7.78487270e-01 -2.14183805e+02] [-8.22810383e-01 1.45118486e-02 5.68130690e-01 -8.57826045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:408.73, Y:-214.18, Z:-857.86 [[ 1.64386839e-01 -9.43403789e-01 2.88038639e-01 4.08725289e+02] [ 5.40250470e-01 3.30428843e-01 7.73916152e-01 -2.14177984e+02] [-8.25291704e-01 2.83913801e-02 5.63992493e-01 -8.57856519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.916559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:408.77, Y:-214.15, Z:-857.87 [[ 1.69480057e-01 -9.56310669e-01 2.38215059e-01 4.08765284e+02] [ 5.43548779e-01 2.92326743e-01 7.86828952e-01 -2.14151978e+02] [-8.22089554e-01 -3.87031136e-03 5.69345050e-01 -8.57866822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.76, Y:-214.14, Z:-857.89 [[ 1.71466923e-01 -9.51398513e-01 2.55812361e-01 4.08759159e+02] [ 5.42652315e-01 3.07924739e-01 7.81479891e-01 -2.14138870e+02] [-8.22269761e-01 4.81921705e-03 5.69077513e-01 -8.57894797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9765599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:408.76, Y:-214.13, Z:-857.92 [[ 1.72883644e-01 -9.48692785e-01 2.64751290e-01 4.08758776e+02] [ 5.42152611e-01 3.16073069e-01 7.78568149e-01 -2.14125057e+02] [-8.22302738e-01 8.93390448e-03 5.68980134e-01 -8.57919799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.76, Y:-214.11, Z:-857.94 [[ 1.72504698e-01 -9.48271721e-01 2.66501169e-01 4.08760071e+02] [ 5.41051567e-01 3.17307334e-01 7.78831983e-01 -2.14111488e+02] [-8.23107120e-01 9.83869908e-03 5.67800906e-01 -8.57943493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.77, Y:-214.09, Z:-857.97 [[ 1.75752738e-01 -9.49830887e-01 2.58712701e-01 4.08767516e+02] [ 5.39251454e-01 3.12756981e-01 7.81914919e-01 -2.14093831e+02] [-8.23601144e-01 2.08751185e-03 5.67165582e-01 -8.57966051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.77, Y:-214.08, Z:-857.99 [[ 1.78340074e-01 -9.48760492e-01 2.60860780e-01 4.08770520e+02] [ 5.38059309e-01 3.15994515e-01 7.81434352e-01 -2.14078283e+02] [-8.23824616e-01 9.97510771e-04 5.66843900e-01 -8.57989281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.77, Y:-214.06, Z:-858.01 [[ 1.79890394e-01 -9.47629096e-01 2.63891158e-01 4.08772881e+02] [ 5.36977133e-01 3.19370552e-01 7.80806000e-01 -2.14063116e+02] [-8.24193549e-01 1.24401867e-03 5.66306849e-01 -8.58013515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.78, Y:-214.05, Z:-858.04 [[ 1.81727363e-01 -9.47363971e-01 2.63584278e-01 4.08777667e+02] [ 5.36008106e-01 3.20157857e-01 7.81149318e-01 -2.14048091e+02] [-8.24421298e-01 -6.72896069e-04 5.65976211e-01 -8.58036465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.78, Y:-214.03, Z:-858.06 [[ 1.85615262e-01 -9.46694445e-01 2.63280464e-01 4.08781908e+02] [ 5.34300746e-01 3.22103008e-01 7.81519267e-01 -2.14032951e+02] [-8.24663378e-01 -4.39095482e-03 5.65606782e-01 -8.58059931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.79, Y:-214.02, Z:-858.08 [[ 1.87497453e-01 -9.46422892e-01 2.62922830e-01 4.08786014e+02] [ 5.33509862e-01 3.22868365e-01 7.81743722e-01 -2.14018820e+02] [-8.24749618e-01 -6.30303364e-03 5.65462942e-01 -8.58082762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.79, Y:-214.00, Z:-858.11 [[ 1.91503968e-01 -9.45653319e-01 2.62804167e-01 4.08790539e+02] [ 5.31906776e-01 3.25024063e-01 7.81942798e-01 -2.14004443e+02] [-8.24864481e-01 -9.95783114e-03 5.65242806e-01 -8.58106876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-213.99, Z:-858.13 [[ 1.93121055e-01 -9.45428544e-01 2.62429278e-01 4.08795123e+02] [ 5.31285189e-01 3.25622298e-01 7.82116466e-01 -2.13989717e+02] [-8.24888057e-01 -1.16183682e-02 5.65176704e-01 -8.58130429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-213.98, Z:-858.15 [[ 1.94755583e-01 -9.45208534e-01 2.62013529e-01 4.08799735e+02] [ 5.30797956e-01 3.26197668e-01 7.82207525e-01 -2.13975230e+02] [-8.24817430e-01 -1.32630364e-02 5.65243575e-01 -8.58153368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:408.80, Y:-213.96, Z:-858.18 [[ 1.97333404e-01 -9.43352646e-01 2.66730786e-01 4.08801791e+02] [ 5.31135981e-01 3.31567636e-01 7.79716277e-01 -2.13961161e+02] [-8.23986709e-01 -1.21937492e-02 5.66477904e-01 -8.58176935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.336559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.80, Y:-213.95, Z:-858.21 [[ 1.96228448e-01 -9.40524085e-01 2.77324436e-01 4.08797901e+02] [ 5.27504188e-01 3.39664591e-01 7.78695895e-01 -2.13950235e+02] [-8.26579535e-01 -6.51248590e-03 5.62782249e-01 -8.58205119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.82, Y:-213.93, Z:-858.22 [[ 1.96463034e-01 -9.48332785e-01 2.49132908e-01 4.08820480e+02] [ 5.28267987e-01 3.16428993e-01 7.87912195e-01 -2.13931341e+02] [-8.26035841e-01 -2.31866805e-02 5.63140451e-01 -8.58223838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:-213.91, Z:-858.24 [[ 2.02409884e-01 -9.53809464e-01 2.21985914e-01 4.08848147e+02] [ 5.31655824e-01 2.97391102e-01 7.93032545e-01 -2.13905266e+02] [-8.22418582e-01 -4.24975212e-02 5.67293255e-01 -8.58238885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:-213.90, Z:-858.27 [[ 2.04908766e-01 -9.42796499e-01 2.62958475e-01 4.08828904e+02] [ 5.29674834e-01 3.32732335e-01 7.80213922e-01 -2.13895540e+02] [-8.23077741e-01 -2.05901856e-02 5.67555351e-01 -8.58269786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:-213.88, Z:-858.29 [[ 2.05934612e-01 -9.42606728e-01 2.62837388e-01 4.08833598e+02] [ 5.29099046e-01 3.33202708e-01 7.80403841e-01 -2.13881342e+02] [-8.23192040e-01 -2.16451511e-02 5.67350291e-01 -8.58292334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:408.83, Y:-213.87, Z:-858.32 [[ 2.05023013e-01 -9.38058398e-01 2.79306294e-01 4.08826183e+02] [ 5.26348263e-01 3.46262253e-01 7.76569352e-01 -2.13871896e+02] [-8.25180629e-01 -1.22022055e-02 5.64737139e-01 -8.58321691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:-213.85, Z:-858.34 [[ 2.08081657e-01 -9.47160634e-01 2.44108084e-01 4.08853944e+02] [ 5.28938549e-01 3.18895495e-01 7.86466576e-01 -2.13850306e+02] [-8.22755150e-01 -3.45310927e-02 5.67346074e-01 -8.58335243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:-213.85, Z:-858.37 [[ 2.04453599e-01 -9.35462829e-01 2.88284620e-01 4.08825682e+02] [ 5.24412209e-01 3.53351606e-01 7.74683469e-01 -2.13848614e+02] [-8.26553423e-01 -7.20684865e-03 5.62812136e-01 -8.58371210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:-213.82, Z:-858.38 [[ 2.10216856e-01 -9.52209606e-01 2.21598148e-01 4.08877828e+02] [ 5.30411490e-01 3.01486054e-01 7.92319261e-01 -2.13818407e+02] [-8.21262763e-01 -4.90206606e-02 5.68440366e-01 -8.58378002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.86, Y:-213.81, Z:-858.41 [[ 2.10237216e-01 -9.42061450e-01 2.61381977e-01 4.08859774e+02] [ 5.29895495e-01 3.34482158e-01 7.79315373e-01 -2.13808551e+02] [-8.21590578e-01 -2.53359623e-02 5.69514716e-01 -8.58409915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.636559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:408.87, Y:-213.80, Z:-858.43 [[ 2.08574170e-01 -9.42570078e-01 2.60880173e-01 4.08866308e+02] [ 5.31032953e-01 3.33147474e-01 7.79112806e-01 -2.13795267e+02] [-8.21279988e-01 -2.39668383e-02 5.70021729e-01 -8.58432080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.87, Y:-213.78, Z:-858.46 [[ 2.07090409e-01 -9.42974768e-01 2.60599595e-01 4.08872486e+02] [ 5.31645420e-01 3.32081896e-01 7.79150026e-01 -2.13780695e+02] [-8.21259222e-01 -2.28079169e-02 5.70099192e-01 -8.58455258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6965599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.88, Y:-213.77, Z:-858.48 [[ 2.03860056e-01 -9.43825855e-01 2.60065055e-01 4.08879584e+02] [ 5.33530236e-01 3.29836450e-01 7.78815384e-01 -2.13767117e+02] [-8.20845031e-01 -2.00167773e-02 5.70800109e-01 -8.58478391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-213.75, Z:-858.50 [[ 2.01699128e-01 -9.44422585e-01 2.59583209e-01 4.08885656e+02] [ 5.34720765e-01 3.28226690e-01 7.78678974e-01 -2.13753125e+02] [-8.20604147e-01 -1.82543385e-02 5.71205404e-01 -8.58500874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-213.74, Z:-858.52 [[ 1.99492003e-01 -9.44982980e-01 2.59249125e-01 4.08892187e+02] [ 5.36290533e-01 3.26717192e-01 7.78234117e-01 -2.13738712e+02] [-8.20119141e-01 -1.62186312e-02 5.71962893e-01 -8.58524100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.90, Y:-213.72, Z:-858.55 [[ 1.95598467e-01 -9.45906567e-01 2.58847459e-01 4.08898271e+02] [ 5.37709373e-01 3.24176474e-01 7.78317573e-01 -2.13724742e+02] [-8.20127959e-01 -1.30530192e-02 5.72031249e-01 -8.58546584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.90, Y:-213.71, Z:-858.57 [[ 1.94643557e-01 -9.46098152e-01 2.58867094e-01 4.08902022e+02] [ 5.37151813e-01 3.23636335e-01 7.78927117e-01 -2.13709636e+02] [-8.20720303e-01 -1.25622158e-02 5.71192065e-01 -8.58570043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:-213.69, Z:-858.59 [[ 1.93410169e-01 -9.46448031e-01 2.58512343e-01 4.08906753e+02] [ 5.37417441e-01 3.22641667e-01 7.79156498e-01 -2.13694592e+02] [-8.20837987e-01 -1.17677484e-02 5.71039858e-01 -8.58593603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:-213.68, Z:-858.62 [[ 1.89917011e-01 -9.47262563e-01 2.58118511e-01 4.08912146e+02] [ 5.38646846e-01 3.20333193e-01 7.79260047e-01 -2.13678807e+02] [-8.20847797e-01 -8.96001710e-03 5.71076714e-01 -8.58616566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.92, Y:-213.66, Z:-858.64 [[ 1.87359166e-01 -9.47849465e-01 2.57833153e-01 4.08917537e+02] [ 5.39015275e-01 3.18639090e-01 7.79699726e-01 -2.13663466e+02] [-8.21193690e-01 -7.10788226e-03 5.70605294e-01 -8.58639592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.92, Y:-213.65, Z:-858.66 [[ 1.84885652e-01 -9.48403071e-01 2.57582823e-01 4.08923315e+02] [ 5.39181266e-01 3.17021696e-01 7.80244069e-01 -2.13648327e+02] [-8.21645215e-01 -5.37210103e-03 5.69973931e-01 -8.58662078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.93, Y:-213.63, Z:-858.69 [[ 1.82212265e-01 -9.48978484e-01 2.57368468e-01 4.08929178e+02] [ 5.39241611e-01 3.15321358e-01 7.80891110e-01 -2.13633066e+02] [-8.22202637e-01 -3.50415089e-03 5.69184105e-01 -8.58685220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.996559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.93, Y:-213.62, Z:-858.71 [[ 1.78792890e-01 -9.49675301e-01 2.57196279e-01 4.08934684e+02] [ 5.39341788e-01 3.13234328e-01 7.81661495e-01 -2.13617720e+02] [-8.22887318e-01 -1.03881712e-03 5.68203645e-01 -8.58707816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.94, Y:-213.60, Z:-858.73 [[ 1.77864076e-01 -9.49952970e-01 2.56814574e-01 4.08938759e+02] [ 5.39591458e-01 3.12392575e-01 7.81826028e-01 -2.13603334e+02] [-8.22924923e-01 -4.83813511e-04 5.68149924e-01 -8.58730005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.94, Y:-213.59, Z:-858.75 [[ 1.76348712e-01 -9.50282313e-01 2.56641108e-01 4.08941741e+02] [ 5.40112364e-01 3.11388805e-01 7.81866770e-01 -2.13588541e+02] [-8.22909330e-01 7.33837963e-04 5.68172241e-01 -8.58753785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.95, Y:-213.57, Z:-858.78 [[ 1.75962130e-01 -9.50469371e-01 2.56213394e-01 4.08946376e+02] [ 5.40411857e-01 3.10816993e-01 7.81887346e-01 -2.13573635e+02] [-8.22795451e-01 8.78193275e-04 5.68336938e-01 -8.58776722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:-213.56, Z:-858.80 [[ 1.75813168e-01 -9.50622227e-01 2.55748141e-01 4.08950869e+02] [ 5.40814725e-01 3.10349219e-01 7.81794599e-01 -2.13559243e+02] [-8.22562559e-01 8.62575669e-04 5.68673978e-01 -8.58798957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:-213.55, Z:-858.82 [[ 1.77303029e-01 -9.49187660e-01 2.60012352e-01 4.08951942e+02] [ 5.42255399e-01 3.14697603e-01 7.79053593e-01 -2.13545032e+02] [-8.21293321e-01 2.86453952e-03 5.70498971e-01 -8.58822202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:-213.53, Z:-858.84 [[ 1.76895643e-01 -9.52280955e-01 2.48734625e-01 4.08963416e+02] [ 5.41323115e-01 3.05197326e-01 7.83469130e-01 -2.13527968e+02] [-8.21995874e-01 -3.94647330e-03 5.69479770e-01 -8.58843913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:-213.51, Z:-858.87 [[ 1.77662228e-01 -9.50499351e-01 2.54925710e-01 4.08964326e+02] [ 5.41047917e-01 3.10725202e-01 7.81483845e-01 -2.13513303e+02] [-8.22011730e-01 -9.13136828e-04 5.69469826e-01 -8.58867956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.97, Y:-213.50, Z:-858.89 [[ 1.78971197e-01 -9.50337540e-01 2.54613178e-01 4.08968285e+02] [ 5.40287648e-01 3.11212144e-01 7.81816001e-01 -2.13497913e+02] [-8.22227808e-01 -2.35819097e-03 5.69153644e-01 -8.58890999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.97, Y:-213.48, Z:-858.91 [[ 1.79529893e-01 -9.50322697e-01 2.54275026e-01 4.08972549e+02] [ 5.39874578e-01 3.11250650e-01 7.82085976e-01 -2.13483091e+02] [-8.22377321e-01 -3.13118947e-03 5.68933861e-01 -8.58914743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:-213.48, Z:-858.95 [[ 1.76600002e-01 -9.43625975e-01 2.79968674e-01 4.08957870e+02] [ 5.36088749e-01 3.30761020e-01 7.76663377e-01 -2.13478081e+02] [-8.25482461e-01 1.29293019e-02 5.64279665e-01 -8.58949325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.98, Y:-213.46, Z:-858.97 [[ 1.77060477e-01 -9.50607825e-01 2.54939897e-01 4.08978553e+02] [ 5.38096955e-01 3.10390552e-01 7.83651308e-01 -2.13460878e+02] [-8.24076000e-01 -1.57129266e-03 5.66477075e-01 -8.58966143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-213.43, Z:-858.98 [[ 1.78512146e-01 -9.59193479e-01 2.19274447e-01 4.09008714e+02] [ 5.41257669e-01 2.81834915e-01 7.92217910e-01 -2.13433770e+02] [-8.21689448e-01 -2.27365426e-02 5.69481782e-01 -8.58976646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.98, Y:-213.43, Z:-859.02 [[ 1.71411404e-01 -9.46138591e-01 2.74663245e-01 4.08975041e+02] [ 5.37248231e-01 3.23457159e-01 7.78935046e-01 -2.13432645e+02] [-8.25822299e-01 1.40439927e-02 5.63755529e-01 -8.59015435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.00, Y:-213.41, Z:-859.03 [[ 1.69763058e-01 -9.54742953e-01 2.44226121e-01 4.08998420e+02] [ 5.36999113e-01 2.97418377e-01 7.89413873e-01 -2.13413868e+02] [-8.26324668e-01 -2.86410304e-03 5.63186772e-01 -8.59032596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-213.40, Z:-859.06 [[ 1.69771235e-01 -9.54845032e-01 2.43821027e-01 4.09005210e+02] [ 5.36910620e-01 2.97087697e-01 7.89598560e-01 -2.13397758e+02] [-8.26380490e-01 -3.14102408e-03 5.63103383e-01 -8.59057112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-213.38, Z:-859.08 [[ 1.69028862e-01 -9.54861246e-01 2.44272890e-01 4.09009938e+02] [ 5.38708763e-01 2.97047500e-01 7.88388008e-01 -2.13380194e+02] [-8.25361807e-01 -1.66838126e-03 5.64601721e-01 -8.59079256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-213.37, Z:-859.10 [[ 1.67777248e-01 -9.54181312e-01 2.47767671e-01 4.09012133e+02] [ 5.39350105e-01 2.99224920e-01 7.87125093e-01 -2.13365151e+02] [-8.25198316e-01 1.57183748e-03 5.64840924e-01 -8.59102775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:-213.34, Z:-859.12 [[ 1.70236117e-01 -9.57928932e-01 2.31066714e-01 4.09030654e+02] [ 5.42577309e-01 2.86863393e-01 7.89505705e-01 -2.13343742e+02] [-8.22574938e-01 -9.03082940e-03 5.68585012e-01 -8.59119225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.00, Y:-213.34, Z:-859.16 [[ 1.64479932e-01 -9.46447780e-01 2.77818201e-01 4.09000068e+02] [ 5.39721688e-01 3.22105509e-01 7.77784379e-01 -2.13342978e+02] [-8.25619072e-01 2.20145870e-02 5.63798286e-01 -8.59155894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:-213.32, Z:-859.17 [[ 1.66651865e-01 -9.58288317e-01 2.32186688e-01 4.09033652e+02] [ 5.41660183e-01 2.85740711e-01 7.90541898e-01 -2.13319909e+02] [-8.23912254e-01 -5.97899830e-03 5.66685847e-01 -8.59170648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:-213.31, Z:-859.20 [[ 1.66517247e-01 -9.54813184e-01 2.46178370e-01 4.09027815e+02] [ 5.42136962e-01 2.97195406e-01 7.85978629e-01 -2.13307040e+02] [-8.23625838e-01 2.58339634e-03 5.67127680e-01 -8.59196308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:-213.28, Z:-859.21 [[ 1.73729924e-01 -9.60524689e-01 2.17279163e-01 4.09053619e+02] [ 5.46282674e-01 2.77572401e-01 7.90271347e-01 -2.13280629e+02] [-8.19385839e-01 -1.85979391e-02 5.72940628e-01 -8.59210513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:-213.27, Z:-859.24 [[ 1.75125965e-01 -9.52257834e-01 2.50071820e-01 4.09037746e+02] [ 5.46176397e-01 3.05294969e-01 7.80055335e-01 -2.13270062e+02] [-8.19159471e-01 -2.46181185e-05 5.73565829e-01 -8.59240495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.02, Y:-213.26, Z:-859.27 [[ 1.71670685e-01 -9.46834595e-01 2.72090842e-01 4.09022245e+02] [ 5.43238264e-01 3.21386713e-01 7.75630562e-01 -2.13264645e+02] [-8.21840230e-01 1.46571265e-02 5.69529459e-01 -8.59270503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.07, Y:-213.24, Z:-859.28 [[ 1.78463791e-01 -9.60164179e-01 2.15024244e-01 4.09066732e+02] [ 5.47247477e-01 2.78472775e-01 7.89286458e-01 -2.13235190e+02] [-8.17722981e-01 -2.31875789e-02 5.75144731e-01 -8.59279003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:-213.22, Z:-859.31 [[ 1.79789692e-01 -9.51768549e-01 2.48620787e-01 4.09051203e+02] [ 5.46941533e-01 3.06790029e-01 7.78931857e-01 -2.13224775e+02] [-8.17637222e-01 -4.06288440e-03 5.75719434e-01 -8.59308881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.06, Y:-213.21, Z:-859.33 [[ 1.80410158e-01 -9.51775831e-01 2.48142989e-01 4.09055985e+02] [ 5.47196933e-01 3.06758123e-01 7.78765030e-01 -2.13209387e+02] [-8.17329610e-01 -4.71403932e-03 5.76151096e-01 -8.59332243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.06, Y:-213.19, Z:-859.36 [[ 1.80950534e-01 -9.51793236e-01 2.47682338e-01 4.09060987e+02] [ 5.47396697e-01 3.06694262e-01 7.78649784e-01 -2.13194078e+02] [-8.17076349e-01 -5.31660081e-03 5.76504964e-01 -8.59355507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:-213.19, Z:-859.38 [[ 1.74956428e-01 -9.47875361e-01 2.66312878e-01 4.09046502e+02] [ 5.43530766e-01 3.18517671e-01 7.76608525e-01 -2.13189017e+02] [-8.20953443e-01 8.87658913e-03 5.70926134e-01 -8.59382217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.10, Y:-213.16, Z:-859.39 [[ 1.80947448e-01 -9.61831526e-01 2.05275758e-01 4.09097018e+02] [ 5.47092252e-01 2.71886522e-01 7.91686672e-01 -2.13157351e+02] [-8.17280912e-01 -3.09489056e-02 5.75407748e-01 -8.59393358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.08, Y:-213.15, Z:-859.42 [[ 1.81185174e-01 -9.51845421e-01 2.47309984e-01 4.09076788e+02] [ 5.46481585e-01 3.06518501e-01 7.79361460e-01 -2.13147746e+02] [-8.17636722e-01 -6.05838986e-03 5.75702602e-01 -8.59424840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.08, Y:-213.13, Z:-859.45 [[ 1.80962860e-01 -9.51961149e-01 2.47027154e-01 4.09082400e+02] [ 5.46026595e-01 3.06155335e-01 7.79822973e-01 -2.13133086e+02] [-8.17989854e-01 -6.23559938e-03 5.75198850e-01 -8.59447012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.09, Y:-213.12, Z:-859.47 [[ 1.80938541e-01 -9.52011566e-01 2.46850610e-01 4.09088298e+02] [ 5.46088487e-01 3.05997181e-01 7.79841708e-01 -2.13117825e+02] [-8.17953916e-01 -6.30114431e-03 5.75249239e-01 -8.59469803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.09, Y:-213.10, Z:-859.49 [[ 1.80854372e-01 -9.52100152e-01 2.46570470e-01 4.09094246e+02] [ 5.45665653e-01 3.05715858e-01 7.80247916e-01 -2.13102955e+02] [-8.18254662e-01 -6.56621005e-03 5.74818401e-01 -8.59491715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.10, Y:-213.09, Z:-859.52 [[ 1.80824036e-01 -9.52136008e-01 2.46454236e-01 4.09099560e+02] [ 5.45469893e-01 3.05601547e-01 7.80429555e-01 -2.13087756e+02] [-8.18391877e-01 -6.68705645e-03 5.74621632e-01 -8.59515056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.076559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.10, Y:-213.07, Z:-859.54 [[ 1.80890521e-01 -9.52234151e-01 2.46025894e-01 4.09104408e+02] [ 5.45679056e-01 3.05290485e-01 7.80405079e-01 -2.13073419e+02] [-8.18237733e-01 -6.91670375e-03 5.74838387e-01 -8.59536894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.11, Y:-213.06, Z:-859.56 [[ 1.81174139e-01 -9.52198896e-01 2.45953644e-01 4.09109430e+02] [ 5.45128644e-01 3.05389695e-01 7.80750854e-01 -2.13059129e+02] [-8.18541809e-01 -7.37548738e-03 5.74399608e-01 -8.59559034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.11, Y:-213.04, Z:-859.58 [[ 1.80674595e-01 -9.52339745e-01 2.45775711e-01 4.09114232e+02] [ 5.45373037e-01 3.04958523e-01 7.80748711e-01 -2.13043743e+02] [-8.18489427e-01 -7.02201087e-03 5.74478676e-01 -8.59582482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.12, Y:-213.03, Z:-859.61 [[ 1.80149877e-01 -9.52541437e-01 2.45378958e-01 4.09119431e+02] [ 5.45627851e-01 3.04333484e-01 7.80814561e-01 -2.13028391e+02] [-8.18435257e-01 -6.77805360e-03 5.74558777e-01 -8.59605910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1965599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:409.12, Y:-213.01, Z:-859.63 [[ 1.78936726e-01 -9.52884608e-01 2.44933812e-01 4.09124375e+02] [ 5.46303175e-01 3.03275691e-01 7.80753929e-01 -2.13013710e+02] [-8.18250872e-01 -5.89743302e-03 5.74831046e-01 -8.59627808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.13, Y:-213.00, Z:-859.65 [[ 1.75739025e-01 -9.53539585e-01 2.44699928e-01 4.09131032e+02] [ 5.47663203e-01 3.01251117e-01 7.80584897e-01 -2.12998755e+02] [-8.18034725e-01 -3.16608269e-03 5.75160121e-01 -8.59650743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.14, Y:-212.98, Z:-859.67 [[ 1.75482986e-01 -9.53686558e-01 2.44310604e-01 4.09136001e+02] [ 5.47745431e-01 3.00785360e-01 7.80706802e-01 -2.12983337e+02] [-8.18034635e-01 -3.18074340e-03 5.75160168e-01 -8.59674285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.15, Y:-212.97, Z:-859.69 [[ 1.73585027e-01 -9.56240445e-01 2.35525902e-01 4.09146778e+02] [ 5.47020544e-01 2.92490510e-01 7.84358226e-01 -2.12968458e+02] [-8.18924150e-01 -7.31533726e-03 5.73855141e-01 -8.59693684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.316559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.15, Y:-212.95, Z:-859.72 [[ 1.70492260e-01 -9.54285717e-01 2.45501852e-01 4.09146481e+02] [ 5.50269292e-01 2.98888069e-01 7.79659944e-01 -2.12953083e+02] [-8.17395924e-01 2.16614434e-03 5.76072228e-01 -8.59721377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.15, Y:-212.94, Z:-859.74 [[ 1.64935306e-01 -9.55935109e-01 2.42867067e-01 4.09154604e+02] [ 5.52512309e-01 2.93526158e-01 7.80110597e-01 -2.12938005e+02] [-8.17022946e-01 5.51926402e-03 5.76578741e-01 -8.59744023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.16, Y:-212.92, Z:-859.77 [[ 1.62163691e-01 -9.56523807e-01 2.42415230e-01 4.09160511e+02] [ 5.53730576e-01 2.91551349e-01 7.79987346e-01 -2.12922779e+02] [-8.16752953e-01 7.74709840e-03 5.76935522e-01 -8.59767236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.17, Y:-212.91, Z:-859.79 [[ 1.56104986e-01 -9.57601938e-01 2.42135835e-01 4.09166653e+02] [ 5.55048048e-01 2.87820429e-01 7.80436458e-01 -2.12907741e+02] [-8.17039104e-01 1.25670006e-02 5.76445290e-01 -8.59790757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4365599950002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:409.17, Y:-212.89, Z:-859.81 [[ 1.52702951e-01 -9.58235388e-01 2.41798986e-01 4.09172367e+02] [ 5.55849934e-01 2.85576952e-01 7.80689859e-01 -2.12892131e+02] [-8.17136867e-01 1.51903048e-02 5.76243521e-01 -8.59813647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.85, Z:-859.81 [[ 1.53543525e-01 -9.71800461e-01 1.78964381e-01 4.09221126e+02] [ 5.65442261e-01 2.34937873e-01 7.90619533e-01 -2.12849787e+02] [-8.10369937e-01 -2.02004857e-02 5.85570239e-01 -8.59812128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.19, Y:-212.84, Z:-859.85 [[ 1.48420756e-01 -9.59554984e-01 2.39218545e-01 4.09193467e+02] [ 5.65712836e-01 2.80791677e-01 7.75322527e-01 -2.12842719e+02] [-8.11135171e-01 2.02550462e-02 5.84507884e-01 -8.59848145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.82, Z:-859.87 [[ 1.47024101e-01 -9.62172203e-01 2.29365572e-01 4.09206893e+02] [ 5.66877216e-01 2.71989544e-01 7.77606526e-01 -2.12821934e+02] [-8.10576422e-01 1.56952166e-02 5.85422518e-01 -8.59869375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.14, Y:-212.84, Z:-859.93 [[ 1.37641754e-01 -9.32918123e-01 3.32743932e-01 4.09137188e+02] [ 5.56261904e-01 3.50767359e-01 7.53349158e-01 -2.12840877e+02] [-8.19528792e-01 8.14004734e-02 5.67227046e-01 -8.59926108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.81, Z:-859.93 [[ 1.33211783e-01 -9.61277324e-01 2.41247855e-01 4.09196437e+02] [ 5.54124308e-01 2.74055586e-01 7.86027854e-01 -2.12813558e+02] [-8.21706074e-01 2.89731287e-02 5.69174565e-01 -8.59930815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.80, Z:-859.95 [[ 1.33442421e-01 -9.61366114e-01 2.40766102e-01 4.09199478e+02] [ 5.54515933e-01 2.73778678e-01 7.85848151e-01 -2.12798086e+02] [-8.21404408e-01 2.86431598e-02 5.69626517e-01 -8.59952921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.77, Z:-859.96 [[ 1.37561575e-01 -9.69388212e-01 2.03379714e-01 4.09224183e+02] [ 5.56740326e-01 2.45499456e-01 7.93580637e-01 -2.12769004e+02] [-8.19217324e-01 4.06348548e-03 5.73468801e-01 -8.59962398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6765599950002 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.76, Z:-860.00 [[ 1.40131768e-01 -9.59994702e-01 2.42431971e-01 4.09203553e+02] [ 5.55879749e-01 2.78897362e-01 7.83079795e-01 -2.12759951e+02] [-8.19366092e-01 2.50286673e-02 5.72723994e-01 -8.59995141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.19, Y:-212.75, Z:-860.03 [[ 1.41047560e-01 -9.52251097e-01 2.70783003e-01 4.09185401e+02] [ 5.53800162e-01 3.02611594e-01 7.75713610e-01 -2.12753424e+02] [-8.20616212e-01 4.05471589e-02 5.70039439e-01 -8.60027737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.73, Z:-860.04 [[ 1.45408197e-01 -9.59951049e-01 2.39479519e-01 4.09201982e+02] [ 5.52037126e-01 2.79590460e-01 7.85547062e-01 -2.12732283e+02] [-8.21042915e-01 1.79766036e-02 5.70583363e-01 -8.60044495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.72, Z:-860.07 [[ 1.47914745e-01 -9.59668558e-01 2.39076321e-01 4.09203613e+02] [ 5.51369184e-01 2.80699925e-01 7.85620503e-01 -2.12716000e+02] [-8.21044001e-01 1.56144591e-02 5.70651328e-01 -8.60067362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.70, Z:-860.09 [[ 1.51613865e-01 -9.59194609e-01 2.38660719e-01 4.09202259e+02] [ 5.50402680e-01 2.82481542e-01 7.85659639e-01 -2.12698975e+02] [-8.21017738e-01 1.22426050e-02 5.70771402e-01 -8.60090253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.68, Z:-860.11 [[ 1.52482840e-01 -9.59143378e-01 2.38312746e-01 4.09204389e+02] [ 5.49927709e-01 2.82698029e-01 7.85914334e-01 -2.12682823e+02] [-8.21175072e-01 1.12163328e-02 5.70566118e-01 -8.60113287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.856559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.67, Z:-860.14 [[ 1.53132515e-01 -9.59112569e-01 2.38019985e-01 4.09206693e+02] [ 5.49215302e-01 2.82837152e-01 7.86362319e-01 -2.12667187e+02] [-8.21530879e-01 1.03065782e-02 5.70070864e-01 -8.60135683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.65, Z:-860.16 [[ 1.53797100e-01 -9.59045645e-01 2.37861100e-01 4.09206114e+02] [ 5.48973095e-01 2.83087923e-01 7.86441205e-01 -2.12650134e+02] [-8.21568617e-01 9.62696800e-03 5.70028358e-01 -8.60158372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.63, Z:-860.18 [[ 1.53953759e-01 -9.59124967e-01 2.37439546e-01 4.09207442e+02] [ 5.49062320e-01 2.82830365e-01 7.86471585e-01 -2.12634411e+02] [-8.21479646e-01 9.28885119e-03 5.70162177e-01 -8.60181331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.62, Z:-860.20 [[ 1.53813387e-01 -9.59220586e-01 2.37144070e-01 4.09209023e+02] [ 5.48596600e-01 2.82513365e-01 7.86910395e-01 -2.12618648e+02] [-8.21817019e-01 9.05907761e-03 5.69679490e-01 -8.60204929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.60, Z:-860.23 [[ 1.53804824e-01 -9.59302327e-01 2.36818752e-01 4.09210787e+02] [ 5.48238174e-01 2.82245452e-01 7.87256254e-01 -2.12602806e+02] [-8.22057773e-01 8.74927067e-03 5.69336868e-01 -8.60228402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.59, Z:-860.25 [[ 1.54633511e-01 -9.59212220e-01 2.36644024e-01 4.09209826e+02] [ 5.46845101e-01 2.82586370e-01 7.88102391e-01 -2.12586133e+02] [-8.22829820e-01 7.54058580e-03 5.68237826e-01 -8.60251229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.57, Z:-860.27 [[ 1.55737135e-01 -9.59129237e-01 2.36256328e-01 4.09211847e+02] [ 5.46482300e-01 2.82897100e-01 7.88242556e-01 -2.12570286e+02] [-8.22862711e-01 6.35126399e-03 5.68204735e-01 -8.60273249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:-212.55, Z:-860.29 [[ 1.60762551e-01 -9.62728523e-01 2.17506768e-01 4.09229552e+02] [ 5.48825394e-01 2.70357323e-01 7.91010496e-01 -2.12545786e+02] [-8.20332914e-01 -7.79162748e-03 5.71833194e-01 -8.60292333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:-212.54, Z:-860.33 [[ 1.59763231e-01 -9.50737506e-01 2.65657497e-01 4.09198985e+02] [ 5.44517793e-01 3.09344720e-01 7.79619277e-01 -2.12540791e+02] [-8.23393031e-01 2.01007396e-02 5.67115400e-01 -8.60325556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.52, Z:-860.34 [[ 1.64806428e-01 -9.57724880e-01 2.35800544e-01 4.09214478e+02] [ 5.43381891e-01 2.87679768e-01 7.88654849e-01 -2.12522296e+02] [-8.23149416e-01 -1.84564314e-03 5.67821831e-01 -8.60342725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.51, Z:-860.37 [[ 1.67596370e-01 -9.57409949e-01 2.35111987e-01 4.09216983e+02] [ 5.43107676e-01 2.88697684e-01 7.88471750e-01 -2.12505974e+02] [-8.22766984e-01 -4.45387839e-03 5.68361376e-01 -8.60366337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.49, Z:-860.39 [[ 1.72547823e-01 -9.55771217e-01 2.38177729e-01 4.09211987e+02] [ 5.43048631e-01 2.94042121e-01 7.86535070e-01 -2.12490698e+02] [-8.21781865e-01 -6.37282455e-03 5.69766578e-01 -8.60390081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-212.48, Z:-860.41 [[ 1.74480113e-01 -9.56305031e-01 2.34600464e-01 4.09214866e+02] [ 5.43102708e-01 2.92201933e-01 7.87183257e-01 -2.12475543e+02] [-8.21338018e-01 -9.93567665e-03 5.70355278e-01 -8.60412199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.46, Z:-860.44 [[ 1.75963483e-01 -9.56126451e-01 2.34220114e-01 4.09216727e+02] [ 5.43270199e-01 2.92739523e-01 7.86867881e-01 -2.12460088e+02] [-8.20910679e-01 -1.12152052e-02 5.70946474e-01 -8.60435601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.44, Z:-860.46 [[ 1.78188316e-01 -9.55889910e-01 2.33502473e-01 4.09216914e+02] [ 5.44320379e-01 2.93440246e-01 7.85880492e-01 -2.12444694e+02] [-8.19734255e-01 -1.29345666e-02 5.72597981e-01 -8.60458146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.43, Z:-860.48 [[ 1.78068455e-01 -9.55980310e-01 2.33223654e-01 4.09219459e+02] [ 5.44955554e-01 2.93152175e-01 7.85547737e-01 -2.12429375e+02] [-8.19338190e-01 -1.27847466e-02 5.73167934e-01 -8.60481632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.41, Z:-860.50 [[ 1.77726530e-01 -9.56162186e-01 2.32738384e-01 4.09222454e+02] [ 5.45599236e-01 2.92566852e-01 7.85319114e-01 -2.12413866e+02] [-8.18983977e-01 -1.25901563e-02 5.73678250e-01 -8.60504894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:409.22, Y:-212.40, Z:-860.53 [[ 1.75904757e-01 -9.56626877e-01 2.32212264e-01 4.09224823e+02] [ 5.46856875e-01 2.91104609e-01 7.84987684e-01 -2.12398917e+02] [-8.18538377e-01 -1.10961948e-02 5.74344670e-01 -8.60527073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.396559995 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:409.23, Y:-212.38, Z:-860.55 [[ 1.74438636e-01 -9.56949806e-01 2.31987566e-01 4.09228905e+02] [ 5.47092539e-01 2.90079376e-01 7.85202973e-01 -2.12383584e+02] [-8.18694642e-01 -1.00510689e-02 5.74141150e-01 -8.60549918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:-212.37, Z:-860.57 [[ 1.73217736e-01 -9.57239191e-01 2.31708325e-01 4.09233533e+02] [ 5.46899962e-01 2.89145785e-01 7.85681327e-01 -2.12368119e+02] [-8.19082443e-01 -9.37266648e-03 5.73599255e-01 -8.60572657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.24, Y:-212.35, Z:-860.59 [[ 1.70898425e-01 -9.57680898e-01 2.31605322e-01 4.09238142e+02] [ 5.46037854e-01 2.87720917e-01 7.86803238e-01 -2.12352386e+02] [-8.20144128e-01 -7.99816158e-03 5.72101075e-01 -8.60594699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:409.24, Y:-212.34, Z:-860.62 [[ 1.69485560e-01 -9.57934742e-01 2.31593772e-01 4.09242466e+02] [ 5.45623240e-01 2.86898561e-01 7.87390942e-01 -2.12337007e+02] [-8.20713059e-01 -7.08845078e-03 5.71296620e-01 -8.60617299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.25, Y:-212.32, Z:-860.64 [[ 1.68589899e-01 -9.58149413e-01 2.31359348e-01 4.09246991e+02] [ 5.45061150e-01 2.86188985e-01 7.88038202e-01 -2.12321390e+02] [-8.21270838e-01 -6.75028842e-03 5.70498593e-01 -8.60640695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.25, Y:-212.31, Z:-860.66 [[ 1.68905592e-01 -9.57811573e-01 2.32525033e-01 4.09250335e+02] [ 5.44676176e-01 2.87325019e-01 7.87890981e-01 -2.12306900e+02] [-8.21461359e-01 -6.42834643e-03 5.70227947e-01 -8.60662638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:-212.29, Z:-860.69 [[ 1.66923645e-01 -9.60355345e-01 2.23280337e-01 4.09260117e+02] [ 5.44026803e-01 2.78575469e-01 7.91473655e-01 -2.12289982e+02] [-8.22296379e-01 -1.06451797e-02 5.68959880e-01 -8.60685592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:-212.28, Z:-860.71 [[ 1.66579189e-01 -9.58606498e-01 2.30921971e-01 4.09260164e+02] [ 5.43636116e-01 2.84671249e-01 7.89570804e-01 -2.12275924e+02] [-8.22624549e-01 -5.98854050e-03 5.68553419e-01 -8.60709197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:-212.26, Z:-860.73 [[ 1.65733192e-01 -9.58792785e-01 2.30757240e-01 4.09264102e+02] [ 5.43872011e-01 2.84055639e-01 7.89630059e-01 -2.12261269e+02] [-8.22639499e-01 -5.36550574e-03 5.68538008e-01 -8.60732407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.27, Y:-212.25, Z:-860.75 [[ 1.65471620e-01 -9.58954062e-01 2.30274293e-01 4.09268560e+02] [ 5.44409669e-01 2.83512516e-01 7.89454727e-01 -2.12246880e+02] [-8.22336461e-01 -5.26880104e-03 5.68977139e-01 -8.60754755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6965599950001 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:409.27, Y:-212.23, Z:-860.78 [[ 1.65104839e-01 -9.59086233e-01 2.29986936e-01 4.09272971e+02] [ 5.45151190e-01 2.83071584e-01 7.89101171e-01 -2.12231794e+02] [-8.21918836e-01 -4.90676973e-03 5.69583490e-01 -8.60778289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.28, Y:-212.22, Z:-860.80 [[ 1.64804911e-01 -9.59274315e-01 2.29416933e-01 4.09278277e+02] [ 5.46208556e-01 2.82437812e-01 7.88596916e-01 -2.12216679e+02] [-8.21276783e-01 -4.65515265e-03 5.70510977e-01 -8.60801778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.28, Y:-212.20, Z:-860.82 [[ 1.64503177e-01 -9.59417805e-01 2.29033144e-01 4.09283304e+02] [ 5.46266090e-01 2.81950325e-01 7.88731496e-01 -2.12201784e+02] [-8.21299010e-01 -4.63579659e-03 5.70479137e-01 -8.60824579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.29, Y:-212.19, Z:-860.85 [[ 1.64519749e-01 -9.59508396e-01 2.28641400e-01 4.09287997e+02] [ 5.46219613e-01 2.81637453e-01 7.88875453e-01 -2.12187238e+02] [-8.21326602e-01 -4.89717468e-03 5.70437228e-01 -8.60846641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.29, Y:-212.17, Z:-860.87 [[ 1.64744942e-01 -9.59505354e-01 2.28491969e-01 4.09292971e+02] [ 5.46040867e-01 2.81642068e-01 7.88997539e-01 -2.12172334e+02] [-8.21400314e-01 -5.21740057e-03 5.70328242e-01 -8.60870320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:-212.16, Z:-860.89 [[ 1.64579583e-01 -9.59628382e-01 2.28094123e-01 4.09297931e+02] [ 5.46121077e-01 2.81221021e-01 7.89092204e-01 -2.12157035e+02] [-8.21380137e-01 -5.30145801e-03 5.70356524e-01 -8.60893897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:-212.14, Z:-860.92 [[ 1.64845444e-01 -9.59600480e-01 2.28019515e-01 4.09302663e+02] [ 5.46032819e-01 2.81310892e-01 7.89121247e-01 -2.12142465e+02] [-8.21385500e-01 -5.57690383e-03 5.70346174e-01 -8.60917345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.31, Y:-212.13, Z:-860.94 [[ 1.64629660e-01 -9.60110860e-01 2.26018165e-01 4.09308927e+02] [ 5.46061682e-01 2.79541889e-01 7.89729683e-01 -2.12127788e+02] [-8.21409590e-01 -6.59306983e-03 5.70300638e-01 -8.60940780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.31, Y:-212.11, Z:-860.96 [[ 1.64542135e-01 -9.59843630e-01 2.27213760e-01 4.09313516e+02] [ 5.46046262e-01 2.80475155e-01 7.89409379e-01 -2.12112876e+02] [-8.21437378e-01 -5.82188013e-03 5.70269006e-01 -8.60964587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.32, Y:-212.10, Z:-860.99 [[ 1.65886208e-01 -9.57358649e-01 2.36529455e-01 4.09316308e+02] [ 5.43964847e-01 2.88895007e-01 7.87808302e-01 -2.12099563e+02] [-8.22547270e-01 -2.02282275e-03 5.68693148e-01 -8.60994486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.32, Y:-212.08, Z:-861.02 [[ 1.66170706e-01 -9.57906494e-01 2.34099221e-01 4.09322175e+02] [ 5.45324584e-01 2.87062489e-01 7.87538079e-01 -2.12082183e+02] [-8.21588945e-01 -3.20569763e-03 5.70071337e-01 -8.61016654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.33, Y:-212.07, Z:-861.04 [[ 1.66414195e-01 -9.58362892e-01 2.32049310e-01 4.09325905e+02] [ 5.45148736e-01 2.85514900e-01 7.88222112e-01 -2.12067020e+02] [-8.21656359e-01 -4.66996020e-03 5.69964052e-01 -8.61036489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:-212.05, Z:-861.06 [[ 1.69448399e-01 -9.59541764e-01 2.24870727e-01 4.09335295e+02] [ 5.43128161e-01 2.81313880e-01 7.91122179e-01 -2.12051661e+02] [-8.22374027e-01 -1.19207619e-02 5.68822340e-01 -8.61057975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:-212.04, Z:-861.08 [[ 1.70746166e-01 -9.59325613e-01 2.24811289e-01 4.09340089e+02] [ 5.42149330e-01 2.81989694e-01 7.91552852e-01 -2.12036708e+02] [-8.22751391e-01 -1.32733253e-02 5.68246397e-01 -8.61081017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:-212.02, Z:-861.10 [[ 1.71996828e-01 -9.59163914e-01 2.24547718e-01 4.09344894e+02] [ 5.41106633e-01 2.82466818e-01 7.92096022e-01 -2.12021756e+02] [-8.23177200e-01 -1.47337436e-02 5.67593352e-01 -8.61104316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.35, Y:-212.01, Z:-861.13 [[ 1.73161969e-01 -9.59030924e-01 2.24220023e-01 4.09350159e+02] [ 5.40452456e-01 2.82847277e-01 7.92406815e-01 -2.12006719e+02] [-8.23362663e-01 -1.60344622e-02 5.67289010e-01 -8.61127592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:-211.99, Z:-861.15 [[ 1.75131121e-01 -9.58782224e-01 2.23753741e-01 4.09356163e+02] [ 5.40302799e-01 2.83580574e-01 7.92246769e-01 -2.11992845e+02] [-8.23044334e-01 -1.78522921e-02 5.67696504e-01 -8.61149898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:-211.98, Z:-861.17 [[ 1.74889276e-01 -9.58887946e-01 2.23489706e-01 4.09360571e+02] [ 5.40379403e-01 2.83226224e-01 7.92321278e-01 -2.11977395e+02] [-8.23045468e-01 -1.77992612e-02 5.67696525e-01 -8.61173502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.236559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.37, Y:-211.96, Z:-861.20 [[ 1.75321100e-01 -9.58908383e-01 2.23063275e-01 4.09365794e+02] [ 5.40657702e-01 2.83126216e-01 7.92167151e-01 -2.11962852e+02] [-8.22770783e-01 -1.82827390e-02 5.68079203e-01 -8.61196831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.37, Y:-211.95, Z:-861.22 [[ 1.75582596e-01 -9.58956139e-01 2.22651914e-01 4.09371163e+02] [ 5.40759950e-01 2.82937875e-01 7.92164652e-01 -2.11948299e+02] [-8.22647816e-01 -1.86890877e-02 5.68244040e-01 -8.61220645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.296559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:409.38, Y:-211.93, Z:-861.24 [[ 1.75851379e-01 -9.59005702e-01 2.22225911e-01 4.09377503e+02] [ 5.40861151e-01 2.82741700e-01 7.92165605e-01 -2.11933745e+02] [-8.22523864e-01 -1.91100520e-02 5.68409446e-01 -8.61244251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.38, Y:-211.92, Z:-861.27 [[ 1.75987494e-01 -9.59067375e-01 2.21851690e-01 4.09383158e+02] [ 5.40682660e-01 2.82506056e-01 7.92371497e-01 -2.11919570e+02] [-8.22612098e-01 -1.94961128e-02 5.68268632e-01 -8.61266468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.38, Y:-211.91, Z:-861.29 [[ 1.72790360e-01 -9.57117034e-01 2.32530590e-01 4.09381284e+02] [ 5.38577163e-01 2.89473534e-01 7.91289904e-01 -2.11909938e+02] [-8.24668497e-01 -1.14916024e-02 5.65499613e-01 -8.61293509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.41, Y:-211.89, Z:-861.31 [[ 1.75938230e-01 -9.62694123e-01 2.05586394e-01 4.09405801e+02] [ 5.40547439e-01 2.69020687e-01 7.97142608e-01 -2.11889004e+02] [-8.22711496e-01 -2.91186607e-02 5.67712866e-01 -8.61309623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-211.88, Z:-861.34 [[ 1.75745518e-01 -9.59246484e-01 2.21268381e-01 4.09402844e+02] [ 5.39973541e-01 2.81868968e-01 7.93081623e-01 -2.11875983e+02] [-8.23129448e-01 -1.99014692e-02 5.67504928e-01 -8.61335853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-211.86, Z:-861.36 [[ 1.75153276e-01 -9.57588919e-01 2.28789843e-01 4.09404790e+02] [ 5.41934707e-01 2.87782155e-01 7.89612693e-01 -2.11861060e+02] [-8.21965999e-01 -1.43140936e-02 5.69356657e-01 -8.61362448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-211.85, Z:-861.38 [[ 1.75859435e-01 -9.59404570e-01 2.20491111e-01 4.09417376e+02] [ 5.40109673e-01 2.81294628e-01 7.93192836e-01 -2.11846668e+02] [-8.23015796e-01 -2.04010621e-02 5.67652002e-01 -8.61383575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-211.83, Z:-861.41 [[ 1.76246360e-01 -9.59410751e-01 2.20155019e-01 4.09423126e+02] [ 5.39915463e-01 2.81232491e-01 7.93347074e-01 -2.11833116e+02] [-8.23060456e-01 -2.09594349e-02 5.67566902e-01 -8.61405884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.536559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.43, Y:-211.82, Z:-861.43 [[ 1.77676620e-01 -9.59204322e-01 2.19904722e-01 4.09430567e+02] [ 5.39935350e-01 2.81842041e-01 7.93117193e-01 -2.11819953e+02] [-8.22739835e-01 -2.21840490e-02 5.67985063e-01 -8.61429171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.44, Y:-211.80, Z:-861.45 [[ 1.77850893e-01 -9.59553655e-01 2.18233461e-01 4.09437859e+02] [ 5.40310483e-01 2.80570107e-01 7.93312673e-01 -2.11804470e+02] [-8.22455860e-01 -2.31775405e-02 5.68356543e-01 -8.61453455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.44, Y:-211.79, Z:-861.48 [[ 1.79491073e-01 -9.56690271e-01 2.29186998e-01 4.09437554e+02] [ 5.40668652e-01 2.90563837e-01 7.89461884e-01 -2.11791140e+02] [-8.21863957e-01 -1.77871357e-02 5.69406054e-01 -8.61479025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-211.79, Z:-861.51 [[ 1.72488047e-01 -9.51621105e-01 2.54293424e-01 4.09416924e+02] [ 5.33536564e-01 3.07273840e-01 7.87985737e-01 -2.11793811e+02] [-8.28001575e-01 -2.43280476e-04 5.60725719e-01 -8.61508380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.50, Y:-211.75, Z:-861.51 [[ 1.82148790e-01 -9.72413130e-01 1.45720699e-01 4.09500540e+02] [ 5.43383003e-01 2.23062948e-01 8.09307008e-01 -2.11750310e+02] [-8.19485650e-01 -6.82321409e-02 5.69023413e-01 -8.61509053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-211.75, Z:-861.55 [[ 1.82959439e-01 -9.58390844e-01 2.19118312e-01 4.09465706e+02] [ 5.41834352e-01 2.84274006e-01 7.90951215e-01 -2.11745520e+02] [-8.20330043e-01 -2.59861619e-02 5.71299694e-01 -8.61546124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-211.73, Z:-861.57 [[ 1.83107498e-01 -9.58483540e-01 2.18588537e-01 4.09474328e+02] [ 5.42728435e-01 2.83950508e-01 7.90454271e-01 -2.11731953e+02] [-8.19705734e-01 -2.61038892e-02 5.72189739e-01 -8.61569156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:409.48, Y:-211.72, Z:-861.59 [[ 1.83065170e-01 -9.58595286e-01 2.18133497e-01 4.09480788e+02] [ 5.43113254e-01 2.83563199e-01 7.90328986e-01 -2.11717015e+02] [-8.19460272e-01 -2.62105171e-02 5.72536350e-01 -8.61592511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.49, Y:-211.70, Z:-861.62 [[ 1.82732425e-01 -9.58740566e-01 2.17773708e-01 4.09486856e+02] [ 5.43000906e-01 2.83071311e-01 7.90582475e-01 -2.11702766e+02] [-8.19608978e-01 -2.62137319e-02 5.72323303e-01 -8.61615197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.50, Y:-211.69, Z:-861.64 [[ 1.81858707e-01 -9.58920968e-01 2.17710789e-01 4.09495503e+02] [ 5.42658699e-01 2.82505776e-01 7.91019610e-01 -2.11688183e+02] [-8.20029845e-01 -2.57111501e-02 5.71742940e-01 -8.61638474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.836559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.50, Y:-211.67, Z:-861.66 [[ 1.81031559e-01 -9.59148569e-01 2.17397325e-01 4.09501823e+02] [ 5.42432648e-01 2.81764614e-01 7.91438895e-01 -2.11673952e+02] [-8.20362357e-01 -2.53520103e-02 5.71281786e-01 -8.61660547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.51, Y:-211.66, Z:-861.68 [[ 1.79869631e-01 -9.59404483e-01 2.17232487e-01 4.09508713e+02] [ 5.42190727e-01 2.80953944e-01 7.91892731e-01 -2.11659231e+02] [-8.20777760e-01 -2.46560127e-02 5.70715297e-01 -8.61683484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.896559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.52, Y:-211.64, Z:-861.71 [[ 1.78686097e-01 -9.59689237e-01 2.16951257e-01 4.09515909e+02] [ 5.41916612e-01 2.80034807e-01 7.92405763e-01 -2.11644191e+02] [-8.21217185e-01 -2.40224028e-02 5.70109866e-01 -8.61706879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.51, Y:-211.64, Z:-861.73 [[ 1.72194889e-01 -9.56986647e-01 2.33506914e-01 4.09509487e+02] [ 5.38755753e-01 2.89945431e-01 7.90995503e-01 -2.11638219e+02] [-8.24676397e-01 -1.04021896e-02 5.65509182e-01 -8.61733528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9565599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:409.53, Y:-211.62, Z:-861.75 [[ 1.71251855e-01 -9.63447061e-01 2.06015928e-01 4.09530900e+02] [ 5.38602028e-01 2.66642561e-01 7.99255654e-01 -2.11620766e+02] [-8.24973126e-01 -2.59134168e-02 5.64577574e-01 -8.61752400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.55, Y:-211.60, Z:-861.77 [[ 1.72766844e-01 -9.65702957e-01 1.93828315e-01 4.09546751e+02] [ 5.39333585e-01 2.57415858e-01 8.01783238e-01 -2.11603538e+02] [-8.24178926e-01 -3.39834399e-02 5.65308963e-01 -8.61773760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:-211.59, Z:-861.80 [[ 1.74045728e-01 -9.65451844e-01 1.93935095e-01 4.09553568e+02] [ 5.39993966e-01 2.58261020e-01 8.01066641e-01 -2.11587933e+02] [-8.23477141e-01 -3.46984456e-02 5.66287397e-01 -8.61796811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:-211.58, Z:-861.82 [[ 1.74614250e-01 -9.62286525e-01 2.08601312e-01 4.09549523e+02] [ 5.38328351e-01 2.70688753e-01 7.98079060e-01 -2.11577504e+02] [-8.24446754e-01 -2.70599760e-02 5.65292232e-01 -8.61823673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.56, Y:-211.56, Z:-861.85 [[ 1.78997728e-01 -9.63543073e-01 1.98858142e-01 4.09562930e+02] [ 5.38999977e-01 2.65130775e-01 7.99490273e-01 -2.11561197e+02] [-8.23066728e-01 -3.59224084e-02 5.66807501e-01 -8.61845805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.59, Y:-211.53, Z:-861.86 [[ 1.85966498e-01 -9.66523688e-01 1.76772235e-01 4.09587989e+02] [ 5.43104202e-01 2.51043433e-01 8.01258399e-01 -2.11534819e+02] [-8.18812731e-01 -5.30014746e-02 5.71608744e-01 -8.61863331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.136559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.57, Y:-211.53, Z:-861.89 [[ 1.87577734e-01 -9.58157158e-01 2.16216223e-01 4.09570763e+02] [ 5.42029900e-01 2.84545338e-01 7.90719633e-01 -2.11526900e+02] [-8.19156994e-01 -3.11257395e-02 5.72724198e-01 -8.61894118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.56, Y:-211.53, Z:-861.92 [[ 1.83402138e-01 -9.53070096e-01 2.40875587e-01 4.09556567e+02] [ 5.37377125e-01 3.02380586e-01 7.87268574e-01 -2.11525159e+02] [-8.23158236e-01 -1.49457095e-02 5.67615314e-01 -8.61923697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.59, Y:-211.50, Z:-861.94 [[ 1.83854101e-01 -9.64047283e-01 1.91860641e-01 4.09592345e+02] [ 5.39954694e-01 2.62153485e-01 7.99827781e-01 -2.11501763e+02] [-8.21368735e-01 -4.34555639e-02 5.68739849e-01 -8.61936190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.61, Y:-211.48, Z:-861.95 [[ 1.87893973e-01 -9.66428379e-01 1.75248522e-01 4.09614482e+02] [ 5.44643672e-01 2.51000227e-01 8.00226316e-01 -2.11475743e+02] [-8.17348840e-01 -5.49097032e-02 5.73520531e-01 -8.61953903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.58, Y:-211.48, Z:-861.99 [[ 1.78649660e-01 -9.55241465e-01 2.35792372e-01 4.09579034e+02] [ 5.41110945e-01 2.95538677e-01 7.87309238e-01 -2.11478528e+02] [-8.21756195e-01 -1.30626945e-02 5.69689496e-01 -8.61991125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:409.61, Y:-211.46, Z:-862.01 [[ 1.75826865e-01 -9.64377424e-01 1.97638806e-01 4.09607005e+02] [ 5.42603988e-01 2.62456318e-01 7.97933326e-01 -2.11457467e+02] [-8.21380439e-01 -3.30585106e-02 5.69421908e-01 -8.62007463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.316559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.61, Y:-211.44, Z:-862.03 [[ 1.71768702e-01 -9.64712680e-01 1.99561914e-01 4.09612166e+02] [ 5.43241491e-01 2.61745317e-01 7.97733083e-01 -2.11442865e+02] [-8.21817617e-01 -2.86152642e-02 5.69031609e-01 -8.62031599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:-211.43, Z:-862.05 [[ 1.70747928e-01 -9.65761640e-01 1.95319224e-01 4.09620420e+02] [ 5.43841877e-01 2.57673708e-01 7.98649030e-01 -2.11425823e+02] [-8.21633226e-01 -3.01448935e-02 5.69218875e-01 -8.62054161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:-211.41, Z:-862.08 [[ 1.69113044e-01 -9.64975608e-01 2.00556361e-01 4.09621704e+02] [ 5.42872850e-01 2.61036840e-01 7.98216034e-01 -2.11412598e+02] [-8.22611602e-01 -2.61121399e-02 5.68003793e-01 -8.62077636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.65, Y:-211.38, Z:-862.09 [[ 1.73612820e-01 -9.69778580e-01 1.71429559e-01 4.09651323e+02] [ 5.46449717e-01 2.39679955e-01 8.02462601e-01 -2.11382203e+02] [-8.19299271e-01 -4.56401614e-02 5.71546744e-01 -8.62091704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.61, Y:-211.39, Z:-862.13 [[ 1.68032873e-01 -9.56948519e-01 2.36673797e-01 4.09610446e+02] [ 5.41112521e-01 2.90221904e-01 7.89283528e-01 -2.11385421e+02] [-8.23991623e-01 -4.55842350e-03 5.66583645e-01 -8.62131265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:-211.36, Z:-862.15 [[ 1.68122869e-01 -9.65609029e-01 1.98327770e-01 4.09636852e+02] [ 5.41964968e-01 2.58598094e-01 7.99625537e-01 -2.11363613e+02] [-8.23412821e-01 -2.69486356e-02 5.66802520e-01 -8.62146947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:-211.35, Z:-862.17 [[ 1.67497954e-01 -9.64941748e-01 2.02068945e-01 4.09636542e+02] [ 5.42339124e-01 2.61350424e-01 7.98476193e-01 -2.11350141e+02] [-8.23293818e-01 -2.41532340e-02 5.67101323e-01 -8.62172539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:-211.33, Z:-862.19 [[ 1.67816835e-01 -9.66346481e-01 1.94966637e-01 4.09644785e+02] [ 5.43835304e-01 2.55704219e-01 7.99286253e-01 -2.11332910e+02] [-8.22241249e-01 -2.81039490e-02 5.68444805e-01 -8.62194684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:-211.31, Z:-862.21 [[ 1.73621715e-01 -9.69376836e-01 1.73678004e-01 4.09668414e+02] [ 5.49390909e-01 2.41703087e-01 7.99843264e-01 -2.11305361e+02] [-8.17328043e-01 -4.34530430e-02 5.74531726e-01 -8.62211187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.65, Y:-211.30, Z:-862.24 [[ 1.74845455e-01 -9.60942300e-01 2.14520311e-01 4.09648945e+02] [ 5.49731155e-01 2.76030758e-01 7.88417832e-01 -2.11297947e+02] [-8.16838249e-01 -1.99227761e-02 5.76522644e-01 -8.62242660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:-211.29, Z:-862.27 [[ 1.71064069e-01 -9.57385583e-01 2.32701376e-01 4.09635915e+02] [ 5.46500465e-01 2.88720431e-01 7.86115612e-01 -2.11292715e+02] [-8.19801394e-01 -7.30472548e-03 5.72601358e-01 -8.62271013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.66, Y:-211.27, Z:-862.29 [[ 1.72016967e-01 -9.65252769e-01 1.96716178e-01 4.09661129e+02] [ 5.47473182e-01 2.59687700e-01 7.95509531e-01 -2.11270703e+02] [-8.18952549e-01 -2.91443050e-02 5.73120695e-01 -8.62286431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.66, Y:-211.25, Z:-862.31 [[ 1.74060251e-01 -9.64382045e-01 1.99174047e-01 4.09661872e+02] [ 5.47199406e-01 2.62882288e-01 7.94648170e-01 -2.11254849e+02] [-8.18703756e-01 -2.93287401e-02 5.73466639e-01 -8.62309637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:-211.24, Z:-862.33 [[ 1.74785985e-01 -9.64423663e-01 1.98335215e-01 4.09665747e+02] [ 5.47010063e-01 2.62603024e-01 7.94870834e-01 -2.11238148e+02] [-8.18675669e-01 -3.04409229e-02 5.73448777e-01 -8.62332806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.68, Y:-211.21, Z:-862.35 [[ 1.78452632e-01 -9.66082413e-01 1.86653236e-01 4.09680380e+02] [ 5.49297668e-01 2.55200126e-01 7.95704071e-01 -2.11214929e+02] [-8.16349638e-01 -3.94672987e-02 5.76207950e-01 -8.62352101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.65, Y:-211.22, Z:-862.39 [[ 1.71373904e-01 -9.56666133e-01 2.35416428e-01 4.09647963e+02] [ 5.44633407e-01 2.91112831e-01 7.86528939e-01 -2.11215204e+02] [-8.20978341e-01 -6.57488321e-03 5.70921478e-01 -8.62387196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.70, Y:-211.18, Z:-862.40 [[ 1.74668009e-01 -9.69079977e-01 1.74284496e-01 4.09696356e+02] [ 5.49908838e-01 2.42838315e-01 7.99143180e-01 -2.11181020e+02] [-8.16756608e-01 -4.37441636e-02 5.75321729e-01 -8.62396085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.66, Y:-211.18, Z:-862.43 [[ 1.66367518e-01 -9.58577709e-01 2.31193911e-01 4.09664632e+02] [ 5.47198801e-01 2.84796647e-01 7.87060571e-01 -2.11180900e+02] [-8.20301970e-01 -4.43228276e-03 5.71913484e-01 -8.62432652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.70, Y:-211.15, Z:-862.44 [[ 1.68302495e-01 -9.68792368e-01 1.81976972e-01 4.09704118e+02] [ 5.51339947e-01 2.45549975e-01 7.97326453e-01 -2.11150947e+02] [-8.17128223e-01 -3.38608573e-02 5.75460606e-01 -8.62444523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.69, Y:-211.14, Z:-862.47 [[ 1.66890688e-01 -9.62586985e-01 2.13480196e-01 4.09690211e+02] [ 5.51073752e-01 2.70606109e-01 7.89360535e-01 -2.11141532e+02] [-8.17597223e-01 -1.40935901e-02 5.75618061e-01 -8.62474309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.69, Y:-211.13, Z:-862.50 [[ 1.65428149e-01 -9.62923475e-01 2.13100700e-01 4.09694203e+02] [ 5.51436534e-01 2.69456724e-01 7.89500363e-01 -2.11126885e+02] [-8.17649849e-01 -1.30940727e-02 5.75566911e-01 -8.62496797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.70, Y:-211.11, Z:-862.52 [[ 1.62842664e-01 -9.63408349e-01 2.12900492e-01 4.09698190e+02] [ 5.52352880e-01 2.67814010e-01 7.89418743e-01 -2.11111451e+02] [-8.17550342e-01 -1.09548513e-02 5.75752924e-01 -8.62519410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9765599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:409.70, Y:-211.10, Z:-862.54 [[ 1.61656500e-01 -9.63692635e-01 2.12517486e-01 4.09702626e+02] [ 5.52695654e-01 2.66820202e-01 7.89515354e-01 -2.11096157e+02] [-8.17554090e-01 -1.01727982e-02 5.75761951e-01 -8.62542245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-211.08, Z:-862.57 [[ 1.60408890e-01 -9.63989807e-01 2.12114684e-01 4.09706998e+02] [ 5.53173585e-01 2.65776111e-01 7.89532801e-01 -2.11080961e+02] [-8.17476589e-01 -9.31183971e-03 5.75886549e-01 -8.62565460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-211.07, Z:-862.59 [[ 1.59145520e-01 -9.64315885e-01 2.11583498e-01 4.09712064e+02] [ 5.54375435e-01 2.64624817e-01 7.89076412e-01 -2.11065517e+02] [-8.16909163e-01 -8.28128256e-03 5.76706892e-01 -8.62588037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.72, Y:-211.05, Z:-862.61 [[ 1.58891114e-01 -9.64442606e-01 2.11196765e-01 4.09716401e+02] [ 5.54448671e-01 2.64162142e-01 7.89179976e-01 -2.11049797e+02] [-8.16908982e-01 -8.29591955e-03 5.76706938e-01 -8.62611507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.72, Y:-211.04, Z:-862.63 [[ 1.58420961e-01 -9.64604584e-01 2.10809859e-01 4.09720557e+02] [ 5.54713733e-01 2.63576611e-01 7.89189486e-01 -2.11035135e+02] [-8.16820343e-01 -8.08503345e-03 5.76835470e-01 -8.62633608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.72, Y:-211.02, Z:-862.66 [[ 1.57408604e-01 -9.64792187e-01 2.10709676e-01 4.09723689e+02] [ 5.54619137e-01 2.62909055e-01 7.89478589e-01 -2.11020210e+02] [-8.17080256e-01 -7.40710414e-03 5.76476357e-01 -8.62656799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-211.02, Z:-862.69 [[ 1.52902049e-01 -9.60926887e-01 2.30738988e-01 4.09710047e+02] [ 5.51054924e-01 2.76719322e-01 7.87251477e-01 -2.11015525e+02] [-8.20341047e-01 6.77749172e-03 5.71834444e-01 -8.62686753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-210.99, Z:-862.70 [[ 1.51219928e-01 -9.68231462e-01 1.99149116e-01 4.09731641e+02] [ 5.51534880e-01 2.49834611e-01 7.95859248e-01 -2.10993956e+02] [-8.20330305e-01 -1.05120946e-02 5.71793395e-01 -8.62704173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-210.98, Z:-862.73 [[ 1.49708891e-01 -9.67714726e-01 2.02769466e-01 4.09732857e+02] [ 5.51326750e-01 2.51942956e-01 7.95338646e-01 -2.10979450e+02] [-8.20747259e-01 -7.27703644e-03 5.71245115e-01 -8.62728999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.76, Y:-210.95, Z:-862.74 [[ 1.52340406e-01 -9.72651627e-01 1.75331725e-01 4.09758198e+02] [ 5.55591743e-01 2.30997899e-01 7.98722597e-01 -2.10951205e+02] [-8.17380093e-01 -2.42648659e-02 5.75587526e-01 -8.62742313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-210.94, Z:-862.77 [[ 1.50665206e-01 -9.66034997e-01 2.09943755e-01 4.09742082e+02] [ 5.56308615e-01 2.58401918e-01 7.89777927e-01 -2.10941312e+02] [-8.17202986e-01 -2.19853440e-03 5.76345770e-01 -8.62772531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-210.94, Z:-862.80 [[ 1.43793301e-01 -9.62107860e-01 2.31672078e-01 4.09727616e+02] [ 5.53606490e-01 2.72251436e-01 7.87019065e-01 -2.10936487e+02] [-8.20270285e-01 1.50870968e-02 5.71777089e-01 -8.62803639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:-210.90, Z:-862.81 [[ 1.46304729e-01 -9.73371313e-01 1.76474402e-01 4.09768450e+02] [ 5.57679479e-01 2.28499871e-01 7.97985844e-01 -2.10904345e+02] [-8.17060906e-01 -1.83329504e-02 5.76259818e-01 -8.62811579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-210.90, Z:-862.85 [[ 1.42743978e-01 -9.63385086e-01 2.26965490e-01 4.09737909e+02] [ 5.55175027e-01 2.67776334e-01 7.87449379e-01 -2.10902251e+02] [-8.19392974e-01 1.36019156e-02 5.73070800e-01 -8.62849294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:-210.87, Z:-862.86 [[ 1.45181678e-01 -9.71882336e-01 1.85383403e-01 4.09767948e+02] [ 5.57546619e-01 2.35149435e-01 7.96144780e-01 -2.10874377e+02] [-8.17351851e-01 -1.22257453e-02 5.76009100e-01 -8.62860483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.76, Y:-210.86, Z:-862.89 [[ 1.45577486e-01 -9.67125198e-01 2.08509106e-01 4.09756913e+02] [ 5.57762342e-01 2.54297490e-01 7.90084778e-01 -2.10862176e+02] [-8.17134240e-01 1.27997157e-03 5.76446004e-01 -8.62888749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-210.86, Z:-862.92 [[ 1.41943803e-01 -9.62044134e-01 2.33073038e-01 4.09738224e+02] [ 5.53748553e-01 2.72340540e-01 7.86888284e-01 -2.10857803e+02] [-8.20496494e-01 1.73699420e-02 5.71387599e-01 -8.62921271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.76, Y:-210.84, Z:-862.94 [[ 1.42324279e-01 -9.70366213e-01 1.95277270e-01 4.09763650e+02] [ 5.53976496e-01 2.41582791e-01 7.96710611e-01 -2.10836609e+02] [-8.20276686e-01 -5.21224585e-03 5.71943171e-01 -8.62936028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.516559995 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:409.76, Y:-210.82, Z:-862.96 [[ 1.44324876e-01 -9.69111273e-01 1.99984178e-01 4.09764716e+02] [ 5.53846749e-01 2.46591187e-01 7.95265092e-01 -2.10821675e+02] [-8.20014701e-01 -4.01594881e-03 5.72328370e-01 -8.62960946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:409.76, Y:-210.81, Z:-862.99 [[ 1.44069408e-01 -9.67330063e-01 2.08606218e-01 4.09762614e+02] [ 5.54058103e-01 2.53516760e-01 7.92936864e-01 -2.10806928e+02] [-8.19916840e-01 1.34202143e-03 5.72481070e-01 -8.62986333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.576559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.78, Y:-210.78, Z:-863.00 [[ 1.46147803e-01 -9.72249830e-01 1.82677551e-01 4.09783196e+02] [ 5.56293835e-01 2.33467951e-01 7.97514818e-01 -2.10781972e+02] [-8.18033000e-01 -1.49326427e-02 5.74977415e-01 -8.62999473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:409.77, Y:-210.77, Z:-863.03 [[ 1.46635183e-01 -9.67516988e-01 2.05934459e-01 4.09772510e+02] [ 5.55308140e-01 2.52799453e-01 7.92291175e-01 -2.10769910e+02] [-8.18615290e-01 -1.82068044e-03 5.74339353e-01 -8.63026812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:-210.75, Z:-863.05 [[ 1.46758542e-01 -9.67549987e-01 2.05691401e-01 4.09775508e+02] [ 5.54395434e-01 2.52668838e-01 7.92971728e-01 -2.10754042e+02] [-8.19211592e-01 -2.34100068e-03 5.73486606e-01 -8.63049276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:-210.74, Z:-863.07 [[ 1.46651133e-01 -9.67644016e-01 2.05325360e-01 4.09779305e+02] [ 5.54268009e-01 2.52306824e-01 7.93176047e-01 -2.10737763e+02] [-8.19317045e-01 -2.51488715e-03 5.73335204e-01 -8.63072248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6965599950001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:409.77, Y:-210.73, Z:-863.10 [[ 1.44233619e-01 -9.63197239e-01 2.26820946e-01 4.09768041e+02] [ 5.51475174e-01 2.68563268e-01 7.89777756e-01 -2.10730262e+02] [-8.21627529e-01 1.11736164e-02 5.69915217e-01 -8.63104133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.80, Y:-210.70, Z:-863.11 [[ 1.45591340e-01 -9.72341732e-01 1.82632742e-01 4.09799250e+02] [ 5.54217999e-01 2.33072831e-01 7.99074130e-01 -2.10702863e+02] [-8.19539853e-01 -1.51199209e-02 5.72822675e-01 -8.63113469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:-210.70, Z:-863.15 [[ 1.39784013e-01 -9.63329578e-01 2.29033959e-01 4.09769532e+02] [ 5.50803305e-01 2.67863818e-01 7.90483836e-01 -2.10702106e+02] [-8.22846370e-01 1.56556588e-02 5.68048195e-01 -8.63150560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.79, Y:-210.68, Z:-863.17 [[ 1.39896251e-01 -9.70941521e-01 1.94169003e-01 4.09794680e+02] [ 5.51455873e-01 2.39270259e-01 7.99153404e-01 -2.10680702e+02] [-8.22390089e-01 -4.72292853e-03 5.68904416e-01 -8.63168049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-210.66, Z:-863.18 [[ 1.42192760e-01 -9.73785815e-01 1.77545504e-01 4.09810728e+02] [ 5.55333673e-01 2.26960777e-01 8.00058322e-01 -2.10656116e+02] [-8.19381310e-01 -1.51655036e-02 5.73048232e-01 -8.63182830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.79, Y:-210.65, Z:-863.22 [[ 1.39036924e-01 -9.65871093e-01 2.18544652e-01 4.09787517e+02] [ 5.54094547e-01 2.58785822e-01 7.91207388e-01 -2.10651371e+02] [-8.20760603e-01 1.10873582e-02 5.71164690e-01 -8.63218359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-210.63, Z:-863.23 [[ 1.41123387e-01 -9.72814987e-01 1.83616968e-01 4.09814005e+02] [ 5.56652678e-01 2.31350542e-01 7.97881397e-01 -2.10625594e+02] [-8.18670866e-01 -1.03888484e-02 5.74169039e-01 -8.63231368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-210.61, Z:-863.26 [[ 1.41697669e-01 -9.68979413e-01 2.02486218e-01 4.09805812e+02] [ 5.56988175e-01 2.47141078e-01 7.92896879e-01 -2.10613519e+02] [-8.18343415e-01 4.30789901e-04 5.74729389e-01 -8.63257017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.81, Y:-210.60, Z:-863.28 [[ 1.41314887e-01 -9.68163410e-01 2.06614895e-01 4.09806311e+02] [ 5.56793822e-01 2.50299644e-01 7.92042125e-01 -2.10599675e+02] [-8.18541839e-01 3.11455349e-03 5.74438471e-01 -8.63282725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.80, Y:-210.59, Z:-863.31 [[ 1.39970980e-01 -9.66907629e-01 2.13302043e-01 4.09803730e+02] [ 5.55851753e-01 2.55006862e-01 7.91201826e-01 -2.10587505e+02] [-8.19412566e-01 7.81901941e-03 5.73150861e-01 -8.63307723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.82, Y:-210.56, Z:-863.32 [[ 1.42034852e-01 -9.71637956e-01 1.89065555e-01 4.09821587e+02] [ 5.57675859e-01 2.36351927e-01 7.95698060e-01 -2.10564875e+02] [-8.17816445e-01 -7.57956031e-03 5.75429243e-01 -8.63322974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.82, Y:-210.55, Z:-863.35 [[ 1.42641298e-01 -9.69116545e-01 2.01163074e-01 4.09817798e+02] [ 5.57610009e-01 2.46601558e-01 7.92627749e-01 -2.10551284e+02] [-8.17755793e-01 -8.90908027e-04 5.75564652e-01 -8.63348296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.82, Y:-210.54, Z:-863.37 [[ 1.44224953e-01 -9.68965882e-01 2.00759267e-01 4.09820889e+02] [ 5.57425778e-01 2.47182839e-01 7.92576272e-01 -2.10535220e+02] [-8.17603612e-01 -2.40088488e-03 5.75776493e-01 -8.63371412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.82, Y:-210.52, Z:-863.40 [[ 1.47193811e-01 -9.66473876e-01 2.10385905e-01 4.09818512e+02] [ 5.59543396e-01 2.56759154e-01 7.88026602e-01 -2.10521714e+02] [-8.15625631e-01 1.72740525e-03 5.78577433e-01 -8.63395865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.116559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:409.84, Y:-210.50, Z:-863.41 [[ 1.46481891e-01 -9.72052683e-01 1.83457454e-01 4.09837052e+02] [ 5.57524540e-01 2.34322194e-01 7.96404104e-01 -2.10501809e+02] [-8.17134899e-01 -1.43767464e-02 5.76267183e-01 -8.63413920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:409.83, Y:-210.49, Z:-863.44 [[ 1.49622358e-01 -9.68339847e-01 1.99827651e-01 4.09829912e+02] [ 5.56763284e-01 2.49529146e-01 7.92306665e-01 -2.10489041e+02] [-8.17084938e-01 -7.29009209e-03 5.76471212e-01 -8.63439709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.83, Y:-210.47, Z:-863.46 [[ 1.50876954e-01 -9.68175622e-01 1.99680019e-01 4.09833760e+02] [ 5.56382009e-01 2.50128946e-01 7.92385367e-01 -2.10473200e+02] [-8.17113949e-01 -8.45432029e-03 5.76414191e-01 -8.63462609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:409.84, Y:-210.46, Z:-863.49 [[ 1.51546817e-01 -9.68141095e-01 1.99339867e-01 4.09837892e+02] [ 5.56083027e-01 2.50234009e-01 7.92562053e-01 -2.10457590e+02] [-8.17193508e-01 -9.26074007e-03 5.76288998e-01 -8.63485630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.236559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:409.83, Y:-210.45, Z:-863.51 [[ 1.48709024e-01 -9.65560734e-01 2.13490271e-01 4.09829852e+02] [ 5.52968338e-01 2.60177538e-01 7.91538796e-01 -2.10447616e+02] [-8.19824154e-01 3.44398129e-04 5.72615262e-01 -8.63511553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-210.42, Z:-863.53 [[ 1.52244065e-01 -9.73454570e-01 1.70903320e-01 4.09862491e+02] [ 5.55423166e-01 2.27299219e-01 7.99900101e-01 -2.10420773e+02] [-8.17512600e-01 -2.68563803e-02 5.75284176e-01 -8.63525366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.85, Y:-210.41, Z:-863.55 [[ 1.52250597e-01 -9.68170699e-01 1.98658637e-01 4.09850861e+02] [ 5.54393284e-01 2.50061091e-01 7.93799432e-01 -2.10408716e+02] [-8.18210146e-01 -1.07214235e-02 5.74819283e-01 -8.63553836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.85, Y:-210.39, Z:-863.58 [[ 1.51580395e-01 -9.68344934e-01 1.98321639e-01 4.09854242e+02] [ 5.54222018e-01 2.49396625e-01 7.94127999e-01 -2.10393654e+02] [-8.18450572e-01 -1.04600167e-02 5.74481722e-01 -8.63575815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-210.38, Z:-863.60 [[ 1.50607903e-01 -9.68517199e-01 1.98221328e-01 4.09857811e+02] [ 5.54059933e-01 2.48752780e-01 7.94442978e-01 -2.10378053e+02] [-8.18739794e-01 -9.82289524e-03 5.74080709e-01 -8.63599250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-210.36, Z:-863.62 [[ 1.48551622e-01 -9.68887177e-01 1.97964780e-01 4.09861906e+02] [ 5.53826560e-01 2.47357954e-01 7.95040995e-01 -2.10362391e+02] [-8.19273188e-01 -8.46647579e-03 5.73340878e-01 -8.63622361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-210.35, Z:-863.65 [[ 1.47519888e-01 -9.69118443e-01 1.97603963e-01 4.09865784e+02] [ 5.53950023e-01 2.46470744e-01 7.95230498e-01 -2.10346784e+02] [-8.19376137e-01 -7.84959420e-03 5.73202520e-01 -8.63645490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-210.33, Z:-863.67 [[ 1.46348082e-01 -9.69378774e-01 1.97197952e-01 4.09869313e+02] [ 5.54372454e-01 2.45468791e-01 7.95246035e-01 -2.10331473e+02] [-8.19300568e-01 -7.06161948e-03 5.73320776e-01 -8.63668173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-210.32, Z:-863.69 [[ 1.45801689e-01 -9.69539665e-01 1.96811345e-01 4.09872878e+02] [ 5.54511541e-01 2.44839158e-01 7.95343157e-01 -2.10316357e+02] [-8.19303862e-01 -6.82821362e-03 5.73318896e-01 -8.63690960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-210.31, Z:-863.72 [[ 1.43725159e-01 -9.67091137e-01 2.09947164e-01 4.09866446e+02] [ 5.52416371e-01 2.54423189e-01 7.93791531e-01 -2.10306665e+02] [-8.21084181e-01 1.89043588e-03 5.70803990e-01 -8.63718544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:-210.29, Z:-863.74 [[ 1.43366184e-01 -9.71693423e-01 1.87771213e-01 4.09882121e+02] [ 5.53854311e-01 2.36013075e-01 7.98463043e-01 -2.10287713e+02] [-8.20177749e-01 -1.04747039e-02 5.72012885e-01 -8.63736150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:-210.27, Z:-863.76 [[ 1.43247805e-01 -9.70767573e-01 1.92588642e-01 4.09883177e+02] [ 5.54600780e-01 2.39909624e-01 7.96781869e-01 -2.10273539e+02] [-8.19693870e-01 -7.32744289e-03 5.72754980e-01 -8.63761273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-210.27, Z:-863.79 [[ 1.40015737e-01 -9.68483548e-01 2.05998084e-01 4.09874676e+02] [ 5.52663896e-01 2.49065078e-01 7.95317047e-01 -2.10266062e+02] [-8.21558404e-01 2.49080180e-03 5.70118922e-01 -8.63788477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-210.23, Z:-863.80 [[ 1.44413293e-01 -9.79115346e-01 1.43101156e-01 4.09920373e+02] [ 5.59193072e-01 2.00063165e-01 8.04535791e-01 -2.10229965e+02] [-8.16362609e-01 -3.61644873e-02 5.76406298e-01 -8.63796255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.89, Y:-210.22, Z:-863.83 [[ 1.43489737e-01 -9.69787299e-01 1.97289862e-01 4.09892954e+02] [ 5.58217029e-01 2.43924562e-01 7.93028724e-01 -2.10223738e+02] [-8.17193027e-01 -3.66092258e-03 5.76352456e-01 -8.63830889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:409.88, Y:-210.22, Z:-863.86 [[ 1.38789899e-01 -9.66575646e-01 2.15566428e-01 4.09882747e+02] [ 5.54100657e-01 2.56204857e-01 7.92042634e-01 -2.10216626e+02] [-8.20798286e-01 9.51798229e-03 5.71138846e-01 -8.63861044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-210.19, Z:-863.87 [[ 1.39514890e-01 -9.77181984e-01 1.60159190e-01 4.09921959e+02] [ 5.58458594e-01 2.11211311e-01 8.02193107e-01 -2.10185259e+02] [-8.17716085e-01 -2.24756066e-02 5.75182799e-01 -8.63869973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-210.18, Z:-863.90 [[ 1.37715362e-01 -9.71214389e-01 1.94363295e-01 4.09907200e+02] [ 5.58169144e-01 2.38205108e-01 7.94799052e-01 -2.10175014e+02] [-8.18218605e-01 -9.68445234e-04 5.74906407e-01 -8.63899071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-210.16, Z:-863.92 [[ 1.33768298e-01 -9.71808732e-01 1.94148993e-01 4.09911769e+02] [ 5.58008099e-01 2.35762929e-01 7.95639870e-01 -2.10159089e+02] [-8.18982908e-01 1.90531975e-03 5.73814749e-01 -8.63921404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-210.14, Z:-863.94 [[ 1.31872447e-01 -9.72132553e-01 1.93824553e-01 4.09915448e+02] [ 5.58000696e-01 2.34410325e-01 7.96044611e-01 -2.10144205e+02] [-8.19295357e-01 3.17788454e-03 5.73362904e-01 -8.63943216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-210.13, Z:-863.97 [[ 1.30428983e-01 -9.72351116e-01 1.93704899e-01 4.09919490e+02] [ 5.58027051e-01 2.33485322e-01 7.96297944e-01 -2.10128353e+02] [-8.19508445e-01 4.23224240e-03 5.73051479e-01 -8.63966191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-210.11, Z:-863.99 [[ 1.29068191e-01 -9.72616287e-01 1.93284664e-01 4.09923361e+02] [ 5.58495541e-01 2.32359231e-01 7.96298888e-01 -2.10112911e+02] [-8.19404743e-01 5.17176534e-03 5.73192045e-01 -8.63988433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:-210.10, Z:-864.01 [[ 1.29018531e-01 -9.72685244e-01 1.92970554e-01 4.09926588e+02] [ 5.58790661e-01 2.32071792e-01 7.96175660e-01 -2.10097216e+02] [-8.19211338e-01 5.10872939e-03 5.73468992e-01 -8.64011598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-210.08, Z:-864.04 [[ 1.30103763e-01 -9.70948654e-01 2.00827595e-01 4.09923722e+02] [ 5.56714059e-01 2.39143896e-01 7.95537337e-01 -2.10084521e+02] [-8.20452600e-01 8.30114465e-03 5.71654286e-01 -8.64039264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:-210.06, Z:-864.06 [[ 1.32437763e-01 -9.73656899e-01 1.85613798e-01 4.09935481e+02] [ 5.58229497e-01 2.28008986e-01 7.97741644e-01 -2.10064710e+02] [-8.19048269e-01 -2.03602215e-03 5.73721001e-01 -8.64056109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.93, Y:-210.05, Z:-864.08 [[ 1.34585104e-01 -9.72136189e-01 1.91932490e-01 4.09934544e+02] [ 5.58081170e-01 2.34416789e-01 7.95986292e-01 -2.10050118e+02] [-8.18799278e-01 -1.39889078e-05 5.74079909e-01 -8.64080199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.016559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.94, Y:-210.03, Z:-864.10 [[ 1.34322023e-01 -9.72251473e-01 1.91532418e-01 4.09938484e+02] [ 5.58144598e-01 2.33938180e-01 7.96082619e-01 -2.10034335e+02] [-8.18799244e-01 -2.86430103e-05 5.74079957e-01 -8.64103688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:-210.02, Z:-864.13 [[ 1.36387920e-01 -9.72046072e-01 1.91114544e-01 4.09940927e+02] [ 5.57918454e-01 2.34782197e-01 7.95992663e-01 -2.10018584e+02] [-8.18611834e-01 -1.93745298e-03 5.74343897e-01 -8.64126783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:-210.01, Z:-864.15 [[ 1.40083759e-01 -9.70288058e-01 1.97275506e-01 4.09937845e+02] [ 5.56467713e-01 2.41947558e-01 7.94861663e-01 -2.10005412e+02] [-8.18975106e-01 -1.56975948e-03 5.73826900e-01 -8.64153519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.95, Y:-209.99, Z:-864.17 [[ 1.42703664e-01 -9.72078333e-01 1.86277691e-01 4.09946645e+02] [ 5.57468613e-01 2.34451609e-01 7.96405167e-01 -2.09986762e+02] [-8.17841311e-01 -9.80596964e-03 5.75360264e-01 -8.64171707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.136559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:409.95, Y:-209.97, Z:-864.20 [[ 1.46527798e-01 -9.70809720e-01 1.89889686e-01 4.09946578e+02] [ 5.57638858e-01 2.39618280e-01 7.94746491e-01 -2.09971426e+02] [-8.17048658e-01 -1.05625858e-02 5.76471962e-01 -8.64195607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.95, Y:-209.96, Z:-864.22 [[ 1.48074826e-01 -9.70661553e-01 1.89446554e-01 4.09949905e+02] [ 5.57586101e-01 2.40148718e-01 7.94623391e-01 -2.09955741e+02] [-8.16805721e-01 -1.20309548e-02 5.76787370e-01 -8.64218574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.95, Y:-209.94, Z:-864.24 [[ 1.49283850e-01 -9.70560739e-01 1.89013717e-01 4.09953298e+02] [ 5.57558746e-01 2.40493116e-01 7.94538423e-01 -2.09940258e+02] [-8.16604296e-01 -1.32255039e-02 5.77046367e-01 -8.64240654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-209.92, Z:-864.26 [[ 1.50959882e-01 -9.70362602e-01 1.88699587e-01 4.09956244e+02] [ 5.57467076e-01 2.41204358e-01 7.94387133e-01 -2.09923778e+02] [-8.16358729e-01 -1.47267808e-02 5.77357384e-01 -8.64263386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-209.91, Z:-864.29 [[ 1.51148874e-01 -9.70400646e-01 1.88352343e-01 4.09959686e+02] [ 5.57197294e-01 2.41024516e-01 7.94630957e-01 -2.09907791e+02] [-8.16507926e-01 -1.51581591e-02 5.77135198e-01 -8.64286608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-209.89, Z:-864.31 [[ 1.50608760e-01 -9.70551447e-01 1.88007686e-01 4.09963219e+02] [ 5.57096239e-01 2.40427850e-01 7.94882526e-01 -2.09891401e+02] [-8.16676669e-01 -1.49778965e-02 5.76901101e-01 -8.64309329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-209.88, Z:-864.33 [[ 1.49969676e-01 -9.70713676e-01 1.87680730e-01 4.09967469e+02] [ 5.56862435e-01 2.39786177e-01 7.95240101e-01 -2.09876193e+02] [-8.16953686e-01 -1.47495520e-02 5.76514636e-01 -8.64331409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-209.86, Z:-864.35 [[ 1.48698936e-01 -9.70939775e-01 1.87522214e-01 4.09971681e+02] [ 5.57131276e-01 2.38926481e-01 7.95310554e-01 -2.09860389e+02] [-8.17002673e-01 -1.37873425e-02 5.76469029e-01 -8.64354167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:-209.84, Z:-864.38 [[ 1.46232087e-01 -9.71394930e-01 1.87104425e-01 4.09976578e+02] [ 5.57887943e-01 2.37170615e-01 7.95305691e-01 -2.09844813e+02] [-8.16931588e-01 -1.19159086e-02 5.76611474e-01 -8.64377641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:409.98, Y:-209.83, Z:-864.40 [[ 1.44855201e-01 -9.71689691e-01 1.86644354e-01 4.09980510e+02] [ 5.58625500e-01 2.36008492e-01 7.95133664e-01 -2.09829556e+02] [-8.16672837e-01 -1.09149510e-02 5.76997697e-01 -8.64400041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:-209.81, Z:-864.42 [[ 1.43570609e-01 -9.71920060e-01 1.86437329e-01 4.09984531e+02] [ 5.59165860e-01 2.35103249e-01 7.95022014e-01 -2.09814540e+02] [-8.16529866e-01 -9.89240575e-03 5.77218433e-01 -8.64422369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:-209.80, Z:-864.45 [[ 1.41878446e-01 -9.72206121e-01 1.86241148e-01 4.09989135e+02] [ 5.59764286e-01 2.33971039e-01 7.94934901e-01 -2.09798837e+02] [-8.16415611e-01 -8.53298491e-03 5.77401713e-01 -8.64445623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:-209.78, Z:-864.47 [[ 1.41857005e-01 -9.72270336e-01 1.85921985e-01 4.09993476e+02] [ 5.59235446e-01 2.33691980e-01 7.95389071e-01 -2.09784332e+02] [-8.16781676e-01 -8.85734694e-03 5.76878879e-01 -8.64467797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:-209.77, Z:-864.49 [[ 1.42055723e-01 -9.72289159e-01 1.85671653e-01 4.09997507e+02] [ 5.59693190e-01 2.33607112e-01 7.95091976e-01 -2.09768866e+02] [-8.16433527e-01 -9.02820610e-03 5.77368848e-01 -8.64490608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:-209.75, Z:-864.51 [[ 1.44550707e-01 -9.72033077e-01 1.85085901e-01 4.10001782e+02] [ 5.60373087e-01 2.34581364e-01 7.94325870e-01 -2.09754136e+02] [-8.15528722e-01 -1.11032086e-02 5.78610078e-01 -8.64513368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-209.74, Z:-864.54 [[ 1.46036348e-01 -9.71868776e-01 1.84782218e-01 4.10005445e+02] [ 5.60911445e-01 2.35203084e-01 7.93761841e-01 -2.09738858e+02] [-8.14893696e-01 -1.22716197e-02 5.79480519e-01 -8.64536369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-209.72, Z:-864.56 [[ 1.50229906e-01 -9.71345771e-01 1.84169401e-01 4.10008688e+02] [ 5.61328699e-01 2.37149271e-01 7.92887328e-01 -2.09723899e+02] [-8.13843393e-01 -1.57358180e-02 5.80871170e-01 -8.64559972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:410.01, Y:-209.71, Z:-864.58 [[ 1.52341141e-01 -9.71108071e-01 1.83688025e-01 4.10012202e+02] [ 5.61386864e-01 2.37988409e-01 7.92594668e-01 -2.09709609e+02] [-8.13410700e-01 -1.76247316e-02 5.81422740e-01 -8.64582103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.02, Y:-209.69, Z:-864.61 [[ 1.53940246e-01 -9.70891817e-01 1.83497904e-01 4.10016005e+02] [ 5.61152726e-01 2.38761131e-01 7.92528070e-01 -2.09694077e+02] [-8.13271184e-01 -1.90316170e-02 5.81573536e-01 -8.64605219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:-209.69, Z:-864.64 [[ 1.49673457e-01 -9.64522153e-01 2.17473846e-01 4.09994241e+02] [ 5.53966490e-01 2.63991954e-01 7.89575441e-01 -2.09694720e+02] [-8.18974349e-01 2.29473701e-03 5.73825540e-01 -8.64640023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.736559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:410.05, Y:-209.65, Z:-864.64 [[ 1.53930060e-01 -9.79189494e-01 1.32262890e-01 4.10054369e+02] [ 5.61643779e-01 1.96839733e-01 8.03623285e-01 -2.09653847e+02] [-8.12934070e-01 -4.94171515e-02 5.80255240e-01 -8.64642651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-209.66, Z:-864.69 [[ 1.49011509e-01 -9.65696677e-01 2.12662873e-01 4.10009851e+02] [ 5.54245611e-01 2.59672730e-01 7.90810898e-01 -2.09660770e+02] [-8.18906205e-01 2.75392336e-05 5.73927370e-01 -8.64685305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.06, Y:-209.62, Z:-864.69 [[ 1.48606551e-01 -9.78860775e-01 1.40526427e-01 4.10063186e+02] [ 5.60799302e-01 2.00463391e-01 8.03317230e-01 -2.09623336e+02] [-8.14506130e-01 -4.05710811e-02 5.78734612e-01 -8.64689592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.05, Y:-209.62, Z:-864.72 [[ 1.46247840e-01 -9.72144473e-01 1.83157563e-01 4.10045081e+02] [ 5.60351416e-01 2.33989642e-01 7.94515663e-01 -2.09615609e+02] [-8.15240983e-01 -1.35636002e-02 5.78963012e-01 -8.64720107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.05, Y:-209.60, Z:-864.74 [[ 1.43138267e-01 -9.72628623e-01 1.83043709e-01 4.10050536e+02] [ 5.60747359e-01 2.32098741e-01 7.94790899e-01 -2.09600085e+02] [-8.15520592e-01 -1.11237154e-02 5.78621143e-01 -8.64743483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.06, Y:-209.59, Z:-864.77 [[ 1.37935672e-01 -9.72669770e-01 1.86781340e-01 4.10055429e+02] [ 5.61979012e-01 2.32148444e-01 7.93905971e-01 -2.09585878e+02] [-8.15569335e-01 -4.54076053e-03 5.78641548e-01 -8.64767550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:-209.57, Z:-864.79 [[ 1.35076013e-01 -9.74785738e-01 1.77615413e-01 4.10065774e+02] [ 5.61629388e-01 2.23004083e-01 7.96769483e-01 -2.09568539e+02] [-8.16288492e-01 -7.87040907e-03 5.77590820e-01 -8.64789381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:-209.55, Z:-864.81 [[ 1.32888982e-01 -9.74204900e-01 1.82387860e-01 4.10068145e+02] [ 5.61853962e-01 2.25641331e-01 7.95868152e-01 -2.09554232e+02] [-8.16492893e-01 -3.28676632e-03 5.77346130e-01 -8.64813023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9765599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.07, Y:-209.54, Z:-864.84 [[ 1.29099701e-01 -9.74780044e-01 1.82036076e-01 4.10074560e+02] [ 5.62428970e-01 2.23167436e-01 7.96159500e-01 -2.09539277e+02] [-8.16704916e-01 -4.01590845e-04 5.77055386e-01 -8.64835789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:410.08, Y:-209.52, Z:-864.86 [[ 1.27429575e-01 -9.75074685e-01 1.81634419e-01 4.10079293e+02] [ 5.62836091e-01 2.21875575e-01 7.96232858e-01 -2.09524667e+02] [-8.16686745e-01 7.66792033e-04 5.77080734e-01 -8.64857837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.08, Y:-209.51, Z:-864.89 [[ 1.24911025e-01 -9.73594709e-01 1.91077414e-01 4.10079082e+02] [ 5.62365640e-01 2.28136982e-01 7.94794568e-01 -2.09513942e+02] [-8.17399611e-01 8.17676855e-03 5.76013036e-01 -8.64885724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-209.49, Z:-864.90 [[ 1.25287255e-01 -9.76892600e-01 1.73158745e-01 4.10094248e+02] [ 5.64191082e-01 2.13719227e-01 7.97503928e-01 -2.09492889e+02] [-8.16083039e-01 -2.22245776e-03 5.77930389e-01 -8.64901987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-209.48, Z:-864.93 [[ 1.24993046e-01 -9.75553244e-01 1.80755652e-01 4.10094238e+02] [ 5.64460230e-01 2.19748112e-01 7.95672933e-01 -2.09479177e+02] [-8.15942025e-01 2.57579324e-03 5.78127994e-01 -8.64926423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.10, Y:-209.46, Z:-864.95 [[ 1.25655340e-01 -9.75176823e-01 1.82320869e-01 4.10099013e+02] [ 5.63950198e-01 2.21409194e-01 7.95574096e-01 -2.09464839e+02] [-8.16192937e-01 2.85175686e-03 5.77772410e-01 -8.64952187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.10, Y:-209.45, Z:-864.97 [[ 1.25706708e-01 -9.74728682e-01 1.84666781e-01 4.10100653e+02] [ 5.63858467e-01 2.23352969e-01 7.95095643e-01 -2.09450137e+02] [-8.16248402e-01 4.17707220e-03 5.77685987e-01 -8.64973204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:-209.43, Z:-865.00 [[ 1.26141172e-01 -9.75568076e-01 1.79875887e-01 4.10107402e+02] [ 5.63789761e-01 2.19695160e-01 7.96162761e-01 -2.09433533e+02] [-8.16228835e-01 9.83279247e-04 5.77727897e-01 -8.64995634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:-209.42, Z:-865.02 [[ 1.26842648e-01 -9.74326676e-01 1.86006642e-01 4.10108130e+02] [ 5.61785592e-01 2.25111379e-01 7.96066465e-01 -2.09421373e+02] [-8.17501004e-01 3.52067289e-03 5.75916411e-01 -8.65023180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-209.40, Z:-865.04 [[ 1.28567079e-01 -9.76355047e-01 1.73785294e-01 4.10119679e+02] [ 5.63095186e-01 2.16122217e-01 7.97630866e-01 -2.09401581e+02] [-8.16329785e-01 -4.69140861e-03 5.77567029e-01 -8.65041001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-209.39, Z:-865.06 [[ 1.31247295e-01 -9.75054728e-01 1.79003979e-01 4.10121379e+02] [ 5.62234179e-01 2.21930055e-01 7.96642817e-01 -2.09387709e+02] [-8.16496709e-01 -3.91505985e-03 5.77336814e-01 -8.65064928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-209.37, Z:-865.09 [[ 1.32968645e-01 -9.74508416e-01 1.80700544e-01 4.10124968e+02] [ 5.61243738e-01 2.24305493e-01 7.96675915e-01 -2.09373254e+02] [-8.16899508e-01 -4.51586811e-03 5.76762343e-01 -8.65090495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-209.36, Z:-865.11 [[ 1.34223059e-01 -9.74135582e-01 1.81780196e-01 4.10127200e+02] [ 5.61543515e-01 2.25914054e-01 7.96009875e-01 -2.09357204e+02] [-8.16488243e-01 -4.76539012e-03 5.77342394e-01 -8.65111291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-209.34, Z:-865.13 [[ 1.38034337e-01 -9.74275061e-01 1.78142156e-01 4.10132815e+02] [ 5.60204617e-01 2.25129338e-01 7.97174741e-01 -2.09341139e+02] [-8.16772495e-01 -1.02414286e-02 5.76868967e-01 -8.65133550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-209.33, Z:-865.16 [[ 1.42348075e-01 -9.73713226e-01 1.77818952e-01 4.10136311e+02] [ 5.58699422e-01 2.27334979e-01 7.97605017e-01 -2.09325942e+02] [-8.17063022e-01 -1.41901929e-02 5.76373712e-01 -8.65156604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-209.31, Z:-865.18 [[ 1.44668395e-01 -9.73436706e-01 1.77459952e-01 4.10140127e+02] [ 5.57886933e-01 2.28366348e-01 7.97879052e-01 -2.09310828e+02] [-8.17210637e-01 -1.64252933e-02 5.76105012e-01 -8.65178901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-209.30, Z:-865.20 [[ 1.46420106e-01 -9.73195540e-01 1.77345974e-01 4.10143744e+02] [ 5.57095788e-01 2.29268228e-01 7.98173141e-01 -2.09295163e+02] [-8.17438338e-01 -1.80699013e-02 5.75732614e-01 -8.65202329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:-209.28, Z:-865.23 [[ 1.50090171e-01 -9.73950646e-01 1.69979644e-01 4.10154494e+02] [ 5.57816246e-01 2.25369813e-01 7.98779997e-01 -2.09275854e+02] [-8.16280574e-01 -2.50716194e-02 5.77111287e-01 -8.65225342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-209.27, Z:-865.25 [[ 1.50450016e-01 -9.69232265e-01 1.94816862e-01 4.10141686e+02] [ 5.55146794e-01 2.45884190e-01 7.94577248e-01 -2.09267579e+02] [-8.18032292e-01 -1.13922029e-02 5.75059465e-01 -8.65251810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.16, Y:-209.25, Z:-865.27 [[ 1.51062399e-01 -9.72639740e-01 1.76499541e-01 4.10155459e+02] [ 5.55016814e-01 2.31202198e-01 7.99063126e-01 -2.09249020e+02] [-8.18007633e-01 -2.27481798e-02 5.74757368e-01 -8.65271390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:-209.23, Z:-865.29 [[ 1.51631893e-01 -9.72618178e-01 1.76129639e-01 4.10159044e+02] [ 5.54665472e-01 2.31217026e-01 7.99302760e-01 -2.09234135e+02] [-8.18140565e-01 -2.35067611e-02 5.74537595e-01 -8.65293744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:-209.22, Z:-865.32 [[ 1.52729897e-01 -9.72497246e-01 1.75848472e-01 4.10163477e+02] [ 5.54472003e-01 2.31614037e-01 7.99322048e-01 -2.09218815e+02] [-8.18067465e-01 -2.45773194e-02 5.74596883e-01 -8.65317442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-209.20, Z:-865.34 [[ 1.53030129e-01 -9.72525196e-01 1.75432388e-01 4.10167795e+02] [ 5.54629062e-01 2.31450190e-01 7.99260541e-01 -2.09203299e+02] [-8.17904874e-01 -2.50110428e-02 5.74809590e-01 -8.65340755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-209.19, Z:-865.36 [[ 1.53863676e-01 -9.72494922e-01 1.74870228e-01 4.10172355e+02] [ 5.55647491e-01 2.31501943e-01 7.98537861e-01 -2.09188706e+02] [-8.17056812e-01 -2.56997673e-02 5.75984104e-01 -8.65363966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-209.18, Z:-865.39 [[ 1.53573942e-01 -9.71274145e-01 1.81773429e-01 4.10172181e+02] [ 5.54628129e-01 2.36973635e-01 7.97640981e-01 -2.09176901e+02] [-8.17803573e-01 -2.16802128e-02 5.75088937e-01 -8.65392101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-209.16, Z:-865.41 [[ 1.54224102e-01 -9.73166831e-01 1.70766641e-01 4.10181854e+02] [ 5.57072390e-01 2.28389550e-01 7.98441335e-01 -2.09158159e+02] [-8.16017940e-01 -2.80095171e-02 5.77347546e-01 -8.65409936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-209.14, Z:-865.43 [[ 1.55221965e-01 -9.71784837e-01 1.77596094e-01 4.10181588e+02] [ 5.59277587e-01 2.34635825e-01 7.95081512e-01 -2.09144851e+02] [-8.14318563e-01 -2.40885990e-02 5.79918113e-01 -8.65434776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.19, Y:-209.13, Z:-865.46 [[ 1.54579842e-01 -9.71725577e-01 1.78478223e-01 4.10185102e+02] [ 5.57760089e-01 2.34940110e-01 7.96057051e-01 -2.09131533e+02] [-8.15480690e-01 -2.35063439e-02 5.78306749e-01 -8.65462263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.816559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.19, Y:-209.11, Z:-865.48 [[ 1.54405815e-01 -9.73285470e-01 1.69924214e-01 4.10193065e+02] [ 5.59793870e-01 2.27898227e-01 7.96676360e-01 -2.09112829e+02] [-8.14118952e-01 -2.78889295e-02 5.80028051e-01 -8.65479867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-209.10, Z:-865.50 [[ 1.52935707e-01 -9.73032935e-01 1.72677667e-01 4.10196279e+02] [ 5.59568665e-01 2.29287924e-01 7.96435783e-01 -2.09097969e+02] [-8.14551152e-01 -2.51784582e-02 5.79545052e-01 -8.65503376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-209.08, Z:-865.53 [[ 1.52675004e-01 -9.73143843e-01 1.72282921e-01 4.10199844e+02] [ 5.59640527e-01 2.28815222e-01 7.96521233e-01 -2.09082065e+02] [-8.14550688e-01 -2.51923774e-02 5.79545098e-01 -8.65526854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-209.07, Z:-865.55 [[ 1.51484606e-01 -9.73386325e-01 1.71963590e-01 4.10204624e+02] [ 5.59578603e-01 2.27858970e-01 7.96838802e-01 -2.09066026e+02] [-8.14815440e-01 -2.44816662e-02 5.79203287e-01 -8.65549965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-209.06, Z:-865.58 [[ 1.46739457e-01 -9.72232882e-01 1.82293046e-01 4.10203141e+02] [ 5.56883740e-01 2.33504938e-01 7.97092181e-01 -2.09055258e+02] [-8.17525555e-01 -1.54488402e-02 5.75685071e-01 -8.65578253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-209.03, Z:-865.59 [[ 1.45876142e-01 -9.75632795e-01 1.63892648e-01 4.10218083e+02] [ 5.58800257e-01 2.17964864e-01 8.00145981e-01 -2.09033357e+02] [-8.16371499e-01 -2.51389550e-02 5.76979730e-01 -8.65593192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.996559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.22, Y:-209.02, Z:-865.62 [[ 1.44719704e-01 -9.74224450e-01 1.73040251e-01 4.10216504e+02] [ 5.58483328e-01 2.24786405e-01 7.98478206e-01 -2.09020548e+02] [-8.16794086e-01 -1.89154345e-02 5.76619135e-01 -8.65617075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-209.00, Z:-865.64 [[ 1.41576937e-01 -9.75907094e-01 1.66016007e-01 4.10225027e+02] [ 5.58511067e-01 2.17210127e-01 8.00553027e-01 -2.09002932e+02] [-8.17325736e-01 -2.06180683e-02 5.75806857e-01 -8.65639311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-208.99, Z:-865.66 [[ 1.40968939e-01 -9.75110987e-01 1.71132469e-01 4.10225906e+02] [ 5.58610845e-01 2.21057033e-01 7.99429617e-01 -2.08988630e+02] [-8.17362638e-01 -1.70982919e-02 5.75869748e-01 -8.65662921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-208.97, Z:-865.69 [[ 1.40616995e-01 -9.75210091e-01 1.70857070e-01 4.10229565e+02] [ 5.58745450e-01 2.20630772e-01 7.99453304e-01 -2.08973117e+02] [-8.17331257e-01 -1.69511111e-02 5.75918637e-01 -8.65685708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-208.96, Z:-865.71 [[ 1.40687884e-01 -9.73521158e-01 1.80176230e-01 4.10227320e+02] [ 5.57213306e-01 2.28285686e-01 7.98372706e-01 -2.08961434e+02] [-8.18364375e-01 -1.19247743e-02 5.74575973e-01 -8.65714542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-208.94, Z:-865.73 [[ 1.41760272e-01 -9.75804596e-01 1.66461454e-01 4.10237542e+02] [ 5.58655861e-01 2.17685108e-01 8.00322949e-01 -2.08940907e+02] [-8.17194992e-01 -2.04593314e-02 5.75998057e-01 -8.65730395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-208.93, Z:-865.75 [[ 1.42689049e-01 -9.75053992e-01 1.70028083e-01 4.10237956e+02] [ 5.58260823e-01 2.21137473e-01 7.99651844e-01 -2.08925689e+02] [-8.17303303e-01 -1.91815434e-02 5.75888340e-01 -8.65754578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-208.91, Z:-865.78 [[ 1.47469269e-01 -9.75479486e-01 1.63378662e-01 4.10246427e+02] [ 5.58581085e-01 2.18460016e-01 8.00163979e-01 -2.08905647e+02] [-8.16235252e-01 -2.67393665e-02 5.77100529e-01 -8.65779300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-208.90, Z:-865.81 [[ 1.46808581e-01 -9.70162648e-01 1.92955116e-01 4.10228296e+02] [ 5.56361336e-01 2.42275205e-01 7.94836328e-01 -2.08898149e+02] [-8.17868757e-01 -9.33602751e-03 5.75329066e-01 -8.65806235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-208.88, Z:-865.82 [[ 1.47976719e-01 -9.74387680e-01 1.69326723e-01 4.10243777e+02] [ 5.56971924e-01 2.23584780e-01 7.99870066e-01 -2.08878846e+02] [-8.17242416e-01 -2.40519168e-02 5.75791923e-01 -8.65823346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-208.86, Z:-865.85 [[ 1.49167287e-01 -9.74250892e-01 1.69068980e-01 4.10246956e+02] [ 5.57305412e-01 2.24072263e-01 7.99501281e-01 -2.08863830e+02] [-8.16798505e-01 -2.50363793e-02 5.76379547e-01 -8.65845455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-208.85, Z:-865.87 [[ 1.49075296e-01 -9.74297595e-01 1.68880886e-01 4.10250684e+02] [ 5.57493132e-01 2.23870394e-01 7.99426954e-01 -2.08848111e+02] [-8.16687189e-01 -2.50248759e-02 5.76537763e-01 -8.65868793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-208.83, Z:-865.89 [[ 1.48443491e-01 -9.74453889e-01 1.68535305e-01 4.10254063e+02] [ 5.57287997e-01 2.23214704e-01 7.99753265e-01 -2.08832650e+02] [-8.16942237e-01 -2.47954643e-02 5.76186225e-01 -8.65891238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.26, Y:-208.82, Z:-865.91 [[ 1.47491328e-01 -9.74611933e-01 1.68457377e-01 4.10257298e+02] [ 5.56862688e-01 2.22587159e-01 8.00224283e-01 -2.08816778e+02] [-8.17404585e-01 -2.42185139e-02 5.75554697e-01 -8.65914273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-208.80, Z:-865.94 [[ 1.46610223e-01 -9.74791566e-01 1.68186937e-01 4.10260818e+02] [ 5.56202887e-01 2.21836636e-01 8.00891288e-01 -2.08800557e+02] [-8.18012097e-01 -2.38727900e-02 5.74705402e-01 -8.65937244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.26, Y:-208.78, Z:-865.96 [[ 1.44211099e-01 -9.75184700e-01 1.67982025e-01 4.10264016e+02] [ 5.55302803e-01 2.20259888e-01 8.01950360e-01 -2.08784756e+02] [-8.19049423e-01 -2.23692531e-02 5.73286717e-01 -8.65959350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-208.77, Z:-865.98 [[ 1.42939628e-01 -9.75391421e-01 1.67868514e-01 4.10267815e+02] [ 5.55150484e-01 2.19430941e-01 8.02282994e-01 -2.08768599e+02] [-8.19375496e-01 -2.14857460e-02 5.72854397e-01 -8.65982245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-208.75, Z:-866.01 [[ 1.41688529e-01 -9.75639036e-01 1.67489799e-01 4.10271946e+02] [ 5.55304694e-01 2.18404108e-01 8.02456443e-01 -2.08752525e+02] [-8.19488290e-01 -2.06910016e-02 5.72722293e-01 -8.66005476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-208.73, Z:-866.02 [[ 1.42431569e-01 -9.78391750e-01 1.49876053e-01 4.10290332e+02] [ 5.58938602e-01 2.04469766e-01 8.03604227e-01 -2.08727839e+02] [-8.16884868e-01 -3.06870995e-02 5.75983867e-01 -8.66024242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-208.73, Z:-866.06 [[ 1.38876471e-01 -9.70567828e-01 1.96752174e-01 4.10263336e+02] [ 5.55819989e-01 2.40825237e-01 7.95655293e-01 -2.08726650e+02] [-8.19620318e-01 -1.13900767e-03 5.72905958e-01 -8.66057926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-208.71, Z:-866.07 [[ 1.37145767e-01 -9.76424966e-01 1.66689303e-01 4.10282351e+02] [ 5.56881189e-01 2.15170949e-01 8.02237374e-01 -2.08706309e+02] [-8.19191296e-01 -1.71973226e-02 5.73262481e-01 -8.66074040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-208.69, Z:-866.10 [[ 1.36474995e-01 -9.76570694e-01 1.66385864e-01 4.10285296e+02] [ 5.57316886e-01 2.14544968e-01 8.02102453e-01 -2.08690727e+02] [-8.19006999e-01 -1.67372771e-02 5.73539361e-01 -8.66097063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-208.68, Z:-866.12 [[ 1.35630247e-01 -9.76758961e-01 1.65970989e-01 4.10288276e+02] [ 5.57646931e-01 2.13724980e-01 8.02091973e-01 -2.08675400e+02] [-8.18922668e-01 -1.62347193e-02 5.73674209e-01 -8.66119933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-208.66, Z:-866.14 [[ 1.33923822e-01 -9.77075967e-01 1.65490073e-01 4.10292024e+02] [ 5.58585927e-01 2.12366104e-01 8.01799476e-01 -2.08660222e+02] [-8.18563481e-01 -1.49396251e-02 5.74221765e-01 -8.66142027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7165599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.30, Y:-208.64, Z:-866.16 [[ 1.32417303e-01 -9.77320115e-01 1.65260556e-01 4.10295549e+02] [ 5.59330509e-01 2.11323396e-01 8.01555865e-01 -2.08644853e+02] [-8.18300091e-01 -1.37045949e-02 5.74627831e-01 -8.66164743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-208.63, Z:-866.19 [[ 1.30654031e-01 -9.77624989e-01 1.64860258e-01 4.10299466e+02] [ 5.59801991e-01 2.09987189e-01 8.01577889e-01 -2.08629000e+02] [-8.18261117e-01 -1.24402815e-02 5.74712088e-01 -8.66188148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.31, Y:-208.61, Z:-866.21 [[ 1.29100818e-01 -9.79975663e-01 1.51593797e-01 4.10313790e+02] [ 5.62916747e-01 1.98278921e-01 8.02377845e-01 -2.08606627e+02] [-8.16368615e-01 -1.82529493e-02 5.77242683e-01 -8.66208858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.30, Y:-208.60, Z:-866.24 [[ 1.25407968e-01 -9.74620755e-01 1.85437930e-01 4.10295391e+02] [ 5.60846805e-01 2.23825951e-01 7.97090211e-01 -2.08602623e+02] [-8.18366485e-01 4.04080682e-03 5.74682494e-01 -8.66238802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-208.58, Z:-866.26 [[ 1.20749045e-01 -9.79048082e-01 1.63965002e-01 4.10310532e+02] [ 5.61433798e-01 2.03572714e-01 8.02091168e-01 -2.08583407e+02] [-8.18664619e-01 -4.79624911e-03 5.74251893e-01 -8.66258141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-208.56, Z:-866.28 [[ 1.20875754e-01 -9.80605750e-01 1.54277070e-01 4.10323123e+02] [ 5.63118334e-01 1.95726659e-01 8.02862888e-01 -2.08562551e+02] [-8.17488100e-01 -1.01704103e-02 5.75855684e-01 -8.66280478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.896559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.30, Y:-208.56, Z:-866.31 [[ 1.13596268e-01 -9.75625482e-01 1.87751981e-01 4.10304409e+02] [ 5.62576777e-01 2.18924750e-01 7.97232290e-01 -2.08557431e+02] [-8.18903692e-01 1.50622915e-02 5.73733274e-01 -8.66308556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.32, Y:-208.54, Z:-866.33 [[ 1.10165038e-01 -9.79465109e-01 1.68854273e-01 4.10318813e+02] [ 5.62134481e-01 2.01507219e-01 8.02121977e-01 -2.08539344e+02] [-8.19675844e-01 6.55301118e-03 5.72790161e-01 -8.66330304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-208.52, Z:-866.35 [[ 1.07624795e-01 -9.81121681e-01 1.60677162e-01 4.10326690e+02] [ 5.63722313e-01 1.93346840e-01 8.03015662e-01 -2.08520632e+02] [-8.18922498e-01 4.15290539e-03 5.73889097e-01 -8.66349613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-208.51, Z:-866.37 [[ 1.04882610e-01 -9.81121789e-01 1.62479761e-01 4.10329091e+02] [ 5.64601323e-01 1.93242433e-01 8.02423023e-01 -2.08505598e+02] [-8.18672697e-01 7.57606704e-03 5.74210431e-01 -8.66373363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-208.49, Z:-866.40 [[ 1.00277203e-01 -9.81693070e-01 1.61935789e-01 4.10332784e+02] [ 5.66628564e-01 1.90130571e-01 8.01737137e-01 -2.08490017e+02] [-8.17848735e-01 1.13614857e-02 5.75321096e-01 -8.66396717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.32, Y:-208.49, Z:-866.43 [[ 9.50720304e-02 -9.77873190e-01 1.86347344e-01 4.10318058e+02] [ 5.62868644e-01 2.07204274e-01 8.00153284e-01 -2.08486921e+02] [-8.21060411e-01 2.88168797e-02 5.70113488e-01 -8.66430049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.45, Z:-866.44 [[ 9.58934633e-02 -9.87023052e-01 1.28801932e-01 4.10356388e+02] [ 5.67103911e-01 1.60517676e-01 8.07853471e-01 -2.08451280e+02] [-8.18044985e-01 -4.42378753e-03 5.75137229e-01 -8.66436100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-208.44, Z:-866.47 [[ 9.55673865e-02 -9.82295329e-01 1.61129641e-01 4.10341391e+02] [ 5.67487604e-01 1.86753330e-01 8.01923322e-01 -2.08442065e+02] [-8.17817030e-01 1.48013577e-02 5.75287950e-01 -8.66465973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-208.43, Z:-866.49 [[ 9.50211209e-02 -9.82408529e-01 1.60762152e-01 4.10343956e+02] [ 5.67429276e-01 1.86140704e-01 8.02107010e-01 -2.08426125e+02] [-8.17921147e-01 1.50040444e-02 5.75134659e-01 -8.66488370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.31, Y:-208.44, Z:-866.53 [[ 8.69059624e-02 -9.72867552e-01 2.14420333e-01 4.10305789e+02] [ 5.58386074e-01 2.25816260e-01 7.98255604e-01 -2.08437176e+02] [-8.25016574e-01 5.03561565e-02 5.62860472e-01 -8.66529550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-208.41, Z:-866.54 [[ 8.87505659e-02 -9.86145886e-01 1.40141461e-01 4.10349367e+02] [ 5.56198590e-01 1.65783325e-01 8.14345761e-01 -2.08406477e+02] [-8.26296839e-01 5.67283568e-03 5.63206315e-01 -8.66539403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-208.36, Z:-866.54 [[ 9.77188358e-02 -9.92191588e-01 7.75040794e-02 4.10393883e+02] [ 5.66189180e-01 1.19470329e-01 8.15571366e-01 -2.08357710e+02] [-8.18462486e-01 -3.58147132e-02 5.73442643e-01 -8.66540702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-208.36, Z:-866.58 [[ 1.00503414e-01 -9.81921253e-01 1.60404854e-01 4.10351278e+02] [ 5.66282275e-01 1.89014525e-01 8.02245533e-01 -2.08360145e+02] [-8.18060786e-01 1.02060111e-02 5.75041206e-01 -8.66582567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:410.35, Y:-208.34, Z:-866.61 [[ 1.05136479e-01 -9.81500019e-01 1.60012606e-01 4.10351704e+02] [ 5.65372253e-01 1.91364444e-01 8.02330272e-01 -2.08344078e+02] [-8.18107900e-01 6.11250780e-03 5.75032261e-01 -8.66605500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-208.33, Z:-866.63 [[ 1.07741282e-01 -9.81278927e-01 1.59635473e-01 4.10353633e+02] [ 5.64747790e-01 1.92556562e-01 8.02484831e-01 -2.08327887e+02] [-8.18200312e-01 3.69303615e-03 5.74921396e-01 -8.66628826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-208.33, Z:-866.67 [[ 1.06336642e-01 -9.74332700e-01 1.98414489e-01 4.10328202e+02] [ 5.57652609e-01 2.23647532e-01 7.99378102e-01 -2.08329495e+02] [-8.23235135e-01 2.56431747e-02 5.67121099e-01 -8.66667164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-208.29, Z:-866.67 [[ 1.16028565e-01 -9.87035913e-01 1.10893997e-01 4.10379986e+02] [ 5.62765147e-01 1.57327682e-01 8.11506864e-01 -2.08285090e+02] [-8.18433113e-01 -3.17507004e-02 5.73723916e-01 -8.66665742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-208.30, Z:-866.71 [[ 1.15441729e-01 -9.73076759e-01 1.99486411e-01 4.10327571e+02] [ 5.54643680e-01 2.29751998e-01 7.99740213e-01 -2.08296677e+02] [-8.24041016e-01 1.83204839e-02 5.66233843e-01 -8.66714744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-208.25, Z:-866.71 [[ 1.22193327e-01 -9.86588495e-01 1.08221681e-01 4.10383817e+02] [ 5.60942703e-01 1.58602817e-01 8.12519804e-01 -2.08252187e+02] [-8.18786954e-01 -3.85783360e-02 5.72799823e-01 -8.66712902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.25, Z:-866.75 [[ 1.27630599e-01 -9.79035665e-01 1.58743812e-01 4.10355957e+02] [ 5.58524130e-01 2.03208593e-01 8.04212076e-01 -2.08246350e+02] [-8.19610411e-01 -1.39798191e-02 5.72750678e-01 -8.66746678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.23, Z:-866.77 [[ 1.29569328e-01 -9.78836958e-01 1.58398229e-01 4.10357456e+02] [ 5.57765610e-01 2.04023536e-01 8.04532113e-01 -2.08230553e+02] [-8.19822733e-01 -1.58936007e-02 5.72396786e-01 -8.66769724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.21, Z:-866.79 [[ 1.33025080e-01 -9.78437514e-01 1.58001141e-01 4.10357697e+02] [ 5.57052182e-01 2.05665603e-01 8.04608306e-01 -2.08214416e+02] [-8.19754350e-01 -1.90182040e-02 5.72399435e-01 -8.66793197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.20, Z:-866.82 [[ 1.34002985e-01 -9.78366964e-01 1.57611182e-01 4.10359627e+02] [ 5.56816973e-01 2.05900840e-01 8.04710944e-01 -2.08198566e+02] [-8.19754878e-01 -2.00730869e-02 5.72362658e-01 -8.66816399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.18, Z:-866.84 [[ 1.34590327e-01 -9.78349496e-01 1.57218661e-01 4.10361775e+02] [ 5.56666546e-01 2.05911529e-01 8.04812276e-01 -2.08182649e+02] [-8.19760819e-01 -2.08015786e-02 5.72328135e-01 -8.66839397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-208.17, Z:-866.86 [[ 1.34847563e-01 -9.78380493e-01 1.56804804e-01 4.10362879e+02] [ 5.56706974e-01 2.05719872e-01 8.04833324e-01 -2.08167388e+02] [-8.19691089e-01 -2.12354844e-02 5.72412066e-01 -8.66861643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-208.15, Z:-866.88 [[ 1.34047337e-01 -9.78522974e-01 1.56601730e-01 4.10365029e+02] [ 5.57107628e-01 2.05103320e-01 8.04713439e-01 -2.08151778e+02] [-8.19550122e-01 -2.06256753e-02 5.72636166e-01 -8.66884760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6765599950002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:410.37, Y:-208.14, Z:-866.91 [[ 1.32891365e-01 -9.78752355e-01 1.56152853e-01 4.10367008e+02] [ 5.57696520e-01 2.04084418e-01 8.04564567e-01 -2.08136842e+02] [-8.19337828e-01 -1.98337808e-02 5.72967839e-01 -8.66907688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:410.37, Y:-208.12, Z:-866.93 [[ 1.31909384e-01 -9.78924320e-01 1.55907314e-01 4.10369388e+02] [ 5.58457552e-01 2.03335969e-01 8.04226116e-01 -2.08121204e+02] [-8.18978069e-01 -1.90173546e-02 5.73509602e-01 -8.66930868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-208.11, Z:-866.95 [[ 1.31204593e-01 -9.79090513e-01 1.55457781e-01 4.10372106e+02] [ 5.58978057e-01 2.02573106e-01 8.04057006e-01 -2.08106379e+02] [-8.18736152e-01 -1.85984840e-02 5.73868635e-01 -8.66952745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-208.09, Z:-866.98 [[ 1.29325831e-01 -9.79407160e-01 1.55036915e-01 4.10375170e+02] [ 5.60518358e-01 2.01178841e-01 8.03334454e-01 -2.08090491e+02] [-8.17981663e-01 -1.69908587e-02 5.74993313e-01 -8.66976261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-208.07, Z:-867.00 [[ 1.29150739e-01 -9.79493742e-01 1.54635363e-01 4.10378371e+02] [ 5.60561442e-01 2.00749421e-01 8.03411812e-01 -2.08074502e+02] [-8.17979802e-01 -1.70786067e-02 5.74993361e-01 -8.66999695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-208.06, Z:-867.02 [[ 1.27769850e-01 -9.79723842e-01 1.54324522e-01 4.10381594e+02] [ 5.61327346e-01 1.99713586e-01 8.03135166e-01 -2.08059007e+02] [-8.17671374e-01 -1.59898853e-02 5.75463159e-01 -8.67022293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-208.04, Z:-867.05 [[ 1.24858603e-01 -9.80163605e-01 1.53914381e-01 4.10385572e+02] [ 5.62011030e-01 1.97710516e-01 8.03152634e-01 -2.08042774e+02] [-8.17651473e-01 -1.37789366e-02 5.75548616e-01 -8.67045333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-208.03, Z:-867.07 [[ 1.22780359e-01 -9.80486121e-01 1.53531595e-01 4.10388889e+02] [ 5.62309975e-01 1.96203234e-01 8.03313005e-01 -2.08027100e+02] [-8.17760647e-01 -1.22987118e-02 5.75427029e-01 -8.67067292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-208.01, Z:-867.09 [[ 1.20380783e-01 -9.80799268e-01 1.53431626e-01 4.10392611e+02] [ 5.62243532e-01 1.94737876e-01 8.03715977e-01 -2.08011117e+02] [-8.18162990e-01 -1.04860193e-02 5.74890742e-01 -8.67090534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-208.00, Z:-867.11 [[ 1.17659120e-01 -9.81188055e-01 1.53056631e-01 4.10396626e+02] [ 5.62656447e-01 1.92868713e-01 8.03877716e-01 -2.07995262e+02] [-8.18275048e-01 -8.46524437e-03 5.74764547e-01 -8.67112947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-207.98, Z:-867.14 [[ 1.11612354e-01 -9.81952983e-01 1.52679471e-01 4.10401560e+02] [ 5.63740262e-01 1.89089647e-01 8.04016183e-01 -2.07979254e+02] [-8.18376197e-01 -3.66657373e-03 5.74671173e-01 -8.67136168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-207.96, Z:-867.16 [[ 1.08314780e-01 -9.82374761e-01 1.52340857e-01 4.10405462e+02] [ 5.63985876e-01 1.86918100e-01 8.04351637e-01 -2.07963709e+02] [-8.18650011e-01 -1.20507863e-03 5.74291483e-01 -8.67159612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-207.95, Z:-867.18 [[ 1.04782034e-01 -9.82811281e-01 1.51995759e-01 4.10409040e+02] [ 5.64306695e-01 1.84607309e-01 8.04660236e-01 -2.07948733e+02] [-8.18888686e-01 1.45828825e-03 5.73950515e-01 -8.67182159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-207.93, Z:-867.20 [[ 9.77416688e-02 -9.83562022e-01 1.51829889e-01 4.10414288e+02] [ 5.64844926e-01 1.80432712e-01 8.05229312e-01 -2.07932937e+02] [-8.19388049e-01 7.05588592e-03 5.73195812e-01 -8.67204970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-207.92, Z:-867.23 [[ 9.40941013e-02 -9.83975275e-01 1.51456124e-01 4.10418254e+02] [ 5.65332252e-01 1.78033363e-01 8.05421360e-01 -2.07917270e+02] [-8.19478947e-01 9.83763296e-03 5.73024848e-01 -8.67227743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-207.90, Z:-867.25 [[ 8.75686043e-02 -9.84628741e-01 1.51122405e-01 4.10422862e+02] [ 5.65983079e-01 1.74017964e-01 8.05841736e-01 -2.07901566e+02] [-8.19752947e-01 1.49662878e-02 5.72521717e-01 -8.67250978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.43, Y:-207.89, Z:-867.27 [[ 8.47828457e-02 -9.84940809e-01 1.50676712e-01 4.10426620e+02] [ 5.66798452e-01 1.72044711e-01 8.05692331e-01 -2.07886131e+02] [-8.19482388e-01 1.70944382e-02 5.72849366e-01 -8.67273386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.43, Y:-207.87, Z:-867.30 [[ 8.22229023e-02 -9.85184401e-01 1.50502794e-01 4.10430583e+02] [ 5.67246069e-01 1.70428846e-01 8.05720737e-01 -2.07870478e+02] [-8.19433519e-01 1.91234211e-02 5.72855133e-01 -8.67296241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2165599950001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:410.43, Y:-207.86, Z:-867.32 [[ 8.02777496e-02 -9.85405347e-01 1.50105911e-01 4.10434401e+02] [ 5.67600269e-01 1.68983624e-01 8.05775695e-01 -2.07855193e+02] [-8.19381119e-01 2.05142960e-02 5.72881965e-01 -8.67318733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-207.84, Z:-867.34 [[ 7.76401025e-02 -9.85636092e-01 1.49978360e-01 4.10438214e+02] [ 5.67716736e-01 1.67368809e-01 8.06030638e-01 -2.07839675e+02] [-8.19554588e-01 2.25649239e-02 5.72556637e-01 -8.67341612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.42, Y:-207.84, Z:-867.37 [[ 7.29010525e-02 -9.82433381e-01 1.71785004e-01 4.10424896e+02] [ 5.63668661e-01 1.82681929e-01 8.05546370e-01 -2.07835773e+02] [-8.22777660e-01 3.81046452e-02 5.67084613e-01 -8.67373193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-207.82, Z:-867.39 [[ 7.22221756e-02 -9.86928670e-01 1.44068589e-01 4.10442466e+02] [ 5.62304630e-01 1.59591885e-01 8.11383962e-01 -2.07815750e+02] [-8.23770272e-01 2.24105199e-02 5.66480633e-01 -8.67391712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-207.79, Z:-867.41 [[ 7.77658778e-02 -9.88931977e-01 1.26356692e-01 4.10457243e+02] [ 5.65847158e-01 1.48130337e-01 8.11094568e-01 -2.07791655e+02] [-8.20834613e-01 8.42309379e-03 5.71103834e-01 -8.67411116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-207.78, Z:-867.44 [[ 7.92617230e-02 -9.85191671e-01 1.52036018e-01 4.10443994e+02] [ 5.65223721e-01 1.70045451e-01 8.07221587e-01 -2.07782342e+02] [-8.21121017e-01 2.19525902e-02 5.70331797e-01 -8.67441003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-207.77, Z:-867.47 [[ 8.39239001e-02 -9.84996302e-01 1.50794777e-01 4.10445047e+02] [ 5.62030620e-01 1.71750928e-01 8.09087882e-01 -2.07767725e+02] [-8.22847715e-01 1.68494714e-02 5.68012090e-01 -8.67465329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.45, Y:-207.75, Z:-867.49 [[ 8.64711688e-02 -9.86281965e-01 1.40608044e-01 4.10452580e+02] [ 5.61052213e-01 1.64837640e-01 8.11202174e-01 -2.07749648e+02] [-8.23251572e-01 8.74285406e-03 5.67609383e-01 -8.67486292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-207.72, Z:-867.50 [[ 9.36594342e-02 -9.89275474e-01 1.12080094e-01 4.10474677e+02] [ 5.65604608e-01 1.45514342e-01 8.11737029e-01 -2.07718228e+02] [-8.19340795e-01 -1.26338132e-02 5.73167557e-01 -8.67499312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-207.72, Z:-867.54 [[ 9.54291859e-02 -9.80107879e-01 1.74016713e-01 4.10437706e+02] [ 5.59512141e-01 1.97399041e-01 8.04971915e-01 -2.07722538e+02] [-8.23310048e-01 2.05466493e-02 5.67219887e-01 -8.67538905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-207.69, Z:-867.55 [[ 1.01981210e-01 -9.88380704e-01 1.12709432e-01 4.10478133e+02] [ 5.63556295e-01 1.50766892e-01 8.12202959e-01 -2.07685662e+02] [-8.19758584e-01 -1.93113301e-02 5.72383557e-01 -8.67545953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.45, Y:-207.69, Z:-867.58 [[ 1.02639690e-01 -9.80514695e-01 1.67499334e-01 4.10448419e+02] [ 5.59608422e-01 1.96132633e-01 8.05214508e-01 -2.07685132e+02] [-8.22376744e-01 1.10870709e-02 5.68835274e-01 -8.67583636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-207.67, Z:-867.60 [[ 1.07017129e-01 -9.82554969e-01 1.52095585e-01 4.10456160e+02] [ 5.55833195e-01 1.85959756e-01 8.10227393e-01 -2.07669139e+02] [-8.24376609e-01 -2.16843456e-03 5.66037547e-01 -8.67603968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-207.65, Z:-867.63 [[ 1.09900252e-01 -9.83863290e-01 1.41191223e-01 4.10463775e+02] [ 5.56190535e-01 1.78603423e-01 8.11635945e-01 -2.07649443e+02] [-8.23756047e-01 -1.06697727e-02 5.66844010e-01 -8.67625585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-207.62, Z:-867.64 [[ 1.16128374e-01 -9.86824653e-01 1.12655694e-01 4.10485115e+02] [ 5.61073518e-01 1.58769537e-01 8.12396911e-01 -2.07619728e+02] [-8.19579592e-01 -3.11342056e-02 5.72118828e-01 -8.67638978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-207.61, Z:-867.67 [[ 1.18374600e-01 -9.81727925e-01 1.48989044e-01 4.10467836e+02] [ 5.60062272e-01 1.89910429e-01 8.06389658e-01 -2.07611119e+02] [-8.19949819e-01 -1.20129108e-02 5.72309343e-01 -8.67670094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-207.60, Z:-867.69 [[ 1.22181914e-01 -9.81335404e-01 1.48500520e-01 4.10470205e+02] [ 5.60030827e-01 1.91693382e-01 8.05989529e-01 -2.07596995e+02] [-8.19412627e-01 -1.53124746e-02 5.72999542e-01 -8.67692678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-207.58, Z:-867.72 [[ 1.23331045e-01 -9.81235725e-01 1.48208990e-01 4.10473596e+02] [ 5.59965132e-01 1.92112800e-01 8.05935310e-01 -2.07581335e+02] [-8.19285362e-01 -1.64049778e-02 5.73151265e-01 -8.67716010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-207.57, Z:-867.74 [[ 1.24270589e-01 -9.81176550e-01 1.47815417e-01 4.10477105e+02] [ 5.59860658e-01 1.92327308e-01 8.05956730e-01 -2.07566314e+02] [-8.19214785e-01 -1.74006811e-02 5.73222777e-01 -8.67738520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.48, Y:-207.55, Z:-867.76 [[ 1.24987365e-01 -9.81131422e-01 1.47510311e-01 4.10480868e+02] [ 5.60083695e-01 1.92493674e-01 8.05762025e-01 -2.07550999e+02] [-8.18953243e-01 -1.80919526e-02 5.73574989e-01 -8.67760794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-207.54, Z:-867.78 [[ 1.26315964e-01 -9.80991019e-01 1.47312249e-01 4.10484820e+02] [ 5.59803245e-01 1.93088856e-01 8.05814508e-01 -2.07536007e+02] [-8.18941148e-01 -1.93213612e-02 5.73552160e-01 -8.67783790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-207.52, Z:-867.81 [[ 1.26889512e-01 -9.80980673e-01 1.46887612e-01 4.10487727e+02] [ 5.59952051e-01 1.93073689e-01 8.05714746e-01 -2.07521148e+02] [-8.18750727e-01 -1.99867313e-02 5.73801166e-01 -8.67805837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-207.51, Z:-867.83 [[ 1.28468577e-01 -9.80811924e-01 1.46641720e-01 4.10491752e+02] [ 5.60262158e-01 1.93789106e-01 8.05327323e-01 -2.07506424e+02] [-8.18292209e-01 -2.13014486e-02 5.74407616e-01 -8.67829196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-207.50, Z:-867.86 [[ 1.26676244e-01 -9.77512437e-01 1.68589928e-01 4.10481100e+02] [ 5.56856187e-01 2.10729912e-01 8.03432693e-01 -2.07500181e+02] [-8.20892390e-01 -7.89549178e-03 5.71028322e-01 -8.67860943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-207.48, Z:-867.88 [[ 1.27986544e-01 -9.82631898e-01 1.34365169e-01 4.10504468e+02] [ 5.59260014e-01 1.83390814e-01 8.08452872e-01 -2.07476343e+02] [-8.19052917e-01 -2.83260223e-02 5.73018285e-01 -8.67876622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-207.46, Z:-867.90 [[ 1.28109041e-01 -9.81090738e-01 1.45082865e-01 4.10503511e+02] [ 5.59583480e-01 1.92283593e-01 8.06159630e-01 -2.07463571e+02] [-8.18812801e-01 -2.20903628e-02 5.73635436e-01 -8.67902617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:-207.44, Z:-867.92 [[ 1.28869233e-01 -9.82362328e-01 1.35487920e-01 4.10514687e+02] [ 5.61471377e-01 1.84898665e-01 8.06574471e-01 -2.07444198e+02] [-8.17399911e-01 -2.78700443e-02 5.75396078e-01 -8.67922515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-207.43, Z:-867.94 [[ 1.28507298e-01 -9.82477855e-01 1.34993111e-01 4.10521690e+02] [ 5.64424497e-01 1.84382833e-01 8.04629081e-01 -2.07426600e+02] [-8.15420666e-01 -2.72072902e-02 5.78229108e-01 -8.67942286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-207.41, Z:-867.97 [[ 1.27281660e-01 -9.81238078e-01 1.44814408e-01 4.10521066e+02] [ 5.64665526e-01 1.91717391e-01 8.02743599e-01 -2.07413188e+02] [-8.15446027e-01 -2.04028341e-02 5.78473423e-01 -8.67967308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.53, Y:-207.40, Z:-867.99 [[ 1.25691687e-01 -9.80911590e-01 1.48371334e-01 4.10525272e+02] [ 5.64467893e-01 1.93700472e-01 8.02406459e-01 -2.07398632e+02] [-8.15829393e-01 -1.71049675e-02 5.78039637e-01 -8.67993330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.53, Y:-207.39, Z:-868.02 [[ 1.18390987e-01 -9.79973260e-01 1.60112411e-01 4.10527823e+02] [ 5.63194738e-01 1.99071906e-01 8.01986324e-01 -2.07388522e+02] [-8.17799035e-01 -4.77348520e-03 5.75484103e-01 -8.68019044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:-207.36, Z:-868.03 [[ 1.14806465e-01 -9.84756207e-01 1.30670153e-01 4.10552057e+02] [ 5.66111043e-01 1.72947413e-01 8.05982307e-01 -2.07363429e+02] [-8.16295145e-01 -1.85581629e-02 5.77336844e-01 -8.68032526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:-207.35, Z:-868.06 [[ 1.10167458e-01 -9.83476502e-01 1.43656189e-01 4.10552028e+02] [ 5.66196353e-01 1.80890333e-01 8.04176832e-01 -2.07352038e+02] [-8.16875034e-01 -7.25650670e-03 5.76769037e-01 -8.68057710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-207.34, Z:-868.08 [[ 1.08194717e-01 -9.83077517e-01 1.47825906e-01 4.10555678e+02] [ 5.66380406e-01 1.83161886e-01 8.03532799e-01 -2.07337846e+02] [-8.17011101e-01 -3.21230772e-03 5.76612992e-01 -8.68084605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-207.32, Z:-868.11 [[ 1.08012984e-01 -9.82911653e-01 1.49056626e-01 4.10557648e+02] [ 5.66461501e-01 1.84063195e-01 8.03269636e-01 -2.07322481e+02] [-8.16978925e-01 -2.32870984e-03 5.76662825e-01 -8.68107465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-207.31, Z:-868.13 [[ 1.07825852e-01 -9.82977742e-01 1.48755992e-01 4.10560462e+02] [ 5.66552631e-01 1.83709821e-01 8.03286262e-01 -2.07306788e+02] [-8.16940452e-01 -2.33692667e-03 5.76717293e-01 -8.68129995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-207.29, Z:-868.15 [[ 1.05971448e-01 -9.83861032e-01 1.44178786e-01 4.10567340e+02] [ 5.67758815e-01 1.78903989e-01 8.03519316e-01 -2.07290099e+02] [-8.16345503e-01 -3.29132849e-03 5.77554489e-01 -8.68149660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:410.57, Y:-207.28, Z:-868.18 [[ 1.04625893e-01 -9.83403662e-01 1.48225034e-01 4.10571318e+02] [ 5.67583257e-01 1.81431052e-01 8.03076596e-01 -2.07275025e+02] [-8.16641089e-01 1.07441422e-04 5.77145839e-01 -8.68176124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.356559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.57, Y:-207.26, Z:-868.20 [[ 1.05174073e-01 -9.83650067e-01 1.46188099e-01 4.10573495e+02] [ 5.67338600e-01 1.80083497e-01 8.03552641e-01 -2.07259099e+02] [-8.16740673e-01 -1.57475208e-03 5.77002767e-01 -8.68195161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-207.24, Z:-868.22 [[ 1.06003955e-01 -9.84202228e-01 1.41806688e-01 4.10578592e+02] [ 5.67240326e-01 1.76982279e-01 8.04310690e-01 -2.07242462e+02] [-8.16701644e-01 -4.82164189e-03 5.77040014e-01 -8.68216819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-207.23, Z:-868.24 [[ 1.07352457e-01 -9.84127030e-01 1.41313264e-01 4.10581522e+02] [ 5.67869928e-01 1.77362627e-01 8.03782460e-01 -2.07226619e+02] [-8.16087737e-01 -6.04046868e-03 5.77896459e-01 -8.68239235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-207.21, Z:-868.27 [[ 1.07276428e-01 -9.83812147e-01 1.43545910e-01 4.10583332e+02] [ 5.67896641e-01 1.79142161e-01 8.03368839e-01 -2.07211163e+02] [-8.16079146e-01 -4.66329914e-03 5.77921345e-01 -8.68265247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-207.20, Z:-868.29 [[ 1.07496114e-01 -9.83759660e-01 1.43741146e-01 4.10585087e+02] [ 5.68108276e-01 1.79429850e-01 8.03154976e-01 -2.07195571e+02] [-8.15902918e-01 -4.67550372e-03 5.78170016e-01 -8.68286244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-207.18, Z:-868.31 [[ 1.06756390e-01 -9.84325949e-01 1.40376281e-01 4.10589326e+02] [ 5.68090867e-01 1.76254249e-01 8.03870143e-01 -2.07179378e+02] [-8.16012157e-01 -6.07179106e-03 5.78002849e-01 -8.68309052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-207.16, Z:-868.33 [[ 1.06415507e-01 -9.84417817e-01 1.39990364e-01 4.10591559e+02] [ 5.68109188e-01 1.75742032e-01 8.03969333e-01 -2.07163679e+02] [-8.16043927e-01 -6.02499207e-03 5.77958484e-01 -8.68331564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-207.15, Z:-868.35 [[ 1.05616405e-01 -9.84523286e-01 1.39853764e-01 4.10593577e+02] [ 5.67987341e-01 1.75167507e-01 8.04180779e-01 -2.07147464e+02] [-8.16232538e-01 -5.49951511e-03 5.77697326e-01 -8.68354888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:-207.13, Z:-868.38 [[ 1.04716792e-01 -9.84663086e-01 1.39545694e-01 4.10596038e+02] [ 5.67448702e-01 1.74392556e-01 8.04729276e-01 -2.07131319e+02] [-8.16722942e-01 -5.08364505e-03 5.77007619e-01 -8.68378225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-207.13, Z:-868.41 [[ 9.88003685e-02 -9.82309061e-01 1.59082984e-01 4.10583970e+02] [ 5.63551582e-01 1.86991520e-01 8.04638916e-01 -2.07125102e+02] [-8.20151267e-01 1.01528460e-02 5.72056657e-01 -8.68407755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.656559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.62, Y:-207.09, Z:-868.42 [[ 1.01365974e-01 -9.88935419e-01 1.08312868e-01 4.10618345e+02] [ 5.67312693e-01 1.46896907e-01 8.10294766e-01 -2.07091061e+02] [-8.17240018e-01 -2.06890537e-02 5.75925964e-01 -8.68417382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.60, Y:-207.08, Z:-868.45 [[ 9.97427227e-02 -9.85248646e-01 1.39055730e-01 4.10603787e+02] [ 5.67250756e-01 1.71122602e-01 8.05570379e-01 -2.07081964e+02] [-8.17482703e-01 -1.47031519e-03 5.75951273e-01 -8.68447001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7165599950001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.61, Y:-207.07, Z:-868.47 [[ 9.94943812e-02 -9.85326828e-01 1.38679164e-01 4.10606688e+02] [ 5.67294446e-01 1.70671729e-01 8.05635260e-01 -2.07065718e+02] [-8.17482648e-01 -1.48426252e-03 5.75951315e-01 -8.68470332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-207.06, Z:-868.50 [[ 9.31339239e-02 -9.81749715e-01 1.65811851e-01 4.10588606e+02] [ 5.61959671e-01 1.89305907e-01 8.05210906e-01 -2.07064334e+02] [-8.21904740e-01 1.81871221e-02 5.69334548e-01 -8.68502330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.61, Y:-207.04, Z:-868.52 [[ 9.11033081e-02 -9.87745980e-01 1.26720429e-01 4.10613003e+02] [ 5.60800432e-01 1.56041036e-01 8.13113812e-01 -2.07041118e+02] [-8.22923485e-01 -3.01248662e-03 5.68144227e-01 -8.68518752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-207.02, Z:-868.54 [[ 9.09063550e-02 -9.89230079e-01 1.14716545e-01 4.10623018e+02] [ 5.63520546e-01 1.46075079e-01 8.13084661e-01 -2.07018032e+02] [-8.21085032e-01 -9.26943271e-03 5.70730627e-01 -8.68538161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-207.00, Z:-868.56 [[ 9.12826600e-02 -9.89095864e-01 1.15571830e-01 4.10627026e+02] [ 5.67289072e-01 1.47033228e-01 8.10286578e-01 -2.06998014e+02] [-8.18444003e-01 -8.40247803e-03 5.74524859e-01 -8.68558844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-206.99, Z:-868.59 [[ 9.03382626e-02 -9.86469885e-01 1.36807036e-01 4.10617884e+02] [ 5.67473438e-01 1.63874074e-01 8.06919565e-01 -2.06987368e+02] [-8.18420977e-01 4.73864755e-03 5.74599556e-01 -8.68586624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-206.97, Z:-868.61 [[ 8.92915790e-02 -9.86617576e-01 1.36428635e-01 4.10620453e+02] [ 5.67583218e-01 1.62962817e-01 8.07026896e-01 -2.06971408e+02] [-8.18459715e-01 5.37389769e-03 5.74538786e-01 -8.68610091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:-206.97, Z:-868.64 [[ 8.41904158e-02 -9.83097762e-01 1.62575410e-01 4.10602571e+02] [ 5.62814718e-01 1.81552784e-01 8.06398277e-01 -2.06970389e+02] [-8.22284359e-01 2.36088272e-02 5.68586894e-01 -8.68643077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9565599950001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.62, Y:-206.95, Z:-868.66 [[ 8.37221627e-02 -9.88161637e-01 1.28558076e-01 4.10623087e+02] [ 5.62452484e-01 1.53356508e-01 8.12483221e-01 -2.06948370e+02] [-8.22579968e-01 4.28495705e-03 5.68633306e-01 -8.68661324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:410.63, Y:-206.93, Z:-868.68 [[ 8.39324606e-02 -9.89012184e-01 1.21697335e-01 4.10628823e+02] [ 5.62446200e-01 1.47833931e-01 8.13510541e-01 -2.06932129e+02] [-8.22562833e-01 1.68262416e-04 5.68674211e-01 -8.68682168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-206.90, Z:-868.69 [[ 9.04252169e-02 -9.92346594e-01 8.40923187e-02 4.10657950e+02] [ 5.68955459e-01 1.20777259e-01 8.13451006e-01 -2.06895707e+02] [-8.17381775e-01 -2.57116999e-02 5.75522321e-01 -8.68692561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-206.89, Z:-868.73 [[ 9.27741516e-02 -9.86405385e-01 1.35636915e-01 4.10631461e+02] [ 5.69224268e-01 1.64311650e-01 8.05596310e-01 -2.06891702e+02] [-8.16931264e-01 2.46930929e-03 5.76729757e-01 -8.68727166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-206.88, Z:-868.75 [[ 9.44199481e-02 -9.86309778e-01 1.35195764e-01 4.10633868e+02] [ 5.69409565e-01 1.64900380e-01 8.05345026e-01 -2.06875719e+02] [-8.16613507e-01 9.41125480e-04 5.77184108e-01 -8.68749972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.64, Y:-206.86, Z:-868.77 [[ 9.59703847e-02 -9.86213850e-01 1.34803289e-01 4.10635730e+02] [ 5.69190053e-01 1.65474842e-01 8.05382369e-01 -2.06860352e+02] [-8.16585800e-01 -5.64164337e-04 5.77223798e-01 -8.68772922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.136559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.64, Y:-206.84, Z:-868.80 [[ 9.96023210e-02 -9.85913577e-01 1.34364414e-01 4.10636970e+02] [ 5.69014746e-01 1.67213745e-01 8.05147056e-01 -2.06844650e+02] [-8.16272991e-01 -3.73918282e-03 5.77654241e-01 -8.68795836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:-206.83, Z:-868.82 [[ 1.01397824e-01 -9.85786291e-01 1.33954730e-01 4.10639061e+02] [ 5.68906085e-01 1.67916506e-01 8.05077582e-01 -2.06828859e+02] [-8.16127654e-01 -5.42545411e-03 5.77846188e-01 -8.68818669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:-206.81, Z:-868.84 [[ 1.02660172e-01 -9.85711184e-01 1.33545313e-01 4.10640883e+02] [ 5.68908909e-01 1.68312303e-01 8.04992933e-01 -2.06813006e+02] [-8.15967856e-01 -6.66559493e-03 5.78058844e-01 -8.68841336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.64, Y:-206.80, Z:-868.87 [[ 1.03190248e-01 -9.85072221e-01 1.37784222e-01 4.10638134e+02] [ 5.67306313e-01 1.72070777e-01 8.05329246e-01 -2.06800413e+02] [-8.17016108e-01 -4.93626590e-03 5.76593716e-01 -8.68866083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:-206.78, Z:-868.89 [[ 1.05275430e-01 -9.86706502e-01 1.23803725e-01 4.10650090e+02] [ 5.68166572e-01 1.61855310e-01 8.06839269e-01 -2.06779308e+02] [-8.16151843e-01 -1.45992134e-02 5.77653038e-01 -8.68885018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.64, Y:-206.77, Z:-868.91 [[ 1.03772059e-01 -9.85067268e-01 1.37382083e-01 4.10643610e+02] [ 5.67075842e-01 1.72076144e-01 8.05490404e-01 -2.06768551e+02] [-8.17102411e-01 -5.68133708e-03 5.76464546e-01 -8.68911317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.316559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.66, Y:-206.75, Z:-868.93 [[ 1.05325210e-01 -9.86879699e-01 1.22372627e-01 4.10656996e+02] [ 5.68078020e-01 1.60712157e-01 8.07130080e-01 -2.06746957e+02] [-8.16207060e-01 -1.54939454e-02 5.77551707e-01 -8.68930621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-206.73, Z:-868.96 [[ 1.04719076e-01 -9.85679439e-01 1.32173974e-01 4.10655016e+02] [ 5.67993451e-01 1.68373784e-01 8.05626284e-01 -2.06733751e+02] [-8.16343895e-01 -9.29048875e-03 5.77491413e-01 -8.68955452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-206.72, Z:-868.98 [[ 1.03896589e-01 -9.85816734e-01 1.31798584e-01 4.10657914e+02] [ 5.67966070e-01 1.67591180e-01 8.05808749e-01 -2.06718709e+02] [-8.16468029e-01 -8.86365699e-03 5.77322607e-01 -8.68977277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-206.70, Z:-869.00 [[ 1.02962543e-01 -9.85942852e-01 1.31588026e-01 4.10660919e+02] [ 5.68485918e-01 1.66884516e-01 8.05588803e-01 -2.06703032e+02] [-8.16224526e-01 -8.13953175e-03 5.77677481e-01 -8.68999841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-206.69, Z:-869.02 [[ 1.01130952e-01 -9.86174369e-01 1.31273167e-01 4.10664477e+02] [ 5.68236147e-01 1.65566337e-01 8.06036891e-01 -2.06687620e+02] [-8.16627339e-01 -6.92111986e-03 5.77123805e-01 -8.69022664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:410.67, Y:-206.67, Z:-869.05 [[ 9.91790509e-02 -9.86144386e-01 1.32976562e-01 4.10665950e+02] [ 5.67818010e-01 1.65829323e-01 8.06277460e-01 -2.06672353e+02] [-8.17157404e-01 -4.45934630e-03 5.76397338e-01 -8.69046597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-206.66, Z:-869.07 [[ 9.88015057e-02 -9.86860369e-01 1.27847079e-01 4.10672632e+02] [ 5.67994368e-01 1.61418408e-01 8.07048013e-01 -2.06655135e+02] [-8.17080572e-01 -7.12113813e-03 5.76479513e-01 -8.69068203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-206.64, Z:-869.09 [[ 9.76760312e-02 -9.86459822e-01 1.31743737e-01 4.10673859e+02] [ 5.67479209e-01 1.63953021e-01 8.06899470e-01 -2.06640470e+02] [-8.17573691e-01 -4.05290625e-03 5.75809720e-01 -8.69092067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-206.62, Z:-869.11 [[ 9.68020722e-02 -9.87030956e-01 1.28059563e-01 4.10680137e+02] [ 5.67701135e-01 1.60437046e-01 8.07449921e-01 -2.06624001e+02] [-8.17523565e-01 -5.46326608e-03 5.75869233e-01 -8.69113504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-206.61, Z:-869.14 [[ 9.64998671e-02 -9.86807279e-01 1.29996808e-01 4.10682127e+02] [ 5.67920508e-01 1.61848698e-01 8.07013814e-01 -2.06608384e+02] [-8.17406920e-01 -4.04887240e-03 5.76046469e-01 -8.69137119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.68, Y:-206.59, Z:-869.16 [[ 9.63217676e-02 -9.86874257e-01 1.29619896e-01 4.10684934e+02] [ 5.68050950e-01 1.61438468e-01 8.07004176e-01 -2.06593012e+02] [-8.17337284e-01 -4.10136389e-03 5.76144898e-01 -8.69159793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:410.67, Y:-206.59, Z:-869.19 [[ 9.19608654e-02 -9.83543968e-01 1.55513542e-01 4.10666072e+02] [ 5.63804339e-01 1.80159571e-01 8.06019352e-01 -2.06592237e+02] [-8.20772725e-01 1.35569729e-02 5.71093987e-01 -8.69190414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.55, Z:-869.20 [[ 9.82730047e-02 -9.91794926e-01 8.17633244e-02 4.10714656e+02] [ 5.69752705e-01 1.23436266e-01 8.12493289e-01 -2.06550011e+02] [-8.15919281e-01 -3.32612816e-02 5.77208294e-01 -8.69196462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-206.56, Z:-869.24 [[ 9.52625115e-02 -9.84210177e-01 1.49182376e-01 4.10674545e+02] [ 5.65657620e-01 1.76838083e-01 8.05456237e-01 -2.06556309e+02] [-8.19119351e-01 7.65636401e-03 5.73572027e-01 -8.69236497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.52, Z:-869.25 [[ 1.01012267e-01 -9.90126262e-01 9.71931401e-02 4.10707257e+02] [ 5.70211014e-01 1.37672434e-01 8.09880053e-01 -2.06522328e+02] [-8.15264326e-01 -2.63872213e-02 5.78487505e-01 -8.69247670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:-206.51, Z:-869.28 [[ 1.02494201e-01 -9.86660757e-01 1.26473278e-01 4.10692592e+02] [ 5.69865850e-01 1.62451674e-01 8.05519936e-01 -2.06513029e+02] [-8.15320705e-01 -1.04883208e-02 5.78914625e-01 -8.69277082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.796559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.70, Y:-206.50, Z:-869.30 [[ 1.04272603e-01 -9.86755505e-01 1.24261005e-01 4.10695150e+02] [ 5.70446561e-01 1.61686174e-01 8.05262878e-01 -2.06495441e+02] [-8.14688864e-01 -1.30825930e-02 5.79750723e-01 -8.69299016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.68, Y:-206.49, Z:-869.33 [[ 1.01567046e-01 -9.84032900e-01 1.46162197e-01 4.10679879e+02] [ 5.66260864e-01 1.77983702e-01 8.04779744e-01 -2.06490354e+02] [-8.17944234e-01 1.02683030e-03 5.75296599e-01 -8.69328589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.856559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.70, Y:-206.47, Z:-869.35 [[ 1.03722906e-01 -9.87642399e-01 1.17490639e-01 4.10697352e+02] [ 5.65550862e-01 1.55737887e-01 8.09875257e-01 -2.06468086e+02] [-8.18164886e-01 -1.75556831e-02 5.74715597e-01 -8.69346401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.45, Z:-869.37 [[ 1.05639999e-01 -9.88404633e-01 1.09070948e-01 4.10705706e+02] [ 5.66665378e-01 1.49969114e-01 8.10184926e-01 -2.06447462e+02] [-8.17147808e-01 -2.37812049e-02 5.75937422e-01 -8.69367324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:-206.44, Z:-869.40 [[ 1.04334511e-01 -9.85779815e-01 1.31728764e-01 4.10693248e+02] [ 5.64250270e-01 1.67743469e-01 8.08383425e-01 -2.06439946e+02] [-8.18984702e-01 -1.00142982e-02 5.73727959e-01 -8.69396427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.42, Z:-869.42 [[ 1.04917974e-01 -9.88463133e-01 1.09237603e-01 4.10708505e+02] [ 5.65318260e-01 1.49650375e-01 8.11184338e-01 -2.06417874e+02] [-8.18173260e-01 -2.33538058e-02 5.74497272e-01 -8.69415176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.40, Z:-869.44 [[ 1.06006610e-01 -9.88676511e-01 1.06213721e-01 4.10713894e+02] [ 5.67216637e-01 1.47855995e-01 8.10187566e-01 -2.06398778e+02] [-8.16717752e-01 -2.56390479e-02 5.76467478e-01 -8.69437752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.72, Y:-206.37, Z:-869.46 [[ 1.08930562e-01 -9.89058416e-01 9.94865981e-02 4.10723634e+02] [ 5.71227960e-01 1.44189723e-01 8.08027191e-01 -2.06374991e+02] [-8.13531039e-01 -3.11893293e-02 5.80684489e-01 -8.69457743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.37, Z:-869.49 [[ 1.08786344e-01 -9.85905831e-01 1.27103203e-01 4.10710796e+02] [ 5.71197974e-01 1.66642402e-01 8.03718349e-01 -2.06365228e+02] [-8.13571390e-01 -1.48324888e-02 5.81275831e-01 -8.69485912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.70, Y:-206.36, Z:-869.52 [[ 1.04087569e-01 -9.83431021e-01 1.48422385e-01 4.10696692e+02] [ 5.66436540e-01 1.81282297e-01 8.03919384e-01 -2.06360849e+02] [-8.17505611e-01 3.93847875e-04 5.75920498e-01 -8.69515840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.72, Y:-206.34, Z:-869.53 [[ 1.04615739e-01 -9.88017149e-01 1.13479784e-01 4.10719162e+02] [ 5.67141902e-01 1.53002726e-01 8.09283775e-01 -2.06337396e+02] [-8.16948965e-01 -2.03046793e-02 5.76352418e-01 -8.69530212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.74, Y:-206.31, Z:-869.55 [[ 1.07384234e-01 -9.89802957e-01 9.35881064e-02 4.10736522e+02] [ 5.70288593e-01 1.38429524e-01 8.09696355e-01 -2.06309259e+02] [-8.14395203e-01 -3.35763938e-02 5.79338484e-01 -8.69547097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.156559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.72, Y:-206.30, Z:-869.58 [[ 1.07480975e-01 -9.86189347e-01 1.26009574e-01 4.10721509e+02] [ 5.69966114e-01 1.64968639e-01 8.04937251e-01 -2.06300321e+02] [-8.14608169e-01 -1.46942532e-02 5.79825499e-01 -8.69576962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.29, Z:-869.61 [[ 1.03945420e-01 -9.84125934e-01 1.43845392e-01 4.10710395e+02] [ 5.66512125e-01 1.77458434e-01 8.04718905e-01 -2.06294429e+02] [-8.17471322e-01 -2.15668602e-03 5.75965266e-01 -8.69606723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.72, Y:-206.28, Z:-869.63 [[ 1.02459563e-01 -9.86759270e-01 1.25730593e-01 4.10721739e+02] [ 5.65720867e-01 1.61767860e-01 8.08573473e-01 -2.06276964e+02] [-8.18206538e-01 -1.17176641e-02 5.74804973e-01 -8.69628048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:-206.24, Z:-869.64 [[ 1.06829123e-01 -9.90774726e-01 8.33845325e-02 4.10753559e+02] [ 5.72332631e-01 1.29854087e-01 8.09674797e-01 -2.06242529e+02] [-8.13033147e-01 -3.87731595e-02 5.80924904e-01 -8.69639138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:-206.24, Z:-869.67 [[ 1.06654249e-01 -9.86424518e-01 1.24866097e-01 4.10733672e+02] [ 5.72088537e-01 1.63592836e-01 8.03711447e-01 -2.06235849e+02] [-8.13227875e-01 -1.42847779e-02 5.81770030e-01 -8.69671394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-206.24, Z:-869.70 [[ 1.01063390e-01 -9.82462542e-01 1.56695709e-01 4.10712505e+02] [ 5.66182832e-01 1.86306344e-01 8.02948907e-01 -2.06237179e+02] [-8.18060629e-01 7.56968181e-03 5.75082175e-01 -8.69704896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.74, Y:-206.21, Z:-869.72 [[ 9.95590927e-02 -9.88459661e-01 1.14173055e-01 4.10737870e+02] [ 5.65762804e-01 1.50624496e-01 8.10693969e-01 -2.06214255e+02] [-8.18535544e-01 -1.61170884e-02 5.74229747e-01 -8.69720210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.74, Y:-206.20, Z:-869.74 [[ 9.84688893e-02 -9.89156928e-01 1.08960774e-01 4.10742100e+02] [ 5.64916178e-01 1.45702570e-01 8.12182537e-01 -2.06198527e+02] [-8.19251848e-01 -1.84210082e-02 5.73137921e-01 -8.69743556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.396559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:410.76, Y:-206.18, Z:-869.76 [[ 9.89620503e-02 -9.91389100e-01 8.57564276e-02 4.10758224e+02] [ 5.65860141e-01 1.26954935e-01 8.14668488e-01 -2.06176397e+02] [-8.18540661e-01 -3.20951197e-02 5.73551297e-01 -8.69759958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-206.15, Z:-869.78 [[ 1.01475772e-01 -9.91391859e-01 8.27336014e-02 4.10765819e+02] [ 5.69523351e-01 1.26078354e-01 8.12248362e-01 -2.06152672e+02] [-8.15687330e-01 -3.53048117e-02 5.77414713e-01 -8.69779027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4565599950001 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:410.74, Y:-206.15, Z:-869.82 [[ 9.86889280e-02 -9.85889884e-01 1.35209590e-01 4.10736687e+02] [ 5.67496806e-01 1.67371221e-01 8.06184997e-01 -2.06151450e+02] [-8.17439827e-01 -2.83052301e-03 5.76007046e-01 -8.69815387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:-206.14, Z:-869.83 [[ 9.80708529e-02 -9.88403350e-01 1.15935004e-01 4.10748743e+02] [ 5.64205482e-01 1.51186805e-01 8.11674026e-01 -2.06135647e+02] [-8.19789169e-01 -1.41903991e-02 5.72489608e-01 -8.69833420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:-206.12, Z:-869.86 [[ 9.76300631e-02 -9.87811235e-01 1.21232568e-01 4.10747871e+02] [ 5.66344179e-01 1.55311235e-01 8.09402676e-01 -2.06119770e+02] [-8.18365836e-01 -1.03626753e-02 5.74604189e-01 -8.69860117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.77, Y:-206.09, Z:-869.87 [[ 9.96997156e-02 -9.90893912e-01 9.04943162e-02 4.10769568e+02] [ 5.70990771e-01 1.31457939e-01 8.10363098e-01 -2.06090114e+02] [-8.14880057e-01 -2.91215510e-02 5.78897598e-01 -8.69871894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:-206.08, Z:-869.90 [[ 9.95978983e-02 -9.87565161e-01 1.21635979e-01 4.10754709e+02] [ 5.70522443e-01 1.56832127e-01 8.06168609e-01 -2.06081803e+02] [-8.15220461e-01 -1.08966432e-02 5.79048239e-01 -8.69900597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.76, Y:-206.07, Z:-869.92 [[ 9.93510843e-02 -9.87610461e-01 1.21469914e-01 4.10757152e+02] [ 5.70563455e-01 1.56554003e-01 8.06193642e-01 -2.06065541e+02] [-8.15221875e-01 -1.07899185e-02 5.79048247e-01 -8.69923965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.74, Y:-206.06, Z:-869.96 [[ 9.62515206e-02 -9.84754043e-01 1.44896927e-01 4.10743274e+02] [ 5.66868620e-01 1.73890844e-01 8.05246510e-01 -2.06061164e+02] [-8.18166006e-01 4.63131988e-03 5.74963423e-01 -8.69955544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.76, Y:-206.04, Z:-869.97 [[ 9.59286230e-02 -9.88720693e-01 1.15017787e-01 4.10762936e+02] [ 5.67986012e-01 1.49263956e-01 8.09389994e-01 -2.06037852e+02] [-8.17428645e-01 -1.23151731e-02 5.75898209e-01 -8.69973056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-206.01, Z:-869.99 [[ 9.67641046e-02 -9.90680968e-01 9.58536781e-02 4.10777098e+02] [ 5.72219771e-01 1.34171141e-01 8.09050455e-01 -2.06012465e+02] [-8.14371685e-01 -2.34376731e-02 5.79870187e-01 -8.69987399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-206.00, Z:-870.02 [[ 9.58649645e-02 -9.88111902e-01 1.20186427e-01 4.10765978e+02] [ 5.72984222e-01 1.53511484e-01 8.05061057e-01 -2.06002074e+02] [-8.13940410e-01 -8.31222313e-03 5.80888902e-01 -8.70015655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-205.99, Z:-870.04 [[ 9.45161402e-02 -9.88294331e-01 1.19753978e-01 4.10768526e+02] [ 5.73625375e-01 1.52380881e-01 8.04819232e-01 -2.05986515e+02] [-8.13646501e-01 -7.37448688e-03 5.81313159e-01 -8.70038672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-205.97, Z:-870.06 [[ 9.18316407e-02 -9.88609672e-01 1.19238698e-01 4.10771738e+02] [ 5.75261320e-01 1.50410927e-01 8.04021746e-01 -2.05970699e+02] [-8.12798477e-01 -5.24122531e-03 5.82521387e-01 -8.70060511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-205.95, Z:-870.08 [[ 9.03354817e-02 -9.88770108e-01 1.19051145e-01 4.10774565e+02] [ 5.75697995e-01 1.49388762e-01 8.03899755e-01 -2.05954783e+02] [-8.12656951e-01 -4.08316632e-03 5.82728074e-01 -8.70083229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-205.94, Z:-870.11 [[ 8.76595331e-02 -9.89056907e-01 1.18668622e-01 4.10777716e+02] [ 5.76070851e-01 1.47519366e-01 8.03977868e-01 -2.05939056e+02] [-8.12685783e-01 -2.11479040e-03 5.82698332e-01 -8.70105165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-205.93, Z:-870.13 [[ 8.40077198e-02 -9.87325638e-01 1.34650614e-01 4.10768588e+02] [ 5.73111267e-01 1.58415362e-01 8.04019931e-01 -2.05931443e+02] [-8.15160217e-01 9.62590281e-03 5.79155560e-01 -8.70134163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-205.90, Z:-870.15 [[ 8.36104792e-02 -9.91308025e-01 1.01576019e-01 4.10790262e+02] [ 5.74751167e-01 1.31242525e-01 8.07735412e-01 -2.05904497e+02] [-8.14045689e-01 -9.15420944e-03 5.80728695e-01 -8.70148791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-205.89, Z:-870.17 [[ 8.35914666e-02 -9.90002063e-01 1.13615061e-01 4.10786859e+02] [ 5.75055449e-01 1.41038294e-01 8.05865641e-01 -2.05889351e+02] [-8.13832721e-01 -2.02853111e-03 5.81095678e-01 -8.70174430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-205.87, Z:-870.20 [[ 8.29358167e-02 -9.89733591e-01 1.16400470e-01 4.10787402e+02] [ 5.74678303e-01 1.42924508e-01 8.05802354e-01 -2.05873337e+02] [-8.14166137e-01 6.29480860e-05 5.80631981e-01 -8.70196596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.996559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:410.78, Y:-205.87, Z:-870.23 [[ 8.00046844e-02 -9.88071566e-01 1.31582033e-01 4.10778159e+02] [ 5.71831410e-01 1.53618307e-01 8.05859947e-01 -2.05865543e+02] [-8.16460709e-01 1.07701687e-02 5.77300541e-01 -8.70225099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-205.84, Z:-870.24 [[ 8.23204191e-02 -9.91870698e-01 9.70353962e-02 4.10802281e+02] [ 5.73890467e-01 1.26780897e-01 8.09058920e-01 -2.05836412e+02] [-8.14784070e-01 -1.09143806e-02 5.79661794e-01 -8.70238832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-205.83, Z:-870.27 [[ 8.04258129e-02 -9.87627025e-01 1.34627442e-01 4.10780405e+02] [ 5.70710167e-01 1.56361325e-01 8.06127187e-01 -2.05833537e+02] [-8.17203521e-01 1.19998159e-02 5.76224271e-01 -8.70272710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.81, Y:-205.80, Z:-870.28 [[ 8.35485874e-02 -9.92036223e-01 9.42537269e-02 4.10807142e+02] [ 5.73242448e-01 1.25213864e-01 8.09762054e-01 -2.05803365e+02] [-8.15115163e-01 -1.36242386e-02 5.79138714e-01 -8.70284115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-205.80, Z:-870.32 [[ 8.21779101e-02 -9.87363165e-01 1.35501927e-01 4.10782599e+02] [ 5.69822278e-01 1.58095686e-01 8.06416968e-01 -2.05802498e+02] [-8.17648680e-01 1.09423554e-02 5.75613500e-01 -8.70319078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.81, Y:-205.77, Z:-870.33 [[ 8.68469899e-02 -9.92027073e-01 9.13229826e-02 4.10809891e+02] [ 5.73646834e-01 1.24744427e-01 8.09548107e-01 -2.05770776e+02] [-8.14485672e-01 -1.79196764e-02 5.79906868e-01 -8.70330655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1765599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.78, Y:-205.77, Z:-870.37 [[ 8.57074017e-02 -9.86939533e-01 1.36398676e-01 4.10784105e+02] [ 5.70496508e-01 1.60851334e-01 8.05394675e-01 -2.05770276e+02] [-8.16815754e-01 8.78668320e-03 5.76831707e-01 -8.70365959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.81, Y:-205.74, Z:-870.38 [[ 8.83489287e-02 -9.91915768e-01 9.10910367e-02 4.10813150e+02] [ 5.74371749e-01 1.25445127e-01 8.08925593e-01 -2.05738821e+02] [-8.13812977e-01 -1.91475915e-02 5.80811337e-01 -8.70376699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-205.74, Z:-870.41 [[ 8.69175510e-02 -9.86753848e-01 1.36975115e-01 4.10787105e+02] [ 5.71005396e-01 1.62014131e-01 8.04800758e-01 -2.05738638e+02] [-8.16332149e-01 8.26221883e-03 5.77523643e-01 -8.70413826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-205.71, Z:-870.42 [[ 8.87291062e-02 -9.91730214e-01 9.27271732e-02 4.10815548e+02] [ 5.74913616e-01 1.27012923e-01 8.08295770e-01 -2.05707211e+02] [-8.13388886e-01 -1.84092468e-02 5.81428946e-01 -8.70423686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.296559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:410.81, Y:-205.70, Z:-870.45 [[ 8.86808894e-02 -9.89334471e-01 1.15555202e-01 4.10805270e+02] [ 5.74812339e-01 1.45576246e-01 8.05231850e-01 -2.05695993e+02] [-8.13465718e-01 -4.98612069e-03 5.81591492e-01 -8.70451742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-205.69, Z:-870.48 [[ 8.66478183e-02 -9.86696589e-01 1.37557250e-01 4.10793482e+02] [ 5.70842046e-01 1.62335051e-01 8.04851968e-01 -2.05690380e+02] [-8.16475054e-01 8.78479481e-03 5.77313878e-01 -8.70483910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.356559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.82, Y:-205.66, Z:-870.49 [[ 8.79881091e-02 -9.91860378e-01 9.20384851e-02 4.10822471e+02] [ 5.74424383e-01 1.26008960e-01 8.08800575e-01 -2.05658963e+02] [-8.13814918e-01 -1.82956833e-02 5.80836076e-01 -8.70493110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-205.66, Z:-870.53 [[ 8.66374914e-02 -9.87443965e-01 1.32092246e-01 4.10802122e+02] [ 5.71348800e-01 1.57866996e-01 8.05381003e-01 -2.05656065e+02] [-8.16121617e-01 5.69455656e-03 5.77852125e-01 -8.70529026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.416559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.80, Y:-205.64, Z:-870.55 [[ 8.37502610e-02 -9.87853154e-01 1.30889420e-01 4.10802446e+02] [ 5.69243093e-01 1.55237497e-01 8.07380716e-01 -2.05643579e+02] [-8.17892532e-01 6.88955282e-03 5.75329766e-01 -8.70553674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:-205.61, Z:-870.57 [[ 8.47095031e-02 -9.91813093e-01 9.55567350e-02 4.10827694e+02] [ 5.73167173e-01 1.26949514e-01 8.09545065e-01 -2.05614944e+02] [-8.15048276e-01 -1.38061765e-02 5.79228537e-01 -8.70569203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-205.61, Z:-870.60 [[ 8.37331319e-02 -9.89166112e-01 1.20578463e-01 4.10816102e+02] [ 5.72745324e-01 1.46792568e-01 8.06482942e-01 -2.05605477e+02] [-8.15445619e-01 1.53140839e-03 5.78831666e-01 -8.70597759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:-205.58, Z:-870.61 [[ 8.48585718e-02 -9.91562305e-01 9.79960107e-02 4.10832453e+02] [ 5.75613471e-01 1.29063811e-01 8.07472393e-01 -2.05580505e+02] [-8.13306926e-01 -1.21131302e-02 5.81708790e-01 -8.70611471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.536559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:410.82, Y:-205.57, Z:-870.64 [[ 8.60866296e-02 -9.88839533e-01 1.21595516e-01 4.10824162e+02] [ 5.74395974e-01 1.48983463e-01 8.04905705e-01 -2.05570559e+02] [-8.14038303e-01 5.52355681e-04 5.80810931e-01 -8.70643120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:-205.55, Z:-870.66 [[ 8.69207984e-02 -9.89387632e-01 1.16434050e-01 4.10827661e+02] [ 5.74463583e-01 1.45266347e-01 8.05536641e-01 -2.05553579e+02] [-8.13901939e-01 -3.13076652e-03 5.80993831e-01 -8.70659968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.596559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.83, Y:-205.54, Z:-870.68 [[ 8.85849195e-02 -9.90001265e-01 1.09773435e-01 4.10833718e+02] [ 5.74450160e-01 1.40809939e-01 8.06337135e-01 -2.05535631e+02] [-8.13731975e-01 -8.36994315e-03 5.81180022e-01 -8.70682083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.83, Y:-205.52, Z:-870.71 [[ 8.97988458e-02 -9.89578171e-01 1.12566475e-01 4.10834433e+02] [ 5.74929350e-01 1.43795327e-01 8.05468278e-01 -2.05520267e+02] [-8.13260358e-01 -7.61235125e-03 5.81850189e-01 -8.70705457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.656559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.84, Y:-205.51, Z:-870.73 [[ 9.17906030e-02 -9.88844586e-01 1.17306736e-01 4.10836862e+02] [ 5.74956993e-01 1.48813280e-01 8.04536552e-01 -2.05505010e+02] [-8.13018414e-01 -6.40256711e-03 5.82202770e-01 -8.70733497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:-205.49, Z:-870.76 [[ 9.29725866e-02 -9.87917027e-01 1.24000186e-01 4.10836338e+02] [ 5.76777426e-01 1.54953687e-01 8.02070543e-01 -2.05489664e+02] [-8.11593433e-01 -3.05006505e-03 5.84214684e-01 -8.70757635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7165599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.84, Y:-205.48, Z:-870.78 [[ 9.20731346e-02 -9.88005525e-01 1.23966204e-01 4.10836164e+02] [ 5.77403081e-01 1.54402295e-01 8.01726645e-01 -2.05475416e+02] [-8.11251022e-01 -2.23901706e-03 5.84693737e-01 -8.70777123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-205.46, Z:-870.80 [[ 9.16733988e-02 -9.89651747e-01 1.10387537e-01 4.10846637e+02] [ 5.78176525e-01 1.43154157e-01 8.03255124e-01 -2.05456322e+02] [-8.10745271e-01 -9.81364480e-03 5.85316836e-01 -8.70797333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-205.44, Z:-870.82 [[ 9.05531045e-02 -9.89795502e-01 1.10022726e-01 4.10849525e+02] [ 5.78114913e-01 1.42201012e-01 8.03468742e-01 -2.05440427e+02] [-8.10915090e-01 -9.15081008e-03 5.85092283e-01 -8.70819770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-205.42, Z:-870.84 [[ 8.94227053e-02 -9.89936776e-01 1.09675702e-01 4.10852410e+02] [ 5.77898169e-01 1.41255091e-01 8.03791456e-01 -2.05424530e+02] [-8.11194974e-01 -8.49581925e-03 5.84714063e-01 -8.70842156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-205.41, Z:-870.86 [[ 8.62761137e-02 -9.90252059e-01 1.09349408e-01 4.10855654e+02] [ 5.77766502e-01 1.39148495e-01 8.04253421e-01 -2.05407665e+02] [-8.11629412e-01 -6.20943498e-03 5.84139659e-01 -8.70863868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-205.39, Z:-870.89 [[ 8.37555892e-02 -9.90504239e-01 1.09024561e-01 4.10858218e+02] [ 5.77431472e-01 1.37410102e-01 8.04792743e-01 -2.05391516e+02] [-8.12131699e-01 -4.45167764e-03 5.83457185e-01 -8.70886719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.896559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.86, Y:-205.38, Z:-870.91 [[ 7.90284064e-02 -9.90928578e-01 1.08697120e-01 4.10860921e+02] [ 5.77387184e-01 1.34386649e-01 8.05334880e-01 -2.05375240e+02] [-8.12636789e-01 -8.84008056e-04 5.82769824e-01 -8.70907788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-205.36, Z:-870.93 [[ 7.65867906e-02 -9.91145830e-01 1.08463850e-01 4.10863220e+02] [ 5.77375531e-01 1.32774573e-01 8.05610582e-01 -2.05359029e+02] [-8.12878810e-01 9.25244007e-04 5.82432128e-01 -8.70930114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.34, Z:-870.95 [[ 7.48026668e-02 -9.92676642e-01 9.48559226e-02 4.10873675e+02] [ 5.80350536e-01 1.20690111e-01 8.05373921e-01 -2.05335850e+02] [-8.10924051e-01 -5.19443156e-03 5.85128363e-01 -8.70947774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-205.33, Z:-870.98 [[ 7.05112777e-02 -9.90052148e-01 1.21757563e-01 4.10858008e+02] [ 5.78614517e-01 1.40022961e-01 8.03491637e-01 -2.05330236e+02] [-8.12547476e-01 1.37954718e-02 5.82731743e-01 -8.70977846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.31, Z:-871.00 [[ 6.88553269e-02 -9.92248832e-01 1.03446599e-01 4.10868912e+02] [ 5.78583795e-01 1.24190801e-01 8.06112546e-01 -2.05310476e+02] [-8.12711349e-01 4.34738287e-03 5.82650293e-01 -8.70997797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.29, Z:-871.02 [[ 6.87000526e-02 -9.92689681e-01 9.92345737e-02 4.10874457e+02] [ 5.79079251e-01 1.20676852e-01 8.06290468e-01 -2.05291418e+02] [-8.12371543e-01 2.07248506e-03 5.83136503e-01 -8.71020453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.076559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.85, Y:-205.29, Z:-871.05 [[ 6.29411936e-02 -9.89464768e-01 1.30375913e-01 4.10851452e+02] [ 5.75111934e-01 1.42723380e-01 8.05528584e-01 -2.05291583e+02] [-8.15649845e-01 2.42798128e-02 5.78036177e-01 -8.71051312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-205.25, Z:-871.06 [[ 6.50920245e-02 -9.95685356e-01 6.61339630e-02 4.10891138e+02] [ 5.78213573e-01 9.16487585e-02 8.10721635e-01 -2.05253747e+02] [-8.13284755e-01 -1.45319575e-02 5.81684390e-01 -8.71059593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.25, Z:-871.09 [[ 6.38095885e-02 -9.92232872e-01 1.06781382e-01 4.10868055e+02] [ 5.76395001e-01 1.23990945e-01 8.07709755e-01 -2.05249835e+02] [-8.14676095e-01 1.00086275e-02 5.79829879e-01 -8.71092278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-205.23, Z:-871.11 [[ 6.51457827e-02 -9.93840174e-01 8.96534159e-02 4.10878066e+02] [ 5.76176280e-01 1.10817434e-01 8.09777989e-01 -2.05228162e+02] [-8.14725059e-01 -1.09744920e-03 5.79846423e-01 -8.71112104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-205.21, Z:-871.13 [[ 6.66869311e-02 -9.93543980e-01 9.17780603e-02 4.10879572e+02] [ 5.77289596e-01 1.13443695e-01 8.08620585e-01 -2.05209101e+02] [-8.13811757e-01 -9.41905899e-04 5.81127815e-01 -8.71134302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.20, Z:-871.16 [[ 6.72792302e-02 -9.92142636e-01 1.05482206e-01 4.10872927e+02] [ 5.77085837e-01 1.24939118e-01 8.07070104e-01 -2.05195933e+02] [-8.13907514e-01 6.57323195e-03 5.80957271e-01 -8.71160226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.18, Z:-871.18 [[ 6.85839469e-02 -9.92095008e-01 1.05089193e-01 4.10874177e+02] [ 5.76968982e-01 1.25377896e-01 8.07085607e-01 -2.05179861e+02] [-8.13881464e-01 5.28008821e-03 5.81006957e-01 -8.71182698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.16, Z:-871.21 [[ 7.28939593e-02 -9.91833185e-01 1.04658515e-01 4.10873449e+02] [ 5.76806864e-01 1.27532445e-01 8.06863878e-01 -2.05163361e+02] [-8.13621726e-01 1.55224699e-03 5.81392534e-01 -8.71206192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.15, Z:-871.23 [[ 7.62825598e-02 -9.91623342e-01 1.04231083e-01 4.10873815e+02] [ 5.76724367e-01 1.29155433e-01 8.06664663e-01 -2.05147887e+02] [-8.13369520e-01 -1.42183998e-03 5.81745652e-01 -8.71228245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.13, Z:-871.25 [[ 7.97933213e-02 -9.91367974e-01 1.04031563e-01 4.10874135e+02] [ 5.76599276e-01 1.31036210e-01 8.06450734e-01 -2.05131707e+02] [-8.13121332e-01 -4.36485860e-03 5.82077871e-01 -8.71251417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.12, Z:-871.27 [[ 8.74400869e-02 -9.90762933e-01 1.03648646e-01 4.10872436e+02] [ 5.75543688e-01 1.35169136e-01 8.06522640e-01 -2.05116129e+02] [-8.13082834e-01 -1.08680860e-02 5.82046554e-01 -8.71273914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.10, Z:-871.30 [[ 9.08574826e-02 -9.90471541e-01 1.03494179e-01 4.10873023e+02] [ 5.74957348e-01 1.37026074e-01 8.06627487e-01 -2.05099704e+02] [-8.13122971e-01 -1.37834043e-02 5.81928734e-01 -8.71296531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.08, Z:-871.32 [[ 9.33964336e-02 -9.90272424e-01 1.03138898e-01 4.10874152e+02] [ 5.74188510e-01 1.38201985e-01 8.06974452e-01 -2.05083022e+02] [-8.13378547e-01 -1.61473659e-02 5.81510621e-01 -8.71319486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-205.06, Z:-871.34 [[ 9.82133485e-02 -9.91008096e-01 9.08685392e-02 4.10884348e+02] [ 5.75470578e-01 1.31051293e-01 8.07254094e-01 -2.05059027e+02] [-8.11903782e-01 -2.69909569e-02 5.83166989e-01 -8.71339949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-205.05, Z:-871.37 [[ 9.70721276e-02 -9.87670445e-01 1.22817320e-01 4.10866530e+02] [ 5.72034313e-01 1.56347655e-01 8.05190757e-01 -2.05053143e+02] [-8.14465314e-01 -7.90585884e-03 5.80158384e-01 -8.71369626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-205.03, Z:-871.39 [[ 9.67258775e-02 -9.90038757e-01 1.02310140e-01 4.10879639e+02] [ 5.72497967e-01 1.39427166e-01 8.07964197e-01 -2.05032695e+02] [-8.14180682e-01 -1.95786991e-02 5.80281390e-01 -8.71389138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-205.02, Z:-871.41 [[ 9.69920744e-02 -9.90046871e-01 1.01979067e-01 4.10882276e+02] [ 5.72130266e-01 1.39302779e-01 8.08246061e-01 -2.05015733e+02] [-8.14407451e-01 -2.00481514e-02 5.79947046e-01 -8.71411799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.88, Y:-205.00, Z:-871.43 [[ 9.65590936e-02 -9.90125749e-01 1.01623532e-01 4.10884560e+02] [ 5.71866059e-01 1.38754366e-01 8.08527326e-01 -2.04999442e+02] [-8.14644433e-01 -1.99556173e-02 5.79617306e-01 -8.71434936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-204.98, Z:-871.46 [[ 9.61591440e-02 -9.90204025e-01 1.01239364e-01 4.10886647e+02] [ 5.71903032e-01 1.38209197e-01 8.08594546e-01 -2.04983050e+02] [-8.14665785e-01 -1.98546603e-02 5.79590762e-01 -8.71458033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.89, Y:-204.97, Z:-871.48 [[ 9.60223017e-02 -9.90257387e-01 1.00846542e-01 4.10888625e+02] [ 5.71933656e-01 1.37809668e-01 8.08641075e-01 -2.04967756e+02] [-8.14660427e-01 -1.99700459e-02 5.79594330e-01 -8.71480474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-204.95, Z:-871.50 [[ 9.47628782e-02 -9.91033416e-01 9.41953579e-02 4.10894312e+02] [ 5.74156349e-01 1.31707313e-01 8.08082713e-01 -2.04948885e+02] [-8.13243189e-01 -2.24933810e-02 5.81489092e-01 -8.71501316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-204.94, Z:-871.53 [[ 9.27075363e-02 -9.89793724e-01 1.08229835e-01 4.10887379e+02] [ 5.72749089e-01 1.41926147e-01 8.07350884e-01 -2.04938630e+02] [-8.14471482e-01 -1.28589723e-02 5.80061077e-01 -8.71528280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-204.92, Z:-871.55 [[ 9.14301997e-02 -9.91248389e-01 9.52215813e-02 4.10896359e+02] [ 5.73307783e-01 1.30582084e-01 8.08867421e-01 -2.04920964e+02] [-8.14222761e-01 -1.93636361e-02 5.80229563e-01 -8.71548340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-204.90, Z:-871.57 [[ 9.13273784e-02 -9.91648970e-01 9.10583914e-02 4.10904223e+02] [ 5.75414354e-01 1.27180433e-01 8.07913027e-01 -2.04902707e+02] [-8.12746966e-01 -2.13882732e-02 5.82224107e-01 -8.71570453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-204.89, Z:-871.60 [[ 8.75914871e-02 -9.90523957e-01 1.05782897e-01 4.10896012e+02] [ 5.74479414e-01 1.36981753e-01 8.06975466e-01 -2.04892989e+02] [-8.13818859e-01 -9.91408466e-03 5.81034058e-01 -8.71596832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-204.88, Z:-871.62 [[ 8.57085708e-02 -9.91835174e-01 9.44300217e-02 4.10904199e+02] [ 5.74706270e-01 1.26638093e-01 8.08502008e-01 -2.04876216e+02] [-8.13859167e-01 -1.50260260e-02 5.80867863e-01 -8.71618178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.856559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.91, Y:-204.86, Z:-871.64 [[ 8.20255294e-02 -9.92916046e-01 8.59624262e-02 4.10911837e+02] [ 5.76638534e-01 1.17631858e-01 8.08486702e-01 -2.04859071e+02] [-8.12871339e-01 -1.67473023e-02 5.82202469e-01 -8.71638110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.92, Y:-204.84, Z:-871.66 [[ 8.22536910e-02 -9.93656717e-01 7.66854555e-02 4.10923183e+02] [ 5.79467073e-01 1.10286321e-01 8.07499126e-01 -2.04836593e+02] [-8.10834287e-01 -2.19830871e-02 5.84862807e-01 -8.71659054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.91, Y:-204.83, Z:-871.69 [[ 7.74690724e-02 -9.91331175e-01 1.06118067e-01 4.10906529e+02] [ 5.78762062e-01 1.31383523e-01 8.04843367e-01 -2.04830906e+02] [-8.11808487e-01 -9.33358057e-04 5.83923034e-01 -8.71688160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-204.81, Z:-871.71 [[ 7.27458366e-02 -9.94224025e-01 7.89090083e-02 4.10929264e+02] [ 5.81513175e-01 1.06560472e-01 8.06527925e-01 -2.04805305e+02] [-8.10278021e-01 -1.27849207e-02 5.85906200e-01 -8.71705792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9765599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.92, Y:-204.79, Z:-871.73 [[ 6.89827105e-02 -9.92824022e-01 9.76823802e-02 4.10922604e+02] [ 5.82034434e-01 1.19576690e-01 8.04324147e-01 -2.04793815e+02] [-8.10232870e-01 1.37004918e-03 5.86106492e-01 -8.71732440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-204.78, Z:-871.76 [[ 6.46142011e-02 -9.93156869e-01 9.72853499e-02 4.10926321e+02] [ 5.82799402e-01 1.16691942e-01 8.04193912e-01 -2.04777312e+02] [-8.10043124e-01 4.73549658e-03 5.86351186e-01 -8.71755377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.94, Y:-204.76, Z:-871.78 [[ 5.59494475e-02 -9.94459042e-01 8.89992932e-02 4.10935315e+02] [ 5.85081716e-01 1.04886116e-01 8.04163098e-01 -2.04758028e+02] [-8.09042054e-01 7.07937810e-03 5.87708123e-01 -8.71775015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-204.75, Z:-871.80 [[ 5.14357511e-02 -9.93548597e-01 1.01072004e-01 4.10931504e+02] [ 5.84160072e-01 1.12018261e-01 8.03871208e-01 -2.04747191e+02] [-8.10007021e-01 1.76945099e-02 5.86153163e-01 -8.71800465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-204.72, Z:-871.82 [[ 4.87681458e-02 -9.95581879e-01 8.02395868e-02 4.10947810e+02] [ 5.86243515e-01 9.35732447e-02 8.04712737e-01 -2.04721931e+02] [-8.08665697e-01 7.79558936e-03 5.88216814e-01 -8.71817880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.94, Y:-204.71, Z:-871.84 [[ 4.28557563e-02 -9.94347162e-01 9.71447629e-02 4.10942705e+02] [ 5.86093491e-01 1.03766802e-01 8.03571323e-01 -2.04710136e+02] [-8.09109266e-01 2.24982564e-02 5.87227404e-01 -8.71844042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.94, Y:-204.70, Z:-871.87 [[ 3.92771436e-02 -9.93518659e-01 1.06667620e-01 4.10938260e+02] [ 5.83564566e-01 1.09460905e-01 8.04655646e-01 -2.04700180e+02] [-8.11116332e-01 3.06428679e-02 5.84081596e-01 -8.71870631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-204.68, Z:-871.89 [[ 3.84578545e-02 -9.95264692e-01 8.92703048e-02 4.10951135e+02] [ 5.83090111e-01 9.49011266e-02 8.06845524e-01 -2.04678616e+02] [-8.11496714e-01 2.10230842e-02 5.83978693e-01 -8.71891668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-204.67, Z:-871.92 [[ 3.76211002e-02 -9.94618270e-01 9.65357463e-02 4.10948634e+02] [ 5.82388852e-01 1.00325013e-01 8.06695802e-01 -2.04665376e+02] [-8.12039333e-01 2.58725588e-02 5.83028930e-01 -8.71915517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-204.65, Z:-871.94 [[ 3.84861707e-02 -9.95298113e-01 8.88846540e-02 4.10954869e+02] [ 5.82347514e-01 9.46239681e-02 8.07414192e-01 -2.04647044e+02] [-8.12028440e-01 2.06874769e-02 5.83251096e-01 -8.71937353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.63, Z:-871.96 [[ 4.14056962e-02 -9.95105460e-01 8.97256430e-02 4.10957574e+02] [ 5.82504741e-01 9.70040352e-02 8.07018243e-01 -2.04629991e+02] [-8.11772010e-01 1.88504602e-02 5.83670168e-01 -8.71960840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.62, Z:-871.99 [[ 4.60833705e-02 -9.94346743e-01 9.56602235e-02 4.10955019e+02] [ 5.81813293e-01 1.04560005e-01 8.06573305e-01 -2.04615538e+02] [-8.12015772e-01 1.84867732e-02 5.83342631e-01 -8.71985751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.60, Z:-872.01 [[ 4.84851704e-02 -9.94276488e-01 9.52021743e-02 4.10955877e+02] [ 5.82359456e-01 1.05577445e-01 8.06046443e-01 -2.04598349e+02] [-8.11484228e-01 1.63605873e-02 5.84145255e-01 -8.72008108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-204.59, Z:-872.03 [[ 5.02958552e-02 -9.93781267e-01 9.93434454e-02 4.10952605e+02] [ 5.80125647e-01 1.10038333e-01 8.07059973e-01 -2.04586404e+02] [-8.12972669e-01 1.70399090e-02 5.82052472e-01 -8.72032722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.56, Z:-872.05 [[ 5.89216568e-02 -9.94628914e-01 8.50973712e-02 4.10961606e+02] [ 5.79872399e-01 1.03490721e-01 8.08107463e-01 -2.04564910e+02] [-8.12573836e-01 1.73058622e-03 5.82855699e-01 -8.72052259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.55, Z:-872.08 [[ 6.23703535e-02 -9.93581167e-01 9.43737496e-02 4.10957177e+02] [ 5.79457215e-01 1.13037993e-01 8.07125609e-01 -2.04551638e+02] [-8.12612623e-01 4.34484054e-03 5.82787995e-01 -8.72075956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.54, Z:-872.10 [[ 6.53783236e-02 -9.93409373e-01 9.41461282e-02 4.10958277e+02] [ 5.78788116e-01 1.14607639e-01 8.07384299e-01 -2.04535609e+02] [-8.12852995e-01 1.70522829e-03 5.82466395e-01 -8.72098565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.52, Z:-872.12 [[ 7.09904995e-02 -9.93054527e-01 9.38245957e-02 4.10958163e+02] [ 5.77553654e-01 1.17612587e-01 8.07836033e-01 -2.04519585e+02] [-8.13260183e-01 -3.15994535e-03 5.81891647e-01 -8.72121118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.516559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.50, Z:-872.14 [[ 7.33206469e-02 -9.92920003e-01 9.34556085e-02 4.10958621e+02] [ 5.77001982e-01 1.18665566e-01 8.08076232e-01 -2.04503741e+02] [-8.13445017e-01 -5.32460072e-03 5.81617445e-01 -8.72144133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.49, Z:-872.17 [[ 7.58419791e-02 -9.92763167e-01 9.31090134e-02 4.10959213e+02] [ 5.76129869e-01 1.19843041e-01 8.08524595e-01 -2.04488539e+02] [-8.13831905e-01 -7.67722180e-03 5.81049646e-01 -8.72166001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.47, Z:-872.19 [[ 8.09608311e-02 -9.92126547e-01 9.55523915e-02 4.10957780e+02] [ 5.75435942e-01 1.24802379e-01 8.08268423e-01 -2.04473515e+02] [-8.13829725e-01 -1.04538029e-02 5.81009378e-01 -8.72188791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.46, Z:-872.21 [[ 8.17090686e-02 -9.92943387e-01 8.59479971e-02 4.10963511e+02] [ 5.74734924e-01 1.17396627e-01 8.09875175e-01 -2.04455227e+02] [-8.14250205e-01 -1.67768307e-02 5.80271611e-01 -8.72210085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.44, Z:-872.23 [[ 8.33587771e-02 -9.92224888e-01 9.24179921e-02 4.10960962e+02] [ 5.74322822e-01 1.23624430e-01 8.09240568e-01 -2.04441482e+02] [-8.14373754e-01 -1.43795421e-02 5.80162579e-01 -8.72233283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.43, Z:-872.26 [[ 8.48299883e-02 -9.92123857e-01 9.21635843e-02 4.10962269e+02] [ 5.73993683e-01 1.24265593e-01 8.09375879e-01 -2.04426058e+02] [-8.14453881e-01 -1.57580312e-02 5.80014275e-01 -8.72255438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-204.41, Z:-872.28 [[ 8.68480111e-02 -9.91967071e-01 9.19714804e-02 4.10963303e+02] [ 5.74057153e-01 1.25283041e-01 8.09173989e-01 -2.04409968e+02] [-8.14196419e-01 -1.74782655e-02 5.80326375e-01 -8.72278433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-204.41, Z:-872.31 [[ 8.29572389e-02 -9.90681526e-01 1.08019494e-01 4.10950374e+02] [ 5.69713007e-01 1.36079618e-01 8.10499493e-01 -2.04405281e+02] [-8.17646126e-01 -5.69668918e-03 5.75692940e-01 -8.72306367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.99, Y:-204.37, Z:-872.32 [[ 8.77202007e-02 -9.94586595e-01 5.57016315e-02 4.10985246e+02] [ 5.75175659e-01 9.62246906e-02 8.12350768e-01 -2.04369700e+02] [-8.13313056e-01 -3.92213498e-02 5.80502850e-01 -8.72319036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.97, Y:-204.36, Z:-872.35 [[ 8.81042602e-02 -9.91939285e-01 9.10719150e-02 4.10968003e+02] [ 5.75102622e-01 1.25304119e-01 8.08428013e-01 -2.04362646e+02] [-8.13323192e-01 -1.88502549e-02 5.81506710e-01 -8.72349865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.97, Y:-204.35, Z:-872.37 [[ 8.77691616e-02 -9.92008207e-01 9.06437654e-02 4.10970297e+02] [ 5.75795015e-01 1.24775910e-01 8.08016753e-01 -2.04347107e+02] [-8.12869409e-01 -1.87267248e-02 5.82144857e-01 -8.72372999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.97, Y:-204.34, Z:-872.40 [[ 8.46437994e-02 -9.91692853e-01 9.68540758e-02 4.10965614e+02] [ 5.74335890e-01 1.27988799e-01 8.08552505e-01 -2.04337406e+02] [-8.14231978e-01 -1.28121843e-02 5.80398255e-01 -8.72397297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.876559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.99, Y:-204.31, Z:-872.42 [[ 8.69360076e-02 -9.93749808e-01 7.00246446e-02 4.10986546e+02] [ 5.77944970e-01 1.07563373e-01 8.08955952e-01 -2.04311129e+02] [-8.11431909e-01 -2.98570097e-02 5.83683833e-01 -8.72415426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.98, Y:-204.30, Z:-872.44 [[ 8.52682606e-02 -9.92313499e-01 8.96841290e-02 4.10979583e+02] [ 5.79470544e-01 1.22612941e-01 8.05717044e-01 -2.04300213e+02] [-8.10520334e-01 -1.67327798e-02 5.85471436e-01 -8.72442876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.98, Y:-204.29, Z:-872.47 [[ 8.37670211e-02 -9.92481382e-01 8.92400872e-02 4.10982308e+02] [ 5.80256811e-01 1.21387364e-01 8.05336663e-01 -2.04285390e+02] [-8.10114263e-01 -1.56784849e-02 5.86062339e-01 -8.72465202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.99, Y:-204.27, Z:-872.49 [[ 7.89979354e-02 -9.93129540e-01 8.63310123e-02 4.10986627e+02] [ 5.81670957e-01 1.16252373e-01 8.05074086e-01 -2.04270693e+02] [-8.09579042e-01 -1.33829481e-02 5.86858307e-01 -8.72485971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.996559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.99, Y:-204.26, Z:-872.51 [[ 7.57470750e-02 -9.93408268e-01 8.60371615e-02 4.10989104e+02] [ 5.81162162e-01 1.14097834e-01 8.05749481e-01 -2.04256660e+02] [-8.10254850e-01 -1.10316236e-02 5.85973874e-01 -8.72508916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:-204.23, Z:-872.53 [[ 7.63469580e-02 -9.94455676e-01 7.23121713e-02 4.11004242e+02] [ 5.82679781e-01 1.03349938e-01 8.06103631e-01 -2.04234486e+02] [-8.09107790e-01 -1.94087199e-02 5.87339669e-01 -8.72529688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:-204.22, Z:-872.55 [[ 7.22951530e-02 -9.93445313e-01 8.85427661e-02 4.11000978e+02] [ 5.82490546e-01 1.14117307e-01 8.04786931e-01 -2.04222824e+02] [-8.09616066e-01 -6.60687007e-03 5.86922631e-01 -8.72554617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:-204.21, Z:-872.58 [[ 6.95779728e-02 -9.93650837e-01 8.84133450e-02 4.11004480e+02] [ 5.82324013e-01 1.12416392e-01 8.05146756e-01 -2.04206961e+02] [-8.09973858e-01 -4.53526532e-03 5.86448447e-01 -8.72577481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-204.18, Z:-872.59 [[ 6.63203545e-02 -9.95061496e-01 7.38527553e-02 4.11014937e+02] [ 5.84794548e-01 9.87339450e-02 8.05150262e-01 -2.04184016e+02] [-8.08465798e-01 -1.02091621e-02 5.88454608e-01 -8.72593899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:-204.18, Z:-872.62 [[ 6.56350755e-02 -9.93069569e-01 9.74929146e-02 4.11004631e+02] [ 5.81650390e-01 1.17464063e-01 8.04913050e-01 -2.04176754e+02] [-8.10786569e-01 3.87626301e-03 5.85329065e-01 -8.72624856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-204.16, Z:-872.65 [[ 6.40562439e-02 -9.94085288e-01 8.76997071e-02 4.11009202e+02] [ 5.80684847e-01 1.08599569e-01 8.06852677e-01 -2.04158354e+02] [-8.11604526e-01 -7.58060916e-04 5.84206743e-01 -8.72645806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-204.14, Z:-872.67 [[ 6.36455859e-02 -9.94148406e-01 8.72822277e-02 4.11010288e+02] [ 5.81082391e-01 1.08021118e-01 8.06644093e-01 -2.04142521e+02] [-8.11352263e-01 -6.21170388e-04 5.84557200e-01 -8.72667844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-204.13, Z:-872.69 [[ 6.24069910e-02 -9.94245058e-01 8.70754404e-02 4.11011383e+02] [ 5.81747622e-01 1.07129130e-01 8.06283483e-01 -2.04125721e+02] [-8.10971684e-01 3.38204361e-04 5.85085305e-01 -8.72690336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-204.09, Z:-872.70 [[ 6.28891228e-02 -9.96469314e-01 5.56225117e-02 4.11032463e+02] [ 5.88023016e-01 8.20278592e-02 8.04674073e-01 -2.04092255e+02] [-8.06395617e-01 -1.78979295e-02 5.91105552e-01 -8.72701418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:-204.10, Z:-872.74 [[ 6.09130421e-02 -9.90771654e-01 1.21083161e-01 4.10996377e+02] [ 5.82224173e-01 1.33801575e-01 8.01942735e-01 -2.04100430e+02] [-8.10743248e-01 2.16487720e-02 5.85001468e-01 -8.72743972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-204.06, Z:-872.75 [[ 5.99932522e-02 -9.96363921e-01 6.04958337e-02 4.11031151e+02] [ 5.87117197e-01 8.42349962e-02 8.05107361e-01 -2.04063594e+02] [-8.07275793e-01 -1.27828646e-02 5.90035925e-01 -8.72749098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-204.05, Z:-872.78 [[ 5.92996565e-02 -9.94658330e-01 8.44887975e-02 4.11019167e+02] [ 5.87867226e-01 1.03200975e-01 8.02347608e-01 -2.04053105e+02] [-8.06781058e-01 2.08925750e-03 5.90846816e-01 -8.72777989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-204.04, Z:-872.80 [[ 5.80967091e-02 -9.94764155e-01 8.40776361e-02 4.11020259e+02] [ 5.88154997e-01 1.02157735e-01 8.02270214e-01 -2.04036416e+02] [-8.06658832e-01 2.84142259e-03 5.91010537e-01 -8.72800734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-204.02, Z:-872.82 [[ 5.78219909e-02 -9.94466652e-01 8.77080133e-02 4.11019991e+02] [ 5.87871924e-01 1.04924910e-01 8.02120542e-01 -2.04021226e+02] [-8.06884886e-01 5.18087184e-03 5.90685991e-01 -8.72824852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.00, Y:-204.02, Z:-872.86 [[ 5.53423668e-02 -9.91853422e-01 1.14734530e-01 4.11004312e+02] [ 5.82169562e-01 1.25410831e-01 8.03337242e-01 -2.04019825e+02] [-8.11181745e-01 2.23363667e-02 5.84367405e-01 -8.72858450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-204.00, Z:-872.88 [[ 5.20821277e-02 -9.95035470e-01 8.48048729e-02 4.11021565e+02] [ 5.82104717e-01 9.92503777e-02 8.07033743e-01 -2.03996599e+02] [-8.11444115e-01 7.33328205e-03 5.84384011e-01 -8.72875205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-203.98, Z:-872.90 [[ 5.03731195e-02 -9.95153439e-01 8.44522480e-02 4.11023355e+02] [ 5.81738197e-01 9.79701208e-02 8.07454349e-01 -2.03980280e+02] [-8.11814769e-01 8.45510404e-03 5.83853828e-01 -8.72897611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.536559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.02, Y:-203.96, Z:-872.92 [[ 4.74407489e-02 -9.95443894e-01 8.27093034e-02 4.11024414e+02] [ 5.81540562e-01 9.48474403e-02 8.07969392e-01 -2.03963611e+02] [-8.12132964e-01 9.76814163e-03 5.83390635e-01 -8.72919038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.94, Z:-872.94 [[ 4.57858155e-02 -9.95957607e-01 7.72793938e-02 4.11029592e+02] [ 5.81156926e-01 8.94784575e-02 8.08857363e-01 -2.03944482e+02] [-8.12502484e-01 7.87726099e-03 5.82904505e-01 -8.72940440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.93, Z:-872.96 [[ 4.63282321e-02 -9.95520428e-01 8.24182789e-02 4.11028590e+02] [ 5.80366097e-01 9.39776926e-02 8.08914944e-01 -2.03930654e+02] [-8.13036831e-01 1.03571755e-02 5.82120125e-01 -8.72964567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.02, Y:-203.92, Z:-872.99 [[ 4.42681664e-02 -9.94124173e-01 9.87798506e-02 4.11018237e+02] [ 5.77371912e-01 1.06150303e-01 8.09551598e-01 -2.03922983e+02] [-8.15280323e-01 2.11953463e-02 5.78678453e-01 -8.72992773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.656559995 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:411.04, Y:-203.90, Z:-873.01 [[ 4.76914022e-02 -9.96713019e-01 6.54880802e-02 4.11038207e+02] [ 5.77111672e-01 8.10076123e-02 8.12637610e-01 -2.03898196e+02] [-8.15271518e-01 -9.61891649e-04 5.79078083e-01 -8.73005918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.88, Z:-873.03 [[ 4.73124951e-02 -9.96098150e-01 7.44983410e-02 4.11033706e+02] [ 5.76506411e-01 8.81367348e-02 8.12325227e-01 -2.03883880e+02] [-8.15721696e-01 4.51563790e-03 5.78426939e-01 -8.73030985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7165599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.87, Z:-873.06 [[ 4.89004342e-02 -9.95450198e-01 8.17780578e-02 4.11030469e+02] [ 5.76017096e-01 9.49952302e-02 8.11899139e-01 -2.03869646e+02] [-8.15973684e-01 7.40333897e-03 5.78041640e-01 -8.73055568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.85, Z:-873.08 [[ 5.31067584e-02 -9.95265891e-01 8.13970416e-02 4.11030367e+02] [ 5.75606809e-01 9.71178103e-02 8.11938996e-01 -2.03854280e+02] [-8.16000290e-01 3.73324329e-03 5.78039436e-01 -8.73078218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.84, Z:-873.10 [[ 5.55745335e-02 -9.95147504e-01 8.11967766e-02 4.11031547e+02] [ 5.75890177e-01 9.83803839e-02 8.11585981e-01 -2.03838268e+02] [-8.15635933e-01 1.65691381e-03 5.78563117e-01 -8.73100805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.82, Z:-873.12 [[ 5.78689313e-02 -9.95048789e-01 8.08028085e-02 4.11032461e+02] [ 5.75782601e-01 9.93866950e-02 8.11539698e-01 -2.03822738e+02] [-8.15552318e-01 -4.38083794e-04 5.78683182e-01 -8.73123234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.81, Z:-873.14 [[ 6.03007899e-02 -9.94927094e-01 8.05226186e-02 4.11033280e+02] [ 5.75797900e-01 1.00565958e-01 8.11383551e-01 -2.03807407e+02] [-8.15365313e-01 -2.56231428e-03 5.78941138e-01 -8.73144971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-203.81, Z:-873.18 [[ 6.06189615e-02 -9.92632788e-01 1.04907054e-01 4.11016225e+02] [ 5.71227854e-01 1.20687285e-01 8.11870259e-01 -2.03805597e+02] [-8.18549986e-01 1.07110994e-02 5.74335436e-01 -8.73176467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.04, Y:-203.78, Z:-873.19 [[ 6.21655196e-02 -9.95745057e-01 6.80237403e-02 4.11037766e+02] [ 5.72030084e-01 9.13972620e-02 8.15124606e-01 -2.03780764e+02] [-8.17873481e-01 -1.17610188e-02 5.75277887e-01 -8.73192787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.77, Z:-873.22 [[ 6.28675559e-02 -9.94824695e-01 7.98216618e-02 4.11032177e+02] [ 5.70614998e-01 1.01447066e-01 8.14927614e-01 -2.03770420e+02] [-8.18807788e-01 -5.68506991e-03 5.74039620e-01 -8.73220422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-203.74, Z:-873.23 [[ 6.54358676e-02 -9.97117529e-01 3.84028829e-02 4.11059391e+02] [ 5.76763464e-01 6.91994707e-02 8.13975024e-01 -2.03736137e+02] [-8.14286224e-01 -3.11137821e-02 5.79629087e-01 -8.73230208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-203.75, Z:-873.27 [[ 6.12245360e-02 -9.91943749e-01 1.10901559e-01 4.11018352e+02] [ 5.71018168e-01 1.25940449e-01 8.11219609e-01 -2.03747029e+02] [-8.18651213e-01 1.36602608e-02 5.74128548e-01 -8.73272391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.70, Z:-873.28 [[ 6.34687207e-02 -9.97396553e-01 3.42321039e-02 4.11066557e+02] [ 5.77371724e-01 6.46754750e-02 8.13915828e-01 -2.03703130e+02] [-8.14010819e-01 -3.18935476e-02 5.79973437e-01 -8.73275750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:-203.70, Z:-873.31 [[ 6.08864578e-02 -9.95057064e-01 7.84492094e-02 4.11046438e+02] [ 5.77105710e-01 9.92208358e-02 8.10619656e-01 -2.03698574e+02] [-8.14396611e-01 -4.08227280e-03 5.80294318e-01 -8.73307339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:-203.68, Z:-873.33 [[ 5.89523590e-02 -9.95188446e-01 7.82596674e-02 4.11049213e+02] [ 5.77578559e-01 9.79454938e-02 8.10437961e-01 -2.03682964e+02] [-8.14203677e-01 -2.57612372e-03 5.80573626e-01 -8.73330045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:-203.67, Z:-873.35 [[ 5.68953756e-02 -9.95339910e-01 7.78548682e-02 4.11052047e+02] [ 5.77995467e-01 9.64222261e-02 8.10323389e-01 -2.03666723e+02] [-8.14054148e-01 -1.10389266e-03 5.80787935e-01 -8.73353394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-203.67, Z:-873.39 [[ 4.96812409e-02 -9.92934827e-01 1.07759935e-01 4.11033886e+02] [ 5.73438731e-01 1.16695579e-01 8.10894669e-01 -2.03668241e+02] [-8.17740666e-01 2.15074666e-02 5.75184868e-01 -8.73387227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-203.62, Z:-873.39 [[ 5.28401857e-02 -9.98139878e-01 3.04088653e-02 4.11083464e+02] [ 5.79874404e-01 5.54606459e-02 8.12815965e-01 -2.03622614e+02] [-8.12990523e-01 -2.53160239e-02 5.81726318e-01 -8.73391157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-203.62, Z:-873.42 [[ 5.23872263e-02 -9.95659247e-01 7.69301103e-02 4.11061330e+02] [ 5.80603269e-01 9.30451963e-02 8.08852543e-01 -2.03618153e+02] [-8.12499491e-01 2.29233226e-03 5.82957393e-01 -8.73423585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-203.60, Z:-873.45 [[ 5.15427070e-02 -9.95734606e-01 7.65241370e-02 4.11064162e+02] [ 5.80875173e-01 9.22222584e-02 8.08751561e-01 -2.03602831e+02] [-8.12359146e-01 2.76572662e-03 5.83150897e-01 -8.73445256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.59, Z:-873.47 [[ 5.13322240e-02 -9.95758350e-01 7.63564694e-02 4.11065832e+02] [ 5.80906604e-01 9.19632459e-02 8.08758480e-01 -2.03586581e+02] [-8.12349999e-01 2.84060588e-03 5.83163279e-01 -8.73468351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.57, Z:-873.49 [[ 5.11476318e-02 -9.95796487e-01 7.59820746e-02 4.11067482e+02] [ 5.80775135e-01 9.15519784e-02 8.08899547e-01 -2.03570714e+02] [-8.12455637e-01 2.75520348e-03 5.83016507e-01 -8.73490978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.55, Z:-873.51 [[ 5.15746006e-02 -9.95802674e-01 7.56114774e-02 4.11069939e+02] [ 5.80377850e-01 9.15008981e-02 8.09190420e-01 -2.03554496e+02] [-8.12712502e-01 2.14955398e-03 5.82660938e-01 -8.73513121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.54, Z:-873.54 [[ 5.17468783e-02 -9.95811350e-01 7.53791497e-02 4.11071596e+02] [ 5.79815991e-01 9.14137500e-02 8.09602954e-01 -2.03538575e+02] [-8.13102501e-01 1.81161084e-03 5.82117721e-01 -8.73535517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.52, Z:-873.56 [[ 5.18926827e-02 -9.95814692e-01 7.52346301e-02 4.11073115e+02] [ 5.79473381e-01 9.13817914e-02 8.09851819e-01 -2.03522757e+02] [-8.13337415e-01 1.57108197e-03 5.81790153e-01 -8.73557851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.51, Z:-873.58 [[ 5.13769770e-02 -9.95851132e-01 7.51061255e-02 4.11074446e+02] [ 5.79004517e-01 9.09783829e-02 8.10232500e-01 -2.03506969e+02] [-8.13703986e-01 1.85948934e-03 5.81276497e-01 -8.73580723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.50, Z:-873.61 [[ 4.70839828e-02 -9.94995799e-01 8.81275106e-02 4.11065395e+02] [ 5.76469499e-01 9.91173735e-02 8.11084868e-01 -2.03499502e+02] [-8.15761004e-01 1.26137160e-02 5.78251571e-01 -8.73608135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.47, Z:-873.62 [[ 4.84443154e-02 -9.97519277e-01 5.10728961e-02 4.11090409e+02] [ 5.79340575e-01 6.97149344e-02 8.12098717e-01 -2.03468616e+02] [-8.13644668e-01 -9.75296536e-03 5.81280684e-01 -8.73621622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-203.46, Z:-873.65 [[ 4.57793651e-02 -9.95989640e-01 7.68692824e-02 4.11076331e+02] [ 5.78961460e-01 8.91619349e-02 8.10465161e-01 -2.03460790e+02] [-8.14068718e-01 7.40177144e-03 5.80721393e-01 -8.73650105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.44, Z:-873.67 [[ 4.66993600e-02 -9.96818425e-01 6.45925469e-02 4.11086749e+02] [ 5.79675212e-01 7.97047328e-02 8.10940075e-01 -2.03439951e+02] [-8.13508340e-01 -4.27684179e-04 5.81553091e-01 -8.73669968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-203.43, Z:-873.69 [[ 4.60959584e-02 -9.96214055e-01 7.37069854e-02 4.11083396e+02] [ 5.79554704e-01 8.67684681e-02 8.10300918e-01 -2.03426637e+02] [-8.13628605e-01 5.36563274e-03 5.81360218e-01 -8.73694021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-203.41, Z:-873.72 [[ 4.53437920e-02 -9.96264515e-01 7.34912083e-02 4.11084863e+02] [ 5.78819654e-01 8.61610846e-02 8.10890915e-01 -2.03410441e+02] [-8.14193926e-01 5.76928675e-03 5.80564351e-01 -8.73716444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.39, Z:-873.74 [[ 4.52962256e-02 -9.96295096e-01 7.31049521e-02 4.11086322e+02] [ 5.78626737e-01 8.58204101e-02 8.11064706e-01 -2.03394600e+02] [-8.14333686e-01 5.56231003e-03 5.80370321e-01 -8.73738212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-203.38, Z:-873.76 [[ 4.31026345e-02 -9.96346006e-01 7.37346612e-02 4.11084655e+02] [ 5.77907709e-01 8.50673950e-02 8.11656466e-01 -2.03380815e+02] [-8.14963093e-01 7.62729715e-03 5.79462666e-01 -8.73760092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.36, Z:-873.78 [[ 4.59510464e-02 -9.96934456e-01 6.33260797e-02 4.11093047e+02] [ 5.78405218e-01 7.82382497e-02 8.11989027e-01 -2.03360452e+02] [-8.14454360e-01 -6.83610501e-04 5.80227221e-01 -8.73781973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.35, Z:-873.81 [[ 4.68131174e-02 -9.96273013e-01 7.24473265e-02 4.11089333e+02] [ 5.78721351e-01 8.61648187e-02 8.10960679e-01 -2.03347191e+02] [-8.14180650e-01 3.96321721e-03 5.80598108e-01 -8.73806170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.33, Z:-873.83 [[ 4.90994672e-02 -9.96177731e-01 7.22438280e-02 4.11090065e+02] [ 5.79081642e-01 8.73257281e-02 8.10579218e-01 -2.03331288e+02] [-8.13789711e-01 2.03606683e-03 5.81155883e-01 -8.73828973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.32, Z:-873.85 [[ 5.07487031e-02 -9.96123616e-01 7.18492191e-02 4.11090762e+02] [ 5.79088978e-01 8.79631486e-02 8.10505053e-01 -2.03315301e+02] [-8.13683308e-01 4.75010557e-04 5.81308222e-01 -8.73852309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.30, Z:-873.88 [[ 5.26312896e-02 -9.96054323e-01 7.14544068e-02 4.11091248e+02] [ 5.78974748e-01 8.87362794e-02 8.10502384e-01 -2.03299293e+02] [-8.13645002e-01 -1.28748857e-03 5.81360605e-01 -8.73875209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.10, Y:-203.28, Z:-873.89 [[ 5.73681711e-02 -9.96503557e-01 6.07417035e-02 4.11096110e+02] [ 5.80632925e-01 8.27967523e-02 8.09944507e-01 -2.03277638e+02] [-8.12141797e-01 -1.11964020e-02 5.83352673e-01 -8.73894151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.27, Z:-873.92 [[ 6.06761393e-02 -9.95092676e-01 7.81599176e-02 4.11087824e+02] [ 5.78108579e-01 9.88680344e-02 8.09947889e-01 -2.03268474e+02] [-8.13700729e-01 -3.95959198e-03 5.81270544e-01 -8.73922992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.25, Z:-873.94 [[ 6.35573559e-02 -9.95481792e-01 7.05440664e-02 4.11092359e+02] [ 5.77744915e-01 9.43395822e-02 8.10747098e-01 -2.03250424e+02] [-8.13739072e-01 -1.07724663e-02 5.81130517e-01 -8.73944702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.23, Z:-873.97 [[ 6.94184938e-02 -9.95118801e-01 7.01401837e-02 4.11092510e+02] [ 5.77454062e-01 9.74164617e-02 8.10590426e-01 -2.03234449e+02] [-8.13466581e-01 -1.57672325e-02 5.81397898e-01 -8.73967141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.22, Z:-873.99 [[ 7.16814148e-02 -9.94970543e-01 6.99670960e-02 4.11093479e+02] [ 5.77367454e-01 9.85914124e-02 8.10510059e-01 -2.03218653e+02] [-8.13331788e-01 -1.77017836e-02 5.81530781e-01 -8.73990097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.20, Z:-874.01 [[ 7.35076418e-02 -9.94866167e-01 6.95552717e-02 4.11094191e+02] [ 5.77427003e-01 9.93212939e-02 8.10378515e-01 -2.03202956e+02] [-8.13126487e-01 -1.94059216e-02 5.81763463e-01 -8.74012475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.19, Z:-874.03 [[ 7.57607804e-02 -9.94709501e-01 6.93780447e-02 4.11094545e+02] [ 5.77303379e-01 1.00487197e-01 8.10322857e-01 -2.03188249e+02] [-8.13007450e-01 -2.13385124e-02 5.81862144e-01 -8.74034783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.10, Y:-203.17, Z:-874.06 [[ 7.61489331e-02 -9.94691415e-01 6.92122081e-02 4.11095930e+02] [ 5.77261807e-01 1.00577304e-01 8.10341294e-01 -2.03172019e+02] [-8.13000705e-01 -2.17530607e-02 5.81856218e-01 -8.74057589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.17, Z:-874.08 [[ 7.29923679e-02 -9.93834674e-01 8.34551115e-02 4.11086169e+02] [ 5.73040346e-01 1.10279158e-01 8.12073438e-01 -2.03165079e+02] [-8.16270100e-01 -1.14520173e-02 5.77556902e-01 -8.74084141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.096559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.13, Z:-874.10 [[ 7.49814555e-02 -9.96367814e-01 4.03603783e-02 4.11114389e+02] [ 5.76785856e-01 7.63514464e-02 8.13319454e-01 -2.03132707e+02] [-8.13446899e-01 -3.77045811e-02 5.80415805e-01 -8.74097801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.10, Y:-203.12, Z:-874.13 [[ 7.44853891e-02 -9.94873186e-01 6.84051919e-02 4.11101516e+02] [ 5.76115014e-01 9.89205838e-02 8.11360714e-01 -2.03123524e+02] [-8.13967700e-01 -2.10252604e-02 5.80529518e-01 -8.74126445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.10, Y:-203.11, Z:-874.15 [[ 7.25098645e-02 -9.94926588e-01 6.97381061e-02 4.11101354e+02] [ 5.75685138e-01 9.88489956e-02 8.11674502e-01 -2.03109228e+02] [-8.14450085e-01 -1.87072169e-02 5.79931978e-01 -8.74150031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.09, Z:-874.17 [[ 7.20526678e-02 -9.95553880e-01 6.06703077e-02 4.11110662e+02] [ 5.76473076e-01 9.12068312e-02 8.12009918e-01 -2.03090054e+02] [-8.13933170e-01 -2.35326819e-02 5.80481703e-01 -8.74171447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.08, Z:-874.20 [[ 7.05218823e-02 -9.95037336e-01 7.01951801e-02 4.11106391e+02] [ 5.76132988e-01 9.80766113e-02 8.11450404e-01 -2.03077860e+02] [-8.14307954e-01 -1.67832510e-02 5.80190381e-01 -8.74196872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.06, Z:-874.22 [[ 7.07508502e-02 -9.95634185e-01 6.08842140e-02 4.11114381e+02] [ 5.77160288e-01 9.06430128e-02 8.11584774e-01 -2.03058504e+02] [-8.13560274e-01 -2.22803623e-02 5.81053583e-01 -8.74217570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.04, Z:-874.24 [[ 6.96070289e-02 -9.95330215e-01 6.68776908e-02 4.11113107e+02] [ 5.78311759e-01 9.48872491e-02 8.10278915e-01 -2.03044638e+02] [-8.12840926e-01 -1.77249528e-02 5.82215987e-01 -8.74242443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.03, Z:-874.27 [[ 6.93471073e-02 -9.95374382e-01 6.64892383e-02 4.11114565e+02] [ 5.78343462e-01 9.44201490e-02 8.10310851e-01 -2.03028280e+02] [-8.12840586e-01 -1.77390972e-02 5.82216030e-01 -8.74265825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.336559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.11, Y:-203.02, Z:-874.29 [[ 6.75891255e-02 -9.95294616e-01 6.94286528e-02 4.11113054e+02] [ 5.77927682e-01 9.57806115e-02 8.10447820e-01 -2.03015504e+02] [-8.13284270e-01 -1.46527190e-02 5.81682038e-01 -8.74290363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.12, Y:-203.00, Z:-874.31 [[ 6.64168291e-02 -9.95869600e-01 6.19075489e-02 4.11119354e+02] [ 5.78924147e-01 8.89945896e-02 8.10510207e-01 -2.02998249e+02] [-8.12671913e-01 -1.79917430e-02 5.82443697e-01 -8.74311895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.396559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.98, Z:-874.33 [[ 6.71334766e-02 -9.96111795e-01 5.70472472e-02 4.11125634e+02] [ 5.80313510e-01 8.54930616e-02 8.09893306e-01 -2.02979087e+02] [-8.11621419e-01 -2.12656651e-02 5.83796578e-01 -8.74332953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.12, Y:-202.97, Z:-874.36 [[ 6.52227725e-02 -9.95582633e-01 6.75367329e-02 4.11120705e+02] [ 5.79649044e-01 9.28913063e-02 8.09554316e-01 -2.02967267e+02] [-8.12251794e-01 -1.36537743e-02 5.83147150e-01 -8.74358593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.12, Y:-202.95, Z:-874.38 [[ 6.41980391e-02 -9.95961448e-01 6.27646895e-02 4.11124748e+02] [ 5.79778753e-01 8.84147783e-02 8.09962607e-01 -2.02950512e+02] [-8.12240857e-01 -1.56083777e-02 5.83113342e-01 -8.74381015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.93, Z:-874.40 [[ 6.37877646e-02 -9.96299474e-01 5.76062437e-02 4.11128881e+02] [ 5.80615184e-01 8.39984480e-02 8.09833482e-01 -2.02931540e+02] [-8.11675507e-01 -1.82104077e-02 5.83824676e-01 -8.74402009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.516559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:411.12, Y:-202.92, Z:-874.43 [[ 6.15447175e-02 -9.95701745e-01 6.92118717e-02 4.11121193e+02] [ 5.79536686e-01 9.21058632e-02 8.09724484e-01 -2.02920560e+02] [-8.12618901e-01 -9.72344586e-03 5.82714319e-01 -8.74428449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.90, Z:-874.45 [[ 5.97946265e-02 -9.96655712e-01 5.56955580e-02 4.11130486e+02] [ 5.80603774e-01 8.01114148e-02 8.10235410e-01 -2.02899345e+02] [-8.11987599e-01 -1.61106725e-02 5.83452300e-01 -8.74447476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.576559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.89, Z:-874.47 [[ 5.77970531e-02 -9.96279000e-01 6.39347659e-02 4.11127685e+02] [ 5.80593336e-01 8.56417672e-02 8.09677013e-01 -2.02885202e+02] [-8.12139692e-01 -9.67684628e-03 5.83382790e-01 -8.74471501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.87, Z:-874.49 [[ 5.25095193e-02 -9.96595080e-01 6.35688399e-02 4.11129586e+02] [ 5.80532762e-01 8.22588614e-02 8.10071103e-01 -2.02868845e+02] [-8.12541976e-01 -5.63265008e-03 5.82875467e-01 -8.74494119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.636559995 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.85, Z:-874.52 [[ 4.86343377e-02 -9.96592469e-01 6.66194531e-02 4.11128412e+02] [ 5.80429165e-01 8.24797832e-02 8.10122874e-01 -2.02853995e+02] [-8.12857113e-01 -7.31915885e-04 5.82462684e-01 -8.74518354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.84, Z:-874.54 [[ 4.59506347e-02 -9.97188896e-01 5.91848448e-02 4.11133683e+02] [ 5.80706928e-01 7.48732543e-02 8.10662358e-01 -2.02836097e+02] [-8.12814864e-01 -2.88140050e-03 5.82514974e-01 -8.74538700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6965599950001 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.82, Z:-874.56 [[ 4.36736427e-02 -9.96800771e-01 6.69390483e-02 4.11130437e+02] [ 5.81471989e-01 7.98468914e-02 8.09638685e-01 -2.02822409e+02] [-8.12393340e-01 3.56331088e-03 5.83098931e-01 -8.74562792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.80, Z:-874.58 [[ 3.60523730e-02 -9.98095305e-01 5.00598500e-02 4.11139524e+02] [ 5.80821587e-01 6.16905749e-02 8.11689939e-01 -2.02801726e+02] [-8.13232138e-01 -1.87506936e-04 5.81939391e-01 -8.74583608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.79, Z:-874.61 [[ 3.01556479e-02 -9.97526417e-01 6.34955426e-02 4.11133273e+02] [ 5.80687352e-01 6.91885454e-02 8.11181327e-01 -2.02790009e+02] [-8.13567967e-01 1.24093600e-02 5.81337399e-01 -8.74610137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.77, Z:-874.63 [[ 2.86978402e-02 -9.97907188e-01 5.79454729e-02 4.11138565e+02] [ 5.80954858e-01 6.38243906e-02 8.11429541e-01 -2.02771535e+02] [-8.13429706e-01 1.03774287e-02 5.81570651e-01 -8.74631411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.75, Z:-874.65 [[ 2.83323165e-02 -9.98522552e-01 4.63680104e-02 4.11147908e+02] [ 5.84017774e-01 5.41814980e-02 8.09930617e-01 -2.02747727e+02] [-8.11246276e-01 4.13253159e-03 5.84690006e-01 -8.74650637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.73, Z:-874.68 [[ 2.86131376e-02 -9.97698070e-01 6.14804747e-02 4.11142090e+02] [ 5.85150557e-01 6.65839541e-02 8.08186490e-01 -2.02733988e+02] [-8.10419715e-01 1.28505828e-02 5.85708757e-01 -8.74675468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.12, Y:-202.73, Z:-874.71 [[ 2.72573549e-02 -9.95368919e-01 9.21832523e-02 4.11123605e+02] [ 5.80966037e-01 9.08181630e-02 8.08845180e-01 -2.02732613e+02] [-8.13471266e-01 3.15083586e-02 5.80750999e-01 -8.74706647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.71, Z:-874.72 [[ 2.72896649e-02 -9.97815890e-01 6.01558331e-02 4.11141208e+02] [ 5.80063300e-01 6.48171449e-02 8.11988489e-01 -2.02709246e+02] [-8.14114146e-01 1.27352973e-02 5.80565216e-01 -8.74723928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.69, Z:-874.75 [[ 2.83237745e-02 -9.97810409e-01 5.97674793e-02 4.11141909e+02] [ 5.79845802e-01 6.51043894e-02 8.12120843e-01 -2.02693395e+02] [-8.14233756e-01 1.16535943e-02 5.80420179e-01 -8.74746938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.68, Z:-874.77 [[ 3.21464738e-02 -9.97715336e-01 5.94197974e-02 4.11142765e+02] [ 5.78568015e-01 6.70528802e-02 8.12873277e-01 -2.02678245e+02] [-8.15000403e-01 8.24738476e-03 5.79401695e-01 -8.74769458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-202.66, Z:-874.79 [[ 3.42323247e-02 -9.97654299e-01 5.92794042e-02 4.11144166e+02] [ 5.77827424e-01 6.81526838e-02 8.13308478e-01 -2.02661993e+02] [-8.15440750e-01 6.41182553e-03 5.78805038e-01 -8.74792311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.65, Z:-874.82 [[ 3.96597159e-02 -9.97474034e-01 5.89292699e-02 4.11145423e+02] [ 5.76741696e-01 7.10114499e-02 8.13834376e-01 -2.02645495e+02] [-8.15963310e-01 1.71052690e-03 5.78101159e-01 -8.74815164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.63, Z:-874.84 [[ 4.27681605e-02 -9.97367218e-01 5.85620782e-02 4.11146097e+02] [ 5.76009038e-01 7.25082303e-02 8.14221190e-01 -2.02629635e+02] [-8.16323755e-01 -1.09045627e-03 5.77593575e-01 -8.74836713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.61, Z:-874.86 [[ 4.95056005e-02 -9.97061352e-01 5.84624259e-02 4.11145718e+02] [ 5.74134855e-01 7.63055375e-02 8.15197297e-01 -2.02613402e+02] [-8.17262726e-01 -6.79151528e-03 5.76225227e-01 -8.74859984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.60, Z:-874.88 [[ 5.25255598e-02 -9.96929335e-01 5.80772455e-02 4.11146222e+02] [ 5.73634220e-01 7.77262152e-02 8.15415488e-01 -2.02597152e+02] [-8.17425745e-01 -9.51505957e-03 5.75955394e-01 -8.74882714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.58, Z:-874.90 [[ 5.53633817e-02 -9.96798522e-01 5.76853849e-02 4.11146840e+02] [ 5.73106606e-01 7.90338497e-02 8.15660756e-01 -2.02581871e+02] [-8.17608534e-01 -1.20978626e-02 5.75647399e-01 -8.74904684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1765599950002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:411.13, Y:-202.58, Z:-874.94 [[ 5.69433614e-02 -9.95396159e-01 7.70969520e-02 4.11134828e+02] [ 5.68833287e-01 9.58092679e-02 8.16853277e-01 -2.02575553e+02] [-8.20479217e-01 -2.65905873e-03 5.71670171e-01 -8.74935088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.16, Y:-202.54, Z:-874.95 [[ 6.01835196e-02 -9.97624117e-01 3.35270894e-02 4.11160806e+02] [ 5.72887559e-01 6.20268992e-02 8.17283616e-01 -2.02543051e+02] [-8.17421427e-01 -2.99797520e-02 5.75259442e-01 -8.74946530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.53, Z:-874.97 [[ 6.09186852e-02 -9.96512785e-01 5.70191571e-02 4.11149764e+02] [ 5.72699460e-01 8.16826581e-02 8.15685768e-01 -2.02533166e+02] [-8.17498772e-01 -1.70356640e-02 5.75678334e-01 -8.74974254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.52, Z:-875.00 [[ 6.19963650e-02 -9.96471604e-01 5.65755620e-02 4.11150905e+02] [ 5.73498437e-01 8.19585445e-02 8.15096522e-01 -2.02517676e+02] [-8.16857389e-01 -1.80870252e-02 5.76556039e-01 -8.74996932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.50, Z:-875.02 [[ 6.19874537e-02 -9.96482184e-01 5.63986921e-02 4.11151836e+02] [ 5.73574525e-01 8.18104158e-02 8.15057863e-01 -2.02502772e+02] [-8.16804640e-01 -1.81745085e-02 5.76628014e-01 -8.75019216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:411.15, Y:-202.49, Z:-875.04 [[ 6.16517894e-02 -9.96513725e-01 5.62090025e-02 4.11153050e+02] [ 5.73974471e-01 8.14702578e-02 8.14810349e-01 -2.02487364e+02] [-8.16549058e-01 -1.79719836e-02 5.76996225e-01 -8.75041771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.16, Y:-202.47, Z:-875.06 [[ 6.03250085e-02 -9.96606808e-01 5.59978994e-02 4.11155657e+02] [ 5.74985442e-01 8.05521825e-02 8.14188607e-01 -2.02471614e+02] [-8.15936661e-01 -1.69179577e-02 5.77893717e-01 -8.75064318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.16, Y:-202.46, Z:-875.09 [[ 5.94853264e-02 -9.96681099e-01 5.55723301e-02 4.11157682e+02] [ 5.75741898e-01 7.97339437e-02 8.13734456e-01 -2.02455916e+02] [-8.15464753e-01 -1.64099409e-02 5.78574067e-01 -8.75086717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.16, Y:-202.44, Z:-875.11 [[ 5.70935904e-02 -9.96833829e-01 5.53411263e-02 4.11160748e+02] [ 5.77258643e-01 7.81871138e-02 8.12809470e-01 -2.02440642e+02] [-8.14562939e-01 -1.44600674e-02 5.79894926e-01 -8.75109705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.16, Y:-202.43, Z:-875.13 [[ 5.54685999e-02 -9.96948629e-01 5.49241835e-02 4.11163353e+02] [ 5.78011463e-01 7.69163523e-02 8.12395608e-01 -2.02425110e+02] [-8.14141255e-01 -1.33156393e-02 5.80514178e-01 -8.75132265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:-202.41, Z:-875.16 [[ 5.39393486e-02 -9.97043688e-01 5.47213961e-02 4.11166191e+02] [ 5.78925051e-01 7.58763202e-02 8.11842700e-01 -2.02408628e+02] [-8.13594698e-01 -1.21106794e-02 5.81306287e-01 -8.75155318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.17, Y:-202.39, Z:-875.18 [[ 5.01150756e-02 -9.97266153e-01 5.43019232e-02 4.11170357e+02] [ 5.79677697e-01 7.33192475e-02 8.11540545e-01 -2.02392685e+02] [-8.13303293e-01 -9.19280203e-03 5.81767347e-01 -8.75177581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:-202.38, Z:-875.20 [[ 4.76338402e-02 -9.97396217e-01 5.41461263e-02 4.11173140e+02] [ 5.79570377e-01 7.17475096e-02 8.11757644e-01 -2.02376620e+02] [-8.13528854e-01 -7.28564310e-03 5.81478911e-01 -8.75200715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.36, Z:-875.22 [[ 4.22069789e-02 -9.97660463e-01 5.37789171e-02 4.11177482e+02] [ 5.79485278e-01 6.82928322e-02 8.12116310e-01 -2.02360797e+02] [-8.13889049e-01 -3.11288522e-03 5.81011985e-01 -8.75222704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.34, Z:-875.25 [[ 4.00864389e-02 -9.97754862e-01 5.36499148e-02 4.11178771e+02] [ 5.78839474e-01 6.69545828e-02 8.12688100e-01 -2.02344795e+02] [-8.14455610e-01 -1.52308337e-03 5.80223870e-01 -8.75245183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.33, Z:-875.27 [[ 3.82228969e-02 -9.97846427e-01 5.33059013e-02 4.11179329e+02] [ 5.78185044e-01 6.55929792e-02 8.13264789e-01 -2.02328860e+02] [-8.15009856e-01 -2.64661296e-04 5.79447034e-01 -8.75268063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.31, Z:-875.29 [[ 3.57378973e-02 -9.97959247e-01 5.29163867e-02 4.11180620e+02] [ 5.78454693e-01 6.38353148e-02 8.13212900e-01 -2.02312477e+02] [-8.14931268e-01 1.54721310e-03 5.79555550e-01 -8.75289666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.30, Z:-875.31 [[ 3.43659930e-02 -9.98016626e-01 5.27427087e-02 4.11181955e+02] [ 5.78726559e-01 6.28979640e-02 8.13092501e-01 -2.02296840e+02] [-8.14797244e-01 2.58087514e-03 5.79740279e-01 -8.75311552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.28, Z:-875.33 [[ 3.21701187e-02 -9.98103598e-01 5.24813436e-02 4.11183149e+02] [ 5.78979118e-01 6.14110029e-02 8.13026365e-01 -2.02280772e+02] [-8.14707472e-01 4.23044737e-03 5.79856740e-01 -8.75334576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.26, Z:-875.36 [[ 2.77780347e-02 -9.98258758e-01 5.20368507e-02 4.11184820e+02] [ 5.80461268e-01 5.84894424e-02 8.12184524e-01 -2.02264456e+02] [-8.13813920e-01 7.64448645e-03 5.81075266e-01 -8.75357208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-202.25, Z:-875.38 [[ 2.58135278e-02 -9.98333188e-01 5.16188743e-02 4.11185699e+02] [ 5.81125780e-01 5.70008969e-02 8.11815081e-01 -2.02248809e+02] [-8.13404260e-01 9.04124737e-03 5.81628546e-01 -8.75379667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.23, Z:-875.40 [[ 2.16281892e-02 -9.98442978e-01 5.14182965e-02 4.11183920e+02] [ 5.82106518e-01 5.43898182e-02 8.11291408e-01 -2.02232554e+02] [-8.12824842e-01 1.23841615e-02 5.82376519e-01 -8.75403246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.22, Z:-875.43 [[ 1.96283934e-02 -9.98505088e-01 5.10128929e-02 4.11183780e+02] [ 5.82479709e-01 5.28899224e-02 8.11122706e-01 -2.02216422e+02] [-8.12608217e-01 1.37929394e-02 5.82647097e-01 -8.75426001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.20, Z:-875.45 [[ 1.77242127e-02 -9.98560864e-01 5.06167349e-02 4.11183953e+02] [ 5.82681807e-01 5.14553338e-02 8.11069824e-01 -2.02199952e+02] [-8.12507085e-01 1.51178765e-02 5.82755254e-01 -8.75449288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.19, Z:-875.47 [[ 1.46552206e-02 -9.98550143e-01 5.17961109e-02 4.11181961e+02] [ 5.82515600e-01 5.06294376e-02 8.11241170e-01 -2.02185485e+02] [-8.12687394e-01 1.82831243e-02 5.82413021e-01 -8.75472216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.18, Z:-875.50 [[ 1.03486577e-02 -9.98163822e-01 5.96815751e-02 4.11175406e+02] [ 5.80105076e-01 5.46073390e-02 8.12709136e-01 -2.02175788e+02] [-8.14475909e-01 2.62111359e-02 5.79605012e-01 -8.75497719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-202.14, Z:-875.51 [[ 1.22467433e-02 -9.99741348e-01 1.91639098e-02 4.11199777e+02] [ 5.83022556e-01 2.27097507e-02 8.12138515e-01 -2.02141696e+02] [-8.12363661e-01 1.22693969e-03 5.83149876e-01 -8.75511019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.13, Z:-875.54 [[ 1.28411287e-02 -9.98683902e-01 4.96545009e-02 4.11183726e+02] [ 5.83673909e-01 4.78068752e-02 8.10579589e-01 -2.02133471e+02] [-8.11886613e-01 1.85732798e-02 5.83519632e-01 -8.75540065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.12, Z:-875.56 [[ 1.30853542e-02 -9.98699751e-01 4.92704889e-02 4.11183101e+02] [ 5.83282180e-01 4.76464149e-02 8.10870962e-01 -2.02117957e+02] [-8.12164190e-01 1.81280644e-02 5.83147238e-01 -8.75562623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.10, Z:-875.59 [[ 1.51674008e-02 -9.98682793e-01 4.90166132e-02 4.11181884e+02] [ 5.82811584e-01 4.86636080e-02 8.11148883e-01 -2.02101522e+02] [-8.12465758e-01 1.62644297e-02 5.82782001e-01 -8.75585351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.09, Z:-875.61 [[ 1.64522718e-02 -9.98680413e-01 4.86493151e-02 4.11182221e+02] [ 5.82242934e-01 4.91243922e-02 8.11529396e-01 -2.02085109e+02] [-8.12848380e-01 1.49742177e-02 5.82282821e-01 -8.75607681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.07, Z:-875.63 [[ 1.61395256e-02 -9.98298959e-01 5.60241343e-02 4.11176670e+02] [ 5.80217645e-01 5.49833694e-02 8.12603417e-01 -2.02073494e+02] [-8.14301541e-01 1.93911577e-02 5.80118077e-01 -8.75632772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-202.05, Z:-875.65 [[ 2.23891843e-02 -9.99152974e-01 3.45262154e-02 4.11189559e+02] [ 5.80690237e-01 4.11087849e-02 8.13086045e-01 -2.02048234e+02] [-8.13816671e-01 1.84470290e-03 5.81118769e-01 -8.75650006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.04, Z:-875.68 [[ 2.27261498e-02 -9.98132663e-01 5.66984013e-02 4.11175810e+02] [ 5.79023740e-01 5.93739236e-02 8.13145894e-01 -2.02040828e+02] [-8.14993884e-01 1.43500449e-02 5.79291849e-01 -8.75678529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-202.02, Z:-875.70 [[ 2.95387391e-02 -9.99013542e-01 3.31572999e-02 4.11187621e+02] [ 5.79939059e-01 4.41464482e-02 8.13462832e-01 -2.02015906e+02] [-8.14124162e-01 -4.79945303e-03 5.80671004e-01 -8.75695522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-202.00, Z:-875.72 [[ 3.20386845e-02 -9.98369677e-01 4.72388749e-02 4.11179885e+02] [ 5.80096419e-01 5.70623450e-02 8.12546635e-01 -2.02003864e+02] [-8.13917482e-01 1.37017685e-03 5.80978876e-01 -8.75720717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-201.99, Z:-875.74 [[ 3.17750379e-02 -9.98390850e-01 4.69686944e-02 4.11180892e+02] [ 5.80111080e-01 5.66892626e-02 8.12562282e-01 -2.01987519e+02] [-8.13917368e-01 1.42786276e-03 5.80978897e-01 -8.75744131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.17, Y:-201.98, Z:-875.77 [[ 3.12384938e-02 -9.97920161e-01 5.63871261e-02 4.11173086e+02] [ 5.77699275e-01 6.40636932e-02 8.13731769e-01 -2.01978117e+02] [-8.15651705e-01 7.15504705e-03 5.78499007e-01 -8.75770803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-201.96, Z:-875.79 [[ 3.30900025e-02 -9.98522707e-01 4.30982071e-02 4.11178573e+02] [ 5.76105670e-01 5.42931520e-02 8.15570052e-01 -2.01960553e+02] [-8.16705154e-01 -2.15809361e-03 5.77051154e-01 -8.75790925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.93, Z:-875.81 [[ 3.63316698e-02 -9.99083575e-01 2.26278404e-02 4.11192793e+02] [ 5.78698690e-01 3.94935731e-02 8.14584608e-01 -2.01932887e+02] [-8.14731757e-01 -1.65005174e-02 5.79603224e-01 -8.75807873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:-201.93, Z:-875.84 [[ 3.42730440e-02 -9.97842046e-01 5.60054514e-02 4.11173723e+02] [ 5.76479690e-01 6.55144576e-02 8.14480830e-01 -2.01929495e+02] [-8.16392384e-01 4.37126799e-03 5.77481053e-01 -8.75838432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.90, Z:-875.86 [[ 3.53060794e-02 -9.99007290e-01 2.71645824e-02 4.11190918e+02] [ 5.78692389e-01 4.25973698e-02 8.14432676e-01 -2.01901593e+02] [-8.14781320e-01 -1.30344876e-02 5.79621862e-01 -8.75855081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-201.89, Z:-875.88 [[ 3.43466936e-02 -9.98382963e-01 4.52964043e-02 4.11182271e+02] [ 5.78560606e-01 5.68193004e-02 8.13657909e-01 -2.01890795e+02] [-8.14915904e-01 -1.73974375e-03 5.79576607e-01 -8.75881092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-201.87, Z:-875.90 [[ 3.07948865e-02 -9.98506937e-01 4.51173152e-02 4.11183857e+02] [ 5.79129312e-01 5.46143811e-02 8.13404272e-01 -2.01874483e+02] [-8.14653862e-01 1.08006746e-03 5.79946479e-01 -8.75904371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.86, Z:-875.93 [[ 2.82072388e-02 -9.98601819e-01 4.47074862e-02 4.11185627e+02] [ 5.79484628e-01 5.27788193e-02 8.13272379e-01 -2.01858271e+02] [-8.14494885e-01 2.96713287e-03 5.80163148e-01 -8.75927714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.84, Z:-875.95 [[ 2.56743990e-02 -9.98689333e-01 4.42768668e-02 4.11187167e+02] [ 5.80303588e-01 5.09541735e-02 8.12804662e-01 -2.01843091e+02] [-8.13995437e-01 4.82575349e-03 5.80851221e-01 -8.75949801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.556559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:411.18, Y:-201.83, Z:-875.98 [[ 1.88321985e-02 -9.98651204e-01 4.83851429e-02 4.11184346e+02] [ 5.81144496e-01 5.03126141e-02 8.12243631e-01 -2.01831480e+02] [-8.13582463e-01 1.28224262e-02 5.81308147e-01 -8.75975106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.81, Z:-875.99 [[ 1.81063118e-02 -9.99296615e-01 3.28395589e-02 4.11195834e+02] [ 5.82891989e-01 3.72359543e-02 8.11696010e-01 -2.01809222e+02] [-8.12347888e-01 4.44509478e-03 5.83156198e-01 -8.75993937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.80, Z:-876.02 [[ 1.23625701e-02 -9.98773021e-01 4.79543520e-02 4.11187297e+02] [ 5.82750265e-01 4.61681642e-02 8.11338788e-01 -2.01800517e+02] [-8.12557257e-01 1.79151787e-02 5.82606000e-01 -8.76020984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.78, Z:-876.04 [[ 1.24928201e-02 -9.99397610e-01 3.23781804e-02 4.11198888e+02] [ 5.83777188e-01 3.35790537e-02 8.11219232e-01 -2.01777412e+02] [-8.11817790e-01 8.76722723e-03 5.83845024e-01 -8.76039659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.76, Z:-876.06 [[ 1.12234689e-02 -9.99010706e-01 4.30307340e-02 4.11194684e+02] [ 5.84033115e-01 4.14796094e-02 8.10669330e-01 -2.01764686e+02] [-8.11652237e-01 1.60328516e-02 5.83920879e-01 -8.76063659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.75, Z:-876.09 [[ 9.79685941e-03 -9.99033515e-01 4.28492360e-02 4.11197267e+02] [ 5.84477949e-01 4.04901472e-02 8.10398713e-01 -2.01748102e+02] [-8.11350447e-01 1.71050713e-02 5.84309737e-01 -8.76086090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.73, Z:-876.11 [[ 9.62237997e-03 -9.99051535e-01 4.24669387e-02 4.11198952e+02] [ 5.84201507e-01 4.00839008e-02 8.10618209e-01 -2.01731700e+02] [-8.11551606e-01 1.70091731e-02 5.84033114e-01 -8.76109373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.72, Z:-876.13 [[ 1.12798283e-02 -9.99050695e-01 4.20769955e-02 4.11200605e+02] [ 5.83877829e-01 4.07415285e-02 8.10818604e-01 -2.01716139e+02] [-8.11763171e-01 1.54219301e-02 5.83783109e-01 -8.76131110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.70, Z:-876.16 [[ 1.18977309e-02 -9.98770348e-01 4.81272989e-02 4.11197680e+02] [ 5.82331265e-01 4.60473936e-02 8.11646435e-01 -2.01704308e+02] [-8.12864529e-01 1.83692800e-02 5.82163059e-01 -8.76157114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.68, Z:-876.18 [[ 1.42269104e-02 -9.99279136e-01 3.51966548e-02 4.11205797e+02] [ 5.82579870e-01 3.68923281e-02 8.11935743e-01 -2.01682456e+02] [-8.12648934e-01 8.95352552e-03 5.82684773e-01 -8.76175160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-201.68, Z:-876.20 [[ 1.69767836e-02 -9.98403583e-01 5.38708973e-02 4.11194302e+02] [ 5.79036236e-01 5.37414859e-02 8.13528666e-01 -2.01676100e+02] [-8.15125037e-01 1.73821015e-02 5.79024210e-01 -8.76203867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:411.20, Y:-201.66, Z:-876.22 [[ 1.94124561e-02 -9.99133461e-01 3.68169081e-02 4.11203854e+02] [ 5.78275014e-01 4.12598314e-02 8.14797910e-01 -2.01655580e+02] [-8.15610915e-01 5.47306938e-03 5.78574870e-01 -8.76224454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.63, Z:-876.25 [[ 2.58639774e-02 -9.99222258e-01 2.97646513e-02 4.11208728e+02] [ 5.78809418e-01 3.92446791e-02 8.14517964e-01 -2.01634906e+02] [-8.15052583e-01 -3.83861368e-03 5.79374277e-01 -8.76245420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.62, Z:-876.27 [[ 3.03959154e-02 -9.99086513e-01 3.00371125e-02 4.11210914e+02] [ 5.79853189e-01 4.21027959e-02 8.13632371e-01 -2.01615596e+02] [-8.14153774e-01 -7.31398527e-03 5.80603253e-01 -8.76266758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.60, Z:-876.29 [[ 3.32900088e-02 -9.98600972e-01 4.10837451e-02 4.11205974e+02] [ 5.79643698e-01 5.27778017e-02 8.13159079e-01 -2.01603028e+02] [-8.14189756e-01 -3.25613893e-03 5.80589734e-01 -8.76290529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.59, Z:-876.31 [[ 3.80237295e-02 -9.98439261e-01 4.09052306e-02 4.11207399e+02] [ 5.79584184e-01 5.53814996e-02 8.13028329e-01 -2.01586710e+02] [-8.14024797e-01 -7.20634454e-03 5.80785416e-01 -8.76313661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.57, Z:-876.34 [[ 4.00619596e-02 -9.98375699e-01 4.05093037e-02 4.11208606e+02] [ 5.79562254e-01 5.62432040e-02 8.12984807e-01 -2.01571174e+02] [-8.13942648e-01 -9.09210116e-03 5.80874083e-01 -8.76335991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.55, Z:-876.36 [[ 4.26766150e-02 -9.98274406e-01 4.03350517e-02 4.11210059e+02] [ 5.79602742e-01 5.76216407e-02 8.12859403e-01 -2.01554624e+02] [-8.13780909e-01 -1.13117812e-02 5.81061680e-01 -8.76359247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.54, Z:-876.38 [[ 4.30535575e-02 -9.98273518e-01 3.99546616e-02 4.11211566e+02] [ 5.79265904e-01 5.75261603e-02 8.13106237e-01 -2.01538377e+02] [-8.14000862e-01 -1.18627429e-02 5.80742518e-01 -8.76381895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.52, Z:-876.40 [[ 4.33964441e-02 -9.98274005e-01 3.95696773e-02 4.11213127e+02] [ 5.78901593e-01 5.74063051e-02 8.13374121e-01 -2.01522483e+02] [-8.14241791e-01 -1.23905954e-02 5.80393642e-01 -8.76404444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.22, Y:-201.50, Z:-876.42 [[ 4.29091954e-02 -9.98661683e-01 2.88728968e-02 4.11220343e+02] [ 5.81199788e-01 4.84576075e-02 8.12316852e-01 -2.01501495e+02] [-8.12628826e-01 -1.80749411e-02 5.82501235e-01 -8.76424171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:-201.49, Z:-876.45 [[ 4.26954569e-02 -9.98147650e-01 4.33401343e-02 4.11214347e+02] [ 5.80549125e-01 6.00905172e-02 8.12004829e-01 -2.01489931e+02] [-8.13105043e-01 -9.50784018e-03 5.82039337e-01 -8.76451780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.22, Y:-201.48, Z:-876.48 [[ 4.11069032e-02 -9.98067982e-01 4.65889045e-02 4.11215081e+02] [ 5.80691395e-01 6.18095052e-02 8.11774038e-01 -2.01476436e+02] [-8.13085313e-01 -6.31574085e-03 5.82110286e-01 -8.76475822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.22, Y:-201.46, Z:-876.50 [[ 3.97404438e-02 -9.98411498e-01 3.99396723e-02 4.11222066e+02] [ 5.81512613e-01 5.56143180e-02 8.11634233e-01 -2.01458909e+02] [-8.12566169e-01 -9.02928146e-03 5.82799017e-01 -8.76498806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.22, Y:-201.44, Z:-876.52 [[ 3.92259425e-02 -9.98413014e-01 4.04076538e-02 4.11223200e+02] [ 5.81861563e-01 5.56983559e-02 8.11378342e-01 -2.01442939e+02] [-8.12341336e-01 -8.31541962e-03 5.83122978e-01 -8.76520461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.23, Y:-201.43, Z:-876.54 [[ 3.75964793e-02 -9.98574773e-01 3.78804489e-02 4.11225630e+02] [ 5.82256585e-01 5.26981373e-02 8.11295369e-01 -2.01425980e+02] [-8.12135318e-01 -8.44570873e-03 5.83408001e-01 -8.76543265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.336559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.23, Y:-201.41, Z:-876.57 [[ 3.81601100e-02 -9.98568426e-01 3.74820556e-02 4.11228309e+02] [ 5.81817815e-01 5.26984872e-02 8.11610066e-01 -2.01410102e+02] [-8.12423434e-01 -9.16340167e-03 5.82995880e-01 -8.76565352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.23, Y:-201.39, Z:-876.59 [[ 3.81050592e-02 -9.98580928e-01 3.72039505e-02 4.11230204e+02] [ 5.81787600e-01 5.24399965e-02 8.11648468e-01 -2.01394588e+02] [-8.12447656e-01 -9.28311590e-03 5.82960231e-01 -8.76587432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.23, Y:-201.38, Z:-876.61 [[ 3.88303159e-02 -9.98559792e-01 3.70209190e-02 4.11233762e+02] [ 5.82062350e-01 5.27176020e-02 8.11433469e-01 -2.01379502e+02] [-8.12216490e-01 -9.95973481e-03 5.83271101e-01 -8.76609206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.24, Y:-201.36, Z:-876.63 [[ 3.94616621e-02 -9.98540995e-01 3.68599866e-02 4.11237963e+02] [ 5.81860117e-01 5.29526341e-02 8.11563197e-01 -2.01363898e+02] [-8.12330956e-01 -1.05782766e-02 5.83100779e-01 -8.76632041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.24, Y:-201.35, Z:-876.65 [[ 3.96843828e-02 -9.98728266e-01 3.10966374e-02 4.11243561e+02] [ 5.82808840e-01 4.84145070e-02 8.11165761e-01 -2.01345161e+02] [-8.11639702e-01 -1.40672174e-02 5.83988962e-01 -8.76653724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.24, Y:-201.33, Z:-876.68 [[ 4.08339642e-02 -9.98169299e-01 4.46165601e-02 4.11238771e+02] [ 5.81467308e-01 6.00532161e-02 8.11350345e-01 -2.01334001e+02] [-8.12544373e-01 -7.18757983e-03 5.82855026e-01 -8.76679471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.516559995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.32, Z:-876.70 [[ 4.28210285e-02 -9.98438425e-01 3.58757735e-02 4.11247466e+02] [ 5.82068686e-01 5.41166230e-02 8.11336820e-01 -2.01315642e+02] [-8.12011333e-01 -1.38601127e-02 5.83477072e-01 -8.76700546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.30, Z:-876.72 [[ 4.25889458e-02 -9.98622559e-01 3.06458221e-02 4.11251110e+02] [ 5.79982438e-01 4.96877753e-02 8.13112229e-01 -2.01302909e+02] [-8.13514937e-01 -1.68555540e-02 5.81299697e-01 -8.76720978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.28, Z:-876.74 [[ 4.61824438e-02 -9.98448235e-01 3.11175960e-02 4.11254606e+02] [ 5.81954628e-01 5.22103886e-02 8.11543521e-01 -2.01283776e+02] [-8.11908858e-01 -1.93700341e-02 5.83462774e-01 -8.76743667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.27, Z:-876.77 [[ 4.67298930e-02 -9.98382665e-01 3.23785747e-02 4.11253456e+02] [ 5.81334572e-01 5.35404984e-02 8.11901183e-01 -2.01267226e+02] [-8.12321631e-01 -1.91172705e-02 5.82896301e-01 -8.76767744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.25, Z:-876.79 [[ 4.78430435e-02 -9.98209682e-01 3.58953275e-02 4.11250716e+02] [ 5.80951364e-01 5.70413504e-02 8.11937065e-01 -2.01251801e+02] [-8.12530957e-01 -1.79921008e-02 5.82640308e-01 -8.76791637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.24, Z:-876.81 [[ 4.95593185e-02 -9.98139177e-01 3.55254468e-02 4.11246805e+02] [ 5.80485960e-01 5.77304350e-02 8.12221182e-01 -2.01236395e+02] [-8.12760681e-01 -1.96311052e-02 5.82266859e-01 -8.76813899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-201.20, Z:-876.83 [[ 5.19517007e-02 -9.98649116e-01 9.81469526e-04 4.11266234e+02] [ 5.86957172e-01 3.13297664e-02 8.09011572e-01 -2.01200852e+02] [-8.07949441e-01 -4.14534464e-02 5.87791896e-01 -8.76827384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.24, Y:-201.20, Z:-876.86 [[ 5.24434676e-02 -9.97277863e-01 5.18319158e-02 4.11238989e+02] [ 5.84884117e-01 7.27436961e-02 8.07848330e-01 -2.01199447e+02] [-8.09419701e-01 -1.20507034e-02 5.87106914e-01 -8.76862271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.756559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.24, Y:-201.18, Z:-876.88 [[ 5.16603204e-02 -9.97361027e-01 5.10117001e-02 4.11239372e+02] [ 5.84048420e-01 7.16068217e-02 8.08554208e-01 -2.01184176e+02] [-8.10073241e-01 -1.19768666e-02 5.86206363e-01 -8.76884707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.22, Y:-201.19, Z:-876.92 [[ 4.84331185e-02 -9.95507176e-01 8.13615169e-02 4.11220072e+02] [ 5.77384199e-01 9.43727215e-02 8.11000170e-01 -2.01186019e+02] [-8.15034797e-01 7.69758695e-03 5.79360879e-01 -8.76916673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.16, Z:-876.93 [[ 4.75407674e-02 -9.98328477e-01 3.28653078e-02 4.11245865e+02] [ 5.77954296e-01 5.43280655e-02 8.14258739e-01 -2.01157513e+02] [-8.14683195e-01 -1.97158395e-02 5.79571030e-01 -8.76929596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.14, Z:-876.95 [[ 4.63052334e-02 -9.98392883e-01 3.26722538e-02 4.11246220e+02] [ 5.77452283e-01 5.34421675e-02 8.14673429e-01 -2.01142675e+02] [-8.15110230e-01 -1.88569757e-02 5.78998901e-01 -8.76952076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.13, Z:-876.98 [[ 4.41038838e-02 -9.98501193e-01 3.24070126e-02 4.11246675e+02] [ 5.77928349e-01 5.19600608e-02 8.14431689e-01 -2.01127815e+02] [-8.14894883e-01 -1.71906693e-02 5.79353787e-01 -8.76975650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.11, Z:-877.00 [[ 4.22787140e-02 -9.98592736e-01 3.20165168e-02 4.11247780e+02] [ 5.78751760e-01 5.05993702e-02 8.13932494e-01 -2.01112123e+02] [-8.14407092e-01 -1.58824037e-02 5.80076580e-01 -8.76998762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.10, Z:-877.02 [[ 4.01389147e-02 -9.98694449e-01 3.15953432e-02 4.11249144e+02] [ 5.79680025e-01 4.90303718e-02 8.13367747e-01 -2.01096325e+02] [-8.13854985e-01 -1.43325093e-02 5.80891249e-01 -8.77021594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.08, Z:-877.04 [[ 3.80960018e-02 -9.98787544e-01 3.11790941e-02 4.11250953e+02] [ 5.80413005e-01 4.75155965e-02 8.12934814e-01 -2.01081177e+02] [-8.13430660e-01 -1.28728144e-02 5.81519434e-01 -8.77043688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-201.07, Z:-877.07 [[ 3.39491000e-02 -9.98943093e-01 3.09863660e-02 4.11254539e+02] [ 5.81382948e-01 4.49578654e-02 8.12387013e-01 -2.01065463e+02] [-8.12921476e-01 -9.56486309e-03 5.82294759e-01 -8.77066022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-201.05, Z:-877.09 [[ 3.20652874e-02 -9.99010420e-01 3.08220312e-02 4.11255657e+02] [ 5.81359405e-01 4.37267357e-02 8.12471055e-01 -2.01049145e+02] [-8.13014797e-01 -8.13344019e-03 5.82186213e-01 -8.77088783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-201.03, Z:-877.11 [[ 3.10432711e-02 -9.99053545e-01 3.04684892e-02 4.11256139e+02] [ 5.80101324e-01 4.28323803e-02 8.13417384e-01 -2.01032787e+02] [-8.13952560e-01 -7.57632543e-03 5.80881942e-01 -8.77110706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-201.02, Z:-877.13 [[ 3.05367255e-02 -9.99074010e-01 3.03089353e-02 4.11257154e+02] [ 5.79914951e-01 4.24064903e-02 8.13572578e-01 -2.01016524e+02] [-8.14104513e-01 -7.26723773e-03 5.80672911e-01 -8.77133339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-201.00, Z:-877.16 [[ 3.02690384e-02 -9.99094207e-01 2.99090433e-02 4.11257881e+02] [ 5.79929209e-01 4.19254944e-02 8.13587344e-01 -2.01000167e+02] [-8.14104354e-01 -7.28137875e-03 5.80672957e-01 -8.77156765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.98, Z:-877.18 [[ 2.86502611e-02 -9.99152541e-01 2.95526961e-02 4.11259310e+02] [ 5.79277330e-01 4.06902023e-02 8.14114294e-01 -2.00983858e+02] [-8.14626871e-01 -6.20538026e-03 5.79952201e-01 -8.77179137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.97, Z:-877.20 [[ 2.74301852e-02 -9.99198293e-01 2.91608826e-02 4.11260305e+02] [ 5.78685481e-01 3.96592901e-02 8.14585941e-01 -2.00968082e+02] [-8.15089381e-01 -5.46926385e-03 5.79309406e-01 -8.77201149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.95, Z:-877.22 [[ 2.51354679e-02 -9.99265795e-01 2.89150386e-02 4.11261429e+02] [ 5.77593187e-01 3.81243723e-02 8.15434021e-01 -2.00951293e+02] [-8.15937693e-01 -3.79518634e-03 5.78127389e-01 -8.77223824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.236559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.24, Y:-200.96, Z:-877.26 [[ 2.03620289e-02 -9.97909586e-01 6.13338880e-02 4.11240387e+02] [ 5.70618793e-01 6.19731905e-02 8.18873321e-01 -2.00955241e+02] [-8.20962594e-01 1.83243469e-02 5.70687864e-01 -8.77258277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.29, Y:-200.90, Z:-877.26 [[ 2.25011626e-02 -9.99527351e-01 -2.09468991e-02 4.11285762e+02] [ 5.77012924e-01 -4.12633634e-03 8.16724592e-01 -2.00904354e+02] [-8.16425002e-01 -3.04638843e-02 5.76647352e-01 -8.77259995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.90, Z:-877.29 [[ 2.23805411e-02 -9.99354966e-01 2.80849321e-02 4.11260100e+02] [ 5.76942610e-01 3.58526465e-02 8.15997435e-01 -2.00903094e+02] [-8.16478008e-01 -2.05907012e-03 5.77372864e-01 -8.77292834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.89, Z:-877.32 [[ 2.22731535e-02 -9.99365167e-01 2.78059174e-02 4.11259806e+02] [ 5.77290322e-01 3.55637228e-02 8.15764124e-01 -2.00887169e+02] [-8.16235132e-01 -2.11755254e-03 5.77715955e-01 -8.77315898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.87, Z:-877.34 [[ 2.25051827e-02 -9.99371334e-01 2.73944014e-02 4.11258314e+02] [ 5.77764927e-01 3.53633391e-02 8.15436769e-01 -2.00872050e+02] [-8.15892889e-01 -2.52402912e-03 5.78197564e-01 -8.77338238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.86, Z:-877.36 [[ 2.23485769e-02 -9.99379639e-01 2.72190721e-02 4.11258154e+02] [ 5.77967709e-01 3.51303438e-02 8.15303126e-01 -2.00855881e+02] [-8.15753559e-01 -2.48911989e-03 5.78394274e-01 -8.77361676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.84, Z:-877.38 [[ 2.23316694e-02 -9.99390669e-01 2.68251239e-02 4.11258509e+02] [ 5.77737311e-01 3.47984115e-02 8.15480638e-01 -2.00840969e+02] [-8.15917212e-01 -2.71316909e-03 5.78162384e-01 -8.77383891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.83, Z:-877.41 [[ 2.16112016e-02 -9.99411463e-01 2.66398841e-02 4.11258332e+02] [ 5.78363290e-01 3.42323969e-02 8.15060763e-01 -2.00825759e+02] [-8.15493017e-01 -2.20691144e-03 5.78762705e-01 -8.77406097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.24, Y:-200.83, Z:-877.44 [[ 1.76580762e-02 -9.98279085e-01 5.59201248e-02 4.11238900e+02] [ 5.72371798e-01 5.59505834e-02 8.18083161e-01 -2.00828785e+02] [-8.19804073e-01 1.75613276e-02 5.72374774e-01 -8.77440087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.78, Z:-877.44 [[ 2.06218624e-02 -9.99603909e-01 -1.91510684e-02 4.11282071e+02] [ 5.79135445e-01 -3.67099540e-03 8.15223074e-01 -2.00779742e+02] [-8.14970475e-01 -2.79024806e-02 5.78830352e-01 -8.77443817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-200.79, Z:-877.48 [[ 1.93036675e-02 -9.98866633e-01 4.35065362e-02 4.11249139e+02] [ 5.75102488e-01 4.66883794e-02 8.16748017e-01 -2.00788368e+02] [-8.17853591e-01 9.25448508e-03 5.75351943e-01 -8.77483464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.75, Z:-877.49 [[ 2.13340759e-02 -9.99768580e-01 2.76489826e-03 4.11272539e+02] [ 5.78624985e-01 1.46024809e-02 8.15462994e-01 -2.00754103e+02] [-8.15314654e-01 -1.57973102e-02 5.78802610e-01 -8.77494222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-200.75, Z:-877.53 [[ 2.13465361e-02 -9.99139681e-01 3.55559132e-02 4.11254897e+02] [ 5.75121737e-01 4.13623875e-02 8.17021506e-01 -2.00751601e+02] [-8.17789284e-01 3.00839949e-03 5.75509893e-01 -8.77526585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.72, Z:-877.54 [[ 2.32671602e-02 -9.99657523e-01 1.19781696e-02 4.11268843e+02] [ 5.77280998e-01 2.32164075e-02 8.16215442e-01 -2.00724298e+02] [-8.16213997e-01 -1.20762458e-02 5.77623472e-01 -8.77542594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.72, Z:-877.57 [[ 2.39607113e-02 -9.99159556e-01 3.32575866e-02 4.11258622e+02] [ 5.74882131e-01 4.09874318e-02 8.17209010e-01 -2.00716858e+02] [-8.17885334e-01 -4.61716914e-04 5.75381063e-01 -8.77573177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.69, Z:-877.59 [[ 2.56753294e-02 -9.99517362e-01 1.74877468e-02 4.11267821e+02] [ 5.76136290e-01 2.90911467e-02 8.16835773e-01 -2.00693270e+02] [-8.16950276e-01 -1.08972020e-02 5.76605149e-01 -8.77590916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.68, Z:-877.62 [[ 2.62903560e-02 -9.99127859e-01 3.24397657e-02 4.11260767e+02] [ 5.74697533e-01 4.16585146e-02 8.17304909e-01 -2.00683766e+02] [-8.17943497e-01 -2.84418374e-03 5.75291532e-01 -8.77619453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.66, Z:-877.64 [[ 3.07029045e-02 -9.99344712e-01 1.91697409e-02 4.11268460e+02] [ 5.75830108e-01 3.33610577e-02 8.16888442e-01 -2.00661582e+02] [-8.16992668e-01 -1.40423338e-02 5.76477054e-01 -8.77636354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.65, Z:-877.66 [[ 3.29784732e-02 -9.99163564e-01 2.41783718e-02 4.11266115e+02] [ 5.75703685e-01 3.87656712e-02 8.16738936e-01 -2.00647811e+02] [-8.16993077e-01 -1.30152253e-02 5.76500578e-01 -8.77659714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.63, Z:-877.68 [[ 3.49531970e-02 -9.99101685e-01 2.39603063e-02 4.11265913e+02] [ 5.75958214e-01 3.97311749e-02 8.16513055e-01 -2.00631914e+02] [-8.16731541e-01 -1.47396065e-02 5.76829554e-01 -8.77683035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.836559995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.62, Z:-877.71 [[ 3.82505365e-02 -9.98990480e-01 2.35566843e-02 4.11264828e+02] [ 5.77053637e-01 4.13285757e-02 8.15659886e-01 -2.00617520e+02] [-8.15810025e-01 -1.76059579e-02 5.78051930e-01 -8.77707076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.60, Z:-877.73 [[ 3.93214376e-02 -9.98958527e-01 2.31448961e-02 4.11265299e+02] [ 5.77491974e-01 4.16219991e-02 8.15334674e-01 -2.00602694e+02] [-8.15448861e-01 -1.86941397e-02 5.78527168e-01 -8.77729204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.896559995 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.59, Z:-877.76 [[ 3.94771012e-02 -9.98572487e-01 3.59798096e-02 4.11261724e+02] [ 5.76691398e-01 5.21747192e-02 8.15294321e-01 -2.00591827e+02] [-8.16007714e-01 -1.14362097e-02 5.77927870e-01 -8.77759502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.57, Z:-877.78 [[ 3.76845997e-02 -9.98796362e-01 3.13958399e-02 4.11264719e+02] [ 5.77841187e-01 4.74131976e-02 8.14770858e-01 -2.00573434e+02] [-8.15278746e-01 -1.25625043e-02 5.78932423e-01 -8.77781456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-200.55, Z:-877.80 [[ 3.65590499e-02 -9.99145144e-01 1.92980913e-02 4.11271866e+02] [ 5.79233020e-01 3.69226980e-02 8.14325379e-01 -2.00552621e+02] [-8.14341786e-01 -1.85928705e-02 5.80087718e-01 -8.77797660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.55, Z:-877.83 [[ 3.07872696e-02 -9.98615213e-01 4.26591168e-02 4.11261563e+02] [ 5.74610056e-01 5.26047140e-02 8.16734980e-01 -2.00549449e+02] [-8.17848047e-01 -6.32682557e-04 5.75433899e-01 -8.77830508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.016559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:411.29, Y:-200.51, Z:-877.84 [[ 3.01886728e-02 -9.99541451e-01 -2.35201522e-03 4.11287533e+02] [ 5.78906314e-01 1.55660814e-02 8.15245470e-01 -2.00513432e+02] [-8.14835028e-01 -2.59727752e-02 5.79110777e-01 -8.77839707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-200.52, Z:-877.88 [[ 2.29548271e-02 -9.98696168e-01 4.55964976e-02 4.11264024e+02] [ 5.73425667e-01 5.05129521e-02 8.17698872e-01 -2.00518336e+02] [-8.18935944e-01 7.37606585e-03 5.73837533e-01 -8.77878723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.076559995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.49, Z:-877.90 [[ 2.06986455e-02 -9.99641270e-01 1.69969903e-02 4.11280964e+02] [ 5.74108329e-01 2.58023936e-02 8.18372692e-01 -2.00492737e+02] [-8.18517681e-01 -7.18109258e-03 5.74436453e-01 -8.77896331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-200.47, Z:-877.91 [[ 2.01483842e-02 -9.99779633e-01 5.89304754e-03 4.11287104e+02] [ 5.76123959e-01 1.64273691e-02 8.17197238e-01 -2.00469689e+02] [-8.17113962e-01 -1.30700781e-02 5.76327985e-01 -8.77911969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.136559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.46, Z:-877.94 [[ 1.81473748e-02 -9.99632167e-01 2.01544833e-02 4.11280057e+02] [ 5.75949932e-01 2.69289301e-02 8.17041314e-01 -2.00458522e+02] [-8.17283518e-01 -3.21918167e-03 5.76226768e-01 -8.77936809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.44, Z:-877.96 [[ 1.70714771e-02 -9.99654651e-01 1.99785539e-02 4.11280645e+02] [ 5.76307204e-01 2.61662169e-02 8.16814138e-01 -2.00442262e+02] [-8.17054816e-01 -2.43043934e-03 5.76554873e-01 -8.77959708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.43, Z:-877.98 [[ 1.58838476e-02 -9.99682265e-01 1.95722621e-02 4.11281190e+02] [ 5.77241100e-01 2.51514139e-02 8.16186326e-01 -2.00425915e+02] [-8.16419265e-01 -1.66626512e-03 5.77457191e-01 -8.77982929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.41, Z:-878.01 [[ 1.52787266e-02 -9.99699602e-01 1.91641901e-02 4.11281333e+02] [ 5.77808223e-01 2.44697794e-02 8.15805668e-01 -2.00409751e+02] [-8.16029545e-01 -1.39124515e-03 5.78008517e-01 -8.78006366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.39, Z:-878.03 [[ 1.44451142e-02 -9.99719658e-01 1.87601675e-02 4.11281075e+02] [ 5.78175320e-01 2.36586610e-02 8.15569474e-01 -2.00393739e+02] [-8.15784677e-01 -9.34328395e-04 5.78354985e-01 -8.78029897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.38, Z:-878.05 [[ 1.28061205e-02 -9.99749559e-01 1.83527130e-02 4.11279885e+02] [ 5.78950152e-01 2.23781948e-02 8.15055788e-01 -2.00378433e+02] [-8.15262366e-01 1.87603348e-04 5.79091737e-01 -8.78053240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.316559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.36, Z:-878.08 [[ 1.15602536e-02 -9.99771950e-01 1.79557643e-02 4.11279346e+02] [ 5.79126479e-01 2.13329174e-02 8.14958544e-01 -2.00362644e+02] [-8.15155741e-01 9.77531142e-04 5.79241023e-01 -8.78076027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.35, Z:-878.10 [[ 1.03371213e-02 -9.99792254e-01 1.75668170e-02 4.11278036e+02] [ 5.78963741e-01 2.03077559e-02 8.15100351e-01 -2.00346189e+02] [-8.15287759e-01 1.74475890e-03 5.79053387e-01 -8.78098702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.33, Z:-878.12 [[ 9.96944948e-03 -9.99802698e-01 1.71806681e-02 4.11277768e+02] [ 5.78764638e-01 1.97804880e-02 8.15254700e-01 -2.00329977e+02] [-8.15433691e-01 1.81592262e-03 5.78847647e-01 -8.78121152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.31, Z:-878.14 [[ 9.87564182e-03 -9.99810267e-01 1.67899374e-02 4.11277380e+02] [ 5.78791028e-01 1.94075265e-02 8.15244929e-01 -2.00313849e+02] [-8.15416101e-01 1.66679823e-03 5.78872874e-01 -8.78143868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.30, Z:-878.17 [[ 1.08197443e-02 -9.99807164e-01 1.63880552e-02 4.11276362e+02] [ 5.78947210e-01 1.96262210e-02 8.15128787e-01 -2.00298287e+02] [-8.15293237e-01 6.68333804e-04 5.79047918e-01 -8.78166038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.28, Z:-878.19 [[ 1.13307361e-02 -9.99805915e-01 1.61166577e-02 4.11276046e+02] [ 5.79130068e-01 1.97008226e-02 8.14997081e-01 -2.00282375e+02] [-8.15156413e-01 9.91242131e-05 5.79240893e-01 -8.78189156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.27, Z:-878.21 [[ 1.21516589e-02 -9.99802756e-01 1.57094151e-02 4.11275836e+02] [ 5.79296736e-01 1.98445423e-02 8.14875135e-01 -2.00267547e+02] [-8.15026153e-01 -8.01671773e-04 5.79423617e-01 -8.78211223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.25, Z:-878.23 [[ 1.34730110e-02 -9.99788607e-01 1.55312154e-02 4.11275225e+02] [ 5.79714256e-01 2.04659729e-02 8.14562782e-01 -2.00251638e+02] [-8.14708451e-01 -1.97094640e-03 5.79867447e-01 -8.78234609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.24, Z:-878.26 [[ 1.36894845e-02 -9.99791665e-01 1.51401420e-02 4.11275473e+02] [ 5.79216880e-01 2.02714293e-02 8.14921392e-01 -2.00235541e+02] [-8.15058528e-01 -2.38642795e-03 5.79373715e-01 -8.78257452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.22, Z:-878.28 [[ 1.42758264e-02 -9.99789192e-01 1.47571398e-02 4.11276086e+02] [ 5.77806434e-01 2.02936100e-02 8.15921500e-01 -2.00219396e+02] [-8.16048973e-01 -3.12118338e-03 5.77974336e-01 -8.78278628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.20, Z:-878.30 [[ 1.41167912e-02 -9.99793758e-01 1.45999235e-02 4.11276568e+02] [ 5.76674924e-01 2.00690928e-02 8.16727166e-01 -2.00202719e+02] [-8.16851730e-01 -3.11015706e-03 5.76839301e-01 -8.78301839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.19, Z:-878.32 [[ 1.43916881e-02 -9.99795330e-01 1.42189398e-02 4.11277250e+02] [ 5.74950544e-01 1.99089073e-02 8.17945908e-01 -2.00185848e+02] [-8.18061582e-01 -3.59643516e-03 5.75119391e-01 -8.78324149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.17, Z:-878.35 [[ 1.46459845e-02 -9.99797247e-01 1.38188182e-02 4.11277815e+02] [ 5.74157311e-01 1.97239030e-02 8.18507391e-01 -2.00169835e+02] [-8.18613998e-01 -4.05367107e-03 5.74329775e-01 -8.78346419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.15, Z:-878.37 [[ 1.52102630e-02 -9.99791169e-01 1.36479662e-02 4.11278332e+02] [ 5.73697933e-01 1.99055499e-02 8.18825043e-01 -2.00153636e+02] [-8.18925717e-01 -4.62473432e-03 5.73880895e-01 -8.78369028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.14, Z:-878.39 [[ 1.58893069e-02 -9.99786016e-01 1.32458775e-02 4.11278726e+02] [ 5.73310672e-01 1.99634109e-02 8.19094827e-01 -2.00137985e+02] [-8.19183986e-01 -5.42084617e-03 5.73505197e-01 -8.78391590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.12, Z:-878.41 [[ 1.75943212e-02 -9.99761099e-01 1.29686006e-02 4.11278197e+02] [ 5.73400319e-01 2.07149960e-02 8.19013408e-01 -2.00123309e+02] [-8.19086390e-01 -6.97378524e-03 5.73627800e-01 -8.78413909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.11, Z:-878.44 [[ 1.85197446e-02 -9.99746684e-01 1.27901452e-02 4.11278311e+02] [ 5.73891816e-01 2.11044452e-02 8.18659139e-01 -2.00107654e+02] [-8.18721689e-01 -7.82119849e-03 5.74137288e-01 -8.78437553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.09, Z:-878.46 [[ 2.12479556e-02 -9.99697661e-01 1.23738248e-02 4.11278323e+02] [ 5.74885303e-01 2.23428014e-02 8.17928902e-01 -2.00092822e+02] [-8.17958076e-01 -1.02657869e-02 5.75186231e-01 -8.78459774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.08, Z:-878.48 [[ 2.25477457e-02 -9.99671398e-01 1.21940503e-02 4.11278257e+02] [ 5.75447947e-01 2.29514306e-02 8.17516295e-01 -2.00076926e+02] [-8.17527529e-01 -1.14161083e-02 5.75776357e-01 -8.78482444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.06, Z:-878.51 [[ 2.38069266e-02 -9.99647062e-01 1.17890444e-02 4.11278404e+02] [ 5.75840299e-01 2.33515741e-02 8.17228643e-01 -2.00061118e+02] [-8.17215505e-01 -1.26670955e-02 5.76192992e-01 -8.78505476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.04, Z:-878.53 [[ 2.51546560e-02 -9.99618759e-01 1.13832836e-02 4.11278407e+02] [ 5.76510271e-01 2.38082110e-02 8.16742969e-01 -2.00044965e+02] [-8.16702609e-01 -1.39823085e-02 5.76889369e-01 -8.78528641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.03, Z:-878.55 [[ 2.72395988e-02 -9.99568712e-01 1.09724787e-02 4.11278068e+02] [ 5.77489580e-01 2.46950463e-02 8.16024473e-01 -2.00029460e+02] [-8.15943497e-01 -1.58916871e-02 5.77913198e-01 -8.78551491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.01, Z:-878.58 [[ 2.70988547e-02 -9.99576867e-01 1.05706551e-02 4.11278175e+02] [ 5.77947497e-01 2.42946079e-02 8.15712243e-01 -2.00013574e+02] [-8.15623898e-01 -1.59955839e-02 5.78361304e-01 -8.78575088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-200.00, Z:-878.60 [[ 2.50795220e-02 -9.99633735e-01 1.01692544e-02 4.11279763e+02] [ 5.78488894e-01 2.28082971e-02 8.15371315e-01 -1.99997456e+02] [-8.15304616e-01 -1.45663221e-02 5.78849035e-01 -8.78598105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.98, Z:-878.62 [[ 2.48133895e-02 -9.99644367e-01 9.76908292e-03 4.11280083e+02] [ 5.78500782e-01 2.23279833e-02 8.15376175e-01 -1.99981093e+02] [-8.15304324e-01 -1.45808245e-02 5.78849081e-01 -8.78621533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.97, Z:-878.64 [[ 2.24858717e-02 -9.99703024e-01 9.39410840e-03 4.11281407e+02] [ 5.78624706e-01 2.06763366e-02 8.15331797e-01 -1.99965087e+02] [-8.15283898e-01 -1.28977830e-02 5.78917794e-01 -8.78644040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.95, Z:-878.67 [[ 1.96112270e-02 -9.99767213e-01 8.99550434e-03 4.11282931e+02] [ 5.78151356e-01 1.86803798e-02 8.15715670e-01 -1.99949463e+02] [-8.15693821e-01 -1.07964221e-02 5.78383115e-01 -8.78666013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.93, Z:-878.69 [[ 1.25106418e-02 -9.99882724e-01 8.83302387e-03 4.11285414e+02] [ 5.76776506e-01 1.44321254e-02 8.16774495e-01 -1.99933026e+02] [-8.16806187e-01 -5.12369250e-03 5.76889419e-01 -8.78687518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.92, Z:-878.71 [[ 8.48618026e-03 -9.99926371e-01 8.67398521e-03 4.11286835e+02] [ 5.75933910e-01 1.19785501e-02 8.17408494e-01 -1.99916426e+02] [-8.17452210e-01 -1.94103361e-03 5.75993157e-01 -8.78710065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.90, Z:-878.73 [[ 4.37746528e-03 -9.99956190e-01 8.27387358e-03 4.11288228e+02] [ 5.75500555e-01 9.28558963e-03 8.17748672e-01 -1.99899738e+02] [-8.17789673e-01 1.18195242e-03 5.75515989e-01 -8.78732934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.88, Z:-878.75 [[-3.14031718e-03 -9.99964087e-01 7.87173168e-03 4.11290229e+02] [ 5.75427641e-01 4.63095477e-03 8.17839583e-01 -1.99883800e+02] [-8.17846666e-01 7.09788768e-03 5.75392433e-01 -8.78754385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.87, Z:-878.78 [[-6.71690883e-03 -9.99948557e-01 7.60049046e-03 4.11291065e+02] [ 5.75306027e-01 2.35254901e-03 8.17934864e-01 -1.99867469e+02] [-8.17910667e-01 9.86660187e-03 5.75260629e-01 -8.78777701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.276559995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.85, Z:-878.80 [[-1.12084234e-02 -9.99867293e-01 1.18223554e-02 4.11290330e+02] [ 5.77098513e-01 3.18700161e-03 8.16668323e-01 -1.99852257e+02] [-8.16597623e-01 1.59762281e-02 5.76986207e-01 -8.78800909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.83, Z:-878.82 [[-1.30593209e-02 -9.99909453e-01 3.24659443e-03 4.11294178e+02] [ 5.76388510e-01 -4.87469272e-03 8.17161259e-01 -1.99833726e+02] [-8.17071441e-01 1.25428708e-02 5.76399980e-01 -8.78822666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.82, Z:-878.85 [[-1.41435380e-02 -9.99878295e-01 6.58450570e-03 4.11291711e+02] [ 5.77113853e-01 -2.78547521e-03 8.16658951e-01 -1.99820151e+02] [-8.16541219e-01 1.53504564e-02 5.77083011e-01 -8.78845593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.80, Z:-878.87 [[-1.42682614e-02 -9.99877673e-01 6.40748598e-03 4.11290953e+02] [ 5.77741495e-01 -3.01385407e-03 8.16214238e-01 -1.99804871e+02] [-8.16095081e-01 1.53478286e-02 5.77713824e-01 -8.78867330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.78, Z:-878.88 [[-1.38488304e-02 -9.99868384e-01 -8.45134362e-03 4.11298199e+02] [ 5.80073317e-01 -1.49183083e-02 8.14427647e-01 -1.99780193e+02] [-8.14446535e-01 6.37647140e-03 5.80203571e-01 -8.78884483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.77, Z:-878.91 [[-1.23958888e-02 -9.99876737e-01 9.63597810e-03 4.11288570e+02] [ 5.79912540e-01 6.61774100e-04 8.14678469e-01 -1.99769460e+02] [-8.14584426e-01 1.56866882e-02 5.79832855e-01 -8.78913502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4565599950001 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.75, Z:-878.94 [[-1.22680973e-02 -9.99875072e-01 9.96670790e-03 4.11287492e+02] [ 5.79323093e-01 1.01677232e-03 8.15097369e-01 -1.99753551e+02] [-8.15005674e-01 1.57736379e-02 5.79238245e-01 -8.78937306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.74, Z:-878.96 [[-1.10029556e-02 -9.99768702e-01 1.84790940e-02 4.11281425e+02] [ 5.79602845e-01 8.68240618e-03 8.14852844e-01 -1.99741257e+02] [-8.14824814e-01 1.96763251e-02 5.79373252e-01 -8.78962412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.72, Z:-878.98 [[-1.03370448e-02 -9.99943944e-01 2.29244657e-03 4.11288414e+02] [ 5.78269683e-01 -4.10757091e-03 8.15835340e-01 -1.99721451e+02] [-8.15780191e-01 9.75897877e-03 5.78279727e-01 -8.78981003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.70, Z:-879.00 [[-8.80608428e-03 -9.99961223e-01 6.97087423e-05 4.11289028e+02] [ 5.78674675e-01 -5.03920289e-03 8.15542903e-01 -1.99703010e+02] [-8.15510928e-01 7.22207822e-03 5.78696611e-01 -8.79002228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.576559995 meters Centerline goodness : 0.996449 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.69, Z:-879.03 [[-6.94192570e-03 -9.99948442e-01 7.41100560e-03 4.11284465e+02] [ 5.78050000e-01 2.03469651e-03 8.15998810e-01 -1.99688906e+02] [-8.15971818e-01 9.94853489e-03 5.78006072e-01 -8.79028836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.67, Z:-879.05 [[-2.47736150e-03 -9.99976199e-01 6.43934837e-03 4.11281245e+02] [ 5.78545470e-01 3.81902241e-03 8.15641192e-01 -1.99672839e+02] [-8.15646371e-01 5.74609391e-03 5.78522238e-01 -8.79051024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.636559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:411.25, Y:-199.68, Z:-879.09 [[-1.74702418e-03 -9.98911602e-01 4.66107124e-02 4.11251017e+02] [ 5.70363017e-01 3.72903744e-02 8.20545829e-01 -1.99682578e+02] [-8.21390880e-01 2.80185400e-02 5.69677088e-01 -8.79087071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.62, Z:-879.08 [[ 5.00959183e-03 -9.97710002e-01 -6.74511448e-02 4.11311295e+02] [ 5.79197090e-01 -5.20907055e-02 8.13521536e-01 -1.99618448e+02] [-8.15172150e-01 -4.31429176e-02 5.77609777e-01 -8.79082978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.62, Z:-879.12 [[ 8.32536541e-03 -9.99960826e-01 3.00586843e-03 4.11275815e+02] [ 5.79046873e-01 7.27163145e-03 8.15261824e-01 -1.99624565e+02] [-8.15251745e-01 -5.04681388e-03 5.79084728e-01 -8.79119649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.61, Z:-879.14 [[ 1.03289576e-02 -9.99942627e-01 2.83837541e-03 4.11274470e+02] [ 5.79059156e-01 8.29552000e-03 8.15243325e-01 -1.99608694e+02] [-8.15220097e-01 -6.77702644e-03 5.79111617e-01 -8.79142334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.756559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.59, Z:-879.17 [[ 1.33825090e-02 -9.99907461e-01 2.44498971e-03 4.11272078e+02] [ 5.79260563e-01 9.74573400e-03 8.15084180e-01 -1.99592279e+02] [-8.15032581e-01 -9.49158525e-03 5.79337382e-01 -8.79165670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.58, Z:-879.19 [[ 1.40387472e-02 -9.99899364e-01 2.04322142e-03 4.11271147e+02] [ 5.78745518e-01 9.79199117e-03 8.15449412e-01 -1.99576050e+02] [-8.15387356e-01 -1.02653829e-02 5.78824742e-01 -8.79189002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.56, Z:-879.21 [[ 1.44874900e-02 -9.99893704e-01 1.64149907e-03 4.11269512e+02] [ 5.78860530e-01 9.72569673e-03 8.15368566e-01 -1.99560806e+02] [-8.15297859e-01 -1.08624450e-02 5.78939900e-01 -8.79211093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.54, Z:-879.23 [[ 1.40318996e-02 -9.99900609e-01 1.37029402e-03 4.11269086e+02] [ 5.78726373e-01 9.23898157e-03 8.15469452e-01 -1.99544666e+02] [-8.15401062e-01 -1.06495602e-02 5.78798493e-01 -8.79234227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-199.55, Z:-879.27 [[ 9.93826709e-03 -9.99562967e-01 2.78407444e-02 4.11251268e+02] [ 5.72798283e-01 2.85122301e-02 8.19200329e-01 -1.99545418e+02] [-8.19636113e-01 7.80569893e-03 5.72831314e-01 -8.79266403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.52, Z:-879.28 [[ 8.31066267e-03 -9.99862152e-01 -1.43739360e-02 4.11271601e+02] [ 5.72280253e-01 -7.03197073e-03 8.20027965e-01 -1.99518658e+02] [-8.20016003e-01 -1.50408956e-02 5.72142925e-01 -8.79281262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.50, Z:-879.31 [[ 7.61349732e-03 -9.99929420e-01 -9.12088530e-03 4.11268142e+02] [ 5.72473804e-01 -3.12006204e-03 8.19917075e-01 -1.99504622e+02] [-8.19887663e-01 -1.14639044e-02 5.72409643e-01 -8.79306476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.46, Z:-879.32 [[ 1.13297063e-02 -9.98583334e-01 -5.19900364e-02 4.11293581e+02] [ 5.81079386e-01 -3.57382840e-02 8.13061820e-01 -1.99463661e+02] [-8.13768017e-01 -3.94220900e-02 5.79851286e-01 -8.79316762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.46, Z:-879.35 [[ 1.19845140e-02 -9.99927463e-01 1.20038968e-03 4.11267557e+02] [ 5.81112611e-01 7.94178671e-03 8.13784407e-01 -1.99463329e+02] [-8.13734910e-01 -9.05524905e-03 5.81165638e-01 -8.79350778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-199.46, Z:-879.38 [[ 9.55160168e-03 -9.99603867e-01 2.64740536e-02 4.11252050e+02] [ 5.76699710e-01 2.71353636e-02 8.16505430e-01 -1.99463244e+02] [-8.16900369e-01 7.46864438e-03 5.76730446e-01 -8.79382920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.44, Z:-879.40 [[ 8.84968719e-03 -9.99890688e-01 -1.18446461e-02 4.11271398e+02] [ 5.79613621e-01 -4.52304714e-03 8.14878882e-01 -1.99435827e+02] [-8.14843380e-01 -1.40767414e-02 5.79510234e-01 -8.79398970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.40, Z:-879.41 [[ 1.22575533e-02 -9.99098283e-01 -4.06493896e-02 4.11290354e+02] [ 5.86111598e-01 -2.57576533e-02 8.09820806e-01 -1.99401099e+02] [-8.10137610e-01 -3.37515004e-02 5.85267366e-01 -8.79413120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.26, Y:-199.41, Z:-879.45 [[ 9.53152916e-03 -9.99836640e-01 1.53571853e-02 4.11261807e+02] [ 5.83221068e-01 1.80337086e-02 8.12113275e-01 -1.99407082e+02] [-8.12257555e-01 1.21595263e-03 5.83297682e-01 -8.79449488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-199.39, Z:-879.47 [[ 7.65550386e-03 -9.99965558e-01 -3.20573764e-03 4.11271778e+02] [ 5.83006246e-01 1.85871920e-03 8.12465546e-01 -1.99386694e+02] [-8.12431604e-01 -8.08879819e-03 5.83000395e-01 -8.79469459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.36, Z:-879.49 [[ 8.75596334e-03 -9.99558225e-01 -2.84022551e-02 4.11289186e+02] [ 5.86651765e-01 -1.78668559e-02 8.09642194e-01 -1.99355365e+02] [-8.09791973e-01 -2.37514305e-02 5.86236156e-01 -8.79485179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.35, Z:-879.51 [[ 4.65757551e-03 -9.99988405e-01 1.22361447e-03 4.11277550e+02] [ 5.85421984e-01 3.71869921e-03 8.10720218e-01 -1.99347439e+02] [-8.10715368e-01 -3.05965983e-03 5.85432516e-01 -8.79514252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-199.33, Z:-879.54 [[ 3.97357789e-04 -9.99988561e-01 4.76652853e-03 4.11276179e+02] [ 5.84352872e-01 4.10023104e-03 8.11489316e-01 -1.99334225e+02] [-8.11499577e-01 2.46288303e-03 5.84347817e-01 -8.79538447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.31, Z:-879.56 [[-3.92469474e-03 -9.99966869e-01 -7.13143349e-03 4.11287542e+02] [ 5.84398152e-01 -8.08048856e-03 8.11426834e-01 -1.99312282e+02] [-8.11457576e-01 -9.82993925e-04 5.84410504e-01 -8.79557545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.30, Z:-879.58 [[-6.80053326e-03 -9.99976801e-01 3.88646426e-04 4.11285291e+02] [ 5.84090365e-01 -3.65675410e-03 8.11680401e-01 -1.99298372e+02] [-8.11660149e-01 5.74686420e-03 5.84101683e-01 -8.79581707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.30, Z:-879.58 [[-8.56749854e-03 -9.99963298e-01 -1.27831722e-05 4.11286891e+02] [ 5.83734030e-01 -5.01170341e-03 8.11929471e-01 -1.99297347e+02] [-8.11899736e-01 6.94874258e-03 5.83755543e-01 -8.79582665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.28, Z:-879.61 [[-1.07576595e-02 -9.99941994e-01 5.29948066e-04 4.11287974e+02] [ 5.83470298e-01 -5.84673602e-03 8.12113433e-01 -1.99281212e+02] [-8.12063227e-01 9.04564877e-03 5.83499350e-01 -8.79605662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.26, Z:-879.63 [[-1.32587750e-02 -9.99912089e-01 1.36338405e-04 4.11291127e+02] [ 5.83241570e-01 -7.62299626e-03 8.12262987e-01 -1.99264781e+02] [-8.12190541e-01 1.08491304e-02 5.83291369e-01 -8.79627874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.27, Z:-879.62 [[-1.30012799e-02 -9.99915444e-01 -2.67727710e-04 4.11292580e+02] [ 5.83243809e-01 -7.80104009e-03 8.12259689e-01 -1.99267101e+02] [-8.12193096e-01 1.04042651e-02 5.83295916e-01 -8.79623900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.25, Z:-879.65 [[-1.14616920e-02 -9.99934275e-01 2.73250188e-04 4.11294325e+02] [ 5.83270194e-01 -6.46373999e-03 8.12252486e-01 -1.99251176e+02] [-8.12197335e-01 9.46916651e-03 5.83305944e-01 -8.79646058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.24, Z:-879.67 [[-1.16313870e-02 -9.99836901e-01 1.38159913e-02 4.11286959e+02] [ 5.80540988e-01 4.49747380e-03 8.14218603e-01 -1.99243799e+02] [-8.14147942e-01 1.74912409e-02 5.80393991e-01 -8.79674197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.23, Z:-879.67 [[-6.64679531e-03 -9.99885619e-01 -1.35856123e-02 4.11302705e+02] [ 5.86224143e-01 -1.49027232e-02 8.10011829e-01 -1.99226848e+02] [-8.10121642e-01 -2.58023114e-03 5.86256146e-01 -8.79672614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.536559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.22, Z:-879.70 [[-4.19846344e-03 -9.99990039e-01 1.51491484e-03 4.11295631e+02] [ 5.86595836e-01 -1.23591595e-03 8.09878878e-01 -1.99215744e+02] [-8.09868939e-01 4.28888959e-03 5.86595182e-01 -8.79698547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.20, Z:-879.72 [[ 1.62600385e-03 -9.99998036e-01 1.13315214e-03 4.11296757e+02] [ 5.87652838e-01 1.87237534e-03 8.09111016e-01 -1.99199542e+02] [-8.09111549e-01 -6.49717562e-04 5.87654728e-01 -8.79721882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.18, Z:-879.74 [[ 4.40822033e-03 -9.99990009e-01 7.40859440e-04 4.11297998e+02] [ 5.87954344e-01 3.19113636e-03 8.08887821e-01 -1.99183039e+02] [-8.08882103e-01 -3.13016422e-03 5.87962537e-01 -8.79744944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.17, Z:-879.77 [[ 1.01036423e-02 -9.99948897e-01 3.45749369e-04 4.11299827e+02] [ 5.87814724e-01 6.21908894e-03 8.08971677e-01 -1.99167131e+02] [-8.08932486e-01 -7.97032385e-03 5.87847520e-01 -8.79766925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.15, Z:-879.79 [[ 1.20945381e-02 -9.99926843e-01 1.77692395e-04 4.11300457e+02] [ 5.87691212e-01 7.25214683e-03 8.09052808e-01 -1.99150991e+02] [-8.08994909e-01 -9.68069175e-03 5.87735929e-01 -8.79789411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.15, Z:-879.79 [[ 1.59740299e-02 -9.99872381e-01 -2.28232781e-04 4.11302604e+02] [ 5.87191665e-01 9.19626021e-03 8.09395687e-01 -1.99147427e+02] [-8.09290293e-01 -1.30633273e-02 5.87263630e-01 -8.79791936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.13, Z:-879.82 [[ 1.63750935e-02 -9.99858409e-01 3.87524245e-03 4.11301733e+02] [ 5.85979268e-01 1.27370907e-02 8.10225934e-01 -1.99132235e+02] [-8.10160573e-01 -1.09967137e-02 5.86104869e-01 -8.79818355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.13, Z:-879.82 [[ 1.62562856e-02 -9.99867705e-01 -5.53961739e-04 4.11303666e+02] [ 5.86571765e-01 9.08805662e-03 8.09846265e-01 -1.99128604e+02] [-8.09734091e-01 -1.34900305e-02 5.86641902e-01 -8.79818003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.12, Z:-879.82 [[ 1.56809601e-02 -9.99876863e-01 -6.05918647e-04 4.11303290e+02] [ 5.86132733e-01 8.70129936e-03 8.10168320e-01 -1.99124604e+02] [-8.10063286e-01 -1.30593658e-02 5.86197003e-01 -8.79823382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.13, Z:-879.82 [[ 1.27277718e-02 -9.99900770e-01 6.03765797e-03 4.11299116e+02] [ 5.82980912e-01 1.23262183e-02 8.12392344e-01 -1.99132455e+02] [-8.12386152e-01 -6.82010505e-03 5.83079948e-01 -8.79821657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.11, Z:-879.84 [[ 1.13133650e-02 -9.99934137e-01 -1.93107272e-03 4.11302828e+02] [ 5.84198972e-01 5.04233969e-03 8.11594810e-01 -1.99111484e+02] [-8.11531619e-01 -1.03099990e-02 5.84217541e-01 -8.79842888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.10, Z:-879.87 [[ 8.44866814e-03 -9.99949208e-01 5.49568494e-03 4.11296843e+02] [ 5.83379560e-01 9.39255234e-03 8.12145350e-01 -1.99098590e+02] [-8.12155718e-01 -3.65547629e-03 5.83429283e-01 -8.79866710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.08, Z:-879.89 [[ 7.81373447e-03 -9.99959856e-01 4.38544227e-03 4.11297223e+02] [ 5.83322725e-01 8.12011059e-03 8.12199890e-01 -1.99081689e+02] [-8.12202896e-01 -3.78818615e-03 5.83362757e-01 -8.79889933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.08, Z:-879.90 [[ 4.05820459e-03 -9.99904707e-01 1.31949789e-02 4.11290254e+02] [ 5.76818776e-01 1.31193193e-02 8.16766787e-01 -1.99084289e+02] [-8.16862064e-01 4.29650483e-03 5.76817050e-01 -8.79899788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9565599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.08, Z:-879.90 [[ 4.41734264e-03 -9.99981121e-01 -4.27145087e-03 4.11298874e+02] [ 5.76914118e-01 -9.40529732e-04 8.16804270e-01 -1.99077689e+02] [-8.16792867e-01 -6.07236465e-03 5.76899072e-01 -8.79898087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.07, Z:-879.89 [[ 7.95347234e-03 -9.99847906e-01 -1.55211824e-02 4.11305800e+02] [ 5.83778229e-01 -7.95939327e-03 8.11874145e-01 -1.99071365e+02] [-8.11874203e-01 -1.55181469e-02 5.83626135e-01 -8.79890999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.07, Z:-879.92 [[ 6.07576657e-03 -9.99856442e-01 1.58171001e-02 4.11288015e+02] [ 5.81485420e-01 1.64008188e-02 8.13391492e-01 -1.99069331e+02] [-8.13534137e-01 4.25543625e-03 5.81501590e-01 -8.79921750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.06, Z:-879.95 [[ 3.79223505e-03 -9.99952763e-01 8.94930871e-03 4.11288958e+02] [ 5.79916009e-01 9.48992085e-03 8.14620994e-01 -1.99055374e+02] [-8.14667442e-01 2.10061310e-03 5.79924604e-01 -8.79945334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.02, Z:-879.96 [[ 4.90572973e-03 -9.99449829e-01 -3.28020321e-02 4.11312745e+02] [ 5.86607013e-01 -2.36893689e-02 8.09525186e-01 -1.99018805e+02] [-8.09856868e-01 -2.32132138e-02 5.86168065e-01 -8.79956760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.02, Z:-879.99 [[ 1.56696350e-03 -9.99949933e-01 9.88314316e-03 4.11291637e+02] [ 5.86591562e-01 8.92331729e-03 8.09833757e-01 -1.99019047e+02] [-8.09881401e-01 4.52838845e-03 5.86576176e-01 -8.79991720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.01, Z:-880.00 [[ 1.63428609e-03 -9.99998380e-01 -7.54657298e-04 4.11297518e+02] [ 5.87117223e-01 3.48621603e-04 8.09501850e-01 -1.99007830e+02] [-8.09500275e-01 -1.76602992e-03 5.87116842e-01 -8.80000396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.00, Z:-880.03 [[-1.04187351e-03 -9.99855791e-01 1.69502693e-02 4.11285449e+02] [ 5.83739573e-01 1.31545256e-02 8.11834386e-01 -1.99002752e+02] [-8.11940285e-01 1.07403717e-02 5.83641687e-01 -8.80028820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-198.96, Z:-880.04 [[ 1.39182921e-03 -9.99372453e-01 -3.53943978e-02 4.11314120e+02] [ 5.88759855e-01 -2.77906476e-02 8.07830126e-01 -1.98961231e+02] [-8.08306808e-01 -2.19631621e-02 5.88351701e-01 -8.80036314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-198.97, Z:-880.08 [[-2.20364343e-03 -9.99576118e-01 2.90297757e-02 4.11278032e+02] [ 5.82035086e-01 2.23239267e-02 8.12857184e-01 -1.98973735e+02] [-8.13160687e-01 1.86875954e-02 5.81739177e-01 -8.80076933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-198.95, Z:-880.09 [[-4.31501475e-03 -9.99923930e-01 -1.15548750e-02 4.11297596e+02] [ 5.79334642e-01 -1.19179980e-02 8.15002659e-01 -1.98946977e+02] [-8.15078372e-01 -3.17739087e-03 5.79341999e-01 -8.80091926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.30, Y:-199.03, Z:-879.96 [[-1.10314801e-03 -9.99857158e-01 -1.68655820e-02 4.11301680e+02] [ 5.81900962e-01 -1.43579335e-02 8.13132904e-01 -1.99034739e+02] [-8.13258909e-01 -8.91709247e-03 5.81833681e-01 -8.79958378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.01, Z:-879.98 [[ 3.27399415e-04 -9.99726753e-01 -2.33733128e-02 4.11307420e+02] [ 5.85272267e-01 -1.87603780e-02 8.10619776e-01 -1.99008975e+02] [-8.10836769e-01 -1.39451482e-02 5.85106201e-01 -8.79975464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-199.00, Z:-880.00 [[-5.25238753e-04 -9.99996552e-01 2.57311795e-03 4.11294758e+02] [ 5.84569462e-01 1.78064553e-03 8.11341712e-01 -1.99000680e+02] [-8.11343496e-01 1.93031428e-03 5.84566511e-01 -8.80004239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-198.99, Z:-880.03 [[-3.22426947e-03 -9.99786727e-01 2.03986547e-02 4.11284270e+02] [ 5.82562821e-01 1.47018179e-02 8.12652703e-01 -1.98994059e+02] [-8.12779283e-01 1.45037091e-02 5.82391174e-01 -8.80034252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-198.96, Z:-880.05 [[-2.42976229e-03 -9.99821571e-01 -1.87329195e-02 4.11304073e+02] [ 5.84426814e-01 -1.66205554e-02 8.11276190e-01 -1.98961126e+02] [-8.11442786e-01 -8.97681218e-03 5.84362919e-01 -8.80046104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.95, Z:-880.07 [[-2.57122019e-03 -9.99995295e-01 1.67301642e-03 4.11292643e+02] [ 5.84211607e-01 -1.44314944e-04 8.11601366e-01 -1.98951221e+02] [-8.11597306e-01 3.06420143e-03 5.84209230e-01 -8.80074077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.94, Z:-880.10 [[-2.70085915e-03 -9.99995529e-01 1.28334527e-03 4.11292592e+02] [ 5.84234623e-01 -5.36394522e-04 8.11584634e-01 -1.98935130e+02] [-8.11580317e-01 2.94175052e-03 5.84233460e-01 -8.80096501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.92, Z:-880.12 [[-2.98849637e-03 -9.99995133e-01 8.95745858e-04 4.11292494e+02] [ 5.84136137e-01 -1.01865702e-03 8.11655060e-01 -1.98918808e+02] [-8.11650198e-01 2.94886573e-03 5.84136338e-01 -8.80119263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.90, Z:-880.14 [[-3.16700262e-03 -9.99994859e-01 5.01702804e-04 4.11292278e+02] [ 5.84069313e-01 -1.44252304e-03 8.11702505e-01 -1.98903014e+02] [-8.11697609e-01 2.86369317e-03 5.84070879e-01 -8.80141605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.556559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.89, Z:-880.16 [[-3.25336883e-03 -9.99994652e-01 3.32945909e-04 4.11292377e+02] [ 5.84348787e-01 -1.63092492e-03 8.11500977e-01 -1.98886723e+02] [-8.11496094e-01 2.83466852e-03 5.84350968e-01 -8.80164940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-198.90, Z:-880.17 [[-6.73831740e-03 -9.99829960e-01 1.71652948e-02 4.11281836e+02] [ 5.75569914e-01 1.01592355e-02 8.17689467e-01 -1.98897386e+02] [-8.17724813e-01 1.53896784e-02 5.75403587e-01 -8.80172008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-198.88, Z:-880.16 [[-2.66123328e-03 -9.99722022e-01 -2.34263982e-02 4.11303415e+02] [ 5.84343983e-01 -2.05653513e-02 8.11245447e-01 -1.98877636e+02] [-8.11501711e-01 -1.15301615e-02 5.84236278e-01 -8.80161938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.87, Z:-880.19 [[-2.72788330e-03 -9.99995930e-01 8.35638161e-04 4.11291121e+02] [ 5.84419909e-01 -9.16153716e-04 8.11450880e-01 -1.98869044e+02] [-8.11446812e-01 2.70190688e-03 5.84420030e-01 -8.80189737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6765599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.85, Z:-880.21 [[-3.33373695e-03 -9.99994344e-01 4.44804541e-04 4.11291195e+02] [ 5.84609756e-01 -1.58806838e-03 8.11313079e-01 -1.98852859e+02] [-8.11307784e-01 2.96474146e-03 5.84611743e-01 -8.80212733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:411.29, Y:-198.84, Z:-880.24 [[-4.58112518e-03 -9.99918543e-01 1.19130672e-02 4.11285447e+02] [ 5.83427941e-01 7.00282949e-03 8.12134717e-01 -1.98841648e+02] [-8.12151988e-01 1.06709071e-02 5.83348336e-01 -8.80240906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.41, Z:-879.26 [[-2.39077131e-02 2.15565372e-01 -9.76196697e-01 4.11338436e+02] [ 6.28038559e-01 -7.56496009e-01 -1.82431788e-01 -1.98410218e+02] [-7.77814881e-01 -6.17450694e-01 -1.17297276e-01 -8.79264148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.14, Z:-879.86 [[-1.96679634e-02 -9.99627535e-01 -1.89198996e-02 4.11311878e+02] [ 6.39978959e-01 -2.71260322e-02 7.67913479e-01 -1.99144798e+02] [-7.68140680e-01 2.99495652e-03 6.40274103e-01 -8.79861101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-198.96, Z:-880.10 [[-2.18661627e-02 -9.99744973e-01 -5.64441790e-03 4.11300061e+02] [ 6.32570873e-01 -1.82069484e-02 7.74288447e-01 -1.98961236e+02] [-7.74193750e-01 1.33602228e-02 6.32807666e-01 -8.80104536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.32, Y:-199.13, Z:-879.87 [[-1.66517966e-02 -9.99134939e-01 -3.81063093e-02 4.11320781e+02] [ 6.39914951e-01 -3.99333437e-02 7.67407443e-01 -1.99127343e+02] [-7.68265302e-01 -1.16060844e-02 6.40026348e-01 -8.79871682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.13, Z:-879.88 [[-1.44626526e-02 -9.99776354e-01 -1.54296252e-02 4.11309632e+02] [ 6.40292875e-01 -2.11125489e-02 7.67840670e-01 -1.99131673e+02] [-7.67994704e-01 1.22553381e-03 6.40455020e-01 -8.79880454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.13, Z:-879.89 [[-1.30046705e-02 -9.99803397e-01 -1.49681708e-02 4.11309302e+02] [ 6.40447507e-01 -1.98244602e-02 7.67746040e-01 -1.99128042e+02] [-7.67891835e-01 3.97956633e-04 6.40579403e-01 -8.79885652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.13, Z:-879.88 [[-1.27525887e-02 -9.99813461e-01 -1.45056578e-02 4.11309215e+02] [ 6.40589013e-01 -1.93079096e-02 7.67641141e-01 -1.99129452e+02] [-7.67778020e-01 4.97246707e-04 6.40715744e-01 -8.79883798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:411.31, Y:-199.13, Z:-879.88 [[-1.30039755e-02 -9.99816790e-01 -1.40457636e-02 4.11309181e+02] [ 6.40562191e-01 -1.91158451e-02 7.67668330e-01 -1.99129210e+02] [-7.67796182e-01 9.85555044e-04 6.40693415e-01 -8.79884404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-198.88, Z:-880.17 [[-1.15642763e-02 -9.99665805e-01 -2.31202341e-02 4.11311755e+02] [ 6.44894703e-01 -2.51267200e-02 7.63858279e-01 -1.98884386e+02] [-7.64183938e-01 -6.07664828e-03 6.44969755e-01 -8.80172558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-198.78, Z:-879.70 [[-2.95763228e-02 4.09091638e-01 9.12013856e-01 4.10351231e+02] [ 5.83801866e-01 7.47686787e-01 -3.16448811e-01 -1.98776890e+02] [-8.11357272e-01 5.23075999e-01 -2.60942288e-01 -8.79701815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.036559995 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:411.33, Y:-198.68, Z:-880.40 [[-4.58891896e-02 -9.97073779e-01 -6.11396823e-02 4.11325071e+02] [ 5.94191980e-01 -7.64441437e-02 8.00682324e-01 -1.98677271e+02] [-8.03013122e-01 4.13954097e-04 5.95961203e-01 -8.80404692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-198.85, Z:-879.89 [[-3.23216346e-02 3.85698653e-02 9.98733036e-01 4.10441796e+02] [ 5.31964527e-01 8.46625133e-01 -1.54798667e-02 -1.98854297e+02] [-8.46149546e-01 5.30790212e-01 -4.78821083e-02 -8.79887138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.93, Z:-879.98 [[-4.88001899e-02 -9.96532881e-01 -6.73851576e-02 4.11349091e+02] [ 5.34627395e-01 -8.30485942e-02 8.40997312e-01 -1.98931724e+02] [-8.43677717e-01 5.01487730e-03 5.36826565e-01 -8.79979942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.72, Z:-880.30 [[-4.77656606e-02 -9.96061295e-01 -7.47016635e-02 4.11335793e+02] [ 5.38816075e-01 -8.86670267e-02 8.37744231e-01 -1.98724782e+02] [-8.41068177e-01 -2.35050568e-04 5.40929077e-01 -8.80302043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.156559995 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:410.41, Y:-198.49, Z:-880.42 [[-2.88125384e-02 6.26794737e-02 9.97617723e-01 4.10410124e+02] [ 4.67733763e-01 8.82872794e-01 -4.19613686e-02 -1.98491033e+02] [-8.83399663e-01 4.65410478e-01 -5.47551124e-02 -8.80422618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.65, Z:-880.37 [[-5.00865806e-02 -9.95243847e-01 -8.35525005e-02 4.11335275e+02] [ 4.80386464e-01 -9.73514079e-02 8.71637280e-01 -1.98653599e+02] [-8.75625593e-01 3.51984058e-03 4.82977672e-01 -8.80369992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-198.72, Z:-879.97 [[-3.54427579e-02 -8.47766422e-04 9.99371349e-01 4.10451572e+02] [ 4.08072639e-01 9.12822141e-01 1.52466645e-02 -1.98718121e+02] [-9.12261219e-01 4.08356487e-01 -3.20069838e-02 -8.79971784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.36, Y:-198.77, Z:-880.05 [[-4.81424747e-02 -9.93492686e-01 -1.03221048e-01 4.11359393e+02] [ 4.16436004e-01 -1.13895080e-01 9.02002753e-01 -1.98772578e+02] [-9.07889507e-01 4.39684008e-04 4.19209315e-01 -8.80048487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.36, Y:-198.77, Z:-880.05 [[-4.71745276e-02 -9.93624726e-01 -1.02393695e-01 4.11358359e+02] [ 4.16374472e-01 -1.12738189e-01 9.02176479e-01 -1.98772283e+02] [-9.07968536e-01 -7.43716323e-05 4.19038342e-01 -8.80050029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.36, Y:-198.77, Z:-880.06 [[-4.62035823e-02 -9.93757452e-01 -1.01544850e-01 4.11357023e+02] [ 4.16662871e-01 -1.11560460e-01 9.02189734e-01 -1.98770716e+02] [-9.07886161e-01 -6.25571093e-04 4.19216325e-01 -8.80055417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.36, Y:-198.77, Z:-880.06 [[-4.52048308e-02 -9.93899248e-01 -1.00602226e-01 4.11355571e+02] [ 4.16763331e-01 -1.10285934e-01 9.02300027e-01 -1.98769900e+02] [-9.07890329e-01 -1.13899873e-03 4.19206218e-01 -8.80058819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.77, Z:-880.07 [[-4.30999686e-02 -9.94119866e-01 -9.93382363e-02 4.11354353e+02] [ 4.16953549e-01 -1.08255828e-01 9.02457984e-01 -1.98766744e+02] [-9.07905353e-01 -2.52351942e-03 4.19167629e-01 -8.80067544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.08 [[-4.01843627e-02 -9.94488336e-01 -9.68409320e-02 4.11352659e+02] [ 4.17453750e-01 -1.04764918e-01 9.02638731e-01 -1.98764333e+02] [-9.07809222e-01 -4.15464811e-03 4.19362797e-01 -8.80075287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.08 [[-3.66103776e-02 -9.94731325e-01 -9.57563108e-02 4.11351081e+02] [ 4.18446841e-01 -1.02275016e-01 9.02464439e-01 -1.98763188e+02] [-9.07503125e-01 -7.02936185e-03 4.19986507e-01 -8.80078077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.08 [[-3.44341007e-02 -9.94890158e-01 -9.49097807e-02 4.11349949e+02] [ 4.18774523e-01 -1.00590372e-01 9.02501787e-01 -1.98761680e+02] [-9.07437156e-01 -8.66896075e-03 4.20098390e-01 -8.80083100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.09 [[-3.23350572e-02 -9.95061862e-01 -9.38420706e-02 4.11348862e+02] [ 4.19225775e-01 -9.87354576e-02 9.02497124e-01 -1.98760667e+02] [-9.07306009e-01 -1.01587186e-02 4.20348197e-01 -8.80086519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.09 [[-2.92302150e-02 -9.95257788e-01 -9.27767741e-02 4.11346937e+02] [ 4.19698609e-01 -9.64585345e-02 9.02523589e-01 -1.98758521e+02] [-9.07192743e-01 -1.25573245e-02 4.20527813e-01 -8.80093204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.10 [[-2.79057224e-02 -9.95384084e-01 -9.18248092e-02 4.11346048e+02] [ 4.19866993e-01 -9.50360916e-02 9.02596172e-01 -1.98758222e+02] [-9.07156535e-01 -1.33666082e-02 4.20580973e-01 -8.80095196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.10 [[-2.66328827e-02 -9.95496011e-01 -9.09856105e-02 4.11346065e+02] [ 4.19883852e-01 -9.37398035e-02 9.02723878e-01 -1.98756990e+02] [-9.07186993e-01 -1.41612495e-02 4.20489261e-01 -8.80098858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.76, Z:-880.10 [[-2.60078901e-02 -9.95619874e-01 -8.98034332e-02 4.11345776e+02] [ 4.20197339e-01 -9.24001779e-02 9.02716126e-01 -1.98756163e+02] [-9.07059968e-01 -1.42574219e-02 4.20759955e-01 -8.80100522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.636559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.75, Z:-880.11 [[-2.54815104e-02 -9.95708842e-01 -8.89640094e-02 4.11345362e+02] [ 4.20155377e-01 -9.14183601e-02 9.02835613e-01 -1.98754463e+02] [-9.07094346e-01 -1.43730918e-02 4.20681901e-01 -8.80105370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.75, Z:-880.11 [[-2.52001996e-02 -9.95821284e-01 -8.77776816e-02 4.11344687e+02] [ 4.20563371e-01 -9.02180175e-02 9.02766393e-01 -1.98753199e+02] [-9.06913117e-01 -1.41661844e-02 4.21079468e-01 -8.80108665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.75, Z:-880.11 [[-2.53204538e-02 -9.95901704e-01 -8.68255195e-02 4.11343992e+02] [ 4.20599410e-01 -8.94049023e-02 9.02830494e-01 -1.98752256e+02] [-9.06893054e-01 -1.36586844e-02 4.21139441e-01 -8.80113089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.75, Z:-880.11 [[-2.52077799e-02 -9.95988027e-01 -8.58627837e-02 4.11343803e+02] [ 4.20869188e-01 -8.84807221e-02 9.02795818e-01 -1.98752452e+02] [-9.06771027e-01 -1.33795218e-02 4.21411074e-01 -8.80114327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.75, Z:-880.11 [[-2.77550649e-02 -9.95802133e-01 -8.72225184e-02 4.11345258e+02] [ 4.22972727e-01 -9.07592089e-02 9.01585735e-01 -1.98753093e+02] [-9.05717245e-01 -1.18691759e-02 4.23716172e-01 -8.80109178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.75, Z:-880.12 [[-2.82902521e-02 -9.95656436e-01 -8.87013150e-02 4.11345947e+02] [ 4.23193395e-01 -9.23218322e-02 9.01323488e-01 -1.98748374e+02] [-9.05597600e-01 -1.20391419e-02 4.23967035e-01 -8.80117300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.75, Z:-880.11 [[-2.82371453e-02 -9.95710784e-01 -8.81061738e-02 4.11346840e+02] [ 4.23080030e-01 -9.17620484e-02 9.01433866e-01 -1.98749680e+02] [-9.05652225e-01 -1.18220436e-02 4.23856447e-01 -8.80114918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.75, Z:-880.12 [[-2.77751125e-02 -9.95883663e-01 -8.62802052e-02 4.11345820e+02] [ 4.23098142e-01 -8.99129513e-02 9.01611681e-01 -1.98749086e+02] [-9.05658051e-01 -1.14626286e-02 4.23853870e-01 -8.80118111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.75, Z:-880.12 [[-3.02306302e-02 -9.95903819e-01 -8.52155682e-02 4.11346621e+02] [ 4.22155803e-01 -8.99989409e-02 9.02044716e-01 -1.98750331e+02] [-9.06019088e-01 -8.70486632e-03 4.23147300e-01 -8.80116181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.74, Z:-880.13 [[-2.85928838e-02 -9.95936032e-01 -8.54041388e-02 4.11348180e+02] [ 4.20964412e-01 -8.94904795e-02 9.02651881e-01 -1.98744408e+02] [-9.06626390e-01 -1.01426828e-02 4.21812417e-01 -8.80129838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.74, Z:-880.14 [[-2.99230353e-02 -9.96122593e-01 -8.27308341e-02 4.11346279e+02] [ 4.22744055e-01 -8.76130492e-02 9.02004112e-01 -1.98741493e+02] [-9.05754976e-01 -7.98326736e-03 4.23726552e-01 -8.80135246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.74, Z:-880.15 [[-2.86620465e-02 -9.96512279e-01 -7.83694173e-02 4.11345439e+02] [ 4.20548989e-01 -8.31467788e-02 9.03451803e-01 -1.98739871e+02] [-9.06816980e-01 -7.06340163e-03 4.21465388e-01 -8.80146576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-198.74, Z:-880.14 [[-3.28367492e-02 -9.96533162e-01 -7.64421731e-02 4.11345173e+02] [ 4.22050526e-01 -8.31552670e-02 9.02750550e-01 -1.98740086e+02] [-9.05977429e-01 -2.61906594e-03 4.23317894e-01 -8.80144074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.66, Z:-880.33 [[-3.46773892e-02 -9.96622839e-01 -7.44338404e-02 4.11336535e+02] [ 4.21583919e-01 -8.21152470e-02 9.03063722e-01 -1.98656791e+02] [-9.06126083e-01 -6.42180030e-05 4.23007704e-01 -8.80332751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.74, Z:-880.16 [[-3.55485282e-02 -9.96642267e-01 -7.37597052e-02 4.11342513e+02] [ 4.20918941e-01 -8.18721707e-02 9.03395923e-01 -1.98736625e+02] [-9.06401427e-01 1.06753845e-03 4.22416042e-01 -8.80156715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.73, Z:-880.17 [[-3.68099001e-02 -9.96600626e-01 -7.37036174e-02 4.11341181e+02] [ 4.23112515e-01 -8.23594112e-02 9.02326287e-01 -1.98730249e+02] [-9.05329129e-01 2.02961758e-03 4.24705839e-01 -8.80166624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.73, Z:-880.18 [[-3.59449069e-02 -9.97243550e-01 -6.49096803e-02 4.11336813e+02] [ 4.20842662e-01 -7.40165964e-02 9.04108952e-01 -1.98728199e+02] [-9.06421214e-01 5.18134943e-03 4.22343149e-01 -8.80183602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.73, Z:-880.18 [[-4.09582038e-02 -9.97003731e-01 -6.56200080e-02 4.11335818e+02] [ 4.21734157e-01 -7.67887443e-02 9.03462113e-01 -1.98727725e+02] [-9.05793976e-01 9.32998657e-03 4.23615657e-01 -8.80179166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1765599950002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:411.33, Y:-198.73, Z:-880.18 [[-4.46232593e-02 -9.96919726e-01 -6.44967114e-02 4.11334658e+02] [ 4.21152911e-01 -7.73162899e-02 9.03688230e-01 -1.98725725e+02] [-9.05891269e-01 1.31625365e-02 4.23305749e-01 -8.80184269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:-198.73, Z:-880.19 [[-4.75781962e-02 -9.97430164e-01 -5.35666304e-02 4.11327192e+02] [ 4.15332008e-01 -6.85263440e-02 9.07085147e-01 -1.98731310e+02] [-9.08424812e-01 2.09095389e-02 4.17525033e-01 -8.80192321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.71, Z:-880.21 [[-4.54644457e-02 -9.96013257e-01 -7.67500956e-02 4.11338186e+02] [ 4.19326203e-01 -8.87609407e-02 9.03486044e-01 -1.98712112e+02] [-9.06696487e-01 8.89316607e-03 4.21689924e-01 -8.80206828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:-198.72, Z:-880.20 [[-4.68428673e-02 -9.97097421e-01 -6.00206511e-02 4.11329461e+02] [ 4.21827450e-01 -7.42117076e-02 9.03633900e-01 -1.98720919e+02] [-9.05465266e-01 1.70104447e-02 4.24079352e-01 -8.80200040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.296559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.50, Y:-198.63, Z:-880.25 [[-3.33750271e-03 -1.48047941e-01 9.88974554e-01 4.10496325e+02] [ 3.68467820e-01 9.19213053e-01 1.38848226e-01 -1.98632090e+02] [-9.29634513e-01 3.64868704e-01 5.14830260e-02 -8.80248281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:-198.67, Z:-880.27 [[-4.05126872e-02 -9.98607075e-01 -3.38028478e-02 4.11305117e+02] [ 3.55108560e-01 -4.60119429e-02 9.33692033e-01 -1.98671631e+02] [-9.33946804e-01 2.58226926e-02 3.56477988e-01 -8.80270768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.356559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.31, Y:-198.65, Z:-880.28 [[-3.74849315e-02 -9.97622033e-01 -5.78373550e-02 4.11313518e+02] [ 3.58678991e-01 -6.74532305e-02 9.31020646e-01 -1.98654834e+02] [-9.32708026e-01 1.41542010e-02 3.60354544e-01 -8.80282163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-198.66, Z:-880.29 [[-3.47972024e-02 -9.98666907e-01 -3.81256385e-02 4.11302954e+02] [ 3.59586153e-01 -4.81049006e-02 9.31871084e-01 -1.98660174e+02] [-9.32462843e-01 1.87170551e-02 3.60780707e-01 -8.80288848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-198.66, Z:-880.29 [[-3.23043806e-02 -9.98656352e-01 -4.05205961e-02 4.11302481e+02] [ 3.61985426e-01 -4.94795917e-02 9.30869659e-01 -1.98656299e+02] [-9.31623840e-01 1.54033025e-02 3.63097452e-01 -8.80290330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-198.30, Z:-880.27 [[-1.68397558e-02 3.58589233e-01 9.33343551e-01 4.10354202e+02] [ 2.93030825e-01 8.94257214e-01 -3.38285341e-01 -1.98299126e+02] [-9.55954684e-01 2.67801788e-01 -1.20136772e-01 -8.80265850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.56, Z:-880.38 [[-5.11528746e-02 -9.91231283e-01 -1.21835658e-01 4.11342551e+02] [ 2.97832692e-01 -1.31585141e-01 9.45505705e-01 -1.98560946e+02] [-9.53246595e-01 1.20786927e-02 3.01952040e-01 -8.80383916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-198.56, Z:-880.39 [[-4.35208442e-02 -9.91353595e-01 -1.23790092e-01 4.11338924e+02] [ 2.98396058e-01 -1.31150156e-01 9.45388507e-01 -1.98557149e+02] [-9.53449385e-01 4.20563053e-03 3.01523770e-01 -8.80394239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:-198.54, Z:-880.45 [[-3.08291060e-02 -9.91754632e-01 -1.24387769e-01 4.11334138e+02] [ 3.03126822e-01 -1.27862906e-01 9.44333208e-01 -1.98536434e+02] [-9.52451414e-01 -8.59232039e-03 3.04569329e-01 -8.80454506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-198.08, Z:-880.41 [[-5.67401568e-02 5.51121872e-01 8.32493385e-01 4.10347998e+02] [ 2.23133544e-01 8.19745233e-01 -5.27474335e-01 -1.98083845e+02] [-9.73135128e-01 1.55828223e-01 -1.69486250e-01 -8.80405940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.38, Y:-198.36, Z:-880.82 [[-6.20856328e-02 -9.62084714e-01 -2.65590621e-01 4.11382912e+02] [ 2.47352840e-01 -2.72634376e-01 9.29777968e-01 -1.98356721e+02] [-9.66934303e-01 -7.96874095e-03 2.54901064e-01 -8.80815725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:-197.63, Z:-880.45 [[-1.43083395e-01 9.69376126e-01 1.99592256e-01 4.10542798e+02] [ 2.02839351e-01 2.26108632e-01 -9.52749224e-01 -1.97628361e+02] [-9.68701884e-01 -9.58374300e-02 -2.28980015e-01 -8.80445464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.49, Y:-198.24, Z:-880.72 [[-1.21516621e-01 -8.57022067e-01 -5.00746330e-01 4.11493757e+02] [ 2.37305503e-01 -5.14939056e-01 8.23725602e-01 -1.98243069e+02] [-9.63804861e-01 -1.87335078e-02 2.65949707e-01 -8.80720250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.48, Y:-198.23, Z:-880.77 [[-1.15054433e-01 -8.58898929e-01 -4.99054214e-01 4.11484574e+02] [ 2.41366898e-01 -5.11506326e-01 8.24683757e-01 -1.98234863e+02] [-9.63589383e-01 -2.55716455e-02 2.66160840e-01 -8.80766076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.48, Y:-198.25, Z:-880.77 [[-1.12643637e-01 -8.69751382e-01 -4.80462219e-01 4.11477048e+02] [ 2.41644834e-01 -4.93001579e-01 8.35797354e-01 -1.98245742e+02] [-9.63804537e-01 -2.19539598e-02 2.65704419e-01 -8.80773552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.47, Y:-198.25, Z:-880.78 [[-1.11252653e-01 -8.70976521e-01 -4.78563211e-01 4.11474057e+02] [ 2.42284809e-01 -4.90793472e-01 8.36910891e-01 -1.98245308e+02] [-9.63805436e-01 -2.28400394e-02 2.65626455e-01 -8.80781209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.47, Y:-198.25, Z:-880.79 [[-1.08881789e-01 -8.72197871e-01 -4.76881148e-01 4.11470127e+02] [ 2.43046341e-01 -4.88531232e-01 8.38012955e-01 -1.98246054e+02] [-9.63884450e-01 -2.46598689e-02 2.65176656e-01 -8.80789621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.47, Y:-198.25, Z:-880.80 [[-1.07853624e-01 -8.74299587e-01 -4.73252393e-01 4.11466887e+02] [ 2.44101777e-01 -4.84745774e-01 8.39902290e-01 -1.98247777e+02] [-9.63733323e-01 -2.49352441e-02 2.65699671e-01 -8.80795033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:-198.25, Z:-880.80 [[-1.06794245e-01 -8.75470939e-01 -4.71323269e-01 4.11463086e+02] [ 2.46109515e-01 -4.82558494e-01 8.40575640e-01 -1.98249655e+02] [-9.63340592e-01 -2.62285003e-02 2.66996199e-01 -8.80802658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:-198.26, Z:-880.81 [[-1.04714913e-01 -8.82471437e-01 -4.58561828e-01 4.11458662e+02] [ 2.38180262e-01 -4.69931322e-01 8.49961597e-01 -1.98264150e+02] [-9.65559398e-01 -2.02167220e-02 2.59396095e-01 -8.80806577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:-198.24, Z:-880.86 [[-9.75694283e-02 -8.69986207e-01 -4.83326190e-01 4.11456643e+02] [ 2.44670723e-01 -4.91706941e-01 8.35679676e-01 -1.98237090e+02] [-9.64684635e-01 -3.67189801e-02 2.60835719e-01 -8.80862452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:-197.51, Z:-880.79 [[-1.62412793e-01 3.41959788e-01 -9.25573113e-01 4.11279725e+02] [ 3.07687220e-01 -8.73704693e-01 -3.76787319e-01 -1.97514723e+02] [-9.37523685e-01 -3.45982099e-01 3.66841633e-02 -8.80794528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:-198.37, Z:-881.06 [[-1.04531844e-01 -3.21286113e-01 9.41195159e-01 4.10548358e+02] [ 2.06532285e-01 9.18734842e-01 3.36557136e-01 -1.98365048e+02] [-9.72839920e-01 2.29568125e-01 -2.96810924e-02 -8.81063644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.41, Y:-198.16, Z:-881.13 [[-1.01620037e-01 -8.74132078e-01 -4.74938395e-01 4.11414869e+02] [ 2.49793783e-01 -4.84535483e-01 8.38348634e-01 -1.98162812e+02] [-9.62951938e-01 -3.34436391e-02 2.67591273e-01 -8.81131827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.40, Y:-198.18, Z:-881.14 [[-1.00994976e-01 -8.91828863e-01 -4.40954981e-01 4.11403273e+02] [ 2.47544020e-01 -4.51808322e-01 8.57082959e-01 -1.98181075e+02] [-9.63598450e-01 -2.25946957e-02 2.66397272e-01 -8.81142425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:-197.34, Z:-880.99 [[-1.98965339e-01 8.92793372e-01 -4.04144515e-01 4.10831551e+02] [ 2.49841754e-01 -3.52553150e-01 -9.01823361e-01 -1.97339803e+02] [-9.47624341e-01 -2.80403765e-01 -1.52911205e-01 -8.80987961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.44, Y:-198.08, Z:-881.30 [[-1.70941639e-01 -8.18287126e-01 -5.48803367e-01 4.11442344e+02] [ 2.68044672e-01 -5.74616091e-01 7.73284166e-01 -1.98080577e+02] [-9.48119723e-01 -1.49173554e-02 3.17563321e-01 -8.81303946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.44, Y:-198.08, Z:-881.30 [[-1.73433267e-01 -8.20494702e-01 -5.44710332e-01 4.11441360e+02] [ 2.65947577e-01 -5.71562513e-01 7.76265534e-01 -1.98082839e+02] [-9.48257765e-01 -1.02341255e-02 3.17336532e-01 -8.81304882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.44, Y:-198.08, Z:-881.31 [[-1.77115838e-01 -8.17884519e-01 -5.47443964e-01 4.11440794e+02] [ 2.68821220e-01 -5.75289488e-01 7.72513532e-01 -1.98075116e+02] [-9.46765616e-01 -1.03401732e-02 3.21757594e-01 -8.81309737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-198.16, Z:-881.26 [[-1.68193542e-01 -1.09018075e-02 9.85693707e-01 4.10420258e+02] [ 1.89526251e-01 9.80925342e-01 4.31888226e-02 -1.98157885e+02] [-9.67362772e-01 1.94078914e-01 -1.62919129e-01 -8.81256312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.44, Y:-197.95, Z:-881.41 [[-1.84852622e-01 -7.28226457e-01 -6.59936160e-01 4.11443115e+02] [ 1.90982702e-01 -6.85325662e-01 7.02747711e-01 -1.97945633e+02] [-9.64030661e-01 3.86836622e-03 2.65762902e-01 -8.81410783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-198.34, Z:-881.49 [[-1.20657180e-01 -7.47609946e-01 6.53085916e-01 4.10771917e+02] [ 1.61230405e-01 6.34398401e-01 7.56004911e-01 -1.98343827e+02] [-9.79513451e-01 1.96514728e-01 4.39927322e-02 -8.81489227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-197.43, Z:-881.42 [[-1.72196418e-01 9.16210143e-01 3.61811233e-01 4.10390696e+02] [ 1.16547742e-01 3.83667229e-01 -9.16087377e-01 -1.97426525e+02] [-9.78143659e-01 -1.15578682e-01 -1.72848346e-01 -8.81424950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:411.42, Y:-197.73, Z:-881.66 [[-2.04109393e-01 -5.32918468e-01 -8.21180408e-01 4.11421990e+02] [ 1.11279955e-01 -8.46032936e-01 5.21387613e-01 -1.97730095e+02] [-9.72602759e-01 1.50391901e-02 2.31986412e-01 -8.81664819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.42, Y:-197.73, Z:-881.67 [[-2.05599462e-01 -5.34628078e-01 -8.19696090e-01 4.11419673e+02] [ 1.10365313e-01 -8.44913560e-01 5.23393327e-01 -1.97730944e+02] [-9.72393109e-01 1.71433705e-02 2.32718168e-01 -8.81673282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.42, Y:-197.73, Z:-881.68 [[-2.05672382e-01 -5.38663625e-01 -8.17031438e-01 4.11418678e+02] [ 1.10741770e-01 -8.42328501e-01 5.27464649e-01 -1.97734021e+02] [-9.72334887e-01 1.80054032e-02 2.32896273e-01 -8.81677581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-197.17, Z:-881.63 [[-2.31969919e-01 7.93609112e-01 -5.62471807e-01 4.10873079e+02] [ 1.39343693e-01 -5.45169695e-01 -8.26663982e-01 -1.97173750e+02] [-9.62690652e-01 -2.70138076e-01 1.58785461e-02 -8.81628500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:410.77, Y:-198.28, Z:-881.91 [[-1.95035709e-01 -7.97712664e-01 5.70627355e-01 4.10766310e+02] [ 1.39981101e-01 5.53204377e-01 8.21200468e-01 -1.98276118e+02] [-9.70755563e-01 2.40040461e-01 3.77008965e-03 -8.81913038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.81, Y:-197.13, Z:-881.91 [[-2.34637180e-01 7.94630751e-01 -5.59917282e-01 4.10812282e+02] [ 1.40398173e-01 -5.42255680e-01 -8.28400345e-01 -1.97134468e+02] [-9.61890715e-01 -2.72984884e-01 1.56686382e-02 -8.81907773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-197.70, Z:-882.15 [[-2.55553864e-01 -5.45172597e-01 -7.98422859e-01 4.11341817e+02] [ 1.53889381e-01 -8.38254064e-01 5.23113929e-01 -1.97695105e+02] [-9.54468586e-01 1.08149860e-02 2.98115339e-01 -8.82146608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:-197.68, Z:-882.15 [[-2.60199475e-01 -5.37053022e-01 -8.02415282e-01 4.11335480e+02] [ 1.63069567e-01 -8.43545366e-01 5.11702582e-01 -1.97683547e+02] [-9.51685111e-01 2.29523112e-03 3.07067065e-01 -8.82151615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-198.20, Z:-882.17 [[-1.96040280e-01 -6.28009821e-01 7.53108142e-01 4.10561352e+02] [ 1.20410682e-01 7.46781749e-01 6.54078197e-01 -1.98203273e+02] [-9.73174947e-01 2.18907938e-01 -7.07802118e-02 -8.82169705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-197.59, Z:-882.33 [[-2.09127282e-01 -4.70820855e-01 -8.57084303e-01 4.11267575e+02] [ 1.26956589e-01 -8.82118489e-01 4.53595630e-01 -1.97594648e+02] [-9.69612193e-01 -1.39532783e-02 2.44248852e-01 -8.82329788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.18, Z:-882.40 [[-1.26875645e-01 -7.94380455e-01 5.94022107e-01 4.10623192e+02] [ 9.08674924e-02 5.87035466e-01 8.04445436e-01 -1.98179515e+02] [-9.87747776e-01 1.56041833e-01 -2.29714349e-03 -8.82396587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-197.44, Z:-882.40 [[-1.86099773e-01 7.16851996e-01 6.71930123e-01 4.10120264e+02] [ 2.27960986e-02 6.86843016e-01 -7.26448215e-01 -1.97441151e+02] [-9.82266365e-01 -1.19874462e-01 -1.44162758e-01 -8.82401624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:-197.36, Z:-882.61 [[-1.99410640e-01 -1.55885923e-01 -9.67437324e-01 4.11172879e+02] [ 4.35981441e-02 -9.87699299e-01 1.50164233e-01 -1.97358092e+02] [-9.78945657e-01 -1.22341262e-02 2.03754086e-01 -8.82605133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-198.09, Z:-882.88 [[-1.07437252e-01 -9.82018542e-01 1.55231503e-01 4.10797917e+02] [ 3.02404965e-02 1.52835199e-01 9.87788902e-01 -1.98089419e+02] [-9.93751855e-01 1.10819603e-01 1.32765344e-02 -8.82884102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:-197.74, Z:-882.70 [[-1.31877000e-01 1.79947489e-01 9.74796060e-01 4.10067394e+02] [-6.16293250e-02 9.79994022e-01 -1.89244665e-01 -1.97738047e+02] [-9.89348414e-01 -8.50330419e-02 -1.18148629e-01 -8.82701572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.94, Y:-197.10, Z:-882.86 [[-1.52490188e-01 3.33102261e-01 -9.30478171e-01 4.10938685e+02] [-3.26450126e-02 -9.42672818e-01 -3.32117842e-01 -1.97098339e+02] [-9.87765684e-01 -2.02692408e-02 1.54622483e-01 -8.82855639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.95, Y:-197.94, Z:-882.95 [[-5.43390758e-02 -9.66532191e-01 -2.50724529e-01 4.10952024e+02] [-1.20032981e-02 -2.50445084e-01 9.68056394e-01 -1.97940765e+02] [-9.98450392e-01 5.56128110e-02 2.00738036e-03 -8.82947517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-197.87, Z:-883.02 [[-5.26035501e-02 -1.21093738e-01 9.91246273e-01 4.10085873e+02] [-1.16635981e-01 9.86571844e-01 1.14333046e-01 -1.97874955e+02] [-9.91780679e-01 -1.09600657e-01 -6.60210683e-02 -8.83023397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.53, Y:-196.97, Z:-883.17 [[-8.46618907e-02 8.46515085e-01 -5.25589740e-01 4.10533917e+02] [-8.87258582e-02 -5.31792818e-01 -8.42213821e-01 -1.96965572e+02] [-9.92451554e-01 -2.46700137e-02 1.20130363e-01 -8.83169081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-197.00, Z:-883.45 [[-9.05869053e-02 8.37104561e-01 -5.39490470e-01 4.10523350e+02] [-9.43502090e-02 -5.46494948e-01 -8.32130585e-01 -1.96995801e+02] [-9.91409124e-01 -2.44790959e-02 1.28486276e-01 -8.83445588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.64, Z:-883.27 [[-1.34852125e-02 -6.11103640e-01 -7.91435715e-01 4.11062647e+02] [-1.85070337e-02 -7.91219559e-01 6.11252076e-01 -1.97635930e+02] [-9.99737785e-01 2.28899916e-02 -6.39951805e-04 -8.83269286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-197.01, Z:-883.29 [[-4.66131638e-02 8.80569381e-01 -4.71619315e-01 4.10467426e+02] [-3.59816649e-02 -4.73306245e-01 -8.80162780e-01 -1.97006036e+02] [-9.98264761e-01 -2.40575237e-02 5.37466539e-02 -8.83290295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:410.48, Y:-197.01, Z:-883.30 [[-4.70796119e-02 8.71001820e-01 -4.89018753e-01 4.10478889e+02] [-3.48982203e-02 -4.90696969e-01 -8.70631150e-01 -1.97005529e+02] [-9.98281335e-01 -2.39230925e-02 5.34982362e-02 -8.83297345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-197.02, Z:-883.48 [[-6.80648436e-02 8.75084118e-01 -4.79160686e-01 4.10460024e+02] [-4.73447309e-02 -4.82566502e-01 -8.74578783e-01 -1.97022607e+02] [-9.96556899e-01 -3.68423344e-02 7.42764356e-02 -8.83478244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.03, Y:-197.72, Z:-883.47 [[ 2.68820274e-02 -6.79813168e-01 -7.32892498e-01 4.11031380e+02] [ 3.51048001e-02 -7.32063237e-01 6.80331588e-01 -1.97718144e+02] [-9.99022027e-01 -4.40167370e-02 4.18536134e-03 -8.83469143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-198.14, Z:-883.52 [[ 4.87998466e-02 -6.73203396e-01 7.37845351e-01 4.10332065e+02] [ 9.72465621e-03 7.39010710e-01 6.73623487e-01 -1.98143472e+02] [-9.98761236e-01 -2.56974304e-02 4.26102808e-02 -8.83520594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-198.09, Z:-883.55 [[ 3.31961028e-02 -4.58431185e-01 8.88109716e-01 4.10179052e+02] [ 2.71186261e-03 8.88637505e-01 4.58602258e-01 -1.98093784e+02] [-9.99445179e-01 -1.28153762e-02 3.07425043e-02 -8.83550615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-198.15, Z:-883.58 [[ 3.44141789e-02 -6.34796364e-01 7.71912716e-01 4.10290260e+02] [ 8.10418206e-03 7.72522083e-01 6.34936180e-01 -1.98145553e+02] [-9.99374798e-01 -1.55950861e-02 3.17302185e-02 -8.83577907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-198.15, Z:-883.61 [[ 3.30714115e-02 -6.44369941e-01 7.63998470e-01 4.10298429e+02] [ 1.02181603e-02 7.64594651e-01 6.44430454e-01 -1.98148500e+02] [-9.99400756e-01 -1.35055659e-02 3.18704996e-02 -8.83605410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.31, Y:-198.15, Z:-883.63 [[ 3.01956501e-02 -6.53894399e-01 7.55983028e-01 4.10308377e+02] [ 1.38153705e-02 7.56528690e-01 6.53814558e-01 -1.98152444e+02] [-9.99448527e-01 -9.29816996e-03 3.18776690e-02 -8.83632211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-198.15, Z:-883.66 [[ 2.83821458e-02 -6.57998929e-01 7.52483796e-01 4.10313340e+02] [ 1.56154514e-02 7.52987060e-01 6.57850017e-01 -1.98153731e+02] [-9.99475168e-01 -6.92082100e-03 3.16463388e-02 -8.83660479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-198.16, Z:-883.69 [[ 2.63854133e-02 -6.67408072e-01 7.44224613e-01 4.10321714e+02] [ 1.68170869e-02 7.44674806e-01 6.67215572e-01 -1.98156132e+02] [-9.99510378e-01 -5.08906865e-03 3.08724121e-02 -8.83687201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-198.16, Z:-883.72 [[ 2.45374253e-02 -6.71476070e-01 7.40619877e-01 4.10326067e+02] [ 1.80757144e-02 7.41019825e-01 6.71239814e-01 -1.98157221e+02] [-9.99535484e-01 -3.08326339e-03 3.03201283e-02 -8.83715591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.276559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:410.33, Y:-198.16, Z:-883.74 [[ 2.14062285e-02 -6.80744740e-01 7.32207875e-01 4.10334921e+02] [ 2.04115405e-02 7.32520617e-01 6.80438766e-01 -1.98160193e+02] [-9.99562476e-01 3.79862988e-04 2.95755526e-02 -8.83743800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-198.16, Z:-883.77 [[ 2.02419980e-02 -6.89814143e-01 7.23703468e-01 4.10343114e+02] [ 2.18031916e-02 7.23984203e-01 6.89471896e-01 -1.98162510e+02] [-9.99557343e-01 1.82275662e-03 2.96950367e-02 -8.83772128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-198.16, Z:-883.80 [[ 3.15781171e-02 -7.36009973e-01 6.76233793e-01 4.10400356e+02] [ 3.00059835e-02 6.76964346e-01 7.35403913e-01 -1.98160630e+02] [-9.99050781e-01 -2.93161087e-03 4.34619625e-02 -8.83804899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-198.12, Z:-883.84 [[ 3.13331350e-02 -5.29060228e-01 8.48005607e-01 4.10251350e+02] [ 2.82562883e-02 8.48551955e-01 5.28357040e-01 -1.98120968e+02] [-9.99109512e-01 7.40640841e-03 4.15370713e-02 -8.83840053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:-198.07, Z:-883.87 [[ 2.48149141e-02 -3.66153920e-01 9.30223375e-01 4.10148143e+02] [ 2.74371476e-02 9.30408839e-01 3.65495000e-01 -1.98070731e+02] [-9.99315477e-01 1.64529490e-02 3.31342346e-02 -8.83867363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-198.16, Z:-883.89 [[ 2.03610573e-02 -6.62583317e-01 7.48711410e-01 4.10332208e+02] [ 2.92662159e-02 7.48940739e-01 6.61990376e-01 -1.98157034e+02] [-9.99364256e-01 8.43312580e-03 3.46405317e-02 -8.83893313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-198.16, Z:-883.92 [[ 2.04537909e-02 -6.70526257e-01 7.41603790e-01 4.10340065e+02] [ 3.07281791e-02 7.41830153e-01 6.69883426e-01 -1.98159296e+02] [-9.99318479e-01 9.08647861e-03 3.57772897e-02 -8.83921234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-198.16, Z:-883.95 [[ 2.05308037e-02 -6.78365495e-01 7.34437704e-01 4.10347227e+02] [ 3.07806796e-02 7.34673192e-01 6.77722547e-01 -1.98160992e+02] [-9.99315284e-01 8.69230307e-03 3.59639820e-02 -8.83949350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-198.16, Z:-883.98 [[ 2.06833453e-02 -6.86114805e-01 7.27199198e-01 4.10354672e+02] [ 3.08870232e-02 7.27446123e-01 6.85469277e-01 -1.98162581e+02] [-9.99308857e-01 8.28322070e-03 3.62380633e-02 -8.83977679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:410.36, Y:-198.16, Z:-884.00 [[ 2.10179681e-02 -6.93884223e-01 7.19779779e-01 4.10363116e+02] [ 3.00464253e-02 7.20052014e-01 6.93269291e-01 -1.98164907e+02] [-9.99327503e-01 7.05569753e-03 3.59827707e-02 -8.84004946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-198.17, Z:-884.03 [[ 2.14448060e-02 -6.97220645e-01 7.16535758e-01 4.10366927e+02] [ 2.97477740e-02 7.16828230e-01 6.96614928e-01 -1.98165752e+02] [-9.99327369e-01 6.37657178e-03 3.61130045e-02 -8.84033222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-198.17, Z:-884.06 [[ 2.13731175e-02 -7.04843154e-01 7.09041126e-01 4.10373787e+02] [ 2.98262685e-02 7.09336989e-01 7.04238191e-01 -1.98167151e+02] [-9.99326565e-01 6.09628539e-03 3.61835840e-02 -8.84061339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:-198.17, Z:-884.09 [[ 2.21221104e-02 -7.12354599e-01 7.01470981e-01 4.10381611e+02] [ 2.86454569e-02 7.01806258e-01 7.11791693e-01 -1.98169314e+02] [-9.99344811e-01 4.34762239e-03 3.59311585e-02 -8.84088550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-198.17, Z:-884.12 [[ 2.27191161e-02 -7.15580592e-01 6.98160625e-01 4.10385947e+02] [ 2.83939517e-02 6.98521015e-01 7.15025996e-01 -1.98169874e+02] [-9.99338594e-01 3.57878047e-03 3.61879408e-02 -8.84116831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.39, Y:-198.17, Z:-884.14 [[ 2.34695826e-02 -7.22875282e-01 6.90579833e-01 4.10393896e+02] [ 2.81922128e-02 6.90973947e-01 7.22329705e-01 -1.98171166e+02] [-9.99326963e-01 2.51619695e-03 3.65963239e-02 -8.84144832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-198.17, Z:-884.17 [[ 2.46978156e-02 -7.29997258e-01 6.83003676e-01 4.10402806e+02] [ 2.63208739e-02 6.83450072e-01 7.29522591e-01 -1.98173173e+02] [-9.99348403e-01 -4.03607650e-05 3.60938897e-02 -8.84171947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-198.17, Z:-884.20 [[ 2.53363438e-02 -7.34804727e-01 6.77805343e-01 4.10408423e+02] [ 2.55737958e-02 6.78277521e-01 7.34360665e-01 -1.98173502e+02] [-9.99351815e-01 -1.27195886e-03 3.59768185e-02 -8.84200301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-198.17, Z:-884.23 [[ 2.60673619e-02 -7.41712538e-01 6.70211163e-01 4.10415728e+02] [ 2.42850476e-02 6.70710981e-01 7.41321130e-01 -1.98174008e+02] [-9.99365163e-01 -3.04817618e-03 3.54961901e-02 -8.84227369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-198.17, Z:-884.25 [[ 2.70306537e-02 -7.44656727e-01 6.66900070e-01 4.10419735e+02] [ 2.30170731e-02 6.67430606e-01 7.44316197e-01 -1.98173847e+02] [-9.99369580e-01 -4.76926576e-03 3.51809039e-02 -8.84254649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-198.17, Z:-884.28 [[ 2.91579268e-02 -7.47505401e-01 6.63615470e-01 4.10423690e+02] [ 1.99880885e-02 6.64201025e-01 7.47286742e-01 -1.98174551e+02] [-9.99374951e-01 -8.52492739e-03 3.43079289e-02 -8.84281779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.43, Y:-198.17, Z:-884.31 [[ 3.04918383e-02 -7.50362577e-01 6.60322839e-01 4.10427288e+02] [ 1.89964206e-02 6.60945742e-01 7.50193216e-01 -1.98174845e+02] [-9.99354484e-01 -1.03309999e-02 3.44076538e-02 -8.84309973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.43, Y:-198.18, Z:-884.34 [[ 3.18540054e-02 -7.56879504e-01 6.52777710e-01 4.10434393e+02] [ 1.84986229e-02 6.53443720e-01 7.56749038e-01 -1.98175476e+02] [-9.99321331e-01 -1.20299993e-02 3.48160283e-02 -8.84337683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-198.18, Z:-884.37 [[ 3.41847430e-02 -7.63733003e-01 6.44626484e-01 4.10442563e+02] [ 1.72788342e-02 6.45358707e-01 7.63684216e-01 -1.98176974e+02] [-9.99266153e-01 -1.49679545e-02 3.52578375e-02 -8.84365058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.45, Y:-198.18, Z:-884.39 [[ 3.52054212e-02 -7.66683790e-01 6.41058925e-01 4.10446292e+02] [ 1.74143063e-02 6.41829794e-01 7.66649370e-01 -1.98177306e+02] [-9.99228363e-01 -1.58266175e-02 3.59471546e-02 -8.84393496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-198.18, Z:-884.42 [[ 3.60712112e-02 -7.73574165e-01 6.32678338e-01 4.10453701e+02] [ 1.77774358e-02 6.33486864e-01 7.73549194e-01 -1.98178134e+02] [-9.99191088e-01 -1.66554578e-02 3.66028035e-02 -8.84419988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-198.18, Z:-884.45 [[ 3.69714473e-02 -7.76521559e-01 6.29005072e-01 4.10459170e+02] [ 1.86411788e-02 6.29861786e-01 7.76483508e-01 -1.98179351e+02] [-9.99142442e-01 -1.69823231e-02 3.77621791e-02 -8.84448166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-198.18, Z:-884.47 [[ 3.70577306e-02 -7.83284807e-01 6.20557521e-01 4.10467451e+02] [ 1.88932011e-02 6.21422227e-01 7.83248021e-01 -1.98180056e+02] [-9.99134511e-01 -1.73010761e-02 3.78272549e-02 -8.84474985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:-198.18, Z:-884.50 [[ 3.67088921e-02 -7.86199480e-01 6.16881541e-01 4.10472072e+02] [ 1.90711794e-02 6.17736325e-01 7.86154007e-01 -1.98180594e+02] [-9.99144007e-01 -1.70941841e-02 3.76701674e-02 -8.84502669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-198.18, Z:-884.53 [[ 3.71071623e-02 -7.92705278e-01 6.08474651e-01 4.10480710e+02] [ 2.01774797e-02 6.09364208e-01 7.92633668e-01 -1.98180720e+02] [-9.99107566e-01 -1.71349013e-02 3.86065713e-02 -8.84530834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-198.18, Z:-884.56 [[ 3.68775059e-02 -7.99098882e-01 6.00067519e-01 4.10489622e+02] [ 2.14274070e-02 6.00970213e-01 7.98984149e-01 -1.98182357e+02] [-9.99090044e-01 -1.66066517e-02 3.92848995e-02 -8.84558191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1765599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.49, Y:-198.18, Z:-884.59 [[ 3.69099881e-02 -8.01840974e-01 5.96396433e-01 4.10493556e+02] [ 2.20854518e-02 5.97311863e-01 8.01704915e-01 -1.98182885e+02] [-9.99074515e-01 -1.64192342e-02 3.97557939e-02 -8.84585732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-198.18, Z:-884.61 [[ 3.67439309e-02 -8.08018672e-01 5.88009957e-01 4.10501082e+02] [ 2.25844427e-02 5.88928451e-01 8.07869558e-01 -1.98183372e+02] [-9.99069480e-01 -1.64044260e-02 3.98881977e-02 -8.84613144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-198.19, Z:-884.64 [[ 3.31449550e-02 -8.06229648e-01 5.90673486e-01 4.10499180e+02] [ 2.18075553e-02 5.91440898e-01 8.06053407e-01 -1.98186968e+02] [-9.99212611e-01 -1.38354592e-02 3.71851796e-02 -8.84644617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-198.17, Z:-884.67 [[ 3.27883120e-02 -9.12545264e-01 4.07659256e-01 4.10631917e+02] [ 2.61910459e-02 4.08522994e-01 9.12372179e-01 -1.98170711e+02] [-9.99119090e-01 -1.92381214e-02 3.72952943e-02 -8.84672348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.296559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.49, Y:-198.19, Z:-884.70 [[ 3.15735342e-02 -7.87280570e-01 6.15786015e-01 4.10489285e+02] [ 2.38446754e-02 6.16511138e-01 7.86985037e-01 -1.98187782e+02] [-9.99216965e-01 -1.01646813e-02 3.82378851e-02 -8.84701718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-198.19, Z:-884.73 [[ 2.93424638e-02 -8.18746049e-01 5.73405552e-01 4.10524081e+02] [ 2.54207037e-02 5.74078251e-01 8.18405737e-01 -1.98187715e+02] [-9.99246120e-01 -9.43766807e-03 3.76579710e-02 -8.84729603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.53, Y:-198.19, Z:-884.76 [[ 2.72146897e-02 -8.24613798e-01 5.65041101e-01 4.10532701e+02] [ 2.63582708e-02 5.65645887e-01 8.24226893e-01 -1.98187742e+02] [-9.99282044e-01 -7.53757285e-03 3.71292711e-02 -8.84757925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:410.54, Y:-198.19, Z:-884.79 [[ 2.68925693e-02 -8.28051040e-01 5.60007379e-01 4.10540219e+02] [ 2.58780574e-02 5.60598925e-01 8.27683014e-01 -1.98190591e+02] [-9.99303315e-01 -7.76661970e-03 3.65042978e-02 -8.84789607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.416559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.23, Y:-198.13, Z:-884.82 [[ 2.57066981e-02 -4.40241968e-01 8.97511101e-01 4.10231022e+02] [ 2.30742999e-02 8.97829912e-01 4.39737450e-01 -1.98130037e+02] [-9.99403193e-01 9.40524238e-03 3.32385177e-02 -8.84816710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:-198.19, Z:-884.84 [[ 2.26120814e-02 -8.36846709e-01 5.46970091e-01 4.10553035e+02] [ 2.89686105e-02 5.47428700e-01 8.36350787e-01 -1.98188137e+02] [-9.99324529e-01 -3.06666860e-03 3.66207887e-02 -8.84839926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-198.19, Z:-884.87 [[ 2.18919477e-02 -8.39206366e-01 5.43372265e-01 4.10556048e+02] [ 2.86648583e-02 5.43805954e-01 8.38721295e-01 -1.98187165e+02] [-9.99349323e-01 -2.78555371e-03 3.59607031e-02 -8.84867715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-198.19, Z:-884.90 [[ 2.19133458e-02 -8.44790270e-01 5.34648675e-01 4.10561463e+02] [ 2.77566527e-02 5.35085029e-01 8.44342099e-01 -1.98186092e+02] [-9.99374491e-01 -3.66230279e-03 3.51740534e-02 -8.84895173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-198.18, Z:-884.92 [[ 2.19439561e-02 -8.48541635e-01 5.28673393e-01 4.10566148e+02] [ 2.85172482e-02 5.29116818e-01 8.48069667e-01 -1.98184801e+02] [-9.99352405e-01 -3.53369321e-03 3.58089886e-02 -8.84923104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-198.18, Z:-884.96 [[ 2.06665966e-02 -8.53898818e-01 5.20028558e-01 4.10570751e+02] [ 3.00220360e-02 5.20435119e-01 8.53373286e-01 -1.98182950e+02] [-9.99335564e-01 -2.02400530e-03 3.63914037e-02 -8.84956426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-198.18, Z:-884.99 [[ 2.03844267e-02 -8.49391622e-01 5.27369271e-01 4.10564336e+02] [ 2.99231402e-02 5.27760886e-01 8.48865745e-01 -1.98183908e+02] [-9.99344326e-01 -1.52309694e-03 3.61745677e-02 -8.84987312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.16, Z:-885.01 [[ 1.95253930e-02 -9.29114104e-01 3.69277322e-01 4.10672484e+02] [ 3.27006078e-02 3.69743586e-01 9.28558211e-01 -1.98160981e+02] [-9.99274452e-01 -6.05487111e-03 3.76019848e-02 -8.85013737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-198.18, Z:-885.05 [[ 2.09262570e-02 -8.52811569e-01 5.21799310e-01 4.10569924e+02] [ 3.17339994e-02 5.22217199e-01 8.52221891e-01 -1.98181062e+02] [-9.99277261e-01 -1.27503537e-03 3.79911731e-02 -8.85045047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-198.18, Z:-885.07 [[ 2.01878591e-02 -8.57329594e-01 5.14371867e-01 4.10574277e+02] [ 3.18209411e-02 5.14767041e-01 8.56739354e-01 -1.98179901e+02] [-9.99289687e-01 -9.27936473e-04 3.76730790e-02 -8.85073118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-198.18, Z:-885.10 [[ 2.13856667e-02 -8.62774003e-01 5.05137281e-01 4.10582327e+02] [ 3.09412639e-02 5.05581967e-01 8.62223586e-01 -1.98177971e+02] [-9.99292396e-01 -2.80964032e-03 3.75075256e-02 -8.85100346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-198.18, Z:-885.13 [[ 2.05207871e-02 -8.65125139e-01 5.01136100e-01 4.10583312e+02] [ 3.02443940e-02 5.01549407e-01 8.64600179e-01 -1.98176760e+02] [-9.99331864e-01 -2.58571855e-03 3.64573742e-02 -8.85128835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-198.17, Z:-885.16 [[ 2.05389003e-02 -8.70406335e-01 4.91905444e-01 4.10589406e+02] [ 3.03536852e-02 4.92325295e-01 8.69881864e-01 -1.98174821e+02] [-9.99328178e-01 -2.93527391e-03 3.65318600e-02 -8.85156237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-198.17, Z:-885.18 [[ 2.02760428e-02 -8.72669599e-01 4.87890001e-01 4.10591581e+02] [ 3.07098697e-02 4.88303674e-01 8.72133261e-01 -1.98173454e+02] [-9.99322664e-01 -2.70037300e-03 3.67004359e-02 -8.85184660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:-198.17, Z:-885.21 [[ 2.04550424e-02 -8.77751049e-01 4.78680151e-01 4.10596779e+02] [ 3.06377720e-02 4.79105783e-01 8.77222307e-01 -1.98171464e+02] [-9.99321229e-01 -3.27792620e-03 3.66924656e-02 -8.85211825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:-198.17, Z:-885.24 [[ 2.08613105e-02 -8.79293760e-01 4.75822750e-01 4.10598674e+02] [ 3.10546635e-02 4.76266567e-01 8.78752391e-01 -1.98170395e+02] [-9.99299962e-01 -3.55541107e-03 3.72417166e-02 -8.85240622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-198.17, Z:-885.27 [[ 2.22088628e-02 -8.72052045e-01 4.88908986e-01 4.10588985e+02] [ 3.05015932e-02 4.89392980e-01 8.71529784e-01 -1.98171523e+02] [-9.99287956e-01 -4.44318241e-03 3.74678383e-02 -8.85268589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.61, Y:-198.17, Z:-885.30 [[ 2.34983445e-02 -8.89566016e-01 4.56201853e-01 4.10611476e+02] [ 3.03233881e-02 4.56752103e-01 8.89077054e-01 -1.98166922e+02] [-9.99263889e-01 -7.05825307e-03 3.77075738e-02 -8.85300470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.17, Z:-885.33 [[ 2.59246323e-02 -8.92178404e-01 4.50938587e-01 4.10615679e+02] [ 2.95072214e-02 4.51576590e-01 8.91744306e-01 -1.98165537e+02] [-9.99228321e-01 -9.81219855e-03 3.80326628e-02 -8.85333605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-198.17, Z:-885.37 [[ 2.84674600e-02 -8.61355441e-01 5.07204504e-01 4.10574392e+02] [ 2.43442537e-02 5.07857066e-01 8.61097299e-01 -1.98172554e+02] [-9.99298234e-01 -1.21657378e-02 3.54264561e-02 -8.85366433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.16, Z:-885.40 [[ 3.04919878e-02 -8.99105239e-01 4.36669220e-01 4.10623031e+02] [ 2.47852387e-02 4.37418160e-01 8.98916595e-01 -1.98163751e+02] [-9.99227667e-01 -1.65868030e-02 3.56222872e-02 -8.85398290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.16, Z:-885.43 [[ 3.39264183e-02 -8.94286872e-01 4.46206219e-01 4.10618921e+02] [ 2.38417057e-02 4.47060367e-01 8.94185999e-01 -1.98161979e+02] [-9.99139916e-01 -1.96982109e-02 3.64884814e-02 -8.85425877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:-198.17, Z:-885.46 [[ 3.49757806e-02 -8.81699229e-01 4.70513724e-01 4.10601933e+02] [ 2.27507309e-02 4.71382221e-01 8.81635529e-01 -1.98165059e+02] [-9.99129170e-01 -2.01313597e-02 3.65462630e-02 -8.85455046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-198.17, Z:-885.48 [[ 3.76142237e-02 -8.65526592e-01 4.99448585e-01 4.10584026e+02] [ 1.87965411e-02 5.00326662e-01 8.65632671e-01 -1.98166091e+02] [-9.99115539e-01 -2.31721950e-02 3.50883051e-02 -8.85482694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.61, Y:-198.16, Z:-885.51 [[ 3.67970550e-02 -8.84315549e-01 4.65437414e-01 4.10605887e+02] [ 1.80906405e-02 4.66265988e-01 8.84459585e-01 -1.98164393e+02] [-9.99158999e-01 -2.41254471e-02 3.31550499e-02 -8.85514626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-198.15, Z:-885.55 [[ 3.80922280e-02 -9.22381780e-01 3.84396714e-01 4.10661115e+02] [ 1.98365073e-02 3.85298081e-01 9.22578941e-01 -1.98151061e+02] [-9.99077322e-01 -2.75179992e-02 3.29736952e-02 -8.85546209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:-198.15, Z:-885.57 [[ 3.96502597e-02 -9.11525834e-01 4.09326900e-01 4.10647712e+02] [ 1.82532927e-02 4.10241436e-01 9.11794265e-01 -1.98152493e+02] [-9.99046883e-01 -2.86813157e-02 3.29045274e-02 -8.85574752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.16, Z:-885.60 [[ 3.85489477e-02 -8.91446036e-01 4.51484156e-01 4.10620174e+02] [ 1.65307243e-02 4.52327071e-01 8.91698916e-01 -1.98157892e+02] [-9.99119970e-01 -2.69106947e-02 3.21729812e-02 -8.85602475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.16, Z:-885.63 [[ 3.70782683e-02 -8.93528008e-01 4.47473912e-01 4.10623322e+02] [ 1.70929626e-02 4.48283391e-01 8.93728053e-01 -1.98157251e+02] [-9.99166169e-01 -2.54892337e-02 3.18946126e-02 -8.85630839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-198.16, Z:-885.66 [[ 3.56149692e-02 -8.98132990e-01 4.38279257e-01 4.10630198e+02] [ 1.82272824e-02 4.39068310e-01 8.98268771e-01 -1.98156029e+02] [-9.99199350e-01 -2.40031748e-02 3.20079280e-02 -8.85658447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-198.16, Z:-885.69 [[ 2.58920609e-02 -8.93606678e-01 4.48103455e-01 4.10618399e+02] [ 1.75317690e-02 4.48590705e-01 8.93565340e-01 -1.98164225e+02] [-9.99511000e-01 -1.52802019e-02 2.72814437e-02 -8.85688445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.81, Z:-885.71 [[ 2.43857386e-02 -8.85623150e-01 -4.63763918e-01 4.11069026e+02] [ 3.81031762e-02 -4.62741402e-01 8.85674061e-01 -1.97809483e+02] [-9.98976218e-01 -3.92686945e-02 2.24607641e-02 -8.85709426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:-198.16, Z:-885.75 [[ 2.47854177e-02 -9.00619426e-01 4.33901295e-01 4.10639716e+02] [ 2.56287778e-02 4.34464420e-01 9.00324294e-01 -1.98156163e+02] [-9.99364222e-01 -1.11945538e-02 3.38501573e-02 -8.85751447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:-198.16, Z:-885.78 [[ 1.84411660e-02 -8.98272086e-01 4.39052598e-01 4.10631322e+02] [ 2.46428679e-02 4.39402225e-01 8.97952345e-01 -1.98160982e+02] [-9.99526214e-01 -5.73977306e-03 3.02390897e-02 -8.85781603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4365599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.90, Y:-198.03, Z:-885.81 [[ 1.90418787e-02 -9.99325375e-01 -3.14038568e-02 4.10904390e+02] [ 3.19517014e-02 -3.07852782e-02 9.99015193e-01 -1.98025896e+02] [-9.99308009e-01 -2.00265328e-02 3.13439365e-02 -8.85806334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:-198.15, Z:-885.84 [[ 1.76391925e-02 -9.03365782e-01 4.28508019e-01 4.10642645e+02] [ 2.97346913e-02 4.28859093e-01 9.02881901e-01 -1.98153628e+02] [-9.99402175e-01 -3.18455398e-03 3.44260308e-02 -8.85839775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.65, Y:-198.15, Z:-885.87 [[ 1.52161103e-02 -9.05258123e-01 4.24589450e-01 4.10645429e+02] [ 3.11468264e-02 4.24861669e-01 9.04722299e-01 -1.98152398e+02] [-9.99398992e-01 -5.41740393e-04 3.46606596e-02 -8.85867256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:-198.15, Z:-885.90 [[ 1.16270434e-02 -9.07116432e-01 4.20719135e-01 4.10648257e+02] [ 3.26320910e-02 4.20867689e-01 9.06534906e-01 -1.98151513e+02] [-9.99399799e-01 3.18862441e-03 3.44945528e-02 -8.85895090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-198.15, Z:-885.92 [[ 7.63069641e-03 -9.11293982e-01 4.11685621e-01 4.10655210e+02] [ 3.42577702e-02 4.11694175e-01 9.10677941e-01 -1.98149466e+02] [-9.99383899e-01 7.15432449e-03 3.43604131e-02 -8.85923321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:-198.15, Z:-885.95 [[-1.35166475e-03 -9.15398961e-01 4.02545544e-01 4.10662281e+02] [ 3.67699353e-02 4.02228197e-01 9.14800771e-01 -1.98146858e+02] [-9.99322843e-01 1.60380776e-02 3.31154829e-02 -8.85951200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.14, Z:-885.98 [[-6.25630247e-03 -9.19331773e-01 3.93433540e-01 4.10667983e+02] [ 3.77043568e-02 3.92944598e-01 9.18788836e-01 -1.98144346e+02] [-9.99269353e-01 2.05823794e-02 3.22044329e-02 -8.85978792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.14, Z:-886.01 [[-1.56503812e-02 -9.23080300e-01 3.84288726e-01 4.10673095e+02] [ 4.09164428e-02 3.83422619e-01 9.22666213e-01 -1.98141455e+02] [-9.99039994e-01 3.01638056e-02 3.17684521e-02 -8.86006699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-198.14, Z:-886.04 [[-2.03690649e-02 -9.26756759e-01 3.75109332e-01 4.10678190e+02] [ 4.26558158e-02 3.74039990e-01 9.26431092e-01 -1.98138599e+02] [-9.98882167e-01 3.48711296e-02 3.19127208e-02 -8.86035007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-198.14, Z:-886.06 [[-2.50904949e-02 -9.30311708e-01 3.65910634e-01 4.10683032e+02] [ 4.38329016e-02 3.64650056e-01 9.30112366e-01 -1.98135852e+02] [-9.98723758e-01 3.93759045e-02 3.16290112e-02 -8.86062650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:-198.13, Z:-886.09 [[-3.12992302e-02 -9.33307079e-01 3.57712531e-01 4.10685204e+02] [ 4.51081158e-02 3.56204246e-01 9.33318699e-01 -1.98133880e+02] [-9.98491671e-01 4.53478950e-02 3.09508051e-02 -8.86093504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-198.10, Z:-886.12 [[-3.75804280e-02 -9.77919987e-01 2.05572885e-01 4.10775763e+02] [ 3.88417845e-02 2.04133263e-01 9.78172238e-01 -1.98098026e+02] [-9.98538446e-01 4.47449490e-02 3.03127420e-02 -8.86123889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-198.09, Z:-886.16 [[-4.04727247e-02 -9.79844430e-01 1.95619149e-01 4.10780889e+02] [ 3.95621751e-02 1.94054546e-01 9.80192669e-01 -1.98092250e+02] [-9.98397112e-01 4.74101870e-02 3.09108607e-02 -8.86157179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.13, Z:-886.19 [[-3.77736380e-02 -9.24077594e-01 3.80333739e-01 4.10667989e+02] [ 4.97130361e-02 3.78396342e-01 9.24307753e-01 -1.98131891e+02] [-9.98048980e-01 5.38220114e-02 3.16452963e-02 -8.86187341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.13, Z:-886.21 [[-3.59949000e-02 -9.27808343e-01 3.71316637e-01 4.10667829e+02] [ 4.86476761e-02 3.69490158e-01 9.27960358e-01 -1.98128178e+02] [-9.98167206e-01 5.14655318e-02 3.18359585e-02 -8.86214380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.13, Z:-886.24 [[-3.33951793e-02 -9.29461672e-01 3.67404086e-01 4.10667410e+02] [ 4.73435676e-02 3.65725292e-01 9.29517938e-01 -1.98125739e+02] [-9.98320264e-01 4.84356384e-02 3.17905698e-02 -8.86242233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.12, Z:-886.27 [[-2.99927950e-02 -9.33154112e-01 3.58223165e-01 4.10670198e+02] [ 4.53651322e-02 3.56744280e-01 9.33099954e-01 -1.98122378e+02] [-9.98520124e-01 4.42371168e-02 3.16329016e-02 -8.86268668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.12, Z:-886.30 [[-2.09507779e-02 -9.34924256e-01 3.54228317e-01 4.10666372e+02] [ 4.15675957e-02 3.53185163e-01 9.34629539e-01 -1.98119083e+02] [-9.98916013e-01 3.43056354e-02 3.14630495e-02 -8.86295318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.12, Z:-886.32 [[-1.59069866e-02 -9.36517044e-01 3.50261036e-01 4.10665868e+02] [ 3.97972099e-02 3.49434753e-01 9.36115130e-01 -1.98116718e+02] [-9.99081153e-01 2.88301829e-02 3.17123115e-02 -8.86323294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.11, Z:-886.35 [[-1.10898747e-02 -9.39861264e-01 3.41376361e-01 4.10668437e+02] [ 3.80181294e-02 3.40754202e-01 9.39383413e-01 -1.98113284e+02] [-9.99215511e-01 2.33961351e-02 3.19528457e-02 -8.86351308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.11, Z:-886.38 [[-6.97339396e-04 -9.43257643e-01 3.32061039e-01 4.10667689e+02] [ 3.44271361e-02 3.31841632e-01 9.42706690e-01 -1.98109385e+02] [-9.99406967e-01 1.20892971e-02 3.22422530e-02 -8.86377788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.11, Z:-886.41 [[ 3.52998301e-03 -9.45459384e-01 3.25720883e-01 4.10668056e+02] [ 3.23269760e-02 3.25660561e-01 9.44933948e-01 -1.98106840e+02] [-9.99471113e-01 7.19397037e-03 3.17134190e-02 -8.86405745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.096559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.10, Z:-886.43 [[ 7.81737802e-03 -9.48676404e-01 3.16151815e-01 4.10670616e+02] [ 3.07681105e-02 3.16239975e-01 9.48180153e-01 -1.98103525e+02] [-9.99495979e-01 2.31511128e-03 3.16611478e-02 -8.86433457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.10, Z:-886.46 [[ 1.60720430e-02 -9.51704059e-01 3.06595946e-01 4.10670514e+02] [ 2.76261532e-02 3.06941160e-01 9.51327451e-01 -1.98099945e+02] [-9.99489112e-01 -6.81970919e-03 3.12250937e-02 -8.86461543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.67, Y:-198.10, Z:-886.49 [[ 1.95478583e-02 -9.54684862e-01 2.96975919e-01 4.10673908e+02] [ 2.61586777e-02 2.97419354e-01 9.54388522e-01 -1.98097258e+02] [-9.99466660e-01 -1.08877543e-02 3.07872050e-02 -8.86489195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-198.09, Z:-886.52 [[ 2.28808308e-02 -9.57587371e-01 2.87233172e-01 4.10677846e+02] [ 2.53587329e-02 2.87771858e-01 9.57363198e-01 -1.98094239e+02] [-9.99416531e-01 -1.46213960e-02 3.08676616e-02 -8.86516105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-198.09, Z:-886.54 [[ 2.85291667e-02 -9.59401320e-01 2.80597923e-01 4.10677940e+02] [ 2.41723380e-02 2.81292253e-01 9.59317657e-01 -1.98092174e+02] [-9.99300648e-01 -2.05858255e-02 3.12160065e-02 -8.86544244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-198.09, Z:-886.57 [[ 3.08514244e-02 -9.62034196e-01 2.71179636e-01 4.10681485e+02] [ 2.40746800e-02 2.71945294e-01 9.62011521e-01 -1.98090019e+02] [-9.99234006e-01 -2.31508628e-02 3.15505651e-02 -8.86571820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-198.09, Z:-886.60 [[ 3.50016296e-02 -9.64559113e-01 2.61535092e-01 4.10684387e+02] [ 2.38267042e-02 2.62426463e-01 9.64657784e-01 -1.98087623e+02] [-9.99103185e-01 -2.75330751e-02 3.21676185e-02 -8.86599083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:410.69, Y:-198.09, Z:-886.63 [[ 3.60399761e-02 -9.65646877e-01 2.57346516e-01 4.10686008e+02] [ 2.38322625e-02 2.58271060e-01 9.65778486e-01 -1.98086330e+02] [-9.99066136e-01 -2.86734838e-02 3.23216326e-02 -8.86627190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:-198.08, Z:-886.65 [[ 3.72265670e-02 -9.68092850e-01 2.47811254e-01 4.10691654e+02] [ 2.42949389e-02 2.48786620e-01 9.68253569e-01 -1.98084081e+02] [-9.99011481e-01 -3.00241971e-02 3.27812285e-02 -8.86654952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.70, Y:-198.08, Z:-886.68 [[ 3.77347273e-02 -9.70484659e-01 2.38192395e-01 4.10697040e+02] [ 2.54087207e-02 2.39216912e-01 9.70633642e-01 -1.98081701e+02] [-9.98964708e-01 -3.05744317e-02 3.36855586e-02 -8.86682612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.396559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:410.70, Y:-198.08, Z:-886.71 [[ 3.83172484e-02 -9.72799919e-01 2.28455919e-01 4.10702599e+02] [ 2.75250315e-02 2.29564570e-01 9.72904148e-01 -1.98080437e+02] [-9.98886461e-01 -3.09907535e-02 3.55726311e-02 -8.86710392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-198.08, Z:-886.74 [[ 3.80847393e-02 -9.75039849e-01 2.18739217e-01 4.10708706e+02] [ 2.93378561e-02 2.19894682e-01 9.75082365e-01 -1.98077933e+02] [-9.98843753e-01 -3.07184180e-02 3.69802105e-02 -8.86737278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.71, Y:-198.08, Z:-886.77 [[ 3.71327979e-02 -9.76012514e-01 2.14524423e-01 4.10711542e+02] [ 3.00632092e-02 2.15666365e-01 9.76004212e-01 -1.98077282e+02] [-9.98858027e-01 -2.97924746e-02 3.73503640e-02 -8.86765155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-198.08, Z:-886.80 [[ 3.29067487e-02 -9.77356279e-01 2.09025956e-01 4.10713642e+02] [ 3.10426514e-02 2.10037783e-01 9.77200329e-01 -1.98078244e+02] [-9.98976226e-01 -2.56677658e-02 3.72513908e-02 -8.86795225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-198.00, Z:-886.82 [[ 2.83938740e-02 -9.96000977e-01 -8.47103405e-02 4.10867102e+02] [ 3.63366284e-02 -8.36600577e-02 9.95831635e-01 -1.97999363e+02] [-9.98936153e-01 -3.13536062e-02 3.38158842e-02 -8.86822123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-197.91, Z:-886.85 [[ 2.62955646e-02 -9.54482500e-01 -2.97105539e-01 4.10961761e+02] [ 4.13142577e-02 -2.95916728e-01 9.54319874e-01 -1.97911801e+02] [-9.98800118e-01 -3.73690747e-02 3.16524385e-02 -8.86851809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-198.00, Z:-886.89 [[ 2.52756187e-02 -9.95810164e-01 -8.78820781e-02 4.10873246e+02] [ 3.72208225e-02 -8.69117721e-02 9.95520444e-01 -1.97996007e+02] [-9.98987364e-01 -2.84334384e-02 3.48681246e-02 -8.86885867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.99, Y:-197.88, Z:-886.91 [[ 2.00768507e-02 -9.34324277e-01 -3.55858209e-01 4.10991840e+02] [ 4.06183324e-02 -3.54873858e-01 9.34031421e-01 -1.97879505e+02] [-9.98973008e-01 -3.32067765e-02 3.08259446e-02 -8.86914670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-198.01, Z:-886.95 [[ 2.45783937e-02 -9.99489423e-01 -2.04155651e-02 4.10851300e+02] [ 3.94841928e-02 -1.94352510e-02 9.99031166e-01 -1.98008724e+02] [-9.98917865e-01 -2.53606734e-02 3.89863458e-02 -8.86949496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-198.08, Z:-886.98 [[ 1.44573392e-02 -9.70385877e-01 2.41127010e-01 4.10710223e+02] [ 3.06677311e-02 2.41469093e-01 9.69923795e-01 -1.98084588e+02] [-9.99425073e-01 -6.62769899e-03 3.32505337e-02 -8.86976079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-197.70, Z:-887.00 [[ 6.67915066e-03 -7.87190156e-01 -6.16674183e-01 4.11085203e+02] [ 3.99338545e-02 -6.15986029e-01 7.86744241e-01 -1.97701871e+02] [-9.99180002e-01 -2.98809604e-02 2.73212737e-02 -8.86998990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.72, Y:-198.08, Z:-887.03 [[ 6.30905526e-03 -9.72172764e-01 2.34180085e-01 4.10721470e+02] [ 3.15943507e-02 2.34261622e-01 9.71660069e-01 -1.98081192e+02] [-9.99480862e-01 1.26851067e-03 3.21931368e-02 -8.87034770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.75, Z:-887.06 [[-3.69905657e-03 -8.46064755e-01 -5.33067301e-01 4.11068613e+02] [ 2.90526910e-02 -5.32936852e-01 8.45656108e-01 -1.97754105e+02] [-9.99571037e-01 -1.23589098e-02 2.65518215e-02 -8.87055371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-197.98, Z:-887.09 [[-6.24135884e-03 -9.97019970e-01 -7.68909939e-02 4.10897607e+02] [ 3.25990119e-02 -7.70544861e-02 9.96493809e-01 -1.97980723e+02] [-9.99449023e-01 3.71290502e-03 3.29827906e-02 -8.87091370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-197.98, Z:-887.12 [[-7.70222656e-03 -9.97565301e-01 -6.93119515e-02 4.10900411e+02] [ 3.20598972e-02 -6.95247205e-02 9.97064931e-01 -1.97980817e+02] [-9.99456272e-01 5.45748595e-03 3.25173361e-02 -8.87122828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:-198.07, Z:-887.16 [[-1.21989412e-02 -9.75992102e-01 2.17464027e-01 4.10750919e+02] [ 3.63012792e-02 2.16904575e-01 9.75517618e-01 -1.98069546e+02] [-9.99266433e-01 1.97945044e-02 3.27837557e-02 -8.87155512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.92, Y:-197.97, Z:-887.19 [[-1.61546795e-02 -9.95896795e-01 -8.90426874e-02 4.10917397e+02] [ 3.05326325e-02 -8.95041272e-02 9.95518342e-01 -1.97970762e+02] [-9.99403214e-01 1.33635721e-02 3.18532614e-02 -8.87185599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:-198.07, Z:-887.22 [[-1.58428776e-02 -9.72301426e-01 2.33192926e-01 4.10752085e+02] [ 3.83474905e-02 2.32459756e-01 9.71849748e-01 -1.98073176e+02] [-9.99138866e-01 2.43392601e-02 3.36024882e-02 -8.87218195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9365599950002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.76, Y:-198.07, Z:-887.25 [[-1.68709427e-02 -9.74447349e-01 2.23981551e-01 4.10758827e+02] [ 3.90122647e-02 2.23201312e-01 9.73991385e-01 -1.98070859e+02] [-9.99096299e-01 2.51701804e-02 3.42497814e-02 -8.87245516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.76, Y:-198.07, Z:-887.27 [[-1.65991288e-02 -9.75362799e-01 2.19981542e-01 4.10764260e+02] [ 3.98314680e-02 2.19192152e-01 9.74868327e-01 -1.98070059e+02] [-9.99068528e-01 2.49441527e-02 3.52117334e-02 -8.87273802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-198.07, Z:-887.30 [[-1.53420884e-02 -9.77432266e-01 2.10691212e-01 4.10771072e+02] [ 4.02898142e-02 2.09940556e-01 9.76883665e-01 -1.98066978e+02] [-9.99070244e-01 2.34761453e-02 3.61596378e-02 -8.87300409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-198.07, Z:-887.33 [[-1.19591335e-02 -9.78340208e-01 2.06657729e-01 4.10775060e+02] [ 4.04067896e-02 2.06030867e-01 9.77710884e-01 -1.98065788e+02] [-9.99111741e-01 2.00429504e-02 3.70676363e-02 -8.87328287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-198.06, Z:-887.36 [[-9.79179377e-03 -9.80267724e-01 1.97431788e-01 4.10780946e+02] [ 3.97959029e-02 1.96902811e-01 9.79615011e-01 -1.98062698e+02] [-9.99159851e-01 1.74491644e-02 3.70826074e-02 -8.87356583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-198.06, Z:-887.38 [[-7.52604967e-03 -9.82098913e-01 1.88215522e-01 4.10786558e+02] [ 3.91379497e-02 1.87787336e-01 9.81429640e-01 -1.98059342e+02] [-9.99205474e-01 1.47526579e-02 3.70240410e-02 -8.87383222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.116559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.79, Y:-198.06, Z:-887.41 [[-1.99035559e-03 -9.82881412e-01 1.84228576e-01 4.10789367e+02] [ 3.68687246e-02 1.84031561e-01 9.82228630e-01 -1.98057431e+02] [-9.99318135e-01 8.74725689e-03 3.58712959e-02 -8.87411099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-198.05, Z:-887.44 [[ 7.91032705e-04 -9.84535085e-01 1.75185734e-01 4.10794799e+02] [ 3.56103171e-02 1.75102411e-01 9.83906017e-01 -1.98054041e+02] [-9.99365439e-01 5.46011771e-03 3.51981183e-02 -8.87439162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1765599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.80, Y:-198.05, Z:-887.47 [[ 3.91196611e-03 -9.86100687e-01 1.66102774e-01 4.10800214e+02] [ 3.46917969e-02 1.66137887e-01 9.85492101e-01 -1.98050450e+02] [-9.99390402e-01 1.90719198e-03 3.48595306e-02 -8.87467204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.81, Y:-198.05, Z:-887.49 [[ 7.48349694e-03 -9.87600035e-01 1.56812526e-01 4.10805673e+02] [ 3.35926085e-02 1.56976693e-01 9.87030828e-01 -1.98046876e+02] [-9.99407592e-01 -2.11870038e-03 3.43507959e-02 -8.87494447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.81, Y:-198.04, Z:-887.52 [[ 1.51578981e-02 -9.88495286e-01 1.50490226e-01 4.10809662e+02] [ 3.17396353e-02 1.50907351e-01 9.88038242e-01 -1.98044071e+02] [-9.99381226e-01 -1.02000781e-02 3.36619181e-02 -8.87522272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.81, Y:-198.04, Z:-887.55 [[ 1.88766640e-02 -9.89766804e-01 1.41440253e-01 4.10814773e+02] [ 3.10749156e-02 1.41977911e-01 9.89381940e-01 -1.98040793e+02] [-9.99338792e-01 -1.42809865e-02 3.34369892e-02 -8.87550234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.296559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.82, Y:-198.04, Z:-887.58 [[ 2.48160073e-02 -9.90353838e-01 1.36321100e-01 4.10816516e+02] [ 2.91203403e-02 1.37021351e-01 9.90139968e-01 -1.98040462e+02] [-9.99267818e-01 -2.06016039e-02 3.22397636e-02 -8.87581842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.99, Z:-887.61 [[ 2.83907892e-02 -9.99570097e-01 7.32009187e-03 4.10884961e+02] [ 3.34629968e-02 8.26933778e-03 9.99405746e-01 -1.97994816e+02] [-9.99036632e-01 -2.81289657e-02 3.36833840e-02 -8.87609937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-198.04, Z:-887.64 [[ 2.98837806e-02 -9.90819517e-01 1.31847049e-01 4.10819250e+02] [ 3.10899062e-02 1.32763517e-01 9.90660016e-01 -1.98035433e+02] [-9.99069756e-01 -2.55055541e-02 3.47719617e-02 -8.87638398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.82, Y:-198.04, Z:-887.67 [[ 2.89269439e-02 -9.91375503e-01 1.27819575e-01 4.10817686e+02] [ 3.29123119e-02 1.28748385e-01 9.91130987e-01 -1.98035068e+02] [-9.99039545e-01 -2.44635528e-02 3.63527571e-02 -8.87666246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-198.03, Z:-887.69 [[ 2.75654393e-02 -9.92589339e-01 1.18349273e-01 4.10821188e+02] [ 3.44209278e-02 1.19266564e-01 9.92265432e-01 -1.98031708e+02] [-9.99027200e-01 -2.32785407e-02 3.74534812e-02 -8.87694029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.81, Y:-198.04, Z:-887.72 [[ 2.20382999e-02 -9.91467943e-01 1.28474248e-01 4.10808756e+02] [ 3.05374300e-02 1.29113073e-01 9.91159563e-01 -1.98042694e+02] [-9.99290638e-01 -1.79201984e-02 3.31223155e-02 -8.87719540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-197.75, Z:-887.74 [[ 1.67811432e-02 -8.62963951e-01 -5.04986746e-01 4.11083057e+02] [ 4.31473149e-02 -5.03962367e-01 8.62647229e-01 -1.97750341e+02] [-9.98927777e-01 -3.62650288e-02 2.87775127e-02 -8.87743370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:-198.10, Z:-887.78 [[ 2.64588222e-02 -8.43014017e-01 5.37240447e-01 4.10559418e+02] [ 2.59284314e-02 5.37826532e-01 8.42656714e-01 -1.98104979e+02] [-9.99313588e-01 -8.36590210e-03 3.60882877e-02 -8.87778878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:-198.01, Z:-887.80 [[ 2.56782936e-02 -9.96678924e-01 7.72770893e-02 4.10842080e+02] [ 3.84954039e-02 7.82311064e-02 9.96191748e-01 -1.98014528e+02] [-9.98928791e-01 -2.26056914e-02 4.03763990e-02 -8.87803932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:-198.03, Z:-887.84 [[ 2.34183067e-02 -9.95812798e-01 8.83654584e-02 4.10832928e+02] [ 3.36162780e-02 8.91240850e-02 9.95453085e-01 -1.98025486e+02] [-9.99160412e-01 -2.03413078e-02 3.55626550e-02 -8.87835904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.04, Y:-197.82, Z:-887.86 [[ 1.97627207e-02 -9.30533376e-01 -3.65673449e-01 4.11037633e+02] [ 4.89021662e-02 -3.64407466e-01 9.29954718e-01 -1.97822036e+02] [-9.98608038e-01 -3.62606592e-02 3.83034148e-02 -8.87862153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:-198.01, Z:-887.90 [[ 2.42703602e-02 -9.96901801e-01 7.48181049e-02 4.10843251e+02] [ 4.04274866e-02 7.57576569e-02 9.96306377e-01 -1.98013353e+02] [-9.98887665e-01 -2.11560067e-02 4.21408998e-02 -8.87895319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.656559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:410.85, Y:-198.01, Z:-887.92 [[ 2.22927234e-02 -9.97241078e-01 7.08044302e-02 4.10846120e+02] [ 4.09452754e-02 7.16733249e-02 9.96587387e-01 -1.98011330e+02] [-9.98912668e-01 -1.93175401e-02 4.24301041e-02 -8.87922968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-198.01, Z:-887.95 [[ 2.01397020e-02 -9.97866531e-01 6.21029735e-02 4.10852145e+02] [ 4.11622077e-02 6.28904680e-02 9.97171230e-01 -1.98007218e+02] [-9.98949481e-01 -1.75264359e-02 4.23409847e-02 -8.87951037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-198.01, Z:-887.98 [[ 1.65141098e-02 -9.97941028e-01 6.19757186e-02 4.10855285e+02] [ 3.95380940e-02 6.25874602e-02 9.97256010e-01 -1.98008876e+02] [-9.99081590e-01 -1.40183935e-02 4.04902623e-02 -8.87980397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-198.04, Z:-888.01 [[ 1.48883085e-02 -9.85211226e-01 1.70696160e-01 4.10794954e+02] [ 3.68803507e-02 1.71140002e-01 9.84556215e-01 -1.98043214e+02] [-9.99208776e-01 -8.36304246e-03 3.88829206e-02 -8.88007855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.99, Y:-197.88, Z:-888.03 [[ 1.18661536e-02 -9.73158351e-01 -2.29830413e-01 4.10991083e+02] [ 4.57884266e-02 -2.29076666e-01 9.72330860e-01 -1.97883329e+02] [-9.98880681e-01 -2.20614003e-02 4.18411309e-02 -8.88033231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:-198.01, Z:-888.07 [[ 1.44270192e-02 -9.97694385e-01 6.63157299e-02 4.10851823e+02] [ 3.89943559e-02 6.68335710e-02 9.97001863e-01 -1.98008735e+02] [-9.99135277e-01 -1.17978258e-02 3.98686591e-02 -8.88069400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.836559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.99, Z:-888.10 [[ 1.57594629e-02 -9.99673574e-01 2.01093179e-02 4.10876353e+02] [ 4.37791695e-02 2.07824106e-02 9.98825048e-01 -1.97986317e+02] [-9.98916925e-01 -1.48605770e-02 4.40923985e-02 -8.88095935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-198.00, Z:-888.12 [[ 1.62343017e-02 -9.98521020e-01 5.18866015e-02 4.10859829e+02] [ 4.39452803e-02 5.25558484e-02 9.97650588e-01 -1.97996507e+02] [-9.98902027e-01 -1.39159894e-02 4.47334936e-02 -8.88124543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-197.99, Z:-888.15 [[ 1.60945361e-02 -9.98939440e-01 4.31388658e-02 4.10864190e+02] [ 4.50660793e-02 4.38253444e-02 9.98022238e-01 -1.97992563e+02] [-9.98854351e-01 -1.41186054e-02 4.57236326e-02 -8.88151076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.87, Y:-197.99, Z:-888.18 [[ 1.50357581e-02 -9.99112242e-01 3.93529504e-02 4.10866120e+02] [ 4.54239062e-02 3.99992965e-02 9.98166682e-01 -1.97990100e+02] [-9.98854642e-01 -1.32206281e-02 4.59850005e-02 -8.88178815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-197.99, Z:-888.21 [[ 1.37399115e-02 -9.99435094e-01 3.06709494e-02 4.10870492e+02] [ 4.53659736e-02 3.12653481e-02 9.98481050e-01 -1.97986278e+02] [-9.98875940e-01 -1.23276238e-02 4.57699292e-02 -8.88205650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-197.98, Z:-888.23 [[ 1.00405817e-02 -9.99587290e-01 2.69153512e-02 4.10872103e+02] [ 4.47975397e-02 2.73393363e-02 9.98621921e-01 -1.97983263e+02] [-9.98945628e-01 -8.82100345e-03 4.50535541e-02 -8.88233188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.98, Z:-888.26 [[ 7.25395230e-03 -9.99804643e-01 1.83862935e-02 4.10876327e+02] [ 4.44018055e-02 1.86906850e-02 9.98838895e-01 -1.97979329e+02] [-9.98987417e-01 -6.42914508e-03 4.45287126e-02 -8.88261161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.97, Z:-888.29 [[ 4.38759453e-03 -9.99947689e-01 9.23952298e-03 4.10880998e+02] [ 4.36522582e-02 9.42232650e-03 9.99002353e-01 -1.97974734e+02] [-9.99037151e-01 -3.97989122e-03 4.36913160e-02 -8.88288431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.97, Z:-888.32 [[ 1.37778530e-03 -9.99985095e-01 5.28319803e-03 4.10883220e+02] [ 4.26412415e-02 5.33714740e-03 9.99076193e-01 -1.97972010e+02] [-9.99089499e-01 -1.15123038e-03 4.26479594e-02 -8.88316862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-197.97, Z:-888.31 [[-3.23291562e-03 -9.99988385e-01 -3.57462965e-03 4.10888245e+02] [ 4.05163440e-02 -3.70269884e-03 9.99172015e-01 -1.97967807e+02] [-9.99173646e-01 3.08540789e-03 4.05278439e-02 -8.88314821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-197.98, Z:-888.34 [[-5.60982147e-03 -9.99558428e-01 2.91801178e-02 4.10872389e+02] [ 4.05629489e-02 2.89291026e-02 9.98758106e-01 -1.97978127e+02] [-9.99161237e-01 6.78648629e-03 4.03827503e-02 -8.88343638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.97, Z:-888.37 [[-7.83761348e-03 -9.99763282e-01 2.02966209e-02 4.10877047e+02] [ 4.06082871e-02 1.99622847e-02 9.98975713e-01 -1.97974085e+02] [-9.99144404e-01 8.65379651e-03 4.04422177e-02 -8.88370632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.97, Z:-888.40 [[-1.03119408e-02 -9.99811520e-01 1.64495631e-02 4.10879238e+02] [ 4.08780934e-02 1.60151882e-02 9.99035783e-01 -1.97971811e+02] [-9.99110928e-01 1.09744247e-02 4.07052410e-02 -8.88397145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.97, Z:-888.42 [[-1.06901459e-02 -9.99887836e-01 1.04898295e-02 4.10881957e+02] [ 4.09472867e-02 1.00438963e-02 9.99110825e-01 -1.97968824e+02] [-9.99104119e-01 1.11101705e-02 4.08353231e-02 -8.88423914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.97, Z:-888.45 [[-9.30274600e-03 -9.99934058e-01 6.73345100e-03 4.10882607e+02] [ 4.15764853e-02 6.34113592e-03 9.99115202e-01 -1.97966226e+02] [-9.99092015e-01 9.57446817e-03 4.15147537e-02 -8.88452307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-197.96, Z:-888.47 [[-7.32284021e-03 -9.99970846e-01 -2.16414295e-03 4.10886010e+02] [ 4.17600486e-02 -2.46812262e-03 9.99124620e-01 -1.97962501e+02] [-9.99100833e-01 7.22605522e-03 4.17769048e-02 -8.88468285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-197.97, Z:-888.50 [[-5.69581903e-03 -9.99819780e-01 1.81098263e-02 4.10874860e+02] [ 4.20493822e-02 1.78546314e-02 9.98955986e-01 -1.97968958e+02] [-9.99099298e-01 6.45137952e-03 4.19401073e-02 -8.88496452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.96, Z:-888.52 [[-2.50826881e-03 -9.99954540e-01 9.19926571e-03 4.10876563e+02] [ 4.35649818e-02 9.08129233e-03 9.99009321e-01 -1.97964944e+02] [-9.99047447e-01 2.90654975e-03 4.35402230e-02 -8.88524823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:-197.96, Z:-888.55 [[-6.46612523e-04 -9.99999751e-01 2.81675764e-04 4.10880023e+02] [ 4.34783902e-02 2.53295785e-04 9.99054336e-01 -1.97961333e+02] [-9.99054159e-01 6.58247849e-04 4.34782156e-02 -8.88553303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:-196.97, Z:-888.65 [[-3.94038091e-02 3.97067744e-01 -9.16943044e-01 4.10840933e+02] [ 8.97334100e-02 -9.12541818e-01 -3.99017977e-01 -1.96968410e+02] [-9.95186041e-01 -9.80032543e-02 3.27380888e-04 -8.88647832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4365599950002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:411.01, Y:-197.86, Z:-888.77 [[-2.38620096e-02 -9.59891456e-01 -2.79354610e-01 4.11012277e+02] [ 1.06620912e-01 -2.80283956e-01 9.53977403e-01 -1.97857194e+02] [-9.94013373e-01 -7.02122546e-03 1.09032641e-01 -8.88774581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.00, Y:-197.87, Z:-888.79 [[-1.78193897e-02 -9.69108918e-01 -2.45988566e-01 4.10997224e+02] [ 1.06638820e-01 -2.46466413e-01 9.63266562e-01 -1.97872420e+02] [-9.94138135e-01 -9.06710808e-03 1.07736513e-01 -8.88785804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.99, Y:-197.88, Z:-888.79 [[-1.67452712e-02 -9.71653043e-01 -2.35817642e-01 4.10992835e+02] [ 1.06813802e-01 -2.36239451e-01 9.65806261e-01 -1.97876553e+02] [-9.94138023e-01 -9.01589122e-03 1.07741850e-01 -8.88794180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.98, Y:-197.86, Z:-889.12 [[-1.11132135e-02 -9.75828909e-01 -2.18253150e-01 4.10979064e+02] [ 1.02101477e-01 -2.18233210e-01 9.70540857e-01 -1.97857494e+02] [-9.94711911e-01 -1.14981413e-02 1.02058845e-01 -8.89119210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:-196.92, Z:-888.82 [[-8.19591165e-02 6.55324323e-01 -7.50887964e-01 4.10686614e+02] [ 1.47920931e-01 -7.37079552e-01 -6.59418783e-01 -1.96915098e+02] [-9.85597332e-01 -1.65117427e-01 -3.65257949e-02 -8.88815925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.79, Z:-888.98 [[-5.58080164e-02 -9.10835277e-01 -4.08979907e-01 4.11073390e+02] [ 1.61330130e-01 -4.12461957e-01 8.96575553e-01 -1.97792904e+02] [-9.85321295e-01 -1.59446784e-02 1.69963857e-01 -8.88979003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.79, Z:-888.99 [[-5.43908339e-02 -9.12504925e-01 -4.05433595e-01 4.11071263e+02] [ 1.62080967e-01 -4.08718049e-01 8.98153281e-01 -1.97793912e+02] [-9.85277320e-01 -1.68617633e-02 1.70130196e-01 -8.88988077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.79, Z:-888.99 [[-5.31432660e-02 -9.14045001e-01 -4.02116314e-01 4.11070269e+02] [ 1.63427057e-01 -4.05216983e-01 8.99494744e-01 -1.97794976e+02] [-9.85123033e-01 -1.79145974e-02 1.70914239e-01 -8.88992790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.79, Z:-889.01 [[-5.17317382e-02 -9.15560832e-01 -3.98838551e-01 4.11067962e+02] [ 1.64286269e-01 -4.01734301e-01 9.00899314e-01 -1.97794417e+02] [-9.85055252e-01 -1.89186099e-02 1.71196487e-01 -8.89009717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.02 [[-5.12492623e-02 -9.19719865e-01 -3.89215730e-01 4.11064341e+02] [ 1.64666433e-01 -3.92175699e-01 9.05032147e-01 -1.97798627e+02] [-9.85016994e-01 -1.77085361e-02 1.71545705e-01 -8.89018440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.02 [[-5.17131162e-02 -9.21220426e-01 -3.85588746e-01 4.11062636e+02] [ 1.65136815e-01 -3.88678157e-01 9.06454148e-01 -1.97800155e+02] [-9.84913999e-01 -1.67993287e-02 1.72227166e-01 -8.89023981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.03 [[-5.34197177e-02 -9.22520468e-01 -3.82233332e-01 4.11061828e+02] [ 1.65235518e-01 -3.85669322e-01 9.07720440e-01 -1.97802464e+02] [-9.84806355e-01 -1.46683528e-02 1.73035493e-01 -8.89025976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.03 [[-5.44080055e-02 -9.23841640e-01 -3.78888366e-01 4.11060715e+02] [ 1.65494867e-01 -3.82545589e-01 9.08994126e-01 -1.97802860e+02] [-9.84708697e-01 -1.32475223e-02 1.73704592e-01 -8.89033243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.04 [[-5.80779675e-02 -9.25101889e-01 -3.75251175e-01 4.11061079e+02] [ 1.64725021e-01 -3.79613683e-01 9.10362082e-01 -1.97803234e+02] [-9.84628162e-01 -8.94127830e-03 1.74434619e-01 -8.89037321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.04 [[-5.99317441e-02 -9.26433076e-01 -3.71658367e-01 4.11060756e+02] [ 1.63933208e-01 -3.76407129e-01 9.11835280e-01 -1.97804421e+02] [-9.84649222e-01 -6.27926956e-03 1.74431881e-01 -8.89040867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.80, Z:-889.05 [[-6.20543763e-02 -9.27616882e-01 -3.68342470e-01 4.11060053e+02] [ 1.63274859e-01 -3.73516845e-01 9.13141000e-01 -1.97804336e+02] [-9.84627125e-01 -3.47666973e-03 1.74634871e-01 -8.89050503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.916559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.05 [[-6.43154124e-02 -9.28874644e-01 -3.64767630e-01 4.11059975e+02] [ 1.61991137e-01 -3.70394150e-01 9.14640391e-01 -1.97806273e+02] [-9.84694064e-01 -2.63649091e-04 1.74291512e-01 -8.89048300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.05 [[-6.87540976e-02 -9.29833843e-01 -3.61499514e-01 4.11061409e+02] [ 1.59582856e-01 -3.67941579e-01 9.16052568e-01 -1.97806196e+02] [-9.84787381e-01 5.29324273e-03 1.73683032e-01 -8.89051045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.06 [[-7.03309113e-02 -9.30988541e-01 -3.58209296e-01 4.11060962e+02] [ 1.58841084e-01 -3.64968842e-01 9.17369748e-01 -1.97806882e+02] [-9.84795955e-01 7.62109761e-03 1.73547820e-01 -8.89055210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.06 [[-7.13064261e-02 -9.32169346e-01 -3.54930562e-01 4.11060535e+02] [ 1.58150491e-01 -3.61901066e-01 9.18703456e-01 -1.97807692e+02] [-9.84836949e-01 9.37701744e-03 1.73228912e-01 -8.89060646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.06 [[-7.17548991e-02 -9.33387007e-01 -3.51624699e-01 4.11059452e+02] [ 1.58112084e-01 -3.58720248e-01 9.19956712e-01 -1.97808911e+02] [-9.84810542e-01 1.04152870e-02 1.73319700e-01 -8.89063647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.07 [[-7.14599425e-02 -9.34761986e-01 -3.48013659e-01 4.11057770e+02] [ 1.58312113e-01 -3.55112127e-01 9.21321145e-01 -1.97810555e+02] [-9.84799854e-01 1.07427784e-02 1.73360437e-01 -8.89072086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-197.81, Z:-889.08 [[-7.06690769e-02 -9.36166958e-01 -3.44379599e-01 4.11055944e+02] [ 1.59412954e-01 -3.51404883e-01 9.22551960e-01 -1.97811257e+02] [-9.84679335e-01 1.02973260e-02 1.74070599e-01 -8.89078447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:-197.81, Z:-889.09 [[-6.85028216e-02 -9.37655184e-01 -3.40749351e-01 4.11054195e+02] [ 1.60833831e-01 -3.47463477e-01 9.23797386e-01 -1.97812151e+02] [-9.84601362e-01 8.47870423e-03 1.74608904e-01 -8.89087523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.05, Y:-197.80, Z:-889.16 [[-5.82561831e-02 -9.39503704e-01 -3.37548526e-01 4.11047364e+02] [ 1.64855999e-01 -3.42534200e-01 9.24928550e-01 -1.97804497e+02] [-9.84595712e-01 -1.76409240e-03 1.74837557e-01 -8.89155973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-197.83, Z:-889.16 [[-5.54426952e-02 -9.58155217e-01 -2.80828573e-01 4.11025590e+02] [ 1.66386654e-01 -2.86194562e-01 9.43614410e-01 -1.97833359e+02] [-9.84500680e-01 5.59039949e-03 1.75291638e-01 -8.89164271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-197.83, Z:-889.17 [[-5.13268984e-02 -9.59368311e-01 -2.77449083e-01 4.11022253e+02] [ 1.67532759e-01 -2.82149662e-01 9.44629209e-01 -1.97834878e+02] [-9.84529494e-01 2.00307728e-03 1.75207487e-01 -8.89173397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-197.84, Z:-889.18 [[-4.89940406e-02 -9.60459494e-01 -2.74075070e-01 4.11019597e+02] [ 1.67849015e-01 -2.78419560e-01 9.45679257e-01 -1.97836205e+02] [-9.84594481e-01 3.29417305e-04 1.74853079e-01 -8.89179931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-197.84, Z:-889.19 [[-4.64344656e-02 -9.61543960e-01 -2.70697348e-01 4.11016494e+02] [ 1.68205454e-01 -2.74646576e-01 9.46718640e-01 -1.97836537e+02] [-9.84657690e-01 -1.57239635e-03 1.74490005e-01 -8.89192029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-197.84, Z:-889.20 [[-4.32559305e-02 -9.63187835e-01 -2.65326441e-01 4.11012228e+02] [ 1.68285494e-01 -2.68804830e-01 9.48379648e-01 -1.97838803e+02] [-9.84788768e-01 -3.62754709e-03 1.73717944e-01 -8.89196906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-197.84, Z:-889.21 [[-4.14547963e-02 -9.64200333e-01 -2.61914526e-01 4.11009498e+02] [ 1.68734072e-01 -2.65130720e-01 9.49333721e-01 -1.97838374e+02] [-9.84789477e-01 -4.83946843e-03 1.73684388e-01 -8.89210496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:-197.84, Z:-889.22 [[-4.04367414e-02 -9.66025715e-01 -2.55262980e-01 4.11006119e+02] [ 1.68645812e-01 -2.58405286e-01 9.51202028e-01 -1.97840867e+02] [-9.84846922e-01 -4.58552213e-03 1.73365259e-01 -8.89215494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-197.84, Z:-889.29 [[-1.75773458e-02 -1.56238105e-01 9.87563006e-01 4.10094078e+02] [ 8.61961487e-02 9.83801581e-01 1.57177206e-01 -1.97842706e+02] [-9.96123115e-01 8.78868858e-02 -3.82549765e-03 -8.89294457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:-197.76, Z:-889.32 [[-2.93792216e-02 -9.45682985e-01 -3.23760024e-01 4.11020949e+02] [ 1.01136185e-01 -3.25049972e-01 9.40273358e-01 -1.97760193e+02] [-9.94438703e-01 -5.11935447e-03 1.05192485e-01 -8.89324656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-196.83, Z:-889.35 [[-1.01971890e-01 9.43930695e-01 -3.14000918e-01 4.10366414e+02] [ 1.00493806e-01 -3.04256950e-01 -9.47274355e-01 -1.96834604e+02] [-9.89698302e-01 -1.28150504e-01 -6.38335321e-02 -8.89346077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-197.55, Z:-889.50 [[-9.60879061e-02 -7.59127884e-01 -6.43810508e-01 4.11133564e+02] [ 1.20835007e-01 -6.50915855e-01 7.49471448e-01 -1.97547181e+02] [-9.88011141e-01 -5.77970543e-03 1.54274365e-01 -8.89501885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.13, Y:-197.55, Z:-889.51 [[-9.47134561e-02 -7.62006907e-01 -6.40605054e-01 4.11131471e+02] [ 1.20981162e-01 -6.47538812e-01 7.52367627e-01 -1.97549080e+02] [-9.88125964e-01 -6.24180562e-03 1.53519120e-01 -8.89510921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-197.55, Z:-889.52 [[-9.31824036e-02 -7.64856657e-01 -6.37425552e-01 4.11129895e+02] [ 1.20976102e-01 -6.44165285e-01 7.55258809e-01 -1.97551098e+02] [-9.88272140e-01 -6.73642731e-03 1.52554246e-01 -8.89517363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:-197.55, Z:-889.52 [[-9.14344919e-02 -7.67745035e-01 -6.34198151e-01 4.11127146e+02] [ 1.21587754e-01 -6.40708050e-01 7.58096045e-01 -1.97553749e+02] [-9.88360335e-01 -7.79460209e-03 1.51931209e-01 -8.89524476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.10, Y:-197.54, Z:-889.84 [[-8.58213944e-02 -7.80217739e-01 -6.19592583e-01 4.11097554e+02] [ 1.14643749e-01 -6.25489612e-01 7.71763926e-01 -1.97535581e+02] [-9.89692629e-01 -4.79856021e-03 1.43127477e-01 -8.89843600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:-196.85, Z:-889.53 [[-1.43532693e-01 5.94811049e-01 -7.90947648e-01 4.10734176e+02] [ 1.66058278e-01 -7.73416175e-01 -6.11761447e-01 -1.96845693e+02] [-9.75614173e-01 -2.19151173e-01 1.22372079e-02 -8.89534724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:411.13, Y:-197.57, Z:-889.72 [[-1.31606183e-01 -7.80811458e-01 -6.10748131e-01 4.11127387e+02] [ 1.77401077e-01 -6.24712003e-01 7.60436566e-01 -1.97573831e+02] [-9.75299272e-01 -8.26922235e-03 2.20732755e-01 -8.89716245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6965599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:411.13, Y:-197.57, Z:-889.73 [[-1.31374505e-01 -7.82659502e-01 -6.08428174e-01 4.11125964e+02] [ 1.78130660e-01 -6.22395394e-01 7.62163658e-01 -1.97574383e+02] [-9.75197522e-01 -8.25083904e-03 2.21182541e-01 -8.89725199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.12, Y:-197.57, Z:-889.79 [[-1.24401860e-01 -7.85456778e-01 -6.06285268e-01 4.11115793e+02] [ 1.84824291e-01 -6.18681236e-01 7.63592502e-01 -1.97566177e+02] [-9.74866226e-01 -1.70639172e-02 2.22136589e-01 -8.89789743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:-197.60, Z:-889.80 [[-1.21272716e-01 -8.16484406e-01 -5.64487506e-01 4.11107497e+02] [ 1.78608753e-01 -5.77352197e-01 7.96720374e-01 -1.97600775e+02] [-9.76417862e-01 -4.20196563e-03 2.15848331e-01 -8.89800156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-196.88, Z:-889.83 [[-1.55584194e-01 3.64739467e-01 -9.18018889e-01 4.10855987e+02] [ 2.35689645e-01 -8.88789097e-01 -3.93070392e-01 -1.96883016e+02] [-9.59293464e-01 -2.77523086e-01 5.23162198e-02 -8.89832572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.816559995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:409.94, Y:-196.99, Z:-890.20 [[-2.18609771e-01 8.90273429e-01 3.99528459e-01 4.09944652e+02] [ 1.91779576e-01 4.40644454e-01 -8.76956703e-01 -1.96990891e+02] [-9.56781251e-01 -1.15089905e-01 -2.67065444e-01 -8.90201808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-197.91, Z:-890.11 [[-1.55602176e-01 -6.85611527e-01 7.11143303e-01 4.10397418e+02] [ 1.60450659e-01 6.92809672e-01 7.03043629e-01 -1.97909457e+02] [-9.74701775e-01 2.23498530e-01 2.20412893e-03 -8.90106433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.61, Y:-196.72, Z:-890.07 [[-2.26681291e-01 6.80590589e-01 -6.96715180e-01 4.10607223e+02] [ 1.94756461e-01 -6.69214951e-01 -7.17092233e-01 -1.96722783e+02] [-9.54298440e-01 -2.98241176e-01 1.91490950e-02 -8.90074605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-197.37, Z:-890.33 [[-2.20363938e-01 -6.82677704e-01 -6.96699998e-01 4.11088252e+02] [ 2.11375380e-01 -7.30707442e-01 6.49143346e-01 -1.97373249e+02] [-9.52239562e-01 -4.21744310e-03 3.05322829e-01 -8.90331845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-197.37, Z:-890.33 [[-2.20298766e-01 -6.86073546e-01 -6.93376913e-01 4.11087648e+02] [ 2.10439293e-01 -7.27529282e-01 6.53005703e-01 -1.97374810e+02] [-9.52461946e-01 -2.05739694e-03 3.04650635e-01 -8.90334881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-197.37, Z:-890.34 [[-2.20839011e-01 -6.87250217e-01 -6.92038490e-01 4.11086584e+02] [ 2.09532767e-01 -7.26420628e-01 6.54529671e-01 -1.97374127e+02] [-9.52536693e-01 -4.59054545e-04 3.04423453e-01 -8.90340176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.08, Y:-197.37, Z:-890.36 [[-2.23269748e-01 -6.88279720e-01 -6.90233039e-01 4.11084984e+02] [ 2.06321365e-01 -7.25433251e-01 6.56641526e-01 -1.97371919e+02] [-9.52671042e-01 4.19836517e-03 3.03974110e-01 -8.90355151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.19, Y:-196.79, Z:-890.14 [[-2.73057729e-01 9.58784806e-01 -7.85568146e-02 4.10193024e+02] [ 1.95175172e-01 -2.47473897e-02 -9.80456128e-01 -1.96790703e+02] [-9.41990515e-01 -2.83053463e-01 -1.80373523e-01 -8.90139060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.82, Z:-890.52 [[-2.35239587e-01 -6.21048285e-01 7.47637188e-01 4.10297848e+02] [ 1.69173060e-01 7.31318590e-01 6.60722026e-01 -1.97824004e+02] [-9.57101255e-01 2.81908048e-01 -6.69704440e-02 -8.90517836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.79, Z:-890.63 [[-1.93525941e-01 -6.72274499e-01 7.14559100e-01 4.10280769e+02] [ 1.23868794e-01 7.05757056e-01 6.97541038e-01 -1.97790898e+02] [-9.73244179e-01 2.23503860e-01 -5.33084667e-02 -8.90630159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-197.75, Z:-890.88 [[-1.46195585e-01 -7.29961705e-01 6.67669649e-01 4.10255414e+02] [ 7.88154231e-02 6.64181093e-01 7.43405411e-01 -1.97753852e+02] [-9.86111038e-01 1.61305255e-01 -3.95681030e-02 -8.90880024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-197.01, Z:-890.79 [[-1.56639805e-01 -3.90680641e-01 -9.07101212e-01 4.10927763e+02] [ 5.51103568e-02 -9.20465062e-01 3.86919784e-01 -1.97009975e+02] [-9.86117042e-01 1.06163679e-02 1.65712017e-01 -8.90791192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-197.02, Z:-890.80 [[-1.56756907e-01 -4.13105493e-01 -8.97090366e-01 4.10930186e+02] [ 5.64087539e-02 -9.10581889e-01 4.09461446e-01 -1.97024361e+02] [-9.86025012e-01 1.35821601e-02 1.66042767e-01 -8.90799839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:-197.03, Z:-890.81 [[-1.56762997e-01 -4.16846965e-01 -8.95356896e-01 4.10929491e+02] [ 5.80268395e-02 -9.08886747e-01 4.12986400e-01 -1.97026167e+02] [-9.85930144e-01 1.27862548e-02 1.66668122e-01 -8.90810194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-197.73, Z:-890.90 [[-8.74220607e-02 -8.97267497e-01 4.32745217e-01 4.10401673e+02] [ 5.23677901e-02 4.29668333e-01 9.01466992e-01 -1.97731802e+02] [-9.94793948e-01 1.01470013e-01 9.42542483e-03 -8.90901270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-196.99, Z:-891.16 [[-9.40564373e-02 -4.16278414e-01 -9.04359259e-01 4.10867351e+02] [ 3.38678182e-02 -9.09198366e-01 4.14983496e-01 -1.96993982e+02] [-9.94990632e-01 8.40319422e-03 9.96144007e-02 -8.91160209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-196.96, Z:-890.95 [[-1.17892585e-01 7.53886436e-01 6.46340916e-01 4.09709293e+02] [-9.52698693e-03 6.49991297e-01 -7.59881932e-01 -1.96964174e+02] [-9.92980652e-01 -9.57421269e-02 -6.94468882e-02 -8.90950311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-196.71, Z:-891.11 [[-1.42835466e-01 5.15393380e-02 -9.88403625e-01 4.10769125e+02] [-1.31768718e-02 -9.98653784e-01 -5.01696160e-02 -1.96713818e+02] [-9.89658729e-01 5.85806734e-03 1.43322306e-01 -8.91110070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.69, Y:-197.53, Z:-891.22 [[-7.43230270e-02 -9.82445780e-01 -1.71103411e-01 4.10693502e+02] [ 1.56749830e-02 -1.72707680e-01 9.84848391e-01 -1.97530884e+02] [-9.97111018e-01 7.05148705e-02 2.82359785e-02 -8.91220791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:-196.79, Z:-891.26 [[-7.62358234e-02 -8.97113794e-02 -9.93045804e-01 4.10771205e+02] [ 7.34062131e-03 -9.95967693e-01 8.94118045e-02 -1.96790812e+02] [-9.97062794e-01 -4.73190649e-04 7.65869544e-02 -8.91262622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-196.84, Z:-891.32 [[-7.47997493e-02 -1.85706219e-01 -9.79754152e-01 4.10795609e+02] [ 1.54359694e-02 -9.82604478e-01 1.85068014e-01 -1.96843204e+02] [-9.97079098e-01 -1.28041402e-03 7.63651241e-02 -8.91315016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-196.90, Z:-891.33 [[-7.39020739e-02 -2.78541134e-01 -9.57576796e-01 4.10817591e+02] [ 1.81183173e-02 -9.60418993e-01 2.77969574e-01 -1.96896682e+02] [-9.97100903e-01 3.19284775e-03 7.60236521e-02 -8.91327152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-196.90, Z:-891.63 [[-6.85296040e-02 -3.00088825e-01 -9.51446473e-01 4.10804883e+02] [ 2.01849234e-02 -9.53910358e-01 2.99412086e-01 -1.96902578e+02] [-9.97444867e-01 1.31371750e-03 7.14283691e-02 -8.91630635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:-196.77, Z:-891.38 [[-1.21063346e-01 9.21381695e-01 3.69322947e-01 4.09750572e+02] [-1.13583841e-02 3.70749345e-01 -9.28663508e-01 -1.96770754e+02] [-9.92579797e-01 -1.16622024e-01 -3.44187491e-02 -8.91384248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:-196.72, Z:-891.65 [[-1.29289253e-01 2.97738393e-02 -9.91159830e-01 4.10731350e+02] [-1.51591757e-03 -9.99553889e-01 -2.98282518e-02 -1.96715192e+02] [-9.91605764e-01 -2.35395578e-03 1.29276710e-01 -8.91652454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:409.82, Y:-196.69, Z:-891.56 [[-1.90044325e-01 9.56239280e-01 2.22462567e-01 4.09817729e+02] [-2.34774290e-02 2.22100926e-01 -9.74740986e-01 -1.96686434e+02] [-9.81494761e-01 -1.90466842e-01 -1.97589808e-02 -8.91559112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.596559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.68, Y:-197.48, Z:-891.94 [[-1.28588542e-01 -9.57894131e-01 -2.56717394e-01 4.10678877e+02] [ 5.64832146e-03 -2.59569721e-01 9.65707853e-01 -1.97483934e+02] [-9.91681947e-01 1.22728942e-01 3.87881860e-02 -8.91938359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:410.64, Y:-196.73, Z:-892.35 [[-1.33527133e-01 1.30912223e-02 -9.90958690e-01 4.10638687e+02] [ 1.05497594e-02 -9.99837319e-01 -1.46300465e-02 -1.96726264e+02] [-9.90989005e-01 -1.24078839e-02 1.33367301e-01 -8.92346064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:-196.94, Z:-892.08 [[-1.82244408e-01 7.40942883e-01 6.46367249e-01 4.09596307e+02] [-4.80915078e-02 6.49872363e-01 -7.58520348e-01 -1.96937647e+02] [-9.82076465e-01 -1.69320868e-01 -8.28025440e-02 -8.92083245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.61, Y:-197.50, Z:-892.09 [[-1.13603059e-01 -9.78381339e-01 -1.72812906e-01 4.10613274e+02] [-1.85623312e-02 -1.71818464e-01 9.84953733e-01 -1.97503882e+02] [-9.93352800e-01 1.15101567e-01 1.35806468e-03 -8.92092823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-196.61, Z:-892.12 [[-1.25748958e-01 2.32966499e-01 -9.64320388e-01 4.10566409e+02] [-2.40729303e-02 -9.72466657e-01 -2.31795375e-01 -1.96614692e+02] [-9.91769980e-01 -5.93400948e-03 1.27894855e-01 -8.92124146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.53, Y:-196.63, Z:-892.52 [[-1.25909276e-01 2.11217029e-01 -9.69295735e-01 4.10532282e+02] [-1.97701983e-02 -9.77411701e-01 -2.10417458e-01 -1.96631907e+02] [-9.91844743e-01 -7.33034076e-03 1.27241002e-01 -8.92524230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:-197.24, Z:-892.12 [[-1.25871268e-01 2.79791570e-01 9.51773661e-01 4.09595521e+02] [-9.68598182e-02 9.51354222e-01 -2.92477898e-01 -1.97243629e+02] [-9.87306741e-01 -1.29003187e-01 -9.26476013e-02 -8.92121692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:-197.38, Z:-892.38 [[-7.61439364e-02 -9.08071600e-01 -4.11835005e-01 4.10650311e+02] [-5.04861718e-02 -4.08993139e-01 9.11139813e-01 -1.97377005e+02] [-9.95817879e-01 9.01697448e-02 -1.47027112e-02 -8.92381235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:-196.83, Z:-892.47 [[-1.28882336e-01 8.44403306e-01 5.19973462e-01 4.09573188e+02] [-1.09533280e-01 5.09016477e-01 -8.53759150e-01 -1.96826805e+02] [-9.85592109e-01 -1.66988872e-01 2.68870308e-02 -8.92469408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:-196.79, Z:-892.60 [[-1.89651816e-01 8.68311410e-01 4.58331194e-01 4.09602327e+02] [-1.39705149e-01 4.38188908e-01 -8.87959995e-01 -1.96785812e+02] [-9.71861441e-01 -2.32434453e-01 3.82042523e-02 -8.92601871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.896559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.61, Y:-197.41, Z:-892.85 [[-1.30977095e-01 -9.02239865e-01 -4.10862783e-01 4.10610969e+02] [-8.83550074e-02 -4.02160385e-01 9.11296010e-01 -1.97406374e+02] [-9.87440324e-01 1.55660688e-01 -2.70436111e-02 -8.92852507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-197.40, Z:-892.98 [[-7.15435344e-02 -8.76744520e-01 -4.75605476e-01 4.10587366e+02] [-5.61451057e-02 -4.72531503e-01 8.79523568e-01 -1.97395014e+02] [-9.95856039e-01 8.96271443e-02 -1.54183400e-02 -8.92979181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:-197.36, Z:-893.11 [[-1.66235350e-02 -8.23075479e-01 -5.67688660e-01 4.10578427e+02] [-1.75686902e-02 -5.67439011e-01 8.23227982e-01 -1.97360926e+02] [-9.99707457e-01 2.36585054e-02 -5.02751585e-03 -8.93110986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-197.20, Z:-893.24 [[ 1.98359034e-02 -6.01200053e-01 -7.98852323e-01 4.10593224e+02] [ 3.59025873e-02 -7.98065881e-01 6.01499671e-01 -1.97197372e+02] [-9.99158417e-01 -4.06121547e-02 5.75427968e-03 -8.93239223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.016559995 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:409.87, Y:-197.78, Z:-893.30 [[ 4.01002824e-02 -6.80985387e-01 7.31198243e-01 4.09865913e+02] [ 2.82527949e-02 7.32267017e-01 6.80431330e-01 -1.97780942e+02] [-9.98796149e-01 -6.62709456e-03 4.86038547e-02 -8.93298499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-197.79, Z:-893.33 [[ 3.85353379e-02 -7.40956335e-01 6.70446670e-01 4.09918229e+02] [ 2.90461401e-02 6.71492099e-01 7.40442221e-01 -1.97788332e+02] [-9.98834996e-01 -9.05930324e-03 4.73980964e-02 -8.93326028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.90, Y:-197.78, Z:-893.36 [[ 4.44110919e-02 -7.11580196e-01 7.01199886e-01 4.09903747e+02] [ 3.06610840e-02 7.02532628e-01 7.10990721e-01 -1.97779797e+02] [-9.98542715e-01 -1.00763257e-02 5.30180612e-02 -8.93358839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:-197.74, Z:-893.39 [[ 3.74720873e-02 -5.15520817e-01 8.56057317e-01 4.09747999e+02] [ 2.39232251e-02 8.56876239e-01 5.14966786e-01 -1.97740907e+02] [-9.99011272e-01 1.18277149e-03 4.44418618e-02 -8.93388215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-197.78, Z:-893.42 [[ 4.23434315e-02 -7.14114701e-01 6.98746898e-01 4.09905573e+02] [ 2.94853642e-02 6.99962713e-01 7.13570469e-01 -1.97777576e+02] [-9.98667936e-01 -9.61221547e-03 5.06947552e-02 -8.93416751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-197.75, Z:-893.45 [[ 4.50769679e-02 -5.82894233e-01 8.11296727e-01 4.09808371e+02] [ 2.68389239e-02 8.12535722e-01 5.82293202e-01 -1.97751564e+02] [-9.98622922e-01 -4.47368083e-03 5.22709006e-02 -8.93449275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-197.72, Z:-893.48 [[ 3.32029932e-02 -4.53794782e-01 8.90487427e-01 4.09708886e+02] [ 2.11295119e-02 8.91098271e-01 4.53318228e-01 -1.97719544e+02] [-9.99225253e-01 3.76404266e-03 3.91755921e-02 -8.93476758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.90, Y:-197.78, Z:-893.50 [[ 3.32090319e-02 -7.23676533e-01 6.89339856e-01 4.09904853e+02] [ 2.47207412e-02 6.90104031e-01 7.23287848e-01 -1.97780496e+02] [-9.99142655e-01 -6.97869708e-03 4.08075070e-02 -8.93501807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-197.78, Z:-893.53 [[ 3.31906036e-02 -7.29403923e-01 6.83277616e-01 4.09911173e+02] [ 2.50479829e-02 6.84046614e-01 7.29008113e-01 -1.97780358e+02] [-9.99135117e-01 -7.08149331e-03 4.09740170e-02 -8.93529837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-197.78, Z:-893.56 [[ 3.36180402e-02 -7.35078891e-01 6.77147584e-01 4.09916872e+02] [ 2.56408080e-02 6.77941896e-01 7.34668180e-01 -1.97780447e+02] [-9.99105788e-01 -7.33549318e-03 4.16390947e-02 -8.93558170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-197.78, Z:-893.58 [[ 3.39907289e-02 -7.40693522e-01 6.70982665e-01 4.09921914e+02] [ 2.61907577e-02 6.71800206e-01 7.40269226e-01 -1.97780263e+02] [-9.99078913e-01 -7.58874622e-03 4.22343032e-02 -8.93584911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-197.78, Z:-893.61 [[ 3.41493498e-02 -7.43116712e-01 6.68289888e-01 4.09923898e+02] [ 2.69068229e-02 6.69121131e-01 7.42666099e-01 -1.97779688e+02] [-9.99054476e-01 -7.38000668e-03 4.28449613e-02 -8.93612508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:-197.78, Z:-893.64 [[ 3.42102090e-02 -7.48728171e-01 6.61993798e-01 4.09929216e+02] [ 2.74272449e-02 6.62835387e-01 7.48262652e-01 -1.97779177e+02] [-9.99038242e-01 -7.44155572e-03 4.32112880e-02 -8.93639096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:-197.78, Z:-893.67 [[ 3.42681745e-02 -7.51153693e-01 6.59237303e-01 4.09931821e+02] [ 2.83391209e-02 6.60089804e-01 7.50651947e-01 -1.97778223e+02] [-9.99010804e-01 -7.04126627e-03 4.39071079e-02 -8.93666641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:-197.78, Z:-893.69 [[ 3.40602710e-02 -7.56639967e-01 6.52943993e-01 4.09937543e+02] [ 2.87917646e-02 6.53794767e-01 7.56123956e-01 -1.97778186e+02] [-9.99004971e-01 -6.95437709e-03 4.40534267e-02 -8.93694597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.94, Y:-197.78, Z:-893.72 [[ 3.39524926e-02 -7.62134746e-01 6.46527538e-01 4.09943587e+02] [ 2.96116809e-02 6.47383629e-01 7.61588856e-01 -1.97777976e+02] [-9.98984673e-01 -6.71307288e-03 4.45483787e-02 -8.93723015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.95, Y:-197.78, Z:-893.75 [[ 3.33891162e-02 -7.67611357e-01 6.40045289e-01 4.09949448e+02] [ 3.01331779e-02 6.40884394e-01 7.67045752e-01 -1.97777629e+02] [-9.98988067e-01 -6.32438122e-03 4.45291330e-02 -8.93750778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-197.78, Z:-893.78 [[ 3.29711641e-02 -7.73048054e-01 6.33490022e-01 4.09955686e+02] [ 3.11504220e-02 6.34321541e-01 7.72441476e-01 -1.97776737e+02] [-9.98970747e-01 -5.73481317e-03 4.49950927e-02 -8.93778045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-197.78, Z:-893.81 [[ 3.23770893e-02 -7.75394018e-01 6.30647161e-01 4.09958325e+02] [ 3.14322521e-02 6.31455799e-01 7.74774540e-01 -1.97775916e+02] [-9.98981350e-01 -5.26228394e-03 4.48170810e-02 -8.93806333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-197.78, Z:-893.83 [[ 3.11165049e-02 -7.80722417e-01 6.24102773e-01 4.09964139e+02] [ 3.18723057e-02 6.24862630e-01 7.80083874e-01 -1.97775211e+02] [-9.99007467e-01 -4.38188935e-03 4.43269646e-02 -8.93833608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-197.77, Z:-893.86 [[ 3.04987661e-02 -7.83013933e-01 6.21255991e-01 4.09967129e+02] [ 3.20923348e-02 6.21991790e-01 7.82365833e-01 -1.97774518e+02] [-9.99019473e-01 -3.92363725e-03 4.40987273e-02 -8.93861294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-197.77, Z:-893.89 [[ 3.00286638e-02 -7.88247520e-01 6.14625192e-01 4.09973315e+02] [ 3.20338836e-02 6.15345554e-01 7.87606298e-01 -1.97773870e+02] [-9.99035590e-01 -3.96193282e-03 4.37286340e-02 -8.93887796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:-197.77, Z:-893.92 [[ 2.97884397e-02 -7.90483372e-01 6.11758685e-01 4.09977455e+02] [ 3.11452109e-02 6.12467146e-01 7.89882251e-01 -1.97772753e+02] [-9.99070881e-01 -4.47600658e-03 4.28642119e-02 -8.93916085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:-197.77, Z:-893.94 [[ 2.97971743e-02 -7.95537389e-01 6.05171373e-01 4.09983189e+02] [ 3.07651769e-02 6.05883293e-01 7.94958451e-01 -1.97771646e+02] [-9.99082395e-01 -5.06931112e-03 4.25284586e-02 -8.93944027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:-197.77, Z:-893.97 [[ 2.99755000e-02 -8.00532071e-01 5.98539784e-01 4.09988789e+02] [ 3.02233264e-02 5.99260970e-01 7.99983025e-01 -1.97770652e+02] [-9.99093599e-01 -5.89002791e-03 4.21578893e-02 -8.93971508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:-197.77, Z:-894.00 [[ 3.12593514e-02 -8.05514204e-01 5.91751401e-01 4.09993721e+02] [ 2.97925644e-02 5.92528571e-01 8.04998321e-01 -1.97769390e+02] [-9.99067193e-01 -7.53393363e-03 4.25203926e-02 -8.93999035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:-197.77, Z:-894.03 [[ 3.18743743e-02 -8.10524309e-01 5.84837044e-01 4.09998624e+02] [ 3.00791660e-02 5.85647214e-01 8.10007768e-01 -1.97768608e+02] [-9.99039173e-01 -8.22708028e-03 4.30470338e-02 -8.94027375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:-197.77, Z:-894.05 [[ 3.26196952e-02 -8.15484417e-01 5.77859084e-01 4.10003590e+02] [ 3.06548528e-02 5.78711067e-01 8.14956307e-01 -1.97768086e+02] [-9.98997615e-01 -8.86944113e-03 4.38759333e-02 -8.94054694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.856559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.01, Y:-197.77, Z:-894.08 [[ 3.28259111e-02 -8.18844930e-01 5.73075423e-01 4.10007827e+02] [ 3.21869004e-02 5.73953115e-01 8.18255355e-01 -1.97768079e+02] [-9.98942673e-01 -8.41445598e-03 4.51966141e-02 -8.94082258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-197.77, Z:-894.11 [[ 3.16183382e-02 -8.23726640e-01 5.66104852e-01 4.10013884e+02] [ 3.32455119e-02 5.66941375e-01 8.23087002e-01 -1.97767469e+02] [-9.98946954e-01 -7.20419764e-03 4.53109579e-02 -8.94110421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.02, Y:-197.77, Z:-894.14 [[ 3.00280135e-02 -8.28572719e-01 5.59075638e-01 4.10019698e+02] [ 3.39612156e-02 5.59850655e-01 8.27897264e-01 -1.97766984e+02] [-9.98971949e-01 -5.87322201e-03 4.49505398e-02 -8.94137116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.02, Y:-197.77, Z:-894.17 [[ 2.80462313e-02 -8.30692180e-01 5.56025099e-01 4.10022974e+02] [ 3.49207679e-02 5.56718598e-01 8.29966832e-01 -1.97766184e+02] [-9.98996471e-01 -3.86061831e-03 4.46222674e-02 -8.94165079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.03, Y:-197.77, Z:-894.19 [[ 2.34910820e-02 -8.35386076e-01 5.49161427e-01 4.10030307e+02] [ 3.60531301e-02 5.49663594e-01 8.34607755e-01 -1.97766325e+02] [-9.99073742e-01 1.93149190e-04 4.30304755e-02 -8.94193225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.04, Y:-197.77, Z:-894.22 [[ 2.15165145e-02 -8.39998780e-01 5.42161498e-01 4.10036849e+02] [ 3.72983720e-02 5.42583966e-01 8.39173088e-01 -1.97765567e+02] [-9.99072506e-01 2.16566130e-03 4.30051027e-02 -8.94220043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.04, Y:-197.77, Z:-894.25 [[ 2.05207358e-02 -8.41400930e-01 5.40021643e-01 4.10041744e+02] [ 3.81165830e-02 5.40401103e-01 8.40543737e-01 -1.97766653e+02] [-9.99062574e-01 3.33520386e-03 4.31607566e-02 -8.94251536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:-197.75, Z:-894.28 [[ 2.15626209e-02 -6.65943803e-01 7.45690220e-01 4.09877408e+02] [ 3.97774616e-02 7.45844505e-01 6.64931371e-01 -1.97754486e+02] [-9.98975879e-01 1.53240010e-02 4.25719164e-02 -8.94282472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.92, Y:-197.76, Z:-894.31 [[ 1.90730593e-02 -7.16439357e-01 6.97388605e-01 4.09919060e+02] [ 4.29182391e-02 6.97459233e-01 7.15338132e-01 -1.97761169e+02] [-9.98896513e-01 1.62870043e-02 4.40509969e-02 -8.94307269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-197.76, Z:-894.34 [[ 1.93915951e-02 -8.76158142e-01 4.81633551e-01 4.10090805e+02] [ 4.60428857e-02 4.81995621e-01 8.74963013e-01 -1.97757522e+02] [-9.98751230e-01 5.20887005e-03 4.96875131e-02 -8.94336686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:-197.76, Z:-894.37 [[ 2.58274123e-02 -7.11293929e-01 7.02420025e-01 4.09925186e+02] [ 4.47082327e-02 7.02773234e-01 7.10007715e-01 -1.97758488e+02] [-9.98666170e-01 1.30662960e-02 4.99515086e-02 -8.94369325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.83, Y:-197.74, Z:-894.40 [[ 2.70315471e-02 -5.86679307e-01 8.09368079e-01 4.09825698e+02] [ 4.29535456e-02 8.09597828e-01 5.85411266e-01 -1.97737400e+02] [-9.98711314e-01 1.89406565e-02 4.70846382e-02 -8.94399866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-197.73, Z:-894.42 [[ 2.45344184e-02 -5.66204395e-01 8.23899658e-01 4.09806781e+02] [ 4.27125445e-02 8.23988868e-01 5.64993791e-01 -1.97730690e+02] [-9.98786114e-01 2.13290567e-02 4.44001181e-02 -8.94423409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:-197.76, Z:-894.45 [[ 1.86956187e-02 -8.63219658e-01 5.04482205e-01 4.10072901e+02] [ 4.39976490e-02 5.04791915e-01 8.62119093e-01 -1.97758875e+02] [-9.98856687e-01 6.07818113e-03 4.74170327e-02 -8.94447339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.08, Y:-197.76, Z:-894.48 [[ 1.84430665e-02 -8.67103603e-01 4.97786295e-01 4.10078032e+02] [ 4.40913118e-02 4.98091985e-01 8.66002500e-01 -1.97757419e+02] [-9.98857252e-01 5.97630899e-03 4.74180790e-02 -8.94475775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.08, Y:-197.76, Z:-894.50 [[ 1.81952889e-02 -8.69485259e-01 4.93623658e-01 4.10081813e+02] [ 4.30558601e-02 4.93928801e-01 8.68435681e-01 -1.97756545e+02] [-9.98906965e-01 5.45195310e-03 4.64236129e-02 -8.94504226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-197.76, Z:-894.53 [[ 1.84598037e-02 -8.73374546e-01 4.86699227e-01 4.10087521e+02] [ 4.30544550e-02 4.87025014e-01 8.72326172e-01 -1.97755180e+02] [-9.98902172e-01 4.85160005e-03 4.65930513e-02 -8.94532262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-197.75, Z:-894.56 [[ 1.90119854e-02 -8.77169102e-01 4.79805076e-01 4.10092746e+02] [ 4.24375456e-02 4.80167309e-01 8.76149765e-01 -1.97754030e+02] [-9.98918215e-01 3.70440330e-03 4.63538376e-02 -8.94559977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.10, Y:-197.75, Z:-894.59 [[ 1.91866283e-02 -8.80968220e-01 4.72786282e-01 4.10097760e+02] [ 4.20727296e-02 4.73165878e-01 8.79968146e-01 -1.97752742e+02] [-9.98930307e-01 3.00778764e-03 4.61431955e-02 -8.94587310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.10, Y:-197.75, Z:-894.62 [[ 1.94333447e-02 -8.82595414e-01 4.69731497e-01 4.10100606e+02] [ 4.21494128e-02 4.70125753e-01 8.81592425e-01 -1.97751540e+02] [-9.98922305e-01 2.66661736e-03 4.63369943e-02 -8.94615154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:-197.75, Z:-894.64 [[ 1.92553190e-02 -8.86227763e-01 4.62849419e-01 4.10105764e+02] [ 4.21128900e-02 4.63243313e-01 8.85229992e-01 -1.97750185e+02] [-9.98927293e-01 2.44654085e-03 4.62415101e-02 -8.94643146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:-197.75, Z:-894.67 [[ 1.91490226e-02 -8.89895468e-01 4.55762407e-01 4.10110875e+02] [ 4.26336718e-02 4.56158142e-01 8.88876887e-01 -1.97749006e+02] [-9.98907246e-01 2.40970129e-03 4.66744938e-02 -8.94671179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-197.75, Z:-894.70 [[ 1.90797183e-02 -8.93500908e-01 4.48655873e-01 4.10116151e+02] [ 4.25084297e-02 4.49056737e-01 8.92491502e-01 -1.97747447e+02] [-9.98913909e-01 2.04317018e-03 4.65491966e-02 -8.94699558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-197.75, Z:-894.73 [[ 1.90082180e-02 -8.97026133e-01 4.41568574e-01 4.10121202e+02] [ 4.25056708e-02 4.41974093e-01 8.96020184e-01 -1.97745564e+02] [-9.98915390e-01 1.73742145e-03 4.65298374e-02 -8.94727728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-197.74, Z:-894.76 [[ 1.91774072e-02 -9.00536236e-01 4.34357818e-01 4.10126308e+02] [ 4.18815969e-02 4.34779948e-01 8.99562299e-01 -1.97743802e+02] [-9.98938516e-01 9.40326550e-04 4.60538478e-02 -8.94755075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-197.74, Z:-894.78 [[ 1.93644798e-02 -9.02030043e-01 4.31238703e-01 4.10128024e+02] [ 4.10900678e-02 4.31673173e-01 9.01093712e-01 -1.97742361e+02] [-9.98967779e-01 2.70416560e-04 4.54236020e-02 -8.94783113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-197.74, Z:-894.81 [[ 1.92321062e-02 -9.05403427e-01 4.24116446e-01 4.10132823e+02] [ 4.07541505e-02 4.24552260e-01 9.04485753e-01 -1.97740477e+02] [-9.98984097e-01 -1.10660539e-04 4.50639817e-02 -8.94811486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-197.74, Z:-894.84 [[ 1.94336964e-02 -9.08700185e-01 4.16996769e-01 4.10137836e+02] [ 4.03650465e-02 4.17448581e-01 9.07803583e-01 -1.97738084e+02] [-9.98995993e-01 -8.09885307e-04 4.47922942e-02 -8.94839918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-197.74, Z:-894.87 [[ 1.97405942e-02 -9.11939566e-01 4.09849407e-01 4.10142418e+02] [ 3.96107845e-02 4.10320804e-01 9.11080580e-01 -1.97736533e+02] [-9.99020167e-01 -1.75081551e-03 4.42226181e-02 -8.94866886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-197.74, Z:-894.89 [[ 2.00660671e-02 -9.13321147e-01 4.06745419e-01 4.10144259e+02] [ 3.93267437e-02 4.07233506e-01 9.12477002e-01 -1.97735119e+02] [-9.99024905e-01 -2.31385194e-03 4.40895215e-02 -8.94894284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:-197.73, Z:-894.92 [[ 2.15114511e-02 -9.15415157e-01 4.01935751e-01 4.10146696e+02] [ 3.83124024e-02 4.02488271e-01 9.14623066e-01 -1.97733557e+02] [-9.99034242e-01 -4.27574516e-03 4.37298606e-02 -8.94922533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:-197.73, Z:-894.95 [[ 2.22509221e-02 -9.18489528e-01 3.94818799e-01 4.10151215e+02] [ 3.77428448e-02 3.95406792e-01 9.17730324e-01 -1.97731342e+02] [-9.99039726e-01 -5.51876126e-03 4.34645735e-02 -8.94950182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:-197.73, Z:-894.98 [[ 2.31782177e-02 -9.21517250e-01 3.87645105e-01 4.10155665e+02] [ 3.69866221e-02 3.88274245e-01 9.20801336e-01 -1.97729154e+02] [-9.99046926e-01 -7.00485083e-03 4.30833153e-02 -8.94977768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.16, Y:-197.73, Z:-895.00 [[ 2.56780129e-02 -9.24424447e-01 3.80499778e-01 4.10160082e+02] [ 3.53961429e-02 3.81227377e-01 9.23803442e-01 -1.97727193e+02] [-9.99043419e-01 -1.02532122e-02 4.25102213e-02 -8.95004459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:-197.73, Z:-895.03 [[ 2.65263299e-02 -9.25678033e-01 3.77381151e-01 4.10162330e+02] [ 3.53515052e-02 3.78146519e-01 9.25070528e-01 -1.97725574e+02] [-9.99022835e-01 -1.11977343e-02 4.27549511e-02 -8.95032535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-197.72, Z:-895.06 [[ 2.70198517e-02 -9.28536054e-01 3.70257645e-01 4.10166958e+02] [ 3.51631170e-02 3.71046502e-01 9.27948301e-01 -1.97723557e+02] [-9.99016258e-01 -1.20536126e-02 4.26758433e-02 -8.95060655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-197.72, Z:-895.09 [[ 2.84061849e-02 -9.31376916e-01 3.62946454e-01 4.10171447e+02] [ 3.51284952e-02 3.63798835e-01 9.30814910e-01 -1.97721704e+02] [-9.98979018e-01 -1.36911377e-02 4.30520065e-02 -8.95087252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-197.72, Z:-895.12 [[ 2.88887369e-02 -9.32598543e-01 3.59757417e-01 4.10174027e+02] [ 3.57919010e-02 3.60641929e-01 9.32017349e-01 -1.97720210e+02] [-9.98941630e-01 -1.40484021e-02 4.37979645e-02 -8.95115491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-197.72, Z:-895.14 [[ 2.91247376e-02 -9.35395608e-01 3.52401484e-01 4.10178989e+02] [ 3.65910741e-02 3.53312448e-01 9.34789499e-01 -1.97718005e+02] [-9.98905823e-01 -1.43307501e-02 4.45172624e-02 -8.95142548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-197.72, Z:-895.17 [[ 2.78520916e-02 -9.36625052e-01 3.49224530e-01 4.10180863e+02] [ 3.65370629e-02 3.50080494e-01 9.36006779e-01 -1.97716879e+02] [-9.98944095e-01 -1.33101079e-02 4.39720025e-02 -8.95170669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-197.71, Z:-895.20 [[ 2.66116895e-02 -9.39415955e-01 3.41744761e-01 4.10185955e+02] [ 3.66856929e-02 3.42553317e-01 9.38781862e-01 -1.97714441e+02] [-9.98972461e-01 -1.24454281e-02 4.35790477e-02 -8.95197396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-197.71, Z:-895.22 [[ 2.52708015e-02 -9.40625378e-01 3.38504483e-01 4.10188860e+02] [ 3.68716223e-02 3.39259233e-01 9.39970030e-01 -1.97713081e+02] [-9.99000436e-01 -1.12725866e-02 4.32557364e-02 -8.95224923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-197.71, Z:-895.25 [[ 2.25431156e-02 -9.43314404e-01 3.31134026e-01 4.10194423e+02] [ 3.76603701e-02 3.31784376e-01 9.42603217e-01 -1.97710819e+02] [-9.99036288e-01 -8.77858332e-03 4.30050231e-02 -8.95253068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-197.71, Z:-895.28 [[ 2.10226339e-02 -9.45962424e-01 3.23594101e-01 4.10199789e+02] [ 3.84291497e-02 3.24191006e-01 9.45210766e-01 -1.97708572e+02] [-9.99040164e-01 -7.43537374e-03 4.31678804e-02 -8.95281168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-197.71, Z:-895.31 [[ 1.96024422e-02 -9.48536371e-01 3.16060907e-01 4.10205370e+02] [ 3.91762595e-02 3.16607583e-01 9.47747255e-01 -1.97706197e+02] [-9.99040022e-01 -6.19607663e-03 4.33663889e-02 -8.95308821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-197.70, Z:-895.34 [[ 1.72770761e-02 -9.51118225e-01 3.08343357e-01 4.10211179e+02] [ 3.96840051e-02 3.08798694e-01 9.50299188e-01 -1.97703761e+02] [-9.99062902e-01 -4.18209205e-03 4.30793190e-02 -8.95335842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-197.70, Z:-895.36 [[ 1.60732967e-02 -9.52217453e-01 3.04997658e-01 4.10213122e+02] [ 3.99246870e-02 3.05405009e-01 9.51385201e-01 -1.97702541e+02] [-9.99073405e-01 -3.11496057e-03 4.29258491e-02 -8.95363655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-197.70, Z:-895.39 [[ 1.48687403e-02 -9.54607639e-01 2.97494835e-01 4.10217794e+02] [ 4.02047442e-02 2.97857895e-01 9.53763206e-01 -1.97700151e+02] [-9.99080827e-01 -2.22055364e-03 4.28085276e-02 -8.95392106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-197.70, Z:-895.42 [[ 1.25655664e-02 -9.56948921e-01 2.89984257e-01 4.10222827e+02] [ 4.14346880e-02 2.90256374e-01 9.56051465e-01 -1.97697525e+02] [-9.99062197e-01 2.07905127e-06 4.32981157e-02 -8.95419979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-197.68, Z:-895.45 [[ 1.46777445e-02 -9.64344484e-01 2.64242842e-01 4.10244081e+02] [ 4.63806231e-02 2.64643482e-01 9.63230328e-01 -1.97684607e+02] [-9.98816000e-01 -1.88230098e-03 4.86112675e-02 -8.95450713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-197.72, Z:-895.48 [[ 1.16846758e-02 -8.94176365e-01 4.47562395e-01 4.10122706e+02] [ 4.19645888e-02 4.47637125e-01 8.93230081e-01 -1.97723245e+02] [-9.99050770e-01 8.34466792e-03 4.27542381e-02 -8.95479096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-197.69, Z:-895.50 [[ 6.71581030e-03 -9.61166349e-01 2.75887926e-01 4.10233340e+02] [ 4.35280117e-02 2.75913632e-01 9.60196324e-01 -1.97692585e+02] [-9.99029634e-01 5.56035650e-03 4.36906437e-02 -8.95504794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-197.68, Z:-895.54 [[ 8.21909087e-03 -9.68367654e-01 2.49392330e-01 4.10254868e+02] [ 4.81864004e-02 2.49494567e-01 9.67176578e-01 -1.97679222e+02] [-9.98804544e-01 4.06800647e-03 4.87127700e-02 -8.95537987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-197.72, Z:-895.57 [[ 4.97840873e-03 -9.00592092e-01 4.34636745e-01 4.10133398e+02] [ 4.48785589e-02 4.34405415e-01 8.99598716e-01 -1.97719499e+02] [-9.98980045e-01 1.50273006e-02 4.25799229e-02 -8.95567064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-197.69, Z:-895.59 [[-1.17404813e-03 -9.63234054e-01 2.68661086e-01 4.10239569e+02] [ 4.46624366e-02 2.68342675e-01 9.62287626e-01 -1.97688189e+02] [-9.99001446e-01 1.31288307e-02 4.27053326e-02 -8.95593028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-197.68, Z:-895.62 [[-3.36548238e-03 -9.65361099e-01 2.60895807e-01 4.10244980e+02] [ 4.50115840e-02 2.60486613e-01 9.64427645e-01 -1.97684907e+02] [-9.98980796e-01 1.49890978e-02 4.25757691e-02 -8.95620412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-197.68, Z:-895.65 [[-6.10852769e-03 -9.66247905e-01 2.57541592e-01 4.10247375e+02] [ 4.47164995e-02 2.57024826e-01 9.65369708e-01 -1.97683143e+02] [-9.98981041e-01 1.74133461e-02 4.16371807e-02 -8.95648261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.25, Y:-197.68, Z:-895.68 [[-1.02488706e-02 -9.68220716e-01 2.49887186e-01 4.10251727e+02] [ 4.41417593e-02 2.49218630e-01 9.67440737e-01 -1.97679889e+02] [-9.98972705e-01 2.09456349e-02 4.01847563e-02 -8.95676584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-197.68, Z:-895.70 [[-1.18640173e-02 -9.70167688e-01 2.42144384e-01 4.10256250e+02] [ 4.37400466e-02 2.41426111e-01 9.69432948e-01 -1.97676726e+02] [-9.98972499e-01 2.20927760e-02 3.95708963e-02 -8.95703771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.26, Y:-197.67, Z:-895.74 [[-1.33728147e-02 -9.71374476e-01 2.37176719e-01 4.10259049e+02] [ 4.30531261e-02 2.36418595e-01 9.70697005e-01 -1.97673905e+02] [-9.98983281e-01 2.31921504e-02 3.86591257e-02 -8.95736962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-197.69, Z:-895.77 [[-1.21471482e-02 -9.55251431e-01 2.95545514e-01 4.10224263e+02] [ 4.44608500e-02 2.94759018e-01 9.54536722e-01 -1.97686167e+02] [-9.98937275e-01 2.47351038e-02 3.88908091e-02 -8.95769902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-197.69, Z:-895.80 [[-9.33350832e-03 -9.44497033e-01 3.28387332e-01 4.10205118e+02] [ 4.67140589e-02 3.27631248e-01 9.43650127e-01 -1.97689630e+02] [-9.98864697e-01 2.41478715e-02 4.10633411e-02 -8.95804483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7165599950001 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:410.15, Y:-197.70, Z:-895.84 [[-5.37094823e-03 -9.11101817e-01 4.12146373e-01 4.10152519e+02] [ 4.75863769e-02 4.11452518e-01 9.10188092e-01 -1.97703682e+02] [-9.98852687e-01 2.45011258e-02 4.11461443e-02 -8.95835558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.02, Y:-197.71, Z:-895.86 [[-7.68274116e-04 -8.02336647e-01 5.96871271e-01 4.10015989e+02] [ 5.05441498e-02 5.96077386e-01 8.01334536e-01 -1.97714391e+02] [-9.98721532e-01 3.07839955e-02 4.00954728e-02 -8.95863033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.776559995 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:410.18, Y:-197.69, Z:-895.89 [[-2.66356283e-03 -9.33811096e-01 3.57756541e-01 4.10179442e+02] [ 4.45180951e-02 3.57292389e-01 9.32931020e-01 -1.97694614e+02] [-9.99005027e-01 1.84115601e-02 4.06198205e-02 -8.95890925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.10, Y:-197.71, Z:-895.92 [[ 7.10659367e-04 -8.76893975e-01 4.80683317e-01 4.10095915e+02] [ 4.70265806e-02 4.80180934e-01 8.75907970e-01 -1.97707152e+02] [-9.98893386e-01 2.19824205e-02 4.15785703e-02 -8.95919465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.836559995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:410.20, Y:-197.68, Z:-895.95 [[ 4.31187464e-03 -9.49324914e-01 3.14266791e-01 4.10201722e+02] [ 4.29208721e-02 3.14155794e-01 9.48400725e-01 -1.97683647e+02] [-9.99069170e-01 9.39921969e-03 4.21004536e-02 -8.95947056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:-197.70, Z:-895.97 [[ 6.47052996e-03 -8.89747617e-01 4.56406957e-01 4.10106615e+02] [ 4.35158704e-02 4.56234684e-01 8.88794848e-01 -1.97701592e+02] [-9.99031782e-01 1.41099723e-02 4.16702222e-02 -8.95973651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-197.60, Z:-896.00 [[ 6.16188830e-03 -9.99980750e-01 -7.28447447e-04 4.10371881e+02] [ 4.03830490e-02 -4.79026532e-04 9.99184157e-01 -1.97597119e+02] [-9.99165272e-01 -6.18627810e-03 4.03793200e-02 -8.95997967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-197.66, Z:-896.03 [[ 9.66193726e-03 -9.77027302e-01 2.12895040e-01 4.10256442e+02] [ 4.26654182e-02 2.13113890e-01 9.76095350e-01 -1.97656498e+02] [-9.99042696e-01 -3.47716107e-04 4.37443715e-02 -8.96033888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.63, Z:-896.06 [[ 1.46025999e-02 -9.91469014e-01 1.29522041e-01 4.10303540e+02] [ 4.64866740e-02 1.30068961e-01 9.90414587e-01 -1.97626526e+02] [-9.98812171e-01 -8.44157905e-03 4.79894418e-02 -8.96063726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-197.67, Z:-896.10 [[ 1.22142471e-02 -9.54352298e-01 2.98433417e-01 4.10201694e+02] [ 4.14437349e-02 2.98682390e-01 9.53452278e-01 -1.97671045e+02] [-9.99066179e-01 7.22493722e-04 4.32001041e-02 -8.96096905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-197.59, Z:-896.13 [[ 1.12301484e-02 -9.99918071e-01 6.14284458e-03 4.10362446e+02] [ 4.12068016e-02 6.60079244e-03 9.99128835e-01 -1.97591379e+02] [-9.99087525e-01 -1.09672381e-02 4.12775535e-02 -8.96126054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-197.66, Z:-896.16 [[ 1.13420673e-02 -9.64578945e-01 2.63550405e-01 4.10220951e+02] [ 4.14108213e-02 2.63794348e-01 9.63689621e-01 -1.97659350e+02] [-9.99077826e-01 -1.63938368e-05 4.29359796e-02 -8.96160726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-197.60, Z:-896.19 [[ 9.96460417e-03 -9.99177325e-01 3.93113287e-02 4.10343469e+02] [ 4.03058931e-02 3.96826726e-02 9.98399079e-01 -1.97599583e+02] [-9.99137699e-01 -8.36417342e-03 4.06681566e-02 -8.96188963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.63, Z:-896.22 [[ 6.72787109e-03 -9.89024927e-01 1.47595490e-01 4.10281166e+02] [ 3.71046744e-02 1.47744094e-01 9.88329361e-01 -1.97633264e+02] [-9.99288737e-01 -1.17286993e-03 3.76914511e-02 -8.96220619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.136559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.53, Y:-197.42, Z:-896.24 [[ 7.95772874e-03 -9.23343214e-01 -3.83893195e-01 4.10526386e+02] [ 3.34791027e-02 -3.83444116e-01 9.22957074e-01 -1.97424652e+02] [-9.99407737e-01 -2.01970417e-02 2.78613581e-02 -8.96241961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.44, Y:-196.64, Z:-896.22 [[-6.93282873e-03 2.30835139e-01 -9.72968178e-01 4.10439909e+02] [ 1.08515029e-01 -9.67071913e-01 -2.30209478e-01 -1.96644525e+02] [-9.94070634e-01 -1.07177673e-01 -1.83445379e-02 -8.96218425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.85, Y:-196.51, Z:-896.27 [[-7.77414390e-02 9.66679817e-01 -2.43898339e-01 4.09850271e+02] [ 1.41185678e-01 -2.31498463e-01 -9.62535748e-01 -1.96513616e+02] [-9.86925971e-01 -1.09263867e-01 -1.18484322e-01 -8.96272921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:-196.97, Z:-896.45 [[-1.38539165e-01 6.35817598e-01 7.59304209e-01 4.09453450e+02] [ 8.84305658e-02 7.71576847e-01 -6.29959685e-01 -1.96974928e+02] [-9.86401001e-01 -2.01283877e-02 -1.63119322e-01 -8.96445028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.256559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.74, Y:-197.53, Z:-896.51 [[-1.10133405e-01 -4.59447136e-01 8.81350647e-01 4.09741116e+02] [ 1.71728814e-02 8.85732886e-01 4.63877512e-01 -1.97534907e+02] [-9.93768447e-01 6.62237398e-02 -8.96587472e-02 -8.96511349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.35, Y:-197.49, Z:-896.58 [[-3.47679111e-02 -9.97958640e-01 -5.35700092e-02 4.10354838e+02] [ 2.65668678e-02 -5.45063786e-02 9.98159935e-01 -1.97488600e+02] [-9.99042238e-01 3.32807486e-02 2.84077081e-02 -8.96584054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:-197.57, Z:-896.71 [[ 3.42069453e-02 -9.57007277e-01 2.88039854e-01 4.10137106e+02] [ 6.69149834e-03 2.88421373e-01 9.57480201e-01 -1.97570219e+02] [-9.99392370e-01 -3.08250547e-02 1.62698268e-02 -8.96706444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:-197.30, Z:-896.76 [[ 4.11215191e-02 5.96015482e-02 9.97374893e-01 4.09452613e+02] [-6.23214814e-03 9.98215116e-01 -5.93948087e-02 -1.97297363e+02] [-9.99134716e-01 -3.77338333e-03 4.14195676e-02 -8.96755308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:-197.30, Z:-896.78 [[ 4.23990390e-02 5.61582808e-02 9.97521212e-01 4.09453960e+02] [-6.89004616e-03 9.98411728e-01 -5.59155576e-02 -1.97298066e+02] [-9.99076999e-01 -4.50220130e-03 4.27186309e-02 -8.96783293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-197.30, Z:-896.81 [[ 4.37519973e-02 4.69462186e-02 9.97938783e-01 4.09457369e+02] [-7.30873115e-03 9.98883613e-01 -4.66702343e-02 -1.97302036e+02] [-9.99015688e-01 -5.25175031e-03 4.40462704e-02 -8.96810669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-197.30, Z:-896.84 [[ 4.51443214e-02 4.06863275e-02 9.98151598e-01 4.09459842e+02] [-7.67681391e-03 9.99154903e-01 -4.03800175e-02 -1.97304186e+02] [-9.98950978e-01 -5.83969559e-03 4.54185114e-02 -8.96838995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:409.45, Y:-197.29, Z:-896.87 [[ 3.87258352e-02 5.17062955e-02 9.97911203e-01 4.09448939e+02] [-3.71566757e-03 9.98660872e-01 -5.16009458e-02 -1.97293102e+02] [-9.99242965e-01 -1.70961658e-03 3.88660997e-02 -8.96868299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-197.58, Z:-896.89 [[ 4.43248429e-02 -7.15329020e-01 6.97380601e-01 4.09855238e+02] [ 5.16569033e-03 6.98221459e-01 7.15863192e-01 -1.97581612e+02] [-9.99003816e-01 -2.81280713e-02 3.46437247e-02 -8.96891866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.46, Y:-197.31, Z:-896.93 [[ 4.29414754e-02 3.68020170e-02 9.98399540e-01 4.09464368e+02] [-6.60828346e-03 9.99309927e-01 -3.65513505e-02 -1.97305478e+02] [-9.99055734e-01 -5.02813826e-03 4.31550408e-02 -8.96932286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-197.31, Z:-896.96 [[ 4.02184929e-02 3.14176676e-02 9.98696853e-01 4.09464673e+02] [-4.39298564e-03 9.99501443e-01 -3.12660692e-02 -1.97305791e+02] [-9.99181252e-01 -3.12978676e-03 4.03364590e-02 -8.96962660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.56, Y:-197.42, Z:-896.99 [[ 4.22908535e-02 -2.05694839e-01 9.77701957e-01 4.09555269e+02] [-3.10930625e-03 9.78545615e-01 2.06006826e-01 -1.97419233e+02] [-9.99100504e-01 -1.17521793e-02 4.07439610e-02 -8.96989941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-197.31, Z:-897.02 [[ 4.00829127e-02 3.55309443e-02 9.98564426e-01 4.09468475e+02] [-4.78826421e-03 9.99362916e-01 -3.53671527e-02 -1.97307864e+02] [-9.99184884e-01 -3.36377181e-03 4.02275080e-02 -8.97019822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-197.31, Z:-897.05 [[ 4.00846565e-02 2.94961138e-02 9.98760832e-01 4.09471611e+02] [-4.04998472e-03 9.99560780e-01 -2.93571948e-02 -1.97311721e+02] [-9.99188079e-01 -2.86819304e-03 4.01865093e-02 -8.97047929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.48, Y:-197.32, Z:-897.07 [[ 4.05458482e-02 2.05461923e-02 9.98966410e-01 4.09475608e+02] [-4.10872432e-03 9.99783533e-01 -2.03962343e-02 -1.97317459e+02] [-9.99169231e-01 -3.27749496e-03 4.06214900e-02 -8.97074945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-197.31, Z:-897.11 [[ 3.63644005e-02 3.18976494e-02 9.98829400e-01 4.09466352e+02] [-2.08483363e-03 9.99490713e-01 -3.18428659e-02 -1.97308852e+02] [-9.99336422e-01 -9.24446405e-04 3.64123819e-02 -8.97105680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.736559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:409.67, Y:-197.51, Z:-897.13 [[ 4.28372067e-02 -4.21968911e-01 9.05597710e-01 4.09668208e+02] [ 2.77389404e-04 9.06434741e-01 4.22345810e-01 -1.97506354e+02] [-9.99082027e-01 -1.78409115e-02 3.89461820e-02 -8.97132270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.48, Y:-197.31, Z:-897.17 [[ 4.26789307e-02 2.80913917e-02 9.98693838e-01 4.09475524e+02] [-7.02268251e-03 9.99588379e-01 -2.78164409e-02 -1.97314952e+02] [-9.99064158e-01 -5.82633380e-03 4.28586401e-02 -8.97165876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.48, Y:-197.32, Z:-897.19 [[ 4.31994509e-02 2.47273969e-02 9.98760413e-01 4.09477274e+02] [-7.96064570e-03 9.99670443e-01 -2.44056052e-02 -1.97317163e+02] [-9.99034752e-01 -6.89646905e-03 4.33820603e-02 -8.97192504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:409.48, Y:-197.32, Z:-897.22 [[ 4.34682404e-02 2.08241389e-02 9.98837758e-01 4.09479478e+02] [-8.85662810e-03 9.99751489e-01 -2.04577587e-02 -1.97319861e+02] [-9.99015552e-01 -7.95707179e-03 4.36418697e-02 -8.97220056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-197.30, Z:-897.25 [[ 3.46153582e-02 4.66609461e-02 9.98310840e-01 4.09459049e+02] [-7.34724695e-03 9.98894365e-01 -4.64334621e-02 -1.97302788e+02] [-9.99373701e-01 -5.72752536e-03 3.49199157e-02 -8.97249389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.51, Z:-897.26 [[ 3.87792481e-02 -9.99083189e-01 -1.81370131e-02 4.10316105e+02] [ 2.70786837e-03 -1.80455285e-02 9.99833499e-01 -1.97505479e+02] [-9.99244133e-01 -3.88219039e-02 2.00559374e-03 -8.97255842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:-197.18, Z:-897.25 [[ 9.31489540e-02 -7.67673359e-01 -6.34035399e-01 4.10545773e+02] [ 6.30314803e-02 -6.30980047e-01 7.73234255e-01 -1.97177854e+02] [-9.93655023e-01 -1.11990152e-01 -1.03875432e-02 -8.97253933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.50, Z:-897.25 [[ 3.92722540e-02 4.28345264e-01 -9.02761333e-01 4.10285879e+02] [ 1.20274643e-01 -8.98916021e-01 -4.21288496e-01 -1.96500783e+02] [-9.91963558e-01 -9.20343484e-02 -8.68215322e-02 -8.97251222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.89, Y:-196.42, Z:-897.27 [[-2.72615137e-02 9.18545642e-01 -3.94373824e-01 4.09890070e+02] [ 1.42794661e-01 -3.86896144e-01 -9.11000032e-01 -1.96419490e+02] [-9.89376822e-01 -8.11497163e-02 -1.20616039e-01 -8.97266360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.44, Y:-196.80, Z:-897.44 [[-8.12248228e-02 7.65245110e-01 6.38594120e-01 4.09436144e+02] [ 8.69336415e-02 6.43708760e-01 -7.60316759e-01 -1.96799699e+02] [-9.92897311e-01 -6.24128169e-03 -1.18810674e-01 -8.97439775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.59, Y:-197.38, Z:-897.63 [[-5.58222611e-02 -2.52437338e-01 9.66001690e-01 4.09591551e+02] [ 1.50702683e-02 9.67187063e-01 2.53617966e-01 -1.97380541e+02] [-9.98326982e-01 2.87154329e-02 -5.01862703e-02 -8.97628239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-197.45, Z:-897.79 [[ 3.29197598e-02 -9.93666933e-01 1.07435174e-01 4.10244690e+02] [ 2.85238636e-02 1.08383715e-01 9.93699834e-01 -1.97448113e+02] [-9.99050889e-01 -2.96478935e-02 3.19111859e-02 -8.97791656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-197.52, Z:-897.83 [[ 2.67409396e-02 -7.30251330e-01 6.82655050e-01 4.09860997e+02] [ 1.13968270e-02 6.83077586e-01 7.30256889e-01 -1.97520444e+02] [-9.99577428e-01 -1.17476539e-02 2.65886845e-02 -8.97829023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:-196.67, Z:-897.84 [[ 7.13349627e-03 -1.78625611e-01 -9.83891257e-01 4.10506033e+02] [ 3.67405635e-02 -9.83205136e-01 1.78767425e-01 -1.96671677e+02] [-9.99299377e-01 -3.74239559e-02 -4.50884592e-04 -8.97841100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.02, Y:-196.33, Z:-897.84 [[-6.43949277e-02 7.64251450e-01 -6.41695422e-01 4.10016287e+02] [ 7.04739564e-02 -6.37941811e-01 -7.66853094e-01 -1.96325510e+02] [-9.95432928e-01 -9.46042647e-02 -1.27796066e-02 -8.97842780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-197.15, Z:-897.93 [[-3.62089344e-02 -8.41179747e-01 -5.39541978e-01 4.10517529e+02] [ 8.80216635e-02 -5.40482192e-01 8.36738422e-01 -1.97146887e+02] [-9.95460245e-01 -1.71939758e-02 9.36123249e-02 -8.97930887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2165599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:410.51, Y:-197.17, Z:-898.03 [[-3.25059085e-02 -8.60706284e-01 -5.08063046e-01 4.10508403e+02] [ 6.99734311e-02 -5.09044154e-01 8.57891467e-01 -1.97172404e+02] [-9.97019100e-01 -7.66437302e-03 7.67735145e-02 -8.98034344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:-197.07, Z:-897.96 [[-3.64580045e-02 -7.60091620e-01 -6.48792373e-01 4.10542850e+02] [ 9.19951442e-02 -6.49019961e-01 7.55188708e-01 -1.97065541e+02] [-9.95091809e-01 -3.21530747e-02 9.35867108e-02 -8.97964327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-197.19, Z:-898.16 [[-2.95955034e-02 -8.87699171e-01 -4.59471750e-01 4.10489205e+02] [ 7.66830474e-02 -4.60334795e-01 8.84427265e-01 -1.97189758e+02] [-9.96616183e-01 -9.05862384e-03 8.16953176e-02 -8.98161068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:-197.12, Z:-898.09 [[-8.08059869e-03 -8.24786878e-01 -5.65385983e-01 4.10509603e+02] [ 1.12393836e-01 -5.62570786e-01 8.19073707e-01 -1.97123142e+02] [-9.93630882e-01 -5.69272935e-02 9.72468699e-02 -8.98087328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.336559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:410.34, Y:-197.36, Z:-898.30 [[-2.60964092e-03 -9.93927371e-01 -1.10007143e-01 4.10341285e+02] [ 9.26364570e-02 -1.09774764e-01 9.89630228e-01 -1.97357664e+02] [-9.95696579e-01 -7.60809246e-03 9.23603828e-02 -8.98304738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:410.37, Y:-197.32, Z:-898.39 [[ 5.32266967e-03 -9.83330399e-01 -1.81749818e-01 4.10372492e+02] [ 9.51987799e-02 -1.80428622e-01 9.78970227e-01 -1.97320995e+02] [-9.95444053e-01 -2.25130961e-02 9.26514923e-02 -8.98394290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-196.63, Z:-898.22 [[-1.20215619e-02 -8.82419090e-02 -9.96026530e-01 4.10458077e+02] [ 1.81089558e-01 -9.79819352e-01 8.46203873e-02 -1.96628560e+02] [-9.83393133e-01 -1.79352734e-01 2.77586472e-02 -8.98215942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.42, Z:-898.38 [[ 1.75503759e-02 -9.99736757e-01 1.47783851e-02 4.10282261e+02] [ 1.81113140e-01 1.77148931e-02 9.83302707e-01 -1.97417524e+02] [-9.83305657e-01 -1.45807724e-02 1.81376366e-01 -8.98376471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.41, Z:-898.40 [[ 1.73162208e-02 -9.99763389e-01 1.31649218e-02 4.10285293e+02] [ 1.81232669e-01 1.60872529e-02 9.83308660e-01 -1.97412170e+02] [-9.83287785e-01 -1.46412759e-02 1.81468358e-01 -8.98402639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.41, Z:-898.43 [[ 1.67193793e-02 -9.99782465e-01 1.24693471e-02 4.10286701e+02] [ 1.81000548e-01 1.52914517e-02 9.83364110e-01 -1.97407165e+02] [-9.83340869e-01 -1.41842789e-02 1.81216838e-01 -8.98430574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.40, Z:-898.46 [[ 1.61552780e-02 -9.99810073e-01 1.09007376e-02 4.10288293e+02] [ 1.80315469e-01 1.36366678e-02 9.83514297e-01 -1.97401940e+02] [-9.83476151e-01 -1.39233753e-02 1.80501526e-01 -8.98456981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.40, Z:-898.48 [[ 1.50233852e-02 -9.99834882e-01 1.02228613e-02 4.10290591e+02] [ 1.79267219e-01 1.27517164e-02 9.83717774e-01 -1.97396520e+02] [-9.83685703e-01 -1.29461471e-02 1.79429193e-01 -8.98483924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.39, Z:-898.51 [[ 1.39013630e-02 -9.99857740e-01 9.55256865e-03 4.10292094e+02] [ 1.78197718e-01 1.18778730e-02 9.83923010e-01 -1.97391823e+02] [-9.83896502e-01 -1.19756250e-02 1.78337486e-01 -8.98511474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.39, Z:-898.54 [[ 1.13314030e-02 -9.99903703e-01 8.01154524e-03 4.10295339e+02] [ 1.77732507e-01 9.89850514e-03 9.84029052e-01 -1.97386651e+02] [-9.84013595e-01 -9.72651772e-03 1.77827556e-01 -8.98538092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.38, Z:-898.57 [[ 9.69864528e-03 -9.99925986e-01 7.34572152e-03 4.10296960e+02] [ 1.77841646e-01 8.95381076e-03 9.84018383e-01 -1.97381444e+02] [-9.84011324e-01 -8.23727005e-03 1.77915323e-01 -8.98565266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.38, Z:-898.59 [[ 8.01006107e-03 -9.99951852e-01 5.66855114e-03 4.10298910e+02] [ 1.77959715e-01 7.00373256e-03 9.84012849e-01 -1.97376341e+02] [-9.84005172e-01 -6.87322927e-03 1.78007247e-01 -8.98591725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6965599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.37, Z:-898.62 [[ 4.98683919e-03 -9.99975347e-01 4.94348271e-03 4.10301439e+02] [ 1.78355288e-01 5.75370750e-03 9.83949331e-01 -1.97371283e+02] [-9.83953517e-01 -4.02510081e-03 1.78379583e-01 -8.98619600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.37, Z:-898.65 [[ 3.90620881e-03 -9.99986960e-01 3.28970859e-03 4.10303356e+02] [ 1.78679558e-01 3.93475346e-03 9.83899453e-01 -1.97365654e+02] [-9.83899567e-01 -3.25551304e-03 1.78692598e-01 -8.98646404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.36, Z:-898.67 [[ 2.84051733e-03 -9.99992647e-01 2.57632357e-03 4.10304551e+02] [ 1.78977798e-01 3.04312375e-03 9.83848407e-01 -1.97360480e+02] [-9.83849013e-01 -2.33353374e-03 1.78985126e-01 -8.98674388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.36, Z:-898.70 [[ 1.94261867e-03 -9.99997498e-01 1.10924146e-03 4.10306345e+02] [ 1.79297095e-01 1.43957449e-03 9.83793921e-01 -1.97355495e+02] [-9.83793057e-01 -1.71225267e-03 1.79299443e-01 -8.98701656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.35, Z:-898.73 [[ 3.08356641e-03 -9.99995084e-01 -5.69085433e-04 4.10309368e+02] [ 1.80078784e-01 -4.49726450e-06 9.83652191e-01 -1.97350616e+02] [-9.83647357e-01 -3.13563707e-03 1.80077885e-01 -8.98727337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.35, Z:-898.76 [[ 2.96485144e-03 -9.99916871e-01 1.25483798e-02 4.10304303e+02] [ 1.79990859e-01 1.28771021e-02 9.83583993e-01 -1.97350563e+02] [-9.83663815e-01 -6.57586759e-04 1.80014075e-01 -8.98756087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.876559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.35, Z:-898.78 [[ 3.23336140e-03 -9.99935608e-01 1.08777252e-02 4.10307269e+02] [ 1.79467175e-01 1.12814190e-02 9.83699275e-01 -1.97345287e+02] [-9.83758649e-01 -1.22846067e-03 1.79492095e-01 -8.98782809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.35, Z:-898.81 [[ 2.26002905e-03 -9.99567850e-01 2.93088033e-02 4.10297325e+02] [ 1.76602655e-01 2.92471622e-02 9.83847603e-01 -1.97352273e+02] [-9.84279632e-01 2.95248831e-03 1.76592436e-01 -8.98812966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.34, Z:-898.84 [[ 1.40987276e-03 -9.99967964e-01 7.87935706e-03 4.10307362e+02] [ 1.76232950e-01 8.00449925e-03 9.84315943e-01 -1.97340144e+02] [-9.84347479e-01 8.42096368e-07 1.76238589e-01 -8.98839723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-197.28, Z:-898.86 [[ 6.80893222e-03 -9.95587644e-01 -9.35888966e-02 4.10361815e+02] [ 1.84324540e-01 -9.07377755e-02 9.78668034e-01 -1.97281986e+02] [-9.82841850e-01 -2.39144146e-02 1.82893407e-01 -8.98862329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.32, Z:-898.90 [[ 9.50298978e-03 -9.99807623e-01 1.71584066e-02 4.10309555e+02] [ 1.83887797e-01 1.86138488e-02 9.82770982e-01 -1.97320929e+02] [-9.82901303e-01 -6.18404102e-03 1.84029308e-01 -8.98896452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.32, Z:-898.92 [[ 1.07849611e-02 -9.99806357e-01 1.64600401e-02 4.10310301e+02] [ 1.83883098e-01 1.81632923e-02 9.82780291e-01 -1.97316325e+02] [-9.82888952e-01 -7.57252404e-03 1.84043381e-01 -8.98922769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.31, Z:-898.95 [[ 1.19225995e-02 -9.99804543e-01 1.57711151e-02 4.10311013e+02] [ 1.83993723e-01 1.76964912e-02 9.82768103e-01 -1.97311353e+02] [-9.82855107e-01 -8.81536435e-03 1.84168749e-01 -8.98950273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.31, Z:-898.98 [[ 1.17295026e-02 -9.99830578e-01 1.41857375e-02 4.10311782e+02] [ 1.84011262e-01 1.61027213e-02 9.82792225e-01 -1.97305902e+02] [-9.82854147e-01 -8.91732854e-03 1.84168963e-01 -8.98978308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.30, Z:-899.01 [[ 1.37352419e-02 -9.99818530e-01 1.32003801e-02 4.10313265e+02] [ 1.83845788e-01 1.55017467e-02 9.82832856e-01 -1.97300901e+02] [-9.82859130e-01 -1.10726127e-02 1.84025346e-01 -8.99006205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.30, Z:-899.03 [[ 1.41014397e-02 -9.99833367e-01 1.15925919e-02 4.10314428e+02] [ 1.83737390e-01 1.39873710e-02 9.82875844e-01 -1.97295644e+02] [-9.82874214e-01 -1.17299719e-02 1.83904015e-01 -8.99032816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1765599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.32, Z:-899.06 [[ 1.00593360e-02 -9.98709809e-01 4.97747679e-02 4.10290939e+02] [ 1.73459120e-01 5.07654478e-02 9.83531801e-01 -1.97319499e+02] [-9.84789695e-01 -1.25978936e-03 1.73745991e-01 -8.99063730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-197.23, Z:-899.08 [[ 1.23062477e-02 -9.93666763e-01 -1.11691188e-01 4.10373758e+02] [ 1.85175349e-01 -1.07502837e-01 9.76807673e-01 -1.97234923e+02] [-9.82628438e-01 -3.27032919e-02 1.82679633e-01 -8.99082181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.28, Z:-899.12 [[ 1.32929182e-02 -9.99853256e-01 1.08058287e-02 4.10316541e+02] [ 1.83223392e-01 1.30594527e-02 9.82984557e-01 -1.97279815e+02] [-9.82981428e-01 -1.10868527e-02 1.83370103e-01 -8.99117295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.27, Z:-899.15 [[ 1.13131052e-02 -9.99884888e-01 1.01106358e-02 4.10317295e+02] [ 1.82305536e-01 1.20042837e-02 9.83168647e-01 -1.97274466e+02] [-9.83176843e-01 -9.27946550e-03 1.82420356e-01 -8.99145321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.296559995 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.29, Z:-899.18 [[ 8.20639212e-03 -9.99256061e-01 3.76826140e-02 4.10301339e+02] [ 1.77316507e-01 3.85408432e-02 9.83398932e-01 -1.97288535e+02] [-9.84119663e-01 -1.38840776e-03 1.77500876e-01 -8.99176395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.27, Z:-899.20 [[ 4.22489324e-03 -9.99970528e-01 -6.41044895e-03 4.10322286e+02] [ 1.77591363e-01 -5.55830912e-03 9.84088621e-01 -1.97267164e+02] [-9.84095249e-01 -5.29610973e-03 1.77562646e-01 -8.99202519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-197.24, Z:-899.23 [[ 4.27918633e-03 -9.97972832e-01 -6.34973630e-02 4.10352684e+02] [ 1.79138763e-01 -6.17057428e-02 9.81886809e-01 -1.97236914e+02] [-9.83814511e-01 -1.55765157e-02 1.78511569e-01 -8.99228889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-197.23, Z:-899.26 [[ 5.35278056e-03 -9.99445245e-01 -3.28717100e-02 4.10340605e+02] [ 1.85652808e-01 -3.13074590e-02 9.82116530e-01 -1.97232302e+02] [-9.82600826e-01 -1.13597795e-02 1.85382234e-01 -8.99257080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.24, Z:-899.29 [[ 4.21338447e-03 -9.99922177e-01 1.17425429e-02 4.10318445e+02] [ 1.84633476e-01 1.23186425e-02 9.82730243e-01 -1.97244552e+02] [-9.82798416e-01 -1.97255384e-03 1.84671010e-01 -8.99287958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.24, Z:-899.32 [[ 3.21855011e-03 -9.99942731e-01 1.02067020e-02 4.10319120e+02] [ 1.84199056e-01 1.06249309e-02 9.82831531e-01 -1.97239245e+02] [-9.82883690e-01 -1.28322767e-03 1.84222704e-01 -8.99315257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.25, Z:-899.34 [[ 1.06266566e-03 -9.99723232e-01 2.35017243e-02 4.10311410e+02] [ 1.81109444e-01 2.33054934e-02 9.83186769e-01 -1.97245731e+02] [-9.83462374e-01 3.21158540e-03 1.81084085e-01 -8.99344823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.23, Z:-899.37 [[-8.52013389e-05 -9.99999615e-01 8.73692745e-04 4.10321293e+02] [ 1.82362160e-01 8.43504676e-04 9.83231067e-01 -1.97231370e+02] [-9.83231425e-01 2.43101095e-04 1.82362018e-01 -8.99370234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.23, Z:-899.40 [[ 3.85221629e-05 -9.99997431e-01 -2.26663874e-03 4.10322296e+02] [ 1.81172752e-01 -2.22214964e-03 9.83448777e-01 -1.97227744e+02] [-9.83451286e-01 -4.48537757e-04 1.81172201e-01 -8.99397326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-197.21, Z:-899.42 [[ 2.52115346e-03 -9.99712382e-01 -2.38494569e-02 4.10333939e+02] [ 1.84824690e-01 -2.29727982e-02 9.82502969e-01 -1.97207365e+02] [-9.82768273e-01 -6.88500924e-03 1.84713613e-01 -8.99422657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.21, Z:-899.45 [[ 3.43368400e-03 -9.99984371e-01 4.41213826e-03 4.10319485e+02] [ 1.85308050e-01 4.97203364e-03 9.82667902e-01 -1.97213282e+02] [-9.82674482e-01 -2.55656632e-03 1.85322226e-01 -8.99452720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.21, Z:-899.48 [[ 4.92068763e-03 -9.99983657e-01 2.91063534e-03 4.10317848e+02] [ 1.85862497e-01 3.77453162e-03 9.82568514e-01 -1.97208326e+02] [-9.82563443e-01 -4.29393478e-03 1.85878033e-01 -8.99480789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.20, Z:-899.51 [[ 5.67885424e-03 -9.99982870e-01 1.41781390e-03 4.10317508e+02] [ 1.85624089e-01 2.44734322e-03 9.82617784e-01 -1.97203557e+02] [-9.82604421e-01 -5.31696276e-03 1.85634807e-01 -8.99507480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.20, Z:-899.53 [[ 6.77188832e-03 -9.99976773e-01 7.70991703e-04 4.10316470e+02] [ 1.85026472e-01 2.01070312e-03 9.82731480e-01 -1.97197988e+02] [-9.82710205e-01 -6.51229396e-03 1.85035791e-01 -8.99534228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.21, Z:-899.56 [[ 4.71728715e-03 -9.99865700e-01 1.56948750e-02 4.10305604e+02] [ 1.81217732e-01 1.62899412e-02 9.83308076e-01 -1.97205428e+02] [-9.83431686e-01 -1.79435690e-03 1.81270239e-01 -8.99563387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:410.50, Y:-196.53, Z:-899.35 [[ 1.32851547e-02 -2.71361336e-01 -9.62385853e-01 4.10503072e+02] [ 2.54687262e-01 -9.29807821e-01 2.65691200e-01 -1.96534116e+02] [-9.66932212e-01 -2.48637167e-01 5.67596350e-02 -8.99347775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.25, Z:-899.56 [[ 2.89984951e-02 -9.96531868e-01 7.79956627e-02 4.10266176e+02] [ 2.51693438e-01 8.27938975e-02 9.64259085e-01 -1.97250496e+02] [-9.67372473e-01 -8.33106588e-03 2.53221431e-01 -8.99562223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.24, Z:-899.59 [[ 2.93248106e-02 -9.96605815e-01 7.69214185e-02 4.10266743e+02] [ 2.51388290e-01 8.18342747e-02 9.64420593e-01 -1.97243124e+02] [-9.67441979e-01 -8.94430738e-03 2.52934806e-01 -8.99589473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.24, Z:-899.62 [[ 2.97011535e-02 -9.96680204e-01 7.58050910e-02 4.10267202e+02] [ 2.51496148e-01 8.08502824e-02 9.64475464e-01 -1.97235805e+02] [-9.67402465e-01 -9.58134544e-03 2.53062578e-01 -8.99615707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.23, Z:-899.64 [[ 3.01591664e-02 -9.96703000e-01 7.53229977e-02 4.10266652e+02] [ 2.51456789e-01 8.04993007e-02 9.64515083e-01 -1.97228931e+02] [-9.67398526e-01 -1.01484917e-02 2.53055527e-01 -8.99642505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.22, Z:-899.67 [[ 3.05955255e-02 -9.96773949e-01 7.41997951e-02 4.10267078e+02] [ 2.51765477e-01 7.95262887e-02 9.64515274e-01 -1.97221714e+02] [-9.67304532e-01 -1.08289049e-02 2.53386418e-01 -8.99668770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.21, Z:-899.70 [[ 3.07751173e-02 -9.96804408e-01 7.37147485e-02 4.10267296e+02] [ 2.51923783e-01 7.91042809e-02 9.64508642e-01 -1.97214931e+02] [-9.67257618e-01 -1.11123683e-02 2.53553181e-01 -8.99695555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.21, Z:-899.72 [[ 3.16329870e-02 -9.96859264e-01 7.26013893e-02 4.10268122e+02] [ 2.52070912e-01 7.82464640e-02 9.64540174e-01 -1.97207415e+02] [-9.67191610e-01 -1.22105884e-02 2.53754393e-01 -8.99721641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.20, Z:-899.75 [[ 3.14230803e-02 -9.96900547e-01 7.21241327e-02 4.10268661e+02] [ 2.52017255e-01 7.77307234e-02 9.64595894e-01 -1.97200656e+02] [-9.67212434e-01 -1.21340483e-02 2.53678678e-01 -8.99748457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.19, Z:-899.78 [[ 3.13640453e-02 -9.96981901e-01 7.10167979e-02 4.10269451e+02] [ 2.52716806e-01 7.66532055e-02 9.64499094e-01 -1.97193203e+02] [-9.67031806e-01 -1.23034550e-02 2.54358236e-01 -8.99775113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.19, Z:-899.80 [[ 3.09683192e-02 -9.97071233e-01 6.99279541e-02 4.10270100e+02] [ 2.52795246e-01 7.55001369e-02 9.64569486e-01 -1.97186284e+02] [-9.67024057e-01 -1.21936413e-02 2.54392980e-01 -8.99802232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-197.21, Z:-899.83 [[ 2.41943023e-02 -9.94086771e-01 1.05858995e-01 4.10243393e+02] [ 2.43597752e-01 1.08560560e-01 9.63781480e-01 -1.97205869e+02] [-9.69574531e-01 2.46899283e-03 2.44783850e-01 -8.99831005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-197.13, Z:-899.85 [[ 2.97908428e-02 -9.98044339e-01 -5.49545586e-02 4.10333045e+02] [ 2.56300076e-01 -4.55136214e-02 9.65525133e-01 -1.97127317e+02] [-9.66138074e-01 -4.28486650e-02 2.54442951e-01 -8.99845704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-197.19, Z:-899.89 [[ 2.51766675e-02 -9.94355349e-01 1.03070726e-01 4.10247177e+02] [ 2.46421110e-01 1.06094900e-01 9.63338211e-01 -1.97189221e+02] [-9.68835782e-01 1.14515693e-03 2.47701264e-01 -8.99887798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-197.12, Z:-899.90 [[ 2.96366007e-02 -9.98664485e-01 -4.23192485e-02 4.10329029e+02] [ 2.57044649e-01 -3.32995582e-02 9.65825651e-01 -1.97117395e+02] [-9.65944988e-01 -3.95017255e-02 2.55714476e-01 -8.99903922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.15, Z:-899.94 [[ 2.93215534e-02 -9.97210186e-01 6.86446827e-02 4.10275864e+02] [ 2.55174446e-01 7.38664209e-02 9.64069372e-01 -1.97149241e+02] [-9.66450334e-01 -1.07516428e-02 2.56628435e-01 -8.99942420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.25, Y:-197.17, Z:-899.97 [[ 2.21475761e-02 -9.94786735e-01 9.95431439e-02 4.10252223e+02] [ 2.45868739e-01 1.01929297e-01 9.63928930e-01 -1.97166778e+02] [-9.69050075e-01 3.12585793e-03 2.46844447e-01 -8.99970493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-197.09, Z:-899.99 [[ 2.59819965e-02 -9.98710576e-01 -4.36133207e-02 4.10333699e+02] [ 2.54390537e-01 -3.55862582e-02 9.66446622e-01 -1.97093961e+02] [-9.66752497e-01 -3.62050288e-02 2.53137917e-01 -8.99987078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.13, Z:-900.02 [[ 2.62992974e-02 -9.97405495e-01 6.70121244e-02 4.10279877e+02] [ 2.52611486e-01 7.14905323e-02 9.64923075e-01 -1.97126652e+02] [-9.67210310e-01 -8.44876657e-03 2.53836235e-01 -9.00024849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.12, Z:-900.05 [[ 2.62416940e-02 -9.97480014e-01 6.59165759e-02 4.10281120e+02] [ 2.52509774e-01 7.04151215e-02 9.65028769e-01 -1.97119448e+02] [-9.67238434e-01 -8.67940997e-03 2.53721265e-01 -9.00050835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.11, Z:-900.08 [[ 2.69312419e-02 -9.97510483e-01 6.51731954e-02 4.10281780e+02] [ 2.52414591e-01 6.98699946e-02 9.65093290e-01 -1.97112805e+02] [-9.67244324e-01 -9.54049540e-03 2.53667886e-01 -9.00077648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.12, Z:-900.11 [[ 2.37687715e-02 -9.95784773e-01 8.85874264e-02 4.10265058e+02] [ 2.46257185e-01 9.17138833e-02 9.64855410e-01 -1.97124138e+02] [-9.68913022e-01 -1.11813751e-03 2.47399082e-01 -9.00107601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-197.08, Z:-900.13 [[ 2.85787998e-02 -9.99588833e-01 -2.32742324e-03 4.10316121e+02] [ 2.54284573e-01 5.01832205e-03 9.67116421e-01 -1.97076063e+02] [-9.66707095e-01 -2.82308545e-02 2.54323437e-01 -9.00126714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.09, Z:-900.16 [[ 2.96798815e-02 -9.97577490e-01 6.29146668e-02 4.10283767e+02] [ 2.53436024e-01 6.83959644e-02 9.64931176e-01 -1.97092258e+02] [-9.66896730e-01 -1.26941999e-02 2.54852057e-01 -9.00159650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.09, Z:-900.19 [[ 3.02871728e-02 -9.97589617e-01 6.24311157e-02 4.10284478e+02] [ 2.53558351e-01 6.80847735e-02 9.64921047e-01 -1.97085122e+02] [-9.66845825e-01 -1.33947997e-02 2.55009274e-01 -9.00186703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-197.10, Z:-900.22 [[ 2.71403681e-02 -9.95882729e-01 8.64927238e-02 4.10266653e+02] [ 2.46463046e-01 9.05199710e-02 9.64915593e-01 -1.97097824e+02] [-9.68772093e-01 -4.87090419e-03 2.47905037e-01 -9.00216597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.07, Z:-900.24 [[ 2.79706546e-02 -9.99461503e-01 1.71565137e-02 4.10303765e+02] [ 2.47092726e-01 2.35436374e-02 9.68705777e-01 -1.97068308e+02] [-9.68588059e-01 -2.28560850e-02 2.47618198e-01 -9.00239170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-197.05, Z:-900.26 [[ 3.09990053e-02 -9.99515351e-01 2.85045496e-03 4.10314789e+02] [ 2.53989795e-01 1.06353985e-02 9.67148423e-01 -1.97045214e+02] [-9.66710011e-01 -2.92566526e-02 2.54196386e-01 -9.00264877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.06, Z:-900.30 [[ 3.07438067e-02 -9.97838615e-01 5.80768258e-02 4.10288172e+02] [ 2.53261707e-01 6.39848922e-02 9.65279463e-01 -1.97057881e+02] [-9.66909161e-01 -1.49677292e-02 2.54681450e-01 -9.00297927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.616559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.05, Z:-900.32 [[ 3.00464041e-02 -9.97922708e-01 5.69866885e-02 4.10289913e+02] [ 2.53151663e-01 6.27509900e-02 9.65389325e-01 -1.97051090e+02] [-9.66959901e-01 -1.45802028e-02 2.54511234e-01 -9.00323615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.04, Z:-900.35 [[ 2.80692271e-02 -9.98006912e-01 5.65183299e-02 4.10291704e+02] [ 2.53099150e-01 6.17939178e-02 9.65464827e-01 -1.97043874e+02] [-9.67033060e-01 -1.27951102e-02 2.54329209e-01 -9.00350247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6765599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.04, Z:-900.38 [[ 2.68101930e-02 -9.98102264e-01 5.54353982e-02 4.10292822e+02] [ 2.53075522e-01 6.04257466e-02 9.65557616e-01 -1.97036748e+02] [-9.67074968e-01 -1.18574437e-02 2.54215278e-01 -9.00376999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-197.03, Z:-900.40 [[ 2.50996659e-02 -9.98206006e-01 5.43578548e-02 4.10293902e+02] [ 2.52647565e-01 5.89438253e-02 9.65761271e-01 -1.97029850e+02] [-9.67232761e-01 -1.05069056e-02 2.53673787e-01 -9.00404027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.02, Z:-900.43 [[ 2.34119951e-02 -9.98305063e-01 5.32811355e-02 4.10295128e+02] [ 2.52493418e-01 5.74725165e-02 9.65890255e-01 -1.97022747e+02] [-9.67315332e-01 -9.16028186e-03 2.53411004e-01 -9.00429931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.04, Z:-900.46 [[ 1.47474854e-02 -9.96535568e-01 8.18497034e-02 4.10275431e+02] [ 2.43571543e-01 8.29731218e-02 9.66327255e-01 -1.97037600e+02] [-9.69770805e-01 5.68536152e-03 2.43951351e-01 -9.00460475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.796559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.98, Z:-900.48 [[ 1.76387573e-02 -9.99493100e-01 -2.65031566e-02 4.10336371e+02] [ 2.51104981e-01 -2.12294024e-02 9.67727028e-01 -1.96979427e+02] [-9.67799134e-01 -2.37245769e-02 2.50603235e-01 -9.00478065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-197.00, Z:-900.51 [[ 1.50585611e-02 -9.98507395e-01 5.24997249e-02 4.10298866e+02] [ 2.50888825e-01 5.45991859e-02 9.66474897e-01 -1.97000532e+02] [-9.67898774e-01 -1.38212704e-03 2.51336532e-01 -9.00513194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.02, Z:-900.54 [[ 8.68056618e-03 -9.96604612e-01 8.18773211e-02 4.10277818e+02] [ 2.43008110e-01 8.15282362e-02 9.66592057e-01 -1.97017074e+02] [-9.69985416e-01 1.15062867e-02 2.42890714e-01 -9.00543369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.96, Z:-900.56 [[ 1.29239217e-02 -9.99281694e-01 -3.56239958e-02 4.10342253e+02] [ 2.52346729e-01 -3.12142642e-02 9.67133289e-01 -1.96955110e+02] [-9.67550568e-01 -2.14887537e-02 2.51762056e-01 -9.00560243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.98, Z:-900.60 [[ 1.32622560e-02 -9.98648428e-01 5.02536634e-02 4.10299978e+02] [ 2.52760269e-01 5.19740879e-02 9.66131948e-01 -1.96980008e+02] [-9.67438039e-01 -1.10959729e-04 2.53107938e-01 -9.00596208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.97, Z:-900.62 [[ 1.30895232e-02 -9.98705945e-01 4.91436576e-02 4.10300447e+02] [ 2.53366503e-01 5.08566342e-02 9.66032618e-01 -1.96972975e+02] [-9.67281800e-01 -1.93549737e-04 2.53704322e-01 -9.00623583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.97, Z:-900.65 [[ 1.30826510e-02 -9.98759482e-01 4.80452076e-02 4.10301014e+02] [ 2.53654932e-01 4.97925119e-02 9.66012361e-01 -1.96966097e+02] [-9.67206297e-01 -4.51098760e-04 2.53991686e-01 -9.00650401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.96, Z:-900.68 [[ 1.28147681e-02 -9.98814639e-01 4.69584769e-02 4.10301835e+02] [ 2.53668783e-01 4.86733788e-02 9.66065759e-01 -1.96958689e+02] [-9.67206250e-01 -4.68008942e-04 2.53991832e-01 -9.00678002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.95, Z:-900.71 [[ 1.30027838e-02 -9.98859765e-01 4.59358104e-02 4.10302433e+02] [ 2.54041692e-01 4.77323444e-02 9.66014721e-01 -1.96951454e+02] [-9.67105861e-01 -8.91269591e-04 2.54372678e-01 -9.00705235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.96, Z:-900.74 [[ 1.26780226e-02 -9.97360272e-01 7.14965393e-02 4.10288199e+02] [ 2.49914412e-01 7.23935645e-02 9.65557848e-01 -1.96960557e+02] [-9.68184928e-01 5.62665136e-03 2.50172514e-01 -9.00738250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.93, Z:-900.76 [[ 1.42290018e-02 -9.99746053e-01 1.74747271e-02 4.10317253e+02] [ 2.54391304e-01 2.05209732e-02 9.66883630e-01 -1.96927018e+02] [-9.66996691e-01 -9.31237030e-03 2.54618695e-01 -9.00757100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-196.95, Z:-900.79 [[ 1.07862256e-02 -9.97406983e-01 7.11545316e-02 4.10283923e+02] [ 2.46022904e-01 7.16183663e-02 9.66614474e-01 -1.96951159e+02] [-9.69203997e-01 7.07952269e-03 2.46157454e-01 -9.00788795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.91, Z:-900.81 [[ 1.20372958e-02 -9.99826190e-01 -1.42370798e-02 4.10328019e+02] [ 2.46232777e-01 -1.08357746e-02 9.69150146e-01 -1.96914196e+02] [-9.69135967e-01 -1.51715827e-02 2.46059545e-01 -9.00808964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.89, Z:-900.83 [[ 1.84738051e-02 -9.99313665e-01 -3.21079209e-02 4.10340246e+02] [ 2.54168867e-01 -2.63645810e-02 9.66800443e-01 -1.96888412e+02] [-9.66983405e-01 -2.60213168e-02 2.53507368e-01 -9.00834651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-196.93, Z:-900.87 [[ 1.57265995e-02 -9.97411081e-01 7.01698698e-02 4.10283178e+02] [ 2.46022511e-01 7.18810423e-02 9.66595076e-01 -1.96931124e+02] [-9.69136522e-01 2.06211392e-03 2.46516023e-01 -9.00871330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-196.87, Z:-900.89 [[ 2.05764982e-02 -9.98692365e-01 -4.67992372e-02 4.10347557e+02] [ 2.54722904e-01 -4.00277710e-02 9.66185293e-01 -1.96869233e+02] [-9.66795144e-01 -3.18015475e-02 2.53566188e-01 -9.00888702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.276559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.89, Z:-900.92 [[ 2.27950841e-02 -9.98964170e-01 3.93823799e-02 4.10305261e+02] [ 2.53231159e-01 4.38774104e-02 9.66410241e-01 -1.96894344e+02] [-9.67137200e-01 -1.20565570e-02 2.53969044e-01 -9.00924202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-196.91, Z:-900.95 [[ 1.77217300e-02 -9.97680330e-01 6.57259478e-02 4.10284472e+02] [ 2.44805975e-01 6.80650970e-02 9.67180013e-01 -1.96909343e+02] [-9.69410117e-01 -1.04999834e-03 2.45444337e-01 -9.00952038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.86, Z:-900.97 [[ 1.92431588e-02 -9.99066055e-01 -3.86874523e-02 4.10338444e+02] [ 2.45821434e-01 -3.27791175e-02 9.68760730e-01 -1.96864681e+02] [-9.69124101e-01 -2.81522216e-02 2.44961076e-01 -9.00970225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-196.84, Z:-901.00 [[ 2.63371561e-02 -9.98362564e-01 -5.07793803e-02 4.10349533e+02] [ 2.53562102e-01 -4.24639403e-02 9.66386607e-01 -1.96839311e+02] [-9.66960503e-01 -3.83276013e-02 2.52028531e-01 -9.00998283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.88, Z:-901.03 [[ 2.34545486e-02 -9.98107348e-01 5.68472230e-02 4.10290813e+02] [ 2.45700805e-01 6.08738610e-02 9.67432420e-01 -1.96881135e+02] [-9.69061917e-01 -8.72328223e-03 2.46663548e-01 -9.01034545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.83, Z:-901.06 [[ 2.89751940e-02 -9.98992829e-01 -3.42602645e-02 4.10341365e+02] [ 2.53017693e-01 -2.58284549e-02 9.67116817e-01 -1.96831667e+02] [-9.67027655e-01 -3.66908505e-02 2.52014476e-01 -9.01055009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4565599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.85, Z:-901.09 [[ 2.99480491e-02 -9.98894479e-01 3.62344391e-02 4.10306839e+02] [ 2.51718171e-01 4.26192763e-02 9.66861707e-01 -1.96850312e+02] [-9.67337106e-01 -1.98347552e-02 2.52716255e-01 -9.01088685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.84, Z:-901.12 [[ 3.01370277e-02 -9.98927901e-01 3.51398363e-02 4.10307083e+02] [ 2.52019916e-01 4.16138842e-02 9.66826896e-01 -1.96843167e+02] [-9.67252667e-01 -2.02813503e-02 2.53003844e-01 -9.01116107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.84, Z:-901.14 [[ 3.16726144e-02 -9.98919404e-01 3.40127840e-02 4.10307020e+02] [ 2.52868472e-01 4.09311647e-02 9.66634458e-01 -1.96836499e+02] [-9.66982100e-01 -2.20150798e-02 2.53891621e-01 -9.01142046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.85, Z:-901.17 [[ 2.79115039e-02 -9.98168053e-01 5.36794720e-02 4.10291029e+02] [ 2.47655886e-01 5.89313615e-02 9.67054113e-01 -1.96846082e+02] [-9.68445925e-01 -1.36978974e-02 2.48847057e-01 -9.01169391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.80, Z:-901.19 [[ 3.28972131e-02 -9.98492229e-01 -4.39436175e-02 4.10344428e+02] [ 2.55860740e-01 -3.40887681e-02 9.66112435e-01 -1.96795226e+02] [-9.66153743e-01 -4.30258531e-02 2.54353535e-01 -9.01189197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.82, Z:-901.22 [[ 3.36349229e-02 -9.98904432e-01 3.25365568e-02 4.10307073e+02] [ 2.54755258e-01 4.00485864e-02 9.66175900e-01 -1.96816030e+02] [-9.66420432e-01 -2.42083930e-02 2.55823187e-01 -9.01223815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.81, Z:-901.25 [[ 3.33391914e-02 -9.98949461e-01 3.14399745e-02 4.10308235e+02] [ 2.55516297e-01 3.89312682e-02 9.66020589e-01 -1.96808652e+02] [-9.66229745e-01 -2.41729195e-02 2.56545804e-01 -9.01250540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.80, Z:-901.28 [[ 3.26197159e-02 -9.99007153e-01 3.03424204e-02 4.10309680e+02] [ 2.56457660e-01 3.77083198e-02 9.65819627e-01 -1.96801903e+02] [-9.66004877e-01 -2.37232157e-02 2.57433072e-01 -9.01277324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.79, Z:-901.30 [[ 3.18075849e-02 -9.99065848e-01 2.92525229e-02 4.10311450e+02] [ 2.56979886e-01 3.64579713e-02 9.65728821e-01 -1.96794950e+02] [-9.65893170e-01 -2.32001914e-02 2.57899467e-01 -9.01303522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.79, Z:-901.33 [[ 3.10223117e-02 -9.99104105e-01 2.87854664e-02 4.10312336e+02] [ 2.56939075e-01 3.58028922e-02 9.65764187e-01 -1.96787903e+02] [-9.65929567e-01 -2.25641265e-02 2.57819573e-01 -9.01330902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.78, Z:-901.36 [[ 3.07191145e-02 -9.99143707e-01 2.77162051e-02 4.10313458e+02] [ 2.56259496e-01 3.46752194e-02 9.65985870e-01 -1.96780531e+02] [-9.66119769e-01 -2.25716898e-02 2.57105255e-01 -9.01358117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.77, Z:-901.39 [[ 2.89221833e-02 -9.99225372e-01 2.66864092e-02 4.10314382e+02] [ 2.55907694e-01 3.32096913e-02 9.66130617e-01 -1.96772971e+02] [-9.66268472e-01 -2.11133494e-02 2.56669957e-01 -9.01385649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.77, Z:-901.41 [[ 2.69422892e-02 -9.99309707e-01 2.55777798e-02 4.10315809e+02] [ 2.54620551e-01 3.16034268e-02 9.66524495e-01 -1.96765046e+02] [-9.66665655e-01 -1.95277540e-02 2.55296256e-01 -9.01412252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.76, Z:-901.44 [[ 2.54775480e-02 -9.99375151e-01 2.44990251e-02 4.10316588e+02] [ 2.54010433e-01 3.01743766e-02 9.66730680e-01 -1.96758098e+02] [-9.66865862e-01 -1.84069194e-02 2.54620484e-01 -9.01438415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.75, Z:-901.47 [[ 2.28137729e-02 -9.99457212e-01 2.37657965e-02 4.10317001e+02] [ 2.53734595e-01 2.87821210e-02 9.66845564e-01 -1.96751052e+02] [-9.67004802e-01 -1.60271903e-02 2.54253500e-01 -9.01465148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.74, Z:-901.49 [[ 2.14082155e-02 -9.99513021e-01 2.27026285e-02 4.10317673e+02] [ 2.53640812e-01 2.73947472e-02 9.66910475e-01 -1.96744104e+02] [-9.67061543e-01 -1.49415147e-02 2.54103767e-01 -9.01491367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9365599950002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.75, Z:-901.52 [[ 1.70811665e-02 -9.98953144e-01 4.24364261e-02 4.10303831e+02] [ 2.49761018e-01 4.53600942e-02 9.67244486e-01 -1.96752589e+02] [-9.68156841e-01 -5.92269917e-03 2.50274357e-01 -9.01519631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-196.71, Z:-901.54 [[ 1.65473760e-02 -9.99142866e-01 -3.79436137e-02 4.10348733e+02] [ 2.55504812e-01 -3.24633863e-02 9.66262604e-01 -1.96707611e+02] [-9.66666165e-01 -2.56838866e-02 2.54748627e-01 -9.01539381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.996559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.72, Z:-901.57 [[ 1.60780493e-02 -9.99653838e-01 2.08254691e-02 4.10320534e+02] [ 2.55221220e-01 2.42413068e-02 9.66578754e-01 -1.96722057e+02] [-9.66748998e-01 -1.02255992e-02 2.55522625e-01 -9.01572600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.71, Z:-901.60 [[ 1.50912546e-02 -9.99690397e-01 1.97829072e-02 4.10321137e+02] [ 2.56182425e-01 2.29905435e-02 9.66355007e-01 -1.96714577e+02] [-9.66510641e-01 -9.51547628e-03 2.56450066e-01 -9.01598807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.71, Z:-901.63 [[ 1.44849317e-02 -9.99708154e-01 1.93337519e-02 4.10320860e+02] [ 2.56667744e-01 2.24053974e-02 9.66239964e-01 -1.96707957e+02] [-9.66391151e-01 -9.03356943e-03 2.56917377e-01 -9.01626566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.72, Z:-901.66 [[ 9.99915717e-03 -9.98850752e-01 4.68742165e-02 4.10301224e+02] [ 2.49409747e-01 4.78862889e-02 9.67213359e-01 -1.96722833e+02] [-9.68346423e-01 2.01956808e-03 2.49601936e-01 -9.01656349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.116559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.36, Y:-196.66, Z:-901.67 [[ 1.16557863e-02 -9.98122801e-01 -6.01250134e-02 4.10357302e+02] [ 2.58141439e-01 -5.50872675e-02 9.64535324e-01 -1.96664887e+02] [-9.66036821e-01 -2.67631751e-02 2.57014771e-01 -9.01674269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.69, Z:-901.71 [[ 1.17264138e-02 -9.99776252e-01 1.76050277e-02 4.10319021e+02] [ 2.57943217e-01 2.00348491e-02 9.65952329e-01 -1.96687138e+02] [-9.66088913e-01 -6.78605923e-03 2.58120440e-01 -9.01707804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1765599950002 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.70, Z:-901.74 [[ 8.74255606e-03 -9.98770102e-01 4.88042147e-02 4.10300403e+02] [ 2.50844009e-01 4.94359954e-02 9.66764380e-01 -1.96701155e+02] [-9.67988043e-01 3.79025310e-03 2.50967694e-01 -9.01739632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.35, Y:-196.65, Z:-901.76 [[ 7.77075711e-03 -9.99218911e-01 -3.87451174e-02 4.10345861e+02] [ 2.56910770e-01 -3.54507409e-02 9.65784708e-01 -1.96652445e+02] [-9.66403886e-01 -1.74589163e-02 2.56434621e-01 -9.01757486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.66, Z:-901.79 [[ 8.10157992e-03 -9.99840915e-01 1.58905400e-02 4.10319503e+02] [ 2.55607248e-01 1.74337654e-02 9.66623504e-01 -1.96664098e+02] [-9.66746761e-01 -3.76944038e-03 2.55707826e-01 -9.01788730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.66, Z:-901.82 [[ 7.06617408e-03 -9.99856194e-01 1.54162520e-02 4.10319469e+02] [ 2.54898523e-01 1.67083539e-02 9.66823445e-01 -1.96656081e+02] [-9.66941990e-01 -2.90216292e-03 2.54979931e-01 -9.01815603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.65, Z:-901.84 [[ 7.09420915e-03 -9.99872516e-01 1.43046980e-02 4.10319384e+02] [ 2.54421444e-01 1.56390833e-02 9.66966984e-01 -1.96649420e+02] [-9.67067423e-01 -3.22044411e-03 2.54499956e-01 -9.01841716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.66, Z:-901.87 [[ 5.99591646e-03 -9.99242981e-01 3.84384474e-02 4.10304503e+02] [ 2.50366919e-01 3.87149431e-02 9.67376638e-01 -1.96658525e+02] [-9.68132457e-01 3.82340613e-03 2.50409518e-01 -9.01873452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.63, Z:-901.90 [[ 7.47931817e-03 -9.99968115e-01 -2.79820153e-03 4.10322865e+02] [ 2.53043062e-01 -8.14569544e-04 9.67454674e-01 -1.96634563e+02] [-9.67426105e-01 -7.94396680e-03 2.53028901e-01 -9.01897234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.60, Z:-901.92 [[ 1.25138596e-02 -9.99094014e-01 -4.06762136e-02 4.10344480e+02] [ 2.60167219e-01 -3.60250666e-02 9.64891296e-01 -1.96603286e+02] [-9.65482481e-01 -2.26571316e-02 2.59480698e-01 -9.01920306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.64, Z:-901.95 [[ 1.23205521e-02 -9.98725389e-01 4.89469216e-02 4.10292515e+02] [ 2.51433266e-01 5.04721551e-02 9.66557745e-01 -1.96642209e+02] [-9.67796217e-01 3.98359297e-04 2.51734632e-01 -9.01954727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.60, Z:-901.97 [[ 1.50599983e-02 -9.98596985e-01 -5.07666980e-02 4.10342620e+02] [ 2.53512117e-01 -4.53000491e-02 9.66270931e-01 -1.96599192e+02] [-9.67214973e-01 -2.74220116e-02 2.52474217e-01 -9.01974759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.60, Z:-902.01 [[ 1.89010871e-02 -9.99600889e-01 -2.09955395e-02 4.10326319e+02] [ 2.54388801e-01 -1.55001822e-02 9.66977809e-01 -1.96601409e+02] [-9.66917311e-01 -2.36179619e-02 2.53994302e-01 -9.02005711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-196.57, Z:-902.03 [[ 2.38341707e-02 -9.98002847e-01 -5.84999956e-02 4.10347802e+02] [ 2.62368305e-01 -5.02210776e-02 9.63660063e-01 -1.96568241e+02] [-9.64673419e-01 -3.83165831e-02 2.60647338e-01 -9.02029338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.61, Z:-902.07 [[ 2.11687078e-02 -9.98671277e-01 4.69847580e-02 4.10290113e+02] [ 2.51226591e-01 5.08008402e-02 9.66594266e-01 -1.96611942e+02] [-9.67696794e-01 -8.65773097e-03 2.51968169e-01 -9.02066593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-196.55, Z:-902.08 [[ 2.69777141e-02 -9.96589908e-01 -7.79792157e-02 4.10356091e+02] [ 2.62124107e-01 -6.82254570e-02 9.62619468e-01 -1.96545409e+02] [-9.64657015e-01 -4.64095051e-02 2.59389673e-01 -9.02083491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.596559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.57, Z:-902.12 [[ 2.81088701e-02 -9.99512871e-01 1.35614006e-02 4.10311759e+02] [ 2.59934995e-01 2.04087381e-02 9.65410421e-01 -1.96572006e+02] [-9.65216913e-01 -2.36115136e-02 2.60382040e-01 -9.02119815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.59, Z:-902.15 [[ 2.41852357e-02 -9.98759940e-01 4.35161587e-02 4.10291726e+02] [ 2.51270400e-01 4.82045701e-02 9.66715835e-01 -1.96587815e+02] [-9.67614727e-01 -1.24459277e-02 2.52124649e-01 -9.02149388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.55, Z:-902.17 [[ 2.50274701e-02 -9.98588601e-01 -4.68447741e-02 4.10337989e+02] [ 2.55925518e-01 -3.88977367e-02 9.65913607e-01 -1.96545586e+02] [-9.66372472e-01 -3.61631470e-02 2.54590793e-01 -9.02170008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.53, Z:-902.20 [[ 2.71237037e-02 -9.98829893e-01 -4.00393594e-02 4.10337422e+02] [ 2.62211333e-01 -3.15425209e-02 9.64494835e-01 -1.96531091e+02] [-9.64629215e-01 -3.66594460e-02 2.61048968e-01 -9.02197811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.54, Z:-902.23 [[ 2.59156417e-02 -9.99598858e-01 1.14237797e-02 4.10311871e+02] [ 2.61348660e-01 1.78050246e-02 9.65080235e-01 -1.96542677e+02] [-9.64896501e-01 -2.20250840e-02 2.61705250e-01 -9.02230306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.55, Z:-902.26 [[ 2.19329305e-02 -9.99356567e-01 2.83795357e-02 4.10300380e+02] [ 2.55831160e-01 3.30514610e-02 9.66156312e-01 -1.96549540e+02] [-9.66472640e-01 -1.39302697e-02 2.56391465e-01 -9.02259252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.52, Z:-902.28 [[ 2.18741420e-02 -9.99262943e-01 -3.15451012e-02 4.10332456e+02] [ 2.60686894e-01 -2.47603088e-02 9.65105834e-01 -1.96516839e+02] [-9.65175562e-01 -2.93342565e-02 2.59953143e-01 -9.02281363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.53, Z:-902.31 [[ 1.76498699e-02 -9.99724988e-01 1.54412270e-02 4.10308178e+02] [ 2.57645056e-01 1.94696524e-02 9.66043455e-01 -1.96530932e+02] [-9.66078417e-01 -1.30721855e-02 2.57917838e-01 -9.02313661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.836559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.49, Z:-902.34 [[ 1.85389290e-02 -9.98895808e-01 -4.31679684e-02 4.10340869e+02] [ 2.64610764e-01 -3.67340077e-02 9.63655414e-01 -1.96493502e+02] [-9.64177085e-01 -2.92878484e-02 2.63637574e-01 -9.02335100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.51, Z:-902.37 [[ 1.68302381e-02 -9.99820352e-01 8.71817422e-03 4.10316146e+02] [ 2.64195038e-01 1.28564391e-02 9.64383582e-01 -1.96505080e+02] [-9.64322418e-01 -1.39275070e-02 2.64363953e-01 -9.02366917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.50, Z:-902.39 [[ 1.66468956e-02 -9.99832005e-01 7.67091903e-03 4.10316635e+02] [ 2.64212078e-01 1.17980692e-02 9.64392443e-01 -1.96497487e+02] [-9.64320932e-01 -1.40273909e-02 2.64364092e-01 -9.02394444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.49, Z:-902.42 [[ 1.12818376e-02 -9.99911719e-01 7.01959037e-03 4.10317929e+02] [ 2.64325633e-01 9.75252174e-03 9.64384181e-01 -1.96490294e+02] [-9.64367503e-01 -9.02456804e-03 2.64412324e-01 -9.02421890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.48, Z:-902.45 [[ 8.08693466e-03 -9.99949496e-01 5.96709100e-03 4.10319030e+02] [ 2.64509027e-01 7.89383547e-03 9.64350902e-01 -1.96483108e+02] [-9.64349302e-01 -6.22029330e-03 2.64559505e-01 -9.02447931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.48, Z:-902.48 [[ 3.90763870e-04 -9.99911746e-01 1.32795909e-02 4.10316984e+02] [ 2.62939149e-01 1.29150532e-02 9.64725974e-01 -1.96481438e+02] [-9.64812340e-01 3.11474427e-03 2.62920990e-01 -9.02477091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.47, Z:-902.50 [[-2.45196808e-03 -9.99996545e-01 9.47840657e-04 4.10324675e+02] [ 2.64824063e-01 2.64660395e-04 9.64296710e-01 -1.96467088e+02] [-9.64293629e-01 2.61543576e-03 2.64822499e-01 -9.02501110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.47, Z:-902.53 [[-7.24048820e-03 -9.99868288e-01 1.45252426e-02 4.10317974e+02] [ 2.63396358e-01 1.21056958e-02 9.64611741e-01 -1.96467617e+02] [-9.64660528e-01 1.08101559e-02 2.63274014e-01 -9.02530865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.45, Z:-902.55 [[-1.20596389e-02 -9.99901126e-01 -7.23214415e-03 4.10332026e+02] [ 2.64881052e-01 -1.01688074e-02 9.64227475e-01 -1.96449586e+02] [-9.64205680e-01 9.71257722e-03 2.64977495e-01 -9.02554189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.45, Z:-902.58 [[-1.42771155e-02 -9.99896166e-01 1.95495454e-03 4.10328153e+02] [ 2.65354537e-01 -1.90382754e-03 9.64149027e-01 -1.96445023e+02] [-9.64045193e-01 1.42840231e-02 2.65354165e-01 -9.02582245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.44, Z:-902.61 [[-1.61256343e-02 -9.99869568e-01 9.00202589e-04 4.10328390e+02] [ 2.64717838e-01 -3.40110338e-03 9.64319915e-01 -1.96437423e+02] [-9.64191076e-01 1.57885700e-02 2.64738155e-01 -9.02609709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.44, Z:-902.61 [[-1.55442571e-02 -9.99879168e-01 -1.58388154e-04 4.10328772e+02] [ 2.64739311e-01 -4.26842704e-03 9.64310571e-01 -1.96436748e+02] [-9.64194728e-01 1.49475598e-02 2.64773672e-01 -9.02610693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.43, Z:-902.64 [[-1.43521293e-02 -9.99895299e-01 1.84572495e-03 4.10327384e+02] [ 2.64836124e-01 -2.02135740e-03 9.64291316e-01 -1.96430417e+02] [-9.64186623e-01 1.43284483e-02 2.64837406e-01 -9.02636926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.42, Z:-902.66 [[-1.32134503e-02 -9.99911743e-01 1.38256537e-03 4.10327389e+02] [ 2.65038276e-01 -2.16914300e-03 9.64235452e-01 -1.96423430e+02] [-9.64147352e-01 1.31073100e-02 2.65043547e-01 -9.02663658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.42, Z:-902.69 [[-1.00822448e-02 -9.99949122e-01 3.19060642e-04 4.10326670e+02] [ 2.65838048e-01 -2.37278581e-03 9.64014783e-01 -1.96416620e+02] [-9.63964979e-01 9.80425147e-03 2.65848446e-01 -9.02689332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.35, Z:-902.99 [[-1.03264912e-02 -9.99758367e-01 1.94054626e-02 4.10314528e+02] [ 2.53720352e-01 1.61517143e-02 9.67142753e-01 -1.96354899e+02] [-9.67222491e-01 1.49107519e-02 2.53492254e-01 -9.02989255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.48, Y:-195.65, Z:-902.61 [[-5.71915021e-03 -1.22186638e-01 -9.92490663e-01 4.10482364e+02] [ 3.14024716e-01 -9.42518506e-01 1.14224966e-01 -1.95648866e+02] [-9.49397582e-01 -3.11013329e-01 4.37600292e-02 -9.02606346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.41, Z:-902.89 [[ 4.09101298e-03 -9.99661842e-01 2.56800537e-02 4.10306441e+02] [ 3.31266075e-01 2.55850466e-02 9.43190433e-01 -1.96407963e+02] [-9.43528511e-01 4.64832628e-03 3.31258723e-01 -9.02892305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.40, Z:-902.92 [[ 7.04905131e-03 -9.99665529e-01 2.48825291e-02 4.10305414e+02] [ 3.30402494e-01 2.58140024e-02 9.43487059e-01 -1.96398752e+02] [-9.43813808e-01 1.57056098e-03 3.30473948e-01 -9.02918520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.39, Z:-902.95 [[ 8.49826587e-03 -9.99673761e-01 2.40863279e-02 4.10305587e+02] [ 3.30079838e-01 2.55414762e-02 9.43607405e-01 -1.96389137e+02] [-9.43914763e-01 -6.86153926e-05 3.30189211e-01 -9.02945349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.38, Z:-902.97 [[ 1.06494009e-02 -9.99672281e-01 2.32792155e-02 4.10305236e+02] [ 3.28419974e-01 2.54857819e-02 9.44187903e-01 -1.96379619e+02] [-9.44471763e-01 -2.40967616e-03 3.28583753e-01 -9.02971574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.37, Z:-903.00 [[ 1.10855237e-02 -9.99686278e-01 2.24601042e-02 4.10305233e+02] [ 3.27995778e-01 2.48540507e-02 9.44352183e-01 -1.96370303e+02] [-9.44614144e-01 -3.10181914e-03 3.28168399e-01 -9.02997900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.36, Z:-903.02 [[ 1.12711949e-02 -9.99702322e-01 2.16385755e-02 4.10305145e+02] [ 3.26999890e-01 2.41351753e-02 9.44716130e-01 -1.96361738e+02] [-9.44957159e-01 -3.57226779e-03 3.27174582e-01 -9.03024044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.37, Z:-903.06 [[ 7.61450851e-03 -9.99048038e-01 4.29539015e-02 4.10290767e+02] [ 3.22434643e-01 4.31138363e-02 9.45609379e-01 -1.96368064e+02] [-9.46561102e-01 6.64947522e-03 3.22455988e-01 -9.03055597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.35, Z:-903.08 [[ 4.20099053e-03 -9.99939048e-01 1.02104340e-02 4.10306226e+02] [ 3.23059128e-01 1.10201230e-02 9.46314618e-01 -1.96348831e+02] [-9.46369458e-01 -6.76884832e-04 3.23085732e-01 -9.03077970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.32, Z:-903.10 [[ 6.72595747e-03 -9.99794889e-01 -1.91034521e-02 4.10324135e+02] [ 3.26765059e-01 -1.58576826e-02 9.44972555e-01 -1.96319840e+02] [-9.45081667e-01 -1.25981859e-02 3.26591378e-01 -9.03100608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.32, Z:-903.13 [[ 5.74993143e-03 -9.99788927e-01 1.97241057e-02 4.10304853e+02] [ 3.26550309e-01 2.05204058e-02 9.44957041e-01 -1.96324592e+02] [-9.45162332e-01 1.00747462e-03 3.26599374e-01 -9.03131354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.32, Z:-903.16 [[ 3.56899348e-03 -9.99806167e-01 1.93620757e-02 4.10304430e+02] [ 3.27253261e-01 1.94637911e-02 9.44736188e-01 -1.96315746e+02] [-9.44929926e-01 2.96454512e-03 3.27259294e-01 -9.03157819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.31, Z:-903.19 [[ 6.09071300e-04 -9.99640858e-01 2.67914854e-02 4.10299127e+02] [ 3.25777284e-01 2.55282717e-02 9.45101830e-01 -1.96313552e+02] [-9.45446345e-01 8.15242294e-03 3.25675832e-01 -9.03186530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.30, Z:-903.21 [[-1.01182123e-03 -9.99821925e-01 1.88439731e-02 4.10302520e+02] [ 3.25859323e-01 1.74857915e-02 9.45256552e-01 -1.96303130e+02] [-9.45417727e-01 7.09691497e-03 3.25783603e-01 -9.03212337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.29, Z:-903.24 [[-1.96320270e-03 -9.99895144e-01 1.43473937e-02 4.10303999e+02] [ 3.25337734e-01 1.29282488e-02 9.45509503e-01 -1.96293627e+02] [-9.45595847e-01 6.52397536e-03 3.25278239e-01 -9.03239131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.27, Z:-903.26 [[ 5.15746005e-04 -9.99903202e-01 -1.39039811e-02 4.10320199e+02] [ 3.29681895e-01 -1.29566242e-02 9.44003164e-01 -1.96268255e+02] [-9.44091935e-01 -5.07075671e-03 3.29643300e-01 -9.03261574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.27, Z:-903.29 [[ 8.81567032e-04 -9.99848873e-01 1.73624089e-02 4.10304114e+02] [ 3.30213464e-01 1.66795540e-02 9.43758900e-01 -1.96270396e+02] [-9.43905870e-01 4.90131447e-03 3.30178265e-01 -9.03291806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.26, Z:-903.32 [[ 1.10397341e-03 -9.99862696e-01 1.65339052e-02 4.10304482e+02] [ 3.30480578e-01 1.59697117e-02 9.43677676e-01 -1.96261558e+02] [-9.43812147e-01 4.42233947e-03 3.30452832e-01 -9.03317868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.25, Z:-903.34 [[ 8.43566265e-04 -9.99868794e-01 1.61766190e-02 4.10304730e+02] [ 3.30814813e-01 1.55448383e-02 9.43567654e-01 -1.96252485e+02] [-9.43695315e-01 4.55550336e-03 3.30784522e-01 -9.03344420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.24, Z:-903.37 [[ 6.32406014e-04 -9.99882051e-01 1.53454710e-02 4.10305490e+02] [ 3.30963739e-01 1.46899349e-02 9.43529125e-01 -1.96243111e+02] [-9.43643261e-01 4.48210095e-03 3.30933992e-01 -9.03369914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.23, Z:-903.40 [[ 6.56138583e-04 -9.99887416e-01 1.49908311e-02 4.10305985e+02] [ 3.30590624e-01 1.43648520e-02 9.43664925e-01 -1.96233767e+02] [-9.43774025e-01 4.33665322e-03 3.30562830e-01 -9.03396685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.22, Z:-903.42 [[ 1.88644025e-03 -9.99897531e-01 1.41904272e-02 4.10306576e+02] [ 3.29818187e-01 1.40185360e-02 9.43940382e-01 -1.96224528e+02] [-9.44042586e-01 2.89957384e-03 3.29810836e-01 -9.03422715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.22, Z:-903.45 [[ 2.49078726e-03 -9.99907514e-01 1.33700689e-02 4.10306765e+02] [ 3.29433933e-01 1.34442468e-02 9.44082907e-01 -1.96215201e+02] [-9.44175344e-01 2.05304471e-03 3.29436952e-01 -9.03448721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.21, Z:-903.47 [[ 4.42054472e-03 -9.99899350e-01 1.34813920e-02 4.10306720e+02] [ 3.29552331e-01 1.41850771e-02 9.44030744e-01 -1.96207096e+02] [-9.44126962e-01 2.69694047e-04 3.29581867e-01 -9.03473340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.19, Z:-903.50 [[ 6.04304360e-03 -9.99981501e-01 -6.92526075e-04 4.10313087e+02] [ 3.28452330e-01 1.33077191e-03 9.44519611e-01 -1.96192709e+02] [-9.44501217e-01 -5.93523500e-03 3.28454296e-01 -9.03499221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.19, Z:-903.53 [[ 7.09954544e-03 -9.99913628e-01 1.10604787e-02 4.10306673e+02] [ 3.28267512e-01 1.27782578e-02 9.44498363e-01 -1.96188109e+02] [-9.44558117e-01 -3.07471322e-03 3.28329879e-01 -9.03526821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.096559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.18, Z:-903.55 [[ 8.28070961e-03 -9.99913181e-01 1.02498825e-02 4.10306531e+02] [ 3.27134847e-01 1.23950616e-02 9.44896372e-01 -1.96179112e+02] [-9.44941385e-01 -4.47131872e-03 3.27209086e-01 -9.03553184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.17, Z:-903.58 [[ 8.38406404e-03 -9.99920369e-01 9.43205265e-03 4.10307258e+02] [ 3.26882049e-01 1.16547545e-02 9.44993277e-01 -1.96169688e+02] [-9.45027954e-01 -4.83971546e-03 3.26953733e-01 -9.03579836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.16, Z:-903.61 [[ 7.98181107e-03 -9.99931127e-01 8.60414579e-03 4.10308172e+02] [ 3.26865477e-01 1.07407207e-02 9.45009840e-01 -1.96160385e+02] [-9.45037169e-01 -4.73049178e-03 3.26928696e-01 -9.03606138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.15, Z:-903.63 [[ 7.38862275e-03 -9.99942510e-01 7.77079252e-03 4.10309436e+02] [ 3.26664279e-01 9.75825892e-03 9.45090062e-01 -1.96151689e+02] [-9.45111558e-01 -4.44447360e-03 3.26717599e-01 -9.03631777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.14, Z:-903.66 [[ 7.02860433e-03 -9.99947833e-01 7.41155154e-03 4.10310052e+02] [ 3.26511320e-01 9.30041372e-03 9.45147534e-01 -1.96142673e+02] [-9.45167158e-01 -4.22311257e-03 3.26559655e-01 -9.03658686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.13, Z:-903.68 [[ 6.98233803e-03 -9.99953891e-01 6.59264533e-03 4.10310709e+02] [ 3.26743045e-01 8.51236636e-03 9.45074877e-01 -1.96133933e+02] [-9.45087419e-01 -4.44473125e-03 3.26787415e-01 -9.03683832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-196.14, Z:-903.71 [[ 3.54289590e-03 -9.99597113e-01 2.81613031e-02 4.10294792e+02] [ 3.21145571e-01 2.78070838e-02 9.46621513e-01 -1.96141738e+02] [-9.47023215e-01 5.69009630e-03 3.21114704e-01 -9.03712343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.09, Z:-903.73 [[ 7.21236515e-03 -9.98401771e-01 -5.60525245e-02 4.10341160e+02] [ 3.27060445e-01 -5.06158083e-02 9.43646918e-01 -1.96093339e+02] [-9.44975898e-01 -2.51384897e-02 3.26172668e-01 -9.03729762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-196.12, Z:-903.77 [[ 5.87353071e-03 -9.99697289e-01 2.38920974e-02 4.10297722e+02] [ 3.21178279e-01 2.45125541e-02 9.46701457e-01 -1.96120810e+02] [-9.47000536e-01 2.11314264e-03 3.21225030e-01 -9.03765277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.34, Y:-196.08, Z:-903.78 [[ 9.56735972e-03 -9.98804658e-01 -4.79345582e-02 4.10337787e+02] [ 3.26779151e-01 -4.21818491e-02 9.44158926e-01 -1.96077961e+02] [-9.45052301e-01 -2.46971223e-02 3.25984969e-01 -9.03784204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.09, Z:-903.82 [[ 1.16356808e-02 -9.99918838e-01 5.18934193e-03 4.10312976e+02] [ 3.26957256e-01 8.70900003e-03 9.44998998e-01 -1.96087752e+02] [-9.44967494e-01 -9.29901367e-03 3.27032055e-01 -9.03817558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.08, Z:-903.84 [[ 1.21179337e-02 -9.99917076e-01 4.35863323e-03 4.10314056e+02] [ 3.27530464e-01 8.08772597e-03 9.44806004e-01 -1.96078339e+02] [-9.44762907e-01 -1.00215114e-02 3.27601310e-01 -9.03844206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4565599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.07, Z:-903.87 [[ 1.26556046e-02 -9.99913687e-01 3.52915916e-03 4.10314752e+02] [ 3.27605176e-01 7.48098428e-03 9.44785099e-01 -1.96069587e+02] [-9.44729953e-01 -1.08006558e-02 3.27671576e-01 -9.03870187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.06, Z:-903.90 [[ 1.32906594e-02 -9.99906648e-01 3.17072030e-03 4.10316021e+02] [ 3.27424398e-01 7.34822344e-03 9.44848806e-01 -1.96060465e+02] [-9.44783902e-01 -1.15194925e-02 3.27491496e-01 -9.03895214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.05, Z:-903.92 [[ 1.32198698e-02 -9.99908625e-01 2.82441892e-03 4.10316993e+02] [ 3.26979483e-01 6.99235675e-03 9.45005569e-01 -1.96051333e+02] [-9.44938968e-01 -1.15693236e-02 3.27042043e-01 -9.03921903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.04, Z:-903.95 [[ 1.22994395e-02 -9.99922384e-01 1.98728663e-03 4.10319465e+02] [ 3.25991563e-01 5.88866059e-03 9.45354338e-01 -1.96041823e+02] [-9.45292666e-01 -1.09794898e-02 3.26038688e-01 -9.03946953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.03, Z:-903.97 [[ 1.12456280e-02 -9.99935443e-01 1.62645784e-03 4.10320633e+02] [ 3.25588875e-01 5.19959830e-03 9.45497144e-01 -1.96031973e+02] [-9.45444562e-01 -1.01031526e-02 3.25626329e-01 -9.03973520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.02, Z:-904.00 [[ 9.69852992e-03 -9.99952645e-01 8.04405426e-04 4.10322112e+02] [ 3.24928625e-01 3.91226597e-03 9.45730449e-01 -1.96022883e+02] [-9.45688811e-01 -8.91082072e-03 3.24951181e-01 -9.03999021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.636559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.32, Y:-196.01, Z:-904.03 [[ 6.32757482e-03 -9.99979880e-01 4.49235600e-04 4.10324831e+02] [ 3.24357766e-01 2.47739386e-03 9.45931236e-01 -1.96013855e+02] [-9.45913316e-01 -5.83973761e-03 3.24366915e-01 -9.04025152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.01, Z:-904.03 [[ 4.92069747e-03 -9.99987826e-01 -3.67868092e-04 4.10326519e+02] [ 3.24617025e-01 1.24941130e-03 9.45844716e-01 -1.96011644e+02] [-9.45832741e-01 -4.77363194e-03 3.24619221e-01 -9.04030382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.00, Z:-904.06 [[ 2.58846388e-03 -9.99996096e-01 1.05269743e-03 4.10327021e+02] [ 3.24724396e-01 1.83619303e-03 9.45806902e-01 -1.96002844e+02] [-9.45805142e-01 -2.10635047e-03 3.24727881e-01 -9.04057388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:410.33, Y:-196.00, Z:-904.09 [[-1.62756994e-03 -9.99993183e-01 3.31432904e-03 4.10327443e+02] [ 3.24743739e-01 2.60616190e-03 9.45798452e-01 -1.95996699e+02] [-9.45800643e-01 2.61566074e-03 3.24737283e-01 -9.04085447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-195.32, Z:-903.81 [[ 7.50034586e-03 -2.03832201e-01 -9.78977109e-01 4.10503804e+02] [ 3.81858081e-01 -9.04228459e-01 1.91194404e-01 -1.95316936e+02] [-9.24190538e-01 -3.75264344e-01 7.10529468e-02 -9.03807455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.02, Z:-904.13 [[ 1.17583206e-02 -9.99369143e-01 3.35120680e-02 4.10307588e+02] [ 3.88391092e-01 3.54475235e-02 9.20812594e-01 -1.96022472e+02] [-9.21419612e-01 2.18857897e-03 3.88562875e-01 -9.04133594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.01, Z:-904.16 [[ 1.05231481e-02 -9.99396519e-01 3.31037996e-02 4.10309153e+02] [ 3.88464852e-01 3.45911920e-02 9.20814047e-01 -1.96011879e+02] [-9.21403453e-01 3.16980000e-03 3.88594429e-01 -9.04158871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-196.00, Z:-904.18 [[ 1.07366085e-02 -9.99408680e-01 3.26651926e-02 4.10309439e+02] [ 3.88100964e-01 3.42711241e-02 9.20979442e-01 -1.96000961e+02] [-9.21554321e-01 2.78919704e-03 3.88239428e-01 -9.04184559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.99, Z:-904.21 [[ 1.13748444e-02 -9.99422295e-01 3.20263841e-02 4.10309825e+02] [ 3.87874600e-01 3.39307141e-02 9.21087402e-01 -1.95990606e+02] [-9.21641963e-01 1.94499506e-03 3.88036479e-01 -9.04209310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.98, Z:-904.23 [[ 1.36412067e-02 -9.99408122e-01 3.15804341e-02 4.10310530e+02] [ 3.88655918e-01 3.43994839e-02 9.20740600e-01 -1.95979419e+02] [-9.21281984e-01 -2.86090264e-04 3.88895132e-01 -9.04234698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.97, Z:-904.26 [[ 1.47902082e-02 -9.99412563e-01 3.09156811e-02 4.10311188e+02] [ 3.89166674e-01 3.42348090e-02 9.20530976e-01 -1.95968612e+02] [-9.21048614e-01 -1.58349199e-03 3.89444403e-01 -9.04260393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.96, Z:-904.29 [[ 1.59623693e-02 -9.99414810e-01 3.02529342e-02 4.10311592e+02] [ 3.89593773e-01 3.40822526e-02 9.20355959e-01 -1.95957406e+02] [-9.20848465e-01 -2.90470693e-03 3.89909821e-01 -9.04286600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.95, Z:-904.31 [[ 1.80808691e-02 -9.99398905e-01 2.95788973e-02 4.10311447e+02] [ 3.90438530e-01 3.42923737e-02 9.19990102e-01 -1.95946792e+02] [-9.20451431e-01 -5.08547940e-03 3.90823875e-01 -9.04312735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.94, Z:-904.34 [[ 1.90303469e-02 -9.99400960e-01 2.89061843e-02 4.10311399e+02] [ 3.90768271e-01 3.40464713e-02 9.19859227e-01 -1.95936598e+02] [-9.20292347e-01 -6.20962050e-03 3.91182101e-01 -9.04337811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.93, Z:-904.36 [[ 2.04390083e-02 -9.99381683e-01 2.86094167e-02 4.10310602e+02] [ 3.91403728e-01 3.43297348e-02 9.19578486e-01 -1.95925898e+02] [-9.19992048e-01 -7.59743999e-03 3.91863382e-01 -9.04363717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.93, Z:-904.40 [[ 1.96451491e-02 -9.98391010e-01 5.31926626e-02 4.10297742e+02] [ 3.87020683e-01 5.66489886e-02 9.20329226e-01 -1.95929639e+02] [-9.21861736e-01 2.50665576e-03 3.87510848e-01 -9.04397293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.116559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.90, Z:-904.41 [[ 2.05724028e-02 -9.99762883e-01 7.13819460e-03 4.10321520e+02] [ 3.91395153e-01 1.46233055e-02 9.20106512e-01 -1.95897199e+02] [-9.19992723e-01 -1.61349470e-02 3.91603183e-01 -9.04411818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.89, Z:-904.44 [[ 2.11840914e-02 -9.99414299e-01 2.68755266e-02 4.10311867e+02] [ 3.91311576e-01 3.30254169e-02 9.19665468e-01 -1.95892082e+02] [-9.20014394e-01 -8.96557261e-03 3.91781998e-01 -9.04440109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.176559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.88, Z:-904.47 [[ 2.16029158e-02 -9.99423091e-01 2.62068739e-02 4.10312201e+02] [ 3.91042202e-01 3.25714262e-02 9.19796227e-01 -1.95881044e+02] [-9.20119183e-01 -9.62228677e-03 3.91520244e-01 -9.04465306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.87, Z:-904.49 [[ 2.14975316e-02 -9.99432834e-01 2.59204008e-02 4.10312193e+02] [ 3.90814900e-01 3.22641264e-02 9.19903658e-01 -1.95869851e+02] [-9.20218219e-01 -9.64557911e-03 3.91286843e-01 -9.04491474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.86, Z:-904.52 [[ 2.21166266e-02 -9.99435983e-01 2.52699704e-02 4.10311880e+02] [ 3.90226956e-01 3.19010611e-02 9.20165879e-01 -1.95858998e+02] [-9.20453029e-01 -1.04899415e-02 3.90712405e-01 -9.04515740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.85, Z:-904.54 [[ 2.19223632e-02 -9.99451378e-01 2.48264461e-02 4.10311499e+02] [ 3.90074740e-01 3.14150610e-02 9.20247136e-01 -1.95848316e+02] [-9.20522193e-01 -1.04898224e-02 3.90549429e-01 -9.04541218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.84, Z:-904.57 [[ 2.18467228e-02 -9.99469339e-01 2.41611527e-02 4.10311584e+02] [ 3.89639268e-01 3.07678851e-02 9.20453463e-01 -1.95837249e+02] [-9.20708402e-01 -1.06947578e-02 3.90104679e-01 -9.04567459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.83, Z:-904.59 [[ 2.13537734e-02 -9.99496125e-01 2.34843107e-02 4.10311824e+02] [ 3.89638818e-01 2.99522026e-02 9.20480558e-01 -1.95826656e+02] [-9.20720157e-01 -1.05053342e-02 3.90082081e-01 -9.04592836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.82, Z:-904.62 [[ 2.08353322e-02 -9.99513873e-01 2.31928166e-02 4.10312376e+02] [ 3.89616633e-01 2.94812308e-02 9.20505153e-01 -1.95815160e+02] [-9.20741423e-01 -1.01427236e-02 3.90041481e-01 -9.04618579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.82, Z:-904.65 [[ 1.81458049e-02 -9.98436819e-01 5.28644308e-02 4.10295806e+02] [ 3.85519022e-01 5.57715525e-02 9.21012822e-01 -1.95821619e+02] [-9.22521444e-01 3.66772462e-03 3.85928405e-01 -9.04653046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.78, Z:-904.67 [[ 1.88771996e-02 -9.99787836e-01 -8.24221902e-03 4.10327949e+02] [ 3.90805231e-01 -2.09479229e-04 9.20473371e-01 -1.95783384e+02] [-9.20279807e-01 -2.05970618e-02 3.90718362e-01 -9.04666161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.78, Z:-904.70 [[ 1.83488891e-02 -9.99601189e-01 2.14658412e-02 4.10313321e+02] [ 3.91252951e-01 2.69359884e-02 9.19888896e-01 -1.95783348e+02] [-9.20100237e-01 -8.48036559e-03 3.91591161e-01 -9.04696488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4765599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.77, Z:-904.72 [[ 1.80467085e-02 -9.99621088e-01 2.07845446e-02 4.10313987e+02] [ 3.91727407e-01 2.61950353e-02 9.19708356e-01 -1.95772173e+02] [-9.19904319e-01 -8.45583284e-03 3.92051710e-01 -9.04722645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.76, Z:-904.75 [[ 1.78165671e-02 -9.99639273e-01 2.00970910e-02 4.10314416e+02] [ 3.93131982e-01 2.54852707e-02 9.19128797e-01 -1.95761597e+02] [-9.19309423e-01 -8.47491067e-03 3.93444229e-01 -9.04748432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.75, Z:-904.77 [[ 1.74195287e-02 -9.99659845e-01 1.94101400e-02 4.10315205e+02] [ 3.94518363e-01 2.47100249e-02 9.18555756e-01 -1.95751017e+02] [-9.18722930e-01 -8.34315167e-03 3.94814603e-01 -9.04774040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.74, Z:-904.80 [[ 1.66242263e-02 -9.99686371e-01 1.87295257e-02 4.10316123e+02] [ 3.95299961e-01 2.37772934e-02 9.18244293e-01 -1.95739901e+02] [-9.18401642e-01 -7.86132015e-03 3.95571263e-01 -9.04799429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.73, Z:-904.83 [[ 1.56843784e-02 -9.99713904e-01 1.80585380e-02 4.10317122e+02] [ 3.95088750e-01 2.27874849e-02 9.18360283e-01 -1.95728900e+02] [-9.18509053e-01 -7.26918498e-03 3.95333124e-01 -9.04825580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.72, Z:-904.85 [[ 1.48998464e-02 -9.99737818e-01 1.73864758e-02 4.10318410e+02] [ 3.95286475e-01 2.18614003e-02 9.18297709e-01 -1.95717606e+02] [-9.18437041e-01 -6.80985608e-03 3.95508569e-01 -9.04849893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.71, Z:-904.87 [[ 1.28803696e-02 -9.99770745e-01 1.71042027e-02 4.10320346e+02] [ 3.94421141e-01 2.07985933e-02 9.18694390e-01 -1.95706175e+02] [-9.18839518e-01 -5.08686419e-03 3.94598612e-01 -9.04874874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.69, Z:-904.90 [[ 1.15239287e-02 -9.99792083e-01 1.68223180e-02 4.10321015e+02] [ 3.94022884e-01 2.00025916e-02 9.18882943e-01 -1.95694590e+02] [-9.19028382e-01 -3.96076331e-03 3.94171468e-01 -9.04900725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.68, Z:-904.93 [[ 1.08673142e-02 -9.99810526e-01 1.61497037e-02 4.10322025e+02] [ 3.93648875e-01 1.91241074e-02 9.19061930e-01 -1.95683476e+02] [-9.19196641e-01 -3.63042212e-03 3.93782117e-01 -9.04925859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.67, Z:-904.95 [[ 9.92634246e-03 -9.99824852e-01 1.58661075e-02 4.10322088e+02] [ 3.92787357e-01 1.84901685e-02 9.19443422e-01 -1.95672923e+02] [-9.19575750e-01 -2.89470387e-03 3.92902101e-01 -9.04951476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.66, Z:-904.98 [[ 1.03691653e-02 -9.99830791e-01 1.51944006e-02 4.10322351e+02] [ 3.92443692e-01 1.80451225e-02 9.19599001e-01 -1.95662326e+02] [-9.19717581e-01 -3.57252734e-03 3.92564400e-01 -9.04976188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.65, Z:-905.00 [[ 1.16488562e-02 -9.99821059e-01 1.49048719e-02 4.10322023e+02] [ 3.92183468e-01 1.82798506e-02 9.19705374e-01 -1.95652044e+02] [-9.19813259e-01 -4.86807134e-03 3.92326229e-01 -9.05000742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.64, Z:-905.03 [[ 1.19041602e-02 -9.99822292e-01 1.46176728e-02 4.10321689e+02] [ 3.92275842e-01 1.81163576e-02 9.19669213e-01 -1.95641562e+02] [-9.19770599e-01 -5.21372974e-03 3.92421791e-01 -9.05026322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.63, Z:-905.05 [[ 1.24562921e-02 -9.99825219e-01 1.39417306e-02 4.10321692e+02] [ 3.92634361e-01 1.77136209e-02 9.19524054e-01 -1.95630211e+02] [-9.19610298e-01 -5.97985771e-03 3.92786382e-01 -9.05052452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.62, Z:-905.08 [[ 1.31910156e-02 -9.99825020e-01 1.32637332e-02 4.10321477e+02] [ 3.92914585e-01 1.73808019e-02 9.19410701e-01 -1.95619241e+02] [-9.19480357e-01 -6.91644669e-03 3.93075103e-01 -9.05078356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-195.64, Z:-905.11 [[ 1.08705867e-02 -9.98385391e-01 5.57533914e-02 4.10292287e+02] [ 3.82409104e-01 5.56690623e-02 9.22314606e-01 -1.95640386e+02] [-9.23929168e-01 1.12945035e-02 3.82396818e-01 -9.05114982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-195.57, Z:-905.12 [[ 1.70392303e-02 -9.97811362e-01 -6.38917076e-02 4.10356407e+02] [ 3.95517089e-01 -5.19623197e-02 9.16987541e-01 -1.95570408e+02] [-9.18300548e-01 -4.08950241e-02 3.93766047e-01 -9.05120334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.59, Z:-905.16 [[ 1.85220733e-02 -9.99754718e-01 1.21423731e-02 4.10319668e+02] [ 3.94780964e-01 1.84705499e-02 9.18589587e-01 -1.95586904e+02] [-9.18588550e-01 -1.22206059e-02 3.95026244e-01 -9.05158016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.58, Z:-905.18 [[ 1.86549244e-02 -9.99759944e-01 1.14912017e-02 4.10319941e+02] [ 3.94604284e-01 1.79223107e-02 9.18676358e-01 -1.95576163e+02] [-9.18661773e-01 -1.26033607e-02 3.94843896e-01 -9.05183656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.57, Z:-905.21 [[ 1.75287442e-02 -9.99787705e-01 1.08299457e-02 4.10320549e+02] [ 3.94272929e-01 1.68656621e-02 9.18838619e-01 -1.95566261e+02] [-9.18826208e-01 -1.18361327e-02 3.94484861e-01 -9.05209568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.57, Z:-905.24 [[ 1.45828593e-02 -9.99103767e-01 3.97366647e-02 4.10303724e+02] [ 3.86245376e-01 4.22848686e-02 9.21426340e-01 -1.95574646e+02] [-9.22280787e-01 1.91107234e-03 3.86515844e-01 -9.05244338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.56, Z:-905.27 [[ 1.22824925e-02 -9.99824105e-01 1.41739409e-02 4.10315658e+02] [ 3.82732099e-01 1.77963328e-02 9.23687951e-01 -1.95559702e+02] [-9.23777723e-01 -5.92036815e-03 3.82883361e-01 -9.05268245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.136559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.54, Z:-905.29 [[ 1.14430499e-02 -9.99841283e-01 -1.36552568e-02 4.10330691e+02] [ 3.83906487e-01 -8.21662533e-03 9.23335419e-01 -1.95537524e+02] [-9.23301070e-01 -1.58081149e-02 3.83751531e-01 -9.05289381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.53, Z:-905.32 [[ 9.25642668e-03 -9.99955134e-01 2.01231640e-03 4.10324938e+02] [ 3.84870729e-01 5.42004749e-03 9.22954574e-01 -1.95529429e+02] [-9.22924071e-01 -7.76877966e-03 3.84903631e-01 -9.05317831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1965599950001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.53, Z:-905.35 [[ 6.26871218e-03 -9.99812203e-01 1.83374656e-02 4.10315784e+02] [ 3.83591807e-01 1.93392447e-02 9.23300233e-01 -1.95526245e+02] [-9.23481472e-01 1.24619813e-03 3.83641001e-01 -9.05346723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-195.48, Z:-905.36 [[ 4.85240748e-03 -9.99249601e-01 -3.84277159e-02 4.10346631e+02] [ 3.91247328e-01 -3.34677020e-02 9.19676814e-01 -1.95483623e+02] [-9.20272776e-01 -1.94973878e-02 3.90791338e-01 -9.05358967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.256559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.51, Z:-905.40 [[-1.28251457e-03 -9.99349246e-01 3.60477503e-02 4.10306188e+02] [ 3.83428120e-01 3.28012365e-02 9.22988058e-01 -1.95511687e+02] [-9.23569831e-01 1.50054668e-02 3.83136534e-01 -9.05398129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-195.46, Z:-905.41 [[ 1.47061274e-03 -9.98769401e-01 -4.95734011e-02 4.10353399e+02] [ 3.91395791e-01 -4.50437118e-02 9.19119360e-01 -1.95457649e+02] [-9.20221263e-01 -2.07544892e-02 3.90847898e-01 -9.05409226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.49, Z:-905.45 [[-5.13699141e-03 -9.99122421e-01 4.15692058e-02 4.10304457e+02] [ 3.83419706e-01 3.64247187e-02 9.22855660e-01 -1.95492436e+02] [-9.23559928e-01 2.06791543e-02 3.82896111e-01 -9.05451743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-195.43, Z:-905.46 [[-1.77563258e-03 -9.98064661e-01 -6.21593079e-02 4.10360076e+02] [ 3.91807505e-01 -5.78839339e-02 9.18224553e-01 -1.95430253e+02] [-9.20045503e-01 -2.27240539e-02 3.91152005e-01 -9.05461199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.44, Z:-905.50 [[-1.52450339e-03 -9.99986105e-01 5.04641513e-03 4.10327684e+02] [ 3.92448737e-01 4.04328272e-03 9.19764992e-01 -1.95443850e+02] [-9.19772616e-01 3.38264409e-03 3.92437120e-01 -9.05497620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.43, Z:-905.52 [[-1.61715759e-03 -9.99989105e-01 4.37890618e-03 4.10326990e+02] [ 3.93221820e-01 3.39026534e-03 9.19437386e-01 -1.95434038e+02] [-9.19442214e-01 3.20875659e-03 3.93212053e-01 -9.05522356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.44, Z:-905.55 [[-5.37734633e-03 -9.99662133e-01 2.54303734e-02 4.10312045e+02] [ 3.87996199e-01 2.13527162e-02 9.21413594e-01 -1.95440169e+02] [-9.21645287e-01 1.48216482e-02 3.87750287e-01 -9.05552713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.42, Z:-905.57 [[-5.17912055e-03 -9.99853960e-01 -1.62860766e-02 4.10332508e+02] [ 3.88211040e-01 -1.70192854e-02 9.21413334e-01 -1.95415386e+02] [-9.21555948e-01 -1.55032399e-03 3.88242490e-01 -9.05572850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.496559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:410.35, Y:-195.38, Z:-905.59 [[ 2.82176522e-04 -9.98923240e-01 -4.63926829e-02 4.10351473e+02] [ 3.95297735e-01 -4.25027180e-02 9.17569191e-01 -1.95382639e+02] [-9.18553004e-01 -1.85978390e-02 3.94860101e-01 -9.05592881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.39, Z:-905.63 [[ 1.67098971e-03 -9.99989662e-01 4.22894296e-03 4.10327010e+02] [ 3.95420834e-01 4.54502795e-03 9.18488817e-01 -1.95389864e+02] [-9.18498542e-01 1.37426783e-04 3.95424341e-01 -9.05626508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.39, Z:-905.66 [[ 2.58403906e-04 -9.99752936e-01 2.22261341e-02 4.10313142e+02] [ 3.90178238e-01 2.05652754e-02 9.20509648e-01 -1.95394373e+02] [-9.20739310e-01 8.43429053e-03 3.90087152e-01 -9.05655481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.38, Z:-905.68 [[ 3.85607471e-04 -9.99956411e-01 -9.32882570e-03 4.10327058e+02] [ 3.88225420e-01 -8.44741847e-03 9.21525726e-01 -1.95376012e+02] [-9.21564363e-01 -3.97703448e-03 3.88205240e-01 -9.05677562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-195.34, Z:-905.70 [[ 5.28185316e-03 -9.98492699e-01 -5.46299613e-02 4.10352662e+02] [ 3.94896437e-01 -4.81078178e-02 9.17465227e-01 -1.95337261e+02] [-9.18710458e-01 -2.64190937e-02 3.94047110e-01 -9.05695615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.36, Z:-905.73 [[ 5.67813032e-03 -9.99662189e-01 2.53627172e-02 4.10308555e+02] [ 3.88518744e-01 2.55759387e-02 9.21085803e-01 -1.95364580e+02] [-9.21423325e-01 4.62384583e-03 3.88532722e-01 -9.05734855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.34, Z:-905.75 [[ 7.40205736e-03 -9.99697410e-01 -2.34584259e-02 4.10332252e+02] [ 3.89189598e-01 -1.87293055e-02 9.20967247e-01 -1.95336510e+02] [-9.21127932e-01 -1.59468278e-02 3.88933198e-01 -9.05754861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.33, Z:-905.78 [[ 1.01798766e-02 -9.99814297e-01 -1.63627961e-02 4.10326437e+02] [ 3.87713983e-01 -1.11369805e-02 9.21712447e-01 -1.95331215e+02] [-9.21723515e-01 -1.57270038e-02 3.87528610e-01 -9.05782328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.31, Z:-905.81 [[ 1.01756109e-02 -9.99450934e-01 -3.15323253e-02 4.10333951e+02] [ 3.88266422e-01 -2.51106749e-02 9.21204993e-01 -1.95314722e+02] [-9.21490989e-01 -2.16167667e-02 3.87797722e-01 -9.05806388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-195.28, Z:-905.83 [[ 1.59919670e-02 -9.97966854e-01 -6.16961603e-02 4.10352783e+02] [ 3.96908007e-01 -5.02981716e-02 9.16479202e-01 -1.95278884e+02] [-9.17719070e-01 -3.91440051e-02 3.95296668e-01 -9.05826787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.31, Z:-905.87 [[ 1.58963779e-02 -9.99587102e-01 2.39359748e-02 4.10306922e+02] [ 3.90346488e-01 2.82434718e-02 9.20234712e-01 -1.95308722e+02] [-9.20530784e-01 -5.28507509e-03 3.90634284e-01 -9.05866420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.28, Z:-905.89 [[ 1.71646030e-02 -9.99561557e-01 -2.41261470e-02 4.10330371e+02] [ 3.91304838e-01 -1.54894088e-02 9.20130753e-01 -1.95280556e+02] [-9.20101027e-01 -2.52343572e-02 3.90867403e-01 -9.05887294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.856559995 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.27, Z:-905.92 [[ 2.23894081e-02 -9.99660372e-01 -1.33362240e-02 4.10326071e+02] [ 3.90664014e-01 -3.53081161e-03 9.20526568e-01 -1.95273121e+02] [-9.20261019e-01 -2.58200278e-02 3.90452280e-01 -9.05916826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:410.41, Y:-194.45, Z:-905.59 [[-9.41512717e-03 8.86615010e-02 -9.96017316e-01 4.10410152e+02] [ 4.76537000e-01 -8.75282602e-01 -8.24187737e-02 -1.94450281e+02] [-8.79104000e-01 -4.75415087e-01 -3.40095887e-02 -9.05591547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.26, Z:-906.03 [[ 2.83660841e-02 -9.98463468e-01 4.76032417e-02 4.10297005e+02] [ 4.65772075e-01 5.53390421e-02 8.83172670e-01 -1.95256217e+02] [-8.84449965e-01 -2.87988958e-03 4.66626153e-01 -9.06027985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.23, Z:-906.04 [[ 2.89366521e-02 -9.99575065e-01 -3.51577428e-03 4.10321617e+02] [ 4.65677990e-01 1.03684821e-02 8.84893499e-01 -1.95226941e+02] [-8.84481023e-01 -2.72430740e-02 4.65780136e-01 -9.06044053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.22, Z:-906.07 [[ 2.91396143e-02 -9.99574706e-01 1.13552259e-03 4.10318885e+02] [ 4.65198784e-01 1.45669439e-02 8.85086378e-01 -1.95215616e+02] [-8.84726497e-01 -2.52628319e-02 4.65425413e-01 -9.06069900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.20, Z:-906.10 [[ 2.92187879e-02 -9.99572854e-01 6.09591017e-04 4.10318645e+02] [ 4.64942010e-01 1.41307051e-02 8.85228361e-01 -1.95202664e+02] [-8.84858853e-01 -2.55818752e-02 4.65156294e-01 -9.06095057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.19, Z:-906.12 [[ 2.94394686e-02 -9.99566564e-01 5.37812269e-05 4.10318239e+02] [ 4.65388300e-01 1.37543423e-02 8.84999745e-01 -1.95190372e+02] [-8.84616893e-01 -2.60288931e-02 4.65591505e-01 -9.06119074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-194.95, Z:-906.10 [[-2.82523014e-03 1.44831613e-01 9.89452284e-01 4.09419335e+02] [ 3.66521915e-01 9.20748804e-01 -1.33728557e-01 -1.94948710e+02] [-9.30405129e-01 3.62278131e-01 -5.56852874e-02 -9.06098100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.12, Z:-906.24 [[ 1.35077090e-02 -9.99895959e-01 5.06084948e-03 4.10315626e+02] [ 3.88865743e-01 9.91597934e-03 9.21241069e-01 -1.95117921e+02] [-9.21195406e-01 -1.04758653e-02 3.88959227e-01 -9.06238106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-195.07, Z:-906.24 [[ 2.89621930e-02 -9.96807830e-01 -7.43998791e-02 4.10354492e+02] [ 4.10801572e-01 -5.59852056e-02 9.10004245e-01 -1.95069791e+02] [-9.11264649e-01 -5.69193059e-02 4.07868769e-01 -9.06240931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.09, Z:-906.28 [[ 2.87512689e-02 -9.99573286e-01 5.15850259e-03 4.10317147e+02] [ 4.09243964e-01 1.64792942e-02 9.12276171e-01 -1.95086648e+02] [-9.11971898e-01 -2.41180114e-02 4.09543134e-01 -9.06278900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.09, Z:-906.31 [[ 2.43358316e-02 -9.99093637e-01 3.49238096e-02 4.10301935e+02] [ 4.04788394e-01 4.17900659e-02 9.13454951e-01 -1.95094816e+02] [-9.14086497e-01 -8.09293309e-03 4.05438504e-01 -9.06313951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-195.05, Z:-906.33 [[ 2.33868271e-02 -9.99232927e-01 -3.14104144e-02 4.10337403e+02] [ 4.10176861e-01 -1.90621151e-02 9.11806766e-01 -1.95050973e+02] [-9.11706093e-01 -3.42080923e-02 4.09416423e-01 -9.06325693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.05, Z:-906.36 [[ 1.98359566e-02 -9.99796919e-01 3.55748281e-03 4.10322857e+02] [ 4.08230030e-01 1.13472384e-02 9.12808569e-01 -1.95050989e+02] [-9.12663562e-01 -1.66541599e-02 4.08372209e-01 -9.06355969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.276559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.04, Z:-906.38 [[ 1.77162288e-02 -9.99838838e-01 2.90404572e-03 4.10323920e+02] [ 4.07222513e-01 9.86823188e-03 9.13275666e-01 -1.95040026e+02] [-9.13157139e-01 -1.49972078e-02 4.07331712e-01 -9.06380717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.05, Z:-906.42 [[ 1.40384822e-02 -9.99503745e-01 2.81990082e-02 4.10311181e+02] [ 4.01384194e-01 3.14629427e-02 9.15369222e-01 -1.95045326e+02] [-9.15802189e-01 -1.53175836e-03 4.01626698e-01 -9.06415475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.34, Y:-195.01, Z:-906.43 [[ 9.57613498e-03 -9.99737613e-01 -2.08087207e-02 4.10337517e+02] [ 4.06102991e-01 -1.51280439e-02 9.13702087e-01 -1.95008858e+02] [-9.13777139e-01 -1.72002182e-02 4.05851566e-01 -9.06429491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.01, Z:-906.46 [[ 7.01115598e-03 -9.99973974e-01 1.70169825e-03 4.10327606e+02] [ 4.05877033e-01 4.40099287e-03 9.13917100e-01 -1.95005382e+02] [-9.13900803e-01 -5.71693510e-03 4.05897326e-01 -9.06458747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-194.99, Z:-906.48 [[ 4.26970214e-03 -9.99990323e-01 1.06051816e-03 4.10329195e+02] [ 4.05875447e-01 2.70222684e-03 9.13924406e-01 -1.94993838e+02] [-9.13918427e-01 -3.47174671e-03 4.05883057e-01 -9.06484464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:410.33, Y:-194.98, Z:-906.51 [[ 1.08084951e-03 -9.99983916e-01 5.56766817e-03 4.10327109e+02] [ 4.06612597e-01 5.52610826e-03 9.13583963e-01 -1.94983865e+02] [-9.13600037e-01 1.27643723e-03 4.06612030e-01 -9.06509345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-195.18, Z:-906.04 [[ 3.72658976e-03 -9.99972132e-01 -6.46895366e-03 4.10330437e+02] [ 4.06890150e-01 -4.39298243e-03 9.13466533e-01 -1.95181810e+02] [-9.13469495e-01 -6.03626856e-03 4.06862440e-01 -9.06042137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.18, Z:-906.07 [[ 1.17151777e-03 -9.99936853e-01 1.11766580e-02 4.10321010e+02] [ 4.06975786e-01 1.06859503e-02 9.13376439e-01 -1.95177193e+02] [-9.13438196e-01 3.47859246e-03 4.06962606e-01 -9.06070120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.17, Z:-906.10 [[-5.10139766e-04 -9.99940452e-01 1.09010571e-02 4.10320860e+02] [ 4.06949597e-01 9.74998945e-03 9.13398579e-01 -1.95165713e+02] [-9.13450473e-01 4.90214171e-03 4.06920390e-01 -9.06095777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.17, Z:-906.13 [[-2.73651841e-03 -9.99610831e-01 2.77614616e-02 4.10312150e+02] [ 4.03400644e-01 2.42989732e-02 9.14700760e-01 -1.95165554e+02] [-9.15019361e-01 1.37020870e-02 4.03177159e-01 -9.06128530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.14, Z:-906.15 [[-5.80172430e-03 -9.99979517e-01 2.70295418e-03 4.10323675e+02] [ 4.06349368e-01 1.12212590e-04 9.13717779e-01 -1.95141097e+02] [-9.13699366e-01 6.39948236e-03 4.06340393e-01 -9.06145390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.13, Z:-906.17 [[-8.08085662e-03 -9.99923953e-01 9.31598464e-03 4.10319229e+02] [ 4.06360698e-01 5.22864963e-03 9.13697786e-01 -1.95132943e+02] [-9.13677012e-01 1.11691108e-02 4.06287544e-01 -9.06172150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.12, Z:-906.20 [[-1.01588291e-02 -9.99910675e-01 8.68567273e-03 4.10318448e+02] [ 4.06341304e-01 3.80860418e-03 9.13713434e-01 -1.95121915e+02] [-9.13664896e-01 1.28116062e-02 4.06266317e-01 -9.06197672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.11, Z:-906.22 [[-1.34661578e-02 -9.99876856e-01 8.05827038e-03 4.10316582e+02] [ 4.06062586e-01 1.89612704e-03 9.13843302e-01 -1.95111152e+02] [-9.13746047e-01 1.55781202e-02 4.05987049e-01 -9.06223400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-195.10, Z:-906.25 [[-1.50974490e-02 -9.99858489e-01 7.42084642e-03 4.10315900e+02] [ 4.05914043e-01 6.53819297e-04 9.13911025e-01 -1.95100167e+02] [-9.13786549e-01 1.68099509e-02 4.05846731e-01 -9.06248772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.09, Z:-906.27 [[-1.79881492e-02 -9.99815177e-01 6.78523863e-03 4.10314348e+02] [ 4.06099469e-01 -1.10463952e-03 9.13828212e-01 -1.95088178e+02] [-9.13651820e-01 1.91935600e-02 4.06044283e-01 -9.06274388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.08, Z:-906.30 [[-1.94092297e-02 -9.99792696e-01 6.15204473e-03 4.10313804e+02] [ 4.05917551e-01 -2.25661857e-03 9.13906915e-01 -1.95076613e+02] [-9.13703576e-01 2.02354522e-02 4.05877201e-01 -9.06299483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.07, Z:-906.32 [[-2.01762840e-02 -9.99781228e-01 5.51480603e-03 4.10313271e+02] [ 4.05428519e-01 -3.13952580e-03 9.14121360e-01 -1.95065344e+02] [-9.13904062e-01 2.06794318e-02 4.05403166e-01 -9.06324285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.05, Z:-906.35 [[-2.03545797e-02 -9.99779084e-01 5.24155347e-03 4.10310496e+02] [ 4.04651052e-01 -3.44404740e-03 9.14464687e-01 -1.95053203e+02] [-9.14244616e-01 2.07345445e-02 4.04631761e-01 -9.06350063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.04, Z:-906.38 [[-1.96417568e-02 -9.99796444e-01 4.61210450e-03 4.10308652e+02] [ 4.04385994e-01 -3.72546731e-03 9.14580827e-01 -1.95041780e+02] [-9.14377477e-01 1.98290446e-02 4.04376853e-01 -9.06375941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-195.03, Z:-906.40 [[-1.81050878e-02 -9.99812685e-01 6.84110893e-03 4.10306195e+02] [ 4.03939813e-01 -1.05541993e-03 9.14784955e-01 -1.95032537e+02] [-9.14606382e-01 1.93256581e-02 4.03883258e-01 -9.06404727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.30, Y:-195.02, Z:-906.43 [[-1.64900126e-02 -9.99796463e-01 1.16238096e-02 4.10300292e+02] [ 4.04117724e-01 3.96918120e-03 9.14698372e-01 -1.95021906e+02] [-9.14558333e-01 1.97807751e-02 4.03970019e-01 -9.06428435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-195.01, Z:-906.45 [[-1.20390649e-02 -9.99834530e-01 1.36372335e-02 4.10294852e+02] [ 4.07311700e-01 7.55191006e-03 9.13257986e-01 -1.95011736e+02] [-9.13209856e-01 1.65493769e-02 4.07153384e-01 -9.06454210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.99, Z:-906.48 [[-8.67696925e-03 -9.99954588e-01 -3.94100645e-03 4.10300999e+02] [ 4.05218683e-01 -7.11923018e-03 9.14192067e-01 -1.94994732e+02] [-9.14178609e-01 6.33544701e-03 4.05262054e-01 -9.06477866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.99, Z:-906.50 [[-1.00883892e-03 -9.99997710e-01 1.88727284e-03 4.10293664e+02] [ 4.05296189e-01 1.31643999e-03 9.14184481e-01 -1.94985432e+02] [-9.14184873e-01 1.68716937e-03 4.05293933e-01 -9.06504671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.97, Z:-906.53 [[ 2.85919070e-03 -9.99995141e-01 1.24212211e-03 4.10291545e+02] [ 4.05908032e-01 2.29576874e-03 9.13911046e-01 -1.94973944e+02] [-9.13909457e-01 -2.10885863e-03 4.05912624e-01 -9.06530656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.96, Z:-906.56 [[ 7.12822057e-03 -9.99974419e-01 5.92338070e-04 4.10289476e+02] [ 4.06098024e-01 3.43613638e-03 9.13823062e-01 -1.94963198e+02] [-9.13801720e-01 -6.27338503e-03 4.06112129e-01 -9.06555295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.95, Z:-906.58 [[ 9.68503203e-03 -9.99942882e-01 4.52021482e-03 4.10284314e+02] [ 4.05519524e-01 8.05963614e-03 9.14050851e-01 -1.94954957e+02] [-9.14035074e-01 -7.01957641e-03 4.05574420e-01 -9.06582634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-194.24, Z:-906.29 [[-3.22367644e-03 -2.96626108e-02 -9.99554770e-01 4.10447382e+02] [ 4.77195041e-01 -8.78454995e-01 2.45298676e-02 -1.94235873e+02] [-8.78791500e-01 -4.76903503e-01 1.69867054e-02 -9.06286394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.94, Z:-906.68 [[ 2.26179282e-02 -9.99689235e-01 1.04815110e-02 4.10274920e+02] [ 4.67826755e-01 1.98488749e-02 8.83597278e-01 -1.94942053e+02] [-8.83530734e-01 -1.50816085e-02 4.68130311e-01 -9.06683578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.93, Z:-906.71 [[ 2.56795004e-02 -9.99660744e-01 4.35436665e-03 4.10275115e+02] [ 4.68256969e-01 1.58768552e-02 8.83449680e-01 -1.94927598e+02] [-8.83219098e-01 -2.06475839e-02 4.68505819e-01 -9.06707445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.91, Z:-906.73 [[ 2.63112785e-02 -9.99646546e-01 3.80799620e-03 4.10274180e+02] [ 4.68544041e-01 1.56971466e-02 8.83300674e-01 -1.94914839e+02] [-8.83048242e-01 -2.14565561e-02 4.68791444e-01 -9.06731695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.90, Z:-906.76 [[ 2.66116768e-02 -9.99639464e-01 3.57235435e-03 4.10273421e+02] [ 4.68594253e-01 1.56310864e-02 8.83275209e-01 -1.94902141e+02] [-8.83012596e-01 -2.18314496e-02 4.68841277e-01 -9.06756395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.89, Z:-906.78 [[ 2.65064545e-02 -9.99644022e-01 3.03921036e-03 4.10272034e+02] [ 4.69411171e-01 1.51309791e-02 8.82850048e-01 -1.94890164e+02] [-8.82581759e-01 -2.19745853e-02 4.69645139e-01 -9.06780574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.88, Z:-906.81 [[ 2.59468700e-02 -9.99659374e-01 2.80993587e-03 4.10271714e+02] [ 4.70042091e-01 1.46809517e-02 8.82521899e-01 -1.94877418e+02] [-8.82262542e-01 -2.15778928e-02 4.70262907e-01 -9.06805364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.86, Z:-906.83 [[ 2.48757951e-02 -9.99687951e-01 2.27934627e-03 4.10271413e+02] [ 4.71204655e-01 1.37360708e-02 8.81916943e-01 -1.94864792e+02] [-8.81673051e-01 -2.08643466e-02 4.71399311e-01 -9.06830222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.85, Z:-906.85 [[ 2.41920128e-02 -9.99705810e-01 1.74389152e-03 4.10271191e+02] [ 4.72038597e-01 1.29605867e-02 8.81482607e-01 -1.94852555e+02] [-8.81245885e-01 -2.05016544e-02 4.72213271e-01 -9.06853911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.84, Z:-906.88 [[ 2.35176180e-02 -9.99722279e-01 1.51223510e-03 4.10271364e+02] [ 4.73052104e-01 1.24607173e-02 8.80946331e-01 -1.94840149e+02] [-8.80720517e-01 -2.00023933e-02 4.73213774e-01 -9.06877647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.83, Z:-906.90 [[ 2.09256209e-02 -9.99780208e-01 1.28598543e-03 4.10271927e+02] [ 4.74109991e-01 1.10556526e-02 8.80396211e-01 -1.94826951e+02] [-8.80216925e-01 -1.78131388e-02 4.74237132e-01 -9.06902981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.82, Z:-906.93 [[ 1.71924606e-02 -9.99847924e-01 2.92361558e-03 4.10272146e+02] [ 4.73627821e-01 1.07191687e-02 8.80659859e-01 -1.94815148e+02] [-8.80557270e-01 -1.37560042e-02 4.73740083e-01 -9.06929025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.79, Z:-906.95 [[ 1.63359205e-02 -9.99782813e-01 -1.29408002e-02 4.10282176e+02] [ 4.76577459e-01 -3.59203151e-03 8.79125147e-01 -1.94792423e+02] [-8.78980696e-01 -2.05286121e-02 4.76415273e-01 -9.06950550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.39, Y:-194.44, Z:-906.87 [[-9.26366856e-03 3.07917974e-01 9.51367808e-01 4.09392660e+02] [ 3.82532187e-01 8.80131333e-01 -2.81136910e-01 -1.94440200e+02] [-9.23895725e-01 3.61324449e-01 -1.25941781e-01 -9.06873032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-194.70, Z:-907.05 [[-9.36062452e-03 -9.98603884e-01 -5.19871270e-02 4.10311025e+02] [ 4.20045411e-01 -5.11068445e-02 9.06062880e-01 -1.94695008e+02] [-9.07454810e-01 -1.33556397e-02 4.19937371e-01 -9.07053091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-194.38, Z:-906.96 [[-3.34327502e-02 2.96084497e-01 9.54576462e-01 4.09398551e+02] [ 3.28293239e-01 9.05366632e-01 -2.69322876e-01 -1.94378245e+02] [-9.43984005e-01 3.04376794e-01 -1.27471435e-01 -9.06956120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-194.62, Z:-907.09 [[-3.37916660e-02 -9.92656761e-01 -1.16149382e-01 4.10347435e+02] [ 3.54031818e-01 -1.20569000e-01 9.27429021e-01 -1.94624779e+02] [-9.34622702e-01 -9.78120533e-03 3.55506305e-01 -9.07091264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-194.62, Z:-907.09 [[-3.66821827e-02 -9.91825111e-01 -1.22218522e-01 4.10352744e+02] [ 3.57570257e-01 -1.27230545e-01 9.25178848e-01 -1.94619453e+02] [-9.33165542e-01 -9.76412882e-03 3.59314254e-01 -9.07092479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-194.44, Z:-907.11 [[-2.81736926e-02 4.02679222e-02 9.98791639e-01 4.09458530e+02] [ 2.70900315e-01 9.62103355e-01 -3.11472780e-02 -1.94443468e+02] [-9.62195023e-01 2.69695436e-01 -3.80145970e-02 -9.07107583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-194.55, Z:-907.18 [[-4.35220577e-02 -9.89650245e-01 -1.36741447e-01 4.10357349e+02] [ 2.88337298e-01 -1.43489515e-01 9.46716622e-01 -1.94553042e+02] [-9.56539300e-01 1.77539597e-03 2.91598037e-01 -9.07179648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-194.54, Z:-907.19 [[-4.50286733e-02 -9.87284612e-01 -1.52451676e-01 4.10366523e+02] [ 2.88403774e-01 -1.58955940e-01 9.44222576e-01 -1.94542648e+02] [-9.56449519e-01 -1.45054894e-03 2.91894183e-01 -9.07188622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.37, Y:-194.54, Z:-907.19 [[-4.54860163e-02 -9.87868796e-01 -1.48479842e-01 4.10365750e+02] [ 2.88277670e-01 -1.55290729e-01 9.44870771e-01 -1.94542971e+02] [-9.56465895e-01 1.74984483e-04 2.91844072e-01 -9.07193570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.59, Y:-194.54, Z:-907.27 [[-1.09139737e-02 -3.21031089e-01 9.47005769e-01 4.09589008e+02] [ 2.20321670e-01 9.23015427e-01 3.15437606e-01 -1.94537670e+02] [-9.75366212e-01 2.12088570e-01 6.06563394e-02 -9.07274421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-194.50, Z:-907.31 [[-2.44758566e-02 -9.95320579e-01 -9.34766165e-02 4.10328710e+02] [ 2.25941514e-01 -9.65927452e-02 9.69340123e-01 -1.94504066e+02] [-9.73833335e-01 2.60518156e-03 2.27248429e-01 -9.07309428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-194.49, Z:-907.37 [[-1.33821710e-02 -9.95044015e-01 -9.85308376e-02 4.10325840e+02] [ 2.24109671e-01 -9.90174900e-02 9.69520702e-01 -1.94492874e+02] [-9.74472049e-01 -9.10742176e-03 2.24324055e-01 -9.07365418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.51, Z:-907.39 [[-1.06764170e-02 -9.98736031e-01 -4.91157263e-02 4.10303782e+02] [ 2.23843879e-01 -5.02591020e-02 9.73328280e-01 -1.94506206e+02] [-9.74566535e-01 -6.02596088e-04 2.24097535e-01 -9.07393148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-194.50, Z:-907.39 [[-6.84900216e-03 -9.98738097e-01 -4.97524450e-02 4.10305530e+02] [ 2.27273815e-01 -5.00062501e-02 9.72546137e-01 -1.94502952e+02] [-9.73806811e-01 -4.64645741e-03 2.27329511e-01 -9.07393607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.51, Z:-907.40 [[-3.94671466e-03 -9.99624253e-01 -2.71251923e-02 4.10295644e+02] [ 2.27262363e-01 -2.73122339e-02 9.73450492e-01 -1.94509474e+02] [-9.73825571e-01 -2.32260397e-03 2.27284764e-01 -9.07403465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.51, Z:-907.41 [[-2.27840815e-03 -9.99691025e-01 -2.47520349e-02 4.10294861e+02] [ 2.27669106e-01 -2.46206354e-02 9.73427246e-01 -1.94509847e+02] [-9.73735892e-01 -3.41740908e-03 2.27654858e-01 -9.07406163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.51, Z:-907.42 [[-4.39188125e-04 -9.99749448e-01 -2.23796465e-02 4.10294066e+02] [ 2.28022910e-01 -2.18901938e-02 9.73409663e-01 -1.94508672e+02] [-9.73655668e-01 -4.67556217e-03 2.27975392e-01 -9.07415939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.51, Z:-907.42 [[ 1.01145702e-03 -9.99808260e-01 -1.95555840e-02 4.10293273e+02] [ 2.27823855e-01 -1.88109375e-02 9.73520642e-01 -1.94509273e+02] [-9.73701837e-01 -5.43990283e-03 2.27761146e-01 -9.07418737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.51, Z:-907.43 [[ 3.25409734e-03 -9.99847102e-01 -1.71808957e-02 4.10294115e+02] [ 2.28183864e-01 -1.59852872e-02 9.73486823e-01 -1.94508384e+02] [-9.73612621e-01 -7.08822406e-03 2.28096957e-01 -9.07426138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.49, Z:-907.49 [[ 1.30638303e-02 -9.99806824e-01 -1.46850608e-02 4.10292016e+02] [ 2.28125934e-01 -1.13188615e-02 9.73565838e-01 -1.94494862e+02] [-9.73543987e-01 -1.60685421e-02 2.27933998e-01 -9.07491045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.50, Z:-907.52 [[ 1.34270331e-02 -9.99538732e-01 2.72403656e-02 4.10273535e+02] [ 2.26429474e-01 2.95745513e-02 9.73578471e-01 -1.94502455e+02] [-9.73935012e-01 -6.90424876e-03 2.26722128e-01 -9.07521801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.50, Z:-907.55 [[ 1.27805194e-02 -9.99580553e-01 2.59880191e-02 4.10275725e+02] [ 2.25826994e-01 2.82040853e-02 9.73759056e-01 -1.94495342e+02] [-9.74083583e-01 -6.57635032e-03 2.26092734e-01 -9.07548941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.49, Z:-907.58 [[ 1.03591547e-02 -9.99640392e-01 2.47340856e-02 4.10279408e+02] [ 2.24548136e-01 2.64292178e-02 9.74104528e-01 -1.94488368e+02] [-9.74407934e-01 -4.53690673e-03 2.24741171e-01 -9.07575217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.48, Z:-907.60 [[ 8.45431573e-03 -9.99679034e-01 2.38820970e-02 4.10281167e+02] [ 2.23559069e-01 2.51680058e-02 9.74365391e-01 -1.94482328e+02] [-9.74653717e-01 -2.89853328e-03 2.23700092e-01 -9.07601131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.48, Z:-907.63 [[ 6.04736607e-03 -9.99716312e-01 2.30374643e-02 4.10283076e+02] [ 2.22959952e-01 2.38059326e-02 9.74536884e-01 -1.94476029e+02] [-9.74808848e-01 -7.56949339e-04 2.23040665e-01 -9.07628179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.47, Z:-907.65 [[ 3.28875540e-03 -9.99757315e-01 2.17829280e-02 4.10285491e+02] [ 2.22464436e-01 2.19686357e-02 9.74693261e-01 -1.94469521e+02] [-9.74935259e-01 1.64039907e-03 2.22482697e-01 -9.07654799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.46, Z:-907.68 [[-2.35610011e-03 -9.99778080e-01 2.09341959e-02 4.10289752e+02] [ 2.21538885e-01 1.98922123e-02 9.74948626e-01 -1.94462870e+02] [-9.75148692e-01 6.93481498e-03 2.21442853e-01 -9.07682224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.316559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.46, Z:-907.71 [[-5.42285338e-03 -9.99791493e-01 1.96866116e-02 4.10291648e+02] [ 2.20753178e-01 1.80043072e-02 9.75163514e-01 -1.94456471e+02] [-9.75314630e-01 9.63405082e-03 2.20609515e-01 -9.07709329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.45, Z:-907.74 [[-1.02922955e-02 -9.99776989e-01 1.84401922e-02 4.10294087e+02] [ 2.20469907e-01 1.57184770e-02 9.75267117e-01 -1.94450072e+02] [-9.75339474e-01 1.41032448e-02 2.20258961e-01 -9.07736826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.44, Z:-907.76 [[-1.26150393e-02 -9.99772510e-01 1.71985241e-02 4.10295468e+02] [ 2.20493711e-01 1.39951610e-02 9.75287988e-01 -1.94443760e+02] [-9.75306816e-01 1.60954627e-02 2.20267001e-01 -9.07764025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.44, Z:-907.79 [[-1.43856380e-02 -9.99769839e-01 1.59160833e-02 4.10296777e+02] [ 2.21541859e-01 1.23351587e-02 9.75072843e-01 -1.94437028e+02] [-9.75044747e-01 1.75531237e-02 2.21313420e-01 -9.07790339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.43, Z:-907.82 [[-1.76065148e-02 -9.99727018e-01 1.53590267e-02 4.10297764e+02] [ 2.22762128e-01 1.10530880e-02 9.74810168e-01 -1.94431103e+02] [-9.74713827e-01 2.05844191e-02 2.22506712e-01 -9.07816996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.43, Z:-907.85 [[-1.99774192e-02 -9.99556925e-01 2.20648207e-02 4.10293817e+02] [ 2.21747782e-01 1.70898152e-02 9.74954286e-01 -1.94430573e+02] [-9.74899392e-01 2.43698955e-02 2.21308121e-01 -9.07845858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.42, Z:-907.87 [[-2.05768504e-02 -9.99763662e-01 7.01517007e-03 4.10301651e+02] [ 2.23951487e-01 2.22927954e-03 9.74597744e-01 -1.94416139e+02] [-9.74383048e-01 2.16252098e-02 2.23852687e-01 -9.07870574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.41, Z:-907.90 [[-2.26596960e-02 -9.99655504e-01 1.32443035e-02 4.10297442e+02] [ 2.24640701e-01 7.81778900e-03 9.74410303e-01 -1.94412584e+02] [-9.74178163e-01 2.50550509e-02 2.24386164e-01 -9.07897929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.41, Z:-907.92 [[-2.37411129e-02 -9.99637459e-01 1.27007800e-02 4.10296596e+02] [ 2.24529073e-01 7.04815736e-03 9.74441901e-01 -1.94406889e+02] [-9.74178144e-01 2.59860295e-02 2.24280341e-01 -9.07924477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.40, Z:-907.95 [[-2.41390439e-02 -9.99634638e-01 1.21613014e-02 4.10295304e+02] [ 2.24816239e-01 6.42522730e-03 9.74379995e-01 -1.94400695e+02] [-9.74102133e-01 2.62546595e-02 2.24579001e-01 -9.07950469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.616559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.39, Z:-907.98 [[-2.41517635e-02 -9.99640620e-01 1.16328871e-02 4.10295125e+02] [ 2.24825841e-01 5.90704723e-03 9.74381059e-01 -1.94394452e+02] [-9.74099602e-01 2.61483945e-02 2.24602377e-01 -9.07977756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.39, Z:-908.00 [[-2.37315150e-02 -9.99664180e-01 1.04087448e-02 4.10295614e+02] [ 2.24784441e-01 4.80938579e-03 9.74396647e-01 -1.94387689e+02] [-9.74119485e-01 2.54636325e-02 2.24594820e-01 -9.08004046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.38, Z:-908.03 [[-2.28949407e-02 -9.99691985e-01 9.57897655e-03 4.10295211e+02] [ 2.24527941e-01 4.19505455e-03 9.74458622e-01 -1.94380158e+02] [-9.74198658e-01 2.44609202e-02 2.24362737e-01 -9.08031651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.37, Z:-908.06 [[-2.23204284e-02 -9.99715762e-01 8.37812391e-03 4.10295150e+02] [ 2.24493966e-01 3.15432862e-03 9.74470374e-01 -1.94373234e+02] [-9.74219820e-01 2.36314344e-02 2.24359751e-01 -9.08059076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.37, Z:-908.09 [[-2.01935321e-02 -9.99770285e-01 7.18324287e-03 4.10293107e+02] [ 2.24738677e-01 2.46176431e-03 9.74415962e-01 -1.94366762e+02] [-9.74209807e-01 2.12912525e-02 2.24637340e-01 -9.08086532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.36, Z:-908.11 [[-1.88455553e-02 -9.99804481e-01 5.98708663e-03 4.10292103e+02] [ 2.24915266e-01 1.59533848e-03 9.74377021e-01 -1.94360426e+02] [-9.74196063e-01 1.97092632e-02 2.24841226e-01 -9.08113677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.36, Z:-908.14 [[-1.83650941e-02 -9.99714994e-01 1.52530157e-02 4.10285340e+02] [ 2.22536381e-01 1.07857993e-02 9.74864722e-01 -1.94361782e+02] [-9.74751395e-01 2.12978333e-02 2.22274875e-01 -9.08142485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.34, Z:-908.17 [[-1.25220099e-02 -9.99898807e-01 -6.75097016e-03 4.10294817e+02] [ 2.24825113e-01 -9.39404666e-03 9.74353848e-01 -1.94344654e+02] [-9.74318669e-01 1.06830809e-02 2.24919994e-01 -9.08168964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.35, Z:-908.20 [[-9.40339177e-03 -9.99816463e-01 1.66918239e-02 4.10281092e+02] [ 2.25837887e-01 1.41378291e-02 9.74062303e-01 -1.94346479e+02] [-9.74119513e-01 1.29291357e-02 2.25663494e-01 -9.08195963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.34, Z:-908.22 [[-6.93374514e-03 -9.99972701e-01 2.55366008e-03 4.10286724e+02] [ 2.25456109e-01 9.24680745e-04 9.74252887e-01 -1.94335547e+02] [-9.74228652e-01 7.33095948e-03 2.25443543e-01 -9.08222372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.33, Z:-908.25 [[-1.63590884e-03 -9.99997677e-01 1.40338688e-03 4.10284912e+02] [ 2.24966440e-01 9.99390196e-04 9.74366000e-01 -1.94328766e+02] [-9.74365139e-01 1.90968890e-03 2.24964283e-01 -9.08249623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.32, Z:-908.28 [[ 4.01570708e-03 -9.99991925e-01 1.53130708e-04 4.10283817e+02] [ 2.23671963e-01 1.04746052e-03 9.74663920e-01 -1.94321759e+02] [-9.74656210e-01 -3.87971376e-03 2.23674363e-01 -9.08276715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.32, Z:-908.29 [[ 7.85779271e-03 -9.99968516e-01 -1.10583289e-03 4.10283370e+02] [ 2.23583403e-01 6.79055162e-04 9.74684565e-01 -1.94317393e+02] [-9.74653127e-01 -7.90611516e-03 2.23581699e-01 -9.08292942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.31, Z:-908.32 [[ 1.01245063e-02 -9.99938808e-01 4.45808159e-03 4.10279870e+02] [ 2.23224108e-01 6.60592981e-03 9.74744766e-01 -1.94313062e+02] [-9.74714570e-01 -8.87365821e-03 2.23277331e-01 -9.08320535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.31, Z:-908.35 [[ 1.22246435e-02 -9.99920105e-01 3.21574345e-03 4.10279836e+02] [ 2.23019460e-01 5.86149674e-03 9.74796370e-01 -1.94306471e+02] [-9.74737338e-01 -1.11993648e-02 2.23073297e-01 -9.08348079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.30, Z:-908.38 [[ 1.62559559e-02 -9.99865941e-01 1.96082145e-03 4.10279047e+02] [ 2.23710258e-01 5.54846272e-03 9.74639900e-01 -1.94300138e+02] [-9.74520120e-01 -1.54050473e-02 2.23770463e-01 -9.08375072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.29, Z:-908.40 [[ 1.82846202e-02 -9.99832595e-01 6.73826084e-04 4.10278601e+02] [ 2.24812528e-01 4.76797952e-03 9.74390370e-01 -1.94294058e+02] [-9.74230466e-01 -1.76648733e-02 2.24862074e-01 -9.08401680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.29, Z:-908.43 [[ 2.00012081e-02 -9.99799949e-01 1.17495271e-04 4.10277954e+02] [ 2.25388970e-01 4.62344730e-03 9.74257890e-01 -1.94288628e+02] [-9.74063532e-01 -1.94598526e-02 2.25436355e-01 -9.08429660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.29, Z:-908.43 [[ 2.37311494e-02 -9.99717709e-01 -1.15586588e-03 4.10277473e+02] [ 2.27722141e-01 4.27983034e-03 9.73716750e-01 -1.94287606e+02] [-9.73436931e-01 -2.33706339e-02 2.27759423e-01 -9.08434611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.28, Z:-908.46 [[ 2.46003076e-02 -9.99696595e-01 1.24229239e-03 4.10276220e+02] [ 2.28561224e-01 6.83412845e-03 9.73505553e-01 -1.94282517e+02] [-9.73218676e-01 -2.36645962e-02 2.28659999e-01 -9.08461762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.28, Z:-908.47 [[ 2.53894011e-02 -9.99677637e-01 -3.90790010e-05 4.10276900e+02] [ 2.29263164e-01 5.78468177e-03 9.73347286e-01 -1.94281383e+02] [-9.73033288e-01 -2.47216641e-02 2.29336128e-01 -9.08465643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.28, Z:-908.49 [[ 2.35127386e-02 -9.99720187e-01 2.58842591e-03 4.10276963e+02] [ 2.30341929e-01 7.93692914e-03 9.73077387e-01 -1.94276418e+02] [-9.72825651e-01 -2.22834912e-02 2.30464095e-01 -9.08493288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.27, Z:-908.52 [[ 2.13927298e-02 -9.99770245e-01 1.34454123e-03 4.10279152e+02] [ 2.30327617e-01 6.23713335e-03 9.73093154e-01 -1.94269648e+02] [-9.72877968e-01 -2.05074339e-02 2.30408128e-01 -9.08520500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.26, Z:-908.55 [[ 1.85454517e-02 -9.99828014e-01 9.56920342e-05 4.10281529e+02] [ 2.29962323e-01 4.35863129e-03 9.73189772e-01 -1.94262995e+02] [-9.73022814e-01 -1.80262384e-02 2.30003605e-01 -9.08547180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.26, Z:-908.55 [[ 1.18248158e-02 -9.99929982e-01 -4.53253761e-04 4.10286262e+02] [ 2.28321999e-01 2.25874355e-03 9.73583054e-01 -1.94262102e+02] [-9.73513862e-01 -1.16159281e-02 2.28332721e-01 -9.08548361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.26, Z:-908.58 [[ 7.03526602e-03 -9.99972922e-01 2.15904290e-03 4.10287383e+02] [ 2.27461974e-01 3.70278839e-03 9.73779924e-01 -1.94256621e+02] [-9.73761550e-01 -6.35970065e-03 2.27481865e-01 -9.08575911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.25, Z:-908.60 [[ 1.77756021e-03 -9.99998023e-01 8.91401794e-04 4.10290569e+02] [ 2.26775593e-01 1.27128718e-03 9.73946207e-01 -1.94249770e+02] [-9.73945415e-01 -1.52909986e-03 2.26777404e-01 -9.08602581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.24, Z:-908.63 [[-8.81469703e-03 -9.99961091e-01 3.44550952e-04 4.10296522e+02] [ 2.25051787e-01 -1.64811580e-03 9.74345410e-01 -1.94242942e+02] [-9.74306930e-01 8.66610139e-03 2.25057558e-01 -9.08629346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.22, Z:-908.81 [[-1.85921438e-02 -9.99553652e-01 2.33843585e-02 4.10284026e+02] [ 2.09482028e-01 1.89749618e-02 9.77628371e-01 -1.94223177e+02] [-9.77635726e-01 2.30748101e-02 2.09035741e-01 -9.08808538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.33, Y:-194.20, Z:-908.70 [[-9.86493793e-03 -9.98042859e-01 -6.17505806e-02 4.10330175e+02] [ 2.25170894e-01 -6.23847182e-02 9.72320017e-01 -1.94202894e+02] [-9.74269343e-01 -4.31255683e-03 2.25345624e-01 -9.08699831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.516559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.27, Y:-194.24, Z:-908.74 [[-9.18655804e-03 -9.98392655e-01 5.59259674e-02 4.10273472e+02] [ 2.27709793e-01 5.23702280e-02 9.72319706e-01 -1.94239081e+02] [-9.73685708e-01 2.16671619e-02 2.26862682e-01 -9.08737964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.23, Z:-908.76 [[-1.20407886e-02 -9.98425561e-01 5.47851981e-02 4.10276423e+02] [ 2.28429835e-01 5.05938091e-02 9.72244865e-01 -1.94232589e+02] [-9.73485917e-01 2.42211687e-02 2.27460997e-01 -9.08764883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.23, Z:-908.79 [[-1.41505443e-02 -9.98463846e-01 5.35696732e-02 4.10278923e+02] [ 2.28815836e-01 4.89198463e-02 9.72239766e-01 -1.94226226e+02] [-9.73366876e-01 2.60153114e-02 2.27772097e-01 -9.08791831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.22, Z:-908.82 [[-1.41701234e-02 -9.98529116e-01 5.23336624e-02 4.10281786e+02] [ 2.29686718e-01 4.76887768e-02 9.72095567e-01 -1.94220158e+02] [-9.73161456e-01 2.57950613e-02 2.28673120e-01 -9.08818308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-194.23, Z:-908.85 [[-1.57455045e-02 -9.96529834e-01 8.17335250e-02 4.10263987e+02] [ 2.24875878e-01 7.61200944e-02 9.71409580e-01 -1.94234132e+02] [-9.74260191e-01 3.36752321e-02 2.22896972e-01 -9.08849412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-194.19, Z:-908.87 [[-1.14902549e-02 -9.99906346e-01 -7.43462625e-03 4.10312246e+02] [ 2.28890718e-01 -9.86781772e-03 9.73402109e-01 -1.94186444e+02] [-9.73384309e-01 9.48292139e-03 2.28982665e-01 -9.08868478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.20, Z:-908.90 [[-5.62441698e-03 -9.98730165e-01 5.00642011e-02 4.10282829e+02] [ 2.29658145e-01 4.74366870e-02 9.72114652e-01 -1.94200683e+02] [-9.73255107e-01 1.69652297e-02 2.29099713e-01 -9.08901158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.19, Z:-908.93 [[-2.35230651e-03 -9.98802810e-01 4.88611572e-02 4.10283363e+02] [ 2.29135695e-01 4.70229504e-02 9.72258029e-01 -1.94193838e+02] [-9.73391648e-01 1.34828841e-02 2.28750764e-01 -9.08928851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.19, Z:-908.95 [[ 4.85503149e-03 -9.98853005e-01 4.76351094e-02 4.10282978e+02] [ 2.27801366e-01 4.74879262e-02 9.72548937e-01 -1.94187242e+02] [-9.73695521e-01 6.12958725e-03 2.27770634e-01 -9.08954604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.18, Z:-908.98 [[ 8.18275879e-03 -9.98856733e-01 4.70985166e-02 4.10283121e+02] [ 2.27696535e-01 4.77239714e-02 9.72561932e-01 -1.94180513e+02] [-9.73697761e-01 2.76592933e-03 2.27826731e-01 -9.08981736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.17, Z:-909.01 [[ 1.11121821e-02 -9.98885277e-01 4.58772672e-02 4.10283781e+02] [ 2.27820509e-01 4.72025198e-02 9.72558347e-01 -1.94173597e+02] [-9.73639736e-01 -3.55463076e-04 2.28091075e-01 -9.09008471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.17, Z:-909.03 [[ 1.71153272e-02 -9.98857097e-01 4.46269554e-02 4.10284233e+02] [ 2.27687360e-01 4.73544451e-02 9.72582142e-01 -1.94167497e+02] [-9.73583860e-01 -6.48506796e-03 2.28237622e-01 -9.09034429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.16, Z:-909.06 [[ 1.96420166e-02 -9.98834721e-01 4.40839048e-02 4.10284387e+02] [ 2.27892043e-01 4.74044964e-02 9.72531763e-01 -1.94161154e+02] [-9.73488268e-01 -9.05611389e-03 2.28557605e-01 -9.09061545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.28, Y:-194.16, Z:-909.09 [[ 2.45874328e-02 -9.98778825e-01 4.28522592e-02 4.10284444e+02] [ 2.27543145e-01 4.73313381e-02 9.72617017e-01 -1.94155372e+02] [-9.73457537e-01 -1.41634177e-02 2.28429031e-01 -9.09088721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.15, Z:-909.11 [[ 2.68366198e-02 -9.98773677e-01 4.16045482e-02 4.10285031e+02] [ 2.27383311e-01 4.66276408e-02 9.72688385e-01 -1.94149007e+02] [-9.73435476e-01 -1.66434885e-02 2.28355793e-01 -9.09114684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.14, Z:-909.14 [[ 2.86054035e-02 -9.98747053e-01 4.10616052e-02 4.10285421e+02] [ 2.27715191e-01 4.65093495e-02 9.72616406e-01 -1.94142518e+02] [-9.73307517e-01 -1.84717335e-02 2.28760295e-01 -9.09142351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.996559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.14, Z:-909.17 [[ 3.11860537e-02 -9.98719692e-01 3.98297272e-02 4.10286694e+02] [ 2.27018300e-01 4.58852669e-02 9.72808940e-01 -1.94136425e+02] [-9.73391043e-01 -2.12959949e-02 2.28158627e-01 -9.09168403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.13, Z:-909.20 [[ 3.15174196e-02 -9.98742404e-01 3.89905552e-02 4.10287683e+02] [ 2.26886395e-01 4.51405613e-02 9.72874552e-01 -1.94129581e+02] [-9.73411124e-01 -2.18160690e-02 2.28023777e-01 -9.09195744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.056559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.12, Z:-909.22 [[ 3.16338689e-02 -9.98785058e-01 3.77849958e-02 4.10288986e+02] [ 2.26005764e-01 4.39726865e-02 9.73132980e-01 -1.94123273e+02] [-9.73612188e-01 -2.22443343e-02 2.27122206e-01 -9.09222466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.12, Z:-909.25 [[ 3.12414180e-02 -9.98817024e-01 3.72629357e-02 4.10289758e+02] [ 2.25833007e-01 4.33709425e-02 9.73200090e-01 -1.94116761e+02] [-9.73664946e-01 -2.19889500e-02 2.26920821e-01 -9.09249660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.11, Z:-909.28 [[ 3.04622502e-02 -9.98817810e-01 3.78818419e-02 4.10291183e+02] [ 2.24710768e-01 4.37727133e-02 9.73441842e-01 -1.94111313e+02] [-9.73949240e-01 -2.11407712e-02 2.25778532e-01 -9.09278086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.11, Z:-909.30 [[ 2.93444798e-02 -9.98637503e-01 4.31513493e-02 4.10288253e+02] [ 2.25923526e-01 4.86790897e-02 9.72928007e-01 -1.94106629e+02] [-9.73702964e-01 -1.88011613e-02 2.27044168e-01 -9.09304247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.10, Z:-909.33 [[ 2.81892988e-02 -9.99015756e-01 3.42473843e-02 4.10292764e+02] [ 2.26490766e-01 3.97533565e-02 9.73201728e-01 -1.94098427e+02] [-9.73605308e-01 -1.96771580e-02 2.27388463e-01 -9.09330663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.09, Z:-909.36 [[ 2.71448924e-02 -9.99087145e-01 3.29853391e-02 4.10293418e+02] [ 2.27483210e-01 3.83056431e-02 9.73028297e-01 -1.94092394e+02] [-9.73403587e-01 -1.89091376e-02 2.28315354e-01 -9.09356965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-194.09, Z:-909.38 [[ 2.50757898e-02 -9.99159217e-01 3.24355272e-02 4.10294813e+02] [ 2.28785560e-01 3.73203794e-02 9.72761203e-01 -1.94086708e+02] [-9.73153828e-01 -1.69719752e-02 2.29529039e-01 -9.09384248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.08, Z:-909.41 [[ 2.34961482e-02 -9.99237901e-01 3.11696623e-02 4.10296129e+02] [ 2.30517098e-01 3.57532406e-02 9.72411216e-01 -1.94080329e+02] [-9.72784559e-01 -1.56627779e-02 2.31181485e-01 -9.09411939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.296559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.07, Z:-909.44 [[ 2.32752254e-02 -9.99281401e-01 2.99156302e-02 4.10296856e+02] [ 2.30832496e-01 3.44868850e-02 9.72382134e-01 -1.94074615e+02] [-9.72715078e-01 -1.57269138e-02 2.31469310e-01 -9.09438214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.07, Z:-909.47 [[ 2.33009915e-02 -9.99297040e-01 2.93681676e-02 4.10297635e+02] [ 2.31864431e-01 3.39769531e-02 9.72154542e-01 -1.94067977e+02] [-9.72468997e-01 -1.58427313e-02 2.32493136e-01 -9.09465769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.06, Z:-909.49 [[ 2.31051186e-02 -9.99336615e-01 2.81510902e-02 4.10298239e+02] [ 2.32054071e-01 3.27504843e-02 9.72151384e-01 -1.94062091e+02] [-9.72428435e-01 -1.59290979e-02 2.32656834e-01 -9.09492860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.06, Z:-909.52 [[ 2.31636693e-02 -9.99369284e-01 2.69161611e-02 4.10299380e+02] [ 2.32161882e-01 3.15645757e-02 9.72164872e-01 -1.94056013e+02] [-9.72401309e-01 -1.62699990e-02 2.32746605e-01 -9.09519923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.05, Z:-909.55 [[ 2.27013564e-02 -9.99412689e-01 2.56695426e-02 4.10300732e+02] [ 2.32129836e-01 3.02437264e-02 9.72214511e-01 -1.94049393e+02] [-9.72419862e-01 -1.61119214e-02 2.32680078e-01 -9.09546789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.04, Z:-909.57 [[ 2.15655963e-02 -9.99469267e-01 2.44153532e-02 4.10302492e+02] [ 2.31243793e-01 2.87453914e-02 9.72471085e-01 -1.94041951e+02] [-9.72656791e-01 -1.53260199e-02 2.31740975e-01 -9.09574183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.04, Z:-909.60 [[ 2.09682724e-02 -9.99512171e-01 2.31462975e-02 4.10303257e+02] [ 2.30800974e-01 2.73653085e-02 9.72616086e-01 -1.94035101e+02] [-9.72775021e-01 -1.50518910e-02 2.31262186e-01 -9.09600432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.03, Z:-909.63 [[ 2.02042457e-02 -9.99540308e-01 2.26044616e-02 4.10303565e+02] [ 2.29831731e-01 2.66469274e-02 9.72865518e-01 -1.94028461e+02] [-9.73020639e-01 -1.44607915e-02 2.30264460e-01 -9.09627659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.02, Z:-909.65 [[ 1.90003503e-02 -9.99591312e-01 2.13587357e-02 4.10303422e+02] [ 2.28262189e-01 2.51352615e-02 9.73275188e-01 -1.94021660e+02] [-9.73414280e-01 -1.36171778e-02 2.28646479e-01 -9.09654418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.02, Z:-909.68 [[ 1.82214972e-02 -9.99631685e-01 2.01114641e-02 4.10303450e+02] [ 2.27903799e-01 2.37378750e-02 9.73394253e-01 -1.94015167e+02] [-9.73513141e-01 -1.31532216e-02 2.28252398e-01 -9.09681486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.596559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.01, Z:-909.71 [[ 1.74171309e-02 -9.99670565e-01 1.88521984e-02 4.10302910e+02] [ 2.27638751e-01 2.23245896e-02 9.73489708e-01 -1.94009202e+02] [-9.73589874e-01 -1.26639068e-02 2.27952589e-01 -9.09707732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.00, Z:-909.73 [[ 1.67473275e-02 -9.99692125e-01 1.83079767e-02 4.10303157e+02] [ 2.27967814e-01 2.16460136e-02 9.73428028e-01 -1.94002567e+02] [-9.73524629e-01 -1.21286886e-02 2.28260142e-01 -9.09734838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-194.00, Z:-909.76 [[ 1.61592462e-02 -9.99723712e-01 1.70698399e-02 4.10303763e+02] [ 2.28357609e-01 2.03108906e-02 9.73365435e-01 -1.93995991e+02] [-9.73443209e-01 -1.18308239e-02 2.28622725e-01 -9.09762249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.99, Z:-909.79 [[ 1.56407012e-02 -9.99752321e-01 1.58323985e-02 4.10304321e+02] [ 2.28978887e-01 1.89949142e-02 9.73246044e-01 -1.93989167e+02] [-9.73305727e-01 -1.15969656e-02 2.29219267e-01 -9.09789962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.7165599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.98, Z:-909.82 [[ 1.47117194e-02 -9.99785246e-01 1.45954700e-02 4.10304577e+02] [ 2.30457114e-01 1.75944733e-02 9.72923406e-01 -1.93982628e+02] [-9.72971266e-01 -1.09497463e-02 2.30666467e-01 -9.09817721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.98, Z:-909.84 [[ 1.42985533e-02 -9.99808399e-01 1.33684774e-02 4.10305122e+02] [ 2.30731737e-01 1.63081887e-02 9.72880727e-01 -1.93976163e+02] [-9.72912338e-01 -1.08262550e-02 2.30920712e-01 -9.09844630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.776559995 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.96, Z:-909.87 [[ 1.42443299e-02 -9.99887449e-01 4.71042202e-03 4.10310361e+02] [ 2.32224090e-01 7.89026383e-03 9.72630308e-01 -1.93964032e+02] [-9.72558004e-01 -1.27605935e-02 2.32310345e-01 -9.09872441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.98, Z:-909.90 [[ 1.24934982e-02 -9.98824725e-01 4.68303372e-02 4.10286985e+02] [ 2.30719550e-01 4.84497810e-02 9.71813309e-01 -1.93975481e+02] [-9.72940081e-01 -1.33667351e-03 2.31053698e-01 -9.09902228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.96, Z:-909.93 [[ 1.08473412e-02 -9.99884335e-01 1.06607578e-02 4.10304872e+02] [ 2.30772062e-01 1.28768452e-02 9.72922629e-01 -1.93956696e+02] [-9.72947373e-01 -8.09341869e-03 2.30885050e-01 -9.09926486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.95, Z:-909.95 [[ 8.14512750e-03 -9.99922446e-01 9.42117355e-03 4.10305808e+02] [ 2.29857517e-01 1.10413999e-02 9.73161657e-01 -1.93949671e+02] [-9.73190207e-01 -5.76099822e-03 2.29929624e-01 -9.09953317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.94, Z:-909.98 [[ 6.54190403e-03 -9.99945095e-01 8.18603933e-03 4.10306907e+02] [ 2.28876225e-01 9.46617454e-03 9.73409506e-01 -1.93943077e+02] [-9.73433551e-01 -4.49436180e-03 2.28925585e-01 -9.09980881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.94, Z:-910.01 [[ 4.91895739e-03 -9.99963754e-01 6.94940889e-03 4.10308029e+02] [ 2.28526467e-01 7.88968729e-03 9.73505730e-01 -1.93936403e+02] [-9.73525274e-01 -3.20050936e-03 2.28556993e-01 -9.10007997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.93, Z:-910.04 [[ 3.39916490e-03 -9.99977923e-01 5.70953491e-03 4.10308938e+02] [ 2.28187429e-01 6.33457041e-03 9.73596616e-01 -1.93929450e+02] [-9.73611289e-01 -2.00657136e-03 2.28203924e-01 -9.10035673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.92, Z:-910.06 [[ 1.63381525e-03 -9.99988696e-01 4.46528075e-03 4.10309554e+02] [ 2.26899781e-01 4.71953241e-03 9.73906677e-01 -1.93923825e+02] [-9.73916742e-01 -5.78012366e-04 2.26904927e-01 -9.10061616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.92, Z:-910.09 [[ 1.04206405e-03 -9.99991744e-01 3.92766183e-03 4.10309794e+02] [ 2.26648857e-01 4.06163337e-03 9.73968069e-01 -1.93917480e+02] [-9.73975980e-01 -1.24737044e-04 2.26651219e-01 -9.10089414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.91, Z:-910.12 [[ 1.15285649e-03 -9.99995632e-01 2.72149636e-03 4.10309554e+02] [ 2.26247599e-01 2.91175937e-03 9.74065473e-01 -1.93911900e+02] [-9.74069143e-01 -5.07225691e-04 2.26249967e-01 -9.10117234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.91, Z:-910.14 [[ 1.84360712e-03 -9.99997198e-01 1.48503819e-03 4.10309771e+02] [ 2.26702833e-01 1.86432723e-03 9.73962191e-01 -1.93905743e+02] [-9.73962231e-01 -1.45894127e-03 2.26705635e-01 -9.10143744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.90, Z:-910.17 [[ 2.78874698e-03 -9.99995903e-01 6.45457826e-04 4.10309692e+02] [ 2.27006522e-01 1.26167541e-03 9.73892421e-01 -1.93899860e+02] [-9.73889245e-01 -2.56941641e-03 2.27009110e-01 -9.10170357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.89, Z:-910.20 [[ 4.71825211e-03 -9.99988862e-01 1.18995202e-04 4.10309380e+02] [ 2.27422051e-01 1.18892482e-03 9.73795562e-01 -1.93894441e+02] [-9.73784858e-01 -4.56755084e-03 2.27425128e-01 -9.10198343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.91, Z:-910.20 [[ 2.21901438e-03 -9.99875936e-01 1.55945326e-02 4.10299209e+02] [ 2.16589124e-01 1.57049556e-02 9.76136520e-01 -1.93907709e+02] [-9.76260328e-01 1.21154518e-03 2.16597103e-01 -9.10204415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:-193.86, Z:-910.28 [[ 2.01305641e-02 -9.98968612e-01 -4.06997808e-02 4.10326477e+02] [ 2.29818128e-01 -3.49945038e-02 9.72604243e-01 -1.93860782e+02] [-9.73025379e-01 -2.89326195e-02 2.28876637e-01 -9.10281069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.89, Z:-910.32 [[ 2.15952493e-02 -9.98353667e-01 5.31375700e-02 4.10280410e+02] [ 2.28863404e-01 5.66751480e-02 9.71807322e-01 -1.93888532e+02] [-9.73218983e-01 -8.82517626e-03 2.29710532e-01 -9.10316590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.88, Z:-910.34 [[ 2.22229566e-02 -9.98403967e-01 5.19197364e-02 4.10281298e+02] [ 2.28206092e-01 5.56273448e-02 9.72022417e-01 -1.93881941e+02] [-9.73359194e-01 -9.75281183e-03 2.29078072e-01 -9.10343930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.88, Z:-910.37 [[ 2.20152151e-02 -9.98471171e-01 5.07015916e-02 4.10282025e+02] [ 2.27358689e-01 5.43852101e-02 9.72291250e-01 -1.93875484e+02] [-9.73562200e-01 -9.87775358e-03 2.28208399e-01 -9.10371498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.87, Z:-910.40 [[ 2.26460941e-02 -9.98518423e-01 4.94784093e-02 4.10282732e+02] [ 2.26083538e-01 5.33239543e-02 9.72647310e-01 -1.93869485e+02] [-9.73844643e-01 -1.08404087e-02 2.26956157e-01 -9.10397459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.90, Z:-910.43 [[ 1.63631422e-02 -9.95488668e-01 9.34588672e-02 4.10251729e+02] [ 2.14074972e-01 9.47919394e-02 9.72206971e-01 -1.93895943e+02] [-9.76680170e-01 4.09884343e-03 2.14660302e-01 -9.10428239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-193.80, Z:-910.44 [[ 2.33068406e-02 -9.95656158e-01 -9.01421411e-02 4.10350765e+02] [ 2.27718491e-01 -8.25091659e-02 9.70224988e-01 -1.93804567e+02] [-9.73448037e-01 -4.31399115e-02 2.24806290e-01 -9.10442436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.85, Z:-910.48 [[ 2.39408314e-02 -9.98544239e-01 4.83346622e-02 4.10284155e+02] [ 2.25997625e-01 5.25027060e-02 9.72711951e-01 -1.93849754e+02] [-9.73833615e-01 -1.23640140e-02 2.26925585e-01 -9.10482712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.84, Z:-910.51 [[ 2.49078710e-02 -9.98574947e-01 4.71982345e-02 4.10284720e+02] [ 2.26055706e-01 5.16160114e-02 9.72745910e-01 -1.93844038e+02] [-9.73795880e-01 -1.35595995e-02 2.27019209e-01 -9.10509430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.84, Z:-910.54 [[ 2.58488764e-02 -9.98575851e-01 4.66701726e-02 4.10284883e+02] [ 2.26423594e-01 5.13208390e-02 9.72675962e-01 -1.93837944e+02] [-9.73685880e-01 -1.45753526e-02 2.27427719e-01 -9.10537338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.83, Z:-910.56 [[ 2.78572146e-02 -9.98578769e-01 4.54358570e-02 4.10285380e+02] [ 2.27164417e-01 5.05883263e-02 9.72541592e-01 -1.93832358e+02] [-9.73457910e-01 -1.67708899e-02 2.28250814e-01 -9.10564060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.83, Z:-910.59 [[ 2.82360831e-02 -9.98592223e-01 4.49031737e-02 4.10285589e+02] [ 2.27493636e-01 5.01618863e-02 9.72486725e-01 -1.93826451e+02] [-9.73370109e-01 -1.72440298e-02 2.28589751e-01 -9.10591571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.82, Z:-910.62 [[ 2.83404646e-02 -9.98643136e-01 4.36887348e-02 4.10286405e+02] [ 2.27849603e-01 4.90095036e-02 9.72462147e-01 -1.93820335e+02] [-9.73283811e-01 -1.76055682e-02 2.28929394e-01 -9.10618754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.81, Z:-910.65 [[ 2.79209604e-02 -9.98707784e-01 4.24638960e-02 4.10287859e+02] [ 2.27934550e-01 4.77222238e-02 9.72506262e-01 -1.93814359e+02] [-9.73276046e-01 -1.74743198e-02 2.28972460e-01 -9.10646383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.81, Z:-910.67 [[ 2.68676062e-02 -9.98787750e-01 4.12451406e-02 4.10288982e+02] [ 2.27810037e-01 4.62920397e-02 9.72604562e-01 -1.93807627e+02] [-9.73334844e-01 -1.67354994e-02 2.28777630e-01 -9.10673963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.83, Z:-910.70 [[ 1.88582983e-02 -9.96518971e-01 8.12053307e-02 4.10261488e+02] [ 2.16003582e-01 8.33624182e-02 9.72827405e-01 -1.93831385e+02] [-9.76210437e-01 -8.05227053e-04 2.16823740e-01 -9.10704257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-193.75, Z:-910.72 [[ 2.31090944e-02 -9.96173033e-01 -8.42926889e-02 4.10351197e+02] [ 2.28327526e-01 -7.68277025e-02 9.70548322e-01 -1.93747531e+02] [-9.73310080e-01 -4.16748339e-02 2.25678305e-01 -9.10719487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.79, Z:-910.76 [[ 2.26136083e-02 -9.98964993e-01 3.94660303e-02 4.10291562e+02] [ 2.25590076e-01 4.35567274e-02 9.73248133e-01 -1.93787746e+02] [-9.73959826e-01 -1.31055073e-02 2.26341564e-01 -9.10756529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-193.80, Z:-910.79 [[ 1.67976320e-02 -9.97601408e-01 6.71511096e-02 4.10273954e+02] [ 2.19419119e-01 6.92013796e-02 9.73173376e-01 -1.93801844e+02] [-9.75486079e-01 -1.61277094e-03 2.20055242e-01 -9.10786183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.33, Y:-193.75, Z:-910.81 [[ 1.80800494e-02 -9.99303708e-01 -3.26375620e-02 4.10328274e+02] [ 2.25689439e-01 -2.77214407e-02 9.73804805e-01 -1.93748565e+02] [-9.74031513e-01 -2.49723921e-02 2.25031089e-01 -9.10806904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.79, Z:-910.84 [[ 1.34840401e-02 -9.97951846e-01 6.25323398e-02 4.10277384e+02] [ 2.19324887e-01 6.39669269e-02 9.73552683e-01 -1.93786175e+02] [-9.75558699e-01 5.87475010e-04 2.19738209e-01 -9.10843155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-193.74, Z:-910.86 [[ 1.56143564e-02 -9.99652547e-01 -2.12362444e-02 4.10323837e+02] [ 2.25742823e-01 -1.71659952e-02 9.74035680e-01 -1.93740133e+02] [-9.74061790e-01 -2.00028700e-02 2.25396352e-01 -9.10863609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.76, Z:-910.90 [[ 1.35401013e-02 -9.99229572e-01 3.68365104e-02 4.10295457e+02] [ 2.25549989e-01 3.89425825e-02 9.73452966e-01 -1.93755361e+02] [-9.74137500e-01 -4.87217724e-03 2.25903506e-01 -9.10895886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.75, Z:-910.92 [[ 1.28232732e-02 -9.99283587e-01 3.56072422e-02 4.10296639e+02] [ 2.25823500e-01 3.75843410e-02 9.73442944e-01 -1.93748802e+02] [-9.74083831e-01 -4.44177276e-03 2.26143672e-01 -9.10922450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.74, Z:-910.95 [[ 1.15826758e-02 -9.99317845e-01 3.50668874e-02 4.10297026e+02] [ 2.27185408e-01 3.67820808e-02 9.73156652e-01 -1.93742749e+02] [-9.73782641e-01 -3.30507285e-03 2.27456467e-01 -9.10949993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.74, Z:-910.98 [[ 1.15017501e-02 -9.99361351e-01 3.38319371e-02 4.10297118e+02] [ 2.28093740e-01 3.55643074e-02 9.72989428e-01 -1.93736975e+02] [-9.73571238e-01 -3.47422815e-03 2.28357119e-01 -9.10975940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.73, Z:-911.00 [[ 1.26564509e-02 -9.99375754e-01 3.29835872e-02 4.10296482e+02] [ 2.29922002e-01 3.50109996e-02 9.72579099e-01 -1.93731019e+02] [-9.73126758e-01 -4.72574723e-03 2.30221589e-01 -9.11003149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.72, Z:-911.03 [[ 1.33191058e-02 -9.99406869e-01 3.17570832e-02 4.10296601e+02] [ 2.29855348e-01 3.39695646e-02 9.72631784e-01 -1.93724486e+02] [-9.73133660e-01 -5.65505026e-03 2.30171458e-01 -9.11030168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.72, Z:-911.06 [[ 1.42069117e-02 -9.99432908e-01 3.05291202e-02 4.10296509e+02] [ 2.29471302e-01 3.29761836e-02 9.72756646e-01 -1.93717977e+02] [-9.73211737e-01 -6.81431079e-03 2.29809661e-01 -9.11057475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.71, Z:-911.08 [[ 1.57341022e-02 -9.99446903e-01 2.92971945e-02 4.10295034e+02] [ 2.29190440e-01 3.21256886e-02 9.72851316e-01 -1.93711175e+02] [-9.73254427e-01 -8.59230514e-03 2.29569145e-01 -9.11083376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.70, Z:-911.11 [[ 1.60506472e-02 -9.99457266e-01 2.87671665e-02 4.10294899e+02] [ 2.28657998e-01 3.16775039e-02 9.72991293e-01 -1.93704641e+02] [-9.73374490e-01 -9.03929730e-03 2.29042342e-01 -9.11110468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.70, Z:-911.14 [[ 1.58967008e-02 -9.99493928e-01 2.75532937e-02 4.10295277e+02] [ 2.28579935e-01 3.04597732e-02 9.73048517e-01 -1.93697550e+02] [-9.73395351e-01 -9.17013107e-03 2.28948466e-01 -9.11136589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.69, Z:-911.16 [[ 1.45734096e-02 -9.99528303e-01 2.70330795e-02 4.10295381e+02] [ 2.27724774e-01 2.96433083e-02 9.73274217e-01 -1.93691012e+02] [-9.73616476e-01 -8.02782190e-03 2.28049361e-01 -9.11164101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.68, Z:-911.19 [[ 1.35159461e-02 -9.99574893e-01 2.58331871e-02 4.10296603e+02] [ 2.27718881e-01 2.82337317e-02 9.73317506e-01 -1.93684037e+02] [-9.73633109e-01 -7.27260252e-03 2.28003682e-01 -9.11191095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.2165599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.68, Z:-911.22 [[ 1.21901144e-02 -9.99622031e-01 2.46413691e-02 4.10297615e+02] [ 2.27334906e-01 2.67684638e-02 9.73448658e-01 -1.93677344e+02] [-9.73740336e-01 -6.26460716e-03 2.27575291e-01 -9.11218036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.67, Z:-911.25 [[ 1.01656897e-02 -9.99673564e-01 2.34397988e-02 4.10297979e+02] [ 2.27163659e-01 2.51368781e-02 9.73532131e-01 -1.93670117e+02] [-9.73803538e-01 -4.57195510e-03 2.27345038e-01 -9.11245097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.66, Z:-911.27 [[ 9.14124842e-03 -9.99711063e-01 2.22312525e-02 4.10298101e+02] [ 2.27428925e-01 2.37280880e-02 9.73505553e-01 -1.93663037e+02] [-9.73751776e-01 -3.84302626e-03 2.27580117e-01 -9.11272508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.66, Z:-911.30 [[ 8.13705358e-03 -9.99745944e-01 2.10198924e-02 4.10297192e+02] [ 2.27510284e-01 2.23202163e-02 9.73519840e-01 -1.93656661e+02] [-9.73741680e-01 -3.13934141e-03 2.27634104e-01 -9.11299706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.336559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.66, Z:-911.33 [[ 5.13800211e-03 -9.99339430e-01 3.59764396e-02 4.10285789e+02] [ 2.23932936e-01 3.62130785e-02 9.73931544e-01 -1.93662085e+02] [-9.74591012e-01 3.05224741e-03 2.23971076e-01 -9.11328491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.63, Z:-911.35 [[ 5.52501653e-03 -9.99811748e-01 -1.85995369e-02 4.10313336e+02] [ 2.26000015e-01 -1.68701215e-02 9.73981207e-01 -1.93634110e+02] [-9.74111630e-01 -9.58475790e-03 2.25864262e-01 -9.11351424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-193.63, Z:-911.38 [[ 6.73635613e-03 -9.99953191e-01 -6.94526652e-03 4.10308263e+02] [ 2.28885602e-01 -5.21918501e-03 9.73439336e-01 -1.93628425e+02] [-9.73430020e-01 -8.14710555e-03 2.28839730e-01 -9.11379332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.63, Z:-911.41 [[ 5.99998673e-03 -9.99810043e-01 1.85439577e-02 4.10295136e+02] [ 2.29734624e-01 1.94264675e-02 9.73059410e-01 -1.93631001e+02] [-9.73234814e-01 -1.57815440e-03 2.29807543e-01 -9.11408713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.30, Y:-193.62, Z:-911.44 [[ 5.05132494e-03 -9.99837030e-01 1.73319923e-02 4.10295324e+02] [ 2.30058879e-01 1.80292369e-02 9.73009691e-01 -1.93624613e+02] [-9.73163602e-01 -9.27609413e-04 2.30112457e-01 -9.11435851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.62, Z:-911.46 [[ 3.55300784e-03 -9.99863937e-01 1.61085049e-02 4.10294506e+02] [ 2.31097124e-01 1.64935406e-02 9.72790873e-01 -1.93618014e+02] [-9.72924198e-01 2.66295569e-04 2.31124282e-01 -9.11463075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.516559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.61, Z:-911.49 [[ 2.23467844e-03 -9.99886626e-01 1.48909896e-02 4.10293292e+02] [ 2.31789817e-01 1.50034004e-02 9.72650183e-01 -1.93611139e+02] [-9.72763325e-01 1.27801935e-03 2.31797066e-01 -9.11490017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.60, Z:-911.52 [[ 1.98257505e-03 -9.99904553e-01 1.36731460e-02 4.10293419e+02] [ 2.31830036e-01 1.37602420e-02 9.72658979e-01 -1.93604227e+02] [-9.72754288e-01 1.24147650e-03 2.31835189e-01 -9.11517537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-193.62, Z:-911.55 [[-3.17422568e-03 -9.99117704e-01 4.18776503e-02 4.10273048e+02] [ 2.24143772e-01 4.01014515e-02 9.73730683e-01 -1.93619348e+02] [-9.74550919e-01 1.24774555e-02 2.23818720e-01 -9.11546573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.34, Y:-193.56, Z:-911.57 [[-6.69367553e-04 -9.96520558e-01 -8.33446399e-02 4.10338685e+02] [ 2.30783841e-01 -8.12487141e-02 9.69606861e-01 -1.93556025e+02] [-9.73004816e-01 -1.85855728e-02 2.30035227e-01 -9.11565064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.58, Z:-911.60 [[-1.06278763e-04 -9.99932808e-01 1.15917773e-02 4.10292373e+02] [ 2.30758623e-01 1.12544041e-02 9.72945937e-01 -1.93584875e+02] [-9.73011021e-01 2.77830605e-03 2.30741921e-01 -9.11599439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.58, Z:-911.63 [[-4.62946690e-04 -9.99938782e-01 1.10551885e-02 4.10292132e+02] [ 2.30668074e-01 1.06502782e-02 9.72974209e-01 -1.93578121e+02] [-9.73032387e-01 3.00051422e-03 2.30649023e-01 -9.11626812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.57, Z:-911.65 [[-8.63789948e-04 -9.99951182e-01 9.84318946e-03 4.10292072e+02] [ 2.30662388e-01 9.37852558e-03 9.72988647e-01 -1.93571287e+02] [-9.73033461e-01 3.11091139e-03 2.30643026e-01 -9.11653881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.56, Z:-911.68 [[-1.40923613e-03 -9.99961941e-01 8.60996512e-03 4.10291872e+02] [ 2.30798624e-01 8.05227914e-03 9.72968220e-01 -1.93564294e+02] [-9.73000519e-01 3.35831006e-03 2.30778492e-01 -9.11681095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.56, Z:-911.71 [[-1.71872646e-03 -9.99971264e-01 7.38359606e-03 4.10290509e+02] [ 2.30212994e-01 6.78962169e-03 9.73116580e-01 -1.93557143e+02] [-9.73138748e-01 3.37232097e-03 2.30194709e-01 -9.11708780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.55, Z:-911.74 [[-2.06324970e-03 -9.99978899e-01 6.16000702e-03 4.10289608e+02] [ 2.29765728e-01 5.52115795e-03 9.73230305e-01 -1.93550369e+02] [-9.73243779e-01 3.42337562e-03 2.29749488e-01 -9.11736113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.54, Z:-911.76 [[-1.71119359e-03 -9.99986427e-01 4.92115231e-03 4.10288137e+02] [ 2.29456455e-01 4.39721708e-03 9.73308995e-01 -1.93543254e+02] [-9.73317424e-01 2.79471027e-03 2.29445816e-01 -9.11762676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.54, Z:-911.79 [[-1.79202390e-03 -9.99988776e-01 4.38597736e-03 4.10287351e+02] [ 2.29278091e-01 3.85827708e-03 9.73353312e-01 -1.93536568e+02] [-9.73359310e-01 2.74988091e-03 2.29268604e-01 -9.11789659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-193.53, Z:-911.82 [[-1.51657676e-03 -9.99993845e-01 3.16391656e-03 4.10285217e+02] [ 2.29638887e-01 2.73110344e-03 9.73272070e-01 -1.93529124e+02] [-9.73274721e-01 2.20260007e-03 2.29633331e-01 -9.11816924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.52, Z:-911.84 [[-1.11653278e-03 -9.99997525e-01 1.92442153e-03 4.10283952e+02] [ 2.29577586e-01 1.61669145e-03 9.73289021e-01 -1.93522849e+02] [-9.73289723e-01 1.52851314e-03 2.29575212e-01 -9.11843617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.52, Z:-911.87 [[-8.13246546e-04 -9.99998705e-01 1.38893211e-03 4.10282130e+02] [ 2.29591021e-01 1.16511627e-03 9.73286497e-01 -1.93516733e+02] [-9.73286855e-01 1.11040822e-03 2.29589776e-01 -9.11871173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.51, Z:-911.90 [[-3.53507027e-04 -9.99990637e-01 -4.31295340e-03 4.10283211e+02] [ 2.31184003e-01 -4.27784035e-03 9.72900641e-01 -1.93507186e+02] [-9.72909982e-01 -6.53158622e-04 2.31183350e-01 -9.11897352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.44, Y:-193.30, Z:-911.97 [[ 6.69640859e-03 1.55309041e-02 9.99856964e-01 4.09443997e+02] [ 1.52786526e-01 9.88123595e-01 -1.63719156e-02 -1.93295547e+02] [-9.88236528e-01 1.52874305e-01 4.24396645e-03 -9.11970488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.45, Z:-912.00 [[ 1.72372799e-03 -9.99962093e-01 -8.53470183e-03 4.10281116e+02] [ 1.62465046e-01 -8.14128875e-03 9.86680713e-01 -1.93453195e+02] [-9.86712794e-01 -3.08735989e-03 1.62444854e-01 -9.11999167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.056559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:410.28, Y:-193.41, Z:-912.28 [[ 4.36584932e-03 -9.99971842e-01 -6.10363522e-03 4.10276403e+02] [ 1.62717949e-01 -5.31195003e-03 9.86658326e-01 -1.93409742e+02] [-9.86662966e-01 -5.30077260e-03 1.62690176e-01 -9.12284485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-193.45, Z:-912.02 [[ 6.35382575e-03 -9.99974046e-01 -3.39660008e-03 4.10273405e+02] [ 1.63301676e-01 -2.31346517e-03 9.86573470e-01 -1.93451815e+02] [-9.86555722e-01 -6.82318641e-03 1.63282738e-01 -9.12016144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.116559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.27, Y:-193.45, Z:-912.04 [[ 7.06399984e-03 -9.99964147e-01 4.66959630e-03 4.10267750e+02] [ 1.63034099e-01 5.75891997e-03 9.86603627e-01 -1.93450327e+02] [-9.86595146e-01 -6.20806445e-03 1.63068934e-01 -9.12042862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-193.45, Z:-912.07 [[ 8.98281176e-03 -9.99953649e-01 3.46547882e-03 4.10265099e+02] [ 1.63539558e-01 4.88805197e-03 9.86524668e-01 -1.93445581e+02] [-9.86495881e-01 -8.29502252e-03 1.63575886e-01 -9.12070798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.44, Z:-912.10 [[ 1.06099936e-02 -9.99942745e-01 1.39092119e-03 4.10264562e+02] [ 1.63845568e-01 3.11069599e-03 9.86481096e-01 -1.93440852e+02] [-9.86428942e-01 -1.02386618e-02 1.63869192e-01 -9.12097520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.27, Y:-193.43, Z:-912.13 [[ 1.00810166e-02 -9.99697952e-01 -2.24137704e-02 4.10274485e+02] [ 1.63668043e-01 -2.04630144e-02 9.86303218e-01 -1.93428822e+02] [-9.86463960e-01 -1.36113571e-02 1.63412319e-01 -9.12125764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.43, Z:-912.14 [[ 1.18548149e-02 -9.99929728e-01 -5.66024974e-05 4.10260675e+02] [ 1.61969572e-01 1.86439530e-03 9.86793992e-01 -1.93434396e+02] [-9.86724542e-01 -1.17074280e-02 1.61980292e-01 -9.12135409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.43, Z:-912.16 [[ 1.20303410e-02 -9.99920990e-01 3.64495039e-03 4.10257497e+02] [ 1.61267938e-01 5.53772959e-03 9.86895124e-01 -1.93430968e+02] [-9.86837334e-01 -1.12848712e-02 1.61321817e-01 -9.12163355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.43, Z:-912.19 [[ 1.28302114e-02 -9.99915953e-01 1.86328832e-03 4.10255964e+02] [ 1.60663286e-01 3.90074027e-03 9.87001567e-01 -1.93426429e+02] [-9.86925881e-01 -1.23640768e-02 1.60699830e-01 -9.12189547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.42, Z:-912.22 [[ 1.26535915e-02 -9.99919344e-01 1.09177110e-03 4.10256263e+02] [ 1.60673471e-01 3.11092842e-03 9.87002714e-01 -1.93421776e+02] [-9.86926503e-01 -1.23137105e-02 1.60699876e-01 -9.12217711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.42, Z:-912.23 [[ 1.34857397e-02 -9.99909063e-01 -1.06269412e-05 4.10255594e+02] [ 1.61231086e-01 2.16402937e-03 9.86914309e-01 -1.93419792e+02] [-9.86824540e-01 -1.33109829e-02 1.61245608e-01 -9.12228484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.42, Z:-912.26 [[ 1.34712110e-02 -9.99902393e-01 3.70559036e-03 4.10252965e+02] [ 1.61488880e-01 5.83290899e-03 9.86857294e-01 -1.93416722e+02] [-9.86782584e-01 -1.26957512e-02 1.61551694e-01 -9.12255937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.41, Z:-912.28 [[ 1.35385397e-02 -9.99906523e-01 1.91152212e-03 4.10252616e+02] [ 1.61966624e-01 4.07943962e-03 9.86787805e-01 -1.93412202e+02] [-9.86703360e-01 -1.30500631e-02 1.62006713e-01 -9.12283157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.41, Z:-912.31 [[ 1.34972843e-02 -9.99908902e-01 1.03519029e-04 4.10253054e+02] [ 1.62408605e-01 2.29442852e-03 9.86720923e-01 -1.93407297e+02] [-9.86631273e-01 -1.33012404e-02 1.62424779e-01 -9.12309308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4765599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.40, Z:-912.39 [[ 1.57993254e-02 -9.99874866e-01 7.96206291e-04 4.10252702e+02] [ 1.61760960e-01 3.34184796e-03 9.86824313e-01 -1.93396514e+02] [-9.86703488e-01 -1.54623634e-02 1.61793517e-01 -9.12386388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:-193.40, Z:-912.41 [[ 1.65584105e-02 -9.99436008e-01 2.92144742e-02 4.10237689e+02] [ 1.62263885e-01 3.15172054e-02 9.86243934e-01 -1.93399512e+02] [-9.86608459e-01 -1.15901779e-02 1.62694244e-01 -9.12413267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.39, Z:-912.44 [[ 1.68606663e-02 -9.99832990e-01 7.05051870e-03 4.10248368e+02] [ 1.62821370e-01 9.70299440e-03 9.86607852e-01 -1.93388845e+02] [-9.86511490e-01 -1.54868907e-02 1.62957777e-01 -9.12439589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.25, Y:-193.38, Z:-912.47 [[ 1.93170739e-02 -9.99813371e-01 -2.73485401e-04 4.10253375e+02] [ 1.65872275e-01 2.93501907e-03 9.86142877e-01 -1.93380162e+02] [-9.85958031e-01 -1.90947585e-02 1.65898014e-01 -9.12469315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-193.39, Z:-912.50 [[ 1.96594236e-02 -9.98559111e-01 4.99320394e-02 4.10226371e+02] [ 1.63121119e-01 5.24759991e-02 9.85209506e-01 -1.93393348e+02] [-9.86410162e-01 -1.12236809e-02 1.63917727e-01 -9.12496987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-193.37, Z:-912.52 [[ 2.07355586e-02 -9.99763382e-01 -6.57393853e-03 4.10257421e+02] [ 1.67325174e-01 -3.01235917e-03 9.85897161e-01 -1.93367943e+02] [-9.85683683e-01 -2.15431137e-02 1.67223119e-01 -9.12522799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-193.38, Z:-912.55 [[ 1.95061808e-02 -9.99084125e-01 3.80843777e-02 4.10234536e+02] [ 1.62933381e-01 4.07589203e-02 9.85794818e-01 -1.93380568e+02] [-9.86444232e-01 -1.30238755e-02 1.63579206e-01 -9.12552626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:-192.31, Z:-912.52 [[-8.53161070e-02 9.32274697e-01 -3.51546655e-01 4.09844859e+02] [ 1.74488044e-01 -3.33400202e-01 -9.26497830e-01 -1.92309656e+02] [-9.80956209e-01 -1.40385876e-01 -1.34226381e-01 -9.12517086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.43, Y:-193.21, Z:-912.74 [[-4.74312539e-02 -9.41319659e-01 -3.34166989e-01 4.10426617e+02] [ 1.92159076e-01 -3.36893559e-01 9.21725349e-01 -1.93212196e+02] [-9.80216897e-01 -2.04946306e-02 1.96862399e-01 -9.12736543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-193.21, Z:-912.76 [[-4.49417049e-02 -9.45698834e-01 -3.21922286e-01 4.10421643e+02] [ 1.91407817e-01 -3.24429086e-01 9.26341630e-01 -1.93212239e+02] [-9.80481153e-01 -1.99870699e-02 1.95594546e-01 -9.12763349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-193.22, Z:-912.76 [[-4.67613772e-02 -9.51851135e-01 -3.02973250e-01 4.10414780e+02] [ 1.91257569e-01 -3.06225112e-01 9.32548510e-01 -1.93220280e+02] [-9.80425375e-01 -1.43386747e-02 1.96368242e-01 -9.12762554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-193.22, Z:-912.77 [[-4.82672867e-02 -9.52651947e-01 -3.00207490e-01 4.10416167e+02] [ 1.88878160e-01 -3.03840435e-01 9.33812632e-01 -1.93219300e+02] [-9.80813596e-01 -1.16300363e-02 1.94600700e-01 -9.12772642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-193.22, Z:-912.78 [[-4.91694281e-02 -9.53512400e-01 -2.97315439e-01 4.10415418e+02] [ 1.88976856e-01 -3.01180118e-01 9.34654099e-01 -1.93217827e+02] [-9.80749772e-01 -1.02293293e-02 1.95000630e-01 -9.12784753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-193.22, Z:-912.79 [[-5.06566154e-02 -9.55264968e-01 -2.91380763e-01 4.10414379e+02] [ 1.89160642e-01 -2.95651483e-01 9.36380506e-01 -1.93219820e+02] [-9.80638648e-01 -7.68390513e-03 1.95675238e-01 -9.12788964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-193.22, Z:-912.80 [[-5.54069273e-02 -9.56278976e-01 -2.87159525e-01 4.10413839e+02] [ 1.88133070e-01 -2.92448653e-01 9.37592520e-01 -1.93222520e+02] [-9.80579431e-01 -2.07508244e-03 1.96111381e-01 -9.12796628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-193.21, Z:-912.80 [[-5.40994387e-02 -9.52764574e-01 -2.98852669e-01 4.10420373e+02] [ 1.90399075e-01 -3.03642490e-01 9.33568118e-01 -1.93214332e+02] [-9.80214998e-01 -6.39576071e-03 1.97832382e-01 -9.12799146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-193.22, Z:-912.80 [[-5.57897632e-02 -9.58758610e-01 -2.78692358e-01 4.10414494e+02] [ 1.89762600e-01 -2.84221254e-01 9.39791697e-01 -1.93222509e+02] [-9.80243673e-01 -4.54630262e-04 1.97793163e-01 -9.12802909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-193.22, Z:-912.81 [[-5.65235990e-02 -9.59524478e-01 -2.75894654e-01 4.10414474e+02] [ 1.88066397e-01 -2.81622254e-01 9.40914415e-01 -1.93221278e+02] [-9.80528487e-01 1.29735565e-03 1.96372615e-01 -9.12813663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.42, Y:-193.22, Z:-912.81 [[-5.63354188e-02 -9.60348921e-01 -2.73049942e-01 4.10415401e+02] [ 1.87402501e-01 -2.78794499e-01 9.41888491e-01 -1.93221825e+02] [-9.80666418e-01 1.89144051e-03 1.95677795e-01 -9.12813608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-193.22, Z:-912.82 [[-5.57842284e-02 -9.61193658e-01 -2.70175632e-01 4.10414931e+02] [ 1.87344695e-01 -2.75867451e-01 9.42761430e-01 -1.93221465e+02] [-9.80708971e-01 1.97524750e-03 1.95463586e-01 -9.12820609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-192.28, Z:-912.75 [[-9.97018119e-02 6.53119864e-01 -7.50662369e-01 4.10119876e+02] [ 2.23333611e-01 -7.20483551e-01 -6.56525362e-01 -1.92284964e+02] [-9.69629644e-01 -2.33104906e-01 -7.40301022e-02 -9.12754661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-193.15, Z:-913.02 [[-9.85689249e-02 -9.23419919e-01 -3.70917539e-01 4.10464138e+02] [ 2.37874257e-01 -3.83791054e-01 8.92255717e-01 -1.93151150e+02] [-9.66281535e-01 -2.83047135e-04 2.57487699e-01 -9.13015062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-193.16, Z:-913.02 [[-9.73945642e-02 -9.26996601e-01 -3.62203812e-01 4.10461407e+02] [ 2.36739990e-01 -3.75066558e-01 8.96258475e-01 -1.93156555e+02] [-9.66679097e-01 1.54257665e-03 2.55986610e-01 -9.13021401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-193.15, Z:-913.05 [[-9.25758355e-02 -9.24946107e-01 -3.68652157e-01 4.10462837e+02] [ 2.41573495e-01 -3.80044410e-01 8.92865328e-01 -1.93145061e+02] [-9.65956501e-01 -6.39883642e-03 2.58625393e-01 -9.13045294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-193.15, Z:-913.05 [[-8.75032306e-02 -9.30331099e-01 -3.56128109e-01 4.10459407e+02] [ 2.43738352e-01 -3.66628184e-01 8.97872703e-01 -1.93151130e+02] [-9.65885501e-01 -8.23531621e-03 2.58838519e-01 -9.13048559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-193.14, Z:-913.12 [[-7.75472527e-02 -9.31974676e-01 -3.54132217e-01 4.10450008e+02] [ 2.47603913e-01 -3.62076450e-01 8.98661753e-01 -1.93135919e+02] [-9.65752932e-01 -1.79957726e-02 2.58838611e-01 -9.13120002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.43, Y:-193.16, Z:-913.13 [[-7.42665289e-02 -9.47483272e-01 -3.11062584e-01 4.10434562e+02] [ 2.44989041e-01 -3.19699394e-01 9.15299223e-01 -1.93160378e+02] [-9.66677223e-01 -8.23082800e-03 2.55865982e-01 -9.13127440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:-192.63, Z:-913.13 [[-6.42850852e-02 -3.13486076e-01 -9.47414328e-01 4.10509411e+02] [ 3.14884619e-01 -9.07249378e-01 2.78830133e-01 -1.92633231e+02] [-9.46950424e-01 -2.80401581e-01 1.57034547e-01 -9.13133105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-193.20, Z:-913.31 [[-4.38866980e-02 -9.81385221e-01 -1.86967928e-01 4.10367855e+02] [ 3.09881259e-01 -1.91289947e-01 9.31333325e-01 -1.93197869e+02] [-9.49761846e-01 -1.70647125e-02 3.12507972e-01 -9.13307994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-193.19, Z:-913.32 [[-4.15691957e-02 -9.81838275e-01 -1.85109708e-01 4.10368747e+02] [ 3.08899871e-01 -1.88822392e-01 9.32162526e-01 -1.93194773e+02] [-9.50185704e-01 -1.84311184e-02 3.11138911e-01 -9.13316827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-193.19, Z:-913.32 [[-4.09118231e-02 -9.82391687e-01 -1.82298648e-01 4.10368259e+02] [ 3.08693617e-01 -1.85953072e-01 9.32807432e-01 -1.93194862e+02] [-9.50281260e-01 -1.81115763e-02 3.10865723e-01 -9.13320042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-193.19, Z:-913.34 [[-3.78909709e-02 -9.82808102e-01 -1.80700052e-01 4.10367309e+02] [ 3.08932732e-01 -1.83492426e-01 9.33215461e-01 -1.93189498e+02] [-9.50328807e-01 -2.04637208e-02 3.10574298e-01 -9.13339521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-193.19, Z:-913.34 [[-3.69661568e-02 -9.84388890e-01 -1.72081424e-01 4.10365731e+02] [ 3.08769547e-01 -1.75024335e-01 9.34894566e-01 -1.93192256e+02] [-9.50418261e-01 -1.85740441e-02 3.10419288e-01 -9.13344694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-193.19, Z:-913.36 [[-3.58403145e-02 -9.84742284e-01 -1.70288302e-01 4.10365016e+02] [ 3.09177317e-01 -1.72963999e-01 9.35143220e-01 -1.93189032e+02] [-9.50328816e-01 -1.91334534e-02 3.10659062e-01 -9.13358713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-193.19, Z:-913.37 [[-3.51324917e-02 -9.85252345e-01 -1.67462012e-01 4.10364071e+02] [ 3.09166644e-01 -1.70060496e-01 9.35679119e-01 -1.93188306e+02] [-9.50358719e-01 -1.89009294e-02 3.10581810e-01 -9.13366520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-193.19, Z:-913.37 [[-3.37330813e-02 -9.85554669e-01 -1.65964074e-01 4.10364043e+02] [ 3.09615653e-01 -1.68194369e-01 9.35867940e-01 -1.93187584e+02] [-9.50263241e-01 -1.98153658e-02 3.10816867e-01 -9.13371255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.36, Y:-193.19, Z:-913.37 [[-3.22340005e-02 -9.85856367e-01 -1.64463348e-01 4.10364176e+02] [ 3.10080418e-01 -1.66293656e-01 9.36053713e-01 -1.93187671e+02] [-9.50163725e-01 -2.08241079e-02 3.11055065e-01 -9.13373023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-193.12, Z:-913.61 [[-2.88020695e-02 -9.86454119e-01 -1.61489043e-01 4.10352909e+02] [ 3.11085785e-01 -1.62379005e-01 9.36407333e-01 -1.93116788e+02] [-9.49945301e-01 -2.32664767e-02 3.11548705e-01 -9.13605370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.72, Y:-192.22, Z:-913.16 [[-1.43158820e-01 9.62120517e-01 -2.32012204e-01 4.09723897e+02] [ 3.09697521e-01 -1.79104752e-01 -9.33814186e-01 -1.92223081e+02] [-9.39996276e-01 -2.05537341e-01 -2.72325914e-01 -9.13164353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-193.06, Z:-913.53 [[-9.57423822e-02 -9.39234025e-01 -3.29655643e-01 4.10458337e+02] [ 3.32413269e-01 -3.42333361e-01 8.78811293e-01 -1.93060313e+02] [-9.38261592e-01 -2.54424232e-02 3.44989664e-01 -9.13530265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-193.05, Z:-913.55 [[-9.40205756e-02 -9.39882616e-01 -3.28299862e-01 4.10456412e+02] [ 3.33746825e-01 -3.40434919e-01 8.79043300e-01 -1.93054801e+02] [-9.37962253e-01 -2.69208798e-02 3.45690726e-01 -9.13549389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-193.00, Z:-913.71 [[-9.19134571e-02 -9.39520437e-01 -3.29929182e-01 4.10440325e+02] [ 3.37948221e-01 -3.41098400e-01 8.77178934e-01 -1.92996989e+02] [-9.36665851e-01 -3.08744318e-02 3.48860793e-01 -9.13712788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.37, Y:-192.87, Z:-913.46 [[-1.36024812e-01 3.21872271e-01 9.36960774e-01 4.09367958e+02] [ 2.23128537e-01 9.31405728e-01 -2.87570907e-01 -1.92873610e+02] [-9.65251732e-01 1.69945908e-01 -1.98513177e-01 -9.13464880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-192.91, Z:-913.66 [[-1.20165137e-01 -8.80150121e-01 -4.59234259e-01 4.10499318e+02] [ 2.74381432e-01 -4.74011864e-01 8.36676510e-01 -1.92907233e+02] [-9.54083419e-01 -2.54660062e-02 2.98456551e-01 -9.13655932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-192.92, Z:-913.64 [[-1.20315914e-01 -8.82782577e-01 -4.54113424e-01 4.10501570e+02] [ 2.69588408e-01 -4.69300813e-01 8.40879800e-01 -1.92915862e+02] [-9.55429836e-01 -2.12524932e-02 2.94452306e-01 -9.13644447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-192.17, Z:-913.53 [[-1.71475195e-01 3.04077830e-01 -9.37087472e-01 4.10291918e+02] [ 3.29225497e-01 -8.78807255e-01 -3.45410454e-01 -1.92165694e+02] [-9.28550930e-01 -3.67742413e-01 5.05834707e-02 -9.13530064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.53, Y:-192.22, Z:-913.54 [[-2.40836532e-01 9.65372051e-01 1.00272468e-01 4.09533417e+02] [ 2.92064191e-01 1.70609838e-01 -9.41058336e-01 -1.92216963e+02] [-9.25578885e-01 -1.97355229e-01 -3.23039689e-01 -9.13539926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:-192.75, Z:-913.97 [[-2.17863016e-01 -8.04787861e-01 -5.52134227e-01 4.10521018e+02] [ 3.19851620e-01 -5.93355576e-01 7.38663728e-01 -1.92754630e+02] [-9.22079524e-01 -1.56735195e-02 3.86682936e-01 -9.13966449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-192.92, Z:-913.86 [[-2.21134198e-01 3.82972565e-02 9.74491142e-01 4.09419295e+02] [ 2.28029684e-01 9.73560801e-01 1.34844260e-02 -1.92921403e+02] [-9.48209961e-01 2.25194775e-01 -2.24020499e-01 -9.13864407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.51, Y:-192.62, Z:-914.08 [[-2.22660820e-01 -7.28571154e-01 -6.47770200e-01 4.10505269e+02] [ 2.54343244e-01 -6.84852166e-01 6.82852125e-01 -1.92622570e+02] [-9.41133186e-01 -1.27115602e-02 3.37796896e-01 -9.14076469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:-192.63, Z:-914.08 [[-2.22574549e-01 -7.32569135e-01 -6.43275239e-01 4.10503740e+02] [ 2.55489089e-01 -6.80595237e-01 6.86669825e-01 -1.92626361e+02] [-9.40843184e-01 -1.15145778e-02 3.38646599e-01 -9.14077939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:410.50, Y:-192.63, Z:-914.09 [[-2.21884078e-01 -7.33837161e-01 -6.42067347e-01 4.10500454e+02] [ 2.56701584e-01 -6.79214853e-01 6.87583799e-01 -1.92625230e+02] [-9.40676221e-01 -1.22558075e-02 3.39084123e-01 -9.14089367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.50, Y:-192.63, Z:-914.10 [[-2.20516238e-01 -7.36244318e-01 -6.39778784e-01 4.10497940e+02] [ 2.57526910e-01 -6.76597825e-01 6.89851632e-01 -1.92625553e+02] [-9.40772278e-01 -1.26367663e-02 3.38803531e-01 -9.14097622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-191.93, Z:-913.90 [[-2.90220797e-01 7.49556444e-01 -5.94926067e-01 4.09914462e+02] [ 2.77660450e-01 -5.28982890e-01 -8.01923797e-01 -1.91925549e+02] [-9.15792861e-01 -3.97922403e-01 -5.46003437e-02 -9.13895463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.29, Y:-192.57, Z:-914.02 [[-3.06141926e-01 4.73797328e-01 8.25707705e-01 4.09291635e+02] [ 2.01681202e-01 8.79944270e-01 -4.30142737e-01 -1.92574168e+02] [-9.30377243e-01 3.48449967e-02 -3.64943848e-01 -9.14023096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-192.42, Z:-914.39 [[-3.05492881e-01 -5.87163890e-01 -7.49608342e-01 4.10464633e+02] [ 2.34877322e-01 -8.09384528e-01 5.38265112e-01 -1.92422854e+02] [-9.22771230e-01 -1.16298400e-02 3.85172694e-01 -9.14388327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-192.41, Z:-914.39 [[-3.05104695e-01 -5.79616685e-01 -7.55616056e-01 4.10460056e+02] [ 2.40080480e-01 -8.14635644e-01 5.27948985e-01 -1.92411783e+02] [-9.21559813e-01 -2.03289516e-02 3.87703812e-01 -9.14394722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-192.41, Z:-914.48 [[-3.02138033e-01 -5.92279945e-01 -7.46938469e-01 4.10435021e+02] [ 2.38726886e-01 -8.05602033e-01 5.42231352e-01 -1.92406866e+02] [-9.22887904e-01 -1.44855807e-02 3.84796161e-01 -9.14475678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:-192.41, Z:-914.43 [[-3.01078465e-01 -5.84354767e-01 -7.53578970e-01 4.10448335e+02] [ 2.45522566e-01 -8.11107344e-01 5.30870555e-01 -1.92407943e+02] [-9.21450176e-01 -2.51869501e-02 3.87679236e-01 -9.14426277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-192.40, Z:-914.53 [[-2.79743901e-01 -6.07676765e-01 -7.43284803e-01 4.10407124e+02] [ 2.73199516e-01 -7.92573274e-01 5.45151015e-01 -1.92403947e+02] [-9.20383276e-01 -5.05623772e-02 3.87734538e-01 -9.14531176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-192.45, Z:-914.55 [[-2.76513612e-01 -6.69275891e-01 -6.89644839e-01 4.10400210e+02] [ 2.74205055e-01 -7.42739538e-01 6.10859695e-01 -1.92452165e+02] [-9.21060156e-01 -2.01930804e-02 3.88896424e-01 -9.14552591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-192.45, Z:-914.56 [[-2.75611582e-01 -6.71444602e-01 -6.87895633e-01 4.10397841e+02] [ 2.74765236e-01 -7.40783049e-01 6.12980048e-01 -1.92452325e+02] [-9.21163569e-01 -2.00654047e-02 3.88658023e-01 -9.14558230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-191.82, Z:-914.34 [[-3.51647617e-01 6.81371874e-01 -6.41931712e-01 4.09856538e+02] [ 2.98591860e-01 -5.68271356e-01 -7.66753264e-01 -1.91818859e+02] [-8.87235513e-01 -4.61302541e-01 -3.62082703e-03 -9.14336501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-192.42, Z:-914.73 [[-3.21274344e-01 -6.70347654e-01 -6.68892233e-01 4.10368329e+02] [ 3.14960398e-01 -7.41765407e-01 5.92101367e-01 -1.92424261e+02] [-8.93074881e-01 -2.04475857e-02 4.49443159e-01 -9.14726943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-191.81, Z:-914.41 [[-4.05806781e-01 7.66729906e-01 -4.97439552e-01 4.09733237e+02] [ 3.22374710e-01 -3.89207969e-01 -8.62897273e-01 -1.91810841e+02] [-8.55216583e-01 -5.10531495e-01 -8.92310977e-02 -9.14410118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.76, Y:-192.90, Z:-914.95 [[-3.06487876e-01 -8.20177514e-01 4.83088013e-01 4.09761838e+02] [ 2.92430740e-01 4.01838325e-01 8.67761616e-01 -1.92904941e+02] [-9.05841843e-01 4.07228199e-01 1.16686543e-01 -9.14945233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.4565599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:409.69, Y:-192.87, Z:-915.02 [[-2.51369382e-01 -8.24570878e-01 5.06849388e-01 4.09686175e+02] [ 2.62394796e-01 4.45997700e-01 8.55707323e-01 -1.92866036e+02] [-9.31644999e-01 3.48093263e-01 1.04252941e-01 -9.15018026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-192.33, Z:-915.03 [[-2.64018411e-01 -7.01274488e-01 -6.62199646e-01 4.10216616e+02] [ 2.87896167e-01 -7.12560417e-01 6.39822983e-01 -1.92331873e+02] [-9.20548791e-01 -2.17196919e-02 3.90023306e-01 -9.15031104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-192.33, Z:-915.03 [[-2.64102896e-01 -7.02128126e-01 -6.61260731e-01 4.10216628e+02] [ 2.88386624e-01 -7.11724979e-01 6.40531584e-01 -1.92331057e+02] [-9.20371021e-01 -2.15325031e-02 3.90452988e-01 -9.15033263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-192.32, Z:-915.06 [[-2.63879932e-01 -7.03106564e-01 -6.60309428e-01 4.10209198e+02] [ 2.88841230e-01 -7.10760215e-01 6.41397428e-01 -1.92324517e+02] [-9.20292413e-01 -2.14726778e-02 3.90641523e-01 -9.15057845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-192.33, Z:-915.04 [[-2.62922059e-01 -7.04094041e-01 -6.59638971e-01 4.10213866e+02] [ 2.89086563e-01 -7.09772133e-01 6.42380322e-01 -1.92330645e+02] [-9.20489516e-01 -2.17968060e-02 3.90158877e-01 -9.15040330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.21, Y:-192.33, Z:-915.05 [[-2.62238589e-01 -7.05076195e-01 -6.58861505e-01 4.10211828e+02] [ 2.89547360e-01 -7.08787590e-01 6.43259263e-01 -1.92330664e+02] [-9.20539651e-01 -2.20842079e-02 3.90024408e-01 -9.15045260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-192.33, Z:-915.05 [[-2.61638584e-01 -7.06047721e-01 -6.58059167e-01 4.10210137e+02] [ 2.90066403e-01 -7.07811184e-01 6.44100000e-01 -1.92331097e+02] [-9.20546975e-01 -2.23594433e-02 3.89991439e-01 -9.15049108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-192.33, Z:-915.05 [[-2.61070349e-01 -7.07049523e-01 -6.57208677e-01 4.10208259e+02] [ 2.90370682e-01 -7.06808315e-01 6.45063465e-01 -1.92331415e+02] [-9.20612373e-01 -2.24271876e-02 3.89833145e-01 -9.15053755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.20, Y:-192.32, Z:-915.09 [[-2.57387158e-01 -7.09187457e-01 -6.56357374e-01 4.10195445e+02] [ 2.94315323e-01 -7.04504433e-01 6.45795629e-01 -1.92321400e+02] [-9.20396839e-01 -2.69565310e-02 3.90055129e-01 -9.15094394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.33, Z:-915.10 [[-2.57450049e-01 -7.17672385e-01 -6.47043909e-01 4.10193847e+02] [ 2.94358234e-01 -6.96037691e-01 6.54892940e-01 -1.92328225e+02] [-9.20365527e-01 -2.18604827e-02 3.90447713e-01 -9.15098574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.33, Z:-915.10 [[-2.57233866e-01 -7.18473660e-01 -6.46240155e-01 4.10193331e+02] [ 2.94421211e-01 -6.95219014e-01 6.55733691e-01 -1.92327196e+02] [-9.20405828e-01 -2.15898964e-02 3.90367760e-01 -9.15101581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.33, Z:-915.11 [[-2.57519119e-01 -7.19233537e-01 -6.45280576e-01 4.10191929e+02] [ 2.94320362e-01 -6.94455903e-01 6.56587027e-01 -1.92325746e+02] [-9.20358315e-01 -2.08355001e-02 3.90520747e-01 -9.15107165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.33, Z:-915.11 [[-2.57340896e-01 -7.19975203e-01 -6.44524143e-01 4.10192157e+02] [ 2.94118629e-01 -6.93700740e-01 6.57475107e-01 -1.92326015e+02] [-9.20472648e-01 -2.03713246e-02 3.90275690e-01 -9.15107934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.32, Z:-915.12 [[-2.57747838e-01 -7.20727960e-01 -6.43519432e-01 4.10188705e+02] [ 2.94536272e-01 -6.92931849e-01 6.58098653e-01 -1.92323923e+02] [-9.20225210e-01 -1.99163090e-02 3.90882213e-01 -9.15119089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.32, Z:-915.12 [[-2.57539093e-01 -7.22571655e-01 -6.41532399e-01 4.10187550e+02] [ 2.94774810e-01 -6.91031155e-01 6.59987693e-01 -1.92324778e+02] [-9.20207274e-01 -1.91349598e-02 3.90963459e-01 -9.15122476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-192.32, Z:-915.13 [[-2.57878776e-01 -7.23284325e-01 -6.40592165e-01 4.10185463e+02] [ 2.94924589e-01 -6.90301156e-01 6.60684343e-01 -1.92323553e+02] [-9.20064141e-01 -1.85499116e-02 3.91328350e-01 -9.15129580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:-192.27, Z:-915.34 [[-2.55580181e-01 -7.28357684e-01 -6.35746692e-01 4.10127308e+02] [ 2.90659254e-01 -6.85052868e-01 6.67996831e-01 -1.92270441e+02] [-9.22060719e-01 -1.40589084e-02 3.86789836e-01 -9.15339159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.70, Y:-191.65, Z:-914.91 [[-3.28751138e-01 6.42927591e-01 -6.91785228e-01 4.09695475e+02] [ 3.21040265e-01 -6.12800474e-01 -7.22086371e-01 -1.91652084e+02] [-8.88175567e-01 -4.59477629e-01 -4.94679097e-03 -9.14909918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.996559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.68, Y:-191.64, Z:-915.02 [[-3.70158932e-01 6.24344634e-01 -6.87878000e-01 4.09678517e+02] [ 3.59681234e-01 -5.86397370e-01 -7.25787527e-01 -1.91636396e+02] [-8.56511398e-01 -5.16073544e-01 -7.50482369e-03 -9.15016678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.66, Y:-191.62, Z:-915.11 [[-4.10607584e-01 6.01774953e-01 -6.85031618e-01 4.09661855e+02] [ 3.97428621e-01 -5.58049526e-01 -7.28444382e-01 -1.91620552e+02] [-8.20641154e-01 -5.71355959e-01 -1.00232217e-02 -9.15111424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.056559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.64, Y:-191.60, Z:-915.20 [[-4.49183163e-01 5.75917229e-01 -6.83047459e-01 4.09642491e+02] [ 4.33429676e-01 -5.28059567e-01 -7.30268313e-01 -1.91601431e+02] [-7.81263849e-01 -6.24077270e-01 -1.24241511e-02 -9.15202089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.62, Y:-191.58, Z:-915.28 [[-4.85694321e-01 5.47383075e-01 -6.81522410e-01 4.09622609e+02] [ 4.67246233e-01 -4.96356135e-01 -7.31649879e-01 -1.91581685e+02] [-7.38770590e-01 -6.73796970e-01 -1.46853237e-02 -9.15284420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.116559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.60, Y:-191.56, Z:-915.36 [[-5.18622002e-01 5.17361032e-01 -6.80711967e-01 4.09602701e+02] [ 4.97892039e-01 -4.64490073e-01 -7.32360901e-01 -1.91561866e+02] [-6.95078943e-01 -7.18739546e-01 -1.66951676e-02 -9.15358279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-192.07, Z:-915.99 [[-5.13504196e-01 -7.02157776e-01 -4.93242232e-01 4.09964421e+02] [ 5.07560844e-01 -7.12020372e-01 4.85189633e-01 -1.92072923e+02] [-6.91878191e-01 -1.20353094e-03 7.22013241e-01 -9.15986432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.176559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.96, Y:-192.07, Z:-916.00 [[-5.16460588e-01 -7.00147389e-01 -4.93013280e-01 4.09957434e+02] [ 5.04500441e-01 -7.13995527e-01 4.85478828e-01 -1.92065804e+02] [-6.91916011e-01 2.00526368e-03 7.21975216e-01 -9.15996749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:-192.07, Z:-915.99 [[-5.17693909e-01 -6.99529870e-01 -4.92596162e-01 4.09963262e+02] [ 5.03549612e-01 -7.14595569e-01 4.85583114e-01 -1.92071814e+02] [-6.91686927e-01 3.33681400e-03 7.22189768e-01 -9.15988994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.236559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.97, Y:-192.09, Z:-915.99 [[-5.17509906e-01 -7.03659903e-01 -4.86873945e-01 4.09966233e+02] [ 4.94088662e-01 -7.10285405e-01 5.01369163e-01 -1.92090321e+02] [-6.98612834e-01 1.89046120e-02 7.15250113e-01 -9.15992785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.97, Y:-192.06, Z:-915.99 [[-5.19706689e-01 -6.87860896e-01 -5.06707356e-01 4.09965288e+02] [ 5.01707676e-01 -7.25778964e-01 4.70674307e-01 -1.92060869e+02] [-6.91515991e-01 -9.60638434e-03 7.22297274e-01 -9.15985188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:-191.54, Z:-915.46 [[-5.40852708e-01 4.12530529e-01 -7.33005397e-01 4.09638746e+02] [ 5.28274079e-01 -5.11540481e-01 -6.77681956e-01 -1.91544967e+02] [-6.54526429e-01 -7.53753872e-01 5.87388689e-02 -9.15462997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.63, Y:-191.54, Z:-915.52 [[-5.66961465e-01 3.72698258e-01 -7.34609220e-01 4.09627519e+02] [ 5.61539208e-01 -4.77605009e-01 -6.75697546e-01 -1.91535038e+02] [-6.02684342e-01 -7.95606350e-01 6.14989511e-02 -9.15519338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-191.99, Z:-916.19 [[-5.74675180e-01 -7.06649138e-01 -4.12789818e-01 4.09865489e+02] [ 5.69246856e-01 -7.07541490e-01 4.18739845e-01 -1.91990099e+02] [-5.87968073e-01 5.66008968e-03 8.08864333e-01 -9.16187900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.86, Y:-191.99, Z:-916.19 [[-5.74379406e-01 -7.07159920e-01 -4.12326504e-01 4.09863864e+02] [ 5.69935731e-01 -7.07032467e-01 4.18662576e-01 -1.91990216e+02] [-5.87589619e-01 5.47155415e-03 8.09140595e-01 -9.16189012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-191.99, Z:-916.19 [[-5.73564610e-01 -7.08059556e-01 -4.11916622e-01 4.09861158e+02] [ 5.71063453e-01 -7.06135817e-01 4.18639153e-01 -1.91989204e+02] [-5.87290533e-01 4.88607404e-03 8.09361449e-01 -9.16191366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.61, Y:-191.53, Z:-915.56 [[-5.92590509e-01 3.50940125e-01 -7.25036218e-01 4.09609130e+02] [ 5.92893154e-01 -4.19268577e-01 -6.87525686e-01 -1.91529447e+02] [-5.45265254e-01 -8.37290206e-01 4.03845823e-02 -9.15558150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.97, Y:-192.07, Z:-915.42 [[-6.35446262e-01 6.70331334e-01 3.83228329e-01 4.08965661e+02] [ 5.45585505e-01 7.41000303e-01 -3.91477980e-01 -1.92069811e+02] [-5.46392264e-01 -3.96793977e-02 -8.36588931e-01 -9.15418798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.00, Y:-192.08, Z:-915.42 [[-6.85062906e-01 5.97592304e-01 4.16620034e-01 4.08997744e+02] [ 4.83721461e-01 8.00779047e-01 -3.53222971e-01 -1.92080630e+02] [-5.44703923e-01 -4.04519034e-02 -8.37652243e-01 -9.15419683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:-191.82, Z:-916.28 [[-6.95558430e-01 -5.73964949e-01 -4.32160512e-01 4.09838169e+02] [ 4.87301367e-01 -8.18879793e-01 3.03270939e-01 -1.91817368e+02] [-5.27954400e-01 3.50250105e-04 8.49272647e-01 -9.16275459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:-191.73, Z:-916.37 [[-6.94513955e-01 -5.75164380e-01 -4.32245650e-01 4.09714465e+02] [ 4.86156612e-01 -8.18031062e-01 3.07370999e-01 -1.91734987e+02] [-5.30379218e-01 3.33436682e-03 8.47753955e-01 -9.16373114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:-191.40, Z:-915.69 [[-7.18760576e-01 3.00215711e-01 -6.27099482e-01 4.09554471e+02] [ 5.08330517e-01 -3.88427171e-01 -7.68585987e-01 -1.91403058e+02] [-4.74324066e-01 -8.71203111e-01 1.26577330e-01 -9.15692988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:-191.78, Z:-916.38 [[-7.13727695e-01 -5.86233214e-01 -3.83305879e-01 4.09754046e+02] [ 5.16542873e-01 -8.10142334e-01 2.77223482e-01 -1.91776388e+02] [-4.73049932e-01 -1.31843083e-04 8.81035609e-01 -9.16376548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:-191.77, Z:-916.38 [[-7.11329563e-01 -5.88053617e-01 -3.84971683e-01 4.09747517e+02] [ 5.20588781e-01 -8.08800941e-01 2.73547727e-01 -1.91768925e+02] [-4.72226190e-01 -5.82935407e-03 8.81458135e-01 -9.16378643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-191.76, Z:-916.39 [[-7.11177304e-01 -5.89413756e-01 -3.83168718e-01 4.09733833e+02] [ 5.20250841e-01 -8.07827987e-01 2.77043330e-01 -1.91763773e+02] [-4.72827564e-01 -2.31691905e-03 8.81151932e-01 -9.16389002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-191.77, Z:-916.38 [[-7.09037108e-01 -5.91376802e-01 -3.84109175e-01 4.09742217e+02] [ 5.23550849e-01 -8.06372492e-01 2.75059835e-01 -1.91768414e+02] [-4.72399078e-01 -6.07305430e-03 8.81363846e-01 -9.16382160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.99, Y:-192.05, Z:-915.50 [[-7.58765317e-01 5.18818092e-01 3.93831159e-01 4.08985986e+02] [ 4.37907729e-01 8.53904942e-01 -2.81217302e-01 -1.92047128e+02] [-4.82194996e-01 -4.09162267e-02 -8.75107906e-01 -9.15497332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-192.05, Z:-915.50 [[-7.96378587e-01 4.35498438e-01 4.19669223e-01 4.09013272e+02] [ 3.65169536e-01 8.99380488e-01 -2.40345474e-01 -1.92050195e+02] [-4.82112390e-01 -3.81555737e-02 -8.75278125e-01 -9.15503538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:-191.64, Z:-916.39 [[-7.89868108e-01 -4.44613540e-01 -4.22406406e-01 4.09736698e+02] [ 3.96054243e-01 -8.95690309e-01 2.02187802e-01 -1.91640686e+02] [-4.68240759e-01 -7.59415337e-03 8.83568289e-01 -9.16388941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:-192.04, Z:-915.50 [[-8.26466138e-01 3.55438130e-01 4.36597593e-01 4.09043134e+02] [ 2.91410023e-01 9.33614289e-01 -2.08433584e-01 -1.92041157e+02] [-4.81698995e-01 -4.50343844e-02 -8.75178829e-01 -9.15503808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.28, Y:-192.34, Z:-916.22 [[-7.83271319e-01 -4.78871546e-01 3.96444301e-01 4.09281732e+02] [ 2.94844437e-01 2.75268570e-01 9.15037689e-01 -1.92341302e+02] [-5.47314169e-01 8.33612174e-01 -7.44173643e-02 -9.16215800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.896559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:409.58, Y:-191.52, Z:-916.45 [[-7.94197334e-01 -3.55295615e-01 -4.92966146e-01 4.09583294e+02] [ 3.05283153e-01 -9.34734350e-01 1.81862285e-01 -1.91523010e+02] [-5.25407262e-01 -6.05971722e-03 8.50829295e-01 -9.16450987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.69, Y:-191.56, Z:-916.38 [[-7.95021463e-01 -3.52780625e-01 -4.93443719e-01 4.09688238e+02] [ 3.05113823e-01 -9.35657186e-01 1.77344822e-01 -1.91560253e+02] [-5.24257979e-01 -9.56356004e-03 8.51505790e-01 -9.16378895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:-191.55, Z:-916.39 [[-7.93972975e-01 -3.56298252e-01 -4.92603766e-01 4.09667464e+02] [ 3.09397421e-01 -9.34297700e-01 1.77090498e-01 -1.91550594e+02] [-5.23335600e-01 -1.18052652e-02 8.52044885e-01 -9.16392524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.61, Y:-191.56, Z:-916.42 [[-7.68361933e-01 -4.10380981e-01 -4.91128690e-01 4.09612503e+02] [ 3.71851049e-01 -9.10810410e-01 1.79307543e-01 -1.91564492e+02] [-5.20909529e-01 -4.48536281e-02 8.52432646e-01 -9.16423295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:-191.58, Z:-916.44 [[-7.67453822e-01 -4.32267120e-01 -4.73455138e-01 4.09601128e+02] [ 3.73421811e-01 -9.01695220e-01 2.17949266e-01 -1.91581702e+02] [-5.21124536e-01 -9.53247764e-03 8.53427413e-01 -9.16442803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:409.60, Y:-191.58, Z:-916.44 [[-7.67511104e-01 -4.32791367e-01 -4.72883007e-01 4.09598805e+02] [ 3.73648801e-01 -9.01449842e-01 2.18574372e-01 -1.91580814e+02] [-5.20877413e-01 -8.93391118e-03 8.53584739e-01 -9.16444248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.076559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:408.85, Y:-191.96, Z:-915.60 [[-7.99160091e-01 3.46070667e-01 4.91506096e-01 4.08848493e+02] [ 2.66424284e-01 9.36873447e-01 -2.26464666e-01 -1.91958868e+02] [-5.38851789e-01 -5.00323628e-02 -8.40913499e-01 -9.15597326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:-191.52, Z:-916.49 [[-7.74649549e-01 -3.99448594e-01 -4.90264110e-01 4.09518620e+02] [ 3.62263627e-01 -9.15744828e-01 1.73713774e-01 -1.91516526e+02] [-5.18346545e-01 -4.30375578e-02 8.54087014e-01 -9.16487387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:-191.54, Z:-916.50 [[-7.73977309e-01 -4.19710803e-01 -4.74132859e-01 4.09515663e+02] [ 3.62904122e-01 -9.07615887e-01 2.11030802e-01 -1.91537092e+02] [-5.18902423e-01 -8.73171649e-03 8.54788882e-01 -9.16500989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.53, Y:-191.54, Z:-916.49 [[-7.75042308e-01 -4.16336634e-01 -4.75366415e-01 4.09526246e+02] [ 3.57807913e-01 -9.09196421e-01 2.12921031e-01 -1.91544051e+02] [-5.20848268e-01 -5.06705752e-03 8.53634235e-01 -9.16494386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:-191.53, Z:-916.50 [[-7.73418693e-01 -4.16955770e-01 -4.77463518e-01 4.09515677e+02] [ 3.61651856e-01 -9.08848618e-01 2.07851210e-01 -1.91533275e+02] [-5.20606820e-01 -1.19195561e-02 8.53713338e-01 -9.16498939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:-192.26, Z:-916.36 [[-7.30489364e-01 -5.25895260e-01 4.35682756e-01 4.09026667e+02] [ 3.31913192e-01 2.84153837e-01 8.99494430e-01 -1.92257608e+02] [-5.96840784e-01 8.01679969e-01 -3.30197812e-02 -9.16360689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.256559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.51, Z:-916.50 [[-7.40923542e-01 -4.14494811e-01 -5.28418733e-01 4.09464628e+02] [ 3.42593294e-01 -9.10015972e-01 2.33453990e-01 -1.91509036e+02] [-5.77634954e-01 -8.06115723e-03 8.16255400e-01 -9.16499409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.51, Z:-916.50 [[-7.41135479e-01 -4.14378802e-01 -5.28212467e-01 4.09464289e+02] [ 3.42302519e-01 -9.10072481e-01 2.33660147e-01 -1.91508061e+02] [-5.77535442e-01 -7.63463330e-03 8.16329912e-01 -9.16499717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-191.51, Z:-916.50 [[-7.43687781e-01 -4.10337939e-01 -5.27779556e-01 4.09468775e+02] [ 3.37055366e-01 -9.11925532e-01 2.34063037e-01 -1.91510546e+02] [-5.77340597e-01 -3.82111141e-03 8.16494479e-01 -9.16497641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.50, Z:-916.50 [[-7.42915725e-01 -4.10474283e-01 -5.28759954e-01 4.09463040e+02] [ 3.39851775e-01 -9.11831941e-01 2.30354689e-01 -1.91503394e+02] [-5.76694891e-01 -8.56588799e-03 8.16914701e-01 -9.16500669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.50, Z:-916.50 [[-7.43367808e-01 -4.12052238e-01 -5.26893970e-01 4.09460881e+02] [ 3.39373862e-01 -9.11146209e-01 2.33747656e-01 -1.91504406e+02] [-5.76393689e-01 -5.05355885e-03 8.17156520e-01 -9.16503936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.50, Z:-916.50 [[-7.44217128e-01 -4.11288176e-01 -5.26291652e-01 4.09461657e+02] [ 3.38359157e-01 -9.11496424e-01 2.33853266e-01 -1.91504005e+02] [-5.75894042e-01 -4.03799370e-03 8.17514371e-01 -9.16503145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-191.51, Z:-916.50 [[-7.45719718e-01 -4.08380177e-01 -5.26429229e-01 4.09465501e+02] [ 3.34334913e-01 -9.12811245e-01 2.34511828e-01 -1.91507735e+02] [-5.76300501e-01 -1.12357597e-03 8.17237095e-01 -9.16500891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.50, Z:-916.50 [[-7.44233694e-01 -4.09073536e-01 -5.27991526e-01 4.09458383e+02] [ 3.37719493e-01 -9.12478640e-01 2.30929157e-01 -1.91499876e+02] [-5.76247996e-01 -6.44777129e-03 8.17249456e-01 -9.16504456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:-191.50, Z:-916.51 [[-7.44338323e-01 -4.11169470e-01 -5.26213007e-01 4.09454391e+02] [ 3.37763183e-01 -9.11553326e-01 2.34492145e-01 -1.91499606e+02] [-5.76087228e-01 -3.19389039e-03 8.17381983e-01 -9.16508459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:409.45, Y:-191.50, Z:-916.52 [[-7.44722972e-01 -4.10661126e-01 -5.26065713e-01 4.09445035e+02] [ 3.31751963e-01 -9.11769722e-01 2.42108674e-01 -1.91501974e+02] [-5.79075410e-01 5.78055839e-03 8.15253491e-01 -9.16520748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:-191.49, Z:-916.50 [[-7.47308133e-01 -4.00994460e-01 -5.29843371e-01 4.09458402e+02] [ 3.33865684e-01 -9.16017719e-01 2.22362864e-01 -1.91494980e+02] [-5.74512193e-01 -1.07229426e-02 8.18425781e-01 -9.16501459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.45, Y:-191.50, Z:-916.51 [[-7.45560876e-01 -4.09031857e-01 -5.26148193e-01 4.09454260e+02] [ 3.36330412e-01 -9.12513822e-01 2.32809746e-01 -1.91496451e+02] [-5.75344101e-01 -3.38580084e-03 8.17904458e-01 -9.16508546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:-191.49, Z:-916.51 [[-7.45894541e-01 -4.09442558e-01 -5.25355238e-01 4.09452612e+02] [ 3.35268020e-01 -9.12335524e-01 2.35030310e-01 -1.91494742e+02] [-5.75531658e-01 -8.26985068e-04 8.17779082e-01 -9.16509724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.45, Y:-191.49, Z:-916.51 [[-7.46067311e-01 -4.09303865e-01 -5.25217968e-01 4.09451252e+02] [ 3.34933845e-01 -9.12398046e-01 2.35263950e-01 -1.91493601e+02] [-5.75502292e-01 -3.90531038e-04 8.17800073e-01 -9.16510693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.01, Y:-192.19, Z:-916.46 [[-6.95760365e-01 -6.21171970e-01 3.60642342e-01 4.09007182e+02] [ 3.31945880e-01 1.67188230e-01 9.28364168e-01 -1.92190097e+02] [-6.36968954e-01 7.65632732e-01 8.98725325e-02 -9.16458165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.39, Y:-191.47, Z:-916.52 [[-7.06307374e-01 -4.17575985e-01 -5.71629418e-01 4.09392638e+02] [ 3.24716224e-01 -9.08641989e-01 2.62543538e-01 -1.91472603e+02] [-6.29038367e-01 -1.80909681e-04 7.77374234e-01 -9.16519437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.39, Y:-191.47, Z:-916.52 [[-7.05698340e-01 -4.18797555e-01 -5.71487935e-01 4.09390510e+02] [ 3.26064241e-01 -9.08079209e-01 2.62819825e-01 -1.91470984e+02] [-6.29024613e-01 -8.70265484e-04 7.77384898e-01 -9.16521273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:-191.46, Z:-916.55 [[-7.03333864e-01 -4.22897061e-01 -5.71383891e-01 4.09360099e+02] [ 3.31159107e-01 -9.06167950e-01 2.63046178e-01 -1.91458098e+02] [-6.29011225e-01 -4.20969479e-03 7.77384819e-01 -9.16548774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:-191.46, Z:-916.55 [[-7.02867260e-01 -4.26452100e-01 -5.69312060e-01 4.09358891e+02] [ 3.32361423e-01 -9.04509053e-01 2.67206394e-01 -1.91460008e+02] [-6.28898640e-01 -1.40674052e-03 7.77486027e-01 -9.16550591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:-191.46, Z:-916.55 [[-7.01110027e-01 -4.28844276e-01 -5.69681768e-01 4.09356347e+02] [ 3.35025167e-01 -9.03372922e-01 2.67722809e-01 -1.91458536e+02] [-6.29446477e-01 -3.15458362e-03 7.77037439e-01 -9.16552675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.93, Y:-191.08, Z:-916.01 [[-7.38879085e-01 4.71480874e-01 -4.81418200e-01 4.08930458e+02] [ 3.45030870e-01 -3.48960444e-01 -8.71309536e-01 -1.91078867e+02] [-5.78801691e-01 -8.09896533e-01 9.51641171e-02 -9.16011617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.74, Y:-192.15, Z:-916.52 [[-6.87244682e-01 -5.26965884e-01 5.00001705e-01 4.08735163e+02] [ 3.34428966e-01 3.81506713e-01 8.61748162e-01 -1.92154197e+02] [-6.44865889e-01 7.59446894e-01 -8.59558040e-02 -9.16520192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.22, Y:-191.39, Z:-916.67 [[-6.99286516e-01 -4.32033881e-01 -5.69513032e-01 4.09222022e+02] [ 3.39196236e-01 -9.01837322e-01 2.67647825e-01 -1.91394324e+02] [-6.29241036e-01 -6.01416151e-03 7.77186946e-01 -9.16668442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.22, Y:-191.39, Z:-916.67 [[-6.98510739e-01 -4.33556525e-01 -5.69307902e-01 4.09219471e+02] [ 3.40957689e-01 -9.01099322e-01 2.67895252e-01 -1.91393466e+02] [-6.29150699e-01 -6.98219581e-03 7.77251984e-01 -9.16670397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.73, Y:-191.04, Z:-916.07 [[-7.46009509e-01 5.35460011e-01 -3.95919675e-01 4.08731681e+02] [ 3.36040407e-01 -2.10595447e-01 -9.18001309e-01 -1.91038661e+02] [-5.74931872e-01 -8.17882714e-01 -2.28299941e-02 -9.16067439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.95, Y:-191.27, Z:-916.94 [[-7.30923631e-01 -4.39085375e-01 -5.22450647e-01 4.08946692e+02] [ 3.54178182e-01 -8.98433133e-01 2.59568338e-01 -1.91272244e+02] [-5.83359633e-01 4.68401188e-03 8.12200467e-01 -9.16942265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.79, Y:-190.98, Z:-916.28 [[-7.72791706e-01 3.45160244e-01 -5.32594954e-01 4.08786284e+02] [ 3.71650519e-01 -4.34133066e-01 -8.20612194e-01 -1.90977275e+02] [-5.14459785e-01 -8.32101489e-01 2.07215449e-01 -9.16277335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:-191.32, Z:-916.90 [[-7.59421503e-01 -4.53637895e-01 -4.66359991e-01 4.09040081e+02] [ 3.91632595e-01 -8.91144027e-01 2.29098742e-01 -1.91321524e+02] [-5.19521792e-01 -8.65926257e-03 8.54413322e-01 -9.16897620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.04, Y:-191.32, Z:-916.90 [[-7.58900669e-01 -4.54844465e-01 -4.66032496e-01 4.09036713e+02] [ 3.92983857e-01 -8.90523324e-01 2.29198378e-01 -1.91320238e+02] [-5.19262421e-01 -9.20444536e-03 8.54565279e-01 -9.16900036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.00, Y:-191.31, Z:-916.93 [[-7.50899726e-01 -4.68453955e-01 -4.65511002e-01 4.08997951e+02] [ 4.09089971e-01 -8.83294459e-01 2.28989724e-01 -1.91307022e+02] [-5.18454431e-01 -1.84875612e-02 8.54905383e-01 -9.16925086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.99, Y:-191.31, Z:-916.93 [[-7.50217399e-01 -4.74157463e-01 -4.60812927e-01 4.08991805e+02] [ 4.10500602e-01 -8.80372052e-01 2.37559058e-01 -1.91309455e+02] [-5.18327223e-01 -1.09430459e-02 8.55112355e-01 -9.16931627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:-192.01, Z:-916.84 [[-7.01603901e-01 -5.53804768e-01 4.48388499e-01 4.08514100e+02] [ 3.80693428e-01 2.40604464e-01 8.92850495e-01 -1.92006147e+02] [-6.02349135e-01 7.97125945e-01 4.20208049e-02 -9.16838450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:-191.29, Z:-916.92 [[-7.15049423e-01 -4.78038322e-01 -5.10082038e-01 4.08951905e+02] [ 3.97784663e-01 -8.78241306e-01 2.65442217e-01 -1.91291910e+02] [-5.74866667e-01 -1.30985072e-02 8.18142252e-01 -9.16922706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:-191.29, Z:-916.92 [[-7.14073979e-01 -4.79313168e-01 -5.10252133e-01 4.08950638e+02] [ 3.99076385e-01 -8.77535410e-01 2.65837625e-01 -1.91292450e+02] [-5.75183789e-01 -1.38018467e-02 8.17907769e-01 -9.16922696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.45, Y:-191.98, Z:-916.85 [[-6.61324275e-01 -6.00260535e-01 4.49819401e-01 4.08453589e+02] [ 3.62723982e-01 2.68990600e-01 8.92230559e-01 -1.91976230e+02] [-6.56567983e-01 7.53214012e-01 3.98388783e-02 -9.16846102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.90, Y:-191.27, Z:-916.93 [[-6.76229588e-01 -4.82123983e-01 -5.57018860e-01 4.08897012e+02] [ 3.83177913e-01 -8.75969422e-01 2.93005561e-01 -1.91267728e+02] [-6.29196497e-01 -1.52982946e-02 7.77095702e-01 -9.16929053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.90, Y:-191.27, Z:-916.93 [[-6.76274295e-01 -4.82414619e-01 -5.56712865e-01 4.08896553e+02] [ 3.83390738e-01 -8.75811866e-01 2.93198086e-01 -1.91267366e+02] [-6.29018776e-01 -1.51562271e-02 7.77242349e-01 -9.16929380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.27, Z:-916.93 [[-6.76786432e-01 -4.82194531e-01 -5.56281008e-01 4.08894668e+02] [ 3.82955491e-01 -8.75944472e-01 2.93370709e-01 -1.91266435e+02] [-6.28733026e-01 -1.44815508e-02 7.77486378e-01 -9.16930895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.26, Z:-916.93 [[-6.77298237e-01 -4.81839948e-01 -5.55965253e-01 4.08890891e+02] [ 3.82337917e-01 -8.76151510e-01 2.93557915e-01 -1.91264021e+02] [-6.28557726e-01 -1.37403383e-02 7.77641555e-01 -9.16934164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.27, Z:-916.93 [[-6.77882033e-01 -4.81089006e-01 -5.55904054e-01 4.08893439e+02] [ 3.81104814e-01 -8.76580606e-01 2.93880185e-01 -1.91265021e+02] [-6.28677238e-01 -1.26416140e-02 7.77563579e-01 -9.16931756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.4565599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.26, Z:-916.93 [[-6.79833760e-01 -4.78469835e-01 -5.55781140e-01 4.08893662e+02] [ 3.77483759e-01 -8.78049168e-01 2.94169459e-01 -1.91264390e+02] [-6.28754380e-01 -9.81202484e-03 7.77542059e-01 -9.16930643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.26, Z:-916.93 [[-6.80907275e-01 -4.77050721e-01 -5.55686865e-01 4.08891524e+02] [ 3.75404808e-01 -8.78838448e-01 2.94472770e-01 -1.91263638e+02] [-6.28837429e-01 -8.09886970e-03 7.77494628e-01 -9.16932362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.26, Z:-916.93 [[-6.82156010e-01 -4.75430467e-01 -5.55543922e-01 4.08891374e+02] [ 3.73088545e-01 -8.79731442e-01 2.94749940e-01 -1.91263892e+02] [-6.28862557e-01 -6.20163007e-03 7.77491752e-01 -9.16932486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-191.26, Z:-916.93 [[-6.83454025e-01 -4.73469433e-01 -5.55623337e-01 4.08892754e+02] [ 3.70241344e-01 -8.80801183e-01 2.95145090e-01 -1.91264940e+02] [-6.29135870e-01 -3.99663119e-03 7.77285072e-01 -9.16931309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:-191.26, Z:-916.94 [[-6.83945213e-01 -4.72456905e-01 -5.55880759e-01 4.08879463e+02] [ 3.68561444e-01 -8.81349652e-01 2.95609968e-01 -1.91258425e+02] [-6.29588284e-01 -2.69519247e-03 7.76924275e-01 -9.16943941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:-190.87, Z:-916.41 [[-7.15851016e-01 4.45786089e-01 -5.37431007e-01 4.08488775e+02] [ 3.80257877e-01 -3.96647972e-01 -8.35508428e-01 -1.90867762e+02] [-5.85628953e-01 -8.02461931e-01 1.14427182e-01 -9.16411643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-191.22, Z:-917.06 [[-7.18744243e-01 -4.78186199e-01 -5.04722372e-01 4.08797456e+02] [ 3.89189344e-01 -8.78252373e-01 2.77856841e-01 -1.91222991e+02] [-5.76140927e-01 3.27543571e-03 8.17343810e-01 -9.17056375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-191.22, Z:-917.06 [[-7.20106793e-01 -4.77157464e-01 -5.03752877e-01 4.08799283e+02] [ 3.86814671e-01 -8.78794676e-01 2.79453623e-01 -1.91224873e+02] [-5.76038729e-01 6.37744931e-03 8.17397523e-01 -9.17055312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-191.23, Z:-917.06 [[-7.22548542e-01 -4.73940390e-01 -5.03293265e-01 4.08798616e+02] [ 3.82860516e-01 -8.80508187e-01 2.79505202e-01 -1.91225071e+02] [-5.75622645e-01 9.26495692e-03 8.17662970e-01 -9.17055782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.76, Y:-191.21, Z:-917.09 [[-7.17557506e-01 -4.81535158e-01 -5.03224719e-01 4.08760074e+02] [ 3.92039142e-01 -8.76420309e-01 2.79629671e-01 -1.91206960e+02] [-5.75687882e-01 3.36658195e-03 8.17662601e-01 -9.17086618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.92, Y:-191.53, Z:-916.30 [[-7.23921136e-01 4.56124341e-01 5.17579728e-01 4.07924423e+02] [ 3.49093006e-01 8.89296832e-01 -2.95440717e-01 -1.91532651e+02] [-5.95039715e-01 -3.31923169e-02 -8.03010590e-01 -9.16304226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.74, Y:-191.13, Z:-917.11 [[-7.53899512e-01 -3.97736698e-01 -5.22915907e-01 4.08737855e+02] [ 3.19581453e-01 -9.17426216e-01 2.37058713e-01 -1.91132264e+02] [-5.74023711e-01 1.16042230e-02 8.18756448e-01 -9.17105399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.74, Y:-191.13, Z:-917.11 [[-7.54035444e-01 -3.97746963e-01 -5.22712065e-01 4.08736957e+02] [ 3.19457895e-01 -9.17417764e-01 2.37257876e-01 -1.91132947e+02] [-5.73913934e-01 1.19163516e-02 8.18828918e-01 -9.17105793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.72, Y:-191.13, Z:-917.12 [[-7.53095313e-01 -3.99255453e-01 -5.22917329e-01 4.08720338e+02] [ 3.21031643e-01 -9.16772742e-01 2.37626647e-01 -1.91127342e+02] [-5.74270089e-01 1.10825048e-02 8.18590889e-01 -9.17118639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.30, Y:-191.81, Z:-917.08 [[-7.05730692e-01 -6.19545136e-01 3.43668465e-01 4.08298585e+02] [ 3.42775413e-01 1.25941691e-01 9.30937005e-01 -1.91807322e+02] [-6.20039681e-01 7.74791917e-01 1.23483923e-01 -9.17083432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.66, Y:-191.11, Z:-917.13 [[-7.11610614e-01 -4.13689415e-01 -5.67865655e-01 4.08661938e+02] [ 3.15296812e-01 -9.10342649e-01 2.68074956e-01 -1.91111600e+02] [-6.27852096e-01 1.17187536e-02 7.78244445e-01 -9.17127973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.66, Y:-191.11, Z:-917.13 [[-7.11028420e-01 -4.15241689e-01 -5.67461828e-01 4.08657384e+02] [ 3.17171341e-01 -9.09647836e-01 2.68222212e-01 -1.91110650e+02] [-6.27567468e-01 1.07309865e-02 7.78488227e-01 -9.17131703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:-191.11, Z:-917.14 [[-7.10388593e-01 -4.16955966e-01 -5.67005970e-01 4.08653215e+02] [ 3.19273053e-01 -9.08875992e-01 2.68345204e-01 -1.91110439e+02] [-6.27226248e-01 9.59964504e-03 7.78777941e-01 -9.17135168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:-191.11, Z:-917.14 [[-7.08444819e-01 -4.20567226e-01 -5.66770806e-01 4.08648165e+02] [ 3.23716667e-01 -9.07235934e-01 2.68571181e-01 -1.91110913e+02] [-6.27147079e-01 6.79470555e-03 7.78871218e-01 -9.17139117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.17, Y:-190.75, Z:-916.55 [[-7.33490842e-01 5.46946701e-01 -4.03534994e-01 4.08173985e+02] [ 3.32369996e-01 -2.29252199e-01 -9.14862621e-01 -1.90753886e+02] [-5.92892377e-01 -8.05166278e-01 -1.36342840e-02 -9.16553267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:-191.77, Z:-917.16 [[-6.96558254e-01 -5.81041389e-01 4.20948339e-01 4.08094221e+02] [ 3.44362071e-01 2.43969787e-01 9.06583425e-01 -1.91765742e+02] [-6.29461169e-01 7.76446809e-01 3.01494469e-02 -9.17162419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:-191.05, Z:-917.25 [[-7.05802753e-01 -4.24331382e-01 -5.67261273e-01 4.08512485e+02] [ 3.27903335e-01 -9.05497662e-01 2.69357358e-01 -1.91049837e+02] [-6.27950537e-01 4.10630115e-03 7.78242418e-01 -9.17254078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:-191.05, Z:-917.30 [[-6.74011326e-01 -4.72202653e-01 -5.68096283e-01 4.08444865e+02] [ 3.89944080e-01 -8.80581215e-01 2.69296005e-01 -1.91051920e+02] [-6.27417203e-01 -4.00172254e-02 7.77654342e-01 -9.17303588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:-191.08, Z:-917.32 [[-6.71927943e-01 -5.05386709e-01 -5.41384442e-01 4.08441438e+02] [ 3.92898060e-01 -8.62892516e-01 3.17879884e-01 -1.91081251e+02] [-6.27808851e-01 8.83479450e-04 7.78367051e-01 -9.17319130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.39, Y:-191.06, Z:-917.36 [[-6.61205512e-01 -5.18731843e-01 -5.41963603e-01 4.08391505e+02] [ 4.09678665e-01 -8.54859609e-01 3.18399811e-01 -1.91059544e+02] [-6.28466915e-01 -1.15032153e-02 7.77751254e-01 -9.17363569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.39, Y:-191.07, Z:-917.37 [[-6.59219607e-01 -5.28479654e-01 -5.34919401e-01 4.08387494e+02] [ 4.12139024e-01 -8.48942625e-01 3.30813912e-01 -1.91066571e+02] [-6.28944302e-01 -2.38214282e-03 7.77446712e-01 -9.17369436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.39, Y:-191.07, Z:-917.37 [[-6.57408796e-01 -5.30570417e-01 -5.35078226e-01 4.08386632e+02] [ 4.14459167e-01 -8.47631502e-01 3.31276977e-01 -1.91067957e+02] [-6.29314924e-01 -3.98367711e-03 7.77140178e-01 -9.17370052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.38, Y:-191.07, Z:-917.38 [[-6.55861435e-01 -5.32671551e-01 -5.34889518e-01 4.08380427e+02] [ 4.16967232e-01 -8.46303545e-01 3.31524714e-01 -1.91065985e+02] [-6.29272680e-01 -5.59712725e-03 7.77164440e-01 -9.17375773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.84, Y:-191.68, Z:-917.31 [[-6.03208633e-01 -6.26917138e-01 4.93066170e-01 4.07838802e+02] [ 3.91156108e-01 3.06222433e-01 8.67885200e-01 -1.91679371e+02] [-6.95080028e-01 7.16381689e-01 6.05064526e-02 -9.17312541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.32, Y:-191.04, Z:-917.39 [[-6.12288982e-01 -5.42370521e-01 -5.75270737e-01 4.08322452e+02] [ 4.03838775e-01 -8.40073242e-01 3.62203248e-01 -1.91040184e+02] [-6.79717917e-01 -1.05435721e-02 7.33397836e-01 -9.17392156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.27, Y:-191.02, Z:-917.47 [[-6.03888343e-01 -5.54599579e-01 -5.72484215e-01 4.08268175e+02] [ 3.98130741e-01 -8.32100746e-01 3.86135031e-01 -1.91021807e+02] [-6.90514867e-01 5.25887913e-03 7.23299082e-01 -9.17468166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.92, Y:-190.59, Z:-916.92 [[-6.63925600e-01 4.70154276e-01 -5.81513331e-01 4.07920773e+02] [ 4.17898879e-01 -4.11601618e-01 -8.09904090e-01 -1.90587167e+02] [-6.20131699e-01 -7.80729828e-01 7.67959066e-02 -9.16917007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.62, Y:-191.61, Z:-917.39 [[-5.99507518e-01 -5.34073907e-01 5.96117268e-01 4.07624459e+02] [ 3.86857600e-01 4.58661233e-01 7.99981919e-01 -1.91614068e+02] [-7.00665351e-01 7.10207670e-01 -6.83603073e-02 -9.17385804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-190.96, Z:-917.53 [[-6.09520690e-01 -5.46818685e-01 -5.73998130e-01 4.08189660e+02] [ 4.10319587e-01 -8.37116328e-01 3.61765241e-01 -1.90960236e+02] [-6.78323201e-01 -1.50192767e-02 7.34610140e-01 -9.17531271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-190.93, Z:-917.61 [[-6.05329658e-01 -5.52797574e-01 -5.72704852e-01 4.08126812e+02] [ 4.09235565e-01 -8.33263234e-01 3.71750770e-01 -1.90926479e+02] [-6.82716821e-01 -9.33942762e-03 7.30623376e-01 -9.17608851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.65, Y:-190.54, Z:-916.96 [[-6.78757961e-01 6.19097236e-01 -3.94976255e-01 4.07654169e+02] [ 3.94131630e-01 -1.46712699e-01 -9.07268231e-01 -1.90538829e+02] [-6.19635286e-01 -7.71488170e-01 -1.44423390e-01 -9.16957913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:-190.90, Z:-917.66 [[-6.53105886e-01 -5.34387425e-01 -5.36547092e-01 4.08108706e+02] [ 4.24283160e-01 -8.45102486e-01 3.25246964e-01 -1.90897940e+02] [-6.27245169e-01 -1.52271893e-02 7.78672993e-01 -9.17662371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.05, Y:-191.02, Z:-917.10 [[-7.04271073e-01 4.46096929e-01 5.52267857e-01 4.07045945e+02] [ 3.05487545e-01 8.92640688e-01 -3.31466383e-01 -1.91021936e+02] [-6.40842895e-01 -6.47312338e-02 -7.64938071e-01 -9.17103171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:-190.81, Z:-917.67 [[-6.95503759e-01 -4.44190869e-01 -5.64773400e-01 4.08109658e+02] [ 3.56379016e-01 -8.95780047e-01 2.65654106e-01 -1.90812866e+02] [-6.23913871e-01 -1.65099589e-02 7.81318695e-01 -9.17668490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.92, Y:-190.72, Z:-917.84 [[-6.95919112e-01 -4.46074846e-01 -5.62773330e-01 4.07924067e+02] [ 3.58669826e-01 -8.94835948e-01 2.65752859e-01 -1.90721396e+02] [-6.22135472e-01 -1.69073185e-02 7.82727026e-01 -9.17837828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:-191.03, Z:-917.16 [[-7.28186415e-01 3.44016796e-01 5.92787474e-01 4.07010696e+02] [ 2.36874355e-01 9.37929185e-01 -2.53336503e-01 -1.91029746e+02] [-6.43144684e-01 -4.40600492e-02 -7.64476047e-01 -9.17163804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.10, Y:-190.71, Z:-917.67 [[-7.29808158e-01 -3.44191160e-01 -5.90688156e-01 4.08102391e+02] [ 2.76903507e-01 -9.38794942e-01 2.04910968e-01 -1.90714261e+02] [-6.25063597e-01 -1.40179263e-02 7.80447947e-01 -9.17674617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.10, Y:-190.72, Z:-917.68 [[-7.29501914e-01 -3.48981338e-01 -5.88250783e-01 4.08097953e+02] [ 2.77552408e-01 -9.37088245e-01 2.11731629e-01 -1.90716406e+02] [-6.25133281e-01 -8.81179263e-03 7.80468278e-01 -9.17680650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:408.09, Y:-190.71, Z:-917.69 [[-7.29275654e-01 -3.48825686e-01 -5.88623531e-01 4.08091245e+02] [ 2.76820600e-01 -9.37153103e-01 2.12401549e-01 -1.90713588e+02] [-6.25721484e-01 -8.04384041e-03 7.80005078e-01 -9.17686503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:-190.71, Z:-917.69 [[-7.29884390e-01 -3.47439810e-01 -5.88688674e-01 4.08090595e+02] [ 2.73883816e-01 -9.37688133e-01 2.13842512e-01 -1.90712444e+02] [-6.26303786e-01 -5.15198914e-03 7.79562073e-01 -9.17686932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.65, Y:-190.37, Z:-917.17 [[-7.69866891e-01 4.96039758e-01 -4.01558873e-01 4.07653108e+02] [ 2.79324902e-01 -3.03844190e-01 -9.10854713e-01 -1.90369542e+02] [-5.73831482e-01 -8.13402279e-01 9.53633246e-02 -9.17166443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.53, Y:-191.43, Z:-917.65 [[-7.20103923e-01 -5.53498988e-01 4.18436627e-01 4.07528903e+02] [ 2.70854300e-01 3.30976113e-01 9.03931834e-01 -1.91426622e+02] [-6.38817884e-01 7.64260220e-01 -8.84196161e-02 -9.17652396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.76, Y:-190.59, Z:-917.97 [[-7.30242275e-01 -3.47746856e-01 -5.88063214e-01 4.07758260e+02] [ 2.70319406e-01 -9.37588135e-01 2.18759931e-01 -1.90591194e+02] [-6.27434170e-01 7.82851102e-04 7.78669217e-01 -9.17972307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-190.65, Z:-917.81 [[-7.31322145e-01 -3.41592503e-01 -5.90324049e-01 4.07934794e+02] [ 2.72335280e-01 -9.39797101e-01 2.06433777e-01 -1.90649585e+02] [-6.25301060e-01 -9.79647300e-03 7.80322122e-01 -9.17813180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-190.65, Z:-917.82 [[-7.31507756e-01 -3.47292275e-01 -5.86757599e-01 4.07933535e+02] [ 2.72834362e-01 -9.37752494e-01 2.14899212e-01 -1.90653761e+02] [-6.24866238e-01 -2.88719493e-03 7.80726488e-01 -9.17817025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:-190.65, Z:-917.82 [[-7.31552917e-01 -3.47604246e-01 -5.86516511e-01 4.07932776e+02] [ 2.73042327e-01 -9.37637283e-01 2.15137660e-01 -1.90653797e+02] [-6.24722512e-01 -2.75925008e-03 7.80841962e-01 -9.17818095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.39, Y:-190.36, Z:-917.20 [[-7.73094170e-01 5.87858497e-01 -2.38217952e-01 4.07385165e+02] [ 2.59895917e-01 -4.90109150e-02 -9.64392059e-01 -1.90364595e+02] [-5.78601346e-01 -8.07477751e-01 -1.14891970e-01 -9.17196737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.34, Y:-190.35, Z:-917.26 [[-8.11033179e-01 5.36663034e-01 -2.32847527e-01 4.07344371e+02] [ 2.61732302e-01 -2.30920806e-02 -9.64864218e-01 -1.90348882e+02] [-5.23183892e-01 -8.43480613e-01 -1.21733608e-01 -9.17259856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.74, Y:-190.57, Z:-918.04 [[-8.11032997e-01 -3.25860413e-01 -4.85839963e-01 4.07744266e+02] [ 2.78995102e-01 -9.45417358e-01 1.68367907e-01 -1.90570268e+02] [-5.14185970e-01 1.00495781e-03 8.57678132e-01 -9.18037400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.27, Y:-190.36, Z:-917.29 [[-8.46052673e-01 5.03768279e-01 -1.74391500e-01 4.07265503e+02] [ 2.55916887e-01 9.68363325e-02 -9.61836406e-01 -1.90363246e+02] [-4.67655238e-01 -8.58393992e-01 -2.10851448e-01 -9.17286839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.60, Y:-190.51, Z:-918.15 [[-8.46639772e-01 -3.08364969e-01 -4.33718967e-01 4.07604119e+02] [ 2.72938082e-01 -9.51262916e-01 1.43539778e-01 -1.90511763e+02] [-4.56843409e-01 3.14806176e-03 8.89541562e-01 -9.18153424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.31, Y:-190.25, Z:-917.48 [[-8.73924705e-01 3.60626835e-01 -3.25889392e-01 4.07314371e+02] [ 2.71638316e-01 -1.93636255e-01 -9.42718211e-01 -1.90251528e+02] [-4.03073486e-01 -9.12388781e-01 7.12634413e-02 -9.17479481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.56, Y:-190.50, Z:-918.21 [[-8.71901275e-01 -3.12716372e-01 -3.76824411e-01 4.07564435e+02] [ 2.87794793e-01 -9.49844896e-01 1.22347176e-01 -1.90500051e+02] [-3.96184708e-01 -1.77344492e-03 9.18169119e-01 -9.18207305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.1965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.56, Y:-190.50, Z:-918.21 [[-8.71186297e-01 -3.13991994e-01 -3.77416831e-01 4.07561603e+02] [ 2.88898908e-01 -9.49423790e-01 1.23011736e-01 -1.90500237e+02] [-3.96953219e-01 -1.86917145e-03 9.17836940e-01 -9.18208587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.56, Y:-190.50, Z:-918.21 [[-8.70731366e-01 -3.14762436e-01 -3.77824691e-01 4.07559394e+02] [ 2.89606747e-01 -9.49168286e-01 1.23318684e-01 -1.90499970e+02] [-3.97435303e-01 -2.04313360e-03 9.17627923e-01 -9.18209352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.55, Y:-190.50, Z:-918.21 [[-8.70287166e-01 -3.15383994e-01 -3.78329465e-01 4.07554474e+02] [ 2.90138661e-01 -9.48961703e-01 1.23657771e-01 -1.90498658e+02] [-3.98019855e-01 -2.15023313e-03 9.17374281e-01 -9.18211709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.00, Y:-191.01, Z:-917.32 [[-8.87370814e-01 2.37736717e-01 3.95037078e-01 4.06998367e+02] [ 2.02846508e-01 9.70736685e-01 -1.28544089e-01 -1.91005769e+02] [-4.14036633e-01 -3.39343808e-02 -9.09627465e-01 -9.17322021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.54, Y:-190.44, Z:-918.21 [[-8.92181941e-01 -2.33691821e-01 -3.86522337e-01 4.07536204e+02] [ 2.15345544e-01 -9.72308154e-01 9.07917976e-02 -1.90439998e+02] [-3.97036120e-01 -2.23306057e-03 9.17800269e-01 -9.18213821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.47, Y:-190.42, Z:-918.24 [[-8.92261527e-01 -2.33223506e-01 -3.86621473e-01 4.07468779e+02] [ 2.15406979e-01 -9.72417037e-01 8.94703307e-02 -1.90423282e+02] [-3.96823891e-01 -3.45002947e-03 9.17888281e-01 -9.18244489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.53, Y:-190.44, Z:-918.22 [[-8.91886436e-01 -2.34137343e-01 -3.86934477e-01 4.07531752e+02] [ 2.15431477e-01 -9.72202284e-01 9.17169450e-02 -1.90439268e+02] [-3.97652944e-01 -1.55676650e-03 9.17534584e-01 -9.18216281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.53, Y:-190.44, Z:-918.22 [[-8.91825191e-01 -2.33978478e-01 -3.87171668e-01 4.07532472e+02] [ 2.15376653e-01 -9.72240045e-01 9.14450194e-02 -1.90439525e+02] [-3.97819966e-01 -1.83476609e-03 9.17461666e-01 -9.18215957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4365599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:407.53, Y:-190.44, Z:-918.22 [[-8.91963117e-01 -2.33939083e-01 -3.86877635e-01 4.07531028e+02] [ 2.15289522e-01 -9.72249881e-01 9.15455656e-02 -1.90439579e+02] [-3.97557820e-01 -1.63543324e-03 9.17575667e-01 -9.18216469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.53, Y:-190.44, Z:-918.22 [[-8.91914932e-01 -2.34046036e-01 -3.86924032e-01 4.07530077e+02] [ 2.15327781e-01 -9.72224353e-01 9.17265155e-02 -1.90439556e+02] [-3.97645194e-01 -1.50324421e-03 9.17538032e-01 -9.18217073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.52, Y:-190.44, Z:-918.22 [[-8.92223823e-01 -2.33267721e-01 -3.86681806e-01 4.07524871e+02] [ 2.14430482e-01 -9.72412062e-01 9.18387169e-02 -1.90438600e+02] [-3.97437061e-01 -9.75675071e-04 9.17628918e-01 -9.18219809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.52, Y:-190.44, Z:-918.22 [[-8.92612978e-01 -2.32592986e-01 -3.86189816e-01 4.07520358e+02] [ 2.13672004e-01 -9.72574037e-01 9.18913310e-02 -1.90437753e+02] [-3.96971468e-01 -4.94557116e-04 9.17830818e-01 -9.18221629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.22, Y:-191.22, Z:-918.08 [[-8.58332754e-01 -4.52525376e-01 2.41838103e-01 4.07223898e+02] [ 2.13836473e-01 1.12958696e-01 9.70316596e-01 -1.91218630e+02] [-4.66410599e-01 8.84568322e-01 -1.89717837e-04 -9.18084102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.48, Y:-190.43, Z:-918.21 [[-8.65379180e-01 -2.29019286e-01 -4.45723055e-01 4.07477220e+02] [ 2.02976770e-01 -9.73420985e-01 1.06075529e-01 -1.90426771e+02] [-4.58169517e-01 1.32412856e-03 8.88863848e-01 -9.18208303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.48, Y:-190.43, Z:-918.21 [[-8.65292208e-01 -2.29436059e-01 -4.45677563e-01 4.07475157e+02] [ 2.03347288e-01 -9.73322835e-01 1.06266359e-01 -1.90426454e+02] [-4.58169484e-01 1.32412846e-03 8.88863865e-01 -9.18209478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.48, Y:-190.43, Z:-918.21 [[-8.66211952e-01 -2.27160061e-01 -4.45056357e-01 4.07476241e+02] [ 2.00762079e-01 -9.73853569e-01 1.06319396e-01 -1.90425851e+02] [-4.57571242e-01 2.74469242e-03 8.89168727e-01 -9.18209795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.13, Y:-191.22, Z:-918.05 [[-8.29877843e-01 -4.81677776e-01 2.81583534e-01 4.07127563e+02] [ 2.04212870e-01 2.07437509e-01 9.56695763e-01 -1.91222522e+02] [-5.19230074e-01 8.51443598e-01 -7.37829917e-02 -9.18053102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.41, Y:-190.40, Z:-918.21 [[-8.36808905e-01 -2.18313687e-01 -5.02085642e-01 4.07406881e+02] [ 1.84759490e-01 -9.75867665e-01 1.16388275e-01 -1.90403407e+02] [-5.15378296e-01 4.62965838e-03 8.56950278e-01 -9.18213487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.736559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:407.41, Y:-190.40, Z:-918.21 [[-8.36907670e-01 -2.18806598e-01 -5.01706314e-01 4.07405692e+02] [ 1.85254534e-01 -9.75757512e-01 1.16524826e-01 -1.90402392e+02] [-5.15040105e-01 4.57715120e-03 8.57153860e-01 -9.18214153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.40, Y:-190.40, Z:-918.22 [[-8.37039059e-01 -2.19012089e-01 -5.01397367e-01 4.07400606e+02] [ 1.85054347e-01 -9.75707392e-01 1.17260284e-01 -1.90400439e+02] [-5.14898537e-01 5.36567534e-03 8.57234336e-01 -9.18217745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.34, Y:-190.39, Z:-918.26 [[-8.32936173e-01 -2.34137767e-01 -5.01394893e-01 4.07340319e+02] [ 2.02686598e-01 -9.72195441e-01 1.17278160e-01 -1.90392265e+02] [-5.14913076e-01 -3.94080350e-03 8.57233337e-01 -9.18255205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.34, Y:-190.40, Z:-918.26 [[-8.30913177e-01 -2.42550533e-01 -5.00751966e-01 4.07343940e+02] [ 2.02451740e-01 -9.70088029e-01 1.33949649e-01 -1.90401276e+02] [-5.18263046e-01 9.92242136e-03 8.55163704e-01 -9.18261630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:-190.39, Z:-918.27 [[-8.31985639e-01 -2.40095326e-01 -5.00154108e-01 4.07327036e+02] [ 2.06547788e-01 -9.70748223e-01 1.22416906e-01 -1.90391061e+02] [-5.14915438e-01 -1.45661722e-03 8.57239739e-01 -9.18265454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:406.98, Y:-191.16, Z:-918.17 [[-7.88780445e-01 -5.59381297e-01 2.54790061e-01 4.06981260e+02] [ 2.18115043e-01 1.32819982e-01 9.66842635e-01 -1.91162121e+02] [-5.74674898e-01 8.18200108e-01 1.72436707e-02 -9.18171416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:-191.14, Z:-918.19 [[-7.48469226e-01 -6.12395240e-01 2.54491430e-01 4.06900581e+02] [ 2.08367382e-01 1.47152679e-01 9.66917330e-01 -1.91141860e+02] [-6.29584666e-01 7.76735578e-01 1.74639413e-02 -9.18193350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.66, Y:-190.09, Z:-917.72 [[-7.87131396e-01 5.69770946e-01 -2.36188981e-01 4.06657292e+02] [ 1.92558834e-01 -1.36786383e-01 -9.71704987e-01 -1.90087950e+02] [-5.85956706e-01 -8.10339777e-01 -2.04557257e-03 -9.17721395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9765599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.74, Y:-191.10, Z:-918.32 [[-7.47730884e-01 -6.13210186e-01 2.54699418e-01 4.06736941e+02] [ 2.08369983e-01 1.47509945e-01 9.66862331e-01 -1.91099500e+02] [-6.30460526e-01 7.76024538e-01 1.74768542e-02 -9.18323443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.65, Y:-191.08, Z:-918.36 [[-7.03799021e-01 -6.63072021e-01 2.54955748e-01 4.06649521e+02] [ 1.98058426e-01 1.61514492e-01 9.66791564e-01 -1.91077312e+02] [-6.82231485e-01 7.30923090e-01 1.76532589e-02 -9.18358427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-190.30, Z:-918.45 [[-7.12282101e-01 -2.52803617e-01 -6.54785874e-01 4.06944862e+02] [ 1.85349770e-01 -9.67516998e-01 1.71919519e-01 -1.90296039e+02] [-6.76978339e-01 1.09078466e-03 7.36002132e-01 -9.18449225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-190.30, Z:-918.45 [[-7.11512474e-01 -2.54358599e-01 -6.55020384e-01 4.06941572e+02] [ 1.86657319e-01 -9.67109735e-01 1.72794114e-01 -1.90295441e+02] [-6.77428258e-01 6.80819148e-04 7.35588534e-01 -9.18452439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-190.29, Z:-918.46 [[-7.10648818e-01 -2.55574192e-01 -6.55484622e-01 4.06937924e+02] [ 1.87861214e-01 -9.66789446e-01 1.73281078e-01 -1.90294874e+02] [-6.78001786e-01 1.85614200e-06 7.35060255e-01 -9.18456298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-190.29, Z:-918.46 [[-7.09848669e-01 -2.56886169e-01 -6.55838672e-01 4.06937063e+02] [ 1.89134578e-01 -9.66441453e-01 1.73836217e-01 -1.90294878e+02] [-6.78485799e-01 -6.44362944e-04 7.34613236e-01 -9.18457160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-190.30, Z:-918.46 [[-7.08893337e-01 -2.58007258e-01 -6.56431635e-01 4.06936579e+02] [ 1.90176986e-01 -9.66142190e-01 1.74361644e-01 -1.90295072e+02] [-6.79192867e-01 -1.23438190e-03 7.33958804e-01 -9.18457745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:-190.29, Z:-918.49 [[-7.06566243e-01 -2.62690789e-01 -6.57082715e-01 4.06904689e+02] [ 1.96111119e-01 -9.64865443e-01 1.74857389e-01 -1.90287768e+02] [-6.79929830e-01 -5.31289769e-03 7.33257935e-01 -9.18488954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.78, Y:-190.26, Z:-918.62 [[-7.05920659e-01 -2.69809233e-01 -6.54888542e-01 4.06777700e+02] [ 1.96604999e-01 -9.62912311e-01 1.84787325e-01 -1.90257097e+02] [-6.80457566e-01 1.69082874e-03 7.32785537e-01 -9.18616665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.30, Y:-190.01, Z:-917.96 [[-7.48542286e-01 6.26744138e-01 -2.16509196e-01 4.06304243e+02] [ 1.93783776e-01 -1.05494609e-01 -9.75355697e-01 -1.90011470e+02] [-6.34139018e-01 -7.72050953e-01 -4.24856698e-02 -9.17962283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.45, Y:-191.01, Z:-918.58 [[-6.99470640e-01 -6.78393966e-01 2.24771997e-01 4.06451563e+02] [ 2.00320191e-01 1.15794637e-01 9.72863517e-01 -1.91006799e+02] [-6.86012131e-01 7.25515837e-01 5.49010598e-02 -9.18584887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.36, Y:-190.99, Z:-918.63 [[-6.52469415e-01 -7.22971356e-01 2.27147708e-01 4.06363317e+02] [ 1.91955645e-01 1.32292584e-01 9.72446247e-01 -1.90986423e+02] [-7.33100738e-01 6.78093719e-01 5.24615682e-02 -9.18626610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.03, Y:-189.93, Z:-918.19 [[-7.03106572e-01 6.76057757e-01 -2.20424722e-01 4.06027732e+02] [ 1.86326097e-01 -1.23992351e-01 -9.74632486e-01 -1.89934673e+02] [-6.86238831e-01 -7.26341384e-01 -3.87873663e-02 -9.18194042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:-189.92, Z:-918.28 [[-7.46988595e-01 6.28549986e-01 -2.16640147e-01 4.05980002e+02] [ 1.93450190e-01 -1.06264203e-01 -9.75338374e-01 -1.89921441e+02] [-6.36070014e-01 -7.70475719e-01 -4.22149665e-02 -9.18279026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.396559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.94, Y:-189.91, Z:-918.35 [[-7.87416726e-01 5.77932989e-01 -2.14402334e-01 4.05936329e+02] [ 2.00177076e-01 -8.92267428e-02 -9.75688335e-01 -1.89908636e+02] [-5.83012897e-01 -8.11191746e-01 -4.54303063e-02 -9.18353368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.05, Y:-190.90, Z:-919.00 [[-7.45394094e-01 -6.27712310e-01 2.24421258e-01 4.06053116e+02] [ 2.09575132e-01 9.89234451e-02 9.72775625e-01 -1.90895515e+02] [-6.32823759e-01 7.72134320e-01 5.78159383e-02 -9.19000331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.32, Y:-190.12, Z:-919.08 [[-7.51643718e-01 -2.60035416e-01 -6.06146273e-01 4.06319293e+02] [ 2.01958720e-01 -9.65598822e-01 1.63803512e-01 -1.90123201e+02] [-6.27888841e-01 7.05354765e-04 7.78302708e-01 -9.19080590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.32, Y:-190.12, Z:-919.08 [[-7.51352907e-01 -2.60822941e-01 -6.06168460e-01 4.06316373e+02] [ 2.02272436e-01 -9.65386013e-01 1.64668476e-01 -1.90122293e+02] [-6.28135869e-01 1.11296705e-03 7.78102880e-01 -9.19084142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.516559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:405.33, Y:-190.59, Z:-918.51 [[-7.61309838e-01 1.87002457e-01 6.20836059e-01 4.05333113e+02] [ 1.25921655e-01 9.81918354e-01 -1.41350923e-01 -1.90588014e+02] [-6.36043291e-01 -2.94351442e-02 -7.71091762e-01 -9.18513179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.27, Y:-190.04, Z:-919.11 [[-7.66875547e-01 -1.74436019e-01 -6.17635791e-01 4.06266520e+02] [ 1.32631031e-01 -9.84655530e-01 1.13412948e-01 -1.90042664e+02] [-6.27941801e-01 5.05594485e-03 7.78243877e-01 -9.19113702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.26, Y:-190.04, Z:-919.12 [[-7.66995732e-01 -1.71894827e-01 -6.18198767e-01 4.06261884e+02] [ 1.33578545e-01 -9.85115225e-01 1.08188564e-01 -1.90039035e+02] [-6.27594072e-01 4.02074636e-04 7.78540634e-01 -9.19115839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.18, Y:-190.06, Z:-919.18 [[-7.53668702e-01 -2.23422384e-01 -6.18114817e-01 4.06184473e+02] [ 2.00142740e-01 -9.73801272e-01 1.07953540e-01 -1.90055978e+02] [-6.26040232e-01 -4.23499886e-02 7.78639908e-01 -9.19176786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.82, Y:-190.85, Z:-919.13 [[-7.01424164e-01 -6.64938155e-01 2.56634744e-01 4.05820858e+02] [ 1.99490753e-01 1.62520103e-01 9.66328441e-01 -1.90854265e+02] [-6.84256956e-01 7.29002377e-01 1.86534860e-02 -9.19129574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:-189.78, Z:-918.68 [[-7.49845597e-01 6.15696595e-01 -2.42176144e-01 4.05538335e+02] [ 1.89881859e-01 -1.50370959e-01 -9.70223404e-01 -1.89784882e+02] [-6.33779505e-01 -7.73502604e-01 -4.15461290e-03 -9.18679206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.66, Y:-190.81, Z:-919.28 [[-7.00730880e-01 -6.65604008e-01 2.56802528e-01 4.05658972e+02] [ 1.99029622e-01 1.63281529e-01 9.66295168e-01 -1.90810479e+02] [-6.85101047e-01 7.28224173e-01 1.80585053e-02 -9.19280731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.57, Y:-190.79, Z:-919.32 [[-6.53570852e-01 -7.11978494e-01 2.56771816e-01 4.05574024e+02] [ 1.87249131e-01 1.76606006e-01 9.66306412e-01 -1.90788015e+02] [-7.33336829e-01 6.79630004e-01 1.78928161e-02 -9.19322474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.49, Y:-190.77, Z:-919.38 [[-6.03193433e-01 -7.55157002e-01 2.56701354e-01 4.05487102e+02] [ 1.74411839e-01 1.89171613e-01 9.66330488e-01 -1.90765123e+02] [-7.78291843e-01 6.27655960e-01 1.76012464e-02 -9.19375215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.40, Y:-190.74, Z:-919.44 [[-5.50668488e-01 -7.94139127e-01 2.57113327e-01 4.05401794e+02] [ 1.61136761e-01 2.01094580e-01 9.66227672e-01 -1.90742816e+02] [-8.19023297e-01 5.73501540e-01 1.72285584e-02 -9.19435089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.816559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.03, Y:-189.65, Z:-919.11 [[-6.13792185e-01 7.49913867e-01 -2.46755641e-01 4.05033509e+02] [ 1.57703075e-01 -1.89792575e-01 -9.69076116e-01 -1.89648701e+02] [-7.73556006e-01 -6.33725470e-01 -1.77052339e-03 -9.19111584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.25, Y:-190.70, Z:-919.64 [[-5.47175388e-01 -7.96789162e-01 2.56371072e-01 4.05252504e+02] [ 1.59744362e-01 2.01252111e-01 9.66426059e-01 -1.90702422e+02] [-8.21633029e-01 5.69758387e-01 1.71623739e-02 -9.19641506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.89, Y:-189.61, Z:-919.32 [[-6.16267497e-01 7.47808657e-01 -2.46974869e-01 4.04885477e+02] [ 1.58384326e-01 -1.89509164e-01 -9.69020476e-01 -1.89607497e+02] [-7.71445901e-01 -6.36292771e-01 -1.65283227e-03 -9.19315033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.50, Y:-189.89, Z:-919.86 [[-6.11724269e-01 -2.69377241e-01 -7.43793870e-01 4.05495983e+02] [ 1.77449977e-01 -9.63002227e-01 2.02825584e-01 -1.89893323e+02] [-7.70911749e-01 -7.91287263e-03 6.36892819e-01 -9.19856071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9365599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.49, Y:-189.89, Z:-919.86 [[-6.11412286e-01 -2.70551669e-01 -7.43624106e-01 4.05493090e+02] [ 1.78691916e-01 -9.62667357e-01 2.03324269e-01 -1.89892122e+02] [-7.70872374e-01 -8.56466011e-03 6.36932045e-01 -9.19860322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.48, Y:-189.89, Z:-919.88 [[-6.10208318e-01 -2.73250463e-01 -7.43626246e-01 4.05477896e+02] [ 1.82311995e-01 -9.61877911e-01 2.03846072e-01 -1.89887514e+02] [-7.70978693e-01 -1.11834156e-02 6.36762739e-01 -9.19879950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.48, Y:-189.89, Z:-919.88 [[-6.09388966e-01 -2.76510093e-01 -7.43093034e-01 4.05477718e+02] [ 1.82995167e-01 -9.60963792e-01 2.07512310e-01 -1.89887808e+02] [-7.71464748e-01 -9.52672163e-03 6.36200743e-01 -9.19882623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:-190.61, Z:-919.93 [[-5.40929575e-01 -8.31958789e-01 1.23449458e-01 4.05161820e+02] [ 1.75984920e-01 3.15698417e-02 9.83886504e-01 -1.90608568e+02] [-8.22450304e-01 5.53938551e-01 1.29335140e-01 -9.19925026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.19, Y:-189.82, Z:-920.26 [[-5.49798930e-01 -3.05915323e-01 -7.77262473e-01 4.05193616e+02] [ 1.81206545e-01 -9.52043952e-01 2.46528908e-01 -1.89821970e+02] [-8.15405007e-01 -5.30371781e-03 5.78866604e-01 -9.20258915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.56, Y:-189.67, Z:-919.47 [[-6.16375196e-01 7.86568722e-01 3.72996309e-02 4.04558244e+02] [ 1.47769426e-01 1.62062039e-01 -9.75653674e-01 -1.89674834e+02] [-7.73463518e-01 -5.95856980e-01 -2.16121830e-01 -9.19468777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.32, Y:-189.82, Z:-920.11 [[-6.10523304e-01 -2.59987920e-01 -7.48109334e-01 4.05320608e+02] [ 1.72723767e-01 -9.65555761e-01 1.94598493e-01 -1.89823650e+02] [-7.72934535e-01 -1.04093470e-02 6.34400386e-01 -9.20109538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.60, Y:-189.58, Z:-919.62 [[-6.69228057e-01 7.32120419e-01 -1.27017717e-01 4.04596295e+02] [ 1.53027368e-01 -3.14808611e-02 -9.87720396e-01 -1.89576075e+02] [-7.27128897e-01 -6.80447388e-01 -9.09665850e-02 -9.19623290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:-189.56, Z:-919.71 [[-7.17667721e-01 6.86457027e-01 -1.17174197e-01 4.04547657e+02] [ 1.53468753e-01 -8.21976802e-03 -9.88119313e-01 -1.89564638e+02] [-6.79264591e-01 -7.27123914e-01 -9.94506415e-02 -9.19712991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.12, Y:-190.28, Z:-919.90 [[-7.21597179e-01 1.41270577e-01 6.77746365e-01 4.04116782e+02] [ 7.20077197e-02 9.88964699e-01 -1.29474758e-01 -1.90280027e+02] [-6.88558204e-01 -4.46256498e-02 -7.23806709e-01 -9.19896808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.87, Y:-190.48, Z:-920.38 [[-6.60591934e-01 -7.47213039e-01 7.27390654e-02 4.04870627e+02] [ 9.50345326e-02 1.28808499e-02 9.95390638e-01 -1.90484382e+02] [-7.44705804e-01 6.64459749e-01 6.25020564e-02 -9.20379382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.34, Y:-189.49, Z:-919.92 [[-7.31577151e-01 6.78887034e-01 -6.25081455e-02 4.04340079e+02] [ 7.55221389e-02 -1.04228736e-02 -9.97089650e-01 -1.89492077e+02] [-6.77562749e-01 -7.34168754e-01 -4.36458647e-02 -9.19921766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.296559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.61, Y:-190.46, Z:-920.65 [[-6.61016916e-01 -7.46700257e-01 7.41307152e-02 4.04608880e+02] [ 9.02075447e-02 1.89987020e-02 9.95741758e-01 -1.90459775e+02] [-7.44929014e-01 6.64889296e-01 5.47995334e-02 -9.20647567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.87, Y:-189.64, Z:-920.59 [[-6.78208533e-01 -1.29787415e-01 -7.23317643e-01 4.04874735e+02] [ 1.02957579e-01 -9.91353955e-01 8.13453941e-02 -1.89644365e+02] [-7.27621415e-01 -1.93018933e-02 6.85707309e-01 -9.20585710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.88, Y:-189.65, Z:-920.59 [[-6.77605729e-01 -1.38578971e-01 -7.22250888e-01 4.04876663e+02] [ 1.03178908e-01 -9.90286185e-01 9.32061449e-02 -1.89650213e+02] [-7.28151488e-01 -1.13640402e-02 6.85322019e-01 -9.20589263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:404.82, Y:-189.65, Z:-920.65 [[-6.75121079e-01 -1.48823192e-01 -7.22539402e-01 4.04816895e+02] [ 1.17797536e-01 -9.88620225e-01 9.35617040e-02 -1.89646051e+02] [-7.28241217e-01 -2.19478826e-02 6.84969357e-01 -9.20653536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.85, Y:-190.24, Z:-920.16 [[-6.74862907e-01 8.87280444e-02 7.32589511e-01 4.03854296e+02] [ 1.01883302e-02 9.93770897e-01 -1.10975684e-01 -1.90242043e+02] [-7.37872791e-01 -6.74295091e-02 -6.71563107e-01 -9.20156705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.77, Y:-189.57, Z:-920.67 [[-6.84492310e-01 -4.56966611e-02 -7.27586485e-01 4.04774650e+02] [ 3.90580282e-02 -9.98898837e-01 2.59919915e-02 -1.89566733e+02] [-7.27973041e-01 -1.06267751e-02 6.85523394e-01 -9.20670900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.54, Y:-190.45, Z:-920.63 [[-6.19186800e-01 -7.78931268e-01 9.93669302e-02 4.04535300e+02] [ 2.44673695e-02 1.07343229e-01 9.93920912e-01 -1.90448066e+02] [-7.84862443e-01 6.17853956e-01 -4.74071114e-02 -9.20626498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.45, Y:-190.44, Z:-920.69 [[-5.66160262e-01 -8.18975732e-01 9.34949643e-02 4.04448235e+02] [ 1.72727578e-02 1.01612136e-01 9.94674131e-01 -1.90441342e+02] [-8.24114197e-01 5.64759882e-01 -4.33827839e-02 -9.20691461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.36, Y:-190.43, Z:-920.77 [[-5.10497175e-01 -8.55484447e-01 8.68273835e-02 4.04359791e+02] [ 1.07230072e-02 9.46348326e-02 9.95454301e-01 -1.90434696e+02] [-8.59812568e-01 5.09107659e-01 -3.91374489e-02 -9.20772096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:404.28, Y:-190.43, Z:-920.85 [[-4.52868354e-01 -8.88085656e-01 7.88297026e-02 4.04280083e+02] [ 4.77069487e-03 8.60009899e-02 9.96283630e-01 -1.90428667e+02] [-8.91564633e-01 4.51561400e-01 -3.47103411e-02 -9.20854017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.66, Y:-189.39, Z:-920.66 [[-5.17629024e-01 8.54110117e-01 -5.05579122e-02 4.03655877e+02] [ 1.25705920e-02 -5.14921178e-02 -9.98594283e-01 -1.89392765e+02] [-8.55512814e-01 -5.17536927e-01 1.59171448e-02 -9.20656989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:403.37, Y:-189.95, Z:-920.62 [[-5.54912478e-01 3.91358611e-01 7.34105292e-01 4.03374657e+02] [-4.83899362e-02 8.65756201e-01 -4.98121084e-01 -1.89954089e+02] [-8.30500184e-01 -3.11936913e-01 -4.61481101e-01 -9.20619161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.68, Y:-190.46, Z:-920.94 [[-5.04487771e-01 -5.65275472e-01 6.52652840e-01 4.03683524e+02] [-1.14051135e-01 7.92898287e-01 5.98585537e-01 -1.90460229e+02] [-8.55853041e-01 2.27543286e-01 -4.64477798e-01 -9.20939385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.11, Y:-189.42, Z:-921.34 [[-5.12213753e-01 2.17335629e-01 -8.30904504e-01 4.04111935e+02] [-1.11891497e-01 -9.76093802e-01 -1.86336210e-01 -1.89416504e+02] [-8.51538234e-01 -2.47282056e-03 5.24286679e-01 -9.21344552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.13, Y:-189.43, Z:-921.35 [[-5.00920660e-01 2.02728911e-01 -8.41415166e-01 4.04129586e+02] [-1.16386043e-01 -9.79128056e-01 -1.66620947e-01 -1.89427383e+02] [-8.57632078e-01 1.44651069e-02 5.14060288e-01 -9.21352718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.95, Y:-189.44, Z:-921.60 [[-5.10842177e-01 2.32946949e-01 -8.27511927e-01 4.03954878e+02] [-1.13647422e-01 -9.72438478e-01 -2.03587011e-01 -1.89443640e+02] [-8.52129412e-01 -9.95623507e-03 5.23236409e-01 -9.21600891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.39, Y:-189.42, Z:-921.06 [[-5.65099175e-01 8.19185558e-01 9.79690992e-02 4.03386842e+02] [-1.17968488e-01 3.72961624e-02 -9.92316700e-01 -1.89415841e+02] [-8.16545380e-01 -5.72314615e-01 7.55620513e-02 -9.21061875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.99, Y:-190.39, Z:-921.49 [[-5.16708922e-01 -8.52554292e-01 -7.85052198e-02 4.03989379e+02] [-1.13618021e-01 -2.26017624e-02 9.93267389e-01 -1.90388720e+02] [-8.48588732e-01 5.22149729e-01 -8.51869990e-02 -9.21491884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.96, Y:-189.45, Z:-921.61 [[-5.08253401e-01 2.15437270e-01 -8.33825679e-01 4.03961929e+02] [-1.16752626e-01 -9.76503360e-01 -1.81135342e-01 -1.89453898e+02] [-8.53256881e-01 5.28868431e-03 5.21464021e-01 -9.21607505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.28, Y:-189.41, Z:-921.34 [[-5.63709884e-01 8.25957828e-01 -4.98326822e-03 4.03275780e+02] [-1.10469277e-01 -8.13706972e-02 -9.90542957e-01 -1.89408773e+02] [-8.18552201e-01 -5.57828357e-01 1.37112430e-01 -9.21344570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:-189.54, Z:-922.12 [[-5.66852523e-01 1.79340020e-01 -8.04061798e-01 4.03668376e+02] [-1.12732399e-01 -9.83722020e-01 -1.39937107e-01 -1.89535860e+02] [-8.16069619e-01 1.13201135e-02 5.77842740e-01 -9.22123600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.19, Y:-189.46, Z:-921.43 [[-6.17501673e-01 7.81086159e-01 9.27151338e-02 4.03193624e+02] [-1.11673851e-01 2.96196097e-02 -9.93303393e-01 -1.89462863e+02] [-7.78601718e-01 -6.23720363e-01 6.89367407e-02 -9.21430773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.15, Y:-189.46, Z:-921.55 [[-6.68259841e-01 7.40015976e-01 7.61914680e-02 4.03149316e+02] [-1.06814189e-01 5.91150011e-03 -9.94261426e-01 -1.89464257e+02] [-7.36219746e-01 -6.72563313e-01 7.50937883e-02 -9.21549151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:402.77, Y:-190.43, Z:-921.84 [[-6.62429941e-01 -1.97382206e-01 7.22652640e-01 4.02767630e+02] [-1.79685594e-01 9.78367828e-01 1.02515757e-01 -1.90428142e+02] [-7.27254880e-01 -6.19407621e-02 -6.83566881e-01 -9.21841546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.016559995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:403.38, Y:-190.48, Z:-922.42 [[-6.11564057e-01 -7.68149082e-01 -1.89568966e-01 4.03379076e+02] [-1.83410442e-01 -9.54316928e-02 9.78393276e-01 -1.90475026e+02] [-7.69642784e-01 6.33119089e-01 -8.25239693e-02 -9.22424249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.58, Y:-189.46, Z:-922.12 [[-6.08604552e-01 2.98563903e-01 -7.35159912e-01 4.03584358e+02] [-1.86985374e-01 -9.54380327e-01 -2.32797468e-01 -1.89461966e+02] [-7.71127078e-01 -4.21744807e-03 6.36667294e-01 -9.22117562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.37, Y:-189.54, Z:-922.42 [[-6.02368171e-01 2.75422827e-01 -7.49196138e-01 4.03374450e+02] [-1.83626649e-01 -9.61226319e-01 -2.05730934e-01 -1.89539968e+02] [-7.76810042e-01 1.36466096e-02 6.29587110e-01 -9.22416777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.80, Y:-189.57, Z:-921.77 [[-6.54250397e-01 7.00956736e-01 2.83929697e-01 4.02802886e+02] [-1.83437533e-01 2.17136960e-01 -9.58750339e-01 -1.89570868e+02] [-7.33694139e-01 -6.79346153e-01 -1.34801679e-02 -9.21772860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.136559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:402.69, Y:-190.46, Z:-921.95 [[-6.43554252e-01 -3.00146777e-01 7.04095049e-01 4.02693594e+02] [-2.62342937e-01 9.50680510e-01 1.65477343e-01 -1.90463657e+02] [-7.19036931e-01 -7.82207151e-02 -6.90555871e-01 -9.21948522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.50, Y:-190.40, Z:-922.22 [[-5.86765988e-01 -7.74169201e-01 -2.37418878e-01 4.03500406e+02] [-2.76280535e-01 -8.42042571e-02 9.57381172e-01 -1.90400520e+02] [-7.61166698e-01 6.27352924e-01 -1.64479687e-01 -9.22215164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.28, Y:-189.47, Z:-922.39 [[-5.86346208e-01 4.18116499e-01 -6.93813172e-01 4.03284495e+02] [-2.63841036e-01 -9.08365058e-01 -3.24439252e-01 -1.89465601e+02] [-7.65889047e-01 -7.17733916e-03 6.42932698e-01 -9.22390254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.27, Y:-189.48, Z:-922.42 [[-5.88526883e-01 4.06145084e-01 -6.99058138e-01 4.03268622e+02] [-2.58464968e-01 -9.13801078e-01 -3.13310469e-01 -1.89481239e+02] [-7.66049586e-01 -3.70959433e-03 6.42770776e-01 -9.22423015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.27, Y:-189.49, Z:-922.43 [[-5.89500286e-01 4.01244009e-01 -7.01065374e-01 4.03267857e+02] [-2.57090356e-01 -9.15970184e-01 -3.08063582e-01 -1.89485775e+02] [-7.65763646e-01 -1.36642373e-03 6.43120651e-01 -9.22428944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.26, Y:-189.49, Z:-922.43 [[-5.90179637e-01 3.99757234e-01 -7.01343104e-01 4.03264494e+02] [-2.55606926e-01 -9.16618567e-01 -3.07368673e-01 -1.89488742e+02] [-7.65736962e-01 -2.13457688e-03 6.43150331e-01 -9.22434794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.316559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:402.32, Y:-189.77, Z:-922.28 [[-6.34477615e-01 6.49487360e-01 4.19051698e-01 4.02316377e+02] [-2.81521352e-01 3.10732655e-01 -9.07849627e-01 -1.89768945e+02] [-7.19849905e-01 -6.93982266e-01 -1.43083540e-02 -9.22278763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.91, Y:-190.66, Z:-922.36 [[-5.78679434e-01 -7.71710211e-01 2.63805730e-01 4.02906565e+02] [-3.20541809e-01 5.12650060e-01 7.96519218e-01 -1.90657878e+02] [-7.49922037e-01 3.76368524e-01 -5.44025433e-01 -9.22360668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.89, Y:-189.61, Z:-922.87 [[-5.82153962e-01 4.65455412e-01 -6.66669352e-01 4.02886586e+02] [-3.06464855e-01 -8.85071254e-01 -3.50325803e-01 -1.89613058e+02] [-7.53110920e-01 3.67172187e-04 6.57893462e-01 -9.22873056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:402.11, Y:-189.93, Z:-922.46 [[-6.24581778e-01 5.42946252e-01 5.61343897e-01 4.02106214e+02] [-3.46807193e-01 4.51193764e-01 -8.22282773e-01 -1.89931779e+02] [-6.99730215e-01 -7.08260937e-01 -9.35097382e-02 -9.22457005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.85, Y:-190.56, Z:-922.21 [[-5.67367386e-01 -7.13655204e-01 4.10841209e-01 4.02845601e+02] [-3.93614551e-01 6.73265588e-01 6.25924143e-01 -1.90559005e+02] [-7.23299271e-01 1.93415866e-01 -6.62894010e-01 -9.22208680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.88, Y:-189.53, Z:-922.81 [[-5.82098663e-01 5.57335048e-01 -5.92063164e-01 4.02882246e+02] [-3.84724116e-01 -8.30258307e-01 -4.03309434e-01 -1.89525692e+02] [-7.16343843e-01 -6.98490528e-03 6.97712484e-01 -9.22814103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:402.69, Y:-189.67, Z:-923.08 [[-5.75713043e-01 5.47732873e-01 -6.07077583e-01 4.02693385e+02] [-3.82578860e-01 -8.36627570e-01 -3.92030260e-01 -1.89667324e+02] [-7.22625704e-01 6.55811583e-03 6.91208423e-01 -9.23077308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.05, Y:-189.87, Z:-922.64 [[-6.26648145e-01 6.15400952e-01 4.78114808e-01 4.02053294e+02] [-4.10030765e-01 2.61361655e-01 -8.73821983e-01 -1.89868250e+02] [-6.62711758e-01 -7.43620705e-01 8.85515269e-02 -9.22637602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.55, Y:-190.52, Z:-922.29 [[-5.74872013e-01 -5.62676882e-01 5.94068090e-01 4.02549397e+02] [-4.71324000e-01 8.21193407e-01 3.21706504e-01 -1.90522897e+02] [-6.68861612e-01 -9.50584831e-02 -7.37284226e-01 -9.22292229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:402.67, Y:-189.61, Z:-923.07 [[-5.95191582e-01 6.17829289e-01 -5.13842341e-01 4.02665973e+02] [-4.61905745e-01 -7.86281966e-01 -4.10370263e-01 -1.89608297e+02] [-6.57563733e-01 -6.90219657e-03 7.53367305e-01 -9.23072473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.03, Y:-190.42, Z:-923.01 [[-5.48162397e-01 -5.87934916e-01 -5.94853360e-01 4.03026778e+02] [-4.27617167e-01 -4.14230353e-01 8.03465478e-01 -1.90416717e+02] [-7.18791726e-01 6.94799071e-01 -2.43455603e-02 -9.23013353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.87, Y:-190.04, Z:-922.77 [[-5.88372083e-01 5.35167028e-01 6.06147296e-01 4.01871751e+02] [-4.67043961e-01 3.87012987e-01 -7.95041437e-01 -1.90038453e+02] [-6.60066839e-01 -7.50877620e-01 2.22388914e-02 -9.22772716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.34, Y:-190.71, Z:-922.61 [[-5.34188188e-01 -6.58320487e-01 5.30336795e-01 4.02344029e+02] [-5.18561440e-01 7.50630158e-01 4.09448897e-01 -1.90714692e+02] [-6.67635389e-01 -5.62894470e-02 -7.42357384e-01 -9.22605803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.79, Y:-190.57, Z:-923.28 [[-5.06299803e-01 -5.85401971e-01 -6.33218005e-01 4.02793536e+02] [-4.86459297e-01 -4.12423306e-01 7.70236567e-01 -1.90569258e+02] [-7.12051867e-01 6.98005408e-01 -7.59643926e-02 -9.23276537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.71, Y:-190.64, Z:-923.35 [[-4.66782011e-01 -6.11989147e-01 -6.38422930e-01 4.02712702e+02] [-4.58638711e-01 -4.49713133e-01 7.66425881e-01 -1.90639925e+02] [-7.56151497e-01 6.50559284e-01 -7.07639134e-02 -9.23349499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.53, Y:-190.33, Z:-923.18 [[-5.03250503e-01 5.67698755e-01 6.51503687e-01 4.01525495e+02] [-4.81831831e-01 4.41510418e-01 -7.56905963e-01 -1.90331078e+02] [-7.17340238e-01 -6.94828522e-01 5.13449908e-02 -9.23181388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.796559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.93, Y:-190.94, Z:-922.98 [[-4.61362657e-01 -5.84012338e-01 6.67887781e-01 4.01929162e+02] [-5.43634107e-01 7.81006259e-01 3.07394179e-01 -1.90944930e+02] [-7.01146530e-01 -2.21266382e-01 -6.77816149e-01 -9.22977202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.84, Y:-190.22, Z:-924.00 [[-4.47098035e-01 7.63830496e-01 -4.65474297e-01 4.01842035e+02] [-5.54576163e-01 -6.45004157e-01 -5.25751764e-01 -1.90220435e+02] [-7.01818087e-01 2.30783690e-02 7.11982276e-01 -9.23999183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.30, Y:-190.60, Z:-923.49 [[-4.94969950e-01 4.69041641e-01 7.31440146e-01 4.01304446e+02] [-5.70878585e-01 4.59070577e-01 -6.80699527e-01 -1.90596563e+02] [-6.55059074e-01 -7.54489327e-01 4.05396882e-02 -9.23489981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.97, Y:-191.08, Z:-923.21 [[-4.53850517e-01 -7.67453149e-01 4.52808318e-01 4.01968345e+02] [-6.16067160e-01 6.37390506e-01 4.62811622e-01 -1.91076414e+02] [-6.43801960e-01 -6.89130404e-02 -7.62082692e-01 -9.23205967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.39, Y:-190.89, Z:-923.89 [[-4.14917244e-01 -5.03190871e-01 -7.58051864e-01 4.02386339e+02] [-6.09644340e-01 -4.64715778e-01 6.42162772e-01 -1.90888826e+02] [-6.75409106e-01 7.28586435e-01 -1.13948877e-01 -9.23887951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.63, Y:-190.41, Z:-924.23 [[-3.93632003e-01 8.24989773e-01 -4.05519076e-01 4.01629546e+02] [-6.00767539e-01 -5.64760780e-01 -5.65794685e-01 -1.90406601e+02] [-6.95796098e-01 2.09078018e-02 7.17934993e-01 -9.24229153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.24, Y:-190.70, Z:-923.56 [[-4.29893171e-01 4.15099342e-01 8.01800722e-01 4.01241062e+02] [-6.23750894e-01 5.05519260e-01 -5.96141846e-01 -1.90696252e+02] [-6.52783796e-01 -7.56401226e-01 4.15993075e-02 -9.23561909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.66, Y:-190.36, Z:-924.20 [[-4.30231677e-01 8.25865450e-01 -3.64481774e-01 4.01659865e+02] [-6.43096865e-01 -5.63751617e-01 -5.18276506e-01 -1.90358537e+02] [-6.33503849e-01 1.14181152e-02 7.73655285e-01 -9.24204999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.036559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:402.08, Y:-191.33, Z:-924.37 [[-4.18719933e-01 -5.18308740e-01 -7.45673969e-01 4.02081356e+02] [-6.07886085e-01 -4.50043802e-01 6.54167474e-01 -1.91333302e+02] [-6.74646667e-01 7.27197791e-01 -1.26630361e-01 -9.24367831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.50, Y:-190.58, Z:-924.41 [[-3.94958685e-01 8.30374044e-01 -3.93047814e-01 4.01499560e+02] [-6.04078892e-01 -5.57069428e-01 -5.69879237e-01 -1.90579626e+02] [-6.92167848e-01 1.23531344e-02 7.21630841e-01 -9.24408158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.12, Y:-190.88, Z:-923.73 [[-4.28982479e-01 3.84226220e-01 8.17523238e-01 4.01120118e+02] [-6.25038762e-01 5.27131411e-01 -5.75724780e-01 -1.90881102e+02] [-6.52150734e-01 -7.57959556e-01 1.40261414e-02 -9.23729277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.97, Y:-191.49, Z:-923.92 [[-3.94729196e-01 -9.04447041e-01 -1.61754173e-01 4.01968363e+02] [-6.32779247e-01 1.39961778e-01 7.61578049e-01 -1.91493349e+02] [-6.66167611e-01 4.02971775e-01 -6.27562318e-01 -9.23916452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.156559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.42, Y:-190.62, Z:-924.46 [[-3.68760925e-01 8.66908693e-01 -3.35387385e-01 4.01416209e+02] [-6.54125787e-01 -4.98375154e-01 -5.68983006e-01 -1.90620878e+02] [-6.60405054e-01 9.56683752e-03 7.50848614e-01 -9.24461646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.97, Y:-190.94, Z:-924.10 [[-4.08263701e-01 6.13437232e-01 6.76029225e-01 4.00966776e+02] [-6.62749009e-01 3.10088888e-01 -6.81622060e-01 -1.90944213e+02] [-6.27761501e-01 -7.26319244e-01 2.79956880e-01 -9.24095762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:-191.70, Z:-923.97 [[-3.70570804e-01 -9.14218141e-01 1.63958746e-01 4.01673600e+02] [-6.79731865e-01 3.87237599e-01 6.22905799e-01 -1.91702851e+02] [-6.32962772e-01 1.19382718e-01 -7.64922150e-01 -9.23974273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.24, Y:-190.85, Z:-924.72 [[-3.55380651e-01 8.88296370e-01 -2.90919495e-01 4.01240115e+02] [-6.96715112e-01 -4.59219750e-01 -5.51094615e-01 -1.90853146e+02] [-6.23131323e-01 6.83964545e-03 7.82087318e-01 -9.24721750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.276559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.04, Y:-191.61, Z:-923.99 [[-3.37540505e-01 -3.36016858e-01 8.79294649e-01 4.01035262e+02] [-7.29147952e-01 6.84106653e-01 -1.84757184e-02 -1.91607758e+02] [-5.95323166e-01 -6.47372195e-01 -4.75919709e-01 -9.23985616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:401.13, Y:-191.00, Z:-924.88 [[-3.39693599e-01 9.08533631e-01 -2.43258916e-01 4.01128619e+02] [-7.41450571e-01 -4.17806920e-01 -5.25060405e-01 -1.91002040e+02] [-5.78670295e-01 2.00480389e-03 8.15559115e-01 -9.24878587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:-191.03, Z:-924.90 [[-3.42397787e-01 9.03805137e-01 -2.56710013e-01 4.01125813e+02] [-7.36538938e-01 -4.27834393e-01 -5.23897055e-01 -1.91025319e+02] [-5.83330222e-01 9.69572796e-03 8.12177225e-01 -9.24904522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.73, Y:-191.46, Z:-924.35 [[-3.65687154e-01 3.08025775e-01 8.78289831e-01 4.00730026e+02] [-7.62970963e-01 4.41241321e-01 -4.72420794e-01 -1.91464996e+02] [-5.33055546e-01 -8.42867854e-01 7.36584395e-02 -9.24353800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.57, Y:-192.01, Z:-924.38 [[-3.12978092e-01 -9.46052086e-01 -8.38460818e-02 4.01568761e+02] [-7.74871810e-01 2.03300863e-01 5.98533573e-01 -1.92011305e+02] [-5.49197954e-01 2.52297861e-01 -7.96697808e-01 -9.24383243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.93, Y:-191.35, Z:-925.16 [[-3.08901470e-01 9.28477793e-01 -2.06176793e-01 4.00928028e+02] [-7.80315722e-01 -3.71348012e-01 -5.03197802e-01 -1.91352153e+02] [-5.43771327e-01 5.44445248e-03 8.39215766e-01 -9.25162467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.4565599950001 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:400.45, Y:-192.26, Z:-924.77 [[-3.14663411e-01 1.05026762e-01 9.43374961e-01 4.00449022e+02] [-8.14287334e-01 4.80853542e-01 -3.25139984e-01 -1.92259147e+02] [-4.87773591e-01 -8.70487938e-01 -6.57850535e-02 -9.24769069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.55, Y:-192.29, Z:-924.85 [[-2.61180397e-01 -8.18553167e-01 -5.11620478e-01 4.01549736e+02] [-8.10976604e-01 -1.01395499e-01 5.76225564e-01 -1.92289641e+02] [-5.23547274e-01 5.65411059e-01 -6.37344951e-01 -9.24851338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.516559995 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:400.68, Y:-191.94, Z:-925.56 [[-2.69212719e-01 9.46605920e-01 -1.77374586e-01 4.00675148e+02] [-8.04369260e-01 -3.22285991e-01 -4.99121060e-01 -1.91935137e+02] [-5.29636295e-01 8.30492704e-03 8.48184192e-01 -9.25555876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.60, Y:-192.01, Z:-924.52 [[-2.53115506e-01 -1.01889239e-01 9.62055676e-01 4.00603045e+02] [-8.45953226e-01 5.05767396e-01 -1.69004381e-01 -1.92008321e+02] [-4.69356667e-01 -8.56631732e-01 -2.14211101e-01 -9.24523676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.57, Y:-192.10, Z:-924.61 [[-2.44937777e-01 -1.28482682e-01 9.60987870e-01 4.00570229e+02] [-8.78387813e-01 4.48983308e-01 -1.63856156e-01 -1.92104155e+02] [-4.10414834e-01 -8.84254595e-01 -2.22830596e-01 -9.24606894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.54, Y:-192.21, Z:-924.68 [[-2.35004909e-01 -1.53631353e-01 9.59776068e-01 4.00537197e+02] [-9.07382985e-01 3.88675448e-01 -1.59960981e-01 -1.92205664e+02] [-3.48466371e-01 -9.08476089e-01 -2.30743114e-01 -9.24683645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.35, Y:-192.22, Z:-925.56 [[-2.55759489e-01 1.10422143e-01 -9.60413470e-01 4.01352345e+02] [-8.71176502e-01 -4.56999142e-01 1.79452744e-01 -1.92219906e+02] [-4.19092575e-01 8.82586390e-01 2.13079043e-01 -9.25563299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.57, Y:-192.26, Z:-925.73 [[-2.54711922e-01 9.58213677e-01 -1.30185966e-01 4.00569677e+02] [-8.71858451e-01 -2.85793189e-01 -3.97724900e-01 -1.92264758e+02] [-4.18311701e-01 1.21984611e-02 9.08221624e-01 -9.25729558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.35, Y:-192.37, Z:-924.96 [[-2.60320985e-01 2.03395863e-01 9.43855449e-01 4.00354356e+02] [-9.02779728e-01 2.95369794e-01 -3.12642685e-01 -1.92366497e+02] [-3.42376618e-01 -9.33481017e-01 1.06730706e-01 -9.24963251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.33, Y:-192.47, Z:-925.04 [[-2.73014461e-01 1.87412941e-01 9.43578027e-01 4.00326398e+02] [-9.21093380e-01 2.32087430e-01 -3.12605839e-01 -1.92470773e+02] [-2.77578979e-01 -9.54469389e-01 1.09261594e-01 -9.25037220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.30, Y:-192.58, Z:-925.10 [[-2.85267257e-01 1.70457022e-01 9.43168594e-01 4.00297561e+02] [-9.34657947e-01 1.68415483e-01 -3.13130560e-01 -1.92575040e+02] [-2.12219497e-01 -9.70865917e-01 1.11275588e-01 -9.25102311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.27, Y:-192.68, Z:-925.16 [[-2.95876227e-01 1.51829041e-01 9.43082817e-01 4.00268059e+02] [-9.44157940e-01 1.03376468e-01 -3.12856341e-01 -1.92678608e+02] [-1.44993249e-01 -9.82985884e-01 1.12763955e-01 -9.25158787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.816559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.47, Y:-192.62, Z:-925.94 [[-3.14402502e-01 9.48240701e-01 -4.46165806e-02 4.00469297e+02] [-9.37980375e-01 -3.17546830e-01 -1.39128813e-01 -1.92624169e+02] [-1.46095457e-01 -1.89296985e-03 9.89268687e-01 -9.25939449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.47, Y:-192.64, Z:-925.94 [[-3.16108830e-01 9.47682497e-01 -4.44195065e-02 4.00466163e+02] [-9.37548249e-01 -3.19207882e-01 -1.38237509e-01 -1.92635147e+02] [-1.45184324e-01 -2.05266673e-03 9.89402496e-01 -9.25941756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.876559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:400.21, Y:-192.98, Z:-925.15 [[-3.04399183e-01 -1.84139437e-02 9.52366560e-01 4.00212705e+02] [-9.49319201e-01 8.80721589e-02 -3.01722304e-01 -1.92979789e+02] [-7.83210815e-02 -9.95943885e-01 -4.42898035e-02 -9.25152783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.88, Y:-193.13, Z:-924.96 [[-2.18656256e-01 -9.41440493e-01 2.56669515e-01 4.00876725e+02] [-9.72529475e-01 2.31772996e-01 2.16263675e-02 -1.93134231e+02] [-7.98490005e-02 -2.44889928e-01 -9.66257243e-01 -9.24963177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.34, Y:-192.92, Z:-926.02 [[-2.53202513e-01 9.67309713e-01 -1.41565148e-02 4.00336761e+02] [-9.65574138e-01 -2.53595983e-01 -5.79280737e-02 -1.92923430e+02] [-5.96244237e-02 -9.98369199e-04 9.98220382e-01 -9.26018652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.26, Y:-193.28, Z:-926.06 [[-2.51444422e-01 9.67356723e-01 -3.15701253e-02 4.00258057e+02] [-9.65259338e-01 -2.53027230e-01 -6.52045419e-02 -1.93280234e+02] [-7.10641533e-02 1.40780399e-02 9.97372395e-01 -9.26056875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.08, Y:-193.20, Z:-925.30 [[-2.52179036e-01 1.24698389e-01 9.59612446e-01 4.00076683e+02] [-9.67656861e-01 -3.94411894e-02 -2.49167799e-01 -1.93204790e+02] [ 6.77743322e-03 -9.91410462e-01 1.30611492e-01 -9.25295400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.69, Y:-193.30, Z:-924.99 [[-1.71084382e-01 -8.91431759e-01 4.19618342e-01 4.00692866e+02] [-9.84970865e-01 1.44494912e-01 -9.46235503e-02 -1.93297618e+02] [ 2.37177224e-02 -4.29500453e-01 -9.02755133e-01 -9.24994699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.056559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.97, Y:-193.48, Z:-926.01 [[-2.04377881e-01 2.08272914e-01 -9.56478999e-01 4.00970284e+02] [-9.77766153e-01 -9.02849502e-02 1.89266951e-01 -1.93478930e+02] [-4.69364793e-02 9.73894769e-01 2.22094452e-01 -9.26013048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.22, Y:-193.33, Z:-926.05 [[-2.13363682e-01 9.76939355e-01 -8.08930342e-03 4.00223448e+02] [-9.76446292e-01 -2.13513186e-01 -3.10605454e-02 -1.93330220e+02] [-3.20714421e-02 1.27157800e-03 9.99484770e-01 -9.26050892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.116559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:400.16, Y:-193.67, Z:-926.08 [[-2.09362350e-01 9.77540354e-01 -2.41301460e-02 4.00159982e+02] [-9.76827931e-01 -2.10203782e-01 -4.02686440e-02 -1.93672243e+02] [-4.44364724e-02 1.51402627e-02 9.98897479e-01 -9.26077993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.95, Y:-193.68, Z:-925.34 [[-2.21726663e-01 1.61039388e-01 9.61719087e-01 3.99952002e+02] [-9.74644847e-01 -6.70233706e-02 -2.13483698e-01 -1.93684354e+02] [ 3.00783707e-02 -9.84669581e-01 1.71817078e-01 -9.25335944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.58, Y:-193.88, Z:-925.01 [[-1.56435103e-01 -9.05053960e-01 3.95481212e-01 4.00575219e+02] [-9.85887296e-01 1.18916447e-01 -1.17835129e-01 -1.93879338e+02] [ 5.96179295e-02 -4.08333453e-01 -9.10883908e-01 -9.25007721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:-194.07, Z:-925.60 [[-1.15138128e-01 -5.48820588e-01 -8.27972931e-01 4.01026720e+02] [-9.93346760e-01 6.55676690e-02 9.46736261e-02 -1.94074179e+02] [ 2.32941994e-03 8.33364772e-01 -5.52718491e-01 -9.25603565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.10, Y:-193.70, Z:-926.08 [[-1.11887220e-01 9.93616308e-01 -1.44181004e-02 4.00100629e+02] [-9.93719298e-01 -1.11849115e-01 3.42521065e-03 -1.93700651e+02] [ 1.79069338e-03 1.47107819e-02 9.99890187e-01 -9.26082054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.09, Y:-193.71, Z:-926.08 [[-1.11106776e-01 9.93807018e-01 -1.70135469e-03 4.00092335e+02] [-9.93808169e-01 -1.11105235e-01 9.75196933e-04 -1.93714879e+02] [ 7.80128142e-04 1.79917117e-03 9.99998077e-01 -9.26078258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.07, Y:-193.90, Z:-926.08 [[-1.13656103e-01 9.93519386e-01 1.23298931e-03 4.00066779e+02] [-9.93513524e-01 -1.13659791e-01 3.51133749e-03 -1.93900433e+02] [ 3.62872317e-03 -8.25906619e-04 9.99993075e-01 -9.26076143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.89, Y:-193.82, Z:-925.36 [[-1.23521184e-01 1.95697825e-01 9.72853986e-01 3.99887872e+02] [-9.90198366e-01 -8.87095625e-02 -1.07878682e-01 -1.93816741e+02] [ 6.51898280e-02 -9.76643730e-01 2.04737176e-01 -9.25360667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.356559995 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:399.99, Y:-194.55, Z:-926.07 [[-1.30271745e-01 9.91478276e-01 -3.18065815e-04 3.99988526e+02] [-9.89051682e-01 -1.29930468e-01 6.99631567e-02 -1.94551029e+02] [ 6.93256235e-02 9.42880607e-03 9.97549525e-01 -9.26068148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-194.09, Z:-925.18 [[-1.23108684e-01 -2.21010993e-01 9.67470099e-01 3.99987350e+02] [-9.84100998e-01 -9.85750631e-02 -1.47743637e-01 -1.94090782e+02] [ 1.28021394e-01 -9.70276815e-01 -2.05361693e-01 -9.25177735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.68, Y:-194.10, Z:-925.12 [[-5.26915764e-02 -9.94184227e-01 9.39218865e-02 4.00678515e+02] [-9.89993458e-01 3.96760970e-02 -1.35420684e-01 -1.94096851e+02] [ 1.30906654e-01 -1.00117582e-01 -9.86326476e-01 -9.25118035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-194.42, Z:-926.11 [[-5.06741909e-02 9.98707258e-01 -3.99250308e-03 3.99992707e+02] [-9.88223816e-01 -4.95635372e-02 1.44765827e-01 -1.94419491e+02] [ 1.44380800e-01 1.12813778e-02 9.89457890e-01 -9.26106057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.52, Z:-926.09 [[-5.70816201e-02 9.98339609e-01 7.72746855e-03 3.99981301e+02] [-9.87845980e-01 -5.75990997e-02 1.44369889e-01 -1.94518881e+02] [ 1.44575273e-01 6.07318396e-04 9.89493619e-01 -9.26088624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.84, Y:-194.23, Z:-925.34 [[-5.09402486e-02 8.34163098e-02 9.95211943e-01 3.99837815e+02] [-9.75802634e-01 -2.16326229e-01 -3.18148242e-02 -1.94226803e+02] [ 2.12636571e-01 -9.72751090e-01 9.24175667e-02 -9.25343517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.87, Y:-194.57, Z:-925.90 [[-5.81417334e-02 -8.39937746e-02 -9.94768609e-01 4.00874539e+02] [-9.88157255e-01 1.46581087e-01 4.53786705e-02 -1.94573500e+02] [ 1.42002738e-01 9.85626213e-01 -9.15215362e-02 -9.25896411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-194.47, Z:-926.09 [[-6.61231625e-02 9.97811115e-01 -8.40957980e-04 3.99988697e+02] [-9.86001489e-01 -6.52112271e-02 1.53455398e-01 -1.94472091e+02] [ 1.53064662e-01 1.09761421e-02 9.88155217e-01 -9.26089316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.47, Z:-926.09 [[-6.76872765e-02 9.97663798e-01 9.24006956e-03 3.99984181e+02] [-9.85957316e-01 -6.83044315e-02 1.52389880e-01 -1.94473735e+02] [ 1.52665004e-01 1.20454176e-03 9.88277262e-01 -9.26085203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:399.84, Y:-194.45, Z:-925.28 [[-5.38620999e-02 4.58825122e-02 9.97493694e-01 3.99836168e+02] [-9.74575605e-01 -2.19990163e-01 -4.25055191e-02 -1.94450717e+02] [ 2.17488540e-01 -9.74422456e-01 5.65651092e-02 -9.25284669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.656559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.64, Z:-926.09 [[-7.35516367e-02 9.97190468e-01 1.41890212e-02 3.99976161e+02] [-9.73139664e-01 -7.48753162e-02 2.17699061e-01 -1.94642728e+02] [ 2.18149836e-01 2.20422295e-03 9.75912799e-01 -9.26088118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.64, Z:-926.09 [[-7.61931625e-02 9.96991935e-01 1.42015576e-02 3.99977391e+02] [-9.73183881e-01 -7.74589407e-02 2.16594658e-01 -1.94640606e+02] [ 2.17043165e-01 2.68230504e-03 9.76158322e-01 -9.26088380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.64, Z:-926.09 [[-7.72616851e-02 9.96908715e-01 1.42704345e-02 3.99977663e+02] [-9.73153283e-01 -7.85176029e-02 2.16350812e-01 -1.94641966e+02] [ 2.16802490e-01 2.82830814e-03 9.76211392e-01 -9.26087827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.64, Z:-926.09 [[-7.46027746e-02 9.97188078e-01 7.09672798e-03 3.99983635e+02] [-9.74402993e-01 -7.44078775e-02 2.12137395e-01 -1.94640393e+02] [ 2.12068934e-01 8.91096527e-03 9.77214082e-01 -9.26094245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.776559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.64, Z:-926.09 [[-7.78284031e-02 9.96754289e-01 2.05822140e-02 3.99976394e+02] [-9.72908029e-01 -8.04420925e-02 2.16746482e-01 -1.94640186e+02] [ 2.17698662e-01 -3.15556871e-03 9.76010930e-01 -9.26085336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.65, Z:-926.09 [[-7.90878064e-02 9.96762093e-01 1.45068950e-02 3.99978496e+02] [-9.73022030e-01 -8.03517226e-02 2.16267726e-01 -1.94648591e+02] [ 2.16733125e-01 2.98861168e-03 9.76226316e-01 -9.26086328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.66, Z:-926.08 [[-8.00167263e-02 9.96685896e-01 1.46474818e-02 3.99978318e+02] [-9.72786515e-01 -8.12867465e-02 2.16976639e-01 -1.94658752e+02] [ 2.17448202e-01 3.11288757e-03 9.76066898e-01 -9.26084219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:-194.66, Z:-926.08 [[-7.94661925e-02 9.96588410e-01 2.22860067e-02 3.99975117e+02] [-9.71602067e-01 -8.24337262e-02 2.21797439e-01 -1.94657028e+02] [ 2.22877876e-01 -4.02773221e-03 9.74838053e-01 -9.26080323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.86, Y:-194.77, Z:-925.84 [[-6.92816713e-02 -1.10238738e-01 -9.91487504e-01 4.00859381e+02] [-9.89142393e-01 1.36712242e-01 5.39174251e-02 -1.94765980e+02] [ 1.29604690e-01 9.84457812e-01 -1.18513462e-01 -9.25844431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.97, Y:-194.74, Z:-926.04 [[-7.08953235e-02 9.97440370e-01 9.30388590e-03 3.99970441e+02] [-9.85649212e-01 -7.14836779e-02 1.52923887e-01 -1.94735729e+02] [ 1.53197535e-01 1.67122066e-03 9.88194173e-01 -9.26037928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.96, Y:-194.76, Z:-926.03 [[-7.39940460e-02 9.97089724e-01 1.83565642e-02 3.99964405e+02] [-9.84496055e-01 -7.59701392e-02 1.58101411e-01 -1.94758220e+02] [ 1.59035843e-01 -6.37340197e-03 9.87252238e-01 -9.26028599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.88, Y:-194.87, Z:-925.72 [[-5.51241306e-02 -2.48127984e-01 -9.67157606e-01 4.00880740e+02] [-9.96259453e-01 7.82253026e-02 3.67138192e-02 -1.94874431e+02] [ 6.65464704e-02 9.65563724e-01 -2.51511952e-01 -9.25724440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.96, Y:-194.85, Z:-925.99 [[-5.41804799e-02 9.98522721e-01 4.10514465e-03 3.99955442e+02] [-9.94672225e-01 -5.43317267e-02 8.76083858e-02 -1.94850765e+02] [ 8.77020033e-02 6.63391022e-04 9.96146535e-01 -9.25991601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.89, Y:-194.98, Z:-925.62 [[-3.06212364e-02 -3.60180285e-01 -9.32380020e-01 4.00886310e+02] [-9.99523484e-01 1.46660614e-02 2.71608337e-02 -1.94976045e+02] [ 3.89154580e-03 9.32767425e-01 -3.60457746e-01 -9.25622988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.94, Y:-194.95, Z:-925.96 [[-2.84988455e-02 9.99593672e-01 5.54533611e-04 3.99939726e+02] [-9.99299256e-01 -2.85039098e-02 2.42595337e-02 -1.94953297e+02] [ 2.42654827e-02 1.37223678e-04 9.99705541e-01 -9.25955741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.94, Y:-194.96, Z:-925.96 [[-2.85226166e-02 9.99592985e-01 5.70315414e-04 3.99939381e+02] [-9.99293422e-01 -2.85280304e-02 2.44705472e-02 -1.94962295e+02] [ 2.44768573e-02 1.28051594e-04 9.99700389e-01 -9.25955379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.93, Y:-194.97, Z:-925.95 [[-3.15542201e-02 9.99431660e-01 1.18612432e-02 3.99931418e+02] [-9.98950412e-01 -3.19287999e-02 3.28424589e-02 -1.94970008e+02] [ 3.32025084e-02 -1.08124756e-02 9.99390156e-01 -9.25946959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.87, Y:-195.11, Z:-925.58 [[-1.43754785e-02 -3.92575515e-01 -9.19607422e-01 4.00872966e+02] [-9.97777767e-01 -5.42104431e-02 3.87396019e-02 -1.95113179e+02] [-6.50605450e-02 9.18120740e-01 -3.90923819e-01 -9.25580852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.92, Y:-195.07, Z:-925.92 [[-3.52566222e-04 9.99936174e-01 1.12926636e-02 3.99917447e+02] [-9.99329734e-01 6.10656972e-05 -3.66071042e-02 -1.95073889e+02] [-3.66054573e-02 -1.12980009e-02 9.99265929e-01 -9.25922691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.92, Y:-195.10, Z:-925.93 [[-1.29732197e-03 9.99999150e-01 1.32869713e-04 3.99922598e+02] [-9.99334676e-01 -1.29161695e-03 -3.64490949e-02 -1.95100647e+02] [-3.64488923e-02 -1.80067523e-04 9.99335502e-01 -9.25927225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.64, Y:-195.15, Z:-924.95 [[ 8.71329947e-02 -9.96196018e-01 -1.15559505e-03 4.00640584e+02] [-9.94391617e-01 -8.70448541e-02 6.00708414e-02 -1.95145591e+02] [-5.99429216e-02 -4.08503828e-03 -9.98193448e-01 -9.24947020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.91, Y:-195.19, Z:-925.91 [[ 7.37025955e-02 9.96961463e-01 2.52144427e-02 3.99906143e+02] [-9.96851029e-01 7.43890430e-02 -2.74644570e-02 -1.95191150e+02] [-2.92566835e-02 -2.31108414e-02 9.99304726e-01 -9.25913037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.73, Y:-195.17, Z:-925.05 [[ 1.62776146e-01 -9.62357504e-01 -2.17651009e-01 4.00731199e+02] [-9.83467658e-01 -1.75991206e-01 4.26434149e-02 -1.95168688e+02] [-7.93428737e-02 2.07111397e-01 -9.75094651e-01 -9.25046025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.89, Y:-195.29, Z:-925.90 [[ 1.46384376e-01 9.87476090e-01 5.88437469e-02 3.99891196e+02] [-9.88465950e-01 1.48346721e-01 -3.04682978e-02 -1.95287061e+02] [-3.88159924e-02 -5.37049574e-02 9.97802133e-01 -9.25901761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.376559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:400.76, Y:-195.20, Z:-925.08 [[ 2.35982665e-01 -9.28234871e-01 -2.87562527e-01 4.00759437e+02] [-9.67126291e-01 -2.53194922e-01 2.36446530e-02 -1.95201306e+02] [-9.47571631e-02 2.72529552e-01 -9.57469960e-01 -9.25082046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.92, Y:-195.37, Z:-925.93 [[ 2.17460720e-01 9.75316250e-01 3.83281541e-02 3.99919114e+02] [-9.74091156e-01 2.19351267e-01 -5.50585284e-02 -1.95366403e+02] [-6.21068066e-02 -2.53620487e-02 9.97747218e-01 -9.25925689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.94, Y:-195.39, Z:-925.94 [[ 2.15230748e-01 9.76459317e-01 1.42452415e-02 3.99937287e+02] [-9.74595270e-01 2.15699763e-01 -6.03131228e-02 -1.95389371e+02] [-6.19660060e-02 -9.02106420e-04 9.98077853e-01 -9.25936184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:399.93, Y:-195.42, Z:-925.93 [[ 2.10636918e-01 9.77078378e-01 3.08209722e-02 3.99934269e+02] [-9.75896060e-01 2.12014087e-01 -5.17388416e-02 -1.95423383e+02] [-5.70873837e-02 -1.91799552e-02 9.98184933e-01 -9.25925854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.75, Y:-195.30, Z:-925.04 [[ 3.17508417e-01 -9.24946476e-01 -2.08955548e-01 4.00752097e+02] [-9.42916650e-01 -3.31310305e-01 3.37886513e-02 -1.95297833e+02] [-1.00481820e-01 1.86299485e-01 -9.77341243e-01 -9.25042340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.67, Y:-195.33, Z:-924.97 [[ 3.94255740e-01 -9.18494613e-01 -3.04968539e-02 4.00665766e+02] [-9.13857606e-01 -3.95339298e-01 9.25803211e-02 -1.95332961e+02] [-9.70911309e-02 -8.63054110e-03 -9.95238075e-01 -9.24966600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.99, Y:-195.56, Z:-925.95 [[ 3.57141105e-01 9.33642986e-01 2.75863264e-02 3.99985725e+02] [-9.31187960e-01 3.58201721e-01 -6.76794619e-02 -1.95555565e+02] [-7.30699245e-02 -1.51693724e-03 9.97325667e-01 -9.25946493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.68, Y:-195.37, Z:-924.97 [[ 4.64644387e-01 -8.84695219e-01 -3.76824071e-02 4.00676484e+02] [-8.80154678e-01 -4.66090194e-01 8.99314968e-02 -1.95368694e+02] [-9.71253657e-02 -8.61981825e-03 -9.95234828e-01 -9.24972242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.68, Y:-195.37, Z:-924.98 [[ 5.32068492e-01 -8.45524816e-01 -4.46195772e-02 4.00675461e+02] [-8.41115803e-01 -5.33867200e-01 8.66603656e-02 -1.95371699e+02] [-9.70944183e-02 -8.57901854e-03 -9.95238200e-01 -9.24975120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.68, Y:-195.38, Z:-924.98 [[ 5.96427623e-01 -8.01035594e-01 -5.11475106e-02 4.00676980e+02] [-7.96804092e-01 -5.98555623e-01 8.26704608e-02 -1.95375541e+02] [-9.68366118e-02 -8.55240070e-03 -9.95263547e-01 -9.24977848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.78, Y:-195.29, Z:-925.83 [[ 5.63985860e-01 9.57655013e-02 -8.20212728e-01 4.00782163e+02] [-8.07935492e-01 -1.41403002e-01 -5.72053696e-01 -1.95291537e+02] [-1.70763551e-01 9.85309170e-01 -2.37694639e-03 -9.25827491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.09, Y:-195.81, Z:-925.95 [[ 5.61001647e-01 8.22894201e-01 9.01237228e-02 4.00094424e+02] [-8.16806953e-01 5.67946770e-01 -1.01305814e-01 -1.95806278e+02] [-1.34549444e-01 -1.67809550e-02 9.90764779e-01 -9.25952212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.83, Y:-195.45, Z:-925.05 [[ 6.48314404e-01 -7.35227589e-01 -1.97810075e-01 4.00827969e+02] [-7.40869599e-01 -6.69079760e-01 5.86899625e-02 -1.95454689e+02] [-1.75501197e-01 1.08501923e-01 -9.78481815e-01 -9.25052466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:-195.88, Z:-925.96 [[ 6.21848195e-01 7.75825536e-01 1.06768722e-01 4.00157077e+02] [-7.70325175e-01 6.30523578e-01 -9.50744108e-02 -1.95876811e+02] [-1.41081352e-01 -2.31247838e-02 9.89727890e-01 -9.25963259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.25, Y:-196.09, Z:-925.09 [[ 6.62216371e-01 -1.18272301e-01 7.39919686e-01 4.00245170e+02] [-7.45942703e-01 -1.05080317e-02 6.65927222e-01 -1.96094768e+02] [-7.09856453e-02 -9.92925599e-01 -9.51829506e-02 -9.25094075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.28, Y:-196.01, Z:-925.99 [[ 6.30720338e-01 7.74905446e-01 4.13932933e-02 4.00283210e+02] [-7.72519849e-01 6.32043052e-01 -6.11118936e-02 -1.96006224e+02] [-7.35182826e-02 6.56737354e-03 9.97272246e-01 -9.25991357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.30, Y:-196.03, Z:-925.99 [[ 6.31141617e-01 7.74209540e-01 4.75378595e-02 4.00301046e+02] [-7.72178208e-01 6.32927985e-01 -5.60623001e-02 -1.96033683e+02] [-7.34920092e-02 -1.32444845e-03 9.97294927e-01 -9.25991129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.31, Y:-196.07, Z:-925.98 [[ 6.30149110e-01 7.73888647e-01 6.33124136e-02 4.00312524e+02] [-7.73591964e-01 6.32738517e-01 -3.46040812e-02 -1.96073427e+02] [-6.68399083e-02 -2.71722434e-02 9.97393652e-01 -9.25975239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:-195.52, Z:-925.61 [[ 6.55485153e-01 -2.47355170e-01 -7.13550723e-01 4.01127792e+02] [-7.36094304e-01 -4.20485022e-01 -5.30431449e-01 -1.95524459e+02] [-1.68832430e-01 8.72930562e-01 -4.57698421e-01 -9.25614913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.01, Y:-195.76, Z:-925.04 [[ 7.26877930e-01 -6.77927383e-01 -1.09831411e-01 4.01005881e+02] [-6.67348930e-01 -7.34995323e-01 1.20113613e-01 -1.95755282e+02] [-1.62153881e-01 -1.40120595e-02 -9.86665993e-01 -9.25043155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9765599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:401.02, Y:-195.77, Z:-925.05 [[ 7.76364422e-01 -6.19074250e-01 -1.18344237e-01 4.01020027e+02] [-6.09285819e-01 -7.85213208e-01 1.10503435e-01 -1.95771304e+02] [-1.61335289e-01 -1.36854699e-02 -9.86804759e-01 -9.25050969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:-195.79, Z:-925.06 [[ 8.20940955e-01 -5.56883672e-01 -1.26239950e-01 4.01034964e+02] [-5.47893163e-01 -8.30482639e-01 1.00556795e-01 -1.95785393e+02] [-1.60838524e-01 -1.33851854e-02 -9.86889967e-01 -9.25058557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:401.04, Y:-195.80, Z:-925.06 [[ 8.62846915e-01 -4.92927107e-01 -1.11884173e-01 4.01044758e+02] [-4.79300120e-01 -8.68180112e-01 1.28587276e-01 -1.95796572e+02] [-1.60519767e-01 -5.73250368e-02 -9.85366553e-01 -9.25056521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.60, Y:-196.38, Z:-926.01 [[ 8.52507180e-01 5.07130703e-01 1.26688434e-01 4.00599909e+02] [-5.08051444e-01 8.60891827e-01 -2.73677233e-02 -1.96376872e+02] [-1.22944050e-01 -4.10330612e-02 9.91564949e-01 -9.26012883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.64, Y:-196.36, Z:-926.04 [[ 8.52386018e-01 5.13074391e-01 1.00959127e-01 4.00635760e+02] [-5.07182234e-01 8.58188696e-01 -7.92360075e-02 -1.96360765e+02] [-1.27295948e-01 1.63349894e-02 9.91730261e-01 -9.26043651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.66, Y:-196.38, Z:-926.04 [[ 8.52055267e-01 5.11785684e-01 1.09896477e-01 4.00660671e+02] [-5.07833533e-01 8.59111471e-01 -6.35026311e-02 -1.96384978e+02] [-1.26913061e-01 -1.70136458e-03 9.91912386e-01 -9.26041888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.69, Y:-196.40, Z:-926.05 [[ 8.51993627e-01 5.11892295e-01 1.09877834e-01 4.00689310e+02] [-5.07936869e-01 8.59047995e-01 -6.35348708e-02 -1.96401623e+02] [-1.26913344e-01 -1.67969806e-03 9.91912386e-01 -9.26046641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.72, Y:-196.42, Z:-926.05 [[ 8.50835153e-01 5.13775278e-01 1.10065916e-01 4.00718311e+02] [-5.10431388e-01 8.57902992e-01 -5.88409253e-02 -1.96422209e+02] [-1.24656891e-01 -6.11717037e-03 9.92181052e-01 -9.26047876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.2165599950001 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:400.75, Y:-196.44, Z:-926.05 [[ 8.50357099e-01 5.15011547e-01 1.07962545e-01 4.00746637e+02] [-5.11117463e-01 8.57182072e-01 -6.32284283e-02 -1.96435073e+02] [-1.25106928e-01 -1.41479894e-03 9.92142255e-01 -9.26054273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.77, Y:-196.45, Z:-926.06 [[ 8.49892057e-01 5.15945171e-01 1.07163759e-01 4.00773504e+02] [-5.11505517e-01 8.56617573e-01 -6.75902394e-02 -1.96446715e+02] [-1.26671217e-01 2.62955373e-03 9.91941273e-01 -9.26061687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.80, Y:-196.46, Z:-926.06 [[ 8.49475334e-01 5.16053335e-01 1.09911841e-01 4.00800537e+02] [-5.12105439e-01 8.56553791e-01 -6.37465553e-02 -1.96464482e+02] [-1.27042027e-01 -2.13532527e-03 9.91895037e-01 -9.26064602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.83, Y:-196.48, Z:-926.07 [[ 8.49110851e-01 5.16649711e-01 1.09926522e-01 4.00828181e+02] [-5.12700664e-01 8.56194065e-01 -6.37946074e-02 -1.96480283e+02] [-1.27077901e-01 -2.19070737e-03 9.91890321e-01 -9.26068324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.86, Y:-196.50, Z:-926.07 [[ 8.48527209e-01 5.17526447e-01 1.10308444e-01 4.00856520e+02] [-5.13554265e-01 8.55664092e-01 -6.40388895e-02 -1.96495833e+02] [-1.27528794e-01 -2.31063174e-03 9.91832177e-01 -9.26072751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.88, Y:-196.51, Z:-926.08 [[ 8.48255448e-01 5.17962684e-01 1.10351046e-01 4.00884809e+02] [-5.13985757e-01 8.55400009e-01 -6.41051179e-02 -1.96511712e+02] [-1.27598345e-01 -2.34135036e-03 9.91823160e-01 -9.26077496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.396559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.91, Y:-196.53, Z:-926.08 [[ 8.48152344e-01 5.18189151e-01 1.10079997e-01 4.00913251e+02] [-5.14228428e-01 8.55262858e-01 -6.39888085e-02 -1.96527241e+02] [-1.27305639e-01 -2.33400590e-03 9.91860790e-01 -9.26082099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.94, Y:-196.54, Z:-926.09 [[ 8.48006551e-01 5.18454552e-01 1.09953477e-01 4.00940446e+02] [-5.14499874e-01 8.55101996e-01 -6.39566724e-02 -1.96542666e+02] [-1.27180066e-01 -2.33537303e-03 9.91876896e-01 -9.26086804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.4565599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.97, Y:-196.56, Z:-926.09 [[ 8.48330359e-01 5.17880551e-01 1.10160507e-01 4.00967919e+02] [-5.13901143e-01 8.55450060e-01 -6.41155976e-02 -1.96557265e+02] [-1.27441034e-01 -2.22040270e-03 9.91843664e-01 -9.26091429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.00, Y:-196.57, Z:-926.10 [[ 8.48587570e-01 5.17370010e-01 1.10577615e-01 4.00996450e+02] [-5.13351080e-01 8.55759185e-01 -6.43963233e-02 -1.96573251e+02] [-1.27944536e-01 -2.11921855e-03 9.91779061e-01 -9.26096139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.02, Y:-196.59, Z:-926.10 [[ 8.48931145e-01 5.16694302e-01 1.11098652e-01 4.01024622e+02] [-5.12626246e-01 8.56167642e-01 -6.47402628e-02 -1.96589090e+02] [-1.28569996e-01 -1.99205974e-03 9.91698436e-01 -9.26100888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.05, Y:-196.61, Z:-926.11 [[ 8.49414089e-01 5.15826490e-01 1.11439387e-01 4.01052626e+02] [-5.11720525e-01 8.56691123e-01 -6.49801830e-02 -1.96605239e+02] [-1.28987633e-01 -1.83073870e-03 9.91644512e-01 -9.26105461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.08, Y:-196.61, Z:-926.13 [[ 8.50686015e-01 5.14829745e-01 1.06224469e-01 4.01083659e+02] [-5.07925086e-01 8.57072546e-01 -8.62482370e-02 -1.96608176e+02] [-1.35445234e-01 1.94160967e-02 9.90594571e-01 -9.26125437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.11, Y:-196.64, Z:-926.12 [[ 8.51209236e-01 5.10786701e-01 1.20581019e-01 4.01105326e+02] [-5.07700497e-01 8.59618741e-01 -5.74092776e-02 -1.96641480e+02] [-1.32977600e-01 -1.23517361e-02 9.91042074e-01 -9.26115356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:-196.66, Z:-926.12 [[ 8.53273199e-01 5.07727409e-01 1.18902174e-01 4.01132724e+02] [-5.04581091e-01 8.61448270e-01 -5.74873929e-02 -1.96657126e+02] [-1.31615997e-01 -1.09433369e-02 9.91240371e-01 -9.26116237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:401.17, Y:-196.66, Z:-926.13 [[ 8.54100451e-01 5.08180986e-01 1.10745227e-01 4.01165306e+02] [-5.02212416e-01 8.61174548e-01 -7.84925921e-02 -1.96663337e+02] [-1.35259414e-01 1.14229302e-02 9.90744371e-01 -9.26133438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.6965599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:401.19, Y:-196.69, Z:-926.13 [[ 8.55524539e-01 5.03574654e-01 1.20375792e-01 4.01187332e+02] [-5.00520432e-01 8.63871017e-01 -5.66229891e-02 -1.96689517e+02] [-1.32503060e-01 -1.18081867e-02 9.91112257e-01 -9.26125317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.22, Y:-196.70, Z:-926.13 [[ 8.58040222e-01 5.00699944e-01 1.14308983e-01 4.01217937e+02] [-4.96216105e-01 8.65620672e-01 -6.68612725e-02 -1.96699482e+02] [-1.32425654e-01 6.47702986e-04 9.91192729e-01 -9.26134587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.756559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.25, Y:-196.71, Z:-926.14 [[ 8.59319301e-01 4.98460036e-01 1.14489879e-01 4.01245208e+02] [-4.93936235e-01 8.66912063e-01 -6.70109691e-02 -1.96714753e+02] [-1.32654947e-01 1.03311945e-03 9.91161742e-01 -9.26139491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.27, Y:-196.73, Z:-926.14 [[ 8.60592632e-01 4.96191998e-01 1.14777273e-01 4.01273024e+02] [-4.91619768e-01 8.68211655e-01 -6.72199772e-02 -1.96730358e+02] [-1.33004981e-01 1.42224084e-03 9.91114349e-01 -9.26144368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.30, Y:-196.75, Z:-926.15 [[ 8.61904304e-01 4.93859962e-01 1.14992650e-01 4.01301326e+02] [-4.89244431e-01 8.69539547e-01 -6.73859314e-02 -1.96746232e+02] [-1.33269870e-01 1.82071065e-03 9.91078113e-01 -9.26148848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.33, Y:-196.76, Z:-926.15 [[ 8.63095725e-01 4.91697899e-01 1.15321060e-01 4.01329320e+02] [-4.87030854e-01 8.70763081e-01 -6.76210308e-02 -1.96762036e+02] [-1.33666441e-01 2.19850792e-03 9.91023940e-01 -9.26153668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.36, Y:-196.77, Z:-926.16 [[ 8.64929016e-01 4.88569124e-01 1.14882585e-01 4.01357915e+02] [-4.83100652e-01 8.72489252e-01 -7.33230211e-02 -1.96772888e+02] [-1.36057185e-01 7.91935691e-03 9.90669333e-01 -9.26162912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.38, Y:-196.80, Z:-926.16 [[ 8.65190573e-01 4.87310632e-01 1.18210073e-01 4.01383549e+02] [-4.83265606e-01 8.73224010e-01 -6.27230662e-02 -1.96795338e+02] [-1.33789491e-01 -2.85945680e-03 9.91005649e-01 -9.26160435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9365599950002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:401.41, Y:-196.81, Z:-926.17 [[ 8.66085890e-01 4.86393120e-01 1.15399150e-01 4.01412954e+02] [-4.81659222e-01 8.73734553e-01 -6.77666951e-02 -1.96808193e+02] [-1.33789479e-01 3.10871352e-03 9.91004900e-01 -9.26167487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.44, Y:-196.82, Z:-926.17 [[ 8.66799135e-01 4.85230479e-01 1.14937555e-01 4.01440288e+02] [-4.80518331e-01 8.74380007e-01 -6.75406381e-02 -1.96823347e+02] [-1.33271876e-01 3.31456480e-03 9.91073974e-01 -9.26171627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.996559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:401.47, Y:-196.84, Z:-926.18 [[ 8.67908031e-01 4.83281658e-01 1.14780174e-01 4.01468741e+02] [-4.78561925e-01 8.75457392e-01 -6.74747333e-02 -1.96836767e+02] [-1.33094453e-01 3.63244203e-03 9.91096702e-01 -9.26176156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.50, Y:-196.85, Z:-926.18 [[ 8.67834406e-01 4.83348176e-01 1.15056440e-01 4.01497991e+02] [-4.78600702e-01 8.75420524e-01 -6.76777248e-02 -1.96851772e+02] [-1.33434673e-01 3.66696537e-03 9.91050827e-01 -9.26180861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.53, Y:-196.87, Z:-926.19 [[ 8.67605972e-01 4.83770460e-01 1.15004436e-01 4.01527477e+02] [-4.79025258e-01 8.75187356e-01 -6.76896933e-02 -1.96866797e+02] [-1.33396702e-01 3.63795231e-03 9.91056045e-01 -9.26185474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.56, Y:-196.87, Z:-926.20 [[ 8.67473815e-01 4.84492449e-01 1.12943557e-01 4.01558550e+02] [-4.77972311e-01 8.74646383e-01 -8.08466129e-02 -1.96870348e+02] [-1.37955247e-01 1.61484271e-02 9.90306810e-01 -9.26199241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.58, Y:-196.89, Z:-926.20 [[ 8.67297138e-01 4.83247458e-01 1.19446932e-01 4.01583464e+02] [-4.78247379e-01 8.75478427e-01 -6.94043892e-02 -1.96892699e+02] [-1.38112707e-01 3.06904600e-03 9.90411764e-01 -9.26199443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.61, Y:-196.91, Z:-926.20 [[ 8.66042020e-01 4.84766759e-01 1.22361798e-01 4.01610837e+02] [-4.81204078e-01 8.74610044e-01 -5.91600053e-02 -1.96914098e+02] [-1.35697661e-01 -7.64594553e-03 9.90720790e-01 -9.26196546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.65, Y:-196.91, Z:-926.22 [[ 8.63972381e-01 4.91060604e-01 1.11405604e-01 4.01646008e+02] [-4.83776157e-01 8.70868064e-01 -8.68875502e-02 -1.96910482e+02] [-1.39686636e-01 2.11730685e-02 9.89969366e-01 -9.26217586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:-196.94, Z:-926.21 [[ 8.62526008e-01 4.90854895e-01 1.22924196e-01 4.01668357e+02] [-4.86633075e-01 8.71230792e-01 -6.43828963e-02 -1.96935209e+02] [-1.38698004e-01 -4.28705686e-03 9.90325444e-01 -9.26212239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.70, Y:-196.95, Z:-926.21 [[ 8.59068297e-01 4.96842981e-01 1.23080109e-01 4.01697931e+02] [-4.94072748e-01 8.67724576e-01 -5.42787197e-02 -1.96952886e+02] [-1.33767637e-01 -1.41814006e-02 9.90911251e-01 -9.26208959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.73, Y:-196.96, Z:-926.22 [[ 8.57233889e-01 5.01941136e-01 1.14913686e-01 4.01730355e+02] [-4.97326345e-01 8.64901122e-01 -6.79158034e-02 -1.96959581e+02] [-1.33478712e-01 1.07012485e-03 9.91051103e-01 -9.26218875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.76, Y:-196.97, Z:-926.22 [[ 8.55374669e-01 5.05104209e-01 1.14908283e-01 4.01760148e+02] [-5.00512659e-01 8.63058146e-01 -6.79537728e-02 -1.96973721e+02] [-1.33496266e-01 6.12885903e-04 9.91049127e-01 -9.26224028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:-196.99, Z:-926.23 [[ 8.53582440e-01 5.08196468e-01 1.14600907e-01 4.01789365e+02] [-5.03651427e-01 8.61241152e-01 -6.78153227e-02 -1.96988118e+02] [-1.33162525e-01 1.67058102e-04 9.91094201e-01 -9.26228558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.356559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.82, Y:-196.99, Z:-926.24 [[ 8.52486218e-01 5.10748061e-01 1.11371754e-01 4.01820749e+02] [-5.04400969e-01 8.59629593e-01 -8.13426484e-02 -1.96993172e+02] [-1.37284056e-01 1.31674660e-02 9.90444196e-01 -9.26243077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:-197.01, Z:-926.25 [[ 8.50736593e-01 5.12336183e-01 1.17298275e-01 4.01846849e+02] [-5.07252937e-01 8.58783163e-01 -7.20134489e-02 -1.97011542e+02] [-1.37628879e-01 1.76458178e-03 9.90482296e-01 -9.26245295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.87, Y:-197.04, Z:-926.24 [[ 8.46805847e-01 5.17472731e-01 1.23052142e-01 4.01872953e+02] [-5.15107974e-01 8.55496276e-01 -5.28194786e-02 -1.97035356e+02] [-1.32603289e-01 -1.86572961e-02 9.90993579e-01 -9.26237359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.91, Y:-197.04, Z:-926.25 [[ 8.45726763e-01 5.21374947e-01 1.13641575e-01 4.01906433e+02] [-5.16355890e-01 8.53324355e-01 -7.22089991e-02 -1.97038818e+02] [-1.34621087e-01 2.38958642e-03 9.90894269e-01 -9.26250783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.94, Y:-197.05, Z:-926.26 [[ 8.44788743e-01 5.23299632e-01 1.11756318e-01 4.01935309e+02] [-5.16815259e-01 8.52058409e-01 -8.30569519e-02 -1.97045265e+02] [-1.38686583e-01 1.24082075e-02 9.90258587e-01 -9.26262940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.96, Y:-197.07, Z:-926.26 [[ 8.43394219e-01 5.23306374e-01 1.21805708e-01 4.01960606e+02] [-5.19332772e-01 8.52102216e-01 -6.49252261e-02 -1.97071724e+02] [-1.37766699e-01 -8.50013572e-03 9.90428233e-01 -9.26260479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.99, Y:-197.09, Z:-926.26 [[ 8.42209662e-01 5.25036004e-01 1.22556436e-01 4.01987638e+02] [-5.22294719e-01 8.50915492e-01 -5.61342238e-02 -1.97092722e+02] [-1.33757658e-01 -1.67337936e-02 9.90872782e-01 -9.26256882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.02, Y:-197.10, Z:-926.27 [[ 8.42063778e-01 5.26921157e-01 1.15250550e-01 4.02019147e+02] [-5.22461032e-01 8.49910298e-01 -6.84613379e-02 -1.97103410e+02] [-1.34026356e-01 -2.56510826e-03 9.90974448e-01 -9.26265748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.596559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.05, Y:-197.11, Z:-926.28 [[ 8.42286358e-01 5.27180232e-01 1.12404155e-01 4.02048449e+02] [-5.20937237e-01 8.49693376e-01 -8.15203210e-02 -1.97109533e+02] [-1.38484967e-01 1.01079446e-02 9.90312952e-01 -9.26279231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.07, Y:-197.14, Z:-926.27 [[ 8.40836472e-01 5.27390304e-01 1.21874914e-01 4.02071213e+02] [-5.24614813e-01 8.49463968e-01 -5.64824380e-02 -1.97139193e+02] [-1.33316638e-01 -1.64448911e-02 9.90937051e-01 -9.26270621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.10, Y:-197.15, Z:-926.28 [[ 8.40369045e-01 5.29781495e-01 1.14505174e-01 4.02101711e+02] [-5.25394562e-01 8.48129102e-01 -6.80997803e-02 -1.97148587e+02] [-1.33193174e-01 -2.93144869e-03 9.91085761e-01 -9.26279059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.13, Y:-197.16, Z:-926.29 [[ 8.40477879e-01 5.29867888e-01 1.13300289e-01 4.02130808e+02] [-5.24661713e-01 8.48075315e-01 -7.41508462e-02 -1.97159312e+02] [-1.35377331e-01 2.87782207e-03 9.90789936e-01 -9.26288900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.16, Y:-197.18, Z:-926.29 [[ 8.39431145e-01 5.30630395e-01 1.17416937e-01 4.02155919e+02] [-5.27029900e-01 8.47550367e-01 -6.24328470e-02 -1.97182157e+02] [-1.32645534e-01 -9.47416021e-03 9.91118259e-01 -9.26286741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.19, Y:-197.20, Z:-926.29 [[ 8.38661289e-01 5.32626795e-01 1.13824162e-01 4.02185552e+02] [-5.28306885e-01 8.46343824e-01 -6.77788017e-02 -1.97195327e+02] [-1.32435182e-01 -3.29063130e-03 9.91186206e-01 -9.26293303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.776559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.21, Y:-197.21, Z:-926.30 [[ 8.37886342e-01 5.33952882e-01 1.13317248e-01 4.02214011e+02] [-5.29677954e-01 8.45507202e-01 -6.75191545e-02 -1.97211829e+02] [-1.31862596e-01 -3.44827053e-03 9.91262006e-01 -9.26297916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.24, Y:-197.23, Z:-926.30 [[ 8.36588148e-01 5.36152969e-01 1.12517838e-01 4.02241857e+02] [-5.31952541e-01 8.44112593e-01 -6.70852051e-02 -1.97228571e+02] [-1.30945656e-01 -3.73146238e-03 9.91382525e-01 -9.26302445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.27, Y:-197.25, Z:-926.31 [[ 8.35942991e-01 5.37287541e-01 1.11899120e-01 4.02269652e+02] [-5.33137894e-01 8.43390340e-01 -6.67586714e-02 -1.97245922e+02] [-1.30243240e-01 -3.85121789e-03 9.91474592e-01 -9.26306739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.30, Y:-197.26, Z:-926.31 [[ 8.35595824e-01 5.37802468e-01 1.12018413e-01 4.02297732e+02] [-5.33642936e-01 8.43061859e-01 -6.68724029e-02 -1.97263146e+02] [-1.30402595e-01 -3.89953432e-03 9.91453457e-01 -9.26311866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.32, Y:-197.28, Z:-926.32 [[ 8.35245864e-01 5.38289596e-01 1.12288278e-01 4.02324369e+02] [-5.34108422e-01 8.42750692e-01 -6.70780552e-02 -1.97279934e+02] [-1.30738443e-01 -3.94744665e-03 9.91409036e-01 -9.26316395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.35, Y:-197.30, Z:-926.32 [[ 8.35040265e-01 5.38572544e-01 1.12460531e-01 4.02351506e+02] [-5.34375576e-01 8.42569825e-01 -6.72222659e-02 -1.97297185e+02] [-1.30959917e-01 -3.96286240e-03 9.91379744e-01 -9.26320583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.38, Y:-197.32, Z:-926.33 [[ 8.34899157e-01 5.38688951e-01 1.12949603e-01 4.02379289e+02] [-5.34450936e-01 8.42495400e-01 -6.75551512e-02 -1.97315264e+02] [-1.31550735e-01 -3.96428245e-03 9.91301513e-01 -9.26325055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.41, Y:-197.33, Z:-926.33 [[ 8.35192717e-01 5.37996054e-01 1.14076165e-01 4.02406118e+02] [-5.33660398e-01 8.42938533e-01 -6.82730485e-02 -1.97334651e+02] [-1.32889826e-01 -3.85677860e-03 9.91123312e-01 -9.26329044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.016559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:402.43, Y:-197.35, Z:-926.34 [[ 8.35646594e-01 5.37269838e-01 1.14174826e-01 4.02433583e+02] [-5.32913936e-01 8.43402265e-01 -6.83765701e-02 -1.97352582e+02] [-1.33031975e-01 -3.70670780e-03 9.91104815e-01 -9.26335196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.46, Y:-197.37, Z:-926.34 [[ 8.35503736e-01 5.37336856e-01 1.14902618e-01 4.02460057e+02] [-5.32919424e-01 8.43359589e-01 -6.88584878e-02 -1.97369990e+02] [-1.33904428e-01 -3.70231296e-03 9.90987335e-01 -9.26338374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:-197.39, Z:-926.34 [[ 8.35535261e-01 5.37251456e-01 1.15072592e-01 4.02486865e+02] [-5.32816392e-01 8.43414132e-01 -6.89876390e-02 -1.97387802e+02] [-1.34117559e-01 -3.67095813e-03 9.90958629e-01 -9.26343073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.51, Y:-197.40, Z:-926.35 [[ 8.36055036e-01 5.36613053e-01 1.14273390e-01 4.02514082e+02] [-5.31453738e-01 8.43827371e-01 -7.42448187e-02 -1.97400902e+02] [-1.36267753e-01 1.34173416e-03 9.90671136e-01 -9.26351719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.136559995 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:402.54, Y:-197.42, Z:-926.36 [[ 8.35418121e-01 5.37468594e-01 1.14908979e-01 4.02541698e+02] [-5.32488690e-01 8.43283741e-01 -7.29953898e-02 -1.97421484e+02] [-1.36133603e-01 -2.06060401e-04 9.90690466e-01 -9.26356639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:402.57, Y:-197.44, Z:-926.36 [[ 8.35497324e-01 5.37400311e-01 1.14652202e-01 4.02567854e+02] [-5.32398219e-01 8.43327279e-01 -7.31521489e-02 -1.97439169e+02] [-1.36001317e-01 7.77962720e-05 9.90708653e-01 -9.26361921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.59, Y:-197.47, Z:-926.36 [[ 8.34814239e-01 5.37233344e-01 1.20272694e-01 4.02590733e+02] [-5.34577743e-01 8.43253366e-01 -5.61284048e-02 -1.97466050e+02] [-1.31574405e-01 -1.74383139e-02 9.91152905e-01 -9.26356371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.62, Y:-197.48, Z:-926.36 [[ 8.33899866e-01 5.40280260e-01 1.12730894e-01 4.02620780e+02] [-5.36031947e-01 8.41475902e-01 -6.77352070e-02 -1.97477825e+02] [-1.31456326e-01 -3.94298067e-03 9.91314121e-01 -9.26364871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.65, Y:-197.50, Z:-926.37 [[ 8.33294337e-01 5.41315103e-01 1.12243077e-01 4.02647965e+02] [-5.36994136e-01 8.40813235e-01 -6.83403392e-02 -1.97495187e+02] [-1.31369123e-01 -3.32625672e-03 9.91327943e-01 -9.26370337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.67, Y:-197.51, Z:-926.37 [[ 8.31320521e-01 5.44330815e-01 1.12294948e-01 4.02673954e+02] [-5.40210838e-01 8.38856093e-01 -6.70276414e-02 -1.97514066e+02] [-1.30684512e-01 -4.94149429e-03 9.91411691e-01 -9.26374679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.316559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:402.70, Y:-197.53, Z:-926.38 [[ 8.30259111e-01 5.46083886e-01 1.11634218e-01 4.02700606e+02] [-5.41958702e-01 8.37717097e-01 -6.71627214e-02 -1.97531356e+02] [-1.30194373e-01 -4.73867462e-03 9.91477166e-01 -9.26379444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.73, Y:-197.55, Z:-926.38 [[ 8.29205115e-01 5.47679360e-01 1.11652123e-01 4.02728195e+02] [-5.43563770e-01 8.36673556e-01 -6.71996122e-02 -1.97549473e+02] [-1.30220220e-01 -4.96778689e-03 9.91472650e-01 -9.26384514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.76, Y:-197.57, Z:-926.39 [[ 8.28271523e-01 5.49220773e-01 1.11008229e-01 4.02755602e+02] [-5.45161018e-01 8.35661460e-01 -6.68534853e-02 -1.97567925e+02] [-1.29482622e-01 -5.14452093e-03 9.91568346e-01 -9.26388935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.78, Y:-197.59, Z:-926.39 [[ 8.27533348e-01 5.50308868e-01 1.11124740e-01 4.02782303e+02] [-5.46244687e-01 8.34944445e-01 -6.69665204e-02 -1.97585652e+02] [-1.29635254e-01 -5.28426991e-03 9.91547668e-01 -9.26393850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4365599950002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.81, Y:-197.60, Z:-926.41 [[ 8.27389719e-01 5.51215751e-01 1.07645012e-01 4.02810054e+02] [-5.45675376e-01 8.34341543e-01 -7.81829491e-02 -1.97596693e+02] [-1.32908379e-01 5.94853567e-03 9.91110477e-01 -9.26406750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.83, Y:-197.63, Z:-926.40 [[ 8.26371966e-01 5.50806485e-01 1.17139193e-01 4.02831057e+02] [-5.48203750e-01 8.34445923e-01 -5.63262797e-02 -1.97627576e+02] [-1.28771202e-01 -1.76696865e-02 9.91516898e-01 -9.26399092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.86, Y:-197.64, Z:-926.41 [[ 8.25988480e-01 5.52691310e-01 1.10794166e-01 4.02860710e+02] [-5.48659876e-01 8.33367517e-01 -6.68649588e-02 -1.97640564e+02] [-1.29287940e-01 -5.55862751e-03 9.91591514e-01 -9.26407609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.89, Y:-197.65, Z:-926.42 [[ 8.26988013e-01 5.52178410e-01 1.05781992e-01 4.02889640e+02] [-5.45773415e-01 8.33634238e-01 -8.47663709e-02 -1.97645765e+02] [-1.34989650e-01 1.23677739e-02 9.90769818e-01 -9.26424191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.556559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:402.91, Y:-197.68, Z:-926.41 [[ 8.26048900e-01 5.50328766e-01 1.21579043e-01 4.02908528e+02] [-5.48473010e-01 8.34593879e-01 -5.12875672e-02 -1.97684602e+02] [-1.29694149e-01 -2.43167854e-02 9.91255831e-01 -9.26410866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.94, Y:-197.69, Z:-926.42 [[ 8.25944731e-01 5.52525714e-01 1.11940324e-01 4.02938182e+02] [-5.48310088e-01 8.33481075e-01 -6.83033357e-02 -1.97693832e+02] [-1.31039491e-01 -4.96322856e-03 9.91364725e-01 -9.26421188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.616559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:402.96, Y:-197.71, Z:-926.42 [[ 8.26295230e-01 5.51945919e-01 1.12213614e-01 4.02963492e+02] [-5.47795922e-01 8.33861995e-01 -6.77775891e-02 -1.97714339e+02] [-1.30980232e-01 -5.46586148e-03 9.91369913e-01 -9.26424797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.99, Y:-197.73, Z:-926.43 [[ 8.26193533e-01 5.52055064e-01 1.12425322e-01 4.02989212e+02] [-5.47884542e-01 8.33789799e-01 -6.79492492e-02 -1.97732182e+02] [-1.31250813e-01 -5.45686557e-03 9.91334175e-01 -9.26429096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.02, Y:-197.74, Z:-926.44 [[ 8.27454050e-01 5.50830463e-01 1.09112770e-01 4.03017787e+02] [-5.44879657e-01 8.34581981e-01 -8.11115030e-02 -1.97740329e+02] [-1.35742239e-01 7.66271267e-03 9.90714554e-01 -9.26443083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.04, Y:-197.78, Z:-926.43 [[ 8.27661260e-01 5.48167705e-01 1.20370289e-01 4.03037625e+02] [-5.45615267e-01 8.36148987e-01 -5.62036681e-02 -1.97775786e+02] [-1.31456531e-01 -1.91582688e-02 9.91136792e-01 -9.26433761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.07, Y:-197.79, Z:-926.44 [[ 8.28424897e-01 5.48528727e-01 1.13262645e-01 4.03067639e+02] [-5.44248538e-01 8.36117675e-01 -6.85620995e-02 -1.97788224e+02] [-1.32309180e-01 -4.84447875e-03 9.91196657e-01 -9.26443139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.09, Y:-197.81, Z:-926.45 [[ 8.29272327e-01 5.47200410e-01 1.13486209e-01 4.03094106e+02] [-5.42885086e-01 8.36988951e-01 -6.87406710e-02 -1.97807009e+02] [-1.32601626e-01 -4.60523416e-03 9.91158716e-01 -9.26447823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.12, Y:-197.83, Z:-926.45 [[ 8.30416816e-01 5.45488278e-01 1.13359831e-01 4.03121009e+02] [-5.41160958e-01 8.38107471e-01 -6.87072389e-02 -1.97826123e+02] [-1.32486715e-01 -4.29026838e-03 9.91175496e-01 -9.26452543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.15, Y:-197.84, Z:-926.46 [[ 8.31821833e-01 5.43395164e-01 1.13111160e-01 4.03147120e+02] [-5.39061663e-01 8.39467932e-01 -6.86011302e-02 -1.97844723e+02] [-1.32230714e-01 -3.90997240e-03 9.91211254e-01 -9.26457108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.17, Y:-197.86, Z:-926.46 [[ 8.33136874e-01 5.41480717e-01 1.12612533e-01 4.03173761e+02] [-5.37164614e-01 8.40705600e-01 -6.83247517e-02 -1.97864091e+02] [-1.31670523e-01 -3.56759804e-03 9.91287116e-01 -9.26461966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.20, Y:-197.88, Z:-926.47 [[ 8.35940123e-01 5.37387087e-01 1.11441595e-01 4.03198224e+02] [-5.33118760e-01 8.43330878e-01 -6.76566206e-02 -1.97884678e+02] [-1.30339933e-01 -2.85472144e-03 9.91465255e-01 -9.26466527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.22, Y:-197.90, Z:-926.47 [[ 8.37188221e-01 5.35492517e-01 1.11191941e-01 4.03223875e+02] [-5.31221536e-01 8.44536212e-01 -6.75445513e-02 -1.97902694e+02] [-1.30075222e-01 -2.52005083e-03 9.91500926e-01 -9.26471437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.25, Y:-197.92, Z:-926.48 [[ 8.38141489e-01 5.34018536e-01 1.11099273e-01 4.03250711e+02] [-5.29736754e-01 8.45469758e-01 -6.75267316e-02 -1.97921798e+02] [-1.29991602e-01 -2.25641270e-03 9.91512528e-01 -9.26476211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.28, Y:-197.94, Z:-926.48 [[ 8.38837661e-01 5.32902938e-01 1.11201784e-01 4.03277576e+02] [-5.28598007e-01 8.46173893e-01 -6.76305439e-02 -1.97940881e+02] [-1.30136562e-01 -2.04999412e-03 9.91493960e-01 -9.26480763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.30, Y:-197.96, Z:-926.49 [[ 8.39526384e-01 5.31839181e-01 1.11096965e-01 4.03302945e+02] [-5.27527656e-01 8.46843357e-01 -6.76084322e-02 -1.97959072e+02] [-1.30038540e-01 -1.84765924e-03 9.91507219e-01 -9.26485162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.036559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.33, Y:-197.98, Z:-926.49 [[ 8.40609505e-01 5.30139852e-01 1.11028816e-01 4.03327491e+02] [-5.25813813e-01 8.47908800e-01 -6.76054824e-02 -1.97979322e+02] [-1.29982670e-01 -1.55067392e-03 9.91515053e-01 -9.26489334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.35, Y:-198.00, Z:-926.49 [[ 8.40874204e-01 5.29821027e-01 1.10545249e-01 4.03353004e+02] [-5.25525064e-01 8.48108213e-01 -6.73488419e-02 -1.97997373e+02] [-1.29437166e-01 -1.46239522e-03 9.91586548e-01 -9.26493534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.38, Y:-198.02, Z:-926.50 [[ 8.41282208e-01 5.29204808e-01 1.10392565e-01 4.03380083e+02] [-5.24910640e-01 8.48493071e-01 -6.72928545e-02 -1.98015971e+02] [-1.29279029e-01 -1.33395078e-03 9.91607359e-01 -9.26498353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.41, Y:-198.03, Z:-926.50 [[ 8.41729938e-01 5.28521917e-01 1.10251057e-01 4.03407298e+02] [-5.24227818e-01 8.48918817e-01 -6.72460921e-02 -1.98034651e+02] [-1.29135230e-01 -1.19362186e-03 9.91626274e-01 -9.26502790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.156559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:403.44, Y:-198.03, Z:-926.53 [[ 8.43569907e-01 5.27676658e-01 9.97354337e-02 4.03439142e+02] [-5.19017307e-01 8.48791406e-01 -1.00867167e-01 -1.98029414e+02] [-1.37879828e-01 3.33240905e-02 9.89888205e-01 -9.26531830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:403.45, Y:-198.07, Z:-926.51 [[ 8.43956188e-01 5.21845343e-01 1.24158736e-01 4.03454927e+02] [-5.18933728e-01 8.52889307e-01 -5.73377414e-02 -1.98072695e+02] [-1.35815092e-01 -1.60396143e-02 9.90604357e-01 -9.26514539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.48, Y:-198.09, Z:-926.53 [[ 8.43867718e-01 5.23517834e-01 1.17542980e-01 4.03483674e+02] [-5.18804979e-01 8.52012779e-01 -7.01114680e-02 -1.98085705e+02] [-1.36852725e-01 -1.81707887e-03 9.90589739e-01 -9.26525018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.51, Y:-198.11, Z:-926.51 [[ 8.43161738e-01 5.22808675e-01 1.25496504e-01 4.03506455e+02] [-5.20822331e-01 8.52152288e-01 -5.07994002e-02 -1.98113706e+02] [-1.33500500e-01 -2.25292710e-02 9.90792637e-01 -9.26513204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.54, Y:-198.12, Z:-926.53 [[ 8.42299777e-01 5.26906156e-01 1.13582520e-01 4.03538063e+02] [-5.22337538e-01 8.49922875e-01 -6.92430730e-02 -1.98120997e+02] [-1.33020983e-01 -1.00498865e-03 9.91112712e-01 -9.26525719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.57, Y:-198.14, Z:-926.53 [[ 8.42241388e-01 5.27003209e-01 1.13565233e-01 4.03566294e+02] [-5.22431648e-01 8.49862721e-01 -6.92714121e-02 -1.98138319e+02] [-1.33021115e-01 -9.86821773e-04 9.91112713e-01 -9.26530508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.59, Y:-198.15, Z:-926.54 [[ 8.41131010e-01 5.28851512e-01 1.13202041e-01 4.03593446e+02] [-5.24323800e-01 8.48713431e-01 -6.90656625e-02 -1.98154114e+02] [-1.32601573e-01 -1.26125376e-03 9.91168620e-01 -9.26535249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.62, Y:-198.15, Z:-926.56 [[ 8.41727746e-01 5.29503023e-01 1.05455917e-01 4.03623866e+02] [-5.21986588e-01 8.48021380e-01 -9.15955289e-02 -1.98153516e+02] [-1.37928982e-01 2.20519236e-02 9.90196601e-01 -9.26559311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.396559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.65, Y:-198.18, Z:-926.56 [[ 8.40912843e-01 5.29377665e-01 1.12360486e-01 4.03648100e+02] [-5.23716016e-01 8.48362874e-01 -7.74723774e-02 -1.98178436e+02] [-1.36334611e-01 6.30253094e-03 9.90642797e-01 -9.26558042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:-198.22, Z:-926.54 [[ 8.39568675e-01 5.28571752e-01 1.25444582e-01 4.03668175e+02] [-5.27740644e-01 8.48340491e-01 -4.25232100e-02 -1.98216655e+02] [-1.28896286e-01 -3.05010494e-02 9.91188899e-01 -9.26537352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.70, Y:-198.22, Z:-926.55 [[ 8.39194205e-01 5.32527040e-01 1.10308828e-01 4.03701214e+02] [-5.28217385e-01 8.46411639e-01 -6.76293696e-02 -1.98220194e+02] [-1.29381144e-01 -1.51286548e-03 9.91593783e-01 -9.26553056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.73, Y:-198.24, Z:-926.56 [[ 8.39128359e-01 5.32634680e-01 1.10290051e-01 4.03729421e+02] [-5.28321928e-01 8.46343942e-01 -6.76599771e-02 -1.98237580e+02] [-1.29381367e-01 -1.49324675e-03 9.91593784e-01 -9.26557717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.76, Y:-198.25, Z:-926.56 [[ 8.39079351e-01 5.32577844e-01 1.10935496e-01 4.03756268e+02] [-5.28211440e-01 8.46379735e-01 -6.80736325e-02 -1.98253584e+02] [-1.30148064e-01 -1.47821849e-03 9.91493468e-01 -9.26562036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.78, Y:-198.27, Z:-926.57 [[ 8.38883961e-01 5.32899402e-01 1.10868965e-01 4.03782970e+02] [-5.28535765e-01 8.46177286e-01 -6.80730906e-02 -1.98270194e+02] [-1.30090909e-01 -1.49278908e-03 9.91500947e-01 -9.26566462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.81, Y:-198.27, Z:-926.59 [[ 8.39917554e-01 5.32510061e-01 1.04745107e-01 4.03813984e+02] [-5.25546202e-01 8.46216017e-01 -8.78614980e-02 -1.98273368e+02] [-1.35424119e-01 1.87480215e-02 9.90610327e-01 -9.26586669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.83, Y:-198.31, Z:-926.57 [[ 8.38893811e-01 5.31006379e-01 1.19538279e-01 4.03832522e+02] [-5.28652748e-01 8.47165555e-01 -5.32615668e-02 -1.98309442e+02] [-1.29550944e-01 -1.85134409e-02 9.91399922e-01 -9.26569629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.86, Y:-198.32, Z:-926.58 [[ 8.38503009e-01 5.33068407e-01 1.12919339e-01 4.03863873e+02] [-5.29056913e-01 8.46058204e-01 -6.54545519e-02 -1.98319972e+02] [-1.30428086e-01 -4.85691798e-03 9.91445876e-01 -9.26579626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.89, Y:-198.33, Z:-926.59 [[ 8.37897019e-01 5.34352414e-01 1.11337699e-01 4.03892754e+02] [-5.29951876e-01 8.45260192e-01 -6.84559434e-02 -1.98334490e+02] [-1.30688923e-01 -1.64459133e-03 9.91422060e-01 -9.26585543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.92, Y:-198.35, Z:-926.60 [[ 8.37818981e-01 5.35019303e-01 1.08690851e-01 4.03922876e+02] [-5.29732949e-01 8.44822288e-01 -7.52217083e-02 -1.98347450e+02] [-1.32069520e-01 5.44504979e-03 9.91225501e-01 -9.26595747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.95, Y:-198.37, Z:-926.60 [[ 8.37380196e-01 5.34844274e-01 1.12853936e-01 4.03948166e+02] [-5.30512139e-01 8.44945573e-01 -6.79988875e-02 -1.98367386e+02] [-1.31724249e-01 -2.92946126e-03 9.91282069e-01 -9.26596427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.756559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.97, Y:-198.39, Z:-926.60 [[ 8.36834947e-01 5.35465237e-01 1.13948463e-01 4.03973469e+02] [-5.31771915e-01 8.44522478e-01 -6.32488265e-02 -1.98385205e+02] [-1.30099586e-01 -7.66576394e-03 9.91471298e-01 -9.26596167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.00, Y:-198.40, Z:-926.60 [[ 8.36190008e-01 5.37112852e-01 1.10887583e-01 4.04003060e+02] [-5.32753260e-01 8.43508151e-01 -6.83224970e-02 -1.98398184e+02] [-1.30231471e-01 -1.94513198e-03 9.91481710e-01 -9.26603316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.03, Y:-198.41, Z:-926.61 [[ 8.35950112e-01 5.37539488e-01 1.10628701e-01 4.04029977e+02] [-5.33198384e-01 8.43236276e-01 -6.82060534e-02 -1.98414098e+02] [-1.29949581e-01 -1.97018688e-03 9.91518646e-01 -9.26608095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.06, Y:-198.43, Z:-926.62 [[ 8.36006296e-01 5.37868763e-01 1.08584838e-01 4.04058985e+02] [-5.32992516e-01 8.43024652e-01 -7.23077713e-02 -1.98428759e+02] [-1.30431787e-01 2.57484576e-03 9.91453942e-01 -9.26616128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.08, Y:-198.45, Z:-926.62 [[ 8.35881988e-01 5.37345897e-01 1.12074483e-01 4.04083267e+02] [-5.33558837e-01 8.43338378e-01 -6.39949032e-02 -1.98448613e+02] [-1.28904111e-01 -6.30614381e-03 9.91637012e-01 -9.26615285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.11, Y:-198.46, Z:-926.62 [[ 8.35875119e-01 5.37912998e-01 1.09372725e-01 4.04112128e+02] [-5.33660831e-01 8.42998169e-01 -6.75292842e-02 -1.98463663e+02] [-1.28525887e-01 -1.92189090e-03 9.91704292e-01 -9.26621444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.14, Y:-198.48, Z:-926.63 [[ 8.35943183e-01 5.37884511e-01 1.08991961e-01 4.04139758e+02] [-5.33656340e-01 8.43016451e-01 -6.73362695e-02 -1.98480730e+02] [-1.28101153e-01 -1.87495581e-03 9.91759335e-01 -9.26625753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.17, Y:-198.50, Z:-926.63 [[ 8.36001557e-01 5.37795175e-01 1.08985081e-01 4.04167676e+02] [-5.33561353e-01 8.43073555e-01 -6.73740606e-02 -1.98498134e+02] [-1.28115884e-01 -1.82540775e-03 9.91757525e-01 -9.26630165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.20, Y:-198.52, Z:-926.63 [[ 8.35907139e-01 5.37928361e-01 1.09051977e-01 4.04195722e+02] [-5.33684888e-01 8.42988613e-01 -6.74584273e-02 -1.98515432e+02] [-1.28217376e-01 -1.81041104e-03 9.91744436e-01 -9.26634507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.22, Y:-198.53, Z:-926.64 [[ 8.35768277e-01 5.38127804e-01 1.09132272e-01 4.04222171e+02] [-5.33874174e-01 8.42861320e-01 -6.75511728e-02 -1.98532004e+02] [-1.28334535e-01 -1.80577421e-03 9.91729291e-01 -9.26638653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.25, Y:-198.55, Z:-926.64 [[ 8.35459081e-01 5.38489164e-01 1.09715742e-01 4.04250074e+02] [-5.34187637e-01 8.42630432e-01 -6.79523685e-02 -1.98549687e+02] [-1.29041437e-01 -1.83736964e-03 9.91637500e-01 -9.26643001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.28, Y:-198.57, Z:-926.65 [[ 8.35223826e-01 5.38845084e-01 1.09759448e-01 4.04277604e+02] [-5.34537633e-01 8.42402829e-01 -6.80219960e-02 -1.98566881e+02] [-1.29114987e-01 -1.85696366e-03 9.91627890e-01 -9.26647549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.31, Y:-198.58, Z:-926.65 [[ 8.35000857e-01 5.39194649e-01 1.09739232e-01 4.04305006e+02] [-5.34886289e-01 8.42179088e-01 -6.80517581e-02 -1.98584054e+02] [-1.29113230e-01 -1.87473400e-03 9.91628085e-01 -9.26652199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.33, Y:-198.60, Z:-926.66 [[ 8.34800309e-01 5.39465449e-01 1.09933947e-01 4.04332920e+02] [-5.35138557e-01 8.42005629e-01 -6.82147075e-02 -1.98601419e+02] [-1.29364480e-01 -1.88423476e-03 9.91595321e-01 -9.26657322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.36, Y:-198.62, Z:-926.66 [[ 8.34429187e-01 5.40111374e-01 1.09579359e-01 4.04359623e+02] [-5.35812300e-01 8.41591313e-01 -6.80385305e-02 -1.98618644e+02] [-1.28969420e-01 -1.94063253e-03 9.91646672e-01 -9.26661781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.39, Y:-198.64, Z:-926.67 [[ 8.34197536e-01 5.40670856e-01 1.08579442e-01 4.04386966e+02] [-5.36451729e-01 8.41231880e-01 -6.74423259e-02 -1.98636327e+02] [-1.27804589e-01 -1.98740755e-03 9.91797377e-01 -9.26665965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.41, Y:-198.65, Z:-926.67 [[ 8.34116473e-01 5.40842426e-01 1.08347498e-01 4.04414413e+02] [-5.36637432e-01 8.41121617e-01 -6.73401239e-02 -1.98653519e+02] [-1.27553818e-01 -1.97381626e-03 9.91829687e-01 -9.26670544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.44, Y:-198.67, Z:-926.67 [[ 8.33881190e-01 5.41212718e-01 1.08309533e-01 4.04442333e+02] [-5.37008393e-01 8.40883356e-01 -6.73585025e-02 -1.98671189e+02] [-1.27530962e-01 -1.99413988e-03 9.91832585e-01 -9.26674986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.47, Y:-198.69, Z:-926.68 [[ 8.33681589e-01 5.41486525e-01 1.08477426e-01 4.04470376e+02] [-5.37266039e-01 8.40707041e-01 -6.75046311e-02 -1.98688371e+02] [-1.27750583e-01 -2.00386862e-03 9.91804302e-01 -9.26679781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.50, Y:-198.71, Z:-926.68 [[ 8.33189495e-01 5.42101756e-01 1.09183109e-01 4.04497479e+02] [-5.37825516e-01 8.40310289e-01 -6.79877447e-02 -1.98705446e+02] [-1.28603966e-01 -2.07478724e-03 9.91693862e-01 -9.26683967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.52, Y:-198.72, Z:-926.69 [[ 8.32777717e-01 5.42618673e-01 1.09755410e-01 4.04523985e+02] [-5.38296426e-01 8.39976448e-01 -6.83851166e-02 -1.98722734e+02] [-1.29299000e-01 -2.13134360e-03 9.91603361e-01 -9.26687979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:-198.74, Z:-926.69 [[ 8.32425407e-01 5.43100728e-01 1.10043361e-01 4.04551230e+02] [-5.38754887e-01 8.39664723e-01 -6.86026537e-02 -1.98740678e+02] [-1.29657679e-01 -2.17980666e-03 9.91556420e-01 -9.26692194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.416559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:404.58, Y:-198.76, Z:-926.70 [[ 8.32147901e-01 5.43561757e-01 1.09865772e-01 4.04578277e+02] [-5.39228422e-01 8.39366264e-01 -6.85345497e-02 -1.98758724e+02] [-1.29470383e-01 -2.21186510e-03 9.91580823e-01 -9.26696532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.61, Y:-198.78, Z:-926.70 [[ 8.32062946e-01 5.43762222e-01 1.09516671e-01 4.04605077e+02] [-5.39452425e-01 8.39236447e-01 -6.83612931e-02 -1.98776610e+02] [-1.29082670e-01 -2.19813482e-03 9.91631400e-01 -9.26700518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.63, Y:-198.79, Z:-926.71 [[ 8.31860844e-01 5.44119799e-01 1.09275709e-01 4.04632099e+02] [-5.39828783e-01 8.39004580e-01 -6.82363518e-02 -1.98794551e+02] [-1.28811570e-01 -2.22702366e-03 9.91666587e-01 -9.26705175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:404.66, Y:-198.81, Z:-926.72 [[ 8.31270025e-01 5.46173725e-01 1.03365412e-01 4.04663073e+02] [-5.39882130e-01 8.37557094e-01 -8.38176577e-02 -1.98805785e+02] [-1.32353436e-01 1.38699679e-02 9.91105540e-01 -9.26722743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.69, Y:-198.83, Z:-926.72 [[ 8.31379058e-01 5.44552016e-01 1.10778901e-01 4.04686897e+02] [-5.39829043e-01 8.38727018e-01 -7.15653153e-02 -1.98829233e+02] [-1.31884294e-01 -3.03763773e-04 9.91265071e-01 -9.26722300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.71, Y:-198.85, Z:-926.73 [[ 8.31155531e-01 5.44623352e-01 1.12097674e-01 4.04713052e+02] [-5.40214166e-01 8.38675321e-01 -6.92268806e-02 -1.98848179e+02] [-1.31716129e-01 -3.01844699e-03 9.91282881e-01 -9.26725343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.596559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:404.73, Y:-198.87, Z:-926.72 [[ 8.31398101e-01 5.43120049e-01 1.17464080e-01 4.04734897e+02] [-5.40795103e-01 8.39441833e-01 -5.36476130e-02 -1.98871340e+02] [-1.27741357e-01 -1.89214756e-02 9.91627008e-01 -9.26716228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.77, Y:-198.88, Z:-926.73 [[ 8.31176337e-01 5.45208445e-01 1.09058007e-01 4.04766346e+02] [-5.40926568e-01 8.38297419e-01 -6.82340427e-02 -1.98881584e+02] [-1.28624822e-01 -2.27785191e-03 9.91690711e-01 -9.26727132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.79, Y:-198.90, Z:-926.73 [[ 8.31050535e-01 5.45385445e-01 1.09131685e-01 4.04793430e+02] [-5.41093741e-01 8.38182295e-01 -6.83227929e-02 -1.98898822e+02] [-1.28734503e-01 -2.27077783e-03 9.91676495e-01 -9.26731606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:404.82, Y:-198.91, Z:-926.74 [[ 8.31091066e-01 5.46354012e-01 1.03850535e-01 4.04824336e+02] [-5.40818582e-01 8.37509026e-01 -7.80633869e-02 -1.98912076e+02] [-1.29626005e-01 8.71348451e-03 9.91524672e-01 -9.26743345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.84, Y:-198.94, Z:-926.74 [[ 8.31343027e-01 5.43859011e-01 1.14394699e-01 4.04844856e+02] [-5.40754288e-01 8.39083371e-01 -5.93624141e-02 -1.98937644e+02] [-1.28271474e-01 -1.25088952e-02 9.91660202e-01 -9.26737037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.87, Y:-198.95, Z:-926.75 [[ 8.31450045e-01 5.44823814e-01 1.08893686e-01 4.04873684e+02] [-5.40532760e-01 8.38547933e-01 -6.82766467e-02 -1.98950035e+02] [-1.28511318e-01 -2.09198358e-03 9.91705836e-01 -9.26745414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.90, Y:-198.97, Z:-926.75 [[ 8.31689006e-01 5.44418688e-01 1.09094869e-01 4.04899869e+02] [-5.40103259e-01 8.38811236e-01 -6.84410774e-02 -1.98966989e+02] [-1.28770603e-01 -2.00080259e-03 9.91672390e-01 -9.26749825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.93, Y:-198.98, Z:-926.75 [[ 8.32008208e-01 5.43969125e-01 1.08903322e-01 4.04927499e+02] [-5.39660212e-01 8.39103090e-01 -6.83583179e-02 -1.98984836e+02] [-1.28565928e-01 -1.89610803e-03 9.91699152e-01 -9.26754063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-198.99, Z:-926.77 [[ 8.32836610e-01 5.44012589e-01 1.02144433e-01 4.04959601e+02] [-5.37104270e-01 8.38866518e-01 -8.84418880e-02 -1.98992315e+02] [-1.33799045e-01 1.87954310e-02 9.90830231e-01 -9.26774731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.98, Y:-199.02, Z:-926.77 [[ 8.33237427e-01 5.40710773e-01 1.15530304e-01 4.04980638e+02] [-5.37184185e-01 8.41148955e-01 -6.24626873e-02 -1.99024129e+02] [-1.30952442e-01 -1.00148031e-02 9.91338066e-01 -9.26765671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.01, Y:-199.04, Z:-926.76 [[ 8.33718537e-01 5.40172647e-01 1.14572738e-01 4.05005011e+02] [-5.36912288e-01 8.41479286e-01 -6.03142301e-02 -1.99039895e+02] [-1.28990683e-01 -1.12304191e-02 9.91582211e-01 -9.26764171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.04, Y:-199.05, Z:-926.78 [[ 8.33528644e-01 5.42087872e-01 1.06633666e-01 4.05036306e+02] [-5.36721639e-01 8.40297340e-01 -7.63561615e-02 -1.99051094e+02] [-1.30995735e-01 6.41245171e-03 9.91362193e-01 -9.26778860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.06, Y:-199.07, Z:-926.77 [[ 8.33892341e-01 5.40167607e-01 1.13324843e-01 4.05058441e+02] [-5.36590041e-01 8.41513897e-01 -6.26537204e-02 -1.99072895e+02] [-1.29207940e-01 -8.56252446e-03 9.91580552e-01 -9.26773346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:405.09, Y:-199.09, Z:-926.78 [[ 8.33072259e-01 5.42557319e-01 1.07806153e-01 4.05088169e+02] [-5.37585023e-01 8.40012863e-01 -7.33534826e-02 -1.99087305e+02] [-1.30357024e-01 3.15377818e-03 9.91462102e-01 -9.26784590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.11, Y:-199.11, Z:-926.78 [[ 8.33779819e-01 5.40640827e-01 1.11887042e-01 4.05114057e+02] [-5.36671892e-01 8.41236551e-01 -6.56075207e-02 -1.99106136e+02] [-1.29593574e-01 -5.34440390e-03 9.91552794e-01 -9.26783021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:405.14, Y:-199.12, Z:-926.79 [[ 8.33731313e-01 5.41181529e-01 1.09611360e-01 4.05141513e+02] [-5.36762483e-01 8.40904815e-01 -6.90299224e-02 -1.99120593e+02] [-1.29530440e-01 -1.28285811e-03 9.91574616e-01 -9.26789191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.17, Y:-199.14, Z:-926.79 [[ 8.33640932e-01 5.41383588e-01 1.09300537e-01 4.05169481e+02] [-5.36986218e-01 8.40774750e-01 -6.88739480e-02 -1.99137587e+02] [-1.29184357e-01 -1.27673987e-03 9.91619772e-01 -9.26794142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.20, Y:-199.15, Z:-926.80 [[ 8.33515353e-01 5.41631667e-01 1.09028867e-01 4.05197001e+02] [-5.37252904e-01 8.40614959e-01 -6.87445205e-02 -1.99154560e+02] [-1.28885505e-01 -1.27646185e-03 9.91658660e-01 -9.26799022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.136559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:405.22, Y:-199.17, Z:-926.80 [[ 8.33462869e-01 5.41755391e-01 1.08815177e-01 4.05223280e+02] [-5.37389126e-01 8.40535259e-01 -6.86542512e-02 -1.99171434e+02] [-1.28656803e-01 -1.25532359e-03 9.91688384e-01 -9.26803436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.25, Y:-199.19, Z:-926.81 [[ 8.33652500e-01 5.41478534e-01 1.08740547e-01 4.05249807e+02] [-5.37112592e-01 8.40713734e-01 -6.86329533e-02 -1.99188315e+02] [-1.28582943e-01 -1.18988412e-03 9.91698044e-01 -9.26807905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.28, Y:-199.21, Z:-926.81 [[ 8.34418236e-01 5.40190574e-01 1.09271912e-01 4.05277255e+02] [-5.35765470e-01 8.41542166e-01 -6.90082872e-02 -1.99205762e+02] [-1.29234548e-01 -9.62344018e-04 9.91613587e-01 -9.26812759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.30, Y:-199.22, Z:-926.82 [[ 8.34914796e-01 5.39379086e-01 1.09487379e-01 4.05303548e+02] [-5.34923805e-01 8.42062682e-01 -6.91878824e-02 -1.99222623e+02] [-1.29513733e-01 -8.01418643e-04 9.91577305e-01 -9.26817377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.33, Y:-199.24, Z:-926.82 [[ 8.35470251e-01 5.38435900e-01 1.09891958e-01 4.05330532e+02] [-5.33934073e-01 8.42666241e-01 -6.94839009e-02 -1.99240008e+02] [-1.30014869e-01 -6.23328400e-04 9.91511848e-01 -9.26822027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.36, Y:-199.26, Z:-926.83 [[ 8.37114212e-01 5.35744914e-01 1.10531366e-01 4.05358268e+02] [-5.31161249e-01 8.44379866e-01 -6.99311708e-02 -1.99256848e+02] [-1.30795729e-01 -1.69601491e-04 9.91409325e-01 -9.26826804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.39, Y:-199.27, Z:-926.84 [[ 8.38394337e-01 5.33891721e-01 1.09793285e-01 4.05386116e+02] [-5.28616147e-01 8.45538868e-01 -7.50266034e-02 -1.99270194e+02] [-1.32890572e-01 4.86337626e-03 9.91118784e-01 -9.26835908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.41, Y:-199.29, Z:-926.84 [[ 8.39460369e-01 5.31726526e-01 1.12130242e-01 4.05411843e+02] [-5.26975501e-01 8.46915994e-01 -7.09233427e-02 -1.99288863e+02] [-1.32676718e-01 4.47445200e-04 9.91159265e-01 -9.26838975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.44, Y:-199.31, Z:-926.84 [[ 8.39372187e-01 5.31843430e-01 1.12235899e-01 4.05439724e+02] [-5.27137900e-01 8.46842700e-01 -7.05909092e-02 -1.99306856e+02] [-1.32589463e-01 8.82497147e-05 9.91171038e-01 -9.26843450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:-199.32, Z:-926.85 [[ 8.40510785e-01 5.30594284e-01 1.09596194e-01 4.05469027e+02] [-5.24824296e-01 8.47583743e-01 -7.84936793e-02 -1.99319413e+02] [-1.34540250e-01 8.45603901e-03 9.90872049e-01 -9.26853855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.49, Y:-199.34, Z:-926.86 [[ 8.41681607e-01 5.28039504e-01 1.12899759e-01 4.05494663e+02] [-5.22877211e-01 8.49214461e-01 -7.37171759e-02 -1.99338168e+02] [-1.34801689e-01 3.01368007e-03 9.90868015e-01 -9.26857278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.52, Y:-199.36, Z:-926.86 [[ 8.42575718e-01 5.26022504e-01 1.15613518e-01 4.05520695e+02] [-5.21640090e-01 8.50464799e-01 -6.78324601e-02 -1.99359214e+02] [-1.34006628e-01 -3.15466241e-03 9.90975414e-01 -9.26858091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.55, Y:-199.37, Z:-926.87 [[ 8.44651418e-01 5.23338576e-01 1.12608689e-01 4.05549450e+02] [-5.17840468e-01 8.52105235e-01 -7.58809539e-02 -1.99370191e+02] [-1.35665884e-01 5.77961908e-03 9.90737788e-01 -9.26867521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.58, Y:-199.39, Z:-926.87 [[ 8.45393342e-01 5.21755783e-01 1.14372202e-01 4.05576717e+02] [-5.16397876e-01 8.53085125e-01 -7.46927217e-02 -1.99386989e+02] [-1.36540584e-01 4.08316734e-03 9.90626063e-01 -9.26872433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.60, Y:-199.40, Z:-926.88 [[ 8.45871544e-01 5.20764222e-01 1.15351446e-01 4.05604238e+02] [-5.14935390e-01 8.53675364e-01 -7.79738215e-02 -1.99401084e+02] [-1.39078664e-01 6.55729487e-03 9.90259626e-01 -9.26880197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.63, Y:-199.42, Z:-926.88 [[ 8.45554505e-01 5.20615170e-01 1.18310709e-01 4.05630216e+02] [-5.16182180e-01 8.53783599e-01 -6.78934735e-02 -1.99424112e+02] [-1.36358115e-01 -3.66224716e-03 9.90652842e-01 -9.26878199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.616559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:405.65, Y:-199.45, Z:-926.87 [[ 8.44301541e-01 5.21930569e-01 1.21422359e-01 4.05654790e+02] [-5.19768282e-01 8.52759999e-01 -5.13937494e-02 -1.99451404e+02] [-1.30368099e-01 -1.97196690e-02 9.91269536e-01 -9.26868281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:-199.44, Z:-926.90 [[ 8.45013508e-01 5.24905784e-01 1.02108226e-01 4.05690696e+02] [-5.17005322e-01 8.50723626e-01 -9.47354746e-02 -1.99440349e+02] [-1.36593079e-01 2.72622594e-02 9.90252039e-01 -9.26899232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.71, Y:-199.49, Z:-926.87 [[ 8.43206629e-01 5.23195152e-01 1.23569476e-01 4.05707018e+02] [-5.21685297e-01 8.51848338e-01 -4.68920017e-02 -1.99485274e+02] [-1.29796120e-01 -2.49247319e-02 9.91227383e-01 -9.26874490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.74, Y:-199.49, Z:-926.89 [[ 8.42251199e-01 5.27918838e-01 1.09154101e-01 4.05740842e+02] [-5.23305034e-01 8.49293410e-01 -6.96602135e-02 -1.99489811e+02] [-1.29478798e-01 1.55050765e-03 9.91580979e-01 -9.26889326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.77, Y:-199.51, Z:-926.89 [[ 8.41216430e-01 5.29653573e-01 1.08729073e-01 4.05768646e+02] [-5.25084575e-01 8.48213041e-01 -6.94321755e-02 -1.99506094e+02] [-1.29000418e-01 1.31552750e-03 9.91643667e-01 -9.26893789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.80, Y:-199.52, Z:-926.90 [[ 8.39313690e-01 5.32687766e-01 1.08610649e-01 4.05797225e+02] [-5.28148347e-01 8.46311384e-01 -6.94000364e-02 -1.99520639e+02] [-1.28886979e-01 8.85866199e-04 9.91658894e-01 -9.26898753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-199.54, Z:-926.90 [[ 8.38682042e-01 5.33725596e-01 1.08394747e-01 4.05825678e+02] [-5.28977560e-01 8.45654688e-01 -7.10696070e-02 -1.99535015e+02] [-1.29596195e-01 2.26641418e-03 9.91564264e-01 -9.26904800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:-199.55, Z:-926.91 [[ 8.37562780e-01 5.35345273e-01 1.09059745e-01 4.05851958e+02] [-5.31050788e-01 8.44632425e-01 -6.76840190e-02 -1.99552947e+02] [-1.28349717e-01 -1.22664854e-03 9.91728212e-01 -9.26907046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.88, Y:-199.57, Z:-926.91 [[ 8.36124849e-01 5.37793126e-01 1.08045316e-01 4.05880456e+02] [-5.33329303e-01 8.43076816e-01 -6.91472159e-02 -1.99568032e+02] [-1.28277399e-01 1.91972233e-04 9.91738308e-01 -9.26911605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.91, Y:-199.59, Z:-926.92 [[ 8.36020331e-01 5.37959606e-01 1.08025316e-01 4.05908322e+02] [-5.33493132e-01 8.42970593e-01 -6.91784467e-02 -1.99585949e+02] [-1.28277375e-01 2.03823657e-04 9.91738309e-01 -9.26916176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:405.94, Y:-199.60, Z:-926.92 [[ 8.34865238e-01 5.39664748e-01 1.08452723e-01 4.05936490e+02] [-5.35173214e-01 8.41880014e-01 -6.94814588e-02 -1.99602735e+02] [-1.28800874e-01 -3.33378334e-05 9.91670476e-01 -9.26919795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.96, Y:-199.62, Z:-926.92 [[ 8.34137258e-01 5.40732690e-01 1.08734509e-01 4.05963966e+02] [-5.36221001e-01 8.41194468e-01 -6.97058515e-02 -1.99619470e+02] [-1.29159100e-01 -1.61479222e-04 9.91623871e-01 -9.26923784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.99, Y:-199.64, Z:-926.93 [[ 8.33387258e-01 5.41837674e-01 1.08984463e-01 4.05992354e+02] [-5.37309235e-01 8.40483103e-01 -6.99066481e-02 -1.99636449e+02] [-1.29477655e-01 -2.99048801e-04 9.91582295e-01 -9.26928561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:406.02, Y:-199.65, Z:-926.93 [[ 8.32546171e-01 5.43110511e-01 1.09077251e-01 4.06020781e+02] [-5.38579447e-01 8.39661099e-01 -7.00101273e-02 -1.99653373e+02] [-1.29611160e-01 -4.60101913e-04 9.91564791e-01 -9.26933309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.05, Y:-199.67, Z:-926.94 [[ 8.30823708e-01 5.45707233e-01 1.09250086e-01 4.06048097e+02] [-5.41178286e-01 8.37975494e-01 -7.01650537e-02 -1.99668583e+02] [-1.29838473e-01 -8.28984412e-04 9.91534812e-01 -9.26937890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.07, Y:-199.68, Z:-926.94 [[ 8.29850599e-01 5.47190188e-01 1.09228573e-01 4.06074842e+02] [-5.42670469e-01 8.37007673e-01 -7.01920012e-02 -1.99684773e+02] [-1.29833528e-01 -1.02624658e-03 9.91535275e-01 -9.26942461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.10, Y:-199.70, Z:-926.95 [[ 8.28909772e-01 5.48619616e-01 1.09202133e-01 4.06102707e+02] [-5.44109156e-01 8.36071192e-01 -7.02153004e-02 -1.99701532e+02] [-1.29822249e-01 -1.21573197e-03 9.91536538e-01 -9.26947204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.13, Y:-199.72, Z:-926.95 [[ 8.27984958e-01 5.50075907e-01 1.08891715e-01 4.06130302e+02] [-5.45598172e-01 8.35113480e-01 -7.00579033e-02 -1.99718514e+02] [-1.29474104e-01 -1.40423056e-03 9.91581809e-01 -9.26951915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.16, Y:-199.74, Z:-926.96 [[ 8.27106877e-01 5.51473997e-01 1.08492607e-01 4.06157671e+02] [-5.47035596e-01 8.34190584e-01 -6.98435808e-02 -1.99735514e+02] [-1.29020430e-01 -1.58121212e-03 9.91640675e-01 -9.26956476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.19, Y:-199.74, Z:-926.97 [[ 8.26506789e-01 5.53634308e-01 1.01860595e-01 4.06188720e+02] [-5.46927079e-01 8.32594106e-01 -8.75089955e-02 -1.99739225e+02] [-1.33256513e-01 1.66164611e-02 9.90942276e-01 -9.26973614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.21, Y:-199.78, Z:-926.96 [[ 8.24935277e-01 5.52784099e-01 1.17947140e-01 4.06207013e+02] [-5.50690827e-01 8.33046749e-01 -5.26566986e-02 -1.99776709e+02] [-1.27363267e-01 -2.15140398e-02 9.91622783e-01 -9.26958487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.24, Y:-199.79, Z:-926.97 [[ 8.24114263e-01 5.56235131e-01 1.06949333e-01 4.06238784e+02] [-5.51949281e-01 8.31022028e-01 -6.89520122e-02 -1.99785470e+02] [-1.27230783e-01 -2.20627061e-03 9.91870687e-01 -9.26969935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.27, Y:-199.80, Z:-926.98 [[ 8.23253736e-01 5.58236167e-01 1.03080880e-01 4.06265625e+02] [-5.53638275e-01 8.29680118e-01 -7.15231613e-02 -1.99800725e+02] [-1.25450972e-01 1.81218927e-03 9.92098165e-01 -9.26975705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.29, Y:-199.82, Z:-926.98 [[ 8.22543058e-01 5.58344814e-01 1.08046227e-01 4.06290758e+02] [-5.54638347e-01 8.29581109e-01 -6.45870569e-02 -1.99821700e+02] [-1.25694957e-01 -6.80094537e-03 9.92045627e-01 -9.26977008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.32, Y:-199.84, Z:-926.98 [[ 8.21761886e-01 5.60033086e-01 1.05215709e-01 4.06318992e+02] [-5.55904728e-01 8.28465941e-01 -6.79273052e-02 -1.99837189e+02] [-1.25209169e-01 -2.66983950e-03 9.92126774e-01 -9.26983179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.35, Y:-199.85, Z:-926.99 [[ 8.20801917e-01 5.61601198e-01 1.04347053e-01 4.06346959e+02] [-5.57548583e-01 8.27403145e-01 -6.74063247e-02 -1.99854581e+02] [-1.24192552e-01 -2.85131089e-03 9.92254040e-01 -9.26988355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.37, Y:-199.87, Z:-926.99 [[ 8.20594845e-01 5.61929046e-01 1.04210593e-01 4.06373373e+02] [-5.57884357e-01 8.27180488e-01 -6.73608602e-02 -1.99871741e+02] [-1.24052993e-01 -2.86148492e-03 9.92271468e-01 -9.26992859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.40, Y:-199.89, Z:-927.00 [[ 8.20572808e-01 5.62361676e-01 1.02027509e-01 4.06399333e+02] [-5.58094168e-01 8.26891351e-01 -6.91490644e-02 -1.99887356e+02] [-1.23252448e-01 -1.99115653e-04 9.92375329e-01 -9.26998071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.42, Y:-199.91, Z:-927.00 [[ 8.20927541e-01 5.61224495e-01 1.05380452e-01 4.06424831e+02] [-5.57475811e-01 8.27646000e-01 -6.49832233e-02 -1.99908044e+02] [-1.23687887e-01 -5.40053549e-03 9.92306475e-01 -9.27000501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.45, Y:-199.93, Z:-927.01 [[ 8.21431725e-01 5.60631152e-01 1.04607045e-01 4.06452286e+02] [-5.56533095e-01 8.28061574e-01 -6.77122063e-02 -1.99925942e+02] [-1.24582647e-01 -2.59632829e-03 9.92205837e-01 -9.27005828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:406.48, Y:-199.95, Z:-927.01 [[ 8.23328845e-01 5.57612282e-01 1.05821342e-01 4.06478573e+02] [-5.53387842e-01 8.30098797e-01 -6.85411118e-02 -1.99946416e+02] [-1.26061534e-01 -2.12836952e-03 9.92020141e-01 -9.27009540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.51, Y:-199.95, Z:-927.03 [[ 8.25283794e-01 5.55871626e-01 9.95660314e-02 4.06508696e+02] [-5.49023725e-01 8.31056081e-01 -8.89873039e-02 -1.99951524e+02] [-1.32210473e-01 1.87756664e-02 9.91043826e-01 -9.27028792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.53, Y:-199.99, Z:-927.01 [[ 8.25912365e-01 5.51207338e-01 1.18487285e-01 4.06525947e+02] [-5.49341589e-01 8.34048832e-01 -5.08563109e-02 -1.99992685e+02] [-1.26856554e-01 -2.30871375e-02 9.91652358e-01 -9.27009792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.56, Y:-200.00, Z:-927.02 [[ 8.26933946e-01 5.51989134e-01 1.07183231e-01 4.06556515e+02] [-5.47594598e-01 8.33850438e-01 -6.95241180e-02 -2.00001236e+02] [-1.27751342e-01 -1.20110528e-03 9.91805501e-01 -9.27021728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.58, Y:-200.02, Z:-927.03 [[ 8.28023789e-01 5.50262831e-01 1.07644892e-01 4.06583609e+02] [-5.45810439e-01 8.34991017e-01 -6.98639101e-02 -2.00019866e+02] [-1.28326031e-01 -9.04726156e-04 9.91731623e-01 -9.27026308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.61, Y:-200.04, Z:-927.03 [[ 8.29161788e-01 5.48559572e-01 1.07578464e-01 4.06609453e+02] [-5.44092831e-01 8.36111256e-01 -6.98638681e-02 -2.00037750e+02] [-1.28272058e-01 -6.04221442e-04 9.91738834e-01 -9.27030821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.64, Y:-200.05, Z:-927.04 [[ 8.31557711e-01 5.45554514e-01 1.04317048e-01 4.06636665e+02] [-5.40293362e-01 8.38048241e-01 -7.58829942e-02 -2.00052570e+02] [-1.28821029e-01 6.73928047e-03 9.91644959e-01 -9.27042006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.66, Y:-200.09, Z:-927.03 [[ 8.31228561e-01 5.44178932e-01 1.13702987e-01 4.06658806e+02] [-5.41721825e-01 8.38806578e-01 -5.42308886e-02 -2.00086621e+02] [-1.24886120e-01 -1.65171259e-02 9.92033589e-01 -9.27033728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.69, Y:-200.09, Z:-927.05 [[ 8.32832621e-01 5.44523199e-01 9.94198761e-02 4.06689186e+02] [-5.38892485e-01 8.38656035e-01 -7.90629243e-02 -2.00086737e+02] [-1.26430675e-01 1.22695584e-02 9.91899563e-01 -9.27049675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.71, Y:-200.11, Z:-927.05 [[ 8.33920236e-01 5.41852662e-01 1.04750812e-01 4.06712450e+02] [-5.37553289e-01 8.40473343e-01 -6.81250395e-02 -2.00110348e+02] [-1.24953999e-01 5.01705543e-04 9.92162409e-01 -9.27050077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.74, Y:-200.13, Z:-927.05 [[ 8.33970914e-01 5.41883766e-01 1.04184925e-01 4.06739178e+02] [-5.37626382e-01 8.40453275e-01 -6.77950367e-02 -2.00128603e+02] [-1.24299591e-01 5.26524557e-04 9.92244594e-01 -9.27054151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.77, Y:-200.15, Z:-927.06 [[ 8.34151651e-01 5.41644010e-01 1.03984562e-01 4.06765220e+02] [-5.37396092e-01 8.40607763e-01 -6.77054529e-02 -2.00146189e+02] [-1.24082483e-01 5.95718142e-04 9.92271728e-01 -9.27058490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.79, Y:-200.16, Z:-927.06 [[ 8.33972729e-01 5.41918806e-01 1.03987956e-01 4.06792363e+02] [-5.37668037e-01 8.40430642e-01 -6.77452499e-02 -2.00164796e+02] [-1.24107089e-01 5.86690949e-04 9.92268656e-01 -9.27062638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.82, Y:-200.18, Z:-927.07 [[ 8.33629321e-01 5.42394922e-01 1.04258831e-01 4.06818419e+02] [-5.38120499e-01 8.40123470e-01 -6.79623713e-02 -2.00182431e+02] [-1.24452736e-01 5.51611455e-04 9.92225384e-01 -9.27066922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.84, Y:-200.20, Z:-927.07 [[ 8.32353859e-01 5.44211951e-01 1.04978123e-01 4.06844786e+02] [-5.39887678e-01 8.38947706e-01 -6.84692710e-02 -2.00200529e+02] [-1.25332951e-01 3.14266640e-04 9.92114687e-01 -9.27070689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.87, Y:-200.22, Z:-927.08 [[ 8.31397315e-01 5.45558940e-01 1.05564898e-01 4.06872360e+02] [-5.41192005e-01 8.38072445e-01 -6.88897006e-02 -2.00218792e+02] [-1.26054424e-01 1.43833340e-04 9.92023317e-01 -9.27075309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:-200.23, Z:-927.08 [[ 8.30651131e-01 5.46757201e-01 1.05239070e-01 4.06900045e+02] [-5.42107640e-01 8.37288629e-01 -7.11832792e-02 -2.00234755e+02] [-1.27035447e-01 2.07756727e-03 9.91896002e-01 -9.27081640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.92, Y:-200.25, Z:-927.08 [[ 8.28989903e-01 5.48820144e-01 1.07574113e-01 4.06924876e+02] [-5.44654944e-01 8.35936406e-01 -6.75375239e-02 -2.00254755e+02] [-1.26991071e-01 -2.60284698e-03 9.91900445e-01 -9.27083054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.95, Y:-200.27, Z:-927.09 [[ 8.26366938e-01 5.52947444e-01 1.06615231e-01 4.06951921e+02] [-5.48537984e-01 8.33215661e-01 -6.96975059e-02 -2.00271634e+02] [-1.27372538e-01 -8.86789487e-04 9.91854551e-01 -9.27088333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:-200.29, Z:-927.09 [[ 8.24822711e-01 5.55203007e-01 1.06850914e-01 4.06978850e+02] [-5.50788002e-01 8.31713993e-01 -6.98885661e-02 -2.00289307e+02] [-1.27671742e-01 -1.20652481e-03 9.91815744e-01 -9.27092905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:-200.31, Z:-927.10 [[ 8.23246044e-01 5.57516085e-01 1.06966194e-01 4.07005478e+02] [-5.53105836e-01 8.30164721e-01 -7.00033603e-02 -2.00307116e+02] [-1.27827560e-01 -1.53363677e-03 9.91795222e-01 -9.27097386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:-200.32, Z:-927.10 [[ 8.21825683e-01 5.59598633e-01 1.07013631e-01 4.07032331e+02] [-5.55197308e-01 8.28761745e-01 -7.00708174e-02 -2.00324867e+02] [-1.27900337e-01 -1.82768250e-03 9.91785341e-01 -9.27102043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.176559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.06, Y:-200.34, Z:-927.11 [[ 8.19099808e-01 5.63511543e-01 1.07378980e-01 4.07058036e+02] [-5.59108186e-01 8.26104666e-01 -7.03499629e-02 -2.00342533e+02] [-1.28349293e-01 -2.41282586e-03 9.91726090e-01 -9.27106354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.09, Y:-200.36, Z:-927.11 [[ 8.17545879e-01 5.65694255e-01 1.07743888e-01 4.07085178e+02] [-5.61276602e-01 8.24610498e-01 -7.06123447e-02 -2.00361070e+02] [-1.28791739e-01 -2.74529166e-03 9.91667864e-01 -9.27110711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.11, Y:-200.38, Z:-927.12 [[ 8.16281713e-01 5.67438094e-01 1.08158100e-01 4.07112372e+02] [-5.62995901e-01 8.23410609e-01 -7.09266155e-02 -2.00379123e+02] [-1.29304990e-01 -2.99646764e-03 9.91600343e-01 -9.27115259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:-200.40, Z:-927.12 [[ 8.16171495e-01 5.67600509e-01 1.08137664e-01 4.07140034e+02] [-5.63155611e-01 8.23298703e-01 -7.09577588e-02 -2.00397350e+02] [-1.29305258e-01 -2.98463219e-03 9.91600344e-01 -9.27119827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.17, Y:-200.42, Z:-927.12 [[ 8.14136692e-01 5.70430424e-01 1.08584430e-01 4.07167367e+02] [-5.65969642e-01 8.21338794e-01 -7.12807890e-02 -2.00416003e+02] [-1.29845335e-01 -3.42318520e-03 9.91528351e-01 -9.27124360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.20, Y:-200.43, Z:-927.13 [[ 8.14066352e-01 5.70534744e-01 1.08563720e-01 4.07195035e+02] [-5.66070684e-01 8.21266421e-01 -7.13123172e-02 -2.00434261e+02] [-1.29845892e-01 -3.40178148e-03 9.91528352e-01 -9.27128930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.22, Y:-200.45, Z:-927.13 [[ 8.12995780e-01 5.71806984e-01 1.09884645e-01 4.07220798e+02] [-5.67751354e-01 8.20359681e-01 -6.83256500e-02 -2.00453852e+02] [-1.29214016e-01 -6.83869101e-03 9.91593148e-01 -9.27132623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.25, Y:-200.47, Z:-927.14 [[ 8.12254026e-01 5.73491291e-01 1.06541715e-01 4.07247597e+02] [-5.68667858e-01 8.19211603e-01 -7.42240958e-02 -2.00467831e+02] [-1.29847082e-01 -2.98028497e-04 9.91533987e-01 -9.27139632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.27, Y:-200.49, Z:-927.14 [[ 8.12222862e-01 5.72564657e-01 1.11641109e-01 4.07271258e+02] [-5.69189927e-01 8.19769269e-01 -6.32548232e-02 -2.00491859e+02] [-1.27737426e-01 -1.21679810e-02 9.91733377e-01 -9.27138465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:-200.50, Z:-927.15 [[ 8.11848454e-01 5.74672183e-01 1.03218069e-01 4.07300917e+02] [-5.69297587e-01 8.18368261e-01 -7.85725617e-02 -2.00501019e+02] [-1.29623857e-01 5.02721515e-03 9.91550494e-01 -9.27150954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:-200.52, Z:-927.15 [[ 8.11561725e-01 5.74297852e-01 1.07468807e-01 4.07325340e+02] [-5.69935514e-01 8.18637477e-01 -7.07544401e-02 -2.00523917e+02] [-1.28612116e-01 -3.82869456e-03 9.91687584e-01 -9.27152562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.35, Y:-200.54, Z:-927.16 [[ 8.11313547e-01 5.74724628e-01 1.07060409e-01 4.07351697e+02] [-5.70393570e-01 8.18337837e-01 -7.05291384e-02 -2.00541880e+02] [-1.28146416e-01 -3.84532333e-03 9.91747806e-01 -9.27157001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.38, Y:-200.56, Z:-927.16 [[ 8.10931617e-01 5.75372270e-01 1.06473764e-01 4.07378938e+02] [-5.71089144e-01 8.17882386e-01 -7.01825630e-02 -2.00560167e+02] [-1.27464117e-01 -3.89275173e-03 9.91835544e-01 -9.27162083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.41, Y:-200.58, Z:-927.17 [[ 8.10839320e-01 5.75647401e-01 1.05686645e-01 4.07405485e+02] [-5.71424414e-01 8.17688869e-01 -6.97069014e-02 -2.00578088e+02] [-1.26545390e-01 -3.87083261e-03 9.91953266e-01 -9.27166539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.43, Y:-200.60, Z:-927.17 [[ 8.10731647e-01 5.75802515e-01 1.05667689e-01 4.07433095e+02] [-5.71577100e-01 8.17579698e-01 -6.97356245e-02 -2.00596398e+02] [-1.26545705e-01 -3.86035343e-03 9.91953266e-01 -9.27171110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.46, Y:-200.61, Z:-927.18 [[ 8.11616546e-01 5.74875801e-01 1.03905712e-01 4.07460214e+02] [-5.70333718e-01 8.18240363e-01 -7.21259861e-02 -2.00611968e+02] [-1.26483331e-01 -7.22287262e-04 9.91968470e-01 -9.27178629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.48, Y:-200.63, Z:-927.18 [[ 8.11332529e-01 5.74868481e-01 1.06140268e-01 4.07484419e+02] [-5.71058060e-01 8.18218203e-01 -6.64203670e-02 -2.00633355e+02] [-1.25028875e-01 -6.72325131e-03 9.92130323e-01 -9.27179057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.51, Y:-200.65, Z:-927.19 [[ 8.12922687e-01 5.73129365e-01 1.03341358e-01 4.07511219e+02] [-5.68660005e-01 8.19464613e-01 -7.14391108e-02 -2.00646887e+02] [-1.25628438e-01 -6.91623119e-04 9.92077123e-01 -9.27187113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.7165599950001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:407.54, Y:-200.67, Z:-927.19 [[ 8.12317962e-01 5.73532618e-01 1.05829410e-01 4.07536120e+02] [-5.69736740e-01 8.19156771e-01 -6.61984242e-02 -2.00669302e+02] [-1.24657833e-01 -6.52073384e-03 9.92178363e-01 -9.27187624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.56, Y:-200.69, Z:-927.19 [[ 8.12830494e-01 5.72171432e-01 1.09208247e-01 4.07561179e+02] [-5.69520424e-01 8.19983863e-01 -5.72097216e-02 -2.00692850e+02] [-1.22282769e-01 -1.56945210e-02 9.92371204e-01 -9.27185505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.59, Y:-200.70, Z:-927.20 [[ 8.12686740e-01 5.74474362e-01 9.75677675e-02 4.07592228e+02] [-5.68977906e-01 8.18469039e-01 -7.98284108e-02 -2.00698569e+02] [-1.25715572e-01 9.36158691e-03 9.92022155e-01 -9.27201618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.62, Y:-200.72, Z:-927.20 [[ 8.13314857e-01 5.72250238e-01 1.05112359e-01 4.07616497e+02] [-5.68016056e-01 8.20073067e-01 -6.95551930e-02 -2.00723062e+02] [-1.26002790e-01 -3.13523551e-03 9.92024933e-01 -9.27201276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.64, Y:-200.74, Z:-927.21 [[ 8.13962019e-01 5.71233424e-01 1.05632414e-01 4.07642286e+02] [-5.66942860e-01 8.20782333e-01 -6.99439392e-02 -2.00741049e+02] [-1.26655535e-01 -2.95583293e-03 9.91942357e-01 -9.27205539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.67, Y:-200.76, Z:-927.21 [[ 8.15246902e-01 5.69261405e-01 1.06367015e-01 4.07668857e+02] [-5.64890643e-01 8.22152328e-01 -7.04564531e-02 -2.00760193e+02] [-1.27558029e-01 -2.64632637e-03 9.91827579e-01 -9.27209015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.70, Y:-200.78, Z:-927.21 [[ 8.15748530e-01 5.68543923e-01 1.06358560e-01 4.07695011e+02] [-5.64162269e-01 8.22649115e-01 -7.04937408e-02 -2.00778435e+02] [-1.27574563e-01 -2.49832098e-03 9.91825836e-01 -9.27212871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.72, Y:-200.80, Z:-927.22 [[ 8.16437193e-01 5.67576154e-01 1.06243209e-01 4.07722290e+02] [-5.63190805e-01 8.23317658e-01 -7.04567429e-02 -2.00796616e+02] [-1.27461477e-01 -2.31169284e-03 9.91840828e-01 -9.27217435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.75, Y:-200.81, Z:-927.22 [[ 8.16977412e-01 5.66819292e-01 1.06131045e-01 4.07749601e+02] [-5.62431346e-01 8.23839332e-01 -7.04253993e-02 -2.00814963e+02] [-1.27353404e-01 -2.15546582e-03 9.91855062e-01 -9.27222295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.78, Y:-200.83, Z:-927.23 [[ 8.17573924e-01 5.66016686e-01 1.05820553e-01 4.07776033e+02] [-5.61642298e-01 8.24391385e-01 -7.02621730e-02 -2.00832655e+02] [-1.27007115e-01 -1.98877834e-03 9.91899812e-01 -9.27226808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.80, Y:-200.85, Z:-927.23 [[ 8.18747354e-01 5.64412577e-01 1.05314829e-01 4.07802535e+02] [-5.60061681e-01 8.25491103e-01 -6.99667937e-02 -2.00850587e+02] [-1.26426593e-01 -1.69767320e-03 9.91974513e-01 -9.27231493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.83, Y:-200.87, Z:-927.24 [[ 8.18811031e-01 5.64285893e-01 1.05498470e-01 4.07829868e+02] [-5.59915506e-01 8.25577782e-01 -7.01138497e-02 -2.00869225e+02] [-1.26661449e-01 -1.66023562e-03 9.91944616e-01 -9.27235974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.86, Y:-200.89, Z:-927.24 [[ 8.18906463e-01 5.64066553e-01 1.05929828e-01 4.07857037e+02] [-5.59653010e-01 8.25727782e-01 -7.04424546e-02 -2.00887225e+02] [-1.27203434e-01 -1.59816551e-03 9.91875361e-01 -9.27240190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:407.88, Y:-200.90, Z:-927.24 [[ 8.18839039e-01 5.64036671e-01 1.06607986e-01 4.07883931e+02] [-5.59560297e-01 8.25748253e-01 -7.09372773e-02 -2.00904835e+02] [-1.28042584e-01 -1.56738410e-03 9.91767433e-01 -9.27244433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:-200.92, Z:-927.25 [[ 8.18366817e-01 5.64616447e-01 1.07163523e-01 4.07910059e+02] [-5.60092310e-01 8.25351810e-01 -7.13512042e-02 -2.00921906e+02] [-1.28733671e-01 -1.63000695e-03 9.91677864e-01 -9.27248180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:407.94, Y:-200.94, Z:-927.25 [[ 8.18150842e-01 5.64957696e-01 1.07014031e-01 4.07937358e+02] [-5.60443868e-01 8.25118227e-01 -7.12922357e-02 -2.00939109e+02] [-1.28576324e-01 -1.64755459e-03 9.91698248e-01 -9.27252805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.96, Y:-200.96, Z:-927.26 [[ 8.17762146e-01 5.65637127e-01 1.06394142e-01 4.07964998e+02] [-5.61175879e-01 8.24652485e-01 -7.09218693e-02 -2.00956835e+02] [-1.27854236e-01 -1.70860641e-03 9.91791498e-01 -9.27257407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-200.97, Z:-927.26 [[ 8.17484064e-01 5.66094905e-01 1.06096017e-01 4.07991315e+02] [-5.61657023e-01 8.24338240e-01 -7.07661976e-02 -2.00973794e+02] [-1.27519388e-01 -1.73933452e-03 9.91834553e-01 -9.27262161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.02, Y:-200.99, Z:-927.27 [[ 8.17196725e-01 5.66577695e-01 1.05731872e-01 4.08018591e+02] [-5.62169307e-01 8.24006410e-01 -7.05627894e-02 -2.00991443e+02] [-1.27103043e-01 -1.77553260e-03 9.91887929e-01 -9.27266944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:-201.01, Z:-927.27 [[ 8.17043181e-01 5.66905867e-01 1.05157875e-01 4.08045262e+02] [-5.62542649e-01 8.23780654e-01 -7.02225207e-02 -2.01008989e+02] [-1.26436582e-01 -1.78095781e-03 9.91973094e-01 -9.27271343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.07, Y:-201.03, Z:-927.28 [[ 8.16965326e-01 5.67092360e-01 1.04756439e-01 4.08072762e+02] [-5.62759049e-01 8.23652306e-01 -6.99937937e-02 -2.01026887e+02] [-1.25975828e-01 -1.77013133e-03 9.92031732e-01 -9.27275910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.10, Y:-201.04, Z:-927.28 [[ 8.16864425e-01 5.67336877e-01 1.04217940e-01 4.08099221e+02] [-5.63044839e-01 8.23483915e-01 -6.96760449e-02 -2.01043507e+02] [-1.25351587e-01 -1.76349090e-03 9.92110815e-01 -9.27280284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-201.06, Z:-927.28 [[ 8.16836750e-01 5.67338664e-01 1.04424917e-01 4.08126484e+02] [-5.63024572e-01 8.23482744e-01 -6.98534305e-02 -2.01061023e+02] [-1.25622669e-01 -1.73494484e-03 9.92076577e-01 -9.27284979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.15, Y:-201.08, Z:-927.29 [[ 8.16866040e-01 5.67298443e-01 1.04414315e-01 4.08153139e+02] [-5.62979521e-01 8.23510540e-01 -6.98888418e-02 -2.01078061e+02] [-1.25634120e-01 -1.69329932e-03 9.92075199e-01 -9.27289001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4365599950002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:408.18, Y:-201.10, Z:-927.29 [[ 8.16954445e-01 5.67065220e-01 1.04987961e-01 4.08180366e+02] [-5.62691568e-01 8.23671274e-01 -7.03123916e-02 -2.01095192e+02] [-1.26347279e-01 -1.63381944e-03 9.91984726e-01 -9.27293516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.21, Y:-201.11, Z:-927.30 [[ 8.17566454e-01 5.66026984e-01 1.05823189e-01 4.08207400e+02] [-5.61568915e-01 8.24385440e-01 -7.09154421e-02 -2.01111507e+02] [-1.27379150e-01 -1.44892678e-03 9.91853040e-01 -9.27297582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.23, Y:-201.13, Z:-927.30 [[ 8.18120674e-01 5.65111612e-01 1.06430395e-01 4.08234486e+02] [-5.60589092e-01 8.25013471e-01 -7.13627559e-02 -2.01128835e+02] [-1.28134431e-01 -1.28037229e-03 9.91755982e-01 -9.27301992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:-201.15, Z:-927.31 [[ 8.18961028e-01 5.63891935e-01 1.06436461e-01 4.08261521e+02] [-5.59352997e-01 8.25847914e-01 -7.14104228e-02 -2.01146589e+02] [-1.28168090e-01 -1.05320000e-03 9.91751900e-01 -9.27305942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.29, Y:-201.16, Z:-927.31 [[ 8.19867777e-01 5.62517354e-01 1.06728885e-01 4.08288469e+02] [-5.57936023e-01 8.26785087e-01 -7.16506410e-02 -2.01164253e+02] [-1.28546580e-01 -8.03838035e-04 9.91703147e-01 -9.27310265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.32, Y:-201.18, Z:-927.31 [[ 8.20930536e-01 5.60888486e-01 1.07131515e-01 4.08315111e+02] [-5.56252794e-01 8.27891202e-01 -7.19651770e-02 -2.01181542e+02] [-1.29057678e-01 -5.13793426e-04 9.91636956e-01 -9.27314539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.34, Y:-201.20, Z:-927.32 [[ 8.22029667e-01 5.59219421e-01 1.07428424e-01 4.08342787e+02] [-5.54538338e-01 8.29019657e-01 -7.22055385e-02 -2.01199491e+02] [-1.29439014e-01 -2.18084689e-04 9.91587361e-01 -9.27319170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.37, Y:-201.22, Z:-927.32 [[ 8.24210378e-01 5.55887013e-01 1.08013339e-01 4.08369340e+02] [-5.51120138e-01 8.31257788e-01 -7.26435397e-02 -2.01216239e+02] [-1.30168530e-01 3.45232772e-04 9.91491823e-01 -9.27323011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.40, Y:-201.23, Z:-927.33 [[ 8.25097003e-01 5.54537611e-01 1.08180283e-01 4.08396935e+02] [-5.49738929e-01 8.32158450e-01 -7.27971529e-02 -2.01234058e+02] [-1.30391896e-01 5.93799713e-04 9.91462355e-01 -9.27327360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.42, Y:-201.25, Z:-927.33 [[ 8.25780374e-01 5.53486182e-01 1.08350452e-01 4.08423742e+02] [-5.48657364e-01 8.32857976e-01 -7.29567596e-02 -2.01251149e+02] [-1.30621096e-01 7.98986987e-04 9.91432041e-01 -9.27331926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.45, Y:-201.27, Z:-927.34 [[ 8.26399535e-01 5.52604514e-01 1.08129827e-01 4.08450218e+02] [-5.47782351e-01 8.33443044e-01 -7.28504549e-02 -2.01267978e+02] [-1.30377543e-01 9.71971025e-04 9.91463944e-01 -9.27336294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.48, Y:-201.29, Z:-927.34 [[ 8.26805100e-01 5.52015419e-01 1.08038439e-01 4.08477636e+02] [-5.47192944e-01 8.33833195e-01 -7.28154172e-02 -2.01285519e+02] [-1.30281270e-01 1.08628688e-03 9.91476480e-01 -9.27341369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.796559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:408.51, Y:-201.30, Z:-927.35 [[ 8.27127816e-01 5.51640898e-01 1.07479745e-01 4.08505184e+02] [-5.46859541e-01 8.34080894e-01 -7.24824508e-02 -2.01303054e+02] [-1.29631086e-01 1.17592743e-03 9.91561596e-01 -9.27346091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:-201.32, Z:-927.35 [[ 8.27138340e-01 5.51764364e-01 1.06762601e-01 4.08532108e+02] [-5.47042276e-01 8.33999210e-01 -7.20421124e-02 -2.01319558e+02] [-1.28790195e-01 1.18513729e-03 9.91671156e-01 -9.27350743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.56, Y:-201.34, Z:-927.36 [[ 8.26920827e-01 5.52120541e-01 1.06606076e-01 4.08558740e+02] [-5.47410066e-01 8.33763491e-01 -7.19768109e-02 -2.01336350e+02] [-1.28624130e-01 1.16188481e-03 9.91692736e-01 -9.27355464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:-201.35, Z:-927.36 [[ 8.26481097e-01 5.52767324e-01 1.06664346e-01 4.08586531e+02] [-5.48051891e-01 8.33334919e-01 -7.20557978e-02 -2.01353820e+02] [-1.28717214e-01 1.09515834e-03 9.91680735e-01 -9.27360306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.61, Y:-201.37, Z:-927.37 [[ 8.26142528e-01 5.53300334e-01 1.06523542e-01 4.08614641e+02] [-5.48596203e-01 8.32981179e-01 -7.20039005e-02 -2.01371279e+02] [-1.28571887e-01 1.04707399e-03 9.91699639e-01 -9.27365149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.64, Y:-201.39, Z:-927.37 [[ 8.25783400e-01 5.53865042e-01 1.06373359e-01 4.08642492e+02] [-5.49173247e-01 8.32605865e-01 -7.19459343e-02 -2.01388497e+02] [-1.28415420e-01 9.94355281e-04 9.91719966e-01 -9.27369890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.67, Y:-201.41, Z:-927.38 [[ 8.25225274e-01 5.54736497e-01 1.06163399e-01 4.08670707e+02] [-5.50064840e-01 8.32025613e-01 -7.18474107e-02 -2.01405158e+02] [-1.28187048e-01 8.93546284e-04 9.91749607e-01 -9.27375072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.70, Y:-201.42, Z:-927.38 [[ 8.25094689e-01 5.54955588e-01 1.06033245e-01 4.08698361e+02] [-5.50291660e-01 8.31879496e-01 -7.18024676e-02 -2.01422876e+02] [-1.28054063e-01 8.94624103e-04 9.91766785e-01 -9.27379980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.72, Y:-201.44, Z:-927.38 [[ 8.24677156e-01 5.55663814e-01 1.05571370e-01 4.08724393e+02] [-5.51040814e-01 8.31406674e-01 -7.15329601e-02 -2.01440041e+02] [-1.27521019e-01 8.17464255e-04 9.91835532e-01 -9.27384328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.75, Y:-201.46, Z:-927.39 [[ 8.24225240e-01 5.56416425e-01 1.05135699e-01 4.08750636e+02] [-5.51832515e-01 8.30903259e-01 -7.12786814e-02 -2.01457395e+02] [-1.27018224e-01 7.32391124e-04 9.91900113e-01 -9.27388471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.78, Y:-201.47, Z:-927.39 [[ 8.23563997e-01 5.57442311e-01 1.04882850e-01 4.08777528e+02] [-5.52885534e-01 8.30215464e-01 -7.11327551e-02 -2.01474862e+02] [-1.26727772e-01 5.94165343e-04 9.91937356e-01 -9.27392906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.80, Y:-201.49, Z:-927.40 [[ 8.22437440e-01 5.59325438e-01 1.03690459e-01 4.08803854e+02] [-5.54711965e-01 8.28946884e-01 -7.17056415e-02 -2.01490975e+02] [-1.26060672e-01 1.45506612e-03 9.92021466e-01 -9.27397763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:-201.51, Z:-927.40 [[ 8.21059939e-01 5.60907645e-01 1.06033908e-01 4.08832321e+02] [-5.56512748e-01 8.27877096e-01 -7.00933269e-02 -2.01508969e+02] [-1.27098927e-01 -1.45839894e-03 9.91888974e-01 -9.27401341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.86, Y:-201.53, Z:-927.41 [[ 8.19902784e-01 5.62657396e-01 1.05716978e-01 4.08860158e+02] [-5.58053033e-01 8.26690175e-01 -7.18343020e-02 -2.01525907e+02] [-1.27813288e-01 -9.85359021e-05 9.91798243e-01 -9.27406231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:-201.54, Z:-927.41 [[ 8.19832992e-01 5.62763069e-01 1.05695765e-01 4.08887535e+02] [-5.58155558e-01 8.26618245e-01 -7.18654996e-02 -2.01544602e+02] [-1.27813297e-01 -7.69714291e-05 9.91798243e-01 -9.27410803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.92, Y:-201.56, Z:-927.42 [[ 8.18776884e-01 5.64266068e-01 1.05868877e-01 4.08915028e+02] [-5.59653590e-01 8.25592948e-01 -7.20009940e-02 -2.01562348e+02] [-1.28032316e-01 -2.97147813e-04 9.91769952e-01 -9.27415102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.94, Y:-201.58, Z:-927.42 [[ 8.17720715e-01 5.65758446e-01 1.06067024e-01 4.08941761e+02] [-5.61135361e-01 8.24570880e-01 -7.21801227e-02 -2.01579746e+02] [-1.28296293e-01 -4.94776158e-04 9.91735759e-01 -9.27419476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.97, Y:-201.60, Z:-927.42 [[ 8.16603075e-01 5.67346589e-01 1.06194476e-01 4.08969348e+02] [-5.62720386e-01 8.23478806e-01 -7.23078407e-02 -2.01597985e+02] [-1.28472507e-01 -7.10991739e-04 9.91712816e-01 -9.27424052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.336559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:409.00, Y:-201.62, Z:-927.43 [[ 8.15576637e-01 5.68822616e-01 1.06186539e-01 4.08995841e+02] [-5.64203821e-01 8.22459731e-01 -7.23466578e-02 -2.01615178e+02] [-1.28486568e-01 -9.06607336e-04 9.91710835e-01 -9.27428501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.02, Y:-201.63, Z:-927.43 [[ 8.13504179e-01 5.71892358e-01 1.05593951e-01 4.09023535e+02] [-5.67358637e-01 8.20327421e-01 -7.18825367e-02 -2.01633819e+02] [-1.27730687e-01 -1.43289598e-03 9.91807854e-01 -9.27433267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:-201.65, Z:-927.43 [[ 8.12815627e-01 5.72555312e-01 1.07290129e-01 4.09049833e+02] [-5.68734731e-01 8.19835849e-01 -6.64077323e-02 -2.01654275e+02] [-1.25982394e-01 -7.04237994e-03 9.92007481e-01 -9.27433877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.08, Y:-201.66, Z:-927.45 [[ 8.12642541e-01 5.74210348e-01 9.94714884e-02 4.09080053e+02] [-5.68215770e-01 8.18629000e-01 -8.35308311e-02 -2.01660626e+02] [-1.29394513e-01 1.13594384e-02 9.91528125e-01 -9.27449101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.10, Y:-201.69, Z:-927.44 [[ 8.11880057e-01 5.73535138e-01 1.09124787e-01 4.09101667e+02] [-5.69822425e-01 8.19133646e-01 -6.57455225e-02 -2.01688507e+02] [-1.27095152e-01 -8.80427229e-03 9.91851454e-01 -9.27444521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.13, Y:-201.70, Z:-927.45 [[ 8.11216283e-01 5.75360047e-01 1.04350171e-01 4.09128799e+02] [-5.70607374e-01 8.17900184e-01 -7.38005077e-02 -2.01700473e+02] [-1.27809888e-01 3.25196381e-04 9.91798632e-01 -9.27452691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.16, Y:-201.72, Z:-927.46 [[ 8.10983761e-01 5.75714291e-01 1.04203620e-01 4.09155496e+02] [-5.71056892e-01 8.17650903e-01 -7.30823295e-02 -2.01720476e+02] [-1.27276725e-01 -2.37612661e-04 9.91867218e-01 -9.27457891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.18, Y:-201.74, Z:-927.46 [[ 8.10745875e-01 5.75872057e-01 1.05178419e-01 4.09179781e+02] [-5.71539071e-01 8.17534689e-01 -7.05699792e-02 -2.01737936e+02] [-1.26626285e-01 -2.89925610e-03 9.91946258e-01 -9.27460482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.576559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:409.21, Y:-201.76, Z:-927.47 [[ 8.10379643e-01 5.76519451e-01 1.04451700e-01 4.09206368e+02] [-5.72091402e-01 8.17081120e-01 -7.13433365e-02 -2.01755649e+02] [-1.26476333e-01 -1.94073175e-03 9.91967727e-01 -9.27465444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:-201.77, Z:-927.47 [[ 8.10161182e-01 5.76896030e-01 1.04066468e-01 4.09233512e+02] [-5.72498672e-01 8.16815239e-01 -7.11205781e-02 -2.01774117e+02] [-1.26032256e-01 -1.95878302e-03 9.92024210e-01 -9.27470048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:-201.79, Z:-927.47 [[ 8.10066233e-01 5.77044362e-01 1.03983183e-01 4.09260112e+02] [-5.72649755e-01 8.16710490e-01 -7.11072080e-02 -2.01792662e+02] [-1.25956170e-01 -1.94439592e-03 9.92033902e-01 -9.27474577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.29, Y:-201.81, Z:-927.48 [[ 8.10435662e-01 5.76665494e-01 1.03203424e-01 4.09286389e+02] [-5.72360210e-01 8.16977802e-01 -7.03637698e-02 -2.01811557e+02] [-1.24891265e-01 -2.04422529e-03 9.92168329e-01 -9.27478963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.31, Y:-201.83, Z:-927.48 [[ 8.10306661e-01 5.76810403e-01 1.03406356e-01 4.09311867e+02] [-5.72396993e-01 8.16876735e-01 -7.12325925e-02 -2.01829485e+02] [-1.25557947e-01 -1.46924283e-03 9.92085200e-01 -9.27483664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:-201.85, Z:-927.49 [[ 8.11521401e-01 5.75153349e-01 1.03109846e-01 4.09337861e+02] [-5.70828764e-01 8.18043823e-01 -7.04189352e-02 -2.01849951e+02] [-1.24850059e-01 -1.71159316e-03 9.92174145e-01 -9.27487985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:-201.87, Z:-927.49 [[ 8.11694342e-01 5.74852474e-01 1.03425962e-01 4.09364255e+02] [-5.70593518e-01 8.18253865e-01 -6.98831174e-02 -2.01870251e+02] [-1.24801176e-01 -2.29045241e-03 9.92179127e-01 -9.27491642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:409.39, Y:-201.89, Z:-927.50 [[ 8.12141746e-01 5.74231579e-01 1.03362850e-01 4.09390882e+02] [-5.69662090e-01 8.18692901e-01 -7.22982464e-02 -2.01887733e+02] [-1.26138368e-01 -1.65473283e-04 9.92012644e-01 -9.27497365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.42, Y:-201.91, Z:-927.50 [[ 8.12266111e-01 5.73854032e-01 1.04476389e-01 4.09416885e+02] [-5.69540468e-01 8.18954010e-01 -7.02707979e-02 -2.01908515e+02] [-1.25886538e-01 -2.42494367e-03 9.92041682e-01 -9.27499922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.44, Y:-201.93, Z:-927.51 [[ 8.11726857e-01 5.74723516e-01 1.03886430e-01 4.09443078e+02] [-5.70107072e-01 8.18347624e-01 -7.26986392e-02 -2.01926447e+02] [-1.26796831e-01 -2.14950441e-04 9.91928686e-01 -9.27505306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:-201.95, Z:-927.51 [[ 8.11682395e-01 5.74673512e-01 1.04508585e-01 4.09469191e+02] [-5.70179515e-01 8.18381642e-01 -7.17412664e-02 -2.01945866e+02] [-1.26755712e-01 -1.35753112e-03 9.91933035e-01 -9.27509387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.50, Y:-201.96, Z:-927.51 [[ 8.12019325e-01 5.74290433e-01 1.03995746e-01 4.09496010e+02] [-5.69832089e-01 8.18650670e-01 -7.14315762e-02 -2.01964642e+02] [-1.26158658e-01 -1.25629277e-03 9.92009282e-01 -9.27513631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:-201.98, Z:-927.52 [[ 8.11943751e-01 5.74351380e-01 1.04248923e-01 4.09522276e+02] [-5.69865948e-01 8.18607950e-01 -7.16507236e-02 -2.01984649e+02] [-1.26491689e-01 -1.23155387e-03 9.91966903e-01 -9.27518390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:-202.00, Z:-927.52 [[ 8.11520005e-01 5.74965078e-01 1.04165446e-01 4.09547426e+02] [-5.70485935e-01 8.18176938e-01 -7.16400498e-02 -2.02003533e+02] [-1.26416293e-01 -1.28758830e-03 9.91976443e-01 -9.27522721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:-202.02, Z:-927.53 [[ 8.11092169e-01 5.75735856e-01 1.03236219e-01 4.09573316e+02] [-5.71337452e-01 8.17634621e-01 -7.10432383e-02 -2.02023019e+02] [-1.25311646e-01 -1.36010395e-03 9.92116496e-01 -9.27526471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.60, Y:-202.03, Z:-927.54 [[ 8.11361798e-01 5.75824151e-01 1.00591153e-01 4.09598963e+02] [-5.70328759e-01 8.17541037e-01 -7.96979215e-02 -2.02034101e+02] [-1.28129383e-01 7.29382149e-03 9.91730640e-01 -9.27537545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:-202.07, Z:-927.53 [[ 8.09697463e-01 5.76668638e-01 1.08826928e-01 4.09620398e+02] [-5.73324972e-01 8.16899296e-01 -6.30398059e-02 -2.02065026e+02] [-1.25253720e-01 -1.13500247e-02 9.92059818e-01 -9.27532081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.65, Y:-202.08, Z:-927.54 [[ 8.09018925e-01 5.78706044e-01 1.02896517e-01 4.09648301e+02] [-5.74347068e-01 8.15534387e-01 -7.09162176e-02 -2.02079704e+02] [-1.24955292e-01 -1.72575091e-03 9.92160873e-01 -9.27539462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:-202.10, Z:-927.54 [[ 8.07931460e-01 5.80143042e-01 1.03347991e-01 4.09673710e+02] [-5.75752237e-01 8.14512338e-01 -7.12671911e-02 -2.02099817e+02] [-1.25523379e-01 -1.92383140e-03 9.92088797e-01 -9.27543608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.70, Y:-202.12, Z:-927.55 [[ 8.07215912e-01 5.81072107e-01 1.03719232e-01 4.09700307e+02] [-5.76651842e-01 8.13849520e-01 -7.15654408e-02 -2.02119519e+02] [-1.25996529e-01 -2.04112379e-03 9.92028583e-01 -9.27547878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-202.14, Z:-927.55 [[ 8.06425184e-01 5.82139301e-01 1.03885788e-01 4.09726913e+02] [-5.77708095e-01 8.13086157e-01 -7.17234876e-02 -2.02139257e+02] [-1.26221157e-01 -2.17603418e-03 9.91999740e-01 -9.27552103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:-202.16, Z:-927.56 [[ 8.05543897e-01 5.83295864e-01 1.04235145e-01 4.09753141e+02] [-5.78838724e-01 8.12256431e-01 -7.20084897e-02 -2.02158841e+02] [-1.26667921e-01 -2.32933861e-03 9.91942444e-01 -9.27556181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:-202.18, Z:-927.56 [[ 8.05041838e-01 5.83998146e-01 1.04181594e-01 4.09779738e+02] [-5.79545922e-01 8.11751435e-01 -7.20148131e-02 -2.02178452e+02] [-1.26626076e-01 -2.40308044e-03 9.91947611e-01 -9.27560169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-202.20, Z:-927.56 [[ 8.04448996e-01 5.84744274e-01 1.04575080e-01 4.09805765e+02] [-5.80258923e-01 8.11213850e-01 -7.23302954e-02 -2.02197867e+02] [-1.27127479e-01 -2.49458953e-03 9.91883250e-01 -9.27564824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.296559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.83, Y:-202.22, Z:-927.57 [[ 8.03616490e-01 5.85875039e-01 1.04646913e-01 4.09831707e+02] [-5.81387443e-01 8.10397107e-01 -7.24235425e-02 -2.02218387e+02] [-1.27236701e-01 -2.63964791e-03 9.91868870e-01 -9.27569179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:-202.24, Z:-927.57 [[ 8.02911754e-01 5.86827844e-01 1.04717702e-01 4.09858060e+02] [-5.82336625e-01 8.09707034e-01 -7.25160260e-02 -2.02238145e+02] [-1.27345083e-01 -2.75698374e-03 9.91854641e-01 -9.27573622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:-202.26, Z:-927.58 [[ 8.02145324e-01 5.87879615e-01 1.04692106e-01 4.09884365e+02] [-5.83393948e-01 8.08943273e-01 -7.25415954e-02 -2.02257636e+02] [-1.27335700e-01 -2.88783931e-03 9.91855473e-01 -9.27577856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:-202.28, Z:-927.58 [[ 8.01326842e-01 5.89021706e-01 1.04540533e-01 4.09909465e+02] [-5.84553050e-01 8.08111538e-01 -7.24808520e-02 -2.02276264e+02] [-1.27173206e-01 -3.02863542e-03 9.91875901e-01 -9.27582049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.416559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.94, Y:-202.30, Z:-927.59 [[ 8.00500242e-01 5.90187838e-01 1.04296114e-01 4.09935766e+02] [-5.85744766e-01 8.07259715e-01 -7.23520601e-02 -2.02295616e+02] [-1.26895358e-01 -3.17306155e-03 9.91911034e-01 -9.27586318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:409.96, Y:-202.31, Z:-927.59 [[ 7.99931726e-01 5.91012281e-01 1.03989029e-01 4.09961853e+02] [-5.86596902e-01 8.06655975e-01 -7.21818050e-02 -2.02314689e+02] [-1.26543705e-01 -3.25912635e-03 9.91955679e-01 -9.27590636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.99, Y:-202.33, Z:-927.59 [[ 7.99449055e-01 5.91691760e-01 1.03836745e-01 4.09987992e+02] [-5.87289581e-01 8.06157425e-01 -7.21190315e-02 -2.02333841e+02] [-1.26380999e-01 -3.32674675e-03 9.91976197e-01 -9.27594760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-202.35, Z:-927.60 [[ 7.98897415e-01 5.92369336e-01 1.04218475e-01 4.10013309e+02] [-5.87934767e-01 8.05659315e-01 -7.24277375e-02 -2.02352767e+02] [-1.26868556e-01 -3.41133241e-03 9.91913672e-01 -9.27599151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.04, Y:-202.37, Z:-927.60 [[ 7.98611550e-01 5.92761853e-01 1.04177622e-01 4.10039677e+02] [-5.88328999e-01 8.05370444e-01 -7.24391922e-02 -2.02372367e+02] [-1.26840767e-01 -3.43994029e-03 9.91917127e-01 -9.27603391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.06, Y:-202.39, Z:-927.61 [[ 7.98510886e-01 5.92761332e-01 1.04949360e-01 4.10064447e+02] [-5.88256467e-01 8.05370875e-01 -7.30211115e-02 -2.02391336e+02] [-1.27807249e-01 -3.42898752e-03 9.91793098e-01 -9.27607695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-202.41, Z:-927.61 [[ 7.98476112e-01 5.92760080e-01 1.05220659e-01 4.10089703e+02] [-5.88226377e-01 8.05371903e-01 -7.32518085e-02 -2.02410220e+02] [-1.28162510e-01 -3.40374757e-03 9.91747340e-01 -9.27611584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:410.12, Y:-202.43, Z:-927.62 [[ 7.98741848e-01 5.92347429e-01 1.05527170e-01 4.10116076e+02] [-5.87778301e-01 8.05675827e-01 -7.35059868e-02 -2.02429490e+02] [-1.28561773e-01 -3.31427316e-03 9.91695965e-01 -9.27615632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.656559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.14, Y:-202.45, Z:-927.62 [[ 7.99153615e-01 5.91744557e-01 1.05791679e-01 4.10141874e+02] [-5.87141183e-01 8.06119231e-01 -7.37361289e-02 -2.02448208e+02] [-1.28913660e-01 -3.18815773e-03 9.91650697e-01 -9.27619878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:-202.47, Z:-927.62 [[ 7.99567740e-01 5.91051960e-01 1.06531733e-01 4.10167624e+02] [-5.86371933e-01 8.06627669e-01 -7.42950868e-02 -2.02466920e+02] [-1.29843700e-01 -3.06326360e-03 9.91529742e-01 -9.27624047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.19, Y:-202.49, Z:-927.63 [[ 8.00263913e-01 5.90104885e-01 1.06554651e-01 4.10194151e+02] [-5.85408962e-01 8.07321469e-01 -7.43531706e-02 -2.02485985e+02] [-1.29900026e-01 -2.87588828e-03 9.91522926e-01 -9.27628170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.22, Y:-202.51, Z:-927.63 [[ 8.01481361e-01 5.88413579e-01 1.06757144e-01 4.10220184e+02] [-5.83678916e-01 8.08556030e-01 -7.45390466e-02 -2.02505558e+02] [-1.30178920e-01 -2.57023753e-03 9.91487187e-01 -9.27632075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.776559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.25, Y:-202.52, Z:-927.64 [[ 8.01767233e-01 5.88036961e-01 1.06685688e-01 4.10246873e+02] [-5.83299406e-01 8.08830284e-01 -7.45343824e-02 -2.02524315e+02] [-1.30119587e-01 -2.47047303e-03 9.91495229e-01 -9.27636539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:410.27, Y:-202.54, Z:-927.64 [[ 8.01983546e-01 5.87812364e-01 1.06296834e-01 4.10273796e+02] [-5.83101583e-01 8.08993770e-01 -7.43076311e-02 -2.02542761e+02] [-1.29672421e-01 -2.38835476e-03 9.91554012e-01 -9.27641357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:-202.55, Z:-927.66 [[ 8.03144857e-01 5.87646283e-01 9.81335103e-02 4.10305162e+02] [-5.80276835e-01 8.08891664e-01 -9.47262986e-02 -2.02547651e+02] [-1.35044936e-01 1.91343368e-02 9.90654704e-01 -9.27663219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-202.59, Z:-927.64 [[ 8.02317513e-01 5.85058765e-01 1.18291381e-01 4.10321523e+02] [-5.82883909e-01 8.10632105e-01 -5.58743207e-02 -2.02587955e+02] [-1.28580552e-01 -2.41211963e-02 9.91405674e-01 -9.27641961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.896559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.35, Y:-202.60, Z:-927.66 [[ 8.02696872e-01 5.87136613e-01 1.04634265e-01 4.10353455e+02] [-5.82554486e-01 8.09484968e-01 -7.32417688e-02 -2.02595906e+02] [-1.27702789e-01 -2.16422156e-03 9.91810120e-01 -9.27655201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.38, Y:-202.61, Z:-927.66 [[ 8.02583929e-01 5.87294538e-01 1.04614352e-01 4.10380548e+02] [-5.82710042e-01 8.09370425e-01 -7.32702002e-02 -2.02614961e+02] [-1.27702951e-01 -2.15434800e-03 9.91810121e-01 -9.27659787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.41, Y:-202.63, Z:-927.66 [[ 8.03249664e-01 5.86494310e-01 1.03992319e-01 4.10408109e+02] [-5.81954015e-01 8.09950899e-01 -7.28633320e-02 -2.02633179e+02] [-1.26962602e-01 -1.99130056e-03 9.91905506e-01 -9.27664740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.44, Y:-202.65, Z:-927.67 [[ 8.03766060e-01 5.85904660e-01 1.03324006e-01 4.10435167e+02] [-5.81412420e-01 8.10377878e-01 -7.24381997e-02 -2.02651839e+02] [-1.26173368e-01 -1.85049396e-03 9.92006480e-01 -9.27669242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-202.67, Z:-927.67 [[ 8.04348216e-01 5.85113909e-01 1.03274687e-01 4.10460712e+02] [-5.80613858e-01 8.10949357e-01 -7.24478357e-02 -2.02669620e+02] [-1.26140778e-01 -1.68942720e-03 9.92010912e-01 -9.27673654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-202.69, Z:-927.68 [[ 8.05158139e-01 5.84095585e-01 1.02726428e-01 4.10487094e+02] [-5.79630028e-01 8.11683517e-01 -7.21033919e-02 -2.02688129e+02] [-1.25496622e-01 -1.48868963e-03 9.92092930e-01 -9.27677500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:-202.71, Z:-927.68 [[ 8.05043940e-01 5.84256705e-01 1.02705200e-01 4.10514165e+02] [-5.79788598e-01 8.11567572e-01 -7.21336163e-02 -2.02707216e+02] [-1.25496759e-01 -1.47657335e-03 9.92092931e-01 -9.27682087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:-202.73, Z:-927.69 [[ 8.05919967e-01 5.83032010e-01 1.02794366e-01 4.10539552e+02] [-5.78542317e-01 8.12448203e-01 -7.22267576e-02 -2.02725369e+02] [-1.25625610e-01 -1.26190456e-03 9.92076919e-01 -9.27686485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-202.74, Z:-927.69 [[ 8.06836648e-01 5.81786061e-01 1.02662566e-01 4.10565599e+02] [-5.77294579e-01 8.13341187e-01 -7.21601159e-02 -2.02743653e+02] [-1.25481443e-01 -1.04511672e-03 9.92095417e-01 -9.27690546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-202.76, Z:-927.70 [[ 8.08458145e-01 5.79466352e-01 1.03025119e-01 4.10592185e+02] [-5.74919041e-01 8.14995901e-01 -7.24553469e-02 -2.02762721e+02] [-1.25950485e-01 -6.53987381e-04 9.92036314e-01 -9.27695142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-202.78, Z:-927.70 [[ 8.09035530e-01 5.78689727e-01 1.02857721e-01 4.10617993e+02] [-5.74145518e-01 8.15547640e-01 -7.23807361e-02 -2.02780826e+02] [-1.25771360e-01 -4.96712197e-04 9.92059131e-01 -9.27699068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:-202.80, Z:-927.70 [[ 8.09422957e-01 5.78116492e-01 1.03032997e-01 4.10644683e+02] [-5.73547020e-01 8.15954154e-01 -7.25440182e-02 -2.02799540e+02] [-1.26009096e-01 -3.75474838e-04 9.92029015e-01 -9.27703609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.67, Y:-202.82, Z:-927.71 [[ 8.09807572e-01 5.77556604e-01 1.03150699e-01 4.10671504e+02] [-5.72966704e-01 8.16350602e-01 -7.26694664e-02 -2.02818010e+02] [-1.26177866e-01 -2.53632113e-04 9.92007602e-01 -9.27708084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.70, Y:-202.84, Z:-927.71 [[ 8.09788255e-01 5.77526368e-01 1.03471134e-01 4.10698270e+02] [-5.72902131e-01 8.16372003e-01 -7.29376477e-02 -2.02836703e+02] [-1.26594352e-01 -2.14782911e-04 9.91954547e-01 -9.27712728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:-202.86, Z:-927.72 [[ 8.09658634e-01 5.77639509e-01 1.03853240e-01 4.10725117e+02] [-5.72976288e-01 8.16291957e-01 -7.32503519e-02 -2.02855444e+02] [-1.27086862e-01 -1.97664232e-04 9.91891572e-01 -9.27717135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.75, Y:-202.87, Z:-927.72 [[ 8.09350987e-01 5.77994223e-01 1.04276835e-01 4.10751600e+02] [-5.73289911e-01 8.16040826e-01 -7.35937997e-02 -2.02873231e+02] [-1.27630946e-01 -2.17643293e-04 9.91821705e-01 -9.27720970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:-202.87, Z:-927.75 [[ 8.09769940e-01 5.79303353e-01 9.31679641e-02 4.10784935e+02] [-5.70987509e-01 8.14576840e-01 -1.02165731e-01 -2.02874020e+02] [-1.35077416e-01 2.95329939e-02 9.90394817e-01 -9.27747567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:-202.90, Z:-927.74 [[ 8.09682203e-01 5.76679312e-01 1.08883885e-01 4.10804693e+02] [-5.70992255e-01 8.16963957e-01 -8.08562819e-02 -2.02902126e+02] [-1.35582355e-01 3.29603738e-03 9.90760597e-01 -9.27743872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-202.94, Z:-927.72 [[ 8.07834533e-01 5.76125371e-01 1.24430396e-01 4.10822103e+02] [-5.75691611e-01 8.16531133e-01 -4.30822294e-02 -2.02943287e+02] [-1.26422058e-01 -3.68302226e-02 9.91292590e-01 -9.27719479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.86, Y:-202.95, Z:-927.74 [[ 8.06300972e-01 5.82490188e-01 1.02878195e-01 4.10857550e+02] [-5.77927139e-01 8.12837359e-01 -7.27712181e-02 -2.02945236e+02] [-1.26011761e-01 -7.80597049e-04 9.92028441e-01 -9.27737782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.89, Y:-202.93, Z:-927.77 [[ 8.07728480e-01 5.83229791e-01 8.61261500e-02 4.10893848e+02] [-5.73509907e-01 8.11166195e-01 -1.14436845e-01 -2.02934919e+02] [-1.36605598e-01 4.30396984e-02 9.89690101e-01 -9.27774116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-203.00, Z:-927.73 [[ 8.05551084e-01 5.78383863e-01 1.28683947e-01 4.10898624e+02] [-5.79213494e-01 8.14435386e-01 -3.47380286e-02 -2.02999999e+02] [-1.24896675e-01 -4.65522217e-02 9.91077046e-01 -9.27728985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.94, Y:-203.00, Z:-927.75 [[ 8.04628257e-01 5.84912753e-01 1.02227391e-01 4.10935644e+02] [-5.80416684e-01 8.11095489e-01 -7.23918564e-02 -2.02999327e+02] [-1.25259095e-01 -1.08594981e-03 9.92123470e-01 -9.27750430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:-203.02, Z:-927.75 [[ 8.04122341e-01 5.85639145e-01 1.02049269e-01 4.10961477e+02] [-5.81159095e-01 8.10571060e-01 -7.23094952e-02 -2.03017567e+02] [-1.25065455e-01 -1.16118015e-03 9.92147814e-01 -9.27754398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.616559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.99, Y:-203.04, Z:-927.76 [[ 8.03528226e-01 5.86445356e-01 1.02099147e-01 4.10987132e+02] [-5.81962253e-01 8.09987822e-01 -7.23855219e-02 -2.03035959e+02] [-1.25149219e-01 -1.25403986e-03 9.92137138e-01 -9.27758914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.01, Y:-203.05, Z:-927.76 [[ 8.03019732e-01 5.87143518e-01 1.02087217e-01 4.11013609e+02] [-5.82662028e-01 8.09481761e-01 -7.24171317e-02 -2.03054515e+02] [-1.25156990e-01 -1.32995914e-03 9.92136059e-01 -9.27763333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.676559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.04, Y:-203.07, Z:-927.77 [[ 8.01654410e-01 5.88968361e-01 1.02305804e-01 4.11040337e+02] [-5.84477316e-01 8.08154537e-01 -7.26120645e-02 -2.03073028e+02] [-1.25445108e-01 -1.58564000e-03 9.92099295e-01 -9.27768012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.07, Y:-203.09, Z:-927.77 [[ 8.00814101e-01 5.90158519e-01 1.02027925e-01 4.11065904e+02] [-5.85696000e-01 8.07285529e-01 -7.24587561e-02 -2.03091001e+02] [-1.25127820e-01 -1.73135402e-03 9.92139119e-01 -9.27772243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-203.11, Z:-927.78 [[ 7.99912920e-01 5.91470471e-01 1.01498782e-01 4.11092153e+02] [-5.87059728e-01 8.06324436e-01 -7.21233605e-02 -2.03109120e+02] [-1.24499786e-01 -1.89343952e-03 9.92217828e-01 -9.27776860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:411.12, Y:-203.13, Z:-927.78 [[ 7.98913885e-01 5.92882654e-01 1.01127463e-01 4.11118911e+02] [-5.88510671e-01 8.05286196e-01 -7.18980765e-02 -2.03127768e+02] [-1.24063672e-01 -2.07421933e-03 9.92272091e-01 -9.27781784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-203.15, Z:-927.79 [[ 7.97805468e-01 5.94448477e-01 1.00684868e-01 4.11144506e+02] [-5.90121814e-01 8.04130491e-01 -7.16268010e-02 -2.03145788e+02] [-1.23542215e-01 -2.27208369e-03 9.92336716e-01 -9.27786136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:-203.14, Z:-927.81 [[ 7.98372508e-01 5.95434161e-01 8.97747097e-02 4.11177015e+02] [-5.87471450e-01 8.02920323e-01 -1.00976487e-01 -2.03143850e+02] [-1.32206789e-01 2.78767727e-02 9.90830082e-01 -9.27814411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-203.20, Z:-927.78 [[ 7.95922461e-01 5.93604416e-01 1.18916919e-01 4.11187634e+02] [-5.92888434e-01 8.04015591e-01 -4.51910841e-02 -2.03196557e+02] [-1.22436684e-01 -3.45358673e-02 9.91875261e-01 -9.27781723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:411.22, Y:-203.20, Z:-927.80 [[ 7.95151246e-01 5.98066017e-01 1.00257346e-01 4.11221175e+02] [-5.93793008e-01 8.01442141e-01 -7.14168013e-02 -2.03201497e+02] [-1.23062424e-01 -2.74495218e-03 9.92395136e-01 -9.27797537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.25, Y:-203.22, Z:-927.80 [[ 7.94766076e-01 5.98523309e-01 1.00581969e-01 4.11247228e+02] [-5.94221146e-01 8.01100524e-01 -7.16880713e-02 -2.03220170e+02] [-1.23483250e-01 -2.79268604e-03 9.92342727e-01 -9.27801928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-203.24, Z:-927.81 [[ 7.94659726e-01 5.98645812e-01 1.00693156e-01 4.11273813e+02] [-5.94330161e-01 8.01009018e-01 -7.18067833e-02 -2.03239167e+02] [-1.23642956e-01 -2.78302076e-03 9.92322868e-01 -9.27806379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-203.26, Z:-927.81 [[ 7.94931228e-01 5.98224254e-01 1.01054864e-01 4.11300050e+02] [-5.93868730e-01 8.01324210e-01 -7.21071608e-02 -2.03258262e+02] [-1.24113961e-01 -2.69308972e-03 9.92264316e-01 -9.27811310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:-203.28, Z:-927.82 [[ 7.95417164e-01 5.97528322e-01 1.01348112e-01 4.11326306e+02] [-5.93136351e-01 8.01843729e-01 -7.23595527e-02 -2.03277774e+02] [-1.24502230e-01 -2.55721935e-03 9.92216033e-01 -9.27815561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.35, Y:-203.29, Z:-927.83 [[ 7.97650845e-01 5.94931938e-01 9.90409981e-02 4.11353057e+02] [-5.89332532e-01 8.03747205e-01 -8.17165616e-02 -2.03291402e+02] [-1.28219718e-01 6.81320217e-03 9.91722383e-01 -9.27827334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.37, Y:-203.32, Z:-927.82 [[ 7.98052980e-01 5.92926744e-01 1.07467750e-01 4.11374000e+02] [-5.89445868e-01 8.05176371e-01 -6.51504537e-02 -2.03320671e+02] [-1.25159940e-01 -1.13529076e-02 9.92071621e-01 -9.27819944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.40, Y:-203.34, Z:-927.83 [[ 7.98837938e-01 5.92838621e-01 1.01981955e-01 4.11401718e+02] [-5.88336638e-01 8.05319425e-01 -7.29426111e-02 -2.03335920e+02] [-1.25371246e-01 -1.73039561e-03 9.92108390e-01 -9.27827557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.43, Y:-203.36, Z:-927.83 [[ 7.99590936e-01 5.91727092e-01 1.02534795e-01 4.11428122e+02] [-5.87161683e-01 8.06136901e-01 -7.33788417e-02 -2.03355889e+02] [-1.26077330e-01 -1.53144592e-03 9.92019235e-01 -9.27832186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.45, Y:-203.38, Z:-927.84 [[ 8.00165332e-01 5.90888313e-01 1.02890449e-01 4.11454547e+02] [-5.86278541e-01 8.06752211e-01 -7.36772872e-02 -2.03375503e+02] [-1.26542145e-01 -1.36845146e-03 9.91960288e-01 -9.27836644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.48, Y:-203.39, Z:-927.84 [[ 8.00831148e-01 5.89938531e-01 1.03160080e-01 4.11480864e+02] [-5.85291017e-01 8.07447288e-01 -7.39141512e-02 -2.03394891e+02] [-1.26901133e-01 -1.18591370e-03 9.91914662e-01 -9.27841402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.51, Y:-203.41, Z:-927.85 [[ 8.01635640e-01 5.88951786e-01 1.02548013e-01 4.11505889e+02] [-5.84345740e-01 8.08167569e-01 -7.35203132e-02 -2.03413618e+02] [-1.26175898e-01 -9.86991255e-04 9.92007394e-01 -9.27845663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.53, Y:-203.43, Z:-927.85 [[ 8.01819056e-01 5.88746270e-01 1.02293846e-01 4.11532460e+02] [-5.84158172e-01 8.08317365e-01 -7.33639410e-02 -2.03433081e+02] [-1.25878638e-01 -9.31179871e-04 9.92045211e-01 -9.27850589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.56, Y:-203.45, Z:-927.86 [[ 8.01767847e-01 5.88888883e-01 1.01873472e-01 4.11558453e+02] [-5.84334240e-01 8.08213492e-01 -7.31057296e-02 -2.03452001e+02] [-1.25386666e-01 -9.14334552e-04 9.92107529e-01 -9.27855280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.58, Y:-203.47, Z:-927.86 [[ 8.01733777e-01 5.89094416e-01 1.00949096e-01 4.11584412e+02] [-5.84618651e-01 8.08063707e-01 -7.24850277e-02 -2.03470760e+02] [-1.24273825e-01 -9.03029093e-04 9.92247550e-01 -9.27860009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.61, Y:-203.49, Z:-927.87 [[ 8.01146862e-01 5.90071988e-01 9.98937215e-02 4.11611239e+02] [-5.85529061e-01 8.07350634e-01 -7.30799093e-02 -2.03491600e+02] [-1.23771667e-01 5.70630121e-05 9.92310723e-01 -9.27866063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.64, Y:-203.50, Z:-927.87 [[ 8.01355328e-01 5.90872530e-01 9.32699914e-02 4.11636284e+02] [-5.85865550e-01 8.06733403e-01 -7.70893864e-02 -2.03504326e+02] [-1.20794018e-01 7.13231567e-03 9.92651971e-01 -9.27871670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.66, Y:-203.53, Z:-927.87 [[ 8.02430488e-01 5.87290237e-01 1.05808736e-01 4.11659448e+02] [-5.83922820e-01 8.09306095e-01 -6.37007414e-02 -2.03532054e+02] [-1.23042479e-01 -1.06687185e-02 9.92344057e-01 -9.27869868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.69, Y:-203.55, Z:-927.88 [[ 8.02834427e-01 5.87726130e-01 1.00174248e-01 4.11687574e+02] [-5.83293983e-01 8.09059730e-01 -7.20449984e-02 -2.03546832e+02] [-1.23389678e-01 -5.90831359e-04 9.92358120e-01 -9.27877945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.72, Y:-203.56, Z:-927.90 [[ 8.03283806e-01 5.88437926e-01 9.20648431e-02 4.11718597e+02] [-5.81648468e-01 8.08300129e-01 -9.13014801e-02 -2.03557408e+02] [-1.28141278e-01 1.97916254e-02 9.91558422e-01 -9.27896265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.73, Y:-203.59, Z:-927.88 [[ 8.04514442e-01 5.83088081e-01 1.12981426e-01 4.11733757e+02] [-5.80716607e-01 8.12155293e-01 -5.63205374e-02 -2.03593722e+02] [-1.24598298e-01 -2.02995049e-02 9.91999594e-01 -9.27878314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.76, Y:-203.60, Z:-927.89 [[ 8.05225534e-01 5.84126295e-01 1.02021132e-01 4.11764513e+02] [-5.79489341e-01 8.11662782e-01 -7.34549684e-02 -2.03604771e+02] [-1.25713734e-01 2.76577646e-05 9.92066559e-01 -9.27889932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.79, Y:-203.63, Z:-927.89 [[ 8.06736900e-01 5.81656095e-01 1.04171794e-01 4.11790678e+02] [-5.76794406e-01 8.13434679e-01 -7.50482227e-02 -2.03625001e+02] [-1.28389206e-01 4.58462582e-04 9.91723753e-01 -9.27894264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.576559995 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:411.82, Y:-203.63, Z:-927.92 [[ 8.07395539e-01 5.82752955e-01 9.22574492e-02 4.11824143e+02] [-5.74664804e-01 8.12153073e-01 -1.00835261e-01 -2.03631624e+02] [-1.33689217e-01 2.83968314e-02 9.90616381e-01 -9.27916785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:411.91, Y:-203.87, Z:-927.06 [[ 8.09210151e-01 -3.88776844e-02 5.86231573e-01 4.11908081e+02] [-5.82724355e-01 7.41093597e-02 8.09283713e-01 -2.03870232e+02] [-7.49083233e-02 -9.96492011e-01 3.73150726e-02 -9.27057814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.45, Y:-203.14, Z:-926.94 [[ 8.48059288e-01 -5.24638394e-01 -7.44983209e-02 4.12452396e+02] [-5.24664808e-01 -8.51054877e-01 2.07951080e-02 -2.03135112e+02] [-7.43120714e-02 2.14511627e-02 -9.97004295e-01 -9.26939477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.45, Y:-203.15, Z:-926.93 [[ 8.86609818e-01 -4.58112044e-01 -6.36897575e-02 4.12447266e+02] [-4.56520546e-01 -8.88880137e-01 3.84849734e-02 -2.03152921e+02] [-7.42429903e-02 -5.04547245e-03 -9.97227417e-01 -9.26931803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.46, Y:-203.13, Z:-926.94 [[ 9.19146643e-01 -3.84277493e-01 -8.66040235e-02 4.12462201e+02] [-3.86901315e-01 -9.21995757e-01 -1.52051524e-02 -2.03129415e+02] [-7.40055444e-02 4.74829754e-02 -9.96126772e-01 -9.26944927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.00, Z:-927.11 [[ 9.42551439e-01 -2.61644201e-01 -2.07699538e-01 4.12505092e+02] [-3.18172823e-01 -8.92579448e-01 -3.19480805e-01 -2.03000619e+02] [-1.01798040e-01 3.67211440e-01 -9.24550116e-01 -9.27110305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.756559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.47, Y:-203.16, Z:-926.94 [[ 9.65040856e-01 -2.42559223e-01 -9.93034249e-02 4.12471787e+02] [-2.40512562e-01 -9.70109447e-01 3.22702389e-02 -2.03159747e+02] [-1.04162635e-01 -7.25837779e-03 -9.94533791e-01 -9.26939267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.47, Y:-203.16, Z:-926.94 [[ 9.81053065e-01 -1.64750606e-01 -1.01941753e-01 4.12473849e+02] [-1.63095800e-01 -9.86308026e-01 2.44179676e-02 -2.03162886e+02] [-1.04568844e-01 -7.32905010e-03 -9.94490645e-01 -9.26942428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.816559995 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:412.48, Y:-203.12, Z:-926.96 [[ 9.90563508e-01 -8.22077096e-02 -1.09662341e-01 4.12483845e+02] [-8.69819987e-02 -9.95427303e-01 -3.94793249e-02 -2.03115073e+02] [-1.05915383e-01 4.86454281e-02 -9.93184552e-01 -9.26959940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.48, Y:-202.95, Z:-927.15 [[ 9.90886703e-01 3.84765398e-02 -1.29085626e-01 4.12482142e+02] [-1.79919561e-02 -9.11938915e-01 -4.09931342e-01 -2.02949884e+02] [-1.33490945e-01 4.08518018e-01 -9.02935876e-01 -9.27149127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.876559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:412.48, Y:-202.95, Z:-927.16 [[ 9.84936922e-01 1.16062230e-01 -1.28174952e-01 4.12480154e+02] [ 5.32184322e-02 -9.08753016e-01 -4.13927233e-01 -2.02948235e+02] [-1.64520692e-01 4.00870945e-01 -9.01241049e-01 -9.27161015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.52, Y:-203.12, Z:-926.97 [[ 9.77024826e-01 1.35449904e-01 -1.64547296e-01 4.12518964e+02] [ 1.35654944e-01 -9.90705233e-01 -1.00437989e-02 -2.03121521e+02] [-1.64378298e-01 -1.25086134e-02 -9.86318057e-01 -9.26972011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9365599950002 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.10, Z:-926.98 [[ 9.62908848e-01 2.14999062e-01 -1.63039731e-01 4.12513392e+02] [ 2.13070524e-01 -9.76593316e-01 -2.94354867e-02 -2.03095396e+02] [-1.65552114e-01 -6.39527034e-03 -9.86180307e-01 -9.26979291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.50, Y:-203.06, Z:-926.99 [[ 9.43048288e-01 2.95925501e-01 -1.51947441e-01 4.12502081e+02] [ 2.88354895e-01 -9.54949430e-01 -7.01643804e-02 -2.03060275e+02] [-1.65865552e-01 2.23536104e-02 -9.85894992e-01 -9.26994731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.08, Z:-926.99 [[ 9.17198037e-01 3.65599117e-01 -1.58382595e-01 4.12507986e+02] [ 3.62550895e-01 -9.30686119e-01 -4.87872626e-02 -2.03079201e+02] [-1.65241063e-01 -1.26741701e-02 -9.86171768e-01 -9.26986623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.08, Z:-926.99 [[ 8.85649724e-01 4.38227729e-01 -1.53561145e-01 4.12507350e+02] [ 4.34142822e-01 -8.98775271e-01 -6.10165730e-02 -2.03079316e+02] [-1.64756114e-01 -1.26281578e-02 -9.86253493e-01 -9.26991133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.08, Z:-926.99 [[ 8.48769020e-01 5.07838915e-01 -1.47277925e-01 4.12507619e+02] [ 5.02797709e-01 -8.61360779e-01 -7.24711764e-02 -2.03082021e+02] [-1.63663111e-01 -1.25397137e-02 -9.86436588e-01 -9.26994880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.09, Z:-927.00 [[ 8.06611349e-01 5.74141114e-01 -1.40499511e-01 4.12509231e+02] [ 5.68163357e-01 -8.18662097e-01 -8.35629721e-02 -2.03085161e+02] [-1.62998562e-01 -1.24238321e-02 -9.86548082e-01 -9.26999370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.09, Z:-927.00 [[ 7.59573016e-01 6.36771969e-01 -1.32552983e-01 4.12509701e+02] [ 6.29952723e-01 -7.70954198e-01 -9.37506857e-02 -2.03089008e+02] [-1.61890087e-01 -1.22916215e-02 -9.86732241e-01 -9.27003094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.09, Z:-927.01 [[ 7.07431916e-01 6.95767822e-01 -1.24286859e-01 4.12511270e+02] [ 6.88119560e-01 -7.18162615e-01 -1.03604676e-01 -2.03091390e+02] [-1.61342976e-01 -1.22309646e-02 -9.86822602e-01 -9.27007035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-203.09, Z:-927.01 [[ 6.50694469e-01 7.50536904e-01 -1.15286876e-01 4.12511279e+02] [ 7.42123716e-01 -6.60715778e-01 -1.12725561e-01 -2.03093834e+02] [-1.60776551e-01 -1.22072262e-02 -9.86915338e-01 -9.27011051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.49, Y:-203.07, Z:-927.03 [[ 5.91261980e-01 8.03849169e-01 -6.50829038e-02 4.12486490e+02] [ 7.90340538e-01 -5.93603725e-01 -1.51645811e-01 -2.03074847e+02] [-1.60533813e-01 3.82247453e-02 -9.86289898e-01 -9.27025400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.36, Y:-203.01, Z:-927.18 [[ 5.29898522e-01 8.22784998e-01 2.05505242e-01 4.12359702e+02] [ 8.27692853e-01 -4.48967871e-01 -3.36678470e-01 -2.03010616e+02] [-1.84748743e-01 3.48500644e-01 -9.18920673e-01 -9.27178200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.02, Y:-203.58, Z:-928.00 [[ 5.30451226e-01 -8.40432538e-01 1.10881226e-01 4.13021081e+02] [ 8.28991432e-01 5.41617457e-01 1.39369064e-01 -2.03580198e+02] [-1.77185504e-01 1.79910951e-02 9.84013017e-01 -9.28003611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.04, Y:-203.56, Z:-928.01 [[ 5.30575141e-01 -8.41108460e-01 1.05007520e-01 4.13037749e+02] [ 8.28536806e-01 5.40774927e-01 1.45221348e-01 -2.03558233e+02] [-1.78932339e-01 9.95175839e-03 9.83811049e-01 -9.28011235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.06, Y:-203.54, Z:-928.00 [[ 5.33092051e-01 -8.41675272e-01 8.59976893e-02 4.13062972e+02] [ 8.27452067e-01 5.39867937e-01 1.54485236e-01 -2.03539017e+02] [-1.76453798e-01 -1.11958854e-02 9.84245249e-01 -9.28004828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.07, Y:-203.51, Z:-928.01 [[ 5.34422405e-01 -8.39895499e-01 9.47008149e-02 4.13072399e+02] [ 8.26623448e-01 5.42746819e-01 1.48726482e-01 -2.03513687e+02] [-1.76313269e-01 -1.20085009e-03 9.84333373e-01 -9.28013809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.08, Y:-203.49, Z:-928.03 [[ 5.34253414e-01 -8.39017260e-01 1.03069528e-01 4.13081776e+02] [ 8.26313319e-01 5.44055021e-01 1.45638019e-01 -2.03487857e+02] [-1.78268305e-01 7.36011471e-03 9.83954389e-01 -9.28026477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.11, Y:-203.47, Z:-928.02 [[ 5.36873015e-01 -8.39133025e-01 8.73105520e-02 4.13105422e+02] [ 8.25016670e-01 5.43825959e-01 1.53625588e-01 -2.03468054e+02] [-1.76394049e-01 -1.04447720e-02 9.84264216e-01 -9.28022005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.12, Y:-203.44, Z:-928.03 [[ 5.37974372e-01 -8.37609729e-01 9.48341583e-02 4.13116339e+02] [ 8.24223891e-01 5.46265149e-01 1.49162212e-01 -2.03442593e+02] [-1.76744315e-01 -2.08086847e-03 9.84254600e-01 -9.28030306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.13, Y:-203.42, Z:-928.04 [[ 5.39604188e-01 -8.35954113e-01 1.00040202e-01 4.13127861e+02] [ 8.23531846e-01 5.48777767e-01 1.43660231e-01 -2.03416522e+02] [-1.74993199e-01 4.86663014e-03 9.84557615e-01 -9.28038147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.15, Y:-203.40, Z:-928.04 [[ 5.40305256e-01 -8.36708487e-01 8.93819809e-02 4.13148563e+02] [ 8.22529759e-01 5.47565902e-01 1.53676215e-01 -2.03397188e+02] [-1.77524718e-01 -9.51272749e-03 9.84070365e-01 -9.28038077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.16, Y:-203.37, Z:-928.05 [[ 5.40767658e-01 -8.35757283e-01 9.52895767e-02 4.13160259e+02] [ 8.22173466e-01 5.49091791e-01 1.50096627e-01 -2.03372903e+02] [-1.77767074e-01 -2.82284015e-03 9.84068544e-01 -9.28045342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.17, Y:-203.35, Z:-928.05 [[ 5.41081866e-01 -8.35554477e-01 9.52844682e-02 4.13174591e+02] [ 8.21952013e-01 5.49399728e-01 1.50182649e-01 -2.03350622e+02] [-1.77835046e-01 -2.94184753e-03 9.84055914e-01 -9.28050185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.596559995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:413.19, Y:-203.33, Z:-928.06 [[ 5.41288669e-01 -8.34626813e-01 1.02003239e-01 4.13187655e+02] [ 8.21546828e-01 5.50800566e-01 1.47239757e-01 -2.03325144e+02] [-1.79073691e-01 4.10122540e-03 9.83827116e-01 -9.28060350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.21, Y:-203.31, Z:-928.06 [[ 5.41829399e-01 -8.35703084e-01 8.95614758e-02 4.13207200e+02] [ 8.21566126e-01 5.49099112e-01 1.53359922e-01 -2.03306222e+02] [-1.77341487e-01 -9.51423961e-03 9.84103387e-01 -9.28057778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.22, Y:-203.28, Z:-928.07 [[ 5.42442434e-01 -8.34749092e-01 9.46052799e-02 4.13218550e+02] [ 8.21287063e-01 5.50620532e-01 1.49347213e-01 -2.03281927e+02] [-1.76759060e-01 -3.31417353e-03 9.84248572e-01 -9.28065865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.23, Y:-203.26, Z:-928.07 [[ 5.42489956e-01 -8.34751426e-01 9.43117485e-02 4.13232521e+02] [ 8.21356510e-01 5.50616741e-01 1.48978817e-01 -2.03259389e+02] [-1.76289907e-01 -3.35594313e-03 9.84332569e-01 -9.28071473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.25, Y:-203.24, Z:-928.08 [[ 5.42489018e-01 -8.34799127e-01 9.38939992e-02 4.13247359e+02] [ 8.21515511e-01 5.50544438e-01 1.48368083e-01 -2.03235777e+02] [-1.75550365e-01 -3.35267884e-03 9.84464742e-01 -9.28076991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:413.26, Y:-203.21, Z:-928.09 [[ 5.41740094e-01 -8.34634247e-01 9.95155449e-02 4.13258290e+02] [ 8.22590611e-01 5.50779336e-01 1.41374713e-01 -2.03210023e+02] [-1.72807283e-01 5.27220229e-03 9.84941545e-01 -9.28085216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.28, Y:-203.19, Z:-928.08 [[ 5.41707924e-01 -8.36073722e-01 8.67943398e-02 4.13280316e+02] [ 8.22251123e-01 5.48509625e-01 1.51790258e-01 -2.03190923e+02] [-1.74515377e-01 -1.08592424e-02 9.84594566e-01 -9.28084917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.29, Y:-203.17, Z:-928.09 [[ 5.40887761e-01 -8.35886621e-01 9.34558047e-02 4.13292053e+02] [ 8.22705309e-01 5.48893348e-01 1.47892078e-01 -2.03166082e+02] [-1.74918279e-01 -3.10642826e-03 9.84578055e-01 -9.28092569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.29, Y:-203.14, Z:-928.11 [[ 5.36301075e-01 -8.36519624e-01 1.12321305e-01 4.13294291e+02] [ 8.24483948e-01 5.47695112e-01 1.42324574e-01 -2.03140919e+02] [-1.80575129e-01 1.62782907e-02 9.83426479e-01 -9.28110178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.33, Y:-203.12, Z:-928.09 [[ 5.37886127e-01 -8.39519486e-01 7.67173219e-02 4.13332721e+02] [ 8.24429192e-01 5.42848114e-01 1.60101319e-01 -2.03124439e+02] [-1.76054031e-01 -2.28682789e-02 9.84114841e-01 -9.28093878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.32, Y:-203.09, Z:-928.13 [[ 5.32313943e-01 -8.37841973e-01 1.21089611e-01 4.13319614e+02] [ 8.26171449e-01 5.45353617e-01 1.41527985e-01 -2.03093929e+02] [-1.84614743e-01 2.47034598e-02 9.82500451e-01 -9.28125041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:413.37, Y:-203.08, Z:-928.10 [[ 5.35379395e-01 -8.41708733e-01 6.99665083e-02 4.13367438e+02] [ 8.25832806e-01 5.39047787e-01 1.65612983e-01 -2.03080210e+02] [-1.77113185e-01 -3.08851408e-02 9.83705763e-01 -9.28099855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.37, Y:-203.05, Z:-928.12 [[ 5.34560446e-01 -8.39808307e-01 9.46949677e-02 4.13369026e+02] [ 8.26280594e-01 5.42879312e-01 1.50141376e-01 -2.03051843e+02] [-1.77497913e-01 -2.01502645e-03 9.84119114e-01 -9.28115386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.37, Y:-203.03, Z:-928.13 [[ 5.30237331e-01 -8.40248915e-01 1.13270179e-01 4.13370110e+02] [ 8.27812193e-01 5.41938245e-01 1.45016940e-01 -2.03026343e+02] [-1.83235768e-01 1.68730398e-02 9.82924185e-01 -9.28134543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.016559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.41, Y:-203.01, Z:-928.12 [[ 5.32715527e-01 -8.42753690e-01 7.73329553e-02 4.13408017e+02] [ 8.27576277e-01 5.37865947e-01 1.60678962e-01 -2.03009757e+02] [-1.77007551e-01 -2.15972585e-02 9.83972502e-01 -9.28119452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.41, Y:-202.98, Z:-928.13 [[ 5.32728477e-01 -8.41024015e-01 9.42283189e-02 4.13413364e+02] [ 8.27619849e-01 5.40995141e-01 1.49564847e-01 -2.02983158e+02] [-1.76764691e-01 -1.69222593e-03 9.84251686e-01 -9.28131977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.076559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.43, Y:-202.96, Z:-928.14 [[ 5.32405456e-01 -8.41260226e-01 9.39449982e-02 4.13428277e+02] [ 8.27929810e-01 5.40627907e-01 1.49176730e-01 -2.02959462e+02] [-1.76285737e-01 -1.64264024e-03 9.84337666e-01 -9.28137468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.44, Y:-202.94, Z:-928.14 [[ 5.32624556e-01 -8.41153438e-01 9.36588280e-02 4.13442302e+02] [ 8.27886057e-01 5.40793784e-01 1.48817873e-01 -2.02937333e+02] [-1.75828778e-01 -1.72521592e-03 9.84419253e-01 -9.28142518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.46, Y:-202.91, Z:-928.15 [[ 5.32662104e-01 -8.41168249e-01 9.33116319e-02 4.13457172e+02] [ 8.27991204e-01 5.40770696e-01 1.48315947e-01 -2.02913837e+02] [-1.75218861e-01 -1.74107358e-03 9.84527968e-01 -9.28147703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.47, Y:-202.89, Z:-928.15 [[ 5.32503759e-01 -8.41286892e-01 9.31456526e-02 4.13472053e+02] [ 8.28142774e-01 5.40586079e-01 1.48142627e-01 -2.02890131e+02] [-1.74983693e-01 -1.74860679e-03 9.84569779e-01 -9.28152920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.49, Y:-202.87, Z:-928.16 [[ 5.33011712e-01 -8.40992465e-01 9.28988118e-02 4.13486564e+02] [ 8.27897854e-01 5.41043529e-01 1.47841276e-01 -2.02867172e+02] [-1.74595700e-01 -1.89040475e-03 9.84638395e-01 -9.28158130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.50, Y:-202.84, Z:-928.16 [[ 5.33197300e-01 -8.40904235e-01 9.26321060e-02 4.13500540e+02] [ 8.27867601e-01 5.41180385e-01 1.47509412e-01 -2.02844651e+02] [-1.74171968e-01 -1.96450101e-03 9.84713292e-01 -9.28163235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.52, Y:-202.82, Z:-928.17 [[ 5.33238905e-01 -8.40882269e-01 9.25920105e-02 4.13515190e+02] [ 8.27848259e-01 5.41214396e-01 1.47493182e-01 -2.02821835e+02] [-1.74136531e-01 -1.99696834e-03 9.84719494e-01 -9.28168424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.51, Y:-202.79, Z:-928.20 [[ 5.28146599e-01 -8.40227073e-01 1.22799168e-01 4.13507422e+02] [ 8.29407284e-01 5.41447494e-01 1.37543336e-01 -2.02794371e+02] [-1.82056936e-01 2.92074789e-02 9.82854107e-01 -9.28195511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.56, Y:-202.78, Z:-928.17 [[ 5.33014158e-01 -8.43718640e-01 6.35197921e-02 4.13559924e+02] [ 8.28214891e-01 5.35627723e-01 1.64812125e-01 -2.02782221e+02] [-1.73078023e-01 -3.52391581e-02 9.84277501e-01 -9.28166145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.54, Y:-202.75, Z:-928.20 [[ 5.28518297e-01 -8.40546752e-01 1.18951959e-01 4.13539518e+02] [ 8.29367631e-01 5.41151534e-01 1.38940095e-01 -2.02748569e+02] [-1.81156681e-01 2.52225217e-02 9.83130755e-01 -9.28203153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.59, Y:-202.73, Z:-928.18 [[ 5.32413301e-01 -8.43778952e-01 6.76251239e-02 4.13586778e+02] [ 8.28470507e-01 5.35811200e-01 1.62920157e-01 -2.02734577e+02] [-1.73702898e-01 -3.07154378e-02 9.84318986e-01 -9.28177902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.59, Y:-202.70, Z:-928.19 [[ 5.32270223e-01 -8.41488957e-01 9.26538996e-02 4.13588221e+02] [ 8.28388257e-01 5.40270686e-01 1.47920524e-01 -2.02704987e+02] [-1.74531673e-01 -1.98028784e-03 9.84649569e-01 -9.28193670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.60, Y:-202.68, Z:-928.20 [[ 5.32119877e-01 -8.41587085e-01 9.26262175e-02 4.13601948e+02] [ 8.28478591e-01 5.40117744e-01 1.47973130e-01 -2.02682402e+02] [-1.74561339e-01 -2.00060561e-03 9.84644269e-01 -9.28198478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.60, Y:-202.66, Z:-928.22 [[ 5.27693234e-01 -8.41386874e-01 1.16653246e-01 4.13598698e+02] [ 8.29847400e-01 5.39962106e-01 1.40691924e-01 -2.02655384e+02] [-1.81364671e-01 2.25622164e-02 9.83157059e-01 -9.28221891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.64, Y:-202.64, Z:-928.20 [[ 5.30871827e-01 -8.44564935e-01 6.98940227e-02 4.13643121e+02] [ 8.29401300e-01 5.34725994e-01 1.61745464e-01 -2.02640492e+02] [-1.73978698e-01 -2.78959167e-02 9.84354220e-01 -9.28199172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.65, Y:-202.61, Z:-928.21 [[ 5.29992685e-01 -8.43005012e-01 9.19255355e-02 4.13645985e+02] [ 8.30096543e-01 5.37903372e-01 1.46968334e-01 -2.02612044e+02] [-1.73342098e-01 -1.58507273e-03 9.84860399e-01 -9.28214234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.66, Y:-202.59, Z:-928.22 [[ 5.29199439e-01 -8.43522230e-01 9.17507610e-02 4.13659934e+02] [ 8.30654136e-01 5.37092266e-01 1.46784210e-01 -2.02589796e+02] [-1.73094368e-01 -1.46497249e-03 9.84904155e-01 -9.28219137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.67, Y:-202.57, Z:-928.22 [[ 5.27854636e-01 -8.44371782e-01 9.16830228e-02 4.13674721e+02] [ 8.31526919e-01 5.35756310e-01 1.46724779e-01 -2.02566288e+02] [-1.73010021e-01 -1.21245315e-03 9.84919318e-01 -9.28224223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.69, Y:-202.54, Z:-928.23 [[ 5.27067119e-01 -8.44857227e-01 9.17415857e-02 4.13688732e+02] [ 8.31986323e-01 5.34990695e-01 1.46913968e-01 -2.02543333e+02] [-1.73202222e-01 -1.10577715e-03 9.84885662e-01 -9.28229061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.70, Y:-202.52, Z:-928.23 [[ 5.26848679e-01 -8.44995879e-01 9.17193290e-02 4.13703556e+02] [ 8.32124642e-01 5.34771712e-01 1.46927861e-01 -2.02519462e+02] [-1.73202340e-01 -1.08683577e-03 9.84885663e-01 -9.28234280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.72, Y:-202.50, Z:-928.24 [[ 5.26329604e-01 -8.45303271e-01 9.18669035e-02 4.13718189e+02] [ 8.32379768e-01 5.34285795e-01 1.47250168e-01 -2.02495581e+02] [-1.73554231e-01 -1.03397108e-03 9.84823771e-01 -9.28239266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.73, Y:-202.47, Z:-928.24 [[ 5.25586213e-01 -8.45747683e-01 9.20325479e-02 4.13732376e+02] [ 8.32767395e-01 5.33582209e-01 1.47609258e-01 -2.02471862e+02] [-1.73947118e-01 -9.39685691e-04 9.84754547e-01 -9.28244310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.75, Y:-202.45, Z:-928.25 [[ 5.25150384e-01 -8.46024641e-01 9.19748962e-02 4.13745855e+02] [ 8.33047674e-01 5.33143035e-01 1.47614624e-01 -2.02449268e+02] [-1.73921384e-01 -9.00402922e-04 9.84759129e-01 -9.28248888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.76, Y:-202.43, Z:-928.25 [[ 5.24640739e-01 -8.46308350e-01 9.22728197e-02 4.13760198e+02] [ 8.33241800e-01 5.32692667e-01 1.48143935e-01 -2.02425752e+02] [-1.74528504e-01 -8.36773229e-04 9.84651767e-01 -9.28254445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.77, Y:-202.40, Z:-928.26 [[ 5.24365920e-01 -8.46493222e-01 9.21390603e-02 4.13774106e+02] [ 8.33450727e-01 5.32398857e-01 1.48024809e-01 -2.02403398e+02] [-1.74356728e-01 -8.25798352e-04 9.84682207e-01 -9.28259301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:413.77, Y:-202.38, Z:-928.28 [[ 5.20629057e-01 -8.45968346e-01 1.15251654e-01 4.13771754e+02] [ 8.34605979e-01 5.32726607e-01 1.40125736e-01 -2.02376719e+02] [-1.79939559e-01 2.32361903e-02 9.83403190e-01 -9.28281491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.856559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.81, Y:-202.36, Z:-928.26 [[ 5.24117302e-01 -8.48748224e-01 7.01961922e-02 4.13814698e+02] [ 8.33726013e-01 5.28162620e-01 1.61075082e-01 -2.02361877e+02] [-1.73787195e-01 -2.58978461e-02 9.84442641e-01 -9.28260103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.82, Y:-202.33, Z:-928.27 [[ 5.24082433e-01 -8.46702519e-01 9.18283558e-02 4.13818012e+02] [ 8.33721706e-01 5.32065907e-01 1.47695593e-01 -2.02332882e+02] [-1.73912968e-01 -8.45372505e-04 9.84760664e-01 -9.28274598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.83, Y:-202.31, Z:-928.28 [[ 5.24014257e-01 -8.46750898e-01 9.17713261e-02 4.13832725e+02] [ 8.33771585e-01 5.31988863e-01 1.47691552e-01 -2.02308988e+02] [-1.73879278e-01 -8.76154965e-04 9.84766586e-01 -9.28279722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:413.85, Y:-202.28, Z:-928.28 [[ 5.23884112e-01 -8.46858931e-01 9.15171471e-02 4.13847280e+02] [ 8.33937104e-01 5.31816849e-01 1.47376206e-01 -2.02284997e+02] [-1.73477217e-01 -8.88508336e-04 9.84837482e-01 -9.28284493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.86, Y:-202.26, Z:-928.29 [[ 5.23935694e-01 -8.46821375e-01 9.15693653e-02 4.13861087e+02] [ 8.33867100e-01 5.31876537e-01 1.47556799e-01 -2.02261947e+02] [-1.73657848e-01 -9.53592650e-04 9.84805586e-01 -9.28289451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.86, Y:-202.23, Z:-928.31 [[ 5.20406894e-01 -8.46026291e-01 1.15828236e-01 4.13857660e+02] [ 8.34732599e-01 5.32604558e-01 1.39835161e-01 -2.02234325e+02] [-1.79994870e-01 2.39144228e-02 9.83376809e-01 -9.28312496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.89, Y:-202.22, Z:-928.30 [[ 5.21912735e-01 -8.48711233e-01 8.54186168e-02 4.13889622e+02] [ 8.34358730e-01 5.28761694e-01 1.55745242e-01 -2.02216534e+02] [-1.77348829e-01 -1.00156563e-02 9.84097089e-01 -9.28302646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.91, Y:-202.19, Z:-928.30 [[ 5.24262656e-01 -8.48171386e-01 7.58549104e-02 4.13911705e+02] [ 8.33768505e-01 5.29382654e-01 1.56793133e-01 -2.02193316e+02] [-1.73143723e-01 -1.89553492e-02 9.84714144e-01 -9.28297889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.92, Y:-202.17, Z:-928.31 [[ 5.24159052e-01 -8.46736933e-01 9.10706030e-02 4.13917626e+02] [ 8.33889648e-01 5.32010715e-01 1.46944391e-01 -2.02166241e+02] [-1.72873780e-01 -1.07939966e-03 9.84943395e-01 -9.28309045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:413.93, Y:-202.14, Z:-928.31 [[ 5.23780422e-01 -8.46984932e-01 9.09428076e-02 4.13931994e+02] [ 8.34161445e-01 5.31615868e-01 1.46830698e-01 -2.02142513e+02] [-1.72710028e-01 -1.04606129e-03 9.84972158e-01 -9.28314146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.93, Y:-202.11, Z:-928.34 [[ 5.19407003e-01 -8.46526169e-01 1.16661091e-01 4.13928496e+02] [ 8.35486475e-01 5.31737695e-01 1.38626745e-01 -2.02114840e+02] [-1.79384267e-01 2.54650617e-02 9.83449447e-01 -9.28337488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.96, Y:-202.10, Z:-928.33 [[ 5.19393489e-01 -8.50078886e-01 8.71567063e-02 4.13959453e+02] [ 8.35800134e-01 5.26596985e-01 1.55350416e-01 -2.02097944e+02] [-1.77956567e-01 -7.84240768e-03 9.84007092e-01 -9.28328991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.97, Y:-202.07, Z:-928.34 [[ 5.17584547e-01 -8.50615733e-01 9.25154716e-02 4.13970693e+02] [ 8.37041399e-01 5.25787088e-01 1.51359293e-01 -2.02072237e+02] [-1.77392036e-01 -9.01951411e-04 9.84139854e-01 -9.28336466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.00, Y:-202.05, Z:-928.32 [[ 5.18914225e-01 -8.51858472e-01 7.11700155e-02 4.13999404e+02] [ 8.37334544e-01 5.23287609e-01 1.58243292e-01 -2.02052049e+02] [-1.72043276e-01 -2.25215826e-02 9.84831909e-01 -9.28324902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.00, Y:-202.02, Z:-928.34 [[ 5.17654923e-01 -8.50739153e-01 9.09740347e-02 4.14003193e+02] [ 8.37901908e-01 5.25588141e-01 1.47232809e-01 -2.02024812e+02] [-1.73071589e-01 1.15290276e-05 9.84909247e-01 -9.28337331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.01, Y:-202.00, Z:-928.35 [[ 5.15183123e-01 -8.50318110e-01 1.07449809e-01 4.14008783e+02] [ 8.38468596e-01 5.26003752e-01 1.42444610e-01 -2.01998078e+02] [-1.77642234e-01 1.67082315e-02 9.83953287e-01 -9.28353681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.336559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:414.04, Y:-201.98, Z:-928.34 [[ 5.14953507e-01 -8.53692894e-01 7.76616282e-02 4.14039239e+02] [ 8.39159454e-01 5.20530248e-01 1.57669501e-01 -2.01981108e+02] [-1.75026559e-01 -1.60219731e-02 9.84433340e-01 -9.28340810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.05, Y:-201.95, Z:-928.35 [[ 5.14146223e-01 -8.52744361e-01 9.20908065e-02 4.14045236e+02] [ 8.39578035e-01 5.22328183e-01 1.49271539e-01 -2.01954894e+02] [-1.75392087e-01 5.70020176e-04 9.84498497e-01 -9.28351550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.06, Y:-201.93, Z:-928.36 [[ 5.13304929e-01 -8.53264423e-01 9.19667048e-02 4.14058139e+02] [ 8.40127757e-01 5.21478024e-01 1.49151007e-01 -2.01931280e+02] [-1.75223863e-01 7.03834224e-04 9.84528366e-01 -9.28356774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.07, Y:-201.90, Z:-928.37 [[ 5.12743309e-01 -8.52244422e-01 1.03796649e-01 4.14066841e+02] [ 8.39958149e-01 5.22983392e-01 1.44771127e-01 -2.01904479e+02] [-1.77664309e-01 1.29544147e-02 9.84005882e-01 -9.28371094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.08, Y:-201.88, Z:-928.38 [[ 5.12393407e-01 -8.53157859e-01 9.78502138e-02 4.14083867e+02] [ 8.40051978e-01 5.21620448e-01 1.49079786e-01 -2.01881680e+02] [-1.78229263e-01 5.81176623e-03 9.83971825e-01 -9.28375385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:-201.86, Z:-928.37 [[ 5.13349383e-01 -8.54723957e-01 7.69374356e-02 4.14107554e+02] [ 8.40296875e-01 5.18834672e-01 1.57199697e-01 -2.01862832e+02] [-1.74280156e-01 -1.60480809e-02 9.84565329e-01 -9.28366625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:-201.84, Z:-928.38 [[ 5.13571300e-01 -8.53196359e-01 9.11070387e-02 4.14113794e+02] [ 8.40256307e-01 5.21589584e-01 1.48032584e-01 -2.01835317e+02] [-1.73821344e-01 5.27977382e-04 9.84777062e-01 -9.28377566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.12, Y:-201.81, Z:-928.40 [[ 5.12858434e-01 -8.51350561e-01 1.10356015e-01 4.14116427e+02] [ 8.39625474e-01 5.24225775e-01 1.42184390e-01 -2.01809631e+02] [-1.78900228e-01 1.97372581e-02 9.83669228e-01 -9.28397265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.15, Y:-201.79, Z:-928.38 [[ 5.14972815e-01 -8.54053733e-01 7.34521712e-02 4.14150166e+02] [ 8.39483863e-01 5.19804938e-01 1.58334047e-01 -2.01791606e+02] [-1.73406585e-01 -1.98758174e-02 9.84649739e-01 -9.28379892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.15, Y:-201.76, Z:-928.39 [[ 5.15691940e-01 -8.51961921e-01 9.06791514e-02 4.14154574e+02] [ 8.39081895e-01 5.23603748e-01 1.47582824e-01 -2.01763930e+02] [-1.73214889e-01 -2.00383837e-05 9.84884055e-01 -9.28391994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.17, Y:-201.74, Z:-928.40 [[ 5.16003215e-01 -8.51775884e-01 9.06560863e-02 4.14168205e+02] [ 8.38883123e-01 5.23906315e-01 1.47639017e-01 -2.01739765e+02] [-1.73250650e-01 -1.32346827e-04 9.84877756e-01 -9.28397183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.18, Y:-201.72, Z:-928.40 [[ 5.16337513e-01 -8.51569619e-01 9.06904439e-02 4.14182345e+02] [ 8.38647292e-01 5.24241472e-01 1.47789035e-01 -2.01715607e+02] [-1.73396344e-01 -2.51727550e-04 9.84852093e-01 -9.28402519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.20, Y:-201.69, Z:-928.41 [[ 5.16744803e-01 -8.51326882e-01 9.06495965e-02 4.14196163e+02] [ 8.38396088e-01 5.24635487e-01 1.47816125e-01 -2.01691918e+02] [-1.73397836e-01 -3.82947256e-04 9.84851788e-01 -9.28407391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.21, Y:-201.67, Z:-928.41 [[ 5.17339387e-01 -8.50983582e-01 9.04814974e-02 4.14209807e+02] [ 8.38078817e-01 5.25192004e-01 1.47638935e-01 -2.01668949e+02] [-1.73158469e-01 -5.48809712e-04 9.84893824e-01 -9.28411795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.22, Y:-201.65, Z:-928.42 [[ 5.18145938e-01 -8.50469812e-01 9.06966724e-02 4.14223158e+02] [ 8.37486365e-01 5.26023324e-01 1.48040710e-01 -2.01645066e+02] [-1.73612720e-01 -7.49465940e-04 9.84813719e-01 -9.28416440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.24, Y:-201.62, Z:-928.42 [[ 5.18818266e-01 -8.50059508e-01 9.06997263e-02 4.14237379e+02] [ 8.37052131e-01 5.26685821e-01 1.48141068e-01 -2.01621008e+02] [-1.73698983e-01 -9.37892601e-04 9.84798347e-01 -9.28421286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.25, Y:-201.59, Z:-928.43 [[ 5.20120244e-01 -8.48484284e-01 9.77207813e-02 4.14251854e+02] [ 8.35946505e-01 5.29186129e-01 1.45449244e-01 -2.01593667e+02] [-1.75123879e-01 6.03824951e-03 9.84527890e-01 -9.28431956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.27, Y:-201.57, Z:-928.43 [[ 5.19954248e-01 -8.49822348e-01 8.63108206e-02 4.14267118e+02] [ 8.36209779e-01 5.27026981e-01 1.51643554e-01 -2.01573647e+02] [-1.74358212e-01 -6.67375799e-03 9.84659675e-01 -9.28429437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.28, Y:-201.55, Z:-928.44 [[ 5.21669007e-01 -8.48293370e-01 9.08834715e-02 4.14277390e+02] [ 8.35166228e-01 5.29523965e-01 1.48666549e-01 -2.01547958e+02] [-1.74237824e-01 -1.65192477e-03 9.84702215e-01 -9.28435931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.29, Y:-201.52, Z:-928.44 [[ 5.22348531e-01 -8.47876265e-01 9.08727153e-02 4.14291204e+02] [ 8.34729103e-01 5.30190951e-01 1.48744344e-01 -2.01524107e+02] [-1.74296690e-01 -1.84228937e-03 9.84691459e-01 -9.28440940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.30, Y:-201.50, Z:-928.45 [[ 5.23187664e-01 -8.47383829e-01 9.06383678e-02 4.14304631e+02] [ 8.34280556e-01 5.30976865e-01 1.48457144e-01 -2.01501252e+02] [-1.73927059e-01 -2.05311829e-03 9.84756398e-01 -9.28445560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:414.32, Y:-201.48, Z:-928.45 [[ 5.23835835e-01 -8.46999376e-01 9.04879901e-02 4.14318863e+02] [ 8.33923071e-01 5.31589286e-01 1.48273877e-01 -2.01477151e+02] [-1.73690327e-01 -2.21114726e-03 9.84797838e-01 -9.28450373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.33, Y:-201.45, Z:-928.46 [[ 5.24510932e-01 -8.46591779e-01 9.03916066e-02 4.14332634e+02] [ 8.33520900e-01 5.32237378e-01 1.48210270e-01 -2.01453017e+02] [-1.73583387e-01 -2.39461345e-03 9.84816264e-01 -9.28455200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.35, Y:-201.43, Z:-928.46 [[ 5.24376442e-01 -8.46668049e-01 9.04575128e-02 4.14346489e+02] [ 8.33562274e-01 5.32115914e-01 1.48413579e-01 -2.01428830e+02] [-1.73790917e-01 -2.42261436e-03 9.84779594e-01 -9.28460440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.056559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.36, Y:-201.41, Z:-928.47 [[ 5.24117190e-01 -8.46836021e-01 9.03876312e-02 4.14359102e+02] [ 8.33735660e-01 5.31848572e-01 1.48397928e-01 -2.01405835e+02] [-1.73741243e-01 -2.41851348e-03 9.84788369e-01 -9.28465376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.37, Y:-201.38, Z:-928.47 [[ 5.23413590e-01 -8.47249672e-01 9.05881165e-02 4.14372586e+02] [ 8.34087620e-01 5.31189831e-01 1.48779051e-01 -2.01381638e+02] [-1.74172489e-01 -2.31455092e-03 9.84712439e-01 -9.28470743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.39, Y:-201.36, Z:-928.48 [[ 5.22570817e-01 -8.47768420e-01 9.06004816e-02 4.14385588e+02] [ 8.34592931e-01 5.30362033e-01 1.48898467e-01 -2.01358521e+02] [-1.74282474e-01 -2.19547204e-03 9.84693251e-01 -9.28476025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:414.38, Y:-201.33, Z:-928.50 [[ 5.18114861e-01 -8.47445542e-01 1.15728316e-01 4.14383533e+02] [ 8.36022984e-01 5.30346357e-01 1.40706478e-01 -2.01330318e+02] [-1.80617168e-01 2.38494151e-02 9.83264280e-01 -9.28499693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.43, Y:-201.32, Z:-928.48 [[ 5.18405611e-01 -8.52423587e-01 6.80415383e-02 4.14425343e+02] [ 8.37105054e-01 5.22119392e-01 1.63237463e-01 -2.01315836e+02] [-1.74673271e-01 -2.76653014e-02 9.84237715e-01 -9.28477331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.42, Y:-201.28, Z:-928.51 [[ 5.15403141e-01 -8.49381066e-01 1.13628374e-01 4.14415153e+02] [ 8.37851456e-01 5.27304629e-01 1.41261341e-01 -2.01281841e+02] [-1.79901476e-01 2.23971603e-02 9.83429625e-01 -9.28508035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.45, Y:-201.27, Z:-928.49 [[ 5.15866954e-01 -8.53778585e-01 7.03094113e-02 4.14452503e+02] [ 8.38679882e-01 5.20061525e-01 1.61716002e-01 -2.01267545e+02] [-1.74634879e-01 -2.44568525e-02 9.84329478e-01 -9.28488751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.46, Y:-201.24, Z:-928.50 [[ 5.14987718e-01 -8.52421552e-01 9.03612062e-02 4.14455528e+02] [ 8.39335748e-01 5.22854555e-01 1.48790514e-01 -2.01239380e+02] [-1.74078009e-01 -7.81896554e-04 9.84731555e-01 -9.28501722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.296559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:414.47, Y:-201.22, Z:-928.51 [[ 5.14133388e-01 -8.52962699e-01 9.01193316e-02 4.14469520e+02] [ 8.39938709e-01 5.21971469e-01 1.48488220e-01 -2.01215304e+02] [-1.73694632e-01 -6.48036349e-04 9.84799348e-01 -9.28507255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.48, Y:-201.19, Z:-928.51 [[ 5.13635361e-01 -8.53295373e-01 8.98093654e-02 4.14482934e+02] [ 8.40349286e-01 5.21427524e-01 1.48075707e-01 -2.01192131e+02] [-1.73181391e-01 -5.85683188e-04 9.84889772e-01 -9.28511966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.50, Y:-201.17, Z:-928.52 [[ 5.13328810e-01 -8.53520472e-01 8.94222401e-02 4.14495580e+02] [ 8.40681166e-01 5.21059036e-01 1.47487825e-01 -2.01167923e+02] [-1.72478144e-01 -5.34156725e-04 9.85013200e-01 -9.28517372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.51, Y:-201.14, Z:-928.52 [[ 5.13500185e-01 -8.53421701e-01 8.93809822e-02 4.14509211e+02] [ 8.40576441e-01 5.21220702e-01 1.47513483e-01 -2.01143789e+02] [-1.72478426e-01 -6.16653004e-04 9.85013103e-01 -9.28522425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.52, Y:-201.12, Z:-928.53 [[ 5.13826938e-01 -8.53231663e-01 8.93174474e-02 4.14522780e+02] [ 8.40385513e-01 5.21531587e-01 1.47502521e-01 -2.01119930e+02] [-1.72435692e-01 -7.29680095e-04 9.85020507e-01 -9.28527536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.54, Y:-201.10, Z:-928.53 [[ 5.14133896e-01 -8.53047526e-01 8.93098822e-02 4.14536494e+02] [ 8.40184469e-01 5.21832551e-01 1.47583355e-01 -2.01096057e+02] [-1.72500419e-01 -8.40829151e-04 9.85009086e-01 -9.28532602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.55, Y:-201.07, Z:-928.54 [[ 5.14700173e-01 -8.52702319e-01 8.93447622e-02 4.14550199e+02] [ 8.39807565e-01 5.22396154e-01 1.47734602e-01 -2.01071990e+02] [-1.72646998e-01 -1.00661819e-03 9.84983249e-01 -9.28537725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.56, Y:-201.05, Z:-928.54 [[ 5.15032410e-01 -8.52508702e-01 8.92778222e-02 4.14563754e+02] [ 8.39614007e-01 5.22711829e-01 1.47718187e-01 -2.01047787e+02] [-1.72597614e-01 -1.12074396e-03 9.84991781e-01 -9.28542913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.58, Y:-201.02, Z:-928.55 [[ 5.15989127e-01 -8.51898160e-01 8.95809501e-02 4.14576484e+02] [ 8.38889102e-01 5.23705661e-01 1.48315390e-01 -2.01023647e+02] [-1.73263658e-01 -1.38064559e-03 9.84874509e-01 -9.28548052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.58, Y:-200.99, Z:-928.57 [[ 5.14827699e-01 -8.50072865e-01 1.11034071e-01 4.14579044e+02] [ 8.38670914e-01 5.26251102e-01 1.40324182e-01 -2.00994976e+02] [-1.77717582e-01 2.08782701e-02 9.83860030e-01 -9.28567581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.61, Y:-200.98, Z:-928.55 [[ 5.15816262e-01 -8.53781134e-01 7.06495444e-02 4.14613947e+02] [ 8.38901400e-01 5.20102129e-01 1.60431347e-01 -2.00980187e+02] [-1.73718236e-01 -2.34850964e-02 9.84515325e-01 -9.28550424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.62, Y:-200.95, Z:-928.56 [[ 5.15427952e-01 -8.52177122e-01 9.01564177e-02 4.14617954e+02] [ 8.38971257e-01 5.23251581e-01 1.49449034e-01 -2.00951566e+02] [-1.74531536e-01 -1.39156649e-03 9.84650601e-01 -9.28562849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.63, Y:-200.93, Z:-928.57 [[ 5.14184407e-01 -8.52875008e-01 9.06565887e-02 4.14631427e+02] [ 8.39513914e-01 5.22113729e-01 1.50378331e-01 -2.00928610e+02] [-1.75586970e-01 -1.21472529e-03 9.84463174e-01 -9.28566751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.64, Y:-200.91, Z:-928.57 [[ 5.14289873e-01 -8.52318031e-01 9.51835126e-02 4.14641579e+02] [ 8.39571439e-01 5.23005743e-01 1.46917633e-01 -2.00905716e+02] [-1.75002072e-01 4.35510776e-03 9.84558433e-01 -9.28573112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.66, Y:-200.88, Z:-928.57 [[ 5.12775336e-01 -8.54225982e-01 8.57870987e-02 4.14661569e+02] [ 8.40061206e-01 5.19848317e-01 1.55096416e-01 -2.00882549e+02] [-1.77083667e-01 -7.46320338e-03 9.84167504e-01 -9.28574187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.67, Y:-200.86, Z:-928.58 [[ 5.12057203e-01 -8.54061453e-01 9.15229774e-02 4.14672095e+02] [ 8.40418013e-01 5.20171269e-01 1.52050697e-01 -2.00857021e+02] [-1.77468263e-01 -9.41096018e-04 9.84126074e-01 -9.28581585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.67, Y:-200.83, Z:-928.61 [[ 5.08692508e-01 -8.52722451e-01 1.18728070e-01 4.14668840e+02] [ 8.40971972e-01 5.21676296e-01 1.43596607e-01 -2.00827831e+02] [-1.84385670e-01 2.68004611e-02 9.82488504e-01 -9.28606585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.70, Y:-200.81, Z:-928.60 [[ 5.08727964e-01 -8.55767450e-01 9.41165818e-02 4.14696441e+02] [ 8.41058525e-01 5.17359252e-01 1.57987223e-01 -2.00809648e+02] [-1.83892407e-01 -1.21496478e-03 9.82945628e-01 -9.28602728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.73, Y:-200.79, Z:-928.59 [[ 5.10850138e-01 -8.57107543e-01 6.63234264e-02 4.14725283e+02] [ 8.41372103e-01 5.14319598e-01 1.66037152e-01 -2.00789233e+02] [-1.76423133e-01 -2.90174211e-02 9.83886613e-01 -9.28588480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.73, Y:-200.76, Z:-928.60 [[ 5.10416439e-01 -8.55151250e-01 9.05063500e-02 4.14726288e+02] [ 8.41784845e-01 5.18378116e-01 1.50606786e-01 -2.00759146e+02] [-1.75708093e-01 -6.85305767e-04 9.84442074e-01 -9.28603020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.74, Y:-200.74, Z:-928.61 [[ 5.09673949e-01 -8.55603997e-01 9.04116522e-02 4.14740043e+02] [ 8.42255791e-01 5.17630627e-01 1.50544733e-01 -2.00735496e+02] [-1.75606515e-01 -5.78990719e-04 9.84460267e-01 -9.28608268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.75, Y:-200.71, Z:-928.61 [[ 5.08880834e-01 -8.56115862e-01 9.00329264e-02 4.14753399e+02] [ 8.42870319e-01 5.16783732e-01 1.50013999e-01 -2.00712696e+02] [-1.74956916e-01 -4.53167421e-04 9.84575986e-01 -9.28612778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.9565599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:414.77, Y:-200.69, Z:-928.62 [[ 5.07774053e-01 -8.56793190e-01 8.98384109e-02 4.14767201e+02] [ 8.43606432e-01 5.15660129e-01 1.49742510e-01 -2.00688694e+02] [-1.74624450e-01 -2.47100095e-04 9.84635080e-01 -9.28617983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:414.78, Y:-200.66, Z:-928.63 [[ 5.07089814e-01 -8.56556433e-01 9.57653262e-02 4.14778123e+02] [ 8.44590863e-01 5.15984840e-01 1.42919275e-01 -2.00661940e+02] [-1.71831881e-01 8.40961106e-03 9.85090394e-01 -9.28625278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.016559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.80, Y:-200.64, Z:-928.63 [[ 5.05195501e-01 -8.59078964e-01 8.22243313e-02 4.14798981e+02] [ 8.45329787e-01 5.11781586e-01 1.53287832e-01 -2.00641559e+02] [-1.73767251e-01 -7.93364657e-03 9.84754792e-01 -9.28625238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.81, Y:-200.62, Z:-928.63 [[ 5.04898349e-01 -8.58566421e-01 8.91142939e-02 4.14809148e+02] [ 8.45567883e-01 5.12702309e-01 1.48833118e-01 -2.00616132e+02] [-1.73472222e-01 2.06589273e-04 9.84838741e-01 -9.28632908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.82, Y:-200.59, Z:-928.64 [[ 5.04654241e-01 -8.58713111e-01 8.90836142e-02 4.14822068e+02] [ 8.45708534e-01 5.12456584e-01 1.48880236e-01 -2.00593008e+02] [-1.73496896e-01 2.05730174e-04 9.84834395e-01 -9.28638071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.84, Y:-200.57, Z:-928.64 [[ 5.05669973e-01 -8.58130914e-01 8.89337537e-02 4.14835602e+02] [ 8.45150155e-01 5.13430943e-01 1.48693924e-01 -2.00568715e+02] [-1.73260194e-01 -2.76769418e-05 9.84876086e-01 -9.28643315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.85, Y:-200.55, Z:-928.65 [[ 5.06763706e-01 -8.57493463e-01 8.88566735e-02 4.14849278e+02] [ 8.44508750e-01 5.14494776e-01 1.48661014e-01 -2.00545283e+02] [-1.73192142e-01 -2.95768133e-04 9.84888011e-01 -9.28648322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.86, Y:-200.52, Z:-928.65 [[ 5.07952016e-01 -8.56806496e-01 8.86982393e-02 4.14862422e+02] [ 8.43840760e-01 5.15637752e-01 1.48494041e-01 -2.00521919e+02] [-1.72966820e-01 -5.80658108e-04 9.84927481e-01 -9.28653318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.88, Y:-200.50, Z:-928.66 [[ 5.09417733e-01 -8.55947351e-01 8.85872788e-02 4.14875821e+02] [ 8.42990146e-01 5.17062195e-01 1.48372169e-01 -2.00497812e+02] [-1.72803898e-01 -9.05211018e-04 9.84955833e-01 -9.28658966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.89, Y:-200.47, Z:-928.67 [[ 5.11146183e-01 -8.54491955e-01 9.25909215e-02 4.14886864e+02] [ 8.42389985e-01 5.19443278e-01 1.43379893e-01 -2.00471964e+02] [-1.70612697e-01 4.70957962e-03 9.85326914e-01 -9.28665819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.91, Y:-200.45, Z:-928.67 [[ 5.13037497e-01 -8.54315032e-01 8.32967707e-02 4.14905506e+02] [ 8.40981317e-01 5.19706074e-01 1.50519172e-01 -2.00450385e+02] [-1.71880629e-01 -7.17095134e-03 9.85091685e-01 -9.28667657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.92, Y:-200.43, Z:-928.67 [[ 5.16644516e-01 -8.51653378e-01 8.81190598e-02 4.14915867e+02] [ 8.38724240e-01 5.24099578e-01 1.47855612e-01 -2.00425584e+02] [-1.72104893e-01 -2.48119945e-03 9.85075505e-01 -9.28674090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.93, Y:-200.40, Z:-928.68 [[ 5.18188979e-01 -8.50706831e-01 8.81933666e-02 4.14929762e+02] [ 8.37733268e-01 5.25632862e-01 1.48030627e-01 -2.00402014e+02] [-1.72287998e-01 -2.82532256e-03 9.85042569e-01 -9.28678680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.94, Y:-200.38, Z:-928.68 [[ 5.19168076e-01 -8.50058812e-01 8.86821637e-02 4.14943692e+02] [ 8.36913492e-01 5.26678599e-01 1.48947844e-01 -2.00377999e+02] [-1.73321425e-01 -3.10966636e-03 9.84860403e-01 -9.28683867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.96, Y:-200.36, Z:-928.69 [[ 5.20099675e-01 -8.49439023e-01 8.91609449e-02 4.14957166e+02] [ 8.36123357e-01 5.27675906e-01 1.49852829e-01 -2.00355196e+02] [-1.74338923e-01 -3.38885920e-03 9.84679875e-01 -9.28688638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.97, Y:-200.33, Z:-928.69 [[ 5.20403687e-01 -8.49197594e-01 8.96852774e-02 4.14970765e+02] [ 8.35710508e-01 5.28063500e-01 1.50787558e-01 -2.00331306e+02] [-1.75407953e-01 -3.51947244e-03 9.84489545e-01 -9.28693676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.98, Y:-200.31, Z:-928.70 [[ 5.20777408e-01 -8.48902787e-01 9.03047558e-02 4.14983983e+02] [ 8.35204611e-01 5.28536068e-01 1.51930518e-01 -2.00307811e+02] [-1.76703560e-01 -3.69903275e-03 9.84257166e-01 -9.28698964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.00, Y:-200.28, Z:-928.70 [[ 5.20707080e-01 -8.48934645e-01 9.04107542e-02 4.14997937e+02] [ 8.35192202e-01 5.28484682e-01 1.52177285e-01 -2.00284924e+02] [-1.76969268e-01 -3.72943290e-03 9.84209312e-01 -9.28703989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.01, Y:-200.26, Z:-928.71 [[ 5.20355884e-01 -8.49150086e-01 9.04095424e-02 4.15012262e+02] [ 8.35401595e-01 5.28138763e-01 1.52228852e-01 -2.00261092e+02] [-1.77013926e-01 -3.68490270e-03 9.84201449e-01 -9.28709314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.03, Y:-200.24, Z:-928.71 [[ 5.19910870e-01 -8.49414280e-01 9.04879495e-02 4.15026553e+02] [ 8.35628024e-01 5.27713988e-01 1.52459018e-01 -2.00237151e+02] [-1.77252623e-01 -3.65083410e-03 9.84158615e-01 -9.28714961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.04, Y:-200.21, Z:-928.72 [[ 5.19617580e-01 -8.49643522e-01 9.00192019e-02 4.15040874e+02] [ 8.35986498e-01 5.27345122e-01 1.51768566e-01 -2.00214287e+02] [-1.76420366e-01 -3.60677789e-03 9.84308308e-01 -9.28719865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.06, Y:-200.19, Z:-928.73 [[ 5.18750673e-01 -8.50204752e-01 8.97196664e-02 4.15055905e+02] [ 8.36638119e-01 5.26440973e-01 1.51316092e-01 -2.00191595e+02] [-1.75881769e-01 -3.43243171e-03 9.84405314e-01 -9.28725540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.07, Y:-200.17, Z:-928.73 [[ 5.18799561e-01 -8.49867958e-01 9.25822339e-02 4.15068431e+02] [ 8.36885083e-01 5.26995214e-01 1.47984469e-01 -2.00167472e+02] [-1.74557653e-01 7.06412871e-04 9.84646702e-01 -9.28732260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.07, Y:-200.14, Z:-928.75 [[ 5.16340497e-01 -8.48951125e-01 1.12580991e-01 4.15071190e+02] [ 8.37510197e-01 5.28025836e-01 1.40589422e-01 -2.00139095e+02] [-1.78799220e-01 2.16957158e-02 9.83646347e-01 -9.28752801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.11, Y:-200.13, Z:-928.73 [[ 5.18835154e-01 -8.52384027e-01 6.52039402e-02 4.15113144e+02] [ 8.37416023e-01 5.22094795e-01 1.61714035e-01 -2.00125887e+02] [-1.71885098e-01 -2.93001020e-02 9.84681175e-01 -9.28732963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.12, Y:-200.10, Z:-928.75 [[ 5.17777740e-01 -8.51447119e-01 8.33307637e-02 4.15118576e+02] [ 8.37786491e-01 5.24363608e-01 1.52172937e-01 -2.00098236e+02] [-1.73262828e-01 -8.97837124e-03 9.84834697e-01 -9.28745104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.13, Y:-200.07, Z:-928.75 [[ 5.17734010e-01 -8.51008172e-01 8.79578605e-02 4.15131026e+02] [ 8.37932932e-01 5.25142368e-01 1.48640151e-01 -2.00073448e+02] [-1.72684382e-01 -3.25327350e-03 9.84971837e-01 -9.28752201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:415.15, Y:-200.05, Z:-928.76 [[ 5.17681998e-01 -8.51063260e-01 8.77307025e-02 4.15146049e+02] [ 8.38040587e-01 5.25052947e-01 1.48348839e-01 -2.00050152e+02] [-1.72317510e-01 -3.27563378e-03 9.85036013e-01 -9.28757934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.15, Y:-200.02, Z:-928.78 [[ 5.15297735e-01 -8.49587763e-01 1.12556113e-01 4.15146342e+02] [ 8.38251522e-01 5.26981447e-01 1.40089044e-01 -2.00022267e+02] [-1.78332921e-01 2.21627661e-02 9.83720581e-01 -9.28780558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.16, Y:-200.00, Z:-928.79 [[ 5.13530052e-01 -8.51434830e-01 1.06515801e-01 4.15162675e+02] [ 8.38582948e-01 5.24290964e-01 1.47978457e-01 -2.00001980e+02] [-1.81839284e-01 1.33309500e-02 9.83237896e-01 -9.28788619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.856559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:415.21, Y:-199.99, Z:-928.76 [[ 5.17903926e-01 -8.54074377e-01 4.82957707e-02 4.15213993e+02] [ 8.38342210e-01 5.17974588e-01 1.69954891e-01 -1.99989277e+02] [-1.70170100e-01 -4.75319224e-02 9.84267674e-01 -9.28759120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.19, Y:-199.95, Z:-928.80 [[ 5.16248080e-01 -8.48713752e-01 1.14773203e-01 4.15193619e+02] [ 8.37757800e-01 5.28269823e-01 1.38176927e-01 -1.99952627e+02] [-1.77903878e-01 2.48185730e-02 9.83734847e-01 -9.28798168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.24, Y:-199.94, Z:-928.77 [[ 5.18109188e-01 -8.53083608e-01 6.17351387e-02 4.15238314e+02] [ 8.38152428e-01 5.20775433e-01 1.62152569e-01 -1.99940597e+02] [-1.70479842e-01 -3.22692795e-02 9.84832634e-01 -9.28774207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.24, Y:-199.91, Z:-928.79 [[ 5.18437610e-01 -8.50671370e-01 8.70670162e-02 4.15240843e+02] [ 8.37753238e-01 5.25685177e-01 1.47731534e-01 -1.99912226e+02] [-1.71440826e-01 -3.64890835e-03 9.85187662e-01 -9.28788514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.26, Y:-199.89, Z:-928.79 [[ 5.18630625e-01 -8.50536441e-01 8.72355259e-02 4.15255986e+02] [ 8.37548647e-01 5.25902720e-01 1.48116823e-01 -1.99890118e+02] [-1.71856156e-01 -3.75392384e-03 9.85114902e-01 -9.28793217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.27, Y:-199.87, Z:-928.80 [[ 5.19085388e-01 -8.50201385e-01 8.77950158e-02 4.15273219e+02] [ 8.37030951e-01 5.26443012e-01 1.49120561e-01 -1.99869158e+02] [-1.73001580e-01 -3.91915888e-03 9.84913749e-01 -9.28797222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.29, Y:-199.85, Z:-928.80 [[ 5.19527696e-01 -8.49894779e-01 8.81466871e-02 4.15289182e+02] [ 8.36602170e-01 5.26936698e-01 1.49781591e-01 -1.99846744e+02] [-1.73746317e-01 -4.07197533e-03 9.84782025e-01 -9.28801699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.30, Y:-199.82, Z:-928.81 [[ 5.19635183e-01 -8.49821051e-01 8.82239081e-02 4.15304807e+02] [ 8.36486646e-01 5.27054966e-01 1.50010511e-01 -1.99823343e+02] [-1.73980939e-01 -4.15261845e-03 9.84740265e-01 -9.28806431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.32, Y:-199.80, Z:-928.81 [[ 5.20402992e-01 -8.49297589e-01 8.87374313e-02 4.15319601e+02] [ 8.35780750e-01 5.27895991e-01 1.50984640e-01 -1.99801696e+02] [-1.75075025e-01 -4.40782146e-03 9.84545229e-01 -9.28811169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:415.33, Y:-199.78, Z:-928.82 [[ 5.21102293e-01 -8.48867038e-01 8.87533169e-02 4.15334963e+02] [ 8.35329706e-01 5.28586566e-01 1.51064639e-01 -1.99778471e+02] [-1.75147604e-01 -4.58184781e-03 9.84531525e-01 -9.28816326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.156559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:415.35, Y:-199.76, Z:-928.82 [[ 5.23123710e-01 -8.47624158e-01 8.87404661e-02 4.15351631e+02] [ 8.34055667e-01 5.30573066e-01 1.51140220e-01 -1.99755966e+02] [-1.75193403e-01 -5.05054372e-03 9.84521084e-01 -9.28821985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.37, Y:-199.73, Z:-928.83 [[ 5.24268778e-01 -8.46944640e-01 8.84704766e-02 4.15367231e+02] [ 8.33432609e-01 5.31654537e-01 1.50776457e-01 -1.99732673e+02] [-1.74735042e-01 -5.31320864e-03 9.84601155e-01 -9.28826978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.38, Y:-199.71, Z:-928.83 [[ 5.26586833e-01 -8.45558914e-01 8.79569781e-02 4.15383707e+02] [ 8.32167690e-01 5.33850686e-01 1.50001270e-01 -1.99710027e+02] [-1.73790804e-01 -5.79373861e-03 9.84765550e-01 -9.28832257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.40, Y:-199.69, Z:-928.84 [[ 5.27730837e-01 -8.44899872e-01 8.74320861e-02 4.15398310e+02] [ 8.31642528e-01 5.34890509e-01 1.49207405e-01 -1.99687287e+02] [-1.72831910e-01 -6.02910746e-03 9.84932881e-01 -9.28837348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.276559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:415.41, Y:-199.66, Z:-928.84 [[ 5.28885629e-01 -8.44206914e-01 8.71474487e-02 4.15413043e+02] [ 8.31015503e-01 5.35980747e-01 1.48788015e-01 -1.99663967e+02] [-1.72317225e-01 -6.27096179e-03 9.85021548e-01 -9.28842879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.43, Y:-199.64, Z:-928.85 [[ 5.29820782e-01 -8.43664621e-01 8.67176242e-02 4.15427389e+02] [ 8.30580383e-01 5.36831625e-01 1.48148689e-01 -1.99640847e+02] [-1.71540571e-01 -6.46629696e-03 9.85155835e-01 -9.28848076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.44, Y:-199.62, Z:-928.85 [[ 5.30604368e-01 -8.43186571e-01 8.65760408e-02 4.15441980e+02] [ 8.30122383e-01 5.37579781e-01 1.48002732e-01 -1.99617946e+02] [-1.71335445e-01 -6.66218668e-03 9.85190226e-01 -9.28853381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.46, Y:-199.60, Z:-928.86 [[ 5.30965427e-01 -8.42960585e-01 8.65630854e-02 4.15456119e+02] [ 8.29880018e-01 5.37932494e-01 1.48080342e-01 -1.99595619e+02] [-1.71390988e-01 -6.78856692e-03 9.85179702e-01 -9.28858716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.47, Y:-199.57, Z:-928.86 [[ 5.30338632e-01 -8.43363331e-01 8.64825279e-02 4.15472570e+02] [ 8.30303654e-01 5.37302213e-01 1.47993829e-01 -1.99573031e+02] [-1.71279822e-01 -6.68008567e-03 9.85199776e-01 -9.28863585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.49, Y:-199.55, Z:-928.87 [[ 5.28919743e-01 -8.44267555e-01 8.63492953e-02 4.15487319e+02] [ 8.31243321e-01 5.35883329e-01 1.47863450e-01 -1.99550565e+02] [-1.71109461e-01 -6.43062293e-03 9.85231039e-01 -9.28868449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.48, Y:-199.52, Z:-928.90 [[ 5.22465318e-01 -8.43756791e-01 1.22900237e-01 4.15477190e+02] [ 8.33121896e-01 5.35841849e-01 1.37045323e-01 -1.99522446e+02] [-1.81488012e-01 3.07894499e-02 9.82911039e-01 -9.28899988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.51, Y:-199.51, Z:-928.89 [[ 5.21905813e-01 -8.48250541e-01 8.99185320e-02 4.15511984e+02] [ 8.33763904e-01 5.29554393e-01 1.56236673e-01 -1.99506131e+02] [-1.80144596e-01 -6.57000132e-03 9.83618198e-01 -9.28892398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.516559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.53, Y:-199.48, Z:-928.89 [[ 5.17324016e-01 -8.51471084e-01 8.58653340e-02 4.15527169e+02] [ 8.37007395e-01 5.24322390e-01 1.56539619e-01 -1.99484995e+02] [-1.78310076e-01 -9.11178455e-03 9.83932158e-01 -9.28894790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.54, Y:-199.46, Z:-928.90 [[ 5.16938537e-01 -8.51479382e-01 8.80761628e-02 4.15541983e+02] [ 8.37282432e-01 5.24349447e-01 1.54970280e-01 -1.99461641e+02] [-1.78136685e-01 -6.36548594e-03 9.83985164e-01 -9.28900949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.55, Y:-199.44, Z:-928.91 [[ 5.14516739e-01 -8.52768881e-01 8.97650362e-02 4.15554267e+02] [ 8.38766936e-01 5.22273771e-01 1.53948481e-01 -1.99437048e+02] [-1.78164398e-01 -3.91712586e-03 9.83992939e-01 -9.28906681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.57, Y:-199.41, Z:-928.91 [[ 5.14510526e-01 -8.53596287e-01 8.15616186e-02 4.15574386e+02] [ 8.39384654e-01 5.20806660e-01 1.55543648e-01 -1.99413965e+02] [-1.75249315e-01 -1.15672731e-02 9.84456132e-01 -9.28906759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.59, Y:-199.39, Z:-928.92 [[ 5.12771921e-01 -8.53962420e-01 8.83919752e-02 4.15586800e+02] [ 8.40361105e-01 5.20322354e-01 1.51848151e-01 -1.99388987e+02] [-1.75664935e-01 -3.58229022e-03 9.84443497e-01 -9.28915332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.60, Y:-199.36, Z:-928.92 [[ 5.12766427e-01 -8.53766050e-01 9.03001809e-02 4.15602037e+02] [ 8.40303584e-01 5.20654486e-01 1.51025803e-01 -1.99364468e+02] [-1.75955898e-01 -1.56139590e-03 9.84396812e-01 -9.28922232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.62, Y:-199.34, Z:-928.92 [[ 5.11405300e-01 -8.55613554e-01 7.99378892e-02 4.15621140e+02] [ 8.41786642e-01 5.17492502e-01 1.53612368e-01 -1.99341971e+02] [-1.72800082e-01 -1.12675317e-02 9.84892469e-01 -9.28920495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.63, Y:-199.32, Z:-928.93 [[ 5.11368866e-01 -8.55085355e-01 8.56207846e-02 4.15632255e+02] [ 8.41867321e-01 5.18467377e-01 1.49836553e-01 -1.99316203e+02] [-1.72514625e-01 -4.54040752e-03 9.84996492e-01 -9.28927850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.65, Y:-199.29, Z:-928.93 [[ 5.10003549e-01 -8.55849366e-01 8.61292242e-02 4.15646187e+02] [ 8.42559906e-01 5.17209063e-01 1.50291683e-01 -1.99292956e+02] [-1.73173857e-01 -4.08026084e-03 9.84882819e-01 -9.28933795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.68, Y:-199.27, Z:-928.92 [[ 5.13459179e-01 -8.56237220e-01 5.67229712e-02 4.15680382e+02] [ 8.42183270e-01 5.15502705e-01 1.58064231e-01 -1.99272873e+02] [-1.64581323e-01 -3.33883929e-02 9.85798257e-01 -9.28915320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.66, Y:-199.24, Z:-928.95 [[ 5.08813281e-01 -8.53546190e-01 1.12106855e-01 4.15659831e+02] [ 8.43086602e-01 5.20392612e-01 1.35633736e-01 -1.99239660e+02] [-1.74109238e-01 2.55035410e-02 9.84396030e-01 -9.28953907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.69, Y:-199.22, Z:-928.95 [[ 5.09630435e-01 -8.56305090e-01 8.37759743e-02 4.15689608e+02] [ 8.42886941e-01 5.16430566e-01 1.51132642e-01 -1.99221135e+02] [-1.72680125e-01 -6.40811940e-03 9.84957111e-01 -9.28946189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.70, Y:-199.20, Z:-928.95 [[ 5.10560177e-01 -8.55791855e-01 8.33583027e-02 4.15704198e+02] [ 8.42516537e-01 5.17279437e-01 1.50292613e-01 -1.99196543e+02] [-1.71738730e-01 -6.50267445e-03 9.85121071e-01 -9.28950416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.73, Y:-199.17, Z:-928.94 [[ 5.14484749e-01 -8.55381962e-01 6.02257594e-02 4.15733577e+02] [ 8.41608477e-01 5.17162081e-01 1.55687357e-01 -1.99174627e+02] [-1.64318636e-01 -2.94122613e-02 9.85968714e-01 -9.28936656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.72, Y:-199.14, Z:-928.97 [[ 5.13742597e-01 -8.51678594e-01 1.03499354e-01 4.15722529e+02] [ 8.40939763e-01 5.23781772e-01 1.35915302e-01 -1.99141506e+02] [-1.69967229e-01 1.72112418e-02 9.85299403e-01 -9.28967298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.74, Y:-199.12, Z:-928.97 [[ 5.12790889e-01 -8.53850627e-01 8.93566467e-02 4.15742821e+02] [ 8.41462115e-01 5.20517379e-01 1.44924695e-01 -1.99120046e+02] [-1.70255729e-01 8.74169647e-04 9.85399524e-01 -9.28967284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.78, Y:-199.10, Z:-928.95 [[ 5.16901985e-01 -8.54231631e-01 5.56835592e-02 4.15777811e+02] [ 8.40617472e-01 5.18805172e-01 1.55574610e-01 -1.99101089e+02] [-1.61785672e-01 -3.36082521e-02 9.86253457e-01 -9.28947449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.78, Y:-199.07, Z:-928.96 [[ 5.17272982e-01 -8.51885957e-01 8.19693736e-02 4.15777970e+02] [ 8.40228558e-01 5.23713518e-01 1.40499545e-01 -1.99070904e+02] [-1.62618059e-01 -3.80361018e-03 9.86681762e-01 -9.28963805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.79, Y:-199.05, Z:-928.97 [[ 5.17388657e-01 -8.51820129e-01 8.19234143e-02 4.15791075e+02] [ 8.40159623e-01 5.23820081e-01 1.40514524e-01 -1.99047044e+02] [-1.62606230e-01 -3.87187616e-03 9.86683446e-01 -9.28968725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:415.80, Y:-199.02, Z:-928.97 [[ 5.17735786e-01 -8.51601928e-01 8.19988492e-02 4.15803672e+02] [ 8.39901142e-01 5.24173819e-01 1.40740471e-01 -1.99023265e+02] [-1.62836506e-01 -3.99545123e-03 9.86644976e-01 -9.28973782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.82, Y:-199.00, Z:-928.98 [[ 5.18781758e-01 -8.50977096e-01 8.18747209e-02 4.15815312e+02] [ 8.39295750e-01 5.25185906e-01 1.40578836e-01 -1.98999761e+02] [-1.62628819e-01 -4.21263010e-03 9.86678327e-01 -9.28978806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.83, Y:-198.98, Z:-928.98 [[ 5.19284597e-01 -8.50673964e-01 8.18371253e-02 4.15827756e+02] [ 8.38989233e-01 5.25675734e-01 1.40577697e-01 -1.98976405e+02] [-1.62605578e-01 -4.33936596e-03 9.86681608e-01 -9.28983501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.176559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.84, Y:-198.95, Z:-928.99 [[ 5.19644658e-01 -8.50447953e-01 8.19006098e-02 4.15840513e+02] [ 8.38734233e-01 5.26040467e-01 1.40734908e-01 -1.98952361e+02] [-1.62770750e-01 -4.43929824e-03 9.86653929e-01 -9.28988663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.85, Y:-198.93, Z:-928.99 [[ 5.20265943e-01 -8.50051655e-01 8.20702913e-02 4.15852778e+02] [ 8.38268397e-01 5.26679034e-01 1.41121543e-01 -1.98929209e+02] [-1.63185303e-01 -4.62380117e-03 9.86584602e-01 -9.28993311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.85, Y:-198.90, Z:-929.02 [[ 5.19617964e-01 -8.47627719e-01 1.07351858e-01 4.15851159e+02] [ 8.37277212e-01 5.30197354e-01 1.33632467e-01 -1.98899676e+02] [-1.70188255e-01 2.04454337e-02 9.85199443e-01 -9.29016913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.88, Y:-198.88, Z:-929.00 [[ 5.21955277e-01 -8.49777135e-01 7.37665967e-02 4.15884692e+02] [ 8.36529347e-01 5.26874437e-01 1.50406051e-01 -1.98882418e+02] [-1.66677357e-01 -1.67973091e-02 9.85868404e-01 -9.29004833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.89, Y:-198.85, Z:-929.02 [[ 5.21405587e-01 -8.48422682e-01 9.11875398e-02 4.15888154e+02] [ 8.36583991e-01 5.29312792e-01 1.41262857e-01 -1.98853083e+02] [-1.68117343e-01 2.63079317e-03 9.85763480e-01 -9.29018877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.91, Y:-198.83, Z:-929.02 [[ 5.22974485e-01 -8.48508962e-01 8.08098386e-02 4.15908545e+02] [ 8.35839075e-01 5.29104490e-01 1.46360784e-01 -1.98831512e+02] [-1.66945285e-01 -8.99893493e-03 9.85925094e-01 -9.29018551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.92, Y:-198.81, Z:-929.01 [[ 5.22937366e-01 -8.49410909e-01 7.09761844e-02 4.15923565e+02] [ 8.36448899e-01 5.27406246e-01 1.48982856e-01 -1.98810473e+02] [-1.63980946e-01 -1.85407511e-02 9.86289253e-01 -9.29014214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.93, Y:-198.78, Z:-929.02 [[ 5.23269220e-01 -8.48168955e-01 8.24545166e-02 4.15930089e+02] [ 8.36172201e-01 5.29697330e-01 1.42256068e-01 -1.98784512e+02] [-1.64333118e-01 -5.49204733e-03 9.86389611e-01 -9.29024066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.416559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:415.94, Y:-198.76, Z:-929.03 [[ 5.23035181e-01 -8.48327922e-01 8.23039306e-02 4.15943386e+02] [ 8.36367056e-01 5.29442985e-01 1.42057288e-01 -1.98761051e+02] [-1.64086402e-01 -5.46466297e-03 9.86430834e-01 -9.29028814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.96, Y:-198.74, Z:-929.03 [[ 5.22422974e-01 -8.48722417e-01 8.21248760e-02 4.15956183e+02] [ 8.36805033e-01 5.28811298e-01 1.41830706e-01 -1.98738084e+02] [-1.63803462e-01 -5.37310984e-03 9.86478360e-01 -9.29033498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4765599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:415.96, Y:-198.71, Z:-929.05 [[ 5.18711832e-01 -8.49296495e-01 9.81503855e-02 4.15959605e+02] [ 8.38124856e-01 5.27805211e-01 1.37725760e-01 -1.98711612e+02] [-1.68774290e-01 1.08222964e-02 9.85595311e-01 -9.29051200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:415.99, Y:-198.69, Z:-929.04 [[ 5.19405061e-01 -8.51905767e-01 6.68950525e-02 4.15990938e+02] [ 8.39059142e-01 5.23265258e-01 1.48906771e-01 -1.98693739e+02] [-1.61858394e-01 -2.12140250e-02 9.86585944e-01 -9.29037372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.536559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:416.00, Y:-198.67, Z:-929.05 [[ 5.17868919e-01 -8.51608230e-01 8.10876398e-02 4.15997480e+02] [ 8.39996865e-01 5.24159465e-01 1.40221689e-01 -1.98666310e+02] [-1.61916798e-01 -4.50309119e-03 9.86794139e-01 -9.29048424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:416.01, Y:-198.64, Z:-929.05 [[ 5.15803389e-01 -8.52869483e-01 8.09969743e-02 4.16011498e+02] [ 8.41284675e-01 5.22107663e-01 1.40155928e-01 -1.98642143e+02] [-1.61823855e-01 -4.15138951e-03 9.86810927e-01 -9.29053335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.596559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:416.00, Y:-198.61, Z:-929.09 [[ 5.06875455e-01 -8.53696213e-01 1.19499161e-01 4.15995078e+02] [ 8.44484380e-01 5.19588928e-01 1.29897950e-01 -1.98614378e+02] [-1.72983829e-01 3.50730922e-02 9.84299992e-01 -9.29085345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.04, Y:-198.60, Z:-929.07 [[ 5.03413136e-01 -8.61125383e-01 7.09809128e-02 4.16038060e+02] [ 8.47440360e-01 5.08097613e-01 1.53888443e-01 -1.98600362e+02] [-1.68582476e-01 -1.73173733e-02 9.85535417e-01 -9.29066374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.05, Y:-198.57, Z:-929.08 [[ 5.00942221e-01 -8.61415220e-01 8.37896790e-02 4.16046551e+02] [ 8.48698253e-01 5.07893806e-01 1.47496292e-01 -1.98571860e+02] [-1.69611810e-01 -2.77496610e-03 9.85507044e-01 -9.29077719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.08, Y:-198.55, Z:-929.06 [[ 5.03250491e-01 -8.62543891e-01 5.25069436e-02 4.16084250e+02] [ 8.49028628e-01 5.04849919e-01 1.55810616e-01 -1.98550955e+02] [-1.60901622e-01 -3.38318709e-02 9.86390426e-01 -9.29058853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.08, Y:-198.52, Z:-929.08 [[ 4.97818852e-01 -8.63455560e-01 8.13688340e-02 4.16083426e+02] [ 8.51893616e-01 5.04424297e-01 1.40831091e-01 -1.98521012e+02] [-1.62645805e-01 -7.90781849e-04 9.86684203e-01 -9.29075456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.09, Y:-198.50, Z:-929.09 [[ 4.93910912e-01 -8.64984430e-01 8.86224968e-02 4.16090720e+02] [ 8.53742404e-01 5.01750978e-01 1.39175656e-01 -1.98496345e+02] [-1.64851200e-01 6.92040819e-03 9.86294170e-01 -9.29085918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.11, Y:-198.47, Z:-929.08 [[ 4.91521446e-01 -8.67657633e-01 7.46786443e-02 4.16114904e+02] [ 8.55372403e-01 4.97102000e-01 1.45697133e-01 -1.98474405e+02] [-1.63538133e-01 -7.73521432e-03 9.86506688e-01 -9.29081439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.13, Y:-198.45, Z:-929.09 [[ 4.91362031e-01 -8.67113587e-01 8.17152526e-02 4.16125193e+02] [ 8.55466506e-01 4.98110364e-01 1.41644353e-01 -1.98448427e+02] [-1.63524957e-01 3.06004784e-04 9.86539150e-01 -9.29089259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.14, Y:-198.42, Z:-929.09 [[ 4.89729830e-01 -8.68037989e-01 8.16991012e-02 4.16138793e+02] [ 8.56394284e-01 4.96497455e-01 1.41700768e-01 -1.98424157e+02] [-1.63565045e-01 5.71550386e-04 9.86532386e-01 -9.29094074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.15, Y:-198.40, Z:-929.10 [[ 4.88737534e-01 -8.68604974e-01 8.16150882e-02 4.16152643e+02] [ 8.56978227e-01 4.95504681e-01 1.41645435e-01 -1.98399786e+02] [-1.63474588e-01 7.14913017e-04 9.86547286e-01 -9.29099258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.17, Y:-198.38, Z:-929.10 [[ 4.88542635e-01 -8.68749240e-01 8.12456340e-02 4.16165346e+02] [ 8.57215353e-01 4.95251702e-01 1.41094261e-01 -1.98376121e+02] [-1.62812571e-01 7.14442816e-04 9.86656757e-01 -9.29104088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.18, Y:-198.35, Z:-929.11 [[ 4.88439746e-01 -8.68826801e-01 8.10345843e-02 4.16178219e+02] [ 8.57341101e-01 4.95115645e-01 1.40807439e-01 -1.98351769e+02] [-1.62458768e-01 6.98329773e-04 9.86715086e-01 -9.29109190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.9565599950001 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:416.19, Y:-198.33, Z:-929.12 [[ 4.89664771e-01 -8.67248528e-01 9.00466757e-02 4.16185693e+02] [ 8.57287391e-01 4.97713063e-01 1.31681569e-01 -1.98325173e+02] [-1.59018054e-01 1.27160542e-02 9.87193781e-01 -9.29118092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.21, Y:-198.31, Z:-929.11 [[ 4.89433332e-01 -8.69224598e-01 7.00257936e-02 4.16210292e+02] [ 8.56873190e-01 4.94279240e-01 1.46479927e-01 -1.98305371e+02] [-1.61936252e-01 -1.16889337e-02 9.86731990e-01 -9.29114775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.21, Y:-198.28, Z:-929.13 [[ 4.90592207e-01 -8.67067326e-01 8.66806673e-02 4.16213557e+02] [ 8.55833648e-01 4.98156372e-01 1.39244372e-01 -1.98277154e+02] [-1.63914772e-01 5.87202766e-03 9.86457027e-01 -9.29128539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.23, Y:-198.26, Z:-929.13 [[ 4.93054537e-01 -8.66687065e-01 7.58337342e-02 4.16233003e+02] [ 8.54615892e-01 4.98812029e-01 1.44285266e-01 -1.98255452e+02] [-1.62876952e-01 -6.33179041e-03 9.86626073e-01 -9.29125859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.24, Y:-198.23, Z:-929.13 [[ 4.94705591e-01 -8.65237802e-01 8.14243473e-02 4.16242884e+02] [ 8.53530064e-01 5.01361231e-01 1.41856776e-01 -1.98230125e+02] [-1.63562856e-01 -6.79211914e-04 9.86532681e-01 -9.29132350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.25, Y:-198.20, Z:-929.14 [[ 4.95840394e-01 -8.64094234e-01 8.65069880e-02 4.16253288e+02] [ 8.52552366e-01 5.03314722e-01 1.40814609e-01 -1.98204487e+02] [-1.65217332e-01 3.93016595e-03 9.86249353e-01 -9.29140659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.27, Y:-198.18, Z:-929.14 [[ 4.99421532e-01 -8.62812372e-01 7.83131232e-02 4.16269172e+02] [ 8.50300657e-01 5.05481186e-01 1.46552257e-01 -1.98181994e+02] [-1.66032911e-01 -6.60165244e-03 9.86098114e-01 -9.29138629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.27, Y:-198.15, Z:-929.15 [[ 4.98860205e-01 -8.61324597e-01 9.62207565e-02 4.16270712e+02] [ 8.49814032e-01 5.07924372e-01 1.40815280e-01 -1.98154020e+02] [-1.70160532e-01 1.15226096e-02 9.85348985e-01 -9.29154711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.30, Y:-198.13, Z:-929.14 [[ 5.02293535e-01 -8.61795519e-01 7.07791539e-02 4.16298511e+02] [ 8.48401641e-01 5.06990077e-01 1.52235731e-01 -1.98134612e+02] [-1.67080399e-01 -1.64178731e-02 9.85806570e-01 -9.29144264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.30, Y:-198.11, Z:-929.15 [[ 5.03434475e-01 -8.60028950e-01 8.30899130e-02 4.16304694e+02] [ 8.47689466e-01 5.10238317e-01 1.45187565e-01 -1.98107110e+02] [-1.67261167e-01 -2.65798180e-03 9.85909041e-01 -9.29153574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.32, Y:-198.08, Z:-929.16 [[ 5.04542221e-01 -8.59362826e-01 8.32627272e-02 4.16317551e+02] [ 8.46946236e-01 5.11357918e-01 1.45585555e-01 -1.98082520e+02] [-1.67687869e-01 -2.93500587e-03 9.85835770e-01 -9.29158479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.33, Y:-198.06, Z:-929.16 [[ 5.06072840e-01 -8.58475356e-01 8.31284806e-02 4.16329228e+02] [ 8.46070914e-01 5.12844368e-01 1.45446427e-01 -1.98057330e+02] [-1.67494146e-01 -3.27389682e-03 9.85867635e-01 -9.29163257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.34, Y:-198.03, Z:-929.17 [[ 5.06047603e-01 -8.58179998e-01 8.62723296e-02 4.16340945e+02] [ 8.46010379e-01 5.13348886e-01 1.44011664e-01 -1.98031067e+02] [-1.67875734e-01 1.10528776e-04 9.85808159e-01 -9.29170830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.36, Y:-198.01, Z:-929.17 [[ 5.06451701e-01 -8.58305465e-01 8.25736279e-02 4.16355644e+02] [ 8.45907391e-01 5.13125081e-01 1.45407489e-01 -1.98006966e+02] [-1.67174642e-01 -3.79222827e-03 9.85920006e-01 -9.29173943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.37, Y:-197.98, Z:-929.18 [[ 5.06363101e-01 -8.58613289e-01 7.98725871e-02 4.16367938e+02] [ 8.46264789e-01 5.12589453e-01 1.45216940e-01 -1.97982807e+02] [-1.65627040e-01 -5.93914211e-03 9.86170579e-01 -9.29176920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.38, Y:-197.96, Z:-929.18 [[ 5.05415145e-01 -8.58898490e-01 8.27581696e-02 4.16380088e+02] [ 8.46893272e-01 5.12140929e-01 1.43120423e-01 -1.97957585e+02] [-1.65309761e-01 -2.24789228e-03 9.86239134e-01 -9.29183369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.39, Y:-197.93, Z:-929.19 [[ 5.04258259e-01 -8.59709957e-01 8.13781250e-02 4.16392276e+02] [ 8.47599685e-01 5.10770163e-01 1.43835377e-01 -1.97934838e+02] [-1.65222224e-01 -3.55410376e-03 9.86249961e-01 -9.29187024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.41, Y:-197.91, Z:-929.19 [[ 5.02521338e-01 -8.60706901e-01 8.15839124e-02 4.16405465e+02] [ 8.48712124e-01 5.09093490e-01 1.43218538e-01 -1.97909918e+02] [-1.64803023e-01 -2.72911600e-03 9.86322724e-01 -9.29191675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.42, Y:-197.89, Z:-929.20 [[ 4.98393337e-01 -8.63087337e-01 8.17577541e-02 4.16417705e+02] [ 8.51056098e-01 5.05050740e-01 1.43621964e-01 -1.97886510e+02] [-1.65250113e-01 -1.99979498e-03 9.86249665e-01 -9.29195619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.43, Y:-197.86, Z:-929.20 [[ 4.95584127e-01 -8.64669241e-01 8.21186778e-02 4.16430829e+02] [ 8.52543442e-01 5.02339361e-01 1.44308165e-01 -1.97862515e+02] [-1.66030276e-01 -1.50709583e-03 9.86119504e-01 -9.29200079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.44, Y:-197.84, Z:-929.21 [[ 4.91196191e-01 -8.66421699e-01 8.96646046e-02 4.16439550e+02] [ 8.54678574e-01 4.99267676e-01 1.42324709e-01 -1.97836916e+02] [-1.68079855e-01 6.72506148e-03 9.85750443e-01 -9.29209806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.46, Y:-197.82, Z:-929.21 [[ 4.89408220e-01 -8.68805259e-01 7.52131390e-02 4.16460945e+02] [ 8.56105840e-01 4.95086793e-01 1.48229074e-01 -1.97815628e+02] [-1.66019231e-01 -8.15411970e-03 9.86088802e-01 -9.29206187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.47, Y:-197.79, Z:-929.21 [[ 4.89219881e-01 -8.68295020e-01 8.20223580e-02 4.16471244e+02] [ 8.56209501e-01 4.96047981e-01 1.44366514e-01 -1.97789627e+02] [-1.66039751e-01 -3.98646688e-04 9.86118980e-01 -9.29213692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.48, Y:-197.76, Z:-929.22 [[ 4.85387639e-01 -8.70342761e-01 8.30801987e-02 4.16483313e+02] [ 8.58382221e-01 4.92444092e-01 1.43801183e-01 -1.97764991e+02] [-1.66068672e-01 1.51524881e-03 9.86113026e-01 -9.29219770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.50, Y:-197.74, Z:-929.22 [[ 4.79537275e-01 -8.73847854e-01 8.02117886e-02 4.16496605e+02] [ 8.61906158e-01 4.86199465e-01 1.43971717e-01 -1.97741019e+02] [-1.64808304e-01 9.52299198e-05 9.86325613e-01 -9.29223739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:416.51, Y:-197.71, Z:-929.23 [[ 4.77921130e-01 -8.74307178e-01 8.47251502e-02 4.16509499e+02] [ 8.62790360e-01 4.85342391e-01 1.41547017e-01 -1.97714824e+02] [-1.64876280e-01 5.45173269e-03 9.86299190e-01 -9.29231533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.52, Y:-197.69, Z:-929.23 [[ 4.74936477e-01 -8.76518151e-01 7.84300628e-02 4.16524084e+02] [ 8.64698364e-01 4.81368706e-01 1.43460477e-01 -1.97691760e+02] [-1.63499489e-01 -3.16266257e-04 9.86543368e-01 -9.29232683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.54, Y:-197.67, Z:-929.24 [[ 4.73417255e-01 -8.77192335e-01 8.00606630e-02 4.16535463e+02] [ 8.65553363e-01 4.80135527e-01 1.42433324e-01 -1.97667599e+02] [-1.63381388e-01 1.86638295e-03 9.86561219e-01 -9.29237549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.55, Y:-197.64, Z:-929.24 [[ 4.71535242e-01 -8.78035207e-01 8.19065964e-02 4.16546458e+02] [ 8.66598795e-01 4.78576340e-01 1.41319554e-01 -1.97642778e+02] [-1.63282103e-01 4.34300791e-03 9.86569862e-01 -9.29243288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.56, Y:-197.62, Z:-929.25 [[ 4.70632627e-01 -8.78792971e-01 7.89166975e-02 4.16559040e+02] [ 8.67108072e-01 4.77201698e-01 1.42836030e-01 -1.97618321e+02] [-1.63182481e-01 1.20600923e-03 9.86595167e-01 -9.29245472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.57, Y:-197.59, Z:-929.25 [[ 4.70272873e-01 -8.78850063e-01 8.04113968e-02 4.16570627e+02] [ 8.67285435e-01 4.77089265e-01 1.42133060e-01 -1.97592869e+02] [-1.63277063e-01 2.89831111e-03 9.86575999e-01 -9.29250536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.58, Y:-197.57, Z:-929.25 [[ 4.70332766e-01 -8.78830493e-01 8.02748644e-02 4.16583079e+02] [ 8.67289700e-01 4.77125655e-01 1.41984808e-01 -1.97567643e+02] [-1.63081776e-01 2.84145565e-03 9.86608464e-01 -9.29254962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.59, Y:-197.54, Z:-929.26 [[ 4.70911315e-01 -8.78379330e-01 8.18063941e-02 4.16592573e+02] [ 8.66915097e-01 4.77945032e-01 1.41515940e-01 -1.97541435e+02] [-1.63403636e-01 4.27774058e-03 9.86550025e-01 -9.29261077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:416.61, Y:-197.52, Z:-929.26 [[ 4.72916808e-01 -8.77590291e-01 7.86446071e-02 4.16606325e+02] [ 8.65922352e-01 4.79410953e-01 1.42631060e-01 -1.97517604e+02] [-1.62874719e-01 6.47497608e-04 9.86646546e-01 -9.29263535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.62, Y:-197.49, Z:-929.27 [[ 4.74883348e-01 -8.76407445e-01 7.99737221e-02 4.16617013e+02] [ 8.64882413e-01 4.81566635e-01 1.41675644e-01 -1.97493357e+02] [-1.62678265e-01 1.88846160e-03 9.86677362e-01 -9.29268639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.63, Y:-197.47, Z:-929.27 [[ 4.79760349e-01 -8.73800368e-01 7.93909580e-02 4.16626747e+02] [ 8.62397873e-01 4.86283859e-01 1.40705071e-01 -1.97466929e+02] [-1.61554684e-01 9.61879279e-04 9.86863293e-01 -9.29273484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.63, Y:-197.44, Z:-929.29 [[ 4.81661276e-01 -8.71715382e-01 9.00816704e-02 4.16632364e+02] [ 8.60878437e-01 4.89881669e-01 1.37492786e-01 -1.97440077e+02] [-1.63983935e-01 1.13244169e-02 9.86398006e-01 -9.29286117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.65, Y:-197.42, Z:-929.28 [[ 4.85888619e-01 -8.71246942e-01 6.95774044e-02 4.16654784e+02] [ 8.59029224e-01 4.90719829e-01 1.45817836e-01 -1.97418973e+02] [-1.61186356e-01 -1.10822034e-02 9.86861765e-01 -9.29280074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.66, Y:-197.39, Z:-929.29 [[ 4.89361046e-01 -8.68490048e-01 7.90620177e-02 4.16661130e+02] [ 8.57081874e-01 4.95705788e-01 1.40308351e-01 -1.97392744e+02] [-1.61047906e-01 -8.98819030e-04 9.86946181e-01 -9.29287922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.67, Y:-197.37, Z:-929.29 [[ 4.92837380e-01 -8.66538885e-01 7.88776191e-02 4.16673063e+02] [ 8.55151360e-01 4.99107133e-01 1.40029359e-01 -1.97368160e+02] [-1.60709267e-01 -1.55939900e-03 9.87000557e-01 -9.29292349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.68, Y:-197.34, Z:-929.31 [[ 4.97972092e-01 -8.62231279e-01 9.26337740e-02 4.16676679e+02] [ 8.51686088e-01 5.06379732e-01 1.34945823e-01 -1.97339778e+02] [-1.63262375e-01 1.16956427e-02 9.86513360e-01 -9.29307322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.70, Y:-197.32, Z:-929.30 [[ 5.01500039e-01 -8.62663243e-01 6.56493767e-02 4.16702789e+02] [ 8.50383783e-01 5.05478258e-01 1.46079266e-01 -1.97320878e+02] [-1.59201546e-01 -1.74315923e-02 9.87092198e-01 -9.29297902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.71, Y:-197.29, Z:-929.31 [[ 5.03539699e-01 -8.60435248e-01 7.80958116e-02 4.16709132e+02] [ 8.49171134e-01 5.09547198e-01 1.38816561e-01 -1.97293102e+02] [-1.59236164e-01 -3.58294047e-03 9.87234018e-01 -9.29306945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.72, Y:-197.27, Z:-929.31 [[ 5.04809019e-01 -8.59679700e-01 7.82219196e-02 4.16721515e+02] [ 8.48354467e-01 5.10818735e-01 1.39136328e-01 -1.97269542e+02] [-1.59569899e-01 -3.87735829e-03 9.87179018e-01 -9.29311598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.73, Y:-197.25, Z:-929.32 [[ 5.05714537e-01 -8.59152090e-01 7.81696448e-02 4.16734346e+02] [ 8.47827697e-01 5.11704156e-01 1.39093687e-01 -1.97245585e+02] [-1.59502364e-01 -4.06730942e-03 9.87189168e-01 -9.29315610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.75, Y:-197.22, Z:-929.32 [[ 5.06105719e-01 -8.58857422e-01 7.88728737e-02 4.16747149e+02] [ 8.47313481e-01 5.12197261e-01 1.40405951e-01 -1.97220804e+02] [-1.60987163e-01 -4.23020549e-03 9.86947435e-01 -9.29319937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.75, Y:-197.19, Z:-929.34 [[ 5.03744041e-01 -8.57775073e-01 1.02293042e-01 4.16747969e+02] [ 8.47357411e-01 5.13678730e-01 1.34608994e-01 -1.97192316e+02] [-1.68010000e-01 1.88702889e-02 9.85604663e-01 -9.29340015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.78, Y:-197.18, Z:-929.32 [[ 5.05289846e-01 -8.60911940e-01 5.92689052e-02 4.16783988e+02] [ 8.47546902e-01 5.08017681e-01 1.53565248e-01 -1.97177045e+02] [-1.62315807e-01 -2.73617835e-02 9.86359423e-01 -9.29322308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.79, Y:-197.15, Z:-929.33 [[ 5.05001019e-01 -8.59416102e-01 7.98619735e-02 4.16787223e+02] [ 8.47546708e-01 5.11259327e-01 1.42402523e-01 -1.97148217e+02] [-1.63213200e-01 -4.22666652e-03 9.86581769e-01 -9.29333928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.80, Y:-197.12, Z:-929.34 [[ 5.04528048e-01 -8.59703527e-01 7.97577255e-02 4.16800306e+02] [ 8.47852927e-01 5.10776262e-01 1.42313123e-01 -1.97124912e+02] [-1.63085446e-01 -4.17814101e-03 9.86603102e-01 -9.29338957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.81, Y:-197.10, Z:-929.36 [[ 5.03075519e-01 -8.58807091e-01 9.67750156e-02 4.16805599e+02] [ 8.47964018e-01 5.12126503e-01 1.36687489e-01 -1.97096994e+02] [-1.66949235e-01 1.32976016e-02 9.85875817e-01 -9.29356304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.84, Y:-197.08, Z:-929.34 [[ 5.03751152e-01 -8.61458304e-01 6.42212373e-02 4.16835159e+02] [ 8.48554079e-01 5.07390356e-01 1.50036671e-01 -1.97080555e+02] [-1.61835573e-01 -2.10859530e-02 9.86592434e-01 -9.29344128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.84, Y:-197.05, Z:-929.35 [[ 5.03494388e-01 -8.60415096e-01 7.86082953e-02 4.16841712e+02] [ 8.48884471e-01 5.09578243e-01 1.40446322e-01 -1.97053870e+02] [-1.60899213e-01 -3.98457406e-03 9.86962799e-01 -9.29354483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.86, Y:-197.03, Z:-929.36 [[ 5.03065498e-01 -8.60696118e-01 7.82770563e-02 4.16855508e+02] [ 8.49251487e-01 5.09103902e-01 1.39946881e-01 -1.97029760e+02] [-1.60302892e-01 -3.92554086e-03 9.87060066e-01 -9.29359766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.87, Y:-197.01, Z:-929.36 [[ 5.02449063e-01 -8.61074349e-01 7.80762793e-02 4.16868576e+02] [ 8.49677726e-01 5.08464539e-01 1.39683840e-01 -1.97007066e+02] [-1.59977191e-01 -3.84433901e-03 9.87113225e-01 -9.29364672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.88, Y:-196.98, Z:-929.37 [[ 5.01749700e-01 -8.61502365e-01 7.78518753e-02 4.16882897e+02] [ 8.50168956e-01 5.07739918e-01 1.39330262e-01 -1.96983132e+02] [-1.59561855e-01 -3.72166930e-03 9.87180918e-01 -9.29369463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.90, Y:-196.96, Z:-929.37 [[ 5.00145254e-01 -8.62441731e-01 7.77752263e-02 4.16897803e+02] [ 8.51126619e-01 5.06144480e-01 1.39288348e-01 -1.96960866e+02] [-1.59493585e-01 -3.46784063e-03 9.87192874e-01 -9.29374129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.91, Y:-196.94, Z:-929.38 [[ 4.98859338e-01 -8.63172426e-01 7.79276852e-02 4.16912390e+02] [ 8.51813648e-01 5.04898701e-01 1.39609492e-01 -1.96937202e+02] [-1.59852651e-01 -3.26563284e-03 9.87135485e-01 -9.29379041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.93, Y:-196.91, Z:-929.38 [[ 4.97416300e-01 -8.63998675e-01 7.79956070e-02 4.16926291e+02] [ 8.52614643e-01 5.03484835e-01 1.39825932e-01 -1.96914736e+02] [-1.60079025e-01 -3.05150130e-03 9.87099485e-01 -9.29383295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.94, Y:-196.89, Z:-929.39 [[ 4.95721365e-01 -8.64955090e-01 7.81858103e-02 4.16940922e+02] [ 8.53516923e-01 5.01841567e-01 1.40228046e-01 -1.96891435e+02] [-1.60527851e-01 -2.78112603e-03 9.87027393e-01 -9.29387947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.96, Y:-196.87, Z:-929.39 [[ 4.92331049e-01 -8.66844363e-01 7.86828339e-02 4.16956748e+02] [ 8.55267498e-01 4.98573845e-01 1.41214831e-01 -1.96869045e+02] [-1.61640483e-01 -2.22957550e-03 9.86847194e-01 -9.29392376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.97, Y:-196.85, Z:-929.40 [[ 4.90522265e-01 -8.67863344e-01 7.87472090e-02 4.16971701e+02] [ 8.56264790e-01 4.96799192e-01 1.41425501e-01 -1.96845307e+02] [-1.61859558e-01 -1.94389469e-03 9.86811889e-01 -9.29396778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.99, Y:-196.82, Z:-929.40 [[ 4.88909747e-01 -8.68749438e-01 7.90042670e-02 4.16986548e+02] [ 8.57070259e-01 4.95248937e-01 1.41982610e-01 -1.96821963e+02] [-1.62474092e-01 -1.70447447e-03 9.86711338e-01 -9.29401536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.00, Y:-196.80, Z:-929.41 [[ 4.87580932e-01 -8.69480198e-01 7.91771443e-02 4.17001343e+02] [ 8.57743113e-01 4.93965481e-01 1.42389803e-01 -1.96798535e+02] [-1.62915890e-01 -1.51290268e-03 9.86638801e-01 -9.29405703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.02, Y:-196.77, Z:-929.41 [[ 4.86563562e-01 -8.70014763e-01 7.95626308e-02 4.17016285e+02] [ 8.58153383e-01 4.93023714e-01 1.43179572e-01 -1.96774631e+02] [-1.63794605e-01 -1.38902190e-03 9.86493486e-01 -9.29410466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.03, Y:-196.75, Z:-929.42 [[ 4.86076930e-01 -8.70269669e-01 7.97491170e-02 4.17030884e+02] [ 8.58339547e-01 4.92573719e-01 1.43611816e-01 -1.96750840e+02] [-1.64263327e-01 -1.35456996e-03 9.86415594e-01 -9.29415190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.05, Y:-196.73, Z:-929.42 [[ 4.86467040e-01 -8.70052337e-01 7.97417698e-02 4.17045443e+02] [ 8.58105570e-01 4.92957151e-01 1.43694393e-01 -1.96727232e+02] [-1.64330918e-01 -1.47572923e-03 9.86404162e-01 -9.29419742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.06, Y:-196.70, Z:-929.42 [[ 4.87376472e-01 -8.69544543e-01 7.97274263e-02 4.17059274e+02] [ 8.57579428e-01 4.93851614e-01 1.43764070e-01 -1.96703744e+02] [-1.64382781e-01 -1.69462476e-03 9.86395169e-01 -9.29424830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.07, Y:-196.68, Z:-929.43 [[ 4.90269278e-01 -8.67964271e-01 7.92089614e-02 4.17072674e+02] [ 8.56118405e-01 4.96621498e-01 1.42927829e-01 -1.96681290e+02] [-1.63393122e-01 -2.26087357e-03 9.86558451e-01 -9.29429893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.09, Y:-196.66, Z:-929.44 [[ 4.92028138e-01 -8.66994148e-01 7.89269179e-02 4.17086412e+02] [ 8.55212227e-01 4.98311537e-01 1.42469852e-01 -1.96657275e+02] [-1.62850722e-01 -2.59991079e-03 9.86647294e-01 -9.29435095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.10, Y:-196.63, Z:-929.44 [[ 4.96280374e-01 -8.64653455e-01 7.79755983e-02 4.17100367e+02] [ 8.53111358e-01 5.02357436e-01 1.40847499e-01 -1.96634077e+02] [-1.60955898e-01 -3.37798121e-03 9.86955819e-01 -9.29440250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:417.10, Y:-196.61, Z:-929.46 [[ 4.96071575e-01 -8.62615507e-01 9.90327266e-02 4.17101191e+02] [ 8.52404889e-01 5.05534237e-01 1.33570360e-01 -1.96606697e+02] [-1.65284297e-01 1.81555217e-02 9.86078840e-01 -9.29459709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.14, Y:-196.59, Z:-929.44 [[ 4.99325335e-01 -8.64500286e-01 5.75627164e-02 4.17137875e+02] [ 8.51667706e-01 5.01947757e-01 1.50700260e-01 -1.96590570e+02] [-1.59173894e-01 -2.62241511e-02 9.86902207e-01 -9.29442912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.14, Y:-196.56, Z:-929.45 [[ 5.00747585e-01 -8.62147800e-01 7.71558669e-02 4.17141526e+02] [ 8.50786186e-01 5.06639065e-01 1.39569782e-01 -1.96562838e+02] [-1.59419957e-01 -4.24608574e-03 9.87201726e-01 -9.29454945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.16, Y:-196.54, Z:-929.46 [[ 5.01269304e-01 -8.61831049e-01 7.73067120e-02 4.17155094e+02] [ 8.50406076e-01 5.07176358e-01 1.39934439e-01 -1.96539508e+02] [-1.59807981e-01 -4.40274110e-03 9.87138301e-01 -9.29459920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.17, Y:-196.52, Z:-929.46 [[ 5.01633979e-01 -8.61616066e-01 7.73376054e-02 4.17169203e+02] [ 8.50166185e-01 5.07540511e-01 1.40071723e-01 -1.96515839e+02] [-1.59940015e-01 -4.51491881e-03 9.87116410e-01 -9.29464183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.18, Y:-196.49, Z:-929.47 [[ 5.01353626e-01 -8.61742110e-01 7.77500996e-02 4.17183376e+02] [ 8.50155628e-01 5.07326198e-01 1.40909681e-01 -1.96492061e+02] [-1.60872468e-01 -4.54589482e-03 9.86964733e-01 -9.29468978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:417.20, Y:-196.47, Z:-929.47 [[ 5.00681505e-01 -8.62102184e-01 7.80887656e-02 4.17198115e+02] [ 8.50403268e-01 5.06714518e-01 1.41614548e-01 -1.96468203e+02] [-1.61654922e-01 -4.49684347e-03 9.86837101e-01 -9.29473537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.21, Y:-196.45, Z:-929.48 [[ 4.98333983e-01 -8.63418590e-01 7.85594101e-02 4.17213715e+02] [ 8.51578240e-01 5.04471184e-01 1.42559905e-01 -1.96446347e+02] [-1.62719831e-01 -4.14296128e-03 9.86663617e-01 -9.29477381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.23, Y:-196.42, Z:-929.48 [[ 4.96256876e-01 -8.64609859e-01 7.86060140e-02 4.17228208e+02] [ 8.52756708e-01 5.02429474e-01 1.42725685e-01 -1.96422956e+02] [-1.62896013e-01 -3.79679692e-03 9.86635938e-01 -9.29482040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.22, Y:-196.39, Z:-929.51 [[ 4.91012812e-01 -8.64112266e-01 1.10527871e-01 4.17223439e+02] [ 8.54166346e-01 5.02480601e-01 1.33839830e-01 -1.96394581e+02] [-1.71190749e-01 2.86921162e-02 9.84820029e-01 -9.29509608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.27, Y:-196.38, Z:-929.48 [[ 4.91719534e-01 -8.69321283e-01 4.99240188e-02 4.17272131e+02] [ 8.55253523e-01 4.92941870e-01 1.59842813e-01 -1.96382417e+02] [-1.63564398e-01 -3.59001405e-02 9.85879236e-01 -9.29480535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.27, Y:-196.35, Z:-929.50 [[ 4.87717036e-01 -8.69419557e-01 7.90045990e-02 4.17273454e+02] [ 8.57466921e-01 4.94069004e-01 1.43688203e-01 -1.96353920e+02] [-1.63959057e-01 -2.33535448e-03 9.86464380e-01 -9.29496442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:417.28, Y:-196.33, Z:-929.52 [[ 4.84630921e-01 -8.68610983e-01 1.03188323e-01 4.17275801e+02] [ 8.58386098e-01 4.94951175e-01 1.34894924e-01 -1.96325862e+02] [-1.68244394e-01 2.32011702e-02 9.85472237e-01 -9.29518573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.31, Y:-196.31, Z:-929.50 [[ 4.83756967e-01 -8.73367636e-01 5.66407011e-02 4.17313465e+02] [ 8.59876460e-01 4.86347648e-01 1.55172291e-01 -1.96312786e+02] [-1.63069529e-01 -2.63616713e-02 9.86262334e-01 -9.29497825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.32, Y:-196.28, Z:-929.51 [[ 4.83714212e-01 -8.71691041e-01 7.85830178e-02 4.17315634e+02] [ 8.59851257e-01 4.90052914e-01 1.43192029e-01 -1.96283582e+02] [-1.63329046e-01 -1.69431280e-03 9.86570196e-01 -9.29511317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.32, Y:-196.26, Z:-929.53 [[ 4.78795950e-01 -8.72606321e-01 9.65020577e-02 4.17319631e+02] [ 8.62092265e-01 4.88093801e-01 1.36240115e-01 -1.96258040e+02] [-1.65986041e-01 1.79624624e-02 9.85964494e-01 -9.29531627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.36, Y:-196.24, Z:-929.51 [[ 4.79597112e-01 -8.75452814e-01 5.97409450e-02 4.17355180e+02] [ 8.62721454e-01 4.82869591e-01 1.50162082e-01 -1.96240905e+02] [-1.60306903e-01 -2.04775062e-02 9.86854786e-01 -9.29514736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.596559995 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:417.35, Y:-196.21, Z:-929.54 [[ 4.77215288e-01 -8.73139653e-01 9.94621282e-02 4.17348545e+02] [ 8.63512004e-01 4.86917985e-01 1.31369305e-01 -1.96209610e+02] [-1.63133648e-01 2.31953010e-02 9.86331279e-01 -9.29543141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:417.39, Y:-196.20, Z:-929.52 [[ 4.76604469e-01 -8.77359622e-01 5.55722481e-02 4.17385434e+02] [ 8.64630443e-01 4.79241592e-01 1.50803493e-01 -1.96195991e+02] [-1.58941428e-01 -2.38241610e-02 9.87000523e-01 -9.29523579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.37, Y:-196.17, Z:-929.56 [[ 4.72318319e-01 -8.75494148e-01 1.02104862e-01 4.17372593e+02] [ 8.65957012e-01 4.82512774e-01 1.31528996e-01 -1.96165308e+02] [-1.64419767e-01 2.62948666e-02 9.86039918e-01 -9.29557243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.42, Y:-196.15, Z:-929.53 [[ 4.71648930e-01 -8.80255461e-01 5.19385242e-02 4.17419122e+02] [ 8.67412434e-01 4.73746891e-01 1.52182628e-01 -1.96152506e+02] [-1.58565303e-01 -2.67246519e-02 9.86986747e-01 -9.29531224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.42, Y:-196.13, Z:-929.55 [[ 4.70158972e-01 -8.79290359e-01 7.61511986e-02 4.17421726e+02] [ 8.68195152e-01 4.76285677e-01 1.39244867e-01 -1.96125274e+02] [-1.58706395e-01 6.46877740e-04 9.87325611e-01 -9.29545556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.42, Y:-196.10, Z:-929.57 [[ 4.66154078e-01 -8.78837925e-01 1.01706819e-01 4.17421036e+02] [ 8.69347444e-01 4.76352234e-01 1.31619038e-01 -1.96098567e+02] [-1.64120073e-01 2.70638121e-02 9.86069040e-01 -9.29570646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.46, Y:-196.08, Z:-929.55 [[ 4.66898736e-01 -8.82705753e-01 5.32552735e-02 4.17464169e+02] [ 8.69718331e-01 4.69255966e-01 1.52934180e-01 -1.96083704e+02] [-1.59986235e-01 -2.50876875e-02 9.86800392e-01 -9.29545114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:417.45, Y:-196.05, Z:-929.58 [[ 4.63554066e-01 -8.79860219e-01 1.04707319e-01 4.17450216e+02] [ 8.70508937e-01 4.74271308e-01 1.31456903e-01 -1.96053428e+02] [-1.65323376e-01 3.02112749e-02 9.85776577e-01 -9.29580640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.49, Y:-196.04, Z:-929.55 [[ 4.65912991e-01 -8.83318342e-01 5.17087246e-02 4.17494176e+02] [ 8.69890109e-01 4.67956931e-01 1.55908655e-01 -1.96040506e+02] [-1.61914431e-01 -2.76589597e-02 9.86417102e-01 -9.29552578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.50, Y:-196.01, Z:-929.57 [[ 4.67138702e-01 -8.80770180e-01 7.76229520e-02 4.17495191e+02] [ 8.69176572e-01 4.73543057e-01 1.42439675e-01 -1.96011961e+02] [-1.62214428e-01 9.28966607e-04 9.86755095e-01 -9.29567889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.49, Y:-195.98, Z:-929.60 [[ 4.66036835e-01 -8.78415405e-01 1.05811366e-01 4.17491815e+02] [ 8.68748803e-01 4.76968633e-01 1.33328321e-01 -1.95984114e+02] [-1.67586353e-01 2.97875893e-02 9.85407283e-01 -9.29595435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.52, Y:-195.97, Z:-929.59 [[ 4.67249597e-01 -8.80291505e-01 8.22476788e-02 4.17517350e+02] [ 8.67942158e-01 4.74425410e-01 1.46958977e-01 -1.95965992e+02] [-1.68387128e-01 2.71970514e-03 9.85717190e-01 -9.29591196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.55, Y:-195.95, Z:-929.57 [[ 4.72392912e-01 -8.80083110e-01 4.79443009e-02 4.17552363e+02] [ 8.66377939e-01 4.73656744e-01 1.58235761e-01 -1.95947000e+02] [-1.61969762e-01 -3.32115676e-02 9.86236680e-01 -9.29567795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.55, Y:-195.92, Z:-929.59 [[ 4.78059539e-01 -8.74919897e-01 7.72932844e-02 4.17550565e+02] [ 8.63309803e-01 4.84266213e-01 1.42064841e-01 -1.95919519e+02] [-1.61725882e-01 -1.18740245e-03 9.86835006e-01 -9.29585437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.56, Y:-195.90, Z:-929.59 [[ 4.80754527e-01 -8.73462765e-01 7.70576631e-02 4.17563493e+02] [ 8.61889683e-01 4.86887912e-01 1.41726270e-01 -1.95897025e+02] [-1.61311064e-01 -1.72034080e-03 9.86902113e-01 -9.29590006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.56, Y:-195.87, Z:-929.62 [[ 4.80301729e-01 -8.70553646e-01 1.06988778e-01 4.17556016e+02] [ 8.61061725e-01 4.91218685e-01 1.31441659e-01 -1.95869283e+02] [-1.66981903e-01 2.89922858e-02 9.85533608e-01 -9.29620343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.60, Y:-195.86, Z:-929.59 [[ 4.85931475e-01 -8.72653688e-01 4.84370007e-02 4.17604373e+02] [ 8.59166364e-01 4.87117864e-01 1.56682307e-01 -1.95855629e+02] [-1.60323922e-01 -3.45214230e-02 9.86460598e-01 -9.29587653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.60, Y:-195.83, Z:-929.60 [[ 4.91017485e-01 -8.67757895e-01 7.67988603e-02 4.17602664e+02] [ 8.56149240e-01 4.96973127e-01 1.41513920e-01 -1.95827384e+02] [-1.60966791e-01 -3.73452308e-03 9.86952758e-01 -9.29604155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.136559995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:417.60, Y:-195.80, Z:-929.62 [[ 4.89691162e-01 -8.66556631e-01 9.63440270e-02 4.17602562e+02] [ 8.56391518e-01 4.98783667e-01 1.33448197e-01 -1.95800488e+02] [-1.63695247e-01 1.71598049e-02 9.86361702e-01 -9.29624947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.64, Y:-195.78, Z:-929.61 [[ 4.90840325e-01 -8.69309903e-01 5.81039383e-02 4.17636389e+02] [ 8.56376271e-01 4.93657112e-01 1.51401251e-01 -1.95784451e+02] [-1.60298029e-01 -2.45550053e-02 9.86763190e-01 -9.29606375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.1965599950001 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:417.62, Y:-195.75, Z:-929.64 [[ 4.88203155e-01 -8.66479431e-01 1.04264448e-01 4.17624615e+02] [ 8.56825252e-01 4.98577482e-01 1.31419110e-01 -1.95750869e+02] [-1.65855861e-01 2.51771878e-02 9.85828556e-01 -9.29638257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.67, Y:-195.74, Z:-929.61 [[ 4.88330599e-01 -8.71161766e-01 5.10921040e-02 4.17666271e+02] [ 8.57721727e-01 4.89934852e-01 1.55811682e-01 -1.95737385e+02] [-1.60768982e-01 -3.22648041e-02 9.86464554e-01 -9.29612666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.64, Y:-195.70, Z:-929.66 [[ 4.81160707e-01 -8.69078772e-01 1.14832325e-01 4.17641177e+02] [ 8.59401233e-01 4.93482815e-01 1.33806700e-01 -1.95703011e+02] [-1.72956341e-01 3.43045151e-02 9.84331908e-01 -9.29655734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:417.70, Y:-195.69, Z:-929.62 [[ 4.85149396e-01 -8.73403135e-01 4.23913560e-02 4.17697688e+02] [ 8.59260601e-01 4.85163041e-01 1.62135877e-01 -1.95689369e+02] [-1.62176702e-01 -4.22349007e-02 9.85857460e-01 -9.29616938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.69, Y:-195.66, Z:-929.64 [[ 4.84898281e-01 -8.71121468e-01 7.75953983e-02 4.17692930e+02] [ 8.59219284e-01 4.91058858e-01 1.43538916e-01 -1.95658167e+02] [-1.63143739e-01 -2.93031091e-03 9.86597960e-01 -9.29636503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.71, Y:-195.63, Z:-929.64 [[ 4.84765414e-01 -8.71183919e-01 7.77243448e-02 4.17705060e+02] [ 8.59226073e-01 4.90947853e-01 1.43877589e-01 -1.95634507e+02] [-1.63502442e-01 -2.96409553e-03 9.86538477e-01 -9.29641190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.72, Y:-195.61, Z:-929.65 [[ 4.85905543e-01 -8.70585315e-01 7.73111474e-02 4.17717050e+02] [ 8.58736923e-01 4.92007208e-01 1.43177530e-01 -1.95609186e+02] [-1.62685897e-01 -3.18081862e-03 9.86672783e-01 -9.29646734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.73, Y:-195.59, Z:-929.65 [[ 4.86738375e-01 -8.70136769e-01 7.71217066e-02 4.17729457e+02] [ 8.58325183e-01 4.92798782e-01 1.42923898e-01 -1.95585222e+02] [-1.62368822e-01 -3.37104308e-03 9.86724380e-01 -9.29651881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.72, Y:-195.56, Z:-929.68 [[ 4.84150984e-01 -8.68468870e-01 1.06581645e-01 4.17723902e+02] [ 8.58230101e-01 4.95067283e-01 1.35460247e-01 -1.95556491e+02] [-1.70408093e-01 2.58883636e-02 9.85033438e-01 -9.29679537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.75, Y:-195.54, Z:-929.68 [[ 4.84448466e-01 -8.70697509e-01 8.48264838e-02 4.17746871e+02] [ 8.58094780e-01 4.91817256e-01 1.47611439e-01 -1.95536717e+02] [-1.70244040e-01 1.27902790e-03 9.85401102e-01 -9.29677629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.78, Y:-195.52, Z:-929.65 [[ 4.89294505e-01 -8.70969780e-01 4.47496402e-02 4.17783770e+02] [ 8.57327557e-01 4.89772537e-01 1.58468676e-01 -1.95517079e+02] [-1.59938573e-01 -3.91727526e-02 9.86349405e-01 -9.29654488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.76, Y:-195.48, Z:-929.69 [[ 4.86651020e-01 -8.67213136e-01 1.05414241e-01 4.17761794e+02] [ 8.57176528e-01 4.97300309e-01 1.33943282e-01 -1.95482472e+02] [-1.68579908e-01 2.51749782e-02 9.85366447e-01 -9.29694491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.81, Y:-195.47, Z:-929.67 [[ 4.90905471e-01 -8.69861367e-01 4.85079446e-02 4.17807396e+02] [ 8.56641300e-01 4.92086770e-01 1.54971915e-01 -1.95466600e+02] [-1.58674200e-01 -3.45226524e-02 9.86727260e-01 -9.29665294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.81, Y:-195.44, Z:-929.68 [[ 4.90814424e-01 -8.67973412e-01 7.56528714e-02 4.17806068e+02] [ 8.56520991e-01 4.96592835e-01 1.40596403e-01 -1.95437215e+02] [-1.59602614e-01 -4.20847023e-03 9.87172373e-01 -9.29681810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.616559995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:417.81, Y:-195.41, Z:-929.70 [[ 4.89072785e-01 -8.66757687e-01 9.76674180e-02 4.17807923e+02] [ 8.56639212e-01 4.98387952e-01 1.33336826e-01 -1.95408179e+02] [-1.64246983e-01 1.84543275e-02 9.86246605e-01 -9.29701884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.83, Y:-195.39, Z:-929.70 [[ 4.86235621e-01 -8.70458773e-01 7.66579764e-02 4.17832223e+02] [ 8.58368397e-01 4.92220467e-01 1.44646837e-01 -1.95387080e+02] [-1.63641733e-01 -4.53166037e-03 9.86509426e-01 -9.29696898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.86, Y:-195.37, Z:-929.68 [[ 4.87911281e-01 -8.71402196e-01 5.09979857e-02 4.17861262e+02] [ 8.58749654e-01 4.89660338e-01 1.50936361e-01 -1.95366542e+02] [-1.56497967e-01 -2.98490505e-02 9.87227137e-01 -9.29681330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.85, Y:-195.33, Z:-929.71 [[ 4.83977884e-01 -8.69891532e-01 9.51531999e-02 4.17850471e+02] [ 8.59693031e-01 4.92950028e-01 1.33896086e-01 -1.95334604e+02] [-1.63380844e-01 1.69997987e-02 9.86416599e-01 -9.29711796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.89, Y:-195.32, Z:-929.69 [[ 4.84979136e-01 -8.72744455e-01 5.57884751e-02 4.17886761e+02] [ 8.60328541e-01 4.87582185e-01 1.48655356e-01 -1.95317237e+02] [-1.56939604e-01 -2.40983287e-02 9.87314150e-01 -9.29692384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.87, Y:-195.29, Z:-929.73 [[ 4.79177909e-01 -8.71440812e-01 1.04782837e-01 4.17870750e+02] [ 8.61918340e-01 4.89736439e-01 1.31358268e-01 -1.95286037e+02] [-1.65786929e-01 2.73702691e-02 9.85781701e-01 -9.29727365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:-195.27, Z:-929.70 [[ 4.80085232e-01 -8.75993174e-01 4.64125966e-02 4.17919700e+02] [ 8.63047143e-01 4.81139033e-01 1.53801365e-01 -1.95271137e+02] [-1.57059858e-01 -3.37815052e-02 9.87011150e-01 -9.29696568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:-195.24, Z:-929.71 [[ 4.78937523e-01 -8.74673988e-01 7.45939916e-02 4.17918284e+02] [ 8.63582426e-01 4.84707172e-01 1.38868110e-01 -1.95241733e+02] [-1.57620566e-01 -2.09108864e-03 9.87497537e-01 -9.29712768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.91, Y:-195.21, Z:-929.74 [[ 4.73729030e-01 -8.73481127e-01 1.12301058e-01 4.17907573e+02] [ 8.64628288e-01 4.85531078e-01 1.29141378e-01 -1.95212134e+02] [-1.67328210e-01 3.59206516e-02 9.85246658e-01 -9.29744389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.94, Y:-195.20, Z:-929.73 [[ 4.73523495e-01 -8.77572857e-01 7.51091251e-02 4.17941105e+02] [ 8.64863158e-01 4.79411094e-01 1.48918502e-01 -1.95195023e+02] [-1.66694983e-01 -5.55729446e-03 9.85992850e-01 -9.29732895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.97, Y:-195.17, Z:-929.71 [[ 4.76677343e-01 -8.78055797e-01 4.23878283e-02 4.17973256e+02] [ 8.64739937e-01 4.77030325e-01 1.57057032e-01 -1.95173858e+02] [-1.58125116e-01 -3.82110806e-02 9.86679462e-01 -9.29712321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.97, Y:-195.14, Z:-929.73 [[ 4.76865334e-01 -8.75798313e-01 7.46777661e-02 4.17968014e+02] [ 8.64633962e-01 4.82673459e-01 1.39407473e-01 -1.95141814e+02] [-1.58137805e-01 -1.90965811e-03 9.87415206e-01 -9.29731297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9765599950001 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:417.97, Y:-195.11, Z:-929.75 [[ 4.75380291e-01 -8.74588514e-01 9.54385106e-02 4.17969006e+02] [ 8.64772130e-01 4.84465012e-01 1.32146948e-01 -1.95113370e+02] [-1.61810822e-01 1.97125093e-02 9.86624891e-01 -9.29750358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.99, Y:-195.09, Z:-929.75 [[ 4.74852596e-01 -8.76093375e-01 8.35189273e-02 4.17987917e+02] [ 8.64964084e-01 4.82103157e-01 1.39332979e-01 -1.95089955e+02] [-1.62333439e-01 6.07824549e-03 9.86717239e-01 -9.29751534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.036559995 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:418.01, Y:-195.07, Z:-929.75 [[ 4.75419330e-01 -8.76850507e-01 7.14818035e-02 4.18007528e+02] [ 8.64952819e-01 4.80716651e-01 1.44111493e-01 -1.95067386e+02] [-1.60726729e-01 -6.68500192e-03 9.86976307e-01 -9.29750289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.03, Y:-195.05, Z:-929.74 [[ 4.77062905e-01 -8.77355281e-01 5.15625442e-02 4.18030167e+02] [ 8.64969510e-01 4.79102222e-01 1.49294369e-01 -1.95046521e+02] [-1.55687932e-01 -2.66227768e-02 9.87447465e-01 -9.29739656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.03, Y:-195.02, Z:-929.75 [[ 4.77147030e-01 -8.75741086e-01 7.35408846e-02 4.18031561e+02] [ 8.64858346e-01 4.82776596e-01 1.37647372e-01 -1.95017508e+02] [-1.56047277e-01 -2.07558698e-03 9.87747407e-01 -9.29753689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.04, Y:-194.99, Z:-929.76 [[ 4.76777773e-01 -8.75950837e-01 7.34376337e-02 4.18044285e+02] [ 8.65086552e-01 4.82396030e-01 1.37547547e-01 -1.94992356e+02] [-1.55910912e-01 -2.04970392e-03 9.87768994e-01 -9.29758264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.06, Y:-194.97, Z:-929.76 [[ 4.76369636e-01 -8.76178308e-01 7.33726272e-02 4.18056235e+02] [ 8.65320666e-01 4.81982871e-01 1.37523296e-01 -1.94968154e+02] [-1.55859278e-01 -2.02107172e-03 9.87777202e-01 -9.29762773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:418.06, Y:-194.94, Z:-929.78 [[ 4.75429459e-01 -8.75560184e-01 8.57973969e-02 4.18062405e+02] [ 8.65823505e-01 4.82957223e-01 1.30774537e-01 -1.94940053e+02] [-1.55937450e-01 1.21113355e-02 9.87692679e-01 -9.29775423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.09, Y:-194.92, Z:-929.77 [[ 4.75060707e-01 -8.77817680e-01 6.12653656e-02 4.18088053e+02] [ 8.66044489e-01 4.78747183e-01 1.44111340e-01 -1.94920699e+02] [-1.55834103e-01 -1.54031027e-02 9.87663139e-01 -9.29766649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.09, Y:-194.89, Z:-929.78 [[ 4.74817719e-01 -8.77002352e-01 7.35867487e-02 4.18094535e+02] [ 8.66048547e-01 4.80482383e-01 1.38190425e-01 -1.94894506e+02] [-1.56550464e-01 -1.88556559e-03 9.87668161e-01 -9.29775882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.11, Y:-194.87, Z:-929.78 [[ 4.74511138e-01 -8.77153103e-01 7.37673020e-02 4.18107568e+02] [ 8.66138925e-01 4.80207201e-01 1.38579962e-01 -1.94869878e+02] [-1.56979433e-01 -1.86500377e-03 9.87600111e-01 -9.29780331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:418.12, Y:-194.84, Z:-929.78 [[ 4.74275923e-01 -8.77266064e-01 7.39364733e-02 4.18119898e+02] [ 8.66188048e-01 4.80000767e-01 1.38987520e-01 -1.94844912e+02] [-1.57418599e-01 -1.87554495e-03 9.87530186e-01 -9.29784625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.13, Y:-194.82, Z:-929.79 [[ 4.74466675e-01 -8.77154655e-01 7.40343568e-02 4.18132789e+02] [ 8.66030699e-01 4.80203984e-01 1.39265796e-01 -1.94819832e+02] [-1.57709235e-01 -1.96095351e-03 9.87483647e-01 -9.29789316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.15, Y:-194.79, Z:-929.79 [[ 4.74715274e-01 -8.77013952e-01 7.41075994e-02 4.18145353e+02] [ 8.65850937e-01 4.80460509e-01 1.39498584e-01 -1.94794862e+02] [-1.57947979e-01 -2.05597412e-03 9.87445294e-01 -9.29794217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.16, Y:-194.77, Z:-929.80 [[ 4.75020710e-01 -8.76860922e-01 7.39611268e-02 4.18157476e+02] [ 8.65725394e-01 4.80739334e-01 1.39317029e-01 -1.94769982e+02] [-1.57717681e-01 -2.14844809e-03 9.87481907e-01 -9.29799129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.17, Y:-194.75, Z:-929.80 [[ 4.74787554e-01 -8.76990584e-01 7.39208716e-02 4.18170645e+02] [ 8.65853295e-01 4.80502744e-01 1.39338384e-01 -1.94745057e+02] [-1.57717633e-01 -2.15150037e-03 9.87481909e-01 -9.29803849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.18, Y:-194.72, Z:-929.81 [[ 4.75325178e-01 -8.76714580e-01 7.37395501e-02 4.18182428e+02] [ 8.65614570e-01 4.81005552e-01 1.39086575e-01 -1.94720352e+02] [-1.57408361e-01 -2.28132201e-03 9.87530963e-01 -9.29808642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:418.19, Y:-194.70, Z:-929.81 [[ 4.74775647e-01 -8.76804474e-01 7.61708603e-02 4.18193457e+02] [ 8.65817969e-01 4.80847012e-01 1.38366891e-01 -1.94695598e+02] [-1.57947240e-01 2.56869439e-04 9.87447520e-01 -9.29814909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.21, Y:-194.67, Z:-929.82 [[ 4.75337923e-01 -8.76916265e-01 7.12160323e-02 4.18208121e+02] [ 8.65702452e-01 4.80618852e-01 1.39874169e-01 -1.94673099e+02] [-1.56885702e-01 -4.83560316e-03 9.87604928e-01 -9.29816501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.22, Y:-194.65, Z:-929.82 [[ 4.75149581e-01 -8.76836990e-01 7.34150466e-02 4.18219656e+02] [ 8.65783731e-01 4.80781832e-01 1.38806925e-01 -1.94647877e+02] [-1.57007667e-01 -2.39249926e-03 9.87594486e-01 -9.29821923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.576559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:418.23, Y:-194.62, Z:-929.83 [[ 4.75172576e-01 -8.76813131e-01 7.35510437e-02 4.18231196e+02] [ 8.65702743e-01 4.80825038e-01 1.39161931e-01 -1.94624069e+02] [-1.57384192e-01 -2.45259297e-03 9.87534405e-01 -9.29825887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.23, Y:-194.60, Z:-929.85 [[ 4.71915818e-01 -8.76381790e-01 9.61791005e-02 4.18228644e+02] [ 8.66210999e-01 4.81210069e-01 1.34593368e-01 -1.94597320e+02] [-1.64237528e-01 1.97946556e-02 9.86222189e-01 -9.29845364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.25, Y:-194.58, Z:-929.84 [[ 4.71542848e-01 -8.78587173e-01 7.57094564e-02 4.18252037e+02] [ 8.66424964e-01 4.77571858e-01 1.45715141e-01 -1.94576228e+02] [-1.64180159e-01 -3.11436926e-03 9.86425454e-01 -9.29841910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.28, Y:-194.55, Z:-929.83 [[ 4.74208475e-01 -8.78839440e-01 5.26076185e-02 4.18279963e+02] [ 8.66062894e-01 4.76390229e-01 1.51616005e-01 -1.94553550e+02] [-1.58307880e-01 -2.63360882e-02 9.87038513e-01 -9.29831143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.26, Y:-194.52, Z:-929.86 [[ 4.69830307e-01 -8.77160452e-01 9.92422562e-02 4.18263574e+02] [ 8.67094238e-01 4.79652209e-01 1.34466880e-01 -1.94522627e+02] [-1.65550797e-01 2.28757728e-02 9.85935917e-01 -9.29861890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.31, Y:-194.50, Z:-929.84 [[ 4.72660270e-01 -8.79820745e-01 5.00772087e-02 4.18306520e+02] [ 8.66915942e-01 4.74429298e-01 1.52884241e-01 -1.94504955e+02] [-1.58268822e-01 -2.88495763e-02 9.86974509e-01 -9.29839650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.756559995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:418.29, Y:-194.47, Z:-929.87 [[ 4.68673152e-01 -8.78277036e-01 9.47360813e-02 4.18293218e+02] [ 8.68250924e-01 4.77751802e-01 1.33766769e-01 -1.94473670e+02] [-1.62744615e-01 1.95617968e-02 9.86474291e-01 -9.29868743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.31, Y:-194.45, Z:-929.87 [[ 4.67432233e-01 -8.80645696e-01 7.72674894e-02 4.18314856e+02] [ 8.69010991e-01 4.73775212e-01 1.42677769e-01 -1.94452326e+02] [-1.62255985e-01 4.54109271e-04 9.86748595e-01 -9.29867185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.33, Y:-194.43, Z:-929.87 [[ 4.67192418e-01 -8.81323031e-01 7.07174658e-02 4.18332570e+02] [ 8.69413653e-01 4.72475683e-01 1.44522071e-01 -1.94428110e+02] [-1.60782913e-01 -6.03688576e-03 9.86971332e-01 -9.29868770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.35, Y:-194.40, Z:-929.87 [[ 4.66389275e-01 -8.82056833e-01 6.67591791e-02 4.18347234e+02] [ 8.70142136e-01 4.71048405e-01 1.44796630e-01 -1.94404600e+02] [-1.59165662e-01 -9.44162055e-03 9.87206740e-01 -9.29870279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.36, Y:-194.38, Z:-929.87 [[ 4.66730681e-01 -8.82317345e-01 6.06512491e-02 4.18364711e+02] [ 8.70621286e-01 4.70435833e-01 1.43905190e-01 -1.94379543e+02] [-1.55502566e-01 -1.43606988e-02 9.87731098e-01 -9.29869048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.37, Y:-194.35, Z:-929.88 [[ 4.65205535e-01 -8.82245056e-01 7.23012540e-02 4.18371400e+02] [ 8.71552911e-01 4.70789958e-01 1.36939183e-01 -1.94352215e+02] [-1.54852621e-01 -6.90497433e-04 9.87937341e-01 -9.29878630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9365599950002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.39, Y:-194.33, Z:-929.88 [[ 4.65279487e-01 -8.82710070e-01 6.58629685e-02 4.18388841e+02] [ 8.71892246e-01 4.69869469e-01 1.37936921e-01 -1.94328638e+02] [-1.52705308e-01 -6.75380859e-03 9.88248691e-01 -9.29878752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.40, Y:-194.30, Z:-929.89 [[ 4.64073222e-01 -8.82924653e-01 7.12748266e-02 4.18399371e+02] [ 8.72524259e-01 4.69514419e-01 1.35120791e-01 -1.94303210e+02] [-1.52766036e-01 -5.16925642e-04 9.88262248e-01 -9.29885407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.41, Y:-194.28, Z:-929.89 [[ 4.62547819e-01 -8.83337456e-01 7.59239956e-02 4.18410955e+02] [ 8.73059496e-01 4.68719582e-01 1.34421237e-01 -1.94277437e+02] [-1.54326377e-01 4.10991517e-03 9.88011375e-01 -9.29893231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.43, Y:-194.25, Z:-929.89 [[ 4.59796029e-01 -8.85188565e-01 7.09141522e-02 4.18426777e+02] [ 8.74357214e-01 4.65230083e-01 1.38059528e-01 -1.94254168e+02] [-1.55200112e-01 -1.47492211e-03 9.87881951e-01 -9.29894990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.45, Y:-194.23, Z:-929.89 [[ 4.60469885e-01 -8.85481208e-01 6.23739921e-02 4.18446672e+02] [ 8.74429370e-01 4.64571055e-01 1.39810632e-01 -1.94229731e+02] [-1.52776839e-01 -9.83693530e-03 9.88211755e-01 -9.29893312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.45, Y:-194.20, Z:-929.91 [[ 4.59054289e-01 -8.84895318e-01 7.89267803e-02 4.18448438e+02] [ 8.74946222e-01 4.65717805e-01 1.32574640e-01 -1.94204002e+02] [-1.54072285e-01 8.19773113e-03 9.88025571e-01 -9.29905863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.46, Y:-194.18, Z:-929.91 [[ 4.58240462e-01 -8.85897068e-01 7.21253418e-02 4.18464939e+02] [ 8.75233288e-01 4.63881750e-01 1.37041653e-01 -1.94180470e+02] [-1.54862428e-01 3.28469875e-04 9.87935990e-01 -9.29908243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.48, Y:-194.16, Z:-929.91 [[ 4.57930352e-01 -8.86056088e-01 7.21415391e-02 4.18477436e+02] [ 8.75374924e-01 4.63577927e-01 1.37165039e-01 -1.94156215e+02] [-1.54979143e-01 3.38859900e-04 9.87917684e-01 -9.29912791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.49, Y:-194.13, Z:-929.92 [[ 4.58417752e-01 -8.85776750e-01 7.24756079e-02 4.18490256e+02] [ 8.74977411e-01 4.64111526e-01 1.37894964e-01 -1.94132263e+02] [-1.55780918e-01 2.01020175e-04 9.87791610e-01 -9.29917687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.50, Y:-194.11, Z:-929.92 [[ 4.58824371e-01 -8.85569188e-01 7.24390097e-02 4.18503200e+02] [ 8.74763449e-01 4.64507487e-01 1.37919188e-01 -1.94107952e+02] [-1.55785445e-01 8.63135372e-05 9.87790913e-01 -9.29921998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.52, Y:-194.08, Z:-929.93 [[ 4.59709643e-01 -8.85105734e-01 7.24905733e-02 4.18516216e+02] [ 8.74263783e-01 4.65389972e-01 1.38112319e-01 -1.94083271e+02] [-1.55980391e-01 -1.15682079e-04 9.87760145e-01 -9.29926762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.53, Y:-194.06, Z:-929.93 [[ 4.60847072e-01 -8.84522187e-01 7.23911356e-02 4.18529253e+02] [ 8.73688056e-01 4.66497988e-01 1.38017418e-01 -1.94058720e+02] [-1.55849787e-01 -3.57652438e-04 9.87780702e-01 -9.29931255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.54, Y:-194.03, Z:-929.94 [[ 4.64138914e-01 -8.82806006e-01 7.23092261e-02 4.18541924e+02] [ 8.71960902e-01 4.69736731e-01 1.37955029e-01 -1.94033669e+02] [-1.55753827e-01 -9.79479252e-04 9.87795417e-01 -9.29936482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.56, Y:-194.01, Z:-929.94 [[ 4.66651295e-01 -8.81483047e-01 7.22786805e-02 4.18557356e+02] [ 8.70696980e-01 4.72214088e-01 1.37479542e-01 -1.94007372e+02] [-1.55316897e-01 -1.22217744e-03 9.87863942e-01 -9.29941118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.57, Y:-193.98, Z:-929.95 [[ 4.67727125e-01 -8.80859214e-01 7.29272433e-02 4.18566514e+02] [ 8.70078137e-01 4.73377638e-01 1.37395952e-01 -1.93984900e+02] [-1.55548616e-01 -8.11413587e-04 9.87827905e-01 -9.29946196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.58, Y:-193.96, Z:-929.95 [[ 4.69265710e-01 -8.80097591e-01 7.22351975e-02 4.18579130e+02] [ 8.69210443e-01 4.74788703e-01 1.38017727e-01 -1.93960972e+02] [-1.55765525e-01 -1.97939879e-03 9.87792075e-01 -9.29950709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.59, Y:-193.94, Z:-929.96 [[ 4.71705595e-01 -8.78762281e-01 7.25994818e-02 4.18591642e+02] [ 8.67738252e-01 4.77253366e-01 1.38778787e-01 -1.93936321e+02] [-1.56601910e-01 -2.46538273e-03 9.87658728e-01 -9.29955871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.60, Y:-193.91, Z:-929.96 [[ 4.72502820e-01 -8.78311162e-01 7.28737866e-02 4.18604110e+02] [ 8.67181857e-01 4.78081955e-01 1.39403270e-01 -1.93912853e+02] [-1.57279090e-01 -2.67361251e-03 9.87550576e-01 -9.29960021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.62, Y:-193.89, Z:-929.96 [[ 4.72792903e-01 -8.78136965e-01 7.30913322e-02 4.18617370e+02] [ 8.66930006e-01 4.78401317e-01 1.39873314e-01 -1.93887935e+02] [-1.57794917e-01 -2.76604094e-03 9.87468032e-01 -9.29964307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.63, Y:-193.86, Z:-929.97 [[ 4.72833105e-01 -8.78082309e-01 7.34868216e-02 4.18630624e+02] [ 8.66736487e-01 4.78501150e-01 1.40728503e-01 -1.93863426e+02] [-1.58734738e-01 -2.84738560e-03 9.87317161e-01 -9.29968570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:418.64, Y:-193.84, Z:-929.97 [[ 4.72690323e-01 -8.78113944e-01 7.40253996e-02 4.18643734e+02] [ 8.66584478e-01 4.78442741e-01 1.41858684e-01 -1.93839062e+02] [-1.59985004e-01 -2.90596503e-03 9.87115168e-01 -9.29973176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.66, Y:-193.82, Z:-929.98 [[ 4.71829759e-01 -8.78494898e-01 7.49892837e-02 4.18656590e+02] [ 8.66649326e-01 4.77743150e-01 1.43806913e-01 -1.93815376e+02] [-1.62159256e-01 -2.86296878e-03 9.86760447e-01 -9.29977431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.66, Y:-193.79, Z:-929.99 [[ 4.70229290e-01 -8.78419249e-01 8.52293258e-02 4.18664121e+02] [ 8.67006628e-01 4.77832963e-01 1.41333529e-01 -1.93789030e+02] [-1.64875473e-01 7.43522542e-03 9.86286366e-01 -9.29989265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.68, Y:-193.77, Z:-929.99 [[ 4.69794219e-01 -8.79587400e-01 7.49626404e-02 4.18683213e+02] [ 8.67442998e-01 4.75725014e-01 1.45699544e-01 -1.93766007e+02] [-1.63817086e-01 -3.42298603e-03 9.86484792e-01 -9.29989198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.70, Y:-193.74, Z:-929.99 [[ 4.70210939e-01 -8.80083322e-01 6.59925703e-02 4.18702156e+02] [ 8.67676883e-01 4.74662063e-01 1.47759107e-01 -1.93742657e+02] [-1.61364496e-01 -1.22177210e-02 9.86819247e-01 -9.29987745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.71, Y:-193.72, Z:-930.00 [[ 4.67968569e-01 -8.79944896e-01 8.18681811e-02 4.18705440e+02] [ 8.68576862e-01 4.75048511e-01 1.41078515e-01 -1.93716015e+02] [-1.63032677e-01 5.08849698e-03 9.86607548e-01 -9.30001007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.73, Y:-193.69, Z:-930.00 [[ 4.65931013e-01 -8.82152605e-01 6.86663924e-02 4.18725125e+02] [ 8.70152981e-01 4.70897185e-01 1.45222699e-01 -1.93694777e+02] [-1.60443393e-01 -7.91349299e-03 9.87013320e-01 -9.29998844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.74, Y:-193.67, Z:-930.00 [[ 4.64897638e-01 -8.82455222e-01 7.17144884e-02 4.18738617e+02] [ 8.71005509e-01 4.70383919e-01 1.41733453e-01 -1.93668424e+02] [-1.58806768e-01 -3.42783305e-03 9.87303733e-01 -9.30004362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.75, Y:-193.64, Z:-930.01 [[ 4.62239659e-01 -8.83255435e-01 7.87041000e-02 4.18747894e+02] [ 8.72241148e-01 4.68872033e-01 1.39120077e-01 -1.93642643e+02] [-1.59780716e-01 4.34213760e-03 9.87142983e-01 -9.30013159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.76, Y:-193.62, Z:-930.01 [[ 4.60056439e-01 -8.85051323e-01 7.09382042e-02 4.18764227e+02] [ 8.73479542e-01 4.65478857e-01 1.42698716e-01 -1.93620388e+02] [-1.59315921e-01 -3.68639292e-03 9.87220770e-01 -9.30013943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.77, Y:-193.59, Z:-930.02 [[ 4.57168274e-01 -8.85776502e-01 7.99822336e-02 4.18773626e+02] [ 8.74861849e-01 4.64066125e-01 1.38778160e-01 -1.93594130e+02] [-1.60043478e-01 6.52843290e-03 9.87088377e-01 -9.30023596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.79, Y:-193.57, Z:-930.02 [[ 4.51944242e-01 -8.89532032e-01 6.69265716e-02 4.18793875e+02] [ 8.77818553e-01 4.56828816e-01 1.44020906e-01 -1.93574131e+02] [-1.58685196e-01 -6.34003297e-03 9.87308874e-01 -9.30021362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.896559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.79, Y:-193.55, Z:-930.04 [[ 4.47375689e-01 -8.89786863e-01 9.01905309e-02 4.18794865e+02] [ 8.79671858e-01 4.55985095e-01 1.35111124e-01 -1.93545585e+02] [-1.61345641e-01 1.88926396e-02 9.86717109e-01 -9.30040277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.82, Y:-193.52, Z:-930.04 [[ 4.44850034e-01 -8.92820171e-01 7.05732897e-02 4.18819075e+02] [ 8.81258692e-01 4.50410736e-01 1.43224606e-01 -1.93523525e+02] [-1.59660784e-01 -1.52014569e-03 9.87170767e-01 -9.30035171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.84, Y:-193.50, Z:-930.03 [[ 4.43860554e-01 -8.94109193e-01 5.96368919e-02 4.18836652e+02] [ 8.82100829e-01 4.47675844e-01 1.46575803e-01 -1.93500978e+02] [-1.57752769e-01 -1.24534654e-02 9.87400109e-01 -9.30031554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.84, Y:-193.47, Z:-930.04 [[ 4.42066765e-01 -8.94044401e-01 7.25367765e-02 4.18842076e+02] [ 8.83002589e-01 4.47973345e-01 1.40093937e-01 -1.93473881e+02] [-1.57744742e-01 2.11928793e-03 9.87477648e-01 -9.30041467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.016559995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.84, Y:-193.45, Z:-930.06 [[ 4.38098902e-01 -8.93589161e-01 9.78149434e-02 4.18839535e+02] [ 8.84141330e-01 4.47988867e-01 1.32665305e-01 -1.93445675e+02] [-1.62368285e-01 2.83617095e-02 9.86322540e-01 -9.30063150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:418.88, Y:-193.43, Z:-930.04 [[ 4.38480123e-01 -8.97418747e-01 4.87316461e-02 4.18879144e+02] [ 8.84758746e-01 4.40550669e-01 1.52042985e-01 -1.93430023e+02] [-1.57914984e-01 -2.35520767e-02 9.87171797e-01 -9.30040445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.88, Y:-193.40, Z:-930.05 [[ 4.38137358e-01 -8.95993642e-01 7.23259941e-02 4.18878651e+02] [ 8.85007157e-01 4.44058610e-01 1.39908126e-01 -1.93401158e+02] [-1.57473772e-01 2.71004568e-03 9.87519451e-01 -9.30054764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.89, Y:-193.38, Z:-930.06 [[ 4.36677666e-01 -8.96527637e-01 7.45037762e-02 4.18888909e+02] [ 8.85644849e-01 4.42958121e-01 1.39360338e-01 -1.93375792e+02] [-1.57942447e-01 5.12833840e-03 9.87435002e-01 -9.30061949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.136559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.90, Y:-193.35, Z:-930.06 [[ 4.37094181e-01 -8.96779693e-01 6.88103139e-02 4.18904499e+02] [ 8.85725166e-01 4.42477135e-01 1.40374201e-01 -1.93351844e+02] [-1.56331724e-01 -4.09719907e-04 9.87704523e-01 -9.30062643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.91, Y:-193.33, Z:-930.07 [[ 4.37876437e-01 -8.96077356e-01 7.28669964e-02 4.18914167e+02] [ 8.85333872e-01 4.43880705e-01 1.38397454e-01 -1.93325979e+02] [-1.56359078e-01 3.91063623e-03 9.87692536e-01 -9.30069802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.92, Y:-193.30, Z:-930.07 [[ 4.39095999e-01 -8.95608842e-01 7.12706570e-02 4.18924446e+02] [ 8.84895517e-01 4.44835902e-01 1.38133789e-01 -1.93300983e+02] [-1.55417590e-01 2.41309082e-03 9.87845914e-01 -9.30074739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.94, Y:-193.28, Z:-930.08 [[ 4.39837316e-01 -8.95265542e-01 7.10122873e-02 4.18935398e+02] [ 8.84612487e-01 4.45527294e-01 1.37717749e-01 -1.93276982e+02] [-1.54931867e-01 2.24495107e-03 9.87922607e-01 -9.30079313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.96, Y:-193.25, Z:-930.07 [[ 4.41646893e-01 -8.95644244e-01 5.26251895e-02 4.18959008e+02] [ 8.84431796e-01 4.44473741e-01 1.42209324e-01 -1.93252725e+02] [-1.50759477e-01 -1.62629151e-02 9.88436694e-01 -9.30071093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.96, Y:-193.22, Z:-930.08 [[ 4.42864250e-01 -8.93618100e-01 7.29242539e-02 4.18959027e+02] [ 8.83839352e-01 4.48787940e-01 1.31974939e-01 -1.93224700e+02] [-1.50662720e-01 6.00634282e-03 9.88566977e-01 -9.30084660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.97, Y:-193.20, Z:-930.09 [[ 4.42437495e-01 -8.94067472e-01 6.99458256e-02 4.18972846e+02] [ 8.84010598e-01 4.47924431e-01 1.33749640e-01 -1.93201055e+02] [-1.50911647e-01 2.65699549e-03 9.88543684e-01 -9.30088003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.97, Y:-193.18, Z:-930.10 [[ 4.44700230e-01 -8.91650728e-01 8.48568478e-02 4.18971191e+02] [ 8.82386475e-01 4.52391504e-01 1.29367829e-01 -1.93175003e+02] [-1.53739436e-01 1.73466317e-02 9.87959149e-01 -9.30103805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.99, Y:-193.15, Z:-930.10 [[ 4.46283517e-01 -8.92138778e-01 7.01386065e-02 4.18989976e+02] [ 8.81633289e-01 4.51760518e-01 1.36510725e-01 -1.93152911e+02] [-1.53472365e-01 9.14043957e-04 9.88152518e-01 -9.30102652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.00, Y:-193.13, Z:-930.11 [[ 4.48009165e-01 -8.91294784e-01 6.98669892e-02 4.19001301e+02] [ 8.80846929e-01 4.53423941e-01 1.36071368e-01 -1.93127313e+02] [-1.52959066e-01 5.80903202e-04 9.88232355e-01 -9.30107389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.01, Y:-193.10, Z:-930.11 [[ 4.49700122e-01 -8.90469393e-01 6.95274071e-02 4.19012266e+02] [ 8.80100005e-01 4.55043068e-01 1.35498292e-01 -1.93101529e+02] [-1.52295046e-01 2.57473019e-04 9.88335041e-01 -9.30112519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.02, Y:-193.08, Z:-930.12 [[ 4.51440511e-01 -8.89621515e-01 6.91015555e-02 4.19023138e+02] [ 8.79355756e-01 4.56698539e-01 1.34758675e-01 -1.93075713e+02] [-1.51442796e-01 -7.06744922e-05 9.88466021e-01 -9.30117825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.03, Y:-193.05, Z:-930.12 [[ 4.53305254e-01 -8.88688131e-01 6.89039359e-02 4.19034081e+02] [ 8.78456172e-01 4.58511968e-01 1.34467574e-01 -1.93049962e+02] [-1.51093016e-01 -4.25770199e-04 9.88519458e-01 -9.30123077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.04, Y:-193.02, Z:-930.13 [[ 4.57050171e-01 -8.86804711e-01 6.84291345e-02 4.19043766e+02] [ 8.76678890e-01 4.62143078e-01 1.33633456e-01 -1.93023493e+02] [-1.50130829e-01 -1.08681645e-03 9.88665542e-01 -9.30128525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.05, Y:-193.00, Z:-930.13 [[ 4.58837822e-01 -8.85891917e-01 6.82888336e-02 4.19054063e+02] [ 8.75783151e-01 4.63889504e-01 1.33455612e-01 -1.92999376e+02] [-1.49905721e-01 -1.42827274e-03 9.88699264e-01 -9.30133274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.07, Y:-192.97, Z:-930.14 [[ 4.60496536e-01 -8.85034870e-01 6.82364951e-02 4.19065098e+02] [ 8.74922935e-01 4.65521500e-01 1.33415112e-01 -1.92973633e+02] [-1.49842582e-01 -1.73552237e-03 9.88708344e-01 -9.30138302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.08, Y:-192.95, Z:-930.14 [[ 4.62536658e-01 -8.83979067e-01 6.81237807e-02 4.19076024e+02] [ 8.73875227e-01 4.67521680e-01 1.33287533e-01 -1.92948788e+02] [-1.49672733e-01 -2.11868579e-03 9.88733323e-01 -9.30142883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.09, Y:-192.92, Z:-930.15 [[ 4.64427546e-01 -8.82982222e-01 6.81868874e-02 4.19087369e+02] [ 8.72836350e-01 4.69399868e-01 1.33493333e-01 -1.92923415e+02] [-1.49879156e-01 -2.48198714e-03 9.88701208e-01 -9.30147434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.10, Y:-192.90, Z:-930.15 [[ 4.66315341e-01 -8.81995815e-01 6.80689792e-02 4.19098499e+02] [ 8.71860537e-01 4.71248683e-01 1.33356229e-01 -1.92898597e+02] [-1.49697052e-01 -2.83939847e-03 9.88727834e-01 -9.30151672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.11, Y:-192.87, Z:-930.16 [[ 4.69968155e-01 -8.80042969e-01 6.82224782e-02 4.19107627e+02] [ 8.69828076e-01 4.74881072e-01 1.33742608e-01 -1.92873090e+02] [-1.50096805e-01 -3.51293969e-03 9.88665064e-01 -9.30156177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.12, Y:-192.85, Z:-930.16 [[ 4.71716108e-01 -8.79103248e-01 6.82743897e-02 4.19118373e+02] [ 8.68854041e-01 4.76615889e-01 1.33902761e-01 -1.92847843e+02] [-1.50255011e-01 -3.84361010e-03 9.88639802e-01 -9.30161016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.13, Y:-192.82, Z:-930.17 [[ 4.73418417e-01 -8.78201450e-01 6.80971042e-02 4.19128787e+02] [ 8.67982257e-01 4.78272798e-01 1.33648539e-01 -1.92823603e+02] [-1.49939334e-01 -4.16460173e-03 9.88686428e-01 -9.30165750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.14, Y:-192.80, Z:-930.17 [[ 4.75051675e-01 -8.77336634e-01 6.78700015e-02 4.19140005e+02] [ 8.67164653e-01 4.79854680e-01 1.33285225e-01 -1.92798357e+02] [-1.49503748e-01 -4.46290318e-03 9.88751087e-01 -9.30170515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.15, Y:-192.77, Z:-930.18 [[ 4.75691952e-01 -8.76912348e-01 6.88614572e-02 4.19149731e+02] [ 8.66812649e-01 4.80637877e-01 1.32751888e-01 -1.92773427e+02] [-1.49509194e-01 -3.45902245e-03 9.88754285e-01 -9.30176025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.16, Y:-192.75, Z:-930.18 [[ 4.77577212e-01 -8.76103122e-01 6.60554850e-02 4.19163451e+02] [ 8.65916180e-01 4.82079984e-01 1.33371881e-01 -1.92749373e+02] [-1.48691548e-01 -6.49685786e-03 9.88862283e-01 -9.30178905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.17, Y:-192.72, Z:-930.18 [[ 4.77593280e-01 -8.75987977e-01 6.74516332e-02 4.19173187e+02] [ 8.65894793e-01 4.82307391e-01 1.32686806e-01 -1.92723686e+02] [-1.48764468e-01 -4.96430879e-03 9.88860197e-01 -9.30183899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.19, Y:-192.70, Z:-930.19 [[ 4.78180269e-01 -8.75681820e-01 6.72679732e-02 4.19185213e+02] [ 8.65625755e-01 4.82861672e-01 1.32426048e-01 -1.92700116e+02] [-1.48444209e-01 -5.09463329e-03 9.88907661e-01 -9.30187874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.20, Y:-192.68, Z:-930.19 [[ 4.77759278e-01 -8.75918664e-01 6.71756444e-02 4.19197217e+02] [ 8.65884597e-01 4.82432473e-01 1.32298051e-01 -1.92675764e+02] [-1.48290044e-01 -5.04026534e-03 9.88931069e-01 -9.30192025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.21, Y:-192.65, Z:-930.20 [[ 4.77096645e-01 -8.76289307e-01 6.70510438e-02 4.19209896e+02] [ 8.66289121e-01 4.81759958e-01 1.32100351e-01 -1.92650673e+02] [-1.48060633e-01 -4.93904422e-03 9.88965952e-01 -9.30196161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.22, Y:-192.63, Z:-930.20 [[ 4.75119737e-01 -8.77373965e-01 6.69041213e-02 4.19221714e+02] [ 8.67414735e-01 4.79784781e-01 1.31902394e-01 -1.92625863e+02] [-1.47827305e-01 -4.63581015e-03 9.89002324e-01 -9.30199694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.23, Y:-192.60, Z:-930.20 [[ 4.74900861e-01 -8.77478674e-01 6.70846470e-02 4.19234834e+02] [ 8.67451165e-01 4.79592968e-01 1.32359594e-01 -1.92603000e+02] [-1.48316046e-01 -4.66503016e-03 9.88929011e-01 -9.30204391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.25, Y:-192.58, Z:-930.21 [[ 4.71964602e-01 -8.79065265e-01 6.70348827e-02 4.19248343e+02] [ 8.69060789e-01 4.76683027e-01 1.32312647e-01 -1.92579597e+02] [-1.48265843e-01 -4.18949783e-03 9.88938668e-01 -9.30208338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.26, Y:-192.55, Z:-930.21 [[ 4.70000660e-01 -8.80116242e-01 6.70431212e-02 4.19261493e+02] [ 8.70107537e-01 4.74742248e-01 1.32410999e-01 -1.92554759e+02] [-1.48365273e-01 -3.89853196e-03 9.88924945e-01 -9.30212890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.27, Y:-192.53, Z:-930.22 [[ 4.67951512e-01 -8.81198439e-01 6.71616939e-02 4.19274397e+02] [ 8.71151205e-01 4.72732802e-01 1.32737623e-01 -1.92530867e+02] [-1.48717722e-01 -3.60678104e-03 9.88873111e-01 -9.30217342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.29, Y:-192.51, Z:-930.22 [[ 4.65907488e-01 -8.82275186e-01 6.72362195e-02 4.19287779e+02] [ 8.72204297e-01 4.70722386e-01 1.32966536e-01 -1.92506177e+02] [-1.48962668e-01 -3.30638496e-03 9.88837293e-01 -9.30221931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.30, Y:-192.48, Z:-930.23 [[ 4.63734957e-01 -8.83414790e-01 6.72918948e-02 4.19301306e+02] [ 8.73325138e-01 4.68582316e-01 1.33168379e-01 -1.92482444e+02] [-1.49174707e-01 -2.98712931e-03 9.88806343e-01 -9.30226225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.32, Y:-192.46, Z:-930.23 [[ 4.60813537e-01 -8.85184008e-01 6.40324683e-02 4.19316360e+02] [ 8.74887524e-01 4.65201405e-01 1.34757094e-01 -1.92458818e+02] [-1.49072819e-01 -6.07668552e-03 9.88807549e-01 -9.30227709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.33, Y:-192.43, Z:-930.24 [[ 4.59818652e-01 -8.85172787e-01 7.09643918e-02 4.19327646e+02] [ 8.75113926e-01 4.65261541e-01 1.33068836e-01 -1.92434265e+02] [-1.50805914e-01 9.14394931e-04 9.88562967e-01 -9.30235176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.34, Y:-192.41, Z:-930.24 [[ 4.56836669e-01 -8.87090785e-01 6.61074636e-02 4.19344764e+02] [ 8.76648566e-01 4.61577029e-01 1.35771640e-01 -1.92410968e+02] [-1.50955458e-01 -4.07245064e-03 9.88532177e-01 -9.30235634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.36, Y:-192.39, Z:-930.24 [[ 4.57454835e-01 -8.86460646e-01 7.01612247e-02 4.19356891e+02] [ 8.76088828e-01 4.62803820e-01 1.35207212e-01 -1.92385949e+02] [-1.52326756e-01 -3.83728036e-04 9.88330113e-01 -9.30242597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.37, Y:-192.36, Z:-930.25 [[ 4.57834724e-01 -8.86400450e-01 6.84222774e-02 4.19369848e+02] [ 8.75945679e-01 4.62913939e-01 1.35756598e-01 -1.92362318e+02] [-1.52008335e-01 -2.21988639e-03 9.88376719e-01 -9.30246217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.37, Y:-192.34, Z:-930.26 [[ 4.56095887e-01 -8.86271378e-01 8.06200163e-02 4.19372102e+02] [ 8.76273620e-01 4.63059843e-01 1.33116960e-01 -1.92337277e+02] [-1.55309644e-01 9.93109541e-03 9.87815918e-01 -9.30259405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.396559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.38, Y:-192.31, Z:-930.27 [[ 4.56141274e-01 -8.86554520e-01 7.71765641e-02 4.19384728e+02] [ 8.75962639e-01 4.62594514e-01 1.36732481e-01 -1.92314272e+02] [-1.56922254e-01 5.23445863e-03 9.87597087e-01 -9.30265592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.41, Y:-192.29, Z:-930.26 [[ 4.59836444e-01 -8.86192928e-01 5.66792708e-02 4.19411065e+02] [ 8.74884479e-01 4.63050149e-01 1.41991930e-01 -1.92290926e+02] [-1.52077589e-01 -1.57052499e-02 9.88243772e-01 -9.30259150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.43, Y:-192.27, Z:-930.26 [[ 4.64550429e-01 -8.83578454e-01 5.90085957e-02 4.19425078e+02] [ 8.72821795e-01 4.68113135e-01 1.38029734e-01 -1.92265263e+02] [-1.49582797e-01 -1.26177835e-02 9.88668690e-01 -9.30261806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.43, Y:-192.24, Z:-930.27 [[ 4.65080963e-01 -8.82703027e-01 6.73428886e-02 4.19433408e+02] [ 8.72529678e-01 4.69918866e-01 1.33672063e-01 -1.92238773e+02] [-1.49638429e-01 -3.40966296e-03 9.88734906e-01 -9.30269587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.45, Y:-192.21, Z:-930.27 [[ 4.65447517e-01 -8.82507098e-01 6.73782716e-02 4.19446044e+02] [ 8.72306565e-01 4.70285906e-01 1.33837304e-01 -1.92214601e+02] [-1.49799423e-01 -3.51973238e-03 9.88710142e-01 -9.30274171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.46, Y:-192.19, Z:-930.28 [[ 4.65554798e-01 -8.82443902e-01 6.74647388e-02 4.19458471e+02] [ 8.72201533e-01 4.70403937e-01 1.34106754e-01 -1.92190910e+02] [-1.50077366e-01 -3.59119426e-03 9.88667734e-01 -9.30278193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.47, Y:-192.17, Z:-930.28 [[ 4.65237416e-01 -8.82591085e-01 6.77283113e-02 4.19471215e+02] [ 8.72259879e-01 4.70127751e-01 1.34694477e-01 -1.92166321e+02] [-1.50721104e-01 -3.58822200e-03 9.88569812e-01 -9.30282908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.48, Y:-192.14, Z:-930.29 [[ 4.64848591e-01 -8.82787697e-01 6.78356035e-02 4.19484438e+02] [ 8.72410876e-01 4.69758548e-01 1.35004337e-01 -1.92141505e+02] [-1.51046522e-01 -3.57605760e-03 9.88520187e-01 -9.30286857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.50, Y:-192.12, Z:-930.29 [[ 4.63013690e-01 -8.83540260e-01 7.05331904e-02 4.19496403e+02] [ 8.73048671e-01 4.68353466e-01 1.35761003e-01 -1.92116733e+02] [-1.52984776e-01 -1.28029469e-03 9.88227716e-01 -9.30293003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.51, Y:-192.09, Z:-930.30 [[ 4.61717763e-01 -8.83744381e-01 7.62402532e-02 4.19506132e+02] [ 8.73298722e-01 4.67952832e-01 1.35534094e-01 -1.92091466e+02] [-1.55454337e-01 4.00201679e-03 9.87834973e-01 -9.30302000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.52, Y:-192.07, Z:-930.30 [[ 4.60859339e-01 -8.84753917e-01 6.94202913e-02 4.19522279e+02] [ 8.73746084e-01 4.66045459e-01 1.39174032e-01 -1.92069213e+02] [-1.55487782e-01 -3.48394479e-03 9.87831672e-01 -9.30303793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.53, Y:-192.04, Z:-930.31 [[ 4.59626839e-01 -8.85003445e-01 7.42433226e-02 4.19532159e+02] [ 8.74138581e-01 4.65582508e-01 1.38255813e-01 -1.92044003e+02] [-1.56923263e-01 1.35287055e-03 9.87609872e-01 -9.30312148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.55, Y:-192.02, Z:-930.31 [[ 4.59266791e-01 -8.85835841e-01 6.60974777e-02 4.19549618e+02] [ 8.74533190e-01 4.63945074e-01 1.41232672e-01 -1.92020747e+02] [-1.55774562e-01 -7.05903830e-03 9.87767410e-01 -9.30313412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.55, Y:-191.99, Z:-930.33 [[ 4.56980983e-01 -8.85891504e-01 7.97786001e-02 4.19553547e+02] [ 8.75219197e-01 4.63838306e-01 1.37278487e-01 -1.91994661e+02] [-1.58618216e-01 7.09010450e-03 9.87314536e-01 -9.30326708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.58, Y:-191.97, Z:-930.33 [[ 4.55842309e-01 -8.87648239e-01 6.54858202e-02 4.19575716e+02] [ 8.76152840e-01 4.60458955e-01 1.42596466e-01 -1.91972746e+02] [-1.56729034e-01 -7.62591486e-03 9.87612199e-01 -9.30325284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.60, Y:-191.95, Z:-930.32 [[ 4.58494629e-01 -8.87360528e-01 4.87233871e-02 4.19602252e+02] [ 8.75747114e-01 4.60459358e-01 1.45066094e-01 -1.91949422e+02] [-1.51161065e-01 -2.38426591e-02 9.88221564e-01 -9.30316340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.61, Y:-191.92, Z:-930.33 [[ 4.57509643e-01 -8.86612031e-01 6.78530202e-02 4.19605659e+02] [ 8.76206599e-01 4.62507029e-01 1.35459380e-01 -1.91921153e+02] [-1.51482415e-01 -2.52070859e-03 9.88456739e-01 -9.30328646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.60, Y:-191.90, Z:-930.35 [[ 4.52786067e-01 -8.87401234e-01 8.66246340e-02 4.19604307e+02] [ 8.77733970e-01 4.60705338e-01 1.31657392e-01 -1.91895806e+02] [-1.56741364e-01 1.64207511e-02 9.87503167e-01 -9.30346490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.63, Y:-191.87, Z:-930.35 [[ 4.51538799e-01 -8.89391095e-01 7.13876240e-02 4.19625762e+02] [ 8.78351182e-01 4.57146955e-01 1.39699188e-01 -1.91874207e+02] [-1.56881849e-01 -3.76199562e-04 9.87617307e-01 -9.30345507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.66, Y:-191.85, Z:-930.33 [[ 4.55036509e-01 -8.89258587e-01 4.64859147e-02 4.19657608e+02] [ 8.77617958e-01 4.56694352e-01 1.45660522e-01 -1.91852363e+02] [-1.50759725e-01 -2.54839821e-02 9.88241910e-01 -9.30332246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.66, Y:-191.82, Z:-930.35 [[ 4.54707614e-01 -8.88061721e-01 6.77300950e-02 4.19659106e+02] [ 8.77691840e-01 4.59719489e-01 1.35333019e-01 -1.91824664e+02] [-1.51320919e-01 -2.09080258e-03 9.88482478e-01 -9.30345159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.67, Y:-191.80, Z:-930.35 [[ 4.54269072e-01 -8.88290103e-01 6.76779386e-02 4.19671387e+02] [ 8.77925721e-01 4.59278215e-01 1.35314260e-01 -1.91801241e+02] [-1.51281321e-01 -2.05288028e-03 9.88488618e-01 -9.30349857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.68, Y:-191.78, Z:-930.35 [[ 4.54253959e-01 -8.88345425e-01 6.70503304e-02 4.19684747e+02] [ 8.78161622e-01 4.59171199e-01 1.34141628e-01 -1.91776488e+02] [-1.49951682e-01 -2.05333870e-03 9.88691194e-01 -9.30354771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.70, Y:-191.75, Z:-930.36 [[ 4.54157736e-01 -8.88408732e-01 6.68631060e-02 4.19696734e+02] [ 8.78268553e-01 4.59048624e-01 1.33860786e-01 -1.91753048e+02] [-1.49616508e-01 -2.07014812e-03 9.88741936e-01 -9.30359327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.71, Y:-191.73, Z:-930.36 [[ 4.54014644e-01 -8.88500488e-01 6.66152128e-02 4.19709058e+02] [ 8.78424268e-01 4.58871001e-01 1.33447406e-01 -1.91728698e+02] [-1.49135875e-01 -2.07065688e-03 9.88814545e-01 -9.30364041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.72, Y:-191.70, Z:-930.37 [[ 4.53802072e-01 -8.88620293e-01 6.64654348e-02 4.19721211e+02] [ 8.78576890e-01 4.58638955e-01 1.33240223e-01 -1.91704844e+02] [-1.48883604e-01 -2.06969438e-03 9.88852562e-01 -9.30368226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.73, Y:-191.68, Z:-930.37 [[ 4.53214841e-01 -8.88917674e-01 6.64956903e-02 4.19734069e+02] [ 8.78855838e-01 4.58062577e-01 1.33383255e-01 -1.91680065e+02] [-1.49025920e-01 -2.01114501e-03 9.88831245e-01 -9.30372840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:419.75, Y:-191.66, Z:-930.38 [[ 4.52714487e-01 -8.89172322e-01 6.64994353e-02 4.19746718e+02] [ 8.79097607e-01 4.57568239e-01 1.33486719e-01 -1.91656515e+02] [-1.49120726e-01 -1.97187706e-03 9.88817031e-01 -9.30376873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.76, Y:-191.63, Z:-930.38 [[ 4.51244991e-01 -8.89921066e-01 6.64714619e-02 4.19760015e+02] [ 8.79850078e-01 4.56111157e-01 1.33515741e-01 -1.91632552e+02] [-1.49136846e-01 -1.76338860e-03 9.88814994e-01 -9.30380617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.77, Y:-191.61, Z:-930.39 [[ 4.51018632e-01 -8.90038555e-01 6.64346593e-02 4.19772529e+02] [ 8.79966139e-01 4.55881839e-01 1.33534051e-01 -1.91607257e+02] [-1.49136808e-01 -1.76609438e-03 9.88814995e-01 -9.30385121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.78, Y:-191.58, Z:-930.39 [[ 4.49985743e-01 -8.90560924e-01 6.64384904e-02 4.19784713e+02] [ 8.80479943e-01 4.54861050e-01 1.33628198e-01 -1.91583480e+02] [-1.49224333e-01 -1.63302558e-03 9.88802019e-01 -9.30389136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.79, Y:-191.56, Z:-930.40 [[ 4.47338687e-01 -8.91649842e-01 6.96323044e-02 4.19793672e+02] [ 8.81662296e-01 4.52721906e-01 1.33095723e-01 -1.91558844e+02] [-1.50198850e-01 1.85331121e-03 9.88654070e-01 -9.30396270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.356559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.81, Y:-191.54, Z:-930.40 [[ 4.47134990e-01 -8.92237381e-01 6.31090853e-02 4.19811273e+02] [ 8.81925049e-01 4.51540495e-01 1.35349141e-01 -1.91535131e+02] [-1.49259870e-01 -4.86185352e-03 9.88786051e-01 -9.30396166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.82, Y:-191.51, Z:-930.40 [[ 4.45219139e-01 -8.92949937e-01 6.64855435e-02 4.19821745e+02] [ 8.82849393e-01 4.50155019e-01 1.33930612e-01 -1.91509724e+02] [-1.49522133e-01 -9.31750125e-04 9.88757940e-01 -9.30401972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.416559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:419.83, Y:-191.49, Z:-930.41 [[ 4.42729748e-01 -8.94190863e-01 6.64309461e-02 4.19833428e+02] [ 8.84106797e-01 4.47685595e-01 1.33913331e-01 -1.91485381e+02] [-1.49484255e-01 -5.55364364e-04 9.88763950e-01 -9.30406501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.84, Y:-191.46, Z:-930.42 [[ 4.35031399e-01 -8.96812881e-01 8.04632750e-02 4.19835840e+02] [ 8.87388950e-01 4.42167964e-01 1.30492693e-01 -1.91459522e+02] [-1.52605811e-01 1.46338021e-02 9.88178789e-01 -9.30421194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.86, Y:-191.44, Z:-930.41 [[ 4.32977017e-01 -8.99722769e-01 5.50439924e-02 4.19863925e+02] [ 8.88896677e-01 4.36309564e-01 1.39630449e-01 -1.91438270e+02] [-1.49644914e-01 -1.15283534e-02 9.88672593e-01 -9.30411678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.87, Y:-191.41, Z:-930.42 [[ 4.30694405e-01 -9.00264319e-01 6.34545940e-02 4.19873383e+02] [ 8.90184104e-01 4.35341542e-01 1.34350298e-01 -1.91412313e+02] [-1.48575200e-01 -1.37765058e-03 9.88900153e-01 -9.30417835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.536559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.88, Y:-191.39, Z:-930.42 [[ 4.26994373e-01 -9.01857134e-01 6.57990528e-02 4.19884512e+02] [ 8.92013405e-01 4.32030000e-01 1.32899073e-01 -1.91386958e+02] [-1.48283142e-01 1.94648072e-03 9.88943032e-01 -9.30423278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.89, Y:-191.36, Z:-930.44 [[ 4.22205121e-01 -9.03302932e-01 7.60700276e-02 4.19889756e+02] [ 8.93974664e-01 4.28804457e-01 1.30138534e-01 -1.91361024e+02] [-1.50173686e-01 1.30595218e-02 9.88573373e-01 -9.30435606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.91, Y:-191.34, Z:-930.43 [[ 4.18866594e-01 -9.06358044e-01 5.53703248e-02 4.19914066e+02] [ 8.95947259e-01 4.22437320e-01 1.37205031e-01 -1.91339012e+02] [-1.47747375e-01 -7.86171316e-03 9.88993886e-01 -9.30427789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.92, Y:-191.31, Z:-930.44 [[ 4.17189924e-01 -9.06471789e-01 6.52798917e-02 4.19920852e+02] [ 8.96811361e-01 4.22252195e-01 1.32032070e-01 -1.91311757e+02] [-1.47247924e-01 3.46129922e-03 9.89093559e-01 -9.30435852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.93, Y:-191.29, Z:-930.44 [[ 4.15707976e-01 -9.07155828e-01 6.52317654e-02 4.19932075e+02] [ 8.97504028e-01 4.20778928e-01 1.32028834e-01 -1.91287852e+02] [-1.47218879e-01 3.66033265e-03 9.89097166e-01 -9.30439690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.94, Y:-191.26, Z:-930.44 [[ 4.14625450e-01 -9.07643651e-01 6.53355862e-02 4.19943867e+02] [ 8.97954440e-01 4.19724352e-01 1.32322682e-01 -1.91262666e+02] [-1.47524779e-01 3.80402802e-03 9.89051045e-01 -9.30444075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.96, Y:-191.24, Z:-930.45 [[ 4.14210195e-01 -9.07847275e-01 6.51401573e-02 4.19955069e+02] [ 8.98204817e-01 4.19283550e-01 1.32020495e-01 -1.91238206e+02] [-1.47166643e-01 3.82496805e-03 9.89104317e-01 -9.30447746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.95, Y:-191.21, Z:-930.47 [[ 4.11134868e-01 -9.06873793e-01 9.24556341e-02 4.19948478e+02] [ 8.98642713e-01 4.20235692e-01 1.25869922e-01 -1.91209754e+02] [-1.53001291e-01 3.13350681e-02 9.87729071e-01 -9.30471467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.99, Y:-191.19, Z:-930.45 [[ 4.16131355e-01 -9.08458563e-01 3.92139530e-02 4.19990416e+02] [ 8.97223396e-01 4.17227042e-01 1.44609035e-01 -1.91190940e+02] [-1.47732438e-01 -2.49926775e-02 9.88711532e-01 -9.30445300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.99, Y:-191.16, Z:-930.46 [[ 4.17668954e-01 -9.06264010e-01 6.51013791e-02 4.19987412e+02] [ 8.96586192e-01 4.22700144e-01 1.32127926e-01 -1.91160906e+02] [-1.47261146e-01 3.18326502e-03 9.89092524e-01 -9.30460689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.00, Y:-191.13, Z:-930.46 [[ 4.19673777e-01 -9.05347645e-01 6.49581678e-02 4.19998293e+02] [ 8.95688085e-01 4.24661885e-01 1.31928534e-01 -1.91134805e+02] [-1.47026445e-01 2.81531088e-03 9.89128555e-01 -9.30464872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.01, Y:-191.11, Z:-930.47 [[ 4.22009341e-01 -9.04267703e-01 6.48693866e-02 4.20008458e+02] [ 8.94608323e-01 4.26959231e-01 1.31839918e-01 -1.91109925e+02] [-1.46915163e-01 2.39501650e-03 9.89146197e-01 -9.30469173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.02, Y:-191.08, Z:-930.47 [[ 4.24385093e-01 -9.03158484e-01 6.48231907e-02 4.20019006e+02] [ 8.93487976e-01 4.29302760e-01 1.31827075e-01 -1.91084319e+02] [-1.46889516e-01 1.97329585e-03 9.89150937e-01 -9.30473575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.03, Y:-191.06, Z:-930.48 [[ 4.27184217e-01 -9.01840131e-01 6.47921461e-02 4.20029842e+02] [ 8.92150039e-01 4.32067350e-01 1.31856411e-01 -1.91058861e+02] [-1.46907974e-01 1.47733780e-03 9.89149061e-01 -9.30477980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.04, Y:-191.03, Z:-930.48 [[ 4.33541874e-01 -8.98809957e-01 6.46691959e-02 4.20039056e+02] [ 8.89108647e-01 4.38338341e-01 1.31701606e-01 -1.91033426e+02] [-1.46721703e-01 3.99780410e-04 9.89177730e-01 -9.30481561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.05, Y:-191.01, Z:-930.49 [[ 4.36591123e-01 -8.97342764e-01 6.45302609e-02 4.20049869e+02] [ 8.87658237e-01 4.41334282e-01 1.31479681e-01 -1.91007693e+02] [-1.46461757e-01 -1.22044150e-04 9.89216326e-01 -9.30485915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.06, Y:-190.98, Z:-930.49 [[ 4.39744370e-01 -8.95812214e-01 6.43845181e-02 4.20060365e+02] [ 8.86141537e-01 4.44432249e-01 1.31275104e-01 -1.90982219e+02] [-1.46212397e-01 -6.73691946e-04 9.89252992e-01 -9.30490104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.07, Y:-190.96, Z:-930.49 [[ 4.42659053e-01 -8.94380906e-01 6.43098606e-02 4.20070784e+02] [ 8.84704048e-01 4.47304575e-01 1.31214957e-01 -1.90956513e+02] [-1.46122247e-01 -1.18829468e-03 9.89265827e-01 -9.30494428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.076559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:420.08, Y:-190.93, Z:-930.50 [[ 4.45286233e-01 -8.93072530e-01 6.43554753e-02 4.20081306e+02] [ 8.83354579e-01 4.49909652e-01 1.31400129e-01 -1.90930525e+02] [-1.46303995e-01 -1.66196478e-03 9.89238282e-01 -9.30498792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.10, Y:-190.91, Z:-930.50 [[ 4.47665160e-01 -8.92544994e-01 5.43997942e-02 4.20097078e+02] [ 8.82586723e-01 4.50805542e-01 1.33472993e-01 -1.90905288e+02] [-1.43654381e-01 -1.17386728e-02 9.89558297e-01 -9.30497172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.10, Y:-190.88, Z:-930.51 [[ 4.51625452e-01 -8.89160612e-01 7.36739916e-02 4.20096650e+02] [ 8.79956575e-01 4.57539989e-01 1.27802919e-01 -1.90876632e+02] [-1.47346119e-01 7.11086231e-03 9.89059431e-01 -9.30510461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.11, Y:-190.85, Z:-930.51 [[ 4.52546178e-01 -8.89393524e-01 6.46615527e-02 4.20112349e+02] [ 8.79510187e-01 4.57132663e-01 1.32255662e-01 -1.90853669e+02] [-1.47186237e-01 -2.98129990e-03 9.89104304e-01 -9.30511198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.1965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:420.13, Y:-190.83, Z:-930.51 [[ 4.52774526e-01 -8.90072040e-01 5.26022090e-02 4.20129392e+02] [ 8.79868239e-01 4.55575002e-01 1.35215752e-01 -1.90830344e+02] [-1.44316011e-01 -1.49392348e-02 9.89418874e-01 -9.30507591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.13, Y:-190.80, Z:-930.52 [[ 4.53428190e-01 -8.88057763e-01 7.58701918e-02 4.20129924e+02] [ 8.78869818e-01 4.59648230e-01 1.27715884e-01 -1.90801318e+02] [-1.48292682e-01 8.77003941e-03 9.88904630e-01 -9.30523834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:420.15, Y:-190.78, Z:-930.52 [[ 4.52995890e-01 -8.89137502e-01 6.50325023e-02 4.20146666e+02] [ 8.79104439e-01 4.57629072e-01 1.33232944e-01 -1.90779435e+02] [-1.48223171e-01 -3.18361469e-03 9.88948814e-01 -9.30524019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.16, Y:-190.75, Z:-930.53 [[ 4.52748547e-01 -8.89264143e-01 6.50233561e-02 4.20158324e+02] [ 8.79222564e-01 4.57382954e-01 1.33298600e-01 -1.90754448e+02] [-1.48278240e-01 -3.18074548e-03 9.88940568e-01 -9.30528102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.17, Y:-190.73, Z:-930.53 [[ 4.52493452e-01 -8.89399463e-01 6.49482176e-02 4.20170103e+02] [ 8.79368583e-01 4.57119796e-01 1.33238087e-01 -1.90729414e+02] [-1.48190999e-01 -3.17593964e-03 9.88953660e-01 -9.30532406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.18, Y:-190.71, Z:-930.54 [[ 4.52447661e-01 -8.89430265e-01 6.48453329e-02 4.20181270e+02] [ 8.79416850e-01 4.57059649e-01 1.33125810e-01 -1.90705325e+02] [-1.48044309e-01 -3.20638288e-03 9.88975531e-01 -9.30536617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.19, Y:-190.68, Z:-930.54 [[ 4.52466192e-01 -8.89458723e-01 6.43236022e-02 4.20192327e+02] [ 8.79599537e-01 4.57004353e-01 1.32104792e-01 -1.90681102e+02] [-1.46897926e-01 -3.19394154e-03 9.89146500e-01 -9.30541174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.20, Y:-190.66, Z:-930.55 [[ 4.52349166e-01 -8.89556572e-01 6.37913607e-02 4.20204023e+02] [ 8.79849553e-01 4.56814003e-01 1.31094357e-01 -1.90656396e+02] [-1.45756634e-01 -3.17362285e-03 9.89315386e-01 -9.30545476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.22, Y:-190.63, Z:-930.55 [[ 4.52327172e-01 -8.89599997e-01 6.33401603e-02 4.20216183e+02] [ 8.80017734e-01 4.56729398e-01 1.30257614e-01 -1.90631494e+02] [-1.44806486e-01 -3.17859391e-03 9.89454889e-01 -9.30549953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.23, Y:-190.61, Z:-930.55 [[ 4.52030306e-01 -8.89771960e-01 6.30433295e-02 4.20228468e+02] [ 8.80268305e-01 4.56394496e-01 1.29737331e-01 -1.90606602e+02] [-1.44209268e-01 -3.15016050e-03 9.89542199e-01 -9.30554536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.24, Y:-190.58, Z:-930.56 [[ 4.50484548e-01 -8.90587955e-01 6.25840799e-02 4.20241876e+02] [ 8.81217929e-01 4.54801752e-01 1.28881063e-01 -1.90582052e+02] [-1.43243272e-01 -2.90871415e-03 9.89683235e-01 -9.30558642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.25, Y:-190.56, Z:-930.56 [[ 4.48642333e-01 -8.91508810e-01 6.27064470e-02 4.20254651e+02] [ 8.82097877e-01 4.52995539e-01 1.29222200e-01 -1.90557791e+02] [-1.43608470e-01 -2.66132547e-03 9.89631004e-01 -9.30562607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.27, Y:-190.53, Z:-930.57 [[ 4.46262812e-01 -8.92688824e-01 6.28980601e-02 4.20267687e+02] [ 8.83218000e-01 4.50667532e-01 1.29710220e-01 -1.90533580e+02] [-1.44136977e-01 -2.33214868e-03 9.89554998e-01 -9.30566358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.28, Y:-190.51, Z:-930.57 [[ 4.40699022e-01 -8.95401793e-01 6.35610011e-02 4.20282399e+02] [ 8.85742022e-01 4.45256493e-01 1.31178225e-01 -1.90510262e+02] [-1.45758166e-01 -1.51146584e-03 9.89319095e-01 -9.30569411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.29, Y:-190.48, Z:-930.57 [[ 4.40466887e-01 -8.95517797e-01 6.35357876e-02 4.20294641e+02] [ 8.85857465e-01 4.45023169e-01 1.31190436e-01 -1.90484838e+02] [-1.45758268e-01 -1.50139110e-03 9.89319096e-01 -9.30573906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.31, Y:-190.46, Z:-930.58 [[ 4.37125865e-01 -8.97142601e-01 6.36877733e-02 4.20308548e+02] [ 8.87439822e-01 4.41739910e-01 1.31591850e-01 -1.90460279e+02] [-1.46190086e-01 -1.00313495e-03 9.89256010e-01 -9.30577715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.32, Y:-190.44, Z:-930.58 [[ 4.33359164e-01 -8.98960824e-01 6.37908558e-02 4.20321791e+02] [ 8.89231243e-01 4.38028820e-01 1.31903563e-01 -1.90436702e+02] [-1.46518369e-01 -4.36795673e-04 9.89207853e-01 -9.30581213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.34, Y:-190.41, Z:-930.58 [[ 4.29592806e-01 -9.00762489e-01 6.38510705e-02 4.20335296e+02] [ 8.91024683e-01 4.34312003e-01 1.32091246e-01 -1.90412754e+02] [-1.46714126e-01 1.47430656e-04 9.89178924e-01 -9.30584937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.35, Y:-190.39, Z:-930.59 [[ 4.22070266e-01 -9.04344309e-01 6.33881828e-02 4.20350143e+02] [ 8.94773525e-01 4.26801594e-01 1.31227813e-01 -1.90389065e+02] [-1.45729304e-01 1.33070964e-03 9.89323607e-01 -9.30587944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.36, Y:-190.37, Z:-930.59 [[ 4.18231449e-01 -9.06140168e-01 6.31858489e-02 4.20362861e+02] [ 8.96636287e-01 4.22973248e-01 1.30908364e-01 -1.90365695e+02] [-1.45347250e-01 1.90473022e-03 9.89378870e-01 -9.30591695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.38, Y:-190.34, Z:-930.60 [[ 4.14637442e-01 -9.07815529e-01 6.28232204e-02 4.20376345e+02] [ 8.98432817e-01 4.19362542e-01 1.30205728e-01 -1.90341031e+02] [-1.44548488e-01 2.45427274e-03 9.89494675e-01 -9.30595667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.39, Y:-190.32, Z:-930.60 [[ 4.11243926e-01 -9.09394267e-01 6.22936631e-02 4.20389061e+02] [ 9.00174147e-01 4.15924769e-01 1.29201750e-01 -1.90317174e+02] [-1.43404808e-01 2.94171016e-03 9.89659743e-01 -9.30599449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.40, Y:-190.29, Z:-930.60 [[ 4.05933906e-01 -9.11832184e-01 6.14795207e-02 4.20401780e+02] [ 9.02868342e-01 4.10546322e-01 1.27594964e-01 -1.90293991e+02] [-1.41585386e-01 3.71279063e-03 9.89919085e-01 -9.30603015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:420.41, Y:-190.27, Z:-930.61 [[ 4.04027027e-01 -9.12746511e-01 6.04645956e-02 4.20414382e+02] [ 9.04076710e-01 4.08507458e-01 1.25566557e-01 -1.90269628e+02] [-1.39310675e-01 3.93234967e-03 9.90240916e-01 -9.30606821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.43, Y:-190.25, Z:-930.61 [[ 4.02538621e-01 -9.13404355e-01 6.04577901e-02 4.20426500e+02] [ 9.04730754e-01 4.07032558e-01 1.25645369e-01 -1.90245383e+02] [-1.39373316e-01 4.12090867e-03 9.90231335e-01 -9.30610153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.44, Y:-190.22, Z:-930.61 [[ 4.01567685e-01 -9.13840054e-01 6.03303402e-02 4.20439048e+02] [ 9.05200064e-01 4.06052191e-01 1.25437084e-01 -1.90220117e+02] [-1.39126699e-01 4.23954835e-03 9.90265514e-01 -9.30614043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.45, Y:-190.19, Z:-930.62 [[ 4.01030402e-01 -9.14081043e-01 6.02533294e-02 4.20450986e+02] [ 9.05453420e-01 4.05508963e-01 1.25365804e-01 -1.90194922e+02] [-1.39027770e-01 4.28108421e-03 9.90279229e-01 -9.30617812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.46, Y:-190.17, Z:-930.62 [[ 4.02163203e-01 -9.13569995e-01 6.04534657e-02 4.20462167e+02] [ 9.04866277e-01 4.06661048e-01 1.25872212e-01 -1.90169665e+02] [-1.39577146e-01 4.08113035e-03 9.90202790e-01 -9.30620969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.47, Y:-190.15, Z:-930.62 [[ 4.02997944e-01 -9.13197822e-01 6.05177372e-02 4.20473066e+02] [ 9.04458169e-01 4.07497716e-01 1.26099299e-01 -1.90145291e+02] [-1.39814445e-01 3.91800352e-03 9.90169971e-01 -9.30624546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.48, Y:-190.12, Z:-930.63 [[ 4.04267306e-01 -9.12613987e-01 6.08576671e-02 4.20483805e+02] [ 9.03756883e-01 4.08805580e-01 1.26891661e-01 -1.90121209e+02] [-1.40682059e-01 3.70238555e-03 9.90047903e-01 -9.30628482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.50, Y:-190.10, Z:-930.63 [[ 4.05980047e-01 -9.11862601e-01 6.07190085e-02 4.20495004e+02] [ 9.03026439e-01 4.10481464e-01 1.26681562e-01 -1.90095556e+02] [-1.40440206e-01 3.40068346e-03 9.90083322e-01 -9.30631975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.51, Y:-190.07, Z:-930.64 [[ 4.05745902e-01 -9.11969160e-01 6.06837235e-02 4.20507143e+02] [ 9.03131660e-01 4.10244689e-01 1.26698462e-01 -1.90070080e+02] [-1.40440265e-01 3.39801042e-03 9.90083323e-01 -9.30636466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.52, Y:-190.05, Z:-930.64 [[ 4.07239520e-01 -9.11282017e-01 6.10004933e-02 4.20517736e+02] [ 9.02331652e-01 4.11770829e-01 1.27445575e-01 -1.90045083e+02] [-1.41257084e-01 3.14180131e-03 9.89967962e-01 -9.30640555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.53, Y:-190.02, Z:-930.64 [[ 4.10980190e-01 -9.09585253e-01 6.12368413e-02 4.20527472e+02] [ 9.00534565e-01 4.15509634e-01 1.28020476e-01 -1.90018618e+02] [-1.41890035e-01 2.53201268e-03 9.89879188e-01 -9.30644105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.54, Y:-189.99, Z:-930.65 [[ 4.13191820e-01 -9.08577662e-01 6.13119338e-02 4.20538272e+02] [ 8.99480673e-01 4.17710439e-01 1.28267330e-01 -1.89992574e+02] [-1.42151465e-01 2.14988817e-03 9.89842583e-01 -9.30648414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.55, Y:-189.97, Z:-930.65 [[ 4.12950203e-01 -9.08689996e-01 6.12749574e-02 4.20550395e+02] [ 8.99591619e-01 4.17466023e-01 1.28284991e-01 -1.89967088e+02] [-1.42151500e-01 2.14712515e-03 9.89842584e-01 -9.30652905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.56, Y:-189.94, Z:-930.66 [[ 4.15074316e-01 -9.07716775e-01 6.13479274e-02 4.20560573e+02] [ 8.98573144e-01 4.19579668e-01 1.28527072e-01 -1.89941851e+02] [-1.42406522e-01 1.77731356e-03 9.89806660e-01 -9.30656895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.57, Y:-189.92, Z:-930.66 [[ 4.20309176e-01 -9.05313322e-01 6.12207933e-02 4.20569375e+02] [ 8.96170022e-01 4.24743384e-01 1.28344652e-01 -1.89915414e+02] [-1.42195250e-01 9.19804991e-04 9.89838201e-01 -9.30661639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.56, Y:-189.89, Z:-930.69 [[ 4.19621562e-01 -9.03319820e-01 8.90564311e-02 4.20561516e+02] [ 8.95389125e-01 4.28037139e-01 1.22729470e-01 -1.89886972e+02] [-1.48983423e-01 2.82402278e-02 9.88436356e-01 -9.30685886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.60, Y:-189.87, Z:-930.66 [[ 4.24573116e-01 -9.04713526e-01 3.50871070e-02 4.20602364e+02] [ 8.94167245e-01 4.25077468e-01 1.40620357e-01 -1.89867673e+02] [-1.42135877e-01 -2.83298812e-02 9.89441666e-01 -9.30661473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.60, Y:-189.84, Z:-930.68 [[ 4.27019947e-01 -9.02182332e-01 6.10000426e-02 4.20599176e+02] [ 8.93038692e-01 4.31354825e-01 1.28120683e-01 -1.89837430e+02] [-1.41900880e-01 -2.34689144e-04 9.89880844e-01 -9.30676269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.61, Y:-189.81, Z:-930.68 [[ 4.29028629e-01 -9.01229459e-01 6.09909624e-02 4.20608947e+02] [ 8.92064691e-01 4.33341793e-01 1.28200927e-01 -1.89812092e+02] [-1.41968385e-01 -5.93983817e-04 9.89871014e-01 -9.30680928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.62, Y:-189.79, Z:-930.69 [[ 4.30489443e-01 -9.00533575e-01 6.09763933e-02 4.20618907e+02] [ 8.91359392e-01 4.34785657e-01 1.28218042e-01 -1.89786113e+02] [-1.41976313e-01 -8.44632827e-04 9.89869695e-01 -9.30685708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.63, Y:-189.76, Z:-930.69 [[ 4.33666990e-01 -8.98995851e-01 6.11506528e-02 4.20627314e+02] [ 8.89739227e-01 4.37954913e-01 1.28684121e-01 -1.89761039e+02] [-1.42467720e-01 -1.39792076e-03 9.89798462e-01 -9.30690894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.64, Y:-189.74, Z:-930.70 [[ 4.35004597e-01 -8.98335627e-01 6.13522747e-02 4.20638214e+02] [ 8.89003969e-01 4.39306734e-01 1.29157025e-01 -1.89735182e+02] [-1.42978825e-01 -1.64148414e-03 9.89724387e-01 -9.30695607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.61, Y:-189.71, Z:-930.74 [[ 4.27848916e-01 -8.96844268e-01 1.12319474e-01 4.20612041e+02] [ 8.90043429e-01 4.39685080e-01 1.20414806e-01 -1.89705845e+02] [-1.57378525e-01 4.84498651e-02 9.86349132e-01 -9.30735936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.65, Y:-189.69, Z:-930.72 [[ 4.31110707e-01 -9.00249346e-01 6.07838248e-02 4.20653626e+02] [ 8.88793107e-01 4.35305055e-01 1.43374763e-01 -1.89688298e+02] [-1.55532543e-01 -7.78615111e-03 9.87800083e-01 -9.30721921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.66, Y:-189.66, Z:-930.73 [[ 4.31361632e-01 -9.00173709e-01 6.01201864e-02 4.20661971e+02] [ 8.88759180e-01 4.35451715e-01 1.43139525e-01 -1.89661979e+02] [-1.55029875e-01 -8.31253149e-03 9.87874810e-01 -9.30725185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.70, Y:-189.64, Z:-930.70 [[ 4.38385704e-01 -8.98520804e-01 2.18709823e-02 4.20700643e+02] [ 8.87442869e-01 4.36578394e-01 1.47798714e-01 -1.89638483e+02] [-1.42348618e-01 -4.53835960e-02 9.88775607e-01 -9.30699340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.67, Y:-189.60, Z:-930.75 [[ 4.33393831e-01 -8.95752713e-01 9.89791132e-02 4.20665559e+02] [ 8.87870362e-01 4.43221546e-01 1.23453966e-01 -1.89603579e+02] [-1.54453900e-01 3.43764338e-02 9.87401769e-01 -9.30745429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.70, Y:-189.59, Z:-930.74 [[ 4.34131280e-01 -8.98799018e-01 6.07483029e-02 4.20697455e+02] [ 8.87690225e-01 4.38299917e-01 1.41064691e-01 -1.89585306e+02] [-1.53414782e-01 -7.31492032e-03 9.88134807e-01 -9.30736573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.71, Y:-189.56, Z:-930.75 [[ 4.36510145e-01 -8.96942069e-01 7.03833686e-02 4.20705399e+02] [ 8.86452767e-01 4.42139972e-01 1.36798159e-01 -1.89557492e+02] [-1.53819325e-01 2.67774756e-03 9.88095362e-01 -9.30746051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.72, Y:-189.53, Z:-930.75 [[ 4.36325766e-01 -8.97922764e-01 5.79183476e-02 4.20721942e+02] [ 8.86910636e-01 4.40040424e-01 1.40548741e-01 -1.89534226e+02] [-1.51688329e-01 -9.95663878e-03 9.88378225e-01 -9.30745048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.75, Y:-189.51, Z:-930.73 [[ 4.41326803e-01 -8.96880814e-01 2.89042941e-02 4.20754108e+02] [ 8.86052920e-01 4.40640633e-01 1.44034915e-01 -1.89510485e+02] [-1.41918559e-01 -3.79557345e-02 9.89150386e-01 -9.30726158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.75, Y:-189.48, Z:-930.74 [[ 4.41703492e-01 -8.95076426e-01 6.11246000e-02 4.20749612e+02] [ 8.85726341e-01 4.45903522e-01 1.29069355e-01 -1.89479730e+02] [-1.42782611e-01 -2.87071644e-03 9.89749910e-01 -9.30742401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.76, Y:-189.45, Z:-930.75 [[ 4.41261213e-01 -8.95283939e-01 6.12797686e-02 4.20761872e+02] [ 8.85874265e-01 4.45486839e-01 1.29492326e-01 -1.89454461e+02] [-1.43231730e-01 -2.85377093e-03 9.89685065e-01 -9.30747243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:-189.43, Z:-930.75 [[ 4.40744523e-01 -8.95437347e-01 6.27393336e-02 4.20773582e+02] [ 8.86155314e-01 4.45186237e-01 1.28600057e-01 -1.89429086e+02] [-1.43083982e-01 -1.08297687e-03 9.89709958e-01 -9.30752393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:-189.40, Z:-930.77 [[ 4.34672345e-01 -8.96516915e-01 8.55416552e-02 4.20773033e+02] [ 8.87913343e-01 4.42496910e-01 1.25723426e-01 -1.89401681e+02] [-1.50565096e-01 2.13050807e-02 9.88370500e-01 -9.30774243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.79, Y:-189.38, Z:-930.77 [[ 4.30303120e-01 -9.00149371e-01 6.76042556e-02 4.20792852e+02] [ 8.89810740e-01 4.35578356e-01 1.36045371e-01 -1.89380582e+02] [-1.51908106e-01 1.61424513e-03 9.88393303e-01 -9.30773442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.83, Y:-189.36, Z:-930.75 [[ 4.32945194e-01 -9.00916723e-01 3.01250467e-02 4.20831988e+02] [ 8.90060142e-01 4.32539193e-01 1.43884641e-01 -1.89358289e+02] [-1.42658342e-01 -3.54810604e-02 9.89135831e-01 -9.30751619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.996559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:420.83, Y:-189.33, Z:-930.77 [[ 4.29682779e-01 -9.00881872e-01 6.15187972e-02 4.20828873e+02] [ 8.91470890e-01 4.34063269e-01 1.29879679e-01 -1.89328377e+02] [-1.43709298e-01 -9.64844249e-04 9.89619476e-01 -9.30767602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.84, Y:-189.30, Z:-930.77 [[ 4.26258681e-01 -9.02478370e-01 6.19380994e-02 4.20842051e+02] [ 8.92940588e-01 4.30734915e-01 1.30860766e-01 -1.89303891e+02] [-1.44777913e-01 -4.73494785e-04 9.89464063e-01 -9.30771825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.85, Y:-189.28, Z:-930.79 [[ 4.15585228e-01 -9.06217577e-01 7.78371421e-02 4.20845017e+02] [ 8.96934505e-01 4.22521749e-01 1.30322162e-01 -1.89278514e+02] [-1.50988119e-01 1.56548529e-02 9.88411611e-01 -9.30788278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.87, Y:-189.26, Z:-930.79 [[ 4.11520319e-01 -9.09473060e-01 5.92433954e-02 4.20866655e+02] [ 8.98545989e-01 4.15736955e-01 1.40633885e-01 -1.89258523e+02] [-1.52532399e-01 -4.64078597e-03 9.88287575e-01 -9.30785715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.88, Y:-189.23, Z:-930.79 [[ 4.09121722e-01 -9.10416412e-01 6.13300441e-02 4.20880194e+02] [ 9.00037352e-01 4.13692127e-01 1.37082418e-01 -1.89231409e+02] [-1.50173839e-01 -8.84064293e-04 9.88659212e-01 -9.30789336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.92, Y:-189.22, Z:-930.77 [[ 4.09998958e-01 -9.12039712e-01 9.18791723e-03 4.20922723e+02] [ 8.99089821e-01 4.05830909e-01 1.64130336e-01 -1.89217774e+02] [-1.53422125e-01 -5.90325039e-02 9.86395871e-01 -9.30769235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.89, Y:-189.17, Z:-930.81 [[ 4.04218227e-01 -9.08455736e-01 1.06375750e-01 4.20886526e+02] [ 9.03451345e-01 4.14707656e-01 1.08596629e-01 -1.89168578e+02] [-1.42770069e-01 5.22085778e-02 9.88377950e-01 -9.30812065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.92, Y:-189.15, Z:-930.80 [[ 3.99732231e-01 -9.14636183e-01 6.04549114e-02 4.20920964e+02] [ 9.05330396e-01 4.04268926e-01 1.30167235e-01 -1.89152656e+02] [-1.43495705e-01 2.69962954e-03 9.89647258e-01 -9.30802073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.94, Y:-189.13, Z:-930.80 [[ 3.96494113e-01 -9.16493090e-01 5.32243788e-02 4.20938696e+02] [ 9.07111135e-01 4.00034308e-01 1.30850833e-01 -1.89128300e+02] [-1.41215462e-01 -3.60115845e-03 9.89972336e-01 -9.30801608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.94, Y:-189.10, Z:-930.81 [[ 3.96442948e-01 -9.15586282e-01 6.73405464e-02 4.20944864e+02] [ 9.06959402e-01 4.01966461e-01 1.25887282e-01 -1.89101556e+02] [-1.42329310e-01 1.11680164e-02 9.89756355e-01 -9.30812436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.96, Y:-189.08, Z:-930.81 [[ 3.95568566e-01 -9.16437723e-01 6.05591438e-02 4.20960407e+02] [ 9.07330182e-01 4.00157916e-01 1.28940230e-01 -1.89077841e+02] [-1.42398911e-01 3.94243729e-03 9.89801499e-01 -9.30814292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.97, Y:-189.05, Z:-930.82 [[ 3.92834335e-01 -9.17328855e-01 6.47221507e-02 4.20966683e+02] [ 9.08178675e-01 3.98051697e-01 1.29484907e-01 -1.89053642e+02] [-1.44543004e-01 7.91315953e-03 9.89466878e-01 -9.30822708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.356559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:420.98, Y:-189.03, Z:-930.83 [[ 3.93771718e-01 -9.17166397e-01 6.12342614e-02 4.20981298e+02] [ 9.07765904e-01 3.98484510e-01 1.31038770e-01 -1.89028161e+02] [-1.44585261e-01 3.98701285e-03 9.89484313e-01 -9.30825604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.00, Y:-189.00, Z:-930.82 [[ 3.96577253e-01 -9.16794773e-01 4.70513249e-02 4.21002766e+02] [ 9.07090583e-01 3.99227458e-01 1.33432046e-01 -1.89003732e+02] [-1.41113983e-01 -1.02363006e-02 9.89940434e-01 -9.30820433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.00, Y:-188.98, Z:-930.84 [[ 3.99410632e-01 -9.14130097e-01 6.95508012e-02 4.21002637e+02] [ 9.05421092e-01 4.05229810e-01 1.26496824e-01 -1.88975760e+02] [-1.43818612e-01 1.24485859e-02 9.89525765e-01 -9.30835612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.02, Y:-188.95, Z:-930.84 [[ 3.99403188e-01 -9.14590926e-01 6.32497517e-02 4.21015840e+02] [ 9.05192731e-01 4.04349617e-01 1.30872103e-01 -1.88951878e+02] [-1.45269451e-01 4.98248029e-03 9.89379584e-01 -9.30839350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.03, Y:-188.93, Z:-930.84 [[ 4.00496678e-01 -9.14100898e-01 6.34189172e-02 4.21026373e+02] [ 9.04573827e-01 4.05460518e-01 1.31711659e-01 -1.88926755e+02] [-1.46111613e-01 4.61701062e-03 9.89257338e-01 -9.30844683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.04, Y:-188.90, Z:-930.85 [[ 4.02886140e-01 -9.13224894e-01 6.08527052e-02 4.21039553e+02] [ 9.03481560e-01 4.07453560e-01 1.33051372e-01 -1.88901515e+02] [-1.46300477e-01 1.37474323e-03 9.89239243e-01 -9.30848043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.536559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:421.04, Y:-188.88, Z:-930.86 [[ 4.04208305e-01 -9.11968957e-01 7.02016268e-02 4.21044374e+02] [ 9.02501849e-01 4.10131920e-01 1.31461863e-01 -1.88875375e+02] [-1.48681066e-01 1.02191211e-02 9.88832398e-01 -9.30858418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.07, Y:-188.85, Z:-930.85 [[ 4.10092682e-01 -9.10709329e-01 4.93204850e-02 4.21070379e+02] [ 9.00428383e-01 4.12880470e-01 1.36961467e-01 -1.88851476e+02] [-1.45095551e-01 -1.17573309e-02 9.89347788e-01 -9.30850735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.07, Y:-188.82, Z:-930.86 [[ 4.16104142e-01 -9.07230571e-01 6.15632545e-02 4.21074491e+02] [ 8.97634392e-01 4.20633381e-01 1.31605686e-01 -1.88824703e+02] [-1.45292261e-01 4.99623547e-04 9.89388654e-01 -9.30859544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.08, Y:-188.80, Z:-930.87 [[ 4.16849024e-01 -9.06273566e-01 7.00365205e-02 4.21078634e+02] [ 8.96848213e-01 4.22609000e-01 1.30632752e-01 -1.88799053e+02] [-1.47987074e-01 8.35799294e-03 9.88953978e-01 -9.30869632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.10, Y:-188.78, Z:-930.87 [[ 4.20980266e-01 -9.05394967e-01 5.50960053e-02 4.21099248e+02] [ 8.95105871e-01 4.24493364e-01 1.36348319e-01 -1.88775474e+02] [-1.46836970e-01 -8.08319372e-03 9.89127680e-01 -9.30866394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.11, Y:-188.75, Z:-930.87 [[ 4.24422305e-01 -9.03342918e-01 6.19457813e-02 4.21107269e+02] [ 8.93442004e-01 4.28917205e-01 1.33384468e-01 -1.88748873e+02] [-1.47061526e-01 -1.26638043e-03 9.89126536e-01 -9.30872796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.12, Y:-188.72, Z:-930.88 [[ 4.27951000e-01 -9.01804433e-01 6.00558603e-02 4.21120473e+02] [ 8.91818867e-01 4.32128231e-01 1.33881668e-01 -1.88723386e+02] [-1.46686914e-01 -3.73584429e-03 9.89175916e-01 -9.30876077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.13, Y:-188.70, Z:-930.88 [[ 4.31397457e-01 -9.00068002e-01 6.14314729e-02 4.21130444e+02] [ 8.90189306e-01 4.35741118e-01 1.33013825e-01 -1.88699453e+02] [-1.46489706e-01 -2.69618544e-03 9.89208520e-01 -9.30880941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.776559995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:421.13, Y:-188.67, Z:-930.90 [[ 4.33569918e-01 -8.97498134e-01 8.07107620e-02 4.21131024e+02] [ 8.88336150e-01 4.40734541e-01 1.28887352e-01 -1.88671143e+02] [-1.51248178e-01 1.58166090e-02 9.88369275e-01 -9.30898998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:421.17, Y:-188.65, Z:-930.88 [[ 4.38283344e-01 -8.97826343e-01 4.26094825e-02 4.21167273e+02] [ 8.86995947e-01 4.39692656e-01 1.41097689e-01 -1.88650909e+02] [-1.45416298e-01 -2.40463285e-02 9.89078295e-01 -9.30883037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.17, Y:-188.62, Z:-930.89 [[ 4.39259332e-01 -8.96239111e-01 6.16984234e-02 4.21170563e+02] [ 8.86418765e-01 4.43557850e-01 1.32356366e-01 -1.88622826e+02] [-1.45989772e-01 -3.44812870e-03 9.89280090e-01 -9.30893984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.18, Y:-188.60, Z:-930.90 [[ 4.37172464e-01 -8.96687364e-01 6.95126498e-02 4.21176533e+02] [ 8.87086384e-01 4.42642334e-01 1.30940868e-01 -1.88598214e+02] [-1.48182264e-01 4.41998304e-03 9.88950191e-01 -9.30903768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.20, Y:-188.57, Z:-930.90 [[ 4.37790252e-01 -8.97167449e-01 5.85684562e-02 4.21196183e+02] [ 8.87018887e-01 4.41634487e-01 1.34745962e-01 -1.88574507e+02] [-1.46755541e-01 -7.03914169e-03 9.89147745e-01 -9.30903105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.21, Y:-188.55, Z:-930.90 [[ 4.39194805e-01 -8.96619548e-01 5.64030936e-02 4.21212382e+02] [ 8.86511264e-01 4.42708284e-01 1.34562826e-01 -1.88550083e+02] [-1.45621777e-01 -9.09731655e-03 9.89298508e-01 -9.30904675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.22, Y:-188.53, Z:-930.91 [[ 4.37755680e-01 -8.97000356e-01 6.13214938e-02 4.21224555e+02] [ 8.87267380e-01 4.42017521e-01 1.31822261e-01 -1.88525643e+02] [-1.45349790e-01 -3.29738246e-03 9.89374836e-01 -9.30911026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.24, Y:-188.50, Z:-930.92 [[ 4.37195699e-01 -8.97292595e-01 6.10403151e-02 4.21237738e+02] [ 8.87637776e-01 4.41424484e-01 1.31314906e-01 -1.88502057e+02] [-1.44772582e-01 -3.22862262e-03 9.89459689e-01 -9.30915358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.24, Y:-188.48, Z:-930.93 [[ 4.33405385e-01 -8.97848603e-01 7.76380019e-02 4.21238420e+02] [ 8.88899986e-01 4.40085474e-01 1.27206879e-01 -1.88477209e+02] [-1.48379876e-01 1.38802725e-02 9.88833025e-01 -9.30931395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.26, Y:-188.45, Z:-930.93 [[ 4.33449889e-01 -8.99092758e-01 6.12650433e-02 4.21259327e+02] [ 8.88977295e-01 4.37741194e-01 1.34543735e-01 -1.88453756e+02] [-1.47785531e-01 -3.85473465e-03 9.89011920e-01 -9.30929568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.29, Y:-188.43, Z:-930.92 [[ 4.36432776e-01 -8.98708995e-01 4.29950430e-02 4.21287900e+02] [ 8.88569413e-01 4.38029012e-01 1.36290073e-01 -1.88431600e+02] [-1.41318191e-01 -2.12773748e-02 9.89735542e-01 -9.30921709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.29, Y:-188.41, Z:-930.93 [[ 4.36486683e-01 -8.97747810e-01 5.93990393e-02 4.21292398e+02] [ 8.88588777e-01 4.40499115e-01 1.27947314e-01 -1.88405616e+02] [-1.41029645e-01 -3.06597900e-03 9.90000626e-01 -9.30932413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.31, Y:-188.38, Z:-930.94 [[ 4.36371130e-01 -8.97826149e-01 5.90630408e-02 4.21305779e+02] [ 8.88763142e-01 4.40339532e-01 1.27283835e-01 -1.88381441e+02] [-1.40286548e-01 -3.04993747e-03 9.90106248e-01 -9.30936590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:421.32, Y:-188.36, Z:-930.94 [[ 4.35889030e-01 -8.98077070e-01 5.88075692e-02 4.21318918e+02] [ 8.89082279e-01 4.39827921e-01 1.26823110e-01 -1.88357328e+02] [-1.39762138e-01 -2.99603496e-03 9.90180574e-01 -9.30941216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.33, Y:-188.33, Z:-930.94 [[ 4.35740928e-01 -8.98162474e-01 5.86004591e-02 4.21332983e+02] [ 8.89219437e-01 4.39653481e-01 1.26465840e-01 -1.88333389e+02] [-1.39350767e-01 -2.99767501e-03 9.90238546e-01 -9.30944877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.35, Y:-188.31, Z:-930.95 [[ 4.35176541e-01 -8.98454627e-01 5.83151811e-02 4.21346534e+02] [ 8.89588885e-01 4.39056602e-01 1.25940131e-01 -1.88309346e+02] [-1.38755159e-01 -2.92965390e-03 9.90322383e-01 -9.30948557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.36, Y:-188.29, Z:-930.95 [[ 4.34539405e-01 -8.98756508e-01 5.84144277e-02 4.21361920e+02] [ 8.89849894e-01 4.38438645e-01 1.26248647e-01 -1.88286856e+02] [-1.39077936e-01 -2.87993973e-03 9.90277251e-01 -9.30951609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.37, Y:-188.26, Z:-930.96 [[ 4.33907850e-01 -8.99043321e-01 5.86948385e-02 4.21374523e+02] [ 8.90041153e-01 4.37850482e-01 1.26939759e-01 -1.88263161e+02] [-1.39823906e-01 -2.83933615e-03 9.90172315e-01 -9.30955167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.39, Y:-188.24, Z:-930.96 [[ 4.33477348e-01 -8.99241007e-01 5.88472663e-02 4.21387052e+02] [ 8.90182235e-01 4.37444475e-01 1.27349597e-01 -1.88237962e+02] [-1.40260391e-01 -2.81837466e-03 9.90110640e-01 -9.30958870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.40, Y:-188.21, Z:-930.96 [[ 4.32955358e-01 -8.99478059e-01 5.90667422e-02 4.21398525e+02] [ 8.90340073e-01 4.36956998e-01 1.27918477e-01 -1.88212707e+02] [-1.40869490e-01 -2.79350253e-03 9.90024234e-01 -9.30962937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.41, Y:-188.19, Z:-930.97 [[ 4.32324680e-01 -8.99781687e-01 5.90617249e-02 4.21409147e+02] [ 8.90634730e-01 4.36331792e-01 1.28001350e-01 -1.88187615e+02] [-1.40943779e-01 -2.73571933e-03 9.90013822e-01 -9.30966601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.42, Y:-188.16, Z:-930.97 [[ 4.31390249e-01 -9.00233907e-01 5.90031041e-02 4.21419251e+02] [ 8.91097461e-01 4.35398709e-01 1.27958116e-01 -1.88162616e+02] [-1.40882110e-01 -2.62236746e-03 9.90022906e-01 -9.30970888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.41, Y:-188.13, Z:-931.00 [[ 4.24376237e-01 -9.01161335e-01 8.83915060e-02 4.21405948e+02] [ 8.93291128e-01 4.32628336e-01 1.21916708e-01 -1.88134684e+02] [-1.48107293e-01 2.72207946e-02 9.88596611e-01 -9.30997670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.45, Y:-188.12, Z:-930.97 [[ 4.28390546e-01 -9.03114870e-01 2.94121005e-02 4.21453856e+02] [ 8.92914933e-01 4.28092941e-01 1.39425096e-01 -1.88116190e+02] [-1.38507990e-01 -3.34658894e-02 9.89795722e-01 -9.30967686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.45, Y:-188.09, Z:-930.98 [[ 4.27780865e-01 -9.02001503e-01 5.82822467e-02 4.21450570e+02] [ 8.93080296e-01 4.31727826e-01 1.26564887e-01 -1.88086729e+02] [-1.39323785e-01 -2.09131057e-03 9.90244672e-01 -9.30983264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.44, Y:-188.06, Z:-931.01 [[ 4.23383886e-01 -9.01376125e-01 9.09239575e-02 4.21441648e+02] [ 8.93911576e-01 4.31955654e-01 1.19734738e-01 -1.88058615e+02] [-1.47201152e-01 3.05842194e-02 9.88633616e-01 -9.31010171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.49, Y:-188.04, Z:-930.98 [[ 4.26216868e-01 -9.04197541e-01 2.76764826e-02 4.21491480e+02] [ 8.93807428e-01 4.25641236e-01 1.41201344e-01 -1.88042560e+02] [-1.39454160e-01 -3.54449490e-02 9.89593954e-01 -9.30977464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.49, Y:-188.01, Z:-930.99 [[ 4.25808579e-01 -9.02921468e-01 5.84797062e-02 4.21487930e+02] [ 8.93912436e-01 4.29801335e-01 1.27245310e-01 -1.88012805e+02] [-1.40027178e-01 -1.90640801e-03 9.90145825e-01 -9.30993655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.50, Y:-187.99, Z:-931.00 [[ 4.25439475e-01 -9.03101880e-01 5.83802005e-02 4.21500598e+02] [ 8.94112849e-01 4.29422231e-01 1.27117120e-01 -1.87987822e+02] [-1.39869466e-01 -1.88215329e-03 9.90168163e-01 -9.30998132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.51, Y:-187.96, Z:-931.00 [[ 4.25144568e-01 -9.03262615e-01 5.80408937e-02 4.21511702e+02] [ 8.94367130e-01 4.29084140e-01 1.26468331e-01 -1.87962897e+02] [-1.39138542e-01 -1.85745648e-03 9.90271183e-01 -9.31002419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.676559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.52, Y:-187.94, Z:-931.01 [[ 4.24445272e-01 -9.03596195e-01 5.79666114e-02 4.21522194e+02] [ 8.94713609e-01 4.28381520e-01 1.26399491e-01 -1.87938204e+02] [-1.39045925e-01 -1.78615053e-03 9.90284323e-01 -9.31007407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:421.53, Y:-187.91, Z:-931.01 [[ 4.23802779e-01 -9.03904309e-01 5.78636667e-02 4.21533564e+02] [ 8.95044703e-01 4.27731282e-01 1.26257400e-01 -1.87912430e+02] [-1.38874708e-01 -1.71766869e-03 9.90308470e-01 -9.31011909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.54, Y:-187.89, Z:-931.02 [[ 4.22985897e-01 -9.04296251e-01 5.77167281e-02 4.21544741e+02] [ 8.95472672e-01 4.26902391e-01 1.26027945e-01 -1.87887788e+02] [-1.38606008e-01 -1.62429092e-03 9.90346271e-01 -9.31016297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.56, Y:-187.86, Z:-931.02 [[ 4.20931731e-01 -9.05251806e-01 5.77550561e-02 4.21557209e+02] [ 8.96414014e-01 4.24873342e-01 1.26192546e-01 -1.87863476e+02] [-1.38774614e-01 -1.34600526e-03 9.90323076e-01 -9.31019768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.56, Y:-187.84, Z:-931.04 [[ 4.18100764e-01 -9.04903320e-01 7.96349992e-02 4.21556284e+02] [ 8.96874055e-01 4.25127297e-01 1.21998817e-01 -1.87836132e+02] [-1.44252146e-01 2.04147662e-02 9.89330357e-01 -9.31039487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.58, Y:-187.81, Z:-931.03 [[ 4.16324233e-01 -9.07498128e-01 5.58684308e-02 4.21579607e+02] [ 8.97798236e-01 4.20026694e-01 1.32423200e-01 -1.87814799e+02] [-1.43640038e-01 -4.97240857e-03 9.89617509e-01 -9.31032634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.59, Y:-187.79, Z:-931.04 [[ 4.16158627e-01 -9.07441963e-01 5.79748312e-02 4.21590726e+02] [ 8.97784083e-01 4.20167337e-01 1.32072519e-01 -1.87789328e+02] [-1.44207276e-01 -2.91423733e-03 9.89543212e-01 -9.31037107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.62, Y:-187.77, Z:-931.03 [[ 4.19444877e-01 -9.06916735e-01 3.95983753e-02 4.21616090e+02] [ 8.97029337e-01 4.20776265e-01 1.35224640e-01 -1.87765097e+02] [-1.39299546e-01 -2.11983783e-02 9.90023366e-01 -9.31025225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.61, Y:-187.74, Z:-931.05 [[ 4.18040074e-01 -9.05722024e-01 7.00721895e-02 4.21610089e+02] [ 8.97108352e-01 4.23740091e-01 1.25063744e-01 -1.87735077e+02] [-1.42965384e-01 1.05806894e-02 9.89671131e-01 -9.31047185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.63, Y:-187.71, Z:-931.04 [[ 4.20571661e-01 -9.06029479e-01 4.72235231e-02 4.21633400e+02] [ 8.96443334e-01 4.23007752e-01 1.32112796e-01 -1.87713011e+02] [-1.39674004e-01 -1.32296855e-02 9.90109160e-01 -9.31038264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.64, Y:-187.69, Z:-931.05 [[ 4.21082877e-01 -9.05185685e-01 5.76895661e-02 4.21638933e+02] [ 8.96338198e-01 4.25013831e-01 1.26257983e-01 -1.87686147e+02] [-1.38805782e-01 -1.45571291e-03 9.90318553e-01 -9.31046919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.65, Y:-187.66, Z:-931.05 [[ 4.21265213e-01 -9.05126516e-01 5.72853462e-02 4.21650259e+02] [ 8.96390174e-01 4.25139661e-01 1.25462842e-01 -1.87661117e+02] [-1.37914017e-01 -1.50310925e-03 9.90443065e-01 -9.31051298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.66, Y:-187.64, Z:-931.06 [[ 4.21342531e-01 -9.05109527e-01 5.69843405e-02 4.21661472e+02] [ 8.96452548e-01 4.25175698e-01 1.24893778e-01 -1.87636528e+02] [-1.37270905e-01 -1.53930336e-03 9.90532346e-01 -9.31055463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.67, Y:-187.61, Z:-931.06 [[ 4.21275661e-01 -9.05153631e-01 5.67778408e-02 4.21672867e+02] [ 8.96548936e-01 4.25081747e-01 1.24521140e-01 -1.87610917e+02] [-1.36845986e-01 -1.55361273e-03 9.90591118e-01 -9.31059357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.68, Y:-187.59, Z:-931.06 [[ 4.21159177e-01 -9.05197186e-01 5.69473672e-02 4.21683987e+02] [ 8.96528866e-01 4.24988884e-01 1.24981764e-01 -1.87585513e+02] [-1.37335139e-01 -1.58225836e-03 9.90523375e-01 -9.31063517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.69, Y:-187.56, Z:-931.07 [[ 4.21289494e-01 -9.05122812e-01 5.71651730e-02 4.21694456e+02] [ 8.96374370e-01 4.25146994e-01 1.25550880e-01 -1.87560465e+02] [-1.37942567e-01 -1.65187064e-03 9.90438852e-01 -9.31066739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.71, Y:-187.53, Z:-931.07 [[ 4.21321317e-01 -9.05089542e-01 5.74566701e-02 4.21705434e+02] [ 8.96239496e-01 4.25217602e-01 1.26272551e-01 -1.87534741e+02] [-1.38719553e-01 -1.70638059e-03 9.90330235e-01 -9.31070588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.72, Y:-187.51, Z:-931.07 [[ 4.21290057e-01 -9.05098218e-01 5.75491451e-02 4.21716451e+02] [ 8.96207006e-01 4.25198979e-01 1.26565520e-01 -1.87508807e+02] [-1.39024064e-01 -1.74484800e-03 9.90287466e-01 -9.31074630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.73, Y:-187.48, Z:-931.08 [[ 4.21038697e-01 -9.05206629e-01 5.76833978e-02 4.21727319e+02] [ 8.96262050e-01 4.24968106e-01 1.26950567e-01 -1.87483280e+02] [-1.39430099e-01 -1.75166100e-03 9.90230367e-01 -9.31079016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.74, Y:-187.46, Z:-931.08 [[ 4.21126433e-01 -9.05178573e-01 5.74828590e-02 4.21738839e+02] [ 8.96283687e-01 4.25027691e-01 1.26597850e-01 -1.87457660e+02] [-1.39025468e-01 -1.79275228e-03 9.90287183e-01 -9.31083017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.75, Y:-187.43, Z:-931.09 [[ 4.20783231e-01 -9.05354814e-01 5.72200393e-02 4.21749942e+02] [ 8.96530733e-01 4.24652267e-01 1.26107487e-01 -1.87433361e+02] [-1.38470640e-01 -1.76439221e-03 9.90364968e-01 -9.31087040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.76, Y:-187.41, Z:-931.09 [[ 4.20433567e-01 -9.05544533e-01 5.67865732e-02 4.21760776e+02] [ 8.96843113e-01 4.24247700e-01 1.25245040e-01 -1.87409153e+02] [-1.37506535e-01 -1.72857208e-03 9.90499351e-01 -9.31091368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.77, Y:-187.38, Z:-931.10 [[ 4.20258182e-01 -9.05641068e-01 5.65448197e-02 4.21771882e+02] [ 8.97002166e-01 4.24041587e-01 1.24803234e-01 -1.87384034e+02] [-1.37004290e-01 -1.72875472e-03 9.90568946e-01 -9.31095579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:421.78, Y:-187.36, Z:-931.10 [[ 4.18436196e-01 -9.06260550e-01 6.00247134e-02 4.21779234e+02] [ 8.97751965e-01 4.22714632e-01 1.23910253e-01 -1.87359111e+02] [-1.37668298e-01 2.03876965e-03 9.90476291e-01 -9.31103540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.80, Y:-187.34, Z:-931.10 [[ 4.19210753e-01 -9.06739128e-01 4.56782059e-02 4.21798769e+02] [ 8.97844607e-01 4.21511112e-01 1.27292749e-01 -1.87335725e+02] [-1.34675187e-01 -1.23505582e-02 9.90812827e-01 -9.31098863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.80, Y:-187.31, Z:-931.11 [[ 4.19882460e-01 -9.05436464e-01 6.23179625e-02 4.21801968e+02] [ 8.97301570e-01 4.24452049e-01 1.21203762e-01 -1.87307667e+02] [-1.36193293e-01 5.02667179e-03 9.90669531e-01 -9.31110780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.82, Y:-187.28, Z:-931.11 [[ 4.19672931e-01 -9.05943354e-01 5.60470403e-02 4.21816500e+02] [ 8.97420571e-01 4.23395354e-01 1.23986666e-01 -1.87283542e+02] [-1.36054953e-01 -1.73608065e-03 9.90699771e-01 -9.31112521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.83, Y:-187.26, Z:-931.12 [[ 4.19505973e-01 -9.06025164e-01 5.59744775e-02 4.21828028e+02] [ 8.97513116e-01 4.23220224e-01 1.23914687e-01 -1.87258709e+02] [-1.35959355e-01 -1.74512350e-03 9.90712879e-01 -9.31116555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.84, Y:-187.23, Z:-931.12 [[ 4.19113100e-01 -9.06213198e-01 5.58735162e-02 4.21839104e+02] [ 8.97720821e-01 4.22817547e-01 1.23784693e-01 -1.87234318e+02] [-1.35799625e-01 -1.72096750e-03 9.90734828e-01 -9.31120289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.85, Y:-187.21, Z:-931.12 [[ 4.18180477e-01 -9.06642978e-01 5.58891682e-02 4.21850252e+02] [ 8.98138262e-01 4.21895597e-01 1.23902248e-01 -1.87209855e+02] [-1.35914497e-01 -1.61730087e-03 9.90719251e-01 -9.31124200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.86, Y:-187.18, Z:-931.13 [[ 4.17351985e-01 -9.07027817e-01 5.58377993e-02 4.21862033e+02] [ 8.98529402e-01 4.21067924e-01 1.23881865e-01 -1.87184717e+02] [-1.35875804e-01 -1.53043775e-03 9.90724696e-01 -9.31128071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.87, Y:-187.16, Z:-931.13 [[ 4.15962365e-01 -9.07659491e-01 5.59424660e-02 4.21873723e+02] [ 8.99122129e-01 4.19705115e-01 1.24205534e-01 -1.87160030e+02] [-1.36215671e-01 -1.36571862e-03 9.90678266e-01 -9.31132123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.89, Y:-187.14, Z:-931.14 [[ 4.14580769e-01 -9.08297960e-01 5.58354819e-02 4.21885296e+02] [ 8.99786304e-01 4.18322114e-01 1.24061342e-01 -1.87135475e+02] [-1.36041881e-01 -1.19344478e-03 9.90702368e-01 -9.31136052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.90, Y:-187.11, Z:-931.14 [[ 4.11818921e-01 -9.09552150e-01 5.58575233e-02 4.21897291e+02] [ 9.01033762e-01 4.15589006e-01 1.24193148e-01 -1.87110498e+02] [-1.36173918e-01 -8.15573941e-04 9.90684611e-01 -9.31140303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.6965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:421.91, Y:-187.09, Z:-931.14 [[ 4.10544291e-01 -9.10127294e-01 5.58721255e-02 4.21908186e+02] [ 9.01597155e-01 4.14328214e-01 1.24316942e-01 -1.87085260e+02] [-1.36293640e-01 -6.63461361e-04 9.90668261e-01 -9.31144298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.92, Y:-187.06, Z:-931.15 [[ 4.09812150e-01 -9.10443525e-01 5.60944727e-02 4.21919158e+02] [ 9.01835289e-01 4.13632965e-01 1.24903489e-01 -1.87059621e+02] [-1.36920096e-01 -5.98992487e-04 9.90581914e-01 -9.31148424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:-187.03, Z:-931.15 [[ 4.08839132e-01 -9.10879162e-01 5.61223441e-02 4.21930162e+02] [ 9.02253657e-01 4.12672887e-01 1.25057697e-01 -1.87034465e+02] [-1.37072620e-01 -4.91890282e-04 9.90560879e-01 -9.31152300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:421.94, Y:-187.01, Z:-931.16 [[ 4.07931867e-01 -9.10765601e-01 6.40125948e-02 4.21938734e+02] [ 9.02402664e-01 4.12856699e-01 1.23364416e-01 -1.87007258e+02] [-1.38784095e-01 7.44085962e-03 9.90294708e-01 -9.31161633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.96, Y:-186.99, Z:-931.16 [[ 4.06748230e-01 -9.12195815e-01 4.95446589e-02 4.21956220e+02] [ 9.03115196e-01 4.09684647e-01 1.28613505e-01 -1.86986252e+02] [-1.37618387e-01 -7.56878116e-03 9.90456407e-01 -9.31157286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.96, Y:-186.96, Z:-931.16 [[ 4.04294172e-01 -9.12898317e-01 5.62395417e-02 4.21964231e+02] [ 9.04219557e-01 4.08187037e-01 1.25579995e-01 -1.86960076e+02] [-1.37598018e-01 8.16331423e-05 9.90488152e-01 -9.31163974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.97, Y:-186.93, Z:-931.17 [[ 4.03882631e-01 -9.13081072e-01 5.62296767e-02 4.21974490e+02] [ 9.04393909e-01 4.07778059e-01 1.25653145e-01 -1.86933993e+02] [-1.37660737e-01 1.04654148e-04 9.90479435e-01 -9.31167942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.98, Y:-186.91, Z:-931.17 [[ 4.04062013e-01 -9.13004094e-01 5.61908682e-02 4.21984168e+02] [ 9.04315081e-01 4.07950392e-01 1.25661098e-01 -1.86907681e+02] [-1.37652184e-01 3.93733068e-05 9.90480628e-01 -9.31172814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.99, Y:-186.88, Z:-931.18 [[ 4.04273428e-01 -9.12923245e-01 5.59834255e-02 4.21994021e+02] [ 9.04284837e-01 4.08131287e-01 1.25290804e-01 -1.86882184e+02] [-1.37229475e-01 -2.67801490e-05 9.90539283e-01 -9.31177649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.01, Y:-186.86, Z:-931.18 [[ 4.04037663e-01 -9.13029759e-01 5.59484290e-02 4.22005495e+02] [ 9.04390203e-01 4.07892950e-01 1.25306430e-01 -1.86856343e+02] [-1.37229469e-01 -2.93059614e-05 9.90539284e-01 -9.31181813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.02, Y:-186.83, Z:-931.19 [[ 4.04536026e-01 -9.12829259e-01 5.56178739e-02 4.22015869e+02] [ 9.04278182e-01 4.08341434e-01 1.24652486e-01 -1.86830127e+02] [-1.36497519e-01 -1.32391430e-04 9.90640404e-01 -9.31186323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:422.03, Y:-186.80, Z:-931.19 [[ 4.04890174e-01 -9.12684964e-01 5.54085224e-02 4.22026464e+02] [ 9.04184471e-01 4.08663810e-01 1.24275228e-01 -1.86804552e+02] [-1.36067590e-01 -2.18293069e-04 9.90699532e-01 -9.31190928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.04, Y:-186.78, Z:-931.19 [[ 4.06727961e-01 -9.11893089e-01 5.49850973e-02 4.22036700e+02] [ 9.03502523e-01 4.10427491e-01 1.23419876e-01 -1.86780058e+02] [-1.35113128e-01 -5.19140484e-04 9.90830043e-01 -9.31194852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.04, Y:-186.75, Z:-931.21 [[ 4.05598888e-01 -9.11651289e-01 6.61926696e-02 4.22038661e+02] [ 9.03593601e-01 4.10828657e-01 1.21401890e-01 -1.86753542e+02] [-1.37870035e-01 1.05708010e-02 9.90393917e-01 -9.31208194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.06, Y:-186.73, Z:-931.20 [[ 4.08309983e-01 -9.11792253e-01 4.37932120e-02 4.22063128e+02] [ 9.02869877e-01 4.10456202e-01 1.27873731e-01 -1.86730238e+02] [-1.34569473e-01 -1.26725488e-02 9.90823124e-01 -9.31199307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.07, Y:-186.70, Z:-931.21 [[ 4.09180531e-01 -9.10798461e-01 5.49313878e-02 4.22067181e+02] [ 9.02390750e-01 4.12850161e-01 1.23473397e-01 -1.86702190e+02] [-1.35137813e-01 -9.53334014e-04 9.90826354e-01 -9.31208323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.08, Y:-186.68, Z:-931.21 [[ 4.10319249e-01 -9.10290718e-01 5.48536456e-02 4.22076614e+02] [ 9.01889265e-01 4.13967951e-01 1.23394850e-01 -1.86677387e+02] [-1.35032838e-01 -1.15936784e-03 9.90840446e-01 -9.31211837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.09, Y:-186.65, Z:-931.22 [[ 4.10996043e-01 -9.09959006e-01 5.52888824e-02 4.22086582e+02] [ 9.01411471e-01 4.14696160e-01 1.24436555e-01 -1.86651436e+02] [-1.36160251e-01 -1.30489905e-03 9.90685966e-01 -9.31215964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.10, Y:-186.63, Z:-931.22 [[ 4.12056844e-01 -9.09444991e-01 5.58477074e-02 4.22095894e+02] [ 9.00704600e-01 4.15821433e-01 1.25792529e-01 -1.86625995e+02] [-1.37624059e-01 -1.53138571e-03 9.90483353e-01 -9.31219426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:422.11, Y:-186.60, Z:-931.22 [[ 4.11790273e-01 -9.09553164e-01 5.60518808e-02 4.22106558e+02] [ 9.00737287e-01 4.15584744e-01 1.26339469e-01 -1.86600540e+02] [-1.38206770e-01 -1.53734529e-03 9.90402204e-01 -9.31223624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.12, Y:-186.58, Z:-931.23 [[ 4.11213544e-01 -9.09811512e-01 5.60930788e-02 4.22117478e+02] [ 9.00971468e-01 4.15019018e-01 1.26529164e-01 -1.86575773e+02] [-1.38397384e-01 -1.49224229e-03 9.90375655e-01 -9.31226960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.13, Y:-186.55, Z:-931.23 [[ 4.10168923e-01 -9.10278695e-01 5.61618438e-02 4.22128661e+02] [ 9.01409128e-01 4.13993737e-01 1.26770543e-01 -1.86550278e+02] [-1.38647176e-01 -1.37253830e-03 9.90340889e-01 -9.31230781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.14, Y:-186.52, Z:-931.23 [[ 4.08882698e-01 -9.10846697e-01 5.63314687e-02 4.22139462e+02] [ 9.01915404e-01 4.12743019e-01 1.27247025e-01 -1.86524660e+02] [-1.39152953e-01 -1.22288747e-03 9.90270145e-01 -9.31234820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.15, Y:-186.50, Z:-931.24 [[ 4.07419948e-01 -9.11494064e-01 5.64584491e-02 4.22149513e+02] [ 9.02514827e-01 4.11311901e-01 1.27630358e-01 -1.86499254e+02] [-1.39556346e-01 -1.04456651e-03 9.90213581e-01 -9.31239175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.17, Y:-186.47, Z:-931.23 [[ 4.08109644e-01 -9.12213828e-01 3.62277675e-02 4.22172969e+02] [ 9.02956597e-01 4.09182481e-01 1.31297685e-01 -1.86474964e+02] [-1.34595332e-01 -2.08717498e-02 9.90680810e-01 -9.31229472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.16, Y:-186.45, Z:-931.26 [[ 4.04822163e-01 -9.11229439e-01 7.60258232e-02 4.22158850e+02] [ 9.03714718e-01 4.11379082e-01 1.18604214e-01 -1.86445425e+02] [-1.39351085e-01 2.06920410e-02 9.90026825e-01 -9.31255386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.18, Y:-186.42, Z:-931.25 [[ 4.03745924e-01 -9.13138446e-01 5.62797304e-02 4.22180051e+02] [ 9.04204346e-01 4.07649197e-01 1.27423048e-01 -1.86424066e+02] [-1.39297271e-01 -5.58159457e-04 9.90250453e-01 -9.31251773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.19, Y:-186.40, Z:-931.26 [[ 4.02510077e-01 -9.13692760e-01 5.61353546e-02 4.22191141e+02] [ 9.04798318e-01 4.06405438e-01 1.27179494e-01 -1.86398950e+02] [-1.39016697e-01 -3.99853656e-04 9.90289957e-01 -9.31255970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.20, Y:-186.37, Z:-931.26 [[ 4.01232791e-01 -9.14275712e-01 5.57868218e-02 4.22202278e+02] [ 9.05484807e-01 4.05092418e-01 1.26480815e-01 -1.86373758e+02] [-1.38237156e-01 -2.34130924e-04 9.90399129e-01 -9.31260002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.21, Y:-186.35, Z:-931.26 [[ 4.00107161e-01 -9.14787586e-01 5.54791168e-02 4.22213430e+02] [ 9.06086254e-01 4.03935223e-01 1.25873095e-01 -1.86348140e+02] [-1.37557114e-01 -9.38615902e-05 9.90493832e-01 -9.31264447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.22, Y:-186.32, Z:-931.27 [[ 3.98532169e-01 -9.15519325e-01 5.47400819e-02 4.22224869e+02] [ 9.07043841e-01 4.02273976e-01 1.24286438e-01 -1.86322713e+02] [-1.35807146e-01 1.19510612e-04 9.90735285e-01 -9.31268613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.24, Y:-186.30, Z:-931.27 [[ 3.97911734e-01 -9.15788785e-01 5.47462677e-02 4.22235933e+02] [ 9.07301101e-01 4.01660144e-01 1.24393894e-01 -1.86297984e+02] [-1.35907927e-01 1.73558847e-04 9.90721457e-01 -9.31272780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.25, Y:-186.27, Z:-931.28 [[ 3.97077026e-01 -9.16148853e-01 5.47824323e-02 4.22247189e+02] [ 9.07645025e-01 4.00838128e-01 1.24536358e-01 -1.86272909e+02] [-1.36052729e-01 2.72475387e-04 9.90701560e-01 -9.31276991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.26, Y:-186.25, Z:-931.28 [[ 3.96495706e-01 -9.16407063e-01 5.46740271e-02 4.22258561e+02] [ 9.07927227e-01 4.00247410e-01 1.24379107e-01 -1.86248565e+02] [-1.35865030e-01 3.24256013e-04 9.90727303e-01 -9.31280805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.27, Y:-186.22, Z:-931.28 [[ 3.95637026e-01 -9.16782706e-01 5.45968289e-02 4.22270276e+02] [ 9.08317522e-01 3.99386152e-01 1.24297953e-01 -1.86223607e+02] [-1.35759431e-01 4.14383751e-04 9.90741745e-01 -9.31284575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.28, Y:-186.20, Z:-931.29 [[ 3.94614612e-01 -9.17221971e-01 5.46183569e-02 4.22282057e+02] [ 9.08741538e-01 3.98376176e-01 1.24439702e-01 -1.86198697e+02] [-1.35897481e-01 5.28244955e-04 9.90722764e-01 -9.31288485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.29, Y:-186.17, Z:-931.29 [[ 3.93412362e-01 -9.17738320e-01 5.46176649e-02 4.22293937e+02] [ 9.09250155e-01 3.97185006e-01 1.24532035e-01 -1.86173531e+02] [-1.35981138e-01 6.68678441e-04 9.90711201e-01 -9.31292253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.31, Y:-186.15, Z:-931.30 [[ 3.90798634e-01 -9.18836581e-01 5.49159889e-02 4.22306462e+02] [ 9.10252264e-01 3.94636928e-01 1.25309661e-01 -1.86148544e+02] [-1.36810977e-01 1.01655893e-03 9.90596650e-01 -9.31295857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.32, Y:-186.12, Z:-931.30 [[ 3.89300362e-01 -9.19460677e-01 5.51116331e-02 4.22318140e+02] [ 9.10807459e-01 3.93180138e-01 1.25853690e-01 -1.86123811e+02] [-1.37386319e-01 1.20119940e-03 9.90516813e-01 -9.31299885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.33, Y:-186.10, Z:-931.30 [[ 3.87866817e-01 -9.20057836e-01 5.52531509e-02 4.22329487e+02] [ 9.11352245e-01 3.91780144e-01 1.26275112e-01 -1.86099818e+02] [-1.37827494e-01 1.37715731e-03 9.90455292e-01 -9.31303640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.34, Y:-186.07, Z:-931.31 [[ 3.86139238e-01 -9.20819559e-01 5.46610390e-02 4.22342267e+02] [ 9.11995249e-01 3.89988190e-01 1.27176562e-01 -1.86074065e+02] [-1.38423825e-01 7.42747369e-04 9.90372805e-01 -9.31307263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.35, Y:-186.05, Z:-931.31 [[ 3.85412100e-01 -9.21021880e-01 5.63578684e-02 4.22352723e+02] [ 9.12293989e-01 3.89501817e-01 1.26522774e-01 -1.86050003e+02] [-1.38481735e-01 2.65153661e-03 9.90361438e-01 -9.31311983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.36, Y:-186.03, Z:-931.32 [[ 3.84529131e-01 -9.21451624e-01 5.53556817e-02 4.22364816e+02] [ 9.12697268e-01 3.88488985e-01 1.26728079e-01 -1.86026307e+02] [-1.38278867e-01 1.79234148e-03 9.90391712e-01 -9.31315141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.38, Y:-186.00, Z:-931.32 [[ 3.83946476e-01 -9.21700397e-01 5.52583143e-02 4.22377130e+02] [ 9.12967542e-01 3.87898149e-01 1.26591049e-01 -1.86001673e+02] [-1.38113618e-01 1.84486033e-03 9.90414673e-01 -9.31318723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.39, Y:-185.98, Z:-931.32 [[ 3.84109392e-01 -9.21650387e-01 5.49594294e-02 4.22388411e+02] [ 9.12998448e-01 3.88017264e-01 1.26001731e-01 -1.85976340e+02] [-1.37454751e-01 1.77942556e-03 9.90506449e-01 -9.31322556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.40, Y:-185.95, Z:-931.33 [[ 3.84639969e-01 -9.21430535e-01 5.49350762e-02 4.22398675e+02] [ 9.12770633e-01 3.88539581e-01 1.26042714e-01 -1.85952024e+02] [-1.37484057e-01 1.66205851e-03 9.90502585e-01 -9.31326927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.41, Y:-185.93, Z:-931.33 [[ 3.85774860e-01 -9.20970469e-01 5.46914381e-02 4.22409680e+02] [ 9.12371167e-01 3.89629660e-01 1.25569034e-01 -1.85926208e+02] [-1.36954778e-01 1.45751470e-03 9.90576229e-01 -9.31331214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.42, Y:-185.90, Z:-931.34 [[ 3.88679249e-01 -9.19764660e-01 5.44188593e-02 4.22420180e+02] [ 9.11226494e-01 3.92469099e-01 1.25037127e-01 -1.85900970e+02] [-1.36362451e-01 9.88569766e-04 9.90658521e-01 -9.31335912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.43, Y:-185.87, Z:-931.34 [[ 3.90261088e-01 -9.19097064e-01 5.43771213e-02 4.22431221e+02] [ 9.10552107e-01 3.94030553e-01 1.25039131e-01 -1.85874974e+02] [-1.36349346e-01 7.15294868e-04 9.90660560e-01 -9.31340164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.44, Y:-185.85, Z:-931.34 [[ 3.91978826e-01 -9.18369673e-01 5.43115386e-02 4.22441973e+02] [ 9.09824916e-01 3.95723344e-01 1.24986631e-01 -1.85850073e+02] [-1.36276275e-01 4.21878099e-04 9.90670782e-01 -9.31344146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.45, Y:-185.82, Z:-931.35 [[ 3.93461679e-01 -9.17747678e-01 5.41027439e-02 4.22452649e+02] [ 9.09251082e-01 3.97163909e-01 1.24592532e-01 -1.85824666e+02] [-1.35832164e-01 1.70591431e-04 9.90731848e-01 -9.31348322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.46, Y:-185.80, Z:-931.35 [[ 3.94993835e-01 -9.17093435e-01 5.40324161e-02 4.22463590e+02] [ 9.08599584e-01 3.98672325e-01 1.24527804e-01 -1.85798905e+02] [-1.35744861e-01 -9.38842579e-05 9.90743824e-01 -9.31352245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.256559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:422.47, Y:-185.77, Z:-931.36 [[ 3.96215286e-01 -9.16570632e-01 5.39603889e-02 4.22474331e+02] [ 9.08081373e-01 3.99872703e-01 1.24458998e-01 -1.85773428e+02] [-1.35652749e-01 -3.12133515e-04 9.90756395e-01 -9.31356218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:422.49, Y:-185.75, Z:-931.36 [[ 3.97457697e-01 -9.16041797e-01 5.38034066e-02 4.22485509e+02] [ 9.07584089e-01 4.01082467e-01 1.24193299e-01 -1.85747694e+02] [-1.35345856e-01 -5.30466848e-04 9.90798273e-01 -9.31359547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.50, Y:-185.72, Z:-931.36 [[ 3.98290336e-01 -9.15669837e-01 5.39773906e-02 4.22496340e+02] [ 9.07140310e-01 4.01930668e-01 1.24692406e-01 -1.85722414e+02] [-1.35872243e-01 -6.98713191e-04 9.90726120e-01 -9.31363435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.51, Y:-185.70, Z:-931.37 [[ 3.99262506e-01 -9.15228912e-01 5.42723743e-02 4.22506787e+02] [ 9.06587919e-01 4.02933296e-01 1.25471527e-01 -1.85696684e+02] [-1.36703316e-01 -8.93397490e-04 9.90611632e-01 -9.31367234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.52, Y:-185.67, Z:-931.37 [[ 3.99289429e-01 -9.15213596e-01 5.43325440e-02 4.22516961e+02] [ 9.06539624e-01 4.02967978e-01 1.25708870e-01 -1.85671741e+02] [-1.36944742e-01 -9.39619039e-04 9.90578243e-01 -9.31371099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.53, Y:-185.65, Z:-931.38 [[ 3.98943756e-01 -9.15356222e-01 5.44689556e-02 4.22527753e+02] [ 9.06627634e-01 4.02643919e-01 1.26111888e-01 -1.85645859e+02] [-1.37368895e-01 -9.28490033e-04 9.90519523e-01 -9.31375488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.54, Y:-185.62, Z:-931.38 [[ 3.98360144e-01 -9.15615702e-01 5.43790527e-02 4.22538621e+02] [ 9.06905042e-01 4.02053624e-01 1.26000511e-01 -1.85620476e+02] [-1.37231342e-01 -8.76944665e-04 9.90538636e-01 -9.31379429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.55, Y:-185.60, Z:-931.38 [[ 3.97498367e-01 -9.15987282e-01 5.44274570e-02 4.22549382e+02] [ 9.07250767e-01 4.01206526e-01 1.26211608e-01 -1.85595451e+02] [-1.37444879e-01 -7.89556100e-04 9.90509102e-01 -9.31383574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.496559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:422.56, Y:-185.57, Z:-931.39 [[ 3.95966276e-01 -9.16662515e-01 5.42267606e-02 4.22560384e+02] [ 9.07984854e-01 3.99661716e-01 1.25833294e-01 -1.85569649e+02] [-1.37019024e-01 -5.88663758e-04 9.90568241e-01 -9.31387510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.57, Y:-185.55, Z:-931.39 [[ 3.93201156e-01 -9.17866416e-01 5.39823519e-02 4.22571096e+02] [ 9.09264983e-01 3.96889405e-01 1.25363437e-01 -1.85545138e+02] [-1.36491912e-01 -2.08786120e-04 9.90641163e-01 -9.31390940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.58, Y:-185.52, Z:-931.40 [[ 3.91552539e-01 -9.18571799e-01 5.39671994e-02 4.22582035e+02] [ 9.09969914e-01 3.95254158e-01 1.25414939e-01 -1.85519444e+02] [-1.36533387e-01 1.98986025e-06 9.90635470e-01 -9.31395145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.59, Y:-185.49, Z:-931.40 [[ 3.90226220e-01 -9.19140853e-01 5.38849735e-02 4.22592704e+02] [ 9.10557420e-01 3.93929012e-01 1.25320063e-01 -1.85494085e+02] [-1.36413644e-01 1.62187841e-04 9.90651953e-01 -9.31399007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.616559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:422.60, Y:-185.47, Z:-931.40 [[ 3.88837257e-01 -9.19738200e-01 5.37329687e-02 4.22602778e+02] [ 9.11195603e-01 3.92532208e-01 1.25064143e-01 -1.85469166e+02] [-1.36118191e-01 3.31646577e-04 9.90692550e-01 -9.31403351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.61, Y:-185.44, Z:-931.41 [[ 3.87714086e-01 -9.20224845e-01 5.35165541e-02 4.22613495e+02] [ 9.11744095e-01 3.91389853e-01 1.24646254e-01 -1.85443065e+02] [-1.35648416e-01 4.66293911e-04 9.90756928e-01 -9.31407653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.62, Y:-185.42, Z:-931.41 [[ 3.86382630e-01 -9.20816525e-01 5.29659459e-02 4.22623878e+02] [ 9.12502682e-01 3.89995555e-01 1.23459800e-01 -1.85417180e+02] [-1.34340308e-01 6.28845468e-04 9.90935057e-01 -9.31412000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.63, Y:-185.39, Z:-931.42 [[ 3.86141287e-01 -9.20939008e-01 5.25951520e-02 4.22634548e+02] [ 9.12729826e-01 3.89706234e-01 1.22691956e-01 -1.85392118e+02] [-1.33488467e-01 6.28734002e-04 9.91050167e-01 -9.31415979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.736559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.63, Y:-185.36, Z:-931.44 [[ 3.84020488e-01 -9.20381026e-01 7.36683967e-02 4.22632379e+02] [ 9.12994132e-01 3.90415008e-01 1.18396949e-01 -1.85363827e+02] [-1.37731553e-01 2.17919597e-02 9.90229837e-01 -9.31435218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.67, Y:-185.34, Z:-931.42 [[ 3.85746225e-01 -9.22038163e-01 3.23338367e-02 4.22666118e+02] [ 9.13012120e-01 3.86541601e-01 1.30362801e-01 -1.85343538e+02] [-1.32697851e-01 -2.07657736e-02 9.90938981e-01 -9.31416691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.65, Y:-185.31, Z:-931.45 [[ 3.83767532e-01 -9.20305991e-01 7.58904817e-02 4.22650817e+02] [ 9.13106516e-01 3.90447885e-01 1.17417801e-01 -1.85312807e+02] [-1.37691583e-01 2.42349538e-02 9.90178618e-01 -9.31445337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.69, Y:-185.29, Z:-931.42 [[ 3.86724920e-01 -9.21720908e-01 2.95703255e-02 4.22688002e+02] [ 9.12650145e-01 3.87126887e-01 1.31158249e-01 -1.85293341e+02] [-1.32338769e-01 -2.37348017e-02 9.90920335e-01 -9.31423883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.69, Y:-185.26, Z:-931.44 [[ 3.86789118e-01 -9.20703076e-01 5.19617618e-02 4.22687506e+02] [ 9.12632357e-01 3.90263639e-01 1.21640753e-01 -1.85263785e+02] [-1.32273801e-01 3.72665663e-04 9.91213147e-01 -9.31436790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.70, Y:-185.24, Z:-931.44 [[ 3.88659598e-01 -9.19950327e-01 5.13333444e-02 4.22697624e+02] [ 9.12056638e-01 3.92034933e-01 1.20255150e-01 -1.85238200e+02] [-1.30753229e-01 8.05990660e-05 9.91414942e-01 -9.31440642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.916559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.71, Y:-185.21, Z:-931.44 [[ 3.89792081e-01 -9.19472242e-01 5.13120816e-02 4.22707673e+02] [ 9.11568502e-01 3.93154908e-01 1.20299978e-01 -1.85213203e+02] [-1.30786087e-01 -1.17501282e-04 9.91410604e-01 -9.31444639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.72, Y:-185.19, Z:-931.45 [[ 3.89560201e-01 -9.19572198e-01 5.12817953e-02 4.22718695e+02] [ 9.11667621e-01 3.92921059e-01 1.20312886e-01 -1.85187168e+02] [-1.30786083e-01 -1.17159888e-04 9.91410605e-01 -9.31448785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9765599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.73, Y:-185.16, Z:-931.45 [[ 3.92810009e-01 -9.18185283e-01 5.13428110e-02 4.22728358e+02] [ 9.10238604e-01 3.96150739e-01 1.20541593e-01 -1.85162114e+02] [-1.31019009e-01 -6.15735433e-04 9.91379665e-01 -9.31452839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:422.73, Y:-185.13, Z:-931.47 [[ 3.93543249e-01 -9.16233576e-01 7.50982377e-02 4.22726885e+02] [ 9.09349208e-01 3.99970267e-01 1.14489319e-01 -1.85132195e+02] [-1.34936021e-01 2.32340243e-02 9.90581875e-01 -9.31471924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.75, Y:-185.11, Z:-931.47 [[ 3.93754611e-01 -9.17611940e-01 5.42736947e-02 4.22747545e+02] [ 9.09189162e-01 3.97477139e-01 1.24044312e-01 -1.85110266e+02] [-1.35397095e-01 5.02035039e-04 9.90791287e-01 -9.31467698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.76, Y:-185.08, Z:-931.47 [[ 3.94877818e-01 -9.17339128e-01 5.06007281e-02 4.22760503e+02] [ 9.08773434e-01 3.98091982e-01 1.25114426e-01 -1.85084192e+02] [-1.34916103e-01 -3.42031416e-03 9.90851122e-01 -9.31468818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.78, Y:-185.06, Z:-931.45 [[ 3.97616800e-01 -9.17156795e-01 2.69127265e-02 4.22784727e+02] [ 9.08294593e-01 3.97591867e-01 1.30083202e-01 -1.85061453e+02] [-1.30006974e-01 -2.72785826e-02 9.91137763e-01 -9.31454576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.78, Y:-185.03, Z:-931.47 [[ 3.98655474e-01 -9.15670722e-01 5.11951410e-02 4.22783135e+02] [ 9.07704009e-01 4.01926145e-01 1.20535499e-01 -1.85032417e+02] [-1.30947493e-01 -1.58210183e-03 9.91388043e-01 -9.31467429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.77, Y:-185.01, Z:-931.49 [[ 3.95637336e-01 -9.14790456e-01 8.14218707e-02 4.22773689e+02] [ 9.07614986e-01 4.02999786e-01 1.17584905e-01 -1.85005033e+02] [-1.40378545e-01 2.73787315e-02 9.89719288e-01 -9.31493062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.82, Y:-184.99, Z:-931.46 [[ 4.00497870e-01 -9.16001735e-01 2.32868644e-02 4.22820037e+02] [ 9.06751414e-01 3.99856278e-01 1.33853766e-01 -1.84985759e+02] [-1.31921681e-01 -3.24927511e-02 9.90727456e-01 -9.31463795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.82, Y:-184.96, Z:-931.48 [[ 4.01100354e-01 -9.14571161e-01 5.17503415e-02 4.22816149e+02] [ 9.06391389e-01 4.04419801e-01 1.22062582e-01 -1.84957244e+02] [-1.32563780e-01 -2.05328072e-03 9.91172351e-01 -9.31478619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.83, Y:-184.93, Z:-931.48 [[ 4.01344290e-01 -9.14469155e-01 5.16616433e-02 4.22827324e+02] [ 9.06305365e-01 4.04650069e-01 1.21938125e-01 -1.84931818e+02] [-1.32413542e-01 -2.11794575e-03 9.91192296e-01 -9.31482025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.84, Y:-184.91, Z:-931.49 [[ 4.01152084e-01 -9.14546611e-01 5.17832259e-02 4.22837838e+02] [ 9.06331725e-01 4.04474880e-01 1.22322834e-01 -1.84906918e+02] [-1.32814948e-01 -2.13727939e-03 9.91138548e-01 -9.31485906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.85, Y:-184.88, Z:-931.49 [[ 4.01729578e-01 -9.14307796e-01 5.15228117e-02 4.22848825e+02] [ 9.06162314e-01 4.05013872e-01 1.21793369e-01 -1.84881449e+02] [-1.32224081e-01 -2.23996862e-03 9.91217320e-01 -9.31489872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.86, Y:-184.86, Z:-931.49 [[ 4.01987368e-01 -9.14205113e-01 5.13338733e-02 4.22859555e+02] [ 9.06106409e-01 4.05245243e-01 1.21439160e-01 -1.84856328e+02] [-1.31823109e-01 -2.30305696e-03 9.91270581e-01 -9.31494264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.87, Y:-184.83, Z:-931.50 [[ 4.01938699e-01 -9.14249230e-01 5.09276699e-02 4.22870524e+02] [ 9.06266647e-01 4.05145671e-01 1.20572588e-01 -1.84830466e+02] [-1.30866521e-01 -2.30874042e-03 9.91397309e-01 -9.31498611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.88, Y:-184.81, Z:-931.50 [[ 4.01899079e-01 -9.14287612e-01 5.05499131e-02 4.22880890e+02] [ 9.06411284e-01 4.05058996e-01 1.19773933e-01 -1.84806140e+02] [-1.29983520e-01 -2.31802156e-03 9.91513445e-01 -9.31502688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.89, Y:-184.78, Z:-931.51 [[ 4.01865270e-01 -9.14314522e-01 5.03314956e-02 4.22891534e+02] [ 9.06495477e-01 4.04998157e-01 1.19341706e-01 -1.84782033e+02] [-1.29500018e-01 -2.33401390e-03 9.91576673e-01 -9.31506664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.90, Y:-184.76, Z:-931.51 [[ 4.01442337e-01 -9.14520261e-01 4.99674108e-02 4.22902870e+02] [ 9.06805334e-01 4.04533648e-01 1.18560588e-01 -1.84756199e+02] [-1.28639559e-01 -2.28452490e-03 9.91688784e-01 -9.31510650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.92, Y:-184.73, Z:-931.51 [[ 3.99813352e-01 -9.15242889e-01 4.97969696e-02 4.22915336e+02] [ 9.07574484e-01 4.02897156e-01 1.18247361e-01 -1.84730756e+02] [-1.28288114e-01 -2.08241469e-03 9.91734755e-01 -9.31514428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.93, Y:-184.71, Z:-931.52 [[ 3.98178032e-01 -9.15943550e-01 5.00166778e-02 4.22926581e+02] [ 9.08200583e-01 4.01302620e-01 1.18860876e-01 -1.84705798e+02] [-1.28941677e-01 -1.90261378e-03 9.91650354e-01 -9.31518360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.94, Y:-184.68, Z:-931.52 [[ 3.96096169e-01 -9.16841167e-01 5.01008915e-02 4.22938142e+02] [ 9.09067168e-01 3.99248731e-01 1.19152569e-01 -1.84680373e+02] [-1.29246697e-01 -1.65080044e-03 9.91611096e-01 -9.31522078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.95, Y:-184.66, Z:-931.53 [[ 3.93948984e-01 -9.17766063e-01 5.00964331e-02 4.22950058e+02] [ 9.09988700e-01 3.97119044e-01 1.19235188e-01 -1.84655083e+02] [-1.29324257e-01 -1.38539325e-03 9.91601390e-01 -9.31525886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.96, Y:-184.63, Z:-931.53 [[ 3.91181796e-01 -9.18948377e-01 5.01067136e-02 4.22961306e+02] [ 9.11164925e-01 3.94376484e-01 1.19355220e-01 -1.84631149e+02] [-1.29442195e-01 -1.03410935e-03 9.91586430e-01 -9.31529556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.97, Y:-184.61, Z:-931.53 [[ 3.88077701e-01 -9.20257860e-01 5.02112435e-02 4.22973336e+02] [ 9.12444672e-01 3.91312000e-01 1.19664696e-01 -1.84606270e+02] [-1.29770639e-01 -6.24218297e-04 9.91543843e-01 -9.31533479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.98, Y:-184.58, Z:-931.54 [[ 3.80056262e-01 -9.23442764e-01 5.30160355e-02 4.22981972e+02] [ 9.15634902e-01 3.83724563e-01 1.19867372e-01 -1.84583087e+02] [-1.31034213e-01 2.98698692e-03 9.91373347e-01 -9.31539467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.00, Y:-184.56, Z:-931.54 [[ 3.77250897e-01 -9.25039766e-01 4.45330469e-02 4.22999248e+02] [ 9.16932976e-01 3.79833179e-01 1.22313837e-01 -1.84558411e+02] [-1.30060292e-01 -5.30918540e-03 9.91491873e-01 -9.31538262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.01, Y:-184.53, Z:-931.54 [[ 3.74469604e-01 -9.25995152e-01 4.80155570e-02 4.23009088e+02] [ 9.18053789e-01 3.77533372e-01 1.21019806e-01 -1.84532956e+02] [-1.30191229e-01 -1.23737477e-03 9.91488131e-01 -9.31542996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.02, Y:-184.51, Z:-931.55 [[ 3.73497321e-01 -9.26041266e-01 5.42892776e-02 4.23019343e+02] [ 9.18323232e-01 3.77385760e-01 1.19425417e-01 -1.84505272e+02] [-1.31080864e-01 5.25003159e-03 9.91357778e-01 -9.31549921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.03, Y:-184.48, Z:-931.55 [[ 3.71388368e-01 -9.27072028e-01 5.10699057e-02 4.23030889e+02] [ 9.19035402e-01 3.74879430e-01 1.21816844e-01 -1.84481207e+02] [-1.32078046e-01 1.69369227e-03 9.91237873e-01 -9.31552516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.04, Y:-184.46, Z:-931.55 [[ 3.68127616e-01 -9.28681958e-01 4.50763644e-02 4.23042745e+02] [ 9.20576982e-01 3.70859705e-01 1.22478979e-01 -1.84455323e+02] [-1.30461025e-01 -3.59163112e-03 9.91446933e-01 -9.31552509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.05, Y:-184.43, Z:-931.56 [[ 3.67926121e-01 -9.28169447e-01 5.59629072e-02 4.23048454e+02] [ 9.20494885e-01 3.72080257e-01 1.19354305e-01 -1.84428934e+02] [-1.31603712e-01 7.60000331e-03 9.91273274e-01 -9.31562457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.07, Y:-184.40, Z:-931.56 [[ 3.66001093e-01 -9.29637671e-01 4.26262914e-02 4.23065022e+02] [ 9.21605990e-01 3.68435573e-01 1.22055843e-01 -1.84404423e+02] [-1.29172751e-01 -5.38792643e-03 9.91607468e-01 -9.31559395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.07, Y:-184.38, Z:-931.57 [[ 3.66093794e-01 -9.28796333e-01 5.75561161e-02 4.23068683e+02] [ 9.21342178e-01 3.70458735e-01 1.17851250e-01 -1.84376832e+02] [-1.30781975e-01 9.88426619e-03 9.91361880e-01 -9.31571643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.08, Y:-184.35, Z:-931.57 [[ 3.65781093e-01 -9.29330345e-01 5.04906145e-02 4.23082273e+02] [ 9.21447798e-01 3.69242001e-01 1.20806875e-01 -1.84351826e+02] [-1.30912750e-01 2.33559488e-03 9.91391142e-01 -9.31572982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.09, Y:-184.33, Z:-931.58 [[ 3.65531569e-01 -9.29436665e-01 5.03404126e-02 4.23091964e+02] [ 9.21589834e-01 3.68974320e-01 1.20540991e-01 -1.84325286e+02] [-1.30609536e-01 2.33167495e-03 9.91431144e-01 -9.31577466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.10, Y:-184.30, Z:-931.58 [[ 3.66063112e-01 -9.29242867e-01 5.00548866e-02 4.23100407e+02] [ 9.21471293e-01 3.69462836e-01 1.19949443e-01 -1.84298163e+02] [-1.29955585e-01 2.21507472e-03 9.91517342e-01 -9.31581367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.11, Y:-184.27, Z:-931.59 [[ 3.65628471e-01 -9.29418820e-01 4.99647718e-02 4.23109088e+02] [ 9.21664442e-01 3.69019850e-01 1.19829072e-01 -1.84271793e+02] [-1.29809387e-01 2.23783313e-03 9.91536442e-01 -9.31585698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.12, Y:-184.25, Z:-931.59 [[ 3.66808219e-01 -9.28814394e-01 5.24933442e-02 4.23118124e+02] [ 9.21024805e-01 3.70520490e-01 1.20116092e-01 -1.84245202e+02] [-1.31015415e-01 4.28810227e-03 9.91371057e-01 -9.31591592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.13, Y:-184.22, Z:-931.59 [[ 3.67402130e-01 -9.28711334e-01 5.01092127e-02 4.23127940e+02] [ 9.20724266e-01 3.70800577e-01 1.21547352e-01 -1.84220253e+02] [-1.31462929e-01 1.48001192e-03 9.91319983e-01 -9.31594215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.14, Y:-184.19, Z:-931.60 [[ 3.70091367e-01 -9.27690214e-01 4.92264949e-02 4.23139161e+02] [ 9.19462300e-01 3.73350687e-01 1.23281559e-01 -1.84194829e+02] [-1.32745841e-01 -3.63534393e-04 9.91150044e-01 -9.31596531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.15, Y:-184.17, Z:-931.60 [[ 3.73239954e-01 -9.26334574e-01 5.09528713e-02 4.23145883e+02] [ 9.18203983e-01 3.76700281e-01 1.22467725e-01 -1.84167970e+02] [-1.32640049e-01 1.07528135e-03 9.91163691e-01 -9.31600774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.15, Y:-184.14, Z:-931.60 [[ 3.75650402e-01 -9.25356916e-01 5.10034649e-02 4.23154854e+02] [ 9.17186919e-01 3.79096430e-01 1.22694958e-01 -1.84142113e+02] [-1.32871859e-01 6.89300597e-04 9.91132985e-01 -9.31604797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.16, Y:-184.12, Z:-931.61 [[ 3.78032147e-01 -9.24395002e-01 5.08485584e-02 4.23163345e+02] [ 9.16252744e-01 3.81436474e-01 1.22421915e-01 -1.84116681e+02] [-1.32561701e-01 3.10711816e-04 9.91174707e-01 -9.31608467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.17, Y:-184.09, Z:-931.61 [[ 3.80671226e-01 -9.23320491e-01 5.06822336e-02 4.23172042e+02] [ 9.15213631e-01 3.84030289e-01 1.22084999e-01 -1.84090367e+02] [-1.32187094e-01 -8.91750893e-05 9.91224780e-01 -9.31612830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.18, Y:-184.06, Z:-931.62 [[ 3.83340830e-01 -9.22220359e-01 5.05906967e-02 4.23180764e+02] [ 9.14120470e-01 3.86664394e-01 1.21960704e-01 -1.84063518e+02] [-1.32036265e-01 -5.06525811e-04 9.91244757e-01 -9.31617354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.19, Y:-184.04, Z:-931.62 [[ 3.85789770e-01 -9.21208814e-01 5.04041231e-02 4.23189652e+02] [ 9.13147339e-01 3.89067517e-01 1.21607589e-01 -1.84037003e+02] [-1.31636590e-01 -8.88572858e-04 9.91297644e-01 -9.31621708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.20, Y:-184.01, Z:-931.63 [[ 3.89981641e-01 -9.19432068e-01 5.05864772e-02 4.23197165e+02] [ 9.11283374e-01 3.93245863e-01 1.22148697e-01 -1.84010665e+02] [-1.32200352e-01 -1.53713362e-03 9.91221824e-01 -9.31625842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.356559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:423.19, Y:-183.98, Z:-931.65 [[ 3.87713070e-01 -9.18011954e-01 8.32624017e-02 4.23185868e+02] [ 9.10965456e-01 3.95393891e-01 1.17497272e-01 -1.83982017e+02] [-1.40785345e-01 3.02939439e-02 9.89576558e-01 -9.31650634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.23, Y:-183.96, Z:-931.62 [[ 3.92233041e-01 -9.19643118e-01 2.02429646e-02 4.23231961e+02] [ 9.10179688e-01 3.91194007e-01 1.36162343e-01 -1.83962878e+02] [-1.33139688e-01 -3.49826348e-02 9.90479701e-01 -9.31621723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.416559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.23, Y:-183.93, Z:-931.64 [[ 3.93019538e-01 -9.18097768e-01 5.13043065e-02 4.23225719e+02] [ 9.09669912e-01 3.96348346e-01 1.24131543e-01 -1.83931527e+02] [-1.34299270e-01 -2.11613791e-03 9.90938559e-01 -9.31637446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.24, Y:-183.91, Z:-931.64 [[ 3.93344650e-01 -9.17951874e-01 5.14231800e-02 4.23235269e+02] [ 9.09469911e-01 3.96685604e-01 1.24519126e-01 -1.83905672e+02] [-1.34701400e-01 -2.21109705e-03 9.90883769e-01 -9.31641095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.23, Y:-183.88, Z:-931.66 [[ 3.90665156e-01 -9.16960031e-01 8.10249164e-02 4.23226854e+02] [ 9.09520823e-01 3.98067556e-01 1.19641525e-01 -1.83876575e+02] [-1.41959887e-01 2.69540738e-02 9.89505366e-01 -9.31664864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.27, Y:-183.86, Z:-931.64 [[ 3.93314706e-01 -9.19095022e-01 2.38303073e-02 4.23268656e+02] [ 9.09439723e-01 3.92727016e-01 1.36692652e-01 -1.83857732e+02] [-1.34992341e-01 -3.20910021e-02 9.90326833e-01 -9.31639714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.26, Y:-183.83, Z:-931.65 [[ 3.93483803e-01 -9.17883588e-01 5.15772897e-02 4.23263838e+02] [ 9.09320370e-01 3.96842917e-01 1.25108613e-01 -1.83828650e+02] [-1.35303225e-01 -2.32793262e-03 9.90801503e-01 -9.31653786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.27, Y:-183.80, Z:-931.66 [[ 3.93451507e-01 -9.17892603e-01 5.16631465e-02 4.23273391e+02] [ 9.09288082e-01 3.96821838e-01 1.25409778e-01 -1.83804013e+02] [-1.35613772e-01 -2.36598274e-03 9.90758955e-01 -9.31657800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.28, Y:-183.78, Z:-931.66 [[ 3.93599725e-01 -9.17839702e-01 5.14736688e-02 4.23283251e+02] [ 9.09288871e-01 3.96943965e-01 1.25016951e-01 -1.83779545e+02] [-1.35177683e-01 -2.40220332e-03 9.90818462e-01 -9.31661072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.29, Y:-183.75, Z:-931.67 [[ 3.93235294e-01 -9.18006919e-01 5.12767071e-02 4.23293579e+02] [ 9.09511126e-01 3.96557280e-01 1.24626786e-01 -1.83753478e+02] [-1.34742403e-01 -2.37091534e-03 9.90877825e-01 -9.31665331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.30, Y:-183.73, Z:-931.67 [[ 3.93028984e-01 -9.18107110e-01 5.10642009e-02 4.23303636e+02] [ 9.09669259e-01 3.96325289e-01 1.24209922e-01 -1.83727697e+02] [-1.34276047e-01 -2.36656586e-03 9.90941140e-01 -9.31669761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.31, Y:-183.70, Z:-931.67 [[ 3.92447125e-01 -9.18395718e-01 5.03444187e-02 4.23313053e+02] [ 9.10184466e-01 3.95656586e-01 1.22556536e-01 -1.83702123e+02] [-1.32474499e-01 -2.27425239e-03 9.91183805e-01 -9.31674535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.32, Y:-183.68, Z:-931.68 [[ 3.91978614e-01 -9.18616364e-01 4.99674138e-02 4.23323947e+02] [ 9.10516894e-01 3.95144326e-01 1.21737207e-01 -1.83676251e+02] [-1.31574130e-01 -2.22220725e-03 9.91303844e-01 -9.31678611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.33, Y:-183.65, Z:-931.68 [[ 3.91320234e-01 -9.18899928e-01 4.99138988e-02 4.23334436e+02] [ 9.10806902e-01 3.94484776e-01 1.21706816e-01 -1.83651971e+02] [-1.31526657e-01 -2.16441616e-03 9.91310271e-01 -9.31682715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.35, Y:-183.63, Z:-931.69 [[ 3.91085584e-01 -9.19001517e-01 4.98826406e-02 4.23345098e+02] [ 9.10907682e-01 3.94248054e-01 1.21719626e-01 -1.83625778e+02] [-1.31526655e-01 -2.16431043e-03 9.91310272e-01 -9.31686778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.36, Y:-183.60, Z:-931.69 [[ 3.89993237e-01 -9.19475997e-01 4.96906993e-02 4.23355432e+02] [ 9.11436645e-01 3.93140893e-01 1.21340353e-01 -1.83601498e+02] [-1.31104988e-01 -2.03199296e-03 9.91366407e-01 -9.31690633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.37, Y:-183.58, Z:-931.69 [[ 3.88634139e-01 -9.20064168e-01 4.94513120e-02 4.23366648e+02] [ 9.12096115e-01 3.91763288e-01 1.20839575e-01 -1.83575896e+02] [-1.30553371e-01 -1.85803444e-03 9.91439542e-01 -9.31694335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:423.38, Y:-183.55, Z:-931.70 [[ 3.86376128e-01 -9.21015982e-01 4.94272047e-02 4.23377183e+02] [ 9.13050787e-01 3.89521607e-01 1.20876705e-01 -1.83551679e+02] [-1.30582342e-01 -1.57432512e-03 9.91436218e-01 -9.31698315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.39, Y:-183.53, Z:-931.70 [[ 3.80915879e-01 -9.23285219e-01 4.94721817e-02 4.23389520e+02] [ 9.15313083e-01 3.84114184e-01 1.21071281e-01 -1.83526251e+02] [-1.30786291e-01 -8.35438237e-04 9.91410232e-01 -9.31701759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.40, Y:-183.50, Z:-931.71 [[ 3.80672240e-01 -9.23387557e-01 4.94374927e-02 4.23400163e+02] [ 9.15414440e-01 3.83868100e-01 1.21085443e-01 -1.83500046e+02] [-1.30786268e-01 -8.38072343e-04 9.91410233e-01 -9.31705820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.41, Y:-183.48, Z:-931.71 [[ 3.77226393e-01 -9.24799319e-01 4.94617885e-02 4.23411259e+02] [ 9.16818069e-01 3.80455084e-01 1.21237607e-01 -1.83475295e+02] [-1.30938445e-01 -3.86563618e-04 9.91390425e-01 -9.31709648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.42, Y:-183.45, Z:-931.71 [[ 3.69138093e-01 -9.28035141e-01 4.98783018e-02 4.23424352e+02] [ 9.19935199e-01 3.72491954e-01 1.22347761e-01 -1.83450889e+02] [-1.32122288e-01 7.21586284e-04 9.91233162e-01 -9.31713138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.44, Y:-183.43, Z:-931.72 [[ 3.64789665e-01 -9.29738969e-01 5.01393045e-02 4.23436725e+02] [ 9.21556109e-01 3.68216983e-01 1.23087739e-01 -1.83426259e+02] [-1.32901611e-01 1.30504719e-03 9.91128377e-01 -9.31716598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.45, Y:-183.40, Z:-931.72 [[ 3.60405208e-01 -9.31436204e-01 5.03456423e-02 4.23448585e+02] [ 9.23187664e-01 3.63899713e-01 1.23699381e-01 -1.83401958e+02] [-1.33538847e-01 1.89657474e-03 9.91041765e-01 -9.31720117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.46, Y:-183.38, Z:-931.72 [[ 3.56275267e-01 -9.33009933e-01 5.06003862e-02 4.23460269e+02] [ 9.24683562e-01 3.59842133e-01 1.24394331e-01 -1.83377434e+02] [-1.34269298e-01 2.47072178e-03 9.90941800e-01 -9.31723642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.47, Y:-183.35, Z:-931.73 [[ 3.52449137e-01 -9.34452490e-01 5.07754808e-02 4.23471686e+02] [ 9.26070653e-01 3.56075230e-01 1.24914278e-01 -1.83352472e+02] [-1.34806349e-01 2.99575309e-03 9.90867435e-01 -9.31727883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.48, Y:-183.33, Z:-931.73 [[ 3.46311464e-01 -9.36741140e-01 5.08370568e-02 4.23484307e+02] [ 9.28349004e-01 3.50001761e-01 1.25167463e-01 -1.83327594e+02] [-1.35042571e-01 3.84760373e-03 9.90832327e-01 -9.31732048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.50, Y:-183.30, Z:-931.74 [[ 3.44241868e-01 -9.37512335e-01 5.06770005e-02 4.23495440e+02] [ 9.29167599e-01 3.47927880e-01 1.24874989e-01 -1.83303491e+02] [-1.34703784e-01 4.10022744e-03 9.90877429e-01 -9.31735637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.51, Y:-183.28, Z:-931.74 [[ 3.42492518e-01 -9.38160956e-01 5.05261913e-02 4.23506312e+02] [ 9.29860785e-01 3.46172564e-01 1.24593242e-01 -1.83278014e+02] [-1.34379296e-01 4.31007081e-03 9.90920596e-01 -9.31739922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.52, Y:-183.25, Z:-931.74 [[ 3.42004902e-01 -9.38357516e-01 5.01778866e-02 4.23516938e+02] [ 9.30160381e-01 3.45639263e-01 1.23835237e-01 -1.83253554e+02] [-1.33545173e-01 4.32122424e-03 9.91033306e-01 -9.31743720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.256559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:423.53, Y:-183.23, Z:-931.75 [[ 3.43122552e-01 -9.37983924e-01 4.95285012e-02 4.23527890e+02] [ 9.29982983e-01 3.46654628e-01 1.22320154e-01 -1.83228263e+02] [-1.31903622e-01 4.08985999e-03 9.91254109e-01 -9.31748446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.54, Y:-183.20, Z:-931.75 [[ 3.44487241e-01 -9.37494424e-01 4.93228819e-02 4.23538332e+02] [ 9.29542216e-01 3.47978982e-01 1.21909382e-01 -1.83202975e+02] [-1.31452692e-01 3.85147427e-03 9.91314963e-01 -9.31752534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.55, Y:-183.18, Z:-931.76 [[ 3.46501490e-01 -9.36758181e-01 4.92019018e-02 4.23548513e+02] [ 9.28824940e-01 3.49959513e-01 1.21706904e-01 -1.83177390e+02] [-1.31228612e-01 3.52832978e-03 9.91345854e-01 -9.31756866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.56, Y:-183.15, Z:-931.76 [[ 3.48776132e-01 -9.35923813e-01 4.90084211e-02 4.23558432e+02] [ 9.28032289e-01 3.52188286e-01 1.21323873e-01 -1.83151581e+02] [-1.30810094e-01 3.16652611e-03 9.91402387e-01 -9.31761311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.57, Y:-183.13, Z:-931.77 [[ 3.51469674e-01 -9.34928680e-01 4.87589104e-02 4.23568439e+02] [ 9.27095323e-01 3.54825063e-01 1.20803295e-01 -1.83126299e+02] [-1.30243349e-01 2.74546303e-03 9.91478256e-01 -9.31765054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.58, Y:-183.10, Z:-931.77 [[ 3.53967085e-01 -9.33990287e-01 4.86769610e-02 4.23578337e+02] [ 9.26163242e-01 3.57290576e-01 1.20685934e-01 -1.83100871e+02] [-1.30111310e-01 2.36396367e-03 9.91496575e-01 -9.31769370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.59, Y:-183.07, Z:-931.77 [[ 3.59206127e-01 -9.31988396e-01 4.86681438e-02 4.23588643e+02] [ 9.24132793e-01 3.62484590e-01 1.20762179e-01 -1.83074571e+02] [-1.30190402e-01 1.59731309e-03 9.91487725e-01 -9.31773166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.60, Y:-183.05, Z:-931.78 [[ 3.61614175e-01 -9.31048801e-01 4.88192366e-02 4.23598609e+02] [ 9.23122444e-01 3.64892626e-01 1.21236651e-01 -1.83049382e+02] [-1.30691018e-01 1.22524142e-03 9.91422391e-01 -9.31777090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.61, Y:-183.02, Z:-931.78 [[ 3.63886747e-01 -9.30155419e-01 4.89625513e-02 4.23609061e+02] [ 9.22162527e-01 3.67164994e-01 1.21680486e-01 -1.83023400e+02] [-1.31159099e-01 8.73513764e-04 9.91360947e-01 -9.31780616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.62, Y:-183.00, Z:-931.78 [[ 3.68520154e-01 -9.28303532e-01 4.94514893e-02 4.23619615e+02] [ 9.20119115e-01 3.71823242e-01 1.22997115e-01 -1.82997327e+02] [-1.32565870e-01 1.74344701e-04 9.91174182e-01 -9.31783725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.63, Y:-182.97, Z:-931.79 [[ 3.68358981e-01 -9.28369388e-01 4.94159921e-02 4.23630092e+02] [ 9.20183649e-01 3.71658787e-01 1.23011375e-01 -1.82971078e+02] [-1.32565883e-01 1.59443103e-04 9.91174183e-01 -9.31787783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.64, Y:-182.95, Z:-931.79 [[ 3.70381839e-01 -9.27545478e-01 4.97662406e-02 4.23639376e+02] [ 9.19226855e-01 3.73710262e-01 1.23946078e-01 -1.82946450e+02] [-1.33563779e-01 -1.60911470e-04 9.91040207e-01 -9.31791384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.65, Y:-182.92, Z:-931.80 [[ 3.73678505e-01 -9.26197715e-01 5.02211930e-02 4.23648464e+02] [ 9.17704052e-01 3.77037578e-01 1.25147663e-01 -1.82920889e+02] [-1.34846756e-01 -6.76799250e-04 9.90866234e-01 -9.31795580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.66, Y:-182.90, Z:-931.80 [[ 3.75183614e-01 -9.25589441e-01 5.02139721e-02 4.23658423e+02] [ 9.17080569e-01 3.78527835e-01 1.25219440e-01 -1.82895270e+02] [-1.34909177e-01 -9.30023734e-04 9.90857532e-01 -9.31799473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.67, Y:-182.87, Z:-931.80 [[ 3.76248463e-01 -9.25158992e-01 5.01790158e-02 4.23668375e+02] [ 9.16644806e-01 3.79578163e-01 1.25230658e-01 -1.82869455e+02] [-1.34905128e-01 -1.12150833e-03 9.90857885e-01 -9.31803829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.68, Y:-182.84, Z:-931.81 [[ 3.77254292e-01 -9.24748896e-01 5.01864451e-02 4.23678160e+02] [ 9.16214629e-01 3.80575577e-01 1.25351441e-01 -1.82843759e+02] [-1.35018342e-01 -1.30781410e-03 9.90842236e-01 -9.31808217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.69, Y:-182.82, Z:-931.81 [[ 3.78549025e-01 -9.24219884e-01 5.01820945e-02 4.23688460e+02] [ 9.15668526e-01 3.81857627e-01 1.25442833e-01 -1.82817633e+02] [-1.35099176e-01 -1.53609768e-03 9.90830890e-01 -9.31812612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.69, Y:-182.79, Z:-931.83 [[ 3.79031924e-01 -9.23140638e-01 6.43907139e-02 4.23690500e+02] [ 9.15046515e-01 3.84260894e-01 1.22610936e-01 -1.82789824e+02] [-1.37929971e-01 1.24470395e-02 9.90363769e-01 -9.31827882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.71, Y:-182.76, Z:-931.83 [[ 3.79672305e-01 -9.23625005e-01 5.25907815e-02 4.23707307e+02] [ 9.14848300e-01 3.83297321e-01 1.27026578e-01 -1.82764861e+02] [-1.37482830e-01 -1.15886855e-04 9.90504144e-01 -9.31828483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.73, Y:-182.74, Z:-931.82 [[ 3.81394978e-01 -9.23772096e-01 3.43945521e-02 4.23727145e+02] [ 9.14845769e-01 3.82525636e-01 1.29349746e-01 -1.82741182e+02] [-1.32646484e-01 -1.78676332e-02 9.91002350e-01 -9.31820621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.73, Y:-182.71, Z:-931.83 [[ 3.81665913e-01 -9.23020162e-01 4.86303619e-02 4.23729844e+02] [ 9.14938328e-01 3.84746233e-01 1.21894186e-01 -1.82713399e+02] [-1.31221140e-01 -2.02907391e-03 9.91351046e-01 -9.31831026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.74, Y:-182.69, Z:-931.84 [[ 3.81418328e-01 -9.23135266e-01 4.83873967e-02 4.23740688e+02] [ 9.15122009e-01 3.84470035e-01 1.21385756e-01 -1.82688413e+02] [-1.30658976e-01 -2.01838026e-03 9.91425317e-01 -9.31835097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.75, Y:-182.66, Z:-931.84 [[ 3.80925854e-01 -9.23353105e-01 4.81096428e-02 4.23751679e+02] [ 9.15422141e-01 3.83946841e-01 1.20777178e-01 -1.82662923e+02] [-1.29991528e-01 -1.96651752e-03 9.91513155e-01 -9.31838900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.76, Y:-182.64, Z:-931.84 [[ 3.80580879e-01 -9.23504436e-01 4.79348590e-02 4.23762479e+02] [ 9.15619617e-01 3.83582807e-01 1.20436488e-01 -1.82637503e+02] [-1.29610618e-01 -1.94572713e-03 9.91563060e-01 -9.31842974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.77, Y:-182.61, Z:-931.85 [[ 3.80012930e-01 -9.23745062e-01 4.78041193e-02 4.23773218e+02] [ 9.15892518e-01 3.83003217e-01 1.20205785e-01 -1.82612304e+02] [-1.29348632e-01 -1.89631730e-03 9.91597366e-01 -9.31847184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.78, Y:-182.59, Z:-931.85 [[ 3.79225583e-01 -9.24076891e-01 4.76430123e-02 4.23784262e+02] [ 9.16267355e-01 3.82202311e-01 1.19897989e-01 -1.82586938e+02] [-1.29004230e-01 -1.81464795e-03 9.91642383e-01 -9.31851056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.80, Y:-182.56, Z:-931.86 [[ 3.76904450e-01 -9.25023233e-01 4.76975249e-02 4.23796710e+02] [ 9.17190245e-01 3.79907452e-01 1.20134850e-01 -1.82561747e+02] [-1.29248173e-01 -1.53165507e-03 9.91611095e-01 -9.31855326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:423.79, Y:-182.54, Z:-931.88 [[ 3.71029219e-01 -9.25749972e-01 7.29678569e-02 4.23789888e+02] [ 9.18552254e-01 3.77411285e-01 1.17569037e-01 -1.82535481e+02] [-1.36378425e-01 2.34032416e-02 9.90380338e-01 -9.31877935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.096559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.83, Y:-182.51, Z:-931.85 [[ 3.73324358e-01 -9.27397805e-01 2.37115058e-02 4.23832792e+02] [ 9.18556066e-01 3.73103498e-01 1.30570031e-01 -1.82514437e+02] [-1.29937206e-01 -2.69646255e-02 9.91155503e-01 -9.31853019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.83, Y:-182.49, Z:-931.87 [[ 3.71707291e-01 -9.27094687e-01 4.82610785e-02 4.23832075e+02] [ 9.19059318e-01 3.74826088e-01 1.21800551e-01 -1.82486054e+02] [-1.31010155e-01 -9.19358850e-04 9.91380600e-01 -9.31865717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.84, Y:-182.46, Z:-931.87 [[ 3.69602180e-01 -9.27917781e-01 4.86088588e-02 4.23843230e+02] [ 9.19758923e-01 3.72784309e-01 1.22781847e-01 -1.82461834e+02] [-1.32052079e-01 -6.72006699e-04 9.91242552e-01 -9.31868954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.84, Y:-182.44, Z:-931.89 [[ 3.64021014e-01 -9.29027674e-01 6.63044721e-02 4.23841351e+02] [ 9.21131097e-01 3.69635018e-01 1.22014160e-01 -1.82436343e+02] [-1.37862986e-01 1.66593927e-02 9.90311194e-01 -9.31885742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.88, Y:-182.41, Z:-931.87 [[ 3.63945724e-01 -9.30841678e-01 3.28219550e-02 4.23875234e+02] [ 9.21606763e-01 3.64989358e-01 1.31999027e-01 -1.82414179e+02] [-1.34849860e-01 -1.77915459e-02 9.90706302e-01 -9.31869416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.88, Y:-182.39, Z:-931.88 [[ 3.61907468e-01 -9.30892081e-01 4.96278012e-02 4.23877409e+02] [ 9.22380950e-01 3.65294169e-01 1.25592809e-01 -1.82386443e+02] [-1.35042098e-01 3.22762822e-04 9.90839809e-01 -9.31879749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.89, Y:-182.36, Z:-931.88 [[ 3.59976412e-01 -9.31635983e-01 4.97129652e-02 4.23888406e+02] [ 9.23088338e-01 3.63392457e-01 1.25912044e-01 -1.82360722e+02] [-1.35369508e-01 5.64092396e-04 9.90795023e-01 -9.31883766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.90, Y:-182.34, Z:-931.89 [[ 3.57779396e-01 -9.32475544e-01 4.98323552e-02 4.23899088e+02] [ 9.23880409e-01 3.61232122e-01 1.26318424e-01 -1.82335169e+02] [-1.35789888e-01 8.45007324e-04 9.90737297e-01 -9.31888239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.91, Y:-182.31, Z:-931.89 [[ 3.55705334e-01 -9.33269863e-01 4.98104324e-02 4.23909459e+02] [ 9.24675717e-01 3.59174239e-01 1.26367259e-01 -1.82310824e+02] [-1.35825379e-01 1.10898912e-03 9.90732172e-01 -9.31891893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.92, Y:-182.29, Z:-931.90 [[ 3.53431366e-01 -9.34136956e-01 4.97435154e-02 4.23920177e+02] [ 9.25565144e-01 3.56911959e-01 1.26265665e-01 -1.82285392e+02] [-1.35703479e-01 1.41461768e-03 9.90748487e-01 -9.31895839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.93, Y:-182.26, Z:-931.90 [[ 3.48733023e-01 -9.35903065e-01 4.97064661e-02 4.23930518e+02] [ 9.27347731e-01 3.52251632e-01 1.26273407e-01 -1.82259900e+02] [-1.35688853e-01 2.05947158e-03 9.90749360e-01 -9.31899957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.93, Y:-182.23, Z:-931.92 [[ 3.42874674e-01 -9.37121099e-01 6.51229981e-02 4.23928394e+02] [ 9.28997354e-01 3.48548023e-01 1.24411382e-01 -1.82233639e+02] [-1.39287023e-01 1.78415809e-02 9.90091311e-01 -9.31916083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.95, Y:-182.21, Z:-931.91 [[ 3.41603914e-01 -9.38722957e-01 4.58909235e-02 4.23949763e+02] [ 9.29628500e-01 3.44667532e-01 1.30365432e-01 -1.82209391e+02] [-1.38194135e-01 -1.87183143e-03 9.90403391e-01 -9.31911319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:423.95, Y:-182.18, Z:-931.93 [[ 3.37368508e-01 -9.39174829e-01 6.42894320e-02 4.23947229e+02] [ 9.30932946e-01 3.42990803e-01 1.25384045e-01 -1.82182833e+02] [-1.39808223e-01 1.75485222e-02 9.90023086e-01 -9.31926396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.98, Y:-182.16, Z:-931.91 [[ 3.38987171e-01 -9.40494073e-01 2.36346605e-02 4.23983401e+02] [ 9.30809260e-01 3.38934515e-01 1.36811975e-01 -1.82159598e+02] [-1.36681454e-01 -2.43781435e-02 9.90315044e-01 -9.31905305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.98, Y:-182.13, Z:-931.92 [[ 3.37377359e-01 -9.40058165e-01 4.96705638e-02 4.23979286e+02] [ 9.31493316e-01 3.40995807e-01 1.26657265e-01 -1.82130771e+02] [-1.36002650e-01 3.53650470e-03 9.90702161e-01 -9.31919675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:-182.11, Z:-931.92 [[ 3.35403751e-01 -9.40768941e-01 4.95794742e-02 4.23987630e+02] [ 9.32230509e-01 3.39027248e-01 1.26517998e-01 -1.82105355e+02] [-1.35832995e-01 3.78488745e-03 9.90724519e-01 -9.31922828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-182.08, Z:-931.93 [[ 3.34869865e-01 -9.40957736e-01 4.96055694e-02 4.23996997e+02] [ 9.32399872e-01 3.38502365e-01 1.26675283e-01 -1.82079058e+02] [-1.35987690e-01 3.83249171e-03 9.90703114e-01 -9.31926385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.636559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.01, Y:-182.05, Z:-931.93 [[ 3.34700691e-01 -9.41011668e-01 4.97241143e-02 4.24005120e+02] [ 9.32398484e-01 3.38352468e-01 1.27085301e-01 -1.82053742e+02] [-1.36413028e-01 3.82715072e-03 9.90644658e-01 -9.31930398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.02, Y:-182.03, Z:-931.93 [[ 3.34460273e-01 -9.41098860e-01 4.96916635e-02 4.24015365e+02] [ 9.32484754e-01 3.38109873e-01 1.27097988e-01 -1.82027376e+02] [-1.36413014e-01 3.82749070e-03 9.90644659e-01 -9.31934465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.02, Y:-182.00, Z:-931.94 [[ 3.35089444e-01 -9.40881576e-01 4.95673750e-02 4.24023314e+02] [ 9.32295095e-01 3.38715509e-01 1.26876556e-01 -1.82002006e+02] [-1.36165053e-01 3.69642595e-03 9.90679270e-01 -9.31937819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.03, Y:-181.97, Z:-931.94 [[ 3.37925515e-01 -9.39866702e-01 4.95674128e-02 4.24029447e+02] [ 9.31256678e-01 3.41525977e-01 1.26968527e-01 -1.81974208e+02] [-1.36262050e-01 3.25407936e-03 9.90667485e-01 -9.31941464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.04, Y:-181.95, Z:-931.95 [[ 3.39750500e-01 -9.39203426e-01 4.96640963e-02 4.24037367e+02] [ 9.30537780e-01 3.43348491e-01 1.27323426e-01 -1.81947737e+02] [-1.36634691e-01 2.95612010e-03 9.90617092e-01 -9.31945089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.05, Y:-181.92, Z:-931.95 [[ 3.41877235e-01 -9.38428522e-01 4.97178681e-02 4.24045203e+02] [ 9.29721094e-01 3.45463590e-01 1.27568004e-01 -1.81920591e+02] [-1.36889166e-01 2.61115430e-03 9.90582929e-01 -9.31949134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.05, Y:-181.89, Z:-931.95 [[ 3.44380629e-01 -9.37508437e-01 4.97987289e-02 4.24052387e+02] [ 9.28747757e-01 3.47955528e-01 1.27884927e-01 -1.81894922e+02] [-1.37220941e-01 2.20936636e-03 9.90538001e-01 -9.31952432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.06, Y:-181.87, Z:-931.96 [[ 3.46989525e-01 -9.36542770e-01 4.98588892e-02 4.24059699e+02] [ 9.27740632e-01 3.50548701e-01 1.28112950e-01 -1.81868833e+02] [-1.37461226e-01 1.80226566e-03 9.90505509e-01 -9.31956301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.06, Y:-181.84, Z:-931.96 [[ 3.51854031e-01 -9.34732633e-01 4.97357723e-02 4.24064535e+02] [ 9.25946368e-01 3.55350217e-01 1.27865346e-01 -1.81841114e+02] [-1.37193529e-01 1.06272035e-03 9.90543692e-01 -9.31960237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:-181.82, Z:-931.96 [[ 3.54134817e-01 -9.33879362e-01 4.95768964e-02 4.24071798e+02] [ 9.25126154e-01 3.57587558e-01 1.27564641e-01 -1.81815429e+02] [-1.36858067e-01 6.89802688e-04 9.90590427e-01 -9.31963947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.08, Y:-181.79, Z:-931.97 [[ 3.56025061e-01 -9.33172490e-01 4.93483646e-02 4.24079355e+02] [ 9.24483715e-01 3.59428648e-01 1.27046874e-01 -1.81789010e+02] [-1.36293864e-01 3.89888501e-04 9.90668376e-01 -9.31967832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:424.09, Y:-181.76, Z:-931.97 [[ 3.57077678e-01 -9.32772295e-01 4.93090022e-02 4.24086536e+02] [ 9.24078997e-01 3.60466097e-01 1.27051960e-01 -1.81762808e+02] [-1.36284772e-01 1.97994340e-04 9.90669684e-01 -9.31972101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.09, Y:-181.74, Z:-931.98 [[ 3.58233863e-01 -9.32337471e-01 4.91460977e-02 4.24094409e+02] [ 9.23684791e-01 3.61589325e-01 1.26726346e-01 -1.81736441e+02] [-1.35922426e-01 -2.16564905e-06 9.90719483e-01 -9.31975878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.11, Y:-181.71, Z:-931.98 [[ 3.58876144e-01 -9.32314535e-01 4.46936454e-02 4.24105349e+02] [ 9.23670078e-01 3.61624073e-01 1.26734431e-01 -1.81709322e+02] [-1.34318651e-01 -4.19978112e-03 9.90929292e-01 -9.31976463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:-181.68, Z:-931.97 [[ 3.60964392e-01 -9.31776775e-01 3.86878377e-02 4.24117168e+02] [ 9.23240201e-01 3.62898244e-01 1.26223598e-01 -1.81680628e+02] [-1.31651966e-01 -9.84405741e-03 9.91247121e-01 -9.31974884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.11, Y:-181.65, Z:-931.99 [[ 3.59171392e-01 -9.31182712e-01 6.24072753e-02 4.24109959e+02] [ 9.23392107e-01 3.64277893e-01 1.21031542e-01 -1.81653287e+02] [-1.35436070e-01 1.41553180e-02 9.90684964e-01 -9.31991578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:-181.63, Z:-931.99 [[ 3.58879312e-01 -9.32107294e-01 4.88019592e-02 4.24124982e+02] [ 9.23534067e-01 3.62182211e-01 1.26130383e-01 -1.81629802e+02] [-1.35242251e-01 -1.95313178e-04 9.90812543e-01 -9.31990465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:424.13, Y:-181.60, Z:-931.99 [[ 3.58457915e-01 -9.32274037e-01 4.87138898e-02 4.24132887e+02] [ 9.23723642e-01 3.61752809e-01 1.25974358e-01 -1.81604472e+02] [-1.35065010e-01 -1.58334134e-04 9.90836726e-01 -9.31994142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.15, Y:-181.58, Z:-931.99 [[ 3.59030740e-01 -9.32795955e-01 3.14425392e-02 4.24149823e+02] [ 9.24371113e-01 3.60039702e-01 1.26132701e-01 -1.81578434e+02] [-1.28976635e-01 -1.62209418e-02 9.91514956e-01 -9.31985943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.14, Y:-181.55, Z:-932.01 [[ 3.58281911e-01 -9.31459267e-01 6.33853885e-02 4.24141034e+02] [ 9.24066736e-01 3.63484329e-01 1.18236252e-01 -1.81549211e+02] [-1.33171848e-01 1.62104189e-02 9.90960383e-01 -9.32007039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:-181.53, Z:-932.01 [[ 3.57989637e-01 -9.32499427e-01 4.78355282e-02 4.24157775e+02] [ 9.24228411e-01 3.61171420e-01 1.23923568e-01 -1.81525296e+02] [-1.32835482e-01 -1.52398901e-04 9.91138089e-01 -9.32005768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.18, Y:-181.50, Z:-931.99 [[ 3.59142530e-01 -9.32983169e-01 2.36442329e-02 4.24180137e+02] [ 9.24660018e-01 3.59146032e-01 1.26562157e-01 -1.81499796e+02] [-1.26572094e-01 -2.35909763e-02 9.91676848e-01 -9.31993820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:-181.47, Z:-932.02 [[ 3.58703000e-01 -9.30849652e-01 6.96497155e-02 4.24163796e+02] [ 9.24094799e-01 3.64655801e-01 1.14345749e-01 -1.81468653e+02] [-1.31836874e-01 2.33467765e-02 9.90996452e-01 -9.32021146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:-181.45, Z:-932.00 [[ 3.60685332e-01 -9.32531756e-01 1.70474781e-02 4.24201222e+02] [ 9.24500968e-01 3.59876111e-01 1.25646904e-01 -1.81446882e+02] [-1.23304708e-01 -2.95585854e-02 9.91928545e-01 -9.31997236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.18, Y:-181.41, Z:-932.03 [[ 3.60364174e-01 -9.29808617e-01 7.47903582e-02 4.24177286e+02] [ 9.23655703e-01 3.66884352e-01 1.10706891e-01 -1.81414794e+02] [-1.30375633e-01 2.91857437e-02 9.91035008e-01 -9.32031209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.22, Y:-181.39, Z:-932.00 [[ 3.62579023e-01 -9.31940244e-01 4.88191174e-03 4.24224385e+02] [ 9.24365462e-01 3.60289206e-01 1.25459879e-01 -1.81394649e+02] [-1.18680010e-01 -4.09764498e-02 9.92086683e-01 -9.31997448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:-181.36, Z:-932.04 [[ 3.61227536e-01 -9.28648056e-01 8.44242597e-02 4.24190384e+02] [ 9.23543754e-01 3.68800022e-01 1.05135526e-01 -1.81360391e+02] [-1.28769571e-01 3.99916507e-02 9.90867835e-01 -9.32042074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.24, Y:-181.34, Z:-932.00 [[ 3.63274551e-01 -9.31680032e-01 1.97959973e-03 4.24244989e+02] [ 9.24304512e-01 3.60663972e-01 1.24830559e-01 -1.81342004e+02] [-1.17016110e-01 -4.35180123e-02 9.92176100e-01 -9.32004153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:-181.31, Z:-932.02 [[ 3.64086003e-01 -9.30325405e-01 4.40002586e-02 4.24234511e+02] [ 9.23866474e-01 3.66734225e-01 1.09438321e-01 -1.81309308e+02] [-1.17949651e-01 8.05402816e-04 9.93019250e-01 -9.32023373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:424.22, Y:-181.28, Z:-932.05 [[ 3.61442078e-01 -9.28519611e-01 8.49173495e-02 4.24219804e+02] [ 9.23595074e-01 3.69025858e-01 1.03884817e-01 -1.81280981e+02] [-1.27795788e-01 4.08809014e-02 9.90957612e-01 -9.32054462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.25, Y:-181.26, Z:-932.05 [[ 3.60865273e-01 -9.31494325e-01 4.57665534e-02 4.24249908e+02] [ 9.23813703e-01 3.63754979e-01 1.19375704e-01 -1.81262008e+02] [-1.27845602e-01 -7.98776726e-04 9.91793761e-01 -9.32045139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.26, Y:-181.24, Z:-932.05 [[ 3.60745659e-01 -9.31540816e-01 4.57632801e-02 4.24259993e+02] [ 9.23850111e-01 3.63635867e-01 1.19456812e-01 -1.81236155e+02] [-1.27920066e-01 -8.15114850e-04 9.91784146e-01 -9.32048604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.27, Y:-181.21, Z:-932.05 [[ 3.60455736e-01 -9.31646864e-01 4.58888124e-02 4.24269923e+02] [ 9.23901321e-01 3.63364077e-01 1.19887013e-01 -1.81210967e+02] [-1.28366706e-01 -8.17226989e-04 9.91726435e-01 -9.32052304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.28, Y:-181.19, Z:-932.06 [[ 3.60018755e-01 -9.31807673e-01 4.60538456e-02 4.24279991e+02] [ 9.23995668e-01 3.62951550e-01 1.20408378e-01 -1.81185160e+02] [-1.28912765e-01 -7.95720572e-04 9.91655619e-01 -9.32056048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.29, Y:-181.16, Z:-932.06 [[ 3.59534446e-01 -9.31989059e-01 4.61668396e-02 4.24289881e+02] [ 9.24126456e-01 3.62485587e-01 1.20807666e-01 -1.81160164e+02] [-1.29326237e-01 -7.70519339e-04 9.91601801e-01 -9.32059345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.30, Y:-181.14, Z:-932.06 [[ 3.58601150e-01 -9.32333813e-01 4.64637042e-02 4.24301158e+02] [ 9.24359656e-01 3.61598107e-01 1.21680054e-01 -1.81135314e+02] [-1.30247616e-01 -6.85433547e-04 9.91481260e-01 -9.32062909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.31, Y:-181.11, Z:-932.07 [[ 3.57959631e-01 -9.32580493e-01 4.64599565e-02 4.24312128e+02] [ 9.24600959e-01 3.60961550e-01 1.21736705e-01 -1.81110006e+02] [-1.30299534e-01 -6.19905748e-04 9.91474481e-01 -9.32066423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.32, Y:-181.08, Z:-932.07 [[ 3.57211503e-01 -9.32858305e-01 4.66403876e-02 4.24322836e+02] [ 9.24805280e-01 3.60243074e-01 1.22311576e-01 -1.81084052e+02] [-1.30901246e-01 -5.57825199e-04 9.91395256e-01 -9.32070317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.33, Y:-181.06, Z:-932.07 [[ 3.56529682e-01 -9.33117093e-01 4.66805859e-02 4.24333167e+02] [ 9.25038336e-01 3.59572301e-01 1.22522807e-01 -1.81059614e+02] [-1.31113171e-01 -5.01685996e-04 9.91367280e-01 -9.32074209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:-181.03, Z:-932.08 [[ 3.55787898e-01 -9.33410572e-01 4.64723102e-02 4.24343736e+02] [ 9.25394383e-01 3.58809870e-01 1.22068476e-01 -1.81034130e+02] [-1.30614729e-01 -4.25271544e-04 9.91433110e-01 -9.32077953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.836559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:424.35, Y:-181.01, Z:-932.08 [[ 3.55159224e-01 -9.33661649e-01 4.62369077e-02 4.24354842e+02] [ 9.25715488e-01 3.58156098e-01 1.21552642e-01 -1.81008320e+02] [-1.30049071e-01 -3.68320561e-04 9.91507491e-01 -9.32082087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:-180.98, Z:-932.09 [[ 3.55038186e-01 -9.33708860e-01 4.62131048e-02 4.24364848e+02] [ 9.25757508e-01 3.58032978e-01 1.21595329e-01 -1.80983209e+02] [-1.30080452e-01 -3.88856436e-04 9.91503366e-01 -9.32085730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.38, Y:-180.96, Z:-932.09 [[ 3.55135183e-01 -9.33677928e-01 4.60926049e-02 4.24375018e+02] [ 9.25755845e-01 3.58113585e-01 1.21370410e-01 -1.80957612e+02] [-1.29827261e-01 -4.32404302e-04 9.91536533e-01 -9.32089722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.38, Y:-180.93, Z:-932.09 [[ 3.55213390e-01 -9.33653941e-01 4.59757184e-02 4.24384995e+02] [ 9.25758370e-01 3.58176061e-01 1.21166618e-01 -1.80932426e+02] [-1.29595092e-01 -4.77599018e-04 9.91566883e-01 -9.32093447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.9565599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:424.39, Y:-180.91, Z:-932.10 [[ 3.55141805e-01 -9.33683313e-01 4.59322224e-02 4.24394801e+02] [ 9.25791037e-01 3.58099457e-01 1.21143446e-01 -1.80906826e+02] [-1.29557918e-01 -4.99462147e-04 9.91571731e-01 -9.32097815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:-180.88, Z:-932.10 [[ 3.55933622e-01 -9.33394220e-01 4.56780875e-02 4.24405027e+02] [ 9.25573861e-01 3.58852092e-01 1.20574474e-01 -1.80881158e+02] [-1.28935194e-01 -6.38065259e-04 9.91652817e-01 -9.32102262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:-180.86, Z:-932.11 [[ 3.56536525e-01 -9.33172653e-01 4.55028216e-02 4.24414784e+02] [ 9.25397095e-01 3.59427646e-01 1.20216405e-01 -1.80856384e+02] [-1.28537633e-01 -7.53360292e-04 9.91704346e-01 -9.32106348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.43, Y:-180.83, Z:-932.11 [[ 3.56816442e-01 -9.33076375e-01 4.52825011e-02 4.24425070e+02] [ 9.25363675e-01 3.59677370e-01 1.19725769e-01 -1.80830165e+02] [-1.28000378e-01 -8.17341470e-04 9.91773782e-01 -9.32110603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.46, Y:-180.80, Z:-932.09 [[ 3.60361414e-01 -9.32709837e-01 1.38567936e-02 4.24456295e+02] [ 9.25108252e-01 3.59250882e-01 1.22937080e-01 -1.80804692e+02] [-1.19642689e-01 -3.14827460e-02 9.92317723e-01 -9.32093806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.45, Y:-180.77, Z:-932.11 [[ 3.61070359e-01 -9.31492048e-01 4.41674185e-02 4.24452011e+02] [ 9.24718285e-01 3.63761514e-01 1.12132310e-01 -1.80774800e+02] [-1.20516762e-01 3.54766023e-04 9.92711229e-01 -9.32108832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.46, Y:-180.75, Z:-932.11 [[ 3.61616246e-01 -9.31269943e-01 4.43845091e-02 4.24462544e+02] [ 9.24516048e-01 3.64329511e-01 1.11955728e-01 -1.80750330e+02] [-1.20431591e-01 5.49181045e-04 9.92721477e-01 -9.32112408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.48, Y:-180.73, Z:-932.11 [[ 3.63196603e-01 -9.31042894e-01 3.53179425e-02 4.24480746e+02] [ 9.23955072e-01 3.64795127e-01 1.15028434e-01 -1.80725500e+02] [-1.19980220e-01 -9.14574438e-03 9.92734155e-01 -9.32111212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.49, Y:-180.70, Z:-932.12 [[ 3.64324280e-01 -9.30421172e-01 3.98027924e-02 4.24489875e+02] [ 9.23538695e-01 3.66465351e-01 1.13046124e-01 -1.80698981e+02] [-1.19766852e-01 -4.42602884e-03 9.92792180e-01 -9.32115495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.49, Y:-180.67, Z:-932.13 [[ 3.64097641e-01 -9.29989138e-01 5.05283291e-02 4.24494507e+02] [ 9.23199049e-01 3.67542007e-01 1.12322706e-01 -1.80672349e+02] [-1.23030180e-01 5.75127320e-03 9.92386265e-01 -9.32125429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.48, Y:-180.65, Z:-932.15 [[ 3.61089052e-01 -9.28976937e-01 8.13421565e-02 4.24483216e+02] [ 9.23025127e-01 3.68468922e-01 1.10703518e-01 -1.80647358e+02] [-1.32813071e-01 3.51070261e-02 9.90519149e-01 -9.32150823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.54, Y:-180.63, Z:-932.12 [[ 3.65747920e-01 -9.30691061e-01 6.52755836e-03 4.24538569e+02] [ 9.22567111e-01 3.63463435e-01 1.29476857e-01 -1.80625929e+02] [-1.22875482e-01 -4.13337806e-02 9.91560959e-01 -9.32116985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.50, Y:-180.60, Z:-932.16 [[ 3.63601013e-01 -9.27624194e-01 8.54848413e-02 4.24502894e+02] [ 9.21803264e-01 3.71519776e-01 1.10687843e-01 -1.80595486e+02] [-1.34436030e-01 3.85539941e-02 9.90171977e-01 -9.32160412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-180.57, Z:-932.14 [[ 3.67679089e-01 -9.29541176e-01 2.76638865e-02 4.24549003e+02] [ 9.20994413e-01 3.68095145e-01 1.27574510e-01 -1.80574668e+02] [-1.28768702e-01 -2.14281945e-02 9.91443117e-01 -9.32139264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-180.55, Z:-932.15 [[ 3.68546345e-01 -9.28360992e-01 4.81607821e-02 4.24549793e+02] [ 9.20476091e-01 3.71679756e-01 1.20739080e-01 -1.80545461e+02] [-1.29989839e-01 -1.67097938e-04 9.91515312e-01 -9.32152012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-180.52, Z:-932.17 [[ 3.67007262e-01 -9.27821128e-01 6.67354819e-02 4.24547367e+02] [ 9.20367100e-01 3.72598126e-01 1.18722522e-01 -1.80520458e+02] [-1.35018780e-01 1.78491142e-02 9.90682259e-01 -9.32168023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.57, Y:-180.50, Z:-932.17 [[ 3.68126215e-01 -9.28522239e-01 4.82653341e-02 4.24568622e+02] [ 9.19977615e-01 3.71272092e-01 1.25690974e-01 -1.80496726e+02] [-1.34626436e-01 -1.86711545e-03 9.90894665e-01 -9.32165787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:-180.47, Z:-932.17 [[ 3.69386863e-01 -9.28183525e-01 4.50409749e-02 4.24579078e+02] [ 9.19531562e-01 3.72084593e-01 1.26549446e-01 -1.80474305e+02] [-1.34220164e-01 -5.32910491e-03 9.90937207e-01 -9.32167713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.59, Y:-180.45, Z:-932.17 [[ 3.69945227e-01 -9.27866613e-01 4.69475983e-02 4.24588361e+02] [ 9.19283589e-01 3.72896384e-01 1.25960192e-01 -1.80447973e+02] [-1.34380846e-01 -3.44021524e-03 9.90923788e-01 -9.32173151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.60, Y:-180.42, Z:-932.18 [[ 3.70572409e-01 -9.27459793e-01 4.99441895e-02 4.24599130e+02] [ 9.19040025e-01 3.73922772e-01 1.24688387e-01 -1.80420915e+02] [-1.34318736e-01 -3.05366863e-04 9.90938133e-01 -9.32180043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.61, Y:-180.40, Z:-932.18 [[ 3.70212994e-01 -9.27731994e-01 4.74940767e-02 4.24609788e+02] [ 9.19201865e-01 3.73236356e-01 1.25549007e-01 -1.80395566e+02] [-1.34202347e-01 -2.82323007e-03 9.90949928e-01 -9.32183155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:424.62, Y:-180.37, Z:-932.18 [[ 3.70002626e-01 -9.27985663e-01 4.40529901e-02 4.24619834e+02] [ 9.19446761e-01 3.72567254e-01 1.25742975e-01 -1.80372890e+02] [-1.33100380e-01 -6.02085192e-03 9.91084274e-01 -9.32184674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.63, Y:-180.35, Z:-932.19 [[ 3.69875422e-01 -9.27930010e-01 4.62392653e-02 4.24629812e+02] [ 9.19542262e-01 3.72737635e-01 1.24533871e-01 -1.80347275e+02] [-1.32793831e-01 -3.54305957e-03 9.91137349e-01 -9.32189822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:424.64, Y:-180.32, Z:-932.19 [[ 3.68398852e-01 -9.28514118e-01 4.63013964e-02 4.24641973e+02] [ 9.20093831e-01 3.71281731e-01 1.24808725e-01 -1.80322357e+02] [-1.33077526e-01 -3.37776178e-03 9.91099875e-01 -9.32194022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.65, Y:-180.30, Z:-932.20 [[ 3.67486207e-01 -9.28871976e-01 4.63760660e-02 4.24652818e+02] [ 9.20412345e-01 3.70386278e-01 1.25120424e-01 -1.80297574e+02] [-1.33397914e-01 -3.29492645e-03 9.91057082e-01 -9.32197684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:424.66, Y:-180.27, Z:-932.21 [[ 3.66749844e-01 -9.28818923e-01 5.28200728e-02 4.24662827e+02] [ 9.20489349e-01 3.70521083e-01 1.24151059e-01 -1.80269537e+02] [-1.34884804e-01 3.08793268e-03 9.90856475e-01 -9.32206481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.68, Y:-180.25, Z:-932.20 [[ 3.64305183e-01 -9.30327552e-01 4.20996359e-02 4.24678391e+02] [ 9.21428985e-01 3.66640971e-01 1.28619688e-01 -1.80248400e+02] [-1.35093891e-01 -8.06499407e-03 9.90799978e-01 -9.32204473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.68, Y:-180.22, Z:-932.21 [[ 3.63936860e-01 -9.29989916e-01 5.16596405e-02 4.24683569e+02] [ 9.21707565e-01 3.67576288e-01 1.23866205e-01 -1.80223382e+02] [-1.34183180e-01 2.53560390e-03 9.90953301e-01 -9.32212253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.796559995 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:424.69, Y:-180.20, Z:-932.22 [[ 3.62187148e-01 -9.30584730e-01 5.32215164e-02 4.24692793e+02] [ 9.22586987e-01 3.66042822e-01 1.21843771e-01 -1.80197897e+02] [-1.32867307e-01 4.97123050e-03 9.91121368e-01 -9.32216866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.71, Y:-180.18, Z:-932.22 [[ 3.60691513e-01 -9.32014035e-01 3.53761493e-02 4.24713429e+02] [ 9.22769378e-01 3.62116118e-01 1.31789957e-01 -1.80175002e+02] [-1.35640364e-01 -1.48914919e-02 9.90646221e-01 -9.32215009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.72, Y:-180.15, Z:-932.22 [[ 3.59841290e-01 -9.31832963e-01 4.69209600e-02 4.24718319e+02] [ 9.23091005e-01 3.62878746e-01 1.27365665e-01 -1.80148498e+02] [-1.35710144e-01 -2.51910881e-03 9.90745382e-01 -9.32223400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.73, Y:-180.12, Z:-932.23 [[ 3.58023386e-01 -9.32548696e-01 4.66067079e-02 4.24729480e+02] [ 9.23916554e-01 3.61037091e-01 1.26611297e-01 -1.80123537e+02] [-1.34897950e-01 -2.26909638e-03 9.90856899e-01 -9.32228087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.74, Y:-180.10, Z:-932.23 [[ 3.58344198e-01 -9.32185508e-01 5.11821715e-02 4.24735514e+02] [ 9.24018236e-01 3.61967142e-01 1.23166915e-01 -1.80096683e+02] [-1.33340678e-01 3.15711039e-03 9.91065233e-01 -9.32234357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.75, Y:-180.07, Z:-932.24 [[ 3.57890107e-01 -9.32686727e-01 4.48345888e-02 4.24747775e+02] [ 9.23992897e-01 3.60664572e-01 1.27114879e-01 -1.80069706e+02] [-1.34728608e-01 -4.06631591e-03 9.90874194e-01 -9.32238248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.76, Y:-180.04, Z:-932.24 [[ 3.58405587e-01 -9.32555015e-01 4.34347601e-02 4.24755274e+02] [ 9.23901207e-01 3.60988425e-01 1.26861802e-01 -1.80044457e+02] [-1.33985055e-01 -5.33855122e-03 9.90968973e-01 -9.32240626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:424.76, Y:-180.02, Z:-932.25 [[ 3.58234318e-01 -9.32493077e-01 4.60959358e-02 4.24761509e+02] [ 9.24002037e-01 3.61179922e-01 1.25575871e-01 -1.80017196e+02] [-1.33747557e-01 -2.39284804e-03 9.91012546e-01 -9.32246364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.77, Y:-179.99, Z:-932.25 [[ 3.57859999e-01 -9.32637770e-01 4.60761480e-02 4.24768462e+02] [ 9.24140610e-01 3.60806234e-01 1.25630387e-01 -1.79990055e+02] [-1.33792205e-01 -2.37725056e-03 9.91006556e-01 -9.32251278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.78, Y:-179.96, Z:-932.26 [[ 3.56997119e-01 -9.32861839e-01 4.81855410e-02 4.24777572e+02] [ 9.24433152e-01 3.60234332e-01 1.25118239e-01 -1.79963303e+02] [-1.34076116e-01 -1.22539163e-04 9.90971029e-01 -9.32256916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.79, Y:-179.94, Z:-932.26 [[ 3.56855182e-01 -9.33105650e-01 4.43646730e-02 4.24789176e+02] [ 9.24488862e-01 3.59578305e-01 1.26585097e-01 -1.79938623e+02] [-1.34069844e-01 -4.15790200e-03 9.90963162e-01 -9.32258116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.80, Y:-179.91, Z:-932.26 [[ 3.56371861e-01 -9.33198563e-01 4.62551486e-02 4.24798552e+02] [ 9.24602629e-01 3.59353960e-01 1.26391098e-01 -1.79913276e+02] [-1.34569962e-01 -2.27459880e-03 9.90901484e-01 -9.32262247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.156559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:424.81, Y:-179.89, Z:-932.27 [[ 3.55784103e-01 -9.33412456e-01 4.64635279e-02 4.24808778e+02] [ 9.24727024e-01 3.58798235e-01 1.27058089e-01 -1.79887002e+02] [-1.35268635e-01 -2.23916857e-03 9.90806430e-01 -9.32266248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.82, Y:-179.86, Z:-932.27 [[ 3.55476368e-01 -9.33513560e-01 4.67866000e-02 4.24818725e+02] [ 9.24691819e-01 3.58534993e-01 1.28053497e-01 -1.79861724e+02] [-1.36314309e-01 -2.25680571e-03 9.90663069e-01 -9.32270869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.83, Y:-179.84, Z:-932.28 [[ 3.55005353e-01 -9.33693796e-01 4.67663817e-02 4.24827908e+02] [ 9.24867799e-01 3.58065577e-01 1.28096049e-01 -1.79836674e+02] [-1.36347918e-01 -2.22206278e-03 9.90658522e-01 -9.32275288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:424.84, Y:-179.81, Z:-932.28 [[ 3.54092317e-01 -9.34040242e-01 4.67702696e-02 4.24837008e+02] [ 9.25200087e-01 3.57161434e-01 1.28220554e-01 -1.79810950e+02] [-1.36467694e-01 -2.13005537e-03 9.90642232e-01 -9.32279784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.276559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:424.85, Y:-179.79, Z:-932.28 [[ 3.53254679e-01 -9.34364633e-01 4.66247297e-02 4.24846498e+02] [ 9.25567185e-01 3.56312472e-01 1.27932830e-01 -1.79785637e+02] [-1.36148884e-01 -2.03855084e-03 9.90686290e-01 -9.32283950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:424.85, Y:-179.76, Z:-932.29 [[ 3.52067523e-01 -9.34106074e-01 5.91126199e-02 4.24848801e+02] [ 9.26670229e-01 3.56754835e-01 1.18356553e-01 -1.79757843e+02] [-1.31646288e-01 1.31084067e-02 9.91210081e-01 -9.32291716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:-179.74, Z:-932.28 [[ 3.51591261e-01 -9.35807297e-01 2.54615091e-02 4.24877396e+02] [ 9.25794001e-01 3.51606892e-01 1.38845460e-01 -1.79743378e+02] [-1.38885037e-01 -2.52447381e-02 9.89986692e-01 -9.32284639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.87, Y:-179.71, Z:-932.30 [[ 3.50150416e-01 -9.35095865e-01 5.46846332e-02 4.24872603e+02] [ 9.26434399e-01 3.54341537e-01 1.27127417e-01 -1.79712417e+02] [-1.38253359e-01 6.14800744e-03 9.90377812e-01 -9.32299307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.396559995 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:424.88, Y:-179.69, Z:-932.30 [[ 3.48413128e-01 -9.35925077e-01 5.15028367e-02 4.24883493e+02] [ 9.27240039e-01 3.52182568e-01 1.27253087e-01 -1.79686926e+02] [-1.37237756e-01 3.41884637e-03 9.90532236e-01 -9.32301594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.90, Y:-179.66, Z:-932.30 [[ 3.48476613e-01 -9.36134630e-01 4.70744614e-02 4.24895100e+02] [ 9.27147290e-01 3.51638797e-01 1.29414295e-01 -1.79662401e+02] [-1.37702410e-01 -1.45289585e-03 9.90472582e-01 -9.32303426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-179.64, Z:-932.31 [[ 3.48676600e-01 -9.36229871e-01 4.35689851e-02 4.24906361e+02] [ 9.26816558e-01 3.51339623e-01 1.32557675e-01 -1.79636606e+02] [-1.39411966e-01 -5.83930258e-03 9.90217252e-01 -9.32306010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-179.61, Z:-932.31 [[ 3.49149150e-01 -9.35850294e-01 4.77399113e-02 4.24913135e+02] [ 9.26555450e-01 3.52393688e-01 1.31581483e-01 -1.79610121e+02] [-1.39963813e-01 -1.70788802e-03 9.90155147e-01 -9.32311868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.92, Y:-179.58, Z:-932.32 [[ 3.50789603e-01 -9.35239773e-01 4.76783137e-02 4.24921479e+02] [ 9.25946627e-01 3.54009322e-01 1.31530396e-01 -1.79584339e+02] [-1.39891025e-01 -1.99192164e-03 9.90164902e-01 -9.32316809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:-179.56, Z:-932.32 [[ 3.50342236e-01 -9.35306966e-01 4.96104568e-02 4.24928976e+02] [ 9.26008988e-01 3.53837331e-01 1.31554158e-01 -1.79558129e+02] [-1.40597552e-01 -1.49249006e-04 9.90066819e-01 -9.32322933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:-179.53, Z:-932.32 [[ 3.51544833e-01 -9.35060968e-01 4.55764983e-02 4.24940705e+02] [ 9.25747749e-01 3.54463120e-01 1.31708018e-01 -1.79532595e+02] [-1.39310214e-01 -4.10893241e-03 9.90240264e-01 -9.32324541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:424.95, Y:-179.51, Z:-932.33 [[ 3.50911754e-01 -9.35221400e-01 4.71367622e-02 4.24949786e+02] [ 9.26008139e-01 3.54055924e-01 1.30970722e-01 -1.79505109e+02] [-1.39175672e-01 -2.31014026e-03 9.90265013e-01 -9.32329994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.96, Y:-179.48, Z:-932.33 [[ 3.49610103e-01 -9.35680195e-01 4.77006247e-02 4.24957158e+02] [ 9.26630898e-01 3.52847227e-01 1.29823009e-01 -1.79480061e+02] [-1.38303851e-01 -1.18656272e-03 9.90389134e-01 -9.32333348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.97, Y:-179.46, Z:-932.34 [[ 3.49569049e-01 -9.35705283e-01 4.75089745e-02 4.24966862e+02] [ 9.26426522e-01 3.52777344e-01 1.31461190e-01 -1.79455508e+02] [-1.39769020e-01 -1.94118925e-03 9.90182232e-01 -9.32338111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.98, Y:-179.43, Z:-932.34 [[ 3.49139167e-01 -9.35891553e-01 4.69983379e-02 4.24976359e+02] [ 9.26496910e-01 3.52278288e-01 1.32300735e-01 -1.79430198e+02] [-1.40375634e-01 -2.64755350e-03 9.90094779e-01 -9.32341652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.99, Y:-179.40, Z:-932.35 [[ 3.48234010e-01 -9.36162671e-01 4.82962635e-02 4.24985479e+02] [ 9.26786918e-01 3.51564866e-01 1.32167146e-01 -1.79402786e+02] [-1.40709217e-01 -1.26474984e-03 9.90050159e-01 -9.32346463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.756559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:424.99, Y:-179.38, Z:-932.35 [[ 3.47113416e-01 -9.36595894e-01 4.79625726e-02 4.24994882e+02] [ 9.27109781e-01 3.50407297e-01 1.32974360e-01 -1.79376746e+02] [-1.41349675e-01 -1.69061402e-03 9.89958288e-01 -9.32351042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.00, Y:-179.35, Z:-932.36 [[ 3.46568370e-01 -9.36799233e-01 4.79329012e-02 4.25004019e+02] [ 9.27309882e-01 3.49863516e-01 1.33010915e-01 -1.79351332e+02] [-1.41374497e-01 -1.64872317e-03 9.89954814e-01 -9.32355542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.01, Y:-179.33, Z:-932.36 [[ 3.45826608e-01 -9.37084078e-01 4.77219830e-02 4.25013453e+02] [ 9.27666240e-01 3.49100256e-01 1.32530593e-01 -1.79325323e+02] [-1.40852065e-01 -1.56253293e-03 9.90029421e-01 -9.32360218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.02, Y:-179.30, Z:-932.36 [[ 3.44985447e-01 -9.37404776e-01 4.75113439e-02 4.25022629e+02] [ 9.28056830e-01 3.48238621e-01 1.32062045e-01 -1.79300470e+02] [-1.40340877e-01 -1.46625651e-03 9.90102161e-01 -9.32364406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.03, Y:-179.27, Z:-932.37 [[ 3.44428422e-01 -9.37617966e-01 4.73456599e-02 4.25032272e+02] [ 9.28322824e-01 3.47664434e-01 1.31704881e-01 -1.79274649e+02] [-1.39949264e-01 -1.41084754e-03 9.90157671e-01 -9.32369278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:425.04, Y:-179.25, Z:-932.37 [[ 3.43673637e-01 -9.37903895e-01 4.71668961e-02 4.25041083e+02] [ 9.28665560e-01 3.46892657e-01 1.31323118e-01 -1.79249577e+02] [-1.39530314e-01 -1.33002162e-03 9.90216907e-01 -9.32374040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.05, Y:-179.22, Z:-932.38 [[ 3.43672133e-01 -9.37903804e-01 4.71796593e-02 4.25050714e+02] [ 9.28645870e-01 3.46892761e-01 1.31462015e-01 -1.79223061e+02] [-1.39665007e-01 -1.36663558e-03 9.90197868e-01 -9.32378396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:425.06, Y:-179.20, Z:-932.38 [[ 3.43442054e-01 -9.37988421e-01 4.71728473e-02 4.25059790e+02] [ 9.28717612e-01 3.46663869e-01 1.31558955e-01 -1.79196985e+02] [-1.39753899e-01 -1.37262376e-03 9.90185318e-01 -9.32382653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.07, Y:-179.17, Z:-932.39 [[ 3.43538461e-01 -9.37954779e-01 4.71397800e-02 4.25069173e+02] [ 9.28680348e-01 3.46754668e-01 1.31582716e-01 -1.79170728e+02] [-1.39764576e-01 -1.42593659e-03 9.90183736e-01 -9.32386719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.08, Y:-179.15, Z:-932.39 [[ 3.43641114e-01 -9.37916962e-01 4.71440179e-02 4.25077614e+02] [ 9.28623999e-01 3.46856708e-01 1.31711398e-01 -1.79145755e+02] [-1.39886573e-01 -1.48238517e-03 9.90166425e-01 -9.32390617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.09, Y:-179.12, Z:-932.40 [[ 3.42853157e-01 -9.38169817e-01 4.78446108e-02 4.25087001e+02] [ 9.28956893e-01 3.46174987e-01 1.31156281e-01 -1.79119058e+02] [-1.39609471e-01 -5.21763860e-04 9.90206506e-01 -9.32395573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.10, Y:-179.09, Z:-932.40 [[ 3.42608174e-01 -9.38323153e-01 4.65757499e-02 4.25095873e+02] [ 9.29023855e-01 3.45754419e-01 1.31789826e-01 -1.79094818e+02] [-1.39765216e-01 -1.88228885e-03 9.90182883e-01 -9.32398492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.11, Y:-179.07, Z:-932.40 [[ 3.41494814e-01 -9.38709273e-01 4.69701315e-02 4.25105198e+02] [ 9.29452475e-01 3.44707602e-01 1.31509564e-01 -1.79068326e+02] [-1.39640209e-01 -1.25332918e-03 9.90201516e-01 -9.32402503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.12, Y:-179.04, Z:-932.41 [[ 3.39239533e-01 -9.39464243e-01 4.82024507e-02 4.25115918e+02] [ 9.30267322e-01 3.42646772e-01 1.31133139e-01 -1.79040342e+02] [-1.39711310e-01 3.55619698e-04 9.90192216e-01 -9.32407573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.13, Y:-179.01, Z:-932.41 [[ 3.37246746e-01 -9.40345971e-01 4.48785760e-02 4.25126063e+02] [ 9.31153152e-01 3.40210865e-01 1.31188323e-01 -1.79014143e+02] [-1.38630590e-01 -2.45400759e-03 9.90341122e-01 -9.32409374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.13, Y:-178.99, Z:-932.42 [[ 3.36148272e-01 -9.40567027e-01 4.83529492e-02 4.25132423e+02] [ 9.31485410e-01 3.39605961e-01 1.30394489e-01 -1.78988821e+02] [-1.39065706e-01 1.20818476e-03 9.90282419e-01 -9.32415139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.236559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.14, Y:-178.96, Z:-932.42 [[ 3.34905643e-01 -9.41098527e-01 4.66022904e-02 4.25142293e+02] [ 9.31928976e-01 3.38132150e-01 1.31053548e-01 -1.78963641e+02] [-1.39092034e-01 -4.60547938e-04 9.90279352e-01 -9.32418932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.15, Y:-178.94, Z:-932.42 [[ 3.32597718e-01 -9.42092995e-01 4.28899368e-02 4.25153509e+02] [ 9.33037722e-01 3.35335145e-01 1.30349335e-01 -1.78936892e+02] [-1.37183698e-01 -3.33596235e-03 9.90540007e-01 -9.32420298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.296559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:425.16, Y:-178.91, Z:-932.43 [[ 3.32987673e-01 -9.41674595e-01 4.86638118e-02 4.25158958e+02] [ 9.32743546e-01 3.36516962e-01 1.29405613e-01 -1.78912311e+02] [-1.38234176e-01 2.30038256e-03 9.90396901e-01 -9.32427704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.17, Y:-178.89, Z:-932.43 [[ 3.32084901e-01 -9.42107026e-01 4.64108786e-02 4.25169037e+02] [ 9.33146188e-01 3.35312218e-01 1.29629894e-01 -1.78886350e+02] [-1.37687369e-01 2.60003852e-04 9.90475704e-01 -9.32430771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.356559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:425.18, Y:-178.86, Z:-932.43 [[ 3.31710281e-01 -9.42265480e-01 4.58699767e-02 4.25178241e+02] [ 9.33339676e-01 3.34866770e-01 1.29388158e-01 -1.78860093e+02] [-1.37278326e-01 -1.07113113e-04 9.90532508e-01 -9.32434728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.19, Y:-178.83, Z:-932.44 [[ 3.31310263e-01 -9.42578275e-01 4.21865583e-02 4.25189320e+02] [ 9.33744789e-01 3.33969257e-01 1.28783560e-01 -1.78833063e+02] [-1.35477599e-01 -3.27583601e-03 9.90774994e-01 -9.32435934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.19, Y:-178.81, Z:-932.44 [[ 3.32404430e-01 -9.41887996e-01 4.85211012e-02 4.25194127e+02] [ 9.33297245e-01 3.35912935e-01 1.26959652e-01 -1.78807211e+02] [-1.35880638e-01 3.08265931e-03 9.90720420e-01 -9.32443568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.20, Y:-178.78, Z:-932.45 [[ 3.32707716e-01 -9.41952088e-01 4.50759274e-02 4.25204792e+02] [ 9.33294376e-01 3.35747164e-01 1.27418405e-01 -1.78780903e+02] [-1.35156147e-01 -3.23976900e-04 9.90824258e-01 -9.32446163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.21, Y:-178.75, Z:-932.45 [[ 3.33300419e-01 -9.41744512e-01 4.50344783e-02 4.25213612e+02] [ 9.33085300e-01 3.36328818e-01 1.27415656e-01 -1.78754545e+02] [-1.35139388e-01 -4.46681964e-04 9.90826497e-01 -9.32450586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.22, Y:-178.73, Z:-932.45 [[ 3.33050856e-01 -9.41834544e-01 4.49979834e-02 4.25222979e+02] [ 9.33174409e-01 3.36076613e-01 1.27428543e-01 -1.78727868e+02] [-1.35139374e-01 -4.49218929e-04 9.90826497e-01 -9.32454752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.23, Y:-178.70, Z:-932.46 [[ 3.33664462e-01 -9.41623386e-01 4.48712043e-02 4.25231510e+02] [ 9.32995547e-01 3.36667601e-01 1.27177971e-01 -1.78702017e+02] [-1.34860432e-01 -5.70135479e-04 9.90864440e-01 -9.32458795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:-178.68, Z:-932.46 [[ 3.35982082e-01 -9.40810590e-01 4.46259369e-02 4.25239566e+02] [ 9.32256257e-01 3.38931517e-01 1.26584748e-01 -1.78675801e+02] [-1.34217407e-01 -9.27398106e-04 9.90951476e-01 -9.32462891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.25, Y:-178.65, Z:-932.47 [[ 3.37369440e-01 -9.40318168e-01 4.45376717e-02 4.25247900e+02] [ 9.31778024e-01 3.40294573e-01 1.26448875e-01 -1.78650688e+02] [-1.34058103e-01 -1.16076259e-03 9.90972794e-01 -9.32467090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:425.26, Y:-178.62, Z:-932.47 [[ 3.38477104e-01 -9.39931513e-01 4.42944869e-02 4.25256095e+02] [ 9.31467867e-01 3.41360441e-01 1.25859694e-01 -1.78624959e+02] [-1.33419878e-01 -1.34173339e-03 9.91058695e-01 -9.32471493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.26, Y:-178.60, Z:-932.48 [[ 3.39679439e-01 -9.39503072e-01 4.41798170e-02 4.25264611e+02] [ 9.31066536e-01 3.42537012e-01 1.25632405e-01 -1.78599020e+02] [-1.33165253e-01 -1.54039572e-03 9.91092651e-01 -9.32475662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.26, Y:-178.57, Z:-932.49 [[ 3.38997000e-01 -9.38810426e-01 6.09591557e-02 4.25263004e+02] [ 9.30716444e-01 3.44118888e-01 1.23891454e-01 -1.78571157e+02] [-1.37287786e-01 1.47368574e-02 9.90421571e-01 -9.32491345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.7165599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.29, Y:-178.55, Z:-932.48 [[ 3.40967068e-01 -9.39649669e-01 2.82835402e-02 4.25290771e+02] [ 9.30567584e-01 3.41633988e-01 1.31644182e-01 -1.78547961e+02] [-1.33362031e-01 -1.85665851e-02 9.90893461e-01 -9.32477999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.27, Y:-178.52, Z:-932.50 [[ 3.38513067e-01 -9.38384176e-01 6.95991547e-02 4.25273923e+02] [ 9.30311676e-01 3.44861883e-01 1.24861791e-01 -1.78519982e+02] [-1.41170425e-01 2.24815583e-02 9.89730009e-01 -9.32504828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.31, Y:-178.50, Z:-932.48 [[ 3.43053172e-01 -9.39105351e-01 1.98912312e-02 4.25314425e+02] [ 9.29713203e-01 3.42490205e-01 1.35402439e-01 -1.78496494e+02] [-1.33969707e-01 -2.79570958e-02 9.90590995e-01 -9.32481421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.31, Y:-178.47, Z:-932.49 [[ 3.44158488e-01 -9.37854584e-01 4.45389014e-02 4.25310770e+02] [ 9.29205038e-01 3.47020492e-01 1.27101442e-01 -1.78467926e+02] [-1.34658582e-01 -2.35726861e-03 9.90889252e-01 -9.32494585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.32, Y:-178.44, Z:-932.50 [[ 3.46235260e-01 -9.37089293e-01 4.45511158e-02 4.25319722e+02] [ 9.28414455e-01 3.49079365e-01 1.27240701e-01 -1.78441883e+02] [-1.34787774e-01 -2.69331721e-03 9.90870830e-01 -9.32498571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:-178.42, Z:-932.50 [[ 3.47324527e-01 -9.36688897e-01 4.44925107e-02 4.25328389e+02] [ 9.28018075e-01 3.50150801e-01 1.27188321e-01 -1.78415807e+02] [-1.34714976e-01 -2.88576940e-03 9.90880188e-01 -9.32503036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.896559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:425.34, Y:-178.39, Z:-932.51 [[ 3.47928587e-01 -9.36469691e-01 4.43871261e-02 4.25337037e+02] [ 9.27822574e-01 3.50735642e-01 1.27003074e-01 -1.78389696e+02] [-1.34502677e-01 -3.00462261e-03 9.90908675e-01 -9.32507701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-178.36, Z:-932.51 [[ 3.48757913e-01 -9.36165863e-01 4.42876320e-02 4.25345837e+02] [ 9.27539107e-01 3.51544464e-01 1.26837281e-01 -1.78364691e+02] [-1.34309804e-01 -3.15699471e-03 9.90934362e-01 -9.32511658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.36, Y:-178.34, Z:-932.52 [[ 3.49329282e-01 -9.35951668e-01 4.43117156e-02 4.25355229e+02] [ 9.27299465e-01 3.52113228e-01 1.27011723e-01 -1.78338511e+02] [-1.34479575e-01 -3.27868360e-03 9.90910942e-01 -9.32516044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.37, Y:-178.31, Z:-932.52 [[ 3.50586954e-01 -9.35484993e-01 4.42336500e-02 4.25365147e+02] [ 9.26844001e-01 3.53349157e-01 1.26903788e-01 -1.78312102e+02] [-1.34346512e-01 -3.49311944e-03 9.90928258e-01 -9.32519945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.37, Y:-178.29, Z:-932.52 [[ 3.50663122e-01 -9.35455609e-01 4.42513042e-02 4.25374709e+02] [ 9.26791629e-01 3.53426399e-01 1.27071073e-01 -1.78286481e+02] [-1.34508927e-01 -3.54740086e-03 9.90906032e-01 -9.32523685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.38, Y:-178.26, Z:-932.53 [[ 3.50656804e-01 -9.35456681e-01 4.42787113e-02 4.25384398e+02] [ 9.26766069e-01 3.53423124e-01 1.27266452e-01 -1.78260707e+02] [-1.34701373e-01 -3.59083998e-03 9.90879733e-01 -9.32527396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.39, Y:-178.24, Z:-932.53 [[ 3.50546984e-01 -9.35493430e-01 4.43717738e-02 4.25394196e+02] [ 9.26750300e-01 3.53325475e-01 1.27651832e-01 -1.78235423e+02] [-1.35095129e-01 -3.62641020e-03 9.90825997e-01 -9.32531193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.40, Y:-178.21, Z:-932.53 [[ 3.49920137e-01 -9.35725896e-01 4.44178423e-02 4.25404117e+02] [ 9.26952133e-01 3.52709864e-01 1.27888605e-01 -1.78209138e+02] [-1.35335290e-01 -3.57758440e-03 9.90793399e-01 -9.32534971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.41, Y:-178.18, Z:-932.54 [[ 3.48814764e-01 -9.36131967e-01 4.45555913e-02 4.25414732e+02] [ 9.27290700e-01 3.51631741e-01 1.28402010e-01 -1.78183093e+02] [-1.35868387e-01 -3.47253146e-03 9.90720810e-01 -9.32538588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.42, Y:-178.16, Z:-932.54 [[ 3.47844842e-01 -9.36492296e-01 4.45661881e-02 4.25423910e+02] [ 9.27633518e-01 3.50671915e-01 1.28550634e-01 -1.78157983e+02] [-1.36014789e-01 -3.37458511e-03 9.90701060e-01 -9.32542745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.43, Y:-178.13, Z:-932.55 [[ 3.47082146e-01 -9.36777175e-01 4.45253600e-02 4.25433380e+02] [ 9.27922654e-01 3.49910923e-01 1.28537523e-01 -1.78131760e+02] [-1.35990927e-01 -3.29698898e-03 9.90704597e-01 -9.32547028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.44, Y:-178.11, Z:-932.55 [[ 3.43250102e-01 -9.38042517e-01 4.74931937e-02 4.25436114e+02] [ 9.29113272e-01 3.46520127e-01 1.29121377e-01 -1.78108970e+02] [-1.37578689e-01 -1.94369055e-04 9.90490821e-01 -9.32554071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.45, Y:-178.08, Z:-932.55 [[ 3.45586910e-01 -9.37542140e-01 3.98048258e-02 4.25454525e+02] [ 9.28647907e-01 3.47787885e-01 1.29060655e-01 -1.78080562e+02] [-1.34843439e-01 -7.63700477e-03 9.90837486e-01 -9.32553569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.46, Y:-178.06, Z:-932.56 [[ 3.43876589e-01 -9.37988863e-01 4.38837677e-02 4.25461733e+02] [ 9.29369478e-01 3.46653645e-01 1.26900058e-01 -1.78055403e+02] [-1.34243309e-01 -2.85372481e-03 9.90944292e-01 -9.32559215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.47, Y:-178.03, Z:-932.56 [[ 3.42796377e-01 -9.38384053e-01 4.38863721e-02 4.25470607e+02] [ 9.29752323e-01 3.45583391e-01 1.27014718e-01 -1.78030491e+02] [-1.34354987e-01 -2.73672881e-03 9.90929487e-01 -9.32563319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.48, Y:-178.00, Z:-932.57 [[ 3.41559121e-01 -9.38835884e-01 4.38696955e-02 4.25480044e+02] [ 9.30200192e-01 3.44355123e-01 1.27071447e-01 -1.78004688e+02] [-1.34405989e-01 -2.59481255e-03 9.90922952e-01 -9.32567337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.376559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.49, Y:-177.98, Z:-932.57 [[ 3.40198898e-01 -9.39329547e-01 4.38715305e-02 4.25489627e+02] [ 9.30681220e-01 3.43007351e-01 1.27194435e-01 -1.77978335e+02] [-1.34525749e-01 -2.44099723e-03 9.90907092e-01 -9.32571073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.50, Y:-177.95, Z:-932.58 [[ 3.36835507e-01 -9.40440339e-01 4.59761996e-02 4.25495942e+02] [ 9.31586440e-01 3.39958356e-01 1.28744016e-01 -1.77953637e+02] [-1.36706059e-01 -5.34751685e-04 9.90611512e-01 -9.32576243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.51, Y:-177.93, Z:-932.58 [[ 3.38295331e-01 -9.40101130e-01 4.20253988e-02 4.25510509e+02] [ 9.31122453e-01 3.40862612e-01 1.29706044e-01 -1.77926934e+02] [-1.36261686e-01 -4.74815678e-03 9.90661500e-01 -9.32576929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.52, Y:-177.90, Z:-932.58 [[ 3.38068218e-01 -9.40070297e-01 4.44715387e-02 4.25518278e+02] [ 9.31151111e-01 3.40973133e-01 1.29208867e-01 -1.77901160e+02] [-1.36629018e-01 -2.27168865e-03 9.90619680e-01 -9.32581575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.53, Y:-177.88, Z:-932.59 [[ 3.37818814e-01 -9.40156485e-01 4.45447212e-02 4.25527305e+02] [ 9.31193894e-01 3.40735379e-01 1.29527346e-01 -1.77875363e+02] [-1.36953937e-01 -2.27700218e-03 9.90574800e-01 -9.32585326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.54, Y:-177.85, Z:-932.59 [[ 3.37762106e-01 -9.40181328e-01 4.44503078e-02 4.25536279e+02] [ 9.31241005e-01 3.40666655e-01 1.29369322e-01 -1.77849488e+02] [-1.36773359e-01 -2.30210538e-03 9.90599692e-01 -9.32589169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.54, Y:-177.82, Z:-932.59 [[ 3.37893941e-01 -9.40141369e-01 4.42932459e-02 4.25544371e+02] [ 9.31248135e-01 3.40776592e-01 1.29028005e-01 -1.77823180e+02] [-1.36398667e-01 -2.34977849e-03 9.90651242e-01 -9.32593581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:425.55, Y:-177.80, Z:-932.60 [[ 3.37802417e-01 -9.40175568e-01 4.42654253e-02 4.25552839e+02] [ 9.31277783e-01 3.40682054e-01 1.29063666e-01 -1.77796490e+02] [-1.36422941e-01 -2.37461118e-03 9.90647840e-01 -9.32598497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.56, Y:-177.77, Z:-932.60 [[ 3.37711686e-01 -9.40213023e-01 4.41620712e-02 4.25561127e+02] [ 9.31340597e-01 3.40578526e-01 1.28883514e-01 -1.77771113e+02] [-1.36218611e-01 -2.39553891e-03 9.90675906e-01 -9.32602182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.57, Y:-177.74, Z:-932.61 [[ 3.37454411e-01 -9.40299778e-01 4.42814636e-02 4.25569906e+02] [ 9.31364888e-01 3.40338871e-01 1.29340246e-01 -1.77744849e+02] [-1.36689308e-01 -2.40423632e-03 9.90611050e-01 -9.32606398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.56, Y:-177.72, Z:-932.63 [[ 3.33086984e-01 -9.40128950e-01 7.21846178e-02 4.25558343e+02] [ 9.31593236e-01 3.39946574e-01 1.28725951e-01 -1.77719622e+02] [-1.45557907e-01 2.43697628e-02 9.89049549e-01 -9.32630391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:-177.69, Z:-932.62 [[ 3.34212719e-01 -9.41408800e-01 4.52916117e-02 4.25583781e+02] [ 9.31556420e-01 3.37252271e-01 1.35880617e-01 -1.77694712e+02] [-1.43193908e-01 -3.22133882e-03 9.89689410e-01 -9.32621341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.61, Y:-177.67, Z:-932.61 [[ 3.36583757e-01 -9.41462030e-01 1.89900156e-02 4.25610190e+02] [ 9.31587369e-01 3.35858841e-01 1.39082035e-01 -1.77669021e+02] [-1.37318420e-01 -2.91218953e-02 9.90098766e-01 -9.32605339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:425.61, Y:-177.64, Z:-932.62 [[ 3.35780535e-01 -9.40864476e-01 4.50052310e-02 4.25605455e+02] [ 9.31629432e-01 3.38775809e-01 1.31520163e-01 -1.77639909e+02] [-1.38989332e-01 -2.23371271e-03 9.90291359e-01 -9.32619285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.61, Y:-177.61, Z:-932.62 [[ 3.33953897e-01 -9.41499305e-01 4.53194709e-02 4.25613599e+02] [ 9.32122381e-01 3.37008832e-01 1.32562868e-01 -1.77614702e+02] [-1.40080910e-01 -2.02659314e-03 9.90137986e-01 -9.32622704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.62, Y:-177.59, Z:-932.63 [[ 3.32931773e-01 -9.41858207e-01 4.53822878e-02 4.25622234e+02] [ 9.32442751e-01 3.36005128e-01 1.32857330e-01 -1.77588300e+02] [-1.40381448e-01 -1.91604126e-03 9.90095641e-01 -9.32626732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.856559995 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:425.63, Y:-177.56, Z:-932.63 [[ 3.31562788e-01 -9.42159057e-01 4.90145753e-02 4.25628702e+02] [ 9.33068242e-01 3.35157244e-01 1.30588200e-01 -1.77561323e+02] [-1.39462445e-01 2.43575592e-03 9.90224365e-01 -9.32632014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.64, Y:-177.54, Z:-932.63 [[ 3.29989836e-01 -9.43069136e-01 4.15609455e-02 4.25640674e+02] [ 9.33467215e-01 3.32550663e-01 1.34346622e-01 -1.77536676e+02] [-1.40519273e-01 -5.53723971e-03 9.90062459e-01 -9.32633771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.916559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:425.65, Y:-177.51, Z:-932.64 [[ 3.28447812e-01 -9.43436186e-01 4.52791143e-02 4.25647559e+02] [ 9.34019045e-01 3.31551277e-01 1.32974339e-01 -1.77509819e+02] [-1.40465151e-01 -1.38357544e-03 9.90084657e-01 -9.32639671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.66, Y:-177.48, Z:-932.64 [[ 3.25371826e-01 -9.44519321e-01 4.49046455e-02 4.25656437e+02] [ 9.35251263e-01 3.28454486e-01 1.31995175e-01 -1.77483265e+02] [-1.39421125e-01 -9.50384688e-04 9.90232724e-01 -9.32643687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.66, Y:-177.46, Z:-932.65 [[ 3.23903829e-01 -9.45031248e-01 4.47464993e-02 4.25664916e+02] [ 9.35816213e-01 3.26979126e-01 1.31653586e-01 -1.77456825e+02] [-1.39047924e-01 -7.68600973e-04 9.90285355e-01 -9.32648037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.67, Y:-177.43, Z:-932.65 [[ 3.22641298e-01 -9.45472206e-01 4.45522313e-02 4.25673289e+02] [ 9.36324484e-01 3.25702208e-01 1.31204166e-01 -1.77430358e+02] [-1.38560652e-01 -6.16537293e-04 9.90353758e-01 -9.32652484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.68, Y:-177.40, Z:-932.66 [[ 3.21404947e-01 -9.45904668e-01 4.43082266e-02 4.25681689e+02] [ 9.36844526e-01 3.24444356e-01 1.30607020e-01 -1.77403880e+02] [-1.37917344e-01 -4.67822834e-04 9.90443632e-01 -9.32656884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:425.68, Y:-177.37, Z:-932.67 [[ 3.19398330e-01 -9.45480854e-01 6.36448051e-02 4.25678893e+02] [ 9.37252848e-01 3.25098345e-01 1.25968906e-01 -1.77374979e+02] [-1.39792010e-01 1.94170165e-02 9.89990492e-01 -9.32674475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.71, Y:-177.35, Z:-932.66 [[ 3.19571216e-01 -9.47248903e-01 2.43670642e-02 4.25708556e+02] [ 9.37882039e-01 3.19868277e-01 1.34393327e-01 -1.77352845e+02] [-1.35098182e-01 -2.00948071e-02 9.90628427e-01 -9.32658376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.71, Y:-177.32, Z:-932.67 [[ 3.18935987e-01 -9.46795842e-01 4.30983836e-02 4.25707511e+02] [ 9.38191669e-01 3.21834742e-01 1.27353022e-01 -1.77323786e+02] [-1.34447869e-01 -1.82917323e-04 9.90920651e-01 -9.32669563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.156559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.72, Y:-177.30, Z:-932.67 [[ 3.17883685e-01 -9.47156951e-01 4.29380148e-02 4.25715561e+02] [ 9.38604282e-01 3.20770487e-01 1.26997232e-01 -1.77298505e+02] [-1.34059559e-01 -6.85435715e-05 9.90973274e-01 -9.32673442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:-177.27, Z:-932.68 [[ 3.17185754e-01 -9.47394971e-01 4.28481694e-02 4.25724206e+02] [ 9.38866297e-01 3.20066819e-01 1.26835752e-01 -1.77272249e+02] [-1.33877831e-01 -1.79145367e-06 9.90997844e-01 -9.32677483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.73, Y:-177.25, Z:-932.68 [[ 3.16348408e-01 -9.47678650e-01 4.27651966e-02 4.25732648e+02] [ 9.39169867e-01 3.19225894e-01 1.26707495e-01 -1.77246050e+02] [-1.33729746e-01 8.00695115e-05 9.91017835e-01 -9.32681168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.74, Y:-177.22, Z:-932.69 [[ 3.15061789e-01 -9.48098831e-01 4.29496892e-02 4.25740794e+02] [ 9.39503690e-01 3.17975719e-01 1.27374480e-01 -1.77219363e+02] [-1.34420554e-01 2.20559882e-04 9.90924349e-01 -9.32685445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.75, Y:-177.19, Z:-932.69 [[ 3.14513728e-01 -9.48277027e-01 4.30324861e-02 4.25749762e+02] [ 9.39633794e-01 3.17443874e-01 1.27740837e-01 -1.77193112e+02] [-1.34794100e-01 2.58531264e-04 9.90873596e-01 -9.32688857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.74, Y:-177.17, Z:-932.71 [[ 3.10892958e-01 -9.47923079e-01 6.91910816e-02 4.25742874e+02] [ 9.39793584e-01 3.17461394e-01 1.26515936e-01 -1.77165452e+02] [-1.41892873e-01 2.56924209e-02 9.89548540e-01 -9.32712126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.78, Y:-177.14, Z:-932.69 [[ 3.12119899e-01 -9.49853712e-01 1.89497776e-02 4.25779601e+02] [ 9.40209269e-01 3.11690241e-01 1.37316149e-01 -1.77143497e+02] [-1.36336715e-01 -2.50423460e-02 9.90345991e-01 -9.32686633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.78, Y:-177.11, Z:-932.70 [[ 3.12074989e-01 -9.49065432e-01 4.34051500e-02 4.25776050e+02] [ 9.40237338e-01 3.15078638e-01 1.29147980e-01 -1.77113903e+02] [-1.36245919e-01 5.07288395e-04 9.90674918e-01 -9.32700071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.78, Y:-177.08, Z:-932.72 [[ 3.09246078e-01 -9.48970453e-01 6.18218643e-02 4.25776728e+02] [ 9.40436355e-01 3.14824355e-01 1.28316358e-01 -1.77084427e+02] [-1.41231461e-01 1.84581982e-02 9.89804511e-01 -9.32716978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.79, Y:-177.06, Z:-932.71 [[ 3.06501515e-01 -9.50765107e-01 4.58533921e-02 4.25792339e+02] [ 9.41335520e-01 3.09904493e-01 1.33591332e-01 -1.77059354e+02] [-1.41224149e-01 2.21748112e-03 9.89975163e-01 -9.32714655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.81, Y:-177.04, Z:-932.70 [[ 3.07398259e-01 -9.51279899e-01 2.39345939e-02 4.25812897e+02] [ 9.41858954e-01 3.07747640e-01 1.34881805e-01 -1.77035394e+02] [-1.35676165e-01 -1.89194204e-02 9.90572579e-01 -9.32701934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.81, Y:-177.01, Z:-932.71 [[ 3.06495281e-01 -9.50901967e-01 4.29661756e-02 4.25811104e+02] [ 9.42231144e-01 3.09489864e-01 1.28126875e-01 -1.77007994e+02] [-1.35133693e-01 1.21378627e-03 9.90826631e-01 -9.32713293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:-176.98, Z:-932.72 [[ 3.05582562e-01 -9.51211048e-01 4.26244076e-02 4.25819270e+02] [ 9.42666971e-01 3.08538223e-01 1.27212998e-01 -1.76981300e+02] [-1.34157668e-01 1.30654741e-03 9.90959138e-01 -9.32717378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:425.82, Y:-176.95, Z:-932.73 [[ 3.04919620e-01 -9.50493495e-01 5.98843953e-02 4.25820119e+02] [ 9.42581675e-01 3.10181524e-01 1.23803107e-01 -1.76950879e+02] [-1.36249081e-01 1.86959372e-02 9.90498183e-01 -9.32734124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.84, Y:-176.93, Z:-932.72 [[ 3.03619226e-01 -9.52420259e-01 2.66648762e-02 4.25842280e+02] [ 9.43403406e-01 3.04428605e-01 1.31579781e-01 -1.76929797e+02] [-1.33436800e-01 -1.47944162e-02 9.90946894e-01 -9.32720299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.84, Y:-176.90, Z:-932.73 [[ 3.03191533e-01 -9.51995481e-01 4.21841045e-02 4.25842757e+02] [ 9.43595216e-01 3.06108191e-01 1.26197640e-01 -1.76901100e+02] [-1.33052483e-01 1.54266323e-03 9.91107793e-01 -9.32729786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.85, Y:-176.87, Z:-932.73 [[ 3.02402786e-01 -9.52241587e-01 4.22908391e-02 4.25850516e+02] [ 9.43785282e-01 3.05341347e-01 1.26633345e-01 -1.76874779e+02] [-1.33498679e-01 1.61919535e-03 9.91047668e-01 -9.32733956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.86, Y:-176.85, Z:-932.74 [[ 3.01247369e-01 -9.52598940e-01 4.24886120e-02 4.25857343e+02] [ 9.44050427e-01 3.04223930e-01 1.27344381e-01 -1.76849006e+02] [-1.34234175e-01 1.74923261e-03 9.90948095e-01 -9.32737533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.85, Y:-176.82, Z:-932.76 [[ 2.98590006e-01 -9.51962780e-01 6.79034152e-02 4.25851250e+02] [ 9.44140228e-01 3.05032483e-01 1.24717340e-01 -1.76820265e+02] [-1.39439013e-01 2.68709946e-02 9.89866007e-01 -9.32759027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.88, Y:-176.80, Z:-932.74 [[ 2.99659482e-01 -9.53858762e-01 1.89117985e-02 4.25884917e+02] [ 9.44454046e-01 2.99392227e-01 1.35539106e-01 -1.76799608e+02] [-1.34947209e-01 -2.27542537e-02 9.90591487e-01 -9.32736145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.88, Y:-176.77, Z:-932.75 [[ 2.99563443e-01 -9.53123782e-01 4.26239332e-02 4.25880780e+02] [ 9.44486707e-01 3.02574678e-01 1.28036808e-01 -1.76770310e+02] [-1.34931849e-01 1.90259148e-03 9.90853055e-01 -9.32748689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-176.74, Z:-932.75 [[ 3.00425551e-01 -9.52856637e-01 4.25290262e-02 4.25887151e+02] [ 9.44239875e-01 3.03415872e-01 1.27866599e-01 -1.76743057e+02] [-1.34742519e-01 1.74320899e-03 9.90879112e-01 -9.32752653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-176.72, Z:-932.76 [[ 3.01372942e-01 -9.52564732e-01 4.23648605e-02 4.25894108e+02] [ 9.43995207e-01 3.04332009e-01 1.27495401e-01 -1.76717470e+02] [-1.34340606e-01 1.56856110e-03 9.90933974e-01 -9.32756686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:-176.69, Z:-932.76 [[ 3.02575059e-01 -9.52191766e-01 4.21802573e-02 4.25901466e+02] [ 9.43682837e-01 3.05497885e-01 1.27018679e-01 -1.76690154e+02] [-1.33832120e-01 1.37210046e-03 9.91003068e-01 -9.32760312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.91, Y:-176.66, Z:-932.76 [[ 3.04042240e-01 -9.51728481e-01 4.20858016e-02 4.25908555e+02] [ 9.43237401e-01 3.06939123e-01 1.26852596e-01 -1.76662900e+02] [-1.33647008e-01 1.12835470e-03 9.91028357e-01 -9.32764346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.92, Y:-176.64, Z:-932.77 [[ 3.05543288e-01 -9.51248016e-01 4.20774447e-02 4.25915392e+02] [ 9.42739795e-01 3.08425739e-01 1.26945824e-01 -1.76636204e+02] [-1.33734730e-01 8.80637120e-04 9.91016774e-01 -9.32768458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.92, Y:-176.61, Z:-932.77 [[ 3.08382029e-01 -9.50336135e-01 4.19732590e-02 4.25920685e+02] [ 9.41845511e-01 3.11225051e-01 1.26751726e-01 -1.76608651e+02] [-1.33519875e-01 4.44371048e-04 9.91046036e-01 -9.32772857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:425.92, Y:-176.58, Z:-932.79 [[ 3.08822101e-01 -9.48990820e-01 6.36029392e-02 4.25916678e+02] [ 9.41135265e-01 3.14560259e-01 1.23758864e-01 -1.76578827e+02] [-1.37452983e-01 2.16394966e-02 9.90271887e-01 -9.32791462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.93, Y:-176.55, Z:-932.79 [[ 3.09084769e-01 -9.49980553e-01 4.47610798e-02 4.25932453e+02] [ 9.41116107e-01 3.12301988e-01 1.29491086e-01 -1.76553813e+02] [-1.36992988e-01 2.10165064e-03 9.90569788e-01 -9.32789212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:425.95, Y:-176.53, Z:-932.77 [[ 3.11968199e-01 -9.49930861e-01 1.75272087e-02 4.25954258e+02] [ 9.41056864e-01 3.11486888e-01 1.31863175e-01 -1.76529937e+02] [-1.30720395e-01 -2.46430172e-02 9.91112960e-01 -9.32774461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.95, Y:-176.50, Z:-932.79 [[ 3.14274119e-01 -9.48443635e-01 4.10664077e-02 4.25948470e+02] [ 9.40251018e-01 3.16945485e-01 1.24392855e-01 -1.76499789e+02] [-1.30995424e-01 -4.80723373e-04 9.91382856e-01 -9.32786758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.95, Y:-176.47, Z:-932.80 [[ 3.13011376e-01 -9.48403675e-01 5.05405607e-02 4.25948920e+02] [ 9.40154205e-01 3.16955200e-01 1.25097847e-01 -1.76472693e+02] [-1.34662352e-01 8.35887134e-03 9.90856287e-01 -9.32798467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.116559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.95, Y:-176.45, Z:-932.81 [[ 3.12812242e-01 -9.48012232e-01 5.84919561e-02 4.25951052e+02] [ 9.39606049e-01 3.17867464e-01 1.26888726e-01 -1.76445940e+02] [-1.38884754e-01 1.52670490e-02 9.90190862e-01 -9.32810237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.97, Y:-176.42, Z:-932.81 [[ 3.13521593e-01 -9.48790071e-01 3.87506415e-02 4.25968759e+02] [ 9.39534902e-01 3.15866575e-01 1.32296918e-01 -1.76421278e+02] [-1.37762034e-01 -5.07036028e-03 9.90452378e-01 -9.32806152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.99, Y:-176.39, Z:-932.79 [[ 3.18420853e-01 -9.47780569e-01 1.78928371e-02 4.25991773e+02] [ 9.38908224e-01 3.17928385e-01 1.31806258e-01 -1.76394147e+02] [-1.30612051e-01 -2.51701291e-02 9.91113998e-01 -9.32793992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.99, Y:-176.37, Z:-932.81 [[ 3.19488691e-01 -9.46700573e-01 4.10487853e-02 4.25987852e+02] [ 9.38490738e-01 3.22112599e-01 1.24413055e-01 -1.76365995e+02] [-1.31004241e-01 -1.22465921e-03 9.91381051e-01 -9.32805763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.00, Y:-176.34, Z:-932.81 [[ 3.20718390e-01 -9.46271947e-01 4.13414546e-02 4.25995808e+02] [ 9.37926089e-01 3.23368693e-01 1.25408691e-01 -1.76339029e+02] [-1.32039258e-01 -1.44564461e-03 9.91243434e-01 -9.32809811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.00, Y:-176.31, Z:-932.81 [[ 3.21344992e-01 -9.46058670e-01 4.13568468e-02 4.26004358e+02] [ 9.37689001e-01 3.23991542e-01 1.25573952e-01 -1.76312063e+02] [-1.32199595e-01 -1.57270039e-03 9.91221869e-01 -9.32813791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.01, Y:-176.29, Z:-932.82 [[ 3.21612533e-01 -9.45974485e-01 4.12025840e-02 4.26011837e+02] [ 9.37650696e-01 3.24236923e-01 1.25226158e-01 -1.76286522e+02] [-1.31820149e-01 -1.64067024e-03 9.91272292e-01 -9.32817799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.02, Y:-176.26, Z:-932.82 [[ 3.22138571e-01 -9.45799955e-01 4.10997217e-02 4.26019902e+02] [ 9.37502250e-01 3.24745144e-01 1.25020494e-01 -1.76259866e+02] [-1.31591313e-01 -1.74284170e-03 9.91302522e-01 -9.32822437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.356559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:426.03, Y:-176.23, Z:-932.83 [[ 3.22972329e-01 -9.45530431e-01 4.07563423e-02 4.26027934e+02] [ 9.37353884e-01 3.25528321e-01 1.24092745e-01 -1.76233716e+02] [-1.30600810e-01 -1.87540705e-03 9.91433261e-01 -9.32827153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.04, Y:-176.21, Z:-932.83 [[ 3.23057233e-01 -9.45502056e-01 4.07416936e-02 4.26036817e+02] [ 9.37315677e-01 3.25610437e-01 1.24165878e-01 -1.76207430e+02] [-1.30665014e-01 -1.92485687e-03 9.91424707e-01 -9.32831535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.04, Y:-176.18, Z:-932.85 [[ 3.20155093e-01 -9.45808853e-01 5.42801069e-02 4.26035403e+02] [ 9.37773652e-01 3.24525543e-01 1.23546547e-01 -1.76181840e+02] [-1.34466699e-01 1.13483978e-02 9.90853128e-01 -9.32845493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:-176.16, Z:-932.83 [[ 3.22110172e-01 -9.46322591e-01 2.68065278e-02 4.26061775e+02] [ 9.37805681e-01 3.22828020e-01 1.27681536e-01 -1.76156574e+02] [-1.29481820e-01 -1.59882075e-02 9.91452891e-01 -9.32834628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:-176.13, Z:-932.84 [[ 3.21117869e-01 -9.46177175e-01 4.03988543e-02 4.26063996e+02] [ 9.38098796e-01 3.23644527e-01 1.23389100e-01 -1.76128604e+02] [-1.29822818e-01 -1.72432819e-03 9.91535709e-01 -9.32843534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.07, Y:-176.10, Z:-932.85 [[ 3.19643774e-01 -9.46688195e-01 4.01163254e-02 4.26072906e+02] [ 9.38711468e-01 3.22147598e-01 1.22644630e-01 -1.76102513e+02] [-1.29029602e-01 -1.54493776e-03 9.91639539e-01 -9.32847572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.07, Y:-176.08, Z:-932.86 [[ 3.14361439e-01 -9.47946061e-01 5.07459450e-02 4.26074583e+02] [ 9.40166214e-01 3.18289421e-01 1.21570289e-01 -1.76076375e+02] [-1.31393974e-01 9.49261192e-03 9.91284780e-01 -9.32860163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.10, Y:-176.05, Z:-932.85 [[ 3.13515577e-01 -9.49134169e-01 2.91944020e-02 4.26097061e+02] [ 9.40907737e-01 3.14650799e-01 1.25249773e-01 -1.76051861e+02] [-1.28064882e-01 -1.17985163e-02 9.91695609e-01 -9.32852393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.09, Y:-176.02, Z:-932.87 [[ 3.09016695e-01 -9.49648351e-01 5.17367665e-02 4.26092554e+02] [ 9.41927577e-01 3.13116529e-01 1.21369187e-01 -1.76024274e+02] [-1.31457685e-01 1.12271821e-02 9.91258204e-01 -9.32868174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:426.10, Y:-176.00, Z:-932.87 [[ 3.05806542e-01 -9.50731211e-01 5.09168320e-02 4.26101903e+02] [ 9.42641594e-01 3.09854244e-01 1.24165911e-01 -1.75998870e+02] [-1.33825203e-01 1.00255758e-02 9.90954239e-01 -9.32874689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.13, Y:-175.97, Z:-932.86 [[ 3.04243791e-01 -9.52325312e-01 2.26321771e-02 4.26127102e+02] [ 9.43700930e-01 3.04557215e-01 1.29125746e-01 -1.75974550e+02] [-1.29862509e-01 -1.79276998e-02 9.91369924e-01 -9.32863687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.13, Y:-175.95, Z:-932.87 [[ 3.00244244e-01 -9.53170244e-01 3.63301392e-02 4.26131322e+02] [ 9.45029337e-01 3.02419373e-01 1.24346596e-01 -1.75947236e+02] [-1.29510413e-01 -3.00130230e-03 9.91573520e-01 -9.32869903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.14, Y:-175.92, Z:-932.88 [[ 2.95854336e-01 -9.54199643e-01 4.44213172e-02 4.26135250e+02] [ 9.46201177e-01 2.99119675e-01 1.23412939e-01 -1.75921151e+02] [-1.31047872e-01 5.51924942e-03 9.91360678e-01 -9.32878482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.14, Y:-175.90, Z:-932.89 [[ 2.91842415e-01 -9.55110544e-01 5.09102450e-02 4.26139579e+02] [ 9.46981125e-01 2.96016189e-01 1.24904620e-01 -1.75895594e+02] [-1.34367977e-01 1.17585750e-02 9.90861738e-01 -9.32887996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.16, Y:-175.87, Z:-932.88 [[ 2.89254578e-01 -9.56639244e-01 3.42512093e-02 4.26161765e+02] [ 9.47930597e-01 2.91235668e-01 1.28877339e-01 -1.75870542e+02] [-1.33264294e-01 -4.81059087e-03 9.91068861e-01 -9.32883961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.17, Y:-175.84, Z:-932.89 [[ 2.86434223e-01 -9.57300759e-01 3.91240594e-02 4.26167533e+02] [ 9.48852996e-01 2.89092816e-01 1.26898924e-01 -1.75844160e+02] [-1.32790921e-01 7.74786208e-04 9.91143769e-01 -9.32888579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.18, Y:-175.82, Z:-932.89 [[ 2.86559459e-01 -9.57413487e-01 3.52575054e-02 4.26180098e+02] [ 9.49009664e-01 2.88706529e-01 1.26606471e-01 -1.75818337e+02] [-1.31393815e-01 -2.82056859e-03 9.91326238e-01 -9.32887758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.19, Y:-175.79, Z:-932.89 [[ 2.85614246e-01 -9.57486007e-01 4.05592008e-02 4.26186269e+02] [ 9.49280767e-01 2.88466434e-01 1.25112517e-01 -1.75791204e+02] [-1.31493453e-01 2.76815195e-03 9.91313174e-01 -9.32893659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-175.76, Z:-932.90 [[ 2.85192460e-01 -9.57607991e-01 4.06472211e-02 4.26195259e+02] [ 9.49352066e-01 2.88060968e-01 1.25505112e-01 -1.75764476e+02] [-1.31893576e-01 2.79541159e-03 9.91259941e-01 -9.32897872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-175.74, Z:-932.90 [[ 2.86019593e-01 -9.57369516e-01 4.04524789e-02 4.26204424e+02] [ 9.49174680e-01 2.88854037e-01 1.25023089e-01 -1.75737880e+02] [-1.31378156e-01 2.63741562e-03 9.91328817e-01 -9.32901784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.21, Y:-175.71, Z:-932.91 [[ 2.86758254e-01 -9.57151393e-01 4.03845767e-02 4.26213058e+02] [ 9.48966145e-01 2.89577227e-01 1.24933126e-01 -1.75711173e+02] [-1.31274369e-01 2.49799112e-03 9.91342928e-01 -9.32905717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.22, Y:-175.69, Z:-932.91 [[ 2.88117087e-01 -9.56748146e-01 4.02682153e-02 4.26221069e+02] [ 9.48590315e-01 2.90908620e-01 1.24693979e-01 -1.75685873e+02] [-1.31015105e-01 2.27157292e-03 9.91377770e-01 -9.32909257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:-175.66, Z:-932.91 [[ 2.89621433e-01 -9.56299654e-01 4.01297546e-02 4.26229547e+02] [ 9.48179714e-01 2.92381349e-01 1.24371933e-01 -1.75659117e+02] [-1.30670028e-01 2.02944179e-03 9.91423837e-01 -9.32913301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:-175.63, Z:-932.93 [[ 2.89668052e-01 -9.55524460e-01 5.53662920e-02 4.26229426e+02] [ 9.47697494e-01 2.94433898e-01 1.23199590e-01 -1.75631318e+02] [-1.34021935e-01 1.67835109e-02 9.90836230e-01 -9.32928599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:-175.61, Z:-932.92 [[ 2.94349601e-01 -9.55357138e-01 2.55157296e-02 4.26253587e+02] [ 9.46778644e-01 2.95137654e-01 1.28467760e-01 -1.75607896e+02] [-1.30263244e-01 -1.36566859e-02 9.91385385e-01 -9.32916002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:-175.58, Z:-932.93 [[ 2.94756636e-01 -9.54149598e-01 5.21255210e-02 4.26247965e+02] [ 9.46190980e-01 2.99053203e-01 1.23651976e-01 -1.75578761e+02] [-1.33570787e-01 1.28734574e-02 9.90955660e-01 -9.32933969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.26, Y:-175.55, Z:-932.94 [[ 2.96468644e-01 -9.54035425e-01 4.38491924e-02 4.26261955e+02] [ 9.45502963e-01 2.99671014e-01 1.27363384e-01 -1.75552098e+02] [-1.34649512e-01 3.70029146e-03 9.90886379e-01 -9.32936474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.28, Y:-175.53, Z:-932.93 [[ 2.98593170e-01 -9.53859741e-01 3.15232133e-02 4.26275227e+02] [ 9.45416470e-01 3.00143639e-01 1.26891666e-01 -1.75528285e+02] [-1.30498343e-01 -8.08641968e-03 9.91415550e-01 -9.32930457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:-175.50, Z:-932.94 [[ 2.99264720e-01 -9.53500624e-01 3.57377671e-02 4.26281837e+02] [ 9.44961210e-01 3.01359570e-01 1.27399849e-01 -1.75500621e+02] [-1.32245754e-01 -4.35547656e-03 9.91207390e-01 -9.32935485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:-175.47, Z:-932.95 [[ 2.99145408e-01 -9.52791190e-01 5.19708827e-02 4.26281569e+02] [ 9.44592474e-01 3.03403930e-01 1.25264176e-01 -1.75471803e+02] [-1.35118773e-01 1.16191016e-02 9.90761280e-01 -9.32949876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.30, Y:-175.45, Z:-932.94 [[ 3.02017147e-01 -9.52835906e-01 2.98224622e-02 4.26301318e+02] [ 9.44042906e-01 3.03286837e-01 1.29615150e-01 -1.75448789e+02] [-1.32546729e-01 -1.09923140e-02 9.91115802e-01 -9.32940919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.30, Y:-175.42, Z:-932.95 [[ 3.01845562e-01 -9.52498234e-01 4.04520962e-02 4.26304417e+02] [ 9.44098507e-01 3.04544097e-01 1.26217680e-01 -1.75420625e+02] [-1.32541564e-01 9.25170941e-05 9.91177444e-01 -9.32948639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.316559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:426.31, Y:-175.40, Z:-932.95 [[ 3.02477633e-01 -9.52298245e-01 4.04392705e-02 4.26312157e+02] [ 9.43886925e-01 3.05168891e-01 1.26291014e-01 -1.75395454e+02] [-1.32607519e-01 -3.01083737e-05 9.91168626e-01 -9.32952330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.32, Y:-175.37, Z:-932.96 [[ 3.03318204e-01 -9.52027389e-01 4.05205967e-02 4.26320419e+02] [ 9.43565074e-01 3.06012774e-01 1.26653593e-01 -1.75368837e+02] [-1.32977509e-01 -1.82520350e-04 9.91119039e-01 -9.32956314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.32, Y:-175.34, Z:-932.97 [[ 3.04096389e-01 -9.51082836e-01 5.44685768e-02 4.26322982e+02] [ 9.42941391e-01 3.08646095e-01 1.24896441e-01 -1.75339303e+02] [-1.35598374e-01 1.33801189e-02 9.90673535e-01 -9.32970316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-175.32, Z:-932.96 [[ 3.06454953e-01 -9.51472477e-01 2.80265563e-02 4.26343386e+02] [ 9.42552576e-01 3.07431651e-01 1.30692089e-01 -1.75316981e+02] [-1.32966176e-01 -1.36347351e-02 9.91026786e-01 -9.32960218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.35, Y:-175.29, Z:-932.97 [[ 3.07349431e-01 -9.50738795e-01 4.03988963e-02 4.26345505e+02] [ 9.42274820e-01 3.09992002e-01 1.26582474e-01 -1.75288986e+02] [-1.32870204e-01 -8.38188631e-04 9.91133092e-01 -9.32968622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.35, Y:-175.26, Z:-932.97 [[ 3.08112036e-01 -9.50501734e-01 4.01675012e-02 4.26353909e+02] [ 9.42116411e-01 3.10717728e-01 1.25980800e-01 -1.75263249e+02] [-1.32225723e-01 -9.73738640e-04 9.91219153e-01 -9.32972558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.36, Y:-175.24, Z:-932.98 [[ 3.09398291e-01 -9.49903008e-01 4.42376913e-02 4.26360738e+02] [ 9.41908033e-01 3.12524097e-01 1.23036362e-01 -1.75236187e+02] [-1.30697955e-01 3.60059683e-03 9.91415695e-01 -9.32978809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.37, Y:-175.21, Z:-932.98 [[ 3.10041818e-01 -9.50075298e-01 3.50855935e-02 4.26374223e+02] [ 9.41669992e-01 3.11961038e-01 1.26245546e-01 -1.75210866e+02] [-1.30888113e-01 -6.10234806e-03 9.91378365e-01 -9.32979685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.38, Y:-175.18, Z:-932.99 [[ 3.12759915e-01 -9.49021107e-01 3.92450504e-02 4.26381334e+02] [ 9.40971016e-01 3.15208194e-01 1.23358588e-01 -1.75184089e+02] [-1.29440266e-01 -1.65316665e-03 9.91585843e-01 -9.32985558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.39, Y:-175.16, Z:-933.00 [[ 3.13669224e-01 -9.48437034e-01 4.55939809e-02 4.26387574e+02] [ 9.40494378e-01 3.16934571e-01 1.22567542e-01 -1.75156053e+02] [-1.30697905e-01 4.43521687e-03 9.91412319e-01 -9.32995070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.40, Y:-175.13, Z:-932.99 [[ 3.15347805e-01 -9.48393980e-01 3.32358344e-02 4.26401964e+02] [ 9.40257453e-01 3.16995445e-01 1.24216785e-01 -1.75132275e+02] [-1.28342059e-01 -7.92124928e-03 9.91698326e-01 -9.32991933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.41, Y:-175.10, Z:-933.00 [[ 3.16142090e-01 -9.47716444e-01 4.34479196e-02 4.26405718e+02] [ 9.39926223e-01 3.19103946e-01 1.21290422e-01 -1.75104583e+02] [-1.28813330e-01 2.49283139e-03 9.91665726e-01 -9.33001723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.42, Y:-175.08, Z:-933.00 [[ 3.18996709e-01 -9.47130379e-01 3.44259363e-02 4.26419432e+02] [ 9.39120492e-01 3.20773823e-01 1.23113182e-01 -1.75080158e+02] [-1.27647174e-01 -6.94259762e-03 9.91795342e-01 -9.33000352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.42, Y:-175.05, Z:-933.01 [[ 3.18627833e-01 -9.46962578e-01 4.16914901e-02 4.26424200e+02] [ 9.39151432e-01 3.21343501e-01 1.21379331e-01 -1.75052916e+02] [-1.28338974e-01 4.79789478e-04 9.91730245e-01 -9.33007953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.44, Y:-175.03, Z:-933.01 [[ 3.19401516e-01 -9.46943383e-01 3.57896947e-02 4.26436521e+02] [ 9.38935657e-01 3.21350074e-01 1.23020169e-01 -1.75028412e+02] [-1.27994156e-01 -5.68860798e-03 9.91758608e-01 -9.33007925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.45, Y:-175.00, Z:-933.01 [[ 3.19123366e-01 -9.46916388e-01 3.88539845e-02 4.26445955e+02] [ 9.38919756e-01 3.21468456e-01 1.22832099e-01 -1.75002421e+02] [-1.28802058e-01 -2.71781937e-03 9.91666599e-01 -9.33012357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.46, Y:-174.98, Z:-933.02 [[ 3.18361319e-01 -9.47170164e-01 3.89198067e-02 4.26455477e+02] [ 9.39132034e-01 3.20720448e-01 1.23164188e-01 -1.74977313e+02] [-1.29139822e-01 -2.65987615e-03 9.91622827e-01 -9.33016144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:-174.95, Z:-933.02 [[ 3.17643297e-01 -9.47412033e-01 3.88995732e-02 4.26465274e+02] [ 9.39369879e-01 3.20005787e-01 1.23209279e-01 -1.74952122e+02] [-1.29178042e-01 -2.59551424e-03 9.91618020e-01 -9.33019841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.48, Y:-174.93, Z:-933.02 [[ 3.16736919e-01 -9.47715990e-01 3.88860805e-02 4.26475045e+02] [ 9.39665362e-01 3.19105150e-01 1.23291973e-01 -1.74926260e+02] [-1.29254523e-01 -2.51121674e-03 9.91608271e-01 -9.33023590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.48, Y:-174.90, Z:-933.03 [[ 3.16054049e-01 -9.47944380e-01 3.88753095e-02 4.26484109e+02] [ 9.39883993e-01 3.18426471e-01 1.23380158e-01 -1.74901485e+02] [-1.29336455e-01 -2.45651731e-03 9.91597724e-01 -9.33027209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.49, Y:-174.88, Z:-933.03 [[ 3.15984445e-01 -9.47967927e-01 3.88669644e-02 4.26493180e+02] [ 9.39897088e-01 3.18356176e-01 1.23461773e-01 -1.74875670e+02] [-1.29411339e-01 -2.48105299e-03 9.91587893e-01 -9.33031504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.50, Y:-174.85, Z:-933.04 [[ 3.16206384e-01 -9.47908873e-01 3.85005474e-02 4.26503128e+02] [ 9.39974227e-01 3.18531663e-01 1.22417448e-01 -1.74849562e+02] [-1.28304228e-01 -2.51965612e-03 9.91731656e-01 -9.33035783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.51, Y:-174.82, Z:-933.04 [[ 3.16786606e-01 -9.47718001e-01 3.84296419e-02 4.26512399e+02] [ 9.39795373e-01 3.19098206e-01 1.22315138e-01 -1.74824309e+02] [-1.28183088e-01 -2.63179769e-03 9.91747029e-01 -9.33039985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.52, Y:-174.80, Z:-933.05 [[ 3.16455126e-01 -9.47738610e-01 4.05916346e-02 4.26520431e+02] [ 9.39865822e-01 3.19047559e-01 1.21905260e-01 -1.74797911e+02] [-1.28484983e-01 -4.26854220e-04 9.91711363e-01 -9.33045876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:-174.77, Z:-933.05 [[ 3.18341621e-01 -9.47300071e-01 3.57936926e-02 4.26533567e+02] [ 9.39482386e-01 3.20307481e-01 1.21556424e-01 -1.74773793e+02] [-1.26615396e-01 -5.06892521e-03 9.91938933e-01 -9.33046464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.54, Y:-174.75, Z:-933.05 [[ 3.18732033e-01 -9.47089013e-01 3.78456604e-02 4.26541795e+02] [ 9.39356723e-01 3.20957421e-01 1.20810927e-01 -1.74748075e+02] [-1.26565547e-01 -2.95573687e-03 9.91953843e-01 -9.33051177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.096559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:426.55, Y:-174.72, Z:-933.06 [[ 3.18308061e-01 -9.47232805e-01 3.78152228e-02 4.26550459e+02] [ 9.39500233e-01 3.20533027e-01 1.20821735e-01 -1.74721915e+02] [-1.26567339e-01 -2.93112145e-03 9.91953687e-01 -9.33055383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.56, Y:-174.70, Z:-933.06 [[ 3.17589403e-01 -9.47479051e-01 3.76884523e-02 4.26558446e+02] [ 9.39784844e-01 3.19805028e-01 1.20537092e-01 -1.74695901e+02] [-1.26259326e-01 -2.86226679e-03 9.91993140e-01 -9.33059149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:-174.67, Z:-933.06 [[ 3.16343108e-01 -9.47896349e-01 3.76769086e-02 4.26566442e+02] [ 9.40196198e-01 3.18567200e-01 1.20607003e-01 -1.74669715e+02] [-1.26325565e-01 -2.72950799e-03 9.91985081e-01 -9.33063587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:-174.64, Z:-933.07 [[ 3.13302741e-01 -9.48906129e-01 3.76636550e-02 4.26574623e+02] [ 9.41203870e-01 3.15549659e-01 1.20680102e-01 -1.74643012e+02] [-1.26398842e-01 -2.36022875e-03 9.91976694e-01 -9.33067300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.58, Y:-174.62, Z:-933.07 [[ 3.11903878e-01 -9.49364977e-01 3.77109033e-02 4.26582281e+02] [ 9.41630994e-01 3.14167518e-01 1.20953880e-01 -1.74617296e+02] [-1.26676919e-01 -2.21622889e-03 9.91941554e-01 -9.33070859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.59, Y:-174.59, Z:-933.07 [[ 3.10698389e-01 -9.49751186e-01 3.79367478e-02 4.26590421e+02] [ 9.41912729e-01 3.12998802e-01 1.21787360e-01 -1.74590205e+02] [-1.27541846e-01 -2.10603076e-03 9.91830955e-01 -9.33074912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.60, Y:-174.56, Z:-933.08 [[ 3.10159256e-01 -9.49820962e-01 4.05139056e-02 4.26597931e+02] [ 9.42008992e-01 3.12793750e-01 1.21569437e-01 -1.74562959e+02] [-1.28141697e-01 4.58577169e-04 9.91755764e-01 -9.33079816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.61, Y:-174.54, Z:-933.08 [[ 3.09748256e-01 -9.50148999e-01 3.56777052e-02 4.26607349e+02] [ 9.42246027e-01 3.11766756e-01 1.22367947e-01 -1.74537740e+02] [-1.27390905e-01 -4.28608215e-03 9.91843328e-01 -9.33080679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.61, Y:-174.51, Z:-933.09 [[ 3.10228926e-01 -9.49907724e-01 3.78593376e-02 4.26613503e+02] [ 9.42058753e-01 3.12523145e-01 1.21879408e-01 -1.74512028e+02] [-1.27606110e-01 -2.14479738e-03 9.91822606e-01 -9.33085197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:426.62, Y:-174.49, Z:-933.09 [[ 3.12509399e-01 -9.49158043e-01 3.79062669e-02 4.26619751e+02] [ 9.41269838e-01 3.14790104e-01 1.22140421e-01 -1.74485145e+02] [-1.27863080e-01 -2.49000376e-03 9.91788704e-01 -9.33089462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.63, Y:-174.46, Z:-933.09 [[ 3.14173640e-01 -9.48610928e-01 3.78448306e-02 4.26627458e+02] [ 9.40729288e-01 3.16432876e-01 1.22059994e-01 -1.74458719e+02] [-1.27762793e-01 -2.74629199e-03 9.91800951e-01 -9.33093046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.63, Y:-174.43, Z:-933.10 [[ 3.16927092e-01 -9.47698525e-01 3.77455174e-02 4.26634428e+02] [ 9.39836000e-01 3.19151376e-01 1.21863417e-01 -1.74432492e+02] [-1.27536314e-01 -3.14722233e-03 9.91828908e-01 -9.33096843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.4565599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.64, Y:-174.41, Z:-933.10 [[ 3.17869618e-01 -9.47386837e-01 3.76442173e-02 4.26642171e+02] [ 9.39550468e-01 3.20073897e-01 1.21645463e-01 -1.74405754e+02] [-1.27294241e-01 -3.29875472e-03 9.91859514e-01 -9.33100778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.65, Y:-174.38, Z:-933.10 [[ 3.18349025e-01 -9.47225497e-01 3.76531055e-02 4.26650324e+02] [ 9.39369016e-01 3.20549966e-01 1.21793149e-01 -1.74379234e+02] [-1.27435278e-01 -3.40256964e-03 9.91841052e-01 -9.33104665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.66, Y:-174.35, Z:-933.11 [[ 3.18527676e-01 -9.47165526e-01 3.76508355e-02 4.26658232e+02] [ 9.39293782e-01 3.20726444e-01 1.21908730e-01 -1.74353024e+02] [-1.27543365e-01 -3.46610887e-03 9.91826939e-01 -9.33108085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.67, Y:-174.33, Z:-933.11 [[ 3.18758629e-01 -9.47083500e-01 3.77595073e-02 4.26665870e+02] [ 9.39149411e-01 3.20967669e-01 1.22385206e-01 -1.74327197e+02] [-1.28028591e-01 -3.54952152e-03 9.91764126e-01 -9.33111687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.67, Y:-174.30, Z:-933.12 [[ 3.18895001e-01 -9.47032600e-01 3.78844552e-02 4.26673504e+02] [ 9.39031000e-01 3.21117059e-01 1.22900835e-01 -1.74300587e+02] [-1.28556442e-01 -3.61778415e-03 9.91695595e-01 -9.33115595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.68, Y:-174.27, Z:-933.12 [[ 3.18969889e-01 -9.47001226e-01 3.80379758e-02 4.26680946e+02] [ 9.38917990e-01 3.21208802e-01 1.23522930e-01 -1.74273871e+02] [-1.29194499e-01 -3.68555539e-03 9.91612424e-01 -9.33119250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.69, Y:-174.25, Z:-933.12 [[ 3.18672199e-01 -9.47094098e-01 3.82203913e-02 4.26688976e+02] [ 9.38917093e-01 3.20934625e-01 1.24240327e-01 -1.74247144e+02] [-1.29933528e-01 -3.70615967e-03 9.91515781e-01 -9.33122865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.70, Y:-174.22, Z:-933.13 [[ 3.18483423e-01 -9.47152508e-01 3.83462720e-02 4.26696551e+02] [ 9.38904989e-01 3.20761859e-01 1.24776807e-01 -1.74221564e+02] [-1.30482687e-01 -3.73583854e-03 9.91443550e-01 -9.33126593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.70, Y:-174.20, Z:-933.13 [[ 3.18593194e-01 -9.47117950e-01 3.82879182e-02 4.26704412e+02] [ 9.38880520e-01 3.20863357e-01 1.24699940e-01 -1.74195504e+02] [-1.30390742e-01 -3.78077163e-03 9.91455476e-01 -9.33130180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.71, Y:-174.17, Z:-933.13 [[ 3.18495788e-01 -9.47153274e-01 3.82244493e-02 4.26712462e+02] [ 9.38929079e-01 3.20758896e-01 1.24603031e-01 -1.74168814e+02] [-1.30279000e-01 -3.79549342e-03 9.91470109e-01 -9.33134106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.756559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:426.72, Y:-174.14, Z:-933.14 [[ 3.18157838e-01 -9.47272484e-01 3.80845276e-02 4.26720040e+02] [ 9.39092727e-01 3.20406924e-01 1.24274909e-01 -1.74143213e+02] [-1.29924748e-01 -3.77413357e-03 9.91516675e-01 -9.33138043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.73, Y:-174.12, Z:-933.14 [[ 3.17775317e-01 -9.47416265e-01 3.76997116e-02 4.26727936e+02] [ 9.39392239e-01 3.19982353e-01 1.23099612e-01 -1.74116715e+02] [-1.28689818e-01 -3.70320180e-03 9.91677981e-01 -9.33142207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.74, Y:-174.09, Z:-933.15 [[ 3.16815225e-01 -9.47739679e-01 3.76512274e-02 4.26735520e+02] [ 9.39722582e-01 3.19024279e-01 1.23064937e-01 -1.74091143e+02] [-1.28645179e-01 -3.60713714e-03 9.91684126e-01 -9.33146467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.74, Y:-174.06, Z:-933.15 [[ 3.15395681e-01 -9.48225390e-01 3.73386576e-02 4.26743568e+02] [ 9.40330971e-01 3.17579830e-01 1.22150385e-01 -1.74064726e+02] [-1.27684101e-01 -3.41500763e-03 9.91809008e-01 -9.33150414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.75, Y:-174.04, Z:-933.15 [[ 3.13558615e-01 -9.48835975e-01 3.72999647e-02 4.26751422e+02] [ 9.40945866e-01 3.15753108e-01 1.22150944e-01 -1.74039418e+02] [-1.27678790e-01 -3.20423326e-03 9.91810395e-01 -9.33154504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:426.76, Y:-174.01, Z:-933.16 [[ 3.08845531e-01 -9.50418952e-01 3.63077647e-02 4.26761267e+02] [ 9.42521931e-01 3.10952040e-01 1.22316142e-01 -1.74012266e+02] [-1.27541553e-01 -3.55592923e-03 9.91826854e-01 -9.33157550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.77, Y:-173.99, Z:-933.16 [[ 3.06618602e-01 -9.51045781e-01 3.86904997e-02 4.26768366e+02] [ 9.43152329e-01 3.09048405e-01 1.22281511e-01 -1.73987461e+02] [-1.28252553e-01 -1.00275111e-03 9.91741033e-01 -9.33162611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.78, Y:-173.96, Z:-933.17 [[ 3.03548854e-01 -9.52081468e-01 3.74028264e-02 4.26777940e+02] [ 9.44133159e-01 3.05838270e-01 1.22782456e-01 -1.73962413e+02] [-1.28338117e-01 -1.95722533e-03 9.91728540e-01 -9.33165420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.996559995 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:426.79, Y:-173.94, Z:-933.17 [[ 2.96631891e-01 -9.54377382e-01 3.42539700e-02 4.26790071e+02] [ 9.46342446e-01 2.98572660e-01 1.23654118e-01 -1.73935749e+02] [-1.28239992e-01 -4.26376900e-03 9.91733999e-01 -9.33167044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:426.80, Y:-173.91, Z:-933.17 [[ 2.93418757e-01 -9.55251951e-01 3.74051269e-02 4.26796497e+02] [ 9.47285466e-01 2.95792552e-01 1.23113822e-01 -1.73910148e+02] [-1.28668877e-01 -6.90571695e-04 9.91687372e-01 -9.33171855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.80, Y:-173.89, Z:-933.18 [[ 2.91476906e-01 -9.55701412e-01 4.09392807e-02 4.26803128e+02] [ 9.47765872e-01 2.94322965e-01 1.22938374e-01 -1.73885684e+02] [-1.29541749e-01 2.96715605e-03 9.91569529e-01 -9.33177870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.81, Y:-173.86, Z:-933.18 [[ 2.88970854e-01 -9.56595798e-01 3.76871871e-02 4.26813249e+02] [ 9.48495532e-01 2.91418009e-01 1.24224676e-01 -1.73859982e+02] [-1.29815528e-01 -1.51182251e-04 9.91538152e-01 -9.33180012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.82, Y:-173.83, Z:-933.18 [[ 2.87075209e-01 -9.57294797e-01 3.42709234e-02 4.26824024e+02] [ 9.49095219e-01 2.89093853e-01 1.25072019e-01 -1.73832603e+02] [-1.29638307e-01 -3.37870656e-03 9.91555593e-01 -9.33181373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:426.83, Y:-173.81, Z:-933.19 [[ 2.86740403e-01 -9.57126640e-01 4.10918122e-02 4.26827828e+02] [ 9.49181164e-01 2.89646197e-01 1.23126762e-01 -1.73806145e+02] [-1.29749991e-01 3.69815674e-03 9.91539845e-01 -9.33189236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.176559995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:426.84, Y:-173.78, Z:-933.19 [[ 2.86453904e-01 -9.57356487e-01 3.75861366e-02 4.26837774e+02] [ 9.49267417e-01 2.88909234e-01 1.24188670e-01 -1.73779394e+02] [-1.29751811e-01 1.04965300e-04 9.91546498e-01 -9.33191915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.84, Y:-173.75, Z:-933.20 [[ 2.88293619e-01 -9.56819605e-01 3.71891574e-02 4.26844213e+02] [ 9.48881574e-01 2.90682327e-01 1.22994083e-01 -1.73753775e+02] [-1.28493380e-01 -1.70302985e-04 9.91710352e-01 -9.33196067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.85, Y:-173.73, Z:-933.20 [[ 2.89187742e-01 -9.56560272e-01 3.69174384e-02 4.26851778e+02] [ 9.48721960e-01 2.91534470e-01 1.22205959e-01 -1.73727546e+02] [-1.27660072e-01 -3.16080970e-04 9.91817930e-01 -9.33200157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.86, Y:-173.70, Z:-933.20 [[ 2.90684648e-01 -9.56113266e-01 3.67404144e-02 4.26859319e+02] [ 9.48330785e-01 2.92996797e-01 1.21743993e-01 -1.73701977e+02] [-1.27165870e-01 -5.47043633e-04 9.91881315e-01 -9.33204316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.87, Y:-173.67, Z:-933.21 [[ 2.91474407e-01 -9.55949980e-01 3.46742961e-02 4.26868016e+02] [ 9.48195017e-01 2.93518549e-01 1.21544526e-01 -1.73674938e+02] [-1.26368036e-01 -2.54912390e-03 9.91980152e-01 -9.33206425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.87, Y:-173.65, Z:-933.21 [[ 2.95147674e-01 -9.54684485e-01 3.82803520e-02 4.26873342e+02] [ 9.46991308e-01 2.97619272e-01 1.20955497e-01 -1.73647628e+02] [-1.26867307e-01 5.51427009e-04 9.91919544e-01 -9.33212729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.88, Y:-173.62, Z:-933.22 [[ 2.95761286e-01 -9.54557994e-01 3.66646620e-02 4.26881015e+02] [ 9.46765385e-01 2.98022436e-01 1.21728934e-01 -1.73621263e+02] [-1.27124219e-01 -1.28987327e-03 9.91885966e-01 -9.33216294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:-173.60, Z:-933.22 [[ 2.96149441e-01 -9.54432113e-01 3.68082930e-02 4.26887430e+02] [ 9.46560725e-01 2.98424893e-01 1.22333059e-01 -1.73595378e+02] [-1.27743110e-01 -1.38758243e-03 9.91806318e-01 -9.33220132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.88, Y:-173.57, Z:-933.23 [[ 2.94004491e-01 -9.54365761e-01 5.24152023e-02 4.26883691e+02] [ 9.46532236e-01 2.98334201e-01 1.22773903e-01 -1.73569173e+02] [-1.32808457e-01 1.35165997e-02 9.91049552e-01 -9.33233960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.90, Y:-173.54, Z:-933.23 [[ 2.94724331e-01 -9.55112227e-01 2.99700297e-02 4.26903853e+02] [ 9.46334130e-01 2.96081248e-01 1.29567005e-01 -1.73542936e+02] [-1.32624595e-01 -9.82488696e-03 9.91117646e-01 -9.33227292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.91, Y:-173.52, Z:-933.23 [[ 2.94901069e-01 -9.55005471e-01 3.15897267e-02 4.26911710e+02] [ 9.46342874e-01 2.96479563e-01 1.28588621e-01 -1.73515729e+02] [-1.32168545e-01 -8.02620905e-03 9.91194762e-01 -9.33229082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:-173.49, Z:-933.23 [[ 2.94015236e-01 -9.55059929e-01 3.76241029e-02 4.26916037e+02] [ 9.46514336e-01 2.96406862e-01 1.27489546e-01 -1.73489631e+02] [-1.32912199e-01 -1.87211624e-03 9.91126048e-01 -9.33234506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.536559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:426.92, Y:-173.46, Z:-933.24 [[ 2.92787685e-01 -9.55410598e-01 3.82878796e-02 4.26923232e+02] [ 9.46757732e-01 2.95277598e-01 1.28300187e-01 -1.73463172e+02] [-1.33884911e-01 -1.31536865e-03 9.90996014e-01 -9.33238210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.93, Y:-173.44, Z:-933.24 [[ 2.92415577e-01 -9.55549726e-01 3.76543647e-02 4.26931465e+02] [ 9.46878129e-01 2.94823811e-01 1.28455166e-01 -1.73435481e+02] [-1.33846702e-01 -1.90819713e-03 9.91000212e-01 -9.33242136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:-173.41, Z:-933.24 [[ 2.93055167e-01 -9.55645153e-01 2.93429980e-02 4.26944386e+02] [ 9.47075961e-01 2.94359468e-01 1.28061031e-01 -1.73407883e+02] [-1.31018293e-01 -9.73889897e-03 9.91332114e-01 -9.33240379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:-173.38, Z:-933.25 [[ 2.91599647e-01 -9.55459945e-01 4.54526048e-02 4.26941799e+02] [ 9.47244605e-01 2.95048174e-01 1.25196780e-01 -1.73379362e+02] [-1.33031216e-01 6.54739795e-03 9.91090222e-01 -9.33253260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.95, Y:-173.35, Z:-933.25 [[ 2.92280989e-01 -9.55587256e-01 3.77467780e-02 4.26952999e+02] [ 9.47217033e-01 2.94706144e-01 1.26206900e-01 -1.73354515e+02] [-1.31725913e-01 -1.13348655e-03 9.91285529e-01 -9.33254696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.96, Y:-173.33, Z:-933.26 [[ 2.90941052e-01 -9.56002933e-01 3.75725413e-02 4.26957851e+02] [ 9.47697742e-01 2.93355480e-01 1.25743999e-01 -1.73327283e+02] [-1.31233742e-01 -9.76678683e-04 9.91350973e-01 -9.33259225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.7165599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:426.97, Y:-173.30, Z:-933.26 [[ 2.91344373e-01 -9.55891902e-01 3.72710084e-02 4.26965432e+02] [ 9.47701570e-01 2.93716789e-01 1.24868661e-01 -1.73301603e+02] [-1.30308063e-01 -1.05798862e-03 9.91472990e-01 -9.33262899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.97, Y:-173.28, Z:-933.27 [[ 2.90111326e-01 -9.56239383e-01 3.79692078e-02 4.26971247e+02] [ 9.48041003e-01 2.92585335e-01 1.24948304e-01 -1.73275268e+02] [-1.30589723e-01 -2.52552281e-04 9.91436463e-01 -9.33267641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.98, Y:-173.25, Z:-933.27 [[ 2.89556875e-01 -9.56427155e-01 3.74688340e-02 4.26979145e+02] [ 9.48235127e-01 2.91970353e-01 1.24913799e-01 -1.73247914e+02] [-1.30410738e-01 -6.40384810e-04 9.91459848e-01 -9.33272054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.99, Y:-173.22, Z:-933.27 [[ 2.89508111e-01 -9.56516443e-01 3.55154689e-02 4.26988195e+02] [ 9.48381289e-01 2.91668831e-01 1.24507928e-01 -1.73221547e+02] [-1.29452635e-01 -2.36384876e-03 9.91582789e-01 -9.33274811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.99, Y:-173.19, Z:-933.28 [[ 2.88021568e-01 -9.56858724e-01 3.82747746e-02 4.26993543e+02] [ 9.48816715e-01 2.90552831e-01 1.23797797e-01 -1.73194298e+02] [-1.29577846e-01 6.59310358e-04 9.91569033e-01 -9.33280520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:427.00, Y:-173.17, Z:-933.29 [[ 2.85748673e-01 -9.57358284e-01 4.25771291e-02 4.26996958e+02] [ 9.49386901e-01 2.88857170e-01 1.23393872e-01 -1.73168175e+02] [-1.30430855e-01 5.16253328e-03 9.91443967e-01 -9.33288947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.01, Y:-173.14, Z:-933.29 [[ 2.84739854e-01 -9.57850178e-01 3.80296159e-02 4.27006809e+02] [ 9.49795604e-01 2.87267048e-01 1.23959488e-01 -1.73141600e+02] [-1.29659273e-01 8.24155468e-04 9.91558266e-01 -9.33291650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.01, Y:-173.11, Z:-933.30 [[ 2.83562511e-01 -9.58022094e-01 4.22607285e-02 4.27012131e+02] [ 9.50026446e-01 2.86649108e-01 1.23620548e-01 -1.73114985e+02] [-1.30545217e-01 5.09465662e-03 9.91429267e-01 -9.33298803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:-173.09, Z:-933.30 [[ 2.82767690e-01 -9.58549739e-01 3.49976071e-02 4.27024305e+02] [ 9.50347387e-01 2.84917306e-01 1.25147802e-01 -1.73088498e+02] [-1.29931817e-01 -2.12787046e-03 9.91520648e-01 -9.33299131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.04, Y:-173.06, Z:-933.29 [[ 2.82638660e-01 -9.58920829e-01 2.42122267e-02 4.27039794e+02] [ 9.50752870e-01 2.83400290e-01 1.25511976e-01 -1.73063241e+02] [-1.27217800e-01 -1.24546926e-02 9.91796608e-01 -9.33293506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.016559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:427.03, Y:-173.03, Z:-933.32 [[ 2.79111601e-01 -9.58319441e-01 6.09964236e-02 4.27025598e+02] [ 9.50914864e-01 2.84677273e-01 1.21325069e-01 -1.73034711e+02] [-1.33632467e-01 2.41391717e-02 9.90736930e-01 -9.33318082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.06, Y:-173.01, Z:-933.30 [[ 2.82592890e-01 -9.59158272e-01 1.25167471e-02 4.27061855e+02] [ 9.50584048e-01 2.81768014e-01 1.30371601e-01 -1.73011425e+02] [-1.28573818e-01 -2.49438673e-02 9.91386190e-01 -9.33295340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.05, Y:-172.98, Z:-933.32 [[ 2.82863090e-01 -9.57576665e-01 5.50944838e-02 4.27045388e+02] [ 9.49876469e-01 2.87635256e-01 1.22477155e-01 -1.72981082e+02] [-1.33128381e-01 1.76886873e-02 9.90940939e-01 -9.33321100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.07, Y:-172.96, Z:-933.31 [[ 2.87478481e-01 -9.57609746e-01 1.84308850e-02 4.27074432e+02] [ 9.49238930e-01 2.87425215e-01 1.27797497e-01 -1.72957108e+02] [-1.27677630e-01 -1.92437168e-02 9.91629015e-01 -9.33305293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.07, Y:-172.93, Z:-933.32 [[ 2.87423424e-01 -9.57117071e-01 3.62586127e-02 4.27073217e+02] [ 9.49239544e-01 2.89700300e-01 1.22548049e-01 -1.72928174e+02] [-1.27796961e-01 -8.05070926e-04 9.91800025e-01 -9.33315658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:-172.90, Z:-933.32 [[ 2.87184164e-01 -9.57190058e-01 3.62277228e-02 4.27081169e+02] [ 9.49311958e-01 2.89459054e-01 1.22557180e-01 -1.72901016e+02] [-1.27796957e-01 -8.05070894e-04 9.91800025e-01 -9.33319595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.07, Y:-172.87, Z:-933.34 [[ 2.85150593e-01 -9.56510633e-01 6.14536266e-02 4.27073374e+02] [ 9.49115756e-01 2.90724671e-01 1.21072076e-01 -1.72873668e+02] [-1.33672814e-01 2.38028308e-02 9.90739625e-01 -9.33341287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:427.11, Y:-172.85, Z:-933.32 [[ 2.88810751e-01 -9.57314313e-01 1.17327260e-02 4.27110732e+02] [ 9.48865955e-01 2.87850313e-01 1.29597829e-01 -1.72850013e+02] [-1.27443126e-01 -2.62964622e-02 9.91497224e-01 -9.33318595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.10, Y:-172.82, Z:-933.34 [[ 2.88356486e-01 -9.56032559e-01 5.34067708e-02 4.27096212e+02] [ 9.48436985e-01 2.92841157e-01 1.21290322e-01 -1.72819470e+02] [-1.31597198e-01 1.56781055e-02 9.91179285e-01 -9.33343921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.12, Y:-172.80, Z:-933.33 [[ 2.90935986e-01 -9.56541604e-01 1.96064098e-02 4.27123307e+02] [ 9.48208433e-01 2.91011344e-01 1.27330928e-01 -1.72795914e+02] [-1.27503018e-01 -1.84541859e-02 9.91666488e-01 -9.33329117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.11, Y:-172.77, Z:-933.35 [[ 2.90661297e-01 -9.55136945e-01 5.68280406e-02 4.27110866e+02] [ 9.47470878e-01 2.95596279e-01 1.22154719e-01 -1.72767297e+02] [-1.33472642e-01 1.83372646e-02 9.90882838e-01 -9.33353217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.14, Y:-172.74, Z:-933.34 [[ 2.93217831e-01 -9.55898821e-01 1.67555058e-02 4.27142196e+02] [ 9.47314435e-01 2.92858541e-01 1.29727545e-01 -1.72743330e+02] [-1.28913401e-01 -2.21656969e-02 9.91408098e-01 -9.33335236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.376559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.12, Y:-172.71, Z:-933.36 [[ 2.90683988e-01 -9.54842663e-01 6.14679390e-02 4.27124670e+02] [ 9.47188268e-01 2.96255624e-01 1.22747671e-01 -1.72714172e+02] [-1.35414936e-01 2.25409281e-02 9.90532535e-01 -9.33363944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.16, Y:-172.69, Z:-933.34 [[ 2.93111706e-01 -9.55997974e-01 1.23855495e-02 4.27161373e+02] [ 9.47322851e-01 2.92152308e-01 1.31249556e-01 -1.72690828e+02] [-1.29092776e-01 -2.67376670e-02 9.91271987e-01 -9.33341698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.15, Y:-172.66, Z:-933.36 [[ 2.90841719e-01 -9.55461944e-01 5.00356610e-02 4.27151446e+02] [ 9.47546731e-01 2.94887917e-01 1.23273315e-01 -1.72661337e+02] [-1.32537873e-01 1.15581043e-02 9.91110550e-01 -9.33364452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.18, Y:-172.64, Z:-933.35 [[ 2.91320852e-01 -9.56333712e-01 2.36218604e-02 4.27175155e+02] [ 9.47817207e-01 2.91893648e-01 1.28221061e-01 -1.72637830e+02] [-1.29517194e-01 -1.49642630e-02 9.91464254e-01 -9.33353515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.18, Y:-172.61, Z:-933.36 [[ 2.90218960e-01 -9.56259149e-01 3.66250553e-02 4.27177294e+02] [ 9.48057917e-01 2.92516734e-01 1.24980587e-01 -1.72611222e+02] [-1.30227271e-01 -1.54906217e-03 9.91482959e-01 -9.33362163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:427.19, Y:-172.58, Z:-933.37 [[ 2.88669770e-01 -9.56726835e-01 3.66541619e-02 4.27186310e+02] [ 9.48500952e-01 2.90984324e-01 1.25196115e-01 -1.72584653e+02] [-1.30444269e-01 -1.37382638e-03 9.91454692e-01 -9.33366175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.20, Y:-172.56, Z:-933.37 [[ 2.86115726e-01 -9.57490035e-01 3.67508445e-02 4.27196157e+02] [ 9.49210124e-01 2.88464374e-01 1.25652084e-01 -1.72559598e+02] [-1.30911927e-01 -1.06676345e-03 9.91393428e-01 -9.33369654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.19, Y:-172.53, Z:-933.39 [[ 2.82128965e-01 -9.57550975e-01 5.91555341e-02 4.27190887e+02] [ 9.49707596e-01 2.87486243e-01 1.24125513e-01 -1.72532135e+02] [-1.35862908e-01 2.11610576e-02 9.90501631e-01 -9.33389151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.23, Y:-172.51, Z:-933.37 [[ 2.83715375e-01 -9.58789661e-01 1.50987491e-02 4.27225072e+02] [ 9.49909198e-01 2.83170027e-01 1.32239372e-01 -1.72509013e+02] [-1.31065255e-01 -2.31759023e-02 9.91102808e-01 -9.33368709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.22, Y:-172.48, Z:-933.39 [[ 2.82257611e-01 -9.58350709e-01 4.35265470e-02 4.27218574e+02] [ 9.50038915e-01 2.85535769e-01 1.26076903e-01 -1.72479676e+02] [-1.33254275e-01 5.76574808e-03 9.91065111e-01 -9.33386484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.676559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.23, Y:-172.45, Z:-933.38 [[ 2.82861083e-01 -9.58674747e-01 3.05342082e-02 4.27234074e+02] [ 9.50063211e-01 2.84410318e-01 1.28415988e-01 -1.72454162e+02] [-1.31793409e-01 -7.31445760e-03 9.91250219e-01 -9.33382428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:-172.43, Z:-933.39 [[ 2.82951852e-01 -9.58427091e-01 3.68206694e-02 4.27238650e+02] [ 9.50054858e-01 2.85336459e-01 1.26407567e-01 -1.72426668e+02] [-1.31658716e-01 -7.85599429e-04 9.91294792e-01 -9.33388831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-172.40, Z:-933.39 [[ 2.83724807e-01 -9.58214286e-01 3.64090255e-02 4.27245331e+02] [ 9.50010026e-01 2.86049910e-01 1.25125538e-01 -1.72400574e+02] [-1.30311877e-01 -9.12279877e-04 9.91472633e-01 -9.33393253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-172.38, Z:-933.40 [[ 2.84076556e-01 -9.58121659e-01 3.61025852e-02 4.27251914e+02] [ 9.50039545e-01 2.86359783e-01 1.24189118e-01 -1.72375122e+02] [-1.29326612e-01 -9.80333355e-04 9.91601566e-01 -9.33397608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.26, Y:-172.35, Z:-933.40 [[ 2.84550357e-01 -9.57990147e-01 3.58604712e-02 4.27258992e+02] [ 9.50000737e-01 2.86799133e-01 1.23470064e-01 -1.72348337e+02] [-1.28567856e-01 -1.06597657e-03 9.91700141e-01 -9.33402108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-172.32, Z:-933.42 [[ 2.83491570e-01 -9.57180855e-01 5.86288401e-02 4.27252685e+02] [ 9.49770902e-01 2.88695497e-01 1.20789668e-01 -1.72319896e+02] [-1.32543440e-01 2.14411136e-02 9.90945264e-01 -9.33422250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.856559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:427.28, Y:-172.29, Z:-933.42 [[ 2.84779487e-01 -9.58056318e-01 3.20738945e-02 4.27275893e+02] [ 9.49644514e-01 2.86524245e-01 1.26803605e-01 -1.72294651e+02] [-1.30674943e-01 -5.65226767e-03 9.91409154e-01 -9.33415239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.29, Y:-172.27, Z:-933.41 [[ 2.85635077e-01 -9.58138970e-01 1.95529458e-02 4.27289187e+02] [ 9.49799574e-01 2.85748678e-01 1.27390982e-01 -1.72270275e+02] [-1.27645492e-01 -1.78159533e-02 9.91659831e-01 -9.33409048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.29, Y:-172.24, Z:-933.42 [[ 2.85686804e-01 -9.57662467e-01 3.55759706e-02 4.27288509e+02] [ 9.49735213e-01 2.87890246e-01 1.22972484e-01 -1.72241849e+02] [-1.28008107e-01 -1.34386377e-03 9.91772211e-01 -9.33418822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:-172.22, Z:-933.42 [[ 2.85159858e-01 -9.57816032e-01 3.56693882e-02 4.27295255e+02] [ 9.49831047e-01 2.87379047e-01 1.23427166e-01 -1.72216424e+02] [-1.28471153e-01 -1.31658085e-03 9.91712372e-01 -9.33422787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.29, Y:-172.19, Z:-933.44 [[ 2.82329862e-01 -9.57792763e-01 5.40636016e-02 4.27291237e+02] [ 9.50011100e-01 2.86977496e-01 1.22974903e-01 -1.72188643e+02] [-1.33299509e-01 1.66415342e-02 9.90936073e-01 -9.33440117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.32, Y:-172.16, Z:-933.42 [[ 2.83418233e-01 -9.58825062e-01 1.81274920e-02 4.27319384e+02] [ 9.50287500e-01 2.83335937e-01 1.29129450e-01 -1.72164695e+02] [-1.28948722e-01 -1.93713113e-02 9.91462041e-01 -9.33423385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:-172.14, Z:-933.45 [[ 2.79034021e-01 -9.58268329e-01 6.21435795e-02 4.27301997e+02] [ 9.50607106e-01 2.84806641e-01 1.23415186e-01 -1.72135107e+02] [-1.35963768e-01 2.46370926e-02 9.90407425e-01 -9.33451633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.34, Y:-172.11, Z:-933.43 [[ 2.80393267e-01 -9.59822088e-01 1.10079752e-02 4.27338811e+02] [ 9.51014128e-01 2.79339178e-01 1.32445278e-01 -1.72112569e+02] [-1.30198862e-01 -2.66680244e-02 9.91129191e-01 -9.33427396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.33, Y:-172.08, Z:-933.44 [[ 2.80433228e-01 -9.59195850e-01 3.60628073e-02 4.27333689e+02] [ 9.50979320e-01 2.82741258e-01 1.25282537e-01 -1.72083047e+02] [-1.30366933e-01 -8.38402236e-04 9.91465461e-01 -9.33440802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.34, Y:-172.06, Z:-933.44 [[ 2.79277492e-01 -9.59533520e-01 3.60486799e-02 4.27341441e+02] [ 9.51315361e-01 2.81593552e-01 1.25316220e-01 -1.72056857e+02] [-1.30396189e-01 -7.04336596e-04 9.91461718e-01 -9.33444315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.35, Y:-172.03, Z:-933.45 [[ 2.78153818e-01 -9.59861856e-01 3.59954408e-02 4.27349188e+02] [ 9.51659230e-01 2.80472615e-01 1.25219096e-01 -1.72029990e+02] [-1.30288769e-01 -5.74776073e-04 9.91475923e-01 -9.33447824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:-172.00, Z:-933.45 [[ 2.76149845e-01 -9.60448885e-01 3.57659414e-02 4.27356437e+02] [ 9.52338867e-01 2.78456152e-01 1.24550606e-01 -1.72003069e+02] [-1.29583737e-01 -3.33334562e-04 9.91568426e-01 -9.33452035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.2165599950001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:427.35, Y:-171.98, Z:-933.47 [[ 2.73036003e-01 -9.60268522e-01 5.77555735e-02 4.27349988e+02] [ 9.52654003e-01 2.78244631e-01 1.22598023e-01 -1.71975555e+02] [-1.33797201e-01 2.15474040e-02 9.90774454e-01 -9.33471005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.38, Y:-171.95, Z:-933.45 [[ 2.74132396e-01 -9.61585266e-01 1.43250454e-02 4.27381871e+02] [ 9.52967611e-01 2.73617235e-01 1.30331663e-01 -1.71952321e+02] [-1.29244586e-01 -2.20768268e-02 9.91366961e-01 -9.33451707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.38, Y:-171.92, Z:-933.46 [[ 2.73832188e-01 -9.61114674e-01 3.57003829e-02 4.27378832e+02] [ 9.52994028e-01 2.76149544e-01 1.24674827e-01 -1.71923195e+02] [-1.29685450e-01 -1.17729118e-04 9.91555178e-01 -9.33463346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:-171.90, Z:-933.47 [[ 2.73300167e-01 -9.61262582e-01 3.57947968e-02 4.27386796e+02] [ 9.53082429e-01 2.75634253e-01 1.25138493e-01 -1.71896916e+02] [-1.30157223e-01 -8.49790403e-05 9.91493364e-01 -9.33466840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:-171.87, Z:-933.47 [[ 2.73101821e-01 -9.61317930e-01 3.58222286e-02 4.27394067e+02] [ 9.53107837e-01 2.75441151e-01 1.25369951e-01 -1.71870814e+02] [-1.30387298e-01 -9.63152323e-05 9.91463133e-01 -9.33470409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.40, Y:-171.84, Z:-933.47 [[ 2.73685375e-01 -9.61159917e-01 3.56080092e-02 4.27401218e+02] [ 9.53031232e-01 2.75991980e-01 1.24739323e-01 -1.71843726e+02] [-1.29721962e-01 -2.03783380e-04 9.91550388e-01 -9.33474624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.41, Y:-171.82, Z:-933.48 [[ 2.74197077e-01 -9.61019393e-01 3.54639119e-02 4.27408751e+02] [ 9.52938317e-01 2.76480800e-01 1.24366118e-01 -1.71817047e+02] [-1.29323342e-01 -3.05905550e-04 9.91602430e-01 -9.33478503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:-171.79, Z:-933.48 [[ 2.74871135e-01 -9.60836137e-01 3.52104631e-02 4.27416030e+02] [ 9.52852039e-01 2.77116827e-01 1.23609291e-01 -1.71791082e+02] [-1.28525686e-01 -4.26264731e-04 9.91706089e-01 -9.33482316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:-171.76, Z:-933.49 [[ 2.75524387e-01 -9.60655691e-01 3.50279381e-02 4.27423475e+02] [ 9.52738033e-01 2.77741520e-01 1.23084885e-01 -1.71764342e+02] [-1.27970908e-01 -5.40438631e-04 9.91777775e-01 -9.33486305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.43, Y:-171.74, Z:-933.49 [[ 2.76603512e-01 -9.60351922e-01 3.48523093e-02 4.27430560e+02] [ 9.52494805e-01 2.78789664e-01 1.22596781e-01 -1.71737045e+02] [-1.27452518e-01 -7.14056706e-04 9.91844416e-01 -9.33490598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:-171.71, Z:-933.49 [[ 2.77070630e-01 -9.60222011e-01 3.47211268e-02 4.27437598e+02] [ 9.52406815e-01 2.79236530e-01 1.22262907e-01 -1.71711193e+02] [-1.27094942e-01 -8.06822991e-04 9.91890228e-01 -9.33494365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:-171.68, Z:-933.50 [[ 2.77429567e-01 -9.60122606e-01 3.46037066e-02 4.27444722e+02] [ 9.52342272e-01 2.79577883e-01 1.21985265e-01 -1.71684127e+02] [-1.26795241e-01 -8.87746617e-04 9.91928515e-01 -9.33498200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.576559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.45, Y:-171.66, Z:-933.50 [[ 2.77666103e-01 -9.60056909e-01 3.45292047e-02 4.27451772e+02] [ 9.52293583e-01 2.79803191e-01 1.21848703e-01 -1.71656784e+02] [-1.26643071e-01 -9.51314569e-04 9.91947896e-01 -9.33502526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.46, Y:-171.63, Z:-933.51 [[ 2.77176666e-01 -9.60200052e-01 3.44812303e-02 4.27458586e+02] [ 9.52443324e-01 2.79311676e-01 1.21806005e-01 -1.71630275e+02] [-1.26589142e-01 -9.20364724e-04 9.91954809e-01 -9.33506749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.47, Y:-171.60, Z:-933.51 [[ 2.76614955e-01 -9.60362258e-01 3.44746203e-02 4.27465876e+02] [ 9.52593373e-01 2.78753574e-01 1.21911082e-01 -1.71603921e+02] [-1.26688725e-01 -8.82133515e-04 9.91942130e-01 -9.33510258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:427.47, Y:-171.57, Z:-933.52 [[ 2.75181620e-01 -9.60225858e-01 4.73431849e-02 4.27469240e+02] [ 9.52658014e-01 2.78973627e-01 1.20898400e-01 -1.71574738e+02] [-1.29297269e-01 1.18328471e-02 9.91535274e-01 -9.33521999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.49, Y:-171.55, Z:-933.51 [[ 2.72757702e-01 -9.61795241e-01 2.35191462e-02 4.27486472e+02] [ 9.53595960e-01 2.73510724e-01 1.25883397e-01 -1.71552797e+02] [-1.27506791e-01 -1.19079034e-02 9.91766213e-01 -9.33512909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.48, Y:-171.52, Z:-933.53 [[ 2.70737519e-01 -9.61645797e-01 4.40290462e-02 4.27484642e+02] [ 9.53891016e-01 2.74149432e-01 1.22204824e-01 -1.71523741e+02] [-1.29588293e-01 8.91348081e-03 9.91527823e-01 -9.33527628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.756559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.50, Y:-171.50, Z:-933.52 [[ 2.66918003e-01 -9.63366055e-01 2.60887750e-02 4.27500864e+02] [ 9.55274318e-01 2.68057993e-01 1.24883504e-01 -1.71500009e+02] [-1.27301833e-01 -8.41171881e-03 9.91828355e-01 -9.33520946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:-171.47, Z:-933.53 [[ 2.65132262e-01 -9.63594179e-01 3.45129168e-02 4.27504107e+02] [ 9.55758247e-01 2.67368727e-01 1.22638240e-01 -1.71473467e+02] [-1.27401169e-01 4.70650974e-04 9.91851159e-01 -9.33527495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.51, Y:-171.45, Z:-933.53 [[ 2.63311608e-01 -9.64090885e-01 3.45798141e-02 4.27511635e+02] [ 9.56213467e-01 2.65571655e-01 1.22993912e-01 -1.71446911e+02] [-1.27760728e-01 6.79959180e-04 9.91804786e-01 -9.33531241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.52, Y:-171.42, Z:-933.54 [[ 2.61581764e-01 -9.64560642e-01 3.46085148e-02 4.27518991e+02] [ 9.56657062e-01 2.63859819e-01 1.23228495e-01 -1.71420101e+02] [-1.27993153e-01 8.74152937e-04 9.91774666e-01 -9.33535169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:-171.39, Z:-933.54 [[ 2.59138192e-01 -9.65219530e-01 3.46216063e-02 4.27526021e+02] [ 9.57298736e-01 2.61438145e-01 1.23406749e-01 -1.71393757e+02] [-1.28166013e-01 1.16381803e-03 9.91752045e-01 -9.33538967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:-171.37, Z:-933.54 [[ 2.58584582e-01 -9.65367225e-01 3.46429608e-02 4.27533789e+02] [ 9.57419757e-01 2.60892083e-01 1.23623342e-01 -1.71366750e+02] [-1.28379997e-01 1.20076473e-03 9.91724324e-01 -9.33542941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.54, Y:-171.34, Z:-933.55 [[ 2.58815423e-01 -9.65304880e-01 3.46564025e-02 4.27541569e+02] [ 9.57333268e-01 2.61122962e-01 1.23805548e-01 -1.71339814e+02] [-1.28559682e-01 1.13494180e-03 9.91701125e-01 -9.33545949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-171.31, Z:-933.55 [[ 2.59605752e-01 -9.65092055e-01 3.46724535e-02 4.27548805e+02] [ 9.57093740e-01 2.61909023e-01 1.23996921e-01 -1.71312640e+02] [-1.28749471e-01 9.94474381e-04 9.91676653e-01 -9.33549905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.56, Y:-171.29, Z:-933.55 [[ 2.60888265e-01 -9.64750589e-01 3.45487344e-02 4.27555676e+02] [ 9.56789240e-01 2.63164743e-01 1.23687786e-01 -1.71285498e+02] [-1.28419873e-01 7.87165415e-04 9.91719576e-01 -9.33553656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.56, Y:-171.26, Z:-933.56 [[ 2.62546556e-01 -9.64302854e-01 3.44864150e-02 4.27561930e+02] [ 9.56349150e-01 2.64801294e-01 1.23598454e-01 -1.71258670e+02] [-1.28318389e-01 5.30705392e-04 9.91732882e-01 -9.33557905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.056559995 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:427.55, Y:-171.23, Z:-933.58 [[ 2.62984733e-01 -9.62742911e-01 6.29691775e-02 4.27552554e+02] [ 9.55601764e-01 2.68912979e-01 1.20461940e-01 -1.71229742e+02] [-1.32907108e-01 2.84938060e-02 9.90718832e-01 -9.33580371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.59, Y:-171.21, Z:-933.56 [[ 2.68189454e-01 -9.63337327e-01 7.45724652e-03 4.27587738e+02] [ 9.54711082e-01 2.66807311e-01 1.31683750e-01 -1.71208528e+02] [-1.28845519e-01 -2.81966770e-02 9.91263729e-01 -9.33555702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.116559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:427.58, Y:-171.18, Z:-933.57 [[ 2.70158960e-01 -9.62194036e-01 3.45944265e-02 4.27580427e+02] [ 9.54120782e-01 2.72364246e-01 1.24383482e-01 -1.71180304e+02] [-1.29103330e-01 -5.96050897e-04 9.91630967e-01 -9.33569294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.59, Y:-171.15, Z:-933.57 [[ 2.71929312e-01 -9.61695932e-01 3.45743218e-02 4.27586949e+02] [ 9.53611440e-01 2.74117094e-01 1.24438903e-01 -1.71154310e+02] [-1.29149800e-01 -8.68116652e-04 9.91624715e-01 -9.33572907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.59, Y:-171.13, Z:-933.58 [[ 2.73140138e-01 -9.61353113e-01 3.45638270e-02 4.27593567e+02] [ 9.53259349e-01 2.75316329e-01 1.24489090e-01 -1.71128710e+02] [-1.29193960e-01 -1.05467598e-03 9.91618782e-01 -9.33576655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.60, Y:-171.10, Z:-933.58 [[ 2.74002884e-01 -9.61107170e-01 3.45749534e-02 4.27600547e+02] [ 9.52987664e-01 2.76173029e-01 1.24671448e-01 -1.71102124e+02] [-1.29371292e-01 -1.21083226e-03 9.91595483e-01 -9.33580783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:-171.08, Z:-933.58 [[ 2.74792533e-01 -9.60880854e-01 3.45983905e-02 4.27607987e+02] [ 9.52731039e-01 2.76958746e-01 1.24889638e-01 -1.71075270e+02] [-1.29586389e-01 -1.35577948e-03 9.91567209e-01 -9.33584441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.62, Y:-171.05, Z:-933.59 [[ 2.75100030e-01 -9.60789414e-01 3.46940288e-02 4.27615265e+02] [ 9.52575488e-01 2.77275359e-01 1.25372705e-01 -1.71048766e+02] [-1.30076567e-01 -1.44135366e-03 9.91502904e-01 -9.33588229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.62, Y:-171.02, Z:-933.59 [[ 2.75096513e-01 -9.60789284e-01 3.47255098e-02 4.27622973e+02] [ 9.52542354e-01 2.77275601e-01 1.25623669e-01 -1.71021639e+02] [-1.30326411e-01 -1.48111437e-03 9.91470036e-01 -9.33591922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.63, Y:-171.00, Z:-933.60 [[ 2.75185656e-01 -9.60764922e-01 3.46932161e-02 4.27630300e+02] [ 9.52514662e-01 2.77359733e-01 1.25647908e-01 -1.70996049e+02] [-1.30340603e-01 -1.53070488e-03 9.91468095e-01 -9.33595098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:-170.97, Z:-933.60 [[ 2.75045482e-01 -9.60807276e-01 3.46317922e-02 4.27637172e+02] [ 9.52569900e-01 2.77212907e-01 1.25553140e-01 -1.70969732e+02] [-1.30232750e-01 -1.54362112e-03 9.91482248e-01 -9.33598705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:-170.94, Z:-933.60 [[ 2.75213649e-01 -9.60765013e-01 3.44679254e-02 4.27644545e+02] [ 9.52593593e-01 2.77359134e-01 1.25049419e-01 -1.70942490e+02] [-1.29703100e-01 -1.58138190e-03 9.91551615e-01 -9.33602689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.65, Y:-170.92, Z:-933.61 [[ 2.75184930e-01 -9.60779108e-01 3.43039325e-02 4.27651139e+02] [ 9.52667775e-01 2.77310164e-01 1.24592065e-01 -1.70916987e+02] [-1.29218283e-01 -1.60560761e-03 9.91614874e-01 -9.33606634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.66, Y:-170.89, Z:-933.61 [[ 2.75344900e-01 -9.60744911e-01 3.39764876e-02 4.27658388e+02] [ 9.52772608e-01 2.77428419e-01 1.23522586e-01 -1.70889991e+02] [-1.28099739e-01 -1.63944728e-03 9.91759935e-01 -9.33610876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4765599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:427.67, Y:-170.86, Z:-933.62 [[ 2.74844622e-01 -9.60891258e-01 3.38884099e-02 4.27665981e+02] [ 9.52944097e-01 2.76921316e-01 1.23337473e-01 -1.70863006e+02] [-1.27898323e-01 -1.60488106e-03 9.91785987e-01 -9.33615145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:-170.84, Z:-933.62 [[ 2.74035907e-01 -9.61126027e-01 3.37799135e-02 4.27673759e+02] [ 9.53214267e-01 2.76105822e-01 1.23077765e-01 -1.70836752e+02] [-1.27620074e-01 -1.52823146e-03 9.91821950e-01 -9.33618937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.68, Y:-170.81, Z:-933.62 [[ 2.72311758e-01 -9.61620167e-01 3.36594908e-02 4.27682446e+02] [ 9.53750745e-01 2.74380907e-01 1.22778802e-01 -1.70811321e+02] [-1.27302094e-01 -1.33134702e-03 9.91863098e-01 -9.33622410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.69, Y:-170.78, Z:-933.63 [[ 2.71256319e-01 -9.61920746e-01 3.35929792e-02 4.27690700e+02] [ 9.54073494e-01 2.73325829e-01 1.22624464e-01 -1.70784302e+02] [-1.27136845e-01 -1.21248978e-03 9.91884445e-01 -9.33626219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.70, Y:-170.76, Z:-933.63 [[ 2.70136773e-01 -9.62235469e-01 3.36009981e-02 4.27698645e+02] [ 9.54369395e-01 2.72216253e-01 1.22789941e-01 -1.70757949e+02] [-1.27299574e-01 -1.10231421e-03 9.91863702e-01 -9.33629962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.71, Y:-170.73, Z:-933.63 [[ 2.69018123e-01 -9.62549893e-01 3.35701328e-02 4.27706701e+02] [ 9.54683273e-01 2.71102792e-01 1.22813377e-01 -1.70731180e+02] [-1.27314960e-01 -9.90179847e-04 9.91861846e-01 -9.33633616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.71, Y:-170.70, Z:-933.64 [[ 2.68091933e-01 -9.62807444e-01 3.35937631e-02 4.27714739e+02] [ 9.54914169e-01 2.70186981e-01 1.23036275e-01 -1.70704960e+02] [-1.27536839e-01 -9.05872488e-04 9.91833421e-01 -9.33637118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.72, Y:-170.68, Z:-933.64 [[ 2.67148891e-01 -9.63067089e-01 3.36638126e-02 4.27722473e+02] [ 9.55125197e-01 2.69260299e-01 1.23429129e-01 -1.70678688e+02] [-1.27934860e-01 -8.20799308e-04 9.91782233e-01 -9.33641072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.73, Y:-170.65, Z:-933.65 [[ 2.65299796e-01 -9.63576095e-01 3.37213345e-02 4.27730871e+02] [ 9.55593258e-01 2.67433604e-01 1.23777189e-01 -1.70652302e+02] [-1.28286959e-01 -6.14183098e-04 9.91736900e-01 -9.33645377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.74, Y:-170.63, Z:-933.65 [[ 2.63506885e-01 -9.64075780e-01 3.34964506e-02 4.27738348e+02] [ 9.56185849e-01 2.65627043e-01 1.23088975e-01 -1.70625925e+02] [-1.27564663e-01 -4.05960336e-04 9.91830173e-01 -9.33649202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.75, Y:-170.60, Z:-933.65 [[ 2.63003391e-01 -9.64204131e-01 3.37581126e-02 4.27746568e+02] [ 9.56173299e-01 2.65160795e-01 1.24186858e-01 -1.70600538e+02] [-1.28692810e-01 -3.82958910e-04 9.91684433e-01 -9.33653556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.76, Y:-170.58, Z:-933.66 [[ 2.62168577e-01 -9.64438768e-01 3.35484866e-02 4.27755055e+02] [ 9.56493001e-01 2.64306211e-01 1.23544994e-01 -1.70575108e+02] [-1.28018655e-01 -3.00722608e-04 9.91771715e-01 -9.33657791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.76, Y:-170.55, Z:-933.66 [[ 2.62002431e-01 -9.64488993e-01 3.34022376e-02 4.27762963e+02] [ 9.56597453e-01 2.64122867e-01 1.23127675e-01 -1.70548720e+02] [-1.27577582e-01 -3.07254766e-04 9.91828547e-01 -9.33661962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.77, Y:-170.52, Z:-933.67 [[ 2.62025576e-01 -9.64488258e-01 3.32414965e-02 4.27770528e+02] [ 9.56655020e-01 2.64125504e-01 1.22673920e-01 -1.70523138e+02] [-1.27097483e-01 -3.43060158e-04 9.91890172e-01 -9.33665687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.78, Y:-170.50, Z:-933.67 [[ 2.62211935e-01 -9.64439458e-01 3.31878373e-02 4.27777983e+02] [ 9.56618935e-01 2.64303572e-01 1.22571759e-01 -1.70496879e+02] [-1.26984705e-01 -3.91664632e-04 9.91904598e-01 -9.33669684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.79, Y:-170.47, Z:-933.67 [[ 2.62663231e-01 -9.64319075e-01 3.31171841e-02 4.27785117e+02] [ 9.56513424e-01 2.64742300e-01 1.22448292e-01 -1.70470631e+02] [-1.26846743e-01 -4.85633020e-04 9.91922209e-01 -9.33673529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.79, Y:-170.44, Z:-933.68 [[ 2.63506520e-01 -9.64090967e-01 3.30593543e-02 4.27792613e+02] [ 9.56298793e-01 2.65571503e-01 1.22329051e-01 -1.70443432e+02] [-1.26715955e-01 -6.19881867e-04 9.91938850e-01 -9.33677526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.80, Y:-170.42, Z:-933.68 [[ 2.65750071e-01 -9.63469851e-01 3.32076349e-02 4.27799593e+02] [ 9.55585179e-01 2.67815104e-01 1.23012344e-01 -1.70416534e+02] [-1.27412191e-01 -9.57815363e-04 9.91849392e-01 -9.33681034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.81, Y:-170.39, Z:-933.68 [[ 2.65498554e-01 -9.63540387e-01 3.31729040e-02 4.27806907e+02] [ 9.55655094e-01 2.67561211e-01 1.23021709e-01 -1.70389191e+02] [-1.27412167e-01 -9.60231081e-04 9.91849393e-01 -9.33684990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.81, Y:-170.36, Z:-933.69 [[ 2.66728801e-01 -9.63197274e-01 3.32679752e-02 4.27813542e+02] [ 9.55247067e-01 2.68792966e-01 1.23504586e-01 -1.70362886e+02] [-1.27901478e-01 -1.16309439e-03 9.91786196e-01 -9.33689170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.82, Y:-170.34, Z:-933.69 [[ 2.67976223e-01 -9.62849037e-01 3.33238071e-02 4.27820440e+02] [ 9.54853353e-01 2.70036789e-01 1.23835400e-01 -1.70335728e+02] [-1.28233450e-01 -1.36559388e-03 9.91743070e-01 -9.33693350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:427.83, Y:-170.31, Z:-933.70 [[ 2.70218060e-01 -9.62225790e-01 3.32224280e-02 4.27827996e+02] [ 9.54256599e-01 2.72247419e-01 1.23594848e-01 -1.70309238e+02] [-1.27970870e-01 -1.69483886e-03 9.91776479e-01 -9.33697417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-170.28, Z:-933.70 [[ 2.71254258e-01 -9.61941130e-01 3.30210568e-02 4.27835762e+02] [ 9.54049114e-01 2.73250470e-01 1.22981581e-01 -1.70282536e+02] [-1.27324061e-01 -1.85556752e-03 9.91859436e-01 -9.33700801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-170.26, Z:-933.71 [[ 2.71797892e-01 -9.61789380e-01 3.29711096e-02 4.27843082e+02] [ 9.53902752e-01 2.73783384e-01 1.22931686e-01 -1.70255666e+02] [-1.27261332e-01 -1.96134094e-03 9.91867283e-01 -9.33705066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.1965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.85, Y:-170.23, Z:-933.71 [[ 2.72342541e-01 -9.61636719e-01 3.29296498e-02 4.27850093e+02] [ 9.53751433e-01 2.74318329e-01 1.22913213e-01 -1.70230066e+02] [-1.27231066e-01 -2.06779612e-03 9.91870949e-01 -9.33708958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:427.86, Y:-170.20, Z:-933.71 [[ 2.72938433e-01 -9.61470373e-01 3.28532115e-02 4.27857167e+02] [ 9.53602070e-01 2.74899922e-01 1.22772657e-01 -1.70203432e+02] [-1.27073618e-01 -2.18048629e-03 9.91890892e-01 -9.33712513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-170.18, Z:-933.72 [[ 2.74278980e-01 -9.61079677e-01 3.31194204e-02 4.27863654e+02] [ 9.53061693e-01 2.76260737e-01 1.23908894e-01 -1.70176274e+02] [-1.28235915e-01 -2.42075418e-03 9.91740737e-01 -9.33716490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.87, Y:-170.15, Z:-933.72 [[ 2.74529664e-01 -9.61001350e-01 3.33146897e-02 4.27870260e+02] [ 9.52868719e-01 2.76532263e-01 1.24784266e-01 -1.70149928e+02] [-1.29130434e-01 -2.51245686e-03 9.91624434e-01 -9.33720151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.88, Y:-170.12, Z:-933.72 [[ 2.74481885e-01 -9.61001863e-01 3.36914502e-02 4.27877637e+02] [ 9.52666216e-01 2.76529882e-01 1.26326191e-01 -1.70122987e+02] [-1.30716397e-01 -2.57754470e-03 9.91416451e-01 -9.33723157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.88, Y:-170.10, Z:-933.73 [[ 2.74053682e-01 -9.61125432e-01 3.36523785e-02 4.27884551e+02] [ 9.52791079e-01 2.76100291e-01 1.26324143e-01 -1.70097188e+02] [-1.30704778e-01 -2.55591048e-03 9.91418039e-01 -9.33726508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-170.07, Z:-933.73 [[ 2.72660490e-01 -9.61524800e-01 3.35606369e-02 4.27891638e+02] [ 9.53222321e-01 2.74707718e-01 1.26106608e-01 -1.70071829e+02] [-1.30473997e-01 -2.39354128e-03 9.91448843e-01 -9.33730972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.90, Y:-170.05, Z:-933.73 [[ 2.71358233e-01 -9.61896898e-01 3.34524652e-02 4.27898949e+02] [ 9.53631365e-01 2.73403184e-01 1.25848794e-01 -1.70045511e+02] [-1.30199575e-01 -2.24878640e-03 9.91485256e-01 -9.33734968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4365599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.91, Y:-170.02, Z:-933.74 [[ 2.69859311e-01 -9.62322185e-01 3.33461313e-02 4.27906168e+02] [ 9.54093942e-01 2.71903844e-01 1.25590805e-01 -1.70019034e+02] [-1.29925759e-01 -2.07650634e-03 9.91521551e-01 -9.33739299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.91, Y:-169.99, Z:-933.74 [[ 2.68364797e-01 -9.62741850e-01 3.32936240e-02 4.27913038e+02] [ 9.54523688e-01 2.70415382e-01 1.25539036e-01 -1.69993187e+02] [-1.29864792e-01 -1.91070520e-03 9.91529871e-01 -9.33743449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.92, Y:-169.97, Z:-933.75 [[ 2.66610196e-01 -9.63229250e-01 3.32928751e-02 4.27920296e+02] [ 9.54998200e-01 2.68675438e-01 1.25666014e-01 -1.69966276e+02] [-1.29990158e-01 -1.70920476e-03 9.91513811e-01 -9.33747369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.93, Y:-169.94, Z:-933.75 [[ 2.64890998e-01 -9.63703292e-01 3.32975112e-02 4.27927566e+02] [ 9.55454725e-01 2.66971283e-01 1.25827672e-01 -1.69939183e+02] [-1.30150021e-01 -1.51635318e-03 9.91493153e-01 -9.33751144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.93, Y:-169.91, Z:-933.76 [[ 2.63156329e-01 -9.64176425e-01 3.33551861e-02 4.27934680e+02] [ 9.55883728e-01 2.65258493e-01 1.26191250e-01 -1.69912437e+02] [-1.30518374e-01 -1.32434642e-03 9.91445006e-01 -9.33755052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.94, Y:-169.89, Z:-933.76 [[ 2.60053595e-01 -9.65023018e-01 3.32069563e-02 4.27941914e+02] [ 9.56791955e-01 2.62163494e-01 1.25775421e-01 -1.69885957e+02] [-1.30081828e-01 -9.36201649e-04 9.91502820e-01 -9.33758426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.95, Y:-169.86, Z:-933.76 [[ 2.58400027e-01 -9.65472558e-01 3.30479354e-02 4.27949250e+02] [ 9.57305165e-01 2.60503713e-01 1.25318143e-01 -1.69860216e+02] [-1.29600338e-01 -7.45252241e-04 9.91566033e-01 -9.33761594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.96, Y:-169.83, Z:-933.77 [[ 2.56901983e-01 -9.65875448e-01 3.29543577e-02 4.27956852e+02] [ 9.57740961e-01 2.59006349e-01 1.25091822e-01 -1.69833117e+02] [-1.29358508e-01 -5.74599017e-04 9.91597724e-01 -9.33765310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.96, Y:-169.81, Z:-933.77 [[ 2.55270172e-01 -9.66316573e-01 3.27019933e-02 4.27963891e+02] [ 9.58291995e-01 2.57356042e-01 1.24275176e-01 -1.69805897e+02] [-1.28505218e-01 -3.85687140e-04 9.91708758e-01 -9.33769350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.97, Y:-169.78, Z:-933.77 [[ 2.52843227e-01 -9.66963789e-01 3.24242669e-02 4.27969664e+02] [ 9.59062795e-01 2.54913754e-01 1.23359370e-01 -1.69778395e+02] [-1.27549435e-01 -9.36731005e-05 9.91832210e-01 -9.33774894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.736559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:427.98, Y:-169.75, Z:-933.78 [[ 2.51625583e-01 -9.67285569e-01 3.22985203e-02 4.27975899e+02] [ 9.59430280e-01 2.53690023e-01 1.23024026e-01 -1.69751868e+02] [-1.27193177e-01 3.21860960e-05 9.91877964e-01 -9.33779060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.98, Y:-169.73, Z:-933.78 [[ 2.49173117e-01 -9.67912672e-01 3.25240903e-02 4.27982131e+02] [ 9.59935512e-01 2.51286601e-01 1.24011523e-01 -1.69725573e+02] [-1.28205192e-01 3.20691589e-04 9.91747612e-01 -9.33782632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.99, Y:-169.70, Z:-933.79 [[ 2.47490315e-01 -9.68337712e-01 3.27203262e-02 4.27988525e+02] [ 9.60247586e-01 2.49643386e-01 1.24910980e-01 -1.69698559e+02] [-1.29124425e-01 5.05356593e-04 9.91628271e-01 -9.33786376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.99, Y:-169.67, Z:-933.79 [[ 2.45612713e-01 -9.68808253e-01 3.29388076e-02 4.27994674e+02] [ 9.60594679e-01 2.47810512e-01 1.25888100e-01 -1.69672814e+02] [-1.30124013e-01 7.21125529e-04 9.91497464e-01 -9.33789739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:-169.65, Z:-933.79 [[ 2.43102264e-01 -9.69435570e-01 3.31053507e-02 4.28001155e+02] [ 9.61123955e-01 2.45343899e-01 1.26677205e-01 -1.69646046e+02] [-1.30927584e-01 1.02283025e-03 9.91391407e-01 -9.33793078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.01, Y:-169.62, Z:-933.80 [[ 2.40766149e-01 -9.70014256e-01 3.32265737e-02 4.28007991e+02] [ 9.61627895e-01 2.43044519e-01 1.27283752e-01 -1.69618963e+02] [-1.31542591e-01 1.30598132e-03 9.91309660e-01 -9.33796405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.01, Y:-169.59, Z:-933.80 [[ 2.35984198e-01 -9.71179281e-01 3.35001971e-02 4.28014417e+02] [ 9.62645781e-01 2.38342355e-01 1.28475770e-01 -1.69592953e+02] [-1.32757522e-01 1.93057173e-03 9.91146666e-01 -9.33799862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.02, Y:-169.57, Z:-933.80 [[ 2.33651362e-01 -9.71738116e-01 3.36463326e-02 4.28020594e+02] [ 9.63114833e-01 2.36051065e-01 1.29188672e-01 -1.69566955e+02] [-1.33479809e-01 2.22017291e-03 9.91049046e-01 -9.33803418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:-169.54, Z:-933.81 [[ 2.31517853e-01 -9.72244147e-01 3.37757745e-02 4.28026885e+02] [ 9.63538900e-01 2.33955434e-01 1.29836989e-01 -1.69539337e+02] [-1.34135279e-01 2.48469178e-03 9.90959915e-01 -9.33807061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:-169.51, Z:-933.81 [[ 2.29956291e-01 -9.72611346e-01 3.38714387e-02 4.28032752e+02] [ 9.63841131e-01 2.32422088e-01 1.30346640e-01 -1.69512447e+02] [-1.34649092e-01 2.67265586e-03 9.90889741e-01 -9.33811008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.04, Y:-169.48, Z:-933.81 [[ 2.28749054e-01 -9.72897779e-01 3.38198562e-02 4.28037231e+02] [ 9.64138419e-01 2.31218623e-01 1.30288361e-01 -1.69484463e+02] [-1.34577038e-01 2.80368325e-03 9.90899168e-01 -9.33814785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.04, Y:-169.46, Z:-933.82 [[ 2.28581448e-01 -9.72938449e-01 3.37830614e-02 4.28044267e+02] [ 9.64178128e-01 2.31047601e-01 1.30297901e-01 -1.69457076e+02] [-1.34577333e-01 2.78920591e-03 9.90899168e-01 -9.33818738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.05, Y:-169.43, Z:-933.82 [[ 2.29834322e-01 -9.72644896e-01 3.37356010e-02 4.28047666e+02] [ 9.63893770e-01 2.32282563e-01 1.30206037e-01 -1.69429140e+02] [-1.34480429e-01 2.59171946e-03 9.90912861e-01 -9.33823225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.05, Y:-169.40, Z:-933.83 [[ 2.31051776e-01 -9.72359129e-01 3.36570978e-02 4.28052874e+02] [ 9.63625582e-01 2.33478137e-01 1.30052675e-01 -1.69401491e+02] [-1.34316102e-01 2.38393890e-03 9.90935670e-01 -9.33827343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:-169.37, Z:-933.83 [[ 2.32598342e-01 -9.71989683e-01 3.36759160e-02 4.28058099e+02] [ 9.63221985e-01 2.35013821e-01 1.30276291e-01 -1.69373724e+02] [-1.34541517e-01 2.13533338e-03 9.90905657e-01 -9.33831499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:-169.35, Z:-933.83 [[ 2.36764936e-01 -9.70978613e-01 3.38067943e-02 4.28061150e+02] [ 9.62110920e-01 2.39161472e-01 1.30936508e-01 -1.69346555e+02] [-1.35221832e-01 1.52471192e-03 9.90814176e-01 -9.33834685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:-169.32, Z:-933.84 [[ 2.39206591e-01 -9.70018408e-01 4.29475899e-02 4.28063777e+02] [ 9.61160372e-01 2.42829580e-01 1.31166062e-01 -1.69315941e+02] [-1.37662440e-01 9.90373488e-03 9.90429689e-01 -9.33844970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.07, Y:-169.29, Z:-933.84 [[ 2.45465795e-01 -9.69048154e-01 2.63100657e-02 4.28071896e+02] [ 9.59844175e-01 2.46757687e-01 1.33453378e-01 -1.69290773e+02] [-1.35814961e-01 -7.50467624e-03 9.90705797e-01 -9.33839126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.07, Y:-169.26, Z:-933.85 [[ 2.52787383e-01 -9.66934557e-01 3.37061031e-02 4.28069335e+02] [ 9.58021737e-01 2.55023311e-01 1.30986495e-01 -1.69262507e+02] [-1.35251210e-01 -8.20553731e-04 9.90811000e-01 -9.33845896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.07, Y:-169.23, Z:-933.85 [[ 2.56103839e-01 -9.66066473e-01 3.35617752e-02 4.28073246e+02] [ 9.57201124e-01 2.58290211e-01 1.30583980e-01 -1.69234906e+02] [-1.34821483e-01 -1.31768973e-03 9.90869028e-01 -9.33849920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.336559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:428.08, Y:-169.21, Z:-933.85 [[ 2.59218374e-01 -9.65239767e-01 3.34369149e-02 4.28077303e+02] [ 9.56413266e-01 2.61359929e-01 1.30248427e-01 -1.69207197e+02] [-1.34460031e-01 -1.78327642e-03 9.90917413e-01 -9.33854009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.08, Y:-169.18, Z:-933.86 [[ 2.61868827e-01 -9.64525330e-01 3.34006746e-02 4.28081671e+02] [ 9.55691681e-01 2.63981234e-01 1.30258661e-01 -1.69179258e+02] [-1.34454929e-01 -2.18993599e-03 9.90917290e-01 -9.33858267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.08, Y:-169.15, Z:-933.86 [[ 2.65837465e-01 -9.63446731e-01 3.31789013e-02 4.28083722e+02] [ 9.54701404e-01 2.67885733e-01 1.29547150e-01 -1.69151903e+02] [-1.33699933e-01 -2.76254244e-03 9.91018010e-01 -9.33861959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:-169.13, Z:-933.87 [[ 2.66700016e-01 -9.63211161e-01 3.30962254e-02 4.28088451e+02] [ 9.54493877e-01 2.68730051e-01 1.29327489e-01 -1.69125704e+02] [-1.33463632e-01 -2.90149901e-03 9.91049464e-01 -9.33865684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:-169.10, Z:-933.87 [[ 2.66836849e-01 -9.63175207e-01 3.30396269e-02 4.28093530e+02] [ 9.54473286e-01 2.68858435e-01 1.29212569e-01 -1.69099170e+02] [-1.33337325e-01 -2.94323333e-03 9.91066343e-01 -9.33869323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.10, Y:-169.07, Z:-933.87 [[ 2.66615394e-01 -9.63238951e-01 3.29689989e-02 4.28099044e+02] [ 9.54553979e-01 2.68629927e-01 1.29091689e-01 -1.69072333e+02] [-1.33202603e-01 -2.94714251e-03 9.91084447e-01 -9.33872899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.10, Y:-169.05, Z:-933.88 [[ 2.65138886e-01 -9.63644984e-01 3.30108384e-02 4.28103188e+02] [ 9.54920540e-01 2.67171426e-01 1.29407077e-01 -1.69045636e+02] [-1.33522034e-01 -2.78812068e-03 9.91041923e-01 -9.33876252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.11, Y:-169.02, Z:-933.88 [[ 2.62859402e-01 -9.64271252e-01 3.29528138e-02 4.28107846e+02] [ 9.55568016e-01 2.64905125e-01 1.29286666e-01 -1.69018155e+02] [-1.33396784e-01 -2.49556068e-03 9.91059570e-01 -9.33879963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.11, Y:-168.99, Z:-933.88 [[ 2.60234943e-01 -9.64985354e-01 3.28791896e-02 4.28111564e+02] [ 9.56305618e-01 2.62294808e-01 1.29154938e-01 -1.68991256e+02] [-1.33256665e-01 -2.16807434e-03 9.91079190e-01 -9.33884425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.12, Y:-168.96, Z:-933.89 [[ 2.59981291e-01 -9.65054568e-01 3.28543567e-02 4.28118479e+02] [ 9.56374586e-01 2.62040114e-01 1.29161255e-01 -1.68963824e+02] [-1.33256818e-01 -2.15843806e-03 9.91079190e-01 -9.33888385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.12, Y:-168.94, Z:-933.89 [[ 2.58739007e-01 -9.65390946e-01 3.27787656e-02 4.28123829e+02] [ 9.56734565e-01 2.60799247e-01 1.29006690e-01 -1.68936627e+02] [-1.33090568e-01 -2.01848503e-03 9.91101825e-01 -9.33893198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.13, Y:-168.91, Z:-933.90 [[ 2.58484559e-01 -9.65460353e-01 3.27420294e-02 4.28130736e+02] [ 9.56803347e-01 2.60542172e-01 1.29016013e-01 -1.68909193e+02] [-1.33090525e-01 -2.02096393e-03 9.91101825e-01 -9.33897154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.13, Y:-168.88, Z:-933.91 [[ 2.57350260e-01 -9.65368520e-01 4.28306559e-02 4.28132327e+02] [ 9.57106330e-01 2.60752010e-01 1.26316520e-01 -1.68879211e+02] [-1.33110172e-01 8.48590249e-03 9.91064918e-01 -9.33908290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.15, Y:-168.86, Z:-933.90 [[ 2.55393151e-01 -9.66574145e-01 2.25557317e-02 4.28146556e+02] [ 9.58031434e-01 2.56139676e-01 1.28717667e-01 -1.68855338e+02] [-1.30192587e-01 -1.12645105e-02 9.91424733e-01 -9.33903146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.15, Y:-168.83, Z:-933.91 [[ 2.52962572e-01 -9.66961132e-01 3.15611731e-02 4.28147585e+02] [ 9.58889736e-01 2.54920656e-01 1.24683336e-01 -1.68828757e+02] [-1.28609535e-01 -1.27653246e-03 9.91694488e-01 -9.33910372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.15, Y:-168.80, Z:-933.91 [[ 2.51463483e-01 -9.67359463e-01 3.13334778e-02 4.28154335e+02] [ 9.59390729e-01 2.53405727e-01 1.23915163e-01 -1.68802173e+02] [-1.27810588e-01 -1.09909042e-03 9.91797986e-01 -9.33914012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.16, Y:-168.78, Z:-933.92 [[ 2.48680801e-01 -9.68085036e-01 3.11323439e-02 4.28161194e+02] [ 9.60205705e-01 2.50620801e-01 1.23264835e-01 -1.68775651e+02] [-1.27133255e-01 -7.60143657e-04 9.91885355e-01 -9.33918023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:428.17, Y:-168.75, Z:-933.92 [[ 2.47355991e-01 -9.68429608e-01 3.09694663e-02 4.28167603e+02] [ 9.60616939e-01 2.49286408e-01 1.22765565e-01 -1.68750052e+02] [-1.26610075e-01 -6.17004122e-04 9.91952372e-01 -9.33921779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.876559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:428.17, Y:-168.72, Z:-933.93 [[ 2.47106060e-01 -9.68494395e-01 3.09386952e-02 4.28174455e+02] [ 9.60681260e-01 2.49034593e-01 1.22773319e-01 -1.68722607e+02] [-1.26610077e-01 -6.15806508e-04 9.91952373e-01 -9.33925738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:428.18, Y:-168.70, Z:-933.93 [[ 2.46856099e-01 -9.68559156e-01 3.09067494e-02 4.28181300e+02] [ 9.60745521e-01 2.48782599e-01 1.22781360e-01 -1.68695160e+02] [-1.26610072e-01 -6.15806483e-04 9.91952373e-01 -9.33929696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.19, Y:-168.67, Z:-933.93 [[ 2.45267990e-01 -9.68968715e-01 3.07122468e-02 4.28188525e+02] [ 9.61239893e-01 2.47183007e-01 1.22141024e-01 -1.68668584e+02] [-1.25942376e-01 -4.35446467e-04 9.92037463e-01 -9.33933224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.19, Y:-168.64, Z:-933.94 [[ 2.44662195e-01 -9.69122909e-01 3.06789590e-02 4.28194949e+02] [ 9.61393496e-01 2.46577847e-01 1.22155279e-01 -1.68642972e+02] [-1.25948231e-01 -3.92227007e-04 9.92036738e-01 -9.33936636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.20, Y:-168.62, Z:-933.94 [[ 2.44261721e-01 -9.69221349e-01 3.07601689e-02 4.28201859e+02] [ 9.61435054e-01 2.46190650e-01 1.22608326e-01 -1.68615516e+02] [-1.26407473e-01 -3.74615990e-04 9.91978332e-01 -9.33940454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.21, Y:-168.59, Z:-933.94 [[ 2.44023513e-01 -9.69276629e-01 3.09086051e-02 4.28208376e+02] [ 9.61395744e-01 2.45972901e-01 1.23351350e-01 -1.68589257e+02] [-1.27164260e-01 -3.85228350e-04 9.91881597e-01 -9.33944161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.22, Y:-168.56, Z:-933.95 [[ 2.44065898e-01 -9.69266274e-01 3.08986747e-02 4.28215089e+02] [ 9.61373157e-01 2.46013640e-01 1.23446115e-01 -1.68563586e+02] [-1.27253651e-01 -4.23830374e-04 9.91870117e-01 -9.33947435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.22, Y:-168.54, Z:-933.95 [[ 2.44281455e-01 -9.69211753e-01 3.09054728e-02 4.28222087e+02] [ 9.61297900e-01 2.46228232e-01 1.23604231e-01 -1.68537112e+02] [-1.27408474e-01 -4.84855354e-04 9.91850213e-01 -9.33951047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.23, Y:-168.51, Z:-933.95 [[ 2.45043523e-01 -9.69020493e-01 3.08699745e-02 4.28228643e+02] [ 9.61104456e-01 2.46979551e-01 1.23609568e-01 -1.68511273e+02] [-1.27404457e-01 -6.20453975e-04 9.91850654e-01 -9.33954345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.24, Y:-168.48, Z:-933.96 [[ 2.45676479e-01 -9.68859763e-01 3.08840942e-02 4.28235511e+02] [ 9.60918455e-01 2.47609000e-01 1.23796225e-01 -1.68484708e+02] [-1.27588361e-01 -7.36724593e-04 9.91826934e-01 -9.33958510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.24, Y:-168.46, Z:-933.96 [[ 2.46262289e-01 -9.68712898e-01 3.08254362e-02 4.28242032e+02] [ 9.60781375e-01 2.48182597e-01 1.23711556e-01 -1.68458897e+02] [-1.27491317e-01 -8.48985908e-04 9.91839323e-01 -9.33962389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.25, Y:-168.43, Z:-933.97 [[ 2.48056328e-01 -9.68253404e-01 3.08772416e-02 4.28248857e+02] [ 9.60274258e-01 2.49968174e-01 1.24053465e-01 -1.68432393e+02] [-1.27833517e-01 -1.12162678e-03 9.91795006e-01 -9.33966052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.24, Y:-168.40, Z:-933.99 [[ 2.47194090e-01 -9.67434103e-01 5.44641055e-02 4.28242529e+02] [ 9.59810280e-01 2.52179942e-01 1.23164540e-01 -1.68403667e+02] [-1.32888331e-01 2.18296619e-02 9.90890588e-01 -9.33985176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.27, Y:-168.38, Z:-933.97 [[ 2.50342413e-01 -9.68118773e-01 8.64390531e-03 4.28273595e+02] [ 9.59608929e-01 2.49305930e-01 1.30373531e-01 -1.68381195e+02] [-1.28372039e-01 -2.43432555e-02 9.91427267e-01 -9.33966460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.27, Y:-168.35, Z:-933.98 [[ 2.50321708e-01 -9.67666955e-01 3.09791314e-02 4.28268942e+02] [ 9.59577495e-01 2.52226724e-01 1.24870776e-01 -1.68351928e+02] [-1.28647088e-01 -1.53098868e-03 9.91689257e-01 -9.33977553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.26, Y:-168.32, Z:-934.00 [[ 2.48848140e-01 -9.67063473e-01 5.35055403e-02 4.28262776e+02] [ 9.59067295e-01 2.53745797e-01 1.25709962e-01 -1.68324972e+02] [-1.35146318e-01 2.00327237e-02 9.90623119e-01 -9.33996668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.28, Y:-168.30, Z:-933.99 [[ 2.49807056e-01 -9.67915242e-01 2.71388841e-02 4.28284965e+02] [ 9.59053139e-01 2.51188651e-01 1.30848534e-01 -1.68298262e+02] [-1.33467270e-01 -6.65925501e-03 9.91030848e-01 -9.33990590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.30, Y:-168.27, Z:-933.98 [[ 2.51982054e-01 -9.67623988e-01 1.44520538e-02 4.28299194e+02] [ 9.59061572e-01 2.51691183e-01 1.29816984e-01 -1.68272445e+02] [-1.29251482e-01 -1.88511409e-02 9.91432645e-01 -9.33983652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.29, Y:-168.24, Z:-934.00 [[ 2.50181664e-01 -9.67047664e-01 4.72011754e-02 4.28288432e+02] [ 9.58978558e-01 2.54216583e-01 1.25435464e-01 -1.68243748e+02] [-1.33301394e-01 1.38832620e-02 9.90978301e-01 -9.34004235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:428.31, Y:-168.22, Z:-933.99 [[ 2.51851767e-01 -9.67646658e-01 1.51866225e-02 4.28313157e+02] [ 9.59284881e-01 2.51686896e-01 1.28164831e-01 -1.68219602e+02] [-1.27840544e-01 -1.77102418e-02 9.91636598e-01 -9.33992307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.31, Y:-168.19, Z:-934.01 [[ 2.49875976e-01 -9.67389349e-01 4.14710150e-02 4.28306363e+02] [ 9.59508300e-01 2.53136930e-01 1.23553698e-01 -1.68191092e+02] [-1.30022377e-01 8.91868222e-03 9.91470947e-01 -9.34008900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.33, Y:-168.17, Z:-934.00 [[ 2.51130356e-01 -9.67750920e-01 1.97914365e-02 4.28326072e+02] [ 9.59656455e-01 2.51597109e-01 1.25532396e-01 -1.68165873e+02] [-1.26463560e-01 -1.25320156e-02 9.91892089e-01 -9.34001324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.536559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:428.33, Y:-168.14, Z:-934.01 [[ 2.50613141e-01 -9.67612366e-01 3.03209938e-02 4.28328509e+02] [ 9.59766014e-01 2.52434837e-01 1.22987205e-01 -1.68138183e+02] [-1.26658016e-01 -1.72115042e-03 9.91944951e-01 -9.34008633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.34, Y:-168.11, Z:-934.01 [[ 2.49979807e-01 -9.67774017e-01 3.03899526e-02 4.28336282e+02] [ 9.59874067e-01 2.51814671e-01 1.23414533e-01 -1.68111034e+02] [-1.27090014e-01 -1.68061358e-03 9.91889764e-01 -9.34012215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.34, Y:-168.08, Z:-934.02 [[ 2.49559297e-01 -9.67870412e-01 3.07737543e-02 4.28344748e+02] [ 9.59749909e-01 2.51443846e-01 1.25124359e-01 -1.68084391e+02] [-1.28842036e-01 -1.69083922e-03 9.91663688e-01 -9.34015099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.35, Y:-168.06, Z:-934.02 [[ 2.49316584e-01 -9.67930621e-01 3.08472652e-02 4.28351828e+02] [ 9.59751568e-01 2.51211890e-01 1.25576724e-01 -1.68058643e+02] [-1.29298756e-01 -1.70264860e-03 9.91604222e-01 -9.34018581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.36, Y:-168.03, Z:-934.02 [[ 2.49173914e-01 -9.67964286e-01 3.09435215e-02 4.28359024e+02] [ 9.59716345e-01 2.51081990e-01 1.26104608e-01 -1.68031726e+02] [-1.29834117e-01 -1.72497538e-03 9.91534229e-01 -9.34022582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:428.37, Y:-168.01, Z:-934.03 [[ 2.49209436e-01 -9.67951152e-01 3.10680518e-02 4.28367044e+02] [ 9.59615470e-01 2.51132240e-01 1.26770455e-01 -1.68005887e+02] [-1.30509797e-01 -1.77901038e-03 9.91445424e-01 -9.34026597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.37, Y:-167.98, Z:-934.03 [[ 2.48912612e-01 -9.68026774e-01 3.10914110e-02 4.28374858e+02] [ 9.59660594e-01 2.50840606e-01 1.27006045e-01 -1.67979170e+02] [-1.30744241e-01 -1.77620456e-03 9.91414539e-01 -9.34030100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.38, Y:-167.95, Z:-934.03 [[ 2.48468164e-01 -9.68135609e-01 3.12572195e-02 4.28382683e+02] [ 9.59659102e-01 2.50420273e-01 1.27844027e-01 -1.67952298e+02] [-1.31597797e-01 -1.76889552e-03 9.91301615e-01 -9.34034058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.39, Y:-167.93, Z:-934.04 [[ 2.48029518e-01 -9.68246132e-01 3.13175052e-02 4.28390181e+02] [ 9.59716294e-01 2.49992702e-01 1.28250862e-01 -1.67926135e+02] [-1.32007549e-01 -1.75407951e-03 9.91247159e-01 -9.34037775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-167.90, Z:-934.04 [[ 2.47486762e-01 -9.68385247e-01 3.13099916e-02 4.28398705e+02] [ 9.59841561e-01 2.49453543e-01 1.28363187e-01 -1.67900258e+02] [-1.32115405e-01 -1.71555824e-03 9.91232857e-01 -9.34041200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.41, Y:-167.87, Z:-934.05 [[ 2.46961529e-01 -9.68518597e-01 3.13325907e-02 4.28406176e+02] [ 9.59944706e-01 2.48935538e-01 1.28597279e-01 -1.67873092e+02] [-1.32348651e-01 -1.68102609e-03 9.91201800e-01 -9.34045486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:-167.85, Z:-934.05 [[ 2.46488396e-01 -9.68770627e-01 2.69618706e-02 4.28417562e+02] [ 9.60224979e-01 2.47891003e-01 1.28522527e-01 -1.67845963e+02] [-1.31192455e-01 -5.78985002e-03 9.91340011e-01 -9.34047312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.41, Y:-167.82, Z:-934.06 [[ 2.44959946e-01 -9.68500501e-01 4.47370595e-02 4.28413734e+02] [ 9.60095485e-01 2.48739678e-01 1.27848473e-01 -1.67819916e+02] [-1.34949192e-01 1.16340938e-02 9.90784217e-01 -9.34061502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.43, Y:-167.79, Z:-934.06 [[ 2.45384468e-01 -9.69171970e-01 2.21845684e-02 4.28433819e+02] [ 9.60306940e-01 2.46144025e-01 1.31239094e-01 -1.67792744e+02] [-1.32653850e-01 -1.09000402e-02 9.91102490e-01 -9.34055480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.44, Y:-167.77, Z:-934.06 [[ 2.45635007e-01 -9.68821681e-01 3.23727443e-02 4.28436264e+02] [ 9.60252284e-01 2.47758562e-01 1.28573892e-01 -1.67766408e+02] [-1.32585799e-01 -4.96247147e-04 9.91171408e-01 -9.34063259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:-167.74, Z:-934.07 [[ 2.45397270e-01 -9.68966773e-01 2.97249705e-02 4.28445225e+02] [ 9.60435920e-01 2.47173494e-01 1.28328123e-01 -1.67738530e+02] [-1.31692912e-01 -2.94244164e-03 9.91286194e-01 -9.34066098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:-167.71, Z:-934.07 [[ 2.46547471e-01 -9.68574647e-01 3.28252571e-02 4.28452812e+02] [ 9.60352427e-01 2.48722593e-01 1.25937635e-01 -1.67712239e+02] [-1.30144384e-01 4.74209807e-04 9.91494939e-01 -9.34072081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.46, Y:-167.69, Z:-934.08 [[ 2.46637608e-01 -9.68684317e-01 2.86458280e-02 4.28462551e+02] [ 9.60255070e-01 2.48264039e-01 1.27574168e-01 -1.67685486e+02] [-1.30690824e-01 -3.95728604e-03 9.91415276e-01 -9.34075352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.46, Y:-167.66, Z:-934.09 [[ 2.43441681e-01 -9.69051990e-01 4.09192956e-02 4.28459856e+02] [ 9.60771375e-01 2.46711336e-01 1.26696026e-01 -1.67660538e+02] [-1.32870290e-01 8.47099440e-03 9.91097235e-01 -9.34087306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.47, Y:-167.63, Z:-934.09 [[ 2.43607116e-01 -9.69369104e-01 3.12907726e-02 4.28472842e+02] [ 9.60814248e-01 2.45605376e-01 1.28506730e-01 -1.67633556e+02] [-1.32255636e-01 -1.24053381e-03 9.91214865e-01 -9.34088511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.48, Y:-167.61, Z:-934.09 [[ 2.42705615e-01 -9.69489097e-01 3.44220253e-02 4.28477892e+02] [ 9.61232631e-01 2.45122307e-01 1.26280970e-01 -1.67607040e+02] [-1.30865630e-01 2.43847354e-03 9.91397116e-01 -9.34094013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.50, Y:-167.58, Z:-934.09 [[ 2.45359073e-01 -9.69339769e-01 1.33916980e-02 4.28502175e+02] [ 9.60685577e-01 2.44973584e-01 1.30656673e-01 -1.67579253e+02] [-1.29931322e-01 -1.91925892e-02 9.91337226e-01 -9.34085828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.50, Y:-167.55, Z:-934.10 [[ 2.45323170e-01 -9.68958191e-01 3.06033815e-02 4.28500870e+02] [ 9.60593280e-01 2.47218288e-01 1.27057739e-01 -1.67552636e+02] [-1.30679353e-01 -1.77280476e-03 9.91423101e-01 -9.34095065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.50, Y:-167.53, Z:-934.11 [[ 2.41941474e-01 -9.69430021e-01 4.08626702e-02 4.28498959e+02] [ 9.60980561e-01 2.45227414e-01 1.27983893e-01 -1.67527820e+02] [-1.34092075e-01 8.30362005e-03 9.90934087e-01 -9.34105881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.52, Y:-167.50, Z:-934.10 [[ 2.45087427e-01 -9.69297132e-01 1.98802181e-02 4.28521601e+02] [ 9.60545971e-01 2.45553186e-01 1.30595064e-01 -1.67499997e+02] [-1.31467072e-01 -1.29113447e-02 9.91236453e-01 -9.34098097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.52, Y:-167.47, Z:-934.11 [[ 2.45954035e-01 -9.68797715e-01 3.06202627e-02 4.28523786e+02] [ 9.60377884e-01 2.47845136e-01 1.27464145e-01 -1.67472370e+02] [-1.31076056e-01 -1.94329761e-03 9.91370411e-01 -9.34106623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.53, Y:-167.45, Z:-934.11 [[ 2.46602115e-01 -9.68637574e-01 3.04737048e-02 4.28530467e+02] [ 9.60276191e-01 2.48469337e-01 1.27014278e-01 -1.67447043e+02] [-1.30602584e-01 -2.05881651e-03 9.91432664e-01 -9.34111407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.54, Y:-167.42, Z:-934.12 [[ 2.45262467e-01 -9.68997015e-01 2.98514282e-02 4.28535193e+02] [ 9.60705441e-01 2.47061247e-01 1.26514017e-01 -1.67421582e+02] [-1.29966836e-01 -2.35071064e-03 9.91515555e-01 -9.34116003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:-167.39, Z:-934.12 [[ 2.48569672e-01 -9.68168247e-01 2.93830686e-02 4.28545844e+02] [ 9.60087677e-01 2.50284365e-01 1.24857477e-01 -1.67393524e+02] [-1.28237167e-01 -2.82546006e-03 9.91739505e-01 -9.34119540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.56, Y:-167.37, Z:-934.12 [[ 2.49468258e-01 -9.68245040e-01 1.63441429e-02 4.28559860e+02] [ 9.60389400e-01 2.49537874e-01 1.24028422e-01 -1.67368257e+02] [-1.24168387e-01 -1.52444127e-02 9.92144052e-01 -9.34115323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.56, Y:-167.34, Z:-934.13 [[ 2.51348589e-01 -9.66997393e-01 4.17124484e-02 4.28555671e+02] [ 9.59521269e-01 2.54599279e-01 1.20408228e-01 -1.67339871e+02] [-1.27054402e-01 9.75954323e-03 9.91847736e-01 -9.34132266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.57, Y:-167.31, Z:-934.13 [[ 2.51306407e-01 -9.67458147e-01 2.94927601e-02 4.28569673e+02] [ 9.59551973e-01 2.53016398e-01 1.23461384e-01 -1.67313834e+02] [-1.26905873e-01 -2.72680065e-03 9.91911016e-01 -9.34132122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:-167.29, Z:-934.14 [[ 2.51187115e-01 -9.67491028e-01 2.94303365e-02 4.28577195e+02] [ 9.59598838e-01 2.52890455e-01 1.23355133e-01 -1.67287123e+02] [-1.26787635e-01 -2.74390317e-03 9.91926089e-01 -9.34135886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.59, Y:-167.26, Z:-934.14 [[ 2.50646471e-01 -9.67627068e-01 2.95669342e-02 4.28586743e+02] [ 9.59642129e-01 2.52369608e-01 1.24082894e-01 -1.67261475e+02] [-1.27527762e-01 -2.72726373e-03 9.91831252e-01 -9.34139413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.60, Y:-167.24, Z:-934.14 [[ 2.49447191e-01 -9.67928054e-01 2.98560231e-02 4.28596874e+02] [ 9.59765799e-01 2.51213660e-01 1.25464368e-01 -1.67235532e+02] [-1.28940723e-01 -2.64194440e-03 9.91648784e-01 -9.34142560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.60, Y:-167.21, Z:-934.15 [[ 2.48481130e-01 -9.68174481e-01 2.99216106e-02 4.28604871e+02] [ 9.59957283e-01 2.50263105e-01 1.25898349e-01 -1.67208867e+02] [-1.29379844e-01 -2.55989599e-03 9.91591803e-01 -9.34146181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.61, Y:-167.18, Z:-934.15 [[ 2.47540484e-01 -9.68413363e-01 2.99877968e-02 4.28612588e+02] [ 9.60140299e-01 2.49337929e-01 1.26337658e-01 -1.67182707e+02] [-1.29824171e-01 -2.48119274e-03 9.91533927e-01 -9.34150010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.62, Y:-167.16, Z:-934.15 [[ 2.46529382e-01 -9.68671743e-01 2.99719551e-02 4.28620517e+02] [ 9.60394648e-01 2.48333297e-01 1.26383124e-01 -1.67155517e+02] [-1.29866795e-01 -2.37224816e-03 9.91528612e-01 -9.34153875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.63, Y:-167.13, Z:-934.16 [[ 2.45386419e-01 -9.68965127e-01 2.98678316e-02 4.28627852e+02] [ 9.60727218e-01 2.47187226e-01 1.26101892e-01 -1.67129312e+02] [-1.29571283e-01 -2.24885306e-03 9.91567560e-01 -9.34157656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.63, Y:-167.10, Z:-934.16 [[ 2.44309404e-01 -9.69238065e-01 2.98410424e-02 4.28634579e+02] [ 9.60994588e-01 2.46115769e-01 1.26160335e-01 -1.67103306e+02] [-1.29623750e-01 -2.14507614e-03 9.91560932e-01 -9.34161715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:-167.08, Z:-934.17 [[ 2.43249328e-01 -9.69505888e-01 2.98009653e-02 4.28640451e+02] [ 9.61272069e-01 2.45059630e-01 1.26102286e-01 -1.67077599e+02] [-1.29559923e-01 -2.02746080e-03 9.91569522e-01 -9.34165680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:-167.05, Z:-934.17 [[ 2.42446848e-01 -9.69710684e-01 2.96768580e-02 4.28645879e+02] [ 9.61526014e-01 2.44248618e-01 1.25739160e-01 -1.67050832e+02] [-1.29179139e-01 -1.94999200e-03 9.91619356e-01 -9.34169793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:-167.02, Z:-934.17 [[ 2.42194513e-01 -9.69774821e-01 2.96414185e-02 4.28652317e+02] [ 9.61589611e-01 2.43993819e-01 1.25747514e-01 -1.67023267e+02] [-1.29179096e-01 -1.95247787e-03 9.91619357e-01 -9.34173739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.66, Y:-167.00, Z:-934.18 [[ 2.41568320e-01 -9.69934739e-01 2.95186412e-02 4.28657234e+02] [ 9.61799787e-01 2.43357787e-01 1.25372077e-01 -1.66996911e+02] [-1.28786324e-01 -1.89489913e-03 9.91670556e-01 -9.34177859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.66, Y:-166.97, Z:-934.18 [[ 2.41508401e-01 -9.69960400e-01 2.91635887e-02 4.28660795e+02] [ 9.61999962e-01 2.43255461e-01 1.24027634e-01 -1.66969039e+02] [-1.27396095e-01 -1.89834433e-03 9.91850105e-01 -9.34182330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:428.67, Y:-166.94, Z:-934.19 [[ 2.41599156e-01 -9.69939662e-01 2.91015619e-02 4.28665120e+02] [ 9.61993885e-01 2.43337795e-01 1.23913206e-01 -1.66942736e+02] [-1.27269843e-01 -1.94180148e-03 9.91866229e-01 -9.34186629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.67, Y:-166.92, Z:-934.19 [[ 2.42709205e-01 -9.69672348e-01 2.87711615e-02 4.28670179e+02] [ 9.61885869e-01 2.44399567e-01 1.22655726e-01 -1.66916781e+02] [-1.25967525e-01 -2.09510001e-03 9.92032153e-01 -9.34189974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:-166.89, Z:-934.19 [[ 2.43050839e-01 -9.69590638e-01 2.86406153e-02 4.28675754e+02] [ 9.61852962e-01 2.44722882e-01 1.22268518e-01 -1.66889400e+02] [-1.25559424e-01 -2.16940510e-03 9.92083729e-01 -9.34193576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:-166.86, Z:-934.20 [[ 2.45045365e-01 -9.69092915e-01 2.84901866e-02 4.28681251e+02] [ 9.61412861e-01 2.46683816e-01 1.21788362e-01 -1.66862260e+02] [-1.25052306e-01 -2.45284166e-03 9.92147118e-01 -9.34196809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.69, Y:-166.83, Z:-934.20 [[ 2.45314307e-01 -9.69022352e-01 2.85757396e-02 4.28686980e+02] [ 9.61275988e-01 2.46960032e-01 1.22307878e-01 -1.66834793e+02] [-1.25576133e-01 -2.53470004e-03 9.92080748e-01 -9.34200845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.69, Y:-166.81, Z:-934.20 [[ 2.45152351e-01 -9.69060404e-01 2.86750403e-02 4.28691925e+02] [ 9.61240704e-01 2.46810390e-01 1.22885886e-01 -1.66808130e+02] [-1.26161145e-01 -2.56214810e-03 9.92006452e-01 -9.34204593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.70, Y:-166.78, Z:-934.21 [[ 2.44636577e-01 -9.69100947e-01 3.15642183e-02 4.28696130e+02] [ 9.61408675e-01 2.46663879e-01 1.21861772e-01 -1.66781764e+02] [-1.25882111e-01 5.34266480e-04 9.92045064e-01 -9.34209643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.72, Y:-166.76, Z:-934.20 [[ 2.42613529e-01 -9.70111129e-01 4.80352809e-03 4.28716056e+02] [ 9.62347315e-01 2.41291641e-01 1.25163851e-01 -1.66756478e+02] [-1.22581895e-01 -2.57437811e-02 9.92124456e-01 -9.34197531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.70, Y:-166.73, Z:-934.23 [[ 2.40606495e-01 -9.69297725e-01 5.06994639e-02 4.28699238e+02] [ 9.62035631e-01 2.45085013e-01 1.20086559e-01 -1.66726729e+02] [-1.28825308e-01 1.98810845e-02 9.91467994e-01 -9.34225883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.72, Y:-166.70, Z:-934.22 [[ 2.35116510e-01 -9.71525682e-01 2.92929230e-02 4.28718414e+02] [ 9.63321038e-01 2.36930094e-01 1.26002814e-01 -1.66701703e+02] [-1.29355345e-01 -1.40685301e-03 9.91597305e-01 -9.34221459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.73, Y:-166.68, Z:-934.22 [[ 2.31579371e-01 -9.72531654e-01 2.35197062e-02 4.28727429e+02] [ 9.64317698e-01 2.32677965e-01 1.26302584e-01 -1.66675456e+02] [-1.28305778e-01 -6.56860398e-03 9.91712903e-01 -9.34220362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.73, Y:-166.65, Z:-934.23 [[ 2.28487270e-01 -9.72947334e-01 3.41621501e-02 4.28731655e+02] [ 9.64870435e-01 2.30985886e-01 1.25182120e-01 -1.66647413e+02] [-1.29686585e-01 4.35952767e-03 9.91545453e-01 -9.34229979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.72, Y:-166.62, Z:-934.25 [[ 2.23631568e-01 -9.73165403e-01 5.42035121e-02 4.28723721e+02] [ 9.65204035e-01 2.28849391e-01 1.26527181e-01 -1.66622509e+02] [-1.35536316e-01 2.40219767e-02 9.90481121e-01 -9.34247888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.75, Y:-166.60, Z:-934.24 [[ 2.23275470e-01 -9.74584287e-01 1.82628650e-02 4.28751808e+02] [ 9.65638595e-01 2.23704858e-01 1.32280913e-01 -1.66596011e+02] [-1.33004391e-01 -1.18997558e-02 9.91044009e-01 -9.34235968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.76, Y:-166.57, Z:-934.24 [[ 2.23620864e-01 -9.74545149e-01 1.59831642e-02 4.28759948e+02] [ 9.66059715e-01 2.23789829e-01 1.29022246e-01 -1.66568437e+02] [-1.29314873e-01 -1.34113751e-02 9.91512884e-01 -9.34235443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.76, Y:-166.54, Z:-934.24 [[ 2.23530052e-01 -9.74263693e-01 2.90615214e-02 4.28759467e+02] [ 9.66079109e-01 2.25411285e-01 1.26019471e-01 -1.66540006e+02] [-1.29326990e-01 -9.34102234e-05 9.91601997e-01 -9.34244350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:428.75, Y:-166.51, Z:-934.26 [[ 2.22672288e-01 -9.73656307e-01 4.90963239e-02 4.28754583e+02] [ 9.65877582e-01 2.27166275e-01 1.24402497e-01 -1.66512719e+02] [-1.32278304e-01 1.97200501e-02 9.91016433e-01 -9.34260679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.396559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.78, Y:-166.49, Z:-934.24 [[ 2.22988246e-01 -9.74776593e-01 9.31857975e-03 4.28780906e+02] [ 9.66397606e-01 2.22305243e-01 1.29058306e-01 -1.66487730e+02] [-1.27874585e-01 -1.97730322e-02 9.91593222e-01 -9.34244923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.78, Y:-166.46, Z:-934.26 [[ 2.23392435e-01 -9.74308653e-01 2.86088994e-02 4.28777053e+02] [ 9.66308130e-01 2.25216813e-01 1.24603316e-01 -1.66459478e+02] [-1.27845294e-01 -1.90426002e-04 9.91794104e-01 -9.34255437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.78, Y:-166.43, Z:-934.26 [[ 2.23616805e-01 -9.74251202e-01 2.88118221e-02 4.28782638e+02] [ 9.66114467e-01 2.25465136e-01 1.25651541e-01 -1.66432276e+02] [-1.28912226e-01 -2.62277932e-04 9.91655973e-01 -9.34258845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.79, Y:-166.41, Z:-934.26 [[ 2.23558648e-01 -9.74264847e-01 2.88017222e-02 4.28788206e+02] [ 9.66112734e-01 2.25406130e-01 1.25770671e-01 -1.66405326e+02] [-1.29026029e-01 -2.91410674e-04 9.91641165e-01 -9.34262490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.79, Y:-166.38, Z:-934.27 [[ 2.23611324e-01 -9.74252861e-01 2.87982528e-02 4.28794117e+02] [ 9.66081424e-01 2.25457870e-01 1.25918355e-01 -1.66377793e+02] [-1.29169111e-01 -3.35313151e-04 9.91622523e-01 -9.34266529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.80, Y:-166.35, Z:-934.27 [[ 2.23517029e-01 -9.74275788e-01 2.87545863e-02 4.28799559e+02] [ 9.66108306e-01 2.25358736e-01 1.25889556e-01 -1.66351013e+02] [-1.29131244e-01 -3.58414996e-04 9.91627447e-01 -9.34270372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:-166.32, Z:-934.27 [[ 2.23827241e-01 -9.74205596e-01 2.87197305e-02 4.28805042e+02] [ 9.66034858e-01 2.25661838e-01 1.25910237e-01 -1.66324073e+02] [-1.29143405e-01 -4.37880215e-04 9.91625831e-01 -9.34274660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:-166.30, Z:-934.28 [[ 2.25441605e-01 -9.73837428e-01 2.85787822e-02 4.28810133e+02] [ 9.65723322e-01 2.27244797e-01 1.25452253e-01 -1.66296283e+02] [-1.28664479e-01 -6.82960883e-04 9.91687948e-01 -9.34279000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.82, Y:-166.27, Z:-934.28 [[ 2.25940147e-01 -9.73724723e-01 2.84818285e-02 4.28815383e+02] [ 9.65644250e-01 2.27726929e-01 1.25186377e-01 -1.66270093e+02] [-1.28383149e-01 -7.81314523e-04 9.91724335e-01 -9.34282946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.82, Y:-166.24, Z:-934.29 [[ 2.26581861e-01 -9.73578736e-01 2.83743956e-02 4.28820558e+02] [ 9.65536298e-01 2.28349811e-01 1.24884032e-01 -1.66243046e+02] [-1.28063725e-01 -8.99947412e-04 9.91765533e-01 -9.34287264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.6965599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.82, Y:-166.22, Z:-934.29 [[ 2.28437857e-01 -9.73152059e-01 2.81285597e-02 4.28824945e+02] [ 9.65225112e-01 2.30160178e-01 1.23962802e-01 -1.66216339e+02] [-1.27108730e-01 -1.16740471e-03 9.91888103e-01 -9.34291287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.83, Y:-166.19, Z:-934.30 [[ 2.28195208e-01 -9.73209686e-01 2.81043410e-02 4.28831125e+02] [ 9.65282499e-01 2.29916421e-01 1.23968292e-01 -1.66188730e+02] [-1.27108792e-01 -1.16034179e-03 9.91888103e-01 -9.34295284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:-166.16, Z:-934.29 [[ 2.30227850e-01 -9.73071597e-01 1.12607303e-02 4.28846582e+02] [ 9.65413236e-01 2.29840310e-01 1.23088241e-01 -1.66159802e+02] [-1.22361841e-01 -1.74670831e-02 9.92331840e-01 -9.34288249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:-166.13, Z:-934.30 [[ 2.30993663e-01 -9.72632622e-01 2.50541667e-02 4.28845766e+02] [ 9.65289925e-01 2.32323806e-01 1.19335702e-01 -1.66131273e+02] [-1.21890476e-01 -3.38125627e-03 9.92537797e-01 -9.34296660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.84, Y:-166.11, Z:-934.31 [[ 2.29095063e-01 -9.72262520e-01 4.71279634e-02 4.28837241e+02] [ 9.65072510e-01 2.33188825e-01 1.19406959e-01 -1.66105596e+02] [-1.27084625e-01 1.81263571e-02 9.91726239e-01 -9.34314256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:-166.08, Z:-934.31 [[ 2.27852622e-01 -9.73294100e-01 2.79602915e-02 4.28853504e+02] [ 9.65375970e-01 2.29558399e-01 1.23903910e-01 -1.66079582e+02] [-1.27013464e-01 -1.23963710e-03 9.91900219e-01 -9.34311095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.86, Y:-166.05, Z:-934.31 [[ 2.26708358e-01 -9.73559350e-01 2.80270103e-02 4.28860171e+02] [ 9.65584654e-01 2.28431420e-01 1.24359810e-01 -1.66052179e+02] [-1.27473905e-01 -1.13095727e-03 9.91841280e-01 -9.34314730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:-166.03, Z:-934.32 [[ 2.25392708e-01 -9.73863591e-01 2.80683855e-02 4.28866685e+02] [ 9.65846825e-01 2.27131485e-01 1.24704450e-01 -1.66025364e+02] [-1.27820337e-01 -9.97712511e-04 9.91796837e-01 -9.34317913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:-166.00, Z:-934.32 [[ 2.23348067e-01 -9.74330161e-01 2.82201919e-02 4.28872763e+02] [ 9.66208454e-01 2.25122501e-01 1.25543152e-01 -1.65997857e+02] [-1.28673480e-01 -7.73232275e-04 9.91686714e-01 -9.34321441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.88, Y:-165.97, Z:-934.33 [[ 2.22358065e-01 -9.74556480e-01 2.82233630e-02 4.28878563e+02] [ 9.66413281e-01 2.24141037e-01 1.25722577e-01 -1.65970850e+02] [-1.28849766e-01 -6.79996092e-04 9.91663892e-01 -9.34325134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.88, Y:-165.94, Z:-934.33 [[ 2.21632429e-01 -9.74722881e-01 2.81846103e-02 4.28884490e+02] [ 9.66581740e-01 2.23416475e-01 1.25717222e-01 -1.65944107e+02] [-1.28836359e-01 -6.20283526e-04 9.91665674e-01 -9.34329069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.91, Y:-165.91, Z:-934.32 [[ 2.23689674e-01 -9.74644439e-01 5.58106179e-03 4.28907406e+02] [ 9.66927919e-01 2.22631248e-01 1.24441666e-01 -1.65912607e+02] [-1.22528896e-01 -2.24398312e-02 9.92211229e-01 -9.34317641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.056559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:428.90, Y:-165.88, Z:-934.34 [[ 2.22633717e-01 -9.74231581e-01 3.61532016e-02 4.28896838e+02] [ 9.66907463e-01 2.25395587e-01 1.19527350e-01 -1.65884030e+02] [-1.24596091e-01 8.34598223e-03 9.92172444e-01 -9.34335620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.89, Y:-165.86, Z:-934.35 [[ 2.19996360e-01 -9.74565579e-01 4.27028591e-02 4.28894738e+02] [ 9.67027032e-01 2.23633639e-01 1.21847100e-01 -1.65861322e+02] [-1.28297786e-01 1.44889005e-02 9.91629845e-01 -9.34346231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.91, Y:-165.84, Z:-934.34 [[ 2.19902581e-01 -9.75127686e-01 2.77281593e-02 4.28908398e+02] [ 9.67175211e-01 2.21643257e-01 1.24283455e-01 -1.65836104e+02] [-1.27337997e-01 -5.12264104e-04 9.91859250e-01 -9.34344665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.91, Y:-165.81, Z:-934.35 [[ 2.20220889e-01 -9.75066200e-01 2.73617673e-02 4.28914271e+02] [ 9.67308704e-01 2.21913467e-01 1.22752938e-01 -1.65809137e+02] [-1.25764186e-01 -5.65485600e-04 9.92060003e-01 -9.34348526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.92, Y:-165.78, Z:-934.35 [[ 2.20352127e-01 -9.75040690e-01 2.72138499e-02 4.28920035e+02] [ 9.67346504e-01 2.22025398e-01 1.22251639e-01 -1.65781938e+02] [-1.25242488e-01 -6.13186136e-04 9.92125972e-01 -9.34352717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.93, Y:-165.75, Z:-934.36 [[ 2.20410286e-01 -9.75030974e-01 2.70907000e-02 4.28925945e+02] [ 9.67386248e-01 2.22067952e-01 1.21859233e-01 -1.65754325e+02] [-1.24832503e-01 -6.51857829e-04 9.92177616e-01 -9.34357112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.236559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:428.93, Y:-165.73, Z:-934.36 [[ 2.20245226e-01 -9.75067764e-01 2.71089854e-02 4.28931373e+02] [ 9.67392703e-01 2.21906312e-01 1.22102199e-01 -1.65728331e+02] [-1.25073573e-01 -6.67391716e-04 9.92147245e-01 -9.34361393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:-165.70, Z:-934.36 [[ 2.20197659e-01 -9.75078533e-01 2.71080438e-02 4.28937442e+02] [ 9.67382417e-01 2.21858887e-01 1.22269761e-01 -1.65701776e+02] [-1.25236779e-01 -6.99670150e-04 9.92126635e-01 -9.34364861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:-165.67, Z:-934.37 [[ 2.20161331e-01 -9.75077917e-01 2.74234374e-02 4.28944440e+02] [ 9.67178584e-01 2.21861439e-01 1.23867221e-01 -1.65674832e+02] [-1.26864395e-01 -7.47410872e-04 9.91919789e-01 -9.34368185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.95, Y:-165.65, Z:-934.37 [[ 2.19711722e-01 -9.75176286e-01 2.75312589e-02 4.28951077e+02] [ 9.67194179e-01 2.21428720e-01 1.24518036e-01 -1.65647867e+02] [-1.27523248e-01 -7.29998866e-04 9.91835313e-01 -9.34371446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:-165.62, Z:-934.37 [[ 2.18830215e-01 -9.75372726e-01 2.75931485e-02 4.28957478e+02] [ 9.67334994e-01 2.20562049e-01 1.24961565e-01 -1.65621317e+02] [-1.27970103e-01 -6.53547920e-04 9.91777811e-01 -9.34374683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:-165.59, Z:-934.38 [[ 2.17645764e-01 -9.75636715e-01 2.76282751e-02 4.28963864e+02] [ 9.67557861e-01 2.19391682e-01 1.25295953e-01 -1.65594239e+02] [-1.28304745e-01 -5.38178547e-04 9.91734643e-01 -9.34378521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.99, Y:-165.56, Z:-934.37 [[ 2.17883725e-01 -9.75964019e-01 4.57341386e-03 4.28987358e+02] [ 9.68279276e-01 2.16750658e-01 1.24315713e-01 -1.65563963e+02] [-1.22318954e-01 -2.26580289e-02 9.92232174e-01 -9.34366890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.97, Y:-165.54, Z:-934.39 [[ 2.14761749e-01 -9.75337763e-01 5.09277789e-02 4.28965196e+02] [ 9.68147761e-01 2.19471002e-01 1.20508886e-01 -1.65538912e+02] [-1.28714038e-01 2.34249159e-02 9.91405048e-01 -9.34394725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4765599950001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:429.00, Y:-165.51, Z:-934.38 [[ 2.16165960e-01 -9.76350378e-01 3.49544276e-03 4.29001209e+02] [ 9.68454742e-01 2.14869661e-01 1.26200004e-01 -1.65510488e+02] [-1.23966487e-01 -2.38949670e-02 9.91998660e-01 -9.34375267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.98, Y:-165.49, Z:-934.40 [[ 2.13539669e-01 -9.75522064e-01 5.25120234e-02 4.28977273e+02] [ 9.68422030e-01 2.18453321e-01 1.20153729e-01 -1.65485698e+02] [-1.28684039e-01 2.51962129e-02 9.91365507e-01 -9.34402395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.00, Y:-165.46, Z:-934.40 [[ 2.12849650e-01 -9.76696244e-01 2.75585402e-02 4.28996155e+02] [ 9.68568475e-01 2.14626283e-01 1.25740477e-01 -1.65460798e+02] [-1.28725039e-01 -7.14833585e-05 9.91680321e-01 -9.34396861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.00, Y:-165.43, Z:-934.40 [[ 2.12717305e-01 -9.76728748e-01 2.74281029e-02 4.29001644e+02] [ 9.68654988e-01 2.14478307e-01 1.25325860e-01 -1.65434777e+02] [-1.28292103e-01 -9.06103646e-05 9.91736421e-01 -9.34400484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.01, Y:-165.41, Z:-934.40 [[ 2.12453815e-01 -9.76790021e-01 2.72879272e-02 4.29007470e+02] [ 9.68784748e-01 2.14199086e-01 1.24799292e-01 -1.65407492e+02] [-1.27747752e-01 -7.79580910e-05 9.91806688e-01 -9.34404406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.01, Y:-165.38, Z:-934.41 [[ 2.12608889e-01 -9.76757347e-01 2.72496950e-02 4.29013096e+02] [ 9.68752834e-01 2.14348006e-01 1.24791344e-01 -1.65381318e+02] [-1.27731780e-01 -1.33529803e-04 9.91808739e-01 -9.34408235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.02, Y:-165.36, Z:-934.41 [[ 2.12839412e-01 -9.76711859e-01 2.70800431e-02 4.29018684e+02] [ 9.68784212e-01 2.14555132e-01 1.24190360e-01 -1.65355084e+02] [-1.27108360e-01 -1.97884921e-04 9.91888817e-01 -9.34411781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.02, Y:-165.33, Z:-934.42 [[ 2.13441446e-01 -9.76579705e-01 2.71077254e-02 4.29024163e+02] [ 9.68612263e-01 2.15155712e-01 1.24492182e-01 -1.65328232e+02] [-1.27408921e-01 -3.14916136e-04 9.91850225e-01 -9.34415554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.7165599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:429.03, Y:-165.30, Z:-934.42 [[ 2.13496686e-01 -9.76569455e-01 2.70419006e-02 4.29029563e+02] [ 9.68618951e-01 2.15202165e-01 1.24359784e-01 -1.65301957e+02] [-1.27265442e-01 -3.57104322e-04 9.91868630e-01 -9.34418886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:429.04, Y:-165.27, Z:-934.42 [[ 2.13257706e-01 -9.76622347e-01 2.70174555e-02 4.29035488e+02] [ 9.68671593e-01 2.14962018e-01 1.24365094e-01 -1.65274295e+02] [-1.27265457e-01 -3.50773037e-04 9.91868631e-01 -9.34422900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.04, Y:-165.25, Z:-934.43 [[ 2.13525434e-01 -9.76564543e-01 2.69922579e-02 4.29041082e+02] [ 9.68609354e-01 2.15224346e-01 1.24396145e-01 -1.65247140e+02] [-1.27290255e-01 -4.16787248e-04 9.91865423e-01 -9.34426439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:-165.22, Z:-934.43 [[ 2.13787070e-01 -9.76504387e-01 2.70974362e-02 4.29045820e+02] [ 9.68466004e-01 2.15496969e-01 1.25038620e-01 -1.65220145e+02] [-1.27940177e-01 -4.88694466e-04 9.91781767e-01 -9.34430321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:-165.19, Z:-934.43 [[ 2.13665292e-01 -9.76529734e-01 2.71444483e-02 4.29051102e+02] [ 9.68440980e-01 2.15382022e-01 1.25429869e-01 -1.65193579e+02] [-1.28332423e-01 -5.12213449e-04 9.91731076e-01 -9.34434369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.06, Y:-165.17, Z:-934.44 [[ 2.13524047e-01 -9.76557953e-01 2.72405248e-02 4.29057011e+02] [ 9.68391752e-01 2.15253997e-01 1.26028294e-01 -1.65166659e+02] [-1.28937565e-01 -5.30571779e-04 9.91652572e-01 -9.34438260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:-165.14, Z:-934.45 [[ 2.10155224e-01 -9.77074524e-01 3.40610682e-02 4.29054962e+02] [ 9.68673490e-01 2.12810314e-01 1.27997815e-01 -1.65142451e+02] [-1.32311950e-01 6.09464447e-03 9.91189388e-01 -9.34447928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.06, Y:-165.12, Z:-934.45 [[ 2.10007661e-01 -9.77323372e-01 2.71257901e-02 4.29064506e+02] [ 9.68633682e-01 2.11749747e-01 1.30041665e-01 -1.65115548e+02] [-1.32836638e-01 -1.03479197e-03 9.91137406e-01 -9.34449676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.08, Y:-165.08, Z:-934.45 [[ 2.13406596e-01 -9.76772193e-01 1.93315386e-02 4.29079069e+02] [ 9.68247387e-01 2.14098522e-01 1.29069057e-01 -1.65084958e+02] [-1.30209920e-01 -8.82647634e-03 9.91447160e-01 -9.34446999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.08, Y:-165.06, Z:-934.45 [[ 2.13845500e-01 -9.76475983e-01 2.76542285e-02 4.29080405e+02] [ 9.68013259e-01 2.15625172e-01 1.28281393e-01 -1.65056971e+02] [-1.31226647e-01 -6.62738682e-04 9.91352172e-01 -9.34454294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.016559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:429.09, Y:-165.03, Z:-934.46 [[ 2.14390566e-01 -9.76357387e-01 2.76213383e-02 4.29085327e+02] [ 9.67890961e-01 2.16161182e-01 1.28302110e-01 -1.65030863e+02] [-1.31239374e-01 -7.72318300e-04 9.91350407e-01 -9.34458357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.09, Y:-165.00, Z:-934.46 [[ 2.15271100e-01 -9.76162636e-01 2.76561245e-02 4.29090530e+02] [ 9.67648642e-01 2.17038331e-01 1.28648624e-01 -1.65004265e+02] [-1.31584419e-01 -9.32919475e-04 9.91304530e-01 -9.34462982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:-164.98, Z:-934.47 [[ 2.16008077e-01 -9.76002117e-01 2.75749516e-02 4.29095503e+02] [ 9.67512708e-01 2.17758413e-01 1.28454013e-01 -1.64976949e+02] [-1.31376066e-01 -1.06798821e-03 9.91332028e-01 -9.34467170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.10, Y:-164.95, Z:-934.47 [[ 2.16771238e-01 -9.75833289e-01 2.75612394e-02 4.29100528e+02] [ 9.67328247e-01 2.18513005e-01 1.28561776e-01 -1.64950821e+02] [-1.31477350e-01 -1.20772992e-03 9.91318439e-01 -9.34471193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:-164.93, Z:-934.48 [[ 2.15663027e-01 -9.75873161e-01 3.40739242e-02 4.29099719e+02] [ 9.67173933e-01 2.18283290e-01 1.30103766e-01 -1.64925232e+02] [-1.34402542e-01 4.89683920e-03 9.90914718e-01 -9.34480847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.11, Y:-164.90, Z:-934.48 [[ 2.18548531e-01 -9.75482858e-01 2.58792004e-02 4.29109711e+02] [ 9.66370282e-01 2.20037661e-01 1.33086086e-01 -1.64897626e+02] [-1.35517594e-01 -4.07687820e-03 9.90766552e-01 -9.34481081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.12, Y:-164.87, Z:-934.48 [[ 2.21817848e-01 -9.74822695e-01 2.27498644e-02 4.29119107e+02] [ 9.65814677e-01 2.22858536e-01 1.32423873e-01 -1.64869245e+02] [-1.34159799e-01 -7.40182563e-03 9.90932067e-01 -9.34481193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.12, Y:-164.84, Z:-934.49 [[ 2.21584041e-01 -9.74598764e-01 3.25232538e-02 4.29116961e+02] [ 9.65502369e-01 2.23949551e-01 1.32859978e-01 -1.64842844e+02] [-1.36768738e-01 1.96162795e-03 9.90601062e-01 -9.34490794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.12, Y:-164.82, Z:-934.50 [[ 2.21750558e-01 -9.74429094e-01 3.62578518e-02 4.29118581e+02] [ 9.65067877e-01 2.24637553e-01 1.34840506e-01 -1.64816516e+02] [-1.39537387e-01 5.09033056e-03 9.90203720e-01 -9.34498923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.14, Y:-164.79, Z:-934.49 [[ 2.26818681e-01 -9.73818106e-01 1.52178478e-02 4.29137274e+02] [ 9.64546828e-01 2.26768904e-01 1.35001045e-01 -1.64787380e+02] [-1.34917397e-01 -1.59424322e-02 9.90728588e-01 -9.34490781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.14, Y:-164.76, Z:-934.50 [[ 2.27467790e-01 -9.73378636e-01 2.81502508e-02 4.29135520e+02] [ 9.64375787e-01 2.29184640e-01 1.32112613e-01 -1.64759168e+02] [-1.35047200e-01 -2.90394385e-03 9.90834911e-01 -9.34499838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.14, Y:-164.73, Z:-934.50 [[ 2.28192261e-01 -9.73214170e-01 2.79726876e-02 4.29140474e+02] [ 9.64298533e-01 2.29880459e-01 1.31466019e-01 -1.64732829e+02] [-1.34374966e-01 -3.02550642e-03 9.90925938e-01 -9.34504149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.15, Y:-164.71, Z:-934.51 [[ 2.28520582e-01 -9.73139980e-01 2.78733415e-02 4.29145750e+02] [ 9.64270706e-01 2.30193510e-01 1.31121904e-01 -1.64705124e+02] [-1.34016229e-01 -3.08660698e-03 9.90974330e-01 -9.34508593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.15, Y:-164.68, Z:-934.52 [[ 2.26629688e-01 -9.73492236e-01 3.08520954e-02 4.29146663e+02] [ 9.64520277e-01 2.28720028e-01 1.31862746e-01 -1.64679442e+02] [-1.35423851e-01 -1.26541312e-04 9.90787750e-01 -9.34515765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:-164.65, Z:-934.52 [[ 2.28267314e-01 -9.73302251e-01 2.40158508e-02 4.29158233e+02] [ 9.64424022e-01 2.29425867e-01 1.31339554e-01 -1.64651115e+02] [-1.33342941e-01 -6.81906396e-03 9.91046498e-01 -9.34515805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:-164.62, Z:-934.52 [[ 2.27466280e-01 -9.73396860e-01 2.75253402e-02 4.29161838e+02] [ 9.64697986e-01 2.29106129e-01 1.29877551e-01 -1.64623346e+02] [-1.32728625e-01 -2.98912320e-03 9.91147909e-01 -9.34521098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.17, Y:-164.60, Z:-934.53 [[ 2.26278419e-01 -9.73674239e-01 2.75055338e-02 4.29167288e+02] [ 9.64966671e-01 2.27926020e-01 1.29957893e-01 -1.64596390e+02] [-1.32805879e-01 -2.86474305e-03 9.91137928e-01 -9.34525365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.17, Y:-164.57, Z:-934.53 [[ 2.22773257e-01 -9.74466408e-01 2.80588022e-02 4.29169282e+02] [ 9.65664875e-01 2.24524260e-01 1.30691260e-01 -1.64571454e+02] [-1.33654124e-01 -2.01911789e-03 9.91025983e-01 -9.34530183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.17, Y:-164.54, Z:-934.53 [[ 2.21536032e-01 -9.74765550e-01 2.74573968e-02 4.29174919e+02] [ 9.65867503e-01 2.23215990e-01 1.31432829e-01 -1.64544220e+02] [-1.34245124e-01 -2.59690016e-03 9.90944753e-01 -9.34534530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.18, Y:-164.52, Z:-934.54 [[ 2.19323404e-01 -9.75341685e-01 2.46138805e-02 4.29182686e+02] [ 9.66407398e-01 2.20640793e-01 1.31811915e-01 -1.64516903e+02] [-1.33992481e-01 -5.12240162e-03 9.90969110e-01 -9.34536863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:-164.49, Z:-934.54 [[ 2.20330282e-01 -9.75053830e-01 2.69183265e-02 4.29191260e+02] [ 9.66235795e-01 2.21950560e-01 1.30867636e-01 -1.64487025e+02] [-1.33577527e-01 -2.82465262e-03 9.91034341e-01 -9.34541258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.20, Y:-164.46, Z:-934.55 [[ 2.18557592e-01 -9.75435217e-01 2.75448133e-02 4.29196965e+02] [ 9.66652461e-01 2.20278115e-01 1.30616127e-01 -1.64460969e+02] [-1.33475090e-01 -1.92088473e-03 9.91050307e-01 -9.34545008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:-164.44, Z:-934.55 [[ 2.13376144e-01 -9.76336067e-01 3.51924168e-02 4.29194336e+02] [ 9.67369426e-01 2.16179777e-01 1.32146502e-01 -1.64437018e+02] [-1.36627284e-01 5.84715705e-03 9.90605268e-01 -9.34554240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.21, Y:-164.41, Z:-934.55 [[ 2.15161065e-01 -9.76396826e-01 1.88402595e-02 4.29213007e+02] [ 9.67419156e-01 2.15739436e-01 1.32501592e-01 -1.64407225e+02] [-1.33438721e-01 -1.02827557e-02 9.91003720e-01 -9.34550004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.20, Y:-164.38, Z:-934.57 [[ 2.09034216e-01 -9.76841559e-01 4.56647046e-02 4.29198540e+02] [ 9.67941432e-01 2.13327982e-01 1.32591692e-01 -1.64382757e+02] [-1.39262635e-01 1.64845591e-02 9.90118265e-01 -9.34569823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.22, Y:-164.36, Z:-934.56 [[ 2.08591338e-01 -9.77855462e-01 1.69808534e-02 4.29220612e+02] [ 9.68486978e-01 2.08946805e-01 1.35551492e-01 -1.64355028e+02] [-1.36097862e-01 -1.18291317e-02 9.90624775e-01 -9.34560747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.23, Y:-164.32, Z:-934.56 [[ 2.11358869e-01 -9.77253185e-01 1.74253202e-02 4.29230313e+02] [ 9.68349431e-01 2.11788284e-01 1.32079906e-01 -1.64324073e+02] [-1.32765988e-01 -1.10424607e-02 9.91085898e-01 -9.34561751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.22, Y:-164.30, Z:-934.58 [[ 2.08152566e-01 -9.77446796e-01 3.56408491e-02 4.29222029e+02] [ 9.68764446e-01 2.11051233e-01 1.30203020e-01 -1.64298622e+02] [-1.34788570e-01 7.42549465e-03 9.90846559e-01 -9.34575232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-164.27, Z:-934.57 [[ 2.10837836e-01 -9.77361742e-01 1.76474728e-02 4.29240264e+02] [ 9.68705511e-01 2.11321480e-01 1.30203172e-01 -1.64270237e+02] [-1.30984889e-01 -1.03565507e-02 9.91330268e-01 -9.34570131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-164.24, Z:-934.58 [[ 2.10668438e-01 -9.77192121e-01 2.67276612e-02 4.29240268e+02] [ 9.68838075e-01 2.12354946e-01 1.27507498e-01 -1.64243707e+02] [-1.30275074e-01 -9.67029613e-04 9.91477418e-01 -9.34577590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-164.22, Z:-934.59 [[ 2.07789149e-01 -9.77499423e-01 3.63118059e-02 4.29236132e+02] [ 9.69101655e-01 2.10764201e-01 1.28142240e-01 -1.64218414e+02] [-1.32912195e-01 8.56326413e-03 9.91090823e-01 -9.34588517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.25, Y:-164.19, Z:-934.58 [[ 2.10917671e-01 -9.77372211e-01 1.60405116e-02 4.29254840e+02] [ 9.68962819e-01 2.11211120e-01 1.28455904e-01 -1.64189753e+02] [-1.28937165e-01 -1.15509608e-02 9.91585490e-01 -9.34582523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.26, Y:-164.16, Z:-934.59 [[ 2.10789429e-01 -9.77175197e-01 2.63903557e-02 4.29255182e+02] [ 9.68979046e-01 2.12432410e-01 1.26301542e-01 -1.64161452e+02] [-1.29024901e-01 -1.05132813e-03 9.91640797e-01 -9.34590169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:429.26, Y:-164.13, Z:-934.59 [[ 2.09844659e-01 -9.77381047e-01 2.62965393e-02 4.29260782e+02] [ 9.69224961e-01 2.11483753e-01 1.26006337e-01 -1.64134237e+02] [-1.28717496e-01 -9.54494493e-04 9.91680843e-01 -9.34593756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.27, Y:-164.11, Z:-934.60 [[ 2.08970539e-01 -9.77568112e-01 2.63040089e-02 4.29266714e+02] [ 9.69385894e-01 2.10617705e-01 1.26218746e-01 -1.64106575e+02] [-1.28927511e-01 -8.77264158e-04 9.91653633e-01 -9.34597250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:429.27, Y:-164.08, Z:-934.60 [[ 2.07523093e-01 -9.77876489e-01 2.63009255e-02 4.29272201e+02] [ 9.69675623e-01 2.09181857e-01 1.26380919e-01 -1.64078987e+02] [-1.29086606e-01 -7.23592885e-04 9.91633060e-01 -9.34600915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.26, Y:-164.05, Z:-934.62 [[ 2.02658688e-01 -9.78330278e-01 4.24184286e-02 4.29264453e+02] [ 9.69986405e-01 2.06497223e-01 1.28394981e-01 -1.64054785e+02] [-1.34371985e-01 1.51249407e-02 9.90815526e-01 -9.34615915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.29, Y:-164.03, Z:-934.61 [[ 2.02731314e-01 -9.79150124e-01 1.28471779e-02 4.29287713e+02] [ 9.70386521e-01 2.02641904e-01 1.31477217e-01 -1.64026709e+02] [-1.31339310e-01 -1.41878207e-02 9.91235941e-01 -9.34605131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.29, Y:-164.00, Z:-934.61 [[ 2.03371816e-01 -9.78846158e-01 2.23629900e-02 4.29291118e+02] [ 9.70412137e-01 2.04550546e-01 1.28294030e-01 -1.63997329e+02] [-1.30154481e-01 -4.39007301e-03 9.91484008e-01 -9.34610028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.29, Y:-163.97, Z:-934.62 [[ 2.01761784e-01 -9.79073743e-01 2.65854912e-02 4.29294163e+02] [ 9.70653069e-01 2.03505783e-01 1.28132804e-01 -1.63969898e+02] [-1.30861766e-01 -4.70145959e-05 9.91400624e-01 -9.34615296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.2165599950001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:429.30, Y:-163.94, Z:-934.62 [[ 1.98500369e-01 -9.79734269e-01 2.68023421e-02 4.29299036e+02] [ 9.71155497e-01 2.00301373e-01 1.29369089e-01 -1.63943402e+02] [-1.32115876e-01 3.49429955e-04 9.91234217e-01 -9.34618831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.30, Y:-163.92, Z:-934.62 [[ 1.97104484e-01 -9.80014239e-01 2.68684583e-02 4.29304694e+02] [ 9.71378911e-01 1.98926691e-01 1.29812105e-01 -1.63916203e+02] [-1.32562565e-01 5.12905870e-04 9.91174507e-01 -9.34622407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.31, Y:-163.89, Z:-934.63 [[ 1.95953863e-01 -9.80243883e-01 2.69074929e-02 4.29310068e+02] [ 9.71560332e-01 1.97791635e-01 1.30188291e-01 -1.63889490e+02] [-1.32938353e-01 6.31354174e-04 9.91124107e-01 -9.34625985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.32, Y:-163.86, Z:-934.63 [[ 1.94895185e-01 -9.80454987e-01 2.69051350e-02 4.29315139e+02] [ 9.71757128e-01 1.96742114e-01 1.30309729e-01 -1.63861680e+02] [-1.33056197e-01 7.48517861e-04 9.91108212e-01 -9.34629992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.336559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:429.32, Y:-163.83, Z:-934.64 [[ 1.94272515e-01 -9.80588677e-01 2.65336923e-02 4.29319635e+02] [ 9.72108017e-01 1.96074522e-01 1.28688715e-01 -1.63834893e+02] [-1.31393278e-01 7.92934739e-04 9.91330005e-01 -9.34635331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.32, Y:-163.81, Z:-934.64 [[ 1.95039553e-01 -9.80434127e-01 2.66175882e-02 4.29324690e+02] [ 9.71873028e-01 1.96846377e-01 1.29283878e-01 -1.63808021e+02] [-1.31993901e-01 6.53446353e-04 9.91250313e-01 -9.34637912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:-163.78, Z:-934.64 [[ 1.95708403e-01 -9.80304383e-01 2.64865635e-02 4.29329535e+02] [ 9.71804592e-01 1.97491863e-01 1.28813041e-01 -1.63780261e+02] [-1.31506870e-01 5.29969498e-04 9.91315118e-01 -9.34642057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:-163.75, Z:-934.65 [[ 1.96515419e-01 -9.80146463e-01 2.63553099e-02 4.29334232e+02] [ 9.71705618e-01 1.98274465e-01 1.28356643e-01 -1.63752869e+02] [-1.31033894e-01 3.85543306e-04 9.91377814e-01 -9.34646219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.34, Y:-163.73, Z:-934.65 [[ 1.97945866e-01 -9.79863822e-01 2.61596145e-02 4.29338767e+02] [ 9.71521698e-01 1.99666888e-01 1.27588106e-01 -1.63726659e+02] [-1.30242178e-01 1.59095079e-04 9.91482199e-01 -9.34650145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.35, Y:-163.70, Z:-934.64 [[ 1.99395404e-01 -9.79858979e-01 1.08560443e-02 4.29351734e+02] [ 9.71784213e-01 1.99152505e-01 1.26387194e-01 -1.63699209e+02] [-1.26003636e-01 -1.46512931e-02 9.91921581e-01 -9.34644224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.34, Y:-163.67, Z:-934.66 [[ 2.00927258e-01 -9.78764186e-01 4.06067183e-02 4.29340336e+02] [ 9.70988033e-01 2.04474780e-01 1.23985098e-01 -1.63671720e+02] [-1.29655223e-01 1.45166518e-02 9.91452868e-01 -9.34663508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.35, Y:-163.65, Z:-934.66 [[ 2.03896080e-01 -9.78655094e-01 2.57020460e-02 4.29352059e+02] [ 9.70539196e-01 2.05508432e-01 1.25777398e-01 -1.63645285e+02] [-1.28374679e-01 -7.00675456e-04 9.91725492e-01 -9.34662600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-163.62, Z:-934.67 [[ 2.05128942e-01 -9.78400537e-01 2.55833207e-02 4.29357325e+02] [ 9.70335757e-01 2.06716214e-01 1.25367162e-01 -1.63617898e+02] [-1.27947786e-01 -8.92022343e-04 9.91780504e-01 -9.34666425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-163.59, Z:-934.67 [[ 2.04868324e-01 -9.78456086e-01 2.55471787e-02 4.29362927e+02] [ 9.70390818e-01 2.06453114e-01 1.25374526e-01 -1.63590162e+02] [-1.27947763e-01 -8.94521382e-04 9.91780505e-01 -9.34670405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.636559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:429.37, Y:-163.56, Z:-934.67 [[ 2.05502032e-01 -9.78324148e-01 2.55103312e-02 4.29368032e+02] [ 9.70258946e-01 2.07076892e-01 1.25366420e-01 -1.63563448e+02] [-1.27931596e-01 -1.01142706e-03 9.91782478e-01 -9.34674508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.39, Y:-163.53, Z:-934.65 [[ 2.07007051e-01 -9.78273133e-01 -1.13911242e-02 4.29394783e+02] [ 9.71060073e-01 2.04035176e-01 1.24145001e-01 -1.63534394e+02] [-1.19123529e-01 -3.67603565e-02 9.92198700e-01 -9.34654093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-163.51, Z:-934.69 [[ 2.05505548e-01 -9.76720334e-01 6.15212086e-02 4.29360027e+02] [ 9.69985699e-01 2.11631283e-01 1.19749507e-01 -1.63506845e+02] [-1.29981591e-01 3.50655043e-02 9.90896158e-01 -9.34693265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.38, Y:-163.48, Z:-934.68 [[ 2.03513037e-01 -9.78740435e-01 2.54873568e-02 4.29384579e+02] [ 9.70633595e-01 2.05101065e-01 1.25713876e-01 -1.63481615e+02] [-1.28268738e-01 -8.45527917e-04 9.91739087e-01 -9.34684917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.39, Y:-163.45, Z:-934.69 [[ 2.02076653e-01 -9.79034710e-01 2.56137321e-02 4.29390020e+02] [ 9.70824859e-01 2.03692281e-01 1.26524888e-01 -1.63454768e+02] [-1.29089576e-01 -7.01278013e-04 9.91632689e-01 -9.34688633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.40, Y:-163.43, Z:-934.69 [[ 2.00538708e-01 -9.79349820e-01 2.56545749e-02 4.29395071e+02] [ 9.71091707e-01 2.02172305e-01 1.26914363e-01 -1.63428766e+02] [-1.29480203e-01 -5.38297457e-04 9.91581861e-01 -9.34691827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.40, Y:-163.40, Z:-934.70 [[ 1.99139506e-01 -9.79632444e-01 2.57629899e-02 4.29400192e+02] [ 9.71284522e-01 2.00798710e-01 1.27617618e-01 -1.63402103e+02] [-1.30191534e-01 -3.90516144e-04 9.91488786e-01 -9.34695352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.41, Y:-163.38, Z:-934.70 [[ 1.97036072e-01 -9.80056748e-01 2.57983753e-02 4.29405613e+02] [ 9.71663554e-01 1.98717758e-01 1.27989024e-01 -1.63375984e+02] [-1.30563102e-01 -1.51113641e-04 9.91439990e-01 -9.34698655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.41, Y:-163.35, Z:-934.70 [[ 1.96241937e-01 -9.80217267e-01 2.57529149e-02 4.29411337e+02] [ 9.71829965e-01 1.97924489e-01 1.27954742e-01 -1.63348762e+02] [-1.30520580e-01 -8.26321064e-05 9.91445597e-01 -9.34702281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.42, Y:-163.32, Z:-934.71 [[ 1.95332645e-01 -9.80399190e-01 2.57407458e-02 4.29416433e+02] [ 9.71996577e-01 1.97021391e-01 1.28082885e-01 -1.63322512e+02] [-1.30643835e-01 1.14797639e-06 9.91429366e-01 -9.34706401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9365599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.42, Y:-163.30, Z:-934.71 [[ 1.94605785e-01 -9.80547766e-01 2.55864646e-02 4.29421989e+02] [ 9.72225624e-01 1.96280601e-01 1.27480435e-01 -1.63295309e+02] [-1.30022783e-01 6.73862809e-05 9.91511004e-01 -9.34710477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:-163.27, Z:-934.71 [[ 1.94198804e-01 -9.80640423e-01 2.51233838e-02 4.29427957e+02] [ 9.72595949e-01 1.95817138e-01 1.25350580e-01 -1.63267901e+02] [-1.27843435e-01 9.19686661e-05 9.91794358e-01 -9.34714308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:-163.24, Z:-934.72 [[ 1.93941298e-01 -9.80692295e-01 2.50877697e-02 4.29433458e+02] [ 9.72647331e-01 1.95557192e-01 1.25357707e-01 -1.63240145e+02] [-1.27843431e-01 8.95159079e-05 9.91794358e-01 -9.34718285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.44, Y:-163.21, Z:-934.72 [[ 1.93653608e-01 -9.80759018e-01 2.46987548e-02 4.29438989e+02] [ 9.72942039e-01 1.95222280e-01 1.23580135e-01 -1.63213144e+02] [-1.26024079e-01 9.87178772e-05 9.92027178e-01 -9.34722902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.47, Y:-163.18, Z:-934.70 [[ 1.95805725e-01 -9.80597562e-01 -9.40953148e-03 4.29466277e+02] [ 9.73738425e-01 1.93281584e-01 1.20315039e-01 -1.63183114e+02] [-1.16161945e-01 -3.27207959e-02 9.92691167e-01 -9.34703184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.45, Y:-163.15, Z:-934.73 [[ 1.96382505e-01 -9.79831626e-01 3.69309777e-02 4.29448991e+02] [ 9.73397905e-01 1.99349976e-01 1.12942935e-01 -1.63153933e+02] [-1.18027249e-01 1.37685198e-02 9.92914899e-01 -9.34726462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.45, Y:-163.13, Z:-934.73 [[ 1.94374091e-01 -9.80306501e-01 3.48980846e-02 4.29453894e+02] [ 9.73502972e-01 1.97149679e-01 1.15861849e-01 -1.63129816e+02] [-1.20460270e-01 1.14528474e-02 9.92652082e-01 -9.34732745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.46, Y:-163.10, Z:-934.74 [[ 1.94080166e-01 -9.80466814e-01 3.19016643e-02 4.29462640e+02] [ 9.73204149e-01 1.96526748e-01 1.19377222e-01 -1.63104217e+02] [-1.23314935e-01 7.87808100e-03 9.92336315e-01 -9.34738701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.176559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:429.47, Y:-163.08, Z:-934.74 [[ 1.93920627e-01 -9.80719100e-01 2.41834063e-02 4.29473111e+02] [ 9.73183871e-01 1.95422738e-01 1.21338810e-01 -1.63078651e+02] [-1.23725277e-01 4.80277712e-06 9.92316510e-01 -9.34739521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.48, Y:-163.05, Z:-934.74 [[ 1.94086015e-01 -9.80686914e-01 2.41618628e-02 4.29479784e+02] [ 9.73149937e-01 1.95584190e-01 1.21350839e-01 -1.63051166e+02] [-1.23732858e-01 -3.93854582e-05 9.92315564e-01 -9.34743370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.50, Y:-163.02, Z:-934.74 [[ 1.94991331e-01 -9.80757561e-01 9.64303657e-03 4.29495462e+02] [ 9.73447543e-01 1.94721259e-01 1.20347466e-01 -1.63022352e+02] [-1.19909391e-01 -1.40797223e-02 9.92684995e-01 -9.34737125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.49, Y:-163.00, Z:-934.76 [[ 1.95065722e-01 -9.80039295e-01 3.83711390e-02 4.29485491e+02] [ 9.72959528e-01 1.98294015e-01 1.18445097e-01 -1.62995957e+02] [-1.23689617e-01 1.42289868e-02 9.92218935e-01 -9.34756369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.50, Y:-162.97, Z:-934.76 [[ 1.95314753e-01 -9.80444085e-01 2.41152199e-02 4.29499233e+02] [ 9.72878680e-01 1.96797655e-01 1.21563795e-01 -1.62970058e+02] [-1.23932322e-01 -2.82019242e-04 9.92290633e-01 -9.34755356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.51, Y:-162.94, Z:-934.76 [[ 1.97326441e-01 -9.80041653e-01 2.40963748e-02 4.29507641e+02] [ 9.72462879e-01 1.98791431e-01 1.21646689e-01 -1.62943624e+02] [-1.24008975e-01 -5.71278220e-04 9.92280932e-01 -9.34758898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.51, Y:-162.92, Z:-934.76 [[ 1.98217471e-01 -9.79860669e-01 2.41433816e-02 4.29514346e+02] [ 9.72227894e-01 1.99681111e-01 1.22067098e-01 -1.62916218e+02] [-1.24429725e-01 -7.22962458e-04 9.92228160e-01 -9.34762516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.53, Y:-162.89, Z:-934.75 [[ 2.00258939e-01 -9.79736474e-01 3.57764848e-03 4.29533621e+02] [ 9.72372933e-01 1.99198231e-01 1.21700223e-01 -1.62887441e+02] [-1.19946809e-01 -2.08927490e-02 9.92560455e-01 -9.34752301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:-162.86, Z:-934.78 [[ 2.00560474e-01 -9.78665948e-01 4.45921394e-02 4.29516229e+02] [ 9.71650093e-01 2.04526434e-01 1.18596097e-01 -1.62861821e+02] [-1.25186233e-01 1.95422670e-02 9.91940778e-01 -9.34776584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.54, Y:-162.83, Z:-934.76 [[ 2.03283300e-01 -9.79072426e-01 9.64808398e-03 4.29542183e+02] [ 9.71476449e-01 2.02915426e-01 1.22714466e-01 -1.62834830e+02] [-1.22104095e-01 -1.55729152e-02 9.92395120e-01 -9.34762758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.54, Y:-162.81, Z:-934.77 [[ 2.05062797e-01 -9.78473352e-01 2.32195733e-02 4.29541433e+02] [ 9.71104062e-01 2.06363178e-01 1.19879687e-01 -1.62806393e+02] [-1.22090744e-01 -2.03424206e-03 9.92516857e-01 -9.34770351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.54, Y:-162.78, Z:-934.78 [[ 2.05577293e-01 -9.77885483e-01 3.84442398e-02 4.29537294e+02] [ 9.70511006e-01 2.08765135e-01 1.20521809e-01 -1.62781606e+02] [-1.25882344e-01 1.25340107e-02 9.91965995e-01 -9.34783634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-162.75, Z:-934.78 [[ 2.06407589e-01 -9.78162988e-01 2.43531443e-02 4.29550101e+02] [ 9.70290078e-01 2.07830249e-01 1.23869898e-01 -1.62754929e+02] [-1.26226270e-01 -1.93807277e-03 9.91999583e-01 -9.34782450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.56, Y:-162.73, Z:-934.79 [[ 2.07437275e-01 -9.77946403e-01 2.43024523e-02 4.29555795e+02] [ 9.70081403e-01 2.08845403e-01 1.23796889e-01 -1.62728782e+02] [-1.26142178e-01 -2.10473232e-03 9.92009940e-01 -9.34785704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.56, Y:-162.70, Z:-934.79 [[ 2.07689692e-01 -9.77892773e-01 2.43046814e-02 4.29561317e+02] [ 9.70000756e-01 2.09095615e-01 1.24006282e-01 -1.62701294e+02] [-1.26346849e-01 -2.17926713e-03 9.91983732e-01 -9.34790017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:429.57, Y:-162.67, Z:-934.79 [[ 2.08603168e-01 -9.77709333e-01 2.38574743e-02 4.29567951e+02] [ 9.70034969e-01 2.09949666e-01 1.22283673e-01 -1.62673432e+02] [-1.24566758e-01 -2.36617743e-03 9.92208408e-01 -9.34794219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.57, Y:-162.65, Z:-934.80 [[ 2.07654822e-01 -9.77679778e-01 3.19644644e-02 4.29567371e+02] [ 9.70178608e-01 2.10018255e-01 1.21019842e-01 -1.62646520e+02] [-1.25031773e-01 5.88088570e-03 9.92135309e-01 -9.34802339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:-162.62, Z:-934.80 [[ 2.08225061e-01 -9.77974042e-01 1.44602023e-02 4.29581489e+02] [ 9.70420135e-01 2.08418330e-01 1.21846468e-01 -1.62620409e+02] [-1.22176454e-01 -1.13390168e-02 9.92443621e-01 -9.34796999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:-162.59, Z:-934.80 [[ 2.08085258e-01 -9.77830630e-01 2.34048028e-02 4.29582249e+02] [ 9.70428593e-01 2.09384956e-01 1.20109474e-01 -1.62592163e+02] [-1.22347336e-01 -2.28032100e-03 9.92484725e-01 -9.34804124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.59, Y:-162.56, Z:-934.81 [[ 2.08007223e-01 -9.77848212e-01 2.33638582e-02 4.29587118e+02] [ 9.70451929e-01 2.09302606e-01 1.20064456e-01 -1.62564581e+02] [-1.22294930e-01 -2.30077279e-03 9.92491137e-01 -9.34807868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.59, Y:-162.54, Z:-934.81 [[ 2.07812948e-01 -9.77888572e-01 2.34034310e-02 4.29590849e+02] [ 9.70445162e-01 2.09113761e-01 1.20447596e-01 -1.62536939e+02] [-1.22678307e-01 -2.31882354e-03 9.92443780e-01 -9.34811501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.60, Y:-162.51, Z:-934.82 [[ 2.07509484e-01 -9.77954456e-01 2.33430057e-02 4.29595421e+02] [ 9.70527031e-01 2.08805487e-01 1.20322695e-01 -1.62510456e+02] [-1.22544264e-01 -2.31308238e-03 9.92460354e-01 -9.34815073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.60, Y:-162.48, Z:-934.82 [[ 2.06964518e-01 -9.78070582e-01 2.33157660e-02 4.29600195e+02] [ 9.70641025e-01 2.08261268e-01 1.20346355e-01 -1.62483334e+02] [-1.22563000e-01 -2.27618628e-03 9.92458125e-01 -9.34818737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.60, Y:-162.45, Z:-934.83 [[ 2.06194962e-01 -9.78154043e-01 2.64254773e-02 4.29604641e+02] [ 9.70719076e-01 2.07879720e-01 1.20376481e-01 -1.62454211e+02] [-1.23240063e-01 8.30690931e-04 9.92376540e-01 -9.34825289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:-162.43, Z:-934.83 [[ 2.05298008e-01 -9.78439497e-01 2.25583621e-02 4.29612340e+02] [ 9.70937512e-01 2.06512855e-01 1.20966068e-01 -1.62425742e+02] [-1.23016571e-01 -2.93133284e-03 9.92400288e-01 -9.34827553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.62, Y:-162.40, Z:-934.83 [[ 2.03115980e-01 -9.78878081e-01 2.32723152e-02 4.29616018e+02] [ 9.71418244e-01 2.04436076e-01 1.20633683e-01 -1.62399613e+02] [-1.22843369e-01 -1.89547727e-03 9.92424261e-01 -9.34830890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.63, Y:-162.37, Z:-934.83 [[ 1.99779513e-01 -9.79705502e-01 1.62873029e-02 4.29626402e+02] [ 9.72346962e-01 2.00276076e-01 1.20128590e-01 -1.62371008e+02] [-1.20952598e-01 -8.16232186e-03 9.92624726e-01 -9.34829283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.62, Y:-162.35, Z:-934.84 [[ 1.96267003e-01 -9.80090687e-01 3.00251340e-02 4.29622108e+02] [ 9.72715869e-01 1.98470616e-01 1.20138472e-01 -1.62346158e+02] [-1.23705704e-01 5.62670658e-03 9.92302998e-01 -9.34839696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.63, Y:-162.32, Z:-934.84 [[ 1.92754052e-01 -9.80968068e-01 2.33992433e-02 4.29630081e+02] [ 9.73388864e-01 1.94167923e-01 1.21708412e-01 -1.62320439e+02] [-1.23935448e-01 -6.83226694e-04 9.92290047e-01 -9.34841216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.64, Y:-162.29, Z:-934.84 [[ 1.89044963e-01 -9.81690103e-01 2.33782958e-02 4.29635248e+02] [ 9.74113494e-01 1.90484869e-01 1.21730913e-01 -1.62292865e+02] [-1.23955244e-01 -2.39502485e-04 9.92287781e-01 -9.34844382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.64, Y:-162.27, Z:-934.85 [[ 1.85101149e-01 -9.82441120e-01 2.33882427e-02 4.29640259e+02] [ 9.74840069e-01 1.86572762e-01 1.21973129e-01 -1.62266703e+02] [-1.24195026e-01 2.22429925e-04 9.92257802e-01 -9.34847546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.65, Y:-162.24, Z:-934.85 [[ 1.77886738e-01 -9.83772087e-01 2.34262660e-02 4.29645528e+02] [ 9.76140762e-01 1.79419193e-01 1.22302766e-01 -1.62240303e+02] [-1.24521169e-01 1.11129302e-03 9.92216329e-01 -9.34849326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.65, Y:-162.21, Z:-934.85 [[ 1.75290405e-01 -9.84163697e-01 2.63646033e-02 4.29648863e+02] [ 9.76687263e-01 1.77204591e-01 1.21163214e-01 -1.62214128e+02] [-1.23916365e-01 4.51122348e-03 9.92282411e-01 -9.34853732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:429.66, Y:-162.19, Z:-934.85 [[ 1.71343349e-01 -9.85009186e-01 1.99589829e-02 4.29656890e+02] [ 9.77333971e-01 1.72495172e-01 1.22734369e-01 -1.62187063e+02] [-1.24337309e-01 -1.52312577e-03 9.92238839e-01 -9.34854645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.66, Y:-162.16, Z:-934.86 [[ 1.69111383e-01 -9.85321282e-01 2.33090275e-02 4.29660182e+02] [ 9.77707821e-01 1.70697127e-01 1.22269814e-01 -1.62159288e+02] [-1.24453834e-01 2.11220110e-03 9.92223151e-01 -9.34859452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.66, Y:-162.13, Z:-934.86 [[ 1.67091777e-01 -9.85669345e-01 2.31577312e-02 4.29664663e+02] [ 9.78135578e-01 1.68672888e-01 1.21656269e-01 -1.62131909e+02] [-1.23818936e-01 2.32363865e-03 9.92302107e-01 -9.34862989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:-162.11, Z:-934.87 [[ 1.65071170e-01 -9.86015506e-01 2.29113773e-02 4.29668053e+02] [ 9.78621998e-01 1.66634508e-01 1.20548437e-01 -1.62105514e+02] [-1.22680454e-01 2.52250633e-03 9.92443018e-01 -9.34866892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:-162.08, Z:-934.87 [[ 1.65044456e-01 -9.86024810e-01 2.27024671e-02 4.29672516e+02] [ 9.78746143e-01 1.66580104e-01 1.19612111e-01 -1.62078193e+02] [-1.21722288e-01 2.47863638e-03 9.92561102e-01 -9.34870381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.68, Y:-162.05, Z:-934.87 [[ 1.65272314e-01 -9.85988335e-01 2.26288807e-02 4.29676889e+02] [ 9.78734351e-01 1.66796825e-01 1.19406404e-01 -1.62051017e+02] [-1.21507746e-01 2.41309030e-03 9.92587550e-01 -9.34874182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.68, Y:-162.02, Z:-934.88 [[ 1.65866185e-01 -9.85890379e-01 2.25514822e-02 4.29681459e+02] [ 9.78663085e-01 1.67376400e-01 1.19179309e-01 -1.62023561e+02] [-1.21272320e-01 2.30248589e-03 9.92616604e-01 -9.34877682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.69, Y:-162.00, Z:-934.88 [[ 1.66832754e-01 -9.85728537e-01 2.24962860e-02 4.29686079e+02] [ 9.78513114e-01 1.68328951e-01 1.19069100e-01 -1.61996052e+02] [-1.21156586e-01 2.14828504e-03 9.92631083e-01 -9.34881233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:429.69, Y:-161.97, Z:-934.88 [[ 1.70294407e-01 -9.85143119e-01 2.22002371e-02 4.29690066e+02] [ 9.78090830e-01 1.71727206e-01 1.17677926e-01 -1.61967914e+02] [-1.19741984e-01 1.67395571e-03 9.92803634e-01 -9.34884098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.69, Y:-161.94, Z:-934.89 [[ 1.72673759e-01 -9.84731021e-01 2.21040813e-02 4.29694683e+02] [ 9.77715003e-01 1.74077564e-01 1.17347240e-01 -1.61940143e+02] [-1.19403292e-01 1.34870284e-03 9.92844920e-01 -9.34887389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:-161.91, Z:-934.89 [[ 1.75135150e-01 -9.84298410e-01 2.20072432e-02 4.29698791e+02] [ 9.77318838e-01 1.76509517e-01 1.17014017e-01 -1.61912288e+02] [-1.19061198e-01 1.01482601e-03 9.92886399e-01 -9.34890839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:-161.89, Z:-934.89 [[ 1.77953353e-01 -9.83793473e-01 2.19774334e-02 4.29702622e+02] [ 9.76807508e-01 1.79304190e-01 1.17034613e-01 -1.61885414e+02] [-1.19078534e-01 6.41020159e-04 9.92884632e-01 -9.34894019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.71, Y:-161.86, Z:-934.90 [[ 1.77699374e-01 -9.83840164e-01 2.19423129e-02 4.29707782e+02] [ 9.76853741e-01 1.79047836e-01 1.17041196e-01 -1.61857574e+02] [-1.19078553e-01 6.36283103e-04 9.92884633e-01 -9.34897867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.71, Y:-161.83, Z:-934.90 [[ 1.80217471e-01 -9.83379937e-01 2.20355015e-02 4.29711079e+02] [ 9.76310082e-01 1.81559383e-01 1.17706478e-01 -1.61829504e+02] [-1.19750941e-01 3.00718477e-04 9.92803919e-01 -9.34902200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.71, Y:-161.80, Z:-934.91 [[ 1.83351948e-01 -9.82800494e-01 2.20284310e-02 4.29714429e+02] [ 9.75708803e-01 1.84670451e-01 1.17852269e-01 -1.61802158e+02] [-1.19893269e-01 -1.15109124e-04 9.92786780e-01 -9.34905639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:-161.78, Z:-934.91 [[ 1.86106070e-01 -9.82280767e-01 2.21139053e-02 4.29717541e+02] [ 9.75107655e-01 1.87414661e-01 1.18493907e-01 -1.61775373e+02] [-1.20538756e-01 -4.88997040e-04 9.92708502e-01 -9.34909426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:-161.75, Z:-934.91 [[ 1.91453905e-01 -9.81249347e-01 2.22513114e-02 4.29720950e+02] [ 9.73954990e-01 1.92738928e-01 1.19429406e-01 -1.61747236e+02] [-1.21478721e-01 -1.19345045e-03 9.92593319e-01 -9.34912134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:-161.72, Z:-934.91 [[ 1.95740251e-01 -9.80611286e-01 9.34130694e-03 4.29735689e+02] [ 9.73522722e-01 1.95454485e-01 1.18537142e-01 -1.61716110e+02] [-1.18064659e-01 -1.41085153e-02 9.92905678e-01 -9.34905846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.73, Y:-161.69, Z:-934.91 [[ 1.97904483e-01 -9.80001506e-01 2.07572694e-02 4.29734821e+02] [ 9.73040300e-01 1.98969156e-01 1.16635539e-01 -1.61687040e+02] [-1.18433060e-01 -2.88503629e-03 9.92957848e-01 -9.34912922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:-161.66, Z:-934.92 [[ 1.99276124e-01 -9.79729372e-01 2.04788916e-02 4.29739409e+02] [ 9.72785252e-01 2.00298587e-01 1.16487466e-01 -1.61658965e+02] [-1.18228085e-01 -3.29160712e-03 9.92981010e-01 -9.34915648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:-161.63, Z:-934.92 [[ 2.00282007e-01 -9.79482622e-01 2.23810454e-02 4.29742609e+02] [ 9.72560371e-01 2.01522936e-01 1.16253306e-01 -1.61631034e+02] [-1.18378387e-01 -1.51652762e-03 9.92967400e-01 -9.34919830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.73, Y:-161.61, Z:-934.94 [[ 1.99729812e-01 -9.79008425e-01 4.06264146e-02 4.29731972e+02] [ 9.72009305e-01 2.03196023e-01 1.17937639e-01 -1.61607432e+02] [-1.23717068e-01 1.59335906e-02 9.92189603e-01 -9.34936559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.76, Y:-161.58, Z:-934.92 [[ 2.03368492e-01 -9.79101839e-01 -9.19891083e-04 4.29762069e+02] [ 9.72284916e-01 2.01841699e-01 1.17991398e-01 -1.61576796e+02] [-1.15339923e-01 -2.48901290e-02 9.93014191e-01 -9.34917468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:-161.55, Z:-934.95 [[ 2.01265056e-01 -9.78491191e-01 4.52478426e-02 4.29737372e+02] [ 9.71992973e-01 2.05223736e-01 1.14511481e-01 -1.61552865e+02] [-1.21334406e-01 2.09334256e-02 9.92390928e-01 -9.34945280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.75, Y:-161.53, Z:-934.94 [[ 2.01268502e-01 -9.79294797e-01 2.17414419e-02 4.29753744e+02] [ 9.72132823e-01 2.02421838e-01 1.18250470e-01 -1.61526601e+02] [-1.20203013e-01 -2.66452568e-03 9.92745756e-01 -9.34941795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.77, Y:-161.50, Z:-934.94 [[ 2.02950287e-01 -9.79123095e-01 1.13642607e-02 4.29767190e+02] [ 9.72374339e-01 2.02891130e-01 1.15426746e-01 -1.61495397e+02] [-1.15322700e-01 -1.23755757e-02 9.93250985e-01 -9.34937418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.76, Y:-161.47, Z:-934.95 [[ 2.01819791e-01 -9.79014581e-01 2.82705067e-02 4.29762470e+02] [ 9.72422454e-01 2.03738698e-01 1.13512618e-01 -1.61467478e+02] [-1.16890304e-01 4.58178261e-03 9.93134263e-01 -9.34949789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.77, Y:-161.44, Z:-934.95 [[ 1.98201734e-01 -9.79845924e-01 2.48603639e-02 4.29766100e+02] [ 9.73179261e-01 1.99748549e-01 1.14116795e-01 -1.61442805e+02] [-1.16782698e-01 1.57544396e-03 9.93156241e-01 -9.34954971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.78, Y:-161.41, Z:-934.95 [[ 1.98680372e-01 -9.79980134e-01 1.28470935e-02 4.29781528e+02] [ 9.73521700e-01 1.98849208e-01 1.12758558e-01 -1.61411982e+02] [-1.13055781e-01 -9.89598800e-03 9.93539360e-01 -9.34950808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.77, Y:-161.39, Z:-934.96 [[ 1.95430358e-01 -9.80276482e-01 2.94107974e-02 4.29774900e+02] [ 9.73873565e-01 1.97515979e-01 1.12061220e-01 -1.61387702e+02] [-1.15660081e-01 6.74223375e-03 9.93265970e-01 -9.34964028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.79, Y:-161.36, Z:-934.96 [[ 1.95201961e-01 -9.80680498e-01 1.27261751e-02 4.29792748e+02] [ 9.74330912e-01 1.95389089e-01 1.11814034e-01 -1.61357869e+02] [-1.12140398e-01 -9.42681295e-03 9.93647657e-01 -9.34958024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.79, Y:-161.33, Z:-934.97 [[ 1.91770222e-01 -9.81012187e-01 2.89701869e-02 4.29786539e+02] [ 9.74715153e-01 1.93822792e-01 1.11189460e-01 -1.61334167e+02] [-1.14693297e-01 6.91485284e-03 9.93376883e-01 -9.34970560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:-161.31, Z:-934.97 [[ 1.87907305e-01 -9.81971551e-01 2.05600848e-02 4.29797745e+02] [ 9.75463276e-01 1.89025235e-01 1.12875409e-01 -1.61307766e+02] [-1.14726815e-01 -1.15450622e-03 9.93396409e-01 -9.34971001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:-161.28, Z:-934.97 [[ 1.85920291e-01 -9.82351017e-01 2.04969648e-02 4.29804113e+02] [ 9.75865120e-01 1.87044314e-01 1.12701789e-01 -1.61280071e+02] [-1.14546558e-01 -9.51276523e-04 9.93417426e-01 -9.34974206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.81, Y:-161.25, Z:-934.98 [[ 1.83986857e-01 -9.82715828e-01 2.04557624e-02 4.29810239e+02] [ 9.76238673e-01 1.85118964e-01 1.12645567e-01 -1.61254187e+02] [-1.14485331e-01 -7.55597377e-04 9.93424652e-01 -9.34977220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.2165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.81, Y:-161.23, Z:-934.99 [[ 1.81600337e-01 -9.82564450e-01 3.98549675e-02 4.29806163e+02] [ 9.76144296e-01 1.85022341e-01 1.13617984e-01 -1.61226618e+02] [-1.19011051e-01 1.82711350e-02 9.92724804e-01 -9.34992749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.83, Y:-161.20, Z:-934.98 [[ 1.80682013e-01 -9.83539797e-01 1.86524214e-03 4.29831553e+02] [ 9.76781578e-01 1.79661809e-01 1.16702117e-01 -1.61201117e+02] [-1.15116289e-01 -1.92640392e-02 9.93165211e-01 -9.34977349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.276559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:429.83, Y:-161.17, Z:-934.99 [[ 1.79835283e-01 -9.83481067e-01 2.05976033e-02 4.29827842e+02] [ 9.76865568e-01 1.81010668e-01 1.13880640e-01 -1.61172999e+02] [-1.15727839e-01 -3.58667788e-04 9.93280896e-01 -9.34987367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.83, Y:-161.15, Z:-934.99 [[ 1.78363936e-01 -9.83746143e-01 2.07323816e-02 4.29834099e+02] [ 9.77024928e-01 1.79564688e-01 1.14799017e-01 -1.61145876e+02] [-1.16655894e-01 -2.19950923e-04 9.93172369e-01 -9.34990831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:-161.12, Z:-934.99 [[ 1.77927629e-01 -9.83824443e-01 2.07659412e-02 4.29839310e+02] [ 9.77060053e-01 1.79135213e-01 1.15170435e-01 -1.61119902e+02] [-1.17027401e-01 -2.02430835e-04 9.93128666e-01 -9.34994317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:-161.09, Z:-935.01 [[ 1.77639095e-01 -9.83554917e-01 3.26202050e-02 4.29839152e+02] [ 9.76735349e-01 1.80260109e-01 1.16165193e-01 -1.61091946e+02] [-1.20134968e-01 1.12258276e-02 9.92694097e-01 -9.35005895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.85, Y:-161.07, Z:-935.01 [[ 1.77029401e-01 -9.83922153e-01 2.36175513e-02 4.29848909e+02] [ 9.76856698e-01 1.78583937e-01 1.17723275e-01 -1.61065250e+02] [-1.20048254e-01 2.23048224e-03 9.92765552e-01 -9.35006795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:-161.04, Z:-935.00 [[ 1.77493605e-01 -9.84096505e-01 7.07738136e-03 4.29862865e+02] [ 9.77256345e-01 1.77098783e-01 1.16645006e-01 -1.61039726e+02] [-1.16043339e-01 -1.37873269e-02 9.93148455e-01 -9.34999908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.4565599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:429.86, Y:-161.01, Z:-935.01 [[ 1.77676585e-01 -9.83876318e-01 2.04553779e-02 4.29861811e+02] [ 9.77256708e-01 1.78850012e-01 1.13938579e-01 -1.61012104e+02] [-1.15759914e-01 -2.54062356e-04 9.93277191e-01 -9.35008174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.87, Y:-160.98, Z:-935.01 [[ 1.78127480e-01 -9.83795920e-01 2.04007180e-02 4.29867500e+02] [ 9.77189799e-01 1.79291588e-01 1.13818382e-01 -1.60984765e+02] [-1.15631737e-01 -3.38807972e-04 9.93292095e-01 -9.35011828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.87, Y:-160.96, Z:-935.02 [[ 1.78780453e-01 -9.83677789e-01 2.03852381e-02 4.29873098e+02] [ 9.77059549e-01 1.79938343e-01 1.13915888e-01 -1.60957505e+02] [-1.15724615e-01 -4.48342592e-04 9.93281235e-01 -9.35015568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.88, Y:-160.93, Z:-935.02 [[ 1.80438995e-01 -9.83372862e-01 2.04837266e-02 4.29879102e+02] [ 9.76666375e-01 1.81596665e-01 1.14653577e-01 -1.60930287e+02] [-1.16466993e-01 -6.82209330e-04 9.93194329e-01 -9.35019192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.576559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.88, Y:-160.90, Z:-935.02 [[ 1.81209734e-01 -9.83229901e-01 2.05425094e-02 4.29884424e+02] [ 9.76461631e-01 1.82368595e-01 1.15171088e-01 -1.60903635e+02] [-1.16985966e-01 -8.11149926e-04 9.93133237e-01 -9.35022659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.89, Y:-160.88, Z:-935.03 [[ 1.81932731e-01 -9.83094853e-01 2.06153529e-02 4.29889477e+02] [ 9.76253522e-01 1.83094593e-01 1.15781827e-01 -1.60877303e+02] [-1.17599078e-01 -9.38693091e-04 9.93060711e-01 -9.35026385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.636559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.90, Y:-160.85, Z:-935.03 [[ 1.82982937e-01 -9.82895566e-01 2.08218855e-02 4.29895069e+02] [ 9.75890209e-01 1.84160422e-01 1.17146228e-01 -1.60850328e+02] [-1.18977075e-01 -1.11588660e-03 9.92896375e-01 -9.35030813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.88, Y:-160.82, Z:-935.05 [[ 1.80832001e-01 -9.82301739e-01 4.88168164e-02 4.29883589e+02] [ 9.75269203e-01 1.85508512e-01 1.20152297e-01 -1.60824645e+02] [-1.27081745e-01 2.58821573e-02 9.91554509e-01 -9.35054769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:-160.80, Z:-935.03 [[ 1.82734056e-01 -9.83140315e-01 -6.58674252e-03 4.29920167e+02] [ 9.75881150e-01 1.80562819e-01 1.22690874e-01 -1.60797466e+02] [-1.19433024e-01 -2.88476789e-02 9.92423077e-01 -9.35028460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:429.91, Y:-160.77, Z:-935.04 [[ 1.82957192e-01 -9.82897439e-01 2.09592383e-02 4.29912279e+02] [ 9.75741056e-01 1.84149822e-01 1.18398629e-01 -1.60770111e+02] [-1.20233349e-01 -1.21109131e-03 9.92744920e-01 -9.35042131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.756559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:429.92, Y:-160.74, Z:-935.05 [[ 1.82260998e-01 -9.83023419e-01 2.11160426e-02 4.29918836e+02] [ 9.75742975e-01 1.83476449e-01 1.19423781e-01 -1.60743408e+02] [-1.21270670e-01 -1.16246737e-03 9.92618796e-01 -9.35045565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:429.92, Y:-160.72, Z:-935.05 [[ 1.82003280e-01 -9.83071896e-01 2.10820659e-02 4.29923702e+02] [ 9.75791083e-01 1.83216512e-01 1.19429778e-01 -1.60715511e+02] [-1.21270641e-01 -1.16491954e-03 9.92618796e-01 -9.35049415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.816559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.93, Y:-160.69, Z:-935.05 [[ 1.81294613e-01 -9.83197339e-01 2.13367203e-02 4.29929061e+02] [ 9.75716440e-01 1.82542372e-01 1.21060772e-01 -1.60688434e+02] [-1.22921485e-01 -1.12907706e-03 9.92415757e-01 -9.35053026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.93, Y:-160.66, Z:-935.06 [[ 1.80961108e-01 -9.83258091e-01 2.13683095e-02 4.29933663e+02] [ 9.75730665e-01 1.82214871e-01 1.21438920e-01 -1.60662016e+02] [-1.23299424e-01 -1.12600652e-03 9.92368875e-01 -9.35056811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.94, Y:-160.63, Z:-935.06 [[ 1.80370225e-01 -9.83365360e-01 2.14277883e-02 4.29938242e+02] [ 9.75769983e-01 1.81635265e-01 1.21990045e-01 -1.60634475e+02] [-1.23852827e-01 -1.09477929e-03 9.92299994e-01 -9.35061099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.94, Y:-160.61, Z:-935.07 [[ 1.79840162e-01 -9.83461993e-01 2.14481790e-02 4.29942944e+02] [ 9.75827368e-01 1.81111488e-01 1.22309346e-01 -1.60607836e+02] [-1.24171105e-01 -1.06641262e-03 9.92260248e-01 -9.35065473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:-160.58, Z:-935.07 [[ 1.79237396e-01 -9.83573253e-01 2.13918887e-02 4.29947863e+02] [ 9.75952632e-01 1.80506521e-01 1.22204162e-01 -1.60580927e+02] [-1.24058121e-01 -1.02608573e-03 9.92274423e-01 -9.35069573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:-160.55, Z:-935.07 [[ 1.78480314e-01 -9.83711111e-01 2.13828866e-02 4.29952839e+02] [ 9.76073080e-01 1.79754046e-01 1.22351239e-01 -1.60554555e+02] [-1.24201934e-01 -9.66027594e-04 9.92256492e-01 -9.35073641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.96, Y:-160.53, Z:-935.08 [[ 1.76741224e-01 -9.84023882e-01 2.14368594e-02 4.29958252e+02] [ 9.76322620e-01 1.78034769e-01 1.22872951e-01 -1.60527353e+02] [-1.24726425e-01 -7.87424997e-04 9.92190858e-01 -9.35077906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.96, Y:-160.50, Z:-935.09 [[ 1.75053492e-01 -9.83924485e-01 3.53395337e-02 4.29956532e+02] [ 9.76150675e-01 1.78127656e-01 1.24098341e-01 -1.60499354e+02] [-1.28398345e-01 1.27728617e-02 9.91640418e-01 -9.35091492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.97, Y:-160.47, Z:-935.08 [[ 1.74060946e-01 -9.84699094e-01 8.39534336e-03 4.29974092e+02] [ 9.76771469e-01 1.73729107e-01 1.25442000e-01 -1.60473694e+02] [-1.24981139e-01 -1.36342212e-02 9.92065433e-01 -9.35080864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.97, Y:-160.44, Z:-935.09 [[ 1.73672333e-01 -9.84445104e-01 2.65661206e-02 4.29971653e+02] [ 9.76678311e-01 1.75634858e-01 1.23498474e-01 -1.60443907e+02] [-1.26243405e-01 4.49828575e-03 9.91989097e-01 -9.35093245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.98, Y:-160.42, Z:-935.09 [[ 1.71790131e-01 -9.84982668e-01 1.72422491e-02 4.29978957e+02] [ 9.77163239e-01 1.72596041e-01 1.23946004e-01 -1.60418953e+02] [-1.25060610e-01 -4.44420842e-03 9.92139150e-01 -9.35091806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.98, Y:-160.39, Z:-935.10 [[ 1.70709872e-01 -9.85088626e-01 2.14135150e-02 4.29981589e+02] [ 9.77298477e-01 1.72047571e-01 1.23641908e-01 -1.60391225e+02] [-1.25482380e-01 -1.79498653e-04 9.92095832e-01 -9.35097214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.99, Y:-160.36, Z:-935.10 [[ 1.69365612e-01 -9.85318502e-01 2.15113665e-02 4.29986661e+02] [ 9.77432005e-01 1.70726235e-01 1.24415551e-01 -1.60363902e+02] [-1.26261499e-01 -4.58178212e-05 9.91996992e-01 -9.35100937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.99, Y:-160.34, Z:-935.10 [[ 1.68410187e-01 -9.85481851e-01 2.15297367e-02 4.29991393e+02] [ 9.77556754e-01 1.69780797e-01 1.24728800e-01 -1.60336811e+02] [-1.26573305e-01 4.09389118e-05 9.91957256e-01 -9.35104842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:-160.31, Z:-935.11 [[ 1.67815201e-01 -9.85584188e-01 2.14911020e-02 4.29996256e+02] [ 9.77661607e-01 1.69185704e-01 1.24715596e-01 -1.60308993e+02] [-1.26553706e-01 8.18525840e-05 9.91959754e-01 -9.35108669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:-160.28, Z:-935.11 [[ 1.68656813e-01 -9.85517431e-01 1.76145794e-02 4.30002379e+02] [ 9.77424280e-01 1.69525742e-01 1.26106308e-01 -1.60283826e+02] [-1.27266089e-01 -4.05177034e-03 9.91860336e-01 -9.35111220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:-160.25, Z:-935.13 [[ 1.66450353e-01 -9.85392250e-01 3.60054610e-02 4.29996223e+02] [ 9.77614188e-01 1.69682420e-01 1.24412122e-01 -1.60254932e+02] [-1.28704235e-01 1.44910079e-02 9.91577143e-01 -9.35125346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.01, Y:-160.23, Z:-935.12 [[ 1.69540649e-01 -9.85475945e-01 9.65040203e-03 4.30014450e+02] [ 9.77537126e-01 1.69402804e-01 1.25394809e-01 -1.60227816e+02] [-1.25208373e-01 -1.18258910e-02 9.92059984e-01 -9.35117446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.01, Y:-160.20, Z:-935.13 [[ 1.69313829e-01 -9.84961139e-01 3.44148525e-02 4.30005033e+02] [ 9.77215615e-01 1.72312452e-01 1.23927647e-01 -1.60199616e+02] [-1.27994024e-01 1.26480667e-02 9.91694286e-01 -9.35134409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:-160.17, Z:-935.13 [[ 1.71925714e-01 -9.85076258e-01 8.14339414e-03 4.30023369e+02] [ 9.77176441e-01 1.71582308e-01 1.25242626e-01 -1.60172971e+02] [-1.24770800e-01 -1.35748950e-02 9.92092722e-01 -9.35125098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:-160.14, Z:-935.13 [[ 1.71811554e-01 -9.84903887e-01 2.10979351e-02 4.30021571e+02] [ 9.77189211e-01 1.73101301e-01 1.23033270e-01 -1.60144586e+02] [-1.24828026e-01 -5.21862809e-04 9.92178256e-01 -9.35133646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.03, Y:-160.12, Z:-935.14 [[ 1.73674676e-01 -9.84576773e-01 2.11112743e-02 4.30025860e+02] [ 9.76826355e-01 1.74951285e-01 1.23297691e-01 -1.60116826e+02] [-1.25089487e-01 -7.91637427e-04 9.92145147e-01 -9.35137656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:-160.09, Z:-935.15 [[ 1.76269704e-01 -9.83892142e-01 2.97530501e-02 4.30024511e+02] [ 9.76007046e-01 1.78622433e-01 1.24516155e-01 -1.60089009e+02] [-1.27825029e-01 7.09076074e-03 9.91771387e-01 -9.35147838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.04, Y:-160.06, Z:-935.14 [[ 1.78891781e-01 -9.83786138e-01 1.27501167e-02 4.30038081e+02] [ 9.75805504e-01 1.79066502e-01 1.25454397e-01 -1.60062106e+02] [-1.25703416e-01 -1.00011265e-02 9.92017454e-01 -9.35143096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.04, Y:-160.03, Z:-935.15 [[ 1.80429887e-01 -9.83359920e-01 2.11736405e-02 4.30038240e+02] [ 9.75493523e-01 1.81659634e-01 1.24145738e-01 -1.60034264e+02] [-1.25926339e-01 -1.74485236e-03 9.92038060e-01 -9.35150030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:-160.01, Z:-935.15 [[ 1.82569145e-01 -9.83011984e-01 1.88665663e-02 4.30045489e+02] [ 9.75116961e-01 1.83490621e-01 1.24411029e-01 -1.60005031e+02] [-1.25759370e-01 -4.31650640e-03 9.92051384e-01 -9.35152639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:-159.98, Z:-935.16 [[ 1.83329349e-01 -9.82755071e-01 2.41416630e-02 4.30045181e+02] [ 9.74878887e-01 1.84910456e-01 1.24174390e-01 -1.59978967e+02] [-1.26497057e-01 7.70387527e-04 9.91966684e-01 -9.35159043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.05, Y:-159.95, Z:-935.16 [[ 1.84771729e-01 -9.82552776e-01 2.12002700e-02 4.30050855e+02] [ 9.74578055e-01 1.85968156e-01 1.24953832e-01 -1.59952821e+02] [-1.26716310e-01 -2.42661776e-03 9.91936030e-01 -9.35161790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:-159.93, Z:-935.17 [[ 1.87941340e-01 -9.81951712e-01 2.11869734e-02 4.30054293e+02] [ 9.73953941e-01 1.89109907e-01 1.25104614e-01 -1.59927423e+02] [-1.26853357e-01 -2.87719274e-03 9.91917309e-01 -9.35165667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.06, Y:-159.90, Z:-935.17 [[ 1.89130186e-01 -9.81724464e-01 2.11388138e-02 4.30058237e+02] [ 9.73739856e-01 1.90283309e-01 1.24991818e-01 -1.59900386e+02] [-1.26729889e-01 -3.05602033e-03 9.91932556e-01 -9.35169892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.06, Y:-159.87, Z:-935.17 [[ 1.90143744e-01 -9.81529591e-01 2.10954702e-02 4.30061791e+02] [ 9.73549891e-01 1.91283281e-01 1.24945257e-01 -1.59874355e+02] [-1.26672677e-01 -3.22006623e-03 9.91939345e-01 -9.35174202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.07, Y:-159.85, Z:-935.18 [[ 1.90715937e-01 -9.81420601e-01 2.10008609e-02 4.30065670e+02] [ 9.73483679e-01 1.91839981e-01 1.24607176e-01 -1.59846884e+02] [-1.26320854e-01 -3.32057896e-03 9.91983879e-01 -9.35178450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.776559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:430.07, Y:-159.82, Z:-935.18 [[ 1.90587419e-01 -9.81446931e-01 2.09370077e-02 4.30069890e+02] [ 9.73532082e-01 1.91705014e-01 1.24436623e-01 -1.59819372e+02] [-1.26141671e-01 -3.33320617e-03 9.92006637e-01 -9.35182757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.07, Y:-159.79, Z:-935.19 [[ 1.90088970e-01 -9.81545653e-01 2.08402184e-02 4.30074872e+02] [ 9.73677041e-01 1.91199574e-01 1.24079586e-01 -1.59792366e+02] [-1.25774419e-01 -3.29451835e-03 9.92053397e-01 -9.35186837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.836559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.08, Y:-159.76, Z:-935.19 [[ 1.89209387e-01 -9.81716356e-01 2.08039376e-02 4.30079908e+02] [ 9.73848512e-01 1.90322470e-01 1.24082367e-01 -1.59764935e+02] [-1.25773146e-01 -3.21766489e-03 9.92053810e-01 -9.35190770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:-159.74, Z:-935.19 [[ 1.87994192e-01 -9.81949098e-01 2.08363358e-02 4.30085041e+02] [ 9.74030282e-01 1.89119814e-01 1.24493800e-01 -1.59738442e+02] [-1.26187139e-01 -3.10888931e-03 9.92001583e-01 -9.35194402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:-159.71, Z:-935.20 [[ 1.86674039e-01 -9.82200718e-01 2.08459299e-02 4.30090716e+02] [ 9.74246432e-01 1.87810650e-01 1.24784012e-01 -1.59710911e+02] [-1.26478034e-01 -2.98486261e-03 9.91964918e-01 -9.35197606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.10, Y:-159.68, Z:-935.20 [[ 1.83871527e-01 -9.82724868e-01 2.10498208e-02 4.30096743e+02] [ 9.74588100e-01 1.85052889e-01 1.26227824e-01 -1.59684767e+02] [-1.27942551e-01 -2.69479789e-03 9.91777920e-01 -9.35201056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.10, Y:-159.66, Z:-935.20 [[ 1.83614521e-01 -9.82773738e-01 2.10116162e-02 4.30101335e+02] [ 9.74636568e-01 1.84793105e-01 1.26234183e-01 -1.59656825e+02] [-1.27942441e-01 -2.69973936e-03 9.91777920e-01 -9.35204903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:-159.63, Z:-935.21 [[ 1.80698967e-01 -9.83317330e-01 2.08545698e-02 4.30106813e+02] [ 9.75279454e-01 1.81883386e-01 1.25492710e-01 -1.59629531e+02] [-1.27192256e-01 -2.33736955e-03 9.91875328e-01 -9.35209131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:-159.60, Z:-935.21 [[ 1.78865417e-01 -9.83763292e-01 1.47291359e-02 4.30114975e+02] [ 9.75907269e-01 1.79298498e-01 1.24326391e-01 -1.59602260e+02] [-1.24948652e-01 -7.86342101e-03 9.92132048e-01 -9.35208618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:-159.58, Z:-935.22 [[ 1.77477740e-01 -9.83770498e-01 2.64056626e-02 4.30114270e+02] [ 9.75953097e-01 1.79391243e-01 1.23831884e-01 -1.59575768e+02] [-1.26559099e-01 3.79328533e-03 9.91951816e-01 -9.35219338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.12, Y:-159.55, Z:-935.22 [[ 1.75608096e-01 -9.84244911e-01 2.05852301e-02 4.30122829e+02] [ 9.76333201e-01 1.76801593e-01 1.24557932e-01 -1.59548464e+02] [-1.26235012e-01 -1.77533758e-03 9.91998775e-01 -9.35221200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.13, Y:-159.52, Z:-935.23 [[ 1.73914682e-01 -9.84547234e-01 2.05043247e-02 4.30128522e+02] [ 9.76672736e-01 1.75112023e-01 1.24282531e-01 -1.59521275e+02] [-1.25952576e-01 -1.58854193e-03 9.92034992e-01 -9.35225051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.13, Y:-159.50, Z:-935.23 [[ 1.71797399e-01 -9.84921140e-01 2.03961229e-02 4.30133839e+02] [ 9.77106278e-01 1.72998667e-01 1.23833692e-01 -1.59495274e+02] [-1.25494923e-01 -1.34512652e-03 9.92093350e-01 -9.35228419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:-159.47, Z:-935.23 [[ 1.69123002e-01 -9.85382975e-01 2.04402428e-02 4.30139233e+02] [ 9.77506682e-01 1.70350501e-01 1.24343853e-01 -1.59467584e+02] [-1.26008321e-01 -1.04893175e-03 9.92028630e-01 -9.35232222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:-159.44, Z:-935.24 [[ 1.68689717e-01 -9.85457395e-01 2.04328536e-02 4.30142739e+02] [ 9.77559732e-01 1.69919571e-01 1.24516302e-01 -1.59441131e+02] [-1.26177452e-01 -1.03028470e-03 9.92007152e-01 -9.35235730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:-159.41, Z:-935.23 [[ 1.69921157e-01 -9.85441123e-01 5.70902765e-03 4.30156654e+02] [ 9.77832298e-01 1.69322794e-01 1.23181933e-01 -1.59411617e+02] [-1.22355211e-01 -1.53487450e-02 9.92367683e-01 -9.35229014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:-159.39, Z:-935.25 [[ 1.68616295e-01 -9.85054044e-01 3.51720843e-02 4.30143584e+02] [ 9.77508053e-01 1.71697367e-01 1.22466404e-01 -1.59386296e+02] [-1.26674981e-01 1.37311643e-02 9.91849235e-01 -9.35248186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:-159.36, Z:-935.25 [[ 1.68563426e-01 -9.85478749e-01 2.04452369e-02 4.30155624e+02] [ 9.77507652e-01 1.69795243e-01 1.25093430e-01 -1.59359115e+02] [-1.26748420e-01 -1.10080160e-03 9.91934285e-01 -9.35246534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:-159.33, Z:-935.25 [[ 1.68779405e-01 -9.85443296e-01 2.03721248e-02 4.30160016e+02] [ 9.77500341e-01 1.70000473e-01 1.24871624e-01 -1.59332725e+02] [-1.26517176e-01 -1.16199948e-03 9.91963736e-01 -9.35249838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:-159.31, Z:-935.25 [[ 1.68840866e-01 -9.85435333e-01 2.02476137e-02 4.30164281e+02] [ 9.77569638e-01 1.70046445e-01 1.24265076e-01 -1.59305555e+02] [-1.25898231e-01 -1.18757067e-03 9.92042451e-01 -9.35253381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:-159.28, Z:-935.26 [[ 1.68670330e-01 -9.85465749e-01 2.01885657e-02 4.30168159e+02] [ 9.77619078e-01 1.69870017e-01 1.24117345e-01 -1.59278037e+02] [-1.25742824e-01 -1.19818647e-03 9.92062149e-01 -9.35257620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:-159.25, Z:-935.26 [[ 1.68303370e-01 -9.85529178e-01 2.01547774e-02 4.30171257e+02] [ 9.77681514e-01 1.69501717e-01 1.24129070e-01 -1.59251907e+02] [-1.25749089e-01 -1.18638748e-03 9.92061369e-01 -9.35262033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:-159.22, Z:-935.27 [[ 1.68429745e-01 -9.85509600e-01 2.00561338e-02 4.30174800e+02] [ 9.77709400e-01 1.69615161e-01 1.23753898e-01 -1.59224643e+02] [-1.25362479e-01 -1.23476692e-03 9.92110238e-01 -9.35265800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.18, Y:-159.20, Z:-935.27 [[ 1.69137771e-01 -9.85388870e-01 2.00297281e-02 4.30178213e+02] [ 9.77581419e-01 1.70314203e-01 1.23804852e-01 -1.59197290e+02] [-1.25407270e-01 -1.35938662e-03 9.92104414e-01 -9.35269597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.18, Y:-159.17, Z:-935.27 [[ 1.69730734e-01 -9.85287530e-01 1.99990480e-02 4.30182129e+02] [ 9.77475766e-01 1.70898577e-01 1.23833773e-01 -1.59169794e+02] [-1.25429681e-01 -1.46981243e-03 9.92101424e-01 -9.35273145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.19, Y:-159.14, Z:-935.28 [[ 1.70317603e-01 -9.85186341e-01 1.99946940e-02 4.30185862e+02] [ 9.77349324e-01 1.71479940e-01 1.24027937e-01 -1.59143106e+02] [-1.25619318e-01 -1.58234022e-03 9.92077257e-01 -9.35276442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.19, Y:-159.11, Z:-935.28 [[ 1.70717016e-01 -9.85116961e-01 2.00068651e-02 4.30189572e+02] [ 9.77239928e-01 1.71877187e-01 1.24339684e-01 -1.59114963e+02] [-1.25927855e-01 -1.67539240e-03 9.92037988e-01 -9.35279838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.19, Y:-159.09, Z:-935.28 [[ 1.71245056e-01 -9.85024065e-01 2.00679579e-02 4.30193169e+02] [ 9.77069117e-01 1.72407636e-01 1.24946184e-01 -1.59088122e+02] [-1.26534867e-01 -1.78863428e-03 9.91960548e-01 -9.35283300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:-159.06, Z:-935.29 [[ 1.71563866e-01 -9.84968502e-01 2.00721439e-02 4.30197053e+02] [ 9.76979067e-01 1.72723903e-01 1.25213245e-01 -1.59060249e+02] [-1.26798041e-01 -1.87200401e-03 9.91926788e-01 -9.35286790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:-159.03, Z:-935.29 [[ 1.71274829e-01 -9.85018621e-01 2.00810559e-02 4.30200660e+02] [ 9.76993744e-01 1.72437820e-01 1.25492721e-01 -1.59033236e+02] [-1.27075401e-01 -1.87467840e-03 9.91891289e-01 -9.35290266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:-159.01, Z:-935.29 [[ 1.70842277e-01 -9.85093115e-01 2.01114770e-02 4.30204469e+02] [ 9.77013566e-01 1.72011866e-01 1.25922238e-01 -1.59005237e+02] [-1.27504542e-01 -1.86365600e-03 9.91836236e-01 -9.35294365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:-158.98, Z:-935.30 [[ 1.68891697e-01 -9.85427126e-01 2.02231075e-02 4.30207029e+02] [ 9.77229639e-01 1.70090029e-01 1.26852730e-01 -1.58977696e+02] [-1.28443870e-01 -1.66175295e-03 9.91715388e-01 -9.35298710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:-158.95, Z:-935.30 [[ 1.67173387e-01 -9.85718799e-01 2.02856632e-02 4.30210524e+02] [ 9.77442124e-01 1.68393143e-01 1.27478015e-01 -1.58949865e+02] [-1.29073442e-01 -1.48286978e-03 9.91633928e-01 -9.35303423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:-158.92, Z:-935.31 [[ 1.64840570e-01 -9.86111667e-01 2.02821611e-02 4.30214066e+02] [ 9.77809896e-01 1.66079194e-01 1.27693024e-01 -1.58923677e+02] [-1.29288026e-01 -1.21689304e-03 9.91606336e-01 -9.35307110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.22, Y:-158.90, Z:-935.31 [[ 1.62657937e-01 -9.86538803e-01 1.68400130e-02 4.30220539e+02] [ 9.78291176e-01 1.63472275e-01 1.27370293e-01 -1.58895232e+02] [-1.28408612e-01 -4.24335301e-03 9.91712268e-01 -9.35308133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.22, Y:-158.87, Z:-935.32 [[ 1.56012162e-01 -9.87466878e-01 2.38614678e-02 4.30221424e+02] [ 9.79011124e-01 1.57793184e-01 1.28990427e-01 -1.58868835e+02] [-1.31138951e-01 3.23656706e-03 9.91358714e-01 -9.35315445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.23, Y:-158.84, Z:-935.32 [[ 1.52084835e-01 -9.88154050e-01 2.05372047e-02 4.30227345e+02] [ 9.79587058e-01 1.53464770e-01 1.29837440e-01 -1.58841622e+02] [-1.31451130e-01 3.71674282e-04 9.91322582e-01 -9.35317737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.24, Y:-158.81, Z:-935.31 [[ 1.50140441e-01 -9.88662613e-01 2.02143635e-03 4.30243767e+02] [ 9.80574262e-01 1.49172538e-01 1.27364321e-01 -1.58811305e+02] [-1.26221885e-01 -1.71403668e-02 9.91853943e-01 -9.35308434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.23, Y:-158.79, Z:-935.33 [[ 1.44215576e-01 -9.88777891e-01 3.89891032e-02 4.30226418e+02] [ 9.80763193e-01 1.48062503e-01 1.27204777e-01 -1.58785799e+02] [-1.31550095e-01 1.98941671e-02 9.91109880e-01 -9.35332384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.26, Y:-158.76, Z:-935.31 [[ 1.39007761e-01 -9.90281997e-01 -4.29063736e-03 4.30255917e+02] [ 9.82466672e-01 1.37364539e-01 1.26056423e-01 -1.58756063e+02] [-1.24242025e-01 -2.17382294e-02 9.92013795e-01 -9.35312695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.24, Y:-158.73, Z:-935.34 [[ 1.33171146e-01 -9.90420623e-01 3.65025421e-02 4.30237050e+02] [ 9.82764324e-01 1.36727203e-01 1.24418471e-01 -1.58729966e+02] [-1.28217510e-01 1.93044457e-02 9.91558172e-01 -9.35337164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:430.24, Y:-158.70, Z:-935.34 [[ 1.28424234e-01 -9.91333948e-01 2.76445335e-02 4.30244373e+02] [ 9.83145175e-01 1.30922035e-01 1.27612639e-01 -1.58704350e+02] [-1.30126020e-01 1.07900344e-02 9.91438750e-01 -9.35341926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.27, Y:-158.67, Z:-935.33 [[ 1.27524162e-01 -9.91821264e-01 -5.30742069e-03 4.30269571e+02] [ 9.84189000e-01 1.25876036e-01 1.24608330e-01 -1.58673520e+02] [-1.22921115e-01 -2.11140780e-02 9.92191814e-01 -9.35325146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.24, Y:-158.65, Z:-935.36 [[ 1.21824596e-01 -9.91524744e-01 4.51381198e-02 4.30243338e+02] [ 9.84324547e-01 1.26533010e-01 1.22860015e-01 -1.58649883e+02] [-1.27530207e-01 2.94631877e-02 9.91396978e-01 -9.35356300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.27, Y:-158.62, Z:-935.35 [[ 1.20055707e-01 -9.92686911e-01 1.26223786e-02 4.30266446e+02] [ 9.84762799e-01 1.20689392e-01 1.25205036e-01 -1.58621335e+02] [-1.25812788e-01 -2.60153032e-03 9.92050591e-01 -9.35346403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.27, Y:-158.59, Z:-935.35 [[ 1.17873019e-01 -9.92806112e-01 2.10232009e-02 4.30265943e+02] [ 9.85045994e-01 1.19578254e-01 1.24038021e-01 -1.58594806e+02] [-1.25659623e-01 6.08808386e-03 9.92054734e-01 -9.35353631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.27, Y:-158.57, Z:-935.36 [[ 1.15710987e-01 -9.92941483e-01 2.60418536e-02 4.30265138e+02] [ 9.85189965e-01 1.18068745e-01 1.24340279e-01 -1.58570155e+02] [-1.26537350e-01 1.12686364e-02 9.91897836e-01 -9.35360839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.27, Y:-158.54, Z:-935.36 [[ 1.16274871e-01 -9.93026211e-01 1.94704805e-02 4.30272098e+02] [ 9.85096963e-01 1.17803691e-01 1.25324635e-01 -1.58542901e+02] [-1.26744342e-01 4.60820553e-03 9.91924713e-01 -9.35362260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:-158.52, Z:-935.37 [[ 1.17471659e-01 -9.92887616e-01 1.93543496e-02 4.30275078e+02] [ 9.85022681e-01 1.18973897e-01 1.24801965e-01 -1.58515454e+02] [-1.26216988e-01 4.40377953e-03 9.91992883e-01 -9.35365688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:-158.49, Z:-935.37 [[ 1.19427097e-01 -9.92655103e-01 1.93136211e-02 4.30278353e+02] [ 9.84791454e-01 1.20908556e-01 1.24767434e-01 -1.58487731e+02] [-1.26186212e-01 4.11927655e-03 9.91998020e-01 -9.35369574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:-158.46, Z:-935.37 [[ 1.21479863e-01 -9.92407088e-01 1.92565609e-02 4.30281248e+02] [ 9.84557975e-01 1.22937317e-01 1.24627485e-01 -1.58461147e+02] [-1.26048549e-01 3.81947080e-03 9.92016721e-01 -9.35372986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:-158.43, Z:-935.38 [[ 1.23701192e-01 -9.92133686e-01 1.92032312e-02 4.30284370e+02] [ 9.84294095e-01 1.25133990e-01 1.24525576e-01 -1.58432994e+02] [-1.25948996e-01 3.49766489e-03 9.92030552e-01 -9.35376796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.29, Y:-158.41, Z:-935.38 [[ 1.23526635e-01 -9.92156139e-01 1.91667991e-02 4.30288616e+02] [ 9.84315967e-01 1.24956243e-01 1.24531183e-01 -1.58405027e+02] [-1.25949389e-01 3.48326837e-03 9.92030553e-01 -9.35380666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.29, Y:-158.38, Z:-935.38 [[ 1.28494582e-01 -9.91524694e-01 1.91813472e-02 4.30290219e+02] [ 9.83646887e-01 1.29887426e-01 1.24772028e-01 -1.58378078e+02] [-1.26205963e-01 2.83514287e-03 9.92000009e-01 -9.35384411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.29, Y:-158.35, Z:-935.39 [[ 1.30539213e-01 -9.91257581e-01 1.91813033e-02 4.30292826e+02] [ 9.83357306e-01 1.31916201e-01 1.24926079e-01 -1.58351639e+02] [-1.26364247e-01 2.55432270e-03 9.91980621e-01 -9.35387695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.30, Y:-158.32, Z:-935.39 [[ 1.32329324e-01 -9.91019972e-01 1.91928606e-02 4.30295282e+02] [ 9.83076001e-01 1.33694256e-01 1.25249438e-01 -1.58324200e+02] [-1.26690670e-01 2.29386712e-03 9.91939621e-01 -9.35391249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:-158.30, Z:-935.39 [[ 1.33940137e-01 -9.90802142e-01 1.92654066e-02 4.30297867e+02] [ 9.82765547e-01 1.35302850e-01 1.25956418e-01 -1.58296840e+02] [-1.27404553e-01 2.06275798e-03 9.91848691e-01 -9.35394611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:-158.27, Z:-935.40 [[ 1.35318122e-01 -9.90611819e-01 1.94224139e-02 4.30300611e+02] [ 9.82410147e-01 1.36692154e-01 1.27222474e-01 -1.58269465e+02] [-1.28682978e-01 1.86527030e-03 9.91684028e-01 -9.35398273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:-158.24, Z:-935.40 [[ 1.37903376e-01 -9.90254689e-01 1.94502102e-02 4.30302591e+02] [ 9.81994442e-01 1.39260225e-01 1.27646019e-01 -1.58241815e+02] [-1.29110710e-01 1.49718129e-03 9.91629055e-01 -9.35401321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:430.31, Y:-158.21, Z:-935.41 [[ 1.38544872e-01 -9.90164690e-01 1.94731803e-02 4.30305399e+02] [ 9.81852232e-01 1.39899895e-01 1.28039894e-01 -1.58213871e+02] [-1.29504878e-01 1.38051477e-03 9.91577824e-01 -9.35405122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:-158.19, Z:-935.41 [[ 1.39444869e-01 -9.90037168e-01 1.95328991e-02 4.30308300e+02] [ 9.81639964e-01 1.40800891e-01 1.28678242e-01 -1.58187567e+02] [-1.30146492e-01 1.23075377e-03 9.91494012e-01 -9.35408756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:-158.16, Z:-935.41 [[ 1.39903460e-01 -9.90053824e-01 1.48474857e-02 4.30314305e+02] [ 9.81697829e-01 1.40648303e-01 1.28403378e-01 -1.58158521e+02] [-1.29214529e-01 -3.38833232e-03 9.91610874e-01 -9.35408987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:-158.13, Z:-935.42 [[ 1.41305755e-01 -9.89670596e-01 2.41825171e-02 4.30312208e+02] [ 9.81332752e-01 1.43250690e-01 1.28317066e-01 -1.58132212e+02] [-1.30455790e-01 5.59915609e-03 9.91438317e-01 -9.35417501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:-158.10, Z:-935.42 [[ 1.42625644e-01 -9.89582432e-01 1.96095993e-02 4.30316164e+02] [ 9.81034151e-01 1.43965564e-01 1.29791803e-01 -1.58104931e+02] [-1.31262795e-01 7.26047134e-04 9.91347342e-01 -9.35419773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:-158.08, Z:-935.42 [[ 1.43377795e-01 -9.89473562e-01 1.96183154e-02 4.30319043e+02] [ 9.80883598e-01 1.44712550e-01 1.30098598e-01 -1.58077824e+02] [-1.31568140e-01 5.90033661e-04 9.91306954e-01 -9.35423593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:-158.05, Z:-935.43 [[ 1.43729929e-01 -9.89423545e-01 1.95641522e-02 4.30322174e+02] [ 9.80845774e-01 1.45054454e-01 1.30002975e-01 -1.58050180e+02] [-1.31465872e-01 5.04097601e-04 9.91320569e-01 -9.35427753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.33, Y:-158.02, Z:-935.43 [[ 1.43874554e-01 -9.89404232e-01 1.94776212e-02 4.30325148e+02] [ 9.80869985e-01 1.45186308e-01 1.29672701e-01 -1.58022783e+02] [-1.31126603e-01 4.48411912e-04 9.91365529e-01 -9.35432114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:430.34, Y:-157.99, Z:-935.43 [[ 1.45081868e-01 -9.89408855e-01 4.62265998e-03 4.30338034e+02] [ 9.81187311e-01 1.44474603e-01 1.28056827e-01 -1.57993597e+02] [-1.27368415e-01 -1.40430283e-02 9.91756059e-01 -9.35426847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:-157.97, Z:-935.45 [[ 1.45208824e-01 -9.88810236e-01 3.41864788e-02 4.30323993e+02] [ 9.80918142e-01 1.48392792e-01 1.25615202e-01 -1.57968962e+02] [-1.29282624e-01 1.52937015e-02 9.91489842e-01 -9.35445402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.34, Y:-157.94, Z:-935.44 [[ 1.45272195e-01 -9.89209451e-01 1.89908272e-02 4.30335707e+02] [ 9.81009242e-01 1.46508140e-01 1.27107169e-01 -1.57941505e+02] [-1.28517924e-01 1.65039432e-04 9.91707173e-01 -9.35444484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.34, Y:-157.91, Z:-935.45 [[ 1.45635469e-01 -9.89183826e-01 1.74834079e-02 4.30341335e+02] [ 9.81039183e-01 1.46675410e-01 1.26682457e-01 -1.57912593e+02] [-1.27876624e-01 -1.29755093e-03 9.91789235e-01 -9.35447069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.35, Y:-157.88, Z:-935.45 [[ 1.45515370e-01 -9.89241221e-01 1.50692908e-02 4.30346122e+02] [ 9.81237432e-01 1.46251810e-01 1.25632443e-01 -1.57884907e+02] [-1.26484702e-01 -3.49489918e-03 9.91962402e-01 -9.35448871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.34, Y:-157.86, Z:-935.46 [[ 1.45722742e-01 -9.89023432e-01 2.44445117e-02 4.30344223e+02] [ 9.81137641e-01 1.47644875e-01 1.24779491e-01 -1.57859570e+02] [-1.27018947e-01 5.80022098e-03 9.91883332e-01 -9.35457712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.35, Y:-157.83, Z:-935.46 [[ 1.45408785e-01 -9.89196296e-01 1.86272459e-02 4.30351275e+02] [ 9.81184411e-01 1.46597029e-01 1.25644192e-01 -1.57831742e+02] [-1.27017469e-01 6.99400011e-06 9.91900480e-01 -9.35459726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:-157.81, Z:-935.46 [[ 1.44949308e-01 -9.89266386e-01 1.84855774e-02 4.30355977e+02] [ 9.81347895e-01 1.46123294e-01 1.24917142e-01 -1.57805575e+02] [-1.26277503e-01 3.41292551e-05 9.91994955e-01 -9.35463888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:-157.78, Z:-935.47 [[ 1.44277858e-01 -9.89366748e-01 1.83667534e-02 4.30360421e+02] [ 9.81523583e-01 1.45442188e-01 1.24330314e-01 -1.57778520e+02] [-1.25679579e-01 8.92902347e-05 9.92070882e-01 -9.35467725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:-157.75, Z:-935.47 [[ 1.43525605e-01 -9.89478145e-01 1.82592938e-02 4.30364970e+02] [ 9.81698210e-01 1.44682335e-01 1.23837181e-01 -1.57751480e+02] [-1.25175981e-01 1.51309850e-04 9.92134543e-01 -9.35471418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.37, Y:-157.73, Z:-935.48 [[ 1.42357611e-01 -9.89648281e-01 1.81821541e-02 4.30368949e+02] [ 9.81905445e-01 1.43513798e-01 1.23553579e-01 -1.57725316e+02] [-1.24883977e-01 2.64363729e-04 9.92171317e-01 -9.35475169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.37, Y:-157.70, Z:-935.48 [[ 1.41105603e-01 -9.89829524e-01 1.80754774e-02 4.30373416e+02] [ 9.82147248e-01 1.42258096e-01 1.23082971e-01 -1.57698220e+02] [-1.24402541e-01 3.85083574e-04 9.92231757e-01 -9.35479060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.38, Y:-157.67, Z:-935.48 [[ 1.39740326e-01 -9.90023591e-01 1.80535291e-02 4.30377936e+02] [ 9.82331710e-01 1.40900730e-01 1.23172219e-01 -1.57671955e+02] [-1.24487158e-01 5.22428051e-04 9.92221082e-01 -9.35482898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.38, Y:-157.65, Z:-935.49 [[ 1.37575132e-01 -9.90326353e-01 1.80775599e-02 4.30383876e+02] [ 9.82584357e-01 1.38755677e-01 1.23591440e-01 -1.57645512e+02] [-1.24904224e-01 7.59618932e-04 9.92168513e-01 -9.35486336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.39, Y:-157.62, Z:-935.49 [[ 1.36767590e-01 -9.90438429e-01 1.80650388e-02 4.30389121e+02] [ 9.82676165e-01 1.37953026e-01 1.23759921e-01 -1.57617636e+02] [-1.25068709e-01 8.25736831e-04 9.92147739e-01 -9.35489970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.236559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:430.39, Y:-157.59, Z:-935.49 [[ 1.36181865e-01 -9.90519031e-01 1.80706941e-02 4.30394228e+02] [ 9.82722536e-01 1.37372846e-01 1.24036765e-01 -1.57589836e+02] [-1.25343199e-01 8.66920294e-04 9.92113064e-01 -9.35493848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.40, Y:-157.56, Z:-935.50 [[ 1.36355852e-01 -9.90494782e-01 1.80877883e-02 4.30399140e+02] [ 9.82652363e-01 1.37547911e-01 1.24398175e-01 -1.57563689e+02] [-1.25703681e-01 8.11588893e-04 9.92067501e-01 -9.35497335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.40, Y:-157.54, Z:-935.50 [[ 1.38386869e-01 -9.90213577e-01 1.80595410e-02 4.30404627e+02] [ 9.82360402e-01 1.39559326e-01 1.24463789e-01 -1.57535946e+02] [-1.25766112e-01 5.16823776e-04 9.92059786e-01 -9.35501663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:-157.51, Z:-935.51 [[ 1.39930968e-01 -9.89997110e-01 1.80290779e-02 4.30409266e+02] [ 9.82137877e-01 1.41087354e-01 1.24497184e-01 -1.57508683e+02] [-1.25795527e-01 2.86028875e-04 9.92056149e-01 -9.35505589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.356559995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:430.43, Y:-157.48, Z:-935.49 [[ 1.44012584e-01 -9.89555832e-01 -6.29525245e-03 4.30430009e+02] [ 9.82206964e-01 1.42162400e-01 1.22716468e-01 -1.57478241e+02] [-1.20539848e-01 -2.38559565e-02 9.92421805e-01 -9.35493514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.42, Y:-157.45, Z:-935.51 [[ 1.48411244e-01 -9.88765657e-01 1.77926586e-02 4.30422865e+02] [ 9.81541014e-01 1.49473801e-01 1.19309773e-01 -1.57451856e+02] [-1.20628942e-01 -2.42687637e-04 9.92697638e-01 -9.35505224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.43, Y:-157.42, Z:-935.51 [[ 1.47941832e-01 -9.88832500e-01 1.79861227e-02 4.30426472e+02] [ 9.81563465e-01 1.49031150e-01 1.19678235e-01 -1.57424953e+02] [-1.21022221e-01 -5.08964516e-05 9.92649797e-01 -9.35509322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:-157.40, Z:-935.53 [[ 1.47878674e-01 -9.87951123e-01 4.56560618e-02 4.30413235e+02] [ 9.80659604e-01 1.52459032e-01 1.22731350e-01 -1.57401531e+02] [-1.28213255e-01 2.66237062e-02 9.91389197e-01 -9.35532664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.43, Y:-157.38, Z:-935.53 [[ 1.49684029e-01 -9.88569507e-01 1.80283469e-02 4.30432532e+02] [ 9.80405769e-01 1.50760176e-01 1.26790765e-01 -1.57375089e+02] [-1.28059441e-01 -1.30345724e-03 9.91765638e-01 -9.35527896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.45, Y:-157.34, Z:-935.52 [[ 1.55711370e-01 -9.87802393e-01 6.34302616e-04 4.30451731e+02] [ 9.80102718e-01 1.54577595e-01 1.24516786e-01 -1.57344207e+02] [-1.23096028e-01 -1.87669976e-02 9.92217299e-01 -9.35520408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.44, Y:-157.32, Z:-935.54 [[ 1.55564213e-01 -9.87464885e-01 2.66997496e-02 4.30441257e+02] [ 9.79821856e-01 1.57681143e-01 1.22824216e-01 -1.57318765e+02] [-1.25494648e-01 7.05394570e-03 9.92069219e-01 -9.35536127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.44, Y:-157.29, Z:-935.55 [[ 1.56414010e-01 -9.87197086e-01 3.12501281e-02 4.30442329e+02] [ 9.79397318e-01 1.59114610e-01 1.24352061e-01 -1.57294828e+02] [-1.27732345e-01 1.11558871e-02 9.91745932e-01 -9.35546211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.45, Y:-157.27, Z:-935.54 [[ 1.57051764e-01 -9.87423206e-01 1.81701776e-02 4.30454185e+02] [ 9.79379671e-01 1.58087217e-01 1.25793053e-01 -1.57269742e+02] [-1.27083452e-01 -1.96051825e-03 9.91890091e-01 -9.35544913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.46, Y:-157.24, Z:-935.55 [[ 1.56651280e-01 -9.87575282e-01 1.24674828e-02 4.30462857e+02] [ 9.79184023e-01 1.56945149e-01 1.28712352e-01 -1.57241699e+02] [-1.29069849e-01 -7.95499476e-03 9.91603596e-01 -9.35547099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.47, Y:-157.22, Z:-935.55 [[ 1.57621549e-01 -9.87333679e-01 1.81011970e-02 4.30467021e+02] [ 9.78884750e-01 1.58636192e-01 1.28915497e-01 -1.57215013e+02] [-1.30154117e-01 -2.60087467e-03 9.91490364e-01 -9.35552342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.47, Y:-157.19, Z:-935.56 [[ 1.57935087e-01 -9.87282138e-01 1.81793324e-02 4.30471977e+02] [ 9.78721909e-01 1.58954983e-01 1.29756462e-01 -1.57188047e+02] [-1.30995933e-01 -2.70058717e-03 9.91379228e-01 -9.35556362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.48, Y:-157.16, Z:-935.56 [[ 1.57822934e-01 -9.87299988e-01 1.81839181e-02 4.30476569e+02] [ 9.78699907e-01 1.58843579e-01 1.30058484e-01 -1.57160744e+02] [-1.31295138e-01 -2.72961257e-03 9.91339567e-01 -9.35560526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.48, Y:-157.13, Z:-935.56 [[ 1.57979738e-01 -9.87276031e-01 1.81229453e-02 4.30481203e+02] [ 9.78698448e-01 1.58991491e-01 1.29888624e-01 -1.57134642e+02] [-1.31117320e-01 -2.78287238e-03 9.91362953e-01 -9.35564464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:-157.11, Z:-935.57 [[ 1.57862055e-01 -9.87295139e-01 1.81074600e-02 4.30485976e+02] [ 9.78694844e-01 1.58872313e-01 1.30061487e-01 -1.57107017e+02] [-1.31285848e-01 -2.81009596e-03 9.91340572e-01 -9.35568634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:-157.08, Z:-935.57 [[ 1.57930116e-01 -9.87284931e-01 1.80705237e-02 4.30491619e+02] [ 9.78684202e-01 1.58934922e-01 1.30065072e-01 -1.57080140e+02] [-1.31283323e-01 -2.85585578e-03 9.91340776e-01 -9.35573145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.50, Y:-157.05, Z:-935.58 [[ 1.57668258e-01 -9.87328908e-01 1.79540675e-02 4.30495903e+02] [ 9.78803243e-01 1.58661700e-01 1.29501647e-01 -1.57053692e+02] [-1.30709342e-01 -2.84479946e-03 9.91416651e-01 -9.35576988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:-157.03, Z:-935.60 [[ 1.54812079e-01 -9.87089386e-01 4.10824220e-02 4.30485114e+02] [ 9.78581995e-01 1.58923570e-01 1.30845631e-01 -1.57027698e+02] [-1.35685299e-01 1.99460343e-02 9.90551188e-01 -9.35597600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.52, Y:-157.00, Z:-935.58 [[ 1.57912337e-01 -9.87436549e-01 -5.72325057e-03 4.30516450e+02] [ 9.78962167e-01 1.55793394e-01 1.31763021e-01 -1.56999011e+02] [-1.29215979e-01 -2.64098525e-02 9.91264723e-01 -9.35576609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:-156.97, Z:-935.59 [[ 1.58190568e-01 -9.87203126e-01 2.01427751e-02 4.30506132e+02] [ 9.79014614e-01 1.59467436e-01 1.26887834e-01 -1.56969851e+02] [-1.28476183e-01 -3.52387363e-04 9.91712532e-01 -9.35590283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:-156.94, Z:-935.59 [[ 1.59279242e-01 -9.87117371e-01 1.51465758e-02 4.30510834e+02] [ 9.78834379e-01 1.59902604e-01 1.27727901e-01 -1.56943755e+02] [-1.28504407e-01 -5.51841415e-03 9.91693584e-01 -9.35592508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:430.51, Y:-156.92, Z:-935.60 [[ 1.60623008e-01 -9.86846607e-01 1.82763216e-02 4.30509685e+02] [ 9.78751029e-01 1.61641957e-01 1.26167747e-01 -1.56916771e+02] [-1.27462433e-01 -2.37747448e-03 9.91840550e-01 -9.35598412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:-156.89, Z:-935.60 [[ 1.59944787e-01 -9.86989799e-01 1.63952019e-02 4.30513004e+02] [ 9.78861971e-01 1.60728541e-01 1.26473626e-01 -1.56889573e+02] [-1.27463356e-01 -4.18015764e-03 9.91834472e-01 -9.35601722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:-156.86, Z:-935.61 [[ 1.58847165e-01 -9.86889570e-01 2.85754308e-02 4.30508387e+02] [ 9.78735940e-01 1.61207407e-01 1.26839002e-01 -1.56863595e+02] [-1.29782659e-01 7.81978527e-03 9.91511630e-01 -9.35614921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.53, Y:-156.83, Z:-935.61 [[ 1.58834459e-01 -9.87287549e-01 5.90851342e-03 4.30526062e+02] [ 9.78976806e-01 1.58267463e-01 1.28669436e-01 -1.56833881e+02] [-1.27968857e-01 -1.46528426e-02 9.91669938e-01 -9.35605308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.52, Y:-156.81, Z:-935.61 [[ 1.56306254e-01 -9.87552536e-01 1.75597181e-02 4.30524927e+02] [ 9.79155238e-01 1.57262799e-01 1.28543502e-01 -1.56806058e+02] [-1.29704952e-01 -2.89846340e-03 9.91548398e-01 -9.35613323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.53, Y:-156.78, Z:-935.62 [[ 1.54184959e-01 -9.87809600e-01 2.14287742e-02 4.30527568e+02] [ 9.79408223e-01 1.55662574e-01 1.28563980e-01 -1.56776738e+02] [-1.30332392e-01 1.16488577e-03 9.91469672e-01 -9.35621781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.54, Y:-156.75, Z:-935.62 [[ 1.53075823e-01 -9.88112559e-01 1.41902275e-02 4.30535064e+02] [ 9.79573013e-01 1.53616432e-01 1.29764036e-01 -1.56751457e+02] [-1.30401326e-01 -5.96337266e-03 9.91443358e-01 -9.35620267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.1965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.54, Y:-156.72, Z:-935.63 [[ 1.51356691e-01 -9.88321705e-01 1.76453663e-02 4.30537468e+02] [ 9.79751113e-01 1.52363307e-01 1.29896803e-01 -1.56723931e+02] [-1.31068336e-01 -2.37268294e-03 9.91370497e-01 -9.35625548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.54, Y:-156.70, Z:-935.63 [[ 1.49875974e-01 -9.88546476e-01 1.76934130e-02 4.30541701e+02] [ 9.79893668e-01 1.50900339e-01 1.30527727e-01 -1.56697754e+02] [-1.31702667e-01 -2.22530683e-03 9.91286768e-01 -9.35629482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.55, Y:-156.67, Z:-935.63 [[ 1.49709740e-01 -9.88572376e-01 1.76536427e-02 4.30545420e+02] [ 9.79919120e-01 1.50730310e-01 1.30533106e-01 -1.56669723e+02] [-1.31702361e-01 -2.24293528e-03 9.91286769e-01 -9.35633427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:430.55, Y:-156.64, Z:-935.64 [[ 1.48151570e-01 -9.88806174e-01 1.77048742e-02 4.30549393e+02] [ 9.80082338e-01 1.49191417e-01 1.31074530e-01 -1.56642434e+02] [-1.32248720e-01 -2.06666290e-03 9.91214409e-01 -9.35637597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.316559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.55, Y:-156.62, Z:-935.64 [[ 1.46518905e-01 -9.89049075e-01 1.77239485e-02 4.30553329e+02] [ 9.80270640e-01 1.47574886e-01 1.31495721e-01 -1.56616354e+02] [-1.32671331e-01 -1.89234282e-03 9.91158281e-01 -9.35641434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.56, Y:-156.59, Z:-935.65 [[ 1.46420776e-01 -9.89064664e-01 1.76648539e-02 4.30556546e+02] [ 9.80305568e-01 1.47470066e-01 1.31352855e-01 -1.56589473e+02] [-1.32521505e-01 -1.91583239e-03 9.91178279e-01 -9.35645437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.376559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:430.56, Y:-156.56, Z:-935.65 [[ 1.47408604e-01 -9.88919161e-01 1.75953676e-02 4.30559215e+02] [ 9.80190151e-01 1.48440428e-01 1.31120969e-01 -1.56561532e+02] [-1.32279903e-01 -2.08155303e-03 9.91210217e-01 -9.35650226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:430.56, Y:-156.53, Z:-935.65 [[ 1.47159617e-01 -9.88956876e-01 1.75597231e-02 4.30562901e+02] [ 9.80227568e-01 1.48188914e-01 1.31125742e-01 -1.56533473e+02] [-1.32279861e-01 -2.08388939e-03 9.91210218e-01 -9.35654176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4365599950002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.57, Y:-156.51, Z:-935.66 [[ 1.47960857e-01 -9.88838663e-01 1.74838138e-02 4.30566366e+02] [ 9.80150857e-01 1.48973755e-01 1.30809469e-01 -1.56506141e+02] [-1.31954090e-01 -2.21790604e-03 9.91253348e-01 -9.35658302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.57, Y:-156.48, Z:-935.66 [[ 1.49007779e-01 -9.88682524e-01 1.74226338e-02 4.30569913e+02] [ 9.80017672e-01 1.50003841e-01 1.30630049e-01 -1.56478073e+02] [-1.31765109e-01 -2.39040446e-03 9.91278085e-01 -9.35662209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.57, Y:-156.45, Z:-935.67 [[ 1.51325825e-01 -9.88330559e-01 1.74126627e-02 4.30572636e+02] [ 9.79635520e-01 1.52299675e-01 1.30839814e-01 -1.56451086e+02] [-1.31964929e-01 -2.74137992e-03 9.91250595e-01 -9.35666569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.58, Y:-156.42, Z:-935.67 [[ 1.52212470e-01 -9.88194556e-01 1.74035708e-02 4.30575741e+02] [ 9.79480913e-01 1.53176931e-01 1.30973166e-01 -1.56423471e+02] [-1.32092795e-01 -2.88928358e-03 9.91233144e-01 -9.35670950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.58, Y:-156.40, Z:-935.68 [[ 1.52608963e-01 -9.88134682e-01 1.73307294e-02 4.30578586e+02] [ 9.79457332e-01 1.53561134e-01 1.30699320e-01 -1.56396560e+02] [-1.31809857e-01 -2.97117768e-03 9.91270565e-01 -9.35675137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.58, Y:-156.37, Z:-935.68 [[ 1.51410407e-01 -9.88209816e-01 2.27211124e-02 4.30578071e+02] [ 9.79428069e-01 1.53087718e-01 1.31471701e-01 -1.56368841e+02] [-1.33399949e-01 2.34751146e-03 9.91059505e-01 -9.35683847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.59, Y:-156.34, Z:-935.68 [[ 1.52258872e-01 -9.88267254e-01 1.20444996e-02 4.30587340e+02] [ 9.79423295e-01 1.52507256e-01 1.32179975e-01 -1.56341853e+02] [-1.32466014e-01 -8.32891033e-03 9.91152554e-01 -9.35681105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.59, Y:-156.31, Z:-935.69 [[ 1.51234638e-01 -9.88343371e-01 1.74775933e-02 4.30588211e+02] [ 9.79426307e-01 1.52213191e-01 1.32496244e-01 -1.56314194e+02] [-1.33612104e-01 -2.92000679e-03 9.91029404e-01 -9.35686906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.59, Y:-156.29, Z:-935.69 [[ 1.48229179e-01 -9.88793727e-01 1.77503850e-02 4.30592548e+02] [ 9.79556787e-01 1.49265497e-01 1.34864056e-01 -1.56286972e+02] [-1.36002252e-01 -2.60327821e-03 9.90705108e-01 -9.35690169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:-156.26, Z:-935.69 [[ 1.46439137e-01 -9.89058902e-01 1.78344624e-02 4.30596571e+02] [ 9.79694719e-01 1.47501394e-01 1.35799837e-01 -1.56258968e+02] [-1.36944646e-01 -2.41408236e-03 9.90575760e-01 -9.35693789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:-156.23, Z:-935.70 [[ 1.44581119e-01 -9.89331340e-01 1.78829314e-02 4.30600676e+02] [ 9.79876746e-01 1.45666149e-01 1.36465879e-01 -1.56231475e+02] [-1.37614908e-01 -2.20732074e-03 9.90483349e-01 -9.35697468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:-156.20, Z:-935.70 [[ 1.43013874e-01 -9.89558695e-01 1.79059081e-02 4.30604864e+02] [ 9.80039454e-01 1.44116077e-01 1.36942416e-01 -1.56204514e+02] [-1.38093088e-01 -2.03616896e-03 9.90417161e-01 -9.35701128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.61, Y:-156.18, Z:-935.70 [[ 1.41898244e-01 -9.89719575e-01 1.78899905e-02 4.30609024e+02] [ 9.80188024e-01 1.43008793e-01 1.37039863e-01 -1.56177227e+02] [-1.38189460e-01 -1.91016147e-03 9.90403970e-01 -9.35704913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.61, Y:-156.15, Z:-935.71 [[ 1.40557825e-01 -9.89911080e-01 1.78759981e-02 4.30612869e+02] [ 9.80354194e-01 1.41679006e-01 1.37232332e-01 -1.56149736e+02] [-1.38380460e-01 -1.76426841e-03 9.90377572e-01 -9.35709070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.62, Y:-156.12, Z:-935.71 [[ 1.40340994e-01 -9.89943149e-01 1.78035993e-02 4.30616227e+02] [ 9.80421799e-01 1.41454705e-01 1.36980520e-01 -1.56122885e+02] [-1.38121330e-01 -1.76894554e-03 9.90413736e-01 -9.35712843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.62, Y:-156.10, Z:-935.72 [[ 1.40119210e-01 -9.89976185e-01 1.77132603e-02 4.30619252e+02] [ 9.80521256e-01 1.41223436e-01 1.36506436e-01 -1.56096254e+02] [-1.37639649e-01 -1.75894578e-03 9.90480809e-01 -9.35716694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.916559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:430.62, Y:-156.07, Z:-935.72 [[ 1.40144305e-01 -9.89974192e-01 1.76259337e-02 4.30622432e+02] [ 9.80582917e-01 1.41237112e-01 1.36048598e-01 -1.56068890e+02] [-1.37174037e-01 -1.78274680e-03 9.90545358e-01 -9.35720872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:-156.04, Z:-935.72 [[ 1.39982608e-01 -9.89999134e-01 1.75095398e-02 4.30625559e+02] [ 9.80691081e-01 1.41062092e-01 1.35449219e-01 -1.56040836e+02] [-1.36564542e-01 -1.78908540e-03 9.90629560e-01 -9.35724644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:-156.01, Z:-935.71 [[ 1.41433842e-01 -9.89939298e-01 -4.08099659e-03 4.30641548e+02] [ 9.81367565e-01 1.39665219e-01 1.31951997e-01 -1.56010617e+02] [-1.30054494e-01 -2.26674355e-02 9.91247707e-01 -9.35714214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.62, Y:-155.99, Z:-935.74 [[ 1.39865335e-01 -9.89403959e-01 3.89550355e-02 4.30619901e+02] [ 9.80747365e-01 1.43841750e-01 1.32076329e-01 -1.55985942e+02] [-1.36280204e-01 1.97321484e-02 9.90473800e-01 -9.35739898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:-155.96, Z:-935.74 [[ 1.39680348e-01 -9.90045330e-01 1.73102662e-02 4.30634579e+02] [ 9.80842934e-01 1.40736919e-01 1.34685780e-01 -1.55958374e+02] [-1.35781221e-01 -1.83430427e-03 9.90737148e-01 -9.35735715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:-155.93, Z:-935.74 [[ 1.39426448e-01 -9.90081112e-01 1.73106205e-02 4.30637754e+02] [ 9.80836995e-01 1.40484864e-01 1.34991827e-01 -1.55931868e+02] [-1.36084738e-01 -1.84253402e-03 9.90695488e-01 -9.35739052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:-155.91, Z:-935.74 [[ 1.38845194e-01 -9.90162230e-01 1.73427512e-02 4.30640721e+02] [ 9.80839665e-01 1.39912383e-01 1.35565764e-01 -1.55905244e+02] [-1.36658565e-01 -1.81219652e-03 9.90616552e-01 -9.35742645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:-155.88, Z:-935.75 [[ 1.38228529e-01 -9.90249721e-01 1.72732470e-02 4.30644171e+02] [ 9.80959678e-01 1.39292439e-01 1.35335606e-01 -1.55877151e+02] [-1.36422079e-01 -1.76288291e-03 9.90649236e-01 -9.35746294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.65, Y:-155.85, Z:-935.75 [[ 1.37747282e-01 -9.90317209e-01 1.72485093e-02 4.30647203e+02] [ 9.81012358e-01 1.38812138e-01 1.35447202e-01 -1.55850925e+02] [-1.36529998e-01 -1.73648322e-03 9.90634415e-01 -9.35749968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.65, Y:-155.82, Z:-935.75 [[ 1.37221876e-01 -9.90391201e-01 1.71879312e-02 4.30650375e+02] [ 9.81108103e-01 1.38283662e-01 1.35294198e-01 -1.55823156e+02] [-1.36370993e-01 -1.70210521e-03 9.90656376e-01 -9.35753633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.65, Y:-155.80, Z:-935.76 [[ 1.36456930e-01 -9.90497282e-01 1.71651264e-02 4.30653569e+02] [ 9.81198035e-01 1.37522572e-01 1.35417722e-01 -1.55796210e+02] [-1.36491478e-01 -1.63629831e-03 9.90639894e-01 -9.35757675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.66, Y:-155.77, Z:-935.76 [[ 1.35909446e-01 -9.90608954e-01 1.49172140e-02 4.30658351e+02] [ 9.81414051e-01 1.36676430e-01 1.34707140e-01 -1.55767440e+02] [-1.35480931e-01 -3.66800932e-03 9.90773164e-01 -9.35760033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.66, Y:-155.74, Z:-935.77 [[ 1.35045792e-01 -9.90649420e-01 1.94000022e-02 4.30658628e+02] [ 9.81424740e-01 1.36429637e-01 1.34879333e-01 -1.55741350e+02] [-1.36264868e-01 8.24755788e-04 9.90672098e-01 -9.35766117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.66, Y:-155.71, Z:-935.77 [[ 1.34400908e-01 -9.90781422e-01 1.69873564e-02 4.30663118e+02] [ 9.81576469e-01 1.35462585e-01 1.34749858e-01 -1.55713509e+02] [-1.35808808e-01 -1.43611398e-03 9.90734024e-01 -9.35769283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:-155.69, Z:-935.77 [[ 1.34064606e-01 -9.90828550e-01 1.68957278e-02 4.30666444e+02] [ 9.81681473e-01 1.35117578e-01 1.34330662e-01 -1.55686375e+02] [-1.35381565e-01 -1.42276438e-03 9.90792515e-01 -9.35773143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:-155.66, Z:-935.78 [[ 1.32776797e-01 -9.91003930e-01 1.67789235e-02 4.30668884e+02] [ 9.81943609e-01 1.33826676e-01 1.33705535e-01 -1.55659180e+02] [-1.34748179e-01 -1.27703608e-03 9.90879053e-01 -9.35777365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:-155.63, Z:-935.78 [[ 1.32655543e-01 -9.91022269e-01 1.66544193e-02 4.30672532e+02] [ 9.82054267e-01 1.33690670e-01 1.33027148e-01 -1.55632253e+02] [-1.34059407e-01 -1.29124497e-03 9.90972456e-01 -9.35780786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.68, Y:-155.61, Z:-935.78 [[ 1.30888700e-01 -9.91259946e-01 1.64884366e-02 4.30676186e+02] [ 9.82444806e-01 1.31918851e-01 1.31907621e-01 -1.55605170e+02] [-1.32929877e-01 -1.06623811e-03 9.91124872e-01 -9.35784739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.68, Y:-155.58, Z:-935.79 [[ 1.29334976e-01 -9.91466069e-01 1.63553782e-02 4.30679887e+02] [ 9.82755222e-01 1.30361982e-01 1.31140866e-01 -1.55577733e+02] [-1.32153838e-01 -8.87767495e-04 9.91228821e-01 -9.35788524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.68, Y:-155.55, Z:-935.79 [[ 1.27442583e-01 -9.91712645e-01 1.62609280e-02 4.30683755e+02] [ 9.83065327e-01 1.28474056e-01 1.30678918e-01 -1.55550588e+02] [-1.31685042e-01 -6.68504344e-04 9.91291381e-01 -9.35791967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:-155.52, Z:-935.80 [[ 1.24857135e-01 -9.92041245e-01 1.62746318e-02 4.30687538e+02] [ 9.83341622e-01 1.25912808e-01 1.31092406e-01 -1.55524193e+02] [-1.32098258e-01 -3.64299394e-04 9.91236560e-01 -9.35795853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:-155.50, Z:-935.80 [[ 1.19587679e-01 -9.92690800e-01 1.62408064e-02 4.30692477e+02] [ 9.83990302e-01 1.20685078e-01 1.31141901e-01 -1.55496533e+02] [-1.32143381e-01 2.97840482e-04 9.91230568e-01 -9.35799101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.576559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:430.70, Y:-155.47, Z:-935.80 [[ 1.16429481e-01 -9.93066489e-01 1.62210961e-02 4.30696418e+02] [ 9.84350626e-01 1.17552043e-01 1.31283517e-01 -1.55468591e+02] [-1.32280085e-01 6.81974307e-04 9.91212144e-01 -9.35802783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:-155.44, Z:-935.81 [[ 1.13466658e-01 -9.93409335e-01 1.62237912e-02 4.30700078e+02] [ 9.84652973e-01 1.14615923e-01 1.31611982e-01 -1.55440852e+02] [-1.32604076e-01 1.04123247e-03 9.91168540e-01 -9.35806911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:-155.41, Z:-935.81 [[ 1.10820285e-01 -9.93707809e-01 1.62374857e-02 4.30703528e+02] [ 9.84898543e-01 1.11995268e-01 1.32029995e-01 -1.55413510e+02] [-1.33017758e-01 1.36067443e-03 9.91112721e-01 -9.35810903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:430.71, Y:-155.39, Z:-935.81 [[ 1.08413878e-01 -9.93973434e-01 1.62248027e-02 4.30706774e+02] [ 9.85139376e-01 1.09608845e-01 1.32235816e-01 -1.55386091e+02] [-1.33217270e-01 1.64749451e-03 9.91085488e-01 -9.35814657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.71, Y:-155.36, Z:-935.82 [[ 1.06627263e-01 -9.94167172e-01 1.61944991e-02 4.30710149e+02] [ 9.85326863e-01 1.07834185e-01 1.32298006e-01 -1.55358808e+02] [-1.33272655e-01 1.85030066e-03 9.91077684e-01 -9.35818796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.71, Y:-155.33, Z:-935.82 [[ 1.04840057e-01 -9.94358523e-01 1.61149091e-02 4.30712829e+02] [ 9.85565564e-01 1.06051570e-01 1.31960539e-01 -1.55332218e+02] [-1.32925099e-01 2.04754895e-03 9.91123971e-01 -9.35822637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:-155.31, Z:-935.84 [[ 1.02179068e-01 -9.94104976e-01 3.62592777e-02 4.30702687e+02] [ 9.85280541e-01 1.06159127e-01 1.33986924e-01 -1.55306274e+02] [-1.37046321e-01 2.20349017e-02 9.90319529e-01 -9.35841087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.73, Y:-155.28, Z:-935.82 [[ 1.04219166e-01 -9.94544949e-01 -4.32552144e-03 4.30728702e+02] [ 9.85733048e-01 1.02715828e-01 1.33340977e-01 -1.55277395e+02] [-1.32169296e-01 -1.81604949e-02 9.91060782e-01 -9.35823204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.72, Y:-155.25, Z:-935.83 [[ 1.04217489e-01 -9.94428111e-01 1.58570941e-02 4.30720622e+02] [ 9.85826929e-01 1.05397409e-01 1.30524531e-01 -1.55249039e+02] [-1.31468559e-01 2.02941161e-03 9.91318264e-01 -9.35834604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.72, Y:-155.22, Z:-935.84 [[ 1.04352704e-01 -9.94414389e-01 1.58283346e-02 4.30722596e+02] [ 9.85804244e-01 1.05527805e-01 1.30590484e-01 -1.55222547e+02] [-1.31531386e-01 1.97616929e-03 9.91310037e-01 -9.35838783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.72, Y:-155.19, Z:-935.84 [[ 1.04927304e-01 -9.94355310e-01 1.57409586e-02 4.30724619e+02] [ 9.85797399e-01 1.06085196e-01 1.30189938e-01 -1.55194759e+02] [-1.31124939e-01 1.85691685e-03 9.91364112e-01 -9.35842686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.72, Y:-155.17, Z:-935.86 [[ 1.04029046e-01 -9.94003763e-01 3.36820044e-02 4.30715379e+02] [ 9.85360101e-01 1.07605299e-01 1.32236801e-01 -1.55168534e+02] [-1.35068240e-01 1.94324350e-02 9.90645724e-01 -9.35860147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:-155.14, Z:-935.84 [[ 1.06356780e-01 -9.94325050e-01 -2.43528675e-03 4.30737577e+02] [ 9.85754402e-01 1.05118466e-01 1.31294966e-01 -1.55140256e+02] [-1.30293880e-01 -1.63647045e-02 9.91340356e-01 -9.35844575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.72, Y:-155.11, Z:-935.87 [[ 1.08444368e-01 -9.93518192e-01 3.40796231e-02 4.30719798e+02] [ 9.85382631e-01 1.11960639e-01 1.28397377e-01 -1.55111210e+02] [-1.31380706e-01 1.96574962e-02 9.91137071e-01 -9.35867680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.996559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.74, Y:-155.09, Z:-935.85 [[ 1.08981735e-01 -9.94040430e-01 -2.57016352e-03 4.30740191e+02] [ 9.85765338e-01 1.07740779e-01 1.29068289e-01 -1.55086013e+02] [-1.28022187e-01 -1.65996642e-02 9.91632377e-01 -9.35853047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.72, Y:-155.06, Z:-935.88 [[ 1.09237429e-01 -9.93358380e-01 3.61429656e-02 4.30722286e+02] [ 9.85351423e-01 1.13004004e-01 1.27721056e-01 -1.55057389e+02] [-1.30957081e-01 2.16616028e-02 9.91151360e-01 -9.35877039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:-155.03, Z:-935.86 [[ 1.10334242e-01 -9.93880609e-01 -5.26213319e-03 4.30746832e+02] [ 9.85742233e-01 1.08750976e-01 1.28395779e-01 -1.55030558e+02] [-1.27037813e-01 -1.93535578e-02 9.91709047e-01 -9.35859091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:-155.00, Z:-935.87 [[ 1.11104594e-01 -9.93695203e-01 1.50204245e-02 4.30739172e+02] [ 9.85681167e-01 1.12112377e-01 1.25950198e-01 -1.55002360e+02] [-1.26840083e-01 8.11703904e-04 9.91922847e-01 -9.35869363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.116559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:430.74, Y:-154.97, Z:-935.87 [[ 1.11527420e-01 -9.93648163e-01 1.49987389e-02 4.30741700e+02] [ 9.85618815e-01 1.12529128e-01 1.26066437e-01 -1.54974995e+02] [-1.26953479e-01 7.23174711e-04 9.91908409e-01 -9.35872335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:430.74, Y:-154.95, Z:-935.88 [[ 1.11268349e-01 -9.93677744e-01 1.49631459e-02 4.30744981e+02] [ 9.85648095e-01 1.12267635e-01 1.26070661e-01 -1.54946887e+02] [-1.26953487e-01 7.20721822e-04 9.91908409e-01 -9.35876288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:-154.92, Z:-935.88 [[ 1.12696361e-01 -9.93514003e-01 1.51478056e-02 4.30746751e+02] [ 9.85244999e-01 1.13708694e-01 1.27916475e-01 -1.54918718e+02] [-1.28809246e-01 5.08578573e-04 9.91669259e-01 -9.35879537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:-154.89, Z:-935.88 [[ 1.13478057e-01 -9.93424857e-01 1.51586572e-02 4.30749092e+02] [ 9.85101639e-01 1.14485445e-01 1.28327098e-01 -1.54891900e+02] [-1.29218775e-01 3.70508242e-04 9.91616040e-01 -9.35882607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:-154.87, Z:-935.89 [[ 1.14137154e-01 -9.93348009e-01 1.52460770e-02 4.30751098e+02] [ 9.84897785e-01 1.15150622e-01 1.29293030e-01 -1.54865099e+02] [-1.30188569e-01 2.58689032e-04 9.91489218e-01 -9.35886089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:-154.84, Z:-935.89 [[ 1.15134731e-01 -9.93232257e-01 1.52865044e-02 4.30753185e+02] [ 9.84692872e-01 1.16145062e-01 1.29962585e-01 -1.54837509e+02] [-1.30858484e-01 8.93046685e-05 9.91401054e-01 -9.35890099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-154.81, Z:-935.89 [[ 1.15815149e-01 -9.93153272e-01 1.52783923e-02 4.30755607e+02] [ 9.84580895e-01 1.16818563e-01 1.30207088e-01 -1.54809849e+02] [-1.31100395e-01 -3.71401441e-05 9.91369096e-01 -9.35893954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-154.78, Z:-935.90 [[ 1.16488087e-01 -9.93075453e-01 1.52207373e-02 4.30758318e+02] [ 9.84525769e-01 1.17478165e-01 1.30030351e-01 -1.54782231e+02] [-1.30918054e-01 -1.61778761e-04 9.91393180e-01 -9.35897654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-154.75, Z:-935.90 [[ 1.18179612e-01 -9.92876124e-01 1.51849103e-02 4.30760247e+02] [ 9.84323025e-01 1.19150427e-01 1.30043679e-01 -1.54754079e+02] [-1.30926553e-01 -4.21654665e-04 9.91391981e-01 -9.35901877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-154.73, Z:-935.91 [[ 1.18670690e-01 -9.92818005e-01 1.51550881e-02 4.30762226e+02] [ 9.84255212e-01 1.19633334e-01 1.30113577e-01 -1.54727374e+02] [-1.30992156e-01 -5.24193427e-04 9.91383266e-01 -9.35905646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-154.70, Z:-935.91 [[ 1.19132739e-01 -9.92763355e-01 1.51099729e-02 4.30764626e+02] [ 9.84213166e-01 1.20085550e-01 1.30015017e-01 -1.54700124e+02] [-1.30888634e-01 -6.17610847e-04 9.91396885e-01 -9.35909643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.77, Y:-154.67, Z:-935.91 [[ 1.20106226e-01 -9.92647525e-01 1.50128893e-02 4.30767019e+02] [ 9.84165386e-01 1.21038372e-01 1.29492110e-01 -1.54672968e+02] [-1.30357158e-01 -7.77642565e-04 9.91466796e-01 -9.35913391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-154.64, Z:-935.93 [[ 1.19597190e-01 -9.92367000e-01 3.00707478e-02 4.30762053e+02] [ 9.83873720e-01 1.22522276e-01 1.30310380e-01 -1.54644682e+02] [-1.33000057e-01 1.40010633e-02 9.91017132e-01 -9.35927760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:-154.62, Z:-935.92 [[ 1.20399346e-01 -9.92725392e-01 5.42181164e-04 4.30779874e+02] [ 9.84236503e-01 1.19441036e-01 1.30431385e-01 -1.54618631e+02] [-1.29547307e-01 -1.51702190e-02 9.91457190e-01 -9.35915924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:-154.59, Z:-935.92 [[ 1.20384212e-01 -9.92617143e-01 1.47935602e-02 4.30775400e+02] [ 9.84275263e-01 1.21286438e-01 1.28420428e-01 -1.54591037e+02] [-1.29266576e-01 -8.98856646e-04 9.91609472e-01 -9.35924904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:-154.56, Z:-935.93 [[ 1.20229456e-01 -9.92637947e-01 1.46555056e-02 4.30778471e+02] [ 9.84411914e-01 1.21115999e-01 1.27530774e-01 -1.54564099e+02] [-1.28366902e-01 -9.05901106e-04 9.91726332e-01 -9.35928511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:-154.54, Z:-935.93 [[ 1.19515878e-01 -9.92724668e-01 1.46181119e-02 4.30781431e+02] [ 9.84498671e-01 1.20403530e-01 1.27535709e-01 -1.54537190e+02] [-1.28367917e-01 -8.51030545e-04 9.91726249e-01 -9.35932703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:-154.51, Z:-935.94 [[ 1.18037573e-01 -9.92902294e-01 1.45659239e-02 4.30784803e+02] [ 9.84693201e-01 1.18930859e-01 1.27415662e-01 -1.54510728e+02] [-1.28243641e-01 -6.96869276e-04 9.91742448e-01 -9.35936689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.656559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:430.79, Y:-154.48, Z:-935.94 [[ 1.16643170e-01 -9.93066657e-01 1.45940430e-02 4.30788165e+02] [ 9.84798339e-01 1.17551345e-01 1.27882419e-01 -1.54483243e+02] [-1.28711316e-01 -5.44421354e-04 9.91681956e-01 -9.35940817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.79, Y:-154.46, Z:-935.94 [[ 1.15415506e-01 -9.93210341e-01 1.45766676e-02 4.30791943e+02] [ 9.84923244e-01 1.16331602e-01 1.28035783e-01 -1.54456356e+02] [-1.28862191e-01 -4.20415970e-04 9.91662422e-01 -9.35944142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:-154.43, Z:-935.95 [[ 1.13909934e-01 -9.93384222e-01 1.45710346e-02 4.30795922e+02] [ 9.85062437e-01 1.14837795e-01 1.28313198e-01 -1.54428480e+02] [-1.29137611e-01 -2.62769048e-04 9.91626648e-01 -9.35948000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:430.80, Y:-154.40, Z:-935.95 [[ 1.11453557e-01 -9.93663531e-01 1.45221077e-02 4.30800490e+02] [ 9.85360973e-01 1.12395669e-01 1.28183333e-01 -1.54401519e+02] [-1.29003325e-01 2.30297490e-05 9.91644161e-01 -9.35952040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:-154.37, Z:-935.96 [[ 1.10566511e-01 -9.93763154e-01 1.44858836e-02 4.30804596e+02] [ 9.85460767e-01 1.11511361e-01 1.28188503e-01 -1.54374611e+02] [-1.29004352e-01 1.01914402e-04 9.91644022e-01 -9.35955436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:-154.35, Z:-935.96 [[ 1.09929894e-01 -9.93676936e-01 2.28378194e-02 4.30804308e+02] [ 9.85792032e-01 1.11935941e-01 1.25237436e-01 -1.54346147e+02] [-1.27001925e-01 8.74600229e-03 9.91863911e-01 -9.35962429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.82, Y:-154.32, Z:-935.96 [[ 1.10077847e-01 -9.93903876e-01 6.16063169e-03 4.30816500e+02] [ 9.85447823e-01 1.09944833e-01 1.29633025e-01 -1.54320967e+02] [-1.29520095e-01 -8.19874316e-03 9.91542902e-01 -9.35960433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.82, Y:-154.29, Z:-935.97 [[ 1.10644536e-01 -9.93755111e-01 1.44417982e-02 4.30815888e+02] [ 9.85368328e-01 1.11583055e-01 1.28835089e-01 -1.54293689e+02] [-1.29641988e-01 -2.44080496e-05 9.91560868e-01 -9.35967239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.82, Y:-154.27, Z:-935.97 [[ 1.11577562e-01 -9.93651588e-01 1.43864192e-02 4.30819448e+02] [ 9.85285707e-01 1.12501059e-01 1.28668521e-01 -1.54265838e+02] [-1.29470167e-01 -1.81786582e-04 9.91583301e-01 -9.35971275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.82, Y:-154.24, Z:-935.98 [[ 1.14260332e-01 -9.93347295e-01 1.43432505e-02 4.30823027e+02] [ 9.84986664e-01 1.15155680e-01 1.28609650e-01 -1.54239689e+02] [-1.29405755e-01 -5.67070854e-04 9.91591564e-01 -9.35975611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-154.21, Z:-935.98 [[ 1.15846559e-01 -9.93164313e-01 1.42906230e-02 4.30826427e+02] [ 9.84818421e-01 1.16721846e-01 1.28486144e-01 -1.54211841e+02] [-1.29275881e-01 -8.11008828e-04 9.91608335e-01 -9.35979876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-154.18, Z:-935.98 [[ 1.17532190e-01 -9.92966956e-01 1.42411106e-02 4.30830130e+02] [ 9.84635788e-01 1.18387043e-01 1.28362271e-01 -1.54183864e+02] [-1.29145457e-01 -1.06439174e-03 9.91625090e-01 -9.35983880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-154.16, Z:-935.99 [[ 1.19196560e-01 -9.92768857e-01 1.42188714e-02 4.30833687e+02] [ 9.84419016e-01 1.20034399e-01 1.28494917e-01 -1.54157129e+02] [-1.29272506e-01 -1.31882479e-03 9.91608229e-01 -9.35988082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.84, Y:-154.13, Z:-935.99 [[ 1.20923620e-01 -9.92560520e-01 1.41807226e-02 4.30837393e+02] [ 9.84207892e-01 1.21741982e-01 1.28505702e-01 -1.54129934e+02] [-1.29276076e-01 -1.58259570e-03 9.91607378e-01 -9.35992006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.84, Y:-154.10, Z:-936.00 [[ 1.24220797e-01 -9.92152959e-01 1.42021134e-02 4.30842422e+02] [ 9.83729733e-01 1.25013107e-01 1.29025329e-01 -1.54102768e+02] [-1.29788312e-01 -2.05658796e-03 9.91539593e-01 -9.35995691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.85, Y:-154.08, Z:-936.00 [[ 1.25365773e-01 -9.92008731e-01 1.42161899e-02 4.30846625e+02] [ 9.83523633e-01 1.26149147e-01 1.29489989e-01 -1.54075561e+02] [-1.30248560e-01 -2.25165384e-03 9.91478816e-01 -9.35999463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.85, Y:-154.05, Z:-936.00 [[ 1.26459212e-01 -9.91869239e-01 1.42646960e-02 4.30850872e+02] [ 9.83280473e-01 1.27237665e-01 1.30269289e-01 -1.54047871e+02] [-1.31025107e-01 -2.44755473e-03 9.91376029e-01 -9.36003460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.84, Y:-154.02, Z:-936.02 [[ 1.26082125e-01 -9.91415845e-01 3.46109986e-02 4.30844193e+02] [ 9.82666451e-01 1.29597071e-01 1.32556579e-01 -1.54019196e+02] [-1.35904177e-01 1.72980520e-02 9.90570963e-01 -9.36020923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.87, Y:-153.99, Z:-936.00 [[ 1.28796559e-01 -9.91657684e-01 -5.14630191e-03 4.30870343e+02] [ 9.82869984e-01 1.26961915e-01 1.33593661e-01 -1.53992506e+02] [-1.31825796e-01 -2.22645496e-02 9.91022830e-01 -9.36004315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.86, Y:-153.96, Z:-936.02 [[ 1.29337041e-01 -9.91403362e-01 1.97814064e-02 4.30861433e+02] [ 9.82909170e-01 1.30813359e-01 1.29527714e-01 -1.53963474e+02] [-1.31001884e-01 2.69059442e-03 9.91378468e-01 -9.36017737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.87, Y:-153.94, Z:-936.02 [[ 1.30452950e-01 -9.91414410e-01 8.91600031e-03 4.30870472e+02] [ 9.82539009e-01 1.30477935e-01 1.32637115e-01 -1.53938428e+02] [-1.32661689e-01 -8.54258488e-03 9.91124564e-01 -9.36017709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.87, Y:-153.91, Z:-936.02 [[ 1.31085541e-01 -9.91267389e-01 1.43368587e-02 4.30871192e+02] [ 9.82374106e-01 1.31826225e-01 1.32525330e-01 -1.53911945e+02] [-1.33258012e-01 -3.28799588e-03 9.91075926e-01 -9.36023756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.87, Y:-153.88, Z:-936.03 [[ 1.31440986e-01 -9.91030091e-01 2.41376448e-02 4.30870115e+02] [ 9.82606501e-01 1.33468494e-01 1.29114773e-01 -1.53884301e+02] [-1.31178241e-01 6.74683360e-03 9.91335841e-01 -9.36030978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.88, Y:-153.86, Z:-936.03 [[ 1.30436938e-01 -9.91445759e-01 4.63821209e-03 4.30884643e+02] [ 9.82450843e-01 1.29879827e-01 1.33871477e-01 -1.53857628e+02] [-1.33328718e-01 -1.29049702e-02 9.90987848e-01 -9.36028134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.376559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:430.88, Y:-153.83, Z:-936.04 [[ 1.29043883e-01 -9.91535865e-01 1.42934956e-02 4.30882797e+02] [ 9.82560628e-01 1.29795163e-01 1.33145895e-01 -1.53830063e+02] [-1.33874157e-01 -3.13743725e-03 9.90993374e-01 -9.36035881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.89, Y:-153.80, Z:-936.04 [[ 1.27891166e-01 -9.91685555e-01 1.42691993e-02 4.30885907e+02] [ 9.82693727e-01 1.28649231e-01 1.33275711e-01 -1.53803414e+02] [-1.34003319e-01 -3.02253350e-03 9.90976274e-01 -9.36039873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.89, Y:-153.78, Z:-936.04 [[ 1.26954695e-01 -9.91806727e-01 1.42099462e-02 4.30889227e+02] [ 9.82856416e-01 1.27714202e-01 1.32974993e-01 -1.53775312e+02] [-1.33700305e-01 -2.91546294e-03 9.91017522e-01 -9.36043841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.89, Y:-153.75, Z:-936.05 [[ 1.26313953e-01 -9.91889440e-01 1.41465317e-02 4.30892357e+02] [ 9.82971919e-01 1.27071455e-01 1.32736775e-01 -1.53747289e+02] [-1.33457826e-01 -2.86086338e-03 9.91050364e-01 -9.36047940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:-153.72, Z:-936.05 [[ 1.26192234e-01 -9.91906062e-01 1.40671416e-02 4.30895151e+02] [ 9.83041589e-01 1.26941381e-01 1.32344701e-01 -1.53719554e+02] [-1.33059213e-01 -2.87228818e-03 9.91103928e-01 -9.36051687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:-153.69, Z:-936.06 [[ 1.26997865e-01 -9.91803937e-01 1.40175728e-02 4.30896786e+02] [ 9.82954001e-01 1.27733558e-01 1.32233018e-01 -1.53692204e+02] [-1.32939742e-01 -3.01468164e-03 9.91119537e-01 -9.36056217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:-153.67, Z:-936.06 [[ 1.27691594e-01 -9.91715784e-01 1.39520761e-02 4.30898962e+02] [ 9.82900438e-01 1.28413218e-01 1.31972627e-01 -1.53665044e+02] [-1.32670968e-01 -3.13829328e-03 9.91155167e-01 -9.36060367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:-153.64, Z:-936.06 [[ 1.28462330e-01 -9.91617304e-01 1.38763031e-02 4.30901176e+02] [ 9.82846806e-01 1.29168173e-01 1.31634871e-01 -1.53637797e+02] [-1.32323792e-01 -3.27184199e-03 9.91201145e-01 -9.36064723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:-153.61, Z:-936.07 [[ 1.29187741e-01 -9.91524212e-01 1.37936264e-02 4.30903352e+02] [ 9.82810663e-01 1.29877710e-01 1.31205876e-01 -1.53610890e+02] [-1.31885287e-01 -3.39366753e-03 9.91259176e-01 -9.36068953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.91, Y:-153.58, Z:-936.07 [[ 1.29789221e-01 -9.91447668e-01 1.36484186e-02 4.30905135e+02] [ 9.82867010e-01 1.30458344e-01 1.30203922e-01 -1.53584708e+02] [-1.30870925e-01 -3.48448512e-03 9.91393292e-01 -9.36073560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:-153.56, Z:-936.09 [[ 1.26924999e-01 -9.91572821e-01 2.59496723e-02 4.30898968e+02] [ 9.82812148e-01 1.29253100e-01 1.31810159e-01 -1.53558031e+02] [-1.34053447e-01 8.77364890e-03 9.90935264e-01 -9.36088115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:-153.53, Z:-936.08 [[ 1.28342067e-01 -9.91729705e-01 7.11057652e-04 4.30917771e+02] [ 9.83266022e-01 1.27340169e-01 1.30278205e-01 -1.53529467e+02] [-1.29291312e-01 -1.60210153e-02 9.91477223e-01 -9.36076845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.91, Y:-153.50, Z:-936.09 [[ 1.26865528e-01 -9.91829121e-01 1.34213439e-02 4.30914340e+02] [ 9.83443336e-01 1.27534997e-01 1.28740163e-01 -1.53501872e+02] [-1.29399934e-01 -3.13355752e-03 9.91587534e-01 -9.36085077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:-153.47, Z:-936.09 [[ 1.25146454e-01 -9.92048118e-01 1.33752101e-02 4.30917328e+02] [ 9.83676578e-01 1.25824780e-01 1.28641032e-01 -1.53474738e+02] [-1.29301027e-01 -2.94208817e-03 9.91601023e-01 -9.36088803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:-153.45, Z:-936.09 [[ 1.23477691e-01 -9.92257267e-01 1.33707429e-02 4.30920467e+02] [ 9.83844406e-01 1.24168617e-01 1.28966431e-01 -1.53447116e+02] [-1.29628105e-01 -2.76974660e-03 9.91558815e-01 -9.36092490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:-153.42, Z:-936.10 [[ 1.19583852e-01 -9.92732514e-01 1.34854570e-02 4.30923562e+02] [ 9.84128870e-01 1.20319333e-01 1.30436288e-01 -1.53420807e+02] [-1.31110905e-01 -2.32664610e-03 9.91364977e-01 -9.36095666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.93, Y:-153.39, Z:-936.10 [[ 1.17283777e-01 -9.93006446e-01 1.35171805e-02 4.30926332e+02] [ 9.84312845e-01 1.18041930e-01 1.31127140e-01 -1.53394432e+02] [-1.31805689e-01 -2.07395187e-03 9.91273403e-01 -9.36099036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.93, Y:-153.37, Z:-936.10 [[ 1.15803240e-01 -9.93179493e-01 1.35685467e-02 4.30929865e+02] [ 9.84368947e-01 1.16579447e-01 1.32011396e-01 -1.53366723e+02] [-1.32692825e-01 -1.93089133e-03 9.91155329e-01 -9.36102875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.916559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.93, Y:-153.34, Z:-936.11 [[ 1.13833249e-01 -9.93406944e-01 1.35880752e-02 4.30933316e+02] [ 9.84523221e-01 1.14628576e-01 1.32568159e-01 -1.53338802e+02] [-1.33251712e-01 -1.71288878e-03 9.91080747e-01 -9.36106745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.94, Y:-153.31, Z:-936.11 [[ 1.11985282e-01 -9.93617291e-01 1.35637687e-02 4.30936747e+02] [ 9.84717566e-01 1.12793695e-01 1.32698524e-01 -1.53312345e+02] [-1.33381456e-01 -1.50380038e-03 9.91063634e-01 -9.36110141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.94, Y:-153.29, Z:-936.11 [[ 1.10481661e-01 -9.93785815e-01 1.35483028e-02 4.30939963e+02] [ 9.84854935e-01 1.11301154e-01 1.32939122e-01 -1.53285102e+02] [-1.33620956e-01 -1.34422214e-03 9.91031601e-01 -9.36114129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.94, Y:-153.26, Z:-936.12 [[ 1.08296936e-01 -9.94027531e-01 1.34551644e-02 4.30943266e+02] [ 9.85173866e-01 1.09124241e-01 1.32379585e-01 -1.53257718e+02] [-1.33057237e-01 -1.08062708e-03 9.91107766e-01 -9.36118587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.95, Y:-153.23, Z:-936.12 [[ 1.08038401e-01 -9.94056167e-01 1.34179569e-02 4.30946062e+02] [ 9.85202255e-01 1.08863054e-01 1.32383356e-01 -1.53229553e+02] [-1.33057211e-01 -1.08308469e-03 9.91107767e-01 -9.36122540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.95, Y:-153.20, Z:-936.13 [[ 1.07308651e-01 -9.94136494e-01 1.33223806e-02 4.30948899e+02] [ 9.85363832e-01 1.08127722e-01 1.31782071e-01 -1.53201988e+02] [-1.32449884e-01 -1.01396428e-03 9.91189185e-01 -9.36126527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:-153.17, Z:-936.13 [[ 1.06891508e-01 -9.94181975e-01 1.32818102e-02 4.30951581e+02] [ 9.85413410e-01 1.07708914e-01 1.31754320e-01 -1.53174457e+02] [-1.32418340e-01 -9.95344027e-04 9.91193418e-01 -9.36130616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:430.95, Y:-153.15, Z:-936.13 [[ 1.07527956e-01 -9.94114703e-01 1.31794062e-02 4.30953491e+02] [ 9.85431928e-01 1.08326937e-01 1.31107554e-01 -1.53146360e+02] [-1.31763632e-01 -1.11031966e-03 9.91280542e-01 -9.36134560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:-153.12, Z:-936.14 [[ 1.08010809e-01 -9.94063202e-01 1.31155187e-02 4.30955834e+02] [ 9.85415715e-01 1.08797485e-01 1.30839507e-01 -1.53118909e+02] [-1.31489675e-01 -1.20784275e-03 9.91316804e-01 -9.36138013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:-153.09, Z:-936.14 [[ 1.08127247e-01 -9.94051204e-01 1.30652961e-02 4.30957990e+02] [ 9.85420476e-01 1.08906468e-01 1.30712919e-01 -1.53091988e+02] [-1.31358229e-01 -1.25881777e-03 9.91334167e-01 -9.36141628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:-153.06, Z:-936.15 [[ 1.08043753e-01 -9.94061261e-01 1.29906629e-02 4.30960184e+02] [ 9.85477053e-01 1.08814356e-01 1.30362630e-01 -1.53063889e+02] [-1.31002011e-01 -1.28286748e-03 9.91381273e-01 -9.36145501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:-153.04, Z:-936.15 [[ 1.08114440e-01 -9.94054527e-01 1.29176420e-02 4.30962427e+02] [ 9.85517851e-01 1.08875356e-01 1.30002775e-01 -1.53036777e+02] [-1.30636260e-01 -1.32461055e-03 9.91429480e-01 -9.36149108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:-153.01, Z:-936.15 [[ 1.07589548e-01 -9.94112350e-01 1.28501093e-02 4.30964554e+02] [ 9.85631316e-01 1.08346699e-01 1.29583572e-01 -1.53009999e+02] [-1.30212896e-01 -1.27636781e-03 9.91485236e-01 -9.36152974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:-152.98, Z:-936.16 [[ 1.05668763e-01 -9.94319790e-01 1.27384393e-02 4.30966574e+02] [ 9.85938941e-01 1.06428587e-01 1.28830741e-01 -1.52981838e+02] [-1.29454690e-01 -1.05406161e-03 9.91584778e-01 -9.36156972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.336559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.97, Y:-152.95, Z:-936.16 [[ 1.03976762e-01 -9.94400461e-01 1.88827117e-02 4.30965630e+02] [ 9.86329427e-01 1.05536013e-01 1.26555962e-01 -1.52953987e+02] [-1.27840113e-01 5.46569503e-03 9.91779730e-01 -9.36163577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:-152.93, Z:-936.18 [[ 9.85594503e-02 -9.94754625e-01 2.73727982e-02 4.30959243e+02] [ 9.85966467e-01 1.01339336e-01 1.32666743e-01 -1.52929672e+02] [-1.34744798e-01 1.39130999e-02 9.90782653e-01 -9.36178979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.396559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.90, Z:-936.16 [[ 9.97305757e-02 -9.94971537e-01 -9.24406082e-03 4.30985249e+02] [ 9.86562850e-01 9.76708855e-02 1.30973817e-01 -1.52897997e+02] [-1.29412345e-01 -2.21819412e-02 9.91342729e-01 -9.36160926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.98, Y:-152.87, Z:-936.17 [[ 9.75563079e-02 -9.95149532e-01 1.26560616e-02 4.30976398e+02] [ 9.86759396e-01 9.83737807e-02 1.28951518e-01 -1.52870970e+02] [-1.29571067e-01 -9.15463064e-05 9.91570134e-01 -9.36172402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.98, Y:-152.84, Z:-936.18 [[ 9.52007954e-02 -9.95378160e-01 1.26145811e-02 4.30978669e+02] [ 9.86994211e-01 9.60327426e-02 1.28919124e-01 -1.52844179e+02] [-1.29534693e-01 1.77315346e-04 9.91574875e-01 -9.36176049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.98, Y:-152.82, Z:-936.18 [[ 9.13275897e-02 -9.95740989e-01 1.26156201e-02 4.30980584e+02] [ 9.87308234e-01 9.21925493e-02 1.29317382e-01 -1.52816511e+02] [-1.29929684e-01 6.45260799e-04 9.91523001e-01 -9.36179715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.98, Y:-152.79, Z:-936.18 [[ 8.93805478e-02 -9.95918001e-01 1.25878047e-02 4.30982328e+02] [ 9.87473272e-01 9.02584705e-02 1.29421586e-01 -1.52790125e+02] [-1.30029443e-01 8.62348444e-04 9.91509758e-01 -9.36183211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.98, Y:-152.76, Z:-936.19 [[ 8.81660185e-02 -9.96026310e-01 1.25834424e-02 4.30984496e+02] [ 9.87552457e-01 8.90539047e-02 1.29651636e-01 -1.52762054e+02] [-1.30257045e-01 9.95940918e-04 9.91479758e-01 -9.36187187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.73, Z:-936.19 [[ 8.71885365e-02 -9.96114951e-01 1.23758976e-02 4.30986042e+02] [ 9.87872611e-01 8.80559258e-02 1.27882205e-01 -1.52734732e+02] [-1.28475147e-01 1.07594800e-03 9.91712145e-01 -9.36191304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.71, Z:-936.20 [[ 8.70331769e-02 -9.96130154e-01 1.22451237e-02 4.30988326e+02] [ 9.88014795e-01 8.78840486e-02 1.26898221e-01 -1.52706854e+02] [-1.27483295e-01 1.05400811e-03 9.91840158e-01 -9.36195605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.68, Z:-936.20 [[ 8.69834399e-02 -9.96135808e-01 1.21381205e-02 4.30990525e+02] [ 9.88115140e-01 8.78203401e-02 1.26158862e-01 -1.52678706e+02] [-1.26737334e-01 1.02012878e-03 9.91935788e-01 -9.36199889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.65, Z:-936.20 [[ 8.72677365e-02 -9.96112208e-01 1.20337956e-02 4.30992339e+02] [ 9.88181174e-01 8.80884765e-02 1.25452730e-01 -1.52652206e+02] [-1.26025035e-01 9.43594508e-04 9.92026613e-01 -9.36203917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.62, Z:-936.21 [[ 8.74735146e-02 -9.96094842e-01 1.19771026e-02 4.30994060e+02] [ 9.88205696e-01 8.82851784e-02 1.25120864e-01 -1.52624781e+02] [-1.25689648e-01 8.91079261e-04 9.92069211e-01 -9.36208575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.00, Y:-152.60, Z:-936.21 [[ 8.78798589e-02 -9.96060119e-01 1.18899217e-02 4.30995584e+02] [ 9.88237281e-01 8.86769334e-02 1.24593250e-01 -1.52598421e+02] [-1.25156730e-01 8.00826654e-04 9.92136660e-01 -9.36212496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-152.57, Z:-936.23 [[ 8.66146939e-02 -9.95849199e-01 2.79690385e-02 4.30985536e+02] [ 9.87829093e-01 8.94902197e-02 1.27221001e-01 -1.52572287e+02] [-1.29195887e-01 1.66094218e-02 9.91479980e-01 -9.36229592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:-152.54, Z:-936.22 [[ 8.85624179e-02 -9.96061679e-01 -4.22257158e-03 4.31006462e+02] [ 9.88111309e-01 8.73191091e-02 1.26536219e-01 -1.52543312e+02] [-1.25669167e-01 -1.53787242e-02 9.91953001e-01 -9.36215372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:-152.52, Z:-936.22 [[ 8.89019373e-02 -9.95969811e-01 1.18567058e-02 4.31000308e+02] [ 9.88098939e-01 8.96870612e-02 1.24966865e-01 -1.52515734e+02] [-1.25526618e-01 6.05802068e-04 9.92090067e-01 -9.36224471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:-152.49, Z:-936.23 [[ 8.92214568e-02 -9.95941410e-01 1.18422450e-02 4.31002830e+02] [ 9.88043392e-01 9.00023561e-02 1.25179201e-01 -1.52488183e+02] [-1.25736980e-01 5.31981238e-04 9.92063470e-01 -9.36227816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.876559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:431.01, Y:-152.46, Z:-936.23 [[ 8.95759281e-02 -9.95909250e-01 1.18709408e-02 4.31005365e+02] [ 9.87924281e-01 9.03579577e-02 1.25861248e-01 -1.52460625e+02] [-1.26419015e-01 4.53452476e-04 9.91976828e-01 -9.36231408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:-152.43, Z:-936.23 [[ 9.01766358e-02 -9.95854611e-01 1.19066605e-02 4.31008216e+02] [ 9.87771246e-01 9.09586559e-02 1.26627363e-01 -1.52432388e+02] [-1.27185457e-01 3.42227292e-04 9.91878895e-01 -9.36234759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:-152.40, Z:-936.24 [[ 9.27060782e-02 -9.95621910e-01 1.19413087e-02 4.31010242e+02] [ 9.87439376e-01 9.34719823e-02 1.27383152e-01 -1.52404493e+02] [-1.27941635e-01 -1.78740221e-05 9.91781699e-01 -9.36238295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:-152.38, Z:-936.25 [[ 9.21673562e-02 -9.95488115e-01 2.25519817e-02 4.31004344e+02] [ 9.87028379e-01 9.43271830e-02 1.29912904e-01 -1.52378680e+02] [-1.31454017e-01 1.02857170e-02 9.91268907e-01 -9.36251393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:-152.35, Z:-936.25 [[ 9.44225488e-02 -9.95475153e-01 1.06584295e-02 4.31012746e+02] [ 9.86868276e-01 9.50048473e-02 1.30633401e-01 -1.52349827e+02] [-1.31054907e-01 -1.81627279e-03 9.91373448e-01 -9.36250757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.02, Y:-152.32, Z:-936.25 [[ 9.87566962e-02 -9.95109549e-01 2.02514648e-03 4.31021101e+02] [ 9.86809922e-01 9.81949435e-02 1.28700939e-01 -1.52321088e+02] [-1.28270393e-01 -1.07116449e-02 9.91681384e-01 -9.36246391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.056559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.02, Y:-152.29, Z:-936.25 [[ 1.01036621e-01 -9.94811373e-01 1.19135718e-02 4.31017947e+02] [ 9.86539894e-01 1.01729716e-01 1.28023840e-01 -1.52293372e+02] [-1.28571536e-01 -1.18188230e-03 9.91699533e-01 -9.36253954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:-152.27, Z:-936.27 [[ 1.00291226e-01 -9.94553437e-01 2.83748352e-02 4.31008055e+02] [ 9.86033880e-01 1.03162345e-01 1.30746769e-01 -1.52268565e+02] [-1.32961863e-01 1.48657950e-02 9.91009663e-01 -9.36270298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-152.24, Z:-936.26 [[ 1.07397189e-01 -9.94201303e-01 -5.44185578e-03 4.31030664e+02] [ 9.86141025e-01 1.05827099e-01 1.27775206e-01 -1.52238778e+02] [-1.26458381e-01 -1.90891353e-02 9.91788225e-01 -9.36255814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.02, Y:-152.21, Z:-936.27 [[ 1.08993191e-01 -9.93974636e-01 1.16149577e-02 4.31023753e+02] [ 9.85997575e-01 1.09587276e-01 1.25695713e-01 -1.52211910e+02] [-1.26211202e-01 -2.24765674e-03 9.92000847e-01 -9.36265815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-152.18, Z:-936.27 [[ 1.10309561e-01 -9.93830430e-01 1.15272675e-02 4.31026226e+02] [ 9.85921593e-01 1.10883363e-01 1.25153875e-01 -1.52183842e+02] [-1.25659912e-01 -2.44068713e-03 9.92070375e-01 -9.36269837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-152.16, Z:-936.27 [[ 1.11953299e-01 -9.93647587e-01 1.14425805e-02 4.31028595e+02] [ 9.85806108e-01 1.12504844e-01 1.24615317e-01 -1.52157055e+02] [-1.25111055e-01 -2.67093010e-03 9.92139149e-01 -9.36273353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-152.13, Z:-936.28 [[ 1.11791963e-01 -9.93665926e-01 1.14273377e-02 4.31031425e+02] [ 9.85793677e-01 1.12342213e-01 1.24860137e-01 -1.52129213e+02] [-1.25353036e-01 -2.69336252e-03 9.92108544e-01 -9.36276917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-152.10, Z:-936.28 [[ 1.11199406e-01 -9.93732419e-01 1.14268166e-02 4.31034430e+02] [ 9.85812485e-01 1.11753275e-01 1.25239573e-01 -1.52101900e+02] [-1.25731608e-01 -2.66186760e-03 9.92060723e-01 -9.36280280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.04, Y:-152.07, Z:-936.28 [[ 1.10099468e-01 -9.93854640e-01 1.14482234e-02 4.31037897e+02] [ 9.85856150e-01 1.10663202e-01 1.25862260e-01 -1.52074108e+02] [-1.26355688e-01 -2.57106638e-03 9.91981668e-01 -9.36283685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.04, Y:-152.05, Z:-936.29 [[ 1.08306977e-01 -9.94051297e-01 1.14725075e-02 4.31041062e+02] [ 9.85970081e-01 1.08886647e-01 1.26517582e-01 -1.52046444e+02] [-1.27014169e-01 -2.39118760e-03 9.91898021e-01 -9.36287447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-152.02, Z:-936.30 [[ 1.00510046e-01 -9.94532428e-01 2.83369127e-02 4.31032596e+02] [ 9.85906959e-01 1.03385837e-01 1.31525046e-01 -1.52021874e+02] [-1.33735558e-01 1.47179710e-02 9.90907757e-01 -9.36304022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.05, Y:-151.99, Z:-936.30 [[ 9.84772915e-02 -9.95134468e-01 3.10062069e-03 4.31050543e+02] [ 9.86334859e-01 9.80190934e-02 1.32422820e-01 -1.51993789e+02] [-1.32082432e-01 -9.98239034e-03 9.91188470e-01 -9.36296575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.416559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:431.06, Y:-151.96, Z:-936.30 [[ 9.82349633e-02 -9.95162030e-01 1.55791191e-03 4.31058499e+02] [ 9.86714742e-01 9.76044270e-02 1.29874529e-01 -1.51963896e+02] [-1.29398259e-01 -1.12210050e-02 9.91529213e-01 -9.36295009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.06, Y:-151.94, Z:-936.30 [[ 9.54992233e-02 -9.95362218e-01 1.15738719e-02 4.31057119e+02] [ 9.86980947e-01 9.61939183e-02 1.28900506e-01 -1.51936391e+02] [-1.29416030e-01 -8.86707245e-04 9.91589988e-01 -9.36301790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.06, Y:-151.91, Z:-936.31 [[ 9.29384460e-02 -9.95604479e-01 1.15830370e-02 4.31060810e+02] [ 9.87157566e-01 9.36555886e-02 1.29416273e-01 -1.51909124e+02] [-1.29932237e-01 -5.93464678e-04 9.91522699e-01 -9.36305686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:431.06, Y:-151.88, Z:-936.31 [[ 9.08949576e-02 -9.95793627e-01 1.15394450e-02 4.31064203e+02] [ 9.87358071e-01 9.16237984e-02 1.29341097e-01 -1.51881812e+02] [-1.29854328e-01 -3.62889368e-04 9.91533016e-01 -9.36309401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.536559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.07, Y:-151.85, Z:-936.31 [[ 8.91210700e-02 -9.95954439e-01 1.14974105e-02 4.31068560e+02] [ 9.87527994e-01 8.98594872e-02 1.29281605e-01 -1.51854224e+02] [-1.29791740e-01 -1.67700256e-04 9.91541263e-01 -9.36312989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.07, Y:-151.83, Z:-936.32 [[ 8.88787278e-02 -9.95976559e-01 1.14571216e-02 4.31071221e+02] [ 9.87555579e-01 8.96139733e-02 1.29241302e-01 -1.51826939e+02] [-1.29748025e-01 -1.72258095e-04 9.91546984e-01 -9.36316912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.07, Y:-151.80, Z:-936.32 [[ 8.90710874e-02 -9.95959910e-01 1.14104591e-02 4.31073455e+02] [ 9.87553740e-01 8.97986797e-02 1.29127102e-01 -1.51800139e+02] [-1.29630061e-01 -2.33049809e-04 9.91562400e-01 -9.36320549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-151.77, Z:-936.32 [[ 8.97858264e-02 -9.95896011e-01 1.13859764e-02 4.31075676e+02] [ 9.87468028e-01 9.05041534e-02 1.29289956e-01 -1.51771945e+02] [-1.29789829e-01 -3.65117839e-04 9.91541460e-01 -9.36324531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-151.74, Z:-936.33 [[ 9.04914370e-02 -9.95832758e-01 1.13321675e-02 4.31077687e+02] [ 9.87430692e-01 9.11969104e-02 1.29088154e-01 -1.51744378e+02] [-1.29583671e-01 -4.91642581e-04 9.91568369e-01 -9.36328766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-151.72, Z:-936.33 [[ 9.10207034e-02 -9.95785266e-01 1.12665630e-02 4.31079975e+02] [ 9.87427518e-01 9.17134204e-02 1.28746054e-01 -1.51716438e+02] [-1.29236719e-01 -5.93642018e-04 9.91613593e-01 -9.36332386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-151.69, Z:-936.34 [[ 9.22131975e-02 -9.95676467e-01 1.11848000e-02 4.31082196e+02] [ 9.87385125e-01 9.28857575e-02 1.28229680e-01 -1.51689840e+02] [-1.28714183e-01 -7.80763595e-04 9.91681426e-01 -9.36336124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-151.66, Z:-936.34 [[ 9.23053706e-02 -9.95668908e-01 1.10970820e-02 4.31084742e+02] [ 9.87450391e-01 9.29663566e-02 1.27667469e-01 -1.51662365e+02] [-1.28146185e-01 -8.26575143e-04 9.91754946e-01 -9.36339985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.09, Y:-151.64, Z:-936.34 [[ 9.22446525e-02 -9.95675210e-01 1.10363406e-02 4.31087399e+02] [ 9.87493069e-01 9.28986014e-02 1.27386378e-01 -1.51635612e+02] [-1.27860719e-01 -8.52402329e-04 9.91791768e-01 -9.36343352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.09, Y:-151.61, Z:-936.35 [[ 9.16399905e-02 -9.95731453e-01 1.09993957e-02 4.31090108e+02] [ 9.87546900e-01 9.22941663e-02 1.27408430e-01 -1.51607965e+02] [-1.27879761e-01 -8.13288158e-04 9.91789345e-01 -9.36346977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.09, Y:-151.58, Z:-936.35 [[ 9.11303339e-02 -9.95778554e-01 1.09696420e-02 4.31092497e+02] [ 9.87588217e-01 9.17848564e-02 1.27456087e-01 -1.51582367e+02] [-1.27924885e-01 -7.81626619e-04 9.91783552e-01 -9.36350032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.10, Y:-151.56, Z:-936.35 [[ 8.99544700e-02 -9.95885354e-01 1.09797742e-02 4.31095037e+02] [ 9.87619244e-01 9.06195727e-02 1.28048121e-01 -1.51556000e+02] [-1.28516231e-01 -6.74664603e-04 9.91707176e-01 -9.36353184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.10, Y:-151.53, Z:-936.36 [[ 8.90272409e-02 -9.95968831e-01 1.09653106e-02 4.31097376e+02] [ 9.87663772e-01 8.96980010e-02 1.28353191e-01 -1.51529126e+02] [-1.28819344e-01 -5.96890498e-04 9.91667898e-01 -9.36356568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.10, Y:-151.50, Z:-936.36 [[ 8.79736769e-02 -9.96062821e-01 1.09310966e-02 4.31099656e+02] [ 9.87753077e-01 8.86487933e-02 1.28394903e-01 -1.51502858e+02] [-1.28858417e-01 -4.98147337e-04 9.91662876e-01 -9.36359612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.09, Y:-151.48, Z:-936.38 [[ 8.33170057e-02 -9.96144642e-01 2.74614167e-02 4.31091531e+02] [ 9.87501171e-01 8.62310888e-02 1.31930422e-01 -1.51476592e+02] [-1.33789811e-01 1.61261334e-02 9.90878517e-01 -9.36375607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.10, Y:-151.45, Z:-936.37 [[ 8.30504225e-02 -9.96486028e-01 1.08730823e-02 4.31102616e+02] [ 9.87555020e-01 8.37585565e-02 1.33114937e-01 -1.51448189e+02] [-1.33557889e-01 -3.17484751e-04 9.91040963e-01 -9.36373703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.11, Y:-151.42, Z:-936.38 [[ 8.28500865e-02 -9.96503834e-01 1.07690806e-02 4.31105025e+02] [ 9.87603833e-01 8.35462149e-02 1.32886042e-01 -1.51419861e+02] [-1.33321166e-01 -3.74034776e-04 9.91072816e-01 -9.36377490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.39, Z:-936.37 [[ 8.18562475e-02 -9.96626430e-01 -5.94253343e-03 4.31118308e+02] [ 9.88149808e-01 8.03803406e-02 1.30762981e-01 -1.51390654e+02] [-1.29844180e-01 -1.65758802e-02 9.91395849e-01 -9.36367973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.11, Y:-151.36, Z:-936.38 [[ 7.85098377e-02 -9.96736603e-01 1.87709675e-02 4.31106488e+02] [ 9.88058432e-01 8.03027317e-02 1.31499075e-01 -1.51364638e+02] [-1.32577301e-01 8.22284173e-03 9.91138560e-01 -9.36384312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.34, Z:-936.38 [[ 7.89520827e-02 -9.96874730e-01 2.70942896e-03 4.31118674e+02] [ 9.88336443e-01 7.86303146e-02 1.30416060e-01 -1.51335649e+02] [-1.30221518e-01 -7.61879216e-03 9.91455652e-01 -9.36378295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.11, Y:-151.31, Z:-936.39 [[ 7.67024168e-02 -9.96884546e-01 1.83831904e-02 4.31112035e+02] [ 9.88261386e-01 7.84562781e-02 1.31087932e-01 -1.51307936e+02] [-1.32121810e-01 8.11263609e-03 9.91200289e-01 -9.36390920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.28, Z:-936.39 [[ 7.54520786e-02 -9.97070732e-01 1.25275515e-02 4.31116520e+02] [ 9.88160637e-01 7.64491180e-02 1.33019124e-01 -1.51280232e+02] [-1.33587195e-01 2.34266387e-03 9.91034295e-01 -9.36393212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.1965599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.25, Z:-936.40 [[ 7.53601846e-02 -9.97100351e-01 1.05703547e-02 4.31119090e+02] [ 9.88153774e-01 7.60968359e-02 1.33271870e-01 -1.51253892e+02] [-1.33689799e-01 4.01743099e-04 9.91023146e-01 -9.36396093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:-151.23, Z:-936.39 [[ 7.72300862e-02 -9.97012043e-01 1.58123045e-03 4.31126454e+02] [ 9.88382011e-01 7.67696334e-02 1.31177075e-01 -1.51225427e+02] [-1.30906514e-01 -8.56795706e-03 9.91357693e-01 -9.36391887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.20, Z:-936.40 [[ 7.75965824e-02 -9.96926919e-01 1.07465564e-02 4.31122821e+02] [ 9.88414506e-01 7.83353847e-02 1.30001275e-01 -1.51197870e+02] [-1.30443606e-01 5.34397525e-04 9.91455587e-01 -9.36399326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.17, Z:-936.40 [[ 7.81850772e-02 -9.96882086e-01 1.06396184e-02 4.31124162e+02] [ 9.88481704e-01 7.89045714e-02 1.29143295e-01 -1.51170114e+02] [-1.29580152e-01 4.19989579e-04 9.91568862e-01 -9.36403048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:-151.14, Z:-936.41 [[ 7.87152056e-02 -9.96841452e-01 1.05373301e-02 4.31125415e+02] [ 9.88546162e-01 7.94167476e-02 1.28333419e-01 -1.51143136e+02] [-1.28764913e-01 3.14845767e-04 9.91675097e-01 -9.36406991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:-151.11, Z:-936.41 [[ 8.04470432e-02 -9.96704489e-01 1.04131864e-02 4.31125261e+02] [ 9.88544621e-01 8.11181743e-02 1.27276764e-01 -1.51114832e+02] [-1.27702020e-01 5.48601361e-05 9.91812579e-01 -9.36411312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:-151.09, Z:-936.42 [[ 8.11798312e-02 -9.96645262e-01 1.03950297e-02 4.31125923e+02] [ 9.88455326e-01 8.18426287e-02 1.27506288e-01 -1.51088437e+02] [-1.27929294e-01 -7.59164524e-05 9.91783288e-01 -9.36415382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-151.06, Z:-936.43 [[ 7.96869860e-02 -9.96469655e-01 2.64236749e-02 4.31115565e+02] [ 9.88042767e-01 8.24675340e-02 1.30271246e-01 -1.51063000e+02] [-1.31990438e-01 1.57267980e-02 9.91126224e-01 -9.36431623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-151.03, Z:-936.42 [[ 8.32472977e-02 -9.96508890e-01 -6.31825035e-03 4.31136007e+02] [ 9.88341406e-01 8.17506043e-02 1.28444942e-01 -1.51032528e+02] [-1.27480006e-01 -1.69372828e-02 9.91696514e-01 -9.36417410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:-151.00, Z:-936.43 [[ 8.44534269e-02 -9.96374472e-01 1.02727617e-02 4.31128333e+02] [ 9.88272142e-01 8.50740883e-02 1.26809198e-01 -1.51004682e+02] [-1.27223394e-01 -5.57187201e-04 9.91873932e-01 -9.36426902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-150.98, Z:-936.45 [[ 8.40325609e-02 -9.96005185e-01 3.02026702e-02 4.31115837e+02] [ 9.87824294e-01 8.72482222e-02 1.28805715e-01 -1.50978599e+02] [-1.30926289e-01 1.90110573e-02 9.91209810e-01 -9.36445846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.95, Z:-936.43 [[ 8.68252077e-02 -9.96172454e-01 -1.00908587e-02 4.31140968e+02] [ 9.88261205e-01 8.48487518e-02 1.27045189e-01 -1.50949292e+02] [-1.25702721e-01 -2.10031291e-02 9.91845600e-01 -9.36427652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:-150.92, Z:-936.44 [[ 8.72414020e-02 -9.96136585e-01 1.00420191e-02 4.31132057e+02] [ 9.88263586e-01 8.78119728e-02 1.24996570e-01 -1.50922740e+02] [-1.25395465e-01 -9.80714179e-04 9.92106353e-01 -9.36438281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-150.90, Z:-936.45 [[ 8.56101281e-02 -9.95964915e-01 2.69220157e-02 4.31123027e+02] [ 9.87854294e-01 8.83677685e-02 1.27808572e-01 -1.50896339e+02] [-1.29671892e-01 1.56533206e-02 9.91433394e-01 -9.36454898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.87, Z:-936.44 [[ 8.79222158e-02 -9.96103044e-01 -6.95773497e-03 4.31144230e+02] [ 9.88196796e-01 8.63404841e-02 1.26540164e-01 -1.50867399e+02] [-1.25446308e-01 -1.80013030e-02 9.91937083e-01 -9.36440000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.84, Z:-936.45 [[ 8.85932235e-02 -9.96017839e-01 9.98521436e-03 4.31137459e+02] [ 9.88094448e-01 8.91455016e-02 1.25389158e-01 -1.50839341e+02] [-1.25779975e-01 -1.24229484e-03 9.92057385e-01 -9.36449305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.676559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.81, Z:-936.45 [[ 8.93769899e-02 -9.95947428e-01 1.00236730e-02 4.31138162e+02] [ 9.87904066e-01 8.99265963e-02 1.26328002e-01 -1.50812090e+02] [-1.26717444e-01 -1.38838928e-03 9.91937882e-01 -9.36453066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.78, Z:-936.46 [[ 8.94501706e-02 -9.95940699e-01 1.00394667e-02 4.31139310e+02] [ 9.87809403e-01 9.00002100e-02 1.27013956e-01 -1.50784738e+02] [-1.27401922e-01 -1.44434034e-03 9.91850122e-01 -9.36456852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.76, Z:-936.46 [[ 8.93844233e-02 -9.95946388e-01 1.00607296e-02 4.31140979e+02] [ 9.87720890e-01 8.99366406e-02 1.27745232e-01 -1.50757700e+02] [-1.28132230e-01 -1.48124103e-03 9.91755987e-01 -9.36460114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:431.14, Y:-150.73, Z:-936.46 [[ 8.91769849e-02 -9.95964647e-01 1.00939023e-02 4.31143019e+02] [ 9.87620132e-01 8.97338109e-02 1.28663584e-01 -1.50729644e+02] [-1.29050145e-01 -1.50488934e-03 9.91636927e-01 -9.36464101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:-150.70, Z:-936.47 [[ 8.89052786e-02 -9.95989194e-01 1.00686623e-02 4.31145678e+02] [ 9.87626329e-01 8.94609083e-02 1.28805983e-01 -1.50701668e+02] [-1.29190119e-01 -1.50745578e-03 9.91618697e-01 -9.36466826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:-150.67, Z:-936.47 [[ 8.87324562e-02 -9.96004979e-01 1.00316052e-02 4.31147808e+02] [ 9.87641894e-01 8.92847452e-02 1.28808869e-01 -1.50673468e+02] [-1.29189944e-01 -1.52189373e-03 9.91618698e-01 -9.36470730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:-150.65, Z:-936.48 [[ 8.81392735e-02 -9.96058068e-01 9.98972359e-03 4.31149596e+02] [ 9.87729101e-01 8.86915178e-02 1.28549746e-01 -1.50645298e+02] [-1.28929015e-01 -1.46314049e-03 9.91652746e-01 -9.36475149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:431.15, Y:-150.62, Z:-936.48 [[ 8.77086893e-02 -9.96096951e-01 9.90206140e-03 4.31151174e+02] [ 9.87855097e-01 8.82542199e-02 1.27880803e-01 -1.50617584e+02] [-1.28255576e-01 -1.43445574e-03 9.91740112e-01 -9.36479251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:-150.59, Z:-936.48 [[ 8.74054059e-02 -9.96124292e-01 9.83309063e-03 4.31153057e+02] [ 9.87937340e-01 8.79452168e-02 1.27457649e-01 -1.50590633e+02] [-1.27828434e-01 -1.42601018e-03 9.91795270e-01 -9.36483090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:-150.56, Z:-936.49 [[ 8.68305503e-02 -9.96174876e-01 9.80161215e-03 4.31154943e+02] [ 9.87976262e-01 8.73709313e-02 1.27550877e-01 -1.50562687e+02] [-1.27919355e-01 -1.39155267e-03 9.91783597e-01 -9.36487065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.16, Y:-150.53, Z:-936.49 [[ 8.55860001e-02 -9.96283130e-01 9.74481391e-03 4.31157177e+02] [ 9.88120112e-01 8.61297054e-02 1.27280468e-01 -1.50534889e+02] [-1.27646701e-01 -1.26437953e-03 9.91818895e-01 -9.36491021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.16, Y:-150.51, Z:-936.49 [[ 8.44165878e-02 -9.96383397e-01 9.69361996e-03 4.31159553e+02] [ 9.88246315e-01 8.49635680e-02 1.27084275e-01 -1.50508607e+02] [-1.27448266e-01 -1.14833664e-03 9.91844555e-01 -9.36494840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.16, Y:-150.48, Z:-936.50 [[ 8.34014841e-02 -9.96469466e-01 9.63306419e-03 4.31162334e+02] [ 9.88370722e-01 8.39493518e-02 1.26790467e-01 -1.50481907e+02] [-1.27151518e-01 -1.05347451e-03 9.91882746e-01 -9.36498210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-150.46, Z:-936.50 [[ 8.20624324e-02 -9.96581047e-01 9.59030101e-03 4.31165005e+02] [ 9.88489734e-01 8.26157929e-02 1.26738617e-01 -1.50455295e+02] [-1.27097614e-01 -9.20565111e-04 9.91889787e-01 -9.36501794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-150.43, Z:-936.51 [[ 8.04488934e-02 -9.96712617e-01 9.58827163e-03 4.31167599e+02] [ 9.88584061e-01 8.10148763e-02 1.27036000e-01 -1.50427197e+02] [-1.27395177e-01 -7.41093151e-04 9.91851763e-01 -9.36505629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-150.40, Z:-936.51 [[ 7.83953091e-02 -9.96876736e-01 9.53674462e-03 4.31169847e+02] [ 9.88775370e-01 7.89715793e-02 1.26833579e-01 -1.50400906e+02] [-1.27190576e-01 -5.13459464e-04 9.91878165e-01 -9.36509522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-150.37, Z:-936.51 [[ 7.43696676e-02 -9.97185255e-01 9.52470079e-03 4.31172971e+02] [ 9.89040407e-01 7.49771023e-02 1.27190829e-01 -1.50373621e+02] [-1.27546953e-01 -3.88256975e-05 9.91832533e-01 -9.36513945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.18, Y:-150.35, Z:-936.52 [[ 7.22193570e-02 -9.97343714e-01 9.48053844e-03 4.31175816e+02] [ 9.89215160e-01 7.28386965e-02 1.27074358e-01 -1.50346191e+02] [-1.27427362e-01 2.01063933e-04 9.91847885e-01 -9.36517549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.16, Y:-150.32, Z:-936.54 [[ 6.61748029e-02 -9.97360975e-01 2.98660400e-02 4.31163767e+02] [ 9.88905138e-01 6.95444633e-02 1.31263842e-01 -1.50322115e+02] [-1.32994451e-01 2.08483216e-02 9.90897484e-01 -9.36537045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-150.29, Z:-936.52 [[ 6.81614602e-02 -9.97602280e-01 -1.19878007e-02 4.31193105e+02] [ 9.89536752e-01 6.60690707e-02 1.28264937e-01 -1.50290337e+02] [-1.27165371e-01 -2.06050948e-02 9.91667484e-01 -9.36516840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-150.26, Z:-936.53 [[ 6.66850387e-02 -9.97730149e-01 9.36246480e-03 4.31185069e+02] [ 9.89654133e-01 6.73341102e-02 1.26691813e-01 -1.50262617e+02] [-1.27034655e-01 8.17153525e-04 9.91897943e-01 -9.36527536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-150.24, Z:-936.53 [[ 6.45131046e-02 -9.97873098e-01 9.34563098e-03 4.31187411e+02] [ 9.89764963e-01 6.51778970e-02 1.26953378e-01 -1.50235226e+02] [-1.27292489e-01 1.05982154e-03 9.91864658e-01 -9.36531244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-150.21, Z:-936.53 [[ 6.36895759e-02 -9.97926408e-01 9.30171300e-03 4.31189131e+02] [ 9.89832551e-01 6.43553473e-02 1.26846014e-01 -1.50208917e+02] [-1.27181602e-01 1.12836945e-03 9.91878807e-01 -9.36534962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-150.18, Z:-936.54 [[ 6.33982140e-02 -9.97945521e-01 9.24145445e-03 4.31190968e+02] [ 9.89890553e-01 6.40583444e-02 1.26543356e-01 -1.50181162e+02] [-1.26875368e-01 1.12540568e-03 9.91918028e-01 -9.36538604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-150.15, Z:-936.54 [[ 6.44430870e-02 -9.97879142e-01 9.18188332e-03 4.31193328e+02] [ 9.89864205e-01 6.50869211e-02 1.26224201e-01 -1.50154272e+02] [-1.26554117e-01 9.54540496e-04 9.91959245e-01 -9.36542204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-150.13, Z:-936.55 [[ 6.53022554e-02 -9.97823700e-01 9.13672391e-03 4.31195266e+02] [ 9.89819659e-01 6.59334001e-02 1.26134170e-01 -1.50126981e+02] [-1.26462079e-01 8.06863162e-04 9.91971114e-01 -9.36546053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-150.10, Z:-936.55 [[ 6.63783614e-02 -9.97753217e-01 9.07911972e-03 4.31196826e+02] [ 9.89786631e-01 6.69934003e-02 1.25834451e-01 -1.50100551e+02] [-1.26159969e-01 6.33706689e-04 9.92009708e-01 -9.36550106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-150.07, Z:-936.55 [[ 6.79607963e-02 -9.97647236e-01 9.01795374e-03 4.31198519e+02] [ 9.89720026e-01 6.85553591e-02 1.25516662e-01 -1.50073038e+02] [-1.25839580e-01 3.95037125e-04 9.92050525e-01 -9.36554117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-150.05, Z:-936.56 [[ 6.99243836e-02 -9.97511639e-01 9.00615741e-03 4.31200107e+02] [ 9.89541061e-01 7.05018989e-02 1.25848999e-01 -1.50045734e+02] [-1.26170792e-01 1.12048888e-04 9.92008528e-01 -9.36558386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-150.02, Z:-936.56 [[ 7.22189880e-02 -9.97348526e-01 8.96299770e-03 4.31201637e+02] [ 9.89389992e-01 7.27727428e-02 1.25744072e-01 -1.50019034e+02] [-1.26062927e-01 -2.13209416e-04 9.92022224e-01 -9.36561631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-149.99, Z:-936.58 [[ 7.47728564e-02 -9.96894920e-01 2.46888499e-02 4.31191143e+02] [ 9.88402338e-01 7.73719804e-02 1.30669032e-01 -1.49994837e+02] [-1.32173520e-01 1.46320201e-02 9.91118593e-01 -9.36576957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-149.96, Z:-936.56 [[ 8.03646189e-02 -9.96737936e-01 -7.41724595e-03 4.31212518e+02] [ 9.88491268e-01 7.87384776e-02 1.29171458e-01 -1.49964522e+02] [-1.28166070e-01 -1.77126979e-02 9.91594534e-01 -9.36563006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-149.94, Z:-936.58 [[ 7.99843674e-02 -9.96517572e-01 2.35633274e-02 4.31194782e+02] [ 9.87882644e-01 8.24012103e-02 1.31521563e-01 -1.49939369e+02] [-1.33005196e-01 1.27581331e-02 9.91033223e-01 -9.36583606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.21, Y:-149.91, Z:-936.57 [[ 8.48529741e-02 -9.96374202e-01 -6.19866182e-03 4.31214813e+02] [ 9.88046718e-01 8.33369819e-02 1.29686663e-01 -1.49908655e+02] [-1.28699868e-01 -1.71288665e-02 9.91535651e-01 -9.36571441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-149.88, Z:-936.58 [[ 8.67586370e-02 -9.96188649e-01 9.00633668e-03 4.31208904e+02] [ 9.87882968e-01 8.71960416e-02 1.28390392e-01 -1.49880734e+02] [-1.28686368e-01 -2.24176877e-03 9.91682809e-01 -9.36580512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-149.85, Z:-936.58 [[ 8.78233048e-02 -9.96095841e-01 8.95226542e-03 4.31211129e+02] [ 9.87821764e-01 8.82454759e-02 1.28144056e-01 -1.49854210e+02] [-1.28433758e-01 -2.41079189e-03 9.91715160e-01 -9.36584113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-149.83, Z:-936.59 [[ 8.92956441e-02 -9.95965735e-01 8.86249793e-03 4.31213450e+02] [ 9.87785536e-01 8.96960107e-02 1.27414130e-01 -1.49826619e+02] [-1.27695038e-01 -2.62327954e-03 9.91810010e-01 -9.36587967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-149.80, Z:-936.59 [[ 8.96725033e-02 -9.95932359e-01 8.80790233e-03 4.31215132e+02] [ 9.87786321e-01 9.00635299e-02 1.27148518e-01 -1.49799242e+02] [-1.27424594e-01 -2.70140047e-03 9.91844582e-01 -9.36592050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-149.77, Z:-936.60 [[ 8.99293325e-02 -9.95909897e-01 8.72880598e-03 4.31216720e+02] [ 9.87844334e-01 9.03099401e-02 1.26521490e-01 -1.49772547e+02] [-1.26792302e-01 -2.75529159e-03 9.91925461e-01 -9.36596198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-149.74, Z:-936.60 [[ 8.96741209e-02 -9.95933244e-01 8.69053606e-03 4.31218595e+02] [ 9.87867550e-01 9.00519358e-02 1.26524118e-01 -1.49744305e+02] [-1.26792175e-01 -2.76084050e-03 9.91925462e-01 -9.36600094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-149.72, Z:-936.60 [[ 8.97962522e-02 -9.95922811e-01 8.62479423e-03 4.31220390e+02] [ 9.87919457e-01 9.01661285e-02 1.26036569e-01 -1.49716321e+02] [-1.26300358e-01 -2.79700951e-03 9.91988103e-01 -9.36604299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-149.69, Z:-936.61 [[ 9.01384278e-02 -9.95892455e-01 8.56044258e-03 4.31222690e+02] [ 9.87941655e-01 9.04986282e-02 1.25623582e-01 -1.49689661e+02] [-1.25882285e-01 -2.86629433e-03 9.92041045e-01 -9.36608264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.22, Y:-149.66, Z:-936.61 [[ 8.95049419e-02 -9.95949943e-01 8.51924046e-03 4.31224952e+02] [ 9.88002655e-01 8.98650841e-02 1.25598650e-01 -1.49663099e+02] [-1.25855551e-01 -2.82466769e-03 9.92044556e-01 -9.36612002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.23, Y:-149.64, Z:-936.62 [[ 8.83783626e-02 -9.96050547e-01 8.51902083e-03 4.31227698e+02] [ 9.88057233e-01 8.87464717e-02 1.25964158e-01 -1.49635371e+02] [-1.26222701e-01 -2.71522587e-03 9.91998214e-01 -9.36615472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.23, Y:-149.61, Z:-936.62 [[ 8.70070085e-02 -9.96171155e-01 8.53295370e-03 4.31230724e+02] [ 9.88085781e-01 8.73860092e-02 1.26689283e-01 -1.49608019e+02] [-1.26949870e-01 -2.59156530e-03 9.91905749e-01 -9.36619105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.23, Y:-149.58, Z:-936.62 [[ 8.54375840e-02 -9.96306937e-01 8.53858671e-03 4.31234090e+02] [ 9.88141819e-01 8.58285135e-02 1.27315405e-01 -1.49579815e+02] [-1.27578075e-01 -2.44018599e-03 9.91825529e-01 -9.36622498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:-149.55, Z:-936.63 [[ 8.16729729e-02 -9.96622495e-01 8.55152696e-03 4.31238372e+02] [ 9.88363807e-01 8.20949298e-02 1.28052363e-01 -1.49553451e+02] [-1.28321902e-01 -2.00639743e-03 9.91730540e-01 -9.36625974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.24, Y:-149.53, Z:-936.63 [[ 7.93940954e-02 -9.96806974e-01 8.51080178e-03 4.31241177e+02] [ 9.88553846e-01 7.98297691e-02 1.28017586e-01 -1.49525931e+02] [-1.28288238e-01 -1.75045461e-03 9.91735380e-01 -9.36629835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:-149.50, Z:-936.63 [[ 7.72236620e-02 -9.96977795e-01 8.47249791e-03 4.31244209e+02] [ 9.88729004e-01 7.76724284e-02 1.27991997e-01 -1.49498618e+02] [-1.28263258e-01 -1.50700628e-03 9.91739011e-01 -9.36633577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.25, Y:-149.47, Z:-936.64 [[ 7.52845008e-02 -9.97126515e-01 8.42359748e-03 4.31247146e+02] [ 9.88902795e-01 7.57432816e-02 1.27805389e-01 -1.49470951e+02] [-1.28076173e-01 -1.29164583e-03 9.91763493e-01 -9.36637537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.25, Y:-149.44, Z:-936.64 [[ 7.32979494e-02 -9.97274857e-01 8.38278844e-03 4.31249912e+02] [ 9.89060626e-01 7.37679568e-02 1.27739446e-01 -1.49443070e+02] [-1.28009719e-01 -1.07195344e-03 9.91772334e-01 -9.36641660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.25, Y:-149.42, Z:-936.65 [[ 7.17197738e-02 -9.97390139e-01 8.31770682e-03 4.31252802e+02] [ 9.89233476e-01 7.21948554e-02 1.27298989e-01 -1.49416479e+02] [-1.27567252e-01 -9.01700673e-04 9.91829513e-01 -9.36645546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.236559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.26, Y:-149.39, Z:-936.65 [[ 6.96335384e-02 -9.97538999e-01 8.19248661e-03 4.31256685e+02] [ 9.89554740e-01 7.01106657e-02 1.25959958e-01 -1.49389397e+02] [-1.26224351e-01 -6.64123652e-04 9.92001498e-01 -9.36649716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:431.26, Y:-149.36, Z:-936.65 [[ 6.88279387e-02 -9.97595687e-01 8.09693891e-03 4.31259593e+02] [ 9.89729827e-01 6.93000390e-02 1.25029494e-01 -1.49362128e+02] [-1.25290002e-01 -5.91740409e-04 9.92119985e-01 -9.36653760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:-149.34, Z:-936.66 [[ 6.82867527e-02 -9.97633714e-01 7.99322775e-03 4.31262186e+02] [ 9.89902017e-01 6.87507589e-02 1.23965038e-01 -1.49335821e+02] [-1.24221242e-01 -5.52657623e-04 9.92254392e-01 -9.36657514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:-149.31, Z:-936.66 [[ 6.76383291e-02 -9.97678389e-01 7.93025207e-03 4.31264553e+02] [ 9.89996905e-01 6.80997470e-02 1.23565984e-01 -1.49308369e+02] [-1.23819160e-01 -5.06871676e-04 9.92304670e-01 -9.36661821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:-149.28, Z:-936.67 [[ 6.52815989e-02 -9.97734513e-01 1.62528334e-02 4.31260527e+02] [ 9.89911834e-01 6.68051087e-02 1.24946540e-01 -1.49282057e+02] [-1.25749247e-01 7.93216228e-03 9.92030346e-01 -9.36673067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:-149.25, Z:-936.67 [[ 6.59054564e-02 -9.97815657e-01 4.51506547e-03 4.31270232e+02] [ 9.90149083e-01 6.59579508e-02 1.23508472e-01 -1.49251890e+02] [-1.23536492e-01 -3.66929429e-03 9.92333246e-01 -9.36670787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:-149.22, Z:-936.67 [[ 6.68920300e-02 -9.97757332e-01 2.40070000e-03 4.31274507e+02] [ 9.90182411e-01 6.66797829e-02 1.22851941e-01 -1.49224421e+02] [-1.22736503e-01 -5.84068484e-03 9.92422106e-01 -9.36671228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:-149.20, Z:-936.68 [[ 6.70414050e-02 -9.97719878e-01 7.77790123e-03 4.31273819e+02] [ 9.90171077e-01 6.74891431e-02 1.22500830e-01 -1.49196826e+02] [-1.22746437e-01 -5.11174904e-04 9.92437933e-01 -9.36676340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4765599950001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.17, Z:-936.68 [[ 6.69060092e-02 -9.97728875e-01 7.78959430e-03 4.31275683e+02] [ 9.90088746e-01 6.73558299e-02 1.23237446e-01 -1.49168747e+02] [-1.23482233e-01 -5.32936039e-04 9.92346640e-01 -9.36679877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.14, Z:-936.68 [[ 6.70599281e-02 -9.97718279e-01 7.82322451e-03 4.31277311e+02] [ 9.89940370e-01 6.75121055e-02 1.24338972e-01 -1.49142255e+02] [-1.24583427e-01 -5.93636741e-04 9.92208959e-01 -9.36682905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.11, Z:-936.69 [[ 6.78074462e-02 -9.97667222e-01 7.89083930e-03 4.31278600e+02] [ 9.89674468e-01 6.82610598e-02 1.26035215e-01 -1.49114728e+02] [-1.26279840e-01 -7.36763916e-04 9.91994385e-01 -9.36686030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.09, Z:-936.69 [[ 6.82720179e-02 -9.97635628e-01 7.87941342e-03 4.31279799e+02] [ 9.89592274e-01 6.87201396e-02 1.26430508e-01 -1.49088280e+02] [-1.26673054e-01 -8.34259274e-04 9.91944173e-01 -9.36689690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.596559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.06, Z:-936.69 [[ 6.85359902e-02 -9.97617741e-01 7.85241674e-03 4.31281031e+02] [ 9.89578286e-01 6.89785921e-02 1.26399247e-01 -1.49060934e+02] [-1.26639780e-01 -8.92316474e-04 9.91948371e-01 -9.36693629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.03, Z:-936.70 [[ 6.92387919e-02 -9.97569500e-01 7.81551768e-03 4.31282462e+02] [ 9.89533848e-01 6.96710899e-02 1.26367332e-01 -1.49034140e+02] [-1.26604711e-01 -1.01580208e-03 9.91952728e-01 -9.36697883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-149.01, Z:-936.70 [[ 7.12099837e-02 -9.97431494e-01 7.71707602e-03 4.31283817e+02] [ 9.89522468e-01 7.16152790e-02 1.25365618e-01 -1.49006455e+02] [-1.25596276e-01 -1.29106348e-03 9.92080596e-01 -9.36702030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-148.98, Z:-936.71 [[ 7.23725265e-02 -9.97348358e-01 7.64653585e-03 4.31284966e+02] [ 9.89511761e-01 7.27606071e-02 1.24789301e-01 -1.48979239e+02] [-1.25014771e-01 -1.46497981e-03 9.92153799e-01 -9.36705879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:-148.95, Z:-936.71 [[ 7.37058782e-02 -9.97251236e-01 7.57731504e-03 4.31286184e+02] [ 9.89479540e-01 7.40757080e-02 1.24269989e-01 -1.48951747e+02] [-1.24489695e-01 -1.66183045e-03 9.92219509e-01 -9.36709673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.29, Y:-148.92, Z:-936.71 [[ 7.50969576e-02 -9.97147954e-01 7.51035966e-03 4.31287095e+02] [ 9.89444535e-01 7.54486505e-02 1.23721512e-01 -1.48924187e+02] [-1.23935299e-01 -1.86002485e-03 9.92288558e-01 -9.36713404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.29, Y:-148.90, Z:-936.72 [[ 7.64034987e-02 -9.97049160e-01 7.44836706e-03 4.31288041e+02] [ 9.89402048e-01 7.67383603e-02 1.23267239e-01 -1.48895950e+02] [-1.23475072e-01 -2.04861869e-03 9.92345560e-01 -9.36717406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-148.87, Z:-936.73 [[ 7.58602500e-02 -9.96890297e-01 2.13297598e-02 4.31280045e+02] [ 9.88983155e-01 7.79510718e-02 1.25840974e-01 -1.48869791e+02] [-1.27112324e-01 1.15484454e-02 9.91821098e-01 -9.36731720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.84, Z:-936.72 [[ 7.89576973e-02 -9.96854256e-01 -6.87558570e-03 4.31296792e+02] [ 9.89299974e-01 7.75068059e-02 1.23605249e-01 -1.48839917e+02] [-1.22683514e-01 -1.65616026e-02 9.92307648e-01 -9.36719981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:-148.81, Z:-936.73 [[ 7.87770287e-02 -9.96865151e-01 7.35187587e-03 4.31290660e+02] [ 9.89248154e-01 7.90823737e-02 1.23020603e-01 -1.48813665e+02] [-1.23216355e-01 -2.41836791e-03 9.92376885e-01 -9.36728603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:-148.79, Z:-936.73 [[ 7.82128211e-02 -9.96909761e-01 7.32684597e-03 4.31292470e+02] [ 9.89269694e-01 7.85189430e-02 1.23208153e-01 -1.48785435e+02] [-1.23402707e-01 -2.38823058e-03 9.92353802e-01 -9.36732189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:-148.76, Z:-936.74 [[ 7.70550033e-02 -9.96999781e-01 7.34595982e-03 4.31294251e+02] [ 9.89245713e-01 7.73702691e-02 1.24123975e-01 -1.48757898e+02] [-1.24319934e-01 -2.29741401e-03 9.92239526e-01 -9.36736073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.73, Z:-936.74 [[ 7.56866807e-02 -9.97104773e-01 7.32104350e-03 4.31296152e+02] [ 9.89329474e-01 7.60091132e-02 1.24297252e-01 -1.48731332e+02] [-1.24493849e-01 -2.16472231e-03 9.92218018e-01 -9.36739274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.70, Z:-936.74 [[ 7.41370750e-02 -9.97221209e-01 7.31813495e-03 4.31298118e+02] [ 9.89371864e-01 7.44700351e-02 1.24890069e-01 -1.48703494e+02] [-1.25088008e-01 -2.01862763e-03 9.92143596e-01 -9.36743174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.68, Z:-936.75 [[ 7.12893511e-02 -9.97428685e-01 7.33809764e-03 4.31300011e+02] [ 9.89459950e-01 7.16456135e-02 1.25840828e-01 -1.48675640e+02] [-1.26042994e-01 -1.71035727e-03 9.92023305e-01 -9.36747361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.65, Z:-936.75 [[ 6.98892453e-02 -9.97528030e-01 7.30224304e-03 4.31301960e+02] [ 9.89559676e-01 7.02521711e-02 1.25842281e-01 -1.48647794e+02] [-1.26044201e-01 -1.56901675e-03 9.92023386e-01 -9.36751584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.62, Z:-936.76 [[ 6.84376555e-02 -9.97628896e-01 7.27144650e-03 4.31303845e+02] [ 9.89650596e-01 6.88081756e-02 1.25925107e-01 -1.48620870e+02] [-1.26126861e-01 -1.42182773e-03 9.92013102e-01 -9.36755430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-148.59, Z:-936.76 [[ 6.69707447e-02 -9.97728829e-01 7.21832520e-03 4.31305507e+02] [ 9.89785260e-01 6.73466416e-02 1.25656555e-01 -1.48593056e+02] [-1.25857298e-01 -1.27072120e-03 9.92047542e-01 -9.36759488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-148.57, Z:-936.77 [[ 6.38878056e-02 -9.97818684e-01 1.66199341e-02 4.31300651e+02] [ 9.89667842e-01 6.54904064e-02 1.27548303e-01 -1.48565958e+02] [-1.28358526e-01 8.29943308e-03 9.91693102e-01 -9.36771886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-148.54, Z:-936.76 [[ 6.46821911e-02 -9.97902973e-01 -2.42302571e-03 4.31313822e+02] [ 9.89951165e-01 6.38604175e-02 1.26168689e-01 -1.48537751e+02] [-1.25749375e-01 -1.05595444e-02 9.92005842e-01 -9.36764205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-148.51, Z:-936.77 [[ 6.27427486e-02 -9.98004376e-01 7.11422814e-03 4.31311282e+02] [ 9.90107970e-01 6.31394974e-02 1.25298089e-01 -1.48509924e+02] [-1.25497230e-01 -8.17692507e-04 9.92093633e-01 -9.36771565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-148.48, Z:-936.78 [[ 6.16521949e-02 -9.98072767e-01 7.05404350e-03 4.31313036e+02] [ 9.90231381e-01 6.20503352e-02 1.24866201e-01 -1.48483454e+02] [-1.25063260e-01 -7.13140122e-04 9.92148513e-01 -9.36775371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-148.46, Z:-936.78 [[ 6.04929227e-02 -9.98144121e-01 6.99428190e-03 4.31314864e+02] [ 9.90382331e-01 6.08930817e-02 1.24237156e-01 -1.48455486e+02] [-1.24432491e-01 -5.88455481e-04 9.92227902e-01 -9.36779386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-148.43, Z:-936.78 [[ 5.90449781e-02 -9.98231261e-01 6.93107761e-03 4.31316487e+02] [ 9.90533243e-01 5.94487627e-02 1.23732531e-01 -1.48429055e+02] [-1.23925725e-01 -4.40321803e-04 9.92291399e-01 -9.36783346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-148.40, Z:-936.79 [[ 5.76205764e-02 -9.98314949e-01 6.86527420e-03 4.31318259e+02] [ 9.90682215e-01 5.80273541e-02 1.23213539e-01 -1.48401842e+02] [-1.23404292e-01 -2.98330121e-04 9.92356434e-01 -9.36787145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-148.37, Z:-936.79 [[ 5.41318423e-02 -9.98510559e-01 6.81229560e-03 4.31320164e+02] [ 9.90916283e-01 5.45587240e-02 1.22915689e-01 -1.48374595e+02] [-1.23104284e-01 9.67619333e-05 9.92393735e-01 -9.36791167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.376559995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:431.32, Y:-148.35, Z:-936.80 [[ 5.18290593e-02 -9.98632970e-01 6.77794029e-03 4.31321920e+02] [ 9.91038580e-01 5.22692266e-02 1.22924614e-01 -1.48346851e+02] [-1.23110850e-01 3.46133231e-04 9.92392865e-01 -9.36795058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-148.32, Z:-936.80 [[ 4.99624187e-02 -9.98728267e-01 6.75315226e-03 4.31323737e+02] [ 9.91108899e-01 5.04138427e-02 1.23132426e-01 -1.48319809e+02] [-1.23316287e-01 5.41115488e-04 9.92367271e-01 -9.36798234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.29, Z:-936.80 [[ 4.66529680e-02 -9.98888353e-01 6.74975137e-03 4.31325832e+02] [ 9.91221845e-01 4.71295855e-02 1.23523508e-01 -1.48292026e+02] [-1.23704306e-01 9.27762741e-04 9.92318691e-01 -9.36800939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.26, Z:-936.81 [[ 4.42270839e-02 -9.98968540e-01 1.02869315e-02 4.31325043e+02] [ 9.91183559e-01 4.51650877e-02 1.24560297e-01 -1.48264038e+02] [-1.24896429e-01 4.68729864e-03 9.92158713e-01 -9.36807638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.24, Z:-936.81 [[ 4.41681279e-02 -9.99018955e-01 3.20993845e-03 4.31330305e+02] [ 9.91200503e-01 4.42233379e-02 1.24763212e-01 -1.48236797e+02] [-1.24782767e-01 -2.32886487e-03 9.92181353e-01 -9.36806338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.21, Z:-936.81 [[ 4.29242031e-02 -9.99024893e-01 1.03333022e-02 4.31327175e+02] [ 9.91169840e-01 4.38809412e-02 1.25127184e-01 -1.48208412e+02] [-1.25458606e-01 4.87107284e-03 9.92086897e-01 -9.36814411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.18, Z:-936.81 [[ 4.37696041e-02 -9.99036483e-01 3.21351856e-03 4.31331282e+02] [ 9.91185788e-01 4.38277906e-02 1.25019435e-01 -1.48181365e+02] [-1.25039818e-01 -2.28685725e-03 9.92149089e-01 -9.36813323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.15, Z:-936.82 [[ 4.40567850e-02 -9.99006614e-01 6.69221855e-03 4.31329547e+02] [ 9.91113002e-01 4.45483181e-02 1.25341395e-01 -1.48154000e+02] [-1.25515010e-01 1.11060592e-03 9.92091099e-01 -9.36818562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.13, Z:-936.82 [[ 4.51944137e-02 -9.98955924e-01 6.67284832e-03 4.31328763e+02] [ 9.91023732e-01 4.56748108e-02 1.25641449e-01 -1.48127469e+02] [-1.25815051e-01 9.34659444e-04 9.92053275e-01 -9.36822079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.10, Z:-936.83 [[ 4.60643532e-02 -9.98916369e-01 6.64551012e-03 4.31329431e+02] [ 9.90959104e-01 4.65345580e-02 1.25835564e-01 -1.48099450e+02] [-1.26008451e-01 7.88894881e-04 9.92028855e-01 -9.36825779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.676559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.07, Z:-936.83 [[ 4.71672916e-02 -9.98865290e-01 6.58630911e-03 4.31329830e+02] [ 9.90965018e-01 4.76209748e-02 1.25381725e-01 -1.48072124e+02] [-1.25553099e-01 6.12885546e-04 9.92086712e-01 -9.36829340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.04, Z:-936.84 [[ 4.80018884e-02 -9.98787118e-01 1.09595635e-02 4.31327324e+02] [ 9.90897986e-01 4.89985220e-02 1.25380729e-01 -1.48044242e+02] [-1.25765660e-01 4.84129761e-03 9.92048165e-01 -9.36837040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-148.02, Z:-936.84 [[ 4.98540275e-02 -9.98739883e-01 5.76391696e-03 4.31330236e+02] [ 9.90919369e-01 5.01835577e-02 1.24741392e-01 -1.48016797e+02] [-1.24873458e-01 -5.07283852e-04 9.92172547e-01 -9.36838284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.99, Z:-936.84 [[ 4.95405060e-02 -9.98749974e-01 6.65042725e-03 4.31331122e+02] [ 9.90941619e-01 4.99831723e-02 1.24645055e-01 -1.47989481e+02] [-1.24821655e-01 4.15206042e-04 9.92179108e-01 -9.36842334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.96, Z:-936.85 [[ 5.16497068e-02 -9.98627356e-01 8.70130505e-03 4.31330267e+02] [ 9.90792849e-01 5.23324677e-02 1.24863298e-01 -1.47961197e+02] [-1.25147266e-01 2.17203806e-03 9.92135799e-01 -9.36847731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.93, Z:-936.85 [[ 5.52047283e-02 -9.98454705e-01 6.37492314e-03 4.31329198e+02] [ 9.90552196e-01 5.55682806e-02 1.25373496e-01 -1.47933815e+02] [-1.25534001e-01 -6.06515690e-04 9.92089133e-01 -9.36850223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-147.91, Z:-936.86 [[ 5.64268742e-02 -9.98326230e-01 1.26785953e-02 4.31324823e+02] [ 9.90238573e-01 5.75817743e-02 1.26932694e-01 -1.47907285e+02] [-1.27450293e-01 5.39241902e-03 9.91830300e-01 -9.36858083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.88, Z:-936.85 [[ 6.02596595e-02 -9.98167198e-01 -5.56934248e-03 4.31336072e+02] [ 9.90319562e-01 5.90850846e-02 1.25603015e-01 -1.47879150e+02] [-1.25043744e-01 -1.30842237e-02 9.92064950e-01 -9.36850506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.85, Z:-936.86 [[ 6.30683079e-02 -9.97971816e-01 8.63967038e-03 4.31327856e+02] [ 9.90194468e-01 6.36533418e-02 1.24350990e-01 -1.47850806e+02] [-1.24648727e-01 7.12347314e-04 9.92200679e-01 -9.36860033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.82, Z:-936.86 [[ 6.47857953e-02 -9.97890500e-01 4.16548888e-03 4.31330787e+02] [ 9.90062248e-01 6.47985633e-02 1.24811425e-01 -1.47823636e+02] [-1.24818053e-01 -3.96191412e-03 9.92171738e-01 -9.36860820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.80, Z:-936.86 [[ 6.56978319e-02 -9.97839002e-01 -1.05927953e-03 4.31334648e+02] [ 9.90228923e-01 6.50658474e-02 1.23341464e-01 -1.47795025e+02] [-1.23006000e-01 -9.15219597e-03 9.92363724e-01 -9.36860394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.77, Z:-936.87 [[ 6.65699667e-02 -9.97689936e-01 1.35362830e-02 4.31327132e+02] [ 9.89776692e-01 6.77448340e-02 1.25509907e-01 -1.47767462e+02] [-1.26136984e-01 5.04270703e-03 9.92000016e-01 -9.36870916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.74, Z:-936.87 [[ 6.71696478e-02 -9.97721471e-01 6.33277880e-03 4.31331170e+02] [ 9.89632610e-01 6.74299677e-02 1.26808897e-01 -1.47740183e+02] [-1.26946978e-01 -2.25058451e-03 9.91906951e-01 -9.36871931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.71, Z:-936.88 [[ 6.77727295e-02 -9.97680742e-01 6.32414677e-03 4.31331571e+02] [ 9.89514798e-01 6.80256390e-02 1.27408703e-01 -1.47712575e+02] [-1.27543414e-01 -2.37699877e-03 9.91830141e-01 -9.36875154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.68, Z:-936.86 [[ 7.02493572e-02 -9.97374672e-01 -1.75724955e-02 4.31346020e+02] [ 9.90130253e-01 6.75758241e-02 1.22782699e-01 -1.47679301e+02] [-1.21272878e-01 -2.60244651e-02 9.92277994e-01 -9.36862585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-147.65, Z:-936.89 [[ 6.85014567e-02 -9.97317728e-01 2.57856689e-02 4.31322042e+02] [ 9.89671633e-01 7.11932895e-02 1.24424973e-01 -1.47654566e+02] [-1.25926998e-01 1.69960531e-02 9.91893908e-01 -9.36886468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.63, Z:-936.88 [[ 6.94723409e-02 -9.97565521e-01 -6.05193095e-03 4.31340576e+02] [ 9.90068379e-01 6.82044222e-02 1.22933978e-01 -1.47625052e+02] [-1.22221929e-01 -1.45323367e-02 9.92396398e-01 -9.36875376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.60, Z:-936.89 [[ 6.85542068e-02 -9.97471929e-01 1.87101856e-02 4.31327131e+02] [ 9.89731077e-01 7.03561711e-02 1.24428311e-01 -1.47600863e+02] [-1.25430124e-01 9.98796802e-03 9.92052178e-01 -9.36890871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.57, Z:-936.89 [[ 6.76550786e-02 -9.97695230e-01 5.19787591e-03 4.31333821e+02] [ 9.89927640e-01 6.77759195e-02 1.24296791e-01 -1.47572623e+02] [-1.24362607e-01 -3.26378816e-03 9.92231470e-01 -9.36890000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.55, Z:-936.90 [[ 6.78021278e-02 -9.97621498e-01 1.24184390e-02 4.31330090e+02] [ 9.89714726e-01 6.88258678e-02 1.25410370e-01 -1.47545928e+02] [-1.25966791e-01 3.78762206e-03 9.92027228e-01 -9.36899232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.52, Z:-936.90 [[ 6.71504896e-02 -9.97725251e-01 5.92754053e-03 4.31333093e+02] [ 9.89971282e-01 6.73663312e-02 1.24171809e-01 -1.47518258e+02] [-1.24288665e-01 -2.47010284e-03 9.92243028e-01 -9.36900910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.33, Y:-147.49, Z:-936.90 [[ 6.65818202e-02 -9.97763855e-01 5.84396268e-03 4.31334283e+02] [ 9.90140072e-01 6.67942610e-02 1.23130685e-01 -1.47491303e+02] [-1.23245690e-01 -2.41192348e-03 9.92373258e-01 -9.36904295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.46, Z:-936.91 [[ 6.56703907e-02 -9.97824587e-01 5.78733890e-03 4.31335530e+02] [ 9.90254116e-01 6.58838249e-02 1.22703334e-01 -1.47463151e+02] [-1.22817696e-01 -2.32703974e-03 9.92426521e-01 -9.36907992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.44, Z:-936.91 [[ 6.46396153e-02 -9.97892286e-01 5.71898250e-03 4.31337065e+02] [ 9.90414069e-01 6.48541578e-02 1.21958641e-01 -1.47435755e+02] [-1.22072486e-01 -2.21919888e-03 9.92518707e-01 -9.36911294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.41, Z:-936.91 [[ 6.21808014e-02 -9.98049156e-01 5.60620351e-03 4.31338565e+02] [ 9.90776896e-01 6.24033475e-02 1.20278700e-01 -1.47409145e+02] [-1.20393901e-01 -1.92452906e-03 9.92724335e-01 -9.36913928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.38, Z:-936.92 [[ 6.09381011e-02 -9.98126078e-01 5.55699285e-03 4.31340637e+02] [ 9.90922632e-01 6.11648059e-02 1.19713006e-01 -1.47381135e+02] [-1.19828565e-01 -1.78853327e-03 9.92792988e-01 -9.36917394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-147.36, Z:-936.94 [[ 5.44151893e-02 -9.97615994e-01 4.24419231e-02 4.31316416e+02] [ 9.90217591e-01 5.93833589e-02 1.26264564e-01 -1.47360349e+02] [-1.28483893e-01 3.51560287e-02 9.91088262e-01 -9.36943980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.33, Z:-936.93 [[ 5.38202256e-02 -9.98519875e-01 -7.83851722e-03 4.31345742e+02] [ 9.90727131e-01 5.24161922e-02 1.25348697e-01 -1.47328741e+02] [-1.24752300e-01 -1.45121268e-02 9.92081782e-01 -9.36927380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-147.30, Z:-936.92 [[ 5.55351970e-02 -9.98239230e-01 -2.08394398e-02 4.31358661e+02] [ 9.91289357e-01 5.26281742e-02 1.20729811e-01 -1.47296296e+02] [-1.19420491e-01 -2.73626687e-02 9.92466640e-01 -9.36918485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.27, Z:-936.93 [[ 5.18183879e-02 -9.98641132e-01 5.54472308e-03 4.31347912e+02] [ 9.91275471e-01 5.21083983e-02 1.21068807e-01 -1.47271281e+02] [-1.21193217e-01 -7.77242397e-04 9.92628632e-01 -9.36929434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.24, Z:-936.93 [[ 5.00022075e-02 -9.98733749e-01 5.53885629e-03 4.31349551e+02] [ 9.91280914e-01 5.03044822e-02 1.21785091e-01 -1.47243348e+02] [-1.21909510e-01 -5.98960856e-04 9.92541038e-01 -9.36932780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.22, Z:-936.94 [[ 4.81675681e-02 -9.98823987e-01 5.52522614e-03 4.31350922e+02] [ 9.91316041e-01 4.84816884e-02 1.22237611e-01 -1.47215390e+02] [-1.22361731e-01 -4.10643174e-04 9.92485485e-01 -9.36936095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.19, Z:-936.94 [[ 4.65835678e-02 -9.98899190e-01 5.51170733e-03 4.31352324e+02] [ 9.91334279e-01 4.69078267e-02 1.22702907e-01 -1.47187072e+02] [-1.22826377e-01 -2.51994774e-04 9.92428142e-01 -9.36939674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.16, Z:-936.94 [[ 4.54855209e-02 -9.98949912e-01 5.49015206e-03 4.31353598e+02] [ 9.91348733e-01 4.58154044e-02 1.22998527e-01 -1.47159893e+02] [-1.23120902e-01 -1.51996804e-04 9.92391667e-01 -9.36942675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.13, Z:-936.95 [[ 4.49671492e-02 -9.98973417e-01 5.48342648e-03 4.31353261e+02] [ 9.91286640e-01 4.53000721e-02 1.23687922e-01 -1.47132100e+02] [-1.23809346e-01 -1.26245839e-04 9.92306016e-01 -9.36946153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-147.11, Z:-936.97 [[ 4.31463359e-02 -9.98577544e-01 3.13254278e-02 4.31336981e+02] [ 9.90496847e-01 4.68536067e-02 1.29308682e-01 -1.47108007e+02] [-1.30592456e-01 2.54485416e-02 9.91109470e-01 -9.36966704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-147.08, Z:-936.94 [[ 4.60071053e-02 -9.98714205e-01 -2.12904324e-02 4.31366676e+02] [ 9.91247715e-01 4.30023666e-02 1.24814920e-01 -1.47076011e+02] [-1.23738894e-01 -2.68464657e-02 9.91951588e-01 -9.36944500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.05, Z:-936.96 [[ 4.73060823e-02 -9.98865923e-01 5.38547810e-03 4.31353689e+02] [ 9.91171103e-01 4.76088489e-02 1.23746686e-01 -1.47048319e+02] [-1.23862744e-01 -5.16040659e-04 9.92299226e-01 -9.36957072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-147.02, Z:-936.96 [[ 4.83518828e-02 -9.98816147e-01 5.32925411e-03 4.31353530e+02] [ 9.91182181e-01 4.86399697e-02 1.23255988e-01 -1.47020326e+02] [-1.23369286e-01 -6.77397371e-04 9.92360600e-01 -9.36960743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.99, Z:-936.97 [[ 4.96369424e-02 -9.98753316e-01 5.29035343e-03 4.31352808e+02] [ 9.91130859e-01 4.99104918e-02 1.23160719e-01 -1.46992090e+02] [-1.23271221e-01 -8.69888981e-04 9.92372637e-01 -9.36965114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-146.97, Z:-936.98 [[ 5.22219670e-02 -9.98401356e-01 2.16240123e-02 4.31340770e+02] [ 9.90570914e-01 5.45344312e-02 1.25679198e-01 -1.46965776e+02] [-1.26657535e-01 1.48569027e-02 9.91835239e-01 -9.36980922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.94, Z:-936.97 [[ 5.38609835e-02 -9.98482815e-01 -1.14482426e-02 4.31358034e+02] [ 9.91189323e-01 5.20711747e-02 1.21788011e-01 -1.46935665e+02] [-1.21007113e-01 -1.79069979e-02 9.92490110e-01 -9.36967948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.91, Z:-936.98 [[ 5.54290319e-02 -9.98449641e-01 5.09283035e-03 4.31349318e+02] [ 9.91150356e-01 5.56385577e-02 1.20521051e-01 -1.46909578e+02] [-1.20617558e-01 -1.63260457e-03 9.92697708e-01 -9.36977069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.88, Z:-936.98 [[ 5.59384643e-02 -9.98421441e-01 5.05125108e-03 4.31348597e+02] [ 9.91174157e-01 5.61399955e-02 1.20092012e-01 -1.46882025e+02] [-1.20186017e-01 -1.71109322e-03 9.92749915e-01 -9.36981388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.85, Z:-936.99 [[ 5.63676990e-02 -9.98397474e-01 5.01671128e-03 4.31348456e+02] [ 9.91155010e-01 5.65620356e-02 1.20052002e-01 -1.46854436e+02] [-1.20143371e-01 -1.79471659e-03 9.92754929e-01 -9.36985363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.83, Z:-936.99 [[ 5.65344752e-02 -9.98388072e-01 5.01101189e-03 4.31347972e+02] [ 9.91061230e-01 5.67256289e-02 1.20747013e-01 -1.46827613e+02] [-1.20836630e-01 -1.86014939e-03 9.92670665e-01 -9.36988616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.80, Z:-936.99 [[ 5.63207847e-02 -9.98400266e-01 4.98781580e-03 4.31348457e+02] [ 9.91032432e-01 5.65100699e-02 1.21083984e-01 -1.46799958e+02] [-1.21172143e-01 -1.87645775e-03 9.92629735e-01 -9.36991773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.77, Z:-937.00 [[ 5.59742697e-02 -9.98419718e-01 4.99471397e-03 4.31348804e+02] [ 9.90923084e-01 5.61649814e-02 1.22134908e-01 -1.46773427e+02] [-1.22222429e-01 -1.88703494e-03 9.92500941e-01 -9.36995225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.75, Z:-937.00 [[ 5.50607485e-02 -9.98470358e-01 5.02582314e-03 4.31348782e+02] [ 9.90803692e-01 5.52596536e-02 1.23508764e-01 -1.46745667e+02] [-1.23597565e-01 -1.82088089e-03 9.92330755e-01 -9.36998134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-146.72, Z:-937.03 [[ 5.01719998e-02 -9.97530991e-01 4.91395169e-02 4.31321749e+02] [ 9.89446683e-01 5.63415030e-02 1.33494935e-01 -1.46722477e+02] [-1.35933929e-01 4.19232241e-02 9.89830496e-01 -9.37031364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-146.69, Z:-936.99 [[ 5.27616424e-02 -9.97799504e-01 -4.01541905e-02 4.31371161e+02] [ 9.90852164e-01 4.73080797e-02 1.26388032e-01 -1.46688085e+02] [-1.24210298e-01 -4.64553067e-02 9.91167850e-01 -9.36991236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.66, Z:-937.01 [[ 5.19171101e-02 -9.98638888e-01 4.99855092e-03 4.31349060e+02] [ 9.90813537e-01 5.21348649e-02 1.24781770e-01 -1.46661051e+02] [-1.24872527e-01 -1.52567699e-03 9.92171620e-01 -9.37009546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.63, Z:-937.01 [[ 5.05873940e-02 -9.98707336e-01 4.95704261e-03 4.31349688e+02] [ 9.90903238e-01 5.08106185e-02 1.24615625e-01 -1.46634745e+02] [-1.24706410e-01 -1.39203017e-03 9.92192710e-01 -9.37013424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.61, Z:-937.02 [[ 4.90139945e-02 -9.98786024e-01 4.90979976e-03 4.31350645e+02] [ 9.91014641e-01 4.92439421e-02 1.24358413e-01 -1.46606512e+02] [-1.24449223e-01 -1.22961914e-03 9.92225216e-01 -9.37017150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.58, Z:-937.02 [[ 4.65351894e-02 -9.98904793e-01 4.86733319e-03 4.31351913e+02] [ 9.91159830e-01 4.67793359e-02 1.24152672e-01 -1.46580025e+02] [-1.24244390e-01 -9.53162971e-04 9.92251190e-01 -9.37021097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.55, Z:-937.02 [[ 4.55180591e-02 -9.98951931e-01 4.81102228e-03 4.31353042e+02] [ 9.91270569e-01 4.57635398e-02 1.23646095e-01 -1.46552542e+02] [-1.23736675e-01 -8.59105470e-04 9.92314717e-01 -9.37024699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.356559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.52, Z:-937.03 [[ 4.50965389e-02 -9.98971269e-01 4.76511025e-03 4.31354021e+02] [ 9.91329731e-01 4.53398512e-02 1.23327459e-01 -1.46524621e+02] [-1.23416638e-01 -8.37846095e-04 9.92354590e-01 -9.37028932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-146.50, Z:-937.03 [[ 4.51306815e-02 -9.98970006e-01 4.70630409e-03 4.31354872e+02] [ 9.91411600e-01 4.53670726e-02 1.22657529e-01 -1.46497105e+02] [-1.22744703e-01 -8.69733396e-04 9.92437898e-01 -9.37032892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.47, Z:-937.04 [[ 4.53537690e-02 -9.98960261e-01 4.62956171e-03 4.31355593e+02] [ 9.91537301e-01 4.55801033e-02 1.21557540e-01 -1.46469122e+02] [-1.21642168e-01 -9.22709469e-04 9.92573590e-01 -9.37036887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.44, Z:-937.04 [[ 4.66125802e-02 -9.98902674e-01 4.55132471e-03 4.31356529e+02] [ 9.91621606e-01 4.68213652e-02 1.20392483e-01 -1.46441644e+02] [-1.20473472e-01 -1.09861234e-03 9.92715939e-01 -9.37041857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.42, Z:-937.05 [[ 4.73158575e-02 -9.98869831e-01 4.50239149e-03 4.31358292e+02] [ 9.91635944e-01 4.75141016e-02 1.20002350e-01 -1.46415150e+02] [-1.20080654e-01 -1.21328087e-03 9.92763398e-01 -9.37045153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.39, Z:-937.05 [[ 4.77927679e-02 -9.98847265e-01 4.47125102e-03 4.31360222e+02] [ 9.91594184e-01 4.79836108e-02 1.20160504e-01 -1.46387102e+02] [-1.20236538e-01 -1.30913657e-03 9.92744409e-01 -9.37048877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.36, Z:-937.05 [[ 4.81352652e-02 -9.98830934e-01 4.44544554e-03 4.31361863e+02] [ 9.91554394e-01 4.83202496e-02 1.20353805e-01 -1.46359697e+02] [-1.20427908e-01 -1.38536125e-03 9.92721109e-01 -9.37052555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-146.33, Z:-937.06 [[ 4.83126969e-02 -9.98822503e-01 4.41495247e-03 4.31363429e+02] [ 9.91533664e-01 4.84925694e-02 1.20455237e-01 -1.46332393e+02] [-1.20527494e-01 -1.44194336e-03 9.92708942e-01 -9.37056287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-146.30, Z:-937.06 [[ 4.83703232e-02 -9.98819762e-01 4.40408396e-03 4.31366241e+02] [ 9.91452380e-01 4.85475062e-02 1.21100450e-01 -1.46304214e+02] [-1.21171330e-01 -1.49122839e-03 9.92630488e-01 -9.37060437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-146.28, Z:-937.06 [[ 4.80595519e-02 -9.98834860e-01 4.38196550e-03 4.31368286e+02] [ 9.91426860e-01 4.82358493e-02 1.21433454e-01 -1.46277126e+02] [-1.21503335e-01 -1.49163909e-03 9.92589903e-01 -9.37063844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-146.25, Z:-937.07 [[ 4.78044490e-02 -9.98847263e-01 4.34520951e-03 4.31369233e+02] [ 9.91439203e-01 4.79781706e-02 1.21434769e-01 -1.46248843e+02] [-1.21503262e-01 -1.49711117e-03 9.92589903e-01 -9.37067735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-146.22, Z:-937.08 [[ 4.73047545e-02 -9.98745828e-01 1.64021625e-02 4.31365571e+02] [ 9.91090874e-01 4.89762347e-02 1.23855596e-01 -1.46219657e+02] [-1.24503576e-01 1.03970750e-02 9.92164684e-01 -9.37080864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-146.19, Z:-937.07 [[ 4.71431370e-02 -9.98862548e-01 -7.15093166e-03 4.31380577e+02] [ 9.91276699e-01 4.59006333e-02 1.23546100e-01 -1.46193083e+02] [-1.23077340e-01 -1.29129026e-02 9.92313068e-01 -9.37071252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-146.17, Z:-937.08 [[ 4.69761062e-02 -9.98886660e-01 4.32276422e-03 4.31377638e+02] [ 9.91224649e-01 4.71502003e-02 1.23493135e-01 -1.46166790e+02] [-1.23559464e-01 -1.51639616e-03 9.92336011e-01 -9.37077781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-146.14, Z:-937.08 [[ 4.69798071e-02 -9.98886528e-01 4.31308935e-03 4.31380093e+02] [ 9.91171916e-01 4.71520243e-02 1.23914968e-01 -1.46138736e+02] [-1.23980363e-01 -1.54648826e-03 9.92283467e-01 -9.37081268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-146.11, Z:-937.09 [[ 4.70921179e-02 -9.98881305e-01 4.29783744e-03 4.31382022e+02] [ 9.91097554e-01 4.72606926e-02 1.24467127e-01 -1.46110493e+02] [-1.24531005e-01 -1.60184444e-03 9.92214424e-01 -9.37085079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-146.08, Z:-937.09 [[ 4.76659674e-02 -9.98854147e-01 4.28348179e-03 4.31383779e+02] [ 9.90997310e-01 4.78272873e-02 1.25047519e-01 -1.46083018e+02] [-1.25109100e-01 -1.71559202e-03 9.92141507e-01 -9.37088799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-146.06, Z:-937.09 [[ 4.85599744e-02 -9.98811231e-01 4.24896021e-03 4.31385587e+02] [ 9.90956264e-01 4.87099721e-02 1.25032084e-01 -1.46056433e+02] [-1.25090417e-01 -1.86102107e-03 9.92143601e-01 -9.37092092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-146.03, Z:-937.10 [[ 5.04796013e-02 -9.98716235e-01 4.20623483e-03 4.31387958e+02] [ 9.90887672e-01 5.06096120e-02 1.24821030e-01 -1.46030546e+02] [-1.24873665e-01 -2.13300961e-03 9.92170357e-01 -9.37095831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-146.00, Z:-937.10 [[ 5.13470293e-02 -9.98672240e-01 4.15212431e-03 4.31389400e+02] [ 9.90898698e-01 5.14644914e-02 1.24383183e-01 -1.46004427e+02] [-1.24431719e-01 -2.27237236e-03 9.92225571e-01 -9.37099761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-145.98, Z:-937.10 [[ 5.21665780e-02 -9.98630048e-01 4.08353195e-03 4.31390888e+02] [ 9.90967320e-01 5.22712866e-02 1.23496894e-01 -1.45976734e+02] [-1.23541161e-01 -2.39576364e-03 9.92336557e-01 -9.37103850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-145.95, Z:-937.12 [[ 5.22234372e-02 -9.98341131e-01 2.42425134e-02 4.31384241e+02] [ 9.90507487e-01 5.48740374e-02 1.26030787e-01 -1.45949797e+02] [-1.27152003e-01 1.74306301e-02 9.91730075e-01 -9.37123109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.41, Y:-145.92, Z:-937.11 [[ 5.17170415e-02 -9.98539521e-01 -1.56260164e-02 4.31406304e+02] [ 9.91189061e-01 4.94132116e-02 1.22892555e-01 -1.45922589e+02] [-1.21940941e-01 -2.18439759e-02 9.92296955e-01 -9.37105228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.40, Y:-145.90, Z:-937.12 [[ 5.08708187e-02 -9.98697428e-01 3.95050780e-03 4.31399273e+02] [ 9.91187915e-01 5.09719385e-02 1.22263561e-01 -1.45895768e+02] [-1.22305669e-01 -2.30395186e-03 9.92489806e-01 -9.37115495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.076559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:431.40, Y:-145.87, Z:-937.12 [[ 4.90186540e-02 -9.98790139e-01 3.92815790e-03 4.31401912e+02] [ 9.91235061e-01 4.91301779e-02 1.22634743e-01 -1.45868383e+02] [-1.22679363e-01 -2.11766220e-03 9.92444099e-01 -9.37119470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.40, Y:-145.84, Z:-937.12 [[ 4.66521007e-02 -9.98903620e-01 3.89105320e-03 4.31404975e+02] [ 9.91361758e-01 4.67771674e-02 1.22530659e-01 -1.45841702e+02] [-1.22578331e-01 -1.85887130e-03 9.92457101e-01 -9.37122523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-145.82, Z:-937.15 [[ 4.20664253e-02 -9.98685848e-01 2.92744334e-02 4.31393882e+02] [ 9.90816870e-01 4.54675842e-02 1.27336679e-01 -1.45815369e+02] [-1.28500377e-01 2.36490036e-02 9.91427445e-01 -9.37145339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.79, Z:-937.12 [[ 3.66779014e-02 -9.99096177e-01 -2.14839785e-02 4.31426197e+02] [ 9.91729135e-01 3.37446160e-02 1.23833051e-01 -1.45785250e+02] [-1.22996159e-01 -2.58482238e-02 9.92070468e-01 -9.37120511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.42, Y:-145.76, Z:-937.13 [[ 3.30071955e-02 -9.99447769e-01 3.83184321e-03 4.31417042e+02] [ 9.91793460e-01 3.32277382e-02 1.23457080e-01 -1.45758130e+02] [-1.23516226e-01 -2.74574933e-04 9.92342515e-01 -9.37132927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:431.42, Y:-145.73, Z:-937.14 [[ 2.90727030e-02 -9.99570018e-01 3.81534014e-03 4.31420177e+02] [ 9.91840201e-01 2.93214510e-02 1.24069614e-01 -1.45731607e+02] [-1.24128138e-01 1.77168683e-04 9.92266181e-01 -9.37136572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.42, Y:-145.70, Z:-937.14 [[ 2.53819476e-02 -9.99670650e-01 3.78799336e-03 4.31423360e+02] [ 9.91899669e-01 2.56560438e-02 1.24405842e-01 -1.45704913e+02] [-1.24462054e-01 5.99646790e-04 9.92224187e-01 -9.37139785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.68, Z:-937.14 [[ 1.86863137e-02 -9.99818278e-01 3.77255165e-03 4.31428421e+02] [ 9.91959687e-01 1.90115392e-02 1.25118110e-01 -1.45679431e+02] [-1.25167095e-01 1.40422291e-03 9.92134682e-01 -9.37143371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.65, Z:-937.15 [[ 1.58394519e-02 -9.99867576e-01 3.73405193e-03 4.31431231e+02] [ 9.92007089e-01 1.61822716e-02 1.25140202e-01 -1.45651788e+02] [-1.25184056e-01 1.72205378e-03 9.92132041e-01 -9.37147057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.62, Z:-937.15 [[ 1.35374076e-02 -9.99901526e-01 3.69825994e-03 4.31433961e+02] [ 9.92045826e-01 1.38937793e-02 1.25108125e-01 -1.45624239e+02] [-1.25147188e-01 1.97520364e-03 9.92136221e-01 -9.37150789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.60, Z:-937.15 [[ 1.24703041e-02 -9.99915482e-01 3.67703727e-03 4.31435528e+02] [ 9.92000562e-01 1.28333936e-02 1.25579412e-01 -1.45596819e+02] [-1.25615987e-01 2.08160958e-03 9.92076757e-01 -9.37154407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.57, Z:-937.16 [[ 1.57382707e-02 -9.99869399e-01 3.67319188e-03 4.31434960e+02] [ 9.91815676e-01 1.60768162e-02 1.26661757e-01 -1.45569141e+02] [-1.26704268e-01 1.64969227e-03 9.91939165e-01 -9.37158751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.54, Z:-937.18 [[ 1.79078796e-02 -9.99603992e-01 2.17063972e-02 4.31427417e+02] [ 9.91403928e-01 2.05667734e-02 1.29210140e-01 -1.45540246e+02] [-1.29605403e-01 1.92059278e-02 9.91379631e-01 -9.37176134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.51, Z:-937.18 [[ 1.93208049e-02 -9.99783479e-01 7.72668196e-03 4.31433352e+02] [ 9.91278007e-01 2.01629454e-02 1.30235817e-01 -1.45514410e+02] [-1.30363411e-01 5.14302908e-03 9.91452939e-01 -9.37176007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.496559995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:431.45, Y:-145.49, Z:-937.16 [[ 2.32215520e-02 -9.99544181e-01 -1.92922311e-02 4.31447851e+02] [ 9.92000475e-01 2.06426439e-02 1.24534893e-01 -1.45486064e+02] [-1.24079885e-01 -2.20297959e-02 9.92027656e-01 -9.37160361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.46, Z:-937.17 [[ 2.63494571e-02 -9.99646760e-01 3.47289815e-03 4.31437297e+02] [ 9.92006786e-01 2.65766242e-02 1.23354042e-01 -1.45459306e+02] [-1.23402766e-01 1.94826501e-04 9.92356649e-01 -9.37172212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.43, Z:-937.18 [[ 3.26971049e-02 -9.99442580e-01 6.74009733e-03 4.31437765e+02] [ 9.91953616e-01 3.32758662e-02 1.22150485e-01 -1.45428254e+02] [-1.22306678e-01 2.69189671e-03 9.92488705e-01 -9.37179551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.40, Z:-937.18 [[ 3.34377915e-02 -9.99439722e-01 1.46870621e-03 4.31437284e+02] [ 9.91907504e-01 3.33658068e-02 1.22499909e-01 -1.45403982e+02] [-1.22480279e-01 -2.63930571e-03 9.92467438e-01 -9.37179853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.37, Z:-937.18 [[ 3.68720559e-02 -9.99319855e-01 -5.28047359e-04 4.31441288e+02] [ 9.91886370e-01 3.65334400e-02 1.21765092e-01 -1.45371976e+02] [-1.21662983e-01 -5.01349226e-03 9.92558806e-01 -9.37183236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.35, Z:-937.19 [[ 3.62562841e-02 -9.99304562e-01 8.71057457e-03 4.31433176e+02] [ 9.91653549e-01 3.70551245e-02 1.23491527e-01 -1.45349843e+02] [-1.23728417e-01 4.16052832e-03 9.92307396e-01 -9.37190078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:-145.32, Z:-937.20 [[ 3.69709990e-02 -9.99239383e-01 1.24016347e-02 4.31432226e+02] [ 9.91301775e-01 3.82402464e-02 1.25930434e-01 -1.45320650e+02] [-1.26308891e-01 7.63798851e-03 9.91961554e-01 -9.37198899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.29, Z:-937.20 [[ 3.68973259e-02 -9.99312838e-01 3.52703368e-03 4.31437804e+02] [ 9.91338162e-01 3.70475930e-02 1.26000491e-01 -1.45291729e+02] [-1.26044576e-01 -1.15259811e-03 9.92023909e-01 -9.37199063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.27, Z:-937.20 [[ 3.70201121e-02 -9.99303155e-01 -4.76603148e-03 4.31442318e+02] [ 9.91492718e-01 3.61343786e-02 1.25045977e-01 -1.45265688e+02] [-1.24786622e-01 -9.35470161e-03 9.92139501e-01 -9.37195427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.24, Z:-937.21 [[ 3.63266105e-02 -9.99261718e-01 1.25058269e-02 4.31435087e+02] [ 9.91252701e-01 3.76186441e-02 1.26502648e-01 -1.45237270e+02] [-1.26879705e-01 7.80102225e-03 9.91887435e-01 -9.37209310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.21, Z:-937.20 [[ 3.62197919e-02 -9.99329318e-01 -5.38891507e-03 4.31444486e+02] [ 9.91471211e-01 3.52584032e-02 1.25465867e-01 -1.45210672e+02] [-1.25191715e-01 -9.88730174e-03 9.92083301e-01 -9.37202339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.18, Z:-937.21 [[ 3.57772094e-02 -9.99354489e-01 3.25532319e-03 4.31441000e+02] [ 9.91423985e-01 3.59026107e-02 1.25656214e-01 -1.45182840e+02] [-1.25691976e-01 -1.26822319e-03 9.92068505e-01 -9.37209271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.16, Z:-937.21 [[ 3.46382735e-02 -9.99394675e-01 3.23625877e-03 4.31441871e+02] [ 9.91383729e-01 3.47695775e-02 1.26290850e-01 -1.45155850e+02] [-1.26326926e-01 -1.16612272e-03 9.91987978e-01 -9.37212244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.13, Z:-937.22 [[ 3.41486872e-02 -9.99411587e-01 3.21655740e-03 4.31442659e+02] [ 9.91309571e-01 3.42806093e-02 1.27004626e-01 -1.45128325e+02] [-1.27040161e-01 -1.14843712e-03 9.91896909e-01 -9.37215842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.916559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.10, Z:-937.22 [[ 3.37619183e-02 -9.99424817e-01 3.18863600e-03 4.31443221e+02] [ 9.91285966e-01 3.38931001e-02 1.27292545e-01 -1.45100154e+02] [-1.27327401e-01 -1.13679038e-03 9.91860091e-01 -9.37219399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.07, Z:-937.22 [[ 3.39145725e-02 -9.99419767e-01 3.15133675e-03 4.31443954e+02] [ 9.91292459e-01 3.40398699e-02 1.27202781e-01 -1.45072799e+02] [-1.27236245e-01 -1.19013159e-03 9.91871726e-01 -9.37223484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.04, Z:-937.23 [[ 3.40774151e-02 -9.99414374e-01 3.10483274e-03 4.31444238e+02] [ 9.91342401e-01 3.41960153e-02 1.26770960e-01 -1.45044994e+02] [-1.26802892e-01 -1.24207427e-03 9.91927157e-01 -9.37227545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-145.02, Z:-937.23 [[ 3.44355748e-02 -9.99402234e-01 3.06037265e-03 4.31444367e+02] [ 9.91377639e-01 3.45461402e-02 1.26399923e-01 -1.45018338e+02] [-1.26430089e-01 -1.31866897e-03 9.91974644e-01 -9.37231874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-144.99, Z:-937.24 [[ 3.47820020e-02 -9.99390378e-01 3.01403576e-03 4.31444961e+02] [ 9.91412636e-01 3.48844475e-02 1.26031984e-01 -1.44990514e+02] [-1.26060295e-01 -1.39549157e-03 9.92021600e-01 -9.37236555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.42, Y:-144.97, Z:-937.27 [[ 3.18368160e-02 -9.98717803e-01 3.93594599e-02 4.31423866e+02] [ 9.90397045e-01 3.68232727e-02 1.33258168e-01 -1.44967464e+02] [-1.34536649e-01 3.47389770e-02 9.90299497e-01 -9.37266531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.096559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.45, Y:-144.94, Z:-937.26 [[ 3.33175307e-02 -9.99444792e-01 2.22165742e-04 4.31445873e+02] [ 9.90641886e-01 3.30535131e-02 1.32424010e-01 -1.44937634e+02] [-1.32357830e-01 -4.19195432e-03 9.91193136e-01 -9.37256332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.91, Z:-937.24 [[ 3.66665895e-02 -9.98817655e-01 -3.19194704e-02 4.31465806e+02] [ 9.91745030e-01 3.24425434e-02 1.24053524e-01 -1.44906916e+02] [-1.22871301e-01 -3.62045958e-02 9.91762003e-01 -9.37235230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-144.88, Z:-937.25 [[ 3.72900595e-02 -9.99300394e-01 2.85904868e-03 4.31449961e+02] [ 9.91716766e-01 3.73586647e-02 1.22890953e-01 -1.44881373e+02] [-1.22911788e-01 -1.74724443e-03 9.92416062e-01 -9.37251362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-144.85, Z:-937.26 [[ 3.75230883e-02 -9.99291771e-01 2.82387998e-03 4.31451190e+02] [ 9.91700780e-01 3.75854933e-02 1.22950778e-01 -1.44853471e+02] [-1.22969837e-01 -1.81304890e-03 9.92408753e-01 -9.37255463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.2165599950001 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:431.44, Y:-144.83, Z:-937.27 [[ 3.65341842e-02 -9.98983054e-01 2.64218007e-02 4.31438951e+02] [ 9.91252387e-01 3.95814803e-02 1.25904774e-01 -1.44826620e+02] [-1.26822550e-01 2.15908448e-02 9.91690414e-01 -9.37274524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-144.80, Z:-937.27 [[ 3.67628292e-02 -9.99323205e-01 1.27548095e-03 4.31452790e+02] [ 9.91252248e-01 3.66277533e-02 1.26796645e-01 -1.44798316e+02] [-1.26757547e-01 -3.39708003e-03 9.91927913e-01 -9.37269796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.77, Z:-937.26 [[ 3.73355986e-02 -9.99095209e-01 -2.03670329e-02 4.31465330e+02] [ 9.91786543e-01 3.45520323e-02 1.23148735e-01 -1.44770777e+02] [-1.22333589e-01 -2.47975809e-02 9.92179204e-01 -9.37257829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.75, Z:-937.27 [[ 3.71514459e-02 -9.99306050e-01 2.68120027e-03 4.31455176e+02] [ 9.91701888e-01 3.71989200e-02 1.23059363e-01 -1.44745087e+02] [-1.23073704e-01 -1.91288190e-03 9.92395690e-01 -9.37270212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.72, Z:-937.27 [[ 3.58584894e-02 -9.99353344e-01 2.65761698e-03 4.31457150e+02] [ 9.91668468e-01 3.59117278e-02 1.23709327e-01 -1.44717593e+02] [-1.23724769e-01 -1.80055462e-03 9.92314940e-01 -9.37273489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.69, Z:-937.28 [[ 3.50326221e-02 -9.99382728e-01 2.62273895e-03 4.31458493e+02] [ 9.91695014e-01 3.50878547e-02 1.23732944e-01 -1.44689326e+02] [-1.23748594e-01 -1.73373235e-03 9.92312088e-01 -9.37276822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.66, Z:-937.28 [[ 3.40348065e-02 -9.99417274e-01 2.59686153e-03 4.31459328e+02] [ 9.91673628e-01 3.40937694e-02 1.24181442e-01 -1.44661841e+02] [-1.24197615e-01 -1.65125227e-03 9.92256129e-01 -9.37280496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.63, Z:-937.28 [[ 3.30623122e-02 -9.99450008e-01 2.56212013e-03 4.31459883e+02] [ 9.91705180e-01 3.31244788e-02 1.24191804e-01 -1.44634668e+02] [-1.24208369e-01 -1.56520040e-03 9.92254923e-01 -9.37284270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.61, Z:-937.29 [[ 3.23981116e-02 -9.99471834e-01 2.53273763e-03 4.31460469e+02] [ 9.91677425e-01 3.24611693e-02 1.24587953e-01 -1.44606399e+02] [-1.24604366e-01 -1.52475568e-03 9.92205335e-01 -9.37288085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.58, Z:-937.29 [[ 3.22640602e-02 -9.99447569e-01 7.97415003e-03 4.31458124e+02] [ 9.91823578e-01 3.30015054e-02 1.23275673e-01 -1.44579194e+02] [-1.23470731e-01 3.93157626e-03 9.92340426e-01 -9.37293559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.516559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.55, Z:-937.29 [[ 3.09101171e-02 -9.99517074e-01 -3.19111777e-03 4.31463905e+02] [ 9.91615029e-01 3.02646421e-02 1.25633140e-01 -1.44551088e+02] [-1.25475890e-01 -7.04769539e-03 9.92071636e-01 -9.37293798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.52, Z:-937.30 [[ 3.06056604e-02 -9.99528527e-01 2.45317090e-03 4.31461661e+02] [ 9.91614582e-01 3.06714460e-02 1.25537979e-01 -1.44523670e+02] [-1.25554033e-01 -1.40957271e-03 9.92085782e-01 -9.37298655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.576559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.50, Z:-937.30 [[ 3.03525194e-02 -9.99536330e-01 2.41880707e-03 4.31462137e+02] [ 9.91622366e-01 3.04159938e-02 1.25538641e-01 -1.44495360e+02] [-1.25554003e-01 -1.41187083e-03 9.92085782e-01 -9.37302519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.47, Z:-937.31 [[ 3.00324492e-02 -9.99546071e-01 2.38835696e-03 4.31462704e+02] [ 9.91622788e-01 3.00945299e-02 1.25612764e-01 -1.44467325e+02] [-1.25627621e-01 -1.40410976e-03 9.92076474e-01 -9.37306508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.44, Z:-937.31 [[ 2.95885899e-02 -9.99559429e-01 2.33727492e-03 4.31463400e+02] [ 9.91748778e-01 2.96490173e-02 1.24720875e-01 -1.44440176e+02] [-1.24735224e-01 -1.37232527e-03 9.92189115e-01 -9.37309686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.41, Z:-937.31 [[ 2.92241780e-02 -9.99570230e-01 2.30260021e-03 4.31463652e+02] [ 9.91740854e-01 2.92829225e-02 1.24870288e-01 -1.44413555e+02] [-1.24884050e-01 -1.36564883e-03 9.92170403e-01 -9.37313557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.6965599950001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.39, Z:-937.32 [[ 2.85497773e-02 -9.99589778e-01 2.27746489e-03 4.31463744e+02] [ 9.91768537e-01 2.86107494e-02 1.24806226e-01 -1.44385608e+02] [-1.24820188e-01 -1.30447194e-03 9.92178522e-01 -9.37317169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.36, Z:-937.32 [[ 2.76765851e-02 -9.99614411e-01 2.24428799e-03 4.31463906e+02] [ 9.91782135e-01 2.77401386e-02 1.24894680e-01 -1.44358727e+02] [-1.24908779e-01 -1.23081349e-03 9.92167467e-01 -9.37320814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.756559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.33, Z:-937.32 [[ 2.65835290e-02 -9.99644151e-01 2.21070938e-03 4.31464393e+02] [ 9.91787015e-01 2.66512267e-02 1.25092883e-01 -1.44331012e+02] [-1.25107287e-01 -1.13285743e-03 9.92142572e-01 -9.37324490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.30, Z:-937.33 [[ 2.54278179e-02 -9.99674280e-01 2.18160791e-03 4.31465122e+02] [ 9.91777710e-01 2.55006361e-02 1.25406109e-01 -1.44303450e+02] [-1.25420895e-01 -1.02513363e-03 9.92103094e-01 -9.37328144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.28, Z:-937.33 [[ 2.26334658e-02 -9.99741488e-01 2.16399511e-03 4.31465993e+02] [ 9.91714069e-01 2.27254141e-02 1.26438768e-01 -1.44276139e+02] [-1.26455259e-01 -7.15683129e-04 9.91972054e-01 -9.37331629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.25, Z:-937.33 [[ 2.10330199e-02 -9.99776510e-01 2.13109281e-03 4.31466785e+02] [ 9.91713717e-01 2.11335038e-02 1.26717319e-01 -1.44248675e+02] [-1.26734036e-01 -5.51813916e-04 9.91936581e-01 -9.37335000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.22, Z:-937.34 [[ 1.90708707e-02 -9.99815918e-01 2.10549727e-03 4.31467364e+02] [ 9.91680520e-01 1.91837427e-02 1.27286015e-01 -1.44221159e+02] [-1.27302975e-01 -3.39474512e-04 9.91863820e-01 -9.37338735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.19, Z:-937.35 [[ 1.47543046e-02 -9.99842079e-01 9.90597798e-03 4.31463044e+02] [ 9.91335665e-01 1.59205692e-02 1.30384567e-01 -1.44192907e+02] [-1.30521685e-01 7.89641565e-03 9.91414009e-01 -9.37349151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9365599950002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.17, Z:-937.35 [[ 1.41554542e-02 -9.99898526e-01 1.60045950e-03 4.31467244e+02] [ 9.91607759e-01 1.42437559e-02 1.28495792e-01 -1.44167405e+02] [-1.28505549e-01 -2.31888242e-04 9.91708763e-01 -9.37346766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.14, Z:-937.35 [[ 9.91748651e-03 -9.99939522e-01 -4.75350731e-03 4.31469599e+02] [ 9.91374259e-01 9.21103732e-03 1.30737276e-01 -1.44140444e+02] [-1.30685585e-01 -6.00908997e-03 9.91405653e-01 -9.37348148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.11, Z:-937.35 [[ 9.78945891e-03 -9.99950057e-01 2.01246143e-03 4.31466619e+02] [ 9.91380252e-01 9.96847448e-03 1.30636232e-01 -1.44112450e+02] [-1.30649768e-01 7.16256495e-04 9.91428326e-01 -9.37354505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.08, Z:-937.36 [[ 8.05146293e-03 -9.99965616e-01 1.98497191e-03 4.31466389e+02] [ 9.91446817e-01 8.24142498e-03 1.30250868e-01 -1.44084150e+02] [-1.30262749e-01 9.19284042e-04 9.91479083e-01 -9.37358411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.05, Z:-937.36 [[ 8.09533240e-03 -9.99949945e-01 -5.87990111e-03 4.31472221e+02] [ 9.91804852e-01 7.27934654e-03 1.27554490e-01 -1.44053361e+02] [-1.27505303e-01 -6.86431044e-03 9.91814135e-01 -9.37357370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-144.03, Z:-937.37 [[ 5.88833011e-03 -9.99886257e-01 1.38852545e-02 4.31460666e+02] [ 9.91593955e-01 7.63316632e-03 1.29163319e-01 -1.44026659e+02] [-1.29254616e-01 1.30079782e-02 9.91526115e-01 -9.37372585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-144.00, Z:-937.37 [[ 4.75434506e-03 -9.99988302e-01 -8.89664833e-04 4.31466318e+02] [ 9.91630614e-01 4.59981852e-03 1.29025452e-01 -1.44001325e+02] [-1.29019850e-01 -1.49565040e-03 9.91640883e-01 -9.37368946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.97, Z:-937.37 [[ 4.38484026e-03 -9.99988710e-01 1.83103814e-03 4.31464069e+02] [ 9.91598555e-01 4.58475525e-03 1.29272140e-01 -1.43974103e+02] [-1.29279075e-01 1.24881709e-03 9.91607463e-01 -9.37373758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.95, Z:-937.38 [[ 5.52795819e-03 -9.99983099e-01 1.80076248e-03 4.31461029e+02] [ 9.91541948e-01 5.71478721e-03 1.29660739e-01 -1.43946746e+02] [-1.29668839e-01 1.06877239e-03 9.91556781e-01 -9.37377946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.92, Z:-937.38 [[ 6.63337579e-03 -9.99964190e-01 5.25526380e-03 4.31459305e+02] [ 9.91517976e-01 7.25932972e-03 1.29766733e-01 -1.43917532e+02] [-1.29800235e-01 4.34989702e-03 9.91530624e-01 -9.37384850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.89, Z:-937.38 [[ 7.56040333e-03 -9.99970912e-01 -1.00797133e-03 4.31460170e+02] [ 9.91589370e-01 7.36678588e-03 1.29213978e-01 -1.43891777e+02] [-1.29202794e-01 -1.97640345e-03 9.91616222e-01 -9.37384250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.86, Z:-937.39 [[ 9.22309518e-03 -9.99956014e-01 1.70439044e-03 4.31458275e+02] [ 9.91586505e-01 9.36595654e-03 1.29106474e-01 -1.43863743e+02] [-1.29116759e-01 4.99289256e-04 9.91629272e-01 -9.37389100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.84, Z:-937.40 [[ 1.02115640e-02 -9.99864577e-01 1.29055044e-02 4.31451782e+02] [ 9.91307766e-01 1.18154332e-02 1.31031713e-01 -1.43836202e+02] [-1.31166452e-01 1.14552880e-02 9.91294173e-01 -9.37401238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.81, Z:-937.39 [[ 1.52445350e-02 -9.99838244e-01 -9.54410072e-03 4.31461205e+02] [ 9.91676835e-01 1.38982594e-02 1.27999587e-01 -1.43807716e+02] [-1.27846236e-01 -1.14159578e-02 9.91728298e-01 -9.37392634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.78, Z:-937.40 [[ 1.73135557e-02 -9.99848813e-01 1.60985440e-03 4.31454497e+02] [ 9.91681703e-01 1.73774780e-02 1.27535971e-01 -1.43780093e+02] [-1.27544664e-01 -6.11637981e-04 9.91832639e-01 -9.37400697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.75, Z:-937.40 [[ 1.94674368e-02 -9.99809259e-01 1.56981665e-03 4.31453090e+02] [ 9.91683653e-01 1.95089598e-02 1.27212157e-01 -1.43752282e+02] [-1.27218518e-01 -9.19733122e-04 9.91874288e-01 -9.37404944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.73, Z:-937.42 [[ 1.86575408e-02 -9.99565659e-01 2.28120479e-02 4.31438151e+02] [ 9.90980403e-01 2.15159136e-02 1.32268311e-01 -1.43728191e+02] [-1.32701684e-01 2.01384910e-02 9.90951414e-01 -9.37424297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.70, Z:-937.41 [[ 2.28092222e-02 -9.99528034e-01 -2.05778580e-02 4.31460959e+02] [ 9.91672268e-01 2.00107414e-02 1.27222966e-01 -1.43696871e+02] [-1.26751143e-01 -2.33083481e-02 9.91660662e-01 -9.37405018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.67, Z:-937.43 [[ 2.29358547e-02 -9.99590098e-01 1.71342438e-02 4.31439929e+02] [ 9.91100222e-01 2.49823174e-02 1.30752572e-01 -1.43671452e+02] [-1.31127029e-01 1.39828308e-02 9.91266958e-01 -9.37428049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.64, Z:-937.43 [[ 2.44954250e-02 -9.99696739e-01 2.53060797e-03 4.31445712e+02] [ 9.91042309e-01 2.46156354e-02 1.31260096e-01 -1.43643263e+02] [-1.31282582e-01 -7.07332273e-04 9.91344735e-01 -9.37427120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.62, Z:-937.43 [[ 2.46953582e-02 -9.99691605e-01 2.61412992e-03 4.31444396e+02] [ 9.90892641e-01 2.48240747e-02 1.32346283e-01 -1.43618773e+02] [-1.32370362e-01 -6.78016769e-04 9.91200095e-01 -9.37431998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-143.59, Z:-937.42 [[ 2.55125620e-02 -9.99487872e-01 -1.93158615e-02 4.31457298e+02] [ 9.91476881e-01 2.28292193e-02 1.28266995e-01 -1.43585421e+02] [-1.27760340e-01 -2.24236498e-02 9.91551550e-01 -9.37420393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.56, Z:-937.43 [[ 2.50320783e-02 -9.99685757e-01 1.33520673e-03 4.31446582e+02] [ 9.91496154e-01 2.49975874e-02 1.27712561e-01 -1.43558640e+02] [-1.27705805e-01 -1.87305849e-03 9.91810324e-01 -9.37430992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.43, Y:-143.53, Z:-937.45 [[ 2.26027878e-02 -9.99553359e-01 1.95498730e-02 4.31434892e+02] [ 9.90877428e-01 2.49967010e-02 1.32427672e-01 -1.43533444e+02] [-1.32857207e-01 1.63782933e-02 9.90999856e-01 -9.37448446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.50, Z:-937.44 [[ 2.22048946e-02 -9.99749772e-01 -2.70861484e-03 4.31444764e+02] [ 9.90974570e-01 2.16515815e-02 1.32289874e-01 -1.43503610e+02] [-1.32198125e-01 -5.62165114e-03 9.91207371e-01 -9.37443844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.48, Z:-937.44 [[ 2.38237841e-02 -9.99628262e-01 -1.32576179e-02 4.31451176e+02] [ 9.91385936e-01 2.19148004e-02 1.29126559e-01 -1.43475241e+02] [-1.28788020e-01 -1.62196992e-02 9.91539494e-01 -9.37437511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.45, Z:-937.45 [[ 2.25315785e-02 -9.99679690e-01 1.15258500e-02 4.31437539e+02] [ 9.90983216e-01 2.38556860e-02 1.31845259e-01 -1.43448848e+02] [-1.32077984e-01 8.45124207e-03 9.91203300e-01 -9.37454663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.42, Z:-937.46 [[ 2.39938366e-02 -9.99705157e-01 3.72749794e-03 4.31443413e+02] [ 9.91005528e-01 2.42757234e-02 1.31600657e-01 -1.43419192e+02] [-1.31652343e-01 5.36366410e-04 9.91295805e-01 -9.37456192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.39, Z:-937.45 [[ 2.37823274e-02 -9.99670391e-01 -9.67008110e-03 4.31448386e+02] [ 9.91346303e-01 2.23329717e-02 1.29358979e-01 -1.43392996e+02] [-1.29100379e-01 -1.26628567e-02 9.91550677e-01 -9.37451352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.37, Z:-937.46 [[ 2.42055725e-02 -9.99706402e-01 1.09513296e-03 4.31443150e+02] [ 9.91388107e-01 2.41451617e-02 1.28711435e-01 -1.43365197e+02] [-1.28700087e-01 -2.02983216e-03 9.91681485e-01 -9.37458915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.34, Z:-937.46 [[ 2.43977668e-02 -9.99701772e-01 1.05611790e-03 4.31443031e+02] [ 9.91431850e-01 2.43315204e-02 1.28338868e-01 -1.43338368e+02] [-1.28326291e-01 -2.08411285e-03 9.91729812e-01 -9.37462770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.31, Z:-937.47 [[ 2.45079308e-02 -9.99699118e-01 1.01697955e-03 4.31443130e+02] [ 9.91445606e-01 2.44360224e-02 1.28212678e-01 -1.43310491e+02] [-1.28198952e-01 -2.13394754e-03 9.91746175e-01 -9.37466952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.896559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.28, Z:-937.47 [[ 2.53437347e-02 -9.99678321e-01 9.74435813e-04 4.31443178e+02] [ 9.91520099e-01 2.52611641e-02 1.27474574e-01 -1.43283862e+02] [-1.27458184e-01 -2.26450910e-03 9.91841360e-01 -9.37470905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.26, Z:-937.47 [[ 2.55821439e-02 -9.99672272e-01 9.49879367e-04 4.31443906e+02] [ 9.91492405e-01 2.54941025e-02 1.27643495e-01 -1.43256462e+02] [-1.27625879e-01 -2.32359609e-03 9.91819659e-01 -9.37474709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-143.23, Z:-937.48 [[ 2.54891194e-02 -9.99674681e-01 9.15170167e-04 4.31444759e+02] [ 9.91486661e-01 2.53972581e-02 1.27707402e-01 -1.43228720e+02] [-1.27689099e-01 -2.34777021e-03 9.91811465e-01 -9.37478202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.20, Z:-937.48 [[ 2.52555441e-02 -9.99680637e-01 8.84302072e-04 4.31445661e+02] [ 9.91392984e-01 2.51598188e-02 1.28479317e-01 -1.43201293e+02] [-1.28460534e-01 -2.36812418e-03 9.91711795e-01 -9.37482024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.17, Z:-937.49 [[ 2.48303032e-02 -9.99691313e-01 8.57808301e-04 4.31446896e+02] [ 9.91206098e-01 2.47310934e-02 1.29995552e-01 -1.43174116e+02] [-1.29976639e-01 -2.37756417e-03 9.91514206e-01 -9.37485207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.15, Z:-937.49 [[ 2.43093199e-02 -9.99704147e-01 8.22205229e-04 4.31447346e+02] [ 9.91150865e-01 2.42086749e-02 1.30513995e-01 -1.43146391e+02] [-1.30495287e-01 -2.35777704e-03 9.91446126e-01 -9.37489203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.12, Z:-937.49 [[ 2.38167025e-02 -9.99716032e-01 7.88117248e-04 4.31448092e+02] [ 9.91123274e-01 2.37151191e-02 1.30813796e-01 -1.43118136e+02] [-1.30795340e-01 -2.33443192e-03 9.91406642e-01 -9.37492855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.09, Z:-937.50 [[ 2.31557277e-02 -9.99731588e-01 7.51607186e-04 4.31448827e+02] [ 9.91125511e-01 2.30548172e-02 1.30914846e-01 -1.43089963e+02] [-1.30897035e-01 -2.28649147e-03 9.91393332e-01 -9.37496697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.06, Z:-937.50 [[ 2.19474094e-02 -9.99758869e-01 7.17716365e-04 4.31450477e+02] [ 9.91075588e-01 2.18511889e-02 1.31497926e-01 -1.43062483e+02] [-1.31481901e-01 -2.17472765e-03 9.91316186e-01 -9.37500550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.04, Z:-937.50 [[ 2.14527674e-02 -9.99769631e-01 6.81613579e-04 4.31451298e+02] [ 9.91069755e-01 2.13558248e-02 1.31623215e-01 -1.43035856e+02] [-1.31607449e-01 -2.14815560e-03 9.91299584e-01 -9.37504301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.1965599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:431.45, Y:-143.01, Z:-937.51 [[ 2.10166824e-02 -9.99778918e-01 6.43291183e-04 4.31452074e+02] [ 9.91060057e-01 2.09181833e-02 1.31766438e-01 -1.43007611e+02] [-1.31750764e-01 -2.13175320e-03 9.91280582e-01 -9.37508151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-142.98, Z:-937.51 [[ 2.05900267e-02 -9.99787818e-01 6.07981392e-04 4.31452902e+02] [ 9.91032566e-01 2.04900126e-02 1.32040196e-01 -1.42980648e+02] [-1.32024637e-01 -2.11618182e-03 9.91244176e-01 -9.37511924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-142.95, Z:-937.52 [[ 2.04209913e-02 -9.99791308e-01 5.68640404e-04 4.31453573e+02] [ 9.91056446e-01 2.03175917e-02 1.31887512e-01 -1.42952630e+02] [-1.31871542e-01 -2.12971900e-03 9.91264526e-01 -9.37516050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-142.92, Z:-937.52 [[ 2.03982855e-02 -9.99791792e-01 5.31737323e-04 4.31454206e+02] [ 9.91098860e-01 2.02909043e-02 1.31572521e-01 -1.42924994e+02] [-1.31555916e-01 -2.15684960e-03 9.91306405e-01 -9.37519919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.90, Z:-937.52 [[ 2.12164067e-02 -9.99774785e-01 4.92824308e-04 4.31455153e+02] [ 9.91148632e-01 2.10979584e-02 1.31069695e-01 -1.42897524e+02] [-1.31050574e-01 -2.29236582e-03 9.91373034e-01 -9.37523981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.87, Z:-937.53 [[ 2.14504680e-02 -9.99769809e-01 4.55091161e-04 4.31455794e+02] [ 9.91158123e-01 2.13253137e-02 1.30961089e-01 -1.42870637e+02] [-1.30940648e-01 -2.35810935e-03 9.91387405e-01 -9.37527527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.84, Z:-937.53 [[ 2.15092051e-02 -9.99768558e-01 4.29587863e-04 4.31456573e+02] [ 9.91117549e-01 2.13794860e-02 1.31258988e-01 -1.42843513e+02] [-1.31237794e-01 -2.39750443e-03 9.91348018e-01 -9.37531420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.82, Z:-937.54 [[ 2.11522727e-02 -9.99776190e-01 3.90371000e-04 4.31457476e+02] [ 9.91148286e-01 2.10209152e-02 1.31084689e-01 -1.42815886e+02] [-1.31063557e-01 -2.38582354e-03 9.91371097e-01 -9.37535099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.79, Z:-937.54 [[ 2.02854537e-02 -9.99794166e-01 3.54727877e-04 4.31459586e+02] [ 9.91141135e-01 2.01564631e-02 1.31274400e-01 -1.42788686e+02] [-1.31254529e-01 -2.31137536e-03 9.91346007e-01 -9.37538662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.76, Z:-937.54 [[ 1.91991923e-02 -9.99815629e-01 3.16395078e-04 4.31460819e+02] [ 9.91169174e-01 1.90746832e-02 1.31224329e-01 -1.42760405e+02] [-1.31206170e-01 -2.20580009e-03 9.91352649e-01 -9.37542147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.73, Z:-937.55 [[ 1.89360110e-02 -9.99820659e-01 2.79061816e-04 4.31460825e+02] [ 9.91174243e-01 1.88088794e-02 1.31224409e-01 -1.42732097e+02] [-1.31206124e-01 -2.20826797e-03 9.91352650e-01 -9.37546054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.70, Z:-937.53 [[ 2.11597337e-02 -9.99467025e-01 -2.48582179e-02 4.31479966e+02] [ 9.91968061e-01 1.78866281e-02 1.25217547e-01 -1.42695458e+02] [-1.24706180e-01 -2.73081282e-02 9.91817844e-01 -9.37533687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.67, Z:-937.55 [[ 2.02742923e-02 -9.99789583e-01 3.12137662e-03 4.31468831e+02] [ 9.91905625e-01 2.05056409e-02 1.25310613e-01 -1.42666081e+02] [-1.25348252e-01 5.55527028e-04 9.92112649e-01 -9.37547236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-142.65, Z:-937.56 [[ 1.50669982e-02 -9.99602975e-01 2.38092014e-02 4.31454338e+02] [ 9.91265454e-01 1.80530037e-02 1.30640306e-01 -1.42646982e+02] [-1.31018266e-01 2.16328816e-02 9.91143901e-01 -9.37563415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.61, Z:-937.55 [[ 1.58168820e-02 -9.99627876e-01 -2.22246769e-02 4.31483673e+02] [ 9.91968366e-01 1.28981851e-02 1.25826854e-01 -1.42610031e+02] [-1.25493373e-01 -2.40363649e-02 9.91803240e-01 -9.37545066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:-142.59, Z:-937.57 [[ 8.26858422e-03 -9.99654486e-01 2.49507208e-02 4.31457659e+02] [ 9.91319411e-01 1.14686765e-02 1.30974408e-01 -1.42592239e+02] [-1.31215306e-01 2.36511609e-02 9.91071726e-01 -9.37571244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.56, Z:-937.57 [[ 6.07940721e-03 -9.99981490e-01 2.47829449e-04 4.31471216e+02] [ 9.91390020e-01 6.05959235e-03 1.30801795e-01 -1.42563165e+02] [-1.30800875e-01 -5.49501732e-04 9.91408508e-01 -9.37566027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.53, Z:-937.56 [[ 5.66582428e-03 -9.99917631e-01 -1.15165094e-02 4.31481528e+02] [ 9.91851540e-01 4.15358610e-03 1.27331340e-01 -1.42530328e+02] [-1.27273017e-01 -1.21441046e-02 9.91793376e-01 -9.37561552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.51, Z:-937.58 [[ 1.78577058e-03 -9.99911032e-01 1.32188844e-02 4.31466690e+02] [ 9.91405153e-01 3.49950767e-03 1.30780641e-01 -1.42508384e+02] [-1.30815265e-01 1.28717259e-02 9.91323199e-01 -9.37578474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.48, Z:-937.58 [[-4.63001131e-05 -9.99999990e-01 1.35057685e-04 4.31473816e+02] [ 9.91401481e-01 -2.82289845e-05 1.30855277e-01 -1.42481388e+02] [-1.30855272e-01 1.39955002e-04 9.91401472e-01 -9.37577763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.45, Z:-937.58 [[-1.65909268e-03 -9.99998619e-01 9.65468411e-05 4.31474468e+02] [ 9.91425372e-01 -1.63225363e-03 1.30663951e-01 -1.42453713e+02] [-1.30663613e-01 3.12502591e-04 9.91426711e-01 -9.37581636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.42, Z:-937.59 [[-2.59059629e-03 -9.99994749e-01 1.94707181e-03 4.31477281e+02] [ 9.91456235e-01 -2.31453938e-03 1.30419233e-01 -1.42423137e+02] [-1.30414042e-01 2.26830007e-03 9.91457025e-01 -9.37587362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.40, Z:-937.59 [[-4.66535073e-03 -9.99988752e-01 -8.54246835e-04 4.31477020e+02] [ 9.91437080e-01 -4.73693363e-03 1.30499340e-01 -1.42398861e+02] [-1.30501919e-01 -2.38106796e-04 9.91448028e-01 -9.37590090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.37, Z:-937.59 [[-5.35639022e-03 -9.99985655e-01 8.02732760e-06 4.31477298e+02] [ 9.91480813e-01 -5.30978959e-03 1.30144550e-01 -1.42370823e+02] [-1.30142640e-01 7.05063933e-04 9.91495031e-01 -9.37594152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.37, Z:-937.60 [[-4.95327048e-03 -9.99987732e-01 -2.87557074e-05 4.31478871e+02] [ 9.91504826e-01 -4.91498945e-03 1.29977013e-01 -1.42367187e+02] [-1.29975560e-01 6.15299881e-04 9.91517007e-01 -9.37595073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.37, Z:-937.60 [[-4.22437394e-03 -9.99991074e-01 -7.78677915e-05 4.31479500e+02] [ 9.91589511e-01 -4.19895492e-03 1.29354595e-01 -1.42369061e+02] [-1.29353767e-01 4.69229294e-04 9.91598398e-01 -9.37595108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.37, Z:-937.60 [[-2.91325332e-03 -9.99995749e-01 -1.27050901e-04 4.31479991e+02] [ 9.91635938e-01 -2.90529290e-03 1.29033820e-01 -1.42374458e+02] [-1.29033640e-01 2.49919965e-04 9.91640185e-01 -9.37595011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.38, Z:-937.60 [[-1.23096359e-03 -9.99999227e-01 -1.75659553e-04 4.31480190e+02] [ 9.91701567e-01 -1.24333144e-03 1.28555270e-01 -1.42375719e+02] [-1.28555389e-01 -1.59549985e-05 9.91702330e-01 -9.37595089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.036559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.33, Z:-937.60 [[ 5.55875894e-03 -9.99983223e-01 -1.62936678e-03 4.31483602e+02] [ 9.91917416e-01 5.30735735e-03 1.26774097e-01 -1.42325965e+02] [-1.26763323e-01 -2.32090393e-03 9.91930277e-01 -9.37601074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.30, Z:-937.61 [[ 6.02678484e-03 -9.99976458e-01 3.28059970e-03 4.31477971e+02] [ 9.91823412e-01 6.39579392e-03 1.27457500e-01 -1.42302610e+02] [-1.27475482e-01 2.48561665e-03 9.91838608e-01 -9.37606776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.096559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.27, Z:-937.61 [[ 1.10622895e-02 -9.99938809e-01 5.86970253e-05 4.31479308e+02] [ 9.91854205e-01 1.09802991e-02 1.26904177e-01 -1.42274625e+02] [-1.26897056e-01 -1.34563185e-03 9.91914980e-01 -9.37609937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.25, Z:-937.61 [[ 1.35110223e-02 -9.99908722e-01 2.35019540e-05 4.31479200e+02] [ 9.91873987e-01 1.34054285e-02 1.26515964e-01 -1.42247316e+02] [-1.26504731e-01 -1.68604903e-03 9.91964571e-01 -9.37613575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.25, Z:-937.61 [[ 1.49787801e-02 -9.99887812e-01 -1.29097454e-05 4.31479076e+02] [ 9.91857035e-01 1.48568423e-02 1.26486745e-01 -1.42250483e+02] [-1.26472363e-01 -1.90742176e-03 9.91968298e-01 -9.37613292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.25, Z:-937.61 [[ 1.58800994e-02 -9.99873901e-01 -6.14911990e-05 4.31478670e+02] [ 9.91867337e-01 1.57451711e-02 1.26298362e-01 -1.42247653e+02] [-1.26281468e-01 -2.06662166e-03 9.91992298e-01 -9.37613083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.2165599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.25, Z:-937.61 [[ 1.42952074e-02 -9.99897812e-01 -1.09326730e-04 4.31477307e+02] [ 9.91981955e-01 1.41683061e-02 1.25582882e-01 -1.42254120e+02] [-1.25568500e-01 -1.90368349e-03 9.92083126e-01 -9.37612293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.25, Z:-937.61 [[ 1.22539626e-02 -9.99924905e-01 -1.59122216e-04 4.31476200e+02] [ 9.91910263e-01 1.21356360e-02 1.26359632e-01 -1.42254426e+02] [-1.26348212e-01 -1.70624117e-03 9.91984485e-01 -9.37612754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.26, Z:-937.61 [[ 1.02878914e-02 -9.99947056e-01 -2.10131389e-04 4.31475547e+02] [ 9.91792076e-01 1.01772056e-02 1.27455492e-01 -1.42260271e+02] [-1.27446605e-01 -1.51965491e-03 9.91844269e-01 -9.37611950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.25, Z:-937.62 [[ 1.04482472e-02 -9.99932842e-01 5.01447026e-03 4.31473775e+02] [ 9.91207107e-01 1.10183251e-02 1.31860033e-01 -1.42247905e+02] [-1.31906429e-01 3.59267233e-03 9.91255662e-01 -9.37618174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.27, Z:-937.61 [[ 7.07096534e-03 -9.99962620e-01 -4.97601050e-03 4.31478175e+02] [ 9.91513171e-01 6.36505642e-03 1.29850367e-01 -1.42266907e+02] [-1.29813840e-01 -5.85194739e-03 9.91521115e-01 -9.37608640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.27, Z:-937.62 [[ 6.54460461e-03 -9.99943148e-01 8.41843788e-03 4.31473782e+02] [ 9.90563738e-01 7.63526109e-03 1.36839995e-01 -1.42265063e+02] [-1.36896492e-01 7.44343563e-03 9.90557392e-01 -9.37617200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.27, Z:-937.62 [[ 3.35321084e-03 -9.99980004e-01 5.36165899e-03 4.31474608e+02] [ 9.90005399e-01 4.07561442e-03 1.40970563e-01 -1.42267655e+02] [-1.40989596e-01 4.83536733e-03 9.89999269e-01 -9.37618945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.49, Y:-142.27, Z:-937.60 [[ 3.49837545e-03 -9.99891191e-01 -1.43306568e-02 4.31485227e+02] [ 9.91459072e-01 1.59983225e-03 1.30408392e-01 -1.42274102e+02] [-1.30371276e-01 -1.46644773e-02 9.91356789e-01 -9.37604367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.28, Z:-937.61 [[ 2.39876062e-03 -9.99997014e-01 -4.67046166e-04 4.31478159e+02] [ 9.91505494e-01 2.31765463e-03 1.30044166e-01 -1.42275332e+02] [-1.30042695e-01 -7.75023664e-04 9.91508092e-01 -9.37610190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.28, Z:-937.61 [[ 1.04677366e-03 -9.99999319e-01 -5.15914322e-04 4.31477683e+02] [ 9.91540013e-01 9.70954107e-04 1.29797765e-01 -1.42279126e+02] [-1.29797176e-01 -6.47418576e-04 9.91540354e-01 -9.37610785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.28, Z:-937.61 [[-2.82884214e-04 -9.99999800e-01 -5.65930143e-04 4.31477639e+02] [ 9.91535956e-01 -3.53965724e-04 1.29831906e-01 -1.42284036e+02] [-1.29832081e-01 -5.24412689e-04 9.91535857e-01 -9.37610584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.29, Z:-937.61 [[-3.27461915e-03 -9.99994449e-01 -6.15633496e-04 4.31477950e+02] [ 9.91533129e-01 -3.32682805e-03 1.29811346e-01 -1.42286262e+02] [-1.29812674e-01 -1.85338286e-04 9.91538519e-01 -9.37610820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.29, Z:-937.61 [[-5.17177119e-03 -9.99986407e-01 -6.63073366e-04 4.31478708e+02] [ 9.91579666e-01 -5.21409115e-03 1.29393118e-01 -1.42288992e+02] [-1.29394817e-01 1.17015339e-05 9.91593153e-01 -9.37610307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-141.97, Z:-937.66 [[-4.24761932e-03 -9.99966184e-01 7.04193231e-03 4.31475145e+02] [ 9.90909504e-01 -3.26204315e-03 1.34490572e-01 -1.41965830e+02] [-1.34463053e-01 7.54918240e-03 9.90889851e-01 -9.37661690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.84, Y:-142.18, Z:-936.59 [[-8.03794602e-02 9.92714629e-01 -8.97597212e-02 4.30841743e+02] [ 9.87436991e-01 6.70133175e-02 -1.43099283e-01 -1.42183566e+02] [-1.36041655e-01 -1.00134312e-01 -9.85629640e-01 -9.36585766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-142.22, Z:-936.62 [[-1.56375928e-01 9.87623969e-01 1.20608943e-02 4.30829565e+02] [ 9.78289380e-01 1.56556252e-01 -1.35794071e-01 -1.42218376e+02] [-1.36001688e-01 -9.43587898e-03 -9.90663669e-01 -9.36615674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.6965599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:430.87, Y:-142.24, Z:-936.62 [[-2.32462456e-01 9.72340580e-01 2.26936592e-02 4.30866776e+02] [ 9.63096741e-01 2.33381818e-01 -1.34080555e-01 -1.42241916e+02] [-1.35668252e-01 -9.31250594e-03 -9.90710555e-01 -9.36615001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.81, Y:-141.96, Z:-936.65 [[-3.11843782e-01 9.49618655e-01 3.12708375e-02 4.30811611e+02] [ 9.40285450e-01 3.13170703e-01 -1.33369350e-01 -1.41963044e+02] [-1.36443133e-01 -1.21868888e-02 -9.90572941e-01 -9.36654824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:-142.28, Z:-936.61 [[-3.77320737e-01 9.25613457e-01 2.94752394e-02 4.30969504e+02] [ 9.16453413e-01 3.77786103e-01 -1.31874194e-01 -1.42275649e+02] [-1.33199865e-01 -2.27461845e-02 -9.90828142e-01 -9.36609693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.00, Y:-142.29, Z:-936.61 [[-4.46671614e-01 8.93174786e-01 5.21849675e-02 4.31004575e+02] [ 8.84847986e-01 4.49633083e-01 -1.21959549e-01 -1.42294145e+02] [-1.32395282e-01 -8.30010518e-03 -9.91162246e-01 -9.36614685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.816559995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:431.05, Y:-142.31, Z:-936.61 [[-5.13700769e-01 8.55786148e-01 6.11685293e-02 4.31047728e+02] [ 8.47838863e-01 5.17267032e-01 -1.16636533e-01 -1.42306262e+02] [-1.31456393e-01 -8.05522017e-03 -9.91289226e-01 -9.36614413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:430.82, Y:-141.95, Z:-936.68 [[-5.78803826e-01 8.10676654e-01 8.82581071e-02 4.30818507e+02] [ 8.05796032e-01 5.85198821e-01 -9.07474294e-02 -1.41949149e+02] [-1.25215363e-01 1.85930732e-02 -9.91955347e-01 -9.36675472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.74, Y:-141.99, Z:-937.62 [[-6.00953039e-01 -7.96901966e-01 -6.16660453e-02 4.31737845e+02] [ 7.89429298e-01 -6.03852274e-01 1.10289689e-01 -1.41985118e+02] [-1.25127252e-01 1.75979409e-02 9.91984619e-01 -9.37620625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:431.57, Y:-141.75, Z:-937.65 [[-6.00619544e-01 -7.96207873e-01 -7.28641689e-02 4.31568699e+02] [ 7.89525321e-01 -6.05007483e-01 1.03032580e-01 -1.41745124e+02] [-1.26118719e-01 4.35527500e-03 9.92005595e-01 -9.37654394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-142.27, Z:-936.59 [[-6.38748130e-01 7.69073131e-01 2.29640092e-02 4.31174630e+02] [ 7.58624439e-01 6.34489975e-01 -1.48025109e-01 -1.42272833e+02] [-1.28412567e-01 -7.71297027e-02 -9.88716957e-01 -9.36593139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-142.30, Z:-936.62 [[-6.98285124e-01 7.10335134e-01 8.84414163e-02 4.31186509e+02] [ 7.04770098e-01 7.03863528e-01 -8.87425688e-02 -1.42298869e+02] [-1.25287652e-01 3.63249973e-04 -9.92120392e-01 -9.36617365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-142.31, Z:-936.64 [[-7.52201095e-01 6.45432543e-01 1.32703976e-01 4.31208308e+02] [ 6.46403900e-01 7.61865916e-01 -4.15009011e-02 -1.42311676e+02] [-1.27888668e-01 5.45633441e-02 -9.90286489e-01 -9.36636066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:-142.30, Z:-936.63 [[-8.01227976e-01 5.83445134e-01 1.32761086e-01 4.31260306e+02] [ 5.83416267e-01 8.11022575e-01 -4.32185369e-02 -1.42303733e+02] [-1.32887883e-01 4.28270766e-02 -9.90205359e-01 -9.36631311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.31, Y:-142.27, Z:-936.61 [[-8.46238835e-01 5.21585451e-01 1.08758684e-01 4.31314028e+02] [ 5.15928883e-01 8.53149654e-01 -7.71560447e-02 -1.42270057e+02] [-1.33030904e-01 -9.18069481e-03 -9.91069369e-01 -9.36612968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.35, Y:-142.26, Z:-936.61 [[-8.87618493e-01 4.45537221e-01 1.16747573e-01 4.31348276e+02] [ 4.41527120e-01 8.95262311e-01 -5.96590143e-02 -1.42256938e+02] [-1.31100013e-01 -1.40722488e-03 -9.91368149e-01 -9.36613443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-142.26, Z:-936.63 [[-9.19803824e-01 3.65252681e-01 1.43357613e-01 4.31378444e+02] [ 3.67946001e-01 9.29810865e-01 -8.21563182e-03 -1.42260447e+02] [-1.36296248e-01 4.51910908e-02 -9.89636852e-01 -9.36630679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.42, Y:-142.21, Z:-936.61 [[-9.47025735e-01 2.95402565e-01 1.26014217e-01 4.31422604e+02] [ 2.91282191e-01 9.55309435e-01 -5.03842133e-02 -1.42212795e+02] [-1.35266197e-01 -1.10094493e-02 -9.90748126e-01 -9.36610683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-142.19, Z:-936.61 [[-9.67794157e-01 2.16296952e-01 1.28802557e-01 4.31449323e+02] [ 2.12857584e-01 9.76261589e-01 -4.00619401e-02 -1.42187713e+02] [-1.34410264e-01 -1.13551104e-02 -9.90860708e-01 -9.36611934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.17, Z:-936.61 [[-9.82379258e-01 1.34371323e-01 1.29905127e-01 4.31476252e+02] [ 1.33949732e-01 9.90915256e-01 -1.20176593e-02 -1.42170216e+02] [-1.30339801e-01 5.59485775e-03 -9.91453596e-01 -9.36614383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.71, Y:-141.52, Z:-937.61 [[-9.78837136e-01 -1.57605303e-01 -1.30531336e-01 4.31713746e+02] [ 1.55346013e-01 -9.87480653e-01 2.73784113e-02 -1.41516601e+02] [-1.33212152e-01 6.52148312e-03 9.91066089e-01 -9.37614709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.13, Z:-936.62 [[-9.89785543e-01 5.15030500e-02 1.32936129e-01 4.31467373e+02] [ 5.00484308e-02 9.98644945e-01 -1.42628436e-02 -1.42133268e+02] [-1.33490573e-01 -7.46391172e-03 -9.91021976e-01 -9.36618069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.296559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:431.69, Y:-141.47, Z:-937.61 [[-9.87788456e-01 -8.09040657e-02 -1.33148409e-01 4.31687692e+02] [ 8.01779291e-02 -9.96721893e-01 1.08151561e-02 -1.41470748e+02] [-1.33586925e-01 7.52261974e-06 9.91037100e-01 -9.37613864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.69, Y:-141.47, Z:-937.61 [[-9.87648340e-01 -8.19232021e-02 -1.33564013e-01 4.31687768e+02] [ 8.14720129e-02 -9.96636344e-01 8.84925794e-03 -1.41470849e+02] [-1.33839709e-01 -2.14177405e-03 9.91000679e-01 -9.37613527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.53, Y:-142.10, Z:-936.61 [[-9.90606852e-01 -2.74869536e-02 1.33949742e-01 4.31533243e+02] [-2.89396964e-02 9.99541447e-01 -8.91014896e-03 -1.42100284e+02] [-1.33643406e-01 -1.27029195e-02 -9.90948069e-01 -9.36611226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.66, Y:-141.43, Z:-937.61 [[-9.91051659e-01 -4.37395585e-03 -1.33407192e-01 4.31657793e+02] [ 4.63708604e-03 -9.99987868e-01 -1.66174726e-03 -1.41430523e+02] [-1.33398305e-01 -2.26549800e-03 9.91059917e-01 -9.37614621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.65, Y:-141.43, Z:-937.62 [[-9.91132842e-01 -5.97486632e-03 -1.32740310e-01 4.31650147e+02] [ 6.24282755e-03 -9.99979229e-01 -1.60259683e-03 -1.41431804e+02] [-1.32727978e-01 -2.41706121e-03 9.91149556e-01 -9.37615829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.55, Y:-142.07, Z:-936.61 [[-9.85225284e-01 -1.10008862e-01 1.31260010e-01 4.31548225e+02] [-1.09065474e-01 9.93930595e-01 1.43768905e-02 -1.42072502e+02] [-1.32044925e-01 -1.51459155e-04 -9.91243721e-01 -9.36612795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.62, Y:-141.40, Z:-937.62 [[-9.88765007e-01 6.87283729e-02 -1.32740995e-01 4.31620215e+02] [-6.85516140e-02 -9.97630086e-01 -5.90665633e-03 -1.41399144e+02] [-1.32832365e-01 3.25931432e-03 9.91133160e-01 -9.37619184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:431.62, Y:-141.40, Z:-937.62 [[-9.89037157e-01 6.82228548e-02 -1.30962382e-01 4.31617161e+02] [-6.72477735e-02 -9.97665828e-01 -1.18588576e-02 -1.41397266e+02] [-1.31465738e-01 -2.92192221e-03 9.91316409e-01 -9.37618361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.62, Y:-141.40, Z:-937.62 [[-9.89174573e-01 6.76052990e-02 -1.30242804e-01 4.31615184e+02] [-6.66422894e-02 -9.97707823e-01 -1.17432789e-02 -1.41397964e+02] [-1.30738173e-01 -2.93647426e-03 9.91412582e-01 -9.37619048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:-142.04, Z:-936.61 [[-9.72996509e-01 -1.88126574e-01 1.33739243e-01 4.31561806e+02] [-1.86449626e-01 9.82144641e-01 2.50687199e-02 -1.42037429e+02] [-1.36067373e-01 -5.43854791e-04 -9.90699437e-01 -9.36611245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.596559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:431.65, Y:-142.20, Z:-937.43 [[-9.62269717e-01 -2.16735787e-01 -1.64507114e-01 4.31648513e+02] [-1.56865003e-01 -5.21262689e-02 9.86243491e-01 -1.42197094e+02] [-2.22329401e-01 9.74837654e-01 1.61612700e-02 -9.37429845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-141.40, Z:-937.63 [[-9.69798947e-01 1.46625586e-01 -1.94912647e-01 4.31388027e+02] [-1.43467231e-01 -9.89191039e-01 -3.03025295e-02 -1.41395610e+02] [-1.97248969e-01 -1.42378362e-03 9.80352394e-01 -9.37630336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:-141.57, Z:-936.56 [[-9.63313920e-01 -4.80491689e-02 2.64040849e-01 4.31271241e+02] [-2.27117888e-01 6.70109157e-01 -7.06662000e-01 -1.41572009e+02] [-1.42981669e-01 -7.40705741e-01 -6.56438305e-01 -9.36564829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-141.37, Z:-937.65 [[-9.70417330e-01 1.95885437e-01 -1.41135046e-01 4.31392827e+02] [-1.93487370e-01 -9.80623752e-01 -3.06544367e-02 -1.41366042e+02] [-1.44405136e-01 -2.43974773e-03 9.89515641e-01 -9.37647210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-141.37, Z:-937.65 [[-9.70199607e-01 1.96963225e-01 -1.41131893e-01 4.31392647e+02] [-1.94598499e-01 -9.80408562e-01 -3.05036980e-02 -1.41365915e+02] [-1.44375023e-01 -2.13062120e-03 9.89520749e-01 -9.37647227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:431.38, Y:-142.02, Z:-936.64 [[-9.42872859e-01 -2.97598303e-01 1.49753206e-01 4.31381568e+02] [-2.94010772e-01 9.54691000e-01 4.60734343e-02 -1.42022216e+02] [-1.56679414e-01 -5.87665060e-04 -9.87649339e-01 -9.36642486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.49, Y:-142.21, Z:-937.39 [[-9.31341240e-01 -2.56746301e-01 -2.58234065e-01 4.31488960e+02] [-2.81528819e-01 5.78837668e-02 9.57805301e-01 -1.42208602e+02] [-2.30965407e-01 9.64743907e-01 -1.26191022e-01 -9.37391435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-141.35, Z:-937.63 [[-9.36089967e-01 2.87615771e-01 -2.02516031e-01 4.31279993e+02] [-2.80722420e-01 -9.57744254e-01 -6.26168247e-02 -1.41346860e+02] [-2.11968151e-01 -1.76419097e-03 9.77274982e-01 -9.37627747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.41, Y:-142.24, Z:-937.36 [[-9.12484146e-01 -3.27340900e-01 -2.45398897e-01 4.31408061e+02] [-2.87965676e-01 8.78308382e-02 9.53604485e-01 -1.42241262e+02] [-2.90600160e-01 9.40815433e-01 -1.74407191e-01 -9.37355026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-141.36, Z:-937.61 [[-9.16105899e-01 3.02510828e-01 -2.63129591e-01 4.31203230e+02] [-2.90345288e-01 -9.53144901e-01 -8.49376974e-02 -1.41360713e+02] [-2.76495201e-01 -1.41348857e-03 9.61014259e-01 -9.37612852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:-141.36, Z:-937.61 [[-9.15862238e-01 3.03789700e-01 -2.62503676e-01 4.31203745e+02] [-2.91688831e-01 -9.52738379e-01 -8.48952713e-02 -1.41359419e+02] [-2.75887635e-01 -1.18298298e-03 9.61189166e-01 -9.37612312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:-142.32, Z:-937.07 [[-8.83077400e-01 -4.66245490e-01 -5.28152418e-02 4.31244690e+02] [-3.25050915e-01 5.26676733e-01 7.85463889e-01 -1.42323512e+02] [-3.38402437e-01 7.10793051e-01 -6.16649843e-01 -9.37066100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-141.37, Z:-937.62 [[-8.86654227e-01 3.48859615e-01 -3.03547773e-01 4.31084493e+02] [-3.29749720e-01 -9.37174582e-01 -1.13881186e-01 -1.41367662e+02] [-3.24205805e-01 -8.78442085e-04 9.45986165e-01 -9.37618274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-142.28, Z:-936.85 [[-8.49529803e-01 -5.04908555e-01 1.52860932e-01 4.31032618e+02] [-3.81612578e-01 7.88234788e-01 4.82760560e-01 -1.42276218e+02] [-3.64240241e-01 3.51785829e-01 -8.62308400e-01 -9.36847774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:-141.38, Z:-937.64 [[-8.54849073e-01 4.09538567e-01 -3.18608263e-01 4.30953402e+02] [-3.83448702e-01 -9.12292463e-01 -1.43838645e-01 -1.41376071e+02] [-3.49571389e-01 -7.90407063e-04 9.36909398e-01 -9.37642189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.54, Y:-141.36, Z:-936.95 [[-8.71594728e-01 2.99083610e-01 3.88421967e-01 4.30535885e+02] [-3.95362792e-01 3.96118623e-02 -9.17670509e-01 -1.41356800e+02] [-2.89846326e-01 -9.53404371e-01 8.37210407e-02 -9.36953872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.04, Y:-142.29, Z:-937.55 [[-8.54479340e-01 -3.46025437e-01 -3.87468004e-01 4.31036572e+02] [-3.73686553e-01 -1.08702752e-01 9.21163434e-01 -1.42288788e+02] [-3.60864818e-01 9.31906706e-01 -3.64207972e-02 -9.37548943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:-141.47, Z:-937.01 [[-8.72210445e-01 2.79861433e-01 4.01156476e-01 4.30321480e+02] [-3.95104025e-01 8.03622322e-02 -9.15114595e-01 -1.41467094e+02] [-2.88343111e-01 -9.56671046e-01 4.04816001e-02 -9.37011440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.25, Y:-141.50, Z:-937.07 [[-8.89569917e-01 2.18090676e-01 4.01374911e-01 4.30249082e+02] [-4.00062162e-01 5.21607432e-02 -9.15002472e-01 -1.41500515e+02] [-2.20489521e-01 -9.74533588e-01 4.08491994e-02 -9.37066841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:-141.59, Z:-937.88 [[-8.96494650e-01 3.94410207e-01 -2.01836399e-01 4.30491366e+02] [-3.84794013e-01 -9.18934484e-01 -8.65620146e-02 -1.41585870e+02] [-2.19615369e-01 6.30550056e-05 9.75586534e-01 -9.37878084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:-141.55, Z:-937.10 [[-9.01408851e-01 1.38525308e-01 4.10210705e-01 4.30172057e+02] [-4.05527100e-01 6.18126471e-02 -9.11990662e-01 -1.41549513e+02] [-1.51689997e-01 -9.88428013e-01 4.57299145e-04 -9.37095595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:-142.57, Z:-937.51 [[-8.77852715e-01 -3.84805598e-01 -2.85130256e-01 4.30603797e+02] [-4.17258273e-01 3.22258655e-01 8.49732248e-01 -1.42565171e+02] [-2.35096033e-01 8.64912719e-01 -4.43458954e-01 -9.37505106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.26, Y:-141.67, Z:-937.93 [[-8.87050221e-01 4.19765104e-01 -1.92195637e-01 4.30258172e+02] [-4.09606012e-01 -9.07628656e-01 -9.18321245e-02 -1.41667609e+02] [-2.12990189e-01 -2.73521804e-03 9.77050510e-01 -9.37928926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.97, Y:-141.70, Z:-937.06 [[-8.83132975e-01 4.80597120e-02 4.66654490e-01 4.29968228e+02] [-4.46604729e-01 2.18357700e-01 -8.67677435e-01 -1.41701575e+02] [-1.43597929e-01 -9.74684656e-01 -1.71375190e-01 -9.37056826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.90, Y:-141.73, Z:-937.10 [[-8.84236695e-01 -1.33841698e-02 4.66847225e-01 4.29895819e+02] [-4.60636609e-01 1.89937586e-01 -8.67028043e-01 -1.41732916e+02] [-7.70673845e-02 -9.81704934e-01 -1.74115022e-01 -9.37097327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:430.00, Y:-141.78, Z:-938.04 [[-8.95385950e-01 4.39379791e-01 -7.23145935e-02 4.30001193e+02] [-4.37846839e-01 -8.98300610e-01 -3.66900623e-02 -1.41776360e+02] [-8.10811153e-02 -1.18905008e-03 9.96706797e-01 -9.38035575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:-141.77, Z:-938.03 [[-8.95558696e-01 4.39057656e-01 -7.21318000e-02 4.30004843e+02] [-4.37534233e-01 -8.98458109e-01 -3.65625669e-02 -1.41773838e+02] [-8.08604755e-02 -1.18379295e-03 9.96724727e-01 -9.38034811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.81, Y:-141.72, Z:-937.19 [[-8.86621837e-01 -1.42351014e-02 4.62275978e-01 4.29807893e+02] [-4.62420417e-01 4.52467183e-02 -8.85505558e-01 -1.41718270e+02] [-8.31120955e-03 -9.98874415e-01 -4.66993301e-02 -9.37191757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.73, Y:-141.76, Z:-937.22 [[-8.84111045e-01 -7.48153320e-02 4.61248660e-01 4.29731373e+02] [-4.63451125e-01 1.43417904e-02 -8.86006416e-01 -1.41755311e+02] [ 5.96717325e-02 -9.97094268e-01 -4.73529850e-02 -9.37221242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.19, Y:-142.75, Z:-937.58 [[-8.70441054e-01 -2.91247997e-01 -3.96871486e-01 4.30189044e+02] [-4.91597797e-01 4.72081119e-01 7.31758856e-01 -1.42745613e+02] [-2.57677664e-02 8.32054098e-01 -5.54095660e-01 -9.37584118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.04, Y:-142.49, Z:-937.06 [[-8.23398961e-01 -5.67240041e-01 1.59024228e-02 4.30041060e+02] [-5.67158734e-01 8.23551824e-01 9.66252302e-03 -1.42485738e+02] [-1.85774393e-02 -1.06308657e-03 -9.99826859e-01 -9.37064182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.08, Y:-142.66, Z:-937.88 [[-8.30670293e-01 -9.50670190e-02 -5.48588304e-01 4.30076096e+02] [-5.49160561e-01 -2.23901458e-02 8.35416878e-01 -1.42660053e+02] [-9.17035643e-02 9.95219043e-01 -3.36082285e-02 -9.37878205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.556559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.60, Y:-141.93, Z:-938.05 [[-8.35247435e-01 5.46871110e-01 -5.73908662e-02 4.29599621e+02] [-5.45507009e-01 -8.37216279e-01 -3.86135488e-02 -1.41928331e+02] [-6.91652017e-02 -9.44747846e-04 9.97604773e-01 -9.38048109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.49, Y:-142.00, Z:-938.06 [[-8.35974831e-01 5.45391062e-01 -6.07838059e-02 4.29488907e+02] [-5.44176567e-01 -8.38177715e-01 -3.64689245e-02 -1.42003369e+02] [-7.08374570e-02 2.59001986e-03 9.97484510e-01 -9.38061625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-142.19, Z:-936.97 [[-7.94195318e-01 -3.88755503e-01 4.67036354e-01 4.29549103e+02] [-6.07158988e-01 5.38953370e-01 -5.83855486e-01 -1.42193264e+02] [-2.47337841e-02 -7.47260613e-01 -6.64070641e-01 -9.36974902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:-142.02, Z:-938.08 [[-8.12530025e-01 5.82756124e-01 -1.37934345e-02 4.29430358e+02] [-5.82666429e-01 -8.12647048e-01 -1.02277730e-02 -1.42016316e+02] [-1.71694912e-02 -2.73401376e-04 9.99852556e-01 -9.38084041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:-142.02, Z:-938.08 [[-8.12230201e-01 5.83173820e-01 -1.37984372e-02 4.29425753e+02] [-5.83085332e-01 -8.12347372e-01 -1.01608790e-02 -1.42019555e+02] [-1.71346828e-02 -2.07306455e-04 9.99853169e-01 -9.38084263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.42, Y:-142.02, Z:-938.08 [[-8.12236864e-01 5.83170695e-01 -1.35358202e-02 4.29423391e+02] [-5.83085639e-01 -8.12349618e-01 -9.96174455e-03 -1.42020916e+02] [-1.68052158e-02 -1.98753787e-04 9.99858763e-01 -9.38084337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:-142.76, Z:-937.92 [[-8.09074957e-01 -6.88459677e-02 -5.83659102e-01 4.29860418e+02] [-5.78245497e-01 -8.42175347e-02 8.11504499e-01 -1.42758967e+02] [-1.05023143e-01 9.94066215e-01 2.83284274e-02 -9.37919527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-142.07, Z:-938.06 [[-8.09578389e-01 5.83143695e-01 -6.72775071e-02 4.29361811e+02] [-5.81061879e-01 -8.12368661e-01 -4.92367028e-02 -1.42065839e+02] [-8.33662111e-02 -7.68575836e-04 9.96518682e-01 -9.38055986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.15, Y:-142.06, Z:-937.21 [[-7.97477882e-01 -1.13302866e-02 6.03241786e-01 4.29145174e+02] [-6.03013483e-01 4.82657474e-02 -7.96269525e-01 -1.42058611e+02] [-2.00939537e-02 -9.98770265e-01 -4.53231816e-02 -9.37211117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-142.15, Z:-938.10 [[-8.09718228e-01 5.86708443e-01 -1.13839295e-02 4.29242642e+02] [-5.86648531e-01 -8.09798240e-01 -8.38519880e-03 -1.42149713e+02] [-1.41383530e-02 -1.11282802e-04 9.99900042e-01 -9.38098038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-142.15, Z:-938.10 [[-8.09380707e-01 5.87184424e-01 -1.08315620e-02 4.29241099e+02] [-5.87130326e-01 -8.09453176e-01 -7.97100768e-03 -1.42150468e+02] [-1.34480938e-02 -9.20413176e-05 9.99909566e-01 -9.38097826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.21, Y:-142.17, Z:-938.10 [[-8.11660756e-01 5.84035577e-01 -1.04528569e-02 4.29212498e+02] [-5.83984074e-01 -8.11728038e-01 -7.75847241e-03 -1.42171690e+02] [-1.30161009e-02 -1.92945632e-04 9.99915268e-01 -9.38098808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.20, Y:-142.18, Z:-938.10 [[-8.12285485e-01 5.83171197e-01 -1.01806750e-02 4.29200638e+02] [-5.83123724e-01 -8.12349275e-01 -7.44169092e-03 -1.42180418e+02] [-1.26100437e-02 -1.08184407e-04 9.99920485e-01 -9.38099122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.20, Y:-142.18, Z:-938.10 [[-8.12139761e-01 5.83380109e-01 -9.83143483e-03 4.29201097e+02] [-5.83336415e-01 -8.12199264e-01 -7.14018306e-03 -1.42180543e+02] [-1.21505249e-02 -6.37926084e-05 9.99926178e-01 -9.38098642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:-142.19, Z:-938.10 [[-8.13070884e-01 5.82070559e-01 -1.04690769e-02 4.29187106e+02] [-5.82020704e-01 -8.13138275e-01 -7.61880738e-03 -1.42190753e+02] [-1.29474906e-02 -1.01410926e-04 9.99916173e-01 -9.38098927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.63, Y:-142.95, Z:-937.91 [[-8.13314709e-01 -9.96713334e-02 -5.73223176e-01 4.29628702e+02] [-5.73216665e-01 -3.15729539e-02 8.18795337e-01 -1.42950501e+02] [-9.97087720e-02 9.94519368e-01 -3.14545215e-02 -9.37908230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-143.00, Z:-937.89 [[-8.04548641e-01 -1.53494115e-01 -5.73708150e-01 4.29554209e+02] [-5.70114336e-01 -7.09633775e-02 8.18494865e-01 -1.43002209e+02] [-1.66346413e-01 9.85598172e-01 -3.04157063e-02 -9.37886492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.78, Y:-142.29, Z:-937.26 [[-7.98925783e-01 9.28582554e-02 5.94217921e-01 4.28781177e+02] [-5.94506882e-01 2.75442117e-02 -8.03618618e-01 -1.42292611e+02] [-9.09898871e-02 -9.95298277e-01 3.31990911e-02 -9.37256601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.37, Y:-143.14, Z:-937.91 [[-7.98887830e-01 -1.51553281e-01 -5.82073740e-01 4.29369965e+02] [-5.78900868e-01 -6.89268993e-02 8.12479457e-01 -1.43143476e+02] [-1.63254465e-01 9.86042943e-01 -3.26694648e-02 -9.37913757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:-142.42, Z:-938.08 [[-8.02031434e-01 5.84457684e-01 -1.23104812e-01 4.28866234e+02] [-5.77930045e-01 -8.11423187e-01 -8.71164450e-02 -1.42424811e+02] [-1.50805975e-01 1.27584250e-03 9.88562558e-01 -9.38077280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.156559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.86, Y:-142.43, Z:-938.08 [[-8.02455049e-01 5.84126637e-01 -1.21909665e-01 4.28864619e+02] [-5.77371677e-01 -8.11662239e-01 -8.85796623e-02 -1.42425964e+02] [-1.50691212e-01 -6.94009250e-04 9.88580638e-01 -9.38077167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:-142.42, Z:-937.31 [[-8.02147990e-01 1.18895283e-01 5.85168792e-01 4.28581925e+02] [-5.90256173e-01 -9.66442377e-03 -8.07158131e-01 -1.42421106e+02] [-9.03119751e-02 -9.92859764e-01 7.79309727e-02 -9.37314715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.74, Y:-142.52, Z:-938.13 [[-8.12479457e-01 5.79068897e-01 -6.75006936e-02 4.28744448e+02] [-5.77038214e-01 -8.15278503e-01 -4.84547407e-02 -1.42518620e+02] [-8.30904978e-02 -4.18001742e-04 9.96541918e-01 -9.38131245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.74, Y:-142.52, Z:-938.13 [[-8.12963124e-01 5.78416965e-01 -6.72664414e-02 4.28739592e+02] [-5.76401370e-01 -8.15741142e-01 -4.82477869e-02 -1.42524395e+02] [-8.27793422e-02 -4.51202547e-04 9.96567799e-01 -9.38132444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.73, Y:-142.53, Z:-938.13 [[-8.13975787e-01 5.76990062e-01 -6.72747185e-02 4.28726571e+02] [-5.74970549e-01 -8.16750960e-01 -4.82362700e-02 -1.42533917e+02] [-8.27785393e-02 -5.82173914e-04 9.96567797e-01 -9.38134005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.73, Y:-142.53, Z:-938.13 [[-8.14235140e-01 5.76627573e-01 -6.72441727e-02 4.28730824e+02] [-5.74625296e-01 -8.17006999e-01 -4.80138854e-02 -1.42531719e+02] [-8.26250899e-02 -4.54390089e-04 9.96580598e-01 -9.38133622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.72, Y:-142.54, Z:-938.14 [[-8.15332286e-01 5.75112159e-01 -6.69273261e-02 4.28716668e+02] [-5.73124511e-01 -8.18074354e-01 -4.77770481e-02 -1.42542734e+02] [-8.22286904e-02 -5.96478753e-04 9.96613309e-01 -9.38135369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.14, Y:-143.34, Z:-937.89 [[-8.05791712e-01 -2.12338847e-01 -5.52821791e-01 4.29140557e+02] [-5.67737734e-01 1.14644571e-02 8.23129657e-01 -1.43339402e+02] [-1.68444600e-01 9.77128845e-01 -1.29790740e-01 -9.37893977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:-142.59, Z:-938.11 [[-8.03376783e-01 5.83217015e-01 -1.20181771e-01 4.28643950e+02] [-5.76689002e-01 -8.12316165e-01 -8.70186414e-02 -1.42590652e+02] [-1.48376348e-01 -6.01250476e-04 9.88930785e-01 -9.38113441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.36, Y:-142.81, Z:-938.18 [[-8.00985964e-01 5.83654401e-01 -1.33300511e-01 4.28355050e+02] [-5.77981110e-01 -8.11922371e-01 -8.19749924e-02 -1.42808228e+02] [-1.56074732e-01 1.13843590e-02 9.87679642e-01 -9.38182739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.05, Y:-142.82, Z:-937.37 [[-8.00510687e-01 7.93915523e-02 5.94036718e-01 4.28053135e+02] [-5.92388905e-01 4.54747642e-02 -8.04367721e-01 -1.42823042e+02] [-9.08736817e-02 -9.95805718e-01 1.06276401e-02 -9.37372428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:-143.51, Z:-937.52 [[-7.78113211e-01 -5.37828663e-01 -3.24469045e-01 4.28939310e+02] [-6.10876385e-01 5.27739673e-01 5.90187157e-01 -1.43512692e+02] [-1.46184382e-01 6.57442901e-01 -7.39188041e-01 -9.37523162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:-142.72, Z:-938.17 [[-7.71223082e-01 6.29209130e-01 -9.64926326e-02 4.28417034e+02] [-6.24424396e-01 -7.77235871e-01 -7.74504610e-02 -1.42716244e+02] [-1.23730073e-01 5.20770549e-04 9.92315775e-01 -9.38165678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:-142.71, Z:-938.16 [[-7.68153316e-01 6.32859078e-01 -9.71075200e-02 4.28417529e+02] [-6.28049128e-01 -7.74266132e-01 -7.78861406e-02 -1.42714396e+02] [-1.24478015e-01 1.15979601e-03 9.92221688e-01 -9.38164886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-142.73, Z:-938.17 [[-7.67810837e-01 6.33149141e-01 -9.79218295e-02 4.28402983e+02] [-6.28270040e-01 -7.74028768e-01 -7.84616058e-02 -1.42725761e+02] [-1.25472211e-01 1.27768056e-03 9.92096312e-01 -9.38167150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.39, Y:-142.73, Z:-938.17 [[-7.67118062e-01 6.33870085e-01 -9.86843194e-02 4.28394137e+02] [-6.28969071e-01 -7.73437657e-01 -7.86898892e-02 -1.42732709e+02] [-1.26205336e-01 1.70494942e-03 9.92002675e-01 -9.38168422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.39, Y:-142.74, Z:-938.17 [[-7.65129172e-01 6.35993652e-01 -1.00446130e-01 4.28392306e+02] [-6.30961187e-01 -7.71690984e-01 -7.98811971e-02 -1.42735185e+02] [-1.28317307e-01 2.25817505e-03 9.91730593e-01 -9.38168563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.39, Y:-142.74, Z:-938.17 [[-7.64887806e-01 6.36223837e-01 -1.00825954e-01 4.28391595e+02] [-6.31167709e-01 -7.71500848e-01 -8.00859797e-02 -1.42737047e+02] [-1.28739919e-01 2.38129735e-03 9.91675533e-01 -9.38168735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.39, Y:-142.74, Z:-938.17 [[-7.64998463e-01 6.36034662e-01 -1.01179349e-01 4.28391030e+02] [-6.30949446e-01 -7.71656735e-01 -8.03036818e-02 -1.42738880e+02] [-1.29151651e-01 2.40686093e-03 9.91621933e-01 -9.38169058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.39, Y:-142.74, Z:-938.17 [[-7.65651885e-01 6.35248969e-01 -1.01172817e-01 4.28389559e+02] [-6.30165742e-01 -7.72303924e-01 -8.02358221e-02 -1.42741294e+02] [-1.29105887e-01 2.32293492e-03 9.91628093e-01 -9.38169550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.20, Y:-142.90, Z:-938.21 [[-7.66385094e-01 6.34109339e-01 -1.02758135e-01 4.28197509e+02] [-6.29081339e-01 -7.73235442e-01 -7.97723049e-02 -1.42895901e+02] [-1.30040595e-01 3.50691968e-03 9.91502469e-01 -9.38205017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:-142.71, Z:-937.49 [[-7.86029177e-01 1.95829339e-01 5.86352287e-01 4.28092917e+02] [-6.11663031e-01 -1.08908240e-01 -7.83586200e-01 -1.42706750e+02] [-8.95905715e-02 -9.74571632e-01 2.05386621e-01 -9.37492536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.816559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.28, Y:-143.15, Z:-937.15 [[-7.60002034e-01 -4.59090768e-01 4.60035406e-01 4.28276500e+02] [-6.48615075e-01 5.80615662e-01 -4.92121873e-01 -1.43149491e+02] [-4.11751530e-02 -6.72399524e-01 -7.39042277e-01 -9.37148538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.13, Y:-142.94, Z:-938.26 [[-7.56761033e-01 6.53619513e-01 -9.70932046e-03 4.28127257e+02] [-6.53567076e-01 -7.56823312e-01 -8.27961153e-03 -1.42937772e+02] [-1.27599557e-02 8.00048082e-05 9.99918585e-01 -9.38258070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.94, Y:-143.12, Z:-938.28 [[-7.54520051e-01 6.55604757e-01 -2.96967345e-02 4.27935915e+02] [-6.55832871e-01 -7.54901549e-01 -2.62638937e-03 -1.43119046e+02] [-2.41399842e-02 1.74944312e-02 9.99555504e-01 -9.38278651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:427.78, Y:-143.26, Z:-938.29 [[-7.54800133e-01 6.55087453e-01 -3.37222393e-02 4.27777484e+02] [-6.55136471e-01 -7.55428791e-01 -1.11151233e-02 -1.43255501e+02] [-3.27561282e-02 1.37029723e-02 9.99369434e-01 -9.38288700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9365599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:428.06, Y:-142.98, Z:-938.25 [[-7.70355772e-01 6.37335340e-01 1.88586458e-02 4.28060074e+02] [-6.37541743e-01 -7.69484973e-01 -3.78603156e-02 -1.42981167e+02] [-9.61827257e-03 -4.11890866e-02 9.99105074e-01 -9.38247150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.87, Y:-143.18, Z:-938.28 [[-7.68436234e-01 6.39225001e-01 -2.99524955e-02 4.27872898e+02] [-6.39499942e-01 -7.68790971e-01 -5.16922122e-04 -1.43180664e+02] [-2.33576376e-02 1.87573974e-02 9.99551190e-01 -9.38282973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:-143.02, Z:-938.25 [[-7.78344521e-01 6.27803020e-01 6.57076513e-03 4.28033594e+02] [-6.27770924e-01 -7.78067180e-01 -2.26965064e-02 -1.43019362e+02] [-9.13643856e-03 -2.17906367e-02 9.99720808e-01 -9.38254793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.98, Y:-143.08, Z:-938.26 [[-7.91315433e-01 6.11359603e-01 -7.70198123e-03 4.27981487e+02] [-6.11324055e-01 -7.91352740e-01 -6.61364124e-03 -1.43083890e+02] [-1.01382970e-02 -5.25069981e-04 9.99948468e-01 -9.38263967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:-143.09, Z:-938.28 [[-7.87772789e-01 6.15069159e-01 -3.32259362e-02 4.27996942e+02] [-6.15409752e-01 -7.88207356e-01 3.07562433e-05 -1.43090247e+02] [-2.61700101e-02 2.04717941e-02 9.99447866e-01 -9.38279765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:427.60, Y:-143.39, Z:-938.28 [[-7.91803636e-01 6.10573364e-01 -1.57216545e-02 4.27598753e+02] [-6.10440275e-01 -7.91959540e-01 -1.27576685e-02 -1.43388115e+02] [-2.02404068e-02 -5.04437200e-04 9.99795015e-01 -9.38282199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.74, Y:-142.99, Z:-937.61 [[-7.93165348e-01 1.05022383e-01 5.99882513e-01 4.27738664e+02] [-6.05750579e-01 -2.37766244e-01 -7.59297998e-01 -1.42987923e+02] [ 6.28885265e-02 -9.65628040e-01 2.52205315e-01 -9.37605440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-143.20, Z:-938.31 [[-8.05199603e-01 5.91419050e-01 4.33256009e-02 4.27857980e+02] [-5.90508906e-01 -8.06363946e-01 3.28088323e-02 -1.43196554e+02] [ 5.43399709e-02 8.33505593e-04 9.98522145e-01 -9.38305843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.176559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:427.86, Y:-143.20, Z:-938.31 [[-8.05873021e-01 5.90545728e-01 4.27132029e-02 4.27855069e+02] [-5.89661441e-01 -8.07003723e-01 3.23168167e-02 -1.43198919e+02] [ 5.35542718e-02 8.56921951e-04 9.98564573e-01 -9.38305558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-143.20, Z:-938.31 [[-8.06491196e-01 5.89734102e-01 4.22568359e-02 4.27855308e+02] [-5.88868844e-01 -8.07597000e-01 3.19463776e-02 -1.43198858e+02] [ 5.29663622e-02 8.80738201e-04 9.98595909e-01 -9.38305178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.85, Y:-143.20, Z:-938.30 [[-8.07130763e-01 5.88870322e-01 4.20912920e-02 4.27852230e+02] [-5.88011991e-01 -8.08227017e-01 3.17960423e-02 -1.43201626e+02] [ 5.27430650e-02 9.13379490e-04 9.98607698e-01 -9.38304763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-143.21, Z:-938.31 [[-8.06643578e-01 5.90207065e-01 3.13330226e-02 4.27857723e+02] [-5.89266001e-01 -8.07196265e-01 3.46376922e-02 -1.43207377e+02] [ 4.57353095e-02 9.47678705e-03 9.98908641e-01 -9.38312390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.85, Y:-143.21, Z:-938.31 [[-8.07080461e-01 5.89340540e-01 3.60396791e-02 4.27853440e+02] [-5.88672215e-01 -8.07883404e-01 2.80967874e-02 -1.43207206e+02] [ 4.56744344e-02 1.46081041e-03 9.98955310e-01 -9.38310489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.85, Y:-143.21, Z:-938.31 [[-8.08514164e-01 5.86812200e-01 4.42299456e-02 4.27850464e+02] [-5.86266378e-01 -8.09707218e-01 2.58061249e-02 -1.43205835e+02] [ 5.09566551e-02 -5.06591244e-03 9.98688017e-01 -9.38306013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-143.21, Z:-938.30 [[-8.10442807e-01 5.84038687e-01 4.56209303e-02 4.27841813e+02] [-5.83250913e-01 -8.11723409e-01 3.03888230e-02 -1.43214712e+02] [ 5.47798253e-02 -1.98004621e-03 9.98496495e-01 -9.38304972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-143.22, Z:-938.31 [[-8.11044146e-01 5.83275571e-01 4.46878226e-02 4.27841340e+02] [-5.82306930e-01 -8.12273383e-01 3.36242561e-02 -1.43218734e+02] [ 5.59109360e-02 1.24872733e-03 9.98434979e-01 -9.38306500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.83, Y:-143.23, Z:-938.31 [[-8.11972633e-01 5.81902586e-01 4.57145920e-02 4.27831355e+02] [-5.80888947e-01 -8.13257388e-01 3.43577147e-02 -1.43227459e+02] [ 5.71705727e-02 1.34242288e-03 9.98363523e-01 -9.38306354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.27, Y:-143.92, Z:-938.12 [[-8.09041667e-01 -3.15129284e-03 -5.87742845e-01 4.28274314e+02] [-5.86298560e-01 -6.59375083e-02 8.07407112e-01 -1.43917500e+02] [-4.12986749e-02 9.97818778e-01 5.14985931e-02 -9.38118515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.79, Y:-143.26, Z:-938.27 [[-8.14497779e-01 5.80128804e-01 -6.62862291e-03 4.27791062e+02] [-5.80107794e-01 -8.14524732e-01 -4.94048916e-03 -1.43260206e+02] [-8.26529737e-03 -1.78701640e-04 9.99965826e-01 -9.38273683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.79, Y:-143.26, Z:-938.27 [[-8.13648439e-01 5.81318749e-01 -6.68806105e-03 4.27788410e+02] [-5.81297435e-01 -8.13675909e-01 -4.98071450e-03 -1.43262331e+02] [-8.33729688e-03 -1.64797840e-04 9.99965231e-01 -9.38273520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:-143.17, Z:-937.47 [[-7.94139339e-01 -5.13144998e-02 6.05565465e-01 4.27605423e+02] [-6.04336621e-01 -3.85607610e-02 -7.95795399e-01 -1.43173087e+02] [ 6.41869080e-02 -9.97937819e-01 -3.88614145e-04 -9.37471893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-143.21, Z:-937.50 [[-7.89424535e-01 -1.03237382e-01 6.05104079e-01 4.27553787e+02] [-6.00171664e-01 -7.71109663e-02 -7.96145635e-01 -1.43211833e+02] [ 1.28852151e-01 -9.91663220e-01 -1.08686276e-03 -9.37498635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.06, Y:-144.10, Z:-938.11 [[-8.07962587e-01 2.93635764e-02 -5.88501690e-01 4.28057367e+02] [-5.88087811e-01 2.20745806e-02 8.08495788e-01 -1.44099925e+02] [ 3.67312559e-02 9.99325019e-01 -5.67073888e-04 -9.38112589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-143.43, Z:-938.29 [[-8.03964521e-01 5.92903072e-01 4.59020324e-02 4.27553282e+02] [-5.91920973e-01 -8.05273793e-01 3.41127430e-02 -1.43433250e+02] [ 5.71892539e-02 2.55059334e-04 9.98363323e-01 -9.38290539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-143.43, Z:-938.29 [[-8.02128334e-01 5.95418167e-01 4.54680447e-02 4.27553995e+02] [-5.94460107e-01 -8.03415959e-01 3.37635526e-02 -1.43432084e+02] [ 5.66331854e-02 5.37634715e-05 9.98395052e-01 -9.38290779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-143.43, Z:-938.29 [[-8.00311406e-01 5.97865933e-01 4.53649520e-02 4.27553358e+02] [-5.96917647e-01 -8.01596099e-01 3.36603137e-02 -1.43431902e+02] [ 5.64887234e-02 -1.40407404e-04 9.98403227e-01 -9.38290798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-143.43, Z:-938.29 [[-7.98493816e-01 6.00281360e-01 4.54963086e-02 4.27553511e+02] [-5.99333000e-01 -7.99788833e-01 3.37309718e-02 -1.43431560e+02] [ 5.66355132e-02 -3.33466714e-04 9.98394866e-01 -9.38291128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-143.43, Z:-938.29 [[-7.96779275e-01 6.02537751e-01 4.57279559e-02 4.27551372e+02] [-6.01584941e-01 -7.98090214e-01 3.38757815e-02 -1.43432852e+02] [ 5.69064713e-02 -5.17729038e-04 9.98379380e-01 -9.38291400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.76, Y:-144.07, Z:-937.27 [[-7.61449797e-01 -6.47748830e-01 -2.48125056e-02 4.27761789e+02] [-6.47229433e-01 7.61843915e-01 -2.62280468e-02 -1.44070620e+02] [ 3.58924430e-02 -3.91195695e-03 -9.99348002e-01 -9.37267145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:-143.42, Z:-938.29 [[-7.42795299e-01 6.67872184e-01 4.69242930e-02 4.27498885e+02] [-6.66916430e-01 -7.44262082e-01 3.60059505e-02 -1.43420509e+02] [ 5.89713448e-02 -4.54953123e-03 9.98249309e-01 -9.38290257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:-143.42, Z:-938.29 [[-7.41490376e-01 6.69472551e-01 4.47048803e-02 4.27501248e+02] [-6.68353173e-01 -7.42835871e-01 3.87156960e-02 -1.43421122e+02] [ 5.91274845e-02 -1.17133265e-03 9.98249753e-01 -9.38291441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-143.91, Z:-937.28 [[-7.18255803e-01 -6.95428674e-01 -2.20807691e-02 4.27893494e+02] [-6.94895538e-01 7.18581206e-01 -2.75906366e-02 -1.43910120e+02] [ 3.50541455e-02 -4.47330693e-03 -9.99375403e-01 -9.37275861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.31, Y:-143.35, Z:-937.45 [[-6.89542887e-01 -1.14990545e-01 7.15057887e-01 4.27305187e+02] [-7.18417553e-01 -1.63932891e-02 -6.95418924e-01 -1.43348265e+02] [ 9.16887519e-02 -9.93231310e-01 -7.13073503e-02 -9.37448349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-144.13, Z:-938.13 [[-7.09162410e-01 1.01937545e-01 -6.97637022e-01 4.27887082e+02] [-7.00994663e-01 3.96905511e-03 7.13155473e-01 -1.44131935e+02] [ 7.54662781e-02 9.94782883e-01 6.86429705e-02 -9.38134976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:-143.57, Z:-938.27 [[-6.81046099e-01 7.30753929e-01 4.66358877e-02 4.27304056e+02] [-7.29536242e-01 -6.82621957e-01 4.24751231e-02 -1.43567680e+02] [ 6.28735439e-02 -5.09505335e-03 9.98008496e-01 -9.38273251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.84, Y:-144.20, Z:-938.09 [[-7.12369773e-01 3.94933588e-02 -7.00692216e-01 4.27835236e+02] [-7.01729579e-01 -2.55125935e-02 7.11986450e-01 -1.44201978e+02] [ 1.02422606e-02 9.98894080e-01 4.58880585e-02 -9.38087135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.27, Y:-143.62, Z:-938.25 [[-6.82635077e-01 7.30665869e-01 -1.16935896e-02 4.27265181e+02] [-7.30686528e-01 -6.82705610e-01 -3.20118581e-03 -1.43620050e+02] [-1.03222764e-02 6.35910666e-03 9.99926504e-01 -9.38246208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.27, Y:-143.62, Z:-938.25 [[-6.82410648e-01 7.30918490e-01 -8.59468938e-03 4.27265444e+02] [-7.30881949e-01 -6.82463670e-01 -7.41052928e-03 -1.43618066e+02] [-1.12820561e-02 1.22467924e-03 9.99935606e-01 -9.38245312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-143.62, Z:-938.24 [[-6.85405385e-01 7.28161441e-01 6.12305441e-04 4.27252410e+02] [-7.28132964e-01 -6.85370625e-01 -9.46007363e-03 -1.43624733e+02] [-6.46880468e-03 -6.92982518e-03 9.99955065e-01 -9.38240381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.26, Y:-143.63, Z:-938.24 [[-6.86576829e-01 7.27043186e-01 -4.52374748e-03 4.27255330e+02] [-7.27028955e-01 -6.86591712e-01 -4.55198938e-03 -1.43628325e+02] [-6.41546039e-03 1.63604971e-04 9.99979407e-01 -9.38242571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.136559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:427.26, Y:-143.63, Z:-938.25 [[-6.86155777e-01 7.27233275e-01 -1.79447617e-02 4.27262937e+02] [-7.27324606e-01 -6.86290759e-01 -1.97807840e-03 -1.43634861e+02] [-1.37538486e-02 1.16943968e-02 9.99837023e-01 -9.38250477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.26, Y:-143.63, Z:-938.25 [[-6.87433118e-01 7.26140868e-01 -1.24558481e-02 4.27261067e+02] [-7.26065231e-01 -6.87543752e-01 -1.06240220e-02 -1.43632017e+02] [-1.62784772e-02 1.74045365e-03 9.99865982e-01 -9.38248451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-143.64, Z:-938.25 [[-6.89979861e-01 7.23777727e-01 -8.57869283e-03 4.27249971e+02] [-7.23679508e-01 -6.90029835e-01 -1.21159586e-02 -1.43641293e+02] [-1.46888150e-02 -2.15154326e-03 9.99889799e-01 -9.38246085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-143.64, Z:-938.25 [[-6.90265962e-01 7.23483887e-01 -1.01964110e-02 4.27249168e+02] [-7.23408151e-01 -6.90341251e-01 -1.04691752e-02 -1.43643871e+02] [-1.46132827e-02 1.49651540e-04 9.99893209e-01 -9.38246864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:-143.64, Z:-938.24 [[-6.94745005e-01 7.19252375e-01 2.32358094e-03 4.27242518e+02] [-7.19217229e-01 -6.94670209e-01 -1.26443106e-02 -1.43642339e+02] [-7.48032798e-03 -1.04557311e-02 9.99917358e-01 -9.38238550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:-143.63, Z:-937.36 [[-6.91487415e-01 -1.55625036e-01 7.05426114e-01 4.27082338e+02] [-7.21673870e-01 1.05395038e-01 -6.84162781e-01 -1.43633397e+02] [ 3.21244455e-02 -9.82177547e-01 -1.85189864e-01 -9.37362405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.316559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:427.11, Y:-143.79, Z:-938.27 [[-6.92662632e-01 7.20071151e-01 4.14248199e-02 4.27107054e+02] [-7.18821283e-01 -6.93900120e-01 4.24097581e-02 -1.43785249e+02] [ 5.92827308e-02 -4.01387551e-04 9.98241152e-01 -9.38270290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.11, Y:-143.79, Z:-938.27 [[-6.95368571e-01 7.17446479e-01 4.16305191e-02 4.27105997e+02] [-7.16203175e-01 -6.96613481e-01 4.22216870e-02 -1.43789269e+02] [ 5.92921815e-02 -4.56275727e-04 9.98240567e-01 -9.38270025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:-144.32, Z:-937.25 [[-6.47665134e-01 -7.61440855e-01 -2.71606113e-02 4.27420702e+02] [-7.60991772e-01 6.48224524e-01 -2.63910785e-02 -1.44324383e+02] [ 3.77014197e-02 3.57642032e-03 -9.99282649e-01 -9.37249585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:-143.89, Z:-938.26 [[-6.92439115e-01 7.20473615e-01 3.80242283e-02 4.27016993e+02] [-7.19133084e-01 -6.93475185e-01 4.40428871e-02 -1.43893307e+02] [ 5.81005968e-02 3.15253718e-03 9.98305756e-01 -9.38264274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4365599950002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:426.84, Y:-143.78, Z:-937.50 [[-6.85203182e-01 -5.88254726e-02 7.25972563e-01 4.26838530e+02] [-7.18447580e-01 -1.09227779e-01 -6.86951503e-01 -1.43779934e+02] [ 1.19706617e-01 -9.92274587e-01 3.25802032e-02 -9.37498375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:-143.99, Z:-938.27 [[-6.97221908e-01 7.07793359e-01 1.13622938e-01 4.26917143e+02] [-7.03301206e-01 -7.06068422e-01 8.26728366e-02 -1.43985399e+02] [ 1.38740853e-01 -2.22698365e-02 9.90078295e-01 -9.38268136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.496559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:427.53, Y:-144.61, Z:-937.92 [[-6.88712108e-01 -1.42222186e-01 -7.10949001e-01 4.27527135e+02] [-7.23949465e-01 1.88531090e-01 6.63591140e-01 -1.44607582e+02] [ 3.96586072e-02 9.71714402e-01 -2.32805320e-01 -9.37919150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:426.89, Y:-144.03, Z:-938.25 [[-6.91672464e-01 7.21130017e-01 3.95057076e-02 4.26885984e+02] [-7.19906480e-01 -6.92799488e-01 4.19944006e-02 -1.44033917e+02] [ 5.76529568e-02 6.05955638e-04 9.98336501e-01 -9.38250338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:-144.04, Z:-938.25 [[-6.93056891e-01 7.19800805e-01 3.94835066e-02 4.26885615e+02] [-7.18578333e-01 -6.94180322e-01 4.19387653e-02 -1.44035759e+02] [ 5.75962304e-02 6.93957899e-04 9.98339718e-01 -9.38250385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:-144.65, Z:-937.96 [[-6.86199078e-01 -8.46858777e-02 -7.22467388e-01 4.27442171e+02] [-7.26749219e-01 3.73690012e-02 6.85885654e-01 -1.44647618e+02] [-3.10869439e-02 9.95706714e-01 -8.71879696e-02 -9.37962028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.84, Y:-144.09, Z:-938.22 [[-6.92528081e-01 7.21367677e-01 -5.79072847e-03 4.26838244e+02] [-7.21340828e-01 -6.92552278e-01 -6.22517358e-03 -1.44089075e+02] [-8.50102119e-03 -1.34018649e-04 9.99963857e-01 -9.38217919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:-144.10, Z:-938.22 [[-6.94956185e-01 7.19032398e-01 -5.32088397e-03 4.26827894e+02] [-7.19009445e-01 -6.94976533e-01 -5.74778780e-03 -1.44102780e+02] [-7.83073514e-03 -1.68694850e-04 9.99969325e-01 -9.38218627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:-144.11, Z:-938.22 [[-6.95771193e-01 7.18248107e-01 -4.70149984e-03 4.26826816e+02] [-7.18230529e-01 -6.95787067e-01 -5.02638778e-03 -1.44105657e+02] [-6.88143629e-03 -1.20455108e-04 9.99976316e-01 -9.38218657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.32, Y:-144.69, Z:-938.04 [[-6.96567520e-01 2.75443042e-02 -7.16962343e-01 4.27318593e+02] [-7.10461342e-01 -1.66017771e-01 6.83873366e-01 -1.44689696e+02] [-1.00191674e-01 9.85738003e-01 1.35211751e-01 -9.38038887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.78, Y:-144.16, Z:-938.19 [[-7.02219225e-01 7.10174861e-01 -5.03967051e-02 4.26782128e+02] [-7.08210208e-01 -7.04023958e-01 -5.28068929e-02 -1.44161877e+02] [-7.29826156e-02 -1.39055437e-03 9.97332244e-01 -9.38190937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.55, Y:-144.16, Z:-937.35 [[-6.71845806e-01 -1.21193360e-01 7.30708822e-01 4.26546538e+02] [-7.40689496e-01 1.11941579e-01 -6.62456153e-01 -1.44164153e+02] [-1.51141234e-03 -9.86296736e-01 -1.64974130e-01 -9.37354369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.48, Y:-144.23, Z:-937.39 [[-6.60763809e-01 -1.67653816e-01 7.31630636e-01 4.26480269e+02] [-7.47742712e-01 6.21498872e-02 -6.61073543e-01 -1.44228214e+02] [ 6.53607405e-02 -9.83884947e-01 -1.66428315e-01 -9.37385053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.54, Y:-144.42, Z:-938.26 [[-6.95599713e-01 7.17183506e-01 4.22948934e-02 4.26535685e+02] [-7.15704494e-01 -6.96882104e-01 4.60696333e-02 -1.44415169e+02] [ 6.25149354e-02 1.77537839e-03 9.98042450e-01 -9.38258126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:-144.42, Z:-938.26 [[-6.95820078e-01 7.16921612e-01 4.31024475e-02 4.26533335e+02] [-7.15441430e-01 -6.97152731e-01 4.60611456e-02 -1.44416188e+02] [ 6.30712198e-02 1.21299328e-03 9.98008292e-01 -9.38257649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-144.29, Z:-937.51 [[-6.69822063e-01 -5.53661948e-02 7.40454582e-01 4.26337427e+02] [-7.30071524e-01 -1.32740084e-01 -6.70354861e-01 -1.44288347e+02] [ 1.35403001e-01 -9.89603282e-01 4.84909547e-02 -9.37512145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.38, Y:-144.59, Z:-938.27 [[-6.96148738e-01 7.12390923e-01 8.87474359e-02 4.26375149e+02] [-7.05973430e-01 -7.01772474e-01 9.54825138e-02 -1.44585092e+02] [ 1.30301384e-01 3.81669978e-03 9.91467086e-01 -9.38267156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.52, Y:-144.56, Z:-937.23 [[-6.28374711e-01 -6.00099934e-01 4.95000295e-01 4.26518880e+02] [-7.59135802e-01 3.34087990e-01 -5.58657363e-01 -1.44561474e+02] [ 1.69876593e-01 -7.26818605e-01 -6.65489788e-01 -9.37233414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.31, Y:-144.62, Z:-938.28 [[-6.57554139e-01 7.44210425e-01 1.17360124e-01 4.26313689e+02] [-7.31784369e-01 -6.67937604e-01 1.35465841e-01 -1.44622073e+02] [ 1.79204331e-01 3.19381974e-03 9.83806692e-01 -9.38281845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.93, Y:-145.16, Z:-937.98 [[-6.62693208e-01 -2.59167474e-02 -7.48442406e-01 4.26926862e+02] [-7.44632310e-01 1.29233427e-01 6.54844595e-01 -1.45162809e+02] [ 7.97523350e-02 9.91275463e-01 -1.04940562e-01 -9.37984351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.036559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:426.28, Y:-144.65, Z:-938.24 [[-6.56268213e-01 7.50579680e-01 7.70855146e-02 4.26280306e+02] [-7.46176437e-01 -6.60766783e-01 8.12895055e-02 -1.44645106e+02] [ 1.11949798e-01 -4.17167610e-03 9.93705107e-01 -9.38242089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:-144.65, Z:-938.24 [[-6.56386950e-01 7.50941249e-01 7.24114137e-02 4.26279956e+02] [-7.46123520e-01 -6.60366757e-01 8.49437439e-02 -1.44648295e+02] [ 1.11605852e-01 1.72810610e-03 9.93751049e-01 -9.38243364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.26, Y:-144.67, Z:-938.24 [[-6.58901169e-01 7.48733467e-01 7.24392516e-02 4.26262211e+02] [-7.43912900e-01 -6.62868101e-01 8.48497392e-02 -1.44667717e+02] [ 1.11547509e-01 2.01909864e-03 9.93757051e-01 -9.38240441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.26, Y:-144.66, Z:-938.24 [[-6.57977220e-01 7.48912664e-01 7.87134057e-02 4.26261136e+02] [-7.44174844e-01 -6.62661005e-01 8.41676557e-02 -1.44662996e+02] [ 1.15194528e-01 -3.19613631e-03 9.93337810e-01 -9.38236435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.24, Y:-144.70, Z:-938.24 [[-6.61339969e-01 7.46940642e-01 6.86230534e-02 4.26238295e+02] [-7.41776633e-01 -6.64850839e-01 8.79817585e-02 -1.44696128e+02] [ 1.11341246e-01 7.28287597e-03 9.93755547e-01 -9.38238447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.24, Y:-144.69, Z:-938.24 [[-6.61121936e-01 7.46693459e-01 7.32575233e-02 4.26237012e+02] [-7.41887857e-01 -6.65166437e-01 8.45932516e-02 -1.44690341e+02] [ 1.11893673e-01 1.57758726e-03 9.93718933e-01 -9.38237702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.24, Y:-144.69, Z:-938.24 [[-6.59386375e-01 7.49022012e-01 6.46191505e-02 4.26239182e+02] [-7.44104259e-01 -6.62487847e-01 8.61319013e-02 -1.44693009e+02] [ 1.07324092e-01 8.71081697e-03 9.94185929e-01 -9.38242694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:-144.69, Z:-938.24 [[-6.59157074e-01 7.48569454e-01 7.18033809e-02 4.26233722e+02] [-7.44192843e-01 -6.63056369e-01 8.08286050e-02 -1.44688526e+02] [ 1.08115514e-01 -1.56815453e-04 9.94138326e-01 -9.38239375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:-144.69, Z:-938.23 [[-6.59940855e-01 7.47320781e-01 7.73932704e-02 4.26225635e+02] [-7.43010213e-01 -6.64448024e-01 8.02785599e-02 -1.44688869e+02] [ 1.11417642e-01 -4.52488887e-03 9.93763370e-01 -9.38234484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.22, Y:-144.71, Z:-938.25 [[-6.59119176e-01 7.50088880e-01 5.41164057e-02 4.26217635e+02] [-7.45309354e-01 -6.61132852e-01 8.61238571e-02 -1.44712384e+02] [ 1.00378681e-01 1.64324223e-02 9.94813599e-01 -9.38245002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.21, Y:-144.71, Z:-938.24 [[-6.58248109e-01 7.50169630e-01 6.28884178e-02 4.26209565e+02] [-7.46304328e-01 -6.61237825e-01 7.61208848e-02 -1.44709340e+02] [ 9.86877766e-02 3.17253012e-03 9.95113390e-01 -9.38241668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-144.71, Z:-938.24 [[-6.58404818e-01 7.49811444e-01 6.54667477e-02 4.26204121e+02] [-7.46091377e-01 -6.61651513e-01 7.45984720e-02 -1.44710142e+02] [ 9.92509607e-02 2.71817352e-04 9.95062397e-01 -9.38240131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-144.71, Z:-938.24 [[-6.58920618e-01 7.49339243e-01 6.56834697e-02 4.26200274e+02] [-7.45562479e-01 -6.62186081e-01 7.51410935e-02 -1.44711133e+02] [ 9.98008496e-02 5.40885249e-04 9.95007285e-01 -9.38240101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.19, Y:-144.71, Z:-938.23 [[-6.61247526e-01 7.45235883e-01 8.58789131e-02 4.26187674e+02] [-7.41917566e-01 -6.66607392e-01 7.20618473e-02 -1.44706100e+02] [ 1.10950593e-01 -1.60643560e-02 9.93696082e-01 -9.38227281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-144.72, Z:-938.24 [[-6.59674390e-01 7.49341303e-01 5.75961084e-02 4.26197050e+02] [-7.44496881e-01 -6.62036131e-01 8.62122710e-02 -1.44718676e+02] [ 1.02733120e-01 1.39919042e-02 9.94610543e-01 -9.38243055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.18, Y:-144.71, Z:-938.23 [[-6.61528272e-01 7.45254067e-01 8.35267759e-02 4.26179807e+02] [-7.41592767e-01 -6.66664466e-01 7.48241867e-02 -1.44710673e+02] [ 1.11447363e-01 -1.24445379e-02 9.93692417e-01 -9.38228072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.15, Y:-144.76, Z:-938.24 [[-6.63660329e-01 7.45748621e-01 5.84291245e-02 4.26154911e+02] [-7.40888312e-01 -6.66083047e-01 8.61271365e-02 -1.44756546e+02] [ 1.03147843e-01 1.38697083e-02 9.94569331e-01 -9.38238051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.15, Y:-144.75, Z:-938.24 [[-6.63405636e-01 7.45614742e-01 6.28619075e-02 4.26151184e+02] [-7.41437165e-01 -6.66351824e-01 7.90327616e-02 -1.44751483e+02] [ 1.00816139e-01 5.82262501e-03 9.94888036e-01 -9.38237038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.13, Y:-144.75, Z:-938.22 [[-6.65732203e-01 7.40852649e-01 8.90953814e-02 4.26133108e+02] [-7.37648348e-01 -6.71418088e-01 7.12226517e-02 -1.44746478e+02] [ 1.12585741e-01 -1.83058481e-02 9.93473375e-01 -9.38219753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.13, Y:-144.75, Z:-938.23 [[-6.65842115e-01 7.42326276e-01 7.48730800e-02 4.26134802e+02] [-7.37589542e-01 -6.70038377e-01 8.37271856e-02 -1.44753402e+02] [ 1.12320727e-01 5.23485566e-04 9.93671868e-01 -9.38225762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:-144.77, Z:-938.22 [[-6.67517554e-01 7.40815052e-01 7.49224580e-02 4.26121482e+02] [-7.36073780e-01 -6.71708682e-01 8.36829567e-02 -1.44768573e+02] [ 1.12319659e-01 7.11385742e-04 9.93671872e-01 -9.38223721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.13, Y:-144.77, Z:-938.23 [[-6.66277715e-01 7.43113433e-01 6.21001865e-02 4.26127185e+02] [-7.38313562e-01 -6.69078431e-01 8.50125739e-02 -1.44768984e+02] [ 1.04723881e-01 1.07925736e-02 9.94442773e-01 -9.38232579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:-144.77, Z:-938.23 [[-6.66516253e-01 7.42211468e-01 6.98442704e-02 4.26121913e+02] [-7.38092327e-01 -6.70165571e-01 7.80885690e-02 -1.44766990e+02] [ 1.04765457e-01 4.95780325e-04 9.94496834e-01 -9.38228829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.11, Y:-144.77, Z:-938.22 [[-6.69340358e-01 7.38429362e-01 8.18875034e-02 4.26108573e+02] [-7.34635930e-01 -6.74261029e-01 7.53798087e-02 -1.44766656e+02] [ 1.10876216e-01 -9.70275414e-03 9.93786859e-01 -9.38218290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.09, Y:-144.79, Z:-938.22 [[-6.71970883e-01 7.36950229e-01 7.32085566e-02 4.26094486e+02] [-7.32292857e-01 -6.75944074e-01 8.27452773e-02 -1.44789101e+02] [ 1.10464041e-01 1.99231404e-03 9.93878125e-01 -9.38219898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.35, Y:-144.98, Z:-937.12 [[-6.14404451e-01 -6.94731562e-01 3.73972229e-01 4.26353462e+02] [-7.77646095e-01 4.53132091e-01 -4.35818608e-01 -1.44984827e+02] [ 1.33318124e-01 -5.58586936e-01 -8.18661659e-01 -9.37115290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.98, Y:-144.88, Z:-938.22 [[-6.27117113e-01 7.73311769e-01 9.33436429e-02 4.25980663e+02] [-7.64646106e-01 -6.34025124e-01 1.15449016e-01 -1.44881128e+02] [ 1.48460297e-01 1.02520058e-03 9.88917837e-01 -9.38221548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.94, Y:-144.94, Z:-938.21 [[-6.41371372e-01 7.61519611e-01 9.34379290e-02 4.25939648e+02] [-7.52767086e-01 -6.48132224e-01 1.15179576e-01 -1.44939389e+02] [ 1.48271639e-01 3.53588538e-03 9.88940352e-01 -9.38211349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.876559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:425.93, Y:-144.94, Z:-938.21 [[-6.41817947e-01 7.60924808e-01 9.52006283e-02 4.25934276e+02] [-7.52449866e-01 -6.48839211e-01 1.13255804e-01 -1.44941179e+02] [ 1.47949051e-01 1.05590743e-03 9.88994420e-01 -9.38209552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.93, Y:-144.94, Z:-938.21 [[-6.42322413e-01 7.60512162e-01 9.50955770e-02 4.25933218e+02] [-7.52064679e-01 -6.49322770e-01 1.13042733e-01 -1.44941532e+02] [ 1.47718097e-01 1.09185661e-03 9.89028903e-01 -9.38209384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.59, Y:-145.55, Z:-937.96 [[-6.43719777e-01 -4.47993361e-02 -7.63948865e-01 4.26586038e+02] [-7.62670658e-01 1.19629519e-01 6.35627442e-01 -1.45548525e+02] [ 6.29151478e-02 9.91807339e-01 -1.11175026e-01 -9.37964456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-144.99, Z:-938.17 [[-6.42450965e-01 7.64569546e-01 5.18668175e-02 4.25889147e+02] [-7.62006171e-01 -6.44540893e-01 6.25590372e-02 -1.44988299e+02] [ 8.12610195e-02 6.68278795e-04 9.96692631e-01 -9.38170023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-144.99, Z:-938.18 [[-6.41034729e-01 7.66471849e-01 3.99422260e-02 4.25892749e+02] [-7.63849213e-01 -6.42189214e-01 6.42447983e-02 -1.44994686e+02] [ 7.48922960e-02 1.06733090e-02 9.97134507e-01 -9.38178547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-144.99, Z:-938.17 [[-6.42599503e-01 7.64729164e-01 4.74887956e-02 4.25886569e+02] [-7.62522970e-01 -6.44350918e-01 5.80570009e-02 -1.44993990e+02] [ 7.49973308e-02 1.09610242e-03 9.97183132e-01 -9.38174742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.88, Y:-145.01, Z:-938.17 [[-6.45314808e-01 7.62454561e-01 4.72423796e-02 4.25877834e+02] [-7.60261172e-01 -6.47040274e-01 5.78086058e-02 -1.45006109e+02] [ 7.46441574e-02 1.38820246e-03 9.97209267e-01 -9.38173777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:-145.01, Z:-938.17 [[-6.46098048e-01 7.61745982e-01 4.79621886e-02 4.25871897e+02] [-7.59585818e-01 -6.47875519e-01 5.73297236e-02 -1.45012710e+02] [ 7.47442144e-02 6.09224211e-04 9.97202553e-01 -9.38172829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:-145.02, Z:-938.18 [[-6.46305533e-01 7.61932067e-01 4.18172670e-02 4.25873302e+02] [-7.59694421e-01 -6.47627718e-01 5.86747460e-02 -1.45017149e+02] [ 7.17881917e-02 6.15346851e-03 9.97400918e-01 -9.38176144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.86, Y:-145.02, Z:-938.16 [[-6.50265544e-01 7.56823000e-01 6.61337176e-02 4.25856148e+02] [-7.55163519e-01 -6.53429140e-01 5.25206415e-02 -1.45016500e+02] [ 8.29625277e-02 -1.57894074e-02 9.96427576e-01 -9.38159865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:-145.03, Z:-938.18 [[-6.48290591e-01 7.60657749e-01 3.34529343e-02 4.25872126e+02] [-7.58008844e-01 -6.48923764e-01 6.57308190e-02 -1.45028740e+02] [ 7.17070609e-02 1.72550515e-02 9.97276472e-01 -9.38179249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.85, Y:-145.03, Z:-938.16 [[-6.51895767e-01 7.55457241e-01 6.56982986e-02 4.25850750e+02] [-7.53771409e-01 -6.55022033e-01 5.26763618e-02 -1.45025644e+02] [ 8.28285721e-02 -1.51820018e-02 9.96448160e-01 -9.38159774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.69, Y:-144.94, Z:-937.40 [[-6.34774210e-01 -1.84545524e-03 7.72695475e-01 4.25694244e+02] [-7.56930360e-01 -1.99498658e-01 -6.22299539e-01 -1.44935060e+02] [ 1.55300136e-01 -9.79896362e-01 1.25239722e-01 -9.37403473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.77, Y:-145.15, Z:-938.18 [[-6.54821472e-01 7.49550424e-01 9.68658960e-02 4.25767502e+02] [-7.40917189e-01 -6.61942420e-01 1.13463437e-01 -1.45145515e+02] [ 1.49166213e-01 2.52868722e-03 9.88808903e-01 -9.38182641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.296559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:426.42, Y:-145.75, Z:-937.92 [[-6.48592526e-01 -6.55255898e-02 -7.58310051e-01 4.26419407e+02] [-7.59250472e-01 1.25778691e-01 6.38528341e-01 -1.45753863e+02] [ 5.35392993e-02 9.89891973e-01 -1.31329454e-01 -9.37923537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:-145.19, Z:-938.14 [[-6.54109518e-01 7.54502205e-01 5.35458765e-02 4.25723007e+02] [-7.51800112e-01 -6.56295828e-01 6.38151860e-02 -1.45193802e+02] [ 8.32906339e-02 1.48632464e-03 9.96524190e-01 -9.38143607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:-145.20, Z:-938.14 [[-6.54793299e-01 7.53909125e-01 5.35422104e-02 4.25721640e+02] [-7.51209649e-01 -6.56976937e-01 6.37602276e-02 -1.45195792e+02] [ 8.32454147e-02 1.52834462e-03 9.96527905e-01 -9.38143586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.37, Y:-145.83, Z:-937.85 [[-6.38887557e-01 -1.60411254e-01 -7.52390138e-01 4.26374741e+02] [-7.69157903e-01 1.14388014e-01 6.28738024e-01 -1.45825278e+02] [-1.47922410e-02 9.80399721e-01 -1.96462663e-01 -9.37849951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.416559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.66, Y:-145.26, Z:-938.11 [[-6.47525148e-01 7.61971739e-01 1.05001388e-02 4.25659564e+02] [-7.61863756e-01 -6.47610203e-01 1.28313539e-02 -1.45262580e+02] [ 1.65771261e-02 3.08949152e-04 9.99862542e-01 -9.38108452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.68, Y:-145.25, Z:-938.12 [[-6.44058418e-01 7.64907316e-01 -1.02738681e-02 4.25682221e+02] [-7.64965140e-01 -6.43918351e-01 1.40531634e-02 -1.45254518e+02] [ 4.13383527e-03 1.69102092e-02 9.99848467e-01 -9.38122051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.66, Y:-145.25, Z:-938.10 [[-6.48444698e-01 7.60896995e-01 2.35634728e-02 4.25657283e+02] [-7.61082058e-01 -6.48653512e-01 1.65013280e-03 -1.45253807e+02] [ 1.65401105e-02 -1.68637165e-02 9.99720981e-01 -9.38102480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.21, Y:-145.83, Z:-938.00 [[-6.51488880e-01 8.09101233e-02 -7.54331354e-01 4.26213599e+02] [-7.54639946e-01 -1.71312387e-01 6.33380311e-01 -1.45831713e+02] [-7.79794261e-02 9.81888801e-01 1.72666126e-01 -9.38004714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.536559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:425.62, Y:-145.33, Z:-938.08 [[-6.56648760e-01 7.53502213e-01 -3.23546142e-02 4.25617012e+02] [-7.52516675e-01 -6.57444672e-01 -3.85377428e-02 -1.45325462e+02] [-5.03096432e-02 -9.58374365e-04 9.98733208e-01 -9.38078889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:-145.42, Z:-938.08 [[-7.04779206e-01 7.08724784e-01 -3.15507788e-02 4.25578534e+02] [-7.07684135e-01 -7.05467669e-01 -3.87108927e-02 -1.45416278e+02] [-4.96934234e-02 -4.95464657e-03 9.98752229e-01 -9.38084587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.42, Y:-145.48, Z:-937.17 [[-6.69746371e-01 -1.82728327e-01 7.19757012e-01 4.25422884e+02] [-7.42354538e-01 1.40348988e-01 -6.55142658e-01 -1.45481659e+02] [ 1.86959542e-02 -9.73094302e-01 -2.29647428e-01 -9.37165550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:-145.68, Z:-938.13 [[-6.91700009e-01 7.22169829e-01 -4.67289703e-03 4.25330143e+02] [-7.22143286e-01 -6.91576125e-01 1.52163974e-02 -1.45684588e+02] [ 7.75715906e-03 1.38996834e-02 9.99873305e-01 -9.38133256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:-145.46, Z:-937.42 [[-6.82894858e-01 9.53141907e-02 7.24271923e-01 4.25237029e+02] [-7.24945530e-01 -2.10633286e-01 -6.55810641e-01 -1.45462911e+02] [ 9.00477144e-02 -9.72907408e-01 2.12937984e-01 -9.37420130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-145.68, Z:-938.17 [[-6.98646666e-01 7.14394637e-01 3.91553108e-02 4.25350189e+02] [-7.11708788e-01 -6.99537290e-01 6.41730600e-02 -1.45675174e+02] [ 7.32354899e-02 1.69671157e-02 9.97170337e-01 -9.38165024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-145.65, Z:-938.15 [[-7.01224634e-01 7.09472102e-01 7.02378090e-02 4.25347353e+02] [-7.07868180e-01 -7.04579632e-01 4.99017167e-02 -1.45650755e+02] [ 8.48920054e-02 -1.47267970e-02 9.96281320e-01 -9.38147149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-145.66, Z:-938.15 [[-7.01306212e-01 7.10438190e-01 5.87126515e-02 4.25350927e+02] [-7.07807815e-01 -7.03758427e-01 6.10915257e-02 -1.45658660e+02] [ 8.47212762e-02 1.28659289e-03 9.96403859e-01 -9.38152601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-145.66, Z:-938.15 [[-7.00816524e-01 7.10961547e-01 5.82226603e-02 4.25351170e+02] [-7.08380662e-01 -7.03229895e-01 6.05355447e-02 -1.45658630e+02] [ 8.39823597e-02 1.18050339e-03 9.96466542e-01 -9.38152896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-145.66, Z:-938.15 [[-7.00937896e-01 7.10866272e-01 5.79241687e-02 4.25349405e+02] [-7.08315571e-01 -7.03326252e-01 6.01767032e-02 -1.45660036e+02] [ 8.35171772e-02 1.15154116e-03 9.96505673e-01 -9.38152905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:-146.28, Z:-938.00 [[-7.07102115e-01 5.42236371e-02 -7.05029358e-01 4.25891996e+02] [-7.07070454e-01 -6.49557246e-02 7.04153483e-01 -1.46282911e+02] [-7.61392987e-03 9.96413845e-01 8.42702619e-02 -9.38004295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.30, Y:-145.71, Z:-938.12 [[-7.07015778e-01 7.07109534e-01 1.11712811e-02 4.25300002e+02] [-7.07016744e-01 -7.07104000e-01 1.14567629e-02 -1.45713893e+02] [ 1.60004438e-02 2.01829296e-04 9.99871964e-01 -9.38117232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.85, Y:-146.36, Z:-937.95 [[-7.05953920e-01 -3.53584255e-02 -7.07374614e-01 4.25846488e+02] [-7.04247502e-01 -7.10886173e-02 7.06386484e-01 -1.46363161e+02] [-7.52629970e-02 9.96843112e-01 2.52842053e-02 -9.37945485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.25, Y:-145.77, Z:-938.09 [[-7.07477297e-01 7.05807117e-01 -3.62241308e-02 4.25246569e+02] [-7.04835538e-01 -7.08403750e-01 -3.70269069e-02 -1.45769148e+02] [-5.17951645e-02 -6.63641349e-04 9.98657509e-01 -9.38087216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:-145.77, Z:-938.09 [[-7.07553689e-01 7.05733745e-01 -3.61615598e-02 4.25244620e+02] [-7.04767343e-01 -7.08476866e-01 -3.69259051e-02 -1.45770816e+02] [-5.16794859e-02 -6.41573951e-04 9.98663517e-01 -9.38087175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.08, Y:-145.94, Z:-938.11 [[-7.08942970e-01 7.03968977e-01 -4.27497940e-02 4.25080165e+02] [-7.03084812e-01 -7.10214374e-01 -3.55990327e-02 -1.45942038e+02] [-5.54221328e-02 4.81904692e-03 9.98451383e-01 -9.38107241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.09, Y:-145.89, Z:-937.14 [[-6.76032038e-01 -2.30099654e-01 7.00024881e-01 4.25086888e+02] [-7.36823137e-01 2.00121385e-01 -6.45788739e-01 -1.45885238e+02] [ 8.50581633e-03 -9.52368406e-01 -3.04831216e-01 -9.37139080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.92, Y:-146.09, Z:-938.13 [[-6.95656041e-01 7.18363760e-01 4.02252958e-03 4.24921450e+02] [-7.18296801e-01 -6.95652019e-01 1.08616074e-02 -1.46092409e+02] [ 1.06008660e-02 4.66657269e-03 9.99932920e-01 -9.38134335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.12, Y:-146.08, Z:-937.07 [[-6.43608907e-01 -4.89141155e-01 5.88649731e-01 4.25123518e+02] [-7.63226700e-01 3.52877438e-01 -5.41260121e-01 -1.46079365e+02] [ 5.70313913e-02 -7.97633026e-01 -6.00440652e-01 -9.37071216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.96, Y:-146.02, Z:-938.16 [[-6.63167224e-01 7.47136091e-01 4.46866274e-02 4.24957323e+02] [-7.45372633e-01 -6.64670706e-01 5.13078036e-02 -1.46021733e+02] [ 6.80358040e-02 7.17464549e-04 9.97682622e-01 -9.38157204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.96, Y:-146.02, Z:-938.16 [[-6.63689796e-01 7.46661674e-01 4.48575418e-02 4.24959439e+02] [-7.44886331e-01 -6.65203573e-01 5.14641746e-02 -1.46017969e+02] [ 6.82657238e-02 7.42477852e-04 9.97666898e-01 -9.38157287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.82, Y:-145.95, Z:-937.32 [[-6.41338357e-01 -9.39994598e-02 7.61478308e-01 4.24821924e+02] [-7.55554137e-01 -9.53153581e-02 -6.48114904e-01 -1.45953374e+02] [ 1.33503029e-01 -9.90999033e-01 -9.89228558e-03 -9.37321519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.47, Y:-146.73, Z:-938.00 [[-6.66509137e-01 3.60996713e-02 -7.44622310e-01 4.25469536e+02] [-7.44092292e-01 2.90703156e-02 6.67444063e-01 -1.46734236e+02] [ 4.57409169e-02 9.98925288e-01 7.48585619e-03 -9.37995019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.82, Y:-146.18, Z:-938.14 [[-6.63431526e-01 7.46848277e-01 4.55660144e-02 4.24815452e+02] [-7.45019559e-01 -6.64994098e-01 5.22370303e-02 -1.46181713e+02] [ 6.93142667e-02 7.08120792e-04 9.97594623e-01 -9.38138599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.73, Y:-146.15, Z:-937.22 [[-6.31078912e-01 -2.23837323e-01 7.42722196e-01 4.24734427e+02] [-7.65066419e-01 2.14721187e-02 -6.43593290e-01 -1.46154335e+02] [ 1.28112380e-01 -9.74389964e-01 -1.84801020e-01 -9.37218552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.68, Y:-146.33, Z:-938.15 [[-6.55599261e-01 7.49977010e-01 8.78868223e-02 4.24679276e+02] [-7.42863620e-01 -6.61459939e-01 1.03074690e-01 -1.46333256e+02] [ 1.35437260e-01 2.28776731e-03 9.90783284e-01 -9.38151164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.57, Y:-146.21, Z:-937.35 [[-6.36312121e-01 -8.27874892e-02 7.66976607e-01 4.24568152e+02] [-7.45774643e-01 -1.88264710e-01 -6.39043490e-01 -1.46207470e+02] [ 1.97299435e-01 -9.78622824e-01 5.80543071e-02 -9.37349625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.52, Y:-146.26, Z:-937.37 [[-6.29762692e-01 -1.26493346e-01 7.66419197e-01 4.24523813e+02] [-7.31115044e-01 -2.36809389e-01 -6.39837562e-01 -1.46261335e+02] [ 2.62430455e-01 -9.63286430e-01 5.66525298e-02 -9.37366833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.49, Y:-146.31, Z:-937.38 [[-6.20133589e-01 -1.69816903e-01 7.65895914e-01 4.24487394e+02] [-7.13382293e-01 -2.84096720e-01 -6.40604993e-01 -1.46306080e+02] [ 3.26374073e-01 -9.43637257e-01 5.50335469e-02 -9.37382329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.42, Y:-146.63, Z:-938.16 [[-6.35038701e-01 7.40693795e-01 2.19313817e-01 4.24421065e+02] [-6.98546043e-01 -6.71835055e-01 2.46315012e-01 -1.46634822e+02] [ 3.29786712e-01 3.21876597e-03 9.44049980e-01 -9.38157383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.40, Y:-146.68, Z:-938.16 [[-6.31839361e-01 7.49604145e-01 1.97161477e-01 4.24402270e+02] [-7.07631209e-01 -6.61664986e-01 2.47906269e-01 -1.46675395e+02] [ 3.16286412e-01 1.71193240e-02 9.48509269e-01 -9.38159085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:424.41, Y:-146.63, Z:-938.15 [[-6.33542837e-01 7.38302569e-01 2.31371541e-01 4.24414848e+02] [-7.00615999e-01 -6.74318203e-01 2.33307060e-01 -1.46628222e+02] [ 3.28269243e-01 -1.42925866e-02 9.44476059e-01 -9.38150266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.16, Y:-146.83, Z:-937.21 [[-5.73471873e-01 -7.92272600e-01 -2.08408585e-01 4.25156499e+02] [-7.58281741e-01 6.09631539e-01 -2.30993915e-01 -1.46826368e+02] [ 3.10062596e-01 2.55639115e-02 -9.50372387e-01 -9.37213619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.13, Y:-146.78, Z:-937.21 [[-5.10332334e-01 -8.39154991e-01 -1.88095214e-01 4.25131934e+02] [-8.02463037e-01 5.43315646e-01 -2.46700594e-01 -1.46776533e+02] [ 3.09215107e-01 2.50401668e-02 -9.50662405e-01 -9.37212050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.11, Y:-146.72, Z:-937.21 [[-4.47701818e-01 -8.76803507e-01 -1.75438572e-01 4.25108474e+02] [-8.38353652e-01 4.79831665e-01 -2.58698139e-01 -1.46723026e+02] [ 3.11008418e-01 3.12599406e-02 -9.49892931e-01 -9.37211607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.09, Y:-146.70, Z:-937.22 [[-3.79981258e-01 -9.02687273e-01 -2.01915654e-01 4.25093399e+02] [-8.72951013e-01 4.22141838e-01 -2.44443855e-01 -1.46704287e+02] [ 3.05893402e-01 8.33783913e-02 -9.48407756e-01 -9.37224418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.05, Y:-146.68, Z:-937.21 [[-3.07102134e-01 -9.36108162e-01 -1.71434501e-01 4.25048601e+02] [-9.03852152e-01 3.43284885e-01 -2.55356173e-01 -1.46684698e+02] [ 2.97891871e-01 7.65310174e-02 -9.51526898e-01 -9.37213113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.98, Y:-146.67, Z:-937.18 [[-2.35827700e-01 -9.67162474e-01 -9.47736518e-02 4.24976042e+02] [-9.25392523e-01 2.53272461e-01 -2.81960529e-01 -1.46667666e+02] [ 2.96705199e-01 2.12087254e-02 -9.54733583e-01 -9.37178537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:-146.79, Z:-938.13 [[-2.20426293e-01 9.72471449e-01 7.55746730e-02 4.24200698e+02] [-9.23328279e-01 -2.33008682e-01 3.05240631e-01 -1.46791260e+02] [ 3.14447354e-01 -2.49717214e-03 9.49271629e-01 -9.38126670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:-146.79, Z:-938.13 [[-2.17398121e-01 9.73146880e-01 7.56518859e-02 4.24201764e+02] [-9.24111654e-01 -2.30156928e-01 3.05033507e-01 -1.46787933e+02] [ 3.14254211e-01 -3.59707830e-03 9.49332056e-01 -9.38127272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:-146.82, Z:-938.12 [[-2.12613228e-01 9.73983797e-01 7.84294524e-02 4.24195719e+02] [-9.24935389e-01 -2.26489003e-01 3.05282261e-01 -1.46815320e+02] [ 3.15103384e-01 -7.63512910e-03 9.49026639e-01 -9.38116633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.19, Y:-146.84, Z:-938.11 [[-2.12041345e-01 9.74359041e-01 7.52524229e-02 4.24191915e+02] [-9.24889360e-01 -2.24951818e-01 3.06555625e-01 -1.46839091e+02] [ 3.15623414e-01 -4.59769815e-03 9.48873396e-01 -9.38109386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.17, Y:-146.93, Z:-938.07 [[-2.13398406e-01 9.73459615e-01 8.26891706e-02 4.24165168e+02] [-9.23136783e-01 -2.28623817e-01 3.09111032e-01 -1.46930240e+02] [ 3.19811820e-01 -1.03696132e-02 9.47424335e-01 -9.38073418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.01, Y:-147.03, Z:-937.94 [[-2.44487068e-01 9.62557760e-02 -9.64863151e-01 4.25013239e+02] [-9.35013709e-01 2.40184524e-01 2.60884570e-01 -1.47030139e+02] [ 2.56856844e-01 9.65943176e-01 3.12784599e-02 -9.37941202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:-146.86, Z:-938.07 [[-2.20261951e-01 9.73539183e-01 6.08780154e-02 4.24188448e+02] [-9.43185512e-01 -2.28480017e-01 2.41242558e-01 -1.46858217e+02] [ 2.48768492e-01 -4.28270584e-03 9.68553507e-01 -9.38068332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:-146.86, Z:-938.07 [[-2.20032584e-01 9.73588498e-01 6.09187831e-02 4.24187860e+02] [-9.43298576e-01 -2.28266852e-01 2.41002160e-01 -1.46863370e+02] [ 2.48542670e-01 -4.43627316e-03 9.68610789e-01 -9.38066856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:-146.86, Z:-938.07 [[-2.20639188e-01 9.73441596e-01 6.10721630e-02 4.24187957e+02] [-9.43156222e-01 -2.28892549e-01 2.40965854e-01 -1.46864916e+02] [ 2.48545149e-01 -4.43408016e-03 9.68610163e-01 -9.38066107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.18, Y:-146.94, Z:-938.05 [[-2.39355110e-01 9.68993405e-01 6.13262753e-02 4.24175225e+02] [-9.38564390e-01 -2.47086562e-01 2.40925542e-01 -1.46942757e+02] [ 2.48608160e-01 1.08101368e-04 9.68604136e-01 -9.38046483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.17, Y:-146.94, Z:-938.04 [[-2.40789933e-01 9.68346442e-01 6.57675991e-02 4.24173949e+02] [-9.38252550e-01 -2.49577646e-01 2.39568676e-01 -1.46942885e+02] [ 2.48399598e-01 -4.02089203e-03 9.68649303e-01 -9.38044931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.17, Y:-146.96, Z:-938.04 [[-2.42889068e-01 9.67814729e-01 6.58752762e-02 4.24169105e+02] [-9.37709594e-01 -2.51638153e-01 2.39539054e-01 -1.46961127e+02] [ 2.48406157e-01 -3.59046094e-03 9.68649312e-01 -9.38040229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:-147.22, Z:-937.90 [[-2.77040170e-01 1.71412534e-01 -9.45445127e-01 4.24933052e+02] [-9.41873238e-01 1.46185226e-01 3.02497410e-01 -1.47223868e+02] [ 1.90061957e-01 9.74293397e-01 1.20949699e-01 -9.37900558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:-147.02, Z:-937.99 [[-2.61726516e-01 9.63814379e-01 5.06070477e-02 4.24158831e+02] [-9.47515807e-01 -2.66568500e-01 1.76507875e-01 -1.47024270e+02] [ 1.83611073e-01 -1.75418635e-03 9.82997404e-01 -9.37992615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.096559995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:424.73, Y:-147.48, Z:-936.92 [[-2.02084453e-01 -9.78328498e-01 -4.51134498e-02 4.24732426e+02] [-9.65491644e-01 2.06736450e-01 -1.58385373e-01 -1.47477666e+02] [ 1.64279519e-01 1.15494374e-02 -9.86346212e-01 -9.36924608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.11, Y:-147.06, Z:-937.99 [[-1.93626966e-01 9.80387220e-01 3.67355011e-02 4.24112536e+02] [-9.63798197e-01 -1.97079932e-01 1.79589914e-01 -1.47056820e+02] [ 1.83307486e-01 -6.32159559e-04 9.83055424e-01 -9.37989664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.97, Y:-146.97, Z:-937.18 [[-1.84881440e-01 -4.51682084e-02 9.81722306e-01 4.23965300e+02] [-9.52890614e-01 -2.36174838e-01 -1.90317957e-01 -1.46972939e+02] [ 2.40454428e-01 -9.70660228e-01 6.23982488e-04 -9.37176253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.08, Y:-147.21, Z:-937.99 [[-1.98297685e-01 9.78551958e-01 5.58040574e-02 4.24082019e+02] [-9.46846020e-01 -2.05964413e-01 2.47105798e-01 -1.47206028e+02] [ 2.53299512e-01 -3.83734194e-03 9.67380294e-01 -9.37986665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.74, Y:-147.44, Z:-936.95 [[-1.12358208e-01 -9.88627684e-01 -9.99546704e-02 4.24736635e+02] [-9.67652008e-01 1.31728721e-01 -2.15167692e-01 -1.47438944e+02] [ 2.25887638e-01 7.25454813e-02 -9.71448366e-01 -9.36952068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:424.65, Y:-147.71, Z:-936.86 [[-2.85153388e-02 -9.99297548e-01 -2.43163728e-02 4.24652976e+02] [-9.73921325e-01 3.32525245e-02 -2.24436008e-01 -1.47713607e+02] [ 2.25086933e-01 1.72823652e-02 -9.74185399e-01 -9.36856763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.77, Y:-147.19, Z:-937.35 [[-5.34571154e-02 2.77776212e-01 9.59157293e-01 4.23767809e+02] [-9.48417002e-01 -3.14705745e-01 3.82816591e-02 -1.47193998e+02] [ 3.12486045e-01 -9.07634657e-01 2.80270943e-01 -9.37349519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.49, Z:-937.97 [[-7.07284251e-02 9.97438722e-01 1.06529485e-02 4.23999267e+02] [-9.51055862e-01 -7.06524109e-02 3.00833815e-01 -1.47488621e+02] [ 3.00815952e-01 1.11459528e-02 9.53617078e-01 -9.37971392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.41, Z:-937.99 [[-7.49738597e-02 9.96853419e-01 2.57329000e-02 4.23995993e+02] [-9.49224142e-01 -7.92508762e-02 3.04454967e-01 -1.47412005e+02] [ 3.05536329e-01 -1.60012595e-03 9.52179075e-01 -9.37986335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.42, Z:-937.99 [[-7.54121337e-02 9.96972896e-01 1.89223613e-02 4.23999285e+02] [-9.49223724e-01 -7.75869857e-02 3.04884539e-01 -1.47415178e+02] [ 3.05429751e-01 5.03043944e-03 9.52201324e-01 -9.37987804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.42, Z:-937.99 [[-7.61387605e-02 9.96914835e-01 1.90709628e-02 4.23999255e+02] [-9.49029729e-01 -7.83219532e-02 3.05300256e-01 -1.47420104e+02] [ 3.05852029e-01 5.14627240e-03 9.52065151e-01 -9.37986148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.42, Z:-937.99 [[-7.64532289e-02 9.96887922e-01 1.92191247e-02 4.23999247e+02] [-9.48872028e-01 -7.86644671e-02 3.05702104e-01 -1.47418907e+02] [ 3.06262598e-01 5.13542316e-03 9.51933217e-01 -9.37986664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.42, Z:-937.99 [[-7.63738133e-02 9.96890506e-01 1.93999918e-02 4.23998972e+02] [-9.48580095e-01 -7.86395009e-02 3.06613164e-01 -1.47423506e+02] [ 3.07185358e-01 5.01477052e-03 9.51636489e-01 -9.37985199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.43, Z:-937.98 [[-7.62869066e-02 9.96873446e-01 2.05825501e-02 4.23997552e+02] [-9.48217426e-01 -7.89157808e-02 3.07662173e-01 -1.47428777e+02] [ 3.08324539e-01 3.95386279e-03 9.51273013e-01 -9.37982912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.43, Z:-937.98 [[-7.61641063e-02 9.96882329e-01 2.06070824e-02 4.23996753e+02] [-9.47813144e-01 -7.88012589e-02 3.08934631e-01 -1.47432320e+02] [ 3.09595339e-01 3.99806654e-03 9.50860001e-01 -9.37981183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.43, Z:-937.98 [[-7.57545861e-02 9.96959548e-01 1.82456296e-02 4.23997923e+02] [-9.48002504e-01 -7.76829994e-02 3.08636686e-01 -1.47429518e+02] [ 3.09115666e-01 6.08374186e-03 9.51004991e-01 -9.37984340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:-147.43, Z:-937.98 [[-7.54693378e-02 9.96946818e-01 2.00354909e-02 4.23996363e+02] [-9.47929854e-01 -7.79644138e-02 3.08788830e-01 -1.47430348e+02] [ 3.09408097e-01 4.31184856e-03 9.50919575e-01 -9.37983802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:-147.44, Z:-937.98 [[-7.65471775e-02 9.96722746e-01 2.61590924e-02 4.23989619e+02] [-9.46177985e-01 -8.08899628e-02 3.13375231e-01 -1.47435077e+02] [ 3.14464229e-01 -7.63167922e-04 9.49269017e-01 -9.37976416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:-147.43, Z:-937.98 [[-7.39500169e-02 9.97137220e-01 1.57720923e-02 4.23994990e+02] [-9.47649149e-01 -7.51885501e-02 3.10334935e-01 -1.47432276e+02] [ 3.10632395e-01 8.00286384e-03 9.50496433e-01 -9.37984090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.98, Y:-147.52, Z:-937.95 [[-7.45810059e-02 9.96971685e-01 2.20257194e-02 4.23984120e+02] [-9.47086508e-01 -7.77294046e-02 3.11424608e-01 -1.47516976e+02] [ 3.12193562e-01 2.36609888e-03 9.50015569e-01 -9.37953887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.87, Y:-147.37, Z:-937.25 [[-8.03217588e-03 -8.22090861e-01 -5.69299658e-01 4.24873455e+02] [-9.70823568e-01 1.42858293e-01 -1.92595710e-01 -1.47368927e+02] [ 2.39660350e-01 5.51142563e-01 -7.99252646e-01 -9.37245518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-147.24, Z:-936.95 [[ 8.43538969e-02 -9.88063914e-01 1.28895777e-01 4.24550358e+02] [-9.64302843e-01 -1.13533370e-01 -2.39228347e-01 -1.47244976e+02] [ 2.51006869e-01 -1.04114721e-01 -9.62369823e-01 -9.36947225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.756559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:423.93, Y:-147.60, Z:-937.92 [[ 6.33997813e-02 9.97957192e-01 -7.86840413e-03 4.23932781e+02] [-9.58182659e-01 6.30736436e-02 2.79119524e-01 -1.47595714e+02] [ 2.79045625e-01 -1.01567484e-02 9.60224130e-01 -9.37924942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.60, Y:-147.28, Z:-936.97 [[ 1.58791915e-01 -9.87143805e-01 1.82273415e-02 4.24600548e+02] [-9.54878371e-01 -1.58242434e-01 -2.51329720e-01 -1.47284118e+02] [ 2.50982915e-01 2.25042335e-02 -9.67729888e-01 -9.36971867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.94, Y:-147.68, Z:-937.91 [[ 1.41464061e-01 9.89450472e-01 -3.12359278e-02 4.23940787e+02] [-9.50090554e-01 1.44564181e-01 2.76458201e-01 -1.47681639e+02] [ 2.78057294e-01 -9.43193995e-03 9.60518183e-01 -9.37910181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.94, Y:-147.71, Z:-937.89 [[ 1.39929403e-01 9.89822801e-01 -2.58956541e-02 4.23937571e+02] [-9.48912440e-01 1.41524200e-01 2.82021422e-01 -1.47709213e+02] [ 2.82816095e-01 -1.48903809e-02 9.59058566e-01 -9.37893195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.69, Y:-147.35, Z:-937.02 [[ 2.28864078e-01 -9.59222600e-01 -1.65871147e-01 4.24689546e+02] [-9.43259777e-01 -1.76408923e-01 -2.81319897e-01 -1.47349121e+02] [ 2.40587253e-01 2.20843600e-01 -9.45169762e-01 -9.37022625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:-147.35, Z:-936.93 [[ 3.06829512e-01 -9.50167827e-01 5.51067323e-02 4.24579935e+02] [-9.20807915e-01 -3.10998506e-01 -2.35356568e-01 -1.47352028e+02] [ 2.40766350e-01 2.14716257e-02 -9.70345575e-01 -9.36932955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.98, Y:-147.84, Z:-937.88 [[ 2.92791815e-01 9.52620282e-01 -8.23866003e-02 4.23982206e+02] [-9.18471978e-01 3.04157606e-01 2.52779304e-01 -1.47837834e+02] [ 2.65861203e-01 1.65807276e-03 9.64009892e-01 -9.37883142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:-147.86, Z:-937.88 [[ 2.92988094e-01 9.52556761e-01 -8.24232613e-02 4.23989113e+02] [-9.18405779e-01 3.04356599e-01 2.52780312e-01 -1.47863925e+02] [ 2.65873659e-01 1.63637765e-03 9.64006494e-01 -9.37875845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.61, Y:-147.40, Z:-936.91 [[ 3.80791951e-01 -9.22326264e-01 6.56639342e-02 4.24606215e+02] [-8.93341819e-01 -3.85291227e-01 -2.31281357e-01 -1.47399624e+02] [ 2.38616607e-01 2.94097407e-02 -9.70668420e-01 -9.36914670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.04, Y:-147.94, Z:-937.86 [[ 3.65569652e-01 9.24604384e-01 -1.07077375e-01 4.24038038e+02] [-8.92457392e-01 3.80861306e-01 2.41794269e-01 -1.47937074e+02] [ 2.64345670e-01 7.16934780e-03 9.64401352e-01 -9.37863110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.04, Y:-147.96, Z:-937.85 [[ 3.65313616e-01 9.25276105e-01 -1.02029859e-01 4.24044898e+02] [-8.92546600e-01 3.79289206e-01 2.43926762e-01 -1.47962955e+02] [ 2.64398428e-01 1.95663660e-03 9.64411553e-01 -9.37854060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:424.05, Y:-147.99, Z:-937.85 [[ 3.64517267e-01 9.25597377e-01 -1.01963999e-01 4.24054022e+02] [-8.92976999e-01 3.78502794e-01 2.43572813e-01 -1.47988898e+02] [ 2.64044016e-01 2.26500941e-03 9.64507972e-01 -9.37846582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.116559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:424.06, Y:-148.01, Z:-937.84 [[ 3.63991999e-01 9.25810031e-01 -1.01909817e-01 4.24063399e+02] [-8.93286472e-01 3.77980906e-01 2.43248258e-01 -1.48013053e+02] [ 2.63721642e-01 2.49424139e-03 9.64595602e-01 -9.37839678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:-148.04, Z:-937.83 [[ 3.63547857e-01 9.26006231e-01 -1.01712418e-01 4.24073442e+02] [-8.93655647e-01 3.77498681e-01 2.42640333e-01 -1.48038130e+02] [ 2.63082764e-01 2.68450420e-03 9.64769534e-01 -9.37832668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.08, Y:-148.06, Z:-937.83 [[ 3.63187257e-01 9.26144725e-01 -1.01739694e-01 4.24083483e+02] [-8.93834879e-01 3.77157473e-01 2.42510719e-01 -1.48062905e+02] [ 2.62971910e-01 2.86168448e-03 9.64799246e-01 -9.37825594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.09, Y:-148.09, Z:-937.82 [[ 3.62523851e-01 9.26408174e-01 -1.01707188e-01 4.24093499e+02] [-8.94182029e-01 3.76507792e-01 2.42240337e-01 -1.48087828e+02] [ 2.62706978e-01 3.12683984e-03 9.64870596e-01 -9.37818537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.10, Y:-148.11, Z:-937.81 [[ 3.61916790e-01 9.26643000e-01 -1.01729973e-01 4.24103544e+02] [-8.94463513e-01 3.75927353e-01 2.42102559e-01 -1.48112120e+02] [ 2.62585721e-01 3.37276797e-03 9.64902774e-01 -9.37811735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.11, Y:-148.14, Z:-937.81 [[ 3.60636903e-01 9.27121491e-01 -1.01915479e-01 4.24113897e+02] [-8.94864412e-01 3.74742037e-01 2.42458430e-01 -1.48136525e+02] [ 2.62980435e-01 3.76107809e-03 9.64793836e-01 -9.37805051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:-148.16, Z:-937.80 [[ 3.60187578e-01 9.27273750e-01 -1.02119056e-01 4.24124596e+02] [-8.94915760e-01 3.74363545e-01 2.42853288e-01 -1.48161864e+02] [ 2.63421130e-01 3.91521500e-03 9.64672991e-01 -9.37797884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.14, Y:-148.19, Z:-937.79 [[ 3.59894287e-01 9.27370420e-01 -1.02275154e-01 4.24135587e+02] [-8.94968300e-01 3.74122388e-01 2.43031237e-01 -1.48187348e+02] [ 2.63643405e-01 4.06746736e-03 9.64611637e-01 -9.37791044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.15, Y:-148.21, Z:-937.78 [[ 3.59705300e-01 9.27431521e-01 -1.02385895e-01 4.24146535e+02] [-8.95014264e-01 3.73969503e-01 2.43097260e-01 -1.48211893e+02] [ 2.63745264e-01 4.19346406e-03 9.64583253e-01 -9.37784289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:-148.24, Z:-937.78 [[ 3.59422216e-01 9.27516577e-01 -1.02609312e-01 4.24157942e+02] [-8.95012238e-01 3.73756804e-01 2.43431604e-01 -1.48236637e+02] [ 2.64137776e-01 4.34186364e-03 9.64475186e-01 -9.37777457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.17, Y:-148.26, Z:-937.77 [[ 3.59187014e-01 9.27594361e-01 -1.02729697e-01 4.24169173e+02] [-8.95068848e-01 3.73562084e-01 2.43522335e-01 -1.48261154e+02] [ 2.64265864e-01 4.48009091e-03 9.64439465e-01 -9.37770513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.18, Y:-148.29, Z:-937.76 [[ 3.59027504e-01 9.27653472e-01 -1.02753529e-01 4.24181045e+02] [-8.95168302e-01 3.73413812e-01 2.43384134e-01 -1.48285210e+02] [ 2.64145724e-01 4.60010376e-03 9.64471812e-01 -9.37763511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:-148.31, Z:-937.76 [[ 3.59158344e-01 9.27602323e-01 -1.02758044e-01 4.24191766e+02] [-8.95164309e-01 3.73540406e-01 2.43204493e-01 -1.48309051e+02] [ 2.63981334e-01 4.63641101e-03 9.64516645e-01 -9.37756572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:-148.33, Z:-937.75 [[ 3.59767311e-01 9.27385222e-01 -1.02587189e-01 4.24202498e+02] [-8.95071353e-01 3.74080719e-01 2.42715653e-01 -1.48332753e+02] [ 2.63466799e-01 4.50169640e-03 9.64657960e-01 -9.37749851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.21, Y:-148.36, Z:-937.74 [[ 3.60613203e-01 9.27067881e-01 -1.02485421e-01 4.24213265e+02] [-8.94830781e-01 3.74868856e-01 2.42386499e-01 -1.48357783e+02] [ 2.63127331e-01 4.29933755e-03 9.64751535e-01 -9.37742766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.22, Y:-148.38, Z:-937.74 [[ 3.63444918e-01 9.26000567e-01 -1.02131005e-01 4.24223589e+02] [-8.94000520e-01 3.77505094e-01 2.41356531e-01 -1.48382769e+02] [ 2.62051259e-01 3.58536682e-03 9.65047296e-01 -9.37735595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:-148.41, Z:-937.73 [[ 3.65035114e-01 9.25388061e-01 -1.02011290e-01 4.24233515e+02] [-8.93492189e-01 3.79007388e-01 2.40884015e-01 -1.48406783e+02] [ 2.61574224e-01 3.21516749e-03 9.65178009e-01 -9.37728933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.24, Y:-148.43, Z:-937.72 [[ 3.66970043e-01 9.24642856e-01 -1.01826211e-01 4.24243842e+02] [-8.92860130e-01 3.80825728e-01 2.40359217e-01 -1.48431563e+02] [ 2.61024473e-01 2.71193223e-03 9.65328374e-01 -9.37722043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.25, Y:-148.46, Z:-937.72 [[ 3.68881437e-01 9.23901290e-01 -1.01650834e-01 4.24253943e+02] [-8.92252718e-01 3.82624250e-01 2.39757734e-01 -1.48455350e+02] [ 2.60406554e-01 2.25605530e-03 9.65496420e-01 -9.37715662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.28, Y:-148.48, Z:-937.73 [[ 3.72501864e-01 9.19756045e-01 -1.23657503e-01 4.24280122e+02] [-8.92459276e-01 3.91567220e-01 2.24034716e-01 -1.48479703e+02] [ 2.54477509e-01 2.69059365e-02 9.66704333e-01 -9.37726227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.7165599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:424.26, Y:-148.51, Z:-937.69 [[ 3.72456529e-01 9.24763480e-01 -7.80297334e-02 4.24263082e+02] [-8.90793428e-01 3.79822349e-01 2.49443485e-01 -1.48509304e+02] [ 2.60313662e-01 -2.33984810e-02 9.65240544e-01 -9.37692571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.84, Y:-147.99, Z:-936.74 [[ 4.53427871e-01 -8.86336398e-01 9.38666896e-02 4.24842002e+02] [-8.58069214e-01 -4.62584583e-01 -2.23008357e-01 -1.47992905e+02] [ 2.41081707e-01 2.05740879e-02 -9.70286719e-01 -9.36737783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.32, Y:-148.58, Z:-937.69 [[ 4.45515023e-01 8.87081280e-01 -1.20843562e-01 4.24320670e+02] [-8.56554290e-01 4.61612694e-01 2.30712957e-01 -1.48576700e+02] [ 2.60444068e-01 7.22982549e-04 9.65488666e-01 -9.37688807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.33, Y:-148.60, Z:-937.68 [[ 4.45871288e-01 8.86836686e-01 -1.21323894e-01 4.24333298e+02] [-8.56094255e-01 4.62082529e-01 2.31478643e-01 -1.48600575e+02] [ 2.61345405e-01 6.55007669e-04 9.65245125e-01 -9.37681949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.35, Y:-148.62, Z:-937.68 [[ 4.46132652e-01 8.86653988e-01 -1.21697833e-01 4.24345929e+02] [-8.55755220e-01 4.62433036e-01 2.32031660e-01 -1.48624210e+02] [ 2.62008895e-01 6.26655887e-04 9.65065255e-01 -9.37675092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:-148.65, Z:-937.67 [[ 4.46034649e-01 8.86674489e-01 -1.21907519e-01 4.24358431e+02] [-8.55710321e-01 4.62393600e-01 2.32275711e-01 -1.48646844e+02] [ 2.62322203e-01 7.14507247e-04 9.64980078e-01 -9.37668659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.37, Y:-148.67, Z:-937.66 [[ 4.46258198e-01 8.86557890e-01 -1.21937395e-01 4.24371380e+02] [-8.55593734e-01 4.62617168e-01 2.32260026e-01 -1.48671293e+02] [ 2.62322291e-01 6.80930653e-04 9.64980079e-01 -9.37661509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.38, Y:-148.69, Z:-937.66 [[ 4.46241520e-01 8.86554792e-01 -1.22020925e-01 4.24384843e+02] [-8.55587538e-01 4.62622997e-01 2.32271237e-01 -1.48694823e+02] [ 2.62370864e-01 7.50513127e-04 9.64966821e-01 -9.37655275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.40, Y:-148.72, Z:-937.65 [[ 4.45004975e-01 8.87144794e-01 -1.22248463e-01 4.24398784e+02] [-8.56124554e-01 4.61489689e-01 2.32546803e-01 -1.48717732e+02] [ 2.62719091e-01 1.17542669e-03 9.64871648e-01 -9.37649060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:-148.74, Z:-937.64 [[ 4.44477405e-01 8.87421342e-01 -1.22160543e-01 4.24412126e+02] [-8.56476800e-01 4.60957132e-01 2.32305862e-01 -1.48741136e+02] [ 2.62463953e-01 1.37296454e-03 9.64940821e-01 -9.37642613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.43, Y:-148.77, Z:-937.64 [[ 4.43845795e-01 8.87719447e-01 -1.22291019e-01 4.24425031e+02] [-8.56760760e-01 4.60381954e-01 2.32399349e-01 -1.48765066e+02] [ 2.62606000e-01 1.62467237e-03 9.64901782e-01 -9.37635617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:424.44, Y:-148.79, Z:-937.63 [[ 4.43323033e-01 8.87959505e-01 -1.22444294e-01 4.24437612e+02] [-8.56973196e-01 4.59917948e-01 2.32534776e-01 -1.48788841e+02] [ 2.62795793e-01 1.84345600e-03 9.64849715e-01 -9.37628630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.46, Y:-148.81, Z:-937.63 [[ 4.44779302e-01 8.85492370e-01 -1.34441943e-01 4.24459518e+02] [-8.57359384e-01 4.64360723e-01 2.22045054e-01 -1.48811084e+02] [ 2.59048759e-01 1.65040169e-02 9.65723231e-01 -9.37632697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.46, Y:-148.84, Z:-937.61 [[ 4.42404742e-01 8.90119942e-01 -1.09382509e-01 4.24455465e+02] [-8.57401652e-01 4.55564686e-01 2.39422690e-01 -1.48839826e+02] [ 2.62945719e-01 -1.21369897e-02 9.64734286e-01 -9.37608150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.48, Y:-148.86, Z:-937.62 [[ 4.43060504e-01 8.86418935e-01 -1.34010681e-01 4.24484868e+02] [-8.58580889e-01 4.62567408e-01 2.21066168e-01 -1.48860123e+02] [ 2.57946211e-01 1.71133213e-02 9.66007705e-01 -9.37617188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.48, Y:-148.89, Z:-937.59 [[ 4.40450595e-01 8.91137278e-01 -1.08984518e-01 4.24481238e+02] [-8.58786031e-01 4.53592509e-01 2.38202412e-01 -1.48888486e+02] [ 2.61705610e-01 -1.13220123e-02 9.65081337e-01 -9.37593140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.1965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.51, Y:-148.91, Z:-937.60 [[ 4.39481705e-01 8.88311228e-01 -1.33262871e-01 4.24509044e+02] [-8.60157189e-01 4.58933134e-01 2.22508400e-01 -1.48912079e+02] [ 2.58815457e-01 1.68386452e-02 9.65780006e-01 -9.37600158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:-148.38, Z:-936.57 [[ 5.31055893e-01 -8.09632435e-01 2.49949913e-01 4.24943992e+02] [-8.09294995e-01 -5.72038572e-01 -1.33467162e-01 -1.48383158e+02] [ 2.51040335e-01 -1.31404691e-01 -9.59015932e-01 -9.36573426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.00, Y:-148.36, Z:-936.62 [[ 5.94788358e-01 -7.92764106e-01 1.33236186e-01 4.25004951e+02] [-7.64419413e-01 -6.09059109e-01 -2.11447305e-01 -1.48358933e+02] [ 2.48776546e-01 2.39180679e-02 -9.68265540e-01 -9.36616476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.00, Y:-148.36, Z:-936.61 [[ 6.55117798e-01 -7.43901939e-01 1.32024904e-01 4.25004629e+02] [-7.13621010e-01 -6.66649109e-01 -2.15230155e-01 -1.48360094e+02] [ 2.48124414e-01 4.67853593e-02 -9.67597750e-01 -9.36612003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.05, Y:-148.34, Z:-936.66 [[ 7.12415044e-01 -6.99810257e-01 5.22533230e-02 4.25047801e+02] [-6.61287009e-01 -6.94386596e-01 -2.83772351e-01 -1.48335088e+02] [ 2.34870809e-01 1.67609248e-01 -9.57466889e-01 -9.36658322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.98, Y:-148.38, Z:-936.59 [[ 7.64138147e-01 -6.22001065e-01 1.70902219e-01 4.24976817e+02] [-6.00292204e-01 -7.82674657e-01 -1.64528572e-01 -1.48384875e+02] [ 2.36097783e-01 2.31312881e-02 -9.71453952e-01 -9.36592834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.97, Y:-148.39, Z:-936.59 [[ 8.08813088e-01 -5.63718789e-01 1.67458998e-01 4.24970843e+02] [-5.39127017e-01 -8.24536015e-01 -1.71704455e-01 -1.48391170e+02] [ 2.34869002e-01 4.85951404e-02 -9.70811549e-01 -9.36588968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.01, Y:-148.36, Z:-936.64 [[ 8.52150456e-01 -5.14028602e-01 9.80520149e-02 4.25006969e+02] [-4.75119752e-01 -8.38524577e-01 -2.66716620e-01 -1.48359959e+02] [ 2.19318996e-01 1.80696241e-01 -9.58774242e-01 -9.36640370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.95, Y:-148.43, Z:-936.57 [[ 8.87885051e-01 -4.18160145e-01 1.91839072e-01 4.24946021e+02] [-4.03622848e-01 -9.08119563e-01 -1.11388758e-01 -1.48431720e+02] [ 2.20791154e-01 2.14697808e-02 -9.75084773e-01 -9.36568005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:-148.44, Z:-936.56 [[ 9.17531867e-01 -3.43903423e-01 1.99663991e-01 4.24937494e+02] [-3.31115300e-01 -9.38762058e-01 -9.53333965e-02 -1.48444916e+02] [ 2.20222460e-01 2.13596271e-02 -9.75215789e-01 -9.36561474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:-148.46, Z:-936.55 [[ 9.41295068e-01 -2.67281155e-01 2.06214400e-01 4.24929687e+02] [-2.56297579e-01 -9.63383387e-01 -7.87654855e-02 -1.48460411e+02] [ 2.19716057e-01 2.12893114e-02 -9.75331543e-01 -9.36554941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.92, Y:-148.48, Z:-936.55 [[ 9.58810461e-01 -1.89333999e-01 2.11743092e-01 4.24923487e+02] [-1.80196690e-01 -9.81685425e-01 -6.18294320e-02 -1.48476238e+02] [ 2.19571521e-01 2.11273017e-02 -9.75367615e-01 -9.36548513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.92, Y:-148.49, Z:-936.54 [[ 9.70131172e-01 -1.10453875e-01 2.15975580e-01 4.24917961e+02] [-1.03218696e-01 -9.93661262e-01 -4.45331005e-02 -1.48491090e+02] [ 2.19525421e-01 2.09102312e-02 -9.75382670e-01 -9.36542170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.51, Z:-936.54 [[ 9.75269160e-01 -3.07462802e-02 2.18871497e-01 4.24914149e+02] [-2.54512719e-02 -9.99312149e-01 -2.69714921e-02 -1.48508536e+02] [ 2.19550219e-01 2.07339064e-02 -9.75380852e-01 -9.36535191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.53, Z:-936.53 [[ 9.74261197e-01 4.93619055e-02 2.19951181e-01 4.24911506e+02] [ 5.26840867e-02 -9.98568292e-01 -9.26036291e-03 -1.48526015e+02] [ 2.19179166e-01 2.06099394e-02 -9.75466926e-01 -9.36528435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.54, Z:-936.52 [[ 9.66982157e-01 1.29104350e-01 2.19721587e-01 4.24909614e+02] [ 1.30442686e-01 -9.91419679e-01 8.46909659e-03 -1.48543419e+02] [ 2.18929702e-01 2.04716086e-02 -9.75525858e-01 -9.36522057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.56, Z:-936.52 [[ 9.53172211e-01 2.09229873e-01 2.18370319e-01 4.24910224e+02] [ 2.08608944e-01 -9.77649131e-01 2.61626882e-02 -1.48561077e+02] [ 2.18963568e-01 2.06164544e-02 -9.75515206e-01 -9.36515585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.58, Z:-936.51 [[ 9.33234626e-01 2.87600731e-01 2.15311292e-01 4.24911460e+02] [ 2.85024440e-01 -9.57527419e-01 4.36154939e-02 -1.48577812e+02] [ 2.18710313e-01 2.06654912e-02 -9.75570980e-01 -9.36508753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.59, Z:-936.51 [[ 9.08055843e-01 3.56820622e-01 2.19348193e-01 4.24914493e+02] [ 3.58291810e-01 -9.32974027e-01 3.44447829e-02 -1.48585896e+02] [ 2.16936775e-01 4.73128746e-02 -9.75038424e-01 -9.36506349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:-148.54, Z:-936.56 [[ 8.79954918e-01 3.97068607e-01 2.60798511e-01 4.24907743e+02] [ 4.30427854e-01 -8.98707324e-01 -8.40060093e-02 -1.48537498e+02] [ 2.01025383e-01 1.86176444e-01 -9.61731318e-01 -9.36561112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:-148.61, Z:-936.49 [[ 8.41491673e-01 5.07372727e-01 1.85646656e-01 4.24927840e+02] [ 5.01311372e-01 -8.61387067e-01 8.18488237e-02 -1.48614473e+02] [ 2.01441489e-01 2.41916761e-02 -9.79201761e-01 -9.36486472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.92, Y:-148.61, Z:-936.49 [[ 7.99728704e-01 5.70157045e-01 1.88029107e-01 4.24924672e+02] [ 5.66554423e-01 -8.20340999e-01 7.78249985e-02 -1.48609422e+02] [ 1.98620457e-01 4.42898370e-02 -9.79075240e-01 -9.36487787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.856559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.94, Y:-148.64, Z:-936.47 [[ 7.51350412e-01 6.39792255e-01 1.61673835e-01 4.24940026e+02] [ 6.29080232e-01 -7.68428934e-01 1.17367100e-01 -1.48640283e+02] [ 1.99325414e-01 1.35219945e-02 -9.79840056e-01 -9.36471758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:424.94, Y:-148.64, Z:-936.46 [[ 6.98185876e-01 7.00779211e-01 1.46441047e-01 4.24939002e+02] [ 6.87887949e-01 -7.13342043e-01 1.33989920e-01 -1.48640314e+02] [ 1.98359906e-01 7.18516229e-03 -9.80102914e-01 -9.36464317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.916559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:425.61, Y:-149.00, Z:-937.44 [[ 7.18074223e-01 -6.77844381e-01 -1.57785946e-01 4.25611104e+02] [ 6.62282691e-01 7.35204976e-01 -1.44413576e-01 -1.49002324e+02] [ 2.13894943e-01 -7.99234315e-04 9.76856343e-01 -9.37438242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.63, Y:-148.98, Z:-937.43 [[ 7.18398627e-01 -6.78147533e-01 -1.54981726e-01 4.25629078e+02] [ 6.61894110e-01 7.34917602e-01 -1.47622171e-01 -1.48981109e+02] [ 2.14008410e-01 3.47007359e-03 9.76825655e-01 -9.37434084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9765599950001 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:425.66, Y:-148.97, Z:-937.42 [[ 7.18804731e-01 -6.74868202e-01 -1.66951096e-01 4.25656614e+02] [ 6.60216207e-01 7.37877645e-01 -1.40182527e-01 -1.48967815e+02] [ 2.17794211e-01 -9.45995551e-03 9.75948867e-01 -9.37419637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.66, Y:-148.94, Z:-937.43 [[ 7.18148315e-01 -6.79940450e-01 -1.48135016e-01 4.25664640e+02] [ 6.61876321e-01 7.33129328e-01 -1.56336574e-01 -1.48938499e+02] [ 2.14901686e-01 1.42257874e-02 9.76532075e-01 -9.37426367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.036559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:425.69, Y:-148.93, Z:-937.41 [[ 7.17476320e-01 -6.75543616e-01 -1.69907488e-01 4.25694260e+02] [ 6.61141700e-01 7.37215937e-01 -1.39299368e-01 -1.48930719e+02] [ 2.19361307e-01 -1.23889273e-02 9.75565032e-01 -9.37405465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.70, Y:-148.90, Z:-937.42 [[ 7.17167516e-01 -6.81756119e-01 -1.44496880e-01 4.25703089e+02] [ 6.63263121e-01 7.31358006e-01 -1.58737202e-01 -1.48898011e+02] [ 2.13899009e-01 1.80017137e-02 9.76689896e-01 -9.37415860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.73, Y:-148.89, Z:-937.40 [[ 7.16820697e-01 -6.79920156e-01 -1.54520775e-01 4.25726218e+02] [ 6.63729373e-01 7.33279205e-01 -1.47529412e-01 -1.48886077e+02] [ 2.13615092e-01 3.19215906e-03 9.76912689e-01 -9.37404647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.76, Y:-148.89, Z:-937.37 [[ 7.16999192e-01 -6.70871799e-01 -1.89322973e-01 4.25761992e+02] [ 6.60342928e-01 7.40687122e-01 -1.23813587e-01 -1.48885123e+02] [ 2.23292132e-01 -3.62438440e-02 9.74077516e-01 -9.37369616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.77, Y:-148.85, Z:-937.38 [[ 7.17327683e-01 -6.77500167e-01 -1.62586962e-01 4.25772011e+02] [ 6.60422499e-01 7.35521862e-01 -1.51161218e-01 -1.48849768e+02] [ 2.21998015e-01 1.05603902e-03 9.75046546e-01 -9.37377909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.79, Y:-148.83, Z:-937.37 [[ 7.17046265e-01 -6.77796082e-01 -1.62594971e-01 4.25792152e+02] [ 6.60931211e-01 7.35249885e-01 -1.50258248e-01 -1.48830609e+02] [ 2.21392385e-01 2.78024679e-04 9.75184769e-01 -9.37372208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.79, Y:-148.79, Z:-937.39 [[ 7.16231517e-01 -6.86136434e-01 -1.27393910e-01 4.25794041e+02] [ 6.65119137e-01 7.26416531e-01 -1.73018948e-01 -1.48792380e+02] [ 2.11255646e-01 3.91894957e-02 9.76644887e-01 -9.37394285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.83, Y:-148.79, Z:-937.38 [[ 7.15895125e-01 -6.81245723e-01 -1.52965470e-01 4.25825211e+02] [ 6.65308815e-01 7.32048143e-01 -1.46525415e-01 -1.48788343e+02] [ 2.11797901e-01 3.12755459e-03 9.77308481e-01 -9.37375896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.84, Y:-148.77, Z:-937.37 [[ 7.16015824e-01 -6.81088151e-01 -1.53102158e-01 4.25844706e+02] [ 6.65107617e-01 7.32194365e-01 -1.46708113e-01 -1.48769263e+02] [ 2.12021694e-01 3.21591880e-03 9.77259668e-01 -9.37370422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.86, Y:-148.75, Z:-937.36 [[ 7.15820405e-01 -6.81284736e-01 -1.53141296e-01 4.25864243e+02] [ 6.65282385e-01 7.32011432e-01 -1.46828514e-01 -1.48749815e+02] [ 2.12133205e-01 3.22063965e-03 9.77235453e-01 -9.37364841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.88, Y:-148.73, Z:-937.36 [[ 7.15609720e-01 -6.81459933e-01 -1.53346300e-01 4.25883749e+02] [ 6.65400000e-01 7.31848269e-01 -1.47108636e-01 -1.48730492e+02] [ 2.12474865e-01 3.23574168e-03 9.77161175e-01 -9.37359384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:-148.71, Z:-937.35 [[ 7.15151879e-01 -6.81836859e-01 -1.53806008e-01 4.25902826e+02] [ 6.65669599e-01 7.31497287e-01 -1.47633684e-01 -1.48712063e+02] [ 2.13170765e-01 3.19652328e-03 9.77009727e-01 -9.37353739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.396559995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:425.93, Y:-148.70, Z:-937.34 [[ 7.14801619e-01 -6.79096843e-01 -1.66991388e-01 4.25929841e+02] [ 6.64840174e-01 7.33955034e-01 -1.38915629e-01 -1.48700224e+02] [ 2.16901335e-01 -1.17254673e-02 9.76123109e-01 -9.37337936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.94, Y:-148.67, Z:-937.35 [[ 7.13929620e-01 -6.85085630e-01 -1.44783205e-01 4.25937788e+02] [ 6.66937427e-01 7.28290297e-01 -1.57441139e-01 -1.48669528e+02] [ 2.13304865e-01 1.58405541e-02 9.76857263e-01 -9.37347449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.97, Y:-148.67, Z:-937.32 [[ 7.13538688e-01 -6.78057629e-01 -1.76353034e-01 4.25974196e+02] [ 6.65035552e-01 7.34689555e-01 -1.34011090e-01 -1.48667839e+02] [ 2.20431974e-01 -2.16589403e-02 9.75161851e-01 -9.37318000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.98, Y:-148.63, Z:-937.34 [[ 7.12325293e-01 -6.88123030e-01 -1.38128103e-01 4.25975554e+02] [ 6.68681681e-01 7.25175112e-01 -1.64273755e-01 -1.48628276e+02] [ 2.13207617e-01 2.46526190e-02 9.76695838e-01 -9.37339105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.00, Y:-148.62, Z:-937.33 [[ 7.11365041e-01 -6.85753222e-01 -1.53955503e-01 4.26002849e+02] [ 6.69576668e-01 7.27830624e-01 -1.48086695e-01 -1.48618930e+02] [ 2.13604459e-01 2.25868516e-03 9.76917619e-01 -9.37325585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.04, Y:-148.61, Z:-937.30 [[ 7.11057348e-01 -6.79980262e-01 -1.78953322e-01 4.26035818e+02] [ 6.67221394e-01 7.32819093e-01 -1.33385864e-01 -1.48613750e+02] [ 2.21840166e-01 -2.45564861e-02 9.74773779e-01 -9.37298403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.576559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.04, Y:-148.57, Z:-937.32 [[ 7.10223102e-01 -6.90618399e-01 -1.36489460e-01 4.26035911e+02] [ 6.70752517e-01 7.22723101e-01 -1.66620470e-01 -1.48571029e+02] [ 2.13715248e-01 2.67870585e-02 9.76528672e-01 -9.37322879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:426.07, Y:-148.57, Z:-937.30 [[ 7.09526201e-01 -6.86245040e-01 -1.60125938e-01 4.26066903e+02] [ 6.70742216e-01 7.27356857e-01 -1.45109900e-01 -1.48565580e+02] [ 2.16049648e-01 -4.44395031e-03 9.76372266e-01 -9.37303644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.08, Y:-148.54, Z:-937.30 [[ 7.09431218e-01 -6.88532500e-01 -1.50433854e-01 4.26080841e+02] [ 6.71524162e-01 7.25171763e-01 -1.52253779e-01 -1.48541688e+02] [ 2.13922058e-01 6.99361573e-03 9.76825697e-01 -9.37304393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.10, Y:-148.52, Z:-937.30 [[ 7.09500000e-01 -6.87705723e-01 -1.53852494e-01 4.26101628e+02] [ 6.71527110e-01 7.25987057e-01 -1.48304190e-01 -1.48524636e+02] [ 2.13684559e-01 1.90570189e-03 9.76900854e-01 -9.37297116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:-148.50, Z:-937.29 [[ 7.09642850e-01 -6.87544169e-01 -1.53915695e-01 4.26121441e+02] [ 6.71330068e-01 7.26139757e-01 -1.48448622e-01 -1.48504961e+02] [ 2.13829290e-01 2.01726921e-03 9.76868960e-01 -9.37291139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.14, Y:-148.49, Z:-937.29 [[ 7.09775911e-01 -6.87419583e-01 -1.53858614e-01 4.26141083e+02] [ 6.71196616e-01 7.26257421e-01 -1.48476466e-01 -1.48485804e+02] [ 2.13806590e-01 2.11563768e-03 9.76873721e-01 -9.37285256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.16, Y:-148.47, Z:-937.28 [[ 7.09771487e-01 -6.87442002e-01 -1.53778836e-01 4.26160442e+02] [ 6.71218048e-01 7.26236037e-01 -1.48484173e-01 -1.48466884e+02] [ 2.13753990e-01 2.17070256e-03 9.76885111e-01 -9.37279431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.18, Y:-148.45, Z:-937.27 [[ 7.09573057e-01 -6.87689765e-01 -1.53586667e-01 4.26180212e+02] [ 6.71493911e-01 7.26001471e-01 -1.48383932e-01 -1.48447597e+02] [ 2.13546258e-01 2.15672836e-03 9.76930573e-01 -9.37273452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-148.43, Z:-937.27 [[ 7.09391761e-01 -6.87886314e-01 -1.53543965e-01 4.26200252e+02] [ 6.71685451e-01 7.25815233e-01 -1.48428107e-01 -1.48428085e+02] [ 2.13546212e-01 2.16042820e-03 9.76930575e-01 -9.37267579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.22, Y:-148.41, Z:-937.26 [[ 7.08852337e-01 -6.88380957e-01 -1.53818148e-01 4.26219460e+02] [ 6.72115611e-01 7.25346370e-01 -1.48772475e-01 -1.48409295e+02] [ 2.13983574e-01 2.07413776e-03 9.76835057e-01 -9.37261560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.24, Y:-148.39, Z:-937.26 [[ 7.07845987e-01 -6.89804749e-01 -1.52064026e-01 4.26238407e+02] [ 6.73281520e-01 7.23985030e-01 -1.50125515e-01 -1.48388735e+02] [ 2.13649372e-01 3.88384520e-03 9.76902688e-01 -9.37257509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.26, Y:-148.37, Z:-937.25 [[ 7.07784895e-01 -6.89020615e-01 -1.55856132e-01 4.26259286e+02] [ 6.72937957e-01 7.24741730e-01 -1.47999770e-01 -1.48371766e+02] [ 2.14930335e-01 -1.29505307e-04 9.76629374e-01 -9.37248828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:-148.35, Z:-937.24 [[ 7.07167097e-01 -6.89905297e-01 -1.54742944e-01 4.26278571e+02] [ 6.73443871e-01 7.23897552e-01 -1.49818848e-01 -1.48351201e+02] [ 2.15378855e-01 1.73627267e-03 9.76529024e-01 -9.37243989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.30, Y:-148.33, Z:-937.24 [[ 7.05243012e-01 -6.91925416e-01 -1.54504087e-01 4.26297876e+02] [ 6.75117585e-01 7.21964272e-01 -1.51604211e-01 -1.48331000e+02] [ 2.16445238e-01 2.60938415e-03 9.76291273e-01 -9.37239755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.32, Y:-148.31, Z:-937.23 [[ 7.04769329e-01 -6.91803864e-01 -1.57186536e-01 4.26318599e+02] [ 6.75184300e-01 7.22085455e-01 -1.50727427e-01 -1.48313611e+02] [ 2.17775927e-01 9.81865632e-05 9.75998789e-01 -9.37232199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-148.29, Z:-937.23 [[ 7.03810298e-01 -6.92899758e-01 -1.56655643e-01 4.26337737e+02] [ 6.76051460e-01 7.21033259e-01 -1.51873182e-01 -1.48294214e+02] [ 2.18186820e-01 9.82633051e-04 9.75906525e-01 -9.37227098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.36, Y:-148.28, Z:-937.22 [[ 7.02866069e-01 -6.93854567e-01 -1.56668849e-01 4.26356576e+02] [ 6.77007932e-01 7.20114768e-01 -1.51970330e-01 -1.48276032e+02] [ 2.18264859e-01 7.48735606e-04 9.75889282e-01 -9.37221961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.38, Y:-148.26, Z:-937.22 [[ 7.01855679e-01 -6.94835743e-01 -1.56849917e-01 4.26376404e+02] [ 6.77956611e-01 7.19168297e-01 -1.52222846e-01 -1.48257168e+02] [ 2.18571362e-01 5.01030920e-04 9.75820839e-01 -9.37216340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.39, Y:-148.24, Z:-937.21 [[ 6.99461660e-01 -6.97917290e-01 -1.53833815e-01 4.26393832e+02] [ 6.80890768e-01 7.16174209e-01 -1.53239240e-01 -1.48236667e+02] [ 2.17120126e-01 2.44094871e-03 9.76141840e-01 -9.37213567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.42, Y:-148.22, Z:-937.20 [[ 6.99760191e-01 -6.96151704e-01 -1.60338644e-01 4.26418824e+02] [ 6.80222891e-01 7.17874501e-01 -1.48165513e-01 -1.48220787e+02] [ 2.18248698e-01 -5.38568789e-03 9.75878322e-01 -9.37202030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.44, Y:-148.20, Z:-937.20 [[ 6.98694415e-01 -6.97201395e-01 -1.60425464e-01 4.26436854e+02] [ 6.81270476e-01 7.16852831e-01 -1.48298880e-01 -1.48201770e+02] [ 2.18395633e-01 -5.67753301e-03 9.75843795e-01 -9.37195602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.46, Y:-148.18, Z:-937.19 [[ 6.98628590e-01 -6.97642131e-01 -1.58787756e-01 4.26455925e+02] [ 6.81177149e-01 7.16440624e-01 -1.50700116e-01 -1.48181980e+02] [ 2.18896749e-01 -2.87918143e-03 9.75743780e-01 -9.37189469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:-148.16, Z:-937.19 [[ 7.00538883e-01 -6.98496348e-01 -1.46109975e-01 4.26471911e+02] [ 6.80172823e-01 7.15507961e-01 -1.59415460e-01 -1.48156385e+02] [ 2.15893967e-01 1.22966946e-02 9.76339381e-01 -9.37192429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.50, Y:-148.14, Z:-937.18 [[ 7.01202427e-01 -6.95996108e-01 -1.54611043e-01 4.26495000e+02] [ 6.79543891e-01 7.18045431e-01 -1.50435568e-01 -1.48142457e+02] [ 2.15720322e-01 4.20795600e-04 9.76455102e-01 -9.37182075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.51, Y:-148.12, Z:-937.18 [[ 7.02025010e-01 -6.95174869e-01 -1.54572917e-01 4.26514437e+02] [ 6.78692226e-01 7.18840288e-01 -1.50484227e-01 -1.48123031e+02] [ 2.15726093e-01 7.36253844e-04 9.76453640e-01 -9.37176168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.54, Y:-148.11, Z:-937.17 [[ 7.02901900e-01 -6.93248132e-01 -1.59172694e-01 4.26536233e+02] [ 6.77625964e-01 7.20682076e-01 -1.46425401e-01 -1.48106128e+02] [ 2.16222043e-01 -4.93685771e-03 9.76331735e-01 -9.37166457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.55, Y:-148.08, Z:-937.17 [[ 7.04452449e-01 -6.93964881e-01 -1.48860641e-01 4.26548342e+02] [ 6.76847440e-01 7.19972092e-01 -1.53354913e-01 -1.48079595e+02] [ 2.13598431e-01 7.27530038e-03 9.76894457e-01 -9.37168553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:-148.06, Z:-937.16 [[ 7.06539768e-01 -6.90908843e-01 -1.53122588e-01 4.26570478e+02] [ 6.74286577e-01 7.22934763e-01 -1.50674949e-01 -1.48061960e+02] [ 2.14800297e-01 3.20933760e-03 9.76652719e-01 -9.37160506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.59, Y:-148.04, Z:-937.16 [[ 7.07518647e-01 -6.89705442e-01 -1.54025221e-01 4.26588729e+02] [ 6.73177131e-01 7.24085674e-01 -1.50108252e-01 -1.48042965e+02] [ 2.15057934e-01 2.51813138e-03 9.76598046e-01 -9.37155074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.60, Y:-148.02, Z:-937.15 [[ 7.07225699e-01 -6.90559828e-01 -1.51522061e-01 4.26604664e+02] [ 6.73898077e-01 7.23260817e-01 -1.50848180e-01 -1.48021166e+02] [ 2.13759663e-01 4.57328358e-03 9.76875576e-01 -9.37152896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.63, Y:-148.00, Z:-937.14 [[ 7.10373783e-01 -6.86507295e-01 -1.55167080e-01 4.26627411e+02] [ 6.69864186e-01 7.27117488e-01 -1.50273522e-01 -1.48003243e+02] [ 2.15988566e-01 2.80950038e-03 9.76391851e-01 -9.37143871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.65, Y:-147.98, Z:-937.14 [[ 7.11116599e-01 -6.85877933e-01 -1.54546576e-01 4.26646386e+02] [ 6.69105608e-01 7.27706534e-01 -1.50800815e-01 -1.47983947e+02] [ 2.15895504e-01 3.82898196e-03 9.76408967e-01 -9.37138444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.67, Y:-147.96, Z:-937.13 [[ 7.11272873e-01 -6.85788540e-01 -1.54223791e-01 4.26665740e+02] [ 6.69066030e-01 7.27790338e-01 -1.50571813e-01 -1.47964197e+02] [ 2.15503009e-01 3.91174615e-03 9.76495341e-01 -9.37132876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.68, Y:-147.94, Z:-937.13 [[ 7.11206816e-01 -6.85816765e-01 -1.54402815e-01 4.26684922e+02] [ 6.69036516e-01 7.27763413e-01 -1.50832870e-01 -1.47944887e+02] [ 2.15812431e-01 3.97224358e-03 9.76426759e-01 -9.37127077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.70, Y:-147.93, Z:-937.12 [[ 7.10375268e-01 -6.86583281e-01 -1.54823698e-01 4.26703232e+02] [ 6.69709002e-01 7.27041159e-01 -1.51330786e-01 -1.47926132e+02] [ 2.16464388e-01 3.81482306e-03 9.76283061e-01 -9.37122217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.72, Y:-147.91, Z:-937.12 [[ 7.09619297e-01 -6.87396395e-01 -1.54682417e-01 4.26722774e+02] [ 6.70558815e-01 7.26273483e-01 -1.51253772e-01 -1.47906884e+02] [ 2.16313036e-01 3.60893707e-03 9.76317390e-01 -9.37116832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.74, Y:-147.89, Z:-937.11 [[ 7.09041073e-01 -6.88071412e-01 -1.54332399e-01 4.26742168e+02] [ 6.71307606e-01 7.25634734e-01 -1.50997784e-01 -1.47888482e+02] [ 2.15886208e-01 3.45911767e-03 9.76412403e-01 -9.37111283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.76, Y:-147.87, Z:-937.11 [[ 7.08522362e-01 -6.88721696e-01 -1.53813159e-01 4.26761510e+02] [ 6.72074076e-01 7.25018331e-01 -1.50548517e-01 -1.47870952e+02] [ 2.15203390e-01 3.29315388e-03 9.76563698e-01 -9.37105596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.78, Y:-147.85, Z:-937.10 [[ 7.07621750e-01 -6.89754266e-01 -1.53331380e-01 4.26782023e+02] [ 6.73225287e-01 7.24037305e-01 -1.50125595e-01 -1.47852028e+02] [ 2.14567408e-01 3.00557390e-03 9.76704558e-01 -9.37099614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.80, Y:-147.83, Z:-937.09 [[ 7.05728140e-01 -6.91881240e-01 -1.52473414e-01 4.26801998e+02] [ 6.75570251e-01 7.22007315e-01 -1.49366239e-01 -1.47834762e+02] [ 2.13430619e-01 2.40545530e-03 9.76955262e-01 -9.37093518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.82, Y:-147.82, Z:-937.09 [[ 7.04496411e-01 -6.93212855e-01 -1.52120826e-01 4.26822077e+02] [ 6.76996433e-01 7.20730033e-01 -1.49077330e-01 -1.47815475e+02] [ 2.12980369e-01 2.03918707e-03 9.77054351e-01 -9.37087794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:426.84, Y:-147.80, Z:-937.08 [[ 7.03467468e-01 -6.94361920e-01 -1.51641173e-01 4.26841580e+02] [ 6.78257706e-01 7.19623845e-01 -1.48687611e-01 -1.47796632e+02] [ 2.12367619e-01 1.74510297e-03 9.77188287e-01 -9.37082881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.86, Y:-147.78, Z:-937.08 [[ 7.02518895e-01 -6.95424312e-01 -1.51169533e-01 4.26861890e+02] [ 6.79429913e-01 7.18597841e-01 -1.48297459e-01 -1.47777366e+02] [ 2.11759759e-01 1.47266437e-03 9.77320641e-01 -9.37077209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.88, Y:-147.76, Z:-937.07 [[ 7.01688074e-01 -6.96338063e-01 -1.50821582e-01 4.26881962e+02] [ 6.80421528e-01 7.17712848e-01 -1.48036526e-01 -1.47759056e+02] [ 2.11330055e-01 1.25321403e-03 9.77413954e-01 -9.37071381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.90, Y:-147.74, Z:-937.07 [[ 7.00904459e-01 -6.97173996e-01 -1.50603318e-01 4.26902087e+02] [ 6.81304953e-01 7.16901174e-01 -1.47906281e-01 -1.47740594e+02] [ 2.11084108e-01 1.06138489e-03 9.77467326e-01 -9.37065230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:-147.72, Z:-937.07 [[ 6.99602236e-01 -7.00817285e-01 -1.39326400e-01 4.26916272e+02] [ 6.83938932e-01 7.13239998e-01 -1.53350068e-01 -1.47716403e+02] [ 2.06843540e-01 1.19933013e-02 9.78300522e-01 -9.37068316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.95, Y:-147.71, Z:-937.05 [[ 7.00715801e-01 -6.96011656e-01 -1.56732709e-01 4.26945186e+02] [ 6.81845686e-01 7.17976826e-01 -1.39984778e-01 -1.47707466e+02] [ 2.09961490e-01 -8.77797623e-03 9.77670251e-01 -9.37049962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.96, Y:-147.68, Z:-937.05 [[ 7.01177877e-01 -6.97100027e-01 -1.49670092e-01 4.26961255e+02] [ 6.81383364e-01 7.16972834e-01 -1.47196014e-01 -1.47684340e+02] [ 2.09919736e-01 1.22787752e-03 9.77717851e-01 -9.37048036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.016559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:426.97, Y:-147.65, Z:-937.06 [[ 7.01773004e-01 -7.00186595e-01 -1.31352135e-01 4.26970847e+02] [ 6.82328740e-01 7.13630435e-01 -1.58616183e-01 -1.47653334e+02] [ 2.04797806e-01 2.16872186e-02 9.78564011e-01 -9.37057603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.00, Y:-147.65, Z:-937.03 [[ 7.03352522e-01 -6.92002340e-01 -1.62566882e-01 4.27004062e+02] [ 6.79284110e-01 7.21699863e-01 -1.33125527e-01 -1.47651567e+02] [ 2.09447673e-01 -1.67949247e-02 9.77675612e-01 -9.37030229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:-147.62, Z:-937.03 [[ 7.04292504e-01 -6.94079534e-01 -1.49082762e-01 4.27016939e+02] [ 6.78381671e-01 7.19894798e-01 -1.46798462e-01 -1.47624145e+02] [ 2.09213713e-01 2.25404269e-03 9.77867344e-01 -9.37031312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.04, Y:-147.60, Z:-937.03 [[ 7.04962240e-01 -6.93404164e-01 -1.49060072e-01 4.27035935e+02] [ 6.77678319e-01 7.20544472e-01 -1.46859660e-01 -1.47604258e+02] [ 2.09237511e-01 2.51573648e-03 9.77861614e-01 -9.37025247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.136559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.05, Y:-147.58, Z:-937.02 [[ 7.06036035e-01 -6.92721895e-01 -1.47137667e-01 4.27053110e+02] [ 6.76146724e-01 7.21171058e-01 -1.50790958e-01 -1.47582606e+02] [ 2.10567625e-01 6.97719815e-03 9.77554395e-01 -9.37021250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.07, Y:-147.57, Z:-937.01 [[ 7.06180814e-01 -6.91488935e-01 -1.52156862e-01 4.27074630e+02] [ 6.76143640e-01 7.22386822e-01 -1.44869102e-01 -1.47566282e+02] [ 2.10091493e-01 -5.76114010e-04 9.77681560e-01 -9.37012929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.09, Y:-147.55, Z:-937.01 [[ 7.06206933e-01 -6.92000392e-01 -1.49690432e-01 4.27092644e+02] [ 6.76055420e-01 7.21890351e-01 -1.47727419e-01 -1.47545550e+02] [ 2.10287510e-01 3.12709960e-03 9.77634586e-01 -9.37008868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.11, Y:-147.53, Z:-937.00 [[ 7.06008495e-01 -6.92132789e-01 -1.50014026e-01 4.27112065e+02] [ 6.76102961e-01 7.21763286e-01 -1.48130163e-01 -1.47526449e+02] [ 2.10800359e-01 3.15622662e-03 9.77524039e-01 -9.37003224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.256559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:427.13, Y:-147.51, Z:-937.00 [[ 7.05821110e-01 -6.92271192e-01 -1.50256972e-01 4.27131059e+02] [ 6.76173973e-01 7.21630429e-01 -1.48452964e-01 -1.47508099e+02] [ 2.11199714e-01 3.18138163e-03 9.77437753e-01 -9.36997886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:427.15, Y:-147.49, Z:-936.99 [[ 7.05660057e-01 -6.92331292e-01 -1.50735750e-01 4.27149814e+02] [ 6.76115146e-01 7.21572555e-01 -1.49001200e-01 -1.47489924e+02] [ 2.11924973e-01 3.22947137e-03 9.77280603e-01 -9.36992558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.316559995 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:427.17, Y:-147.47, Z:-936.99 [[ 7.05431772e-01 -6.92602365e-01 -1.50558890e-01 4.27169333e+02] [ 6.76414638e-01 7.21312504e-01 -1.48901003e-01 -1.47470820e+02] [ 2.11729197e-01 3.19926134e-03 9.77323136e-01 -9.36986997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:427.18, Y:-147.44, Z:-937.00 [[ 7.04162215e-01 -6.98056945e-01 -1.29892556e-01 4.27180878e+02] [ 6.79812853e-01 7.15616544e-01 -1.60460112e-01 -1.47440232e+02] [ 2.04963558e-01 2.46873192e-02 9.78458214e-01 -9.36996943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.376559995 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:427.22, Y:-147.44, Z:-936.97 [[ 7.04857736e-01 -6.89846690e-01 -1.65188122e-01 4.27215063e+02] [ 6.77111891e-01 7.23731883e-01 -1.33160237e-01 -1.47441641e+02] [ 2.11412059e-01 -1.79918188e-02 9.77231414e-01 -9.36967728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:427.23, Y:-147.41, Z:-936.97 [[ 7.04461087e-01 -6.93879192e-01 -1.49218777e-01 4.27227636e+02] [ 6.77972922e-01 7.20085522e-01 -1.47748291e-01 -1.47414498e+02] [ 2.09969746e-01 2.91663191e-03 9.77703533e-01 -9.36969218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4365599950002 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:427.25, Y:-147.39, Z:-936.96 [[ 7.04147274e-01 -6.94322580e-01 -1.48636376e-01 4.27246967e+02] [ 6.78539309e-01 7.19658414e-01 -1.47228304e-01 -1.47394851e+02] [ 2.09191354e-01 2.81478479e-03 9.77870674e-01 -9.36963317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:427.27, Y:-147.38, Z:-936.96 [[ 7.04154848e-01 -6.94428461e-01 -1.48104906e-01 4.27266318e+02] [ 6.78744445e-01 7.19556179e-01 -1.46781759e-01 -1.47375673e+02] [ 2.08499231e-01 2.83170493e-03 9.78018431e-01 -9.36957651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.496559995 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:427.28, Y:-147.36, Z:-936.95 [[ 7.04357822e-01 -6.94240106e-01 -1.48022748e-01 4.27284724e+02] [ 6.78551828e-01 7.19737445e-01 -1.46783608e-01 -1.47356986e+02] [ 2.08440582e-01 2.94707639e-03 9.78030592e-01 -9.36951902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:427.30, Y:-147.34, Z:-936.95 [[ 7.05170627e-01 -6.93401255e-01 -1.48084730e-01 4.27301980e+02] [ 6.77671422e-01 7.20544420e-01 -1.46891739e-01 -1.47336879e+02] [ 2.08556542e-01 3.23094996e-03 9.78004974e-01 -9.36946559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.556559995 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:427.32, Y:-147.32, Z:-936.94 [[ 7.05970444e-01 -6.92540671e-01 -1.48300881e-01 4.27319651e+02] [ 6.76729771e-01 7.21370121e-01 -1.47180048e-01 -1.47317683e+02] [ 2.08907994e-01 3.54514322e-03 9.77928874e-01 -9.36941268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:427.32, Y:-147.28, Z:-936.96 [[ 7.05294278e-01 -6.99015738e-01 -1.18054989e-01 4.27323526e+02] [ 6.80034932e-01 7.14162345e-01 -1.65905505e-01 -1.47279057e+02] [ 2.00280986e-01 3.67306870e-02 9.79049735e-01 -9.36961213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.616559995 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:427.37, Y:-147.29, Z:-936.92 [[ 7.07145778e-01 -6.85900179e-01 -1.71714278e-01 4.27367232e+02] [ 6.74837067e-01 7.27193276e-01 -1.25637863e-01 -1.47289441e+02] [ 2.11044501e-01 -2.70348759e-02 9.77102520e-01 -9.36918583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:427.38, Y:-147.26, Z:-936.92 [[ 7.07945465e-01 -6.90141773e-01 -1.50058498e-01 4.27376137e+02] [ 6.73866421e-01 7.23660768e-01 -1.49060857e-01 -1.47256738e+02] [ 2.11464572e-01 4.40757512e-03 9.77375725e-01 -9.36924049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.676559995 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:427.38, Y:-147.22, Z:-936.94 [[ 7.06942472e-01 -6.97014419e-01 -1.20013502e-01 4.27379643e+02] [ 6.77164676e-01 7.16015192e-01 -1.69617941e-01 -1.47217389e+02] [ 2.04157642e-01 3.86412223e-02 9.78175094e-01 -9.36944484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:427.42, Y:-147.23, Z:-936.90 [[ 7.07569508e-01 -6.84468865e-01 -1.75635319e-01 4.27423863e+02] [ 6.73010734e-01 7.28512087e-01 -1.27775938e-01 -1.47229757e+02] [ 2.15411104e-01 -2.77940974e-02 9.76127832e-01 -9.36900392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.736559995 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:427.43, Y:-147.20, Z:-936.91 [[ 7.07774780e-01 -6.89832832e-01 -1.52267938e-01 4.27433615e+02] [ 6.73022462e-01 7.23953425e-01 -1.51433831e-01 -1.47196469e+02] [ 2.14698924e-01 4.70130374e-03 9.76668967e-01 -9.36906145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:427.45, Y:-147.18, Z:-936.90 [[ 7.07028554e-01 -6.90514653e-01 -1.52643826e-01 4.27452175e+02] [ 6.73623609e-01 7.23304112e-01 -1.51863081e-01 -1.47177311e+02] [ 2.15271590e-01 4.54704915e-03 9.76543633e-01 -9.36900190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.796559995 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:427.46, Y:-147.14, Z:-936.92 [[ 7.04800916e-01 -6.98659154e-01 -1.23008355e-01 4.27457651e+02] [ 6.78699286e-01 7.14542572e-01 -1.69694410e-01 -1.47140333e+02] [ 2.06453259e-01 3.61150928e-02 9.77789728e-01 -9.36918920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:427.50, Y:-147.15, Z:-936.88 [[ 7.02742640e-01 -6.89541837e-01 -1.75170879e-01 4.27500752e+02] [ 6.77684377e-01 7.23734432e-01 -1.30201219e-01 -1.47151229e+02] [ 2.16556384e-01 -2.72126201e-02 9.75890776e-01 -9.36876174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.856559995 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:427.50, Y:-147.10, Z:-936.91 [[ 6.99801871e-01 -7.03943286e-01 -1.21413310e-01 4.27496423e+02] [ 6.83701855e-01 7.09285849e-01 -1.71654766e-01 -1.47100573e+02] [ 2.06951962e-01 3.71138213e-02 9.77646894e-01 -9.36907741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:427.54, Y:-147.11, Z:-936.86 [[ 6.98924843e-01 -6.92999988e-01 -1.76791066e-01 4.27540916e+02] [ 6.81644511e-01 7.20287724e-01 -1.28632637e-01 -1.47114274e+02] [ 2.16482850e-01 -3.06041141e-02 9.75806622e-01 -9.36862725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.916559995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:427.55, Y:-147.08, Z:-936.87 [[ 6.97011558e-01 -7.00547524e-01 -1.52996914e-01 4.27549923e+02] [ 6.83764199e-01 7.13603879e-01 -1.52433670e-01 -1.47082698e+02] [ 2.15966221e-01 1.63421812e-03 9.76399468e-01 -9.36868520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:427.57, Y:-147.06, Z:-936.86 [[ 6.92492661e-01 -7.05086290e-01 -1.52667085e-01 4.27570263e+02] [ 6.88468331e-01 7.09121462e-01 -1.52177886e-01 -1.47064059e+02] [ 2.15558047e-01 2.75616349e-04 9.76490989e-01 -9.36861526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9765599950001 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:427.58, Y:-147.03, Z:-936.88 [[ 6.89316110e-01 -7.13376390e-01 -1.26243525e-01 4.27579122e+02] [ 6.93995347e-01 7.00227952e-01 -1.67485147e-01 -1.47028998e+02] [ 2.07879194e-01 2.78377909e-02 9.77758303e-01 -9.36878359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:427.61, Y:-147.02, Z:-936.86 [[ 6.87724967e-01 -7.10065066e-01 -1.51135608e-01 4.27610871e+02] [ 6.94977953e-01 7.04119360e-01 -1.45676258e-01 -1.47023389e+02] [ 2.09857129e-01 -4.85071524e-03 9.77720029e-01 -9.36858316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.036559995 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:427.63, Y:-147.00, Z:-936.85 [[ 6.86201193e-01 -7.12212168e-01 -1.47924813e-01 4.27629047e+02] [ 6.96427574e-01 7.01963919e-01 -1.49115030e-01 -1.47002336e+02] [ 2.10039420e-01 -6.96007149e-04 9.77692670e-01 -9.36854414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:427.65, Y:-146.98, Z:-936.85 [[ 6.84614754e-01 -7.14327848e-01 -1.45046077e-01 4.27647529e+02] [ 6.97844726e-01 6.99803639e-01 -1.52602770e-01 -1.46980182e+02] [ 2.10512181e-01 3.25446763e-03 9.77585817e-01 -9.36850774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.096559995 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:427.68, Y:-146.98, Z:-936.82 [[ 6.83441026e-01 -7.08990387e-01 -1.73899386e-01 4.27677117e+02] [ 6.96509410e-01 7.04640913e-01 -1.35483674e-01 -1.46976648e+02] [ 2.18593244e-01 -2.85274577e-02 9.75398984e-01 -9.36821979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:427.69, Y:-146.95, Z:-936.83 [[ 6.83276846e-01 -7.13479060e-01 -1.55178553e-01 4.27688470e+02] [ 6.96460346e-01 7.00673028e-01 -1.54920282e-01 -1.46945717e+02] [ 2.19261803e-01 -2.22226683e-03 9.75663530e-01 -9.36825676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.156559995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:427.71, Y:-146.93, Z:-936.82 [[ 6.82949240e-01 -7.13645034e-01 -1.55856027e-01 4.27707153e+02] [ 6.96459968e-01 7.00503979e-01 -1.55684581e-01 -1.46926085e+02] [ 2.20281295e-01 -2.22281725e-03 9.75433858e-01 -9.36820205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:427.72, Y:-146.90, Z:-936.83 [[ 6.82841960e-01 -7.16835042e-01 -1.40976525e-01 4.27721389e+02] [ 6.97545025e-01 6.97083343e-01 -1.65848579e-01 -1.46896736e+02] [ 2.17158460e-01 1.49108954e-02 9.76022473e-01 -9.36827841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.2165599950001 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:427.75, Y:-146.89, Z:-936.80 [[ 6.83714027e-01 -7.09819294e-01 -1.69386242e-01 4.27749676e+02] [ 6.95185554e-01 7.04130962e-01 -1.44625839e-01 -1.46893007e+02] [ 2.21928309e-01 -1.88721536e-02 9.74880335e-01 -9.36803268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:427.76, Y:-146.87, Z:-936.80 [[ 6.84346323e-01 -7.12024271e-01 -1.57135446e-01 4.27763246e+02] [ 6.94458731e-01 7.02153136e-01 -1.57187928e-01 -1.46866049e+02] [ 2.22254766e-01 -1.55310197e-03 9.74987388e-01 -9.36803620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.276559995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:427.78, Y:-146.85, Z:-936.80 [[ 6.85034921e-01 -7.11276965e-01 -1.57519002e-01 4.27781125e+02] [ 6.93585092e-01 7.02910744e-01 -1.57658511e-01 -1.46847228e+02] [ 2.22860666e-01 -1.25124540e-03 9.74849505e-01 -9.36797587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:427.80, Y:-146.83, Z:-936.79 [[ 6.85690843e-01 -7.10680460e-01 -1.57357403e-01 4.27799812e+02] [ 6.92997968e-01 7.03514212e-01 -1.57548629e-01 -1.46827537e+02] [ 2.22669901e-01 -1.01870804e-03 9.74893367e-01 -9.36792021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.336559995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:427.82, Y:-146.81, Z:-936.79 [[ 6.87226863e-01 -7.09367146e-01 -1.56580622e-01 4.27818348e+02] [ 6.91807299e-01 7.04838971e-01 -1.56858808e-01 -1.46807570e+02] [ 2.21634610e-01 -5.26030140e-04 9.75129644e-01 -9.36785839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:427.84, Y:-146.79, Z:-936.78 [[ 6.87799541e-01 -7.08918618e-01 -1.56096718e-01 4.27837426e+02] [ 6.91436725e-01 7.05290220e-01 -1.56463932e-01 -1.46787960e+02] [ 2.21013683e-01 -3.15183199e-04 9.75270656e-01 -9.36779557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.396559995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:427.86, Y:-146.77, Z:-936.77 [[ 6.88325143e-01 -7.08547812e-01 -1.55462198e-01 4.27856306e+02] [ 6.91180118e-01 7.05662795e-01 -1.55916852e-01 -1.46768482e+02] [ 2.20178434e-01 -1.30891239e-04 9.75459605e-01 -9.36773571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:427.87, Y:-146.75, Z:-936.77 [[ 6.89238920e-01 -7.07863147e-01 -1.54529854e-01 4.27874595e+02] [ 6.90669187e-01 7.06349590e-01 -1.55068797e-01 -1.46749838e+02] [ 2.18919586e-01 1.50441143e-04 9.75742893e-01 -9.36767509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.4565599950001 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:427.89, Y:-146.73, Z:-936.76 [[ 6.90394721e-01 -7.06922700e-01 -1.53673111e-01 4.27893988e+02] [ 6.89884557e-01 7.07290644e-01 -1.54270034e-01 -1.46730269e+02] [ 2.17748542e-01 4.90510803e-04 9.76004781e-01 -9.36761222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:427.91, Y:-146.71, Z:-936.75 [[ 6.92930711e-01 -7.04718059e-01 -1.52379421e-01 4.27912467e+02] [ 6.87897287e-01 7.09486384e-01 -1.53056829e-01 -1.46710104e+02] [ 2.15973036e-01 1.23638677e-03 9.76398545e-01 -9.36754886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.516559995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:427.93, Y:-146.69, Z:-936.75 [[ 6.94213357e-01 -7.03516090e-01 -1.52095122e-01 4.27931508e+02] [ 6.86711228e-01 7.10677368e-01 -1.52857348e-01 -1.46689843e+02] [ 2.15628165e-01 1.67018459e-03 9.76474119e-01 -9.36749006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:427.95, Y:-146.67, Z:-936.74 [[ 6.95587076e-01 -7.02224682e-01 -1.51786414e-01 4.27950418e+02] [ 6.85439241e-01 7.11952217e-01 -1.52633835e-01 -1.46669368e+02] [ 2.15247920e-01 2.12975803e-03 9.76557114e-01 -9.36743426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.576559995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:427.97, Y:-146.65, Z:-936.74 [[ 6.98789028e-01 -6.98921106e-01 -1.52325907e-01 4.27967795e+02] [ 6.81917766e-01 7.15191508e-01 -1.53262087e-01 -1.46648835e+02] [ 2.16060302e-01 3.22412299e-03 9.76374698e-01 -9.36737881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:427.99, Y:-146.63, Z:-936.73 [[ 7.00263373e-01 -6.97439390e-01 -1.52346662e-01 4.27986349e+02] [ 6.80385708e-01 7.16634125e-01 -1.53332382e-01 -1.46628235e+02] [ 2.16116860e-01 3.71855948e-03 9.76360423e-01 -9.36732524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.636559995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:428.00, Y:-146.61, Z:-936.73 [[ 7.01287598e-01 -6.96342410e-01 -1.52653049e-01 4.28004839e+02] [ 6.79174526e-01 7.17697851e-01 -1.53726245e-01 -1.46607959e+02] [ 2.16604869e-01 4.12824730e-03 9.76250628e-01 -9.36727188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:428.02, Y:-146.59, Z:-936.72 [[ 7.02531861e-01 -6.95021676e-01 -1.52950496e-01 4.28023442e+02] [ 6.77499311e-01 7.18968574e-01 -1.55173687e-01 -1.46588069e+02] [ 2.17815677e-01 5.39060352e-03 9.75975037e-01 -9.36721828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.6965599950001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:428.04, Y:-146.57, Z:-936.72 [[ 7.03321735e-01 -6.93885579e-01 -1.54471165e-01 4.28043245e+02] [ 6.76269405e-01 7.20068890e-01 -1.55436435e-01 -1.46567280e+02] [ 2.19084981e-01 4.85770025e-03 9.75693689e-01 -9.36715892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:428.06, Y:-146.55, Z:-936.71 [[ 7.03175867e-01 -6.93972904e-01 -1.54742722e-01 4.28062286e+02] [ 6.76230092e-01 7.19983368e-01 -1.56002605e-01 -1.46546858e+02] [ 2.19673767e-01 5.05558254e-03 9.75560289e-01 -9.36710682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.756559995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:428.08, Y:-146.53, Z:-936.71 [[ 7.03142269e-01 -6.93915763e-01 -1.55151101e-01 4.28081216e+02] [ 6.76056514e-01 7.20037749e-01 -1.56503131e-01 -1.46527536e+02] [ 2.20314639e-01 5.15305404e-03 9.75415248e-01 -9.36705238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:428.09, Y:-146.50, Z:-936.72 [[ 7.03095625e-01 -6.98740667e-01 -1.31977358e-01 4.28089266e+02] [ 6.77789585e-01 7.14656415e-01 -1.72822126e-01 -1.46495947e+02] [ 2.15076313e-01 3.20576021e-02 9.76070945e-01 -9.36720370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.816559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:428.13, Y:-146.50, Z:-936.69 [[ 7.01572200e-01 -6.91143655e-01 -1.73542208e-01 4.28126907e+02] [ 6.77460223e-01 7.22426903e-01 -1.38372744e-01 -1.46500403e+02] [ 2.21007003e-01 -2.04894726e-02 9.75056966e-01 -9.36685275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:428.14, Y:-146.46, Z:-936.70 [[ 6.99294621e-01 -7.00567716e-01 -1.42098235e-01 4.28136762e+02] [ 6.81503617e-01 7.13375866e-01 -1.63241214e-01 -1.46463706e+02] [ 2.15730976e-01 1.73132417e-02 9.76299338e-01 -9.36699087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.876559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:428.16, Y:-146.45, Z:-936.69 [[ 6.97566737e-01 -7.00504843e-01 -1.50643993e-01 4.28162231e+02] [ 6.83462468e-01 7.13635222e-01 -1.53635365e-01 -1.46449578e+02] [ 2.15127176e-01 4.21140505e-03 9.76576962e-01 -9.36688442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:428.19, Y:-146.44, Z:-936.67 [[ 6.95502860e-01 -6.99564698e-01 -1.63966474e-01 4.28185627e+02] [ 6.84690491e-01 7.14466593e-01 -1.44001459e-01 -1.46440022e+02] [ 2.17886905e-01 -1.21128590e-02 9.75898855e-01 -9.36671011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9365599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.20, Y:-146.41, Z:-936.68 [[ 6.93887346e-01 -7.05933124e-01 -1.42052020e-01 4.28201346e+02] [ 6.87284461e-01 7.08126364e-01 -1.61855255e-01 -1.46407993e+02] [ 2.14849766e-01 1.46791676e-02 9.76536789e-01 -9.36678704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:428.23, Y:-146.40, Z:-936.66 [[ 6.91346521e-01 -7.04177526e-01 -1.61783807e-01 4.28226534e+02] [ 6.89540629e-01 7.09914976e-01 -1.43368227e-01 -1.46403037e+02] [ 2.15809431e-01 -1.24393828e-02 9.76356263e-01 -9.36659782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.24, Y:-146.38, Z:-936.66 [[ 6.87365362e-01 -7.10494534e-01 -1.50752702e-01 4.28244268e+02] [ 6.93915209e-01 7.03702665e-01 -1.52591748e-01 -1.46380671e+02] [ 2.14500681e-01 2.76689523e-04 9.76723800e-01 -9.36658503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.26, Y:-146.36, Z:-936.65 [[ 6.85486213e-01 -7.12389599e-01 -1.50365261e-01 4.28264628e+02] [ 6.95922388e-01 7.01784152e-01 -1.52286027e-01 -1.46362181e+02] [ 2.14010938e-01 -2.52579685e-04 9.76831231e-01 -9.36652949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.28, Y:-146.34, Z:-936.65 [[ 6.83842244e-01 -7.13973786e-01 -1.50337020e-01 4.28284668e+02] [ 6.97531671e-01 7.00172096e-01 -1.52343706e-01 -1.46343504e+02] [ 2.14031199e-01 -6.85770616e-04 9.76826584e-01 -9.36647204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:428.30, Y:-146.33, Z:-936.64 [[ 6.82083058e-01 -7.15584947e-01 -1.50668130e-01 4.28304141e+02] [ 6.99089191e-01 6.98524805e-01 -1.52765833e-01 -1.46325421e+02] [ 2.14562357e-01 -1.13147505e-03 9.76709637e-01 -9.36642761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.116559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.32, Y:-146.31, Z:-936.64 [[ 6.81650004e-01 -7.15934758e-01 -1.50965873e-01 4.28323352e+02] [ 6.99370490e-01 6.98166142e-01 -1.53117459e-01 -1.46306106e+02] [ 2.15021372e-01 -1.20855958e-03 9.76608596e-01 -9.36637409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.34, Y:-146.29, Z:-936.63 [[ 6.81517940e-01 -7.15947110e-01 -1.51502587e-01 4.28342713e+02] [ 6.99244951e-01 6.98153565e-01 -1.53746866e-01 -1.46285918e+02] [ 2.15846696e-01 -1.15617138e-03 9.76426581e-01 -9.36631542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.36, Y:-146.27, Z:-936.63 [[ 6.81918129e-01 -7.15502300e-01 -1.51802915e-01 4.28361576e+02] [ 6.98702764e-01 6.98609725e-01 -1.54139223e-01 -1.46265687e+02] [ 2.16337961e-01 -9.54785597e-04 9.76318071e-01 -9.36626139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.38, Y:-146.25, Z:-936.62 [[ 6.83010453e-01 -7.14202392e-01 -1.53008708e-01 4.28379575e+02] [ 6.97079460e-01 6.99939076e-01 -1.55452620e-01 -1.46245443e+02] [ 2.18121407e-01 -4.83463477e-04 9.75921523e-01 -9.36620720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-146.23, Z:-936.62 [[ 6.83377451e-01 -7.13810002e-01 -1.53200981e-01 4.28398321e+02] [ 6.96613844e-01 7.00339342e-01 -1.55736824e-01 -1.46225191e+02] [ 2.18459177e-01 -2.94890323e-04 9.75846044e-01 -9.36615274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:-146.20, Z:-936.61 [[ 6.83532237e-01 -7.13632514e-01 -1.53337263e-01 4.28417266e+02] [ 6.96381057e-01 7.00520239e-01 -1.55964160e-01 -1.46204607e+02] [ 2.18716951e-01 -1.74634447e-04 9.75788330e-01 -9.36609443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.296559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.44, Y:-146.18, Z:-936.60 [[ 6.83688628e-01 -7.13504288e-01 -1.53236714e-01 4.28435835e+02] [ 6.96252774e-01 7.00650859e-01 -1.55950147e-01 -1.46184330e+02] [ 2.18636534e-01 -7.01456911e-05 9.75806365e-01 -9.36603770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.46, Y:-146.16, Z:-936.60 [[ 6.83594427e-01 -7.13605031e-01 -1.53187855e-01 4.28455175e+02] [ 6.96346652e-01 7.00548256e-01 -1.55991929e-01 -1.46163848e+02] [ 2.18632111e-01 -3.66364927e-05 9.75807358e-01 -9.36598600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.47, Y:-146.14, Z:-936.59 [[ 6.83989444e-01 -7.13289122e-01 -1.52895618e-01 4.28472392e+02] [ 6.96264619e-01 7.00869731e-01 -1.54910296e-01 -1.46144688e+02] [ 2.17655740e-01 -4.98801927e-04 9.76025476e-01 -9.36591815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.49, Y:-146.13, Z:-936.59 [[ 6.83690589e-01 -7.13761104e-01 -1.52027189e-01 4.28489997e+02] [ 6.96744889e-01 7.00389240e-01 -1.54924086e-01 -1.46125243e+02] [ 2.17056994e-01 -4.02784395e-06 9.76158933e-01 -9.36586579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.416559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.51, Y:-146.11, Z:-936.58 [[ 6.83330814e-01 -7.14167180e-01 -1.51737395e-01 4.28508437e+02] [ 6.97209124e-01 6.99975166e-01 -1.54706835e-01 -1.46105401e+02] [ 2.16698953e-01 -7.67486391e-05 9.76238474e-01 -9.36580544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.53, Y:-146.09, Z:-936.57 [[ 6.83116296e-01 -7.14473870e-01 -1.51258769e-01 4.28527104e+02] [ 6.97612269e-01 6.99662116e-01 -1.54305039e-01 -1.46085794e+02] [ 2.16076949e-01 -1.11686319e-04 9.76376331e-01 -9.36574324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:-146.07, Z:-936.57 [[ 6.83231195e-01 -7.14567927e-01 -1.50292424e-01 4.28546113e+02] [ 6.97907197e-01 6.99566060e-01 -1.53404277e-01 -1.46066405e+02] [ 2.14757255e-01 -7.95765338e-05 9.76667454e-01 -9.36567668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:-146.06, Z:-936.54 [[ 6.84715508e-01 -7.07228549e-01 -1.76046734e-01 4.28579989e+02] [ 6.94256124e-01 7.06432816e-01 -1.37699348e-01 -1.46060089e+02] [ 2.21750100e-01 -2.79366443e-02 9.74703256e-01 -9.36539365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:-146.02, Z:-936.56 [[ 6.83562781e-01 -7.17966293e-01 -1.31401393e-01 4.28575928e+02] [ 6.97710415e-01 6.95615559e-01 -1.71228419e-01 -1.46016584e+02] [ 2.14341087e-01 2.53652536e-02 9.76429466e-01 -9.36563454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.60, Y:-146.01, Z:-936.55 [[ 6.83529535e-01 -7.14428722e-01 -1.49596043e-01 4.28603121e+02] [ 6.97874687e-01 6.99708217e-01 -1.52903020e-01 -1.46007164e+02] [ 2.13911890e-01 1.14438791e-04 9.76852952e-01 -9.36549018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.62, Y:-145.99, Z:-936.54 [[ 6.83654736e-01 -7.14291367e-01 -1.49679810e-01 4.28620968e+02] [ 6.97696328e-01 6.99848409e-01 -1.53075271e-01 -1.45988311e+02] [ 2.14093521e-01 2.19580037e-04 9.76813143e-01 -9.36543283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:-145.97, Z:-936.54 [[ 6.83538677e-01 -7.14407511e-01 -1.49655557e-01 4.28640404e+02] [ 6.97810033e-01 6.99729848e-01 -1.53098978e-01 -1.45968264e+02] [ 2.14093520e-01 2.17923443e-04 9.76813143e-01 -9.36537342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.66, Y:-145.95, Z:-936.53 [[ 6.83639997e-01 -7.14237862e-01 -1.50002103e-01 4.28658692e+02] [ 6.97547195e-01 6.99902980e-01 -1.53504820e-01 -1.45948680e+02] [ 2.14625873e-01 3.08488388e-04 9.76696288e-01 -9.36531335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.68, Y:-145.93, Z:-936.52 [[ 6.85641017e-01 -7.12027579e-01 -1.51370814e-01 4.28681007e+02] [ 6.95146919e-01 7.02151356e-01 -1.54124089e-01 -1.45928172e+02] [ 2.16025824e-01 4.48841425e-04 9.76387547e-01 -9.36523951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.70, Y:-145.91, Z:-936.52 [[ 6.85139549e-01 -7.12436528e-01 -1.51716817e-01 4.28695804e+02] [ 6.95642707e-01 7.01736532e-01 -1.53776021e-01 -1.45908910e+02] [ 2.16020888e-01 -1.82663639e-04 9.76388725e-01 -9.36519268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.71, Y:-145.89, Z:-936.51 [[ 6.85439671e-01 -7.12264068e-01 -1.51169955e-01 4.28714327e+02] [ 6.95217245e-01 7.01910773e-01 -1.54900774e-01 -1.45888346e+02] [ 2.16438076e-01 1.07917566e-03 9.76295752e-01 -9.36513448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.73, Y:-145.87, Z:-936.51 [[ 6.85482545e-01 -7.12228541e-01 -1.51142930e-01 4.28732689e+02] [ 6.95168143e-01 7.01946707e-01 -1.54958298e-01 -1.45868602e+02] [ 2.16460004e-01 1.15145852e-03 9.76290808e-01 -9.36507813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.75, Y:-145.85, Z:-936.50 [[ 6.85495897e-01 -7.12149469e-01 -1.51454643e-01 4.28750537e+02] [ 6.94998705e-01 7.02026787e-01 -1.55355046e-01 -1.45849094e+02] [ 2.16961230e-01 1.23446604e-03 9.76179441e-01 -9.36501628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.77, Y:-145.83, Z:-936.50 [[ 6.85127571e-01 -7.12493118e-01 -1.51505013e-01 4.28769515e+02] [ 6.95322028e-01 7.01678104e-01 -1.55483490e-01 -1.45828865e+02] [ 2.17088667e-01 1.18125236e-03 9.76151175e-01 -9.36495561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.79, Y:-145.81, Z:-936.49 [[ 6.84664447e-01 -7.12982786e-01 -1.51294883e-01 4.28788531e+02] [ 6.95853234e-01 7.01180698e-01 -1.55350911e-01 -1.45808903e+02] [ 2.16847577e-01 1.08421238e-03 9.76204873e-01 -9.36489941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:-145.79, Z:-936.49 [[ 6.83320444e-01 -7.14955508e-01 -1.48026325e-01 4.28805923e+02] [ 6.96392411e-01 6.99128190e-01 -1.62041306e-01 -1.45785732e+02] [ 2.19341701e-01 7.64172775e-03 9.75618175e-01 -9.36485862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.83, Y:-145.77, Z:-936.47 [[ 6.82948423e-01 -7.12884089e-01 -1.59303888e-01 4.28831215e+02] [ 6.96786549e-01 7.01236503e-01 -1.50850498e-01 -1.45772539e+02] [ 2.19248621e-01 -7.97769637e-03 9.75636407e-01 -9.36473092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.84, Y:-145.75, Z:-936.47 [[ 6.81685473e-01 -7.15895470e-01 -1.50992025e-01 4.28844769e+02] [ 6.98322517e-01 6.98204516e-01 -1.57658226e-01 -1.45748713e+02] [ 2.18290123e-01 2.03219119e-03 9.75881803e-01 -9.36472771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.86, Y:-145.73, Z:-936.47 [[ 6.79230407e-01 -7.18041472e-01 -1.51863421e-01 4.28863583e+02] [ 7.00495436e-01 6.95999882e-01 -1.57766628e-01 -1.45728662e+02] [ 2.18979905e-01 7.80257908e-04 9.75729057e-01 -9.36467091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.88, Y:-145.71, Z:-936.46 [[ 6.78731691e-01 -7.18120956e-01 -1.53706166e-01 4.28881848e+02] [ 7.00984310e-01 6.95915734e-01 -1.55956047e-01 -1.45711272e+02] [ 2.18961845e-01 -1.89329938e-03 9.75731585e-01 -9.36460862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.90, Y:-145.69, Z:-936.46 [[ 6.76951333e-01 -7.20001556e-01 -1.52756840e-01 4.28899755e+02] [ 7.02583397e-01 6.93972030e-01 -1.57414715e-01 -1.45691626e+02] [ 2.19347814e-01 -7.62318369e-04 9.75646430e-01 -9.36456231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.92, Y:-145.67, Z:-936.45 [[ 6.75947367e-01 -7.20874006e-01 -1.53087637e-01 4.28918395e+02] [ 7.03384931e-01 6.93065420e-01 -1.57828902e-01 -1.45672032e+02] [ 2.19874501e-01 -9.95505846e-04 9.75527659e-01 -9.36450339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:-145.65, Z:-936.45 [[ 6.75156510e-01 -7.21620748e-01 -1.53059410e-01 4.28937119e+02] [ 7.04137478e-01 6.92287594e-01 -1.57886983e-01 -1.45652605e+02] [ 2.19895653e-01 -1.17644231e-03 9.75522690e-01 -9.36445070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.95, Y:-145.63, Z:-936.45 [[ 6.74040582e-01 -7.25382310e-01 -1.39605872e-01 4.28951356e+02] [ 7.06317801e-01 6.88221499e-01 -1.65729698e-01 -1.45625102e+02] [ 2.16297153e-01 1.31024292e-02 9.76239657e-01 -9.36449959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.98, Y:-145.61, Z:-936.44 [[ 6.73115141e-01 -7.23553464e-01 -1.52926100e-01 4.28976886e+02] [ 7.06969912e-01 6.90254341e-01 -1.54085975e-01 -1.45613155e+02] [ 2.17047345e-01 -4.39654847e-03 9.76151177e-01 -9.36437619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.00, Y:-145.60, Z:-936.43 [[ 6.72678873e-01 -7.23582266e-01 -1.54699188e-01 4.28995409e+02] [ 7.06956350e-01 6.90215779e-01 -1.54320765e-01 -1.45595139e+02] [ 2.18439589e-01 -5.55725517e-03 9.75834649e-01 -9.36430333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.01, Y:-145.58, Z:-936.42 [[ 6.71973703e-01 -7.23554565e-01 -1.57861120e-01 4.29014118e+02] [ 7.07488040e-01 6.90200575e-01 -1.51933669e-01 -1.45578198e+02] [ 2.18888136e-01 -9.58942381e-03 9.75702838e-01 -9.36420674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.03, Y:-145.56, Z:-936.42 [[ 6.71251774e-01 -7.25383456e-01 -1.52446377e-01 4.29030718e+02] [ 7.08054690e-01 6.88341684e-01 -1.57620693e-01 -1.45555136e+02] [ 2.19270639e-01 -2.13720245e-03 9.75661734e-01 -9.36417347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:-145.54, Z:-936.41 [[ 6.70499401e-01 -7.26112236e-01 -1.52287801e-01 4.29049577e+02] [ 7.08819700e-01 6.87572299e-01 -1.57540364e-01 -1.45535439e+02] [ 2.19100860e-01 -2.31387419e-03 9.75699472e-01 -9.36411735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.07, Y:-145.52, Z:-936.41 [[ 6.69921980e-01 -7.26754013e-01 -1.51766747e-01 4.29067190e+02] [ 7.09578945e-01 6.86893418e-01 -1.57083267e-01 -1.45516069e+02] [ 2.18408474e-01 -2.45695508e-03 9.75854345e-01 -9.36405715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:429.09, Y:-145.50, Z:-936.40 [[ 6.69620407e-01 -7.27041254e-01 -1.51721869e-01 4.29085872e+02] [ 7.09870755e-01 6.86589193e-01 -1.57094851e-01 -1.45495499e+02] [ 2.18385033e-01 -2.50899954e-03 9.75859458e-01 -9.36399382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.376559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.10, Y:-145.48, Z:-936.39 [[ 6.70251383e-01 -7.26634823e-01 -1.50880478e-01 4.29104736e+02] [ 7.09628173e-01 6.87020029e-01 -1.56305264e-01 -1.45475090e+02] [ 2.17234758e-01 -2.30521850e-03 9.76116666e-01 -9.36393300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.12, Y:-145.46, Z:-936.39 [[ 6.69524712e-01 -7.27184392e-01 -1.51457979e-01 4.29123078e+02] [ 7.10041146e-01 6.86437855e-01 -1.56986119e-01 -1.45455348e+02] [ 2.18124346e-01 -2.43531071e-03 9.75917947e-01 -9.36387297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.14, Y:-145.43, Z:-936.38 [[ 6.69352156e-01 -7.28077328e-01 -1.47888797e-01 4.29139466e+02] [ 7.09555535e-01 6.85481346e-01 -1.63236841e-01 -1.45432092e+02] [ 2.20224055e-01 4.32761681e-03 9.75439715e-01 -9.36383679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:-145.42, Z:-936.37 [[ 6.70452529e-01 -7.25247947e-01 -1.56552939e-01 4.29161322e+02] [ 7.09048037e-01 6.88433546e-01 -1.52676569e-01 -1.45415842e+02] [ 2.18504663e-01 -8.64116257e-03 9.75797644e-01 -9.36373560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.18, Y:-145.39, Z:-936.37 [[ 6.70944139e-01 -7.25840405e-01 -1.51623447e-01 4.29177182e+02] [ 7.08577724e-01 6.87860657e-01 -1.57370028e-01 -1.45392905e+02] [ 2.18521329e-01 -1.85049904e-03 9.75830418e-01 -9.36370104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:-145.37, Z:-936.36 [[ 6.71603587e-01 -7.25297141e-01 -1.51303266e-01 4.29194676e+02] [ 7.08074861e-01 6.88434072e-01 -1.57125806e-01 -1.45373127e+02] [ 2.18125221e-01 -1.60778416e-03 9.75919466e-01 -9.36364700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.21, Y:-145.35, Z:-936.36 [[ 6.73536559e-01 -7.23635171e-01 -1.50667326e-01 4.29212456e+02] [ 7.06504191e-01 6.90181931e-01 -1.56527091e-01 -1.45351614e+02] [ 2.17256374e-01 -1.02037952e-03 9.76114044e-01 -9.36358710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.23, Y:-145.33, Z:-936.35 [[ 6.74245755e-01 -7.23034962e-01 -1.50376547e-01 4.29230496e+02] [ 7.05936425e-01 6.90811018e-01 -1.56313473e-01 -1.45330967e+02] [ 2.16901881e-01 -7.62586327e-04 9.76193112e-01 -9.36352869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.25, Y:-145.31, Z:-936.35 [[ 6.75307712e-01 -7.22016059e-01 -1.50506827e-01 4.29249051e+02] [ 7.04842706e-01 6.91876198e-01 -1.56537812e-01 -1.45310036e+02] [ 2.17154905e-01 -3.72447259e-04 9.76137085e-01 -9.36346996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.27, Y:-145.29, Z:-936.34 [[ 6.76459527e-01 -7.20912788e-01 -1.50622906e-01 4.29267311e+02] [ 7.03665677e-01 6.93025793e-01 -1.56747776e-01 -1.45289304e+02] [ 2.17387035e-01 4.53571503e-05 9.76085486e-01 -9.36341474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.28, Y:-145.27, Z:-936.34 [[ 6.77868543e-01 -7.19477716e-01 -1.51149116e-01 4.29284539e+02] [ 7.02053177e-01 6.94515292e-01 -1.57384391e-01 -1.45269539e+02] [ 2.18209935e-01 5.71210507e-04 9.75901685e-01 -9.36336128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.30, Y:-145.25, Z:-936.33 [[ 6.81253123e-01 -7.16086148e-01 -1.52035561e-01 4.29301959e+02] [ 6.98358312e-01 6.98009822e-01 -1.58360210e-01 -1.45248190e+02] [ 2.19521868e-01 1.70808935e-03 9.75606085e-01 -9.36331097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.32, Y:-145.23, Z:-936.33 [[ 6.82943520e-01 -7.14366316e-01 -1.52541523e-01 4.29319214e+02] [ 6.96456208e-01 6.99768050e-01 -1.58976186e-01 -1.45228393e+02] [ 2.20310916e-01 2.33326570e-03 9.75426910e-01 -9.36326105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.34, Y:-145.21, Z:-936.32 [[ 6.84592957e-01 -7.12729011e-01 -1.52806545e-01 4.29337916e+02] [ 6.94703498e-01 7.01433478e-01 -1.59305135e-01 -1.45207564e+02] [ 2.20725018e-01 2.90393166e-03 9.75331756e-01 -9.36320633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-145.19, Z:-936.32 [[ 6.85912391e-01 -7.11383059e-01 -1.53161145e-01 4.29356172e+02] [ 6.93219236e-01 7.02796212e-01 -1.59764125e-01 -1.45187514e+02] [ 2.21294564e-01 3.40994068e-03 9.75201050e-01 -9.36315044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.37, Y:-145.17, Z:-936.31 [[ 6.87542650e-01 -7.09880795e-01 -1.52821339e-01 4.29374366e+02] [ 6.91741769e-01 7.04310772e-01 -1.59498155e-01 -1.45168641e+02] [ 2.20858392e-01 3.94888042e-03 9.75297892e-01 -9.36309395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.39, Y:-145.15, Z:-936.30 [[ 6.87458172e-01 -7.09993899e-01 -1.52675882e-01 4.29393439e+02] [ 6.91874392e-01 7.04196655e-01 -1.59426777e-01 -1.45149462e+02] [ 2.20705884e-01 3.96670722e-03 9.75332342e-01 -9.36303335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.41, Y:-145.13, Z:-936.30 [[ 6.87025332e-01 -7.10355212e-01 -1.52943343e-01 4.29411945e+02] [ 6.92160661e-01 7.03832443e-01 -1.59792088e-01 -1.45130667e+02] [ 2.21155630e-01 3.91984668e-03 9.75230651e-01 -9.36297225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:-145.11, Z:-936.29 [[ 6.86368892e-01 -7.11002082e-01 -1.52884868e-01 4.29431506e+02] [ 6.92823524e-01 7.03179880e-01 -1.59792428e-01 -1.45110969e+02] [ 2.21118313e-01 3.75431872e-03 9.75239764e-01 -9.36291427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.45, Y:-145.09, Z:-936.29 [[ 6.85317953e-01 -7.11967054e-01 -1.53108512e-01 4.29450572e+02] [ 6.93737744e-01 7.02204078e-01 -1.60116757e-01 -1.45092027e+02] [ 2.21511278e-01 3.51373423e-03 9.75151479e-01 -9.36285500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.47, Y:-145.07, Z:-936.28 [[ 6.84268390e-01 -7.12994607e-01 -1.53021117e-01 4.29470582e+02] [ 6.94799553e-01 7.01162133e-01 -1.60078871e-01 -1.45072519e+02] [ 2.21427984e-01 3.21790786e-03 9.75171417e-01 -9.36279596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.50, Y:-145.06, Z:-936.26 [[ 6.82914225e-01 -7.11861203e-01 -1.63956670e-01 4.29498537e+02] [ 6.94958288e-01 7.02269039e-01 -1.54438256e-01 -1.45059225e+02] [ 2.25080296e-01 -8.47496454e-03 9.74303359e-01 -9.36264843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.51, Y:-145.03, Z:-936.27 [[ 6.81013932e-01 -7.17402469e-01 -1.46811860e-01 4.29507459e+02] [ 6.97637968e-01 6.96559882e-01 -1.67647240e-01 -1.45031530e+02] [ 2.22533796e-01 1.17485780e-02 9.74854184e-01 -9.36270371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.53, Y:-145.02, Z:-936.26 [[ 6.79796463e-01 -7.17071338e-01 -1.53900829e-01 4.29529674e+02] [ 6.98708028e-01 6.96996655e-01 -1.61253695e-01 -1.45017256e+02] [ 2.22898766e-01 2.08794627e-03 9.74839362e-01 -9.36261691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-145.00, Z:-936.26 [[ 6.78696131e-01 -7.18072392e-01 -1.54089589e-01 4.29549505e+02] [ 6.99674423e-01 6.95966074e-01 -1.61514475e-01 -1.44998575e+02] [ 2.23220211e-01 1.80670543e-03 9.74766369e-01 -9.36255765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.57, Y:-144.98, Z:-936.25 [[ 6.77790131e-01 -7.18908905e-01 -1.54176926e-01 4.29569086e+02] [ 7.00491162e-01 6.95102470e-01 -1.61693194e-01 -1.44979967e+02] [ 2.23411439e-01 1.59447717e-03 9.74722928e-01 -9.36250204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.59, Y:-144.96, Z:-936.24 [[ 6.77135606e-01 -7.19476777e-01 -1.54403817e-01 4.29589003e+02] [ 7.01004156e-01 6.94514977e-01 -1.61994199e-01 -1.44960551e+02] [ 2.23786827e-01 1.45432242e-03 9.74637030e-01 -9.36244121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:-144.94, Z:-936.24 [[ 6.77916445e-01 -7.18774458e-01 -1.54248414e-01 4.29607903e+02] [ 7.00300962e-01 6.95241125e-01 -1.61920786e-01 -1.44942756e+02] [ 2.23624366e-01 1.74845049e-03 9.74673836e-01 -9.36238330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.63, Y:-144.92, Z:-936.23 [[ 6.78934778e-01 -7.17852544e-01 -1.54062626e-01 4.29626689e+02] [ 6.99388420e-01 6.96192047e-01 -1.61779085e-01 -1.44923738e+02] [ 2.23390703e-01 2.08783079e-03 9.74726749e-01 -9.36232465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.65, Y:-144.90, Z:-936.23 [[ 6.79890954e-01 -7.16996920e-01 -1.53830128e-01 4.29645568e+02] [ 6.98548649e-01 6.97072119e-01 -1.61617594e-01 -1.44904126e+02] [ 2.23110011e-01 2.42451239e-03 9.74790257e-01 -9.36226338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.66, Y:-144.88, Z:-936.22 [[ 6.80828585e-01 -7.16168973e-01 -1.53539699e-01 4.29664644e+02] [ 6.97749900e-01 6.97921494e-01 -1.61402182e-01 -1.44884343e+02] [ 2.22749891e-01 2.75490908e-03 9.74871733e-01 -9.36220037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.68, Y:-144.87, Z:-936.21 [[ 6.82574707e-01 -7.14530806e-01 -1.53419347e-01 4.29683365e+02] [ 6.96079653e-01 6.99595951e-01 -1.61364876e-01 -1.44865936e+02] [ 2.22631728e-01 3.35149713e-03 9.74896857e-01 -9.36214046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:-144.85, Z:-936.21 [[ 6.82913380e-01 -7.14232407e-01 -1.53301615e-01 4.29702851e+02] [ 6.95783915e-01 6.99899841e-01 -1.61322524e-01 -1.44846675e+02] [ 2.22517551e-01 3.50451248e-03 9.74922386e-01 -9.36208426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:-144.83, Z:-936.20 [[ 6.82710649e-01 -7.14343131e-01 -1.53688197e-01 4.29722244e+02] [ 6.95781620e-01 6.99786630e-01 -1.61822774e-01 -1.44827433e+02] [ 2.23145932e-01 3.54470841e-03 9.74778605e-01 -9.36202447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:-144.81, Z:-936.20 [[ 6.82309488e-01 -7.14708377e-01 -1.53771579e-01 4.29741130e+02] [ 6.96114938e-01 6.99413856e-01 -1.62000774e-01 -1.44809070e+02] [ 2.23333283e-01 3.49197233e-03 9.74735888e-01 -9.36196788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.76, Y:-144.79, Z:-936.19 [[ 6.81344467e-01 -7.15609440e-01 -1.53859829e-01 4.29759972e+02] [ 6.97004694e-01 6.98493128e-01 -1.62147488e-01 -1.44789990e+02] [ 2.23504306e-01 3.23727120e-03 9.74697566e-01 -9.36191308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.78, Y:-144.77, Z:-936.19 [[ 6.80012462e-01 -7.16863150e-01 -1.53916457e-01 4.29779011e+02] [ 6.98257291e-01 6.97207930e-01 -1.62289425e-01 -1.44770818e+02] [ 2.23651083e-01 2.88554346e-03 9.74665002e-01 -9.36185728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:-144.75, Z:-936.18 [[ 6.76471311e-01 -7.20343451e-01 -1.53270604e-01 4.29799178e+02] [ 7.01962630e-01 6.93615235e-01 -1.61698400e-01 -1.44752681e+02] [ 2.22789210e-01 1.79409228e-03 9.74864990e-01 -9.36179474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.82, Y:-144.73, Z:-936.17 [[ 6.76284592e-01 -7.20528482e-01 -1.53224857e-01 4.29818327e+02] [ 7.02142532e-01 6.93423013e-01 -1.61741740e-01 -1.44732316e+02] [ 2.22789172e-01 1.79775815e-03 9.74864992e-01 -9.36173552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:-144.71, Z:-936.17 [[ 6.74063800e-01 -7.22754184e-01 -1.52526667e-01 4.29837528e+02] [ 7.04574254e-01 6.91104289e-01 -1.61089981e-01 -1.44714059e+02] [ 2.21840291e-01 1.11856259e-03 9.75082373e-01 -9.36167301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:-144.69, Z:-936.16 [[ 6.71748348e-01 -7.25091991e-01 -1.51643535e-01 4.29857341e+02] [ 7.07164803e-01 6.88651902e-01 -1.60238883e-01 -1.44694908e+02] [ 2.20617539e-01 4.03234470e-04 9.75360312e-01 -9.36161164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.88, Y:-144.68, Z:-936.15 [[ 6.67261882e-01 -7.29540277e-01 -1.50108511e-01 4.29877218e+02] [ 7.12070051e-01 6.83937132e-01 -1.58701741e-01 -1.44676941e+02] [ 2.18444097e-01 -9.92153157e-04 9.75848960e-01 -9.36154545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.90, Y:-144.66, Z:-936.15 [[ 6.65258036e-01 -7.31551521e-01 -1.49211656e-01 4.29896822e+02] [ 7.14324651e-01 6.81784315e-01 -1.57830418e-01 -1.44657930e+02] [ 2.17191249e-01 -1.58760994e-03 9.76127779e-01 -9.36148717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:-144.64, Z:-936.14 [[ 6.63264775e-01 -7.33483849e-01 -1.48597721e-01 4.29915851e+02] [ 7.16429127e-01 6.79703478e-01 -1.57265664e-01 -1.44638787e+02] [ 2.16354213e-01 -2.15096032e-03 9.76312567e-01 -9.36142978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.94, Y:-144.62, Z:-936.14 [[ 6.61774000e-01 -7.34921910e-01 -1.48138311e-01 4.29935140e+02] [ 7.17990286e-01 6.78146939e-01 -1.56865163e-01 -1.44619198e+02] [ 2.15743187e-01 -2.55258163e-03 9.76446804e-01 -9.36137089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:-144.60, Z:-936.13 [[ 6.60593637e-01 -7.36049972e-01 -1.47805567e-01 4.29954232e+02] [ 7.19203302e-01 6.76921197e-01 -1.56602375e-01 -1.44600030e+02] [ 2.15319895e-01 -2.85171912e-03 9.76539406e-01 -9.36131947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.97, Y:-144.58, Z:-936.13 [[ 6.60573463e-01 -7.36049407e-01 -1.47898516e-01 4.29972851e+02] [ 7.19163341e-01 6.76922040e-01 -1.56782145e-01 -1.44580383e+02] [ 2.15515169e-01 -2.79706642e-03 9.76496487e-01 -9.36126436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.99, Y:-144.56, Z:-936.12 [[ 6.61180946e-01 -7.35488818e-01 -1.47972822e-01 4.29991121e+02] [ 7.18552068e-01 6.77532048e-01 -1.56949830e-01 -1.44560666e+02] [ 2.15691174e-01 -2.55394065e-03 9.76458291e-01 -9.36121220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.816559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:430.01, Y:-144.54, Z:-936.12 [[ 6.62075122e-01 -7.34648407e-01 -1.48149421e-01 4.30009278e+02] [ 7.17632084e-01 6.78444368e-01 -1.57217785e-01 -1.44540312e+02] [ 2.16010936e-01 -2.22679376e-03 9.76388405e-01 -9.36115829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.03, Y:-144.52, Z:-936.11 [[ 6.63487323e-01 -7.33389379e-01 -1.48069547e-01 4.30027266e+02] [ 7.16341101e-01 6.79806547e-01 -1.57221134e-01 -1.44520594e+02] [ 2.15962958e-01 -1.75407298e-03 9.76399982e-01 -9.36110571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.04, Y:-144.50, Z:-936.10 [[ 6.66613636e-01 -7.30469127e-01 -1.48462506e-01 4.30044935e+02] [ 7.13239459e-01 6.82945305e-01 -1.57718690e-01 -1.44500036e+02] [ 2.16600405e-01 -7.51888149e-04 9.76260057e-01 -9.36104256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.06, Y:-144.48, Z:-936.10 [[ 6.68274154e-01 -7.29060978e-01 -1.47918035e-01 4.30062381e+02] [ 7.11905238e-01 6.84448710e-01 -1.57228799e-01 -1.44479896e+02] [ 2.15871690e-01 -2.31681429e-04 9.76421712e-01 -9.36098928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.08, Y:-144.46, Z:-936.09 [[ 6.69802152e-01 -7.27734734e-01 -1.47537229e-01 4.30080248e+02] [ 7.10622768e-01 6.85858659e-01 -1.56885888e-01 -1.44459623e+02] [ 2.15360997e-01 2.39191348e-04 9.76534477e-01 -9.36092944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.10, Y:-144.44, Z:-936.09 [[ 6.71140308e-01 -7.26636834e-01 -1.46865925e-01 4.30097899e+02] [ 7.09636534e-01 6.87021461e-01 -1.56261005e-01 -1.44439611e+02] [ 2.14445044e-01 6.51633277e-04 9.76735839e-01 -9.36087491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.12, Y:-144.42, Z:-936.08 [[ 6.72261424e-01 -7.25666524e-01 -1.46535573e-01 4.30116342e+02] [ 7.08703109e-01 6.88045830e-01 -1.55989870e-01 -1.44419365e+02] [ 2.14019816e-01 1.01575591e-03 9.76828791e-01 -9.36081433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.13, Y:-144.39, Z:-936.09 [[ 6.73130796e-01 -7.27662466e-01 -1.31917656e-01 4.30130753e+02] [ 7.09128732e-01 6.85727542e-01 -1.64055418e-01 -1.44390937e+02] [ 2.09836540e-01 1.68841538e-02 9.77590687e-01 -9.36086211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:-144.38, Z:-936.07 [[ 6.73413259e-01 -7.22405930e-01 -1.56984888e-01 4.30157015e+02] [ 7.08161548e-01 6.91316254e-01 -1.43488879e-01 -1.44384409e+02] [ 2.12183422e-01 -1.45433479e-02 9.77121634e-01 -9.36065750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:-144.34, Z:-936.09 [[ 6.71644194e-01 -7.32499146e-01 -1.11081405e-01 4.30155321e+02] [ 7.12859520e-01 6.79782499e-01 -1.72415368e-01 -1.44339043e+02] [ 2.01805304e-01 3.66163438e-02 9.78740958e-01 -9.36092131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:-144.35, Z:-936.05 [[ 6.73087670e-01 -7.19903239e-01 -1.69388059e-01 4.30199650e+02] [ 7.08732232e-01 6.93323093e-01 -1.30390619e-01 -1.44350495e+02] [ 2.11309282e-01 -3.22864586e-02 9.76885854e-01 -9.36048082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:-144.32, Z:-936.05 [[ 6.72677424e-01 -7.25830143e-01 -1.43790427e-01 4.30207425e+02] [ 7.09436286e-01 6.87872966e-01 -1.53397976e-01 -1.44316411e+02] [ 2.10250422e-01 1.17720837e-03 9.77646856e-01 -9.36054347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.22, Y:-144.29, Z:-936.06 [[ 6.71991465e-01 -7.29362016e-01 -1.28290764e-01 4.30220674e+02] [ 7.11487941e-01 6.83912196e-01 -1.61397082e-01 -1.44288117e+02] [ 2.05456519e-01 1.71801303e-02 9.78515438e-01 -9.36060755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.25, Y:-144.28, Z:-936.04 [[ 6.72184547e-01 -7.23928129e-01 -1.55228858e-01 4.30248964e+02] [ 7.10189567e-01 6.89705075e-01 -1.41200882e-01 -1.44283379e+02] [ 2.09281421e-01 -1.53288645e-02 9.77735298e-01 -9.36036887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.26, Y:-144.25, Z:-936.04 [[ 6.72043798e-01 -7.27818671e-01 -1.36517820e-01 4.30259833e+02] [ 7.10587826e-01 6.85711026e-01 -1.57687448e-01 -1.44251126e+02] [ 2.08379643e-01 8.96497058e-03 9.78006929e-01 -9.36043169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.28, Y:-144.24, Z:-936.03 [[ 6.72607309e-01 -7.24587150e-01 -1.50242706e-01 4.30281693e+02] [ 7.09272799e-01 6.89149750e-01 -1.48339877e-01 -1.44238239e+02] [ 2.11024892e-01 -6.78857949e-03 9.77457114e-01 -9.36029909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:-144.21, Z:-936.03 [[ 6.72844417e-01 -7.25461225e-01 -1.44866839e-01 4.30296408e+02] [ 7.08735417e-01 6.88261308e-01 -1.54888607e-01 -1.44214251e+02] [ 2.12071919e-01 1.54367479e-03 9.77252843e-01 -9.36028007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:-144.19, Z:-936.02 [[ 6.73425213e-01 -7.24775775e-01 -1.45597246e-01 4.30314761e+02] [ 7.07849703e-01 6.88982433e-01 -1.55730553e-01 -1.44193510e+02] [ 2.13183677e-01 1.81191385e-03 9.77010459e-01 -9.36022864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.356559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.33, Y:-144.17, Z:-936.02 [[ 6.74787513e-01 -7.23702376e-01 -1.44626013e-01 4.30330668e+02] [ 7.05914184e-01 6.90089659e-01 -1.59566376e-01 -1.44171781e+02] [ 2.15283482e-01 5.57984395e-03 9.76535656e-01 -9.36020013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.35, Y:-144.15, Z:-936.01 [[ 6.74818590e-01 -7.22867415e-01 -1.48602057e-01 4.30350962e+02] [ 7.06022640e-01 6.90986723e-01 -1.55143098e-01 -1.44153440e+02] [ 2.14829939e-01 -2.22969299e-04 9.76651447e-01 -9.36012621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.37, Y:-144.13, Z:-936.01 [[ 6.74834123e-01 -7.23241272e-01 -1.46700270e-01 4.30368503e+02] [ 7.05975805e-01 6.90591083e-01 -1.57105437e-01 -1.44131825e+02] [ 2.14935034e-01 2.45326859e-03 9.76625267e-01 -9.36007782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.39, Y:-144.11, Z:-936.00 [[ 6.74753016e-01 -7.23328248e-01 -1.46644509e-01 4.30386626e+02] [ 7.06059289e-01 6.90499870e-01 -1.57131190e-01 -1.44111861e+02] [ 2.14915443e-01 2.48502671e-03 9.76629498e-01 -9.36002168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:-144.09, Z:-935.99 [[ 6.75008051e-01 -7.22551766e-01 -1.49275172e-01 4.30408522e+02] [ 7.05594022e-01 6.91316762e-01 -1.55622013e-01 -1.44092092e+02] [ 2.15641389e-01 -2.81556769e-04 9.76472587e-01 -9.35994588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.42, Y:-144.07, Z:-935.99 [[ 6.74649038e-01 -7.23813660e-01 -1.44715102e-01 4.30423639e+02] [ 7.06285385e-01 6.89979825e-01 -1.58394433e-01 -1.44071008e+02] [ 2.14498555e-01 4.65049059e-03 9.76713235e-01 -9.35991144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.44, Y:-144.05, Z:-935.98 [[ 6.74219418e-01 -7.24030290e-01 -1.45630751e-01 4.30443250e+02] [ 7.06978001e-01 6.89764089e-01 -1.56229345e-01 -1.44053180e+02] [ 2.13565640e-01 2.37512086e-03 9.76925830e-01 -9.35984406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.46, Y:-144.03, Z:-935.98 [[ 6.73787306e-01 -7.24547923e-01 -1.45055068e-01 4.30462159e+02] [ 7.07632679e-01 6.89220792e-01 -1.55662104e-01 -1.44033898e+02] [ 2.12759623e-01 2.23744361e-03 9.77102009e-01 -9.35978208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.48, Y:-144.01, Z:-935.97 [[ 6.73403479e-01 -7.24996274e-01 -1.44596532e-01 4.30480793e+02] [ 7.08180224e-01 6.88749430e-01 -1.55257829e-01 -1.44014240e+02] [ 2.12152127e-01 2.15075792e-03 9.77234286e-01 -9.35972235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.50, Y:-144.00, Z:-935.97 [[ 6.73245009e-01 -7.25194649e-01 -1.44339458e-01 4.30498601e+02] [ 7.08424621e-01 6.88540570e-01 -1.55069145e-01 -1.43995286e+02] [ 2.11838887e-01 2.14590201e-03 9.77302247e-01 -9.35966743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.52, Y:-143.98, Z:-935.96 [[ 6.72770176e-01 -7.25653010e-01 -1.44249781e-01 4.30517007e+02] [ 7.08897378e-01 6.88057761e-01 -1.55051684e-01 -1.43975110e+02] [ 2.11765903e-01 2.05585701e-03 9.77318257e-01 -9.35961147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:430.55, Y:-143.96, Z:-935.94 [[ 6.73146520e-01 -7.20704884e-01 -1.65705256e-01 4.30548160e+02] [ 7.06364424e-01 6.92958317e-01 -1.44423236e-01 -1.43964636e+02] [ 2.18913368e-01 -1.98302990e-02 9.75542770e-01 -9.35938658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.55, Y:-143.93, Z:-935.96 [[ 6.72427597e-01 -7.28641794e-01 -1.30085597e-01 4.30548610e+02] [ 7.08934512e-01 6.84544301e-01 -1.69737911e-01 -1.43926703e+02] [ 2.12727490e-01 2.19142865e-02 9.76865794e-01 -9.35956572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.57, Y:-143.92, Z:-935.94 [[ 6.72061756e-01 -7.26102812e-01 -1.45284906e-01 4.30573591e+02] [ 7.09066889e-01 6.87583004e-01 -1.56376979e-01 -1.43915526e+02] [ 2.13441196e-01 2.07827080e-03 9.76953702e-01 -9.35944366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.59, Y:-143.90, Z:-935.94 [[ 6.71572339e-01 -7.26549531e-01 -1.45314738e-01 4.30592448e+02] [ 7.09503595e-01 6.87111244e-01 -1.56469769e-01 -1.43895293e+02] [ 2.13530427e-01 1.97943995e-03 9.76934409e-01 -9.35938813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.61, Y:-143.88, Z:-935.93 [[ 6.71002427e-01 -7.27105912e-01 -1.45164513e-01 4.30611207e+02] [ 7.10089763e-01 6.86522782e-01 -1.56393728e-01 -1.43875083e+02] [ 2.13373549e-01 1.86073608e-03 9.76968918e-01 -9.35933204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:-143.86, Z:-935.93 [[ 6.70255246e-01 -7.27856685e-01 -1.44853551e-01 4.30629476e+02] [ 7.10912372e-01 6.85727222e-01 -1.56146649e-01 -1.43855446e+02] [ 2.12982405e-01 1.67992890e-03 9.77054591e-01 -9.35928101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:430.65, Y:-143.84, Z:-935.92 [[ 6.68868921e-01 -7.29245984e-01 -1.44272870e-01 4.30649220e+02] [ 7.12453617e-01 6.84250419e-01 -1.55599511e-01 -1.43836082e+02] [ 2.12189090e-01 1.28794886e-03 9.77227779e-01 -9.35922568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:-143.82, Z:-935.92 [[ 6.67830884e-01 -7.30219364e-01 -1.44158214e-01 4.30668273e+02] [ 7.13457210e-01 6.83211973e-01 -1.55564167e-01 -1.43816958e+02] [ 2.12086585e-01 1.03983835e-03 9.77250326e-01 -9.35916731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:-143.80, Z:-935.91 [[ 6.66860875e-01 -7.31097288e-01 -1.44198924e-01 4.30687173e+02] [ 7.14326404e-01 6.82272730e-01 -1.55697498e-01 -1.43798077e+02] [ 2.12213012e-01 8.23470656e-04 9.77223086e-01 -9.35910642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.71, Y:-143.78, Z:-935.91 [[ 6.65842060e-01 -7.32131899e-01 -1.43656654e-01 4.30706480e+02] [ 7.15498924e-01 6.81162681e-01 -1.55173104e-01 -1.43778545e+02] [ 2.11460730e-01 5.34597821e-04 9.77386348e-01 -9.35905038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.73, Y:-143.76, Z:-935.90 [[ 6.64528880e-01 -7.33330717e-01 -1.43622516e-01 4.30725241e+02] [ 7.16714166e-01 6.79872057e-01 -1.55224968e-01 -1.43759213e+02] [ 2.11476172e-01 2.15182763e-04 9.77383130e-01 -9.35899136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:-143.74, Z:-935.89 [[ 6.63556750e-01 -7.34244499e-01 -1.43448442e-01 4.30744496e+02] [ 7.17672485e-01 6.78885127e-01 -1.55116697e-01 -1.43739419e+02] [ 2.11278595e-01 -2.02683985e-05 9.77425882e-01 -9.35893485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:-143.72, Z:-935.89 [[ 6.61784377e-01 -7.35913214e-01 -1.43084525e-01 4.30763495e+02] [ 7.19445731e-01 6.77075699e-01 -1.54810656e-01 -1.43720616e+02] [ 2.10806261e-01 -4.90277149e-04 9.77527739e-01 -9.35887945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.076559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.78, Y:-143.70, Z:-935.88 [[ 6.60817246e-01 -7.36797665e-01 -1.43002688e-01 4.30782803e+02] [ 7.20352650e-01 6.76112924e-01 -1.54801077e-01 -1.43700655e+02] [ 2.10743038e-01 -7.17143908e-04 9.77541231e-01 -9.35881867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.81, Y:-143.69, Z:-935.87 [[ 6.60860075e-01 -7.34433225e-01 -1.54505014e-01 4.30810786e+02] [ 7.19106504e-01 6.78572350e-01 -1.49751130e-01 -1.43685521e+02] [ 2.14825036e-01 -1.21410175e-02 9.76577083e-01 -9.35866220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.84, Y:-143.67, Z:-935.85 [[ 6.61969967e-01 -7.30647039e-01 -1.67184534e-01 4.30839965e+02] [ 7.16749414e-01 6.82313958e-01 -1.43937279e-01 -1.43671444e+02] [ 2.19239687e-01 -2.45472610e-02 9.75362185e-01 -9.35847522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-143.63, Z:-935.87 [[ 6.58619260e-01 -7.42275372e-01 -1.23482559e-01 4.30832272e+02] [ 7.21962615e-01 6.69602364e-01 -1.74363576e-01 -1.43629546e+02] [ 2.12110002e-01 2.56894183e-02 9.76908082e-01 -9.35871851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.86, Y:-143.62, Z:-935.86 [[ 6.57811252e-01 -7.39234248e-01 -1.44281263e-01 4.30860050e+02] [ 7.22545762e-01 6.73446709e-01 -1.56195879e-01 -1.43620755e+02] [ 2.12631085e-01 -1.50240828e-03 9.77131396e-01 -9.35856609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.88, Y:-143.60, Z:-935.85 [[ 6.56956395e-01 -7.39910654e-01 -1.44708393e-01 4.30877976e+02] [ 7.23118768e-01 6.72703093e-01 -1.56747556e-01 -1.43601973e+02] [ 2.13324970e-01 -1.66504578e-03 9.76979880e-01 -9.35850795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.256559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.91, Y:-143.59, Z:-935.84 [[ 6.58925070e-01 -7.36154450e-01 -1.54578066e-01 4.30908229e+02] [ 7.20319632e-01 6.76723943e-01 -1.52264021e-01 -1.43585394e+02] [ 2.16696515e-01 -1.10150348e-02 9.76176874e-01 -9.35835747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.91, Y:-143.56, Z:-935.84 [[ 6.56986748e-01 -7.40670958e-01 -1.40623414e-01 4.30912516e+02] [ 7.23083904e-01 6.71857434e-01 -1.60490676e-01 -1.43560065e+02] [ 2.13349669e-01 3.75772037e-03 9.76968678e-01 -9.35840653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.93, Y:-143.54, Z:-935.83 [[ 6.57985753e-01 -7.39171479e-01 -1.43806379e-01 4.30932633e+02] [ 7.22527433e-01 6.73516081e-01 -1.55981401e-01 -1.43541954e+02] [ 2.12152912e-01 -1.27051436e-03 9.77235656e-01 -9.35832704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:-143.52, Z:-935.83 [[ 6.59037480e-01 -7.38372343e-01 -1.43093965e-01 4.30950283e+02] [ 7.21857289e-01 6.74392604e-01 -1.55295428e-01 -1.43522616e+02] [ 2.11167361e-01 -9.47913675e-04 9.77449460e-01 -9.35827143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:-143.50, Z:-935.82 [[ 6.58851293e-01 -7.38544251e-01 -1.43064193e-01 4.30969139e+02] [ 7.22027249e-01 6.74204320e-01 -1.55322850e-01 -1.43501989e+02] [ 2.11167295e-01 -9.61585269e-04 9.77449461e-01 -9.35821189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:-143.48, Z:-935.82 [[ 6.61582672e-01 -7.36157532e-01 -1.42760138e-01 4.30986510e+02] [ 7.19639033e-01 6.76810216e-01 -1.55072869e-01 -1.43480897e+02] [ 2.10779580e-01 -1.42244548e-04 9.77533605e-01 -9.35815700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:-143.46, Z:-935.81 [[ 6.63486349e-01 -7.35364122e-01 -1.37932859e-01 4.31005325e+02] [ 7.18915974e-01 6.77663265e-01 -1.54700753e-01 -1.43458406e+02] [ 2.07233415e-01 3.47970192e-03 9.78285339e-01 -9.35814709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-143.44, Z:-935.81 [[ 6.63276821e-01 -7.35055122e-01 -1.40562533e-01 4.31025341e+02] [ 7.19095027e-01 6.78007350e-01 -1.52342957e-01 -1.43439166e+02] [ 2.07282902e-01 -3.22666851e-05 9.78281042e-01 -9.35807491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.04, Y:-143.42, Z:-935.80 [[ 6.64735547e-01 -7.32302076e-01 -1.47852371e-01 4.31044778e+02] [ 7.17031619e-01 6.80943817e-01 -1.48933459e-01 -1.43422195e+02] [ 2.09743439e-01 -7.01346038e-03 9.77731303e-01 -9.35795420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.06, Y:-143.40, Z:-935.79 [[ 6.66335855e-01 -7.32406942e-01 -1.39916404e-01 4.31060000e+02] [ 7.15337039e-01 6.80850857e-01 -1.57273745e-01 -1.43396723e+02] [ 2.10450586e-01 4.70974862e-03 9.77593151e-01 -9.35793923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.08, Y:-143.38, Z:-935.79 [[ 6.68656393e-01 -7.29748536e-01 -1.42708452e-01 4.31078488e+02] [ 7.13037311e-01 6.83712477e-01 -1.55290188e-01 -1.43377906e+02] [ 2.10894337e-01 2.07932668e-03 9.77506652e-01 -9.35787268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.09, Y:-143.35, Z:-935.80 [[ 6.71876340e-01 -7.30422071e-01 -1.22742748e-01 4.31088654e+02] [ 7.11386761e-01 6.82528115e-01 -1.67583558e-01 -1.43345739e+02] [ 2.06182105e-01 2.52778617e-02 9.78187083e-01 -9.35798752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-143.33, Z:-935.78 [[ 6.73914910e-01 -7.25330009e-01 -1.40481573e-01 4.31115646e+02] [ 7.08898114e-01 6.88390257e-01 -1.53565355e-01 -1.43333404e+02] [ 2.08091706e-01 3.90285979e-03 9.78101533e-01 -9.35784561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-143.32, Z:-935.76 [[ 6.76424375e-01 -7.18883807e-01 -1.60175333e-01 4.31140575e+02] [ 7.04816243e-01 6.94934005e-01 -1.42480846e-01 -1.43323770e+02] [ 2.13738459e-01 -1.65166588e-02 9.76751284e-01 -9.35763336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.14, Y:-143.28, Z:-935.78 [[ 6.77082743e-01 -7.25345405e-01 -1.24229639e-01 4.31144164e+02] [ 7.05850466e-01 6.87860760e-01 -1.69182430e-01 -1.43282624e+02] [ 2.08168392e-01 2.68629553e-02 9.77724042e-01 -9.35781351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.17, Y:-143.27, Z:-935.77 [[ 6.78098326e-01 -7.21691093e-01 -1.39084960e-01 4.31168785e+02] [ 7.04476250e-01 6.92164031e-01 -1.56914526e-01 -1.43269271e+02] [ 2.09513422e-01 8.42142612e-03 9.77769505e-01 -9.35769380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.19, Y:-143.25, Z:-935.76 [[ 6.78527730e-01 -7.19440510e-01 -1.48342418e-01 4.31189442e+02] [ 7.03517951e-01 6.94550531e-01 -1.50539210e-01 -1.43253389e+02] [ 2.11335311e-01 -2.21652493e-03 9.77411108e-01 -9.35759025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-143.23, Z:-935.75 [[ 6.79317764e-01 -7.18313530e-01 -1.50176724e-01 4.31208403e+02] [ 7.01781697e-01 6.95718318e-01 -1.53226864e-01 -1.43231609e+02] [ 2.14545627e-01 -1.30154551e-03 9.76713100e-01 -9.35750180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.23, Y:-143.21, Z:-935.74 [[ 6.79878812e-01 -7.17367703e-01 -1.52145919e-01 4.31227212e+02] [ 7.00607652e-01 6.96692486e-01 -1.54170354e-01 -1.43213226e+02] [ 2.16595751e-01 -1.77743842e-03 9.76259761e-01 -9.35739916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:-143.18, Z:-935.75 [[ 6.78205751e-01 -7.21997962e-01 -1.36952191e-01 4.31239327e+02] [ 7.03259224e-01 6.91732836e-01 -1.64110171e-01 -1.43183502e+02] [ 2.13221537e-01 1.49875701e-02 9.76888913e-01 -9.35745434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:-143.17, Z:-935.73 [[ 6.78289061e-01 -7.18890167e-01 -1.52055507e-01 4.31264358e+02] [ 7.02530483e-01 6.95115536e-01 -1.52529709e-01 -1.43173635e+02] [ 2.15348253e-01 -3.36439534e-03 9.76531521e-01 -9.35727966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.28, Y:-143.15, Z:-935.73 [[ 6.76527211e-01 -7.22361593e-01 -1.43194489e-01 4.31279301e+02] [ 7.04862061e-01 6.91488953e-01 -1.58153417e-01 -1.43148533e+02] [ 2.13261362e-01 6.06272735e-03 9.76976374e-01 -9.35727722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:-143.13, Z:-935.72 [[ 6.75070040e-01 -7.23940926e-01 -1.42091441e-01 4.31298056e+02] [ 7.06641442e-01 6.89837034e-01 -1.57425348e-01 -1.43128304e+02] [ 2.11986590e-01 5.86543508e-03 9.77254973e-01 -9.35722212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-143.11, Z:-935.71 [[ 6.74424418e-01 -7.24065494e-01 -1.44502129e-01 4.31318725e+02] [ 7.07211989e-01 6.89726445e-01 -1.55333945e-01 -1.43110860e+02] [ 2.12138890e-01 2.56736724e-03 9.77236154e-01 -9.35711953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:-143.09, Z:-935.71 [[ 6.72299139e-01 -7.26395641e-01 -1.42699826e-01 4.31336646e+02] [ 7.09395079e-01 6.87266067e-01 -1.56281719e-01 -1.43090018e+02] [ 2.11595107e-01 3.83751070e-03 9.77349878e-01 -9.35707799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.36, Y:-143.07, Z:-935.70 [[ 6.71310555e-01 -7.27405798e-01 -1.42207399e-01 4.31355436e+02] [ 7.10525317e-01 6.86198244e-01 -1.55838843e-01 -1.43071456e+02] [ 2.10940545e-01 3.57430346e-03 9.77492359e-01 -9.35700463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:-143.05, Z:-935.69 [[ 6.68599944e-01 -7.29859533e-01 -1.42404977e-01 4.31374699e+02] [ 7.12972131e-01 6.83591201e-01 -1.56121143e-01 -1.43051455e+02] [ 2.11293293e-01 2.85180783e-03 9.77418545e-01 -9.35694620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:-143.03, Z:-935.69 [[ 6.67338986e-01 -7.30905386e-01 -1.42954519e-01 4.31392735e+02] [ 7.13889807e-01 6.82473871e-01 -1.56814409e-01 -1.43031726e+02] [ 2.12179220e-01 2.59459438e-03 9.77227326e-01 -9.35689458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.41, Y:-143.01, Z:-935.68 [[ 6.66080339e-01 -7.31942083e-01 -1.43519230e-01 4.31410918e+02] [ 7.14800372e-01 6.81362911e-01 -1.57496070e-01 -1.43011488e+02] [ 2.13066682e-01 2.31743659e-03 9.77034912e-01 -9.35684387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:431.43, Y:-142.99, Z:-935.68 [[ 6.64905775e-01 -7.32828483e-01 -1.44439348e-01 4.31429413e+02] [ 7.15464083e-01 6.80410139e-01 -1.58597569e-01 -1.42990565e+02] [ 2.14502813e-01 2.11127417e-03 9.76721089e-01 -9.35679143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:-142.97, Z:-935.67 [[ 6.63842433e-01 -7.33563536e-01 -1.45594518e-01 4.31447635e+02] [ 7.15913827e-01 6.79618070e-01 -1.59958342e-01 -1.42970411e+02] [ 2.16288272e-01 1.95400662e-03 9.76327591e-01 -9.35673681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-142.95, Z:-935.67 [[ 6.63038685e-01 -7.34129906e-01 -1.46400081e-01 4.31465762e+02] [ 7.16274840e-01 6.79006539e-01 -1.60936242e-01 -1.42950646e+02] [ 2.17554720e-01 1.84425982e-03 9.76046383e-01 -9.35668327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:-142.93, Z:-935.66 [[ 6.61296819e-01 -7.35337290e-01 -1.48207919e-01 4.31483665e+02] [ 7.17043424e-01 6.77699595e-01 -1.63009163e-01 -1.42929872e+02] [ 2.20307163e-01 1.52592710e-03 9.75429355e-01 -9.35663177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.50, Y:-142.91, Z:-935.66 [[ 6.60589815e-01 -7.35858332e-01 -1.48773695e-01 4.31501876e+02] [ 7.17414684e-01 6.77134029e-01 -1.63724397e-01 -1.42908978e+02] [ 2.21217693e-01 1.42223561e-03 9.75223415e-01 -9.35657599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.52, Y:-142.89, Z:-935.65 [[ 6.59916458e-01 -7.36414137e-01 -1.49011704e-01 4.31519638e+02] [ 7.17903584e-01 6.76529765e-01 -1.64079009e-01 -1.42888000e+02] [ 2.21640955e-01 1.30240186e-03 9.75127474e-01 -9.35651144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.54, Y:-142.87, Z:-935.65 [[ 6.59402024e-01 -7.36975167e-01 -1.48514557e-01 4.31537625e+02] [ 7.18582721e-01 6.75918801e-01 -1.63623492e-01 -1.42867113e+02] [ 2.20970232e-01 1.17366775e-03 9.75279847e-01 -9.35645014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:-142.85, Z:-935.64 [[ 6.59026502e-01 -7.37394313e-01 -1.48100295e-01 4.31555585e+02] [ 7.19095442e-01 6.75461644e-01 -1.63258426e-01 -1.42846453e+02] [ 2.20421903e-01 1.09338223e-03 9.75404013e-01 -9.35638395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.57, Y:-142.83, Z:-935.63 [[ 6.58722863e-01 -7.37801985e-01 -1.47419202e-01 4.31573502e+02] [ 7.19662208e-01 6.75016442e-01 -1.62601073e-01 -1.42826031e+02] [ 2.19477780e-01 1.01701581e-03 9.75616969e-01 -9.35632512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.60, Y:-142.81, Z:-935.62 [[ 6.58164790e-01 -7.36027360e-01 -1.58375613e-01 4.31596098e+02] [ 7.19462570e-01 6.76854590e-01 -1.55696739e-01 -1.42811077e+02] [ 2.21794320e-01 -1.14712133e-02 9.75025995e-01 -9.35617800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.61, Y:-142.79, Z:-935.61 [[ 6.57904582e-01 -7.37531488e-01 -1.52344562e-01 4.31611648e+02] [ 7.19687877e-01 6.75303536e-01 -1.61290097e-01 -1.42787295e+02] [ 2.21835346e-01 -3.52704060e-03 9.75077761e-01 -9.35613184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.63, Y:-142.76, Z:-935.61 [[ 6.57768388e-01 -7.38803243e-01 -1.46664641e-01 4.31627621e+02] [ 7.20468457e-01 6.73918420e-01 -1.63582290e-01 -1.42762924e+02] [ 2.19695129e-01 1.93201161e-03 9.75566665e-01 -9.35609592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:431.64, Y:-142.74, Z:-935.61 [[ 6.58027075e-01 -7.41001985e-01 -1.33852259e-01 4.31639802e+02] [ 7.21523228e-01 6.71337056e-01 -1.69442581e-01 -1.42736140e+02] [ 2.15417271e-01 1.49202922e-02 9.76408104e-01 -9.35614296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.67, Y:-142.72, Z:-935.60 [[ 6.57799220e-01 -7.37761529e-01 -1.51684255e-01 4.31665362e+02] [ 7.21185827e-01 6.75025179e-01 -1.55666343e-01 -1.42724850e+02] [ 2.17235331e-01 -6.99533582e-03 9.76094195e-01 -9.35598481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.68, Y:-142.70, Z:-935.60 [[ 6.58354683e-01 -7.39026669e-01 -1.42858997e-01 4.31679538e+02] [ 7.20985742e-01 6.73665000e-01 -1.62342321e-01 -1.42698872e+02] [ 2.16214411e-01 3.87952722e-03 9.76338199e-01 -9.35597293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.69, Y:-142.67, Z:-935.60 [[ 6.58208848e-01 -7.41125754e-01 -1.32263866e-01 4.31691163e+02] [ 7.22234364e-01 6.71213530e-01 -1.66882954e-01 -1.42672162e+02] [ 2.12458552e-01 1.43183277e-02 9.77065172e-01 -9.35600947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.72, Y:-142.66, Z:-935.58 [[ 6.60423340e-01 -7.35761671e-01 -1.49985917e-01 4.31718044e+02] [ 7.19313644e-01 6.77216989e-01 -1.54806432e-01 -1.42660561e+02] [ 2.15473650e-01 -5.64913530e-03 9.76493315e-01 -9.35584319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.73, Y:-142.64, Z:-935.58 [[ 6.61742071e-01 -7.35709492e-01 -1.44322468e-01 4.31733234e+02] [ 7.18138951e-01 6.77293883e-01 -1.59841930e-01 -1.42636776e+02] [ 2.15345950e-01 2.13054426e-03 9.76535500e-01 -9.35581068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.74, Y:-142.60, Z:-935.59 [[ 6.61255510e-01 -7.40407988e-01 -1.20570150e-01 4.31737678e+02] [ 7.20639414e-01 6.71619620e-01 -1.72063713e-01 -1.42603916e+02] [ 2.08374625e-01 2.68904762e-02 9.77679353e-01 -9.35593531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.78, Y:-142.60, Z:-935.56 [[ 6.64598027e-01 -7.29438229e-01 -1.61954723e-01 4.31776472e+02] [ 7.15059049e-01 6.83777725e-01 -1.45391126e-01 -1.42604447e+02] [ 2.16794878e-01 -1.91805346e-02 9.76028733e-01 -9.35560899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.79, Y:-142.57, Z:-935.56 [[ 6.67240423e-01 -7.30539581e-01 -1.45265755e-01 4.31785177e+02] [ 7.12578071e-01 6.82858966e-01 -1.61046966e-01 -1.42574981e+02] [ 2.16847206e-01 3.94385424e-03 9.76197590e-01 -9.35563423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.80, Y:-142.55, Z:-935.56 [[ 6.67801466e-01 -7.30047863e-01 -1.45159636e-01 4.31802975e+02] [ 7.12087360e-01 6.83383449e-01 -1.60992713e-01 -1.42553959e+02] [ 2.16732079e-01 4.14482735e-03 9.76222324e-01 -9.35557692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.82, Y:-142.53, Z:-935.55 [[ 6.67995926e-01 -7.29922254e-01 -1.44896330e-01 4.31820775e+02] [ 7.12004842e-01 6.83517024e-01 -1.60790494e-01 -1.42532904e+02] [ 2.16403668e-01 4.24050691e-03 9.76294766e-01 -9.35552252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.84, Y:-142.51, Z:-935.55 [[ 6.67763103e-01 -7.30209244e-01 -1.44523002e-01 4.31837996e+02] [ 7.12371742e-01 6.83210671e-01 -1.60467071e-01 -1.42512197e+02] [ 2.15914195e-01 4.19988663e-03 9.76403309e-01 -9.35546753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.86, Y:-142.49, Z:-935.54 [[ 6.67044660e-01 -7.30881525e-01 -1.44442437e-01 4.31855924e+02] [ 7.13061564e-01 6.82492414e-01 -1.60459686e-01 -1.42491381e+02] [ 2.15857888e-01 4.03742650e-03 9.76416444e-01 -9.35541295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.87, Y:-142.47, Z:-935.54 [[ 6.64350756e-01 -7.33489721e-01 -1.43634612e-01 4.31874938e+02] [ 7.15911440e-01 6.79692847e-01 -1.59651006e-01 -1.42471372e+02] [ 2.14729791e-01 3.23460440e-03 9.76668139e-01 -9.35535539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.89, Y:-142.45, Z:-935.53 [[ 6.62185625e-01 -7.36188900e-01 -1.39771608e-01 4.31892656e+02] [ 7.18373132e-01 6.76747062e-01 -1.61100767e-01 -1.42449018e+02] [ 2.13190621e-01 6.27044432e-03 9.76990502e-01 -9.35532497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9365599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:431.91, Y:-142.43, Z:-935.53 [[ 6.59443767e-01 -7.40209088e-01 -1.31241851e-01 4.31907027e+02] [ 7.21971131e-01 6.72245383e-01 -1.63840874e-01 -1.42425400e+02] [ 2.09503233e-01 1.32910158e-02 9.77717620e-01 -9.35534109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.94, Y:-142.42, Z:-935.51 [[ 6.57743042e-01 -7.37456505e-01 -1.53401417e-01 4.31936109e+02] [ 7.22444620e-01 6.75268100e-01 -1.48616167e-01 -1.42417708e+02] [ 2.13185043e-01 -1.30727787e-02 9.76924378e-01 -9.35512983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.95, Y:-142.39, Z:-935.51 [[ 6.55335408e-01 -7.41834927e-01 -1.42184542e-01 4.31949966e+02] [ 7.24732735e-01 6.70582128e-01 -1.58373203e-01 -1.42391849e+02] [ 2.12833187e-01 7.41775603e-04 9.77088269e-01 -9.35512255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.97, Y:-142.37, Z:-935.51 [[ 6.53076129e-01 -7.43863316e-01 -1.41982176e-01 4.31967968e+02] [ 7.26838107e-01 6.68331765e-01 -1.58237226e-01 -1.42372323e+02] [ 2.12598066e-01 1.42899300e-04 9.77139725e-01 -9.35506986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.98, Y:-142.34, Z:-935.51 [[ 6.48830988e-01 -7.50145397e-01 -1.27672362e-01 4.31980270e+02] [ 7.31379602e-01 6.61096808e-01 -1.67436222e-01 -1.42342913e+02] [ 2.10005302e-01 1.52608484e-02 9.77581137e-01 -9.35514171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.00, Y:-142.33, Z:-935.51 [[ 6.47294777e-01 -7.50041178e-01 -1.35822322e-01 4.32002539e+02] [ 7.32583501e-01 6.61374567e-01 -1.60950606e-01 -1.42325825e+02] [ 2.10549012e-01 4.68129432e-03 9.77572094e-01 -9.35506851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.03, Y:-142.32, Z:-935.48 [[ 6.46781303e-01 -7.45598751e-01 -1.60488159e-01 4.32030722e+02] [ 7.31248702e-01 6.66027959e-01 -1.47248411e-01 -1.42318828e+02] [ 2.16677832e-01 -2.21192390e-02 9.75992549e-01 -9.35484172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.04, Y:-142.28, Z:-935.50 [[ 6.45672032e-01 -7.52063418e-01 -1.32318714e-01 4.32037547e+02] [ 7.32840195e-01 6.58973851e-01 -1.69406947e-01 -1.42282676e+02] [ 2.14599340e-01 1.24128555e-02 9.76623287e-01 -9.35496216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.07, Y:-142.28, Z:-935.48 [[ 6.44863536e-01 -7.47981942e-01 -1.57079710e-01 4.32065469e+02] [ 7.32210290e-01 6.63527387e-01 -1.53621283e-01 -1.42275300e+02] [ 2.19132635e-01 -1.59506161e-02 9.75564691e-01 -9.35475133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.08, Y:-142.25, Z:-935.48 [[ 6.43709477e-01 -7.51869420e-01 -1.42585009e-01 4.32079800e+02] [ 7.32806066e-01 6.59300892e-01 -1.68278351e-01 -1.42245147e+02] [ 2.20529770e-01 3.83520926e-03 9.75372704e-01 -9.35479049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.10, Y:-142.23, Z:-935.47 [[ 6.42636290e-01 -7.50617681e-01 -1.53595885e-01 4.32099765e+02] [ 7.33225956e-01 6.60672523e-01 -1.60908407e-01 -1.42231034e+02] [ 2.22257276e-01 -9.21490831e-03 9.74944506e-01 -9.35467186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.12, Y:-142.21, Z:-935.46 [[ 6.41981139e-01 -7.52198259e-01 -1.48519348e-01 4.32115611e+02] [ 7.33659221e-01 6.58932481e-01 -1.65988355e-01 -1.42207147e+02] [ 2.22720373e-01 -2.40119574e-03 9.74879413e-01 -9.35463960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.13, Y:-142.19, Z:-935.46 [[ 6.41526626e-01 -7.52560828e-01 -1.48646526e-01 4.32133398e+02] [ 7.33977758e-01 6.58518125e-01 -1.66224339e-01 -1.42187096e+02] [ 2.22980358e-01 -2.46590464e-03 9.74819819e-01 -9.35458310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.15, Y:-142.17, Z:-935.45 [[ 6.41333122e-01 -7.52732199e-01 -1.48613803e-01 4.32151936e+02] [ 7.34146893e-01 6.58322173e-01 -1.66253591e-01 -1.42166211e+02] [ 2.22980193e-01 -2.48042659e-03 9.74819820e-01 -9.35452268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.17, Y:-142.15, Z:-935.45 [[ 6.40943026e-01 -7.53074341e-01 -1.48563367e-01 4.32169869e+02] [ 7.34490752e-01 6.57930536e-01 -1.66285132e-01 -1.42146371e+02] [ 2.22969442e-01 -2.53912294e-03 9.74822128e-01 -9.35446268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.19, Y:-142.13, Z:-935.44 [[ 6.41176863e-01 -7.53304874e-01 -1.46369391e-01 4.32187001e+02] [ 7.34280017e-01 6.57671359e-01 -1.68229723e-01 -1.42125265e+02] [ 2.22991227e-01 3.88887173e-04 9.74820374e-01 -9.35441431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.21, Y:-142.11, Z:-935.43 [[ 6.41146856e-01 -7.52772333e-01 -1.49213015e-01 4.32207240e+02] [ 7.34822322e-01 6.58263231e-01 -1.63479886e-01 -1.42107295e+02] [ 2.21284576e-01 -4.83043946e-03 9.75197315e-01 -9.35433004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.22, Y:-142.09, Z:-935.43 [[ 6.41506280e-01 -7.52978794e-01 -1.46603643e-01 4.32224639e+02] [ 7.34840554e-01 6.58040636e-01 -1.64292063e-01 -1.42085520e+02] [ 2.20179594e-01 -2.33591190e-03 9.75456555e-01 -9.35427689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.24, Y:-142.06, Z:-935.42 [[ 6.41886889e-01 -7.52790995e-01 -1.45900448e-01 4.32242336e+02] [ 7.34803494e-01 6.58255939e-01 -1.63593841e-01 -1.42064995e+02] [ 2.19191807e-01 -2.19941694e-03 9.75679309e-01 -9.35421598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.26, Y:-142.04, Z:-935.42 [[ 6.43410545e-01 -7.51653069e-01 -1.45053556e-01 4.32258848e+02] [ 7.33827650e-01 6.59556395e-01 -1.62733960e-01 -1.42044965e+02] [ 2.17990481e-01 -1.73956406e-03 9.75949345e-01 -9.35415818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.28, Y:-142.02, Z:-935.41 [[ 6.44407005e-01 -7.50857125e-01 -1.44752165e-01 4.32276807e+02] [ 7.33068636e-01 6.60463159e-01 -1.62477049e-01 -1.42024315e+02] [ 2.17600522e-01 -1.41192334e-03 9.76036895e-01 -9.35409622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.29, Y:-142.00, Z:-935.40 [[ 6.45352742e-01 -7.50066631e-01 -1.44637089e-01 4.32294205e+02] [ 7.32267203e-01 6.61361380e-01 -1.62437275e-01 -1.42003452e+02] [ 2.17496165e-01 -1.08365628e-03 9.76060574e-01 -9.35403852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.31, Y:-141.98, Z:-935.40 [[ 6.47781661e-01 -7.48000132e-01 -1.44480871e-01 4.32310089e+02] [ 7.30169037e-01 6.63698497e-01 -1.62349881e-01 -1.41982445e+02] [ 2.17329469e-01 -3.28182826e-04 9.76098250e-01 -9.35398167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.32, Y:-141.95, Z:-935.41 [[ 6.49358747e-01 -7.51134930e-01 -1.18867720e-01 4.32320181e+02] [ 7.30531430e-01 6.59551422e-01 -1.76962572e-01 -1.41946325e+02] [ 2.11322143e-01 2.80755882e-02 9.77013159e-01 -9.35410943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.35, Y:-141.94, Z:-935.39 [[ 6.51089037e-01 -7.45050147e-01 -1.44856286e-01 4.32349708e+02] [ 7.28738221e-01 6.66992815e-01 -1.55116699e-01 -1.41939862e+02] [ 2.12187821e-01 -4.56753013e-03 9.77218229e-01 -9.35392905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.37, Y:-141.93, Z:-935.37 [[ 6.51733371e-01 -7.40785059e-01 -1.62730175e-01 4.32369918e+02] [ 7.26879271e-01 6.71317328e-01 -1.44843263e-01 -1.41929224e+02] [ 2.16541312e-01 -2.38860027e-02 9.75981209e-01 -9.35372801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.7165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:432.37, Y:-141.88, Z:-935.40 [[ 6.53051028e-01 -7.49175925e-01 -1.10723930e-01 4.32367249e+02] [ 7.27918374e-01 6.61296534e-01 -1.81167700e-01 -1.41878470e+02] [ 2.08947830e-01 3.77137695e-02 9.77199302e-01 -9.35399356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.41, Y:-141.89, Z:-935.36 [[ 6.54455288e-01 -7.36382771e-01 -1.71547928e-01 4.32408684e+02] [ 7.24343279e-01 6.75681408e-01 -1.37045425e-01 -1.41891831e+02] [ 2.16829635e-01 -3.45694851e-02 9.75597181e-01 -9.35357102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.41, Y:-141.86, Z:-935.36 [[ 6.57080863e-01 -7.39961793e-01 -1.43879414e-01 4.32412774e+02] [ 7.21999257e-01 6.72643824e-01 -1.62072076e-01 -1.41855750e+02] [ 2.16706743e-01 2.61363005e-03 9.76233249e-01 -9.35364022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:432.42, Y:-141.82, Z:-935.38 [[ 6.58431921e-01 -7.43759117e-01 -1.15281313e-01 4.32421980e+02] [ 7.22632191e-01 6.67539493e-01 -1.79426147e-01 -1.41817192e+02] [ 2.10404662e-01 3.48339146e-02 9.76993591e-01 -9.35378753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.46, Y:-141.83, Z:-935.34 [[ 6.58596493e-01 -7.33341207e-01 -1.68704875e-01 4.32459052e+02] [ 7.20568776e-01 6.79211408e-01 -1.39472229e-01 -1.41826379e+02] [ 2.16867009e-01 -2.97075444e-02 9.75749026e-01 -9.35342093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.46, Y:-141.79, Z:-935.35 [[ 6.59237769e-01 -7.38116174e-01 -1.43492432e-01 4.32464619e+02] [ 7.20156668e-01 6.74665206e-01 -1.61867948e-01 -1.41792884e+02] [ 2.16286701e-01 3.37243300e-03 9.76324070e-01 -9.35347487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:432.48, Y:-141.76, Z:-935.36 [[ 6.59700881e-01 -7.42160202e-01 -1.18291937e-01 4.32475582e+02] [ 7.21270527e-01 6.69461390e-01 -1.77736534e-01 -1.41756753e+02] [ 2.11100866e-01 3.19324604e-02 9.76942548e-01 -9.35359228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.51, Y:-141.75, Z:-935.33 [[ 6.60248981e-01 -7.35354002e-01 -1.52727785e-01 4.32511769e+02] [ 7.19550566e-01 6.77615458e-01 -1.51935098e-01 -1.41753557e+02] [ 2.15216790e-01 -9.58036990e-03 9.76519303e-01 -9.35334589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.53, Y:-141.74, Z:-935.32 [[ 6.58626526e-01 -7.35722059e-01 -1.57873848e-01 4.32525278e+02] [ 7.20092657e-01 6.77140663e-01 -1.51482964e-01 -1.41738004e+02] [ 2.18352160e-01 -1.39131002e-02 9.75770854e-01 -9.35323716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.54, Y:-141.71, Z:-935.32 [[ 6.58130358e-01 -7.38859013e-01 -1.44747335e-01 4.32537420e+02] [ 7.20512541e-01 6.73851364e-01 -1.63664345e-01 -1.41710675e+02] [ 2.18463065e-01 3.42020361e-03 9.75839224e-01 -9.35323716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.56, Y:-141.69, Z:-935.32 [[ 6.57367965e-01 -7.39475220e-01 -1.45064672e-01 4.32556246e+02] [ 7.21040995e-01 6.73175751e-01 -1.64116700e-01 -1.41690417e+02] [ 2.19014252e-01 3.28748596e-03 9.75716122e-01 -9.35317713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:432.57, Y:-141.66, Z:-935.32 [[ 6.56686877e-01 -7.41996327e-01 -1.34921447e-01 4.32572904e+02] [ 7.21870500e-01 6.70217814e-01 -1.72368976e-01 -1.41663294e+02] [ 2.18323904e-01 1.57966322e-02 9.75748502e-01 -9.35318855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.60, Y:-141.65, Z:-935.31 [[ 6.55425101e-01 -7.40787641e-01 -1.47144852e-01 4.32596360e+02] [ 7.22812267e-01 6.71739286e-01 -1.62199749e-01 -1.41650068e+02] [ 2.18998547e-01 -4.83174192e-05 9.75725184e-01 -9.35307756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.61, Y:-141.63, Z:-935.31 [[ 6.53089991e-01 -7.43851578e-01 -1.41979906e-01 4.32610788e+02] [ 7.24945124e-01 6.68318136e-01 -1.66749623e-01 -1.41626194e+02] [ 2.18924716e-01 5.97486978e-03 9.75723460e-01 -9.35305036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.64, Y:-141.62, Z:-935.28 [[ 6.51079364e-01 -7.41550266e-01 -1.61860636e-01 4.32637786e+02] [ 7.25397229e-01 6.70691706e-01 -1.54827307e-01 -1.41618480e+02] [ 2.23370817e-01 -1.66083917e-02 9.74592038e-01 -9.35283931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:432.65, Y:-141.59, Z:-935.28 [[ 6.49356384e-01 -7.46051720e-01 -1.47455476e-01 4.32649963e+02] [ 7.27052591e-01 6.65886466e-01 -1.67301361e-01 -1.41590693e+02] [ 2.23004074e-01 1.43032070e-03 9.74816463e-01 -9.35284142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.67, Y:-141.57, Z:-935.28 [[ 6.47596682e-01 -7.47594328e-01 -1.47381338e-01 4.32668421e+02] [ 7.28631563e-01 6.64154943e-01 -1.67314845e-01 -1.41571172e+02] [ 2.22967673e-01 9.65843958e-04 9.74825361e-01 -9.35277954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:432.69, Y:-141.55, Z:-935.28 [[ 6.45754766e-01 -7.50252394e-01 -1.41852487e-01 4.32687278e+02] [ 7.30632075e-01 6.61119465e-01 -1.70580841e-01 -1.41547157e+02] [ 2.21760124e-01 6.51141432e-03 9.75079509e-01 -9.35276082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.71, Y:-141.53, Z:-935.27 [[ 6.43123903e-01 -7.51260248e-01 -1.48322905e-01 4.32708311e+02] [ 7.32966453e-01 6.60000453e-01 -1.64801642e-01 -1.41530609e+02] [ 2.21702107e-01 -2.72783797e-03 9.75110627e-01 -9.35266649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.73, Y:-141.51, Z:-935.26 [[ 6.41153145e-01 -7.52401673e-01 -1.51044252e-01 4.32727163e+02] [ 7.34581150e-01 6.58672495e-01 -1.62914330e-01 -1.41513557e+02] [ 2.22065709e-01 -6.50122509e-03 9.75010028e-01 -9.35257162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.74, Y:-141.49, Z:-935.25 [[ 6.36804474e-01 -7.56914573e-01 -1.46834575e-01 4.32744753e+02] [ 7.38253850e-01 6.53510698e-01 -1.67047961e-01 -1.41493189e+02] [ 2.22399002e-01 -2.02430090e-03 9.74953633e-01 -9.35252892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.76, Y:-141.47, Z:-935.25 [[ 6.34983407e-01 -7.58987678e-01 -1.43992283e-01 4.32762814e+02] [ 7.39936584e-01 6.51104545e-01 -1.68987348e-01 -1.41470702e+02] [ 2.22013345e-01 7.59004072e-04 9.75043332e-01 -9.35249403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.78, Y:-141.45, Z:-935.24 [[ 6.34755101e-01 -7.58154015e-01 -1.49293173e-01 4.32781020e+02] [ 7.40159072e-01 6.52046060e-01 -1.64318238e-01 -1.41453176e+02] [ 2.21924557e-01 -6.19885665e-03 9.75044135e-01 -9.35239994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.80, Y:-141.43, Z:-935.23 [[ 6.34543729e-01 -7.58820258e-01 -1.46785806e-01 4.32797465e+02] [ 7.40166523e-01 6.51295195e-01 -1.67236622e-01 -1.41430350e+02] [ 2.22503426e-01 -2.52698964e-03 9.74928633e-01 -9.35234915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.81, Y:-141.41, Z:-935.23 [[ 6.34577169e-01 -7.59001869e-01 -1.45698249e-01 4.32814721e+02] [ 7.40004703e-01 6.51088034e-01 -1.68752515e-01 -1.41408840e+02] [ 2.22945861e-01 -7.30896647e-04 9.74830554e-01 -9.35230084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.83, Y:-141.39, Z:-935.22 [[ 6.35264817e-01 -7.57733606e-01 -1.49259491e-01 4.32833016e+02] [ 7.39166699e-01 6.52549274e-01 -1.66769408e-01 -1.41389154e+02] [ 2.23765957e-01 -4.38490844e-03 9.74633043e-01 -9.35221714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.85, Y:-141.37, Z:-935.22 [[ 6.36431714e-01 -7.56911960e-01 -1.48455240e-01 4.32849548e+02] [ 7.37729003e-01 6.53514518e-01 -1.69336037e-01 -1.41366604e+02] [ 2.25190126e-01 -1.74891181e-03 9.74313270e-01 -9.35215909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.87, Y:-141.35, Z:-935.21 [[ 6.36234838e-01 -7.57086870e-01 -1.48407217e-01 4.32867864e+02] [ 7.37898793e-01 6.53311890e-01 -1.69378115e-01 -1.41345540e+02] [ 2.25190146e-01 -1.74524924e-03 9.74313272e-01 -9.35209807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.88, Y:-141.32, Z:-935.20 [[ 6.38024761e-01 -7.55512036e-01 -1.48748000e-01 4.32884779e+02] [ 7.36171038e-01 6.55133793e-01 -1.69858517e-01 -1.41324706e+02] [ 2.25779995e-01 -1.13002961e-03 9.74177662e-01 -9.35203401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:432.90, Y:-141.30, Z:-935.20 [[ 6.38123234e-01 -7.55866586e-01 -1.46507480e-01 4.32900020e+02] [ 7.36324449e-01 6.54724757e-01 -1.70768261e-01 -1.41301530e+02] [ 2.25000097e-01 1.09415565e-03 9.74358127e-01 -9.35200153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.616559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:432.92, Y:-141.28, Z:-935.19 [[ 6.39980302e-01 -7.53653129e-01 -1.49773742e-01 4.32918037e+02] [ 7.34571211e-01 6.57268806e-01 -1.68531458e-01 -1.41281977e+02] [ 2.25455870e-01 -2.16266548e-03 9.74250981e-01 -9.35191649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.93, Y:-141.26, Z:-935.19 [[ 6.41026661e-01 -7.53100208e-01 -1.48070580e-01 4.32934260e+02] [ 7.33823513e-01 6.57905813e-01 -1.69301487e-01 -1.41258988e+02] [ 2.24917481e-01 -1.30906082e-04 9.74377807e-01 -9.35186326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.96, Y:-141.24, Z:-935.18 [[ 6.41960967e-01 -7.51221902e-01 -1.53465863e-01 4.32955344e+02] [ 7.32804815e-01 6.60020105e-01 -1.65440514e-01 -1.41239767e+02] [ 2.25573092e-01 -6.25417133e-03 9.74206172e-01 -9.35175480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.97, Y:-141.21, Z:-935.18 [[ 6.42999808e-01 -7.52522579e-01 -1.42341196e-01 4.32966480e+02] [ 7.32670755e-01 6.58537349e-01 -1.71820037e-01 -1.41214554e+02] [ 2.23035451e-01 6.19101947e-03 9.74790674e-01 -9.35175506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.736559995 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:432.99, Y:-141.20, Z:-935.16 [[ 6.45395782e-01 -7.49279737e-01 -1.48472758e-01 4.32991096e+02] [ 7.30947396e-01 6.62249979e-01 -1.64744863e-01 -1.41196804e+02] [ 2.21766068e-01 -2.20013604e-03 9.75097416e-01 -9.35163498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.01, Y:-141.18, Z:-935.15 [[ 6.45249208e-01 -7.48271732e-01 -1.54087232e-01 4.33009901e+02] [ 7.30896948e-01 6.63331076e-01 -1.60566298e-01 -1.41179281e+02] [ 2.22358071e-01 -9.01661093e-03 9.74923376e-01 -9.35152445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.02, Y:-141.15, Z:-935.16 [[ 6.45340353e-01 -7.51833176e-01 -1.35213550e-01 4.33016814e+02] [ 7.31933282e-01 6.59240440e-01 -1.72266402e-01 -1.41149801e+02] [ 2.18653837e-01 1.22031637e-02 9.75726182e-01 -9.35157493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.04, Y:-141.13, Z:-935.15 [[ 6.45671473e-01 -7.50120016e-01 -1.42927642e-01 4.33037651e+02] [ 7.31950955e-01 6.61300360e-01 -1.64102508e-01 -1.41133084e+02] [ 2.17614677e-01 1.34028369e-03 9.76033840e-01 -9.35148075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.05, Y:-141.11, Z:-935.14 [[ 6.45881350e-01 -7.50053059e-01 -1.42329515e-01 4.33054001e+02] [ 7.32015065e-01 6.61376134e-01 -1.63510107e-01 -1.41111859e+02] [ 2.16774600e-01 1.42077944e-03 9.76220648e-01 -9.35142451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.07, Y:-141.09, Z:-935.14 [[ 6.45918295e-01 -7.50189046e-01 -1.41442397e-01 4.33068525e+02] [ 7.32362595e-01 6.61221877e-01 -1.62575088e-01 -1.41089986e+02] [ 2.15486857e-01 1.42310304e-03 9.76505704e-01 -9.35136845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.09, Y:-141.07, Z:-935.13 [[ 6.45207456e-01 -7.50858085e-01 -1.41136372e-01 4.33085412e+02] [ 7.33107063e-01 6.60462388e-01 -1.62306712e-01 -1.41068616e+02] [ 2.15084572e-01 1.25342964e-03 9.76594622e-01 -9.35130964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.10, Y:-141.05, Z:-935.13 [[ 6.44079286e-01 -7.51816025e-01 -1.41189728e-01 4.33102780e+02] [ 7.34053953e-01 6.59372181e-01 -1.62459599e-01 -1.41047063e+02] [ 2.15236309e-01 9.95984434e-04 9.76561488e-01 -9.35125059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9765599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:433.12, Y:-141.03, Z:-935.12 [[ 6.42537555e-01 -7.53076085e-01 -1.41498765e-01 4.33120112e+02] [ 7.35244515e-01 6.57933129e-01 -1.62909490e-01 -1.41026132e+02] [ 2.15779966e-01 6.39274182e-04 9.76441805e-01 -9.35119347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.14, Y:-141.01, Z:-935.11 [[ 6.40729570e-01 -7.54481611e-01 -1.42208006e-01 4.33137783e+02] [ 7.36481363e-01 6.56321145e-01 -1.63822332e-01 -1.41005046e+02] [ 2.16935059e-01 2.32266437e-04 9.76186010e-01 -9.35113024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.15, Y:-140.98, Z:-935.11 [[ 6.38717229e-01 -7.56105877e-01 -1.42633110e-01 4.33154511e+02] [ 7.38015215e-01 6.54449263e-01 -1.64407131e-01 -1.40984613e+02] [ 2.17655332e-01 -2.55738166e-04 9.76025661e-01 -9.35107635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.17, Y:-140.96, Z:-935.10 [[ 6.33917986e-01 -7.59617766e-01 -1.45357619e-01 4.33170164e+02] [ 7.41631936e-01 6.50359755e-01 -1.64360157e-01 -1.40962972e+02] [ 2.19385640e-01 -3.61099271e-03 9.75631540e-01 -9.35101121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.19, Y:-140.94, Z:-935.09 [[ 6.32519259e-01 -7.59803726e-01 -1.50391769e-01 4.33188997e+02] [ 7.41991599e-01 6.50103128e-01 -1.63750999e-01 -1.40943730e+02] [ 2.22188778e-01 -8.01376894e-03 9.74970731e-01 -9.35091205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.20, Y:-140.92, Z:-935.09 [[ 6.31007049e-01 -7.63162510e-01 -1.39330856e-01 4.33201624e+02] [ 7.43707697e-01 6.46191251e-01 -1.71276762e-01 -1.40916050e+02] [ 2.20746384e-01 4.45541386e-03 9.75321067e-01 -9.35092245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.22, Y:-140.90, Z:-935.09 [[ 6.30352931e-01 -7.63345996e-01 -1.41273043e-01 4.33221599e+02] [ 7.44406728e-01 6.45988425e-01 -1.68989877e-01 -1.40895381e+02] [ 2.20258497e-01 1.35866056e-03 9.75440592e-01 -9.35086469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.25, Y:-140.88, Z:-935.07 [[ 6.29282160e-01 -7.60394669e-01 -1.60635957e-01 4.33246262e+02] [ 7.43926723e-01 6.49162908e-01 -1.58620774e-01 -1.40883907e+02] [ 2.24893296e-01 -1.96841578e-02 9.74184551e-01 -9.35067460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.25, Y:-140.85, Z:-935.08 [[ 6.28551264e-01 -7.66597731e-01 -1.31343933e-01 4.33251124e+02] [ 7.45804221e-01 6.41978325e-01 -1.77876065e-01 -1.40847664e+02] [ 2.20679346e-01 1.38473662e-02 9.75248110e-01 -9.35079038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.27, Y:-140.83, Z:-935.07 [[ 6.28224203e-01 -7.64397261e-01 -1.45021303e-01 4.33274057e+02] [ 7.45787045e-01 6.44739379e-01 -1.67668772e-01 -1.40832695e+02] [ 2.21666495e-01 -2.82142869e-03 9.75118457e-01 -9.35067672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.29, Y:-140.81, Z:-935.06 [[ 6.28027121e-01 -7.64568136e-01 -1.44974138e-01 4.33292228e+02] [ 7.45953003e-01 6.44536753e-01 -1.67709544e-01 -1.40811511e+02] [ 2.21666534e-01 -2.81775114e-03 9.75118459e-01 -9.35061590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.31, Y:-140.79, Z:-935.06 [[ 6.28560145e-01 -7.64119761e-01 -1.45028050e-01 4.33309407e+02] [ 7.45458367e-01 6.45069163e-01 -1.67861843e-01 -1.40789979e+02] [ 2.21819674e-01 -2.60110838e-03 9.75084236e-01 -9.35055916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.33, Y:-140.77, Z:-935.05 [[ 6.29537425e-01 -7.63263511e-01 -1.45297774e-01 4.33325488e+02] [ 7.44487348e-01 6.46083427e-01 -1.68270004e-01 -1.40769230e+02] [ 2.22308838e-01 -2.24008902e-03 9.74973724e-01 -9.35050003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.34, Y:-140.75, Z:-935.04 [[ 6.31061988e-01 -7.61985217e-01 -1.45393592e-01 4.33341996e+02] [ 7.43130555e-01 6.47592099e-01 -1.68467954e-01 -1.40747754e+02] [ 2.22525832e-01 -1.73269817e-03 9.74925255e-01 -9.35044144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.396559995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:433.36, Y:-140.73, Z:-935.04 [[ 6.35784137e-01 -7.57908263e-01 -1.46128697e-01 4.33357158e+02] [ 7.38730168e-01 6.52361104e-01 -1.69418800e-01 -1.40726137e+02] [ 2.23732586e-01 -2.35891768e-04 9.74650540e-01 -9.35038223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:-140.70, Z:-935.04 [[ 6.37021640e-01 -7.59287574e-01 -1.32988008e-01 4.33365752e+02] [ 7.38617778e-01 6.50599682e-01 -1.76532805e-01 -1.40697637e+02] [ 2.20561121e-01 1.42279102e-02 9.75269377e-01 -9.35042790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.40, Y:-140.69, Z:-935.02 [[ 6.41032507e-01 -7.51383815e-01 -1.56523760e-01 4.33395930e+02] [ 7.33756161e-01 6.59775451e-01 -1.62167355e-01 -1.40687933e+02] [ 2.25120460e-01 -1.08957272e-02 9.74270015e-01 -9.35022176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.41, Y:-140.66, Z:-935.02 [[ 6.43573067e-01 -7.51102788e-01 -1.47167625e-01 4.33408116e+02] [ 7.31420731e-01 6.60181261e-01 -1.70834470e-01 -1.40662258e+02] [ 2.25471555e-01 2.30301153e-03 9.74247029e-01 -9.35020043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.41, Y:-140.63, Z:-935.03 [[ 6.44213052e-01 -7.53979624e-01 -1.28468950e-01 4.33413894e+02] [ 7.32462264e-01 6.56529963e-01 -1.80187233e-01 -1.40631294e+02] [ 2.20201217e-01 2.19803094e-02 9.75206794e-01 -9.35028173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.45, Y:-140.63, Z:-935.00 [[ 6.47417919e-01 -7.45053480e-01 -1.60453581e-01 4.33449030e+02] [ 7.27846204e-01 6.66871026e-01 -1.59759003e-01 -1.40626552e+02] [ 2.26030845e-01 -1.33546887e-02 9.74028598e-01 -9.35002892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.45, Y:-140.59, Z:-935.02 [[ 6.48776401e-01 -7.50104746e-01 -1.28187566e-01 4.33447705e+02] [ 7.28357730e-01 6.60883273e-01 -1.80909693e-01 -1.40589837e+02] [ 2.20418237e-01 2.40035351e-02 9.75110061e-01 -9.35017093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.48, Y:-140.59, Z:-934.99 [[ 6.50342386e-01 -7.42534958e-01 -1.60301646e-01 4.33484470e+02] [ 7.25419201e-01 6.69683813e-01 -1.59030102e-01 -1.40586141e+02] [ 2.25436828e-01 -1.28618765e-02 9.74172885e-01 -9.34991002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.50, Y:-140.56, Z:-934.99 [[ 6.50648578e-01 -7.45118725e-01 -1.46473594e-01 4.33496519e+02] [ 7.25397689e-01 6.66916048e-01 -1.70356033e-01 -1.40559346e+02] [ 2.24621060e-01 4.59030433e-03 9.74435379e-01 -9.34990512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.50, Y:-140.53, Z:-935.00 [[ 6.48761409e-01 -7.50526500e-01 -1.25772046e-01 4.33502496e+02] [ 7.29023845e-01 6.60360747e-01 -1.80133057e-01 -1.40528142e+02] [ 2.18249555e-01 2.51725549e-02 9.75568283e-01 -9.35000663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.54, Y:-140.53, Z:-934.97 [[ 6.49846626e-01 -7.42884701e-01 -1.60691270e-01 4.33541225e+02] [ 7.26105733e-01 6.69267999e-01 -1.57641399e-01 -1.40525646e+02] [ 2.24654909e-01 -1.42361211e-02 9.74334391e-01 -9.34972430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.55, Y:-140.50, Z:-934.97 [[ 6.49374374e-01 -7.46250692e-01 -1.46365391e-01 4.33552923e+02] [ 7.26545306e-01 6.65650986e-01 -1.70413273e-01 -1.40498424e+02] [ 2.24599290e-01 4.32092395e-03 9.74441629e-01 -9.34972139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.57, Y:-140.48, Z:-934.97 [[ 6.49521512e-01 -7.45805401e-01 -1.47973338e-01 4.33572629e+02] [ 7.26374168e-01 6.66159609e-01 -1.69150651e-01 -1.40481447e+02] [ 2.24727331e-01 2.38297598e-03 9.74418775e-01 -9.34966209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.59, Y:-140.46, Z:-934.96 [[ 6.48340915e-01 -7.47522158e-01 -1.44446119e-01 4.33589783e+02] [ 7.27289324e-01 6.64199628e-01 -1.72884624e-01 -1.40458956e+02] [ 2.25176145e-01 7.03405496e-03 9.74292680e-01 -9.34961246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.61, Y:-140.44, Z:-934.95 [[ 6.48117868e-01 -7.47382945e-01 -1.46157319e-01 4.33609280e+02] [ 7.27707162e-01 6.64380935e-01 -1.70412028e-01 -1.40440456e+02] [ 2.24467180e-01 4.08735292e-03 9.74473078e-01 -9.34954848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.63, Y:-140.42, Z:-934.95 [[ 6.47836923e-01 -7.47656723e-01 -1.46002553e-01 4.33628117e+02] [ 7.28010444e-01 6.64073079e-01 -1.70316587e-01 -1.40421184e+02] [ 2.24294706e-01 4.04598965e-03 9.74512963e-01 -9.34948365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.65, Y:-140.40, Z:-934.94 [[ 6.47648978e-01 -7.47952023e-01 -1.45322309e-01 4.33646844e+02] [ 7.28477096e-01 6.63740820e-01 -1.69614992e-01 -1.40402208e+02] [ 2.23320225e-01 3.98700303e-03 9.74736980e-01 -9.34942631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:433.67, Y:-140.38, Z:-934.94 [[ 6.46841731e-01 -7.48691396e-01 -1.45110198e-01 4.33667896e+02] [ 7.29277575e-01 6.62907973e-01 -1.69432108e-01 -1.40383806e+02] [ 2.23047069e-01 3.77014434e-03 9.74800385e-01 -9.34936444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.69, Y:-140.36, Z:-934.93 [[ 6.45935497e-01 -7.49483160e-01 -1.45059733e-01 4.33687185e+02] [ 7.30081148e-01 6.62013838e-01 -1.69467388e-01 -1.40364617e+02] [ 2.23044504e-01 3.55962472e-03 9.74801764e-01 -9.34930369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.71, Y:-140.35, Z:-934.92 [[ 6.44815976e-01 -7.50474109e-01 -1.44917111e-01 4.33706364e+02] [ 7.31113540e-01 6.60891718e-01 -1.69396366e-01 -1.40345487e+02] [ 2.22902105e-01 3.27862124e-03 9.74835321e-01 -9.34924617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.996559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:433.73, Y:-140.33, Z:-934.92 [[ 6.43423240e-01 -7.51661508e-01 -1.44953480e-01 4.33725525e+02] [ 7.32298448e-01 6.59542543e-01 -1.69536476e-01 -1.40326334e+02] [ 2.23037030e-01 2.93450043e-03 9.74805556e-01 -9.34918634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:433.74, Y:-140.29, Z:-934.93 [[ 6.42271259e-01 -7.56721481e-01 -1.21902542e-01 4.33737490e+02] [ 7.34916078e-01 6.53154839e-01 -1.82447571e-01 -1.40294134e+02] [ 2.17683231e-01 2.75926926e-02 9.75629363e-01 -9.34928317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.77, Y:-140.30, Z:-934.90 [[ 6.39529926e-01 -7.51015324e-01 -1.64248158e-01 4.33773159e+02] [ 7.35748758e-01 6.59871942e-01 -1.52455846e-01 -1.40297195e+02] [ 2.22879428e-01 -2.33453024e-02 9.74566446e-01 -9.34898605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.78, Y:-140.27, Z:-934.90 [[ 6.35135753e-01 -7.58684010e-01 -1.44917728e-01 4.33784736e+02] [ 7.39448208e-01 6.51458468e-01 -1.69759278e-01 -1.40270290e+02] [ 2.23201531e-01 6.61032747e-04 9.74772096e-01 -9.34901492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.80, Y:-140.25, Z:-934.90 [[ 6.32255931e-01 -7.61004270e-01 -1.45344210e-01 4.33803957e+02] [ 7.41693426e-01 6.48746863e-01 -1.70347789e-01 -1.40251305e+02] [ 2.23926995e-01 -9.74455870e-05 9.74605916e-01 -9.34895189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:433.82, Y:-140.22, Z:-934.90 [[ 6.30256539e-01 -7.66104226e-01 -1.25940502e-01 4.33818217e+02] [ 7.44581843e-01 6.42385760e-01 -1.81489434e-01 -1.40220610e+02] [ 2.19942208e-01 2.06118913e-02 9.75295122e-01 -9.34903044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.85, Y:-140.22, Z:-934.88 [[ 6.26898509e-01 -7.61890345e-01 -1.62853803e-01 4.33849570e+02] [ 7.46093439e-01 6.47275181e-01 -1.56139106e-01 -1.40221524e+02] [ 2.24372102e-01 -2.36207813e-02 9.74217234e-01 -9.34875950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.86, Y:-140.19, Z:-934.88 [[ 6.25498348e-01 -7.66606313e-01 -1.45143302e-01 4.33858924e+02] [ 7.47427929e-01 6.42114618e-01 -1.70412171e-01 -1.40191640e+02] [ 2.23837682e-01 -1.89162637e-03 9.74624602e-01 -9.34877606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.87, Y:-140.16, Z:-934.88 [[ 6.25683641e-01 -7.69200347e-01 -1.29810663e-01 4.33873158e+02] [ 7.48016891e-01 6.38819982e-01 -1.79943772e-01 -1.40160733e+02] [ 2.21338458e-01 1.54873057e-02 9.75074064e-01 -9.34883008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.90, Y:-140.16, Z:-934.86 [[ 6.24596282e-01 -7.64260710e-01 -1.60577245e-01 4.33900529e+02] [ 7.47665278e-01 6.44587490e-01 -1.59698467e-01 -1.40156721e+02] [ 2.25557347e-01 -2.03109619e-02 9.74018146e-01 -9.34859748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.91, Y:-140.13, Z:-934.86 [[ 6.24598660e-01 -7.66989799e-01 -1.46980140e-01 4.33911565e+02] [ 7.47266410e-01 6.41656525e-01 -1.72828866e-01 -1.40128940e+02] [ 2.26868743e-01 -1.88464293e-03 9.73923519e-01 -9.34859933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:433.93, Y:-140.11, Z:-934.85 [[ 6.24577186e-01 -7.66938150e-01 -1.47340467e-01 4.33929296e+02] [ 7.47091920e-01 6.41718487e-01 -1.73352380e-01 -1.40107970e+02] [ 2.27501655e-01 -1.80493118e-03 9.73776021e-01 -9.34854053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.95, Y:-140.09, Z:-934.85 [[ 6.24713771e-01 -7.66785771e-01 -1.47554350e-01 4.33946376e+02] [ 7.46853561e-01 6.41900879e-01 -1.73703831e-01 -1.40088389e+02] [ 2.27908893e-01 -1.68631683e-03 9.73681002e-01 -9.34848292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.96, Y:-140.07, Z:-934.84 [[ 6.25743603e-01 -7.66022707e-01 -1.47153509e-01 4.33964108e+02] [ 7.46158149e-01 6.42812107e-01 -1.73322279e-01 -1.40067039e+02] [ 2.27360859e-01 -1.34448201e-03 9.73809649e-01 -9.34841917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.98, Y:-140.05, Z:-934.84 [[ 6.26103057e-01 -7.65723179e-01 -1.47183475e-01 4.33979803e+02] [ 7.45818994e-01 6.43169219e-01 -1.73457157e-01 -1.40046202e+02] [ 2.27484046e-01 -1.17017516e-03 9.73781105e-01 -9.34836216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.00, Y:-140.02, Z:-934.83 [[ 6.26526753e-01 -7.65346714e-01 -1.47338506e-01 4.33996346e+02] [ 7.45368489e-01 6.43617478e-01 -1.73730705e-01 -1.40024805e+02] [ 2.27793862e-01 -9.74545304e-04 9.73708892e-01 -9.34830025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.01, Y:-140.00, Z:-934.82 [[ 6.26913444e-01 -7.65088359e-01 -1.47035158e-01 4.34012525e+02] [ 7.45163214e-01 6.43924796e-01 -1.73472309e-01 -1.40004089e+02] [ 2.27401228e-01 -8.13068255e-04 9.73800812e-01 -9.34824376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.03, Y:-139.98, Z:-934.82 [[ 6.28744088e-01 -7.64831272e-01 -1.40406544e-01 4.34032304e+02] [ 7.44136306e-01 6.44195736e-01 -1.76841768e-01 -1.39977976e+02] [ 2.25703411e-01 6.70660933e-03 9.74172978e-01 -9.34822225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.05, Y:-139.97, Z:-934.81 [[ 6.28642457e-01 -7.62478700e-01 -1.53084598e-01 4.34050434e+02] [ 7.44160028e-01 6.46946216e-01 -1.66392450e-01 -1.39965298e+02] [ 2.25908200e-01 -9.31808001e-03 9.74104029e-01 -9.34808700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:434.07, Y:-139.93, Z:-934.81 [[ 6.33297468e-01 -7.61745312e-01 -1.36668934e-01 4.34065644e+02] [ 7.41089870e-01 6.47791627e-01 -1.76498761e-01 -1.39934090e+02] [ 2.22980095e-01 1.04922558e-02 9.74766531e-01 -9.34809847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.09, Y:-139.92, Z:-934.79 [[ 6.34374462e-01 -7.57578207e-01 -1.53767040e-01 4.34085610e+02] [ 7.39993480e-01 6.52657995e-01 -1.62625928e-01 -1.39923078e+02] [ 2.23559147e-01 -1.06208715e-02 9.74632497e-01 -9.34794257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.10, Y:-139.90, Z:-934.79 [[ 6.36658182e-01 -7.57597408e-01 -1.43918476e-01 4.34098276e+02] [ 7.38240708e-01 6.52718757e-01 -1.70173090e-01 -1.39896685e+02] [ 2.22860981e-01 2.09561222e-03 9.74847984e-01 -9.34791855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.11, Y:-139.88, Z:-934.79 [[ 6.38823419e-01 -7.55866637e-01 -1.43423382e-01 4.34114654e+02] [ 7.36579421e-01 6.54719814e-01 -1.69684183e-01 -1.39875537e+02] [ 2.22160743e-01 2.75551882e-03 9.75006160e-01 -9.34786405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.13, Y:-139.85, Z:-934.79 [[ 6.41165850e-01 -7.55384349e-01 -1.35280594e-01 4.34131515e+02] [ 7.35078692e-01 6.55164985e-01 -1.74408025e-01 -1.39848233e+02] [ 2.20376201e-01 1.23825874e-02 9.75336353e-01 -9.34786126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.15, Y:-139.84, Z:-934.77 [[ 6.42307553e-01 -7.51325210e-01 -1.51497318e-01 4.34151894e+02] [ 7.33527135e-01 6.59898898e-01 -1.62700300e-01 -1.39836207e+02] [ 2.22213750e-01 -6.62376261e-03 9.74975474e-01 -9.34771715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.17, Y:-139.81, Z:-934.77 [[ 6.44467626e-01 -7.51086678e-01 -1.43283919e-01 4.34166156e+02] [ 7.31668457e-01 6.60187868e-01 -1.69744659e-01 -1.39810945e+02] [ 2.22087257e-01 4.55861349e-03 9.75016138e-01 -9.34769621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.18, Y:-139.79, Z:-934.76 [[ 6.44775095e-01 -7.50828295e-01 -1.43254834e-01 4.34184394e+02] [ 7.31389831e-01 6.60480635e-01 -1.69806496e-01 -1.39789848e+02] [ 2.22112566e-01 4.71187089e-03 9.75009644e-01 -9.34763674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.20, Y:-139.77, Z:-934.76 [[ 6.44658398e-01 -7.50942081e-01 -1.43183594e-01 4.34201554e+02] [ 7.31503499e-01 6.60351082e-01 -1.69820725e-01 -1.39770094e+02] [ 2.22076970e-01 4.73705649e-03 9.75017631e-01 -9.34757816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.22, Y:-139.75, Z:-934.75 [[ 6.44243949e-01 -7.51305026e-01 -1.43145005e-01 4.34219557e+02] [ 7.31865541e-01 6.59938587e-01 -1.69864333e-01 -1.39749131e+02] [ 2.22086839e-01 4.67117238e-03 9.75015701e-01 -9.34751840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.24, Y:-139.73, Z:-934.75 [[ 6.43827781e-01 -7.51719522e-01 -1.42840991e-01 4.34237379e+02] [ 7.32351616e-01 6.59467019e-01 -1.69600596e-01 -1.39728644e+02] [ 2.21691001e-01 4.58374486e-03 9.75106194e-01 -9.34746359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.26, Y:-139.71, Z:-934.74 [[ 6.43079065e-01 -7.52320334e-01 -1.43050449e-01 4.34255127e+02] [ 7.32887403e-01 6.58782454e-01 -1.69946266e-01 -1.39708989e+02] [ 2.22093157e-01 4.44901391e-03 9.75015300e-01 -9.34740626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.27, Y:-139.68, Z:-934.74 [[ 6.42836571e-01 -7.53571470e-01 -1.37445197e-01 4.34271682e+02] [ 7.33540561e-01 6.57284886e-01 -1.72901198e-01 -1.39684696e+02] [ 2.20634061e-01 1.03255860e-02 9.75302001e-01 -9.34739344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.9565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:434.29, Y:-139.67, Z:-934.73 [[ 6.42800318e-01 -7.51594461e-01 -1.48032151e-01 4.34292696e+02] [ 7.33035104e-01 6.59623002e-01 -1.66003108e-01 -1.39670057e+02] [ 2.22412428e-01 -1.80591290e-03 9.74950999e-01 -9.34727492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.31, Y:-139.65, Z:-934.72 [[ 6.42714081e-01 -7.52615933e-01 -1.43135838e-01 4.34308473e+02] [ 7.33121402e-01 6.58444495e-01 -1.70246463e-01 -1.39646397e+02] [ 2.22377205e-01 4.48385277e-03 9.74950396e-01 -9.34723835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.33, Y:-139.63, Z:-934.72 [[ 6.42733770e-01 -7.52590064e-01 -1.43183436e-01 4.34326238e+02] [ 7.33059855e-01 6.58473545e-01 -1.70399060e-01 -1.39625416e+02] [ 2.22523144e-01 4.55920186e-03 9.74916747e-01 -9.34719058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:434.34, Y:-139.61, Z:-934.71 [[ 6.42563771e-01 -7.52640618e-01 -1.43679856e-01 4.34343226e+02] [ 7.32951768e-01 6.58415307e-01 -1.71087666e-01 -1.39605247e+02] [ 2.23368543e-01 4.62433112e-03 9.74723094e-01 -9.34713890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.36, Y:-139.58, Z:-934.71 [[ 6.42158891e-01 -7.52933811e-01 -1.43953590e-01 4.34360700e+02] [ 7.33155745e-01 6.58080235e-01 -1.71502356e-01 -1.39584519e+02] [ 2.23862935e-01 4.59136170e-03 9.74609822e-01 -9.34708789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.38, Y:-139.56, Z:-934.70 [[ 6.41523320e-01 -7.53335123e-01 -1.44685944e-01 4.34378607e+02] [ 7.33339850e-01 6.57621141e-01 -1.72473477e-01 -1.39563441e+02] [ 2.25078863e-01 4.54178922e-03 9.74329964e-01 -9.34703045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.40, Y:-139.54, Z:-934.70 [[ 6.41329454e-01 -7.53509493e-01 -1.44637392e-01 4.34396455e+02] [ 7.33509424e-01 6.57421312e-01 -1.72514184e-01 -1.39541979e+02] [ 2.25078779e-01 4.54553705e-03 9.74329965e-01 -9.34696956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.41, Y:-139.52, Z:-934.69 [[ 6.40752469e-01 -7.53914950e-01 -1.45081089e-01 4.34413662e+02] [ 7.33778982e-01 6.56956755e-01 -1.73136445e-01 -1.39521819e+02] [ 2.25842156e-01 4.48015045e-03 9.74153607e-01 -9.34691713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.43, Y:-139.50, Z:-934.69 [[ 6.39020940e-01 -7.55097115e-01 -1.46562562e-01 4.34430981e+02] [ 7.34551129e-01 6.55599703e-01 -1.74996197e-01 -1.39500848e+02] [ 2.28225496e-01 4.16853937e-03 9.73599377e-01 -9.34686558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.45, Y:-139.48, Z:-934.68 [[ 6.38103846e-01 -7.55772204e-01 -1.47077723e-01 4.34447739e+02] [ 7.35072708e-01 6.54822328e-01 -1.75715204e-01 -1.39480118e+02] [ 2.29110444e-01 4.01172765e-03 9.73392167e-01 -9.34681015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.46, Y:-139.46, Z:-934.68 [[ 6.37159958e-01 -7.56496799e-01 -1.47444163e-01 4.34463859e+02] [ 7.35689562e-01 6.53986214e-01 -1.76246700e-01 -1.39459465e+02] [ 2.29756514e-01 3.82420787e-03 9.73240628e-01 -9.34675254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:434.48, Y:-139.43, Z:-934.68 [[ 6.36041772e-01 -7.59204732e-01 -1.38054483e-01 4.34477073e+02] [ 7.37316617e-01 6.50708689e-01 -1.81500435e-01 -1.39432380e+02] [ 2.27629241e-01 1.36519943e-02 9.73652172e-01 -9.34676207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.50, Y:-139.42, Z:-934.66 [[ 6.34921120e-01 -7.57443101e-01 -1.52168069e-01 4.34500929e+02] [ 7.37454824e-01 6.52896568e-01 -1.72876993e-01 -1.39417971e+02] [ 2.30294495e-01 -2.45382271e-03 9.73117888e-01 -9.34662116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.52, Y:-139.40, Z:-934.65 [[ 6.31434439e-01 -7.60380691e-01 -1.52025507e-01 4.34516691e+02] [ 7.40106877e-01 6.49473304e-01 -1.74431183e-01 -1.39397038e+02] [ 2.31370612e-01 -2.37326707e-03 9.72862790e-01 -9.34654758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.376559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:434.53, Y:-139.37, Z:-934.65 [[ 6.29073699e-01 -7.63071588e-01 -1.48283623e-01 4.34532754e+02] [ 7.42108428e-01 6.46311719e-01 -1.77640767e-01 -1.39374252e+02] [ 2.31390066e-01 1.70660817e-03 9.72859561e-01 -9.34649956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.55, Y:-139.35, Z:-934.64 [[ 6.26600628e-01 -7.65091344e-01 -1.48347187e-01 4.34550024e+02] [ 7.44141685e-01 6.43920940e-01 -1.77817255e-01 -1.39354684e+02] [ 2.31570303e-01 1.02907825e-03 9.72817627e-01 -9.34643632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.57, Y:-139.33, Z:-934.64 [[ 6.23563208e-01 -7.67563228e-01 -1.48376606e-01 4.34567851e+02] [ 7.46652056e-01 6.40973214e-01 -1.77943940e-01 -1.39334309e+02] [ 2.31688655e-01 1.73596767e-04 9.72789976e-01 -9.34637463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.58, Y:-139.31, Z:-934.63 [[ 6.20392448e-01 -7.70582617e-01 -1.45998769e-01 4.34584873e+02] [ 7.49473375e-01 6.37337819e-01 -1.79137282e-01 -1.39311934e+02] [ 2.31090612e-01 1.71322703e-03 9.72930724e-01 -9.34632795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.60, Y:-139.29, Z:-934.62 [[ 6.17967938e-01 -7.71807268e-01 -1.49763712e-01 4.34603441e+02] [ 7.51518423e-01 6.35844683e-01 -1.75845384e-01 -1.39294158e+02] [ 2.30945206e-01 -3.88337935e-03 9.72959008e-01 -9.34624750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.62, Y:-139.27, Z:-934.62 [[ 6.13171088e-01 -7.76048419e-01 -1.47546834e-01 4.34619738e+02] [ 7.55536331e-01 6.30667197e-01 -1.77267425e-01 -1.39272520e+02] [ 2.30621053e-01 -2.78173408e-03 9.73039666e-01 -9.34618542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:-139.25, Z:-934.61 [[ 6.11173245e-01 -7.77733672e-01 -1.46961223e-01 4.34636604e+02] [ 7.57410862e-01 6.28585069e-01 -1.76662383e-01 -1.39251973e+02] [ 2.29773914e-01 -3.33870422e-03 9.73238307e-01 -9.34612299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:434.65, Y:-139.23, Z:-934.61 [[ 6.09415912e-01 -7.79104924e-01 -1.46995796e-01 4.34653678e+02] [ 7.58794816e-01 6.26881968e-01 -1.76775073e-01 -1.39230577e+02] [ 2.29875344e-01 -3.81010529e-03 9.73212623e-01 -9.34607581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:-139.21, Z:-934.60 [[ 6.08961837e-01 -7.79661400e-01 -1.45923209e-01 4.34669681e+02] [ 7.59642439e-01 6.26189032e-01 -1.75586618e-01 -1.39210242e+02] [ 2.28273621e-01 -3.92391327e-03 9.73589111e-01 -9.34599967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:-139.19, Z:-934.60 [[ 6.08436312e-01 -7.80794588e-01 -1.42003751e-01 4.34685013e+02] [ 7.60706574e-01 6.24787084e-01 -1.75973316e-01 -1.39186976e+02] [ 2.26121122e-01 -9.54631804e-04 9.74098725e-01 -9.34596548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.71, Y:-139.17, Z:-934.59 [[ 6.09593361e-01 -7.78953138e-01 -1.47064417e-01 4.34705063e+02] [ 7.59570458e-01 6.27049829e-01 -1.72804027e-01 -1.39168723e+02] [ 2.26822957e-01 -6.36559918e-03 9.73915205e-01 -9.34586272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.72, Y:-139.14, Z:-934.58 [[ 6.11775440e-01 -7.78324699e-01 -1.41214281e-01 4.34718089e+02] [ 7.58382803e-01 6.27861977e-01 -1.75056738e-01 -1.39144708e+02] [ 2.24914061e-01 9.30796077e-07 9.74378605e-01 -9.34583582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.74, Y:-139.13, Z:-934.57 [[ 6.14248971e-01 -7.75388688e-01 -1.46528445e-01 4.34737086e+02] [ 7.55884518e-01 6.31467748e-01 -1.72878799e-01 -1.39126272e+02] [ 2.26576252e-01 -4.56795851e-03 9.73982719e-01 -9.34573637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.75, Y:-139.11, Z:-934.57 [[ 6.16173972e-01 -7.73095735e-01 -1.50507875e-01 4.34754542e+02] [ 7.54099997e-01 6.34233455e-01 -1.70531868e-01 -1.39106769e+02] [ 2.27294590e-01 -8.42068981e-03 9.73789639e-01 -9.34565379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:-139.08, Z:-934.56 [[ 6.18743874e-01 -7.71743127e-01 -1.46862400e-01 4.34770422e+02] [ 7.51820237e-01 6.35929063e-01 -1.74242813e-01 -1.39083109e+02] [ 2.27864762e-01 -2.60245095e-03 9.73689313e-01 -9.34560138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:434.79, Y:-139.06, Z:-934.56 [[ 6.20970847e-01 -7.70432499e-01 -1.44322457e-01 4.34787004e+02] [ 7.50088669e-01 6.37520853e-01 -1.75881069e-01 -1.39060008e+02] [ 2.27513068e-01 9.62377067e-04 9.73774552e-01 -9.34555075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.856559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:434.80, Y:-139.04, Z:-934.55 [[ 6.22524254e-01 -7.69973622e-01 -1.40014905e-01 4.34801296e+02] [ 7.49282591e-01 6.38051877e-01 -1.77384896e-01 -1.39036673e+02] [ 2.25918464e-01 5.51566939e-03 9.74130600e-01 -9.34552641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.82, Y:-139.02, Z:-934.55 [[ 6.25767640e-01 -7.66686216e-01 -1.43551756e-01 4.34819176e+02] [ 7.46819374e-01 6.42020670e-01 -1.73407847e-01 -1.39017567e+02] [ 2.25112601e-01 1.30578727e-03 9.74331880e-01 -9.34545383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.84, Y:-139.00, Z:-934.54 [[ 6.26739138e-01 -7.65946671e-01 -1.43261128e-01 4.34836613e+02] [ 7.46121297e-01 6.42902051e-01 -1.73147227e-01 -1.38996154e+02] [ 2.24724415e-01 1.62796527e-03 9.74421001e-01 -9.34539197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:-138.97, Z:-934.53 [[ 6.27280460e-01 -7.65557485e-01 -1.42971892e-01 4.34854169e+02] [ 7.45781289e-01 6.43364905e-01 -1.72892651e-01 -1.38974777e+02] [ 2.24342360e-01 1.82641999e-03 9.74508681e-01 -9.34532786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:-138.95, Z:-934.53 [[ 6.27705501e-01 -7.65310170e-01 -1.42429450e-01 4.34871551e+02] [ 7.45657197e-01 6.43658650e-01 -1.72333648e-01 -1.38953159e+02] [ 2.23564641e-01 1.97123425e-03 9.74687112e-01 -9.34526923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:-138.93, Z:-934.52 [[ 6.28397470e-01 -7.64801139e-01 -1.42112060e-01 4.34887957e+02] [ 7.45201369e-01 6.44262619e-01 -1.72048243e-01 -1.38932168e+02] [ 2.23140180e-01 2.21257889e-03 9.74783856e-01 -9.34521757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:-138.91, Z:-934.52 [[ 6.28399025e-01 -7.64823957e-01 -1.41982321e-01 4.34904699e+02] [ 7.45240672e-01 6.44235362e-01 -1.71980056e-01 -1.38911678e+02] [ 2.23004499e-01 2.26109960e-03 9.74814793e-01 -9.34516937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:-138.89, Z:-934.51 [[ 6.28123760e-01 -7.65024330e-01 -1.42120785e-01 4.34922323e+02] [ 7.45387072e-01 6.43997445e-01 -1.72236476e-01 -1.38890266e+02] [ 2.23290517e-01 2.25082711e-03 9.74749342e-01 -9.34510995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:-138.87, Z:-934.51 [[ 6.28343425e-01 -7.65084415e-01 -1.40820378e-01 4.34939010e+02] [ 7.45004068e-01 6.43913974e-01 -1.74194526e-01 -1.38868467e+02] [ 2.23949726e-01 4.54223087e-03 9.74590113e-01 -9.34505871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:-138.85, Z:-934.50 [[ 6.27958740e-01 -7.64892380e-01 -1.43553018e-01 4.34958108e+02] [ 7.45475348e-01 6.44157879e-01 -1.71251662e-01 -1.38848891e+02] [ 2.23459899e-01 5.23741680e-04 9.74712983e-01 -9.34498960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.98, Y:-138.83, Z:-934.49 [[ 6.27700368e-01 -7.65363940e-01 -1.42162894e-01 4.34975005e+02] [ 7.45660625e-01 6.43593580e-01 -1.72561689e-01 -1.38826632e+02] [ 2.23567620e-01 2.31176356e-03 9.74685680e-01 -9.34493702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:434.99, Y:-138.81, Z:-934.49 [[ 6.27108852e-01 -7.65827038e-01 -1.42279430e-01 4.34993011e+02] [ 7.46080608e-01 6.43042809e-01 -1.72799515e-01 -1.38805429e+02] [ 2.23826305e-01 2.21218171e-03 9.74626540e-01 -9.34488340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.01, Y:-138.78, Z:-934.48 [[ 6.26558518e-01 -7.66287655e-01 -1.42223956e-01 4.35010585e+02] [ 7.46545861e-01 6.42494179e-01 -1.72830865e-01 -1.38784865e+02] [ 2.23816222e-01 2.11194444e-03 9.74629078e-01 -9.34482686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.03, Y:-138.76, Z:-934.48 [[ 6.25656709e-01 -7.66938755e-01 -1.42683671e-01 4.35028191e+02] [ 7.47060824e-01 6.41717333e-01 -1.73490605e-01 -1.38764290e+02] [ 2.24619254e-01 1.95218022e-03 9.74444652e-01 -9.34476830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.05, Y:-138.74, Z:-934.47 [[ 6.24318866e-01 -7.67936094e-01 -1.43178594e-01 4.35046333e+02] [ 7.47920652e-01 6.40524301e-01 -1.74193335e-01 -1.38743078e+02] [ 2.25478719e-01 1.66595763e-03 9.74246669e-01 -9.34471099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:435.06, Y:-138.72, Z:-934.47 [[ 6.22161924e-01 -7.70453282e-01 -1.38983023e-01 4.35062389e+02] [ 7.49968765e-01 6.37471674e-01 -1.76569294e-01 -1.38719819e+02] [ 2.24636132e-01 5.62176534e-03 9.74426500e-01 -9.34469906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.08, Y:-138.70, Z:-934.46 [[ 6.18228552e-01 -7.72525218e-01 -1.44907709e-01 4.35084617e+02] [ 7.52451042e-01 6.34983493e-01 -1.74966835e-01 -1.38702101e+02] [ 2.27180296e-01 -8.66463924e-04 9.73852331e-01 -9.34461462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.10, Y:-138.68, Z:-934.46 [[ 6.16890012e-01 -7.74051833e-01 -1.42444633e-01 4.35104999e+02] [ 7.53375457e-01 6.33117966e-01 -1.77727491e-01 -1.38679281e+02] [ 2.27754547e-01 2.32402366e-03 9.73715803e-01 -9.34456751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.12, Y:-138.66, Z:-934.45 [[ 6.12986865e-01 -7.75991423e-01 -1.48608260e-01 4.35124462e+02] [ 7.56286977e-01 6.30716627e-01 -1.73857831e-01 -1.38661481e+02] [ 2.28641887e-01 -5.81792497e-03 9.73493215e-01 -9.34447321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.14, Y:-138.64, Z:-934.44 [[ 6.10607179e-01 -7.78122095e-01 -1.47257865e-01 4.35141555e+02] [ 7.58039805e-01 6.28098009e-01 -1.75694468e-01 -1.38641373e+02] [ 2.29204119e-01 -4.34702022e-03 9.73368674e-01 -9.34440420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.16, Y:-138.62, Z:-934.44 [[ 6.06847230e-01 -7.81509793e-01 -1.44840890e-01 4.35158537e+02] [ 7.61139210e-01 6.23887320e-01 -1.77289918e-01 -1.38619979e+02] [ 2.28918202e-01 -2.65618439e-03 9.73442038e-01 -9.34435599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.18, Y:-138.60, Z:-934.43 [[ 6.04837119e-01 -7.83114325e-01 -1.44582206e-01 4.35176096e+02] [ 7.63050128e-01 6.21866351e-01 -1.76172483e-01 -1.38600950e+02] [ 2.27874004e-01 -3.76781409e-03 9.73683338e-01 -9.34428477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.19, Y:-138.58, Z:-934.42 [[ 6.00812120e-01 -7.86502473e-01 -1.42963830e-01 4.35193688e+02] [ 7.66867220e-01 6.17569485e-01 -1.74707178e-01 -1.38580468e+02] [ 2.25697727e-01 -4.66808462e-03 9.74186196e-01 -9.34421716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.21, Y:-138.56, Z:-934.42 [[ 5.99204947e-01 -7.87804475e-01 -1.42539613e-01 4.35211125e+02] [ 7.68299507e-01 6.15904486e-01 -1.74291511e-01 -1.38559964e+02] [ 2.25098419e-01 -5.07677903e-03 9.74322805e-01 -9.34415467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.23, Y:-138.54, Z:-934.41 [[ 5.98170223e-01 -7.88636486e-01 -1.42284496e-01 4.35228900e+02] [ 7.69201755e-01 6.14836762e-01 -1.74081635e-01 -1.38538991e+02] [ 2.24768867e-01 -5.31503401e-03 9.74397612e-01 -9.34409091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.25, Y:-138.52, Z:-934.40 [[ 5.97603534e-01 -7.89060640e-01 -1.42314166e-01 4.35246157e+02] [ 7.69605989e-01 6.14291480e-01 -1.74219973e-01 -1.38517790e+02] [ 2.24892503e-01 -5.41136296e-03 9.74368554e-01 -9.34402714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.26, Y:-138.50, Z:-934.40 [[ 5.97807168e-01 -7.88879727e-01 -1.42461809e-01 4.35262613e+02] [ 7.69355358e-01 6.14524900e-01 -1.74503525e-01 -1.38496853e+02] [ 2.25208622e-01 -5.28429794e-03 9.74296235e-01 -9.34396725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.28, Y:-138.47, Z:-934.39 [[ 5.98200354e-01 -7.88514591e-01 -1.42832333e-01 4.35279631e+02] [ 7.68855296e-01 6.14994886e-01 -1.75050917e-01 -1.38474766e+02] [ 2.25871357e-01 -5.10187530e-03 9.74143779e-01 -9.34390724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.29, Y:-138.45, Z:-934.39 [[ 6.00883179e-01 -7.86349725e-01 -1.43504405e-01 4.35294629e+02] [ 7.66417576e-01 6.17767036e-01 -1.75977240e-01 -1.38452530e+02] [ 2.27031945e-01 -4.24253442e-03 9.73878071e-01 -9.34385736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:-138.43, Z:-934.38 [[ 6.02839620e-01 -7.84867127e-01 -1.43415427e-01 4.35310643e+02] [ 7.64896937e-01 6.19653512e-01 -1.75960796e-01 -1.38429838e+02] [ 2.26973718e-01 -3.62188125e-03 9.73894149e-01 -9.34379950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:-138.41, Z:-934.37 [[ 6.05220886e-01 -7.83046396e-01 -1.43338835e-01 4.35325676e+02] [ 7.63024124e-01 6.21956663e-01 -1.75966178e-01 -1.38407566e+02] [ 2.26940225e-01 -2.87258353e-03 9.73904453e-01 -9.34374259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.34, Y:-138.38, Z:-934.37 [[ 6.08014687e-01 -7.80908084e-01 -1.43180677e-01 4.35341280e+02] [ 7.60850852e-01 6.24642710e-01 -1.75862066e-01 -1.38384587e+02] [ 2.26768875e-01 -2.01242112e-03 9.73946522e-01 -9.34368184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.816559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:435.36, Y:-138.36, Z:-934.36 [[ 6.10964926e-01 -7.78662571e-01 -1.42851178e-01 4.35356864e+02] [ 7.58615210e-01 6.27441922e-01 -1.75555114e-01 -1.38361321e+02] [ 2.26329015e-01 -1.11105930e-03 9.74050277e-01 -9.34362274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.37, Y:-138.34, Z:-934.36 [[ 6.13940308e-01 -7.76384376e-01 -1.42494207e-01 4.35372177e+02] [ 7.56354263e-01 6.30259676e-01 -1.75216920e-01 -1.38338723e+02] [ 2.25844032e-01 -2.03370711e-04 9.74163452e-01 -9.34356381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.39, Y:-138.32, Z:-934.35 [[ 6.19866946e-01 -7.71747559e-01 -1.42023499e-01 4.35385926e+02] [ 7.51707093e-01 6.35927111e-01 -1.74737392e-01 -1.38316263e+02] [ 2.25169749e-01 1.55386172e-03 9.74318310e-01 -9.34350258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:-138.29, Z:-934.34 [[ 6.22101973e-01 -7.70018487e-01 -1.41635678e-01 4.35401881e+02] [ 7.50028320e-01 6.38017712e-01 -1.74329911e-01 -1.38294229e+02] [ 2.24603326e-01 2.22021231e-03 9.74447750e-01 -9.34344262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.42, Y:-138.27, Z:-934.34 [[ 6.23995950e-01 -7.68568693e-01 -1.41177969e-01 4.35418054e+02] [ 7.48649813e-01 6.39761154e-01 -1.73865247e-01 -1.38272144e+02] [ 2.23947566e-01 2.79835007e-03 9.74597177e-01 -9.34338132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.43, Y:-138.25, Z:-934.33 [[ 6.25442017e-01 -7.67477370e-01 -1.40715208e-01 4.35434453e+02] [ 7.47640846e-01 6.41067836e-01 -1.73393182e-01 -1.38249882e+02] [ 2.23283337e-01 3.24294456e-03 9.74748190e-01 -9.34332223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.45, Y:-138.23, Z:-934.33 [[ 6.26373303e-01 -7.66811641e-01 -1.40201259e-01 4.35450582e+02] [ 7.47082966e-01 6.41862476e-01 -1.72857177e-01 -1.38228191e+02] [ 2.22538823e-01 3.53114791e-03 9.74917434e-01 -9.34326502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.47, Y:-138.21, Z:-934.32 [[ 6.26756654e-01 -7.66690872e-01 -1.39144544e-01 4.35466654e+02] [ 7.46964735e-01 6.42001359e-01 -1.72852366e-01 -1.38205312e+02] [ 2.21855318e-01 4.40030305e-03 9.75069667e-01 -9.34321387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.48, Y:-138.18, Z:-934.32 [[ 6.26554310e-01 -7.66783292e-01 -1.39545978e-01 4.35484363e+02] [ 7.47128524e-01 6.41894524e-01 -1.72540977e-01 -1.38183793e+02] [ 2.21875337e-01 3.84751186e-03 9.75067450e-01 -9.34315087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.50, Y:-138.16, Z:-934.31 [[ 6.28124960e-01 -7.65487988e-01 -1.39596474e-01 4.35501326e+02] [ 7.46041917e-01 6.43440297e-01 -1.71481901e-01 -1.38162421e+02] [ 2.21089332e-01 3.56724119e-03 9.75247037e-01 -9.34308500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.51, Y:-138.14, Z:-934.31 [[ 6.27476531e-01 -7.67288344e-01 -1.32445462e-01 4.35513926e+02] [ 7.47140392e-01 6.41210253e-01 -1.75016131e-01 -1.38136913e+02] [ 2.19213226e-01 1.08631602e-02 9.75616499e-01 -9.34308428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.54, Y:-138.12, Z:-934.30 [[ 6.28099078e-01 -7.64715895e-01 -1.43878939e-01 4.35536850e+02] [ 7.46176035e-01 6.44363750e-01 -1.67381847e-01 -1.38121355e+02] [ 2.20709932e-01 -2.22663226e-03 9.75336951e-01 -9.34295035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:-138.10, Z:-934.29 [[ 6.28057350e-01 -7.65701108e-01 -1.38729155e-01 4.35550504e+02] [ 7.46260891e-01 6.43182975e-01 -1.71494441e-01 -1.38098103e+02] [ 2.20541714e-01 4.18020162e-03 9.75368586e-01 -9.34291140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.56, Y:-138.07, Z:-934.29 [[ 6.26998954e-01 -7.68220414e-01 -1.29266033e-01 4.35563620e+02] [ 7.47988872e-01 6.40044165e-01 -1.75659085e-01 -1.38072149e+02] [ 2.17680865e-01 1.34485088e-02 9.75927343e-01 -9.34292255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:-138.06, Z:-934.28 [[ 6.26527971e-01 -7.66467430e-01 -1.41387345e-01 4.35586893e+02] [ 7.47938012e-01 6.42282685e-01 -1.67516220e-01 -1.38057559e+02] [ 2.19206369e-01 -7.95372263e-04 9.75678192e-01 -9.34279984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:-138.03, Z:-934.28 [[ 6.25936007e-01 -7.68076634e-01 -1.35138444e-01 4.35601606e+02] [ 7.48608481e-01 6.40325271e-01 -1.71956069e-01 -1.38033202e+02] [ 2.18607999e-01 6.46770990e-03 9.75791326e-01 -9.34276930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:-138.01, Z:-934.27 [[ 6.25104476e-01 -7.67869773e-01 -1.40072861e-01 4.35621724e+02] [ 7.49239051e-01 6.40605956e-01 -1.68121543e-01 -1.38014552e+02] [ 2.18826961e-01 1.45471787e-04 9.75763670e-01 -9.34267881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:-137.99, Z:-934.26 [[ 6.24476361e-01 -7.69046172e-01 -1.36371771e-01 4.35639138e+02] [ 7.49905080e-01 6.39179115e-01 -1.70565034e-01 -1.37991187e+02] [ 2.18338375e-01 4.24794807e-03 9.75863878e-01 -9.34263193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:-137.97, Z:-934.25 [[ 6.23974078e-01 -7.68746808e-01 -1.40302160e-01 4.35659342e+02] [ 7.50202996e-01 6.39553017e-01 -1.67831471e-01 -1.37973285e+02] [ 2.18750578e-01 -5.32613822e-04 9.75780663e-01 -9.34253395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:-137.95, Z:-934.25 [[ 6.22919864e-01 -7.70135765e-01 -1.37338075e-01 4.35675652e+02] [ 7.51072741e-01 6.37873222e-01 -1.70315856e-01 -1.37951307e+02] [ 2.18770613e-01 2.94224560e-03 9.75771880e-01 -9.34248555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:-137.93, Z:-934.24 [[ 6.21027540e-01 -7.71733303e-01 -1.36939784e-01 4.35694463e+02] [ 7.52798149e-01 6.35941638e-01 -1.69921100e-01 -1.37931957e+02] [ 2.18219483e-01 2.43766716e-03 9.75896673e-01 -9.34243390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:-137.91, Z:-934.24 [[ 6.19798683e-01 -7.72704054e-01 -1.37032980e-01 4.35712634e+02] [ 7.53750858e-01 6.34762834e-01 -1.70105226e-01 -1.37911942e+02] [ 2.18424440e-01 2.14226917e-03 9.75851513e-01 -9.34237302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:-137.89, Z:-934.23 [[ 6.18565593e-01 -7.73676088e-01 -1.37120089e-01 4.35730085e+02] [ 7.54699606e-01 6.33578591e-01 -1.70313458e-01 -1.37892609e+02] [ 2.18643803e-01 1.86556850e-03 9.75802955e-01 -9.34231530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:-137.87, Z:-934.23 [[ 6.17646517e-01 -7.74347489e-01 -1.37472716e-01 4.35748443e+02] [ 7.55268069e-01 6.32758332e-01 -1.70842143e-01 -1.37871868e+02] [ 2.19278191e-01 1.69130227e-03 9.75660912e-01 -9.34225542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.77, Y:-137.85, Z:-934.22 [[ 6.16731102e-01 -7.75004636e-01 -1.37878794e-01 4.35766367e+02] [ 7.55804117e-01 6.31953699e-01 -1.71448705e-01 -1.37851732e+02] [ 2.20006556e-01 1.52838886e-03 9.75497196e-01 -9.34219788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:435.78, Y:-137.83, Z:-934.21 [[ 6.15864083e-01 -7.75631162e-01 -1.38230724e-01 4.35784789e+02] [ 7.56325950e-01 6.31184941e-01 -1.71978569e-01 -1.37830859e+02] [ 2.20641088e-01 1.36794016e-03 9.75354110e-01 -9.34214195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:-137.81, Z:-934.21 [[ 6.14969768e-01 -7.76116489e-01 -1.39482541e-01 4.35804904e+02] [ 7.56444329e-01 6.30588279e-01 -1.73638705e-01 -1.37811607e+02] [ 2.22719918e-01 1.27177717e-03 9.74881645e-01 -9.34208146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:-137.80, Z:-934.18 [[ 6.15958768e-01 -7.70991505e-01 -1.61761848e-01 4.35836973e+02] [ 7.53594313e-01 6.36506491e-01 -1.64180077e-01 -1.37800954e+02] [ 2.29543911e-01 -2.07746512e-02 9.73076568e-01 -9.34184922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:-137.77, Z:-934.19 [[ 6.16729371e-01 -7.73849752e-01 -1.44227057e-01 4.35849462e+02] [ 7.52814968e-01 6.33366216e-01 -1.79211776e-01 -1.37771075e+02] [ 2.30031534e-01 1.94887851e-03 9.73181224e-01 -9.34185912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:-137.75, Z:-934.18 [[ 6.15545503e-01 -7.73597464e-01 -1.50501489e-01 4.35868764e+02] [ 7.53602714e-01 6.33650832e-01 -1.74841565e-01 -1.37753166e+02] [ 2.30622385e-01 -5.79539164e-03 9.73026068e-01 -9.34176711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.7165599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:435.88, Y:-137.73, Z:-934.18 [[ 6.16004033e-01 -7.74885446e-01 -1.41744759e-01 4.35884509e+02] [ 7.53595545e-01 6.32086818e-01 -1.80443924e-01 -1.37727357e+02] [ 2.29418364e-01 4.33596559e-03 9.73318249e-01 -9.34175282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:-137.71, Z:-934.16 [[ 6.15116243e-01 -7.73579666e-01 -1.52336821e-01 4.35904989e+02] [ 7.53918493e-01 6.33646863e-01 -1.73489361e-01 -1.37711545e+02] [ 2.30735591e-01 -8.13342289e-03 9.72982495e-01 -9.34163309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.776559995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:435.92, Y:-137.68, Z:-934.16 [[ 6.15634767e-01 -7.76200194e-01 -1.36040776e-01 4.35918542e+02] [ 7.54558479e-01 6.30414099e-01 -1.82262354e-01 -1.37682359e+02] [ 2.27234098e-01 9.55632117e-03 9.73793275e-01 -9.34164879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:-137.66, Z:-934.16 [[ 6.14426249e-01 -7.77449565e-01 -1.34359811e-01 4.35930248e+02] [ 7.56623101e-01 6.28890743e-01 -1.78935510e-01 -1.37663166e+02] [ 2.23610976e-01 8.28293726e-03 9.74643281e-01 -9.34163131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.836559995 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:435.96, Y:-137.65, Z:-934.15 [[ 6.14727235e-01 -7.74380486e-01 -1.49817519e-01 4.35958345e+02] [ 7.55829583e-01 6.32648879e-01 -1.68751406e-01 -1.37649036e+02] [ 2.25459681e-01 -9.50042795e-03 9.74206176e-01 -9.34146084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:435.98, Y:-137.63, Z:-934.14 [[ 6.14930672e-01 -7.74974575e-01 -1.45858415e-01 4.35975023e+02] [ 7.55775689e-01 6.31974358e-01 -1.71497868e-01 -1.37626144e+02] [ 2.25085265e-01 -4.77694465e-03 9.74327360e-01 -9.34140033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:435.98, Y:-137.60, Z:-934.15 [[ 6.14409990e-01 -7.78437339e-01 -1.28591110e-01 4.35981135e+02] [ 7.57385932e-01 6.27579509e-01 -1.80306714e-01 -1.37598663e+02] [ 2.21058625e-01 1.33891486e-02 9.75168609e-01 -9.34146166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.00, Y:-137.58, Z:-934.14 [[ 6.14431153e-01 -7.76822907e-01 -1.37914935e-01 4.36003146e+02] [ 7.57390359e-01 6.29716983e-01 -1.72674161e-01 -1.37582707e+02] [ 2.20984621e-01 1.64094175e-03 9.75275912e-01 -9.34135688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.02, Y:-137.56, Z:-934.13 [[ 6.15353969e-01 -7.76043587e-01 -1.38187711e-01 4.36021486e+02] [ 7.56490784e-01 6.30676137e-01 -1.73116447e-01 -1.37562294e+02] [ 2.21497600e-01 1.99016352e-03 9.75158886e-01 -9.34129697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:-137.54, Z:-934.12 [[ 6.15810341e-01 -7.75647518e-01 -1.38378298e-01 4.36039151e+02] [ 7.56007079e-01 6.31162485e-01 -1.73456666e-01 -1.37541166e+02] [ 2.21880423e-01 2.20143611e-03 9.75071398e-01 -9.34123761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:-137.52, Z:-934.12 [[ 6.16401806e-01 -7.75157498e-01 -1.38490676e-01 4.36055653e+02] [ 7.55449261e-01 6.31763303e-01 -1.73699578e-01 -1.37521145e+02] [ 2.22137857e-01 2.44605482e-03 9.75012200e-01 -9.34117766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.07, Y:-137.50, Z:-934.11 [[ 6.17349699e-01 -7.74394317e-01 -1.38538049e-01 4.36072453e+02] [ 7.54632420e-01 6.32697167e-01 -1.73851104e-01 -1.37500039e+02] [ 2.22281938e-01 2.78162337e-03 9.74978463e-01 -9.34111721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:-137.48, Z:-934.11 [[ 6.17932297e-01 -7.73934461e-01 -1.38510387e-01 4.36089306e+02] [ 7.54147075e-01 6.33258553e-01 -1.73913184e-01 -1.37478142e+02] [ 2.22310293e-01 3.00937070e-03 9.74971321e-01 -9.34105998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.11, Y:-137.46, Z:-934.10 [[ 6.18453503e-01 -7.73427290e-01 -1.39016158e-01 4.36105583e+02] [ 7.53456989e-01 6.33876588e-01 -1.74651187e-01 -1.37456458e+02] [ 2.23199082e-01 3.27094238e-03 9.74767393e-01 -9.34100010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.14, Y:-137.45, Z:-934.07 [[ 6.19458336e-01 -7.66093518e-01 -1.71382883e-01 4.36137025e+02] [ 7.49462493e-01 6.42095862e-01 -1.61303674e-01 -1.37447877e+02] [ 2.33617939e-01 -2.85241374e-02 9.71909992e-01 -9.34069582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:-137.40, Z:-934.10 [[ 6.18704603e-01 -7.77062077e-01 -1.15668245e-01 4.36125636e+02] [ 7.52859384e-01 6.28516003e-01 -1.95372418e-01 -1.37398713e+02] [ 2.24515840e-01 3.37958910e-02 9.73884221e-01 -9.34099132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:-137.39, Z:-934.08 [[ 6.17750156e-01 -7.73775219e-01 -1.40202195e-01 4.36153044e+02] [ 7.53410839e-01 6.33451508e-01 -1.76383943e-01 -1.37388313e+02] [ 2.25292816e-01 3.33135489e-03 9.74285405e-01 -9.34083312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:-137.38, Z:-934.06 [[ 6.17388662e-01 -7.69796508e-01 -1.62001780e-01 4.36180749e+02] [ 7.51735625e-01 6.38012982e-01 -1.66832204e-01 -1.37376098e+02] [ 2.31786087e-01 -1.87821988e-02 9.72585441e-01 -9.34060173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.19, Y:-137.34, Z:-934.07 [[ 6.16804713e-01 -7.74561464e-01 -1.40023160e-01 4.36187756e+02] [ 7.52957432e-01 6.32463227e-01 -1.81783863e-01 -1.37344105e+02] [ 2.29362275e-01 6.69366452e-03 9.73318109e-01 -9.34065113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.20, Y:-137.32, Z:-934.07 [[ 6.15191348e-01 -7.78014824e-01 -1.27406984e-01 4.36197666e+02] [ 7.55869284e-01 6.27999455e-01 -1.85144027e-01 -1.37317303e+02] [ 2.24056314e-01 1.75959782e-02 9.74417339e-01 -9.34069791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.23, Y:-137.31, Z:-934.05 [[ 6.13430222e-01 -7.75813903e-01 -1.47702911e-01 4.36226860e+02] [ 7.57011944e-01 6.30916378e-01 -1.69933637e-01 -1.37306681e+02] [ 2.25025064e-01 -7.57043935e-03 9.74323565e-01 -9.34049753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:-137.28, Z:-934.05 [[ 6.13027178e-01 -7.77791245e-01 -1.38702771e-01 4.36242505e+02] [ 7.57772278e-01 6.28518165e-01 -1.75345632e-01 -1.37280693e+02] [ 2.23559508e-01 2.38652346e-03 9.74687361e-01 -9.34046760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:-137.26, Z:-934.04 [[ 6.10464663e-01 -7.80593087e-01 -1.34191385e-01 4.36255485e+02] [ 7.60466106e-01 6.25015193e-01 -1.76202469e-01 -1.37257544e+02] [ 2.21414084e-01 5.51738079e-03 9.75164275e-01 -9.34044303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:-137.24, Z:-934.04 [[ 6.09283138e-01 -7.81222238e-01 -1.35889190e-01 4.36272385e+02] [ 7.61812259e-01 6.24250028e-01 -1.73072194e-01 -1.37237364e+02] [ 2.20036677e-01 1.92791884e-03 9.75489694e-01 -9.34039007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:-137.22, Z:-934.03 [[ 6.07996839e-01 -7.82112506e-01 -1.36527915e-01 4.36289426e+02] [ 7.62871777e-01 6.23136881e-01 -1.72415427e-01 -1.37215567e+02] [ 2.19923841e-01 6.74741223e-04 9.75516811e-01 -9.34032899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.31, Y:-137.19, Z:-934.03 [[ 6.07026634e-01 -7.82886952e-01 -1.36406326e-01 4.36306174e+02] [ 7.63677810e-01 6.22163814e-01 -1.72361226e-01 -1.37193183e+02] [ 2.19806435e-01 4.57370624e-04 9.75543399e-01 -9.34027530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.32, Y:-137.17, Z:-934.02 [[ 6.06214792e-01 -7.83459182e-01 -1.36730891e-01 4.36322480e+02] [ 7.64149194e-01 6.21443169e-01 -1.72871042e-01 -1.37171565e+02] [ 2.20407883e-01 3.14182343e-04 9.75407744e-01 -9.34022199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.34, Y:-137.15, Z:-934.02 [[ 6.06060277e-01 -7.83515687e-01 -1.37091604e-01 4.36338973e+02] [ 7.64080851e-01 6.21371901e-01 -1.73428414e-01 -1.37149904e+02] [ 2.21068754e-01 3.59002823e-04 9.75258159e-01 -9.34016477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:-137.13, Z:-934.01 [[ 6.06254036e-01 -7.83259793e-01 -1.37695825e-01 4.36355050e+02] [ 7.63621167e-01 6.21694319e-01 -1.74295401e-01 -1.37128324e+02] [ 2.22123292e-01 5.19843520e-04 9.75018448e-01 -9.34010948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.37, Y:-137.11, Z:-934.01 [[ 6.06680028e-01 -7.82786448e-01 -1.38508919e-01 4.36370645e+02] [ 7.62878669e-01 6.22289968e-01 -1.75417594e-01 -1.37107103e+02] [ 2.23507226e-01 7.56850784e-04 9.74701979e-01 -9.34005781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.39, Y:-137.08, Z:-934.00 [[ 6.07292630e-01 -7.82155610e-01 -1.39385303e-01 4.36386928e+02] [ 7.61954109e-01 6.23082250e-01 -1.76619498e-01 -1.37084941e+02] [ 2.24992439e-01 1.05451483e-03 9.74359939e-01 -9.34000305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:-137.06, Z:-934.00 [[ 6.08143123e-01 -7.81368199e-01 -1.40091683e-01 4.36402344e+02] [ 7.60914231e-01 6.24068685e-01 -1.77617032e-01 -1.37063569e+02] [ 2.26211133e-01 1.41882069e-03 9.74077261e-01 -9.33995078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.42, Y:-137.04, Z:-933.99 [[ 6.08863379e-01 -7.80705392e-01 -1.40657306e-01 4.36418139e+02] [ 7.60044471e-01 6.24896865e-01 -1.78427326e-01 -1.37041027e+02] [ 2.27195484e-01 1.73205698e-03 9.73847633e-01 -9.33989785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.44, Y:-137.02, Z:-933.98 [[ 6.09936940e-01 -7.78783458e-01 -1.46537554e-01 4.36438001e+02] [ 7.58406395e-01 6.27284853e-01 -1.77012581e-01 -1.37020745e+02] [ 2.29775257e-01 -3.16850586e-03 9.73238559e-01 -9.33979978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.45, Y:-137.00, Z:-933.98 [[ 6.10337709e-01 -7.80090143e-01 -1.37649013e-01 4.36448044e+02] [ 7.58590983e-01 6.25631656e-01 -1.82002065e-01 -1.36995439e+02] [ 2.28095597e-01 6.66342311e-03 9.73615940e-01 -9.33979693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.47, Y:-136.98, Z:-933.96 [[ 6.10813694e-01 -7.76920714e-01 -1.52646112e-01 4.36473823e+02] [ 7.57073842e-01 6.29536249e-01 -1.74709213e-01 -1.36980469e+02] [ 2.31831467e-01 -8.84959838e-03 9.72715712e-01 -9.33963004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.796559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.48, Y:-136.95, Z:-933.97 [[ 6.09273458e-01 -7.81710622e-01 -1.33095293e-01 4.36479048e+02] [ 7.59478178e-01 6.23527179e-01 -1.85490579e-01 -1.36950613e+02] [ 2.27988489e-01 1.19315157e-02 9.73590719e-01 -9.33968842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.50, Y:-136.93, Z:-933.96 [[ 6.08058609e-01 -7.81314069e-01 -1.40758850e-01 4.36499137e+02] [ 7.60549259e-01 6.24135607e-01 -1.78940126e-01 -1.36934421e+02] [ 2.27661048e-01 1.75204480e-03 9.73738865e-01 -9.33959424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.52, Y:-136.91, Z:-933.95 [[ 6.06251861e-01 -7.82803751e-01 -1.40274620e-01 4.36515825e+02] [ 7.62201049e-01 6.22267410e-01 -1.78417576e-01 -1.36913935e+02] [ 2.26954272e-01 1.24852462e-03 9.73904615e-01 -9.33953398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.54, Y:-136.90, Z:-933.94 [[ 6.05063094e-01 -7.81186606e-01 -1.53773010e-01 4.36541312e+02] [ 7.62143367e-01 6.24158817e-01 -1.71939695e-01 -1.36899183e+02] [ 2.30295767e-01 -1.31627159e-02 9.73031656e-01 -9.33936138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.56, Y:-136.88, Z:-933.93 [[ 6.02051718e-01 -7.84952508e-01 -1.46230259e-01 4.36556062e+02] [ 7.64903304e-01 6.19529996e-01 -1.76367572e-01 -1.36875224e+02] [ 2.29034200e-01 -5.66960870e-03 9.73401865e-01 -9.33931280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.57, Y:-136.85, Z:-933.93 [[ 6.00659237e-01 -7.87405728e-01 -1.38566596e-01 4.36570338e+02] [ 7.66631868e-01 6.16432748e-01 -1.79683739e-01 -1.36850690e+02] [ 2.26900993e-01 1.69912933e-03 9.73916348e-01 -9.33929640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.59, Y:-136.83, Z:-933.92 [[ 6.00332648e-01 -7.87119719e-01 -1.41574224e-01 4.36588880e+02] [ 7.66950199e-01 6.16796015e-01 -1.77059507e-01 -1.36830188e+02] [ 2.26689446e-01 -2.28577647e-03 9.73964409e-01 -9.33922299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.60, Y:-136.81, Z:-933.92 [[ 5.98660253e-01 -7.89498711e-01 -1.35268942e-01 4.36603040e+02] [ 7.68889756e-01 6.13743357e-01 -1.79241833e-01 -1.36806257e+02] [ 2.24531610e-01 3.29805734e-03 9.74461225e-01 -9.33920676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:-136.78, Z:-933.92 [[ 5.96785191e-01 -7.91488384e-01 -1.31884698e-01 4.36618439e+02] [ 7.71162805e-01 6.11166212e-01 -1.78280088e-01 -1.36783355e+02] [ 2.21710090e-01 4.69034293e-03 9.75101347e-01 -9.33918453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.64, Y:-136.77, Z:-933.90 [[ 5.97036681e-01 -7.88861376e-01 -1.45756408e-01 4.36643280e+02] [ 7.70264923e-01 6.14482845e-01 -1.70595378e-01 -1.36768887e+02] [ 2.24140917e-01 -1.04193499e-02 9.74501045e-01 -9.33903214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.65, Y:-136.74, Z:-933.91 [[ 5.96949334e-01 -7.91805205e-01 -1.29213042e-01 4.36650749e+02] [ 7.71203108e-01 6.10726834e-01 -1.79606514e-01 -1.36740356e+02] [ 2.21127245e-01 7.56648932e-03 9.75215612e-01 -9.33907763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.67, Y:-136.72, Z:-933.91 [[ 5.96772701e-01 -7.92352220e-01 -1.26650317e-01 4.36665506e+02] [ 7.72051663e-01 6.10001918e-01 -1.78420540e-01 -1.36716979e+02] [ 2.18628848e-01 8.69591966e-03 9.75769342e-01 -9.33906794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.69, Y:-136.70, Z:-933.89 [[ 5.99202596e-01 -7.87534848e-01 -1.44031640e-01 4.36690206e+02] [ 7.69224498e-01 6.16197386e-01 -1.69098947e-01 -1.36703108e+02] [ 2.21923233e-01 -9.46813771e-03 9.75018171e-01 -9.33890659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.70, Y:-136.67, Z:-933.90 [[ 5.99660938e-01 -7.90228434e-01 -1.26276605e-01 4.36697618e+02] [ 7.69559195e-01 6.12719234e-01 -1.79871582e-01 -1.36671320e+02] [ 2.19511743e-01 1.06846395e-02 9.75551348e-01 -9.33896561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.72, Y:-136.65, Z:-933.89 [[ 6.00974065e-01 -7.88673706e-01 -1.29707204e-01 4.36715234e+02] [ 7.68603193e-01 6.14776258e-01 -1.76916039e-01 -1.36649849e+02] [ 2.19269937e-01 6.62858007e-03 9.75641715e-01 -9.33891377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.73, Y:-136.63, Z:-933.89 [[ 6.03751995e-01 -7.86633600e-01 -1.29194072e-01 4.36730820e+02] [ 7.66468114e-01 6.17369156e-01 -1.77149531e-01 -1.36626367e+02] [ 2.19112209e-01 7.93124605e-03 9.75667431e-01 -9.33888430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.76, Y:-136.62, Z:-933.86 [[ 6.06129592e-01 -7.80061562e-01 -1.55276775e-01 4.36760438e+02] [ 7.62571340e-01 6.25436981e-01 -1.65268071e-01 -1.36617082e+02] [ 2.26035107e-01 -1.82357500e-02 9.73948453e-01 -9.33864077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.77, Y:-136.59, Z:-933.87 [[ 6.06339444e-01 -7.82971678e-01 -1.38952617e-01 4.36769250e+02] [ 7.62472593e-01 6.22054199e-01 -1.78000334e-01 -1.36586865e+02] [ 2.25805279e-01 1.98106164e-03 9.74170443e-01 -9.33865363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.79, Y:-136.57, Z:-933.86 [[ 6.06166587e-01 -7.83122453e-01 -1.38857097e-01 4.36785086e+02] [ 7.62631498e-01 6.21864344e-01 -1.77982968e-01 -1.36566358e+02] [ 2.25732735e-01 1.99053256e-03 9.74187236e-01 -9.33859397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.80, Y:-136.54, Z:-933.86 [[ 6.04764868e-01 -7.85971864e-01 -1.28482231e-01 4.36796683e+02] [ 7.64808815e-01 6.18154996e-01 -1.81526518e-01 -1.36539166e+02] [ 2.22096669e-01 1.15165178e-02 9.74956635e-01 -9.33861215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.82, Y:-136.52, Z:-933.85 [[ 6.03943766e-01 -7.84346605e-01 -1.41606251e-01 4.36820696e+02] [ 7.65322306e-01 6.20305478e-01 -1.71764032e-01 -1.36523725e+02] [ 2.22561669e-01 -4.63860585e-03 9.74907579e-01 -9.33846370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:-136.50, Z:-933.84 [[ 6.03663753e-01 -7.84048805e-01 -1.44421417e-01 4.36839179e+02] [ 7.65064188e-01 6.20660992e-01 -1.71629604e-01 -1.36503493e+02] [ 2.24202725e-01 -6.88508318e-03 9.74518206e-01 -9.33835685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:-136.48, Z:-933.84 [[ 6.03559101e-01 -7.86273041e-01 -1.32253986e-01 4.36850330e+02] [ 7.65752792e-01 6.17844915e-01 -1.78578619e-01 -1.36477293e+02] [ 2.22124006e-01 6.50889158e-03 9.74996698e-01 -9.33835712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:-136.46, Z:-933.83 [[ 6.02983290e-01 -7.86090011e-01 -1.35917794e-01 4.36868334e+02] [ 7.66467644e-01 6.18111112e-01 -1.74545135e-01 -1.36458483e+02] [ 2.21220486e-01 1.07120857e-03 9.75223230e-01 -9.33827896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.516559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:436.87, Y:-136.43, Z:-933.84 [[ 6.01152532e-01 -7.90580552e-01 -1.16610567e-01 4.36874893e+02] [ 7.69470398e-01 6.12030459e-01 -1.82576080e-01 -1.36426910e+02] [ 2.15710317e-01 2.00276936e-02 9.76251992e-01 -9.33836005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.90, Y:-136.42, Z:-933.82 [[ 6.01724815e-01 -7.86367659e-01 -1.39832586e-01 4.36903411e+02] [ 7.68503855e-01 6.17718122e-01 -1.66811713e-01 -1.36416204e+02] [ 2.17552459e-01 -7.08713417e-03 9.76022900e-01 -9.33817890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.92, Y:-136.40, Z:-933.81 [[ 6.03243619e-01 -7.84590286e-01 -1.43231350e-01 4.36920080e+02] [ 7.66439743e-01 6.19957207e-01 -1.67997565e-01 -1.36396419e+02] [ 2.20606565e-01 -8.43473945e-03 9.75326406e-01 -9.33807985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.93, Y:-136.36, Z:-933.82 [[ 6.02365784e-01 -7.88825907e-01 -1.22103036e-01 4.36925106e+02] [ 7.67927422e-01 6.14426934e-01 -1.81016624e-01 -1.36363976e+02] [ 2.17813996e-01 1.52719514e-02 9.75870806e-01 -9.33816561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.95, Y:-136.35, Z:-933.80 [[ 6.03947147e-01 -7.83396766e-01 -1.46756095e-01 4.36953614e+02] [ 7.65593577e-01 6.21409734e-01 -1.66482487e-01 -1.36353959e+02] [ 2.21617508e-01 -1.18089009e-02 9.75062167e-01 -9.33796420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.96, Y:-136.32, Z:-933.81 [[ 6.03102597e-01 -7.88178503e-01 -1.22645444e-01 4.36957516e+02] [ 7.67004050e-01 6.15244199e-01 -1.82152036e-01 -1.36319549e+02] [ 2.19025217e-01 1.57868137e-02 9.75591478e-01 -9.33805308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:-136.31, Z:-933.79 [[ 6.04484972e-01 -7.82767332e-01 -1.47895984e-01 4.36985536e+02] [ 7.64584061e-01 6.22209164e-01 -1.68127839e-01 -1.36310245e+02] [ 2.23627216e-01 -1.14481599e-02 9.74607515e-01 -9.33785567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:-136.28, Z:-933.78 [[ 6.04201613e-01 -7.84562343e-01 -1.39292284e-01 4.36998678e+02] [ 7.64806519e-01 6.20049396e-01 -1.74956381e-01 -1.36282907e+02] [ 2.23632285e-01 -8.22719877e-04 9.74673240e-01 -9.33783670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.01, Y:-136.26, Z:-933.78 [[ 6.04468737e-01 -7.84870886e-01 -1.36364359e-01 4.37012593e+02] [ 7.64227918e-01 6.19647026e-01 -1.78866577e-01 -1.36259923e+02] [ 2.24884939e-01 3.90580379e-03 9.74377498e-01 -9.33779494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:-136.24, Z:-933.77 [[ 6.03937246e-01 -7.84928192e-01 -1.38374622e-01 4.37029753e+02] [ 7.64370192e-01 6.19583450e-01 -1.78478451e-01 -1.36239485e+02] [ 2.25827393e-01 2.02034831e-03 9.74165236e-01 -9.33773031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.05, Y:-136.22, Z:-933.77 [[ 6.02111747e-01 -7.86278612e-01 -1.38662859e-01 4.37047004e+02] [ 7.65644800e-01 6.17870080e-01 -1.78954200e-01 -1.36219114e+02] [ 2.26383492e-01 1.58392883e-03 9.74036963e-01 -9.33767636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.06, Y:-136.20, Z:-933.76 [[ 6.00175641e-01 -7.87780594e-01 -1.38531353e-01 4.37064569e+02] [ 7.67201956e-01 6.15955002e-01 -1.78887102e-01 -1.36197407e+02] [ 2.26252867e-01 1.08215646e-03 9.74068000e-01 -9.33761584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:-136.18, Z:-933.76 [[ 5.97916844e-01 -7.89561127e-01 -1.38161768e-01 4.37082173e+02] [ 7.69116841e-01 6.13671740e-01 -1.78511292e-01 -1.36176139e+02] [ 2.25731549e-01 4.72365330e-04 9.74189430e-01 -9.33755518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.09, Y:-136.15, Z:-933.76 [[ 5.94025417e-01 -7.94293957e-01 -1.27400605e-01 4.37093070e+02] [ 7.73107861e-01 6.07452735e-01 -1.82497700e-01 -1.36149504e+02] [ 2.22346666e-01 9.91386282e-03 9.74917266e-01 -9.33757863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.11, Y:-136.13, Z:-933.75 [[ 5.91080808e-01 -7.96076202e-01 -1.29946756e-01 4.37112184e+02] [ 7.75789583e-01 6.05177547e-01 -1.78635549e-01 -1.36128846e+02] [ 2.20848368e-01 4.77670508e-03 9.75296458e-01 -9.33752134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.14, Y:-136.12, Z:-933.73 [[ 5.88047792e-01 -7.95152516e-01 -1.48095479e-01 4.37141150e+02] [ 7.77108418e-01 6.06208438e-01 -1.69156249e-01 -1.36117329e+02] [ 2.24281746e-01 -1.56142847e-02 9.74399247e-01 -9.33732516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.15, Y:-136.09, Z:-933.74 [[ 5.85982088e-01 -7.99952139e-01 -1.29234545e-01 4.37147920e+02] [ 7.79607655e-01 6.00048234e-01 -1.79315425e-01 -1.36086019e+02] [ 2.20990719e-01 4.32338669e-03 9.75266328e-01 -9.33736931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.17, Y:-136.07, Z:-933.72 [[ 5.86341821e-01 -7.97749006e-01 -1.40711738e-01 4.37170481e+02] [ 7.79174983e-01 6.02920263e-01 -1.71386995e-01 -1.36069951e+02] [ 2.21561763e-01 -9.14770325e-03 9.75103433e-01 -9.33722296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.18, Y:-136.05, Z:-933.72 [[ 5.85822305e-01 -7.99104995e-01 -1.35068254e-01 4.37184636e+02] [ 7.79750328e-01 6.01184503e-01 -1.74833121e-01 -1.36045428e+02] [ 2.20910962e-01 -2.89837325e-03 9.75289673e-01 -9.33718111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.20, Y:-136.02, Z:-933.71 [[ 5.84482618e-01 -8.00466447e-01 -1.32791329e-01 4.37199691e+02] [ 7.80924677e-01 5.99376813e-01 -1.75795578e-01 -1.36021858e+02] [ 2.20310505e-01 -9.50565832e-04 9.75429330e-01 -9.33714260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.22, Y:-136.00, Z:-933.71 [[ 5.84643998e-01 -7.99625061e-01 -1.37080844e-01 4.37218200e+02] [ 7.80375498e-01 6.00479003e-01 -1.74467906e-01 -1.36002394e+02] [ 2.21823078e-01 -4.97291807e-03 9.75074250e-01 -9.33705751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.23, Y:-135.97, Z:-933.71 [[ 5.82898274e-01 -8.03329642e-01 -1.22029052e-01 4.37225465e+02] [ 7.82232785e-01 5.95426281e-01 -1.83246866e-01 -1.35971689e+02] [ 2.19866944e-01 1.13591570e-02 9.75463734e-01 -9.33712898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.25, Y:-135.96, Z:-933.69 [[ 5.85002892e-01 -7.97341451e-01 -1.48385400e-01 4.37254643e+02] [ 7.79206269e-01 6.03309669e-01 -1.69867695e-01 -1.35962257e+02] [ 2.24964901e-01 -1.62497412e-02 9.74231358e-01 -9.33690619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.26, Y:-135.93, Z:-933.69 [[ 5.85132320e-01 -7.99573572e-01 -1.35285889e-01 4.37263948e+02] [ 7.78924947e-01 6.00568094e-01 -1.80537784e-01 -1.35932249e+02] [ 2.25601629e-01 2.60937830e-04 9.74219604e-01 -9.33692183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.236559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:437.28, Y:-135.91, Z:-933.69 [[ 5.86324327e-01 -7.99450534e-01 -1.30777011e-01 4.37277936e+02] [ 7.78018412e-01 6.00700740e-01 -1.83972745e-01 -1.35905840e+02] [ 2.25634956e-01 6.12077363e-03 9.74192693e-01 -9.33691559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.30, Y:-135.89, Z:-933.68 [[ 5.87087668e-01 -7.96292265e-01 -1.45762477e-01 4.37297237e+02] [ 7.76460374e-01 6.04839838e-01 -1.76856037e-01 -1.35890864e+02] [ 2.28992047e-01 -9.34878896e-03 9.73383400e-01 -9.33679076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.296559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:437.31, Y:-135.87, Z:-933.67 [[ 5.87794111e-01 -7.96128681e-01 -1.43795715e-01 4.37311837e+02] [ 7.75452425e-01 6.05102363e-01 -1.80345965e-01 -1.35865708e+02] [ 2.30589722e-01 -5.50044004e-03 9.73035521e-01 -9.33672535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.32, Y:-135.84, Z:-933.67 [[ 5.88737756e-01 -7.95941991e-01 -1.40940420e-01 4.37324774e+02] [ 7.74597187e-01 6.05371336e-01 -1.83097633e-01 -1.35840624e+02] [ 2.31056385e-01 -1.37556364e-03 9.72939389e-01 -9.33667661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.34, Y:-135.82, Z:-933.66 [[ 5.88116516e-01 -7.96970534e-01 -1.37684175e-01 4.37340020e+02] [ 7.75464439e-01 6.04016597e-01 -1.83899034e-01 -1.35815910e+02] [ 2.29725638e-01 1.38487748e-03 9.73254444e-01 -9.33663379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.36, Y:-135.80, Z:-933.65 [[ 5.88384158e-01 -7.95931930e-01 -1.42465592e-01 4.37357749e+02] [ 7.75312164e-01 6.05369290e-01 -1.80052966e-01 -1.35797067e+02] [ 2.29554199e-01 -4.51499341e-03 9.73285408e-01 -9.33653416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.37, Y:-135.77, Z:-933.65 [[ 5.87889728e-01 -7.96844615e-01 -1.39371188e-01 4.37372791e+02] [ 7.75953432e-01 6.04182236e-01 -1.81273542e-01 -1.35773637e+02] [ 2.28652442e-01 -1.57669852e-03 9.73506844e-01 -9.33647485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.39, Y:-135.75, Z:-933.64 [[ 5.87509536e-01 -7.97289799e-01 -1.38425147e-01 4.37389442e+02] [ 7.76672483e-01 6.03594385e-01 -1.80149031e-01 -1.35751641e+02] [ 2.27183626e-01 -1.67172848e-03 9.73850505e-01 -9.33640775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.41, Y:-135.73, Z:-933.63 [[ 5.87383888e-01 -7.97519093e-01 -1.37635256e-01 4.37405737e+02] [ 7.77121252e-01 6.03291354e-01 -1.79226397e-01 -1.35730381e+02] [ 2.25970634e-01 -1.68458487e-03 9.74132658e-01 -9.33634134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.42, Y:-135.70, Z:-933.63 [[ 5.87358926e-01 -7.99328493e-01 -1.26820551e-01 4.37417960e+02] [ 7.78496595e-01 6.00842921e-01 -1.81468554e-01 -1.35702834e+02] [ 2.21252216e-01 7.85780822e-03 9.75184963e-01 -9.33634691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.44, Y:-135.69, Z:-933.62 [[ 5.88944318e-01 -7.95365420e-01 -1.43312387e-01 4.37441382e+02] [ 7.76770828e-01 6.06040355e-01 -1.71295560e-01 -1.35690000e+02] [ 2.23095655e-01 -1.04373348e-02 9.74740679e-01 -9.33618496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.45, Y:-135.66, Z:-933.62 [[ 5.90018165e-01 -7.95934319e-01 -1.35525365e-01 4.37453807e+02] [ 7.76068017e-01 6.05382305e-01 -1.76722093e-01 -1.35664122e+02] [ 2.22703836e-01 -9.07656094e-04 9.74885726e-01 -9.33615310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.596559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:437.47, Y:-135.64, Z:-933.61 [[ 5.91467844e-01 -7.94920547e-01 -1.35155886e-01 4.37469755e+02] [ 7.75114120e-01 6.06713369e-01 -1.76343383e-01 -1.35641566e+02] [ 2.22179862e-01 -4.59794929e-04 9.75005589e-01 -9.33609629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.49, Y:-135.62, Z:-933.60 [[ 5.92961240e-01 -7.93811457e-01 -1.35130821e-01 4.37485275e+02] [ 7.73960543e-01 6.08163934e-01 -1.76413456e-01 -1.35619024e+02] [ 2.22220714e-01 2.04177276e-05 9.74996387e-01 -9.33603751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.50, Y:-135.60, Z:-933.60 [[ 5.96489733e-01 -7.91094956e-01 -1.35531436e-01 4.37500528e+02] [ 7.71031470e-01 6.11692369e-01 -1.77039315e-01 -1.35595482e+02] [ 2.22958454e-01 1.10313100e-03 9.74827324e-01 -9.33598306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.52, Y:-135.57, Z:-933.59 [[ 5.98081197e-01 -7.89875972e-01 -1.35627545e-01 4.37516089e+02] [ 7.69728908e-01 6.13264470e-01 -1.77268434e-01 -1.35573905e+02] [ 2.23195631e-01 1.62447542e-03 9.74772318e-01 -9.33592554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.53, Y:-135.55, Z:-933.59 [[ 5.99380062e-01 -7.88830335e-01 -1.35978839e-01 4.37532298e+02] [ 7.68529171e-01 6.14607502e-01 -1.77821634e-01 -1.35551989e+02] [ 2.23844714e-01 2.07903727e-03 9.74622605e-01 -9.33586780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.55, Y:-135.53, Z:-933.58 [[ 6.00486527e-01 -7.87910378e-01 -1.36430085e-01 4.37548616e+02] [ 7.67425525e-01 6.15784875e-01 -1.78513449e-01 -1.35530039e+02] [ 2.24664182e-01 2.49499141e-03 9.74433056e-01 -9.33580793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.56, Y:-135.50, Z:-933.59 [[ 6.00214236e-01 -7.91386636e-01 -1.15974411e-01 4.37555530e+02] [ 7.69116984e-01 6.10860815e-01 -1.87904577e-01 -1.35497299e+02] [ 2.19549395e-01 2.35851127e-02 9.75316259e-01 -9.33589734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.59, Y:-135.49, Z:-933.56 [[ 6.01377855e-01 -7.84822656e-01 -1.49659864e-01 4.37589620e+02] [ 7.66510553e-01 6.19582964e-01 -1.69051837e-01 -1.35490339e+02] [ 2.25402414e-01 -1.30518342e-02 9.74178321e-01 -9.33564671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.836559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:437.60, Y:-135.47, Z:-933.56 [[ 6.01586457e-01 -7.86229442e-01 -1.41198436e-01 4.37599584e+02] [ 7.65997047e-01 6.17932749e-01 -1.77222013e-01 -1.35466137e+02] [ 2.26588302e-01 -1.54322159e-03 9.73989404e-01 -9.33560542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:437.61, Y:-135.44, Z:-933.56 [[ 6.01433560e-01 -7.87020022e-01 -1.37394171e-01 4.37614612e+02] [ 7.66135911e-01 6.16919808e-01 -1.80126948e-01 -1.35442120e+02] [ 2.26524700e-01 3.07178354e-03 9.74000577e-01 -9.33555818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.63, Y:-135.42, Z:-933.55 [[ 6.00538317e-01 -7.88252000e-01 -1.34210710e-01 4.37630705e+02] [ 7.67016560e-01 6.15320723e-01 -1.81840604e-01 -1.35417838e+02] [ 2.25918851e-01 6.26041368e-03 9.74126008e-01 -9.33552307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.65, Y:-135.40, Z:-933.54 [[ 5.99671448e-01 -7.87800119e-01 -1.40588503e-01 4.37648991e+02] [ 7.67482753e-01 6.15929614e-01 -1.77766520e-01 -1.35399680e+02] [ 2.26637108e-01 -1.29774475e-03 9.73978407e-01 -9.33542600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.66, Y:-135.38, Z:-933.54 [[ 5.98471961e-01 -7.89300771e-01 -1.37242868e-01 4.37663771e+02] [ 7.68463893e-01 6.14002194e-01 -1.80179220e-01 -1.35377254e+02] [ 2.26483019e-01 2.36602287e-03 9.74012240e-01 -9.33538170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.68, Y:-135.36, Z:-933.53 [[ 5.96736023e-01 -7.90630934e-01 -1.37145343e-01 4.37680716e+02] [ 7.69836543e-01 6.12289996e-01 -1.80146214e-01 -1.35356258e+02] [ 2.26401891e-01 1.92023830e-03 9.74032082e-01 -9.33531985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.70, Y:-135.34, Z:-933.53 [[ 5.94651996e-01 -7.92206370e-01 -1.37106056e-01 4.37697727e+02] [ 7.71440390e-01 6.10251703e-01 -1.80201509e-01 -1.35335216e+02] [ 2.26425987e-01 1.38803754e-03 9.74027385e-01 -9.33525934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.72, Y:-135.31, Z:-933.52 [[ 5.90061596e-01 -7.95623997e-01 -1.37148710e-01 4.37715458e+02] [ 7.74910504e-01 6.05790751e-01 -1.80364292e-01 -1.35314960e+02] [ 2.26585578e-01 1.48065857e-04 9.73991249e-01 -9.33519532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.74, Y:-135.29, Z:-933.51 [[ 5.88010222e-01 -7.97481352e-01 -1.35157211e-01 4.37735014e+02] [ 7.76533293e-01 6.03340837e-01 -1.81592620e-01 -1.35291780e+02] [ 2.26362593e-01 1.82424323e-03 9.74041400e-01 -9.33514393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.75, Y:-135.27, Z:-933.51 [[ 5.85227512e-01 -7.98670643e-01 -1.40121244e-01 4.37751609e+02] [ 7.78547381e-01 6.01749311e-01 -1.78218246e-01 -1.35274890e+02] [ 2.26655544e-01 -4.79280668e-03 9.73963189e-01 -9.33506082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.77, Y:-135.25, Z:-933.50 [[ 5.83014631e-01 -8.00998403e-01 -1.35998158e-01 4.37767650e+02] [ 7.79849781e-01 5.98666236e-01 -1.82847088e-01 -1.35251708e+02] [ 2.27877731e-01 5.44393812e-04 9.73689603e-01 -9.33501546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.79, Y:-135.23, Z:-933.49 [[ 5.80818006e-01 -8.02034737e-01 -1.39250587e-01 4.37786357e+02] [ 7.81658926e-01 5.97260602e-01 -1.79691672e-01 -1.35232158e+02] [ 2.27287852e-01 -4.47830557e-03 9.73817322e-01 -9.33493757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.80, Y:-135.21, Z:-933.49 [[ 5.79166360e-01 -8.03486558e-01 -1.37752236e-01 4.37801912e+02] [ 7.82695321e-01 5.95317087e-01 -1.81619386e-01 -1.35211135e+02] [ 2.27934996e-01 -2.63019193e-03 9.73672799e-01 -9.33488528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:437.82, Y:-135.19, Z:-933.48 [[ 5.77081509e-01 -8.04823091e-01 -1.38696518e-01 4.37819378e+02] [ 7.83756711e-01 5.93506579e-01 -1.82962727e-01 -1.35189826e+02] [ 2.29569924e-01 -3.11992035e-03 9.73287171e-01 -9.33482496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.84, Y:-135.17, Z:-933.48 [[ 5.76870363e-01 -8.04724683e-01 -1.40138391e-01 4.37836516e+02] [ 7.83873717e-01 5.93628600e-01 -1.82063398e-01 -1.35168355e+02] [ 2.29701068e-01 -4.82382330e-03 9.73249275e-01 -9.33476103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.85, Y:-135.14, Z:-933.47 [[ 5.76046588e-01 -8.05791576e-01 -1.37369079e-01 4.37852281e+02] [ 7.84267210e-01 5.92198094e-01 -1.85003680e-01 -1.35144695e+02] [ 2.30424114e-01 -1.16332602e-03 9.73089603e-01 -9.33471288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.87, Y:-135.12, Z:-933.47 [[ 5.75459440e-01 -8.07722098e-01 -1.28185196e-01 4.37865881e+02] [ 7.85305713e-01 5.89506626e-01 -1.89147762e-01 -1.35117584e+02] [ 2.28344850e-01 8.18229858e-03 9.73545931e-01 -9.33473324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.89, Y:-135.11, Z:-933.45 [[ 5.75471874e-01 -8.04129799e-01 -1.49021434e-01 4.37891115e+02] [ 7.84498213e-01 5.94266558e-01 -1.77228136e-01 -1.35107369e+02] [ 2.31072880e-01 -1.49172413e-02 9.72822080e-01 -9.33454942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.90, Y:-135.08, Z:-933.45 [[ 5.75378704e-01 -8.05899286e-01 -1.39519492e-01 4.37903340e+02] [ 7.84506303e-01 5.92043423e-01 -1.84484273e-01 -1.35081253e+02] [ 2.31277342e-01 -3.30559838e-03 9.72882246e-01 -9.33452192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.92, Y:-135.06, Z:-933.45 [[ 5.75605874e-01 -8.05822692e-01 -1.39023979e-01 4.37919378e+02] [ 7.84555152e-01 5.92148274e-01 -1.83939216e-01 -1.35060107e+02] [ 2.30545204e-01 -3.19548532e-03 9.73056369e-01 -9.33445816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.94, Y:-135.04, Z:-933.44 [[ 5.75803600e-01 -8.05725680e-01 -1.38767227e-01 4.37935435e+02] [ 7.84511401e-01 5.92280829e-01 -1.83698888e-01 -1.35038982e+02] [ 2.30200079e-01 -3.08999040e-03 9.73138415e-01 -9.33439253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.95, Y:-135.01, Z:-933.44 [[ 5.76971911e-01 -8.05780805e-01 -1.33494228e-01 4.37952936e+02] [ 7.84028965e-01 5.92208002e-01 -1.85979207e-01 -1.35013453e+02] [ 2.28914825e-01 2.64143693e-03 9.73442872e-01 -9.33436028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.97, Y:-135.00, Z:-933.42 [[ 5.76760025e-01 -8.04247945e-01 -1.43293813e-01 4.37970718e+02] [ 7.84265964e-01 5.94218311e-01 -1.78413833e-01 -1.34997932e+02] [ 2.28636766e-01 -9.47849369e-03 9.73465658e-01 -9.33424226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:437.99, Y:-134.97, Z:-933.42 [[ 5.78583244e-01 -8.04637115e-01 -1.33418674e-01 4.37986225e+02] [ 7.83079490e-01 5.93761303e-01 -1.85024397e-01 -1.34970214e+02] [ 2.28096343e-01 2.57458815e-03 9.73635163e-01 -9.33422340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.00, Y:-134.95, Z:-933.41 [[ 5.78461534e-01 -8.03140391e-01 -1.42645599e-01 4.38003201e+02] [ 7.83213007e-01 5.95725588e-01 -1.78012389e-01 -1.34954384e+02] [ 2.27946573e-01 -8.74856884e-03 9.73634337e-01 -9.33411424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.02, Y:-134.93, Z:-933.41 [[ 5.80584222e-01 -8.02575795e-01 -1.37091406e-01 4.38016979e+02] [ 7.81699296e-01 5.96548084e-01 -1.81869716e-01 -1.34929863e+02] [ 2.27745848e-01 -1.57356799e-03 9.73719340e-01 -9.33407255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.03, Y:-134.91, Z:-933.40 [[ 5.81683799e-01 -8.01794543e-01 -1.37001712e-01 4.38032475e+02] [ 7.80899334e-01 5.97598585e-01 -1.81857532e-01 -1.34908867e+02] [ 2.27684405e-01 -1.20096527e-03 9.73734240e-01 -9.33401256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.05, Y:-134.89, Z:-933.40 [[ 5.82470600e-01 -8.01275236e-01 -1.36696734e-01 4.38048457e+02] [ 7.80442520e-01 5.98295158e-01 -1.81527899e-01 -1.34886466e+02] [ 2.27238804e-01 -9.49279761e-04 9.73838603e-01 -9.33395060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.06, Y:-134.87, Z:-933.39 [[ 5.83558713e-01 -8.00548265e-01 -1.36314724e-01 4.38064119e+02] [ 7.79789156e-01 5.99267984e-01 -1.81126353e-01 -1.34865106e+02] [ 2.26689437e-01 -5.98882445e-04 9.73966909e-01 -9.33388851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:438.08, Y:-134.84, Z:-933.38 [[ 5.84519912e-01 -7.99904468e-01 -1.35975419e-01 4.38080176e+02] [ 7.79210489e-01 6.00127285e-01 -1.80771281e-01 -1.34842459e+02] [ 2.26202315e-01 -2.89058930e-04 9.74080299e-01 -9.33382337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.736559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:438.10, Y:-134.82, Z:-933.38 [[ 5.85411881e-01 -7.99329586e-01 -1.35518055e-01 4.38095562e+02] [ 7.78737033e-01 6.00892847e-01 -1.80267637e-01 -1.34820280e+02] [ 2.25525085e-01 -2.11145807e-06 9.74237361e-01 -9.33376178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.11, Y:-134.80, Z:-933.37 [[ 5.87345555e-01 -7.97964952e-01 -1.35192950e-01 4.38110331e+02] [ 7.77411534e-01 6.02703566e-01 -1.79943653e-01 -1.34797996e+02] [ 2.25070001e-01 5.88546443e-04 9.74342418e-01 -9.33370241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.13, Y:-134.78, Z:-933.36 [[ 5.88057862e-01 -7.97444967e-01 -1.35164627e-01 4.38126407e+02] [ 7.76863974e-01 6.03391088e-01 -1.80004336e-01 -1.34775789e+02] [ 2.25100683e-01 8.48435830e-04 9.74335139e-01 -9.33364217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.14, Y:-134.75, Z:-933.36 [[ 5.88658299e-01 -7.96969542e-01 -1.35354928e-01 4.38142498e+02] [ 7.76292324e-01 6.04018495e-01 -1.80365978e-01 -1.34753776e+02] [ 2.25503071e-01 1.09893761e-03 9.74241837e-01 -9.33358486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.16, Y:-134.73, Z:-933.35 [[ 5.89217469e-01 -7.96525897e-01 -1.35533280e-01 4.38158573e+02] [ 7.75756857e-01 6.04602933e-01 -1.80711353e-01 -1.34731848e+02] [ 2.25885091e-01 1.33741499e-03 9.74153036e-01 -9.33352667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.18, Y:-134.71, Z:-933.35 [[ 5.89580501e-01 -7.96220190e-01 -1.35750665e-01 4.38175019e+02] [ 7.75350582e-01 6.05005031e-01 -1.81108774e-01 -1.34709967e+02] [ 2.26332298e-01 1.52384436e-03 9.74048956e-01 -9.33346754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.19, Y:-134.69, Z:-933.34 [[ 5.90011426e-01 -7.95884477e-01 -1.35847032e-01 4.38190998e+02] [ 7.74951571e-01 6.05446069e-01 -1.81342550e-01 -1.34689164e+02] [ 2.26575772e-01 1.71930585e-03 9.73992024e-01 -9.33340928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.21, Y:-134.67, Z:-933.33 [[ 5.90353993e-01 -7.95646809e-01 -1.35750944e-01 4.38206998e+02] [ 7.74720462e-01 6.05757967e-01 -1.81288424e-01 -1.34667180e+02] [ 2.26473771e-01 1.85531108e-03 9.74015497e-01 -9.33334812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.22, Y:-134.65, Z:-933.33 [[ 5.90740537e-01 -7.95434236e-01 -1.35314428e-01 4.38222706e+02] [ 7.74614241e-01 6.06036628e-01 -1.80810353e-01 -1.34645802e+02] [ 2.25828245e-01 1.99552223e-03 9.74165090e-01 -9.33329134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.24, Y:-134.62, Z:-933.33 [[ 5.91595107e-01 -7.95705499e-01 -1.29876823e-01 4.38240608e+02] [ 7.74437247e-01 6.05635764e-01 -1.82899620e-01 -1.34619993e+02] [ 2.24192282e-01 7.62107129e-03 9.74515131e-01 -9.33326313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:438.26, Y:-134.60, Z:-933.32 [[ 5.91633056e-01 -7.94842267e-01 -1.34892912e-01 4.38259620e+02] [ 7.74566206e-01 6.06815172e-01 -1.78388735e-01 -1.34600533e+02] [ 2.23645972e-01 1.05718125e-03 9.74669873e-01 -9.33318157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.27, Y:-134.58, Z:-933.32 [[ 5.91521741e-01 -7.96375510e-01 -1.26047916e-01 4.38270764e+02] [ 7.75606564e-01 6.04731625e-01 -1.80925733e-01 -1.34575867e+02] [ 2.20309984e-01 9.25791327e-03 9.75385976e-01 -9.33318422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.096559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:438.29, Y:-134.56, Z:-933.31 [[ 5.91836030e-01 -7.94811644e-01 -1.34181090e-01 4.38290510e+02] [ 7.75154089e-01 6.06856201e-01 -1.75674955e-01 -1.34558474e+02] [ 2.21057126e-01 -4.02525018e-05 9.75260860e-01 -9.33308430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.31, Y:-134.54, Z:-933.30 [[ 5.92642762e-01 -7.93654988e-01 -1.37427497e-01 4.38309838e+02] [ 7.74183652e-01 6.08361518e-01 -1.74745349e-01 -1.34537627e+02] [ 2.22293118e-01 -2.83255570e-03 9.74975767e-01 -9.33298755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.32, Y:-134.51, Z:-933.30 [[ 5.92917615e-01 -7.94210632e-01 -1.32959295e-01 4.38323352e+02] [ 7.74151767e-01 6.07638414e-01 -1.77382636e-01 -1.34513910e+02] [ 2.21670351e-01 2.24261599e-03 9.75119083e-01 -9.33295845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.34, Y:-134.49, Z:-933.29 [[ 5.93720760e-01 -7.94232841e-01 -1.29189215e-01 4.38338395e+02] [ 7.73691452e-01 6.07576885e-01 -1.79588047e-01 -1.34491035e+02] [ 2.21127105e-01 6.67256064e-03 9.75222170e-01 -9.33292436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.36, Y:-134.47, Z:-933.28 [[ 5.93274615e-01 -7.93310162e-01 -1.36690227e-01 4.38357161e+02] [ 7.73669682e-01 6.08815408e-01 -1.75439514e-01 -1.34472252e+02] [ 2.22397065e-01 -1.66927420e-03 9.74954747e-01 -9.33282647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.37, Y:-134.45, Z:-933.28 [[ 5.93776477e-01 -7.93591543e-01 -1.32823035e-01 4.38371360e+02] [ 7.73327550e-01 6.08442944e-01 -1.78218082e-01 -1.34448567e+02] [ 2.22247601e-01 3.10599275e-03 9.74985311e-01 -9.33278683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:438.39, Y:-134.43, Z:-933.27 [[ 5.94392373e-01 -7.93238948e-01 -1.32172907e-01 4.38387361e+02] [ 7.72897813e-01 6.08897600e-01 -1.78529222e-01 -1.34426455e+02] [ 2.22096098e-01 3.96025722e-03 9.75016738e-01 -9.33273379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.40, Y:-134.41, Z:-933.27 [[ 5.94935717e-01 -7.92533788e-01 -1.33946583e-01 4.38403936e+02] [ 7.72349202e-01 6.09823702e-01 -1.77740720e-01 -1.34406049e+02] [ 2.22549327e-01 2.29076610e-03 9.74918740e-01 -9.33266507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.42, Y:-134.39, Z:-933.26 [[ 5.96325226e-01 -7.90443333e-01 -1.39984149e-01 4.38421688e+02] [ 7.70607466e-01 6.12528193e-01 -1.75992460e-01 -1.34388092e+02] [ 2.24856304e-01 -2.92408664e-03 9.74387547e-01 -9.33255959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:438.44, Y:-134.36, Z:-933.25 [[ 5.96477160e-01 -7.91304826e-01 -1.34356503e-01 4.38435069e+02] [ 7.70401250e-01 6.11406770e-01 -1.80730946e-01 -1.34363438e+02] [ 2.25159745e-01 4.29346372e-03 9.74312402e-01 -9.33252627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.45, Y:-134.34, Z:-933.25 [[ 5.96500703e-01 -7.91259855e-01 -1.34516741e-01 4.38451152e+02] [ 7.70279212e-01 6.11464322e-01 -1.81056122e-01 -1.34342078e+02] [ 2.25514629e-01 4.38465438e-03 9.74229915e-01 -9.33246778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.47, Y:-134.32, Z:-933.24 [[ 5.96256796e-01 -7.91416999e-01 -1.34673557e-01 4.38467665e+02] [ 7.70367639e-01 6.11260858e-01 -1.81366660e-01 -1.34320445e+02] [ 2.25857332e-01 4.39295349e-03 9.74150485e-01 -9.33241115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.48, Y:-134.30, Z:-933.24 [[ 5.95706315e-01 -7.91821835e-01 -1.34729984e-01 4.38483831e+02] [ 7.70739791e-01 6.10736944e-01 -1.81550433e-01 -1.34299516e+02] [ 2.26040175e-01 4.30897929e-03 9.74108450e-01 -9.33235242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.50, Y:-134.28, Z:-933.23 [[ 5.94860001e-01 -7.92467427e-01 -1.34673516e-01 4.38500840e+02] [ 7.71402084e-01 6.09900394e-01 -1.81549812e-01 -1.34277601e+02] [ 2.26009743e-01 4.10929023e-03 9.74116374e-01 -9.33228981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.52, Y:-134.26, Z:-933.22 [[ 5.92052394e-01 -7.94664831e-01 -1.34096118e-01 4.38517758e+02] [ 7.73812609e-01 6.07039334e-01 -1.80879225e-01 -1.34256998e+02] [ 2.25139976e-01 3.32471121e-03 9.74320757e-01 -9.33222618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.53, Y:-134.24, Z:-933.22 [[ 5.90074512e-01 -7.96197372e-01 -1.33722908e-01 4.38534859e+02] [ 7.75478873e-01 6.05030530e-01 -1.80473198e-01 -1.34235137e+02] [ 2.24598728e-01 2.79334459e-03 9.74447335e-01 -9.33216333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.55, Y:-134.21, Z:-933.21 [[ 5.87872182e-01 -7.97868504e-01 -1.33462157e-01 4.38552071e+02] [ 7.77249218e-01 6.02827444e-01 -1.80229649e-01 -1.34213351e+02] [ 2.24254211e-01 2.21864018e-03 9.74528156e-01 -9.33209763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.57, Y:-134.19, Z:-933.20 [[ 5.85603811e-01 -7.99594051e-01 -1.33107214e-01 4.38569074e+02] [ 7.79104542e-01 6.00538695e-01 -1.79859358e-01 -1.34191703e+02] [ 2.23750505e-01 1.62188991e-03 9.74645105e-01 -9.33203599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.59, Y:-134.17, Z:-933.20 [[ 5.83344199e-01 -8.01260395e-01 -1.33008740e-01 4.38585340e+02] [ 7.80819360e-01 5.98314865e-01 -1.79834503e-01 -1.34170914e+02] [ 2.23675372e-01 1.04961501e-03 9.74663135e-01 -9.33197311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.60, Y:-134.15, Z:-933.19 [[ 5.81319786e-01 -8.02725618e-01 -1.33037166e-01 4.38601843e+02] [ 7.82291019e-01 5.96348290e-01 -1.79970771e-01 -1.34149505e+02] [ 2.23803635e-01 5.46789778e-04 9.74634103e-01 -9.33191120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.62, Y:-134.13, Z:-933.19 [[ 5.78769466e-01 -8.04513721e-01 -1.33355079e-01 4.38618829e+02] [ 7.84002158e-01 5.93934059e-01 -1.80507482e-01 -1.34127499e+02] [ 2.24424869e-01 -7.84511743e-05 9.74491391e-01 -9.33185026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.63, Y:-134.10, Z:-933.18 [[ 5.77519445e-01 -8.05778637e-01 -1.31118572e-01 4.38634277e+02] [ 7.84547422e-01 5.92207826e-01 -1.83780395e-01 -1.34103217e+02] [ 2.25735761e-01 3.26801395e-03 9.74183087e-01 -9.33180354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.65, Y:-134.08, Z:-933.17 [[ 5.77316762e-01 -8.05368245e-01 -1.34489205e-01 4.38652345e+02] [ 7.84683632e-01 5.92774239e-01 -1.81356826e-01 -1.34082248e+02] [ 2.25780765e-01 -8.31142562e-04 9.74177784e-01 -9.33172781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.67, Y:-134.06, Z:-933.17 [[ 5.77429667e-01 -8.04835844e-01 -1.37165025e-01 4.38669435e+02] [ 7.84722129e-01 5.93481489e-01 -1.78860009e-01 -1.34061824e+02] [ 2.25357850e-01 -4.35735465e-03 9.74266315e-01 -9.33165772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.68, Y:-134.04, Z:-933.16 [[ 5.77284021e-01 -8.05405443e-01 -1.34406962e-01 4.38684088e+02] [ 7.84512307e-01 5.92724236e-01 -1.82259213e-01 -1.34037897e+02] [ 2.26458826e-01 -2.28584271e-04 9.74020712e-01 -9.33161120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.70, Y:-134.02, Z:-933.16 [[ 5.77467076e-01 -8.05187218e-01 -1.34927094e-01 4.38699629e+02] [ 7.84099300e-01 5.93020690e-01 -1.83070339e-01 -1.34016459e+02] [ 2.27420455e-01 -7.91463560e-05 9.73796658e-01 -9.33155571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.72, Y:-134.00, Z:-933.14 [[ 5.77560755e-01 -8.02787099e-01 -1.48177083e-01 4.38722313e+02] [ 7.82794729e-01 5.96126388e-01 -1.78509781e-01 -1.33999344e+02] [ 2.31637618e-01 -1.28919957e-02 9.72716716e-01 -9.33140054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.73, Y:-133.97, Z:-933.15 [[ 5.78799373e-01 -8.05694965e-01 -1.25884507e-01 4.38727155e+02] [ 7.82564230e-01 5.92195189e-01 -1.92088742e-01 -1.33967049e+02] [ 2.29313132e-01 1.26681310e-02 9.73270264e-01 -9.33147545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.75, Y:-133.95, Z:-933.14 [[ 5.78427296e-01 -8.04265590e-01 -1.36303797e-01 4.38747127e+02] [ 7.82657988e-01 5.94269868e-01 -1.85175047e-01 -1.33949200e+02] [ 2.29931158e-01 4.31045971e-04 9.73206801e-01 -9.33137327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.76, Y:-133.93, Z:-933.13 [[ 5.81227706e-01 -8.02283800e-01 -1.36070050e-01 4.38762001e+02] [ 7.80670798e-01 5.96941417e-01 -1.84970402e-01 -1.33927617e+02] [ 2.29624606e-01 1.28400756e-03 9.73278425e-01 -9.33131188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.996559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:438.78, Y:-133.90, Z:-933.13 [[ 5.81979431e-01 -8.01807413e-01 -1.35664347e-01 4.38777671e+02] [ 7.80288066e-01 5.97580565e-01 -1.84521010e-01 -1.33904803e+02] [ 2.29020691e-01 1.53016099e-03 9.73420352e-01 -9.33125147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.79, Y:-133.88, Z:-933.12 [[ 5.82736309e-01 -8.01339729e-01 -1.35177785e-01 4.38792889e+02] [ 7.79938567e-01 5.98206896e-01 -1.83968319e-01 -1.33883251e+02] [ 2.28285405e-01 1.77465127e-03 9.73592638e-01 -9.33119159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.81, Y:-133.86, Z:-933.11 [[ 5.83354642e-01 -8.00957843e-01 -1.34773500e-01 4.38808966e+02] [ 7.79658236e-01 5.98717523e-01 -1.83494858e-01 -1.33861396e+02] [ 2.27662902e-01 1.96530746e-03 9.73738025e-01 -9.33112865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.83, Y:-133.84, Z:-933.11 [[ 5.83551021e-01 -8.00838880e-01 -1.34630214e-01 4.38825181e+02] [ 7.79556204e-01 5.98876258e-01 -1.83410338e-01 -1.33839259e+02] [ 2.27508968e-01 2.07747117e-03 9.73773769e-01 -9.33106219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.84, Y:-133.82, Z:-933.10 [[ 5.83828401e-01 -8.00702871e-01 -1.34236030e-01 4.38841479e+02] [ 7.79517286e-01 5.99057686e-01 -1.82982758e-01 -1.33817292e+02] [ 2.26929945e-01 2.19122533e-03 9.73908619e-01 -9.33100129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.86, Y:-133.80, Z:-933.09 [[ 5.84055101e-01 -8.00614035e-01 -1.33778946e-01 4.38857616e+02] [ 7.79546796e-01 5.99176056e-01 -1.82468753e-01 -1.33795120e+02] [ 2.26244186e-01 2.28485716e-03 9.74067938e-01 -9.33093750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.87, Y:-133.77, Z:-933.09 [[ 5.83874183e-01 -8.00784664e-01 -1.33547222e-01 4.38873572e+02] [ 7.79770563e-01 5.98948009e-01 -1.82261218e-01 -1.33773019e+02] [ 2.25939831e-01 2.28142735e-03 9.74138588e-01 -9.33087457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.89, Y:-133.75, Z:-933.08 [[ 5.83700484e-01 -8.00958633e-01 -1.33262949e-01 4.38889261e+02] [ 7.80014647e-01 5.98715368e-01 -1.81980932e-01 -1.33751037e+02] [ 2.25545774e-01 2.27530640e-03 9.74229915e-01 -9.33081278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.90, Y:-133.73, Z:-933.08 [[ 5.83789396e-01 -8.00959492e-01 -1.32867729e-01 4.38904397e+02] [ 7.80116197e-01 5.98713990e-01 -1.81549657e-01 -1.33729599e+02] [ 2.24963690e-01 2.33449707e-03 9.74364351e-01 -9.33075390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.92, Y:-133.71, Z:-933.07 [[ 5.83854145e-01 -8.00948389e-01 -1.32649974e-01 4.38919693e+02] [ 7.80151700e-01 5.98728608e-01 -1.81348779e-01 -1.33707623e+02] [ 2.24672347e-01 2.39413293e-03 9.74431427e-01 -9.33069435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.296559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:438.94, Y:-133.69, Z:-933.06 [[ 5.84011287e-01 -8.00817525e-01 -1.32748291e-01 4.38935702e+02] [ 7.79969372e-01 5.98903235e-01 -1.81556311e-01 -1.33685092e+02] [ 2.24896856e-01 2.49133413e-03 9.74379391e-01 -9.33063496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.95, Y:-133.66, Z:-933.06 [[ 5.84732418e-01 -8.00155362e-01 -1.33564206e-01 4.38951127e+02] [ 7.79003803e-01 5.99786108e-01 -1.82783202e-01 -1.33662812e+02] [ 2.26364915e-01 2.83223867e-03 9.74038451e-01 -9.33057986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.356559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:438.97, Y:-133.64, Z:-933.05 [[ 5.85028302e-01 -7.99892142e-01 -1.33844865e-01 4.38967164e+02] [ 7.78617922e-01 6.00136244e-01 -1.83277441e-01 -1.33640082e+02] [ 2.26927340e-01 3.00847909e-03 9.73907045e-01 -9.33052606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:438.98, Y:-133.62, Z:-933.05 [[ 5.85463707e-01 -7.99468463e-01 -1.34470905e-01 4.38983285e+02] [ 7.77954891e-01 6.00699233e-01 -1.84246086e-01 -1.33617604e+02] [ 2.28075504e-01 3.25709842e-03 9.73638001e-01 -9.33046725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.00, Y:-133.60, Z:-933.04 [[ 5.85617744e-01 -7.99298913e-01 -1.34807660e-01 4.38999177e+02] [ 7.77645507e-01 6.00924027e-01 -1.84818236e-01 -1.33595571e+02] [ 2.28734177e-01 3.40026740e-03 9.73482981e-01 -9.33041114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.02, Y:-133.57, Z:-933.04 [[ 5.85639858e-01 -7.99255963e-01 -1.34966156e-01 4.39015511e+02] [ 7.77523760e-01 6.00980640e-01 -1.85146087e-01 -1.33573035e+02] [ 2.29091161e-01 3.48953451e-03 9.73398718e-01 -9.33035376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.03, Y:-133.55, Z:-933.03 [[ 5.84607850e-01 -7.99999376e-01 -1.35035774e-01 4.39031870e+02] [ 7.78237853e-01 5.99991929e-01 -1.85352447e-01 -1.33550635e+02] [ 2.29302216e-01 3.26854504e-03 9.73349788e-01 -9.33029248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:439.05, Y:-133.53, Z:-933.02 [[ 5.83663525e-01 -8.00724847e-01 -1.34820656e-01 4.39048405e+02] [ 7.79026831e-01 5.99024574e-01 -1.85166834e-01 -1.33528283e+02] [ 2.29028571e-01 3.04621822e-03 9.73414934e-01 -9.33022991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.06, Y:-133.51, Z:-933.02 [[ 5.82404248e-01 -8.01685522e-01 -1.34557108e-01 4.39064867e+02] [ 7.80072975e-01 5.97739799e-01 -1.84914268e-01 -1.33506227e+02] [ 2.28673230e-01 2.73049204e-03 9.73499409e-01 -9.33016954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.08, Y:-133.49, Z:-933.01 [[ 5.81156429e-01 -8.02653931e-01 -1.34178510e-01 4.39080651e+02] [ 7.81164177e-01 5.96440155e-01 -1.84503850e-01 -1.33485303e+02] [ 2.28122192e-01 2.41015294e-03 9.73629528e-01 -9.33011115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.10, Y:-133.46, Z:-933.00 [[ 5.80169933e-01 -8.03421912e-01 -1.33850960e-01 4.39097268e+02] [ 7.82035310e-01 5.95406205e-01 -1.84152720e-01 -1.33463449e+02] [ 2.27648023e-01 2.16369453e-03 9.73741083e-01 -9.33004951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.11, Y:-133.44, Z:-933.00 [[ 5.79215041e-01 -8.04143139e-01 -1.33655335e-01 4.39114095e+02] [ 7.82814098e-01 5.94432537e-01 -1.83989260e-01 -1.33441528e+02] [ 2.27402781e-01 1.94206583e-03 9.73798852e-01 -9.32998635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.656559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:439.13, Y:-133.42, Z:-932.99 [[ 5.78097147e-01 -8.05007381e-01 -1.33292182e-01 4.39131326e+02] [ 7.83793372e-01 5.93262465e-01 -1.83596293e-01 -1.33419746e+02] [ 2.26873619e-01 1.66296419e-03 9.73922787e-01 -9.32992900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.15, Y:-133.40, Z:-932.99 [[ 5.77952211e-01 -8.05109101e-01 -1.33306334e-01 4.39147294e+02] [ 7.83867386e-01 5.93124336e-01 -1.83726546e-01 -1.33398307e+02] [ 2.26987145e-01 1.69067606e-03 9.73896287e-01 -9.32987064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.16, Y:-133.38, Z:-932.98 [[ 5.78200281e-01 -8.04898680e-01 -1.33501128e-01 4.39163940e+02] [ 7.83564990e-01 5.93409421e-01 -1.84095536e-01 -1.33376095e+02] [ 2.27399081e-01 1.83728060e-03 9.73799919e-01 -9.32981005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.18, Y:-133.35, Z:-932.98 [[ 5.78450724e-01 -8.04709557e-01 -1.33556312e-01 4.39180260e+02] [ 7.83327270e-01 5.93665402e-01 -1.84281793e-01 -1.33354252e+02] [ 2.27581081e-01 1.97963548e-03 9.73757122e-01 -9.32975236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.20, Y:-133.33, Z:-932.97 [[ 5.78883667e-01 -8.04343021e-01 -1.33888028e-01 4.39195821e+02] [ 7.82817338e-01 5.94161155e-01 -1.84850042e-01 -1.33333158e+02] [ 2.28233906e-01 2.19680071e-03 9.73603851e-01 -9.32969521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.21, Y:-133.31, Z:-932.96 [[ 5.79243972e-01 -8.04009596e-01 -1.34331644e-01 4.39212084e+02] [ 7.82306497e-01 5.94611487e-01 -1.85563265e-01 -1.33310711e+02] [ 2.29069784e-01 2.39788476e-03 9.73407050e-01 -9.32963341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.23, Y:-133.29, Z:-932.96 [[ 5.80312165e-01 -8.03092484e-01 -1.35204491e-01 4.39228567e+02] [ 7.81051789e-01 5.95847599e-01 -1.86878952e-01 -1.33288953e+02] [ 2.30642353e-01 2.84641991e-03 9.73034431e-01 -9.32957081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.24, Y:-133.27, Z:-932.95 [[ 5.80590112e-01 -8.02816247e-01 -1.35651008e-01 4.39244274e+02] [ 7.80593786e-01 5.96218806e-01 -1.87607240e-01 -1.33267371e+02] [ 2.31491822e-01 3.03457467e-03 9.72832117e-01 -9.32951161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.896559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:439.26, Y:-133.25, Z:-932.95 [[ 5.80352994e-01 -8.02927184e-01 -1.36008598e-01 4.39260052e+02] [ 7.80564537e-01 5.96069265e-01 -1.88203175e-01 -1.33245361e+02] [ 2.32183991e-01 3.06078731e-03 9.72667069e-01 -9.32945116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.28, Y:-133.22, Z:-932.94 [[ 5.80118339e-01 -8.03081616e-01 -1.36097871e-01 4.39276367e+02] [ 7.80666474e-01 5.95861135e-01 -1.88439284e-01 -1.33223313e+02] [ 2.32427557e-01 3.07003891e-03 9.72608866e-01 -9.32939131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.29, Y:-133.20, Z:-932.93 [[ 5.79370077e-01 -8.03616247e-01 -1.36129504e-01 4.39292876e+02] [ 7.81178185e-01 5.95140631e-01 -1.88595527e-01 -1.33201269e+02] [ 2.32574628e-01 2.92520644e-03 9.72574154e-01 -9.32932824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.31, Y:-133.18, Z:-932.93 [[ 5.78287507e-01 -8.04367508e-01 -1.36295533e-01 4.39308524e+02] [ 7.81867663e-01 5.94125954e-01 -1.88937315e-01 -1.33180671e+02] [ 2.32951751e-01 2.69501926e-03 9.72484560e-01 -9.32926764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.016559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:439.33, Y:-133.16, Z:-932.92 [[ 5.75727969e-01 -8.06273837e-01 -1.35866866e-01 4.39325465e+02] [ 7.83950513e-01 5.91539205e-01 -1.88422300e-01 -1.33158731e+02] [ 2.32290548e-01 1.96708873e-03 9.72644453e-01 -9.32920232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.34, Y:-133.14, Z:-932.91 [[ 5.74315251e-01 -8.07316257e-01 -1.35655644e-01 4.39341537e+02] [ 7.85065592e-01 5.90116826e-01 -1.88239604e-01 -1.33137690e+02] [ 2.32021570e-01 1.61029691e-03 9.72709308e-01 -9.32914461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.36, Y:-133.12, Z:-932.91 [[ 5.72767060e-01 -8.08462745e-01 -1.35373137e-01 4.39358291e+02] [ 7.86313651e-01 5.88546124e-01 -1.87947604e-01 -1.33115824e+02] [ 2.31621971e-01 1.20445086e-03 9.72805126e-01 -9.32908015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.38, Y:-133.09, Z:-932.90 [[ 5.71395171e-01 -8.09456861e-01 -1.35229985e-01 4.39375327e+02] [ 7.87356699e-01 5.87178711e-01 -1.87857896e-01 -1.33094171e+02] [ 2.31467031e-01 8.66860374e-04 9.72842363e-01 -9.32901363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.39, Y:-133.07, Z:-932.90 [[ 5.70002009e-01 -8.10464845e-01 -1.35072001e-01 4.39391884e+02] [ 7.88418566e-01 5.85787044e-01 -1.87749044e-01 -1.33072654e+02] [ 2.31287428e-01 5.24058346e-04 9.72885323e-01 -9.32895014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.41, Y:-133.05, Z:-932.89 [[ 5.68950334e-01 -8.11202312e-01 -1.35078961e-01 4.39408480e+02] [ 7.89147417e-01 5.84765528e-01 -1.87871318e-01 -1.33050540e+02] [ 2.31391167e-01 2.92236433e-04 9.72860752e-01 -9.32888362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.43, Y:-133.03, Z:-932.88 [[ 5.67345488e-01 -8.11029256e-01 -1.42655679e-01 4.39426758e+02] [ 7.89914663e-01 5.84947136e-01 -1.84042585e-01 -1.33032119e+02] [ 2.32709952e-01 -8.27008214e-03 9.72511020e-01 -9.32877700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.44, Y:-133.00, Z:-932.88 [[ 5.68876184e-01 -8.12483915e-01 -1.27474608e-01 4.39436398e+02] [ 7.89423984e-01 5.82916884e-01 -1.92399793e-01 -1.33003257e+02] [ 2.30628838e-01 8.82014697e-03 9.73001821e-01 -9.32878592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.45, Y:-132.98, Z:-932.87 [[ 5.69887284e-01 -8.10686427e-01 -1.34223697e-01 4.39454298e+02] [ 7.88836711e-01 5.85480216e-01 -1.86948013e-01 -1.32984115e+02] [ 2.30141536e-01 6.58716185e-04 9.73156945e-01 -9.32869757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.47, Y:-132.96, Z:-932.86 [[ 5.71247863e-01 -8.09704416e-01 -1.34367547e-01 4.39468572e+02] [ 7.87756397e-01 5.86836869e-01 -1.87249429e-01 -1.32961570e+02] [ 2.30468520e-01 1.11694143e-03 9.73079141e-01 -9.32863886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.316559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:439.48, Y:-132.94, Z:-932.86 [[ 5.72588626e-01 -8.08737590e-01 -1.34483370e-01 4.39483170e+02] [ 7.86701340e-01 5.88167538e-01 -1.87509865e-01 -1.32938099e+02] [ 2.30745028e-01 1.56776862e-03 9.73012988e-01 -9.32857754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.50, Y:-132.91, Z:-932.85 [[ 5.73910429e-01 -8.07742853e-01 -1.34826937e-01 4.39497524e+02] [ 7.85538613e-01 5.89531439e-01 -1.88100424e-01 -1.32914806e+02] [ 2.31421491e-01 2.04103006e-03 9.72851442e-01 -9.32851830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.51, Y:-132.89, Z:-932.85 [[ 5.76059038e-01 -8.06092204e-01 -1.35540930e-01 4.39511364e+02] [ 7.83576992e-01 5.91783395e-01 -1.89207587e-01 -1.32891851e+02] [ 2.32729633e-01 2.78798698e-03 9.72537478e-01 -9.32845780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:439.53, Y:-132.87, Z:-932.84 [[ 5.76054289e-01 -8.06257504e-01 -1.34574495e-01 4.39526723e+02] [ 7.83296560e-01 5.91546282e-01 -1.91100745e-01 -1.32867734e+02] [ 2.33683452e-01 4.67266458e-03 9.72301502e-01 -9.32840055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.54, Y:-132.85, Z:-932.83 [[ 5.76302487e-01 -8.05565729e-01 -1.37620130e-01 4.39543649e+02] [ 7.83212760e-01 5.92505851e-01 -1.88453149e-01 -1.32846731e+02] [ 2.33352130e-01 8.20176342e-04 9.72391953e-01 -9.32832272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.56, Y:-132.82, Z:-932.83 [[ 5.76031918e-01 -8.06050845e-01 -1.35901675e-01 4.39557995e+02] [ 7.83351375e-01 5.91838851e-01 -1.89966834e-01 -1.32823149e+02] [ 2.33554818e-01 2.96819591e-03 9.72339106e-01 -9.32826698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.58, Y:-132.80, Z:-932.81 [[ 5.74548976e-01 -8.05295991e-01 -1.46259500e-01 4.39577619e+02] [ 7.83713245e-01 5.92817331e-01 -1.85367639e-01 -1.32804733e+02] [ 2.35980983e-01 -8.12272076e-03 9.71723725e-01 -9.32813434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.58, Y:-132.77, Z:-932.82 [[ 5.73768604e-01 -8.09361153e-01 -1.25395825e-01 4.39584155e+02] [ 7.85781134e-01 5.87167514e-01 -1.94376747e-01 -1.32773635e+02] [ 2.30949343e-01 1.29936015e-02 9.72879010e-01 -9.32817093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.60, Y:-132.76, Z:-932.81 [[ 5.72530040e-01 -8.08876816e-01 -1.33894177e-01 4.39603405e+02] [ 7.86865667e-01 5.87974912e-01 -1.87424453e-01 -1.32756097e+02] [ 2.30329711e-01 1.94939845e-03 9.73110695e-01 -9.32807380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.62, Y:-132.73, Z:-932.80 [[ 5.71438211e-01 -8.09710276e-01 -1.33520184e-01 4.39618638e+02] [ 7.87822106e-01 5.86827470e-01 -1.87002273e-01 -1.32734169e+02] [ 2.29770974e-01 1.67009197e-03 9.73243295e-01 -9.32800987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.64, Y:-132.72, Z:-932.79 [[ 5.70423850e-01 -8.08279192e-01 -1.45949921e-01 4.39641180e+02] [ 7.87706960e-01 5.88689017e-01 -1.81557114e-01 -1.32717098e+02] [ 2.32667953e-01 -1.14012609e-02 9.72489401e-01 -9.32786070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.65, Y:-132.69, Z:-932.79 [[ 5.69739942e-01 -8.12546695e-01 -1.23143282e-01 4.39645866e+02] [ 7.89279518e-01 5.82750066e-01 -1.93494712e-01 -1.32685598e+02] [ 2.28985244e-01 1.30471957e-02 9.73342452e-01 -9.32792158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.67, Y:-132.67, Z:-932.78 [[ 5.69400123e-01 -8.11233036e-01 -1.32982935e-01 4.39666668e+02] [ 7.89505582e-01 5.84721745e-01 -1.86497771e-01 -1.32667219e+02] [ 2.29051167e-01 1.20108375e-03 9.73413643e-01 -9.32782148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.68, Y:-132.64, Z:-932.78 [[ 5.68452216e-01 -8.11923954e-01 -1.32821576e-01 4.39682812e+02] [ 7.90243487e-01 5.83762385e-01 -1.86377865e-01 -1.32644941e+02] [ 2.28860893e-01 9.85524912e-04 9.73458638e-01 -9.32775513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.70, Y:-132.62, Z:-932.77 [[ 5.67702648e-01 -8.12484898e-01 -1.32597116e-01 4.39698205e+02] [ 7.90867767e-01 5.82981656e-01 -1.86173477e-01 -1.32622972e+02] [ 2.28564825e-01 8.24390774e-04 9.73528346e-01 -9.32769598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.71, Y:-132.60, Z:-932.76 [[ 5.67570321e-01 -8.12525714e-01 -1.32913111e-01 4.39713078e+02] [ 7.90787045e-01 5.82924722e-01 -1.86693918e-01 -1.32601169e+02] [ 2.29171948e-01 8.55960560e-04 9.73385579e-01 -9.32764108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.73, Y:-132.58, Z:-932.76 [[ 5.67698698e-01 -8.12353876e-01 -1.33414276e-01 4.39728585e+02] [ 7.90425644e-01 5.83163981e-01 -1.87475523e-01 -1.32578568e+02] [ 2.30098868e-01 9.75545758e-04 9.73166769e-01 -9.32758251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.74, Y:-132.56, Z:-932.75 [[ 5.67907341e-01 -8.12129780e-01 -1.33889777e-01 4.39744290e+02] [ 7.90010005e-01 5.83475729e-01 -1.88255852e-01 -1.32555741e+02] [ 2.31009619e-01 1.13761701e-03 9.72950801e-01 -9.32752197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.76, Y:-132.53, Z:-932.75 [[ 5.68381818e-01 -8.11728397e-01 -1.34309786e-01 4.39759075e+02] [ 7.89430044e-01 5.84033498e-01 -1.88957875e-01 -1.32533943e+02] [ 2.31823887e-01 1.37204040e-03 9.72756806e-01 -9.32746805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.77, Y:-132.51, Z:-932.74 [[ 5.68839115e-01 -8.11358433e-01 -1.34608892e-01 4.39774189e+02] [ 7.88924762e-01 5.84546810e-01 -1.89480203e-01 -1.32511436e+02] [ 2.32421560e-01 1.58746283e-03 9.72613849e-01 -9.32741127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.79, Y:-132.49, Z:-932.74 [[ 5.70246875e-01 -8.10286108e-01 -1.35110787e-01 4.39788868e+02] [ 7.87626102e-01 5.86030729e-01 -1.90297421e-01 -1.32489896e+02] [ 2.33374430e-01 2.09972715e-03 9.72384681e-01 -9.32735089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.80, Y:-132.47, Z:-932.73 [[ 5.70902247e-01 -8.09782948e-01 -1.35359527e-01 4.39804882e+02] [ 7.87000017e-01 5.86724770e-01 -1.90748572e-01 -1.32467134e+02] [ 2.33883729e-01 2.37083810e-03 9.72261683e-01 -9.32728675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9765599950001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:439.82, Y:-132.44, Z:-932.72 [[ 5.71540693e-01 -8.09329002e-01 -1.35380217e-01 4.39820218e+02] [ 7.86500230e-01 5.87349715e-01 -1.90886618e-01 -1.32444699e+02] [ 2.34005608e-01 2.62289785e-03 9.72231709e-01 -9.32722401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.84, Y:-132.42, Z:-932.72 [[ 5.72272103e-01 -8.08763026e-01 -1.35672428e-01 4.39835267e+02] [ 7.85791119e-01 5.88127355e-01 -1.91411945e-01 -1.32422778e+02] [ 2.34599570e-01 2.92952695e-03 9.72087681e-01 -9.32715875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.85, Y:-132.40, Z:-932.71 [[ 5.72793318e-01 -8.09081950e-01 -1.31507466e-01 4.39849975e+02] [ 7.85618011e-01 5.87647087e-01 -1.93585232e-01 -1.32396954e+02] [ 2.33906296e-01 7.56969393e-03 9.72229677e-01 -9.32713041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.87, Y:-132.38, Z:-932.70 [[ 5.72828573e-01 -8.07701196e-01 -1.39592994e-01 4.39867733e+02] [ 7.85397680e-01 5.89589722e-01 -1.88505820e-01 -1.32378994e+02] [ 2.34558971e-01 -1.65449377e-03 9.72100484e-01 -9.32701058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.88, Y:-132.35, Z:-932.70 [[ 5.72128412e-01 -8.08910741e-01 -1.35397542e-01 4.39881518e+02] [ 7.85979203e-01 5.87923773e-01 -1.91265080e-01 -1.32354857e+02] [ 2.34319811e-01 3.00853408e-03 9.72154913e-01 -9.32696176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.90, Y:-132.33, Z:-932.69 [[ 5.71085309e-01 -8.09694169e-01 -1.35118183e-01 4.39896935e+02] [ 7.86852412e-01 5.86845623e-01 -1.90985593e-01 -1.32332785e+02] [ 2.33933435e-01 2.75099840e-03 9.72248723e-01 -9.32689894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.91, Y:-132.31, Z:-932.68 [[ 5.69581087e-01 -8.10835785e-01 -1.34620635e-01 4.39912874e+02] [ 7.88168028e-01 5.85269031e-01 -1.90397799e-01 -1.32310711e+02] [ 2.33170637e-01 2.34330465e-03 9.72433012e-01 -9.32683116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.93, Y:-132.29, Z:-932.68 [[ 5.66280903e-01 -8.13323020e-01 -1.33535034e-01 4.39929392e+02] [ 7.91065382e-01 5.81810765e-01 -1.88975647e-01 -1.32290233e+02] [ 2.31390364e-01 1.37835672e-03 9.72860010e-01 -9.32675944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.95, Y:-132.27, Z:-932.67 [[ 5.64497778e-01 -8.14639848e-01 -1.33057041e-01 4.39945420e+02] [ 7.92555049e-01 5.79966475e-01 -1.88402183e-01 -1.32268542e+02] [ 2.30648549e-01 8.97584029e-04 9.73036711e-01 -9.32669630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.96, Y:-132.25, Z:-932.66 [[ 5.62822976e-01 -8.15872094e-01 -1.32600997e-01 4.39961622e+02] [ 7.93947623e-01 5.78232234e-01 -1.87868719e-01 -1.32246691e+02] [ 2.29951016e-01 4.58585144e-04 9.73202096e-01 -9.32663519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.98, Y:-132.22, Z:-932.66 [[ 5.61047743e-01 -8.17131799e-01 -1.32367115e-01 4.39977462e+02] [ 7.95293313e-01 5.76450885e-01 -1.87651070e-01 -1.32224573e+02] [ 2.29638797e-01 1.05282683e-05 9.73275923e-01 -9.32657285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:439.98, Y:-132.19, Z:-932.66 [[ 5.57850658e-01 -8.21701528e-01 -1.16658660e-01 4.39984188e+02] [ 7.98617182e-01 5.69719327e-01 -1.93985785e-01 -1.32194835e+02] [ 2.25861110e-01 1.50494875e-02 9.74043260e-01 -9.32663601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.01, Y:-132.19, Z:-932.64 [[ 5.58183074e-01 -8.17033778e-01 -1.44524952e-01 4.40014791e+02] [ 7.97196505e-01 5.76395172e-01 -1.79572654e-01 -1.32185352e+02] [ 2.30020408e-01 -1.49803705e-02 9.73070501e-01 -9.32639990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.02, Y:-132.16, Z:-932.64 [[ 5.56912483e-01 -8.19875454e-01 -1.32863562e-01 4.40024116e+02] [ 7.97886115e-01 5.72541090e-01 -1.88611899e-01 -1.32158358e+02] [ 2.30708115e-01 -9.69669873e-04 9.73022521e-01 -9.32638898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.04, Y:-132.14, Z:-932.63 [[ 5.56466872e-01 -8.20146747e-01 -1.33056133e-01 4.40039559e+02] [ 7.98081804e-01 5.72152285e-01 -1.88963481e-01 -1.32135643e+02] [ 2.31106155e-01 -1.03776143e-03 9.72927987e-01 -9.32633266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.06, Y:-132.11, Z:-932.63 [[ 5.56497579e-01 -8.20041135e-01 -1.33577629e-01 4.40055263e+02] [ 7.97770931e-01 5.72303825e-01 -1.89815367e-01 -1.32113202e+02] [ 2.32103397e-01 -9.32557272e-04 9.72690672e-01 -9.32626946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.07, Y:-132.09, Z:-932.62 [[ 5.56593366e-01 -8.19924296e-01 -1.33895388e-01 4.40070246e+02] [ 7.97516449e-01 5.72471376e-01 -1.90378667e-01 -1.32091298e+02] [ 2.32747371e-01 -8.20271747e-04 9.72536883e-01 -9.32620783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.09, Y:-132.07, Z:-932.61 [[ 5.57133115e-01 -8.19538876e-01 -1.34010165e-01 4.40085521e+02] [ 7.97052893e-01 5.73023283e-01 -1.90659388e-01 -1.32069290e+02] [ 2.33043725e-01 -5.90531323e-04 9.72466078e-01 -9.32614530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.10, Y:-132.05, Z:-932.61 [[ 5.57927493e-01 -8.19051931e-01 -1.33681890e-01 4.40100618e+02] [ 7.96636151e-01 5.73719299e-01 -1.90307671e-01 -1.32047006e+02] [ 2.32567745e-01 -3.17944515e-04 9.72580147e-01 -9.32608176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.11, Y:-132.03, Z:-932.60 [[ 5.59296614e-01 -8.18410274e-01 -1.31878436e-01 4.40113441e+02] [ 7.95569740e-01 5.74629007e-01 -1.92016391e-01 -1.32025054e+02] [ 2.32929362e-01 2.47562483e-03 9.72490506e-01 -9.32602778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.13, Y:-132.00, Z:-932.59 [[ 5.59945732e-01 -8.17603782e-01 -1.34107548e-01 4.40129942e+02] [ 7.95597595e-01 5.75780026e-01 -1.88419291e-01 -1.32002995e+02] [ 2.31268772e-01 -1.19106499e-03 9.72889170e-01 -9.32594943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.14, Y:-131.98, Z:-932.59 [[ 5.62768295e-01 -8.15978621e-01 -1.32176915e-01 4.40142733e+02] [ 7.93931163e-01 5.78081056e-01 -1.88402763e-01 -1.31978698e+02] [ 2.30141597e-01 1.08772990e-03 9.73156546e-01 -9.32588597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.16, Y:-131.96, Z:-932.58 [[ 5.64166438e-01 -8.15064254e-01 -1.31857849e-01 4.40156736e+02] [ 7.93073087e-01 5.79368567e-01 -1.88061542e-01 -1.31956651e+02] [ 2.29676533e-01 1.52509848e-03 9.73265824e-01 -9.32582348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.17, Y:-131.93, Z:-932.58 [[ 5.65622468e-01 -8.14065172e-01 -1.31791957e-01 4.40171189e+02] [ 7.92045496e-01 5.80770120e-01 -1.88069136e-01 -1.31934279e+02] [ 2.29641364e-01 1.99090295e-03 9.73273282e-01 -9.32576073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.19, Y:-131.91, Z:-932.57 [[ 5.67144365e-01 -8.13020341e-01 -1.31701153e-01 4.40185543e+02] [ 7.90985115e-01 5.82230088e-01 -1.88017747e-01 -1.31912506e+02] [ 2.29542627e-01 2.45955404e-03 9.73295502e-01 -9.32570039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.20, Y:-131.89, Z:-932.56 [[ 5.70051410e-01 -8.10919647e-01 -1.32101161e-01 4.40200228e+02] [ 7.88668361e-01 5.85147764e-01 -1.88691049e-01 -1.31888867e+02] [ 2.30311978e-01 3.37959238e-03 9.73110976e-01 -9.32563551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.21, Y:-131.87, Z:-932.56 [[ 5.71320582e-01 -8.10008153e-01 -1.32210381e-01 4.40214589e+02] [ 7.87667935e-01 5.86406169e-01 -1.88963038e-01 -1.31866678e+02] [ 2.30590584e-01 3.82059519e-03 9.73043363e-01 -9.32557553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.23, Y:-131.84, Z:-932.55 [[ 5.72406140e-01 -8.09235328e-01 -1.32247478e-01 4.40229646e+02] [ 7.86837025e-01 5.87469633e-01 -1.89121463e-01 -1.31843262e+02] [ 2.30735146e-01 4.19707445e-03 9.73007542e-01 -9.32551088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.24, Y:-131.82, Z:-932.54 [[ 5.73239779e-01 -8.08650013e-01 -1.32216913e-01 4.40244753e+02] [ 7.86219389e-01 5.88272803e-01 -1.89193503e-01 -1.31819925e+02] [ 2.30770943e-01 4.50174068e-03 9.72997691e-01 -9.32544918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.26, Y:-131.80, Z:-932.54 [[ 5.73918860e-01 -8.08191814e-01 -1.32072460e-01 4.40259017e+02] [ 7.85772000e-01 5.88900192e-01 -1.89100311e-01 -1.31797991e+02] [ 2.30606821e-01 4.74939399e-03 9.73035425e-01 -9.32539008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.876559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:440.27, Y:-131.77, Z:-932.53 [[ 5.74245961e-01 -8.07966055e-01 -1.32031927e-01 4.40274115e+02] [ 7.85535217e-01 5.89208764e-01 -1.89122856e-01 -1.31774786e+02] [ 2.30599216e-01 4.88730809e-03 9.73036544e-01 -9.32532880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.29, Y:-131.75, Z:-932.53 [[ 5.75061498e-01 -8.07329966e-01 -1.32372957e-01 4.40289046e+02] [ 7.84737439e-01 5.90077123e-01 -1.89726492e-01 -1.31751531e+02] [ 2.31282135e-01 5.22638539e-03 9.72872684e-01 -9.32526532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.30, Y:-131.73, Z:-932.52 [[ 5.75086691e-01 -8.07272867e-01 -1.32611519e-01 4.40303967e+02] [ 7.84568642e-01 5.90154315e-01 -1.90183941e-01 -1.31728819e+02] [ 2.31791596e-01 5.32941384e-03 9.72750869e-01 -9.32520242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.32, Y:-131.71, Z:-932.51 [[ 5.75362157e-01 -8.07041487e-01 -1.32824793e-01 4.40318770e+02] [ 7.84230070e-01 5.90469121e-01 -1.90602765e-01 -1.31706618e+02] [ 2.32253278e-01 5.50042160e-03 9.72639790e-01 -9.32513994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.33, Y:-131.68, Z:-932.51 [[ 5.75353220e-01 -8.07043338e-01 -1.32852261e-01 4.40333198e+02] [ 7.84203694e-01 5.90466143e-01 -1.90720478e-01 -1.31684540e+02] [ 2.32364453e-01 5.54840681e-03 9.72612963e-01 -9.32508192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.35, Y:-131.66, Z:-932.50 [[ 5.75047505e-01 -8.07259596e-01 -1.32862003e-01 4.40347849e+02] [ 7.84403195e-01 5.90170812e-01 -1.90814154e-01 -1.31661805e+02] [ 2.32447833e-01 5.50982365e-03 9.72593259e-01 -9.32502146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.056559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:440.36, Y:-131.64, Z:-932.50 [[ 5.74270836e-01 -8.07782534e-01 -1.33042795e-01 4.40361538e+02] [ 7.84849880e-01 5.89456103e-01 -1.91186213e-01 -1.31638839e+02] [ 2.32859771e-01 5.37404486e-03 9.72495474e-01 -9.32496850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.38, Y:-131.62, Z:-932.49 [[ 5.73535212e-01 -8.08328781e-01 -1.32898241e-01 4.40377007e+02] [ 7.85441866e-01 5.88708410e-01 -1.91058846e-01 -1.31615838e+02] [ 2.32676676e-01 5.19513366e-03 9.72540269e-01 -9.32490896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.39, Y:-131.59, Z:-932.48 [[ 5.72381233e-01 -8.09177202e-01 -1.32710133e-01 4.40391916e+02] [ 7.86350951e-01 5.87544144e-01 -1.90903278e-01 -1.31594690e+02] [ 2.32447642e-01 4.91271447e-03 9.72596504e-01 -9.32484691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.41, Y:-131.57, Z:-932.48 [[ 5.71257522e-01 -8.10021173e-01 -1.32402958e-01 4.40407821e+02] [ 7.87299377e-01 5.86382420e-01 -1.90565865e-01 -1.31572064e+02] [ 2.32001152e-01 4.62141775e-03 9.72704533e-01 -9.32478446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.42, Y:-131.55, Z:-932.47 [[ 5.70093653e-01 -8.10867569e-01 -1.32238471e-01 4.40423478e+02] [ 7.88197818e-01 5.85213584e-01 -1.90444905e-01 -1.31549624e+02] [ 2.31813347e-01 4.34135738e-03 9.72750598e-01 -9.32471966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.44, Y:-131.53, Z:-932.47 [[ 5.69033401e-01 -8.11625176e-01 -1.32157342e-01 4.40438538e+02] [ 7.88976276e-01 5.84164161e-01 -1.90443350e-01 -1.31527488e+02] [ 2.31770200e-01 4.09961959e-03 9.72761928e-01 -9.32466305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.236559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:440.45, Y:-131.50, Z:-932.47 [[ 5.67426024e-01 -8.14517671e-01 -1.20783571e-01 4.40451909e+02] [ 7.90736995e-01 5.79925868e-01 -1.96012735e-01 -1.31497756e+02] [ 2.29701354e-01 1.57146889e-02 9.73134285e-01 -9.32469289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.47, Y:-131.49, Z:-932.45 [[ 5.65719794e-01 -8.11928412e-01 -1.43990863e-01 4.40474997e+02] [ 7.90788161e-01 5.83678192e-01 -1.84319976e-01 -1.31487275e+02] [ 2.33698952e-01 -9.59281074e-03 9.72261682e-01 -9.32450479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.49, Y:-131.46, Z:-932.45 [[ 5.64960041e-01 -8.14317486e-01 -1.33068344e-01 4.40485410e+02] [ 7.91360061e-01 5.80410994e-01 -1.92021696e-01 -1.31460445e+02] [ 2.33600955e-01 3.17961217e-03 9.72327354e-01 -9.32448890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.50, Y:-131.44, Z:-932.44 [[ 5.64206342e-01 -8.14830157e-01 -1.33127832e-01 4.40501248e+02] [ 7.91838417e-01 5.79691807e-01 -1.92222088e-01 -1.31437659e+02] [ 2.33801467e-01 3.03718980e-03 9.72279615e-01 -9.32442974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.52, Y:-131.42, Z:-932.44 [[ 5.62591112e-01 -8.15955428e-01 -1.33071335e-01 4.40516901e+02] [ 7.92987107e-01 5.78108803e-01 -1.92254156e-01 -1.31415314e+02] [ 2.33800533e-01 2.63662638e-03 9.72281008e-01 -9.32437032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.53, Y:-131.39, Z:-932.43 [[ 5.61865127e-01 -8.16414581e-01 -1.33322208e-01 4.40531981e+02] [ 7.93343833e-01 5.77460729e-01 -1.92729524e-01 -1.31393613e+02] [ 2.34335532e-01 2.51764696e-03 9.72152519e-01 -9.32431091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.55, Y:-131.37, Z:-932.43 [[ 5.61363084e-01 -8.16763997e-01 -1.33296893e-01 4.40547612e+02] [ 7.93687085e-01 5.76966773e-01 -1.92795631e-01 -1.31371267e+02] [ 2.34376408e-01 2.43232749e-03 9.72142882e-01 -9.32425268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.56, Y:-131.35, Z:-932.42 [[ 5.60781661e-01 -8.17143580e-01 -1.33417757e-01 4.40563449e+02] [ 7.94007517e-01 5.76429423e-01 -1.93083358e-01 -1.31348853e+02] [ 2.34682747e-01 2.34290414e-03 9.72069195e-01 -9.32419441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.58, Y:-131.32, Z:-932.42 [[ 5.60571412e-01 -8.18516210e-01 -1.25661874e-01 4.40578225e+02] [ 7.94452268e-01 5.74382417e-01 -1.97307965e-01 -1.31321722e+02] [ 2.33677738e-01 1.07728438e-02 9.72254422e-01 -9.32419228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.60, Y:-131.30, Z:-932.41 [[ 5.60595171e-01 -8.17361815e-01 -1.32863531e-01 4.40598872e+02] [ 7.94317891e-01 5.76119232e-01 -1.92732245e-01 -1.31301994e+02] [ 2.34077213e-01 2.50888619e-03 9.72214773e-01 -9.32410674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.61, Y:-131.28, Z:-932.40 [[ 5.59133038e-01 -8.18090097e-01 -1.34531929e-01 4.40614614e+02] [ 7.95148928e-01 5.75089769e-01 -1.92379677e-01 -1.31280098e+02] [ 2.34751845e-01 5.92913980e-04 9.72055153e-01 -9.32403979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.63, Y:-131.26, Z:-932.40 [[ 5.58880653e-01 -8.18403750e-01 -1.33670186e-01 4.40629948e+02] [ 7.95291652e-01 5.74641322e-01 -1.93128295e-01 -1.31256645e+02] [ 2.34869333e-01 1.62888501e-03 9.72025588e-01 -9.32397976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.65, Y:-131.24, Z:-932.39 [[ 5.58751462e-01 -8.17062244e-01 -1.42148138e-01 4.40647298e+02] [ 7.94811162e-01 5.76505888e-01 -1.89515641e-01 -1.31240146e+02] [ 2.36795314e-01 -7.08878541e-03 9.71533699e-01 -9.32385505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.66, Y:-131.21, Z:-932.38 [[ 5.58672542e-01 -8.18492646e-01 -1.33995442e-01 4.40659797e+02] [ 7.94980968e-01 5.74512414e-01 -1.94783848e-01 -1.31214821e+02] [ 2.36411192e-01 2.29656108e-03 9.71650387e-01 -9.32382298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.68, Y:-131.19, Z:-932.38 [[ 5.58479289e-01 -8.18761498e-01 -1.33155901e-01 4.40676782e+02] [ 7.95529105e-01 5.74129451e-01 -1.93671931e-01 -1.31193743e+02] [ 2.35019845e-01 2.23236750e-03 9.71988009e-01 -9.32375454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.69, Y:-131.17, Z:-932.37 [[ 5.58130953e-01 -8.19095430e-01 -1.32561366e-01 4.40693198e+02] [ 7.96054614e-01 5.73653253e-01 -1.92922258e-01 -1.31171635e+02] [ 2.34065998e-01 2.14979653e-03 9.72218333e-01 -9.32368848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.71, Y:-131.15, Z:-932.36 [[ 5.57916693e-01 -8.19291166e-01 -1.32253349e-01 4.40709867e+02] [ 7.96336472e-01 5.73373739e-01 -1.92589666e-01 -1.31149719e+02] [ 2.33617609e-01 2.13082455e-03 9.72326217e-01 -9.32362269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.73, Y:-131.13, Z:-932.36 [[ 5.57150319e-01 -8.19882119e-01 -1.31821216e-01 4.40726449e+02] [ 7.97067506e-01 5.72529060e-01 -1.92077763e-01 -1.31129843e+02] [ 2.32952600e-01 1.94577933e-03 9.72486144e-01 -9.32355679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.74, Y:-131.11, Z:-932.35 [[ 5.56933089e-01 -8.20091333e-01 -1.31437212e-01 4.40742969e+02] [ 7.97391620e-01 5.72229445e-01 -1.91624808e-01 -1.31107987e+02] [ 2.32362087e-01 1.91526499e-03 9.72627468e-01 -9.32349145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.76, Y:-131.09, Z:-932.34 [[ 5.56805127e-01 -8.20233706e-01 -1.31090496e-01 4.40759081e+02] [ 7.97631385e-01 5.72025335e-01 -1.91235955e-01 -1.31086920e+02] [ 2.31845261e-01 1.91926660e-03 9.72750786e-01 -9.32342628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.78, Y:-131.06, Z:-932.34 [[ 5.56520789e-01 -8.20457932e-01 -1.30894590e-01 4.40775428e+02] [ 7.97904960e-01 5.71703794e-01 -1.91056136e-01 -1.31064960e+02] [ 2.31586456e-01 1.88526911e-03 9.72812500e-01 -9.32335837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.79, Y:-131.04, Z:-932.33 [[ 5.56630109e-01 -8.20419426e-01 -1.30670911e-01 4.40791299e+02] [ 7.97916224e-01 5.71758780e-01 -1.90844433e-01 -1.31043374e+02] [ 2.31284721e-01 1.96531748e-03 9.72884122e-01 -9.32329682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.81, Y:-131.02, Z:-932.32 [[ 5.57198072e-01 -8.20101781e-01 -1.30243533e-01 4.40807137e+02] [ 7.97720036e-01 5.72213686e-01 -1.90300402e-01 -1.31022154e+02] [ 2.30592830e-01 2.13714144e-03 9.73047984e-01 -9.32323560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.82, Y:-130.99, Z:-932.33 [[ 5.57243003e-01 -8.21783085e-01 -1.18965531e-01 4.40818600e+02] [ 7.98607709e-01 5.69646830e-01 -1.94237529e-01 -1.30993868e+02] [ 2.27389453e-01 1.32307141e-02 9.73714016e-01 -9.32326377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.9565599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:440.84, Y:-130.97, Z:-932.32 [[ 5.57686865e-01 -8.20316157e-01 -1.26754735e-01 4.40838413e+02] [ 7.98296235e-01 5.71895447e-01 -1.88835165e-01 -1.30974219e+02] [ 2.27394993e-01 4.12306312e-03 9.73793879e-01 -9.32317805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.86, Y:-130.96, Z:-932.30 [[ 5.57777275e-01 -8.17956970e-01 -1.40822254e-01 4.40858401e+02] [ 7.97265178e-01 5.75189947e-01 -1.83097680e-01 -1.30959676e+02] [ 2.30765569e-01 -1.01449547e-02 9.72956491e-01 -9.32301516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.87, Y:-130.93, Z:-932.30 [[ 5.57924496e-01 -8.19638789e-01 -1.30048113e-01 4.40869856e+02] [ 7.97222136e-01 5.72874989e-01 -1.90397252e-01 -1.30932861e+02] [ 2.30558285e-01 2.55005697e-03 9.73055176e-01 -9.32299219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.89, Y:-130.91, Z:-932.29 [[ 5.58542015e-01 -8.18877584e-01 -1.32175335e-01 4.40887090e+02] [ 7.97032072e-01 5.73968062e-01 -1.87884379e-01 -1.30913976e+02] [ 2.29718727e-01 -4.06661098e-04 9.73256976e-01 -9.32291414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.90, Y:-130.89, Z:-932.29 [[ 5.57712687e-01 -8.20378396e-01 -1.26237265e-01 4.40901198e+02] [ 7.97549253e-01 5.71783314e-01 -1.92299326e-01 -1.30887292e+02] [ 2.29938575e-01 6.56733756e-03 9.73182985e-01 -9.32286639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.92, Y:-130.87, Z:-932.28 [[ 5.57848376e-01 -8.19755131e-01 -1.29640714e-01 4.40918332e+02] [ 7.97433245e-01 5.72708184e-01 -1.90014623e-01 -1.30866357e+02] [ 2.30011760e-01 2.61953433e-03 9.73184324e-01 -9.32278839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.93, Y:-130.84, Z:-932.27 [[ 5.58316472e-01 -8.19433419e-01 -1.29659512e-01 4.40934066e+02] [ 7.97068793e-01 5.73167438e-01 -1.90158953e-01 -1.30843568e+02] [ 2.30139212e-01 2.82132515e-03 9.73153628e-01 -9.32272257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.95, Y:-130.82, Z:-932.27 [[ 5.58957757e-01 -8.18976477e-01 -1.29783495e-01 4.40949565e+02] [ 7.96528588e-01 5.73818816e-01 -1.90457803e-01 -1.30821341e+02] [ 2.30452672e-01 3.08160269e-03 9.73078656e-01 -9.32265940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.96, Y:-130.80, Z:-932.26 [[ 5.59788141e-01 -8.18408318e-01 -1.29788529e-01 4.40964720e+02] [ 7.95915732e-01 5.74627154e-01 -1.90582743e-01 -1.30799578e+02] [ 2.30554515e-01 3.38522784e-03 9.73053522e-01 -9.32259783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:440.98, Y:-130.78, Z:-932.25 [[ 5.61762523e-01 -8.17062564e-01 -1.29736788e-01 4.40980999e+02] [ 7.94527388e-01 5.76535139e-01 -1.90613386e-01 -1.30777708e+02] [ 2.30540879e-01 4.00002514e-03 9.73054419e-01 -9.32252838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.00, Y:-130.76, Z:-932.25 [[ 5.62508656e-01 -8.16552330e-01 -1.29716242e-01 4.40997281e+02] [ 7.93983950e-01 5.77255580e-01 -1.90697359e-01 -1.30755519e+02] [ 2.30593797e-01 4.27630034e-03 9.73040705e-01 -9.32246295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.01, Y:-130.73, Z:-932.24 [[ 5.63074292e-01 -8.16162669e-01 -1.29714452e-01 4.41013327e+02] [ 7.93557571e-01 5.77804649e-01 -1.90809250e-01 -1.30733474e+02] [ 2.30681000e-01 4.50389819e-03 9.73019009e-01 -9.32239914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.03, Y:-130.71, Z:-932.23 [[ 5.63573557e-01 -8.15813324e-01 -1.29743847e-01 4.41029214e+02] [ 7.93161724e-01 5.78296103e-01 -1.90966221e-01 -1.30710629e+02] [ 2.30823149e-01 4.71565872e-03 9.72984294e-01 -9.32233621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.05, Y:-130.69, Z:-932.23 [[ 5.64350370e-01 -8.15290212e-01 -1.29655430e-01 4.41045067e+02] [ 7.92629279e-01 5.79031027e-01 -1.90949982e-01 -1.30688321e+02] [ 2.30754168e-01 4.99400308e-03 9.72999267e-01 -9.32227622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.06, Y:-130.66, Z:-932.22 [[ 5.66287710e-01 -8.14271931e-01 -1.27590956e-01 4.41062998e+02] [ 7.91237396e-01 5.80427904e-01 -1.92475534e-01 -1.30663734e+02] [ 2.30784776e-01 8.04179289e-03 9.72971591e-01 -9.32223174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.08, Y:-130.65, Z:-932.21 [[ 5.66943198e-01 -8.12774287e-01 -1.34064796e-01 4.41078504e+02] [ 7.90122321e-01 5.82574897e-01 -1.90560247e-01 -1.30646274e+02] [ 2.32985253e-01 2.10924846e-03 9.72477981e-01 -9.32213865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.10, Y:-130.62, Z:-932.21 [[ 5.68824348e-01 -8.12316542e-01 -1.28766056e-01 4.41095330e+02] [ 7.88770018e-01 5.83147393e-01 -1.94373292e-01 -1.30620330e+02] [ 2.32982230e-01 8.99745702e-03 9.72439369e-01 -9.32209504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.11, Y:-130.60, Z:-932.20 [[ 5.68447019e-01 -8.11662313e-01 -1.34433171e-01 4.41110186e+02] [ 7.88891091e-01 5.84121690e-01 -1.90925896e-01 -1.30602428e+02] [ 2.33492685e-01 2.47812561e-03 9.72355401e-01 -9.32200948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.12, Y:-130.58, Z:-932.20 [[ 5.68551946e-01 -8.12135647e-01 -1.31089195e-01 4.41124905e+02] [ 7.88774570e-01 5.83431165e-01 -1.93501303e-01 -1.30578519e+02] [ 2.33630827e-01 6.61571908e-03 9.72302869e-01 -9.32195684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.14, Y:-130.56, Z:-932.19 [[ 5.68732006e-01 -8.12000770e-01 -1.31143643e-01 4.41141561e+02] [ 7.88587774e-01 5.83617380e-01 -1.93700999e-01 -1.30558714e+02] [ 2.33823070e-01 6.74568475e-03 9.72255763e-01 -9.32188300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.16, Y:-130.54, Z:-932.18 [[ 5.68309213e-01 -8.12349475e-01 -1.30816552e-01 4.41157886e+02] [ 7.89037958e-01 5.83133014e-01 -1.93326121e-01 -1.30536217e+02] [ 2.33331823e-01 6.64979011e-03 9.72374435e-01 -9.32181665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.17, Y:-130.52, Z:-932.18 [[ 5.67606887e-01 -8.12876870e-01 -1.30589493e-01 4.41173134e+02] [ 7.89632684e-01 5.82399384e-01 -1.93109248e-01 -1.30515002e+02] [ 2.33029281e-01 6.49240676e-03 9.72448046e-01 -9.32175123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.19, Y:-130.49, Z:-932.17 [[ 5.66749459e-01 -8.13527421e-01 -1.30261991e-01 4.41189380e+02] [ 7.90386628e-01 5.81492562e-01 -1.92757303e-01 -1.30492534e+02] [ 2.32559731e-01 6.28776183e-03 9.72561790e-01 -9.32168814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.20, Y:-130.47, Z:-932.16 [[ 5.65648353e-01 -8.14264693e-01 -1.30441369e-01 4.41204925e+02] [ 7.91050090e-01 5.80462087e-01 -1.93141194e-01 -1.30470591e+02] [ 2.32984324e-01 6.06434109e-03 9.72461582e-01 -9.32161990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.22, Y:-130.45, Z:-932.16 [[ 5.64604448e-01 -8.15019546e-01 -1.30249596e-01 4.41220615e+02] [ 7.91865725e-01 5.79404292e-01 -1.92974973e-01 -1.30448154e+02] [ 2.32745550e-01 5.81433735e-03 9.72520284e-01 -9.32156193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.24, Y:-130.43, Z:-932.15 [[ 5.62860850e-01 -8.16114892e-01 -1.30935658e-01 4.41235444e+02] [ 7.92712989e-01 5.77863852e-01 -1.94112045e-01 -1.30426704e+02] [ 2.34080715e-01 5.46367410e-03 9.72201814e-01 -9.32150841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.736559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:441.25, Y:-130.40, Z:-932.14 [[ 5.61928652e-01 -8.16659754e-01 -1.31541007e-01 4.41251109e+02] [ 7.93025724e-01 5.77094843e-01 -1.95119815e-01 -1.30403845e+02] [ 2.35258137e-01 5.32801225e-03 9.71918320e-01 -9.32144578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.27, Y:-130.38, Z:-932.14 [[ 5.61145407e-01 -8.17137961e-01 -1.31914311e-01 4.41266243e+02] [ 7.93351359e-01 5.76418566e-01 -1.95793919e-01 -1.30381820e+02] [ 2.36028501e-01 5.21446070e-03 9.71732142e-01 -9.32138815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.28, Y:-130.36, Z:-932.13 [[ 5.60623577e-01 -8.17432060e-01 -1.32310364e-01 4.41281042e+02] [ 7.93481387e-01 5.76001800e-01 -1.96492278e-01 -1.30359370e+02] [ 2.36830095e-01 5.17239266e-03 9.71537314e-01 -9.32133035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.30, Y:-130.34, Z:-932.13 [[ 5.60384439e-01 -8.17509668e-01 -1.32842855e-01 4.41295880e+02] [ 7.93334232e-01 5.75891072e-01 -1.97408893e-01 -1.30335651e+02] [ 2.37886692e-01 5.23608751e-03 9.71278799e-01 -9.32127199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.31, Y:-130.31, Z:-932.12 [[ 5.61284610e-01 -8.16715983e-01 -1.33920087e-01 4.41308577e+02] [ 7.92088073e-01 5.77011772e-01 -1.99132869e-01 -1.30312160e+02] [ 2.39908463e-01 5.69371092e-03 9.70778817e-01 -9.32121909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.32, Y:-130.29, Z:-932.12 [[ 5.62133241e-01 -8.16098663e-01 -1.34123790e-01 4.41322950e+02] [ 7.91349479e-01 5.77881100e-01 -1.99548082e-01 -1.30288693e+02] [ 2.40358526e-01 6.03381843e-03 9.70665428e-01 -9.32116228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:441.34, Y:-130.27, Z:-932.11 [[ 5.63086908e-01 -8.15379690e-01 -1.34495704e-01 4.41336955e+02] [ 7.90440054e-01 5.78890815e-01 -2.00224738e-01 -1.30266021e+02] [ 2.41117512e-01 6.43313659e-03 9.70474606e-01 -9.32110058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.35, Y:-130.24, Z:-932.10 [[ 5.64670814e-01 -8.14273582e-01 -1.34556330e-01 4.41350703e+02] [ 7.89252157e-01 5.80439368e-01 -2.00427478e-01 -1.30242688e+02] [ 2.41304592e-01 6.97667360e-03 9.70424351e-01 -9.32103591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.37, Y:-130.22, Z:-932.10 [[ 5.64766192e-01 -8.14218674e-01 -1.34488289e-01 4.41366121e+02] [ 7.89191195e-01 5.80515270e-01 -2.00447698e-01 -1.30219606e+02] [ 2.41280764e-01 7.06910946e-03 9.70429606e-01 -9.32097082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.38, Y:-130.20, Z:-932.09 [[ 5.64447951e-01 -8.14418098e-01 -1.34616759e-01 4.41381723e+02] [ 7.89317283e-01 5.80235525e-01 -2.00760958e-01 -1.30197362e+02] [ 2.41612783e-01 7.06377699e-03 9.70347034e-01 -9.32090269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.40, Y:-130.18, Z:-932.08 [[ 5.63885912e-01 -8.14841612e-01 -1.34409172e-01 4.41396790e+02] [ 7.89800940e-01 5.79642071e-01 -2.00573042e-01 -1.30175872e+02] [ 2.41344472e-01 6.94382222e-03 9.70414669e-01 -9.32083733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.41, Y:-130.15, Z:-932.08 [[ 5.62244732e-01 -8.16124471e-01 -1.33497977e-01 4.41412177e+02] [ 7.91435686e-01 5.77840562e-01 -1.99323456e-01 -1.30153627e+02] [ 2.39813296e-01 6.41350056e-03 9.70797842e-01 -9.32077019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.096559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:441.43, Y:-130.13, Z:-932.07 [[ 5.62213774e-01 -8.16886368e-01 -1.28888848e-01 4.41429350e+02] [ 7.92170501e-01 5.76709119e-01 -1.99680969e-01 -1.30127657e+02] [ 2.37448035e-01 1.01614480e-02 9.71347093e-01 -9.32073452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.45, Y:-130.11, Z:-932.07 [[ 5.60915395e-01 -8.17224907e-01 -1.32353209e-01 4.41447303e+02] [ 7.93188604e-01 5.76293415e-01 -1.96819050e-01 -1.30105730e+02] [ 2.37119713e-01 5.41777849e-03 9.71465331e-01 -9.32065115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.46, Y:-130.08, Z:-932.06 [[ 5.59164214e-01 -8.18396615e-01 -1.32523064e-01 4.41462737e+02] [ 7.94699874e-01 5.74639656e-01 -1.95554026e-01 -1.30082953e+02] [ 2.36193761e-01 4.03075130e-03 9.71697618e-01 -9.32058608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.48, Y:-130.06, Z:-932.05 [[ 5.56565038e-01 -8.19399489e-01 -1.37185406e-01 4.41476635e+02] [ 7.96403943e-01 5.73219514e-01 -1.92769675e-01 -1.30063789e+02] [ 2.36592725e-01 -1.96613676e-03 9.71606925e-01 -9.32048647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.49, Y:-130.03, Z:-932.05 [[ 5.54251210e-01 -8.23902853e-01 -1.18277998e-01 4.41486977e+02] [ 7.99294645e-01 5.66487427e-01 -2.00549413e-01 -1.30032085e+02] [ 2.32236232e-01 1.66157839e-02 9.72517480e-01 -9.32054609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.51, Y:-130.02, Z:-932.03 [[ 5.52267636e-01 -8.21412219e-01 -1.42416380e-01 4.41510302e+02] [ 7.99503509e-01 5.70253267e-01 -1.88693801e-01 -1.30021704e+02] [ 2.36208799e-01 -9.65291608e-03 9.71654375e-01 -9.32033856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.52, Y:-129.99, Z:-932.03 [[ 5.51073826e-01 -8.24126703e-01 -1.30892380e-01 4.41520392e+02] [ 8.00426945e-01 5.66395422e-01 -1.96247119e-01 -1.29994763e+02] [ 2.35869336e-01 3.37686310e-03 9.71778912e-01 -9.32032492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.53, Y:-129.97, Z:-932.04 [[ 5.50827678e-01 -8.25995557e-01 -1.19667078e-01 4.41534090e+02] [ 8.01375988e-01 5.63486168e-01 -2.00698441e-01 -1.29965361e+02] [ 2.33206764e-01 1.46519336e-02 9.72316783e-01 -9.32035180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.56, Y:-129.95, Z:-932.02 [[ 5.49054264e-01 -8.23722971e-01 -1.41491633e-01 4.41555907e+02] [ 8.01732112e-01 5.66912865e-01 -1.89302470e-01 -1.29953395e+02] [ 2.36146220e-01 -9.50105792e-03 9.71671083e-01 -9.32016495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.57, Y:-129.93, Z:-932.01 [[ 5.47808396e-01 -8.26311899e-01 -1.30822809e-01 4.41566460e+02] [ 8.02627502e-01 5.63206753e-01 -1.96436366e-01 -1.29927246e+02] [ 2.35997996e-01 2.60750561e-03 9.71750043e-01 -9.32014976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.58, Y:-129.90, Z:-932.01 [[ 5.47018796e-01 -8.26834945e-01 -1.30822059e-01 4.41582168e+02] [ 8.03139006e-01 5.62439326e-01 -1.96544506e-01 -1.29904278e+02] [ 2.36089336e-01 2.44524077e-03 9.71728278e-01 -9.32008597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:441.60, Y:-129.88, Z:-932.00 [[ 5.46088470e-01 -8.27423449e-01 -1.30987859e-01 4.41597182e+02] [ 8.03654359e-01 5.61573965e-01 -1.96912046e-01 -1.29881400e+02] [ 2.36489016e-01 2.26243377e-03 9.71631528e-01 -9.32002978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.61, Y:-129.86, Z:-932.00 [[ 5.45317506e-01 -8.27907930e-01 -1.31138392e-01 4.41611723e+02] [ 8.04067785e-01 5.60860006e-01 -1.97258842e-01 -1.29858829e+02] [ 2.36862439e-01 2.12454357e-03 9.71540875e-01 -9.31998145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.63, Y:-129.84, Z:-931.99 [[ 5.45323186e-01 -8.27960416e-01 -1.30782925e-01 4.41626500e+02] [ 8.04226166e-01 5.60782391e-01 -1.96833391e-01 -1.29836210e+02] [ 2.36311018e-01 2.15876203e-03 9.71675071e-01 -9.31992265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.64, Y:-129.81, Z:-931.99 [[ 5.45116286e-01 -8.28105152e-01 -1.30729080e-01 4.41641826e+02] [ 8.04366433e-01 5.60568623e-01 -1.96869148e-01 -1.29812917e+02] [ 2.36310976e-01 2.16249504e-03 9.71675073e-01 -9.31986027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.66, Y:-129.79, Z:-931.98 [[ 5.45028697e-01 -8.28229646e-01 -1.30304922e-01 4.41656471e+02] [ 8.04623743e-01 5.60384659e-01 -1.96340689e-01 -1.29790875e+02] [ 2.35636059e-01 2.16487600e-03 9.71838959e-01 -9.31980158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.67, Y:-129.76, Z:-931.98 [[ 5.45340672e-01 -8.30037051e-01 -1.16799168e-01 4.41669010e+02] [ 8.05818322e-01 5.57513848e-01 -1.99587429e-01 -1.29760852e+02] [ 2.30782114e-01 1.47242328e-02 9.72894040e-01 -9.31983032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.69, Y:-129.75, Z:-931.96 [[ 5.44810342e-01 -8.26782718e-01 -1.40042957e-01 4.41692122e+02] [ 8.05702874e-01 5.62402393e-01 -1.85866693e-01 -1.29749695e+02] [ 2.32431864e-01 -1.15709159e-02 9.72543851e-01 -9.31962850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.70, Y:-129.72, Z:-931.97 [[ 5.44968421e-01 -8.30539585e-01 -1.14949629e-01 4.41699016e+02] [ 8.06590931e-01 5.56743276e-01 -1.98615195e-01 -1.29715206e+02] [ 2.28955215e-01 1.55216807e-02 9.73313201e-01 -9.31970572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.72, Y:-129.71, Z:-931.95 [[ 5.44528233e-01 -8.27009334e-01 -1.39801879e-01 4.41722526e+02] [ 8.06421441e-01 5.62045952e-01 -1.83817318e-01 -1.29705059e+02] [ 2.30593718e-01 -1.26455134e-02 9.72967948e-01 -9.31949969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.73, Y:-129.68, Z:-931.95 [[ 5.44758762e-01 -8.28974949e-01 -1.26642908e-01 4.41731331e+02] [ 8.06613372e-01 5.59282031e-01 -1.91255010e-01 -1.29677672e+02] [ 2.29374715e-01 2.03597946e-03 9.73336065e-01 -9.31949414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.74, Y:-129.65, Z:-931.96 [[ 5.44739840e-01 -8.31335087e-01 -1.10183847e-01 4.41740745e+02] [ 8.07954063e-01 5.55477442e-01 -1.96608859e-01 -1.29646496e+02] [ 2.24652485e-01 1.80771915e-02 9.74271254e-01 -9.31955689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.77, Y:-129.64, Z:-931.93 [[ 5.44999975e-01 -8.26732317e-01 -1.39601945e-01 4.41766293e+02] [ 8.06907638e-01 5.62414752e-01 -1.80526206e-01 -1.29637458e+02] [ 2.27761042e-01 -1.42590981e-02 9.73612647e-01 -9.31932468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.77, Y:-129.61, Z:-931.93 [[ 5.44995166e-01 -8.29033201e-01 -1.25236657e-01 4.41774464e+02] [ 8.07111583e-01 5.59195286e-01 -1.89397797e-01 -1.29608564e+02] [ 2.27048810e-01 2.14092758e-03 9.73881027e-01 -9.31932795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.79, Y:-129.59, Z:-931.93 [[ 5.45558242e-01 -8.28642795e-01 -1.25368745e-01 4.41789005e+02] [ 8.06637493e-01 5.59772716e-01 -1.89711522e-01 -1.29585021e+02] [ 2.27381088e-01 2.37155426e-03 9.73802966e-01 -9.31927339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.80, Y:-129.56, Z:-931.92 [[ 5.45843608e-01 -8.28440296e-01 -1.25464861e-01 4.41803385e+02] [ 8.06368101e-01 5.60071691e-01 -1.89974174e-01 -1.29562462e+02] [ 2.27651577e-01 2.52532701e-03 9.73739381e-01 -9.31921761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.82, Y:-129.54, Z:-931.92 [[ 5.46184317e-01 -8.28184066e-01 -1.25673564e-01 4.41817651e+02] [ 8.06005702e-01 5.60449706e-01 -1.90396785e-01 -1.29539566e+02] [ 2.28117296e-01 2.69812926e-03 9.73629919e-01 -9.31916298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.83, Y:-129.52, Z:-931.91 [[ 5.46881440e-01 -8.27676032e-01 -1.25988400e-01 4.41832167e+02] [ 8.05343245e-01 5.61198238e-01 -1.90994230e-01 -1.29516641e+02] [ 2.28785815e-01 2.98729256e-03 9.73472202e-01 -9.31910392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.85, Y:-129.49, Z:-931.90 [[ 5.47491845e-01 -8.27222135e-01 -1.26317926e-01 4.41846350e+02] [ 8.04731060e-01 5.61865600e-01 -1.91611505e-01 -1.29494106e+02] [ 2.29478976e-01 3.25377823e-03 9.73308180e-01 -9.31904523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:441.86, Y:-129.47, Z:-931.90 [[ 5.48083598e-01 -8.26819503e-01 -1.26387815e-01 4.41861453e+02] [ 8.04273053e-01 5.62456623e-01 -1.91800425e-01 -1.29471030e+02] [ 2.29671995e-01 3.47235358e-03 9.73261896e-01 -9.31898758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.996559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:441.88, Y:-129.45, Z:-931.89 [[ 5.49310786e-01 -8.26002138e-01 -1.26404625e-01 4.41876553e+02] [ 8.03400276e-01 5.63653605e-01 -1.91944290e-01 -1.29447515e+02] [ 2.29794817e-01 3.88355803e-03 9.73231350e-01 -9.31892892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.89, Y:-129.42, Z:-931.89 [[ 5.49636566e-01 -8.25800495e-01 -1.26305929e-01 4.41891731e+02] [ 8.03200934e-01 5.63947932e-01 -1.91914018e-01 -1.29424324e+02] [ 2.29712659e-01 4.03392188e-03 9.73250133e-01 -9.31886775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.91, Y:-129.40, Z:-931.88 [[ 5.49786463e-01 -8.25681567e-01 -1.26430991e-01 4.41906082e+02] [ 8.03005219e-01 5.64121146e-01 -1.92223702e-01 -1.29402635e+02] [ 2.30037963e-01 4.15724380e-03 9.73172777e-01 -9.31880564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.92, Y:-129.38, Z:-931.87 [[ 5.49781195e-01 -8.25708859e-01 -1.26275563e-01 4.41921039e+02] [ 8.03064223e-01 5.64080858e-01 -1.92095394e-01 -1.29380159e+02] [ 2.29844496e-01 4.20304791e-03 9.73218291e-01 -9.31874392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.94, Y:-129.35, Z:-931.87 [[ 5.50965303e-01 -8.26123067e-01 -1.18143611e-01 4.41937645e+02] [ 8.02678517e-01 5.63338004e-01 -1.95850686e-01 -1.29351844e+02] [ 2.28351556e-01 1.30755941e-02 9.73490933e-01 -9.31872982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:441.95, Y:-129.33, Z:-931.86 [[ 5.49276517e-01 -8.25782123e-01 -1.27981223e-01 4.41954285e+02] [ 8.03772949e-01 5.63988074e-01 -1.89384526e-01 -1.29332965e+02] [ 2.28570239e-01 1.15662784e-03 9.73526737e-01 -9.31863488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.97, Y:-129.31, Z:-931.85 [[ 5.48341115e-01 -8.25157390e-01 -1.35784036e-01 4.41968261e+02] [ 8.03712323e-01 5.64864534e-01 -1.87014867e-01 -1.29314750e+02] [ 2.31016286e-01 -6.58336215e-03 9.72927611e-01 -9.31852565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:441.98, Y:-129.29, Z:-931.85 [[ 5.48103995e-01 -8.26809774e-01 -1.26363001e-01 4.41978629e+02] [ 8.04011399e-01 5.62466605e-01 -1.92865209e-01 -1.29288329e+02] [ 2.30537808e-01 4.11289867e-03 9.73054676e-01 -9.31850715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:441.99, Y:-129.27, Z:-931.84 [[ 5.48058013e-01 -8.26892049e-01 -1.26023623e-01 4.41993670e+02] [ 8.04194427e-01 5.62345527e-01 -1.92454754e-01 -1.29265656e+02] [ 2.30008127e-01 4.12887465e-03 9.73179950e-01 -9.31844723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.01, Y:-129.24, Z:-931.84 [[ 5.47840579e-01 -8.27067570e-01 -1.25817070e-01 4.42008022e+02] [ 8.04422241e-01 5.62087444e-01 -1.92256504e-01 -1.29243175e+02] [ 2.29729315e-01 4.11586505e-03 9.73245859e-01 -9.31838866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.02, Y:-129.22, Z:-931.83 [[ 5.47670016e-01 -8.27196033e-01 -1.25715058e-01 4.42023040e+02] [ 8.04566192e-01 5.61898344e-01 -1.92206905e-01 -1.29219823e+02] [ 2.29631872e-01 4.11987362e-03 9.73268838e-01 -9.31832815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.04, Y:-129.20, Z:-931.83 [[ 5.47484263e-01 -8.27332630e-01 -1.25625242e-01 4.42037637e+02] [ 8.04711559e-01 5.61697150e-01 -1.92186415e-01 -1.29197033e+02] [ 2.29565432e-01 4.12695353e-03 9.73284481e-01 -9.31827206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.05, Y:-129.17, Z:-931.82 [[ 5.47214196e-01 -8.27503975e-01 -1.25673366e-01 4.42052679e+02] [ 8.04842306e-01 5.61444712e-01 -1.92376450e-01 -1.29173542e+02] [ 2.29750924e-01 4.12388268e-03 9.73240724e-01 -9.31821147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.07, Y:-129.15, Z:-931.82 [[ 5.46882090e-01 -8.27769181e-01 -1.25372096e-01 4.42067061e+02] [ 8.05197196e-01 5.61054031e-01 -1.92030858e-01 -1.29150672e+02] [ 2.29297745e-01 4.06897669e-03 9.73347825e-01 -9.31815701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.08, Y:-129.13, Z:-931.81 [[ 5.46669244e-01 -8.27951351e-01 -1.25097161e-01 4.42081710e+02] [ 8.05455869e-01 5.60785283e-01 -1.91730828e-01 -1.29127656e+02] [ 2.28896444e-01 4.05310439e-03 9.73442341e-01 -9.31809730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.10, Y:-129.11, Z:-931.80 [[ 5.46459654e-01 -8.28123321e-01 -1.24874386e-01 4.42096213e+02] [ 8.05687163e-01 5.60531408e-01 -1.91501267e-01 -1.29105246e+02] [ 2.28582681e-01 4.03802591e-03 9.73516129e-01 -9.31803817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.11, Y:-129.08, Z:-931.80 [[ 5.45928858e-01 -8.28467322e-01 -1.24914287e-01 4.42110929e+02] [ 8.06005794e-01 5.60023522e-01 -1.91646331e-01 -1.29082105e+02] [ 2.28727661e-01 3.94362354e-03 9.73482463e-01 -9.31797654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.12, Y:-129.06, Z:-931.79 [[ 5.44820806e-01 -8.29870800e-01 -1.20352584e-01 4.42123343e+02] [ 8.06136263e-01 5.57856984e-01 -1.97331979e-01 -1.29056399e+02] [ 2.30899577e-01 1.04899857e-02 9.72921038e-01 -9.31793869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.14, Y:-129.04, Z:-931.78 [[ 5.45384287e-01 -8.27870330e-01 -1.31098043e-01 4.42143116e+02] [ 8.06306561e-01 5.60909765e-01 -1.87749739e-01 -1.29038907e+02] [ 2.28966611e-01 -3.30945463e-03 9.73428651e-01 -9.31784121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.16, Y:-129.01, Z:-931.78 [[ 5.45065623e-01 -8.29028565e-01 -1.24960418e-01 4.42155011e+02] [ 8.06479341e-01 5.59192530e-01 -1.92080158e-01 -1.29013752e+02] [ 2.29116870e-01 3.91829487e-03 9.73391035e-01 -9.31780630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.17, Y:-128.99, Z:-931.77 [[ 5.44742138e-01 -8.29237930e-01 -1.24981835e-01 4.42170435e+02] [ 8.06658808e-01 5.58882154e-01 -1.92229825e-01 -1.28990776e+02] [ 2.29254379e-01 3.89798842e-03 9.73358739e-01 -9.31774217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.18, Y:-128.97, Z:-931.77 [[ 5.44133931e-01 -8.29656780e-01 -1.24851486e-01 4.42184651e+02] [ 8.07108484e-01 5.58260961e-01 -1.92147327e-01 -1.28968911e+02] [ 2.29116043e-01 3.78518684e-03 9.73391756e-01 -9.31768326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.20, Y:-128.95, Z:-931.76 [[ 5.42577346e-01 -8.30684450e-01 -1.24792503e-01 4.42198910e+02] [ 8.08159298e-01 5.56733067e-01 -1.92163582e-01 -1.28946689e+02] [ 2.29103413e-01 3.41138445e-03 9.73396111e-01 -9.31762383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.21, Y:-128.92, Z:-931.76 [[ 5.41645422e-01 -8.31285108e-01 -1.24841120e-01 4.42213788e+02] [ 8.08728780e-01 5.55836883e-01 -1.92361952e-01 -1.28923901e+02] [ 2.29298925e-01 3.22936389e-03 9.73350694e-01 -9.31756341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.23, Y:-128.90, Z:-931.75 [[ 5.40861240e-01 -8.31765139e-01 -1.25043480e-01 4.42228609e+02] [ 8.09119745e-01 5.55119048e-01 -1.92790252e-01 -1.28901331e+02] [ 2.29770228e-01 3.09762651e-03 9.73239974e-01 -9.31749846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.24, Y:-128.88, Z:-931.74 [[ 5.40076548e-01 -8.32345610e-01 -1.24571698e-01 4.42242364e+02] [ 8.09860434e-01 5.54249344e-01 -1.92181537e-01 -1.28878587e+02] [ 2.29005240e-01 2.90705168e-03 9.73420849e-01 -9.31744415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.776559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:442.26, Y:-128.86, Z:-931.74 [[ 5.39686999e-01 -8.32630743e-01 -1.24354285e-01 4.42256207e+02] [ 8.10207178e-01 5.53821240e-01 -1.91954066e-01 -1.28856545e+02] [ 2.28696901e-01 2.84237979e-03 9.73493528e-01 -9.31738729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.27, Y:-128.83, Z:-931.73 [[ 5.39368005e-01 -8.32868384e-01 -1.24146731e-01 4.42270801e+02] [ 8.10498083e-01 5.53463982e-01 -1.91756302e-01 -1.28833632e+02] [ 2.28418505e-01 2.80652613e-03 9.73558992e-01 -9.31732766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.28, Y:-128.81, Z:-931.73 [[ 5.39250478e-01 -8.32997634e-01 -1.23789598e-01 4.42284975e+02] [ 8.10732950e-01 5.53269408e-01 -1.91324450e-01 -1.28811701e+02] [ 2.27861812e-01 2.81149549e-03 9.73689422e-01 -9.31726867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.30, Y:-128.79, Z:-931.72 [[ 5.39219105e-01 -8.33115903e-01 -1.23128587e-01 4.42299833e+02] [ 8.11069619e-01 5.53091324e-01 -1.90410242e-01 -1.28788819e+02] [ 2.26735154e-01 2.80698391e-03 9.73952407e-01 -9.31720483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.31, Y:-128.77, Z:-931.71 [[ 5.39010830e-01 -8.33339407e-01 -1.22526561e-01 4.42314228e+02] [ 8.11489748e-01 5.52754726e-01 -1.89595893e-01 -1.28766081e+02] [ 2.25724864e-01 2.76519098e-03 9.74187169e-01 -9.31714027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.33, Y:-128.74, Z:-931.71 [[ 5.38342131e-01 -8.33950833e-01 -1.21300285e-01 4.42328041e+02] [ 8.12530596e-01 5.51832868e-01 -1.87815116e-01 -1.28744168e+02] [ 2.23566057e-01 2.54859711e-03 9.74685448e-01 -9.31707850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.9565599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:442.34, Y:-128.72, Z:-931.70 [[ 5.37887303e-01 -8.34319178e-01 -1.20783931e-01 4.42343170e+02] [ 8.13068347e-01 5.51276277e-01 -1.87121163e-01 -1.28720830e+02] [ 2.22704091e-01 2.44450663e-03 9.74883025e-01 -9.31701536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.36, Y:-128.70, Z:-931.70 [[ 5.37174742e-01 -8.34796850e-01 -1.20654530e-01 4.42357976e+02] [ 8.13577289e-01 5.50553251e-01 -1.87037731e-01 -1.28698149e+02] [ 2.22565252e-01 2.31016002e-03 9.74915059e-01 -9.31695138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.37, Y:-128.68, Z:-931.69 [[ 5.36516995e-01 -8.35210881e-01 -1.20715776e-01 4.42372244e+02] [ 8.13953011e-01 5.49925375e-01 -1.87250043e-01 -1.28676345e+02] [ 2.22777942e-01 2.20586139e-03 9.74866721e-01 -9.31689337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.39, Y:-128.65, Z:-931.68 [[ 5.34929895e-01 -8.36211254e-01 -1.20833549e-01 4.42387493e+02] [ 8.14912249e-01 5.48404333e-01 -1.87538568e-01 -1.28652907e+02] [ 2.23087503e-01 1.85124720e-03 9.74796665e-01 -9.31683860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.40, Y:-128.63, Z:-931.68 [[ 5.33648156e-01 -8.36994094e-01 -1.21080690e-01 4.42401864e+02] [ 8.15599437e-01 5.47209600e-01 -1.88040455e-01 -1.28629952e+02] [ 2.23645266e-01 1.59409995e-03 9.74669305e-01 -9.31678201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.42, Y:-128.61, Z:-931.67 [[ 5.32366786e-01 -8.37772648e-01 -1.21336706e-01 4.42416266e+02] [ 8.16278670e-01 5.46017584e-01 -1.88557502e-01 -1.28606904e+02] [ 2.24220293e-01 1.33718616e-03 9.74537569e-01 -9.31672933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.43, Y:-128.58, Z:-931.67 [[ 5.30735585e-01 -8.38736034e-01 -1.21826124e-01 4.42431182e+02] [ 8.17063330e-01 5.44537292e-01 -1.89437728e-01 -1.28583316e+02] [ 2.25227116e-01 1.00168499e-03 9.74305775e-01 -9.31666807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.45, Y:-128.56, Z:-931.66 [[ 5.27515083e-01 -8.40702128e-01 -1.22261072e-01 4.42445973e+02] [ 8.18896421e-01 5.41497811e-01 -1.90233468e-01 -1.28560667e+02] [ 2.26133784e-01 2.31869301e-04 9.74096226e-01 -9.31661113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.46, Y:-128.54, Z:-931.66 [[ 5.25810421e-01 -8.41784579e-01 -1.22156141e-01 4.42460735e+02] [ 8.20017694e-01 5.39813574e-01 -1.90190136e-01 -1.28537459e+02] [ 2.26040666e-01 -1.66241707e-04 9.74117852e-01 -9.31655162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.47, Y:-128.52, Z:-931.65 [[ 5.24137257e-01 -8.42830052e-01 -1.22137785e-01 4.42474964e+02] [ 8.21069773e-01 5.38179525e-01 -1.90281969e-01 -1.28515273e+02] [ 2.26107418e-01 -5.49774041e-04 9.74102219e-01 -9.31649485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.49, Y:-128.49, Z:-931.64 [[ 5.22329359e-01 -8.43948633e-01 -1.22158688e-01 4.42489747e+02] [ 8.22185595e-01 5.36423114e-01 -1.90423452e-01 -1.28492408e+02] [ 2.26236356e-01 -9.73353470e-04 9.74071950e-01 -9.31643192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:442.50, Y:-128.47, Z:-931.64 [[ 5.20922562e-01 -8.44846517e-01 -1.21959204e-01 4.42504586e+02] [ 8.23151976e-01 5.35007183e-01 -1.90231804e-01 -1.28469285e+02] [ 2.25965727e-01 -1.29492093e-03 9.74134392e-01 -9.31636858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.52, Y:-128.45, Z:-931.63 [[ 5.18514339e-01 -8.46334470e-01 -1.21905069e-01 4.42518910e+02] [ 8.24672302e-01 5.32648520e-01 -1.90265995e-01 -1.28445539e+02] [ 2.25961225e-01 -1.87608715e-03 9.74134490e-01 -9.31630577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.53, Y:-128.42, Z:-931.62 [[ 5.17894914e-01 -8.46701042e-01 -1.21992635e-01 4.42532409e+02] [ 8.24990111e-01 5.32065270e-01 -1.90519988e-01 -1.28423129e+02] [ 2.26221516e-01 -1.97338475e-03 9.74073884e-01 -9.31624687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.55, Y:-128.40, Z:-931.62 [[ 5.17678654e-01 -8.46838971e-01 -1.21953138e-01 4.42547350e+02] [ 8.25125861e-01 5.31845668e-01 -1.90545267e-01 -1.28399592e+02] [ 2.26221406e-01 -1.98547081e-03 9.74073885e-01 -9.31618426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.56, Y:-128.38, Z:-931.61 [[ 5.17069133e-01 -8.47217754e-01 -1.21908115e-01 4.42560849e+02] [ 8.25505622e-01 5.31241667e-01 -1.90585306e-01 -1.28376367e+02] [ 2.26229925e-01 -2.09005524e-03 9.74071688e-01 -9.31612771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.57, Y:-128.35, Z:-931.61 [[ 5.16794156e-01 -8.47391233e-01 -1.21868364e-01 4.42574711e+02] [ 8.25669457e-01 5.30964874e-01 -1.90646928e-01 -1.28352296e+02] [ 2.26260356e-01 -2.09776746e-03 9.74064603e-01 -9.31606967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.59, Y:-128.33, Z:-931.60 [[ 5.17022740e-01 -8.47284801e-01 -1.21638615e-01 4.42587544e+02] [ 8.25615428e-01 5.31135140e-01 -1.90406479e-01 -1.28327767e+02] [ 2.25935058e-01 -1.98223712e-03 9.74140349e-01 -9.31601421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.60, Y:-128.30, Z:-931.60 [[ 5.17377771e-01 -8.47271971e-01 -1.20210025e-01 4.42600079e+02] [ 8.25452523e-01 5.31159165e-01 -1.91044688e-01 -1.28303236e+02] [ 2.25717466e-01 -3.85393363e-04 9.74192731e-01 -9.31596217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.61, Y:-128.28, Z:-931.59 [[ 5.17739174e-01 -8.46822579e-01 -1.21809970e-01 4.42614734e+02] [ 8.25563356e-01 5.31867421e-01 -1.88579403e-01 -1.28279868e+02] [ 2.24480051e-01 -2.92690324e-03 9.74474289e-01 -9.31589377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.556559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:442.63, Y:-128.26, Z:-931.58 [[ 5.18227247e-01 -8.46715076e-01 -1.20474486e-01 4.42627581e+02] [ 8.25386936e-01 5.32044281e-01 -1.88852558e-01 -1.28255785e+02] [ 2.24002069e-01 -1.56952526e-03 9.74587405e-01 -9.31583637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.64, Y:-128.23, Z:-931.58 [[ 5.19058759e-01 -8.46231921e-01 -1.20289405e-01 4.42641232e+02] [ 8.24930194e-01 5.32813158e-01 -1.88680458e-01 -1.28232335e+02] [ 2.23759204e-01 -1.29411778e-03 9.74643599e-01 -9.31577455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.65, Y:-128.21, Z:-931.57 [[ 5.19953035e-01 -8.45681521e-01 -1.20297992e-01 4.42654442e+02] [ 8.24334977e-01 5.33686969e-01 -1.88812249e-01 -1.28209715e+02] [ 2.23876501e-01 -9.92340432e-04 9.74617016e-01 -9.31571387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.67, Y:-128.19, Z:-931.57 [[ 5.22221409e-01 -8.44224596e-01 -1.20704731e-01 4.42668137e+02] [ 8.22668210e-01 5.35989493e-01 -1.89558116e-01 -1.28185468e+02] [ 2.24726091e-01 -3.08638351e-04 9.74421926e-01 -9.31565138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.676559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:442.68, Y:-128.16, Z:-931.56 [[ 5.23219972e-01 -8.43559596e-01 -1.21029209e-01 4.42682456e+02] [ 8.21840777e-01 5.37035573e-01 -1.90185518e-01 -1.28161611e+02] [ 2.25429809e-01 4.21223489e-05 9.74259411e-01 -9.31558977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.70, Y:-128.14, Z:-931.55 [[ 5.24622586e-01 -8.42667955e-01 -1.21168729e-01 4.42696175e+02] [ 8.20847102e-01 5.38433353e-01 -1.90524432e-01 -1.28138817e+02] [ 2.25790118e-01 4.92420256e-04 9.74175847e-01 -9.31553253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.71, Y:-128.12, Z:-931.55 [[ 5.27611888e-01 -8.40724565e-01 -1.21687721e-01 4.42709552e+02] [ 8.18637149e-01 5.41461232e-01 -1.91449611e-01 -1.28115043e+02] [ 2.26845574e-01 1.39300213e-03 9.73929744e-01 -9.31547957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.72, Y:-128.09, Z:-931.54 [[ 5.28951415e-01 -8.39861454e-01 -1.21832420e-01 4.42722970e+02] [ 8.17670026e-01 5.42797733e-01 -1.91797679e-01 -1.28092731e+02] [ 2.27213839e-01 1.83293579e-03 9.73843166e-01 -9.31542334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.74, Y:-128.07, Z:-931.54 [[ 5.30284324e-01 -8.39014071e-01 -1.21876680e-01 4.42737414e+02] [ 8.16758722e-01 5.44105036e-01 -1.91976300e-01 -1.28069497e+02] [ 2.27384532e-01 2.25818103e-03 9.73802431e-01 -9.31536049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:442.75, Y:-128.05, Z:-931.53 [[ 5.32076961e-01 -8.37939238e-01 -1.21457569e-01 4.42751439e+02] [ 8.15783154e-01 5.45756474e-01 -1.91435932e-01 -1.28047412e+02] [ 2.26697933e-01 2.77561004e-03 9.73961161e-01 -9.31529825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.77, Y:-128.02, Z:-931.52 [[ 5.32561117e-01 -8.37648790e-01 -1.21339035e-01 4.42766339e+02] [ 8.15503861e-01 5.46201209e-01 -1.91357499e-01 -1.28024618e+02] [ 2.26565905e-01 2.95711169e-03 9.73991348e-01 -9.31523378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.78, Y:-128.00, Z:-931.52 [[ 5.32729583e-01 -8.37548321e-01 -1.21293045e-01 4.42780643e+02] [ 8.15390153e-01 5.46354660e-01 -1.91403984e-01 -1.28002747e+02] [ 2.26579106e-01 3.06541059e-03 9.73987943e-01 -9.31517211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.80, Y:-127.98, Z:-931.51 [[ 5.32735840e-01 -8.37566631e-01 -1.21139027e-01 4.42795615e+02] [ 8.15446677e-01 5.46326394e-01 -1.91243794e-01 -1.27980481e+02] [ 2.26360868e-01 3.10000579e-03 9.74038576e-01 -9.31511079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.81, Y:-127.96, Z:-931.50 [[ 5.32656322e-01 -8.37648378e-01 -1.20923271e-01 4.42810704e+02] [ 8.15581287e-01 5.46200879e-01 -1.91028179e-01 -1.27957573e+02] [ 2.26062841e-01 3.12961048e-03 9.74107693e-01 -9.31504784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.83, Y:-127.94, Z:-931.50 [[ 5.33207992e-01 -8.37317143e-01 -1.20785922e-01 4.42825989e+02] [ 8.15264579e-01 5.46707315e-01 -1.90931341e-01 -1.27935953e+02] [ 2.25904632e-01 3.33363339e-03 9.74143718e-01 -9.31499317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.84, Y:-127.91, Z:-931.49 [[ 5.33103243e-01 -8.37378659e-01 -1.20821831e-01 4.42841139e+02] [ 8.15289130e-01 5.46612868e-01 -1.91096854e-01 -1.27913122e+02] [ 2.26063194e-01 3.36962714e-03 9.74106810e-01 -9.31493471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.036559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:442.86, Y:-127.89, Z:-931.49 [[ 5.33025722e-01 -8.37439108e-01 -1.20744851e-01 4.42855969e+02] [ 8.15352278e-01 5.46520014e-01 -1.91093004e-01 -1.27890371e+02] [ 2.26018233e-01 3.40789722e-03 9.74117110e-01 -9.31487934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.87, Y:-127.87, Z:-931.48 [[ 5.33371423e-01 -8.37232082e-01 -1.20653908e-01 4.42870744e+02] [ 8.15146076e-01 5.46836144e-01 -1.91068330e-01 -1.27868232e+02] [ 2.25946453e-01 3.55982768e-03 9.74133219e-01 -9.31482413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.89, Y:-127.84, Z:-931.48 [[ 5.33205241e-01 -8.37363481e-01 -1.20476437e-01 4.42885930e+02] [ 8.15321644e-01 5.46634918e-01 -1.90894955e-01 -1.27844860e+02] [ 2.25705091e-01 3.55914410e-03 9.74189173e-01 -9.31476838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.90, Y:-127.82, Z:-931.47 [[ 5.33143763e-01 -8.37395650e-01 -1.20524911e-01 4.42900633e+02] [ 8.15309093e-01 5.46585279e-01 -1.91090595e-01 -1.27823074e+02] [ 2.25895575e-01 3.61370296e-03 9.74144820e-01 -9.31471409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.92, Y:-127.80, Z:-931.47 [[ 5.32829170e-01 -8.37505778e-01 -1.21149278e-01 4.42917884e+02] [ 8.15160022e-01 5.46416229e-01 -1.92206774e-01 -1.27800901e+02] [ 2.27172215e-01 3.65732780e-03 9.73847734e-01 -9.31466084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.93, Y:-127.78, Z:-931.46 [[ 5.32454920e-01 -8.37716257e-01 -1.21339325e-01 4.42932958e+02] [ 8.15277230e-01 5.46093607e-01 -1.92626090e-01 -1.27779343e+02] [ 2.27628637e-01 3.63952033e-03 9.73741217e-01 -9.31460897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.95, Y:-127.76, Z:-931.46 [[ 5.31715918e-01 -8.38048187e-01 -1.22284173e-01 4.42950181e+02] [ 8.15241011e-01 5.45584499e-01 -1.94215471e-01 -1.27757601e+02] [ 2.29478273e-01 3.57638439e-03 9.73307214e-01 -9.31455148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.97, Y:-127.73, Z:-931.45 [[ 5.31987024e-01 -8.37860188e-01 -1.22393269e-01 4.42965070e+02] [ 8.14978307e-01 5.45872149e-01 -1.94509526e-01 -1.27734939e+02] [ 2.29782865e-01 3.72868457e-03 9.73234778e-01 -9.31449406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:442.98, Y:-127.71, Z:-931.44 [[ 5.32608798e-01 -8.37482737e-01 -1.22272375e-01 4.42979766e+02] [ 8.14607650e-01 5.46449455e-01 -1.94441176e-01 -1.27711037e+02] [ 2.29656801e-01 3.95706867e-03 9.73263631e-01 -9.31444026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:442.99, Y:-127.69, Z:-931.44 [[ 5.33000724e-01 -8.37170616e-01 -1.22701215e-01 4.42993335e+02] [ 8.14094934e-01 5.46925879e-01 -1.95247335e-01 -1.27688931e+02] [ 2.30563801e-01 4.17653321e-03 9.73048247e-01 -9.31438293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.01, Y:-127.67, Z:-931.43 [[ 5.33210899e-01 -8.36979240e-01 -1.23093010e-01 4.43007444e+02] [ 8.13727888e-01 5.47217564e-01 -1.95958828e-01 -1.27665671e+02] [ 2.31372128e-01 4.32316837e-03 9.72855718e-01 -9.31432734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.02, Y:-127.64, Z:-931.43 [[ 5.32558251e-01 -8.37432072e-01 -1.22838246e-01 4.43020569e+02] [ 8.14260991e-01 5.46525387e-01 -1.95675853e-01 -1.27642675e+02] [ 2.30999455e-01 4.18639804e-03 9.72944873e-01 -9.31426964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.03, Y:-127.62, Z:-931.42 [[ 5.31385526e-01 -8.38251570e-01 -1.22326322e-01 4.43034057e+02] [ 8.15277114e-01 5.45270020e-01 -1.94945717e-01 -1.27619415e+02] [ 2.30114429e-01 3.86148172e-03 9.73155917e-01 -9.31421022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.05, Y:-127.60, Z:-931.41 [[ 5.29790391e-01 -8.39371073e-01 -1.21566210e-01 4.43048226e+02] [ 8.16688332e-01 5.43548102e-01 -1.93844346e-01 -1.27596315e+02] [ 2.28784419e-01 3.41516639e-03 9.73471122e-01 -9.31414833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.06, Y:-127.57, Z:-931.41 [[ 5.27449354e-01 -8.40943718e-01 -1.20875313e-01 4.43062623e+02] [ 8.18534030e-01 5.41115428e-01 -1.92862994e-01 -1.27573254e+02] [ 2.27594420e-01 2.78490491e-03 9.73752034e-01 -9.31408090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.08, Y:-127.55, Z:-931.40 [[ 5.25149472e-01 -8.42502155e-01 -1.20033960e-01 4.43077385e+02] [ 8.20419910e-01 5.38688638e-01 -1.91639566e-01 -1.27550087e+02] [ 2.26117678e-01 2.16116628e-03 9.74097595e-01 -9.31401532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.09, Y:-127.53, Z:-931.40 [[ 5.19897844e-01 -8.45916325e-01 -1.18877258e-01 4.43091518e+02] [ 8.24322624e-01 5.33315122e-01 -1.89913646e-01 -1.27527867e+02] [ 2.24050093e-01 7.42481900e-04 9.74577347e-01 -9.31395169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:443.11, Y:-127.51, Z:-931.39 [[ 5.16997828e-01 -8.47712380e-01 -1.18730645e-01 4.43105443e+02] [ 8.26194049e-01 5.30456143e-01 -1.89788497e-01 -1.27505512e+02] [ 2.23867458e-01 2.56879794e-05 9.74619598e-01 -9.31389360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.576559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:443.12, Y:-127.48, Z:-931.38 [[ 5.13782122e-01 -8.49696614e-01 -1.18505676e-01 4.43119165e+02] [ 8.28293632e-01 5.27271316e-01 -1.89511527e-01 -1.27482951e+02] [ 2.23511947e-01 -7.89862633e-04 9.74700870e-01 -9.31384186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.13, Y:-127.46, Z:-931.38 [[ 5.07903249e-01 -8.53236648e-01 -1.18412463e-01 4.43132454e+02] [ 8.31932952e-01 5.21519002e-01 -1.89487453e-01 -1.27458853e+02] [ 2.23431989e-01 -2.26993647e-03 9.74716879e-01 -9.31379489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.15, Y:-127.44, Z:-931.37 [[ 5.04873572e-01 -8.55028819e-01 -1.18441528e-01 4.43145659e+02] [ 8.33735645e-01 5.18571817e-01 -1.89652695e-01 -1.27436193e+02] [ 2.23578958e-01 -2.99828995e-03 9.74681209e-01 -9.31374191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.16, Y:-127.41, Z:-931.37 [[ 5.02227798e-01 -8.56559429e-01 -1.18630447e-01 4.43159683e+02] [ 8.35210412e-01 5.16035714e-01 -1.90080801e-01 -1.27412691e+02] [ 2.24033050e-01 -3.61752232e-03 9.74574834e-01 -9.31368159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.17, Y:-127.39, Z:-931.36 [[ 4.99998985e-01 -8.57835373e-01 -1.18825448e-01 4.43173314e+02] [ 8.36422372e-01 5.13907978e-01 -1.90515632e-01 -1.27390436e+02] [ 2.24496394e-01 -4.13064005e-03 9.74466165e-01 -9.31362681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.19, Y:-127.37, Z:-931.36 [[ 4.97382113e-01 -8.59466027e-01 -1.18021961e-01 4.43186853e+02] [ 8.37836222e-01 5.11180432e-01 -1.91637763e-01 -1.27365785e+02] [ 2.25036664e-01 -3.56587878e-03 9.74343771e-01 -9.31357744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.20, Y:-127.34, Z:-931.36 [[ 4.95812437e-01 -8.61269338e-01 -1.11288614e-01 4.43197667e+02] [ 8.39178893e-01 5.08141482e-01 -1.93832455e-01 -1.27339266e+02] [ 2.23492311e-01 2.71348571e-03 9.74701915e-01 -9.31357122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.22, Y:-127.32, Z:-931.34 [[ 4.96408530e-01 -8.58837417e-01 -1.26399614e-01 4.43219222e+02] [ 8.38281556e-01 5.12082884e-01 -1.87230214e-01 -1.27321998e+02] [ 2.25527392e-01 -1.30157895e-02 9.74149878e-01 -9.31341133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.23, Y:-127.30, Z:-931.34 [[ 4.96592527e-01 -8.59762700e-01 -1.19180373e-01 4.43229400e+02] [ 8.38198729e-01 5.10670775e-01 -1.91411208e-01 -1.27295015e+02] [ 2.25430151e-01 -4.84346168e-03 9.74247293e-01 -9.31337816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.24, Y:-127.27, Z:-931.34 [[ 4.96163143e-01 -8.61278748e-01 -1.09640570e-01 4.43238055e+02] [ 8.38946210e-01 5.08110778e-01 -1.94917148e-01 -1.27266389e+02] [ 2.23587552e-01 4.72816383e-03 9.74672381e-01 -9.31338464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.26, Y:-127.25, Z:-931.32 [[ 4.98057353e-01 -8.57893364e-01 -1.26324382e-01 4.43258731e+02] [ 8.37708018e-01 5.13652023e-01 -1.85490906e-01 -1.27249714e+02] [ 2.24018192e-01 -1.34378383e-02 9.74492316e-01 -9.31321993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.27, Y:-127.22, Z:-931.31 [[ 4.98498734e-01 -8.58116794e-01 -1.23022683e-01 4.43272383e+02] [ 8.37010796e-01 5.13382790e-01 -1.89343707e-01 -1.27224620e+02] [ 2.25636743e-01 -8.58371550e-03 9.74173691e-01 -9.31314610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.28, Y:-127.20, Z:-931.31 [[ 4.98789081e-01 -8.59106394e-01 -1.14654514e-01 4.43281137e+02] [ 8.37566730e-01 5.11796587e-01 -1.91170676e-01 -1.27198780e+02] [ 2.22915739e-01 -6.76960403e-04 9.74837482e-01 -9.31312658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.31, Y:-127.18, Z:-931.29 [[ 5.00189239e-01 -8.55144575e-01 -1.36156090e-01 4.43308193e+02] [ 8.35466820e-01 5.17928081e-01 -1.83700015e-01 -1.27182695e+02] [ 2.27609133e-01 -2.18691253e-02 9.73506972e-01 -9.31290575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.32, Y:-127.16, Z:-931.28 [[ 5.01855814e-01 -8.55558021e-01 -1.27126767e-01 4.43319167e+02] [ 8.34108862e-01 5.17603339e-01 -1.90654634e-01 -1.27155801e+02] [ 2.28917341e-01 -1.03564268e-02 9.73390772e-01 -9.31284877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.33, Y:-127.13, Z:-931.28 [[ 5.02077480e-01 -8.56202045e-01 -1.21804198e-01 4.43328898e+02] [ 8.34514675e-01 5.16612205e-01 -1.91564838e-01 -1.27130507e+02] [ 2.26943741e-01 -5.46699915e-03 9.73892525e-01 -9.31280780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.056559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:443.33, Y:-127.10, Z:-931.29 [[ 5.02771529e-01 -8.58808762e-01 -9.83275165e-02 4.43325633e+02] [ 8.36360546e-01 5.12040846e-01 -1.95742712e-01 -1.27097842e+02] [ 2.18453261e-01 1.61766073e-02 9.75713324e-01 -9.31291485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.35, Y:-127.08, Z:-931.28 [[ 5.06446187e-01 -8.54565754e-01 -1.15020137e-01 4.43346313e+02] [ 8.34161528e-01 5.19339624e-01 -1.85636473e-01 -1.27081329e+02] [ 2.18373087e-01 -1.93048900e-03 9.75863448e-01 -9.31279066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.36, Y:-127.06, Z:-931.27 [[ 5.08459788e-01 -8.53349397e-01 -1.15167058e-01 4.43358606e+02] [ 8.32836681e-01 5.21337688e-01 -1.85984079e-01 -1.27057017e+02] [ 2.18750329e-01 -1.34992474e-03 9.75779930e-01 -9.31273135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:443.37, Y:-127.03, Z:-931.27 [[ 5.10223098e-01 -8.53065412e-01 -1.09324261e-01 4.43371228e+02] [ 8.31841271e-01 5.21774074e-01 -1.89187515e-01 -1.27027619e+02] [ 2.18431891e-01 5.58740761e-03 9.75836200e-01 -9.31270068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.38, Y:-127.01, Z:-931.26 [[ 5.13720057e-01 -8.48983094e-01 -1.23771606e-01 4.43384890e+02] [ 8.28992157e-01 5.28352954e-01 -1.83344375e-01 -1.27010382e+02] [ 2.21051368e-01 -8.41800809e-03 9.75225835e-01 -9.31259176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.39, Y:-126.98, Z:-931.26 [[ 5.15217614e-01 -8.49064265e-01 -1.16793336e-01 4.43393355e+02] [ 8.27773525e-01 5.28289147e-01 -1.88948589e-01 -1.26983647e+02] [ 2.22130147e-01 6.71210139e-04 9.75016794e-01 -9.31256325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.41, Y:-126.96, Z:-931.25 [[ 5.16202223e-01 -8.48381676e-01 -1.17404415e-01 4.43405702e+02] [ 8.26827916e-01 5.29384075e-01 -1.90021312e-01 -1.26958812e+02] [ 2.23362626e-01 1.01617579e-03 9.74734889e-01 -9.31250210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.42, Y:-126.93, Z:-931.24 [[ 5.18607828e-01 -8.46906720e-01 -1.17451816e-01 4.43415593e+02] [ 8.25269888e-01 5.31738704e-01 -1.90219775e-01 -1.26933512e+02] [ 2.23552083e-01 1.72001742e-03 9.74690468e-01 -9.31244273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.43, Y:-126.91, Z:-931.24 [[ 5.18391363e-01 -8.47044425e-01 -1.17414381e-01 4.43430141e+02] [ 8.25405848e-01 5.31519362e-01 -1.90242880e-01 -1.26909741e+02] [ 2.23552188e-01 1.70574943e-03 9.74690469e-01 -9.31238018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.44, Y:-126.89, Z:-931.23 [[ 5.19302837e-01 -8.46522157e-01 -1.17152898e-01 4.43442628e+02] [ 8.24942482e-01 5.32349782e-01 -1.89930543e-01 -1.26885115e+02] [ 2.23146732e-01 1.98706714e-03 9.74782841e-01 -9.31231553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.46, Y:-126.86, Z:-931.22 [[ 5.20177096e-01 -8.46046975e-01 -1.16706064e-01 4.43455216e+02] [ 8.24594911e-01 5.33103618e-01 -1.89324498e-01 -1.26861282e+02] [ 2.22393843e-01 2.24704136e-03 9.74954322e-01 -9.31224896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.47, Y:-126.84, Z:-931.22 [[ 5.21009271e-01 -8.45622030e-01 -1.16072055e-01 4.43467559e+02] [ 8.24367657e-01 5.33776384e-01 -1.88416393e-01 -1.26838222e+02] [ 2.21285574e-01 2.48063952e-03 9.75205897e-01 -9.31218491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.48, Y:-126.81, Z:-931.21 [[ 5.22086105e-01 -8.45030533e-01 -1.15540030e-01 4.43479187e+02] [ 8.23934318e-01 5.34710841e-01 -1.87660746e-01 -1.26814325e+02] [ 2.20359567e-01 2.77767256e-03 9.75414756e-01 -9.31211587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.49, Y:-126.79, Z:-931.21 [[ 5.22149974e-01 -8.45043041e-01 -1.15159300e-01 4.43492314e+02] [ 8.24060077e-01 5.34690799e-01 -1.87165007e-01 -1.26790550e+02] [ 2.19737105e-01 2.83002175e-03 9.75555019e-01 -9.31205728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:443.50, Y:-126.77, Z:-931.20 [[ 5.21978823e-01 -8.45307281e-01 -1.13989956e-01 4.43504253e+02] [ 8.24023886e-01 5.34261619e-01 -1.88544843e-01 -1.26767289e+02] [ 2.20278787e-01 4.48596868e-03 9.75426641e-01 -9.31200189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.52, Y:-126.74, Z:-931.19 [[ 5.22123677e-01 -8.44893734e-01 -1.16367717e-01 4.43518759e+02] [ 8.24108407e-01 5.34932476e-01 -1.86259443e-01 -1.26744765e+02] [ 2.19618307e-01 1.35085151e-03 9.75584940e-01 -9.31193348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.53, Y:-126.72, Z:-931.19 [[ 5.21530061e-01 -8.45436693e-01 -1.15079077e-01 4.43531483e+02] [ 8.24424943e-01 5.34068165e-01 -1.87335816e-01 -1.26719793e+02] [ 2.19840644e-01 2.82719783e-03 9.75531700e-01 -9.31187733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.54, Y:-126.70, Z:-931.18 [[ 5.20927056e-01 -8.45745119e-01 -1.15543053e-01 4.43543943e+02] [ 8.24541166e-01 5.33579882e-01 -1.88213641e-01 -1.26695631e+02] [ 2.20832216e-01 2.77557416e-03 9.75307864e-01 -9.31181659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.56, Y:-126.67, Z:-931.18 [[ 5.20561321e-01 -8.45945764e-01 -1.15722406e-01 4.43557558e+02] [ 8.24652283e-01 5.33261791e-01 -1.88627874e-01 -1.26671513e+02] [ 2.21279289e-01 2.76162873e-03 9.75206568e-01 -9.31175093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.57, Y:-126.65, Z:-931.17 [[ 5.20438654e-01 -8.45978668e-01 -1.16033186e-01 4.43570248e+02] [ 8.24541901e-01 5.33209269e-01 -1.89257836e-01 -1.26648593e+02] [ 2.21978063e-01 2.82286974e-03 9.75047574e-01 -9.31169452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.58, Y:-126.62, Z:-931.16 [[ 5.20451583e-01 -8.45897653e-01 -1.16564615e-01 4.43583633e+02] [ 8.24233890e-01 5.33337193e-01 -1.90236520e-01 -1.26624684e+02] [ 2.23088870e-01 2.93239155e-03 9.74793700e-01 -9.31163682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.60, Y:-126.60, Z:-931.16 [[ 5.20267896e-01 -8.45798830e-01 -1.18091727e-01 4.43596579e+02] [ 8.23524594e-01 5.33493045e-01 -1.92853351e-01 -1.26600773e+02] [ 2.26116253e-01 3.08396565e-03 9.74095442e-01 -9.31158095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.61, Y:-126.58, Z:-931.15 [[ 5.19708988e-01 -8.46102652e-01 -1.18375975e-01 4.43610295e+02] [ 8.23698453e-01 5.33011387e-01 -1.93441775e-01 -1.26577370e+02] [ 2.26767341e-01 3.02732215e-03 9.73944253e-01 -9.31152240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.63, Y:-126.56, Z:-931.14 [[ 5.19016999e-01 -8.44833023e-01 -1.29917350e-01 4.43630644e+02] [ 8.22911337e-01 5.34976176e-01 -1.91356794e-01 -1.26557225e+02] [ 2.31167226e-01 -7.59303169e-03 9.72884402e-01 -9.31138751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.63, Y:-126.53, Z:-931.14 [[ 5.17882046e-01 -8.48275194e-01 -1.10577494e-01 4.43634556e+02] [ 8.24478113e-01 5.29411513e-01 -1.99898203e-01 -1.26526927e+02] [ 2.28109686e-01 1.23549669e-02 9.73557048e-01 -9.31142635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.65, Y:-126.51, Z:-931.13 [[ 5.14584482e-01 -8.49041155e-01 -1.19716029e-01 4.43653111e+02] [ 8.26123980e-01 5.28323193e-01 -1.95943294e-01 -1.26506477e+02] [ 2.29612675e-01 1.92909581e-03 9.73280175e-01 -9.31133482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.67, Y:-126.48, Z:-931.13 [[ 5.12391122e-01 -8.50343220e-01 -1.19882220e-01 4.43667329e+02] [ 8.27366347e-01 5.26226565e-01 -1.96342887e-01 -1.26483833e+02] [ 2.30044051e-01 1.41783813e-03 9.73179184e-01 -9.31127332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:443.68, Y:-126.46, Z:-931.12 [[ 5.09351779e-01 -8.52308729e-01 -1.18872182e-01 4.43682305e+02] [ 8.29090146e-01 5.23034858e-01 -1.97595718e-01 -1.26459287e+02] [ 2.30586850e-01 2.08997612e-03 9.73049504e-01 -9.31121779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.70, Y:-126.44, Z:-931.11 [[ 5.06679221e-01 -8.52906388e-01 -1.25804847e-01 4.43700629e+02] [ 8.30158882e-01 5.22037361e-01 -1.95737644e-01 -1.26439311e+02] [ 2.32620718e-01 -5.26181409e-03 9.72553297e-01 -9.31110952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.71, Y:-126.42, Z:-931.11 [[ 5.00288460e-01 -8.57882103e-01 -1.17259343e-01 4.43711443e+02] [ 8.34679012e-01 5.13844995e-01 -1.98177366e-01 -1.26415224e+02] [ 2.30265942e-01 1.27193610e-03 9.73126908e-01 -9.31108097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.73, Y:-126.39, Z:-931.10 [[ 4.97037434e-01 -8.59488789e-01 -1.19301346e-01 4.43727838e+02] [ 8.36874191e-01 5.11148577e-01 -1.95879353e-01 -1.26393242e+02] [ 2.29336821e-01 -2.48084687e-03 9.73343962e-01 -9.31100798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.75, Y:-126.37, Z:-931.09 [[ 4.93929380e-01 -8.60482581e-01 -1.24913952e-01 4.43747056e+02] [ 8.38150928e-01 5.09410490e-01 -1.94946080e-01 -1.26371405e+02] [ 2.31380184e-01 -8.40714798e-03 9.72827082e-01 -9.31090182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.76, Y:-126.35, Z:-931.09 [[ 4.91103387e-01 -8.63427491e-01 -1.15370846e-01 4.43756475e+02] [ 8.40433112e-01 5.04472901e-01 -1.97937557e-01 -1.26346941e+02] [ 2.29106193e-01 2.46325418e-04 9.73401403e-01 -9.31088242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.77, Y:-126.33, Z:-931.08 [[ 4.88496598e-01 -8.64408490e-01 -1.19033761e-01 4.43773214e+02] [ 8.41967955e-01 5.02769085e-01 -1.95737606e-01 -1.26325223e+02] [ 2.29043744e-01 -4.60545736e-03 9.73405236e-01 -9.31080428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.79, Y:-126.30, Z:-931.07 [[ 4.86399770e-01 -8.64772929e-01 -1.24832071e-01 4.43794916e+02] [ 8.42774616e-01 5.02047185e-01 -1.94112262e-01 -1.26302647e+02] [ 2.30534620e-01 -1.07891414e-02 9.73004308e-01 -9.31069780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.80, Y:-126.28, Z:-931.07 [[ 4.83929528e-01 -8.67427826e-01 -1.15677046e-01 4.43800996e+02] [ 8.44802282e-01 4.97556911e-01 -1.96840611e-01 -1.26278236e+02] [ 2.28300936e-01 -2.46724847e-03 9.73587487e-01 -9.31068680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.82, Y:-126.26, Z:-931.06 [[ 4.83424404e-01 -8.67336018e-01 -1.18444407e-01 4.43816967e+02] [ 8.45122210e-01 4.97689577e-01 -1.95124410e-01 -1.26255778e+02] [ 2.28186976e-01 -5.77209675e-03 9.73600219e-01 -9.31061099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.83, Y:-126.23, Z:-931.06 [[ 4.83486947e-01 -8.67305880e-01 -1.18409808e-01 4.43830242e+02] [ 8.45074540e-01 4.97743028e-01 -1.95194519e-01 -1.26233226e+02] [ 2.28231011e-01 -5.69111178e-03 9.73590375e-01 -9.31055030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.84, Y:-126.21, Z:-931.05 [[ 4.84925811e-01 -8.66467741e-01 -1.18661755e-01 4.43843211e+02] [ 8.44088516e-01 4.99205475e-01 -1.95725501e-01 -1.26208818e+02] [ 2.28826431e-01 -5.24867747e-03 9.73453089e-01 -9.31049166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.86, Y:-126.19, Z:-931.04 [[ 4.86099322e-01 -8.65765887e-01 -1.18982681e-01 4.43856631e+02] [ 8.43213349e-01 5.00425560e-01 -1.96381026e-01 -1.26185097e+02] [ 2.29561968e-01 -4.86710137e-03 9.73281878e-01 -9.31042858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.87, Y:-126.16, Z:-931.04 [[ 4.87555925e-01 -8.64905346e-01 -1.19281023e-01 4.43869742e+02] [ 8.42183042e-01 5.01915637e-01 -1.96998521e-01 -1.26161938e+02] [ 2.30254084e-01 -4.40865834e-03 9.73120558e-01 -9.31036801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.88, Y:-126.14, Z:-931.03 [[ 4.89529455e-01 -8.63785305e-01 -1.19314122e-01 4.43883190e+02] [ 8.40990484e-01 5.03845542e-01 -1.97166618e-01 -1.26137988e+02] [ 2.30425516e-01 -3.82317365e-03 9.73082456e-01 -9.31030344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.90, Y:-126.11, Z:-931.02 [[ 4.93851318e-01 -8.61385074e-01 -1.18855504e-01 4.43895585e+02] [ 8.38669134e-01 5.07945743e-01 -1.96532963e-01 -1.26113749e+02] [ 2.29662708e-01 -2.62237992e-03 9.73266749e-01 -9.31024102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.91, Y:-126.09, Z:-931.02 [[ 4.95905549e-01 -8.60256930e-01 -1.18472367e-01 4.43908685e+02] [ 8.37627882e-01 5.09856754e-01 -1.96024545e-01 -1.26089692e+02] [ 2.29035410e-01 -2.02609804e-03 9.73415983e-01 -9.31017775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.92, Y:-126.07, Z:-931.01 [[ 4.97952765e-01 -8.59089098e-01 -1.18359482e-01 4.43921147e+02] [ 8.36441891e-01 5.11824094e-01 -1.95961884e-01 -1.26066109e+02] [ 2.28927953e-01 -1.42106672e-03 9.73442332e-01 -9.31011548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.93, Y:-126.04, Z:-931.01 [[ 4.99714326e-01 -8.58092395e-01 -1.18165285e-01 4.43933710e+02] [ 8.35466513e-01 5.13494525e-01 -1.95752594e-01 -1.26042211e+02] [ 2.28651039e-01 -9.02763052e-04 9.73508032e-01 -9.31005564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.95, Y:-126.02, Z:-931.00 [[ 5.01257820e-01 -8.57193902e-01 -1.18149112e-01 4.43946899e+02] [ 8.34520596e-01 5.14993624e-01 -1.95849285e-01 -1.26017806e+02] [ 2.28726852e-01 -4.26882039e-04 9.73490547e-01 -9.30999407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.96, Y:-126.00, Z:-930.99 [[ 5.02615761e-01 -8.56414186e-01 -1.18034481e-01 4.43959792e+02] [ 8.33734722e-01 5.16289397e-01 -1.95784761e-01 -1.25995130e+02] [ 2.28612798e-01 -4.93839034e-06 9.73517431e-01 -9.30993454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.97, Y:-125.97, Z:-930.99 [[ 5.04454972e-01 -8.55392559e-01 -1.17595714e-01 4.43973361e+02] [ 8.32829689e-01 5.17980022e-01 -1.95170199e-01 -1.25972870e+02] [ 2.27859367e-01 5.17375111e-04 9.73693916e-01 -9.30986708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:443.99, Y:-125.95, Z:-930.98 [[ 5.05040047e-01 -8.55097924e-01 -1.17226670e-01 4.43986947e+02] [ 8.32640726e-01 5.18466034e-01 -1.94685372e-01 -1.25949677e+02] [ 2.27253104e-01 7.16209963e-04 9.73835466e-01 -9.30980437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.00, Y:-125.93, Z:-930.97 [[ 5.06758719e-01 -8.54147280e-01 -1.16739129e-01 4.44000127e+02] [ 8.31825822e-01 5.20029784e-01 -1.93996976e-01 -1.25925393e+02] [ 2.26409813e-01 1.20303695e-03 9.74031390e-01 -9.30974654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.01, Y:-125.90, Z:-930.97 [[ 5.07610983e-01 -8.54802570e-01 -1.07905780e-01 4.44010983e+02] [ 8.31850406e-01 5.18852129e-01 -1.97021245e-01 -1.25896945e+02] [ 2.24401410e-01 1.02486807e-02 9.74442903e-01 -9.30974990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.03, Y:-125.88, Z:-930.96 [[ 5.09046103e-01 -8.51626420e-01 -1.24918000e-01 4.44031238e+02] [ 8.30289020e-01 5.24099606e-01 -1.89577811e-01 -1.25881119e+02] [ 2.26918947e-01 -7.21419791e-03 9.73886927e-01 -9.30960174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.04, Y:-125.85, Z:-930.96 [[ 5.10612949e-01 -8.51849991e-01 -1.16730500e-01 4.44041943e+02] [ 8.29396615e-01 5.23780329e-01 -1.94307545e-01 -1.25854400e+02] [ 2.26662021e-01 2.40006725e-03 9.73970517e-01 -9.30956546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.676559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:444.06, Y:-125.83, Z:-930.95 [[ 5.12176428e-01 -8.50920353e-01 -1.16661305e-01 4.44055872e+02] [ 8.28440671e-01 5.25286843e-01 -1.94318776e-01 -1.25832336e+02] [ 2.26630450e-01 2.87852713e-03 9.73976567e-01 -9.30950672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.07, Y:-125.81, Z:-930.94 [[ 5.13613810e-01 -8.50056519e-01 -1.16639483e-01 4.44070759e+02] [ 8.27536693e-01 5.26681007e-01 -1.94396857e-01 -1.25809064e+02] [ 2.26680116e-01 3.32145808e-03 9.73963600e-01 -9.30944097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.09, Y:-125.79, Z:-930.94 [[ 5.16894909e-01 -8.48066111e-01 -1.16634148e-01 4.44085748e+02] [ 8.25468262e-01 5.29873257e-01 -1.94516018e-01 -1.25786893e+02] [ 2.26763759e-01 4.26655256e-03 9.73940447e-01 -9.30938011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.10, Y:-125.76, Z:-930.93 [[ 5.18273679e-01 -8.47215395e-01 -1.16698193e-01 4.44100169e+02] [ 8.24544021e-01 5.31228703e-01 -1.94738857e-01 -1.25764036e+02] [ 2.26979187e-01 4.70522677e-03 9.73888243e-01 -9.30932291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.12, Y:-125.74, Z:-930.93 [[ 5.19672200e-01 -8.46329481e-01 -1.16906864e-01 4.44115086e+02] [ 8.23524316e-01 5.32634650e-01 -1.95212785e-01 -1.25740525e+02] [ 2.27482982e-01 5.17101199e-03 9.73768327e-01 -9.30926465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.12, Y:-125.71, Z:-930.93 [[ 5.20435066e-01 -8.48246256e-01 -9.81103050e-02 4.44121836e+02] [ 8.24260685e-01 5.29052346e-01 -2.01737299e-01 -1.25708485e+02] [ 2.23028396e-01 2.41226973e-02 9.74513433e-01 -9.30933601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.856559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:444.15, Y:-125.70, Z:-930.91 [[ 5.21637353e-01 -8.42689534e-01 -1.33299740e-01 4.44151948e+02] [ 8.22078810e-01 5.38249302e-01 -1.85672075e-01 -1.25700133e+02] [ 2.28212406e-01 -1.27294016e-02 9.73528151e-01 -9.30910180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.15, Y:-125.66, Z:-930.92 [[ 5.22872834e-01 -8.46709178e-01 -9.84254424e-02 4.44153747e+02] [ 8.22697880e-01 5.31492010e-01 -2.01703849e-01 -1.25663719e+02] [ 2.23096836e-01 2.44910605e-02 9.74488579e-01 -9.30921881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.18, Y:-125.66, Z:-930.90 [[ 5.23532209e-01 -8.41548726e-01 -1.33078055e-01 4.44184736e+02] [ 8.20778000e-01 5.40053355e-01 -1.86187673e-01 -1.25655933e+02] [ 2.28555249e-01 -1.17522965e-02 9.73460005e-01 -9.30897816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.19, Y:-125.63, Z:-930.90 [[ 5.23471632e-01 -8.43956459e-01 -1.17110829e-01 4.44192488e+02] [ 8.20896233e-01 5.36372440e-01 -1.96045867e-01 -1.25628366e+02] [ 2.28269196e-01 6.48861167e-03 9.73576434e-01 -9.30897380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.21, Y:-125.61, Z:-930.89 [[ 5.22809433e-01 -8.44336965e-01 -1.17325987e-01 4.44208243e+02] [ 8.21172658e-01 5.35774337e-01 -1.96523092e-01 -1.25605536e+02] [ 2.28791963e-01 6.39923360e-03 9.73454307e-01 -9.30891322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:444.22, Y:-125.58, Z:-930.89 [[ 5.22373873e-01 -8.44594017e-01 -1.17415855e-01 4.44224272e+02] [ 8.21370240e-01 5.35369477e-01 -1.96800540e-01 -1.25583028e+02] [ 2.29077424e-01 6.36157079e-03 9.73387418e-01 -9.30885299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.23, Y:-125.55, Z:-930.90 [[ 5.19498776e-01 -8.49755869e-01 -8.96436551e-02 4.44227546e+02] [ 8.25149846e-01 5.26150866e-01 -2.05652614e-01 -1.25550125e+02] [ 2.21920603e-01 3.28668332e-02 9.74510655e-01 -9.30898372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.27, Y:-125.55, Z:-930.86 [[ 5.20365184e-01 -8.42309077e-01 -1.40483074e-01 4.44268033e+02] [ 8.22269908e-01 5.38626853e-01 -1.83720747e-01 -1.25548421e+02] [ 2.30417609e-01 -1.99131234e-02 9.72888068e-01 -9.30864904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.27, Y:-125.52, Z:-930.87 [[ 5.19565092e-01 -8.46301190e-01 -1.17585763e-01 4.44273012e+02] [ 8.22990292e-01 5.32673527e-01 -1.97347139e-01 -1.25517511e+02] [ 2.29649942e-01 5.76274293e-03 9.73256233e-01 -9.30867192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.27, Y:-125.48, Z:-930.88 [[ 5.16591849e-01 -8.51758310e-01 -8.74107734e-02 4.44273301e+02] [ 8.26956229e-01 5.22789055e-01 -2.06966183e-01 -1.25482584e+02] [ 2.21982562e-01 3.46321596e-02 9.74435404e-01 -9.30881809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:444.30, Y:-125.47, Z:-930.87 [[ 5.14668247e-01 -8.49971178e-01 -1.12541517e-01 4.44303887e+02] [ 8.27800417e-01 5.26793285e-01 -1.92964517e-01 -1.25471612e+02] [ 2.23300393e-01 6.15079550e-03 9.74730272e-01 -9.30867045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.33, Y:-125.46, Z:-930.84 [[ 5.14445703e-01 -8.45567337e-01 -1.42693718e-01 4.44334557e+02] [ 8.25777834e-01 5.33351504e-01 -1.83377048e-01 -1.25461968e+02] [ 2.31163551e-01 -2.34957754e-02 9.72631154e-01 -9.30839428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.34, Y:-125.43, Z:-930.84 [[ 5.14579945e-01 -8.49302170e-01 -1.17869865e-01 4.44337166e+02] [ 8.25854302e-01 5.27886375e-01 -1.98243906e-01 -1.25428672e+02] [ 2.30590876e-01 4.66900322e-03 9.73039593e-01 -9.30842407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.35, Y:-125.41, Z:-930.84 [[ 5.13017431e-01 -8.50265446e-01 -1.17736092e-01 4.44353490e+02] [ 8.26867550e-01 5.26336586e-01 -1.98140994e-01 -1.25406661e+02] [ 2.30441253e-01 4.29763010e-03 9.73076749e-01 -9.30836308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.37, Y:-125.38, Z:-930.83 [[ 5.11436799e-01 -8.51227479e-01 -1.17661294e-01 4.44369552e+02] [ 8.27853967e-01 5.24782160e-01 -1.98145134e-01 -1.25384640e+02] [ 2.30413131e-01 3.93234454e-03 9.73084953e-01 -9.30830197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.39, Y:-125.36, Z:-930.82 [[ 5.09733634e-01 -8.52252227e-01 -1.17634026e-01 4.44385206e+02] [ 8.28885790e-01 5.23119125e-01 -1.98228981e-01 -1.25363273e+02] [ 2.30477699e-01 3.53880590e-03 9.73071173e-01 -9.30824351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.336559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:444.40, Y:-125.34, Z:-930.82 [[ 5.07950938e-01 -8.53318322e-01 -1.17616693e-01 4.44401464e+02] [ 8.29959066e-01 5.21380971e-01 -1.98317505e-01 -1.25340630e+02] [ 2.30551066e-01 3.11852194e-03 9.73055230e-01 -9.30818353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:444.42, Y:-125.32, Z:-930.81 [[ 5.05231837e-01 -8.54910011e-01 -1.17769542e-01 4.44419308e+02] [ 8.31500947e-01 5.18770461e-01 -1.98704261e-01 -1.25320142e+02] [ 2.30969621e-01 2.46623310e-03 9.72957837e-01 -9.30812490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.44, Y:-125.30, Z:-930.81 [[ 5.04081894e-01 -8.55583963e-01 -1.17802915e-01 4.44435245e+02] [ 8.32157960e-01 5.17659360e-01 -1.98851494e-01 -1.25297542e+02] [ 2.31115931e-01 2.20680422e-03 9.72923716e-01 -9.30806429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.45, Y:-125.28, Z:-930.80 [[ 5.02720462e-01 -8.56342982e-01 -1.18105186e-01 4.44453100e+02] [ 8.32784640e-01 5.16403877e-01 -1.99491300e-01 -1.25276256e+02] [ 2.31822951e-01 1.93217305e-03 9.72756078e-01 -9.30800362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.45, Y:-125.24, Z:-930.82 [[ 5.00908841e-01 -8.61983781e-01 -7.79377645e-02 4.44448877e+02] [ 8.36558702e-01 5.05283959e-01 -2.11796269e-01 -1.25236627e+02] [ 2.21945651e-01 4.08911086e-02 9.74201235e-01 -9.30822844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.50, Y:-125.24, Z:-930.77 [[ 5.03369994e-01 -8.50792914e-01 -1.50897538e-01 4.44497754e+02] [ 8.32254817e-01 5.24337727e-01 -1.80060731e-01 -1.25242438e+02] [ 2.32315666e-01 -3.49480335e-02 9.72012380e-01 -9.30774790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.48, Y:-125.19, Z:-930.80 [[ 5.05118244e-01 -8.58308546e-01 -9.03437839e-02 4.44484960e+02] [ 8.33257697e-01 5.12268903e-01 -2.07995628e-01 -1.25193571e+02] [ 2.24804736e-01 2.97827331e-02 9.73948571e-01 -9.30800771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.52, Y:-125.19, Z:-930.77 [[ 5.06847822e-01 -8.50373544e-01 -1.41315680e-01 4.44520679e+02] [ 8.30261515e-01 5.25659188e-01 -1.85332767e-01 -1.25191624e+02] [ 2.31885968e-01 -2.33934613e-02 9.72461641e-01 -9.30766136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.52, Y:-125.16, Z:-930.77 [[ 5.08073293e-01 -8.53248625e-01 -1.17593850e-01 4.44523166e+02] [ 8.29689761e-01 5.21491804e-01 -1.99151195e-01 -1.25158663e+02] [ 2.31249712e-01 3.61699038e-03 9.72887706e-01 -9.30769406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.54, Y:-125.14, Z:-930.76 [[ 5.08837285e-01 -8.52902117e-01 -1.16801528e-01 4.44536125e+02] [ 8.29625570e-01 5.22056919e-01 -1.97934303e-01 -1.25135249e+02] [ 2.29795632e-01 3.81481911e-03 9.73231429e-01 -9.30763241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.53, Y:-125.09, Z:-930.79 [[ 5.05724317e-01 -8.59929374e-01 -6.90245431e-02 4.44526595e+02] [ 8.34989200e-01 5.08027675e-01 -2.11425914e-01 -1.25091828e+02] [ 2.16877732e-01 4.92884779e-02 9.74953689e-01 -9.30790038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.58, Y:-125.10, Z:-930.73 [[ 5.07243667e-01 -8.47814046e-01 -1.54645420e-01 4.44582371e+02] [ 8.30808415e-01 5.28755006e-01 -1.73711029e-01 -1.25103671e+02] [ 2.29044190e-01 -4.03668965e-02 9.72578672e-01 -9.30734235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.58, Y:-125.07, Z:-930.74 [[ 5.06649985e-01 -8.54397212e-01 -1.15374157e-01 4.44578890e+02] [ 8.31657796e-01 5.19610172e-01 -1.95833040e-01 -1.25065732e+02] [ 2.27268789e-01 3.26698944e-03 9.73826589e-01 -9.30743306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.59, Y:-125.04, Z:-930.74 [[ 5.05274319e-01 -8.55335001e-01 -1.14454792e-01 4.44592795e+02] [ 8.32955797e-01 5.18067264e-01 -1.94398948e-01 -1.25043055e+02] [ 2.25571505e-01 2.88901354e-03 9.74222331e-01 -9.30737092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.61, Y:-125.02, Z:-930.73 [[ 5.04626299e-01 -8.55763105e-01 -1.14113130e-01 4.44605921e+02] [ 8.33503469e-01 5.17360557e-01 -1.93933033e-01 -1.25020310e+02] [ 2.24998367e-01 2.75001925e-03 9.74355260e-01 -9.30731493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.60, Y:-124.98, Z:-930.75 [[ 5.02400607e-01 -8.61500785e-01 -7.35528931e-02 4.44600892e+02] [ 8.37467432e-01 5.06007763e-01 -2.06408441e-01 -1.24978697e+02] [ 2.15039369e-01 4.21015735e-02 9.75697457e-01 -9.30754201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.64, Y:-124.97, Z:-930.73 [[ 5.03325052e-01 -8.56278062e-01 -1.15981780e-01 4.44636231e+02] [ 8.36284434e-01 5.16496585e-01 -1.84009842e-01 -1.24971274e+02] [ 2.17467785e-01 -4.37699421e-03 9.76057685e-01 -9.30729014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.66, Y:-124.96, Z:-930.70 [[ 5.04388505e-01 -8.51940223e-01 -1.40677266e-01 4.44658881e+02] [ 8.33798995e-01 5.22891497e-01 -1.77098051e-01 -1.24959867e+02] [ 2.24435899e-01 -2.79703420e-02 9.74087361e-01 -9.30702939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.65, Y:-124.91, Z:-930.73 [[ 5.03825631e-01 -8.59456562e-01 -8.65687659e-02 4.44648768e+02] [ 8.35893646e-01 5.10361418e-01 -2.02022364e-01 -1.24913126e+02] [ 2.17810805e-01 2.94217637e-02 9.75547443e-01 -9.30726982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:444.67, Y:-124.90, Z:-930.72 [[ 5.03168428e-01 -8.58039716e-01 -1.02904705e-01 4.44668235e+02] [ 8.36866921e-01 5.13498844e-01 -1.89664691e-01 -1.24896278e+02] [ 2.15581285e-01 9.31574024e-03 9.76441461e-01 -9.30718792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.70, Y:-124.89, Z:-930.69 [[ 5.04891474e-01 -8.51417712e-01 -1.42029856e-01 4.44699328e+02] [ 8.33793507e-01 5.23624092e-01 -1.74946271e-01 -1.24890364e+02] [ 2.23322608e-01 -3.00946910e-02 9.74279900e-01 -9.30685849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.69, Y:-124.84, Z:-930.71 [[ 5.04310073e-01 -8.58794801e-01 -9.02376836e-02 4.44690792e+02] [ 8.35435864e-01 5.11670870e-01 -2.00598697e-01 -1.24844599e+02] [ 2.18445113e-01 2.57761465e-02 9.75508751e-01 -9.30707626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.72, Y:-124.84, Z:-930.68 [[ 5.04981262e-01 -8.52797183e-01 -1.33157391e-01 4.44721613e+02] [ 8.33771019e-01 5.21859089e-01 -1.80246996e-01 -1.24840336e+02] [ 2.23203525e-01 -2.00014181e-02 9.74566637e-01 -9.30678172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.72, Y:-124.81, Z:-930.68 [[ 5.05512290e-01 -8.55390714e-01 -1.12978097e-01 4.44724696e+02] [ 8.33316941e-01 5.17971712e-01 -1.93101479e-01 -1.24809696e+02] [ 2.23696671e-01 3.46860859e-03 9.74652640e-01 -9.30681049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.74, Y:-124.79, Z:-930.68 [[ 5.05666196e-01 -8.55298784e-01 -1.12985343e-01 4.44738330e+02] [ 8.33190293e-01 5.18122753e-01 -1.93242719e-01 -1.24786308e+02] [ 2.23820539e-01 3.57801920e-03 9.74623807e-01 -9.30675599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.75, Y:-124.76, Z:-930.67 [[ 5.05608580e-01 -8.55332428e-01 -1.12988502e-01 4.44751543e+02] [ 8.33195733e-01 5.18066867e-01 -1.93369057e-01 -1.24763220e+02] [ 2.23930425e-01 3.62751639e-03 9.74598382e-01 -9.30670014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.77, Y:-124.74, Z:-930.66 [[ 5.05362668e-01 -8.55462291e-01 -1.13105448e-01 4.44765321e+02] [ 8.33252990e-01 5.17852302e-01 -1.93696795e-01 -1.24739337e+02] [ 2.24272220e-01 3.64167641e-03 9.74519733e-01 -9.30664230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.78, Y:-124.72, Z:-930.66 [[ 5.04516687e-01 -8.55924586e-01 -1.13384372e-01 4.44778698e+02] [ 8.33588043e-01 5.17088766e-01 -1.94294064e-01 -1.24716210e+02] [ 2.24930851e-01 3.50874037e-03 9.74368411e-01 -9.30658819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.79, Y:-124.69, Z:-930.65 [[ 5.03701778e-01 -8.56384808e-01 -1.13532286e-01 4.44792512e+02] [ 8.33980095e-01 5.16327226e-01 -1.94636575e-01 -1.24692441e+02] [ 2.25303616e-01 3.35512263e-03 9.74282826e-01 -9.30652965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.81, Y:-124.67, Z:-930.65 [[ 5.02713543e-01 -8.56967967e-01 -1.13512105e-01 4.44806260e+02] [ 8.34558550e-01 5.15360013e-01 -1.94720529e-01 -1.24668212e+02] [ 2.25368856e-01 3.15614923e-03 9.74268401e-01 -9.30646906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.82, Y:-124.64, Z:-930.64 [[ 5.01516396e-01 -8.57667990e-01 -1.13520585e-01 4.44819659e+02] [ 8.35245218e-01 5.14195662e-01 -1.94854428e-01 -1.24644449e+02] [ 2.25492198e-01 2.90516482e-03 9.74240642e-01 -9.30640869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.83, Y:-124.62, Z:-930.64 [[ 5.00191387e-01 -8.58470473e-01 -1.13300591e-01 4.44832981e+02] [ 8.36126376e-01 5.12856370e-01 -1.94604797e-01 -1.24621085e+02] [ 2.25169402e-01 2.60603033e-03 9.74316144e-01 -9.30635261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.85, Y:-124.60, Z:-930.63 [[ 4.97917231e-01 -8.59823469e-01 -1.13057659e-01 4.44846591e+02] [ 8.37579648e-01 5.10587263e-01 -1.94321846e-01 -1.24597541e+02] [ 2.24808284e-01 2.06140096e-03 9.74400834e-01 -9.30628842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.86, Y:-124.57, Z:-930.62 [[ 4.96704109e-01 -8.60578577e-01 -1.12647863e-01 4.44860208e+02] [ 8.38488921e-01 5.09314593e-01 -1.93739454e-01 -1.24573788e+02] [ 2.24101224e-01 1.77719736e-03 9.74564253e-01 -9.30623085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.87, Y:-124.55, Z:-930.62 [[ 4.95865133e-01 -8.61051862e-01 -1.12727376e-01 4.44873651e+02] [ 8.38913260e-01 5.08514533e-01 -1.94003901e-01 -1.24550890e+02] [ 2.24370929e-01 1.63127985e-03 9.74502450e-01 -9.30617229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:444.89, Y:-124.53, Z:-930.61 [[ 4.94978815e-01 -8.61526500e-01 -1.12995856e-01 4.44887618e+02] [ 8.39266331e-01 5.07710448e-01 -1.94581928e-01 -1.24526935e+02] [ 2.25006664e-01 1.48031426e-03 9.74356100e-01 -9.30611376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.90, Y:-124.50, Z:-930.61 [[ 4.93455053e-01 -8.62296447e-01 -1.13784662e-01 4.44901152e+02] [ 8.39709897e-01 5.06402393e-01 -1.96071175e-01 -1.24502747e+02] [ 2.26692302e-01 1.20620533e-03 9.73965680e-01 -9.30606468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.91, Y:-124.48, Z:-930.60 [[ 4.92363251e-01 -8.62842175e-01 -1.14375741e-01 4.44914652e+02] [ 8.40001053e-01 5.05472377e-01 -1.97220455e-01 -1.24478572e+02] [ 2.27983903e-01 1.02836180e-03 9.73664358e-01 -9.30600675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.93, Y:-124.45, Z:-930.59 [[ 4.91403264e-01 -8.63320397e-01 -1.14894406e-01 4.44928549e+02] [ 8.40250931e-01 5.04655448e-01 -1.98245436e-01 -1.24454409e+02] [ 2.29131417e-01 8.78323035e-04 9.73395101e-01 -9.30594932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.95, Y:-124.43, Z:-930.59 [[ 4.90866946e-01 -8.63356952e-01 -1.16894888e-01 4.44945492e+02] [ 8.40094063e-01 5.04593436e-01 -1.99066397e-01 -1.24429696e+02] [ 2.30849751e-01 -4.87587310e-04 9.72989288e-01 -9.30587473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.96, Y:-124.41, Z:-930.58 [[ 4.89213060e-01 -8.64460026e-01 -1.15669555e-01 4.44955502e+02] [ 8.41197563e-01 5.02701544e-01 -1.99192917e-01 -1.24407083e+02] [ 2.30341577e-01 1.46828681e-04 9.73109828e-01 -9.30583040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.97, Y:-124.38, Z:-930.58 [[ 4.87183013e-01 -8.65636336e-01 -1.15440231e-01 4.44968558e+02] [ 8.42314670e-01 5.00673281e-01 -1.99580216e-01 -1.24382577e+02] [ 2.30561726e-01 -4.90876807e-06 9.73057702e-01 -9.30576557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.98, Y:-124.36, Z:-930.57 [[ 4.86255040e-01 -8.66168627e-01 -1.15360071e-01 4.44981337e+02] [ 8.42863454e-01 4.99751812e-01 -1.99572856e-01 -1.24358951e+02] [ 2.30515151e-01 -1.89481168e-04 9.73068718e-01 -9.30570303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:444.99, Y:-124.34, Z:-930.56 [[ 4.85713725e-01 -8.66530112e-01 -1.14924942e-01 4.44993932e+02] [ 8.43380504e-01 4.99124715e-01 -1.98956890e-01 -1.24335667e+02] [ 2.29764015e-01 -2.89363408e-04 9.73246327e-01 -9.30564083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.01, Y:-124.31, Z:-930.56 [[ 4.85669182e-01 -8.66576733e-01 -1.14761543e-01 4.45006847e+02] [ 8.43463229e-01 4.99043794e-01 -1.98809138e-01 -1.24311915e+02] [ 2.29554409e-01 -2.41670348e-04 9.73295800e-01 -9.30557455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.02, Y:-124.29, Z:-930.55 [[ 4.86491982e-01 -8.66179493e-01 -1.14274399e-01 4.45019658e+02] [ 8.43224555e-01 4.99733015e-01 -1.98089029e-01 -1.24287398e+02] [ 2.28687345e-01 9.74534811e-06 9.73499922e-01 -9.30550757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.03, Y:-124.26, Z:-930.54 [[ 4.87047043e-01 -8.65893785e-01 -1.14075110e-01 4.45032052e+02] [ 8.42981652e-01 5.00227856e-01 -1.97873764e-01 -1.24264178e+02] [ 2.28401211e-01 2.10606625e-04 9.73567072e-01 -9.30544494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:445.05, Y:-124.24, Z:-930.54 [[ 4.87675465e-01 -8.65793018e-01 -1.12138716e-01 4.45046320e+02] [ 8.42731919e-01 5.00396979e-01 -1.98508883e-01 -1.24237822e+02] [ 2.27981479e-01 2.30503669e-03 9.73662740e-01 -9.30538632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.06, Y:-124.22, Z:-930.53 [[ 4.88316491e-01 -8.64823972e-01 -1.16732607e-01 4.45058787e+02] [ 8.42535374e-01 5.02065739e-01 -1.95100326e-01 -1.24218316e+02] [ 2.27334881e-01 -3.08064372e-03 9.73811769e-01 -9.30531252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.07, Y:-124.19, Z:-930.53 [[ 4.88532417e-01 -8.65219375e-01 -1.12834002e-01 4.45068454e+02] [ 8.42692536e-01 5.01392945e-01 -1.96148937e-01 -1.24191898e+02] [ 2.26286033e-01 7.40742842e-04 9.74060616e-01 -9.30527549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.08, Y:-124.17, Z:-930.52 [[ 4.90286587e-01 -8.64241906e-01 -1.12716415e-01 4.45081134e+02] [ 8.41705573e-01 5.03074882e-01 -1.96080065e-01 -1.24169463e+02] [ 2.26165407e-01 1.26139146e-03 9.74088096e-01 -9.30521010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.09, Y:-124.15, Z:-930.52 [[ 4.91261140e-01 -8.63718585e-01 -1.12484216e-01 4.45093765e+02] [ 8.41234394e-01 5.03971989e-01 -1.95798183e-01 -1.24146212e+02] [ 2.25803424e-01 1.56244704e-03 9.74171634e-01 -9.30515088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.11, Y:-124.12, Z:-930.51 [[ 4.92268569e-01 -8.63194640e-01 -1.12101158e-01 4.45106620e+02] [ 8.40820594e-01 5.04867833e-01 -1.95266997e-01 -1.24121978e+02] [ 2.25149694e-01 1.86684305e-03 9.74322395e-01 -9.30509066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.12, Y:-124.10, Z:-930.50 [[ 4.93691543e-01 -8.62387489e-01 -1.12055697e-01 4.45119771e+02] [ 8.39981618e-01 5.06243542e-01 -1.95316049e-01 -1.24097434e+02] [ 2.25165590e-01 2.30115596e-03 9.74317793e-01 -9.30502604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.13, Y:-124.07, Z:-930.50 [[ 4.95314491e-01 -8.61441541e-01 -1.12169636e-01 4.45132732e+02] [ 8.38935464e-01 5.07849012e-01 -1.95644237e-01 -1.24073067e+02] [ 2.25501312e-01 2.80233954e-03 9.74238834e-01 -9.30496508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.14, Y:-124.05, Z:-930.49 [[ 4.98790482e-01 -8.59350327e-01 -1.12805452e-01 4.45144610e+02] [ 8.36500966e-01 5.11372906e-01 -1.96885465e-01 -1.24048708e+02] [ 2.26879241e-01 3.84272676e-03 9.73915317e-01 -9.30491406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.16, Y:-124.02, Z:-930.49 [[ 5.00008805e-01 -8.58585114e-01 -1.13237788e-01 4.45156972e+02] [ 8.35510353e-01 5.12653259e-01 -1.97760174e-01 -1.24024901e+02] [ 2.27845663e-01 4.27048352e-03 9.73687895e-01 -9.30485642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.17, Y:-124.00, Z:-930.48 [[ 5.00867952e-01 -8.58056744e-01 -1.13445668e-01 4.45169166e+02] [ 8.34850943e-01 5.13534369e-01 -1.98258306e-01 -1.24000778e+02] [ 2.28375126e-01 4.59100861e-03 9.73562389e-01 -9.30480461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.18, Y:-123.98, Z:-930.47 [[ 5.01538770e-01 -8.57634001e-01 -1.13678422e-01 4.45181713e+02] [ 8.34289602e-01 5.14237554e-01 -1.98797882e-01 -1.23976614e+02] [ 2.28953536e-01 4.86412026e-03 9.73425199e-01 -9.30474750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.20, Y:-123.95, Z:-930.47 [[ 5.01327793e-01 -8.57764432e-01 -1.13624921e-01 4.45195435e+02] [ 8.34416419e-01 5.14019926e-01 -1.98828457e-01 -1.23952346e+02] [ 2.28953452e-01 4.86773164e-03 9.73425201e-01 -9.30468525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.21, Y:-123.93, Z:-930.46 [[ 5.01482857e-01 -8.57658551e-01 -1.13739853e-01 4.45208439e+02] [ 8.34232208e-01 5.14195464e-01 -1.99147303e-01 -1.23927833e+02] [ 2.29284904e-01 4.98350965e-03 9.73346597e-01 -9.30462624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:445.21, Y:-123.89, Z:-930.48 [[ 4.98274168e-01 -8.62659188e-01 -8.68445647e-02 4.45205684e+02] [ 8.38132923e-01 5.04890523e-01 -2.06443124e-01 -1.23893768e+02] [ 2.21937055e-01 3.00779870e-02 9.74596972e-01 -9.30476332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.25, Y:-123.89, Z:-930.44 [[ 4.99488860e-01 -8.55812085e-01 -1.34523432e-01 4.45245461e+02] [ 8.35320759e-01 5.16941103e-01 -1.87112604e-01 -1.23887005e+02] [ 2.29673919e-01 -1.89095536e-02 9.73083922e-01 -9.30442148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.25, Y:-123.86, Z:-930.44 [[ 4.98451980e-01 -8.59469859e-01 -1.13389531e-01 4.45248751e+02] [ 8.36163431e-01 5.11168337e-01 -1.98840762e-01 -1.23856061e+02] [ 2.28858780e-01 4.30039202e-03 9.73450135e-01 -9.30444268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.26, Y:-123.83, Z:-930.44 [[ 4.96797814e-01 -8.60421871e-01 -1.13428994e-01 4.45262548e+02] [ 8.37094579e-01 5.09567242e-01 -1.99032390e-01 -1.23832521e+02] [ 2.29051521e-01 3.92806080e-03 9.73406375e-01 -9.30438124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.28, Y:-123.81, Z:-930.43 [[ 4.94929322e-01 -8.61499865e-01 -1.13414945e-01 4.45276575e+02] [ 8.38175431e-01 5.07745751e-01 -1.99138641e-01 -1.23809333e+02] [ 2.29143869e-01 3.49793236e-03 9.73386281e-01 -9.30432269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.27, Y:-123.77, Z:-930.45 [[ 4.89911043e-01 -8.67848010e-01 -8.26256660e-02 4.45272044e+02] [ 8.43242348e-01 4.95793563e-01 -2.07680247e-01 -1.23774156e+02] [ 2.21200162e-01 3.20713858e-02 9.74700936e-01 -9.30448775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.32, Y:-123.77, Z:-930.41 [[ 4.89400450e-01 -8.61054652e-01 -1.38101727e-01 4.45318247e+02] [ 8.40808265e-01 5.07922591e-01 -1.87232755e-01 -1.23772378e+02] [ 2.31362621e-01 -2.44852787e-02 9.72559412e-01 -9.30411355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.32, Y:-123.74, Z:-930.41 [[ 4.87815373e-01 -8.65369935e-01 -1.14765145e-01 4.45321594e+02] [ 8.41535938e-01 5.01130299e-01 -2.01706941e-01 -1.23740618e+02] [ 2.32063414e-01 1.81675278e-03 9.72698963e-01 -9.30414484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.31, Y:-123.70, Z:-930.44 [[ 4.81740106e-01 -8.73247803e-01 -7.32444234e-02 4.45309606e+02] [ 8.47826469e-01 4.85586863e-01 -2.13062612e-01 -1.23701869e+02] [ 2.21622987e-01 4.05422443e-02 9.74289268e-01 -9.30439006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.37, Y:-123.71, Z:-930.39 [[ 4.84508795e-01 -8.62378160e-01 -1.46816675e-01 4.45366311e+02] [ 8.43062742e-01 5.05102513e-01 -1.84706967e-01 -1.23705882e+02] [ 2.33444726e-01 -3.42835183e-02 9.71765507e-01 -9.30389826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.35, Y:-123.66, Z:-930.42 [[ 4.79928667e-01 -8.73086373e-01 -8.59573219e-02 4.45347830e+02] [ 8.47952805e-01 4.86771415e-01 -2.09832384e-01 -1.23660833e+02] [ 2.25043363e-01 2.78168243e-02 9.73951595e-01 -9.30418466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.38, Y:-123.65, Z:-930.40 [[ 4.80363175e-01 -8.69815695e-01 -1.12569429e-01 4.45376797e+02] [ 8.47102318e-01 4.93376539e-01 -1.97477222e-01 -1.23646601e+02] [ 2.27307902e-01 -4.97039231e-04 9.73822813e-01 -9.30399519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.40, Y:-123.63, Z:-930.38 [[ 4.83129669e-01 -8.65231251e-01 -1.34017184e-01 4.45404681e+02] [ 8.43808329e-01 5.00968706e-01 -1.92400262e-01 -1.23631466e+02] [ 2.33609134e-01 -2.01305417e-02 9.72122181e-01 -9.30375651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.41, Y:-123.60, Z:-930.38 [[ 4.83393563e-01 -8.67781659e-01 -1.15263421e-01 4.45409706e+02] [ 8.43719351e-01 4.96944939e-01 -2.02936899e-01 -1.23600597e+02] [ 2.33384493e-01 8.48411454e-04 9.72384162e-01 -9.30376525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.42, Y:-123.58, Z:-930.37 [[ 4.83681374e-01 -8.67644821e-01 -1.15086025e-01 4.45423949e+02] [ 8.43621264e-01 4.97183568e-01 -2.02760113e-01 -1.23576986e+02] [ 2.33142642e-01 9.82272345e-04 9.72442052e-01 -9.30370258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.43, Y:-123.55, Z:-930.37 [[ 4.83130454e-01 -8.69764098e-01 -1.00475757e-01 4.45429087e+02] [ 8.45243006e-01 4.93257797e-01 -2.05574819e-01 -1.23548718e+02] [ 2.28362048e-01 1.43930250e-02 9.73469885e-01 -9.30374976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:445.46, Y:-123.53, Z:-930.35 [[ 4.85904579e-01 -8.65067240e-01 -1.24721334e-01 4.45456957e+02] [ 8.42627683e-01 5.01559118e-01 -1.96002654e-01 -1.23534674e+02] [ 2.32110597e-01 -9.85506221e-03 9.72639475e-01 -9.30353140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.47, Y:-123.51, Z:-930.35 [[ 4.87280702e-01 -8.65758436e-01 -1.14104553e-01 4.45465603e+02] [ 8.42021035e-01 5.00457976e-01 -2.01351412e-01 -1.23507212e+02] [ 2.31426217e-01 2.03622348e-03 9.72850328e-01 -9.30350380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.48, Y:-123.48, Z:-930.34 [[ 4.89942801e-01 -8.64303152e-01 -1.13737038e-01 4.45477669e+02] [ 8.40650075e-01 5.02963522e-01 -2.00836119e-01 -1.23484270e+02] [ 2.30788872e-01 2.78516112e-03 9.72999866e-01 -9.30343244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.49, Y:-123.46, Z:-930.34 [[ 4.90983272e-01 -8.63733251e-01 -1.13579479e-01 4.45490462e+02] [ 8.40098354e-01 5.03939608e-01 -2.00697852e-01 -1.23460130e+02] [ 2.30586606e-01 3.12135483e-03 9.73046800e-01 -9.30336642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.50, Y:-123.44, Z:-930.33 [[ 4.90760621e-01 -8.63867209e-01 -1.13522943e-01 4.45504087e+02] [ 8.40228456e-01 5.03709916e-01 -2.00729827e-01 -1.23435810e+02] [ 2.30586547e-01 3.12508755e-03 9.73046802e-01 -9.30330374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.52, Y:-123.41, Z:-930.32 [[ 4.91537798e-01 -8.63422267e-01 -1.13545509e-01 4.45515934e+02] [ 8.39732609e-01 5.04470448e-01 -2.00894779e-01 -1.23412723e+02] [ 2.30737379e-01 3.39951118e-03 9.73010126e-01 -9.30324135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.53, Y:-123.39, Z:-930.32 [[ 4.91038757e-01 -8.63716881e-01 -1.13464045e-01 4.45529085e+02] [ 8.40036375e-01 5.03966323e-01 -2.00890103e-01 -1.23389004e+02] [ 2.30694231e-01 3.33090127e-03 9.73020594e-01 -9.30317769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.856559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:445.54, Y:-123.36, Z:-930.31 [[ 4.89680629e-01 -8.64541211e-01 -1.13054748e-01 4.45542010e+02] [ 8.41024497e-01 5.02552983e-01 -2.00295522e-01 -1.23364833e+02] [ 2.29979734e-01 2.99902417e-03 9.73190797e-01 -9.30312238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.56, Y:-123.34, Z:-930.31 [[ 4.86166288e-01 -8.66581541e-01 -1.12600056e-01 4.45555089e+02] [ 8.43278049e-01 4.99031093e-01 -1.99624899e-01 -1.23341726e+02] [ 2.29182182e-01 2.09774031e-03 9.73381286e-01 -9.30306453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:445.57, Y:-123.32, Z:-930.30 [[ 4.83951159e-01 -8.67832451e-01 -1.12508280e-01 4.45568731e+02] [ 8.44571854e-01 4.96854485e-01 -1.99584583e-01 -1.23318436e+02] [ 2.29106221e-01 1.56786368e-03 9.73400165e-01 -9.30300559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.58, Y:-123.30, Z:-930.29 [[ 4.82036084e-01 -8.68918345e-01 -1.12348227e-01 4.45582445e+02] [ 8.45722456e-01 4.94954199e-01 -1.99433871e-01 -1.23295392e+02] [ 2.28898976e-01 1.11890370e-03 9.73449540e-01 -9.30294260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.60, Y:-123.27, Z:-930.29 [[ 4.80323184e-01 -8.69886610e-01 -1.12191467e-01 4.45596454e+02] [ 8.46749437e-01 4.93251210e-01 -1.99295345e-01 -1.23272119e+02] [ 2.28702929e-01 7.28113228e-04 9.73495989e-01 -9.30287829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.61, Y:-123.25, Z:-930.28 [[ 4.78734788e-01 -8.70780869e-01 -1.12043211e-01 4.45610101e+02] [ 8.47698606e-01 4.91671173e-01 -1.99164582e-01 -1.23248485e+02] [ 2.28517125e-01 3.68140034e-04 9.73539824e-01 -9.30281297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.62, Y:-123.23, Z:-930.28 [[ 4.76982411e-01 -8.71763458e-01 -1.11876062e-01 4.45622978e+02] [ 8.48746582e-01 4.89927007e-01 -1.98999415e-01 -1.23225787e+02] [ 2.28291522e-01 -3.52044059e-05 9.73592820e-01 -9.30275054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.64, Y:-123.20, Z:-930.27 [[ 4.76374757e-01 -8.72146163e-01 -1.11481664e-01 4.45636344e+02] [ 8.49271553e-01 4.89245386e-01 -1.98435839e-01 -1.23201571e+02] [ 2.27606945e-01 -1.48381102e-04 9.73753078e-01 -9.30268713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.65, Y:-123.18, Z:-930.26 [[ 4.75694148e-01 -8.72542824e-01 -1.11283860e-01 4.45648558e+02] [ 8.49730111e-01 4.88537560e-01 -1.98216527e-01 -1.23178165e+02] [ 2.27318754e-01 -2.70804933e-04 9.73820369e-01 -9.30262517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.66, Y:-123.15, Z:-930.26 [[ 4.75553906e-01 -8.72673187e-01 -1.10860230e-01 4.45661504e+02] [ 8.50007278e-01 4.88304659e-01 -1.97601081e-01 -1.23153889e+02] [ 2.26574732e-01 -2.62036041e-04 9.73993749e-01 -9.30256594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.67, Y:-123.13, Z:-930.25 [[ 4.75098328e-01 -8.73508309e-01 -1.06135818e-01 4.45672842e+02] [ 8.50730096e-01 4.86793776e-01 -1.98217365e-01 -1.23127318e+02] [ 2.24810771e-01 3.87980411e-03 9.74394717e-01 -9.30253920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.69, Y:-123.11, Z:-930.24 [[ 4.77270121e-01 -8.71375629e-01 -1.13656254e-01 4.45688833e+02] [ 8.49479117e-01 4.90601082e-01 -1.94154082e-01 -1.23107842e+02] [ 2.24941016e-01 -3.88467194e-03 9.74364639e-01 -9.30242240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.2165599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:445.70, Y:-123.08, Z:-930.24 [[ 4.78206855e-01 -8.71357003e-01 -1.09796071e-01 4.45700098e+02] [ 8.49022061e-01 4.90649266e-01 -1.96022542e-01 -1.23082475e+02] [ 2.24676977e-01 5.20036277e-04 9.74433161e-01 -9.30237489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:445.71, Y:-123.06, Z:-930.23 [[ 4.79410278e-01 -8.70719878e-01 -1.09602371e-01 4.45712309e+02] [ 8.48417898e-01 4.91778520e-01 -1.95808471e-01 -1.23058769e+02] [ 2.24394420e-01 8.83980179e-04 9.74498006e-01 -9.30231650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.72, Y:-123.03, Z:-930.23 [[ 4.80430384e-01 -8.70141076e-01 -1.09732194e-01 4.45724194e+02] [ 8.47738455e-01 4.92801181e-01 -1.96179787e-01 -1.23034485e+02] [ 2.24780246e-01 1.22652977e-03 9.74408711e-01 -9.30225877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.74, Y:-123.01, Z:-930.22 [[ 4.82883728e-01 -8.68731889e-01 -1.10128157e-01 4.45735255e+02] [ 8.46097932e-01 4.95278778e-01 -1.97020864e-01 -1.23009784e+02] [ 2.25702446e-01 1.95896402e-03 9.74194318e-01 -9.30220733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.75, Y:-122.99, Z:-930.22 [[ 4.83498930e-01 -8.68363668e-01 -1.10332792e-01 4.45747787e+02] [ 8.45606959e-01 4.95923095e-01 -1.97507355e-01 -1.22985277e+02] [ 2.26224790e-01 2.19641830e-03 9.74072646e-01 -9.30215045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.76, Y:-122.96, Z:-930.21 [[ 4.83680743e-01 -8.68252535e-01 -1.10410480e-01 4.45759764e+02] [ 8.45429199e-01 4.96117083e-01 -1.97780966e-01 -1.22962055e+02] [ 2.26500350e-01 2.31860101e-03 9.74008324e-01 -9.30209233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.396559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:445.77, Y:-122.94, Z:-930.20 [[ 4.83455233e-01 -8.68358651e-01 -1.10563519e-01 4.45772676e+02] [ 8.45452069e-01 4.95931318e-01 -1.98148751e-01 -1.22938404e+02] [ 2.26896094e-01 2.31989456e-03 9.73916208e-01 -9.30203244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.79, Y:-122.92, Z:-930.20 [[ 4.82583506e-01 -8.68827597e-01 -1.10687698e-01 4.45785536e+02] [ 8.45849789e-01 4.95109985e-01 -1.98505007e-01 -1.22915526e+02] [ 2.27269213e-01 2.17007667e-03 9.73829552e-01 -9.30197057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.80, Y:-122.89, Z:-930.19 [[ 4.81493721e-01 -8.69424461e-01 -1.10747026e-01 4.45799032e+02] [ 8.46404293e-01 4.94062001e-01 -1.98752389e-01 -1.22892158e+02] [ 2.27516086e-01 1.96126877e-03 9.73772347e-01 -9.30190833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.80, Y:-122.86, Z:-930.20 [[ 4.75165850e-01 -8.75909588e-01 -8.36648628e-02 4.45796667e+02] [ 8.51859518e-01 4.81752542e-01 -2.05547686e-01 -1.22858155e+02] [ 2.20346949e-01 2.63985310e-02 9.75064275e-01 -9.30203925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.84, Y:-122.85, Z:-930.17 [[ 4.75595615e-01 -8.69757046e-01 -1.31649126e-01 4.45835345e+02] [ 8.49857902e-01 4.92933785e-01 -1.86434521e-01 -1.22853142e+02] [ 2.27047040e-01 -2.32156090e-02 9.73607045e-01 -9.30169557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.84, Y:-122.82, Z:-930.17 [[ 4.73006769e-01 -8.74178862e-01 -1.09890466e-01 4.45838538e+02] [ 8.51565835e-01 4.85604056e-01 -1.97545769e-01 -1.22821950e+02] [ 2.26053591e-01 -1.38480045e-04 9.74114857e-01 -9.30171212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.85, Y:-122.80, Z:-930.16 [[ 4.70404773e-01 -8.75635585e-01 -1.09460821e-01 4.45852260e+02] [ 8.53209864e-01 4.82971771e-01 -1.96904031e-01 -1.22798632e+02] [ 2.25282663e-01 -7.68456101e-04 9.74293144e-01 -9.30164441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.87, Y:-122.78, Z:-930.16 [[ 4.67823437e-01 -8.77040193e-01 -1.09278228e-01 4.45865781e+02] [ 8.54697794e-01 4.80415034e-01 -1.96705556e-01 -1.22775428e+02] [ 2.25017582e-01 -1.37639132e-03 9.74353731e-01 -9.30157910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.88, Y:-122.75, Z:-930.15 [[ 4.63382608e-01 -8.79281032e-01 -1.10188141e-01 4.45879274e+02] [ 8.56591051e-01 4.76297209e-01 -1.98476047e-01 -1.22751426e+02] [ 2.26998527e-01 -2.41582729e-03 9.73892105e-01 -9.30151810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.89, Y:-122.73, Z:-930.15 [[ 4.61659269e-01 -8.80108648e-01 -1.10812847e-01 4.45891616e+02] [ 8.57149259e-01 4.74764230e-01 -1.99735008e-01 -1.22728220e+02] [ 2.28398484e-01 -2.77363233e-03 9.73563783e-01 -9.30146348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.90, Y:-122.70, Z:-930.14 [[ 4.60619483e-01 -8.80593804e-01 -1.11284523e-01 4.45903892e+02] [ 8.57426124e-01 4.73862513e-01 -2.00685728e-01 -1.22704962e+02] [ 2.29456173e-01 -2.97850105e-03 9.73314437e-01 -9.30140670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.92, Y:-122.68, Z:-930.13 [[ 4.60091966e-01 -8.80841928e-01 -1.11502826e-01 4.45916413e+02] [ 8.57555766e-01 4.73400736e-01 -2.01220901e-01 -1.22680120e+02] [ 2.30029327e-01 -3.03977107e-03 9.73178950e-01 -9.30134695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.93, Y:-122.66, Z:-930.13 [[ 4.59932107e-01 -8.80910888e-01 -1.11617492e-01 4.45928161e+02] [ 8.57545599e-01 4.73272589e-01 -2.01565381e-01 -1.22655766e+02] [ 2.30386638e-01 -3.01069905e-03 9.73094514e-01 -9.30128926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.94, Y:-122.63, Z:-930.12 [[ 4.60155740e-01 -8.80786146e-01 -1.11680168e-01 4.45940109e+02] [ 8.57358166e-01 4.73505492e-01 -2.01815570e-01 -1.22630812e+02] [ 2.30637531e-01 -2.88331118e-03 9.73035465e-01 -9.30122825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.95, Y:-122.61, Z:-930.12 [[ 4.61847849e-01 -8.79960335e-01 -1.11204198e-01 4.45950541e+02] [ 8.56678976e-01 4.75041136e-01 -2.01089661e-01 -1.22606495e+02] [ 2.29777494e-01 -2.39347106e-03 9.73240245e-01 -9.30116167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.97, Y:-122.59, Z:-930.10 [[ 4.63041066e-01 -8.77400397e-01 -1.25544872e-01 4.45969995e+02] [ 8.55323826e-01 4.79475119e-01 -1.96277260e-01 -1.22586983e+02] [ 2.32409388e-01 -1.64970887e-02 9.72478135e-01 -9.30099571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.97, Y:-122.55, Z:-930.11 [[ 4.64358811e-01 -8.80166203e-01 -9.83786089e-02 4.45968039e+02] [ 8.55637620e-01 4.74519018e-01 -2.06678411e-01 -1.22553011e+02] [ 2.28593873e-01 1.17965021e-02 9.73450402e-01 -9.30107234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.99, Y:-122.54, Z:-930.09 [[ 4.67170832e-01 -8.75921803e-01 -1.20467458e-01 4.45990143e+02] [ 8.53781295e-01 4.82321259e-01 -1.96019649e-01 -1.22535411e+02] [ 2.29801901e-01 -1.12781996e-02 9.73172076e-01 -9.30088921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:445.99, Y:-122.50, Z:-930.09 [[ 4.68222166e-01 -8.77773974e-01 -1.01394545e-01 4.45991938e+02] [ 8.53903061e-01 4.78995950e-01 -2.03500471e-01 -1.22504244e+02] [ 2.27194994e-01 8.70231879e-03 9.73810405e-01 -9.30092730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.01, Y:-122.48, Z:-930.08 [[ 4.69416535e-01 -8.76149985e-01 -1.09587049e-01 4.46007714e+02] [ 8.53341876e-01 4.82038509e-01 -1.98611478e-01 -1.22482398e+02] [ 2.26838621e-01 -2.83706123e-04 9.73932318e-01 -9.30083363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.02, Y:-122.46, Z:-930.08 [[ 4.70873631e-01 -8.75397888e-01 -1.09346063e-01 4.46019287e+02] [ 8.52640325e-01 4.83403059e-01 -1.98307740e-01 -1.22457928e+02] [ 2.26456398e-01 1.45022493e-04 9.74021293e-01 -9.30077250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.03, Y:-122.43, Z:-930.07 [[ 4.70647327e-01 -8.75526578e-01 -1.09290002e-01 4.46032642e+02] [ 8.52765266e-01 4.83169938e-01 -1.98338632e-01 -1.22433466e+02] [ 2.26456387e-01 1.48829557e-04 9.74021295e-01 -9.30070975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.04, Y:-122.41, Z:-930.07 [[ 4.73791419e-01 -8.73812094e-01 -1.09426301e-01 4.46042081e+02] [ 8.50918576e-01 4.86262638e-01 -1.98711409e-01 -1.22408676e+02] [ 2.26846355e-01 1.03488795e-03 9.73930008e-01 -9.30065275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.05, Y:-122.38, Z:-930.06 [[ 4.75348872e-01 -8.72948272e-01 -1.09566255e-01 4.46052856e+02] [ 8.49939763e-01 4.87810417e-01 -1.99106494e-01 -1.22384802e+02] [ 2.27257231e-01 1.52033047e-03 9.73833579e-01 -9.30059470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.06, Y:-122.36, Z:-930.05 [[ 4.76462148e-01 -8.72323971e-01 -1.09702831e-01 4.46063758e+02] [ 8.49208578e-01 4.88924653e-01 -1.99493046e-01 -1.22360012e+02] [ 2.27658985e-01 1.89029991e-03 9.73739089e-01 -9.30053765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.08, Y:-122.33, Z:-930.05 [[ 4.77555983e-01 -8.71719655e-01 -1.09750288e-01 4.46075398e+02] [ 8.48537853e-01 4.89999799e-01 -1.99709063e-01 -1.22334726e+02] [ 2.27867934e-01 2.24498421e-03 9.73689460e-01 -9.30047651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.09, Y:-122.31, Z:-930.04 [[ 4.78240145e-01 -8.71361429e-01 -1.09615800e-01 4.46086559e+02] [ 8.48197737e-01 4.90635426e-01 -1.99593282e-01 -1.22311089e+02] [ 2.27699282e-01 2.47764718e-03 9.73728349e-01 -9.30041741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.10, Y:-122.29, Z:-930.04 [[ 4.78517205e-01 -8.71219913e-01 -1.09531495e-01 4.46098461e+02] [ 8.48056963e-01 4.90885980e-01 -1.99575408e-01 -1.22286350e+02] [ 2.27641545e-01 2.61131928e-03 9.73741500e-01 -9.30035868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.11, Y:-122.26, Z:-930.03 [[ 4.78318575e-01 -8.71292940e-01 -1.09817816e-01 4.46109584e+02] [ 8.47978799e-01 4.90756149e-01 -2.00225769e-01 -1.22260621e+02] [ 2.28349067e-01 2.64852470e-03 9.73575723e-01 -9.30029927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.12, Y:-122.24, Z:-930.02 [[ 4.77950711e-01 -8.71454635e-01 -1.10135994e-01 4.46121266e+02] [ 8.47975617e-01 4.90468969e-01 -2.00941643e-01 -1.22236865e+02] [ 2.29129813e-01 2.64756352e-03 9.73392274e-01 -9.30024488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.13, Y:-122.21, Z:-930.02 [[ 4.77345033e-01 -8.71760861e-01 -1.10339115e-01 4.46132928e+02] [ 8.48168273e-01 4.89924849e-01 -2.01455267e-01 -1.22213319e+02] [ 2.29678691e-01 2.57753454e-03 9.73263097e-01 -9.30019131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.15, Y:-122.19, Z:-930.01 [[ 4.76565689e-01 -8.72167976e-01 -1.10490571e-01 4.46145201e+02] [ 8.48486931e-01 4.89200357e-01 -2.01873570e-01 -1.22189226e+02] [ 2.30119690e-01 2.45621200e-03 9.73159234e-01 -9.30013244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.16, Y:-122.17, Z:-930.01 [[ 4.75088737e-01 -8.72963344e-01 -1.10569850e-01 4.46157715e+02] [ 8.49237305e-01 4.87781118e-01 -2.02152371e-01 -1.22165056e+02] [ 2.30405495e-01 2.14027354e-03 9.73092353e-01 -9.30006793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.17, Y:-122.14, Z:-930.00 [[ 4.72853845e-01 -8.73924380e-01 -1.12540746e-01 4.46169738e+02] [ 8.50558479e-01 4.86061243e-01 -2.00735501e-01 -1.22141400e+02] [ 2.30129343e-01 -8.03932806e-04 9.73159719e-01 -9.29999916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.18, Y:-122.12, Z:-930.00 [[ 4.73036574e-01 -8.74511004e-01 -1.07083632e-01 4.46181665e+02] [ 8.50614479e-01 4.84980040e-01 -2.03099407e-01 -1.22115607e+02] [ 2.29546091e-01 4.98655955e-03 9.73285018e-01 -9.29995018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:446.19, Y:-122.09, Z:-929.99 [[ 4.70470062e-01 -8.75792777e-01 -1.07911692e-01 4.46193010e+02] [ 8.52436794e-01 4.82680592e-01 -2.00925255e-01 -1.22092208e+02] [ 2.28055767e-01 2.54142031e-03 9.73644755e-01 -9.29989648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.21, Y:-122.07, Z:-929.98 [[ 4.69836971e-01 -8.75904085e-01 -1.09750879e-01 4.46208406e+02] [ 8.52807215e-01 4.82485184e-01 -1.99819673e-01 -1.22068642e+02] [ 2.27976041e-01 2.86328886e-04 9.73666700e-01 -9.29980656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.22, Y:-122.04, Z:-929.98 [[ 4.67243571e-01 -8.77859683e-01 -1.05099106e-01 4.46216335e+02] [ 8.54840398e-01 4.78905235e-01 -1.99744011e-01 -1.22042625e+02] [ 2.25679726e-01 3.48614332e-03 9.74195313e-01 -9.29978861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.23, Y:-122.02, Z:-929.97 [[ 4.68498956e-01 -8.76533856e-01 -1.10440609e-01 4.46234091e+02] [ 8.53762791e-01 4.81338475e-01 -1.98500302e-01 -1.22019662e+02] [ 2.27151549e-01 -1.29289811e-03 9.73858564e-01 -9.29968127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.25, Y:-122.00, Z:-929.96 [[ 4.68107641e-01 -8.76954969e-01 -1.08743822e-01 4.46245535e+02] [ 8.53984664e-01 4.80572322e-01 -1.99400192e-01 -1.21995283e+02] [ 2.27124260e-01 4.75197413e-04 9.73865671e-01 -9.29962662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.596559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:446.26, Y:-121.97, Z:-929.96 [[ 4.67963593e-01 -8.77026429e-01 -1.08787495e-01 4.46257934e+02] [ 8.54017231e-01 4.80441886e-01 -1.99574958e-01 -1.21970952e+02] [ 2.27298581e-01 4.87419227e-04 9.73824993e-01 -9.29956890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.27, Y:-121.95, Z:-929.95 [[ 4.67980211e-01 -8.76986591e-01 -1.09036878e-01 4.46270009e+02] [ 8.53837213e-01 4.80514503e-01 -2.00169495e-01 -1.21946675e+02] [ 2.27939765e-01 5.75619052e-04 9.73675065e-01 -9.29950817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.28, Y:-121.92, Z:-929.95 [[ 4.68409891e-01 -8.76746632e-01 -1.09121570e-01 4.46282150e+02] [ 8.53522134e-01 4.80951935e-01 -2.00462472e-01 -1.21922250e+02] [ 2.28237028e-01 7.60929270e-04 9.73605300e-01 -9.29945214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.29, Y:-121.90, Z:-929.94 [[ 4.70215526e-01 -8.75708746e-01 -1.09688428e-01 4.46293322e+02] [ 8.52178951e-01 4.82837858e-01 -2.01639873e-01 -1.21897941e+02] [ 2.29539526e-01 1.34002984e-03 9.73298418e-01 -9.29939954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.31, Y:-121.87, Z:-929.93 [[ 4.71217867e-01 -8.75140394e-01 -1.09922756e-01 4.46305481e+02] [ 8.51470692e-01 4.83866208e-01 -2.02166152e-01 -1.21873316e+02] [ 2.30111673e-01 1.66829755e-03 9.73162800e-01 -9.29934182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:446.32, Y:-121.85, Z:-929.93 [[ 4.72146471e-01 -8.74626714e-01 -1.10026459e-01 4.46317823e+02] [ 8.50865774e-01 4.84792902e-01 -2.02492659e-01 -1.21848427e+02] [ 2.30445535e-01 1.98844592e-03 9.73083194e-01 -9.29928414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.32, Y:-121.82, Z:-929.93 [[ 4.70337692e-01 -8.76877503e-01 -9.93393212e-02 4.46320863e+02] [ 8.52685346e-01 4.80572463e-01 -2.04884866e-01 -1.21820905e+02] [ 2.27398671e-01 1.16598913e-02 9.73731940e-01 -9.29931796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.34, Y:-121.80, Z:-929.92 [[ 4.73534882e-01 -8.73565727e-01 -1.12461709e-01 4.46341989e+02] [ 8.50154126e-01 4.86705955e-01 -2.00886224e-01 -1.21800022e+02] [ 2.30223104e-01 -4.83151044e-04 9.73137754e-01 -9.29919514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.35, Y:-121.77, Z:-929.92 [[ 4.73654489e-01 -8.74107912e-01 -1.07641925e-01 4.46351868e+02] [ 8.49977829e-01 4.85704505e-01 -2.04031432e-01 -1.21774398e+02] [ 2.30627657e-01 5.14715448e-03 9.73028464e-01 -9.29915617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.37, Y:-121.75, Z:-929.91 [[ 4.74144893e-01 -8.73532533e-01 -1.10125090e-01 4.46365740e+02] [ 8.49675813e-01 4.86758970e-01 -2.02772577e-01 -1.21751665e+02] [ 2.30732818e-01 2.57295657e-03 9.73013745e-01 -9.29908568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:446.38, Y:-121.73, Z:-929.90 [[ 4.76861933e-01 -8.71607453e-01 -1.13592012e-01 4.46383556e+02] [ 8.47411894e-01 4.90203488e-01 -2.03945148e-01 -1.21729284e+02] [ 2.33443311e-01 9.94455321e-04 9.72369905e-01 -9.29897469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:446.39, Y:-121.70, Z:-929.90 [[ 4.74750395e-01 -8.73586996e-01 -1.07041221e-01 4.46390856e+02] [ 8.49220643e-01 4.86625723e-01 -2.04987084e-01 -1.21704700e+02] [ 2.31163062e-01 6.41608478e-03 9.72893865e-01 -9.29896231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.41, Y:-121.68, Z:-929.88 [[ 4.76515774e-01 -8.71990233e-01 -1.12097062e-01 4.46409694e+02] [ 8.47947425e-01 4.89519768e-01 -2.03360666e-01 -1.21682992e+02] [ 2.32202242e-01 1.85214949e-03 9.72665764e-01 -9.29884834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.42, Y:-121.66, Z:-929.88 [[ 4.75935559e-01 -8.72574965e-01 -1.09992155e-01 4.46422618e+02] [ 8.48622674e-01 4.88469034e-01 -2.03070333e-01 -1.21658404e+02] [ 2.30921850e-01 3.30655612e-03 9.72966683e-01 -9.29878872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.44, Y:-121.63, Z:-929.87 [[ 4.75109171e-01 -8.73099818e-01 -1.09398280e-01 4.46436143e+02] [ 8.49390780e-01 4.87531624e-01 -2.02109423e-01 -1.21634672e+02] [ 2.29796821e-01 3.10214998e-03 9.73233681e-01 -9.29872089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.45, Y:-121.61, Z:-929.87 [[ 4.73965498e-01 -8.73793059e-01 -1.08822776e-01 4.46449977e+02] [ 8.50322691e-01 4.86289778e-01 -2.01180449e-01 -1.21610758e+02] [ 2.28709484e-01 2.81811628e-03 9.73490642e-01 -9.29865271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.46, Y:-121.59, Z:-929.86 [[ 4.72178003e-01 -8.74870775e-01 -1.07930815e-01 4.46464874e+02] [ 8.51785369e-01 4.84350736e-01 -1.99664843e-01 -1.21587414e+02] [ 2.26957306e-01 2.34345747e-03 9.73901889e-01 -9.29858320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.48, Y:-121.56, Z:-929.85 [[ 4.69796950e-01 -8.76353057e-01 -1.06283326e-01 4.46476217e+02] [ 8.53264743e-01 4.81658635e-01 -1.99860547e-01 -1.21563200e+02] [ 2.26340683e-01 3.20606070e-03 9.74042923e-01 -9.29854353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.49, Y:-121.54, Z:-929.85 [[ 4.69129202e-01 -8.77493199e-01 -9.96166555e-02 4.46488335e+02] [ 8.54200460e-01 4.79500336e-01 -2.01049750e-01 -1.21536132e+02] [ 2.24186008e-01 9.22571547e-03 9.74502704e-01 -9.29852314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.51, Y:-121.52, Z:-929.84 [[ 4.68107962e-01 -8.76459103e-01 -1.12669325e-01 4.46507967e+02] [ 8.54239245e-01 4.81455966e-01 -1.96151638e-01 -1.21517011e+02] [ 2.26164207e-01 -4.42641549e-03 9.74079134e-01 -9.29839765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.52, Y:-121.49, Z:-929.83 [[ 4.69524284e-01 -8.76192364e-01 -1.08783676e-01 4.46521539e+02] [ 8.53159842e-01 4.81960719e-01 -1.99579932e-01 -1.21492361e+02] [ 2.27299872e-01 8.97760455e-04 9.73824400e-01 -9.29833142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:446.53, Y:-121.47, Z:-929.83 [[ 4.69368231e-01 -8.76375760e-01 -1.07976810e-01 4.46534229e+02] [ 8.53201094e-01 4.81624451e-01 -2.00214339e-01 -1.21468185e+02] [ 2.27467265e-01 1.84831785e-03 9.73783974e-01 -9.29828135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.55, Y:-121.44, Z:-929.82 [[ 4.70775146e-01 -8.75534480e-01 -1.08674457e-01 4.46548811e+02] [ 8.51999909e-01 4.83149973e-01 -2.01648848e-01 -1.21444484e+02] [ 2.29056580e-01 2.34063847e-03 9.73410296e-01 -9.29822014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.56, Y:-121.42, Z:-929.82 [[ 4.71240199e-01 -8.75263959e-01 -1.08837848e-01 4.46561954e+02] [ 8.51617283e-01 4.83638832e-01 -2.02092762e-01 -1.21421870e+02] [ 2.29522721e-01 2.54604148e-03 9.73299974e-01 -9.29815931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.316559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:446.57, Y:-121.40, Z:-929.82 [[ 4.70864818e-01 -8.76672620e-01 -9.86480684e-02 4.46568479e+02] [ 8.52325840e-01 4.80919423e-01 -2.05565492e-01 -1.21395833e+02] [ 2.27655411e-01 1.27132604e-02 9.73658763e-01 -9.29818465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.59, Y:-121.38, Z:-929.80 [[ 4.72350251e-01 -8.73631340e-01 -1.16848285e-01 4.46592921e+02] [ 8.50904760e-01 4.86552959e-01 -1.98058849e-01 -1.21378153e+02] [ 2.29883297e-01 -5.87361435e-03 9.73200478e-01 -9.29801946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.60, Y:-121.35, Z:-929.80 [[ 4.72280510e-01 -8.74702458e-01 -1.08842685e-01 4.46602187e+02] [ 8.50974449e-01 4.84651293e-01 -2.02374929e-01 -1.21350829e+02] [ 2.29768596e-01 2.95539078e-03 9.73240802e-01 -9.29798351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.62, Y:-121.33, Z:-929.79 [[ 4.72241772e-01 -8.74703624e-01 -1.09001279e-01 4.46617460e+02] [ 8.50884257e-01 4.84648889e-01 -2.02759549e-01 -1.21327807e+02] [ 2.30181861e-01 3.00405637e-03 9.73142994e-01 -9.29792546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.63, Y:-121.30, Z:-929.79 [[ 4.72009992e-01 -8.74836039e-01 -1.08942520e-01 4.46630555e+02] [ 8.51012871e-01 4.84409803e-01 -2.02791117e-01 -1.21303213e+02] [ 2.30181802e-01 3.00794677e-03 9.73142996e-01 -9.29786248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:446.64, Y:-121.28, Z:-929.78 [[ 4.71279161e-01 -8.75217732e-01 -1.09040703e-01 4.46644149e+02] [ 8.51329646e-01 4.83720548e-01 -2.03106537e-01 -1.21280087e+02] [ 2.30507671e-01 2.89029542e-03 9.73066216e-01 -9.29780712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.66, Y:-121.26, Z:-929.78 [[ 4.69892414e-01 -8.75949275e-01 -1.09151213e-01 4.46659567e+02] [ 8.52001464e-01 4.82396229e-01 -2.03438896e-01 -1.21258324e+02] [ 2.30856287e-01 2.59740061e-03 9.72984393e-01 -9.29775114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.67, Y:-121.24, Z:-929.77 [[ 4.68606513e-01 -8.76646244e-01 -1.09083909e-01 4.46674167e+02] [ 8.52722706e-01 4.81129980e-01 -2.03415656e-01 -1.21235152e+02] [ 2.30807109e-01 2.30357463e-03 9.72996800e-01 -9.29768807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.69, Y:-121.21, Z:-929.76 [[ 4.67354126e-01 -8.77348010e-01 -1.08814477e-01 4.46688609e+02] [ 8.53529712e-01 4.79850376e-01 -2.03053313e-01 -1.21212544e+02] [ 2.30363088e-01 2.02141459e-03 9.73102647e-01 -9.29762296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.70, Y:-121.19, Z:-929.76 [[ 4.64806586e-01 -8.78765310e-01 -1.08288360e-01 4.46704649e+02] [ 8.55183241e-01 4.77252146e-01 -2.02217738e-01 -1.21190301e+02] [ 2.29382785e-01 1.38574599e-03 9.73335306e-01 -9.29755543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.72, Y:-121.17, Z:-929.75 [[ 4.63770417e-01 -8.79342379e-01 -1.08046202e-01 4.46719608e+02] [ 8.55850220e-01 4.76188643e-01 -2.01902891e-01 -1.21167322e+02] [ 2.28992142e-01 1.16522239e-03 9.73427574e-01 -9.29748747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:446.73, Y:-121.14, Z:-929.74 [[ 4.62536108e-01 -8.80022601e-01 -1.07798755e-01 4.46734067e+02] [ 8.56625138e-01 4.74930967e-01 -2.01578646e-01 -1.21143866e+02] [ 2.28590731e-01 8.94279173e-04 9.73522202e-01 -9.29742277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.75, Y:-121.12, Z:-929.74 [[ 4.61647613e-01 -8.80515640e-01 -1.07581079e-01 4.46748527e+02] [ 8.57194737e-01 4.74016555e-01 -2.01309435e-01 -1.21120310e+02] [ 2.28251319e-01 7.16085746e-04 9.73601984e-01 -9.29735707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.75, Y:-121.09, Z:-929.74 [[ 4.58652743e-01 -8.83987037e-01 -9.05791387e-02 4.46753729e+02] [ 8.59949813e-01 4.67226837e-01 -2.05390851e-01 -1.21089599e+02] [ 2.23883855e-01 1.63095639e-02 9.74479357e-01 -9.29741906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.78, Y:-121.08, Z:-929.72 [[ 4.59660795e-01 -8.79759754e-01 -1.21386688e-01 4.46783099e+02] [ 8.58311807e-01 4.75176592e-01 -1.93669950e-01 -1.21078420e+02] [ 2.28063140e-01 -1.51651440e-02 9.73528234e-01 -9.29718204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:446.79, Y:-121.05, Z:-929.72 [[ 4.57826498e-01 -8.82496931e-01 -1.07675738e-01 4.46791416e+02] [ 8.59111618e-01 4.70318142e-01 -2.01811975e-01 -1.21051040e+02] [ 2.28740301e-01 -1.10607533e-04 9.73487474e-01 -9.29717462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.81, Y:-121.03, Z:-929.71 [[ 4.56585655e-01 -8.83092213e-01 -1.08063329e-01 4.46805305e+02] [ 8.59518211e-01 4.69199347e-01 -2.02683049e-01 -1.21027138e+02] [ 2.29691066e-01 -3.40226156e-04 9.73263530e-01 -9.29711246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.82, Y:-121.00, Z:-929.71 [[ 4.55648481e-01 -8.83528347e-01 -1.08453317e-01 4.46818974e+02] [ 8.59760171e-01 4.68377429e-01 -2.03555967e-01 -1.21004521e+02] [ 2.30644553e-01 -4.93875199e-04 9.73037947e-01 -9.29705418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.83, Y:-120.98, Z:-929.70 [[ 4.53023547e-01 -8.85188118e-01 -1.05885138e-01 4.46830052e+02] [ 8.61160157e-01 4.65230457e-01 -2.04850693e-01 -1.20979238e+02] [ 2.30592390e-01 1.61812515e-03 9.73049090e-01 -9.29702677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:446.85, Y:-120.96, Z:-929.70 [[ 4.52279518e-01 -8.85237391e-01 -1.08618595e-01 4.46845277e+02] [ 8.61173034e-01 4.65138785e-01 -2.05004672e-01 -1.20956628e+02] [ 2.32000522e-01 -8.19990304e-04 9.72715316e-01 -9.29695252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:446.86, Y:-120.93, Z:-929.69 [[ 4.52099183e-01 -8.85381416e-01 -1.08194622e-01 4.46858124e+02] [ 8.61258639e-01 4.64865143e-01 -2.05265575e-01 -1.20931867e+02] [ 2.32034234e-01 -3.83154396e-04 9.72707545e-01 -9.29689072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.88, Y:-120.91, Z:-929.68 [[ 4.52072218e-01 -8.84347133e-01 -1.16451094e-01 4.46875310e+02] [ 8.60638046e-01 4.66757945e-01 -2.03566145e-01 -1.20911711e+02] [ 2.34377610e-01 -8.19564350e-03 9.72111088e-01 -9.29678387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.89, Y:-120.88, Z:-929.68 [[ 4.52005464e-01 -8.85895563e-01 -1.04307771e-01 4.46886062e+02] [ 8.60225627e-01 4.63845855e-01 -2.11799184e-01 -1.20882287e+02] [ 2.36014685e-01 6.00617088e-03 9.71730927e-01 -9.29676553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.90, Y:-120.86, Z:-929.67 [[ 4.49338775e-01 -8.86475434e-01 -1.10706683e-01 4.46899751e+02] [ 8.61474541e-01 4.62773424e-01 -2.09051126e-01 -1.20860699e+02] [ 2.36550799e-01 -1.43621196e-03 9.71618061e-01 -9.29669779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.92, Y:-120.84, Z:-929.66 [[ 4.49063503e-01 -8.85924432e-01 -1.16102852e-01 4.46916743e+02] [ 8.60985406e-01 4.63788288e-01 -2.08817038e-01 -1.20838319e+02] [ 2.38843258e-01 -6.19075026e-03 9.71038399e-01 -9.29659713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.93, Y:-120.81, Z:-929.66 [[ 4.50215942e-01 -8.86641145e-01 -1.05702820e-01 4.46928024e+02] [ 8.60543515e-01 4.62428808e-01 -2.13598823e-01 -1.20811135e+02] [ 2.38265534e-01 5.20371900e-03 9.71186108e-01 -9.29658064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.95, Y:-120.79, Z:-929.65 [[ 4.50090301e-01 -8.86389406e-01 -1.08316863e-01 4.46945148e+02] [ 8.60371495e-01 4.62932139e-01 -2.13201141e-01 -1.20788542e+02] [ 2.39122590e-01 2.76702404e-03 9.70985443e-01 -9.29650718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.96, Y:-120.77, Z:-929.64 [[ 4.51081672e-01 -8.85049173e-01 -1.14949061e-01 4.46961578e+02] [ 8.60535488e-01 4.65464174e-01 -2.06934231e-01 -1.20768962e+02] [ 2.36651640e-01 -5.57350755e-03 9.71578580e-01 -9.29641268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.156559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:446.96, Y:-120.74, Z:-929.65 [[ 4.50072254e-01 -8.88128064e-01 -9.30779665e-02 4.46958957e+02] [ 8.62749592e-01 4.59357585e-01 -2.11314343e-01 -1.20737547e+02] [ 2.30430268e-01 1.48037451e-02 9.72976228e-01 -9.29649826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.98, Y:-120.72, Z:-929.63 [[ 4.53010179e-01 -8.84228280e-01 -1.13675533e-01 4.46982709e+02] [ 8.60740291e-01 4.67015244e-01 -2.02541143e-01 -1.20720042e+02] [ 2.32180813e-01 -6.09191193e-03 9.72653566e-01 -9.29631618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:446.99, Y:-120.69, Z:-929.63 [[ 4.58411091e-01 -8.83172834e-01 -9.93227943e-02 4.46987652e+02] [ 8.58521303e-01 4.68944838e-01 -2.07441343e-01 -1.20689416e+02] [ 2.29783471e-01 9.82267776e-03 9.73192207e-01 -9.29632961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.01, Y:-120.67, Z:-929.61 [[ 4.63851153e-01 -8.77675353e-01 -1.20532496e-01 4.47013049e+02] [ 8.54428413e-01 4.79155496e-01 -2.00903206e-01 -1.20672847e+02] [ 2.34081600e-01 -9.79720562e-03 9.72167588e-01 -9.29612288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.01, Y:-120.64, Z:-929.62 [[ 4.65240992e-01 -8.79847302e-01 -9.70543422e-02 4.47012550e+02] [ 8.54678311e-01 4.75035508e-01 -2.09442716e-01 -1.20640158e+02] [ 2.30381868e-01 1.44910959e-02 9.72992396e-01 -9.29619310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.04, Y:-120.62, Z:-929.60 [[ 4.69238750e-01 -8.75062572e-01 -1.18661243e-01 4.47037353e+02] [ 8.51551825e-01 4.83966754e-01 -2.01582914e-01 -1.20623535e+02] [ 2.33825760e-01 -6.45568322e-03 9.72257085e-01 -9.29600243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.05, Y:-120.60, Z:-929.60 [[ 4.71357519e-01 -8.75133865e-01 -1.09374623e-01 4.47045905e+02] [ 8.50352131e-01 4.83860096e-01 -2.06834866e-01 -1.20595627e+02] [ 2.33930211e-01 4.48622542e-03 9.72243041e-01 -9.29597456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.06, Y:-120.57, Z:-929.59 [[ 4.73984324e-01 -8.73659423e-01 -1.09809259e-01 4.47058338e+02] [ 8.48603441e-01 4.86509012e-01 -2.07800821e-01 -1.20571503e+02] [ 2.34970339e-01 5.30981691e-03 9.71988038e-01 -9.29591487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.07, Y:-120.55, Z:-929.59 [[ 4.74770694e-01 -8.73215812e-01 -1.09940594e-01 4.47070118e+02] [ 8.48052002e-01 4.87301426e-01 -2.08194913e-01 -1.20547829e+02] [ 2.35373298e-01 5.60950241e-03 9.71888854e-01 -9.29585656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.08, Y:-120.52, Z:-929.58 [[ 4.75328682e-01 -8.72940171e-01 -1.09718286e-01 4.47081968e+02] [ 8.47835585e-01 4.87792683e-01 -2.07925755e-01 -1.20523067e+02] [ 2.35026521e-01 5.81000767e-03 9.71971593e-01 -9.29580319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.09, Y:-120.50, Z:-929.57 [[ 4.75791582e-01 -8.72687820e-01 -1.09719371e-01 4.47093086e+02] [ 8.47541789e-01 4.88241638e-01 -2.08069745e-01 -1.20499296e+02] [ 2.35149497e-01 6.00608148e-03 9.71940657e-01 -9.29574895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:447.11, Y:-120.47, Z:-929.57 [[ 4.76053861e-01 -8.72552546e-01 -1.09657542e-01 4.47105076e+02] [ 8.47405843e-01 4.88481896e-01 -2.08059548e-01 -1.20474501e+02] [ 2.35108612e-01 6.12310876e-03 9.71949818e-01 -9.29568898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.12, Y:-120.45, Z:-929.56 [[ 4.75999784e-01 -8.72602470e-01 -1.09494908e-01 4.47117419e+02] [ 8.47498374e-01 4.88392240e-01 -2.07893066e-01 -1.20449907e+02] [ 2.34884466e-01 6.16029771e-03 9.72003775e-01 -9.29563167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.12, Y:-120.42, Z:-929.57 [[ 4.72592645e-01 -8.76556157e-01 -9.11344884e-02 4.47119384e+02] [ 8.50672109e-01 4.80750247e-01 -2.12687949e-01 -1.20418903e+02] [ 2.30245859e-01 2.29891931e-02 9.72860906e-01 -9.29571251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.14, Y:-120.40, Z:-929.56 [[ 4.71177683e-01 -8.75539822e-01 -1.06871939e-01 4.47141371e+02] [ 8.51105206e-01 4.83110412e-01 -2.05485422e-01 -1.20400304e+02] [ 2.31541617e-01 5.86088113e-03 9.72807345e-01 -9.29558531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.17, Y:-120.38, Z:-929.54 [[ 4.71518400e-01 -8.73143632e-01 -1.23655148e-01 4.47165178e+02] [ 8.49432096e-01 4.87367812e-01 -2.02330744e-01 -1.20383566e+02] [ 2.36929340e-01 -9.63398236e-03 9.71479117e-01 -9.29539035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.636559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:447.17, Y:-120.36, Z:-929.54 [[ 4.69712110e-01 -8.75931027e-01 -1.10069842e-01 4.47172219e+02] [ 8.50564848e-01 4.82413454e-01 -2.09324387e-01 -1.20355395e+02] [ 2.36452898e-01 4.70066127e-03 9.71631582e-01 -9.29537744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.19, Y:-120.33, Z:-929.53 [[ 4.66052281e-01 -8.77928598e-01 -1.09711661e-01 4.47185737e+02] [ 8.52748197e-01 4.78776890e-01 -2.08789851e-01 -1.20332796e+02] [ 2.35829989e-01 3.75056538e-03 9.71787091e-01 -9.29532070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.19, Y:-120.30, Z:-929.54 [[ 4.62903949e-01 -8.81236912e-01 -9.56108753e-02 4.47189767e+02] [ 8.55112506e-01 4.72363575e-01 -2.13670905e-01 -1.20303961e+02] [ 2.33457783e-01 1.71510503e-02 9.72215668e-01 -9.29536502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.21, Y:-120.28, Z:-929.53 [[ 4.60425428e-01 -8.81295769e-01 -1.06424588e-01 4.47208907e+02] [ 8.56840374e-01 4.72550186e-01 -2.06205953e-01 -1.20282923e+02] [ 2.32019393e-01 3.75358027e-03 9.72703918e-01 -9.29526507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.756559995 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.22, Y:-120.26, Z:-929.52 [[ 4.58931873e-01 -8.82801192e-01 -1.00217718e-01 4.47220546e+02] [ 8.58096057e-01 4.69655226e-01 -2.07593654e-01 -1.20256455e+02] [ 2.30331700e-01 9.27491563e-03 9.73067975e-01 -9.29523935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.24, Y:-120.24, Z:-929.51 [[ 4.54199769e-01 -8.82600510e-01 -1.21321513e-01 4.47243284e+02] [ 8.59930479e-01 4.69920120e-01 -1.99235170e-01 -1.20242641e+02] [ 2.32856482e-01 -1.38354988e-02 9.72412689e-01 -9.29505057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.25, Y:-120.22, Z:-929.50 [[ 4.53618842e-01 -8.84424389e-01 -1.09651480e-01 4.47251999e+02] [ 8.60007055e-01 4.66683016e-01 -2.06385145e-01 -1.20215147e+02] [ 2.33704539e-01 -6.80855818e-04 9.72307423e-01 -9.29501716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.26, Y:-120.19, Z:-929.50 [[ 4.51783548e-01 -8.85513438e-01 -1.08432358e-01 4.47264247e+02] [ 8.60938586e-01 4.64613702e-01 -2.07168675e-01 -1.20190362e+02] [ 2.33829805e-01 2.41798527e-04 9.72277514e-01 -9.29496138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.28, Y:-120.17, Z:-929.49 [[ 4.50878281e-01 -8.85973279e-01 -1.08444113e-01 4.47276382e+02] [ 8.61371148e-01 4.63736288e-01 -2.07336443e-01 -1.20165755e+02] [ 2.33984019e-01 7.28693833e-05 9.72240440e-01 -9.29490261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.29, Y:-120.14, Z:-929.48 [[ 4.50194980e-01 -8.86287305e-01 -1.08716569e-01 4.47287900e+02] [ 8.61533079e-01 4.63135846e-01 -2.08004671e-01 -1.20141671e+02] [ 2.34702439e-01 -2.02622014e-05 9.72067264e-01 -9.29484159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.30, Y:-120.12, Z:-929.48 [[ 4.49208895e-01 -8.86686531e-01 -1.09537044e-01 4.47299316e+02] [ 8.61525447e-01 4.62371032e-01 -2.09730619e-01 -1.20117055e+02] [ 2.36612071e-01 -1.56091268e-04 9.71604191e-01 -9.29478799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.31, Y:-120.09, Z:-929.47 [[ 4.48524003e-01 -8.86986005e-01 -1.09918365e-01 4.47310535e+02] [ 8.61620886e-01 4.61796239e-01 -2.10603142e-01 -1.20093394e+02] [ 2.37561926e-01 -2.47394701e-04 9.71372364e-01 -9.29473624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.32, Y:-120.07, Z:-929.47 [[ 4.47655028e-01 -8.87390770e-01 -1.10193453e-01 4.47322337e+02] [ 8.61882046e-01 4.61017843e-01 -2.11238936e-01 -1.20068953e+02] [ 2.38252630e-01 -4.11586726e-04 9.71203128e-01 -9.29467983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.34, Y:-120.05, Z:-929.46 [[ 4.44999158e-01 -8.87689257e-01 -1.18251988e-01 4.47336610e+02] [ 8.62641244e-01 4.60359857e-01 -2.09568332e-01 -1.20047303e+02] [ 2.40470025e-01 -8.75131064e-03 9.70617114e-01 -9.29457472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.34, Y:-120.02, Z:-929.46 [[ 4.43816742e-01 -8.90447662e-01 -1.00646214e-01 4.47339701e+02] [ 8.63999691e-01 4.55002061e-01 -2.15586780e-01 -1.20016133e+02] [ 2.37762979e-01 8.72272427e-03 9.71284037e-01 -9.29460764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.36, Y:-120.00, Z:-929.45 [[ 4.44542602e-01 -8.88929947e-01 -1.10387608e-01 4.47357998e+02] [ 8.63501302e-01 4.58040796e-01 -2.11102183e-01 -1.19995642e+02] [ 2.38217080e-01 -1.47592933e-03 9.71210814e-01 -9.29448901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.37, Y:-119.97, Z:-929.44 [[ 4.43793629e-01 -8.89369084e-01 -1.09862860e-01 4.47368612e+02] [ 8.63959945e-01 4.57188239e-01 -2.11073750e-01 -1.19971927e+02] [ 2.37950475e-01 -1.24392541e-03 9.71276492e-01 -9.29443005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.39, Y:-119.95, Z:-929.43 [[ 4.43432229e-01 -8.87399652e-01 -1.26054416e-01 4.47387515e+02] [ 8.63177380e-01 4.60680747e-01 -2.06635087e-01 -1.19953228e+02] [ 2.41438747e-01 -1.71786632e-02 9.70263998e-01 -9.29425444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.39, Y:-119.92, Z:-929.42 [[ 4.43847042e-01 -8.89340753e-01 -1.09876421e-01 4.47390337e+02] [ 8.63563767e-01 4.57244721e-01 -2.12567367e-01 -1.19923670e+02] [ 2.39285236e-01 -5.37898661e-04 9.70949168e-01 -9.29424920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.40, Y:-119.89, Z:-929.43 [[ 4.44627936e-01 -8.90674289e-01 -9.48963085e-02 4.47395066e+02] [ 8.64381448e-01 4.54436114e-01 -2.15249925e-01 -1.19893968e+02] [ 2.34841884e-01 1.36795214e-02 9.71937323e-01 -9.29428909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.41, Y:-119.87, Z:-929.42 [[ 4.44227185e-01 -8.89357653e-01 -1.08190450e-01 4.47414245e+02] [ 8.64602653e-01 4.57211125e-01 -2.08375236e-01 -1.19873784e+02] [ 2.34785988e-01 -9.75805948e-04 9.72046598e-01 -9.29417697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.43, Y:-119.85, Z:-929.41 [[ 4.45773223e-01 -8.88602900e-01 -1.08032954e-01 4.47425224e+02] [ 8.63866508e-01 4.58677035e-01 -2.08206709e-01 -1.19848354e+02] [ 2.34565320e-01 -5.13074890e-04 9.72100225e-01 -9.29411544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.44, Y:-119.82, Z:-929.41 [[ 4.47168944e-01 -8.87904406e-01 -1.08007880e-01 4.47437238e+02] [ 8.63124405e-01 4.60028000e-01 -2.08303867e-01 -1.19823464e+02] [ 2.34640570e-01 -7.72166985e-05 9.72082197e-01 -9.29405163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.45, Y:-119.80, Z:-929.40 [[ 4.49062378e-01 -8.86957023e-01 -1.07936189e-01 4.47448813e+02] [ 8.62148737e-01 4.61851711e-01 -2.08308790e-01 -1.19799324e+02] [ 2.34611458e-01 4.86591281e-04 9.72089105e-01 -9.29399143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.46, Y:-119.77, Z:-929.39 [[ 4.51059294e-01 -8.85972253e-01 -1.07697166e-01 4.47460564e+02] [ 8.61221538e-01 4.63737066e-01 -2.07955278e-01 -1.19774095e+02] [ 2.34185774e-01 1.04904177e-03 9.72191300e-01 -9.29392738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.47, Y:-119.75, Z:-929.39 [[ 4.55525609e-01 -8.83772032e-01 -1.06973902e-01 4.47470879e+02] [ 8.59262863e-01 4.67912367e-01 -2.06701111e-01 -1.19748852e+02] [ 2.32731073e-01 2.23894851e-03 9.72538552e-01 -9.29385850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.49, Y:-119.73, Z:-929.37 [[ 4.57797785e-01 -8.80159700e-01 -1.25459516e-01 4.47491557e+02] [ 8.57123887e-01 4.74418911e-01 -2.00662253e-01 -1.19730912e+02] [ 2.36135195e-01 -1.56716129e-02 9.71593830e-01 -9.29366425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:-119.71, Z:-929.36 [[ 4.60744689e-01 -8.79117950e-01 -1.21926053e-01 4.47502829e+02] [ 8.55092770e-01 4.76497322e-01 -2.04368925e-01 -1.19705745e+02] [ 2.37761828e-01 -1.00961894e-02 9.71271013e-01 -9.29358050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.49, Y:-119.67, Z:-929.38 [[ 4.61542972e-01 -8.83800510e-01 -7.66468805e-02 4.47491424e+02] [ 8.57106439e-01 4.66544458e-01 -2.18414334e-01 -1.19666469e+02] [ 2.28793877e-01 3.51130662e-02 9.72841423e-01 -9.29378810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:-119.65, Z:-929.36 [[ 4.62509165e-01 -8.80352592e-01 -1.05188336e-01 4.47517681e+02] [ 8.56406796e-01 4.74300742e-01 -2.03975995e-01 -1.19651397e+02] [ 2.29461701e-01 4.25676127e-03 9.73308383e-01 -9.29362732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:-119.63, Z:-929.36 [[ 4.64353648e-01 -8.79336050e-01 -1.05564199e-01 4.47529227e+02] [ 8.55156511e-01 4.76177076e-01 -2.04848078e-01 -1.19627781e+02] [ 2.30397552e-01 4.84803996e-03 9.73084511e-01 -9.29356628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.55, Y:-119.61, Z:-929.34 [[ 4.64437399e-01 -8.78070798e-01 -1.15280427e-01 4.47546080e+02] [ 8.54518545e-01 4.78508005e-01 -2.02059755e-01 -1.19606617e+02] [ 2.32585378e-01 -4.66515536e-03 9.72564794e-01 -9.29344702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.596559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:447.55, Y:-119.58, Z:-929.35 [[ 4.64498686e-01 -8.80197080e-01 -9.74375193e-02 4.47549041e+02] [ 8.55017961e-01 4.74401887e-01 -2.09492569e-01 -1.19577217e+02] [ 2.30619291e-01 1.39981942e-02 9.72943366e-01 -9.29348687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.57, Y:-119.56, Z:-929.34 [[ 4.63750368e-01 -8.79609050e-01 -1.05941094e-01 4.47565674e+02] [ 8.55179242e-01 4.75672075e-01 -2.05923628e-01 -1.19555585e+02] [ 2.31525506e-01 4.89853387e-03 9.72816501e-01 -9.29339733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.656559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.58, Y:-119.53, Z:-929.33 [[ 4.62353196e-01 -8.80345470e-01 -1.05930998e-01 4.47578525e+02] [ 8.55904315e-01 4.74310741e-01 -2.06051267e-01 -1.19531209e+02] [ 2.31640510e-01 4.60166373e-03 9.72790573e-01 -9.29334136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.58, Y:-119.51, Z:-929.34 [[ 4.55853973e-01 -8.85136244e-01 -9.34397440e-02 4.47582659e+02] [ 8.60225126e-01 4.65092816e-01 -2.09048811e-01 -1.19505015e+02] [ 2.28494833e-01 1.49165156e-02 9.73430845e-01 -9.29336910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.7165599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:447.61, Y:-119.49, Z:-929.32 [[ 4.56457486e-01 -8.82291067e-01 -1.14930571e-01 4.47610492e+02] [ 8.58805352e-01 4.70661331e-01 -2.02314803e-01 -1.19488615e+02] [ 2.32593919e-01 -6.35488246e-03 9.72553178e-01 -9.29317538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.62, Y:-119.46, Z:-929.31 [[ 4.54192196e-01 -8.84566601e-01 -1.06072516e-01 4.47619872e+02] [ 8.60097889e-01 4.66406558e-01 -2.06631422e-01 -1.19462775e+02] [ 2.32252172e-01 2.61763281e-03 9.72652084e-01 -9.29314493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.63, Y:-119.44, Z:-929.31 [[ 4.51773500e-01 -8.85814057e-01 -1.05991327e-01 4.47633582e+02] [ 8.61380283e-01 4.64035834e-01 -2.06627089e-01 -1.19439283e+02] [ 2.32216953e-01 2.04980401e-03 9.72661856e-01 -9.29308188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:-119.41, Z:-929.30 [[ 4.51620610e-01 -8.85898934e-01 -1.05933482e-01 4.47646184e+02] [ 8.61460510e-01 4.63873670e-01 -2.06656741e-01 -1.19414444e+02] [ 2.32216740e-01 2.07293196e-03 9.72661857e-01 -9.29301920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:-119.39, Z:-929.30 [[ 4.47033229e-01 -8.88217642e-01 -1.05975062e-01 4.47660671e+02] [ 8.63801021e-01 4.59422003e-01 -2.06831379e-01 -1.19391162e+02] [ 2.32398555e-01 9.19132465e-04 9.72620207e-01 -9.29295635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:-119.37, Z:-929.29 [[ 4.44597601e-01 -8.89439606e-01 -1.05972453e-01 4.47673803e+02] [ 8.65023447e-01 4.57052584e-01 -2.06971911e-01 -1.19367051e+02] [ 2.32523998e-01 3.50558340e-04 9.72590596e-01 -9.29289403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.69, Y:-119.34, Z:-929.28 [[ 4.42626821e-01 -8.90406991e-01 -1.06098481e-01 4.47686716e+02] [ 8.65924983e-01 4.55165225e-01 -2.07360897e-01 -1.19343804e+02] [ 2.32927931e-01 -8.98310001e-05 9.72493995e-01 -9.29283327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.70, Y:-119.32, Z:-929.28 [[ 4.40713268e-01 -8.91319008e-01 -1.06406019e-01 4.47700211e+02] [ 8.66692890e-01 4.53376393e-01 -2.08070377e-01 -1.19320242e+02] [ 2.33699059e-01 -5.21964562e-04 9.72308839e-01 -9.29277172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.72, Y:-119.30, Z:-929.27 [[ 4.37513539e-01 -8.92839830e-01 -1.06859442e-01 4.47715112e+02] [ 8.68009781e-01 4.50372539e-01 -2.09101882e-01 -1.19296808e+02] [ 2.34821047e-01 -1.27013635e-03 9.72037789e-01 -9.29270921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.73, Y:-119.27, Z:-929.26 [[ 4.36016963e-01 -8.93565129e-01 -1.06913839e-01 4.47728422e+02] [ 8.68695936e-01 4.48930751e-01 -2.09352696e-01 -1.19272484e+02] [ 2.35067178e-01 -1.59429040e-03 9.71977819e-01 -9.29264810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.74, Y:-119.25, Z:-929.26 [[ 4.34752618e-01 -8.94151583e-01 -1.07159262e-01 4.47741478e+02] [ 8.69147853e-01 4.47760578e-01 -2.09982081e-01 -1.19248529e+02] [ 2.35737503e-01 -1.84698272e-03 9.71815012e-01 -9.29258545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.75, Y:-119.23, Z:-929.25 [[ 4.33977605e-01 -8.94506504e-01 -1.07338501e-01 4.47753988e+02] [ 8.69392133e-01 4.47050576e-01 -2.10483021e-01 -1.19225193e+02] [ 2.36264170e-01 -1.97433076e-03 9.71686855e-01 -9.29252524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:-119.20, Z:-929.25 [[ 4.33718331e-01 -8.94623501e-01 -1.07411369e-01 4.47765873e+02] [ 8.69439797e-01 4.46816430e-01 -2.10783107e-01 -1.19201879e+02] [ 2.36564685e-01 -1.96722133e-03 9.71613750e-01 -9.29246584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:-119.18, Z:-929.24 [[ 4.31775221e-01 -8.95357911e-01 -1.09107149e-01 4.47774759e+02] [ 8.70467986e-01 4.45325217e-01 -2.09692482e-01 -1.19179303e+02] [ 2.36337988e-01 -4.43426272e-03 9.71660791e-01 -9.29240020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:-119.15, Z:-929.24 [[ 4.33297938e-01 -8.95227992e-01 -1.04017978e-01 4.47785839e+02] [ 8.69808425e-01 4.45606482e-01 -2.11821071e-01 -1.19152705e+02] [ 2.35979238e-01 1.30591943e-03 9.71757220e-01 -9.29235070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:-119.13, Z:-929.22 [[ 4.36392049e-01 -8.93102873e-01 -1.09221051e-01 4.47801015e+02] [ 8.68217310e-01 4.49839238e-01 -2.09388067e-01 -1.19129796e+02] [ 2.36136999e-01 -3.45231940e-03 9.71713641e-01 -9.29223357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.81, Y:-119.10, Z:-929.22 [[ 4.40122080e-01 -8.92348900e-01 -1.00029971e-01 4.47812559e+02] [ 8.66635594e-01 4.51292553e-01 -2.12785758e-01 -1.19101363e+02] [ 2.35021918e-01 6.96217727e-03 9.71965136e-01 -9.29220715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.83, Y:-119.08, Z:-929.21 [[ 4.40199550e-01 -8.90452754e-01 -1.15404724e-01 4.47828807e+02] [ 8.66230423e-01 4.54985199e-01 -2.06478384e-01 -1.19082280e+02] [ 2.36366687e-01 -9.07539081e-03 9.71621545e-01 -9.29205982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.84, Y:-119.05, Z:-929.20 [[ 4.41985154e-01 -8.90642600e-01 -1.06793644e-01 4.47836019e+02] [ 8.65620984e-01 4.54703985e-01 -2.09629668e-01 -1.19054956e+02] [ 2.35264608e-01 2.10382076e-04 9.71931335e-01 -9.29202596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.85, Y:-119.03, Z:-929.19 [[ 4.47085152e-01 -8.87416048e-01 -1.12283679e-01 4.47851468e+02] [ 8.63055645e-01 4.60946798e-01 -2.06550242e-01 -1.19031411e+02] [ 2.35052802e-01 -4.56151668e-03 9.71971899e-01 -9.29190612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.86, Y:-119.00, Z:-929.19 [[ 4.48959140e-01 -8.87245673e-01 -1.05975502e-01 4.47860910e+02] [ 8.62410376e-01 4.61291972e-01 -2.08465969e-01 -1.19004463e+02] [ 2.33846177e-01 2.19832964e-03 9.72271121e-01 -9.29186335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.87, Y:-118.98, Z:-929.18 [[ 4.50465703e-01 -8.86382852e-01 -1.06799299e-01 4.47873794e+02] [ 8.61798433e-01 4.62950991e-01 -2.07315801e-01 -1.18979453e+02] [ 2.33204012e-01 1.34918945e-03 9.72426896e-01 -9.29178739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:-118.95, Z:-929.19 [[ 4.51704417e-01 -8.87975907e-01 -8.63823410e-02 4.47876363e+02] [ 8.62540316e-01 4.59396913e-01 -2.12081777e-01 -1.18947873e+02] [ 2.28007289e-01 2.12900237e-02 9.73426634e-01 -9.29185557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.90, Y:-118.93, Z:-929.17 [[ 4.53195815e-01 -8.85474960e-01 -1.02701749e-01 4.47895112e+02] [ 8.62061398e-01 4.64676438e-01 -2.02301641e-01 -1.18929479e+02] [ 2.26856120e-01 3.14704368e-03 9.73923199e-01 -9.29173411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:-118.90, Z:-929.17 [[ 4.53294996e-01 -8.85417090e-01 -1.02762950e-01 4.47906469e+02] [ 8.61938127e-01 4.64785981e-01 -2.02575066e-01 -1.18904629e+02] [ 2.27126204e-01 3.25095942e-03 9.73859907e-01 -9.29167058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.92, Y:-118.88, Z:-929.16 [[ 4.52554647e-01 -8.85874331e-01 -1.02083113e-01 4.47916098e+02] [ 8.62587972e-01 4.63913740e-01 -2.01806919e-01 -1.18879424e+02] [ 2.26133328e-01 3.27299337e-03 9.74090861e-01 -9.29162162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.93, Y:-118.85, Z:-929.16 [[ 4.54102290e-01 -8.85126627e-01 -1.01695449e-01 4.47929002e+02] [ 8.61670600e-01 4.65330278e-01 -2.02463599e-01 -1.18853818e+02] [ 2.26527894e-01 4.31120535e-03 9.73995137e-01 -9.29155312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.94, Y:-118.83, Z:-929.15 [[ 4.54233309e-01 -8.84960822e-01 -1.02549717e-01 4.47940722e+02] [ 8.61492863e-01 4.65651350e-01 -2.02481770e-01 -1.18828488e+02] [ 2.26940848e-01 3.62811504e-03 9.73901786e-01 -9.29149129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.95, Y:-118.80, Z:-929.14 [[ 4.54331775e-01 -8.84879287e-01 -1.02816759e-01 4.47951231e+02] [ 8.61252014e-01 4.65805334e-01 -2.03151077e-01 -1.18804230e+02] [ 2.27656775e-01 3.74684904e-03 9.73734232e-01 -9.29143620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.96, Y:-118.78, Z:-929.14 [[ 4.54084547e-01 -8.84921606e-01 -1.03542142e-01 4.47960837e+02] [ 8.60930809e-01 4.65724461e-01 -2.04692133e-01 -1.18778636e+02] [ 2.29358600e-01 3.80491428e-03 9.73334555e-01 -9.29138482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.97, Y:-118.75, Z:-929.13 [[ 4.53196668e-01 -8.85354353e-01 -1.03732591e-01 4.47971466e+02] [ 8.61250548e-01 4.64902411e-01 -2.05215112e-01 -1.18754371e+02] [ 2.29913624e-01 3.66305420e-03 9.73204145e-01 -9.29133164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:447.97, Y:-118.72, Z:-929.14 [[ 4.50443393e-01 -8.88319706e-01 -8.93803697e-02 4.47973789e+02] [ 8.63526346e-01 4.58910554e-01 -2.09101298e-01 -1.18724570e+02] [ 2.26766398e-01 1.70059939e-02 9.73800697e-01 -9.29138078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.99, Y:-118.70, Z:-929.13 [[ 4.47535249e-01 -8.88393239e-01 -1.02321329e-01 4.47991641e+02] [ 8.64655089e-01 4.59074545e-01 -2.04015048e-01 -1.18702933e+02] [ 2.28218707e-01 2.83126762e-03 9.73605776e-01 -9.29127152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:448.00, Y:-118.68, Z:-929.12 [[ 4.45338034e-01 -8.90053097e-01 -9.73628305e-02 4.48000433e+02] [ 8.66030497e-01 4.55799915e-01 -2.05517924e-01 -1.18677370e+02] [ 2.27299835e-01 7.20576784e-03 9.73798163e-01 -9.29124944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.736559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:448.03, Y:-118.66, Z:-929.10 [[ 4.42677610e-01 -8.88726622e-01 -1.19170154e-01 4.48025521e+02] [ 8.65939236e-01 4.58209912e-01 -2.00481711e-01 -1.18661300e+02] [ 2.32778380e-01 -1.44453475e-02 9.72422520e-01 -9.29104285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.02, Y:-118.63, Z:-929.12 [[ 4.39444863e-01 -8.93863765e-01 -8.88582193e-02 4.48020935e+02] [ 8.68154979e-01 4.48028522e-01 -2.13488587e-01 -1.18627845e+02] [ 2.30640729e-01 1.66737572e-02 9.72896110e-01 -9.29115541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.05, Y:-118.61, Z:-929.10 [[ 4.38157826e-01 -8.91541412e-01 -1.14767724e-01 4.48048541e+02] [ 8.67803059e-01 4.52829958e-01 -2.04604203e-01 -1.18610456e+02] [ 2.34383384e-01 -9.94684873e-03 9.72093355e-01 -9.29095578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.06, Y:-118.58, Z:-929.09 [[ 4.36587245e-01 -8.93485194e-01 -1.05241559e-01 4.48056159e+02] [ 8.68671505e-01 4.49092632e-01 -2.09106731e-01 -1.18584246e+02] [ 2.34096977e-01 -1.27011563e-04 9.72213243e-01 -9.29093396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.07, Y:-118.56, Z:-929.09 [[ 4.35331068e-01 -8.94815286e-01 -9.89568896e-02 4.48066054e+02] [ 8.69692631e-01 4.46401095e-01 -2.10620015e-01 -1.18557344e+02] [ 2.32640472e-01 5.62735824e-03 9.72546525e-01 -9.29091017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:-118.54, Z:-929.08 [[ 4.35802557e-01 -8.92903725e-01 -1.13132969e-01 4.48087244e+02] [ 8.68986449e-01 4.50162256e-01 -2.05466531e-01 -1.18539559e+02] [ 2.34390023e-01 -8.76817744e-03 9.72103100e-01 -9.29075387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.10, Y:-118.51, Z:-929.07 [[ 4.36287255e-01 -8.93598705e-01 -1.05521493e-01 4.48096545e+02] [ 8.68734066e-01 4.48866615e-01 -2.09331997e-01 -1.18513016e+02] [ 2.34423877e-01 -3.41232721e-04 9.72134420e-01 -9.29071808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.11, Y:-118.49, Z:-929.07 [[ 4.36681001e-01 -8.93386003e-01 -1.05693679e-01 4.48108902e+02] [ 8.68397069e-01 4.49289912e-01 -2.09821605e-01 -1.18488754e+02] [ 2.34938789e-01 -1.58972662e-04 9.72010155e-01 -9.29065543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.12, Y:-118.46, Z:-929.06 [[ 4.37719208e-01 -8.92893985e-01 -1.05556749e-01 4.48121519e+02] [ 8.67920981e-01 4.50266923e-01 -2.09697090e-01 -1.18463674e+02] [ 2.34765982e-01 1.73526829e-04 9.72051904e-01 -9.29060270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.13, Y:-118.44, Z:-929.05 [[ 4.38824255e-01 -8.92340040e-01 -1.05652863e-01 4.48134130e+02] [ 8.67268356e-01 4.51363447e-01 -2.10039610e-01 -1.18439632e+02] [ 2.35114594e-01 5.41090766e-04 9.71967507e-01 -9.29054212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.15, Y:-118.42, Z:-929.05 [[ 4.40720640e-01 -8.91425721e-01 -1.05477493e-01 4.48148172e+02] [ 8.66376165e-01 4.53165508e-01 -2.09841281e-01 -1.18416027e+02] [ 2.34856677e-01 1.09819809e-03 9.72029390e-01 -9.29047427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.16, Y:-118.39, Z:-929.04 [[ 4.40916010e-01 -8.91797488e-01 -1.01441177e-01 4.48158281e+02] [ 8.66646198e-01 4.52408938e-01 -2.10358078e-01 -1.18390197e+02] [ 2.33489700e-01 4.83663393e-03 9.72347246e-01 -9.29044680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.17, Y:-118.37, Z:-929.03 [[ 4.43049816e-01 -8.89987006e-01 -1.07842433e-01 4.48174224e+02] [ 8.65490862e-01 4.55983553e-01 -2.07375426e-01 -1.18369172e+02] [ 2.33735810e-01 -1.45899569e-03 9.72299050e-01 -9.29033757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.19, Y:-118.34, Z:-929.03 [[ 4.44427525e-01 -8.89688802e-01 -1.04584944e-01 4.48185229e+02] [ 8.64930741e-01 4.56562263e-01 -2.08436355e-01 -1.18343795e+02] [ 2.33193030e-01 2.17612078e-03 9.72428031e-01 -9.29028368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.20, Y:-118.32, Z:-929.02 [[ 4.47125423e-01 -8.88336549e-01 -1.04580264e-01 4.48197743e+02] [ 8.63508762e-01 4.59183467e-01 -2.08574117e-01 -1.18320800e+02] [ 2.33305539e-01 2.95281598e-03 9.72398996e-01 -9.29021860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.21, Y:-118.30, Z:-929.02 [[ 4.48033683e-01 -8.87887340e-01 -1.04507849e-01 4.48210220e+02] [ 8.63045344e-01 4.60049410e-01 -2.08583977e-01 -1.18296156e+02] [ 2.33277847e-01 3.25763510e-03 9.72404666e-01 -9.29016128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.22, Y:-118.27, Z:-929.01 [[ 4.48787174e-01 -8.87500574e-01 -1.04560049e-01 4.48222123e+02] [ 8.62588044e-01 4.60793091e-01 -2.08833889e-01 -1.18272961e+02] [ 2.33520745e-01 3.52972310e-03 9.72345413e-01 -9.29009975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.23, Y:-118.25, Z:-929.00 [[ 4.49121458e-01 -8.87337819e-01 -1.04506037e-01 4.48234580e+02] [ 8.62420662e-01 4.61105376e-01 -2.08835904e-01 -1.18248741e+02] [ 2.33496291e-01 3.66452058e-03 9.72350787e-01 -9.29003907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.25, Y:-118.22, Z:-929.00 [[ 4.49108576e-01 -8.87377635e-01 -1.04222937e-01 4.48247291e+02] [ 8.62563539e-01 4.61028446e-01 -2.08415245e-01 -1.18224902e+02] [ 2.32992765e-01 3.70216816e-03 9.72471421e-01 -9.28997770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:-118.20, Z:-928.99 [[ 4.48635614e-01 -8.87626211e-01 -1.04143147e-01 4.48259452e+02] [ 8.62821367e-01 4.60550161e-01 -2.08405466e-01 -1.18201478e+02] [ 2.32949297e-01 3.64118202e-03 9.72482065e-01 -9.28991594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.27, Y:-118.18, Z:-928.99 [[ 4.47856618e-01 -8.88034678e-01 -1.04013749e-01 4.48271852e+02] [ 8.63276063e-01 4.59763324e-01 -2.08259754e-01 -1.18178454e+02] [ 2.32763591e-01 3.47792875e-03 9.72527128e-01 -9.28985471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.29, Y:-118.15, Z:-928.98 [[ 4.46676464e-01 -8.88637671e-01 -1.03938574e-01 4.48285079e+02] [ 8.63894072e-01 4.58598543e-01 -2.08265236e-01 -1.18154799e+02] [ 2.32738413e-01 3.23526110e-03 9.72533991e-01 -9.28978816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.30, Y:-118.13, Z:-928.97 [[ 4.44009749e-01 -8.90019106e-01 -1.03543870e-01 4.48299228e+02] [ 8.65467709e-01 4.55915976e-01 -2.07620489e-01 -1.18131705e+02] [ 2.31993506e-01 2.57164564e-03 9.72713935e-01 -9.28971620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.31, Y:-118.11, Z:-928.97 [[ 4.42352111e-01 -8.90902289e-01 -1.03042334e-01 4.48311694e+02] [ 8.66579868e-01 4.54189843e-01 -2.06762954e-01 -1.18108793e+02] [ 2.31006371e-01 2.16761751e-03 9.72949823e-01 -9.28965442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.32, Y:-118.09, Z:-928.96 [[ 4.40855415e-01 -8.91654007e-01 -1.02954534e-01 4.48324610e+02] [ 8.67356769e-01 4.52713737e-01 -2.06742612e-01 -1.18085054e+02] [ 2.30951810e-01 1.84528814e-03 9.72963441e-01 -9.28958704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.34, Y:-118.06, Z:-928.95 [[ 4.39339819e-01 -8.92422415e-01 -1.02775270e-01 4.48337882e+02] [ 8.68197184e-01 4.51198363e-01 -2.06527689e-01 -1.18060589e+02] [ 2.30681973e-01 1.50663752e-03 9.73028035e-01 -9.28952372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.35, Y:-118.03, Z:-928.95 [[ 4.36212678e-01 -8.94375429e-01 -9.90509595e-02 4.48348930e+02] [ 8.69942337e-01 4.47295266e-01 -2.07671076e-01 -1.18034801e+02] [ 2.30040933e-01 4.42013295e-03 9.73170916e-01 -9.28950027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.36, Y:-118.01, Z:-928.94 [[ 4.36307680e-01 -8.93491541e-01 -1.06341311e-01 4.48364656e+02] [ 8.69521736e-01 4.49071502e-01 -2.05588757e-01 -1.18013539e+02] [ 2.31446668e-01 -2.76612800e-03 9.72843661e-01 -9.28939524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.38, Y:-117.99, Z:-928.94 [[ 4.35841165e-01 -8.94069047e-01 -1.03358689e-01 4.48375552e+02] [ 8.69525731e-01 4.47928447e-01 -2.08050741e-01 -1.17987856e+02] [ 2.32309025e-01 8.04038242e-04 9.72641697e-01 -9.28935064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.39, Y:-117.96, Z:-928.93 [[ 4.36226080e-01 -8.93795012e-01 -1.04102274e-01 4.48386989e+02] [ 8.68849569e-01 4.48474556e-01 -2.09692630e-01 -1.17963980e+02] [ 2.34109448e-01 1.02417760e-03 9.72209709e-01 -9.28929672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.39, Y:-117.93, Z:-928.93 [[ 4.35570752e-01 -8.95484096e-01 -9.15770349e-02 4.48391655e+02] [ 8.69892827e-01 4.44900847e-01 -2.12954704e-01 -1.17933868e+02] [ 2.31440251e-01 1.30946349e-02 9.72760989e-01 -9.28933448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.41, Y:-117.92, Z:-928.91 [[ 4.37573814e-01 -8.91824505e-01 -1.14796387e-01 4.48414847e+02] [ 8.67994645e-01 4.52272548e-01 -2.05023996e-01 -1.17918217e+02] [ 2.34764678e-01 -9.92951699e-03 9.72001518e-01 -9.28914113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.42, Y:-117.89, Z:-928.91 [[ 4.39591175e-01 -8.92108781e-01 -1.04410352e-01 4.48421299e+02] [ 8.66866668e-01 4.51815689e-01 -2.10724379e-01 -1.17889633e+02] [ 2.35163304e-01 2.12272355e-03 9.71953556e-01 -9.28911391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.43, Y:-117.87, Z:-928.90 [[ 4.40269840e-01 -8.91792693e-01 -1.04250948e-01 4.48432960e+02] [ 8.66583600e-01 4.52438097e-01 -2.10553159e-01 -1.17865135e+02] [ 2.34936870e-01 2.35804389e-03 9.72007771e-01 -9.28904776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.45, Y:-117.84, Z:-928.90 [[ 4.40039798e-01 -8.91913169e-01 -1.04191533e-01 4.48445222e+02] [ 8.66700447e-01 4.52200532e-01 -2.10582558e-01 -1.17840102e+02] [ 2.34936823e-01 2.36185818e-03 9.72007773e-01 -9.28898492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.46, Y:-117.82, Z:-928.89 [[ 4.40986771e-01 -8.91500886e-01 -1.03715178e-01 4.48456036e+02] [ 8.66476407e-01 4.53011289e-01 -2.09760358e-01 -1.17815689e+02] [ 2.33985692e-01 2.63478854e-03 9.72236470e-01 -9.28891721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.47, Y:-117.79, Z:-928.89 [[ 4.41203880e-01 -8.91422512e-01 -1.03465169e-01 4.48467732e+02] [ 8.66480456e-01 4.53164851e-01 -2.09411647e-01 -1.17791238e+02] [ 2.33561035e-01 2.74268432e-03 9.72338275e-01 -9.28885006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.48, Y:-117.77, Z:-928.88 [[ 4.41171273e-01 -8.91479800e-01 -1.03110013e-01 4.48478987e+02] [ 8.66676531e-01 4.53051960e-01 -2.08843752e-01 -1.17766494e+02] [ 2.32894180e-01 2.77283536e-03 9.72498130e-01 -9.28878900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.49, Y:-117.74, Z:-928.87 [[ 4.41652805e-01 -8.91285824e-01 -1.02724775e-01 4.48490000e+02] [ 8.66629200e-01 4.53432434e-01 -2.08213489e-01 -1.17741723e+02] [ 2.32156476e-01 2.93378148e-03 9.72674028e-01 -9.28872072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.50, Y:-117.72, Z:-928.87 [[ 4.41910662e-01 -8.91185712e-01 -1.02484112e-01 4.48501967e+02] [ 8.66607649e-01 4.53628404e-01 -2.07876054e-01 -1.17716646e+02] [ 2.31745873e-01 3.04912937e-03 9.72771583e-01 -9.28865419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.51, Y:-117.69, Z:-928.86 [[ 4.41925977e-01 -8.91212802e-01 -1.02182055e-01 4.48513319e+02] [ 8.66746603e-01 4.53574868e-01 -2.07413030e-01 -1.17691830e+02] [ 2.31196360e-01 3.09525709e-03 9.72902186e-01 -9.28859162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.52, Y:-117.67, Z:-928.85 [[ 4.41971235e-01 -8.91192771e-01 -1.02161015e-01 4.48524611e+02] [ 8.66700583e-01 4.53613674e-01 -2.07520445e-01 -1.17666804e+02] [ 2.31282354e-01 3.17505622e-03 9.72881489e-01 -9.28853066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.54, Y:-117.64, Z:-928.85 [[ 4.42008552e-01 -8.91179341e-01 -1.02116707e-01 4.48536055e+02] [ 8.66672679e-01 4.53639522e-01 -2.07580470e-01 -1.17641459e+02] [ 2.31315601e-01 3.25058327e-03 9.72873335e-01 -9.28847293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.55, Y:-117.62, Z:-928.84 [[ 4.41856595e-01 -8.91262968e-01 -1.02044461e-01 4.48546981e+02] [ 8.66758148e-01 4.53475031e-01 -2.07583018e-01 -1.17616967e+02] [ 2.31285672e-01 3.27405723e-03 9.72880372e-01 -9.28841784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.56, Y:-117.59, Z:-928.84 [[ 4.41054197e-01 -8.91628787e-01 -1.02319610e-01 4.48558924e+02] [ 8.66961848e-01 4.52756107e-01 -2.08300413e-01 -1.17591817e+02] [ 2.32052472e-01 3.16457343e-03 9.72698122e-01 -9.28836565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.57, Y:-117.57, Z:-928.83 [[ 4.40193315e-01 -8.92016057e-01 -1.02650859e-01 4.48571138e+02] [ 8.67161449e-01 4.51993486e-01 -2.09124150e-01 -1.17567486e+02] [ 2.32939619e-01 3.04018518e-03 9.72486448e-01 -9.28830781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.58, Y:-117.54, Z:-928.82 [[ 4.39102620e-01 -8.92529446e-01 -1.02859499e-01 4.48583293e+02] [ 8.67550087e-01 4.50980156e-01 -2.09699179e-01 -1.17543068e+02] [ 2.33550285e-01 2.84369135e-03 9.72340567e-01 -9.28824861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.60, Y:-117.52, Z:-928.82 [[ 4.37989398e-01 -8.93067969e-01 -1.02931481e-01 4.48595031e+02] [ 8.68031488e-01 4.49914095e-01 -2.09996772e-01 -1.17519893e+02] [ 2.33851714e-01 2.62859335e-03 9.72268721e-01 -9.28819161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.61, Y:-117.50, Z:-928.81 [[ 4.36912544e-01 -8.93577078e-01 -1.03089452e-01 4.48607254e+02] [ 8.68438344e-01 4.48903202e-01 -2.10477452e-01 -1.17495481e+02] [ 2.34355011e-01 2.43340604e-03 9.72148038e-01 -9.28813230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.62, Y:-117.47, Z:-928.81 [[ 4.35298281e-01 -8.94341935e-01 -1.03285575e-01 4.48619270e+02] [ 8.69091081e-01 4.47379160e-01 -2.11027442e-01 -1.17470795e+02] [ 2.34938504e-01 2.09531045e-03 9.72007978e-01 -9.28807283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.63, Y:-117.44, Z:-928.81 [[ 4.34037848e-01 -8.95798834e-01 -9.56848780e-02 4.48627493e+02] [ 8.70315021e-01 4.44370900e-01 -2.12335271e-01 -1.17442361e+02] [ 2.32729263e-01 8.88555732e-03 9.72500970e-01 -9.28807776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.65, Y:-117.42, Z:-928.79 [[ 4.34217784e-01 -8.94115442e-01 -1.09601517e-01 4.48646368e+02] [ 8.69427177e-01 4.47812261e-01 -2.08711673e-01 -1.17423211e+02] [ 2.35693233e-01 -4.66421705e-03 9.71816313e-01 -9.28793021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.66, Y:-117.40, Z:-928.79 [[ 4.33973789e-01 -8.94957345e-01 -1.03528266e-01 4.48655872e+02] [ 8.69517318e-01 4.46147540e-01 -2.11877337e-01 -1.17396316e+02] [ 2.35810060e-01 1.92959033e-03 9.71797249e-01 -9.28788944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.67, Y:-117.37, Z:-928.78 [[ 4.33563314e-01 -8.95175584e-01 -1.03361149e-01 4.48667872e+02] [ 8.69787710e-01 4.45709711e-01 -2.11688909e-01 -1.17371813e+02] [ 2.35567810e-01 1.87828758e-03 9.71856100e-01 -9.28783246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.68, Y:-117.35, Z:-928.78 [[ 4.33151086e-01 -8.95401258e-01 -1.03134494e-01 4.48679667e+02] [ 8.70095425e-01 4.45256408e-01 -2.11378057e-01 -1.17347522e+02] [ 2.35189472e-01 1.82178360e-03 9.71947835e-01 -9.28777022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.68, Y:-117.32, Z:-928.78 [[ 4.32496222e-01 -8.97711155e-01 -8.40339263e-02 4.48683479e+02] [ 8.72009471e-01 4.40159830e-01 -2.14146694e-01 -1.17316031e+02] [ 2.29230235e-01 1.93392564e-02 9.73180093e-01 -9.28783233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.70, Y:-117.30, Z:-928.77 [[ 4.31528292e-01 -8.96789036e-01 -9.77382154e-02 4.48701635e+02] [ 8.72828438e-01 4.42444043e-01 -2.05946077e-01 -1.17295611e+02] [ 2.27933875e-01 3.56286464e-03 9.73670096e-01 -9.28772212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.72, Y:-117.28, Z:-928.75 [[ 4.32621114e-01 -8.93663419e-01 -1.19183324e-01 4.48724162e+02] [ 8.71157746e-01 4.48404879e-01 -2.00043110e-01 -1.17280104e+02] [ 2.32213594e-01 -1.72846029e-02 9.72511228e-01 -9.28750028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.73, Y:-117.25, Z:-928.75 [[ 4.32698328e-01 -8.95829444e-01 -1.01300369e-01 4.48727351e+02] [ 8.71334758e-01 4.44394539e-01 -2.08060649e-01 -1.17250601e+02] [ 2.31404187e-01 1.76096278e-03 9.72856105e-01 -9.28750823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:448.74, Y:-117.23, Z:-928.74 [[ 4.33042392e-01 -8.95686451e-01 -1.01094352e-01 4.48738728e+02] [ 8.71250918e-01 4.44682074e-01 -2.07797238e-01 -1.17226713e+02] [ 2.31076017e-01 1.90646610e-03 9.72933831e-01 -9.28744923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.75, Y:-117.20, Z:-928.74 [[ 4.33166285e-01 -8.95577436e-01 -1.01528452e-01 4.48749848e+02] [ 8.70898667e-01 4.44901062e-01 -2.08802674e-01 -1.17202081e+02] [ 2.32169079e-01 2.02528567e-03 9.72673335e-01 -9.28740119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:448.76, Y:-117.18, Z:-928.73 [[ 4.33304213e-01 -8.95436891e-01 -1.02177457e-01 4.48761717e+02] [ 8.70394686e-01 4.45183093e-01 -2.10297656e-01 -1.17177328e+02] [ 2.33795956e-01 2.18814476e-03 9.72283222e-01 -9.28734776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.596559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:448.77, Y:-117.15, Z:-928.73 [[ 4.33075025e-01 -8.95554479e-01 -1.02118552e-01 4.48773786e+02] [ 8.70508756e-01 4.44946481e-01 -2.10326257e-01 -1.17152210e+02] [ 2.33795912e-01 2.19195571e-03 9.72283224e-01 -9.28728466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.79, Y:-117.13, Z:-928.72 [[ 4.33270229e-01 -8.95436088e-01 -1.02328498e-01 4.48785334e+02] [ 8.70248241e-01 4.45184010e-01 -2.10900919e-01 -1.17127628e+02] [ 2.34403305e-01 2.32589381e-03 9.72136658e-01 -9.28722563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.79, Y:-117.10, Z:-928.72 [[ 4.33856592e-01 -8.95766005e-01 -9.68076575e-02 4.48793463e+02] [ 8.70028309e-01 4.44447708e-01 -2.13347078e-01 -1.17099328e+02] [ 2.34135001e-01 8.33663374e-03 9.72168351e-01 -9.28721937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.81, Y:-117.08, Z:-928.71 [[ 4.35076840e-01 -8.93834687e-01 -1.08479010e-01 4.48810326e+02] [ 8.68639494e-01 4.48389452e-01 -2.10742330e-01 -1.17079057e+02] [ 2.37009648e-01 -2.54004554e-03 9.71503976e-01 -9.28709095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.7165599950001 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:448.81, Y:-117.05, Z:-928.71 [[ 4.35466607e-01 -8.95604454e-01 -9.08927727e-02 4.48813495e+02] [ 8.68859941e-01 4.44567879e-01 -2.17811397e-01 -1.17046736e+02] [ 2.35480864e-01 1.58765009e-02 9.71749299e-01 -9.28712842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.83, Y:-117.03, Z:-928.69 [[ 4.36648051e-01 -8.92209371e-01 -1.15329605e-01 4.48834937e+02] [ 8.67607197e-01 4.51529956e-01 -2.08274940e-01 -1.17032254e+02] [ 2.37899625e-01 -9.11794870e-03 9.71246947e-01 -9.28694784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.84, Y:-117.00, Z:-928.69 [[ 4.36782614e-01 -8.93624535e-01 -1.03228575e-01 4.48841246e+02] [ 8.67748108e-01 4.48800180e-01 -2.13521940e-01 -1.17003547e+02] [ 2.37137448e-01 3.68627008e-03 9.71469116e-01 -9.28692329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.85, Y:-116.98, Z:-928.69 [[ 4.36530580e-01 -8.93805867e-01 -1.02723536e-01 4.48852755e+02] [ 8.68153400e-01 4.48439318e-01 -2.12630790e-01 -1.16980187e+02] [ 2.36115920e-01 3.64005442e-03 9.71718078e-01 -9.28686022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.836559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.87, Y:-116.96, Z:-928.68 [[ 4.34989898e-01 -8.94658903e-01 -1.01829444e-01 4.48865045e+02] [ 8.69452807e-01 4.46738401e-01 -2.10894803e-01 -1.16955462e+02] [ 2.34170036e-01 3.20121305e-03 9.72190386e-01 -9.28678622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.88, Y:-116.93, Z:-928.67 [[ 4.33887488e-01 -8.95253234e-01 -1.01307924e-01 4.48877302e+02] [ 8.70287422e-01 4.45548011e-01 -2.09968505e-01 -1.16930913e+02] [ 2.33112527e-01 2.93569501e-03 9.72445336e-01 -9.28672146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.89, Y:-116.91, Z:-928.67 [[ 4.32412740e-01 -8.96018883e-01 -1.00843361e-01 4.48889396e+02] [ 8.71268252e-01 4.44008439e-01 -2.09160560e-01 -1.16906632e+02] [ 2.32187115e-01 2.58207207e-03 9.72667711e-01 -9.28665786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.90, Y:-116.88, Z:-928.66 [[ 4.31212742e-01 -8.96668588e-01 -1.00204868e-01 4.48901369e+02] [ 8.72215355e-01 4.42696520e-01 -2.07990785e-01 -1.16883328e+02] [ 2.30859150e-01 2.28805246e-03 9.72984490e-01 -9.28660106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.91, Y:-116.86, Z:-928.65 [[ 4.29852279e-01 -8.97375133e-01 -9.97240628e-02 4.48913756e+02] [ 8.73139777e-01 4.41264069e-01 -2.07154414e-01 -1.16858657e+02] [ 2.29899865e-01 1.97275083e-03 9.73212289e-01 -9.28653616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.93, Y:-116.84, Z:-928.65 [[ 4.27868743e-01 -8.98392409e-01 -9.90929770e-02 4.48926160e+02] [ 8.74458455e-01 4.39191156e-01 -2.05994025e-01 -1.16835384e+02] [ 2.28584227e-01 1.48571285e-03 9.73523006e-01 -9.28646880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.94, Y:-116.81, Z:-928.64 [[ 4.27104168e-01 -8.99049770e-01 -9.63926431e-02 4.48938083e+02] [ 8.74979349e-01 4.37828785e-01 -2.06681142e-01 -1.16808934e+02] [ 2.28020107e-01 3.93280520e-03 9.73648481e-01 -9.28642010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.95, Y:-116.79, Z:-928.63 [[ 4.26895447e-01 -8.98495515e-01 -1.02303894e-01 4.48950412e+02] [ 8.74717347e-01 4.38978903e-01 -2.05346258e-01 -1.16787722e+02] [ 2.29411943e-01 -1.82560773e-03 9.73327708e-01 -9.28634064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.96, Y:-116.76, Z:-928.63 [[ 4.26936313e-01 -8.98750581e-01 -9.98637919e-02 4.48960594e+02] [ 8.74353371e-01 4.38457743e-01 -2.07992766e-01 -1.16762255e+02] [ 2.30719672e-01 1.48342152e-03 9.73019133e-01 -9.28629044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.97, Y:-116.74, Z:-928.62 [[ 4.27232592e-01 -8.98566545e-01 -1.00252064e-01 4.48972518e+02] [ 8.73935301e-01 4.38834155e-01 -2.08953764e-01 -1.16737140e+02] [ 2.31752891e-01 1.65804032e-03 9.72773277e-01 -9.28622995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.98, Y:-116.71, Z:-928.62 [[ 4.27883837e-01 -8.98317549e-01 -9.97045788e-02 4.48982801e+02] [ 8.73216954e-01 4.39335296e-01 -2.10894876e-01 -1.16712735e+02] [ 2.33254309e-01 3.17478029e-03 9.72410586e-01 -9.28617699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.00, Y:-116.69, Z:-928.61 [[ 4.28877263e-01 -8.97936028e-01 -9.88695307e-02 4.48995972e+02] [ 8.72519824e-01 4.40100535e-01 -2.12180764e-01 -1.16685328e+02] [ 2.34037286e-01 4.73387987e-03 9.72216097e-01 -9.28612666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:449.01, Y:-116.66, Z:-928.60 [[ 4.27918674e-01 -8.97777176e-01 -1.04315633e-01 4.49008467e+02] [ 8.72784992e-01 4.40448732e-01 -2.10359863e-01 -1.16662112e+02] [ 2.34801972e-01 -1.02820533e-03 9.72042683e-01 -9.28604372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.02, Y:-116.64, Z:-928.60 [[ 4.28309312e-01 -8.97702006e-01 -1.03354931e-01 4.49018241e+02] [ 8.72673505e-01 4.40603118e-01 -2.10499042e-01 -1.16638470e+02] [ 2.34503917e-01 -3.64099134e-05 9.72115174e-01 -9.28597850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.03, Y:-116.61, Z:-928.59 [[ 4.28285757e-01 -8.98282396e-01 -9.82855438e-02 4.49029673e+02] [ 8.72875721e-01 4.39389185e-01 -2.12191235e-01 -1.16610035e+02] [ 2.33793256e-01 5.08741872e-03 9.72273023e-01 -9.28593543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:449.04, Y:-116.59, Z:-928.58 [[ 4.27186387e-01 -8.98078185e-01 -1.04725184e-01 4.49041913e+02] [ 8.73651558e-01 4.39828058e-01 -2.08048637e-01 -1.16590153e+02] [ 2.32905016e-01 -2.61777446e-03 9.72495964e-01 -9.28584564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.05, Y:-116.57, Z:-928.58 [[ 4.27058275e-01 -8.98674028e-01 -1.00031103e-01 4.49051119e+02] [ 8.73849405e-01 4.38611741e-01 -2.09778357e-01 -1.16565656e+02] [ 2.32397177e-01 2.17546354e-03 9.72618538e-01 -9.28580731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.06, Y:-116.54, Z:-928.57 [[ 4.26537759e-01 -8.98912413e-01 -1.00110011e-01 4.49063279e+02] [ 8.74119682e-01 4.38124150e-01 -2.09671199e-01 -1.16541114e+02] [ 2.32336657e-01 1.92455204e-03 9.72633525e-01 -9.28574439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.07, Y:-116.52, Z:-928.57 [[ 4.26270840e-01 -8.99072414e-01 -9.98096453e-02 4.49074614e+02] [ 8.74397600e-01 4.37795818e-01 -2.09197654e-01 -1.16517757e+02] [ 2.31780085e-01 1.90154527e-03 9.72766353e-01 -9.28568638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.09, Y:-116.49, Z:-928.56 [[ 4.26464238e-01 -8.99124018e-01 -9.85101770e-02 4.49086154e+02] [ 8.74390348e-01 4.37682311e-01 -2.09465308e-01 -1.16492553e+02] [ 2.31451451e-01 3.19311493e-03 9.72841215e-01 -9.28563550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.10, Y:-116.47, Z:-928.56 [[ 4.27099690e-01 -8.98599717e-01 -1.00520662e-01 4.49101317e+02] [ 8.73943833e-01 4.38766995e-01 -2.09059086e-01 -1.16466520e+02] [ 2.31965584e-01 1.43965809e-03 9.72722928e-01 -9.28555454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.12, Y:-116.44, Z:-928.55 [[ 4.27787176e-01 -8.97553116e-01 -1.06754560e-01 4.49116232e+02] [ 8.73279868e-01 4.40883232e-01 -2.07374657e-01 -1.16443293e+02] [ 2.33196065e-01 -4.51438949e-03 9.72419259e-01 -9.28545040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.12, Y:-116.42, Z:-928.55 [[ 4.27765831e-01 -8.98806431e-01 -9.57256188e-02 4.49119392e+02] [ 8.73678809e-01 4.38294730e-01 -2.11147034e-01 -1.16416410e+02] [ 2.31736346e-01 6.68804165e-03 9.72755641e-01 -9.28545590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.14, Y:-116.39, Z:-928.53 [[ 4.31140360e-01 -8.95811335e-01 -1.07889028e-01 4.49139719e+02] [ 8.71205607e-01 4.44415831e-01 -2.08555412e-01 -1.16393179e+02] [ 2.34773894e-01 -4.07687137e-03 9.72041459e-01 -9.28532531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.14, Y:-116.37, Z:-928.53 [[ 4.31131555e-01 -8.97230329e-01 -9.54113183e-02 4.49141473e+02] [ 8.71515895e-01 4.41473683e-01 -2.13450302e-01 -1.16365911e+02] [ 2.33635671e-01 8.87268036e-03 9.72283729e-01 -9.28533768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.15, Y:-116.34, Z:-928.53 [[ 4.31915801e-01 -8.96296693e-01 -1.00503629e-01 4.49154876e+02] [ 8.70951441e-01 4.43437808e-01 -2.11675455e-01 -1.16343069e+02] [ 2.34291119e-01 3.89219309e-03 9.72158692e-01 -9.28526111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.17, Y:-116.32, Z:-928.52 [[ 4.31687437e-01 -8.96413844e-01 -1.00439919e-01 4.49166714e+02] [ 8.71064694e-01 4.43200861e-01 -2.11705682e-01 -1.16317842e+02] [ 2.34290963e-01 3.90101612e-03 9.72158694e-01 -9.28519803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.18, Y:-116.29, Z:-928.51 [[ 4.33641009e-01 -8.95434136e-01 -1.00763002e-01 4.49177572e+02] [ 8.69857948e-01 4.45171135e-01 -2.12531906e-01 -1.16292485e+02] [ 2.35165103e-01 4.51305235e-03 9.71944961e-01 -9.28514102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.20, Y:-116.27, Z:-928.49 [[ 4.35349728e-01 -8.92242070e-01 -1.19894550e-01 4.49201427e+02] [ 8.67492644e-01 4.51370866e-01 -2.09095322e-01 -1.16272488e+02] [ 2.40680549e-01 -1.29780489e-02 9.70517616e-01 -9.28493736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.19, Y:-116.24, Z:-928.51 [[ 4.35095768e-01 -8.96248382e-01 -8.62004127e-02 4.49193496e+02] [ 8.69177518e-01 4.43073148e-01 -2.19582849e-01 -1.16238630e+02] [ 2.34993861e-01 2.06161075e-02 9.71778196e-01 -9.28506886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.21, Y:-116.22, Z:-928.50 [[ 4.34931967e-01 -8.94835868e-01 -1.00513447e-01 4.49212312e+02] [ 8.69276359e-01 4.46367227e-01 -2.12402708e-01 -1.16218497e+02] [ 2.34931470e-01 5.00676449e-03 9.71999042e-01 -9.28495349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.23, Y:-116.20, Z:-928.48 [[ 4.35014655e-01 -8.93577070e-01 -1.10825403e-01 4.49232523e+02] [ 8.68450896e-01 4.48885297e-01 -2.10463850e-01 -1.16196179e+02] [ 2.37813565e-01 -4.69156162e-03 9.71299489e-01 -9.28480054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.23, Y:-116.17, Z:-928.49 [[ 4.33324013e-01 -8.96434587e-01 -9.29264827e-02 4.49232523e+02] [ 8.70284753e-01 4.43001954e-01 -2.15299136e-01 -1.16167923e+02] [ 2.34168205e-01 1.24217846e-02 9.72116737e-01 -9.28485155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.25, Y:-116.15, Z:-928.48 [[ 4.31251495e-01 -8.96717222e-01 -9.96010675e-02 4.49248488e+02] [ 8.71570235e-01 4.42584483e-01 -2.10913018e-01 -1.16146376e+02] [ 2.33211223e-01 4.14722845e-03 9.72417259e-01 -9.28476139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.26, Y:-116.12, Z:-928.47 [[ 4.30328596e-01 -8.97178172e-01 -9.94415763e-02 4.49260317e+02] [ 8.72087032e-01 4.41651020e-01 -2.10733446e-01 -1.16122043e+02] [ 2.32983921e-01 3.96291894e-03 9.72472513e-01 -9.28470056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.27, Y:-116.10, Z:-928.46 [[ 4.30091139e-01 -8.97298787e-01 -9.93805810e-02 4.49272108e+02] [ 8.72204185e-01 4.41405881e-01 -2.10762208e-01 -1.16096790e+02] [ 2.32983847e-01 3.96679949e-03 9.72472515e-01 -9.28463745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.28, Y:-116.07, Z:-928.46 [[ 4.28704089e-01 -8.97963763e-01 -9.93674239e-02 4.49284399e+02] [ 8.72857543e-01 4.40054074e-01 -2.10884145e-01 -1.16073641e+02] [ 2.33093360e-01 3.67328995e-03 9.72447424e-01 -9.28457919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.30, Y:-116.05, Z:-928.45 [[ 4.28023624e-01 -8.98271457e-01 -9.95196796e-02 4.49296765e+02] [ 8.73055026e-01 4.39426354e-01 -2.11375024e-01 -1.16048830e+02] [ 2.33603721e-01 3.58734747e-03 9.72325271e-01 -9.28451530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.31, Y:-116.02, Z:-928.45 [[ 4.27341553e-01 -8.98585485e-01 -9.96158732e-02 4.49308543e+02] [ 8.73290109e-01 4.38784620e-01 -2.11736730e-01 -1.16024887e+02] [ 2.33973466e-01 3.49034647e-03 9.72236718e-01 -9.28445790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.34, Y:-116.01, Z:-928.42 [[ 4.29187376e-01 -8.94511016e-01 -1.25092922e-01 4.49339104e+02] [ 8.70103280e-01 4.46625411e-01 -2.08437101e-01 -1.16006364e+02] [ 2.42318961e-01 -1.93851895e-02 9.70002957e-01 -9.28421531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.32, Y:-115.97, Z:-928.44 [[ 4.26085472e-01 -9.00843388e-01 -8.32607960e-02 4.49323885e+02] [ 8.73169288e-01 4.33577271e-01 -2.22679464e-01 -1.15970824e+02] [ 2.36699312e-01 2.21797147e-02 9.71329757e-01 -9.28440477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.34, Y:-115.95, Z:-928.43 [[ 4.25373658e-01 -8.99348912e-01 -1.01137457e-01 4.49343539e+02] [ 8.73159508e-01 4.37218830e-01 -2.15481250e-01 -1.15951700e+02] [ 2.38012028e-01 3.35091568e-03 9.71256426e-01 -9.28427933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.37, Y:-115.93, Z:-928.41 [[ 4.28179977e-01 -8.95638432e-01 -1.20389813e-01 4.49370064e+02] [ 8.70356922e-01 4.44559101e-01 -2.11768823e-01 -1.15930482e+02] [ 2.43188684e-01 -1.41069367e-02 9.69876414e-01 -9.28407220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:-115.90, Z:-928.41 [[ 4.30263399e-01 -8.96200178e-01 -1.08160289e-01 4.49375295e+02] [ 8.69356727e-01 4.43649761e-01 -2.17701104e-01 -1.15900334e+02] [ 2.43089054e-01 -3.61058234e-04 9.70003908e-01 -9.28405693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:-115.87, Z:-928.41 [[ 4.28229184e-01 -8.98843382e-01 -9.32756121e-02 4.49375020e+02] [ 8.71358214e-01 4.38066483e-01 -2.20981041e-01 -1.15871927e+02] [ 2.39488266e-01 1.33540603e-02 9.70807416e-01 -9.28409717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:-115.85, Z:-928.40 [[ 4.27042808e-01 -8.98798020e-01 -9.89775695e-02 4.49385308e+02] [ 8.72454266e-01 4.38322916e-01 -2.16093903e-01 -1.15851295e+02] [ 2.37608909e-01 5.92794448e-03 9.71342816e-01 -9.28403926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:-115.83, Z:-928.40 [[ 4.26991775e-01 -8.98661144e-01 -1.00429942e-01 4.49397569e+02] [ 8.72511709e-01 4.38622606e-01 -2.15252242e-01 -1.15827282e+02] [ 2.37489668e-01 4.28463654e-03 9.71380615e-01 -9.28396341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.41, Y:-115.80, Z:-928.39 [[ 4.25597391e-01 -8.99387735e-01 -9.98426881e-02 4.49408320e+02] [ 8.73528445e-01 4.37134160e-01 -2.14153643e-01 -1.15803371e+02] [ 2.36251809e-01 3.92780374e-03 9.71683928e-01 -9.28389922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:-115.78, Z:-928.38 [[ 4.24329696e-01 -9.00001771e-01 -9.97051755e-02 4.49419498e+02] [ 8.74190522e-01 4.35870901e-01 -2.14026844e-01 -1.15778614e+02] [ 2.36083123e-01 3.65662627e-03 9.71725984e-01 -9.28383703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.43, Y:-115.75, Z:-928.38 [[ 4.22910245e-01 -9.00706091e-01 -9.93753595e-02 4.49430386e+02] [ 8.75048958e-01 4.34416272e-01 -2.13475583e-01 -1.15754821e+02] [ 2.35449031e-01 3.32270624e-03 9.71881018e-01 -9.28377753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.336559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:449.45, Y:-115.74, Z:-928.36 [[ 4.21054973e-01 -8.99588931e-01 -1.15984763e-01 4.49450494e+02] [ 8.74827796e-01 4.36542955e-01 -2.10015659e-01 -1.15735981e+02] [ 2.39560094e-01 -1.30385568e-02 9.70793983e-01 -9.28358568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.45, Y:-115.70, Z:-928.37 [[ 4.17520225e-01 -9.04753498e-01 -8.42494557e-02 4.49447898e+02] [ 8.78157213e-01 4.25587412e-01 -2.18438240e-01 -1.15702660e+02] [ 2.33488270e-01 1.72181161e-02 9.72207161e-01 -9.28369757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.47, Y:-115.68, Z:-928.36 [[ 4.15088020e-01 -9.04466468e-01 -9.81954412e-02 4.49466913e+02] [ 8.79430143e-01 4.26542538e-01 -2.11338795e-01 -1.15682940e+02] [ 2.33033386e-01 1.36817111e-03 9.72467773e-01 -9.28358303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.48, Y:-115.66, Z:-928.35 [[ 4.12607683e-01 -9.05598988e-01 -9.82108649e-02 4.49478889e+02] [ 8.80547468e-01 4.24134215e-01 -2.11533268e-01 -1.15658279e+02] [ 2.33218902e-01 8.00923206e-04 9.72423932e-01 -9.28351845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.49, Y:-115.63, Z:-928.35 [[ 4.10728732e-01 -9.06470169e-01 -9.80496905e-02 4.49490684e+02] [ 8.81487903e-01 4.22269691e-01 -2.11346599e-01 -1.15634981e+02] [ 2.32982800e-01 3.76504548e-04 9.72480783e-01 -9.28345861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.50, Y:-115.61, Z:-928.33 [[ 4.08278648e-01 -9.06806880e-01 -1.04927727e-01 4.49504386e+02] [ 8.82228918e-01 4.21489646e-01 -2.09806138e-01 -1.15613274e+02] [ 2.34479599e-01 -6.91090849e-03 9.72096475e-01 -9.28334151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.51, Y:-115.58, Z:-928.34 [[ 4.07053178e-01 -9.08861363e-01 -9.09875471e-02 4.49511189e+02] [ 8.83274398e-01 4.17042195e-01 -2.14247860e-01 -1.15584504e+02] [ 2.32667248e-01 6.84330118e-03 9.72532324e-01 -9.28335521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.53, Y:-115.56, Z:-928.33 [[ 4.06350696e-01 -9.08517999e-01 -9.73352844e-02 4.49525546e+02] [ 8.83867896e-01 4.17845263e-01 -2.10197237e-01 -1.15561190e+02] [ 2.31639060e-01 -6.17739752e-04 9.72801606e-01 -9.28326703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.53, Y:-115.53, Z:-928.33 [[ 4.04697119e-01 -9.10734372e-01 -8.23598521e-02 4.49527514e+02] [ 8.85768360e-01 4.12790635e-01 -2.12175175e-01 -1.15531235e+02] [ 2.27232600e-01 1.29149311e-02 9.73754872e-01 -9.28330528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.55, Y:-115.51, Z:-928.31 [[ 4.04787308e-01 -9.08001697e-01 -1.08074762e-01 4.49552135e+02] [ 8.84995182e-01 4.18756684e-01 -2.03534684e-01 -1.15514362e+02] [ 2.30066867e-01 -1.32573870e-02 9.73084518e-01 -9.28309944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.56, Y:-115.49, Z:-928.31 [[ 4.04061809e-01 -9.09650394e-01 -9.62819540e-02 4.49557963e+02] [ 8.85485882e-01 4.15373269e-01 -2.08278179e-01 -1.15485737e+02] [ 2.29453278e-01 -1.09905306e-03 9.73319056e-01 -9.28307985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.57, Y:-115.46, Z:-928.30 [[ 4.02462786e-01 -9.10404964e-01 -9.58462721e-02 4.49569331e+02] [ 8.86447057e-01 4.13715700e-01 -2.07487194e-01 -1.15460886e+02] [ 2.28550479e-01 -1.45677153e-03 9.73530974e-01 -9.28301430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.58, Y:-115.44, Z:-928.29 [[ 4.01705667e-01 -9.10774749e-01 -9.55087112e-02 4.49580855e+02] [ 8.86961561e-01 4.12900488e-01 -2.06911518e-01 -1.15435711e+02] [ 2.27885379e-01 -1.59502628e-03 9.73686659e-01 -9.28294973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.59, Y:-115.41, Z:-928.29 [[ 4.01466999e-01 -9.10886188e-01 -9.54494724e-02 4.49592433e+02] [ 8.87069611e-01 4.12654603e-01 -2.06938842e-01 -1.15410358e+02] [ 2.27885397e-01 -1.59121020e-03 9.73686661e-01 -9.28288671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.60, Y:-115.38, Z:-928.28 [[ 4.02167350e-01 -9.10944579e-01 -9.18770732e-02 4.49603876e+02] [ 8.87101743e-01 4.12524965e-01 -2.07059534e-01 -1.15384220e+02] [ 2.26521346e-01 1.76827207e-03 9.74004596e-01 -9.28283972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.62, Y:-115.36, Z:-928.28 [[ 4.01704210e-01 -9.10435176e-01 -9.86991317e-02 4.49615686e+02] [ 8.87103986e-01 4.13618274e-01 -2.04857127e-01 -1.15362902e+02] [ 2.27332899e-01 -5.26442278e-03 9.73802875e-01 -9.28275063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.63, Y:-115.34, Z:-928.26 [[ 4.05463042e-01 -9.07830627e-01 -1.06973244e-01 4.49632053e+02] [ 8.84422368e-01 4.19181206e-01 -2.05144321e-01 -1.15338343e+02] [ 2.31077471e-01 -1.14310890e-02 9.72868199e-01 -9.28262049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.65, Y:-115.32, Z:-928.24 [[ 4.07940918e-01 -9.05193378e-01 -1.19202168e-01 4.49650227e+02] [ 8.81920462e-01 4.24457201e-01 -2.05066777e-01 -1.15316419e+02] [ 2.36221307e-01 -2.14717021e-02 9.71462022e-01 -9.28244268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.65, Y:-115.29, Z:-928.24 [[ 4.09975799e-01 -9.06356139e-01 -1.02168463e-01 4.49653506e+02] [ 8.80644818e-01 4.22509380e-01 -2.14360743e-01 -1.15285504e+02] [ 2.37454309e-01 -2.09141112e-03 9.71396457e-01 -9.28243983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.66, Y:-115.26, Z:-928.24 [[ 4.10367931e-01 -9.06511193e-01 -9.91746892e-02 4.49662018e+02] [ 8.81173174e-01 4.22181779e-01 -2.12829470e-01 -1.15259077e+02] [ 2.34802043e-01 -5.16865665e-05 9.72043208e-01 -9.28241649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:449.66, Y:-115.23, Z:-928.25 [[ 4.09710015e-01 -9.09008959e-01 -7.64226130e-02 4.49659668e+02] [ 8.82952574e-01 4.16222127e-01 -2.17149472e-01 -1.15226824e+02] [ 2.29199598e-01 2.14907705e-02 9.73142174e-01 -9.28251935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.68, Y:-115.21, Z:-928.24 [[ 4.10793122e-01 -9.06626779e-01 -9.63166407e-02 4.49681034e+02] [ 8.82427460e-01 4.21933231e-01 -2.08072408e-01 -1.15207206e+02] [ 2.29283208e-01 4.82265283e-04 9.73359635e-01 -9.28238852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.70, Y:-115.19, Z:-928.22 [[ 4.11704962e-01 -9.04723364e-01 -1.09428785e-01 4.49699154e+02] [ 8.81270027e-01 4.25829690e-01 -2.05017598e-01 -1.15185622e+02] [ 2.32082236e-01 -1.20295454e-02 9.72621779e-01 -9.28223986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.71, Y:-115.16, Z:-928.22 [[ 4.12816710e-01 -9.05196488e-01 -1.01003380e-01 4.49707977e+02] [ 8.80515504e-01 4.24987281e-01 -2.09948229e-01 -1.15156300e+02] [ 2.32969552e-01 -2.26490482e-03 9.72481392e-01 -9.28219989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.71, Y:-115.13, Z:-928.23 [[ 4.09943599e-01 -9.08060578e-01 -8.58617057e-02 4.49705275e+02] [ 8.82893725e-01 4.18685044e-01 -2.12606452e-01 -1.15128990e+02] [ 2.29008550e-01 1.13498929e-02 9.73358240e-01 -9.28226975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.73, Y:-115.11, Z:-928.21 [[ 4.10549906e-01 -9.06284634e-01 -1.00483519e-01 4.49727882e+02] [ 8.82090294e-01 4.22655596e-01 -2.08035960e-01 -1.15106738e+02] [ 2.31009716e-01 -3.22639271e-03 9.72946094e-01 -9.28211534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.73, Y:-115.08, Z:-928.21 [[ 4.07624684e-01 -9.08387247e-01 -9.31382145e-02 4.49731717e+02] [ 8.83923420e-01 4.18118866e-01 -2.09418247e-01 -1.15082372e+02] [ 2.29175709e-01 3.03699754e-03 9.73380332e-01 -9.28211522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.74, Y:-115.05, Z:-928.21 [[ 4.07253529e-01 -9.09055600e-01 -8.81049340e-02 4.49744309e+02] [ 8.84395868e-01 4.16602112e-01 -2.10443886e-01 -1.15053952e+02] [ 2.28009894e-01 7.78437552e-03 9.73627697e-01 -9.28207150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.76, Y:-115.04, Z:-928.20 [[ 4.06480799e-01 -9.07757618e-01 -1.03679643e-01 4.49759662e+02] [ 8.84319962e-01 4.19412714e-01 -2.05112606e-01 -1.15036508e+02] [ 2.29677091e-01 -8.31164216e-03 9.73231396e-01 -9.28195138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.77, Y:-115.01, Z:-928.19 [[ 4.06225860e-01 -9.08763999e-01 -9.55434177e-02 4.49767270e+02] [ 8.84285637e-01 4.17309971e-01 -2.09502507e-01 -1.15008723e+02] [ 2.30259557e-01 6.17664067e-04 9.73129054e-01 -9.28192093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.78, Y:-114.98, Z:-928.19 [[ 4.05891039e-01 -9.08909262e-01 -9.55846173e-02 4.49778155e+02] [ 8.84374948e-01 4.16993511e-01 -2.09755484e-01 -1.14984912e+02] [ 2.30506867e-01 6.05230275e-04 9.73070510e-01 -9.28186398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.79, Y:-114.96, Z:-928.18 [[ 4.05985481e-01 -9.09531525e-01 -8.90404124e-02 4.49789049e+02] [ 8.84561628e-01 4.15572272e-01 -2.11779161e-01 -1.14955640e+02] [ 2.29622550e-01 7.21753251e-03 9.73252995e-01 -9.28183290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.81, Y:-114.94, Z:-928.17 [[ 4.04863158e-01 -9.08201612e-01 -1.06092675e-01 4.49807222e+02] [ 8.84623938e-01 4.18401112e-01 -2.05866455e-01 -1.14936351e+02] [ 2.31357539e-01 -1.05043770e-02 9.72812082e-01 -9.28168344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.81, Y:-114.91, Z:-928.17 [[ 4.04400628e-01 -9.09834119e-01 -9.30699055e-02 4.49809494e+02] [ 8.85226469e-01 4.14963916e-01 -2.10188124e-01 -1.14909252e+02] [ 2.29856979e-01 2.61226563e-03 9.73220913e-01 -9.28169956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.82, Y:-114.88, Z:-928.17 [[ 4.03829449e-01 -9.10452840e-01 -8.94282033e-02 4.49820416e+02] [ 8.85636875e-01 4.13568043e-01 -2.11207953e-01 -1.14882079e+02] [ 2.29279527e-01 6.09107646e-03 9.73341563e-01 -9.28165965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.84, Y:-114.86, Z:-928.16 [[ 4.03541589e-01 -9.09759209e-01 -9.74287816e-02 4.49836253e+02] [ 8.85422265e-01 4.15131929e-01 -2.09028454e-01 -1.14859245e+02] [ 2.30611359e-01 -1.91393815e-03 9.73044058e-01 -9.28156039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.416559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:449.85, Y:-114.84, Z:-928.15 [[ 4.02876923e-01 -9.09533621e-01 -1.02170334e-01 4.49850795e+02] [ 8.85138558e-01 4.15585570e-01 -2.09328370e-01 -1.14836156e+02] [ 2.32851707e-01 -6.10133190e-03 9.72493114e-01 -9.28146663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.86, Y:-114.81, Z:-928.14 [[ 4.02486567e-01 -9.10551229e-01 -9.43452305e-02 4.49857131e+02] [ 8.85576573e-01 4.13392762e-01 -2.11803113e-01 -1.14810026e+02] [ 2.31859220e-01 1.69798195e-03 9.72747870e-01 -9.28144768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.86, Y:-114.78, Z:-928.14 [[ 4.00640247e-01 -9.12083999e-01 -8.71215926e-02 4.49864856e+02] [ 8.86787191e-01 4.09919960e-01 -2.13480922e-01 -1.14782348e+02] [ 2.30425413e-01 8.27073695e-03 9.73054841e-01 -9.28143708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.88, Y:-114.76, Z:-928.13 [[ 4.00160548e-01 -9.11134123e-01 -9.85197768e-02 4.49882054e+02] [ 8.86776750e-01 4.12094116e-01 -2.09297481e-01 -1.14760826e+02] [ 2.31297497e-01 -3.61245275e-03 9.72876363e-01 -9.28131913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.89, Y:-114.73, Z:-928.13 [[ 3.99965185e-01 -9.11592225e-01 -9.50129765e-02 4.49891797e+02] [ 8.86847311e-01 4.11095612e-01 -2.10955551e-01 -1.14734299e+02] [ 2.31364858e-01 1.12873128e-04 9.72867047e-01 -9.28126871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.91, Y:-114.71, Z:-928.12 [[ 3.99711105e-01 -9.10994575e-01 -1.01586990e-01 4.49907203e+02] [ 8.86448716e-01 4.12373833e-01 -2.10134471e-01 -1.14711298e+02] [ 2.33323180e-01 -6.05857517e-03 9.72380372e-01 -9.28116220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.91, Y:-114.68, Z:-928.12 [[ 3.96871199e-01 -9.14096700e-01 -8.31893853e-02 4.49908680e+02] [ 8.88587725e-01 4.05338725e-01 -2.14737917e-01 -1.14682538e+02] [ 2.30011100e-01 1.13022279e-02 9.73122373e-01 -9.28121330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:449.93, Y:-114.66, Z:-928.11 [[ 3.96770780e-01 -9.12721268e-01 -9.75337651e-02 4.49928639e+02] [ 8.88532870e-01 4.08564838e-01 -2.08768084e-01 -1.14662431e+02] [ 2.30395937e-01 -3.82888075e-03 9.73089437e-01 -9.28109248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.94, Y:-114.64, Z:-928.10 [[ 3.96260657e-01 -9.12674392e-01 -1.00014732e-01 4.49939786e+02] [ 8.88523568e-01 4.08640719e-01 -2.08659129e-01 -1.14641331e+02] [ 2.31307936e-01 -6.18204272e-03 9.72860947e-01 -9.28102051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.95, Y:-114.62, Z:-928.10 [[ 3.95966802e-01 -9.13335658e-01 -9.50171977e-02 4.49948839e+02] [ 8.88508752e-01 4.07206976e-01 -2.11505738e-01 -1.14615443e+02] [ 2.31867398e-01 -6.74361041e-04 9.72747169e-01 -9.28097675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.96, Y:-114.59, Z:-928.09 [[ 3.95915614e-01 -9.13369424e-01 -9.49058627e-02 4.49959932e+02] [ 8.88564024e-01 4.07131311e-01 -2.11419184e-01 -1.14591108e+02] [ 2.31742967e-01 -6.25779208e-04 9.72776853e-01 -9.28091781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.97, Y:-114.57, Z:-928.09 [[ 3.96450238e-01 -9.13171482e-01 -9.45782954e-02 4.49971051e+02] [ 8.88493904e-01 4.07575335e-01 -2.10857603e-01 -1.14565806e+02] [ 2.31096930e-01 -4.37691988e-04 9.72930633e-01 -9.28085956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.98, Y:-114.54, Z:-928.08 [[ 3.97906101e-01 -9.12575049e-01 -9.42205618e-02 4.49982238e+02] [ 8.88032545e-01 4.08909255e-01 -2.10217556e-01 -1.14541324e+02] [ 2.30366957e-01 -2.40769986e-05 9.73103831e-01 -9.28079846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.99, Y:-114.52, Z:-928.07 [[ 3.97728068e-01 -9.12675045e-01 -9.40034389e-02 4.49993229e+02] [ 8.88212530e-01 4.08686019e-01 -2.09891019e-01 -1.14515745e+02] [ 2.29980187e-01 -1.54827442e-05 9.73195311e-01 -9.28073755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.00, Y:-114.49, Z:-928.07 [[ 3.97481439e-01 -9.12788876e-01 -9.39413362e-02 4.50004538e+02] [ 8.88322928e-01 4.08431718e-01 -2.09918812e-01 -1.14490248e+02] [ 2.29980178e-01 -1.14114412e-05 9.73195313e-01 -9.28067530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:450.02, Y:-114.47, Z:-928.06 [[ 3.99041798e-01 -9.12125354e-01 -9.37709041e-02 4.50015747e+02] [ 8.87694447e-01 4.09911147e-01 -2.09693636e-01 -1.14466385e+02] [ 2.29704621e-01 4.36614639e-04 9.73260292e-01 -9.28061113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.03, Y:-114.44, Z:-928.06 [[ 3.99654590e-01 -9.11933715e-01 -9.30220794e-02 4.50027098e+02] [ 8.87466135e-01 4.10335466e-01 -2.09830087e-01 -1.14440895e+02] [ 2.29521389e-01 1.30561211e-03 9.73302742e-01 -9.28055223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.04, Y:-114.42, Z:-928.05 [[ 4.02762860e-01 -9.10429038e-01 -9.43453511e-02 4.50037632e+02] [ 8.86162572e-01 4.13664992e-01 -2.08799357e-01 -1.14417357e+02] [ 2.29124367e-01 4.91307175e-04 9.73397033e-01 -9.28048882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.05, Y:-114.39, Z:-928.04 [[ 4.04069374e-01 -9.09956946e-01 -9.33075484e-02 4.50047649e+02] [ 8.85625686e-01 4.14698715e-01 -2.09026603e-01 -1.14392664e+02] [ 2.28899730e-01 1.82568716e-03 9.73448294e-01 -9.28043582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.06, Y:-114.37, Z:-928.04 [[ 4.05156396e-01 -9.09514189e-01 -9.29098241e-02 4.50058760e+02] [ 8.85120176e-01 4.15665105e-01 -2.09248166e-01 -1.14366820e+02] [ 2.28933548e-01 2.54187312e-03 9.73438734e-01 -9.28037849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.07, Y:-114.34, Z:-928.03 [[ 4.06902399e-01 -9.08670867e-01 -9.35291074e-02 4.50069595e+02] [ 8.84428866e-01 4.17507800e-01 -2.08501364e-01 -1.14342755e+02] [ 2.28508247e-01 2.11986294e-03 9.73539669e-01 -9.28031256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.08, Y:-114.32, Z:-928.03 [[ 4.08171242e-01 -9.08148716e-01 -9.30706534e-02 4.50079960e+02] [ 8.83817682e-01 4.18637107e-01 -2.08828344e-01 -1.14317718e+02] [ 2.28610022e-01 2.98023543e-03 9.73513521e-01 -9.28025278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.076559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.09, Y:-114.29, Z:-928.02 [[ 4.09819341e-01 -9.07370981e-01 -9.34131152e-02 4.50090105e+02] [ 8.82799965e-01 4.20316151e-01 -2.09758326e-01 -1.14292825e+02] [ 2.29591659e-01 3.49792429e-03 9.73280758e-01 -9.28020651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.10, Y:-114.27, Z:-928.01 [[ 4.10010341e-01 -9.07235466e-01 -9.38899874e-02 4.50101208e+02] [ 8.82365326e-01 4.20607136e-01 -2.11000163e-01 -1.14267531e+02] [ 2.30917630e-01 3.66697934e-03 9.72966393e-01 -9.28014281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.11, Y:-114.24, Z:-928.01 [[ 4.09973995e-01 -9.07249056e-01 -9.39173773e-02 4.50112381e+02] [ 8.82325737e-01 4.20577258e-01 -2.11225153e-01 -1.14242525e+02] [ 2.31133333e-01 3.73110076e-03 9.72914930e-01 -9.28008266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.12, Y:-114.22, Z:-928.00 [[ 4.09754137e-01 -9.07347172e-01 -9.39289990e-02 4.50123938e+02] [ 8.82381117e-01 4.20365399e-01 -2.11415461e-01 -1.14217215e+02] [ 2.31311721e-01 3.74718463e-03 9.72872472e-01 -9.28001899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.14, Y:-114.19, Z:-927.99 [[ 4.09093435e-01 -9.07562280e-01 -9.47273492e-02 4.50136608e+02] [ 8.82670701e-01 4.19908482e-01 -2.11114427e-01 -1.14192484e+02] [ 2.31376308e-01 2.75247021e-03 9.72860436e-01 -9.27994550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.15, Y:-114.17, Z:-927.99 [[ 4.08268861e-01 -9.08095902e-01 -9.31577711e-02 4.50145619e+02] [ 8.83329714e-01 4.18745741e-01 -2.10667085e-01 -1.14168886e+02] [ 2.30315336e-01 3.71978333e-03 9.73108940e-01 -9.27989705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.16, Y:-114.15, Z:-927.98 [[ 4.06244044e-01 -9.09032336e-01 -9.28761977e-02 4.50156876e+02] [ 8.84577431e-01 4.16715259e-01 -2.09454439e-01 -1.14145279e+02] [ 2.29103786e-01 2.93342986e-03 9.73397581e-01 -9.27983202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.16, Y:-114.11, Z:-927.99 [[ 4.03589245e-01 -9.12256398e-01 -7.00284665e-02 4.50157156e+02] [ 8.87362374e-01 4.08926358e-01 -2.12995896e-01 -1.14112045e+02] [ 2.22943354e-01 2.38222264e-02 9.74540283e-01 -9.27991752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.19, Y:-114.10, Z:-927.96 [[ 4.03117723e-01 -9.08316506e-01 -1.11611949e-01 4.50188920e+02] [ 8.86254133e-01 4.17880239e-01 -1.99824220e-01 -1.14101004e+02] [ 2.28144065e-01 -1.83638668e-02 9.73454187e-01 -9.27963541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.19, Y:-114.07, Z:-927.96 [[ 4.00581076e-01 -9.11662878e-01 -9.16820517e-02 4.50192023e+02] [ 8.87820112e-01 4.10935886e-01 -2.07140403e-01 -1.14070131e+02] [ 2.26517661e-01 1.57935632e-03 9.74005778e-01 -9.27964517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.20, Y:-114.05, Z:-927.96 [[ 3.99417970e-01 -9.12206454e-01 -9.13491657e-02 4.50203437e+02] [ 8.88516527e-01 4.09728702e-01 -2.06544842e-01 -1.14045613e+02] [ 2.25839913e-01 1.33247795e-03 9.74163517e-01 -9.27958113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.21, Y:-114.01, Z:-927.96 [[ 3.97483432e-01 -9.14644871e-01 -7.36999398e-02 4.50206095e+02] [ 8.90553385e-01 4.03877093e-01 -2.09279629e-01 -1.14014228e+02] [ 2.21182257e-01 1.75514545e-02 9.75074539e-01 -9.27963598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.23, Y:-113.99, Z:-927.95 [[ 3.97770088e-01 -9.12870176e-01 -9.19075587e-02 4.50226619e+02] [ 8.90031950e-01 4.08248532e-01 -2.02919356e-01 -1.13993956e+02] [ 2.22760154e-01 -1.08541376e-03 9.74872677e-01 -9.27948841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.23, Y:-113.96, Z:-927.95 [[ 3.97781540e-01 -9.14192339e-01 -7.76029236e-02 4.50229915e+02] [ 8.90912649e-01 4.05085995e-01 -2.05377674e-01 -1.13964828e+02] [ 2.19190554e-01 1.25580212e-02 9.75601249e-01 -9.27952453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.25, Y:-113.94, Z:-927.94 [[ 3.97842900e-01 -9.13027152e-01 -9.00135919e-02 4.50245087e+02] [ 8.90498608e-01 4.07898784e-01 -2.01570859e-01 -1.13942876e+02] [ 2.20756102e-01 3.65566606e-05 9.75329043e-01 -9.27941326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.27, Y:-113.92, Z:-927.92 [[ 4.02592060e-01 -9.08439186e-01 -1.12507235e-01 4.50266631e+02] [ 8.86495419e-01 4.17564088e-01 -1.99414406e-01 -1.13924304e+02] [ 2.28134842e-01 -1.94544914e-02 9.73435163e-01 -9.27919939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.25, Y:-113.88, Z:-927.94 [[ 4.02705717e-01 -9.13104646e-01 -6.37809621e-02 4.50253166e+02] [ 8.87951075e-01 4.06625820e-01 -2.14937973e-01 -1.13882153e+02] [ 2.22195848e-01 2.99223769e-02 9.74542794e-01 -9.27940694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.29, Y:-113.87, Z:-927.91 [[ 4.05793733e-01 -9.06979897e-01 -1.12778153e-01 4.50290837e+02] [ 8.84831998e-01 4.20763017e-01 -2.00077035e-01 -1.13870893e+02] [ 2.28918724e-01 -1.85997118e-02 9.73267830e-01 -9.27909509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.29, Y:-113.84, Z:-927.91 [[ 4.06951269e-01 -9.08395616e-01 -9.59586881e-02 4.50290808e+02] [ 8.83945319e-01 4.18111551e-01 -2.09340403e-01 -1.13840502e+02] [ 2.30285341e-01 3.69109599e-04 9.73123079e-01 -9.27910584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.30, Y:-113.82, Z:-927.90 [[ 4.07390452e-01 -9.08287199e-01 -9.51177356e-02 4.50299158e+02] [ 8.83554336e-01 4.18343630e-01 -2.10523972e-01 -1.13816940e+02] [ 2.31008128e-01 1.72376846e-03 9.72950294e-01 -9.27904872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.31, Y:-113.79, Z:-927.90 [[ 4.07385747e-01 -9.08519394e-01 -9.28943683e-02 4.50309409e+02] [ 8.83412181e-01 4.17819890e-01 -2.12154326e-01 -1.13790273e+02] [ 2.31559435e-01 4.36463241e-03 9.72810967e-01 -9.27899340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.32, Y:-113.77, Z:-927.89 [[ 4.07374145e-01 -9.08446118e-01 -9.36587283e-02 4.50319913e+02] [ 8.83531240e-01 4.17988649e-01 -2.11324482e-01 -1.13765803e+02] [ 2.31125191e-01 3.33771784e-03 9.72918294e-01 -9.27892901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.33, Y:-113.74, Z:-927.89 [[ 4.07287063e-01 -9.08593478e-01 -9.26020508e-02 4.50330094e+02] [ 8.83762307e-01 4.17661430e-01 -2.11005012e-01 -1.13741247e+02] [ 2.30394083e-01 4.10140954e-03 9.73088765e-01 -9.27886870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.34, Y:-113.72, Z:-927.88 [[ 4.05957582e-01 -9.09189810e-01 -9.25868865e-02 4.50340917e+02] [ 8.84521743e-01 4.16367108e-01 -2.10379939e-01 -1.13715772e+02] [ 2.29825431e-01 3.51021714e-03 9.73225539e-01 -9.27880148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.35, Y:-113.69, Z:-927.87 [[ 4.04351337e-01 -9.10064106e-01 -9.10127479e-02 4.50350272e+02] [ 8.85935607e-01 4.14452275e-01 -2.08200415e-01 -1.13691817e+02] [ 2.27196164e-01 3.55468203e-03 9.73842527e-01 -9.27873299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.36, Y:-113.67, Z:-927.87 [[ 4.03341690e-01 -9.10538738e-01 -9.07451877e-02 4.50361045e+02] [ 8.86650762e-01 4.13411975e-01 -2.07222021e-01 -1.13666600e+02] [ 2.26198825e-01 3.12199044e-03 9.74076150e-01 -9.27866323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.37, Y:-113.64, Z:-927.86 [[ 4.02652334e-01 -9.10898207e-01 -9.01973129e-02 4.50371753e+02] [ 8.87272213e-01 4.12620437e-01 -2.06136836e-01 -1.13642027e+02] [ 2.24986929e-01 2.97190860e-03 9.74357250e-01 -9.27860246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.38, Y:-113.62, Z:-927.85 [[ 4.01637837e-01 -9.11377743e-01 -8.98757936e-02 4.50381978e+02] [ 8.87899268e-01 4.11561671e-01 -2.05552623e-01 -1.13616596e+02] [ 2.24325517e-01 2.75705942e-03 9.74510370e-01 -9.27853951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.39, Y:-113.59, Z:-927.85 [[ 4.02251684e-01 -9.11155089e-01 -8.93867284e-02 4.50392641e+02] [ 8.87891368e-01 4.12053140e-01 -2.04599925e-01 -1.13592743e+02] [ 2.23254345e-01 2.93495961e-03 9.74755807e-01 -9.27848507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.40, Y:-113.57, Z:-927.84 [[ 4.01847034e-01 -9.11300565e-01 -8.97231345e-02 4.50402479e+02] [ 8.87827827e-01 4.11731342e-01 -2.05521416e-01 -1.13566652e+02] [ 2.24233609e-01 2.92947588e-03 9.74531019e-01 -9.27842774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.41, Y:-113.54, Z:-927.84 [[ 4.01367132e-01 -9.11481795e-01 -9.00297863e-02 4.50412960e+02] [ 8.87813547e-01 4.11330148e-01 -2.06384631e-01 -1.13541450e+02] [ 2.25147799e-01 2.90634352e-03 9.74320287e-01 -9.27836979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.43, Y:-113.52, Z:-927.82 [[ 4.00467920e-01 -9.10605775e-01 -1.02090975e-01 4.50429334e+02] [ 8.87108679e-01 4.13194851e-01 -2.05689587e-01 -1.13519219e+02] [ 2.29485592e-01 -8.19370903e-03 9.73277569e-01 -9.27823928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.43, Y:-113.49, Z:-927.83 [[ 3.99882974e-01 -9.12988755e-01 -8.09020465e-02 4.50429562e+02] [ 8.87956452e-01 4.07770083e-01 -2.12736691e-01 -1.13487978e+02] [ 2.27215641e-01 1.32322865e-02 9.73754568e-01 -9.27829029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.45, Y:-113.47, Z:-927.81 [[ 3.98444847e-01 -9.11526414e-01 -1.01790479e-01 4.50449380e+02] [ 8.87692250e-01 4.11167752e-01 -2.07228255e-01 -1.13469446e+02] [ 2.30746990e-01 -7.78958887e-03 9.72982605e-01 -9.27812857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.46, Y:-113.44, Z:-927.81 [[ 3.98328200e-01 -9.12632293e-01 -9.18528330e-02 4.50455715e+02] [ 8.87815567e-01 4.08772847e-01 -2.11396024e-01 -1.13440979e+02] [ 2.30473782e-01 2.65662293e-03 9.73074909e-01 -9.27810256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.46, Y:-113.41, Z:-927.81 [[ 3.98223386e-01 -9.13680765e-01 -8.12748151e-02 4.50462091e+02] [ 8.88312489e-01 4.06221258e-01 -2.14208337e-01 -1.13412551e+02] [ 2.28733594e-01 1.31053357e-02 9.73400839e-01 -9.27811384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.48, Y:-113.39, Z:-927.80 [[ 3.97081818e-01 -9.13208613e-01 -9.15208091e-02 4.50477268e+02] [ 8.88579567e-01 4.07485707e-01 -2.10669770e-01 -1.13391253e+02] [ 2.29678870e-01 2.32961440e-03 9.73263679e-01 -9.27802524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.49, Y:-113.37, Z:-927.80 [[ 3.95935909e-01 -9.13661985e-01 -9.19594093e-02 4.50487628e+02] [ 8.88764282e-01 4.06469135e-01 -2.11851112e-01 -1.13366669e+02] [ 2.30938970e-01 2.14922435e-03 9.72965864e-01 -9.27796497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.50, Y:-113.34, Z:-927.79 [[ 3.91946836e-01 -9.15234476e-01 -9.33998521e-02 4.50497305e+02] [ 8.90148294e-01 4.02921556e-01 -2.12815026e-01 -1.13342338e+02] [ 2.32408462e-01 2.72457119e-04 9.72618236e-01 -9.27791222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.51, Y:-113.32, Z:-927.79 [[ 3.89999371e-01 -9.16372413e-01 -9.03442930e-02 4.50506414e+02] [ 8.91173286e-01 4.00317569e-01 -2.13438557e-01 -1.13317334e+02] [ 2.31755613e-01 2.72848253e-03 9.72770215e-01 -9.27787252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.52, Y:-113.29, Z:-927.78 [[ 3.87399893e-01 -9.17420431e-01 -9.08904595e-02 4.50517711e+02] [ 8.92186854e-01 3.97915672e-01 -2.13695427e-01 -1.13292044e+02] [ 2.32215289e-01 1.69431249e-03 9.72662937e-01 -9.27780964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.53, Y:-113.27, Z:-927.77 [[ 3.86076646e-01 -9.17883128e-01 -9.18443644e-02 4.50531513e+02] [ 8.92825155e-01 3.96850738e-01 -2.13008765e-01 -1.13267062e+02] [ 2.31965655e-01 2.36750754e-04 9.72723948e-01 -9.27773492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.54, Y:-113.24, Z:-927.77 [[ 3.83057977e-01 -9.19145764e-01 -9.18566898e-02 4.50543115e+02] [ 8.94270022e-01 3.93916803e-01 -2.12392751e-01 -1.13242908e+02] [ 2.31403791e-01 -7.85946377e-04 9.72857476e-01 -9.27766807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:450.55, Y:-113.22, Z:-927.76 [[ 3.79944709e-01 -9.20494035e-01 -9.12838954e-02 4.50554690e+02] [ 8.95931253e-01 3.90753627e-01 -2.11231609e-01 -1.13217942e+02] [ 2.30106949e-01 -1.52776287e-03 9.73164148e-01 -9.27760069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.57, Y:-113.19, Z:-927.75 [[ 3.74683018e-01 -9.22747313e-01 -9.02775364e-02 4.50565795e+02] [ 8.98755089e-01 3.85395305e-01 -2.09068767e-01 -1.13194270e+02] [ 2.27710182e-01 -2.80287859e-03 9.73724919e-01 -9.27753128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.58, Y:-113.17, Z:-927.75 [[ 3.74445530e-01 -9.22849953e-01 -9.02136898e-02 4.50576737e+02] [ 8.98854032e-01 3.85149529e-01 -2.09096315e-01 -1.13168629e+02] [ 2.27710284e-01 -2.79375849e-03 9.73724921e-01 -9.27746867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.59, Y:-113.14, Z:-927.74 [[ 3.72098365e-01 -9.23832792e-01 -8.98653432e-02 4.50587446e+02] [ 9.00017055e-01 3.82781857e-01 -2.08440282e-01 -1.13143337e+02] [ 2.26962790e-01 -3.32005351e-03 9.73897772e-01 -9.27740761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.60, Y:-113.12, Z:-927.73 [[ 3.70535410e-01 -9.24481163e-01 -8.96553966e-02 4.50598113e+02] [ 9.00758442e-01 3.81210322e-01 -2.08117563e-01 -1.13118941e+02] [ 2.26578329e-01 -3.64292885e-03 9.73986134e-01 -9.27734836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.516559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:450.61, Y:-113.09, Z:-927.73 [[ 3.69451210e-01 -9.24921473e-01 -8.95883474e-02 4.50609100e+02] [ 9.01207176e-01 3.80138800e-01 -2.08134856e-01 -1.13093483e+02] [ 2.26564405e-01 -3.84198709e-03 9.73988609e-01 -9.27728333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.62, Y:-113.07, Z:-927.72 [[ 3.69014233e-01 -9.25080740e-01 -8.97447528e-02 4.50619431e+02] [ 9.01248881e-01 3.79750638e-01 -2.08662187e-01 -1.13068251e+02] [ 2.27109997e-01 -3.88304103e-03 9.73861372e-01 -9.27722435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.63, Y:-113.04, Z:-927.72 [[ 3.69105762e-01 -9.25018648e-01 -9.00079844e-02 4.50629101e+02] [ 9.01004674e-01 3.79902772e-01 -2.09438442e-01 -1.13043580e+02] [ 2.27928747e-01 -3.79267908e-03 9.73670428e-01 -9.27716965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.64, Y:-113.02, Z:-927.71 [[ 3.70789441e-01 -9.24285582e-01 -9.06165240e-02 4.50638769e+02] [ 8.99878593e-01 3.81687433e-01 -2.11028959e-01 -1.13017976e+02] [ 2.29638212e-01 -3.29656048e-03 9.73270479e-01 -9.27711737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.65, Y:-112.99, Z:-927.70 [[ 3.71329991e-01 -9.23861572e-01 -9.27029321e-02 4.50649076e+02] [ 8.99234640e-01 3.82698400e-01 -2.11941023e-01 -1.12993184e+02] [ 2.31281431e-01 -4.66162941e-03 9.72875721e-01 -9.27704164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.66, Y:-112.97, Z:-927.70 [[ 3.74547901e-01 -9.22864523e-01 -8.96378387e-02 4.50656858e+02] [ 8.97711809e-01 3.85124617e-01 -2.13991908e-01 -1.12965833e+02] [ 2.32007278e-01 -3.18726495e-04 9.72713998e-01 -9.27700035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.67, Y:-112.94, Z:-927.69 [[ 3.75343645e-01 -9.22357699e-01 -9.15064165e-02 4.50667503e+02] [ 8.97287514e-01 3.86332146e-01 -2.13594453e-01 -1.12941081e+02] [ 2.32362359e-01 -1.93624433e-03 9.72627362e-01 -9.27693001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.68, Y:-112.92, Z:-927.68 [[ 3.75595574e-01 -9.21865416e-01 -9.53526046e-02 4.50679324e+02] [ 8.96817992e-01 3.87473614e-01 -2.13498683e-01 -1.12916768e+02] [ 2.33763671e-01 -5.32477092e-03 9.72278866e-01 -9.27683408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.756559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:450.68, Y:-112.89, Z:-927.69 [[ 3.75671035e-01 -9.23491123e-01 -7.76879661e-02 4.50680288e+02] [ 8.97867025e-01 3.83446799e-01 -2.16340837e-01 -1.12886345e+02] [ 2.29578045e-01 1.15195233e-02 9.73222083e-01 -9.27688380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.70, Y:-112.87, Z:-927.67 [[ 3.76561762e-01 -9.20590156e-01 -1.03513304e-01 4.50703090e+02] [ 8.96619715e-01 3.90277553e-01 -2.09180589e-01 -1.12869325e+02] [ 2.32968510e-01 -1.40426579e-02 9.72382886e-01 -9.27667828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.71, Y:-112.84, Z:-927.67 [[ 3.77472187e-01 -9.21567939e-01 -9.07043724e-02 4.50707499e+02] [ 8.96448607e-01 3.88216586e-01 -2.13700206e-01 -1.12839573e+02] [ 2.32152200e-01 -6.45924316e-04 9.72679258e-01 -9.27665994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:450.72, Y:-112.81, Z:-927.66 [[ 3.79333915e-01 -9.21143506e-01 -8.71804022e-02 4.50715724e+02] [ 8.96079519e-01 3.89212743e-01 -2.13436025e-01 -1.12813978e+02] [ 2.30536932e-01 2.84295006e-03 9.73059423e-01 -9.27661849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.73, Y:-112.79, Z:-927.65 [[ 3.78841214e-01 -9.20693672e-01 -9.38216235e-02 4.50726886e+02] [ 8.96106537e-01 3.90265597e-01 -2.11390250e-01 -1.12791245e+02] [ 2.31241018e-01 -3.99083097e-03 9.72888311e-01 -9.27651838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.74, Y:-112.76, Z:-927.65 [[ 3.80131893e-01 -9.20582205e-01 -8.95999331e-02 4.50735094e+02] [ 8.95567133e-01 3.90548068e-01 -2.13147171e-01 -1.12763860e+02] [ 2.31212574e-01 7.81282500e-04 9.72902943e-01 -9.27646966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.75, Y:-112.74, Z:-927.63 [[ 3.81082375e-01 -9.19190301e-01 -9.93247924e-02 4.50749800e+02] [ 8.94589099e-01 3.93726300e-01 -2.11399964e-01 -1.12740958e+02] [ 2.33423579e-01 -8.29407630e-03 9.72339777e-01 -9.27634485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:-112.71, Z:-927.63 [[ 3.83817185e-01 -9.18316344e-01 -9.68476221e-02 4.50759088e+02] [ 8.92799399e-01 3.95827696e-01 -2.15010856e-01 -1.12714302e+02] [ 2.35782954e-01 -3.94063727e-03 9.71797752e-01 -9.27626182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:-112.68, Z:-927.63 [[ 3.84657940e-01 -9.20104189e-01 -7.38007481e-02 4.50758596e+02] [ 8.93774351e-01 3.91241314e-01 -2.19311752e-01 -1.12680977e+02] [ 2.30663563e-01 1.83987910e-02 9.72859602e-01 -9.27634534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.78, Y:-112.66, Z:-927.62 [[ 3.84668953e-01 -9.18622073e-01 -9.03508945e-02 4.50776205e+02] [ 8.93702092e-01 3.95136030e-01 -2.12518441e-01 -1.12660204e+02] [ 2.30925025e-01 1.00246263e-03 9.72971032e-01 -9.27622712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.79, Y:-112.64, Z:-927.62 [[ 3.85093636e-01 -9.18447572e-01 -9.03158337e-02 4.50785587e+02] [ 8.93502571e-01 3.95540994e-01 -2.12604041e-01 -1.12635889e+02] [ 2.30989279e-01 1.17503347e-03 9.72955586e-01 -9.27616715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:450.81, Y:-112.62, Z:-927.59 [[ 3.86457443e-01 -9.15085056e-01 -1.15195423e-01 4.50807889e+02] [ 8.91194233e-01 4.02663888e-01 -2.08889043e-01 -1.12617844e+02] [ 2.37536278e-01 -2.19347716e-02 9.71130981e-01 -9.27593269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.79, Y:-112.58, Z:-927.61 [[ 3.86126699e-01 -9.19826561e-01 -6.94641619e-02 4.50794505e+02] [ 8.92791256e-01 3.91592979e-01 -2.22662775e-01 -1.12578691e+02] [ 2.32012813e-01 2.39590460e-02 9.72417615e-01 -9.27611048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.81, Y:-112.56, Z:-927.60 [[ 3.85959925e-01 -9.18044675e-01 -9.07133510e-02 4.50814210e+02] [ 8.92756598e-01 3.96473690e-01 -2.13995956e-01 -1.12559980e+02] [ 2.32423305e-01 1.60892063e-03 9.72613396e-01 -9.27597560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.84, Y:-112.54, Z:-927.57 [[ 3.86410546e-01 -9.14599399e-01 -1.19142058e-01 4.50838433e+02] [ 8.90737679e-01 4.03567104e-01 -2.09093233e-01 -1.12543377e+02] [ 2.39318360e-01 -2.53284896e-02 9.70610731e-01 -9.27571291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.82, Y:-112.50, Z:-927.59 [[ 3.85776104e-01 -9.20188887e-01 -6.65523121e-02 4.50821014e+02] [ 8.92510060e-01 3.90495577e-01 -2.25696693e-01 -1.12502459e+02] [ 2.33671973e-01 2.76697831e-02 9.71921701e-01 -9.27593054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.84, Y:-112.49, Z:-927.58 [[ 3.84520222e-01 -9.18591524e-01 -9.12897123e-02 4.50841976e+02] [ 8.92880709e-01 3.95205564e-01 -2.15816130e-01 -1.12485138e+02] [ 2.34325070e-01 1.47484307e-03 9.72157182e-01 -9.27579166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.85, Y:-112.46, Z:-927.57 [[ 3.84363486e-01 -9.18663467e-01 -9.12257872e-02 4.50852706e+02] [ 8.92948240e-01 3.95038197e-01 -2.15843149e-01 -1.12459441e+02] [ 2.34324886e-01 1.50231911e-03 9.72157184e-01 -9.27572890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.86, Y:-112.43, Z:-927.57 [[ 3.83228418e-01 -9.19100530e-01 -9.15980073e-02 4.50861731e+02] [ 8.93157344e-01 3.94021017e-01 -2.16834953e-01 -1.12433645e+02] [ 2.35384660e-01 1.28588320e-03 9.71901440e-01 -9.27566902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.87, Y:-112.41, Z:-927.56 [[ 3.82620462e-01 -9.19348581e-01 -9.16502544e-02 4.50870945e+02] [ 8.93339835e-01 3.93442162e-01 -2.17134071e-01 -1.12409218e+02] [ 2.35680974e-01 1.20511522e-03 9.71829731e-01 -9.27560905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.88, Y:-112.38, Z:-927.55 [[ 3.82185612e-01 -9.19543666e-01 -9.15073994e-02 4.50880768e+02] [ 8.93578290e-01 3.92986142e-01 -2.16978644e-01 -1.12383890e+02] [ 2.35482478e-01 1.15709051e-03 9.71877906e-01 -9.27554643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.89, Y:-112.36, Z:-927.55 [[ 3.81840029e-01 -9.19681487e-01 -9.15650318e-02 4.50890666e+02] [ 8.93644800e-01 3.92663541e-01 -2.17288552e-01 -1.12358402e+02] [ 2.35790508e-01 1.14285230e-03 9.71803237e-01 -9.27547742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.90, Y:-112.33, Z:-927.54 [[ 3.81533799e-01 -9.19793621e-01 -9.17150800e-02 4.50899189e+02] [ 8.93630429e-01 3.92400791e-01 -2.17821662e-01 -1.12333769e+02] [ 2.36340045e-01 1.14694017e-03 9.71669732e-01 -9.27540669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.91, Y:-112.31, Z:-927.53 [[ 3.81471447e-01 -9.19823673e-01 -9.16730391e-02 4.50908588e+02] [ 8.93640650e-01 3.92330173e-01 -2.17906916e-01 -1.12307621e+02] [ 2.36402039e-01 1.20251222e-03 9.71654584e-01 -9.27534293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.92, Y:-112.28, Z:-927.53 [[ 3.81331219e-01 -9.19883062e-01 -9.16605321e-02 4.50917721e+02] [ 8.93666800e-01 3.92190802e-01 -2.18050514e-01 -1.12281603e+02] [ 2.36529392e-01 1.23549378e-03 9.71623549e-01 -9.27528037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.93, Y:-112.26, Z:-927.52 [[ 3.81517215e-01 -9.18987949e-01 -9.95277038e-02 4.50929704e+02] [ 8.92756152e-01 3.94245077e-01 -2.18076299e-01 -1.12257229e+02] [ 2.39647798e-01 -5.65410762e-03 9.70843429e-01 -9.27515831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.93, Y:-112.23, Z:-927.52 [[ 3.80891551e-01 -9.20641117e-01 -8.56829058e-02 4.50931511e+02] [ 8.93500849e-01 3.90327688e-01 -2.22037226e-01 -1.12227119e+02] [ 2.37861010e-01 8.01435439e-03 9.71266138e-01 -9.27518123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:450.94, Y:-112.20, Z:-927.51 [[ 3.80166338e-01 -9.20334528e-01 -9.19669069e-02 4.50943989e+02] [ 8.93828232e-01 3.91130415e-01 -2.19289970e-01 -1.12202763e+02] [ 2.37791186e-01 1.16404725e-03 9.71315601e-01 -9.27510207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.95, Y:-112.18, Z:-927.50 [[ 3.79381371e-01 -9.20693649e-01 -9.16132067e-02 4.50953737e+02] [ 8.94361136e-01 3.90284758e-01 -2.18622888e-01 -1.12176609e+02] [ 2.37039943e-01 1.00615954e-03 9.71499384e-01 -9.27504103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.96, Y:-112.15, Z:-927.50 [[ 3.78936494e-01 -9.20866870e-01 -9.17133620e-02 4.50962970e+02] [ 8.94436601e-01 3.89875959e-01 -2.19043157e-01 -1.12152139e+02] [ 2.37466421e-01 9.71658118e-04 9.71395262e-01 -9.27497278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.98, Y:-112.13, Z:-927.49 [[ 3.78834987e-01 -9.20635354e-01 -9.44171509e-02 4.50975208e+02] [ 8.94233551e-01 3.90420653e-01 -2.18901967e-01 -1.12126918e+02] [ 2.38391295e-01 -1.50326035e-03 9.71168024e-01 -9.27487741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.98, Y:-112.10, Z:-927.48 [[ 3.77771563e-01 -9.21264027e-01 -9.25269600e-02 4.50983845e+02] [ 8.94922510e-01 3.88937735e-01 -2.18726175e-01 -1.12099511e+02] [ 2.37491783e-01 -1.75930333e-04 9.71389532e-01 -9.27480917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.99, Y:-112.07, Z:-927.47 [[ 3.76490751e-01 -9.21809480e-01 -9.23146667e-02 4.50992778e+02] [ 8.95531970e-01 3.87643040e-01 -2.18530010e-01 -1.12073990e+02] [ 2.37228173e-01 -3.96207636e-04 9.71453878e-01 -9.27474983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.00, Y:-112.05, Z:-927.47 [[ 3.75614121e-01 -9.22099152e-01 -9.29902463e-02 4.51002813e+02] [ 8.95831851e-01 3.86951754e-01 -2.18526050e-01 -1.12048344e+02] [ 2.37485424e-01 -1.22215445e-03 9.71390334e-01 -9.27468408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.01, Y:-112.02, Z:-927.46 [[ 3.74464280e-01 -9.22563663e-01 -9.30203805e-02 4.51012284e+02] [ 8.96133693e-01 3.85842851e-01 -2.19248030e-01 -1.12022230e+02] [ 2.38161514e-01 -1.25814141e-03 9.71224748e-01 -9.27461816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.03, Y:-112.00, Z:-927.45 [[ 3.75043449e-01 -9.20927885e-01 -1.05991710e-01 4.51029370e+02] [ 8.95123497e-01 3.89498130e-01 -2.16898897e-01 -1.11999341e+02] [ 2.41031815e-01 -1.35291595e-02 9.70422911e-01 -9.27447202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.03, Y:-111.97, Z:-927.45 [[ 3.73638783e-01 -9.23191627e-01 -9.00626439e-02 4.51028440e+02] [ 8.96037249e-01 3.84332792e-01 -2.22273602e-01 -1.11970386e+02] [ 2.39815156e-01 2.35055457e-03 9.70815722e-01 -9.27448202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.03, Y:-111.94, Z:-927.45 [[ 3.72040356e-01 -9.24551878e-01 -8.24002294e-02 4.51030179e+02] [ 8.97652154e-01 3.80962224e-01 -2.21559009e-01 -1.11944211e+02] [ 2.36234173e-01 8.46214914e-03 9.71659307e-01 -9.27449888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.05, Y:-111.92, Z:-927.43 [[ 3.73393797e-01 -9.21976866e-01 -1.02643714e-01 4.51051612e+02] [ 8.96118310e-01 3.87091046e-01 -2.17100199e-01 -1.11923319e+02] [ 2.39893824e-01 -1.09170442e-02 9.70737746e-01 -9.27432072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.06, Y:-111.90, Z:-927.43 [[ 3.73336807e-01 -9.22865043e-01 -9.45502065e-02 4.51056120e+02] [ 8.96179639e-01 3.85115555e-01 -2.20336253e-01 -1.11895626e+02] [ 2.39753381e-01 -2.47433665e-03 9.70830672e-01 -9.27428703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.06, Y:-111.87, Z:-927.43 [[ 3.73919611e-01 -9.23100660e-01 -8.98292581e-02 4.51060560e+02] [ 8.96175063e-01 3.84551772e-01 -2.21337280e-01 -1.11868635e+02] [ 2.38860590e-01 2.25960864e-03 9.71051241e-01 -9.27425537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.07, Y:-111.84, Z:-927.42 [[ 3.73547061e-01 -9.23894793e-01 -8.29518189e-02 4.51065415e+02] [ 8.97126671e-01 3.82560627e-01 -2.20932351e-01 -1.11841440e+02] [ 2.35852349e-01 8.11034136e-03 9.71755058e-01 -9.27424791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.08, Y:-111.82, Z:-927.42 [[ 3.73334061e-01 -9.23452390e-01 -8.86417702e-02 4.51077942e+02] [ 8.97415216e-01 3.83709063e-01 -2.17745918e-01 -1.11817445e+02] [ 2.35090639e-01 1.74349463e-03 9.71971888e-01 -9.27417002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.09, Y:-111.79, Z:-927.41 [[ 3.73628019e-01 -9.23112570e-01 -9.09136214e-02 4.51088236e+02] [ 8.97311426e-01 3.84529347e-01 -2.16724215e-01 -1.11793312e+02] [ 2.35019803e-01 -6.03591955e-04 9.71990395e-01 -9.27409354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.10, Y:-111.77, Z:-927.40 [[ 3.73318166e-01 -9.23369592e-01 -8.95664201e-02 4.51096514e+02] [ 8.97512765e-01 3.83911729e-01 -2.16985303e-01 -1.11767446e+02] [ 2.34743230e-01 6.17550022e-04 9.72057218e-01 -9.27403554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:451.11, Y:-111.74, Z:-927.40 [[ 3.73161360e-01 -9.23395248e-01 -8.99545173e-02 4.51105321e+02] [ 8.97269489e-01 3.83849924e-01 -2.18097914e-01 -1.11741454e+02] [ 2.35919612e-01 6.72270332e-04 9.71772342e-01 -9.27397319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.11, Y:-111.72, Z:-927.39 [[ 3.74705238e-01 -9.22868731e-01 -8.89341922e-02 4.51112828e+02] [ 8.97283537e-01 3.85113200e-01 -2.15801015e-01 -1.11716395e+02] [ 2.33405740e-01 1.06258427e-03 9.72378852e-01 -9.27391236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.12, Y:-111.69, Z:-927.38 [[ 3.75572999e-01 -9.22536972e-01 -8.87156038e-02 4.51121894e+02] [ 8.97025266e-01 3.85906388e-01 -2.15457493e-01 -1.11690132e+02] [ 2.33003421e-01 1.33987849e-03 9.72474992e-01 -9.27384695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.13, Y:-111.66, Z:-927.38 [[ 3.76733708e-01 -9.22095822e-01 -8.83799068e-02 4.51130458e+02] [ 8.96725974e-01 3.86957990e-01 -2.14816298e-01 -1.11664796e+02] [ 2.32280522e-01 1.67598243e-03 9.72647393e-01 -9.27378768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.14, Y:-111.64, Z:-927.37 [[ 3.77894704e-01 -9.21650933e-01 -8.80633299e-02 4.51139207e+02] [ 8.96421820e-01 3.88014919e-01 -2.14178299e-01 -1.11639345e+02] [ 2.31567515e-01 1.99495433e-03 9.72816790e-01 -9.27372632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.15, Y:-111.61, Z:-927.37 [[ 3.79865309e-01 -9.20825022e-01 -8.82248615e-02 4.51146630e+02] [ 8.95436059e-01 3.89967475e-01 -2.14754819e-01 -1.11613175e+02] [ 2.32156437e-01 2.57818320e-03 9.72675044e-01 -9.27366249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.16, Y:-111.59, Z:-927.36 [[ 3.80433465e-01 -9.20584621e-01 -8.82855281e-02 4.51155544e+02] [ 8.95112350e-01 3.90533141e-01 -2.15076142e-01 -1.11587482e+02] [ 2.32474213e-01 2.79669536e-03 9.72598539e-01 -9.27360689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.16, Y:-111.56, Z:-927.35 [[ 3.80842616e-01 -9.20391442e-01 -8.85352772e-02 4.51164759e+02] [ 8.94725677e-01 3.90986740e-01 -2.15859518e-01 -1.11562115e+02] [ 2.33291372e-01 2.99371763e-03 9.72402269e-01 -9.27354858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.18, Y:-111.54, Z:-927.35 [[ 3.80604670e-01 -9.20495733e-01 -8.84742409e-02 4.51175224e+02] [ 8.94826937e-01 3.90741117e-01 -2.15884533e-01 -1.11536291e+02] [ 2.33291315e-01 2.99752743e-03 9.72402271e-01 -9.27348616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.18, Y:-111.51, Z:-927.34 [[ 3.81048172e-01 -9.20298249e-01 -8.86195420e-02 4.51184967e+02] [ 8.94498916e-01 3.91204492e-01 -2.16404101e-01 -1.11510552e+02] [ 2.33824678e-01 3.19030267e-03 9.72273543e-01 -9.27342882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.19, Y:-111.49, Z:-927.34 [[ 3.82408657e-01 -9.19725282e-01 -8.87075272e-02 4.51193599e+02] [ 8.93816443e-01 3.92545962e-01 -2.16794453e-01 -1.11485993e+02] [ 2.34213121e-01 3.61582925e-03 9.72178554e-01 -9.27336626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.20, Y:-111.46, Z:-927.33 [[ 3.83186968e-01 -9.19417056e-01 -8.85439149e-02 4.51203032e+02] [ 8.93552833e-01 3.93264912e-01 -2.16578029e-01 -1.11460177e+02] [ 2.33946749e-01 3.87121246e-03 9.72241705e-01 -9.27330586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.21, Y:-111.43, Z:-927.32 [[ 3.83778397e-01 -9.19190905e-01 -8.83301940e-02 4.51212388e+02] [ 8.93404837e-01 3.93791203e-01 -2.16232019e-01 -1.11434439e+02] [ 2.33542159e-01 4.07055526e-03 9.72338157e-01 -9.27324454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.22, Y:-111.41, Z:-927.32 [[ 3.84293248e-01 -9.19002208e-01 -8.80547671e-02 4.51221442e+02] [ 8.93331339e-01 3.94229541e-01 -2.15736384e-01 -1.11409408e+02] [ 2.32976004e-01 4.24395278e-03 9.72473224e-01 -9.27318591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.23, Y:-111.38, Z:-927.31 [[ 3.84756005e-01 -9.18841996e-01 -8.77052012e-02 4.51231001e+02] [ 8.93334740e-01 3.94601226e-01 -2.15041659e-01 -1.11383960e+02] [ 2.32197887e-01 4.38846655e-03 9.72658667e-01 -9.27312270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.24, Y:-111.36, Z:-927.31 [[ 3.85035140e-01 -9.18774969e-01 -8.71808305e-02 4.51240694e+02] [ 8.93532563e-01 3.94756321e-01 -2.13932248e-01 -1.11358875e+02] [ 2.30970779e-01 4.47252229e-03 9.72950408e-01 -9.27306150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.25, Y:-111.33, Z:-927.30 [[ 3.85134956e-01 -9.18788355e-01 -8.65969064e-02 4.51250736e+02] [ 8.93846638e-01 3.94724805e-01 -2.12674675e-01 -1.11333490e+02] [ 2.29584962e-01 4.50409778e-03 9.73278202e-01 -9.27299987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.26, Y:-111.31, Z:-927.29 [[ 3.84997302e-01 -9.18864919e-01 -8.63964049e-02 4.51260527e+02] [ 8.94000775e-01 3.94546376e-01 -2.12357651e-01 -1.11309281e+02] [ 2.29215384e-01 4.51866984e-03 9.73365240e-01 -9.27293989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.27, Y:-111.28, Z:-927.29 [[ 3.85344017e-01 -9.18752905e-01 -8.60412014e-02 4.51271607e+02] [ 8.94064183e-01 3.94806029e-01 -2.11606797e-01 -1.11283868e+02] [ 2.28383944e-01 4.61505656e-03 9.73560206e-01 -9.27288104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.28, Y:-111.26, Z:-927.28 [[ 3.85362881e-01 -9.18739258e-01 -8.61024214e-02 4.51281954e+02] [ 8.93974058e-01 3.94836826e-01 -2.11929857e-01 -1.11258083e+02] [ 2.28704686e-01 4.69656915e-03 9.73484519e-01 -9.27281884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.29, Y:-111.23, Z:-927.28 [[ 3.85678232e-01 -9.18624599e-01 -8.59136099e-02 4.51291871e+02] [ 8.93925492e-01 3.95101973e-01 -2.11640370e-01 -1.11233245e+02] [ 2.28362687e-01 4.82471776e-03 9.73564176e-01 -9.27276388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.30, Y:-111.21, Z:-927.27 [[ 3.86233026e-01 -9.18417154e-01 -8.56386588e-02 4.51302090e+02] [ 8.93830094e-01 3.95581694e-01 -2.11146601e-01 -1.11207659e+02] [ 2.27797746e-01 5.00538041e-03 9.73695606e-01 -9.27270539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.31, Y:-111.18, Z:-927.26 [[ 3.86856186e-01 -9.18174434e-01 -8.54283378e-02 4.51312302e+02] [ 8.93663305e-01 3.96142159e-01 -2.10801536e-01 -1.11182393e+02] [ 2.27394347e-01 5.20570764e-03 9.73788843e-01 -9.27264408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.796559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.32, Y:-111.16, Z:-927.26 [[ 3.87468612e-01 -9.17923550e-01 -8.53488844e-02 4.51322656e+02] [ 8.93412255e-01 3.96720304e-01 -2.10778421e-01 -1.11156712e+02] [ 2.27338112e-01 5.41828308e-03 9.73800814e-01 -9.27257970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.33, Y:-111.13, Z:-927.25 [[ 3.88768915e-01 -9.17403736e-01 -8.50242103e-02 4.51332525e+02] [ 8.93028469e-01 3.97915925e-01 -2.10150112e-01 -1.11132024e+02] [ 2.26624985e-01 5.77079068e-03 9.73964996e-01 -9.27252943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.34, Y:-111.11, Z:-927.25 [[ 3.88728039e-01 -9.17408164e-01 -8.51632095e-02 4.51343320e+02] [ 8.92909330e-01 3.97904513e-01 -2.10677308e-01 -1.11106452e+02] [ 2.27163908e-01 5.85315267e-03 9.73838950e-01 -9.27246639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.35, Y:-111.08, Z:-927.24 [[ 3.88234705e-01 -9.17611074e-01 -8.52275260e-02 4.51354361e+02] [ 8.93038931e-01 3.97436991e-01 -2.11010205e-01 -1.11080950e+02] [ 2.27497873e-01 5.80998617e-03 9.73761245e-01 -9.27240787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.37, Y:-111.06, Z:-927.23 [[ 3.87392578e-01 -9.17952250e-01 -8.53853452e-02 4.51365500e+02] [ 8.93255291e-01 3.96650066e-01 -2.11574364e-01 -1.11055983e+02] [ 2.28083267e-01 5.69142717e-03 9.73624995e-01 -9.27234796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.38, Y:-111.03, Z:-927.23 [[ 3.85920906e-01 -9.18583987e-01 -8.52555727e-02 4.51376807e+02] [ 8.93937690e-01 3.95189207e-01 -2.11425870e-01 -1.11032096e+02] [ 2.27904501e-01 5.38049361e-03 9.73668624e-01 -9.27229241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9765599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.39, Y:-111.01, Z:-927.22 [[ 3.85173799e-01 -9.18894726e-01 -8.52855658e-02 4.51387398e+02] [ 8.94195636e-01 3.94467595e-01 -2.11682503e-01 -1.11007216e+02] [ 2.28156328e-01 5.27257336e-03 9.73610235e-01 -9.27223338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.40, Y:-110.98, Z:-927.22 [[ 3.84351219e-01 -9.19243505e-01 -8.52380126e-02 4.51398193e+02] [ 8.94540946e-01 3.93656000e-01 -2.11734383e-01 -1.10982064e+02] [ 2.28189912e-01 5.13147588e-03 9.73603119e-01 -9.27217698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.41, Y:-110.96, Z:-927.21 [[ 3.83603445e-01 -9.19546987e-01 -8.53330888e-02 4.51408803e+02] [ 8.94755891e-01 3.92947937e-01 -2.12141025e-01 -1.10956567e+02] [ 2.28605102e-01 5.02574417e-03 9.73506266e-01 -9.27211788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.42, Y:-110.93, Z:-927.21 [[ 3.81953342e-01 -9.20253918e-01 -8.51138703e-02 4.51419358e+02] [ 8.95569389e-01 3.91294032e-01 -2.11765082e-01 -1.10932049e+02] [ 2.28182196e-01 4.65900374e-03 9.73607303e-01 -9.27206269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.43, Y:-110.91, Z:-927.20 [[ 3.79529194e-01 -9.21091490e-01 -8.68795599e-02 4.51428327e+02] [ 8.96731606e-01 3.89341265e-01 -2.10441931e-01 -1.10908434e+02] [ 2.27662070e-01 1.96120922e-03 9.73738228e-01 -9.27199794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.44, Y:-110.88, Z:-927.20 [[ 3.80617886e-01 -9.21156450e-01 -8.12454264e-02 4.51439815e+02] [ 8.96325782e-01 3.89108328e-01 -2.12590693e-01 -1.10881099e+02] [ 2.27442560e-01 8.09345004e-03 9.73757864e-01 -9.27195196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.45, Y:-110.86, Z:-927.19 [[ 3.79850029e-01 -9.21154462e-01 -8.47845127e-02 4.51452950e+02] [ 8.96597019e-01 3.89173953e-01 -2.11323023e-01 -1.10857167e+02] [ 2.27657070e-01 4.25351512e-03 9.73732081e-01 -9.27187865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.46, Y:-110.83, Z:-927.18 [[ 3.79137977e-01 -9.21461589e-01 -8.46341247e-02 4.51464196e+02] [ 8.96959541e-01 3.88447524e-01 -2.11121063e-01 -1.10832021e+02] [ 2.27415866e-01 4.13062712e-03 9.73788972e-01 -9.27181748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.47, Y:-110.81, Z:-927.18 [[ 3.77347687e-01 -9.22089688e-01 -8.57865365e-02 4.51472946e+02] [ 8.97690594e-01 3.86968102e-01 -2.10730361e-01 -1.10808413e+02] [ 2.27508946e-01 2.50884746e-03 9.73772759e-01 -9.27175520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.49, Y:-110.78, Z:-927.17 [[ 3.78757729e-01 -9.21861117e-01 -8.19430554e-02 4.51485306e+02] [ 8.97179943e-01 3.87461161e-01 -2.11995281e-01 -1.10781538e+02] [ 2.27179958e-01 6.77718536e-03 9.73829213e-01 -9.27170101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.50, Y:-110.76, Z:-927.16 [[ 3.79013538e-01 -9.21542104e-01 -8.43142309e-02 4.51496822e+02] [ 8.97118012e-01 3.88255111e-01 -2.10801428e-01 -1.10757327e+02] [ 2.26997822e-01 4.25677961e-03 9.73885963e-01 -9.27163391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.51, Y:-110.73, Z:-927.16 [[ 3.79255278e-01 -9.21452256e-01 -8.42091093e-02 4.51507576e+02] [ 8.97047978e-01 3.88467010e-01 -2.10709060e-01 -1.10731755e+02] [ 2.26870799e-01 4.37291196e-03 9.73915047e-01 -9.27157252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.52, Y:-110.71, Z:-927.15 [[ 3.79259284e-01 -9.21449608e-01 -8.42200441e-02 4.51517843e+02] [ 8.96998228e-01 3.88472477e-01 -2.10910679e-01 -1.10707954e+02] [ 2.27060732e-01 4.44460273e-03 9.73870458e-01 -9.27151382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.53, Y:-110.68, Z:-927.15 [[ 3.78923747e-01 -9.21573863e-01 -8.43706699e-02 4.51529048e+02] [ 8.96993778e-01 3.88177534e-01 -2.11471899e-01 -1.10682678e+02] [ 2.27637773e-01 4.45175829e-03 9.73735707e-01 -9.27145197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.54, Y:-110.66, Z:-927.14 [[ 3.77157619e-01 -9.22232303e-01 -8.50864863e-02 4.51538889e+02] [ 8.97600801e-01 3.86620496e-01 -2.11748425e-01 -1.10658138e+02] [ 2.28177417e-01 3.48883362e-03 9.73613319e-01 -9.27139542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.55, Y:-110.63, Z:-927.13 [[ 3.75711400e-01 -9.22989403e-01 -8.32556624e-02 4.51552591e+02] [ 8.98021250e-01 3.84787850e-01 -2.13298255e-01 -1.10633089e+02] [ 2.28907797e-01 5.37323205e-03 9.73433279e-01 -9.27133577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.56, Y:-110.61, Z:-927.13 [[ 3.73919674e-01 -9.23601790e-01 -8.45210737e-02 4.51564683e+02] [ 8.98889713e-01 3.83338301e-01 -2.12247570e-01 -1.10608554e+02] [ 2.28432400e-01 3.38841827e-03 9.73553880e-01 -9.27127182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.57, Y:-110.58, Z:-927.12 [[ 3.71436821e-01 -9.24788094e-01 -8.24722364e-02 4.51574481e+02] [ 9.00088653e-01 3.80454216e-01 -2.12355847e-01 -1.10582295e+02] [ 2.27761069e-01 4.64445668e-03 9.73705974e-01 -9.27122565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.58, Y:-110.56, Z:-927.12 [[ 3.68216037e-01 -9.26982293e-01 -7.15596126e-02 4.51578937e+02] [ 9.02245314e-01 3.74846340e-01 -2.13175079e-01 -1.10555124e+02] [ 2.24433382e-01 1.39301574e-02 9.74389864e-01 -9.27123918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.60, Y:-110.54, Z:-927.11 [[ 3.67531737e-01 -9.25304801e-01 -9.34422134e-02 4.51603097e+02] [ 9.01652385e-01 3.79144056e-01 -2.08021062e-01 -1.10535724e+02] [ 2.27910947e-01 -7.79805232e-03 9.73650754e-01 -9.27106481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.61, Y:-110.51, Z:-927.10 [[ 3.64733508e-01 -9.27176625e-01 -8.55159279e-02 4.51613080e+02] [ 9.02685005e-01 3.74624485e-01 -2.11698552e-01 -1.10509527e+02] [ 2.28318310e-01 1.96096232e-05 9.73586539e-01 -9.27101696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.62, Y:-110.48, Z:-927.10 [[ 3.62160270e-01 -9.28701593e-01 -7.97075314e-02 4.51621116e+02] [ 9.03976985e-01 3.70793405e-01 -2.12926894e-01 -1.10482717e+02] [ 2.27300573e-01 5.05988762e-03 9.73811505e-01 -9.27099521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.63, Y:-110.46, Z:-927.09 [[ 3.60046599e-01 -9.29142694e-01 -8.40255978e-02 4.51633786e+02] [ 9.04853958e-01 3.69721318e-01 -2.11057958e-01 -1.10459732e+02] [ 2.27169014e-01 -4.01949515e-05 9.73855347e-01 -9.27092115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.65, Y:-110.44, Z:-927.08 [[ 3.60060008e-01 -9.28878669e-01 -8.68401357e-02 4.51648232e+02] [ 9.04751288e-01 3.70373348e-01 -2.10353728e-01 -1.10435922e+02] [ 2.27556363e-01 -2.82875957e-03 9.73760802e-01 -9.27082665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.65, Y:-110.41, Z:-927.08 [[ 3.57252569e-01 -9.30627540e-01 -7.93913380e-02 4.51654093e+02] [ 9.06572587e-01 3.65954289e-01 -2.10246531e-01 -1.10409533e+02] [ 2.24714813e-01 3.13710278e-03 9.74419526e-01 -9.27082937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.66, Y:-110.38, Z:-927.08 [[ 3.55725777e-01 -9.31215688e-01 -7.93505794e-02 4.51664729e+02] [ 9.07034218e-01 3.64455951e-01 -2.10857269e-01 -1.10384565e+02] [ 2.25273388e-01 3.03367526e-03 9.74290869e-01 -9.27076737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.68, Y:-110.36, Z:-927.07 [[ 3.52305718e-01 -9.32464309e-01 -7.99436955e-02 4.51676727e+02] [ 9.09440690e-01 3.61262079e-01 -2.05930428e-01 -1.10361122e+02] [ 2.20903399e-01 -1.53582407e-04 9.75295681e-01 -9.27073893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.69, Y:-110.34, Z:-927.06 [[ 3.52010052e-01 -9.31811841e-01 -8.84059732e-02 4.51694818e+02] [ 9.08248791e-01 3.62875045e-01 -2.08340673e-01 -1.10338407e+02] [ 2.26214628e-01 -6.95660715e-03 9.74052641e-01 -9.27057432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.70, Y:-110.31, Z:-927.05 [[ 3.50195404e-01 -9.32994218e-01 -8.29757127e-02 4.51703903e+02] [ 9.09040382e-01 3.59886529e-01 -2.10064919e-01 -1.10312210e+02] [ 2.25851196e-01 -1.86450459e-03 9.74160029e-01 -9.27052409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:451.71, Y:-110.29, Z:-927.05 [[ 3.48170616e-01 -9.33778475e-01 -8.26739481e-02 4.51714627e+02] [ 9.09981568e-01 3.57844213e-01 -2.09478078e-01 -1.10288080e+02] [ 2.25190514e-01 -2.29765744e-03 9.74312041e-01 -9.27046541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.73, Y:-110.26, Z:-927.04 [[ 3.46493600e-01 -9.34416310e-01 -8.25126920e-02 4.51725603e+02] [ 9.10688052e-01 3.56172996e-01 -2.09255988e-01 -1.10263328e+02] [ 2.24921001e-01 -2.63746199e-03 9.74373433e-01 -9.27040264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.74, Y:-110.24, Z:-927.03 [[ 3.44285298e-01 -9.35224878e-01 -8.25957723e-02 4.51737141e+02] [ 9.11429568e-01 3.54040681e-01 -2.09645747e-01 -1.10239398e+02] [ 2.25308182e-01 -3.10228049e-03 9.74282608e-01 -9.27034018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.75, Y:-110.22, Z:-927.03 [[ 3.43445344e-01 -9.35524409e-01 -8.27005207e-02 4.51746964e+02] [ 9.11633062e-01 3.53247244e-01 -2.10098895e-01 -1.10215252e+02] [ 2.25766376e-01 -3.23504160e-03 9.74176102e-01 -9.27028371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.76, Y:-110.19, Z:-927.02 [[ 3.43138465e-01 -9.35628440e-01 -8.27974460e-02 4.51757379e+02] [ 9.11652803e-01 3.52971381e-01 -2.10476533e-01 -1.10189627e+02] [ 2.26152959e-01 -3.25992941e-03 9.74086347e-01 -9.27022747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.77, Y:-110.16, Z:-927.02 [[ 3.43454189e-01 -9.35476324e-01 -8.32061742e-02 4.51768448e+02] [ 9.11214574e-01 3.53375668e-01 -2.11692319e-01 -1.10164175e+02] [ 2.27436190e-01 -3.11206473e-03 9.73788013e-01 -9.27017060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.78, Y:-110.14, Z:-927.01 [[ 3.44206273e-01 -9.35191758e-01 -8.32971689e-02 4.51779205e+02] [ 9.10826293e-01 3.54130178e-01 -2.12102054e-01 -1.10138431e+02] [ 2.27854134e-01 -2.86239425e-03 9.73691071e-01 -9.27010957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.79, Y:-110.11, Z:-927.00 [[ 3.43962943e-01 -9.35286656e-01 -8.32368083e-02 4.51789291e+02] [ 9.10918202e-01 3.53879501e-01 -2.12125740e-01 -1.10112443e+02] [ 2.27854174e-01 -2.85853010e-03 9.73691072e-01 -9.27004717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.80, Y:-110.09, Z:-927.00 [[ 3.46449325e-01 -9.34381030e-01 -8.30960675e-02 4.51799359e+02] [ 9.10031207e-01 3.56268537e-01 -2.11933792e-01 -1.10086830e+02] [ 2.27631429e-01 -2.19569544e-03 9.73744890e-01 -9.26998421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.81, Y:-110.06, Z:-926.99 [[ 3.47899092e-01 -9.33868182e-01 -8.28036299e-02 4.51809124e+02] [ 9.09636331e-01 3.57612951e-01 -2.11363957e-01 -1.10061733e+02] [ 2.26997724e-01 -1.78786161e-03 9.73893648e-01 -9.26992480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.82, Y:-110.04, Z:-926.99 [[ 3.49773185e-01 -9.33194660e-01 -8.25011932e-02 4.51819059e+02] [ 9.09081844e-01 3.59369021e-01 -2.10770274e-01 -1.10036906e+02] [ 2.26338067e-01 -1.27854678e-03 9.74047968e-01 -9.26985952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.176559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:451.83, Y:-110.01, Z:-926.98 [[ 3.54503097e-01 -9.31450947e-01 -8.20163813e-02 4.51828314e+02] [ 9.07534657e-01 3.63866906e-01 -2.09718196e-01 -1.10012467e+02] [ 2.25185259e-01 -8.69584162e-05 9.74315961e-01 -9.26979729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.84, Y:-109.99, Z:-926.97 [[ 3.57123716e-01 -9.30467006e-01 -8.18156622e-02 4.51837757e+02] [ 9.06600896e-01 3.66375199e-01 -2.09389656e-01 -1.09987226e+02] [ 2.24805396e-01 6.03859466e-04 9.74403494e-01 -9.26973538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.236559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.85, Y:-109.96, Z:-926.97 [[ 3.59923963e-01 -9.29403984e-01 -8.16270555e-02 4.51846802e+02] [ 9.05581107e-01 3.69061585e-01 -2.09084683e-01 -1.09962798e+02] [ 2.24449548e-01 1.33466823e-03 9.74484797e-01 -9.26967946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:451.86, Y:-109.94, Z:-926.96 [[ 3.59682955e-01 -9.29502845e-01 -8.15636821e-02 4.51856829e+02] [ 9.05676873e-01 3.68812499e-01 -2.09109403e-01 -1.09936787e+02] [ 2.24449490e-01 1.34274712e-03 9.74484799e-01 -9.26961706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.87, Y:-109.91, Z:-926.96 [[ 3.62723986e-01 -9.28321273e-01 -8.15532011e-02 4.51865961e+02] [ 9.04433744e-01 3.71772829e-01 -2.09247622e-01 -1.09912165e+02] [ 2.24568283e-01 2.13966446e-03 9.74456006e-01 -9.26956044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.88, Y:-109.89, Z:-926.95 [[ 3.65670430e-01 -9.27154651e-01 -8.16663305e-02 4.51875444e+02] [ 9.03128075e-01 3.74667374e-01 -2.09723723e-01 -1.09886735e+02] [ 2.25044034e-01 2.93460789e-03 9.74344175e-01 -9.26950507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.88, Y:-109.86, Z:-926.95 [[ 3.68395708e-01 -9.26059867e-01 -8.18396339e-02 4.51884733e+02] [ 9.01862007e-01 3.77358666e-01 -2.10345806e-01 -1.09861921e+02] [ 2.25675704e-01 3.68243560e-03 9.74195523e-01 -9.26945244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.90, Y:-109.84, Z:-926.94 [[ 3.73414528e-01 -9.23997537e-01 -8.24023174e-02 4.51895299e+02] [ 8.99367101e-01 3.82365117e-01 -2.11980506e-01 -1.09836564e+02] [ 2.27377237e-01 5.04666702e-03 9.73793676e-01 -9.26939979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.416559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:451.91, Y:-109.81, Z:-926.93 [[ 3.75107876e-01 -9.23294257e-01 -8.25941710e-02 4.51905930e+02] [ 8.98489333e-01 3.84053171e-01 -2.12650139e-01 -1.09811276e+02] [ 2.28059206e-01 5.55676048e-03 9.73631409e-01 -9.26933845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.92, Y:-109.79, Z:-926.93 [[ 3.76343958e-01 -9.22797657e-01 -8.25209661e-02 4.51916898e+02] [ 8.97983662e-01 3.85239402e-01 -2.12640416e-01 -1.09786222e+02] [ 2.28014405e-01 5.92345622e-03 9.73639740e-01 -9.26927876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.93, Y:-109.76, Z:-926.92 [[ 3.77238094e-01 -9.22438040e-01 -8.24589728e-02 4.51927467e+02] [ 8.97611241e-01 3.86095232e-01 -2.12660605e-01 -1.09762281e+02] [ 2.28003248e-01 6.20758041e-03 9.73640583e-01 -9.26921951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.94, Y:-109.74, Z:-926.92 [[ 3.78772241e-01 -9.21794008e-01 -8.26280563e-02 4.51939650e+02] [ 8.96804077e-01 3.87622372e-01 -2.13287000e-01 -1.09737645e+02] [ 2.28635162e-01 6.68601739e-03 9.73489219e-01 -9.26915435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.95, Y:-109.71, Z:-926.91 [[ 3.79435577e-01 -9.21522711e-01 -8.26107564e-02 4.51950383e+02] [ 8.96494325e-01 3.88262795e-01 -2.13424292e-01 -1.09713816e+02] [ 2.28750015e-01 6.92069501e-03 9.73460598e-01 -9.26909643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.96, Y:-109.69, Z:-926.91 [[ 3.78110346e-01 -9.22654838e-01 -7.57668514e-02 4.51956944e+02] [ 8.97404421e-01 3.85400212e-01 -2.14783569e-01 -1.09686442e+02] [ 2.27371660e-01 1.32183820e-02 9.73718339e-01 -9.26909563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.98, Y:-109.67, Z:-926.90 [[ 3.79868829e-01 -9.20801542e-01 -8.84544744e-02 4.51975733e+02] [ 8.96145478e-01 3.90029785e-01 -2.11660222e-01 -1.09666723e+02] [ 2.29396938e-01 1.13504351e-03 9.73332295e-01 -9.26895325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.98, Y:-109.64, Z:-926.89 [[ 3.79559684e-01 -9.21721361e-01 -7.97758086e-02 4.51983042e+02] [ 8.96061003e-01 3.87708128e-01 -2.16233871e-01 -1.09639142e+02] [ 2.30237107e-01 1.05896686e-02 9.73076941e-01 -9.26892205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.656559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:452.00, Y:-109.62, Z:-926.88 [[ 3.79248841e-01 -9.21251863e-01 -8.64020928e-02 4.51997824e+02] [ 8.96301667e-01 3.88952339e-01 -2.12977465e-01 -1.09615698e+02] [ 2.29812183e-01 3.32911698e-03 9.73229304e-01 -9.26883953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.01, Y:-109.59, Z:-926.88 [[ 3.78419973e-01 -9.21921254e-01 -8.28222481e-02 4.52007255e+02] [ 8.96619062e-01 3.87314874e-01 -2.14619305e-01 -1.09590580e+02] [ 2.29940387e-01 6.95622521e-03 9.73179855e-01 -9.26879624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.02, Y:-109.57, Z:-926.87 [[ 3.75206555e-01 -9.23216077e-01 -8.30187688e-02 4.52021737e+02] [ 8.97790811e-01 3.84230662e-01 -2.15263694e-01 -1.09567679e+02] [ 2.30633260e-01 6.23486120e-03 9.73020774e-01 -9.26873773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.03, Y:-109.54, Z:-926.87 [[ 3.72733382e-01 -9.24211943e-01 -8.30789386e-02 4.52034100e+02] [ 8.98741153e-01 3.81837715e-01 -2.15555794e-01 -1.09544531e+02] [ 2.30941911e-01 5.67837898e-03 9.72950970e-01 -9.26867571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.05, Y:-109.52, Z:-926.86 [[ 3.69961346e-01 -9.25339305e-01 -8.29202759e-02 4.52046986e+02] [ 8.99949931e-01 3.79106528e-01 -2.15333144e-01 -1.09520264e+02] [ 2.30691840e-01 5.04084337e-03 9.73013805e-01 -9.26861076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.06, Y:-109.50, Z:-926.85 [[ 3.67180377e-01 -9.26463210e-01 -8.27314471e-02 4.52059877e+02] [ 9.01175483e-01 3.76359643e-01 -2.15025969e-01 -1.09496329e+02] [ 2.30350428e-01 4.39776464e-03 9.73097806e-01 -9.26854592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.07, Y:-109.47, Z:-926.86 [[ 3.59428057e-01 -9.30618199e-01 -6.90017448e-02 4.52066845e+02] [ 9.05344051e-01 3.65677956e-01 -2.15943934e-01 -1.09468646e+02] [ 2.26193772e-01 1.51459895e-02 9.73964567e-01 -9.26858918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.09, Y:-109.45, Z:-926.85 [[ 3.57522410e-01 -9.30209039e-01 -8.29992166e-02 4.52086795e+02] [ 9.05822143e-01 3.67029866e-01 -2.11601801e-01 -1.09448162e+02] [ 2.27297100e-01 4.69857678e-04 9.73825348e-01 -9.26846335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.10, Y:-109.42, Z:-926.84 [[ 3.55372855e-01 -9.31273309e-01 -8.02505925e-02 4.52097164e+02] [ 9.06624379e-01 3.64309868e-01 -2.12862764e-01 -1.09422608e+02] [ 2.27469493e-01 2.88850456e-03 9.73780923e-01 -9.26841088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.12, Y:-109.40, Z:-926.83 [[ 3.56069113e-01 -9.30055845e-01 -9.06140833e-02 4.52115264e+02] [ 9.05648477e-01 3.67357865e-01 -2.11775908e-01 -1.09401664e+02] [ 2.30251218e-01 -6.65764671e-03 9.73108449e-01 -9.26825767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.12, Y:-109.37, Z:-926.82 [[ 3.56330867e-01 -9.30731059e-01 -8.22679042e-02 4.52121390e+02] [ 9.05662039e-01 3.65699178e-01 -2.14570227e-01 -1.09373451e+02] [ 2.29792480e-01 1.95107732e-03 9.73237694e-01 -9.26822492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.13, Y:-109.35, Z:-926.82 [[ 3.56851006e-01 -9.30535308e-01 -8.22277305e-02 4.52130876e+02] [ 9.05443021e-01 3.66195905e-01 -2.14647374e-01 -1.09347544e+02] [ 2.29848418e-01 2.14460665e-03 9.73224078e-01 -9.26816419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.14, Y:-109.32, Z:-926.81 [[ 3.58209564e-01 -9.29984621e-01 -8.25500653e-02 4.52139455e+02] [ 9.04634239e-01 3.67589385e-01 -2.15673219e-01 -1.09321075e+02] [ 2.30917304e-01 2.57859422e-03 9.72969963e-01 -9.26810152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.15, Y:-109.29, Z:-926.80 [[ 3.58598055e-01 -9.29838632e-01 -8.25078984e-02 4.52148748e+02] [ 9.04466211e-01 3.67957333e-01 -2.15750489e-01 -1.09294940e+02] [ 2.30972526e-01 2.74209943e-03 9.72956409e-01 -9.26803882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.16, Y:-109.27, Z:-926.80 [[ 3.58173156e-01 -9.30005022e-01 -8.24781782e-02 4.52157728e+02] [ 9.04610868e-01 3.67536860e-01 -2.15860682e-01 -1.09269808e+02] [ 2.31065289e-01 2.70484540e-03 9.72934487e-01 -9.26797501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.17, Y:-109.24, Z:-926.79 [[ 3.57210985e-01 -9.30393839e-01 -8.22655242e-02 4.52167123e+02] [ 9.05095873e-01 3.66552791e-01 -2.15500608e-01 -1.09244613e+02] [ 2.30655095e-01 2.52099788e-03 9.73032308e-01 -9.26791566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.18, Y:-109.22, Z:-926.79 [[ 3.55722135e-01 -9.30985636e-01 -8.20213900e-02 4.52176856e+02] [ 9.05810294e-01 3.65049168e-01 -2.15050730e-01 -1.09219150e+02] [ 2.30150981e-01 2.20248548e-03 9.73152442e-01 -9.26785086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.19, Y:-109.19, Z:-926.78 [[ 3.54071075e-01 -9.31643892e-01 -8.16904668e-02 4.52186204e+02] [ 9.06648280e-01 3.63367977e-01 -2.14365600e-01 -1.09193934e+02] [ 2.29396102e-01 1.83613726e-03 9.73331422e-01 -9.26778747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.20, Y:-109.17, Z:-926.77 [[ 3.49078364e-01 -9.33592767e-01 -8.09249156e-02 4.52195295e+02] [ 9.09077365e-01 3.58335253e-01 -2.12542213e-01 -1.09169479e+02] [ 2.27426123e-01 6.26878890e-04 9.73795136e-01 -9.26771932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.21, Y:-109.14, Z:-926.77 [[ 3.45817945e-01 -9.34822260e-01 -8.07297490e-02 4.52205155e+02] [ 9.10413598e-01 3.55115942e-01 -2.12225702e-01 -1.09144317e+02] [ 2.27061731e-01 -1.06005389e-04 9.73880362e-01 -9.26765423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.21, Y:-109.12, Z:-926.76 [[ 3.39742125e-01 -9.37075688e-01 -8.04017639e-02 4.52214525e+02] [ 9.12886726e-01 3.49122933e-01 -2.11544327e-01 -1.09119907e+02] [ 2.26303146e-01 -1.52718378e-03 9.74055724e-01 -9.26759238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.22, Y:-109.09, Z:-926.75 [[ 3.37091653e-01 -9.38039537e-01 -8.03183956e-02 4.52223930e+02] [ 9.13883922e-01 3.46521876e-01 -2.11515405e-01 -1.09094177e+02] [ 2.26241893e-01 -2.10161305e-03 9.74068883e-01 -9.26753066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.23, Y:-109.07, Z:-926.75 [[ 3.34701642e-01 -9.38899375e-01 -8.02668963e-02 4.52233219e+02] [ 9.14757304e-01 3.44181820e-01 -2.11560746e-01 -1.09068364e+02] [ 2.26260659e-01 -2.61500044e-03 9.74063281e-01 -9.26746755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.24, Y:-109.04, Z:-926.74 [[ 3.32827782e-01 -9.39565167e-01 -8.02680802e-02 4.52241738e+02] [ 9.15398837e-01 3.42356955e-01 -2.11746745e-01 -1.09043693e+02] [ 2.26430201e-01 -3.00210774e-03 9.74022767e-01 -9.26740719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.25, Y:-109.02, Z:-926.74 [[ 3.31667054e-01 -9.40108990e-01 -7.86895943e-02 4.52249705e+02] [ 9.15709798e-01 3.40870796e-01 -2.12797243e-01 -1.09017609e+02] [ 2.26875586e-01 -1.47899783e-03 9.73922626e-01 -9.26735222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.26, Y:-108.99, Z:-926.73 [[ 3.31317556e-01 -9.39974445e-01 -8.17111943e-02 4.52258109e+02] [ 9.15969192e-01 3.41209753e-01 -2.11131107e-01 -1.08991734e+02] [ 2.26338501e-01 -4.89349431e-03 9.74036414e-01 -9.26727441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.27, Y:-108.97, Z:-926.72 [[ 3.31965892e-01 -9.39895744e-01 -7.99664770e-02 4.52265267e+02] [ 9.15794844e-01 3.41448182e-01 -2.11501637e-01 -1.08965835e+02] [ 2.26093897e-01 -3.02155773e-03 9.74100826e-01 -9.26722498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.27, Y:-108.94, Z:-926.72 [[ 3.33053158e-01 -9.39512234e-01 -7.99522094e-02 4.52273769e+02] [ 9.15364871e-01 3.42504756e-01 -2.11654540e-01 -1.08940059e+02] [ 2.26236042e-01 -2.69323081e-03 9.74068786e-01 -9.26716180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.496559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.28, Y:-108.92, Z:-926.71 [[ 3.33898937e-01 -9.39205870e-01 -8.00239616e-02 4.52281963e+02] [ 9.14963767e-01 3.43345976e-01 -2.12025580e-01 -1.08915124e+02] [ 2.26611574e-01 -2.42390969e-03 9.73982197e-01 -9.26710069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.29, Y:-108.89, Z:-926.70 [[ 3.36579444e-01 -9.38245379e-01 -8.00617743e-02 4.52289450e+02] [ 9.13909149e-01 3.45966314e-01 -2.12314335e-01 -1.08889652e+02] [ 2.26901621e-01 -1.70854713e-03 9.73916185e-01 -9.26704438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.30, Y:-108.86, Z:-926.70 [[ 3.37843053e-01 -9.37793214e-01 -8.00372346e-02 4.52297830e+02] [ 9.13429108e-01 3.47191654e-01 -2.12379895e-01 -1.08863626e+02] [ 2.26956685e-01 -1.35726769e-03 9.73903908e-01 -9.26698384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.31, Y:-108.84, Z:-926.69 [[ 3.39253593e-01 -9.37276958e-01 -8.01180657e-02 4.52305686e+02] [ 9.12805542e-01 3.48584293e-01 -2.12779307e-01 -1.08838627e+02] [ 2.27361041e-01 -9.46069923e-04 9.73810075e-01 -9.26692297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.31, Y:-108.81, Z:-926.69 [[ 3.40775425e-01 -9.36735468e-01 -7.99923243e-02 4.52313844e+02] [ 9.12294955e-01 3.50037680e-01 -2.12583015e-01 -1.08812260e+02] [ 2.27134377e-01 -5.33526715e-04 9.73863281e-01 -9.26686457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.32, Y:-108.79, Z:-926.68 [[ 3.42458373e-01 -9.36125583e-01 -7.99447053e-02 4.52321815e+02] [ 9.11654328e-01 3.51665878e-01 -2.12644061e-01 -1.08785889e+02] [ 2.27175370e-01 -6.01975942e-05 9.73853864e-01 -9.26680419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.33, Y:-108.76, Z:-926.67 [[ 3.44371265e-01 -9.35436206e-01 -7.97968502e-02 4.52330134e+02] [ 9.10994467e-01 3.53495248e-01 -2.12438675e-01 -1.08759801e+02] [ 2.26930636e-01 4.63286236e-04 9.73910813e-01 -9.26674332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.34, Y:-108.73, Z:-926.67 [[ 3.46441044e-01 -9.34680155e-01 -7.96969967e-02 4.52338314e+02] [ 9.10236787e-01 3.55488330e-01 -2.12360636e-01 -1.08734731e+02] [ 2.26820624e-01 1.02730222e-03 9.73936009e-01 -9.26668325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.736559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.34, Y:-108.70, Z:-926.67 [[ 3.48450311e-01 -9.35139804e-01 -6.39994313e-02 4.52335004e+02] [ 9.10678343e-01 3.53918893e-01 -2.13087714e-01 -1.08704276e+02] [ 2.21917411e-01 1.59675842e-02 9.74934715e-01 -9.26674844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.36, Y:-108.69, Z:-926.65 [[ 3.53472892e-01 -9.31013300e-01 -9.09458671e-02 4.52360574e+02] [ 9.07775261e-01 3.64863787e-01 -2.06926300e-01 -1.08685723e+02] [ 2.25833990e-01 -9.41557062e-03 9.74120299e-01 -9.26651422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.36, Y:-108.66, Z:-926.65 [[ 3.55330165e-01 -9.31404248e-01 -7.89088123e-02 4.52363725e+02] [ 9.07263201e-01 3.63971658e-01 -2.10708604e-01 -1.08656935e+02] [ 2.24975460e-01 3.28006152e-03 9.74358909e-01 -9.26649129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.37, Y:-108.63, Z:-926.64 [[ 3.56568047e-01 -9.30956222e-01 -7.86113277e-02 4.52372580e+02] [ 9.06946262e-01 3.65112892e-01 -2.10097725e-01 -1.08630483e+02] [ 2.24293794e-01 3.61788568e-03 9.74514856e-01 -9.26642954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.38, Y:-108.60, Z:-926.64 [[ 3.57772580e-01 -9.30500748e-01 -7.85311370e-02 4.52381485e+02] [ 9.06487063e-01 3.66268487e-01 -2.10068085e-01 -1.08604456e+02] [ 2.24231991e-01 3.96914100e-03 9.74527712e-01 -9.26636969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.39, Y:-108.58, Z:-926.63 [[ 3.58702065e-01 -9.30143723e-01 -7.85205899e-02 4.52389935e+02] [ 9.06085409e-01 3.67170928e-01 -2.10225452e-01 -1.08579082e+02] [ 2.24370363e-01 4.26194298e-03 9.74494626e-01 -9.26631168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.40, Y:-108.55, Z:-926.63 [[ 3.60347819e-01 -9.29487802e-01 -7.87519950e-02 4.52398146e+02] [ 9.05224602e-01 3.68822135e-01 -2.11041828e-01 -1.08552649e+02] [ 2.25206284e-01 4.76021904e-03 9.74299477e-01 -9.26625973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.41, Y:-108.53, Z:-926.62 [[ 3.60188121e-01 -9.29554714e-01 -7.86927675e-02 4.52407766e+02] [ 9.05288280e-01 3.68653166e-01 -2.11063911e-01 -1.08526505e+02] [ 2.25205791e-01 4.78307345e-03 9.74299479e-01 -9.26619732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.42, Y:-108.50, Z:-926.61 [[ 3.60647939e-01 -9.29314426e-01 -7.94214155e-02 4.52416920e+02] [ 9.04557365e-01 3.69255253e-01 -2.13135009e-01 -1.08501488e+02] [ 2.27396214e-01 5.02547544e-03 9.73789354e-01 -9.26613895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.43, Y:-108.48, Z:-926.61 [[ 3.60383561e-01 -9.29390521e-01 -7.97304818e-02 4.52426363e+02] [ 9.04407177e-01 3.69063349e-01 -2.14102553e-01 -1.08475971e+02] [ 2.28410482e-01 5.05022045e-03 9.73551821e-01 -9.26607820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.44, Y:-108.45, Z:-926.60 [[ 3.59810091e-01 -9.29580523e-01 -8.01046214e-02 4.52435581e+02] [ 9.04318331e-01 3.68584841e-01 -2.15298794e-01 -1.08450733e+02] [ 2.29662915e-01 5.02660115e-03 9.73257252e-01 -9.26602218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.44, Y:-108.43, Z:-926.60 [[ 3.59077708e-01 -9.29841029e-01 -8.03670396e-02 4.52444569e+02] [ 9.04369295e-01 3.67928154e-01 -2.16206042e-01 -1.08426065e+02] [ 2.30606545e-01 4.95328720e-03 9.73034474e-01 -9.26597182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.46, Y:-108.40, Z:-926.59 [[ 3.57415722e-01 -9.30439850e-01 -8.08435923e-02 4.52455216e+02] [ 9.04628108e-01 3.66414873e-01 -2.17688140e-01 -1.08400899e+02] [ 2.32168015e-01 4.67177790e-03 9.72664478e-01 -9.26591352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.47, Y:-108.38, Z:-926.59 [[ 3.55895009e-01 -9.31026249e-01 -8.08013937e-02 4.52465211e+02] [ 9.05210419e-01 3.64926171e-01 -2.17768196e-01 -1.08376542e+02] [ 2.32234450e-01 4.36035066e-03 9.72650064e-01 -9.26585494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.47, Y:-108.35, Z:-926.58 [[ 3.55652343e-01 -9.31124700e-01 -8.07353923e-02 4.52474798e+02] [ 9.05305829e-01 3.64674802e-01 -2.17792664e-01 -1.08350360e+02] [ 2.32234292e-01 4.36824990e-03 9.72650067e-01 -9.26579250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.49, Y:-108.33, Z:-926.57 [[ 3.53653603e-01 -9.31902227e-01 -8.05442065e-02 4.52485407e+02] [ 9.06184241e-01 3.62688438e-01 -2.17456247e-01 -1.08325576e+02] [ 2.31860413e-01 3.91629459e-03 9.72741184e-01 -9.26572582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.50, Y:-108.30, Z:-926.57 [[ 3.51391249e-01 -9.32786339e-01 -8.02111975e-02 4.52496267e+02] [ 9.07260892e-01 3.60413858e-01 -2.16747605e-01 -1.08300579e+02] [ 2.31088432e-01 3.39072898e-03 9.72926842e-01 -9.26566070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.51, Y:-108.28, Z:-926.56 [[ 3.48999130e-01 -9.33703163e-01 -7.99875663e-02 4.52506948e+02] [ 9.08300657e-01 3.58036727e-01 -2.16332196e-01 -1.08276366e+02] [ 2.30628542e-01 2.84698911e-03 9.73037703e-01 -9.26559530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.52, Y:-108.25, Z:-926.55 [[ 3.43842771e-01 -9.35639076e-01 -7.96973586e-02 4.52519133e+02] [ 9.10440240e-01 3.52954600e-01 -2.15688711e-01 -1.08251849e+02] [ 2.29936335e-01 1.60332167e-03 9.73204352e-01 -9.26552589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.53, Y:-108.23, Z:-926.55 [[ 3.41143112e-01 -9.36626319e-01 -7.97026740e-02 4.52529768e+02] [ 9.11405808e-01 3.50328592e-01 -2.15891942e-01 -1.08226454e+02] [ 2.30132200e-01 1.00856891e-03 9.73158853e-01 -9.26546101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.54, Y:-108.20, Z:-926.54 [[ 3.38387769e-01 -9.37634699e-01 -7.95920239e-02 4.52539867e+02] [ 9.12467778e-01 3.47621947e-01 -2.15781222e-01 -1.08202269e+02] [ 2.29991895e-01 3.92569024e-04 9.73192465e-01 -9.26540186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.54, Y:-108.17, Z:-926.55 [[ 3.34071193e-01 -9.40344607e-01 -6.44085262e-02 4.52541004e+02] [ 9.15061224e-01 3.39953146e-01 -2.17013399e-01 -1.08172925e+02] [ 2.25963260e-01 1.35601800e-02 9.74041440e-01 -9.26545778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.57, Y:-108.16, Z:-926.52 [[ 3.33510570e-01 -9.38283243e-01 -9.16256322e-02 4.52566051e+02] [ 9.14470107e-01 3.45600758e-01 -2.10486437e-01 -1.08156466e+02] [ 2.29161785e-01 -1.35894500e-02 9.73293483e-01 -9.26523045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.57, Y:-108.13, Z:-926.52 [[ 3.31322370e-01 -9.40203996e-01 -7.90059138e-02 4.52570442e+02] [ 9.15366098e-01 3.40609795e-01 -2.14685526e-01 -1.08127971e+02] [ 2.28758377e-01 -1.18921783e-03 9.73482507e-01 -9.26521217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.4565599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.58, Y:-108.10, Z:-926.52 [[ 3.27305233e-01 -9.41608416e-01 -7.90245278e-02 4.52581121e+02] [ 9.16754090e-01 3.36703403e-01 -2.14925002e-01 -1.08103225e+02] [ 2.28983018e-01 -2.09998126e-03 9.73428152e-01 -9.26515308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.58, Y:-108.07, Z:-926.52 [[ 3.22907059e-01 -9.44496023e-01 -6.04838375e-02 4.52579715e+02] [ 9.19330664e-01 3.28203385e-01 -2.17056835e-01 -1.08072239e+02] [ 2.24860318e-01 1.44845379e-02 9.74283345e-01 -9.26524116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.516559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.60, Y:-108.05, Z:-926.52 [[ 3.21725254e-01 -9.44081452e-01 -7.21323285e-02 4.52595584e+02] [ 9.19813156e-01 3.29705755e-01 -2.12691967e-01 -1.08050433e+02] [ 2.24580985e-01 2.08011241e-03 9.74453208e-01 -9.26515286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.62, Y:-108.03, Z:-926.49 [[ 3.23470993e-01 -9.41114251e-01 -9.83386180e-02 4.52620147e+02] [ 9.17715050e-01 3.37345995e-01 -2.09754062e-01 -1.08033530e+02] [ 2.30576676e-01 -2.23974750e-02 9.72796356e-01 -9.26490207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.62, Y:-108.00, Z:-926.49 [[ 3.23989298e-01 -9.42697486e-01 -7.97018514e-02 4.52620984e+02] [ 9.17293938e-01 3.33637940e-01 -2.17388031e-01 -1.08003873e+02] [ 2.31522711e-01 -2.67862987e-03 9.72825811e-01 -9.26491334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.63, Y:-107.98, Z:-926.49 [[ 3.23795118e-01 -9.42769630e-01 -7.96375972e-02 4.52630142e+02] [ 9.17362447e-01 3.33434178e-01 -2.17411568e-01 -1.07978410e+02] [ 2.31522920e-01 -2.65973679e-03 9.72825814e-01 -9.26485280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.636559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:452.63, Y:-107.95, Z:-926.49 [[ 3.24955138e-01 -9.43668050e-01 -6.24080880e-02 4.52631193e+02] [ 9.17933941e-01 3.30598060e-01 -2.19322145e-01 -1.07946368e+02] [ 2.27599294e-01 1.39833559e-02 9.73654470e-01 -9.26492139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.66, Y:-107.93, Z:-926.47 [[ 3.27067300e-01 -9.40238974e-01 -9.47504816e-02 4.52655674e+02] [ 9.16315072e-01 3.40057558e-01 -2.11488879e-01 -1.07932116e+02] [ 2.31070704e-01 -1.76501977e-02 9.72776850e-01 -9.26467745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.66, Y:-107.90, Z:-926.47 [[ 3.28692824e-01 -9.41089756e-01 -7.94424256e-02 4.52657497e+02] [ 9.15655136e-01 3.38154333e-01 -2.17318475e-01 -1.07903343e+02] [ 2.31379991e-01 -1.31084180e-03 9.72862571e-01 -9.26467187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.67, Y:-107.88, Z:-926.46 [[ 3.30065210e-01 -9.40631040e-01 -7.91846154e-02 4.52666811e+02] [ 9.15316530e-01 3.39429479e-01 -2.16756265e-01 -1.07877261e+02] [ 2.30765263e-01 -9.35285442e-04 9.73009002e-01 -9.26461108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.68, Y:-107.85, Z:-926.46 [[ 3.34278089e-01 -9.39193680e-01 -7.85709304e-02 4.52675087e+02] [ 9.14190597e-01 3.43387849e-01 -2.15268058e-01 -1.07852400e+02] [ 2.29158703e-01 1.30589459e-04 9.73389065e-01 -9.26455351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.68, Y:-107.83, Z:-926.45 [[ 3.36635043e-01 -9.38380319e-01 -7.82254739e-02 4.52684065e+02] [ 9.13530668e-01 3.45603541e-01 -2.14522521e-01 -1.07826254e+02] [ 2.28338713e-01 7.54428750e-04 9.73581462e-01 -9.26449078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.69, Y:-107.80, Z:-926.44 [[ 3.39502187e-01 -9.37365892e-01 -7.79964763e-02 4.52693362e+02] [ 9.12593649e-01 3.48343123e-01 -2.14079191e-01 -1.07800130e+02] [ 2.27840068e-01 1.50126474e-03 9.73697412e-01 -9.26442431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.70, Y:-107.77, Z:-926.44 [[ 3.42514865e-01 -9.36300596e-01 -7.76193348e-02 4.52702580e+02] [ 9.11700671e-01 3.51192327e-01 -2.13227192e-01 -1.07773838e+02] [ 2.26904062e-01 2.26788319e-03 9.73914475e-01 -9.26436094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.71, Y:-107.75, Z:-926.43 [[ 3.48458351e-01 -9.34117500e-01 -7.74678981e-02 4.52709937e+02] [ 9.09516484e-01 3.56945839e-01 -2.13001019e-01 -1.07748554e+02] [ 2.26619823e-01 3.76365338e-03 9.73976022e-01 -9.26430316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.72, Y:-107.72, Z:-926.42 [[ 3.51068852e-01 -9.33146556e-01 -7.73832412e-02 4.52718875e+02] [ 9.08530194e-01 3.59468498e-01 -2.12967802e-01 -1.07722499e+02] [ 2.26547009e-01 4.46135073e-03 9.73990015e-01 -9.26424313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.73, Y:-107.70, Z:-926.42 [[ 3.53097982e-01 -9.32384897e-01 -7.73318701e-02 4.52727548e+02] [ 9.07739456e-01 3.61432178e-01 -2.13016106e-01 -1.07697798e+02] [ 2.26563227e-01 5.01836759e-03 9.73983532e-01 -9.26418948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.74, Y:-107.67, Z:-926.41 [[ 3.54411325e-01 -9.31886131e-01 -7.73359743e-02 4.52736856e+02] [ 9.07179862e-01 3.62710553e-01 -2.13226996e-01 -1.07672023e+02] [ 2.26753854e-01 5.41242358e-03 9.73937059e-01 -9.26412781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.75, Y:-107.65, Z:-926.41 [[ 3.55121005e-01 -9.31615784e-01 -7.73375940e-02 4.52746294e+02] [ 9.06857433e-01 3.63400647e-01 -2.13423444e-01 -1.07645868e+02] [ 2.26933181e-01 5.65697601e-03 9.73893901e-01 -9.26406774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.76, Y:-107.62, Z:-926.40 [[ 3.55409423e-01 -9.31512411e-01 -7.72578198e-02 4.52755278e+02] [ 9.06758795e-01 3.63663476e-01 -2.13394855e-01 -1.07621257e+02] [ 2.26875803e-01 5.78833459e-03 9.73906497e-01 -9.26401264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.77, Y:-107.60, Z:-926.40 [[ 3.54885798e-01 -9.31723126e-01 -7.71238445e-02 4.52765351e+02] [ 9.07014545e-01 3.63124382e-01 -2.13225932e-01 -1.07596001e+02] [ 2.26673080e-01 5.71840619e-03 9.73954113e-01 -9.26395374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.77, Y:-107.57, Z:-926.39 [[ 3.53707234e-01 -9.32180413e-01 -7.70121447e-02 4.52774629e+02] [ 9.07510724e-01 3.61952424e-01 -2.13107317e-01 -1.07571624e+02] [ 2.26529199e-01 5.48825257e-03 9.73988912e-01 -9.26389607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.78, Y:-107.55, Z:-926.38 [[ 3.52254414e-01 -9.32738670e-01 -7.69116462e-02 4.52784437e+02] [ 9.08100748e-01 3.60515693e-01 -2.13029264e-01 -1.07546575e+02] [ 2.26428488e-01 5.19697522e-03 9.74013928e-01 -9.26383391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.79, Y:-107.52, Z:-926.38 [[ 3.50465304e-01 -9.33430918e-01 -7.66863185e-02 4.52794284e+02] [ 9.08911023e-01 3.58724989e-01 -2.12596179e-01 -1.07521416e+02] [ 2.25953145e-01 4.80654423e-03 9.74126313e-01 -9.26377287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.80, Y:-107.50, Z:-926.37 [[ 3.48633648e-01 -9.34117576e-01 -7.66741984e-02 4.52804564e+02] [ 9.09577558e-01 3.56937967e-01 -2.12753269e-01 -1.07496463e+02] [ 2.26104500e-01 4.43181821e-03 9.74092970e-01 -9.26371121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.82, Y:-107.47, Z:-926.36 [[ 3.46533845e-01 -9.34900604e-01 -7.66495550e-02 4.52815160e+02] [ 9.10350665e-01 3.54887208e-01 -2.12877281e-01 -1.07471180e+02] [ 2.26221045e-01 3.99120926e-03 9.74067816e-01 -9.26364517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.83, Y:-107.45, Z:-926.36 [[ 3.42668910e-01 -9.36329943e-01 -7.65784276e-02 4.52827176e+02] [ 9.11816308e-01 3.51107545e-01 -2.12872058e-01 -1.07446945e+02] [ 2.26205746e-01 3.11917715e-03 9.74074551e-01 -9.26358094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.84, Y:-107.42, Z:-926.35 [[ 3.40843378e-01 -9.37001646e-01 -7.65095185e-02 4.52837494e+02] [ 9.12504712e-01 3.49314188e-01 -2.12872613e-01 -1.07422987e+02] [ 2.26187849e-01 2.74092427e-03 9.74079845e-01 -9.26352205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.85, Y:-107.40, Z:-926.35 [[ 3.39043548e-01 -9.37648062e-01 -7.65871099e-02 4.52848118e+02] [ 9.13069763e-01 3.47577935e-01 -2.13291319e-01 -1.07397622e+02] [ 2.26612182e-01 2.38567121e-03 9.73982150e-01 -9.26345485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.86, Y:-107.37, Z:-926.34 [[ 3.37825836e-01 -9.38079263e-01 -7.66876914e-02 4.52858439e+02] [ 9.13401643e-01 3.46413909e-01 -2.13763520e-01 -1.07372660e+02] [ 2.27092809e-01 2.16817663e-03 9.73870708e-01 -9.26339342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.87, Y:-107.35, Z:-926.33 [[ 3.36907078e-01 -9.38405314e-01 -7.67403872e-02 4.52868783e+02] [ 9.13656368e-01 3.45530592e-01 -2.14104299e-01 -1.07347178e+02] [ 2.27432764e-01 2.01891029e-03 9.73791693e-01 -9.26333201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.88, Y:-107.32, Z:-926.33 [[ 3.36151717e-01 -9.38644452e-01 -7.71272672e-02 4.52879302e+02] [ 9.13602325e-01 3.44880912e-01 -2.15378620e-01 -1.07322742e+02] [ 2.28763669e-01 1.93624220e-03 9.73480064e-01 -9.26327126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.89, Y:-107.30, Z:-926.32 [[ 3.36003764e-01 -9.38683115e-01 -7.73012357e-02 4.52888403e+02] [ 9.13479026e-01 3.44775379e-01 -2.16069449e-01 -1.07298308e+02] [ 2.29472306e-01 1.98709075e-03 9.73313163e-01 -9.26321326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.90, Y:-107.27, Z:-926.32 [[ 3.36368376e-01 -9.38531838e-01 -7.75519524e-02 4.52897079e+02] [ 9.13110102e-01 3.45185871e-01 -2.16971558e-01 -1.07272678e+02] [ 2.30404553e-01 2.16889945e-03 9.73092513e-01 -9.26315357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.91, Y:-107.25, Z:-926.31 [[ 3.37903250e-01 -9.37969985e-01 -7.76768984e-02 4.52905107e+02] [ 9.12400803e-01 3.46706476e-01 -2.17530216e-01 -1.07246061e+02] [ 2.30967897e-01 2.63170235e-03 9.72957812e-01 -9.26309197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.91, Y:-107.22, Z:-926.30 [[ 3.38478025e-01 -9.37760894e-01 -7.76989874e-02 4.52913520e+02] [ 9.12124312e-01 3.47269931e-01 -2.17790806e-01 -1.07219824e+02] [ 2.31218223e-01 2.84626644e-03 9.72897750e-01 -9.26302673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.92, Y:-107.19, Z:-926.30 [[ 3.39100276e-01 -9.37539585e-01 -7.76564833e-02 4.52921611e+02] [ 9.11878484e-01 3.47865092e-01 -2.17870395e-01 -1.07194670e+02] [ 2.31276099e-01 3.06663472e-03 9.72883324e-01 -9.26296347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:452.93, Y:-107.17, Z:-926.29 [[ 3.39430503e-01 -9.37435590e-01 -7.74690184e-02 4.52929525e+02] [ 9.11847824e-01 3.48144006e-01 -2.17552977e-01 -1.07169731e+02] [ 2.30912278e-01 3.20416061e-03 9.72969297e-01 -9.26290385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.94, Y:-107.15, Z:-926.28 [[ 3.39607776e-01 -9.37388575e-01 -7.72607144e-02 4.52937415e+02] [ 9.11890228e-01 3.48269674e-01 -2.17173771e-01 -1.07145467e+02] [ 2.30483776e-01 3.30061112e-03 9.73070571e-01 -9.26284340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.95, Y:-107.12, Z:-926.28 [[ 3.39614947e-01 -9.37405059e-01 -7.70288458e-02 4.52945572e+02] [ 9.12009860e-01 3.48224752e-01 -2.16743023e-01 -1.07121462e+02] [ 2.29999357e-01 3.35810343e-03 9.73184987e-01 -9.26278018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.95, Y:-107.10, Z:-926.27 [[ 3.39544832e-01 -9.37464357e-01 -7.66151896e-02 4.52954204e+02] [ 9.12295578e-01 3.48064907e-01 -2.15795272e-01 -1.07097763e+02] [ 2.28967435e-01 3.37647066e-03 9.73428227e-01 -9.26271219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.96, Y:-107.07, Z:-926.26 [[ 3.39526000e-01 -9.37464165e-01 -7.67009423e-02 4.52963045e+02] [ 9.12187384e-01 3.48064625e-01 -2.16252615e-01 -1.07072443e+02] [ 2.29425961e-01 3.45775319e-03 9.73319974e-01 -9.26264541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.7165599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.97, Y:-107.05, Z:-926.26 [[ 3.39266792e-01 -9.37575922e-01 -7.64815917e-02 4.52971210e+02] [ 9.12400467e-01 3.47763604e-01 -2.15837586e-01 -1.07047994e+02] [ 2.28961638e-01 3.44468559e-03 9.73429352e-01 -9.26259328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.98, Y:-107.02, Z:-926.25 [[ 3.38910699e-01 -9.37718838e-01 -7.63080527e-02 4.52980194e+02] [ 9.12612876e-01 3.47378342e-01 -2.15559795e-01 -1.07021631e+02] [ 2.28642246e-01 3.41580942e-03 9.73504523e-01 -9.26253394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.776559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.99, Y:-107.00, Z:-926.25 [[ 3.38553176e-01 -9.37846390e-01 -7.63275520e-02 4.52988914e+02] [ 9.12684346e-01 3.47033980e-01 -2.15811728e-01 -1.06996902e+02] [ 2.28886504e-01 3.40078416e-03 9.73447175e-01 -9.26247242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.00, Y:-106.97, Z:-926.24 [[ 3.37833599e-01 -9.38106259e-01 -7.63223812e-02 4.52998417e+02] [ 9.12905492e-01 3.46331875e-01 -2.16004157e-01 -1.06971411e+02] [ 2.29067725e-01 3.29834081e-03 9.73404900e-01 -9.26240270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.01, Y:-106.95, Z:-926.23 [[ 3.37326468e-01 -9.38290794e-01 -7.62970533e-02 4.53007476e+02] [ 9.13064497e-01 3.45832139e-01 -2.16132728e-01 -1.06946160e+02] [ 2.29181322e-01 3.24315924e-03 9.73378346e-01 -9.26233922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.02, Y:-106.92, Z:-926.23 [[ 3.36927494e-01 -9.38436215e-01 -7.62714449e-02 4.53016472e+02] [ 9.13181294e-01 3.45437572e-01 -2.16270222e-01 -1.06920068e+02] [ 2.29302831e-01 3.21772726e-03 9.73349813e-01 -9.26227499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.896559995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:453.03, Y:-106.89, Z:-926.22 [[ 3.36586056e-01 -9.38560067e-01 -7.62550215e-02 4.53025167e+02] [ 9.13272628e-01 3.45101062e-01 -2.16421729e-01 -1.06894885e+02] [ 2.29440482e-01 3.20291248e-03 9.73317424e-01 -9.26221352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.03, Y:-106.87, Z:-926.22 [[ 3.37116291e-01 -9.38388147e-01 -7.60282346e-02 4.53034225e+02] [ 9.13200007e-01 3.45566551e-01 -2.15984969e-01 -1.06868965e+02] [ 2.28950549e-01 3.38306713e-03 9.73432176e-01 -9.26215216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.04, Y:-106.84, Z:-926.21 [[ 3.37468417e-01 -9.38266836e-01 -7.59632323e-02 4.53043273e+02] [ 9.13072667e-01 3.45894297e-01 -2.15998703e-01 -1.06843309e+02] [ 2.28939668e-01 3.53278928e-03 9.73434203e-01 -9.26208934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.05, Y:-106.82, Z:-926.20 [[ 3.37831581e-01 -9.38145505e-01 -7.58474452e-02 4.53052013e+02] [ 9.12979781e-01 3.46221713e-01 -2.15866732e-01 -1.06817677e+02] [ 2.28774437e-01 3.67941563e-03 9.73472506e-01 -9.26202962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.06, Y:-106.79, Z:-926.20 [[ 3.38101275e-01 -9.38068087e-01 -7.56028595e-02 4.53060557e+02] [ 9.13018596e-01 3.46430234e-01 -2.15367446e-01 -1.06792163e+02] [ 2.28220444e-01 3.78919140e-03 9.73602111e-01 -9.26197429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.07, Y:-106.77, Z:-926.19 [[ 3.37861354e-01 -9.38159737e-01 -7.55381613e-02 4.53069678e+02] [ 9.13107443e-01 3.46181870e-01 -2.15390137e-01 -1.06765808e+02] [ 2.28220296e-01 3.79754592e-03 9.73602114e-01 -9.26191191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.08, Y:-106.74, Z:-926.19 [[ 3.37812706e-01 -9.38187410e-01 -7.54119371e-02 4.53078791e+02] [ 9.13178059e-01 3.46106434e-01 -2.15211916e-01 -1.06739806e+02] [ 2.28009667e-01 3.83679355e-03 9.73651309e-01 -9.26185241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.09, Y:-106.71, Z:-926.18 [[ 3.37525574e-01 -9.38298964e-01 -7.53096381e-02 4.53087519e+02] [ 9.13314277e-01 3.45804002e-01 -2.15120023e-01 -1.06714786e+02] [ 2.27889269e-01 3.82714157e-03 9.73679534e-01 -9.26179629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.10, Y:-106.69, Z:-926.17 [[ 3.36733384e-01 -9.38589964e-01 -7.52296964e-02 4.53095800e+02] [ 9.13616936e-01 3.45014756e-01 -2.15102099e-01 -1.06690059e+02] [ 2.27848027e-01 3.70093297e-03 9.73689673e-01 -9.26174136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.10, Y:-106.66, Z:-926.17 [[ 3.36009758e-01 -9.38845131e-01 -7.52812294e-02 4.53104562e+02] [ 9.13795334e-01 3.44320831e-01 -2.15455920e-01 -1.06664262e+02] [ 2.28200637e-01 3.60365517e-03 9.73607459e-01 -9.26168358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.11, Y:-106.64, Z:-926.16 [[ 3.34844165e-01 -9.39255749e-01 -7.53526557e-02 4.53112744e+02] [ 9.14121155e-01 3.43201241e-01 -2.15859731e-01 -1.06639333e+02] [ 2.28608619e-01 3.39791483e-03 9.73512483e-01 -9.26162832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.12, Y:-106.61, Z:-926.16 [[ 3.33891308e-01 -9.39596408e-01 -7.53338200e-02 4.53121491e+02] [ 9.14433933e-01 3.42269057e-01 -2.16014987e-01 -1.06613190e+02] [ 2.28751342e-01 3.23772539e-03 9.73479502e-01 -9.26156965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.13, Y:-106.59, Z:-926.15 [[ 3.32222857e-01 -9.40174237e-01 -7.55008426e-02 4.53130370e+02] [ 9.14866255e-01 3.40681514e-01 -2.16692965e-01 -1.06587395e+02] [ 2.29450884e-01 2.91718276e-03 9.73315870e-01 -9.26151016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.14, Y:-106.56, Z:-926.14 [[ 3.30947595e-01 -9.40624865e-01 -7.54887626e-02 4.53139132e+02] [ 9.15289662e-01 3.39437346e-01 -2.16857379e-01 -1.06561510e+02] [ 2.29605148e-01 2.67434391e-03 9.73280188e-01 -9.26144838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.15, Y:-106.54, Z:-926.14 [[ 3.29665025e-01 -9.41083918e-01 -7.53792511e-02 4.53147796e+02] [ 9.15788286e-01 3.38164459e-01 -2.16740890e-01 -1.06536931e+02] [ 2.29461950e-01 2.42045584e-03 9.73314623e-01 -9.26138733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.16, Y:-106.51, Z:-926.13 [[ 3.27881609e-01 -9.41716131e-01 -7.52620746e-02 4.53156659e+02] [ 9.16467533e-01 3.36402342e-01 -2.16611926e-01 -1.06511244e+02] [ 2.29305283e-01 2.04781897e-03 9.73352400e-01 -9.26132083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.17, Y:-106.49, Z:-926.13 [[ 3.23998007e-01 -9.43080847e-01 -7.49920510e-02 4.53165320e+02] [ 9.18004985e-01 3.32561561e-01 -2.16031606e-01 -1.06485870e+02] [ 2.28674744e-01 1.15073326e-03 9.73502202e-01 -9.26126098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.17, Y:-106.46, Z:-926.12 [[ 3.21670159e-01 -9.43885219e-01 -7.48932695e-02 4.53174336e+02] [ 9.18862981e-01 3.30273062e-01 -2.15894714e-01 -1.06459874e+02] [ 2.28515059e-01 6.30234091e-04 9.73540174e-01 -9.26120040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.18, Y:-106.43, Z:-926.11 [[ 3.19019092e-01 -9.44794516e-01 -7.47672543e-02 4.53183245e+02] [ 9.19835082e-01 3.27663426e-01 -2.15731548e-01 -1.06434101e+02] [ 2.28320478e-01 4.89390230e-05 9.73586030e-01 -9.26113985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:453.19, Y:-106.41, Z:-926.11 [[ 3.16579396e-01 -9.45624457e-01 -7.46449709e-02 4.53192423e+02] [ 9.20723709e-01 3.25260135e-01 -2.15577590e-01 -1.06408630e+02] [ 2.28134475e-01 -4.79971092e-04 9.73629514e-01 -9.26107775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.20, Y:-106.38, Z:-926.10 [[ 3.14524805e-01 -9.46324332e-01 -7.44607628e-02 4.53201093e+02] [ 9.21521268e-01 3.23217287e-01 -2.15242045e-01 -1.06383156e+02] [ 2.27755790e-01 -9.18214505e-04 9.73717853e-01 -9.26101818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.21, Y:-106.36, Z:-926.10 [[ 3.13010689e-01 -9.46838524e-01 -7.43042275e-02 4.53209287e+02] [ 9.22120998e-01 3.21706810e-01 -2.14936256e-01 -1.06356814e+02] [ 2.27414104e-01 -1.24014272e-03 9.73797355e-01 -9.26095773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.22, Y:-106.33, Z:-926.09 [[ 3.10559029e-01 -9.47636747e-01 -7.44156284e-02 4.53216535e+02] [ 9.22819204e-01 3.19345428e-01 -2.15460472e-01 -1.06331234e+02] [ 2.27942552e-01 -1.75897595e-03 9.73672994e-01 -9.26090141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.22, Y:-106.31, Z:-926.08 [[ 3.09328800e-01 -9.48024074e-01 -7.46059541e-02 4.53224989e+02] [ 9.23038706e-01 3.18192451e-01 -2.16224679e-01 -1.06305087e+02] [ 2.28725252e-01 -1.97966291e-03 9.73489004e-01 -9.26084224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.23, Y:-106.28, Z:-926.08 [[ 3.08818810e-01 -9.48179222e-01 -7.47469500e-02 4.53232797e+02] [ 9.23055303e-01 3.17729492e-01 -2.16833755e-01 -1.06280198e+02] [ 2.29346571e-01 -2.03322663e-03 9.73342703e-01 -9.26078648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.24, Y:-106.25, Z:-926.07 [[ 3.08192525e-01 -9.48366092e-01 -7.49608127e-02 4.53240600e+02] [ 9.23065913e-01 3.17170651e-01 -2.17605375e-01 -1.06254191e+02] [ 2.30144929e-01 -2.12942096e-03 9.73154036e-01 -9.26072972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.25, Y:-106.23, Z:-926.07 [[ 3.07733762e-01 -9.48497471e-01 -7.51829722e-02 4.53248574e+02] [ 9.23001015e-01 3.16777278e-01 -2.18452017e-01 -1.06228209e+02] [ 2.31017443e-01 -2.16889862e-03 9.72947191e-01 -9.26067078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.26, Y:-106.20, Z:-926.06 [[ 3.07422171e-01 -9.48582633e-01 -7.53830009e-02 4.53256398e+02] [ 9.22902891e-01 3.16522138e-01 -2.19235009e-01 -1.06202095e+02] [ 2.31822911e-01 -2.17348703e-03 9.72755578e-01 -9.26061271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.26, Y:-106.18, Z:-926.06 [[ 3.08033451e-01 -9.48373410e-01 -7.55199878e-02 4.53262342e+02] [ 9.22544234e-01 3.17149900e-01 -2.19836480e-01 -1.06175991e+02] [ 2.32438229e-01 -1.95353956e-03 9.72609199e-01 -9.26055991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.27, Y:-106.15, Z:-926.05 [[ 3.08291808e-01 -9.48286330e-01 -7.55592352e-02 4.53270031e+02] [ 9.22376369e-01 3.17410975e-01 -2.20163818e-01 -1.06149398e+02] [ 2.32761670e-01 -1.81935151e-03 9.72532105e-01 -9.26049546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.28, Y:-106.12, Z:-926.04 [[ 3.07770652e-01 -9.48479190e-01 -7.52625600e-02 4.53276501e+02] [ 9.22732733e-01 3.16833789e-01 -2.19500921e-01 -1.06122301e+02] [ 2.32037778e-01 -1.89128627e-03 9.72704936e-01 -9.26042882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.28, Y:-106.10, Z:-926.04 [[ 3.07588079e-01 -9.48567413e-01 -7.48961782e-02 4.53283995e+02] [ 9.23029156e-01 3.16569615e-01 -2.18634068e-01 -1.06097123e+02] [ 2.31099006e-01 -1.88212339e-03 9.72928418e-01 -9.26036766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.856559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:453.29, Y:-106.07, Z:-926.03 [[ 3.06734171e-01 -9.48872584e-01 -7.45316529e-02 4.53291501e+02] [ 9.23544736e-01 3.15652796e-01 -2.17780700e-01 -1.06070934e+02] [ 2.30172260e-01 -2.03253338e-03 9.73147779e-01 -9.26030637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.30, Y:-106.04, Z:-926.02 [[ 3.06364441e-01 -9.49027565e-01 -7.40777291e-02 4.53299675e+02] [ 9.23968668e-01 3.15186287e-01 -2.16655269e-01 -1.06044621e+02] [ 2.28960106e-01 -2.07003044e-03 9.73433606e-01 -9.26023826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.31, Y:-106.02, Z:-926.02 [[ 3.06189088e-01 -9.49127463e-01 -7.35207504e-02 4.53307769e+02] [ 9.24405398e-01 3.14885377e-01 -2.15225136e-01 -1.06018693e+02] [ 2.27426696e-01 -2.06339057e-03 9.73793017e-01 -9.26017367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.32, Y:-105.99, Z:-926.01 [[ 3.06566039e-01 -9.49046449e-01 -7.29938415e-02 4.53316076e+02] [ 9.24633990e-01 3.15130346e-01 -2.13880457e-01 -1.05992577e+02] [ 2.25985062e-01 -1.92410248e-03 9.74128867e-01 -9.26010908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.32, Y:-105.97, Z:-926.00 [[ 3.09072858e-01 -9.48292553e-01 -7.22163627e-02 4.53322141e+02] [ 9.24338445e-01 3.17394972e-01 -2.11799131e-01 -1.05966612e+02] [ 2.23768649e-01 -1.29099758e-03 9.74641434e-01 -9.26004786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.33, Y:-105.94, Z:-926.00 [[ 3.10990320e-01 -9.47683633e-01 -7.19774413e-02 4.53329077e+02] [ 9.23825932e-01 3.19210154e-01 -2.11306708e-01 -1.05940293e+02] [ 2.23227839e-01 -7.80286013e-04 9.74765984e-01 -9.25999006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.34, Y:-105.91, Z:-925.99 [[ 3.13428694e-01 -9.46893934e-01 -7.17936818e-02 4.53336209e+02] [ 9.23095357e-01 3.21546039e-01 -2.10957593e-01 -1.05913486e+02] [ 2.22839440e-01 -1.52251405e-04 9.74855149e-01 -9.25992892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.34, Y:-105.89, Z:-925.99 [[ 3.16149919e-01 -9.45998604e-01 -7.16649854e-02 4.53342872e+02] [ 9.22218237e-01 3.24170237e-01 -2.10777564e-01 -1.05886867e+02] [ 2.22626937e-01 5.46553365e-04 9.74903559e-01 -9.25987157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.35, Y:-105.86, Z:-925.98 [[ 3.22089613e-01 -9.44001306e-01 -7.15528880e-02 4.53347222e+02] [ 9.20201582e-01 3.29935630e-01 -2.10645504e-01 -1.05860104e+02] [ 2.22457478e-01 2.00364788e-03 9.74940335e-01 -9.25982417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.35, Y:-105.83, Z:-925.98 [[ 3.24612853e-01 -9.43133806e-01 -7.15899425e-02 4.53354054e+02] [ 9.19240303e-01 3.32402584e-01 -2.10963951e-01 -1.05832905e+02] [ 2.22763916e-01 2.67324957e-03 9.74868756e-01 -9.25976669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.36, Y:-105.81, Z:-925.97 [[ 3.26827919e-01 -9.42362658e-01 -7.16668202e-02 4.53360492e+02] [ 9.18352302e-01 3.34577201e-01 -2.11393345e-01 -1.05807498e+02] [ 2.23187278e-01 3.27385762e-03 9.74770086e-01 -9.25971467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.37, Y:-105.78, Z:-925.97 [[ 3.28755651e-01 -9.41692542e-01 -7.16580687e-02 4.53367568e+02] [ 9.17623434e-01 3.36453104e-01 -2.11581052e-01 -1.05781383e+02] [ 2.23353878e-01 3.80334339e-03 9.74730004e-01 -9.25966006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.37, Y:-105.76, Z:-925.96 [[ 3.29972212e-01 -9.41255118e-01 -7.18132523e-02 4.53374527e+02] [ 9.17022005e-01 3.37670427e-01 -2.12248265e-01 -1.05756047e+02] [ 2.24028977e-01 4.18169689e-03 9.74573512e-01 -9.25960519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.38, Y:-105.73, Z:-925.95 [[ 3.30940876e-01 -9.40914879e-01 -7.18145311e-02 4.53382324e+02] [ 9.16624348e-01 3.38613448e-01 -2.12463497e-01 -1.05729621e+02] [ 2.24227432e-01 4.48590814e-03 9.74526519e-01 -9.25954902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.276559995 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:453.38, Y:-105.70, Z:-925.96 [[ 3.30295513e-01 -9.42572913e-01 -4.96102649e-02 4.53380053e+02] [ 9.17514553e-01 3.32961882e-01 -2.17493519e-01 -1.05695644e+02] [ 2.21521827e-01 2.63189934e-02 9.74800180e-01 -9.25962917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.41, Y:-105.68, Z:-925.94 [[ 3.29247437e-01 -9.39590413e-01 -9.36268155e-02 4.53408663e+02] [ 9.16902167e-01 3.41826472e-01 -2.06022038e-01 -1.05683791e+02] [ 2.25580456e-01 -1.80144021e-02 9.74057976e-01 -9.25936686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.40, Y:-105.65, Z:-925.95 [[ 3.26697065e-01 -9.43790801e-01 -5.02787480e-02 4.53396523e+02] [ 9.19024589e-01 3.29640395e-01 -2.16173576e-01 -1.05645597e+02] [ 2.20596539e-01 2.44158670e-02 9.75059502e-01 -9.25952963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:453.43, Y:-105.63, Z:-925.93 [[ 3.25662553e-01 -9.41027053e-01 -9.17168884e-02 4.53425451e+02] [ 9.18159428e-01 3.37912064e-01 -2.06878472e-01 -1.05632442e+02] [ 2.25670482e-01 -1.68381543e-02 9.74058166e-01 -9.25925606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.42, Y:-105.59, Z:-925.94 [[ 3.23623672e-01 -9.44710420e-01 -5.28199028e-02 4.53417135e+02] [ 9.20005722e-01 3.27219534e-01 -2.15677649e-01 -1.05594338e+02] [ 2.21036626e-01 2.12037801e-02 9.75034979e-01 -9.25938835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.44, Y:-105.58, Z:-925.91 [[ 3.21024506e-01 -9.42832379e-01 -8.95006768e-02 4.53443937e+02] [ 9.19892428e-01 3.32893634e-01 -2.07315581e-01 -1.05580295e+02] [ 2.25258048e-01 -1.57776130e-02 9.74171381e-01 -9.25914115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.44, Y:-105.54, Z:-925.92 [[ 3.19781343e-01 -9.45633695e-01 -5.93026739e-02 4.53440329e+02] [ 9.20776440e-01 3.24913433e-01 -2.15874984e-01 -1.05544985e+02] [ 2.23406894e-01 1.44282874e-02 9.74618481e-01 -9.25923099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:453.46, Y:-105.52, Z:-925.91 [[ 3.18546521e-01 -9.45209112e-01 -7.14692211e-02 4.53456042e+02] [ 9.21031877e-01 3.26460326e-01 -2.12423957e-01 -1.05522206e+02] [ 2.24116925e-01 1.84148155e-03 9.74560523e-01 -9.25912844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.47, Y:-105.50, Z:-925.91 [[ 3.15959597e-01 -9.45776261e-01 -7.53445284e-02 4.53465356e+02] [ 9.21704747e-01 3.24809573e-01 -2.12035612e-01 -1.05499274e+02] [ 2.25010873e-01 -2.45072287e-03 9.74353171e-01 -9.25905703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.47, Y:-105.47, Z:-925.90 [[ 3.13983985e-01 -9.47096393e-01 -6.65017238e-02 4.53470705e+02] [ 9.22648319e-01 3.20896883e-01 -2.13881439e-01 -1.05470266e+02] [ 2.23906535e-01 5.79764276e-03 9.74593377e-01 -9.25904170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.49, Y:-105.45, Z:-925.88 [[ 3.12726521e-01 -9.45773955e-01 -8.78279563e-02 4.53492499e+02] [ 9.21957643e-01 3.24485746e-01 -2.11431089e-01 -1.05453219e+02] [ 2.28464937e-01 -1.48535467e-02 9.73438825e-01 -9.25883608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.49, Y:-105.42, Z:-925.88 [[ 3.11566430e-01 -9.47471401e-01 -7.22793452e-02 4.53494735e+02] [ 9.22408998e-01 3.19839554e-01 -2.16481640e-01 -1.05424267e+02] [ 2.28227956e-01 7.77293254e-04 9.73607414e-01 -9.25883116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.636559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:453.50, Y:-105.40, Z:-925.88 [[ 3.10580218e-01 -9.47795946e-01 -7.22687509e-02 4.53504482e+02] [ 9.22701536e-01 3.18876899e-01 -2.16655021e-01 -1.05399461e+02] [ 2.28389586e-01 6.06276182e-04 9.73569633e-01 -9.25877079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:453.52, Y:-105.37, Z:-925.87 [[ 3.07851245e-01 -9.48677441e-01 -7.23790284e-02 4.53515447e+02] [ 9.23478265e-01 3.16245335e-01 -2.17202171e-01 -1.05373524e+02] [ 2.28944330e-01 2.54992679e-05 9.73439517e-01 -9.25872766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:-105.35, Z:-925.86 [[ 3.07353880e-01 -9.48854800e-01 -7.21675896e-02 4.53525217e+02] [ 9.23761248e-01 3.15712792e-01 -2.16773130e-01 -1.05349633e+02] [ 2.28470456e-01 -3.95600505e-05 9.73550846e-01 -9.25864566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:-105.32, Z:-925.86 [[ 3.06061068e-01 -9.49906101e-01 -6.32852486e-02 4.53532563e+02] [ 9.24475612e-01 3.12423484e-01 -2.18486634e-01 -1.05318962e+02] [ 2.27313585e-01 8.36458365e-03 9.73785689e-01 -9.25864588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.55, Y:-105.30, Z:-925.85 [[ 3.05022076e-01 -9.48859972e-01 -8.14020124e-02 4.53550149e+02] [ 9.24520307e-01 3.15537160e-01 -2.13772083e-01 -1.05300642e+02] [ 2.28525133e-01 -1.00526088e-02 9.73486111e-01 -9.25848680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.56, Y:-105.27, Z:-925.85 [[ 3.03740359e-01 -9.50018119e-01 -7.21620945e-02 4.53556589e+02] [ 9.24844287e-01 3.12193866e-01 -2.17251086e-01 -1.05272874e+02] [ 2.28921031e-01 -7.50778015e-04 9.73444707e-01 -9.25845719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.57, Y:-105.25, Z:-925.84 [[ 3.02483018e-01 -9.50425412e-01 -7.20802392e-02 4.53567625e+02] [ 9.25273227e-01 3.10951045e-01 -2.17207052e-01 -1.05247458e+02] [ 2.28852527e-01 -9.92470907e-04 9.73460598e-01 -9.25839000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.58, Y:-105.22, Z:-925.83 [[ 3.01289715e-01 -9.50815257e-01 -7.19364573e-02 4.53579200e+02] [ 9.25728295e-01 3.09756122e-01 -2.16975271e-01 -1.05222704e+02] [ 2.28586156e-01 -1.22119630e-03 9.73522921e-01 -9.25832149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.59, Y:-105.20, Z:-925.83 [[ 3.02018915e-01 -9.50610095e-01 -7.15892616e-02 4.53587155e+02] [ 9.25714478e-01 3.10385981e-01 -2.16132480e-01 -1.05196821e+02] [ 2.27678021e-01 -9.95118702e-04 9.73735965e-01 -9.25826139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.59, Y:-105.17, Z:-925.82 [[ 3.03368301e-01 -9.50202321e-01 -7.12967326e-02 4.53594195e+02] [ 9.25454390e-01 3.11633061e-01 -2.15450707e-01 -1.05171808e+02] [ 2.26940181e-01 -6.20959305e-04 9.73908501e-01 -9.25820462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.60, Y:-105.15, Z:-925.81 [[ 3.06747028e-01 -9.49155318e-01 -7.07844815e-02 4.53600251e+02] [ 9.24704281e-01 3.14808100e-01 -2.14051052e-01 -1.05145911e+02] [ 2.25451222e-01 2.04810814e-04 9.74254435e-01 -9.25814565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.61, Y:-105.12, Z:-925.81 [[ 3.07401154e-01 -9.48957672e-01 -7.05965166e-02 4.53607610e+02] [ 9.24583094e-01 3.15403174e-01 -2.13698248e-01 -1.05120385e+02] [ 2.25056958e-01 4.18742430e-04 9.74345519e-01 -9.25808670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.62, Y:-105.09, Z:-925.80 [[ 3.07206955e-01 -9.49025296e-01 -7.05327864e-02 4.53615930e+02] [ 9.24647648e-01 3.15199612e-01 -2.13719282e-01 -1.05094647e+02] [ 2.25056911e-01 4.38074721e-04 9.74345521e-01 -9.25802576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.62, Y:-105.07, Z:-925.80 [[ 3.07818491e-01 -9.48838040e-01 -7.03857324e-02 4.53624390e+02] [ 9.24523438e-01 3.15762548e-01 -2.13425458e-01 -1.05069465e+02] [ 2.24731371e-01 6.23042991e-04 9.74420558e-01 -9.25796133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.056559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.63, Y:-105.05, Z:-925.79 [[ 3.07448272e-01 -9.48969330e-01 -7.02336941e-02 4.53632349e+02] [ 9.24713468e-01 3.15367809e-01 -2.13185711e-01 -1.05045609e+02] [ 2.24456147e-01 5.97535565e-04 9.74484008e-01 -9.25790237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.64, Y:-105.01, Z:-925.80 [[ 3.07108878e-01 -9.50201145e-01 -5.29331782e-02 4.53635168e+02] [ 9.25521238e-01 3.11156750e-01 -2.15851602e-01 -1.05012694e+02] [ 2.21572955e-01 1.72991627e-02 9.74990341e-01 -9.25795534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.116559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.66, Y:-105.00, Z:-925.77 [[ 3.06816022e-01 -9.47749239e-01 -8.73802507e-02 4.53656789e+02] [ 9.25022169e-01 3.18546407e-01 -2.07031818e-01 -1.05000040e+02] [ 2.24048913e-01 -1.73079901e-02 9.74424198e-01 -9.25771818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:453.66, Y:-104.97, Z:-925.77 [[ 3.06689345e-01 -9.49239317e-01 -6.99025450e-02 4.53655736e+02] [ 9.25094076e-01 3.14554267e-01 -2.12735904e-01 -1.04969932e+02] [ 2.23925428e-01 5.77404840e-04 9.74606110e-01 -9.25772428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.176559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:453.66, Y:-104.94, Z:-925.78 [[ 3.06156781e-01 -9.50492317e-01 -5.32201271e-02 4.53655959e+02] [ 9.25805367e-01 3.10292469e-01 -2.15877295e-01 -1.04937888e+02] [ 2.21703515e-01 1.68208185e-02 9.74969031e-01 -9.25778240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.68, Y:-104.92, Z:-925.76 [[ 3.06960480e-01 -9.47787075e-01 -8.64576469e-02 4.53676733e+02] [ 9.24990983e-01 3.18484441e-01 -2.07266357e-01 -1.04923415e+02] [ 2.23979790e-01 -1.63499634e-02 9.74456635e-01 -9.25755470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.67, Y:-104.89, Z:-925.76 [[ 3.07370379e-01 -9.49034009e-01 -6.96986410e-02 4.53674048e+02] [ 9.24893161e-01 3.15172363e-01 -2.12694669e-01 -1.04894337e+02] [ 2.23821560e-01 9.12244640e-04 9.74629713e-01 -9.25756428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.68, Y:-104.87, Z:-925.75 [[ 3.07251461e-01 -9.49071023e-01 -6.97189620e-02 4.53681599e+02] [ 9.24865831e-01 3.15060752e-01 -2.12978677e-01 -1.04868921e+02] [ 2.24097600e-01 9.57324125e-04 9.74566237e-01 -9.25750585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.69, Y:-104.84, Z:-925.74 [[ 3.06642095e-01 -9.49263903e-01 -6.97758460e-02 4.53689122e+02] [ 9.24975036e-01 3.14479347e-01 -2.13363361e-01 -1.04843651e+02] [ 2.24481199e-01 8.85272271e-04 9.74478018e-01 -9.25744708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.70, Y:-104.82, Z:-925.74 [[ 3.05900110e-01 -9.49503046e-01 -6.97788516e-02 4.53696795e+02] [ 9.25169178e-01 3.13756847e-01 -2.13585191e-01 -1.04818926e+02] [ 2.24693382e-01 7.78490674e-04 9.74429206e-01 -9.25739081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.70, Y:-104.79, Z:-925.73 [[ 3.04929049e-01 -9.49815461e-01 -6.97772561e-02 4.53704395e+02] [ 9.25439309e-01 3.12810175e-01 -2.13803368e-01 -1.04794177e+02] [ 2.24900780e-01 6.20242019e-04 9.74381473e-01 -9.25733343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.71, Y:-104.77, Z:-925.73 [[ 3.03974372e-01 -9.50128972e-01 -6.96743666e-02 4.53712420e+02] [ 9.25782744e-01 3.11856899e-01 -2.13709114e-01 -1.04768622e+02] [ 2.24779653e-01 4.58767394e-04 9.74409512e-01 -9.25727639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.416559995 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:453.71, Y:-104.73, Z:-925.74 [[ 3.00841890e-01 -9.52690840e-01 -4.32934305e-02 4.53706283e+02] [ 9.27861362e-01 3.02887843e-01 -2.17559759e-01 -1.04734484e+02] [ 2.20380243e-01 2.52807876e-02 9.75086371e-01 -9.25737911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.74, Y:-104.72, Z:-925.71 [[ 3.01699115e-01 -9.48785850e-01 -9.37179563e-02 4.53737989e+02] [ 9.26636297e-01 3.14937516e-01 -2.05327870e-01 -1.04723415e+02] [ 2.24327478e-01 -2.48952234e-02 9.74195776e-01 -9.25707664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:453.73, Y:-104.69, Z:-925.71 [[ 3.01922803e-01 -9.50816341e-01 -6.92163818e-02 4.53733352e+02] [ 9.26627780e-01 3.09755137e-01 -2.13102588e-01 -1.04692509e+02] [ 2.24061552e-01 2.02708299e-04 9.74574974e-01 -9.25711121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.74, Y:-104.67, Z:-925.71 [[ 3.02025530e-01 -9.50781770e-01 -6.92430885e-02 4.53740397e+02] [ 9.26521854e-01 3.09861157e-01 -2.13408804e-01 -1.04667517e+02] [ 2.24360944e-01 2.99672470e-04 9.74506068e-01 -9.25705525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.75, Y:-104.64, Z:-925.70 [[ 3.02598226e-01 -9.50609965e-01 -6.91014299e-02 4.53747847e+02] [ 9.26395000e-01 3.10387576e-01 -2.13194411e-01 -1.04643027e+02] [ 2.24112957e-01 4.97031454e-04 9.74563049e-01 -9.25699856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.75, Y:-104.62, Z:-925.69 [[ 3.03930570e-01 -9.50207598e-01 -6.87875608e-02 4.53754547e+02] [ 9.26154486e-01 3.11616397e-01 -2.12445499e-01 -1.04619012e+02] [ 2.23302659e-01 8.60773625e-04 9.74748779e-01 -9.25694228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.76, Y:-104.59, Z:-925.69 [[ 3.04724314e-01 -9.49965653e-01 -6.86174294e-02 4.53762590e+02] [ 9.25986697e-01 3.12352472e-01 -2.12095663e-01 -1.04592932e+02] [ 2.22916418e-01 1.09187857e-03 9.74836950e-01 -9.25687845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.77, Y:-104.57, Z:-925.68 [[ 3.05537520e-01 -9.49727540e-01 -6.82965884e-02 4.53770750e+02] [ 9.25922567e-01 3.13074820e-01 -2.11309149e-01 -1.04567062e+02] [ 2.22068061e-01 1.32552092e-03 9.75030266e-01 -9.25681526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.78, Y:-104.54, Z:-925.68 [[ 3.06394218e-01 -9.49463366e-01 -6.81314918e-02 4.53778347e+02] [ 9.25720849e-01 3.13873889e-01 -2.11007325e-01 -1.04542205e+02] [ 2.21728421e-01 1.58068182e-03 9.75107178e-01 -9.25675278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.79, Y:-104.52, Z:-925.67 [[ 3.08665675e-01 -9.48747472e-01 -6.78508306e-02 4.53785184e+02] [ 9.25135760e-01 3.16027805e-01 -2.10357442e-01 -1.04515515e+02] [ 2.21018840e-01 2.15889201e-03 9.75267149e-01 -9.25669737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.79, Y:-104.49, Z:-925.66 [[ 3.09510330e-01 -9.48473113e-01 -6.78388529e-02 4.53792481e+02] [ 9.24816537e-01 3.16848370e-01 -2.10526681e-01 -1.04489965e+02] [ 2.21173527e-01 2.42168950e-03 9.75231463e-01 -9.25664289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.80, Y:-104.46, Z:-925.66 [[ 3.10264882e-01 -9.48213137e-01 -6.80260965e-02 4.53800456e+02] [ 9.24368031e-01 3.17623411e-01 -2.11327027e-01 -1.04463304e+02] [ 2.21989744e-01 2.68620612e-03 9.75045301e-01 -9.25658852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.80, Y:-104.43, Z:-925.67 [[ 3.09021083e-01 -9.50006504e-01 -4.46498950e-02 4.53795969e+02] [ 9.25931133e-01 3.11245666e-01 -2.13957175e-01 -1.04429552e+02] [ 2.17157794e-01 2.47745501e-02 9.75822071e-01 -9.25669570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.81, Y:-104.41, Z:-925.66 [[ 3.08764113e-01 -9.48936542e-01 -6.46850947e-02 4.53814597e+02] [ 9.25422378e-01 3.15427730e-01 -2.09997072e-01 -1.04406853e+02] [ 2.19677368e-01 4.97852538e-03 9.75559874e-01 -9.25657488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.836559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:453.84, Y:-104.39, Z:-925.63 [[ 3.10112414e-01 -9.46189447e-01 -9.24976810e-02 4.53838167e+02] [ 9.23241323e-01 3.22941396e-01 -2.08168955e-01 -1.04390037e+02] [ 2.26838599e-01 -2.08419043e-02 9.73709333e-01 -9.25632688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.84, Y:-104.36, Z:-925.63 [[ 3.09207754e-01 -9.48460304e-01 -6.93802309e-02 4.53835433e+02] [ 9.23554862e-01 3.16884510e-01 -2.15941253e-01 -1.04359736e+02] [ 2.26797227e-01 2.69426045e-03 9.73938273e-01 -9.25634998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.84, Y:-104.33, Z:-925.63 [[ 3.07813711e-01 -9.48914641e-01 -6.93665823e-02 4.53844643e+02] [ 9.23978259e-01 3.15523513e-01 -2.16122857e-01 -1.04334408e+02] [ 2.26968931e-01 2.43236467e-03 9.73898962e-01 -9.25628745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.85, Y:-104.31, Z:-925.62 [[ 3.05113616e-01 -9.49784517e-01 -6.93905796e-02 4.53854933e+02] [ 9.24803037e-01 3.12899220e-01 -2.16410305e-01 -1.04310548e+02] [ 2.27255416e-01 1.85711194e-03 9.73833419e-01 -9.25622445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.86, Y:-104.28, Z:-925.62 [[ 3.03546578e-01 -9.50292993e-01 -6.93015352e-02 4.53864422e+02] [ 9.25352890e-01 3.11353337e-01 -2.16289457e-01 -1.04284436e+02] [ 2.27115619e-01 1.52554856e-03 9.73866607e-01 -9.25616155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.87, Y:-104.26, Z:-925.61 [[ 3.02002463e-01 -9.50795752e-01 -6.91516456e-02 4.53873569e+02] [ 9.25927786e-01 3.09816016e-01 -2.16036505e-01 -1.04258948e+02] [ 2.26830878e-01 1.21412641e-03 9.73933406e-01 -9.25609961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.016559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:453.87, Y:-104.23, Z:-925.62 [[ 2.99833616e-01 -9.52972552e-01 -4.40808066e-02 4.53870637e+02] [ 9.28013452e-01 3.02066966e-01 -2.18051787e-01 -1.04225157e+02] [ 2.21112724e-01 2.44716744e-02 9.74941178e-01 -9.25620447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:453.89, Y:-104.20, Z:-925.61 [[ 2.99577739e-01 -9.51755778e-01 -6.64388216e-02 4.53892471e+02] [ 9.28003463e-01 3.06852119e-01 -2.11308660e-01 -1.04203232e+02] [ 2.21501131e-01 1.64791394e-03 9.75158722e-01 -9.25606057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.90, Y:-104.18, Z:-925.60 [[ 2.98832493e-01 -9.51538909e-01 -7.26143638e-02 4.53903236e+02] [ 9.27953596e-01 3.07496159e-01 -2.10590209e-01 -1.04180452e+02] [ 2.22713416e-01 -4.45156293e-03 9.74873796e-01 -9.25597063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:453.92, Y:-104.16, Z:-925.58 [[ 3.00533757e-01 -9.49703965e-01 -8.79877240e-02 4.53918049e+02] [ 9.26190629e-01 3.12623275e-01 -2.10802295e-01 -1.04160757e+02] [ 2.27706786e-01 -1.81401998e-02 9.73560760e-01 -9.25579059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.92, Y:-104.13, Z:-925.58 [[ 3.01826320e-01 -9.50848951e-01 -6.91891932e-02 4.53917003e+02] [ 9.25714992e-01 3.09651445e-01 -2.17181343e-01 -1.04129640e+02] [ 2.27931186e-01 1.50157213e-03 9.73676086e-01 -9.25579725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:453.92, Y:-104.10, Z:-925.58 [[ 3.03445300e-01 -9.51246075e-01 -5.52435946e-02 4.53920654e+02] [ 9.25528543e-01 3.08032828e-01 -2.20255971e-01 -1.04097428e+02] [ 2.26534468e-01 1.57061155e-02 9.73876508e-01 -9.25582221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.1965599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.94, Y:-104.08, Z:-925.56 [[ 3.04393959e-01 -9.48795056e-01 -8.44527058e-02 4.53939753e+02] [ 9.24434520e-01 3.15627649e-01 -2.14009360e-01 -1.04082663e+02] [ 2.29706632e-01 -1.29278400e-02 9.73174051e-01 -9.25563078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.94, Y:-104.05, Z:-925.56 [[ 3.07433897e-01 -9.49020704e-01 -6.95995849e-02 4.53940287e+02] [ 9.23387760e-01 3.15198582e-01 -2.19100202e-01 -1.04052555e+02] [ 2.29868318e-01 3.09142406e-03 9.73216831e-01 -9.25562820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.95, Y:-104.03, Z:-925.56 [[ 3.07188682e-01 -9.49104648e-01 -6.95376180e-02 4.53948610e+02] [ 9.23469381e-01 3.14945687e-01 -2.19119868e-01 -1.04025961e+02] [ 2.29868258e-01 3.09528234e-03 9.73216833e-01 -9.25556498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:453.96, Y:-104.00, Z:-925.55 [[ 3.09239301e-01 -9.48440962e-01 -6.95039317e-02 4.53956926e+02] [ 9.22766382e-01 3.16932780e-01 -2.19216373e-01 -1.03999494e+02] [ 2.29941861e-01 3.65442625e-03 9.73197506e-01 -9.25550405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.96, Y:-103.97, Z:-925.54 [[ 3.09907012e-01 -9.48224624e-01 -6.94816975e-02 4.53964429e+02] [ 9.22508881e-01 3.17576699e-01 -2.19368196e-01 -1.03974312e+02] [ 2.30076093e-01 3.88625927e-03 9.73164882e-01 -9.25544482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.97, Y:-103.94, Z:-925.54 [[ 3.10404717e-01 -9.48458891e-01 -6.38329378e-02 4.53970998e+02] [ 9.22568271e-01 3.16758007e-01 -2.20300138e-01 -1.03944913e+02] [ 2.29165218e-01 9.49195878e-03 9.73341259e-01 -9.25542512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.376559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:453.98, Y:-103.92, Z:-925.53 [[ 3.10345613e-01 -9.47608139e-01 -7.56598642e-02 4.53982847e+02] [ 9.22279669e-01 3.19427320e-01 -2.17638232e-01 -1.03923838e+02] [ 2.30403588e-01 -2.23648388e-03 9.73092588e-01 -9.25530658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.99, Y:-103.90, Z:-925.53 [[ 3.10443404e-01 -9.48049020e-01 -6.94834363e-02 4.53988212e+02] [ 9.22200444e-01 3.18096652e-01 -2.19911032e-01 -1.03896079e+02] [ 2.30588887e-01 4.19227354e-03 9.73042235e-01 -9.25526639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.00, Y:-103.87, Z:-925.52 [[ 3.09250364e-01 -9.48424521e-01 -6.96788432e-02 4.53996858e+02] [ 9.22384728e-01 3.16977844e-01 -2.20752034e-01 -1.03871008e+02] [ 2.31453291e-01 3.99694595e-03 9.72837807e-01 -9.25520800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.00, Y:-103.84, Z:-925.52 [[ 3.06282599e-01 -9.50135577e-01 -5.85948354e-02 4.53998581e+02] [ 9.24006654e-01 3.11533102e-01 -2.21717907e-01 -1.03841255e+02] [ 2.28916302e-01 1.37663190e-02 9.73348763e-01 -9.25523272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.02, Y:-103.82, Z:-925.51 [[ 3.06128386e-01 -9.49114463e-01 -7.39401609e-02 4.54016142e+02] [ 9.23550978e-01 3.14928609e-01 -2.18800282e-01 -1.03818016e+02] [ 2.30952384e-01 -1.30653083e-03 9.72964177e-01 -9.25508953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.02, Y:-103.79, Z:-925.50 [[ 3.05961221e-01 -9.49126819e-01 -7.44715580e-02 4.54024115e+02] [ 9.23461798e-01 3.14889518e-01 -2.19232524e-01 -1.03793194e+02] [ 2.31529781e-01 -1.69498794e-03 9.72826340e-01 -9.25500601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.03, Y:-103.77, Z:-925.50 [[ 3.04275752e-01 -9.50060357e-01 -6.92934784e-02 4.54029198e+02] [ 9.24181223e-01 3.12051993e-01 -2.20255807e-01 -1.03765255e+02] [ 2.30879479e-01 2.97876969e-03 9.72977797e-01 -9.25495632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.04, Y:-103.74, Z:-925.49 [[ 3.03297166e-01 -9.50382348e-01 -6.91680639e-02 4.54036307e+02] [ 9.24553074e-01 3.11071613e-01 -2.20081952e-01 -1.03738519e+02] [ 2.30678224e-01 2.80068627e-03 9.73026060e-01 -9.25489858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.04, Y:-103.71, Z:-925.48 [[ 3.02262666e-01 -9.50715852e-01 -6.91133189e-02 4.54042978e+02] [ 9.24883509e-01 3.10052459e-01 -2.20131707e-01 -1.03712921e+02] [ 2.30711458e-01 2.61582775e-03 9.73018695e-01 -9.25484333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.05, Y:-103.69, Z:-925.48 [[ 3.01139845e-01 -9.51082741e-01 -6.89667616e-02 4.54050293e+02] [ 9.25315282e-01 3.08926915e-01 -2.19899501e-01 -1.03686661e+02] [ 2.30448309e-01 2.40450313e-03 9.73081598e-01 -9.25478556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.06, Y:-103.66, Z:-925.47 [[ 2.99901643e-01 -9.51471884e-01 -6.89946336e-02 4.54058266e+02] [ 9.25641340e-01 3.07727993e-01 -2.20208068e-01 -1.03660518e+02] [ 2.30753365e-01 2.17647625e-03 9.73009839e-01 -9.25472471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.07, Y:-103.63, Z:-925.47 [[ 2.98677443e-01 -9.51860010e-01 -6.89514864e-02 4.54066711e+02] [ 9.26020232e-01 3.06526897e-01 -2.20290246e-01 -1.03634524e+02] [ 2.30820961e-01 1.94525592e-03 9.72994296e-01 -9.25466253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.08, Y:-103.61, Z:-925.46 [[ 2.96176650e-01 -9.52663259e-01 -6.86447877e-02 4.54075695e+02] [ 9.27025132e-01 3.04024339e-01 -2.19530421e-01 -1.03610175e+02] [ 2.30008253e-01 1.38434137e-03 9.73187694e-01 -9.25460256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.08, Y:-103.58, Z:-925.45 [[ 2.94779870e-01 -9.53108607e-01 -6.84748914e-02 4.54084568e+02] [ 9.27556258e-01 3.02626432e-01 -2.19218229e-01 -1.03583790e+02] [ 2.29661093e-01 1.10680699e-03 9.73270033e-01 -9.25453904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.09, Y:-103.56, Z:-925.45 [[ 2.93653915e-01 -9.53471002e-01 -6.82673246e-02 4.54092945e+02] [ 9.28034866e-01 3.01483436e-01 -2.18767057e-01 -1.03558123e+02] [ 2.29169512e-01 8.87345315e-04 9.73386125e-01 -9.25447576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:454.10, Y:-103.53, Z:-925.44 [[ 2.92680904e-01 -9.53791932e-01 -6.79620364e-02 4.54100589e+02] [ 9.28543986e-01 3.00467070e-01 -2.18003683e-01 -1.03532839e+02] [ 2.28350508e-01 6.99774752e-04 9.73578736e-01 -9.25442014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.856559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:454.11, Y:-103.51, Z:-925.44 [[ 2.92410229e-01 -9.53879543e-01 -6.78975389e-02 4.54108488e+02] [ 9.28629264e-01 3.00188819e-01 -2.18023770e-01 -1.03506957e+02] [ 2.28350496e-01 7.00738986e-04 9.73578739e-01 -9.25435877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.12, Y:-103.48, Z:-925.43 [[ 2.91737484e-01 -9.54098639e-01 -6.77128360e-02 4.54115775e+02] [ 9.28941089e-01 2.99491956e-01 -2.17653442e-01 -1.03480879e+02] [ 2.27942303e-01 5.96432092e-04 9.73674458e-01 -9.25429759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.12, Y:-103.46, Z:-925.42 [[ 2.91441328e-01 -9.54207243e-01 -6.74573193e-02 4.54122165e+02] [ 9.29195281e-01 2.99145797e-01 -2.17043597e-01 -1.03455907e+02] [ 2.27284146e-01 5.74451378e-04 9.73828315e-01 -9.25424676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.13, Y:-103.43, Z:-925.42 [[ 2.91482999e-01 -9.54197497e-01 -6.74151180e-02 4.54129936e+02] [ 9.29158903e-01 2.99176710e-01 -2.17156695e-01 -1.03430758e+02] [ 2.27379408e-01 6.58127810e-04 9.73806024e-01 -9.25418766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.14, Y:-103.41, Z:-925.41 [[ 2.91595516e-01 -9.54164023e-01 -6.74023177e-02 4.54137371e+02] [ 9.29079919e-01 2.99283221e-01 -2.17347780e-01 -1.03406690e+02] [ 2.27557815e-01 7.55498182e-04 9.73764279e-01 -9.25413385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.13, Y:-103.38, Z:-925.42 [[ 2.89831789e-01 -9.55856754e-01 -4.83259754e-02 4.54132994e+02] [ 9.30726075e-01 2.93259278e-01 -2.18513087e-01 -1.03376291e+02] [ 2.23039251e-01 1.83537936e-02 9.74636666e-01 -9.25421498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.14, Y:-103.35, Z:-925.42 [[ 2.91709727e-01 -9.55044085e-01 -5.28794022e-02 4.54142224e+02] [ 9.30504441e-01 2.96148458e-01 -2.15540199e-01 -1.03349713e+02] [ 2.21510545e-01 1.36706539e-02 9.75062148e-01 -9.25418413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.16, Y:-103.33, Z:-925.41 [[ 2.93067483e-01 -9.53681064e-01 -6.78518920e-02 4.54157481e+02] [ 9.29506197e-01 3.00819115e-01 -2.13368438e-01 -1.03325838e+02] [ 2.23896585e-01 -5.37403158e-04 9.74612759e-01 -9.25405210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.16, Y:-103.30, Z:-925.41 [[ 2.93917510e-01 -9.54141759e-01 -5.67979066e-02 4.54159318e+02] [ 9.29435932e-01 2.99164151e-01 -2.15985321e-01 -1.03296488e+02] [ 2.23072511e-01 1.06918523e-02 9.74743217e-01 -9.25405568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.18, Y:-103.28, Z:-925.39 [[ 2.95552654e-01 -9.52338904e-01 -7.54933177e-02 4.54176062e+02] [ 9.28027538e-01 3.04965383e-01 -2.13918219e-01 -1.03276549e+02] [ 2.26745491e-01 -6.83578033e-03 9.73930056e-01 -9.25389833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.18, Y:-103.25, Z:-925.39 [[ 2.95542204e-01 -9.53294363e-01 -6.23270755e-02 4.54178645e+02] [ 9.28238705e-01 3.01976211e-01 -2.17217115e-01 -1.03245323e+02] [ 2.25893145e-01 6.34242095e-03 9.74131439e-01 -9.25388311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.18, Y:-103.22, Z:-925.39 [[ 2.93633261e-01 -9.54655237e-01 -4.91211516e-02 4.54179535e+02] [ 9.29835681e-01 2.97165912e-01 -2.17020799e-01 -1.03216180e+02] [ 2.21777175e-01 1.80499255e-02 9.74930298e-01 -9.25391152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.20, Y:-103.19, Z:-925.38 [[ 2.92368415e-01 -9.53997551e-01 -6.64031850e-02 4.54196796e+02] [ 9.30140895e-01 2.99814316e-01 -2.12012479e-01 -1.03194671e+02] [ 2.22168011e-01 2.21434374e-04 9.75008372e-01 -9.25377114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.19, Y:-103.16, Z:-925.38 [[ 2.87871164e-01 -9.56523693e-01 -4.68254024e-02 4.54191519e+02] [ 9.32369913e-01 2.91095611e-01 -2.14358789e-01 -1.03164589e+02] [ 2.18669929e-01 1.80491177e-02 9.75631945e-01 -9.25382024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.21, Y:-103.14, Z:-925.36 [[ 2.87679621e-01 -9.55161802e-01 -7.00454652e-02 4.54213373e+02] [ 9.31829948e-01 2.96043926e-01 -2.09883162e-01 -1.03143442e+02] [ 2.21208914e-01 -4.89135371e-03 9.75214177e-01 -9.25362914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.25, Y:-103.13, Z:-925.33 [[ 2.89539049e-01 -9.51273328e-01 -1.06048074e-01 4.54245247e+02] [ 9.28886455e-01 3.05987326e-01 -2.08666506e-01 -1.03127497e+02] [ 2.30948248e-01 -3.80895180e-02 9.72220189e-01 -9.25325967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.21, Y:-103.08, Z:-925.36 [[ 2.84071555e-01 -9.58130920e-01 -3.58955644e-02 4.54214085e+02] [ 9.32825549e-01 2.84836885e-01 -2.20690836e-01 -1.03084956e+02] [ 2.21675094e-01 2.92076893e-02 9.74683058e-01 -9.25355995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.26, Y:-103.07, Z:-925.32 [[ 2.87193564e-01 -9.53229481e-01 -9.41987961e-02 4.54255161e+02] [ 9.29992916e-01 3.01036668e-01 -2.10926766e-01 -1.03073211e+02] [ 2.29418904e-01 -2.70274034e-02 9.72952458e-01 -9.25316841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.24, Y:-103.03, Z:-925.33 [[ 2.84912698e-01 -9.57457699e-01 -4.58204014e-02 4.54237743e+02] [ 9.32040073e-01 2.87880361e-01 -2.20059540e-01 -1.03034469e+02] [ 2.23888495e-01 1.99913069e-02 9.74409714e-01 -9.25334773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.27, Y:-103.02, Z:-925.31 [[ 2.86695190e-01 -9.54116771e-01 -8.64121279e-02 4.54267080e+02] [ 9.30317793e-01 2.98804254e-01 -2.12661285e-01 -1.03019760e+02] [ 2.28724010e-01 -1.94217727e-02 9.73297551e-01 -9.25306681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.27, Y:-102.99, Z:-925.31 [[ 2.86938193e-01 -9.55573531e-01 -6.74218062e-02 4.54265602e+02] [ 9.30300741e-01 2.94752812e-01 -2.18314709e-01 -1.02989501e+02] [ 2.28488524e-01 -7.97280937e-05 9.73546603e-01 -9.25306790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.27, Y:-102.96, Z:-925.30 [[ 2.88608050e-01 -9.55085056e-01 -6.72155486e-02 4.54271992e+02] [ 9.29900449e-01 2.96331560e-01 -2.17882451e-01 -1.02963907e+02] [ 2.28014362e-01 3.78860762e-04 9.73657695e-01 -9.25300384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.28, Y:-102.94, Z:-925.29 [[ 2.89788642e-01 -9.54744204e-01 -6.69779657e-02 4.54278825e+02] [ 9.29675397e-01 2.97427286e-01 -2.17349182e-01 -1.02937705e+02] [ 2.27433946e-01 7.17557480e-04 9.73793246e-01 -9.25294210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.28, Y:-102.91, Z:-925.30 [[ 2.89814426e-01 -9.55721038e-01 -5.10381766e-02 4.54277109e+02] [ 9.30591510e-01 2.93851434e-01 -2.18290577e-01 -1.02906602e+02] [ 2.23622539e-01 1.57680645e-02 9.74548269e-01 -9.25299400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.30, Y:-102.89, Z:-925.28 [[ 2.92659759e-01 -9.52796202e-01 -8.08063333e-02 4.54299743e+02] [ 9.28615366e-01 3.03352830e-01 -2.13659924e-01 -1.02888713e+02] [ 2.28087194e-01 -1.25083409e-02 9.73560359e-01 -9.25276759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.30, Y:-102.86, Z:-925.28 [[ 2.95390452e-01 -9.52997849e-01 -6.73764174e-02 4.54299495e+02] [ 9.27447121e-01 3.02968607e-01 -2.19207350e-01 -1.02859216e+02] [ 2.29317072e-01 2.26369384e-03 9.73349144e-01 -9.25275878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.31, Y:-102.83, Z:-925.27 [[ 2.96129614e-01 -9.52745247e-01 -6.77033754e-02 4.54306678e+02] [ 9.26881432e-01 3.03759813e-01 -2.20501220e-01 -1.02833724e+02] [ 2.30647054e-01 2.54393981e-03 9.73034154e-01 -9.25269917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.31, Y:-102.80, Z:-925.27 [[ 2.96126580e-01 -9.53454516e-01 -5.68641804e-02 4.54309057e+02] [ 9.27168165e-01 3.01246305e-01 -2.22732706e-01 -1.02803385e+02] [ 2.29495629e-01 1.32344168e-02 9.73219711e-01 -9.25271387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.32, Y:-102.78, Z:-925.26 [[ 2.96452188e-01 -9.52637882e-01 -6.78024025e-02 4.54323003e+02] [ 9.26750142e-01 3.04096236e-01 -2.20589334e-01 -1.02779592e+02] [ 2.30760211e-01 2.55830462e-03 9.73007287e-01 -9.25261404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.33, Y:-102.76, Z:-925.25 [[ 2.95818156e-01 -9.52001899e-01 -7.86384286e-02 4.54334688e+02] [ 9.26421186e-01 3.05988486e-01 -2.19350936e-01 -1.02758534e+02] [ 2.32884961e-01 -7.96431687e-03 9.72471678e-01 -9.25248646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.34, Y:-102.73, Z:-925.25 [[ 2.94793425e-01 -9.53126531e-01 -6.81663558e-02 4.54337458e+02] [ 9.26681551e-01 3.02561143e-01 -2.22975463e-01 -1.02729462e+02] [ 2.33148320e-01 2.56319615e-03 9.72437808e-01 -9.25245748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.34, Y:-102.70, Z:-925.25 [[ 2.89874698e-01 -9.55525100e-01 -5.42627154e-02 4.54337443e+02] [ 9.29082284e-01 2.94556494e-01 -2.23701991e-01 -1.02699717e+02] [ 2.29736303e-01 1.44310195e-02 9.73145918e-01 -9.25249242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.36, Y:-102.68, Z:-925.23 [[ 2.88644871e-01 -9.54076932e-01 -8.01333084e-02 4.54359606e+02] [ 9.28673949e-01 2.99351887e-01 -2.18982066e-01 -1.02681333e+02] [ 2.32913795e-01 -1.12096657e-02 9.72432778e-01 -9.25228473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.36, Y:-102.65, Z:-925.23 [[ 2.86107854e-01 -9.55790487e-01 -6.78737199e-02 4.54362192e+02] [ 9.29509957e-01 2.94047940e-01 -2.22591667e-01 -1.02652857e+02] [ 2.32709125e-01 5.95925579e-04 9.72546199e-01 -9.25226282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.37, Y:-102.63, Z:-925.22 [[ 2.83763485e-01 -9.56487297e-01 -6.78994503e-02 4.54370752e+02] [ 9.30150563e-01 2.91773956e-01 -2.22907802e-01 -1.02628334e+02] [ 2.33019773e-01 9.63827381e-05 9.72471993e-01 -9.25219737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.38, Y:-102.60, Z:-925.21 [[ 2.81247705e-01 -9.57243730e-01 -6.77065036e-02 4.54379283e+02] [ 9.31022019e-01 2.89282278e-01 -2.22516886e-01 -1.02602382e+02] [ 2.32589185e-01 -4.53882203e-04 9.72574966e-01 -9.25213339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.38, Y:-102.57, Z:-925.22 [[ 2.78054513e-01 -9.59542829e-01 -4.43085511e-02 4.54375872e+02] [ 9.33122954e-01 2.80770358e-01 -2.24609794e-01 -1.02568984e+02] [ 2.27963245e-01 2.11084409e-02 9.73440904e-01 -9.25222883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.40, Y:-102.55, Z:-925.20 [[ 2.75153836e-01 -9.58425403e-01 -7.55719068e-02 4.54400670e+02] [ 9.33226643e-01 2.85154206e-01 -2.18575185e-01 -1.02549855e+02] [ 2.31037657e-01 -1.03839162e-02 9.72889395e-01 -9.25201833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.996559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.41, Y:-102.53, Z:-925.19 [[ 2.74889550e-01 -9.58038682e-01 -8.12257294e-02 4.54411003e+02] [ 9.32393354e-01 2.86242693e-01 -2.20698332e-01 -1.02527497e+02] [ 2.34687811e-01 -1.50666650e-02 9.71954025e-01 -9.25187951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:454.41, Y:-102.49, Z:-925.19 [[ 2.73979396e-01 -9.60043862e-01 -5.70181817e-02 4.54407945e+02] [ 9.32830773e-01 2.79703411e-01 -2.27140376e-01 -1.02493947e+02] [ 2.34012904e-01 9.04346846e-03 9.72191430e-01 -9.25192832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.42, Y:-102.47, Z:-925.18 [[ 2.72085169e-01 -9.59468169e-01 -7.34199864e-02 4.54421574e+02] [ 9.32947050e-01 2.81716997e-01 -2.24154713e-01 -1.02472471e+02] [ 2.35752970e-01 -7.50778682e-03 9.71784014e-01 -9.25180930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.43, Y:-102.45, Z:-925.18 [[ 2.71803376e-01 -9.59924764e-01 -6.83181736e-02 4.54426754e+02] [ 9.32986651e-01 2.80247888e-01 -2.25825220e-01 -1.02445505e+02] [ 2.35921245e-01 -2.35988668e-03 9.71769313e-01 -9.25176274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.44, Y:-102.42, Z:-925.16 [[ 2.72155123e-01 -9.59138236e-01 -7.73655818e-02 4.54438328e+02] [ 9.32233850e-01 2.82736935e-01 -2.25831517e-01 -1.02423193e+02] [ 2.38477751e-01 -1.06616099e-02 9.71089436e-01 -9.25162914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.44, Y:-102.40, Z:-925.16 [[ 2.72731423e-01 -9.59599305e-01 -6.91863087e-02 4.54442214e+02] [ 9.31792234e-01 2.81363633e-01 -2.29341970e-01 -1.02395821e+02] [ 2.39542907e-01 -1.91850308e-03 9.70883884e-01 -9.25159126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.45, Y:-102.37, Z:-925.15 [[ 2.73078412e-01 -9.59493638e-01 -6.92830418e-02 4.54450276e+02] [ 9.31541239e-01 2.81724832e-01 -2.29917463e-01 -1.02369316e+02] [ 2.40123097e-01 -1.75451475e-03 9.70740862e-01 -9.25152174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.45, Y:-102.33, Z:-925.16 [[ 2.72635787e-01 -9.61160616e-01 -4.28951910e-02 4.54445150e+02] [ 9.32929746e-01 2.75000381e-01 -2.32415317e-01 -1.02334205e+02] [ 2.35184643e-01 2.33465333e-02 9.71670275e-01 -9.25162954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.48, Y:-102.32, Z:-925.13 [[ 2.74852475e-01 -9.56918202e-01 -9.36144889e-02 4.54477333e+02] [ 9.30831436e-01 2.89214717e-01 -2.23400281e-01 -1.02323059e+02] [ 2.40850483e-01 -2.57371892e-02 9.70220924e-01 -9.25130744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.47, Y:-102.29, Z:-925.13 [[ 2.75142637e-01 -9.58896185e-01 -6.93875810e-02 4.54472979e+02] [ 9.30677526e-01 2.83755212e-01 -2.30916267e-01 -1.02291937e+02] [ 2.41113815e-01 -1.04255139e-03 9.70496286e-01 -9.25132987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.48, Y:-102.27, Z:-925.13 [[ 2.75210707e-01 -9.58886576e-01 -6.92502785e-02 4.54480833e+02] [ 9.30717770e-01 2.83787980e-01 -2.30713709e-01 -1.02265802e+02] [ 2.40880675e-01 -9.57581627e-04 9.70554266e-01 -9.25126569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.49, Y:-102.24, Z:-925.12 [[ 2.74909449e-01 -9.58990482e-01 -6.90076180e-02 4.54488819e+02] [ 9.30966594e-01 2.83436596e-01 -2.30141038e-01 -1.02239266e+02] [ 2.40262350e-01 -9.75841142e-04 9.70707500e-01 -9.25119989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.50, Y:-102.21, Z:-925.11 [[ 2.74567693e-01 -9.59108663e-01 -6.87252055e-02 4.54496652e+02] [ 9.31261737e-01 2.83036327e-01 -2.29438477e-01 -1.02214379e+02] [ 2.39508161e-01 -1.00476079e-03 9.70893831e-01 -9.25113157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.50, Y:-102.19, Z:-925.11 [[ 2.74069302e-01 -9.59298161e-01 -6.80665498e-02 4.54504269e+02] [ 9.31935276e-01 2.82393091e-01 -2.27487986e-01 -1.02189766e+02] [ 2.37450330e-01 -1.08614540e-03 9.71399074e-01 -9.25106423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.51, Y:-102.16, Z:-925.10 [[ 2.74025727e-01 -9.59334341e-01 -6.77312542e-02 4.54512243e+02] [ 9.32185516e-01 2.82270332e-01 -2.26613379e-01 -1.02163696e+02] [ 2.36516520e-01 -1.04019805e-03 9.71626911e-01 -9.25099682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.52, Y:-102.14, Z:-925.09 [[ 2.74036039e-01 -9.59352646e-01 -6.74295943e-02 4.54520175e+02] [ 9.32392258e-01 2.82208318e-01 -2.25838753e-01 -1.02137162e+02] [ 2.35688198e-01 -9.82874255e-04 9.71828229e-01 -9.25093134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.53, Y:-102.11, Z:-925.09 [[ 2.74395102e-01 -9.59264394e-01 -6.72246312e-02 4.54527653e+02] [ 9.32410930e-01 2.82508626e-01 -2.25385747e-01 -1.02111707e+02] [ 2.35196060e-01 -8.36235834e-04 9.71947588e-01 -9.25086911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.53, Y:-102.09, Z:-925.08 [[ 2.76189401e-01 -9.58759732e-01 -6.70760111e-02 4.54534674e+02] [ 9.31952457e-01 2.84217638e-01 -2.25133190e-01 -1.02085474e+02] [ 2.34912822e-01 -3.32252572e-04 9.72016387e-01 -9.25080625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.54, Y:-102.06, Z:-925.07 [[ 2.77359230e-01 -9.58419673e-01 -6.71087816e-02 4.54542150e+02] [ 9.31519328e-01 2.85362455e-01 -2.25477298e-01 -1.02059086e+02] [ 2.35252205e-01 2.50827230e-05 9.71934360e-01 -9.25074294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.55, Y:-102.03, Z:-925.07 [[ 2.78638236e-01 -9.58043685e-01 -6.71790936e-02 4.54549509e+02] [ 9.31017884e-01 2.86621922e-01 -2.25950381e-01 -1.02033436e+02] [ 2.35725337e-01 4.13478092e-04 9.71819631e-01 -9.25068294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.56, Y:-102.01, Z:-925.06 [[ 2.79837908e-01 -9.57686528e-01 -6.72849151e-02 4.54556974e+02] [ 9.30521215e-01 2.87812307e-01 -2.26482548e-01 -1.02007055e+02] [ 2.36264712e-01 7.68361484e-04 9.71688425e-01 -9.25061747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.56, Y:-101.98, Z:-925.06 [[ 2.81270538e-01 -9.57262861e-01 -6.73401804e-02 4.54563911e+02] [ 9.29982032e-01 2.89216842e-01 -2.26907555e-01 -1.01982147e+02] [ 2.36686089e-01 1.19725216e-03 9.71585437e-01 -9.25055551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.56, Y:-101.95, Z:-925.07 [[ 2.80368437e-01 -9.59007065e-01 -4.12188025e-02 4.54556354e+02] [ 9.31457714e-01 2.82186526e-01 -2.29689556e-01 -1.01949047e+02] [ 2.31905298e-01 2.60041303e-02 9.72390723e-01 -9.25066485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:-101.94, Z:-925.04 [[ 2.84076779e-01 -9.54471434e-01 -9.10201326e-02 4.54588690e+02] [ 9.28565273e-01 2.97528042e-01 -2.21908985e-01 -1.01936171e+02] [ 2.38886829e-01 -2.14789447e-02 9.70809836e-01 -9.25035471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.58, Y:-101.90, Z:-925.04 [[ 2.84932798e-01 -9.56141425e-01 -6.78739753e-02 4.54584605e+02] [ 9.28164638e-01 2.92895354e-01 -2.29614277e-01 -1.01904702e+02] [ 2.39423694e-01 2.42641474e-03 9.70912152e-01 -9.25037540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:-101.88, Z:-925.03 [[ 2.85506410e-01 -9.55976799e-01 -6.77823709e-02 4.54591545e+02] [ 9.28012488e-01 2.93430439e-01 -2.29546074e-01 -1.01879365e+02] [ 2.39330132e-01 2.63398887e-03 9.70934679e-01 -9.25031569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.60, Y:-101.85, Z:-925.03 [[ 2.85264645e-01 -9.56053850e-01 -6.77135048e-02 4.54599297e+02] [ 9.28086862e-01 2.93179212e-01 -2.29566388e-01 -1.01852659e+02] [ 2.39330021e-01 2.64315984e-03 9.70934681e-01 -9.25025014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:454.61, Y:-101.83, Z:-925.02 [[ 2.85721547e-01 -9.55928675e-01 -6.75541676e-02 4.54606812e+02] [ 9.28037401e-01 2.93585564e-01 -2.29246810e-01 -1.01825839e+02] [ 2.38976528e-01 2.80795904e-03 9.71021284e-01 -9.25018717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.61, Y:-101.80, Z:-925.01 [[ 2.85861731e-01 -9.55892560e-01 -6.74721011e-02 4.54614480e+02] [ 9.28009608e-01 2.93702161e-01 -2.29209965e-01 -1.01799302e+02] [ 2.38916802e-01 2.90759915e-03 9.71035688e-01 -9.25012147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:454.62, Y:-101.77, Z:-925.01 [[ 2.85342517e-01 -9.56048106e-01 -6.74660408e-02 4.54621755e+02] [ 9.28114063e-01 2.93195990e-01 -2.29434954e-01 -1.01774424e+02] [ 2.39131626e-01 2.85136615e-03 9.70982974e-01 -9.25006273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.63, Y:-101.75, Z:-925.00 [[ 2.85051041e-01 -9.56130734e-01 -6.75272093e-02 4.54629712e+02] [ 9.28102128e-01 2.92926531e-01 -2.29827082e-01 -1.01748455e+02] [ 2.39525248e-01 2.84030249e-03 9.70885981e-01 -9.24999893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.62, Y:-101.71, Z:-925.02 [[ 2.83447353e-01 -9.58419575e-01 -3.30078192e-02 4.54620423e+02] [ 9.30288072e-01 2.83159188e-01 -2.33205869e-01 -1.01712404e+02] [ 2.32855538e-01 3.53948057e-02 9.71867021e-01 -9.25015585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.66, Y:-101.71, Z:-924.98 [[ 2.82968790e-01 -9.53987070e-01 -9.91833421e-02 4.54660896e+02] [ 9.28563942e-01 2.98380397e-01 -2.20767172e-01 -1.01706146e+02] [ 2.40203392e-01 -2.96278557e-02 9.70270334e-01 -9.24976150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.65, Y:-101.67, Z:-924.98 [[ 2.81128311e-01 -9.57309666e-01 -6.72686813e-02 4.54654263e+02] [ 9.29344521e-01 2.89057010e-01 -2.29705915e-01 -1.01673863e+02] [ 2.39344176e-01 2.06105545e-03 9.70932602e-01 -9.24980992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.66, Y:-101.65, Z:-924.97 [[ 2.79838294e-01 -9.57696590e-01 -6.71399363e-02 4.54662589e+02] [ 9.29787486e-01 2.87774197e-01 -2.29523949e-01 -1.01648316e+02] [ 2.39135444e-01 1.80371775e-03 9.70984545e-01 -9.24974343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.67, Y:-101.62, Z:-924.97 [[ 2.78361702e-01 -9.58141783e-01 -6.69259858e-02 4.54671040e+02] [ 9.30366222e-01 2.86290252e-01 -2.29034024e-01 -1.01622426e+02] [ 2.38607326e-01 1.48862414e-03 9.71114992e-01 -9.24967608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.68, Y:-101.60, Z:-924.96 [[ 2.76075181e-01 -9.58825414e-01 -6.66057068e-02 4.54680415e+02] [ 9.31279367e-01 2.83994529e-01 -2.28179421e-01 -1.01597671e+02] [ 2.37699884e-01 9.66154578e-04 9.71338166e-01 -9.24960632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:454.68, Y:-101.56, Z:-924.97 [[ 2.74429719e-01 -9.60566412e-01 -4.47269264e-02 4.54678352e+02] [ 9.32731089e-01 2.77213617e-01 -2.30576077e-01 -1.01564194e+02] [ 2.33882548e-01 2.15587333e-02 9.72025810e-01 -9.24967777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.136559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.71, Y:-101.55, Z:-924.94 [[ 2.74171927e-01 -9.57719533e-01 -8.71954754e-02 4.54706566e+02] [ 9.31945473e-01 2.86972639e-01 -2.21640117e-01 -1.01551082e+02] [ 2.37291784e-01 -2.04939307e-02 9.71222224e-01 -9.24940745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.70, Y:-101.52, Z:-924.94 [[ 2.73692056e-01 -9.59524108e-01 -6.63788000e-02 4.54704479e+02] [ 9.32012876e-01 2.81625927e-01 -2.28120225e-01 -1.01520280e+02] [ 2.37580847e-01 5.68797182e-04 9.71367602e-01 -9.24941780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.71, Y:-101.49, Z:-924.94 [[ 2.73216107e-01 -9.59660989e-01 -6.63607221e-02 4.54711866e+02] [ 9.32110392e-01 2.81159238e-01 -2.28297393e-01 -1.01494855e+02] [ 2.37746032e-01 5.19006343e-04 9.71327213e-01 -9.24935818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:454.72, Y:-101.47, Z:-924.93 [[ 2.73124587e-01 -9.59684545e-01 -6.63967982e-02 4.54719002e+02] [ 9.32038952e-01 2.81078713e-01 -2.28687886e-01 -1.01468039e+02] [ 2.38130956e-01 5.75881999e-04 9.71232885e-01 -9.24929476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.72, Y:-101.44, Z:-924.92 [[ 2.74831033e-01 -9.59189437e-01 -6.65096058e-02 4.54723932e+02] [ 9.31374519e-01 2.82762199e-01 -2.29318653e-01 -1.01442357e+02] [ 2.38766432e-01 1.07853010e-03 9.71076428e-01 -9.24923961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.73, Y:-101.42, Z:-924.92 [[ 2.75881417e-01 -9.58881304e-01 -6.66039641e-02 4.54729918e+02] [ 9.30907494e-01 2.83803802e-01 -2.29927467e-01 -1.01416042e+02] [ 2.39375608e-01 1.43058625e-03 9.70925987e-01 -9.24918034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.316559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:454.72, Y:-101.38, Z:-924.93 [[ 2.74449633e-01 -9.60601008e-01 -4.38531860e-02 4.54722711e+02] [ 9.32503416e-01 2.77001724e-01 -2.31748623e-01 -1.01381874e+02] [ 2.34765369e-01 2.27100787e-02 9.71786743e-01 -9.24927427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.75, Y:-101.37, Z:-924.90 [[ 2.77400852e-01 -9.56840928e-01 -8.66268261e-02 4.54751389e+02] [ 9.30329542e-01 2.90033210e-01 -2.24427449e-01 -1.01366774e+02] [ 2.39866025e-01 -1.83351298e-02 9.70632842e-01 -9.24898600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.75, Y:-101.34, Z:-924.90 [[ 2.78359972e-01 -9.58171760e-01 -6.65026660e-02 4.54747629e+02] [ 9.30086384e-01 2.86184912e-01 -2.30298753e-01 -1.01336019e+02] [ 2.39697821e-01 2.25273030e-03 9.70844931e-01 -9.24899283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.75, Y:-101.31, Z:-924.89 [[ 2.78511812e-01 -9.58137773e-01 -6.63564525e-02 4.54754369e+02] [ 9.30111157e-01 2.86297856e-01 -2.30058198e-01 -1.01309611e+02] [ 2.39425159e-01 2.35504877e-03 9.70911967e-01 -9.24892708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.76, Y:-101.28, Z:-924.89 [[ 2.78230028e-01 -9.58237069e-01 -6.61042522e-02 4.54761099e+02] [ 9.30368866e-01 2.85965522e-01 -2.29428624e-01 -1.01282965e+02] [ 2.38750549e-01 2.33259436e-03 9.71078130e-01 -9.24885080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.77, Y:-101.26, Z:-924.88 [[ 2.77339334e-01 -9.58514791e-01 -6.58201293e-02 4.54768055e+02] [ 9.30837383e-01 2.85034645e-01 -2.28685410e-01 -1.01256289e+02] [ 2.37959366e-01 2.15562257e-03 9.71272719e-01 -9.24877966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.77, Y:-101.23, Z:-924.87 [[ 2.76337870e-01 -9.58831930e-01 -6.54118696e-02 4.54774764e+02] [ 9.31450728e-01 2.83967530e-01 -2.27512602e-01 -1.01230670e+02] [ 2.36721194e-01 1.94241414e-03 9.71575681e-01 -9.24871830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.77, Y:-101.20, Z:-924.88 [[ 2.73327697e-01 -9.61096253e-01 -3.98241384e-02 4.54767983e+02] [ 9.33851716e-01 2.75052703e-01 -2.28619737e-01 -1.01197164e+02] [ 2.30679309e-01 2.52982662e-02 9.72700907e-01 -9.24881808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.80, Y:-101.18, Z:-924.85 [[ 2.71769239e-01 -9.58361946e-01 -8.76576342e-02 4.54798686e+02] [ 9.33231024e-01 2.84688639e-01 -2.19162577e-01 -1.01183854e+02] [ 2.34992206e-01 -2.22431769e-02 9.71742715e-01 -9.24851689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.79, Y:-101.15, Z:-924.86 [[ 2.69221184e-01 -9.61771797e-01 -5.01494275e-02 4.54787534e+02] [ 9.34719210e-01 2.73482483e-01 -2.26952267e-01 -1.01147485e+02] [ 2.31991279e-01 1.42247247e-02 9.72613851e-01 -9.24863171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.81, Y:-101.13, Z:-924.84 [[ 2.67756994e-01 -9.60285990e-01 -7.84666148e-02 4.54807916e+02] [ 9.34507736e-01 2.78664526e-01 -2.21452869e-01 -1.01130532e+02] [ 2.34523950e-01 -1.40321039e-02 9.72009062e-01 -9.24843145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.80, Y:-101.10, Z:-924.85 [[ 2.65635901e-01 -9.62751556e-01 -5.04679035e-02 4.54802933e+02] [ 9.35799780e-01 2.70076841e-01 -2.26577300e-01 -1.01095799e+02] [ 2.31767860e-01 1.29592122e-02 9.72684799e-01 -9.24850372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.676559995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:454.82, Y:-101.07, Z:-924.84 [[ 2.63287919e-01 -9.62847071e-01 -6.00415650e-02 4.54815338e+02] [ 9.36813492e-01 2.70037400e-01 -2.22396682e-01 -1.01071430e+02] [ 2.30347462e-01 2.30661144e-03 9.73105712e-01 -9.24842378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.83, Y:-101.05, Z:-924.82 [[ 2.61419586e-01 -9.61804380e-01 -8.11919661e-02 4.54831508e+02] [ 9.36657319e-01 2.73096828e-01 -2.19297035e-01 -1.01053516e+02] [ 2.33094117e-01 -1.87205092e-02 9.72273971e-01 -9.24824101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.736559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.83, Y:-101.02, Z:-924.82 [[ 2.58214700e-01 -9.63968217e-01 -6.39565940e-02 4.54830305e+02] [ 9.37479188e-01 2.66009879e-01 -2.24435995e-01 -1.01023242e+02] [ 2.33362252e-01 -2.00530278e-03 9.72387803e-01 -9.24823444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.84, Y:-101.00, Z:-924.82 [[ 2.56737870e-01 -9.64358857e-01 -6.40129827e-02 4.54837086e+02] [ 9.37774564e-01 2.64587856e-01 -2.24882490e-01 -1.00997771e+02] [ 2.33804479e-01 -2.29389551e-03 9.72280929e-01 -9.24817729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.84, Y:-100.97, Z:-924.81 [[ 2.55897357e-01 -9.64582174e-01 -6.40138432e-02 4.54844188e+02] [ 9.37941115e-01 2.63771379e-01 -2.25146895e-01 -1.00971017e+02] [ 2.34057702e-01 -2.42671994e-03 9.72219679e-01 -9.24811730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.85, Y:-100.95, Z:-924.81 [[ 2.55265253e-01 -9.64742679e-01 -6.41187590e-02 4.54850945e+02] [ 9.37958221e-01 2.63182937e-01 -2.25763412e-01 -1.00945412e+02] [ 2.34678562e-01 -2.51116264e-03 9.72069785e-01 -9.24805851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.86, Y:-100.92, Z:-924.80 [[ 2.55797110e-01 -9.64583665e-01 -6.43909330e-02 4.54857241e+02] [ 9.37499433e-01 2.63767024e-01 -2.26984077e-01 -1.00918660e+02] [ 2.35929338e-01 -2.30459207e-03 9.71767481e-01 -9.24799619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.85, Y:-100.88, Z:-924.81 [[ 2.56042649e-01 -9.65788853e-01 -4.11588772e-02 4.54853902e+02] [ 9.38392557e-01 2.58550883e-01 -2.29283343e-01 -1.00884434e+02] [ 2.32080960e-01 2.00831303e-02 9.72489124e-01 -9.24808077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.88, Y:-100.87, Z:-924.78 [[ 2.56733119e-01 -9.62520167e-01 -8.74244445e-02 4.54880860e+02] [ 9.37097740e-01 2.70042554e-01 -2.21189612e-01 -1.00872803e+02] [ 2.36507783e-01 -2.51385505e-02 9.71304341e-01 -9.24780444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.88, Y:-100.84, Z:-924.78 [[ 2.57403240e-01 -9.64150573e-01 -6.44766969e-02 4.54875870e+02] [ 9.36807046e-01 2.65350201e-01 -2.27995242e-01 -1.00841742e+02] [ 2.36930647e-01 -1.71551015e-03 9.71525051e-01 -9.24782073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.88, Y:-100.82, Z:-924.78 [[ 2.57857417e-01 -9.64042463e-01 -6.42781690e-02 4.54882588e+02] [ 9.36802208e-01 2.65743791e-01 -2.27556283e-01 -1.00815365e+02] [ 2.36455444e-01 -1.53885536e-03 9.71641114e-01 -9.24776058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.89, Y:-100.79, Z:-924.77 [[ 2.58197314e-01 -9.63963408e-01 -6.40991061e-02 4.54889779e+02] [ 9.36815620e-01 2.66031202e-01 -2.27164906e-01 -1.00788710e+02] [ 2.36031019e-01 -1.39567521e-03 9.71744519e-01 -9.24769178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.90, Y:-100.76, Z:-924.76 [[ 2.57867984e-01 -9.64176486e-01 -6.21916905e-02 4.54895704e+02] [ 9.36952474e-01 2.65261282e-01 -2.27500579e-01 -1.00762025e+02] [ 2.35847757e-01 3.94457379e-04 9.71789936e-01 -9.24763794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:454.89, Y:-100.73, Z:-924.77 [[ 2.55172043e-01 -9.65708361e-01 -4.79018870e-02 4.54894903e+02] [ 9.38938702e-01 2.59316854e-01 -2.26161189e-01 -1.00730359e+02] [ 2.30827517e-01 1.27330768e-02 9.72911366e-01 -9.24767748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.096559995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:454.90, Y:-100.70, Z:-924.77 [[ 2.55055727e-01 -9.65880004e-01 -4.49710404e-02 4.54901976e+02] [ 9.39859729e-01 2.58575149e-01 -2.23164923e-01 -1.00703011e+02] [ 2.27178930e-01 1.46530218e-02 9.73742791e-01 -9.24767552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.93, Y:-100.69, Z:-924.74 [[ 2.54964591e-01 -9.62349361e-01 -9.42165872e-02 4.54932030e+02] [ 9.38497947e-01 2.69747446e-01 -2.15540993e-01 -1.00691931e+02] [ 2.32840421e-01 -3.34667525e-02 9.71938946e-01 -9.24735413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.92, Y:-100.66, Z:-924.74 [[ 2.54241696e-01 -9.65078618e-01 -6.31222700e-02 4.54923632e+02] [ 9.38430604e-01 2.61952989e-01 -2.25230180e-01 -1.00658630e+02] [ 2.33899898e-01 -1.97296721e-03 9.72258682e-01 -9.24739656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.93, Y:-100.63, Z:-924.73 [[ 2.53647369e-01 -9.65238586e-01 -6.30673019e-02 4.54930566e+02] [ 9.38581415e-01 2.61362334e-01 -2.25287946e-01 -1.00632071e+02] [ 2.33940035e-01 -2.05010277e-03 9.72248866e-01 -9.24733754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.93, Y:-100.60, Z:-924.74 [[ 2.50460393e-01 -9.66749324e-01 -5.16268958e-02 4.54928844e+02] [ 9.40158021e-01 2.55603971e-01 -2.25320895e-01 -1.00602668e+02] [ 2.31024862e-01 7.89651971e-03 9.72915802e-01 -9.24737263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.94, Y:-100.58, Z:-924.73 [[ 2.49474721e-01 -9.66883246e-01 -5.38437860e-02 4.54935451e+02] [ 9.41048792e-01 2.55175268e-01 -2.22064753e-01 -1.00577794e+02] [ 2.28450291e-01 4.72991236e-03 9.73544089e-01 -9.24733557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.276559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:454.96, Y:-100.56, Z:-924.71 [[ 2.52905104e-01 -9.64449172e-01 -7.66603122e-02 4.54957846e+02] [ 9.38813527e-01 2.63786008e-01 -2.21463549e-01 -1.00556594e+02] [ 2.33812254e-01 -1.59604763e-02 9.72150757e-01 -9.24709847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:454.96, Y:-100.53, Z:-924.71 [[ 2.52476804e-01 -9.65563052e-01 -6.27969423e-02 4.54957345e+02] [ 9.38996742e-01 2.60160096e-01 -2.24948533e-01 -1.00528026e+02] [ 2.33539250e-01 -2.17183770e-03 9.72344950e-01 -9.24708047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.96, Y:-100.50, Z:-924.70 [[ 2.52181731e-01 -9.65653997e-01 -6.25838016e-02 4.54963895e+02] [ 9.39210743e-01 2.59822271e-01 -2.24445025e-01 -1.00500993e+02] [ 2.32996901e-01 -2.17844377e-03 9.72475038e-01 -9.24701734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.97, Y:-100.47, Z:-924.69 [[ 2.51479725e-01 -9.65809191e-01 -6.30123444e-02 4.54969359e+02] [ 9.38941679e-01 2.59243988e-01 -2.26232354e-01 -1.00474448e+02] [ 2.34832858e-01 -2.27206622e-03 9.72033110e-01 -9.24694030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.396559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:454.98, Y:-100.45, Z:-924.68 [[ 2.51448431e-01 -9.65025487e-01 -7.41585918e-02 4.54981215e+02] [ 9.38791739e-01 2.61817193e-01 -2.23879049e-01 -1.00451833e+02] [ 2.35464983e-01 -1.33254378e-02 9.71791477e-01 -9.24683864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.98, Y:-100.42, Z:-924.69 [[ 2.52313670e-01 -9.66323423e-01 -5.05653434e-02 4.54977387e+02] [ 9.39015264e-01 2.57131193e-01 -2.28328456e-01 -1.00419247e+02] [ 2.33641062e-01 1.01287613e-02 9.72270159e-01 -9.24687730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.99, Y:-100.40, Z:-924.68 [[ 2.52526417e-01 -9.65561268e-01 -6.26246563e-02 4.54990166e+02] [ 9.38885763e-01 2.60169009e-01 -2.25401002e-01 -1.00395079e+02] [ 2.33931472e-01 -1.87769069e-03 9.72251274e-01 -9.24677365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.00, Y:-100.37, Z:-924.67 [[ 2.52788125e-01 -9.65498901e-01 -6.25302921e-02 4.54996446e+02] [ 9.38843495e-01 2.60401245e-01 -2.25308863e-01 -1.00369718e+02] [ 2.33818425e-01 -1.75075299e-03 9.72278704e-01 -9.24671872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.00, Y:-100.34, Z:-924.67 [[ 2.53686247e-01 -9.65258783e-01 -6.26000864e-02 4.55002409e+02] [ 9.38491355e-01 2.61291578e-01 -2.25744742e-01 -1.00343320e+02] [ 2.34258970e-01 -1.48130335e-03 9.72173102e-01 -9.24665972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.01, Y:-100.32, Z:-924.66 [[ 2.54277237e-01 -9.65109609e-01 -6.25022427e-02 4.55008884e+02] [ 9.38362816e-01 2.61843119e-01 -2.25639995e-01 -1.00316780e+02] [ 2.34133109e-01 -1.27466591e-03 9.72203715e-01 -9.24659721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.01, Y:-100.29, Z:-924.65 [[ 2.55158443e-01 -9.64876390e-01 -6.25117612e-02 4.55014976e+02] [ 9.38052581e-01 2.62702434e-01 -2.25930933e-01 -1.00291113e+02] [ 2.34417415e-01 -9.91133792e-04 9.72135532e-01 -9.24653680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.02, Y:-100.27, Z:-924.65 [[ 2.56349668e-01 -9.64582121e-01 -6.21786072e-02 4.55020818e+02] [ 9.37974621e-01 2.63781948e-01 -2.24994879e-01 -1.00266043e+02] [ 2.33427632e-01 -6.44592940e-04 9.72373964e-01 -9.24648467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.03, Y:-100.24, Z:-924.64 [[ 2.58065173e-01 -9.64108639e-01 -6.24251481e-02 4.55026040e+02] [ 9.37203450e-01 2.65508030e-01 -2.26175109e-01 -1.00239712e+02] [ 2.34631755e-01 -1.37145465e-04 9.72084318e-01 -9.24642057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.03, Y:-100.21, Z:-924.64 [[ 2.57815441e-01 -9.64180306e-01 -6.23501124e-02 4.55033318e+02] [ 9.37272180e-01 2.65247664e-01 -2.26195794e-01 -1.00212863e+02] [ 2.34631751e-01 -1.22257362e-04 9.72084321e-01 -9.24635561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.04, Y:-100.19, Z:-924.63 [[ 2.58922628e-01 -9.63895185e-01 -6.21702971e-02 4.55039375e+02] [ 9.37079483e-01 2.66281868e-01 -2.25778673e-01 -1.00186766e+02] [ 2.34181799e-01 2.00697647e-04 9.72192802e-01 -9.24630010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.05, Y:-100.16, Z:-924.62 [[ 2.59520956e-01 -9.63048529e-01 -7.20166923e-02 4.55050457e+02] [ 9.36257851e-01 2.69182809e-01 -2.25747319e-01 -1.00162518e+02] [ 2.36791279e-01 -8.84003348e-03 9.71520326e-01 -9.24617918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.05, Y:-100.13, Z:-924.62 [[ 2.60945303e-01 -9.63884528e-01 -5.32368900e-02 4.55047609e+02] [ 9.36306000e-01 2.66134730e-01 -2.29136159e-01 -1.00131539e+02] [ 2.35028984e-01 9.94598480e-03 9.71937475e-01 -9.24620840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.06, Y:-100.11, Z:-924.61 [[ 2.60629043e-01 -9.63430303e-01 -6.22459097e-02 4.55059445e+02] [ 9.36385694e-01 2.67957880e-01 -2.26672465e-01 -1.00106628e+02] [ 2.35062404e-01 7.91248456e-04 9.71979959e-01 -9.24611522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.07, Y:-100.08, Z:-924.60 [[ 2.60576907e-01 -9.62738946e-01 -7.23422299e-02 4.55071571e+02] [ 9.35753371e-01 2.70293426e-01 -2.26510690e-01 -1.00082674e+02] [ 2.37624292e-01 -8.67103044e-03 9.71318439e-01 -9.24599359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.07, Y:-100.05, Z:-924.60 [[ 2.59467799e-01 -9.64300321e-01 -5.29278038e-02 4.55069440e+02] [ 9.36593014e-01 2.64620955e-01 -2.29715645e-01 -1.00052367e+02] [ 2.35520676e-01 1.00320014e-02 9.71817560e-01 -9.24602195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.08, Y:-100.03, Z:-924.59 [[ 2.57981296e-01 -9.64162137e-01 -6.19437315e-02 4.55081638e+02] [ 9.37261589e-01 2.65313572e-01 -2.26162381e-01 -1.00027822e+02] [ 2.34491717e-01 2.88183943e-04 9.72118075e-01 -9.24592980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.09, Y:-100.00, Z:-924.59 [[ 2.56627972e-01 -9.64504949e-01 -6.22277073e-02 4.55088965e+02] [ 9.37302312e-01 2.64064768e-01 -2.27451477e-01 -1.00001415e+02] [ 2.35810220e-01 4.42372504e-05 9.71799125e-01 -9.24586833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9365599950002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:455.10, Y:-99.98, Z:-924.58 [[ 2.54889177e-01 -9.64951933e-01 -6.24441736e-02 4.55096434e+02] [ 9.37507259e-01 2.62426518e-01 -2.28500466e-01 -9.99762959e+01] [ 2.36878974e-01 -2.99570272e-04 9.71539120e-01 -9.24581287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.10, Y:-99.95, Z:-924.58 [[ 2.53706978e-01 -9.65257279e-01 -6.25392259e-02 4.55102689e+02] [ 9.37685098e-01 2.61300797e-01 -2.29060146e-01 -9.99505784e+01] [ 2.37443523e-01 -5.27942672e-04 9.71401202e-01 -9.24575410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.11, Y:-99.92, Z:-924.57 [[ 2.54629325e-01 -9.65051344e-01 -6.19661977e-02 4.55110736e+02] [ 9.37305736e-01 2.62060542e-01 -2.29743837e-01 -9.99244851e+01] [ 2.37953494e-01 4.18245585e-04 9.71276459e-01 -9.24569403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.12, Y:-99.90, Z:-924.56 [[ 2.53936254e-01 -9.65115310e-01 -6.37872896e-02 4.55117696e+02] [ 9.37254310e-01 2.61821868e-01 -2.30225257e-01 -9.98994160e+01] [ 2.38894827e-01 -1.32237289e-03 9.71044547e-01 -9.24562698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.13, Y:-99.87, Z:-924.56 [[ 2.55043819e-01 -9.64988582e-01 -6.12346853e-02 4.55125118e+02] [ 9.36899372e-01 2.62287134e-01 -2.31138542e-01 -9.98726696e+01] [ 2.39107124e-01 1.57971813e-03 9.70991909e-01 -9.24557748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.13, Y:-99.85, Z:-924.56 [[ 2.53670575e-01 -9.65812706e-01 -5.34514343e-02 4.55126413e+02] [ 9.37761009e-01 2.59100350e-01 -2.31238620e-01 -9.98454769e+01] [ 2.37182482e-01 8.53376274e-03 9.71427633e-01 -9.24557735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.14, Y:-99.82, Z:-924.55 [[ 2.54443890e-01 -9.65356931e-01 -5.78299411e-02 4.55136616e+02] [ 9.37374441e-01 2.60893875e-01 -2.30788959e-01 -9.98197566e+01] [ 2.37881199e-01 4.51453193e-03 9.71283766e-01 -9.24551321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.15, Y:-99.80, Z:-924.54 [[ 2.55993256e-01 -9.63873666e-01 -7.35867431e-02 4.55154415e+02] [ 9.35837677e-01 2.66181899e-01 -2.30987097e-01 -9.97962054e+01] [ 2.42229839e-01 -9.73410751e-03 9.70170064e-01 -9.24535112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:455.15, Y:-99.77, Z:-924.54 [[ 2.55186424e-01 -9.65585338e-01 -5.02478299e-02 4.55149027e+02] [ 9.36877526e-01 2.59778710e-01 -2.34041713e-01 -9.97652929e+01] [ 2.39040563e-01 1.26482053e-02 9.70927202e-01 -9.24541009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.17, Y:-99.75, Z:-924.52 [[ 2.57505212e-01 -9.63409142e-01 -7.43901350e-02 4.55172022e+02] [ 9.35194908e-01 2.67851643e-01 -2.31659193e-01 -9.97450512e+01] [ 2.43108104e-01 -9.91582592e-03 9.69948517e-01 -9.24521943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.17, Y:-99.72, Z:-924.52 [[ 2.56924945e-01 -9.64760506e-01 -5.68043913e-02 4.55170231e+02] [ 9.35714445e-01 2.63029929e-01 -2.35061129e-01 -9.97151578e+01] [ 2.41718948e-01 7.24037818e-03 9.70319291e-01 -9.24523930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.19, Y:-99.69, Z:-924.51 [[ 2.58041883e-01 -9.63605069e-01 -6.98545458e-02 4.55186582e+02] [ 9.34771386e-01 2.67284737e-01 -2.34011378e-01 -9.96917188e+01] [ 2.44165604e-01 -4.91329393e-03 9.69721103e-01 -9.24510299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.19, Y:-99.67, Z:-924.51 [[ 2.59674408e-01 -9.63626738e-01 -6.31879033e-02 4.55194168e+02] [ 9.34235219e-01 2.67241870e-01 -2.36191319e-01 -9.96650133e+01] [ 2.44486724e-01 2.30047622e-03 9.69649911e-01 -9.24506680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.20, Y:-99.64, Z:-924.50 [[ 2.59893117e-01 -9.63520101e-01 -6.39107429e-02 4.55203590e+02] [ 9.34134924e-01 2.67630753e-01 -2.36147674e-01 -9.96393770e+01] [ 2.44637511e-01 1.67189805e-03 9.69613167e-01 -9.24500194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.21, Y:-99.61, Z:-924.49 [[ 2.60595298e-01 -9.63328589e-01 -6.39384093e-02 4.55212393e+02] [ 9.33845139e-01 2.68317574e-01 -2.36514134e-01 -9.96137189e+01] [ 2.44996626e-01 1.92589837e-03 9.69522019e-01 -9.24493158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.22, Y:-99.59, Z:-924.49 [[ 2.63627897e-01 -9.62691733e-01 -6.10324490e-02 4.55218428e+02] [ 9.33579348e-01 2.70554730e-01 -2.35010083e-01 -9.95863471e+01] [ 2.42754881e-01 4.97657991e-03 9.70074895e-01 -9.24488813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.23, Y:-99.56, Z:-924.48 [[ 2.64954208e-01 -9.62133247e-01 -6.40225163e-02 4.55227841e+02] [ 9.33172997e-01 2.72569570e-01 -2.34294661e-01 -9.95613317e+01] [ 2.42873272e-01 2.33327294e-03 9.70055220e-01 -9.24481136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.24, Y:-99.53, Z:-924.47 [[ 2.66293554e-01 -9.61794863e-01 -6.35482867e-02 4.55236286e+02] [ 9.32660854e-01 2.73751282e-01 -2.34955245e-01 -9.95343966e+01] [ 2.43375172e-01 3.29806785e-03 9.69926620e-01 -9.24473899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.24, Y:-99.51, Z:-924.47 [[ 2.67945851e-01 -9.61272429e-01 -6.45006893e-02 4.55243966e+02] [ 9.32152097e-01 2.75585728e-01 -2.34829670e-01 -9.95097572e+01] [ 2.43510757e-01 2.79718293e-03 9.69894163e-01 -9.24466777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.25, Y:-99.48, Z:-924.46 [[ 2.68799986e-01 -9.61168377e-01 -6.24653446e-02 4.55250312e+02] [ 9.32041801e-01 2.75918829e-01 -2.34876310e-01 -9.94826045e+01] [ 2.42991046e-01 4.91443647e-03 9.70016082e-01 -9.24461266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.26, Y:-99.46, Z:-924.45 [[ 2.70569713e-01 -9.60579253e-01 -6.38711886e-02 4.55257761e+02] [ 9.31432032e-01 2.77976693e-01 -2.34868746e-01 -9.94572159e+01] [ 2.43364746e-01 4.05669814e-03 9.69926360e-01 -9.24453933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.26, Y:-99.43, Z:-924.45 [[ 2.73511209e-01 -9.59804038e-01 -6.29906854e-02 4.55263915e+02] [ 9.30667184e-01 2.80615386e-01 -2.34762857e-01 -9.94299732e+01] [ 2.43002493e-01 5.58690907e-03 9.70009575e-01 -9.24447902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.27, Y:-99.40, Z:-924.44 [[ 2.74657502e-01 -9.59473357e-01 -6.30407386e-02 4.55270194e+02] [ 9.30212592e-01 2.81736238e-01 -2.35221654e-01 -9.94034979e+01] [ 2.43449770e-01 5.96410313e-03 9.69895169e-01 -9.24441408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:455.28, Y:-99.38, Z:-924.44 [[ 2.75719582e-01 -9.59175682e-01 -6.29342757e-02 4.55276260e+02] [ 9.29938600e-01 2.82740808e-01 -2.35099630e-01 -9.93777013e+01] [ 2.43295936e-01 6.29655953e-03 9.69931668e-01 -9.24435716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.28, Y:-99.35, Z:-924.43 [[ 2.76509028e-01 -9.58951593e-01 -6.28856161e-02 4.55283031e+02] [ 9.29682312e-01 2.83493628e-01 -2.35206636e-01 -9.93511485e+01] [ 2.43379449e-01 6.57311315e-03 9.69908881e-01 -9.24429265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.29, Y:-99.33, Z:-924.42 [[ 2.76807515e-01 -9.58872092e-01 -6.27846356e-02 4.55290426e+02] [ 9.29627227e-01 2.83759152e-01 -2.35104152e-01 -9.93257627e+01] [ 2.43250525e-01 6.71228934e-03 9.69940270e-01 -9.24422379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.30, Y:-99.30, Z:-924.42 [[ 2.76154253e-01 -9.59079517e-01 -6.24924680e-02 4.55297566e+02] [ 9.30044052e-01 2.83060359e-01 -2.34296597e-01 -9.92992206e+01] [ 2.42398207e-01 6.58125345e-03 9.70154522e-01 -9.24415868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.30, Y:-99.27, Z:-924.41 [[ 2.75253695e-01 -9.59350519e-01 -6.23055794e-02 4.55304324e+02] [ 9.30430441e-01 2.82144645e-01 -2.33866615e-01 -9.92743126e+01] [ 2.41939244e-01 6.40164208e-03 9.70270283e-01 -9.24409263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.31, Y:-99.25, Z:-924.40 [[ 2.74123326e-01 -9.59687237e-01 -6.21032251e-02 4.55311402e+02] [ 9.30895398e-01 2.81002464e-01 -2.33391031e-01 -9.92481160e+01] [ 2.41433553e-01 6.16631914e-03 9.70397762e-01 -9.24402607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.32, Y:-99.22, Z:-924.40 [[ 2.71620854e-01 -9.60429939e-01 -6.16152940e-02 4.55319177e+02] [ 9.32048093e-01 2.78466588e-01 -2.31824744e-01 -9.92233182e+01] [ 2.39809226e-01 5.54001774e-03 9.70804225e-01 -9.24395560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.33, Y:-99.20, Z:-924.39 [[ 2.70201568e-01 -9.60848851e-01 -6.13237260e-02 4.55326823e+02] [ 9.32680500e-01 2.77023831e-01 -2.31008402e-01 -9.91974818e+01] [ 2.38952291e-01 5.22338902e-03 9.71017260e-01 -9.24389002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.31, Y:-99.16, Z:-924.41 [[ 2.64755062e-01 -9.63973869e-01 -2.56736548e-02 4.55312308e+02] [ 9.36563050e-01 2.63385667e-01 -2.31252340e-01 -9.91632223e+01] [ 2.29683286e-01 3.71802311e-02 9.72554995e-01 -9.24406406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.36, Y:-99.15, Z:-924.36 [[ 2.66417036e-01 -9.59506864e-01 -9.14797301e-02 4.55357120e+02] [ 9.33644438e-01 2.80477969e-01 -2.22800747e-01 -9.91528168e+01] [ 2.39436894e-01 -2.60516266e-02 9.70562356e-01 -9.24364642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.35, Y:-99.12, Z:-924.37 [[ 2.65036416e-01 -9.62291098e-01 -6.12498272e-02 4.55349798e+02] [ 9.34089076e-01 2.71991028e-01 -2.31297381e-01 -9.91200676e+01] [ 2.39234814e-01 4.08943433e-03 9.70953130e-01 -9.24368673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.9565599950001 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:455.35, Y:-99.09, Z:-924.37 [[ 2.62327090e-01 -9.63895223e-01 -4.57219530e-02 4.55349111e+02] [ 9.35341592e-01 2.65637251e-01 -2.33608557e-01 -9.90898195e+01] [ 2.37319626e-01 1.85162085e-02 9.71255139e-01 -9.24371988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.37, Y:-99.07, Z:-924.35 [[ 2.59531942e-01 -9.62702114e-01 -7.64709884e-02 4.55373005e+02] [ 9.35100834e-01 2.70296125e-01 -2.29186466e-01 -9.90734755e+01] [ 2.41308107e-01 -1.20268766e-02 9.70374027e-01 -9.24351648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.36, Y:-99.04, Z:-924.37 [[ 2.55793630e-01 -9.66002754e-01 -3.75272951e-02 4.55358396e+02] [ 9.37534134e-01 2.57349427e-01 -2.34096176e-01 -9.90376173e+01] [ 2.35795178e-01 2.46971904e-02 9.71488900e-01 -9.24367188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.39, Y:-99.02, Z:-924.34 [[ 2.56269214e-01 -9.63071583e-01 -8.25785462e-02 4.55390650e+02] [ 9.35873928e-01 2.68585263e-01 -2.28039354e-01 -9.90224538e+01] [ 2.41797602e-01 -1.88436425e-02 9.70143720e-01 -9.24336354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.39, Y:-98.99, Z:-924.34 [[ 2.56290120e-01 -9.64638230e-01 -6.15504577e-02 4.55386953e+02] [ 9.35920141e-01 2.63567680e-01 -2.33635543e-01 -9.89917663e+01] [ 2.41596488e-01 2.27216853e-03 9.70374141e-01 -9.24337339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:455.39, Y:-98.97, Z:-924.33 [[ 2.55513323e-01 -9.64845344e-01 -6.15337698e-02 4.55393637e+02] [ 9.36082206e-01 2.62809525e-01 -2.33840239e-01 -9.89666871e+01] [ 2.41791327e-01 2.14862970e-03 9.70325893e-01 -9.24330749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.40, Y:-98.94, Z:-924.32 [[ 2.55267162e-01 -9.64914025e-01 -6.14784597e-02 4.55400207e+02] [ 9.36132818e-01 2.62557152e-01 -2.33921117e-01 -9.89414566e+01] [ 2.41855376e-01 2.16037605e-03 9.70309904e-01 -9.24324286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.38, Y:-98.91, Z:-924.34 [[ 2.52133319e-01 -9.67417816e-01 -2.30555808e-02 4.55382160e+02] [ 9.39559154e-01 2.50436819e-01 -2.33473757e-01 -9.89051083e+01] [ 2.31640638e-01 3.72044311e-02 9.72089731e-01 -9.24343913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.43, Y:-98.90, Z:-924.30 [[ 2.55697255e-01 -9.62222042e-01 -9.35289026e-02 4.55427354e+02] [ 9.36326186e-01 2.70569178e-01 -2.23798107e-01 -9.88953176e+01] [ 2.40649510e-01 -3.03489990e-02 9.70137491e-01 -9.24299420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.40, Y:-98.86, Z:-924.32 [[ 2.55173689e-01 -9.66143981e-01 -3.81077021e-02 4.55404311e+02] [ 9.38251980e-01 2.56944074e-01 -2.31652683e-01 -9.88554079e+01] [ 2.33601393e-01 2.33570426e-02 9.72051870e-01 -9.24319666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.43, Y:-98.84, Z:-924.29 [[ 2.56667238e-01 -9.63121124e-01 -8.07442189e-02 4.55433053e+02] [ 9.36382402e-01 2.68492808e-01 -2.26052226e-01 -9.88401720e+01] [ 2.39394916e-01 -1.75872650e-02 9.70762979e-01 -9.24290020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.43, Y:-98.81, Z:-924.29 [[ 2.56454562e-01 -9.64670972e-01 -6.03404841e-02 4.55429279e+02] [ 9.36692337e-01 2.63444455e-01 -2.30660975e-01 -9.88090193e+01] [ 2.38408313e-01 2.63359033e-03 9.71161439e-01 -9.24290911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.44, Y:-98.78, Z:-924.28 [[ 2.55709138e-01 -9.64877955e-01 -6.01944285e-02 4.55435584e+02] [ 9.36975625e-01 2.62686585e-01 -2.30374556e-01 -9.87830032e+01] [ 2.38095599e-01 2.50816695e-03 9.71238485e-01 -9.24284483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.44, Y:-98.76, Z:-924.28 [[ 2.54642027e-01 -9.65169593e-01 -6.00424445e-02 4.55442184e+02] [ 9.37348050e-01 2.61614859e-01 -2.30078897e-01 -9.87564600e+01] [ 2.37773151e-01 2.30708843e-03 9.71317974e-01 -9.24277453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.45, Y:-98.73, Z:-924.27 [[ 2.53212374e-01 -9.65563199e-01 -5.97595342e-02 4.55448999e+02] [ 9.37952649e-01 2.60160924e-01 -2.29262127e-01 -9.87303665e+01] [ 2.36914168e-01 2.00039400e-03 9.71528525e-01 -9.24270695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:-98.70, Z:-924.26 [[ 2.49586236e-01 -9.66543738e-01 -5.91600707e-02 4.55455574e+02] [ 9.39454971e-01 2.56499349e-01 -2.27227731e-01 -9.87040471e+01] [ 2.34800060e-01 1.13469175e-03 9.72043026e-01 -9.24263530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:-98.68, Z:-924.26 [[ 2.47195383e-01 -9.67168425e-01 -5.89888166e-02 4.55462346e+02] [ 9.40191389e-01 2.54135520e-01 -2.26837585e-01 -9.86775778e+01] [ 2.34381304e-01 6.12426294e-04 9.72144552e-01 -9.24257277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.47, Y:-98.65, Z:-924.25 [[ 2.44515578e-01 -9.67842577e-01 -5.91005832e-02 4.55469156e+02] [ 9.40715712e-01 2.51556644e-01 -2.27537260e-01 -9.86521374e+01] [ 2.35087392e-01 3.95574231e-05 9.71974237e-01 -9.24250796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.47, Y:-98.62, Z:-924.26 [[ 2.41573418e-01 -9.69760349e-01 -3.47440641e-02 4.55465966e+02] [ 9.42351369e-01 2.42988366e-01 -2.30066408e-01 -9.86179466e+01] [ 2.31551683e-01 2.28368121e-02 9.72554522e-01 -9.24259738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.50, Y:-98.61, Z:-924.23 [[ 2.36269082e-01 -9.68059793e-01 -8.38877716e-02 4.55495784e+02] [ 9.42424054e-01 2.49325728e-01 -2.22875716e-01 -9.86063204e+01] [ 2.36672399e-01 -2.63992130e-02 9.71230795e-01 -9.24230930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.49, Y:-98.57, Z:-924.23 [[ 2.34144532e-01 -9.70379919e-01 -5.94907695e-02 4.55490599e+02] [ 9.42779891e-01 2.41573208e-01 -2.29800921e-01 -9.85742403e+01] [ 2.37365575e-01 -2.28007190e-03 9.71417719e-01 -9.24233220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.50, Y:-98.55, Z:-924.23 [[ 2.33885602e-01 -9.70446479e-01 -5.94235383e-02 4.55497467e+02] [ 9.42844152e-01 2.41305723e-01 -2.29818306e-01 -9.85472815e+01] [ 2.37365606e-01 -2.27594265e-03 9.71417721e-01 -9.24226694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.50, Y:-98.52, Z:-924.22 [[ 2.31953904e-01 -9.70906131e-01 -5.94867258e-02 4.55503919e+02] [ 9.43194630e-01 2.39445375e-01 -2.30325430e-01 -9.85216404e+01] [ 2.37868193e-01 -2.68267770e-03 9.71293738e-01 -9.24220741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:455.50, Y:-98.49, Z:-924.23 [[ 2.29727733e-01 -9.72614216e-01 -3.53094373e-02 4.55499272e+02] [ 9.44610581e-01 2.31556793e-01 -2.32577519e-01 -9.84868123e+01] [ 2.34384341e-01 2.00758381e-02 9.71936696e-01 -9.24229480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.52, Y:-98.47, Z:-924.21 [[ 2.27269853e-01 -9.71905056e-01 -6.12288823e-02 4.55517202e+02] [ 9.44940630e-01 2.35292370e-01 -2.27430665e-01 -9.84655744e+01] [ 2.35447702e-01 -6.16952471e-03 9.71867438e-01 -9.24212781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.52, Y:-98.44, Z:-924.21 [[ 2.25310959e-01 -9.72959119e-01 -5.08480561e-02 4.55516678e+02] [ 9.45805197e-01 2.30953203e-01 -2.28283045e-01 -9.84372094e+01] [ 2.33853592e-01 3.34231602e-03 9.72266078e-01 -9.24211734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:-98.42, Z:-924.18 [[ 2.27563424e-01 -9.69577726e-01 -9.01882602e-02 4.55544251e+02] [ 9.43422732e-01 2.42464996e-01 -2.26195213e-01 -9.84213000e+01] [ 2.41181336e-01 -3.36118978e-02 9.69897832e-01 -9.24178464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:-98.39, Z:-924.18 [[ 2.27658004e-01 -9.71878404e-01 -6.02013481e-02 4.55535951e+02] [ 9.43347089e-01 2.35456247e-01 -2.33787563e-01 -9.83882016e+01] [ 2.41387867e-01 -3.56715659e-03 9.70422162e-01 -9.24182110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:-98.36, Z:-924.18 [[ 2.28079107e-01 -9.71779467e-01 -6.02045625e-02 4.55542149e+02] [ 9.43170752e-01 2.35866814e-01 -2.34084983e-01 -9.83628974e+01] [ 2.41679238e-01 -3.39328865e-03 9.70350262e-01 -9.24175633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.55, Y:-98.34, Z:-924.17 [[ 2.28897589e-01 -9.71592100e-01 -6.01222462e-02 4.55548215e+02] [ 9.42981745e-01 2.36641233e-01 -2.34064855e-01 -9.83369641e+01] [ 2.41642967e-01 -3.11729945e-03 9.70360221e-01 -9.24169005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.55, Y:-98.31, Z:-924.16 [[ 2.32736464e-01 -9.70682463e-01 -6.00773995e-02 4.55552742e+02] [ 9.42009518e-01 2.40356394e-01 -2.34194093e-01 -9.83097018e+01] [ 2.41768086e-01 -2.08797705e-03 9.70331816e-01 -9.24162756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.55, Y:-98.28, Z:-924.16 [[ 2.35946143e-01 -9.70621191e-01 -4.71584676e-02 4.55553641e+02] [ 9.41601204e-01 2.40350075e-01 -2.35836838e-01 -9.82772206e+01] [ 2.40242774e-01 1.12403225e-02 9.70647755e-01 -9.24164647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.916559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:455.56, Y:-98.25, Z:-924.16 [[ 2.36299843e-01 -9.70152233e-01 -5.44704456e-02 4.55557914e+02] [ 9.41662257e-01 2.42465918e-01 -2.33414809e-01 -9.82541124e+01] [ 2.39655125e-01 3.86311995e-03 9.70850399e-01 -9.24159375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.58, Y:-98.23, Z:-924.14 [[ 2.41248354e-01 -9.67015438e-01 -8.17335652e-02 4.55576708e+02] [ 9.38882794e-01 2.53879013e-01 -2.32474829e-01 -9.82342263e+01] [ 2.45557185e-01 -2.06540685e-02 9.69162050e-01 -9.24135692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.57, Y:-98.20, Z:-924.14 [[ 2.44730349e-01 -9.67676205e-01 -6.09082875e-02 4.55571165e+02] [ 9.37862321e-01 2.52192984e-01 -2.38354706e-01 -9.82034919e+01] [ 2.46010820e-01 1.20904248e-03 9.69266328e-01 -9.24136483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:455.58, Y:-98.18, Z:-924.13 [[ 2.50742431e-01 -9.66138046e-01 -6.08729005e-02 4.55575556e+02] [ 9.36258794e-01 2.58010619e-01 -2.38432363e-01 -9.81773719e+01] [ 2.46064432e-01 2.79232196e-03 9.69249451e-01 -9.24129831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.58, Y:-98.15, Z:-924.13 [[ 2.53256674e-01 -9.66053209e-01 -5.10123051e-02 4.55578596e+02] [ 9.36210802e-01 2.58032398e-01 -2.38597183e-01 -9.81459142e+01] [ 2.43660402e-01 1.26680580e-02 9.69777876e-01 -9.24129407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.59, Y:-98.13, Z:-924.11 [[ 2.55115070e-01 -9.64307334e-01 -7.09060378e-02 4.55592336e+02] [ 9.35348897e-01 2.64706611e-01 -2.34633440e-01 -9.81272338e+01] [ 2.45028045e-01 -6.46335773e-03 9.69494447e-01 -9.24113214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.59, Y:-98.09, Z:-924.11 [[ 2.57709457e-01 -9.64714883e-01 -5.39539733e-02 4.55592921e+02] [ 9.35020178e-01 2.63074177e-01 -2.37758793e-01 -9.80944780e+01] [ 2.43563343e-01 1.08246357e-02 9.69824585e-01 -9.24113432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.60, Y:-98.08, Z:-924.10 [[ 2.59082148e-01 -9.63444314e-01 -6.82018696e-02 4.55602402e+02] [ 9.34674808e-01 2.67889584e-01 -2.33705315e-01 -9.80753937e+01] [ 2.43432628e-01 -3.19769429e-03 9.69912538e-01 -9.24100656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.60, Y:-98.05, Z:-924.10 [[ 2.59446908e-01 -9.63899815e-01 -5.98702654e-02 4.55603925e+02] [ 9.34560358e-01 2.66212536e-01 -2.36067412e-01 -9.80479891e+01] [ 2.43483550e-01 5.29458357e-03 9.69890576e-01 -9.24097411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.61, Y:-98.02, Z:-924.09 [[ 2.59046708e-01 -9.64009976e-01 -5.98294962e-02 4.55610398e+02] [ 9.34638883e-01 2.65813844e-01 -2.36205757e-01 -9.80211208e+01] [ 2.43608214e-01 5.26935041e-03 9.69859408e-01 -9.24091027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.62, Y:-98.00, Z:-924.08 [[ 2.57865045e-01 -9.64342177e-01 -5.95800682e-02 4.55617420e+02] [ 9.35155060e-01 2.64611089e-01 -2.35512178e-01 -9.79958958e+01] [ 2.42879873e-01 5.01375605e-03 9.70043417e-01 -9.24084454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.62, Y:-97.97, Z:-924.08 [[ 2.56873740e-01 -9.64620286e-01 -5.93598002e-02 4.55624019e+02] [ 9.35583002e-01 2.63599154e-01 -2.34946659e-01 -9.79697000e+01] [ 2.42281507e-01 4.81560696e-03 9.70194043e-01 -9.24077655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.63, Y:-97.94, Z:-924.07 [[ 2.56165671e-01 -9.64822255e-01 -5.91368457e-02 4.55630731e+02] [ 9.35942448e-01 2.62861374e-01 -2.34340849e-01 -9.79432851e+01] [ 2.41642058e-01 4.68139657e-03 9.70354162e-01 -9.24071145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.64, Y:-97.92, Z:-924.06 [[ 2.55295085e-01 -9.65065058e-01 -5.89394069e-02 4.55637117e+02] [ 9.36317345e-01 2.61971517e-01 -2.33839164e-01 -9.79162318e+01] [ 2.41110452e-01 4.51200007e-03 9.70487193e-01 -9.24064669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.64, Y:-97.89, Z:-924.06 [[ 2.54713550e-01 -9.65225637e-01 -5.88258316e-02 4.55643383e+02] [ 9.36525497e-01 2.61380718e-01 -2.33666673e-01 -9.78902002e+01] [ 2.40917001e-01 4.42617663e-03 9.70535629e-01 -9.24058406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.65, Y:-97.86, Z:-924.05 [[ 2.53988967e-01 -9.65417514e-01 -5.88101073e-02 4.55649999e+02] [ 9.36686702e-01 2.60673253e-01 -2.33810773e-01 -9.78634956e+01] [ 2.41055237e-01 4.29871114e-03 9.70501877e-01 -9.24051869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.66, Y:-97.84, Z:-924.05 [[ 2.52026879e-01 -9.65920940e-01 -5.89846594e-02 4.55656795e+02] [ 9.36959365e-01 2.58807795e-01 -2.34788573e-01 -9.78372348e+01] [ 2.42052889e-01 3.90680234e-03 9.70255191e-01 -9.24045385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.66, Y:-97.81, Z:-924.04 [[ 2.50541943e-01 -9.66298461e-01 -5.91271436e-02 4.55663851e+02] [ 9.37133934e-01 2.57398769e-01 -2.35639268e-01 -9.78114886e+01] [ 2.42917116e-01 3.62746760e-03 9.70040265e-01 -9.24039186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.67, Y:-97.79, Z:-924.03 [[ 2.48904106e-01 -9.66715684e-01 -5.92244178e-02 4.55671087e+02] [ 9.37390065e-01 2.55831693e-01 -2.36326072e-01 -9.77853373e+01] [ 2.43611603e-01 3.30614880e-03 9.69867237e-01 -9.24032612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.68, Y:-97.76, Z:-924.03 [[ 2.46898121e-01 -9.67232998e-01 -5.91747051e-02 4.55678158e+02] [ 9.37899447e-01 2.53874156e-01 -2.36416031e-01 -9.77596036e+01] [ 2.43692315e-01 2.87075078e-03 9.69848346e-01 -9.24026324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.68, Y:-97.73, Z:-924.02 [[ 2.44848332e-01 -9.68144747e-01 -5.23931678e-02 4.55683119e+02] [ 9.38578006e-01 2.50229309e-01 -2.37606019e-01 -9.77296475e+01] [ 2.43147325e-01 9.00236249e-03 9.69947594e-01 -9.24024237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:-97.71, Z:-924.01 [[ 2.43065907e-01 -9.67705557e-01 -6.68200530e-02 4.55696013e+02] [ 9.38701885e-01 2.52022068e-01 -2.35209796e-01 -9.77086386e+01] [ 2.44453955e-01 -5.55262717e-03 9.69645003e-01 -9.24010846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:-97.68, Z:-924.01 [[ 2.39006095e-01 -9.69198310e-01 -5.94198798e-02 4.55699805e+02] [ 9.39501530e-01 2.46279258e-01 -2.38082764e-01 -9.76804000e+01] [ 2.45383296e-01 1.07816357e-03 9.69425539e-01 -9.24007334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.70, Y:-97.65, Z:-924.01 [[ 2.36487913e-01 -9.70271964e-01 -5.14371786e-02 4.55704195e+02] [ 9.40397690e-01 2.41879518e-01 -2.39053309e-01 -9.76502068e+01] [ 2.44388323e-01 8.16181422e-03 9.69643095e-01 -9.24006224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.72, Y:-97.63, Z:-923.99 [[ 2.34306179e-01 -9.69787351e-01 -6.79198637e-02 4.55718880e+02] [ 9.40492034e-01 2.43806655e-01 -2.36713009e-01 -9.76302261e+01] [ 2.46120597e-01 -8.41477028e-03 9.69202685e-01 -9.23991410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.72, Y:-97.60, Z:-924.00 [[ 2.31287357e-01 -9.71878227e-01 -4.42591224e-02 4.55715297e+02] [ 9.41919430e-01 2.35080207e-01 -2.39843873e-01 -9.75965418e+01] [ 2.43503482e-01 1.37843282e-02 9.69802066e-01 -9.23997722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.74, Y:-97.58, Z:-923.98 [[ 2.29072539e-01 -9.70577333e-01 -7.41984642e-02 4.55739477e+02] [ 9.41483119e-01 2.40276721e-01 -2.36382389e-01 -9.75799014e+01] [ 2.47255553e-01 -1.57078874e-02 9.68822974e-01 -9.23975600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.74, Y:-97.55, Z:-923.97 [[ 2.28034558e-01 -9.71833113e-01 -5.95032838e-02 4.55739602e+02] [ 9.41818540e-01 2.35666014e-01 -2.39665115e-01 -9.75520198e+01] [ 2.46937396e-01 -1.38936730e-03 9.69030439e-01 -9.23974151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.73, Y:-97.52, Z:-923.99 [[ 2.25055502e-01 -9.73763900e-01 -3.36732511e-02 4.55732208e+02] [ 9.44061735e-01 2.26479591e-01 -2.39696551e-01 -9.75197342e+01] [ 2.41034153e-01 2.21553998e-02 9.70263715e-01 -9.23985003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.76, Y:-97.51, Z:-923.96 [[ 2.27264699e-01 -9.70877420e-01 -7.58141937e-02 4.55762640e+02] [ 9.42237583e-01 2.38893635e-01 -2.34772590e-01 -9.75051509e+01] [ 2.46046934e-01 -1.80794606e-02 9.69089284e-01 -9.23956644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.76, Y:-97.48, Z:-923.95 [[ 2.27501280e-01 -9.71739997e-01 -6.29646450e-02 4.55763111e+02] [ 9.42527740e-01 2.35988909e-01 -2.36538993e-01 -9.74770611e+01] [ 2.44713358e-01 -5.53300085e-03 9.69579681e-01 -9.23954170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.77, Y:-97.45, Z:-923.95 [[ 2.28380422e-01 -9.71809278e-01 -5.85586034e-02 4.55767811e+02] [ 9.42330299e-01 2.35766539e-01 -2.37545253e-01 -9.74493279e+01] [ 2.44654840e-01 -9.30861064e-04 9.69609789e-01 -9.23949066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.78, Y:-97.42, Z:-923.94 [[ 2.31808171e-01 -9.71008112e-01 -5.83799526e-02 4.55775559e+02] [ 9.41613469e-01 2.39046537e-01 -2.37109317e-01 -9.74238315e+01] [ 2.44190596e-01 -7.47264620e-06 9.69727257e-01 -9.23942621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.78, Y:-97.40, Z:-923.94 [[ 2.33840924e-01 -9.70528128e-01 -5.82543990e-02 4.55782750e+02] [ 9.41192563e-01 2.40987244e-01 -2.36815767e-01 -9.73974091e+01] [ 2.43874930e-01 5.48610743e-04 9.69806536e-01 -9.23936012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9365599950002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:455.79, Y:-97.37, Z:-923.93 [[ 2.36168320e-01 -9.69968828e-01 -5.81807266e-02 4.55789550e+02] [ 9.40618699e-01 2.43226297e-01 -2.36806738e-01 -9.73706582e+01] [ 2.43846237e-01 1.20037006e-03 9.69813164e-01 -9.23928946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.80, Y:-97.34, Z:-923.92 [[ 2.39231947e-01 -9.69224638e-01 -5.80661448e-02 4.55796270e+02] [ 9.39896640e-01 2.46169586e-01 -2.36632291e-01 -9.73438453e+01] [ 2.43643965e-01 2.03382926e-03 9.69862610e-01 -9.23922173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.80, Y:-97.32, Z:-923.92 [[ 2.45071990e-01 -9.67765882e-01 -5.80423803e-02 4.55802293e+02] [ 9.38347557e-01 2.51826152e-01 -2.36827896e-01 -9.73171121e+01] [ 2.43810546e-01 3.57595790e-03 9.69816287e-01 -9.23915772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.81, Y:-97.29, Z:-923.91 [[ 2.47786159e-01 -9.67080424e-01 -5.79437138e-02 4.55808454e+02] [ 9.37670637e-01 2.54434188e-01 -2.36721398e-01 -9.72909985e+01] [ 2.43671491e-01 4.32416686e-03 9.69848187e-01 -9.23909469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.81, Y:-97.26, Z:-923.90 [[ 2.50190166e-01 -9.66463189e-01 -5.79118737e-02 4.55814373e+02] [ 9.36991300e-01 2.56756349e-01 -2.36903948e-01 -9.72648828e+01] [ 2.43828187e-01 5.00811619e-03 9.69805514e-01 -9.23903216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.82, Y:-97.24, Z:-923.90 [[ 2.51810932e-01 -9.66049673e-01 -5.77865420e-02 4.55820259e+02] [ 9.36618964e-01 2.58298283e-01 -2.36700050e-01 -9.72382090e+01] [ 2.43590170e-01 5.47968898e-03 9.69862775e-01 -9.23896647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.83, Y:-97.21, Z:-923.89 [[ 2.53408264e-01 -9.65645610e-01 -5.75569927e-02 4.55826512e+02] [ 9.36367667e-01 2.59795041e-01 -2.36055354e-01 -9.72118694e+01] [ 2.42898837e-01 5.92387045e-03 9.70033537e-01 -9.23890298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.82, Y:-97.18, Z:-923.90 [[ 2.53067122e-01 -9.66761526e-01 -3.64579615e-02 4.55820240e+02] [ 9.38223467e-01 2.54440624e-01 -2.34513743e-01 -9.71815286e+01] [ 2.35995251e-01 2.51420032e-02 9.71428907e-01 -9.23898733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.85, Y:-97.16, Z:-923.87 [[ 2.55078786e-01 -9.64052704e-01 -7.44123490e-02 4.55849570e+02] [ 9.36135448e-01 2.65489690e-01 -2.30576774e-01 -9.71634577e+01] [ 2.42043874e-01 -1.08447940e-02 9.70204697e-01 -9.23870097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.83, Y:-97.13, Z:-923.89 [[ 2.51425253e-01 -9.67326855e-01 -3.26205201e-02 4.55831846e+02] [ 9.39246059e-01 2.51986097e-01 -2.33066186e-01 -9.71293644e+01] [ 2.33671098e-01 2.79600299e-02 9.71913605e-01 -9.23887114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.86, Y:-97.11, Z:-923.86 [[ 2.52932529e-01 -9.64419867e-01 -7.69380074e-02 4.55863873e+02] [ 9.36924405e-01 2.63996778e-01 -2.29081558e-01 -9.71127279e+01] [ 2.41242191e-01 -1.41429191e-02 9.70361883e-01 -9.23855997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:455.86, Y:-97.08, Z:-923.86 [[ 2.51057122e-01 -9.66303989e-01 -5.68060098e-02 4.55860049e+02] [ 9.37593061e-01 2.57345824e-01 -2.33864017e-01 -9.70819963e+01] [ 2.40602522e-01 5.45230633e-03 9.70608417e-01 -9.23856685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.87, Y:-97.06, Z:-923.85 [[ 2.46561163e-01 -9.67455398e-01 -5.69003159e-02 4.55866119e+02] [ 9.38603302e-01 2.53002929e-01 -2.34549270e-01 -9.70550883e+01] [ 2.41311904e-01 4.42391644e-03 9.70437527e-01 -9.23851342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.86, Y:-97.03, Z:-923.86 [[ 2.42497857e-01 -9.69189988e-01 -4.31920797e-02 4.55863119e+02] [ 9.40826100e-01 2.45798128e-01 -2.33301374e-01 -9.70273485e+01] [ 2.36729888e-01 1.59388473e-02 9.71444756e-01 -9.23857973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.88, Y:-97.00, Z:-923.85 [[ 2.40572552e-01 -9.69242774e-01 -5.18969359e-02 4.55875634e+02] [ 9.40778554e-01 2.45998349e-01 -2.33282071e-01 -9.70010504e+01] [ 2.38873522e-01 7.29773882e-03 9.71023266e-01 -9.23847452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.88, Y:-96.97, Z:-923.84 [[ 2.38648842e-01 -9.69553279e-01 -5.48923453e-02 4.55884789e+02] [ 9.41106188e-01 2.44848010e-01 -2.33170743e-01 -9.69744694e+01] [ 2.39511740e-01 3.98640191e-03 9.70885284e-01 -9.23839938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.89, Y:-96.95, Z:-923.83 [[ 2.34949889e-01 -9.70334500e-01 -5.70044597e-02 4.55893428e+02] [ 9.41697416e-01 2.41762848e-01 -2.34001498e-01 -9.69485229e+01] [ 2.40841287e-01 1.29767366e-03 9.70563646e-01 -9.23832482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.91, Y:-96.93, Z:-923.82 [[ 2.35359725e-01 -9.69410329e-01 -6.96377338e-02 4.55908418e+02] [ 9.40464928e-01 2.45237743e-01 -2.35338415e-01 -9.69255461e+01] [ 2.45217291e-01 -1.01026615e-02 9.69415503e-01 -9.23815355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.91, Y:-96.90, Z:-923.81 [[ 2.33972390e-01 -9.70536287e-01 -5.75867743e-02 4.55908982e+02] [ 9.40879150e-01 2.40950179e-01 -2.38095438e-01 -9.68961753e+01] [ 2.44955806e-01 1.52556347e-03 9.69533045e-01 -9.23812979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.92, Y:-96.87, Z:-923.81 [[ 2.33719648e-01 -9.70601219e-01 -5.75186864e-02 4.55915396e+02] [ 9.40941973e-01 2.40688457e-01 -2.38111886e-01 -9.68691514e+01] [ 2.44955771e-01 1.52967997e-03 9.69533048e-01 -9.23806265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.92, Y:-96.84, Z:-923.80 [[ 2.32238334e-01 -9.70958543e-01 -5.74879511e-02 4.55921188e+02] [ 9.41271120e-01 2.39244673e-01 -2.38265955e-01 -9.68422731e+01] [ 2.45100051e-01 1.22274041e-03 9.69497019e-01 -9.23799477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.93, Y:-96.82, Z:-923.79 [[ 2.31455859e-01 -9.71158600e-01 -5.72639466e-02 4.55926740e+02] [ 9.41636684e-01 2.38431976e-01 -2.37635327e-01 -9.68158265e+01] [ 2.44435148e-01 1.08025608e-03 9.69665041e-01 -9.23793309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.92, Y:-96.79, Z:-923.80 [[ 2.28267271e-01 -9.72637830e-01 -4.32400799e-02 4.55922795e+02] [ 9.43527170e-01 2.31951426e-01 -2.36548125e-01 -9.67854459e+01] [ 2.40105254e-01 1.31980048e-02 9.70657138e-01 -9.23797458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:455.93, Y:-96.76, Z:-923.79 [[ 2.26868492e-01 -9.72582780e-01 -5.11216508e-02 4.55930374e+02] [ 9.44122085e-01 2.32508775e-01 -2.33608985e-01 -9.67599942e+01] [ 2.39090309e-01 4.73343869e-03 9.70985798e-01 -9.23789584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.94, Y:-96.74, Z:-923.77 [[ 2.27719572e-01 -9.71523401e-01 -6.54681474e-02 4.55944440e+02] [ 9.43011616e-01 2.36791184e-01 -2.33792704e-01 -9.67354190e+01] [ 2.42637363e-01 -8.49804897e-03 9.70079839e-01 -9.23773917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.95, Y:-96.71, Z:-923.77 [[ 2.29349371e-01 -9.71388426e-01 -6.16716461e-02 4.55949400e+02] [ 9.41873453e-01 2.37469394e-01 -2.37660864e-01 -9.67080650e+01] [ 2.45506141e-01 -3.57951656e-03 9.69388427e-01 -9.23765589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.94, Y:-96.68, Z:-923.77 [[ 2.26815117e-01 -9.72856236e-01 -4.58873285e-02 4.55944491e+02] [ 9.43164836e-01 2.31154632e-01 -2.38762703e-01 -9.66777907e+01] [ 2.42888853e-01 1.08756757e-02 9.69993157e-01 -9.23770046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.96, Y:-96.66, Z:-923.75 [[ 2.29359623e-01 -9.71044638e-01 -6.68316826e-02 4.55962863e+02] [ 9.41210158e-01 2.38761172e-01 -2.38990671e-01 -9.66558046e+01] [ 2.48027420e-01 -8.08784840e-03 9.68719250e-01 -9.23751332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.96, Y:-96.63, Z:-923.75 [[ 2.27792574e-01 -9.72118266e-01 -5.56472813e-02 4.55961889e+02] [ 9.41838289e-01 2.34478508e-01 -2.40749801e-01 -9.66275090e+01] [ 2.47085370e-01 2.43027664e-03 9.68990668e-01 -9.23750224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.97, Y:-96.60, Z:-923.74 [[ 2.29228107e-01 -9.71808755e-01 -5.51563095e-02 4.55969459e+02] [ 9.41400928e-01 2.35746437e-01 -2.41221704e-01 -9.66005944e+01] [ 2.47424268e-01 3.37059383e-03 9.68901373e-01 -9.23743313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.98, Y:-96.58, Z:-923.73 [[ 2.26749873e-01 -9.71985594e-01 -6.18748840e-02 4.55975329e+02] [ 9.41836138e-01 2.35009688e-01 -2.40239747e-01 -9.65767544e+01] [ 2.48050770e-01 -3.80166972e-03 9.68739574e-01 -9.23734053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.98, Y:-96.55, Z:-923.73 [[ 2.27553519e-01 -9.72066352e-01 -5.75013280e-02 4.55979267e+02] [ 9.41682167e-01 2.34705097e-01 -2.41139409e-01 -9.65500487e+01] [ 2.47899360e-01 7.24146034e-04 9.68785520e-01 -9.23728602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.98, Y:-96.52, Z:-923.72 [[ 2.25872841e-01 -9.72463722e-01 -5.74087887e-02 4.55982401e+02] [ 9.42131561e-01 2.33054050e-01 -2.40985337e-01 -9.65229954e+01] [ 2.47728849e-01 3.45411063e-04 9.68829344e-01 -9.23721181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.99, Y:-96.50, Z:-923.71 [[ 2.26782507e-01 -9.72256623e-01 -5.73302080e-02 4.55988782e+02] [ 9.41926249e-01 2.33915893e-01 -2.40952895e-01 -9.64972997e+01] [ 2.47678495e-01 6.43073856e-04 9.68842067e-01 -9.23714513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.9565599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:455.99, Y:-96.47, Z:-923.71 [[ 2.26324650e-01 -9.72380208e-01 -5.70428197e-02 4.55994563e+02] [ 9.42277376e-01 2.33401774e-01 -2.40076984e-01 -9.64704823e+01] [ 2.46760003e-01 5.85180815e-04 9.69076446e-01 -9.23707791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:456.00, Y:-96.44, Z:-923.70 [[ 2.25837004e-01 -9.72500579e-01 -5.69233909e-02 4.56000931e+02] [ 9.42452571e-01 2.32899869e-01 -2.39876640e-01 -9.64441233e+01] [ 2.46537621e-01 5.25425589e-04 9.69133079e-01 -9.23700264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.01, Y:-96.42, Z:-923.69 [[ 2.24519458e-01 -9.72638264e-01 -5.97144864e-02 4.56008328e+02] [ 9.42882716e-01 2.32309118e-01 -2.38756481e-01 -9.64198635e+01] [ 2.46095909e-01 -2.69828143e-03 9.69241726e-01 -9.23691317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.01, Y:-96.39, Z:-923.69 [[ 2.24195765e-01 -9.73077082e-01 -5.34532651e-02 4.56011643e+02] [ 9.43200302e-01 2.30457256e-01 -2.39296144e-01 -9.63941290e+01] [ 2.45172287e-01 3.23204647e-03 9.69474138e-01 -9.23687776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.02, Y:-96.37, Z:-923.68 [[ 2.22513739e-01 -9.73305121e-01 -5.62563501e-02 4.56018673e+02] [ 9.43768225e-01 2.29514968e-01 -2.37958855e-01 -9.63678159e+01] [ 2.44518246e-01 -1.43841161e-04 9.69644681e-01 -9.23680035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.02, Y:-96.34, Z:-923.67 [[ 2.21750751e-01 -9.73483166e-01 -5.61883477e-02 4.56024316e+02] [ 9.43947943e-01 2.28758507e-01 -2.37974425e-01 -9.63405383e+01] [ 2.44517659e-01 -2.67867712e-04 9.69644803e-01 -9.23673759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.04, Y:-96.32, Z:-923.66 [[ 2.21311616e-01 -9.72346468e-01 -7.45889742e-02 4.56039972e+02] [ 9.42960823e-01 2.32872472e-01 -2.37897665e-01 -9.63183766e+01] [ 2.48688673e-01 -1.76849638e-02 9.68422008e-01 -9.23655035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.03, Y:-96.29, Z:-923.67 [[ 2.20842585e-01 -9.74499456e-01 -3.97412030e-02 4.56027247e+02] [ 9.44114654e-01 2.23824597e-01 -2.41971217e-01 -9.62858662e+01] [ 2.44695878e-01 1.59172970e-02 9.69469219e-01 -9.23667048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.1965599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.04, Y:-96.26, Z:-923.66 [[ 2.20030542e-01 -9.73850564e-01 -5.65830381e-02 4.56041544e+02] [ 9.43662938e-01 2.27189063e-01 -2.40593828e-01 -9.62632414e+01] [ 2.47157482e-01 -4.57325725e-04 9.68975217e-01 -9.23655344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.05, Y:-96.24, Z:-923.65 [[ 2.20653422e-01 -9.73717468e-01 -5.64478514e-02 4.56047412e+02] [ 9.43588604e-01 2.27759170e-01 -2.40346225e-01 -9.62380429e+01] [ 2.46885833e-01 -2.30332190e-04 9.69044546e-01 -9.23648655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.05, Y:-96.21, Z:-923.64 [[ 2.21175665e-01 -9.73589593e-01 -5.66094563e-02 4.56053147e+02] [ 9.43190745e-01 2.28305290e-01 -2.41387476e-01 -9.62112362e+01] [ 2.47936573e-01 -4.47972217e-06 9.68776267e-01 -9.23641897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.06, Y:-96.19, Z:-923.64 [[ 2.22100037e-01 -9.73372435e-01 -5.67245748e-02 4.56058419e+02] [ 9.42761143e-01 2.29229156e-01 -2.42188815e-01 -9.61863649e+01] [ 2.48742843e-01 3.12419579e-04 9.68569513e-01 -9.23635508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.06, Y:-96.16, Z:-923.63 [[ 2.22951331e-01 -9.73176421e-01 -5.67481989e-02 4.56063453e+02] [ 9.42439830e-01 2.30059280e-01 -2.42651798e-01 -9.61607575e+01] [ 2.49198458e-01 6.17778296e-04 9.68452243e-01 -9.23629303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.07, Y:-96.13, Z:-923.62 [[ 2.24051037e-01 -9.72925723e-01 -5.67157001e-02 4.56068526e+02] [ 9.42128490e-01 2.31115945e-01 -2.42856603e-01 -9.61342303e+01] [ 2.49389338e-01 9.78796918e-04 9.68402809e-01 -9.23622851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.07, Y:-96.11, Z:-923.62 [[ 2.26306214e-01 -9.72308172e-01 -5.83293730e-02 4.56073057e+02] [ 9.41285049e-01 2.33702296e-01 -2.43650762e-01 -9.61071932e+01] [ 2.50535336e-01 2.35114943e-04 9.68107427e-01 -9.23615105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.08, Y:-96.08, Z:-923.61 [[ 2.27996903e-01 -9.72073865e-01 -5.55860908e-02 4.56076570e+02] [ 9.40934762e-01 2.34651197e-01 -2.44091356e-01 -9.60811436e+01] [ 2.50318171e-01 3.34918813e-03 9.68157837e-01 -9.23611160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4365599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.08, Y:-96.06, Z:-923.60 [[ 2.28672347e-01 -9.71847217e-01 -5.67621860e-02 4.56082531e+02] [ 9.40741524e-01 2.35599925e-01 -2.43922244e-01 -9.60559103e+01] [ 2.50428320e-01 2.37972650e-03 9.68132219e-01 -9.23604812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:456.09, Y:-96.03, Z:-923.60 [[ 2.29035291e-01 -9.71762704e-01 -5.67457716e-02 4.56088672e+02] [ 9.40586299e-01 2.35946456e-01 -2.44185757e-01 -9.60295231e+01] [ 2.50679575e-01 2.55286051e-03 9.68066751e-01 -9.23597951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.09, Y:-96.00, Z:-923.59 [[ 2.28176610e-01 -9.71968739e-01 -5.66763194e-02 4.56094894e+02] [ 9.40793819e-01 2.35097863e-01 -2.44204801e-01 -9.60030559e+01] [ 2.50683914e-01 2.40109265e-03 9.68066015e-01 -9.23591303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.10, Y:-95.98, Z:-923.59 [[ 2.26953719e-01 -9.72265289e-01 -5.64997098e-02 4.56100945e+02] [ 9.41215250e-01 2.33870933e-01 -2.43758569e-01 -9.59765178e+01] [ 2.50211635e-01 2.14352525e-03 9.68188795e-01 -9.23585072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.11, Y:-95.95, Z:-923.58 [[ 2.25877895e-01 -9.72521255e-01 -5.64055391e-02 4.56107269e+02] [ 9.41502558e-01 2.32806079e-01 -2.43668348e-01 -9.59506345e+01] [ 2.50104200e-01 1.93333423e-03 9.68216996e-01 -9.23578331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.11, Y:-95.93, Z:-923.57 [[ 2.24897187e-01 -9.72753673e-01 -5.63164964e-02 4.56113622e+02] [ 9.41755486e-01 2.31834470e-01 -2.43617287e-01 -9.59251125e+01] [ 2.50035716e-01 1.75247315e-03 9.68235028e-01 -9.23572005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.11, Y:-95.89, Z:-923.58 [[ 2.23096270e-01 -9.74343530e-01 -2.97109569e-02 4.56106419e+02] [ 9.43558531e-01 2.23500798e-01 -2.44427273e-01 -9.58918444e+01] [ 2.44796554e-01 2.64967859e-02 9.69212344e-01 -9.23582130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.13, Y:-95.87, Z:-923.57 [[ 2.20125844e-01 -9.73755651e-01 -5.78320516e-02 4.56125955e+02] [ 9.43692454e-01 2.27589460e-01 -2.40099126e-01 -9.58714313e+01] [ 2.46959846e-01 -1.72364797e-03 9.69024181e-01 -9.23565547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.13, Y:-95.84, Z:-923.57 [[ 2.18237056e-01 -9.74743273e-01 -4.74145408e-02 4.56125716e+02] [ 9.44480545e-01 2.23190665e-01 -2.41127410e-01 -9.58426025e+01] [ 2.45619804e-01 7.84082469e-03 9.69334531e-01 -9.23565304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.14, Y:-95.82, Z:-923.55 [[ 2.18003643e-01 -9.74286715e-01 -5.69193152e-02 4.56137737e+02] [ 9.44000883e-01 2.25308659e-01 -2.41035976e-01 -9.58176374e+01] [ 2.47662564e-01 -1.18516309e-03 9.68845628e-01 -9.23553976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.16, Y:-95.80, Z:-923.53 [[ 2.18347964e-01 -9.72384069e-01 -8.24220139e-02 4.56159845e+02] [ 9.41926476e-01 2.32082256e-01 -2.42718646e-01 -9.57979660e+01] [ 2.55144432e-01 -2.46383548e-02 9.66588987e-01 -9.23528688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.14, Y:-95.76, Z:-923.55 [[ 2.15933233e-01 -9.75776243e-01 -3.51221089e-02 4.56140357e+02] [ 9.43908011e-01 2.17814087e-01 -2.48182777e-01 -9.57609062e+01] [ 2.49820947e-01 2.04388695e-02 9.68076313e-01 -9.23546575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.796559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.15, Y:-95.74, Z:-923.54 [[ 2.14582968e-01 -9.75515523e-01 -4.82038768e-02 4.56153248e+02] [ 9.44462819e-01 2.19822654e-01 -2.44270311e-01 -9.57359265e+01] [ 2.48885785e-01 6.88947915e-03 9.68508338e-01 -9.23537354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.18, Y:-95.72, Z:-923.51 [[ 2.16233689e-01 -9.72989335e-01 -8.08377807e-02 4.56178733e+02] [ 9.42336727e-01 2.29647127e-01 -2.43441348e-01 -9.57179198e+01] [ 2.55429999e-01 -2.35361890e-02 9.66541031e-01 -9.23509151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.856559995 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:456.16, Y:-95.68, Z:-923.52 [[ 2.15807266e-01 -9.75691454e-01 -3.81236157e-02 4.56164459e+02] [ 9.43344392e-01 2.18412933e-01 -2.49794213e-01 -9.56814100e+01] [ 2.52048770e-01 1.79437070e-02 9.67548160e-01 -9.23521313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.18, Y:-95.66, Z:-923.51 [[ 2.13853308e-01 -9.74947994e-01 -6.11814754e-02 4.56180819e+02] [ 9.43590089e-01 2.22370623e-01 -2.45334569e-01 -9.56605467e+01] [ 2.52793408e-01 -5.26462485e-03 9.67505957e-01 -9.23505404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.916559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.19, Y:-95.63, Z:-923.50 [[ 2.15364933e-01 -9.74907067e-01 -5.63396629e-02 4.56186184e+02] [ 9.43420868e-01 2.22612134e-01 -2.45765954e-01 -9.56328674e+01] [ 2.52140857e-01 -2.22645563e-04 9.67690518e-01 -9.23499287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:456.20, Y:-95.61, Z:-923.48 [[ 2.15360343e-01 -9.73898439e-01 -7.17060263e-02 4.56198744e+02] [ 9.42750408e-01 2.26495745e-01 -2.44788370e-01 -9.56124862e+01] [ 2.54640121e-01 -1.48831783e-02 9.66921352e-01 -9.23482896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.18, Y:-95.58, Z:-923.50 [[ 2.14130544e-01 -9.76410130e-01 -2.77735073e-02 4.56181360e+02] [ 9.44634827e-01 2.14231566e-01 -2.48535468e-01 -9.55763505e+01] [ 2.48622511e-01 2.69832129e-02 9.68224537e-01 -9.23500106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.22, Y:-95.56, Z:-923.47 [[ 2.15977871e-01 -9.72899978e-01 -8.25784009e-02 4.56216418e+02] [ 9.42763377e-01 2.29797845e-01 -2.41640570e-01 -9.55644194e+01] [ 2.54068444e-01 -2.56628763e-02 9.66845718e-01 -9.23466051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.19, Y:-95.53, Z:-923.49 [[ 2.15522479e-01 -9.76057293e-01 -2.93636192e-02 4.56193545e+02] [ 9.44784470e-01 2.16029853e-01 -2.46400910e-01 -9.55255526e+01] [ 2.46844824e-01 2.53626436e-02 9.68723061e-01 -9.23486324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.23, Y:-95.51, Z:-923.45 [[ 2.18502006e-01 -9.72594163e-01 -7.94824941e-02 4.56226971e+02] [ 9.42512012e-01 2.31442936e-01 -2.41050357e-01 -9.55118398e+01] [ 2.52839832e-01 -2.22432189e-02 9.67252428e-01 -9.23453607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.22, Y:-95.48, Z:-923.45 [[ 2.19694053e-01 -9.73956286e-01 -5.60684927e-02 4.56221489e+02] [ 9.42230671e-01 2.26731910e-01 -2.46564402e-01 -9.54806013e+01] [ 2.52855466e-01 1.33927933e-03 9.67503137e-01 -9.23454156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.23, Y:-95.45, Z:-923.45 [[ 2.20362661e-01 -9.73811425e-01 -5.59607604e-02 4.56227183e+02] [ 9.42120264e-01 2.27351745e-01 -2.46415486e-01 -9.54549951e+01] [ 2.52684992e-01 1.57900595e-03 9.67547312e-01 -9.23447786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.23, Y:-95.43, Z:-923.44 [[ 2.21054094e-01 -9.73652367e-01 -5.60013866e-02 4.56233149e+02] [ 9.41819552e-01 2.28029975e-01 -2.46937768e-01 -9.54288230e+01] [ 2.53201537e-01 1.84340371e-03 9.67411796e-01 -9.23440887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.22, Y:-95.40, Z:-923.46 [[ 2.17033380e-01 -9.75855856e-01 -2.45328631e-02 4.56218082e+02] [ 9.44911808e-01 2.16326950e-01 -2.45650821e-01 -9.53959686e+01] [ 2.45026912e-01 3.01330358e-02 9.69047890e-01 -9.23457108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.26, Y:-95.38, Z:-923.42 [[ 2.21846587e-01 -9.71646667e-01 -8.17731468e-02 4.56258566e+02] [ 9.41142219e-01 2.35303834e-01 -2.42659083e-01 -9.53816562e+01] [ 2.55020424e-01 -2.31270716e-02 9.66659052e-01 -9.23418915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.25, Y:-95.35, Z:-923.42 [[ 2.22195158e-01 -9.73373669e-01 -5.63294943e-02 4.56251635e+02] [ 9.40933027e-01 2.29211858e-01 -2.49212688e-01 -9.53506464e+01] [ 2.55488456e-01 2.37157085e-03 9.66809198e-01 -9.23421028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.26, Y:-95.32, Z:-923.41 [[ 2.22216895e-01 -9.73366642e-01 -5.63651647e-02 4.56257630e+02] [ 9.40788963e-01 2.29240696e-01 -2.49729515e-01 -9.53247996e+01] [ 2.55999569e-01 2.46639249e-03 9.66673749e-01 -9.23414564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.26, Y:-95.30, Z:-923.41 [[ 2.22219850e-01 -9.73363904e-01 -5.64007950e-02 4.56263592e+02] [ 9.40649863e-01 2.29251348e-01 -2.50243193e-01 -9.52999008e+01] [ 2.56507649e-01 2.55560479e-03 9.66538822e-01 -9.23408150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.336559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:456.27, Y:-95.27, Z:-923.40 [[ 2.22634607e-01 -9.73257117e-01 -5.66075643e-02 4.56270433e+02] [ 9.40219334e-01 2.29701946e-01 -2.51445064e-01 -9.52736140e+01] [ 2.57723566e-01 2.75684656e-03 9.66214761e-01 -9.23400788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.28, Y:-95.25, Z:-923.39 [[ 2.22795964e-01 -9.73217287e-01 -5.66574925e-02 4.56276414e+02] [ 9.40028551e-01 2.29869057e-01 -2.52005039e-01 -9.52485568e+01] [ 2.58279464e-01 2.88604478e-03 9.66065934e-01 -9.23393958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.28, Y:-95.22, Z:-923.39 [[ 2.22521705e-01 -9.73284444e-01 -5.65816396e-02 4.56282157e+02] [ 9.40093521e-01 2.29584513e-01 -2.52022070e-01 -9.52222481e+01] [ 2.58279428e-01 2.88834801e-03 9.66065937e-01 -9.23387277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:456.29, Y:-95.20, Z:-923.38 [[ 2.22375883e-01 -9.73319288e-01 -5.65555603e-02 4.56287919e+02] [ 9.40068640e-01 2.29436245e-01 -2.52249799e-01 -9.51958105e+01] [ 2.58495490e-01 2.92816301e-03 9.66008027e-01 -9.23380215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.29, Y:-95.17, Z:-923.37 [[ 2.21862605e-01 -9.73438250e-01 -5.65239667e-02 4.56294450e+02] [ 9.40311966e-01 2.28933626e-01 -2.51799130e-01 -9.51678992e+01] [ 2.58051141e-01 2.71464870e-03 9.66127445e-01 -9.23372928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.30, Y:-95.14, Z:-923.37 [[ 2.22150245e-01 -9.73357477e-01 -5.67845977e-02 4.56300135e+02] [ 9.40412227e-01 2.29280492e-01 -2.51108144e-01 -9.51427498e+01] [ 2.57437590e-01 2.38280567e-03 9.66291990e-01 -9.23366087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.31, Y:-95.12, Z:-923.36 [[ 2.21969591e-01 -9.73449753e-01 -5.59024082e-02 4.56305878e+02] [ 9.40643655e-01 2.28880583e-01 -2.50605652e-01 -9.51170285e+01] [ 2.56746986e-01 3.04258853e-03 9.66473863e-01 -9.23359045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.31, Y:-95.09, Z:-923.35 [[ 2.21699625e-01 -9.73529973e-01 -5.55757874e-02 4.56312435e+02] [ 9.41019843e-01 2.28539476e-01 -2.49502230e-01 -9.50903048e+01] [ 2.55599160e-01 3.01663212e-03 9.66778139e-01 -9.23351805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.576559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.32, Y:-95.07, Z:-923.34 [[ 2.19590157e-01 -9.73483446e-01 -6.41103960e-02 4.56320486e+02] [ 9.41121829e-01 2.28687393e-01 -2.48981485e-01 -9.50673867e+01] [ 2.57040593e-01 -5.66180966e-03 9.66384022e-01 -9.23340071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:-95.04, Z:-923.33 [[ 2.20149117e-01 -9.73010001e-01 -6.91802263e-02 4.56331888e+02] [ 9.40110558e-01 2.30556274e-01 -2.51069597e-01 -9.50423926e+01] [ 2.60243164e-01 -9.76431113e-03 9.65493736e-01 -9.23325967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:-95.01, Z:-923.32 [[ 2.19511224e-01 -9.73960750e-01 -5.67034406e-02 4.56331887e+02] [ 9.40329057e-01 2.26704198e-01 -2.53744896e-01 -9.50146189e+01] [ 2.59992477e-01 2.37995978e-03 9.65607709e-01 -9.23323972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.33, Y:-94.98, Z:-923.33 [[ 2.18480603e-01 -9.75303157e-01 -3.24033742e-02 4.56326215e+02] [ 9.42095439e-01 2.19465782e-01 -2.53556610e-01 -9.49818546e+01] [ 2.54405994e-01 2.48701302e-02 9.66777672e-01 -9.23333635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.34, Y:-94.96, Z:-923.31 [[ 2.14677777e-01 -9.74674450e-01 -6.26352027e-02 4.56344892e+02] [ 9.42316543e-01 2.23559848e-01 -2.49119506e-01 -9.49635209e+01] [ 2.56813134e-01 -5.54176584e-03 9.66445189e-01 -9.23314261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.35, Y:-94.93, Z:-923.32 [[ 2.14499241e-01 -9.75619673e-01 -4.64362951e-02 4.56345798e+02] [ 9.42814875e-01 2.19236825e-01 -2.51068370e-01 -9.49318867e+01] [ 2.55127787e-01 1.00731450e-02 9.66854872e-01 -9.23315920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.36, Y:-94.91, Z:-923.31 [[ 2.12074945e-01 -9.75698185e-01 -5.51114282e-02 4.56356651e+02] [ 9.43308323e-01 2.19117016e-01 -2.49313339e-01 -9.49072296e+01] [ 2.55330424e-01 8.86043773e-04 9.66853448e-01 -9.23305952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.36, Y:-94.88, Z:-923.29 [[ 2.07443573e-01 -9.76287231e-01 -6.18902875e-02 4.56364276e+02] [ 9.44105954e-01 2.16371064e-01 -2.48691597e-01 -9.48839533e+01] [ 2.56185698e-01 -6.84151546e-03 9.66603374e-01 -9.23294094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.37, Y:-94.86, Z:-923.29 [[ 2.06700746e-01 -9.76899944e-01 -5.42337693e-02 4.56365932e+02] [ 9.44360050e-01 2.13696707e-01 -2.50035626e-01 -9.48552560e+01] [ 2.55849367e-01 4.66345423e-04 9.66716548e-01 -9.23289556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.37, Y:-94.83, Z:-923.29 [[ 2.05323020e-01 -9.77654626e-01 -4.50986754e-02 4.56365980e+02] [ 9.45242627e-01 2.10039114e-01 -2.49799813e-01 -9.48254006e+01] [ 2.53690429e-01 8.66046163e-03 9.67246692e-01 -9.23288932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.876559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:456.38, Y:-94.80, Z:-923.28 [[ 2.06118394e-01 -9.77011916e-01 -5.44327512e-02 4.56377657e+02] [ 9.44938481e-01 2.13184542e-01 -2.48281329e-01 -9.47994358e+01] [ 2.54178038e-01 -2.60252510e-04 9.67157411e-01 -9.23279038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.38, Y:-94.77, Z:-923.27 [[ 2.05009186e-01 -9.77229001e-01 -5.47239759e-02 4.56382217e+02] [ 9.45051309e-01 2.12186115e-01 -2.48706806e-01 -9.47723234e+01] [ 2.54655172e-01 -7.29785187e-04 9.67031650e-01 -9.23272629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.39, Y:-94.75, Z:-923.27 [[ 2.03989838e-01 -9.77442760e-01 -5.47156043e-02 4.56387806e+02] [ 9.45192297e-01 2.11198493e-01 -2.49011483e-01 -9.47453861e+01] [ 2.54950324e-01 -9.20955640e-04 9.66953714e-01 -9.23265586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.39, Y:-94.72, Z:-923.26 [[ 2.02981546e-01 -9.77654830e-01 -5.46765603e-02 4.56393070e+02] [ 9.45368874e-01 2.10213697e-01 -2.49174426e-01 -9.47189423e+01] [ 2.55100342e-01 -1.11170800e-03 9.66913946e-01 -9.23258947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.40, Y:-94.69, Z:-923.25 [[ 2.02024762e-01 -9.77857292e-01 -5.45995652e-02 4.56398171e+02] [ 9.45580637e-01 2.09268850e-01 -2.49166226e-01 -9.46917413e+01] [ 2.55074999e-01 -1.29054398e-03 9.66920410e-01 -9.23251914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.40, Y:-94.67, Z:-923.25 [[ 2.01173004e-01 -9.78043667e-01 -5.44059549e-02 4.56402459e+02] [ 9.45915628e-01 2.08395041e-01 -2.48626492e-01 -9.46659406e+01] [ 2.54505497e-01 -1.44650466e-03 9.67070246e-01 -9.23245577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.056559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:456.41, Y:-94.64, Z:-923.24 [[ 2.00687810e-01 -9.78157100e-01 -5.41580202e-02 4.56406356e+02] [ 9.46235762e-01 2.07861547e-01 -2.47853707e-01 -9.46397766e+01] [ 2.53697233e-01 -1.50503796e-03 9.67282507e-01 -9.23239097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.41, Y:-94.61, Z:-923.23 [[ 2.01107385e-01 -9.78095635e-01 -5.37098592e-02 4.56408323e+02] [ 9.46615649e-01 2.08151713e-01 -2.46153769e-01 -9.46126758e+01] [ 2.51941726e-01 -1.33925246e-03 9.67741481e-01 -9.23232744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.39, Y:-94.58, Z:-923.25 [[ 1.98028802e-01 -9.79853663e-01 -2.59112297e-02 4.56393195e+02] [ 9.49206516e-01 1.98295451e-01 -2.44306988e-01 -9.45818547e+01] [ 2.44523176e-01 2.37847122e-02 9.69351693e-01 -9.23245138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.41, Y:-94.56, Z:-923.23 [[ 2.00345143e-01 -9.78470815e-01 -4.95649807e-02 4.56410539e+02] [ 9.48236487e-01 2.06380777e-01 -2.41359774e-01 -9.45590736e+01] [ 2.46392754e-01 1.35593523e-03 9.69169115e-01 -9.23228962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.43, Y:-94.54, Z:-923.20 [[ 2.08143051e-01 -9.75248539e-01 -7.46107034e-02 4.56430681e+02] [ 9.44852643e-01 2.20201534e-01 -2.42414455e-01 -9.45364069e+01] [ 2.52843734e-01 -2.00392360e-02 9.67299579e-01 -9.23204475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.42, Y:-94.50, Z:-923.21 [[ 2.09025146e-01 -9.77037257e-01 -4.13120727e-02 4.56416022e+02] [ 9.45632692e-01 2.12709641e-01 -2.46035406e-01 -9.45031956e+01] [ 2.49173234e-01 1.23615402e-02 9.68380035e-01 -9.23213154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.236559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:456.42, Y:-94.48, Z:-923.20 [[ 2.11737452e-01 -9.76004055e-01 -5.08265408e-02 4.56424746e+02] [ 9.45084607e-01 2.17723007e-01 -2.43745316e-01 -9.44774469e+01] [ 2.48962524e-01 3.57463074e-03 9.68506522e-01 -9.23203316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.43, Y:-94.45, Z:-923.20 [[ 2.14213655e-01 -9.75370636e-01 -5.25797798e-02 4.56428710e+02] [ 9.44450213e-01 2.20557691e-01 -2.43655700e-01 -9.44502394e+01] [ 2.49251490e-01 2.53539398e-03 9.68435474e-01 -9.23195333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.43, Y:-94.42, Z:-923.19 [[ 2.18856869e-01 -9.74082865e-01 -5.71335628e-02 4.56431580e+02] [ 9.43200969e-01 2.26190564e-01 -2.43330559e-01 -9.44241328e+01] [ 2.49947201e-01 -6.33867508e-04 9.68259260e-01 -9.23185708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.44, Y:-94.40, Z:-923.18 [[ 2.21534190e-01 -9.73525571e-01 -5.63077807e-02 4.56435406e+02] [ 9.42270213e-01 2.28575225e-01 -2.44704336e-01 -9.43965269e+01] [ 2.51096492e-01 1.15323251e-03 9.67961374e-01 -9.23177315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.43, Y:-94.37, Z:-923.18 [[ 2.22277315e-01 -9.74156736e-01 -4.01428592e-02 4.56429627e+02] [ 9.43013317e-01 2.25263509e-01 -2.44912711e-01 -9.43662228e+01] [ 2.47626088e-01 1.65832890e-02 9.68713743e-01 -9.23179696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.45, Y:-94.34, Z:-923.16 [[ 2.26503034e-01 -9.71758141e-01 -6.62003862e-02 4.56446804e+02] [ 9.41012120e-01 2.35864832e-01 -2.42618983e-01 -9.43448749e+01] [ 2.51381315e-01 -7.34142994e-03 9.67860289e-01 -9.23159047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.416559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.45, Y:-94.32, Z:-923.16 [[ 2.26448117e-01 -9.72562296e-01 -5.33275809e-02 4.56446184e+02] [ 9.41098754e-01 2.32580100e-01 -2.45437635e-01 -9.43154080e+01] [ 2.51106324e-01 5.39237031e-03 9.67944490e-01 -9.23155993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.45, Y:-94.29, Z:-923.15 [[ 2.27178731e-01 -9.72396010e-01 -5.32524514e-02 4.56450471e+02] [ 9.40961443e-01 2.33268957e-01 -2.45310329e-01 -9.42899010e+01] [ 2.50960929e-01 5.62078582e-03 9.67980898e-01 -9.23149568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.45, Y:-94.26, Z:-923.14 [[ 2.26551253e-01 -9.72545247e-01 -5.32003008e-02 4.56453816e+02] [ 9.41110553e-01 2.32648579e-01 -2.45327469e-01 -9.42630891e+01] [ 2.50969038e-01 5.51188077e-03 9.67979422e-01 -9.23142729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.46, Y:-94.24, Z:-923.14 [[ 2.25109155e-01 -9.72885334e-01 -5.31036380e-02 4.56457928e+02] [ 9.41488105e-01 2.31229402e-01 -2.45220536e-01 -9.42364698e+01] [ 2.50850585e-01 5.20494414e-03 9.68011825e-01 -9.23135903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.46, Y:-94.21, Z:-923.13 [[ 2.22974457e-01 -9.73384756e-01 -5.29576184e-02 4.56462020e+02] [ 9.42086739e-01 2.29128552e-01 -2.44893206e-01 -9.42103205e+01] [ 2.50509416e-01 4.71425956e-03 9.68102685e-01 -9.23129530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.45, Y:-94.18, Z:-923.14 [[ 2.14442134e-01 -9.76179174e-01 -3.29968302e-02 4.56453146e+02] [ 9.45313991e-01 2.15924875e-01 -2.44454304e-01 -9.41796925e+01] [ 2.45756037e-01 2.12289373e-02 9.69099222e-01 -9.23136497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.596559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.47, Y:-94.16, Z:-923.12 [[ 2.11578159e-01 -9.75995326e-01 -5.16508151e-02 4.56468873e+02] [ 9.45666247e-01 2.17779987e-01 -2.41427476e-01 -9.41560344e+01] [ 2.46880602e-01 2.23634841e-03 9.69043326e-01 -9.23123348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.48, Y:-94.13, Z:-923.10 [[ 2.10507193e-01 -9.75215077e-01 -6.81342394e-02 4.56484671e+02] [ 9.44907259e-01 2.20845625e-01 -2.41614327e-01 -9.41333025e+01] [ 2.50673083e-01 -1.35189836e-02 9.67977398e-01 -9.23104606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.48, Y:-94.10, Z:-923.10 [[ 2.07411821e-01 -9.76836534e-01 -5.26376533e-02 4.56481945e+02] [ 9.45770097e-01 2.13984958e-01 -2.44395911e-01 -9.41036775e+01] [ 2.49998520e-01 9.07482358e-04 9.68245793e-01 -9.23102346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.48, Y:-94.07, Z:-923.11 [[ 2.02455677e-01 -9.78582287e-01 -3.72613222e-02 4.56477471e+02] [ 9.47807911e-01 2.05375335e-01 -2.43887547e-01 -9.40727137e+01] [ 2.46316590e-01 1.40598426e-02 9.69087436e-01 -9.23105603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.49, Y:-94.05, Z:-923.09 [[ 1.98490442e-01 -9.78183929e-01 -6.13004502e-02 4.56494709e+02] [ 9.47614513e-01 2.07505202e-01 -2.42833947e-01 -9.40501447e+01] [ 2.50256427e-01 -9.88897883e-03 9.68129087e-01 -9.23088745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.50, Y:-94.02, Z:-923.08 [[ 1.96850448e-01 -9.79013473e-01 -5.27496064e-02 4.56495426e+02] [ 9.47555203e-01 2.03789860e-01 -2.46188608e-01 -9.40216025e+01] [ 2.51771799e-01 -1.52082621e-03 9.67785435e-01 -9.23084374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.50, Y:-94.00, Z:-923.07 [[ 1.95087973e-01 -9.79094480e-01 -5.75732803e-02 4.56502425e+02] [ 9.47214742e-01 2.03312266e-01 -2.47887789e-01 -9.39964216e+01] [ 2.54410920e-01 -6.17433340e-03 9.67076502e-01 -9.23074588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.50, Y:-93.97, Z:-923.07 [[ 1.93143644e-01 -9.79708461e-01 -5.35431119e-02 4.56504960e+02] [ 9.47237688e-01 2.00413466e-01 -2.50150365e-01 -9.39696876e+01] [ 2.55805189e-01 -2.40310053e-03 9.66725365e-01 -9.23069732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.836559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:456.51, Y:-93.94, Z:-923.06 [[ 1.89713990e-01 -9.80367614e-01 -5.37395867e-02 4.56508995e+02] [ 9.47576793e-01 1.97152189e-01 -2.51454244e-01 -9.39432803e+01] [ 2.57112474e-01 -3.21799741e-03 9.66376128e-01 -9.23063461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.52, Y:-93.92, Z:-923.05 [[ 1.87672988e-01 -9.80403980e-01 -5.98906078e-02 4.56517411e+02] [ 9.47405280e-01 1.96774444e-01 -2.52394640e-01 -9.39171508e+01] [ 2.59233651e-01 -9.37302164e-03 9.65769155e-01 -9.23053836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.52, Y:-93.89, Z:-923.05 [[ 1.85883119e-01 -9.80990872e-01 -5.57169118e-02 4.56520864e+02] [ 9.47694242e-01 1.93970578e-01 -2.53477887e-01 -9.38891509e+01] [ 2.59466935e-01 -5.68533625e-03 9.65735257e-01 -9.23048072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.53, Y:-93.86, Z:-923.04 [[ 1.84034035e-01 -9.81383108e-01 -5.49424213e-02 4.56525787e+02] [ 9.47850668e-01 1.91988385e-01 -2.54400416e-01 -9.38636876e+01] [ 2.60212578e-01 -5.25887545e-03 9.65537031e-01 -9.23041097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.53, Y:-93.84, Z:-923.04 [[ 1.83520839e-01 -9.81603376e-01 -5.26774566e-02 4.56529864e+02] [ 9.48046688e-01 1.90903990e-01 -2.54486041e-01 -9.38389903e+01] [ 2.59860694e-01 -3.23719648e-03 9.65640689e-01 -9.23036226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.53, Y:-93.81, Z:-923.03 [[ 1.81454170e-01 -9.82268591e-01 -4.71465719e-02 4.56534186e+02] [ 9.49044012e-01 1.87475130e-01 -2.53315099e-01 -9.38101326e+01] [ 2.57662275e-01 1.22090928e-03 9.66234268e-01 -9.23030576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.54, Y:-93.78, Z:-923.02 [[ 1.80879146e-01 -9.82040410e-01 -5.36597380e-02 4.56542910e+02] [ 9.49011338e-01 1.88598112e-01 -2.52602915e-01 -9.37843413e+01] [ 2.58186396e-01 -5.23310009e-03 9.66080949e-01 -9.23021103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.55, Y:-93.76, Z:-923.01 [[ 1.81791945e-01 -9.81897350e-01 -5.31910008e-02 4.56548620e+02] [ 9.49351195e-01 1.89350130e-01 -2.50756528e-01 -9.37583892e+01] [ 2.56288894e-01 -4.91142315e-03 9.66587751e-01 -9.23014653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.56, Y:-93.74, Z:-923.00 [[ 1.82501798e-01 -9.80812398e-01 -6.85575166e-02 4.56561445e+02] [ 9.49708636e-01 1.93900810e-01 -2.45877983e-01 -9.37362607e+01] [ 2.54453532e-01 -2.02364915e-02 9.66873252e-01 -9.23002713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.55, Y:-93.70, Z:-923.01 [[ 1.83315828e-01 -9.82338723e-01 -3.74958879e-02 4.56551088e+02] [ 9.49529282e-01 1.86811417e-01 -2.51983408e-01 -9.37040644e+01] [ 2.54537719e-01 1.05891036e-02 9.67004871e-01 -9.23005349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.56, Y:-93.68, Z:-922.99 [[ 1.84932860e-01 -9.81363678e-01 -5.22031458e-02 4.56563947e+02] [ 9.49725676e-01 1.92120834e-01 -2.47205837e-01 -9.36805953e+01] [ 2.52628141e-01 -3.86218549e-03 9.67555738e-01 -9.22994062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:456.57, Y:-93.65, Z:-922.99 [[ 1.85917036e-01 -9.81188182e-01 -5.20058481e-02 4.56569188e+02] [ 9.49694420e-01 1.93021331e-01 -2.46623750e-01 -9.36548472e+01] [ 2.52022547e-01 -3.53810716e-03 9.67714895e-01 -9.22987199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.57, Y:-93.63, Z:-922.98 [[ 1.87122369e-01 -9.80976898e-01 -5.16676444e-02 4.56573658e+02] [ 9.49794774e-01 1.94098857e-01 -2.45388513e-01 -9.36298834e+01] [ 2.50749093e-01 -3.15597883e-03 9.68046968e-01 -9.22980754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.58, Y:-93.60, Z:-922.97 [[ 1.89981085e-01 -9.80446303e-01 -5.13053080e-02 4.56578119e+02] [ 9.49590398e-01 1.96772717e-01 -2.44046254e-01 -9.36034725e+01] [ 2.49369733e-01 -2.35485568e-03 9.68405489e-01 -9.22973359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.58, Y:-93.58, Z:-922.97 [[ 1.90714186e-01 -9.80312897e-01 -5.11343677e-02 4.56582698e+02] [ 9.49571201e-01 1.97439129e-01 -2.43582274e-01 -9.35777351e+01] [ 2.48882770e-01 -2.10112783e-03 9.68531338e-01 -9.22966614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.59, Y:-93.55, Z:-922.96 [[ 1.90460303e-01 -9.80366116e-01 -5.10602793e-02 4.56588271e+02] [ 9.49622140e-01 1.97174800e-01 -2.43597804e-01 -9.35505972e+01] [ 2.48882834e-01 -2.09226006e-03 9.68531341e-01 -9.22959681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.59, Y:-93.53, Z:-922.95 [[ 1.91152502e-01 -9.80237430e-01 -5.09441061e-02 4.56592944e+02] [ 9.49547669e-01 1.97815939e-01 -2.43368197e-01 -9.35250719e+01] [ 2.48636172e-01 -1.85341743e-03 9.68595178e-01 -9.22952935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.60, Y:-93.50, Z:-922.95 [[ 1.91453276e-01 -9.80181518e-01 -5.08904209e-02 4.56597305e+02] [ 9.49461810e-01 1.98094139e-01 -2.43476864e-01 -9.34984237e+01] [ 2.48732616e-01 -1.70406792e-03 9.68570690e-01 -9.22946639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.376559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:456.60, Y:-93.47, Z:-922.94 [[ 1.92012151e-01 -9.80071878e-01 -5.08964500e-02 4.56601316e+02] [ 9.49252262e-01 1.98637587e-01 -2.43850883e-01 -9.34725536e+01] [ 2.49101341e-01 -1.49123767e-03 9.68476277e-01 -9.22941286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.59, Y:-93.44, Z:-922.95 [[ 1.89177380e-01 -9.81664478e-01 -2.33831507e-02 4.56589563e+02] [ 9.51325369e-01 1.89126879e-01 -2.43333240e-01 -9.34399808e+01] [ 2.43293980e-01 2.37881603e-02 9.69660849e-01 -9.22952780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.62, Y:-93.42, Z:-922.92 [[ 1.92659374e-01 -9.78426442e-01 -7.45926526e-02 4.56624249e+02] [ 9.48665424e-01 2.05151192e-01 -2.40721629e-01 -9.34235665e+01] [ 2.50831178e-01 -2.43861923e-02 9.67723635e-01 -9.22921424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.62, Y:-93.39, Z:-922.92 [[ 1.93035436e-01 -9.79850094e-01 -5.12943792e-02 4.56617551e+02] [ 9.48283161e-01 1.99731713e-01 -2.46710944e-01 -9.33930824e+01] [ 2.51984856e-01 -1.01764131e-03 9.67730643e-01 -9.22921793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.62, Y:-93.37, Z:-922.92 [[ 1.93591041e-01 -9.79738139e-01 -5.13389449e-02 4.56622438e+02] [ 9.48010265e-01 2.00281179e-01 -2.47313542e-01 -9.33661349e+01] [ 2.52584734e-01 -7.92160884e-04 9.67574455e-01 -9.22915371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.63, Y:-93.34, Z:-922.91 [[ 1.95813831e-01 -9.79296796e-01 -5.13296109e-02 4.56627432e+02] [ 9.47471930e-01 2.02429653e-01 -2.47627095e-01 -9.33392436e+01] [ 2.52891056e-01 -1.44555398e-04 9.67494751e-01 -9.22908807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.63, Y:-93.31, Z:-922.90 [[ 1.96660668e-01 -9.79129958e-01 -5.12748234e-02 4.56632753e+02] [ 9.47275077e-01 2.03235097e-01 -2.47720455e-01 -9.33129084e+01] [ 2.52971362e-01 1.45507993e-04 9.67473756e-01 -9.22902130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:456.64, Y:-93.29, Z:-922.90 [[ 1.97766230e-01 -9.78917224e-01 -5.10841128e-02 4.56638529e+02] [ 9.47202234e-01 2.04256764e-01 -2.47158051e-01 -9.32866351e+01] [ 2.52381548e-01 4.92530064e-04 9.67627672e-01 -9.22895536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.64, Y:-93.26, Z:-922.89 [[ 1.98850275e-01 -9.78702500e-01 -5.09900391e-02 4.56644542e+02] [ 9.47005384e-01 2.05282023e-01 -2.47062936e-01 -9.32604423e+01] [ 2.52268451e-01 8.40691149e-04 9.67656924e-01 -9.22888320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.65, Y:-93.23, Z:-922.89 [[ 2.00528970e-01 -9.78788492e-01 -4.19669008e-02 4.56647040e+02] [ 9.47123870e-01 2.04638277e-01 -2.47142772e-01 -9.32305073e+01] [ 2.50488536e-01 9.81143213e-03 9.68069848e-01 -9.22887865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.65, Y:-93.20, Z:-922.88 [[ 2.00550273e-01 -9.78625801e-01 -4.55096668e-02 4.56653921e+02] [ 9.47274959e-01 2.05556052e-01 -2.45798417e-01 -9.32042826e+01] [ 2.49899460e-01 6.18477191e-03 9.68252038e-01 -9.22882248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.67, Y:-93.18, Z:-922.87 [[ 2.01006598e-01 -9.77947466e-01 -5.67018614e-02 4.56666146e+02] [ 9.46607913e-01 2.08806730e-01 -2.45628191e-01 -9.31792647e+01] [ 2.52051197e-01 -4.30154356e-03 9.67704341e-01 -9.22869990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.67, Y:-93.16, Z:-922.86 [[ 2.01280275e-01 -9.77752536e-01 -5.90443026e-02 4.56672740e+02] [ 9.46010803e-01 2.09672919e-01 -2.47185817e-01 -9.31553960e+01] [ 2.54066550e-01 -6.10291906e-03 9.67167484e-01 -9.22859345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.68, Y:-93.13, Z:-922.86 [[ 2.01158517e-01 -9.78230426e-01 -5.09949490e-02 4.56675805e+02] [ 9.46096429e-01 2.07514038e-01 -2.48675432e-01 -9.31297232e+01] [ 2.53844042e-01 1.77704199e-03 9.67243529e-01 -9.22855112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.68, Y:-93.10, Z:-922.85 [[ 2.00882709e-01 -9.78292295e-01 -5.08952108e-02 4.56681848e+02] [ 9.46178088e-01 2.07222099e-01 -2.48608183e-01 -9.31044460e+01] [ 2.53758082e-01 1.78515194e-03 9.67266069e-01 -9.22848338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.69, Y:-93.08, Z:-922.84 [[ 2.00422355e-01 -9.78392306e-01 -5.07875578e-02 4.56688328e+02] [ 9.46315489e-01 2.06749777e-01 -2.48478421e-01 -9.30790039e+01] [ 2.53609692e-01 1.73957785e-03 9.67305070e-01 -9.22841595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.856559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.70, Y:-93.05, Z:-922.83 [[ 1.99691811e-01 -9.78548512e-01 -5.06555988e-02 4.56695317e+02] [ 9.46542811e-01 2.06010148e-01 -2.48226763e-01 -9.30531704e+01] [ 2.53337497e-01 1.62115911e-03 9.67376599e-01 -9.22834757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.70, Y:-93.03, Z:-922.83 [[ 1.99083213e-01 -9.78676081e-01 -5.05865981e-02 4.56702660e+02] [ 9.46668534e-01 2.05403938e-01 -2.48249692e-01 -9.30272880e+01] [ 2.53346722e-01 1.53360556e-03 9.67374326e-01 -9.22827269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.71, Y:-93.00, Z:-922.82 [[ 1.98072226e-01 -9.79178231e-01 -4.44678020e-02 4.56706788e+02] [ 9.47083418e-01 2.02876320e-01 -2.48745248e-01 -9.29984775e+01] [ 2.52587396e-01 7.15480719e-03 9.67547630e-01 -9.22824319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.72, Y:-92.98, Z:-922.81 [[ 1.96558319e-01 -9.78845619e-01 -5.67986031e-02 4.56721044e+02] [ 9.46986044e-01 2.04536922e-01 -2.47754071e-01 -9.29766627e+01] [ 2.54130399e-01 -5.08936059e-03 9.67156574e-01 -9.22811726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9765599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:456.73, Y:-92.95, Z:-922.81 [[ 1.95602385e-01 -9.79372821e-01 -5.06812007e-02 4.56725234e+02] [ 9.47036183e-01 2.02059891e-01 -2.49588198e-01 -9.29490968e+01] [ 2.54680535e-01 8.23115879e-04 9.67024895e-01 -9.22806294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.73, Y:-92.92, Z:-922.80 [[ 1.94901884e-01 -9.79508152e-01 -5.07645200e-02 4.56732651e+02] [ 9.46970773e-01 2.01403218e-01 -2.50365929e-01 -9.29231281e+01] [ 2.55459606e-01 7.24274436e-04 9.66819459e-01 -9.22798797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.74, Y:-92.90, Z:-922.79 [[ 1.94301844e-01 -9.79624593e-01 -5.08178188e-02 4.56741683e+02] [ 9.46924563e-01 2.00836344e-01 -2.50995291e-01 -9.28975491e+01] [ 2.56087224e-01 6.48206923e-04 9.66653461e-01 -9.22792450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.75, Y:-92.87, Z:-922.79 [[ 1.94016427e-01 -9.79684984e-01 -5.07440569e-02 4.56748774e+02] [ 9.46985993e-01 2.00541563e-01 -2.50999227e-01 -9.28711185e+01] [ 2.56076466e-01 6.44061976e-04 9.66656314e-01 -9.22785644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.76, Y:-92.85, Z:-922.78 [[ 1.93431501e-01 -9.79805811e-01 -5.06441300e-02 4.56756181e+02] [ 9.47143599e-01 1.99950644e-01 -2.50875950e-01 -9.28455335e+01] [ 2.55936040e-01 5.60048126e-04 9.66693555e-01 -9.22778611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.76, Y:-92.82, Z:-922.78 [[ 1.91736370e-01 -9.80570764e-01 -4.14504620e-02 4.56758500e+02] [ 9.48008606e-01 1.95968983e-01 -2.50750555e-01 -9.28173733e+01] [ 2.54001668e-01 8.78260658e-03 9.67163905e-01 -9.22778211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.78, Y:-92.80, Z:-922.76 [[ 1.91578378e-01 -9.79721060e-01 -5.86887578e-02 4.56778413e+02] [ 9.47451868e-01 2.00214151e-01 -2.49497999e-01 -9.27960176e+01] [ 2.56188764e-01 -7.80635121e-03 9.66595251e-01 -9.22761342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.78, Y:-92.77, Z:-922.76 [[ 1.91032946e-01 -9.80286376e-01 -5.04483398e-02 4.56781920e+02] [ 9.47667785e-01 1.97581912e-01 -2.50773122e-01 -9.27677739e+01] [ 2.55797154e-01 9.76618047e-05 9.66730473e-01 -9.22757088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.79, Y:-92.74, Z:-922.75 [[ 1.90618519e-01 -9.80368740e-01 -5.04154238e-02 4.56789192e+02] [ 9.47695998e-01 1.97172844e-01 -2.50988377e-01 -9.27426217e+01] [ 2.56001711e-01 6.45372208e-05 9.66676326e-01 -9.22750107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.79, Y:-92.71, Z:-922.75 [[ 1.89487324e-01 -9.80967315e-01 -4.23990834e-02 4.56792224e+02] [ 9.48566500e-01 1.94040139e-01 -2.50140002e-01 -9.27133504e+01] [ 2.53606290e-01 7.18000924e-03 9.67280878e-01 -9.22749427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.81, Y:-92.69, Z:-922.74 [[ 1.91241040e-01 -9.79968482e-01 -5.55755196e-02 4.56806096e+02] [ 9.47683014e-01 1.99091120e-01 -2.49518802e-01 -9.26928743e+01] [ 2.55585154e-01 -4.94974070e-03 9.66773877e-01 -9.22736207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.81, Y:-92.67, Z:-922.73 [[ 1.92010533e-01 -9.80126906e-01 -4.98317512e-02 4.56811692e+02] [ 9.47510086e-01 1.98369310e-01 -2.50747390e-01 -9.26657754e+01] [ 2.55649354e-01 9.30053214e-04 9.66769126e-01 -9.22731558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.336559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:456.82, Y:-92.64, Z:-922.72 [[ 1.93008156e-01 -9.79929470e-01 -4.98606732e-02 4.56818672e+02] [ 9.47329218e-01 1.99341225e-01 -2.50659987e-01 -9.26392293e+01] [ 2.55568396e-01 1.14494935e-03 9.66790300e-01 -9.22724917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.82, Y:-92.61, Z:-922.72 [[ 1.93955218e-01 -9.80184830e-01 -4.02376971e-02 4.56821162e+02] [ 9.47743440e-01 1.97811186e-01 -2.50306029e-01 -9.26092923e+01] [ 2.53305639e-01 1.04131469e-02 9.67330254e-01 -9.22724834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.84, Y:-92.59, Z:-922.71 [[ 1.95290013e-01 -9.78964800e-01 -5.90739502e-02 4.56836921e+02] [ 9.46843516e-01 2.03897109e-01 -2.48823886e-01 -9.25886768e+01] [ 2.55634834e-01 -7.34096679e-03 9.66745542e-01 -9.22707900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.84, Y:-92.56, Z:-922.70 [[ 1.95867852e-01 -9.79368424e-01 -4.97320313e-02 4.56838812e+02] [ 9.46682232e-01 2.02072316e-01 -2.50917378e-01 -9.25614509e+01] [ 2.55790024e-01 2.06621740e-03 9.66730156e-01 -9.22704849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.85, Y:-92.54, Z:-922.70 [[ 1.96323956e-01 -9.79287085e-01 -4.95349414e-02 4.56847923e+02] [ 9.46759970e-01 2.02464249e-01 -2.50307386e-01 -9.25364408e+01] [ 2.55151845e-01 2.24363656e-03 9.66898393e-01 -9.22697947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:-92.51, Z:-922.69 [[ 1.96061783e-01 -9.79340942e-01 -4.95085546e-02 4.56855031e+02] [ 9.46737059e-01 2.02203366e-01 -2.50604751e-01 -9.25103345e+01] [ 2.55438289e-01 2.26243096e-03 9.66822715e-01 -9.22691024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:-92.48, Z:-922.69 [[ 1.96283397e-01 -9.79754842e-01 -3.94116452e-02 4.56857883e+02] [ 9.47098605e-01 1.99843088e-01 -2.51131386e-01 -9.24793677e+01] [ 2.53923336e-01 1.19662074e-02 9.67150324e-01 -9.22690716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:456.86, Y:-92.45, Z:-922.69 [[ 1.99589162e-01 -9.79064078e-01 -3.99712173e-02 4.56861316e+02] [ 9.47088142e-01 2.03213909e-01 -2.48451523e-01 -9.24523068e+01] [ 2.51372669e-01 1.17319655e-02 9.67819272e-01 -9.22687434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.88, Y:-92.43, Z:-922.66 [[ 2.02905722e-01 -9.76762523e-01 -6.90234815e-02 4.56881054e+02] [ 9.44888900e-01 2.13805074e-01 -2.47936197e-01 -9.24336485e+01] [ 2.56932356e-01 -1.49118485e-02 9.66314339e-01 -9.22662806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.88, Y:-92.40, Z:-922.66 [[ 2.04987767e-01 -9.77509244e-01 -4.95549567e-02 4.56876595e+02] [ 9.44487787e-01 2.10836858e-01 -2.51973491e-01 -9.24033996e+01] [ 2.56754428e-01 4.84743201e-03 9.66464519e-01 -9.22662587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.88, Y:-92.38, Z:-922.66 [[ 2.06160304e-01 -9.77263681e-01 -4.95341027e-02 4.56880856e+02] [ 9.44161064e-01 2.11962918e-01 -2.52253060e-01 -9.23775257e+01] [ 2.57017147e-01 5.23639650e-03 9.66392657e-01 -9.22655995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.89, Y:-92.35, Z:-922.65 [[ 2.07918872e-01 -9.76896764e-01 -4.94212059e-02 4.56885350e+02] [ 9.43830137e-01 2.13633918e-01 -2.52081777e-01 -9.23506165e+01] [ 2.56815918e-01 5.76733511e-03 9.66443129e-01 -9.22649265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.89, Y:-92.32, Z:-922.64 [[ 2.07835943e-01 -9.77194319e-01 -4.35371513e-02 4.56887343e+02] [ 9.43616055e-01 2.12021313e-01 -2.54235527e-01 -9.23222229e+01] [ 2.57668317e-01 1.17569255e-02 9.66161898e-01 -9.22644707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.90, Y:-92.30, Z:-922.63 [[ 2.07317055e-01 -9.76731822e-01 -5.49052539e-02 4.56897448e+02] [ 9.44266684e-01 2.14464317e-01 -2.49730827e-01 -9.22991212e+01] [ 2.55695264e-01 -7.17423476e-05 9.66757429e-01 -9.22634297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.90, Y:-92.27, Z:-922.63 [[ 2.06714538e-01 -9.77183384e-01 -4.88030095e-02 4.56898992e+02] [ 9.44662903e-01 2.12323805e-01 -2.50061195e-01 -9.22717100e+01] [ 2.54717686e-01 5.58889167e-03 9.66999310e-01 -9.22629560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.90, Y:-92.25, Z:-922.62 [[ 2.05735726e-01 -9.77399807e-01 -4.86048265e-02 4.56903552e+02] [ 9.45047433e-01 2.11330551e-01 -2.49448889e-01 -9.22452973e+01] [ 2.54082981e-01 5.38668164e-03 9.67167422e-01 -9.22622769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.816559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.91, Y:-92.22, Z:-922.62 [[ 2.04198574e-01 -9.77738875e-01 -4.82662873e-02 4.56908802e+02] [ 9.45753396e-01 2.09765523e-01 -2.48090587e-01 -9.22191862e+01] [ 2.52692414e-01 5.01173889e-03 9.67533682e-01 -9.22616103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.91, Y:-92.19, Z:-922.61 [[ 2.03043304e-01 -9.77983311e-01 -4.81877658e-02 4.56914537e+02] [ 9.46005567e-01 2.08628213e-01 -2.48088164e-01 -9.21924328e+01] [ 2.52679411e-01 4.78674579e-03 9.67538218e-01 -9.22608937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.92, Y:-92.17, Z:-922.60 [[ 2.02023647e-01 -9.78196212e-01 -4.81520243e-02 4.56920370e+02] [ 9.46171138e-01 2.07631893e-01 -2.48292520e-01 -9.21659810e+01] [ 2.52876699e-01 4.60090488e-03 9.67487575e-01 -9.22602151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.93, Y:-92.14, Z:-922.60 [[ 2.00060507e-01 -9.78590586e-01 -4.83348580e-02 4.56925979e+02] [ 9.46225009e-01 2.05773609e-01 -2.49630637e-01 -9.21399369e+01] [ 2.54232229e-01 4.20558032e-03 9.67134058e-01 -9.22595763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.93, Y:-92.11, Z:-922.59 [[ 1.99149811e-01 -9.78772616e-01 -4.84099135e-02 4.56931514e+02] [ 9.46200413e-01 2.04908797e-01 -2.50433951e-01 -9.21136004e+01] [ 2.55037510e-01 4.06839399e-03 9.66922601e-01 -9.22589166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.94, Y:-92.09, Z:-922.58 [[ 1.98136832e-01 -9.78973871e-01 -4.84969692e-02 4.56936980e+02] [ 9.46185931e-01 2.03948421e-01 -2.51271219e-01 -9.20869845e+01] [ 2.55878838e-01 3.89893331e-03 9.66700998e-01 -9.22582756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.94, Y:-92.06, Z:-922.58 [[ 1.97024330e-01 -9.79196284e-01 -4.85391763e-02 4.56942149e+02] [ 9.46252675e-01 2.02881672e-01 -2.51882715e-01 -9.20602861e+01] [ 2.56490328e-01 3.69669774e-03 9.66539728e-01 -9.22576309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:-92.03, Z:-922.57 [[ 1.95713777e-01 -9.79454908e-01 -4.86230453e-02 4.56947467e+02] [ 9.46298572e-01 2.01633828e-01 -2.52710927e-01 -9.20338278e+01] [ 2.57323008e-01 3.44709164e-03 9.66319299e-01 -9.22569803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:-92.01, Z:-922.56 [[ 1.94346896e-01 -9.79731691e-01 -4.85293418e-02 4.56953427e+02] [ 9.46608961e-01 2.00289405e-01 -2.52617558e-01 -9.20067372e+01] [ 2.57217340e-01 3.15712852e-03 9.66348422e-01 -9.22563179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-91.98, Z:-922.56 [[ 1.91488710e-01 -9.80303402e-01 -4.83457703e-02 4.56960512e+02] [ 9.47348256e-01 1.97482051e-01 -2.52055789e-01 -9.19811651e+01] [ 2.56638569e-01 2.46555663e-03 9.66504302e-01 -9.22556095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.97, Y:-91.96, Z:-922.55 [[ 1.90030004e-01 -9.80588248e-01 -4.83247869e-02 4.56966173e+02] [ 9.47560455e-01 1.96066306e-01 -2.52363208e-01 -9.19553715e+01] [ 2.56939258e-01 2.16592433e-03 9.66425127e-01 -9.22548826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:456.96, Y:-91.92, Z:-922.55 [[ 1.89197985e-01 -9.81487842e-01 -2.97613793e-02 4.56963395e+02] [ 9.48653156e-01 1.90525111e-01 -2.52502223e-01 -9.19225798e+01] [ 2.53498152e-01 1.95396854e-02 9.67138505e-01 -9.22552941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.99, Y:-91.91, Z:-922.53 [[ 1.88521759e-01 -9.79799983e-01 -6.67198585e-02 4.56985390e+02] [ 9.47913455e-01 1.99306156e-01 -2.48469593e-01 -9.19074284e+01] [ 2.56748181e-01 -1.64027269e-02 9.66339134e-01 -9.22528318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.98, Y:-91.88, Z:-922.53 [[ 1.89916843e-01 -9.80633125e-01 -4.78567262e-02 4.56980553e+02] [ 9.47912287e-01 1.95839653e-01 -2.51215299e-01 -9.18770769e+01] [ 2.55722288e-01 2.34603763e-03 9.66747437e-01 -9.22527347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.99, Y:-91.85, Z:-922.52 [[ 1.89661464e-01 -9.80686065e-01 -4.77846392e-02 4.56985624e+02] [ 9.47963431e-01 1.95574330e-01 -2.51229011e-01 -9.18498213e+01] [ 2.55722239e-01 2.35037166e-03 9.66747440e-01 -9.22520420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.99, Y:-91.82, Z:-922.51 [[ 1.91017855e-01 -9.80430538e-01 -4.76249832e-02 4.56989736e+02] [ 9.47824842e-01 1.96845998e-01 -2.50758294e-01 -9.18229374e+01] [ 2.55225876e-01 2.75916913e-03 9.66877520e-01 -9.22513359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.99, Y:-91.80, Z:-922.51 [[ 1.92317621e-01 -9.80191227e-01 -4.73190367e-02 4.56993685e+02] [ 9.47900247e-01 1.98028578e-01 -2.49539183e-01 -9.17960968e+01] [ 2.53966640e-01 3.13705561e-03 9.67207891e-01 -9.22506598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.00, Y:-91.77, Z:-922.50 [[ 1.93349854e-01 -9.79997427e-01 -4.71261831e-02 4.56997936e+02] [ 9.47865124e-01 1.98980106e-01 -2.48914895e-01 -9.17690965e+01] [ 2.53313129e-01 3.45839310e-03 9.67378157e-01 -9.22499678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.356559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.00, Y:-91.74, Z:-922.49 [[ 1.94771476e-01 -9.79730138e-01 -4.68287096e-02 4.57001834e+02] [ 9.47899677e-01 2.00284637e-01 -2.47734265e-01 -9.17432919e+01] [ 2.52091796e-01 3.86264975e-03 9.67695617e-01 -9.22493047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.01, Y:-91.72, Z:-922.49 [[ 1.94713250e-01 -9.79752814e-01 -4.65958661e-02 4.57005851e+02] [ 9.48137232e-01 2.00172997e-01 -2.46914078e-01 -9.17176806e+01] [ 2.51241997e-01 3.89816696e-03 9.67916455e-01 -9.22486654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.01, Y:-91.69, Z:-922.48 [[ 1.94270629e-01 -9.79847249e-01 -4.64574106e-02 4.57009697e+02] [ 9.48307643e-01 1.99711007e-01 -2.46633590e-01 -9.16910747e+01] [ 2.50941301e-01 3.85774512e-03 9.67994619e-01 -9.22479930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.01, Y:-91.66, Z:-922.47 [[ 1.94013695e-01 -9.79901527e-01 -4.63862438e-02 4.57014712e+02] [ 9.48360263e-01 1.99444434e-01 -2.46646975e-01 -9.16638095e+01] [ 2.50941225e-01 3.86202057e-03 9.67994621e-01 -9.22473002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.02, Y:-91.64, Z:-922.47 [[ 1.93438023e-01 -9.80015794e-01 -4.63764530e-02 4.57019491e+02] [ 9.48395385e-01 1.98883601e-01 -2.46964588e-01 -9.16366354e+01] [ 2.51252713e-01 3.78912761e-03 9.67914106e-01 -9.22466285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.02, Y:-91.61, Z:-922.46 [[ 1.91478873e-01 -9.80386345e-01 -4.66739243e-02 4.57023800e+02] [ 9.48257896e-01 1.97055800e-01 -2.48949742e-01 -9.16094044e+01] [ 2.53264296e-01 3.40969899e-03 9.67391116e-01 -9.22459845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.536559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.03, Y:-91.58, Z:-922.45 [[ 1.89889891e-01 -9.80688433e-01 -4.68190766e-02 4.57028421e+02] [ 9.48260358e-01 1.95552018e-01 -2.50123374e-01 -9.15827204e+01] [ 2.54448665e-01 3.09922596e-03 9.67081316e-01 -9.22453728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.03, Y:-91.55, Z:-922.46 [[ 1.87202261e-01 -9.81671054e-01 -3.57387096e-02 4.57027102e+02] [ 9.49290671e-01 1.90142933e-01 -2.50385478e-01 -9.15523517e+01] [ 2.52591639e-01 1.29463039e-02 9.67486360e-01 -9.22456213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.04, Y:-91.53, Z:-922.44 [[ 1.83875917e-01 -9.81266492e-01 -5.74953927e-02 4.57044783e+02] [ 9.48635407e-01 1.92473276e-01 -2.51087441e-01 -9.15308743e+01] [ 2.57450019e-01 -8.37323193e-03 9.66255337e-01 -9.22437561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.04, Y:-91.50, Z:-922.44 [[ 1.81491290e-01 -9.82455680e-01 -4.29156009e-02 4.57043216e+02] [ 9.48719163e-01 1.86411468e-01 -2.55309055e-01 -9.15014306e+01] [ 2.58829792e-01 5.62151668e-03 9.65906589e-01 -9.22435665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.656559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.05, Y:-91.48, Z:-922.43 [[ 1.78841297e-01 -9.82521913e-01 -5.16379753e-02 4.57053221e+02] [ 9.49569292e-01 1.86106047e-01 -2.52354314e-01 -9.14780978e+01] [ 2.57553783e-01 -3.90246268e-03 9.66256084e-01 -9.22425965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.06, Y:-91.45, Z:-922.42 [[ 1.76316651e-01 -9.83212759e-01 -4.69585909e-02 4.57056387e+02] [ 9.50136278e-01 1.82462790e-01 -2.52880176e-01 -9.14525282e+01] [ 2.57203211e-01 -3.00748732e-05 9.66357339e-01 -9.22420677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.06, Y:-91.43, Z:-922.42 [[ 1.73482661e-01 -9.83871619e-01 -4.35936268e-02 4.57060502e+02] [ 9.50557990e-01 1.78857091e-01 -2.53869352e-01 -9.14252564e+01] [ 2.57571880e-01 2.60366055e-03 9.66255633e-01 -9.22415061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.07, Y:-91.40, Z:-922.41 [[ 1.69462245e-01 -9.84273004e-01 -4.98919016e-02 4.57068620e+02] [ 9.52270868e-01 1.76574101e-01 -2.49001570e-01 -9.14009531e+01] [ 2.53895141e-01 -5.31423933e-03 9.67217151e-01 -9.22405086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.07, Y:-91.37, Z:-922.40 [[ 1.67795434e-01 -9.84749984e-01 -4.59582581e-02 4.57071174e+02] [ 9.52807914e-01 1.73963471e-01 -2.48784627e-01 -9.13746287e+01] [ 2.52985716e-01 -2.04446748e-03 9.67467854e-01 -9.22399795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.07, Y:-91.35, Z:-922.40 [[ 1.65645553e-01 -9.85444449e-01 -3.82202702e-02 4.57072127e+02] [ 9.53818126e-01 1.69936204e-01 -2.47694711e-01 -9.13459225e+01] [ 2.50584386e-01 4.57434080e-03 9.68083954e-01 -9.22398792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.836559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:457.08, Y:-91.32, Z:-922.38 [[ 1.65812706e-01 -9.84742947e-01 -5.27965417e-02 4.57084938e+02] [ 9.53489528e-01 1.73755785e-01 -2.46306005e-01 -9.13243253e+01] [ 2.51721806e-01 -9.50028443e-03 9.67753004e-01 -9.22383616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.09, Y:-91.30, Z:-922.38 [[ 1.65824015e-01 -9.85104433e-01 -4.55154126e-02 4.57086707e+02] [ 9.53468080e-01 1.71941354e-01 -2.47658620e-01 -9.12968811e+01] [ 2.51795586e-01 -2.32974615e-03 9.67777637e-01 -9.22379029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.09, Y:-91.27, Z:-922.37 [[ 1.67720741e-01 -9.84784628e-01 -4.54861582e-02 4.57091169e+02] [ 9.53063564e-01 1.73770298e-01 -2.47938957e-01 -9.12702248e+01] [ 2.52070617e-01 -1.76669434e-03 9.67707230e-01 -9.22372554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-91.24, Z:-922.37 [[ 1.69121108e-01 -9.84544759e-01 -4.54936008e-02 4.57095194e+02] [ 9.52699587e-01 1.75128052e-01 -2.48382091e-01 -9.12436555e+01] [ 2.52510492e-01 -1.33508022e-03 9.67593236e-01 -9.22366322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-91.22, Z:-922.36 [[ 1.70493076e-01 -9.84307984e-01 -4.54961900e-02 4.57099074e+02] [ 9.52339959e-01 1.76456714e-01 -2.48820480e-01 -9.12165187e+01] [ 2.52944093e-01 -9.05670754e-04 9.67480473e-01 -9.22359577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-91.19, Z:-922.35 [[ 1.72148750e-01 -9.84020908e-01 -4.54715362e-02 4.57102151e+02] [ 9.51971054e-01 1.78052486e-01 -2.49095214e-01 -9.11904773e+01] [ 2.53211218e-01 -4.06156556e-04 9.67410934e-01 -9.22353636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-91.16, Z:-922.35 [[ 1.75163644e-01 -9.83483488e-01 -4.55842783e-02 4.57104538e+02] [ 9.51139733e-01 1.80997286e-01 -2.50146339e-01 -9.11631104e+01] [ 2.54265425e-01 4.59525985e-04 9.67134367e-01 -9.22347712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.11, Y:-91.14, Z:-922.34 [[ 1.76360400e-01 -9.83266394e-01 -4.56531205e-02 4.57109446e+02] [ 9.50708101e-01 1.82171546e-01 -2.50933527e-01 -9.11366022e+01] [ 2.55051204e-01 8.51945786e-04 9.66927173e-01 -9.22340911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.076559995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:457.11, Y:-91.11, Z:-922.33 [[ 1.76886601e-01 -9.83170603e-01 -4.56803640e-02 4.57114275e+02] [ 9.50462463e-01 1.82686687e-01 -2.51488927e-01 -9.11114467e+01] [ 2.55601714e-01 1.06755024e-03 9.66781580e-01 -9.22334292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.12, Y:-91.09, Z:-922.33 [[ 1.77028550e-01 -9.83142379e-01 -4.57378909e-02 4.57119219e+02] [ 9.50253775e-01 1.82837836e-01 -2.52166787e-01 -9.10859302e+01] [ 2.56278472e-01 1.17811714e-03 9.66602275e-01 -9.22326986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.12, Y:-91.06, Z:-922.32 [[ 1.76419718e-01 -9.83252618e-01 -4.57206033e-02 4.57123610e+02] [ 9.50272336e-01 1.82244540e-01 -2.52526068e-01 -9.10605584e+01] [ 2.56629248e-01 1.10355308e-03 9.66509292e-01 -9.22320957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.13, Y:-91.03, Z:-922.31 [[ 1.75240510e-01 -9.83466014e-01 -4.56657731e-02 4.57128166e+02] [ 9.50447309e-01 1.81090654e-01 -2.52697622e-01 -9.10342399e+01] [ 2.56789168e-01 8.79948987e-04 9.66467045e-01 -9.22314241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.13, Y:-91.01, Z:-922.31 [[ 1.71638701e-01 -9.84113346e-01 -4.53990956e-02 4.57133508e+02] [ 9.51391067e-01 1.77541324e-01 -2.51662702e-01 -9.10074348e+01] [ 2.55724840e-01 2.76543375e-06 9.66749609e-01 -9.22306950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.14, Y:-90.98, Z:-922.30 [[ 1.69543672e-01 -9.84489481e-01 -4.51154689e-02 4.57138332e+02] [ 9.52087481e-01 1.75442950e-01 -2.50497903e-01 -9.09815793e+01] [ 2.54527742e-01 -4.83538696e-04 9.67065352e-01 -9.22299838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.14, Y:-90.95, Z:-922.29 [[ 1.67075590e-01 -9.84928441e-01 -4.47405228e-02 4.57143224e+02] [ 9.53008101e-01 1.72958936e-01 -2.48718247e-01 -9.09545142e+01] [ 2.52707948e-01 -1.08333278e-03 9.67541999e-01 -9.22292954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.15, Y:-90.93, Z:-922.28 [[ 1.63550837e-01 -9.85544866e-01 -4.41864331e-02 4.57149540e+02] [ 9.54341508e-01 1.69403646e-01 -2.46037989e-01 -9.09279349e+01] [ 2.49966819e-01 -1.92922809e-03 9.68252481e-01 -9.22284989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.15, Y:-90.90, Z:-922.28 [[ 1.62320526e-01 -9.85758036e-01 -4.39675036e-02 4.57154830e+02] [ 9.54770349e-01 1.68155797e-01 -2.45228893e-01 -9.09019610e+01] [ 2.49129742e-01 -2.17318581e-03 9.68467681e-01 -9.22277952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.16, Y:-90.88, Z:-922.27 [[ 1.61444393e-01 -9.85912234e-01 -4.37352842e-02 4.57159403e+02] [ 9.55151389e-01 1.67247341e-01 -2.44364790e-01 -9.08765492e+01] [ 2.48236846e-01 -2.32249231e-03 9.68696585e-01 -9.22271809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.16, Y:-90.85, Z:-922.26 [[ 1.61354780e-01 -9.85933392e-01 -4.35887833e-02 4.57164194e+02] [ 9.55262344e-01 1.67123349e-01 -2.44015657e-01 -9.08499780e+01] [ 2.47867888e-01 -2.26563073e-03 9.68791194e-01 -9.22264875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.17, Y:-90.82, Z:-922.26 [[ 1.63743990e-01 -9.85545405e-01 -4.34529792e-02 4.57167811e+02] [ 9.54952760e-01 1.69403955e-01 -2.43654523e-01 -9.08231742e+01] [ 2.47493702e-01 -1.59857861e-03 9.68888184e-01 -9.22259236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.17, Y:-90.80, Z:-922.25 [[ 1.65991388e-01 -9.85168286e-01 -4.34776745e-02 4.57171491e+02] [ 9.54424327e-01 1.71588241e-01 -2.44195986e-01 -9.07966005e+01] [ 2.48034399e-01 -9.61719408e-04 9.68750748e-01 -9.22252681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.18, Y:-90.77, Z:-922.25 [[ 1.68878776e-01 -9.84678415e-01 -4.34554729e-02 4.57175214e+02] [ 9.53845844e-01 1.74380024e-01 -2.44478453e-01 -9.07701696e+01] [ 2.48310422e-01 -1.62600484e-04 9.68680499e-01 -9.22246794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.18, Y:-90.74, Z:-922.24 [[ 1.71842796e-01 -9.84160932e-01 -4.35581731e-02 4.57178885e+02] [ 9.53051879e-01 1.77276081e-01 -2.45489932e-01 -9.07447830e+01] [ 2.49323423e-01 6.72477630e-04 9.68420043e-01 -9.22240297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.17, Y:-90.71, Z:-922.25 [[ 1.73339115e-01 -9.84599611e-01 -2.27410993e-02 4.57170748e+02] [ 9.53897064e-01 1.73588971e-01 -2.44841299e-01 -9.07134282e+01] [ 2.45018251e-01 2.07479063e-02 9.69296436e-01 -9.22249175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.19, Y:-90.70, Z:-922.22 [[ 1.79854853e-01 -9.81719788e-01 -6.22775228e-02 4.57194829e+02] [ 9.51493695e-01 1.89684259e-01 -2.42238787e-01 -9.06956766e+01] [ 2.49623676e-01 -1.56888488e-02 9.68215823e-01 -9.22221856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.19, Y:-90.67, Z:-922.22 [[ 1.81682023e-01 -9.82402074e-01 -4.33336849e-02 4.57189734e+02] [ 9.51259934e-01 1.86748048e-01 -2.45417407e-01 -9.06652316e+01] [ 2.49191051e-01 3.36633277e-03 9.68448495e-01 -9.22221539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.18, Y:-90.63, Z:-922.23 [[ 1.81438118e-01 -9.83166642e-01 -2.15305375e-02 4.57182312e+02] [ 9.52572331e-01 1.81146964e-01 -2.44523478e-01 -9.06324928e+01] [ 2.44307519e-01 2.38564853e-02 9.69404304e-01 -9.22229892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.20, Y:-90.61, Z:-922.21 [[ 1.81143542e-01 -9.82425229e-01 -4.50298401e-02 4.57198015e+02] [ 9.52249784e-01 1.86654441e-01 -2.41620505e-01 -9.06100187e+01] [ 2.45779099e-01 8.88338592e-04 9.69325459e-01 -9.22214279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:-90.59, Z:-922.20 [[ 1.83131072e-01 -9.81230734e-01 -6.04090764e-02 4.57211927e+02] [ 9.50788226e-01 1.92401357e-01 -2.42865122e-01 -9.05886351e+01] [ 2.49929511e-01 -1.29600883e-02 9.68177296e-01 -9.22195793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:-90.56, Z:-922.19 [[ 1.82588787e-01 -9.82240659e-01 -4.31812750e-02 4.57208406e+02] [ 9.50954655e-01 1.87585964e-01 -2.45960870e-01 -9.05589615e+01] [ 2.49692968e-01 3.84626248e-03 9.68317421e-01 -9.22194650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:-90.53, Z:-922.19 [[ 1.81685398e-01 -9.82416323e-01 -4.29951627e-02 4.57213389e+02] [ 9.51302288e-01 1.86667374e-01 -2.45314592e-01 -9.05335947e+01] [ 2.49026854e-01 3.66868270e-03 9.68489632e-01 -9.22188128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-90.51, Z:-922.18 [[ 1.80725439e-01 -9.82602479e-01 -4.27864917e-02 4.57218568e+02] [ 9.51688410e-01 1.85688632e-01 -2.44558588e-01 -9.05068283e+01] [ 2.48248840e-01 3.47854992e-03 9.68690050e-01 -9.22180842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-90.48, Z:-922.17 [[ 1.79937391e-01 -9.82756539e-01 -4.25689980e-02 4.57223397e+02] [ 9.52058546e-01 1.84874295e-01 -2.43733503e-01 -9.04812423e+01] [ 2.47400607e-01 3.32859241e-03 9.68907560e-01 -9.22174225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.23, Y:-90.45, Z:-922.17 [[ 1.79041511e-01 -9.82929525e-01 -4.23519384e-02 4.57228045e+02] [ 9.52441818e-01 1.83955386e-01 -2.42930030e-01 -9.04544841e+01] [ 2.46573966e-01 3.15680247e-03 9.69118834e-01 -9.22167529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.23, Y:-90.43, Z:-922.16 [[ 1.78605802e-01 -9.83018550e-01 -4.21247975e-02 4.57232317e+02] [ 9.52759713e-01 1.83480110e-01 -2.42041273e-01 -9.04286788e+01] [ 2.45660124e-01 3.09516558e-03 9.69351084e-01 -9.22161331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.24, Y:-90.40, Z:-922.16 [[ 1.78628498e-01 -9.83017552e-01 -4.20517779e-02 4.57236402e+02] [ 9.52754008e-01 1.83484109e-01 -2.42060701e-01 -9.04035947e+01] [ 2.45665750e-01 3.17393942e-03 9.69349403e-01 -9.22155285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.916559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:457.24, Y:-90.38, Z:-922.15 [[ 1.79249437e-01 -9.82905778e-01 -4.20222791e-02 4.57240874e+02] [ 9.52563766e-01 1.84077644e-01 -2.42358605e-01 -9.03765879e+01] [ 2.45951035e-01 3.41374307e-03 9.69276243e-01 -9.22148537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-90.35, Z:-922.14 [[ 1.80263798e-01 -9.82724048e-01 -4.19333811e-02 4.57245342e+02] [ 9.52401615e-01 1.85039194e-01 -2.42263617e-01 -9.03491502e+01] [ 2.45837601e-01 3.73393996e-03 9.69303839e-01 -9.22142100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-90.32, Z:-922.14 [[ 1.82520963e-01 -9.82305892e-01 -4.19670326e-02 4.57249170e+02] [ 9.51816830e-01 1.87232222e-01 -2.42876138e-01 -9.03230401e+01] [ 2.46436242e-01 4.38505866e-03 9.69149086e-01 -9.22136248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-90.30, Z:-922.13 [[ 1.82982443e-01 -9.82220791e-01 -4.19493022e-02 4.57253543e+02] [ 9.51643495e-01 1.87673420e-01 -2.43214611e-01 -9.02956638e+01] [ 2.46763216e-01 4.58322321e-03 9.69064967e-01 -9.22129748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.26, Y:-90.27, Z:-922.12 [[ 1.83236830e-01 -9.82173192e-01 -4.19533703e-02 4.57257890e+02] [ 9.51480686e-01 1.87918728e-01 -2.43661767e-01 -9.02699136e+01] [ 2.47201879e-01 4.72998813e-03 9.68952454e-01 -9.22123694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.26, Y:-90.24, Z:-922.12 [[ 1.83017058e-01 -9.82214852e-01 -4.19373468e-02 4.57262823e+02] [ 9.51433121e-01 1.87700138e-01 -2.44015727e-01 -9.02432666e+01] [ 2.47547517e-01 4.75845975e-03 9.68864069e-01 -9.22117506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.096559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.27, Y:-90.22, Z:-922.11 [[ 1.82844951e-01 -9.82249916e-01 -4.18667681e-02 4.57267389e+02] [ 9.51466344e-01 1.87515897e-01 -2.44027837e-01 -9.02159524e+01] [ 2.47547007e-01 4.78443716e-03 9.68864071e-01 -9.22110561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-90.19, Z:-922.10 [[ 1.81926829e-01 -9.82419093e-01 -4.18969588e-02 4.57272688e+02] [ 9.51526037e-01 1.86631921e-01 -2.44472344e-01 -9.01894834e+01] [ 2.47993608e-01 4.61003102e-03 9.68750700e-01 -9.22103999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:-90.16, Z:-922.10 [[ 1.80490772e-01 -9.82685032e-01 -4.18713405e-02 4.57278219e+02] [ 9.51728631e-01 1.85233440e-01 -2.44747187e-01 -9.01639787e+01] [ 2.48265370e-01 4.32445530e-03 9.68682407e-01 -9.22097451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-90.14, Z:-922.09 [[ 1.76413441e-01 -9.83429368e-01 -4.17729215e-02 4.57285718e+02] [ 9.52560382e-01 1.81260939e-01 -2.44485565e-01 -9.01396333e+01] [ 2.48006084e-01 3.33930975e-03 9.68752720e-01 -9.22091505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-90.11, Z:-922.08 [[ 1.73794832e-01 -9.83899957e-01 -4.16681153e-02 4.57291713e+02] [ 9.53074331e-01 1.78698835e-01 -2.44368670e-01 -9.01140324e+01] [ 2.47880367e-01 2.75720094e-03 9.68786727e-01 -9.22084986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:-90.09, Z:-922.08 [[ 1.70070272e-01 -9.84557374e-01 -4.15075936e-02 4.57298493e+02] [ 9.53871667e-01 1.75052044e-01 -2.43896752e-01 -9.00895863e+01] [ 2.47396335e-01 1.88666947e-03 9.68912532e-01 -9.22078592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:-90.06, Z:-922.07 [[ 1.69485484e-01 -9.84662916e-01 -4.13958159e-02 4.57302942e+02] [ 9.54054656e-01 1.74458376e-01 -2.43606215e-01 -9.00631023e+01] [ 2.47091852e-01 1.79384640e-03 9.68990402e-01 -9.22071864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-90.04, Z:-922.07 [[ 1.69200468e-01 -9.84720024e-01 -4.12028679e-02 4.57306120e+02] [ 9.54286188e-01 1.74135840e-01 -2.42929167e-01 -9.00379998e+01] [ 2.46392111e-01 1.78440110e-03 9.69168584e-01 -9.22065868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-90.01, Z:-922.06 [[ 1.69465367e-01 -9.84677575e-01 -4.11286096e-02 4.57309641e+02] [ 9.54231245e-01 1.74374168e-01 -2.42974034e-01 -9.00116220e+01] [ 2.46422850e-01 1.92947961e-03 9.69160491e-01 -9.22059565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-89.99, Z:-922.05 [[ 1.70017587e-01 -9.84584471e-01 -4.10784501e-02 4.57312964e+02] [ 9.54094489e-01 1.74896597e-01 -2.43135531e-01 -8.99856300e+01] [ 2.46571949e-01 2.14459352e-03 9.69122116e-01 -9.22053196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-89.96, Z:-922.05 [[ 1.69914071e-01 -9.84606942e-01 -4.09680124e-02 4.57316978e+02] [ 9.54168163e-01 1.74769510e-01 -2.42937719e-01 -8.99603522e+01] [ 2.46358124e-01 2.18816382e-03 9.69176396e-01 -9.22047040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-89.93, Z:-922.04 [[ 1.69538300e-01 -9.84675651e-01 -4.08733022e-02 4.57321281e+02] [ 9.54260242e-01 1.74382212e-01 -2.42854350e-01 -8.99338632e+01] [ 2.46260342e-01 2.16934643e-03 9.69201289e-01 -9.22040268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-89.91, Z:-922.03 [[ 1.69291950e-01 -9.84724578e-01 -4.07153632e-02 4.57325767e+02] [ 9.54434206e-01 1.74105693e-01 -2.42368635e-01 -8.99077365e+01] [ 2.45755129e-01 2.17092362e-03 9.69329513e-01 -9.22033744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-89.88, Z:-922.03 [[ 1.68738972e-01 -9.84823195e-01 -4.06255380e-02 4.57329855e+02] [ 9.54556462e-01 1.73547828e-01 -2.42287252e-01 -8.98812336e+01] [ 2.45660579e-01 2.10393199e-03 9.69353627e-01 -9.22026985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-89.85, Z:-922.02 [[ 1.68545593e-01 -9.84861872e-01 -4.04904417e-02 4.57333820e+02] [ 9.54680695e-01 1.73327947e-01 -2.41954942e-01 -8.98540938e+01] [ 2.45310322e-01 2.12499616e-03 9.69442278e-01 -9.22020201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.34, Y:-89.83, Z:-922.01 [[ 1.68300406e-01 -9.84908794e-01 -4.03688262e-02 4.57336512e+02] [ 9.54805570e-01 1.73061114e-01 -2.41653005e-01 -8.98267684e+01] [ 2.44992444e-01 2.12591865e-03 9.69522657e-01 -9.22014161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.34, Y:-89.80, Z:-922.01 [[ 1.67987353e-01 -9.84961681e-01 -4.03823680e-02 4.57339912e+02] [ 9.54731261e-01 1.72759855e-01 -2.42161626e-01 -8.98004298e+01] [ 2.45496374e-01 2.12578138e-03 9.69395178e-01 -9.22007697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.34, Y:-89.77, Z:-922.00 [[ 1.67700560e-01 -9.85009745e-01 -4.04020390e-02 4.57343374e+02] [ 9.54628483e-01 1.72485399e-01 -2.42761708e-01 -8.97749103e+01] [ 2.46091410e-01 2.14233722e-03 9.69244256e-01 -9.22001348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.35, Y:-89.74, Z:-922.00 [[ 1.67272516e-01 -9.85243070e-01 -3.62766910e-02 4.57346325e+02] [ 9.54689744e-01 1.71052156e-01 -2.43533681e-01 -8.97448134e+01] [ 2.46145078e-01 6.10350674e-03 9.69213778e-01 -9.21997453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.35, Y:-89.72, Z:-921.99 [[ 1.66249628e-01 -9.85025588e-01 -4.56689365e-02 4.57353824e+02] [ 9.54096989e-01 1.72384555e-01 -2.44913252e-01 -8.97219833e+01] [ 2.49118440e-01 -2.85585761e-03 9.68468816e-01 -9.21987361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-89.70, Z:-921.98 [[ 1.65291200e-01 -9.85398560e-01 -4.08472499e-02 4.57356002e+02] [ 9.53975337e-01 1.70253634e-01 -2.46869920e-01 -8.96951594e+01] [ 2.50219656e-01 1.83815642e-03 9.68187350e-01 -9.21982904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-89.67, Z:-921.98 [[ 1.63678951e-01 -9.85667200e-01 -4.08579467e-02 4.57360309e+02] [ 9.54112880e-01 1.68694646e-01 -2.47408021e-01 -8.96700451e+01] [ 2.50754489e-01 1.51239227e-03 9.68049534e-01 -9.21976886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-89.64, Z:-921.97 [[ 1.62032563e-01 -9.85939208e-01 -4.08574058e-02 4.57364920e+02] [ 9.54258959e-01 1.67100204e-01 -2.47926121e-01 -8.96435037e+01] [ 2.51267364e-01 1.18355915e-03 9.67916996e-01 -9.21970391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.37, Y:-89.62, Z:-921.96 [[ 1.60702414e-01 -9.86104838e-01 -4.20949246e-02 4.57371184e+02] [ 9.54330100e-01 1.66123978e-01 -2.48308042e-01 -8.96171156e+01] [ 2.51850738e-01 -2.68752018e-04 9.67766053e-01 -9.21963352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.37, Y:-89.59, Z:-921.96 [[ 1.58803978e-01 -9.86714984e-01 -3.42758914e-02 4.57371909e+02] [ 9.55228507e-01 1.62329170e-01 -2.47361557e-01 -8.95877772e+01] [ 2.49639332e-01 6.54069067e-03 9.68316799e-01 -9.21961073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.38, Y:-89.57, Z:-921.95 [[ 1.56206001e-01 -9.86586989e-01 -4.73898651e-02 4.57381855e+02] [ 9.55861864e-01 1.63080979e-01 -2.44402724e-01 -8.95666947e+01] [ 2.48852933e-01 -7.12099258e-03 9.68515106e-01 -9.21947385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.38, Y:-89.54, Z:-921.94 [[ 1.55608111e-01 -9.87007890e-01 -4.00192645e-02 4.57382528e+02] [ 9.56202788e-01 1.60671677e-01 -2.44664751e-01 -8.95390545e+01] [ 2.47916002e-01 -1.94712521e-04 9.68781512e-01 -9.21942793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:-89.51, Z:-921.94 [[ 1.55063420e-01 -9.87102439e-01 -3.98008868e-02 4.57386053e+02] [ 9.56517219e-01 1.60089679e-01 -2.43815717e-01 -8.95126006e+01] [ 2.47042800e-01 -2.63334674e-04 9.69004533e-01 -9.21936028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:-89.49, Z:-921.93 [[ 1.55742607e-01 -9.87004541e-01 -3.95762041e-02 4.57388756e+02] [ 9.56643447e-01 1.60692361e-01 -2.42922375e-01 -8.94873393e+01] [ 2.46125081e-01 -2.69522467e-05 9.69238074e-01 -9.21929905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:-89.46, Z:-921.92 [[ 1.56538674e-01 -9.86882693e-01 -3.94739757e-02 4.57392365e+02] [ 9.56581564e-01 1.61438841e-01 -2.42670995e-01 -8.94623210e+01] [ 2.45860438e-01 2.27318366e-04 9.69305212e-01 -9.21923590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.39, Y:-89.43, Z:-921.92 [[ 1.57427287e-01 -9.87084551e-01 -2.96772531e-02 4.57392536e+02] [ 9.57010092e-01 1.59906514e-01 -2.41995023e-01 -8.94319337e+01] [ 2.43615135e-01 9.69518918e-03 9.69823525e-01 -9.21923360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.41, Y:-89.41, Z:-921.91 [[ 1.58658577e-01 -9.86088063e-01 -4.95760854e-02 4.57405121e+02] [ 9.56394382e-01 1.65964410e-01 -2.40344755e-01 -8.94125589e+01] [ 2.45228960e-01 -9.28153264e-03 9.69420760e-01 -9.21907181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-89.38, Z:-921.90 [[ 1.59795973e-01 -9.86373813e-01 -3.91401119e-02 4.57403520e+02] [ 9.56269213e-01 1.64515116e-01 -2.41834592e-01 -8.93849936e+01] [ 2.44978449e-01 1.21570996e-03 9.69527762e-01 -9.21904481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.41, Y:-89.36, Z:-921.90 [[ 1.60980473e-01 -9.86183820e-01 -3.90737946e-02 4.57407168e+02] [ 9.56054803e-01 1.65647090e-01 -2.41909601e-01 -8.93589404e+01] [ 2.45039795e-01 1.58603297e-03 9.69511724e-01 -9.21897956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.41, Y:-89.33, Z:-921.89 [[ 1.63422628e-01 -9.85777753e-01 -3.91824724e-02 4.57409805e+02] [ 9.55342408e-01 1.68038609e-01 -2.43071820e-01 -8.93329031e+01] [ 2.46198961e-01 2.29075816e-03 9.69216603e-01 -9.21892336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.41, Y:-89.30, Z:-921.89 [[ 1.64111828e-01 -9.85899430e-01 -3.27050702e-02 4.57410958e+02] [ 9.55353712e-01 1.67110329e-01 -2.43666621e-01 -8.93028869e+01] [ 2.45696138e-01 8.74366450e-03 9.69307462e-01 -9.21890236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.42, Y:-89.28, Z:-921.88 [[ 1.65138061e-01 -9.85186722e-01 -4.62227556e-02 4.57420935e+02] [ 9.54561739e-01 1.71441418e-01 -2.43761619e-01 -8.92809879e+01] [ 2.48075206e-01 -3.86815262e-03 9.68733054e-01 -9.21877319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.42, Y:-89.25, Z:-921.87 [[ 1.66029099e-01 -9.85327182e-01 -3.95560821e-02 4.57422041e+02] [ 9.53980332e-01 1.70646073e-01 -2.46579488e-01 -8.92534855e+01] [ 2.49711562e-01 3.20364602e-03 9.68314966e-01 -9.21872764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-89.23, Z:-921.87 [[ 1.65820386e-01 -9.85361706e-01 -3.95715624e-02 4.57426326e+02] [ 9.53866226e-01 1.70445958e-01 -2.47158653e-01 -8.92266031e+01] [ 2.50285485e-01 3.23796631e-03 9.68166665e-01 -9.21865858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-89.20, Z:-921.86 [[ 1.65306344e-01 -9.85449134e-01 -3.95451309e-02 4.57430076e+02] [ 9.53881210e-01 1.69940785e-01 -2.47448515e-01 -8.92014704e+01] [ 2.50568256e-01 3.18345222e-03 9.68093702e-01 -9.21859461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.296559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:457.43, Y:-89.18, Z:-921.85 [[ 1.64303647e-01 -9.85619849e-01 -3.94692865e-02 4.57433377e+02] [ 9.54076261e-01 1.68951432e-01 -2.47374014e-01 -8.91757806e+01] [ 2.50485131e-01 2.98774333e-03 9.68115836e-01 -9.21853508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-89.14, Z:-921.85 [[ 1.61807001e-01 -9.86382125e-01 -2.94753728e-02 4.57434401e+02] [ 9.55129261e-01 1.64049491e-01 -2.46608720e-01 -8.91445370e+01] [ 2.48085853e-01 1.17502264e-02 9.68666786e-01 -9.21852855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:-89.13, Z:-921.84 [[ 1.58477685e-01 -9.86067142e-01 -5.05610124e-02 4.57447734e+02] [ 9.55292530e-01 1.66074317e-01 -2.44612967e-01 -8.91259830e+01] [ 2.49601695e-01 -9.53486074e-03 9.68301647e-01 -9.21836669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:457.45, Y:-89.10, Z:-921.83 [[ 1.55001166e-01 -9.87141888e-01 -3.90580585e-02 4.57447044e+02] [ 9.55901122e-01 1.59844190e-01 -2.46379544e-01 -8.90985551e+01] [ 2.49454772e-01 8.53474689e-04 9.68386074e-01 -9.21833596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:-89.07, Z:-921.83 [[ 1.51528168e-01 -9.87687608e-01 -3.88896312e-02 4.57452498e+02] [ 9.56605306e-01 1.56439083e-01 -2.45831449e-01 -8.90740651e+01] [ 2.48888534e-01 4.83615331e-05 9.68532135e-01 -9.21826903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-89.05, Z:-921.82 [[ 1.47846783e-01 -9.88250956e-01 -3.87476071e-02 4.57458418e+02] [ 9.57280174e-01 1.52837847e-01 -2.45469470e-01 -8.90485993e+01] [ 2.48507539e-01 -8.00444665e-04 9.68629631e-01 -9.21819448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4765599950001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.46, Y:-89.02, Z:-921.81 [[ 1.44354579e-01 -9.88775369e-01 -3.85360166e-02 4.57463833e+02] [ 9.58037621e-01 1.49401107e-01 -2.44628751e-01 -8.90224384e+01] [ 2.47640207e-01 -1.60567341e-03 9.68850737e-01 -9.21811899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-88.99, Z:-921.81 [[ 1.40140055e-01 -9.89714946e-01 -2.87243904e-02 4.57464930e+02] [ 9.59633878e-01 1.42911131e-01 -2.42237958e-01 -8.89921529e+01] [ 2.43851563e-01 6.38234251e-03 9.69791566e-01 -9.21810083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.536559995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:457.48, Y:-88.97, Z:-921.79 [[ 1.39036753e-01 -9.89101424e-01 -4.84474444e-02 4.57476950e+02] [ 9.59439413e-01 1.46660080e-01 -2.40763026e-01 -8.89719443e+01] [ 2.45244358e-01 -1.30074781e-02 9.69374030e-01 -9.21793835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:-88.94, Z:-921.79 [[ 1.38376665e-01 -9.89649624e-01 -3.80200125e-02 4.57474906e+02] [ 9.59374238e-01 1.43476293e-01 -2.42931316e-01 -8.89431885e+01] [ 2.45871856e-01 -2.85939517e-03 9.69298125e-01 -9.21790994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-88.92, Z:-921.78 [[ 1.38694670e-01 -9.89602975e-01 -3.80754571e-02 4.57478878e+02] [ 9.59117600e-01 1.43800550e-01 -2.43751578e-01 -8.89167614e+01] [ 2.46692558e-01 -2.71179628e-03 9.69090000e-01 -9.21784270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-88.89, Z:-921.78 [[ 1.40746150e-01 -9.89299338e-01 -3.84362050e-02 4.57482608e+02] [ 9.58083848e-01 1.45884598e-01 -2.46562415e-01 -8.88901052e+01] [ 2.49531285e-01 -2.12239656e-03 9.68364412e-01 -9.21777804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:-88.86, Z:-921.77 [[ 1.42088304e-01 -9.89102115e-01 -3.85735773e-02 4.57485720e+02] [ 9.57530826e-01 1.47221205e-01 -2.47912555e-01 -8.88630810e+01] [ 2.50889681e-01 -1.70991478e-03 9.68014176e-01 -9.21771722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:-88.84, Z:-921.77 [[ 1.43480394e-01 -9.88897450e-01 -3.86679381e-02 4.57488450e+02] [ 9.57038996e-01 1.48594047e-01 -2.48990299e-01 -8.88360744e+01] [ 2.51971698e-01 -1.28149841e-03 9.67733756e-01 -9.21765900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-88.81, Z:-921.77 [[ 1.45517341e-01 -9.88895761e-01 -3.01641666e-02 4.57484203e+02] [ 9.56709317e-01 1.48417722e-01 -2.50358668e-01 -8.88050541e+01] [ 2.52055522e-01 7.57318847e-03 9.67683141e-01 -9.21767574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-88.78, Z:-921.75 [[ 1.47315469e-01 -9.87961197e-01 -4.72316160e-02 4.57496424e+02] [ 9.55782048e-01 1.54480146e-01 -2.50233015e-01 -8.87818219e+01] [ 2.54516856e-01 -8.27993674e-03 9.67032891e-01 -9.21751333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-88.75, Z:-921.75 [[ 1.48220662e-01 -9.88189151e-01 -3.88952174e-02 4.57495734e+02] [ 9.55625776e-01 1.53238989e-01 -2.51589327e-01 -8.87532599e+01] [ 2.54578107e-01 1.21464232e-04 9.67052208e-01 -9.21746854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-88.73, Z:-921.74 [[ 1.48812384e-01 -9.88105639e-01 -3.87572159e-02 4.57499311e+02] [ 9.55648277e-01 1.53776240e-01 -2.51175712e-01 -8.87276479e+01] [ 2.54148077e-01 3.39789880e-04 9.67165260e-01 -9.21740043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-88.70, Z:-921.74 [[ 1.48346623e-01 -9.88419705e-01 -3.19337815e-02 4.57499223e+02] [ 9.56276561e-01 1.51602753e-01 -2.50103466e-01 -8.86988283e+01] [ 2.52048443e-01 6.56447787e-03 9.67692353e-01 -9.21738255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-88.68, Z:-921.72 [[ 1.50429064e-01 -9.87619856e-01 -4.44760170e-02 4.57510544e+02] [ 9.55887567e-01 1.56781727e-01 -2.48391725e-01 -8.86763337e+01] [ 2.52289626e-01 -5.14873692e-03 9.67638070e-01 -9.21722864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-88.65, Z:-921.72 [[ 1.50803775e-01 -9.87826793e-01 -3.81634579e-02 4.57510836e+02] [ 9.56081925e-01 1.55554744e-01 -2.48415126e-01 -8.86493725e+01] [ 2.51327624e-01 9.74546479e-04 9.67901584e-01 -9.21718206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.51, Y:-88.62, Z:-921.71 [[ 1.51333556e-01 -9.87753910e-01 -3.79521759e-02 4.57514248e+02] [ 9.56227503e-01 1.56015496e-01 -2.47564391e-01 -8.86245360e+01] [ 2.50453823e-01 1.17388525e-03 9.68127835e-01 -9.21711644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-88.60, Z:-921.71 [[ 1.51851273e-01 -9.87683376e-01 -3.77192107e-02 4.57517697e+02] [ 9.56406299e-01 1.56459804e-01 -2.46591407e-01 -8.85984501e+01] [ 2.49455774e-01 1.37032849e-03 9.68385223e-01 -9.21705075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-88.57, Z:-921.70 [[ 1.53407648e-01 -9.87455647e-01 -3.73823300e-02 4.57520666e+02] [ 9.56606813e-01 1.57886263e-01 -2.44898619e-01 -8.85712913e+01] [ 2.47728681e-01 1.80912942e-03 9.68827760e-01 -9.21698419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-88.54, Z:-921.69 [[ 1.53235750e-01 -9.87484993e-01 -3.73121004e-02 4.57524718e+02] [ 9.56634415e-01 1.57702319e-01 -2.44909319e-01 -8.85438972e+01] [ 2.47728482e-01 1.83482381e-03 9.68827762e-01 -9.21691476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.53, Y:-88.52, Z:-921.69 [[ 1.54158791e-01 -9.87346537e-01 -3.71736970e-02 4.57528287e+02] [ 9.56648716e-01 1.58563595e-01 -2.44296585e-01 -8.85191195e+01] [ 2.47099782e-01 2.09829654e-03 9.68987768e-01 -9.21685203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-88.49, Z:-921.68 [[ 1.55109663e-01 -9.87201916e-01 -3.70590106e-02 4.57532482e+02] [ 9.56587474e-01 1.59457418e-01 -2.43954376e-01 -8.84927053e+01] [ 2.46741561e-01 2.38949570e-03 9.69078373e-01 -9.21678125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-88.47, Z:-921.67 [[ 1.56007463e-01 -9.87061362e-01 -3.70342905e-02 4.57536508e+02] [ 9.56364522e-01 1.60320427e-01 -2.44262691e-01 -8.84654991e+01] [ 2.47039618e-01 2.68852128e-03 9.69001651e-01 -9.21671263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-88.44, Z:-921.66 [[ 1.57204348e-01 -9.86870037e-01 -3.70718714e-02 4.57540233e+02] [ 9.55982855e-01 1.61487113e-01 -2.44987131e-01 -8.84385579e+01] [ 2.47757088e-01 3.07296868e-03 9.68817311e-01 -9.21664637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-88.41, Z:-921.66 [[ 1.58488110e-01 -9.86662449e-01 -3.71312778e-02 4.57543260e+02] [ 9.55546063e-01 1.62742333e-01 -2.45859012e-01 -8.84131551e+01] [ 2.48622686e-01 3.48508388e-03 9.68594143e-01 -9.21658514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.55, Y:-88.39, Z:-921.65 [[ 1.61227125e-01 -9.86211447e-01 -3.73201754e-02 4.57545587e+02] [ 9.54613623e-01 1.65434093e-01 -2.47677999e-01 -8.83853921e+01] [ 2.50436907e-01 4.30606387e-03 9.68123346e-01 -9.21652694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:457.54, Y:-88.36, Z:-921.65 [[ 1.61777956e-01 -9.86457707e-01 -2.70015962e-02 4.57542900e+02] [ 9.54837454e-01 1.63385376e-01 -2.48174647e-01 -8.83550960e+01] [ 2.49225459e-01 1.43670515e-02 9.68338917e-01 -9.21653550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:-88.33, Z:-921.64 [[ 1.63587902e-01 -9.85394877e-01 -4.72856691e-02 4.57556794e+02] [ 9.53707231e-01 1.70224353e-01 -2.47923754e-01 -8.83335089e+01] [ 2.52351970e-01 -4.53935782e-03 9.67624864e-01 -9.21636820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.55, Y:-88.31, Z:-921.63 [[ 1.63976479e-01 -9.85752919e-01 -3.74552569e-02 4.57554729e+02] [ 9.53588456e-01 1.68117993e-01 -2.49810724e-01 -8.83070318e+01] [ 2.52548553e-01 5.24618235e-03 9.67570001e-01 -9.21633871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:-88.28, Z:-921.63 [[ 1.63936370e-01 -9.85762511e-01 -3.73783240e-02 4.57558240e+02] [ 9.53586497e-01 1.68059510e-01 -2.49857547e-01 -8.82811338e+01] [ 2.52581985e-01 5.31727402e-03 9.67560886e-01 -9.21627377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.56, Y:-88.26, Z:-921.62 [[ 1.63272517e-01 -9.85878137e-01 -3.72341735e-02 4.57561918e+02] [ 9.53815291e-01 1.67383199e-01 -2.49437880e-01 -8.82562488e+01] [ 2.52147727e-01 5.21182630e-03 9.67674719e-01 -9.21621039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:-88.23, Z:-921.61 [[ 1.60377437e-01 -9.86366104e-01 -3.68915544e-02 4.57565966e+02] [ 9.54767371e-01 1.64504190e-01 -2.47704742e-01 -8.82313547e+01] [ 2.50396376e-01 4.50339920e-03 9.68132932e-01 -9.21614947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:-88.20, Z:-921.61 [[ 1.58052528e-01 -9.86747620e-01 -3.67223735e-02 4.57570610e+02] [ 9.55314145e-01 1.62213867e-01 -2.47106347e-01 -8.82048401e+01] [ 2.49788478e-01 3.97437994e-03 9.68292270e-01 -9.21608015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4365599950002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.58, Y:-88.18, Z:-921.60 [[ 1.55499977e-01 -9.87159471e-01 -3.65504676e-02 4.57575416e+02] [ 9.55908985e-01 1.59702025e-01 -2.46441221e-01 -8.81789390e+01] [ 2.49113969e-01 3.38268370e-03 9.68468269e-01 -9.21601506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.57, Y:-88.15, Z:-921.61 [[ 1.50343164e-01 -9.88473869e-01 -1.77860781e-02 4.57568457e+02] [ 9.58114383e-01 1.50114038e-01 -2.43890560e-01 -8.81484606e+01] [ 2.43749385e-01 1.96261812e-02 9.69639650e-01 -9.21608344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:-88.12, Z:-921.60 [[ 1.46986614e-01 -9.88758735e-01 -2.74061974e-02 4.57581402e+02] [ 9.59093213e-01 1.49244237e-01 -2.40554291e-01 -8.81218868e+01] [ 2.41940373e-01 9.07316281e-03 9.70248697e-01 -9.21600311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:-88.10, Z:-921.58 [[ 1.46086929e-01 -9.87574210e-01 -5.79291655e-02 4.57602285e+02] [ 9.57815224e-01 1.55848207e-01 -2.41456691e-01 -8.81034332e+01] [ 2.47484557e-01 -2.02117701e-02 9.68680999e-01 -9.21575855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:-88.07, Z:-921.59 [[ 1.42097532e-01 -9.89724874e-01 -1.59048842e-02 4.57582441e+02] [ 9.59592891e-01 1.41678385e-01 -2.43122849e-01 -8.80687879e+01] [ 2.42878110e-01 1.92849430e-02 9.69865101e-01 -9.21592146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:-88.04, Z:-921.58 [[ 1.41653044e-01 -9.89494355e-01 -2.89021994e-02 4.57592277e+02] [ 9.59583400e-01 1.44426189e-01 -2.41538350e-01 -8.80434290e+01] [ 2.43175068e-01 6.48057163e-03 9.69960767e-01 -9.21582172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.60, Y:-88.02, Z:-921.57 [[ 1.42610694e-01 -9.89179384e-01 -3.44432313e-02 4.57597597e+02] [ 9.59248366e-01 1.46704415e-01 -2.41496143e-01 -8.80185035e+01] [ 2.43935980e-01 1.40031910e-03 9.69790326e-01 -9.21574307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:-88.00, Z:-921.55 [[ 1.48585255e-01 -9.87235799e-01 -5.73401995e-02 4.57613614e+02] [ 9.56024964e-01 1.58230490e-01 -2.46940036e-01 -8.79959111e+01] [ 2.52861011e-01 -1.81270140e-02 9.67332787e-01 -9.21550941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:-87.96, Z:-921.56 [[ 1.48280987e-01 -9.88777572e-01 -1.82116240e-02 4.57594275e+02] [ 9.56753731e-01 1.48090198e-01 -2.50382889e-01 -8.79623085e+01] [ 2.50269948e-01 1.97029827e-02 9.67975592e-01 -9.21564305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:457.62, Y:-87.94, Z:-921.54 [[ 1.49993913e-01 -9.87230116e-01 -5.36518834e-02 4.57616802e+02] [ 9.55094030e-01 1.58709409e-01 -2.50213346e-01 -8.79432685e+01] [ 2.55533209e-01 -1.37121146e-02 9.66703035e-01 -9.21539943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:-87.92, Z:-921.54 [[ 1.50056005e-01 -9.87991592e-01 -3.68213330e-02 4.57611397e+02] [ 9.54881898e-01 1.54480415e-01 -2.53646138e-01 -8.79152912e+01] [ 2.56288426e-01 2.90110176e-03 9.66596000e-01 -9.21538794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:-87.89, Z:-921.53 [[ 1.48688785e-01 -9.88203998e-01 -3.66674758e-02 4.57614700e+02] [ 9.55229326e-01 1.53120909e-01 -2.53161850e-01 -8.78895276e+01] [ 2.55790110e-01 2.61647980e-03 9.66728801e-01 -9.21531945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:-87.86, Z:-921.53 [[ 1.46758891e-01 -9.88501268e-01 -3.64289842e-02 4.57617702e+02] [ 9.55828049e-01 1.51196981e-01 -2.52055974e-01 -8.78632483e+01] [ 2.54665602e-01 2.17161041e-03 9.67026740e-01 -9.21525004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:-87.84, Z:-921.52 [[ 1.44484769e-01 -9.88845798e-01 -3.61682042e-02 4.57620368e+02] [ 9.56516333e-01 1.48933874e-01 -2.50789168e-01 -8.78376948e+01] [ 2.53378486e-01 1.63973710e-03 9.67365833e-01 -9.21518669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:-87.81, Z:-921.51 [[ 1.39124882e-01 -9.89633559e-01 -3.56326537e-02 4.57622910e+02] [ 9.58152270e-01 1.43615191e-01 -2.47626542e-01 -8.78104628e+01] [ 2.50176927e-01 3.09505470e-04 9.68200088e-01 -9.21510983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:-87.78, Z:-921.51 [[ 1.35753208e-01 -9.90346140e-01 -2.80283641e-02 4.57622256e+02] [ 9.58415894e-01 1.38438893e-01 -2.49546883e-01 -8.77834370e+01] [ 2.51018008e-01 7.01396034e-03 9.67957005e-01 -9.21506562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.63, Y:-87.76, Z:-921.50 [[ 1.32893965e-01 -9.90358742e-01 -3.90993222e-02 4.57631365e+02] [ 9.59564072e-01 1.38438050e-01 -2.45095284e-01 -8.77582337e+01] [ 2.48145091e-01 -4.94662080e-03 9.68710248e-01 -9.21497758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.63, Y:-87.73, Z:-921.49 [[ 1.31533749e-01 -9.90533935e-01 -3.92606315e-02 4.57634919e+02] [ 9.59524292e-01 1.37164991e-01 -2.45965237e-01 -8.77332240e+01] [ 2.49022098e-01 -5.31879988e-03 9.68483198e-01 -9.21488868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.63, Y:-87.70, Z:-921.49 [[ 1.29305126e-01 -9.91092299e-01 -3.18785056e-02 4.57634816e+02] [ 9.59996108e-01 1.33170941e-01 -2.46318845e-01 -8.77045335e+01] [ 2.48370001e-01 1.24704792e-03 9.68664435e-01 -9.21485900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.64, Y:-87.68, Z:-921.48 [[ 1.29418285e-01 -9.90835828e-01 -3.86687176e-02 4.57641527e+02] [ 9.59225279e-01 1.34980822e-01 -2.48328497e-01 -8.76798671e+01] [ 2.51272308e-01 -4.95376325e-03 9.67903760e-01 -9.21475379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:-87.65, Z:-921.47 [[ 1.29938450e-01 -9.90977981e-01 -3.28426643e-02 4.57641867e+02] [ 9.59035681e-01 1.34021535e-01 -2.49577226e-01 -8.76503956e+01] [ 2.51727160e-01 9.32390861e-04 9.67797793e-01 -9.21471743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:-87.63, Z:-921.46 [[ 1.30719316e-01 -9.90663478e-01 -3.87083277e-02 4.57646501e+02] [ 9.58539532e-01 1.36259375e-01 -2.50270551e-01 -8.76264849e+01] [ 2.53208267e-01 -4.38826697e-03 9.67401838e-01 -9.21462721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:-87.60, Z:-921.46 [[ 1.31404061e-01 -9.90688164e-01 -3.56361370e-02 4.57647747e+02] [ 9.58193616e-01 1.36146242e-01 -2.51652926e-01 -8.76004327e+01] [ 2.54161301e-01 -1.07810250e-03 9.67161244e-01 -9.21457352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:-87.57, Z:-921.46 [[ 1.32179937e-01 -9.90891624e-01 -2.57342767e-02 4.57646939e+02] [ 9.58385467e-01 1.34385025e-01 -2.51868938e-01 -8.75707802e+01] [ 2.53033123e-01 8.62866363e-03 9.67419136e-01 -9.21455856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.66, Y:-87.55, Z:-921.44 [[ 1.33328253e-01 -9.90025034e-01 -4.55412930e-02 4.57658980e+02] [ 9.57665734e-01 1.40528061e-01 -2.51253272e-01 -8.75496258e+01] [ 2.55146859e-01 -1.01141759e-02 9.66849411e-01 -9.21440287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.66, Y:-87.52, Z:-921.44 [[ 1.33826981e-01 -9.90363814e-01 -3.56350290e-02 4.57657380e+02] [ 9.57502650e-01 1.38489882e-01 -2.53000452e-01 -8.75215501e+01] [ 2.55497584e-01 -2.62347927e-04 9.66809659e-01 -9.21436050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.66, Y:-87.50, Z:-921.43 [[ 1.34024009e-01 -9.90338564e-01 -3.55962734e-02 4.57660988e+02] [ 9.57408471e-01 1.38670511e-01 -2.53257791e-01 -8.74958540e+01] [ 2.55747110e-01 -1.37549271e-04 9.66743708e-01 -9.21429329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.66, Y:-87.47, Z:-921.42 [[ 1.34316683e-01 -9.90302043e-01 -3.55090449e-02 4.57664637e+02] [ 9.57386208e-01 1.38931146e-01 -2.53199101e-01 -8.74706582e+01] [ 2.55676900e-01 1.29935037e-05 9.66762289e-01 -9.21422481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.66, Y:-87.44, Z:-921.42 [[ 1.33349917e-01 -9.90813389e-01 -2.25083866e-02 4.57661199e+02] [ 9.58505875e-01 1.34709135e-01 -2.51236814e-01 -8.74408914e+01] [ 2.51960885e-01 1.19279876e-02 9.67663907e-01 -9.21424112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:-87.42, Z:-921.40 [[ 1.35525479e-01 -9.89664161e-01 -4.68795531e-02 4.57678297e+02] [ 9.57734587e-01 1.42976547e-01 -2.49604024e-01 -8.74191726e+01] [ 2.53726834e-01 -1.10704644e-02 9.67212561e-01 -9.21403541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:-87.39, Z:-921.40 [[ 1.36251475e-01 -9.90058816e-01 -3.49152773e-02 4.57675815e+02] [ 9.57899377e-01 1.40652441e-01 -2.50291181e-01 -8.73900430e+01] [ 2.52713910e-01 6.57220285e-04 9.67540825e-01 -9.21400252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.68, Y:-87.36, Z:-921.39 [[ 1.37025685e-01 -9.89958417e-01 -3.47317415e-02 4.57679254e+02] [ 9.58001751e-01 1.41355916e-01 -2.49501806e-01 -8.73631868e+01] [ 2.51905950e-01 9.15086633e-04 9.67751288e-01 -9.21393062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:-87.34, Z:-921.39 [[ 1.37851422e-01 -9.89846774e-01 -3.46460677e-02 4.57682514e+02] [ 9.57909829e-01 1.42133524e-01 -2.49412955e-01 -8.73369268e+01] [ 2.51804976e-01 1.19412176e-03 9.67777262e-01 -9.21385775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.69, Y:-87.31, Z:-921.38 [[ 1.40128181e-01 -9.89527288e-01 -3.46386900e-02 4.57685648e+02] [ 9.57491748e-01 1.44334307e-01 -2.49754200e-01 -8.73098945e+01] [ 2.52138147e-01 1.83134188e-03 9.67689517e-01 -9.21378214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.69, Y:-87.28, Z:-921.37 [[ 1.41236978e-01 -9.89367047e-01 -3.47125762e-02 4.57688634e+02] [ 9.57047680e-01 1.45423486e-01 -2.50822144e-01 -8.72825779e+01] [ 2.53203188e-01 2.20377116e-03 9.67410611e-01 -9.21371378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.69, Y:-87.26, Z:-921.36 [[ 1.42709978e-01 -9.89151485e-01 -3.48310536e-02 4.57691508e+02] [ 9.56459864e-01 1.46874649e-01 -2.52214921e-01 -8.72558581e+01] [ 2.54594562e-01 2.67908089e-03 9.67044173e-01 -9.21364958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.69, Y:-87.23, Z:-921.36 [[ 1.44005863e-01 -9.88958189e-01 -3.49858839e-02 4.57694310e+02] [ 9.55821323e-01 1.48161969e-01 -2.53877193e-01 -8.72283927e+01] [ 2.56257507e-01 3.11955055e-03 9.66603517e-01 -9.21358580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.70, Y:-87.20, Z:-921.35 [[ 1.45480753e-01 -9.88736893e-01 -3.51384028e-02 4.57697223e+02] [ 9.55153634e-01 1.49620554e-01 -2.55529305e-01 -8.72008342e+01] [ 2.57908679e-01 3.61202266e-03 9.66162547e-01 -9.21351895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.70, Y:-87.17, Z:-921.35 [[ 1.47978882e-01 -9.88359746e-01 -3.53166250e-02 4.57699443e+02] [ 9.54268239e-01 1.52071622e-01 -2.57383662e-01 -8.71741491e+01] [ 2.59758307e-01 4.38581301e-03 9.65663703e-01 -9.21345768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.70, Y:-87.15, Z:-921.34 [[ 1.48124083e-01 -9.88338625e-01 -3.52989792e-02 4.57702220e+02] [ 9.54123095e-01 1.52205105e-01 -2.57842444e-01 -8.71480951e+01] [ 2.60208331e-01 4.51310439e-03 9.65541950e-01 -9.21339337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.71, Y:-87.12, Z:-921.33 [[ 1.48128605e-01 -9.88339309e-01 -3.52608346e-02 4.57705420e+02] [ 9.54036759e-01 1.52198013e-01 -2.58165892e-01 -8.71221224e+01] [ 2.60522128e-01 4.60162100e-03 9.65456910e-01 -9.21332493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.71, Y:-87.10, Z:-921.33 [[ 1.47277590e-01 -9.88469162e-01 -3.51856179e-02 4.57708636e+02] [ 9.54156690e-01 1.51356702e-01 -2.58217273e-01 -8.70955760e+01] [ 2.60565390e-01 4.45702505e-03 9.65445914e-01 -9.21325776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.71, Y:-87.07, Z:-921.32 [[ 1.44979962e-01 -9.88806064e-01 -3.52615843e-02 4.57712965e+02] [ 9.54187054e-01 1.49153921e-01 -2.59384221e-01 -8.70698527e+01] [ 2.61740094e-01 3.95936742e-03 9.65130274e-01 -9.21318936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.72, Y:-87.04, Z:-921.31 [[ 1.43076891e-01 -9.89084196e-01 -3.52343109e-02 4.57717099e+02] [ 9.54359181e-01 1.47308791e-01 -2.59805070e-01 -8.70444205e+01] [ 2.62159413e-01 3.54591356e-03 9.65018067e-01 -9.21312523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.756559995 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:457.72, Y:-87.02, Z:-921.31 [[ 1.40013439e-01 -9.89792920e-01 -2.65746824e-02 4.57716285e+02] [ 9.55322532e-01 1.42095663e-01 -2.59167286e-01 -8.70157780e+01] [ 2.60298091e-01 1.08995099e-02 9.65466781e-01 -9.21310871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.72, Y:-86.99, Z:-921.30 [[ 1.37459837e-01 -9.90092459e-01 -2.86656024e-02 4.57721606e+02] [ 9.55847181e-01 1.40183015e-01 -2.58272897e-01 -8.69903250e+01] [ 2.59732478e-01 8.10221500e-03 9.65646620e-01 -9.21303629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.73, Y:-86.96, Z:-921.30 [[ 1.33707958e-01 -9.90537591e-01 -3.09428964e-02 4.57728863e+02] [ 9.56716356e-01 1.37160651e-01 -2.56672496e-01 -8.69627876e+01] [ 2.58487903e-01 4.71558014e-03 9.66002985e-01 -9.21295923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-86.94, Z:-921.27 [[ 1.32580438e-01 -9.89743701e-01 -5.31961909e-02 4.57746217e+02] [ 9.55785465e-01 1.41875642e-01 -2.57576099e-01 -8.69419270e+01] [ 2.62481565e-01 -1.66945941e-02 9.64792578e-01 -9.21274497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.876559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.74, Y:-86.91, Z:-921.27 [[ 1.30914410e-01 -9.90774714e-01 -3.50269010e-02 4.57741401e+02] [ 9.56064205e-01 1.35518157e-01 -2.59953969e-01 -8.69144983e+01] [ 2.62302600e-01 5.43754081e-04 9.64985518e-01 -9.21273500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.74, Y:-86.89, Z:-921.27 [[ 1.30630559e-01 -9.90815210e-01 -3.49410495e-02 4.57744829e+02] [ 9.56103038e-01 1.35221725e-01 -2.59965510e-01 -8.68878195e+01] [ 2.62302570e-01 5.52196390e-04 9.64985522e-01 -9.21266697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-86.86, Z:-921.26 [[ 1.28972504e-01 -9.91037090e-01 -3.48077654e-02 4.57749105e+02] [ 9.56442751e-01 1.33586875e-01 -2.59560805e-01 -8.68628221e+01] [ 2.61884245e-01 1.84571928e-04 9.65099274e-01 -9.21259987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-86.84, Z:-921.25 [[ 1.26895382e-01 -9.91309851e-01 -3.46748061e-02 4.57754414e+02] [ 9.56819043e-01 1.31547327e-01 -2.59215394e-01 -8.68374598e+01] [ 2.61524152e-01 -2.84278374e-04 9.65196891e-01 -9.21253032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.76, Y:-86.81, Z:-921.25 [[ 1.26353460e-01 -9.91382152e-01 -3.45865916e-02 4.57758338e+02] [ 9.56902942e-01 1.31001177e-01 -2.59182273e-01 -8.68126180e+01] [ 2.61479564e-01 -3.47434380e-04 9.65208950e-01 -9.21246674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.76, Y:-86.79, Z:-921.24 [[ 1.26355450e-01 -9.91380889e-01 -3.46155217e-02 4.57762298e+02] [ 9.56663918e-01 1.31010949e-01 -2.60058223e-01 -8.67863602e+01] [ 2.62351765e-01 -2.55646868e-04 9.64972272e-01 -9.21239520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-86.76, Z:-921.23 [[ 1.26502737e-01 -9.91361525e-01 -3.46321417e-02 4.57765962e+02] [ 9.56437374e-01 1.31157581e-01 -2.60816484e-01 -8.67597495e+01] [ 2.63105695e-01 -1.29475625e-04 9.64767007e-01 -9.21232773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-86.73, Z:-921.23 [[ 1.27172212e-01 -9.91278189e-01 -3.45655864e-02 4.57769196e+02] [ 9.56312582e-01 1.31785941e-01 -2.60957300e-01 -8.67345884e+01] [ 2.63236538e-01 1.31011949e-04 9.64731314e-01 -9.21226883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-86.71, Z:-921.22 [[ 1.27993376e-01 -9.91172843e-01 -3.45556202e-02 4.57772423e+02] [ 9.56040766e-01 1.32575266e-01 -2.61552774e-01 -8.67080587e+01] [ 2.63825227e-01 4.40440884e-04 9.64570400e-01 -9.21220044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.78, Y:-86.68, Z:-921.21 [[ 1.29439165e-01 -9.90986816e-01 -3.45055602e-02 4.57775484e+02] [ 9.55783592e-01 1.33956375e-01 -2.61788876e-01 -8.66821122e+01] [ 2.64051564e-01 9.05885164e-04 9.64508139e-01 -9.21213586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.78, Y:-86.66, Z:-921.21 [[ 1.29521583e-01 -9.90978278e-01 -3.44414302e-02 4.57778772e+02] [ 9.55733874e-01 1.34018778e-01 -2.61938409e-01 -8.66562488e+01] [ 2.64191072e-01 1.00983604e-03 9.64469833e-01 -9.21206255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.78, Y:-86.63, Z:-921.20 [[ 1.29660096e-01 -9.91070743e-01 -3.10973112e-02 4.57780422e+02] [ 9.55643366e-01 1.33266535e-01 -2.62651455e-01 -8.66300262e+01] [ 2.64450404e-01 4.33747359e-03 9.64389533e-01 -9.21200804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.79, Y:-86.60, Z:-921.19 [[ 1.27580916e-01 -9.91144003e-01 -3.68330780e-02 4.57787354e+02] [ 9.56352046e-01 1.32776152e-01 -2.60309928e-01 -8.66048258e+01] [ 2.62895179e-01 -2.01481025e-03 9.64822298e-01 -9.21191544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.79, Y:-86.58, Z:-921.19 [[ 1.26316354e-01 -9.91405730e-01 -3.40419837e-02 4.57789768e+02] [ 9.56587138e-01 1.30822655e-01 -2.60435178e-01 -8.65770170e+01] [ 2.62650390e-01 3.33098343e-04 9.64891010e-01 -9.21185267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.79, Y:-86.55, Z:-921.18 [[ 1.24786632e-01 -9.91603437e-01 -3.39252062e-02 4.57793243e+02] [ 9.56875415e-01 1.29315982e-01 -2.60128465e-01 -8.65512833e+01] [ 2.62331351e-01 -1.64078882e-06 9.64977856e-01 -9.21178377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-86.53, Z:-921.17 [[ 1.23546462e-01 -9.91761733e-01 -3.38369031e-02 4.57796946e+02] [ 9.57055286e-01 1.28096059e-01 -2.60070335e-01 -8.65251537e+01] [ 2.62262180e-01 -2.53017160e-04 9.64996624e-01 -9.21171617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-86.50, Z:-921.17 [[ 1.22215763e-01 -9.91930597e-01 -3.37194013e-02 4.57800378e+02] [ 9.57305401e-01 1.26780957e-01 -2.59794070e-01 -8.65003660e+01] [ 2.61972665e-01 -5.28834380e-04 9.65075149e-01 -9.21165034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:457.80, Y:-86.48, Z:-921.16 [[ 1.19198107e-01 -9.92300789e-01 -3.36296842e-02 4.57804120e+02] [ 9.57699009e-01 1.23845049e-01 -2.59759528e-01 -8.64751709e+01] [ 2.61924455e-01 -1.24427127e-03 9.65087577e-01 -9.21157840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.416559995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:457.81, Y:-86.45, Z:-921.15 [[ 1.17577274e-01 -9.92496927e-01 -3.35475120e-02 4.57807074e+02] [ 9.57899269e-01 1.22259221e-01 -2.59772350e-01 -8.64480779e+01] [ 2.61924752e-01 -1.59181247e-03 9.65086986e-01 -9.21150595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:457.81, Y:-86.42, Z:-921.14 [[ 1.16059220e-01 -9.92679126e-01 -3.34426442e-02 4.57809460e+02] [ 9.58148213e-01 1.20766172e-01 -2.59552566e-01 -8.64228937e+01] [ 2.61691155e-01 -1.91954143e-03 9.65149758e-01 -9.21144206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4765599950001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:457.81, Y:-86.40, Z:-921.14 [[ 1.14906210e-01 -9.92818031e-01 -3.33004687e-02 4.57812188e+02] [ 9.58405954e-01 1.19615140e-01 -2.59133646e-01 -8.63967743e+01] [ 2.61255797e-01 -2.13930225e-03 9.65267234e-01 -9.21137253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:457.81, Y:-86.37, Z:-921.14 [[ 1.16912736e-01 -9.92869517e-01 -2.32709068e-02 4.57813787e+02] [ 9.58618870e-01 1.18942016e-01 -2.58655483e-01 -8.63669616e+01] [ 2.59579033e-01 7.93218976e-03 9.65689291e-01 -9.21137230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.536559995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:457.82, Y:-86.35, Z:-921.12 [[ 1.12729361e-01 -9.92707017e-01 -4.27184897e-02 4.57821916e+02] [ 9.59123405e-01 1.19945353e-01 -2.56311150e-01 -8.63461564e+01] [ 2.59565762e-01 -1.20785112e-02 9.65649898e-01 -9.21120145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:457.82, Y:-86.32, Z:-921.12 [[ 1.12748961e-01 -9.93084264e-01 -3.27309639e-02 4.57819082e+02] [ 9.59200215e-01 1.17379327e-01 -2.57210113e-01 -8.63181782e+01] [ 2.59273255e-01 -2.39537456e-03 9.65801036e-01 -9.21116751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.596559995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:457.82, Y:-86.29, Z:-921.11 [[ 1.12678238e-01 -9.93097235e-01 -3.25806167e-02 4.57820895e+02] [ 9.59355181e-01 1.17270773e-01 -2.56681130e-01 -8.62928415e+01] [ 2.58730074e-01 -2.33400608e-03 9.65946842e-01 -9.21110457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:457.82, Y:-86.26, Z:-921.11 [[ 1.13502720e-01 -9.93311046e-01 -2.12202248e-02 4.57819960e+02] [ 9.59816899e-01 1.15142636e-01 -2.55917358e-01 -8.62603286e+01] [ 2.56648891e-01 8.67978582e-03 9.66465730e-01 -9.21110597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.656559995 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.24, Z:-921.09 [[ 1.12710282e-01 -9.92580983e-01 -4.56002648e-02 4.57831499e+02] [ 9.59793883e-01 1.20631608e-01 -2.53463444e-01 -8.62423223e+01] [ 2.57083828e-01 -1.51989189e-02 9.66269579e-01 -9.21093592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.21, Z:-921.09 [[ 1.13788423e-01 -9.92990596e-01 -3.19667170e-02 4.57825217e+02] [ 9.60002283e-01 1.18179597e-01 -2.53829077e-01 -8.62131827e+01] [ 2.55827700e-01 -1.80531090e-03 9.66720709e-01 -9.21092153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.7165599950001 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.19, Z:-921.09 [[ 1.14159753e-01 -9.92953040e-01 -3.18089790e-02 4.57827077e+02] [ 9.60121617e-01 1.18497246e-01 -2.53228915e-01 -8.61873608e+01] [ 2.55213697e-01 -1.63193788e-03 9.66883295e-01 -9.21085803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.16, Z:-921.08 [[ 1.14995358e-01 -9.92862294e-01 -3.16312154e-02 4.57829285e+02] [ 9.60220680e-01 1.19258870e-01 -2.52494689e-01 -8.61610034e+01] [ 2.54464759e-01 -1.33723002e-03 9.67081123e-01 -9.21079088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.776559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.13, Z:-921.07 [[ 1.16584288e-01 -9.92681643e-01 -3.14842835e-02 4.57831634e+02] [ 9.60170200e-01 1.20757720e-01 -2.51973728e-01 -8.61335831e+01] [ 2.53931665e-01 -8.54093094e-04 9.67221785e-01 -9.21071685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.11, Z:-921.06 [[ 1.18501445e-01 -9.92460116e-01 -3.13101470e-02 4.57833411e+02] [ 9.60152170e-01 1.22567649e-01 -2.51167238e-01 -8.61067544e+01] [ 2.53111077e-01 -2.98824859e-04 9.67437178e-01 -9.21064766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.836559995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.08, Z:-921.06 [[ 1.20452294e-01 -9.92231584e-01 -3.11083292e-02 4.57834914e+02] [ 9.60186720e-01 1.24404245e-01 -2.50130062e-01 -8.60791706e+01] [ 2.52056956e-01 2.58935094e-04 9.67712366e-01 -9.21058227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.05, Z:-921.05 [[ 1.24762941e-01 -9.91704932e-01 -3.09117632e-02 4.57834055e+02] [ 9.59903141e-01 1.28527585e-01 -2.49131733e-01 -8.60537205e+01] [ 2.51038183e-01 1.41010923e-03 9.67976158e-01 -9.21052174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.896559995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:457.83, Y:-86.03, Z:-921.05 [[ 1.26241875e-01 -9.91520490e-01 -3.08238141e-02 4.57834998e+02] [ 9.59764702e-01 1.29937387e-01 -2.48933712e-01 -8.60267645e+01] [ 2.50828042e-01 1.84224963e-03 9.68029907e-01 -9.21045950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:457.84, Y:-86.00, Z:-921.04 [[ 1.27433021e-01 -9.91371403e-01 -3.07175186e-02 4.57836228e+02] [ 9.59682819e-01 1.31064352e-01 -2.48658448e-01 -8.60015649e+01] [ 2.50538846e-01 2.20822229e-03 9.68104029e-01 -9.21040186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.9565599950001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:457.84, Y:-85.97, Z:-921.03 [[ 1.27544221e-01 -9.91359384e-01 -3.06438281e-02 4.57837347e+02] [ 9.59692665e-01 1.31153740e-01 -2.48573302e-01 -8.59748231e+01] [ 2.50444528e-01 2.29543104e-03 9.68128230e-01 -9.21034452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:457.84, Y:-85.95, Z:-921.03 [[ 1.26751343e-01 -9.91462151e-01 -3.06088209e-02 4.57839733e+02] [ 9.59702286e-01 1.30376593e-01 -2.48944706e-01 -8.59485240e+01] [ 2.50809927e-01 2.17872033e-03 9.68033901e-01 -9.21027610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.016559995 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:457.84, Y:-85.92, Z:-921.02 [[ 1.25381513e-01 -9.91640684e-01 -3.04668718e-02 4.57841926e+02] [ 9.60016646e-01 1.29016044e-01 -2.48440937e-01 -8.59226180e+01] [ 2.50294856e-01 1.90119663e-03 9.68167791e-01 -9.21021379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:457.84, Y:-85.90, Z:-921.01 [[ 1.23988992e-01 -9.91818269e-01 -3.03850632e-02 4.57844446e+02] [ 9.60195201e-01 1.27647420e-01 -2.48457867e-01 -8.58959671e+01] [ 2.50303626e-01 1.63044859e-03 9.68166017e-01 -9.21014620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.076559995 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:457.85, Y:-85.87, Z:-921.01 [[ 1.22416792e-01 -9.92017664e-01 -3.02503394e-02 4.57846475e+02] [ 9.60518714e-01 1.26092248e-01 -2.48001100e-01 -8.58699317e+01] [ 2.49835805e-01 1.30348207e-03 9.68287339e-01 -9.21008329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:457.85, Y:-85.84, Z:-921.00 [[ 1.20961620e-01 -9.92200950e-01 -3.00925659e-02 4.57848289e+02] [ 9.60875133e-01 1.24644560e-01 -2.47351394e-01 -8.58435313e+01] [ 2.49173163e-01 1.00482708e-03 9.68458427e-01 -9.21001820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.136559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:457.85, Y:-85.82, Z:-921.00 [[ 1.18925905e-01 -9.92453515e-01 -2.98772584e-02 4.57849079e+02] [ 9.61426485e-01 1.22620191e-01 -2.46218202e-01 -8.58163979e+01] [ 2.48023675e-01 5.56935160e-04 9.68753811e-01 -9.20995670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:457.85, Y:-85.79, Z:-920.99 [[ 1.17974991e-01 -9.92568887e-01 -2.98145463e-02 4.57851490e+02] [ 9.61508761e-01 1.21683391e-01 -2.46361636e-01 -8.57896473e+01] [ 2.48158829e-01 3.97564306e-04 9.68719277e-01 -9.20989113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.1965599950001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:457.85, Y:-85.76, Z:-920.98 [[ 1.16817088e-01 -9.92707869e-01 -2.97465280e-02 4.57854060e+02] [ 9.61644383e-01 1.20544832e-01 -2.46392015e-01 -8.57621808e+01] [ 2.48181082e-01 1.77216067e-04 9.68713642e-01 -9.20982641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:457.86, Y:-85.74, Z:-920.98 [[ 1.15655124e-01 -9.92844087e-01 -2.97407275e-02 4.57856751e+02] [ 9.61641687e-01 1.19417825e-01 -2.46950702e-01 -8.57358569e+01] [ 2.48735117e-01 -3.88093981e-05 9.68571546e-01 -9.20975830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.256559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:457.86, Y:-85.71, Z:-920.97 [[ 1.13604505e-01 -9.93080985e-01 -2.97350702e-02 4.57859391e+02] [ 9.61733484e-01 1.17430542e-01 -2.47545500e-01 -8.57082725e+01] [ 2.49324534e-01 -4.74928812e-04 9.68419874e-01 -9.20969518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:457.87, Y:-85.68, Z:-920.96 [[ 1.11976490e-01 -9.93011021e-01 -3.72877758e-02 4.57866476e+02] [ 9.61163415e-01 1.17757582e-01 -2.49595757e-01 -8.56819209e+01] [ 2.52242256e-01 -7.89078917e-03 9.67631945e-01 -9.20958311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.316559995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:457.87, Y:-85.65, Z:-920.95 [[ 1.10689553e-01 -9.93432681e-01 -2.89712045e-02 4.57865055e+02] [ 9.61248913e-01 1.14418095e-01 -2.50816722e-01 -8.56524700e+01] [ 2.52484358e-01 -8.57479287e-05 9.67600972e-01 -9.20954226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:457.87, Y:-85.63, Z:-920.94 [[ 1.09701118e-01 -9.93309369e-01 -3.60854904e-02 4.57872121e+02] [ 9.60990759e-01 1.15265474e-01 -2.51417247e-01 -8.56260309e+01] [ 2.53894518e-01 -7.09706970e-03 9.67205875e-01 -9.20943526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.376559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:457.87, Y:-85.60, Z:-920.95 [[ 1.07576439e-01 -9.93991708e-01 -2.01939418e-02 4.57865054e+02] [ 9.62072804e-01 1.09200603e-01 -2.49982295e-01 -8.55986108e+01] [ 2.50685519e-01 7.46416288e-03 9.68039801e-01 -9.20945424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:457.87, Y:-85.57, Z:-920.94 [[ 1.06305119e-01 -9.93893944e-01 -2.95643378e-02 4.57872814e+02] [ 9.62228425e-01 1.10321668e-01 -2.48888707e-01 -8.55748881e+01] [ 2.50630565e-01 -1.98950252e-03 9.68080762e-01 -9.20936117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4365599950002 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:457.88, Y:-85.55, Z:-920.93 [[ 1.04429253e-01 -9.94096130e-01 -2.94519173e-02 4.57875251e+02] [ 9.62501805e-01 1.08476774e-01 -2.48642445e-01 -8.55486004e+01] [ 2.50369341e-01 -2.38197874e-03 9.68147468e-01 -9.20929448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:457.88, Y:-85.52, Z:-920.92 [[ 1.03560152e-01 -9.94189874e-01 -2.93562580e-02 4.57877782e+02] [ 9.62639516e-01 1.07610932e-01 -2.48485511e-01 -8.55219000e+01] [ 2.50200833e-01 -2.52629668e-03 9.68190664e-01 -9.20922958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.496559995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:457.88, Y:-85.50, Z:-920.92 [[ 1.02430447e-01 -9.94308529e-01 -2.93010574e-02 4.57880270e+02] [ 9.62724527e-01 1.06503681e-01 -2.48633166e-01 -8.54955364e+01] [ 2.50338748e-01 -2.74124017e-03 9.68154428e-01 -9.20916156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:457.89, Y:-85.47, Z:-920.90 [[ 1.01240755e-01 -9.94161144e-01 -3.73353630e-02 4.57887780e+02] [ 9.62191450e-01 1.07385478e-01 -2.50311754e-01 -8.54700334e+01] [ 2.52859495e-01 -1.05820160e-02 9.67445139e-01 -9.20903963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.556559995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:457.88, Y:-85.44, Z:-920.90 [[ 9.96068052e-02 -9.94790521e-01 -2.16865004e-02 4.57881660e+02] [ 9.63067430e-01 1.01864057e-01 -2.49248549e-01 -8.54411099e+01] [ 2.50159169e-01 3.94128949e-03 9.68196703e-01 -9.20904253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:457.89, Y:-85.42, Z:-920.90 [[ 9.84462532e-02 -9.94717183e-01 -2.90871336e-02 4.57887733e+02] [ 9.63188220e-01 1.02591878e-01 -2.48482111e-01 -8.54151313e+01] [ 2.50153529e-01 -3.55425170e-03 9.68199659e-01 -9.20895415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.616559995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:457.89, Y:-85.39, Z:-920.89 [[ 9.78480386e-02 -9.94777303e-01 -2.90496023e-02 4.57889982e+02] [ 9.63173074e-01 1.02004367e-01 -2.48782513e-01 -8.53885822e+01] [ 2.50446384e-01 -3.63691378e-03 9.68123640e-01 -9.20888861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:457.89, Y:-85.36, Z:-920.88 [[ 9.69777962e-02 -9.94805663e-01 -3.09354173e-02 4.57892806e+02] [ 9.62941633e-01 1.01640360e-01 -2.49825237e-01 -8.53623233e+01] [ 2.51671848e-01 -5.56150034e-03 9.67796648e-01 -9.20881014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.676559995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:457.89, Y:-85.34, Z:-920.88 [[ 9.78605918e-02 -9.94829061e-01 -2.71743343e-02 4.57893052e+02] [ 9.62943211e-01 1.01548975e-01 -2.49856316e-01 -8.53354574e+01] [ 2.51323850e-01 -1.71625372e-03 9.67901533e-01 -9.20876198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:457.89, Y:-85.31, Z:-920.87 [[ 9.91437653e-02 -9.94647099e-01 -2.91146604e-02 4.57894685e+02] [ 9.62492103e-01 1.03282292e-01 -2.50881884e-01 -8.53096737e+01] [ 2.52545967e-01 -3.14925606e-03 9.67579773e-01 -9.20869628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.736559995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:457.90, Y:-85.28, Z:-920.86 [[ 9.94785162e-02 -9.94612420e-01 -2.91574758e-02 4.57896630e+02] [ 9.62168173e-01 1.03620501e-01 -2.51982536e-01 -8.52828729e+01] [ 2.53646273e-01 -2.98754644e-03 9.67292429e-01 -9.20862694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:457.90, Y:-85.26, Z:-920.86 [[ 1.00012055e-01 -9.94558176e-01 -2.91825951e-02 4.57898876e+02] [ 9.61888299e-01 1.04145495e-01 -2.52833179e-01 -8.52571468e+01] [ 2.54496541e-01 -2.78403087e-03 9.67069677e-01 -9.20856140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.796559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:457.90, Y:-85.23, Z:-920.85 [[ 1.00353355e-01 -9.94523037e-01 -2.92084562e-02 4.57901452e+02] [ 9.61645181e-01 1.04484337e-01 -2.53616975e-01 -8.52302481e+01] [ 2.55279751e-01 -2.63685689e-03 9.66863639e-01 -9.20848860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:457.90, Y:-85.20, Z:-920.84 [[ 1.00094741e-01 -9.94551230e-01 -2.91357872e-02 4.57904503e+02] [ 9.61672124e-01 1.04215743e-01 -2.53625324e-01 -8.52027316e+01] [ 2.55279786e-01 -2.63251319e-03 9.66863641e-01 -9.20841845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.856559995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:457.92, Y:-85.18, Z:-920.82 [[ 1.01358505e-01 -9.93460946e-01 -5.25528549e-02 4.57921046e+02] [ 9.59834684e-01 1.11545972e-01 -2.57439070e-01 -8.51799815e+01] [ 2.61617722e-01 -2.43484134e-02 9.64864406e-01 -9.20818679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:457.90, Y:-85.15, Z:-920.83 [[ 1.00575213e-01 -9.94897767e-01 -7.94108791e-03 4.57898632e+02] [ 9.61465936e-01 9.92419887e-02 -2.56386977e-01 -8.51462764e+01] [ 2.55866920e-01 1.81510893e-02 9.66541596e-01 -9.20832994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.916559995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:457.91, Y:-85.12, Z:-920.82 [[ 1.00643140e-01 -9.94501762e-01 -2.89344797e-02 4.57911806e+02] [ 9.61612510e-01 1.04694688e-01 -2.53654102e-01 -8.51221062e+01] [ 2.55288738e-01 -2.29521238e-03 9.66862137e-01 -9.20819407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:457.91, Y:-85.10, Z:-920.81 [[ 1.00465108e-01 -9.94523027e-01 -2.88220729e-02 4.57913804e+02] [ 9.61721880e-01 1.04493074e-01 -2.53322370e-01 -8.50953760e+01] [ 2.54946637e-01 -2.26875878e-03 9.66952463e-01 -9.20812175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9765599950001 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:457.93, Y:-85.07, Z:-920.79 [[ 1.00856884e-01 -9.93819480e-01 -4.63759758e-02 4.57925525e+02] [ 9.60699837e-01 1.09400881e-01 -2.55122071e-01 -8.50712499e+01] [ 2.58618857e-01 -1.88225753e-02 9.65796044e-01 -9.20793408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:457.91, Y:-85.04, Z:-920.80 [[ 1.01192171e-01 -9.94815286e-01 -1.01337151e-02 4.57908123e+02] [ 9.61990947e-01 1.00440054e-01 -2.53939391e-01 -8.50395615e+01] [ 2.53640619e-01 1.59481360e-02 9.67167045e-01 -9.20803644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.036559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:457.92, Y:-85.02, Z:-920.79 [[ 1.00926017e-01 -9.94451196e-01 -2.96775712e-02 4.57920466e+02] [ 9.62278908e-01 1.05149250e-01 -2.50924169e-01 -8.50150697e+01] [ 2.52652414e-01 -3.23332382e-03 9.67551706e-01 -9.20790791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:457.92, Y:-84.99, Z:-920.78 [[ 1.01570162e-01 -9.94411778e-01 -2.87874710e-02 4.57922695e+02] [ 9.62388953e-01 1.05546322e-01 -2.50334730e-01 -8.49886401e+01] [ 2.51974215e-01 -2.27820507e-03 9.67731267e-01 -9.20783764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.096559995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:457.93, Y:-84.96, Z:-920.78 [[ 1.03192564e-01 -9.94263642e-01 -2.81265777e-02 4.57925243e+02] [ 9.62267922e-01 1.06949787e-01 -2.50204297e-01 -8.49619743e+01] [ 2.51777167e-01 -1.24608044e-03 9.67784431e-01 -9.20776620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:457.93, Y:-84.94, Z:-920.77 [[ 1.04255027e-01 -9.94154463e-01 -2.80676626e-02 4.57928145e+02] [ 9.62121067e-01 1.07963344e-01 -2.50333716e-01 -8.49358680e+01] [ 2.51900659e-01 -9.05941255e-04 9.67752674e-01 -9.20769344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.156559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.93, Y:-84.91, Z:-920.76 [[ 1.05471614e-01 -9.94026893e-01 -2.80406104e-02 4.57931144e+02] [ 9.61871044e-01 1.09134166e-01 -2.50786421e-01 -8.49106397e+01] [ 2.52348636e-01 -5.20602648e-04 9.67636241e-01 -9.20762389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:457.93, Y:-84.89, Z:-920.76 [[ 1.09464434e-01 -9.93595714e-01 -2.80195672e-02 4.57933465e+02] [ 9.61275190e-01 1.12992129e-01 -2.51361867e-01 -8.48850509e+01] [ 2.52918064e-01 5.80669579e-04 9.67487528e-01 -9.20755534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.94, Y:-84.86, Z:-920.75 [[ 1.11502231e-01 -9.93369371e-01 -2.80097396e-02 4.57935517e+02] [ 9.60915189e-01 1.14960570e-01 -2.51845325e-01 -8.48586264e+01] [ 2.53395448e-01 1.16633131e-03 9.67362077e-01 -9.20748730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:457.94, Y:-84.83, Z:-920.74 [[ 1.13636898e-01 -9.93127794e-01 -2.79971684e-02 4.57937847e+02] [ 9.60502688e-01 1.17021158e-01 -2.52469079e-01 -8.48332986e+01] [ 2.54010321e-01 1.79844741e-03 9.67199836e-01 -9.20742437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.276559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.94, Y:-84.81, Z:-920.74 [[ 1.15830804e-01 -9.92873750e-01 -2.80168040e-02 4.57940457e+02] [ 9.59990615e-01 1.19145600e-01 -2.53421281e-01 -8.48066179e+01] [ 2.54953416e-01 2.45812172e-03 9.66950213e-01 -9.20735608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.94, Y:-84.78, Z:-920.73 [[ 1.18295284e-01 -9.92583272e-01 -2.80120426e-02 4.57943445e+02] [ 9.59506213e-01 1.21524938e-01 -2.54125002e-01 -8.47792184e+01] [ 2.55644387e-01 3.18406031e-03 9.66765643e-01 -9.20728835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.336559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.95, Y:-84.75, Z:-920.72 [[ 1.20383604e-01 -9.92330850e-01 -2.80583698e-02 4.57946439e+02] [ 9.58956131e-01 1.23551240e-01 -2.55221925e-01 -8.47520835e+01] [ 2.56731237e-01 3.81778953e-03 9.66475296e-01 -9.20721964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.95, Y:-84.73, Z:-920.72 [[ 1.24380274e-01 -9.91834536e-01 -2.81744805e-02 4.57949646e+02] [ 9.57979480e-01 1.27434428e-01 -2.56974285e-01 -8.47254334e+01] [ 2.58466369e-01 4.97195779e-03 9.66007462e-01 -9.20715775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.396559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.95, Y:-84.70, Z:-920.71 [[ 1.25978877e-01 -9.91634235e-01 -2.81223715e-02 4.57952974e+02] [ 9.57707084e-01 1.28963565e-01 -2.57226632e-01 -8.46984269e+01] [ 2.58701495e-01 5.47212769e-03 9.65941816e-01 -9.20709437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.96, Y:-84.67, Z:-920.70 [[ 1.27093936e-01 -9.91493644e-01 -2.80621862e-02 4.57956334e+02] [ 9.57527046e-01 1.30024079e-01 -2.57362964e-01 -8.46710919e+01] [ 2.58822503e-01 5.83896968e-03 9.65907252e-01 -9.20702740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.96, Y:-84.64, Z:-920.70 [[ 1.28825703e-01 -9.91270923e-01 -2.80338322e-02 4.57960886e+02] [ 9.57183432e-01 1.31686328e-01 -2.57795633e-01 -8.46442404e+01] [ 2.59236987e-01 6.37718398e-03 9.65792688e-01 -9.20695826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.96, Y:-84.62, Z:-920.69 [[ 1.29111602e-01 -9.91237064e-01 -2.79155462e-02 4.57964910e+02] [ 9.57254611e-01 1.31934388e-01 -2.57404209e-01 -8.46194423e+01] [ 2.58831613e-01 6.51158451e-03 9.65900510e-01 -9.20689230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.97, Y:-84.59, Z:-920.68 [[ 1.29073824e-01 -9.91245427e-01 -2.77930125e-02 4.57969148e+02] [ 9.57349076e-01 1.31868367e-01 -2.57086525e-01 -8.45938305e+01] [ 2.58500861e-01 6.57552610e-03 9.65988648e-01 -9.20682559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:457.97, Y:-84.57, Z:-920.68 [[ 1.28756773e-01 -9.91288027e-01 -2.77442023e-02 4.57973846e+02] [ 9.57307842e-01 1.31547383e-01 -2.57404314e-01 -8.45672924e+01] [ 2.58811492e-01 6.58280646e-03 9.65905419e-01 -9.20675271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.576559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.98, Y:-84.54, Z:-920.67 [[ 1.28171909e-01 -9.91366904e-01 -2.76337259e-02 4.57978617e+02] [ 9.57476949e-01 1.30956190e-01 -2.57076582e-01 -8.45413620e+01] [ 2.58476023e-01 6.49134071e-03 9.65995864e-01 -9.20668703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:457.98, Y:-84.52, Z:-920.66 [[ 1.27187380e-01 -9.91494699e-01 -2.75976858e-02 4.57983435e+02] [ 9.57487586e-01 1.29993072e-01 -2.57525385e-01 -8.45164714e+01] [ 2.58922562e-01 6.32953734e-03 9.65877344e-01 -9.20661832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.99, Y:-84.49, Z:-920.65 [[ 1.25265647e-01 -9.91740319e-01 -2.75618779e-02 4.57991573e+02] [ 9.57608275e-01 1.28124996e-01 -2.58012357e-01 -8.44912780e+01] [ 2.59412623e-01 5.92660240e-03 9.65748397e-01 -9.20654862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:-84.47, Z:-920.65 [[ 1.23575450e-01 -9.91951470e-01 -2.75932795e-02 4.57996790e+02] [ 9.57532816e-01 1.26494913e-01 -2.59094468e-01 -8.44653377e+01] [ 2.60499548e-01 5.59624496e-03 9.65457751e-01 -9.20648477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:-84.44, Z:-920.64 [[ 1.21784557e-01 -9.92171943e-01 -2.76289339e-02 4.58002321e+02] [ 9.57454314e-01 1.24769420e-01 -2.60218810e-01 -8.44388383e+01] [ 2.61629048e-01 5.23719056e-03 9.65154295e-01 -9.20642007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.01, Y:-84.41, Z:-920.64 [[ 1.19972580e-01 -9.92393232e-01 -2.76089329e-02 4.58007855e+02] [ 9.57517975e-01 1.23012600e-01 -2.60820300e-01 -8.44129233e+01] [ 2.62232547e-01 4.85523458e-03 9.64992497e-01 -9.20635538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.756559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:458.01, Y:-84.39, Z:-920.63 [[ 1.18076751e-01 -9.92622924e-01 -2.75247408e-02 4.58013624e+02] [ 9.57754625e-01 1.21161317e-01 -2.60817972e-01 -8.43873640e+01] [ 2.62228832e-01 4.43459079e-03 9.64995531e-01 -9.20629026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:458.02, Y:-84.36, Z:-920.62 [[ 1.16412651e-01 -9.92821985e-01 -2.74335817e-02 4.58019931e+02] [ 9.57979960e-01 1.19532081e-01 -2.60742166e-01 -8.43605161e+01] [ 2.62149748e-01 4.07286520e-03 9.65018612e-01 -9.20622157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:-84.34, Z:-920.62 [[ 1.13396404e-01 -9.93170216e-01 -2.74622887e-02 4.58029145e+02] [ 9.58066835e-01 1.16625766e-01 -2.61737216e-01 -8.43357049e+01] [ 2.63152418e-01 3.36935109e-03 9.64748388e-01 -9.20615911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.04, Y:-84.31, Z:-920.61 [[ 1.11723951e-01 -9.93359661e-01 -2.74653180e-02 4.58035005e+02] [ 9.58077136e-01 1.15011136e-01 -2.62413112e-01 -8.43100170e+01] [ 2.63829417e-01 3.00393651e-03 9.64564677e-01 -9.20609385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.876559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:458.04, Y:-84.28, Z:-920.60 [[ 1.10049129e-01 -9.93547717e-01 -2.74248723e-02 4.58040647e+02] [ 9.58153637e-01 1.13383955e-01 -2.62841562e-01 -8.42848093e+01] [ 2.64255174e-01 2.64824377e-03 9.64449164e-01 -9.20603152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.05, Y:-84.26, Z:-920.60 [[ 1.09255857e-01 -9.93635408e-01 -2.74195839e-02 4.58046041e+02] [ 9.58023855e-01 1.12615472e-01 -2.63643793e-01 -8.42591417e+01] [ 2.65053677e-01 2.53601304e-03 9.64230324e-01 -9.20595813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9365599950002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.05, Y:-84.23, Z:-920.59 [[ 1.09785118e-01 -9.93583395e-01 -2.71894426e-02 4.58048883e+02] [ 9.58358387e-01 1.13068898e-01 -2.62230103e-01 -8.42330588e+01] [ 2.63621756e-01 2.73173255e-03 9.64622262e-01 -9.20589063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.05, Y:-84.21, Z:-920.58 [[ 1.11011035e-01 -9.93452357e-01 -2.69993563e-02 4.58051488e+02] [ 9.58499844e-01 1.14204575e-01 -2.61218999e-01 -8.42078158e+01] [ 2.62592080e-01 3.11931249e-03 9.64901896e-01 -9.20582423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.05, Y:-84.18, Z:-920.58 [[ 1.12177328e-01 -9.93325102e-01 -2.68605428e-02 4.58054204e+02] [ 9.58501581e-01 1.15295162e-01 -2.60733091e-01 -8.41811952e+01] [ 2.62089615e-01 3.50246882e-03 9.65037184e-01 -9.20575123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-84.16, Z:-920.57 [[ 1.12856223e-01 -9.93250870e-01 -2.67615764e-02 4.58056740e+02] [ 9.58467105e-01 1.15924915e-01 -2.60580550e-01 -8.41554967e+01] [ 2.61924191e-01 3.75804587e-03 9.65081134e-01 -9.20568458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-84.13, Z:-920.56 [[ 1.13287849e-01 -9.93206281e-01 -2.65922230e-02 4.58059044e+02] [ 9.58641220e-01 1.16300416e-01 -2.59771485e-01 -8.41296776e+01] [ 2.61099357e-01 3.93655176e-03 9.65303905e-01 -9.20561686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-84.10, Z:-920.56 [[ 1.12328097e-01 -9.93318903e-01 -2.64566627e-02 4.58061858e+02] [ 9.58896758e-01 1.15340692e-01 -2.59255727e-01 -8.41048359e+01] [ 2.60575144e-01 3.75249441e-03 9.65446277e-01 -9.20555202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-84.08, Z:-920.55 [[ 1.11143728e-01 -9.93636078e-01 -1.82870568e-02 4.58060575e+02] [ 9.59598782e-01 1.12086273e-01 -2.58083020e-01 -8.40765400e+01] [ 2.58490328e-01 1.11360715e-02 9.65949656e-01 -9.20554380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.07, Y:-84.06, Z:-920.54 [[ 1.08715812e-01 -9.93487075e-01 -3.41218918e-02 4.58071770e+02] [ 9.59532094e-01 1.13846220e-01 -2.57560090e-01 -8.40553395e+01] [ 2.59767268e-01 -4.74019589e-03 9.65659618e-01 -9.20539642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.176559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.07, Y:-84.03, Z:-920.54 [[ 1.07564746e-01 -9.93854226e-01 -2.61458193e-02 4.58070313e+02] [ 9.59664394e-01 1.10663629e-01 -2.58452727e-01 -8.40292319e+01] [ 2.59757726e-01 2.70919020e-03 9.65670018e-01 -9.20536335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.07, Y:-84.00, Z:-920.53 [[ 1.06258104e-01 -9.93996738e-01 -2.60710554e-02 4.58072815e+02] [ 9.59786411e-01 1.09382278e-01 -2.58545090e-01 -8.40031137e+01] [ 2.59844687e-01 2.44986621e-03 9.65647315e-01 -9.20530089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:-83.98, Z:-920.52 [[ 1.05482001e-01 -9.94081797e-01 -2.59793957e-02 4.58075420e+02] [ 9.59906902e-01 1.08609361e-01 -2.58423578e-01 -8.39775099e+01] [ 2.59715780e-01 2.32123479e-03 9.65682311e-01 -9.20523496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:-83.95, Z:-920.52 [[ 1.05359462e-01 -9.94097659e-01 -2.58694316e-02 4.58077341e+02] [ 9.59996374e-01 1.08463146e-01 -2.58152490e-01 -8.39524378e+01] [ 2.59434666e-01 2.36424685e-03 9.65757767e-01 -9.20517268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:-83.93, Z:-920.51 [[ 1.05726169e-01 -9.94060184e-01 -2.58133296e-02 4.58079135e+02] [ 9.59887360e-01 1.08802032e-01 -2.58415119e-01 -8.39264854e+01] [ 2.59688724e-01 2.54335176e-03 9.65689028e-01 -9.20510669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-83.90, Z:-920.52 [[ 1.04681624e-01 -9.94503795e-01 -1.99001919e-03 4.58064662e+02] [ 9.61313996e-01 1.01700307e-01 -2.55993063e-01 -8.38967488e+01] [ 2.54788458e-01 2.48847363e-02 9.66676570e-01 -9.20522823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.09, Y:-83.88, Z:-920.49 [[ 1.06542976e-01 -9.93166299e-01 -4.76371336e-02 4.58092257e+02] [ 9.59712706e-01 1.15245764e-01 -2.56261461e-01 -8.38790508e+01] [ 2.60000224e-01 -1.84151038e-02 9.65432943e-01 -9.20491371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:-83.85, Z:-920.49 [[ 1.06846920e-01 -9.93945084e-01 -2.56301922e-02 4.58083433e+02] [ 9.59671182e-01 1.09835550e-01 -2.58780554e-01 -8.38494298e+01] [ 2.60028766e-01 3.05334827e-03 9.65596043e-01 -9.20491671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.416559995 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:458.07, Y:-83.82, Z:-920.50 [[ 1.05481709e-01 -9.94420765e-01 9.75766070e-04 4.58071226e+02] [ 9.61163509e-01 1.01702251e-01 -2.56556742e-01 -8.38174187e+01] [ 2.55026114e-01 2.79999143e-02 9.66528678e-01 -9.20501848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.10, Y:-83.80, Z:-920.47 [[ 1.05293319e-01 -9.93140917e-01 -5.08373428e-02 4.58100136e+02] [ 9.59897686e-01 1.14859858e-01 -2.55741366e-01 -8.38017297e+01] [ 2.59826384e-01 -2.18707904e-02 9.65407644e-01 -9.20470743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.08, Y:-83.77, Z:-920.49 [[ 1.04234710e-01 -9.94549460e-01 -2.54910627e-03 4.58077554e+02] [ 9.61533769e-01 1.01428757e-01 -2.55274399e-01 -8.37668702e+01] [ 2.54141568e-01 2.41574012e-02 9.66865287e-01 -9.20487255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.10, Y:-83.75, Z:-920.46 [[ 1.03847605e-01 -9.93477268e-01 -4.71019362e-02 4.58103332e+02] [ 9.60443663e-01 1.12472650e-01 -2.54750611e-01 -8.37493056e+01] [ 2.58386621e-01 -1.87835154e-02 9.65858962e-01 -9.20458115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.09, Y:-83.72, Z:-920.46 [[ 1.03755039e-01 -9.94289870e-01 -2.49508768e-02 4.58094283e+02] [ 9.60688315e-01 1.06680689e-01 -2.56314635e-01 -8.37201304e+01] [ 2.57512822e-01 2.62391910e-03 9.66271319e-01 -9.20458747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.10, Y:-83.69, Z:-920.45 [[ 1.03664755e-01 -9.94303006e-01 -2.48022501e-02 4.58096498e+02] [ 9.60898517e-01 1.06557250e-01 -2.55576980e-01 -8.36932369e+01] [ 2.56763819e-01 2.66187975e-03 9.66470515e-01 -9.20452337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.596559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.10, Y:-83.67, Z:-920.45 [[ 1.03275939e-01 -9.94346726e-01 -2.46712056e-02 4.58098497e+02] [ 9.61083674e-01 1.06149301e-01 -2.55049991e-01 -8.36675903e+01] [ 2.56226955e-01 2.62943449e-03 9.66613074e-01 -9.20445784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.10, Y:-83.64, Z:-920.44 [[ 1.03376660e-01 -9.94339157e-01 -2.45541506e-02 4.58100813e+02] [ 9.61168391e-01 1.06217652e-01 -2.54702051e-01 -8.36427253e+01] [ 2.55868307e-01 2.72957389e-03 9.66707794e-01 -9.20439453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.10, Y:-83.62, Z:-920.43 [[ 1.03645369e-01 -9.94313947e-01 -2.44420290e-02 4.58102899e+02] [ 9.61224764e-01 1.06449637e-01 -2.54392273e-01 -8.36168070e+01] [ 2.55547630e-01 2.87229763e-03 9.66792200e-01 -9.20433133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:-83.59, Z:-920.43 [[ 1.04753431e-01 -9.94201067e-01 -2.43096275e-02 4.58105322e+02] [ 9.61252154e-01 1.07488811e-01 -2.53851241e-01 -8.35901469e+01] [ 2.54992188e-01 3.22410667e-03 9.66937738e-01 -9.20426920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.7165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.11, Y:-83.56, Z:-920.42 [[ 1.04929782e-01 -9.94184847e-01 -2.42122069e-02 4.58108154e+02] [ 9.61279449e-01 1.07635052e-01 -2.53685861e-01 -8.35647201e+01] [ 2.54816721e-01 3.34450512e-03 9.66983585e-01 -9.20420877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.11, Y:-83.54, Z:-920.41 [[ 1.04644937e-01 -9.94216916e-01 -2.41280267e-02 4.58110541e+02] [ 9.61310533e-01 1.07338158e-01 -2.53693868e-01 -8.35379264e+01] [ 2.54816593e-01 3.35325262e-03 9.66983588e-01 -9.20414081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:-83.51, Z:-920.41 [[ 1.04524907e-01 -9.94230911e-01 -2.40715393e-02 4.58113700e+02] [ 9.61270469e-01 1.07206982e-01 -2.53901061e-01 -8.35118242e+01] [ 2.55016920e-01 3.39972492e-03 9.66930614e-01 -9.20407505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.12, Y:-83.49, Z:-920.40 [[ 1.04032632e-01 -9.94283621e-01 -2.40269144e-02 4.58116743e+02] [ 9.61221423e-01 1.06718297e-01 -2.54292316e-01 -8.34851985e+01] [ 2.55402796e-01 3.35951412e-03 9.66828902e-01 -9.20400959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.12, Y:-83.46, Z:-920.39 [[ 1.03108133e-01 -9.94382098e-01 -2.39365133e-02 4.58119698e+02] [ 9.61348770e-01 1.05801776e-01 -2.54193876e-01 -8.34593034e+01] [ 2.55298365e-01 3.19811853e-03 9.66857030e-01 -9.20394947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:458.12, Y:-83.43, Z:-920.39 [[ 1.02244729e-01 -9.94472423e-01 -2.38875542e-02 4.58122751e+02] [ 9.61340806e-01 1.04953353e-01 -2.54575427e-01 -8.34328713e+01] [ 2.55675321e-01 3.06491501e-03 9.66757848e-01 -9.20388328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.13, Y:-83.41, Z:-920.38 [[ 1.01687866e-01 -9.94531756e-01 -2.37942107e-02 4.58125926e+02] [ 9.61441520e-01 1.04391641e-01 -2.54426000e-01 -8.34072495e+01] [ 2.55518653e-01 2.99529491e-03 9.66799486e-01 -9.20382060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.13, Y:-83.38, Z:-920.38 [[ 1.01200219e-01 -9.94582517e-01 -2.37514634e-02 4.58128390e+02] [ 9.61437679e-01 1.03908655e-01 -2.54638139e-01 -8.33811008e+01] [ 2.55726624e-01 2.93388355e-03 9.66744685e-01 -9.20375322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.9565599950001 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:458.13, Y:-83.35, Z:-920.38 [[ 1.01674190e-01 -9.94725175e-01 -1.35714932e-02 4.58125669e+02] [ 9.61904285e-01 1.01781261e-01 -2.53733566e-01 -8.33512839e+01] [ 2.53776489e-01 1.27436774e-02 9.67178935e-01 -9.20375963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-83.33, Z:-920.36 [[ 1.01316204e-01 -9.94260425e-01 -3.43690768e-02 4.58136292e+02] [ 9.61281617e-01 1.06737721e-01 -2.54056515e-01 -8.33303726e+01] [ 2.56266816e-01 -7.29832011e-03 9.66578530e-01 -9.20359249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.016559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.13, Y:-83.30, Z:-920.36 [[ 1.01774372e-01 -9.94528506e-01 -2.35590467e-02 4.58131854e+02] [ 9.61142329e-01 1.04411360e-01 -2.55545870e-01 -8.33038961e+01] [ 2.56607484e-01 3.36442350e-03 9.66509845e-01 -9.20356766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.13, Y:-83.28, Z:-920.35 [[ 1.02089003e-01 -9.94498018e-01 -2.34846401e-02 4.58132917e+02] [ 9.61087578e-01 1.04696012e-01 -2.55635310e-01 -8.32774585e+01] [ 2.56687558e-01 3.52675820e-03 9.66488003e-01 -9.20350460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.13, Y:-83.25, Z:-920.34 [[ 1.02121146e-01 -9.94496571e-01 -2.34060131e-02 4.58134203e+02] [ 9.61080966e-01 1.04706818e-01 -2.55655743e-01 -8.32506257e+01] [ 2.56699528e-01 3.61278383e-03 9.66484506e-01 -9.20343800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-83.23, Z:-920.34 [[ 1.02027164e-01 -9.94509054e-01 -2.32851595e-02 4.58135697e+02] [ 9.61215387e-01 1.04586712e-01 -2.55199136e-01 -8.32250421e+01] [ 2.56233170e-01 3.65519048e-03 9.66608091e-01 -9.20337613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-83.20, Z:-920.33 [[ 1.00936404e-01 -9.94623197e-01 -2.31633124e-02 4.58137206e+02] [ 9.61506324e-01 1.03503589e-01 -2.54543897e-01 -8.31989078e+01] [ 2.55572751e-01 3.42107429e-03 9.66783774e-01 -9.20331055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-83.17, Z:-920.32 [[ 9.98115367e-02 -9.94739153e-01 -2.30580972e-02 4.58139143e+02] [ 9.61701263e-01 1.02390237e-01 -2.54257588e-01 -8.31734338e+01] [ 2.55280901e-01 3.20283934e-03 9.66861626e-01 -9.20324808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-83.15, Z:-920.32 [[ 9.83656320e-02 -9.94884805e-01 -2.29875628e-02 4.58141281e+02] [ 9.61814844e-01 1.00973932e-01 -2.54394323e-01 -8.31473288e+01] [ 2.55414191e-01 2.91387924e-03 9.66827338e-01 -9.20317989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-83.12, Z:-920.31 [[ 9.67719841e-02 -9.95043025e-01 -2.29033331e-02 4.58143774e+02] [ 9.61984962e-01 9.94118119e-02 -2.54366321e-01 -8.31212716e+01] [ 2.55382296e-01 2.58287155e-03 9.66836704e-01 -9.20311569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.256559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:458.15, Y:-83.10, Z:-920.31 [[ 9.52759356e-02 -9.95189168e-01 -2.28257727e-02 4.58146337e+02] [ 9.62124201e-01 9.79455539e-02 -2.54408513e-01 -8.30953963e+01] [ 2.55420280e-01 2.27778085e-03 9.66827437e-01 -9.20305607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:458.15, Y:-83.07, Z:-920.30 [[ 9.38270280e-02 -9.95327945e-01 -2.27765442e-02 4.58148976e+02] [ 9.62161248e-01 9.65313897e-02 -2.54808602e-01 -8.30694838e+01] [ 2.55816774e-01 1.99322567e-03 9.66723231e-01 -9.20299361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.15, Y:-83.04, Z:-920.29 [[ 9.15360582e-02 -9.95539536e-01 -2.28512952e-02 4.58151940e+02] [ 9.61914441e-01 9.43333015e-02 -2.56557669e-01 -8.30437985e+01] [ 2.57568941e-01 1.50328692e-03 9.66258755e-01 -9.20293436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.15, Y:-83.02, Z:-920.29 [[ 9.03743182e-02 -9.95646263e-01 -2.28254566e-02 4.58154457e+02] [ 9.61847682e-01 9.32032775e-02 -2.57220112e-01 -8.30171606e+01] [ 2.58227651e-01 1.29147979e-03 9.66083233e-01 -9.20287141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-82.99, Z:-920.28 [[ 8.94512622e-02 -9.95730726e-01 -2.27770310e-02 4.58157154e+02] [ 9.61840188e-01 9.22986402e-02 -2.57574096e-01 -8.29905856e+01] [ 2.58576730e-01 1.13246421e-03 9.65990058e-01 -9.20280979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-82.96, Z:-920.27 [[ 8.86508367e-02 -9.95803221e-01 -2.27370807e-02 4.58159787e+02] [ 9.61793844e-01 9.15146649e-02 -2.58026487e-01 -8.29644467e+01] [ 2.59024383e-01 1.00587966e-03 9.65870259e-01 -9.20274375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-82.94, Z:-920.27 [[ 8.80382931e-02 -9.95860550e-01 -2.26058474e-02 4.58162943e+02] [ 9.62002271e-01 9.08895945e-02 -2.57469829e-01 -8.29374252e+01] [ 2.58458681e-01 9.20327708e-04 9.66021875e-01 -9.20267562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-82.91, Z:-920.26 [[ 8.79350110e-02 -9.95872132e-01 -2.24973350e-02 4.58164581e+02] [ 9.62114473e-01 9.07621591e-02 -2.57095259e-01 -8.29121756e+01] [ 2.58075910e-01 9.62662853e-04 9.66124163e-01 -9.20260599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-82.88, Z:-920.26 [[ 8.83275303e-02 -9.95961929e-01 -1.60649506e-02 4.58164985e+02] [ 9.62525043e-01 8.94914857e-02 -2.56001594e-01 -8.28825989e+01] [ 2.56405518e-01 7.14907136e-03 9.66542861e-01 -9.20257357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-82.86, Z:-920.24 [[ 8.73420440e-02 -9.95731357e-01 -2.98401122e-02 4.58172752e+02] [ 9.62542213e-01 9.20732462e-02 -2.55019620e-01 -8.28617821e+01] [ 2.56678508e-01 -6.44843270e-03 9.66475329e-01 -9.20244320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-82.83, Z:-920.24 [[ 8.69894609e-02 -9.95965332e-01 -2.20429384e-02 4.58171529e+02] [ 9.62772558e-01 8.97337091e-02 -2.54984046e-01 -8.28343056e+01] [ 2.55933264e-01 9.58588442e-04 9.66693977e-01 -9.20239542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-82.80, Z:-920.24 [[ 8.68404786e-02 -9.96108235e-01 -1.50703356e-02 4.58171817e+02] [ 9.63231291e-01 8.78158398e-02 -2.53917032e-01 -8.28042416e+01] [ 2.54252261e-01 7.53405778e-03 9.67108591e-01 -9.20236500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-82.78, Z:-920.22 [[ 8.54560174e-02 -9.95888903e-01 -3.00426883e-02 4.58179415e+02] [ 9.63599885e-01 9.02766478e-02 -2.51645363e-01 -8.27828834e+01] [ 2.53322977e-01 -7.44452052e-03 9.67353115e-01 -9.20223521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-82.76, Z:-920.22 [[ 8.48072204e-02 -9.96163329e-01 -2.15953144e-02 4.58176817e+02] [ 9.63719234e-01 8.75116750e-02 -2.52164518e-01 -8.27561875e+01] [ 2.53086888e-01 5.73551949e-04 9.67443383e-01 -9.20219862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-82.73, Z:-920.22 [[ 8.43881540e-02 -9.96302636e-01 -1.61151498e-02 4.58177365e+02] [ 9.63839917e-01 8.57197625e-02 -2.52318721e-01 -8.27264028e+01] [ 2.52767194e-01 5.76028646e-03 9.67509982e-01 -9.20216445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-82.70, Z:-920.21 [[ 8.21833757e-02 -9.96290000e-01 -2.55368304e-02 4.58182506e+02] [ 9.63783660e-01 8.59726631e-02 -2.52447535e-01 -8.27020422e+01] [ 2.53706424e-01 -3.86498923e-03 9.67273546e-01 -9.20206280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-82.68, Z:-920.20 [[ 8.18692765e-02 -9.96327020e-01 -2.50976463e-02 4.58183777e+02] [ 9.63605690e-01 8.55603345e-02 -2.53265679e-01 -8.26766776e+01] [ 2.54482802e-01 -3.44955688e-03 9.67071147e-01 -9.20198724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-82.65, Z:-920.21 [[ 7.82101696e-02 -9.96931826e-01 -3.17860195e-03 4.58172033e+02] [ 9.64941986e-01 7.65010364e-02 -2.51066833e-01 -8.26455013e+01] [ 2.50539682e-01 1.65688131e-02 9.67964536e-01 -9.20206112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.19, Y:-82.62, Z:-920.18 [[ 7.81733003e-02 -9.96215105e-01 -3.80052522e-02 4.58193704e+02] [ 9.63604128e-01 8.52801339e-02 -2.53366105e-01 -8.26247329e+01] [ 2.55648234e-01 -1.68155533e-02 9.66623618e-01 -9.20180526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.19, Y:-82.60, Z:-920.18 [[ 7.71281528e-02 -9.96791233e-01 -2.14122782e-02 4.58186436e+02] [ 9.63455733e-01 8.00400093e-02 -2.55629905e-01 -8.25962858e+01] [ 2.56523487e-01 -9.13519860e-04 9.66537566e-01 -9.20179284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-82.57, Z:-920.18 [[ 7.39453175e-02 -9.97234428e-01 -7.45559547e-03 4.58178482e+02] [ 9.64403078e-01 7.34101519e-02 -2.54042622e-01 -8.25661043e+01] [ 2.53887366e-01 1.15950632e-02 9.67164288e-01 -9.20182691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-82.54, Z:-920.16 [[ 7.46963293e-02 -9.96632659e-01 -3.38201400e-02 4.58195675e+02] [ 9.63192265e-01 8.08892507e-02 -2.56354423e-01 -8.25430153e+01] [ 2.58226876e-01 -1.34265628e-02 9.65990998e-01 -9.20162106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.19, Y:-82.52, Z:-920.16 [[ 7.37998157e-02 -9.97042498e-01 -2.14439677e-02 4.58190809e+02] [ 9.63009206e-01 7.68357324e-02 -2.58281899e-01 -8.25150192e+01] [ 2.59165693e-01 -1.58958175e-03 9.65831568e-01 -9.20159633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.19, Y:-82.49, Z:-920.15 [[ 7.17158392e-02 -9.97195698e-01 -2.13910686e-02 4.58192284e+02] [ 9.63156149e-01 7.48092699e-02 -2.58328871e-01 -8.24888306e+01] [ 2.59204689e-01 -2.07666744e-03 9.65820178e-01 -9.20153565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.19, Y:-82.46, Z:-920.15 [[ 7.06911591e-02 -9.97274293e-01 -2.11363264e-02 4.58194751e+02] [ 9.63793534e-01 7.37488450e-02 -2.56248183e-01 -8.24633807e+01] [ 2.57108505e-01 -2.25657369e-03 9.66379907e-01 -9.20147482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-82.43, Z:-920.14 [[ 6.98584340e-02 -9.97420229e-01 -1.65131951e-02 4.58195583e+02] [ 9.63615755e-01 7.17536177e-02 -2.57480282e-01 -8.24347446e+01] [ 2.58000924e-01 2.07479434e-03 9.66142442e-01 -9.20142592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-82.41, Z:-920.13 [[ 6.84457805e-02 -9.97394190e-01 -2.28036411e-02 4.58200148e+02] [ 9.63918696e-01 7.20077538e-02 -2.56272573e-01 -8.24095585e+01] [ 2.57246814e-01 -4.44007966e-03 9.66335533e-01 -9.20133356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-82.38, Z:-920.13 [[ 6.88000531e-02 -9.97394064e-01 -2.17171220e-02 4.58201805e+02] [ 9.64058589e-01 7.20687785e-02 -2.55728624e-01 -8.23822914e+01] [ 2.56627338e-01 -3.34243512e-03 9.66504650e-01 -9.20126028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-82.36, Z:-920.12 [[ 6.97446697e-02 -9.97337740e-01 -2.12864788e-02 4.58203675e+02] [ 9.64062760e-01 7.28706272e-02 -2.55485552e-01 -8.23555277e+01] [ 2.56356542e-01 -2.70274610e-03 9.66578511e-01 -9.20118458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.33, Z:-920.11 [[ 7.13933133e-02 -9.97165953e-01 -2.37288251e-02 4.58206088e+02] [ 9.64108396e-01 7.50867202e-02 -2.54670347e-01 -8.23299741e+01] [ 2.55730319e-01 -4.69539964e-03 9.66736757e-01 -9.20109308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.30, Z:-920.10 [[ 7.35841867e-02 -9.97077625e-01 -2.05323275e-02 4.58205856e+02] [ 9.64104577e-01 7.63874079e-02 -2.54297719e-01 -8.23046691e+01] [ 2.55122977e-01 -1.08302011e-03 9.66908007e-01 -9.20103320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.28, Z:-920.10 [[ 7.88168244e-02 -9.96681657e-01 -2.03367189e-02 4.58206712e+02] [ 9.64124800e-01 8.13976645e-02 -2.52661416e-01 -8.22788631e+01] [ 2.53478360e-01 3.06835445e-04 9.67341009e-01 -9.20096547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.25, Z:-920.09 [[ 8.15059401e-02 -9.96467631e-01 -2.02247919e-02 4.58208568e+02] [ 9.63993560e-01 8.39709338e-02 -2.52319835e-01 -8.22525293e+01] [ 2.53126843e-01 1.06899625e-03 9.67432509e-01 -9.20089437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.23, Z:-920.08 [[ 8.41502897e-02 -9.96250242e-01 -2.01043341e-02 4.58210589e+02] [ 9.63910732e-01 8.64996191e-02 -2.51781488e-01 -8.22262317e+01] [ 2.52576386e-01 1.80870184e-03 9.67575267e-01 -9.20082474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.20, Z:-920.08 [[ 8.65760354e-02 -9.96044176e-01 -2.00147331e-02 4.58212763e+02] [ 9.63733229e-01 8.88243142e-02 -2.51651556e-01 -8.22003609e+01] [ 2.52433861e-01 2.49813060e-03 9.67610927e-01 -9.20075749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-82.18, Z:-920.07 [[ 8.83836074e-02 -9.95886918e-01 -1.99395239e-02 4.58214629e+02] [ 9.63550924e-01 9.05540022e-02 -2.51733173e-01 -8.21755035e+01] [ 2.52503378e-01 3.03633931e-03 9.67591249e-01 -9.20069107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.22, Y:-82.15, Z:-920.06 [[ 9.04935202e-02 -9.95712276e-01 -1.91829500e-02 4.58218467e+02] [ 9.63181729e-01 9.24010870e-02 -2.52473752e-01 -8.21463260e+01] [ 2.53163740e-01 4.37057164e-03 9.67413572e-01 -9.20062012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.22, Y:-82.12, Z:-920.06 [[ 9.16006072e-02 -9.95544494e-01 -2.23716029e-02 4.58220265e+02] [ 9.62923119e-01 9.42791778e-02 -2.52765709e-01 -8.21218113e+01] [ 2.53748686e-01 1.61135877e-03 9.67268840e-01 -9.20055011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.22, Y:-82.10, Z:-920.05 [[ 9.16623132e-02 -9.95594446e-01 -1.97412970e-02 4.58220832e+02] [ 9.62836669e-01 9.36693895e-02 -2.53321128e-01 -8.20950916e+01] [ 2.54054264e-01 4.21235595e-03 9.67180794e-01 -9.20049070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.22, Y:-82.07, Z:-920.04 [[ 9.16955571e-02 -9.95592453e-01 -1.96873625e-02 4.58222977e+02] [ 9.62747855e-01 9.36863705e-02 -2.53652188e-01 -8.20685914e+01] [ 2.54378641e-01 4.30481268e-03 9.67095122e-01 -9.20042341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:-82.04, Z:-920.04 [[ 9.13000602e-02 -9.95630011e-01 -1.96260001e-02 4.58225448e+02] [ 9.62720646e-01 9.32872065e-02 -2.53902452e-01 -8.20424508e+01] [ 2.54623756e-01 4.28695363e-03 9.67030695e-01 -9.20036169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:-82.01, Z:-920.03 [[ 9.02998011e-02 -9.95736407e-01 -1.88402370e-02 4.58229120e+02] [ 9.62545861e-01 9.21145284e-02 -2.54990938e-01 -8.20138853e+01] [ 2.55639220e-01 4.89103889e-03 9.66759881e-01 -9.20028985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:-81.99, Z:-920.02 [[ 8.98852733e-02 -9.95723433e-01 -2.13420320e-02 4.58233153e+02] [ 9.62412482e-01 9.23525853e-02 -2.55407939e-01 -8.19903953e+01] [ 2.56286662e-01 2.41757437e-03 9.66597798e-01 -9.20021431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.23, Y:-81.96, Z:-920.02 [[ 8.66603886e-02 -9.96168242e-01 -1.17817740e-02 4.58232588e+02] [ 9.63028200e-01 8.67937511e-02 -2.55036331e-01 -8.19615087e+01] [ 2.55081678e-01 1.07553670e-02 9.66859690e-01 -9.20019783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.24, Y:-81.94, Z:-920.01 [[ 8.67521677e-02 -9.95975982e-01 -2.24923294e-02 4.58243122e+02] [ 9.62756315e-01 8.96192962e-02 -2.55085594e-01 -8.19356269e+01] [ 2.56074872e-01 4.74596115e-04 9.66656834e-01 -9.20007943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:-81.91, Z:-920.00 [[ 8.49724142e-02 -9.96145593e-01 -2.17634107e-02 4.58245220e+02] [ 9.62959642e-01 8.77123393e-02 -2.54980927e-01 -8.19104630e+01] [ 2.55907047e-01 7.09058780e-04 9.66701133e-01 -9.20001413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:-81.88, Z:-920.00 [[ 8.45905633e-02 -9.96214530e-01 -2.00261435e-02 4.58246175e+02] [ 9.62987831e-01 8.68983671e-02 -2.55153115e-01 -8.18833773e+01] [ 2.55927480e-01 2.29861319e-03 9.66693251e-01 -9.19995091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.25, Y:-81.86, Z:-919.99 [[ 8.39013282e-02 -9.96214725e-01 -2.27330080e-02 4.58250176e+02] [ 9.62886278e-01 8.69253691e-02 -2.55526900e-01 -8.18594308e+01] [ 2.56535735e-01 -4.50255192e-04 9.66534642e-01 -9.19986551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:-81.83, Z:-919.98 [[ 8.32325877e-02 -9.96347304e-01 -1.90889219e-02 4.58251562e+02] [ 9.62982981e-01 8.53442515e-02 -2.55695400e-01 -8.18331164e+01] [ 2.56390552e-01 2.89988289e-03 9.66568919e-01 -9.19980523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-81.81, Z:-919.97 [[ 8.22257088e-02 -9.96434629e-01 -1.88934791e-02 4.58255518e+02] [ 9.63476485e-01 8.43253404e-02 -2.54169826e-01 -8.18082984e+01] [ 2.54856815e-01 2.69587128e-03 9.66975044e-01 -9.19973573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-81.78, Z:-919.97 [[ 8.19377204e-02 -9.96461375e-01 -1.87333450e-02 4.58258525e+02] [ 9.63770137e-01 8.40089244e-02 -2.53159284e-01 -8.17819784e+01] [ 2.53837216e-01 2.68865617e-03 9.67243216e-01 -9.19966835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-81.76, Z:-919.96 [[ 8.17075261e-02 -9.96482101e-01 -1.86360847e-02 4.58261530e+02] [ 9.63847095e-01 8.37621884e-02 -2.52947966e-01 -8.17566149e+01] [ 2.53619120e-01 2.70541641e-03 9.67300379e-01 -9.19959410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.816559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:458.26, Y:-81.73, Z:-919.95 [[ 8.17558466e-02 -9.96479874e-01 -1.85429789e-02 4.58264135e+02] [ 9.63873282e-01 8.37856262e-02 -2.52840395e-01 -8.17307177e+01] [ 2.53504000e-01 2.79809863e-03 9.67330292e-01 -9.19952270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-81.70, Z:-919.95 [[ 8.11865286e-02 -9.96671580e-01 -7.38301738e-03 4.58259690e+02] [ 9.64711285e-01 8.04403840e-02 -2.50721921e-01 -8.17012431e+01] [ 2.50481306e-01 1.32327622e-02 9.68030996e-01 -9.19952950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.68, Z:-919.94 [[ 8.27084331e-02 -9.96151452e-01 -2.90103590e-02 4.58272375e+02] [ 9.63693689e-01 8.73615345e-02 -2.52314162e-01 -8.16782631e+01] [ 2.53877508e-01 -7.08859092e-03 9.67210403e-01 -9.19936088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.65, Z:-919.93 [[ 8.36958496e-02 -9.96320720e-01 -1.84398469e-02 4.58268006e+02] [ 9.63389059e-01 8.56316381e-02 -2.54064447e-01 -8.16505891e+01] [ 2.54708707e-01 3.49939301e-03 9.67011494e-01 -9.19933575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.63, Z:-919.93 [[ 8.49762836e-02 -9.96212619e-01 -1.84241621e-02 4.58269315e+02] [ 9.63035565e-01 8.68620529e-02 -2.54985264e-01 -8.16250496e+01] [ 2.55619898e-01 3.92457673e-03 9.66769396e-01 -9.19927290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.60, Z:-919.92 [[ 8.61272051e-02 -9.96114003e-01 -1.84119191e-02 4.58270592e+02] [ 9.62662858e-01 8.79669691e-02 -2.56011787e-01 -8.15987959e+01] [ 2.56636567e-01 4.32510905e-03 9.66498301e-01 -9.19920978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.57, Z:-919.91 [[ 8.76462809e-02 -9.95980252e-01 -1.84788097e-02 4.58271032e+02] [ 9.61969667e-01 8.94419387e-02 -2.58097849e-01 -8.15727580e+01] [ 2.58713142e-01 4.84526221e-03 9.65942045e-01 -9.19914622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.55, Z:-919.91 [[ 8.75324226e-02 -9.95991026e-01 -1.84377510e-02 4.58272109e+02] [ 9.61821664e-01 8.93183457e-02 -2.58691556e-01 -8.15459087e+01] [ 2.59301298e-01 4.91007028e-03 9.65783997e-01 -9.19907805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.056559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.52, Z:-919.90 [[ 8.71684219e-02 -9.96023726e-01 -1.83957709e-02 4.58273231e+02] [ 9.61725292e-01 8.89535055e-02 -2.59175108e-01 -8.15207657e+01] [ 2.59780925e-01 4.90020699e-03 9.65655145e-01 -9.19901173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-81.49, Z:-919.89 [[ 8.63061591e-02 -9.96100358e-01 -1.83118709e-02 4.58274562e+02] [ 9.61785360e-01 8.80987993e-02 -2.59244138e-01 -8.14940528e+01] [ 2.59846432e-01 4.76227643e-03 9.65638210e-01 -9.19894466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.28, Y:-81.47, Z:-919.89 [[ 8.47301549e-02 -9.96237512e-01 -1.82104787e-02 4.58275980e+02] [ 9.61999103e-01 8.65519874e-02 -2.58971966e-01 -8.14672638e+01] [ 2.59573740e-01 4.42427061e-03 9.65713156e-01 -9.19887669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.28, Y:-81.44, Z:-919.88 [[ 8.28934693e-02 -9.96394153e-01 -1.80932530e-02 4.58277940e+02] [ 9.62294415e-01 8.47500865e-02 -2.58470274e-01 -8.14408488e+01] [ 2.59071674e-01 4.01446141e-03 9.65849757e-01 -9.19880714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.28, Y:-81.42, Z:-919.87 [[ 7.87962011e-02 -9.96730048e-01 -1.78988735e-02 4.58280628e+02] [ 9.63072114e-01 8.07477901e-02 -2.56849953e-01 -8.14155623e+01] [ 2.57455361e-01 3.00089457e-03 9.66285533e-01 -9.19873819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.28, Y:-81.39, Z:-919.87 [[ 7.63822089e-02 -9.96920339e-01 -1.77650381e-02 4.58282792e+02] [ 9.63535489e-01 7.83834157e-02 -2.55842534e-01 -8.13896517e+01] [ 2.56447110e-01 2.42457323e-03 9.66555224e-01 -9.19866895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.36, Z:-919.86 [[ 7.41406908e-02 -9.97091512e-01 -1.76543334e-02 4.58285060e+02] [ 9.63824670e-01 7.61894167e-02 -2.55415699e-01 -8.13639123e+01] [ 2.56017898e-01 1.92101431e-03 9.66670133e-01 -9.19859889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.34, Z:-919.85 [[ 7.19612845e-02 -9.97252780e-01 -1.75632366e-02 4.58286938e+02] [ 9.64021519e-01 7.40595653e-02 -2.55299222e-01 -8.13382625e+01] [ 2.55898585e-01 1.44032194e-03 9.66702560e-01 -9.19853355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.31, Z:-919.85 [[ 6.99566560e-02 -9.97396905e-01 -1.74779797e-02 4.58288815e+02] [ 9.64164664e-01 7.20998896e-02 -2.55319617e-01 -8.13117059e+01] [ 2.55915156e-01 1.00965625e-03 9.66698719e-01 -9.19846798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.29, Z:-919.84 [[ 6.85004643e-02 -9.97499423e-01 -1.73950273e-02 4.58290337e+02] [ 9.64273484e-01 7.06709921e-02 -2.55308165e-01 -8.12854065e+01] [ 2.55899071e-01 7.15164247e-04 9.66703240e-01 -9.19840306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.26, Z:-919.83 [[ 6.79612954e-02 -9.97537291e-01 -1.73382894e-02 4.58291715e+02] [ 9.64218028e-01 7.01350250e-02 -2.55665158e-01 -8.12596165e+01] [ 2.56251550e-01 6.57444131e-04 9.66609906e-01 -9.19834117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.23, Z:-919.83 [[ 6.84519936e-02 -9.97504520e-01 -1.72932709e-02 4.58293115e+02] [ 9.64110697e-01 7.05975565e-02 -2.55942473e-01 -8.12329741e+01] [ 2.56524636e-01 8.47145071e-04 9.66537321e-01 -9.19826925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-81.21, Z:-919.82 [[ 6.93450548e-02 -9.97443654e-01 -1.72458870e-02 4.58294167e+02] [ 9.63917766e-01 7.14479854e-02 -2.56432695e-01 -8.12074598e+01] [ 2.57009348e-01 1.15872241e-03 9.66408223e-01 -9.19820311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.18, Z:-919.81 [[ 7.07672200e-02 -9.97344409e-01 -1.72084224e-02 4.58295136e+02] [ 9.63629924e-01 7.28115705e-02 -2.57130014e-01 -8.11807581e+01] [ 2.57700154e-01 1.61382550e-03 9.66223590e-01 -9.19813492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4765599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.16, Z:-919.81 [[ 7.22313556e-02 -9.97239642e-01 -1.71967577e-02 4.58295765e+02] [ 9.63249923e-01 7.42210474e-02 -2.58148837e-01 -8.11551344e+01] [ 2.58712615e-01 2.08166485e-03 9.65952095e-01 -9.19806960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.13, Z:-919.80 [[ 7.38858421e-02 -9.97119060e-01 -1.71599156e-02 4.58296713e+02] [ 9.62938545e-01 7.58077412e-02 -2.58848498e-01 -8.11289436e+01] [ 2.59403625e-01 2.60129507e-03 9.65765496e-01 -9.19800366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.10, Z:-919.79 [[ 7.56566652e-02 -9.96985793e-01 -1.71871582e-02 4.58296434e+02] [ 9.62367365e-01 7.75197443e-02 -2.60460639e-01 -8.11028148e+01] [ 2.61007901e-01 3.16522323e-03 9.65331475e-01 -9.19794496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.08, Z:-919.79 [[ 7.56457406e-02 -9.96987110e-01 -1.71588186e-02 4.58297167e+02] [ 9.62142637e-01 7.74990140e-02 -2.61295711e-01 -8.10771684e+01] [ 2.61838247e-01 3.25667661e-03 9.65106277e-01 -9.19788369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.05, Z:-919.78 [[ 7.48608678e-02 -9.97047302e-01 -1.71034867e-02 4.58298247e+02] [ 9.62073443e-01 7.67255221e-02 -2.61778311e-01 -8.10512545e+01] [ 2.62317632e-01 3.14214124e-03 9.64976470e-01 -9.19782121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.03, Z:-919.78 [[ 7.38633905e-02 -9.97122881e-01 -1.70340785e-02 4.58300001e+02] [ 9.62080653e-01 7.57440312e-02 -2.62037513e-01 -8.10258374e+01] [ 2.62573830e-01 2.96682180e-03 9.64907344e-01 -9.19775429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-81.00, Z:-919.77 [[ 7.23133578e-02 -9.97238140e-01 -1.69372528e-02 4.58301921e+02] [ 9.62244086e-01 7.42234960e-02 -2.61872474e-01 -8.09993616e+01] [ 2.62406361e-01 2.63910660e-03 9.64953852e-01 -9.19768636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-80.97, Z:-919.76 [[ 7.04188934e-02 -9.97375611e-01 -1.68246652e-02 4.58303909e+02] [ 9.62504343e-01 7.23669711e-02 -2.61435292e-01 -8.09737330e+01] [ 2.61966734e-01 2.21617061e-03 9.65074359e-01 -9.19761648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.7165599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.31, Y:-80.95, Z:-919.75 [[ 6.81962595e-02 -9.97533025e-01 -1.66473745e-02 4.58305982e+02] [ 9.63046198e-01 7.01781393e-02 -2.60032787e-01 -8.09477465e+01] [ 2.60559575e-01 1.70107275e-03 9.65456273e-01 -9.19754496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-80.92, Z:-919.75 [[ 6.40235155e-02 -9.97813900e-01 -1.63832658e-02 4.58308334e+02] [ 9.64098426e-01 6.60830647e-02 -2.57191085e-01 -8.09219634e+01] [ 2.57711496e-01 6.71196627e-04 9.66221680e-01 -9.19746769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-80.89, Z:-919.74 [[ 6.20260249e-02 -9.97942398e-01 -1.62401349e-02 4.58310190e+02] [ 9.64486669e-01 6.41164333e-02 -2.56231437e-01 -8.08944714e+01] [ 2.56745475e-01 2.29623937e-04 9.66479027e-01 -9.19739246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-80.87, Z:-919.73 [[ 6.06047954e-02 -9.98032057e-01 -1.60957182e-02 4.58311670e+02] [ 9.64875312e-01 6.27057301e-02 -2.55114924e-01 -8.08686855e+01] [ 2.55622166e-01 -6.91733705e-05 9.66776760e-01 -9.19732667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-80.84, Z:-919.73 [[ 5.96085336e-02 -9.98093627e-01 -1.59979678e-02 4.58313427e+02] [ 9.65117838e-01 6.17174009e-02 -2.54437658e-01 -8.08426553e+01] [ 2.54939958e-01 -2.73268346e-04 9.66956847e-01 -9.19725733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.82, Z:-919.72 [[ 5.90242292e-02 -9.98130251e-01 -1.58789956e-02 4.58315338e+02] [ 9.65312941e-01 6.11218684e-02 -2.53840586e-01 -8.08153759e+01] [ 2.54336521e-01 -3.45455031e-04 9.67115719e-01 -9.19718670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.79, Z:-919.71 [[ 5.91139231e-02 -9.98126246e-01 -1.57968687e-02 4.58316868e+02] [ 9.65342574e-01 6.11876926e-02 -2.53712005e-01 -8.07902738e+01] [ 2.54203185e-01 -2.51477955e-04 9.67150804e-01 -9.19712503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.76, Z:-919.71 [[ 6.16839655e-02 -9.97971438e-01 -1.57511301e-02 4.58317481e+02] [ 9.65007399e-01 6.36613585e-02 -2.54377577e-01 -8.07633077e+01] [ 2.54864295e-01 4.91060598e-04 9.66976706e-01 -9.19706352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.9565599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.74, Z:-919.70 [[ 6.34328896e-02 -9.97862622e-01 -1.56989385e-02 4.58318280e+02] [ 9.64762460e-01 6.53386830e-02 -2.54880859e-01 -8.07372473e+01] [ 2.55361830e-01 1.02208292e-03 9.66845019e-01 -9.19700410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.71, Z:-919.69 [[ 6.53980845e-02 -9.97736326e-01 -1.56625038e-02 4.58319292e+02] [ 9.64413593e-01 6.72280186e-02 -2.55708458e-01 -8.07109218e+01] [ 2.56182576e-01 1.61771177e-03 9.66627059e-01 -9.19694262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.69, Z:-919.69 [[ 6.72523966e-02 -9.97613229e-01 -1.56511909e-02 4.58320309e+02] [ 9.63973836e-01 6.90148749e-02 -2.56887897e-01 -8.06854694e+01] [ 2.57354929e-01 2.18898821e-03 9.66314467e-01 -9.19688471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.66, Z:-919.68 [[ 6.88786009e-02 -9.97502825e-01 -1.56158047e-02 4.58321406e+02] [ 9.63633009e-01 7.05747703e-02 -2.57741392e-01 -8.06587022e+01] [ 2.58199848e-01 2.70496158e-03 9.66087740e-01 -9.19682008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.63, Z:-919.68 [[ 7.03795239e-02 -9.97398468e-01 -1.55890334e-02 4.58322863e+02] [ 9.63276829e-01 7.20147724e-02 -2.58672811e-01 -8.06317760e+01] [ 2.59122506e-01 3.18871461e-03 9.65839199e-01 -9.19675312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.61, Z:-919.67 [[ 7.28613366e-02 -9.97220703e-01 -1.55594208e-02 4.58324701e+02] [ 9.62890504e-01 7.44009256e-02 -2.59434732e-01 -8.06059928e+01] [ 2.59871321e-01 3.92074280e-03 9.65635296e-01 -9.19668996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.58, Z:-919.67 [[ 7.06364527e-02 -9.97496274e-01 -3.41679306e-03 4.58316736e+02] [ 9.64264896e-01 6.91592666e-02 -2.55754193e-01 -8.05786726e+01] [ 2.55350158e-01 1.47708753e-02 9.66735806e-01 -9.19673078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.55, Z:-919.66 [[ 7.18467044e-02 -9.97372821e-01 -9.24697616e-03 4.58321937e+02] [ 9.64409069e-01 7.18314128e-02 -2.54470815e-01 -8.05511872e+01] [ 2.54466498e-01 9.36502177e-03 9.67036244e-01 -9.19664173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.1965599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.33, Y:-80.53, Z:-919.64 [[ 7.32942517e-02 -9.96919252e-01 -2.79277304e-02 4.58334562e+02] [ 9.63403417e-01 7.80143966e-02 -2.56451965e-01 -8.05278790e+01] [ 2.57840667e-01 -8.10921597e-03 9.66153420e-01 -9.19644398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.33, Y:-80.50, Z:-919.64 [[ 7.28163530e-02 -9.97232438e-01 -1.50081223e-02 4.58329418e+02] [ 9.63674918e-01 7.42271451e-02 -2.56556004e-01 -8.05003650e+01] [ 2.56959980e-01 4.21852150e-03 9.66412838e-01 -9.19641870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.33, Y:-80.48, Z:-919.64 [[ 7.17734620e-02 -9.97309859e-01 -1.48867656e-02 4.58331337e+02] [ 9.63937140e-01 7.31910419e-02 -2.55867665e-01 -8.04750012e+01] [ 2.56268922e-01 4.01460186e-03 9.66597187e-01 -9.19635371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.33, Y:-80.45, Z:-919.63 [[ 6.92053982e-02 -9.97494355e-01 -1.46841590e-02 4.58333988e+02] [ 9.64666354e-01 7.06643348e-02 -2.53821549e-01 -8.04483044e+01] [ 2.54223208e-01 3.40050718e-03 9.67139596e-01 -9.19628206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-80.42, Z:-919.62 [[ 6.73863805e-02 -9.97620421e-01 -1.45798068e-02 4.58335818e+02] [ 9.64895641e-01 6.88798400e-02 -2.53440270e-01 -8.04231321e+01] [ 2.53841444e-01 3.01043046e-03 9.67241159e-01 -9.19621717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-80.40, Z:-919.62 [[ 6.56472740e-02 -9.97738164e-01 -1.44565599e-02 4.58337942e+02] [ 9.65188334e-01 6.71682980e-02 -2.52784296e-01 -8.03968889e+01] [ 2.53183562e-01 2.64129702e-03 9.67414651e-01 -9.19615215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.33, Y:-80.37, Z:-919.61 [[ 6.19317429e-02 -9.98051913e-01 -7.53909298e-03 4.58334154e+02] [ 9.66095644e-01 6.18422750e-02 -2.50668587e-01 -8.03693255e+01] [ 2.50646497e-01 8.24085760e-03 9.68043605e-01 -9.19614823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-80.34, Z:-919.60 [[ 6.28746734e-02 -9.97830272e-01 -1.95326616e-02 4.58344489e+02] [ 9.65459175e-01 6.57701454e-02 -2.52116779e-01 -8.03434564e+01] [ 2.52854420e-01 -3.00622718e-03 9.67499667e-01 -9.19600085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4365599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.34, Y:-80.32, Z:-919.60 [[ 6.20404001e-02 -9.97971971e-01 -1.42454925e-02 4.58343511e+02] [ 9.65532658e-01 6.36264222e-02 -2.52385352e-01 -8.03161495e+01] [ 2.52779896e-01 1.90359999e-03 9.67521938e-01 -9.19595294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-80.29, Z:-919.59 [[ 6.25833329e-02 -9.97938539e-01 -1.42126511e-02 4.58344719e+02] [ 9.65270941e-01 6.41415168e-02 -2.53254568e-01 -8.02896315e+01] [ 2.53644115e-01 2.13045584e-03 9.67295262e-01 -9.19588692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.496559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.26, Z:-919.58 [[ 6.34985810e-02 -9.97881274e-01 -1.41736634e-02 4.58345266e+02] [ 9.65004857e-01 6.50149313e-02 -2.54044653e-01 -8.02640525e+01] [ 2.54427902e-01 2.45382100e-03 9.67088632e-01 -9.19582885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.24, Z:-919.58 [[ 6.32855377e-02 -9.97896023e-01 -1.40878668e-02 4.58346591e+02] [ 9.65018929e-01 6.47870666e-02 -2.54049412e-01 -8.02372047e+01] [ 2.54427609e-01 2.48259549e-03 9.67088635e-01 -9.19576082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.21, Z:-919.57 [[ 6.46644532e-02 -9.97807773e-01 -1.40768415e-02 4.58346977e+02] [ 9.64707289e-01 6.61152471e-02 -2.54889429e-01 -8.02106766e+01] [ 2.55261347e-01 2.90225399e-03 9.66867737e-01 -9.19569790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.18, Z:-919.56 [[ 6.63262067e-02 -9.97699102e-01 -1.40476801e-02 4.58347325e+02] [ 9.64338963e-01 6.77110151e-02 -2.55862432e-01 -8.01836079e+01] [ 2.56224901e-01 3.42365934e-03 9.66611131e-01 -9.19563439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.16, Z:-919.56 [[ 6.80169922e-02 -9.97606739e-01 -1.24290972e-02 4.58346797e+02] [ 9.63867792e-01 6.89224718e-02 -2.57310265e-01 -8.01582517e+01] [ 2.57551098e-01 5.52146382e-03 9.66248905e-01 -9.19558300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.13, Z:-919.55 [[ 6.80826701e-02 -9.97566564e-01 -1.50233305e-02 4.58348758e+02] [ 9.63658962e-01 6.96524151e-02 -2.57895222e-01 -8.01319571e+01] [ 2.58314062e-01 3.08082828e-03 9.66056082e-01 -9.19551207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.11, Z:-919.55 [[ 6.69089940e-02 -9.97661456e-01 -1.39572930e-02 4.58349373e+02] [ 9.63729168e-01 6.82428550e-02 -2.58009699e-01 -8.01067060e+01] [ 2.58358817e-01 3.81211905e-03 9.66041505e-01 -9.19545111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.08, Z:-919.54 [[ 6.50697603e-02 -9.97784517e-01 -1.38558702e-02 4.58351186e+02] [ 9.63937425e-01 6.64410592e-02 -2.57701818e-01 -8.00791613e+01] [ 2.58051483e-01 3.41240373e-03 9.66125141e-01 -9.19537883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-80.05, Z:-919.53 [[ 6.27410973e-02 -9.97935268e-01 -1.37388508e-02 4.58353254e+02] [ 9.64297929e-01 6.41635009e-02 -2.56929075e-01 -8.00532950e+01] [ 2.57280118e-01 2.87166672e-03 9.66332601e-01 -9.19530946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-80.03, Z:-919.52 [[ 6.00606064e-02 -9.98102308e-01 -1.35833423e-02 4.58355662e+02] [ 9.64849130e-01 6.15367226e-02 -2.55498314e-01 -8.00283665e+01] [ 2.55849331e-01 2.23950763e-03 9.66714076e-01 -9.19524486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-80.00, Z:-919.52 [[ 5.71315999e-02 -9.98276093e-01 -1.34470207e-02 4.58357968e+02] [ 9.65277871e-01 5.86719673e-02 -2.54551041e-01 -8.00023650e+01] [ 2.54901182e-01 1.56279674e-03 9.66965845e-01 -9.19517343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-79.98, Z:-919.51 [[ 5.14961176e-02 -9.98585160e-01 -1.32600619e-02 4.58360978e+02] [ 9.66125202e-01 5.31755755e-02 -2.52536041e-01 -7.99759844e+01] [ 2.52883854e-01 1.93745627e-04 9.67496625e-01 -9.19510590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-79.95, Z:-919.50 [[ 4.88313952e-02 -9.98720386e-01 -1.31562167e-02 4.58362800e+02] [ 9.66375074e-01 5.05710293e-02 -2.52114630e-01 -7.99507560e+01] [ 2.52457344e-01 -4.02730719e-04 9.67607941e-01 -9.19504203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-79.92, Z:-919.50 [[ 4.65459928e-02 -9.98831063e-01 -1.30376044e-02 4.58364543e+02] [ 9.66657199e-01 4.83291050e-02 -2.51471983e-01 -7.99243314e+01] [ 2.51808124e-01 -8.97881048e-04 9.67776763e-01 -9.19497430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.90, Z:-919.49 [[ 4.48489349e-02 -9.98909835e-01 -1.29504953e-02 4.58366266e+02] [ 9.66772636e-01 4.66646058e-02 -2.51342565e-01 -7.98980274e+01] [ 2.51672890e-01 -1.24773810e-03 9.67811552e-01 -9.19490699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.87, Z:-919.48 [[ 4.37100855e-02 -9.98961491e-01 -1.28595894e-02 4.58367675e+02] [ 9.66882438e-01 4.55391910e-02 -2.51126529e-01 -7.98720476e+01] [ 2.51451347e-01 -1.45694910e-03 9.67868843e-01 -9.19484323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.85, Z:-919.48 [[ 4.32272872e-02 -9.98983450e-01 -1.27854521e-02 4.58368711e+02] [ 9.66868884e-01 4.50534711e-02 -2.51266286e-01 -7.98465370e+01] [ 2.51586890e-01 -1.50029589e-03 9.67833553e-01 -9.19477822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.82, Z:-919.47 [[ 4.50538492e-02 -9.98903649e-01 -1.27141808e-02 4.58368168e+02] [ 9.66714612e-01 4.68036502e-02 -2.51539812e-01 -7.98208829e+01] [ 2.51859106e-01 -9.58147633e-04 9.67763439e-01 -9.19472103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.80, Z:-919.47 [[ 4.69600998e-02 -9.98816340e-01 -1.26755084e-02 4.58367949e+02] [ 9.66385743e-01 4.86391211e-02 -2.52453623e-01 -7.97953068e+01] [ 2.52771329e-01 -3.94183286e-04 9.67525969e-01 -9.19466241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.77, Z:-919.46 [[ 4.93423688e-02 -9.98701683e-01 -1.26601396e-02 4.58367462e+02] [ 9.65905252e-01 5.09397751e-02 -2.53834954e-01 -7.97690928e+01] [ 2.54150300e-01 2.96322555e-04 9.67164690e-01 -9.19460070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.74, Z:-919.45 [[ 5.19085578e-02 -9.98571773e-01 -1.26457663e-02 4.58366919e+02] [ 9.65421224e-01 5.34166552e-02 -2.55163717e-01 -7.97435711e+01] [ 2.55474780e-01 1.03668938e-03 9.66815165e-01 -9.19454286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.72, Z:-919.45 [[ 5.44680174e-02 -9.98435739e-01 -1.26218125e-02 4.58366548e+02] [ 9.64957512e-01 5.58828020e-02 -2.56386646e-01 -7.97169221e+01] [ 2.56690932e-01 1.78535944e-03 9.66491892e-01 -9.19448147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.69, Z:-919.44 [[ 5.93528008e-02 -9.98157429e-01 -1.26092494e-02 4.58365418e+02] [ 9.64305203e-01 6.05961098e-02 -2.57766535e-01 -7.96910141e+01] [ 2.58055653e-01 3.14000094e-03 9.66124951e-01 -9.19441949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.66, Z:-919.43 [[ 6.11639897e-02 -9.98049064e-01 -1.25312484e-02 4.58365766e+02] [ 9.64165096e-01 6.23253138e-02 -2.57878312e-01 -7.96635396e+01] [ 2.58156222e-01 3.69067408e-03 9.66096136e-01 -9.19434952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.64, Z:-919.43 [[ 6.08993849e-02 -9.98066188e-01 -1.24559086e-02 4.58366995e+02] [ 9.64181865e-01 6.20502300e-02 -2.57881953e-01 -7.96358685e+01] [ 2.58156149e-01 3.69509110e-03 9.66096139e-01 -9.19427937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-79.60, Z:-919.44 [[ 6.24929337e-02 -9.97974441e-01 1.19016239e-02 4.58353958e+02] [ 9.65755242e-01 5.74580017e-02 -2.53012632e-01 -7.96034505e+01] [ 2.51816296e-01 2.73055572e-02 9.67389766e-01 -9.19435780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.38, Y:-79.59, Z:-919.41 [[ 6.29685168e-02 -9.97355296e-01 -3.62957207e-02 4.58379912e+02] [ 9.64645626e-01 7.01485113e-02 -2.54043307e-01 -7.95858309e+01] [ 2.55917529e-01 -1.90157779e-02 9.66511572e-01 -9.19405668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.56, Z:-919.41 [[ 6.24889303e-02 -9.97972988e-01 -1.20436031e-02 4.58368063e+02] [ 9.65204860e-01 6.34984098e-02 -2.53668151e-01 -7.95571002e+01] [ 2.53918712e-01 4.22690714e-03 9.67216326e-01 -9.19406557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.53, Z:-919.40 [[ 6.10657111e-02 -9.98063088e-01 -1.18764990e-02 4.58369004e+02] [ 9.65770176e-01 6.20869080e-02 -2.51859450e-01 -7.95296173e+01] [ 2.52108995e-01 3.91000783e-03 9.67690946e-01 -9.19399509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.50, Z:-919.39 [[ 5.94239951e-02 -9.98163911e-01 -1.17301415e-02 4.58370451e+02] [ 9.66278454e-01 6.04671938e-02 -2.50299156e-01 -7.95039487e+01] [ 2.50548874e-01 3.53919280e-03 9.68097483e-01 -9.19392778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-79.48, Z:-919.39 [[ 5.75992573e-02 -9.98272211e-01 -1.16154704e-02 4.58372485e+02] [ 9.66550363e-01 5.86740554e-02 -2.49675290e-01 -7.94774289e+01] [ 2.49925430e-01 3.15417412e-03 9.68259950e-01 -9.19385380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-79.45, Z:-919.40 [[ 5.12815870e-02 -9.98521077e-01 1.80515132e-02 4.58356552e+02] [ 9.69104075e-01 4.53879085e-02 -2.42440158e-01 -7.94451866e+01] [ 2.41262287e-01 2.99265111e-02 9.69998409e-01 -9.19399793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.43, Z:-919.36 [[ 5.38829345e-02 -9.97809574e-01 -3.83755579e-02 4.58391386e+02] [ 9.66949134e-01 6.17307603e-02 -2.47383680e-01 -7.94258814e+01] [ 2.49210756e-01 -2.37774539e-02 9.68157338e-01 -9.19363401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-79.39, Z:-919.38 [[ 5.06607809e-02 -9.98577464e-01 1.66293182e-02 4.58362788e+02] [ 9.68666918e-01 4.50760213e-02 -2.44238723e-01 -7.93903221e+01] [ 2.43141701e-01 2.84815948e-02 9.69572541e-01 -9.19384842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-79.37, Z:-919.35 [[ 5.25948739e-02 -9.97892842e-01 -3.79954748e-02 4.58395165e+02] [ 9.66993490e-01 6.03915855e-02 -2.47540799e-01 -7.93721971e+01] [ 2.49313799e-01 -2.37219996e-02 9.68132169e-01 -9.19350491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.38, Y:-79.34, Z:-919.35 [[ 5.25378639e-02 -9.98555617e-01 -1.12451477e-02 4.58382780e+02] [ 9.67002058e-01 5.36823492e-02 -2.49048640e-01 -7.93437074e+01] [ 2.49292585e-01 2.21040262e-03 9.68425692e-01 -9.19353097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.576559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.38, Y:-79.32, Z:-919.35 [[ 5.26721151e-02 -9.98549450e-01 -1.11644251e-02 4.58384277e+02] [ 9.66976383e-01 5.37920529e-02 -2.49124649e-01 -7.93175010e+01] [ 2.49363839e-01 2.32618679e-03 9.68407076e-01 -9.19346646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.29, Z:-919.34 [[ 5.34248208e-02 -9.98509989e-01 -1.11171748e-02 4.58386476e+02] [ 9.66744795e-01 5.45071978e-02 -2.49866898e-01 -7.92920763e+01] [ 2.50100559e-01 2.60162335e-03 9.68216372e-01 -9.19340266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.27, Z:-919.33 [[ 5.41113946e-02 -9.98473488e-01 -1.10747854e-02 4.58387997e+02] [ 9.66462298e-01 5.51585452e-02 -2.50814994e-01 -7.92653100e+01] [ 2.51042990e-01 2.86858656e-03 9.67971688e-01 -9.19333450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.24, Z:-919.33 [[ 5.46245068e-02 -9.98446065e-01 -1.10281167e-02 4.58388924e+02] [ 9.66237485e-01 5.56410899e-02 -2.51573433e-01 -7.92393156e+01] [ 2.51796120e-01 3.08629494e-03 9.67775381e-01 -9.19327368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.21, Z:-919.32 [[ 5.50789255e-02 -9.98421546e-01 -1.09876884e-02 4.58389577e+02] [ 9.65952593e-01 5.60673006e-02 -2.52570875e-01 -7.92128857e+01] [ 2.52788254e-01 3.29774633e-03 9.67516007e-01 -9.19321356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.19, Z:-919.32 [[ 5.54144673e-02 -9.98403333e-01 -1.09554605e-02 4.58390370e+02] [ 9.65660217e-01 5.63800588e-02 -2.53617102e-01 -7.91863109e+01] [ 2.53829830e-01 3.47480427e-03 9.67242650e-01 -9.19315442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.756559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.16, Z:-919.31 [[ 5.52478124e-02 -9.98412984e-01 -1.09175706e-02 4.58391386e+02] [ 9.65399454e-01 5.62055280e-02 -2.54646487e-01 -7.91594566e+01] [ 2.54855987e-01 3.52884465e-03 9.66972582e-01 -9.19309101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.13, Z:-919.30 [[ 5.37907038e-02 -9.98493239e-01 -1.08541678e-02 4.58392554e+02] [ 9.65371037e-01 5.47790418e-02 -2.55064732e-01 -7.91338934e+01] [ 2.55274991e-01 3.24181223e-03 9.66863056e-01 -9.19302521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.11, Z:-919.30 [[ 5.23633481e-02 -9.98569830e-01 -1.07877157e-02 4.58393741e+02] [ 9.65465285e-01 5.33822528e-02 -2.55004154e-01 -7.91076007e+01] [ 2.55215327e-01 2.93770629e-03 9.66879779e-01 -9.19295498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-79.08, Z:-919.29 [[ 5.05101487e-02 -9.98666508e-01 -1.06738636e-02 4.58394716e+02] [ 9.65764468e-01 5.15634362e-02 -2.54244380e-01 -7.90822154e+01] [ 2.54455728e-01 2.53348323e-03 9.67081105e-01 -9.19289009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.876559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:458.40, Y:-79.06, Z:-919.28 [[ 4.84530415e-02 -9.98769499e-01 -1.05731615e-02 4.58395690e+02] [ 9.66100582e-01 4.95503651e-02 -2.53366192e-01 -7.90553409e+01] [ 2.53578328e-01 2.06162509e-03 9.67312660e-01 -9.19282185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-79.03, Z:-919.28 [[ 4.67282341e-02 -9.98852860e-01 -1.04611995e-02 4.58396530e+02] [ 9.66381564e-01 4.78549026e-02 -2.52619439e-01 -7.90303522e+01] [ 2.52830269e-01 1.69495001e-03 9.67509164e-01 -9.19275525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-79.00, Z:-919.27 [[ 4.50233565e-02 -9.98932062e-01 -1.03746814e-02 4.58397263e+02] [ 9.66475100e-01 4.61836352e-02 -2.52572671e-01 -7.90041145e+01] [ 2.52782079e-01 1.34479819e-03 9.67522306e-01 -9.19268653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.98, Z:-919.26 [[ 4.34032949e-02 -9.99004961e-01 -1.02587766e-02 4.58397910e+02] [ 9.66781671e-01 4.45878525e-02 -2.51684573e-01 -7.89776369e+01] [ 2.51891554e-01 1.00594252e-03 9.67754945e-01 -9.19262243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.95, Z:-919.26 [[ 4.30650018e-02 -9.99020199e-01 -1.02003521e-02 4.58398637e+02] [ 9.66660444e-01 4.42452173e-02 -2.52210125e-01 -7.89514283e+01] [ 2.52414327e-01 1.00115264e-03 9.67618730e-01 -9.19255575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.92, Z:-919.25 [[ 4.31270611e-02 -9.99018229e-01 -1.01308972e-02 4.58399123e+02] [ 9.66580523e-01 4.42873986e-02 -2.52508849e-01 -7.89248500e+01] [ 2.52709614e-01 1.09763669e-03 9.67541548e-01 -9.19249304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.90, Z:-919.24 [[ 4.33607271e-02 -9.99008661e-01 -1.00768244e-02 4.58399311e+02] [ 9.66389293e-01 4.44989345e-02 -2.53202646e-01 -7.88997266e+01] [ 2.53400044e-01 1.24091563e-03 9.67360780e-01 -9.19243115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.87, Z:-919.24 [[ 4.38152235e-02 -9.98989395e-01 -1.00207615e-02 4.58399403e+02] [ 9.66172745e-01 4.49232769e-02 -2.53953000e-01 -7.88736847e+01] [ 2.54146519e-01 1.44522077e-03 9.67164649e-01 -9.19237207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.85, Z:-919.23 [[ 4.47533519e-02 -9.98948125e-01 -9.98908635e-03 4.58399657e+02] [ 9.65772806e-01 4.58200851e-02 -2.55310414e-01 -7.88461395e+01] [ 2.55499560e-01 1.77880886e-03 9.66807536e-01 -9.19230578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.82, Z:-919.22 [[ 4.69698154e-02 -9.98846482e-01 -9.97711456e-03 4.58399084e+02] [ 9.65237471e-01 4.79558383e-02 -2.56937469e-01 -7.88185720e+01] [ 2.57119548e-01 2.43802067e-03 9.66376528e-01 -9.19224718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.79, Z:-919.22 [[ 4.81835381e-02 -9.98789254e-01 -9.91828481e-03 4.58399188e+02] [ 9.65071478e-01 4.91124143e-02 -2.57342211e-01 -7.87929411e+01] [ 2.57517746e-01 2.82780444e-03 9.66269432e-01 -9.19218730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.77, Z:-919.21 [[ 4.93671687e-02 -9.98731848e-01 -9.87820977e-03 4.58399373e+02] [ 9.64831541e-01 5.02435198e-02 -2.58022647e-01 -7.87668122e+01] [ 2.58191751e-01 3.20703918e-03 9.66088368e-01 -9.19212108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.74, Z:-919.21 [[ 5.04855678e-02 -9.98676854e-01 -9.78509971e-03 4.58399632e+02] [ 9.64842987e-01 5.13008460e-02 -2.57771672e-01 -7.87413324e+01] [ 2.57932586e-01 3.57266439e-03 9.66156311e-01 -9.19206016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.71, Z:-919.20 [[ 5.12698411e-02 -9.98637780e-01 -9.69469979e-03 4.58399848e+02] [ 9.64826389e-01 5.20355729e-02 -2.57686511e-01 -7.87149848e+01] [ 2.57839955e-01 3.85784431e-03 9.66179939e-01 -9.19199598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.69, Z:-919.19 [[ 5.19900281e-02 -9.98601447e-01 -9.60146047e-03 4.58400606e+02] [ 9.64870101e-01 5.27086199e-02 -2.57385876e-01 -7.86881261e+01] [ 2.57531988e-01 4.11733681e-03 9.66261001e-01 -9.19192717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.66, Z:-919.19 [[ 5.29953224e-02 -9.98549650e-01 -9.49175786e-03 4.58402825e+02] [ 9.65007867e-01 5.36549983e-02 -2.56672862e-01 -7.86628058e+01] [ 2.56809877e-01 4.44284008e-03 9.66451731e-01 -9.19186058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-78.64, Z:-919.18 [[ 5.34609151e-02 -9.98525783e-01 -9.39104628e-03 4.58404913e+02] [ 9.65087338e-01 5.40809578e-02 -2.56284375e-01 -7.86352256e+01] [ 2.56414433e-01 4.63801736e-03 9.66555807e-01 -9.19178940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.61, Z:-919.17 [[ 5.38388822e-02 -9.98506331e-01 -9.29958332e-03 4.58406497e+02] [ 9.65191692e-01 5.44251368e-02 -2.55818105e-01 -7.86095334e+01] [ 2.55942129e-01 4.79708029e-03 9.66680203e-01 -9.19172366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.58, Z:-919.17 [[ 5.40932153e-02 -9.98493289e-01 -9.22365255e-03 4.58408131e+02] [ 9.65326154e-01 5.46543851e-02 -2.55261267e-01 -7.85830482e+01] [ 2.55380775e-01 4.90406965e-03 9.66828118e-01 -9.19165367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.56, Z:-919.16 [[ 5.39787562e-02 -9.98500493e-01 -9.11367227e-03 4.58409539e+02] [ 9.65537328e-01 5.45195971e-02 -2.54490239e-01 -7.85565183e+01] [ 2.54605503e-01 4.93747581e-03 9.67032398e-01 -9.19158719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.53, Z:-919.15 [[ 5.36820793e-02 -9.98517239e-01 -9.03095391e-03 4.58410346e+02] [ 9.65553894e-01 5.42116397e-02 -2.54493176e-01 -7.85296284e+01] [ 2.54605406e-01 4.94185014e-03 9.67032401e-01 -9.19151915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.50, Z:-919.15 [[ 5.36617591e-02 -9.98519341e-01 -8.91858826e-03 4.58411936e+02] [ 9.65811278e-01 5.41684122e-02 -2.53523880e-01 -7.85045919e+01] [ 2.53631604e-01 4.99086427e-03 9.67288014e-01 -9.19145996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.48, Z:-919.15 [[ 5.09469740e-02 -9.98699733e-01 1.80257404e-03 4.58405656e+02] [ 9.66740281e-01 4.88634932e-02 -2.51048975e-01 -7.84755440e+01] [ 2.50634465e-01 1.45328066e-02 9.67972708e-01 -9.19147799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.45, Z:-919.13 [[ 5.29916282e-02 -9.98428183e-01 -1.82497067e-02 4.58420088e+02] [ 9.65799328e-01 5.58878768e-02 -2.53195980e-01 -7.84521267e+01] [ 2.53817940e-01 -4.20828723e-03 9.67242857e-01 -9.19129458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.42, Z:-919.13 [[ 5.26299295e-02 -9.98575934e-01 -8.72899780e-03 4.58417283e+02] [ 9.65819275e-01 5.31213255e-02 -2.53714906e-01 -7.84249744e+01] [ 2.53817295e-01 4.92236331e-03 9.67239656e-01 -9.19126195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.40, Z:-919.12 [[ 5.24610841e-02 -9.98585194e-01 -8.68587211e-03 4.58419822e+02] [ 9.65550027e-01 5.29416468e-02 -2.54775052e-01 -7.83983591e+01] [ 2.54874440e-01 4.97913141e-03 9.66961338e-01 -9.19120365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.656559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.37, Z:-919.11 [[ 5.29232518e-02 -9.98561382e-01 -8.61954307e-03 4.58419957e+02] [ 9.65403310e-01 5.33691247e-02 -2.55241426e-01 -7.83728681e+01] [ 2.55334249e-01 5.18687086e-03 9.66838931e-01 -9.19114480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.35, Z:-919.11 [[ 5.37694999e-02 -9.98516721e-01 -8.55564698e-03 4.58420216e+02] [ 9.65184015e-01 5.41672124e-02 -2.55901798e-01 -7.83462954e+01] [ 2.55985660e-01 5.50193803e-03 9.66664922e-01 -9.19107985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.32, Z:-919.10 [[ 5.45888156e-02 -9.98472731e-01 -8.50100788e-03 4.58420487e+02] [ 9.64918069e-01 5.49401797e-02 -2.56738579e-01 -7.83188723e+01] [ 2.56813517e-01 5.81227884e-03 9.66443498e-01 -9.19101374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.29, Z:-919.10 [[ 5.50126972e-02 -9.98449938e-01 -8.44536019e-03 4.58420206e+02] [ 9.64728901e-01 5.53316435e-02 -2.57364637e-01 -7.82930108e+01] [ 2.57433002e-01 6.01083980e-03 9.66277455e-01 -9.19095345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.27, Z:-919.09 [[ 5.51166373e-02 -9.98444572e-01 -8.40202174e-03 4.58417276e+02] [ 9.64346517e-01 5.54119728e-02 -2.58776562e-01 -7.82666365e+01] [ 2.58839626e-01 6.16043352e-03 9.65900666e-01 -9.19089667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.24, Z:-919.08 [[ 5.43505230e-02 -9.98487179e-01 -8.32910426e-03 4.58416177e+02] [ 9.64309703e-01 5.46512798e-02 -2.59075346e-01 -7.82400312e+01] [ 2.59138607e-01 6.04904447e-03 9.65821201e-01 -9.19083240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.21, Z:-919.08 [[ 5.30548639e-02 -9.98557492e-01 -8.25327607e-03 4.58415484e+02] [ 9.64324491e-01 5.33790588e-02 -2.59285466e-01 -7.82135507e+01] [ 2.59351997e-01 5.79751889e-03 9.65765464e-01 -9.19076604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.19, Z:-919.07 [[ 5.12419640e-02 -9.98652863e-01 -8.16822296e-03 4.58415234e+02] [ 9.64447513e-01 5.16068007e-02 -2.59186675e-01 -7.81866203e+01] [ 2.59259050e-01 5.40341192e-03 9.65792705e-01 -9.19069931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-78.16, Z:-919.06 [[ 4.91033708e-02 -9.98783928e-01 -4.41858261e-03 4.58413409e+02] [ 9.64239167e-01 4.85576934e-02 -2.60547462e-01 -7.81609375e+01] [ 2.60445174e-01 8.53318822e-03 9.65450929e-01 -9.19064592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.13, Z:-919.06 [[ 4.55626142e-02 -9.98896640e-01 -1.13820794e-02 4.58417907e+02] [ 9.64678812e-01 4.69554494e-02 -2.59210292e-01 -7.81339812e+01] [ 2.59458741e-01 8.30247664e-04 9.65753837e-01 -9.19055617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.11, Z:-919.05 [[ 3.84107370e-02 -9.99230272e-01 -7.96741917e-03 4.58418237e+02] [ 9.64930795e-01 3.91619243e-02 -2.59566765e-01 -7.81080293e+01] [ 2.59678988e-01 2.28214263e-03 9.65692298e-01 -9.19050255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.08, Z:-919.04 [[ 3.40057229e-02 -9.99390444e-01 -7.89623880e-03 4.58419763e+02] [ 9.65147023e-01 3.48898541e-02 -2.59372169e-01 -7.80827664e+01] [ 2.59489566e-01 1.19910673e-03 9.65745167e-01 -9.19044181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.016559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.06, Z:-919.04 [[ 2.98197948e-02 -9.99524875e-01 -7.79776082e-03 4.58421412e+02] [ 9.65400028e-01 3.08218704e-02 -2.58945551e-01 -7.80567489e+01] [ 2.59062861e-01 1.93744679e-04 9.65860444e-01 -9.19037901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.03, Z:-919.03 [[ 2.60585665e-02 -9.99630647e-01 -7.71504460e-03 4.58422839e+02] [ 9.65505241e-01 2.71676238e-02 -2.58962451e-01 -7.80314964e+01] [ 2.59076401e-01 -7.00725752e-04 9.65856577e-01 -9.19031310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-78.01, Z:-919.02 [[ 2.31695775e-02 -9.99702492e-01 -7.62224175e-03 4.58424315e+02] [ 9.65635319e-01 2.43529186e-02 -2.58757351e-01 -7.80063614e+01] [ 2.58865993e-01 -1.36500735e-03 9.65912281e-01 -9.19024736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.98, Z:-919.02 [[ 2.15562150e-02 -9.99739301e-01 -7.52728922e-03 4.58425356e+02] [ 9.65765026e-01 2.27693558e-02 -2.58417243e-01 -7.79805380e+01] [ 2.58521265e-01 -1.69909503e-03 9.66004073e-01 -9.19017734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.96, Z:-919.01 [[ 2.20525055e-02 -9.99729373e-01 -7.40735195e-03 4.58425222e+02] [ 9.66090294e-01 2.32158589e-02 -2.57158645e-01 -7.79553005e+01] [ 2.57261019e-01 -1.48517840e-03 9.66340811e-01 -9.19011289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.93, Z:-919.00 [[ 2.31234345e-02 -9.99705773e-01 -7.32629145e-03 4.58425105e+02] [ 9.66007792e-01 2.42301507e-02 -2.57374913e-01 -7.79291553e+01] [ 2.57476703e-01 -1.12586269e-03 9.66283851e-01 -9.19004419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.90, Z:-919.00 [[ 2.47607054e-02 -9.99667179e-01 -7.24141745e-03 4.58425522e+02] [ 9.65996374e-01 2.57903067e-02 -2.57266140e-01 -7.79028987e+01] [ 2.57367275e-01 -6.25091889e-04 9.66313456e-01 -9.18997823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.88, Z:-918.99 [[ 2.60839968e-02 -9.99634064e-01 -7.16686294e-03 4.58426360e+02] [ 9.65895267e-01 2.70498915e-02 -2.57516286e-01 -7.78767020e+01] [ 2.57615914e-01 -2.05385006e-04 9.66247380e-01 -9.18990740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.256559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.85, Z:-918.98 [[ 2.75369499e-02 -9.99595674e-01 -7.08553692e-03 4.58427447e+02] [ 9.65854129e-01 2.84328517e-02 -2.57521601e-01 -7.78505175e+01] [ 2.57618941e-01 2.47764332e-04 9.66246563e-01 -9.18983778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.82, Z:-918.97 [[ 2.93649336e-02 -9.99484137e-01 -1.30061752e-02 4.58430629e+02] [ 9.65669985e-01 3.17265483e-02 -2.57827281e-01 -7.78244874e+01] [ 2.58106919e-01 -4.98859203e-03 9.66103479e-01 -9.18972899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.80, Z:-918.97 [[ 3.00388975e-02 -9.99548426e-01 -7.79890491e-04 4.58424857e+02] [ 9.66376191e-01 2.92413141e-02 -2.55464289e-01 -7.77965068e+01] [ 2.55371733e-01 6.92019799e-03 9.66818178e-01 -9.18971217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-77.77, Z:-918.95 [[ 2.99052784e-02 -9.99273064e-01 -2.36435584e-02 4.58438217e+02] [ 9.65658024e-01 3.49907296e-02 -2.57449469e-01 -7.77724795e+01] [ 2.58089625e-01 -1.51324939e-02 9.66002460e-01 -9.18951300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.74, Z:-918.96 [[ 2.82679933e-02 -9.99593145e-01 3.80345090e-03 4.58423098e+02] [ 9.66782427e-01 2.63727529e-02 -2.54236538e-01 -7.77433927e+01] [ 2.54032793e-01 1.08638662e-02 9.67134591e-01 -9.18956988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.72, Z:-918.94 [[ 2.68402932e-02 -9.99572458e-01 -1.15974594e-02 4.58432818e+02] [ 9.67267855e-01 2.88979056e-02 -2.52106739e-01 -7.77177582e+01] [ 2.52334095e-01 -4.45123085e-03 9.67629935e-01 -9.18942432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.69, Z:-918.94 [[ 2.55881213e-02 -9.99665974e-01 3.63162357e-03 4.58425736e+02] [ 9.68297002e-01 2.38818477e-02 -2.48657544e-01 -7.76898873e+01] [ 2.48487756e-01 9.87916962e-03 9.68584657e-01 -9.18943277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.67, Z:-918.93 [[ 2.41222779e-02 -9.99688209e-01 -6.44981173e-03 4.58432523e+02] [ 9.68454136e-01 2.49682571e-02 -2.47937843e-01 -7.76651404e+01] [ 2.48021579e-01 -2.65521288e-04 9.68754472e-01 -9.18932476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.64, Z:-918.93 [[ 2.28226014e-02 -9.99719280e-01 -6.36327276e-03 4.58433145e+02] [ 9.68568295e-01 2.36875545e-02 -2.47617362e-01 -7.76390054e+01] [ 2.47698581e-01 -5.11991891e-04 9.68837009e-01 -9.18925275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.61, Z:-918.92 [[ 2.13380649e-02 -9.99752631e-01 -6.27403224e-03 4.58432409e+02] [ 9.68700133e-01 2.22268560e-02 -2.47236769e-01 -7.76127526e+01] [ 2.47315062e-01 -8.02101641e-04 9.68934785e-01 -9.18919101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.59, Z:-918.91 [[ 2.04881548e-02 -9.99770909e-01 -6.19389742e-03 4.58431620e+02] [ 9.68718956e-01 2.13835257e-02 -2.47237393e-01 -7.75864268e+01] [ 2.47313201e-01 -9.34707874e-04 9.68935141e-01 -9.18912947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.56, Z:-918.91 [[ 1.96684420e-02 -9.99787629e-01 -6.15220351e-03 4.58430202e+02] [ 9.68330791e-01 2.05807265e-02 -2.48821048e-01 -7.75605906e+01] [ 2.48894822e-01 -1.06344573e-03 9.68529936e-01 -9.18907367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.53, Z:-918.90 [[ 1.93021914e-02 -9.99795175e-01 -6.08553550e-03 4.58429818e+02] [ 9.68148811e-01 2.02102301e-02 -2.49558463e-01 -7.75345141e+01] [ 2.49630337e-01 -1.07467875e-03 9.68340612e-01 -9.18900842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.51, Z:-918.89 [[ 1.88565439e-02 -9.99804042e-01 -6.02562663e-03 4.58429395e+02] [ 9.67939199e-01 1.97647129e-02 -2.50405796e-01 -7.75076554e+01] [ 2.50475822e-01 -1.11065231e-03 9.68122218e-01 -9.18894162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.48, Z:-918.89 [[ 1.84761495e-02 -9.99811472e-01 -5.97095442e-03 4.58428899e+02] [ 9.67746834e-01 1.93836614e-02 -2.51177905e-01 -7.74817417e+01] [ 2.51246290e-01 -1.13757171e-03 9.67922522e-01 -9.18887620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.46, Z:-918.88 [[ 1.84127085e-02 -9.99813075e-01 -5.89811604e-03 4.58428851e+02] [ 9.67604312e-01 1.93045719e-02 -2.51732454e-01 -7.74568555e+01] [ 2.51799259e-01 -1.07196623e-03 9.67778892e-01 -9.18880795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.43, Z:-918.87 [[ 1.79923972e-02 -9.99831299e-01 -3.69420230e-03 4.58427458e+02] [ 9.67582298e-01 1.83427482e-02 -2.51888945e-01 -7.74282606e+01] [ 2.51914213e-01 9.57641188e-04 9.67749096e-01 -9.18874892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.40, Z:-918.86 [[ 1.85787205e-02 -9.99796507e-01 -7.85980311e-03 4.58429508e+02] [ 9.67388090e-01 1.99615819e-02 -2.52511028e-01 -7.74011733e+01] [ 2.52616538e-01 -2.91214812e-03 9.67562093e-01 -9.18864889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.38, Z:-918.86 [[ 1.91703679e-02 -9.99796148e-01 -6.33721994e-03 4.58428001e+02] [ 9.67609155e-01 2.01482777e-02 -2.51647710e-01 -7.73750370e+01] [ 2.51724095e-01 -1.30777283e-03 9.67798155e-01 -9.18858486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.35, Z:-918.85 [[ 1.94642908e-02 -9.99794500e-01 -5.66555547e-03 4.58427053e+02] [ 9.67773715e-01 2.02632750e-02 -2.51004854e-01 -7.73493756e+01] [ 2.51068076e-01 -5.97344184e-04 9.67969248e-01 -9.18852107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.32, Z:-918.85 [[ 2.06911852e-02 -9.99770396e-01 -5.57054636e-03 4.58424996e+02] [ 9.67865465e-01 2.14269262e-02 -2.50554044e-01 -7.73232391e+01] [ 2.50615876e-01 -2.07279317e-04 9.68086587e-01 -9.18845162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.29, Z:-918.84 [[ 2.02652830e-02 -9.99789484e-01 3.21028642e-03 4.58418707e+02] [ 9.68322002e-01 1.88279410e-02 -2.48993993e-01 -7.72942167e+01] [ 2.48881133e-01 8.15452473e-03 9.68499709e-01 -9.18843914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.916559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.27, Z:-918.84 [[ 2.03336003e-02 -9.99789969e-01 2.56173989e-03 4.58417576e+02] [ 9.68785623e-01 1.90697312e-02 -2.47165456e-01 -7.72685967e+01] [ 2.47064692e-01 7.50754036e-03 9.68969904e-01 -9.18840245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.25, Z:-918.82 [[ 2.29300356e-02 -9.99529050e-01 -2.03934089e-02 4.58431091e+02] [ 9.67835265e-01 2.73057192e-02 -2.50098575e-01 -7.72452780e+01] [ 2.50537648e-01 -1.40026911e-02 9.68005585e-01 -9.18820278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.22, Z:-918.82 [[ 2.36643527e-02 -9.99705953e-01 -5.29211281e-03 4.58422826e+02] [ 9.67800498e-01 2.42354327e-02 -2.50549078e-01 -7.72190876e+01] [ 2.50603662e-01 8.07372341e-04 9.68089434e-01 -9.18818054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-77.19, Z:-918.82 [[ 2.24429093e-02 -9.99676494e-01 1.19676155e-02 4.58410939e+02] [ 9.68861304e-01 1.87954663e-02 -2.46889662e-01 -7.71904122e+01] [ 2.46584854e-01 1.71358818e-02 9.68969696e-01 -9.18822836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-77.17, Z:-918.80 [[ 2.54898491e-02 -9.99447926e-01 -2.13098727e-02 4.58426707e+02] [ 9.67755584e-01 3.00140396e-02 -2.50096555e-01 -7.71682464e+01] [ 2.50598079e-01 -1.42478249e-02 9.67986365e-01 -9.18799162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:458.42, Y:-77.14, Z:-918.80 [[ 2.60703975e-02 -9.99647098e-01 -5.10038632e-03 4.58416425e+02] [ 9.67658540e-01 2.65161149e-02 -2.50866191e-01 -7.71404130e+01] [ 2.50912902e-01 1.60474895e-03 9.68008337e-01 -9.18798009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.096559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:458.41, Y:-77.11, Z:-918.79 [[ 2.69586376e-02 -9.99623713e-01 -5.06597220e-03 4.58413040e+02] [ 9.67039928e-01 2.73628274e-02 -2.53150261e-01 -7.71138347e+01] [ 2.53193623e-01 1.92558875e-03 9.67413708e-01 -9.18791944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:458.41, Y:-77.09, Z:-918.79 [[ 2.68510982e-02 -9.99626858e-01 -5.01641019e-03 4.58412197e+02] [ 9.66630942e-01 2.72430495e-02 -2.54720315e-01 -7.70877168e+01] [ 2.54761931e-01 1.99050290e-03 9.67001756e-01 -9.18785644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-77.06, Z:-918.78 [[ 2.64326115e-02 -9.99638319e-01 -4.95456365e-03 4.58411921e+02] [ 9.66374253e-01 2.68205613e-02 -2.55737093e-01 -7.70609536e+01] [ 2.55777482e-01 1.97183648e-03 9.66733672e-01 -9.18778759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:458.41, Y:-77.04, Z:-918.77 [[ 2.56191265e-02 -9.99659802e-01 -4.89288419e-03 4.58411476e+02] [ 9.66090160e-01 2.60161744e-02 -2.56890952e-01 -7.70358511e+01] [ 2.56930853e-01 1.85435454e-03 9.66428010e-01 -9.18772281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.2165599950001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:458.41, Y:-77.01, Z:-918.77 [[ 2.45031609e-02 -9.99688146e-01 -4.81729420e-03 4.58410677e+02] [ 9.65950796e-01 2.49171833e-02 -2.57523192e-01 -7.70091391e+01] [ 2.57562915e-01 1.65686304e-03 9.66260110e-01 -9.18765370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.98, Z:-918.76 [[ 2.29183095e-02 -9.99726102e-01 -4.74053478e-03 4.58409452e+02] [ 9.65923812e-01 2.33657071e-02 -2.57769728e-01 -7.69840703e+01] [ 2.57809891e-01 1.32865098e-03 9.66194750e-01 -9.18758966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.96, Z:-918.75 [[ 1.93561513e-02 -9.99801754e-01 -4.66827166e-03 4.58406292e+02] [ 9.66132917e-01 1.99055956e-02 -2.57276029e-01 -7.69587616e+01] [ 2.57317949e-01 4.69702830e-04 9.66326680e-01 -9.18752618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.93, Z:-918.75 [[ 1.72391693e-02 -9.99840857e-01 -4.59051321e-03 4.58405654e+02] [ 9.66388371e-01 1.78398864e-02 -2.56466868e-01 -7.69323476e+01] [ 2.56507947e-01 -1.49428337e-05 9.66542122e-01 -9.18745776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.91, Z:-918.74 [[ 1.69555467e-02 -9.99846069e-01 -4.51098454e-03 4.58405968e+02] [ 9.66393392e-01 1.75453535e-02 -2.56468268e-01 -7.69054617e+01] [ 2.56507936e-01 -1.08259487e-05 9.66542125e-01 -9.18738977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.88, Z:-918.73 [[ 1.49126252e-02 -9.99878996e-01 -4.42806526e-03 4.58405672e+02] [ 9.66543802e-01 1.55493040e-02 -2.56029879e-01 -7.68787502e+01] [ 2.56067752e-01 -4.61841405e-04 9.66658727e-01 -9.18731716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.85, Z:-918.72 [[ 1.34418590e-02 -9.99900213e-01 -4.34509299e-03 4.58405854e+02] [ 9.66627591e-01 1.41061412e-02 -2.55797024e-01 -7.68522924e+01] [ 2.55832791e-01 -7.61699244e-04 9.66720747e-01 -9.18724347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.83, Z:-918.72 [[ 1.22789880e-02 -9.99915532e-01 -4.26086770e-03 4.58405939e+02] [ 9.66738552e-01 1.29600536e-02 -2.55438075e-01 -7.68254723e+01] [ 2.55471719e-01 -9.82624020e-04 9.66816030e-01 -9.18717335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.80, Z:-918.71 [[ 1.14758255e-02 -9.99925415e-01 -4.17962136e-03 4.58406048e+02] [ 9.66806372e-01 1.21625334e-02 -2.55220516e-01 -7.67990726e+01] [ 2.55252315e-01 -1.11201847e-03 9.66873838e-01 -9.18710393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.77, Z:-918.70 [[ 1.19692232e-02 -9.99919990e-01 -4.09291401e-03 4.58405422e+02] [ 9.66955483e-01 1.26169060e-02 -2.54632890e-01 -7.67741521e+01] [ 2.54664157e-01 -9.09907735e-04 9.67029131e-01 -9.18703410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.75, Z:-918.70 [[ 1.25842148e-02 -9.99912772e-01 -4.01078781e-03 4.58404119e+02] [ 9.66969496e-01 1.31906509e-02 -2.54550585e-01 -7.67479767e+01] [ 2.54581286e-01 -6.74990220e-04 9.67051143e-01 -9.18696942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.72, Z:-918.69 [[ 1.39953187e-02 -9.99894344e-01 -3.92839780e-03 4.58402898e+02] [ 9.66967126e-01 1.45342726e-02 -2.54486411e-01 -7.67224232e+01] [ 2.54516619e-01 -2.37013100e-04 9.67068371e-01 -9.18691105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.70, Z:-918.69 [[ 1.59949367e-02 -9.99864594e-01 -3.86721152e-03 4.58402165e+02] [ 9.66882820e-01 1.64523968e-02 -2.54689873e-01 -7.66972422e+01] [ 2.54719012e-01 3.34608019e-04 9.67015053e-01 -9.18685187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.67, Z:-918.68 [[ 1.80024607e-02 -9.99830762e-01 -3.78928344e-03 4.58401597e+02] [ 9.66667043e-01 1.83731896e-02 -2.55376690e-01 -7.66717855e+01] [ 2.55403092e-01 9.34433418e-04 9.66834209e-01 -9.18678838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.65, Z:-918.67 [[ 2.03794769e-02 -9.99785411e-01 -3.71616155e-03 4.58401415e+02] [ 9.66439061e-01 2.06515313e-02 -2.56064556e-01 -7.66463270e+01] [ 2.56086352e-01 1.62701801e-03 9.66652540e-01 -9.18672595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.62, Z:-918.67 [[ 2.24327608e-02 -9.99741701e-01 -3.64736793e-03 4.58401429e+02] [ 9.66129529e-01 2.26164038e-02 -2.57064644e-01 -7.66202166e+01] [ 2.57080734e-01 2.24283979e-03 9.66387327e-01 -9.18666272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.6965599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.60, Z:-918.66 [[ 2.54581816e-02 -9.99669441e-01 -3.59017378e-03 4.58401326e+02] [ 9.65552770e-01 2.55193394e-02 -2.58952914e-01 -7.65954599e+01] [ 2.58958933e-01 3.12596808e-03 9.65883274e-01 -9.18660315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.57, Z:-918.65 [[ 2.60645901e-02 -9.99654098e-01 -3.51027348e-03 4.58401305e+02] [ 9.65401154e-01 2.60825885e-02 -2.59461577e-01 -7.65691748e+01] [ 2.59463386e-01 3.37393760e-03 9.65747052e-01 -9.18653687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.54, Z:-918.65 [[ 2.60241058e-02 -9.99655437e-01 -3.42825215e-03 4.58401333e+02] [ 9.65367293e-01 2.60217392e-02 -2.59593641e-01 -7.65423299e+01] [ 2.59593403e-01 3.44616988e-03 9.65711856e-01 -9.18646794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.52, Z:-918.64 [[ 2.54543143e-02 -9.99670361e-01 -3.35377072e-03 4.58401715e+02] [ 9.65367322e-01 2.54519598e-02 -2.59650019e-01 -7.65160393e+01] [ 2.59649788e-01 3.37159252e-03 9.65696961e-01 -9.18639794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.49, Z:-918.63 [[ 2.42317035e-02 -9.99700940e-01 -3.29471838e-03 4.58402523e+02] [ 9.65442130e-01 2.42564957e-02 -2.59486253e-01 -7.64903468e+01] [ 2.59488570e-01 3.10693402e-03 9.65741181e-01 -9.18632313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.47, Z:-918.62 [[ 2.12875197e-02 -9.99768318e-01 -3.18634857e-03 4.58404083e+02] [ 9.66102172e-01 2.13906341e-02 -2.57272295e-01 -7.64653605e+01] [ 2.57280848e-01 2.39835078e-03 9.66333697e-01 -9.18624383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-76.44, Z:-918.62 [[ 1.94751179e-02 -9.99805512e-01 -3.10765357e-03 4.58404971e+02] [ 9.66470775e-01 1.96215881e-02 -2.56025847e-01 -7.64395601e+01] [ 2.56037031e-01 1.98267722e-03 9.66664941e-01 -9.18617078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.41, Z:-918.61 [[ 1.74294545e-02 -9.99843562e-01 -3.01081801e-03 4.58405604e+02] [ 9.66876631e-01 1.76215490e-02 -2.54635155e-01 -7.64131903e+01] [ 2.54648376e-01 1.52706228e-03 9.67032509e-01 -9.18610046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.39, Z:-918.60 [[ 1.55815239e-02 -9.99874346e-01 -2.91697686e-03 4.58406155e+02] [ 9.67171920e-01 1.58118337e-02 -2.53630565e-01 -7.63879716e+01] [ 2.53644819e-01 1.13073262e-03 9.67296763e-01 -9.18603270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.36, Z:-918.60 [[ 1.40550208e-02 -9.99897237e-01 -2.82351917e-03 4.58406538e+02] [ 9.67377295e-01 1.43121468e-02 -2.52935430e-01 -7.63615006e+01] [ 2.52949849e-01 8.23604396e-04 9.67479042e-01 -9.18596744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.34, Z:-918.59 [[ 1.27069076e-02 -9.99915510e-01 -2.74013651e-03 4.58406397e+02] [ 9.67454263e-01 1.29869158e-02 -2.52712463e-01 -7.63355020e+01] [ 2.52726697e-01 5.60237163e-04 9.67537546e-01 -9.18590435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.31, Z:-918.58 [[ 1.18552905e-02 -9.99926184e-01 -2.66066838e-03 4.58406119e+02] [ 9.67436054e-01 1.21428130e-02 -2.52824118e-01 -7.63098422e+01] [ 2.52837764e-01 4.23276857e-04 9.67508598e-01 -9.18584531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.28, Z:-918.58 [[ 1.21290308e-02 -9.99923106e-01 -2.58249343e-03 4.58406184e+02] [ 9.67277782e-01 1.23875426e-02 -2.53417128e-01 -7.62832910e+01] [ 2.53429632e-01 5.75715634e-04 9.67353653e-01 -9.18578320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.26, Z:-918.57 [[ 1.29443140e-02 -9.99913064e-01 -2.51202521e-03 4.58406526e+02] [ 9.67035374e-01 1.31575662e-02 -2.54301915e-01 -7.62558079e+01] [ 2.54312859e-01 8.62546596e-04 9.67121619e-01 -9.18571555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.23, Z:-918.57 [[ 1.37979550e-02 -9.99901802e-01 -2.45027544e-03 4.58406879e+02] [ 9.66684346e-01 1.39659048e-02 -2.55590160e-01 -7.62304437e+01] [ 2.55599281e-01 1.15797861e-03 9.66782120e-01 -9.18565461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.20, Z:-918.56 [[ 1.47808571e-02 -9.99887888e-01 -2.39524548e-03 4.58407070e+02] [ 9.66390935e-01 1.49004841e-02 -2.56644767e-01 -7.62049151e+01] [ 2.56651684e-01 1.47868611e-03 9.66502833e-01 -9.18559144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.18, Z:-918.55 [[ 1.59292751e-02 -9.99870387e-01 -2.33819781e-03 4.58407141e+02] [ 9.66145391e-01 1.59941593e-02 -2.57501982e-01 -7.61781764e+01] [ 2.57506004e-01 1.84278088e-03 9.66274941e-01 -9.18552913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.15, Z:-918.55 [[ 1.71711665e-02 -9.99850000e-01 -2.26455384e-03 4.58407271e+02] [ 9.65854111e-01 1.71728429e-02 -2.58516788e-01 -7.61521404e+01] [ 2.58516899e-01 2.25180617e-03 9.66004111e-01 -9.18547011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.13, Z:-918.54 [[ 1.93871501e-02 -9.99809652e-01 -2.19061435e-03 4.58408741e+02] [ 9.65422042e-01 1.92899637e-02 -2.59977265e-01 -7.61250020e+01] [ 2.59970036e-01 2.92535089e-03 9.65612253e-01 -9.18540055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.10, Z:-918.53 [[ 1.98817854e-02 -9.99800097e-01 -2.11660462e-03 4.58409474e+02] [ 9.65355745e-01 1.97476606e-02 -2.60189001e-01 -7.60991488e+01] [ 2.60178787e-01 3.12974546e-03 9.65555386e-01 -9.18533357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.07, Z:-918.53 [[ 1.99501284e-02 -9.99798861e-01 -2.05683290e-03 4.58410244e+02] [ 9.65428048e-01 1.97990011e-02 -2.59916685e-01 -7.60732466e+01] [ 2.59905129e-01 3.19964709e-03 9.65628855e-01 -9.18526530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.05, Z:-918.52 [[ 1.96996724e-02 -9.99804006e-01 -1.96782780e-03 4.58411314e+02] [ 9.65578498e-01 1.95358186e-02 -2.59377171e-01 -7.60458045e+01] [ 2.59364778e-01 3.20955307e-03 9.65774099e-01 -9.18519306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.02, Z:-918.51 [[ 1.88376190e-02 -9.99820781e-01 -1.88416879e-03 4.58412685e+02] [ 9.65870637e-01 1.86848270e-02 -2.58350132e-01 -7.60201777e+01] [ 2.58339036e-01 3.04683806e-03 9.66049512e-01 -9.18512464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-75.99, Z:-918.51 [[ 1.74800382e-02 -9.99838867e-01 4.08513988e-03 4.58411525e+02] [ 9.66379698e-01 1.58465363e-02 -2.56630410e-01 -7.59921993e+01] [ 2.56524323e-01 8.43370562e-03 9.66500980e-01 -9.18509591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.97, Z:-918.50 [[ 1.53421274e-02 -9.99850045e-01 -8.03159583e-03 4.58419858e+02] [ 9.66792314e-01 1.68832801e-02 -2.55005051e-01 -7.59677451e+01] [ 2.55102411e-01 -3.85256515e-03 9.66906365e-01 -9.18495776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.94, Z:-918.49 [[ 1.42271018e-02 -9.99897520e-01 -1.59323523e-03 4.58417794e+02] [ 9.67206285e-01 1.41660333e-02 -2.53596780e-01 -7.59409309e+01] [ 2.53593361e-01 2.06696007e-03 9.67308707e-01 -9.18490741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.92, Z:-918.48 [[ 1.32805254e-02 -9.99910673e-01 -1.50788657e-03 4.58419159e+02] [ 9.67534727e-01 1.32311292e-02 -2.52391540e-01 -7.59150741e+01] [ 2.52388946e-01 1.89295963e-03 9.67624016e-01 -9.18484127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.89, Z:-918.48 [[ 1.24889961e-02 -9.99921005e-01 -1.41757674e-03 4.58420730e+02] [ 9.67760946e-01 1.24439555e-02 -2.51562914e-01 -7.58883707e+01] [ 2.51560682e-01 1.76989285e-03 9.67839910e-01 -9.18477185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.536559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.86, Z:-918.47 [[ 1.20604805e-02 -9.99926384e-01 -1.33132102e-03 4.58422099e+02] [ 9.68047117e-01 1.20094677e-02 -2.50480643e-01 -7.58628766e+01] [ 2.50478192e-01 1.73213545e-03 9.68120693e-01 -9.18471139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.84, Z:-918.46 [[ 1.22340671e-02 -9.99924385e-01 -1.24585776e-03 4.58423276e+02] [ 9.68108745e-01 1.21565841e-02 -2.50235239e-01 -7.58360945e+01] [ 2.50231463e-01 1.85526892e-03 9.68184266e-01 -9.18464199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.42, Y:-75.81, Z:-918.46 [[ 1.43793957e-02 -9.99895934e-01 -1.16340666e-03 4.58424700e+02] [ 9.68280157e-01 1.42149890e-02 -2.49462364e-01 -7.58099843e+01] [ 2.49452942e-01 2.46061446e-03 9.68383796e-01 -9.18458183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.78, Z:-918.45 [[ 1.61161376e-02 -9.99869539e-01 -1.08397085e-03 4.58425133e+02] [ 9.68147857e-01 1.58757328e-02 -2.49875346e-01 -7.57844789e+01] [ 2.49859956e-01 2.97758141e-03 9.68277407e-01 -9.18451899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.76, Z:-918.45 [[ 1.77820085e-02 -9.99841365e-01 -1.02226391e-03 4.58425314e+02] [ 9.68016509e-01 1.74718990e-02 -2.50277390e-01 -7.57575396e+01] [ 2.50255548e-01 3.46086634e-03 9.68173633e-01 -9.18445321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.73, Z:-918.44 [[ 1.96705020e-02 -9.99806073e-01 -9.42744759e-04 4.58425131e+02] [ 9.67901028e-01 1.92790814e-02 -2.50591137e-01 -7.57322905e+01] [ 2.50560716e-01 4.01676985e-03 9.68092554e-01 -9.18439729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.71, Z:-918.43 [[ 2.12015525e-02 -9.99774850e-01 -8.62098137e-04 4.58425056e+02] [ 9.67553279e-01 2.07353893e-02 -2.51814805e-01 -7.57061470e+01] [ 2.51775985e-01 4.50473893e-03 9.67775057e-01 -9.18433236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.68, Z:-918.43 [[ 2.26212459e-02 -9.99743801e-01 -7.82636209e-04 4.58425606e+02] [ 9.67340883e-01 2.20857418e-02 -2.52515021e-01 -7.56795801e+01] [ 2.52467612e-01 4.95512839e-03 9.67592658e-01 -9.18426951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.65, Z:-918.42 [[ 2.33222026e-02 -9.99727751e-01 -7.06273771e-04 4.58427481e+02] [ 9.66674545e-01 2.27312660e-02 -2.54997284e-01 -7.56536870e+01] [ 2.54943916e-01 5.26436144e-03 9.66941511e-01 -9.18421254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.63, Z:-918.42 [[ 2.23693224e-02 -9.99749581e-01 -6.23092942e-04 4.58428810e+02] [ 9.66326595e-01 2.17812836e-02 -2.56395181e-01 -7.56277478e+01] [ 2.56344546e-01 5.13327518e-03 9.66571841e-01 -9.18415163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.60, Z:-918.41 [[ 2.01729285e-02 -9.99796350e-01 -5.59096288e-04 4.58430413e+02] [ 9.66337980e-01 1.96412892e-02 -2.56525104e-01 -7.56007803e+01] [ 2.56483844e-01 4.63458660e-03 9.66537407e-01 -9.18409113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.57, Z:-918.40 [[ 1.72598575e-02 -9.99850923e-01 -4.77943939e-04 4.58432659e+02] [ 9.66253440e-01 1.68027546e-02 -2.57044662e-01 -7.55747382e+01] [ 2.57014373e-01 3.97473927e-03 9.66399407e-01 -9.18402557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.55, Z:-918.40 [[ 1.33709284e-02 -9.99910527e-01 -3.95285135e-04 4.58434888e+02] [ 9.66407162e-01 1.30243904e-02 -2.56685728e-01 -7.55486301e+01] [ 2.56667910e-01 3.05012010e-03 9.66494843e-01 -9.18395990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.52, Z:-918.39 [[ 9.26645841e-03 -9.99957017e-01 -3.12069736e-04 4.58437464e+02] [ 9.66568846e-01 9.03702568e-03 -2.56247922e-01 -7.55219749e+01] [ 2.56239728e-01 2.07287383e-03 9.66611041e-01 -9.18388978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.50, Z:-918.38 [[ 4.02846161e-04 -9.99999893e-01 -2.28149438e-04 4.58442696e+02] [ 9.67108683e-01 4.47628877e-04 -2.54363116e-01 -7.54960047e+01] [ 2.54363191e-01 -1.18176096e-04 9.67108760e-01 -9.18382438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.47, Z:-918.38 [[-4.97522034e-03 -9.99912713e-01 1.22398758e-02 4.58438337e+02] [ 9.68020849e-01 -7.88590259e-03 -2.50745784e-01 -7.54676897e+01] [ 2.50820420e-01 1.06009394e-02 9.67975587e-01 -9.18384841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.44, Z:-918.37 [[-6.75582471e-03 -9.99927302e-01 -9.98750944e-03 4.58454955e+02] [ 9.67227162e-01 -3.99906775e-03 -2.53881125e-01 -7.54408833e+01] [ 2.53822727e-01 -1.13753668e-02 9.67183863e-01 -9.18365060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[-9.04054105e-03 -9.99954349e-01 -3.09349336e-03 4.58452958e+02] [ 9.67422201e-01 -7.96359617e-03 -2.53043210e-01 -7.54162608e+01] [ 2.53007023e-01 -5.28036168e-03 9.67450032e-01 -9.18360224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[-9.69445861e-03 -9.99953007e-01 4.98187609e-05 4.58452639e+02] [ 9.67610730e-01 -9.39347148e-03 -2.52272153e-01 -7.54174742e+01] [ 2.52260766e-01 -2.39743677e-03 9.67656323e-01 -9.18361148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[-8.08023564e-03 -9.99967344e-01 1.46961469e-04 4.58451972e+02] [ 9.67958875e-01 -7.85847766e-03 -2.50985779e-01 -7.54165592e+01] [ 2.50978737e-01 -1.88577157e-03 9.67990763e-01 -9.18361174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.41, Z:-918.36 [[-1.92072603e-03 -9.99998125e-01 2.45644462e-04 4.58450964e+02] [ 9.67865361e-01 -1.92077795e-03 -2.51461636e-01 -7.54140180e+01] [ 2.51461636e-01 -2.45238142e-04 9.67867236e-01 -9.18360821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[ 1.73175488e-03 -9.99998441e-01 3.46086274e-04 4.58450822e+02] [ 9.67576914e-01 1.58819698e-03 -2.52571563e-01 -7.54173227e+01] [ 2.52570619e-01 7.72257128e-04 9.67578155e-01 -9.18362088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[ 5.57767539e-03 -9.99982240e-01 2.09971238e-03 4.58449943e+02] [ 9.67445636e-01 4.86488936e-03 -2.53032160e-01 -7.54153984e+01] [ 2.53017451e-01 3.44268883e-03 9.67455589e-01 -9.18363431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[ 8.34078927e-03 -9.99963696e-01 -1.74284235e-03 4.58451196e+02] [ 9.66905446e-01 8.50947616e-03 -2.54993033e-01 -7.54153480e+01] [ 2.54998606e-01 4.41679399e-04 9.66941320e-01 -9.18361602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[ 7.97923319e-03 -9.99967961e-01 6.39099761e-04 4.58450026e+02] [ 9.66914777e-01 7.55251782e-03 -2.54987791e-01 -7.54174688e+01] [ 2.54974794e-01 2.65256205e-03 9.66944062e-01 -9.18362963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.41, Z:-918.36 [[ 1.03736321e-02 -9.99945916e-01 7.43057786e-04 4.58449667e+02] [ 9.66609854e-01 9.83751694e-03 -2.56063692e-01 -7.54141616e+01] [ 2.56042533e-01 3.37455751e-03 9.66659627e-01 -9.18362899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.21, Z:-918.31 [[ 1.33098340e-02 -9.99905873e-01 3.33069998e-03 4.58447798e+02] [ 9.66659329e-01 1.20152669e-02 -2.55783846e-01 -7.52107258e+01] [ 2.55719750e-01 6.62409272e-03 9.66728261e-01 -9.18313967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.36 [[ 1.41927672e-02 -9.99896535e-01 -2.34199756e-03 4.58449987e+02] [ 9.65781949e-01 1.43150833e-02 -2.58960045e-01 -7.54184636e+01] [ 2.58966778e-01 1.41350068e-03 9.65885195e-01 -9.18364523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.31, Z:-918.34 [[ 1.39294764e-02 -9.99893969e-01 4.24513733e-03 4.58445867e+02] [ 9.65716086e-01 1.23524375e-02 -2.59306498e-01 -7.53134968e+01] [ 2.59226565e-01 7.71160115e-03 9.65785752e-01 -9.18340239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.42, Z:-918.37 [[ 1.29713172e-02 -9.99913864e-01 -2.00234763e-03 4.58449759e+02] [ 9.65653028e-01 1.30465393e-02 -2.59507259e-01 -7.54200313e+01] [ 2.59511030e-01 1.43257794e-03 9.65739081e-01 -9.18365038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.39, Z:-918.36 [[ 1.09542454e-02 -9.99939535e-01 9.65325581e-04 4.58448588e+02] [ 9.65770768e-01 1.03297106e-02 -2.59191284e-01 -7.53873570e+01] [ 2.59165641e-01 3.77152817e-03 9.65825526e-01 -9.18357917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.43, Z:-918.37 [[ 9.74507362e-03 -9.99950137e-01 2.18116131e-03 4.58447991e+02] [ 9.65997827e-01 8.85055211e-03 -2.58398657e-01 -7.54293997e+01] [ 2.58366468e-01 4.62511102e-03 9.66035909e-01 -9.18368599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.43, Z:-918.37 [[ 7.71997361e-03 -9.99969414e-01 1.25439927e-03 4.58448836e+02] [ 9.66120554e-01 7.13501773e-03 -2.57992570e-01 -7.54316131e+01] [ 2.57975729e-01 3.20359675e-03 9.66146087e-01 -9.18368329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.32, Z:-918.34 [[ 3.83718219e-03 -9.99985413e-01 3.80131698e-03 4.58447165e+02] [ 9.66485962e-01 2.73280581e-03 -2.56704922e-01 -7.53229649e+01] [ 2.56690789e-01 4.65894306e-03 9.66482350e-01 -9.18341775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.556559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.44, Z:-918.37 [[ 2.13039158e-03 -9.99997319e-01 -9.07806585e-04 4.58450558e+02] [ 9.66721150e-01 2.29173778e-03 -2.55822137e-01 -7.54413109e+01] [ 2.55823532e-01 -3.32594495e-04 9.66723440e-01 -9.18370326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.44, Z:-918.37 [[-6.89356169e-05 -9.99998916e-01 1.47056518e-03 4.58449825e+02] [ 9.66950173e-01 -4.41600475e-04 -2.54965032e-01 -7.54420691e+01] [ 2.54965405e-01 1.40438708e-03 9.66949156e-01 -9.18371483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.45, Z:-918.37 [[-2.40746774e-03 -9.99995873e-01 1.56771291e-03 4.58450554e+02] [ 9.67067854e-01 -2.72718525e-03 -2.54504084e-01 -7.54466026e+01] [ 2.54507309e-01 9.03374387e-04 9.67070429e-01 -9.18372528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.45, Z:-918.37 [[-4.49317589e-03 -9.99988521e-01 1.66416914e-03 4.58451659e+02] [ 9.67192446e-01 -4.76851958e-03 -2.54000067e-01 -7.54459739e+01] [ 2.54005086e-01 4.68304849e-04 9.67202769e-01 -9.18372295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.676559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.45, Z:-918.37 [[-8.00659374e-03 -9.99966408e-01 1.75415321e-03 4.58452258e+02] [ 9.67519770e-01 -8.19002186e-03 -2.52662658e-01 -7.54540594e+01] [ 2.52668537e-01 -3.25789340e-04 9.67552843e-01 -9.18374329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.46, Z:-918.39 [[-1.42807589e-02 -9.99732932e-01 1.81693441e-02 4.58439572e+02] [ 9.70424207e-01 -1.82369195e-02 -2.40716167e-01 -7.54570498e+01] [ 2.40983232e-01 1.41943618e-02 9.70425475e-01 -9.18388766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.46, Y:-75.46, Z:-918.37 [[-8.89428273e-03 -9.99879679e-01 -1.27090139e-02 4.58458178e+02] [ 9.67755767e-01 -5.40760316e-03 -2.51832354e-01 -7.54592162e+01] [ 2.51733328e-01 -1.45390896e-02 9.67687422e-01 -9.18371281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.46, Z:-918.38 [[-8.61265579e-03 -9.99960957e-01 1.97658677e-03 4.58449591e+02] [ 9.67471657e-01 -8.83257615e-03 -2.52825193e-01 -7.54609831e+01] [ 2.52832780e-01 -2.65204677e-04 9.67509956e-01 -9.18376494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.46, Z:-918.38 [[-8.20955956e-03 -9.99964136e-01 2.08081427e-03 4.58448599e+02] [ 9.67313649e-01 -8.46888738e-03 -2.53441479e-01 -7.54628831e+01] [ 2.53450012e-01 -6.78428744e-05 9.67348483e-01 -9.18377666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.46, Z:-918.38 [[-7.70848513e-03 -9.99967895e-01 2.18813097e-03 4.58447753e+02] [ 9.67078724e-01 -8.01152301e-03 -2.54351246e-01 -7.54640368e+01] [ 2.54360611e-01 1.55432110e-04 9.67109433e-01 -9.18378617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.46, Z:-918.38 [[-5.85613592e-03 -9.99980176e-01 2.31385046e-03 4.58447089e+02] [ 9.66353765e-01 -6.25420786e-03 -2.57140596e-01 -7.54642015e+01] [ 2.57149970e-01 7.30147818e-04 9.66371233e-01 -9.18379910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.46, Z:-918.38 [[-5.25861549e-03 -9.99983235e-01 2.42431406e-03 4.58446481e+02] [ 9.66092877e-01 -5.70619902e-03 -2.58131735e-01 -7.54624509e+01] [ 2.58141241e-01 9.84697008e-04 9.66106687e-01 -9.18380060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.19, Z:-918.32 [[-4.97138191e-03 -9.99887547e-01 1.41484315e-02 4.58436073e+02] [ 9.67961847e-01 -8.36371042e-03 -2.50957987e-01 -7.51891691e+01] [ 2.51048099e-01 1.24475339e-02 9.67894576e-01 -9.18320554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.47, Z:-918.38 [[-4.40516615e-03 -9.99949308e-01 -9.05408337e-03 4.58450530e+02] [ 9.65816368e-01 -1.90767709e-03 -2.59220186e-01 -7.54676892e+01] [ 2.59189773e-01 -9.88648990e-03 9.65775812e-01 -9.18378326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.47, Z:-918.38 [[-4.41959293e-03 -9.99986582e-01 2.70252057e-03 4.58443560e+02] [ 9.65733988e-01 -4.96948500e-03 -2.59486357e-01 -7.54699035e+01] [ 2.59496305e-01 1.46309190e-03 9.65742992e-01 -9.18383099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.47, Z:-918.38 [[-4.86539599e-03 -9.99984228e-01 2.80576550e-03 4.58443061e+02] [ 9.65699516e-01 -5.42698818e-03 -2.59605455e-01 -7.54706849e+01] [ 2.59616587e-01 1.44644305e-03 9.65710690e-01 -9.18383215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.47, Z:-918.38 [[-6.24239766e-03 -9.99976308e-01 2.90098189e-03 4.58441521e+02] [ 9.65847445e-01 -6.78078449e-03 -2.59022653e-01 -7.54746546e+01] [ 2.59036187e-01 1.18498355e-03 9.65866890e-01 -9.18383299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.48, Z:-918.38 [[-7.32343220e-03 -9.99968700e-01 2.99457158e-03 4.58440812e+02] [ 9.66022214e-01 -7.84846104e-03 -2.58339862e-01 -7.54779814e+01] [ 2.58355278e-01 1.00088821e-03 9.66049455e-01 -9.18384025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.48, Z:-918.38 [[-8.13100345e-03 -9.99962147e-01 3.09713980e-03 4.58440474e+02] [ 9.65989663e-01 -8.65520468e-03 -2.58435791e-01 -7.54797231e+01] [ 2.58452815e-01 8.90462723e-04 9.66023473e-01 -9.18384089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.48, Z:-918.38 [[-8.98998616e-03 -9.99954480e-01 3.19673922e-03 4.58440244e+02] [ 9.66019905e-01 -9.51063273e-03 -2.58292648e-01 -7.54806042e+01] [ 2.58311293e-01 7.66066393e-04 9.66061431e-01 -9.18384328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.48, Z:-918.39 [[-9.67202304e-03 -9.99947781e-01 3.29963551e-03 4.58440458e+02] [ 9.65983467e-01 -1.01961817e-02 -2.58402747e-01 -7.54844640e+01] [ 2.58422897e-01 6.88116034e-04 9.66031642e-01 -9.18385188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.39, Z:-918.37 [[-1.35940645e-02 -9.99744704e-01 1.80479430e-02 4.58429322e+02] [ 9.68546532e-01 -1.76505925e-02 -2.48205706e-01 -7.53931091e+01] [ 2.48460897e-01 1.41061482e-02 9.68539209e-01 -9.18373764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.49, Z:-918.39 [[-1.24984143e-02 -9.99917108e-01 3.09317974e-03 4.58439069e+02] [ 9.68553914e-01 -1.28750190e-02 -2.48470420e-01 -7.54858856e+01] [ 2.48489648e-01 -1.09574903e-04 9.68634546e-01 -9.18391370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.49, Z:-918.38 [[-7.94002582e-03 -9.99924520e-01 -9.37606290e-03 4.58447602e+02] [ 9.66074666e-01 -5.25006498e-03 -2.58209560e-01 -7.54898200e+01] [ 2.58140846e-01 -1.11081674e-02 9.66043432e-01 -9.18381436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.34, Z:-918.36 [[-7.70458394e-03 -9.99871263e-01 1.40746691e-02 4.58431166e+02] [ 9.67676782e-01 -1.10031259e-02 -2.51953521e-01 -7.53375604e+01] [ 2.52075950e-01 1.16785334e-02 9.67636981e-01 -9.18355448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.49, Z:-918.38 [[-4.41140866e-03 -9.99968913e-01 -6.53555515e-03 4.58443899e+02] [ 9.65756481e-01 -2.56485783e-03 -2.59437548e-01 -7.54908035e+01] [ 2.59412720e-01 -7.45623978e-03 9.65737773e-01 -9.18384167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.49, Z:-918.39 [[-2.26445808e-03 -9.99990378e-01 3.75722860e-03 4.58437369e+02] [ 9.65509146e-01 -3.16457954e-03 -2.60349907e-01 -7.54891776e+01] [ 2.60359292e-01 3.03808713e-03 9.65507022e-01 -9.18387967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.42, Z:-918.38 [[ 5.93276090e-04 -9.99923608e-01 1.23460893e-02 4.58431634e+02] [ 9.66564874e-01 -2.59240780e-03 -2.56409097e-01 -7.54249403e+01] [ 2.56421515e-01 1.20854176e-02 9.66489498e-01 -9.18378674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.49, Z:-918.39 [[ 2.50313202e-03 -9.99987005e-01 -4.44122029e-03 4.58442801e+02] [ 9.64860508e-01 3.58209808e-03 -2.62738215e-01 -7.54896566e+01] [ 2.62750709e-01 -3.62748962e-03 9.64856936e-01 -9.18385224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.49, Z:-918.39 [[ 4.36817255e-03 -9.99966594e-01 6.90867967e-03 4.58437412e+02] [ 9.65192560e-01 2.40938674e-03 -2.61529191e-01 -7.54856227e+01] [ 2.61503809e-01 7.81061085e-03 9.65170841e-01 -9.18389234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.4565599950001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.49, Z:-918.39 [[ 4.26975535e-03 -9.99990557e-01 8.09022898e-04 4.58440047e+02] [ 9.64717349e-01 3.90616159e-03 -2.63258767e-01 -7.54870196e+01] [ 2.63253121e-01 1.90452896e-03 9.64724918e-01 -9.18386311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-75.11, Z:-918.30 [[ 8.05712514e-03 -9.99875531e-01 1.35648534e-02 4.58428080e+02] [ 9.66330927e-01 4.29660097e-03 -2.57266551e-01 -7.51120352e+01] [ 2.57176246e-01 1.51809661e-02 9.66245267e-01 -9.18298586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.516559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.91, Y:-75.79, Z:-917.34 [[-1.17991536e-01 9.86504961e-01 -1.13516340e-01 4.57908341e+02] [ 9.64195688e-01 1.41156577e-01 2.24502776e-01 -7.57921562e+01] [ 2.37496681e-01 -8.29625385e-02 -9.67839111e-01 -9.17337279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.90, Y:-75.81, Z:-917.37 [[-1.94521195e-01 9.80661648e-01 -2.15461388e-02 4.57896684e+02] [ 9.52375104e-01 1.94077777e-01 2.35192427e-01 -7.58118094e+01] [ 2.34825820e-01 2.52299059e-02 -9.71709981e-01 -9.17370356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.95, Y:-75.83, Z:-917.37 [[-2.71296571e-01 9.61645832e-01 -4.04408776e-02 4.57947188e+02] [ 9.33545552e-01 2.73131636e-01 2.32146102e-01 -7.58276979e+01] [ 2.34288014e-01 2.52270401e-02 -9.71839865e-01 -9.17370267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:-75.84, Z:-917.37 [[-3.45949970e-01 9.36398810e-01 -5.89566560e-02 4.57999544e+02] [ 9.08676430e-01 3.50035277e-01 2.27557578e-01 -7.58414202e+01] [ 2.33721555e-01 2.51510135e-02 -9.71978221e-01 -9.17370293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:-75.81, Z:-917.36 [[-4.17803978e-01 9.05832024e-01 -7.00584067e-02 4.58030706e+02] [ 8.77779304e-01 4.22352086e-01 2.26102208e-01 -7.58101235e+01] [ 2.34399935e-01 3.29705822e-02 -9.71580986e-01 -9.17358405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.08, Y:-75.86, Z:-917.38 [[-4.86240291e-01 8.72461716e-01 -4.87948191e-02 4.58081732e+02] [ 8.43663358e-01 4.83268807e-01 2.33844820e-01 -7.58598181e+01] [ 2.27601667e-01 7.25383725e-02 -9.71048745e-01 -9.17383565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-75.85, Z:-917.37 [[-5.52671825e-01 8.26213960e-01 -1.09198661e-01 4.58160386e+02] [ 8.01566688e-01 5.62846717e-01 2.01728577e-01 -7.58540776e+01] [ 2.28133075e-01 2.39596917e-02 -9.73335109e-01 -9.17367375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:458.06, Y:-75.65, Z:-917.30 [[-6.15688514e-01 7.79176018e-01 -1.17526111e-01 4.58057424e+02] [ 7.53998924e-01 6.25873334e-01 1.99419641e-01 -7.56513864e+01] [ 2.28939461e-01 3.41658215e-02 -9.72840902e-01 -9.17304856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:-75.86, Z:-917.39 [[-6.72434973e-01 7.34986875e-01 -8.73241116e-02 4.58248524e+02] [ 7.06613173e-01 6.72592107e-01 2.19812835e-01 -7.58562867e+01] [ 2.20293057e-01 8.61054702e-02 -9.71625863e-01 -9.17388263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-75.67, Z:-917.31 [[-7.27688519e-01 6.70739763e-01 -1.43448910e-01 4.58163455e+02] [ 6.49020151e-01 7.40987955e-01 1.72365007e-01 -7.56734313e+01] [ 2.21905978e-01 3.23268031e-02 -9.74532049e-01 -9.17311980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-75.82, Z:-917.38 [[-7.77068137e-01 6.18100201e-01 -1.18816047e-01 4.58361319e+02] [ 5.92039622e-01 7.81864417e-01 1.95389661e-01 -7.58204520e+01] [ 2.13668428e-01 8.14872720e-02 -9.73501735e-01 -9.17383272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.78, Z:-917.36 [[-8.22198642e-01 5.43851981e-01 -1.67971476e-01 4.58437459e+02] [ 5.27585694e-01 8.38909982e-01 1.33728745e-01 -7.57813588e+01] [ 2.13641591e-01 2.13322446e-02 -9.76679173e-01 -9.17362836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.49, Y:-75.76, Z:-917.36 [[-8.61764927e-01 4.75329352e-01 -1.77265951e-01 4.58485360e+02] [ 4.60623572e-01 8.79555698e-01 1.19196050e-01 -7.57585886e+01] [ 2.12572659e-01 2.10661000e-02 -9.76918157e-01 -9.17363423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.53, Y:-75.73, Z:-917.36 [[-8.95672172e-01 4.04184538e-01 -1.85489139e-01 4.58531598e+02] [ 3.91092932e-01 9.14442941e-01 1.04117372e-01 -7.57321930e+01] [ 2.11701865e-01 2.07115416e-02 -9.77114810e-01 -9.17364201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.58, Y:-75.70, Z:-917.37 [[-9.23489691e-01 3.31151165e-01 -1.93663877e-01 4.58576210e+02] [ 3.19626289e-01 9.43360823e-01 8.89347695e-02 -7.57027152e+01] [ 2.12145767e-01 2.02302763e-02 -9.77028612e-01 -9.17365589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.62, Y:-75.67, Z:-917.37 [[-9.46008000e-01 2.54746496e-01 -2.00432249e-01 4.58616795e+02] [ 2.44866558e-01 9.66800307e-01 7.30584418e-02 -7.56686814e+01] [ 2.12389342e-01 2.00347155e-02 -9.76979722e-01 -9.17366272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.65, Y:-75.63, Z:-917.37 [[-9.62437152e-01 1.76673343e-01 -2.06158333e-01 4.58651856e+02] [ 1.68492987e-01 9.84069148e-01 5.67276363e-02 -7.56309088e+01] [ 2.12896316e-01 1.98605513e-02 -9.76872928e-01 -9.17366046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.69, Y:-75.59, Z:-917.37 [[-9.72779665e-01 9.74495138e-02 -2.10245845e-01 4.58688811e+02] [ 9.10490146e-02 9.95045383e-01 3.99344815e-02 -7.55910259e+01] [ 2.13095753e-01 1.97047745e-02 -9.76832597e-01 -9.17367220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.72, Y:-75.55, Z:-917.37 [[-9.76969062e-01 1.74547418e-02 -2.12665896e-01 4.58722044e+02] [ 1.28853307e-02 9.99655783e-01 2.28535196e-02 -7.55475367e+01] [ 2.12991595e-01 1.95869113e-02 -9.76857683e-01 -9.17367868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.75, Y:-75.50, Z:-917.37 [[-9.74889426e-01 -6.28601100e-02 -2.13633363e-01 4.58748409e+02] [-6.55744009e-02 9.97831768e-01 5.63570872e-03 -7.55006054e+01] [ 2.12815895e-01 1.95030726e-02 -9.76897653e-01 -9.17367359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.77, Y:-75.45, Z:-917.37 [[-9.66569826e-01 -1.43078055e-01 -2.12770869e-01 4.58772791e+02] [-1.43938408e-01 9.89519544e-01 -1.15241800e-02 -7.54528830e+01] [ 2.12189791e-01 1.94869756e-02 -9.77034160e-01 -9.17367534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.79, Y:-75.40, Z:-917.37 [[-9.52018352e-01 -2.22179855e-01 -2.10468928e-01 4.58792940e+02] [-2.21199689e-01 9.74812133e-01 -2.84956792e-02 -7.54037190e+01] [ 2.11498831e-01 1.94272520e-02 -9.77185155e-01 -9.17367583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.81, Y:-75.35, Z:-917.37 [[-9.31187423e-01 -3.00018530e-01 -2.07072125e-01 4.58806234e+02] [-2.97221308e-01 9.53735852e-01 -4.52484110e-02 -7.53539180e+01] [ 2.11067472e-01 1.94114968e-02 -9.77278730e-01 -9.17366859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.82, Y:-75.30, Z:-917.37 [[-9.04468511e-01 -3.75746639e-01 -2.01869208e-01 4.58822370e+02] [-3.71196779e-01 9.26519954e-01 -6.14306675e-02 -7.53004972e+01] [ 2.10118216e-01 1.93710954e-02 -9.77484064e-01 -9.17367726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-74.87, Z:-918.34 [[-9.06495255e-01 3.63793559e-01 2.14290923e-01 4.58135396e+02] [-3.52642853e-01 -9.31462683e-01 8.95560657e-02 -7.48686562e+01] [ 2.32183918e-01 5.61398623e-03 9.72655701e-01 -9.18336598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.64, Y:-75.30, Z:-917.31 [[-8.71284315e-01 -4.57366391e-01 -1.77987719e-01 4.58641727e+02] [-4.41421797e-01 8.88815488e-01 -1.23100876e-01 -7.52998715e+01] [ 2.14500444e-01 -2.86882035e-02 -9.76302487e-01 -9.17307642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-74.77, Z:-918.38 [[-8.74520864e-01 4.36498499e-01 2.11381928e-01 4.58299170e+02] [-4.22912139e-01 -8.99689890e-01 1.08182367e-01 -7.47653345e+01] [ 2.37399624e-01 5.21175344e-03 9.71398094e-01 -9.18384517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-74.76, Z:-918.38 [[-8.74266133e-01 4.36314550e-01 2.12810579e-01 4.58296211e+02] [-4.23452217e-01 -8.99792332e-01 1.05175948e-01 -7.47645657e+01] [ 2.37375124e-01 1.83665718e-03 9.71416326e-01 -9.18382502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.49, Y:-75.62, Z:-918.11 [[-8.91421894e-01 1.33931695e-01 -4.32931066e-01 4.58490440e+02] [-4.27469327e-01 6.86654922e-02 9.01418341e-01 -7.56184980e+01] [ 1.50455911e-01 9.88608796e-01 -3.95823162e-03 -9.18111308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.24, Y:-74.80, Z:-918.33 [[-8.95724335e-01 4.16243708e-01 1.56266089e-01 4.58244794e+02] [-4.10390941e-01 -9.09251294e-01 6.95798874e-02 -7.47954400e+01] [ 1.71047334e-01 -1.80578909e-03 9.85261158e-01 -9.18333479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.98, Y:-74.92, Z:-918.29 [[-8.96841030e-01 4.16511345e-01 1.48978077e-01 4.57978695e+02] [-4.09874513e-01 -9.09113629e-01 7.42650224e-02 -7.49224562e+01] [ 1.66370224e-01 5.54160259e-03 9.86047788e-01 -9.18289082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.39, Y:-74.93, Z:-917.23 [[-8.60831020e-01 -4.71333678e-01 1.91871100e-01 4.58390125e+02] [-4.66645636e-01 5.80704475e-01 -6.67101314e-01 -7.49258666e+01] [ 2.03006910e-01 -6.63797316e-01 -7.19834229e-01 -9.17230484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.84, Y:-74.98, Z:-918.28 [[-8.67387725e-01 4.62164206e-01 1.84506860e-01 4.57842151e+02] [-4.50895660e-01 -8.86780875e-01 1.01551880e-01 -7.49794340e+01] [ 2.10550798e-01 4.89151162e-03 9.77570680e-01 -9.18276602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-75.00, Z:-917.23 [[-8.26426753e-01 -5.45870715e-01 1.37999946e-01 4.58323639e+02] [-5.07894624e-01 6.16950367e-01 -6.01178257e-01 -7.50028249e+01] [ 2.43026487e-01 -5.66919225e-01 -7.87109090e-01 -9.17225435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:-75.47, Z:-917.24 [[-7.82521687e-01 -5.86566706e-01 -2.08804476e-01 4.58231651e+02] [-5.74138605e-01 8.09544229e-01 -1.22486751e-01 -7.54667430e+01] [ 2.40883108e-01 2.40341712e-02 -9.70256506e-01 -9.17240328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.90, Y:-74.90, Z:-918.32 [[-7.90860715e-01 5.79207479e-01 1.97631036e-01 4.57898399e+02] [-5.60560811e-01 -8.15167369e-01 1.45855195e-01 -7.48969598e+01] [ 2.45582791e-01 4.56693031e-03 9.69364862e-01 -9.18321788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.48, Y:-75.23, Z:-917.32 [[-7.35890836e-01 -6.47966955e-01 -1.96477742e-01 4.58476956e+02] [-6.32790842e-01 7.61389332e-01 -1.40932735e-01 -7.52259833e+01] [ 2.40915812e-01 2.06182077e-02 -9.70326987e-01 -9.17318662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.46, Y:-75.17, Z:-917.32 [[-6.81986736e-01 -7.07834452e-01 -1.84023046e-01 4.58464026e+02] [-6.90752625e-01 7.06073331e-01 -1.55952758e-01 -7.51749475e+01] [ 2.40322500e-01 2.07566898e-02 -9.70471152e-01 -9.17318007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-75.13, Z:-917.32 [[-6.22762128e-01 -7.63674987e-01 -1.70199432e-01 4.58444683e+02] [-7.44908825e-01 6.45253615e-01 -1.69583654e-01 -7.51264547e+01] [ 2.39328594e-01 2.11727819e-02 -9.70707751e-01 -9.17316686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-75.28, Z:-917.25 [[-5.58302065e-01 -8.15058610e-01 -1.54849171e-01 4.58271586e+02] [-7.94944350e-01 5.78964974e-01 -1.81281659e-01 -7.52801342e+01] [ 2.37407424e-01 2.18865492e-02 -9.71163578e-01 -9.17252948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-74.90, Z:-918.32 [[-5.77690059e-01 8.03867303e-01 1.41674116e-01 4.57749939e+02] [-7.79071724e-01 -5.94794546e-01 1.98158265e-01 -7.49029599e+01] [ 2.43559941e-01 4.09976230e-03 9.69877182e-01 -9.18318372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-74.91, Z:-918.32 [[-5.78755882e-01 8.02867371e-01 1.42988159e-01 4.57749746e+02] [-7.78145049e-01 -5.96149253e-01 1.97727973e-01 -7.49055194e+01] [ 2.43991623e-01 3.17069949e-03 9.69772156e-01 -9.18318082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.38, Y:-75.03, Z:-917.31 [[-4.93127720e-01 -8.58776730e-01 -1.39023667e-01 4.58384604e+02] [-8.37423484e-01 5.11879582e-01 -1.91575578e-01 -7.50330584e+01] [ 2.35684025e-01 2.19504551e-02 -9.71581812e-01 -9.17311371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-75.00, Z:-917.31 [[-4.23842448e-01 -8.97423597e-01 -1.22427396e-01 4.58350096e+02] [-8.74950712e-01 4.40620214e-01 -2.00786153e-01 -7.49977089e+01] [ 2.34134217e-01 2.20162425e-02 -9.71954965e-01 -9.17307756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-74.97, Z:-917.30 [[-3.53069674e-01 -9.29627395e-01 -1.05521142e-01 4.58311478e+02] [-9.06061422e-01 3.67857127e-01 -2.09126361e-01 -7.49729462e+01] [ 2.33226298e-01 2.17724595e-02 -9.72178715e-01 -9.17302823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:-74.96, Z:-917.29 [[-2.80615466e-01 -9.55743334e-01 -8.83721652e-02 4.58266454e+02] [-9.31171105e-01 2.93410468e-01 -2.16403954e-01 -7.49645288e+01] [ 2.32755954e-01 2.15633105e-02 -9.72296092e-01 -9.17294475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.896559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.60, Y:-75.01, Z:-918.30 [[-3.07219201e-01 9.48823983e-01 7.31396811e-02 4.57596354e+02] [-9.20417340e-01 -3.15786201e-01 2.30458231e-01 -7.50080154e+01] [ 2.41760799e-01 3.48216297e-03 9.70329630e-01 -9.18301897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:-75.04, Z:-918.30 [[-3.06654660e-01 9.49872162e-01 6.08752413e-02 4.57591674e+02] [-9.22713701e-01 -3.12363950e-01 2.25894197e-01 -7.50439702e+01] [ 2.33585840e-01 1.31010891e-02 9.72247920e-01 -9.18300462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.45, Y:-74.83, Z:-917.48 [[-2.82021790e-01 -1.47781168e-01 9.47958035e-01 4.57446012e+02] [-9.06303289e-01 -2.83132438e-01 -3.13768022e-01 -7.48318147e+01] [ 3.14766674e-01 -9.47626904e-01 -5.40850420e-02 -9.17482286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.15, Y:-75.24, Z:-917.23 [[-1.95920610e-01 -9.75211916e-01 -1.02843736e-01 4.58149812e+02] [-9.32873610e-01 2.17679980e-01 -2.86988247e-01 -7.52367163e+01] [ 3.02261380e-01 3.97132954e-02 -9.52397455e-01 -9.17232599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.16, Z:-918.30 [[-2.22521405e-01 9.73118449e-01 5.93692483e-02 4.57525378e+02] [-9.27139486e-01 -2.30053018e-01 2.95783675e-01 -7.51604117e+01] [ 3.01490626e-01 1.07746247e-02 9.53408260e-01 -9.18297184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.16, Z:-918.30 [[-2.22790973e-01 9.72573645e-01 6.68183257e-02 4.57522371e+02] [-9.26792417e-01 -2.32564508e-01 2.94906027e-01 -7.51587197e+01] [ 3.02357401e-01 3.77568303e-03 9.53187152e-01 -9.18295211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.16, Z:-918.29 [[-2.23128733e-01 9.72471908e-01 6.71711027e-02 4.57522752e+02] [-9.26365109e-01 -2.32989136e-01 2.95911722e-01 -7.51611752e+01] [ 3.03415974e-01 3.80144163e-03 9.52850616e-01 -9.18294642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.16, Z:-918.29 [[-2.23480512e-01 9.72364048e-01 6.75619622e-02 4.57523010e+02] [-9.25877543e-01 -2.33438278e-01 2.97081381e-01 -7.51636025e+01] [ 3.04642802e-01 3.83779566e-03 9.52458941e-01 -9.18294137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.17, Z:-918.29 [[-2.23588448e-01 9.72315097e-01 6.79084626e-02 4.57523980e+02] [-9.25513830e-01 -2.33642853e-01 2.98052291e-01 -7.51661760e+01] [ 3.05667069e-01 3.79082776e-03 9.52130912e-01 -9.18293645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.17, Z:-918.29 [[-2.23761557e-01 9.72255723e-01 6.81877869e-02 4.57524581e+02] [-9.25234135e-01 -2.33890399e-01 2.98725756e-01 -7.51717419e+01] [ 3.06386294e-01 3.75367221e-03 9.51899863e-01 -9.18292578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.17, Z:-918.29 [[-2.23692791e-01 9.72250903e-01 6.84815124e-02 4.57526664e+02] [-9.24991600e-01 -2.33912202e-01 2.99458881e-01 -7.51725444e+01] [ 3.07167829e-01 3.64196912e-03 9.51648392e-01 -9.18292592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.17, Z:-918.29 [[-2.23376172e-01 9.72313785e-01 6.86220783e-02 4.57527226e+02] [-9.25036524e-01 -2.33653916e-01 2.99521748e-01 -7.51724316e+01] [ 3.07262942e-01 3.42809285e-03 9.51618481e-01 -9.18292350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.19, Z:-918.29 [[-2.23012869e-01 9.72386298e-01 6.87760772e-02 4.57524496e+02] [-9.25072458e-01 -2.33355177e-01 2.99643636e-01 -7.51862831e+01] [ 3.07418620e-01 3.20153211e-03 9.51568990e-01 -9.18287531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.22057461e-01 9.72598782e-01 6.88628582e-02 4.57527265e+02] [-9.25350251e-01 -2.32473428e-01 2.99471232e-01 -7.51768725e+01] [ 3.07274140e-01 2.77755834e-03 9.51616986e-01 -9.18290676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.316559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.21044169e-01 9.72818294e-01 6.90220486e-02 4.57526900e+02] [-9.25533842e-01 -2.31557912e-01 2.99613151e-01 -7.51826061e+01] [ 3.07451756e-01 2.34549819e-03 9.51560779e-01 -9.18288819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.18175613e-01 9.73456406e-01 6.91522062e-02 4.57530110e+02] [-9.26196842e-01 -2.28868683e-01 2.99630668e-01 -7.51789691e+01] [ 3.07504167e-01 1.32354968e-03 9.51545814e-01 -9.18290504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.376559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.16711088e-01 9.73774884e-01 6.92732220e-02 4.57530765e+02] [-9.26537802e-01 -2.27512463e-01 2.99609381e-01 -7.51797575e+01] [ 3.07512612e-01 7.44416348e-04 9.51543714e-01 -9.18290559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.15203348e-01 9.74103028e-01 6.93600086e-02 4.57530797e+02] [-9.26936396e-01 -2.26104555e-01 2.99442229e-01 -7.51825960e+01] [ 3.07370196e-01 1.48653786e-04 9.51590007e-01 -9.18289272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.13884587e-01 9.74396906e-01 6.93112726e-02 4.57531477e+02] [-9.27486966e-01 -2.24834404e-01 2.98692850e-01 -7.51818775e+01] [ 3.06628948e-01 -3.99505047e-04 9.51829044e-01 -9.18289086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.12887850e-01 9.74621774e-01 6.92182148e-02 4.57531807e+02] [-9.28024579e-01 -2.23856382e-01 2.97756112e-01 -7.51828169e+01] [ 3.05694529e-01 -8.47546094e-04 9.52129265e-01 -9.18288164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.496559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.18, Z:-918.29 [[-2.11248738e-01 9.74976273e-01 6.92476644e-02 4.57533359e+02] [-9.28528235e-01 -2.22303995e-01 2.97348702e-01 -7.51847159e+01] [ 3.05301962e-01 -1.48387368e-03 9.52254436e-01 -9.18287571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.19, Z:-918.29 [[-2.11395953e-01 9.74926352e-01 6.95007921e-02 4.57533990e+02] [-9.28299158e-01 -2.22522424e-01 2.97900057e-01 -7.51881466e+01] [ 3.05896101e-01 -1.54266039e-03 9.52063651e-01 -9.18286370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.19, Z:-918.29 [[-2.11817404e-01 9.74813906e-01 6.97942389e-02 4.57535671e+02] [-9.27949141e-01 -2.23014711e-01 2.98621551e-01 -7.51895784e+01] [ 3.06665583e-01 -1.51226211e-03 9.51816124e-01 -9.18286833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.19, Z:-918.29 [[-2.12567736e-01 9.74629155e-01 7.00925732e-02 4.57536753e+02] [-9.27516439e-01 -2.23821611e-01 2.99361223e-01 -7.51925794e+01] [ 3.07454408e-01 -1.37747662e-03 9.51561816e-01 -9.18286641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.20, Z:-918.29 [[-2.13599308e-01 9.74354839e-01 7.07671015e-02 4.57537473e+02] [-9.26469616e-01 -2.25014202e-01 3.01699619e-01 -7.51964906e+01] [ 3.09886087e-01 -1.12073953e-03 9.50773032e-01 -9.18285919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.20, Z:-918.29 [[-2.14180263e-01 9.74209478e-01 7.10120218e-02 4.57537489e+02] [-9.26152202e-01 -2.25643096e-01 3.02204058e-01 -7.51990626e+01] [ 3.10433431e-01 -1.04179557e-03 9.50594551e-01 -9.18285774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.20, Z:-918.28 [[-2.14558214e-01 9.74104237e-01 7.13141606e-02 4.57537353e+02] [-9.25798016e-01 -2.26097084e-01 3.02949076e-01 -7.52028239e+01] [ 3.11227902e-01 -1.02229597e-03 9.50334756e-01 -9.18284585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.20, Z:-918.28 [[-2.14800549e-01 9.74042709e-01 7.14249645e-02 4.57538231e+02] [-9.25755585e-01 -2.26361815e-01 3.02881043e-01 -7.52034115e+01] [ 3.11186956e-01 -1.06304532e-03 9.50348120e-01 -9.18284729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.21, Z:-918.28 [[-2.14795415e-01 9.74051196e-01 7.13245947e-02 4.57539540e+02] [-9.26078241e-01 -2.26324603e-01 3.01920961e-01 -7.52061436e+01] [ 3.10228984e-01 -1.20091698e-03 9.50661104e-01 -9.18283274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.21, Z:-918.28 [[-2.14813818e-01 9.74047438e-01 7.13204842e-02 4.57539999e+02] [-9.26253717e-01 -2.26340097e-01 3.01370558e-01 -7.52091694e+01] [ 3.09691905e-01 -1.32230340e-03 9.50836040e-01 -9.18282097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.21, Z:-918.28 [[-2.14829564e-01 9.74053589e-01 7.11889345e-02 4.57539811e+02] [-9.26612821e-01 -2.26312816e-01 3.00285180e-01 -7.52139780e+01] [ 3.08604826e-01 -1.45444506e-03 9.51189227e-01 -9.18280306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.21, Z:-918.28 [[-2.14970189e-01 9.74030926e-01 7.10744216e-02 4.57540736e+02] [-9.26916029e-01 -2.26409737e-01 2.99274635e-01 -7.52122602e+01] [ 3.07594691e-01 -1.54489566e-03 9.51516221e-01 -9.18280160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.21, Z:-918.28 [[-2.14462915e-01 9.74167487e-01 7.07344714e-02 4.57540148e+02] [-9.27688251e-01 -2.25819101e-01 2.97321784e-01 -7.52131739e+01] [ 3.05614410e-01 -1.85504154e-03 9.52153555e-01 -9.18278999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.22, Z:-918.28 [[-2.14720510e-01 9.74117273e-01 7.06444656e-02 4.57539538e+02] [-9.27922984e-01 -2.26035199e-01 2.96423724e-01 -7.52150982e+01] [ 3.04719606e-01 -1.90437024e-03 9.52440201e-01 -9.18278061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.22, Z:-918.28 [[-2.15448348e-01 9.73954795e-01 7.06687196e-02 4.57539131e+02] [-9.27885362e-01 -2.26735142e-01 2.96006641e-01 -7.52187697e+01] [ 3.04320169e-01 -1.79832883e-03 9.52568108e-01 -9.18277016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.22, Z:-918.28 [[-2.16802907e-01 9.73641885e-01 7.08376938e-02 4.57539581e+02] [-9.27496284e-01 -2.28077338e-01 2.96194820e-01 -7.52211797e+01] [ 3.04544156e-01 -1.48579961e-03 9.52497060e-01 -9.18276816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.23, Z:-918.28 [[-2.19058475e-01 9.73115561e-01 7.11300916e-02 4.57539710e+02] [-9.26718579e-01 -2.30315721e-01 2.96896186e-01 -7.52250216e+01] [ 3.05296677e-01 -8.79951466e-04 9.52256880e-01 -9.18276347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.23, Z:-918.28 [[-2.24793707e-01 9.71782416e-01 7.14613584e-02 4.57540938e+02] [-9.25042088e-01 -2.35877614e-01 2.97756421e-01 -7.52316170e+01] [ 3.06210589e-01 8.29005297e-04 9.51963439e-01 -9.18275492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.24, Z:-918.27 [[-2.28668594e-01 9.70861135e-01 7.16891307e-02 4.57540452e+02] [-9.23938374e-01 -2.39634847e-01 2.98182867e-01 -7.52393731e+01] [ 3.06673370e-01 1.94871809e-03 9.51812821e-01 -9.18273420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.24, Z:-918.27 [[-2.29037264e-01 9.70765450e-01 7.18078944e-02 4.57539926e+02] [-9.23847060e-01 -2.40022174e-01 2.98154266e-01 -7.52416070e+01] [ 3.06673347e-01 1.94892544e-03 9.51812828e-01 -9.18272664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.24, Z:-918.27 [[-2.32780621e-01 9.69851321e-01 7.21221009e-02 4.57540777e+02] [-9.22637335e-01 -2.43678380e-01 2.98933429e-01 -7.52435672e+01] [ 3.07495578e-01 3.04336632e-03 9.51544643e-01 -9.18272206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.25, Z:-918.27 [[-2.40094664e-01 9.68035881e-01 7.25333358e-02 4.57540066e+02] [-9.20356025e-01 -2.50755775e-01 3.00110529e-01 -7.52511929e+01] [ 3.08705913e-01 5.29844398e-03 9.51142779e-01 -9.18270238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.26, Z:-918.27 [[-2.43676055e-01 9.67117583e-01 7.28392873e-02 4.57538791e+02] [-9.19155610e-01 -2.54250163e-01 3.00848499e-01 -7.52562794e+01] [ 3.09475274e-01 6.35893571e-03 9.50886228e-01 -9.18268881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.26, Z:-918.27 [[-2.46642059e-01 9.66351122e-01 7.30287842e-02 4.57537656e+02] [-9.18272036e-01 -2.57125663e-01 3.01102742e-01 -7.52602021e+01] [ 3.09748547e-01 7.20430982e-03 9.50791216e-01 -9.18268034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-75.26, Z:-918.27 [[-2.49165093e-01 9.65702027e-01 7.30503344e-02 4.57536209e+02] [-9.17737915e-01 -2.59533412e-01 3.00665142e-01 -7.52639475e+01] [ 3.09311940e-01 7.87419651e-03 9.50928032e-01 -9.18266817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.27, Z:-918.26 [[-2.50698973e-01 9.65311005e-01 7.29704630e-02 4.57534144e+02] [-9.17608469e-01 -2.60973855e-01 2.99812183e-01 -7.52695239e+01] [ 3.08455383e-01 8.20429165e-03 9.51203431e-01 -9.18264845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.27, Z:-918.26 [[-2.51237196e-01 9.65199485e-01 7.25935658e-02 4.57531563e+02] [-9.18163611e-01 -2.61387647e-01 2.97744993e-01 -7.52684964e+01] [ 3.06358375e-01 8.15184679e-03 9.51881344e-01 -9.18264314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.27, Z:-918.26 [[-2.50842056e-01 9.65310086e-01 7.24893124e-02 4.57530022e+02] [-9.18583553e-01 -2.60987785e-01 2.96798978e-01 -7.52682412e+01] [ 3.05421872e-01 7.86217576e-03 9.52184681e-01 -9.18264042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.53, Y:-75.27, Z:-918.26 [[-2.50350418e-01 9.65430365e-01 7.25870411e-02 4.57527663e+02] [-9.18745652e-01 -2.60550713e-01 2.96681230e-01 -7.52698564e+01] [ 3.05337674e-01 7.58524145e-03 9.52213930e-01 -9.18263239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.28, Z:-918.26 [[-2.50049130e-01 9.65504308e-01 7.26420243e-02 4.57523398e+02] [-9.18915427e-01 -2.60283034e-01 2.96390249e-01 -7.52783061e+01] [ 3.05073549e-01 7.36024715e-03 9.52300350e-01 -9.18260508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.27, Z:-918.26 [[-2.49894418e-01 9.65527233e-01 7.28693465e-02 4.57519682e+02] [-9.18806249e-01 -2.60202027e-01 2.96799565e-01 -7.52743865e+01] [ 3.05528815e-01 7.21574377e-03 9.52155490e-01 -9.18261596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-75.28, Z:-918.26 [[-2.50708969e-01 9.65305029e-01 7.30151654e-02 4.57517221e+02] [-9.18549129e-01 -2.61021090e-01 2.96876216e-01 -7.52753190e+01] [ 3.05634602e-01 7.36151335e-03 9.52120422e-01 -9.18261382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-75.28, Z:-918.26 [[-2.51571580e-01 9.65067621e-01 7.31862529e-02 4.57514649e+02] [-9.18242847e-01 -2.61892756e-01 2.97055987e-01 -7.52767950e+01] [ 3.05846064e-01 7.52809083e-03 9.52051214e-01 -9.18260600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-75.28, Z:-918.26 [[-2.52727519e-01 9.64753766e-01 7.33414775e-02 4.57512284e+02] [-9.17877881e-01 -2.63039100e-01 2.97171042e-01 -7.52779628e+01] [ 3.05988558e-01 7.78478002e-03 9.52003361e-01 -9.18260018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.516559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.51, Y:-75.28, Z:-918.26 [[-2.55850378e-01 9.63911875e-01 7.35831598e-02 4.57507813e+02] [-9.16850596e-01 -2.66079808e-01 2.97634879e-01 -7.52822389e+01] [ 3.06472787e-01 8.68523256e-03 9.51839796e-01 -9.18258706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-75.29, Z:-918.26 [[-2.57750057e-01 9.63392502e-01 7.37549637e-02 4.57505452e+02] [-9.16250891e-01 -2.67937576e-01 2.97814977e-01 -7.52858589e+01] [ 3.06674442e-01 9.18377603e-03 9.51770164e-01 -9.18258113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.576559995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:457.50, Y:-75.29, Z:-918.26 [[-2.59371095e-01 9.62943115e-01 7.39404664e-02 4.57502003e+02] [-9.15706626e-01 -2.69533759e-01 2.98048532e-01 -7.52916011e+01] [ 3.06933234e-01 9.59739914e-03 9.51682657e-01 -9.18256343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-75.29, Z:-918.26 [[-2.60527468e-01 9.62619922e-01 7.40832281e-02 4.57500314e+02] [-9.15349981e-01 -2.70676556e-01 2.98108394e-01 -7.52886854e+01] [ 3.07017672e-01 9.85334377e-03 9.51652805e-01 -9.18257239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-75.30, Z:-918.25 [[-2.61089175e-01 9.62457946e-01 7.42101388e-02 4.57495504e+02] [-9.15181572e-01 -2.71249650e-01 2.98104543e-01 -7.52966784e+01] [ 3.07042560e-01 9.91611767e-03 9.51644123e-01 -9.18254277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:-75.29, Z:-918.26 [[-2.61213383e-01 9.62426301e-01 7.41834437e-02 4.57493863e+02] [-9.15348554e-01 -2.71366003e-01 2.97485324e-01 -7.52921080e+01] [ 3.06438564e-01 9.80344007e-03 9.51839955e-01 -9.18255623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:-75.29, Z:-918.25 [[-2.59946987e-01 9.62759023e-01 7.43143896e-02 4.57487327e+02] [-9.15688806e-01 -2.70201508e-01 2.97498160e-01 -7.52937034e+01] [ 3.06498898e-01 9.28489548e-03 9.51825728e-01 -9.18254763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-75.30, Z:-918.25 [[-2.59077456e-01 9.62978236e-01 7.45103296e-02 4.57483362e+02] [-9.15826794e-01 -2.69431955e-01 2.97771231e-01 -7.52959434e+01] [ 3.06822679e-01 8.90725692e-03 9.51725015e-01 -9.18253647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-75.30, Z:-918.25 [[-2.57849650e-01 9.63289921e-01 7.47401237e-02 4.57480387e+02] [-9.16017718e-01 -2.68331144e-01 2.98177695e-01 -7.52954158e+01] [ 3.07286671e-01 8.42173691e-03 9.51579727e-01 -9.18253738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:-75.29, Z:-918.25 [[-2.55061457e-01 9.64010802e-01 7.50121774e-02 4.57474650e+02] [-9.16580665e-01 -2.65758806e-01 2.98750968e-01 -7.52925725e+01] [ 3.07934307e-01 7.44514560e-03 9.51378491e-01 -9.18254552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:-75.30, Z:-918.25 [[-2.54040188e-01 9.64270192e-01 7.51437281e-02 4.57470391e+02] [-9.16845232e-01 -2.64828153e-01 2.98765578e-01 -7.52954911e+01] [ 3.07990916e-01 7.00329491e-03 9.51363521e-01 -9.18253522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.44, Y:-75.43, Z:-918.22 [[-2.49015258e-01 9.66285699e-01 6.54473067e-02 4.57439549e+02] [-9.20117206e-01 -2.57126216e-01 2.95415700e-01 -7.54331860e+01] [ 3.02284185e-01 1.33438237e-02 9.53124449e-01 -9.18216897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-75.29, Z:-918.25 [[-2.51681993e-01 9.64298507e-01 8.23684614e-02 4.57460438e+02] [-9.17318454e-01 -2.64816651e-01 2.97319687e-01 -7.52939666e+01] [ 3.08517470e-01 -7.28098492e-04 9.51218398e-01 -9.18250224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-75.30, Z:-918.25 [[-2.50525286e-01 9.65168990e-01 7.54049159e-02 4.57460839e+02] [-9.17827243e-01 -2.61567231e-01 2.98623068e-01 -7.52978245e+01] [ 3.07945180e-01 5.60394348e-03 9.51387598e-01 -9.18251773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-75.28, Z:-917.21 [[-1.48069671e-01 -9.83549577e-01 -1.03467879e-01 4.58138661e+02] [-9.42705905e-01 1.71994238e-01 -2.85873326e-01 -7.52831597e+01] [ 2.98966468e-01 5.52106111e-02 -9.52665125e-01 -9.17206436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.35, Y:-75.42, Z:-917.84 [[-1.41696212e-01 -2.87841769e-01 -9.47137424e-01 4.58354199e+02] [-9.64762912e-01 2.54446150e-01 6.70050814e-02 -7.54226874e+01] [ 2.21708609e-01 9.23257425e-01 -3.13753119e-01 -9.17835542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.996559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.37, Z:-918.20 [[-1.47716782e-01 9.88428410e-01 3.44823366e-02 4.57403478e+02] [-9.58890691e-01 -1.51669675e-01 2.39843601e-01 -7.53737907e+01] [ 2.42298154e-01 2.36413352e-03 9.70198957e-01 -9.18200480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.39, Z:-918.20 [[-1.46530881e-01 9.88637796e-01 3.35262593e-02 4.57401755e+02] [-9.59167112e-01 -1.50288360e-01 2.39607723e-01 -7.53867866e+01] [ 2.41923857e-01 2.95264549e-03 9.70290745e-01 -9.18197607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.38, Z:-918.20 [[-1.47414218e-01 9.88451033e-01 3.51226989e-02 4.57404268e+02] [-9.59291266e-01 -1.51533772e-01 2.38322856e-01 -7.53827505e+01] [ 2.40892748e-01 1.43927897e-03 9.70550675e-01 -9.18198737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.41, Y:-75.39, Z:-918.20 [[-1.48410849e-01 9.88318824e-01 3.46427893e-02 4.57405132e+02] [-9.58877892e-01 -1.52382845e-01 2.39442390e-01 -7.53853888e+01] [ 2.41924388e-01 2.31764351e-03 9.70292337e-01 -9.18198406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.41, Y:-75.39, Z:-918.20 [[-1.48977972e-01 9.88225253e-01 3.48771271e-02 4.57405429e+02] [-9.58605540e-01 -1.52988105e-01 2.40145911e-01 -7.53881115e+01] [ 2.42654039e-01 2.34304352e-03 9.70110060e-01 -9.18197614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-75.55, Z:-918.04 [[-1.63014501e-01 1.81608392e-01 -9.69765263e-01 4.58198381e+02] [-9.73266218e-01 1.31591240e-01 1.88246153e-01 -7.55471935e+01] [ 1.61799695e-01 9.74526622e-01 1.55302032e-01 -9.18042656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.44, Z:-918.15 [[-1.60712980e-01 9.86611492e-01 2.77326932e-02 4.57401932e+02] [-9.70663955e-01 -1.63081533e-01 1.76680221e-01 -7.54423491e+01] [ 1.78837427e-01 1.47567916e-03 9.83877532e-01 -9.18152820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.44, Z:-918.15 [[-1.59847404e-01 9.86750223e-01 2.77993716e-02 4.57401116e+02] [-9.70808398e-01 -1.62241898e-01 1.76659620e-01 -7.54437646e+01] [ 1.78829142e-01 1.25071826e-03 9.83879349e-01 -9.18152323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.45, Z:-918.15 [[-1.58742188e-01 9.86927367e-01 2.78440248e-02 4.57400557e+02] [-9.71018475e-01 -1.61162688e-01 1.76492804e-01 -7.54472295e+01] [ 1.78672996e-01 9.79791268e-04 9.83908025e-01 -9.18151287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-75.45, Z:-918.15 [[-1.57454465e-01 9.87133703e-01 2.78413925e-02 4.57401100e+02] [-9.71331178e-01 -1.59895655e-01 1.75923625e-01 -7.54481677e+01] [ 1.78111858e-01 6.56747788e-04 9.84010028e-01 -9.18151454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.35, Y:-75.78, Z:-918.10 [[-1.57426268e-01 9.87261009e-01 2.30796512e-02 4.57351297e+02] [-9.71880784e-01 -1.59033391e-01 1.73655184e-01 -7.57782703e+01] [ 1.75113427e-01 4.90721798e-03 9.84536036e-01 -9.18098516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-75.39, Z:-917.09 [[-1.10697089e-01 -5.56705554e-01 8.23301331e-01 4.57458678e+02] [-9.68942431e-01 -1.23859366e-01 -2.14031359e-01 -7.53854455e+01] [ 2.21126027e-01 -8.21424241e-01 -5.25704761e-01 -9.17089461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.62, Z:-918.15 [[-1.13823175e-01 9.93104877e-01 2.80533268e-02 4.57360355e+02] [-9.65832960e-01 -1.17226646e-01 2.31137638e-01 -7.56246773e+01] [ 2.32832513e-01 -7.86007814e-04 9.72516531e-01 -9.18153121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.63, Z:-918.15 [[-1.13164878e-01 9.93178908e-01 2.80956860e-02 4.57360061e+02] [-9.66013455e-01 -1.16595837e-01 2.30702008e-01 -7.56305466e+01] [ 2.32404209e-01 -1.03344604e-03 9.72618741e-01 -9.18151448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.63, Z:-918.15 [[-1.12309813e-01 9.93272708e-01 2.82105125e-02 4.57360004e+02] [-9.66350628e-01 -1.15789390e-01 2.29693887e-01 -7.56310351e+01] [ 2.31415147e-01 -1.46436897e-03 9.72853990e-01 -9.18150933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.63, Z:-918.15 [[-1.10349707e-01 9.93495304e-01 2.81073398e-02 4.57360044e+02] [-9.66952161e-01 -1.13855435e-01 2.28123779e-01 -7.56330840e+01] [ 2.29840076e-01 -2.00506092e-03 9.73226345e-01 -9.18151430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4765599950001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.64, Z:-918.15 [[-1.10710357e-01 9.93454032e-01 2.81479016e-02 4.57359581e+02] [-9.67047172e-01 -1.14214577e-01 2.27540762e-01 -7.56379998e+01] [ 2.29266188e-01 -2.02922964e-03 9.73361648e-01 -9.18148634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.64, Z:-918.15 [[-1.11332969e-01 9.93381792e-01 2.82415456e-02 4.57359483e+02] [-9.67029965e-01 -1.14841614e-01 2.27298156e-01 -7.56427831e+01] [ 2.29037154e-01 -2.00464222e-03 9.73415617e-01 -9.18147561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.65, Z:-918.15 [[-1.12107548e-01 9.93291924e-01 2.83381692e-02 4.57360017e+02] [-9.66966545e-01 -1.15617531e-01 2.27174577e-01 -7.56453002e+01] [ 2.28927061e-01 -1.93407677e-03 9.73441657e-01 -9.18147374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.65, Z:-918.15 [[-1.14286827e-01 9.93037587e-01 2.85459655e-02 4.57361151e+02] [-9.66482403e-01 -1.17788139e-01 2.28117775e-01 -7.56476939e+01] [ 2.29891901e-01 -1.51831680e-03 9.73214986e-01 -9.18148249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.65, Z:-918.15 [[-1.15429159e-01 9.92898997e-01 2.87696384e-02 4.57361433e+02] [-9.66088113e-01 -1.18952881e-01 2.29181088e-01 -7.56514128e+01] [ 2.30975904e-01 -1.33982527e-03 9.72958548e-01 -9.18147940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.66, Z:-918.15 [[-1.16558113e-01 9.92761078e-01 2.89767021e-02 4.57361305e+02] [-9.65726235e-01 -1.20100336e-01 2.30105950e-01 -7.56564094e+01] [ 2.31920342e-01 -1.16284609e-03 9.72734086e-01 -9.18147487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.67, Z:-918.15 [[-1.19033928e-01 9.92461337e-01 2.91790848e-02 4.57360046e+02] [-9.65223280e-01 -1.22556259e-01 2.30919864e-01 -7.56676949e+01] [ 2.32755117e-01 -6.77033411e-04 9.72535140e-01 -9.18145134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-75.68, Z:-918.14 [[-1.20258212e-01 9.92299586e-01 2.96562530e-02 4.57358964e+02] [-9.64852187e-01 -1.23858716e-01 2.31774191e-01 -7.56762555e+01] [ 2.33662619e-01 -7.41150754e-04 9.72317454e-01 -9.18143189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.7165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.15, Y:-75.54, Z:-917.36 [[-1.17412403e-01 2.69497866e-02 9.92717501e-01 4.57154286e+02] [-9.49650046e-01 -2.95443216e-01 -1.04298114e-01 -7.55442409e+01] [ 2.90480840e-01 -9.54980112e-01 6.02815641e-02 -9.17355057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.15, Y:-75.62, Z:-917.36 [[-1.19009528e-01 1.69858765e-02 9.92747809e-01 4.57146588e+02] [-9.26979004e-01 -3.60128589e-01 -1.04963449e-01 -7.56175448e+01] [ 3.55733972e-01 -9.32748026e-01 5.86042843e-02 -9.17364232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-76.00, Z:-917.86 [[-1.34423814e-01 -2.42529732e-02 -9.90627090e-01 4.58203319e+02] [-9.47903467e-01 2.94511737e-01 1.21416035e-01 -7.60048101e+01] [ 2.88806605e-01 9.55340060e-01 -6.25788683e-02 -9.17863632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-75.96, Z:-918.09 [[-1.29915766e-01 9.90741197e-01 3.94179553e-02 4.57325201e+02] [-9.45446863e-01 -1.35758710e-01 2.96141524e-01 -7.59624625e+01] [ 2.98750939e-01 1.20587063e-03 9.54330353e-01 -9.18090282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-75.97, Z:-918.09 [[-1.33115806e-01 9.90312583e-01 3.95116601e-02 4.57325648e+02] [-9.45059792e-01 -1.38840801e-01 2.95948004e-01 -7.59665105e+01] [ 2.98566863e-01 2.05447570e-03 9.54386509e-01 -9.18089111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-75.97, Z:-918.09 [[-1.34557575e-01 9.90110195e-01 3.96996383e-02 4.57325551e+02] [-9.44689174e-01 -1.40271545e-01 2.96456167e-01 -7.59692313e+01] [ 2.99093003e-01 2.38660453e-03 9.54220981e-01 -9.18088634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-75.97, Z:-918.09 [[-1.35781629e-01 9.89935541e-01 3.98870230e-02 4.57324781e+02] [-9.44349748e-01 -1.41494106e-01 2.96956179e-01 -7.59738041e+01] [ 2.99611254e-01 2.65389343e-03 9.54057678e-01 -9.18087417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-75.98, Z:-918.09 [[-1.36975426e-01 9.89763401e-01 4.00767192e-02 4.57324297e+02] [-9.44008468e-01 -1.42688205e-01 2.97469475e-01 -7.59753385e+01] [ 3.00142875e-01 2.91324577e-03 9.53889809e-01 -9.18087536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-75.98, Z:-918.09 [[-1.38819929e-01 9.89493883e-01 4.03842024e-02 4.57322972e+02] [-9.43291816e-01 -1.44534947e-01 2.98848121e-01 -7.59807104e+01] [ 3.01545316e-01 3.39198733e-03 9.53445812e-01 -9.18087201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-75.98, Z:-918.09 [[-1.39196297e-01 9.89436139e-01 4.05033049e-02 4.57322679e+02] [-9.43236358e-01 -1.44929708e-01 2.98831981e-01 -7.59829711e+01] [ 3.01545294e-01 3.39211537e-03 9.53445819e-01 -9.18086468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-75.99, Z:-918.09 [[-1.40414557e-01 9.89253117e-01 4.07679239e-02 4.57321726e+02] [-9.42712005e-01 -1.46166901e-01 2.99882164e-01 -7.59851072e+01] [ 3.02618287e-01 3.67541009e-03 9.53104750e-01 -9.18086273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:457.33, Y:-76.01, Z:-918.09 [[-1.38710969e-01 9.89970136e-01 2.68029252e-02 4.57326424e+02] [-9.45431878e-01 -1.40430415e-01 2.94003169e-01 -7.60127434e+01] [ 2.94818303e-01 1.54411246e-02 9.55428564e-01 -9.18090047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-75.99, Z:-918.08 [[-1.43412083e-01 9.88231290e-01 5.32155350e-02 4.57313217e+02] [-9.41552431e-01 -1.52804477e-01 3.00216276e-01 -7.59864630e+01] [ 3.04814690e-01 -7.05057478e-03 9.52385581e-01 -9.18081656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-75.99, Z:-918.08 [[-1.45541209e-01 9.88485743e-01 4.13967751e-02 4.57318397e+02] [-9.41084901e-01 -1.51229265e-01 3.02471352e-01 -7.59922912e+01] [ 3.05249023e-01 5.06416613e-03 9.52259097e-01 -9.18084655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-76.00, Z:-918.08 [[-1.47469753e-01 9.88192583e-01 4.15703098e-02 4.57316883e+02] [-9.40661584e-01 -1.53116133e-01 3.02838627e-01 -7.59994117e+01] [ 3.05627970e-01 5.55594405e-03 9.52134799e-01 -9.18082486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-76.00, Z:-918.08 [[-1.50219640e-01 9.87772030e-01 4.17190250e-02 4.57315786e+02] [-9.40165460e-01 -1.55777934e-01 3.03021687e-01 -7.59998854e+01] [ 3.05815250e-01 6.29702244e-03 9.52070050e-01 -9.18082088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.1965599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.00, Z:-918.08 [[-1.51262177e-01 9.87609026e-01 4.18110746e-02 4.57314730e+02] [-9.40069211e-01 -1.56799924e-01 3.02793103e-01 -7.60033243e+01] [ 3.05597174e-01 6.49583988e-03 9.52138735e-01 -9.18080662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.00, Z:-918.08 [[-1.51774775e-01 9.87527406e-01 4.18812649e-02 4.57313138e+02] [-9.40107420e-01 -1.57311937e-01 3.02408654e-01 -7.60029475e+01] [ 3.05225257e-01 6.52511757e-03 9.52257825e-01 -9.18079731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.256559995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.00, Z:-918.08 [[-1.51179904e-01 9.87615388e-01 4.19581089e-02 4.57312372e+02] [-9.40305245e-01 -1.56771270e-01 3.02074188e-01 -7.60042509e+01] [ 3.04910943e-01 6.21411704e-03 9.52360595e-01 -9.18079070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.01, Z:-918.08 [[-1.49958030e-01 9.87798952e-01 4.20216495e-02 4.57311430e+02] [-9.40631744e-01 -1.55629860e-01 3.01647591e-01 -7.60076551e+01] [ 3.04506998e-01 5.70758104e-03 9.52492998e-01 -9.18077356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.01, Z:-918.08 [[-1.48377522e-01 9.88035431e-01 4.20725433e-02 4.57310951e+02] [-9.41041403e-01 -1.54143072e-01 3.01132846e-01 -7.60072016e+01] [ 3.04015112e-01 5.08934032e-03 9.52653615e-01 -9.18077075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.97, Y:-75.99, Z:-917.00 [[-4.30483891e-02 -9.97266956e-01 -6.00454430e-02 4.57974459e+02] [-9.58409080e-01 5.81938340e-02 -2.79402063e-01 -7.59857975e+01] [ 2.82132720e-01 4.55202890e-02 -9.58294857e-01 -9.17000941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-76.10, Z:-917.83 [[-6.74138842e-02 2.06608434e-02 -9.97511152e-01 4.58139983e+02] [-9.74308972e-01 2.13969806e-01 7.02776593e-02 -7.60976735e+01] [ 2.14889264e-01 9.76621755e-01 5.70550933e-03 -9.17832937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:-76.15, Z:-918.01 [[-5.86363632e-02 9.98278442e-01 1.38911809e-03 4.57279668e+02] [-9.72649377e-01 -5.74441547e-02 2.25063010e-01 -7.61549197e+01] [ 2.24755347e-01 1.18457515e-02 9.74343221e-01 -9.18014232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.11, Z:-918.01 [[-6.20572711e-02 9.97740186e-01 2.57568801e-02 4.57267452e+02] [-9.70825284e-01 -6.63318440e-02 2.30430801e-01 -7.61115305e+01] [ 2.31618572e-01 -1.07055238e-02 9.72747773e-01 -9.18009433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.12, Z:-918.01 [[-5.96771289e-02 9.98114664e-01 1.43442348e-02 4.57272818e+02] [-9.71229611e-01 -6.13765171e-02 2.30099904e-01 -7.61162995e+01] [ 2.30546488e-01 -1.99843911e-04 9.73061292e-01 -9.18012224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.11, Z:-918.01 [[-5.50070023e-02 9.98382107e-01 1.44013043e-02 4.57273364e+02] [-9.71628462e-01 -5.68445842e-02 2.29579670e-01 -7.61132346e+01] [ 2.30026871e-01 -1.36422771e-03 9.73183322e-01 -9.18012754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.13, Z:-918.01 [[-5.47918264e-02 9.98392369e-01 1.45097599e-02 4.57272945e+02] [-9.71592509e-01 -5.66604301e-02 2.29777266e-01 -7.61251649e+01] [ 2.30229998e-01 -1.50765791e-03 9.73135075e-01 -9.18010129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.13, Z:-918.01 [[-5.55173856e-02 9.98347120e-01 1.48609389e-02 4.57273381e+02] [-9.71326011e-01 -5.74489492e-02 2.30706304e-01 -7.61347112e+01] [ 2.31178719e-01 -1.62660572e-03 9.72909941e-01 -9.18007902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.14, Z:-918.01 [[-5.61971651e-02 9.98304088e-01 1.51929947e-02 4.57274438e+02] [-9.71109002e-01 -5.81884216e-02 2.31433391e-01 -7.61399511e+01] [ 2.31924957e-01 -1.74815341e-03 9.72732110e-01 -9.18007382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:-76.14, Z:-918.01 [[-5.74831611e-02 9.98228058e-01 1.53762950e-02 4.57276423e+02] [-9.70694830e-01 -5.94841839e-02 2.32837237e-01 -7.61424689e+01] [ 2.33339309e-01 -1.54146969e-03 9.72394154e-01 -9.18007188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:-76.15, Z:-918.01 [[-6.14539009e-02 9.97987685e-01 1.56204367e-02 4.57279437e+02] [-9.69892757e-01 -6.34041767e-02 2.35133899e-01 -7.61460879e+01] [ 2.35651136e-01 -7.00253064e-04 9.71837462e-01 -9.18006602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:-76.15, Z:-918.01 [[-6.34996585e-02 9.97857232e-01 1.57714508e-02 4.57280496e+02] [-9.69543681e-01 -6.54282265e-02 2.36017367e-01 -7.61498916e+01] [ 2.36543535e-01 -3.04088253e-04 9.71620844e-01 -9.18005553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.28, Y:-76.15, Z:-918.00 [[-6.56294529e-02 9.97717119e-01 1.59161921e-02 4.57281763e+02] [-9.69209336e-01 -6.75317488e-02 2.36796805e-01 -7.61530177e+01] [ 2.37331074e-01 1.14722711e-04 9.71428818e-01 -9.18004465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-76.16, Z:-918.00 [[-6.83266283e-02 9.97533420e-01 1.60794187e-02 4.57285068e+02] [-9.68765571e-01 -7.01899018e-02 2.37837435e-01 -7.61633499e+01] [ 2.38379403e-01 6.73442772e-04 9.71171873e-01 -9.18002481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-76.16, Z:-918.00 [[-6.92789639e-02 9.97466108e-01 1.61798595e-02 4.57286498e+02] [-9.68670243e-01 -7.11386258e-02 2.37943808e-01 -7.61615440e+01] [ 2.38491897e-01 8.11552038e-04 9.71144148e-01 -9.18002778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-76.16, Z:-918.00 [[-6.98836775e-02 9.97422726e-01 1.62535648e-02 4.57286843e+02] [-9.68695641e-01 -7.17437159e-02 2.37658568e-01 -7.61628241e+01] [ 2.38212148e-01 8.63697282e-04 9.71212761e-01 -9.18001904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-76.17, Z:-918.00 [[-6.98641226e-02 9.97423384e-01 1.62971942e-02 4.57286345e+02] [-9.68871235e-01 -7.17356986e-02 2.36944128e-01 -7.61696870e+01] [ 2.37502705e-01 7.64010918e-04 9.71386577e-01 -9.17999342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-76.17, Z:-918.00 [[-6.91541174e-02 9.97473165e-01 1.62786266e-02 4.57286066e+02] [-9.69312834e-01 -7.10425216e-02 2.35341433e-01 -7.61660067e+01] [ 2.35903239e-01 4.95747369e-04 9.71776423e-01 -9.17997479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-76.17, Z:-918.00 [[-6.88080853e-02 9.97496833e-01 1.62946601e-02 4.57285562e+02] [-9.69601077e-01 -7.07104430e-02 2.34251542e-01 -7.61675730e+01] [ 2.34817374e-01 3.19080147e-04 9.72039454e-01 -9.17996122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.89, Y:-76.29, Z:-916.90 [[ 1.55728995e-02 -9.99702337e-01 1.87809289e-02 4.57887055e+02] [-9.78925044e-01 -1.90690594e-02 -2.03327641e-01 -7.62865453e+01] [ 2.03625253e-01 -1.52187208e-02 -9.78930614e-01 -9.16898078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.24, Y:-76.55, Z:-917.91 [[ 1.25531296e-02 9.99761509e-01 1.78702295e-02 4.57242920e+02] [-9.73568822e-01 8.14442327e-03 2.28248588e-01 -7.65534814e+01] [ 2.28048610e-01 -2.02631324e-02 9.73438872e-01 -9.17905564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.88, Y:-76.32, Z:-916.89 [[ 9.17336855e-02 -9.95780815e-01 2.34496835e-03 4.57884656e+02] [-9.72622274e-01 -9.01047161e-02 -2.14212636e-01 -7.63195176e+01] [ 2.13520126e-01 1.73697461e-02 -9.76784238e-01 -9.16890192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.86, Y:-76.32, Z:-916.88 [[ 1.72112114e-01 -9.83317108e-01 5.88632801e-02 4.57859640e+02] [-9.61869401e-01 -1.80651274e-01 -2.05359132e-01 -7.63240858e+01] [ 2.12566875e-01 -2.12739936e-02 -9.76914910e-01 -9.16878916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.69, Z:-917.88 [[ 1.64754119e-01 9.86093605e-01 -2.18055689e-02 4.57271901e+02] [-9.59994256e-01 1.65390137e-01 2.25958250e-01 -7.66911213e+01] [ 2.26422411e-01 -1.62943315e-02 9.73892903e-01 -9.17883557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.87, Y:-76.35, Z:-916.87 [[ 2.48975641e-01 -9.67795754e-01 3.71821104e-02 4.57868368e+02] [-9.43854757e-01 -2.51065925e-01 -2.14718652e-01 -7.63549613e+01] [ 2.17138960e-01 1.83652022e-02 -9.75967926e-01 -9.16872089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.85, Y:-76.36, Z:-916.87 [[ 3.26153228e-01 -9.43761772e-01 5.42013731e-02 4.57854710e+02] [-9.20161038e-01 -3.30090910e-01 -2.10579331e-01 -7.63602401e+01] [ 2.16628104e-01 1.88071370e-02 -9.76073028e-01 -9.16865685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:457.84, Y:-76.37, Z:-916.86 [[ 4.02258409e-01 -9.12793162e-01 7.06881591e-02 4.57841403e+02] [-8.89725151e-01 -4.07956019e-01 -2.04843945e-01 -7.63668849e+01] [ 2.15817813e-01 1.95071663e-02 -9.76238773e-01 -9.16858898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.83, Y:-76.38, Z:-916.85 [[ 4.73899915e-01 -8.76338912e-01 8.63074895e-02 4.57827298e+02] [-8.54070622e-01 -4.81288562e-01 -1.97293418e-01 -7.63751950e+01] [ 2.14434707e-01 1.97846427e-02 -9.76537928e-01 -9.16852725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.81, Y:-76.39, Z:-916.85 [[ 5.41692557e-01 -8.34478817e-01 1.01065709e-01 4.57812322e+02] [-8.13174246e-01 -5.50681471e-01 -1.88407971e-01 -7.63859146e+01] [ 2.12877474e-01 1.98751640e-02 -9.76876737e-01 -9.16846018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-76.40, Z:-916.84 [[ 6.05250176e-01 -7.87644548e-01 1.15274843e-01 4.57798630e+02] [-7.67325802e-01 -6.15811844e-01 -1.78848780e-01 -7.63962693e+01] [ 2.11856880e-01 1.97948941e-02 -9.77100212e-01 -9.16839559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.79, Y:-76.41, Z:-916.83 [[ 6.63458852e-01 -7.37218030e-01 1.27796435e-01 4.57786414e+02] [-7.18234688e-01 -6.75381264e-01 -1.67329262e-01 -7.64062360e+01] [ 2.09669466e-01 1.92282470e-02 -9.77583239e-01 -9.16833787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.78, Y:-76.42, Z:-916.83 [[ 7.17789518e-01 -6.82016213e-01 1.40114570e-01 4.57776839e+02] [-6.64246294e-01 -7.31096290e-01 -1.55804610e-01 -7.64176171e+01] [ 2.08698512e-01 1.87643319e-02 -9.77799995e-01 -9.16827041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-76.43, Z:-916.82 [[ 7.67700450e-01 -6.22789671e-01 1.50894151e-01 4.57767186e+02] [-6.06428269e-01 -7.82176081e-01 -1.42987180e-01 -7.64282977e+01] [ 2.07076735e-01 1.82648439e-02 -9.78154191e-01 -9.16821083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.76, Y:-76.44, Z:-916.81 [[ 8.12584246e-01 -5.60151230e-01 1.61051056e-01 4.57758007e+02] [-5.45187848e-01 -8.28201596e-01 -1.29816512e-01 -7.64424402e+01] [ 2.06099621e-01 1.76837740e-02 -9.78371213e-01 -9.16814451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-76.46, Z:-916.81 [[ 8.51301625e-01 -4.96455518e-01 1.69757067e-01 4.57751054e+02] [-4.83055109e-01 -8.67904548e-01 -1.15756024e-01 -7.64562578e+01] [ 2.04800648e-01 1.65412729e-02 -9.78663927e-01 -9.16808525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.47, Z:-916.80 [[ 8.86429622e-01 -4.27316008e-01 1.77886356e-01 4.57743340e+02] [-4.15410273e-01 -9.03960332e-01 -1.01439758e-01 -7.64703250e+01] [ 2.04149042e-01 1.60233861e-02 -9.78808674e-01 -9.16803109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.49, Z:-916.80 [[ 9.15869996e-01 -3.57319605e-01 1.83043304e-01 4.57738265e+02] [-3.45994663e-01 -9.33756198e-01 -9.15808692e-02 -7.64872458e+01] [ 2.03641460e-01 2.05441639e-02 -9.78829961e-01 -9.16797073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.49, Z:-916.80 [[ 9.40882319e-01 -2.87104949e-01 1.79753192e-01 4.57739030e+02] [-2.72514557e-01 -9.56758660e-01 -1.01728478e-01 -7.64926257e+01] [ 2.01187172e-01 4.67291646e-02 -9.78437585e-01 -9.16801555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.73, Y:-76.52, Z:-916.78 [[ 9.59621539e-01 -2.03895545e-01 1.93786247e-01 4.57728331e+02] [-1.96848999e-01 -9.78881006e-01 -5.51583877e-02 -7.65230028e+01] [ 2.00940226e-01 1.47845481e-02 -9.79491931e-01 -9.16784649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.73, Y:-76.54, Z:-916.78 [[ 9.72513281e-01 -1.24251216e-01 1.96925251e-01 4.57727113e+02] [-1.18792126e-01 -9.92139390e-01 -3.93428753e-02 -7.65410366e+01] [ 2.00265699e-01 1.48682996e-02 -9.79628799e-01 -9.16779332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.73, Y:-76.56, Z:-916.77 [[ 9.79093785e-01 -4.33395233e-02 1.98738638e-01 4.57726823e+02] [-3.94719723e-02 -9.98947043e-01 -2.33831025e-02 -7.65591018e+01] [ 1.99542787e-01 1.50496443e-02 -9.79773537e-01 -9.16773062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.73, Y:-76.58, Z:-916.77 [[ 9.79180794e-01 3.83507050e-02 1.99334382e-01 4.57727623e+02] [ 4.06335454e-02 -9.99146917e-01 -7.37252952e-03 -7.65774301e+01] [ 1.98881591e-01 1.53187020e-02 -9.79903797e-01 -9.16766859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.73, Y:-76.59, Z:-916.76 [[ 9.72526383e-01 1.23162356e-01 1.97543589e-01 4.57728967e+02] [ 1.23948164e-01 -9.92252883e-01 8.43025629e-03 -7.65947672e+01] [ 1.97051486e-01 1.62865186e-02 -9.80257855e-01 -9.16761619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.73, Y:-76.61, Z:-916.76 [[ 9.59047425e-01 2.05258099e-01 1.95184910e-01 4.57733347e+02] [ 2.04540591e-01 -9.78562643e-01 2.40478679e-02 -7.66123928e+01] [ 1.95936681e-01 1.68601910e-02 -9.80471596e-01 -9.16755428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.63, Z:-916.75 [[ 9.38849809e-01 2.86128360e-01 1.91550509e-01 4.57737638e+02] [ 2.83951321e-01 -9.58031989e-01 3.93237157e-02 -7.66294587e+01] [ 1.94763146e-01 1.74719573e-02 -9.80694676e-01 -9.16749363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.64, Z:-916.74 [[ 9.12552434e-01 3.61078307e-01 1.92016955e-01 4.57743891e+02] [ 3.60113892e-01 -9.32000185e-01 4.11538670e-02 -7.66429114e+01] [ 1.93819606e-01 3.15929114e-02 -9.80528352e-01 -9.16743578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.61, Z:-916.76 [[ 8.81369284e-01 4.20173677e-01 2.15968209e-01 4.57740009e+02] [ 4.34425296e-01 -9.00462696e-01 -2.10141568e-02 -7.66123853e+01] [ 1.85641720e-01 1.12343285e-01 -9.76174236e-01 -9.16764390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.61, Z:-916.77 [[ 8.43875830e-01 4.89048607e-01 2.20692195e-01 4.57741001e+02] [ 5.07888312e-01 -8.60723569e-01 -3.47044804e-02 -7.66066211e+01] [ 1.72982796e-01 1.41373258e-01 -9.74725887e-01 -9.16773021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-76.66, Z:-916.72 [[ 7.99781507e-01 5.77250531e-01 1.64716018e-01 4.57766149e+02] [ 5.74447884e-01 -8.15618494e-01 6.91093398e-02 -7.66625157e+01] [ 1.74238834e-01 3.93483960e-02 -9.83916934e-01 -9.16724810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-76.61, Z:-916.77 [[ 7.54807756e-01 6.14834286e-01 2.28569580e-01 4.57741604e+02] [ 6.35884763e-01 -7.71381136e-01 -2.49341173e-02 -7.66092070e+01] [ 1.60983913e-01 1.64164379e-01 -9.73208219e-01 -9.16765637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-76.62, Z:-916.76 [[ 7.04295924e-01 6.78721124e-01 2.08098266e-01 4.57749770e+02] [ 6.93517312e-01 -7.20435404e-01 2.56278582e-03 -7.66199238e+01] [ 1.51660775e-01 1.42514791e-01 -9.78104567e-01 -9.16755675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-76.68, Z:-916.71 [[ 6.45413089e-01 7.55577008e-01 1.12005936e-01 4.57802755e+02] [ 7.48325485e-01 -6.54872557e-01 1.05597837e-01 -7.66826630e+01] [ 1.53136911e-01 1.56626696e-02 -9.88080851e-01 -9.16705019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.81, Y:-76.69, Z:-916.70 [[ 5.84140268e-01 8.05060228e-01 1.03238446e-01 4.57814874e+02] [ 7.97074164e-01 -5.92988186e-01 1.14183137e-01 -7.66916497e+01] [ 1.53143481e-01 1.55897294e-02 -9.88080986e-01 -9.16702502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.82, Y:-76.70, Z:-916.70 [[ 5.20564874e-01 8.48608699e-01 9.42098066e-02 4.57824533e+02] [ 8.39833935e-01 -5.28800873e-01 1.22672731e-01 -7.66975722e+01] [ 1.53919375e-01 1.52614776e-02 -9.87965543e-01 -9.16698286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.84, Y:-76.70, Z:-916.69 [[ 4.53917181e-01 8.87017393e-01 8.46128709e-02 4.57835534e+02] [ 8.77465557e-01 -4.61494649e-01 1.30678562e-01 -7.67025161e+01] [ 1.54962544e-01 1.49276354e-02 -9.87807560e-01 -9.16694074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.85, Y:-76.71, Z:-916.69 [[ 3.84830578e-01 9.19995353e-01 7.42561609e-02 4.57845783e+02] [ 9.09739818e-01 -3.91659412e-01 1.37754742e-01 -7.67080241e+01] [ 1.55816847e-01 1.45415492e-02 -9.87678922e-01 -9.16690090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.85, Y:-76.71, Z:-916.69 [[ 3.15492381e-01 9.46808513e-01 6.33892562e-02 4.57854460e+02] [ 9.35859935e-01 -3.21500676e-01 1.44234179e-01 -7.67123882e+01] [ 1.56941838e-01 1.38186805e-02 -9.87511167e-01 -9.16685226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.87, Y:-76.72, Z:-916.68 [[ 2.41451641e-01 9.69041462e-01 5.15727697e-02 4.57866996e+02] [ 9.57719440e-01 -2.46524309e-01 1.48321406e-01 -7.67157802e+01] [ 1.56443534e-01 1.35797971e-02 -9.87593545e-01 -9.16680676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.88, Y:-76.72, Z:-916.68 [[ 1.65529864e-01 9.85410891e-01 3.95631273e-02 4.57879114e+02] [ 9.73739778e-01 -1.69664163e-01 1.51805524e-01 -7.67184578e+01] [ 1.56303261e-01 1.33958430e-02 -9.87618267e-01 -9.16676041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.89, Y:-76.72, Z:-916.67 [[ 8.80266142e-02 9.95744343e-01 2.72858777e-02 4.57890776e+02] [ 9.83869631e-01 -9.11940101e-02 1.53896723e-01 -7.67214355e+01] [ 1.55730100e-01 1.32987389e-02 -9.87710119e-01 -9.16671640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.90, Y:-76.72, Z:-916.67 [[ 8.37276839e-03 9.99853565e-01 1.49246815e-02 4.57902595e+02] [ 9.87980783e-01 -1.05752863e-02 1.54214578e-01 -7.67224844e+01] [ 1.54349828e-01 1.34540956e-02 -9.87924652e-01 -9.16666617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.91, Y:-76.72, Z:-916.66 [[-7.13626023e-02 9.97446879e-01 2.66526227e-03 4.57914274e+02] [ 9.85612875e-01 7.01049852e-02 1.53793862e-01 -7.67236531e+01] [ 1.53214359e-01 1.36020470e-02 -9.88099360e-01 -9.16661958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.96, Y:-76.74, Z:-916.66 [[-1.50913950e-01 9.88502388e-01 -9.38125383e-03 4.57959029e+02] [ 9.76821899e-01 1.50574554e-01 1.52139019e-01 -7.67435920e+01] [ 1.51802362e-01 1.37960862e-02 -9.88314581e-01 -9.16660709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.01, Y:-76.77, Z:-916.66 [[-2.29506858e-01 9.73077119e-01 -2.11547529e-02 4.58006470e+02] [ 9.61621880e-01 2.30055743e-01 1.49524969e-01 -7.67655133e+01] [ 1.50366098e-01 1.39741324e-02 -9.88531618e-01 -9.16660308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.06, Y:-76.78, Z:-916.66 [[-3.08299670e-01 9.50743697e-01 -3.22139317e-02 4.58055225e+02] [ 9.39745899e-01 3.09643329e-01 1.44909124e-01 -7.67795318e+01] [ 1.47746265e-01 1.44025249e-02 -9.88920426e-01 -9.16658903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.10, Y:-76.79, Z:-916.66 [[-3.82958435e-01 9.22748455e-01 -4.33373630e-02 4.58104649e+02] [ 9.12009510e-01 3.85129220e-01 1.41117458e-01 -7.67902690e+01] [ 1.46906402e-01 1.45180338e-02 -9.89043849e-01 -9.16658288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.15, Y:-76.80, Z:-916.66 [[-4.54972464e-01 8.88858343e-01 -5.41378148e-02 4.58154912e+02] [ 8.78413210e-01 4.57948917e-01 1.36649267e-01 -7.67984748e+01] [ 1.46254195e-01 1.46162821e-02 -9.89139058e-01 -9.16658078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.356559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.20, Y:-76.80, Z:-916.66 [[-5.23411070e-01 8.49630152e-01 -6.45713370e-02 4.58204156e+02] [ 8.39524882e-01 5.27176865e-01 1.31463022e-01 -7.67996890e+01] [ 1.45735463e-01 1.45999571e-02 -9.89215859e-01 -9.16657625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-76.80, Z:-916.66 [[-5.88207747e-01 8.05254150e-01 -7.46820038e-02 4.58255162e+02] [ 7.95513981e-01 5.92751676e-01 1.25709816e-01 -7.67999904e+01] [ 1.45496234e-01 1.45329091e-02 -9.89252061e-01 -9.16657671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-76.80, Z:-916.66 [[-6.48689322e-01 7.56356235e-01 -8.44239841e-02 4.58309319e+02] [ 7.47021092e-01 6.54002707e-01 1.19331254e-01 -7.68006244e+01] [ 1.45470452e-01 1.43424131e-02 -9.89258633e-01 -9.16658698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-76.79, Z:-916.66 [[-7.03519472e-01 7.04445338e-01 -9.38995174e-02 4.58360907e+02] [ 6.95543211e-01 7.09623529e-01 1.12490397e-01 -7.67948941e+01] [ 1.45876642e-01 1.38280126e-02 -9.89206142e-01 -9.16659053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-76.78, Z:-916.66 [[-7.54888043e-01 6.47762909e-01 -1.02699835e-01 4.58410084e+02] [ 6.39373517e-01 7.61723547e-01 1.04779502e-01 -7.67840183e+01] [ 1.46101158e-01 1.34332384e-02 -9.89178447e-01 -9.16659198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.46, Y:-76.77, Z:-916.66 [[-8.01726587e-01 5.87323192e-01 -1.10841996e-01 4.58459384e+02] [ 5.79509174e-01 8.09247615e-01 9.63712386e-02 -7.67703638e+01] [ 1.46299684e-01 1.30294309e-02 -9.89154506e-01 -9.16659886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.51, Y:-76.75, Z:-916.66 [[-8.42710905e-01 5.25045022e-01 -1.19021243e-01 4.58510079e+02] [ 5.17803126e-01 8.50984996e-01 8.77750500e-02 -7.67549682e+01] [ 1.47371145e-01 1.23394202e-02 -9.89004289e-01 -9.16661004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:458.55, Y:-76.73, Z:-916.66 [[-8.80407778e-01 4.57366506e-01 -1.25291756e-01 4.58553179e+02] [ 4.50850507e-01 8.89196393e-01 7.78690887e-02 -7.67311081e+01] [ 1.47023690e-01 1.20686999e-02 -9.89059342e-01 -9.16660871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.60, Y:-76.71, Z:-916.66 [[-9.12957226e-01 3.86442267e-01 -1.31039989e-01 4.58598726e+02] [ 3.80662857e-01 9.22237296e-01 6.76325280e-02 -7.67058180e+01] [ 1.46986032e-01 1.18635487e-02 -9.89067421e-01 -9.16661450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.64, Y:-76.68, Z:-916.66 [[-9.40274471e-01 3.12447390e-01 -1.35131598e-01 4.58639683e+02] [ 3.07481605e-01 9.49861987e-01 5.67209660e-02 -7.66753858e+01] [ 1.46078686e-01 1.17827957e-02 -9.89202802e-01 -9.16661311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.68, Y:-76.64, Z:-916.66 [[-9.61781155e-01 2.36226439e-01 -1.38470504e-01 4.58678938e+02] [ 2.32078436e-01 9.71627244e-01 4.56081097e-02 -7.66419157e+01] [ 1.45315555e-01 1.17290024e-02 -9.89315834e-01 -9.16661159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.71, Y:-76.60, Z:-916.66 [[-9.77450967e-01 1.57696813e-01 -1.40432625e-01 4.58712476e+02] [ 1.54383825e-01 9.87417099e-01 3.42506654e-02 -7.66048036e+01] [ 1.44066796e-01 1.17978201e-02 -9.89497635e-01 -9.16660486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.75, Y:-76.57, Z:-916.66 [[-9.86837475e-01 7.81754453e-02 -1.41564112e-01 4.58746717e+02] [ 7.56867117e-02 9.96868918e-01 2.28884848e-02 -7.65667131e+01] [ 1.42910180e-01 1.18726925e-02 -9.89664448e-01 -9.16661079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.77, Y:-76.53, Z:-916.66 [[-9.89890254e-01 -1.92740363e-03 -1.41822317e-01 4.58773483e+02] [-3.60320066e-03 9.99926685e-01 1.15603167e-02 -7.65256624e+01] [ 1.41789638e-01 1.19544591e-02 -9.89824626e-01 -9.16660883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.50, Y:-76.52, Z:-916.62 [[-9.85508848e-01 -7.59785152e-02 -1.51656113e-01 4.58503516e+02] [-8.19261427e-02 9.96080146e-01 3.33534063e-02 -7.65159599e+01] [ 1.48527501e-01 4.52946773e-02 -9.87870424e-01 -9.16618151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.54, Y:-76.71, Z:-917.42 [[-9.92493932e-01 8.10486398e-02 -9.15800936e-02 4.58537344e+02] [-8.88529679e-02 3.66456913e-02 9.95370405e-01 -7.67095437e+01] [ 8.40294333e-02 9.96036250e-01 -2.91692141e-02 -9.17420306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.836559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:458.55, Y:-75.84, Z:-917.65 [[-9.92403413e-01 8.29401052e-02 9.08647618e-02 4.58551530e+02] [-8.19132477e-02 -9.96526894e-01 1.49789520e-02 -7.58430210e+01] [ 9.17915347e-02 7.42213530e-03 9.95750584e-01 -9.17651790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.72, Y:-76.43, Z:-916.60 [[-9.83559707e-01 -1.66075754e-01 -7.09164819e-02 4.58717181e+02] [-1.66123064e-01 9.86090938e-01 -5.27162033e-03 -7.64330854e+01] [ 7.08055884e-02 6.59590987e-03 -9.97468327e-01 -9.16602779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.73, Y:-76.39, Z:-916.60 [[-9.67325406e-01 -2.43627847e-01 -7.01928131e-02 4.58732845e+02] [-2.43477382e-01 9.69846190e-01 -1.08227888e-02 -7.63896255e+01] [ 7.07129651e-02 6.62120373e-03 -9.97474730e-01 -9.16602365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.33, Y:-75.84, Z:-917.65 [[-9.67821090e-01 2.40960039e-01 7.25299790e-02 4.58334395e+02] [-2.38940767e-01 -9.70386229e-01 3.54665661e-02 -7.58364755e+01] [ 7.89281179e-02 1.69949218e-02 9.96735434e-01 -9.17650023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.49, Y:-75.78, Z:-917.64 [[-9.68157984e-01 2.32828394e-01 9.19840039e-02 4.58485313e+02] [-2.33340092e-01 -9.72380729e-01 5.30277727e-03 -7.57770565e+01] [ 9.06781099e-02 -1.63296298e-02 9.95746365e-01 -9.17643288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.74, Y:-76.35, Z:-916.60 [[-9.44695580e-01 -3.20529814e-01 -6.93606440e-02 4.58739772e+02] [-3.20183880e-01 9.47214296e-01 -1.63511482e-02 -7.63497985e+01] [ 7.09404241e-02 6.76130265e-03 -9.97457639e-01 -9.16602895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.76, Z:-917.65 [[-9.47378873e-01 3.08523325e-01 8.53617518e-02 4.58453677e+02] [-3.07219894e-01 -9.51216575e-01 2.83366146e-02 -7.57609360e+01] [ 8.99400197e-02 6.20681636e-04 9.95946991e-01 -9.17648101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-75.76, Z:-917.65 [[-9.47827389e-01 3.07160991e-01 8.52957581e-02 4.58452114e+02] [-3.05857331e-01 -9.51657299e-01 2.82785865e-02 -7.57612759e+01] [ 8.98584094e-02 7.14885850e-04 9.95954294e-01 -9.17647243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.74, Y:-76.31, Z:-916.60 [[-9.16037819e-01 -3.95359510e-01 -6.75690244e-02 4.58743716e+02] [-3.94830772e-01 9.18500449e-01 -2.15774598e-02 -7.63075439e+01] [ 7.05930332e-02 6.91256093e-03 -9.97481248e-01 -9.16603090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.41, Y:-75.74, Z:-917.65 [[-9.21887496e-01 3.78353914e-01 8.34970742e-02 4.58411135e+02] [-3.76720322e-01 -9.25660545e-01 3.51333922e-02 -7.57430935e+01] [ 9.05828036e-02 9.33990276e-04 9.95888490e-01 -9.17646888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-75.74, Z:-917.65 [[-9.23149677e-01 3.75023978e-01 8.45676682e-02 4.58408932e+02] [-3.73337714e-01 -9.27014280e-01 3.55454154e-02 -7.57433101e+01] [ 9.17258191e-02 1.24143878e-03 9.95783527e-01 -9.17645956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-75.74, Z:-917.65 [[-9.23822917e-01 3.73229464e-01 8.51527200e-02 4.58404098e+02] [-3.71515696e-01 -9.27738015e-01 3.57527980e-02 -7.57449740e+01] [ 9.23434130e-02 1.39368209e-03 9.95726244e-01 -9.17645430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-75.75, Z:-917.65 [[-9.24460243e-01 3.71451569e-01 8.60057686e-02 4.58402335e+02] [-3.69699187e-01 -9.28451037e-01 3.60719216e-02 -7.57457425e+01] [ 9.32511169e-02 1.55079464e-03 9.95641414e-01 -9.17645071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-75.75, Z:-917.65 [[-9.25121748e-01 3.69693386e-01 8.64670539e-02 4.58397476e+02] [-3.67918129e-01 -9.29152252e-01 3.62262788e-02 -7.57483242e+01] [ 9.37336735e-02 1.70092161e-03 9.95595855e-01 -9.17645023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-75.75, Z:-917.64 [[-9.26827633e-01 3.62870367e-01 9.65175403e-02 4.58369959e+02] [-3.61684979e-01 -9.31813445e-01 3.01277289e-02 -7.57524543e+01] [ 1.00868802e-01 -6.98573286e-03 9.94875211e-01 -9.17635788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.74, Y:-76.32, Z:-916.64 [[-8.79910567e-01 -4.63313391e-01 -1.05347502e-01 4.58742786e+02] [-4.71640368e-01 8.78549825e-01 7.55352082e-02 -7.63245063e+01] [ 5.75565561e-02 1.16150363e-01 -9.91562573e-01 -9.16636231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.69, Y:-76.24, Z:-916.59 [[-8.35880022e-01 -5.47240948e-01 -4.28011111e-02 4.58693346e+02] [-5.45987736e-01 8.36933488e-01 -3.79437480e-02 -7.62363548e+01] [ 5.65860558e-02 -8.34753918e-03 -9.98362828e-01 -9.16594068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.31, Y:-75.72, Z:-917.64 [[-8.60011126e-01 5.04179499e-01 7.86377606e-02 4.58313272e+02] [-5.02615719e-01 -8.63583721e-01 4.00074634e-02 -7.57219104e+01] [ 8.80812327e-02 -5.11771087e-03 9.96100148e-01 -9.17639484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.376559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:458.31, Y:-75.73, Z:-917.64 [[-8.59923149e-01 5.04924593e-01 7.47217145e-02 4.58312029e+02] [-5.02835356e-01 -8.63161324e-01 4.59252995e-02 -7.57284669e+01] [ 8.76857072e-02 1.91950820e-03 9.96146341e-01 -9.17641853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-75.78, Z:-917.62 [[-8.61505245e-01 5.00234990e-01 8.70268222e-02 4.58210562e+02] [-4.98553570e-01 -8.65857235e-01 4.16603759e-02 -7.57788753e+01] [ 9.61927813e-02 -7.49690054e-03 9.95334489e-01 -9.17623733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.58, Y:-76.32, Z:-916.62 [[-7.94767593e-01 -6.00532231e-01 -8.77810533e-02 4.58584714e+02] [-6.05304745e-01 7.94850918e-01 4.26401771e-02 -7.63242738e+01] [ 4.41660501e-02 8.70233189e-02 -9.95226759e-01 -9.16617198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-75.70, Z:-917.63 [[-8.14190344e-01 5.75833627e-01 7.42274672e-02 4.58259696e+02] [-5.74782070e-01 -8.17470488e-01 3.69807174e-02 -7.57039568e+01] [ 8.19735045e-02 -1.25552742e-02 9.96555422e-01 -9.17633294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-75.71, Z:-917.64 [[-8.13074923e-01 5.78383517e-01 6.61942332e-02 4.58263838e+02] [-5.76385572e-01 -8.15764478e-01 4.80415409e-02 -7.57078571e+01] [ 8.17853394e-02 9.07971230e-04 9.96649554e-01 -9.17637812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-75.71, Z:-917.64 [[-8.11966522e-01 5.79942604e-01 6.61584754e-02 4.58260199e+02] [-5.77955147e-01 -8.14657019e-01 4.79769698e-02 -7.57090594e+01] [ 8.17203552e-02 7.19061890e-04 9.96655039e-01 -9.17637682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-75.62, Z:-916.69 [[-7.83994058e-01 -2.67017255e-01 5.60406194e-01 4.58198040e+02] [-6.05359354e-01 1.28962929e-01 -7.85435303e-01 -7.56207754e+01] [ 1.37453154e-01 -9.55023742e-01 -2.62747563e-01 -9.16693413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-75.78, Z:-917.66 [[-7.93977271e-01 5.96653403e-01 1.16639661e-01 4.58160585e+02] [-5.90167213e-01 -8.02498618e-01 8.77418328e-02 -7.57764383e+01] [ 1.45954630e-01 8.28117203e-04 9.89290938e-01 -9.17658194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-75.78, Z:-917.66 [[-7.93266934e-01 5.97329522e-01 1.18004299e-01 4.58159005e+02] [-5.90707975e-01 -8.01995645e-01 8.86965235e-02 -7.57787605e+01] [ 1.47619986e-01 6.53938778e-04 9.89043939e-01 -9.17658261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.10, Y:-75.81, Z:-917.64 [[-7.96166471e-01 5.89146395e-01 1.37932865e-01 4.58096841e+02] [-5.83344772e-01 -8.07907182e-01 8.36352956e-02 -7.58094959e+01] [ 1.60710385e-01 -1.38747975e-02 9.86904080e-01 -9.17638297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.676559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:458.60, Y:-76.30, Z:-916.66 [[-7.49150593e-01 -6.33426502e-01 -1.93763401e-01 4.58603460e+02] [-6.53506029e-01 7.54537677e-01 6.00230314e-02 -7.63043687e+01] [ 1.08181608e-01 1.71591840e-01 -9.79210386e-01 -9.16657104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.69, Y:-76.40, Z:-916.86 [[-7.19157645e-01 -5.35767586e-01 -4.42453812e-01 4.58691229e+02] [-6.91002846e-01 6.18332357e-01 3.74406415e-01 -7.64020286e+01] [ 7.29886873e-02 5.74994079e-01 -8.14895368e-01 -9.16855014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.02, Y:-75.82, Z:-917.62 [[-7.06672039e-01 7.03870164e-01 7.19820944e-02 4.58024606e+02] [-7.00303192e-01 -7.10328541e-01 7.07729039e-02 -7.58187687e+01] [ 1.00945872e-01 -3.96058110e-04 9.94891841e-01 -9.17622616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.02, Y:-75.82, Z:-917.62 [[-7.06938245e-01 7.03600044e-01 7.20090078e-02 4.58022943e+02] [-7.00034464e-01 -7.10596103e-01 7.07455116e-02 -7.58204837e+01] [ 1.00945865e-01 -3.96079371e-04 9.94891841e-01 -9.17622402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.98, Y:-75.88, Z:-917.62 [[-7.27777258e-01 6.82066942e-01 7.15887545e-02 4.57978780e+02] [-6.78507969e-01 -7.31286747e-01 6.96177353e-02 -7.58810401e+01] [ 9.98358633e-02 2.09266405e-03 9.95001719e-01 -9.17615839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.97, Y:-75.89, Z:-917.61 [[-7.27490448e-01 6.82301163e-01 7.22687392e-02 4.57967644e+02] [-6.79049212e-01 -7.31070912e-01 6.65393873e-02 -7.58920548e+01] [ 9.82334744e-02 -6.67261692e-04 9.95163172e-01 -9.17613163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.51, Y:-76.55, Z:-917.35 [[-7.44010557e-01 -2.38572227e-03 -6.68163602e-01 4.58507697e+02] [-6.67635867e-01 4.25510547e-02 7.43270985e-01 -7.65506642e+01] [ 2.66578279e-02 9.99091445e-01 -3.32512277e-02 -9.17352493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.93, Y:-75.93, Z:-917.58 [[-7.28084382e-01 6.85148103e-01 2.15687358e-02 4.57925292e+02] [-6.84860025e-01 -7.28403723e-01 1.98686417e-02 -7.59320866e+01] [ 2.93237097e-02 -3.05517220e-04 9.99569921e-01 -9.17577063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.93, Y:-75.93, Z:-917.58 [[-7.28218627e-01 6.85021789e-01 2.10423427e-02 4.57925077e+02] [-6.84748029e-01 -7.28522516e-01 1.93670264e-02 -7.59340747e+01] [ 2.85966555e-02 -3.05273286e-04 9.99590986e-01 -9.17576852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.92, Y:-75.94, Z:-917.58 [[-7.29003084e-01 6.84201636e-01 2.05578520e-02 4.57924488e+02] [-6.83940502e-01 -7.29292838e-01 1.89036385e-02 -7.59379004e+01] [ 2.79265946e-02 -2.79536790e-04 9.99609938e-01 -9.17577612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.92, Y:-75.94, Z:-917.58 [[-7.30040814e-01 6.83103333e-01 2.02545301e-02 4.57921419e+02] [-6.82849847e-01 -7.30321694e-01 1.86094133e-02 -7.59409389e+01] [ 2.75044750e-02 -2.45171504e-04 9.99621650e-01 -9.17577449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.92, Y:-75.94, Z:-917.58 [[-7.31283259e-01 6.81772898e-01 2.02610562e-02 4.57918699e+02] [-6.81519188e-01 -7.31563854e-01 1.85990379e-02 -7.59441022e+01] [ 2.75025764e-02 -2.07133520e-04 9.99621711e-01 -9.17577017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.71, Y:-75.82, Z:-916.81 [[-7.30526540e-01 -6.82479186e-03 6.82850201e-01 4.57710373e+02] [-6.78014910e-01 -1.11952631e-01 -7.26472567e-01 -7.58177107e+01] [ 8.14049003e-02 -9.93690108e-01 7.71570571e-02 -9.16813779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-76.09, Z:-917.60 [[-7.35715602e-01 6.73783640e-01 6.88342936e-02 4.57765329e+02] [-6.70497195e-01 -7.38923418e-01 6.65258840e-02 -7.60923447e+01] [ 9.56873238e-02 2.79093001e-03 9.95407528e-01 -9.17598605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.68, Y:-75.91, Z:-916.75 [[-7.20235547e-01 -1.75887536e-01 6.71062092e-01 4.57682214e+02] [-6.77232251e-01 -3.14364371e-02 -7.35097428e-01 -7.59126945e+01] [ 1.50390276e-01 -9.83908190e-01 -9.64750722e-02 -9.16748354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.67, Y:-76.19, Z:-917.61 [[-7.47768891e-01 6.53008728e-01 1.20088667e-01 4.57674208e+02] [-6.43712904e-01 -7.57334681e-01 1.09899403e-01 -7.61864338e+01] [ 1.62712581e-01 4.87673013e-03 9.86661459e-01 -9.17612443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-76.51, Z:-916.58 [[-6.93208258e-01 -7.12763158e-01 -1.06915818e-01 4.58184748e+02] [-7.07005173e-01 7.01296360e-01 -9.12529537e-02 -7.65097542e+01] [ 1.40021418e-01 1.23327356e-02 -9.90071667e-01 -9.16575143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.50, Y:-75.98, Z:-916.85 [[-6.81181351e-01 -1.03681904e-01 7.24735835e-01 4.57501645e+02] [-6.97268638e-01 -2.09890581e-01 -6.85392144e-01 -7.59794980e+01] [ 2.23177988e-01 -9.72211915e-01 7.06794100e-02 -9.16846090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:-76.63, Z:-916.57 [[-6.28288778e-01 -7.61643073e-01 -1.58597105e-01 4.58030994e+02] [-7.50106539e-01 6.47136365e-01 -1.36215655e-01 -7.66298233e+01] [ 2.06381665e-01 3.33819581e-02 -9.77901965e-01 -9.16568199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-76.83, Z:-917.32 [[-6.43390464e-01 4.21450403e-02 -7.64377202e-01 4.58144441e+02] [-7.52508110e-01 1.48620699e-01 6.41594445e-01 -7.68307509e+01] [ 1.40642298e-01 9.87995791e-01 -6.39066561e-02 -9.17321089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-76.50, Z:-917.53 [[-6.41044728e-01 7.61225192e-01 9.79686892e-02 4.57315957e+02] [-7.51525559e-01 -6.48474863e-01 1.21201017e-01 -7.64995195e+01] [ 1.55791500e-01 4.06929890e-03 9.87781580e-01 -9.17533694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:-76.32, Z:-917.57 [[-6.41090128e-01 7.60713307e-01 1.01581060e-01 4.57466529e+02] [-7.51764294e-01 -6.49085608e-01 1.16354286e-01 -7.63152111e+01] [ 1.54447058e-01 -1.77143020e-03 9.87999478e-01 -9.17567414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-76.32, Z:-917.57 [[-6.40688588e-01 7.61401842e-01 9.89210185e-02 4.57464624e+02] [-7.52296209e-01 -6.48279718e-01 1.17404524e-01 -7.63187484e+01] [ 1.53520510e-01 8.01831242e-04 9.88145136e-01 -9.17567847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:458.11, Y:-76.88, Z:-917.26 [[-6.40758921e-01 -2.60490832e-02 -7.67300105e-01 4.58109037e+02] [-7.63759535e-01 1.23294199e-01 6.33616536e-01 -7.68837965e+01] [ 7.80985220e-02 9.92028218e-01 -9.88970936e-02 -9.17262188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-76.35, Z:-917.53 [[-6.38655356e-01 7.67507271e-01 5.52442410e-02 4.57432916e+02] [-7.64627893e-01 -6.41040215e-01 6.64200912e-02 -7.63514509e+01] [ 8.63916831e-02 1.78259366e-04 9.96261234e-01 -9.17531478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-76.35, Z:-917.53 [[-6.37492827e-01 7.68454624e-01 5.55012384e-02 4.57433328e+02] [-7.65556440e-01 -6.39904283e-01 6.66771847e-02 -7.63507217e+01] [ 8.67538710e-02 1.68964954e-05 9.96229776e-01 -9.17531939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-76.35, Z:-917.53 [[-6.35271402e-01 7.70250186e-01 5.60793801e-02 4.57432226e+02] [-7.67302774e-01 -6.37741783e-01 6.73191744e-02 -7.63507918e+01] [ 8.76167704e-02 -2.63917623e-04 9.96154221e-01 -9.17532579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-76.36, Z:-917.53 [[-6.34943176e-01 7.70519666e-01 5.60946316e-02 4.57427646e+02] [-7.67576694e-01 -6.37416136e-01 6.72806714e-02 -7.63557056e+01] [ 8.75967037e-02 -3.37528650e-04 9.96155964e-01 -9.17532703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-76.36, Z:-917.53 [[-6.34424755e-01 7.70905724e-01 5.66532846e-02 4.57425350e+02] [-7.67916041e-01 -6.36949089e-01 6.78292865e-02 -7.63577965e+01] [ 8.83752432e-02 -4.72387571e-04 9.96087142e-01 -9.17532650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.26, Y:-76.24, Z:-916.70 [[-6.27124814e-01 -1.26710140e-01 7.68543433e-01 4.57262957e+02] [-7.65763356e-01 -8.02802110e-02 -6.38092133e-01 -7.62350457e+01] [ 1.42551573e-01 -9.88685809e-01 -4.66842699e-02 -9.16697850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.576559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.33, Y:-76.46, Z:-917.55 [[-6.26661656e-01 7.72873588e-01 9.98077486e-02 4.57333604e+02] [-7.63474665e-01 -6.34559388e-01 1.20169956e-01 -7.64628624e+01] [ 1.56210129e-01 -8.94784082e-04 9.87723441e-01 -9.17550766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:457.33, Y:-76.46, Z:-917.55 [[-6.27123694e-01 7.72445034e-01 1.00222466e-01 4.57331790e+02] [-7.62976861e-01 -6.35081053e-01 1.20575143e-01 -7.64644637e+01] [ 1.56787060e-01 -8.51893510e-04 9.87632063e-01 -9.17550546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-76.47, Z:-917.55 [[-6.27880012e-01 7.71793280e-01 1.00507834e-01 4.57328407e+02] [-7.62277456e-01 -6.35873076e-01 1.20824298e-01 -7.64680301e+01] [ 1.57161607e-01 -7.51694641e-04 9.87572612e-01 -9.17550582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-76.47, Z:-917.55 [[-6.28517526e-01 7.71208324e-01 1.01012086e-01 4.57328374e+02] [-7.61603828e-01 -6.36582495e-01 1.21335634e-01 -7.64681797e+01] [ 1.57877576e-01 -6.69619257e-04 9.87458466e-01 -9.17551530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-76.47, Z:-917.55 [[-6.29951437e-01 7.69948881e-01 1.01685335e-01 4.57323907e+02] [-7.60214143e-01 -6.38105435e-01 1.22048806e-01 -7.64711358e+01] [ 1.58857306e-01 -4.17808624e-04 9.87301465e-01 -9.17551980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-76.47, Z:-917.55 [[-6.30682603e-01 7.69324334e-01 1.01879951e-01 4.57320331e+02] [-7.59559298e-01 -6.38858330e-01 1.22187183e-01 -7.64735473e+01] [ 1.59088429e-01 -3.22533133e-04 9.87264285e-01 -9.17551469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.32, Y:-76.47, Z:-917.55 [[-6.31202431e-01 7.68901784e-01 1.01850569e-01 4.57319705e+02] [-7.59152251e-01 -6.39366851e-01 1.22056912e-01 -7.64732950e+01] [ 1.58969655e-01 -2.77469411e-04 9.87283430e-01 -9.17551621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.48, Z:-917.55 [[-6.31927669e-01 7.68304448e-01 1.01861162e-01 4.57314795e+02] [-7.58560453e-01 -6.40084556e-01 1.21974590e-01 -7.64782598e+01] [ 1.58913376e-01 -1.88730606e-04 9.87292512e-01 -9.17550719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.48, Z:-917.55 [[-6.33603724e-01 7.66919499e-01 1.01886223e-01 4.57310228e+02] [-7.57168817e-01 -6.41743308e-01 1.21905333e-01 -7.64832503e+01] [ 1.58876378e-01 9.46024393e-05 9.87298480e-01 -9.17550073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:457.19, Y:-76.30, Z:-916.72 [[-6.18207387e-01 -1.52929920e-01 7.70994207e-01 4.57186798e+02] [-7.55653880e-01 -1.54353145e-01 -6.36523621e-01 -7.63041531e+01] [ 2.16348887e-01 -9.76108368e-01 -2.01398329e-02 -9.16720488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.23, Y:-76.58, Z:-917.56 [[-6.26604621e-01 7.65897746e-01 1.44108610e-01 4.57225750e+02] [-7.46184210e-01 -6.42962064e-01 1.72652568e-01 -7.65821260e+01] [ 2.24890582e-01 6.53327305e-04 9.74383805e-01 -9.17558999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-76.58, Z:-917.56 [[-6.27855788e-01 7.64882684e-01 1.44054121e-01 4.57223918e+02] [-7.45189265e-01 -6.44168939e-01 1.72450973e-01 -7.65844739e+01] [ 2.24699954e-01 9.26757000e-04 9.74427561e-01 -9.17558177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-76.59, Z:-917.56 [[-6.29995157e-01 7.63196598e-01 1.43656034e-01 4.57222732e+02] [-7.43601055e-01 -6.46164758e-01 1.71838811e-01 -7.65850118e+01] [ 2.23972262e-01 1.43484011e-03 9.74594463e-01 -9.17557962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-76.59, Z:-917.56 [[-6.31045747e-01 7.62293127e-01 1.43841768e-01 4.57220782e+02] [-7.42654321e-01 -6.47229795e-01 1.71924843e-01 -7.65873245e+01] [ 2.24155804e-01 1.66773098e-03 9.74551894e-01 -9.17557349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-76.59, Z:-917.56 [[-6.31825034e-01 7.61587564e-01 1.44157931e-01 4.57217932e+02] [-7.41874477e-01 -6.48059431e-01 1.72166298e-01 -7.65911336e+01] [ 2.24542618e-01 1.83188749e-03 9.74462548e-01 -9.17556533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-76.59, Z:-917.56 [[-6.32533786e-01 7.60954670e-01 1.44391826e-01 4.57217145e+02] [-7.41191931e-01 -6.48802059e-01 1.72309051e-01 -7.65923050e+01] [ 2.24801092e-01 1.96923992e-03 9.74402685e-01 -9.17556718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-76.59, Z:-917.56 [[-6.33578338e-01 7.60058593e-01 1.44531743e-01 4.57215068e+02] [-7.40265497e-01 -6.49850830e-01 1.72339473e-01 -7.65937734e+01] [ 2.24912170e-01 2.19869416e-03 9.74376560e-01 -9.17556377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:-76.60, Z:-917.55 [[-6.34346846e-01 7.59435305e-01 1.44437173e-01 4.57212151e+02] [-7.39683861e-01 -6.50578667e-01 1.72090628e-01 -7.65963654e+01] [ 2.24659442e-01 2.32730111e-03 9.74434564e-01 -9.17554787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:-76.60, Z:-917.55 [[-6.34958271e-01 7.58933944e-01 1.44385813e-01 4.57211361e+02] [-7.39215272e-01 -6.51163149e-01 1.71893384e-01 -7.65970496e+01] [ 2.24474444e-01 2.41292732e-03 9.74476989e-01 -9.17554229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.83, Y:-76.80, Z:-916.52 [[-5.58943711e-01 -8.18383967e-01 -1.33527566e-01 4.57830763e+02] [-8.03261545e-01 5.74354964e-01 -1.57756981e-01 -7.67995583e+01] [ 2.05798004e-01 1.90802870e-02 -9.78408465e-01 -9.16518372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.80, Y:-76.77, Z:-916.51 [[-4.93204768e-01 -8.61554246e-01 -1.20305187e-01 4.57797526e+02] [-8.45290526e-01 5.07310334e-01 -1.67690642e-01 -7.67690680e+01] [ 2.05506649e-01 1.89870107e-02 -9.78471518e-01 -9.16513768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.83, Y:-77.07, Z:-917.33 [[-5.19514056e-01 1.19419681e-01 -8.46075697e-01 4.57833596e+02] [-8.43502302e-01 8.64070632e-02 5.30129878e-01 -7.70691683e+01] [ 1.36414857e-01 9.89076721e-01 5.58410923e-02 -9.17328632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-76.67, Z:-917.51 [[-5.21431563e-01 8.49538014e-01 7.99642960e-02 4.57103980e+02] [-8.39174832e-01 -5.27524046e-01 1.32302615e-01 -7.66650752e+01] [ 1.54579190e-01 1.88273480e-03 9.87978608e-01 -9.17507188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-76.66, Z:-917.51 [[-5.21735019e-01 8.49395491e-01 7.94976115e-02 4.57104299e+02] [-8.39169710e-01 -5.27753606e-01 1.31416630e-01 -7.66630740e+01] [ 1.53579844e-01 1.85267060e-03 9.88134505e-01 -9.17507566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.09, Y:-76.68, Z:-917.50 [[-5.23216775e-01 8.48471615e-01 7.96248976e-02 4.57093335e+02] [-8.38222643e-01 -5.29236890e-01 1.31495690e-01 -7.66794834e+01] [ 1.53710794e-01 2.05735883e-03 9.88113738e-01 -9.17503757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.11, Y:-76.67, Z:-917.51 [[-5.17781140e-01 8.52690583e-01 6.94367356e-02 4.57106598e+02] [-8.42792116e-01 -5.22343697e-01 1.29840329e-01 -7.66696342e+01] [ 1.46983467e-01 8.70814052e-03 9.89100616e-01 -9.17513336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.356559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.09, Y:-76.68, Z:-917.50 [[-5.21641332e-01 8.48854750e-01 8.56500666e-02 4.57087797e+02] [-8.39285995e-01 -5.28597296e-01 1.27216024e-01 -7.66781133e+01] [ 1.53262320e-01 -5.52376513e-03 9.88170102e-01 -9.17501013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.09, Y:-76.68, Z:-917.50 [[-5.20947277e-01 8.49867155e-01 7.96225696e-02 4.57092014e+02] [-8.39736016e-01 -5.26995381e-01 1.30840712e-01 -7.66790347e+01] [ 1.53157950e-01 1.29917317e-03 9.88200868e-01 -9.17503933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.416559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:456.93, Y:-76.53, Z:-916.69 [[-5.05429518e-01 -9.20253450e-02 8.57946582e-01 4.56932528e+02] [-8.34843354e-01 -1.99192852e-01 -5.13184940e-01 -7.65253890e+01] [ 2.18122847e-01 -9.75629819e-01 2.38511995e-02 -9.16693305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.62, Y:-76.93, Z:-916.45 [[-4.39383466e-01 -8.96557484e-01 -5.59182310e-02 4.57619816e+02] [-8.72612497e-01 4.40771184e-01 -2.10400080e-01 -7.69290959e+01] [ 2.13282911e-01 -4.36513694e-02 -9.76014835e-01 -9.16449737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.85, Z:-917.50 [[-4.45732874e-01 8.89464554e-01 1.00871263e-01 4.56961876e+02] [-8.67245387e-01 -4.57003794e-01 1.97567635e-01 -7.68521641e+01] [ 2.21827958e-01 5.82252317e-04 9.75085647e-01 -9.17502070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.86, Z:-917.50 [[-4.44869667e-01 8.89885949e-01 1.00965232e-01 4.56959438e+02] [-8.67679117e-01 -4.56182988e-01 1.97560197e-01 -7.68577070e+01] [ 2.21864664e-01 2.83115305e-04 9.75077428e-01 -9.17500690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.85, Z:-917.50 [[-4.41838799e-01 8.91476961e-01 1.00236243e-01 4.56964488e+02] [-8.69426460e-01 -4.53066023e-01 1.97050273e-01 -7.68515241e+01] [ 2.21079415e-01 -8.35857070e-05 9.75255805e-01 -9.17503427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.86, Z:-917.50 [[-4.41161213e-01 8.91858641e-01 9.98245936e-02 4.56959742e+02] [-8.69861553e-01 -4.52314233e-01 1.96857087e-01 -7.68612555e+01] [ 2.20720779e-01 1.21354172e-05 9.75337038e-01 -9.17501217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.97, Y:-76.85, Z:-917.51 [[-4.36761800e-01 8.95339564e-01 8.72135085e-02 4.56973117e+02] [-8.73879870e-01 -4.45293647e-01 1.95057788e-01 -7.68528590e+01] [ 2.13478576e-01 8.97966118e-03 9.76906476e-01 -9.17512297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.98, Y:-76.85, Z:-917.52 [[-4.33799799e-01 8.96923530e-01 8.57083184e-02 4.56976094e+02] [-8.76839278e-01 -4.42133736e-01 1.88866724e-01 -7.68515613e+01] [ 2.07293548e-01 6.77792677e-03 9.78255307e-01 -9.17516660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:-76.86, Z:-917.50 [[-4.39299182e-01 8.90734841e-01 1.16651926e-01 4.56953644e+02] [-8.70770523e-01 -4.54135033e-01 1.88467686e-01 -7.68553317e+01] [ 2.20850461e-01 -1.87833578e-02 9.75126792e-01 -9.17495799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.86, Z:-917.50 [[-4.39071664e-01 8.92757747e-01 1.00993460e-01 4.56961898e+02] [-8.70813679e-01 -4.50534289e-01 1.96729232e-01 -7.68624887e+01] [ 2.21132562e-01 -1.56825535e-03 9.75242498e-01 -9.17501648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.86, Z:-917.50 [[-4.39408316e-01 8.92583487e-01 1.01069532e-01 4.56960857e+02] [-8.70643859e-01 -4.50879428e-01 1.96690143e-01 -7.68645796e+01] [ 2.21132547e-01 -1.56828235e-03 9.75242502e-01 -9.17501099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.87, Z:-917.50 [[-4.39449302e-01 8.92531482e-01 1.01350211e-01 4.56961696e+02] [-8.70509612e-01 -4.50982135e-01 1.97048548e-01 -7.68682955e+01] [ 2.21579167e-01 -1.63348586e-03 9.75141018e-01 -9.17501371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-76.87, Z:-917.50 [[-4.39896522e-01 8.92305536e-01 1.01399612e-01 4.56961653e+02] [-8.70298548e-01 -4.51429118e-01 1.96957326e-01 -7.68707839e+01] [ 2.21520850e-01 -1.60709295e-03 9.75154311e-01 -9.17501298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.86, Y:-77.08, Z:-917.46 [[-4.39574047e-01 8.93480842e-01 9.20143556e-02 4.56857897e+02] [-8.71800785e-01 -4.49063673e-01 1.95717168e-01 -7.70830539e+01] [ 2.16189844e-01 5.81400008e-03 9.76334036e-01 -9.17455350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.836559995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:456.81, Y:-76.70, Z:-916.68 [[-4.36645483e-01 -1.35759275e-01 8.89331289e-01 4.56805523e+02] [-8.56398009e-01 -2.40049240e-01 -4.57120129e-01 -7.66995353e+01] [ 2.75541597e-01 -9.61220985e-01 -1.14475566e-02 -9.16680478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.78, Y:-76.75, Z:-916.69 [[-4.27145095e-01 -1.64887765e-01 8.89021425e-01 4.56782019e+02] [-8.38093531e-01 -2.96797319e-01 -4.57723263e-01 -7.67479466e+01] [ 3.39332141e-01 -9.40597351e-01 -1.14158507e-02 -9.16694311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-77.03, Z:-916.50 [[-3.66232872e-01 -9.17025506e-01 -1.57916769e-01 4.57543839e+02] [-8.64238333e-01 3.98115563e-01 -3.07564796e-01 -7.70345786e+01] [ 3.44913886e-01 2.38373871e-02 -9.38331600e-01 -9.16504180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.50, Y:-76.99, Z:-916.50 [[-2.93498656e-01 -9.46876833e-01 -1.31464074e-01 4.57504061e+02] [-8.91789110e-01 3.20731233e-01 -3.19129535e-01 -7.69933059e+01] [ 3.44340998e-01 2.35741403e-02 -9.38548634e-01 -9.16502874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.47, Y:-76.95, Z:-916.50 [[-2.18986134e-01 -9.69315070e-01 -1.11684232e-01 4.57465675e+02] [-9.12451359e-01 2.43987564e-01 -3.28485290e-01 -7.69511508e+01] [ 3.45655306e-01 2.99727050e-02 -9.37882747e-01 -9.16503383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.44, Y:-76.93, Z:-916.52 [[-1.42717639e-01 -9.82413459e-01 -1.20397138e-01 4.57437257e+02] [-9.28889452e-01 1.74947111e-01 -3.26432066e-01 -7.69261746e+01] [ 3.41754387e-01 6.52480181e-02 -9.37521539e-01 -9.16515005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.37, Y:-76.89, Z:-916.50 [[-6.53030460e-02 -9.96723548e-01 -4.77250579e-02 4.57366138e+02] [-9.37811949e-01 7.76441063e-02 -3.38349140e-01 -7.68863172e+01] [ 3.40946125e-01 2.26619001e-02 -9.39809650e-01 -9.16499664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.31, Y:-76.86, Z:-916.50 [[ 1.23426570e-02 -9.99736564e-01 -1.93510244e-02 4.57314749e+02] [-9.40128185e-01 -5.01047575e-03 -3.40784229e-01 -7.68590218e+01] [ 3.40597496e-01 2.23986263e-02 -9.39942364e-01 -9.16498338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.69, Y:-77.26, Z:-917.48 [[ 3.69705587e-02 9.99278236e-01 -8.72840868e-03 4.56689225e+02] [-9.41128881e-01 3.77534718e-02 3.35933184e-01 -7.72570278e+01] [ 3.36020247e-01 -4.20508001e-03 9.41845375e-01 -9.17481324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.69, Y:-77.29, Z:-917.47 [[ 3.81200777e-02 9.99194521e-01 -1.25366967e-02 4.56691472e+02] [-9.41620596e-01 4.01176957e-02 3.34277167e-01 -7.72859955e+01] [ 3.34510857e-01 -9.37859706e-04 9.42391430e-01 -9.17473295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.91, Z:-916.46 [[ 8.95773903e-02 -9.93943962e-01 6.36497641e-02 4.57274844e+02] [-9.35504972e-01 -1.05895860e-01 -3.37070488e-01 -7.69121680e+01] [ 3.41769423e-01 -2.93507761e-02 -9.39325393e-01 -9.16457531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.71, Y:-77.37, Z:-917.45 [[ 1.16046871e-01 9.92770704e-01 -3.06505006e-02 4.56710872e+02] [-9.34335067e-01 1.19581608e-01 3.35735346e-01 -7.73691532e+01] [ 3.36973452e-01 -1.03231988e-02 9.41457553e-01 -9.17446658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.72, Y:-77.40, Z:-917.44 [[ 1.16021012e-01 9.92556416e-01 -3.70254840e-02 4.56717143e+02] [-9.33980396e-01 1.21706312e-01 3.35958618e-01 -7.73975778e+01] [ 3.37964117e-01 -4.39718265e-03 9.41148724e-01 -9.17438354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-76.98, Z:-916.44 [[ 1.65245864e-01 -9.85392002e-01 4.11874537e-02 4.57273927e+02] [-9.24835140e-01 -1.69327154e-01 -3.40599880e-01 -7.69755507e+01] [ 3.42598552e-01 1.81911170e-02 -9.39305763e-01 -9.16436647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-76.98, Z:-916.43 [[ 2.42952733e-01 -9.67866116e-01 6.48779738e-02 4.57253767e+02] [-9.08440257e-01 -2.50469060e-01 -3.34666327e-01 -7.69811911e+01] [ 3.40162123e-01 2.23703355e-02 -9.40100685e-01 -9.16427669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.76, Y:-77.52, Z:-917.41 [[ 2.65977821e-01 9.59563167e-01 -9.21646764e-02 4.56760487e+02] [-9.02129567e-01 2.81467278e-01 3.27014399e-01 -7.75202530e+01] [ 3.39732312e-01 -3.83409755e-03 9.40514357e-01 -9.17411815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.316559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.77, Y:-77.54, Z:-917.40 [[ 2.62277606e-01 9.60489827e-01 -9.31114865e-02 4.56769371e+02] [-9.02021944e-01 2.78303279e-01 3.30005603e-01 -7.75445658e+01] [ 3.42880257e-01 -2.56447571e-03 9.39375619e-01 -9.17404492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-77.04, Z:-916.40 [[ 3.25175411e-01 -9.41286927e-01 9.07737468e-02 4.57245256e+02] [-8.84550436e-01 -3.36704867e-01 -3.22800804e-01 -7.70366393e+01] [ 3.34412139e-01 2.46729266e-02 -9.42103905e-01 -9.16397681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.81, Y:-77.61, Z:-917.39 [[ 3.33617607e-01 9.35005671e-01 -1.20265070e-01 4.56806771e+02] [-8.78158339e-01 3.54629599e-01 3.21054170e-01 -7.76125197e+01] [ 3.42837023e-01 -1.49754945e-03 9.39393705e-01 -9.17386140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.82, Y:-77.64, Z:-917.38 [[ 3.32272149e-01 9.35464061e-01 -1.20425120e-01 4.56817305e+02] [-8.78590666e-01 3.53420625e-01 3.21204458e-01 -7.76369434e+01] [ 3.43035948e-01 -9.22909184e-04 9.39321823e-01 -9.17376946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.83, Y:-77.67, Z:-917.37 [[ 3.30370307e-01 9.35958420e-01 -1.21808440e-01 4.56827126e+02] [-8.79226271e-01 3.52108890e-01 3.20905741e-01 -7.76650201e+01] [ 3.43244265e-01 1.07945240e-03 9.39245554e-01 -9.17367148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:-77.13, Z:-916.35 [[ 4.03553466e-01 -9.06333127e-01 1.25319050e-01 4.57250513e+02] [-8.52304916e-01 -4.22189227e-01 -3.08759756e-01 -7.71261885e+01] [ 3.32747548e-01 1.77910269e-02 -9.42848105e-01 -9.16354220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.87, Y:-77.73, Z:-917.35 [[ 4.00334698e-01 9.04102995e-01 -1.49431939e-01 4.56870848e+02] [-8.50697131e-01 4.27290356e-01 3.06165548e-01 -7.77348310e+01] [ 3.40656016e-01 4.55262922e-03 9.40176980e-01 -9.17345825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.88, Y:-77.76, Z:-917.33 [[ 4.00113789e-01 9.04844168e-01 -1.45485351e-01 4.56879670e+02] [-8.50812952e-01 4.25742565e-01 3.07994463e-01 -7.77595434e+01] [ 3.40626301e-01 5.47989396e-04 9.40198608e-01 -9.17334540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.89, Y:-77.78, Z:-917.32 [[ 4.00159754e-01 9.04806261e-01 -1.45594650e-01 4.56890936e+02] [-8.50771089e-01 4.25823024e-01 3.07998874e-01 -7.77828616e+01] [ 3.40676864e-01 6.18965098e-04 9.40180244e-01 -9.17324946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.90, Y:-77.81, Z:-917.32 [[ 4.00500493e-01 9.04649126e-01 -1.45634183e-01 4.56902935e+02] [-8.50655228e-01 4.26156796e-01 3.07857221e-01 -7.78069313e+01] [ 3.40565763e-01 5.87510353e-04 9.40220515e-01 -9.17315560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.92, Y:-77.83, Z:-917.31 [[ 4.01545196e-01 9.04154092e-01 -1.45831525e-01 4.56915361e+02] [-8.50059177e-01 4.27206397e-01 3.08048843e-01 -7.78309147e+01] [ 3.40823782e-01 2.69892688e-04 9.40127160e-01 -9.17306353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.93, Y:-77.85, Z:-917.30 [[ 4.02398371e-01 9.03768674e-01 -1.45868894e-01 4.56925974e+02] [-8.49702941e-01 4.28021239e-01 3.07900522e-01 -7.78541596e+01] [ 3.40705831e-01 4.65597478e-05 9.40169950e-01 -9.17297306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.94, Y:-77.88, Z:-917.29 [[ 4.03288384e-01 9.03376028e-01 -1.45843175e-01 4.56936036e+02] [-8.49340820e-01 4.28849268e-01 3.07747425e-01 -7.78770984e+01] [ 3.40556385e-01 -2.40400248e-04 9.40224064e-01 -9.17288237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.96, Y:-77.90, Z:-917.29 [[ 4.07251033e-01 8.98933125e-01 -1.61449165e-01 4.56959614e+02] [-8.49314161e-01 4.37756860e-01 2.95015910e-01 -7.78989682e+01] [ 3.35875054e-01 1.69755283e-02 9.41753566e-01 -9.17291703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.95, Y:-77.93, Z:-917.26 [[ 4.06564290e-01 9.04400054e-01 -1.29483673e-01 4.56948243e+02] [-8.47959499e-01 4.26293803e-01 3.15021082e-01 -7.79273650e+01] [ 3.40103171e-01 -1.82794118e-02 9.40210453e-01 -9.17264492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.98, Y:-77.95, Z:-917.27 [[ 4.09750940e-01 8.98266608e-01 -1.58812054e-01 4.56979739e+02] [-8.47753918e-01 4.39263498e-01 2.97255571e-01 -7.79470470e+01] [ 3.36775092e-01 1.28327912e-02 9.41497667e-01 -9.17271905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.97, Y:-77.97, Z:-917.25 [[ 4.08069309e-01 9.03182235e-01 -1.33196435e-01 4.56971744e+02] [-8.46762724e-01 4.28974002e-01 3.14601645e-01 -7.79742491e+01] [ 3.41280424e-01 -1.55934992e-02 9.39832174e-01 -9.17247242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.99, Y:-78.00, Z:-917.25 [[ 4.09759461e-01 8.99682484e-01 -1.50560992e-01 4.56993800e+02] [-8.46244977e-01 4.36539086e-01 3.05455505e-01 -7.79962629e+01] [ 3.40538725e-01 2.24820020e-03 9.40227803e-01 -9.17246244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.00, Y:-78.02, Z:-917.23 [[ 4.08925579e-01 9.01330293e-01 -1.42771057e-01 4.56998211e+02] [-8.45979965e-01 4.33084894e-01 3.11055257e-01 -7.80211331e+01] [ 3.42195514e-01 -6.41699761e-03 9.39606861e-01 -9.17231856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.01, Y:-78.05, Z:-917.22 [[ 4.09176366e-01 9.00499136e-01 -1.47227743e-01 4.57010714e+02] [-8.45581421e-01 4.34852151e-01 3.09670256e-01 -7.80450354e+01] [ 3.42880098e-01 -2.21670618e-03 9.39376562e-01 -9.17223997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.02, Y:-78.07, Z:-917.22 [[ 4.09426637e-01 9.00229562e-01 -1.48177479e-01 4.57018698e+02] [-8.44645550e-01 4.35409233e-01 3.11436503e-01 -7.80694047e+01] [ 3.44882189e-01 -2.35295165e-03 9.38643031e-01 -9.17215176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.03, Y:-78.09, Z:-917.21 [[ 4.11071100e-01 8.98596307e-01 -1.53444541e-01 4.57033988e+02] [-8.44192048e-01 4.38766399e-01 3.07934788e-01 -7.80939381e+01] [ 3.44035372e-01 2.95356943e-03 9.38952043e-01 -9.17210648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9765599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.04, Y:-78.12, Z:-917.20 [[ 4.10039663e-01 9.00677406e-01 -1.43693028e-01 4.57035832e+02] [-8.44040768e-01 4.34421083e-01 3.14441577e-01 -7.81197229e+01] [ 3.45633705e-01 -7.65074442e-03 9.38338323e-01 -9.17195967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.05, Y:-78.14, Z:-917.19 [[ 4.09802298e-01 8.99981392e-01 -1.48645788e-01 4.57048762e+02] [-8.44192195e-01 4.35921971e-01 3.11948032e-01 -7.81434720e+01] [ 3.45545389e-01 -2.35140599e-03 9.38399092e-01 -9.17188202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.06, Y:-78.17, Z:-917.18 [[ 4.09783810e-01 8.99994054e-01 -1.48620092e-01 4.57058633e+02] [-8.44307393e-01 4.35896431e-01 3.11671826e-01 -7.81683692e+01] [ 3.45285758e-01 -2.23702605e-03 9.38494934e-01 -9.17178328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.07, Y:-78.19, Z:-917.17 [[ 4.09637549e-01 9.00105597e-01 -1.48347544e-01 4.57068377e+02] [-8.44718133e-01 4.35667041e-01 3.10878603e-01 -7.81931652e+01] [ 3.44453706e-01 -2.03568861e-03 9.38801097e-01 -9.17168944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.08, Y:-78.22, Z:-917.16 [[ 4.09147316e-01 9.00350651e-01 -1.48213291e-01 4.57077312e+02] [-8.45162879e-01 4.35161726e-01 3.10377157e-01 -7.82181264e+01] [ 3.43945027e-01 -1.72560841e-03 9.38988201e-01 -9.17159274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.09, Y:-78.24, Z:-917.15 [[ 4.08772825e-01 9.00521116e-01 -1.48210990e-01 4.57087684e+02] [-8.45431756e-01 4.34809783e-01 3.10138033e-01 -7.82430787e+01] [ 3.43729436e-01 -1.47372225e-03 9.39067571e-01 -9.17150096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.10, Y:-78.27, Z:-917.14 [[ 4.07980957e-01 9.00867006e-01 -1.48290849e-01 4.57097510e+02] [-8.45822811e-01 4.34093858e-01 3.10074660e-01 -7.82669570e+01] [ 3.43708178e-01 -1.07677353e-03 9.39075891e-01 -9.17140783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.11, Y:-78.29, Z:-917.13 [[ 4.07355978e-01 9.01122606e-01 -1.48455906e-01 4.57107935e+02] [-8.46006095e-01 4.33563588e-01 3.10316454e-01 -7.82917492e+01] [ 3.43998247e-01 -8.14661436e-04 9.38969937e-01 -9.17131102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.2165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.12, Y:-78.32, Z:-917.12 [[ 4.06243354e-01 9.01625341e-01 -1.48452291e-01 4.57118392e+02] [-8.46630066e-01 4.32517822e-01 3.10073969e-01 -7.83155602e+01] [ 3.43778809e-01 -2.81316136e-04 9.39050612e-01 -9.17122102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.12, Y:-78.34, Z:-917.11 [[ 4.02528916e-01 9.03865833e-01 -1.44903511e-01 4.57124746e+02] [-8.48119316e-01 4.27806152e-01 3.12530833e-01 -7.83440201e+01] [ 3.44476556e-01 -2.90723109e-03 9.38790419e-01 -9.17109103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.59, Y:-77.73, Z:-916.11 [[ 4.80537393e-01 -8.70327555e-01 1.07767159e-01 4.57589385e+02] [-8.13277037e-01 -4.88234887e-01 -3.16555142e-01 -7.77300016e+01] [ 3.28122349e-01 6.44720266e-02 -9.42432534e-01 -9.16112886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.18, Y:-78.41, Z:-917.09 [[ 4.70269573e-01 8.66123939e-01 -1.69339454e-01 4.57182780e+02] [-8.14697876e-01 4.99829203e-01 2.94003639e-01 -7.84074434e+01] [ 3.39284394e-01 -3.00471797e-04 9.40683799e-01 -9.17090627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.20, Y:-78.43, Z:-917.08 [[ 4.69407670e-01 8.66235243e-01 -1.71151814e-01 4.57196570e+02] [-8.15307538e-01 4.99631655e-01 2.92646251e-01 -7.84298589e+01] [ 3.39013361e-01 2.17096940e-03 9.40779054e-01 -9.17082199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.21, Y:-78.45, Z:-917.07 [[ 4.68363826e-01 8.66775712e-01 -1.71275196e-01 4.57209027e+02] [-8.15877484e-01 4.98691039e-01 2.92662228e-01 -7.84522535e+01] [ 3.39085916e-01 2.66717544e-03 9.40751629e-01 -9.17073304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:-78.48, Z:-917.06 [[ 4.65960428e-01 8.68044837e-01 -1.71403150e-01 4.57221178e+02] [-8.17182059e-01 4.96472489e-01 2.92794382e-01 -7.84751432e+01] [ 3.39255600e-01 3.63698346e-03 9.40687201e-01 -9.17063822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.23, Y:-78.50, Z:-917.05 [[ 4.65125708e-01 8.68513844e-01 -1.71294420e-01 4.57234677e+02] [-8.17817219e-01 4.95648144e-01 2.92417362e-01 -7.84978515e+01] [ 3.38870288e-01 4.07669339e-03 9.40824271e-01 -9.17054793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.4565599950001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:457.25, Y:-78.52, Z:-917.05 [[ 4.64816420e-01 8.68654845e-01 -1.71418950e-01 4.57248576e+02] [-8.17960090e-01 4.95399248e-01 2.92439525e-01 -7.85209195e+01] [ 3.38949829e-01 4.28316629e-03 9.40794700e-01 -9.17045570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.26, Y:-78.54, Z:-917.04 [[ 4.65123426e-01 8.68484388e-01 -1.71449895e-01 4.57261587e+02] [-8.17830673e-01 4.95698182e-01 2.92294891e-01 -7.85440696e+01] [ 3.38840951e-01 4.26378168e-03 9.40834008e-01 -9.17035565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.27, Y:-78.57, Z:-917.03 [[ 4.65557114e-01 8.68241066e-01 -1.71505176e-01 4.57274699e+02] [-8.17608216e-01 4.96124868e-01 2.92193294e-01 -7.85662135e+01] [ 3.38782200e-01 4.19137465e-03 9.40855490e-01 -9.17026206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.29, Y:-78.59, Z:-917.02 [[ 4.68036079e-01 8.66583658e-01 -1.73132878e-01 4.57290595e+02] [-8.16463713e-01 4.99002634e-01 2.90488169e-01 -7.85879286e+01] [ 3.38126062e-01 5.39776890e-03 9.41085347e-01 -9.17019223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.30, Y:-78.61, Z:-917.01 [[ 4.68239131e-01 8.66713178e-01 -1.71931335e-01 4.57303537e+02] [-8.16328686e-01 4.98790909e-01 2.91230330e-01 -7.86113725e+01] [ 3.38170952e-01 3.98704453e-03 9.41076251e-01 -9.17009198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.32, Y:-78.63, Z:-917.00 [[ 4.69546266e-01 8.66319286e-01 -1.70344356e-01 4.57316315e+02] [-8.15345390e-01 4.99488636e-01 2.92784900e-01 -7.86346518e+01] [ 3.38730276e-01 1.41342864e-03 9.40882460e-01 -9.16998434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.33, Y:-78.66, Z:-916.99 [[ 4.71119085e-01 8.65007839e-01 -1.72650650e-01 4.57331000e+02] [-8.14426797e-01 5.01747552e-01 2.91476219e-01 -7.86569124e+01] [ 3.38756256e-01 3.29130633e-03 9.40868411e-01 -9.16989781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.34, Y:-78.68, Z:-916.98 [[ 4.74724519e-01 8.63126970e-01 -1.72187294e-01 4.57344825e+02] [-8.12741460e-01 5.04983032e-01 2.90591564e-01 -7.86795803e+01] [ 3.37769078e-01 1.99281199e-03 9.41226901e-01 -9.16980481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.36, Y:-78.70, Z:-916.97 [[ 4.74914013e-01 8.63221466e-01 -1.71188145e-01 4.57356533e+02] [-8.12644559e-01 5.04824700e-01 2.91137156e-01 -7.87039682e+01] [ 3.37735846e-01 8.49999440e-04 9.41240552e-01 -9.16969643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.37, Y:-78.73, Z:-916.96 [[ 4.76600985e-01 8.62273068e-01 -1.71279473e-01 4.57370388e+02] [-8.11669752e-01 5.06443541e-01 2.91044935e-01 -7.87267996e+01] [ 3.37703592e-01 3.10064488e-04 9.41252457e-01 -9.16960441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.38, Y:-78.75, Z:-916.95 [[ 4.77771608e-01 8.61594915e-01 -1.71430725e-01 4.57383973e+02] [-8.10927338e-01 5.07596492e-01 2.91105917e-01 -7.87496678e+01] [ 3.37833012e-01 -6.42808936e-05 9.41206063e-01 -9.16950971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.40, Y:-78.77, Z:-916.94 [[ 4.79406973e-01 8.60647242e-01 -1.71625405e-01 4.57397129e+02] [-8.09871789e-01 5.09201267e-01 2.91241748e-01 -7.87716698e+01] [ 3.38048281e-01 -6.28750817e-04 9.41128559e-01 -9.16942646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.41, Y:-78.79, Z:-916.93 [[ 4.80025915e-01 8.60257671e-01 -1.71848368e-01 4.57410443e+02] [-8.09352760e-01 5.09858808e-01 2.91534056e-01 -7.87944587e+01] [ 3.38412812e-01 -8.57950816e-04 9.40997361e-01 -9.16933527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.43, Y:-78.81, Z:-916.93 [[ 4.82814543e-01 8.58426028e-01 -1.73190275e-01 4.57426811e+02] [-8.07918557e-01 5.12937358e-01 2.90108379e-01 -7.88142628e+01] [ 3.37872346e-01 -1.44907528e-04 9.41191934e-01 -9.16927216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.44, Y:-78.84, Z:-916.92 [[ 4.82214593e-01 8.58754485e-01 -1.73233431e-01 4.57439654e+02] [-8.07969873e-01 5.12387186e-01 2.90936516e-01 -7.88368266e+01] [ 3.38605628e-01 -3.26440551e-04 9.40928330e-01 -9.16917455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.46, Y:-78.86, Z:-916.91 [[ 4.80261141e-01 8.59191534e-01 -1.76462870e-01 4.57455482e+02] [-8.08887191e-01 5.11641368e-01 2.89697468e-01 -7.88592014e+01] [ 3.39191316e-01 3.60811883e-03 9.40710494e-01 -9.16909580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9365599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:457.47, Y:-78.88, Z:-916.90 [[ 4.76909944e-01 8.61711630e-01 -1.73233864e-01 4.57465759e+02] [-8.10328274e-01 5.07397991e-01 2.93113233e-01 -7.88848680e+01] [ 3.40477596e-01 5.87682949e-04 9.40252446e-01 -9.16896272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.48, Y:-78.91, Z:-916.89 [[ 4.75499021e-01 8.62520583e-01 -1.73086469e-01 4.57480103e+02] [-8.11115070e-01 5.06021142e-01 2.93317145e-01 -7.89070827e+01] [ 3.40577487e-01 9.21028130e-04 9.40216000e-01 -9.16887180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.49, Y:-78.93, Z:-916.88 [[ 4.73809244e-01 8.63417241e-01 -1.73249728e-01 4.57494137e+02] [-8.12040193e-01 5.04487737e-01 2.93398787e-01 -7.89282597e+01] [ 3.40727934e-01 1.67068539e-03 9.40160456e-01 -9.16878682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.51, Y:-78.95, Z:-916.87 [[ 4.72400343e-01 8.64167244e-01 -1.73357696e-01 4.57508190e+02] [-8.12803822e-01 5.03199638e-01 2.93496289e-01 -7.89494815e+01] [ 3.40863409e-01 2.25805033e-03 9.40110120e-01 -9.16870032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.52, Y:-78.97, Z:-916.86 [[ 4.71382751e-01 8.64664386e-01 -1.73648502e-01 4.57522554e+02] [-8.13187150e-01 5.02342890e-01 2.93901821e-01 -7.89716816e+01] [ 3.41357528e-01 2.66848165e-03 9.39929741e-01 -9.16860937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.54, Y:-78.99, Z:-916.85 [[ 4.70530198e-01 8.65114625e-01 -1.73718217e-01 4.57536512e+02] [-8.13696544e-01 5.01564614e-01 2.93821158e-01 -7.89940362e+01] [ 3.41319891e-01 3.10218547e-03 9.39942077e-01 -9.16852140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.54, Y:-79.02, Z:-916.83 [[ 4.70234204e-01 8.67315658e-01 -1.63227889e-01 4.57541772e+02] [-8.12444004e-01 4.97653407e-01 3.03769366e-01 -7.90187637e+01] [ 3.44694842e-01 -1.02292264e-02 9.38659059e-01 -9.16834145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.57, Y:-79.04, Z:-916.84 [[ 4.71538020e-01 8.62060353e-01 -1.85752102e-01 4.57570341e+02] [-8.13237824e-01 5.06553223e-01 2.86440350e-01 -7.90379712e+01] [ 3.41022195e-01 1.59931196e-02 9.39919189e-01 -9.16837545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:-79.06, Z:-916.82 [[ 4.72985078e-01 8.63742386e-01 -1.73879864e-01 4.57576045e+02] [-8.12282839e-01 5.03928234e-01 2.93688482e-01 -7.90634818e+01] [ 3.41294163e-01 2.32935997e-03 9.39953652e-01 -9.16823876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.58, Y:-79.09, Z:-916.81 [[ 4.75760810e-01 8.63328588e-01 -1.68271806e-01 4.57584727e+02] [-8.09887839e-01 5.04606369e-01 2.99088785e-01 -7.90874162e+01] [ 3.43122923e-01 -6.01343298e-03 9.39271259e-01 -9.16810257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:-79.11, Z:-916.81 [[ 4.76509106e-01 8.60403347e-01 -1.80679694e-01 4.57605439e+02] [-8.10339466e-01 5.09542107e-01 2.89338541e-01 -7.91082095e+01] [ 3.41011761e-01 8.53943739e-03 9.40020243e-01 -9.16807821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.61, Y:-79.13, Z:-916.80 [[ 4.76953767e-01 8.61561895e-01 -1.73856853e-01 4.57613613e+02] [-8.10139516e-01 5.07651540e-01 2.93195973e-01 -7.91320446e+01] [ 3.40865177e-01 1.00738286e-03 9.40111651e-01 -9.16795729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.296559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.63, Y:-79.16, Z:-916.79 [[ 4.77332735e-01 8.61400550e-01 -1.73616107e-01 4.57626981e+02] [-8.10145893e-01 5.07925402e-01 2.92703637e-01 -7.91552177e+01] [ 3.40319105e-01 9.37348327e-04 9.40309539e-01 -9.16786243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.64, Y:-79.18, Z:-916.78 [[ 4.77059245e-01 8.61627339e-01 -1.73242044e-01 4.57640632e+02] [-8.10684306e-01 5.07540036e-01 2.91880230e-01 -7.91771154e+01] [ 3.39419259e-01 1.20044377e-03 9.40634427e-01 -9.16777613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.65, Y:-79.20, Z:-916.77 [[ 4.76583306e-01 8.61840341e-01 -1.73492304e-01 4.57653964e+02] [-8.10789577e-01 5.07177747e-01 2.92217375e-01 -7.91984851e+01] [ 3.39836158e-01 1.39982881e-03 9.40483613e-01 -9.16768980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:457.67, Y:-79.22, Z:-916.76 [[ 4.75979069e-01 8.62143462e-01 -1.73644976e-01 4.57667816e+02] [-8.11050222e-01 5.06661508e-01 2.92389557e-01 -7.92210580e+01] [ 3.40060971e-01 1.66348690e-03 9.40401919e-01 -9.16760254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.416559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.68, Y:-79.24, Z:-916.75 [[ 4.75195710e-01 8.62504684e-01 -1.73996286e-01 4.57681283e+02] [-8.11291397e-01 5.06045007e-01 2.92787841e-01 -7.92432461e+01] [ 3.40580836e-01 2.03016407e-03 9.40213046e-01 -9.16751492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.70, Y:-79.27, Z:-916.74 [[ 4.73215035e-01 8.63410262e-01 -1.74900690e-01 4.57695810e+02] [-8.11737737e-01 5.04494991e-01 2.94222111e-01 -7.92658864e+01] [ 3.42270912e-01 2.74316402e-03 9.39597307e-01 -9.16741835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.71, Y:-79.29, Z:-916.73 [[ 4.72286836e-01 8.63887410e-01 -1.75053383e-01 4.57710005e+02] [-8.12224439e-01 5.03674823e-01 2.94284105e-01 -7.92881801e+01] [ 3.42398315e-01 3.19612707e-03 9.39549455e-01 -9.16733166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.72, Y:-79.31, Z:-916.72 [[ 4.71333884e-01 8.64327906e-01 -1.75446973e-01 4.57724632e+02] [-8.12525293e-01 5.02915603e-01 2.94751667e-01 -7.93103405e+01] [ 3.42997112e-01 3.62865532e-03 9.39329449e-01 -9.16723809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.74, Y:-79.33, Z:-916.72 [[ 4.70146126e-01 8.64926215e-01 -1.75685126e-01 4.57738720e+02] [-8.13089821e-01 5.01881674e-01 2.94957165e-01 -7.93311242e+01] [ 3.43289330e-01 4.17481924e-03 9.39220425e-01 -9.16715029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.75, Y:-79.35, Z:-916.71 [[ 4.69397012e-01 8.65323336e-01 -1.75732664e-01 4.57753445e+02] [-8.13516030e-01 5.01193742e-01 2.94951693e-01 -7.93522478e+01] [ 3.43304694e-01 4.51189576e-03 9.39213250e-01 -9.16706304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.77, Y:-79.37, Z:-916.70 [[ 4.69969465e-01 8.64487735e-01 -1.78296546e-01 4.57771654e+02] [-8.13464550e-01 5.02598253e-01 2.92695102e-01 -7.93732928e+01] [ 3.42642858e-01 7.48015888e-03 9.39435958e-01 -9.16700023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.79, Y:-79.39, Z:-916.69 [[ 4.67627901e-01 8.65651565e-01 -1.78805800e-01 4.57785123e+02] [-8.14143751e-01 5.00583480e-01 2.94255217e-01 -7.93942026e+01] [ 3.44229718e-01 7.97167512e-03 9.38851614e-01 -9.16689410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.79, Y:-79.42, Z:-916.68 [[ 4.68902101e-01 8.66501287e-01 -1.71190945e-01 4.57794530e+02] [-8.14188231e-01 4.99174721e-01 2.96516649e-01 -7.94178386e+01] [ 3.42386250e-01 3.44372704e-04 9.39559225e-01 -9.16677780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:457.81, Y:-79.44, Z:-916.67 [[ 4.70083396e-01 8.65082246e-01 -1.75083721e-01 4.57810642e+02] [-8.13825485e-01 5.01609225e-01 2.93387568e-01 -7.94397564e+01] [ 3.41627986e-01 4.57096982e-03 9.39824146e-01 -9.16669786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.82, Y:-79.46, Z:-916.66 [[ 4.71622755e-01 8.64264486e-01 -1.74982504e-01 4.57823957e+02] [-8.13084590e-01 5.03021136e-01 2.93024208e-01 -7.94625037e+01] [ 3.41270314e-01 4.07869321e-03 9.39956349e-01 -9.16659929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.84, Y:-79.48, Z:-916.65 [[ 4.77000591e-01 8.60906024e-01 -1.76949863e-01 4.57839352e+02] [-8.10619265e-01 5.08738209e-01 2.89968693e-01 -7.94838016e+01] [ 3.39656951e-01 5.12373038e-03 9.40535434e-01 -9.16654616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.85, Y:-79.51, Z:-916.64 [[ 4.76469114e-01 8.61871798e-01 -1.73649610e-01 4.57848322e+02] [-8.10708223e-01 5.07124302e-01 2.92535672e-01 -7.95097863e+01] [ 3.40190183e-01 1.39495488e-03 9.40355621e-01 -9.16641612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.86, Y:-79.53, Z:-916.63 [[ 4.77655953e-01 8.61002668e-01 -1.74697440e-01 4.57861877e+02] [-8.09917722e-01 5.08596759e-01 2.92168822e-01 -7.95324973e+01] [ 3.40408687e-01 1.93437590e-03 9.40275589e-01 -9.16632750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.88, Y:-79.56, Z:-916.62 [[ 4.78225716e-01 8.60610846e-01 -1.75068948e-01 4.57875138e+02] [-8.09344973e-01 5.09260117e-01 2.92600151e-01 -7.95551140e+01] [ 3.40970497e-01 1.76225647e-03 9.40072346e-01 -9.16623706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.89, Y:-79.57, Z:-916.62 [[ 4.79775122e-01 8.59124657e-01 -1.78102938e-01 4.57893149e+02] [-8.09030192e-01 5.11738151e-01 2.89126640e-01 -7.95744050e+01] [ 3.39537894e-01 5.37488536e-03 9.40577020e-01 -9.16619589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.90, Y:-79.60, Z:-916.61 [[ 4.74885051e-01 8.62623607e-01 -1.74254703e-01 4.57902666e+02] [-8.10483263e-01 5.05845406e-01 2.95359620e-01 -7.95996629e+01] [ 3.42930122e-01 9.68651940e-04 9.39360417e-01 -9.16605383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.92, Y:-79.62, Z:-916.60 [[ 4.73419649e-01 8.62849226e-01 -1.77101808e-01 4.57916921e+02] [-8.10655052e-01 5.05448275e-01 2.95567975e-01 -7.96205787e+01] [ 3.44546402e-01 3.64078824e-03 9.38762229e-01 -9.16597236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.93, Y:-79.64, Z:-916.59 [[ 4.72520133e-01 8.63232193e-01 -1.77637005e-01 4.57930994e+02] [-8.10770862e-01 5.04791374e-01 2.96371859e-01 -7.96433642e+01] [ 3.45507357e-01 3.98123756e-03 9.38407596e-01 -9.16587985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.95, Y:-79.66, Z:-916.58 [[ 4.71251300e-01 8.63503220e-01 -1.79678607e-01 4.57945936e+02] [-8.11034411e-01 5.04307496e-01 2.96474509e-01 -7.96648153e+01] [ 3.46619961e-01 6.01153507e-03 9.37986388e-01 -9.16579504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.96, Y:-79.69, Z:-916.57 [[ 4.71337252e-01 8.63860044e-01 -1.77727374e-01 4.57959978e+02] [-8.10908762e-01 5.03717952e-01 2.97817403e-01 -7.96880773e+01] [ 3.46797024e-01 3.74824889e-03 9.37932714e-01 -9.16569401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.98, Y:-79.71, Z:-916.56 [[ 4.71526029e-01 8.63605676e-01 -1.78461311e-01 4.57975748e+02] [-8.10832839e-01 5.04147610e-01 2.97296644e-01 -7.97102441e+01] [ 3.46717913e-01 4.51918555e-03 9.37958563e-01 -9.16560859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.076559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:457.99, Y:-79.73, Z:-916.55 [[ 4.72302940e-01 8.63187218e-01 -1.78431390e-01 4.57989837e+02] [-8.10475902e-01 5.04865526e-01 2.97051533e-01 -7.97326572e+01] [ 3.46494943e-01 4.31602942e-03 9.38041911e-01 -9.16550812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.00, Y:-79.75, Z:-916.54 [[ 4.73588288e-01 8.62523859e-01 -1.78232225e-01 4.58003543e+02] [-8.09959591e-01 5.06001141e-01 2.96527076e-01 -7.97545388e+01] [ 3.45947387e-01 3.92915035e-03 9.38245686e-01 -9.16541473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.02, Y:-79.78, Z:-916.53 [[ 4.75249070e-01 8.61610736e-01 -1.78228116e-01 4.58017884e+02] [-8.09019416e-01 5.07558839e-01 2.96431459e-01 -7.97771058e+01] [ 3.45869783e-01 3.31123112e-03 9.38276681e-01 -9.16531618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.03, Y:-79.80, Z:-916.52 [[ 4.77041384e-01 8.60674891e-01 -1.77961374e-01 4.58031771e+02] [-8.08254271e-01 5.09147589e-01 2.95793452e-01 -7.97995114e+01] [ 3.45190601e-01 2.73232317e-03 9.38528627e-01 -9.16522483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.05, Y:-79.82, Z:-916.52 [[ 4.79903890e-01 8.57116570e-01 -1.87198937e-01 4.58053172e+02] [-8.06933968e-01 5.14976759e-01 2.89234352e-01 -7.98185218e+01] [ 3.44310657e-01 1.22524903e-02 9.38775824e-01 -9.16520783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.05, Y:-79.85, Z:-916.50 [[ 4.82135191e-01 8.59480278e-01 -1.69821406e-01 4.58054705e+02] [-8.05582491e-01 5.11111267e-01 2.99670025e-01 -7.98468836e+01] [ 3.44358110e-01 -7.67631380e-03 9.38806991e-01 -9.16501877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.07, Y:-79.87, Z:-916.49 [[ 4.83335389e-01 8.57201049e-01 -1.77744943e-01 4.58072467e+02] [-8.04848647e-01 5.14981678e-01 2.94978860e-01 -7.98681767e+01] [ 3.44391577e-01 4.84054974e-04 9.38825973e-01 -9.16494612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.09, Y:-79.89, Z:-916.48 [[ 4.84178735e-01 8.56706449e-01 -1.77834230e-01 4.58085759e+02] [-8.04336581e-01 5.15804231e-01 2.94938399e-01 -7.98914269e+01] [ 3.44403277e-01 2.35675942e-04 9.38821776e-01 -9.16484767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.316559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.10, Y:-79.91, Z:-916.48 [[ 4.84527490e-01 8.56447332e-01 -1.78132198e-01 4.58099210e+02] [-8.03950616e-01 5.16234388e-01 2.95237980e-01 -7.99134379e+01] [ 3.44813746e-01 1.58572969e-04 9.38671112e-01 -9.16476303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:-79.94, Z:-916.47 [[ 4.84487917e-01 8.56405935e-01 -1.78438599e-01 4.58112774e+02] [-8.03752620e-01 5.16303054e-01 2.95656697e-01 -7.99355960e+01] [ 3.45330544e-01 1.78394291e-04 9.38481105e-01 -9.16467022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.376559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.13, Y:-79.96, Z:-916.46 [[ 4.84407864e-01 8.56393592e-01 -1.78714962e-01 4.58126830e+02] [-8.03642915e-01 5.16323483e-01 2.95919122e-01 -7.99579505e+01] [ 3.45697971e-01 2.77463754e-04 9.38345798e-01 -9.16457940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.14, Y:-79.98, Z:-916.45 [[ 4.83935087e-01 8.56595335e-01 -1.79028668e-01 4.58140697e+02] [-8.03738331e-01 5.15988519e-01 2.96244060e-01 -7.99797028e+01] [ 3.46138017e-01 5.29307494e-04 9.38183454e-01 -9.16449190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:-80.00, Z:-916.45 [[ 4.84780629e-01 8.54800923e-01 -1.85211025e-01 4.58160799e+02] [-8.03578048e-01 5.18901963e-01 2.91552867e-01 -8.00014324e+01] [ 3.45326025e-01 7.49233199e-03 9.38452877e-01 -9.16445625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.17, Y:-80.03, Z:-916.43 [[ 4.83078878e-01 8.58173763e-01 -1.73702594e-01 4.58165249e+02] [-8.03769969e-01 5.13328040e-01 3.00746006e-01 -8.00262988e+01] [ 3.47258744e-01 -5.66711481e-03 9.37752232e-01 -9.16428458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.18, Y:-80.05, Z:-916.42 [[ 4.82811557e-01 8.57034239e-01 -1.79959198e-01 4.58182023e+02] [-8.03768506e-01 5.15258407e-01 2.97430602e-01 -8.00473194e+01] [ 3.47633699e-01 1.04260389e-03 9.37629844e-01 -9.16420958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.20, Y:-80.07, Z:-916.41 [[ 4.82957353e-01 8.56934124e-01 -1.80044724e-01 4.58196077e+02] [-8.03680962e-01 5.15424822e-01 2.97378824e-01 -8.00702642e+01] [ 3.47633581e-01 1.07722719e-03 9.37629849e-01 -9.16411428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.21, Y:-80.09, Z:-916.40 [[ 4.83384356e-01 8.56652118e-01 -1.80240709e-01 4.58209389e+02] [-8.03306603e-01 5.15893649e-01 2.97577293e-01 -8.00928722e+01] [ 3.47905256e-01 9.44343493e-04 9.37529222e-01 -9.16401573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.22, Y:-80.11, Z:-916.39 [[ 4.85177473e-01 8.55560454e-01 -1.80607668e-01 4.58222495e+02] [-8.01990024e-01 5.17702847e-01 2.97986182e-01 -8.01141770e+01] [ 3.48446297e-01 2.69365853e-04 9.37328708e-01 -9.16392326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.24, Y:-80.14, Z:-916.38 [[ 4.87027686e-01 8.54540710e-01 -1.80455560e-01 4.58236259e+02] [-8.01029306e-01 5.19384258e-01 2.97644156e-01 -8.01367782e+01] [ 3.48074826e-01 -4.10752466e-04 9.37466665e-01 -9.16383354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:-80.16, Z:-916.37 [[ 4.88965758e-01 8.53435994e-01 -1.80442490e-01 4.58249688e+02] [-7.99932717e-01 5.21196526e-01 2.97425335e-01 -8.01595835e+01] [ 3.47879485e-01 -1.08895266e-03 9.37538628e-01 -9.16373456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.26, Y:-80.18, Z:-916.36 [[ 4.91280244e-01 8.52168899e-01 -1.80144080e-01 4.58262562e+02] [-7.98837952e-01 5.23263462e-01 2.96737723e-01 -8.01809161e+01] [ 3.47133474e-01 -1.87545315e-03 9.37813859e-01 -9.16364135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.28, Y:-80.20, Z:-916.35 [[ 4.93632232e-01 8.50920583e-01 -1.79614538e-01 4.58276042e+02] [-7.97864468e-01 5.25287428e-01 2.95779324e-01 -8.02027022e+01] [ 3.46033973e-01 -2.69814956e-03 9.38218103e-01 -9.16354786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.29, Y:-80.22, Z:-916.35 [[ 4.98281429e-01 8.48407127e-01 -1.78664392e-01 4.58289103e+02] [-7.95801961e-01 5.29326153e-01 2.94131030e-01 -8.02244626e+01] [ 3.44114598e-01 -4.37855650e-03 9.38917447e-01 -9.16345691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.30, Y:-80.25, Z:-916.34 [[ 5.00288243e-01 8.47263895e-01 -1.78481276e-01 4.58302184e+02] [-7.94730617e-01 5.31147586e-01 2.93743915e-01 -8.02476550e+01] [ 3.43678513e-01 -5.11209220e-03 9.39073451e-01 -9.16335528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.32, Y:-80.27, Z:-916.33 [[ 5.02031692e-01 8.46250602e-01 -1.78393104e-01 4.58315547e+02] [-7.93779589e-01 5.32754634e-01 2.93404949e-01 -8.02705280e+01] [ 3.43333867e-01 -5.69377839e-03 9.39196165e-01 -9.16325804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.33, Y:-80.29, Z:-916.32 [[ 5.02957480e-01 8.45739175e-01 -1.78210609e-01 4.58329237e+02] [-7.93419503e-01 5.33563628e-01 2.92908427e-01 -8.02930423e+01] [ 3.42810831e-01 -5.92471091e-03 9.39385774e-01 -9.16316858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:-80.32, Z:-916.31 [[ 5.03417573e-01 8.45454023e-01 -1.78264532e-01 4.58343495e+02] [-7.93155626e-01 5.34014397e-01 2.92801599e-01 -8.03153600e+01] [ 3.42746116e-01 -6.00995335e-03 9.39408846e-01 -9.16307853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.36, Y:-80.34, Z:-916.30 [[ 5.02905050e-01 8.45632018e-01 -1.78865876e-01 4.58357210e+02] [-7.93051095e-01 5.33734815e-01 2.93593440e-01 -8.03379050e+01] [ 3.43738958e-01 -5.79984423e-03 9.39047331e-01 -9.16298673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.37, Y:-80.36, Z:-916.29 [[ 5.02426140e-01 8.45876262e-01 -1.79056760e-01 4.58370944e+02] [-7.93266146e-01 5.33350529e-01 2.93710800e-01 -8.03602998e+01] [ 3.43943012e-01 -5.52831746e-03 9.38974250e-01 -9.16289347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.38, Y:-80.38, Z:-916.28 [[ 5.01462280e-01 8.46359761e-01 -1.79473500e-01 4.58384260e+02] [-7.93597858e-01 5.32587217e-01 2.94199415e-01 -8.03814493e+01] [ 3.44583839e-01 -5.10012411e-03 9.38741694e-01 -9.16280426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.40, Y:-80.40, Z:-916.27 [[ 5.00257806e-01 8.46964139e-01 -1.79982985e-01 4.58398005e+02] [-7.93961717e-01 5.31629681e-01 2.94948597e-01 -8.04027145e+01] [ 3.45495182e-01 -4.65073829e-03 9.38409000e-01 -9.16271782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.41, Y:-80.42, Z:-916.26 [[ 4.98614200e-01 8.47816531e-01 -1.80529803e-01 4.58412370e+02] [-7.94567616e-01 5.30274392e-01 2.95755596e-01 -8.04248835e+01] [ 3.46476815e-01 -4.02480520e-03 9.38049902e-01 -9.16262552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.43, Y:-80.45, Z:-916.25 [[ 4.96656015e-01 8.48855863e-01 -1.81042884e-01 4.58426679e+02] [-7.95431217e-01 5.28614659e-01 2.96404659e-01 -8.04474669e+01] [ 3.47306755e-01 -3.20399523e-03 9.37746102e-01 -9.16253535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:-80.47, Z:-916.24 [[ 4.92186878e-01 8.51349187e-01 -1.81539634e-01 4.58440522e+02] [-7.97853145e-01 5.24597685e-01 2.97031360e-01 -8.04689440e+01] [ 3.48112679e-01 -1.35296933e-03 9.37451723e-01 -9.16244282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.45, Y:-80.49, Z:-916.23 [[ 4.90203235e-01 8.52479756e-01 -1.81601359e-01 4.58454879e+02] [-7.99053106e-01 5.22759994e-01 2.97045656e-01 -8.04910464e+01] [ 3.48159334e-01 -5.03612001e-04 9.37435238e-01 -9.16234658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.47, Y:-80.51, Z:-916.23 [[ 4.88337822e-01 8.53545879e-01 -1.81619394e-01 4.58469591e+02] [-8.00250693e-01 5.21017564e-01 2.96883018e-01 -8.05130502e+01] [ 3.48030171e-01 3.61839761e-04 9.37483264e-01 -9.16225317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.156559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.48, Y:-80.54, Z:-916.22 [[ 4.86695781e-01 8.54481566e-01 -1.81627283e-01 4.58484752e+02] [-8.01317002e-01 5.19480469e-01 2.96700362e-01 -8.05351033e+01] [ 3.47876816e-01 1.13821598e-03 9.37539559e-01 -9.16216025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:458.50, Y:-80.56, Z:-916.21 [[ 4.85164737e-01 8.55351134e-01 -1.81630436e-01 4.58499321e+02] [-8.02314491e-01 5.18045320e-01 2.96513919e-01 -8.05563634e+01] [ 3.47716315e-01 1.86663335e-03 9.37597931e-01 -9.16207177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.51, Y:-80.58, Z:-916.20 [[ 4.83972154e-01 8.56039436e-01 -1.81569377e-01 4.58513681e+02] [-8.03135993e-01 5.16904790e-01 2.96280298e-01 -8.05785246e+01] [ 3.47481700e-01 2.43348811e-03 9.37683607e-01 -9.16197434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.53, Y:-80.60, Z:-916.19 [[ 4.82530179e-01 8.57026306e-01 -1.80749931e-01 4.58527262e+02] [-8.04750379e-01 5.15262535e-01 2.94756420e-01 -8.05998746e+01] [ 3.45747674e-01 3.22970703e-03 9.38321968e-01 -9.16187725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.54, Y:-80.62, Z:-916.18 [[ 4.82314582e-01 8.57195189e-01 -1.80524384e-01 4.58540900e+02] [-8.05095636e-01 5.14980493e-01 2.94306147e-01 -8.06213835e+01] [ 3.45244350e-01 3.39124750e-03 9.38506707e-01 -9.16178071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.55, Y:-80.64, Z:-916.17 [[ 4.82857563e-01 8.56965328e-01 -1.80163817e-01 4.58554926e+02] [-8.05095724e-01 5.15363719e-01 2.93634318e-01 -8.06434257e+01] [ 3.44484324e-01 3.26556817e-03 9.38786390e-01 -9.16168874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.57, Y:-80.67, Z:-916.16 [[ 4.83620961e-01 8.56556802e-01 -1.80058908e-01 4.58568666e+02] [-8.04789929e-01 5.16043598e-01 2.93278324e-01 -8.06659868e+01] [ 3.44127790e-01 3.07405097e-03 9.38917789e-01 -9.16159394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.58, Y:-80.69, Z:-916.15 [[ 4.84726969e-01 8.55932492e-01 -1.80053700e-01 4.58581672e+02] [-8.04194897e-01 5.17080364e-01 2.93084400e-01 -8.06880399e+01] [ 3.43962693e-01 2.73235349e-03 9.38979340e-01 -9.16150096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.60, Y:-80.71, Z:-916.14 [[ 4.86421318e-01 8.54962147e-01 -1.80094498e-01 4.58595352e+02] [-8.03166674e-01 5.18686177e-01 2.93066451e-01 -8.07109784e+01] [ 3.43973249e-01 2.09212982e-03 9.38977118e-01 -9.16140540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.61, Y:-80.73, Z:-916.13 [[ 4.88915167e-01 8.53447883e-01 -1.80523324e-01 4.58607755e+02] [-8.01364211e-01 5.21176973e-01 2.93581272e-01 -8.07334275e+01] [ 3.44640915e-01 1.12859408e-03 9.38733917e-01 -9.16131365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.62, Y:-80.76, Z:-916.12 [[ 4.89715907e-01 8.52921922e-01 -1.80838397e-01 4.58620519e+02] [-8.00645235e-01 5.22037880e-01 2.94013026e-01 -8.07558330e+01] [ 3.45174649e-01 8.04544890e-04 9.38538127e-01 -9.16121897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.63, Y:-80.78, Z:-916.11 [[ 4.90291108e-01 8.52536824e-01 -1.81095537e-01 4.58633853e+02] [-8.00111092e-01 5.22666842e-01 2.94349473e-01 -8.07788814e+01] [ 3.45596397e-01 5.79618370e-04 9.38383074e-01 -9.16112308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.65, Y:-80.80, Z:-916.10 [[ 4.90552762e-01 8.52290877e-01 -1.81544067e-01 4.58647518e+02] [-7.99652325e-01 5.23067868e-01 2.94883308e-01 -8.08013627e+01] [ 3.46286221e-01 5.16314397e-04 9.38128769e-01 -9.16102922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.66, Y:-80.82, Z:-916.09 [[ 4.90484444e-01 8.52203027e-01 -1.82140085e-01 4.58661236e+02] [-7.99272729e-01 5.23210934e-01 2.95657611e-01 -8.08229601e+01] [ 3.47257995e-01 5.64143375e-04 9.37769463e-01 -9.16094288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.68, Y:-80.85, Z:-916.09 [[ 4.91035961e-01 8.51718744e-01 -1.82917648e-01 4.58675499e+02] [-7.98338516e-01 5.23999134e-01 2.96783628e-01 -8.08458146e+01] [ 3.48624868e-01 2.98769833e-04 9.37262297e-01 -9.16085784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.69, Y:-80.87, Z:-916.08 [[ 4.91687805e-01 8.51227450e-01 -1.83452801e-01 4.58688195e+02] [-7.97564574e-01 5.24796936e-01 2.97454074e-01 -8.08685128e+01] [ 3.49476541e-01 6.09142588e-05 9.36945112e-01 -9.16076179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.70, Y:-80.89, Z:-916.07 [[ 4.92983888e-01 8.50465171e-01 -1.83509890e-01 4.58700962e+02] [-7.96790673e-01 5.26031233e-01 2.97347888e-01 -8.08920635e+01] [ 3.49415956e-01 -3.68749700e-04 9.36967638e-01 -9.16066511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.71, Y:-80.91, Z:-916.06 [[ 4.94293324e-01 8.49690002e-01 -1.83578351e-01 4.58712646e+02] [-7.95994310e-01 5.27281942e-01 2.97265560e-01 -8.09140134e+01] [ 3.49381123e-01 -8.09058939e-04 9.36980350e-01 -9.16057027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.73, Y:-80.94, Z:-916.05 [[ 4.95024056e-01 8.47671789e-01 -1.90797598e-01 4.58728932e+02] [-7.94956682e-01 5.30487326e-01 2.94324772e-01 -8.09352063e+01] [ 3.50706513e-01 5.97798349e-03 9.36466340e-01 -9.16049699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:458.75, Y:-80.96, Z:-916.05 [[ 4.98851445e-01 8.45324646e-01 -1.91241937e-01 4.58747277e+02] [-7.95675370e-01 5.34165028e-01 2.85601872e-01 -8.09600745e+01] [ 3.43581056e-01 9.69359233e-03 9.39072996e-01 -9.16048253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.74, Y:-80.99, Z:-916.02 [[ 4.98835975e-01 8.50625807e-01 -1.66127679e-01 4.58740822e+02] [-7.94204466e-01 5.25377067e-01 3.05316563e-01 -8.09867990e+01] [ 3.46989821e-01 -2.03635407e-02 9.37647797e-01 -9.16020931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.76, Y:-81.00, Z:-916.02 [[ 4.99320987e-01 8.47092229e-01 -1.81970622e-01 4.58763661e+02] [-7.94369559e-01 5.31440744e-01 2.94189972e-01 -8.10044945e+01] [ 3.45912642e-01 -2.34330464e-03 9.38263797e-01 -9.16017512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.78, Y:-81.03, Z:-916.01 [[ 4.99786861e-01 8.46906217e-01 -1.81557026e-01 4.58777476e+02] [-7.94467223e-01 5.31736910e-01 2.93389998e-01 -8.10271764e+01] [ 3.45014385e-01 -2.39135967e-03 9.38594351e-01 -9.16006949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.79, Y:-81.05, Z:-916.00 [[ 4.99944054e-01 8.46922189e-01 -1.81049022e-01 4.58790934e+02] [-7.94855442e-01 5.31712016e-01 2.92381873e-01 -8.10493688e+01] [ 3.43890637e-01 -2.26677821e-03 9.39006971e-01 -9.15996806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.80, Y:-81.07, Z:-915.99 [[ 5.00032140e-01 8.47017555e-01 -1.80358315e-01 4.58804771e+02] [-7.95433958e-01 5.31560823e-01 2.91080591e-01 -8.10721672e+01] [ 3.42421784e-01 -2.08652247e-03 9.39544021e-01 -9.15986813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.82, Y:-81.09, Z:-915.98 [[ 4.99590919e-01 8.47303073e-01 -1.80239885e-01 4.58817961e+02] [-7.95876557e-01 5.31106700e-01 2.90699467e-01 -8.10933188e+01] [ 3.42037162e-01 -1.78211516e-03 9.39684737e-01 -9.15977052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.83, Y:-81.12, Z:-915.97 [[ 4.98016532e-01 8.48280012e-01 -1.80001543e-01 4.58832345e+02] [-7.97086277e-01 5.29546874e-01 2.90230212e-01 -8.11156275e+01] [ 3.41515742e-01 -1.06268399e-03 9.39875454e-01 -9.15966816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.85, Y:-81.14, Z:-915.96 [[ 4.96941249e-01 8.48861064e-01 -1.80233983e-01 4.58847129e+02] [-7.97635252e-01 5.28615720e-01 2.90419397e-01 -8.11378017e+01] [ 3.41800235e-01 -5.60399302e-04 9.39772465e-01 -9.15957481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.86, Y:-81.16, Z:-915.95 [[ 4.95673221e-01 8.49550049e-01 -1.80479284e-01 4.58862146e+02] [-7.98294584e-01 5.27508023e-01 2.90621822e-01 -8.11600630e+01] [ 3.42102053e-01 2.21807742e-05 9.39662804e-01 -9.15948239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.88, Y:-81.18, Z:-915.94 [[ 4.94496154e-01 8.50182536e-01 -1.80729659e-01 4.58877030e+02] [-7.98891244e-01 5.26487733e-01 2.90832335e-01 -8.11819405e+01] [ 3.42412520e-01 5.67870912e-04 9.39549543e-01 -9.15939447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.89, Y:-81.20, Z:-915.93 [[ 4.93142844e-01 8.50858366e-01 -1.81246179e-01 4.58890963e+02] [-7.99377533e-01 5.25393879e-01 2.91473553e-01 -8.12027908e+01] [ 3.43228344e-01 1.14602621e-03 9.39251293e-01 -9.15930564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.91, Y:-81.22, Z:-915.92 [[ 4.92407084e-01 8.51173608e-01 -1.81765652e-01 4.58905652e+02] [-7.99440193e-01 5.24882346e-01 2.92222349e-01 -8.12248062e+01] [ 3.44137533e-01 1.41841332e-03 9.38918179e-01 -9.15920974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.92, Y:-81.25, Z:-915.91 [[ 4.91871042e-01 8.51281934e-01 -1.82707270e-01 4.58919759e+02] [-7.99072783e-01 5.24706079e-01 2.93540829e-01 -8.12460610e+01] [ 3.45753620e-01 1.61217327e-03 9.38323950e-01 -9.15911475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.93, Y:-81.27, Z:-915.90 [[ 4.92628777e-01 8.50781263e-01 -1.82997626e-01 4.58933937e+02] [-7.98417141e-01 5.25518269e-01 2.93871772e-01 -8.12680512e+01] [ 3.46189193e-01 1.33874970e-03 9.38163765e-01 -9.15902178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:458.95, Y:-81.29, Z:-915.89 [[ 4.93779398e-01 8.50057429e-01 -1.83260125e-01 4.58948234e+02] [-7.97559779e-01 5.26689174e-01 2.94103576e-01 -8.12899444e+01] [ 3.46526054e-01 9.38617826e-04 9.38039878e-01 -9.15892780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.96, Y:-81.31, Z:-915.88 [[ 4.95110653e-01 8.49298128e-01 -1.83188784e-01 4.58962067e+02] [-7.96863312e-01 5.27913274e-01 2.93796593e-01 -8.13113011e+01] [ 3.46228687e-01 5.14597929e-04 9.38150005e-01 -9.15883490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.236559995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:458.98, Y:-81.33, Z:-915.87 [[ 4.96626207e-01 8.48411744e-01 -1.83193676e-01 4.58976838e+02] [-7.95964973e-01 5.29336861e-01 2.93670310e-01 -8.13336018e+01] [ 3.46124505e-01 -2.86226810e-05 9.38188588e-01 -9.15874132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.99, Y:-81.35, Z:-915.86 [[ 4.99664981e-01 8.46820605e-01 -1.82290347e-01 4.58990792e+02] [-7.94873702e-01 5.31877640e-01 2.92030777e-01 -8.13544638e+01] [ 3.44253838e-01 -1.01974944e-03 9.38876060e-01 -9.15864326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.01, Y:-81.38, Z:-915.85 [[ 5.01502572e-01 8.45868581e-01 -1.81663189e-01 4.59005234e+02] [-7.94260905e-01 5.33388904e-01 2.90939672e-01 -8.13762630e+01] [ 3.42993857e-01 -1.61902526e-03 9.39336252e-01 -9.15854369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.02, Y:-81.40, Z:-915.84 [[ 5.02993863e-01 8.45125661e-01 -1.80996661e-01 4.59020079e+02] [-7.93930381e-01 5.34563914e-01 2.89682538e-01 -8.13985567e+01] [ 3.41572429e-01 -2.00979103e-03 9.39853306e-01 -9.15844499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.356559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:459.03, Y:-81.42, Z:-915.84 [[ 5.04135248e-01 8.44561048e-01 -1.80455780e-01 4.59034609e+02] [-7.93713614e-01 5.35454429e-01 2.88629958e-01 -8.14196374e+01] [ 3.40391467e-01 -2.27832594e-03 9.40281053e-01 -9.15835411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:459.05, Y:-81.44, Z:-915.83 [[ 5.04279370e-01 8.44467087e-01 -1.80492816e-01 4.59048962e+02] [-7.93622105e-01 5.35602531e-01 2.88606797e-01 -8.14423843e+01] [ 3.40391350e-01 -2.29536500e-03 9.40281054e-01 -9.15825853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.06, Y:-81.46, Z:-915.82 [[ 5.05014769e-01 8.44076796e-01 -1.80262159e-01 4.59064342e+02] [-7.93384008e-01 5.36216534e-01 2.88120884e-01 -8.14636033e+01] [ 3.39855703e-01 -2.48818681e-03 9.40474301e-01 -9.15815969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.08, Y:-81.49, Z:-915.81 [[ 5.05233274e-01 8.43927951e-01 -1.80346758e-01 4.59078736e+02] [-7.93244868e-01 5.36450792e-01 2.88067922e-01 -8.14863558e+01] [ 3.39855733e-01 -2.48235905e-03 9.40474305e-01 -9.15806419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.09, Y:-81.51, Z:-915.80 [[ 5.03542688e-01 8.44738074e-01 -1.81279751e-01 4.59093956e+02] [-7.93627826e-01 5.35176772e-01 2.89379848e-01 -8.15077036e+01] [ 3.41466887e-01 -1.84645188e-03 9.39891992e-01 -9.15796997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.11, Y:-81.53, Z:-915.79 [[ 5.01927876e-01 8.45592084e-01 -1.81775782e-01 4.59109125e+02] [-7.94316727e-01 5.33828323e-01 2.89979757e-01 -8.15292530e+01] [ 3.42241648e-01 -1.16137945e-03 9.39611253e-01 -9.15788050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.12, Y:-81.55, Z:-915.78 [[ 5.00035468e-01 8.46621537e-01 -1.82199079e-01 4.59124468e+02] [-7.95234225e-01 5.32195311e-01 2.90466312e-01 -8.15495370e+01] [ 3.42880531e-01 -3.52514974e-04 9.39378953e-01 -9.15779189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.14, Y:-81.57, Z:-915.77 [[ 4.98077727e-01 8.47696227e-01 -1.82564194e-01 4.59140576e+02] [-7.96196988e-01 5.30481779e-01 2.90962950e-01 -8.15711320e+01] [ 3.43495173e-01 4.34896745e-04 9.39154342e-01 -9.15769555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.16, Y:-81.59, Z:-915.76 [[ 4.96073326e-01 8.48819355e-01 -1.82803059e-01 4.59156911e+02] [-7.97323253e-01 5.28681345e-01 2.91155740e-01 -8.15923659e+01] [ 3.43783195e-01 1.31853337e-03 9.39048123e-01 -9.15760487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.17, Y:-81.61, Z:-915.75 [[ 4.92696106e-01 8.50618571e-01 -1.83571769e-01 4.59174582e+02] [-7.98863640e-01 5.25776404e-01 2.92191816e-01 -8.16120453e+01] [ 3.45061490e-01 2.68704151e-03 9.38576235e-01 -9.15751158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.19, Y:-81.63, Z:-915.74 [[ 4.91893404e-01 8.51028549e-01 -1.83824071e-01 4.59189574e+02] [-7.99224498e-01 5.25110358e-01 2.92402659e-01 -8.16325330e+01] [ 3.45370934e-01 3.08576199e-03 9.38461185e-01 -9.15742213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.20, Y:-81.65, Z:-915.73 [[ 4.91967418e-01 8.50948905e-01 -1.83994619e-01 4.59204986e+02] [-7.99072289e-01 5.25239434e-01 2.92586764e-01 -8.16543131e+01] [ 3.45617616e-01 3.08184691e-03 9.38370378e-01 -9.15732291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.22, Y:-81.68, Z:-915.72 [[ 4.92791622e-01 8.50517979e-01 -1.83781349e-01 4.59220300e+02] [-7.98805171e-01 5.25938086e-01 2.92060659e-01 -8.16760145e+01] [ 3.45060452e-01 2.88044597e-03 9.38576043e-01 -9.15722539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:459.24, Y:-81.70, Z:-915.71 [[ 4.94105375e-01 8.49821193e-01 -1.83477025e-01 4.59235331e+02] [-7.98305795e-01 5.27065206e-01 2.91393423e-01 -8.16969183e+01] [ 3.44336662e-01 2.49171622e-03 9.38842934e-01 -9.15713057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.25, Y:-81.72, Z:-915.70 [[ 4.97385918e-01 8.48026716e-01 -1.82915111e-01 4.59251396e+02] [-7.96748565e-01 5.29951915e-01 2.90418133e-01 -8.17177852e+01] [ 3.43218549e-01 1.28746257e-03 9.39254689e-01 -9.15703017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:459.27, Y:-81.74, Z:-915.69 [[ 4.99702617e-01 8.46733580e-01 -1.82591180e-01 4.59266457e+02] [-7.95627353e-01 5.32016909e-01 2.89715592e-01 -8.17391444e+01] [ 3.42453516e-01 5.02898126e-04 9.39534639e-01 -9.15693872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.28, Y:-81.76, Z:-915.68 [[ 5.01681770e-01 8.45618592e-01 -1.82331015e-01 4.59280893e+02] [-7.94659751e-01 5.33787574e-01 2.89113657e-01 -8.17600427e+01] [ 3.41805914e-01 -1.51932221e-04 9.39770554e-01 -9.15684719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.30, Y:-81.78, Z:-915.68 [[ 5.03622954e-01 8.44492879e-01 -1.82196865e-01 4.59295666e+02] [-7.93569821e-01 5.35566076e-01 2.88818139e-01 -8.17812860e+01] [ 3.41483322e-01 -8.69510303e-04 9.39887432e-01 -9.15675391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.31, Y:-81.80, Z:-915.67 [[ 5.05456746e-01 8.43424229e-01 -1.82068800e-01 4.59310820e+02] [-7.92537825e-01 5.37245927e-01 2.88531818e-01 -8.18029028e+01] [ 3.41170448e-01 -1.54394282e-03 9.40000182e-01 -9.15666387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-81.82, Z:-915.66 [[ 5.07135326e-01 8.42450391e-01 -1.81909590e-01 4.59326329e+02] [-7.91663053e-01 5.38769867e-01 2.88091377e-01 -8.18245338e+01] [ 3.40710099e-01 -2.09021273e-03 9.40166081e-01 -9.15656927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-81.85, Z:-915.65 [[ 5.09372695e-01 8.41105567e-01 -1.81881511e-01 4.59342863e+02] [-7.90318616e-01 5.40863301e-01 2.87859993e-01 -8.18450491e+01] [ 3.40493677e-01 -2.88367627e-03 9.40242384e-01 -9.15648232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.36, Y:-81.87, Z:-915.64 [[ 5.09932832e-01 8.40687415e-01 -1.82244829e-01 4.59358369e+02] [-7.89734558e-01 5.41512059e-01 2.88242984e-01 -8.18665976e+01] [ 3.41010021e-01 -3.05952176e-03 9.40054682e-01 -9.15639313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.016559995 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:459.37, Y:-81.89, Z:-915.63 [[ 5.09413967e-01 8.40975696e-01 -1.82365812e-01 4.59373475e+02] [-7.90040342e-01 5.41065864e-01 2.88242933e-01 -8.18873892e+01] [ 3.41077217e-01 -2.75862685e-03 9.40031235e-01 -9.15630984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.39, Y:-81.91, Z:-915.62 [[ 5.09531641e-01 8.40616953e-01 -1.83686266e-01 4.59389739e+02] [-7.88980340e-01 5.41622376e-01 2.90095199e-01 -8.19082306e+01] [ 3.43347535e-01 -2.88783039e-03 9.39203988e-01 -9.15621667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.41, Y:-81.93, Z:-915.61 [[ 5.08740990e-01 8.40954236e-01 -1.84332792e-01 4.59405813e+02] [-7.89048551e-01 5.41100304e-01 2.90882871e-01 -8.19294988e+01] [ 3.44361713e-01 -2.53651748e-03 9.38833626e-01 -9.15612905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-81.95, Z:-915.61 [[ 5.07734235e-01 8.39744043e-01 -1.92447107e-01 4.59425705e+02] [-7.88464600e-01 5.42959388e-01 2.88995984e-01 -8.19491703e+01] [ 3.47173619e-01 5.00457635e-03 9.37787520e-01 -9.15605835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.66, Y:-81.37, Z:-914.57 [[ 5.67942720e-01 -7.83938193e-01 2.50762789e-01 4.59659535e+02] [-7.54909800e-01 -6.17541619e-01 -2.20802043e-01 -8.13731291e+01] [ 3.27951613e-01 -6.39003738e-02 -9.42530892e-01 -9.14566870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.69, Y:-81.37, Z:-914.58 [[ 6.28649979e-01 -7.52328005e-01 1.96981667e-01 4.59688124e+02] [-7.05790811e-01 -6.58294434e-01 -2.61739889e-01 -8.13674881e+01] [ 3.26586183e-01 2.55149254e-02 -9.44822975e-01 -9.14579987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.66, Y:-81.40, Z:-914.57 [[ 6.87751396e-01 -6.87520410e-01 2.33053006e-01 4.59661695e+02] [-6.49684020e-01 -7.26157537e-01 -2.24957564e-01 -8.13981684e+01] [ 3.23896113e-01 3.30406485e-03 -9.46086884e-01 -9.14566529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.57, Y:-81.48, Z:-914.52 [[ 7.35549704e-01 -5.74508424e-01 3.59035798e-01 4.59572599e+02] [-5.87700889e-01 -8.04738750e-01 -8.36851819e-02 -8.14838472e+01] [ 3.37007861e-01 -1.49451047e-01 -9.29564461e-01 -9.14523364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.64, Y:-81.43, Z:-914.55 [[ 7.81057909e-01 -5.66393544e-01 2.62957975e-01 4.59638424e+02] [-5.26157708e-01 -8.23701348e-01 -2.11362619e-01 -8.14324786e+01] [ 3.36313261e-01 2.67290794e-02 -9.41370781e-01 -9.14554102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.63, Y:-81.46, Z:-914.54 [[ 8.22353958e-01 -4.95108125e-01 2.80360326e-01 4.59626751e+02] [-4.58426798e-01 -8.68416393e-01 -1.88938717e-01 -8.14579278e+01] [ 3.37014597e-01 2.68498155e-02 -9.41116491e-01 -9.14544350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.62, Y:-81.48, Z:-914.53 [[ 8.58025192e-01 -4.20320979e-01 2.95166131e-01 4.59618676e+02] [-3.87618339e-01 -9.06974758e-01 -1.64768967e-01 -8.14836911e+01] [ 3.36964084e-01 2.69641196e-02 -9.41131310e-01 -9.14534386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.61, Y:-81.51, Z:-914.52 [[ 8.87669181e-01 -3.42513435e-01 3.07779096e-01 4.59611600e+02] [-3.14023308e-01 -9.39121545e-01 -1.39427707e-01 -8.15084515e+01] [ 3.36797843e-01 2.71158686e-02 -9.41186455e-01 -9.14524626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.61, Y:-81.53, Z:-914.51 [[ 9.11100070e-01 -2.65254565e-01 3.15494340e-01 4.59609201e+02] [-2.38374456e-01 -9.63518300e-01 -1.21696774e-01 -8.15308453e+01] [ 3.36265194e-01 3.56721475e-02 -9.41091503e-01 -9.14514042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:459.62, Y:-81.54, Z:-914.52 [[ 9.29638260e-01 -1.97429915e-01 3.11117557e-01 4.59616985e+02] [-1.61067916e-01 -9.77135451e-01 -1.38792783e-01 -8.15351105e+01] [ 3.31405842e-01 7.89160243e-02 -9.40182126e-01 -9.14517813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.61, Y:-81.59, Z:-914.49 [[ 9.40278942e-01 -9.55176677e-02 3.26729072e-01 4.59608430e+02] [-8.10131137e-02 -9.95038557e-01 -5.77507148e-02 -8.15857326e+01] [ 3.30624238e-01 2.78324415e-02 -9.43351986e-01 -9.14493225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.61, Y:-81.60, Z:-914.48 [[ 9.44250204e-01 -1.47990654e-02 3.28895941e-01 4.59612800e+02] [ 1.41818524e-04 -9.98970830e-01 -4.53570415e-02 -8.16042530e+01] [ 3.29228693e-01 4.28750392e-02 -9.43276311e-01 -9.14483233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.496559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:459.63, Y:-81.58, Z:-914.50 [[ 9.43805321e-01 3.87443009e-02 3.28223087e-01 4.59627151e+02] [ 7.96331112e-02 -9.90505129e-01 -1.12063188e-01 -8.15802855e+01] [ 3.20764841e-01 1.31903258e-01 -9.37929340e-01 -9.14497496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.63, Y:-81.60, Z:-914.49 [[ 9.36781282e-01 1.23511569e-01 3.27392306e-01 4.59634330e+02] [ 1.59629444e-01 -9.83446474e-01 -8.57407368e-02 -8.16037102e+01] [ 3.11382836e-01 1.32581769e-01 -9.40990332e-01 -9.14486775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.64, Y:-81.64, Z:-914.47 [[ 9.21724754e-01 2.15145412e-01 3.22700992e-01 4.59640776e+02] [ 2.40404920e-01 -9.69845443e-01 -4.00660942e-02 -8.16369279e+01] [ 3.04350050e-01 1.14508817e-01 -9.45652567e-01 -9.14470118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:459.65, Y:-81.67, Z:-914.45 [[ 8.99925620e-01 3.01887414e-01 3.14639266e-01 4.59652436e+02] [ 3.18115362e-01 -9.48051982e-01 -2.39013991e-04 -8.16665275e+01] [ 2.98222224e-01 1.00306679e-01 -9.49211291e-01 -9.14452874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.66, Y:-81.66, Z:-914.46 [[ 8.73191584e-01 3.67627421e-01 3.19978964e-01 4.59660244e+02] [ 3.94505622e-01 -9.18650796e-01 -2.11194062e-02 -8.16617802e+01] [ 2.86184858e-01 1.44674788e-01 -9.47189228e-01 -9.14460914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:459.69, Y:-81.74, Z:-914.42 [[ 8.34036709e-01 4.83445959e-01 2.65824706e-01 4.59687719e+02] [ 4.71188050e-01 -8.74813554e-01 1.12619129e-01 -8.17379119e+01] [ 2.86992318e-01 3.13249372e-02 -9.57420575e-01 -9.14418255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.676559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.70, Y:-81.75, Z:-914.41 [[ 7.91834543e-01 5.54989247e-01 2.54921542e-01 4.59700388e+02] [ 5.39595619e-01 -8.31251725e-01 1.33630604e-01 -8.17510922e+01] [ 2.86067520e-01 3.17412195e-02 -9.57683596e-01 -9.14409730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.72, Y:-81.76, Z:-914.40 [[ 7.44333696e-01 6.22276656e-01 2.42361535e-01 4.59715686e+02] [ 6.03868539e-01 -7.82142355e-01 1.53610299e-01 -8.17638136e+01] [ 2.85149325e-01 3.20171843e-02 -9.57948205e-01 -9.14401164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.73, Y:-81.77, Z:-914.39 [[ 6.92217560e-01 6.84703226e-01 2.28070915e-01 4.59730098e+02] [ 6.63457141e-01 -7.28115768e-01 1.72255771e-01 -8.17746102e+01] [ 2.84006111e-01 3.20768079e-02 -9.58285765e-01 -9.14392832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.74, Y:-81.78, Z:-914.38 [[ 6.35850556e-01 7.41990820e-01 2.12470455e-01 4.59744813e+02] [ 7.18041296e-01 -6.69648768e-01 1.89702992e-01 -8.17831809e+01] [ 2.83038457e-01 3.19398082e-02 -9.58576591e-01 -9.14384494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.76, Y:-81.79, Z:-914.38 [[ 5.76792661e-01 7.93157707e-01 1.95476543e-01 4.59756865e+02] [ 7.66660520e-01 -6.08215193e-01 2.05684047e-01 -8.17890452e+01] [ 2.82031690e-01 3.12270993e-02 -9.58896759e-01 -9.14376722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.77, Y:-81.79, Z:-914.37 [[ 5.13601589e-01 8.39419575e-01 1.77730657e-01 4.59769796e+02] [ 8.10440295e-01 -5.42619581e-01 2.20795195e-01 -8.17939337e+01] [ 2.81779943e-01 3.06393230e-02 -9.58989727e-01 -9.14368821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.79, Y:-81.80, Z:-914.36 [[ 4.47415646e-01 8.80090579e-01 1.58933360e-01 4.59787160e+02] [ 8.48787516e-01 -4.73859871e-01 2.34556124e-01 -8.18002301e+01] [ 2.81742776e-01 2.99565716e-02 -9.59022217e-01 -9.14360946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.80, Y:-81.80, Z:-914.35 [[ 3.79623656e-01 9.14581593e-01 1.39378581e-01 4.59801395e+02] [ 8.80965699e-01 -4.03368921e-01 2.47372089e-01 -8.18041815e+01] [ 2.82462947e-01 2.88794527e-02 -9.58843398e-01 -9.14353271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.916559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:459.82, Y:-81.81, Z:-914.35 [[ 3.07426838e-01 9.44179241e-01 1.18382011e-01 4.59819440e+02] [ 9.08863732e-01 -3.28200229e-01 2.57393332e-01 -8.18085539e+01] [ 2.81878444e-01 2.84634979e-02 -9.59027827e-01 -9.14345315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.83, Y:-81.81, Z:-914.34 [[ 2.33270468e-01 9.66011495e-01 1.11385281e-01 4.59828918e+02] [ 9.32144658e-01 -2.54760232e-01 2.57300526e-01 -8.18069870e+01] [ 2.76931806e-01 4.38065808e-02 -9.59890493e-01 -9.14341423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.80, Y:-81.79, Z:-914.36 [[ 1.57539614e-01 9.72656937e-01 1.70645111e-01 4.59802310e+02] [ 9.49911042e-01 -1.96491913e-01 2.43022510e-01 -8.17914937e+01] [ 2.69907914e-01 1.23812003e-01 -9.54892824e-01 -9.14358634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.87, Y:-81.81, Z:-914.32 [[ 7.76016828e-02 9.95710235e-01 5.03895557e-02 4.59867445e+02] [ 9.59676942e-01 -8.82991506e-02 2.66877177e-01 -8.18099585e+01] [ 2.70181692e-01 2.76475766e-02 -9.62412316e-01 -9.14319737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.036559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.88, Y:-81.81, Z:-914.31 [[-2.42926372e-03 9.99595817e-01 2.83249458e-02 4.59882031e+02] [ 9.63273943e-01 -5.26645057e-03 2.68468949e-01 -8.18104370e+01] [ 2.68509610e-01 2.79368641e-02 -9.62871809e-01 -9.14311822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.89, Y:-81.81, Z:-914.30 [[-8.24379634e-02 9.96279314e-01 2.51298873e-02 4.59889504e+02] [ 9.60571538e-01 7.27143525e-02 2.68356001e-01 -8.18079614e+01] [ 2.65530229e-01 4.62617767e-02 -9.62991976e-01 -9.14304180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-81.86, Z:-914.34 [[-1.63018920e-01 9.84277197e-01 6.79943463e-02 4.59904170e+02] [ 9.53669315e-01 1.39536739e-01 2.66541436e-01 -8.18607650e+01] [ 2.52862948e-01 1.08295418e-01 -9.61422088e-01 -9.14335257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.98, Y:-81.81, Z:-914.29 [[-2.39929806e-01 9.70592367e-01 -1.95996189e-02 4.59975607e+02] [ 9.36031211e-01 2.36646085e-01 2.60469196e-01 -8.18120363e+01] [ 2.57447586e-01 4.41484686e-02 -9.65283199e-01 -9.14288016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.99, Y:-81.89, Z:-914.33 [[-3.18001221e-01 9.47102467e-01 4.32682386e-02 4.59994767e+02] [ 9.16694481e-01 2.95503152e-01 2.68977911e-01 -8.18927295e+01] [ 2.41963743e-01 1.25199060e-01 -9.62173967e-01 -9.14334890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.06, Y:-81.82, Z:-914.28 [[-3.91470049e-01 9.18398292e-01 -5.74088733e-02 4.60059369e+02] [ 8.86316640e-01 3.93096393e-01 2.44781617e-01 -8.18196293e+01] [ 2.47374240e-01 4.49422321e-02 -9.67877152e-01 -9.14279336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.10, Y:-81.92, Z:-914.33 [[-4.63554423e-01 8.86018741e-01 9.38552244e-03 4.60096281e+02] [ 8.55080054e-01 4.44540699e-01 2.66873883e-01 -8.19162068e+01] [ 2.32283015e-01 1.31735942e-01 -9.63685759e-01 -9.14333783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.20, Y:-81.90, Z:-914.30 [[-5.32279758e-01 8.39963822e-01 -1.05541638e-01 4.60201118e+02] [ 8.13220505e-01 5.41969715e-01 2.11993486e-01 -8.19041527e+01] [ 2.35267230e-01 2.70112170e-02 -9.71555312e-01 -9.14298585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.25, Y:-81.90, Z:-914.30 [[-5.95034491e-01 7.94256876e-01 -1.22841240e-01 4.60248127e+02] [ 7.68242813e-01 6.06997972e-01 2.03362835e-01 -8.19042217e+01] [ 2.36086714e-01 2.66360012e-02 -9.71366865e-01 -9.14299538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.30, Y:-81.90, Z:-914.30 [[-6.55286639e-01 7.42589556e-01 -1.38420275e-01 4.60301209e+02] [ 7.17789961e-01 6.69220032e-01 1.92151297e-01 -8.18977372e+01] [ 2.35323167e-01 2.65574943e-02 -9.71554274e-01 -9.14299550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.35, Y:-81.89, Z:-914.30 [[-7.10350208e-01 6.86852395e-01 -1.53741244e-01 4.60352557e+02] [ 6.63231742e-01 7.26322760e-01 1.80496273e-01 -8.18885439e+01] [ 2.35640062e-01 2.62494915e-02 -9.71485834e-01 -9.14300290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:-81.87, Z:-914.30 [[-7.61187532e-01 6.26469316e-01 -1.67719222e-01 4.60401552e+02] [ 6.04271832e-01 7.79011849e-01 1.67320327e-01 -8.18714266e+01] [ 2.35476312e-01 2.60141455e-02 -9.71531868e-01 -9.14299621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.46, Y:-81.86, Z:-914.30 [[-8.06917734e-01 5.62515619e-01 -1.80166448e-01 4.60458295e+02] [ 5.41978995e-01 8.26389357e-01 1.52772381e-01 -8.18567763e+01] [ 2.34824486e-01 2.56283132e-02 -9.71699877e-01 -9.14301321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.27, Y:-81.69, Z:-914.23 [[-8.46843585e-01 4.98761820e-01 -1.84641786e-01 4.60265850e+02] [ 4.76199438e-01 8.65681784e-01 1.54366914e-01 -8.16917248e+01] [ 2.36833353e-01 4.27983161e-02 -9.70607164e-01 -9.14231277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.61, Y:-81.15, Z:-915.34 [[-8.18044378e-01 -5.30112427e-01 2.23123755e-01 4.60608161e+02] [ 5.15939382e-01 -8.47798520e-01 -1.22654893e-01 -8.11466047e+01] [ 2.54184872e-01 1.47811867e-02 9.67042692e-01 -9.15340482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.62, Y:-81.15, Z:-915.34 [[-8.19490057e-01 -5.29406483e-01 2.19464856e-01 4.60617009e+02] [ 5.12992448e-01 -8.48351732e-01 -1.30912515e-01 -8.11499263e+01] [ 2.55489325e-01 5.30230939e-03 9.66797337e-01 -9.15341266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.56, Y:-81.80, Z:-914.30 [[-8.82236317e-01 4.27424490e-01 -1.97401586e-01 4.60562969e+02] [ 4.11249685e-01 9.03741016e-01 1.18852315e-01 -8.17972275e+01] [ 2.29200300e-01 2.36744889e-02 -9.73091332e-01 -9.14298557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.61, Y:-81.77, Z:-914.30 [[-9.12496195e-01 3.53537079e-01 -2.05820864e-01 4.60607356e+02] [ 3.39242949e-01 9.35125947e-01 1.02243261e-01 -8.17665043e+01] [ 2.28615215e-01 2.34733099e-02 -9.73233830e-01 -9.14299222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.65, Y:-81.73, Z:-914.30 [[-9.36803279e-01 2.77056907e-01 -2.13633065e-01 4.60650678e+02] [ 2.64630685e-01 9.60568872e-01 8.53114504e-02 -8.17327758e+01] [ 2.28845399e-01 2.33861822e-02 -9.73181828e-01 -9.14300114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.69, Y:-81.70, Z:-914.30 [[-9.55041740e-01 1.98837329e-01 -2.19906778e-01 4.60689517e+02] [ 1.88381588e-01 9.79755912e-01 6.77549328e-02 -8.16950692e+01] [ 2.28927175e-01 2.32824008e-02 -9.73165083e-01 -9.14300769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.73, Y:-81.65, Z:-914.30 [[-9.67093720e-01 1.19739676e-01 -2.24481951e-01 4.60725140e+02] [ 1.11351309e-01 9.92537072e-01 4.97096331e-02 -8.16544416e+01] [ 2.28758874e-01 2.30775149e-02 -9.73209539e-01 -9.14301272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.75, Y:-81.61, Z:-914.30 [[-9.73067634e-01 4.02488984e-02 -2.26978866e-01 4.60752080e+02] [ 3.40062197e-02 9.98929848e-01 3.13486202e-02 -8.16115528e+01] [ 2.27997711e-01 2.27856345e-02 -9.73395017e-01 -9.14300286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.78, Y:-81.57, Z:-914.30 [[-9.72948658e-01 -3.93596685e-02 -2.27643859e-01 4.60782537e+02] [-4.34352478e-02 9.98972706e-01 1.29194415e-02 -8.15671853e+01] [ 2.26901497e-01 2.24577207e-02 -9.73658750e-01 -9.14300828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:-81.52, Z:-914.30 [[-9.66746242e-01 -1.18353991e-01 -2.26702528e-01 4.60806008e+02] [-1.20268419e-01 9.92726725e-01 -5.39971049e-03 -8.15211652e+01] [ 2.25692736e-01 2.20450047e-02 -9.73949078e-01 -9.14300569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.79, Y:-81.49, Z:-914.29 [[-9.53911150e-01 -1.88801986e-01 -2.33253784e-01 4.60785679e+02] [-1.94309242e-01 9.80940112e-01 6.44413569e-04 -8.14934244e+01] [ 2.28686326e-01 4.59380793e-02 -9.72415681e-01 -9.14291950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.74, Y:-81.54, Z:-914.32 [[-9.39201373e-01 -2.29519142e-01 -2.55385484e-01 4.60744186e+02] [-2.67479063e-01 9.55417847e-01 1.25026755e-01 -8.15365746e+01] [ 2.15303816e-01 1.85735570e-01 -9.58721318e-01 -9.14323515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.816559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:460.86, Y:-81.45, Z:-914.34 [[-9.19033518e-01 -3.10790584e-01 -2.42459495e-01 4.60861400e+02] [-3.41161408e-01 9.35260843e-01 9.43188684e-02 -8.14477804e+01] [ 1.97449456e-01 1.69400024e-01 -9.65565816e-01 -9.14342390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.85, Y:-81.32, Z:-914.29 [[-8.88217424e-01 -4.18778380e-01 -1.88929818e-01 4.60854304e+02] [-4.13728122e-01 9.07903688e-01 -6.73790358e-02 -8.13177536e+01] [ 1.99746962e-01 1.83183453e-02 -9.79676268e-01 -9.14287570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.86, Y:-81.26, Z:-914.29 [[-8.52830821e-01 -4.89095916e-01 -1.82933804e-01 4.60862166e+02] [-4.82443170e-01 8.72044359e-01 -8.23846077e-02 -8.12638122e+01] [ 1.99820367e-01 1.79950316e-02 -9.79667291e-01 -9.14288701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.86, Y:-81.22, Z:-914.29 [[-8.13442074e-01 -5.52603807e-01 -1.81496625e-01 4.60858434e+02] [-5.45394245e-01 8.33097823e-01 -9.21581999e-02 -8.12177281e+01] [ 2.02131415e-01 2.40218576e-02 -9.79063758e-01 -9.14287350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.87, Y:-81.18, Z:-914.30 [[-7.68319650e-01 -6.10551160e-01 -1.92125470e-01 4.60866653e+02] [-6.08894792e-01 7.89729533e-01 -7.46618803e-02 -8.11827633e+01] [ 1.97312056e-01 5.96200087e-02 -9.78526140e-01 -9.14300943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.84, Y:-81.12, Z:-914.29 [[-7.17526395e-01 -6.79661639e-01 -1.52367744e-01 4.60842248e+02] [-6.68572899e-01 7.33399767e-01 -1.23024634e-01 -8.11150022e+01] [ 1.95361592e-01 1.35955227e-02 -9.80637043e-01 -9.14285189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.82, Y:-81.06, Z:-914.28 [[-6.62243098e-01 -7.37827605e-01 -1.30554605e-01 4.60822854e+02] [-7.22814715e-01 6.74978892e-01 -1.48129613e-01 -8.10598745e+01] [ 1.97415720e-01 -3.73102460e-03 -9.80312763e-01 -9.14280224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.20, Y:-80.81, Z:-915.33 [[-6.63003782e-01 7.34197756e-01 1.46217785e-01 4.60199610e+02] [-7.16761065e-01 -6.78935363e-01 1.59060836e-01 -8.08085524e+01] [ 2.16054533e-01 6.54720218e-04 9.76381078e-01 -9.15327591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.20, Y:-80.81, Z:-915.33 [[-6.63043387e-01 7.34093824e-01 1.46559629e-01 4.60198793e+02] [-7.16716866e-01 -6.79048011e-01 1.58778879e-01 -8.08091533e+01] [ 2.16079619e-01 2.35528283e-04 9.76375718e-01 -9.15327592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.19, Y:-80.81, Z:-915.33 [[-6.63901210e-01 7.33249170e-01 1.46904181e-01 4.60194624e+02] [-7.15796438e-01 -6.79959906e-01 1.59028255e-01 -8.08137950e+01] [ 2.16496289e-01 4.25561170e-04 9.76283348e-01 -9.15326869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.19, Y:-80.81, Z:-915.33 [[-6.64971114e-01 7.32256195e-01 1.47017964e-01 4.60194523e+02] [-7.14779541e-01 -6.81028946e-01 1.59027618e-01 -8.08146762e+01] [ 2.16572448e-01 6.63339857e-04 9.76266324e-01 -9.15326356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.18, Y:-80.84, Z:-915.32 [[-6.68079014e-01 7.29487695e-01 1.46690608e-01 4.60176505e+02] [-7.12057797e-01 -6.83992397e-01 1.58518434e-01 -8.08361665e+01] [ 2.15972507e-01 1.45064822e-03 9.76398367e-01 -9.15320640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.18, Y:-80.84, Z:-915.32 [[-6.69745136e-01 7.27989436e-01 1.46536117e-01 4.60176860e+02] [-7.10744797e-01 -6.85587022e-01 1.57519110e-01 -8.08374459e+01] [ 2.15135508e-01 1.34787512e-03 9.76583277e-01 -9.15320442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.17, Y:-80.84, Z:-915.32 [[-6.71389039e-01 7.26569296e-01 1.46061001e-01 4.60174497e+02] [-7.09431153e-01 -6.87091063e-01 1.56886298e-01 -8.08419029e+01] [ 2.14345975e-01 1.71151645e-03 9.76756302e-01 -9.15319260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.17, Y:-80.84, Z:-915.32 [[-6.73053000e-01 7.25069862e-01 1.45853880e-01 4.60174286e+02] [-7.07972739e-01 -6.88672116e-01 1.56541745e-01 -8.08433748e+01] [ 2.13949201e-01 2.10032033e-03 9.76842530e-01 -9.15318835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.77, Y:-81.07, Z:-914.27 [[-5.99593913e-01 -7.88488413e-01 -1.37015189e-01 4.60766028e+02] [-7.75037757e-01 6.14770341e-01 -1.46198165e-01 -8.10668086e+01] [ 1.99508433e-01 1.85324152e-02 -9.79720845e-01 -9.14272318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.74, Y:-81.03, Z:-914.27 [[-5.35289609e-01 -8.35418522e-01 -1.24663263e-01 4.60741499e+02] [-8.20857474e-01 5.49299244e-01 -1.56407636e-01 -8.10262616e+01] [ 1.99143272e-01 1.86073890e-02 -9.79793714e-01 -9.14270371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.71, Y:-81.00, Z:-914.27 [[-4.68535839e-01 -8.76413047e-01 -1.11240003e-01 4.60706707e+02] [-8.60958030e-01 4.81204308e-01 -1.64905080e-01 -8.09998770e+01] [ 1.98054132e-01 1.85090337e-02 -9.80016314e-01 -9.14265365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.05, Y:-80.89, Z:-915.31 [[-4.91166868e-01 8.64838149e-01 1.03971555e-01 4.60047315e+02] [-8.44809010e-01 -5.02041410e-01 1.85073390e-01 -8.08851168e+01] [ 2.12256554e-01 3.06581043e-03 9.77209167e-01 -9.15311049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-80.77, Z:-914.40 [[-4.51424055e-01 -2.50410074e-01 8.56452636e-01 4.59901130e+02] [-8.45353019e-01 -1.87240629e-01 -5.00319118e-01 -8.07685156e+01] [ 2.85647678e-01 -9.49860906e-01 -1.27159988e-01 -9.14403675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.01, Y:-80.95, Z:-915.33 [[-4.77583346e-01 8.69213727e-01 1.27990798e-01 4.60013293e+02] [-8.33427314e-01 -4.94306453e-01 2.47103304e-01 -8.09476181e+01] [ 2.78052262e-01 1.13413955e-02 9.60498992e-01 -9.15331903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-81.34, Z:-914.18 [[-3.81672126e-01 -9.14797310e-01 -1.32182714e-01 4.60492319e+02] [-8.87729063e-01 4.02631851e-01 -2.23214479e-01 -8.13432483e+01] [ 2.57416976e-01 3.21476923e-02 -9.65765513e-01 -9.14179252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.82, Y:-81.28, Z:-914.76 [[-3.74082758e-01 -3.71500207e-01 -8.49735069e-01 4.60823597e+02] [-9.07649433e-01 3.34729389e-01 2.53236537e-01 -8.12832095e+01] [ 1.90353874e-01 8.65992975e-01 -4.62408445e-01 -9.14763338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:459.92, Y:-81.03, Z:-915.27 [[-3.85788357e-01 9.18784611e-01 8.36790429e-02 4.59915749e+02] [-8.95878674e-01 -3.94741869e-01 2.03912380e-01 -8.10308776e+01] [ 2.20383179e-01 3.70075205e-03 9.75406356e-01 -9.15271446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.92, Y:-81.03, Z:-915.27 [[-3.85588569e-01 9.18845114e-01 8.39351693e-02 4.59915519e+02] [-8.95850064e-01 -3.94602079e-01 2.04308256e-01 -8.10319506e+01] [ 2.20848635e-01 3.58560133e-03 9.75301504e-01 -9.15271373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-81.10, Z:-915.27 [[-3.82452728e-01 9.21571071e-01 6.66083538e-02 4.59899060e+02] [-8.99554064e-01 -3.87840014e-01 2.00954246e-01 -8.10997672e+01] [ 2.11027005e-01 1.69376842e-02 9.77333474e-01 -9.15269380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.596559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:459.90, Y:-81.05, Z:-915.26 [[-3.86232687e-01 9.17165392e-01 9.81425307e-02 4.59899982e+02] [-8.95372387e-01 -3.98355091e-01 1.99051526e-01 -8.10493616e+01] [ 2.21658747e-01 -1.09939063e-02 9.75062323e-01 -9.15262773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.47, Y:-81.27, Z:-914.16 [[-2.88557084e-01 -9.53818290e-01 -8.34594497e-02 4.60469999e+02] [-9.37051607e-01 2.99233235e-01 -1.79982655e-01 -8.12713929e+01] [ 1.96644589e-01 2.62705413e-02 -9.80122831e-01 -9.14163681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.61, Y:-81.36, Z:-915.09 [[-3.20359580e-01 2.28936100e-01 -9.19215971e-01 4.60609062e+02] [-9.37843892e-01 6.00860987e-02 3.41816464e-01 -8.13591628e+01] [ 1.33486230e-01 9.71585263e-01 1.95457165e-01 -9.15087825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.85, Y:-81.14, Z:-915.22 [[-3.29760717e-01 9.42871046e-01 4.74558755e-02 4.59852607e+02] [-9.31265204e-01 -3.33128025e-01 1.47549445e-01 -8.11377694e+01] [ 1.54928982e-01 4.46200523e-03 9.87915534e-01 -9.15215524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.83, Y:-81.21, Z:-915.21 [[-3.29984190e-01 9.43159985e-01 3.94927590e-02 4.59834057e+02] [-9.32115095e-01 -3.32163113e-01 1.44322959e-01 -8.12100753e+01] [ 1.49237678e-01 1.08124980e-02 9.88742234e-01 -9.15212225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.63, Y:-81.09, Z:-914.36 [[-3.03580984e-01 -1.03591477e-01 9.47157533e-01 4.59628821e+02] [-9.26486547e-01 -1.99936708e-01 -3.18822821e-01 -8.10870723e+01] [ 2.22398886e-01 -9.74317258e-01 -3.52791273e-02 -9.14362075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-81.33, Z:-914.14 [[-2.30993242e-01 -9.70026946e-01 -7.54310769e-02 4.60409587e+02] [-9.52074386e-01 2.41331132e-01 -1.87919260e-01 -8.13349903e+01] [ 2.00490613e-01 2.84079172e-02 -9.79283669e-01 -9.14141509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.56, Y:-81.60, Z:-914.96 [[-2.59839535e-01 7.96528791e-02 -9.62361073e-01 4.60560555e+02] [-9.56940124e-01 1.12324864e-01 2.67672792e-01 -8.15994206e+01] [ 1.29417985e-01 9.90473899e-01 4.70365957e-02 -9.14957376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.75, Y:-81.42, Z:-915.17 [[-2.61721024e-01 9.64623778e-01 3.16713333e-02 4.59745092e+02] [-9.53207626e-01 -2.63489983e-01 1.48216904e-01 -8.14178949e+01] [ 1.51318628e-01 8.60212333e-03 9.88447609e-01 -9.15172734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.53, Y:-81.33, Z:-914.32 [[-2.29502048e-01 -8.76852161e-02 9.69350356e-01 4.59527730e+02] [-9.47994237e-01 -2.05523586e-01 -2.43036997e-01 -8.13281134e+01] [ 2.20535113e-01 -9.74716040e-01 -3.59569957e-02 -9.14322429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.896559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:459.70, Y:-81.57, Z:-915.17 [[-2.56310335e-01 9.64941346e-01 5.65085147e-02 4.59700398e+02] [-9.39947601e-01 -2.62450510e-01 2.18216032e-01 -8.15690397e+01] [ 2.25396360e-01 2.81598140e-03 9.74263081e-01 -9.15172233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.28, Y:-81.71, Z:-914.06 [[-1.58048128e-01 -9.85084053e-01 -6.80455557e-02 4.60284817e+02] [-9.68291009e-01 1.68118609e-01 -1.84793549e-01 -8.17071764e+01] [ 1.93476902e-01 3.66816253e-02 -9.80418863e-01 -9.14059443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.9565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.45, Y:-81.81, Z:-914.95 [[-1.91433042e-01 1.67489029e-01 -9.67109516e-01 4.60451972e+02] [-9.72585561e-01 1.00170007e-01 2.09864950e-01 -8.18094004e+01] [ 1.32025444e-01 9.80771836e-01 1.43721562e-01 -9.14952584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.66, Y:-81.65, Z:-915.12 [[-1.95303393e-01 9.80374836e-01 2.68657117e-02 4.59660271e+02] [-9.67462541e-01 -1.97079198e-01 1.58669534e-01 -8.16540201e+01] [ 1.60850291e-01 4.99712862e-03 9.86966166e-01 -9.15121331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.016559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:459.47, Y:-81.58, Z:-914.23 [[-1.47568645e-01 -1.63531075e-01 9.75438918e-01 4.59466251e+02] [-9.64553874e-01 -1.94350153e-01 -1.78504460e-01 -8.15776302e+01] [ 2.18767729e-01 -9.67205049e-01 -1.29054543e-01 -9.14229742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-81.97, Z:-914.91 [[-2.04128926e-01 1.44338798e-01 -9.68244645e-01 4.60422966e+02] [-9.70888413e-01 9.67745008e-02 2.19112726e-01 -8.19716215e+01] [ 1.25327860e-01 9.84784752e-01 1.20382392e-01 -9.14910557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.62, Y:-81.85, Z:-915.08 [[-1.99514269e-01 9.79456544e-01 2.93075984e-02 4.59623725e+02] [-9.66758512e-01 -2.01632477e-01 1.57233339e-01 -8.18500372e+01] [ 1.59912587e-01 3.03692450e-03 9.87126508e-01 -9.15084765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.35, Y:-81.78, Z:-914.36 [[-1.74325403e-01 1.26365302e-01 9.76546192e-01 4.59351693e+02] [-9.57949888e-01 -2.51303312e-01 -1.38487029e-01 -8.17829814e+01] [ 2.27909337e-01 -9.59624122e-01 1.64860177e-01 -9.14356842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.59, Y:-82.03, Z:-915.08 [[-2.15885978e-01 9.75436467e-01 4.37829076e-02 4.59592660e+02] [-9.50434763e-01 -2.20205221e-01 2.19507224e-01 -8.20320987e+01] [ 2.23756576e-01 5.77573444e-03 9.74627947e-01 -9.15081072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:459.59, Y:-82.03, Z:-915.08 [[-2.17324830e-01 9.75087520e-01 4.44324853e-02 4.59590459e+02] [-9.50665726e-01 -2.21766321e-01 2.16920210e-01 -8.20341295e+01] [ 2.21369819e-01 4.90170702e-03 9.75177613e-01 -9.15079103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.59, Y:-82.03, Z:-915.08 [[-2.17523789e-01 9.75041521e-01 4.44683449e-02 4.59590155e+02] [-9.50676855e-01 -2.21969519e-01 2.16663451e-01 -8.20343318e+01] [ 2.21126478e-01 4.85442868e-03 9.75233057e-01 -9.15078756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.59, Y:-82.04, Z:-915.08 [[-2.17896070e-01 9.74954517e-01 4.45532518e-02 4.59589713e+02] [-9.50591600e-01 -2.22351354e-01 2.16645992e-01 -8.20366347e+01] [ 2.21126464e-01 4.85436325e-03 9.75233060e-01 -9.15078238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.59, Y:-82.04, Z:-915.08 [[-2.18180644e-01 9.74890423e-01 4.45631125e-02 4.59588488e+02] [-9.50612381e-01 -2.22632896e-01 2.16265334e-01 -8.20390785e+01] [ 2.20756218e-01 4.82266339e-03 9.75317094e-01 -9.15078093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.59, Y:-82.04, Z:-915.08 [[-2.18554728e-01 9.74802773e-01 4.46473380e-02 4.59586928e+02] [-9.50528688e-01 -2.23016388e-01 2.16238075e-01 -8.20420682e+01] [ 2.20746563e-01 4.82127821e-03 9.75319286e-01 -9.15077563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.58, Y:-82.04, Z:-915.08 [[-2.18957403e-01 9.74710276e-01 4.46937719e-02 4.59584995e+02] [-9.50502797e-01 -2.23420789e-01 2.15934213e-01 -8.20447358e+01] [ 2.20458814e-01 4.79883945e-03 9.75384479e-01 -9.15076513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.58, Y:-82.05, Z:-915.08 [[-2.19414629e-01 9.74606715e-01 4.47098578e-02 4.59582266e+02] [-9.50475441e-01 -2.23871929e-01 2.15587097e-01 -8.20496559e+01] [ 2.20121915e-01 4.80734121e-03 9.75460523e-01 -9.15075196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.58, Y:-82.05, Z:-915.07 [[-2.20394428e-01 9.74380050e-01 4.48309469e-02 4.59579249e+02] [-9.50207871e-01 -2.24853313e-01 2.15745197e-01 -8.20485987e+01] [ 2.20298203e-01 4.95032081e-03 9.75420010e-01 -9.15074322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:460.44, Y:-82.24, Z:-914.75 [[-2.07622669e-01 -7.93218292e-02 -9.74987628e-01 4.60441217e+02] [-9.71388824e-01 1.34209820e-01 1.95937432e-01 -8.22390826e+01] [ 1.15310798e-01 9.87773138e-01 -1.04917339e-01 -9.14751096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.56, Y:-82.10, Z:-915.03 [[-2.17596310e-01 9.75567180e-01 3.03401305e-02 4.59562704e+02] [-9.63794253e-01 -2.19671061e-01 1.51146496e-01 -8.21044393e+01] [ 1.54118409e-01 3.64727635e-03 9.88045654e-01 -9.15030625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.56, Y:-82.11, Z:-915.03 [[-2.18895828e-01 9.75276997e-01 3.03215355e-02 4.59560742e+02] [-9.63564551e-01 -2.20953597e-01 1.50741050e-01 -8.21117454e+01] [ 1.53713931e-01 3.77983022e-03 9.88108162e-01 -9.15028817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.496559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:459.57, Y:-82.11, Z:-915.03 [[-2.16664245e-01 9.75850199e-01 2.78027663e-02 4.59565377e+02] [-9.64473159e-01 -2.18374118e-01 1.48675053e-01 -8.21065208e+01] [ 1.51155984e-01 5.39754628e-03 9.88495187e-01 -9.15032387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-82.19, Z:-915.02 [[-2.19668021e-01 9.75151239e-01 2.87405934e-02 4.59550427e+02] [-9.63843235e-01 -2.21487254e-01 1.48154023e-01 -8.21876833e+01] [ 1.50838255e-01 4.84327458e-03 9.88546592e-01 -9.15021491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.56, Y:-82.13, Z:-915.03 [[-2.20158616e-01 9.74971982e-01 3.09809376e-02 4.59561663e+02] [-9.63572732e-01 -2.22309095e-01 1.48681733e-01 -8.21281436e+01] [ 1.51847868e-01 2.88117800e-03 9.88399678e-01 -9.15028313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.56, Y:-82.12, Z:-915.03 [[-2.23543365e-01 9.74195284e-01 3.11755260e-02 4.59560779e+02] [-9.62589763e-01 -2.25679412e-01 1.49965835e-01 -8.21215173e+01] [ 1.53131683e-01 3.51462523e-03 9.88199542e-01 -9.15027301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.56, Y:-82.13, Z:-915.03 [[-2.23266190e-01 9.74286765e-01 3.02903949e-02 4.59558630e+02] [-9.62776488e-01 -2.25272633e-01 1.49377624e-01 -8.21288702e+01] [ 1.52360239e-01 4.18809286e-03 9.88316153e-01 -9.15025376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.56, Y:-82.12, Z:-915.02 [[-2.22332012e-01 9.74504072e-01 3.01710199e-02 4.59557908e+02] [-9.63132074e-01 -2.24334932e-01 1.48493926e-01 -8.21223202e+01] [ 1.51476349e-01 3.95627637e-03 9.88452965e-01 -9.15024829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-82.12, Z:-915.02 [[-2.18529235e-01 9.75367138e-01 3.00652510e-02 4.59553986e+02] [-9.64127718e-01 -2.20563254e-01 1.47680718e-01 -8.21221147e+01] [ 1.50674209e-01 3.28581241e-03 9.88578012e-01 -9.15022441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-82.12, Z:-915.02 [[-2.16380774e-01 9.75849210e-01 2.99613028e-02 4.59553212e+02] [-9.64736391e-01 -2.18426282e-01 1.46879730e-01 -8.21217364e+01] [ 1.49876805e-01 2.87719063e-03 9.88700493e-01 -9.15022279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-82.13, Z:-915.02 [[-2.14344036e-01 9.76296999e-01 3.00133875e-02 4.59550412e+02] [-9.65193567e-01 -2.16420623e-01 1.46845131e-01 -8.21321560e+01] [ 1.49859977e-01 2.50664958e-03 9.88704053e-01 -9.15021053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-82.13, Z:-915.02 [[-2.12701866e-01 9.76653439e-01 3.00994528e-02 4.59551094e+02] [-9.65533508e-01 -2.14809732e-01 1.46975592e-01 -8.21267897e+01] [ 1.50009872e-01 2.19995240e-03 9.88682051e-01 -9.15022300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.55, Y:-82.13, Z:-915.02 [[-2.11938515e-01 9.76815119e-01 3.02372146e-02 4.59551017e+02] [-9.65638696e-01 -2.14074971e-01 1.47356088e-01 -8.21282726e+01] [ 1.50412685e-01 2.03220592e-03 9.88621209e-01 -9.15022332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.37, Y:-82.06, Z:-914.15 [[-1.78892524e-01 -1.18108658e-01 9.76753710e-01 4.59372713e+02] [-9.59360648e-01 -1.99264459e-01 -1.99801960e-01 -8.20610149e+01] [ 2.18230641e-01 -9.72802149e-01 -7.76618764e-02 -9.14150365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.52, Y:-82.28, Z:-915.03 [[-2.04828131e-01 9.77856194e-01 4.29267029e-02 4.59521078e+02] [-9.54044552e-01 -2.09256717e-01 2.14500860e-01 -8.22758163e+01] [ 2.18733696e-01 2.98182324e-03 9.75780036e-01 -9.15029158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.52, Y:-82.28, Z:-915.03 [[-2.04461108e-01 9.77918869e-01 4.32474344e-02 4.59520039e+02] [-9.53846292e-01 -2.08965549e-01 2.15663284e-01 -8.22785783e+01] [ 2.19938418e-01 2.84334898e-03 9.75509614e-01 -9.15028158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.53, Y:-82.36, Z:-915.01 [[-2.68776438e-01 9.62171135e-01 4.45638241e-02 4.59534109e+02] [-9.37645036e-01 -2.71951741e-01 2.16481031e-01 -8.23600652e+01] [ 2.20411009e-01 1.63999519e-02 9.75269209e-01 -9.15011718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.40, Y:-82.21, Z:-914.10 [[-2.26607255e-01 -2.24673682e-01 9.47718782e-01 4.59402045e+02] [-9.33605352e-01 -2.27165645e-01 -2.77086297e-01 -8.22095991e+01] [ 2.77543147e-01 -9.47585092e-01 -1.58279169e-01 -9.14101984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-915.00 [[-2.54508071e-01 9.64352199e-01 7.24601829e-02 4.59479776e+02] [-9.23926165e-01 -2.64600538e-01 2.76309605e-01 -8.25174597e+01] [ 2.85632779e-01 3.37516570e-03 9.58333201e-01 -9.14998929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-915.00 [[-2.51760249e-01 9.65015263e-01 7.32278635e-02 4.59479946e+02] [-9.24840885e-01 -2.62188535e-01 2.75547656e-01 -8.25168390e+01] [ 2.85107200e-01 1.64782444e-03 9.58494220e-01 -9.14997817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-915.00 [[-2.50565422e-01 9.65323346e-01 7.32653165e-02 4.59480735e+02] [-9.25250002e-01 -2.61054489e-01 2.75250773e-01 -8.25188852e+01] [ 2.84832237e-01 1.17959177e-03 9.58576656e-01 -9.14997027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-915.00 [[-2.49411126e-01 9.65622535e-01 7.32612536e-02 4.59481651e+02] [-9.25695703e-01 -2.59947306e-01 2.74799679e-01 -8.25205063e+01] [ 2.84396828e-01 7.20469578e-04 9.58706381e-01 -9.14996198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-915.00 [[-2.48171549e-01 9.65934367e-01 7.33599408e-02 4.59482678e+02] [-9.26040070e-01 -2.58787051e-01 2.74734510e-01 -8.25194297e+01] [ 2.84360108e-01 2.47044182e-04 9.58717512e-01 -9.14996070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-914.99 [[-2.45340468e-01 9.66647818e-01 7.34850357e-02 4.59482650e+02] [-9.26774324e-01 -2.56108408e-01 2.74768696e-01 -8.25204471e+01] [ 2.84424696e-01 -6.92163884e-04 9.58698135e-01 -9.14994554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-914.99 [[-2.43995086e-01 9.66978392e-01 7.36151381e-02 4.59481835e+02] [-9.27103801e-01 -2.54855578e-01 2.74822082e-01 -8.25245248e+01] [ 2.84508244e-01 -1.19363684e-03 9.58672851e-01 -9.14993266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.52, Z:-914.99 [[-2.42294035e-01 9.67388105e-01 7.38502278e-02 4.59482759e+02] [-9.27400519e-01 -2.53292398e-01 2.75265762e-01 -8.25237310e+01] [ 2.84994525e-01 -1.79348747e-03 9.58527467e-01 -9.14993619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.2165599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.53, Z:-914.99 [[-2.40937480e-01 9.67710540e-01 7.40637676e-02 4.59482320e+02] [-9.27630373e-01 -2.52053655e-01 2.75628095e-01 -8.25281530e+01] [ 2.85396256e-01 -2.29466173e-03 9.58406861e-01 -9.14992481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.53, Z:-914.99 [[-2.39336146e-01 9.68095490e-01 7.42248789e-02 4.59483456e+02] [-9.27983975e-01 -2.50565114e-01 2.75794973e-01 -8.25267899e+01] [ 2.85594034e-01 -2.87179227e-03 9.58346389e-01 -9.14993584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.276559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.53, Z:-914.99 [[-2.37068448e-01 9.68623887e-01 7.46077583e-02 4.59484948e+02] [-9.28243822e-01 -2.48504596e-01 2.76783080e-01 -8.25264979e+01] [ 2.86639074e-01 -3.63765547e-03 9.58031737e-01 -9.14993668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.53, Z:-914.99 [[-2.36909340e-01 9.68650445e-01 7.47681744e-02 4.59484956e+02] [-9.28223459e-01 -2.48398768e-01 2.76946318e-01 -8.25284393e+01] [ 2.86836497e-01 -3.79040408e-03 9.57972055e-01 -9.14993165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.53, Z:-914.99 [[-2.37259279e-01 9.68566944e-01 7.47402818e-02 4.59483627e+02] [-9.28294994e-01 -2.48724026e-01 2.76414115e-01 -8.25346099e+01] [ 2.86315278e-01 -3.79921573e-03 9.58127929e-01 -9.14991096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.54, Z:-914.99 [[-2.38235017e-01 9.68324910e-01 7.47726309e-02 4.59483236e+02] [-9.28133769e-01 -2.49667293e-01 2.76104963e-01 -8.25362110e+01] [ 2.86027594e-01 -3.62113320e-03 9.58214539e-01 -9.14989706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.54, Z:-914.99 [[-2.39692616e-01 9.67960174e-01 7.48368385e-02 4.59482819e+02] [-9.27809032e-01 -2.51082085e-01 2.75913369e-01 -8.25392233e+01] [ 2.85863342e-01 -3.29989758e-03 9.58264713e-01 -9.14987832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.54, Z:-914.99 [[-2.41826564e-01 9.67427912e-01 7.48541790e-02 4.59483970e+02] [-9.27360068e-01 -2.53131386e-01 2.75550005e-01 -8.25398050e+01] [ 2.85522709e-01 -2.78146540e-03 9.58367908e-01 -9.14987015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.4565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.55, Z:-914.99 [[-2.47379582e-01 9.66044755e-01 7.45712674e-02 4.59486463e+02] [-9.26348267e-01 -2.58371639e-01 2.74085726e-01 -8.25460539e+01] [ 2.84046178e-01 -1.27575197e-03 9.58809752e-01 -9.14986056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.55, Z:-914.98 [[-2.51115517e-01 9.65078407e-01 7.45966892e-02 4.59485936e+02] [-9.25437369e-01 -2.61961036e-01 2.73755532e-01 -8.25547894e+01] [ 2.83736979e-01 -2.90301843e-04 9.58902103e-01 -9.14983651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.56, Z:-914.98 [[-2.55068873e-01 9.64048051e-01 7.45065477e-02 4.59486359e+02] [-9.24585891e-01 -2.65726924e-01 2.73002073e-01 -8.25594194e+01] [ 2.82985513e-01 7.46628343e-04 9.59123893e-01 -9.14982456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.57, Z:-914.98 [[-2.58510313e-01 9.63125632e-01 7.45750367e-02 4.59485624e+02] [-9.23676378e-01 -2.69047039e-01 2.72828956e-01 -8.25680431e+01] [ 2.82832753e-01 1.64589900e-03 9.59167829e-01 -9.14980153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.57, Z:-914.98 [[-2.61631141e-01 9.62281683e-01 7.45862542e-02 4.59487504e+02] [-9.22911184e-01 -2.72044097e-01 2.72446244e-01 -8.25658483e+01] [ 2.82460780e-01 2.44393357e-03 9.59275735e-01 -9.14981007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.57, Z:-914.98 [[-2.63813548e-01 9.61675039e-01 7.47230285e-02 4.59487496e+02] [-9.22257973e-01 -2.74175551e-01 2.72521557e-01 -8.25695317e+01] [ 2.82564407e-01 2.98097030e-03 9.59243697e-01 -9.14979846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.57, Z:-914.98 [[-2.66126370e-01 9.61031956e-01 7.47952865e-02 4.59487768e+02] [-9.21636403e-01 -2.76414518e-01 2.72362543e-01 -8.25734776e+01] [ 2.82423610e-01 3.54879599e-03 9.59283228e-01 -9.14978854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.58, Z:-914.98 [[-2.66469747e-01 9.60926558e-01 7.49267931e-02 4.59488042e+02] [-9.21509931e-01 -2.76780743e-01 2.72418553e-01 -8.25756437e+01] [ 2.82512516e-01 3.54551892e-03 9.59257060e-01 -9.14978328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.58, Z:-914.98 [[-2.66624655e-01 9.60870683e-01 7.50921016e-02 4.59488626e+02] [-9.21398774e-01 -2.76975345e-01 2.72596695e-01 -8.25774428e+01] [ 2.82728833e-01 3.49122954e-03 9.59193525e-01 -9.14978200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.58, Z:-914.98 [[-2.66371421e-01 9.60916194e-01 7.54077820e-02 4.59489109e+02] [-9.21231796e-01 -2.76819323e-01 2.73318569e-01 -8.25795440e+01] [ 2.83510570e-01 3.33620927e-03 9.58963308e-01 -9.14978303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.58, Z:-914.98 [[-2.66227722e-01 9.60929524e-01 7.57446340e-02 4.59488880e+02] [-9.21008619e-01 -2.76774475e-01 2.74114964e-01 -8.25821254e+01] [ 2.84369343e-01 3.21554160e-03 9.58709412e-01 -9.14977999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.58, Z:-914.98 [[-2.65042069e-01 9.61217696e-01 7.62446222e-02 4.59487554e+02] [-9.20895485e-01 -2.75776489e-01 2.75497429e-01 -8.25838266e+01] [ 2.85839478e-01 2.80508002e-03 9.58273408e-01 -9.14977288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.58, Z:-914.98 [[-2.64585935e-01 9.61320105e-01 7.65371748e-02 4.59486840e+02] [-9.20812750e-01 -2.75421464e-01 2.76128406e-01 -8.25844283e+01] [ 2.86527769e-01 2.58328616e-03 9.58068455e-01 -9.14976683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.59, Z:-914.98 [[-2.63999535e-01 9.61459058e-01 7.68161820e-02 4.59486132e+02] [-9.20782900e-01 -2.74938353e-01 2.76708787e-01 -8.25866789e+01] [ 2.87163884e-01 2.31996420e-03 9.57878657e-01 -9.14976137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.59, Z:-914.98 [[-2.63324143e-01 9.61614590e-01 7.71866322e-02 4.59485467e+02] [-9.20671555e-01 -2.74396102e-01 2.77616043e-01 -8.25891446e+01] [ 2.88139348e-01 2.03946991e-03 9.57586318e-01 -9.14975490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.49, Y:-82.59, Z:-914.98 [[-2.62730324e-01 9.61758393e-01 7.74181560e-02 4.59485062e+02] [-9.20698625e-01 -2.73893547e-01 2.78022243e-01 -8.25908847e+01] [ 2.88594558e-01 1.76608402e-03 9.57449770e-01 -9.14975514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.59, Z:-914.97 [[-2.60686516e-01 9.62282122e-01 7.78181161e-02 4.59483711e+02] [-9.20939835e-01 -2.72051404e-01 2.79030202e-01 -8.25933453e+01] [ 2.89676302e-01 1.07360818e-03 9.57124071e-01 -9.14974861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.60, Z:-914.97 [[-2.59831982e-01 9.62508606e-01 7.78750529e-02 4.59482266e+02] [-9.21243208e-01 -2.71250236e-01 2.78808646e-01 -8.25961646e+01] [ 2.89479348e-01 7.01539562e-04 9.57184003e-01 -9.14974107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.59, Z:-914.97 [[-2.58741457e-01 9.62793053e-01 7.79897123e-02 4.59482101e+02] [-9.21544725e-01 -2.70239647e-01 2.78793568e-01 -8.25939681e+01] [ 2.89496423e-01 2.64446081e-04 9.57179059e-01 -9.14974200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.59, Z:-914.97 [[-2.57437868e-01 9.63141689e-01 7.79989199e-02 4.59481004e+02] [-9.22026900e-01 -2.68994474e-01 2.78403248e-01 -8.25930613e+01] [ 2.89123053e-01 -2.45563891e-04 9.57291910e-01 -9.14973955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.60, Z:-914.97 [[-2.55841052e-01 9.63566301e-01 7.80085916e-02 4.59478689e+02] [-9.22587355e-01 -2.67468271e-01 2.78016721e-01 -8.25957798e+01] [ 2.88752366e-01 -8.41649742e-04 9.57403448e-01 -9.14972718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.60, Z:-914.97 [[-2.53764744e-01 9.64104530e-01 7.81403228e-02 4.59477049e+02] [-9.23135809e-01 -2.65518337e-01 2.78065264e-01 -8.25961677e+01] [ 2.88831669e-01 -1.57096958e-03 9.57378608e-01 -9.14972083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.48, Y:-82.60, Z:-914.97 [[-2.54127838e-01 9.64000009e-01 7.82497556e-02 4.59476442e+02] [-9.23035926e-01 -2.65897563e-01 2.78034469e-01 -8.25983915e+01] [ 2.88831650e-01 -1.57103726e-03 9.57378614e-01 -9.14971402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.47, Y:-82.60, Z:-914.97 [[-2.49987746e-01 9.65079857e-01 7.82751380e-02 4.59473654e+02] [-9.24265628e-01 -2.61939538e-01 2.77706189e-01 -8.25971774e+01] [ 2.88512003e-01 -2.92387528e-03 9.57471814e-01 -9.14971244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.07, Y:-82.71, Z:-913.88 [[-1.95394514e-01 -9.77873344e-01 -7.47309039e-02 4.60065331e+02] [-9.47796622e-01 2.07864567e-01 -2.41813741e-01 -8.27118167e+01] [ 2.51997118e-01 2.35806199e-02 -9.67440648e-01 -9.13883274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.44, Y:-82.61, Z:-914.97 [[-1.71843267e-01 9.83781421e-01 5.14199174e-02 4.59436506e+02] [-9.42461948e-01 -1.79371447e-01 2.82119408e-01 -8.26127832e+01] [ 2.86767097e-01 1.90052187e-05 9.58000330e-01 -9.14971044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.61, Z:-914.97 [[-1.72089576e-01 9.83515879e-01 5.55130139e-02 4.59433028e+02] [-9.42439035e-01 -1.80779514e-01 2.81295988e-01 -8.26142759e+01] [ 2.86694687e-01 -3.90952374e-03 9.58014025e-01 -9.14968598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.62, Z:-914.97 [[-1.73153389e-01 9.83320663e-01 5.56630757e-02 4.59431681e+02] [-9.42180604e-01 -1.81842622e-01 2.81476413e-01 -8.26170580e+01] [ 2.86903492e-01 -3.70607539e-03 9.57952322e-01 -9.14967560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.62, Z:-914.97 [[-1.74718058e-01 9.83033393e-01 5.58475568e-02 4.59430456e+02] [-9.41773984e-01 -1.83395999e-01 2.81829153e-01 -8.26212287e+01] [ 2.87289687e-01 -3.35513368e-03 9.57837867e-01 -9.14966318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.62, Z:-914.97 [[-1.76576873e-01 9.82689853e-01 5.60469555e-02 4.59429439e+02] [-9.41286408e-01 -1.85235382e-01 2.82254765e-01 -8.26241387e+01] [ 2.87750773e-01 -2.91657361e-03 9.57700886e-01 -9.14965673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.63, Z:-914.96 [[-1.78840950e-01 9.82266378e-01 5.62910131e-02 4.59428357e+02] [-9.40648335e-01 -1.87475904e-01 2.82901918e-01 -8.26271074e+01] [ 2.88438250e-01 -2.35560009e-03 9.57495602e-01 -9.14964614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.63, Z:-914.96 [[-1.83473169e-01 9.81401513e-01 5.64682789e-02 4.59427062e+02] [-9.39649576e-01 -1.91963182e-01 2.83211602e-01 -8.26303823e+01] [ 2.88784126e-01 -1.09866407e-03 9.57393609e-01 -9.14963083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.64, Z:-914.96 [[-1.85940407e-01 9.80940881e-01 5.64017200e-02 4.59425866e+02] [-9.39441952e-01 -1.94305801e-01 2.82301389e-01 -8.26354515e+01] [ 2.87880155e-01 -4.94906663e-04 9.57666316e-01 -9.14961355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.66, Z:-914.97 [[-1.84539711e-01 9.82011482e-01 3.99817978e-02 4.59430279e+02] [-9.43078482e-01 -1.88382015e-01 2.74071512e-01 -8.26637401e+01] [ 2.76673223e-01 1.28711045e-02 9.60877860e-01 -9.14966425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.42, Y:-82.64, Z:-914.95 [[-1.89829795e-01 9.79357121e-01 6.94570245e-02 4.59417554e+02] [-9.39221858e-01 -2.01750441e-01 2.77775201e-01 -8.26372616e+01] [ 2.86054106e-01 -1.25055462e-02 9.58131859e-01 -9.14954833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.42, Y:-82.64, Z:-914.96 [[-1.91797977e-01 9.79833778e-01 5.60294936e-02 4.59423038e+02] [-9.39204552e-01 -1.99812157e-01 2.79230930e-01 -8.26427153e+01] [ 2.84795271e-01 9.32772177e-04 9.58587911e-01 -9.14957592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:-82.64, Z:-914.97 [[-1.87712489e-01 9.81422779e-01 3.96654935e-02 4.59434289e+02] [-9.43505192e-01 -1.91392516e-01 2.70493730e-01 -8.26393516e+01] [ 2.73060387e-01 1.33504522e-02 9.61904252e-01 -9.14971744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:459.30, Y:-83.27, Z:-914.79 [[-1.96155338e-01 9.79565791e-01 4.44290857e-02 4.59298703e+02] [-9.41749427e-01 -2.00818713e-01 2.69777428e-01 -8.32730435e+01] [ 2.73186931e-01 1.10772166e-02 9.61897186e-01 -9.14788382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.29, Y:-82.48, Z:-914.09 [[-1.64614909e-01 -2.01060571e-01 9.65648269e-01 4.59289122e+02] [-9.25600906e-01 -3.06800179e-01 -2.21667801e-01 -8.24781959e+01] [ 3.40829716e-01 -9.30294737e-01 -1.35597963e-01 -9.14091387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.38, Y:-82.83, Z:-914.95 [[-1.86044916e-01 9.80331954e-01 6.58524796e-02 4.59377104e+02] [-9.18705992e-01 -1.97330545e-01 3.42111029e-01 -8.28342280e+01] [ 3.48377080e-01 3.14895027e-03 9.37349185e-01 -9.14945375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.656559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:459.38, Y:-82.84, Z:-914.94 [[-1.86913758e-01 9.80099726e-01 6.68414116e-02 4.59375611e+02] [-9.18683340e-01 -1.98490923e-01 3.41500035e-01 -8.28380600e+01] [ 3.47971504e-01 2.42496355e-03 9.37501974e-01 -9.14943926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.06, Z:-914.86 [[-1.87940816e-01 9.79945730e-01 6.62164295e-02 4.59331433e+02] [-9.18401319e-01 -1.99235046e-01 3.41825121e-01 -8.30608971e+01] [ 3.48162701e-01 3.42963608e-03 9.37427849e-01 -9.14863250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.40, Y:-82.58, Z:-913.96 [[-1.32875346e-01 -4.97610451e-01 8.57162751e-01 4.59399713e+02] [-9.08524101e-01 -2.84509246e-01 -3.06003998e-01 -8.25784052e+01] [ 3.96141516e-01 -8.19413405e-01 -4.14286823e-01 -9.13960674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-82.99, Z:-914.92 [[-1.58503509e-01 9.85199060e-01 6.52644643e-02 4.59335023e+02] [-9.00088701e-01 -1.71348256e-01 4.00599682e-01 -8.29910137e+01] [ 4.05853382e-01 4.75264845e-03 9.13925842e-01 -9.14923798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-82.99, Z:-914.92 [[-1.60244880e-01 9.84902438e-01 6.54886804e-02 4.59334299e+02] [-8.99621172e-01 -1.73028214e-01 4.00927654e-01 -8.29942634e+01] [ 4.06206013e-01 5.33160026e-03 9.13765971e-01 -9.14922378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.03, Z:-914.91 [[-1.60362878e-01 9.85110210e-01 6.19808179e-02 4.59330568e+02] [-9.00017584e-01 -1.71715866e-01 4.00602059e-01 -8.30342417e+01] [ 4.05280268e-01 8.45787296e-03 9.14153362e-01 -9.14908744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.05, Z:-914.90 [[-1.63421821e-01 9.84231211e-01 6.76921888e-02 4.59324071e+02] [-8.98439287e-01 -1.76819824e-01 4.01922377e-01 -8.30530249e+01] [ 4.07553868e-01 4.86556465e-03 9.13168205e-01 -9.14896821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.00, Z:-914.92 [[-1.64562632e-01 9.83961233e-01 6.88435347e-02 4.59332075e+02] [-8.98006774e-01 -1.78328926e-01 4.02222114e-01 -8.30027306e+01] [ 4.08047761e-01 4.36876921e-03 9.12950130e-01 -9.14918950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.00, Z:-914.92 [[-1.65785458e-01 9.83926371e-01 6.63632295e-02 4.59333244e+02] [-8.97747999e-01 -1.78429681e-01 4.02754739e-01 -8.30036420e+01] [ 4.08122178e-01 7.19342242e-03 9.12898977e-01 -9.14920344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.01, Z:-914.92 [[-1.67031353e-01 9.83705336e-01 6.65157116e-02 4.59331252e+02] [-8.97561660e-01 -1.79629606e-01 4.02636649e-01 -8.30091711e+01] [ 4.08024011e-01 7.55099176e-03 9.12939970e-01 -9.14918189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.01, Z:-914.92 [[-1.67802455e-01 9.83563589e-01 6.66708490e-02 4.59329618e+02] [-8.97453595e-01 -1.80397304e-01 4.02534295e-01 -8.30115074e+01] [ 4.07945317e-01 7.71224997e-03 9.12973789e-01 -9.14916911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.30, Y:-83.21, Z:-914.83 [[-1.68088913e-01 9.83749351e-01 6.31136451e-02 4.59298277e+02] [-8.97625580e-01 -1.79207886e-01 4.02682074e-01 -8.32071411e+01] [ 4.07448692e-01 1.10339696e-02 9.13161440e-01 -9.14833207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.01, Z:-914.92 [[-1.67368041e-01 9.83242401e-01 7.22656148e-02 4.59325337e+02] [-8.97639142e-01 -1.82288598e-01 4.01266543e-01 -8.30090778e+01] [ 4.07715477e-01 2.29075087e-03 9.13106151e-01 -9.14915437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.01, Z:-914.92 [[-1.65599261e-01 9.84322474e-01 6.07136873e-02 4.59332105e+02] [-8.99360550e-01 -1.75991503e-01 4.00221929e-01 -8.30096255e+01] [ 4.04632533e-01 1.16729605e-02 9.14404864e-01 -9.14922599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.01, Z:-914.92 [[-1.66037390e-01 9.83665454e-01 6.95259708e-02 4.59326882e+02] [-8.98274911e-01 -1.79959391e-01 4.00895001e-01 -8.30078326e+01] [ 4.06858414e-01 4.11012456e-03 9.13481986e-01 -9.14918853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.02, Z:-914.91 [[-1.67238299e-01 9.83499699e-01 6.89905337e-02 4.59324625e+02] [-8.97487251e-01 -1.80830462e-01 4.02264812e-01 -8.30151789e+01] [ 4.08102911e-01 5.35595844e-03 9.12920220e-01 -9.14914588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.136559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.02, Z:-914.91 [[-1.67426355e-01 9.83588369e-01 6.72483198e-02 4.59324324e+02] [-8.97421383e-01 -1.80288679e-01 4.02654757e-01 -8.30202442e+01] [ 4.08170647e-01 7.06493832e-03 9.12878311e-01 -9.14913170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.01, Z:-914.92 [[-1.65446884e-01 9.84118127e-01 6.43338238e-02 4.59327504e+02] [-8.98563842e-01 -1.77306030e-01 4.01429437e-01 -8.30130456e+01] [ 4.06460761e-01 8.60720145e-03 9.13627696e-01 -9.14919481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.02, Z:-914.91 [[-1.67034655e-01 9.83483209e-01 6.97151547e-02 4.59321625e+02] [-8.97494843e-01 -1.80940619e-01 4.02198334e-01 -8.30180518e+01] [ 4.08169612e-01 4.61206836e-03 9.12894461e-01 -9.14912515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.02, Z:-914.92 [[-1.64110514e-01 9.84612718e-01 6.00461145e-02 4.59326325e+02] [-9.00407374e-01 -1.74382118e-01 3.98569238e-01 -8.30235096e+01] [ 4.02907310e-01 1.13434382e-02 9.15170490e-01 -9.14918623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.02, Z:-914.92 [[-1.63715565e-01 9.84631162e-01 6.08168452e-02 4.59326267e+02] [-9.00247810e-01 -1.74326883e-01 3.98953655e-01 -8.30192547e+01] [ 4.03424212e-01 1.05646912e-02 9.14952071e-01 -9.14918540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.02, Z:-914.92 [[-1.61173639e-01 9.84575163e-01 6.80794179e-02 4.59322883e+02] [-9.01681737e-01 -1.74946398e-01 3.95428632e-01 -8.30196274e+01] [ 4.01239458e-01 2.34670388e-03 9.15970191e-01 -9.14916995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.91 [[-1.61288448e-01 9.84631028e-01 6.69908599e-02 4.59322564e+02] [-9.01238994e-01 -1.74610574e-01 3.96584700e-01 -8.30269494e+01] [ 4.02186913e-01 3.58975563e-03 9.15550545e-01 -9.14913297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.02, Z:-914.91 [[-1.60994879e-01 9.84334103e-01 7.18820065e-02 4.59321169e+02] [-9.00196051e-01 -1.76312262e-01 3.98197259e-01 -8.30203242e+01] [ 4.04632821e-01 -6.00178704e-04 9.14479043e-01 -9.14912104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.91 [[-1.60452324e-01 9.84496306e-01 7.08665956e-02 4.59321080e+02] [-8.99480804e-01 -1.75404677e-01 4.00209298e-01 -8.30275288e+01] [ 4.06434908e-01 4.71369725e-04 9.13679618e-01 -9.14906873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.91 [[-1.58859533e-01 9.85152461e-01 6.51020577e-02 4.59324455e+02] [-9.00395998e-01 -1.71612007e-01 3.99795404e-01 -8.30290654e+01] [ 4.05031721e-01 4.89367902e-03 9.14289537e-01 -9.14910594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.02, Z:-914.92 [[-1.54627219e-01 9.85968588e-01 6.28996547e-02 4.59327150e+02] [-9.02512757e-01 -1.66866938e-01 3.97021597e-01 -8.30248063e+01] [ 4.01946696e-01 4.62260460e-03 9.15651399e-01 -9.14915364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.02, Z:-914.91 [[-1.51021142e-01 9.85847779e-01 7.27789267e-02 4.59320507e+02] [-9.00878676e-01 -1.67565581e-01 4.00424009e-01 -8.30205249e+01] [ 4.06952363e-01 -5.09249201e-03 9.13435187e-01 -9.14910430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.90 [[-1.48903606e-01 9.86268889e-01 7.14240567e-02 4.59319815e+02] [-9.00523641e-01 -1.65088210e-01 4.02247505e-01 -8.30328070e+01] [ 4.08515469e-01 -4.42294767e-03 9.12740680e-01 -9.14904045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.91 [[-1.46526996e-01 9.87054078e-01 6.52233675e-02 4.59324957e+02] [-9.01648396e-01 -1.60387801e-01 4.01629088e-01 -8.30291423e+01] [ 4.06890661e-01 4.09591898e-05 9.13476868e-01 -9.14910770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.91 [[-1.44445636e-01 9.86831140e-01 7.27994432e-02 4.59321379e+02] [-9.01097916e-01 -1.61580943e-01 4.02385567e-01 -8.30301685e+01] [ 4.08849611e-01 -7.47658747e-03 9.12571146e-01 -9.14905728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.02, Z:-914.92 [[-1.38894063e-01 9.88972396e-01 5.14007730e-02 4.59336365e+02] [-9.06080146e-01 -1.47856495e-01 3.96430608e-01 -8.30239487e+01] [ 3.99658866e-01 8.48863790e-03 9.16624642e-01 -9.14924008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.616559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:459.32, Y:-83.03, Z:-914.90 [[-1.40324186e-01 9.86615767e-01 8.30569178e-02 4.59319135e+02] [-9.02013727e-01 -1.61978988e-01 4.00167519e-01 -8.30253790e+01] [ 4.08265059e-01 -1.87652985e-02 9.12670535e-01 -9.14903087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.03, Z:-914.91 [[-1.41241751e-01 9.87551000e-01 6.92372011e-02 4.59326664e+02] [-9.01724644e-01 -1.57201119e-01 4.02716371e-01 -8.30289348e+01] [ 4.08587121e-01 -5.55252507e-03 9.12702435e-01 -9.14906812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.676559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.03, Z:-914.92 [[-1.39244885e-01 9.88669155e-01 5.60728540e-02 4.59335990e+02] [-9.05635909e-01 -1.50045108e-01 3.96623330e-01 -8.30285369e+01] [ 4.00542710e-01 4.44617981e-03 9.16267302e-01 -9.14918970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.03, Z:-914.90 [[-1.45916302e-01 9.86515847e-01 7.41277027e-02 4.59325617e+02] [-9.02920416e-01 -1.63422200e-01 3.97527241e-01 -8.30336044e+01] [ 4.04281035e-01 -8.92571105e-03 9.14591262e-01 -9.14904024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.04, Z:-914.90 [[-1.49090302e-01 9.86041192e-01 7.41272558e-02 4.59326596e+02] [-9.01692984e-01 -1.66339775e-01 3.99100040e-01 -8.30375075e+01] [ 4.05859390e-01 -7.33808101e-03 9.13906072e-01 -9.14899008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.04, Z:-914.91 [[-1.51205384e-01 9.86527408e-01 6.24548267e-02 4.59335436e+02] [-9.03683694e-01 -1.63560788e-01 3.95731790e-01 -8.30373272e+01] [ 4.00615418e-01 3.39736884e-03 9.16240004e-01 -9.14907508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.04, Z:-914.90 [[-1.55671483e-01 9.84993619e-01 7.45248974e-02 4.59328706e+02] [-9.01585040e-01 -1.72505239e-01 3.96719495e-01 -8.30448894e+01] [ 4.03622106e-01 -5.43262047e-03 9.14909658e-01 -9.14895313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.05, Z:-914.90 [[-1.58479827e-01 9.85358254e-01 6.28749183e-02 4.59335741e+02] [-9.02939711e-01 -1.70399511e-01 3.94542629e-01 -8.30508879e+01] [ 3.99479691e-01 5.75478699e-03 9.16723982e-01 -9.14900782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.856559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:459.27, Y:-83.40, Z:-914.74 [[-1.61600685e-01 9.84288756e-01 7.11397495e-02 4.59270558e+02] [-9.00815223e-01 -1.76566263e-01 3.96681597e-01 -8.34019011e+01] [ 4.03010115e-01 2.02486632e-05 9.15195524e-01 -9.14741456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.17, Y:-82.79, Z:-914.11 [[-1.40830059e-01 -1.06355975e-01 9.84304476e-01 4.59174941e+02] [-8.74042977e-01 -4.53596521e-01 -1.74066286e-01 -8.27878878e+01] [ 4.64990075e-01 -8.84838179e-01 -2.90796687e-02 -9.14108892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.97, Y:-82.82, Z:-913.94 [[-6.14237746e-02 -9.95173635e-01 -7.65281361e-02 4.59973019e+02] [-8.92507529e-01 8.90878116e-02 -4.42146664e-01 -8.28210253e+01] [ 4.46830428e-01 4.11436206e-02 -8.93672072e-01 -9.13942456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.92, Y:-82.79, Z:-913.94 [[ 1.89815830e-02 -9.99124034e-01 -3.72943073e-02 4.59917761e+02] [-8.95127950e-01 -3.65120974e-04 -4.45809175e-01 -8.27858187e+01] [ 4.45405044e-01 4.18453407e-02 -8.94350778e-01 -9.13943239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.28, Y:-83.28, Z:-914.85 [[-1.01296250e-02 9.99945022e-01 -2.70983867e-03 4.59276023e+02] [-8.87193212e-01 -7.73722130e-03 4.61333220e-01 -8.32833275e+01] [ 4.61286890e-01 7.07728299e-03 8.87222811e-01 -9.14853745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.89, Y:-82.81, Z:-913.92 [[ 9.91162445e-02 -9.95073864e-01 1.99408785e-03 4.59892329e+02] [-8.90793989e-01 -8.96219746e-02 -4.45481728e-01 -8.28080369e+01] [ 4.43465939e-01 4.23781545e-02 -8.95288810e-01 -9.13917173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.30, Y:-83.36, Z:-914.83 [[ 6.70663907e-02 9.96813523e-01 -4.31844859e-02 4.59298495e+02] [-8.85223061e-01 7.94148456e-02 4.58337665e-01 -8.33590922e+01] [ 4.60306671e-01 7.48884992e-03 8.87728385e-01 -9.14828803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.30, Y:-83.38, Z:-914.82 [[ 6.69195361e-02 9.96814495e-01 -4.33893801e-02 4.59301793e+02] [-8.84863525e-01 7.93848504e-02 4.59036586e-01 -8.33838191e+01] [ 4.61018782e-01 7.67516442e-03 8.87357185e-01 -9.14816659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.87, Y:-82.86, Z:-913.88 [[ 1.79289498e-01 -9.82948879e-01 4.08261736e-02 4.59867604e+02] [-8.80018248e-01 -1.78790210e-01 -4.40002210e-01 -8.28575396e+01] [ 4.39798999e-01 4.29599977e-02 -8.97068157e-01 -9.13878671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.46, Z:-914.79 [[ 1.44839725e-01 9.85917475e-01 -8.35953739e-02 4.59326565e+02] [-8.75543643e-01 1.67062940e-01 4.53335752e-01 -8.34567575e+01] [ 4.60917329e-01 7.53037251e-03 8.87411128e-01 -9.14791272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.33, Y:-83.48, Z:-914.78 [[ 1.46237377e-01 9.85708452e-01 -8.36270202e-02 4.59330924e+02] [-8.75397055e-01 1.68317271e-01 4.53154822e-01 -8.34813145e+01] [ 4.60754409e-01 6.93867486e-03 8.87500552e-01 -9.14778615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.51, Z:-914.77 [[ 1.49173720e-01 9.84696361e-01 -9.01125810e-02 4.59340001e+02] [-8.75423915e-01 1.73891560e-01 4.50993009e-01 -8.35061516e+01] [ 4.59760992e-01 1.16104035e-02 8.87966795e-01 -9.14771116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.53, Z:-914.76 [[ 1.52071792e-01 9.84753733e-01 -8.44645284e-02 4.59340984e+02] [-8.75148450e-01 1.73874919e-01 4.51533723e-01 -8.35310604e+01] [ 4.59335782e-01 5.25345878e-03 8.88247173e-01 -9.14756568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.34, Y:-83.55, Z:-914.74 [[ 1.53470180e-01 9.84929206e-01 -7.97581543e-02 4.59340203e+02] [-8.74195244e-01 1.72957946e-01 4.53727038e-01 -8.35547228e+01] [ 4.60683818e-01 9.06290314e-05 8.87564314e-01 -9.14739274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.87, Y:-82.98, Z:-913.80 [[ 2.41902765e-01 -9.67008779e-01 7.98565834e-02 4.59865982e+02] [-8.64260566e-01 -2.52146273e-01 -4.35288330e-01 -8.29811928e+01] [ 4.41063177e-01 3.62805548e-02 -8.96742436e-01 -9.13803173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.84, Y:-82.99, Z:-913.79 [[ 3.13918862e-01 -9.42172447e-01 1.17328717e-01 4.59838563e+02] [-8.41419219e-01 -3.33316786e-01 -4.25339416e-01 -8.29859724e+01] [ 4.39850709e-01 3.47994281e-02 -8.97396431e-01 -9.13790451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.81, Y:-82.99, Z:-913.78 [[ 3.83655312e-01 -9.10592719e-01 1.53718906e-01 4.59812294e+02] [-8.12592048e-01 -4.11964004e-01 -4.12286094e-01 -8.29926877e+01] [ 4.38751371e-01 3.32649895e-02 -8.97992581e-01 -9.13777906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.79, Y:-83.00, Z:-913.76 [[ 4.51121591e-01 -8.72320068e-01 1.88539145e-01 4.59785986e+02] [-7.77970462e-01 -4.87892664e-01 -3.95882190e-01 -8.30027489e+01] [ 4.37322845e-01 3.19131176e-02 -8.98738161e-01 -9.13764787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.75, Y:-83.02, Z:-913.75 [[ 5.15874810e-01 -8.24440175e-01 2.32747885e-01 4.59750712e+02] [-7.37849643e-01 -5.65655078e-01 -3.68255668e-01 -8.30188890e+01] [ 4.35259791e-01 1.82408793e-02 -9.00120095e-01 -9.13749596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.69, Y:-83.04, Z:-913.72 [[ 5.76987788e-01 -7.54600119e-01 3.12512005e-01 4.59693611e+02] [-6.89591805e-01 -6.55118169e-01 -3.08679975e-01 -8.30447131e+01] [ 4.37662238e-01 -3.74011420e-02 -8.98361241e-01 -9.13718902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.74, Y:-83.02, Z:-913.75 [[ 6.33553256e-01 -7.38277791e-01 2.31422073e-01 4.59744732e+02] [-6.40730845e-01 -6.68308594e-01 -3.77925400e-01 -8.30243221e+01] [ 4.33675290e-01 9.11566077e-02 -8.96446438e-01 -9.13749035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.69, Y:-83.06, Z:-913.71 [[ 6.88791331e-01 -6.56423981e-01 3.07691501e-01 4.59689871e+02] [-5.83224612e-01 -7.53834861e-01 -3.02625271e-01 -8.30588912e+01] [ 4.30599065e-01 2.89924072e-02 -9.02077539e-01 -9.13713752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.67, Y:-83.08, Z:-913.70 [[ 7.38356033e-01 -5.87295412e-01 3.31533508e-01 4.59669760e+02] [-5.20539584e-01 -8.08839049e-01 -2.73528671e-01 -8.30779843e+01] [ 4.28799381e-01 2.93852299e-02 -9.02921702e-01 -9.13700642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.66, Y:-83.09, Z:-913.69 [[ 7.81979570e-01 -5.16680635e-01 3.48638889e-01 4.59656482e+02] [-4.54231517e-01 -8.55409754e-01 -2.48893315e-01 -8.30932901e+01] [ 4.26827462e-01 3.62667164e-02 -9.03605579e-01 -9.13687900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.66, Y:-83.09, Z:-913.69 [[ 8.20726707e-01 -4.55035059e-01 3.45471805e-01 4.59659737e+02] [-3.84779563e-01 -8.87229334e-01 -2.54497147e-01 -8.30949549e+01] [ 4.22317843e-01 7.59421157e-02 -9.03261000e-01 -9.13688122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.64, Y:-83.12, Z:-913.67 [[ 8.54021051e-01 -3.69889042e-01 3.65828022e-01 4.59641460e+02] [-3.10532494e-01 -9.26625617e-01 -2.11977677e-01 -8.31221722e+01] [ 4.17393837e-01 6.74319104e-02 -9.06220350e-01 -9.13673636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.62, Y:-83.16, Z:-913.65 [[ 8.79178346e-01 -2.74473029e-01 3.89499670e-01 4.59619494e+02] [-2.32736057e-01 -9.60648512e-01 -1.51619140e-01 -8.31610035e+01] [ 4.15787643e-01 4.26496472e-02 -9.08461140e-01 -9.13648088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.63, Y:-83.16, Z:-913.66 [[ 8.99133354e-01 -2.12975061e-01 3.82362178e-01 4.59626647e+02] [-1.55206534e-01 -9.71999615e-01 -1.76430385e-01 -8.31571511e+01] [ 4.09231161e-01 9.92893354e-02 -9.07012395e-01 -9.13658108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-83.22, Z:-913.62 [[ 9.09996261e-01 -9.57403134e-02 4.03411201e-01 4.59601763e+02] [-7.41190395e-02 -9.94865433e-01 -6.89139999e-02 -8.32152688e+01] [ 4.07937707e-01 3.28110315e-02 -9.12420004e-01 -9.13622612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-83.24, Z:-913.61 [[ 9.13486595e-01 -7.59350270e-03 4.06797959e-01 4.59597571e+02] [ 6.71939321e-03 -9.99407913e-01 -3.37442261e-02 -8.32413355e+01] [ 4.06813336e-01 3.35583336e-02 -9.12894708e-01 -9.13610807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-83.27, Z:-913.60 [[ 9.09702986e-01 8.06713892e-02 4.07348259e-01 4.59595368e+02] [ 8.76724808e-02 -9.96148248e-01 1.48459070e-03 -8.32681054e+01] [ 4.05899019e-01 3.43626958e-02 -9.13271697e-01 -9.13598857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-83.29, Z:-913.59 [[ 8.98913791e-01 1.67792183e-01 4.04721854e-01 4.59595993e+02] [ 1.67453370e-01 -9.85203103e-01 3.65269036e-02 -8.32948433e+01] [ 4.04862155e-01 3.49375009e-02 -9.13710023e-01 -9.13587072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-83.32, Z:-913.58 [[ 8.80486325e-01 2.54806446e-01 3.99771817e-01 4.59598601e+02] [ 2.47275542e-01 -9.66318741e-01 7.12944488e-02 -8.33213259e+01] [ 4.04473284e-01 3.60800055e-02 -9.13837839e-01 -9.13575752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.60, Y:-83.35, Z:-913.56 [[ 8.55795375e-01 3.38067543e-01 3.91566869e-01 4.59603167e+02] [ 3.23297040e-01 -9.40416030e-01 1.05340949e-01 -8.33473132e+01] [ 4.03848116e-01 3.64421129e-02 -9.14099925e-01 -9.13563711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.61, Y:-83.37, Z:-913.55 [[ 8.24681388e-01 4.18903635e-01 3.80026780e-01 4.59608698e+02] [ 3.97148368e-01 -9.07280329e-01 1.38259100e-01 -8.33719862e+01] [ 4.02708062e-01 3.69073093e-02 -9.14584096e-01 -9.13552746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:459.62, Y:-83.41, Z:-913.54 [[ 7.87157569e-01 5.06056469e-01 3.52547603e-01 4.59624638e+02] [ 4.68017695e-01 -8.62400458e-01 1.92937520e-01 -8.34145136e+01] [ 4.01674495e-01 1.31262875e-02 -9.15688430e-01 -9.13536646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.67, Y:-83.53, Z:-913.49 [[ 7.38041156e-01 6.28653865e-01 2.45131741e-01 4.59669663e+02] [ 5.34371226e-01 -7.66376073e-01 3.56532056e-01 -8.35266472e+01] [ 4.11998356e-01 -1.32143982e-01 -9.01551620e-01 -9.13488066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.67, Y:-83.52, Z:-913.49 [[ 6.87602149e-01 6.79556314e-01 2.55746947e-01 4.59671441e+02] [ 5.92671635e-01 -7.28768264e-01 3.42982726e-01 -8.35196066e+01] [ 4.19456336e-01 -8.42616984e-02 -9.03856376e-01 -9.13492558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.71, Y:-83.58, Z:-913.46 [[ 6.28767604e-01 7.56026715e-01 1.81865076e-01 4.59708641e+02] [ 6.43735231e-01 -6.37286077e-01 4.23640659e-01 -8.35780203e+01] [ 4.36183737e-01 -1.49298565e-01 -8.87385872e-01 -9.13462696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:459.66, Y:-83.50, Z:-913.51 [[ 5.72534531e-01 7.59256739e-01 3.09408171e-01 4.59662483e+02] [ 6.96657525e-01 -6.49491329e-01 3.04679023e-01 -8.34981897e+01] [ 4.32287525e-01 4.11122688e-02 -9.00798133e-01 -9.13505291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.68, Y:-83.52, Z:-913.49 [[ 5.09577968e-01 8.13209424e-01 2.81106257e-01 4.59680218e+02] [ 7.44399310e-01 -5.80516803e-01 3.29954404e-01 -8.35184375e+01] [ 4.31508937e-01 4.11178087e-02 -9.01171107e-01 -9.13492997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.70, Y:-83.54, Z:-913.48 [[ 4.43347755e-01 8.60569197e-01 2.50725798e-01 4.59700470e+02] [ 7.86123982e-01 -5.07694982e-01 3.52498072e-01 -8.35379047e+01] [ 4.30641212e-01 4.08223343e-02 -9.01599514e-01 -9.13480078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.72, Y:-83.56, Z:-913.47 [[ 3.73488846e-01 9.01561839e-01 2.18385741e-01 4.59723163e+02] [ 8.22321913e-01 -4.30730809e-01 3.71830125e-01 -8.35553508e+01] [ 4.29293318e-01 4.07089761e-02 -9.02247209e-01 -9.13467569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.74, Y:-83.57, Z:-913.46 [[ 3.01167830e-01 9.35552154e-01 1.84499612e-01 4.59744845e+02] [ 8.52288173e-01 -3.50868930e-01 3.87937964e-01 -8.35715090e+01] [ 4.27671379e-01 4.04124027e-02 -9.03030470e-01 -9.13456146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.77, Y:-83.58, Z:-913.44 [[ 2.28339065e-01 9.62027155e-01 1.49549407e-01 4.59765300e+02] [ 8.75321456e-01 -2.70106165e-01 4.01067337e-01 -8.35848314e+01] [ 4.26231886e-01 3.93244641e-02 -9.03758799e-01 -9.13444703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.79, Y:-83.60, Z:-913.43 [[ 1.53096103e-01 9.81647774e-01 1.13706780e-01 4.59785918e+02] [ 8.92337105e-01 -1.86765011e-01 4.10917660e-01 -8.35959889e+01] [ 4.24612854e-01 3.85548864e-02 -9.04553727e-01 -9.13433002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.81, Y:-83.61, Z:-913.42 [[ 7.67769866e-02 9.94045292e-01 7.73256267e-02 4.59807997e+02] [ 9.02776528e-01 -1.02226673e-01 4.17784931e-01 -8.36057119e+01] [ 4.23201885e-01 3.77314927e-02 -9.05249413e-01 -9.13421345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.83, Y:-83.61, Z:-913.41 [[ 1.88733453e-03 9.99172120e-01 4.06388218e-02 4.59828353e+02] [ 9.06394254e-01 -1.88763195e-02 4.22010832e-01 -8.36138075e+01] [ 4.22428569e-01 3.60383189e-02 -9.05679493e-01 -9.13410372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.85, Y:-83.62, Z:-913.40 [[-7.44597302e-02 9.97216784e-01 3.79931509e-03 4.59854499e+02] [ 9.03644800e-01 6.58606261e-02 4.23188438e-01 -8.36190205e+01] [ 4.21760388e-01 3.49437282e-02 -9.06033725e-01 -9.13399358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-83.62, Z:-913.39 [[-1.45378135e-01 9.89337236e-01 -8.77674469e-03 4.59896702e+02] [ 8.92767431e-01 1.35000723e-01 4.29815215e-01 -8.36164550e+01] [ 4.26417064e-01 5.46501425e-02 -9.02874216e-01 -9.13389010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.90, Y:-83.66, Z:-913.44 [[-2.24819449e-01 9.71468321e-01 7.55348737e-02 4.59895595e+02] [ 8.83763888e-01 1.70644927e-01 4.35708274e-01 -8.36554832e+01] [ 4.10387142e-01 1.64710687e-01 -8.96912919e-01 -9.13444741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.03, Y:-83.68, Z:-913.39 [[-2.99689486e-01 9.48626040e-01 -1.01463536e-01 4.60029986e+02] [ 8.61857767e-01 3.14806052e-01 3.97615819e-01 -8.36801325e+01] [ 4.09130054e-01 3.17141436e-02 -9.11924784e-01 -9.13394372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.09, Y:-83.69, Z:-913.39 [[-3.71843059e-01 9.18420138e-01 -1.35045140e-01 4.60090408e+02] [ 8.33700010e-01 3.94378672e-01 3.86535582e-01 -8.36904720e+01] [ 4.08260986e-01 3.11434384e-02 -9.12333850e-01 -9.13394107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.15, Y:-83.70, Z:-913.40 [[-4.42045703e-01 8.81300521e-01 -1.67047864e-01 4.60150872e+02] [ 7.99582880e-01 4.71549646e-01 3.71898038e-01 -8.36976133e+01] [ 4.06525295e-01 3.08273177e-02 -9.13119303e-01 -9.13395063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.21, Y:-83.70, Z:-913.39 [[-5.09922096e-01 8.37186510e-01 -1.97732659e-01 4.60213152e+02] [ 7.58838410e-01 5.46040490e-01 3.54970494e-01 -8.36976178e+01] [ 4.05146547e-01 3.09601624e-02 -9.13727391e-01 -9.13394809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.27, Y:-83.69, Z:-913.39 [[-5.74450884e-01 7.86535939e-01 -2.26643772e-01 4.60271487e+02] [ 7.12105690e-01 6.16750628e-01 3.35446194e-01 -8.36869996e+01] [ 4.03623175e-01 3.13030433e-02 -9.14389661e-01 -9.13391563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.34, Y:-83.68, Z:-913.39 [[-6.35057462e-01 7.29656076e-01 -2.53582395e-01 4.60335107e+02] [ 6.59622077e-01 6.83072108e-01 3.13546185e-01 -8.36783149e+01] [ 4.01995940e-01 3.18512984e-02 -9.15087296e-01 -9.13392488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:-83.66, Z:-913.39 [[-6.91058956e-01 6.66999759e-01 -2.78475926e-01 4.60395962e+02] [ 6.01738755e-01 7.44346592e-01 2.89583531e-01 -8.36624885e+01] [ 4.00434752e-01 3.25495357e-02 -9.15746983e-01 -9.13392609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.45, Y:-83.64, Z:-913.39 [[-7.42987501e-01 5.97516462e-01 -3.01568652e-01 4.60452928e+02] [ 5.37131133e-01 8.01129231e-01 2.63973676e-01 -8.36385035e+01] [ 3.99324079e-01 3.41472301e-02 -9.16173699e-01 -9.13391053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.51, Y:-83.61, Z:-913.39 [[-7.87809119e-01 5.24987497e-01 -3.22094583e-01 4.60509227e+02] [ 4.70012342e-01 8.50393856e-01 2.36471327e-01 -8.36113488e+01] [ 3.98051745e-01 3.49058388e-02 -9.16698637e-01 -9.13390649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.56, Y:-83.58, Z:-913.39 [[-8.26604675e-01 4.48670323e-01 -3.39734679e-01 4.60561848e+02] [ 3.99536459e-01 8.92989937e-01 2.07218702e-01 -8.35785915e+01] [ 3.96352532e-01 3.55515569e-02 -9.17409809e-01 -9.13389696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.61, Y:-83.54, Z:-913.39 [[-8.58915525e-01 3.69001732e-01 -3.55108212e-01 4.60612001e+02] [ 3.25881518e-01 9.28724829e-01 1.76837295e-01 -8.35421135e+01] [ 3.95051082e-01 3.61650946e-02 -9.17947019e-01 -9.13389309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.66, Y:-83.52, Z:-913.39 [[-8.80594370e-01 3.01723829e-01 -3.65398804e-01 4.60659217e+02] [ 2.52279662e-01 9.51237119e-01 1.77490607e-01 -8.35167046e+01] [ 4.01134051e-01 6.41145425e-02 -9.13772837e-01 -9.13393432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.64, Y:-83.55, Z:-913.45 [[-9.06299165e-01 2.78512191e-01 -3.17888005e-01 4.60641798e+02] [ 1.78144407e-01 9.33813004e-01 3.10254482e-01 -8.35454952e+01] [ 3.83257609e-01 2.24553408e-01 -8.95929335e-01 -9.13448822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.70, Y:-83.47, Z:-913.42 [[-9.23759846e-01 1.68853989e-01 -3.43738385e-01 4.60702036e+02] [ 1.01317559e-01 9.73325543e-01 2.05844943e-01 -8.34702287e+01] [ 3.69327090e-01 1.55324559e-01 -9.16226927e-01 -9.13419551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.76, Y:-83.36, Z:-913.37 [[-9.28857481e-01 3.76099248e-02 -3.68523098e-01 4.60764121e+02] [ 2.22350019e-02 9.98699467e-01 4.58800658e-02 -8.33613558e+01] [ 3.69769368e-01 3.44219305e-02 -9.28485727e-01 -9.13372491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.80, Y:-83.31, Z:-913.38 [[-9.27629016e-01 -4.60343747e-02 -3.70655158e-01 4.60801341e+02] [-5.53495945e-02 9.98361334e-01 1.45281944e-02 -8.33093928e+01] [ 3.69378982e-01 3.39923873e-02 -9.28656926e-01 -9.13375067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:-83.27, Z:-913.37 [[-9.17424986e-01 -1.10221638e-01 -3.82338313e-01 4.60808465e+02] [-1.27657419e-01 9.91607436e-01 2.04518101e-02 -8.32748041e+01] [ 3.76875282e-01 6.75713239e-02 -9.23796048e-01 -9.13369450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.83, Y:-83.32, Z:-913.45 [[-9.14631953e-01 -1.16374678e-01 -3.87176090e-01 4.60833283e+02] [-2.02900582e-01 9.60465188e-01 1.90625224e-01 -8.33151284e+01] [ 3.49685207e-01 2.52910175e-01 -9.02084641e-01 -9.13454729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.86, Y:-83.14, Z:-913.36 [[-8.94022203e-01 -2.87458205e-01 -3.43645285e-01 4.60861424e+02] [-2.79519222e-01 9.57315150e-01 -7.35982871e-02 -8.31424928e+01] [ 3.50133269e-01 3.02569599e-02 -9.36211093e-01 -9.13362447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.9565599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.86, Y:-83.09, Z:-913.36 [[-8.68682956e-01 -3.64410478e-01 -3.35551674e-01 4.60863167e+02] [-3.51089209e-01 9.30778298e-01 -1.01922163e-01 -8.30877155e+01] [ 3.49465720e-01 2.92705261e-02 -9.36491830e-01 -9.13357781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.83, Y:-83.08, Z:-913.34 [[-8.35793481e-01 -4.16741126e-01 -3.57457819e-01 4.60826753e+02] [-4.13765772e-01 9.06037252e-01 -8.88503430e-02 -8.30755512e+01] [ 3.60897692e-01 7.36432730e-02 -9.29693242e-01 -9.13339993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.016559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:460.91, Y:-83.12, Z:-913.48 [[-8.11935252e-01 -3.78602410e-01 -4.44321238e-01 4.60911663e+02] [-4.84063417e-01 8.62083039e-01 1.49984810e-01 -8.31201079e+01] [ 3.26257193e-01 3.36857611e-01 -8.83223185e-01 -9.13482478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.87, Y:-82.91, Z:-913.35 [[-7.70520294e-01 -5.72840945e-01 -2.79556307e-01 4.60874213e+02] [-5.48298074e-01 8.19311518e-01 -1.67624159e-01 -8.29086139e+01] [ 3.25065684e-01 2.41223687e-02 -9.45383738e-01 -9.13346605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.87, Y:-82.85, Z:-913.35 [[-7.23637117e-01 -6.37621275e-01 -2.64175006e-01 4.60869854e+02] [-6.09162107e-01 7.69989818e-01 -1.89834683e-01 -8.28481428e+01] [ 3.24454697e-01 2.35539805e-02 -9.45607931e-01 -9.13347765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.85, Y:-82.80, Z:-913.35 [[-6.71571311e-01 -6.98543308e-01 -2.47040929e-01 4.60853709e+02] [-6.66443517e-01 7.15191490e-01 -2.10604303e-01 -8.27951639e+01] [ 3.23797796e-01 2.32030174e-02 -9.45841745e-01 -9.13345747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.83, Y:-82.74, Z:-913.34 [[-6.14604961e-01 -7.55167649e-01 -2.27996852e-01 4.60834358e+02] [-7.19825988e-01 6.55125347e-01 -2.29480558e-01 -8.27423004e+01] [ 3.22662811e-01 2.30781700e-02 -9.46232587e-01 -9.13344598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:-82.69, Z:-913.34 [[-5.52424945e-01 -8.07301565e-01 -2.07583391e-01 4.60812732e+02] [-7.69040303e-01 5.89676623e-01 -2.46695141e-01 -8.26883193e+01] [ 3.21564447e-01 2.33594443e-02 -9.46599516e-01 -9.13344573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.78, Y:-82.64, Z:-913.34 [[-4.85792149e-01 -8.54078811e-01 -1.85890753e-01 4.60784483e+02] [-8.13225114e-01 5.19596270e-01 -2.62077528e-01 -8.26386351e+01] [ 3.20423005e-01 2.38558230e-02 -9.46974127e-01 -9.13343281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.75, Y:-82.59, Z:-913.34 [[-4.13170575e-01 -8.95977749e-01 -1.62831046e-01 4.60749321e+02] [-8.53074196e-01 4.43380814e-01 -2.75096111e-01 -8.25924549e+01] [ 3.18676156e-01 2.52453450e-02 -9.47527404e-01 -9.13340180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.71, Y:-82.55, Z:-913.34 [[-3.39337654e-01 -9.30357819e-01 -1.38867872e-01 4.60712294e+02] [-8.85696572e-01 3.65733180e-01 -2.85973467e-01 -8.25499226e+01] [ 3.16846240e-01 2.59532324e-02 -9.48121770e-01 -9.13338475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.60, Y:-82.77, Z:-913.25 [[-2.58046566e-01 -9.56287775e-01 -1.37570572e-01 4.60602267e+02] [-9.11757835e-01 2.88138218e-01 -2.92701242e-01 -8.27734628e+01] [ 3.19545959e-01 4.99004966e-02 -9.46255949e-01 -9.13247352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.87, Y:-82.91, Z:-914.23 [[-2.86311554e-01 9.55343196e-01 7.31100014e-02 4.59871248e+02] [-9.06104261e-01 -2.94777107e-01 3.03449378e-01 -8.29098264e+01] [ 3.11449454e-01 2.06357794e-02 9.50038632e-01 -9.14226144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-82.51, Z:-913.23 [[-1.98839063e-01 -9.37994997e-01 2.83951427e-01 4.60383321e+02] [-9.19499855e-01 7.83064447e-02 -3.85211783e-01 -8.25061846e+01] [ 3.39091499e-01 -3.37688446e-01 -8.78056643e-01 -9.13227298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.55, Y:-82.55, Z:-913.31 [[-1.21633071e-01 -9.89766705e-01 -7.46141100e-02 4.60550383e+02] [-9.34536778e-01 1.39525102e-01 -3.27374031e-01 -8.25538749e+01] [ 3.34434457e-01 2.99101212e-02 -9.41944255e-01 -9.13308679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.64, Z:-913.27 [[-4.21809683e-02 -9.97296617e-01 -6.01682917e-02 4.60500392e+02] [-9.41014135e-01 5.98923137e-02 -3.33024487e-01 -8.26442981e+01] [ 3.35727812e-01 4.25719176e-02 -9.40996529e-01 -9.13265498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.84, Y:-82.84, Z:-914.28 [[-6.63613141e-02 9.97722923e-01 1.20476074e-02 4.59837941e+02] [-9.40022872e-01 -6.65632971e-02 3.34553923e-01 -8.28366523e+01] [ 3.34594046e-01 1.08764114e-02 9.42299596e-01 -9.14277148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.84, Y:-82.86, Z:-914.27 [[-6.70277236e-02 9.97644038e-01 1.46170632e-02 4.59836217e+02] [-9.40686098e-01 -6.80708300e-02 3.32379342e-01 -8.28605681e+01] [ 3.32591264e-01 8.52856246e-03 9.43032510e-01 -9.14270948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.83, Y:-82.84, Z:-914.27 [[-6.72406629e-02 9.97416027e-01 2.52974850e-02 4.59833270e+02] [-9.39517630e-01 -7.18311066e-02 3.34883435e-01 -8.28365717e+01] [ 3.35835252e-01 -1.24964900e-03 9.41919913e-01 -9.14273526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:459.84, Y:-82.84, Z:-914.28 [[-6.69874221e-02 9.97555291e-01 1.99029420e-02 4.59837335e+02] [-9.39327681e-01 -6.97781094e-02 3.35848960e-01 -8.28373251e+01] [ 3.36416696e-01 3.80227165e-03 9.41705553e-01 -9.14275696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.82, Y:-83.08, Z:-914.19 [[-6.64516518e-02 9.97653136e-01 1.65045264e-02 4.59824986e+02] [-9.39611657e-01 -6.81341314e-02 3.35391823e-01 -8.30825965e+01] [ 3.35729226e-01 6.77949524e-03 9.41934141e-01 -9.14192662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.95, Y:-82.76, Z:-913.16 [[-1.94814009e-03 -6.80289392e-01 7.32941026e-01 4.59954459e+02] [-9.22848380e-01 -2.81076484e-01 -2.63337952e-01 -8.27607736e+01] [ 3.85158502e-01 -6.76906458e-01 -6.27256388e-01 -9.13156942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.68, Y:-82.91, Z:-913.94 [[-2.57545673e-03 -1.57012418e-01 -9.87593270e-01 4.60684858e+02] [-9.50074867e-01 3.08526598e-01 -4.65734548e-02 -8.29072778e+01] [ 3.12011403e-01 9.38167596e-01 -1.49968149e-01 -9.13935317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-82.67, Z:-913.23 [[ 8.30115704e-02 -9.96548579e-01 -9.04914049e-05 4.60424961e+02] [-9.46220703e-01 -7.87908122e-02 -3.13780799e-01 -8.26741039e+01] [ 3.12690679e-01 2.61330617e-02 -9.49495446e-01 -9.13225828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.82, Y:-83.08, Z:-914.20 [[ 7.81001440e-02 9.96583460e-01 -2.68658628e-02 4.59819038e+02] [-9.43536503e-01 8.25912874e-02 3.20807648e-01 -8.30806775e+01] [ 3.21930482e-01 2.93798685e-04 9.46763264e-01 -9.14196408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.82, Y:-83.11, Z:-914.19 [[ 8.13615283e-02 9.96320162e-01 -2.69525087e-02 4.59820830e+02] [-9.43294386e-01 8.57069943e-02 3.20702374e-01 -8.31063864e+01] [ 3.21832259e-01 -6.68685113e-04 9.46796467e-01 -9.14187896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.82, Y:-83.13, Z:-914.18 [[ 8.50200793e-02 9.96013575e-01 -2.69915860e-02 4.59822429e+02] [-9.42983660e-01 8.91834136e-02 3.20668265e-01 -8.31315442e+01] [ 3.21797146e-01 -1.81061677e-03 9.46806907e-01 -9.14179451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.82, Y:-83.16, Z:-914.17 [[ 9.20868035e-02 9.95383547e-01 -2.70484023e-02 4.59823868e+02] [-9.42355298e-01 9.58923303e-02 3.20579403e-01 -8.31587049e+01] [ 3.21693198e-01 -4.03192735e-03 9.46835377e-01 -9.14170733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.83, Y:-83.18, Z:-914.16 [[ 9.50750282e-02 9.95098517e-01 -2.71970740e-02 4.59825689e+02] [-9.41843475e-01 9.87658793e-02 3.21210476e-01 -8.31847251e+01] [ 3.22322212e-01 -4.92370846e-03 9.46617214e-01 -9.14162216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-82.81, Z:-913.17 [[ 1.40617638e-01 -9.89725633e-01 2.58814872e-02 4.60418881e+02] [-9.39902728e-01 -1.41662943e-01 -3.10667784e-01 -8.28061853e+01] [ 3.11142317e-01 1.93592895e-02 -9.50166131e-01 -9.13172225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:-82.81, Z:-913.16 [[ 2.16112523e-01 -9.75025549e-01 5.11913755e-02 4.60399023e+02] [-9.25885779e-01 -2.21297471e-01 -3.06207372e-01 -8.28104440e+01] [ 3.09888533e-01 1.87778810e-02 -9.50587444e-01 -9.13162848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-82.82, Z:-913.15 [[ 2.90904591e-01 -9.53740998e-01 7.58460863e-02 4.60379817e+02] [-9.05702050e-01 -3.00065004e-01 -2.99440795e-01 -8.28153139e+01] [ 3.08347719e-01 1.84147460e-02 -9.51095464e-01 -9.13154120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.916559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:460.36, Y:-82.82, Z:-913.14 [[ 3.64845004e-01 -9.25704195e-01 9.97991311e-02 4.60360450e+02] [-8.79015133e-01 -3.77800770e-01 -2.90859029e-01 -8.28227799e+01] [ 3.06953612e-01 1.83935170e-02 -9.51546719e-01 -9.13144975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.91, Y:-83.40, Z:-914.12 [[ 3.99979156e-01 9.07369697e-01 -1.29216513e-01 4.59909389e+02] [-8.58674641e-01 4.20285238e-01 2.93322654e-01 -8.34046652e+01] [ 3.20459881e-01 -6.36800448e-03 9.47240684e-01 -9.14118495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.92, Y:-83.43, Z:-914.11 [[ 3.99466413e-01 9.07591235e-01 -1.29246798e-01 4.59921094e+02] [-8.58963288e-01 4.19810773e-01 2.93156931e-01 -8.34288747e+01] [ 3.20325859e-01 -6.08809295e-03 9.47287855e-01 -9.14109529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.93, Y:-83.45, Z:-914.10 [[ 3.98898879e-01 9.07818807e-01 -1.29401307e-01 4.59932082e+02] [-8.59162037e-01 4.19322382e-01 2.93273480e-01 -8.34528463e+01] [ 3.20500045e-01 -5.80977181e-03 9.47230684e-01 -9.14100749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.94, Y:-83.48, Z:-914.09 [[ 3.98662369e-01 9.07931739e-01 -1.29337827e-01 4.59943048e+02] [-8.59408239e-01 4.19080480e-01 2.92897646e-01 -8.34773516e+01] [ 3.20134027e-01 -5.61327527e-03 9.47355633e-01 -9.14091951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.97, Y:-83.50, Z:-914.10 [[ 4.00964329e-01 9.03252605e-01 -1.52847434e-01 4.59971704e+02] [-8.60624102e-01 4.28581980e-01 2.75033890e-01 -8.35010933e+01] [ 3.13932734e-01 2.12654066e-02 9.49207049e-01 -9.14100911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.096559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:459.97, Y:-83.53, Z:-914.09 [[ 4.01296534e-01 9.06198933e-01 -1.33283851e-01 4.59973050e+02] [-8.61473914e-01 4.22846970e-01 2.81181677e-01 -8.35297539e+01] [ 3.11165208e-01 1.98332861e-03 9.50353766e-01 -9.14088000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.96, Y:-83.56, Z:-914.05 [[ 3.97615271e-01 9.12367894e-01 -9.74008319e-02 4.59958889e+02] [-8.60738117e-01 4.07660879e-01 3.04864727e-01 -8.35568694e+01] [ 3.17855297e-01 -3.73822622e-02 9.47402014e-01 -9.14054049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.99, Y:-83.58, Z:-914.06 [[ 3.96696875e-01 9.08898335e-01 -1.28590074e-01 4.59987709e+02] [-8.61178317e-01 4.16992737e-01 2.90669853e-01 -8.35768037e+01] [ 3.17810472e-01 -4.56883885e-03 9.48143254e-01 -9.14056122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.02, Y:-83.60, Z:-914.07 [[ 3.98924420e-01 9.03203431e-01 -1.58375720e-01 4.60022273e+02] [-8.62929783e-01 4.28189462e-01 2.68339290e-01 -8.35990725e+01] [ 3.10179782e-01 2.96200302e-02 9.50216374e-01 -9.14070317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.02, Y:-83.63, Z:-914.05 [[ 3.97324599e-01 9.08527424e-01 -1.29271355e-01 4.60017814e+02] [-8.63990261e-01 4.17825223e-01 2.80967812e-01 -8.36285611e+01] [ 3.09279795e-01 5.37680599e-05 9.50971086e-01 -9.14052500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.02, Y:-83.65, Z:-914.04 [[ 3.93999687e-01 9.11537754e-01 -1.17741965e-01 4.60021113e+02] [-8.65277296e-01 4.11064783e-01 2.86916270e-01 -8.36541995e+01] [ 3.09934588e-01 -1.11654717e-02 9.50692318e-01 -9.14036903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.04, Y:-83.68, Z:-914.03 [[ 3.88166430e-01 9.13173602e-01 -1.24260996e-01 4.60037184e+02] [-8.67714247e-01 4.07562352e-01 2.84543346e-01 -8.36792328e+01] [ 3.10481576e-01 -2.62713785e-03 9.50575767e-01 -9.14027709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.31, Y:-83.18, Z:-912.96 [[ 4.46855469e-01 -8.08144438e-01 3.83696178e-01 4.60312579e+02] [-8.29964646e-01 -5.34573758e-01 -1.59341094e-01 -8.31798570e+01] [ 3.33884527e-01 -2.47251824e-01 -9.09608520e-01 -9.12956227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.60, Y:-83.10, Z:-913.13 [[ 5.18321949e-01 -8.48430862e-01 -1.07272693e-01 4.60601763e+02] [-7.96365505e-01 -4.33142181e-01 -4.22125377e-01 -8.30973940e+01] [ 3.11679869e-01 3.04225121e-01 -9.00168171e-01 -9.13131629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.45, Y:-83.15, Z:-913.01 [[ 5.83771147e-01 -7.93956896e-01 1.69834317e-01 4.60450150e+02] [-7.49794961e-01 -6.07425202e-01 -2.62377860e-01 -8.31530785e+01] [ 3.11478355e-01 2.58277092e-02 -9.49902187e-01 -9.13010559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.43, Y:-83.17, Z:-913.00 [[ 6.45197107e-01 -7.39918869e-01 1.90370061e-01 4.60434564e+02] [-6.98026956e-01 -6.72178562e-01 -2.46848841e-01 -8.31653309e+01] [ 3.10610789e-01 2.63827239e-02 -9.50170979e-01 -9.13001858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-83.18, Z:-912.99 [[ 7.01799111e-01 -6.80912434e-01 2.09371119e-01 4.60421827e+02] [-6.41591795e-01 -7.31873996e-01 -2.29609284e-01 -8.31786070e+01] [ 3.09577093e-01 2.68087992e-02 -9.50496350e-01 -9.12992713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-83.20, Z:-912.98 [[ 7.53679995e-01 -6.16912243e-01 2.26684251e-01 4.60408321e+02] [-5.80416865e-01 -7.86557767e-01 -2.10815423e-01 -8.31954875e+01] [ 3.08354874e-01 2.73160047e-02 -9.50879124e-01 -9.12983046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-83.20, Z:-912.97 [[ 7.99782947e-01 -5.51584751e-01 2.36857555e-01 4.60407148e+02] [-5.16252593e-01 -8.33355871e-01 -1.97487346e-01 -8.32034142e+01] [ 3.06317643e-01 3.56686850e-02 -9.51260872e-01 -9.12974358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-83.20, Z:-912.98 [[ 8.40240155e-01 -4.92825646e-01 2.26095920e-01 4.60414676e+02] [-4.50718625e-01 -8.66632674e-01 -2.14010584e-01 -8.31975714e+01] [ 3.01412016e-01 7.79146447e-02 -9.50305270e-01 -9.12980855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.39, Y:-83.24, Z:-912.95 [[ 8.74323350e-01 -4.06965887e-01 2.64456891e-01 4.60388352e+02] [-3.81034126e-01 -9.13064194e-01 -1.45350517e-01 -8.32381059e+01] [ 3.00618820e-01 2.63162505e-02 -9.53381235e-01 -9.12954397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-83.26, Z:-912.95 [[ 9.02686995e-01 -3.31505152e-01 2.74336515e-01 4.60380515e+02] [-3.09067019e-01 -9.43096816e-01 -1.22662034e-01 -8.32562877e+01] [ 2.99388990e-01 2.59370545e-02 -9.53778539e-01 -9.12945862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-83.27, Z:-912.94 [[ 9.25110367e-01 -2.53945275e-01 2.82281078e-01 4.60376168e+02] [-2.35099292e-01 -9.66881394e-01 -9.93413003e-02 -8.32745664e+01] [ 2.98159576e-01 2.55375852e-02 -9.54174355e-01 -9.12936950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.37, Y:-83.29, Z:-912.93 [[ 9.41324372e-01 -1.76002018e-01 2.87978673e-01 4.60372957e+02] [-1.60894086e-01 -9.84078651e-01 -7.55135921e-02 -8.32918680e+01] [ 2.96684209e-01 2.47487193e-02 -9.54654902e-01 -9.12927659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.37, Y:-83.31, Z:-912.92 [[ 9.51599034e-01 -9.55020994e-02 2.92127761e-01 4.60371160e+02] [-8.40719556e-02 -9.95129799e-01 -5.14644459e-02 -8.33107005e+01] [ 2.95620003e-01 2.44137649e-02 -9.54993603e-01 -9.12918338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.37, Y:-83.33, Z:-912.91 [[ 9.55617869e-01 -1.41362825e-02 2.94269696e-01 4.60370200e+02] [-6.39382254e-03 -9.99608031e-01 -2.72562570e-02 -8.33292394e+01] [ 2.94539653e-01 2.41650580e-02 -9.55333681e-01 -9.12909456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.37, Y:-83.35, Z:-912.90 [[ 9.53308009e-01 6.73773072e-02 2.94387735e-01 4.60370899e+02] [ 7.14373031e-02 -9.97440439e-01 -3.04667006e-03 -8.33497109e+01] [ 2.93428956e-01 2.39346808e-02 -9.55681212e-01 -9.12900768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-83.37, Z:-912.89 [[ 9.44570265e-01 1.47975163e-01 2.93070583e-01 4.60375382e+02] [ 1.49300806e-01 -9.88628465e-01 1.79729964e-02 -8.33663172e+01] [ 2.92397477e-01 2.67789161e-02 -9.55921861e-01 -9.12892364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-83.37, Z:-912.89 [[ 9.29783435e-01 2.22584227e-01 2.93187700e-01 4.60378354e+02] [ 2.25868229e-01 -9.73884734e-01 2.30665980e-02 -8.33744757e+01] [ 2.90665286e-01 4.47748457e-02 -9.55776598e-01 -9.12889680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.38, Y:-83.38, Z:-912.89 [[ 9.09202382e-01 2.97110128e-01 2.91678934e-01 4.60383098e+02] [ 3.01291701e-01 -9.53008680e-01 3.15874669e-02 -8.33840752e+01] [ 2.87357512e-01 5.91610418e-02 -9.55994577e-01 -9.12885673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.39, Y:-83.40, Z:-912.88 [[ 8.82189669e-01 3.75496731e-01 2.84154173e-01 4.60388323e+02] [ 3.74295883e-01 -9.25319113e-01 6.07217579e-02 -8.34043280e+01] [ 2.85734109e-01 5.27896297e-02 -9.56853842e-01 -9.12876216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:-83.44, Z:-912.86 [[ 8.48932978e-01 4.58088262e-01 2.63567722e-01 4.60398434e+02] [ 4.44916547e-01 -8.88616895e-01 1.11396948e-01 -8.34355001e+01] [ 2.85240365e-01 2.26970978e-02 -9.58187235e-01 -9.12857647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:460.41, Y:-83.45, Z:-912.85 [[ 8.10108332e-01 5.28896605e-01 2.52968126e-01 4.60406301e+02] [ 5.12592679e-01 -8.48386949e-01 1.32243449e-01 -8.34492630e+01] [ 2.84557968e-01 2.25380899e-02 -9.58393864e-01 -9.12849216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-83.46, Z:-912.84 [[ 7.65882104e-01 5.96279055e-01 2.40574087e-01 4.60415501e+02] [ 5.77018668e-01 -8.02464360e-01 1.51988182e-01 -8.34637458e+01] [ 2.83679501e-01 2.24107106e-02 -9.58657239e-01 -9.12840935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-83.48, Z:-912.83 [[ 7.16313857e-01 6.59930763e-01 2.26684466e-01 4.60424800e+02] [ 6.37885171e-01 -7.50993039e-01 1.70622285e-01 -8.34772615e+01] [ 2.82837351e-01 2.23795527e-02 -9.58906768e-01 -9.12832582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.43, Y:-83.49, Z:-912.82 [[ 6.62003001e-01 7.19136128e-01 2.11175892e-01 4.60432582e+02] [ 6.94540944e-01 -6.94509821e-01 1.87800389e-01 -8.34885149e+01] [ 2.81717776e-01 2.23458816e-02 -9.59237070e-01 -9.12824274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.44, Y:-83.50, Z:-912.82 [[ 6.02552165e-01 7.74230553e-01 1.93643846e-01 4.60439876e+02] [ 7.47579889e-01 -6.32498170e-01 2.02658271e-01 -8.34979287e+01] [ 2.79383604e-01 2.26520646e-02 -9.59912333e-01 -9.12815620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.45, Y:-83.51, Z:-912.81 [[ 5.38585879e-01 8.24051012e-01 1.75684894e-01 4.60448461e+02] [ 7.95357619e-01 -5.66049465e-01 2.16781600e-01 -8.35056561e+01] [ 2.78085437e-01 2.29768102e-02 -9.60281498e-01 -9.12807186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.46, Y:-83.51, Z:-912.80 [[ 4.70752216e-01 8.68254573e-01 1.56608898e-01 4.60456433e+02] [ 8.37801272e-01 -4.95569411e-01 2.29128757e-01 -8.35141184e+01] [ 2.76552670e-01 2.33442637e-02 -9.60715185e-01 -9.12799515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.47, Y:-83.52, Z:-912.79 [[ 3.99636486e-01 9.06410127e-01 1.36789481e-01 4.60465953e+02] [ 8.74377004e-01 -4.21733971e-01 2.40011067e-01 -8.35207458e+01] [ 2.75237233e-01 2.36883967e-02 -9.61084453e-01 -9.12791370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.47, Y:-83.53, Z:-912.78 [[ 3.25023396e-01 9.38532162e-01 1.16263376e-01 4.60474791e+02] [ 9.05162092e-01 -3.44340065e-01 2.49221803e-01 -8.35276701e+01] [ 2.73936816e-01 2.42342837e-02 -9.61442313e-01 -9.12783804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.176559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.49, Y:-83.53, Z:-912.78 [[ 2.47961789e-01 9.64086674e-01 9.51411359e-02 4.60485208e+02] [ 9.29629023e-01 -2.64426735e-01 2.56648362e-01 -8.35326399e+01] [ 2.72589125e-01 2.48069745e-02 -9.61810679e-01 -9.12776102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-83.54, Z:-912.77 [[ 1.67504294e-01 9.83112893e-01 7.36977056e-02 4.60501079e+02] [ 9.47671783e-01 -1.81170719e-01 2.62859967e-01 -8.35380401e+01] [ 2.71772889e-01 2.58110629e-02 -9.62015221e-01 -9.12767888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.52, Y:-83.54, Z:-912.76 [[ 8.83922888e-02 9.94735735e-01 5.18422734e-02 4.60516460e+02] [ 9.58586597e-01 -9.90954890e-02 2.67005283e-01 -8.35415376e+01] [ 2.70737032e-01 2.60941003e-02 -9.62299620e-01 -9.12759811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:460.53, Y:-83.54, Z:-912.75 [[ 9.21465868e-03 9.99512787e-01 2.98207674e-02 4.60530786e+02] [ 9.62821007e-01 -1.69202801e-02 2.69609742e-01 -8.35446484e+01] [ 2.69982960e-01 2.62276995e-02 -9.62507823e-01 -9.12752229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.54, Y:-83.55, Z:-912.74 [[-6.95717146e-02 9.97547266e-01 7.69597467e-03 4.60543890e+02] [ 9.60430882e-01 6.48935118e-02 2.70853011e-01 -8.35460263e+01] [ 2.69689262e-01 2.62351601e-02 -9.62589953e-01 -9.12744718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.59, Y:-83.57, Z:-912.75 [[-1.47074119e-01 9.89020480e-01 -1.44115934e-02 4.60593542e+02] [ 9.51760843e-01 1.45470104e-01 2.70166146e-01 -8.35726100e+01] [ 2.69296307e-01 2.60180577e-02 -9.62705853e-01 -9.12745561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.64, Y:-83.60, Z:-912.75 [[-2.20686550e-01 9.74657549e-01 -3.66075021e-02 4.60644064e+02] [ 9.37155872e-01 2.22296078e-01 2.68929963e-01 -8.35955236e+01] [ 2.70252323e-01 2.50422903e-02 -9.62463800e-01 -9.12746303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.70, Y:-83.61, Z:-912.75 [[-2.94408038e-01 9.53891714e-01 -5.84337718e-02 4.60695119e+02] [ 9.16647979e-01 2.99151245e-01 2.65075492e-01 -8.36090534e+01] [ 2.70333851e-01 2.44771567e-02 -9.62455442e-01 -9.12745693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.75, Y:-83.62, Z:-912.75 [[-3.66163935e-01 9.27129830e-01 -7.97135599e-02 4.60749068e+02] [ 8.90523977e-01 3.73979434e-01 2.59049088e-01 -8.36234402e+01] [ 2.69983368e-01 2.38675969e-02 -9.62569124e-01 -9.12746403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.80, Y:-83.63, Z:-912.75 [[-4.35865901e-01 8.94397732e-01 -1.00367393e-01 4.60803616e+02] [ 8.58695367e-01 4.46663498e-01 2.51264775e-01 -8.36319603e+01] [ 2.69561096e-01 2.33327326e-02 -9.62700576e-01 -9.12746257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.86, Y:-83.64, Z:-912.75 [[-5.03050660e-01 8.55851393e-01 -1.20243199e-01 4.60859479e+02] [ 8.21312897e-01 5.16716297e-01 2.41763095e-01 -8.36370722e+01] [ 2.69044902e-01 2.28617947e-02 -9.62856261e-01 -9.12746327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.91, Y:-83.64, Z:-912.75 [[-5.67379459e-01 8.11596323e-01 -1.39255012e-01 4.60914062e+02] [ 7.78433863e-01 5.83784803e-01 2.30729332e-01 -8.36354683e+01] [ 2.68554037e-01 2.25102666e-02 -9.63001567e-01 -9.12745969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.97, Y:-83.63, Z:-912.75 [[-6.28379565e-01 7.61789776e-01 -1.57529236e-01 4.60968629e+02] [ 7.30117752e-01 6.47440537e-01 2.18515032e-01 -8.36305442e+01] [ 2.68453331e-01 2.22954889e-02 -9.63034641e-01 -9.12746150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.02, Y:-83.62, Z:-912.75 [[-6.85700163e-01 7.06704356e-01 -1.74310753e-01 4.61022169e+02] [ 6.76850155e-01 7.07160405e-01 2.04445664e-01 -8.36196338e+01] [ 2.67748304e-01 2.22061645e-02 -9.63232958e-01 -9.12745837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.596559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.08, Y:-83.61, Z:-912.75 [[-7.38663864e-01 6.46853059e-01 -1.89622826e-01 4.61075827e+02] [ 6.19047372e-01 7.62292569e-01 1.88919007e-01 -8.36052256e+01] [ 2.66750909e-01 2.21621316e-02 -9.63510660e-01 -9.12745947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.13, Y:-83.58, Z:-912.74 [[-7.86753334e-01 5.82743966e-01 -2.03540319e-01 4.61125518e+02] [ 5.57143744e-01 8.12354758e-01 1.72251547e-01 -8.35841025e+01] [ 2.65725497e-01 2.21182635e-02 -9.63794969e-01 -9.12744892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:-83.56, Z:-912.74 [[-8.29562733e-01 5.15143563e-01 -2.15529074e-01 4.61176453e+02] [ 4.91987234e-01 8.56822801e-01 1.54283018e-01 -8.35602901e+01] [ 2.64148129e-01 2.19498895e-02 -9.64232321e-01 -9.12744487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.22, Y:-83.53, Z:-912.74 [[-8.66751280e-01 4.44481201e-01 -2.26227054e-01 4.61224661e+02] [ 4.23832577e-01 8.95525568e-01 1.35646248e-01 -8.35322393e+01] [ 2.62884318e-01 2.16891637e-02 -9.64583545e-01 -9.12744034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.7165599950001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.27, Y:-83.50, Z:-912.74 [[-8.98271746e-01 3.70979375e-01 -2.35546545e-01 4.61271843e+02] [ 3.52898937e-01 9.28393855e-01 1.16392399e-01 -8.35011205e+01] [ 2.61859145e-01 2.14278781e-02 -9.64868195e-01 -9.12743824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.31, Y:-83.47, Z:-912.74 [[-9.23984142e-01 2.94924188e-01 -2.43460528e-01 4.61314423e+02] [ 2.79460139e-01 9.55284882e-01 9.66065474e-02 -8.34656881e+01] [ 2.61065769e-01 2.12254048e-02 -9.65087637e-01 -9.12743063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.776559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.09, Y:-83.37, Z:-912.67 [[-9.44145763e-01 2.15522684e-01 -2.49276455e-01 4.61091341e+02] [ 2.00784014e-01 9.76076406e-01 8.34303866e-02 -8.33686345e+01] [ 2.61294007e-01 2.87197189e-02 -9.64831913e-01 -9.12670803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.22, Y:-82.73, Z:-913.78 [[-9.43275558e-01 -2.13782478e-01 2.54024161e-01 4.61218103e+02] [ 2.07825833e-01 -9.76867117e-01 -5.03890827e-02 -8.27301340e+01] [ 2.58920153e-01 5.26199285e-03 9.65884396e-01 -9.13777444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.39, Y:-83.38, Z:-912.74 [[-9.56784385e-01 1.39465562e-01 -2.55172486e-01 4.61389168e+02] [ 1.29417242e-01 9.90016701e-01 5.58400272e-02 -8.33782999e+01] [ 2.60412783e-01 2.04031467e-02 -9.65281769e-01 -9.12741567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.42, Y:-83.33, Z:-912.74 [[-9.64223240e-01 5.92137423e-02 -2.58393646e-01 4.61420673e+02] [ 5.19443730e-02 9.98040801e-01 3.48760869e-02 -8.33333250e+01] [ 2.59952545e-01 2.02062376e-02 -9.65409956e-01 -9.12741061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.45, Y:-83.29, Z:-912.74 [[-9.65426784e-01 -2.15853779e-02 -2.59779131e-01 4.61449702e+02] [-2.60561631e-02 9.99565523e-01 1.37783131e-02 -8.32857029e+01] [ 2.59368853e-01 2.00707999e-02 -9.65569760e-01 -9.12740649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.22, Y:-83.26, Z:-912.67 [[-9.60251336e-01 -1.06299338e-01 -2.58104285e-01 4.61219448e+02] [-1.07486027e-01 9.94160723e-01 -9.55050406e-03 -8.32581792e+01] [ 2.57612355e-01 1.85717198e-02 -9.66069856e-01 -9.12671925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.13, Y:-82.62, Z:-913.78 [[-9.61538088e-01 1.08272963e-01 2.52431122e-01 4.61128057e+02] [-1.04634200e-01 -9.94121140e-01 2.78360012e-02 -8.26246954e+01] [ 2.53961001e-01 3.52446773e-04 9.67214395e-01 -9.13777321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.89, Y:-82.65, Z:-913.72 [[-9.62005953e-01 1.07812020e-01 2.50840818e-01 4.60887390e+02] [-1.03687822e-01 -9.94168142e-01 2.96402079e-02 -8.26538595e+01] [ 2.52573520e-01 2.50491842e-03 9.67574464e-01 -9.13715915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.43, Y:-83.15, Z:-912.71 [[-9.48837885e-01 -1.92175735e-01 -2.50549705e-01 4.61432358e+02] [-1.76624837e-01 9.80741747e-01 -8.33624213e-02 -8.31478386e+01] [ 2.61744790e-01 -3.48441228e-02 -9.64507933e-01 -9.12708676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.05, Y:-82.61, Z:-913.77 [[-9.49585157e-01 1.83787348e-01 2.53988663e-01 4.61046901e+02] [-1.77594379e-01 -9.82966010e-01 4.73081373e-02 -8.26096807e+01] [ 2.58356860e-01 -1.83853790e-04 9.66049533e-01 -9.13765586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.45, Y:-83.13, Z:-912.73 [[-9.32198287e-01 -2.56426611e-01 -2.55444214e-01 4.61451372e+02] [-2.52749471e-01 9.66354876e-01 -4.77070194e-02 -8.31259150e+01] [ 2.59083111e-01 2.00909881e-02 -9.65646050e-01 -9.12725697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.46, Y:-83.07, Z:-912.72 [[-9.09258993e-01 -3.33159691e-01 -2.49504919e-01 4.61462405e+02] [-3.26774222e-01 9.42662123e-01 -6.78728990e-02 -8.30718976e+01] [ 2.57811350e-01 1.98177318e-02 -9.65992011e-01 -9.12724922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.47, Y:-83.02, Z:-912.73 [[-8.80463039e-01 -4.07762728e-01 -2.41897488e-01 4.61472843e+02] [-3.98771821e-01 9.12878877e-01 -8.73681312e-02 -8.30155763e+01] [ 2.56448575e-01 1.95374914e-02 -9.66360396e-01 -9.12725344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.58, Y:-82.74, Z:-913.65 [[-8.78073641e-01 4.14945721e-01 2.38341623e-01 4.60579502e+02] [-4.01161326e-01 -9.09842851e-01 1.06092304e-01 -8.27370760e+01] [ 2.60875969e-01 -2.45658597e-03 9.65369201e-01 -9.13654553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.40, Y:-83.18, Z:-912.81 [[-8.58269938e-01 -3.63153065e-01 -3.62619035e-01 4.61404607e+02] [-4.56491370e-01 8.63086572e-01 2.16095346e-01 -8.31764366e+01] [ 2.34495932e-01 3.51000600e-01 -9.06537499e-01 -9.12812995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.35, Y:-82.96, Z:-912.68 [[-8.19628116e-01 -5.34797327e-01 -2.05430210e-01 4.61353879e+02] [-5.23534703e-01 8.44809570e-01 -1.10490749e-01 -8.29614599e+01] [ 2.32639564e-01 1.69885195e-02 -9.72414636e-01 -9.12676108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.256559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:460.99, Y:-83.17, Z:-912.57 [[-7.74339797e-01 -6.02060532e-01 -1.94733138e-01 4.60991981e+02] [-5.88869552e-01 7.98274628e-01 -1.26452634e-01 -8.31698420e+01] [ 2.31582663e-01 1.67551087e-02 -9.72670929e-01 -9.12570429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.76, Y:-82.57, Z:-913.73 [[-7.66791531e-01 6.15118026e-01 1.83468151e-01 4.60764947e+02] [-5.98489056e-01 -7.88434560e-01 1.42062642e-01 -8.25692299e+01] [ 2.32037923e-01 -8.71249507e-04 9.72706350e-01 -9.13725386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.13, Y:-83.01, Z:-912.61 [[-7.25940309e-01 -6.67436600e-01 -1.65948948e-01 4.61129307e+02] [-6.49259921e-01 7.44652349e-01 -1.54772199e-01 -8.30113864e+01] [ 2.26874904e-01 -4.61137743e-03 -9.73912991e-01 -9.12612740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.72, Y:-82.56, Z:-913.72 [[-7.14816889e-01 6.76199229e-01 1.78301481e-01 4.60720939e+02] [-6.59671458e-01 -7.36635042e-01 1.49004640e-01 -8.25587361e+01] [ 2.32099942e-01 -1.11093646e-02 9.72628500e-01 -9.13722360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.72, Y:-82.56, Z:-913.72 [[-7.15298776e-01 6.77278957e-01 1.72165257e-01 4.60722587e+02] [-6.59331062e-01 -7.35721334e-01 1.54908585e-01 -8.25647800e+01] [ 2.31581977e-01 -2.70798033e-03 9.72811624e-01 -9.13724757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.72, Y:-82.57, Z:-913.72 [[-7.15994231e-01 6.76483085e-01 1.72403299e-01 4.60721454e+02] [-6.58490911e-01 -7.36453770e-01 1.55001821e-01 -8.25666377e+01] [ 2.31823170e-01 -2.54559613e-03 9.72754614e-01 -9.13724361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.72, Y:-82.57, Z:-913.72 [[-7.17023519e-01 6.75307248e-01 1.72735042e-01 4.60719692e+02] [-6.57240046e-01 -7.37533055e-01 1.55178978e-01 -8.25691824e+01] [ 2.32191292e-01 -2.26141036e-03 9.72667513e-01 -9.13723756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.72, Y:-82.57, Z:-913.72 [[-7.19297260e-01 6.72576524e-01 1.73931801e-01 4.60717455e+02] [-6.54205095e-01 -7.40026096e-01 1.56131581e-01 -8.25737331e+01] [ 2.33724508e-01 -1.48205223e-03 9.72301732e-01 -9.13723158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.71, Y:-82.58, Z:-913.72 [[-7.20246792e-01 6.71404138e-01 1.74530923e-01 4.60713054e+02] [-6.52899718e-01 -7.41090444e-01 1.56546834e-01 -8.25797197e+01] [ 2.34449392e-01 -1.19883521e-03 9.72127587e-01 -9.13722117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.71, Y:-82.58, Z:-913.72 [[-7.20906245e-01 6.70580717e-01 1.74973390e-01 4.60712834e+02] [-6.51986822e-01 -7.41835862e-01 1.56820720e-01 -8.25814838e+01] [ 2.34962486e-01 -1.02730788e-03 9.72003897e-01 -9.13722746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.29, Y:-82.81, Z:-912.67 [[-6.73638022e-01 -7.18489951e-01 -1.73158903e-01 4.61286968e+02] [-7.01802726e-01 6.95325298e-01 -1.54905338e-01 -8.28079049e+01] [ 2.31699694e-01 1.71732651e-02 -9.72635765e-01 -9.12666342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:461.27, Y:-82.76, Z:-912.67 [[-6.16185417e-01 -7.71789614e-01 -1.57023319e-01 4.61268889e+02] [-7.53592617e-01 6.35695243e-01 -1.67301300e-01 -8.27584626e+01] [ 2.28940382e-01 1.52429924e-02 -9.73321094e-01 -9.12665571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.616559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.24, Y:-82.71, Z:-912.66 [[-5.56779836e-01 -8.19553246e-01 -1.35383502e-01 4.61242725e+02] [-7.98150174e-01 5.72985953e-01 -1.86127370e-01 -8.27069681e+01] [ 2.30114135e-01 4.42439895e-03 -9.73153590e-01 -9.12662287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.22, Y:-82.67, Z:-912.66 [[-4.92556733e-01 -8.60531642e-01 -1.29896720e-01 4.61219849e+02] [-8.39464472e-01 5.09160617e-01 -1.89881191e-01 -8.26692891e+01] [ 2.29537067e-01 1.55164218e-02 -9.73176231e-01 -9.12663952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.19, Y:-82.63, Z:-912.66 [[-4.24962957e-01 -8.98029752e-01 -1.13793893e-01 4.61187650e+02] [-8.75849887e-01 4.39674536e-01 -1.98930334e-01 -8.26327049e+01] [ 2.28677636e-01 1.51283450e-02 -9.73384648e-01 -9.12662108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:-82.60, Z:-912.66 [[-3.52848585e-01 -9.32208240e-01 -8.05336754e-02 4.61143639e+02] [-9.08499415e-01 3.61921950e-01 -2.08905040e-01 -8.26016603e+01] [ 2.23889904e-01 -5.47050778e-04 -9.74614289e-01 -9.12658442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.63, Z:-913.72 [[-3.27587785e-01 9.40662344e-01 8.85471555e-02 4.60497485e+02] [-9.15410506e-01 -3.39194859e-01 2.16726679e-01 -8.26284035e+01] [ 2.33901366e-01 -1.00599835e-02 9.72208284e-01 -9.13716276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.63, Z:-913.72 [[-3.27945357e-01 9.41108484e-01 8.22597367e-02 4.60500002e+02] [-9.15256959e-01 -3.38087266e-01 2.19092901e-01 -8.26323435e+01] [ 2.34001158e-01 -3.43829692e-03 9.72230239e-01 -9.13717653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.64, Z:-913.72 [[-3.27645670e-01 9.41219819e-01 8.21800907e-02 4.60499768e+02] [-9.15484044e-01 -3.37775472e-01 2.18624555e-01 -8.26356080e+01] [ 2.33532183e-01 -3.60317303e-03 9.72342397e-01 -9.13717277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.64, Z:-913.72 [[-3.27715317e-01 9.41175353e-01 8.24113209e-02 4.60500906e+02] [-9.15353112e-01 -3.37898615e-01 2.18982207e-01 -8.26362617e+01] [ 2.33947327e-01 -3.67163568e-03 9.72242340e-01 -9.13717914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.856559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.64, Z:-913.71 [[-3.32257112e-01 9.37920328e-01 9.95523474e-02 4.60489693e+02] [-9.11071822e-01 -3.46459594e-01 2.23414154e-01 -8.26368578e+01] [ 2.44035542e-01 -1.64683969e-02 9.69626447e-01 -9.13706034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.51, Y:-82.65, Z:-913.72 [[-3.30514051e-01 9.41129478e-01 7.09631403e-02 4.60505562e+02] [-9.14134662e-01 -3.37922229e-01 2.23978544e-01 -8.26458675e+01] [ 2.34772832e-01 9.15818961e-03 9.72007122e-01 -9.13720335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.65, Z:-913.72 [[-3.33348074e-01 9.39154807e-01 8.28692330e-02 4.60498472e+02] [-9.13113814e-01 -3.43485415e-01 2.19638184e-01 -8.26473509e+01] [ 2.34738630e-01 -2.45307571e-03 9.72055430e-01 -9.13715931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.65, Z:-913.71 [[-3.36630346e-01 9.37963217e-01 8.30964169e-02 4.60497909e+02] [-9.11803596e-01 -3.46730534e-01 2.19982132e-01 -8.26516033e+01] [ 2.35147213e-01 -1.71495052e-03 9.71958254e-01 -9.13714948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.66, Z:-913.71 [[-3.40008789e-01 9.36732181e-01 8.32276692e-02 4.60496073e+02] [-9.10514496e-01 -3.50045585e-01 2.20071445e-01 -8.26606887e+01] [ 2.35281483e-01 -9.53773917e-04 9.71926805e-01 -9.13713349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.66, Z:-913.71 [[-3.47668435e-01 9.33006296e-01 9.28757813e-02 4.60492082e+02] [-9.05941556e-01 -3.59800535e-01 2.23189319e-01 -8.26634745e+01] [ 2.41653796e-01 -6.54414861e-03 9.70340465e-01 -9.13707197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.67, Z:-913.71 [[-3.48181746e-01 9.34223553e-01 7.74327143e-02 4.60500455e+02] [-9.07162459e-01 -3.56608683e-01 2.23352905e-01 -8.26689732e+01] [ 2.36274723e-01 7.52335301e-03 9.71657169e-01 -9.13714906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-82.67, Z:-913.71 [[-3.49761689e-01 9.33049131e-01 8.41788569e-02 4.60495588e+02] [-9.06293848e-01 -3.59746614e-01 2.21841914e-01 -8.26693334e+01] [ 2.37272464e-01 1.30102220e-03 9.71442271e-01 -9.13712159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.67, Z:-913.71 [[-3.50627095e-01 9.32708725e-01 8.43509018e-02 4.60493040e+02] [-9.05896598e-01 -3.60627741e-01 2.22033753e-01 -8.26723126e+01] [ 2.37512093e-01 1.43785484e-03 9.71383518e-01 -9.13710967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.67, Z:-913.71 [[-3.50739455e-01 9.32644366e-01 8.45950497e-02 4.60491385e+02] [-9.05736886e-01 -3.60794345e-01 2.22414331e-01 -8.26735478e+01] [ 2.37954888e-01 1.38862419e-03 9.71275215e-01 -9.13710160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.67, Z:-913.71 [[-3.48581961e-01 9.33439008e-01 8.47480721e-02 4.60489516e+02] [-9.06519882e-01 -3.58735352e-01 2.22554828e-01 -8.26749586e+01] [ 2.38143487e-01 7.52785913e-04 9.71229691e-01 -9.13709606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.68, Z:-913.71 [[-3.46646807e-01 9.34140093e-01 8.49604450e-02 4.60488282e+02] [-9.07168892e-01 -3.56906507e-01 2.22850502e-01 -8.26764388e+01] [ 2.38496525e-01 1.76942397e-04 9.71143335e-01 -9.13709264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.67, Z:-913.71 [[-3.44147505e-01 9.35185950e-01 8.36046294e-02 4.60489285e+02] [-9.08320037e-01 -3.54156487e-01 2.22548630e-01 -8.26733556e+01] [ 2.37733474e-01 6.49795760e-04 9.71330208e-01 -9.13711610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.67, Z:-913.71 [[-3.41718684e-01 9.35834175e-01 8.62713083e-02 4.60486441e+02] [-9.09141535e-01 -3.52431081e-01 2.21932431e-01 -8.26732259e+01] [ 2.38096644e-01 -2.59437148e-03 9.71238003e-01 -9.13709385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.67, Z:-913.70 [[-3.41143419e-01 9.35556437e-01 9.14074488e-02 4.60480272e+02] [-9.08645549e-01 -3.53107439e-01 2.22886524e-01 -8.26746114e+01] [ 2.40799573e-01 -7.02070060e-03 9.70549471e-01 -9.13704793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-82.67, Z:-913.71 [[-3.37805916e-01 9.37831846e-01 7.97407773e-02 4.60486216e+02] [-9.11117870e-01 -3.47081458e-01 2.22258156e-01 -8.26741243e+01] [ 2.36117322e-01 2.42687285e-03 9.71721524e-01 -9.13709917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.336559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.67, Z:-913.71 [[-3.36295380e-01 9.38214441e-01 8.16031849e-02 4.60481676e+02] [-9.12466048e-01 -3.46052834e-01 2.18296011e-01 -8.26717725e+01] [ 2.33047484e-01 -1.04819559e-03 9.72464792e-01 -9.13709126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.67, Z:-913.71 [[-3.35585800e-01 9.38098194e-01 8.57551663e-02 4.60479158e+02] [-9.12623355e-01 -3.46327747e-01 2.17199686e-01 -8.26709196e+01] [ 2.33454027e-01 -5.37303701e-03 9.72352996e-01 -9.13705956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.67, Z:-913.71 [[-3.36373617e-01 9.38039582e-01 8.32738471e-02 4.60478715e+02] [-9.12583357e-01 -3.46515330e-01 2.17068521e-01 -8.26742870e+01] [ 2.32474529e-01 -2.97820361e-03 9.72597925e-01 -9.13705615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.68, Z:-913.70 [[-3.37414230e-01 9.37677496e-01 8.31417581e-02 4.60477416e+02] [-9.12351786e-01 -3.47495327e-01 2.16474519e-01 -8.26776901e+01] [ 2.31874657e-01 -2.81294814e-03 9.72741605e-01 -9.13704267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.4565599950001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.68, Z:-913.70 [[-3.41006539e-01 9.36411265e-01 8.27555633e-02 4.60476367e+02] [-9.11345092e-01 -3.50898610e-01 2.15221488e-01 -8.26814321e+01] [ 2.30574638e-01 -2.02694195e-03 9.73052531e-01 -9.13702735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-82.68, Z:-913.70 [[-3.43403027e-01 9.35529110e-01 8.28229760e-02 4.60475622e+02] [-9.10455050e-01 -3.53246319e-01 2.15147951e-01 -8.26847430e+01] [ 2.30534083e-01 -1.52413886e-03 9.73063058e-01 -9.13702360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.45, Y:-82.75, Z:-913.69 [[-3.46962796e-01 9.34445235e-01 8.01805550e-02 4.60450816e+02] [-9.09351746e-01 -3.56102711e-01 2.15105232e-01 -8.27518753e+01] [ 2.29556572e-01 1.72118509e-03 9.73293798e-01 -9.13687979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.69, Y:-82.57, Z:-912.58 [[-2.99134647e-01 -7.95444413e-01 5.27054693e-01 4.60689612e+02] [-9.14707313e-01 8.17571507e-02 -3.95760408e-01 -8.25703985e+01] [ 2.71714915e-01 -6.00486432e-01 -7.52055218e-01 -9.12576145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-82.82, Z:-913.69 [[-2.95881713e-01 9.51480845e-01 8.44879541e-02 4.60408795e+02] [-9.15181352e-01 -3.07707834e-01 2.60305556e-01 -8.28157363e+01] [ 2.73673356e-01 -3.02146224e-04 9.61822647e-01 -9.13692942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-82.82, Z:-913.69 [[-2.96758917e-01 9.51183345e-01 8.47607769e-02 4.60406299e+02] [-9.14732290e-01 -3.08626351e-01 2.60796114e-01 -8.28184255e+01] [ 2.74224330e-01 -1.39847207e-04 9.61665741e-01 -9.13692105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:-82.82, Z:-913.69 [[-2.96014266e-01 9.51398785e-01 8.49464910e-02 4.60401741e+02] [-9.14893181e-01 -3.07961276e-01 2.61017852e-01 -8.28204979e+01] [ 2.74492297e-01 -4.51957486e-04 9.61589192e-01 -9.13690796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.37, Y:-82.90, Z:-913.66 [[-2.98292848e-01 9.50341062e-01 8.87312982e-02 4.60368653e+02] [-9.13508255e-01 -3.11196856e-01 2.62028977e-01 -8.29039211e+01] [ 2.76629797e-01 -2.89540364e-03 9.60972202e-01 -9.13662559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.09, Y:-82.81, Z:-912.66 [[-2.36791327e-01 -9.48493903e-01 -2.10449954e-01 4.61086126e+02] [-9.34946285e-01 2.81362770e-01 -2.16125973e-01 -8.28141314e+01] [ 2.64206950e-01 1.45582647e-01 -9.53415115e-01 -9.12657967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.98, Y:-82.76, Z:-912.61 [[-1.61527380e-01 -9.84819430e-01 -6.35578095e-02 4.60981436e+02] [-9.51227245e-01 1.72522480e-01 -2.55739560e-01 -8.27592513e+01] [ 2.62822439e-01 1.91489789e-02 -9.64654178e-01 -9.12610499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.94, Y:-82.75, Z:-912.60 [[-8.58480737e-02 -9.95400593e-01 -4.25178559e-02 4.60937419e+02] [-9.61371199e-01 9.39642729e-02 -2.58720182e-01 -8.27476154e+01] [ 2.61525382e-01 1.86648128e-02 -9.65016114e-01 -9.12604319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.89, Y:-82.74, Z:-912.60 [[-8.57166417e-03 -9.99729342e-01 -2.16280018e-02 4.60892270e+02] [-9.65477223e-01 1.39053011e-02 -2.60116080e-01 -8.27405904e+01] [ 2.60346422e-01 1.86517154e-02 -9.65335100e-01 -9.12598756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.85, Y:-82.74, Z:-912.59 [[ 6.88469586e-02 -9.97626932e-01 -7.75110807e-04 4.60846669e+02] [-9.63290695e-01 -6.62752643e-02 -2.60151162e-01 -8.27360178e+01] [ 2.59482434e-01 1.86572733e-02 -9.65567591e-01 -9.12593542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.23, Y:-83.10, Z:-913.63 [[ 8.06082835e-02 9.96539498e-01 -2.02813502e-02 4.60234619e+02] [-9.61707588e-01 8.31061492e-02 2.61174048e-01 -8.30951377e+01] [ 2.61955760e-01 -1.54806335e-03 9.65078641e-01 -9.13634937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.83, Y:-82.77, Z:-912.58 [[ 1.48136169e-01 -9.88760713e-01 2.01972497e-02 4.60832607e+02] [-9.54266245e-01 -1.48270992e-01 -2.59599013e-01 -8.27651186e+01] [ 2.59675971e-01 1.91824496e-02 -9.65505269e-01 -9.12579361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.25, Y:-83.17, Z:-913.62 [[ 1.58084622e-01 9.86567266e-01 -4.11616542e-02 4.60248713e+02] [-9.52578147e-01 1.63349737e-01 2.56732813e-01 -8.31717573e+01] [ 2.60007935e-01 -1.37581740e-03 9.65605500e-01 -9.13620621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9365599950002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.25, Y:-83.20, Z:-913.61 [[ 1.58924009e-01 9.86431286e-01 -4.11883130e-02 4.60253692e+02] [-9.52516645e-01 1.64167603e-01 2.56439153e-01 -8.31978775e+01] [ 2.59721390e-01 -1.52178452e-03 9.65682393e-01 -9.13613624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.26, Y:-83.22, Z:-913.61 [[ 1.60287609e-01 9.86213486e-01 -4.11198677e-02 4.60258411e+02] [-9.52459280e-01 1.65467757e-01 2.55815835e-01 -8.32249646e+01] [ 2.59093039e-01 -1.83910894e-03 9.65850618e-01 -9.13606622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.26, Y:-83.25, Z:-913.60 [[ 1.63398235e-01 9.85702986e-01 -4.11174053e-02 4.60262288e+02] [-9.52059379e-01 1.68472510e-01 2.55342813e-01 -8.32517680e+01] [ 2.58619326e-01 -2.57635367e-03 9.65975883e-01 -9.13599387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.83, Y:-82.87, Z:-912.54 [[ 2.20206116e-01 -9.74560990e-01 4.17150210e-02 4.60831737e+02] [-9.39972244e-01 -2.23431286e-01 -2.57935345e-01 -8.28747111e+01] [ 2.60694166e-01 1.75879785e-02 -9.65261216e-01 -9.12542468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:-82.88, Z:-912.53 [[ 2.94840121e-01 -9.53517040e-01 6.22459385e-02 4.60814749e+02] [-9.19557467e-01 -3.00842266e-01 -2.52800308e-01 -8.28803251e+01] [ 2.59775611e-01 1.72969560e-02 -9.65514085e-01 -9.12534940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.30, Y:-83.38, Z:-913.58 [[ 3.17580961e-01 9.44713409e-01 -8.16021311e-02 4.60303546e+02] [-9.12551920e-01 3.27881996e-01 2.44422566e-01 -8.33758753e+01] [ 2.57665146e-01 -3.15777214e-03 9.66229114e-01 -9.13578326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:-82.91, Z:-912.52 [[ 3.68414701e-01 -9.26051355e-01 8.18504549e-02 4.60807526e+02] [-8.93225936e-01 -3.77008050e-01 -2.44974199e-01 -8.29115399e+01] [ 2.57716969e-01 1.71411471e-02 -9.66068396e-01 -9.12520072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.34, Y:-83.44, Z:-913.57 [[ 3.88359886e-01 9.15794736e-01 -1.02452919e-01 4.60340095e+02] [-8.83819081e-01 4.01638090e-01 2.39897221e-01 -8.34446196e+01] [ 2.60845607e-01 -2.61661238e-03 9.65376985e-01 -9.13566498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.35, Y:-83.47, Z:-913.56 [[ 3.87033447e-01 9.16299614e-01 -1.02956925e-01 4.60351711e+02] [-8.84042413e-01 4.00487118e-01 2.40996019e-01 -8.34681214e+01] [ 2.62057482e-01 -2.25523220e-03 9.65049631e-01 -9.13560422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.36, Y:-83.49, Z:-913.55 [[ 3.85489645e-01 9.16894060e-01 -1.03455386e-01 4.60363196e+02] [-8.84373622e-01 3.99126559e-01 2.42035715e-01 -8.34927366e+01] [ 2.63212901e-01 -1.80904738e-03 9.64736076e-01 -9.13553450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.236559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.38, Y:-83.52, Z:-913.55 [[ 3.83072649e-01 9.17876803e-01 -1.03718471e-01 4.60375519e+02] [-8.85272037e-01 3.96864008e-01 2.42471402e-01 -8.35158462e+01] [ 2.63721003e-01 -1.06509999e-03 9.64598413e-01 -9.13546266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.39, Y:-83.54, Z:-913.54 [[ 3.82688244e-01 9.18069277e-01 -1.03433609e-01 4.60387559e+02] [-8.85675443e-01 3.96418969e-01 2.41725072e-01 -8.35399122e+01] [ 2.62923407e-01 -8.96735742e-04 9.64816292e-01 -9.13539150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.40, Y:-83.56, Z:-913.53 [[ 3.82694764e-01 9.18090447e-01 -1.03221359e-01 4.60399430e+02] [-8.85881144e-01 3.96370130e-01 2.41050448e-01 -8.35643025e+01] [ 2.62219977e-01 -8.06888635e-04 9.65007789e-01 -9.13531847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.41, Y:-83.59, Z:-913.53 [[ 3.82545297e-01 9.17729235e-01 -1.06921220e-01 4.60410966e+02] [-8.85923372e-01 3.97194529e-01 2.39533474e-01 -8.35869889e+01] [ 2.62295395e-01 3.09160402e-03 9.64982678e-01 -9.13525404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.42, Y:-83.61, Z:-913.52 [[ 3.82668571e-01 9.17958309e-01 -1.04485924e-01 4.60420105e+02] [-8.85856055e-01 3.96676591e-01 2.40638178e-01 -8.36118030e+01] [ 2.62342935e-01 4.74820448e-04 9.64974590e-01 -9.13517473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:460.43, Y:-83.64, Z:-913.51 [[ 3.86364861e-01 9.16973003e-01 -9.94118050e-02 4.60427858e+02] [-8.85206171e-01 3.98924317e-01 2.39310312e-01 -8.36384132e+01] [ 2.59098881e-01 -4.46115203e-03 9.65840498e-01 -9.13508298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.44, Y:-83.66, Z:-913.50 [[ 3.87674979e-01 9.16174860e-01 -1.01645155e-01 4.60439711e+02] [-8.85067605e-01 4.00774704e-01 2.36717072e-01 -8.36632586e+01] [ 2.57611037e-01 -1.80645159e-03 9.66247013e-01 -9.13501873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.45, Y:-83.69, Z:-913.49 [[ 3.88956604e-01 9.15678623e-01 -1.01219658e-01 4.60449418e+02] [-8.84868348e-01 4.01906034e-01 2.35540967e-01 -8.36882957e+01] [ 2.56360619e-01 -2.04914290e-03 9.66579037e-01 -9.13494382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.46, Y:-83.71, Z:-913.49 [[ 3.89827920e-01 9.15345155e-01 -1.00883301e-01 4.60459104e+02] [-8.84780563e-01 4.02664226e-01 2.34573821e-01 -8.37137879e+01] [ 2.55338106e-01 -2.18384135e-03 9.66849359e-01 -9.13486623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.47, Y:-83.74, Z:-913.48 [[ 3.91252548e-01 9.14776796e-01 -1.00522915e-01 4.60469282e+02] [-8.84463758e-01 4.03952122e-01 2.33552015e-01 -8.37386050e+01] [ 2.54254408e-01 -2.46894603e-03 9.67134220e-01 -9.13479909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.48, Y:-83.76, Z:-913.47 [[ 3.91567519e-01 9.14632663e-01 -1.00608004e-01 4.60479453e+02] [-8.84312383e-01 4.04278261e-01 2.33560907e-01 -8.37630834e+01] [ 2.54296063e-01 -2.48596148e-03 9.67123225e-01 -9.13473429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.49, Y:-83.79, Z:-913.47 [[ 3.91728618e-01 9.14552163e-01 -1.00712617e-01 4.60489577e+02] [-8.84198481e-01 4.04460321e-01 2.33676905e-01 -8.37886009e+01] [ 2.54443976e-01 -2.48798826e-03 9.67084315e-01 -9.13466366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.50, Y:-83.81, Z:-913.46 [[ 3.91737552e-01 9.14524224e-01 -1.00931333e-01 4.60499336e+02] [-8.84083893e-01 4.04523813e-01 2.34000332e-01 -8.38133284e+01] [ 2.54828100e-01 -2.43495142e-03 9.66983304e-01 -9.13458943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.51, Y:-83.84, Z:-913.45 [[ 3.91975732e-01 9.14414727e-01 -1.00998676e-01 4.60510382e+02] [-8.83978307e-01 4.04771294e-01 2.33971263e-01 -8.38386320e+01] [ 2.54828134e-01 -2.43041839e-03 9.66983307e-01 -9.13451611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.52, Y:-83.86, Z:-913.44 [[ 3.91789195e-01 9.14489331e-01 -1.01046968e-01 4.60520226e+02] [-8.84071641e-01 4.04603418e-01 2.33908975e-01 -8.38628378e+01] [ 2.54791211e-01 -2.31025068e-03 9.66993331e-01 -9.13444479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.53, Y:-83.89, Z:-913.44 [[ 3.91289633e-01 9.14683327e-01 -1.01226649e-01 4.60531734e+02] [-8.84182813e-01 4.04165520e-01 2.34245569e-01 -8.38871481e+01] [ 2.55172838e-01 -2.15499910e-03 9.66893055e-01 -9.13438176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.54, Y:-83.91, Z:-913.43 [[ 3.90889879e-01 9.14836088e-01 -1.01390508e-01 4.60543458e+02] [-8.84288402e-01 4.03820507e-01 2.34441932e-01 -8.39115646e+01] [ 2.55419506e-01 -1.98252858e-03 9.66828292e-01 -9.13431581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.56, Y:-83.94, Z:-913.42 [[ 3.90377803e-01 9.15014963e-01 -1.01748652e-01 4.60555528e+02] [-8.84301768e-01 4.03415903e-01 2.35087201e-01 -8.39363018e+01] [ 2.56155331e-01 -1.79631263e-03 9.66633964e-01 -9.13424623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.57, Y:-83.96, Z:-913.42 [[ 3.90122325e-01 9.14697457e-01 -1.05513673e-01 4.60570622e+02] [-8.84506374e-01 4.04132171e-01 2.33078664e-01 -8.39616883e+01] [ 2.55837931e-01 2.39832565e-03 9.66716712e-01 -9.13420830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.58, Y:-83.99, Z:-913.41 [[ 3.88794219e-01 9.15707775e-01 -1.01579163e-01 4.60580827e+02] [-8.84689478e-01 4.01839779e-01 2.36324605e-01 -8.39862446e+01] [ 2.57222827e-01 -2.01562323e-03 9.66350017e-01 -9.13413076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.59, Y:-84.01, Z:-913.40 [[ 3.88069011e-01 9.16254038e-01 -9.94031206e-02 4.60590084e+02] [-8.84660258e-01 4.00570776e-01 2.38577622e-01 -8.40102498e+01] [ 2.58415695e-01 -4.64659147e-03 9.66022639e-01 -9.13403745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.60, Y:-84.03, Z:-913.40 [[ 3.88313552e-01 9.15741836e-01 -1.03099351e-01 4.60603496e+02] [-8.84390250e-01 4.01765784e-01 2.37567130e-01 -8.40340181e+01] [ 2.58971951e-01 -1.07047484e-03 9.65884249e-01 -9.13397627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.62, Y:-84.06, Z:-913.39 [[ 3.88657777e-01 9.15584686e-01 -1.03197938e-01 4.60615111e+02] [-8.84214135e-01 4.02123695e-01 2.37617125e-01 -8.40587764e+01] [ 2.59056937e-01 -1.10266845e-03 9.65861423e-01 -9.13390544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.63, Y:-84.08, Z:-913.39 [[ 3.89508055e-01 9.14887240e-01 -1.06135828e-01 4.60629018e+02] [-8.84050946e-01 4.03704081e-01 2.35535434e-01 -8.40845735e+01] [ 2.58335830e-01 2.08653012e-03 9.66052921e-01 -9.13385876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.64, Y:-84.11, Z:-913.38 [[ 3.90288070e-01 9.14870208e-01 -1.03381456e-01 4.60638924e+02] [-8.83782835e-01 4.03747013e-01 2.36466172e-01 -8.41098569e+01] [ 2.58075810e-01 -9.23169957e-04 9.66124228e-01 -9.13378200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.65, Y:-84.13, Z:-913.37 [[ 3.91015821e-01 9.15037094e-01 -9.90643421e-02 4.60645725e+02] [-8.83322805e-01 4.03326490e-01 2.38890276e-01 -8.41338424e+01] [ 2.58548737e-01 -5.90408465e-03 9.65980172e-01 -9.13367796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.66, Y:-84.16, Z:-913.36 [[ 3.91949027e-01 9.14184341e-01 -1.03164676e-01 4.60658671e+02] [-8.82952653e-01 4.05294775e-01 2.36919308e-01 -8.41579000e+01] [ 2.58400026e-01 -1.77076800e-03 9.66036382e-01 -9.13362216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.67, Y:-84.18, Z:-913.36 [[ 3.92794793e-01 9.13822381e-01 -1.03154772e-01 4.60669097e+02] [-8.82629909e-01 4.06109470e-01 2.36726723e-01 -8.41833274e+01] [ 2.58218308e-01 -1.93753736e-03 9.66084650e-01 -9.13355223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.68, Y:-84.21, Z:-913.35 [[ 3.93842941e-01 9.12900317e-01 -1.07241550e-01 4.60682451e+02] [-8.82315576e-01 4.08175918e-01 2.34332339e-01 -8.42094292e+01] [ 2.57695484e-01 2.33075239e-03 9.66223372e-01 -9.13350994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.69, Y:-84.23, Z:-913.34 [[ 3.93536362e-01 9.13971046e-01 -9.89245120e-02 4.60686368e+02] [-8.82120156e-01 4.05720705e-01 2.39279627e-01 -8.42341617e+01] [ 2.58830373e-01 -6.90192763e-03 9.65898132e-01 -9.13339511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.70, Y:-84.26, Z:-913.34 [[ 3.93794767e-01 9.12919852e-01 -1.07252156e-01 4.60702952e+02] [-8.81987304e-01 4.08134896e-01 2.35635952e-01 -8.42594990e+01] [ 2.58890086e-01 1.80283469e-03 9.65905106e-01 -9.13337173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.13, Y:-83.76, Z:-912.25 [[ 4.51641617e-01 -8.80038993e-01 1.46803339e-01 4.61126427e+02] [-8.54373881e-01 -4.74001263e-01 -2.12997828e-01 -8.37630401e+01] [ 2.57031362e-01 -2.92262551e-02 -9.65961027e-01 -9.12248755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.75, Y:-84.33, Z:-913.32 [[ 4.61576638e-01 8.78380441e-01 -1.24075820e-01 4.60746204e+02] [-8.47443881e-01 4.77959751e-01 2.31069999e-01 -8.43266968e+01] [ 2.62270616e-01 -1.50921858e-03 9.64993185e-01 -9.13319585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.76, Y:-84.35, Z:-913.31 [[ 4.60713657e-01 8.78852345e-01 -1.23941445e-01 4.60760072e+02] [-8.48040564e-01 4.77092438e-01 2.30672946e-01 -8.43484588e+01] [ 2.61858986e-01 -1.16680345e-03 9.65105440e-01 -9.13312839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.77, Y:-84.37, Z:-913.31 [[ 4.60614153e-01 8.78928903e-01 -1.23768277e-01 4.60774280e+02] [-8.48224859e-01 4.76951566e-01 2.30286327e-01 -8.43714067e+01] [ 2.61436782e-01 -1.08981272e-03 9.65219986e-01 -9.13305522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.79, Y:-84.40, Z:-913.30 [[ 4.60621676e-01 8.78927727e-01 -1.23748623e-01 4.60788747e+02] [-8.48172138e-01 4.76953462e-01 2.30476505e-01 -8.43969783e+01] [ 2.61594524e-01 -1.20233998e-03 9.65177113e-01 -9.13297708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.316559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:461.19, Y:-83.86, Z:-912.23 [[ 5.21264638e-01 -8.44873073e-01 1.20302402e-01 4.61193396e+02] [-8.13229561e-01 -5.34509195e-01 -2.30125189e-01 -8.38561430e+01] [ 2.58729316e-01 2.21226532e-02 -9.65696500e-01 -9.12227607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:-83.86, Z:-912.22 [[ 5.85089281e-01 -7.98579089e-01 1.41216045e-01 4.61184883e+02] [-7.68477334e-01 -6.01588624e-01 -2.18022281e-01 -8.38639842e+01] [ 2.59062001e-01 1.90411696e-02 -9.65672985e-01 -9.12219838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:-83.87, Z:-912.21 [[ 6.44111402e-01 -7.48191603e-01 1.59153470e-01 4.61179176e+02] [-7.19345542e-01 -6.63222571e-01 -2.06586093e-01 -8.38695968e+01] [ 2.60120154e-01 1.85781185e-02 -9.65397514e-01 -9.12213355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:-83.88, Z:-912.21 [[ 6.99768352e-01 -6.92567141e-01 1.75142826e-01 4.61176475e+02] [-6.65467809e-01 -7.21121264e-01 -1.92708895e-01 -8.38754975e+01] [ 2.59763064e-01 1.82996736e-02 -9.65498976e-01 -9.12206266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.17, Y:-83.88, Z:-912.20 [[ 7.51127881e-01 -6.32307639e-01 1.89720733e-01 4.61174726e+02] [-6.07164958e-01 -7.74505889e-01 -1.77458000e-01 -8.38811388e+01] [ 2.59147874e-01 1.81018709e-02 -9.65668008e-01 -9.12198964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.17, Y:-83.89, Z:-912.19 [[ 7.98146375e-01 -5.64896860e-01 2.09413232e-01 4.61171515e+02] [-5.44774655e-01 -8.25144776e-01 -1.49521482e-01 -8.38877559e+01] [ 2.57260450e-01 5.25700792e-03 -9.66327804e-01 -9.12189221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:-83.92, Z:-912.16 [[ 8.38490018e-01 -4.77170334e-01 2.63140575e-01 4.61142055e+02] [-4.77533944e-01 -8.76057641e-01 -6.69652393e-02 -8.39238676e+01] [ 2.62480137e-01 -6.95088719e-02 -9.62430618e-01 -9.12157492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:461.16, Y:-83.92, Z:-912.17 [[ 8.75499651e-01 -4.21461890e-01 2.36368858e-01 4.61157840e+02] [-4.06467656e-01 -9.06844907e-01 -1.11428716e-01 -8.39165244e+01] [ 2.61312852e-01 1.47950571e-03 -9.65253026e-01 -9.12171224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.12, Y:-84.00, Z:-912.14 [[ 9.03649238e-01 -3.18684285e-01 2.86109037e-01 4.61117566e+02] [-3.33381860e-01 -9.42787647e-01 2.82639507e-03 -8.39954814e+01] [ 2.68839338e-01 -9.79376326e-02 -9.58192899e-01 -9.12136086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:-83.96, Z:-912.16 [[ 9.28631829e-01 -2.65772050e-01 2.58859313e-01 4.61143170e+02] [-2.57013332e-01 -9.64029168e-01 -6.77636323e-02 -8.39614038e+01] [ 2.67557608e-01 -3.60282888e-03 -9.63535130e-01 -9.12156919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.616559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.11, Y:-84.07, Z:-912.11 [[ 9.42575029e-01 -1.41767541e-01 3.02414086e-01 4.61106536e+02] [-1.81865684e-01 -9.77296617e-01 1.08702324e-01 -8.40667918e+01] [ 2.80137802e-01 -1.57458841e-01 -9.46958038e-01 -9.12108954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:461.14, Y:-83.98, Z:-912.15 [[ 9.54316834e-01 -1.14504451e-01 2.75985709e-01 4.61138951e+02] [-1.04105560e-01 -9.93201188e-01 -5.20906263e-02 -8.39837766e+01] [ 2.80073943e-01 2.09793148e-02 -9.59749163e-01 -9.12147664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:-84.00, Z:-912.14 [[ 9.59871935e-01 -3.28402948e-02 2.78509217e-01 4.61139924e+02] [-2.56763983e-02 -9.99239885e-01 -2.93321647e-02 -8.40043821e+01] [ 2.79260794e-01 2.10040081e-02 -9.59985542e-01 -9.12139982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:-84.03, Z:-912.13 [[ 9.58808936e-01 4.93201765e-02 2.79737278e-01 4.61141518e+02] [ 5.32540806e-02 -9.98560001e-01 -6.47512143e-03 -8.40251932e+01] [ 2.79015102e-01 2.11055558e-02 -9.60054753e-01 -9.12132565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:-84.05, Z:-912.12 [[ 9.51321352e-01 1.30647192e-01 2.79139745e-01 4.61144880e+02] [ 1.31314278e-01 -9.91205231e-01 1.63935919e-02 -8.40464303e+01] [ 2.78826553e-01 2.10594602e-02 -9.60110542e-01 -9.12124597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.15, Y:-84.07, Z:-912.12 [[ 9.37478609e-01 2.11341086e-01 2.76529934e-01 4.61150684e+02] [ 2.08766424e-01 -9.77184621e-01 3.90742579e-02 -8.40674153e+01] [ 2.78478795e-01 2.10988844e-02 -9.60210601e-01 -9.12116107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.16, Y:-84.09, Z:-912.11 [[ 9.17456337e-01 2.90415031e-01 2.71906198e-01 4.61157717e+02] [ 2.84637926e-01 -9.56668418e-01 6.13741793e-02 -8.40888159e+01] [ 2.77948057e-01 2.10866865e-02 -9.60364634e-01 -9.12107657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.17, Y:-84.11, Z:-912.10 [[ 8.91532896e-01 3.67239386e-01 2.65149635e-01 4.61167023e+02] [ 3.58341496e-01 -9.29889860e-01 8.30434851e-02 -8.41089291e+01] [ 2.77056795e-01 2.09781180e-02 -9.60624511e-01 -9.12099271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:-84.13, Z:-912.09 [[ 8.59894134e-01 4.41147701e-01 2.56847784e-01 4.61178168e+02] [ 4.29194504e-01 -8.97194901e-01 1.04083560e-01 -8.41284310e+01] [ 2.76358745e-01 2.07368146e-02 -9.60830801e-01 -9.12090634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.19, Y:-84.15, Z:-912.08 [[ 8.22714952e-01 5.12162344e-01 2.46637064e-01 4.61190593e+02] [ 4.97302570e-01 -8.58644221e-01 1.24178326e-01 -8.41461367e+01] [ 2.75372952e-01 2.04898803e-02 -9.61119089e-01 -9.12082906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.916559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.20, Y:-84.16, Z:-912.08 [[ 7.80447502e-01 5.77370702e-01 2.39884909e-01 4.61203545e+02] [ 5.61602653e-01 -8.16005674e-01 1.36883896e-01 -8.41602526e+01] [ 2.74780198e-01 2.78893065e-02 -9.61102507e-01 -9.12075096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.21, Y:-84.16, Z:-912.08 [[ 7.33323298e-01 6.31744736e-01 2.51267844e-01 4.61207384e+02] [ 6.23656798e-01 -7.72215621e-01 1.21388768e-01 -8.41571895e+01] [ 2.70719669e-01 6.76876874e-02 -9.60275605e-01 -9.12082038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.24, Y:-84.19, Z:-912.06 [[ 6.81274076e-01 7.02754633e-01 2.04942820e-01 4.61236643e+02] [ 6.80534874e-01 -7.11170226e-01 1.76377992e-01 -8.41948067e+01] [ 2.69699683e-01 1.93089831e-02 -9.62750874e-01 -9.12058569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.25, Y:-84.21, Z:-912.05 [[ 6.23616292e-01 7.58470492e-01 1.89275548e-01 4.61253505e+02] [ 7.34086495e-01 -6.51419643e-01 1.91753661e-01 -8.42083132e+01] [ 2.68737303e-01 1.93639169e-02 -9.63018848e-01 -9.12050572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.27, Y:-84.22, Z:-912.04 [[ 5.61578118e-01 8.09310920e-01 1.72179709e-01 4.61270462e+02] [ 7.83071949e-01 -5.87056175e-01 2.05337214e-01 -8.42207837e+01] [ 2.67260811e-01 1.95162140e-02 -9.63426581e-01 -9.12042531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.29, Y:-84.23, Z:-912.03 [[ 4.95279598e-01 8.54989859e-01 1.53917060e-01 4.61289182e+02] [ 8.27218749e-01 -5.18265726e-01 2.17047871e-01 -8.42317440e+01] [ 2.65343666e-01 1.98236957e-02 -9.63950082e-01 -9.12034097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.096559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:461.31, Y:-84.24, Z:-912.03 [[ 4.23743432e-01 8.95771863e-01 1.34291750e-01 4.61308565e+02] [ 8.67064215e-01 -4.44031323e-01 2.25911114e-01 -8.42407086e+01] [ 2.61994563e-01 2.07112202e-02 -9.64847084e-01 -9.12025073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.33, Y:-84.25, Z:-912.02 [[ 3.50740326e-01 9.29434392e-01 1.14599015e-01 4.61326051e+02] [ 8.99768792e-01 -3.68385067e-01 2.33898620e-01 -8.42481226e+01] [ 2.59609987e-01 2.10749394e-02 -9.65483558e-01 -9.12018179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.34, Y:-84.25, Z:-912.01 [[ 2.75278816e-01 9.56678430e-01 9.48048255e-02 4.61343888e+02] [ 9.26016321e-01 -2.90359912e-01 2.41215453e-01 -8.42530587e+01] [ 2.58293142e-01 2.13893116e-02 -9.65829773e-01 -9.12010674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.36, Y:-84.26, Z:-912.00 [[ 1.98185987e-01 9.77323972e-01 7.45665367e-02 4.61361764e+02] [ 9.45896803e-01 -2.10642843e-01 2.46797145e-01 -8.42578399e+01] [ 2.56907673e-01 2.16205129e-02 -9.66194080e-01 -9.12003256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.40, Y:-84.26, Z:-911.99 [[ 1.17771346e-01 9.92557877e-01 3.09640173e-02 4.61395966e+02] [ 9.59660324e-01 -1.21773737e-01 2.53423005e-01 -8.42617009e+01] [ 2.55307604e-01 -1.31029491e-04 -9.66859871e-01 -9.11991950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.51, Y:-84.28, Z:-911.95 [[ 4.11172805e-02 9.89570164e-01 -1.38058901e-01 4.61506993e+02] [ 9.62418609e-01 -2.10239137e-03 2.71562151e-01 -8.42830806e+01] [ 2.68439549e-01 -1.44036352e-01 -9.52467185e-01 -9.11948881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.276559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.43, Y:-84.26, Z:-911.98 [[-3.65481944e-02 9.99238852e-01 1.36362011e-02 4.61426127e+02] [ 9.63081955e-01 3.15773032e-02 2.67350000e-01 -8.42648289e+01] [ 2.66715913e-01 2.29039390e-02 -9.63503000e-01 -9.11984390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.48, Y:-84.29, Z:-911.99 [[-1.14406563e-01 9.93400614e-01 -8.14604179e-03 4.61475909e+02] [ 9.57155169e-01 1.12420613e-01 2.66862491e-01 -8.42896040e+01] [ 2.66017146e-01 2.27337944e-02 -9.63700188e-01 -9.11985226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.52, Y:-84.25, Z:-911.97 [[-1.94112853e-01 9.80350936e-01 -3.51033168e-02 4.61518823e+02] [ 9.44790816e-01 1.96462042e-01 2.62246031e-01 -8.42482574e+01] [ 2.63989611e-01 1.77400340e-02 -9.64362368e-01 -9.11967458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.60, Y:-84.26, Z:-911.96 [[-2.71323157e-01 9.55862098e-01 -1.12744819e-01 4.61603078e+02] [ 9.25696381e-01 2.91232861e-01 2.41391033e-01 -8.42615794e+01] [ 2.63571536e-01 -3.88724938e-02 -9.63856304e-01 -9.11957464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.74, Y:-84.31, Z:-911.95 [[-3.37172773e-01 9.11605752e-01 -2.35137140e-01 4.61739161e+02] [ 8.98565928e-01 3.86134257e-01 2.08517649e-01 -8.43145188e+01] [ 2.80880393e-01 -1.40979749e-01 -9.49331826e-01 -9.11952846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.70, Y:-84.34, Z:-911.99 [[-4.07652266e-01 9.07891724e-01 -9.77355979e-02 4.61696424e+02] [ 8.69231821e-01 4.18612168e-01 2.63058728e-01 -8.43427564e+01] [ 2.79742153e-01 2.22815948e-02 -9.59816576e-01 -9.11994375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.75, Y:-84.35, Z:-911.99 [[-4.75829021e-01 8.71519690e-01 -1.18491234e-01 4.61752346e+02] [ 8.34145185e-01 4.89878121e-01 2.53419095e-01 -8.43456797e+01] [ 2.78905994e-01 2.17452678e-02 -9.60072180e-01 -9.11994580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.81, Y:-84.35, Z:-912.00 [[-5.39921437e-01 8.30334186e-01 -1.37949198e-01 4.61808699e+02] [ 7.94687012e-01 5.56877187e-01 2.41578872e-01 -8.43457264e+01] [ 2.77411957e-01 2.08071752e-02 -9.60525725e-01 -9.11995314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.86, Y:-84.34, Z:-911.99 [[-6.02247529e-01 7.82827762e-01 -1.56456409e-01 4.61862967e+02] [ 7.49021361e-01 6.21903561e-01 2.28479673e-01 -8.43374511e+01] [ 2.76161029e-01 2.04121261e-02 -9.60894600e-01 -9.11994873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.92, Y:-84.33, Z:-911.99 [[-6.61474329e-01 7.29497994e-01 -1.74024102e-01 4.61916655e+02] [ 6.97609770e-01 6.83680178e-01 2.14294245e-01 -8.43251936e+01] [ 2.75304051e-01 2.03492278e-02 -9.61141815e-01 -9.11994854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.97, Y:-84.31, Z:-911.99 [[-7.15690865e-01 6.72104966e-01 -1.89898659e-01 4.61970894e+02] [ 6.42465135e-01 7.40185971e-01 1.98401812e-01 -8.43091801e+01] [ 2.73907167e-01 1.99910967e-02 -9.61548345e-01 -9.11994668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.99, Y:-84.26, Z:-911.98 [[-7.69530145e-01 6.02684694e-01 -2.11174135e-01 4.61993414e+02] [ 5.80189304e-01 7.97973674e-01 1.63151426e-01 -8.42550596e+01] [ 2.66840267e-01 3.02896581e-03 -9.63736010e-01 -9.11980884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.12, Y:-84.19, Z:-911.96 [[-8.10991313e-01 5.04849325e-01 -2.95669156e-01 4.62115369e+02] [ 5.16034594e-01 8.55379032e-01 4.51110766e-02 -8.41916123e+01] [ 2.75683493e-01 -1.15990821e-01 -9.54224681e-01 -9.11961481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.12, Y:-83.59, Z:-913.08 [[-8.14102483e-01 -5.26343588e-01 2.45356016e-01 4.62121182e+02] [ 5.01806742e-01 -8.50248741e-01 -1.58956194e-01 -8.35888835e+01] [ 2.92279217e-01 -6.28532887e-03 9.56312373e-01 -9.13079057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.12, Y:-83.58, Z:-913.07 [[-8.12979210e-01 -5.26473726e-01 2.48777451e-01 4.62116980e+02] [ 4.99211489e-01 -8.50105153e-01 -1.67657742e-01 -8.35825720e+01] [ 2.99754389e-01 -1.21096967e-02 9.53939548e-01 -9.13073366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.09, Y:-84.28, Z:-912.03 [[-8.44763691e-01 5.05095819e-01 -1.76783824e-01 4.62090510e+02] [ 4.60596397e-01 8.54454639e-01 2.40329420e-01 -8.42808461e+01] [ 2.72443144e-01 1.21595576e-01 -9.54457568e-01 -9.12029954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.17, Y:-84.20, Z:-912.00 [[-8.79958738e-01 4.10731227e-01 -2.38689086e-01 4.62172096e+02] [ 3.91447266e-01 9.11597368e-01 1.25535960e-01 -8.42009954e+01] [ 2.69149881e-01 1.70322749e-02 -9.62947685e-01 -9.11996061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.21, Y:-84.16, Z:-912.00 [[-9.08853902e-01 3.36621038e-01 -2.46314557e-01 4.62213585e+02] [ 3.20260739e-01 9.41495245e-01 1.04975056e-01 -8.41641557e+01] [ 2.67240796e-01 1.65221072e-02 -9.63488130e-01 -9.11995584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.25, Y:-84.12, Z:-912.00 [[-9.32357368e-01 2.58472066e-01 -2.52788312e-01 4.62252954e+02] [ 2.44946157e-01 9.65876981e-01 8.41607905e-02 -8.41239750e+01] [ 2.65915625e-01 1.65484076e-02 -9.63854258e-01 -9.11995408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:462.29, Y:-84.08, Z:-912.00 [[-9.49830731e-01 1.77773020e-01 -2.57329238e-01 4.62288053e+02] [ 1.67094031e-01 9.83927840e-01 6.29729375e-02 -8.40805671e+01] [ 2.64388291e-01 1.68154516e-02 -9.64269709e-01 -9.11995265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.32, Y:-84.03, Z:-911.99 [[-9.60743310e-01 9.52562942e-02 -2.60573467e-01 4.62318223e+02] [ 8.73869251e-02 9.95303432e-01 4.16485723e-02 -8.40342839e+01] [ 2.63316954e-01 1.72428732e-02 -9.64555268e-01 -9.11994309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.00, Y:-83.97, Z:-911.89 [[-9.66767289e-01 -8.55173492e-04 -2.55656562e-01 4.61998329e+02] [-2.28003524e-04 9.99996892e-01 -2.48280143e-03 -8.39703070e+01] [ 2.55657890e-01 -2.34200061e-03 -9.66764479e-01 -9.11893592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.97, Y:-83.39, Z:-913.06 [[-9.54719091e-01 7.32928098e-03 2.97418460e-01 4.61972563e+02] [-1.28073082e-02 -9.99782265e-01 -1.64740832e-02 -8.33905573e+01] [ 2.97232958e-01 -1.95372516e-02 9.54605083e-01 -9.13062216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.35, Y:-84.00, Z:-912.03 [[-9.63381283e-01 -3.30364738e-02 -2.66092268e-01 4.62345510e+02] [-7.12072260e-02 9.88269081e-01 1.35106455e-01 -8.39993507e+01] [ 2.58507320e-01 1.49106722e-01 -9.54432371e-01 -9.12028611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.37, Y:-83.87, Z:-911.99 [[-9.54512392e-01 -1.52053423e-01 -2.56487524e-01 4.62373001e+02] [-1.51730634e-01 9.88195159e-01 -2.11693974e-02 -8.38742310e+01] [ 2.56678609e-01 1.87105625e-02 -9.66315687e-01 -9.11986529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.39, Y:-83.82, Z:-911.99 [[-9.38804169e-01 -2.32648392e-01 -2.54010746e-01 4.62387947e+02] [-2.29593282e-01 9.72378220e-01 -4.20419154e-02 -8.38233935e+01] [ 2.56775501e-01 1.88500355e-02 -9.66287234e-01 -9.11986869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.40, Y:-83.77, Z:-911.99 [[-9.17010477e-01 -3.11626963e-01 -2.48958674e-01 4.62395623e+02] [-3.05919126e-01 9.50014578e-01 -6.23361037e-02 -8.37727003e+01] [ 2.55939980e-01 1.89983599e-02 -9.66505970e-01 -9.11987031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.40, Y:-83.72, Z:-911.99 [[-8.88267056e-01 -3.90002540e-01 -2.42651308e-01 4.62400489e+02] [-3.81731356e-01 9.20605941e-01 -8.22549335e-02 -8.37219819e+01] [ 2.55465868e-01 1.95632653e-02 -9.66620127e-01 -9.11986948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.40, Y:-83.67, Z:-911.99 [[-8.53801470e-01 -4.64786002e-01 -2.34514440e-01 4.62401878e+02] [-4.54026665e-01 8.85199374e-01 -1.01399489e-01 -8.36684486e+01] [ 2.54721098e-01 1.99007767e-02 -9.66809765e-01 -9.11986789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.40, Y:-83.61, Z:-911.99 [[-8.13190094e-01 -5.36818571e-01 -2.24828142e-01 4.62399487e+02] [-5.23686446e-01 8.43452094e-01 -1.19754212e-01 -8.36143355e+01] [ 2.53918052e-01 2.03565116e-02 -9.67011497e-01 -9.11986546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.39, Y:-83.56, Z:-911.99 [[-7.67014119e-01 -6.05050367e-01 -2.13549516e-01 4.62394472e+02] [-5.89690722e-01 7.95915297e-01 -1.37053612e-01 -8.35591997e+01] [ 2.52891664e-01 2.08061126e-02 -9.67270858e-01 -9.11986897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.38, Y:-83.51, Z:-911.99 [[-7.14778061e-01 -6.69613034e-01 -2.01768947e-01 4.62381363e+02] [-6.51998594e-01 7.42401071e-01 -1.54072982e-01 -8.35089168e+01] [ 2.52962759e-01 2.14250823e-02 -9.67238755e-01 -9.11985626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.37, Y:-83.46, Z:-911.99 [[-6.59228019e-01 -7.27946105e-01 -1.88448631e-01 4.62365792e+02] [-7.08178295e-01 6.85297726e-01 -1.69854436e-01 -8.34591255e+01] [ 2.52788294e-01 2.14824269e-02 -9.67283094e-01 -9.11985214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.34, Y:-83.42, Z:-911.98 [[-5.99946653e-01 -7.80967105e-01 -1.73650206e-01 4.62342357e+02] [-7.59248105e-01 6.24206534e-01 -1.84142656e-01 -8.34155422e+01] [ 2.52202950e-01 2.13678191e-02 -9.67438416e-01 -9.11983294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.32, Y:-83.37, Z:-911.98 [[-5.37838040e-01 -8.28176203e-01 -1.57652844e-01 4.62321925e+02] [-8.04689455e-01 5.60076700e-01 -1.96949158e-01 -8.33652619e+01] [ 2.51406291e-01 2.09348320e-02 -9.67655212e-01 -9.11983691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.29, Y:-83.32, Z:-911.98 [[-4.71601860e-01 -8.70542159e-01 -1.40527702e-01 4.62292186e+02] [-8.45579122e-01 4.91657089e-01 -2.08012633e-01 -8.33236649e+01] [ 2.50175208e-01 2.07281466e-02 -9.67978672e-01 -9.11981712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.26, Y:-83.28, Z:-911.98 [[-4.01616570e-01 -9.07564241e-01 -1.22602116e-01 4.62259644e+02] [-8.81356796e-01 4.19402753e-01 -2.17512135e-01 -8.32811521e+01] [ 2.48825901e-01 2.06997301e-02 -9.68327007e-01 -9.11980557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.22, Y:-83.24, Z:-911.98 [[-3.28705502e-01 -9.38682884e-01 -1.04053527e-01 4.62223762e+02] [-9.11452974e-01 3.44156976e-01 -2.25409523e-01 -8.32398915e+01] [ 2.47398809e-01 2.07465463e-02 -9.68691597e-01 -9.11979363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.416559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:462.17, Y:-83.25, Z:-911.97 [[-2.53270524e-01 -9.63261089e-01 -8.93426856e-02 4.62173463e+02] [-9.35662803e-01 2.67375915e-01 -2.30315520e-01 -8.32459946e+01] [ 2.45742061e-01 2.52624952e-02 -9.69006009e-01 -9.11967743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.15, Y:-83.19, Z:-911.98 [[-1.76652473e-01 -9.79501158e-01 -9.68059162e-02 4.62150338e+02] [-9.53826397e-01 1.94631399e-01 -2.28765868e-01 -8.31917478e+01] [ 2.42917903e-01 5.19239821e-02 -9.68656179e-01 -9.11980693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.09, Y:-83.16, Z:-911.97 [[-9.90842244e-02 -9.94011568e-01 -4.60794896e-02 4.62088419e+02] [-9.65120492e-01 1.07275278e-01 -2.38818866e-01 -8.31572266e+01] [ 2.42331905e-01 2.08090776e-02 -9.69970221e-01 -9.11970479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.04, Y:-83.14, Z:-911.97 [[-2.16498272e-02 -9.99412605e-01 -2.65655688e-02 4.62042115e+02] [-9.70270291e-01 2.74104193e-02 -2.40466694e-01 -8.31359198e+01] [ 2.41053619e-01 2.05697198e-02 -9.70293790e-01 -9.11969222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.536559995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:461.99, Y:-83.12, Z:-911.97 [[ 5.50131344e-02 -9.98460461e-01 -7.08963600e-03 4.61994861e+02] [-9.69223928e-01 -5.16932091e-02 -2.40692313e-01 -8.31158187e+01] [ 2.39955272e-01 2.01126834e-02 -9.70575575e-01 -9.11967960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.98, Y:-83.12, Z:-911.96 [[ 1.29404400e-01 -9.91517540e-01 1.21436539e-02 4.61980130e+02] [-9.62565066e-01 -1.28548390e-01 -2.38629012e-01 -8.31213981e+01] [ 2.38165898e-01 1.91905871e-02 -9.71034874e-01 -9.11960805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.596559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:461.43, Y:-83.51, Z:-913.04 [[ 1.32788623e-01 9.91074509e-01 -1.17685481e-02 4.61433764e+02] [-9.53709441e-01 1.30996712e-01 2.70699398e-01 -8.35092379e+01] [ 2.69824914e-01 -2.47220248e-02 9.62591989e-01 -9.13036977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.10, Y:-83.17, Z:-912.04 [[ 1.99362070e-01 -9.58708630e-01 -2.02811557e-01 4.62097312e+02] [-9.55495883e-01 -1.44257212e-01 -2.57327562e-01 -8.31659252e+01] [ 2.17445125e-01 2.45086963e-01 -9.44801566e-01 -9.12036043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.45, Y:-83.59, Z:-913.03 [[ 2.11821176e-01 9.76976005e-01 -2.54887310e-02 4.61448849e+02] [-9.44374601e-01 2.11326962e-01 2.51987159e-01 -8.35865186e+01] [ 2.51571864e-01 -2.93053062e-02 9.67394850e-01 -9.13031039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.93, Y:-83.21, Z:-911.92 [[ 2.80990221e-01 -9.53185156e-01 1.11725357e-01 4.61925867e+02] [-9.34364253e-01 -2.98287363e-01 -1.94905342e-01 -8.32145171e+01] [ 2.19107141e-01 -4.96256849e-02 -9.74437968e-01 -9.11923961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.48, Y:-83.67, Z:-913.02 [[ 2.84547845e-01 9.57560582e-01 -4.59375116e-02 4.61479204e+02] [-9.23209279e-01 2.86620976e-01 2.55994226e-01 -8.36732304e+01] [ 2.58296634e-01 -3.04326684e-02 9.65586196e-01 -9.13015223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.51, Y:-83.69, Z:-913.02 [[ 2.82667292e-01 9.56302143e-01 -7.47356276e-02 4.61505415e+02] [-9.23744543e-01 2.92378875e-01 2.47407786e-01 -8.36949923e+01] [ 2.58447715e-01 -8.97460645e-04 9.66024831e-01 -9.13016801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.51, Y:-83.72, Z:-913.01 [[ 2.81089326e-01 9.56767910e-01 -7.47258764e-02 4.61514345e+02] [-9.24266760e-01 2.90852157e-01 2.47256911e-01 -8.37207251e+01] [ 2.58301660e-01 -4.34634789e-04 9.66064213e-01 -9.13009462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.51, Y:-83.75, Z:-912.99 [[ 2.77469542e-01 9.59020114e-01 -5.73678940e-02 4.61508428e+02] [-9.23810875e-01 2.82724792e-01 2.58147554e-01 -8.37507275e+01] [ 2.63788023e-01 -1.86309994e-02 9.64400729e-01 -9.12986380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.53, Y:-83.77, Z:-912.99 [[ 2.77490976e-01 9.57551481e-01 -7.80635684e-02 4.61529501e+02] [-9.24354812e-01 2.88248752e-01 2.49961677e-01 -8.37740039e+01] [ 2.61852900e-01 2.79632544e-03 9.65103745e-01 -9.12986607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.54, Y:-83.80, Z:-912.98 [[ 2.79318013e-01 9.57231057e-01 -7.54330932e-02 4.61535513e+02] [-9.24301333e-01 2.89324498e-01 2.48914406e-01 -8.38002811e+01] [ 2.60093241e-01 1.96631504e-04 9.65583485e-01 -9.12978967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.55, Y:-83.82, Z:-912.98 [[ 2.82495032e-01 9.55424805e-01 -8.57904375e-02 4.61551793e+02] [-9.24416476e-01 2.95028411e-01 2.41686608e-01 -8.38246371e+01] [ 2.56223997e-01 1.10308276e-02 9.66554491e-01 -9.12981427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.54, Y:-83.85, Z:-912.96 [[ 2.83954442e-01 9.56684308e-01 -6.42262345e-02 4.61544777e+02] [-9.23023938e-01 2.90870457e-01 2.51835636e-01 -8.38542676e+01] [ 2.59608715e-01 -1.22274956e-02 9.65636476e-01 -9.12962777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.56, Y:-83.88, Z:-912.97 [[ 2.86903630e-01 9.54185214e-01 -8.49522447e-02 4.61564810e+02] [-9.22659084e-01 2.99094421e-01 2.43398318e-01 -8.38775699e+01] [ 2.57655819e-01 8.55009913e-03 9.66198931e-01 -9.12967830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.57, Y:-83.90, Z:-912.96 [[ 2.89181786e-01 9.54327352e-01 -7.50546515e-02 4.61567360e+02] [-9.21819492e-01 2.98754618e-01 2.46970653e-01 -8.39044917e+01] [ 2.58113773e-01 -2.23257382e-03 9.66111948e-01 -9.12958152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.57, Y:-83.93, Z:-912.95 [[ 2.87519781e-01 9.54841645e-01 -7.48986570e-02 4.61573220e+02] [-9.22554035e-01 2.97110366e-01 2.46210243e-01 -8.39306060e+01] [ 2.57344961e-01 -1.69225703e-03 9.66318119e-01 -9.12951629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.58, Y:-83.96, Z:-912.94 [[ 2.86632413e-01 9.55103745e-01 -7.49579714e-02 4.61580693e+02] [-9.22804383e-01 2.96268146e-01 2.46286939e-01 -8.39567538e+01] [ 2.57437237e-01 -1.42227495e-03 9.66293975e-01 -9.12944119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.59, Y:-83.98, Z:-912.94 [[ 2.82857950e-01 9.56252797e-01 -7.46456215e-02 4.61587323e+02] [-9.24331078e-01 2.92541441e-01 2.45013394e-01 -8.39826503e+01] [ 2.56131681e-01 -3.06718516e-04 9.66641851e-01 -9.12935597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.60, Y:-84.01, Z:-912.93 [[ 2.81101651e-01 9.56767663e-01 -7.46826665e-02 4.61595813e+02] [-9.24897348e-01 2.90853199e-01 2.44886327e-01 -8.40082488e+01] [ 2.56021011e-01 2.35849227e-04 9.66671188e-01 -9.12927377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.60, Y:-84.03, Z:-912.92 [[ 2.77901073e-01 9.57733851e-01 -7.42755932e-02 4.61603307e+02] [-9.26312563e-01 2.87653375e-01 2.43311675e-01 -8.40331577e+01] [ 2.54393453e-01 1.18583944e-03 9.67100080e-01 -9.12920591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.61, Y:-84.06, Z:-912.91 [[ 2.73339034e-01 9.59073996e-01 -7.39110456e-02 4.61612574e+02] [-9.28043997e-01 2.83145001e-01 2.41998446e-01 -8.40583277e+01] [ 2.53021960e-01 2.44508080e-03 9.67457446e-01 -9.12913408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.62, Y:-84.08, Z:-912.91 [[ 2.71818763e-01 9.59517205e-01 -7.37651213e-02 4.61619922e+02] [-9.28690545e-01 2.81634874e-01 2.41279234e-01 -8.40834235e+01] [ 2.52286407e-01 2.92074765e-03 9.67648200e-01 -9.12906191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.63, Y:-84.11, Z:-912.90 [[ 2.71232909e-01 9.59699513e-01 -7.35496664e-02 4.61626887e+02] [-9.29091007e-01 2.81010953e-01 2.40463605e-01 -8.41097257e+01] [ 2.51441067e-01 3.11269055e-03 9.67867605e-01 -9.12898612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.63, Y:-84.14, Z:-912.89 [[ 2.71570147e-01 9.59621195e-01 -7.33267904e-02 4.61633958e+02] [-9.29260512e-01 2.81278423e-01 2.39493947e-01 -8.41360563e+01] [ 2.50448712e-01 3.10028424e-03 9.68124905e-01 -9.12890889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.64, Y:-84.16, Z:-912.88 [[ 2.73961622e-01 9.58966804e-01 -7.29910816e-02 4.61640568e+02] [-9.28927105e-01 2.83506836e-01 2.38156056e-01 -8.41624259e+01] [ 2.49077222e-01 2.55777479e-03 9.68480250e-01 -9.12882609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.316559995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:461.65, Y:-84.19, Z:-912.88 [[ 2.76676385e-01 9.58190024e-01 -7.29524287e-02 4.61648870e+02] [-9.28218444e-01 2.86126143e-01 2.37786357e-01 -8.41886811e+01] [ 2.48718112e-01 1.92592011e-03 9.68573999e-01 -9.12875497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.66, Y:-84.21, Z:-912.87 [[ 2.79576698e-01 9.57355801e-01 -7.28473864e-02 4.61657114e+02] [-9.27505960e-01 2.88908823e-01 2.37201153e-01 -8.42141636e+01] [ 2.48132153e-01 1.25046989e-03 9.68725385e-01 -9.12868284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.67, Y:-84.24, Z:-912.86 [[ 2.84203158e-01 9.55837622e-01 -7.48532231e-02 4.61668416e+02] [-9.26564750e-01 2.93883447e-01 2.34755798e-01 -8.42383809e+01] [ 2.46386547e-01 2.63801897e-03 9.69168051e-01 -9.12863741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.67, Y:-84.27, Z:-912.85 [[ 2.86242181e-01 9.55909340e-01 -6.55953350e-02 4.61669934e+02] [-9.25512123e-01 2.93558859e-01 2.39270783e-01 -8.42650285e+01] [ 2.47977268e-01 -7.78011289e-03 9.68734610e-01 -9.12850220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.68, Y:-84.29, Z:-912.85 [[ 2.86476640e-01 9.55319125e-01 -7.27770912e-02 4.61682301e+02] [-9.25459211e-01 2.95575848e-01 2.36981367e-01 -8.42907318e+01] [ 2.47903983e-01 -5.37396482e-04 9.68784458e-01 -9.12845443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.69, Y:-84.32, Z:-912.84 [[ 2.89645497e-01 9.53934690e-01 -7.81926762e-02 4.61694681e+02] [-9.24747323e-01 2.99981031e-01 2.34208817e-01 -8.43162583e+01] [ 2.46876235e-01 4.47093876e-03 9.69036705e-01 -9.12840990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.70, Y:-84.34, Z:-912.83 [[ 2.93147939e-01 9.53336870e-01 -7.22017819e-02 4.61700713e+02] [-9.24156748e-01 3.01902689e-01 2.34070656e-01 -8.43412523e+01] [ 2.44946099e-01 -1.89156663e-03 9.69534853e-01 -9.12832585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.71, Y:-84.37, Z:-912.82 [[ 2.94059916e-01 9.53060329e-01 -7.21441337e-02 4.61709066e+02] [-9.23945901e-01 3.02773268e-01 2.33778356e-01 -8.43672431e+01] [ 2.44648192e-01 -2.08756698e-03 9.69609666e-01 -9.12824904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.72, Y:-84.39, Z:-912.82 [[ 2.94437131e-01 9.52951751e-01 -7.20398310e-02 4.61717333e+02] [-9.23979030e-01 3.03114745e-01 2.33204212e-01 -8.43926801e+01] [ 2.44068697e-01 -2.10068599e-03 9.69755669e-01 -9.12817616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.73, Y:-84.42, Z:-912.81 [[ 2.92781603e-01 9.53454849e-01 -7.21303323e-02 4.61728138e+02] [-9.24482695e-01 3.01531518e-01 2.33260564e-01 -8.44164960e+01] [ 2.44152984e-01 -1.61115779e-03 9.69735389e-01 -9.12811855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.616559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:462.19, Y:-84.00, Z:-911.73 [[ 3.56302884e-01 -9.32773275e-01 5.46101863e-02 4.62193931e+02] [-9.02735166e-01 -3.58730511e-01 -2.37448187e-01 -8.39968111e+01] [ 2.41075663e-01 3.53049382e-02 -9.69863953e-01 -9.11732236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.77, Y:-84.48, Z:-912.80 [[ 3.63385117e-01 9.26391167e-01 -9.87454451e-02 4.61773282e+02] [-8.99361005e-01 3.76477007e-01 2.22294504e-01 -8.44821537e+01] [ 2.43107055e-01 8.02928838e-03 9.69966232e-01 -9.12802548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.78, Y:-84.51, Z:-912.79 [[ 3.61551461e-01 9.27935484e-01 -9.06436915e-02 4.61779651e+02] [-8.99881729e-01 3.72740723e-01 2.26444758e-01 -8.45088046e+01] [ 2.43912721e-01 -3.02831337e-04 9.69797140e-01 -9.12793752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.79, Y:-84.53, Z:-912.79 [[ 3.60427412e-01 9.28336793e-01 -9.10103278e-02 4.61791193e+02] [-9.00112048e-01 3.71740228e-01 2.27172850e-01 -8.45336490e+01] [ 2.44725115e-01 4.01704236e-05 9.69592500e-01 -9.12787308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.736559995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:461.80, Y:-84.56, Z:-912.78 [[ 3.59766018e-01 9.28523058e-01 -9.17242785e-02 4.61802811e+02] [-8.99900943e-01 3.71274660e-01 2.28764987e-01 -8.45585295e+01] [ 2.46468465e-01 2.40896440e-04 9.69150782e-01 -9.12781367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:461.82, Y:-84.58, Z:-912.78 [[ 3.61993588e-01 9.26343320e-01 -1.04157074e-01 4.61822977e+02] [-8.99646016e-01 3.76433730e-01 2.21211873e-01 -8.45820646e+01] [ 2.44126376e-01 1.36272173e-02 9.69647674e-01 -9.12784114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.796559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:461.82, Y:-84.61, Z:-912.76 [[ 3.61522505e-01 9.28908193e-01 -8.01938193e-02 4.61815588e+02] [-8.98645024e-01 3.70078775e-01 2.35539428e-01 -8.46111046e+01] [ 2.48472535e-01 -1.30870273e-02 9.68550530e-01 -9.12763665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.83, Y:-84.63, Z:-912.76 [[ 3.62768251e-01 9.27240237e-01 -9.28694794e-02 4.61831997e+02] [-8.97959919e-01 3.74466718e-01 2.31176690e-01 -8.46335476e+01] [ 2.49132858e-01 -4.70493222e-04 9.68469204e-01 -9.12760247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.84, Y:-84.66, Z:-912.75 [[ 3.66282593e-01 9.25870046e-01 -9.27454590e-02 4.61841485e+02] [-8.96647914e-01 3.77839620e-01 2.30780720e-01 -8.46589188e+01] [ 2.48715865e-01 -1.37093836e-03 9.68575521e-01 -9.12753518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.85, Y:-84.68, Z:-912.75 [[ 3.68059768e-01 9.25167361e-01 -9.27219569e-02 4.61852247e+02] [-8.95986442e-01 3.79555281e-01 2.30534347e-01 -8.46841992e+01] [ 2.48475962e-01 -1.77280226e-03 9.68636440e-01 -9.12746758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.916559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:461.88, Y:-84.71, Z:-912.75 [[ 3.71188289e-01 9.22068465e-01 -1.09585582e-01 4.61876197e+02] [-8.95788067e-01 3.86662234e-01 2.19216914e-01 -8.47064624e+01] [ 2.44505610e-01 1.67947050e-02 9.69502421e-01 -9.12753334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.87, Y:-84.74, Z:-912.74 [[ 3.71305909e-01 9.24316176e-01 -8.81562738e-02 4.61873251e+02] [-8.95495621e-01 3.81578476e-01 2.29097053e-01 -8.47359111e+01] [ 2.45396648e-01 -6.12153213e-03 9.69403431e-01 -9.12738739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.89, Y:-84.76, Z:-912.73 [[ 3.71459558e-01 9.23877092e-01 -9.20267130e-02 4.61885709e+02] [-8.95616905e-01 3.82685027e-01 2.26765362e-01 -8.47608251e+01] [ 2.44720568e-01 -1.81348105e-03 9.69591953e-01 -9.12733434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.89, Y:-84.79, Z:-912.72 [[ 3.69868378e-01 9.25727135e-01 -7.89091550e-02 4.61885387e+02] [-8.95384044e-01 3.77831775e-01 2.35649238e-01 -8.47865826e+01] [ 2.47961280e-01 -1.65052031e-02 9.68629332e-01 -9.12715455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.91, Y:-84.81, Z:-912.72 [[ 3.69804504e-01 9.23626435e-01 -1.00791055e-01 4.61909794e+02] [-8.95869119e-01 3.83227258e-01 2.24845260e-01 -8.48100233e+01] [ 2.46298905e-01 7.14680391e-03 9.69167567e-01 -9.12719195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.26, Y:-84.38, Z:-911.60 [[ 4.28384206e-01 -8.86405387e-01 1.75420817e-01 4.62261174e+02] [-8.71094783e-01 -4.56718182e-01 -1.80561296e-01 -8.43776970e+01] [ 2.40168382e-01 -7.54585507e-02 -9.67793964e-01 -9.11598246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.95, Y:-84.88, Z:-912.70 [[ 4.36331094e-01 8.91430318e-01 -1.22340362e-01 4.61954364e+02] [-8.63499910e-01 4.53069204e-01 2.21576626e-01 -8.48751375e+01] [ 2.52948773e-01 8.96011961e-03 9.67438181e-01 -9.12702119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.96, Y:-84.90, Z:-912.69 [[ 4.35018115e-01 8.93259607e-01 -1.13342463e-01 4.61962088e+02] [-8.64030546e-01 4.49540697e-01 2.26637105e-01 -8.49010605e+01] [ 2.53397821e-01 -6.59896509e-04 9.67361933e-01 -9.12692852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.156559995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:461.98, Y:-84.93, Z:-912.69 [[ 4.33561144e-01 8.93942319e-01 -1.13542348e-01 4.61975500e+02] [-8.64673426e-01 4.48181989e-01 2.26876112e-01 -8.49252502e+01] [ 2.53701794e-01 -1.87615398e-04 9.67282464e-01 -9.12686154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.99, Y:-84.95, Z:-912.68 [[ 4.32333561e-01 8.94525358e-01 -1.13631317e-01 4.61988229e+02] [-8.65271434e-01 4.47017150e-01 2.26894278e-01 -8.49489703e+01] [ 2.53757832e-01 2.27921979e-04 9.67267755e-01 -9.12679325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.00, Y:-84.97, Z:-912.67 [[ 4.31414657e-01 8.94964010e-01 -1.13669760e-01 4.62000861e+02] [-8.65746577e-01 4.46137992e-01 2.26812163e-01 -8.49732451e+01] [ 2.53701121e-01 5.59114060e-04 9.67282497e-01 -9.12672301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.01, Y:-85.00, Z:-912.67 [[ 4.30914541e-01 8.95214673e-01 -1.13592902e-01 4.62012711e+02] [-8.66086612e-01 4.45634474e-01 2.26503634e-01 -8.49967698e+01] [ 2.53390290e-01 7.77582235e-04 9.67363818e-01 -9.12665150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.02, Y:-85.02, Z:-912.66 [[ 4.32218573e-01 8.94582716e-01 -1.13617207e-01 4.62024168e+02] [-8.65438395e-01 4.46902195e-01 2.26483580e-01 -8.50204299e+01] [ 2.53384076e-01 4.38283490e-04 9.67365659e-01 -9.12658129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.04, Y:-85.04, Z:-912.65 [[ 4.34381864e-01 8.93533658e-01 -1.13622173e-01 4.62035501e+02] [-8.64369743e-01 4.48996194e-01 2.26422978e-01 -8.50446051e+01] [ 2.53332475e-01 -1.42466655e-04 9.67379262e-01 -9.12651178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.05, Y:-85.07, Z:-912.64 [[ 4.36784882e-01 8.92336824e-01 -1.13815468e-01 4.62047173e+02] [-8.63072266e-01 4.51369476e-01 2.26653611e-01 -8.50691958e+01] [ 2.53624191e-01 -7.67896670e-04 9.67302528e-01 -9.12644114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.06, Y:-85.09, Z:-912.64 [[ 4.42521380e-01 8.88787729e-01 -1.19294597e-01 4.62064277e+02] [-8.60850966e-01 4.58293558e-01 2.21139387e-01 -8.50935843e+01] [ 2.51217919e-01 4.83596245e-03 9.67918473e-01 -9.12643485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.07, Y:-85.12, Z:-912.63 [[ 4.44198091e-01 8.89519113e-01 -1.06975715e-01 4.62066931e+02] [-8.59641748e-01 4.56795491e-01 2.28809844e-01 -8.51200411e+01] [ 2.52396754e-01 -9.67610530e-03 9.67575450e-01 -9.12629127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.08, Y:-85.14, Z:-912.62 [[ 4.46417999e-01 8.87605587e-01 -1.13434090e-01 4.62081426e+02] [-8.58484678e-01 4.60592523e-01 2.25518483e-01 -8.51430056e+01] [ 2.52418359e-01 -3.29408141e-03 9.67612589e-01 -9.12623913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.09, Y:-85.17, Z:-912.62 [[ 4.48280761e-01 8.86683976e-01 -1.13295571e-01 4.62091824e+02] [-8.57624640e-01 4.62360544e-01 2.25172609e-01 -8.51676254e+01] [ 2.52040346e-01 -3.77547554e-03 9.67709362e-01 -9.12616819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.10, Y:-85.19, Z:-912.61 [[ 4.50219658e-01 8.85746578e-01 -1.12939186e-01 4.62101922e+02] [-8.56883368e-01 4.64150024e-01 2.24311498e-01 -8.51912973e+01] [ 2.51103868e-01 -4.21373616e-03 9.67950976e-01 -9.12609945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.11, Y:-85.22, Z:-912.60 [[ 4.50586841e-01 8.85567174e-01 -1.12881706e-01 4.62113839e+02] [-8.56746254e-01 4.64491634e-01 2.24128041e-01 -8.52154238e+01] [ 2.50913044e-01 -4.27816704e-03 9.68000177e-01 -9.12603059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.13, Y:-85.24, Z:-912.60 [[ 4.50358620e-01 8.85693742e-01 -1.12799420e-01 4.62125387e+02] [-8.56960516e-01 4.64251605e-01 2.23805992e-01 -8.52385685e+01] [ 2.50590878e-01 -4.12830893e-03 9.68084278e-01 -9.12596563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.14, Y:-85.26, Z:-912.59 [[ 4.49688138e-01 8.86054203e-01 -1.12643366e-01 4.62137212e+02] [-8.57440607e-01 4.63565497e-01 2.23388980e-01 -8.52621926e+01] [ 2.50152322e-01 -3.87037855e-03 9.68198759e-01 -9.12589765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.15, Y:-85.29, Z:-912.58 [[ 4.48063731e-01 8.86931302e-01 -1.12213002e-01 4.62150194e+02] [-8.58584270e-01 4.61889320e-01 2.22466420e-01 -8.52861300e+01] [ 2.49142419e-01 -3.33481569e-03 9.68461117e-01 -9.12582296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.16, Y:-85.31, Z:-912.58 [[ 4.47222411e-01 8.87342682e-01 -1.12316871e-01 4.62163360e+02] [-8.58995135e-01 4.61100591e-01 2.22516525e-01 -8.53104292e+01] [ 2.49237786e-01 -3.03473101e-03 9.68437565e-01 -9.12575305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.18, Y:-85.33, Z:-912.57 [[ 4.46085502e-01 8.87893490e-01 -1.12485003e-01 4.62175189e+02] [-8.59517281e-01 4.60041401e-01 2.22692507e-01 -8.53333455e+01] [ 2.49474986e-01 -2.65709507e-03 9.68377598e-01 -9.12568890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.19, Y:-85.36, Z:-912.56 [[ 4.45145810e-01 8.88349904e-01 -1.12603982e-01 4.62187395e+02] [-8.59954893e-01 4.59161096e-01 2.22819816e-01 -8.53573575e+01] [ 2.49645330e-01 -2.35296203e-03 9.68334484e-01 -9.12562272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.20, Y:-85.38, Z:-912.56 [[ 4.43118552e-01 8.89295556e-01 -1.13134275e-01 4.62199503e+02] [-8.60699481e-01 4.57329568e-01 2.23709790e-01 -8.53811942e+01] [ 2.50683771e-01 -1.75534660e-03 9.68067439e-01 -9.12555396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.21, Y:-85.41, Z:-912.55 [[ 4.42168565e-01 8.89721802e-01 -1.13499228e-01 4.62212360e+02] [-8.60993066e-01 4.56500854e-01 2.24271956e-01 -8.54052059e+01] [ 2.51352144e-01 -1.44396110e-03 9.67894630e-01 -9.12548263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.23, Y:-85.43, Z:-912.54 [[ 4.41212356e-01 8.90195852e-01 -1.13503314e-01 4.62225418e+02] [-8.61520909e-01 4.55576704e-01 2.24124052e-01 -8.54283472e+01] [ 2.51223767e-01 -1.10082322e-03 9.67928410e-01 -9.12542164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.24, Y:-85.45, Z:-912.54 [[ 4.40405015e-01 8.90106379e-01 -1.17277692e-01 4.62241940e+02] [-8.62239850e-01 4.55737088e-01 2.21011647e-01 -8.54538325e+01] [ 2.50171671e-01 3.78686229e-03 9.68194090e-01 -9.12538907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.25, Y:-85.48, Z:-912.53 [[ 4.38332347e-01 8.92189760e-01 -1.08913661e-01 4.62250204e+02] [-8.62767844e-01 4.51625198e-01 2.27302283e-01 -8.54765332e+01] [ 2.51984923e-01 -5.66673883e-03 9.67714569e-01 -9.12527853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.27, Y:-85.50, Z:-912.53 [[ 4.38007811e-01 8.90875202e-01 -1.20376632e-01 4.62271939e+02] [-8.63381241e-01 4.54183243e-01 2.19750803e-01 -8.55008215e+01] [ 2.50443590e-01 7.67835740e-03 9.68100744e-01 -9.12527894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.27, Y:-85.53, Z:-912.51 [[ 4.35271713e-01 8.94537652e-01 -1.01690345e-01 4.62271556e+02] [-8.63712189e-01 4.46783295e-01 2.33207938e-01 -8.55301351e+01] [ 2.54046829e-01 -1.36776283e-02 9.67095203e-01 -9.12509836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.68, Y:-85.03, Z:-911.45 [[ 5.09103736e-01 -8.59231085e-01 5.03520543e-02 4.62676068e+02] [-8.28661334e-01 -5.05124510e-01 -2.41183794e-01 -8.50319369e+01] [ 2.32666670e-01 8.10627703e-02 -9.69172352e-01 -9.11445892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.33, Y:-85.59, Z:-912.50 [[ 5.03267400e-01 8.54685945e-01 -1.27412163e-01 4.62329086e+02] [-8.27357232e-01 5.19139402e-01 2.14416166e-01 -8.55897186e+01] [ 2.49403158e-01 -2.49329165e-03 9.68396535e-01 -9.12500946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.34, Y:-85.62, Z:-912.49 [[ 5.01882114e-01 8.55333233e-01 -1.28527837e-01 4.62342358e+02] [-8.27743705e-01 5.18075231e-01 2.15495741e-01 -8.56167211e+01] [ 2.50907758e-01 -1.76534980e-03 9.68009391e-01 -9.12493721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.36, Y:-85.64, Z:-912.49 [[ 5.03718363e-01 8.53767028e-01 -1.31718158e-01 4.62358197e+02] [-8.26403618e-01 5.20654538e-01 2.14419946e-01 -8.56359409e+01] [ 2.51644337e-01 8.45098234e-04 9.67819412e-01 -9.12489429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.056559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:462.37, Y:-85.66, Z:-912.48 [[ 5.04111002e-01 8.53530645e-01 -1.31748001e-01 4.62370839e+02] [-8.25942829e-01 5.21042555e-01 2.15251247e-01 -8.56587344e+01] [ 2.52369851e-01 3.05794232e-04 9.67630800e-01 -9.12483187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.38, Y:-85.68, Z:-912.48 [[ 5.04932197e-01 8.52984708e-01 -1.32138432e-01 4.62384178e+02] [-8.25227523e-01 5.21935900e-01 2.15829683e-01 -8.56817969e+01] [ 2.53067211e-01 6.49152746e-05 9.67448698e-01 -9.12476703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.40, Y:-85.71, Z:-912.47 [[ 5.07775756e-01 8.50712043e-01 -1.35841090e-01 4.62400470e+02] [-8.23516301e-01 5.25620350e-01 2.13410754e-01 -8.57063872e+01] [ 2.52951940e-01 3.50254460e-03 9.67472505e-01 -9.12473790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.41, Y:-85.73, Z:-912.46 [[ 5.08783794e-01 8.51206716e-01 -1.28787335e-01 4.62408539e+02] [-8.22451609e-01 5.24799266e-01 2.19451774e-01 -8.57306259e+01] [ 2.54386323e-01 -5.73215515e-03 9.67085695e-01 -9.12462279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.42, Y:-85.75, Z:-912.46 [[ 5.09920579e-01 8.49865965e-01 -1.33074585e-01 4.62424423e+02] [-8.21678671e-01 5.26997192e-01 2.17067089e-01 -8.57536357e+01] [ 2.54607864e-01 -1.34242764e-03 9.67043450e-01 -9.12456646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.43, Y:-85.78, Z:-912.45 [[ 5.09933171e-01 8.50680638e-01 -1.27713014e-01 4.62432942e+02] [-8.21076069e-01 5.25611386e-01 2.22635936e-01 -8.57814766e+01] [ 2.56519494e-01 -8.66734948e-03 9.66500195e-01 -9.12445348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.44, Y:-85.81, Z:-912.44 [[ 5.08908303e-01 8.51027471e-01 -1.29478117e-01 4.62443882e+02] [-8.20916513e-01 5.25060728e-01 2.24515725e-01 -8.58064380e+01] [ 2.59052924e-01 -7.96719250e-03 9.65830268e-01 -9.12435200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.47, Y:-85.82, Z:-912.44 [[ 5.10675123e-01 8.47751139e-01 -1.43279188e-01 4.62469147e+02] [-8.20874195e-01 5.30311575e-01 2.11979222e-01 -8.58229678e+01] [ 2.55688238e-01 9.36167277e-03 9.66713962e-01 -9.12438946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.296559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:462.47, Y:-85.85, Z:-912.43 [[ 5.09042143e-01 8.50930999e-01 -1.29586004e-01 4.62473435e+02] [-8.21709289e-01 5.25242051e-01 2.21166525e-01 -8.58532691e+01] [ 2.56261470e-01 -6.10105892e-03 9.66588245e-01 -9.12425051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.86, Y:-85.31, Z:-911.36 [[ 5.72937893e-01 -8.16778148e-01 6.79384131e-02 4.62864242e+02] [-7.88311751e-01 -5.71854631e-01 -2.27039345e-01 -8.53068695e+01] [ 2.24291672e-01 7.65227947e-02 -9.71512999e-01 -9.11355100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.55, Y:-85.90, Z:-912.42 [[ 5.72418063e-01 8.06562981e-01 -1.47626956e-01 4.62545919e+02] [-7.80840705e-01 5.91148037e-01 2.02068780e-01 -8.58966649e+01] [ 2.50250583e-01 -3.94683442e-04 9.68181021e-01 -9.12416028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.56, Y:-85.92, Z:-912.40 [[ 5.69950042e-01 8.09254881e-01 -1.42349876e-01 4.62557854e+02] [-7.82083112e-01 5.87412843e-01 2.08067676e-01 -8.59232263e+01] [ 2.51997928e-01 -7.25874682e-03 9.67700550e-01 -9.12403604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.58, Y:-85.94, Z:-912.40 [[ 5.70263135e-01 8.07255143e-01 -1.52115387e-01 4.62582365e+02] [-7.82624824e-01 5.90170608e-01 1.97982421e-01 -8.59376466e+01] [ 2.49596357e-01 6.14720190e-03 9.68330455e-01 -9.12404663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.60, Y:-85.96, Z:-912.40 [[ 5.69695712e-01 8.08597150e-01 -1.47028724e-01 4.62596039e+02] [-7.83224087e-01 5.88362312e-01 2.00972188e-01 -8.59613237e+01] [ 2.49011698e-01 6.63444054e-04 9.68500250e-01 -9.12396607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.61, Y:-85.98, Z:-912.39 [[ 5.69091883e-01 8.09012609e-01 -1.47081699e-01 4.62612201e+02] [-7.83664079e-01 5.87790576e-01 2.00929967e-01 -8.59836455e+01] [ 2.49008113e-01 9.15031130e-04 9.68500967e-01 -9.12389441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.63, Y:-86.01, Z:-912.38 [[ 5.68881356e-01 8.09177517e-01 -1.46988944e-01 4.62628281e+02] [-7.83896136e-01 5.87563300e-01 2.00689354e-01 -8.60058479e+01] [ 2.48758622e-01 1.05563362e-03 9.68564935e-01 -9.12382704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.536559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:462.64, Y:-86.03, Z:-912.38 [[ 5.68522874e-01 8.09579002e-01 -1.46162863e-01 4.62644732e+02] [-7.84627117e-01 5.87009516e-01 1.99449531e-01 -8.60281037e+01] [ 2.47269144e-01 1.29172486e-03 9.68945975e-01 -9.12376111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.66, Y:-86.05, Z:-912.37 [[ 5.68419206e-01 8.09209924e-01 -1.48589720e-01 4.62662767e+02] [-7.84923892e-01 5.87500367e-01 1.96819214e-01 -8.60530584e+01] [ 2.46564576e-01 4.75580032e-03 9.69114695e-01 -9.12371028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.67, Y:-86.07, Z:-912.36 [[ 5.69308652e-01 8.09750866e-01 -1.42095722e-01 4.62673156e+02] [-7.84216345e-01 5.86763763e-01 2.01774653e-01 -8.60741646e+01] [ 2.46763821e-01 -3.43826790e-03 9.69069551e-01 -9.12360959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.69, Y:-86.10, Z:-912.36 [[ 5.70257782e-01 8.07745711e-01 -1.49508957e-01 4.62694056e+02] [-7.83869618e-01 5.89500754e-01 1.95031495e-01 -8.60967335e+01] [ 2.45671497e-01 5.97730124e-03 9.69334714e-01 -9.12358590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.656559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:462.70, Y:-86.12, Z:-912.35 [[ 5.71269340e-01 8.08494385e-01 -1.41379527e-01 4.62703281e+02] [-7.82688173e-01 5.88481423e-01 2.02703820e-01 -8.61197602e+01] [ 2.47084126e-01 -5.14239433e-03 9.68980387e-01 -9.12346914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.72, Y:-86.14, Z:-912.34 [[ 5.72725744e-01 8.06488839e-01 -1.46836559e-01 4.62721794e+02] [-7.81303013e-01 5.91249284e-01 1.99974713e-01 -8.61396921e+01] [ 2.48094384e-01 1.93180221e-04 9.68735846e-01 -9.12342954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.74, Y:-86.16, Z:-912.34 [[ 5.73040217e-01 8.06129930e-01 -1.47578608e-01 4.62738205e+02] [-7.80686317e-01 5.91738567e-01 2.00933680e-01 -8.61618808e+01] [ 2.49306607e-01 6.95202828e-05 9.68424603e-01 -9.12336744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:462.75, Y:-86.18, Z:-912.33 [[ 5.73194475e-01 8.05907728e-01 -1.48191863e-01 4.62753507e+02] [-7.80270874e-01 5.92041157e-01 2.01654731e-01 -8.61829721e+01] [ 2.50250788e-01 4.24163801e-05 9.68181048e-01 -9.12331067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.77, Y:-86.20, Z:-912.32 [[ 5.73836405e-01 8.05334948e-01 -1.48820034e-01 4.62769506e+02] [-7.79478740e-01 5.92820037e-01 2.02428501e-01 -8.62046772e+01] [ 2.51246245e-01 -1.58790651e-04 9.67923189e-01 -9.12324839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:462.79, Y:-86.23, Z:-912.32 [[ 5.74391381e-01 8.04850254e-01 -1.49300399e-01 4.62785279e+02] [-7.78837779e-01 5.93477866e-01 2.02967332e-01 -8.62264687e+01] [ 2.51964791e-01 -3.01894516e-04 9.67736355e-01 -9.12318775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.836559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:462.80, Y:-86.25, Z:-912.31 [[ 5.75566887e-01 8.03936374e-01 -1.49696576e-01 4.62799793e+02] [-7.77783844e-01 5.94714981e-01 2.03387276e-01 -8.62496409e+01] [ 2.52537226e-01 -6.31402605e-04 9.67586974e-01 -9.12312034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:462.81, Y:-86.27, Z:-912.31 [[ 5.76075828e-01 8.03546632e-01 -1.49831410e-01 4.62814751e+02] [-7.77364169e-01 5.95241361e-01 2.03451888e-01 -8.62712565e+01] [ 2.52668932e-01 -7.30145312e-04 9.67552520e-01 -9.12305020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.896559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.83, Y:-86.29, Z:-912.30 [[ 5.76261664e-01 8.03458593e-01 -1.49588718e-01 4.62830447e+02] [-7.77373173e-01 5.95360185e-01 2.03069448e-01 -8.62927513e+01] [ 2.52217060e-01 -7.34882016e-04 9.67670406e-01 -9.12298224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.85, Y:-86.31, Z:-912.29 [[ 5.76006791e-01 8.03660280e-01 -1.49486891e-01 4.62847252e+02] [-7.77632080e-01 5.95088044e-01 2.02875746e-01 -8.63146049e+01] [ 2.52001040e-01 -6.12005139e-04 9.67726770e-01 -9.12291149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.86, Y:-86.33, Z:-912.28 [[ 5.75502640e-01 8.04029278e-01 -1.49444411e-01 4.62864016e+02] [-7.78059063e-01 5.94589587e-01 2.02700068e-01 -8.63349018e+01] [ 2.51834880e-01 -3.77845630e-04 9.67770144e-01 -9.12284910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.88, Y:-86.35, Z:-912.28 [[ 5.74741806e-01 8.04563227e-01 -1.49498731e-01 4.62881288e+02] [-7.78605324e-01 5.93866990e-01 2.02720864e-01 -8.63549708e+01] [ 2.51884114e-01 -1.11647950e-04 9.67757398e-01 -9.12278542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.90, Y:-86.37, Z:-912.27 [[ 5.73059582e-01 8.05811947e-01 -1.49230767e-01 4.62900380e+02] [-7.80003566e-01 5.92171334e-01 2.02305584e-01 -8.63742114e+01] [ 2.51390439e-01 4.67377303e-04 9.67885649e-01 -9.12272963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.92, Y:-86.40, Z:-912.27 [[ 5.72571859e-01 8.06138242e-01 -1.49340555e-01 4.62917230e+02] [-7.80316034e-01 5.91726897e-01 2.02401004e-01 -8.63956997e+01] [ 2.51532013e-01 6.43710109e-04 9.67848765e-01 -9.12266162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.93, Y:-86.42, Z:-912.26 [[ 5.72210829e-01 8.06385060e-01 -1.49391776e-01 4.62932674e+02] [-7.80582904e-01 5.91390276e-01 2.02355804e-01 -8.64167976e+01] [ 2.51525541e-01 8.22483690e-04 9.67850312e-01 -9.12259620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.95, Y:-86.44, Z:-912.25 [[ 5.72483042e-01 8.06191028e-01 -1.49396093e-01 4.62948246e+02] [-7.80395151e-01 5.91654825e-01 2.02306641e-01 -8.64386981e+01] [ 2.51488718e-01 7.70865053e-04 9.67859923e-01 -9.12252881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.96, Y:-86.46, Z:-912.25 [[ 5.74685488e-01 8.04704076e-01 -1.48956171e-01 4.62963247e+02] [-7.79042286e-01 5.93676103e-01 2.01598120e-01 -8.64599137e+01] [ 2.50658548e-01 1.87641644e-04 9.68075543e-01 -9.12246154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:462.98, Y:-86.48, Z:-912.24 [[ 5.76447040e-01 8.03468694e-01 -1.48818237e-01 4.62980047e+02] [-7.77828567e-01 5.95346922e-01 2.01357303e-01 -8.64819458e+01] [ 2.50382769e-01 -3.16744759e-04 9.68146874e-01 -9.12239456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.00, Y:-86.50, Z:-912.23 [[ 5.78151868e-01 8.02235592e-01 -1.48857224e-01 4.62996180e+02] [-7.76571412e-01 5.97007074e-01 2.01294302e-01 -8.65021773e+01] [ 2.50354269e-01 -7.80411996e-04 9.68153981e-01 -9.12233261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.01, Y:-86.52, Z:-912.23 [[ 5.80220573e-01 8.00755547e-01 -1.48777149e-01 4.63013503e+02] [-7.75085600e-01 5.98989678e-01 2.01130998e-01 -8.65235400e+01] [ 2.50172739e-01 -1.38531713e-03 9.68200228e-01 -9.12227235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.03, Y:-86.54, Z:-912.22 [[ 5.82233314e-01 7.99311540e-01 -1.48678954e-01 4.63029946e+02] [-7.73658929e-01 6.00913737e-01 2.00884402e-01 -8.65446318e+01] [ 2.49912446e-01 -1.93479058e-03 9.68266506e-01 -9.12220769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.05, Y:-86.57, Z:-912.21 [[ 5.86746967e-01 7.96049614e-01 -1.48435202e-01 4.63045724e+02] [-7.70392821e-01 6.05222429e-01 2.00501155e-01 -8.65670249e+01] [ 2.49445181e-01 -3.29003099e-03 9.68383332e-01 -9.12213294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.06, Y:-86.59, Z:-912.21 [[ 5.88801795e-01 7.94567506e-01 -1.48239417e-01 4.63061590e+02] [-7.68962814e-01 6.07163672e-01 2.00121128e-01 -8.65883664e+01] [ 2.49015334e-01 -3.84107991e-03 9.68491926e-01 -9.12206753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:463.08, Y:-86.61, Z:-912.20 [[ 5.90921776e-01 7.92981514e-01 -1.48296237e-01 4.63077812e+02] [-7.67328519e-01 6.09229364e-01 2.00116281e-01 -8.66102386e+01] [ 2.49034934e-01 -4.46113618e-03 9.68484228e-01 -9.12200101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.09, Y:-86.63, Z:-912.19 [[ 5.93739037e-01 7.90868089e-01 -1.48329441e-01 4.63092631e+02] [-7.65167885e-01 6.11963895e-01 2.00045741e-01 -8.66314647e+01] [ 2.48982055e-01 -5.27804107e-03 9.68493716e-01 -9.12193821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.11, Y:-86.65, Z:-912.19 [[ 5.94261417e-01 7.90444555e-01 -1.48495030e-01 4.63108859e+02] [-7.64687013e-01 6.12509550e-01 2.00214444e-01 -8.66537949e+01] [ 2.49213040e-01 -5.42749811e-03 9.68433479e-01 -9.12187024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.13, Y:-86.68, Z:-912.18 [[ 5.94291785e-01 7.90372548e-01 -1.48756543e-01 4.63125592e+02] [-7.64550660e-01 6.12602761e-01 2.00449861e-01 -8.66753714e+01] [ 2.49558736e-01 -5.39379304e-03 9.68344641e-01 -9.12180639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.14, Y:-86.70, Z:-912.17 [[ 5.93084886e-01 7.91220364e-01 -1.49065940e-01 4.63142111e+02] [-7.65345004e-01 6.11510894e-01 2.00752213e-01 -8.66961524e+01] [ 2.49994685e-01 -4.97623028e-03 9.68234421e-01 -9.12174592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.16, Y:-86.72, Z:-912.17 [[ 5.88544097e-01 7.94394775e-01 -1.50175852e-01 4.63160201e+02] [-7.68241389e-01 6.07390965e-01 2.02191457e-01 -8.67166698e+01] [ 2.51835292e-01 -3.62728364e-03 9.67763312e-01 -9.12168994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-86.74, Z:-912.16 [[ 5.85852308e-01 7.96326038e-01 -1.50472307e-01 4.63177680e+02] [-7.70160197e-01 6.04861452e-01 2.02474431e-01 -8.67379036e+01] [ 2.52250560e-01 -2.73233119e-03 9.67658096e-01 -9.12162571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.19, Y:-86.76, Z:-912.16 [[ 5.83317979e-01 7.98224562e-01 -1.50258726e-01 4.63194583e+02] [-7.72226005e-01 6.02357178e-01 2.02071341e-01 -8.67585389e+01] [ 2.51807730e-01 -1.83815031e-03 9.67775536e-01 -9.12156266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.21, Y:-86.78, Z:-912.15 [[ 5.81218476e-01 7.99813656e-01 -1.49943987e-01 4.63211063e+02] [-7.73991939e-01 6.00247345e-01 2.01592665e-01 -8.67796058e+01] [ 2.51240047e-01 -1.11394389e-03 9.67924170e-01 -9.12149446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.23, Y:-86.80, Z:-912.14 [[ 5.79749315e-01 8.00973140e-01 -1.49441497e-01 4.63226992e+02] [-7.75394367e-01 5.98700041e-01 2.00802980e-01 -8.68002901e+01] [ 2.50308424e-01 -5.39294958e-04 9.68165999e-01 -9.12142516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.24, Y:-86.82, Z:-912.14 [[ 5.79093830e-01 8.01620018e-01 -1.48511562e-01 4.63242986e+02] [-7.76398387e-01 5.97833837e-01 1.99499993e-01 -8.68219901e+01] [ 2.48708425e-01 -2.25077791e-04 9.68578375e-01 -9.12135482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.676559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.26, Y:-86.84, Z:-912.13 [[ 5.79423187e-01 8.01676560e-01 -1.46913115e-01 4.63257678e+02] [-7.77033840e-01 5.97758041e-01 1.97240300e-01 -8.68447244e+01] [ 2.45941421e-01 -1.29141323e-04 9.69284685e-01 -9.12127715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.27, Y:-86.87, Z:-912.12 [[ 5.80118376e-01 8.01281675e-01 -1.46322754e-01 4.63272624e+02] [-7.76856876e-01 5.98287246e-01 1.96330756e-01 -8.68667010e+01] [ 2.44859274e-01 -2.23241955e-04 9.69558604e-01 -9.12120705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.736559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:463.29, Y:-86.89, Z:-912.11 [[ 5.80756203e-01 8.00884267e-01 -1.45967886e-01 4.63287335e+02] [-7.76580253e-01 5.98819056e-01 1.95803087e-01 -8.68882941e+01] [ 2.44223963e-01 -3.58079792e-04 9.69718788e-01 -9.12113835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-86.91, Z:-912.11 [[ 5.81252102e-01 7.99889214e-01 -1.49409639e-01 4.63304260e+02] [-7.76133607e-01 6.00137622e-01 1.93523797e-01 -8.69103292e+01] [ 2.44463943e-01 3.47572805e-03 9.69652154e-01 -9.12107562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.796559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.32, Y:-86.94, Z:-912.10 [[ 5.82133680e-01 8.00576793e-01 -1.42116773e-01 4.63316851e+02] [-7.76046358e-01 5.99215314e-01 1.96705510e-01 -8.69354342e+01] [ 2.42636414e-01 -4.21969819e-03 9.70108120e-01 -9.12098316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.33, Y:-86.96, Z:-912.09 [[ 5.82154540e-01 8.00045540e-01 -1.44993882e-01 4.63334554e+02] [-7.76091511e-01 5.99938987e-01 1.94306918e-01 -8.69557384e+01] [ 2.42441866e-01 -5.88133252e-04 9.70165757e-01 -9.12092523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.35, Y:-86.98, Z:-912.09 [[ 5.82394905e-01 7.99920603e-01 -1.44717667e-01 4.63351492e+02] [-7.76068225e-01 6.00105541e-01 1.93885148e-01 -8.69773060e+01] [ 2.41938598e-01 -6.06939214e-04 9.70291372e-01 -9.12086270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.37, Y:-87.00, Z:-912.08 [[ 5.80756496e-01 8.00866495e-01 -1.46064197e-01 4.63366834e+02] [-7.76429723e-01 5.98842622e-01 1.96327279e-01 -8.70003899e+01] [ 2.44701407e-01 -6.09758398e-04 9.69598293e-01 -9.12078153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.38, Y:-87.02, Z:-912.07 [[ 5.82787238e-01 7.99542660e-01 -1.45225926e-01 4.63384563e+02] [-7.75607371e-01 6.00609077e-01 1.94169883e-01 -8.70202249e+01] [ 2.42471114e-01 -5.21430882e-04 9.70158486e-01 -9.12073698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.40, Y:-87.04, Z:-912.07 [[ 5.83173293e-01 7.99134782e-01 -1.45919536e-01 4.63399454e+02] [-7.74921369e-01 6.01151395e-01 1.95227745e-01 -8.70424497e+01] [ 2.43733014e-01 -7.75440063e-04 9.69842058e-01 -9.12066457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.41, Y:-87.06, Z:-912.06 [[ 5.83496946e-01 7.98850901e-01 -1.46179860e-01 4.63414983e+02] [-7.74569622e-01 6.01528518e-01 1.95461871e-01 -8.70647589e+01] [ 2.44076247e-01 -8.24926062e-04 9.69755694e-01 -9.12059153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.43, Y:-87.09, Z:-912.05 [[ 5.83949006e-01 7.98491000e-01 -1.46340975e-01 4.63430715e+02] [-7.74172756e-01 6.02006064e-01 1.95563910e-01 -8.70866664e+01] [ 2.44254176e-01 -9.06154846e-04 9.69710821e-01 -9.12052282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.44, Y:-87.11, Z:-912.04 [[ 5.83870773e-01 7.99214288e-01 -1.42658481e-01 4.63443343e+02] [-7.73801180e-01 6.01012023e-01 2.00040704e-01 -8.71124172e+01] [ 2.45614851e-01 -6.40861952e-03 9.69346313e-01 -9.12041782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.46, Y:-87.13, Z:-912.04 [[ 5.84840440e-01 7.97228983e-01 -1.49624896e-01 4.63464455e+02] [-7.73676140e-01 6.03668276e-01 1.92379424e-01 -8.71292938e+01] [ 2.43694256e-01 3.24994486e-03 9.69846662e-01 -9.12039702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.48, Y:-87.15, Z:-912.03 [[ 5.86925719e-01 7.96298312e-01 -1.46380323e-01 4.63480640e+02] [-7.72306074e-01 6.04903579e-01 1.93997393e-01 -8.71524761e+01] [ 2.43025778e-01 -8.11647393e-04 9.70019491e-01 -9.12032756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.50, Y:-87.17, Z:-912.03 [[ 5.87100731e-01 7.96505072e-01 -1.44542045e-01 4.63495667e+02] [-7.72341506e-01 6.04625886e-01 1.94720661e-01 -8.71734442e+01] [ 2.42489856e-01 -2.68482208e-03 9.70150226e-01 -9.12025170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.51, Y:-87.20, Z:-912.02 [[ 5.87707258e-01 7.95909645e-01 -1.45354794e-01 4.63512886e+02] [-7.71946437e-01 6.05412996e-01 1.93839632e-01 -8.71953381e+01] [ 2.42278513e-01 -1.71484328e-03 9.70205226e-01 -9.12019169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:463.53, Y:-87.22, Z:-912.01 [[ 5.87486614e-01 7.96800299e-01 -1.41310873e-01 4.63525754e+02] [-7.71523448e-01 6.04189225e-01 1.99266027e-01 -8.72209300e+01] [ 2.44153737e-01 -8.04147203e-03 9.69703196e-01 -9.12008746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.2165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.55, Y:-87.24, Z:-912.01 [[ 5.87482204e-01 7.95140804e-01 -1.50385378e-01 4.63546993e+02] [-7.71864272e-01 6.06412598e-01 1.91021744e-01 -8.72379225e+01] [ 2.43084770e-01 3.85522510e-03 9.69997388e-01 -9.12007472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:463.56, Y:-87.26, Z:-912.00 [[ 5.87118943e-01 7.96185033e-01 -1.46221548e-01 4.63559329e+02] [-7.72004950e-01 6.05051483e-01 1.94733306e-01 -8.72605095e+01] [ 2.43515308e-01 -1.44785395e-03 9.69895973e-01 -9.11999829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.276559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:463.58, Y:-87.28, Z:-911.99 [[ 5.87317373e-01 7.96034202e-01 -1.46245864e-01 4.63576074e+02] [-7.71854061e-01 6.05249834e-01 1.94715044e-01 -8.72826295e+01] [ 2.43515119e-01 -1.47906394e-03 9.69895974e-01 -9.11993063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.59, Y:-87.30, Z:-911.99 [[ 5.86174266e-01 7.96789589e-01 -1.46717692e-01 4.63592737e+02] [-7.72500440e-01 6.04255849e-01 1.95238159e-01 -8.73048623e+01] [ 2.44218756e-01 -1.10410259e-03 9.69719537e-01 -9.11986649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.61, Y:-87.33, Z:-911.98 [[ 5.85717712e-01 7.97115060e-01 -1.46773104e-01 4.63608896e+02] [-7.72846324e-01 6.03826777e-01 1.95196779e-01 -8.73256565e+01] [ 2.44219822e-01 -8.97157141e-04 9.69719482e-01 -9.11980551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.63, Y:-87.35, Z:-911.97 [[ 5.85149507e-01 7.97518104e-01 -1.46850024e-01 4.63625561e+02] [-7.73249273e-01 6.03294612e-01 1.95246440e-01 -8.73474107e+01] [ 2.44306399e-01 -6.96683632e-04 9.69697839e-01 -9.11973847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.64, Y:-87.37, Z:-911.97 [[ 5.84740858e-01 7.97814763e-01 -1.46866381e-01 4.63642389e+02] [-7.73578987e-01 6.02902442e-01 1.95151728e-01 -8.73691024e+01] [ 2.44241029e-01 -5.00442626e-04 9.69714427e-01 -9.11967419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.66, Y:-87.39, Z:-911.96 [[ 5.84228998e-01 7.98161272e-01 -1.47020616e-01 4.63658147e+02] [-7.73913669e-01 6.02443776e-01 1.95241211e-01 -8.73903435e+01] [ 2.44405628e-01 -2.84312726e-04 9.69673042e-01 -9.11961141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.67, Y:-87.41, Z:-911.95 [[ 5.83495713e-01 7.98750462e-01 -1.46732589e-01 4.63673058e+02] [-7.74630752e-01 6.01662447e-01 1.94806311e-01 -8.74130650e+01] [ 2.43885119e-01 -5.07164684e-06 9.69804129e-01 -9.11954613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.69, Y:-87.44, Z:-911.95 [[ 5.83171332e-01 7.99013864e-01 -1.46588004e-01 4.63688761e+02] [-7.74979738e-01 6.01312577e-01 1.94498308e-01 -8.74353734e+01] [ 2.43552055e-01 1.76895938e-04 9.69887811e-01 -9.11947760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.516559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:463.71, Y:-87.46, Z:-911.94 [[ 5.83186598e-01 7.99031993e-01 -1.46428364e-01 4.63705355e+02] [-7.75080527e-01 6.01288457e-01 1.94170976e-01 -8.74572814e+01] [ 2.43194507e-01 2.55862552e-04 9.69977508e-01 -9.11941051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.72, Y:-87.48, Z:-911.93 [[ 5.82825942e-01 7.99331124e-01 -1.46231579e-01 4.63721920e+02] [-7.75483289e-01 6.00890630e-01 1.93794013e-01 -8.74786513e+01] [ 2.42774771e-01 4.51967530e-04 9.70082577e-01 -9.11934756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.74, Y:-87.50, Z:-911.93 [[ 5.81566422e-01 8.00264482e-01 -1.46141220e-01 4.63738509e+02] [-7.76504095e-01 5.99646504e-01 1.93559967e-01 -8.74990806e+01] [ 2.42532238e-01 9.11278002e-04 9.70142919e-01 -9.11929015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.75, Y:-87.52, Z:-911.92 [[ 5.81166142e-01 8.00595239e-01 -1.45921827e-01 4.63754094e+02] [-7.76929961e-01 5.99204557e-01 1.93219397e-01 -8.75200259e+01] [ 2.42127553e-01 1.07846777e-03 9.70243828e-01 -9.11922732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.77, Y:-87.54, Z:-911.91 [[ 5.80699193e-01 8.00957823e-01 -1.45790993e-01 4.63769538e+02] [-7.77116605e-01 5.98720411e-01 1.93968171e-01 -8.75432514e+01] [ 2.42648367e-01 6.59441173e-04 9.70114084e-01 -9.11914667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.79, Y:-87.56, Z:-911.91 [[ 5.81474717e-01 8.00430964e-01 -1.45593357e-01 4.63785297e+02] [-7.76885477e-01 5.99424033e-01 1.92716852e-01 -8.75637867e+01] [ 2.41528692e-01 1.04938748e-03 9.70393111e-01 -9.11908433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.6965599950001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:463.80, Y:-87.59, Z:-911.90 [[ 5.82514834e-01 7.99697732e-01 -1.45464791e-01 4.63800888e+02] [-7.76207954e-01 6.00402233e-01 1.92401590e-01 -8.75855734e+01] [ 2.41200500e-01 8.34147727e-04 9.70474947e-01 -9.11901534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.82, Y:-87.61, Z:-911.89 [[ 5.86038551e-01 7.97111839e-01 -1.45504405e-01 4.63815533e+02] [-7.73557811e-01 6.03831673e-01 1.92342468e-01 -8.76088027e+01] [ 2.41178627e-01 -1.64032355e-04 9.70480728e-01 -9.11893806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.83, Y:-87.63, Z:-911.89 [[ 5.88149036e-01 7.95502189e-01 -1.45797731e-01 4.63830148e+02] [-7.71830960e-01 6.05950242e-01 1.92616911e-01 -8.76299634e+01] [ 2.41573344e-01 -7.56247971e-04 9.70382269e-01 -9.11886490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.85, Y:-87.65, Z:-911.88 [[ 5.90321204e-01 7.93859855e-01 -1.45970571e-01 4.63845904e+02] [-7.70094620e-01 6.08099147e-01 1.92794461e-01 -8.76524301e+01] [ 2.41816363e-01 -1.39950697e-03 9.70321023e-01 -9.11879030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.86, Y:-87.67, Z:-911.87 [[ 5.92270610e-01 7.92388486e-01 -1.46068515e-01 4.63862010e+02] [-7.68574934e-01 6.10013735e-01 1.92810303e-01 -8.76745488e+01] [ 2.41884465e-01 -1.93127650e-03 9.70303136e-01 -9.11872067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.88, Y:-87.70, Z:-911.87 [[ 5.94903794e-01 7.90384871e-01 -1.46223225e-01 4.63877873e+02] [-7.66489210e-01 6.12604757e-01 1.92898166e-01 -8.76959220e+01] [ 2.42040836e-01 -2.67732634e-03 9.70262370e-01 -9.11865130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.89, Y:-87.72, Z:-911.86 [[ 5.96251306e-01 7.89373177e-01 -1.46199751e-01 4.63894424e+02] [-7.65468261e-01 6.13906063e-01 1.92815165e-01 -8.77176112e+01] [ 2.41956033e-01 -3.05502505e-03 9.70282405e-01 -9.11858352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.91, Y:-87.74, Z:-911.85 [[ 5.97189323e-01 7.88722545e-01 -1.45882345e-01 4.63910910e+02] [-7.64932395e-01 6.14740807e-01 1.92281490e-01 -8.77395326e+01] [ 2.41336577e-01 -3.23832186e-03 9.70436072e-01 -9.11851905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.93, Y:-87.76, Z:-911.85 [[ 5.97451478e-01 7.88544697e-01 -1.45770346e-01 4.63926587e+02] [-7.64814599e-01 6.14968936e-01 1.92020408e-01 -8.77601710e+01] [ 2.41060909e-01 -3.23558797e-03 9.70504595e-01 -9.11845372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.94, Y:-87.78, Z:-911.84 [[ 5.97509437e-01 7.88527545e-01 -1.45625492e-01 4.63943012e+02] [-7.64857331e-01 6.14991077e-01 1.91779140e-01 -8.77817985e+01] [ 2.40781513e-01 -3.20712036e-03 9.70574046e-01 -9.11838318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.96, Y:-87.80, Z:-911.83 [[ 5.96647991e-01 7.89222352e-01 -1.45393445e-01 4.63958967e+02] [-7.65677077e-01 6.14100932e-01 1.91360026e-01 -8.78038839e+01] [ 2.40311860e-01 -2.85014682e-03 9.70691551e-01 -9.11830724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.97, Y:-87.83, Z:-911.82 [[ 5.96280679e-01 7.89515189e-01 -1.45310423e-01 4.63974664e+02] [-7.66033646e-01 6.13725260e-01 1.91138062e-01 -8.78254866e+01] [ 2.40087080e-01 -2.65926087e-03 9.70747713e-01 -9.11823459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.99, Y:-87.85, Z:-911.82 [[ 5.95908250e-01 7.89782598e-01 -1.45385028e-01 4.63990394e+02] [-7.66312064e-01 6.13381844e-01 1.91124393e-01 -8.78457433e+01] [ 2.40123256e-01 -2.48230218e-03 9.70739234e-01 -9.11816539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.01, Y:-87.87, Z:-911.81 [[ 5.95617963e-01 7.90054596e-01 -1.45096442e-01 4.64006741e+02] [-7.66698498e-01 6.13032033e-01 1.90696458e-01 -8.78665619e+01] [ 2.39609380e-01 -2.33701164e-03 9.70866563e-01 -9.11810086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.02, Y:-87.89, Z:-911.80 [[ 5.95813774e-01 7.89983278e-01 -1.44680223e-01 4.64022942e+02] [-7.66772840e-01 6.13123969e-01 1.90101056e-01 -8.78878004e+01] [ 2.38883568e-01 -2.32796267e-03 9.71045427e-01 -9.11803105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.04, Y:-87.91, Z:-911.80 [[ 5.94647587e-01 7.89941417e-01 -1.49622209e-01 4.64041496e+02] [-7.67813657e-01 6.13166187e-01 1.85713261e-01 -8.79094894e+01] [ 2.38445876e-01 4.44803322e-03 9.71145602e-01 -9.11800028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.33, Y:-87.36, Z:-910.70 [[ 6.41059976e-01 -7.40587545e-01 2.01425407e-01 4.64331062e+02] [-7.29154454e-01 -6.69599133e-01 -1.41318028e-01 -8.73587649e+01] [ 2.39532649e-01 -5.62769013e-02 -9.69255911e-01 -9.10700706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:-87.35, Z:-910.71 [[ 6.97420863e-01 -6.98487709e-01 1.60371632e-01 4.64353114e+02] [-6.75418381e-01 -7.15434830e-01 -1.78782031e-01 -8.73500295e+01] [ 2.39612503e-01 1.63683698e-02 -9.70730614e-01 -9.10714605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.34, Y:-87.36, Z:-910.71 [[ 7.49635803e-01 -6.38761512e-01 1.73291357e-01 4.64343452e+02] [-6.17455840e-01 -7.69233323e-01 -1.64403104e-01 -8.73649976e+01] [ 2.38315861e-01 1.62426923e-02 -9.71051865e-01 -9.10707687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.33, Y:-87.38, Z:-910.70 [[ 7.96396202e-01 -5.75818342e-01 1.84895447e-01 4.64333969e+02] [-5.56409085e-01 -8.17423910e-01 -1.49087496e-01 -8.73804970e+01] [ 2.36985274e-01 1.58552095e-02 -9.71383854e-01 -9.10700508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.33, Y:-87.40, Z:-910.69 [[ 8.38344988e-01 -5.08734700e-01 1.95874159e-01 4.64325966e+02] [-4.91188994e-01 -8.60782009e-01 -1.33370557e-01 -8.73985916e+01] [ 2.36455182e-01 1.55993073e-02 -9.71517168e-01 -9.10693588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.33, Y:-87.41, Z:-910.69 [[ 8.74096417e-01 -4.45088093e-01 1.94556015e-01 4.64326131e+02] [-4.23914173e-01 -8.94523482e-01 -1.41860899e-01 -8.74086619e+01] [ 2.37175521e-01 4.15250514e-02 -9.70578921e-01 -9.10689316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.356559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:464.36, Y:-87.37, Z:-910.73 [[ 9.07642416e-01 -3.95277947e-01 1.41211152e-01 4.64361557e+02] [-3.53680325e-01 -9.01381147e-01 -2.49844465e-01 -8.73674274e+01] [ 2.26043078e-01 1.76825827e-01 -9.57933794e-01 -9.10733854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:-87.46, Z:-910.67 [[ 9.33580302e-01 -2.90530744e-01 2.09808738e-01 4.64315082e+02] [-2.80172562e-01 -9.56760100e-01 -7.81885383e-02 -8.74643859e+01] [ 2.23452803e-01 1.42126277e-02 -9.74611126e-01 -9.10670661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.31, Y:-87.48, Z:-910.66 [[ 9.53399109e-01 -2.12308891e-01 2.14371346e-01 4.64314287e+02] [-2.03910715e-01 -9.77098344e-01 -6.08214299e-02 -8.74844583e+01] [ 2.22374817e-01 1.42744827e-02 -9.74856749e-01 -9.10664374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:-87.50, Z:-910.66 [[ 9.67212070e-01 -1.33545800e-01 2.16023914e-01 4.64316327e+02] [-1.24806280e-01 -9.90728607e-01 -5.36676880e-02 -8.75009919e+01] [ 2.21188166e-01 2.49468944e-02 -9.74912021e-01 -9.10658110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:-87.49, Z:-910.67 [[ 9.75602559e-01 -6.28664871e-02 2.10350785e-01 4.64323960e+02] [-4.46160485e-02 -9.94904394e-01 -9.04137973e-02 -8.74926788e+01] [ 2.14962918e-01 7.88229111e-02 -9.73436127e-01 -9.10670633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.32, Y:-87.54, Z:-910.64 [[ 9.76487589e-01 3.03806507e-02 2.13422128e-01 4.64323227e+02] [ 3.55681601e-02 -9.99156811e-01 -2.05078682e-02 -8.75401973e+01] [ 2.12619131e-01 2.76167112e-02 -9.76744809e-01 -9.10643789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.33, Y:-87.52, Z:-910.66 [[ 9.71778896e-01 9.87819392e-02 2.14214626e-01 4.64330426e+02] [ 1.16037758e-01 -9.90809941e-01 -6.95046722e-02 -8.75217960e+01] [ 2.05380175e-01 9.24001586e-02 -9.74310625e-01 -9.10659650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.34, Y:-87.56, Z:-910.63 [[ 9.59448504e-01 1.94440423e-01 2.04086966e-01 4.64336588e+02] [ 1.96690430e-01 -9.80420551e-01 9.40309169e-03 -8.75568380e+01] [ 2.01919397e-01 3.11201708e-02 -9.78907602e-01 -9.10628684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.596559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:464.34, Y:-87.51, Z:-910.65 [[ 9.42586964e-01 2.53300724e-01 2.17643193e-01 4.64335401e+02] [ 2.72193255e-01 -9.60293552e-01 -6.12137752e-02 -8.75094988e+01] [ 1.93495861e-01 1.16940316e-01 -9.74106932e-01 -9.10653091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:-87.58, Z:-910.61 [[ 9.17965100e-01 3.51155197e-01 1.84472500e-01 4.64353148e+02] [ 3.47432132e-01 -9.36193351e-01 5.32252163e-02 -8.75771097e+01] [ 1.91392239e-01 1.52327829e-02 -9.81395422e-01 -9.10614644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.656559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.36, Y:-87.59, Z:-910.61 [[ 8.87842135e-01 4.24160628e-01 1.78393120e-01 4.64364042e+02] [ 4.19063471e-01 -9.05462076e-01 6.72624432e-02 -8.75909581e+01] [ 1.90058285e-01 1.50396087e-02 -9.81657608e-01 -9.10608617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.37, Y:-87.60, Z:-910.60 [[ 8.53194313e-01 4.92709570e-01 1.71162918e-01 4.64374112e+02] [ 4.86286156e-01 -8.70073666e-01 8.06076380e-02 -8.76018653e+01] [ 1.88640502e-01 1.44601792e-02 -9.81939746e-01 -9.10602955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.39, Y:-87.61, Z:-910.60 [[ 8.12450883e-01 5.59645078e-01 1.63465439e-01 4.64385770e+02] [ 5.51947269e-01 -8.28610890e-01 9.35852861e-02 -8.76112337e+01] [ 1.87823788e-01 1.41908544e-02 -9.82100221e-01 -9.10597576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.40, Y:-87.62, Z:-910.59 [[ 7.66683641e-01 6.23038029e-01 1.54983252e-01 4.64399392e+02] [ 6.14111640e-01 -7.82067921e-01 1.06003117e-01 -8.76220118e+01] [ 1.87251403e-01 1.39061637e-02 -9.82213587e-01 -9.10591923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.776559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.41, Y:-87.63, Z:-910.59 [[ 7.15797176e-01 6.82987604e-01 1.45472802e-01 4.64413231e+02] [ 6.72928354e-01 -7.30301078e-01 1.17591521e-01 -8.76316219e+01] [ 1.86552496e-01 1.37210945e-02 -9.82349173e-01 -9.10586181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.43, Y:-87.64, Z:-910.58 [[ 6.59956258e-01 7.39025694e-01 1.35272913e-01 4.64428270e+02] [ 7.27893265e-01 -6.73538968e-01 1.28517135e-01 -8.76412167e+01] [ 1.86089043e-01 1.36485554e-02 -9.82438082e-01 -9.10580713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.44, Y:-87.65, Z:-910.57 [[ 5.99036412e-01 7.90935008e-01 1.24808618e-01 4.64443529e+02] [ 7.78693394e-01 -6.11745802e-01 1.39297062e-01 -8.76492555e+01] [ 1.86526071e-01 1.37436344e-02 -9.82353876e-01 -9.10574744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.46, Y:-87.66, Z:-910.57 [[ 5.34157498e-01 8.37756037e-01 1.13316328e-01 4.64458070e+02] [ 8.24524217e-01 -5.45868597e-01 1.48953988e-01 -8.76561493e+01] [ 1.86642927e-01 1.38671669e-02 -9.82329944e-01 -9.10569518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.47, Y:-87.66, Z:-910.56 [[ 4.65729829e-01 8.79144730e-01 1.00996391e-01 4.64472831e+02] [ 8.65037049e-01 -4.76348649e-01 1.57489264e-01 -8.76613660e+01] [ 1.86565351e-01 1.40181716e-02 -9.82342538e-01 -9.10564185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.49, Y:-87.67, Z:-910.56 [[ 3.94155220e-01 9.14816478e-01 8.80481360e-02 4.64488391e+02] [ 8.99918079e-01 -4.03620606e-01 1.65038961e-01 -8.76652906e+01] [ 1.86518403e-01 1.41851412e-02 -9.82349056e-01 -9.10558293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.50, Y:-87.67, Z:-910.55 [[ 3.19143975e-01 9.44775076e-01 7.44793879e-02 4.64501363e+02] [ 9.29215470e-01 -3.27397911e-01 1.71374497e-01 -8.76690690e+01] [ 1.86294750e-01 1.45142612e-02 -9.82386687e-01 -9.10552734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.52, Y:-87.67, Z:-910.55 [[ 2.43220858e-01 9.68090556e-01 6.03679513e-02 4.64516648e+02] [ 9.52032571e-01 -2.50174013e-01 1.76201438e-01 -8.76714621e+01] [ 1.85681441e-01 1.46163909e-02 -9.82501279e-01 -9.10547532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.53, Y:-87.67, Z:-910.54 [[ 1.65725339e-01 9.85096621e-01 4.60408473e-02 4.64531896e+02] [ 9.68558769e-01 -1.71372142e-01 1.80348275e-01 -8.76729406e+01] [ 1.85550595e-01 1.47049874e-02 -9.82524677e-01 -9.10542027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.55, Y:-87.67, Z:-910.54 [[ 8.73728501e-02 9.95681855e-01 3.13628724e-02 4.64545985e+02] [ 9.78927327e-01 -9.16507419e-02 1.82486797e-01 -8.76738488e+01] [ 1.84573223e-01 1.47575813e-02 -9.82707962e-01 -9.10537217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.56, Y:-87.67, Z:-910.53 [[ 4.30691718e-03 9.99851857e-01 1.66648004e-02 4.64562281e+02] [ 9.82730909e-01 -7.31487570e-03 1.84895789e-01 -8.76727085e+01] [ 1.84990299e-01 1.55806836e-02 -9.82616829e-01 -9.10532045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.58, Y:-87.67, Z:-910.53 [[-7.66631654e-02 9.97055259e-01 1.88952923e-03 4.64578371e+02] [ 9.79961233e-01 7.49991093e-02 1.84529446e-01 -8.76714513e+01] [ 1.83844342e-01 1.59982769e-02 -9.82825169e-01 -9.10527021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.63, Y:-87.69, Z:-910.53 [[-1.56011327e-01 9.87673756e-01 -1.26892975e-02 4.64625369e+02] [ 9.70748672e-01 1.55686174e-01 1.82780827e-01 -8.76929977e+01] [ 1.82503374e-01 1.61977605e-02 -9.83071794e-01 -9.10526566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.67, Y:-87.71, Z:-910.53 [[-2.32964909e-01 9.72106361e-01 -2.71399120e-02 4.64673432e+02] [ 9.55317955e-01 2.33983900e-01 1.80607697e-01 -8.77106741e+01] [ 1.81920194e-01 1.61480105e-02 -9.83180698e-01 -9.10526602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.72, Y:-87.72, Z:-910.53 [[-3.08829782e-01 9.50236582e-01 -4.09219223e-02 4.64723454e+02] [ 9.33925184e-01 3.11110191e-01 1.76051699e-01 -8.77243727e+01] [ 1.80021992e-01 1.61519940e-02 -9.83529967e-01 -9.10526368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.78, Y:-87.73, Z:-910.53 [[-3.80657927e-01 9.23131676e-01 -5.41059241e-02 4.64776376e+02] [ 9.07414703e-01 3.84161304e-01 1.70348610e-01 -8.77338345e+01] [ 1.78039601e-01 1.57480378e-02 -9.83897302e-01 -9.10525080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.256559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.83, Y:-87.74, Z:-910.53 [[-4.50338050e-01 8.90320479e-01 -6.72687516e-02 4.64828290e+02] [ 8.75051380e-01 4.55073996e-01 1.64902215e-01 -8.77412959e+01] [ 1.77428078e-01 1.53981279e-02 -9.84013300e-01 -9.10525249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.88, Y:-87.74, Z:-910.53 [[-5.15290414e-01 8.53251868e-01 -8.02311628e-02 4.64878203e+02] [ 8.38440210e-01 5.21293328e-01 1.58969434e-01 -8.77442484e+01] [ 1.77464936e-01 1.46463923e-02 -9.84018130e-01 -9.10526452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.93, Y:-87.74, Z:-910.53 [[-5.78892405e-01 8.10106945e-01 -9.27918171e-02 4.64930662e+02] [ 7.95809089e-01 5.86108628e-01 1.52199118e-01 -8.77437994e+01] [ 1.77683647e-01 1.42623419e-02 -9.83984302e-01 -9.10527116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.98, Y:-87.74, Z:-910.53 [[-6.39380416e-01 7.61728240e-01 -1.04703255e-01 4.64982044e+02] [ 7.48060248e-01 6.47746336e-01 1.44327926e-01 -8.77375153e+01] [ 1.77759807e-01 1.39561068e-02 -9.83974938e-01 -9.10527244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.03, Y:-87.73, Z:-910.53 [[-6.96243598e-01 7.08364981e-01 -1.16034074e-01 4.65032387e+02] [ 6.95400046e-01 7.05712941e-01 1.35602438e-01 -8.77269848e+01] [ 1.77942766e-01 1.37222292e-02 -9.83945157e-01 -9.10527099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.08, Y:-87.71, Z:-910.53 [[-7.48770084e-01 6.50699636e-01 -1.26227359e-01 4.65082622e+02] [ 6.38595487e-01 7.59215689e-01 1.25647690e-01 -8.77122178e+01] [ 1.77592697e-01 1.34730101e-02 -9.84011846e-01 -9.10526723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.13, Y:-87.69, Z:-910.53 [[-7.97197744e-01 5.88370066e-01 -1.35264271e-01 4.65131581e+02] [ 5.77233297e-01 8.08481191e-01 1.14716545e-01 -8.76938404e+01] [ 1.76854400e-01 1.33727299e-02 -9.84146174e-01 -9.10526847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:465.18, Y:-87.67, Z:-910.52 [[-8.40916108e-01 5.22038020e-01 -1.42605767e-01 4.65176456e+02] [ 5.12010034e-01 8.52817768e-01 1.02701413e-01 -8.76708068e+01] [ 1.75230774e-01 1.33476890e-02 -9.84436903e-01 -9.10524594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.22, Y:-87.65, Z:-910.53 [[-8.79429644e-01 4.51765940e-01 -1.50036787e-01 4.65221361e+02] [ 4.42748053e-01 8.92035320e-01 9.08138167e-02 -8.76456650e+01] [ 1.74864703e-01 1.34358672e-02 -9.84500794e-01 -9.10527006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.05, Y:-87.53, Z:-910.48 [[-9.11592990e-01 3.80566012e-01 -1.55459740e-01 4.65054367e+02] [ 3.71082661e-01 9.24496762e-01 8.71974513e-02 -8.75313138e+01] [ 1.76906412e-01 2.18001715e-02 -9.83986216e-01 -9.10484830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.556559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:465.20, Y:-87.57, Z:-910.52 [[-9.38724947e-01 3.14146568e-01 -1.41800594e-01 4.65199722e+02] [ 2.99199463e-01 9.46964938e-01 1.17205327e-01 -8.75685848e+01] [ 1.71099841e-01 6.75969026e-02 -9.82932095e-01 -9.10520469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.33, Y:-87.55, Z:-910.53 [[-9.60641413e-01 2.33300992e-01 -1.50793645e-01 4.65332064e+02] [ 2.22553898e-01 9.71222285e-01 8.48353480e-02 -8.75503923e+01] [ 1.66246320e-01 4.79366349e-02 -9.84918393e-01 -9.10533360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.616559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.38, Y:-87.49, Z:-910.52 [[-9.75221721e-01 1.50754502e-01 -1.61912552e-01 4.65375718e+02] [ 1.46617290e-01 9.88490792e-01 3.72736437e-02 -8.74947310e+01] [ 1.65668237e-01 1.26108874e-02 -9.86100908e-01 -9.10522111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.41, Y:-87.45, Z:-910.52 [[-9.83790244e-01 7.18427243e-02 -1.64302708e-01 4.65407756e+02] [ 6.87864292e-02 9.97337276e-01 2.42236362e-02 -8.74540109e+01] [ 1.65605508e-01 1.25291803e-02 -9.86112486e-01 -9.10522708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.676559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:465.43, Y:-87.41, Z:-910.52 [[-9.86222185e-01 -7.52165808e-03 -1.65255034e-01 4.65434207e+02] [-9.47615517e-03 9.99894134e-01 1.10419189e-02 -8.74107539e+01] [ 1.65154485e-01 1.24557677e-02 -9.86189054e-01 -9.10521510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.45, Y:-87.37, Z:-910.52 [[-9.82211626e-01 -8.85946162e-02 -1.65563631e-01 4.65454819e+02] [-8.94710097e-02 9.95987058e-01 -2.17212688e-03 -8.73661922e+01] [ 1.65091672e-01 1.26796569e-02 -9.86196718e-01 -9.10521487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.736559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:465.48, Y:-87.32, Z:-910.52 [[-9.72034822e-01 -1.68207261e-01 -1.63873801e-01 4.65475707e+02] [-1.68004488e-01 9.85669075e-01 -1.51975683e-02 -8.73200267e+01] [ 1.64081680e-01 1.27589685e-02 -9.86364239e-01 -9.10521040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.49, Y:-87.27, Z:-910.52 [[-9.55252668e-01 -2.46816135e-01 -1.63015752e-01 4.65487803e+02] [-2.45505948e-01 9.68977296e-01 -2.84574939e-02 -8.72733607e+01] [ 1.64982331e-01 1.28372397e-02 -9.86212977e-01 -9.10520738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.796559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.50, Y:-87.22, Z:-910.52 [[-9.32556563e-01 -3.23228896e-01 -1.60814606e-01 4.65504809e+02] [-3.20801168e-01 9.46233917e-01 -4.15690474e-02 -8.72233322e+01] [ 1.65604552e-01 1.28240253e-02 -9.86108857e-01 -9.10522043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.51, Y:-87.17, Z:-910.52 [[-9.04378245e-01 -3.97012357e-01 -1.56464621e-01 4.65512036e+02] [-3.93525242e-01 9.17725168e-01 -5.40222091e-02 -8.71748029e+01] [ 1.65039005e-01 1.27162671e-02 -9.86205062e-01 -9.10521388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.856559995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:465.52, Y:-87.13, Z:-910.52 [[-8.70806904e-01 -4.68186758e-01 -1.49988321e-01 4.65517608e+02] [-4.63762091e-01 8.83540019e-01 -6.54351399e-02 -8.71257871e+01] [ 1.63156550e-01 1.25775259e-02 -9.86520018e-01 -9.10520644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:465.52, Y:-87.08, Z:-910.52 [[-8.31304921e-01 -5.36950797e-01 -1.43582625e-01 4.65516107e+02] [-5.31593629e-01 8.43519918e-01 -7.66965569e-02 -8.70771254e+01] [ 1.62297081e-01 1.25693834e-02 -9.86661881e-01 -9.10519904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.51, Y:-87.03, Z:-910.52 [[-7.85787417e-01 -6.03154962e-01 -1.36902255e-01 4.65507323e+02] [-5.96866797e-01 7.97522523e-01 -8.77943788e-02 -8.70320405e+01] [ 1.62136247e-01 1.27246922e-02 -9.86686333e-01 -9.10520799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.50, Y:-86.98, Z:-910.52 [[-7.36927879e-01 -6.63372043e-01 -1.29903177e-01 4.65503260e+02] [-6.56250615e-01 7.48174087e-01 -9.78297762e-02 -8.69766831e+01] [ 1.62087729e-01 1.31555502e-02 -9.86688654e-01 -9.10521096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.48, Y:-86.94, Z:-910.52 [[-6.79510825e-01 -7.23097047e-01 -1.24079408e-01 4.65483787e+02] [-7.15912622e-01 6.90496172e-01 -1.03364189e-01 -8.69399565e+01] [ 1.60418696e-01 1.85929294e-02 -9.86873926e-01 -9.10520928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:464.91, Y:-86.65, Z:-911.62 [[-6.80016262e-01 7.23196894e-01 1.20681961e-01 4.64909725e+02] [-7.11919926e-01 -6.90641658e-01 1.27216820e-01 -8.66541740e+01] [ 1.75350799e-01 5.93613976e-04 9.84505838e-01 -9.11621112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.036559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.46, Y:-86.89, Z:-910.52 [[-6.17746572e-01 -7.78583183e-01 -1.10441842e-01 4.65459473e+02] [-7.70099542e-01 6.27391055e-01 -1.15443317e-01 -8.68947691e+01] [ 1.59172449e-01 1.37364985e-02 -9.87155226e-01 -9.10516519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.75, Y:-86.45, Z:-910.73 [[-5.98612110e-01 -2.40576334e-01 7.64059271e-01 4.64752956e+02] [-7.65411320e-01 -1.09516209e-01 -6.34154327e-01 -8.64455143e+01] [ 2.36239398e-01 -9.64432075e-01 -1.18582121e-01 -9.10727000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.096559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:464.79, Y:-86.75, Z:-911.63 [[-6.07029587e-01 7.80522333e-01 1.49331735e-01 4.64791903e+02] [-7.57618587e-01 -6.25127384e-01 1.87696113e-01 -8.67523456e+01] [ 2.39852365e-01 8.00595713e-04 9.70809045e-01 -9.11627583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.66, Y:-86.91, Z:-911.57 [[-6.04667923e-01 7.80375877e-01 1.59343006e-01 4.64655778e+02] [-7.58134416e-01 -6.25248467e-01 1.85193311e-01 -8.69117949e+01] [ 2.44149363e-01 -8.82296244e-03 9.69697501e-01 -9.11569192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.156559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:465.52, Y:-87.31, Z:-911.17 [[-6.04736816e-01 -1.07317099e-01 -7.89161849e-01 4.65515496e+02] [-7.78435273e-01 2.89064588e-01 5.57207492e-01 -8.73051179e+01] [ 1.68320853e-01 9.51275304e-01 -2.58347414e-01 -9.11165091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.74, Y:-86.80, Z:-911.57 [[-5.97312164e-01 7.94955400e-01 1.06132422e-01 4.64742328e+02] [-7.82799327e-01 -6.06667770e-01 1.38489822e-01 -8.67996666e+01] [ 1.74480351e-01 -3.58733086e-04 9.84660591e-01 -9.11574920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.2165599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:464.74, Y:-86.80, Z:-911.58 [[-5.96899427e-01 7.95214023e-01 1.06516347e-01 4.64740494e+02] [-7.82992966e-01 -6.06328627e-01 1.38879848e-01 -8.68019186e+01] [ 1.75023113e-01 -5.04248548e-04 9.84564196e-01 -9.11576001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:465.30, Y:-87.00, Z:-910.47 [[-5.40025836e-01 -8.35820166e-01 -9.88774355e-02 4.65304480e+02] [-8.26066895e-01 5.48858919e-01 -1.27935030e-01 -8.69985596e+01] [ 1.61200441e-01 1.25911545e-02 -9.86841366e-01 -9.10469472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.276559995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:464.69, Y:-86.83, Z:-911.57 [[-5.35397583e-01 8.39152071e-01 9.57769766e-02 4.64687880e+02] [-8.26110533e-01 -5.43896821e-01 1.47369043e-01 -8.68285338e+01] [ 1.75757831e-01 -2.21339761e-04 9.84433409e-01 -9.11571975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.69, Y:-86.83, Z:-911.57 [[-5.37836844e-01 8.37582765e-01 9.58469668e-02 4.64690978e+02] [-8.24519358e-01 -5.46310407e-01 1.47352529e-01 -8.68291057e+01] [ 1.75782134e-01 2.23939773e-04 9.84429069e-01 -9.11571682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.336559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:464.69, Y:-86.83, Z:-911.57 [[-5.38314004e-01 8.37151851e-01 9.69268372e-02 4.64689977e+02] [-8.23805967e-01 -5.46970465e-01 1.48885997e-01 -8.68319061e+01] [ 1.77656305e-01 2.98510263e-04 9.84092551e-01 -9.11572935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:464.69, Y:-86.84, Z:-911.57 [[-5.38833985e-01 8.36738837e-01 9.76015100e-02 4.64686985e+02] [-8.23221292e-01 -5.47602030e-01 1.49795598e-01 -8.68371087e+01] [ 1.78786579e-01 3.67317667e-04 9.83887811e-01 -9.11572188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.69, Y:-86.84, Z:-911.57 [[-5.39847271e-01 8.36091965e-01 9.75456322e-02 4.64687055e+02] [-8.22602366e-01 -5.48589067e-01 1.49584034e-01 -8.68366544e+01] [ 1.78578476e-01 5.11264481e-04 9.83925539e-01 -9.11570589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.68, Y:-86.85, Z:-911.57 [[-5.40519777e-01 8.35780247e-01 9.64870478e-02 4.64678187e+02] [-8.21925779e-01 -5.49057836e-01 1.51570138e-01 -8.68524220e+01] [ 1.79656297e-01 2.62146524e-03 9.83725949e-01 -9.11567564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.4565599950001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:464.57, Y:-86.66, Z:-910.62 [[-5.07785891e-01 -3.14411730e-01 8.02059071e-01 4.64573681e+02] [-8.29473847e-01 -7.29921747e-02 -5.53755613e-01 -8.66601410e+01] [ 2.32651296e-01 -9.46476311e-01 -2.23731911e-01 -9.10623880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.61, Y:-86.95, Z:-911.57 [[-5.21132137e-01 8.43420316e-01 1.30627202e-01 4.64607827e+02] [-8.17634646e-01 -5.37253266e-01 2.06960178e-01 -8.69532088e+01] [ 2.44734310e-01 1.04827401e-03 9.69589614e-01 -9.11574916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.61, Y:-86.96, Z:-911.58 [[-5.22064678e-01 8.42836157e-01 1.30673959e-01 4.64610859e+02] [-8.17058933e-01 -5.38168854e-01 2.06854987e-01 -8.69554286e+01] [ 2.44669517e-01 1.22335689e-03 9.69605761e-01 -9.11575748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:464.61, Y:-86.96, Z:-911.58 [[-5.21831700e-01 8.42873520e-01 1.31361737e-01 4.64610130e+02] [-8.16866887e-01 -5.38110576e-01 2.07763080e-01 -8.69581534e+01] [ 2.45805138e-01 1.11230802e-03 9.69318625e-01 -9.11576652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.576559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.60, Y:-86.97, Z:-911.57 [[-5.22587669e-01 8.42509662e-01 1.30688937e-01 4.64601762e+02] [-8.16806501e-01 -5.38679944e-01 2.06521326e-01 -8.69718949e+01] [ 2.44395722e-01 1.17792484e-03 9.69674865e-01 -9.11571068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:464.61, Y:-86.96, Z:-911.58 [[-5.21325223e-01 8.43120105e-01 1.31789609e-01 4.64607300e+02] [-8.17040692e-01 -5.37724698e-01 2.08078487e-01 -8.69621101e+01] [ 2.46301684e-01 7.99089989e-04 9.69192882e-01 -9.11575844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.636559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:464.61, Y:-86.97, Z:-911.57 [[-5.19860075e-01 8.44020327e-01 1.31814982e-01 4.64605346e+02] [-8.18004995e-01 -5.36311115e-01 2.07938011e-01 -8.69661562e+01] [ 2.46197748e-01 2.73356541e-04 9.69219580e-01 -9.11574401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:464.60, Y:-86.96, Z:-911.57 [[-5.20862260e-01 8.43315553e-01 1.32368367e-01 4.64603978e+02] [-8.17101536e-01 -5.37418477e-01 2.08629962e-01 -8.69646745e+01] [ 2.47078097e-01 5.09077338e-04 9.68995436e-01 -9.11574532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.6965599950001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:464.60, Y:-86.97, Z:-911.57 [[-5.21090966e-01 8.43065996e-01 1.33056124e-01 4.64597713e+02] [-8.16613039e-01 -5.37809860e-01 2.09532096e-01 -8.69724884e+01] [ 2.48208281e-01 5.29916811e-04 9.68706544e-01 -9.11572399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:464.60, Y:-86.97, Z:-911.57 [[-5.21335491e-01 8.42836165e-01 1.33553383e-01 4.64600713e+02] [-8.16221356e-01 -5.38169962e-01 2.10132794e-01 -8.69672781e+01] [ 2.48981938e-01 5.40559777e-04 9.68507978e-01 -9.11573002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.60, Y:-86.97, Z:-911.57 [[-5.21870907e-01 8.42471697e-01 1.33761713e-01 4.64597715e+02] [-8.15807474e-01 -5.38740255e-01 2.10278632e-01 -8.69702603e+01] [ 2.49216616e-01 6.14495123e-04 9.68447573e-01 -9.11570133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:465.22, Y:-87.03, Z:-910.48 [[-4.56280927e-01 -8.82182624e-01 -1.16453998e-01 4.65215204e+02] [-8.63772451e-01 4.70549490e-01 -1.80223003e-01 -8.70317866e+01] [ 2.13786971e-01 1.83574360e-02 -9.76707805e-01 -9.10480197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.816559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:465.18, Y:-87.00, Z:-910.48 [[-3.86477235e-01 -9.16722548e-01 -1.01267550e-01 4.65181002e+02] [-8.97354452e-01 3.99114519e-01 -1.88315131e-01 -8.69968977e+01] [ 2.13050076e-01 1.80933757e-02 -9.76873736e-01 -9.10478225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.14, Y:-86.97, Z:-910.48 [[-3.14114896e-01 -9.45493670e-01 -8.58693967e-02 4.65143015e+02] [-9.25111930e-01 3.25150929e-01 -1.96073433e-01 -8.69686697e+01] [ 2.13306704e-01 1.78492173e-02 -9.76822223e-01 -9.10476364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.876559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.10, Y:-86.95, Z:-910.47 [[-2.40825470e-01 -9.68040717e-01 -7.00018853e-02 4.65100551e+02] [-9.46721600e-01 2.50186343e-01 -2.02793014e-01 -8.69507586e+01] [ 2.13825410e-01 1.74345740e-02 -9.76716300e-01 -9.10472714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:465.06, Y:-86.94, Z:-910.47 [[-1.66485765e-01 -9.84598136e-01 -5.33760257e-02 4.65055560e+02] [-9.62856048e-01 1.74002530e-01 -2.06473609e-01 -8.69424602e+01] [ 2.12581094e-01 1.70185123e-02 -9.76995214e-01 -9.10465755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.936559995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:465.01, Y:-86.94, Z:-910.46 [[-9.02268453e-02 -9.95237449e-01 -3.68990038e-02 4.65009562e+02] [-9.73105186e-01 9.59844273e-02 -2.09411763e-01 -8.69406095e+01] [ 2.11956158e-01 1.70120492e-02 -9.77131095e-01 -9.10458473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.96, Y:-86.94, Z:-910.45 [[-1.24971621e-02 -9.99718049e-01 -2.01901645e-02 4.64964241e+02] [-9.76877318e-01 1.65166207e-02 -2.13161694e-01 -8.69404450e+01] [ 2.13435066e-01 1.70593975e-02 -9.76808297e-01 -9.10454384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.996559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:464.92, Y:-86.94, Z:-910.45 [[ 6.43489928e-02 -9.97921607e-01 -3.41671257e-03 4.64918713e+02] [-9.75234385e-01 -6.21593121e-02 -2.12259544e-01 -8.69409216e+01] [ 2.11606005e-01 1.69907835e-02 -9.77207354e-01 -9.10446577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:464.90, Y:-86.95, Z:-910.44 [[ 1.42766163e-01 -9.89669468e-01 1.31212360e-02 4.64901044e+02] [-9.67268820e-01 -1.42320085e-01 -2.10085755e-01 -8.69451991e+01] [ 2.09782873e-01 1.73013747e-02 -9.77594911e-01 -9.10439271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.056559995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:464.35, Y:-87.31, Z:-911.52 [[ 1.46688049e-01 9.88522747e-01 -3.61302582e-02 4.64353365e+02] [-9.58861331e-01 1.51070865e-01 2.40338390e-01 -8.73118667e+01] [ 2.43038195e-01 -6.10862014e-04 9.70016527e-01 -9.11522763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:464.36, Y:-87.34, Z:-911.52 [[ 1.46759050e-01 9.88509753e-01 -3.61973821e-02 4.64357816e+02] [-9.58839402e-01 1.51156029e-01 2.40372328e-01 -8.73393915e+01] [ 2.43081843e-01 -5.69338305e-04 9.70005615e-01 -9.11516622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.116559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:464.36, Y:-87.37, Z:-911.51 [[ 1.46372728e-01 9.88569070e-01 -3.61416432e-02 4.64359714e+02] [-9.59102153e-01 1.50768140e-01 2.39566335e-01 -8.73656045e+01] [ 2.42276878e-01 -4.02450314e-04 9.70207067e-01 -9.11510067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:464.36, Y:-87.39, Z:-911.50 [[ 1.46069280e-01 9.88616508e-01 -3.60716654e-02 4.64362878e+02] [-9.59319567e-01 1.50457021e-01 2.38890462e-01 -8.73923926e+01] [ 2.41598290e-01 -2.90303310e-04 9.70376310e-01 -9.11501592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.90, Y:-87.06, Z:-910.41 [[ 2.22949868e-01 -9.74352087e-01 3.05182988e-02 4.64904474e+02] [-9.51702947e-01 -2.24332652e-01 -2.09610025e-01 -8.70581901e+01] [ 2.11080216e-01 1.76881725e-02 -9.77308688e-01 -9.10409885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:464.89, Y:-87.07, Z:-910.40 [[ 3.00659560e-01 -9.52554784e-01 4.73625681e-02 4.64887820e+02] [-9.30057259e-01 -3.03830665e-01 -2.06592406e-01 -8.70660160e+01] [ 2.11180785e-01 1.80640815e-02 -9.77280085e-01 -9.10401140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.236559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:464.87, Y:-87.07, Z:-910.40 [[ 3.76102676e-01 -9.24374884e-01 6.38580515e-02 4.64873198e+02] [-9.02198692e-01 -3.81041442e-01 -2.02101311e-01 -8.70736735e+01] [ 2.11149939e-01 1.83981932e-02 -9.77280517e-01 -9.10395686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:464.42, Y:-87.56, Z:-911.48 [[ 3.65925082e-01 9.26245965e-01 -9.03728214e-02 4.64424189e+02] [-8.99992600e-01 3.76917696e-01 2.18966596e-01 -8.75595205e+01] [ 2.36880041e-01 1.20950091e-03 9.71538153e-01 -9.11477490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.296559995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:464.44, Y:-87.59, Z:-911.47 [[ 3.65091881e-01 9.26570636e-01 -9.04144692e-02 4.64435659e+02] [-9.00345355e-01 3.76117856e-01 2.18891755e-01 -8.75850030e+01] [ 2.36825169e-01 1.48864491e-03 9.71551143e-01 -9.11472353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:464.45, Y:-87.61, Z:-911.47 [[ 3.64733484e-01 9.26757849e-01 -8.99409497e-02 4.64446267e+02] [-9.00857607e-01 3.75655572e-01 2.17574043e-01 -8.76087987e+01] [ 2.35425271e-01 1.66745013e-03 9.71891024e-01 -9.11466263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.356559995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:464.46, Y:-87.63, Z:-911.46 [[ 3.65776518e-01 9.26325367e-01 -9.01601567e-02 4.64456464e+02] [-9.00303826e-01 3.76721764e-01 2.18022325e-01 -8.76345359e+01] [ 2.35924903e-01 1.42408708e-03 9.71770247e-01 -9.11461400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:464.47, Y:-87.66, Z:-911.46 [[ 3.66906590e-01 9.25895749e-01 -8.99812000e-02 4.64465511e+02] [-9.00007851e-01 3.77777174e-01 2.17417285e-01 -8.76594134e+01] [ 2.35298583e-01 1.21195179e-03 9.71922378e-01 -9.11455066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.416559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:464.47, Y:-87.69, Z:-911.45 [[ 3.68252690e-01 9.25396241e-01 -8.96200480e-02 4.64474945e+02] [-8.99723414e-01 3.78999936e-01 2.16464380e-01 -8.76851573e+01] [ 2.34281316e-01 9.19665286e-04 9.72168411e-01 -9.11447762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.48, Y:-87.71, Z:-911.44 [[ 3.69811130e-01 9.24823077e-01 -8.91179257e-02 4.64484461e+02] [-8.99465771e-01 3.80397020e-01 2.15080065e-01 -8.77108116e+01] [ 2.32811201e-01 6.19521766e-04 9.72521754e-01 -9.11440326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4765599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:464.50, Y:-87.74, Z:-911.44 [[ 3.70330086e-01 9.24580352e-01 -8.94807312e-02 4.64495056e+02] [-8.99047228e-01 3.80986728e-01 2.15785066e-01 -8.77355709e+01] [ 2.33601603e-01 5.35701426e-04 9.72332250e-01 -9.11436378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:464.51, Y:-87.76, Z:-911.43 [[ 3.69962703e-01 9.24749984e-01 -8.92472174e-02 4.64505485e+02] [-8.99375488e-01 3.80574587e-01 2.15143478e-01 -8.77603223e+01] [ 2.32919151e-01 6.71696886e-04 9.72495871e-01 -9.11428837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.536559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.52, Y:-87.79, Z:-911.42 [[ 3.67196225e-01 9.25785584e-01 -8.99332203e-02 4.64516349e+02] [-9.00276376e-01 3.78045134e-01 2.15834021e-01 -8.77880019e+01] [ 2.33814841e-01 1.71131597e-03 9.72279637e-01 -9.11422824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:464.53, Y:-87.81, Z:-911.42 [[ 3.66805407e-01 9.26025887e-01 -8.90497096e-02 4.64527442e+02] [-9.00009201e-01 3.77459957e-01 2.17961967e-01 -8.78111802e+01] [ 2.35451123e-01 1.95930107e-04 9.71886172e-01 -9.11418370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.54, Y:-87.84, Z:-911.41 [[ 3.64481941e-01 9.26535099e-01 -9.31966992e-02 4.64541053e+02] [-9.01290148e-01 3.76165519e-01 2.14885019e-01 -8.78380471e+01] [ 2.34155897e-01 5.67555820e-03 9.72182495e-01 -9.11413276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:464.55, Y:-87.86, Z:-911.41 [[ 3.64078989e-01 9.27348270e-01 -8.64388551e-02 4.64548422e+02] [-9.00832368e-01 3.74192339e-01 2.20184328e-01 -8.78614286e+01] [ 2.36532313e-01 -2.29756880e-03 9.71620907e-01 -9.11405724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.56, Y:-87.88, Z:-911.40 [[ 3.62449888e-01 9.27528085e-01 -9.12235243e-02 4.64561892e+02] [-9.01250743e-01 3.73743316e-01 2.19232829e-01 -8.78844600e+01] [ 2.37438788e-01 2.75435481e-03 9.71398598e-01 -9.11400062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:464.57, Y:-87.91, Z:-911.40 [[ 3.63501982e-01 9.27090428e-01 -9.14857783e-02 4.64573006e+02] [-9.00665928e-01 3.74829364e-01 2.19781331e-01 -8.79094342e+01] [ 2.38048724e-01 2.50717404e-03 9.71249978e-01 -9.11395641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.7165599950001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:464.58, Y:-87.93, Z:-911.39 [[ 3.67077166e-01 9.25634624e-01 -9.19505144e-02 4.64583439e+02] [-8.98932768e-01 3.78414956e-01 2.20730606e-01 -8.79334279e+01] [ 2.39111342e-01 1.63216505e-03 9.70990784e-01 -9.11390782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:465.06, Y:-87.46, Z:-910.29 [[ 4.52900184e-01 -8.89026791e-01 6.71772869e-02 4.65058713e+02] [-8.67418724e-01 -4.56799279e-01 -1.97279439e-01 -8.74648502e+01] [ 2.06073243e-01 3.10770577e-02 -9.78042962e-01 -9.10291850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.776559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:465.11, Y:-87.45, Z:-910.30 [[ 5.17137973e-01 -8.55409479e-01 2.90334311e-02 4.65106753e+02] [-8.31755221e-01 -5.10259786e-01 -2.18673736e-01 -8.74479139e+01] [ 2.01870179e-01 8.89357848e-02 -9.75366012e-01 -9.10303284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.08, Y:-87.47, Z:-910.28 [[ 5.80738658e-01 -8.10851903e-01 7.25382873e-02 4.65077841e+02] [-7.88652433e-01 -5.82454725e-01 -1.96910724e-01 -8.74667612e+01] [ 2.01915704e-01 5.71461729e-02 -9.77734301e-01 -9.10278911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.836559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.17, Y:-87.43, Z:-910.37 [[ 6.39862536e-01 -7.61755536e-01 -1.01510783e-01 4.65173077e+02] [-7.46674269e-01 -5.85001510e-01 -3.16624019e-01 -8.74255898e+01] [ 1.81806138e-01 2.78391337e-01 -9.43103807e-01 -9.10366234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:465.04, Y:-87.52, Z:-910.26 [[ 7.01433954e-01 -7.03099193e-01 1.16798685e-01 4.65042091e+02] [-6.89758101e-01 -7.10918771e-01 -1.37216119e-01 -8.75159852e+01] [ 1.79510920e-01 1.56852062e-02 -9.83630929e-01 -9.10256967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.896559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.03, Y:-87.53, Z:-910.25 [[ 7.56000492e-01 -6.42115971e-01 1.27083971e-01 4.65033161e+02] [-6.29609312e-01 -7.66438347e-01 -1.27139195e-01 -8.75308481e+01] [ 1.79040137e-01 1.61040427e-02 -9.83709962e-01 -9.10252877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:465.03, Y:-87.55, Z:-910.25 [[ 8.05273203e-01 -5.77055443e-01 1.36169322e-01 4.65025504e+02] [-5.65503475e-01 -8.16539200e-01 -1.16058411e-01 -8.75469356e+01] [ 1.78159727e-01 1.64545041e-02 -9.83863995e-01 -9.10245266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.02, Y:-87.57, Z:-910.24 [[ 8.50312197e-01 -5.05729976e-01 1.45624036e-01 4.65018147e+02] [-4.94983170e-01 -8.62517935e-01 -1.05140255e-01 -8.75663804e+01] [ 1.78775921e-01 1.73205942e-02 -9.83737347e-01 -9.10242039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.01, Y:-87.58, Z:-910.24 [[ 8.87186668e-01 -4.35292908e-01 1.53035619e-01 4.65014188e+02] [-4.25618739e-01 -9.00123281e-01 -9.28804031e-02 -8.75837287e+01] [ 1.78181104e-01 1.72674281e-02 -9.83846192e-01 -9.10236352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.016559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.01, Y:-87.60, Z:-910.23 [[ 9.19065940e-01 -3.60317824e-01 1.59652320e-01 4.65011670e+02] [-3.51716785e-01 -9.32664312e-01 -8.02033937e-02 -8.76007103e+01] [ 1.77800733e-01 1.75598069e-02 -9.83909830e-01 -9.10231595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:465.01, Y:-87.62, Z:-910.22 [[ 9.44228605e-01 -2.85115060e-01 1.64747517e-01 4.65009478e+02] [-2.77698959e-01 -9.58334723e-01 -6.69167122e-02 -8.76164864e+01] [ 1.76962229e-01 1.74344599e-02 -9.84063214e-01 -9.10224806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.02, Y:-87.61, Z:-910.22 [[ 9.63320495e-01 -2.13223786e-01 1.62939381e-01 4.65020698e+02] [-2.03049125e-01 -9.76141657e-01 -7.69319031e-02 -8.76062954e+01] [ 1.75455629e-01 4.10253803e-02 -9.83632167e-01 -9.10223434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:465.05, Y:-87.54, Z:-910.27 [[ 9.78011769e-01 -1.59767513e-01 1.34042239e-01 4.65048021e+02] [-1.31315128e-01 -9.71090578e-01 -1.99347501e-01 -8.75366117e+01] [ 1.62016410e-01 1.77362428e-01 -9.70717906e-01 -9.10268839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.03, Y:-87.64, Z:-910.21 [[ 9.85115979e-01 -5.82408796e-02 1.61723558e-01 4.65028312e+02] [-5.50458581e-02 -9.98191228e-01 -2.41707565e-02 -8.76351082e+01] [ 1.62838763e-01 1.49087865e-02 -9.86540048e-01 -9.10210024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.03, Y:-87.65, Z:-910.21 [[ 9.86548822e-01 1.91394543e-02 1.62342551e-01 4.65030758e+02] [ 2.12368130e-02 -9.99711808e-01 -1.11937036e-02 -8.76481907e+01] [ 1.62081524e-01 1.44907735e-02 -9.86670967e-01 -9.10205040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.1965599950001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:465.03, Y:-87.66, Z:-910.20 [[ 9.82180826e-01 9.64776654e-02 1.61285106e-01 4.65034520e+02] [ 9.74877467e-02 -9.95235345e-01 1.65785306e-03 -8.76615440e+01] [ 1.60676584e-01 1.40950101e-02 -9.86906463e-01 -9.10198393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:465.04, Y:-87.68, Z:-910.19 [[ 9.71424276e-01 1.74434386e-01 1.60958135e-01 4.65040045e+02] [ 1.74378318e-01 -9.84570701e-01 1.45854915e-02 -8.76751840e+01] [ 1.61018875e-01 1.38989084e-02 -9.86853456e-01 -9.10193005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.256559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:465.05, Y:-87.69, Z:-910.19 [[ 9.54212026e-01 2.52217648e-01 1.60828070e-01 4.65045800e+02] [ 2.51065377e-01 -9.67571216e-01 2.77870342e-02 -8.76888379e+01] [ 1.62620992e-01 1.38636379e-02 -9.86591209e-01 -9.10189211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:465.06, Y:-87.70, Z:-910.19 [[ 9.30886352e-01 3.29379767e-01 1.57985980e-01 4.65055043e+02] [ 3.27181505e-01 -9.44093727e-01 4.04882408e-02 -8.77034141e+01] [ 1.62489580e-01 1.40001398e-02 -9.86610933e-01 -9.10187116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.316559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:465.06, Y:-87.72, Z:-910.18 [[ 9.01811207e-01 4.03948906e-01 1.53498630e-01 4.65063791e+02] [ 4.00752042e-01 -9.14673615e-01 5.26305941e-02 -8.77175912e+01] [ 1.61661217e-01 1.40520296e-02 -9.86746265e-01 -9.10180819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.08, Y:-87.73, Z:-910.18 [[ 8.66181169e-01 4.77054008e-01 1.48827605e-01 4.65075403e+02] [ 4.72859551e-01 -8.78757444e-01 6.47240292e-02 -8.77311925e+01] [ 1.61660223e-01 1.43118190e-02 -9.86742694e-01 -9.10176164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.376559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.09, Y:-87.74, Z:-910.17 [[ 8.25230151e-01 5.46226947e-01 1.43636071e-01 4.65086550e+02] [ 5.41009951e-01 -8.37512966e-01 7.66828798e-02 -8.77432473e+01] [ 1.62183327e-01 1.44275194e-02 -9.86655165e-01 -9.10172494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.10, Y:-87.75, Z:-910.17 [[ 7.79164451e-01 6.11613890e-01 1.37226852e-01 4.65099462e+02] [ 6.05421274e-01 -7.91023501e-01 8.80164914e-02 -8.77541977e+01] [ 1.62381774e-01 1.45007345e-02 -9.86621452e-01 -9.10167300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.436559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:465.11, Y:-87.76, Z:-910.16 [[ 7.28401573e-01 6.72750516e-01 1.29760901e-01 4.65110929e+02] [ 6.65634716e-01 -7.39727155e-01 9.86618555e-02 -8.77638767e+01] [ 1.62362476e-01 1.45079095e-02 -9.86624522e-01 -9.10161514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.12, Y:-87.77, Z:-910.16 [[ 6.72678462e-01 7.29760980e-01 1.22280821e-01 4.65123977e+02] [ 7.21638468e-01 -6.83547476e-01 1.09548022e-01 -8.77714309e+01] [ 1.63528619e-01 1.45519492e-02 -9.86431261e-01 -9.10158367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.496559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.14, Y:-87.78, Z:-910.15 [[ 6.13474960e-01 7.81551415e-01 1.13251308e-01 4.65137838e+02] [ 7.72563207e-01 -6.23673508e-01 1.19069086e-01 -8.77789606e+01] [ 1.63690453e-01 1.44478908e-02 -9.86405948e-01 -9.10153589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:465.15, Y:-87.79, Z:-910.15 [[ 5.50504869e-01 8.28426722e-01 1.03216063e-01 4.65151111e+02] [ 8.18688893e-01 -5.59913936e-01 1.27455408e-01 -8.77853736e+01] [ 1.63379579e-01 1.43370217e-02 -9.86459104e-01 -9.10148843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.556559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.17, Y:-87.79, Z:-910.14 [[ 4.83841141e-01 8.70258925e-01 9.24508263e-02 4.65165865e+02] [ 8.59874052e-01 -4.92387699e-01 1.34799738e-01 -8.77906900e+01] [ 1.62832324e-01 1.42744078e-02 -9.86550493e-01 -9.10144204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.19, Y:-87.80, Z:-910.14 [[ 4.11720621e-01 9.07661766e-01 8.14631715e-02 4.65186179e+02] [ 8.96625769e-01 -4.19447267e-01 1.41866911e-01 -8.77978754e+01] [ 1.62936676e-01 1.46324459e-02 -9.86528019e-01 -9.10137647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.616559995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:465.20, Y:-87.80, Z:-910.13 [[ 3.38503179e-01 9.38401564e-01 6.94125637e-02 4.65204620e+02] [ 9.26988380e-01 -3.45233723e-01 1.46649995e-01 -8.78025061e+01] [ 1.61580142e-01 1.47031505e-02 -9.86750057e-01 -9.10130522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.22, Y:-87.81, Z:-910.13 [[ 2.63039415e-01 9.63088056e-01 5.71984422e-02 4.65221889e+02] [ 9.51344470e-01 -2.68780274e-01 1.50668061e-01 -8.78051832e+01] [ 1.60480423e-01 1.47837829e-02 -9.86928302e-01 -9.10127836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.676559995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:465.24, Y:-87.81, Z:-910.12 [[ 1.87413201e-01 9.81267166e-01 4.46210949e-02 4.65240064e+02] [ 9.69396747e-01 -1.92097400e-01 1.52867705e-01 -8.78070721e+01] [ 1.58575656e-01 1.46061183e-02 -9.87238787e-01 -9.10119956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:465.26, Y:-87.81, Z:-910.12 [[ 1.09829878e-01 9.93427755e-01 3.22287651e-02 4.65255410e+02] [ 9.81302631e-01 -1.13531537e-01 1.55421162e-01 -8.78056721e+01] [ 1.58058677e-01 1.45562847e-02 -9.87322424e-01 -9.10115248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.27, Y:-87.80, Z:-910.11 [[ 3.43913210e-02 9.99213578e-01 1.97347893e-02 4.65271451e+02] [ 9.86849122e-01 -3.70731786e-02 1.57335277e-01 -8.78039990e+01] [ 1.57943177e-01 1.40642915e-02 -9.87348038e-01 -9.10111087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.29, Y:-87.80, Z:-910.11 [[-4.20536558e-02 9.99089756e-01 7.15196733e-03 4.65287254e+02] [ 9.86658749e-01 4.04014505e-02 1.57709343e-01 -8.78003083e+01] [ 1.57276839e-01 1.36888056e-02 -9.87459676e-01 -9.10105609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.796559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:465.33, Y:-87.82, Z:-910.10 [[-1.17752967e-01 9.93028561e-01 -5.34007445e-03 4.65331974e+02] [ 9.80639808e-01 1.17127808e-01 1.56928786e-01 -8.78210449e+01] [ 1.56460237e-01 1.32421405e-02 -9.87595484e-01 -9.10103360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.38, Y:-87.84, Z:-910.11 [[-1.93226934e-01 9.80991693e-01 -1.78507712e-02 4.65378623e+02] [ 9.68571067e-01 1.93621716e-01 1.56143266e-01 -8.78427536e+01] [ 1.56631544e-01 1.28813439e-02 -9.87573102e-01 -9.10105038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.43, Y:-87.86, Z:-910.10 [[-2.68059054e-01 9.62916553e-01 -3.05950302e-02 4.65429796e+02] [ 9.50365286e-01 2.69504995e-01 1.55476303e-01 -8.78572813e+01] [ 1.57956219e-01 1.26003760e-02 -9.87365719e-01 -9.10103483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.48, Y:-87.87, Z:-910.10 [[-3.42502539e-01 9.38551146e-01 -4.25882220e-02 4.65480231e+02] [ 9.26291215e-01 3.44913172e-01 1.51721747e-01 -8.78674819e+01] [ 1.57087858e-01 1.25159877e-02 -9.87505319e-01 -9.10102519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.53, Y:-87.87, Z:-910.10 [[-4.15010308e-01 9.08201285e-01 -5.41929058e-02 4.65529466e+02] [ 8.96296808e-01 4.18347752e-01 1.47095857e-01 -8.78708466e+01] [ 1.56264126e-01 1.24733683e-02 -9.87636542e-01 -9.10101127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.58, Y:-87.87, Z:-910.10 [[-4.84993965e-01 8.72063452e-01 -6.54690048e-02 4.65583224e+02] [ 8.60540152e-01 4.89234283e-01 1.41846620e-01 -8.78735216e+01] [ 1.55728935e-01 1.24560474e-02 -9.87721290e-01 -9.10099594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9765599950001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:465.63, Y:-87.87, Z:-910.10 [[-5.51985987e-01 8.30358564e-01 -7.62635243e-02 4.65632819e+02] [ 8.19281217e-01 5.57090298e-01 1.35752301e-01 -8.78695500e+01] [ 1.55208756e-01 1.24520951e-02 -9.87803213e-01 -9.10098087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:465.68, Y:-87.86, Z:-910.10 [[-6.15307620e-01 7.83525234e-01 -8.65143939e-02 4.65681709e+02] [ 7.72956797e-01 6.21235951e-01 1.28855286e-01 -8.78634466e+01] [ 1.54707220e-01 1.24137505e-02 -9.87882369e-01 -9.10098119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.036559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:465.73, Y:-87.85, Z:-910.10 [[-6.74886868e-01 7.31689949e-01 -9.56950073e-02 4.65731027e+02] [ 7.21771698e-01 6.81524963e-01 1.20703526e-01 -8.78548823e+01] [ 1.53536093e-01 1.23912769e-02 -9.88065344e-01 -9.10096535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:465.78, Y:-87.84, Z:-910.10 [[-7.30179811e-01 6.75247244e-01 -1.04300542e-01 4.65776340e+02] [ 6.65995927e-01 7.37487674e-01 1.12077456e-01 -8.78403317e+01] [ 1.52600357e-01 1.23729595e-02 -9.88210525e-01 -9.10095930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.096559995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:465.82, Y:-87.82, Z:-910.09 [[-7.81004139e-01 6.14407614e-01 -1.11963469e-01 4.65822693e+02] [ 6.05888621e-01 7.88891673e-01 1.02707872e-01 -8.78249095e+01] [ 1.51431547e-01 1.23778813e-02 -9.88390244e-01 -9.10092277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.87, Y:-87.80, Z:-910.09 [[-8.26797139e-01 5.49552379e-01 -1.19994473e-01 4.65867761e+02] [ 5.41664518e-01 8.35367368e-01 9.35997341e-02 -8.78041590e+01] [ 1.51677424e-01 1.23912441e-02 -9.88352375e-01 -9.10093795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.156559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:465.91, Y:-87.78, Z:-910.09 [[-8.67473272e-01 4.81305403e-01 -1.25838121e-01 4.65909664e+02] [ 4.74242584e-01 8.76465362e-01 8.30809298e-02 -8.77796242e+01] [ 1.50280055e-01 1.23926903e-02 -9.88565793e-01 -9.10090625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:465.95, Y:-87.75, Z:-910.09 [[-9.02796075e-01 4.09581076e-01 -1.31158644e-01 4.65950322e+02] [ 4.03323155e-01 9.12188518e-01 7.24053986e-02 -8.77521699e+01] [ 1.49297290e-01 1.24679917e-02 -9.88713745e-01 -9.10091489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.2165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.99, Y:-87.72, Z:-910.09 [[-9.32632502e-01 3.34302949e-01 -1.35787168e-01 4.65989362e+02] [ 3.28845693e-01 9.42380285e-01 6.14809712e-02 -8.77215743e+01] [ 1.48516420e-01 1.26861267e-02 -9.88828567e-01 -9.10088887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.02, Y:-87.69, Z:-910.09 [[-9.56115384e-01 2.57418087e-01 -1.39926056e-01 4.66020236e+02] [ 2.52763585e-01 9.66215272e-01 5.03847118e-02 -8.76867607e+01] [ 1.48168628e-01 1.28053864e-02 -9.88879204e-01 -9.10087826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.276559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:466.05, Y:-87.65, Z:-910.09 [[-9.73336758e-01 1.78897763e-01 -1.43565824e-01 4.66054659e+02] [ 1.75049943e-01 9.83782702e-01 3.91038829e-02 -8.76515651e+01] [ 1.48233172e-01 1.29300573e-02 -9.88867909e-01 -9.10087688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.05, Y:-87.61, Z:-910.08 [[-9.84266016e-01 9.90865091e-02 -1.46295160e-01 4.66052852e+02] [ 9.48273546e-02 9.94848967e-01 3.58232543e-02 -8.76136412e+01] [ 1.49091190e-01 2.13868288e-02 -9.88592141e-01 -9.10084327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.95, Y:-87.59, Z:-910.08 [[-9.89096508e-01 2.50723721e-02 -1.45118828e-01 4.65951901e+02] [ 1.55168737e-02 9.97658602e-01 6.66073605e-02 -8.75913040e+01] [ 1.46449051e-01 6.36293172e-02 -9.87169684e-01 -9.10075506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:466.13, Y:-87.54, Z:-910.09 [[-9.87302421e-01 -5.83048677e-02 -1.47764922e-01 4.66125896e+02] [-6.40426397e-02 9.97355097e-01 3.43707837e-02 -8.75359766e+01] [ 1.45370114e-01 4.33976136e-02 -9.88425100e-01 -9.10090136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.396559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.14, Y:-87.47, Z:-910.08 [[-9.78335702e-01 -1.43894554e-01 -1.48840893e-01 4.66144661e+02] [-1.44270527e-01 9.89503263e-01 -8.32515960e-03 -8.74731763e+01] [ 1.48476495e-01 1.33285532e-02 -9.88826112e-01 -9.10080768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.16, Y:-87.43, Z:-910.08 [[-9.63528436e-01 -2.22549625e-01 -1.48608945e-01 4.66162402e+02] [-2.22026486e-01 9.74828980e-01 -2.03150037e-02 -8.74267357e+01] [ 1.49389403e-01 1.34210382e-02 -9.88687353e-01 -9.10079945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.4565599950001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:466.18, Y:-87.38, Z:-910.08 [[-9.42820890e-01 -2.99273762e-01 -1.46710552e-01 4.66175715e+02] [-2.97848272e-01 9.54072911e-01 -3.21136852e-02 -8.73798278e+01] [ 1.49583347e-01 1.34200312e-02 -9.88658043e-01 -9.10079302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.18, Y:-87.33, Z:-910.08 [[-9.16263352e-01 -3.74057318e-01 -1.43326874e-01 4.66184213e+02] [-3.71760155e-01 9.27308552e-01 -4.35113379e-02 -8.73335514e+01] [ 1.49183971e-01 1.34153768e-02 -9.88718449e-01 -9.10078445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.20, Y:-87.29, Z:-910.08 [[-8.84829897e-01 -4.44560391e-01 -1.39434976e-01 4.66195629e+02] [-4.41367866e-01 8.95653347e-01 -5.47675936e-02 -8.72857134e+01] [ 1.49232906e-01 1.30821137e-02 -9.88715530e-01 -9.10077769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.20, Y:-87.24, Z:-910.08 [[-8.48125394e-01 -5.12531298e-01 -1.34145389e-01 4.66195503e+02] [-5.08504081e-01 8.58573709e-01 -6.53818477e-02 -8.72401495e+01] [ 1.48683947e-01 1.27614723e-02 -9.88802422e-01 -9.10076769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.576559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:466.19, Y:-87.20, Z:-910.08 [[-8.07768894e-01 -5.75680709e-01 -1.26890252e-01 4.66192740e+02] [-5.70948580e-01 8.17584406e-01 -7.46555979e-02 -8.71972773e+01] [ 1.46721278e-01 1.21433392e-02 -9.89103334e-01 -9.10075626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:466.19, Y:-87.15, Z:-910.08 [[-7.61049087e-01 -6.37352510e-01 -1.20772785e-01 4.66186810e+02] [-6.31816816e-01 7.70480817e-01 -8.46570795e-02 -8.71513147e+01] [ 1.47009516e-01 1.18780835e-02 -9.89063756e-01 -9.10076171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.68, Y:-86.80, Z:-911.24 [[-7.63402602e-01 6.35869052e-01 1.13520998e-01 4.65679309e+02] [-6.28914675e-01 -7.71796935e-01 9.37860516e-02 -8.68046291e+01] [ 1.47250806e-01 2.01494076e-04 9.89099166e-01 -9.11244134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.24, Y:-87.47, Z:-910.94 [[-7.70729777e-01 8.76348858e-02 -6.31106757e-01 4.66241129e+02] [-6.32116150e-01 1.92437807e-02 7.74634656e-01 -8.74732272e+01] [ 8.00298997e-02 9.95966768e-01 4.05636718e-02 -9.10938534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.67, Y:-86.79, Z:-911.19 [[-7.70257659e-01 6.30210719e-01 9.76605815e-02 4.65665056e+02] [-6.29697542e-01 -7.75814677e-01 3.99073065e-02 -8.67885089e+01] [ 1.00916525e-01 -3.07577196e-02 9.94419337e-01 -9.11188704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.23, Y:-87.52, Z:-910.84 [[-7.69579553e-01 -3.49050832e-02 -6.37596226e-01 4.66228642e+02] [-6.38398708e-01 6.38598600e-02 7.67052155e-01 -8.75218711e+01] [ 1.39427864e-02 9.97348261e-01 -7.14286025e-02 -9.10840434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.65, Y:-86.83, Z:-911.18 [[-7.69803712e-01 6.38217217e-01 9.00161099e-03 4.65647861e+02] [-6.38173659e-01 -7.69856340e-01 7.45627130e-03 -8.68278191e+01] [ 1.16886680e-02 -4.72569732e-06 9.99931685e-01 -9.11179155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.66, Y:-86.82, Z:-911.17 [[-7.69838359e-01 6.37782629e-01 2.41292148e-02 4.65656386e+02] [-6.37802142e-01 -7.70159961e-01 7.87799923e-03 -8.68185843e+01] [ 2.36078062e-02 -9.32487888e-03 9.99677807e-01 -9.11168367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.65, Y:-86.84, Z:-911.18 [[-7.70379518e-01 6.37584282e-01 1.29707342e-03 4.65649867e+02] [-6.37514918e-01 -7.70322810e-01 1.33228293e-02 -8.68393863e+01] [ 9.49359180e-03 9.43673117e-03 9.99910406e-01 -9.11182268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.65, Y:-86.82, Z:-911.16 [[-7.69761246e-01 6.37547987e-01 3.16257586e-02 4.65646611e+02] [-6.37923308e-01 -7.70096213e-01 -2.38256543e-03 -8.68173467e+01] [ 2.28358771e-02 -2.20088151e-02 9.99496941e-01 -9.11163799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.62, Y:-86.87, Z:-911.17 [[-7.75075099e-01 6.31781936e-01 1.04965323e-02 4.65617046e+02] [-6.31450150e-01 -7.75059131e-01 2.35383117e-02 -8.68677901e+01] [ 2.30065133e-02 1.16159224e-02 9.99667830e-01 -9.11171296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:466.11, Y:-87.57, Z:-910.87 [[-7.82441023e-01 -1.07235047e-02 -6.22632357e-01 4.66110598e+02] [-6.20575531e-01 -6.95696282e-02 7.81054465e-01 -8.75678406e+01] [-5.16919429e-02 9.97519460e-01 4.77793864e-02 -9.10874506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.57, Y:-86.90, Z:-911.15 [[-7.72906052e-01 6.32683572e-01 -4.82465786e-02 4.65570157e+02] [-6.31674741e-01 -7.74405400e-01 -3.58231535e-02 -8.69011848e+01] [-6.00271317e-02 2.78821289e-03 9.98192852e-01 -9.11148021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.01, Y:-87.59, Z:-910.92 [[-7.85580191e-01 1.53515119e-02 -6.18569393e-01 4.66011671e+02] [-6.07516614e-01 -2.08843563e-01 7.66360183e-01 -8.75909055e+01] [-1.17419449e-01 9.77828562e-01 1.73389665e-01 -9.10918948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.53, Y:-86.92, Z:-911.10 [[-7.75615723e-01 6.27550190e-01 -6.78307460e-02 4.65525231e+02] [-6.22189631e-01 -7.78207973e-01 -8.52784488e-02 -8.69238197e+01] [-1.06302934e-01 -2.39397188e-02 9.94045561e-01 -9.11099551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.97, Y:-87.69, Z:-910.82 [[-7.79841294e-01 -1.23261529e-01 -6.13721558e-01 4.65968060e+02] [-5.98321670e-01 -1.41422338e-01 7.88676677e-01 -8.76884353e+01] [-1.84007431e-01 9.82245549e-01 3.65369347e-02 -9.10821786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.47, Y:-86.97, Z:-911.08 [[-7.68180851e-01 6.30264373e-01 -1.12538888e-01 4.65468342e+02] [-6.17923281e-01 -7.75866927e-01 -1.27284452e-01 -8.69660538e+01] [-1.67538056e-01 -2.82370799e-02 9.85461145e-01 -9.11075145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.89, Y:-87.75, Z:-910.81 [[-7.72770494e-01 -1.77103247e-01 -6.09475351e-01 4.65889026e+02] [-5.84116718e-01 -1.77164753e-01 7.92098674e-01 -8.77515012e+01] [-2.48260797e-01 9.68115226e-01 3.34587264e-02 -9.10809184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.116559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.40, Y:-87.02, Z:-911.06 [[-7.55106946e-01 6.34656159e-01 -1.64393008e-01 4.65404384e+02] [-6.13624862e-01 -7.72462244e-01 -1.63605045e-01 -8.70186787e+01] [-2.30820341e-01 -2.26636693e-02 9.72732403e-01 -9.11062779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.81, Y:-87.81, Z:-910.82 [[-7.61860278e-01 -2.15791425e-01 -6.10739697e-01 4.65805634e+02] [-5.67750469e-01 -2.31422529e-01 7.90001910e-01 -8.78085518e+01] [-3.11814563e-01 9.48618825e-01 5.37959498e-02 -9.10817218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.176559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.33, Y:-87.07, Z:-911.05 [[-7.42861857e-01 6.36059695e-01 -2.08768596e-01 4.65333212e+02] [-6.04331401e-01 -7.71322790e-01 -1.99611400e-01 -8.70744060e+01] [-2.87992742e-01 -2.21182769e-02 9.57377127e-01 -9.11052540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.72, Y:-87.89, Z:-910.79 [[-7.44130361e-01 -2.99768643e-01 -5.96999805e-01 4.65723327e+02] [-5.51431410e-01 -2.28816172e-01 8.02226003e-01 -8.78919490e+01] [-3.77085410e-01 9.26165169e-01 4.96721563e-03 -9.10792404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.236559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.16, Y:-87.90, Z:-910.04 [[-6.70459375e-01 -6.56329514e-01 3.45999703e-01 4.65158494e+02] [-6.17640938e-01 7.52117630e-01 2.29866791e-01 -8.79049991e+01] [-4.11100837e-01 -5.95872361e-02 -9.09640294e-01 -9.10037237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.61, Y:-87.25, Z:-910.47 [[-6.77965600e-01 3.21487431e-01 6.61066167e-01 4.64608757e+02] [-6.62366064e-01 1.22844750e-01 -7.39040164e-01 -8.72530775e+01] [-3.18800632e-01 -9.38911603e-01 1.29657850e-01 -9.10469061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.296559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.99, Y:-87.32, Z:-911.21 [[-7.04519492e-01 6.83486815e-01 -1.91044652e-01 4.64988710e+02] [-6.49693272e-01 -7.29478514e-01 -2.13915287e-01 -8.73221467e+01] [-2.85571247e-01 -2.65870644e-02 9.57988618e-01 -9.11211536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.43, Y:-88.13, Z:-910.91 [[-7.00127123e-01 -3.25175569e-01 -6.35675122e-01 4.65432563e+02] [-6.07321508e-01 -1.96962228e-01 7.69653472e-01 -8.81331351e+01] [-3.75476494e-01 9.24914445e-01 -5.95875191e-02 -9.10905087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.356559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.85, Y:-88.12, Z:-910.17 [[-6.32908457e-01 -6.88340263e-01 3.54421456e-01 4.64847245e+02] [-6.66044083e-01 7.17464160e-01 2.04035435e-01 -8.81225227e+01] [-3.94730497e-01 -1.06924562e-01 -9.12554093e-01 -9.10172751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.27, Y:-87.56, Z:-910.58 [[-6.42640311e-01 2.49651289e-01 7.24353274e-01 4.64268865e+02] [-6.98722090e-01 1.96900003e-01 -6.87762917e-01 -8.75579575e+01] [-3.14326060e-01 -9.48105808e-01 4.79009910e-02 -9.10582807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.416559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.67, Y:-87.59, Z:-911.39 [[-6.51372389e-01 7.31012689e-01 -2.03308779e-01 4.64673802e+02] [-6.98618306e-01 -6.82361352e-01 -2.15210240e-01 -8.75911029e+01] [-2.96051470e-01 1.85322640e-03 9.55170191e-01 -9.11385545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.69, Y:-87.58, Z:-911.38 [[-6.44583501e-01 7.36182538e-01 -2.06270166e-01 4.64691625e+02] [-7.04669669e-01 -6.76736846e-01 -2.13232031e-01 -8.75766595e+01] [-2.96568319e-01 7.90648080e-03 9.54978911e-01 -9.11381347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.66, Y:-87.59, Z:-911.39 [[-6.52351920e-01 7.32036224e-01 -1.96366851e-01 4.64663626e+02] [-6.98863756e-01 -6.81247876e-01 -2.17923797e-01 -8.75883054e+01] [-2.93302614e-01 -4.92933232e-03 9.56006945e-01 -9.11385030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.16, Y:-88.42, Z:-910.96 [[-6.39821147e-01 -4.33953087e-01 -6.34281971e-01 4.65156030e+02] [-6.74697084e-01 -7.80097738e-02 7.33960708e-01 -8.84186201e+01] [-3.67984707e-01 8.97551778e-01 -2.42874579e-01 -9.10957025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.536559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:464.58, Y:-87.67, Z:-911.39 [[-6.27409941e-01 7.41265833e-01 -2.38498914e-01 4.64577398e+02] [-6.93612844e-01 -6.71210181e-01 -2.61492095e-01 -8.76659213e+01] [-3.53918054e-01 1.36317021e-03 9.35275442e-01 -9.11390915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.58, Y:-87.66, Z:-911.39 [[-6.26542415e-01 7.43382086e-01 -2.34153107e-01 4.64580753e+02] [-6.95509420e-01 -6.68865124e-01 -2.62461603e-01 -8.76626442e+01] [-3.51726100e-01 -1.58763488e-03 9.36101613e-01 -9.11385631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.596559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.57, Y:-87.68, Z:-911.40 [[-6.30123454e-01 7.38121486e-01 -2.41083191e-01 4.64570797e+02] [-6.90865122e-01 -6.74662010e-01 -2.59877964e-01 -8.76781548e+01] [-3.54471179e-01 2.80076795e-03 9.35062746e-01 -9.11395842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.56, Y:-87.69, Z:-911.40 [[-6.32230860e-01 7.36690003e-01 -2.39941617e-01 4.64563400e+02] [-6.88490173e-01 -6.76230422e-01 -2.62094829e-01 -8.76875799e+01] [-3.55338461e-01 -5.06993650e-04 9.34737568e-01 -9.11397928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.656559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.56, Y:-87.69, Z:-911.40 [[-6.33020166e-01 7.35884358e-01 -2.40332441e-01 4.64561494e+02] [-6.87688484e-01 -6.77107025e-01 -2.61936300e-01 -8.76908440e+01] [-3.55485610e-01 -5.37108097e-04 9.34681600e-01 -9.11398472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.06, Y:-87.80, Z:-910.66 [[-6.32575569e-01 2.03423386e-01 7.47306548e-01 4.64057868e+02] [-7.11894300e-01 2.27320520e-01 -6.64478658e-01 -8.78042757e+01] [-3.05048611e-01 -9.52336237e-01 1.01854186e-03 -9.10662160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.7165599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.95, Y:-88.55, Z:-911.22 [[-6.39539363e-01 -2.47977471e-01 -7.27665155e-01 4.64950908e+02] [-6.73399273e-01 -2.75897589e-01 6.85867290e-01 -8.85477297e+01] [-3.70840698e-01 9.28648316e-01 9.45951954e-03 -9.11219050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.37, Y:-87.89, Z:-911.49 [[-6.34504614e-01 7.34784373e-01 -2.39782860e-01 4.64374232e+02] [-6.86854142e-01 -6.78300121e-01 -2.61037035e-01 -8.78912284e+01] [-3.54450677e-01 -9.33353242e-04 9.35074247e-01 -9.11494331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.776559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:464.32, Y:-87.96, Z:-911.53 [[-6.47091652e-01 7.23831938e-01 -2.39457136e-01 4.64315060e+02] [-6.75492773e-01 -6.89944766e-01 -2.60164821e-01 -8.79600584e+01] [-3.53527804e-01 -6.59891893e-03 9.35400741e-01 -9.11530405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:464.30, Y:-87.98, Z:-911.54 [[-6.49727954e-01 7.20035059e-01 -2.43727511e-01 4.64301535e+02] [-6.73341555e-01 -6.93935800e-01 -2.55076963e-01 -8.79795948e+01] [-3.52795602e-01 -1.61877216e-03 9.35699013e-01 -9.11541880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.836559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.30, Y:-87.99, Z:-911.55 [[-6.50672456e-01 7.19138707e-01 -2.43854210e-01 4.64296797e+02] [-6.73015756e-01 -6.94866131e-01 -2.53398603e-01 -8.79874273e+01] [-3.51674775e-01 -7.61765784e-04 9.36121932e-01 -9.11546514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.29, Y:-87.99, Z:-911.55 [[-6.51126705e-01 7.18679190e-01 -2.43996387e-01 4.64292711e+02] [-6.72576361e-01 -6.95341343e-01 -2.53261634e-01 -8.79918742e+01] [-3.51674642e-01 -7.99211313e-04 9.36121951e-01 -9.11548983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.896559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.29, Y:-87.99, Z:-911.55 [[-6.52187872e-01 7.17685409e-01 -2.44087348e-01 4.64290136e+02] [-6.71604653e-01 -6.96366620e-01 -2.53023164e-01 -8.79946850e+01] [-3.51565314e-01 -1.08843969e-03 9.36162724e-01 -9.11550520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.25, Y:-88.03, Z:-911.57 [[-6.57791933e-01 7.12518905e-01 -2.44185551e-01 4.64249977e+02] [-6.66176140e-01 -7.01643594e-01 -2.52795606e-01 -8.80341355e+01] [-3.51452875e-01 -3.61632235e-03 9.36198589e-01 -9.11570960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.9565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.77, Y:-88.22, Z:-910.72 [[-6.41735466e-01 5.22777745e-02 7.65142226e-01 4.63771634e+02] [-7.01504950e-01 3.63187763e-01 -6.13176528e-01 -8.82199994e+01] [-3.09945798e-01 -9.30248184e-01 -1.96397351e-01 -9.10723350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:463.70, Y:-88.29, Z:-910.78 [[-6.43534396e-01 4.02815089e-03 7.65406595e-01 4.63698204e+02] [-7.24531164e-01 3.19248995e-01 -6.10847503e-01 -8.82924663e+01] [-2.46815872e-01 -9.47662310e-01 -2.02529188e-01 -9.10783287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.016559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:464.01, Y:-88.25, Z:-911.74 [[-6.62078415e-01 7.33734632e-01 -1.52596405e-01 4.64007662e+02] [-7.14929221e-01 -6.79436131e-01 -1.65053789e-01 -8.82549804e+01] [-2.24785192e-01 -1.82922358e-04 9.74408325e-01 -9.11742296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:464.02, Y:-88.25, Z:-911.74 [[-6.54979852e-01 7.38530640e-01 -1.59918377e-01 4.64020009e+02] [-7.20352471e-01 -6.74167671e-01 -1.63065230e-01 -8.82489121e+01] [-2.28240468e-01 8.39315758e-03 9.73568613e-01 -9.11744546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.076559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.00, Y:-88.26, Z:-911.74 [[-6.58431378e-01 7.38239841e-01 -1.46526644e-01 4.63997083e+02] [-7.18327870e-01 -6.74502275e-01 -1.70445744e-01 -8.82551307e+01] [-2.24662394e-01 -6.97265435e-03 9.74411715e-01 -9.11740420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.00, Y:-88.26, Z:-911.74 [[-6.57076687e-01 7.38187246e-01 -1.52741019e-01 4.63997989e+02] [-7.19573714e-01 -6.74593814e-01 -1.64732683e-01 -8.82616391e+01] [-2.24641712e-01 1.66641629e-03 9.74440006e-01 -9.11744099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.136559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.50, Y:-88.96, Z:-911.53 [[-6.69010961e-01 -1.22464792e-01 -7.33093929e-01 4.64501861e+02] [-6.83179824e-01 -2.87141542e-01 6.71427631e-01 -8.89570301e+01] [-2.92727967e-01 9.50027426e-01 1.08435364e-01 -9.11534446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.93, Y:-88.33, Z:-911.74 [[-6.44211155e-01 7.38431349e-01 -1.99276518e-01 4.63934038e+02] [-7.07589641e-01 -6.74310688e-01 -2.11239194e-01 -8.83342139e+01] [-2.90359928e-01 4.92335459e-03 9.56904840e-01 -9.11735453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.1965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.87, Y:-88.40, Z:-911.76 [[-6.54500822e-01 7.29311578e-01 -1.99332128e-01 4.63874130e+02] [-6.97965158e-01 -6.84181373e-01 -2.11519474e-01 -8.84028251e+01] [-2.90642930e-01 6.87210316e-04 9.56831341e-01 -9.11764067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.88, Y:-88.42, Z:-911.78 [[-6.46577707e-01 7.31832286e-01 -2.15310877e-01 4.63879159e+02] [-7.01708558e-01 -6.81289597e-01 -2.08445638e-01 -8.84178249e+01] [-2.99236308e-01 1.63091826e-02 9.54039644e-01 -9.11777612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.256559995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:463.87, Y:-88.41, Z:-911.77 [[-6.53184518e-01 7.31099485e-01 -1.97087617e-01 4.63865619e+02] [-6.97981925e-01 -6.82255584e-01 -2.17597224e-01 -8.84121804e+01] [-2.93549346e-01 -4.56754430e-03 9.55933010e-01 -9.11765389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:-89.19, Z:-911.48 [[-6.63339894e-01 -2.89396699e-01 -6.90094005e-01 4.64354764e+02] [-6.59697751e-01 -2.09164996e-01 7.21837158e-01 -8.91874900e+01] [-3.53240801e-01 9.34076846e-01 -5.21668655e-02 -9.11481825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.316559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.79, Y:-88.51, Z:-911.79 [[-6.32358296e-01 7.29559653e-01 -2.60510457e-01 4.63789151e+02] [-6.83541135e-01 -6.83718665e-01 -2.55539242e-01 -8.85123128e+01] [-3.64546983e-01 1.64772543e-02 9.31039203e-01 -9.11787285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.77, Y:-88.51, Z:-911.78 [[-6.38586421e-01 7.30350648e-01 -2.42477451e-01 4.63772206e+02] [-6.80531195e-01 -6.83058811e-01 -2.65156468e-01 -8.85113706e+01] [-3.59283558e-01 -4.31185085e-03 9.33218481e-01 -9.11777869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.376559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.76, Y:-88.54, Z:-911.79 [[-6.42109668e-01 7.24288653e-01 -2.51199365e-01 4.63755572e+02] [-6.77331347e-01 -6.89475907e-01 -2.56603235e-01 -8.85394139e+01] [-3.59050721e-01 5.37778664e-03 9.33302555e-01 -9.11793457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.73, Y:-88.57, Z:-911.81 [[-6.46034180e-01 7.20426025e-01 -2.52242306e-01 4.63732537e+02] [-6.73675491e-01 -6.93513984e-01 -2.55342294e-01 -8.85689191e+01] [-3.58888801e-01 4.96960955e-03 9.33367094e-01 -9.11808590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.436559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.73, Y:-88.57, Z:-911.81 [[-6.46492822e-01 7.19583625e-01 -2.53468811e-01 4.63731559e+02] [-6.73359683e-01 -6.94374663e-01 -2.53831765e-01 -8.85749315e+01] [-3.58655502e-01 6.57526381e-03 9.33446837e-01 -9.11811405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.24, Y:-88.63, Z:-911.18 [[-6.63771491e-01 3.41469107e-01 6.65436892e-01 4.63238093e+02] [-6.73913126e-01 1.12858309e-01 -7.30139781e-01 -8.86265987e+01] [-3.24420262e-01 -9.33092627e-01 1.55208385e-01 -9.11179280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.496559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.62, Y:-88.70, Z:-911.91 [[-6.71085998e-01 7.10927651e-01 -2.10298498e-01 4.63621052e+02] [-6.80575694e-01 -7.03246187e-01 -2.05576081e-01 -8.87004980e+01] [-2.94041337e-01 5.16481707e-03 9.55778749e-01 -9.11908650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.62, Y:-88.70, Z:-911.91 [[-6.71299637e-01 7.10687636e-01 -2.10427852e-01 4.63621936e+02] [-6.80460497e-01 -7.03486352e-01 -2.05135237e-01 -8.87046323e+01] [-2.93820198e-01 5.48063071e-03 9.55844995e-01 -9.11907509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.556559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:463.19, Y:-88.84, Z:-911.05 [[-6.71660855e-01 1.54628330e-02 7.40697372e-01 4.63189868e+02] [-6.90841112e-01 3.48052887e-01 -6.33717403e-01 -8.88376034e+01] [-2.67600925e-01 -9.37347368e-01 -2.23091139e-01 -9.11045183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-89.03, Z:-912.07 [[-6.73125059e-01 7.17935525e-01 -1.77401347e-01 4.63298060e+02] [-6.99939963e-01 -6.95923320e-01 -1.60545259e-01 -8.90257756e+01] [-2.38718879e-01 1.61032554e-02 9.70955191e-01 -9.12071745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.616559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.16, Y:-89.01, Z:-911.01 [[-6.63725920e-01 -2.11928290e-01 7.17324406e-01 4.63157873e+02] [-7.17647039e-01 4.50752702e-01 -5.30852831e-01 -8.90077018e+01] [-2.10833182e-01 -8.67126520e-01 -4.51265961e-01 -9.11013025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:462.97, Y:-88.88, Z:-911.40 [[-6.71641864e-01 2.33986619e-01 7.02956235e-01 4.62970369e+02] [-7.27857080e-01 -3.13026688e-02 -6.85014025e-01 -8.88785866e+01] [-1.38279709e-01 -9.71735769e-01 1.91333000e-01 -9.11402955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.676559995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:463.23, Y:-89.15, Z:-912.13 [[-7.20226265e-01 6.89819428e-01 -7.36429472e-02 4.63230108e+02] [-6.85381906e-01 -7.23956991e-01 -7.83448656e-02 -8.91455649e+01] [-1.07358137e-01 -5.95248643e-03 9.94202594e-01 -9.12127743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.85, Z:-911.80 [[-7.36113791e-01 -1.37458048e-01 -6.62753176e-01 4.63691572e+02] [-6.55835367e-01 -9.72894795e-02 7.48608528e-01 -8.98508103e+01] [-1.67381178e-01 9.85718034e-01 -1.85337216e-02 -9.11797827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.736559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.21, Z:-912.11 [[-7.12857018e-01 6.89330550e-01 -1.29066902e-01 4.63180170e+02] [-6.79142923e-01 -7.24438746e-01 -1.18124480e-01 -8.92071256e+01] [-1.74927878e-01 3.44900851e-03 9.84575209e-01 -9.12106906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.22, Z:-912.11 [[-7.13568301e-01 6.88711502e-01 -1.28439662e-01 4.63182777e+02] [-6.78629272e-01 -7.25027770e-01 -1.17460819e-01 -8.92163761e+01] [-1.74018938e-01 3.34659724e-03 9.84736619e-01 -9.12107204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.796559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.23, Z:-912.11 [[-7.14359064e-01 6.87885689e-01 -1.28469478e-01 4.63178308e+02] [-6.77799197e-01 -7.25811972e-01 -1.17410520e-01 -8.92259160e+01] [-1.74009702e-01 3.20323969e-03 9.84738728e-01 -9.12108230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.23, Z:-912.11 [[-7.14613336e-01 6.87524089e-01 -1.28989950e-01 4.63178189e+02] [-6.77396576e-01 -7.26153959e-01 -1.17619335e-01 -8.92311283e+01] [-1.74532689e-01 3.32500499e-03 9.84645766e-01 -9.12107943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.856559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.15, Y:-89.26, Z:-912.11 [[-7.17645680e-01 6.84234227e-01 -1.29646448e-01 4.63154176e+02] [-6.73951689e-01 -7.29257866e-01 -1.18203578e-01 -8.92599964e+01] [-1.75424626e-01 2.54715561e-03 9.84489570e-01 -9.12114091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.16, Y:-89.27, Z:-912.11 [[-7.16927966e-01 6.84686908e-01 -1.31217870e-01 4.63157685e+02] [-6.74394552e-01 -7.28828130e-01 -1.18328124e-01 -8.92717411e+01] [-1.76652992e-01 3.65987541e-03 9.84266390e-01 -9.12114092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.916559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.17, Y:-89.28, Z:-912.11 [[-7.16082507e-01 6.85426356e-01 -1.31971791e-01 4.63165209e+02] [-6.75047982e-01 -7.28131236e-01 -1.18891234e-01 -8.92786817e+01] [-1.77583968e-01 3.95135804e-03 9.84097719e-01 -9.12112637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.17, Y:-89.28, Z:-912.11 [[-7.15506425e-01 6.85961280e-01 -1.32316584e-01 4.63165911e+02] [-6.75553827e-01 -7.27626135e-01 -1.19110178e-01 -8.92843774e+01] [-1.77981975e-01 4.16287708e-03 9.84024942e-01 -9.12112415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9765599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.17, Y:-89.29, Z:-912.11 [[-7.14733707e-01 6.86685438e-01 -1.32735967e-01 4.63169874e+02] [-6.76240416e-01 -7.26941213e-01 -1.19395869e-01 -8.92874878e+01] [-1.78478649e-01 4.42517353e-03 9.83933834e-01 -9.12111754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.30, Z:-912.11 [[-7.12838247e-01 6.88616898e-01 -1.32922539e-01 4.63177438e+02] [-6.78192138e-01 -7.25108225e-01 -1.19471695e-01 -8.92950831e+01] [-1.78653454e-01 4.98302707e-03 9.83899443e-01 -9.12110518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.036559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.30, Z:-912.11 [[-7.11952661e-01 6.89522150e-01 -1.32975990e-01 4.63180428e+02] [-6.79121135e-01 -7.24245354e-01 -1.19428439e-01 -8.93007979e+01] [-1.78655797e-01 5.27941060e-03 9.83897472e-01 -9.12110682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.31, Z:-912.11 [[-7.11141287e-01 6.90325622e-01 -1.33148811e-01 4.63182902e+02] [-6.79927873e-01 -7.23477484e-01 -1.19492334e-01 -8.93065948e+01] [-1.78818787e-01 5.55565538e-03 9.83866341e-01 -9.12110691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.096559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.19, Y:-89.32, Z:-912.11 [[-7.10038353e-01 6.91279770e-01 -1.34081380e-01 4.63191420e+02] [-6.80768459e-01 -7.22563079e-01 -1.20236858e-01 -8.93161662e+01] [-1.79999562e-01 5.90559352e-03 9.83648963e-01 -9.12109570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.19, Y:-89.32, Z:-912.11 [[-7.10172323e-01 6.91105989e-01 -1.34267583e-01 4.63193146e+02] [-6.80578991e-01 -7.22729036e-01 -1.20312002e-01 -8.93238016e+01] [-1.80187426e-01 5.93744231e-03 9.83614375e-01 -9.12109818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.156559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.20, Y:-89.33, Z:-912.11 [[-7.10583356e-01 6.90610404e-01 -1.34642356e-01 4.63196457e+02] [-6.80032221e-01 -7.23202948e-01 -1.20555693e-01 -8.93297136e+01] [-1.80630765e-01 5.89627190e-03 9.83533305e-01 -9.12109696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.37, Z:-912.14 [[-7.14461018e-01 6.76792250e-01 -1.77475929e-01 4.63181606e+02] [-6.69676405e-01 -7.34941316e-01 -1.06746309e-01 -8.93740793e+01] [-2.02679468e-01 4.25853657e-02 9.78318721e-01 -9.12140316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.2165599950001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.19, Y:-89.34, Z:-912.10 [[-7.12574279e-01 6.92629762e-01 -1.11811941e-01 4.63192134e+02] [-6.77290767e-01 -7.20681047e-01 -1.47973122e-01 -8.93353992e+01] [-1.83071335e-01 -2.97126456e-02 9.82650520e-01 -9.12104643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.19, Y:-89.39, Z:-912.14 [[-7.18436926e-01 6.73296253e-01 -1.74701285e-01 4.63187840e+02] [-6.65327524e-01 -7.38429673e-01 -1.09822148e-01 -8.93934124e+01] [-2.02947453e-01 3.73332864e-02 9.78477673e-01 -9.12139271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.276559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.17, Y:-89.40, Z:-912.13 [[-7.24841643e-01 6.74137423e-01 -1.41927195e-01 4.63167723e+02] [-6.60623280e-01 -7.38597041e-01 -1.34355100e-01 -8.93966013e+01] [-1.95400807e-01 -3.62576250e-03 9.80716768e-01 -9.12133061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.40, Z:-912.13 [[-7.25569192e-01 6.72521709e-01 -1.45821462e-01 4.63176958e+02] [-6.59983838e-01 -7.40073373e-01 -1.29277746e-01 -8.94017808e+01] [-1.94860672e-01 2.43985878e-03 9.80827898e-01 -9.12133247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.336559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.18, Y:-89.41, Z:-912.14 [[-7.27137177e-01 6.70176414e-01 -1.48778698e-01 4.63175446e+02] [-6.58261219e-01 -7.42174790e-01 -1.25971223e-01 -8.94146483e+01] [-1.94842741e-01 6.33688723e-03 9.80814024e-01 -9.12135363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:463.23, Y:-89.39, Z:-912.11 [[-7.15935836e-01 6.86097095e-01 -1.29254230e-01 4.63228848e+02] [-6.74320851e-01 -7.27501596e-01 -1.26620763e-01 -8.93910321e+01] [-1.80906796e-01 -3.49351961e-03 9.83494040e-01 -9.12112157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.396559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.23, Y:-89.40, Z:-912.11 [[-7.15180029e-01 6.87162338e-01 -1.27771078e-01 4.63233034e+02] [-6.75644660e-01 -7.26496387e-01 -1.25328743e-01 -8.93975897e+01] [-1.78946419e-01 -3.30476763e-03 9.83853271e-01 -9.12113267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.24, Y:-89.41, Z:-912.12 [[-7.14076649e-01 6.87493569e-01 -1.32087590e-01 4.63239599e+02] [-6.77367395e-01 -7.26170135e-01 -1.17687501e-01 -8.94080866e+01] [-1.76827464e-01 5.43393004e-03 9.84226865e-01 -9.12115599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.4565599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.25, Y:-89.41, Z:-912.12 [[-7.12808676e-01 6.89109283e-01 -1.30507420e-01 4.63246380e+02] [-6.79267975e-01 -7.24634006e-01 -1.16191974e-01 -8.94104882e+01] [-1.74639083e-01 5.82686369e-03 9.84615274e-01 -9.12115077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:463.22, Y:-89.45, Z:-912.13 [[-7.24065374e-01 6.73743196e-01 -1.47646334e-01 4.63218506e+02] [-6.65545183e-01 -7.38669926e-01 -1.06847324e-01 -8.94480161e+01] [-1.81049565e-01 2.09008589e-02 9.83251855e-01 -9.12134053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.516559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.23, Y:-89.44, Z:-912.13 [[-7.23029832e-01 6.76245264e-01 -1.41138958e-01 4.63229142e+02] [-6.66108802e-01 -7.36616571e-01 -1.17026032e-01 -8.94407140e+01] [-1.83103595e-01 9.40058944e-03 9.83048678e-01 -9.12132793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.27, Y:-89.43, Z:-912.11 [[-7.07978403e-01 6.96212333e-01 -1.18553656e-01 4.63270939e+02] [-6.85845203e-01 -7.17827515e-01 -1.19749805e-01 -8.94304912e+01] [-1.68472368e-01 -3.47081948e-03 9.85700266e-01 -9.12113787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.576559995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:463.25, Y:-89.46, Z:-912.13 [[-7.23187349e-01 6.74520789e-01 -1.48397317e-01 4.63252506e+02] [-6.66960753e-01 -7.37862672e-01 -1.03547242e-01 -8.94618830e+01] [-1.79341609e-01 2.40911306e-02 9.83491843e-01 -9.12132994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.25, Y:-89.47, Z:-912.13 [[-7.27772785e-01 6.73672358e-01 -1.28500300e-01 4.63254609e+02] [-6.62854040e-01 -7.39026404e-01 -1.20268433e-01 -8.94694787e+01] [-1.75986633e-01 -2.35114912e-03 9.84389749e-01 -9.12131135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.636559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.27, Y:-89.48, Z:-912.13 [[-7.30432404e-01 6.68934886e-01 -1.37820981e-01 4.63270953e+02] [-6.59782257e-01 -7.43253097e-01 -1.10734850e-01 -8.94759755e+01] [-1.76510275e-01 1.00475155e-02 9.84247515e-01 -9.12129505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.28, Y:-89.49, Z:-912.13 [[-7.31913140e-01 6.66387659e-01 -1.42234468e-01 4.63275469e+02] [-6.57586951e-01 -7.45476325e-01 -1.08832217e-01 -8.94872056e+01] [-1.78556875e-01 1.38758001e-02 9.83831746e-01 -9.12131957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.6965599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.28, Y:-89.49, Z:-912.13 [[-7.34279765e-01 6.65771152e-01 -1.32597134e-01 4.63282824e+02] [-6.55606325e-01 -7.46153773e-01 -1.15908988e-01 -8.94937456e+01] [-1.76106712e-01 1.82189515e-03 9.84369396e-01 -9.12129006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.29, Y:-89.51, Z:-912.13 [[-7.35695989e-01 6.62875991e-01 -1.39092893e-01 4.63290311e+02] [-6.53983005e-01 -7.48649219e-01 -1.08768453e-01 -8.95061073e+01] [-1.76231782e-01 1.09438739e-02 9.84287860e-01 -9.12130611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.756559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-89.51, Z:-912.13 [[-7.36579447e-01 6.61763539e-01 -1.39713052e-01 4.63296384e+02] [-6.52193079e-01 -7.49666735e-01 -1.12445428e-01 -8.95098704e+01] [-1.79150512e-01 8.29489410e-03 9.83786709e-01 -9.12131361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.29, Y:-89.51, Z:-912.13 [[-7.36778597e-01 6.61849042e-01 -1.38250298e-01 4.63293769e+02] [-6.51979465e-01 -7.49612189e-01 -1.14036591e-01 -8.95106847e+01] [-1.79109117e-01 6.11663559e-03 9.83810201e-01 -9.12131927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.816559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-89.51, Z:-912.13 [[-7.37766274e-01 6.61857483e-01 -1.32836729e-01 4.63296554e+02] [-6.51333582e-01 -7.49629661e-01 -1.17558231e-01 -8.95137299e+01] [-1.77385147e-01 -2.09476108e-04 9.84141487e-01 -9.12129690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-89.53, Z:-912.13 [[-7.37270085e-01 6.60913719e-01 -1.40092390e-01 4.63298289e+02] [-6.51337718e-01 -7.50415214e-01 -1.12410780e-01 -8.95289158e+01] [-1.79421287e-01 8.37035239e-03 9.83736723e-01 -9.12132196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.876559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-89.54, Z:-912.13 [[-7.36201449e-01 6.61437154e-01 -1.43207251e-01 4.63304005e+02] [-6.51356221e-01 -7.49953967e-01 -1.15343490e-01 -8.95398259e+01] [-1.83691316e-01 8.36288970e-03 9.82948403e-01 -9.12132197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.31, Y:-89.54, Z:-912.13 [[-7.34511334e-01 6.63540080e-01 -1.42153656e-01 4.63307308e+02] [-6.53346646e-01 -7.48102210e-01 -1.16108753e-01 -8.95449834e+01] [-1.83388275e-01 7.59241896e-03 9.83011239e-01 -9.12130486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.936559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.30, Y:-89.57, Z:-912.14 [[-7.30512046e-01 6.66189291e-01 -1.50146525e-01 4.63296567e+02] [-6.55615764e-01 -7.45691574e-01 -1.18794141e-01 -8.95747598e+01] [-1.91102383e-01 1.16578779e-02 9.81500878e-01 -9.12137384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.31, Y:-89.57, Z:-912.13 [[-7.29357905e-01 6.68475840e-01 -1.45523531e-01 4.63311059e+02] [-6.56989179e-01 -7.43713361e-01 -1.23513787e-01 -8.95658999e+01] [-1.90793777e-01 5.52162859e-03 9.81614612e-01 -9.12133532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.996559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.31, Y:-89.57, Z:-912.13 [[-7.27712549e-01 6.70444064e-01 -1.44703845e-01 4.63313070e+02] [-6.59053321e-01 -7.41938044e-01 -1.23193587e-01 -8.95716933e+01] [-1.89955697e-01 5.71803069e-03 9.81776012e-01 -9.12133028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.34, Y:-89.56, Z:-912.12 [[-7.18197586e-01 6.84846742e-01 -1.23195645e-01 4.63340350e+02] [-6.73106413e-01 -7.28643893e-01 -1.26514168e-01 -8.95613861e+01] [-1.76408570e-01 -7.93839120e-03 9.84285019e-01 -9.12117883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.056559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.31, Y:-89.61, Z:-912.13 [[-7.18234423e-01 6.83151295e-01 -1.32074306e-01 4.63309589e+02] [-6.73128780e-01 -7.30259173e-01 -1.16701265e-01 -8.96056820e+01] [-1.76173094e-01 5.08415091e-03 9.84346074e-01 -9.12126131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.34, Y:-89.59, Z:-912.13 [[-7.29576438e-01 6.62828878e-01 -1.68452069e-01 4.63342534e+02] [-6.54068597e-01 -7.48208752e-01 -1.11256161e-01 -8.95895191e+01] [-1.99781109e-01 2.90093350e-02 9.79411031e-01 -9.12133976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.116559995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:463.32, Y:-89.61, Z:-912.13 [[-7.21002783e-01 6.83003213e-01 -1.16882839e-01 4.63316876e+02] [-6.70175259e-01 -7.30205813e-01 -1.32908215e-01 -8.96082425e+01] [-1.76125266e-01 -1.74952060e-02 9.84212278e-01 -9.12128457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters Centerline goodness : 0.999918 Centerline is valid? [True, True] Translation: X:463.34, Y:-89.62, Z:-912.12 [[-7.22092615e-01 6.79133179e-01 -1.31758794e-01 4.63335992e+02] [-6.69066535e-01 -7.34004261e-01 -1.16566364e-01 -8.96153147e+01] [-1.75875602e-01 3.98368876e-03 9.84404339e-01 -9.12124078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.176559995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:463.35, Y:-89.62, Z:-912.12 [[-7.22956338e-01 6.78072634e-01 -1.32482593e-01 4.63345144e+02] [-6.67859800e-01 -7.34985703e-01 -1.17300063e-01 -8.96199043e+01] [-1.76910774e-01 3.67697394e-03 9.84220025e-01 -9.12123779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:463.35, Y:-89.62, Z:-912.12 [[-7.22951890e-01 6.77952302e-01 -1.33121155e-01 4.63347507e+02] [-6.67621112e-01 -7.35097100e-01 -1.17958915e-01 -8.96235126e+01] [-1.77827493e-01 3.59587276e-03 9.84055107e-01 -9.12123961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.236559995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:463.35, Y:-89.62, Z:-912.12 [[-7.22352075e-01 6.78492296e-01 -1.33625164e-01 4.63354646e+02] [-6.68074235e-01 -7.34598334e-01 -1.18499385e-01 -8.96240108e+01] [-1.78561743e-01 3.67325292e-03 9.83921852e-01 -9.12123053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:463.36, Y:-89.63, Z:-912.12 [[-7.21643664e-01 6.78896176e-01 -1.35389824e-01 4.63364522e+02] [-6.68188279e-01 -7.34224692e-01 -1.20160420e-01 -8.96289944e+01] [-1.80983002e-01 3.75288756e-03 9.83479064e-01 -9.12122469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.296559995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:463.37, Y:-89.63, Z:-912.12 [[-7.21233931e-01 6.79249734e-01 -1.35799176e-01 4.63368492e+02] [-6.68465070e-01 -7.33897467e-01 -1.20619062e-01 -8.96324866e+01] [-1.81593137e-01 3.78244535e-03 9.83366476e-01 -9.12122348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:463.38, Y:-89.63, Z:-912.12 [[-7.21036489e-01 6.79378690e-01 -1.36201972e-01 4.63376660e+02] [-6.68513989e-01 -7.33778232e-01 -1.21072512e-01 -8.96329167e+01] [-1.82196127e-01 3.75522476e-03 9.83255038e-01 -9.12121099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.356559995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:463.39, Y:-89.64, Z:-912.12 [[-7.21512401e-01 6.78469548e-01 -1.38198874e-01 4.63388124e+02] [-6.67246232e-01 -7.34620162e-01 -1.22945856e-01 -8.96380895e+01] [-1.84938698e-01 3.50571845e-03 9.82743806e-01 -9.12120529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:463.39, Y:-89.64, Z:-912.12 [[-7.21974896e-01 6.77820243e-01 -1.38967504e-01 4.63393277e+02] [-6.66440248e-01 -7.35220323e-01 -1.23727413e-01 -8.96406208e+01] [-1.86036678e-01 3.28545096e-03 9.82537307e-01 -9.12120545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.416559995 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:463.40, Y:-89.64, Z:-912.12 [[-7.22096382e-01 6.77686332e-01 -1.38989391e-01 4.63399592e+02] [-6.66281847e-01 -7.35344226e-01 -1.23844136e-01 -8.96424914e+01] [-1.86132524e-01 3.17870514e-03 9.82519506e-01 -9.12120297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:463.41, Y:-89.65, Z:-912.12 [[-7.21755999e-01 6.77996628e-01 -1.39243858e-01 4.63409208e+02] [-6.66537166e-01 -7.35058083e-01 -1.24168520e-01 -8.96490071e+01] [-1.86538161e-01 3.19183190e-03 9.82442531e-01 -9.12120322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4765599950001 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:463.41, Y:-89.65, Z:-912.12 [[-7.20941715e-01 6.78813657e-01 -1.39481405e-01 4.63413952e+02] [-6.67311241e-01 -7.34302996e-01 -1.24478184e-01 -8.96526358e+01] [-1.86919105e-01 3.33599388e-03 9.82369645e-01 -9.12120237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:463.42, Y:-89.65, Z:-912.12 [[-7.19965217e-01 6.79801047e-01 -1.39716224e-01 4.63420474e+02] [-6.68259219e-01 -7.33388103e-01 -1.24785843e-01 -8.96549395e+01] [-1.87295764e-01 3.52518807e-03 9.82297241e-01 -9.12119496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.536559995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:463.42, Y:-89.66, Z:-912.12 [[-7.18388562e-01 6.81449951e-01 -1.39799279e-01 4.63424921e+02] [-6.69906390e-01 -7.31854411e-01 -1.24958189e-01 -8.96593475e+01] [-1.87465471e-01 3.88389666e-03 9.82263515e-01 -9.12119410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:463.43, Y:-89.67, Z:-912.12 [[-7.15244307e-01 6.84562387e-01 -1.40712190e-01 4.63434692e+02] [-6.72906498e-01 -7.28939409e-01 -1.25873677e-01 -8.96669315e+01] [-1.88739045e-01 4.65571611e-03 9.82016241e-01 -9.12118938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.596559995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:463.44, Y:-89.67, Z:-912.12 [[-7.13544619e-01 6.86192679e-01 -1.41399024e-01 4.63438130e+02] [-6.74434012e-01 -7.27402382e-01 -1.26588066e-01 -8.96714254e+01] [-1.89717791e-01 5.03807754e-03 9.81825737e-01 -9.12119466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:463.45, Y:-89.68, Z:-912.12 [[-7.10764558e-01 6.88798855e-01 -1.42723093e-01 4.63447135e+02] [-6.76848940e-01 -7.24929996e-01 -1.27874991e-01 -8.96787316e+01] [-1.91544398e-01 5.71296259e-03 9.81467323e-01 -9.12119707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.656559995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:463.45, Y:-89.68, Z:-912.12 [[-7.08932545e-01 6.90562772e-01 -1.43309819e-01 4.63450870e+02] [-6.78529140e-01 -7.23246399e-01 -1.28502346e-01 -8.96833810e+01] [-1.92387247e-01 6.14039311e-03 9.81299874e-01 -9.12120064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:463.46, Y:-89.69, Z:-912.12 [[-7.06995967e-01 6.92465718e-01 -1.43693883e-01 4.63456900e+02] [-6.80385600e-01 -7.21420582e-01 -1.28948749e-01 -8.96866287e+01] [-1.92956312e-01 6.60100331e-03 9.81185145e-01 -9.12119478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.7165599950001 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:463.47, Y:-89.70, Z:-912.12 [[-7.03938959e-01 6.95425317e-01 -1.44407655e-01 4.63466009e+02] [-6.83264712e-01 -7.18560550e-01 -1.29692209e-01 -8.96972355e+01] [-1.93956889e-01 7.37325636e-03 9.80982345e-01 -9.12119747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:463.47, Y:-89.70, Z:-912.12 [[-7.03111224e-01 6.96318191e-01 -1.44137376e-01 4.63474626e+02] [-6.84201777e-01 -7.17693723e-01 -1.29551724e-01 -8.96996951e+01] [-1.93655712e-01 7.52977766e-03 9.81040656e-01 -9.12118546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.776559995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:463.47, Y:-89.71, Z:-912.12 [[-7.03837889e-01 6.95833380e-01 -1.42927022e-01 4.63472453e+02] [-6.83891721e-01 -7.18166576e-01 -1.28564708e-01 -8.97104540e+01] [-1.92105025e-01 7.25789442e-03 9.81347534e-01 -9.12120719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:463.47, Y:-89.71, Z:-912.12 [[-7.08120408e-01 6.91898683e-01 -1.40860574e-01 4.63474753e+02] [-6.80206223e-01 -7.21969502e-01 -1.26805100e-01 -8.97087512e+01] [-1.89433320e-01 6.02096002e-03 9.81875127e-01 -9.12124521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.836559995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:463.48, Y:-89.70, Z:-912.12 [[-7.09566847e-01 6.90537887e-01 -1.40258036e-01 4.63484318e+02] [-6.78900481e-01 -7.23274867e-01 -1.26362990e-01 -8.97006723e+01] [-1.88703544e-01 5.55825956e-03 9.82018370e-01 -9.12123033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.70, Z:-912.12 [[-7.11702005e-01 6.88786624e-01 -1.38033489e-01 4.63488719e+02] [-6.77467397e-01 -7.24947314e-01 -1.24456089e-01 -8.96974320e+01] [-1.85790696e-01 4.93754023e-03 9.82576938e-01 -9.12123421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.896559995 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.69, Z:-912.12 [[-7.11444698e-01 6.89309707e-01 -1.36742713e-01 4.63492704e+02] [-6.78194358e-01 -7.24449853e-01 -1.23388913e-01 -8.96937408e+01] [-1.84116414e-01 4.95374853e-03 9.82891961e-01 -9.12122769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.70, Z:-912.12 [[-7.09872040e-01 6.91062242e-01 -1.36068607e-01 4.63488097e+02] [-6.80070904e-01 -7.22775753e-01 -1.22877080e-01 -8.96978176e+01] [-1.83262800e-01 5.30929706e-03 9.83049621e-01 -9.12124221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.9565599950001 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.69, Z:-912.12 [[-7.07205787e-01 6.93781043e-01 -1.36117007e-01 4.63493969e+02] [-6.82813309e-01 -7.20161468e-01 -1.23018070e-01 -8.96909887e+01] [-1.83373828e-01 5.94341296e-03 9.83025287e-01 -9.12123172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.69, Z:-912.13 [[-7.02692365e-01 6.98598648e-01 -1.34845724e-01 4.63490733e+02] [-6.87905869e-01 -7.15478946e-01 -1.21964725e-01 -8.96875811e+01] [-1.81683668e-01 7.05748402e-03 9.83331702e-01 -9.12125352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.016559995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.69, Z:-912.13 [[-7.01341485e-01 7.00062112e-01 -1.34287605e-01 4.63490327e+02] [-6.89467187e-01 -7.14044283e-01 -1.21555583e-01 -8.96850207e+01] [-1.80983755e-01 7.33492431e-03 9.83458733e-01 -9.12126112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:463.48, Y:-89.69, Z:-912.13 [[-7.01226278e-01 7.00294328e-01 -1.33677082e-01 4.63483561e+02] [-6.89782934e-01 -7.13816992e-01 -1.21098328e-01 -8.96915047e+01] [-1.80225445e-01 7.29083972e-03 9.83598309e-01 -9.12128729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.076559995 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.69, Z:-912.13 [[-7.02032413e-01 6.99636172e-01 -1.32889876e-01 4.63493269e+02] [-6.89220110e-01 -7.14464904e-01 -1.20480461e-01 -8.96855772e+01] [-1.79237641e-01 7.00918687e-03 9.83780839e-01 -9.12125702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:463.49, Y:-89.69, Z:-912.13 [[-7.02637714e-01 6.98960747e-01 -1.33244578e-01 4.63494577e+02] [-6.88458924e-01 -7.15127843e-01 -1.20898630e-01 -8.96858148e+01] [-1.79790304e-01 6.78548163e-03 9.83681556e-01 -9.12125253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.136559995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:463.50, Y:-89.68, Z:-912.12 [[-7.02607257e-01 6.98855474e-01 -1.33955474e-01 4.63496357e+02] [-6.88220689e-01 -7.15231290e-01 -1.21640804e-01 -8.96846727e+01] [-1.80818489e-01 6.72521695e-03 9.83493491e-01 -9.12124343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:463.50, Y:-89.68, Z:-912.12 [[-7.02710094e-01 6.98549477e-01 -1.35007972e-01 4.63502582e+02] [-6.87721805e-01 -7.15531051e-01 -1.22694882e-01 -8.96789993e+01] [-1.82310842e-01 6.62899391e-03 9.83218599e-01 -9.12122240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.1965599950001 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:463.51, Y:-89.67, Z:-912.12 [[-7.03451645e-01 6.97262580e-01 -1.37770380e-01 4.63506988e+02] [-6.85940011e-01 -7.16787632e-01 -1.25306792e-01 -8.96736957e+01] [-1.86123841e-01 6.35494727e-03 9.82505741e-01 -9.12120066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:463.51, Y:-89.67, Z:-912.12 [[-7.03680154e-01 6.96767953e-01 -1.39099462e-01 4.63506938e+02] [-6.85195162e-01 -7.17269700e-01 -1.26616619e-01 -8.96734234e+01] [-1.87994231e-01 6.21267623e-03 9.82150483e-01 -9.12119490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.256559995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:463.51, Y:-89.67, Z:-912.12 [[-7.04882823e-01 6.95087672e-01 -1.41397787e-01 4.63512760e+02] [-6.83072348e-01 -7.18901685e-01 -1.28812014e-01 -8.96685233e+01] [-1.91186750e-01 5.78754257e-03 9.81536617e-01 -9.12116996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:463.51, Y:-89.67, Z:-912.12 [[-7.05350258e-01 6.94556774e-01 -1.41675338e-01 4.63513867e+02] [-6.82463308e-01 -7.19416255e-01 -1.29166887e-01 -8.96680002e+01] [-1.91637278e-01 5.58032293e-03 9.81449955e-01 -9.12116389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.316559995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.66, Z:-912.12 [[-7.05446415e-01 6.94401027e-01 -1.41959747e-01 4.63517670e+02] [-6.82235412e-01 -7.19567400e-01 -1.29528376e-01 -8.96640610e+01] [-1.92094243e-01 5.47463794e-03 9.81361213e-01 -9.12116080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.66, Z:-912.12 [[-7.04927957e-01 6.94854046e-01 -1.42318065e-01 4.63517258e+02] [-6.82615393e-01 -7.19129467e-01 -1.29957820e-01 -8.96617657e+01] [-1.92646831e-01 5.53760086e-03 9.81252533e-01 -9.12117011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.376559995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.66, Z:-912.12 [[-7.04005590e-01 6.95754317e-01 -1.42485295e-01 4.63518864e+02] [-6.83484674e-01 -7.18257099e-01 -1.30213059e-01 -8.96589651e+01] [-1.92937372e-01 5.71579439e-03 9.81194425e-01 -9.12116104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.66, Z:-912.12 [[-7.02779794e-01 6.96871314e-01 -1.43076668e-01 4.63518811e+02] [-6.84501120e-01 -7.17171318e-01 -1.30856860e-01 -8.96582511e+01] [-1.93800875e-01 5.97258297e-03 9.81022706e-01 -9.12115804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.436559995 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.66, Z:-912.11 [[-7.00127346e-01 6.99376892e-01 -1.43852920e-01 4.63519004e+02] [-6.86902243e-01 -7.14722361e-01 -1.31671009e-01 -8.96565690e+01] [-1.94902560e-01 6.62641956e-03 9.80800226e-01 -9.12114475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.65, Z:-912.11 [[-6.99857579e-01 6.99657474e-01 -1.43801215e-01 4.63520838e+02] [-6.87177101e-01 -7.14447696e-01 -1.31727456e-01 -8.96547330e+01] [-1.94902545e-01 6.62644339e-03 9.80800229e-01 -9.12114005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.496559995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:463.57, Y:-89.59, Z:-912.10 [[-7.16766107e-01 6.85175402e-01 -1.29541565e-01 4.63565603e+02] [-6.71463847e-01 -7.28293543e-01 -1.36838655e-01 -8.95881306e+01] [-1.88102766e-01 -1.10988322e-02 9.82086639e-01 -9.12100019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.66, Z:-912.11 [[-6.98596598e-01 6.98252690e-01 -1.56224118e-01 4.63529906e+02] [-6.89212586e-01 -7.15335795e-01 -1.15241972e-01 -8.96614760e+01] [-1.92220721e-01 2.71639789e-02 9.80975694e-01 -9.12107515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.556559995 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.65, Z:-912.12 [[-6.97677192e-01 7.02224614e-01 -1.41870105e-01 4.63518710e+02] [-6.90099217e-01 -7.11919891e-01 -1.30127394e-01 -8.96545485e+01] [-1.92378809e-01 7.11753356e-03 9.81294928e-01 -9.12115575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.65, Z:-912.12 [[-6.96866375e-01 7.03109781e-01 -1.41470463e-01 4.63521307e+02] [-6.91051166e-01 -7.11044190e-01 -1.29863183e-01 -8.96503566e+01] [-1.91899824e-01 7.26604272e-03 9.81387621e-01 -9.12115272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.616559995 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.65, Z:-912.11 [[-6.96552340e-01 7.03417529e-01 -1.41487168e-01 4.63525262e+02] [-6.91342170e-01 -7.10739631e-01 -1.29981464e-01 -8.96467721e+01] [-1.91991777e-01 7.27715291e-03 9.81369554e-01 -9.12114300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.65, Z:-912.11 [[-6.96494146e-01 7.03514212e-01 -1.41292812e-01 4.63525730e+02] [-6.91454217e-01 -7.10644523e-01 -1.29905457e-01 -8.96461896e+01] [-1.91799299e-01 7.21912041e-03 9.81407619e-01 -9.12113726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.676559995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.64, Z:-912.11 [[-6.96221684e-01 7.03794121e-01 -1.41241646e-01 4.63527559e+02] [-6.91728561e-01 -7.10367313e-01 -1.29961066e-01 -8.96443495e+01] [-1.91799283e-01 7.21916879e-03 9.81407621e-01 -9.12113256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.64, Z:-912.11 [[-6.95635022e-01 7.04278601e-01 -1.41716511e-01 4.63528661e+02] [-6.92120685e-01 -7.09886126e-01 -1.30501517e-01 -8.96431672e+01] [-1.92512011e-01 7.30350286e-03 9.81267438e-01 -9.12113085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.736559995 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.64, Z:-912.11 [[-6.94390231e-01 7.05499069e-01 -1.41750737e-01 4.63529788e+02] [-6.93340005e-01 -7.08670429e-01 -1.30636370e-01 -8.96414801e+01] [-1.92618393e-01 7.56883769e-03 9.81244550e-01 -9.12111692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.64, Z:-912.11 [[-6.93186405e-01 7.06578750e-01 -1.42264114e-01 4.63531456e+02] [-6.94332563e-01 -7.07591174e-01 -1.31213652e-01 -8.96388437e+01] [-1.93377610e-01 7.82308701e-03 9.81093217e-01 -9.12111244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.796559995 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:463.57, Y:-89.58, Z:-912.10 [[-7.14684361e-01 6.86514761e-01 -1.33879599e-01 4.63565810e+02] [-6.73005791e-01 -7.27083344e-01 -1.35694568e-01 -8.95764983e+01] [-1.90497951e-01 -6.87704023e-03 9.81663505e-01 -9.12097297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.65, Z:-912.10 [[-6.90297252e-01 7.06665259e-01 -1.55286564e-01 4.63536713e+02] [-6.97206090e-01 -7.07046946e-01 -1.18272080e-01 -8.96453089e+01] [-1.93373661e-01 2.66238459e-02 9.80763885e-01 -9.12104538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.856559995 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.64, Z:-912.11 [[-6.88388664e-01 7.11158547e-01 -1.42739517e-01 4.63525625e+02] [-6.98885066e-01 -7.02974209e-01 -1.31859492e-01 -8.96415740e+01] [-1.94115204e-01 8.98793712e-03 9.80937564e-01 -9.12110971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:463.56, Y:-89.59, Z:-912.10 [[-7.13303379e-01 6.83860909e-01 -1.53403220e-01 4.63562309e+02] [-6.71233183e-01 -7.29551600e-01 -1.31150588e-01 -8.95861768e+01] [-2.01604325e-01 9.41917398e-03 9.79421756e-01 -9.12101004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.916559995 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.63, Z:-912.11 [[-6.89538813e-01 7.10040566e-01 -1.42753705e-01 4.63536385e+02] [-6.98523308e-01 -7.04066340e-01 -1.27889710e-01 -8.96344753e+01] [-1.91314960e-01 1.15318713e-02 9.81460953e-01 -9.12107370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.63, Z:-912.11 [[-6.89922814e-01 7.10140328e-01 -1.40382428e-01 4.63535227e+02] [-6.98231001e-01 -7.04009136e-01 -1.29786771e-01 -8.96329182e+01] [-1.90997332e-01 8.47650926e-03 9.81553956e-01 -9.12108561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9765599950001 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.63, Z:-912.11 [[-6.89948144e-01 7.10274565e-01 -1.39576510e-01 4.63536460e+02] [-6.98485720e-01 -7.03874743e-01 -1.29143510e-01 -8.96314647e+01] [-1.89971730e-01 8.38987346e-03 9.81753713e-01 -9.12108237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.63, Z:-912.11 [[-6.88893191e-01 7.11397416e-01 -1.39067925e-01 4.63539807e+02] [-6.99697925e-01 -7.02737411e-01 -1.28774785e-01 -8.96278958e+01] [-1.89338283e-01 8.59346577e-03 9.81874313e-01 -9.12107320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.036559995 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.63, Z:-912.11 [[-6.87236858e-01 7.13113899e-01 -1.38470460e-01 4.63536344e+02] [-7.01530339e-01 -7.00991021e-01 -1.28322923e-01 -8.96304091e+01] [-1.88575408e-01 8.95298643e-03 9.82017902e-01 -9.12108252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.63, Z:-912.11 [[-6.83218871e-01 7.17480866e-01 -1.35768856e-01 4.63537027e+02] [-7.06414340e-01 -6.96508144e-01 -1.25917377e-01 -8.96278300e+01] [-1.84907423e-01 9.87993857e-03 9.82706280e-01 -9.12108008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.096559995 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.63, Z:-912.11 [[-6.80371661e-01 7.20486083e-01 -1.34142490e-01 4.63531197e+02] [-7.09724102e-01 -6.93390005e-01 -1.24507027e-01 -8.96312992e+01] [-1.82718642e-01 1.04931057e-02 9.83109248e-01 -9.12110088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.63, Z:-912.11 [[-6.77494540e-01 7.23444882e-01 -1.32772934e-01 4.63525625e+02] [-7.12940823e-01 -6.90292879e-01 -1.23333389e-01 -8.96341731e+01] [-1.80877120e-01 1.11015468e-02 9.83443045e-01 -9.12112633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.156559995 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:463.52, Y:-89.63, Z:-912.11 [[-6.71842228e-01 7.29127530e-01 -1.30388136e-01 4.63524186e+02] [-7.19086940e-01 -6.84266884e-01 -1.21213879e-01 -8.96324592e+01] [-1.77600660e-01 1.23238031e-02 9.84025472e-01 -9.12113539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.63, Z:-912.11 [[-6.68855411e-01 7.31986647e-01 -1.29722737e-01 4.63528415e+02] [-7.22084045e-01 -6.81195990e-01 -1.20692402e-01 -8.96288988e+01] [-1.76711835e-01 1.29449523e-02 9.84177502e-01 -9.12112465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.2165599950001 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.63, Z:-912.11 [[-6.65782265e-01 7.34869579e-01 -1.29231102e-01 4.63530198e+02] [-7.25078039e-01 -6.78072322e-01 -1.20331887e-01 -8.96263719e+01] [-1.76056277e-01 1.35877975e-02 9.84286320e-01 -9.12110902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:463.53, Y:-89.63, Z:-912.11 [[-6.64438913e-01 7.36276524e-01 -1.28132004e-01 4.63529278e+02] [-7.26660487e-01 -6.76540625e-01 -1.19404014e-01 -8.96290800e+01] [-1.74600878e-01 1.37717908e-02 9.84542976e-01 -9.12112154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.276559995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:463.54, Y:-89.59, Z:-912.11 [[-6.82527191e-01 7.18846842e-01 -1.31969131e-01 4.63544831e+02] [-7.08079896e-01 -6.95114787e-01 -1.24250929e-01 -8.95924542e+01] [-1.81051083e-01 8.64005129e-03 9.83435740e-01 -9.12112434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:463.55, Y:-89.60, Z:-912.11 [[-6.85717676e-01 7.13878214e-01 -1.42018183e-01 4.63554147e+02] [-7.04800156e-01 -6.99956133e-01 -1.15404301e-01 -8.95950302e+01] [-1.81791115e-01 2.09596683e-02 9.83113769e-01 -9.12112616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.336559995 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:463.57, Y:-89.57, Z:-912.11 [[-6.90705746e-01 7.09790856e-01 -1.38284174e-01 4.63567973e+02] [-7.00142484e-01 -7.04240909e-01 -1.17665817e-01 -8.95735825e+01] [-1.80903494e-01 1.55461692e-02 9.83377976e-01 -9.12109792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:463.57, Y:-89.58, Z:-912.11 [[-6.92247319e-01 7.08533564e-01 -1.37017657e-01 4.63565311e+02] [-6.98999133e-01 -7.05519379e-01 -1.16801619e-01 -8.95760026e+01] [-1.79426479e-01 1.49196163e-02 9.83658245e-01 -9.12110728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.396559995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:463.58, Y:-89.57, Z:-912.11 [[-6.97358529e-01 7.03132661e-01 -1.38908404e-01 4.63575301e+02] [-6.94001757e-01 -7.10860812e-01 -1.14186110e-01 -8.95707229e+01] [-1.79032524e-01 1.67740188e-02 9.83700152e-01 -9.12107545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:463.58, Y:-89.57, Z:-912.11 [[-6.99937162e-01 7.00606681e-01 -1.38702008e-01 4.63578842e+02] [-6.91266310e-01 -7.13382485e-01 -1.15049204e-01 -8.95671974e+01] [-1.79551824e-01 1.53528124e-02 9.83628707e-01 -9.12106707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.4565599950001 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:463.57, Y:-89.58, Z:-912.11 [[-6.98296555e-01 7.01502368e-01 -1.42395044e-01 4.63570103e+02] [-6.92209303e-01 -7.12437286e-01 -1.15236256e-01 -8.95822867e+01] [-1.82286046e-01 1.80980933e-02 9.83078968e-01 -9.12108079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.56, Z:-912.11 [[-7.07237148e-01 6.93072785e-01 -1.39519643e-01 4.63585808e+02] [-6.82811152e-01 -7.20785527e-01 -1.19319550e-01 -8.95612755e+01] [-1.83260872e-01 1.08783501e-02 9.83004127e-01 -9.12105004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.516559995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:463.58, Y:-89.58, Z:-912.11 [[-7.03388532e-01 6.95784565e-01 -1.45356161e-01 4.63576625e+02] [-6.86279900e-01 -7.18021564e-01 -1.16038495e-01 -8.95799988e+01] [-1.85106651e-01 1.81348648e-02 9.82551095e-01 -9.12106846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.56, Z:-912.10 [[-7.09685282e-01 6.90132252e-01 -1.41648422e-01 4.63590587e+02] [-6.79541862e-01 -7.23607659e-01 -1.20891746e-01 -8.95565077e+01] [-1.85929176e-01 1.04609392e-02 9.82507461e-01 -9.12104899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.576559995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:463.58, Y:-89.58, Z:-912.11 [[-7.05710253e-01 6.92862386e-01 -1.48036323e-01 4.63577708e+02] [-6.82932227e-01 -7.20853185e-01 -1.18212769e-01 -8.95785681e+01] [-1.88617636e-01 1.76748127e-02 9.81891536e-01 -9.12108737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:463.58, Y:-89.57, Z:-912.11 [[-7.09045980e-01 6.90520776e-01 -1.42950538e-01 4.63581839e+02] [-6.79885174e-01 -7.23225535e-01 -1.21247582e-01 -8.95717324e+01] [-1.87109454e-01 1.12198411e-02 9.82274996e-01 -9.12110040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.636559995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:463.58, Y:-89.57, Z:-912.11 [[-7.10881790e-01 6.88385372e-01 -1.44127236e-01 4.63584656e+02] [-6.77902892e-01 -7.25242717e-01 -1.20294097e-01 -8.95709298e+01] [-1.87335925e-01 1.21893877e-02 9.82220276e-01 -9.12110383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.55, Z:-912.11 [[-7.16096967e-01 6.84999088e-01 -1.34094679e-01 4.63593736e+02] [-6.74158982e-01 -7.28535778e-01 -1.21430176e-01 -8.95547541e+01] [-1.80872331e-01 3.44535143e-03 9.83500549e-01 -9.12106234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.6965599950001 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.57, Z:-912.11 [[-7.13827133e-01 6.84359667e-01 -1.48669669e-01 4.63591449e+02] [-6.74959032e-01 -7.28908042e-01 -1.14557286e-01 -8.95711126e+01] [-1.86764904e-01 1.85718367e-02 9.82229076e-01 -9.12108561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.57, Z:-912.11 [[-7.15578306e-01 6.83470865e-01 -1.44274963e-01 4.63591672e+02] [-6.72836933e-01 -7.29898046e-01 -1.20579035e-01 -8.95670400e+01] [-1.87718271e-01 1.07897819e-02 9.82163648e-01 -9.12110778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.756559995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.58, Z:-912.11 [[-7.16967625e-01 6.81148177e-01 -1.48305722e-01 4.63589697e+02] [-6.71140317e-01 -7.31983629e-01 -1.17348378e-01 -8.95762504e+01] [-1.88488994e-01 1.53989611e-02 9.81954567e-01 -9.12109770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.57, Z:-912.11 [[-7.15430933e-01 6.84178300e-01 -1.41628507e-01 4.63592117e+02] [-6.72908734e-01 -7.29284031e-01 -1.23849252e-01 -8.95687341e+01] [-1.88022379e-01 6.69747311e-03 9.82141909e-01 -9.12111819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.816559995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:463.60, Y:-89.57, Z:-912.11 [[-7.14186201e-01 6.84262396e-01 -1.47387393e-01 4.63595406e+02] [-6.73819992e-01 -7.29107156e-01 -1.19872322e-01 -8.95717059e+01] [-1.89485325e-01 1.37014136e-02 9.81787952e-01 -9.12109877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.58, Z:-912.11 [[-7.13644852e-01 6.84754560e-01 -1.47723452e-01 4.63593032e+02] [-6.74375757e-01 -7.28634354e-01 -1.19621556e-01 -8.95783533e+01] [-1.89547788e-01 1.42538070e-02 9.81768030e-01 -9.12108563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.876559995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.58, Z:-912.11 [[-7.12947124e-01 6.85128631e-01 -1.49349115e-01 4.63590470e+02] [-6.74424810e-01 -7.28285015e-01 -1.21458277e-01 -8.95825296e+01] [-1.91983266e-01 1.41314194e-02 9.81296453e-01 -9.12110920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.55, Z:-912.11 [[-7.17313386e-01 6.82532530e-01 -1.40038749e-01 4.63616560e+02] [-6.71083453e-01 -7.30840624e-01 -1.24575209e-01 -8.95485498e+01] [-1.87372639e-01 4.61822168e-03 9.82278049e-01 -9.12105698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.936559995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.56, Z:-912.10 [[-7.16537183e-01 6.82372514e-01 -1.44714261e-01 4.63617834e+02] [-6.71876742e-01 -7.30915525e-01 -1.19767023e-01 -8.95555282e+01] [-1.87499625e-01 1.14126209e-02 9.82198373e-01 -9.12104363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.56, Z:-912.10 [[-7.15364124e-01 6.83879924e-01 -1.43396026e-01 4.63619364e+02] [-6.73387619e-01 -7.29514024e-01 -1.19826553e-01 -8.95551193e+01] [-1.86556386e-01 1.08414912e-02 9.82384435e-01 -9.12102675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.996559995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.59, Z:-912.11 [[-7.11341325e-01 6.85518682e-01 -1.55105310e-01 4.63607237e+02] [-6.75959575e-01 -7.27717247e-01 -1.16216448e-01 -8.95850253e+01] [-1.92541355e-01 2.21753577e-02 9.81038266e-01 -9.12105996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.58, Z:-912.11 [[-7.08597049e-01 6.89521026e-01 -1.49836500e-01 4.63605536e+02] [-6.78323288e-01 -7.24141206e-01 -1.24487070e-01 -8.95818193e+01] [-1.94339236e-01 1.34264170e-02 9.80842491e-01 -9.12107167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.056559995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.58, Z:-912.11 [[-7.07480322e-01 6.90371927e-01 -1.51189275e-01 4.63605712e+02] [-6.79085541e-01 -7.23316303e-01 -1.25125354e-01 -8.95837780e+01] [-1.95740699e-01 1.41467250e-02 9.80553644e-01 -9.12106523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.58, Z:-912.11 [[-7.05490819e-01 6.92142169e-01 -1.52387405e-01 4.63608112e+02] [-6.80555756e-01 -7.21621967e-01 -1.26907837e-01 -8.95819655e+01] [-1.97804365e-01 1.41758117e-02 9.80139010e-01 -9.12105690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.116559995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:463.60, Y:-89.58, Z:-912.10 [[-6.95039276e-01 7.06076662e-01 -1.35558666e-01 4.63603855e+02] [-6.93316698e-01 -7.08134538e-01 -1.33631702e-01 -8.95814144e+01] [-1.90347999e-01 1.10580515e-03 9.81716057e-01 -9.12104822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.59, Z:-912.11 [[-7.05964998e-01 6.89567828e-01 -1.61584755e-01 4.63609038e+02] [-6.78750810e-01 -7.23876131e-01 -1.23695935e-01 -8.95898619e+01] [-2.02264085e-01 2.23507827e-02 9.79075933e-01 -9.12106102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.176559995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.58, Z:-912.11 [[-7.06355561e-01 6.90536239e-01 -1.55632658e-01 4.63613189e+02] [-6.78152388e-01 -7.23178864e-01 -1.30849797e-01 -8.95784087e+01] [-2.02906776e-01 1.31161772e-02 9.79110212e-01 -9.12107898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.58, Z:-912.11 [[-7.07478311e-01 6.88945446e-01 -1.57570973e-01 4.63615138e+02] [-6.76761823e-01 -7.24662471e-01 -1.29837352e-01 -8.95763177e+01] [-2.03636623e-01 1.47809087e-02 9.78934957e-01 -9.12109910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.236559995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.57, Z:-912.11 [[-7.08285170e-01 6.88928573e-01 -1.53979026e-01 4.63618852e+02] [-6.76609425e-01 -7.24731039e-01 -1.30248253e-01 -8.95703975e+01] [-2.01325123e-01 1.19307542e-02 9.79451812e-01 -9.12109357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.57, Z:-912.11 [[-7.08962435e-01 6.88109310e-01 -1.54524574e-01 4.63617353e+02] [-6.76063097e-01 -7.25488577e-01 -1.28860440e-01 -8.95723644e+01] [-2.00775882e-01 1.31111512e-02 9.79549459e-01 -9.12110614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.296559995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.56, Z:-912.11 [[-7.03071039e-01 6.98305952e-01 -1.34387173e-01 4.63620293e+02] [-6.84969834e-01 -7.15790990e-01 -1.35866059e-01 -8.95585040e+01] [-1.91069205e-01 -3.47233124e-03 9.81570426e-01 -9.12110131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.56, Z:-912.11 [[-7.03304884e-01 6.97181666e-01 -1.38924316e-01 4.63624898e+02] [-6.84812324e-01 -7.16887552e-01 -1.30783480e-01 -8.95589212e+01] [-1.90772957e-01 3.15642347e-03 9.81629113e-01 -9.12108133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.356559995 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.56, Z:-912.11 [[-7.03292587e-01 6.97214538e-01 -1.38821559e-01 4.63625992e+02] [-6.84844504e-01 -7.16855878e-01 -1.30788593e-01 -8.95571370e+01] [-1.90702759e-01 3.08853343e-03 9.81642969e-01 -9.12108469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.55, Z:-912.11 [[-7.02918392e-01 6.97481928e-01 -1.39372503e-01 4.63627558e+02] [-6.84997763e-01 -7.16595672e-01 -1.31410458e-01 -8.95535360e+01] [-1.91530152e-01 3.09902530e-03 9.81481837e-01 -9.12109177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.416559995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.55, Z:-912.11 [[-7.02651994e-01 6.97760512e-01 -1.39321370e-01 4.63629364e+02] [-6.85271028e-01 -7.16324413e-01 -1.31464648e-01 -8.95516716e+01] [-1.91530139e-01 3.09900119e-03 9.81481840e-01 -9.12108706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.56, Z:-912.11 [[-7.02172853e-01 6.98329073e-01 -1.38887693e-01 4.63615971e+02] [-6.85909107e-01 -7.15769839e-01 -1.31157293e-01 -8.95623594e+01] [-1.91002572e-01 3.16924284e-03 9.81584420e-01 -9.12114070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4765599950001 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.55, Z:-912.11 [[-7.01646108e-01 6.98892734e-01 -1.38714403e-01 4.63627312e+02] [-6.86494940e-01 -7.15219146e-01 -1.31096423e-01 -8.95510418e+01] [-1.90833534e-01 3.24344125e-03 9.81617055e-01 -9.12111613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.55, Z:-912.11 [[-7.01897290e-01 6.98669139e-01 -1.38569942e-01 4.63633717e+02] [-6.86273063e-01 -7.15438187e-01 -1.31062899e-01 -8.95451501e+01] [-1.90707831e-01 3.10412475e-03 9.81641935e-01 -9.12110793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.536559995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.54, Z:-912.11 [[-7.02376145e-01 6.98245522e-01 -1.38278493e-01 4.63635938e+02] [-6.85874092e-01 -7.15852453e-01 -1.30889253e-01 -8.95437251e+01] [-1.90379833e-01 2.90814662e-03 9.81706199e-01 -9.12110381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.54, Z:-912.11 [[-7.04159762e-01 6.96472384e-01 -1.38149371e-01 4.63638555e+02] [-6.84070636e-01 -7.17579745e-01 -1.30868926e-01 -8.95427827e+01] [-1.90279783e-01 2.35129660e-03 9.81727088e-01 -9.12111198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.596559995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.54, Z:-912.11 [[-7.03893457e-01 6.96751624e-01 -1.38098431e-01 4.63640357e+02] [-6.84344658e-01 -7.17308613e-01 -1.30922659e-01 -8.95409138e+01] [-1.90279769e-01 2.35132036e-03 9.81727091e-01 -9.12110727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.54, Z:-912.11 [[-7.04473330e-01 6.96200280e-01 -1.37922070e-01 4.63642583e+02] [-6.83795074e-01 -7.17844450e-01 -1.30857338e-01 -8.95386834e+01] [-1.90109507e-01 2.12492730e-03 9.81760592e-01 -9.12110310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.656559995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.54, Z:-912.11 [[-7.04137990e-01 6.96473889e-01 -1.38252716e-01 4.63643726e+02] [-6.83993903e-01 -7.17578977e-01 -1.31273580e-01 -8.95365536e+01] [-1.90635863e-01 2.12930056e-03 9.81658512e-01 -9.12110295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.53, Z:-912.11 [[-7.02973010e-01 6.97574501e-01 -1.38631750e-01 4.63647118e+02] [-6.85026475e-01 -7.16508373e-01 -1.31736401e-01 -8.95333978e+01] [-1.91226764e-01 2.35928479e-03 9.81543050e-01 -9.12109116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.7165599950001 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.53, Z:-912.11 [[-7.00590505e-01 6.99803320e-01 -1.39457013e-01 4.63648167e+02] [-6.87127279e-01 -7.14329651e-01 -1.32624480e-01 -8.95315390e+01] [-1.92429331e-01 2.90926631e-03 9.81306522e-01 -9.12108660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.53, Z:-912.11 [[-6.99425530e-01 7.00950499e-01 -1.39543276e-01 4.63647977e+02] [-6.88260889e-01 -7.13202963e-01 -1.32809953e-01 -8.95321519e+01] [-1.92615881e-01 3.15150696e-03 9.81269173e-01 -9.12108708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.776559995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.53, Z:-912.11 [[-6.98758404e-01 7.01468317e-01 -1.40281480e-01 4.63649889e+02] [-6.88632502e-01 -7.12693291e-01 -1.33617176e-01 -8.95304038e+01] [-1.93705885e-01 3.23626223e-03 9.81054309e-01 -9.12108433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.53, Z:-912.11 [[-6.98496713e-01 7.01510374e-01 -1.41370215e-01 4.63654225e+02] [-6.88452424e-01 -7.12652070e-01 -1.34760108e-01 -8.95266333e+01] [-1.95283390e-01 3.19717433e-03 9.80741646e-01 -9.12107536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.836559995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.53, Z:-912.11 [[-6.98451898e-01 7.01359409e-01 -1.42337366e-01 4.63652745e+02] [-6.88096004e-01 -7.12801073e-01 -1.35788515e-01 -8.95286909e+01] [-1.96694780e-01 3.10002619e-03 9.80459869e-01 -9.12108278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.52, Z:-912.11 [[-6.99475716e-01 7.00297680e-01 -1.42537302e-01 4.63659895e+02] [-6.86953435e-01 -7.13845724e-01 -1.36085490e-01 -8.95233500e+01] [-1.97049997e-01 2.72799370e-03 9.80389646e-01 -9.12106443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.896559995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.52, Z:-912.11 [[-7.00474658e-01 6.99386166e-01 -1.42106456e-01 4.63660135e+02] [-6.86083519e-01 -7.14740019e-01 -1.35779640e-01 -8.95243778e+01] [-1.96531573e-01 2.38670092e-03 9.80494592e-01 -9.12106040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.52, Z:-912.10 [[-7.02596331e-01 6.97149275e-01 -1.42622874e-01 4.63666992e+02] [-6.83681631e-01 -7.16924010e-01 -1.36379588e-01 -8.95192997e+01] [-1.97326694e-01 1.68884123e-03 9.80336332e-01 -9.12104054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.9565599950001 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.52, Z:-912.10 [[-7.02396045e-01 6.97277242e-01 -1.42983367e-01 4.63668572e+02] [-6.83721856e-01 -7.16799638e-01 -1.36830930e-01 -8.95182808e+01] [-1.97899519e-01 1.65134864e-03 9.80220921e-01 -9.12103651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.51, Z:-912.10 [[-7.02670868e-01 6.97119792e-01 -1.42399607e-01 4.63671791e+02] [-6.83651551e-01 -7.16953050e-01 -1.36377711e-01 -8.95147603e+01] [-1.97165434e-01 1.52306753e-03 9.80369049e-01 -9.12102654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.016559995 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.52, Z:-912.10 [[-7.02059891e-01 6.97677526e-01 -1.42681389e-01 4.63669927e+02] [-6.84145377e-01 -7.16410142e-01 -1.36753834e-01 -8.95152716e+01] [-1.97628471e-01 1.60543023e-03 9.80275681e-01 -9.12102495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.51, Z:-912.10 [[-7.03638369e-01 6.96115224e-01 -1.42536454e-01 4.63674386e+02] [-6.82557675e-01 -7.17929253e-01 -1.36720915e-01 -8.95102302e+01] [-1.97504600e-01 1.08726899e-03 9.80301357e-01 -9.12101911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.076559995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.51, Z:-912.10 [[-7.04962164e-01 6.94784902e-01 -1.42486098e-01 4.63677539e+02] [-6.81188704e-01 -7.19217308e-01 -1.36778704e-01 -8.95061484e+01] [-1.97510246e-01 6.36109319e-04 9.80300616e-01 -9.12101330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.50, Z:-912.10 [[-7.05937872e-01 6.93724132e-01 -1.42823489e-01 4.63682035e+02] [-6.80019793e-01 -7.20240765e-01 -1.37209044e-01 -8.95009761e+01] [-1.98052524e-01 2.61738459e-04 9.80191374e-01 -9.12100630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.136559995 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.50, Z:-912.10 [[-7.07566094e-01 6.91963088e-01 -1.43308435e-01 4.63683562e+02] [-6.78107087e-01 -7.21932814e-01 -1.37781677e-01 -8.95004009e+01] [-1.98798896e-01 -3.11177735e-04 9.80040256e-01 -9.12099219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.50, Z:-912.10 [[-7.12125040e-01 6.87324176e-01 -1.43050358e-01 4.63691642e+02] [-6.73403832e-01 -7.26348839e-01 -1.37639543e-01 -8.94963331e+01] [-1.98507447e-01 -1.68590562e-03 9.80097930e-01 -9.12096783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.1965599950001 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.49, Z:-912.10 [[-7.13918199e-01 6.85519226e-01 -1.42773235e-01 4.63693714e+02] [-6.71596140e-01 -7.28051009e-01 -1.37478555e-01 -8.94944938e+01] [-1.98190390e-01 -2.26248948e-03 9.80160931e-01 -9.12095909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.49, Z:-912.09 [[-7.14682077e-01 6.84690949e-01 -1.42925973e-01 4.63698915e+02] [-6.70699895e-01 -7.28828979e-01 -1.37731517e-01 -8.94887630e+01] [-1.98472114e-01 -2.57381125e-03 9.80103156e-01 -9.12094246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.256559995 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.49, Z:-912.09 [[-7.16528766e-01 6.82813815e-01 -1.42659811e-01 4.63700943e+02] [-6.68817170e-01 -7.30585563e-01 -1.37580263e-01 -8.94855025e+01] [-1.98166903e-01 -3.16688526e-03 9.80163175e-01 -9.12092500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.48, Z:-912.09 [[-7.17042817e-01 6.82287141e-01 -1.42596832e-01 4.63702871e+02] [-6.68271402e-01 -7.31076446e-01 -1.37624721e-01 -8.94829876e+01] [-1.98148763e-01 -3.38943233e-03 9.80166098e-01 -9.12091013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.316559995 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.48, Z:-912.09 [[-7.17059373e-01 6.82270518e-01 -1.42593113e-01 4.63704732e+02] [-6.68233915e-01 -7.31091569e-01 -1.37726371e-01 -8.94803800e+01] [-1.98215265e-01 -3.47243101e-03 9.80152361e-01 -9.12089363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.48, Z:-912.09 [[-7.16792139e-01 6.82521657e-01 -1.42734780e-01 4.63706114e+02] [-6.68440432e-01 -7.30857060e-01 -1.37968645e-01 -8.94773633e+01] [-1.98485310e-01 -3.48514164e-03 9.80097666e-01 -9.12087908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.376559995 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.47, Z:-912.09 [[-7.15617991e-01 6.83689313e-01 -1.43037809e-01 4.63707304e+02] [-6.69549170e-01 -7.29765975e-01 -1.38367376e-01 -8.94747062e+01] [-1.98984422e-01 -3.24733702e-03 9.79997273e-01 -9.12086501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.47, Z:-912.09 [[-7.12808571e-01 6.86631748e-01 -1.42971270e-01 4.63703660e+02] [-6.72541817e-01 -7.27001080e-01 -1.38408578e-01 -8.94742688e+01] [-1.98975992e-01 -2.50466270e-03 9.80001164e-01 -9.12085159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.436559995 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.47, Z:-912.08 [[-7.11113647e-01 6.88457972e-01 -1.42628898e-01 4.63703531e+02] [-6.74451075e-01 -7.25273292e-01 -1.38182490e-01 -8.94718058e+01] [-1.98577767e-01 -2.06724125e-03 9.80082954e-01 -9.12084469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.47, Z:-912.08 [[-7.09445266e-01 6.90249550e-01 -1.42277804e-01 4.63699772e+02] [-6.76326514e-01 -7.23569533e-01 -1.37947737e-01 -8.94725917e+01] [-1.98166247e-01 -1.64011766e-03 9.80167051e-01 -9.12084980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.496559995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:463.73, Y:-89.40, Z:-912.07 [[-7.29828525e-01 6.73133877e-01 -1.19336115e-01 4.63726523e+02] [-6.58365218e-01 -7.39082636e-01 -1.42520512e-01 -8.94042851e+01] [-1.84134635e-01 -2.54487875e-02 9.82571522e-01 -9.12070074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.48, Z:-912.08 [[-7.05463124e-01 6.90600347e-01 -1.59351629e-01 4.63703468e+02] [-6.80811735e-01 -7.22808269e-01 -1.18505644e-01 -8.94825830e+01] [-1.97020714e-01 2.48870969e-02 9.80083400e-01 -9.12076078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.556559995 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.47, Z:-912.08 [[-7.04104036e-01 6.95939721e-01 -1.41086539e-01 4.63694159e+02] [-6.82319888e-01 -7.18100177e-01 -1.37009879e-01 -8.94693198e+01] [-1.96664886e-01 -2.03057180e-04 9.80470745e-01 -9.12083082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.41, Z:-912.07 [[-7.24549470e-01 6.79348095e-01 -1.16250726e-01 4.63715895e+02] [-6.64747170e-01 -7.33357142e-01 -1.42472814e-01 -8.94057632e+01] [-1.82041935e-01 -2.59512607e-02 9.82948252e-01 -9.12070129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.616559995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:463.73, Y:-89.42, Z:-912.06 [[-7.22612939e-01 6.77766370e-01 -1.35879683e-01 4.63725535e+02] [-6.66967692e-01 -7.35268939e-01 -1.20555736e-01 -8.94182144e+01] [-1.81616734e-01 3.51222388e-03 9.83363120e-01 -9.12061464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.48, Z:-912.07 [[-6.98583201e-01 6.97833497e-01 -1.58145255e-01 4.63700666e+02] [-6.88788279e-01 -7.15702968e-01 -1.15498780e-01 -8.94770542e+01] [-1.93783946e-01 2.82430903e-02 9.80637604e-01 -9.12072399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.676559995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.41, Z:-912.07 [[-7.17941606e-01 6.86470783e-01 -1.15402402e-01 4.63708313e+02] [-6.72312769e-01 -7.26780812e-01 -1.40659846e-01 -8.94076276e+01] [-1.80431126e-01 -2.33990474e-02 9.83309256e-01 -9.12069482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.48, Z:-912.07 [[-6.95857199e-01 7.00954516e-01 -1.56350648e-01 4.63699005e+02] [-6.92356706e-01 -7.12600150e-01 -1.13327926e-01 -8.94766532e+01] [-1.90853217e-01 2.93903664e-02 9.81178504e-01 -9.12071094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.736559995 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:463.04, Y:-90.10, Z:-912.26 [[-6.92668910e-01 7.07005510e-01 -1.42663905e-01 4.63040194e+02] [-6.94354708e-01 -7.07176159e-01 -1.33316989e-01 -9.00964912e+01] [-1.95144358e-01 6.71482060e-03 9.80751544e-01 -9.12255664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:462.91, Y:-89.13, Z:-911.10 [[-6.69428333e-01 -6.69694646e-01 3.21519500e-01 4.62912035e+02] [-7.22778461e-01 6.87147604e-01 -7.36170277e-02 -8.91285616e+01] [-1.71630424e-01 -2.81668693e-01 -9.44036940e-01 -9.11102860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.796559995 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:463.59, Y:-89.45, Z:-912.11 [[-6.67640149e-01 7.38383689e-01 -9.51113035e-02 4.63586803e+02] [-7.27239659e-01 -6.74169091e-01 -1.28912820e-01 -8.94488573e+01] [-1.59308225e-01 -1.68986624e-02 9.87084254e-01 -9.12108804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:463.60, Y:-89.45, Z:-912.10 [[-6.69036370e-01 7.34607507e-01 -1.12881114e-01 4.63602912e+02] [-7.26014774e-01 -6.78457619e-01 -1.12239955e-01 -8.94543680e+01] [-1.59037366e-01 6.86074443e-03 9.87248726e-01 -9.12101016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.856559995 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:463.61, Y:-89.46, Z:-912.10 [[-6.72850539e-01 7.30265442e-01 -1.18256233e-01 4.63610718e+02] [-7.22060781e-01 -6.83066185e-01 -1.09767094e-01 -8.94603897e+01] [-1.60935950e-01 1.15313398e-02 9.86897486e-01 -9.12101115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.45, Z:-912.10 [[-6.75789695e-01 7.28225133e-01 -1.14001951e-01 4.63616638e+02] [-7.19381090e-01 -6.85316261e-01 -1.13280493e-01 -8.94540068e+01] [-1.60621093e-01 5.45705792e-03 9.87001056e-01 -9.12102163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.916559995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.45, Z:-912.10 [[-6.77221378e-01 7.26948220e-01 -1.13655137e-01 4.63622164e+02] [-7.18104210e-01 -6.86674200e-01 -1.13158677e-01 -8.94515978e+01] [-1.60304550e-01 4.98275684e-03 9.87055026e-01 -9.12100883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.45, Z:-912.10 [[-6.78715795e-01 7.25756036e-01 -1.12352336e-01 4.63628068e+02] [-7.16885067e-01 -6.87942097e-01 -1.13187775e-01 -8.94483655e+01] [-1.59438613e-01 3.72138091e-03 9.87200831e-01 -9.12099450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9765599950001 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.45, Z:-912.10 [[-6.79545771e-01 7.24890237e-01 -1.12923379e-01 4.63630829e+02] [-7.16033502e-01 -6.88852537e-01 -1.13040728e-01 -8.94510009e+01] [-1.59729676e-01 4.04057364e-03 9.87152523e-01 -9.12099057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.45, Z:-912.10 [[-6.78131009e-01 7.26130777e-01 -1.13456729e-01 4.63631544e+02] [-7.17120612e-01 -6.87545067e-01 -1.14104382e-01 -8.94508088e+01] [-1.60861318e-01 3.98443966e-03 9.86968977e-01 -9.12097794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.036559995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.45, Z:-912.10 [[-6.77354517e-01 7.26739496e-01 -1.14195290e-01 4.63633968e+02] [-7.17594097e-01 -6.86901239e-01 -1.15001742e-01 -8.94501022e+01] [-1.62017194e-01 4.04891635e-03 9.86779629e-01 -9.12097426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.46, Z:-912.10 [[-6.75920381e-01 7.27999351e-01 -1.14667276e-01 4.63630715e+02] [-7.18811909e-01 -6.85563457e-01 -1.15378449e-01 -8.94577700e+01] [-1.62607130e-01 4.43755801e-03 9.86680916e-01 -9.12097778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.096559995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.45, Z:-912.10 [[-6.76630788e-01 7.27252855e-01 -1.15213113e-01 4.63637771e+02] [-7.17877769e-01 -6.86358522e-01 -1.16462391e-01 -8.94490147e+01] [-1.63775108e-01 3.90689336e-03 9.86489965e-01 -9.12096795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.46, Z:-912.10 [[-6.75929874e-01 7.29164174e-01 -1.06950523e-01 4.63628750e+02] [-7.19012409e-01 -6.84319575e-01 -1.21358455e-01 -8.94558452e+01] [-1.61678574e-01 -5.13105202e-03 9.86830133e-01 -9.12101068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.156559995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:463.62, Y:-89.50, Z:-912.09 [[-6.56717625e-01 7.45642356e-01 -1.12869118e-01 4.63621594e+02] [-7.37899672e-01 -6.66230415e-01 -1.07893964e-01 -8.94988033e+01] [-1.55647148e-01 1.24302174e-02 9.87734506e-01 -9.12092716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.46, Z:-912.09 [[-6.72419231e-01 7.30867770e-01 -1.16981540e-01 4.63638983e+02] [-7.21103543e-01 -6.82505910e-01 -1.19144298e-01 -8.94563467e+01] [-1.66919320e-01 4.24088598e-03 9.85961437e-01 -9.12094436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.2165599950001 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.45, Z:-912.09 [[-6.72193430e-01 7.31289694e-01 -1.15634670e-01 4.63639946e+02] [-7.21318049e-01 -6.82062443e-01 -1.20378970e-01 -8.94536048e+01] [-1.66901966e-01 2.49142161e-03 9.85970348e-01 -9.12094565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.46, Z:-912.09 [[-6.71074410e-01 7.31841154e-01 -1.18607178e-01 4.63640320e+02] [-7.21782588e-01 -6.81460994e-01 -1.20999218e-01 -8.94575502e+01] [-1.69378373e-01 4.40911704e-03 9.85541235e-01 -9.12094061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.276559995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:463.64, Y:-89.46, Z:-912.09 [[-6.69092082e-01 7.34043583e-01 -1.16171444e-01 4.63639450e+02] [-7.24037707e-01 -6.79094510e-01 -1.20830647e-01 -8.94590077e+01] [-1.67586351e-01 3.26567720e-03 9.85851992e-01 -9.12093869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.45, Z:-912.09 [[-6.70618936e-01 7.32297593e-01 -1.18365865e-01 4.63647454e+02] [-7.22267279e-01 -6.80970316e-01 -1.20869380e-01 -8.94508972e+01] [-1.69115996e-01 4.43449654e-03 9.85586179e-01 -9.12092804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.336559995 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.45, Z:-912.09 [[-6.71017109e-01 7.32741252e-01 -1.13253242e-01 4.63646150e+02] [-7.22595017e-01 -6.80507289e-01 -1.21516548e-01 -8.94508662e+01] [-1.66109844e-01 2.96545217e-04 9.86107211e-01 -9.12092908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.48, Z:-912.09 [[-6.56298650e-01 7.47756252e-01 -1.00661168e-01 4.63630120e+02] [-7.38483615e-01 -6.63967723e-01 -1.17425782e-01 -8.94844267e+01] [-1.54641629e-01 -2.72975917e-03 9.87966859e-01 -9.12088994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.396559995 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:463.63, Y:-89.48, Z:-912.09 [[-6.57333491e-01 7.46549648e-01 -1.02841164e-01 4.63634899e+02] [-7.37574665e-01 -6.65329710e-01 -1.15412261e-01 -8.94831077e+01] [-1.54584265e-01 -1.13073829e-05 9.87979608e-01 -9.12085880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.45, Z:-912.09 [[-6.73091867e-01 7.30929378e-01 -1.12648050e-01 4.63655183e+02] [-7.21248851e-01 -6.82451597e-01 -1.18574503e-01 -8.94500844e+01] [-1.63546429e-01 1.43574307e-03 9.86534594e-01 -9.12085585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.4565599950001 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.45, Z:-912.08 [[-6.74613560e-01 7.28941976e-01 -1.16362109e-01 4.63659107e+02] [-7.18820638e-01 -6.84572651e-01 -1.21066825e-01 -8.94515104e+01] [-1.67909008e-01 1.97016378e-03 9.85800529e-01 -9.12082188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:463.40, Y:-89.75, Z:-912.15 [[-6.69192090e-01 7.31958953e-01 -1.28132893e-01 4.63399797e+02] [-7.22018666e-01 -6.81248530e-01 -1.20786947e-01 -8.97545063e+01] [-1.75701432e-01 1.16846706e-02 9.84374154e-01 -9.12151051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.516559995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:463.40, Y:-89.75, Z:-912.16 [[-6.68990737e-01 7.33878135e-01 -1.17789122e-01 4.63396260e+02] [-7.22280086e-01 -6.79278573e-01 -1.29969603e-01 -8.97468447e+01] [-1.75393476e-01 -1.87172320e-03 9.84496636e-01 -9.12155175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.43, Z:-912.09 [[-6.78281486e-01 7.28223538e-01 -9.81055813e-02 4.63658322e+02] [-7.16228953e-01 -6.85046534e-01 -1.33144035e-01 -8.94340476e+01] [-1.64165509e-01 -2.00430764e-02 9.86229163e-01 -9.12085004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.576559995 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.44, Z:-912.08 [[-6.78210677e-01 7.25885059e-01 -1.14547628e-01 4.63665084e+02] [-7.15932766e-01 -6.87815598e-01 -1.19791393e-01 -8.94448408e+01] [-1.65742428e-01 7.64598964e-04 9.86168780e-01 -9.12077737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:463.65, Y:-89.47, Z:-912.08 [[-6.70774148e-01 7.33472635e-01 -1.09908765e-01 4.63652563e+02] [-7.23281951e-01 -6.79715268e-01 -1.21862114e-01 -8.94683677e+01] [-1.64089191e-01 -2.24693005e-03 9.86442948e-01 -9.12076387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.636559995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.44, Z:-912.08 [[-6.79467012e-01 7.24941734e-01 -1.13066626e-01 4.63668372e+02] [-7.14078316e-01 -6.88796987e-01 -1.25103437e-01 -8.94385387e+01] [-1.68572654e-01 -4.26523214e-03 9.85680003e-01 -9.12076447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.45, Z:-912.08 [[-6.78138031e-01 7.25996331e-01 -1.14272212e-01 4.63665070e+02] [-7.15403688e-01 -6.87695503e-01 -1.23581786e-01 -8.94457984e+01] [-1.68304410e-01 -2.05474716e-03 9.85732927e-01 -9.12076786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.6965599950001 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.45, Z:-912.08 [[-6.75931059e-01 7.28091811e-01 -1.14015436e-01 4.63665364e+02] [-7.17729765e-01 -6.85479029e-01 -1.22402967e-01 -8.94457830e+01] [-1.67275788e-01 -9.03694599e-04 9.85909729e-01 -9.12076613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.44, Z:-912.08 [[-6.75478458e-01 7.29042149e-01 -1.10573046e-01 4.63668790e+02] [-7.18546570e-01 -6.84457984e-01 -1.23321110e-01 -8.94381104e+01] [-1.65588891e-01 -3.84887016e-03 9.86187358e-01 -9.12076760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.756559995 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.44, Z:-912.08 [[-6.75243031e-01 7.28841002e-01 -1.13303328e-01 4.63668912e+02] [-7.18841950e-01 -6.84682958e-01 -1.20314166e-01 -8.94410616e+01] [-1.65266755e-01 2.05883008e-04 9.86248882e-01 -9.12076794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.44, Z:-912.08 [[-6.74574709e-01 7.30218549e-01 -1.08304352e-01 4.63668457e+02] [-7.19973410e-01 -6.83200106e-01 -1.21966815e-01 -8.94383759e+01] [-1.63055975e-01 -4.29947476e-03 9.86607452e-01 -9.12078022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.816559995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.45, Z:-912.08 [[-6.70389343e-01 7.33996745e-01 -1.08751590e-01 4.63660862e+02] [-7.23986517e-01 -6.79149198e-01 -1.20830009e-01 -8.94536101e+01] [-1.62547388e-01 -2.26846555e-03 9.86698131e-01 -9.12077617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.43, Z:-912.08 [[-6.77635862e-01 7.24917871e-01 -1.23708201e-01 4.63681069e+02] [-7.14685937e-01 -6.88808587e-01 -1.21518489e-01 -8.94296741e+01] [-1.73302195e-01 6.06722585e-03 9.84850008e-01 -9.12076279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.876559995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.45, Z:-912.08 [[-6.69031556e-01 7.36348077e-01 -1.00937045e-01 4.63658881e+02] [-7.25367848e-01 -6.76497977e-01 -1.27247683e-01 -8.94500795e+01] [-1.61982294e-01 -1.19162284e-02 9.86721714e-01 -9.12079561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.45, Z:-912.08 [[-6.68942031e-01 7.35546451e-01 -1.07181986e-01 4.63664899e+02] [-7.25506623e-01 -6.77466319e-01 -1.21159098e-01 -8.94505986e+01] [-1.61730330e-01 -3.28717232e-03 9.86829517e-01 -9.12075869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.936559995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:463.66, Y:-89.45, Z:-912.08 [[-6.70471034e-01 7.33979944e-01 -1.08360669e-01 4.63664531e+02] [-7.23680398e-01 -6.79160668e-01 -1.22586580e-01 -8.94497932e+01] [-1.63570395e-01 -3.77225905e-03 9.86524453e-01 -9.12077837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.45, Z:-912.08 [[-6.71833930e-01 7.32776751e-01 -1.08062037e-01 4.63666995e+02] [-7.22503339e-01 -6.80456663e-01 -1.22342371e-01 -8.94467968e+01] [-1.63181178e-01 -4.11857326e-03 9.86587523e-01 -9.12077023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.996559995 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.42, Z:-912.08 [[-6.76117951e-01 7.29123166e-01 -1.06037376e-01 4.63683799e+02] [-7.18474682e-01 -6.84336557e-01 -1.24409035e-01 -8.94206649e+01] [-1.63274763e-01 -7.93001178e-03 9.86548766e-01 -9.12075595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.44, Z:-912.07 [[-6.72971600e-01 7.31124972e-01 -1.12095945e-01 4.63675603e+02] [-7.21008225e-01 -6.82243150e-01 -1.21208186e-01 -8.94398485e+01] [-1.65095022e-01 -7.47568787e-04 9.86277382e-01 -9.12073999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.056559995 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.43, Z:-912.07 [[-6.74429541e-01 7.29946234e-01 -1.11010315e-01 4.63676670e+02] [-7.19015964e-01 -6.83485337e-01 -1.25951724e-01 -8.94337779e+01] [-1.67811910e-01 -5.12737477e-03 9.85805698e-01 -9.12074153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:463.67, Y:-89.44, Z:-912.07 [[-6.75320320e-01 7.29003169e-01 -1.11789287e-01 4.63674898e+02] [-7.17888228e-01 -6.84488479e-01 -1.26933110e-01 -8.94354966e+01] [-1.69053118e-01 -5.46829567e-03 9.85591772e-01 -9.12074609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.116559995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.43, Z:-912.07 [[-6.75640730e-01 7.28681712e-01 -1.11948951e-01 4.63679534e+02] [-7.17513650e-01 -6.84829415e-01 -1.27211770e-01 -8.94313862e+01] [-1.69362825e-01 -5.62455293e-03 9.85537720e-01 -9.12072919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.43, Z:-912.07 [[-6.76207810e-01 7.28108062e-01 -1.12257062e-01 4.63684527e+02] [-7.16853255e-01 -6.85437376e-01 -1.27659759e-01 -8.94266207e+01] [-1.69895286e-01 -5.85268601e-03 9.85444741e-01 -9.12072228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.176559995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:463.68, Y:-89.43, Z:-912.07 [[-6.75222062e-01 7.28919475e-01 -1.12922834e-01 4.63684740e+02] [-7.17523843e-01 -6.84575283e-01 -1.28515437e-01 -8.94267378e+01] [-1.70981586e-01 -5.75163251e-03 9.85257437e-01 -9.12072165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.74701147e-01 7.29271438e-01 -1.13760851e-01 4.63686818e+02] [-7.17692241e-01 -6.84200132e-01 -1.29568619e-01 -8.94235511e+01] [-1.72325882e-01 -5.77481572e-03 9.85023067e-01 -9.12073301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.236559995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.73322323e-01 7.30567999e-01 -1.13610950e-01 4.63691042e+02] [-7.19020550e-01 -6.82817766e-01 -1.29496516e-01 -8.94190349e+01] [-1.72181585e-01 -5.50428761e-03 9.85049849e-01 -9.12071983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.70863597e-01 7.32622023e-01 -1.14921740e-01 4.63690254e+02] [-7.20816286e-01 -6.80616551e-01 -1.31091543e-01 -8.94206415e+01] [-1.74258190e-01 -5.10708215e-03 9.84686753e-01 -9.12070200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.296559995 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.69818101e-01 7.33359753e-01 -1.16306428e-01 4.63693200e+02] [-7.21258092e-01 -6.79822036e-01 -1.32773360e-01 -8.94174197e+01] [-1.76438311e-01 -5.04704780e-03 9.84298761e-01 -9.12071001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.68191302e-01 7.34781673e-01 -1.16688808e-01 4.63690201e+02] [-7.22602726e-01 -6.78287000e-01 -1.33311840e-01 -8.94223507e+01] [-1.77103599e-01 -4.75816111e-03 9.84180713e-01 -9.12071629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.356559995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.66471498e-01 7.36272087e-01 -1.17128803e-01 4.63694950e+02] [-7.24004533e-01 -6.76670975e-01 -1.33917240e-01 -8.94177589e+01] [-1.77857187e-01 -4.45023957e-03 9.84046247e-01 -9.12070569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:463.69, Y:-89.42, Z:-912.07 [[-6.65558253e-01 7.37101381e-01 -1.17105787e-01 4.63694562e+02] [-7.24832851e-01 -6.75768509e-01 -1.33993509e-01 -8.94186387e+01] [-1.77903204e-01 -4.29836397e-03 9.84038604e-01 -9.12069854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.416559995 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.42, Z:-912.07 [[-6.64162677e-01 7.38234169e-01 -1.17890843e-01 4.63696480e+02] [-7.25797899e-01 -6.74532097e-01 -1.34995778e-01 -8.94157090e+01] [-1.79179653e-01 -4.09423115e-03 9.83807852e-01 -9.12070292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.41, Z:-912.07 [[-6.62962362e-01 7.39310569e-01 -1.17901606e-01 4.63696044e+02] [-7.26869979e-01 -6.73353450e-01 -1.35111678e-01 -8.94148530e+01] [-1.79278944e-01 -3.87481956e-03 9.83790652e-01 -9.12069730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4765599950001 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.41, Z:-912.07 [[-6.62429397e-01 7.39769908e-01 -1.18016009e-01 4.63698774e+02] [-7.27293222e-01 -6.72849055e-01 -1.35346664e-01 -8.94098391e+01] [-1.79532350e-01 -3.82536548e-03 9.83744633e-01 -9.12070956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.41, Z:-912.07 [[-6.64035848e-01 7.38305010e-01 -1.18161354e-01 4.63697298e+02] [-7.25755237e-01 -6.74453286e-01 -1.35617482e-01 -8.94094353e+01] [-1.79821379e-01 -4.29864819e-03 9.83689887e-01 -9.12072420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.536559995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.40, Z:-912.07 [[-6.65125190e-01 7.37211301e-01 -1.18861176e-01 4.63702449e+02] [-7.24474427e-01 -6.75645954e-01 -1.36526003e-01 -8.94026801e+01] [-1.80956585e-01 -4.69500154e-03 9.83479879e-01 -9.12070303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.40, Z:-912.07 [[-6.66312146e-01 7.36047714e-01 -1.19423145e-01 4.63705790e+02] [-7.23150964e-01 -6.76910383e-01 -1.37277152e-01 -8.93986265e+01] [-1.81881301e-01 -5.10847122e-03 9.83307224e-01 -9.12069265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.596559995 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.36, Z:-912.06 [[-6.77604777e-01 7.29158284e-01 -9.58121272e-02 4.63715986e+02] [-7.15913922e-01 -6.83815969e-01 -1.40936075e-01 -8.93602746e+01] [-1.68282569e-01 -2.69057219e-02 9.85371534e-01 -9.12064849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.40, Z:-912.06 [[-6.68726086e-01 7.30756493e-01 -1.37114443e-01 4.63719516e+02] [-7.20421265e-01 -6.82446637e-01 -1.23530517e-01 -8.94008031e+01] [-1.83844018e-01 1.61720814e-02 9.82822385e-01 -9.12059412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.656559995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.39, Z:-912.07 [[-6.69557028e-01 7.32976177e-01 -1.20163686e-01 4.63710887e+02] [-7.19828663e-01 -6.80226686e-01 -1.38341430e-01 -8.93918505e+01] [-1.83139518e-01 -6.13021088e-03 9.83067819e-01 -9.12067979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.35, Z:-912.06 [[-6.80146567e-01 7.27886180e-01 -8.70767267e-02 4.63720304e+02] [-7.14755752e-01 -6.84843485e-01 -1.41822482e-01 -8.93474633e+01] [-1.62864554e-01 -3.42214832e-02 9.86054779e-01 -9.12060536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.7165599950001 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.40, Z:-912.06 [[-6.70084195e-01 7.28684613e-01 -1.41442238e-01 4.63724184e+02] [-7.19377960e-01 -6.84479324e-01 -1.18251455e-01 -8.93972014e+01] [-1.82982303e-01 2.25119974e-02 9.82858427e-01 -9.12058480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.38, Z:-912.07 [[-6.69957246e-01 7.32796873e-01 -1.19021138e-01 4.63712675e+02] [-7.19868998e-01 -6.80418976e-01 -1.37181064e-01 -8.93831414e+01] [-1.81510095e-01 -6.22582094e-03 9.83369373e-01 -9.12068958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.776559995 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.38, Z:-912.07 [[-6.69675071e-01 7.33130270e-01 -1.18555081e-01 4.63712884e+02] [-7.20290450e-01 -6.80060135e-01 -1.36747508e-01 -8.93806920e+01] [-1.80878322e-01 -6.18230414e-03 9.83486051e-01 -9.12069927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.38, Z:-912.07 [[-6.69875217e-01 7.33168669e-01 -1.17178908e-01 4.63713842e+02] [-7.20609842e-01 -6.80018863e-01 -1.35261975e-01 -8.93765684e+01] [-1.78853710e-01 -6.16836987e-03 9.83856342e-01 -9.12069733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.836559995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.37, Z:-912.07 [[-6.70277361e-01 7.32855209e-01 -1.16839643e-01 4.63715277e+02] [-7.20346338e-01 -6.80355421e-01 -1.34972791e-01 -8.93734430e+01] [-1.78407998e-01 -6.30419683e-03 9.83936402e-01 -9.12069502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.37, Z:-912.07 [[-6.71254391e-01 7.32026634e-01 -1.16424011e-01 4.63716938e+02] [-7.19576574e-01 -6.81244322e-01 -1.34594683e-01 -8.93693263e+01] [-1.77840089e-01 -6.57128138e-03 9.84037459e-01 -9.12068877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.896559995 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.37, Z:-912.07 [[-6.71176003e-01 7.32072935e-01 -1.16584693e-01 4.63715199e+02] [-7.19570297e-01 -6.81193905e-01 -1.34883107e-01 -8.93694980e+01] [-1.78161054e-01 -6.63942215e-03 9.83978941e-01 -9.12069054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.37, Z:-912.07 [[-6.70507760e-01 7.32653270e-01 -1.16784115e-01 4.63716138e+02] [-7.20097459e-01 -6.80570384e-01 -1.35216875e-01 -8.93657449e+01] [-1.78546896e-01 -6.56801958e-03 9.83909481e-01 -9.12068804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.9565599950001 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.36, Z:-912.07 [[-6.69417820e-01 7.33652298e-01 -1.16765099e-01 4.63715845e+02] [-7.21096917e-01 -6.79495184e-01 -1.35297938e-01 -8.93645885e+01] [-1.78602966e-01 -6.37189813e-03 9.83900594e-01 -9.12068202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.36, Z:-912.07 [[-6.67583665e-01 7.35267731e-01 -1.17104289e-01 4.63716702e+02] [-7.22644293e-01 -6.77749960e-01 -1.35794765e-01 -8.93610137e+01] [-1.79212936e-01 -6.02962038e-03 9.83791831e-01 -9.12067073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.016559995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.36, Z:-912.07 [[-6.66232571e-01 7.36480842e-01 -1.17175642e-01 4.63713997e+02] [-7.23841498e-01 -6.76433720e-01 -1.35981281e-01 -8.93623283e+01] [-1.79409164e-01 -5.77856631e-03 9.83757572e-01 -9.12067218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.36, Z:-912.07 [[-6.64704686e-01 7.37843917e-01 -1.17277600e-01 4.63714859e+02] [-7.25184321e-01 -6.74949067e-01 -1.36203738e-01 -8.93591859e+01] [-1.79653507e-01 -5.48738620e-03 9.83714647e-01 -9.12066561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.076559995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.36, Z:-912.07 [[-6.62981360e-01 7.39411487e-01 -1.17159592e-01 4.63714300e+02] [-7.26782751e-01 -6.73234242e-01 -1.36170803e-01 -8.93574750e+01] [-1.79562105e-01 -5.12913390e-03 9.83733268e-01 -9.12067252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.36, Z:-912.07 [[-6.59070961e-01 7.42870928e-01 -1.17338204e-01 4.63712453e+02] [-7.30238175e-01 -6.69421075e-01 -1.36483086e-01 -8.93550562e+01] [-1.79937983e-01 -4.26720311e-03 9.83668701e-01 -9.12067137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.136559995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:463.73, Y:-89.29, Z:-912.06 [[-6.76604912e-01 7.30137300e-01 -9.54217832e-02 4.63732751e+02] [-7.17099599e-01 -6.82798458e-01 -1.39837160e-01 -8.92905852e+01] [-1.67254173e-01 -2.61875867e-02 9.85565955e-01 -9.12056844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.36, Z:-912.06 [[-6.53436063e-01 7.44770647e-01 -1.35417854e-01 4.63718853e+02] [-7.35225020e-01 -6.66998649e-01 -1.20652281e-01 -8.93643100e+01] [-1.80181803e-01 2.07240430e-02 9.83414985e-01 -9.12060169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.1965599950001 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.35, Z:-912.07 [[-6.50348519e-01 7.50557438e-01 -1.17091149e-01 4.63709353e+02] [-7.38060983e-01 -6.60801235e-01 -1.36410094e-01 -8.93533746e+01] [-1.79757586e-01 -2.29369423e-03 9.83708264e-01 -9.12067809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.35, Z:-912.07 [[-6.44324129e-01 7.55922327e-01 -1.15878611e-01 4.63705822e+02] [-7.43752067e-01 -6.54660744e-01 -1.35100606e-01 -8.93549859e+01] [-1.77986742e-01 -8.63624230e-04 9.84032507e-01 -9.12068624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.256559995 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.29, Z:-912.06 [[-6.63053938e-01 7.43645308e-01 -8.57387407e-02 4.63716773e+02] [-7.30444951e-01 -6.67792994e-01 -1.43187612e-01 -8.92912925e+01] [-1.63736526e-01 -3.23136797e-02 9.85974734e-01 -9.12062510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:463.73, Y:-89.31, Z:-912.05 [[-6.59896567e-01 7.41734028e-01 -1.19863059e-01 4.63731706e+02] [-7.33252416e-01 -6.70557416e-01 -1.12666080e-01 -8.93108907e+01] [-1.63943328e-01 1.35419188e-02 9.86376805e-01 -9.12049679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.316559995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.31, Z:-912.06 [[-6.57336973e-01 7.46286854e-01 -1.04709287e-01 4.63719692e+02] [-7.35773571e-01 -6.65605099e-01 -1.24928398e-01 -8.93073156e+01] [-1.62927457e-01 -5.07772944e-03 9.86624985e-01 -9.12058326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.31, Z:-912.06 [[-6.57128386e-01 7.45427667e-01 -1.11892263e-01 4.63724382e+02] [-7.35932108e-01 -6.66572291e-01 -1.18681568e-01 -8.93096940e+01] [-1.63052806e-01 4.35608154e-03 9.86607727e-01 -9.12055345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.376559995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.37, Z:-912.06 [[-6.33116215e-01 7.62071783e-01 -1.35685137e-01 4.63708546e+02] [-7.54711828e-01 -6.46679910e-01 -1.10522175e-01 -8.93710754e+01] [-1.71970683e-01 3.24297971e-02 9.84568125e-01 -9.12062729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.36, Z:-912.07 [[-6.32940732e-01 7.66067458e-01 -1.11922650e-01 4.63698147e+02] [-7.54795567e-01 -6.42758187e-01 -1.30941073e-01 -8.93566437e+01] [-1.72248895e-01 1.60078145e-03 9.85052159e-01 -9.12071903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.436559995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.35, Z:-912.07 [[-6.31840985e-01 7.66994906e-01 -1.11784542e-01 4.63700273e+02] [-7.55747482e-01 -6.41650708e-01 -1.30882056e-01 -8.93511818e+01] [-1.72112501e-01 1.78423924e-03 9.85075684e-01 -9.12071421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.35, Z:-912.07 [[-6.32672211e-01 7.66398673e-01 -1.11170807e-01 4.63702063e+02] [-7.55248522e-01 -6.42363357e-01 -1.30265063e-01 -8.93486881e+01] [-1.71247024e-01 1.54650191e-03 9.85226911e-01 -9.12070682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.496559995 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:463.70, Y:-89.35, Z:-912.07 [[-6.33260387e-01 7.65873383e-01 -1.11441658e-01 4.63703510e+02] [-7.54642475e-01 -6.42990018e-01 -1.30685008e-01 -8.93465078e+01] [-1.71744043e-01 1.34096981e-03 9.85140693e-01 -9.12069738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.34, Z:-912.07 [[-6.33729772e-01 7.65482005e-01 -1.11462439e-01 4.63707447e+02] [-7.54223003e-01 -6.43456242e-01 -1.30811803e-01 -8.93421921e+01] [-1.71855283e-01 1.16820136e-03 9.85121514e-01 -9.12067968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.556559995 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:463.71, Y:-89.34, Z:-912.07 [[-6.34809533e-01 7.64664404e-01 -1.10928833e-01 4.63710125e+02] [-7.53483722e-01 -6.44428105e-01 -1.30286983e-01 -8.93411345e+01] [-1.71111476e-01 8.75651535e-04 9.85251286e-01 -9.12065901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:463.72, Y:-89.34, Z:-912.06 [[-6.38084523e-01 7.62159743e-01 -1.09364837e-01 4.63717598e+02] [-7.51240729e-01 -6.47388993e-01 -1.28549058e-01 -8.93382394e+01] [-1.68776509e-01 1.34155245e-04 9.85654337e-01 -9.12064557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.616559995 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:463.73, Y:-89.28, Z:-912.06 [[-6.65724837e-01 7.40541207e-01 -9.17014869e-02 4.63733892e+02] [-7.29066614e-01 -6.71692590e-01 -1.31495008e-01 -8.92795109e+01] [-1.58972681e-01 -2.06830005e-02 9.87066310e-01 -9.12060680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:463.73, Y:-89.34, Z:-912.06 [[-6.48714295e-01 7.50964030e-01 -1.23380669e-01 4.63733760e+02] [-7.43115127e-01 -6.60033407e-01 -1.10162650e-01 -8.93366928e+01] [-1.64163551e-01 2.02219558e-02 9.86225837e-01 -9.12058032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.676559995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:463.74, Y:-89.28, Z:-912.06 [[-6.71301423e-01 7.35194822e-01 -9.40370915e-02 4.63738074e+02] [-7.24262147e-01 -6.77629971e-01 -1.27522408e-01 -8.92755472e+01] [-1.57476166e-01 -1.74984684e-02 9.87367744e-01 -9.12060456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:463.74, Y:-89.33, Z:-912.06 [[-6.54290986e-01 7.46994839e-01 -1.17906809e-01 4.63736542e+02] [-7.38666145e-01 -6.64687466e-01 -1.12084337e-01 -8.93274305e+01] [-1.62097600e-01 1.37579967e-02 9.86678816e-01 -9.12060169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.736559995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:463.74, Y:-89.28, Z:-912.06 [[-6.75947910e-01 7.30720833e-01 -9.56111229e-02 4.63744557e+02] [-7.19796906e-01 -6.82463627e-01 -1.27026816e-01 -8.92752589e+01] [-1.58072255e-01 -1.70429205e-02 9.87280457e-01 -9.12057413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.28, Z:-912.05 [[-6.77676429e-01 7.27563390e-01 -1.06799679e-01 4.63755478e+02] [-7.18119974e-01 -6.86035889e-01 -1.16869427e-01 -8.92788820e+01] [-1.58298329e-01 -2.50467316e-03 9.87388154e-01 -9.12050080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.796559995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.28, Z:-912.05 [[-6.78049960e-01 7.27344936e-01 -1.05913148e-01 4.63757850e+02] [-7.18119760e-01 -6.86268358e-01 -1.15497844e-01 -8.92808650e+01] [-1.56691614e-01 -2.25498395e-03 9.87645004e-01 -9.12047712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.28, Z:-912.05 [[-6.77968985e-01 7.27238192e-01 -1.07157216e-01 4.63759089e+02] [-7.18144649e-01 -6.86384742e-01 -1.14648373e-01 -8.92821430e+01] [-1.56927753e-01 -7.73659816e-04 9.87609782e-01 -9.12047318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.856559995 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.27, Z:-912.05 [[-6.81232535e-01 7.24659740e-01 -1.03877302e-01 4.63761998e+02] [-7.15430273e-01 -6.89093599e-01 -1.15366967e-01 -8.92744500e+01] [-1.55182980e-01 -4.27476493e-03 9.87876495e-01 -9.12047656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.28, Z:-912.05 [[-6.80455712e-01 7.25599074e-01 -1.02401213e-01 4.63759747e+02] [-7.16485249e-01 -6.88101620e-01 -1.14739045e-01 -8.92790436e+01] [-1.53716985e-01 -4.70588011e-03 9.88103711e-01 -9.12047280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.916559995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.32, Z:-912.05 [[-6.64918279e-01 7.37034945e-01 -1.21091591e-01 4.63757409e+02] [-7.29029986e-01 -6.75676582e-01 -1.09436907e-01 -8.93172292e+01] [-1.62477577e-01 1.55128014e-02 9.86590285e-01 -9.12049277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.27, Z:-912.05 [[-6.78520931e-01 7.28840673e-01 -9.16548977e-02 4.63758595e+02] [-7.17866784e-01 -6.84365451e-01 -1.27715347e-01 -8.92734190e+01] [-1.55809585e-01 -2.08615296e-02 9.87566793e-01 -9.12049664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9765599950001 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.32, Z:-912.05 [[-6.61512201e-01 7.40479196e-01 -1.18710442e-01 4.63761390e+02] [-7.32101414e-01 -6.71954775e-01 -1.11822630e-01 -8.93170206e+01] [-1.62570380e-01 1.29360488e-02 9.86612148e-01 -9.12046188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.27, Z:-912.05 [[-6.76607374e-01 7.30053397e-01 -9.60442515e-02 4.63764988e+02] [-7.19149687e-01 -6.83185225e-01 -1.26813550e-01 -8.92723473e+01] [-1.58196676e-01 -1.67327895e-02 9.87265833e-01 -9.12047503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.036559995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.32, Z:-912.05 [[-6.59663876e-01 7.42628346e-01 -1.15527969e-01 4.63759393e+02] [-7.33790109e-01 -6.69640907e-01 -1.14599878e-01 -8.93183941e+01] [-1.62467372e-01 9.17588080e-03 9.86671251e-01 -9.12046034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.31, Z:-912.05 [[-6.58834240e-01 7.44907226e-01 -1.05122166e-01 4.63756223e+02] [-7.34488041e-01 -6.67151909e-01 -1.24240285e-01 -8.93107214e+01] [-1.62679940e-01 -4.64278021e-03 9.86667970e-01 -9.12049669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.096559995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.28, Z:-912.05 [[-6.72242150e-01 7.33627289e-01 -9.94057044e-02 4.63765983e+02] [-7.22663983e-01 -6.79416057e-01 -1.27084970e-01 -8.92781478e+01] [-1.60770834e-01 -1.35949510e-02 9.86898129e-01 -9.12047028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.31, Z:-912.04 [[-6.57899797e-01 7.44368185e-01 -1.14384711e-01 4.63765414e+02] [-7.34980326e-01 -6.67738526e-01 -1.18021954e-01 -8.93118464e+01] [-1.64230866e-01 6.42389244e-03 9.86401012e-01 -9.12044186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.156559995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.31, Z:-912.05 [[-6.57525116e-01 7.45893840e-01 -1.06316044e-01 4.63761935e+02] [-7.35219429e-01 -6.66049205e-01 -1.25820700e-01 -8.93079353e+01] [-1.64660602e-01 -4.56464922e-03 9.86339724e-01 -9.12047639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.31, Z:-912.05 [[-6.54817896e-01 7.48114822e-01 -1.07413858e-01 4.63764455e+02] [-7.37230059e-01 -6.63556531e-01 -1.27218594e-01 -8.93105366e+01] [-1.66449283e-01 -4.11628739e-03 9.86041425e-01 -9.12045627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.2165599950001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:463.76, Y:-89.31, Z:-912.04 [[-6.53033075e-01 7.49601462e-01 -1.07914088e-01 4.63764908e+02] [-7.38617635e-01 -6.61878417e-01 -1.27909934e-01 -8.93092926e+01] [-1.67307479e-01 -3.82216885e-03 9.85897357e-01 -9.12044276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:463.78, Y:-89.28, Z:-912.04 [[-6.64418430e-01 7.40095437e-01 -1.03956217e-01 4.63776560e+02] [-7.28463433e-01 -6.72404496e-01 -1.31199162e-01 -8.92752496e+01] [-1.67000529e-01 -1.14428386e-02 9.85890402e-01 -9.12043709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.276559995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.31, Z:-912.04 [[-6.50194519e-01 7.50832437e-01 -1.16179772e-01 4.63768370e+02] [-7.40670292e-01 -6.60466282e-01 -1.23255055e-01 -8.93139619e+01] [-1.69276716e-01 5.91114465e-03 9.85550837e-01 -9.12041773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.31, Z:-912.04 [[-6.48418047e-01 7.53445021e-01 -1.08970803e-01 4.63768310e+02] [-7.42259889e-01 -6.57504039e-01 -1.29378111e-01 -8.93078322e+01] [-1.69128037e-01 -3.00644602e-03 9.85589503e-01 -9.12042563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.336559995 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.31, Z:-912.04 [[-6.46205142e-01 7.55304873e-01 -1.09240396e-01 4.63769501e+02] [-7.44072882e-01 -6.55368462e-01 -1.29798789e-01 -8.93071430e+01] [-1.69630369e-01 -2.59382873e-03 9.85504343e-01 -9.12041177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.31, Z:-912.04 [[-6.44513397e-01 7.56725199e-01 -1.09405003e-01 4.63769485e+02] [-7.45461968e-01 -6.53729092e-01 -1.30095076e-01 -8.93071065e+01] [-1.69967455e-01 -2.29075060e-03 9.85447014e-01 -9.12041590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.396559995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.30, Z:-912.04 [[-6.42746166e-01 7.58308256e-01 -1.08839126e-01 4.63769964e+02] [-7.47167448e-01 -6.51893296e-01 -1.29521947e-01 -8.93049865e+01] [-1.69169058e-01 -1.92868216e-03 9.85585161e-01 -9.12042649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.30, Z:-912.04 [[-6.40985450e-01 7.59827734e-01 -1.08625351e-01 4.63768936e+02] [-7.48735423e-01 -6.50122514e-01 -1.29367633e-01 -8.93035743e+01] [-1.68916902e-01 -1.59112222e-03 9.85629012e-01 -9.12043521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.4565599950001 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.30, Z:-912.04 [[-6.41108029e-01 7.59799220e-01 -1.08100146e-01 4.63770802e+02] [-7.48797313e-01 -6.50155676e-01 -1.28841690e-01 -8.92989974e+01] [-1.68175739e-01 -1.65634350e-03 9.85755638e-01 -9.12044110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.30, Z:-912.05 [[-6.42187093e-01 7.59032500e-01 -1.07076612e-01 4.63770193e+02] [-7.48212244e-01 -6.51049950e-01 -1.27720006e-01 -8.92959364e+01] [-1.66655858e-01 -1.90410719e-03 9.86013286e-01 -9.12045831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.516559995 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.29, Z:-912.05 [[-6.42921432e-01 7.58431625e-01 -1.06927557e-01 4.63772404e+02] [-7.47616727e-01 -6.51749159e-01 -1.27641153e-01 -8.92929859e+01] [-1.66497032e-01 -2.12240289e-03 9.86039672e-01 -9.12045101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:463.77, Y:-89.29, Z:-912.04 [[-6.44319750e-01 7.57259299e-01 -1.06819537e-01 4.63771864e+02] [-7.46433673e-01 -6.53109608e-01 -1.27611175e-01 -8.92948594e+01] [-1.66399615e-01 -2.48870128e-03 9.86055259e-01 -9.12044607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.576559995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:463.78, Y:-89.29, Z:-912.04 [[-6.48344843e-01 7.53717483e-01 -1.07512422e-01 4.63780145e+02] [-7.42684205e-01 -6.57189299e-01 -1.28539478e-01 -8.92859837e+01] [-1.67538465e-01 -3.49012989e-03 9.85859362e-01 -9.12042670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:463.78, Y:-89.28, Z:-912.04 [[-6.49836492e-01 7.52369989e-01 -1.07944121e-01 4.63784022e+02] [-7.41211606e-01 -6.58729099e-01 -1.29156222e-01 -8.92809953e+01] [-1.68279198e-01 -3.92099117e-03 9.85731575e-01 -9.12041690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.636559995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:463.78, Y:-89.28, Z:-912.04 [[-6.51142537e-01 7.51271005e-01 -1.07727781e-01 4.63784548e+02] [-7.40125745e-01 -6.59980078e-01 -1.28996817e-01 -8.92796634e+01] [-1.68009757e-01 -4.26320991e-03 9.85776114e-01 -9.12041538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:463.79, Y:-89.28, Z:-912.04 [[-6.52651645e-01 7.49969992e-01 -1.07660770e-01 4.63787177e+02] [-7.38804152e-01 -6.61455421e-01 -1.29016090e-01 -8.92763715e+01] [-1.67970996e-01 -4.66233919e-03 9.85780913e-01 -9.12040618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.6965599950001 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:463.79, Y:-89.27, Z:-912.04 [[-6.53820680e-01 7.48940409e-01 -1.07734773e-01 4.63792129e+02] [-7.37728197e-01 -6.62618508e-01 -1.29204570e-01 -8.92701164e+01] [-1.68153578e-01 -4.99763972e-03 9.85748141e-01 -9.12039055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:463.79, Y:-89.27, Z:-912.04 [[-6.54399783e-01 7.48429268e-01 -1.07770846e-01 4.63791334e+02] [-7.37185614e-01 -6.63194250e-01 -1.29347432e-01 -8.92717670e+01] [-1.68280409e-01 -5.19781395e-03 9.85725462e-01 -9.12039226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.756559995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:463.80, Y:-89.27, Z:-912.04 [[-6.55201269e-01 7.47751940e-01 -1.07602665e-01 4.63797035e+02] [-7.36517622e-01 -6.63955985e-01 -1.29244896e-01 -8.92650425e+01] [-1.68086555e-01 -5.43016140e-03 9.85757284e-01 -9.12038155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:463.80, Y:-89.26, Z:-912.04 [[-6.55313840e-01 7.47687395e-01 -1.07365410e-01 4.63798568e+02] [-7.36485216e-01 -6.64028085e-01 -1.29059012e-01 -8.92616407e+01] [-1.67789444e-01 -5.50111956e-03 9.85807507e-01 -9.12039101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.816559995 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:463.79, Y:-89.26, Z:-912.04 [[-6.53590224e-01 7.49303435e-01 -1.06602915e-01 4.63794646e+02] [-7.38265708e-01 -6.62207065e-01 -1.28240198e-01 -8.92620897e+01] [-1.66684024e-01 -5.11526314e-03 9.85997095e-01 -9.12041270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:463.80, Y:-89.26, Z:-912.04 [[-6.53406336e-01 7.49592524e-01 -1.05693935e-01 4.63795887e+02] [-7.38731081e-01 -6.61880215e-01 -1.27243748e-01 -8.92584762e+01] [-1.65337686e-01 -5.06247621e-03 9.86224022e-01 -9.12041504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.876559995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:463.80, Y:-89.25, Z:-912.04 [[-6.53011051e-01 7.49963788e-01 -1.05503008e-01 4.63796683e+02] [-7.39130271e-01 -6.61459801e-01 -1.27111664e-01 -8.92543032e+01] [-1.65115144e-01 -5.02485440e-03 9.86261497e-01 -9.12042650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:463.79, Y:-89.26, Z:-912.04 [[-6.52274504e-01 7.50659268e-01 -1.05112488e-01 4.63794834e+02] [-7.39899101e-01 -6.60671398e-01 -1.26738406e-01 -8.92552353e+01] [-1.64582174e-01 -4.89559572e-03 9.86351226e-01 -9.12042298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.936559995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:463.80, Y:-89.25, Z:-912.04 [[-6.52847323e-01 7.50208506e-01 -1.04773899e-01 4.63797829e+02] [-7.39496116e-01 -6.61181984e-01 -1.26427365e-01 -8.92533657e+01] [-1.64121499e-01 -5.05787593e-03 9.86427165e-01 -9.12040937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:463.80, Y:-89.26, Z:-912.04 [[-6.53629840e-01 7.49439646e-01 -1.05395683e-01 4.63797726e+02] [-7.38572328e-01 -6.62051057e-01 -1.27276530e-01 -8.92567210e+01] [-1.65163401e-01 -5.34940280e-03 9.86251710e-01 -9.12041804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.996559995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.25, Z:-912.04 [[-6.53826145e-01 7.49257294e-01 -1.05474543e-01 4.63805229e+02] [-7.38354691e-01 -6.62256469e-01 -1.27470468e-01 -8.92468706e+01] [-1.65359376e-01 -5.46590131e-03 9.86218232e-01 -9.12039373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.53506435e-01 7.49581266e-01 -1.05153535e-01 4.63807328e+02] [-7.38733185e-01 -6.61890029e-01 -1.27180465e-01 -8.92442296e+01] [-1.64932170e-01 -5.43284631e-03 9.86289949e-01 -9.12039095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.056559995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.53206061e-01 7.49882738e-01 -1.04870027e-01 4.63809946e+02] [-7.39081095e-01 -6.61548669e-01 -1.26934996e-01 -8.92403009e+01] [-1.64562989e-01 -5.40725400e-03 9.86351755e-01 -9.12038433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.53083136e-01 7.50122274e-01 -1.03918201e-01 4.63810200e+02] [-7.39504358e-01 -6.61277423e-01 -1.25878810e-01 -8.92389001e+01] [-1.63143260e-01 -5.36136506e-03 9.86587823e-01 -9.12039870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.116559995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.51185980e-01 7.51733907e-01 -1.04177505e-01 4.63810116e+02] [-7.41066794e-01 -6.59447323e-01 -1.26290283e-01 -8.92378320e+01] [-1.63636265e-01 -5.03597210e-03 9.86507888e-01 -9.12039477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.49950319e-01 7.52840130e-01 -1.03905349e-01 4.63810880e+02] [-7.42227044e-01 -6.58185846e-01 -1.26057159e-01 -8.92372239e+01] [-1.63289918e-01 -4.80953007e-03 9.86566405e-01 -9.12039448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.176559995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.48873570e-01 7.53791366e-01 -1.03738457e-01 4.63811799e+02] [-7.43208595e-01 -6.57097531e-01 -1.25951658e-01 -8.92365275e+01] [-1.63107557e-01 -4.62738928e-03 9.86597442e-01 -9.12038793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:463.81, Y:-89.24, Z:-912.04 [[-6.46906237e-01 7.55395996e-01 -1.04351378e-01 4.63811825e+02] [-7.44691163e-01 -6.55254359e-01 -1.26794311e-01 -8.92362953e+01] [-1.64156610e-01 -4.31448142e-03 9.86424854e-01 -9.12038714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.236559995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.46591063e-01 7.55613266e-01 -1.04731040e-01 4.63815151e+02] [-7.44816145e-01 -6.55003626e-01 -1.27354469e-01 -8.92331781e+01] [-1.64829937e-01 -4.34089224e-03 9.86312450e-01 -9.12037924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.43980867e-01 7.57522663e-01 -1.06995602e-01 4.63816627e+02] [-7.46258483e-01 -6.52796568e-01 -1.30211055e-01 -8.92335939e+01] [-1.68484186e-01 -4.00705244e-03 9.85696212e-01 -9.12037121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.296559995 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.43697486e-01 7.57770453e-01 -1.06946188e-01 4.63818194e+02] [-7.46502933e-01 -6.52508916e-01 -1.30251628e-01 -8.92315130e+01] [-1.68484176e-01 -4.00700226e-03 9.85696214e-01 -9.12036705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.41678406e-01 7.59384558e-01 -1.07628610e-01 4.63821402e+02] [-7.47976548e-01 -6.50631685e-01 -1.31184964e-01 -8.92299012e+01] [-1.69646419e-01 -3.67488267e-03 9.85498142e-01 -9.12035129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.356559995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.03 [[-6.38422900e-01 7.62012982e-01 -1.08408560e-01 4.63822454e+02] [-7.50457276e-01 -6.47554477e-01 -1.32238710e-01 -8.92311841e+01] [-1.70968062e-01 -3.06822798e-03 9.85271794e-01 -9.12033314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.24, Z:-912.04 [[-6.31917644e-01 7.67227004e-01 -1.09739763e-01 4.63819682e+02] [-7.55442284e-01 -6.41373251e-01 -1.33967565e-01 -8.92373781e+01] [-1.73167682e-01 -1.75441082e-03 9.84890794e-01 -9.12035035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.416559995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.30281834e-01 7.68856342e-01 -1.07725277e-01 4.63820060e+02] [-7.57509725e-01 -6.39420135e-01 -1.31608920e-01 -8.92324080e+01] [-1.70070063e-01 -1.34776636e-03 9.85431052e-01 -9.12036377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.28398568e-01 7.70505166e-01 -1.06944048e-01 4.63817932e+02] [-7.59329999e-01 -6.37433029e-01 -1.30755826e-01 -8.92308411e+01] [-1.68917708e-01 -9.60949641e-04 9.85629689e-01 -9.12039407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4765599950001 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.23, Z:-912.04 [[-6.27618184e-01 7.71271696e-01 -1.05997104e-01 4.63816286e+02] [-7.60288758e-01 -6.36505546e-01 -1.29698475e-01 -8.92255224e+01] [-1.67500508e-01 -8.12714729e-04 9.85871655e-01 -9.12042251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.22, Z:-912.04 [[-6.28579192e-01 7.70543935e-01 -1.05594716e-01 4.63817168e+02] [-7.59617548e-01 -6.37385993e-01 -1.29306911e-01 -8.92237997e+01] [-1.66941249e-01 -1.06803478e-03 9.85966267e-01 -9.12042073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.536559995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.22, Z:-912.04 [[-6.29602831e-01 7.69745798e-01 -1.05317053e-01 4.63820706e+02] [-7.58849082e-01 -6.38349126e-01 -1.29067675e-01 -8.92194821e+01] [-1.66578349e-01 -1.34162480e-03 9.86027309e-01 -9.12041035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:463.82, Y:-89.22, Z:-912.04 [[-6.30454878e-01 7.68994450e-01 -1.05708009e-01 4.63823059e+02] [-7.57988330e-01 -6.39253422e-01 -1.29648582e-01 -8.92167854e+01] [-1.67273246e-01 -1.61214391e-03 9.85909257e-01 -9.12039441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.596559995 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.21, Z:-912.04 [[-6.31004068e-01 7.68444852e-01 -1.06425448e-01 4.63826271e+02] [-7.57262402e-01 -6.39913382e-01 -1.30631231e-01 -8.92137691e+01] [-1.68485965e-01 -1.83684807e-03 9.85702341e-01 -9.12036605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.21, Z:-912.04 [[-6.32262207e-01 7.67477004e-01 -1.05941259e-01 4.63826975e+02] [-7.56366098e-01 -6.41072868e-01 -1.30138022e-01 -8.92132272e+01] [-1.67794006e-01 -2.15097661e-03 9.85819733e-01 -9.12036614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.656559995 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.21, Z:-912.04 [[-6.31954943e-01 7.67667272e-01 -1.06395060e-01 4.63830636e+02] [-7.56445419e-01 -6.40844929e-01 -1.30797958e-01 -8.92074236e+01] [-1.68592046e-01 -2.17636060e-03 9.85683512e-01 -9.12035691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.20, Z:-912.04 [[-6.32949647e-01 7.66932545e-01 -1.05779095e-01 4.63830993e+02] [-7.55813839e-01 -6.41723147e-01 -1.30141629e-01 -8.92040052e+01] [-1.67690744e-01 -2.42379455e-03 9.85836670e-01 -9.12035931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.7165599950001 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.20, Z:-912.04 [[-6.33154574e-01 7.66800836e-01 -1.05507177e-01 4.63830054e+02] [-7.55720696e-01 -6.41880159e-01 -1.29908011e-01 -8.92039257e+01] [-1.67336534e-01 -2.51789416e-03 9.85896620e-01 -9.12036289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.20, Z:-912.04 [[-6.32738890e-01 7.67117774e-01 -1.05696821e-01 4.63832057e+02] [-7.55984553e-01 -6.41501401e-01 -1.30243270e-01 -8.92001462e+01] [-1.67716586e-01 -2.50481831e-03 9.85832071e-01 -9.12036317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.776559995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.19, Z:-912.03 [[-6.32644382e-01 7.67070230e-01 -1.06603702e-01 4.63835048e+02] [-7.55725280e-01 -6.41557843e-01 -1.31464195e-01 -8.91947886e+01] [-1.69234711e-01 -2.60697170e-03 9.85572329e-01 -9.12034094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:463.83, Y:-89.19, Z:-912.03 [[-6.31910458e-01 7.67551135e-01 -1.07491527e-01 4.63834889e+02] [-7.56003836e-01 -6.40982578e-01 -1.32663243e-01 -8.91948068e+01] [-1.70726019e-01 -2.56728375e-03 9.85315196e-01 -9.12033549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.836559995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.19, Z:-912.03 [[-6.30811922e-01 7.68294091e-01 -1.08630145e-01 4.63837274e+02] [-7.56491366e-01 -6.40092285e-01 -1.34174063e-01 -8.91922798e+01] [-1.72618457e-01 -2.46083203e-03 9.84985692e-01 -9.12031963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.19, Z:-912.03 [[-6.29877749e-01 7.68890953e-01 -1.09821328e-01 4.63839624e+02] [-7.56815926e-01 -6.39375459e-01 -1.35752264e-01 -8.91897025e+01] [-1.74595750e-01 -2.39280073e-03 9.84637293e-01 -9.12029835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.896559995 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.19, Z:-912.03 [[-6.28507899e-01 7.69750698e-01 -1.11631911e-01 4.63841057e+02] [-7.57264651e-01 -6.38340620e-01 -1.38099609e-01 -8.91882343e+01] [-1.77561454e-01 -2.26179479e-03 9.84107115e-01 -9.12028762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.19, Z:-912.03 [[-6.27659544e-01 7.70373603e-01 -1.12107130e-01 4.63841499e+02] [-7.57770306e-01 -6.37589071e-01 -1.38796035e-01 -8.91866438e+01] [-1.78403083e-01 -2.16520210e-03 9.83955107e-01 -9.12028032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.9565599950001 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.26694274e-01 7.71121816e-01 -1.12362944e-01 4.63841936e+02] [-7.58452598e-01 -6.36684407e-01 -1.39221489e-01 -8.91846848e+01] [-1.78896462e-01 -2.02734318e-03 9.83865817e-01 -9.12027965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.23780325e-01 7.73435128e-01 -1.12677456e-01 4.63841162e+02] [-7.60711618e-01 -6.33873828e-01 -1.39720453e-01 -8.91829140e+01] [-1.79487997e-01 -1.43982016e-03 9.83759110e-01 -9.12028845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.016559995 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.21745357e-01 7.75056577e-01 -1.12783040e-01 4.63839188e+02] [-7.62315394e-01 -6.31890982e-01 -1.39960806e-01 -8.91840741e+01] [-1.79744129e-01 -1.04373375e-03 9.83712844e-01 -9.12029151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.19583230e-01 7.76827031e-01 -1.12500605e-01 4.63839731e+02] [-7.64159055e-01 -6.29713749e-01 -1.39719484e-01 -8.91821514e+01] [-1.79381049e-01 -5.99493057e-04 9.83779488e-01 -9.12029486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.076559995 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.17310576e-01 7.78674419e-01 -1.12222112e-01 4.63840528e+02] [-7.66079902e-01 -6.27428188e-01 -1.39482804e-01 -8.91798061e+01] [-1.79023008e-01 -1.33104998e-04 9.83844879e-01 -9.12029054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.13495394e-01 7.81694626e-01 -1.12146840e-01 4.63838437e+02] [-7.69146966e-01 -6.23661010e-01 -1.39498708e-01 -8.91820232e+01] [-1.78987002e-01 6.75587272e-04 9.83851207e-01 -9.12030266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.136559995 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.12152339e-01 7.82833967e-01 -1.11536967e-01 4.63839785e+02] [-7.70422539e-01 -6.22229948e-01 -1.38848853e-01 -8.91795933e+01] [-1.78097239e-01 9.33943065e-04 9.84012450e-01 -9.12029243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.18, Z:-912.03 [[-6.10711904e-01 7.84007510e-01 -1.11189903e-01 4.63839689e+02] [-7.71673402e-01 -6.20750173e-01 -1.38525753e-01 -8.91770882e+01] [-1.77626382e-01 1.20296403e-03 9.84097262e-01 -9.12029900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.1965599950001 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.17, Z:-912.03 [[-6.11290241e-01 7.83676877e-01 -1.10339447e-01 4.63840362e+02] [-7.71507552e-01 -6.21167845e-01 -1.37574002e-01 -8.91732282e+01] [-1.76352881e-01 1.03007187e-03 9.84326471e-01 -9.12030802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.17, Z:-912.03 [[-6.11591337e-01 7.83470413e-01 -1.10136951e-01 4.63841318e+02] [-7.71323374e-01 -6.21428436e-01 -1.37429808e-01 -8.91701561e+01] [-1.76114422e-01 9.00324265e-04 9.84369291e-01 -9.12030871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.256559995 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:463.84, Y:-89.17, Z:-912.03 [[-6.13945724e-01 7.81795195e-01 -1.08935403e-01 4.63843403e+02] [-7.69868722e-01 -6.23535206e-01 -1.36036750e-01 -8.91688908e+01] [-1.74277937e-01 3.46778922e-04 9.84696441e-01 -9.12030566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:463.85, Y:-89.16, Z:-912.03 [[-6.15479261e-01 7.80497591e-01 -1.09584627e-01 4.63846091e+02] [-7.68387596e-01 -6.25158782e-01 -1.36956195e-01 -8.91649169e+01] [-1.75401773e-01 -9.02294856e-05 9.84496933e-01 -9.12029851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.316559995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:463.87, Y:-89.16, Z:-912.03 [[-6.28092688e-01 7.70686376e-01 -1.07434098e-01 4.63866256e+02] [-7.58887180e-01 -6.37208196e-01 -1.34372481e-01 -8.91588154e+01] [-1.72016928e-01 -2.86801361e-03 9.85089819e-01 -9.12025816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:463.87, Y:-89.16, Z:-912.03 [[-6.32651885e-01 7.66865012e-01 -1.08026132e-01 4.63871846e+02] [-7.54860017e-01 -6.41795945e-01 -1.35219527e-01 -8.91553197e+01] [-1.73025858e-01 -4.00228036e-03 9.84909150e-01 -9.12026414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.376559995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:463.88, Y:-89.15, Z:-912.03 [[-6.36421887e-01 7.63577178e-01 -1.09165357e-01 4.63875801e+02] [-7.51248242e-01 -6.45697041e-01 -1.36753103e-01 -8.91511025e+01] [-1.74909297e-01 -5.02238503e-03 9.84571741e-01 -9.12026892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:463.88, Y:-89.15, Z:-912.03 [[-6.39594320e-01 7.60779920e-01 -1.10149990e-01 4.63879722e+02] [-7.48165012e-01 -6.48983001e-01 -1.38094823e-01 -8.91478954e+01] [-1.76545239e-01 -5.91429578e-03 9.84274758e-01 -9.12027571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.436559995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:463.89, Y:-89.07, Z:-912.02 [[-6.67263139e-01 7.40293101e-01 -8.20123711e-02 4.63892598e+02] [-7.26430544e-01 -6.71147510e-01 -1.47850210e-01 -8.90740463e+01] [-1.64494889e-01 -3.90787039e-02 9.85603514e-01 -9.12023093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.01 [[-6.66548278e-01 7.37618513e-01 -1.07853246e-01 4.63906152e+02] [-7.27624026e-01 -6.75214112e-01 -1.21033798e-01 -8.90935954e+01] [-1.62100804e-01 -2.19825685e-03 9.86771755e-01 -9.12011391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.496559995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.01 [[-6.65980550e-01 7.37482042e-01 -1.12205811e-01 4.63912019e+02] [-7.27481966e-01 -6.75365977e-01 -1.21040434e-01 -8.90926484e+01] [-1.65045134e-01 1.01712963e-03 9.86285491e-01 -9.12010109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.10, Z:-912.01 [[-6.62921726e-01 7.40706988e-01 -1.09031845e-01 4.63905660e+02] [-7.30496759e-01 -6.71826296e-01 -1.22572077e-01 -8.91005217e+01] [-1.64040455e-01 -1.60828353e-03 9.86452301e-01 -9.12013088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.556559995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.10, Z:-912.01 [[-6.62528997e-01 7.40700375e-01 -1.11437353e-01 4.63910713e+02] [-7.30370648e-01 -6.71835454e-01 -1.23271407e-01 -8.90955965e+01] [-1.66174742e-01 -2.80309571e-04 9.86096282e-01 -9.12011989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.10, Z:-912.01 [[-6.61106000e-01 7.42306249e-01 -1.09180079e-01 4.63910015e+02] [-7.31780319e-01 -6.70056215e-01 -1.24588259e-01 -8.90950575e+01] [-1.65639434e-01 -2.47021220e-03 9.86183287e-01 -9.12012435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.616559995 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.01 [[-6.61872128e-01 7.40205265e-01 -1.18412209e-01 4.63915053e+02] [-7.30064851e-01 -6.72358073e-01 -1.22229026e-01 -8.90940670e+01] [-1.70089973e-01 5.54860674e-03 9.85412916e-01 -9.12013429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.02 [[-6.60083804e-01 7.42644176e-01 -1.13000001e-01 4.63913360e+02] [-7.31498081e-01 -6.69683342e-01 -1.28198202e-01 -8.90896301e+01] [-1.70879867e-01 -1.96227297e-03 9.85289917e-01 -9.12015107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.676559995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.62636294e-01 7.40098984e-01 -1.14745961e-01 4.63918269e+02] [-7.28798076e-01 -6.72495659e-01 -1.28852452e-01 -8.90864122e+01] [-1.72529730e-01 -1.75567512e-03 9.85002746e-01 -9.12017609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.02 [[-6.61877456e-01 7.41409579e-01 -1.10589646e-01 4.63912766e+02] [-7.29579526e-01 -6.71018909e-01 -1.32088377e-01 -8.90918286e+01] [-1.72139331e-01 -6.74237743e-03 9.85049537e-01 -9.12018501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.736559995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.62258487e-01 7.40764134e-01 -1.12615245e-01 4.63916929e+02] [-7.29069675e-01 -6.71748206e-01 -1.31193588e-01 -8.90881443e+01] [-1.72832593e-01 -4.77970657e-03 9.84939617e-01 -9.12017335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.61906646e-01 7.41040435e-01 -1.12865702e-01 4.63918571e+02] [-7.29451143e-01 -6.71447755e-01 -1.30609889e-01 -8.90881757e+01] [-1.72570632e-01 -4.12153835e-03 9.84988523e-01 -9.12016000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.796559995 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.13, Z:-912.02 [[-6.43042816e-01 7.54407086e-01 -1.31779681e-01 4.63917848e+02] [-7.44007886e-01 -6.56185868e-01 -1.25985603e-01 -8.91300746e+01] [-1.81516396e-01 1.70309845e-02 9.83240430e-01 -9.12018169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.08, Z:-912.02 [[-6.59683373e-01 7.44922122e-01 -9.95433551e-02 4.63913334e+02] [-7.30787280e-01 -6.66726155e-01 -1.46376866e-01 -8.90788793e+01] [-1.75407524e-01 -2.38173672e-02 9.84207770e-01 -9.12023070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.856559995 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.57974263e-01 7.43790024e-01 -1.17670175e-01 4.63919859e+02] [-7.31672295e-01 -6.68410666e-01 -1.33726716e-01 -8.90908161e+01] [-1.78116597e-01 -1.89273081e-03 9.84007569e-01 -9.12017588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.57343459e-01 7.44926207e-01 -1.13949656e-01 4.63919036e+02] [-7.32595391e-01 -6.67125685e-01 -1.35082619e-01 -8.90921453e+01] [-1.76645325e-01 -5.31668347e-03 9.84260211e-01 -9.12017616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.916559995 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.13, Z:-912.02 [[-6.38379642e-01 7.58594295e-01 -1.30407551e-01 4.63914804e+02] [-7.47692049e-01 -6.51387593e-01 -1.29037995e-01 -8.91329577e+01] [-1.82833347e-01 1.51294595e-02 9.83027501e-01 -9.12019448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.03 [[-6.53926733e-01 7.49881994e-01 -1.00283716e-01 4.63909320e+02] [-7.35855380e-01 -6.61216817e-01 -1.45976646e-01 -8.90869808e+01] [-1.75774537e-01 -2.16637195e-02 9.84192052e-01 -9.12025386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9765599950001 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.53128820e-01 7.48885892e-01 -1.12217047e-01 4.63920922e+02] [-7.36705140e-01 -6.62678131e-01 -1.34622554e-01 -8.90859960e+01] [-1.75180714e-01 -5.25499462e-03 9.84522271e-01 -9.12019603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.50771345e-01 7.50941086e-01 -1.12179063e-01 4.63917573e+02] [-7.39211214e-01 -6.60361747e-01 -1.32246531e-01 -8.90910126e+01] [-1.73388115e-01 -3.13823131e-03 9.84848574e-01 -9.12020213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.036559995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.02 [[-6.49703358e-01 7.52331511e-01 -1.09008457e-01 4.63917124e+02] [-7.41035410e-01 -6.58774665e-01 -1.29932532e-01 -8.90864761e+01] [-1.69564348e-01 -3.63847548e-03 9.85512402e-01 -9.12021547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.08, Z:-912.02 [[-6.49868643e-01 7.52488280e-01 -1.06921170e-01 4.63916043e+02] [-7.41203302e-01 -6.58585185e-01 -1.29935443e-01 -8.90840899e+01] [-1.68191597e-01 -5.19064594e-03 9.85740658e-01 -9.12023831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.096559995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.02 [[-6.48947046e-01 7.53410306e-01 -1.06021895e-01 4.63913997e+02] [-7.42864927e-01 -6.57544828e-01 -1.25644336e-01 -8.90868581e+01] [-1.64375886e-01 -2.77657349e-03 9.86393866e-01 -9.12024010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.11, Z:-912.03 [[-6.38154516e-01 7.60303441e-01 -1.21233213e-01 4.63911994e+02] [-7.50325118e-01 -6.49452971e-01 -1.23381753e-01 -8.91131458e+01] [-1.72542842e-01 1.22277025e-02 9.84926115e-01 -9.12027150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.156559995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.10, Z:-912.03 [[-6.39383425e-01 7.61536910e-01 -1.06067766e-01 4.63906631e+02] [-7.49613485e-01 -6.48089811e-01 -1.34384600e-01 -8.91025668e+01] [-1.71080271e-01 -6.41345809e-03 9.85236220e-01 -9.12032420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.10, Z:-912.03 [[-6.41045049e-01 7.60094930e-01 -1.06381120e-01 4.63906537e+02] [-7.48062455e-01 -6.49775536e-01 -1.34886309e-01 -8.90982241e+01] [-1.71650249e-01 -6.88847846e-03 9.85133870e-01 -9.12032644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.2165599950001 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.03 [[-6.43778031e-01 7.57890567e-01 -1.05601779e-01 4.63910634e+02] [-7.45987877e-01 -6.52338715e-01 -1.34001076e-01 -8.90941704e+01] [-1.70446280e-01 -7.48930137e-03 9.85338508e-01 -9.12032064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:463.91, Y:-89.09, Z:-912.03 [[-6.43498034e-01 7.58135329e-01 -1.05551423e-01 4.63912156e+02] [-7.46229423e-01 -6.52054240e-01 -1.34040730e-01 -8.90920605e+01] [-1.70446266e-01 -7.48936910e-03 9.85338510e-01 -9.12031650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.276559995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.09, Z:-912.03 [[-6.46342229e-01 7.55752346e-01 -1.05262126e-01 4.63917296e+02] [-7.43862994e-01 -6.54806635e-01 -1.33776372e-01 -8.90856956e+01] [-1.70028145e-01 -8.16471848e-03 9.85405382e-01 -9.12029939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:463.92, Y:-89.05, Z:-912.03 [[-6.61139745e-01 7.45387407e-01 -8.53923359e-02 4.63922239e+02] [-7.33502160e-01 -6.66093072e-01 -1.35257537e-01 -8.90547195e+01] [-1.57698508e-01 -2.67886708e-02 9.87123877e-01 -9.12026527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.336559995 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:463.93, Y:-89.08, Z:-912.02 [[-6.57214685e-01 7.44183070e-01 -1.19416986e-01 4.63931572e+02] [-7.34229037e-01 -6.67930310e-01 -1.21559952e-01 -8.90812241e+01] [-1.70225083e-01 7.78843357e-03 9.85374427e-01 -9.12021419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:463.93, Y:-89.05, Z:-912.02 [[-6.67318368e-01 7.39977919e-01 -8.43734224e-02 4.63926206e+02] [-7.27998305e-01 -6.71997548e-01 -1.35785724e-01 -8.90490766e+01] [-1.57177171e-01 -2.91885992e-02 9.87138979e-01 -9.12024815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.396559995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:463.94, Y:-89.05, Z:-912.02 [[-6.69414895e-01 7.36106073e-01 -1.00157613e-01 4.63936369e+02] [-7.25596790e-01 -6.76783242e-01 -1.24393496e-01 -8.90539303e+01] [-1.59351802e-01 -1.05968167e-02 9.87164987e-01 -9.12017175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.07, Z:-912.02 [[-6.70657972e-01 7.31788959e-01 -1.21255119e-01 4.63945659e+02] [-7.21366223e-01 -6.81513920e-01 -1.23164724e-01 -8.90665595e+01] [-1.72767637e-01 4.86794274e-03 9.84950581e-01 -9.12017145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.4565599950001 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:463.94, Y:-89.03, Z:-912.02 [[-6.77648756e-01 7.29993127e-01 -8.88943097e-02 4.63938883e+02] [-7.17422697e-01 -6.82802683e-01 -1.38149085e-01 -8.90340081e+01] [-1.61545156e-01 -2.98417604e-02 9.86414027e-01 -9.12020024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.06, Z:-912.02 [[-6.72941523e-01 7.29829647e-01 -1.20409277e-01 4.63948534e+02] [-7.18958537e-01 -6.83625819e-01 -1.25516382e-01 -8.90598124e+01] [-1.73920468e-01 2.10409255e-03 9.84757454e-01 -9.12016794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.516559995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.03, Z:-912.02 [[-6.78363776e-01 7.29122282e-01 -9.05719950e-02 4.63945035e+02] [-7.16910059e-01 -6.83848061e-01 -1.35616361e-01 -8.90292385e+01] [-1.60818394e-01 -2.70652527e-02 9.86612850e-01 -9.12020027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.03, Z:-912.02 [[-6.77533982e-01 7.28882029e-01 -9.83803403e-02 4.63948677e+02] [-7.17815844e-01 -6.84457625e-01 -1.27507541e-01 -8.90319199e+01] [-1.60275129e-01 -1.57717251e-02 9.86946369e-01 -9.12016568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.576559995 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.03, Z:-912.02 [[-6.75483390e-01 7.30951067e-01 -9.71222291e-02 4.63948746e+02] [-7.20151141e-01 -6.82259604e-01 -1.26111726e-01 -8.90300279e+01] [-1.58444074e-01 -1.52436922e-02 9.87250275e-01 -9.12015410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.02, Z:-912.01 [[-6.74653577e-01 7.32908359e-01 -8.76806055e-02 4.63951221e+02] [-7.22533965e-01 -6.80011810e-01 -1.24613833e-01 -8.90224956e+01] [-1.50954368e-01 -2.07189528e-02 9.88323583e-01 -9.12013535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.636559995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.04, Z:-912.01 [[-6.71517345e-01 7.35089502e-01 -9.33160179e-02 4.63946785e+02] [-7.25908891e-01 -6.77891198e-01 -1.16274698e-01 -8.90380003e+01] [-1.48730417e-01 -1.03415496e-02 9.88823703e-01 -9.12012131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.02, Z:-912.01 [[-6.71366316e-01 7.35644328e-01 -8.99705120e-02 4.63952512e+02] [-7.26245818e-01 -6.77225255e-01 -1.18037987e-01 -8.90249424e+01] [-1.47764278e-01 -1.39060203e-02 9.88924841e-01 -9.12012333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.6965599950001 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.05, Z:-912.02 [[-6.67811939e-01 7.34157116e-01 -1.22639892e-01 4.63954531e+02] [-7.25234806e-01 -6.78868253e-01 -1.14770953e-01 -8.90500148e+01] [-1.67516241e-01 1.22973053e-02 9.85792618e-01 -9.12016280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:463.94, Y:-89.04, Z:-912.02 [[-6.66432824e-01 7.38621034e-01 -1.01519744e-01 4.63943276e+02] [-7.27199833e-01 -6.73998851e-01 -1.30022890e-01 -8.90387449e+01] [-1.64461832e-01 -1.28263803e-02 9.86300051e-01 -9.12024561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.756559995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.04, Z:-912.02 [[-6.65858314e-01 7.39235546e-01 -1.00814256e-01 4.63945438e+02] [-7.27964484e-01 -6.73328127e-01 -1.29216655e-01 -8.90353861e+01] [-1.63402618e-01 -1.26507859e-02 9.86478354e-01 -9.12023845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:463.94, Y:-89.04, Z:-912.02 [[-6.65329084e-01 7.39715181e-01 -1.00790184e-01 4.63944681e+02] [-7.28438677e-01 -6.72802177e-01 -1.29283889e-01 -8.90371624e+01] [-1.63445111e-01 -1.25968632e-02 9.86472004e-01 -9.12023910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.816559995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.04, Z:-912.02 [[-6.64928649e-01 7.40061761e-01 -1.00888459e-01 4.63946539e+02] [-7.28750652e-01 -6.72421035e-01 -1.29508452e-01 -8.90362201e+01] [-1.63683775e-01 -1.25913494e-02 9.86432501e-01 -9.12023576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.04, Z:-912.02 [[-6.62670015e-01 7.42138935e-01 -1.00490059e-01 4.63947850e+02] [-7.30924776e-01 -6.70136905e-01 -1.29094928e-01 -8.90357954e+01] [-1.63148470e-01 -1.20966637e-02 9.86527368e-01 -9.12022525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.876559995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.01, Z:-912.02 [[-6.61629914e-01 7.47071285e-01 -6.42678252e-02 4.63946580e+02] [-7.36481234e-01 -6.63560447e-01 -1.31464540e-01 -8.90088278e+01] [-1.40858970e-01 -3.96488251e-02 9.89235423e-01 -9.12015699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.03, Z:-912.01 [[-6.59552660e-01 7.45979528e-01 -9.22216500e-02 4.63958406e+02] [-7.37491861e-01 -6.65940888e-01 -1.12376552e-01 -8.90251885e+01] [-1.45244775e-01 -6.10553744e-03 9.89376914e-01 -9.12007493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.936559995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.02, Z:-912.01 [[-6.56632490e-01 7.48806872e-01 -9.01223744e-02 4.63957607e+02] [-7.40069431e-01 -6.62735029e-01 -1.14365724e-01 -8.90241464e+01] [-1.45365094e-01 -8.39943573e-03 9.89342428e-01 -9.12008809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.03, Z:-912.01 [[-6.50052633e-01 7.54308841e-01 -9.19225079e-02 4.63955125e+02] [-7.45546469e-01 -6.56491453e-01 -1.14801720e-01 -8.90256208e+01] [-1.46942293e-01 -6.09465949e-03 9.89126290e-01 -9.12010853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.996559995 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.02, Z:-912.01 [[-6.48245236e-01 7.56379955e-01 -8.75641362e-02 4.63958337e+02] [-7.47482247e-01 -6.54059076e-01 -1.16090546e-01 -8.90169706e+01] [-1.45080680e-01 -9.80250601e-03 9.89371269e-01 -9.12009680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.05, Z:-912.02 [[-6.42162037e-01 7.57348884e-01 -1.18535170e-01 4.63951443e+02] [-7.48931161e-01 -6.52820248e-01 -1.13700660e-01 -8.90529978e+01] [-1.63493227e-01 1.57604351e-02 9.86418559e-01 -9.12016077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.056559995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.01, Z:-912.02 [[-6.43462497e-01 7.62023510e-01 -7.26373579e-02 4.63946334e+02] [-7.51536144e-01 -6.46920444e-01 -1.29179575e-01 -8.90136893e+01] [-1.45428465e-01 -2.85326120e-02 9.88957255e-01 -9.12018946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.05, Z:-912.02 [[-6.38051784e-01 7.61024123e-01 -1.17184490e-01 4.63951599e+02] [-7.52368315e-01 -6.48560375e-01 -1.15374862e-01 -8.90501286e+01] [-1.63804270e-01 1.45507613e-02 9.86385542e-01 -9.12016410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.116559995 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.01, Z:-912.02 [[-6.42444452e-01 7.63035008e-01 -7.10119910e-02 4.63950596e+02] [-7.52338708e-01 -6.45627021e-01 -1.30966480e-01 -8.90066486e+01] [-1.45779269e-01 -3.07136189e-02 9.88840269e-01 -9.12017513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.02, Z:-912.01 [[-6.40709472e-01 7.62199133e-01 -9.24329729e-02 4.63961617e+02] [-7.53604214e-01 -6.47333126e-01 -1.14195064e-01 -8.90167230e+01] [-1.46874304e-01 -3.50798134e-03 9.89148944e-01 -9.12008431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.176559995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.05, Z:-912.01 [[-6.33035053e-01 7.65354980e-01 -1.16182517e-01 4.63954030e+02] [-7.57014049e-01 -6.43411696e-01 -1.13802987e-01 -8.90495393e+01] [-1.61852873e-01 1.59105174e-02 9.86686629e-01 -9.12014401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.04, Z:-912.02 [[-6.32228096e-01 7.68510439e-01 -9.83836353e-02 4.63945649e+02] [-7.57945765e-01 -6.39810951e-01 -1.27122637e-01 -8.90396718e+01] [-1.60642001e-01 -5.80104309e-03 9.86995692e-01 -9.12021376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.236559995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.00, Z:-912.01 [[-6.38109985e-01 7.66433370e-01 -7.34543199e-02 4.63955469e+02] [-7.56083235e-01 -6.41784944e-01 -1.28258436e-01 -8.89993056e+01] [-1.45443422e-01 -2.63054090e-02 9.89016803e-01 -9.12014826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.01, Z:-912.01 [[-6.38184287e-01 7.64450006e-01 -9.13071990e-02 4.63963558e+02] [-7.55816315e-01 -6.44669650e-01 -1.14641793e-01 -8.90063707e+01] [-1.46500899e-01 -4.15112022e-03 9.89201827e-01 -9.12009678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.296559995 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.04, Z:-912.02 [[-6.30090679e-01 7.68355869e-01 -1.12316495e-01 4.63953679e+02] [-7.60326886e-01 -6.39848042e-01 -1.11792259e-01 -8.90413095e+01] [-1.57761727e-01 1.49579904e-02 9.87363913e-01 -9.12016245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.03, Z:-912.02 [[-6.29893969e-01 7.70800358e-01 -9.53959975e-02 4.63945206e+02] [-7.60849089e-01 -6.37055104e-01 -1.23569649e-01 -8.90315014e+01] [-1.56020037e-01 -5.25381891e-03 9.87739918e-01 -9.12022103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.356559995 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.03, Z:-912.02 [[-6.29526043e-01 7.71125271e-01 -9.51986266e-02 4.63946646e+02] [-7.61203939e-01 -6.36662017e-01 -1.23410045e-01 -8.90289997e+01] [-1.55773954e-01 -5.22426770e-03 9.87778914e-01 -9.12021930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.03, Z:-912.02 [[-6.30589528e-01 7.70311310e-01 -9.47487865e-02 4.63948091e+02] [-7.60460017e-01 -6.37644623e-01 -1.22922327e-01 -8.90251365e+01] [-1.55104513e-01 -5.46086847e-03 9.87882973e-01 -9.12021122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.416559995 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.02, Z:-912.02 [[-6.31515462e-01 7.69573961e-01 -9.45734631e-02 4.63950783e+02] [-7.59736133e-01 -6.38532307e-01 -1.22790479e-01 -8.90220559e+01] [-1.54884567e-01 -5.69320927e-03 9.87916170e-01 -9.12020753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.02, Z:-912.02 [[-6.31727142e-01 7.69413951e-01 -9.44615770e-02 4.63950560e+02] [-7.59582797e-01 -6.38724259e-01 -1.22740768e-01 -8.90210168e+01] [-1.54773360e-01 -5.78728597e-03 9.87933052e-01 -9.12020966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4765599950001 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.02, Z:-912.02 [[-6.31920931e-01 7.69301417e-01 -9.40811735e-02 4.63953437e+02] [-7.59533730e-01 -6.38859203e-01 -1.22341460e-01 -8.90168329e+01] [-1.54222082e-01 -5.85230483e-03 9.88018876e-01 -9.12019528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.02, Z:-912.02 [[-6.30910526e-01 7.70232607e-01 -9.32396839e-02 4.63951595e+02] [-7.60635518e-01 -6.37738183e-01 -1.21340921e-01 -8.90156588e+01] [-1.52923241e-01 -5.63384940e-03 9.88222011e-01 -9.12021777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.536559995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.01, Z:-912.02 [[-6.31055320e-01 7.70223998e-01 -9.23264682e-02 4.63952576e+02] [-7.60800818e-01 -6.37748533e-01 -1.20245265e-01 -8.90123448e+01] [-1.51496858e-01 -5.63936142e-03 9.88441652e-01 -9.12021038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:463.95, Y:-89.01, Z:-912.02 [[-6.32064272e-01 7.69519242e-01 -9.12956265e-02 4.63952754e+02] [-7.60285361e-01 -6.38597274e-01 -1.18994499e-01 -8.90092601e+01] [-1.49869695e-01 -5.80144302e-03 9.88688737e-01 -9.12021553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.596559995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.00, Z:-912.02 [[-6.33499957e-01 7.68427854e-01 -9.05341868e-02 4.63956277e+02] [-7.59323466e-01 -6.39907665e-01 -1.18093414e-01 -8.90037647e+01] [-1.48679789e-01 -6.06744005e-03 9.88866779e-01 -9.12020784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:463.96, Y:-89.00, Z:-912.02 [[-6.35103179e-01 7.67111157e-01 -9.04678190e-02 4.63957441e+02] [-7.57993095e-01 -6.41481968e-01 -1.18098913e-01 -8.90000771e+01] [-1.48628468e-01 -6.43101291e-03 9.88872196e-01 -9.12019239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.656559995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:463.96, Y:-88.99, Z:-912.02 [[-6.38189667e-01 7.64637345e-01 -8.96865678e-02 4.63961445e+02] [-7.55639244e-01 -6.44422728e-01 -1.17169456e-01 -8.89937244e+01] [-1.47388204e-01 -7.00564561e-03 9.89053911e-01 -9.12019366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:463.96, Y:-88.99, Z:-912.02 [[-6.44409575e-01 7.59453282e-01 -8.92581183e-02 4.63962529e+02] [-7.50478454e-01 -6.50509958e-01 -1.16699977e-01 -8.89907308e+01] [-1.46691475e-01 -8.21628798e-03 9.89148171e-01 -9.12017776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.7165599950001 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:463.97, Y:-88.98, Z:-912.02 [[-6.47659733e-01 7.56680878e-01 -8.92800003e-02 4.63968700e+02] [-7.47662060e-01 -6.53723717e-01 -1.16819285e-01 -8.89830301e+01] [-1.46759373e-01 -8.90787785e-03 9.89132113e-01 -9.12015238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:463.97, Y:-88.98, Z:-912.01 [[-6.49290593e-01 7.55185204e-01 -9.00945827e-02 4.63972757e+02] [-7.45972028e-01 -6.55444177e-01 -1.17977390e-01 -8.89769023e+01] [-1.48146749e-01 -9.39357102e-03 9.88920776e-01 -9.12012502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.776559995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:463.97, Y:-88.98, Z:-912.01 [[-6.51589943e-01 7.53111323e-01 -9.08508805e-02 4.63974830e+02] [-7.43707966e-01 -6.57816917e-01 -1.19060346e-01 -8.89763543e+01] [-1.49428941e-01 -1.00120004e-02 9.88721777e-01 -9.12011207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:463.98, Y:-88.97, Z:-912.01 [[-6.54319801e-01 7.50446607e-01 -9.32495999e-02 4.63981610e+02] [-7.40495148e-01 -6.60839985e-01 -1.22300654e-01 -8.89706742e+01] [-1.53403175e-01 -1.09728632e-02 9.88102759e-01 -9.12006042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.836559995 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:463.98, Y:-88.97, Z:-912.01 [[-6.54046246e-01 7.50690661e-01 -9.32042918e-02 4.63983094e+02] [-7.40736782e-01 -6.60562734e-01 -1.22335172e-01 -8.89685464e+01] [-1.53403153e-01 -1.09730131e-02 9.88102761e-01 -9.12005630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.54423693e-01 7.50091406e-01 -9.53546714e-02 4.63986996e+02] [-7.39647872e-01 -6.61235188e-01 -1.25255949e-01 -8.89666442e+01] [-1.57005275e-01 -1.14415809e-02 9.87531485e-01 -9.12001637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.896559995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.96, Z:-912.00 [[-6.53351801e-01 7.50943924e-01 -9.59929558e-02 4.63988450e+02] [-7.40352550e-01 -6.60267932e-01 -1.26191757e-01 -8.89648556e+01] [-1.58144004e-01 -1.13789824e-02 9.87350492e-01 -9.12000711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.52193121e-01 7.51935472e-01 -9.61102434e-02 4.63988675e+02] [-7.41313007e-01 -6.59141271e-01 -1.26442913e-01 -8.89654157e+01] [-1.58427140e-01 -1.12174248e-02 9.87306949e-01 -9.12000533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.9565599950001 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.50035256e-01 7.53792723e-01 -9.61805448e-02 4.63988605e+02] [-7.43158884e-01 -6.57022880e-01 -1.26632577e-01 -8.89669918e+01] [-1.58647534e-01 -1.08382134e-02 9.87275794e-01 -9.12000018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.45255315e-01 7.57852112e-01 -9.64663401e-02 4.63986962e+02] [-7.47182999e-01 -6.52350676e-01 -1.27106888e-01 -8.89708575e+01] [-1.59258105e-01 -9.93838545e-03 9.87186955e-01 -9.12000939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.016559995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.42393848e-01 7.60269415e-01 -9.65430500e-02 4.63991700e+02] [-7.49594083e-01 -6.49539697e-01 -1.27306297e-01 -8.89656366e+01] [-1.59495627e-01 -9.41268285e-03 9.87153760e-01 -9.11999302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.39637012e-01 7.62648970e-01 -9.60783079e-02 4.63990494e+02] [-7.52087540e-01 -6.46752184e-01 -1.26790953e-01 -8.89679708e+01] [-1.58835845e-01 -8.84088831e-03 9.87265422e-01 -9.11999859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.076559995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.36165586e-01 7.65591333e-01 -9.57249115e-02 4.63990053e+02] [-7.55125066e-01 -6.43275707e-01 -1.26421914e-01 -8.89718254e+01] [-1.58365032e-01 -8.14099068e-03 9.87347072e-01 -9.11998934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:463.99, Y:-88.97, Z:-912.00 [[-6.35882964e-01 7.65831989e-01 -9.56776910e-02 4.63991533e+02] [-7.55363075e-01 -6.42989184e-01 -1.26457641e-01 -8.89696888e+01] [-1.58365027e-01 -8.14086438e-03 9.87347074e-01 -9.11998522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.136559995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:464.00, Y:-88.97, Z:-912.00 [[-6.35621059e-01 7.66063398e-01 -9.55653699e-02 4.63995131e+02] [-7.55606059e-01 -6.42713508e-01 -1.26407403e-01 -8.89658650e+01] [-1.58257239e-01 -8.13743479e-03 9.87364385e-01 -9.11997379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:464.00, Y:-88.96, Z:-912.00 [[-6.36429574e-01 7.65408786e-01 -9.54294907e-02 4.63996183e+02] [-7.54958398e-01 -6.43490196e-01 -1.26325710e-01 -8.89638059e+01] [-1.58098750e-01 -8.35212217e-03 9.87387982e-01 -9.11997644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.1965599950001 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:464.00, Y:-88.96, Z:-912.00 [[-6.37076416e-01 7.64868960e-01 -9.54416848e-02 4.63998265e+02] [-7.54394164e-01 -6.44129140e-01 -1.26440093e-01 -8.89608570e+01] [-1.58186873e-01 -8.55135128e-03 9.87372163e-01 -9.11996181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:464.00, Y:-88.96, Z:-911.99 [[-6.40752731e-01 7.61759469e-01 -9.56997890e-02 4.64003948e+02] [-7.51177286e-01 -6.47791580e-01 -1.26880865e-01 -8.89564353e+01] [-1.58646218e-01 -9.41175330e-03 9.87290634e-01 -9.11994386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.256559995 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:464.01, Y:-88.95, Z:-911.99 [[-6.42535576e-01 7.60264192e-01 -9.56367725e-02 4.64006908e+02] [-7.49663889e-01 -6.49539484e-01 -1.26895676e-01 -8.89526748e+01] [-1.58594099e-01 -9.83955152e-03 9.87294837e-01 -9.11993114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:464.01, Y:-88.95, Z:-911.99 [[-6.44002322e-01 7.59080192e-01 -9.51749504e-02 4.64009604e+02] [-7.48554415e-01 -6.50918067e-01 -1.26380214e-01 -8.89490836e+01] [-1.57883812e-01 -1.01455220e-02 9.87405576e-01 -9.11992576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.316559995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:464.01, Y:-88.95, Z:-911.99 [[-6.45942545e-01 7.57605643e-01 -9.37652258e-02 4.64009041e+02] [-7.47361191e-01 -6.52629545e-01 -1.24603084e-01 -8.89454170e+01] [-1.55593956e-01 -1.04099423e-02 9.87766245e-01 -9.11993933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:464.01, Y:-88.94, Z:-911.99 [[-6.46711768e-01 7.57033868e-01 -9.30785259e-02 4.64011483e+02] [-7.46919242e-01 -6.53290757e-01 -1.23785429e-01 -8.89403249e+01] [-1.54517103e-01 -1.05313517e-02 9.87933984e-01 -9.11994039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.376559995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:464.01, Y:-88.94, Z:-911.99 [[-6.47843204e-01 7.56131476e-01 -9.25439099e-02 4.64011303e+02] [-7.46109707e-01 -6.54331498e-01 -1.23168974e-01 -8.89390894e+01] [-1.53686333e-01 -1.07462731e-02 9.88061248e-01 -9.11994047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:464.02, Y:-88.93, Z:-911.99 [[-6.49605056e-01 7.54699365e-01 -9.18811145e-02 4.64016669e+02] [-7.44792984e-01 -6.55977437e-01 -1.22380608e-01 -8.89315074e+01] [-1.52632505e-01 -1.10666526e-02 9.88221052e-01 -9.11993175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.436559995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:464.02, Y:-88.93, Z:-911.99 [[-6.53337000e-01 7.51552028e-01 -9.12157544e-02 4.64019152e+02] [-7.41745033e-01 -6.59568655e-01 -1.21587396e-01 -8.89291800e+01] [-1.51542307e-01 -1.17787118e-02 9.88380590e-01 -9.11992199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:464.02, Y:-88.92, Z:-911.99 [[-6.54314429e-01 7.50729522e-01 -9.09824830e-02 4.64023042e+02] [-7.40950916e-01 -6.60500702e-01 -1.21369529e-01 -8.89243604e+01] [-1.51209682e-01 -1.20002797e-02 9.88428867e-01 -9.11991247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.496559995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:464.02, Y:-88.92, Z:-911.99 [[-6.55032312e-01 7.50089026e-01 -9.10995237e-02 4.64024915e+02] [-7.40264689e-01 -6.61223835e-01 -1.21619203e-01 -8.89220526e+01] [-1.51462406e-01 -1.22267470e-02 9.88387397e-01 -9.11990133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:464.03, Y:-88.92, Z:-911.99 [[-6.54704665e-01 7.50361301e-01 -9.12124954e-02 4.64027772e+02] [-7.40500646e-01 -6.60914561e-01 -1.21863597e-01 -8.89187885e+01] [-1.51725394e-01 -1.22417541e-02 9.88346875e-01 -9.11989435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.556559995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:464.03, Y:-88.92, Z:-911.99 [[-6.53863260e-01 7.51110653e-01 -9.10803224e-02 4.64026502e+02] [-7.41271546e-01 -6.60065208e-01 -1.21780201e-01 -8.89207822e+01] [-1.51589358e-01 -1.21123476e-02 9.88369343e-01 -9.11989419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:464.03, Y:-88.92, Z:-911.99 [[-6.53721769e-01 7.51335179e-01 -9.02402265e-02 4.64026622e+02] [-7.41666032e-01 -6.59811533e-01 -1.20748657e-01 -8.89185437e+01] [-1.50264256e-01 -1.20079148e-02 9.88572943e-01 -9.11990045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.616559995 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:464.03, Y:-88.91, Z:-911.99 [[-6.53541866e-01 7.51516065e-01 -9.00368442e-02 4.64029814e+02] [-7.41878371e-01 -6.59605634e-01 -1.20569027e-01 -8.89140332e+01] [-1.49998371e-01 -1.20005198e-02 9.88613411e-01 -9.11988802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:464.03, Y:-88.91, Z:-911.99 [[-6.53090604e-01 7.51897078e-01 -9.01301701e-02 4.64033611e+02] [-7.42228687e-01 -6.59171511e-01 -1.20786985e-01 -8.89093338e+01] [-1.50230621e-01 -1.19876471e-02 9.88578301e-01 -9.11987665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.676559995 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:464.03, Y:-88.91, Z:-911.99 [[-6.52464630e-01 7.52348474e-01 -9.08937887e-02 4.64033941e+02] [-7.42504309e-01 -6.58655133e-01 -1.21904746e-01 -8.89100593e+01] [-1.51582510e-01 -1.20495050e-02 9.88371161e-01 -9.11986853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:464.04, Y:-88.91, Z:-911.98 [[-6.52513343e-01 7.52159760e-01 -9.20979483e-02 4.64037694e+02] [-7.42034514e-01 -6.58865604e-01 -1.23615924e-01 -8.89078910e+01] [-1.53659094e-01 -1.23211833e-02 9.88047100e-01 -9.11984451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.736559995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:464.04, Y:-88.91, Z:-911.98 [[-6.52581134e-01 7.51993905e-01 -9.29678991e-02 4.64040773e+02] [-7.41658324e-01 -6.59050689e-01 -1.24880424e-01 -8.89055146e+01] [-1.55179876e-01 -1.25441925e-02 9.87806585e-01 -9.11983221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:464.04, Y:-88.90, Z:-911.98 [[-6.52840030e-01 7.51701336e-01 -9.35146923e-02 4.64042078e+02] [-7.41224718e-01 -6.59380336e-01 -1.25711933e-01 -8.89048087e+01] [-1.56159577e-01 -1.27543808e-02 9.87649489e-01 -9.11981954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 24959.03 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%| | 0/46090 [00:00